diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
deleted file mode 100644
index f01c556e8f4c05..00000000000000
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ /dev/null
@@ -1,25 +0,0 @@
----
-name: Bug report
-about: Create a report to help us improve openpilot
-title: ''
-labels: 'bug'
-assignees: ''
-
----
-
-**Describe the bug**
-A clear and concise description of what the bug is.
-
-**How to reproduce or log data**
-Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Device/Version information (please complete the following information):**
- - Device: [e.g. EON/EON Gold]
- - Version: [e.g. 0.6.4], or commit hash when on devel
- - Car make/model [e.g. Toyota Prius 2016]
-
-**Additional context**
-Add any other context about the problem here.
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
deleted file mode 100644
index 72e1845d7e124f..00000000000000
--- a/.github/pull_request_template.md
+++ /dev/null
@@ -1,21 +0,0 @@
-Choose one of the templates below:
-
-# Fingerprint
-This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
-
-This is an explorer link to a drive with the stock system enabled: ...
-
-# Car support
-This pull requests adds support for <Make - Model - Year - Trim>.
-
-This is an explorer link to a drive with the stock system enabled: ...
-This is an explorer link to a drive with openpilot system enabled: ...
-
-# Feature
-This pull requests adds feature X
-
-## Description
-Explain what the feature does
-
-## Testing
-Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
diff --git a/.gitignore b/.gitignore
index 789f2728f3bdff..5fc18bb07776ea 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 venv/
+.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -6,9 +7,10 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode
+.vscode*
 model2.png
 a.out
+.hypothesis
 
 *.dylib
 *.DSYM
@@ -20,7 +22,9 @@ a.out
 .*.un~
 *.tmp
 *.o
+*.o-*
 *.os
+*.os-*
 *.so
 *.a
 *.clb
@@ -29,6 +33,7 @@ a.out
 *.vcd
 config.json
 clcache
+compile_commands.json
 
 persist
 board/obj/
@@ -40,9 +45,11 @@ selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
+selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
@@ -51,9 +58,26 @@ one
 openpilot
 notebooks
 xx
+hyperthneed
 panda_jungle
+provisioning
 
 .coverage*
+coverage.xml
 htmlcov
 pandaextra
 
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+models/*.thneed
+
+*.bz2
+
+build/
+
+!**/.gitkeep
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
deleted file mode 100644
index b4cccc2daf0ea1..00000000000000
--- a/CONTRIBUTING.md
+++ /dev/null
@@ -1,40 +0,0 @@
-# How to contribute
-
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
-
-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
-
-## Getting Started
-
- * Join our [Discord](https://discord.comma.ai)
- * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
-
-## Testing
-
-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
-
-### Automated Testing
-
-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
-
-### Code Style and Linting
-
-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
-
-## Car Ports (openpilot)
-
-We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
-
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
-
-## Pull Requests
-
-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
-```
-git submodule init
-git submodule update
-```
-in order to pull down the submodules, such as `panda` and `opendbc`.
diff --git a/Jenkinsfile b/Jenkinsfile
new file mode 100644
index 00000000000000..29edbeb1726e2b
--- /dev/null
+++ b/Jenkinsfile
@@ -0,0 +1,275 @@
+def phone(String ip, String step_label, String cmd) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
+
+set -e
+
+export CI=1
+export TEST_DIR=${env.TEST_DIR}
+export SOURCE_DIR=${env.SOURCE_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+if [ -f /EON ]; then
+  echo \$\$ > /dev/cpuset/app/tasks || true
+  echo \$PPID > /dev/cpuset/app/tasks || true
+  mkdir -p /dev/shm
+  chmod 777 /dev/shm
+fi
+
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+
+EOF"""
+
+    sh script: ssh_cmd, label: step_label
+  }
+}
+
+def phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 150, unit: 'MINUTES') {
+      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
+      }
+    }
+  }
+}
+
+pipeline {
+  agent none
+  environment {
+    TEST_DIR = "/data/openpilot"
+    SOURCE_DIR = "/data/openpilot_source/"
+  }
+  options {
+      timeout(time: 3, unit: 'HOURS')
+  }
+
+  stages {
+
+    stage('Build release2') {
+      agent {
+        docker {
+          image 'python:3.7.3'
+          args '--user=root'
+        }
+      }
+      when {
+        branch 'devel-staging'
+      }
+      steps {
+        phone_steps("eon-build", [
+          ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+        ])
+      }
+    }
+
+    stage('Build release3') {
+      agent {
+        docker {
+          image 'python:3.7.3'
+          args '--user=root'
+        }
+      }
+      when {
+        branch 'devel-staging'
+      }
+      steps {
+        phone_steps("tici", [
+          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+        ])
+      }
+    }
+
+    stage('openpilot tests') {
+      when {
+        not {
+          anyOf {
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
+            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
+            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
+            branch 'testing-closet*'; branch 'hotfix-*'
+          }
+        }
+      }
+
+      stages {
+
+        /*
+        stage('PC tests') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilotci'
+              args '--privileged --shm-size=1G --user=root'
+            }
+          }
+          stages {
+            stage('Build') {
+              steps {
+                sh 'scons -j$(nproc)'
+              }
+            }
+          }
+          post {
+            always {
+              // fix permissions since docker runs as another user
+              sh "chmod -R 777 ."
+            }
+          }
+        }
+        */
+
+        stage('On-device Tests') {
+          agent {
+            docker {
+              /*
+              filename 'Dockerfile.ondevice_ci'
+              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
+              */
+              image 'python:3.7.3'
+              args '--user=root'
+            }
+          }
+
+          stages {
+            stage('parallel tests') {
+              parallel {
+                stage('Devel Tests') {
+                  steps {
+                    phone_steps("eon-build", [
+                      ["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                    ])
+                  }
+                }
+
+                stage('Replay Tests') {
+                  steps {
+                    phone_steps("eon2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
+                stage('HW + Unit Tests') {
+                  steps {
+                    phone_steps("eon", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
+                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
+                    ])
+                  }
+                }
+
+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
+                stage('tici Build') {
+                  environment {
+                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+                  }
+                  steps {
+                    phone_steps("tici", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                    ])
+                  }
+                }
+
+                stage('HW + Unit Tests (tici)') {
+                  steps {
+                    phone_steps("tici2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                    ])
+                  }
+                }
+
+                stage('EON camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('tici camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+              }
+            }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
+          }
+
+          post {
+            always {
+              cleanWs()
+            }
+          }
+
+        }
+
+      }
+    }
+  }
+}
+
diff --git a/README.md b/README.md
old mode 100644
new mode 100755
index 42770fe80f77eb..bb24d19f93c1ac
--- a/README.md
+++ b/README.md
@@ -1,308 +1 @@
-[![](https://i.imgur.com/UelUjKAh.png)](#)
-
-Table of Contents
-=======================
-
-* [What is openpilot?](#what-is-openpilot)
-* [Integration with Stock Features](#integration-with-stock-features)
-* [Supported Hardware](#supported-hardware)
-* [Supported Cars](#supported-cars)
-* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
-* [Installation Instructions](#installation-instructions)
-* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
-* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
-* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
-* [User Data and comma Account](#user-data-and-comma-account)
-* [Safety and Testing](#safety-and-testing)
-* [Testing on PC](#testing-on-pc)
-* [Community and Contributing](#community-and-contributing)
-* [Directory Structure](#directory-structure)
-* [Licensing](#licensing)
-
----
-
-What is openpilot?
-------
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
-
-<table>
-  <tr>
-    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
-  </tr>
-  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
-  </tr>
-</table>
-
-Integration with Stock Features
-------
-
-In all supported cars:
-* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
-* Stock LDW is replaced by openpilot LDW.
-
-Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
-* Stock ACC is replaced by openpilot ACC.
-* openpilot FCW operates in addition to stock FCW.
-
-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
-
-Supported Hardware
-------
-
-At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. In the future, we'd like to support other platforms as well, like gaming PCs.
-
-Supported Cars
-------
-
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
-| Lexus     | NX Hybrid 2018                | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
-
-<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
-<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
-
-Community Maintained Cars and Features
-------
-
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-
-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>5</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
-<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-
-Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
-
-Installation Instructions
-------
-
-Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
-
-Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
-
-Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
-
-You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
-
-Limitations of openpilot ALC and LDW
-------
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot ACC and FCW
-------
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot DM
-------
-
-openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver face is partially or completely outside field of view of the driver facing camera.
-* Right hand driving vehicles.
-* The driver facing camera is obstructed, covered, or damaged.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
-
-User Data and comma Account
-------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-Safety and Testing
-----
-
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
-* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
-* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
-
-Testing on PC
-------
-
-Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
-
-Community and Contributing
-------
-
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
-
-You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
-
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). We also have a [bounty program](https://comma.ai/bounties.html).
-
-And [follow us on Twitter](https://twitter.com/comma_ai).
-
-Directory Structure
-------
-    .
-    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec and libs used for all logs on EON
-    ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages auto-updates of openpilot
-    ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
-    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
-        ├── athena          # Allows communication with the app
-        ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
-        ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
-        ├── controls        # Perception, planning and controls
-        ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Soon to be home of precise location
-        ├── logcatd         # Android logcat as a service
-        ├── loggerd         # Logger and uploader of car data
-        ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU / GPS interface code
-        ├── tests           # Unit tests, system tests and a car simulator
-        └── ui              # The UI
-
-To understand how the services interact, see `cereal/service_list.yaml`.
-
-Licensing
-------
-
-openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
-
-Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
-
-**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-NO WARRANTY EXPRESSED OR IMPLIED.**
-
----
-
-<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+Do not install this branch
diff --git a/RELEASES.md b/RELEASES.md
index c0a859003bc03d..31383eec8015ec 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,238 @@
+Version 0.8.11 (2021-11-22)
+========================
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+
+Version 0.8.10 (2021-11-01)
+========================
+ * New driving model
+   * Trained on one million minutes!!!
+   * Fixed lead training making lead predictions significantly more accurate
+   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
+ * New driver monitoring model
+   * Trained on latest data from both comma two and comma three
+   * Increased model field of view by 40% on comma three
+   * Improved model stability on masked users
+   * Improved pose prediction with reworked ground-truth stack
+ * Lateral and longitudinal planning MPCs now in ACADOS
+ * Combined longitudinal MPCs
+   * All longitudinal planning now happens in a single MPC system
+   * Fixed instability in MPC problem to prevent sporadic CPU usage
+ * AGNOS 2: minor stability improvements and builder repo open sourced
+ * tools: new and improved replay thanks to deanlee!
+ * Moved community-supported cars outside of the Community Features toggle
+ * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
+ * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
+ * Audi S3 2015 support thanks to jyoung8607!
+ * Honda Freed 2020 support thanks to belm0!
+ * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
+ * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
+ * Kia K5 2021 support thanks to sunnyhaibin!
+ * Škoda Kamiq 2021 support thanks to jyoung8607!
+ * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen Arteon 2021 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
+
+Version 0.8.9 (2021-09-14)
+========================
+ * Improved fan control on comma three
+ * AGNOS 1.5: improved stability
+ * Honda e 2020 support
+
+Version 0.8.8 (2021-08-27)
+========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes
+ * New driver monitoring model: improved performance on comma three
+ * NEOS 18 for comma two: update packages
+ * AGNOS 1.3 for comma three: fix display init at high temperatures
+ * Improved auto-exposure on comma three
+ * Improved longitudinal control on Honda Nidec cars
+ * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
+ * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
+ * Kia Niro Hybrid 2021 support thanks to tetious!
+
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
+Version 0.8.6 (2021-07-21)
+========================
+ * Revamp lateral and longitudinal planners
+   * Refactor planner output API to be more readable and verbose
+   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
+   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
+ * Remove "CHECK DRIVER FACE VISIBILITY" warning
+ * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
+ * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
+ * Kia Niro Hybrid 2019 support thanks to jyoung8607!
+ * Škoda Octavia RS 2016 support thanks to jyoung8607!
+ * Toyota Alphard 2020 support thanks to belm0!
+ * Volkswagen Golf SportWagen 2015 support thanks to jona96!
+ * Volkswagen Touran 2017 support thanks to jyoung8607!
+
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
+Version 0.8.2 (2021-02-26)
+========================
+ * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
+ * Use model heading prediction for smoother lateral control
+ * Smarter actuator delay compensation
+ * Improve qcamera resolution for improved video in explorer and connect
+ * Adjust maximum engagement speed to better fit the model's training distribution
+ * New driver monitoring model trained with 3x more diverse data
+ * Improved face detection with masks
+ * More predictable DM alerts when visibility is bad
+ * Rewritten video streaming between openpilot processes
+ * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
+ * Audi A3 2015 and 2017 support thanks to keeleysam!
+ * Nissan Altima 2020 support thanks to avolmensky!
+ * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
+ * Toyota Camry Hybrid 2021 support thanks to alancyau!
+
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+Version 0.7.9 (2020-10-09)
+========================
+ * Improved car battery power management
+ * Improved updater robustness
+ * Improved realtime performance
+ * Reduced UI and modeld lags
+ * Increased torque on 2020 Hyundai Sonata and Palisade
+
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
+Version 0.7.6.1 (2020-06-16)
+========================
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
+
+Version 0.7.5 (2020-05-13)
+========================
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
 Version 0.7.3 (2020-02-21)
 ========================
- * Improved autofocus for road facing camera
  * Support for 2020 Highlander thanks to che220!
  * Support for 2018 Lexus NX 300h thanks to kengggg!
  * Speed up ECU firmware query
@@ -422,96 +654,96 @@ Version 0.3.4 (2017-07-28)
 
 Version 0.3.3  (2017-06-28)
 ===========================
-  * Improved model trained on more data
-  * Alpha CR-V support thanks to energee and johnnwvs!
-  * Using the opendbc project for DBC files
-  * Minor performance improvements
-  * UI update thanks to pjlao307
-  * Power off button
-  * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
 
 Version 0.3.2  (2017-05-22)
 ===========================
-  * Minor stability bugfixes
-  * Added metrics and rear view mirror disable to settings
-  * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
 
 Version 0.3.1  (2017-05-17)
 ===========================
-  * visiond stability bugfix
-  * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing
 
 Version 0.3.0  (2017-05-12)
 ===========================
-  * Add CarParams struct to improve the abstraction layer
-  * Refactor visiond IPC to support multiple clients
-  * Add raw GPS and beginning support for navigation
-  * Improve model in visiond using crowdsourced data
-  * Add improved system logging to diagnose instability
-  * Rewrite baseui in React Native
-  * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
 
 Version 0.2.9  (2017-03-01)
 ===========================
-  * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1
 
 Version 0.2.8  (2017-02-27)
 ===========================
-  * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71
 
 Version 0.2.7  (2017-02-08)
 ===========================
-  * Better performance and pictures at night
-  * Fix ptr alignment issue in boardd
-  * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
 ===========================
-  * Fix bug in visiond model execution
+ * Fix bug in visiond model execution
 
 Version 0.2.5  (2017-01-30)
 ===========================
-  * Fix race condition in manager
+ * Fix race condition in manager
 
 Version 0.2.4  (2017-01-27)
 ===========================
-  * OnePlus 3T support
-  * Enable installation as NEOS app
-  * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
 
 Version 0.2.3  (2017-01-11)
 ===========================
-  * Reduce space usage by 80%
-  * Add better logging
-  * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
 
 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
 
 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
 
 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition
diff --git a/SAFETY.md b/SAFETY.md
deleted file mode 100644
index 5a3c287fe9988a..00000000000000
--- a/SAFETY.md
+++ /dev/null
@@ -1,34 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle, 
-   by stepping on either pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
-
-For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
diff --git a/SConstruct b/SConstruct
index 5944541b5b8155..73c66690ade338 100644
--- a/SConstruct
+++ b/SConstruct
@@ -1,98 +1,178 @@
 import os
+import shutil
 import subprocess
 import sys
+import sysconfig
 import platform
+import numpy as np
+
+TICI = os.path.isfile('/TICI')
+Decider('MD5-timestamp')
 
 AddOption('--test',
           action='store_true',
           help='build test files')
 
+AddOption('--extras',
+          action='store_true',
+          help='build misc extras, like setup and installer files')
+
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
 AddOption('--asan',
           action='store_true',
           help='turn on ASAN')
 
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--no-thneed',
+          action='store_true',
+          dest='no_thneed',
+          help='avoid using thneed')
+
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
 
-if arch == "aarch64":
-  lenv = {
-    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-    "PATH": os.environ['PATH'],
-    "ANDROID_DATA": os.environ['ANDROID_DATA'],
-    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
-  }
+if arch == "aarch64" and TICI:
+  arch = "larch64"
+
+USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
+USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
+
+lenv = {
+  "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
+
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
+}
+
+rpath = lenv["LD_LIBRARY_PATH"].copy()
+
+if arch == "aarch64" or arch == "larch64":
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
+
+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
 
   cpppath = [
-    "#phonelibs/opencl/include",
+    "#third_party/opencl/include",
   ]
+
   libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
+    "/usr/local/lib",
     "/usr/lib",
-    "/data/data/com.termux/files/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
-    "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
+    "#third_party/nanovg",
+    f"#third_party/acados/{arch}/lib",
   ]
 
-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
-
-  rpath = ["/system/vendor/lib64"]
+  if arch == "larch64":
+    libpath += [
+      "#third_party/snpe/larch64",
+      "#third_party/libyuv/larch64/lib",
+      "/usr/lib/aarch64-linux-gnu"
+    ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath += ["/usr/local/lib"]
+  else:
+    rpath = []
+    libpath += [
+      "#third_party/snpe/aarch64",
+      "#third_party/libyuv/lib",
+      "/system/vendor/lib64"
+    ]
+    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
 else:
-  lenv = {
-    "PATH": "#external/bin:" + os.environ['PATH'],
-  }
-  cpppath = [
-    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/capnp-c/include",
-    "#phonelibs/zmq/x64/include",
-    "#external/tensorflow/include",
-  ]
+  cflags = []
+  cxxflags = []
+  cpppath = []
 
   if arch == "Darwin":
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      "#phonelibs/capnp-cpp/mac/lib",
-      "#phonelibs/capnp-c/mac/lib",
-      "#phonelibs/libyuv/mac/lib",
-      "#cereal",
-      "#selfdrive/common",
+      f"#third_party/libyuv/{yuv_dir}/lib",
       "/usr/local/lib",
+      "/opt/homebrew/lib",
+      "/usr/local/opt/openssl/lib",
+      "/opt/homebrew/opt/openssl/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      "/opt/homebrew/include",
+      "/usr/local/opt/openssl/include",
+      "/opt/homebrew/opt/openssl/include"
+    ]
   else:
     libpath = [
-      "#phonelibs/capnp-cpp/x64/lib",
-      "#phonelibs/capnp-c/x64/lib",
-      "#phonelibs/snpe/x86_64-linux-clang",
-      "#phonelibs/zmq/x64/lib",
-      "#phonelibs/libyuv/x64/lib",
-      "#external/zmq/lib",
-      "#external/tensorflow/lib",
+      "#third_party/acados/x86_64/lib",
+      "#third_party/snpe/x86_64-linux-clang",
+      "#third_party/libyuv/x64/lib",
+      "#third_party/mapbox-gl-native-qt/x86_64",
       "#cereal",
       "#selfdrive/common",
       "/usr/lib",
       "/usr/local/lib",
     ]
 
-  rpath = ["phonelibs/capnp-cpp/x64/lib",
-           "phonelibs/zmq/x64/lib",
-           "external/tensorflow/lib",
-           "cereal",
-           "selfdrive/common"]
-
-  # allows shared libraries to work globally
-  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
+  rpath += [
+    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
+    Dir("#cereal").abspath,
+    Dir("#selfdrive/common").abspath
+  ]
 
-  cflags = []
-  cxxflags = []
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
 
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
-# change pythonpath to this
-lenv["PYTHONPATH"] = Dir("#").path
+# Enable swaglog include in submodules
+cflags += ["-DSWAGLOG"]
+cxxflags += ["-DSWAGLOG"]
 
 env = Environment(
   ENV=lenv,
@@ -100,59 +180,69 @@ env = Environment(
     "-g",
     "-fPIC",
     "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + cflags + ccflags_asan,
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-unknown-warning-option",
+    "-Wno-deprecated-register",
+    "-Wno-register",
+    "-Wno-inconsistent-missing-override",
+    "-Wno-c99-designator",
+    "-Wno-reorder-init-list",
+  ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
     "#",
-    "#selfdrive",
-    "#phonelibs/bzip2",
-    "#phonelibs/libyuv/include",
-    "#phonelibs/openmax/include",
-    "#phonelibs/json/src",
-    "#phonelibs/json11",
-    "#phonelibs/eigen",
-    "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
-    "#phonelibs/libgralloc/include",
-    "#phonelibs/android_frameworks_native/include",
-    "#phonelibs/android_hardware_libhardware/include",
-    "#phonelibs/android_system_core/include",
-    "#phonelibs/linux/include",
-    "#phonelibs/snpe/include",
-    "#phonelibs/nanovg",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#cereal/messaging",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/bzip2",
+    "#third_party/libyuv/include",
+    "#third_party/openmax/include",
+    "#third_party/json11",
+    "#third_party/curl/include",
+    "#third_party/libgralloc/include",
+    "#third_party/android_frameworks_native/include",
+    "#third_party/android_hardware_libhardware/include",
+    "#third_party/android_system_core/include",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/mapbox-gl-native-qt/include",
+    "#third_party/nanovg",
+    "#third_party/qrcode",
+    "#third_party",
     "#cereal",
     "#opendbc/can",
   ],
 
   CC='clang',
   CXX='clang++',
-  LINKFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags,
 
   RPATH=rpath,
 
   CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
-  LIBPATH=libpath +
-  [
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
     "#cereal",
+    "#third_party",
+    "#opendbc/can",
+    "#selfdrive/boardd",
     "#selfdrive/common",
-    "#phonelibs",
-  ]
+  ],
+  CYTHONCFILESUFFIX=".cpp",
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "cython", "compilation_db"],
 )
 
-if os.environ.get('SCONS_CACHE'):
-  CacheDir('/tmp/scons_cache')
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
+
+# Setup cache dir
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
 node_interval = 5
 node_count = 0
@@ -175,10 +265,104 @@ def abspath(x):
     # rpath works elsewhere
     return x[0].path.rsplit("/", 1)[1][:-3]
 
-#zmq = 'zmq'
-# still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED')
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
+
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/system/comma/usr"
+  qt_dirs = [
+    f"/system/comma/usr/include/qt",
+  ]
+  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM')
+
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_gpucommon', '_gpu_libs')
+
+if SHARED:
+  common, gpucommon = abspath(common), abspath(gpucommon)
+else:
+  common = [_common, 'json11']
+  gpucommon = [_gpucommon] + _gpu_libs
+
+Export('common', 'gpucommon')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -188,46 +372,68 @@ if SHARED:
 else:
   cereal = [File('#cereal/libcereal.a')]
   messaging = [File('#cereal/libmessaging.a')]
-Export('cereal', 'messaging')
+  visionipc = [File('#cereal/libvisionipc.a')]
 
-SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+Export('cereal', 'messaging', 'visionipc')
 
-if SHARED:
-  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
-else:
-  common = [_common, 'json']
-  visionipc = _visionipc
-  gpucommon = [_gpucommon] + _gpu_libs
+# Build rednose library and ekf models
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
+
+if arch != "aarch64":
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
 
-Export('common', 'visionipc', 'gpucommon')
+Export('rednose_config')
+SConscript(['rednose/SConscript'])
 
+# Build openpilot
+
+SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
 SConscript(['opendbc/can/SConscript'])
 
+SConscript(['third_party/SConscript'])
+
 SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
-SConscript(['phonelibs/SConscript'])
+SConscript(['common/transformations/SConscript'])
 
-if arch != "Darwin":
-  SConscript(['selfdrive/camerad/SConscript'])
-  SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/camerad/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])
 
-SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])
 
-if arch == "aarch64":
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+
+if arch != "Darwin":
   SConscript(['selfdrive/logcatd/SConscript'])
-  SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/clocksd/SConscript'])
 
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/kalman/SConscript'])
+if GetOption('test'):
+  SConscript('panda/tests/safety/SConscript')
 
-# TODO: finish cereal, dbcbuilder, MPC
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])
diff --git a/apk/ai.comma.plus.black.apk b/apk/ai.comma.plus.black.apk
deleted file mode 100644
index 94b3a6a1915a8c..00000000000000
Binary files a/apk/ai.comma.plus.black.apk and /dev/null differ
diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk
deleted file mode 100644
index f52f80869cd916..00000000000000
Binary files a/apk/ai.comma.plus.frame.apk and /dev/null differ
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
deleted file mode 100644
index f829c3e3f92deb..00000000000000
Binary files a/apk/ai.comma.plus.offroad.apk and /dev/null differ
diff --git a/cereal/.dockerignore b/cereal/.dockerignore
deleted file mode 100644
index 5b2d46270d8cc8..00000000000000
--- a/cereal/.dockerignore
+++ /dev/null
@@ -1 +0,0 @@
-.sconsign.dblite
diff --git a/cereal/.github/workflows/tests.yml b/cereal/.github/workflows/tests.yml
deleted file mode 100644
index 3b8f6ca8e03b87..00000000000000
--- a/cereal/.github/workflows/tests.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Tests
-
-on: [push, pull_request]
-
-jobs:
-  test:
-
-    runs-on: ubuntu-16.04
-
-    steps:
-    - uses: actions/checkout@v2
-    - name: Build docker image
-      run: docker build -t cereal .
-    - name: Unit Tests
-      run: |
-        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
-    - name: Test ZMQ
-      run: |
-        docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
-    - name: Test MSGQ
-      run: |
-        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
diff --git a/cereal/.gitignore b/cereal/.gitignore
index e90f8c750f9b26..14cd02efff2110 100644
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -1,14 +1,21 @@
 gen
 node_modules
 package-lock.json
+*.tmp
 *.pyc
 __pycache__
 .*.swp
 .*.swo
-libcereal*.a
+*.os
+*.o
+*.a
+
+test_runner
+
 libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
-
+.mypy_cache/
+catch2/
diff --git a/cereal/Dockerfile b/cereal/Dockerfile
deleted file mode 100644
index f681dce68ff4b5..00000000000000
--- a/cereal/Dockerfile
+++ /dev/null
@@ -1,19 +0,0 @@
-from ubuntu:16.04
-
-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
-
-WORKDIR /project/cereal
-COPY install_capnp.sh .
-RUN ./install_capnp.sh
-
-ENV PYTHONPATH=/project
-
-COPY . .
-RUN scons -c && scons -j$(nproc)
diff --git a/cereal/README.md b/cereal/README.md
deleted file mode 100644
index ec0efc67621992..00000000000000
--- a/cereal/README.md
+++ /dev/null
@@ -1,42 +0,0 @@
-What is cereal?
-----
-
-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
-* A calibration process subscribes to the sensorEvents packet to use the IMU
-* A localization process subscribes to the sensorEvents packet to use the IMU also
-
-
-Messaging Spec
-----
-
-You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
-
-All Events have a logMonoTime and a valid. Then a big union defines the packet type.
-
-
-Pub Sub Backends
-----
-
-cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
-
-Example
----
-```python
-import cereal.messaging as messaging
-
-# in subscriber
-sm = messaging.SubMaster(['sensorEvents'])
-while 1:
-  sm.update()
-  print(sm['sensorEvents'])
-
-# in publisher
-pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message()
-dat.init('sensorEvents', 1)
-dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
-pm.send('sensorEvents', dat)
-```
diff --git a/cereal/SConscript b/cereal/SConscript
index e0c1b2b52c16a4..df066dc514309f 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -1,68 +1,72 @@
-Import('env', 'arch', 'zmq')
+Import('env', 'envCython', 'arch', 'common')
 
+import shutil
+
+cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 messaging_dir = Dir('messaging')
 
-# TODO: remove src-prefix and cereal from command string. can we set working directory?
-env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(
-  ['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
-env.Command(
-  ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
-import shutil
-if shutil.which('capnpc-java'):
-  env.Command(
-    ['gen/java/Car.java', 'gen/java/Log.java'],
-    ['car.capnp', 'log.capnp'],
-    'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
+# Build cereal
+
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
+env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
+env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
+            schema_files,
+            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
 
 # TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([
-    'gen/c/car.capnp.c',
-    'gen/c/log.capnp.c',
-    'gen/cpp/car.capnp.c++',
-    'gen/cpp/log.capnp.c++',
-  ])
+cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
 
 env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
+env.SharedLibrary('cereal_shared', cereal_objects)
 
-cereal_dir = Dir('.')
-services_h = env.Command(
-  ['services.h'],
-  ['service_list.yaml', 'services.py'],
-  'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+# Build messaging
+
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
 
 messaging_objects = env.SharedObject([
   'messaging/messaging.cc',
   'messaging/impl_zmq.cc',
   'messaging/impl_msgq.cc',
   'messaging/msgq.cc',
+  'messaging/socketmaster.cc',
 ])
 
 messaging_lib = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)
 
-# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
-# TODO: get APK to load system zmq to remove the static link
-shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
-env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
-
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
 Depends('messaging/bridge.cc', services_h)
 
-# different target?
-#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
+
+
+# Build Vision IPC
+vipc_sources = [
+  'visionipc/ipc.cc',
+  'visionipc/visionipc_server.cc',
+  'visionipc/visionipc_client.cc',
+  'visionipc/visionbuf.cc',
+]
+
+if arch in ["aarch64", "larch64"]:
+  vipc_sources += ['visionipc/visionbuf_ion.cc']
+else:
+  vipc_sources += ['visionipc/visionbuf_cl.cc']
+
+vipc_objects = env.SharedObject(vipc_sources)
+vipc = env.Library('visionipc', vipc_objects)
 
 
-env.Command(['messaging/messaging_pyx.so'],
-  [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
-  "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
+libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
+if arch == "Darwin":
+  del libs[libs.index('OpenCL')]
+  envCython['FRAMEWORKS'] += ['OpenCL']
+envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
 
 
 if GetOption('test'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
+  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])
diff --git a/cereal/SConstruct b/cereal/SConstruct
deleted file mode 100644
index a72286b279bd74..00000000000000
--- a/cereal/SConstruct
+++ /dev/null
@@ -1,49 +0,0 @@
-import os
-import subprocess
-
-zmq = 'zmq'
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-
-cereal_dir = Dir('.')
-
-cpppath = [
-    cereal_dir,
-    '/usr/lib/include',
-]
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-env = Environment(
-  ENV=os.environ,
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
-
-  CFLAGS="-std=gnu11",
-  CXXFLAGS="-std=c++14",
-  CPPPATH=cpppath,
-)
-
-
-Export('env', 'zmq', 'arch')
-SConscript(['SConscript'])
diff --git a/cereal/__init__.py b/cereal/__init__.py
index 2d3b48526b2c34..88a181cbc51da4 100644
--- a/cereal/__init__.py
+++ b/cereal/__init__.py
@@ -1,3 +1,4 @@
+# pylint: skip-file
 import os
 import capnp
 
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 58ff3fb42e95cb..0eb8ae10113b22 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -1,31 +1,27 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Car");
-
 @0x8e2af1e708af8b8d;
 
 # ******* events causing controls state machine transition *******
 
 struct CarEvent @0x9b1657f34caf3ad3 {
   name @0 :EventName;
+
+  # event types
   enable @1 :Bool;
   noEntry @2 :Bool;
-  warning @3 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
   userDisable @4 :Bool;
   softDisable @5 :Bool;
   immediateDisable @6 :Bool;
   preEnable @7 :Bool;
-  permanent @8 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
 
   enum EventName @0xbaa8c5d505f727de {
-    # TODO: copy from error list
     canError @0;
     steerUnavailable @1;
     brakeUnavailable @2;
-    gasUnavailable @3;
     wrongGear @4;
     doorOpen @5;
     seatbeltNotLatched @6;
@@ -37,8 +33,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     buttonEnable @12;
     pedalPressed @13;
     cruiseDisabled @14;
-    radarCanError @15;
-    dataNeeded @16;
     speedTooLow @17;
     outOfSpace @18;
     overheat @19;
@@ -49,31 +43,24 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     pcmDisable @24;
     noTarget @25;
     radarFault @26;
-    modelCommIssueDEPRECATED @27;
     brakeHold @28;
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
     plannerError @32;
-    ipasOverride @33;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
+    joystickDebug @34;
+    steerTempUnavailableSilent @35;
     resumeRequired @36;
     preDriverDistracted @37;
     promptDriverDistracted @38;
     driverDistracted @39;
-    geofence @40;
-    driverMonitorOn @41;
-    driverMonitorOff @42;
     preDriverUnresponsive @43;
     promptDriverUnresponsive @44;
     driverUnresponsive @45;
     belowSteerSpeed @46;
-    calibrationProgress @47;
     lowBattery @48;
-    invalidGiraffeHonda @49;
     vehicleModelInvalid @50;
-    controlsFailed @51;
+    accFaulted @51;
     sensorDataInvalid @52;
     commIssue @53;
     tooDistracted @54;
@@ -82,15 +69,64 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     preLaneChangeLeft @57;
     preLaneChangeRight @58;
     laneChange @59;
-    invalidGiraffeToyota @60;
-    internetConnectivityNeeded @61;
     communityFeatureDisallowed @62;
     lowMemory @63;
     stockAeb @64;
     ldw @65;
     carUnrecognized @66;
-    radarCommIssue @67;
-    driverMonitorLowAcc @68;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    gasPressed @73;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupMaster @78;
+    startupNoFw @104;
+    fcw @79;
+    steerSaturated @80;
+    belowEngageSpeed @84;
+    noGps @85;
+    wrongCruiseMode @87;
+    modeldLagging @89;
+    deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+    gpsMalfunction @94;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;
+    highCpuUsage @105;
+    cruiseMismatch @106;
+
+    driverMonitorLowAccDEPRECATED @68;
+    radarCanErrorDEPRECATED @15;
+    radarCommIssueDEPRECATED @67;
+    gasUnavailableDEPRECATED @3;
+    dataNeededDEPRECATED @16;
+    modelCommIssueDEPRECATED @27;
+    ipasOverrideDEPRECATED @33;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
+    calibrationProgressDEPRECATED @47;
+    invalidGiraffeHondaDEPRECATED @49;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+    startupFuzzyFingerprintDEPRECATED @97;
   }
 }
 
@@ -98,7 +134,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s
 
 struct CarState {
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
   events @13 :List(CarEvent);
 
   # car speed
@@ -110,26 +145,33 @@ struct CarState {
   wheelSpeeds @2 :WheelSpeeds;
 
   # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user + computer
+  gas @3 :Float32;        # this is user pedal only
   gasPressed @4 :Bool;    # this is user pedal only
 
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
   brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;
+  brakeHoldActive @38 :Bool;
+  regenPressed @39 :Bool; #this is regen button only
 
   # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringAngleDeg @7 :Float32;
+  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
+  steeringRateDeg @15 :Float32;
+  steeringTorque @8 :Float32;      # TODO: standardize units
   steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
+  steerWarning @35 :Bool;          # temporary steer unavailble
+  steerError @36 :Bool;            # permanent steer error
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
+  lkasEnable @40 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
+  adaptiveCruise @41 :Bool;
 
   # gear
   gearShifter @14 :GearShifter;
@@ -151,6 +193,10 @@ struct CarState {
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
 
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;
@@ -165,6 +211,7 @@ struct CarState {
     available @2 :Bool;
     speedOffset @3 :Float32;
     standstill @4 :Bool;
+    nonAdaptive @5 :Bool;
   }
 
   enum GearShifter {
@@ -200,6 +247,9 @@ struct CarState {
       gapAdjustCruise @11;
     }
   }
+
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
 }
 
 # ******* radar state @ 20hz *******
@@ -243,22 +293,31 @@ struct CarControl {
   enabled @0 :Bool;
   active @7 :Bool;
 
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-
   actuators @6 :Actuators;
+  roll @8 :Float32;
+  pitch @9 :Float32;
 
   cruiseControl @4 :CruiseControl;
   hudControl @5 :HUDControl;
 
   struct Actuators {
     # range from 0.0 - 1.0
-    gas @0: Float32;
-    brake @1: Float32;
+    gasDEPRECATED @0: Float32;
+    brakeDEPRECATED @1: Float32;
     # range from -1.0 - 1.0
     steer @2: Float32;
-    steerAngle @3: Float32;
+    steeringAngleDeg @3: Float32;
+
+    accel @4: Float32; # m/s^2
+    longControlState @5: LongControlState;
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+      starting @3;
+    }
+
   }
 
   struct CruiseControl {
@@ -294,18 +353,21 @@ struct CarControl {
     }
 
     enum AudibleAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
       none @0;
       chimeEngage @1;
       chimeDisengage @2;
       chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
+      chimeWarning1 @4; # unused
+      chimeWarningRepeat @5;
+      chimeWarningRepeatInfinite @6;
       chimePrompt @7;
+      chimeWarning2RepeatInfinite @8;
     }
   }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
 }
 
 # ****** car param ******
@@ -313,32 +375,32 @@ struct CarControl {
 struct CarParams {
   carName @0 :Text;
   carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
 
   enableGasInterceptor @2 :Bool;
-  enableCruise @3 :Bool;
-  enableCamera @4 :Bool;
-  enableDsu @5 :Bool; # driving support unit
-  enableApgs @6 :Bool; # advanced parking guidance system
+  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
+  enableDsu @5 :Bool;        # driving support unit
+  enableApgs @6 :Bool;       # advanced parking guidance system
+  enableBsm @56 :Bool;       # blind spot monitoring
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
-  safetyModel @9 :SafetyModel;
-  safetyModelPassive @42 :SafetyModel = silent;
-  safetyParam @10 :Int16;
+  maxSteeringAngleDeg @54 :Float32;
+  safetyConfigs @62 :List(SafetyConfig);
 
   steerMaxBP @11 :List(Float32);
   steerMaxV @12 :List(Float32);
-  gasMaxBP @13 :List(Float32);
-  gasMaxV @14 :List(Float32);
-  brakeMaxBP @15 :List(Float32);
-  brakeMaxV @16 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
 
   # things about the car in the manual
-  mass @17 :Float32;             # [kg] running weight
-  wheelbase @18 :Float32;        # [m] distance from rear to front axle
-  centerToFront @19 :Float32;   # [m] GC distance to front axle
-  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
 
   # things we can derive
   rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
@@ -357,23 +419,36 @@ struct CarParams {
   steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
 
   vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
   directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
   stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
   startAccel @32 :Float32; # Required acceleraton to overcome creep braking
+  stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
   steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
   steerControlType @34 :SteerControlType;
   radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startingAccelRate @53 :Float32; # m/s^2/s while trying to start
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
+  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
-  isPandaBlack @39: Bool;
   dashcamOnly @41: Bool;
   transmissionType @43 :TransmissionType;
   carFw @44 :List(CarFw);
+
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   communityFeature @46: Bool;  # true if a community maintained feature is detected
   fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+
+  struct SafetyConfig {
+    safetyModel @0 :SafetyModel;
+    safetyParam @1 :Int16;
+  }
 
   struct LateralParams {
     torqueBP @0 :List(Int32);
@@ -398,10 +473,19 @@ struct CarParams {
   }
 
   struct LateralINDITuning {
-    outerLoopGain @0 :Float32;
-    innerLoopGain @1 :Float32;
-    timeConstant @2 :Float32;
-    actuatorEffectiveness @3 :Float32;
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
   }
 
   struct LateralLQRTuning {
@@ -441,6 +525,10 @@ struct CarParams {
     noOutput @19;  # like silent but without silent CAN TXs
     hondaBoschHarness @20;
     volkswagenPq @21;
+    subaruLegacy @22;  # pre-Global platform
+    hyundaiLegacy @23;
+    hyundaiCommunity @24;
+    stellantis @25;
   }
 
   enum SteerControlType {
@@ -450,8 +538,10 @@ struct CarParams {
 
   enum TransmissionType {
     unknown @0;
-    automatic @1;
-    manual @2;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
   }
 
   struct CarFw {
@@ -468,10 +558,21 @@ struct CarParams {
     fwdCamera @3;
     engine @4;
     unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
 
     # Toyota only
     dsu @6;
     apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
   }
 
   enum FingerprintSource {
@@ -479,4 +580,16 @@ struct CarParams {
     fw @1;
     fixed @2;
   }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
+
+  enableCameraDEPRECATED @4 :Bool;
+  isPandaBlackDEPRECATED @39: Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
 }
diff --git a/cereal/generate_javascript.sh b/cereal/generate_javascript.sh
deleted file mode 100755
index d6525a64d95eed..00000000000000
--- a/cereal/generate_javascript.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/bin/bash
-
-rm -r gen/ts
-rm -r gen/js
-
-mkdir gen/ts
-mkdir gen/js
-
-echo "Installing needed npm modules"
-npm i capnpc-ts capnp-ts
-
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
-
-cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
-do
-  TOKEN=`echo $line | sed 's/\./_/g'`
-  ROOT=`echo $line | sed 's/\..*$//g'`
-  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
-  if [[ "$?" == "1" ]]
-  then
-    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
-  fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
diff --git a/cereal/include/java.capnp b/cereal/include/java.capnp
deleted file mode 100644
index cddf6eba3d9777..00000000000000
--- a/cereal/include/java.capnp
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
-# Licensed under the MIT License:
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-@0xc5f1af96651f70ea;
-
-annotation package @0x9ee4c8f803b3b596 (file) : Text;
-# Name of the package, such as "org.example.foo", in which the generated code will reside.
-
-annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
-# Name of the outer class that will wrap the generated code.
diff --git a/cereal/install_capnp.sh b/cereal/install_capnp.sh
deleted file mode 100755
index cc570b60ffc884..00000000000000
--- a/cereal/install_capnp.sh
+++ /dev/null
@@ -1,40 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j$(nproc)
-make install
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j$(nproc)
-make install
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib
diff --git a/cereal/legacy.capnp b/cereal/legacy.capnp
new file mode 100644
index 00000000000000..9a489168162090
--- /dev/null
+++ b/cereal/legacy.capnp
@@ -0,0 +1,861 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x80ef1ec4889c2a63;
+
+# legacy.capnp: a home for deprecated structs
+
+struct LogRotate @0x9811e1f38f62f2d1 {
+  segmentNum @0 :Int32;
+  path @1 :Text;
+}
+
+struct LiveUI @0xc08240f996aefced {
+  rearViewCam @0 :Bool;
+  alertText1 @1 :Text;
+  alertText2 @2 :Text;
+  awarenessStatus @3 :Float32;
+}
+
+struct UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
+struct OrbslamCorrection @0x8afd33dc9b35e1aa {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
+}
+
+struct EthernetPacket @0xa99a9d5b33cf5859 {
+  pkt @0 :Data;
+  ts @1 :Float32;
+}
+
+struct CellInfo @0xcff7566681c277ce {
+  timestamp @0 :UInt64;
+  repr @1 :Text; # android toString() for now
+}
+
+struct WifiScan @0xd4df5a192382ba0b {
+  bssid @0 :Text;
+  ssid @1 :Text;
+  capabilities @2 :Text;
+  frequency @3 :Int32;
+  level @4 :Int32;
+  timestamp @5 :Int64;
+
+  centerFreq0 @6 :Int32;
+  centerFreq1 @7 :Int32;
+  channelWidth @8 :ChannelWidth;
+  operatorFriendlyName @9 :Text;
+  venueName @10 :Text;
+  is80211mcResponder @11 :Bool;
+  passpoint @12 :Bool;
+
+  distanceCm @13 :Int32;
+  distanceSdCm @14 :Int32;
+
+  enum ChannelWidth @0xcb6a279f015f6b51 {
+    w20Mhz @0;
+    w40Mhz @1;
+    w80Mhz @2;
+    w160Mhz @3;
+    w80Plus80Mhz @4;
+  }
+}
+
+struct LiveEventData @0x94b7baa90c5c321e {
+  name @0 :Text;
+  value @1 :Int32;
+}
+
+struct ModelData @0xb8aad62cffef28a9 {
+  frameId @0 :UInt32;
+  frameAge @12 :UInt32;
+  frameDropPerc @13 :Float32;
+  timestampEof @9 :UInt64;
+  modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
+  rawPred @15 :Data;
+
+  path @1 :PathData;
+  leftLane @2 :PathData;
+  rightLane @3 :PathData;
+  lead @4 :LeadData;
+  freePath @6 :List(Float32);
+
+  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
+  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
+
+  struct PathData @0x8817eeea389e9f08 {
+    points @0 :List(Float32);
+    prob @1 :Float32;
+    std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
+    validLen @5 :Float32;
+  }
+
+  struct LeadData @0xd1c9bef96d26fa91 {
+    dist @0 :Float32;
+    prob @1 :Float32;
+    std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
+  }
+
+  struct ModelSettings @0xa26e3710efd3e914 {
+    bigBoxX @0 :UInt16;
+    bigBoxY @1 :UInt16;
+    bigBoxWidth @2 :UInt16;
+    bigBoxHeight @3 :UInt16;
+    boxProjection @4 :List(Float32);
+    yuvCorrection @5 :List(Float32);
+    inputTransform @6 :List(Float32);
+  }
+
+  struct MetaData @0x9744f25fb60f2bf8 {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData @0xf98f999c6a071122 {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
+}
+
+struct ECEFPoint @0xc25bbbd524983447 {
+  x @0 :Float64;
+  y @1 :Float64;
+  z @2 :Float64;
+}
+
+struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints @0xab54c59699f8f9f3 {
+  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
+  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
+  curPos @6 :ECEFPoint;
+  points @7 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  speedLimit @4 :Float32;
+  accelTarget @5 :Float32;
+}
+
+struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+  speed @3 :Float32;
+  acceleration @4 :Float32;
+  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
+  points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
+}
+
+struct UiNavigationEvent @0x90c8426c3eaddd3b {
+  type @0: Type;
+  status @1: Status;
+  distanceTo @2: Float32;
+  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
+  endRoadPoint @4: ECEFPoint;
+
+  enum Type @0xe8db07dcf8fcea05 {
+    none @0;
+    laneChangeLeft @1;
+    laneChangeRight @2;
+    mergeLeft @3;
+    mergeRight @4;
+    turnLeft @5;
+    turnRight @6;
+  }
+
+  enum Status @0xb9aa88c75ef99a1f {
+    none @0;
+    passive @1;
+    approaching @2;
+    active @3;
+  }
+}
+
+struct LiveLocationData @0xb99b2bc7a57e8128 {
+  status @0 :UInt8;
+
+  # 3D fix
+  lat @1 :Float64;
+  lon @2 :Float64;
+  alt @3 :Float32;     # m
+
+  # speed
+  speed @4 :Float32;   # m/s
+
+  # NED velocity components
+  vNED @5 :List(Float32);
+
+  # roll, pitch, heading (x,y,z)
+  roll @6 :Float32;     # WRT to center of earth?
+  pitch @7 :Float32;    # WRT to center of earth?
+  heading @8 :Float32;  # WRT to north?
+
+  # what are these?
+  wanderAngle @9 :Float32;
+  trackAngle @10 :Float32;
+
+  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
+
+  # gyro, in car frame, deg/s
+  gyro @11 :List(Float32);
+
+  # accel, in car frame, m/s^2
+  accel @12 :List(Float32);
+
+  accuracy @13 :Accuracy;
+
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);
+  pitchCalibration @20 :Float32;
+  yawCalibration @21 :Float32;
+  imuFrame @22 :List(Float32);
+
+  struct Accuracy @0x943dc4625473b03f {
+    pNEDError @0 :List(Float32);
+    vNEDError @1 :List(Float32);
+    rollError @2 :Float32;
+    pitchError @3 :Float32;
+    headingError @4 :Float32;
+    ellipsoidSemiMajorError @5 :Float32;
+    ellipsoidSemiMinorError @6 :Float32;
+    ellipsoidOrientationError @7 :Float32;
+  }
+
+  enum SensorSource @0xc871d3cc252af657 {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
+    dummy @4;
+  }
+}
+
+struct OrbOdometry @0xd7700859ed1f5b76 {
+  # timing first
+  startMonoTime @0 :UInt64;
+  endMonoTime @1 :UInt64;
+
+  # fundamental matrix and error
+  f @2: List(Float64);
+  err @3: Float64;
+
+  # number of inlier points
+  inliers @4: Int32;
+
+  # for debug only
+  # indexed by endMonoTime features
+  # value is startMonoTime feature match
+  # -1 if no match
+  matches @5: List(Int16);
+}
+
+struct OrbFeatures @0xcd60164a8a0159ef {
+  timestampEof @0 :UInt64;
+  # transposed arrays of normalized image coordinates
+  # len(xs) == len(ys) == len(descriptors) * 32
+  xs @1 :List(Float32);
+  ys @2 :List(Float32);
+  descriptors @3 :Data;
+  octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
+}
+
+struct OrbFeaturesSummary @0xd500d30c5803fa4f {
+  timestampEof @0 :UInt64;
+  timestampLastEof @1 :UInt64;
+
+  featureCount @2 :UInt16;
+  matchCount @3 :UInt16;
+  computeNs @4 :UInt64;
+}
+
+struct OrbKeyFrame @0xc8233c0345e27e24 {
+  # this is a globally unique id for the KeyFrame
+  id @0: UInt64;
+
+  # this is the location of the KeyFrame
+  pos @1: ECEFPoint;
+
+  # these are the features in the world
+  # len(dpos) == len(descriptors) * 32
+  dpos @2 :List(ECEFPoint);
+  descriptors @3 :Data;
+}
+
+struct KalmanOdometry @0x92e21bb7ea38793a {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct OrbObservation @0x9b326d4e436afec7 {
+  observationMonoTime @0 :UInt64;
+  normalizedCoordinates @1 :List(Float32);
+  locationECEF @2 :List(Float64);
+  matchDistance @3: UInt32;
+}
+
+struct CalibrationFeatures @0x8fdfadb254ea867a {
+  frameId @0 :UInt32;
+
+  p0 @1 :List(Float32);
+  p1 @2 :List(Float32);
+  status @3 :List(Int8);
+}
+
+struct NavStatus @0xbd8822120928120c {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address @0xce7cd672cacc7814 {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
+struct NavUpdate @0xdb98be6565516acb {
+  isNavigating @0 :Bool;
+  curSegment @1 :Int32;
+  segments @2 :List(Segment);
+
+  struct LatLng @0x9eaef9187cadbb9b {
+    lat @0 :Float64;
+    lng @1 :Float64;
+  }
+
+  struct Segment @0xa5b39b4fc4d7da3f {
+    from @0 :LatLng;
+    to @1 :LatLng;
+    updateTime @2 :Int32;
+    distance @3 :Int32;
+    crossTime @4 :Int32;
+    exitNo @5 :Int32;
+    instruction @6 :Instruction;
+
+    parts @7 :List(LatLng);
+
+    enum Instruction @0xc5417a637451246f {
+      turnLeft @0;
+      turnRight @1;
+      keepLeft @2;
+      keepRight @3;
+      straight @4;
+      roundaboutExitNumber @5;
+      roundaboutExit @6;
+      roundaboutTurnLeft @7;
+      unkn8 @8;
+      roundaboutStraight @9;
+      unkn10 @10;
+      roundaboutTurnRight @11;
+      unkn12 @12;
+      roundaboutUturn @13;
+      unkn14 @14;
+      arrive @15;
+      exitLeft @16;
+      exitRight @17;
+      unkn18 @18;
+      uturn @19;
+      # ...
+    }
+  }
+}
+
+struct TrafficEvent @0xacfa74a094e62626 {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type @0xd85d75253435bf4b {
+    stopSign @0;
+    lightRed @1;
+    lightYellow @2;
+    lightGreen @3;
+    stopLight @4;
+  }
+
+  enum Action @0xa6f6ce72165ccb49 {
+    none @0;
+    yield @1;
+    stop @2;
+    resumeReady @3;
+  }
+
+}
+
+
+struct AndroidGnss @0xdfdf30d03fc485bd {
+  union {
+    measurements @0 :Measurements;
+    navigationMessage @1 :NavigationMessage;
+  }
+
+  struct Measurements @0xa20710d4f428d6cd {
+    clock @0 :Clock;
+    measurements @1 :List(Measurement);
+
+    struct Clock @0xa0e27b453a38f450 {
+      timeNanos @0 :Int64;
+      hardwareClockDiscontinuityCount @1 :Int32;
+
+      hasTimeUncertaintyNanos @2 :Bool;
+      timeUncertaintyNanos @3 :Float64;
+
+      hasLeapSecond @4 :Bool;
+      leapSecond @5 :Int32;
+
+      hasFullBiasNanos @6 :Bool;
+      fullBiasNanos @7 :Int64;
+
+      hasBiasNanos @8 :Bool;
+      biasNanos @9 :Float64;
+
+      hasBiasUncertaintyNanos @10 :Bool;
+      biasUncertaintyNanos @11 :Float64;
+
+      hasDriftNanosPerSecond @12 :Bool;
+      driftNanosPerSecond @13 :Float64;
+
+      hasDriftUncertaintyNanosPerSecond @14 :Bool;
+      driftUncertaintyNanosPerSecond @15 :Float64;
+    }
+
+    struct Measurement @0xd949bf717d77614d {
+      svId @0 :Int32;
+      constellation @1 :Constellation;
+
+      timeOffsetNanos @2 :Float64;
+      state @3 :Int32;
+      receivedSvTimeNanos @4 :Int64;
+      receivedSvTimeUncertaintyNanos @5 :Int64;
+      cn0DbHz @6 :Float64;
+      pseudorangeRateMetersPerSecond @7 :Float64;
+      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
+      accumulatedDeltaRangeState @9 :Int32;
+      accumulatedDeltaRangeMeters @10 :Float64;
+      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
+
+      hasCarrierFrequencyHz @12 :Bool;
+      carrierFrequencyHz @13 :Float32;
+      hasCarrierCycles @14 :Bool;
+      carrierCycles @15 :Int64;
+      hasCarrierPhase @16 :Bool;
+      carrierPhase @17 :Float64;
+      hasCarrierPhaseUncertainty @18 :Bool;
+      carrierPhaseUncertainty @19 :Float64;
+      hasSnrInDb @20 :Bool;
+      snrInDb @21 :Float64;
+
+      multipathIndicator @22 :MultipathIndicator;
+
+      enum Constellation @0x9ef1f3ff0deb5ffb {
+        unknown @0;
+        gps @1;
+        sbas @2;
+        glonass @3;
+        qzss @4;
+        beidou @5;
+        galileo @6;
+      }
+
+      enum State @0xcbb9490adce12d72 {
+        unknown @0;
+        codeLock @1;
+        bitSync @2;
+        subframeSync @3;
+        towDecoded @4;
+        msecAmbiguous @5;
+        symbolSync @6;
+        gloStringSync @7;
+        gloTodDecoded @8;
+        bdsD2BitSync @9;
+        bdsD2SubframeSync @10;
+        galE1bcCodeLock @11;
+        galE1c2ndCodeLock @12;
+        galE1bPageSync @13;
+        sbasSync @14;
+      }
+
+      enum MultipathIndicator @0xc04e7b6231d4caa8 {
+        unknown @0;
+        detected @1;
+        notDetected @2;
+      }
+    }
+  }
+
+  struct NavigationMessage @0xe2517b083095fd4e {
+    type @0 :Int32;
+    svId @1 :Int32;
+    messageId @2 :Int32;
+    submessageId @3 :Int32;
+    data @4 :Data;
+    status @5 :Status;
+
+    enum Status @0xec1ff7996b35366f {
+      unknown @0;
+      parityPassed @1;
+      parityRebuilt @2;
+    }
+  }
+}
+
+struct QcomGnss @0xde94674b07ae51c1 {
+  logTs @0 :UInt64;
+  union {
+    measurementReport @1 :MeasurementReport;
+    clockReport @2 :ClockReport;
+    drMeasurementReport @3 :DrMeasurementReport;
+    drSvPoly @4 :DrSvPolyReport;
+    rawLog @5 :Data;
+  }
+
+  enum MeasurementSource @0xd71a12b6faada7ee {
+    gps @0;
+    glonass @1;
+    beidou @2;
+  }
+
+  enum SVObservationState @0xe81e829a0d6c83e9 {
+    idle @0;
+    search @1;
+    searchVerify @2;
+    bitEdge @3;
+    trackVerify @4;
+    track @5;
+    restart @6;
+    dpo @7;
+    glo10msBe @8;
+    glo10msAt @9;
+  }
+
+  struct MeasurementStatus @0xe501010e1bcae83b {
+    subMillisecondIsValid @0 :Bool;
+    subBitTimeIsKnown @1 :Bool;
+    satelliteTimeIsKnown @2 :Bool;
+    bitEdgeConfirmedFromSignal @3 :Bool;
+    measuredVelocity @4 :Bool;
+    fineOrCoarseVelocity @5 :Bool;
+    lockPointValid @6 :Bool;
+    lockPointPositive @7 :Bool;
+    lastUpdateFromDifference @8 :Bool;
+    lastUpdateFromVelocityDifference @9 :Bool;
+    strongIndicationOfCrossCorelation @10 :Bool;
+    tentativeMeasurement @11 :Bool;
+    measurementNotUsable @12 :Bool;
+    sirCheckIsNeeded @13 :Bool;
+    probationMode @14 :Bool;
+
+    glonassMeanderBitEdgeValid @15 :Bool;
+    glonassTimeMarkValid @16 :Bool;
+
+    gpsRoundRobinRxDiversity @17 :Bool;
+    gpsRxDiversity @18 :Bool;
+    gpsLowBandwidthRxDiversityCombined @19 :Bool;
+    gpsHighBandwidthNu4 @20 :Bool;
+    gpsHighBandwidthNu8 @21 :Bool;
+    gpsHighBandwidthUniform @22 :Bool;
+    multipathIndicator @23 :Bool;
+
+    imdJammingIndicator @24 :Bool;
+    lteB13TxJammingIndicator @25 :Bool;
+    freshMeasurementIndicator @26 :Bool;
+
+    multipathEstimateIsValid @27 :Bool;
+    directionIsValid @28 :Bool;
+  }
+
+  struct MeasurementReport @0xf580d7d86b7b8692 {
+    source @0 :MeasurementSource;
+
+    fCount @1 :UInt32;
+
+    gpsWeek @2 :UInt16;
+    glonassCycleNumber @3 :UInt8;
+    glonassNumberOfDays @4 :UInt16;
+
+    milliseconds @5 :UInt32;
+    timeBias @6 :Float32;
+    clockTimeUncertainty @7 :Float32;
+    clockFrequencyBias @8 :Float32;
+    clockFrequencyUncertainty @9 :Float32;
+
+    sv @10 :List(SV);
+
+    struct SV @0xf10c595ae7bb2c27 {
+      svId @0 :UInt8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      gpsParityErrorCount @5 :UInt16;
+      glonassFrequencyIndex @1 :Int8;
+      glonassHemmingErrorCount @6 :UInt8;
+      filterStages @7 :UInt8;
+      carrierNoise @8 :UInt16;
+      latency @9 :Int16;
+      predetectInterval @10 :UInt8;
+      postdetections @11 :UInt16;
+
+      unfilteredMeasurementIntegral @12 :UInt32;
+      unfilteredMeasurementFraction @13 :Float32;
+      unfilteredTimeUncertainty @14 :Float32;
+      unfilteredSpeed @15 :Float32;
+      unfilteredSpeedUncertainty @16 :Float32;
+      measurementStatus @17 :MeasurementStatus;
+      multipathEstimate @18 :UInt32;
+      azimuth @19 :Float32;
+      elevation @20 :Float32;
+      carrierPhaseCyclesIntegral @21 :Int32;
+      carrierPhaseCyclesFraction @22 :UInt16;
+      fineSpeed @23 :Float32;
+      fineSpeedUncertainty @24 :Float32;
+      cycleSlipCount @25 :UInt8;
+    }
+
+  }
+
+  struct ClockReport @0xca965e4add8f4f0b {
+    hasFCount @0 :Bool;
+    fCount @1 :UInt32;
+
+    hasGpsWeek @2 :Bool;
+    gpsWeek @3 :UInt16;
+    hasGpsMilliseconds @4 :Bool;
+    gpsMilliseconds @5 :UInt32;
+    gpsTimeBias @6 :Float32;
+    gpsClockTimeUncertainty @7 :Float32;
+    gpsClockSource @8 :UInt8;
+
+    hasGlonassYear @9 :Bool;
+    glonassYear @10 :UInt8;
+    hasGlonassDay @11 :Bool;
+    glonassDay @12 :UInt16;
+    hasGlonassMilliseconds @13 :Bool;
+    glonassMilliseconds @14 :UInt32;
+    glonassTimeBias @15 :Float32;
+    glonassClockTimeUncertainty @16 :Float32;
+    glonassClockSource @17 :UInt8;
+
+    bdsWeek @18 :UInt16;
+    bdsMilliseconds @19 :UInt32;
+    bdsTimeBias @20 :Float32;
+    bdsClockTimeUncertainty @21 :Float32;
+    bdsClockSource @22 :UInt8;
+
+    galWeek @23 :UInt16;
+    galMilliseconds @24 :UInt32;
+    galTimeBias @25 :Float32;
+    galClockTimeUncertainty @26 :Float32;
+    galClockSource @27 :UInt8;
+
+    clockFrequencyBias @28 :Float32;
+    clockFrequencyUncertainty @29 :Float32;
+    frequencySource @30 :UInt8;
+    gpsLeapSeconds @31 :UInt8;
+    gpsLeapSecondsUncertainty @32 :UInt8;
+    gpsLeapSecondsSource @33 :UInt8;
+
+    gpsToGlonassTimeBiasMilliseconds @34 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
+    gpsToBdsTimeBiasMilliseconds @36 :Float32;
+    gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
+    bdsToGloTimeBiasMilliseconds @38 :Float32;
+    bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
+    gpsToGalTimeBiasMilliseconds @40 :Float32;
+    gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
+    galToGloTimeBiasMilliseconds @42 :Float32;
+    galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
+    galToBdsTimeBiasMilliseconds @44 :Float32;
+    galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
+
+    hasRtcTime @46 :Bool;
+    systemRtcTime @47 :UInt32;
+    fCountOffset @48 :UInt32;
+    lpmRtcCount @49 :UInt32;
+    clockResets @50 :UInt32;
+  }
+
+  struct DrMeasurementReport @0x8053c39445c6c75c {
+
+    reason @0 :UInt8;
+    seqNum @1 :UInt8;
+    seqMax @2 :UInt8;
+    rfLoss @3 :UInt16;
+
+    systemRtcValid @4 :Bool;
+    fCount @5 :UInt32;
+    clockResets @6 :UInt32;
+    systemRtcTime @7 :UInt64;
+
+    gpsLeapSeconds @8 :UInt8;
+    gpsLeapSecondsUncertainty @9 :UInt8;
+    gpsToGlonassTimeBiasMilliseconds @10 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
+
+    gpsWeek @12 :UInt16;
+    gpsMilliseconds @13 :UInt32;
+    gpsTimeBiasMs @14 :UInt32;
+    gpsClockTimeUncertaintyMs @15 :UInt32;
+    gpsClockSource @16 :UInt8;
+
+    glonassClockSource @17 :UInt8;
+    glonassYear @18 :UInt8;
+    glonassDay @19 :UInt16;
+    glonassMilliseconds @20 :UInt32;
+    glonassTimeBias @21 :Float32;
+    glonassClockTimeUncertainty @22 :Float32;
+
+    clockFrequencyBias @23 :Float32;
+    clockFrequencyUncertainty @24 :Float32;
+    frequencySource @25 :UInt8;
+
+    source @26 :MeasurementSource;
+
+    sv @27 :List(SV);
+
+    struct SV @0xf08b81df8cbf459c {
+      svId @0 :UInt8;
+      glonassFrequencyIndex @1 :Int8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      filterStages @5 :UInt8;
+      predetectInterval @6 :UInt8;
+      cycleSlipCount @7 :UInt8;
+      postdetections @8 :UInt16;
+
+      measurementStatus @9 :MeasurementStatus;
+
+      carrierNoise @10 :UInt16;
+      rfLoss @11 :UInt16;
+      latency @12 :Int16;
+
+      filteredMeasurementFraction @13 :Float32;
+      filteredMeasurementIntegral @14 :UInt32;
+      filteredTimeUncertainty @15 :Float32;
+      filteredSpeed @16 :Float32;
+      filteredSpeedUncertainty @17 :Float32;
+
+      unfilteredMeasurementFraction @18 :Float32;
+      unfilteredMeasurementIntegral @19 :UInt32;
+      unfilteredTimeUncertainty @20 :Float32;
+      unfilteredSpeed @21 :Float32;
+      unfilteredSpeedUncertainty @22 :Float32;
+
+      multipathEstimate @23 :UInt32;
+      azimuth @24 :Float32;
+      elevation @25 :Float32;
+      dopplerAcceleration @26 :Float32;
+      fineSpeed @27 :Float32;
+      fineSpeedUncertainty @28 :Float32;
+
+      carrierPhase @29 :Float64;
+      fCount @30 :UInt32;
+
+      parityErrorCount @31 :UInt16;
+      goodParity @32 :Bool;
+    }
+  }
+
+  struct DrSvPolyReport @0xb1fb80811a673270 {
+    svId @0 :UInt16;
+    frequencyIndex @1 :Int8;
+
+    hasPosition @2 :Bool;
+    hasIono @3 :Bool;
+    hasTropo @4 :Bool;
+    hasElevation @5 :Bool;
+    polyFromXtra @6 :Bool;
+    hasSbasIono @7 :Bool;
+
+    iode @8 :UInt16;
+    t0 @9 :Float64;
+    xyz0 @10 :List(Float64);
+    xyzN @11 :List(Float64);
+    other @12 :List(Float32);
+
+    positionUncertainty @13 :Float32;
+    ionoDelay @14 :Float32;
+    ionoDot @15 :Float32;
+    sbasIonoDelay @16 :Float32;
+    sbasIonoDot @17 :Float32;
+    tropoDelay @18 :Float32;
+    elevation @19 :Float32;
+    elevationDot @20 :Float32;
+    elevationUncertainty @21 :Float32;
+    velocityCoeff @22 :List(Float64);
+  }
+}
+
+struct LidarPts @0xe3d6685d4e9d8f7a {
+  r @0 :List(UInt16);        # uint16   m*500.0
+  theta @1 :List(UInt16);    # uint16 deg*100.0
+  reflect @2 :List(UInt8);   # uint8      0-255
+
+  # For storing out of file.
+  idx @3 :UInt64;
+
+  # For storing in file
+  pkt @4 :Data;
+}
+
+
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 46971d81a309e9..36976f6671489f 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1,11 +1,8 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Log");
-
 using Car = import "car.capnp";
+using Legacy = import "legacy.capnp";
 
 @0xf3b1f17e25a4285b;
 
@@ -22,6 +19,7 @@ struct Map(Key, Value) {
 struct InitData {
   kernelArgs @0 :List(Text);
   kernelVersion @15 :Text;
+  osVersion @18 :Text;
 
   gctx @1 :Text;
   dongleId @2 :Text;
@@ -32,25 +30,36 @@ struct InitData {
   gitBranch @11 :Text;
   gitRemote @13 :Text;
 
-  androidBuildInfo @5 :AndroidBuildInfo;
-  androidSensors @6 :List(AndroidSensor);
   androidProperties @16 :Map(Text, Text);
-  chffrAndroidExtra @7 :ChffrAndroidExtra;
-  iosBuildInfo @14 :IosBuildInfo;
 
   pandaInfo @8 :PandaInfo;
 
   dirty @9 :Bool;
   passive @12 :Bool;
-  params @17 :Map(Text, Text);
+  params @17 :Map(Text, Data);
 
   enum DeviceType {
     unknown @0;
     neo @1;
     chffrAndroid @2;
     chffrIos @3;
+    tici @4;
+    pc @5;
   }
 
+  struct PandaInfo {
+    hasPanda @0 :Bool;
+    dongleId @1 :Text;
+    stVersion @2 :Text;
+    espVersion @3 :Text;
+  }
+
+  # ***** deprecated stuff *****
+  androidBuildInfo @5 :AndroidBuildInfo;
+  androidSensorsDEPRECATED @6 :List(AndroidSensor);
+  chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra;
+  iosBuildInfoDEPRECATED @14 :IosBuildInfo;
+
   struct AndroidBuildInfo {
     board @0 :Text;
     bootloader @1 :Text;
@@ -105,35 +114,43 @@ struct InitData {
     osVersion @2 :Text;
     deviceModel @3 :Text;
   }
-
-  struct PandaInfo {
-    hasPanda @0 :Bool;
-    dongleId @1 :Text;
-    stVersion @2 :Text;
-    espVersion @3 :Text;
-  }
 }
 
 struct FrameData {
   frameId @0 :UInt32;
   encodeId @1 :UInt32; # DEPRECATED
-  timestampEof @2 :UInt64;
+
+  frameType @7 :FrameType;
   frameLength @3 :Int32;
+
+  # Timestamps
+  timestampEof @2 :UInt64;
+  timestampSof @8 :UInt64;
+
+  # Exposure
   integLines @4 :Int32;
-  globalGain @5 :Int32;
+  highConversionGain @20 :Bool;
+  gain @15 :Float32; # This includes highConversionGain if enabled
+  measuredGreyFraction @21 :Float32;
+  targetGreyFraction @22 :Float32;
+
+  # Focus
   lensPos @11 :Int32;
   lensSag @12 :Float32;
   lensErr @13 :Float32;
   lensTruePos @14 :Float32;
-  image @6 :Data;
-  gainFrac @15 :Float32;
+  focusVal @16 :List(Int16);
+  focusConf @17 :List(UInt8);
+  sharpnessScore @18 :List(UInt16);
+  recoverState @19 :Int32;
 
-  frameType @7 :FrameType;
-  timestampSof @8 :UInt64;
   transform @10 :List(Float32);
 
   androidCaptureResult @9 :AndroidCaptureResult;
 
+  image @6 :Data;
+  globalGainDEPRECATED @5 :Int32;
+
   enum FrameType {
     unknown @0;
     neo @1;
@@ -182,6 +199,7 @@ struct SensorEventData {
     gyroUncalibrated @12 :SensorVec;
     proximity @13: Float32;
     light @14: Float32;
+    temperature @15: Float32;
   }
   source @8 :SensorSource;
 
@@ -199,6 +217,10 @@ struct SensorEventData {
     lsm6ds3 @5;   # accelerometer (c2)
     bmp280 @6;    # barometer (c2)
     mmc3416x @7;  # magnetometer (c2)
+    bmx055 @8;
+    rpr0521 @9;
+    lsm6ds3trc @10;
+    mmc5603nj @11;
   }
 }
 
@@ -220,7 +242,7 @@ struct GpsLocationData {
   speed @4 :Float32;
 
   # Represents heading in degrees.
-  bearing @5 :Float32;
+  bearingDeg @5 :Float32;
 
   # Represents expected accuracy in meters. (presumably 1 sigma?)
   accuracy @6 :Float32;
@@ -238,7 +260,7 @@ struct GpsLocationData {
   verticalAccuracy @10 :Float32;
 
   # Represents bearing accuracy in degrees. (presumably 1 sigma?)
-  bearingAccuracy @11 :Float32;
+  bearingAccuracyDeg @11 :Float32;
 
   # Represents velocity accuracy in m/s. (presumably 1 sigma?)
   speedAccuracy @12 :Float32;
@@ -262,42 +284,47 @@ struct CanData {
   src     @3 :UInt8;
 }
 
-struct ThermalData {
-  cpu0 @0 :UInt16;
-  cpu1 @1 :UInt16;
-  cpu2 @2 :UInt16;
-  cpu3 @3 :UInt16;
-  mem @4 :UInt16;
-  gpu @5 :UInt16;
-  bat @6 :UInt32;
-  pa0 @21 :UInt16;
-
-  # not thermal
-  freeSpace @7 :Float32;
-  batteryPercent @8 :Int16;
-  batteryStatus @9 :Text;
-  batteryCurrent @15 :Int32;
-  batteryVoltage @16 :Int32;
+struct DeviceState @0xa4d8b5af2aa492eb {
   usbOnline @12 :Bool;
   networkType @22 :NetworkType;
-  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
+  networkInfo @31 :NetworkInfo;
+  networkStrength @24 :NetworkStrength;
+  lastAthenaPingTime @32 :UInt64;
 
-  fanSpeed @10 :UInt16;
   started @11 :Bool;
-  startedTs @13 :UInt64;
+  startedMonoTime @13 :UInt64;
 
-  thermalStatus @14 :ThermalStatus;
+  # system utilization
+  freeSpacePercent @7 :Float32;
+  memoryUsagePercent @19 :Int8;
+  gpuUsagePercent @33 :Int8;
+  cpuUsagePercent @34 :List(Int8);  # per-core cpu usage
+
+  # power
+  batteryPercent @8 :Int16;
+  batteryCurrent @15 :Int32;
   chargingError @17 :Bool;
   chargingDisabled @18 :Bool;
+  offroadPowerUsageUwh @23 :UInt32;
+  carBatteryCapacityUwh @25 :UInt32;
+
+  # device thermals
+  cpuTempC @26 :List(Float32);
+  gpuTempC @27 :List(Float32);
+  memoryTempC @28 :Float32;
+  ambientTempC @30 :Float32;
+  nvmeTempC @35 :List(Float32);
+  modemTempC @36 :List(Float32);
+  thermalStatus @14 :ThermalStatus;
 
-  memUsedPercent @19 :Int8;
-  cpuPerc @20 :Int8;
+  fanSpeedPercentDesired @10 :UInt16;
+  screenBrightnessPercent @37 :Int8;
 
   enum ThermalStatus {
-    green @0;   # all processes run
-    yellow @1;  # critical processes run (kill uploader), engage still allowed
-    red @2;     # no engage, will disengage
-    danger @3;  # immediate process shutdown
+    green @0;
+    yellow @1;
+    red @2;
+    danger @3;
   }
 
   enum NetworkType {
@@ -307,31 +334,59 @@ struct ThermalData {
     cell3G @3;
     cell4G @4;
     cell5G @5;
+    ethernet @6;
   }
+
+  enum NetworkStrength {
+    unknown @0;
+    poor @1;
+    moderate @2;
+    good @3;
+    great @4;
+  }
+
+  struct NetworkInfo {
+    technology @0 :Text;
+    operator @1 :Text;
+    band @2 :Text;
+    channel @3 :UInt16;
+    extra @4 :Text;
+    state @5 :Text;
+  }
+
+  # deprecated
+  cpu0DEPRECATED @0 :UInt16;
+  cpu1DEPRECATED @1 :UInt16;
+  cpu2DEPRECATED @2 :UInt16;
+  cpu3DEPRECATED @3 :UInt16;
+  memDEPRECATED @4 :UInt16;
+  gpuDEPRECATED @5 :UInt16;
+  batDEPRECATED @6 :UInt32;
+  pa0DEPRECATED @21 :UInt16;
+  cpuUsagePercentDEPRECATED @20 :Int8;
+  batteryStatusDEPRECATED @9 :Text;
+  batteryVoltageDEPRECATED @16 :Int32;
+  batteryTempCDEPRECATED @29 :Float32;
 }
 
-struct HealthData {
-  # from can health
-  voltage @0 :UInt32;
-  current @1 :UInt32;
+struct PandaState @0xa7649e2575e4591e {
   ignitionLine @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
-  startedSignalDetectedDeprecated @5 :Bool;
-  hasGps @6 :Bool;
   canSendErrs @7 :UInt32;
   canFwdErrs @8 :UInt32;
   canRxErrs @19 :UInt32;
   gmlanSendErrs @9 :UInt32;
-  hwType @10 :HwType;
-  fanSpeedRpm @11 :UInt16;
-  usbPowerMode @12 :UsbPowerMode;
+  pandaType @10 :PandaType;
   ignitionCan @13 :Bool;
   safetyModel @14 :Car.CarParams.SafetyModel;
+  safetyParam @20 :Int16;
   faultStatus @15 :FaultStatus;
   powerSaveEnabled @16 :Bool;
   uptime @17 :UInt32;
   faults @18 :List(FaultType);
+  harnessStatus @21 :HarnessStatus;
+  heartbeatLost @22 :Bool;
 
   enum FaultStatus {
     none @0;
@@ -341,18 +396,63 @@ struct HealthData {
 
   enum FaultType {
     relayMalfunction @0;
-  }
-
-  enum HwType {
+    unusedInterruptHandled @1;
+    interruptRateCan1 @2;
+    interruptRateCan2 @3;
+    interruptRateCan3 @4;
+    interruptRateTach @5;
+    interruptRateGmlan @6;
+    interruptRateInterrupts @7;
+    interruptRateSpiDma @8;
+    interruptRateSpiCs @9;
+    interruptRateUart1 @10;
+    interruptRateUart2 @11;
+    interruptRateUart3 @12;
+    interruptRateUart5 @13;
+    interruptRateUartDma @14;
+    interruptRateUsb @15;
+    interruptRateTim1 @16;
+    interruptRateTim3 @17;
+    registerDivergent @18;
+    interruptRateKlineInit @19;
+    interruptRateClockSource @20;
+    interruptRateTick @21;
+    # Update max fault type in boardd when adding faults
+  }
+
+  enum PandaType @0x8a58adf93e5b3751 {
     unknown @0;
     whitePanda @1;
     greyPanda @2;
     blackPanda @3;
     pedal @4;
     uno @5;
+    dos @6;
+    redPanda @7;
   }
 
-  enum UsbPowerMode {
+  enum HarnessStatus {
+    notConnected @0;
+    normal @1;
+    flipped @2;
+  }
+
+  startedSignalDetectedDEPRECATED @5 :Bool;
+  voltageDEPRECATED @0 :UInt32;
+  currentDEPRECATED @1 :UInt32;
+  hasGpsDEPRECATED @6 :Bool;
+  fanSpeedRpmDEPRECATED @11 :UInt16;
+  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerMode;
+}
+
+struct PeripheralState {
+  pandaType @0 :PandaState.PandaType;
+  voltage @1 :UInt32;
+  current @2 :UInt32;
+  fanSpeedRpm @3 :UInt16;
+  usbPowerMode @4 :UsbPowerMode;
+
+  enum UsbPowerMode @0xa8883583b32c9877 {
     none @0;
     client @1;
     cdp @2;
@@ -360,27 +460,12 @@ struct HealthData {
   }
 }
 
-struct LiveUI {
-  rearViewCam @0 :Bool;
-  alertText1 @1 :Text;
-  alertText2 @2 :Text;
-  awarenessStatus @3 :Float32;
-}
-
 struct RadarState @0x9a185389d6fdd05f {
   canMonoTimes @10 :List(UInt64);
   mdMonoTime @6 :UInt64;
-  ftMonoTimeDEPRECATED @7 :UInt64;
-  controlsStateMonoTime @11 :UInt64;
+  carStateMonoTime @11 :UInt64;
   radarErrors @12 :List(Car.RadarData.Error);
 
-  # all deprecated
-  warpMatrixDEPRECATED @0 :List(Float32);
-  angleOffsetDEPRECATED @1 :Float32;
-  calStatusDEPRECATED @2 :Int8;
-  calCycleDEPRECATED @8 :Int32;
-  calPercDEPRECATED @9 :Int8;
-
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
   cumLagMs @5 :Float32;
@@ -391,7 +476,6 @@ struct RadarState @0x9a185389d6fdd05f {
     vRel @2 :Float32;
     aRel @3 :Float32;
     vLead @4 :Float32;
-    aLeadDEPRECATED @5 :Float32;
     dPath @6 :Float32;
     vLat @7 :Float32;
     vLeadK @8 :Float32;
@@ -401,24 +485,35 @@ struct RadarState @0x9a185389d6fdd05f {
     aLeadTau @12 :Float32;
     modelProb @13 :Float32;
     radar @14 :Bool;
+
+    aLeadDEPRECATED @5 :Float32;
   }
+
+  # deprecated
+  ftMonoTimeDEPRECATED @7 :UInt64;
+  warpMatrixDEPRECATED @0 :List(Float32);
+  angleOffsetDEPRECATED @1 :Float32;
+  calStatusDEPRECATED @2 :Int8;
+  calCycleDEPRECATED @8 :Int32;
+  calPercDEPRECATED @9 :Int8;
 }
 
 struct LiveCalibrationData {
-  # deprecated
-  warpMatrix @0 :List(Float32);
-  # camera_frame_from_model_frame
-  warpMatrix2 @5 :List(Float32);
-  warpMatrixBig @6 :List(Float32);
   calStatus @1 :Int8;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
+  validBlocks @9 :Int32;
 
   # view_frame_from_road_frame
   # ui's is inversed needs new
   extrinsicMatrix @4 :List(Float32);
   # the direction of travel vector in device frame
   rpyCalib @7 :List(Float32);
+  rpyCalibSpread @8 :List(Float32);
+
+  warpMatrixDEPRECATED @0 :List(Float32);
+  warpMatrix2DEPRECATED @5 :List(Float32);
+  warpMatrixBigDEPRECATED @6 :List(Float32);
 }
 
 struct LiveTracks {
@@ -435,73 +530,45 @@ struct LiveTracks {
 }
 
 struct ControlsState @0x97ff69c53601abf1 {
-  canMonoTimeDEPRECATED @16 :UInt64;
+  startMonoTime @48 :UInt64;
   canMonoTimes @21 :List(UInt64);
-  radarStateMonoTimeDEPRECATED @17 :UInt64;
-  mdMonoTimeDEPRECATED @18 :UInt64;
-  planMonoTime @28 :UInt64;
-  pathPlanMonoTime @50 :UInt64;
+  longitudinalPlanMonoTime @28 :UInt64;
+  lateralPlanMonoTime @50 :UInt64;
 
   state @31 :OpenpilotState;
-  vEgo @0 :Float32;
-  vEgoRaw @32 :Float32;
-  aEgoDEPRECATED @1 :Float32;
-  longControlState @30 :LongControlState;
+  enabled @19 :Bool;
+  active @36 :Bool;
+
+  longControlState @30 :Car.CarControl.Actuators.LongControlState;
   vPid @2 :Float32;
   vTargetLead @3 :Float32;
+  vCruise @22 :Float32;
   upAccelCmd @4 :Float32;
   uiAccelCmd @5 :Float32;
   ufAccelCmd @33 :Float32;
-  yActualDEPRECATED @6 :Float32;
-  yDesDEPRECATED @7 :Float32;
-  upSteerDEPRECATED @8 :Float32;
-  uiSteerDEPRECATED @9 :Float32;
-  ufSteerDEPRECATED @34 :Float32;
-  aTargetMinDEPRECATED @10 :Float32;
-  aTargetMaxDEPRECATED @11 :Float32;
   aTarget @35 :Float32;
-  jerkFactor @12 :Float32;
-  angleSteers @13 :Float32;     # Steering angle in degrees.
-  angleSteersDes @29 :Float32;
-  curvature @37 :Float32;       # path curvature from vehicle model
-  hudLeadDEPRECATED @14 :Int32;
-  cumLagMs @15 :Float32;
-  startMonoTime @48 :UInt64;
-  mapValid @49 :Bool;
+  curvature @37 :Float32;  # path curvature from vehicle model
   forceDecel @51 :Bool;
 
-  enabled @19 :Bool;
-  active @36 :Bool;
-  steerOverride @20 :Bool;
-
-  vCruise @22 :Float32;
-
-  rearViewCam @23 :Bool;
+  # UI alerts
   alertText1 @24 :Text;
   alertText2 @25 :Text;
   alertStatus @38 :AlertStatus;
   alertSize @39 :AlertSize;
   alertBlinkingRate @42 :Float32;
   alertType @44 :Text;
-  alertSoundDEPRECATED @45 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
-  awarenessStatus @26 :Float32;
-  angleModelBiasDEPRECATED @27 :Float32;
-  gpsPlannerActive @40 :Bool;
   engageable @41 :Bool;  # can OP be engaged?
-  driverMonitoringOn @43 :Bool;
-
-  # maps
-  vCurvature @46 :Float32;
-  decelForTurn @47 :Bool;
 
-  decelForModel @54 :Bool;
+  cumLagMs @15 :Float32;
   canErrorCounter @57 :UInt32;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
     lqrState @55 :LateralLQRState;
+    angleState @58 :LateralAngleState;
+    debugState @59 :LateralDebugState;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -511,16 +578,9 @@ struct ControlsState @0x97ff69c53601abf1 {
     softDisabling @3;
   }
 
-  enum LongControlState {
-    off @0;
-    pid @1;
-    stopping @2;
-    starting @3;
-  }
-
   enum AlertStatus {
     normal @0;       # low priority alert for user's convenience
-    userPrompt @1;   # mid piority alert that might require user intervention
+    userPrompt @1;   # mid priority alert that might require user intervention
     critical @2;     # high priority alert that needs immediate user intervention
   }
 
@@ -533,9 +593,9 @@ struct ControlsState @0x97ff69c53601abf1 {
 
   struct LateralINDIState {
     active @0 :Bool;
-    steerAngle @1 :Float32;
-    steerRate @2 :Float32;
-    steerAccel @3 :Float32;
+    steeringAngleDeg @1 :Float32;
+    steeringRateDeg @2 :Float32;
+    steeringAccelDeg @3 :Float32;
     rateSetPoint @4 :Float32;
     accelSetPoint @5 :Float32;
     accelError @6 :Float32;
@@ -547,8 +607,8 @@ struct ControlsState @0x97ff69c53601abf1 {
 
   struct LateralPIDState {
     active @0 :Bool;
-    steerAngle @1 :Float32;
-    steerRate @2 :Float32;
+    steeringAngleDeg @1 :Float32;
+    steeringRateDeg @2 :Float32;
     angleError @3 :Float32;
     p @4 :Float32;
     i @5 :Float32;
@@ -559,87 +619,150 @@ struct ControlsState @0x97ff69c53601abf1 {
 
   struct LateralLQRState {
     active @0 :Bool;
-    steerAngle @1 :Float32;
+    steeringAngleDeg @1 :Float32;
     i @2 :Float32;
     output @3 :Float32;
     lqrOutput @4 :Float32;
     saturated @5 :Bool;
-   }
+  }
 
+  struct LateralAngleState {
+    active @0 :Bool;
+    steeringAngleDeg @1 :Float32;
+    output @2 :Float32;
+    saturated @3 :Bool;
+  }
 
-}
+  struct LateralDebugState {
+    active @0 :Bool;
+    steeringAngleDeg @1 :Float32;
+    output @2 :Float32;
+    saturated @3 :Bool;
+  }
 
-struct LiveEventData {
-  name @0 :Text;
-  value @1 :Int32;
+  # deprecated
+  vEgoDEPRECATED @0 :Float32;
+  vEgoRawDEPRECATED @32 :Float32;
+  aEgoDEPRECATED @1 :Float32;
+  canMonoTimeDEPRECATED @16 :UInt64;
+  radarStateMonoTimeDEPRECATED @17 :UInt64;
+  mdMonoTimeDEPRECATED @18 :UInt64;
+  yActualDEPRECATED @6 :Float32;
+  yDesDEPRECATED @7 :Float32;
+  upSteerDEPRECATED @8 :Float32;
+  uiSteerDEPRECATED @9 :Float32;
+  ufSteerDEPRECATED @34 :Float32;
+  aTargetMinDEPRECATED @10 :Float32;
+  aTargetMaxDEPRECATED @11 :Float32;
+  rearViewCamDEPRECATED @23 :Bool;
+  driverMonitoringOnDEPRECATED @43 :Bool;
+  hudLeadDEPRECATED @14 :Int32;
+  alertSoundDEPRECATED @45 :Text;
+  angleModelBiasDEPRECATED @27 :Float32;
+  gpsPlannerActiveDEPRECATED @40 :Bool;
+  decelForTurnDEPRECATED @47 :Bool;
+  decelForModelDEPRECATED @54 :Bool;
+  awarenessStatusDEPRECATED @26 :Float32;
+  angleSteersDEPRECATED @13 :Float32;
+  vCurvatureDEPRECATED @46 :Float32;
+  mapValidDEPRECATED @49 :Bool;
+  jerkFactorDEPRECATED @12 :Float32;
+  steerOverrideDEPRECATED @20 :Bool;
+  steeringAngleDesiredDegDEPRECATED @29 :Float32;
 }
 
-struct ModelData {
+struct ModelDataV2 {
   frameId @0 :UInt32;
-  timestampEof @9 :UInt64;
-
-  path @1 :PathData;
-  leftLane @2 :PathData;
-  rightLane @3 :PathData;
-  lead @4 :LeadData;
-  freePath @6 :List(Float32);
-
-  settings @5 :ModelSettings;
-  leadFuture @7 :LeadData;
-  speed @8 :List(Float32);
-  meta @10 :MetaData;
-  longitudinal @11 :LongitudinalData;
-
-  struct PathData {
-    points @0 :List(Float32);
-    prob @1 :Float32;
-    std @2 :Float32;
-    stds @3 :List(Float32);
-    poly @4 :List(Float32);
+  frameAge @1 :UInt32;
+  frameDropPerc @2 :Float32;
+  timestampEof @3 :UInt64;
+  modelExecutionTime @15 :Float32;
+  gpuExecutionTime @17 :Float32;
+  rawPredictions @16 :Data;
+
+  # predicted future position, orientation, etc..
+  position @4 :XYZTData;
+  orientation @5 :XYZTData;
+  velocity @6 :XYZTData;
+  orientationRate @7 :XYZTData;
+  acceleration @19 :XYZTData;
+
+  # prediction lanelines and road edges
+  laneLines @8 :List(XYZTData);
+  laneLineProbs @9 :List(Float32);
+  laneLineStds @13 :List(Float32);
+  roadEdges @10 :List(XYZTData);
+  roadEdgeStds @14 :List(Float32);
+
+  # predicted lead cars
+  leads @11 :List(LeadDataV2);
+  leadsV3 @18 :List(LeadDataV3);
+
+  meta @12 :MetaData;
+
+  # All SI units and in device frame
+  struct XYZTData {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    z @2 :List(Float32);
+    t @3 :List(Float32);
+    xStd @4 :List(Float32);
+    yStd @5 :List(Float32);
+    zStd @6 :List(Float32);
   }
 
-  struct LeadData {
-    dist @0 :Float32;
-    prob @1 :Float32;
-    std @2 :Float32;
-    relVel @3 :Float32;
-    relVelStd @4 :Float32;
-    relY @5 :Float32;
-    relYStd @6 :Float32;
-    relA @7 :Float32;
-    relAStd @8 :Float32;
+  struct LeadDataV2 {
+    prob @0 :Float32; # probability that car is your lead at time t
+    t @1 :Float32;
+
+    # x and y are relative position in device frame
+    # v is norm relative speed
+    # a is norm relative acceleration
+    xyva @2 :List(Float32);
+    xyvaStd @3 :List(Float32);
   }
 
-  struct ModelSettings {
-    bigBoxX @0 :UInt16;
-    bigBoxY @1 :UInt16;
-    bigBoxWidth @2 :UInt16;
-    bigBoxHeight @3 :UInt16;
-    boxProjection @4 :List(Float32);
-    yuvCorrection @5 :List(Float32);
-    inputTransform @6 :List(Float32);
+  struct LeadDataV3 {
+    prob @0 :Float32; # probability that car is your lead at time t
+    probTime @1 :Float32;
+    t @2 :List(Float32);
+
+    # x and y are relative position in device frame
+    # v absolute norm speed
+    # a is derivative of v
+    x @3 :List(Float32);
+    xStd @4 :List(Float32);
+    y @5 :List(Float32);
+    yStd @6 :List(Float32);
+    v @7 :List(Float32);
+    vStd @8 :List(Float32);
+    a @9 :List(Float32);
+    aStd @10 :List(Float32);
   }
 
+
   struct MetaData {
     engagedProb @0 :Float32;
     desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
-  }
+    desireState @5 :List(Float32);
+    disengagePredictions @6 :DisengagePredictions;
+    hardBrakePredicted @7 :Bool;
 
-  struct LongitudinalData {
-    speeds @0 :List(Float32);
-    accelerations @1 :List(Float32);
+    # deprecated
+    brakeDisengageProbDEPRECATED @2 :Float32;
+    gasDisengageProbDEPRECATED @3 :Float32;
+    steerOverrideProbDEPRECATED @4 :Float32;
   }
-}
-
-struct CalibrationFeatures {
-  frameId @0 :UInt32;
 
-  p0 @1 :List(Float32);
-  p1 @2 :List(Float32);
-  status @3 :List(Int8);
+  struct DisengagePredictions {
+    t @0 :List(Float32);
+    brakeDisengageProbs @1 :List(Float32);
+    gasDisengageProbs @2 :List(Float32);
+    steerOverrideProbs @3 :List(Float32);
+    brake3MetersPerSecondSquaredProbs @4 :List(Float32);
+    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
+    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
+  }
 }
 
 struct EncodeIndex {
@@ -654,6 +777,8 @@ struct EncodeIndex {
   segmentId @4 :UInt32;
   # index into camera file in segment in encode order
   segmentIdEncode @5 :UInt32;
+  timestampSof @6 :UInt64;
+  timestampEof @7 :UInt64;
 
   enum Type {
     bigBoxLossless @0;   # rcamera.mkv
@@ -675,96 +800,78 @@ struct AndroidLogEntry {
   message @6 :Text;
 }
 
-struct LogRotate {
-  segmentNum @0 :Int32;
-  path @1 :Text;
-}
-
-struct Plan {
-  mdMonoTime @9 :UInt64;
-  radarStateMonoTime @10 :UInt64;
-  commIssue @31 :Bool;
-
-  eventsDEPRECATED @13 :List(Car.CarEvent);
-
-  # lateral, 3rd order polynomial
-  lateralValidDEPRECATED @0 :Bool;
-  dPolyDEPRECATED @1 :List(Float32);
-  laneWidthDEPRECATED @11 :Float32;
-
-  # longitudinal
-  longitudinalValidDEPRECATED @2 :Bool;
-  vCruise @16 :Float32;
-  aCruise @17 :Float32;
-  vTarget @3 :Float32;
-  vTargetFuture @14 :Float32;
-  vMax @20 :Float32;
-  aTargetMinDEPRECATED @4 :Float32;
-  aTargetMaxDEPRECATED @5 :Float32;
-  aTarget @18 :Float32;
-
-  vStart @26 :Float32;
-  aStart @27 :Float32;
-
-  jerkFactor @6 :Float32;
+struct LongitudinalPlan @0xe00b5b3eba12876c {
+  modelMonoTime @9 :UInt64;
   hasLead @7 :Bool;
-  hasLeftLaneDEPRECATED @23 :Bool;
-  hasRightLaneDEPRECATED @24 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
+  processingDelay @29 :Float32;
 
-  # gps trajectory in car frame
-  gpsTrajectory @12 :GpsTrajectory;
-
-  gpsPlannerActive @19 :Bool;
-
-  # maps
-  vCurvature @21 :Float32;
-  decelForTurn @22 :Bool;
-  mapValid @25 :Bool;
-  radarValid @28 :Bool;
-  radarCanError @30 :Bool;
+  # desired speed/accel/jerk over next 2.5s
+  accels @32 :List(Float32);
+  speeds @33 :List(Float32);
+  jerks @34 :List(Float32);
 
-  processingDelay @29 :Float32;
+  enum LongitudinalPlanSource {
+    cruise @0;
+    lead0 @1;
+    lead1 @2;
+    lead2 @3;
+    e2e @4;
+  }
 
+  # deprecated
+  vCruiseDEPRECATED @16 :Float32;
+  aCruiseDEPRECATED @17 :Float32;
+  vTargetDEPRECATED @3 :Float32;
+  vTargetFutureDEPRECATED @14 :Float32;
+  aTargetDEPRECATED @18 :Float32;
+  vStartDEPRECATED @26 :Float32;
+  aStartDEPRECATED @27 :Float32;
+  vMaxDEPRECATED @20 :Float32;
+  radarStateMonoTimeDEPRECATED @10 :UInt64;
+  jerkFactorDEPRECATED @6 :Float32;
+  hasLeftLaneDEPRECATED @23 :Bool;
+  hasRightLaneDEPRECATED @24 :Bool;
+  aTargetMinDEPRECATED @4 :Float32;
+  aTargetMaxDEPRECATED @5 :Float32;
+  lateralValidDEPRECATED @0 :Bool;
+  longitudinalValidDEPRECATED @2 :Bool;
+  dPolyDEPRECATED @1 :List(Float32);
+  laneWidthDEPRECATED @11 :Float32;
+  vCurvatureDEPRECATED @21 :Float32;
+  decelForTurnDEPRECATED @22 :Bool;
+  mapValidDEPRECATED @25 :Bool;
+  radarValidDEPRECATED @28 :Bool;
+  radarCanErrorDEPRECATED @30 :Bool;
+  commIssueDEPRECATED @31 :Bool;
+  eventsDEPRECATED @13 :List(Car.CarEvent);
+  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
+  gpsPlannerActiveDEPRECATED @19 :Bool;
 
   struct GpsTrajectory {
     x @0 :List(Float32);
     y @1 :List(Float32);
   }
-
-  enum LongitudinalPlanSource {
-    cruise @0;
-    mpc1 @1;
-    mpc2 @2;
-    mpc3 @3;
-    model @4;
-  }
 }
 
-struct PathPlan {
+struct LateralPlan @0xe1e9318e2ae8b51e {
   laneWidth @0 :Float32;
-
-  dPoly @1 :List(Float32);
-  cPoly @2 :List(Float32);
-  cProb @3 :Float32;
-  lPoly @4 :List(Float32);
   lProb @5 :Float32;
-  rPoly @6 :List(Float32);
   rProb @7 :Float32;
+  dPathPoints @20 :List(Float32);
+  dProb @21 :Float32;
 
-  angleSteers @8 :Float32; # deg
-  rateSteers @13 :Float32; # deg/s
   mpcSolutionValid @9 :Bool;
-  paramsValid @10 :Bool;
-  modelValidDEPRECATED @12 :Bool;
-  angleOffset @11 :Float32;
-  sensorValid @14 :Bool;
-  commIssue @15 :Bool;
-  posenetValid @16 :Bool;
   desire @17 :Desire;
   laneChangeState @18 :LaneChangeState;
   laneChangeDirection @19 :LaneChangeDirection;
+  useLaneLines @29 :Bool;
+
+  # desired curvatures over next 2.5s in rad/m
+  psis @26 :List(Float32);
+  curvatures @27 :List(Float32);
+  curvatureRates @28 :List(Float32);
 
   enum Desire {
     none @0;
@@ -788,593 +895,81 @@ struct PathPlan {
     left @1;
     right @2;
   }
-}
-
-struct LiveLocationData {
-  status @0 :UInt8;
-
-  # 3D fix
-  lat @1 :Float64;
-  lon @2 :Float64;
-  alt @3 :Float32;     # m
-
-  # speed
-  speed @4 :Float32;   # m/s
-
-  # NED velocity components
-  vNED @5 :List(Float32);
-
-  # roll, pitch, heading (x,y,z)
-  roll @6 :Float32;     # WRT to center of earth?
-  pitch @7 :Float32;    # WRT to center of earth?
-  heading @8 :Float32;  # WRT to north?
-
-  # what are these?
-  wanderAngle @9 :Float32;
-  trackAngle @10 :Float32;
-
-  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
-
-  # gyro, in car frame, deg/s
-  gyro @11 :List(Float32);
-
-  # accel, in car frame, m/s^2
-  accel @12 :List(Float32);
-
-  accuracy @13 :Accuracy;
-
-  source @14 :SensorSource;
-  # if we are fixing a location in the past
-  fixMonoTime @15 :UInt64;
-
-  gpsWeek @16 :Int32;
-  timeOfWeek @17 :Float64;
-
-  positionECEF @18 :List(Float64);
-  poseQuatECEF @19 :List(Float32);
-  pitchCalibration @20 :Float32;
-  yawCalibration @21 :Float32;
-  imuFrame @22 :List(Float32);
-
-  struct Accuracy {
-    pNEDError @0 :List(Float32);
-    vNEDError @1 :List(Float32);
-    rollError @2 :Float32;
-    pitchError @3 :Float32;
-    headingError @4 :Float32;
-    ellipsoidSemiMajorError @5 :Float32;
-    ellipsoidSemiMinorError @6 :Float32;
-    ellipsoidOrientationError @7 :Float32;
-  }
 
-  enum SensorSource {
-    applanix @0;
-    kalman @1;
-    orbslam @2;
-    timing @3;
-    dummy @4;
-  }
-}
-
-struct EthernetPacket {
-  pkt @0 :Data;
-  ts @1 :Float32;
-}
-
-struct NavUpdate {
-  isNavigating @0 :Bool;
-  curSegment @1 :Int32;
-  segments @2 :List(Segment);
-
-  struct LatLng {
-    lat @0 :Float64;
-    lng @1 :Float64;
-  }
-
-  struct Segment {
-    from @0 :LatLng;
-    to @1 :LatLng;
-    updateTime @2 :Int32;
-    distance @3 :Int32;
-    crossTime @4 :Int32;
-    exitNo @5 :Int32;
-    instruction @6 :Instruction;
-
-    parts @7 :List(LatLng);
-
-    enum Instruction {
-      turnLeft @0;
-      turnRight @1;
-      keepLeft @2;
-      keepRight @3;
-      straight @4;
-      roundaboutExitNumber @5;
-      roundaboutExit @6;
-      roundaboutTurnLeft @7;
-      unkn8 @8;
-      roundaboutStraight @9;
-      unkn10 @10;
-      roundaboutTurnRight @11;
-      unkn12 @12;
-      roundaboutUturn @13;
-      unkn14 @14;
-      arrive @15;
-      exitLeft @16;
-      exitRight @17;
-      unkn18 @18;
-      uturn @19;
-      # ...
-    }
-  }
-}
-
-struct NavStatus {
-  isNavigating @0 :Bool;
-  currentAddress @1 :Address;
-
-  struct Address {
-    title @0 :Text;
-    lat @1 :Float64;
-    lng @2 :Float64;
-    house @3 :Text;
-    address @4 :Text;
-    street @5 :Text;
-    city @6 :Text;
-    state @7 :Text;
-    country @8 :Text;
-  }
-}
-
-struct CellInfo {
-  timestamp @0 :UInt64;
-  repr @1 :Text; # android toString() for now
-}
-
-struct WifiScan {
-  bssid @0 :Text;
-  ssid @1 :Text;
-  capabilities @2 :Text;
-  frequency @3 :Int32;
-  level @4 :Int32;
-  timestamp @5 :Int64;
-
-  centerFreq0 @6 :Int32;
-  centerFreq1 @7 :Int32;
-  channelWidth @8 :ChannelWidth;
-  operatorFriendlyName @9 :Text;
-  venueName @10 :Text;
-  is80211mcResponder @11 :Bool;
-  passpoint @12 :Bool;
-
-  distanceCm @13 :Int32;
-  distanceSdCm @14 :Int32;
-
-  enum ChannelWidth {
-    w20Mhz @0;
-    w40Mhz @1;
-    w80Mhz @2;
-    w160Mhz @3;
-    w80Plus80Mhz @4;
-  }
-}
-
-struct AndroidGnss {
-  union {
-    measurements @0 :Measurements;
-    navigationMessage @1 :NavigationMessage;
-  }
-
-  struct Measurements {
-    clock @0 :Clock;
-    measurements @1 :List(Measurement);
-
-    struct Clock {
-      timeNanos @0 :Int64;
-      hardwareClockDiscontinuityCount @1 :Int32;
-
-      hasTimeUncertaintyNanos @2 :Bool;
-      timeUncertaintyNanos @3 :Float64;
-
-      hasLeapSecond @4 :Bool;
-      leapSecond @5 :Int32;
-
-      hasFullBiasNanos @6 :Bool;
-      fullBiasNanos @7 :Int64;
-
-      hasBiasNanos @8 :Bool;
-      biasNanos @9 :Float64;
-
-      hasBiasUncertaintyNanos @10 :Bool;
-      biasUncertaintyNanos @11 :Float64;
-
-      hasDriftNanosPerSecond @12 :Bool;
-      driftNanosPerSecond @13 :Float64;
-
-      hasDriftUncertaintyNanosPerSecond @14 :Bool;
-      driftUncertaintyNanosPerSecond @15 :Float64;
-    }
-
-    struct Measurement {
-      svId @0 :Int32;
-      constellation @1 :Constellation;
-
-      timeOffsetNanos @2 :Float64;
-      state @3 :Int32;
-      receivedSvTimeNanos @4 :Int64;
-      receivedSvTimeUncertaintyNanos @5 :Int64;
-      cn0DbHz @6 :Float64;
-      pseudorangeRateMetersPerSecond @7 :Float64;
-      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
-      accumulatedDeltaRangeState @9 :Int32;
-      accumulatedDeltaRangeMeters @10 :Float64;
-      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
-
-      hasCarrierFrequencyHz @12 :Bool;
-      carrierFrequencyHz @13 :Float32;
-      hasCarrierCycles @14 :Bool;
-      carrierCycles @15 :Int64;
-      hasCarrierPhase @16 :Bool;
-      carrierPhase @17 :Float64;
-      hasCarrierPhaseUncertainty @18 :Bool;
-      carrierPhaseUncertainty @19 :Float64;
-      hasSnrInDb @20 :Bool;
-      snrInDb @21 :Float64;
-
-      multipathIndicator @22 :MultipathIndicator;
-
-      enum Constellation {
-        unknown @0;
-        gps @1;
-        sbas @2;
-        glonass @3;
-        qzss @4;
-        beidou @5;
-        galileo @6;
-      }
-
-      enum State {
-        unknown @0;
-        codeLock @1;
-        bitSync @2;
-        subframeSync @3;
-        towDecoded @4;
-        msecAmbiguous @5;
-        symbolSync @6;
-        gloStringSync @7;
-        gloTodDecoded @8;
-        bdsD2BitSync @9;
-        bdsD2SubframeSync @10;
-        galE1bcCodeLock @11;
-        galE1c2ndCodeLock @12;
-        galE1bPageSync @13;
-        sbasSync @14;
-      }
-
-      enum MultipathIndicator {
-        unknown @0;
-        detected @1;
-        notDetected @2;
-      }
-    }
-  }
-
-  struct NavigationMessage {
-    type @0 :Int32;
-    svId @1 :Int32;
-    messageId @2 :Int32;
-    submessageId @3 :Int32;
-    data @4 :Data;
-    status @5 :Status;
-
-    enum Status {
-      unknown @0;
-      parityPassed @1;
-      parityRebuilt @2;
-    }
-  }
+  # deprecated
+  curvatureDEPRECATED @22 :Float32;
+  curvatureRateDEPRECATED @23 :Float32;
+  rawCurvatureDEPRECATED @24 :Float32;
+  rawCurvatureRateDEPRECATED @25 :Float32;
+  cProbDEPRECATED @3 :Float32;
+  dPolyDEPRECATED @1 :List(Float32);
+  cPolyDEPRECATED @2 :List(Float32);
+  lPolyDEPRECATED @4 :List(Float32);
+  rPolyDEPRECATED @6 :List(Float32);
+  modelValidDEPRECATED @12 :Bool;
+  commIssueDEPRECATED @15 :Bool;
+  posenetValidDEPRECATED @16 :Bool;
+  sensorValidDEPRECATED @14 :Bool;
+  paramsValidDEPRECATED @10 :Bool;
+  steeringAngleDegDEPRECATED @8 :Float32; # deg
+  steeringRateDegDEPRECATED @13 :Float32; # deg/s
+  angleOffsetDegDEPRECATED @11 :Float32;
 }
 
-struct QcomGnss {
-  logTs @0 :UInt64;
-  union {
-    measurementReport @1 :MeasurementReport;
-    clockReport @2 :ClockReport;
-    drMeasurementReport @3 :DrMeasurementReport;
-    drSvPoly @4 :DrSvPolyReport;
-    rawLog @5 :Data;
-  }
-
-  enum MeasurementSource @0xd71a12b6faada7ee {
-    gps @0;
-    glonass @1;
-    beidou @2;
-  }
-
-  enum SVObservationState @0xe81e829a0d6c83e9 {
-    idle @0;
-    search @1;
-    searchVerify @2;
-    bitEdge @3;
-    trackVerify @4;
-    track @5;
-    restart @6;
-    dpo @7;
-    glo10msBe @8;
-    glo10msAt @9;
-  }
-
-  struct MeasurementStatus @0xe501010e1bcae83b {
-    subMillisecondIsValid @0 :Bool;
-    subBitTimeIsKnown @1 :Bool;
-    satelliteTimeIsKnown @2 :Bool;
-    bitEdgeConfirmedFromSignal @3 :Bool;
-    measuredVelocity @4 :Bool;
-    fineOrCoarseVelocity @5 :Bool;
-    lockPointValid @6 :Bool;
-    lockPointPositive @7 :Bool;
-    lastUpdateFromDifference @8 :Bool;
-    lastUpdateFromVelocityDifference @9 :Bool;
-    strongIndicationOfCrossCorelation @10 :Bool;
-    tentativeMeasurement @11 :Bool;
-    measurementNotUsable @12 :Bool;
-    sirCheckIsNeeded @13 :Bool;
-    probationMode @14 :Bool;
-
-    glonassMeanderBitEdgeValid @15 :Bool;
-    glonassTimeMarkValid @16 :Bool;
-
-    gpsRoundRobinRxDiversity @17 :Bool;
-    gpsRxDiversity @18 :Bool;
-    gpsLowBandwidthRxDiversityCombined @19 :Bool;
-    gpsHighBandwidthNu4 @20 :Bool;
-    gpsHighBandwidthNu8 @21 :Bool;
-    gpsHighBandwidthUniform @22 :Bool;
-    multipathIndicator @23 :Bool;
-
-    imdJammingIndicator @24 :Bool;
-    lteB13TxJammingIndicator @25 :Bool;
-    freshMeasurementIndicator @26 :Bool;
-
-    multipathEstimateIsValid @27 :Bool;
-    directionIsValid @28 :Bool;
-  }
-
-  struct MeasurementReport {
-    source @0 :MeasurementSource;
-
-    fCount @1 :UInt32;
-
-    gpsWeek @2 :UInt16;
-    glonassCycleNumber @3 :UInt8;
-    glonassNumberOfDays @4 :UInt16;
-
-    milliseconds @5 :UInt32;
-    timeBias @6 :Float32;
-    clockTimeUncertainty @7 :Float32;
-    clockFrequencyBias @8 :Float32;
-    clockFrequencyUncertainty @9 :Float32;
-
-    sv @10 :List(SV);
-
-    struct SV {
-      svId @0 :UInt8;
-      observationState @2 :SVObservationState;
-      observations @3 :UInt8;
-      goodObservations @4 :UInt8;
-      gpsParityErrorCount @5 :UInt16;
-      glonassFrequencyIndex @1 :Int8;
-      glonassHemmingErrorCount @6 :UInt8;
-      filterStages @7 :UInt8;
-      carrierNoise @8 :UInt16;
-      latency @9 :Int16;
-      predetectInterval @10 :UInt8;
-      postdetections @11 :UInt16;
-
-      unfilteredMeasurementIntegral @12 :UInt32;
-      unfilteredMeasurementFraction @13 :Float32;
-      unfilteredTimeUncertainty @14 :Float32;
-      unfilteredSpeed @15 :Float32;
-      unfilteredSpeedUncertainty @16 :Float32;
-      measurementStatus @17 :MeasurementStatus;
-      multipathEstimate @18 :UInt32;
-      azimuth @19 :Float32;
-      elevation @20 :Float32;
-      carrierPhaseCyclesIntegral @21 :Int32;
-      carrierPhaseCyclesFraction @22 :UInt16;
-      fineSpeed @23 :Float32;
-      fineSpeedUncertainty @24 :Float32;
-      cycleSlipCount @25 :UInt8;
-    }
-
-  }
-
-  struct ClockReport {
-    hasFCount @0 :Bool;
-    fCount @1 :UInt32;
-
-    hasGpsWeek @2 :Bool;
-    gpsWeek @3 :UInt16;
-    hasGpsMilliseconds @4 :Bool;
-    gpsMilliseconds @5 :UInt32;
-    gpsTimeBias @6 :Float32;
-    gpsClockTimeUncertainty @7 :Float32;
-    gpsClockSource @8 :UInt8;
-
-    hasGlonassYear @9 :Bool;
-    glonassYear @10 :UInt8;
-    hasGlonassDay @11 :Bool;
-    glonassDay @12 :UInt16;
-    hasGlonassMilliseconds @13 :Bool;
-    glonassMilliseconds @14 :UInt32;
-    glonassTimeBias @15 :Float32;
-    glonassClockTimeUncertainty @16 :Float32;
-    glonassClockSource @17 :UInt8;
-
-    bdsWeek @18 :UInt16;
-    bdsMilliseconds @19 :UInt32;
-    bdsTimeBias @20 :Float32;
-    bdsClockTimeUncertainty @21 :Float32;
-    bdsClockSource @22 :UInt8;
-
-    galWeek @23 :UInt16;
-    galMilliseconds @24 :UInt32;
-    galTimeBias @25 :Float32;
-    galClockTimeUncertainty @26 :Float32;
-    galClockSource @27 :UInt8;
-
-    clockFrequencyBias @28 :Float32;
-    clockFrequencyUncertainty @29 :Float32;
-    frequencySource @30 :UInt8;
-    gpsLeapSeconds @31 :UInt8;
-    gpsLeapSecondsUncertainty @32 :UInt8;
-    gpsLeapSecondsSource @33 :UInt8;
-
-    gpsToGlonassTimeBiasMilliseconds @34 :Float32;
-    gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
-    gpsToBdsTimeBiasMilliseconds @36 :Float32;
-    gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
-    bdsToGloTimeBiasMilliseconds @38 :Float32;
-    bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
-    gpsToGalTimeBiasMilliseconds @40 :Float32;
-    gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
-    galToGloTimeBiasMilliseconds @42 :Float32;
-    galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
-    galToBdsTimeBiasMilliseconds @44 :Float32;
-    galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
-
-    hasRtcTime @46 :Bool;
-    systemRtcTime @47 :UInt32;
-    fCountOffset @48 :UInt32;
-    lpmRtcCount @49 :UInt32;
-    clockResets @50 :UInt32;
-  }
-
-  struct DrMeasurementReport {
-
-    reason @0 :UInt8;
-    seqNum @1 :UInt8;
-    seqMax @2 :UInt8;
-    rfLoss @3 :UInt16;
-
-    systemRtcValid @4 :Bool;
-    fCount @5 :UInt32;
-    clockResets @6 :UInt32;
-    systemRtcTime @7 :UInt64;
-
-    gpsLeapSeconds @8 :UInt8;
-    gpsLeapSecondsUncertainty @9 :UInt8;
-    gpsToGlonassTimeBiasMilliseconds @10 :Float32;
-    gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
-
-    gpsWeek @12 :UInt16;
-    gpsMilliseconds @13 :UInt32;
-    gpsTimeBiasMs @14 :UInt32;
-    gpsClockTimeUncertaintyMs @15 :UInt32;
-    gpsClockSource @16 :UInt8;
-
-    glonassClockSource @17 :UInt8;
-    glonassYear @18 :UInt8;
-    glonassDay @19 :UInt16;
-    glonassMilliseconds @20 :UInt32;
-    glonassTimeBias @21 :Float32;
-    glonassClockTimeUncertainty @22 :Float32;
+struct LiveLocationKalman {
+
+  # More info on reference frames:
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+
+  positionECEF @0 : Measurement;
+  positionGeodetic @1 : Measurement;
+  velocityECEF @2 : Measurement;
+  velocityNED @3 : Measurement;
+  velocityDevice @4 : Measurement;
+  accelerationDevice @5: Measurement;
+
+
+  # These angles are all eulers and roll, pitch, yaw
+  # orientationECEF transforms to rot matrix: ecef_from_device
+  orientationECEF @6 : Measurement;
+  calibratedOrientationECEF @20 : Measurement;
+  orientationNED @7 : Measurement;
+  angularVelocityDevice @8 : Measurement;
+
+  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+  calibratedOrientationNED @9 : Measurement;
+
+  # Calibrated frame is simply device frame
+  # aligned with the vehicle
+  velocityCalibrated @10 : Measurement;
+  accelerationCalibrated @11 : Measurement;
+  angularVelocityCalibrated @12 : Measurement;
+
+  gpsWeek @13 :Int32;
+  gpsTimeOfWeek @14 :Float64;
+  status @15 :Status;
+  unixTimestampMillis @16 :Int64;
+  inputsOK @17 :Bool = true;
+  posenetOK @18 :Bool = true;
+  gpsOK @19 :Bool = true;
+  sensorsOK @21 :Bool = true;
+  deviceStable @22 :Bool = true;
+  timeSinceReset @23 :Float64;
+  excessiveResets @24 :Bool;
 
-    clockFrequencyBias @23 :Float32;
-    clockFrequencyUncertainty @24 :Float32;
-    frequencySource @25 :UInt8;
-
-    source @26 :MeasurementSource;
-
-    sv @27 :List(SV);
-
-    struct SV {
-      svId @0 :UInt8;
-      glonassFrequencyIndex @1 :Int8;
-      observationState @2 :SVObservationState;
-      observations @3 :UInt8;
-      goodObservations @4 :UInt8;
-      filterStages @5 :UInt8;
-      predetectInterval @6 :UInt8;
-      cycleSlipCount @7 :UInt8;
-      postdetections @8 :UInt16;
-
-      measurementStatus @9 :MeasurementStatus;
-
-      carrierNoise @10 :UInt16;
-      rfLoss @11 :UInt16;
-      latency @12 :Int16;
-
-      filteredMeasurementFraction @13 :Float32;
-      filteredMeasurementIntegral @14 :UInt32;
-      filteredTimeUncertainty @15 :Float32;
-      filteredSpeed @16 :Float32;
-      filteredSpeedUncertainty @17 :Float32;
-
-      unfilteredMeasurementFraction @18 :Float32;
-      unfilteredMeasurementIntegral @19 :UInt32;
-      unfilteredTimeUncertainty @20 :Float32;
-      unfilteredSpeed @21 :Float32;
-      unfilteredSpeedUncertainty @22 :Float32;
-
-      multipathEstimate @23 :UInt32;
-      azimuth @24 :Float32;
-      elevation @25 :Float32;
-      dopplerAcceleration @26 :Float32;
-      fineSpeed @27 :Float32;
-      fineSpeedUncertainty @28 :Float32;
-
-      carrierPhase @29 :Float64;
-      fCount @30 :UInt32;
-
-      parityErrorCount @31 :UInt16;
-      goodParity @32 :Bool;
-    }
+  enum Status {
+    uninitialized @0;
+    uncalibrated @1;
+    valid @2;
   }
 
-  struct DrSvPolyReport {
-    svId @0 :UInt16;
-    frequencyIndex @1 :Int8;
-
-    hasPosition @2 :Bool;
-    hasIono @3 :Bool;
-    hasTropo @4 :Bool;
-    hasElevation @5 :Bool;
-    polyFromXtra @6 :Bool;
-    hasSbasIono @7 :Bool;
-
-    iode @8 :UInt16;
-    t0 @9 :Float64;
-    xyz0 @10 :List(Float64);
-    xyzN @11 :List(Float64);
-    other @12 :List(Float32);
-
-    positionUncertainty @13 :Float32;
-    ionoDelay @14 :Float32;
-    ionoDot @15 :Float32;
-    sbasIonoDelay @16 :Float32;
-    sbasIonoDot @17 :Float32;
-    tropoDelay @18 :Float32;
-    elevation @19 :Float32;
-    elevationDot @20 :Float32;
-    elevationUncertainty @21 :Float32;
-
-    velocityCoeff @22 :List(Float64);
-
+  struct Measurement {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
   }
 }
 
-struct LidarPts {
-  r @0 :List(UInt16);        # uint16   m*500.0
-  theta @1 :List(UInt16);    # uint16 deg*100.0
-  reflect @2 :List(UInt8);   # uint8      0-255
-
-  # For storing out of file.
-  idx @3 :UInt64;
-
-  # For storing in file
-  pkt @4 :Data;
-}
-
 struct ProcLog {
   cpuTimes @0 :List(CPUTimes);
   mem @1 :Mem;
@@ -1425,7 +1020,6 @@ struct ProcLog {
     inactive @6 :UInt64;
     shared @7 :UInt64;
   }
-
 }
 
 struct UbloxGnss {
@@ -1434,6 +1028,7 @@ struct UbloxGnss {
     ephemeris @1 :Ephemeris;
     ionoData @2 :IonoData;
     hwStatus @3 :HwStatus;
+    hwStatus2 @4 :HwStatus2;
   }
 
   struct MeasurementReport {
@@ -1564,6 +1159,7 @@ struct UbloxGnss {
     aStatus @2 :AntennaSupervisorState;
     aPower @3 :AntennaPowerStatus;
     jamInd @4 :UInt8;
+    flags @5 :UInt8;
 
     enum AntennaSupervisorState {
       init @0;
@@ -1579,6 +1175,24 @@ struct UbloxGnss {
       dontknow @2;
     }
   }
+
+  struct HwStatus2 {
+    ofsI @0 :Int8;
+    magI @1 :UInt8;
+    ofsQ @2 :Int8;
+    magQ @3 :UInt8;
+    cfgSource @4 :ConfigSource;
+    lowLevCfg @5 :UInt32;
+    postStatus @6 :UInt32;
+
+    enum ConfigSource {
+      undefined @0;
+      rom @1;
+      otp @2;
+      configpins @3;
+      flash @4;
+    }
+  }
 }
 
 struct Clocks {
@@ -1593,7 +1207,7 @@ struct LiveMpcData {
   x @0 :List(Float32);
   y @1 :List(Float32);
   psi @2 :List(Float32);
-  delta @3 :List(Float32);
+  curvature @3 :List(Float32);
   qpIterations @4 :UInt32;
   calculationTime @5 :UInt64;
   cost @6 :Float64;
@@ -1613,184 +1227,18 @@ struct LiveLongitudinalMpcData {
   cost @10 :Float64;
 }
 
-
-struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
-  x @0 :Float32;
-  y @1 :Float32;
-  z @2 :Float32;
-}
-
-struct ECEFPoint @0xc25bbbd524983447 {
-  x @0 :Float64;
-  y @1 :Float64;
-  z @2 :Float64;
-}
-
-struct GPSPlannerPoints {
-  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
-  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
-  curPos @6 :ECEFPoint;
-  points @7 :List(ECEFPoint);
-  valid @2 :Bool;
-  trackName @3 :Text;
-  speedLimit @4 :Float32;
-  accelTarget @5 :Float32;
-}
-
-struct GPSPlannerPlan {
-  valid @0 :Bool;
-  poly @1 :List(Float32);
-  trackName @2 :Text;
-  speed @3 :Float32;
-  acceleration @4 :Float32;
-  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
-  points @6 :List(ECEFPoint);
-  xLookahead @7 :Float32;
-}
-
-struct TrafficEvent @0xacfa74a094e62626 {
-  type @0 :Type;
-  distance @1 :Float32;
-  action @2 :Action;
-  resuming @3 :Bool;
-
-  enum Type {
-    stopSign @0;
-    lightRed @1;
-    lightYellow @2;
-    lightGreen @3;
-    stopLight @4;
-  }
-
-  enum Action {
-    none @0;
-    yield @1;
-    stop @2;
-    resumeReady @3;
-  }
-
-}
-
-struct OrbslamCorrection {
-  correctionMonoTime @0 :UInt64;
-  prePositionECEF @1 :List(Float64);
-  postPositionECEF @2 :List(Float64);
-  prePoseQuatECEF @3 :List(Float32);
-  postPoseQuatECEF @4 :List(Float32);
-  numInliers @5 :UInt32;
-}
-
-struct OrbObservation {
-  observationMonoTime @0 :UInt64;
-  normalizedCoordinates @1 :List(Float32);
-  locationECEF @2 :List(Float64);
-  matchDistance @3: UInt32;
-}
-
-struct UiNavigationEvent {
-  type @0: Type;
-  status @1: Status;
-  distanceTo @2: Float32;
-  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
-  endRoadPoint @4: ECEFPoint;
-
-  enum Type {
-    none @0;
-    laneChangeLeft @1;
-    laneChangeRight @2;
-    mergeLeft @3;
-    mergeRight @4;
-    turnLeft @5;
-    turnRight @6;
-  }
-
-  enum Status {
-    none @0;
-    passive @1;
-    approaching @2;
-    active @3;
-  }
-}
-
-struct UiLayoutState {
-  activeApp @0 :App;
-  sidebarCollapsed @1 :Bool;
-  mapEnabled @2 :Bool;
-
-  enum App {
-    home @0;
-    music @1;
-    nav @2;
-    settings @3;
-  }
-}
-
 struct Joystick {
   # convenient for debug and live tuning
   axes @0: List(Float32);
   buttons @1: List(Bool);
 }
 
-struct OrbOdometry {
-  # timing first
-  startMonoTime @0 :UInt64;
-  endMonoTime @1 :UInt64;
-
-  # fundamental matrix and error
-  f @2: List(Float64);
-  err @3: Float64;
-
-  # number of inlier points
-  inliers @4: Int32;
-
-  # for debug only
-  # indexed by endMonoTime features
-  # value is startMonoTime feature match
-  # -1 if no match
-  matches @5: List(Int16);
-}
-
-struct OrbFeatures {
-  timestampEof @0 :UInt64;
-  # transposed arrays of normalized image coordinates
-  # len(xs) == len(ys) == len(descriptors) * 32
-  xs @1 :List(Float32);
-  ys @2 :List(Float32);
-  descriptors @3 :Data;
-  octaves @4 :List(Int8);
-
-  # match index to last OrbFeatures
-  # -1 if no match
-  timestampLastEof @5 :UInt64;
-  matches @6: List(Int16);
-}
-
-struct OrbFeaturesSummary {
-  timestampEof @0 :UInt64;
-  timestampLastEof @1 :UInt64;
-
-  featureCount @2 :UInt16;
-  matchCount @3 :UInt16;
-  computeNs @4 :UInt64;
-}
-
-struct OrbKeyFrame {
-  # this is a globally unique id for the KeyFrame
-  id @0: UInt64;
-
-  # this is the location of the KeyFrame
-  pos @1: ECEFPoint;
-
-  # these are the features in the world
-  # len(dpos) == len(descriptors) * 32
-  dpos @2 :List(ECEFPoint);
-  descriptors @3 :Data;
-}
-
 struct DriverState {
   frameId @0 :UInt32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
+  modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
+  rawPredictions @15 :Data;
+
   faceOrientation @3 :List(Float32);
   facePosition @4 :List(Float32);
   faceProb @5 :Float32;
@@ -1798,19 +1246,27 @@ struct DriverState {
   rightEyeProb @7 :Float32;
   leftBlinkProb @8 :Float32;
   rightBlinkProb @9 :Float32;
-  irPwrDEPRECATED @10 :Float32;
   faceOrientationStd @11 :List(Float32);
   facePositionStd @12 :List(Float32);
+  sunglassesProb @13 :Float32;
+  poorVision @17 :Float32;
+  partialFace @18 :Float32;
+  distractedPose @19 :Float32;
+  distractedEyes @20 :Float32;
+  eyesOnRoad @21 :Float32;
+  phoneUse @22 :Float32;
+  occludedProb @23 :Float32;
+
+  irPwrDEPRECATED @10 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
 }
 
-struct DMonitoringState {
-  # TODO: deprecate old fields in controlsState
+struct DriverMonitoringState @0xb83cda094a1da284 {
   events @0 :List(Car.CarEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
   awarenessStatus @3 :Float32;
-  isRHD @4 :Bool;
-  rhdChecked @5 :Bool;
   posePitchOffset @6 :Float32;
   posePitchValidCount @7 :UInt32;
   poseYawOffset @8 :Float32;
@@ -1820,28 +1276,41 @@ struct DMonitoringState {
   awarenessPassive @12 :Float32;
   isLowStd @13 :Bool;
   hiStdCount @14 :UInt32;
+  isActiveMode @16 :Bool;
+
+  isRHDDEPRECATED @4 :Bool;
+  isPreviewDEPRECATED @15 :Bool;
+  rhdCheckedDEPRECATED @5 :Bool;
 }
 
 struct Boot {
   wallTimeNanos @0 :UInt64;
-  lastKmsg @1 :Data;
-  lastPmsg @2 :Data;
+  pstore @4 :Map(Text, Data);
+  commands @5 :Map(Text, Data);
+  launchLog @3 :Text;
+
+  lastKmsgDEPRECATED @1 :Data;
+  lastPmsgDEPRECATED @2 :Data;
 }
 
 struct LiveParametersData {
   valid @0 :Bool;
   gyroBias @1 :Float32;
-  angleOffset @2 :Float32;
-  angleOffsetAverage @3 :Float32;
+  angleOffsetDeg @2 :Float32;
+  angleOffsetAverageDeg @3 :Float32;
   stiffnessFactor @4 :Float32;
   steerRatio @5 :Float32;
   sensorValid @6 :Bool;
   yawRate @7 :Float32;
   posenetSpeed @8 :Float32;
   posenetValid @9 :Bool;
+  angleOffsetFastStd @10 :Float32;
+  angleOffsetAverageStd @11 :Float32;
+  stiffnessFactorStd @12 :Float32;
+  steerRatioStd @13 :Float32;
 }
 
-struct LiveMapData {
+struct LiveMapDataDEPRECATED {
   speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
   speedAdvisoryValid @12 :Bool;
@@ -1870,88 +1339,180 @@ struct CameraOdometry {
   rotStd @3 :List(Float32); # std rad/s in device frame
 }
 
-struct KalmanOdometry {
-  trans @0 :List(Float32); # m/s in device frame
-  rot @1 :List(Float32); # rad/s in device frame
-  transStd @2 :List(Float32); # std m/s in device frame
-  rotStd @3 :List(Float32); # std rad/s in device frame
+struct Sentinel {
+  enum SentinelType {
+    endOfSegment @0;
+    endOfRoute @1;
+    startOfSegment @2;
+    startOfRoute @3;
+  }
+  type @0 :SentinelType;
+  signal @1 :Int32;
+}
+
+struct ManagerState {
+  processes @0 :List(ProcessState);
+
+  struct ProcessState {
+    name @0 :Text;
+    pid @1 :Int32;
+    running @2 :Bool;
+    shouldBeRunning @4 :Bool;
+    exitCode @3 :Int32;
+  }
+}
+
+struct UploaderState {
+  immediateQueueSize @0 :UInt32;
+  immediateQueueCount @1 :UInt32;
+  rawQueueSize @2 :UInt32;
+  rawQueueCount @3 :UInt32;
+
+  # stats for last successfully uploaded file
+  lastTime @4 :Float32;  # s
+  lastSpeed @5 :Float32; # MB/s
+  lastFilename @6 :Text;
+}
+
+struct NavInstruction {
+  maneuverPrimaryText @0 :Text;
+  maneuverSecondaryText @1 :Text;
+  maneuverDistance @2 :Float32;  # m
+  maneuverType @3 :Text; # TODO: Make Enum
+  maneuverModifier @4 :Text; # TODO: Make Enum
+
+  distanceRemaining @5 :Float32; # m
+  timeRemaining @6 :Float32; # s
+  timeRemainingTypical @7 :Float32; # s
+
+  lanes @8 :List(Lane);
+  showFull @9 :Bool;
+
+  struct Lane {
+    directions @0 :List(Direction);
+    active @1 :Bool;
+    activeDirection @2 :Direction;
+  }
+
+  enum Direction {
+    none @0;
+    left @1;
+    right @2;
+    straight @3;
+  }
+
+}
+
+struct NavRoute {
+  coordinates @0 :List(Coordinate);
+
+  struct Coordinate {
+    latitude @0 :Float32;
+    longitude @1 :Float32;
+  }
 }
 
 struct Event {
-  # in nanoseconds?
-  logMonoTime @0 :UInt64;
+  logMonoTime @0 :UInt64;  # nanoseconds
   valid @67 :Bool = true;
 
   union {
+    # *********** log metadata ***********
     initData @1 :InitData;
-    frame @2 :FrameData;
+    sentinel @73 :Sentinel;
+
+    # *********** bootlog ***********
+    boot @60 :Boot;
+
+    # ********** openpilot daemon msgs **********
     gpsNMEA @3 :GPSNMEAData;
-    sensorEventDEPRECATED @4 :SensorEventData;
     can @5 :List(CanData);
-    thermal @6 :ThermalData;
     controlsState @7 :ControlsState;
-    liveEventDEPRECATED @8 :List(LiveEventData);
-    model @9 :ModelData;
-    features @10 :CalibrationFeatures;
     sensorEvents @11 :List(SensorEventData);
-    health @12 :HealthData;
+    pandaStates @81 :List(PandaState);
+    peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
-    liveUIDEPRECATED @14 :LiveUI;
-    encodeIdx @15 :EncodeIndex;
     liveTracks @16 :List(LiveTracks);
     sendcan @17 :List(CanData);
-    logMessage @18 :Text;
     liveCalibration @19 :LiveCalibrationData;
-    androidLogEntry @20 :AndroidLogEntry;
-    gpsLocation @21 :GpsLocationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
-    plan @24 :Plan;
-    liveLocation @25 :LiveLocationData;
-    ethernetData @26 :List(EthernetPacket);
-    navUpdate @27 :NavUpdate;
-    cellInfo @28 :List(CellInfo);
-    wifiScan @29 :List(WifiScan);
-    androidGnss @30 :AndroidGnss;
-    qcomGnss @31 :QcomGnss;
-    lidarPts @32 :LidarPts;
-    procLog @33 :ProcLog;
+    longitudinalPlan @24 :LongitudinalPlan;
+    lateralPlan @64 :LateralPlan;
     ubloxGnss @34 :UbloxGnss;
-    clocks @35 :Clocks;
-    liveMpc @36 :LiveMpcData;
-    liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
-    navStatus @38 :NavStatus;
     ubloxRaw @39 :Data;
-    gpsPlannerPoints @40 :GPSPlannerPoints;
-    gpsPlannerPlan @41 :GPSPlannerPlan;
-    applanixRaw @42 :Data;
-    trafficEvents @43 :List(TrafficEvent);
-    liveLocationTiming @44 :LiveLocationData;
-    orbslamCorrectionDEPRECATED @45 :OrbslamCorrection;
-    liveLocationCorrected @46 :LiveLocationData;
-    orbObservation @47 :List(OrbObservation);
     gpsLocationExternal @48 :GpsLocationData;
-    location @49 :LiveLocationData;
-    uiNavigationEvent @50 :UiNavigationEvent;
-    liveLocationKalman @51 :LiveLocationData;
-    testJoystick @52 :Joystick;
-    orbOdometry @53 :OrbOdometry;
-    orbFeatures @54 :OrbFeatures;
-    applanixLocation @55 :LiveLocationData;
-    orbKeyFrame @56 :OrbKeyFrame;
-    uiLayoutState @57 :UiLayoutState;
-    orbFeaturesSummary @58 :OrbFeaturesSummary;
     driverState @59 :DriverState;
-    boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
-    liveMapData @62 :LiveMapData;
     cameraOdometry @63 :CameraOdometry;
-    pathPlan @64 :PathPlan;
-    kalmanOdometry @65 :KalmanOdometry;
     thumbnail @66: Thumbnail;
     carEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
-    frontFrame @70: FrameData;
-    dMonitoringState @71: DMonitoringState;
+    driverMonitoringState @71: DriverMonitoringState;
+    liveLocationKalman @72 :LiveLocationKalman;
+    modelV2 @75 :ModelDataV2;
+
+    # camera stuff, each camera state has a matching encode idx
+    roadCameraState @2 :FrameData;
+    driverCameraState @70: FrameData;
+    wideRoadCameraState @74: FrameData;
+    roadEncodeIdx @15 :EncodeIndex;
+    driverEncodeIdx @76 :EncodeIndex;
+    wideRoadEncodeIdx @77 :EncodeIndex;
+
+    # systems stuff
+    androidLog @20 :AndroidLogEntry;
+    managerState @78 :ManagerState;
+    uploaderState @79 :UploaderState;
+    procLog @33 :ProcLog;
+    clocks @35 :Clocks;
+    deviceState @6 :DeviceState;
+    logMessage @18 :Text;
+
+    # navigation
+    navInstruction @82 :NavInstruction;
+    navRoute @83 :NavRoute;
+
+    # *********** debug ***********
+    testJoystick @52 :Joystick;
+
+    # *********** legacy + deprecated ***********
+    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    liveMpcDEPRECATED @36 :LiveMpcData;
+    liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
+    liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
+    orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
+    liveUIDEPRECATED @14 :Legacy.LiveUI;
+    sensorEventDEPRECATED @4 :SensorEventData;
+    liveEventDEPRECATED @8 :List(Legacy.LiveEventData);
+    liveLocationDEPRECATED @25 :Legacy.LiveLocationData;
+    ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket);
+    cellInfoDEPRECATED @28 :List(Legacy.CellInfo);
+    wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
+    uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
+    liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
+    gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
+    gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
+    applanixRawDEPRECATED @42 :Data;
+    androidGnssDEPRECATED @30 :Legacy.AndroidGnss;
+    qcomGnssDEPRECATD @31 :Legacy.QcomGnss;
+    lidarPtsDEPRECATED @32 :Legacy.LidarPts;
+    navStatusDEPRECATED @38 :Legacy.NavStatus;
+    trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent);
+    liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData;
+    liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData;
+    navUpdateDEPRECATED @27 :Legacy.NavUpdate;
+    orbObservationDEPRECATED @47 :List(Legacy.OrbObservation);
+    locationDEPRECATED @49 :Legacy.LiveLocationData;
+    orbOdometryDEPRECATED @53 :Legacy.OrbOdometry;
+    orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures;
+    applanixLocationDEPRECATED @55 :Legacy.LiveLocationData;
+    orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame;
+    orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
+    featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
+    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
+    gpsLocationDEPRECATED @21 :GpsLocationData;
+    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
+    pandaStateDEPRECATED @12 :PandaState;
   }
 }
diff --git a/cereal/logger/logger.h b/cereal/logger/logger.h
new file mode 100644
index 00000000000000..e21509352f76db
--- /dev/null
+++ b/cereal/logger/logger.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#ifdef SWAGLOG
+#include "selfdrive/common/swaglog.h"
+#else
+
+#define CLOUDLOG_DEBUG 10
+#define CLOUDLOG_INFO 20
+#define CLOUDLOG_WARNING 30
+#define CLOUDLOG_ERROR 40
+#define CLOUDLOG_CRITICAL 50
+
+#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
+
+#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#endif
diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp
deleted file mode 100644
index 336901392aa306..00000000000000
--- a/cereal/maptile.capnp
+++ /dev/null
@@ -1,53 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index e5a004740dfaaa..0440104eb73a22 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -1,14 +1,22 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import os
 import capnp
 
-assert MultiplePublishersError
-assert MessagingError
+from typing import Optional, List, Union
+from collections import deque
 
 from cereal import log
 from cereal.services import service_list
 
+assert MultiplePublishersError
+assert MessagingError
+
+NO_TRAVERSAL_LIMIT = 2**64-1
+AVG_FREQ_HISTORY = 100
+SIMULATION = "SIMULATION" in os.environ
+
 # sec_since_boot is faster, but allow to run standalone too
 try:
   from common.realtime import sec_since_boot
@@ -19,21 +27,29 @@
 
 context = Context()
 
-def new_message():
+def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
+  return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
+
+def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
   dat = log.Event.new_message()
   dat.logMonoTime = int(sec_since_boot() * 1e9)
   dat.valid = True
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
   return dat
 
-def pub_sock(endpoint):
+def pub_sock(endpoint: str) -> PubSocket:
   sock = PubSocket()
   sock.connect(context, endpoint)
   return sock
 
-def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
   sock = SubSocket()
-  addr = addr.encode('utf8')
-  sock.connect(context, endpoint, addr, conflate)
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
 
   if timeout is not None:
     sock.setTimeout(timeout)
@@ -43,9 +59,9 @@ def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=No
   return sock
 
 
-def drain_sock_raw(sock, wait_for_one=False):
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
   """Receive all message currently available on the queue"""
-  ret = []
+  ret: List[bytes] = []
   while 1:
     if wait_for_one and len(ret) == 0:
       dat = sock.receive()
@@ -59,26 +75,26 @@ def drain_sock_raw(sock, wait_for_one=False):
 
   return ret
 
-def drain_sock(sock, wait_for_one=False):
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
-  ret = []
+  ret: List[capnp.lib.capnp._DynamicStructReader] = []
   while 1:
     if wait_for_one and len(ret) == 0:
       dat = sock.receive()
     else:
       dat = sock.receive(non_blocking=True)
 
-    if dat is None: # Timeout hit
+    if dat is None:  # Timeout hit
       break
 
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
     ret.append(dat)
 
   return ret
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock, wait=False):
+def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
@@ -88,88 +104,87 @@ def recv_sock(sock, wait=False):
     else:
       rcv = sock.receive(non_blocking=True)
 
-    if rcv is None: # Timeout hit
+    if rcv is None:  # Timeout hit
       break
 
     dat = rcv
 
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
 
   return dat
 
-def recv_one(sock):
+def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive()
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
   return dat
 
-def recv_one_or_none(sock):
+def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
   return dat
 
-def recv_one_retry(sock):
+def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
   """Keep receiving until we get a message"""
   while True:
     dat = sock.receive()
     if dat is not None:
-      return log.Event.from_bytes(dat)
-
-# TODO: This does not belong in messaging
-def get_one_can(logcan):
-  while True:
-    can = recv_one_retry(logcan)
-    if len(can.can) > 0:
-      return can
+      return log_from_bytes(dat)
 
 class SubMaster():
-  def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
-    self.poller = Poller()
+  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               addr: str = "127.0.0.1"):
     self.frame = -1
-    self.updated = {s : False for s in services}
-    self.rcv_time = {s : 0. for s in services}
-    self.rcv_frame = {s : 0 for s in services}
-    self.alive = {s : False for s in services}
+    self.updated = {s: False for s in services}
+    self.rcv_time = {s: 0. for s in services}
+    self.rcv_frame = {s: 0 for s in services}
+    self.alive = {s: False for s in services}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
     self.sock = {}
     self.freq = {}
     self.data = {}
-    self.logMonoTime = {}
     self.valid = {}
+    self.logMonoTime = {}
 
-    if ignore_alive is not None:
-      self.ignore_alive = ignore_alive
-    else:
-      self.ignore_alive = []
+    self.poller = Poller()
+    self.non_polled_services = [s for s in services if poll is not None and
+                                len(poll) and s not in poll]
+
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive
 
     for s in services:
       if addr is not None:
-        self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
+        p = self.poller if s not in self.non_polled_services else None
+        self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
       self.freq[s] = service_list[s].frequency
 
-      data = new_message()
       try:
-        data.init(s)
-      except capnp.lib.capnp.KjException:
-        # lists
-        data.init(s, 0)
+        data = new_message(s)
+      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
+        data = new_message(s, 0) # lists
 
       self.data[s] = getattr(data, s)
       self.logMonoTime[s] = 0
       self.valid[s] = data.valid
 
-  def __getitem__(self, s):
+  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
 
-  def update(self, timeout=1000):
+  def update(self, timeout: int = 1000) -> None:
     msgs = []
     for sock in self.poller.poll(timeout):
       msgs.append(recv_one_or_none(sock))
+
+    # non-blocking receive for non-polled sockets
+    for s in self.non_polled_services:
+      msgs.append(recv_one_or_none(self.sock[s]))
     self.update_msgs(sec_since_boot(), msgs)
 
-  def update_msgs(self, cur_time, msgs):
-    # TODO: add optional input that specify the service to wait for
+  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
     self.updated = dict.fromkeys(self.updated, False)
     for msg in msgs:
@@ -178,44 +193,59 @@ def update_msgs(self, cur_time, msgs):
 
       s = msg.which()
       self.updated[s] = True
+
+      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+        and (s not in self.ignore_average_freq):
+        self.recv_dts[s].append(cur_time - self.rcv_time[s])
+
       self.rcv_time[s] = cur_time
       self.rcv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.data:
-      # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-      if self.freq[s] > 1e-5:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
-      else:
+      if SIMULATION:
         self.alive[s] = True
 
-  def all_alive(self, service_list=None):
+    if not SIMULATION:
+      for s in self.data:
+        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+        if self.freq[s] > 1e-5:
+          # alive if delay is within 10x the expected frequency
+          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+
+          # alive if average frequency is higher than 90% of expected frequency
+          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
+          expected_dt = 1 / (self.freq[s] * 0.90)
+          self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
+        else:
+          self.alive[s] = True
+
+  def all_alive(self, service_list=None) -> bool:
     if service_list is None:  # check all
       service_list = self.alive.keys()
     return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
 
-  def all_valid(self, service_list=None):
+  def all_valid(self, service_list=None) -> bool:
     if service_list is None:  # check all
       service_list = self.valid.keys()
     return all(self.valid[s] for s in service_list)
 
-  def all_alive_and_valid(self, service_list=None):
+  def all_alive_and_valid(self, service_list=None) -> bool:
     if service_list is None:  # check all
       service_list = self.alive.keys()
     return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
 
-
 class PubMaster():
-  def __init__(self, services):
+  def __init__(self, services: List[str]):
     self.sock = {}
     for s in services:
       self.sock[s] = pub_sock(s)
 
-  def send(self, s, dat):
-    # accept either bytes or capnp builder
+  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
     if not isinstance(dat, bytes):
       dat = dat.to_bytes()
     self.sock[s].send(dat)
+
+  def all_readers_updated(self, s: str) -> bool:
+    return self.sock[s].all_readers_updated()
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
index 8e29566ca26c64..d4bdfcea714c53 100644
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -1,59 +1,74 @@
-#include <iostream>
-#include <string>
+#include <algorithm>
 #include <cassert>
 #include <csignal>
+#include <iostream>
 #include <map>
+#include <string>
 
 typedef void (*sighandler_t)(int sig);
 
+#include "impl_msgq.h"
+#include "impl_zmq.h"
 #include "services.h"
 
-#include "impl_msgq.hpp"
-#include "impl_zmq.hpp"
-
 void sigpipe_handler(int sig) {
   assert(sig == SIGPIPE);
   std::cout << "SIGPIPE received" << std::endl;
 }
 
-static std::vector<std::string> get_services() {
-  std::vector<std::string> name_list;
-
+static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
+  std::vector<std::string> service_list;
   for (const auto& it : services) {
     std::string name = it.name;
-    if (name == "plusFrame" || name == "uiLayoutState") continue;
-    name_list.push_back(name);
+    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
+    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
+      continue;
+    }
+    service_list.push_back(name);
   }
-
-  return name_list;
+  return service_list;
 }
 
-
-int main(void){
+int main(int argc, char** argv) {
   signal(SIGPIPE, (sighandler_t)sigpipe_handler);
 
-  auto endpoints = get_services();
+  bool zmq_to_msgq = argc > 2;
+  std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
+  std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
+
+  Poller *poller;
+  Context *pub_context;
+  Context *sub_context;
+  if (zmq_to_msgq) {  // republishes zmq debugging messages as msgq
+    poller = new ZMQPoller();
+    pub_context = new MSGQContext();
+    sub_context = new ZMQContext();
+  } else {
+    poller = new MSGQPoller();
+    pub_context = new ZMQContext();
+    sub_context = new MSGQContext();
+  }
 
   std::map<SubSocket*, PubSocket*> sub2pub;
+  for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
+    PubSocket * pub_sock;
+    SubSocket * sub_sock;
+    if (zmq_to_msgq) {
+      pub_sock = new MSGQPubSocket();
+      sub_sock = new ZMQSubSocket();
+    } else {
+      pub_sock = new ZMQPubSocket();
+      sub_sock = new MSGQSubSocket();
+    }
+    pub_sock->connect(pub_context, endpoint);
+    sub_sock->connect(sub_context, endpoint, ip, false);
 
-  Context *zmq_context = new ZMQContext();
-  Context *msgq_context = new MSGQContext();
-  Poller *poller = new MSGQPoller();
-
-  for (auto endpoint: endpoints){
-    SubSocket * msgq_sock = new MSGQSubSocket();
-    msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
-    poller->registerSocket(msgq_sock);
-
-    PubSocket * zmq_sock = new ZMQPubSocket();
-    zmq_sock->connect(zmq_context, endpoint);
-
-    sub2pub[msgq_sock] = zmq_sock;
+    poller->registerSocket(sub_sock);
+    sub2pub[sub_sock] = pub_sock;
   }
 
-
-  while (true){
-    for (auto sub_sock : poller->poll(100)){
+  while (true) {
+    for (auto sub_sock : poller->poll(100)) {
       Message * msg = sub_sock->receive();
       if (msg == NULL) continue;
       sub2pub[sub_sock]->sendMessage(msg);
diff --git a/cereal/messaging/catch2/catch.hpp b/cereal/messaging/catch2/catch.hpp
deleted file mode 100644
index 5feb2a4bea7dba..00000000000000
--- a/cereal/messaging/catch2/catch.hpp
+++ /dev/null
@@ -1,17075 +0,0 @@
-/*
- *  Catch v2.9.2
- *  Generated: 2019-08-08 13:35:12.279703
- *  ----------------------------------------------------------
- *  This file has been merged from multiple headers. Please don't edit it directly
- *  Copyright (c) 2019 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-// start catch.hpp
-
-
-#define CATCH_VERSION_MAJOR 2
-#define CATCH_VERSION_MINOR 9
-#define CATCH_VERSION_PATCH 2
-
-#ifdef __clang__
-#    pragma clang system_header
-#elif defined __GNUC__
-#    pragma GCC system_header
-#endif
-
-// start catch_suppress_warnings.h
-
-#ifdef __clang__
-#   ifdef __ICC // icpc defines the __clang__ macro
-#       pragma warning(push)
-#       pragma warning(disable: 161 1682)
-#   else // __ICC
-#       pragma clang diagnostic push
-#       pragma clang diagnostic ignored "-Wpadded"
-#       pragma clang diagnostic ignored "-Wswitch-enum"
-#       pragma clang diagnostic ignored "-Wcovered-switch-default"
-#    endif
-#elif defined __GNUC__
-     // Because REQUIREs trigger GCC's -Wparentheses, and because still
-     // supported version of g++ have only buggy support for _Pragmas,
-     // Wparentheses have to be suppressed globally.
-#    pragma GCC diagnostic ignored "-Wparentheses" // See #674 for details
-
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wunused-variable"
-#    pragma GCC diagnostic ignored "-Wpadded"
-#endif
-// end catch_suppress_warnings.h
-#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER)
-#  define CATCH_IMPL
-#  define CATCH_CONFIG_ALL_PARTS
-#endif
-
-// In the impl file, we want to have access to all parts of the headers
-// Can also be used to sanely support PCHs
-#if defined(CATCH_CONFIG_ALL_PARTS)
-#  define CATCH_CONFIG_EXTERNAL_INTERFACES
-#  if defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#    undef CATCH_CONFIG_DISABLE_MATCHERS
-#  endif
-#  if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#    define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#  endif
-#endif
-
-#if !defined(CATCH_CONFIG_IMPL_ONLY)
-// start catch_platform.h
-
-#ifdef __APPLE__
-# include <TargetConditionals.h>
-# if TARGET_OS_OSX == 1
-#  define CATCH_PLATFORM_MAC
-# elif TARGET_OS_IPHONE == 1
-#  define CATCH_PLATFORM_IPHONE
-# endif
-
-#elif defined(linux) || defined(__linux) || defined(__linux__)
-#  define CATCH_PLATFORM_LINUX
-
-#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) || defined(__MINGW32__)
-#  define CATCH_PLATFORM_WINDOWS
-#endif
-
-// end catch_platform.h
-
-#ifdef CATCH_IMPL
-#  ifndef CLARA_CONFIG_MAIN
-#    define CLARA_CONFIG_MAIN_NOT_DEFINED
-#    define CLARA_CONFIG_MAIN
-#  endif
-#endif
-
-// start catch_user_interfaces.h
-
-namespace Catch {
-    unsigned int rngSeed();
-}
-
-// end catch_user_interfaces.h
-// start catch_tag_alias_autoregistrar.h
-
-// start catch_common.h
-
-// start catch_compiler_capabilities.h
-
-// Detect a number of compiler features - by compiler
-// The following features are defined:
-//
-// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported?
-// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported?
-// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported?
-// CATCH_CONFIG_DISABLE_EXCEPTIONS : Are exceptions enabled?
-// ****************
-// Note to maintainers: if new toggles are added please document them
-// in configuration.md, too
-// ****************
-
-// In general each macro has a _NO_<feature name> form
-// (e.g. CATCH_CONFIG_NO_POSIX_SIGNALS) which disables the feature.
-// Many features, at point of detection, define an _INTERNAL_ macro, so they
-// can be combined, en-mass, with the _NO_ forms later.
-
-#ifdef __cplusplus
-
-#  if (__cplusplus >= 201402L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201402L)
-#    define CATCH_CPP14_OR_GREATER
-#  endif
-
-#  if (__cplusplus >= 201703L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L)
-#    define CATCH_CPP17_OR_GREATER
-#  endif
-
-#endif
-
-#if defined(CATCH_CPP17_OR_GREATER)
-#  define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#endif
-
-#ifdef __clang__
-
-#       define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-            _Pragma( "clang diagnostic push" ) \
-            _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \
-            _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"")
-#       define CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-            _Pragma( "clang diagnostic pop" )
-
-#       define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
-            _Pragma( "clang diagnostic push" ) \
-            _Pragma( "clang diagnostic ignored \"-Wparentheses\"" )
-#       define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \
-            _Pragma( "clang diagnostic pop" )
-
-#       define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-            _Pragma( "clang diagnostic push" ) \
-            _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" )
-#       define CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS \
-            _Pragma( "clang diagnostic pop" )
-
-#       define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-            _Pragma( "clang diagnostic push" ) \
-            _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" )
-#       define CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS \
-            _Pragma( "clang diagnostic pop" )
-
-#endif // __clang__
-
-////////////////////////////////////////////////////////////////////////////////
-// Assume that non-Windows platforms support posix signals by default
-#if !defined(CATCH_PLATFORM_WINDOWS)
-    #define CATCH_INTERNAL_CONFIG_POSIX_SIGNALS
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// We know some environments not to support full POSIX signals
-#if defined(__CYGWIN__) || defined(__QNX__) || defined(__EMSCRIPTEN__) || defined(__DJGPP__)
-    #define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
-#endif
-
-#ifdef __OS400__
-#       define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
-#       define CATCH_CONFIG_COLOUR_NONE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Android somehow still does not support std::to_string
-#if defined(__ANDROID__)
-#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Not all Windows environments support SEH properly
-#if defined(__MINGW32__)
-#    define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// PS4
-#if defined(__ORBIS__)
-#    define CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Cygwin
-#ifdef __CYGWIN__
-
-// Required for some versions of Cygwin to declare gettimeofday
-// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin
-#   define _BSD_SOURCE
-// some versions of cygwin (most) do not support std::to_string. Use the libstd check.
-// https://gcc.gnu.org/onlinedocs/gcc-4.8.2/libstdc++/api/a01053_source.html line 2812-2813
-# if !((__cplusplus >= 201103L) && defined(_GLIBCXX_USE_C99) \
-           && !defined(_GLIBCXX_HAVE_BROKEN_VSWPRINTF))
-
-#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
-
-# endif
-#endif // __CYGWIN__
-
-////////////////////////////////////////////////////////////////////////////////
-// Visual C++
-#ifdef _MSC_VER
-
-#  if _MSC_VER >= 1900 // Visual Studio 2015 or newer
-#    define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#  endif
-
-// Universal Windows platform does not support SEH
-// Or console colours (or console at all...)
-#  if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP)
-#    define CATCH_CONFIG_COLOUR_NONE
-#  else
-#    define CATCH_INTERNAL_CONFIG_WINDOWS_SEH
-#  endif
-
-// MSVC traditional preprocessor needs some workaround for __VA_ARGS__
-// _MSVC_TRADITIONAL == 0 means new conformant preprocessor
-// _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor
-#  if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL)
-#    define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#  endif
-#endif // _MSC_VER
-
-#if defined(_REENTRANT) || defined(_MSC_VER)
-// Enable async processing, as -pthread is specified or no additional linking is required
-# define CATCH_INTERNAL_CONFIG_USE_ASYNC
-#endif // _MSC_VER
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if we are compiled with -fno-exceptions or equivalent
-#if defined(__EXCEPTIONS) || defined(__cpp_exceptions) || defined(_CPPUNWIND)
-#  define CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// DJGPP
-#ifdef __DJGPP__
-#  define CATCH_INTERNAL_CONFIG_NO_WCHAR
-#endif // __DJGPP__
-
-////////////////////////////////////////////////////////////////////////////////
-// Embarcadero C++Build
-#if defined(__BORLANDC__)
-    #define CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-
-// Use of __COUNTER__ is suppressed during code analysis in
-// CLion/AppCode 2017.2.x and former, because __COUNTER__ is not properly
-// handled by it.
-// Otherwise all supported compilers support COUNTER macro,
-// but user still might want to turn it off
-#if ( !defined(__JETBRAINS_IDE__) || __JETBRAINS_IDE__ >= 20170300L )
-    #define CATCH_INTERNAL_CONFIG_COUNTER
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-
-// RTX is a special version of Windows that is real time.
-// This means that it is detected as Windows, but does not provide
-// the same set of capabilities as real Windows does.
-#if defined(UNDER_RTSS) || defined(RTX64_BUILD)
-    #define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
-    #define CATCH_INTERNAL_CONFIG_NO_ASYNC
-    #define CATCH_CONFIG_COLOUR_NONE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if string_view is available and usable
-// The check is split apart to work around v140 (VS2015) preprocessor issue...
-#if defined(__has_include)
-#if __has_include(<string_view>) && defined(CATCH_CPP17_OR_GREATER)
-#    define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW
-#endif
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if optional is available and usable
-#if defined(__has_include)
-#  if __has_include(<optional>) && defined(CATCH_CPP17_OR_GREATER)
-#    define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL
-#  endif // __has_include(<optional>) && defined(CATCH_CPP17_OR_GREATER)
-#endif // __has_include
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if byte is available and usable
-#if defined(__has_include)
-#  if __has_include(<cstddef>) && defined(CATCH_CPP17_OR_GREATER)
-#    define CATCH_INTERNAL_CONFIG_CPP17_BYTE
-#  endif // __has_include(<cstddef>) && defined(CATCH_CPP17_OR_GREATER)
-#endif // __has_include
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if variant is available and usable
-#if defined(__has_include)
-#  if __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
-#    if defined(__clang__) && (__clang_major__ < 8)
-       // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852
-       // fix should be in clang 8, workaround in libstdc++ 8.2
-#      include <ciso646>
-#      if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
-#        define CATCH_CONFIG_NO_CPP17_VARIANT
-#      else
-#        define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
-#      endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
-#    else
-#      define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
-#    endif // defined(__clang__) && (__clang_major__ < 8)
-#  endif // __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
-#endif // __has_include
-
-#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER)
-#   define CATCH_CONFIG_COUNTER
-#endif
-#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) && !defined(CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH)
-#   define CATCH_CONFIG_WINDOWS_SEH
-#endif
-// This is set by default, because we assume that unix compilers are posix-signal-compatible by default.
-#if defined(CATCH_INTERNAL_CONFIG_POSIX_SIGNALS) && !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS)
-#   define CATCH_CONFIG_POSIX_SIGNALS
-#endif
-// This is set by default, because we assume that compilers with no wchar_t support are just rare exceptions.
-#if !defined(CATCH_INTERNAL_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_WCHAR)
-#   define CATCH_CONFIG_WCHAR
-#endif
-
-#if !defined(CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_CPP11_TO_STRING)
-#    define CATCH_CONFIG_CPP11_TO_STRING
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_NO_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_CPP17_OPTIONAL)
-#  define CATCH_CONFIG_CPP17_OPTIONAL
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-#  define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW)
-#  define CATCH_CONFIG_CPP17_STRING_VIEW
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_VARIANT) && !defined(CATCH_CONFIG_NO_CPP17_VARIANT) && !defined(CATCH_CONFIG_CPP17_VARIANT)
-#  define CATCH_CONFIG_CPP17_VARIANT
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_BYTE) && !defined(CATCH_CONFIG_NO_CPP17_BYTE) && !defined(CATCH_CONFIG_CPP17_BYTE)
-#  define CATCH_CONFIG_CPP17_BYTE
-#endif
-
-#if defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
-#  define CATCH_INTERNAL_CONFIG_NEW_CAPTURE
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_NEW_CAPTURE) && !defined(CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NEW_CAPTURE)
-#  define CATCH_CONFIG_NEW_CAPTURE
-#endif
-
-#if !defined(CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-#  define CATCH_CONFIG_DISABLE_EXCEPTIONS
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_NO_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_POLYFILL_ISNAN)
-#  define CATCH_CONFIG_POLYFILL_ISNAN
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_USE_ASYNC)  && !defined(CATCH_INTERNAL_CONFIG_NO_ASYNC) && !defined(CATCH_CONFIG_NO_USE_ASYNC) && !defined(CATCH_CONFIG_USE_ASYNC)
-#  define CATCH_CONFIG_USE_ASYNC
-#endif
-
-#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS
-#   define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-#   define CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS
-#   define CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS
-#   define CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS
-#endif
-
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-#define CATCH_TRY if ((true))
-#define CATCH_CATCH_ALL if ((false))
-#define CATCH_CATCH_ANON(type) if ((false))
-#else
-#define CATCH_TRY try
-#define CATCH_CATCH_ALL catch (...)
-#define CATCH_CATCH_ANON(type) catch (type)
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_NO_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR)
-#define CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#endif
-
-// end catch_compiler_capabilities.h
-#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line
-#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line )
-#ifdef CATCH_CONFIG_COUNTER
-#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ )
-#else
-#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ )
-#endif
-
-#include <iosfwd>
-#include <string>
-#include <cstdint>
-
-// We need a dummy global operator<< so we can bring it into Catch namespace later
-struct Catch_global_namespace_dummy {};
-std::ostream& operator<<(std::ostream&, Catch_global_namespace_dummy);
-
-namespace Catch {
-
-    struct CaseSensitive { enum Choice {
-        Yes,
-        No
-    }; };
-
-    class NonCopyable {
-        NonCopyable( NonCopyable const& )              = delete;
-        NonCopyable( NonCopyable && )                  = delete;
-        NonCopyable& operator = ( NonCopyable const& ) = delete;
-        NonCopyable& operator = ( NonCopyable && )     = delete;
-
-    protected:
-        NonCopyable();
-        virtual ~NonCopyable();
-    };
-
-    struct SourceLineInfo {
-
-        SourceLineInfo() = delete;
-        SourceLineInfo( char const* _file, std::size_t _line ) noexcept
-        :   file( _file ),
-            line( _line )
-        {}
-
-        SourceLineInfo( SourceLineInfo const& other )            = default;
-        SourceLineInfo& operator = ( SourceLineInfo const& )     = default;
-        SourceLineInfo( SourceLineInfo&& )              noexcept = default;
-        SourceLineInfo& operator = ( SourceLineInfo&& ) noexcept = default;
-
-        bool empty() const noexcept;
-        bool operator == ( SourceLineInfo const& other ) const noexcept;
-        bool operator < ( SourceLineInfo const& other ) const noexcept;
-
-        char const* file;
-        std::size_t line;
-    };
-
-    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info );
-
-    // Bring in operator<< from global namespace into Catch namespace
-    // This is necessary because the overload of operator<< above makes
-    // lookup stop at namespace Catch
-    using ::operator<<;
-
-    // Use this in variadic streaming macros to allow
-    //    >> +StreamEndStop
-    // as well as
-    //    >> stuff +StreamEndStop
-    struct StreamEndStop {
-        std::string operator+() const;
-    };
-    template<typename T>
-    T const& operator + ( T const& value, StreamEndStop ) {
-        return value;
-    }
-}
-
-#define CATCH_INTERNAL_LINEINFO \
-    ::Catch::SourceLineInfo( __FILE__, static_cast<std::size_t>( __LINE__ ) )
-
-// end catch_common.h
-namespace Catch {
-
-    struct RegistrarForTagAliases {
-        RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo );
-    };
-
-} // end namespace Catch
-
-#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-    namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \
-    CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-// end catch_tag_alias_autoregistrar.h
-// start catch_test_registry.h
-
-// start catch_interfaces_testcase.h
-
-#include <vector>
-
-namespace Catch {
-
-    class TestSpec;
-
-    struct ITestInvoker {
-        virtual void invoke () const = 0;
-        virtual ~ITestInvoker();
-    };
-
-    class TestCase;
-    struct IConfig;
-
-    struct ITestCaseRegistry {
-        virtual ~ITestCaseRegistry();
-        virtual std::vector<TestCase> const& getAllTests() const = 0;
-        virtual std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const = 0;
-    };
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config );
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
-
-}
-
-// end catch_interfaces_testcase.h
-// start catch_stringref.h
-
-#include <cstddef>
-#include <string>
-#include <iosfwd>
-
-namespace Catch {
-
-    /// A non-owning string class (similar to the forthcoming std::string_view)
-    /// Note that, because a StringRef may be a substring of another string,
-    /// it may not be null terminated. c_str() must return a null terminated
-    /// string, however, and so the StringRef will internally take ownership
-    /// (taking a copy), if necessary. In theory this ownership is not externally
-    /// visible - but it does mean (substring) StringRefs should not be shared between
-    /// threads.
-    class StringRef {
-    public:
-        using size_type = std::size_t;
-
-    private:
-        friend struct StringRefTestAccess;
-
-        char const* m_start;
-        size_type m_size;
-
-        char* m_data = nullptr;
-
-        void takeOwnership();
-
-        static constexpr char const* const s_empty = "";
-
-    public: // construction/ assignment
-        StringRef() noexcept
-        :   StringRef( s_empty, 0 )
-        {}
-
-        StringRef( StringRef const& other ) noexcept
-        :   m_start( other.m_start ),
-            m_size( other.m_size )
-        {}
-
-        StringRef( StringRef&& other ) noexcept
-        :   m_start( other.m_start ),
-            m_size( other.m_size ),
-            m_data( other.m_data )
-        {
-            other.m_data = nullptr;
-        }
-
-        StringRef( char const* rawChars ) noexcept;
-
-        StringRef( char const* rawChars, size_type size ) noexcept
-        :   m_start( rawChars ),
-            m_size( size )
-        {}
-
-        StringRef( std::string const& stdString ) noexcept
-        :   m_start( stdString.c_str() ),
-            m_size( stdString.size() )
-        {}
-
-        ~StringRef() noexcept {
-            delete[] m_data;
-        }
-
-        auto operator = ( StringRef const &other ) noexcept -> StringRef& {
-            delete[] m_data;
-            m_data = nullptr;
-            m_start = other.m_start;
-            m_size = other.m_size;
-            return *this;
-        }
-
-        operator std::string() const;
-
-        void swap( StringRef& other ) noexcept;
-
-    public: // operators
-        auto operator == ( StringRef const& other ) const noexcept -> bool;
-        auto operator != ( StringRef const& other ) const noexcept -> bool;
-
-        auto operator[] ( size_type index ) const noexcept -> char;
-
-    public: // named queries
-        auto empty() const noexcept -> bool {
-            return m_size == 0;
-        }
-        auto size() const noexcept -> size_type {
-            return m_size;
-        }
-
-        auto numberOfCharacters() const noexcept -> size_type;
-        auto c_str() const -> char const*;
-
-    public: // substrings and searches
-        auto substr( size_type start, size_type size ) const noexcept -> StringRef;
-
-        // Returns the current start pointer.
-        // Note that the pointer can change when if the StringRef is a substring
-        auto currentData() const noexcept -> char const*;
-
-    private: // ownership queries - may not be consistent between calls
-        auto isOwned() const noexcept -> bool;
-        auto isSubstring() const noexcept -> bool;
-    };
-
-    auto operator + ( StringRef const& lhs, StringRef const& rhs ) -> std::string;
-    auto operator + ( StringRef const& lhs, char const* rhs ) -> std::string;
-    auto operator + ( char const* lhs, StringRef const& rhs ) -> std::string;
-
-    auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&;
-    auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&;
-
-    inline auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef {
-        return StringRef( rawChars, size );
-    }
-
-} // namespace Catch
-
-inline auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef {
-    return Catch::StringRef( rawChars, size );
-}
-
-// end catch_stringref.h
-// start catch_type_traits.hpp
-
-
-#include <type_traits>
-
-namespace Catch{
-
-#ifdef CATCH_CPP17_OR_GREATER
-	template <typename...>
-	inline constexpr auto is_unique = std::true_type{};
-
-	template <typename T, typename... Rest>
-	inline constexpr auto is_unique<T, Rest...> = std::bool_constant<
-		(!std::is_same_v<T, Rest> && ...) && is_unique<Rest...>
-	>{};
-#else
-
-template <typename...>
-struct is_unique : std::true_type{};
-
-template <typename T0, typename T1, typename... Rest>
-struct is_unique<T0, T1, Rest...> : std::integral_constant
-<bool,
-     !std::is_same<T0, T1>::value
-     && is_unique<T0, Rest...>::value
-     && is_unique<T1, Rest...>::value
->{};
-
-#endif
-}
-
-// end catch_type_traits.hpp
-// start catch_preprocessor.hpp
-
-
-#define CATCH_RECURSION_LEVEL0(...) __VA_ARGS__
-#define CATCH_RECURSION_LEVEL1(...) CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL2(...) CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL3(...) CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL4(...) CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL5(...) CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(__VA_ARGS__)))
-
-#ifdef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_EXPAND_VARGS(...) __VA_ARGS__
-// MSVC needs more evaluations
-#define CATCH_RECURSION_LEVEL6(...) CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(__VA_ARGS__)))
-#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL6(CATCH_RECURSION_LEVEL6(__VA_ARGS__))
-#else
-#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL5(__VA_ARGS__)
-#endif
-
-#define CATCH_REC_END(...)
-#define CATCH_REC_OUT
-
-#define CATCH_EMPTY()
-#define CATCH_DEFER(id) id CATCH_EMPTY()
-
-#define CATCH_REC_GET_END2() 0, CATCH_REC_END
-#define CATCH_REC_GET_END1(...) CATCH_REC_GET_END2
-#define CATCH_REC_GET_END(...) CATCH_REC_GET_END1
-#define CATCH_REC_NEXT0(test, next, ...) next CATCH_REC_OUT
-#define CATCH_REC_NEXT1(test, next) CATCH_DEFER ( CATCH_REC_NEXT0 ) ( test, next, 0)
-#define CATCH_REC_NEXT(test, next)  CATCH_REC_NEXT1(CATCH_REC_GET_END test, next)
-
-#define CATCH_REC_LIST0(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST1(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0) ) ( f, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST2(f, x, peek, ...)   f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
-
-#define CATCH_REC_LIST0_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST1_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST2_UD(f, userdata, x, peek, ...)   f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-
-// Applies the function macro `f` to each of the remaining parameters, inserts commas between the results,
-// and passes userdata as the first parameter to each invocation,
-// e.g. CATCH_REC_LIST_UD(f, x, a, b, c) evaluates to f(x, a), f(x, b), f(x, c)
-#define CATCH_REC_LIST_UD(f, userdata, ...) CATCH_RECURSE(CATCH_REC_LIST2_UD(f, userdata, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
-
-#define CATCH_REC_LIST(f, ...) CATCH_RECURSE(CATCH_REC_LIST2(f, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
-
-#define INTERNAL_CATCH_EXPAND1(param) INTERNAL_CATCH_EXPAND2(param)
-#define INTERNAL_CATCH_EXPAND2(...) INTERNAL_CATCH_NO## __VA_ARGS__
-#define INTERNAL_CATCH_DEF(...) INTERNAL_CATCH_DEF __VA_ARGS__
-#define INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
-#define INTERNAL_CATCH_STRINGIZE(...) INTERNAL_CATCH_STRINGIZE2(__VA_ARGS__)
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_STRINGIZE2(...) #__VA_ARGS__
-#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param))
-#else
-// MSVC is adding extra space and needs another indirection to expand INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
-#define INTERNAL_CATCH_STRINGIZE2(...) INTERNAL_CATCH_STRINGIZE3(__VA_ARGS__)
-#define INTERNAL_CATCH_STRINGIZE3(...) #__VA_ARGS__
-#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) (INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) + 1)
-#endif
-
-#define INTERNAL_CATCH_MAKE_NAMESPACE2(...) ns_##__VA_ARGS__
-#define INTERNAL_CATCH_MAKE_NAMESPACE(name) INTERNAL_CATCH_MAKE_NAMESPACE2(name)
-
-#define INTERNAL_CATCH_REMOVE_PARENS(...) INTERNAL_CATCH_EXPAND1(INTERNAL_CATCH_DEF __VA_ARGS__)
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS_GEN(__VA_ARGS__)>())
-#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__))
-#else
-#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) INTERNAL_CATCH_EXPAND_VARGS(decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS_GEN(__VA_ARGS__)>()))
-#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__)))
-#endif
-
-#define INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(...)\
-    CATCH_REC_LIST(INTERNAL_CATCH_MAKE_TYPE_LIST,__VA_ARGS__)
-
-#define INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_0) INTERNAL_CATCH_REMOVE_PARENS(_0)
-#define INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_0, _1) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_1)
-#define INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_0, _1, _2) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_1, _2)
-#define INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_0, _1, _2, _3) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_1, _2, _3)
-#define INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_0, _1, _2, _3, _4) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_1, _2, _3, _4)
-#define INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_0, _1, _2, _3, _4, _5) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_1, _2, _3, _4, _5)
-#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _4, _5, _6)
-#define INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_0, _1, _2, _3, _4, _5, _6, _7) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_1, _2, _3, _4, _5, _6, _7)
-#define INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_1, _2, _3, _4, _5, _6, _7, _8)
-#define INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9)
-#define INTERNAL_CATCH_REMOVE_PARENS_11_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10)
-
-#define INTERNAL_CATCH_VA_NARGS_IMPL(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N
-
-#define INTERNAL_CATCH_TYPE_GEN\
-    template<typename...> struct TypeList {};\
-    template<typename...Ts>\
-    constexpr auto get_wrapper() noexcept -> TypeList<Ts...> { return {}; }\
-    \
-    template<template<typename...> class L1, typename...E1, template<typename...> class L2, typename...E2> \
-    constexpr auto append(L1<E1...>, L2<E2...>) noexcept -> L1<E1...,E2...> { return {}; }\
-    template< template<typename...> class L1, typename...E1, template<typename...> class L2, typename...E2, typename...Rest>\
-    constexpr auto append(L1<E1...>, L2<E2...>, Rest...) noexcept -> decltype(append(L1<E1...,E2...>{}, Rest{}...)) { return {}; }\
-    template< template<typename...> class L1, typename...E1, typename...Rest>\
-    constexpr auto append(L1<E1...>, TypeList<mpl_::na>, Rest...) noexcept -> L1<E1...> { return {}; }\
-    \
-    template< template<typename...> class Container, template<typename...> class List, typename...elems>\
-    constexpr auto rewrap(List<elems...>) noexcept -> TypeList<Container<elems...>> { return {}; }\
-    template< template<typename...> class Container, template<typename...> class List, class...Elems, typename...Elements>\
-    constexpr auto rewrap(List<Elems...>,Elements...) noexcept -> decltype(append(TypeList<Container<Elems...>>{}, rewrap<Container>(Elements{}...))) { return {}; }\
-    \
-    template<template <typename...> class Final, template< typename...> class...Containers, typename...Types>\
-    constexpr auto create(TypeList<Types...>) noexcept -> decltype(append(Final<>{}, rewrap<Containers>(Types{}...)...)) { return {}; }\
-    template<template <typename...> class Final, template <typename...> class List, typename...Ts>\
-    constexpr auto convert(List<Ts...>) noexcept -> decltype(append(Final<>{},TypeList<Ts>{}...)) { return {}; }
-
-#define INTERNAL_CATCH_NTTP_1(signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> struct Nttp{};\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    constexpr auto get_wrapper() noexcept -> Nttp<__VA_ARGS__> { return {}; } \
-    \
-    template< template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class Container, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class List, INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    constexpr auto rewrap(List<__VA_ARGS__>) noexcept -> TypeList<Container<__VA_ARGS__>> { return {}; }\
-    template< template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class Container, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class List, INTERNAL_CATCH_REMOVE_PARENS(signature), typename...Elements>\
-    constexpr auto rewrap(List<__VA_ARGS__>,Elements...elems) noexcept -> decltype(append(TypeList<Container<__VA_ARGS__>>{}, rewrap<Container>(elems...))) { return {}; }\
-    template<template <typename...> class Final, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...Containers, typename...Types>\
-    constexpr auto create(TypeList<Types...>) noexcept -> decltype(append(Final<>{}, rewrap<Containers>(Types{}...)...)) { return {}; }
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST0(TestName)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST1(TestName, signature)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_X(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-
-#define INTERNAL_CATCH_DEFINE_SIG_TEST0(TestName)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST1(TestName, signature)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_X(TestName, signature,...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-
-#define INTERNAL_CATCH_NTTP_REGISTER0(TestFunc, signature)\
-    template<typename Type>\
-    void reg_test(TypeList<Type>, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestFunc<Type>), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER(TestFunc, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    void reg_test(Nttp<__VA_ARGS__>, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestFunc<__VA_ARGS__>), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER_METHOD0(TestName, signature, ...)\
-    template<typename Type>\
-    void reg_test(TypeList<Type>, Catch::StringRef className, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestName<Type>::test), CATCH_INTERNAL_LINEINFO, className, nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER_METHOD(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    void reg_test(Nttp<__VA_ARGS__>, Catch::StringRef className, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestName<__VA_ARGS__>::test), CATCH_INTERNAL_LINEINFO, className, nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0(TestName, ClassName)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1(TestName, ClassName, signature)\
-    template<typename TestType> \
-    struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName)<TestType> { \
-        void test();\
-    }
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X(TestName, ClassName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> \
-    struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName)<__VA_ARGS__> { \
-        void test();\
-    }
-
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0(TestName)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1(TestName, signature)\
-    template<typename TestType> \
-    void INTERNAL_CATCH_MAKE_NAMESPACE(TestName)::TestName<TestType>::test()
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> \
-    void INTERNAL_CATCH_MAKE_NAMESPACE(TestName)::TestName<__VA_ARGS__>::test()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_NTTP_0
-#define INTERNAL_CATCH_NTTP_GEN(...) INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__),INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_0)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0)(TestName, ClassName, __VA_ARGS__)
-#define INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD0, INTERNAL_CATCH_NTTP_REGISTER_METHOD0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_NTTP_REG_GEN(TestFunc, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER0, INTERNAL_CATCH_NTTP_REGISTER0)(TestFunc, __VA_ARGS__)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST1, INTERNAL_CATCH_DEFINE_SIG_TEST0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST1, INTERNAL_CATCH_DECLARE_SIG_TEST0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_REMOVE_PARENS_GEN(...) INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_REMOVE_PARENS_11_ARG,INTERNAL_CATCH_REMOVE_PARENS_10_ARG,INTERNAL_CATCH_REMOVE_PARENS_9_ARG,INTERNAL_CATCH_REMOVE_PARENS_8_ARG,INTERNAL_CATCH_REMOVE_PARENS_7_ARG,INTERNAL_CATCH_REMOVE_PARENS_6_ARG,INTERNAL_CATCH_REMOVE_PARENS_5_ARG,INTERNAL_CATCH_REMOVE_PARENS_4_ARG,INTERNAL_CATCH_REMOVE_PARENS_3_ARG,INTERNAL_CATCH_REMOVE_PARENS_2_ARG,INTERNAL_CATCH_REMOVE_PARENS_1_ARG)(__VA_ARGS__)
-#else
-#define INTERNAL_CATCH_NTTP_0(signature)
-#define INTERNAL_CATCH_NTTP_GEN(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1,INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_0)( __VA_ARGS__))
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0)(TestName, ClassName, __VA_ARGS__))
-#define INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD0, INTERNAL_CATCH_NTTP_REGISTER_METHOD0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_NTTP_REG_GEN(TestFunc, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER0, INTERNAL_CATCH_NTTP_REGISTER0)(TestFunc, __VA_ARGS__))
-#define INTERNAL_CATCH_DEFINE_SIG_TEST(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST1, INTERNAL_CATCH_DEFINE_SIG_TEST0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_DECLARE_SIG_TEST(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST1, INTERNAL_CATCH_DECLARE_SIG_TEST0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_REMOVE_PARENS_GEN(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_REMOVE_PARENS_11_ARG,INTERNAL_CATCH_REMOVE_PARENS_10_ARG,INTERNAL_CATCH_REMOVE_PARENS_9_ARG,INTERNAL_CATCH_REMOVE_PARENS_8_ARG,INTERNAL_CATCH_REMOVE_PARENS_7_ARG,INTERNAL_CATCH_REMOVE_PARENS_6_ARG,INTERNAL_CATCH_REMOVE_PARENS_5_ARG,INTERNAL_CATCH_REMOVE_PARENS_4_ARG,INTERNAL_CATCH_REMOVE_PARENS_3_ARG,INTERNAL_CATCH_REMOVE_PARENS_2_ARG,INTERNAL_CATCH_REMOVE_PARENS_1_ARG)(__VA_ARGS__))
-#endif
-
-// end catch_preprocessor.hpp
-// start catch_meta.hpp
-
-
-#include <type_traits>
-
-namespace Catch {
-template<typename T>
-struct always_false : std::false_type {};
-
-template <typename> struct true_given : std::true_type {};
-struct is_callable_tester {
-    template <typename Fun, typename... Args>
-    true_given<decltype(std::declval<Fun>()(std::declval<Args>()...))> static test(int);
-    template <typename...>
-    std::false_type static test(...);
-};
-
-template <typename T>
-struct is_callable;
-
-template <typename Fun, typename... Args>
-struct is_callable<Fun(Args...)> : decltype(is_callable_tester::test<Fun, Args...>(0)) {};
-
-} // namespace Catch
-
-namespace mpl_{
-    struct na;
-}
-
-// end catch_meta.hpp
-namespace Catch {
-
-template<typename C>
-class TestInvokerAsMethod : public ITestInvoker {
-    void (C::*m_testAsMethod)();
-public:
-    TestInvokerAsMethod( void (C::*testAsMethod)() ) noexcept : m_testAsMethod( testAsMethod ) {}
-
-    void invoke() const override {
-        C obj;
-        (obj.*m_testAsMethod)();
-    }
-};
-
-auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker*;
-
-template<typename C>
-auto makeTestInvoker( void (C::*testAsMethod)() ) noexcept -> ITestInvoker* {
-    return new(std::nothrow) TestInvokerAsMethod<C>( testAsMethod );
-}
-
-struct NameAndTags {
-    NameAndTags( StringRef const& name_ = StringRef(), StringRef const& tags_ = StringRef() ) noexcept;
-    StringRef name;
-    StringRef tags;
-};
-
-struct AutoReg : NonCopyable {
-    AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept;
-    ~AutoReg();
-};
-
-} // end namespace Catch
-
-#if defined(CATCH_CONFIG_DISABLE)
-    #define INTERNAL_CATCH_TESTCASE_NO_REGISTRATION( TestName, ... ) \
-        static void TestName()
-    #define INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION( TestName, ClassName, ... ) \
-        namespace{                        \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
-                void test();              \
-            };                            \
-        }                                 \
-        void TestName::test()
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( TestName, TestFunc, Name, Tags, Signature, ... )  \
-        INTERNAL_CATCH_DEFINE_SIG_TEST(TestFunc, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... )    \
-        namespace{                                                                                  \
-            namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName) {                                      \
-            INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-        }                                                                                           \
-        }                                                                                           \
-        INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) )
-    #endif
-#endif
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TESTCASE2( TestName, ... ) \
-        static void TestName(); \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &TestName ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-        static void TestName()
-    #define INTERNAL_CATCH_TESTCASE( ... ) \
-        INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), __VA_ARGS__ )
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, ... ) \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &QualifiedMethod ), CATCH_INTERNAL_LINEINFO, "&" #QualifiedMethod, Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestName, ClassName, ... )\
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
-                void test(); \
-            }; \
-            Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
-        } \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-        void TestName::test()
-    #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, ... ) \
-        INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, __VA_ARGS__ )
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, ... ) \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( Function ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_2(TestName, TestFunc, Name, Tags, Signature, ... )\
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        INTERNAL_CATCH_DECLARE_SIG_TEST(TestFunc, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){\
-            INTERNAL_CATCH_TYPE_GEN\
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            INTERNAL_CATCH_NTTP_REG_GEN(TestFunc,INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types> \
-            struct TestName{\
-                TestName(){\
-                    int index = 0;                                    \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\
-                    using expander = int[];\
-                    (void)expander{(reg_test(Types{}, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++, 0)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-            TestName<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(__VA_ARGS__)>();\
-            return 0;\
-        }();\
-        }\
-        }\
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS \
-        INTERNAL_CATCH_DEFINE_SIG_TEST(TestFunc,INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(TestName, TestFuncName, Name, Tags, Signature, TmplTypes, TypesList) \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS                      \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS                \
-        template<typename TestType> static void TestFuncName();       \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName) {                                     \
-            INTERNAL_CATCH_TYPE_GEN                                                  \
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))         \
-            template<typename... Types>                               \
-            struct TestName {                                         \
-                void reg_tests() {                                          \
-                    int index = 0;                                    \
-                    using expander = int[];                           \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\
-                    constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\
-                    constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFuncName<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++, 0)... };/* NOLINT */\
-                }                                                     \
-            };                                                        \
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \
-                using TestInit = decltype(create<TestName, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes)>(TypeList<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(INTERNAL_CATCH_REMOVE_PARENS(TypesList))>{})); \
-                TestInit t;                                           \
-                t.reg_tests();                                        \
-                return 0;                                             \
-            }();                                                      \
-        }                                                             \
-        }                                                             \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS                    \
-        CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS              \
-        template<typename TestType>                                   \
-        static void TestFuncName()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename T,__VA_ARGS__)
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename T, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__)
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2(TestName, TestFunc, Name, Tags, TmplList)\
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        template<typename TestType> static void TestFunc();       \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){\
-        INTERNAL_CATCH_TYPE_GEN\
-        template<typename... Types>                               \
-        struct TestName {                                         \
-            void reg_tests() {                                          \
-                int index = 0;                                    \
-                using expander = int[];                           \
-                (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFunc<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++, 0)... };/* NOLINT */\
-            }                                                     \
-        };\
-        static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \
-                using TestInit = decltype(convert<TestName>(std::declval<TmplList>())); \
-                TestInit t;                                           \
-                t.reg_tests();                                        \
-                return 0;                                             \
-            }();                                                        \
-        }}\
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS                    \
-        template<typename TestType>                                   \
-        static void TestFunc()
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(Name, Tags, TmplList) \
-        INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, TmplList )
-
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... ) \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){ \
-            INTERNAL_CATCH_TYPE_GEN\
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-            INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types> \
-            struct TestNameClass{\
-                TestNameClass(){\
-                    int index = 0;                                    \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\
-                    using expander = int[];\
-                    (void)expander{(reg_test(Types{}, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++, 0)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                TestNameClass<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(__VA_ARGS__)>();\
-                return 0;\
-        }();\
-        }\
-        }\
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS\
-        CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS\
-        INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2(TestNameClass, TestName, ClassName, Name, Tags, Signature, TmplTypes, TypesList)\
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        template<typename TestType> \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
-                void test();\
-            };\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestNameClass) {\
-            INTERNAL_CATCH_TYPE_GEN                  \
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types>\
-            struct TestNameClass{\
-                void reg_tests(){\
-                    int index = 0;\
-                    using expander = int[];\
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\
-                    constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\
-                    constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++, 0)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                using TestInit = decltype(create<TestNameClass, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes)>(TypeList<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(INTERNAL_CATCH_REMOVE_PARENS(TypesList))>{}));\
-                TestInit t;\
-                t.reg_tests();\
-                return 0;\
-            }(); \
-        }\
-        }\
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS \
-        template<typename TestType> \
-        void TestName<TestType>::test()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, typename T, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, typename T,__VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, Signature,__VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, TmplList) \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        template<typename TestType> \
-        struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
-            void test();\
-        };\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){ \
-            INTERNAL_CATCH_TYPE_GEN\
-            template<typename...Types>\
-            struct TestNameClass{\
-                void reg_tests(){\
-                    int index = 0;\
-                    using expander = int[];\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++, 0)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                using TestInit = decltype(convert<TestNameClass>(std::declval<TmplList>()));\
-                TestInit t;\
-                t.reg_tests();\
-                return 0;\
-            }(); \
-        }}\
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-        template<typename TestType> \
-        void TestName<TestType>::test()
-
-#define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD(ClassName, Name, Tags, TmplList) \
-        INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, TmplList )
-
-// end catch_test_registry.h
-// start catch_capture.hpp
-
-// start catch_assertionhandler.h
-
-// start catch_assertioninfo.h
-
-// start catch_result_type.h
-
-namespace Catch {
-
-    // ResultWas::OfType enum
-    struct ResultWas { enum OfType {
-        Unknown = -1,
-        Ok = 0,
-        Info = 1,
-        Warning = 2,
-
-        FailureBit = 0x10,
-
-        ExpressionFailed = FailureBit | 1,
-        ExplicitFailure = FailureBit | 2,
-
-        Exception = 0x100 | FailureBit,
-
-        ThrewException = Exception | 1,
-        DidntThrowException = Exception | 2,
-
-        FatalErrorCondition = 0x200 | FailureBit
-
-    }; };
-
-    bool isOk( ResultWas::OfType resultType );
-    bool isJustInfo( int flags );
-
-    // ResultDisposition::Flags enum
-    struct ResultDisposition { enum Flags {
-        Normal = 0x01,
-
-        ContinueOnFailure = 0x02,   // Failures fail test, but execution continues
-        FalseTest = 0x04,           // Prefix expression with !
-        SuppressFail = 0x08         // Failures are reported but do not fail the test
-    }; };
-
-    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs );
-
-    bool shouldContinueOnFailure( int flags );
-    inline bool isFalseTest( int flags ) { return ( flags & ResultDisposition::FalseTest ) != 0; }
-    bool shouldSuppressFailure( int flags );
-
-} // end namespace Catch
-
-// end catch_result_type.h
-namespace Catch {
-
-    struct AssertionInfo
-    {
-        StringRef macroName;
-        SourceLineInfo lineInfo;
-        StringRef capturedExpression;
-        ResultDisposition::Flags resultDisposition;
-
-        // We want to delete this constructor but a compiler bug in 4.8 means
-        // the struct is then treated as non-aggregate
-        //AssertionInfo() = delete;
-    };
-
-} // end namespace Catch
-
-// end catch_assertioninfo.h
-// start catch_decomposer.h
-
-// start catch_tostring.h
-
-#include <vector>
-#include <cstddef>
-#include <type_traits>
-#include <string>
-// start catch_stream.h
-
-#include <iosfwd>
-#include <cstddef>
-#include <ostream>
-
-namespace Catch {
-
-    std::ostream& cout();
-    std::ostream& cerr();
-    std::ostream& clog();
-
-    class StringRef;
-
-    struct IStream {
-        virtual ~IStream();
-        virtual std::ostream& stream() const = 0;
-    };
-
-    auto makeStream( StringRef const &filename ) -> IStream const*;
-
-    class ReusableStringStream {
-        std::size_t m_index;
-        std::ostream* m_oss;
-    public:
-        ReusableStringStream();
-        ~ReusableStringStream();
-
-        auto str() const -> std::string;
-
-        template<typename T>
-        auto operator << ( T const& value ) -> ReusableStringStream& {
-            *m_oss << value;
-            return *this;
-        }
-        auto get() -> std::ostream& { return *m_oss; }
-    };
-}
-
-// end catch_stream.h
-// start catch_interfaces_enum_values_registry.h
-
-#include <vector>
-
-namespace Catch {
-
-    namespace Detail {
-        struct EnumInfo {
-            StringRef m_name;
-            std::vector<std::pair<int, std::string>> m_values;
-
-            ~EnumInfo();
-
-            StringRef lookup( int value ) const;
-        };
-    } // namespace Detail
-
-    struct IMutableEnumValuesRegistry {
-        virtual ~IMutableEnumValuesRegistry();
-
-        virtual Detail::EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::vector<int> const& values ) = 0;
-
-        template<typename E>
-        Detail::EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::initializer_list<E> values ) {
-            std::vector<int> intValues;
-            intValues.reserve( values.size() );
-            for( auto enumValue : values )
-                intValues.push_back( static_cast<int>( enumValue ) );
-            return registerEnum( enumName, allEnums, intValues );
-        }
-    };
-
-} // Catch
-
-// end catch_interfaces_enum_values_registry.h
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-#include <string_view>
-#endif
-
-#ifdef __OBJC__
-// start catch_objc_arc.hpp
-
-#import <Foundation/Foundation.h>
-
-#ifdef __has_feature
-#define CATCH_ARC_ENABLED __has_feature(objc_arc)
-#else
-#define CATCH_ARC_ENABLED 0
-#endif
-
-void arcSafeRelease( NSObject* obj );
-id performOptionalSelector( id obj, SEL sel );
-
-#if !CATCH_ARC_ENABLED
-inline void arcSafeRelease( NSObject* obj ) {
-    [obj release];
-}
-inline id performOptionalSelector( id obj, SEL sel ) {
-    if( [obj respondsToSelector: sel] )
-        return [obj performSelector: sel];
-    return nil;
-}
-#define CATCH_UNSAFE_UNRETAINED
-#define CATCH_ARC_STRONG
-#else
-inline void arcSafeRelease( NSObject* ){}
-inline id performOptionalSelector( id obj, SEL sel ) {
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Warc-performSelector-leaks"
-#endif
-    if( [obj respondsToSelector: sel] )
-        return [obj performSelector: sel];
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-    return nil;
-}
-#define CATCH_UNSAFE_UNRETAINED __unsafe_unretained
-#define CATCH_ARC_STRONG __strong
-#endif
-
-// end catch_objc_arc.hpp
-#endif
-
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4180) // We attempt to stream a function (address) by const&, which MSVC complains about but is harmless
-#endif
-
-namespace Catch {
-    namespace Detail {
-
-        extern const std::string unprintableString;
-
-        std::string rawMemoryToString( const void *object, std::size_t size );
-
-        template<typename T>
-        std::string rawMemoryToString( const T& object ) {
-          return rawMemoryToString( &object, sizeof(object) );
-        }
-
-        template<typename T>
-        class IsStreamInsertable {
-            template<typename SS, typename TT>
-            static auto test(int)
-                -> decltype(std::declval<SS&>() << std::declval<TT>(), std::true_type());
-
-            template<typename, typename>
-            static auto test(...)->std::false_type;
-
-        public:
-            static const bool value = decltype(test<std::ostream, const T&>(0))::value;
-        };
-
-        template<typename E>
-        std::string convertUnknownEnumToString( E e );
-
-        template<typename T>
-        typename std::enable_if<
-            !std::is_enum<T>::value && !std::is_base_of<std::exception, T>::value,
-        std::string>::type convertUnstreamable( T const& ) {
-            return Detail::unprintableString;
-        }
-        template<typename T>
-        typename std::enable_if<
-            !std::is_enum<T>::value && std::is_base_of<std::exception, T>::value,
-         std::string>::type convertUnstreamable(T const& ex) {
-            return ex.what();
-        }
-
-        template<typename T>
-        typename std::enable_if<
-            std::is_enum<T>::value
-        , std::string>::type convertUnstreamable( T const& value ) {
-            return convertUnknownEnumToString( value );
-        }
-
-#if defined(_MANAGED)
-        //! Convert a CLR string to a utf8 std::string
-        template<typename T>
-        std::string clrReferenceToString( T^ ref ) {
-            if (ref == nullptr)
-                return std::string("null");
-            auto bytes = System::Text::Encoding::UTF8->GetBytes(ref->ToString());
-            cli::pin_ptr<System::Byte> p = &bytes[0];
-            return std::string(reinterpret_cast<char const *>(p), bytes->Length);
-        }
-#endif
-
-    } // namespace Detail
-
-    // If we decide for C++14, change these to enable_if_ts
-    template <typename T, typename = void>
-    struct StringMaker {
-        template <typename Fake = T>
-        static
-        typename std::enable_if<::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
-            convert(const Fake& value) {
-                ReusableStringStream rss;
-                // NB: call using the function-like syntax to avoid ambiguity with
-                // user-defined templated operator<< under clang.
-                rss.operator<<(value);
-                return rss.str();
-        }
-
-        template <typename Fake = T>
-        static
-        typename std::enable_if<!::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
-            convert( const Fake& value ) {
-#if !defined(CATCH_CONFIG_FALLBACK_STRINGIFIER)
-            return Detail::convertUnstreamable(value);
-#else
-            return CATCH_CONFIG_FALLBACK_STRINGIFIER(value);
-#endif
-        }
-    };
-
-    namespace Detail {
-
-        // This function dispatches all stringification requests inside of Catch.
-        // Should be preferably called fully qualified, like ::Catch::Detail::stringify
-        template <typename T>
-        std::string stringify(const T& e) {
-            return ::Catch::StringMaker<typename std::remove_cv<typename std::remove_reference<T>::type>::type>::convert(e);
-        }
-
-        template<typename E>
-        std::string convertUnknownEnumToString( E e ) {
-            return ::Catch::Detail::stringify(static_cast<typename std::underlying_type<E>::type>(e));
-        }
-
-#if defined(_MANAGED)
-        template <typename T>
-        std::string stringify( T^ e ) {
-            return ::Catch::StringMaker<T^>::convert(e);
-        }
-#endif
-
-    } // namespace Detail
-
-    // Some predefined specializations
-
-    template<>
-    struct StringMaker<std::string> {
-        static std::string convert(const std::string& str);
-    };
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-    template<>
-    struct StringMaker<std::string_view> {
-        static std::string convert(std::string_view str);
-    };
-#endif
-
-    template<>
-    struct StringMaker<char const *> {
-        static std::string convert(char const * str);
-    };
-    template<>
-    struct StringMaker<char *> {
-        static std::string convert(char * str);
-    };
-
-#ifdef CATCH_CONFIG_WCHAR
-    template<>
-    struct StringMaker<std::wstring> {
-        static std::string convert(const std::wstring& wstr);
-    };
-
-# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-    template<>
-    struct StringMaker<std::wstring_view> {
-        static std::string convert(std::wstring_view str);
-    };
-# endif
-
-    template<>
-    struct StringMaker<wchar_t const *> {
-        static std::string convert(wchar_t const * str);
-    };
-    template<>
-    struct StringMaker<wchar_t *> {
-        static std::string convert(wchar_t * str);
-    };
-#endif
-
-    // TBD: Should we use `strnlen` to ensure that we don't go out of the buffer,
-    //      while keeping string semantics?
-    template<int SZ>
-    struct StringMaker<char[SZ]> {
-        static std::string convert(char const* str) {
-            return ::Catch::Detail::stringify(std::string{ str });
-        }
-    };
-    template<int SZ>
-    struct StringMaker<signed char[SZ]> {
-        static std::string convert(signed char const* str) {
-            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
-        }
-    };
-    template<int SZ>
-    struct StringMaker<unsigned char[SZ]> {
-        static std::string convert(unsigned char const* str) {
-            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
-        }
-    };
-
-#if defined(CATCH_CONFIG_CPP17_BYTE)
-    template<>
-    struct StringMaker<std::byte> {
-        static std::string convert(std::byte value);
-    };
-#endif // defined(CATCH_CONFIG_CPP17_BYTE)
-    template<>
-    struct StringMaker<int> {
-        static std::string convert(int value);
-    };
-    template<>
-    struct StringMaker<long> {
-        static std::string convert(long value);
-    };
-    template<>
-    struct StringMaker<long long> {
-        static std::string convert(long long value);
-    };
-    template<>
-    struct StringMaker<unsigned int> {
-        static std::string convert(unsigned int value);
-    };
-    template<>
-    struct StringMaker<unsigned long> {
-        static std::string convert(unsigned long value);
-    };
-    template<>
-    struct StringMaker<unsigned long long> {
-        static std::string convert(unsigned long long value);
-    };
-
-    template<>
-    struct StringMaker<bool> {
-        static std::string convert(bool b);
-    };
-
-    template<>
-    struct StringMaker<char> {
-        static std::string convert(char c);
-    };
-    template<>
-    struct StringMaker<signed char> {
-        static std::string convert(signed char c);
-    };
-    template<>
-    struct StringMaker<unsigned char> {
-        static std::string convert(unsigned char c);
-    };
-
-    template<>
-    struct StringMaker<std::nullptr_t> {
-        static std::string convert(std::nullptr_t);
-    };
-
-    template<>
-    struct StringMaker<float> {
-        static std::string convert(float value);
-        static int precision;
-    };
-
-    template<>
-    struct StringMaker<double> {
-        static std::string convert(double value);
-        static int precision;
-    };
-
-    template <typename T>
-    struct StringMaker<T*> {
-        template <typename U>
-        static std::string convert(U* p) {
-            if (p) {
-                return ::Catch::Detail::rawMemoryToString(p);
-            } else {
-                return "nullptr";
-            }
-        }
-    };
-
-    template <typename R, typename C>
-    struct StringMaker<R C::*> {
-        static std::string convert(R C::* p) {
-            if (p) {
-                return ::Catch::Detail::rawMemoryToString(p);
-            } else {
-                return "nullptr";
-            }
-        }
-    };
-
-#if defined(_MANAGED)
-    template <typename T>
-    struct StringMaker<T^> {
-        static std::string convert( T^ ref ) {
-            return ::Catch::Detail::clrReferenceToString(ref);
-        }
-    };
-#endif
-
-    namespace Detail {
-        template<typename InputIterator>
-        std::string rangeToString(InputIterator first, InputIterator last) {
-            ReusableStringStream rss;
-            rss << "{ ";
-            if (first != last) {
-                rss << ::Catch::Detail::stringify(*first);
-                for (++first; first != last; ++first)
-                    rss << ", " << ::Catch::Detail::stringify(*first);
-            }
-            rss << " }";
-            return rss.str();
-        }
-    }
-
-#ifdef __OBJC__
-    template<>
-    struct StringMaker<NSString*> {
-        static std::string convert(NSString * nsstring) {
-            if (!nsstring)
-                return "nil";
-            return std::string("@") + [nsstring UTF8String];
-        }
-    };
-    template<>
-    struct StringMaker<NSObject*> {
-        static std::string convert(NSObject* nsObject) {
-            return ::Catch::Detail::stringify([nsObject description]);
-        }
-
-    };
-    namespace Detail {
-        inline std::string stringify( NSString* nsstring ) {
-            return StringMaker<NSString*>::convert( nsstring );
-        }
-
-    } // namespace Detail
-#endif // __OBJC__
-
-} // namespace Catch
-
-//////////////////////////////////////////////////////
-// Separate std-lib types stringification, so it can be selectively enabled
-// This means that we do not bring in
-
-#if defined(CATCH_CONFIG_ENABLE_ALL_STRINGMAKERS)
-#  define CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER
-#endif
-
-// Separate std::pair specialization
-#if defined(CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER)
-#include <utility>
-namespace Catch {
-    template<typename T1, typename T2>
-    struct StringMaker<std::pair<T1, T2> > {
-        static std::string convert(const std::pair<T1, T2>& pair) {
-            ReusableStringStream rss;
-            rss << "{ "
-                << ::Catch::Detail::stringify(pair.first)
-                << ", "
-                << ::Catch::Detail::stringify(pair.second)
-                << " }";
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
-
-#if defined(CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_OPTIONAL)
-#include <optional>
-namespace Catch {
-    template<typename T>
-    struct StringMaker<std::optional<T> > {
-        static std::string convert(const std::optional<T>& optional) {
-            ReusableStringStream rss;
-            if (optional.has_value()) {
-                rss << ::Catch::Detail::stringify(*optional);
-            } else {
-                rss << "{ }";
-            }
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER
-
-// Separate std::tuple specialization
-#if defined(CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER)
-#include <tuple>
-namespace Catch {
-    namespace Detail {
-        template<
-            typename Tuple,
-            std::size_t N = 0,
-            bool = (N < std::tuple_size<Tuple>::value)
-            >
-            struct TupleElementPrinter {
-            static void print(const Tuple& tuple, std::ostream& os) {
-                os << (N ? ", " : " ")
-                    << ::Catch::Detail::stringify(std::get<N>(tuple));
-                TupleElementPrinter<Tuple, N + 1>::print(tuple, os);
-            }
-        };
-
-        template<
-            typename Tuple,
-            std::size_t N
-        >
-            struct TupleElementPrinter<Tuple, N, false> {
-            static void print(const Tuple&, std::ostream&) {}
-        };
-
-    }
-
-    template<typename ...Types>
-    struct StringMaker<std::tuple<Types...>> {
-        static std::string convert(const std::tuple<Types...>& tuple) {
-            ReusableStringStream rss;
-            rss << '{';
-            Detail::TupleElementPrinter<std::tuple<Types...>>::print(tuple, rss.get());
-            rss << " }";
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
-
-#if defined(CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_VARIANT)
-#include <variant>
-namespace Catch {
-    template<>
-    struct StringMaker<std::monostate> {
-        static std::string convert(const std::monostate&) {
-            return "{ }";
-        }
-    };
-
-    template<typename... Elements>
-    struct StringMaker<std::variant<Elements...>> {
-        static std::string convert(const std::variant<Elements...>& variant) {
-            if (variant.valueless_by_exception()) {
-                return "{valueless variant}";
-            } else {
-                return std::visit(
-                    [](const auto& value) {
-                        return ::Catch::Detail::stringify(value);
-                    },
-                    variant
-                );
-            }
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
-
-namespace Catch {
-    struct not_this_one {}; // Tag type for detecting which begin/ end are being selected
-
-    // Import begin/ end from std here so they are considered alongside the fallback (...) overloads in this namespace
-    using std::begin;
-    using std::end;
-
-    not_this_one begin( ... );
-    not_this_one end( ... );
-
-    template <typename T>
-    struct is_range {
-        static const bool value =
-            !std::is_same<decltype(begin(std::declval<T>())), not_this_one>::value &&
-            !std::is_same<decltype(end(std::declval<T>())), not_this_one>::value;
-    };
-
-#if defined(_MANAGED) // Managed types are never ranges
-    template <typename T>
-    struct is_range<T^> {
-        static const bool value = false;
-    };
-#endif
-
-    template<typename Range>
-    std::string rangeToString( Range const& range ) {
-        return ::Catch::Detail::rangeToString( begin( range ), end( range ) );
-    }
-
-    // Handle vector<bool> specially
-    template<typename Allocator>
-    std::string rangeToString( std::vector<bool, Allocator> const& v ) {
-        ReusableStringStream rss;
-        rss << "{ ";
-        bool first = true;
-        for( bool b : v ) {
-            if( first )
-                first = false;
-            else
-                rss << ", ";
-            rss << ::Catch::Detail::stringify( b );
-        }
-        rss << " }";
-        return rss.str();
-    }
-
-    template<typename R>
-    struct StringMaker<R, typename std::enable_if<is_range<R>::value && !::Catch::Detail::IsStreamInsertable<R>::value>::type> {
-        static std::string convert( R const& range ) {
-            return rangeToString( range );
-        }
-    };
-
-    template <typename T, int SZ>
-    struct StringMaker<T[SZ]> {
-        static std::string convert(T const(&arr)[SZ]) {
-            return rangeToString(arr);
-        }
-    };
-
-} // namespace Catch
-
-// Separate std::chrono::duration specialization
-#if defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#include <ctime>
-#include <ratio>
-#include <chrono>
-
-namespace Catch {
-
-template <class Ratio>
-struct ratio_string {
-    static std::string symbol();
-};
-
-template <class Ratio>
-std::string ratio_string<Ratio>::symbol() {
-    Catch::ReusableStringStream rss;
-    rss << '[' << Ratio::num << '/'
-        << Ratio::den << ']';
-    return rss.str();
-}
-template <>
-struct ratio_string<std::atto> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::femto> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::pico> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::nano> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::micro> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::milli> {
-    static std::string symbol();
-};
-
-    ////////////
-    // std::chrono::duration specializations
-    template<typename Value, typename Ratio>
-    struct StringMaker<std::chrono::duration<Value, Ratio>> {
-        static std::string convert(std::chrono::duration<Value, Ratio> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << ' ' << ratio_string<Ratio>::symbol() << 's';
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<1>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<1>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " s";
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<60>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<60>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " m";
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<3600>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<3600>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " h";
-            return rss.str();
-        }
-    };
-
-    ////////////
-    // std::chrono::time_point specialization
-    // Generic time_point cannot be specialized, only std::chrono::time_point<system_clock>
-    template<typename Clock, typename Duration>
-    struct StringMaker<std::chrono::time_point<Clock, Duration>> {
-        static std::string convert(std::chrono::time_point<Clock, Duration> const& time_point) {
-            return ::Catch::Detail::stringify(time_point.time_since_epoch()) + " since epoch";
-        }
-    };
-    // std::chrono::time_point<system_clock> specialization
-    template<typename Duration>
-    struct StringMaker<std::chrono::time_point<std::chrono::system_clock, Duration>> {
-        static std::string convert(std::chrono::time_point<std::chrono::system_clock, Duration> const& time_point) {
-            auto converted = std::chrono::system_clock::to_time_t(time_point);
-
-#ifdef _MSC_VER
-            std::tm timeInfo = {};
-            gmtime_s(&timeInfo, &converted);
-#else
-            std::tm* timeInfo = std::gmtime(&converted);
-#endif
-
-            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
-            char timeStamp[timeStampSize];
-            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
-
-#ifdef _MSC_VER
-            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
-#else
-            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
-#endif
-            return std::string(timeStamp);
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-
-#define INTERNAL_CATCH_REGISTER_ENUM( enumName, ... ) \
-namespace Catch { \
-    template<> struct StringMaker<enumName> { \
-        static std::string convert( enumName value ) { \
-            static const auto& enumInfo = ::Catch::getMutableRegistryHub().getMutableEnumValuesRegistry().registerEnum( #enumName, #__VA_ARGS__, { __VA_ARGS__ } ); \
-            return enumInfo.lookup( static_cast<int>( value ) ); \
-        } \
-    }; \
-}
-
-#define CATCH_REGISTER_ENUM( enumName, ... ) INTERNAL_CATCH_REGISTER_ENUM( enumName, __VA_ARGS__ )
-
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-// end catch_tostring.h
-#include <iosfwd>
-
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4389) // '==' : signed/unsigned mismatch
-#pragma warning(disable:4018) // more "signed/unsigned mismatch"
-#pragma warning(disable:4312) // Converting int to T* using reinterpret_cast (issue on x64 platform)
-#pragma warning(disable:4180) // qualifier applied to function type has no meaning
-#pragma warning(disable:4800) // Forcing result to true or false
-#endif
-
-namespace Catch {
-
-    struct ITransientExpression {
-        auto isBinaryExpression() const -> bool { return m_isBinaryExpression; }
-        auto getResult() const -> bool { return m_result; }
-        virtual void streamReconstructedExpression( std::ostream &os ) const = 0;
-
-        ITransientExpression( bool isBinaryExpression, bool result )
-        :   m_isBinaryExpression( isBinaryExpression ),
-            m_result( result )
-        {}
-
-        // We don't actually need a virtual destructor, but many static analysers
-        // complain if it's not here :-(
-        virtual ~ITransientExpression();
-
-        bool m_isBinaryExpression;
-        bool m_result;
-
-    };
-
-    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs );
-
-    template<typename LhsT, typename RhsT>
-    class BinaryExpr  : public ITransientExpression {
-        LhsT m_lhs;
-        StringRef m_op;
-        RhsT m_rhs;
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            formatReconstructedExpression
-                    ( os, Catch::Detail::stringify( m_lhs ), m_op, Catch::Detail::stringify( m_rhs ) );
-        }
-
-    public:
-        BinaryExpr( bool comparisonResult, LhsT lhs, StringRef op, RhsT rhs )
-        :   ITransientExpression{ true, comparisonResult },
-            m_lhs( lhs ),
-            m_op( op ),
-            m_rhs( rhs )
-        {}
-
-        template<typename T>
-        auto operator && ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator || ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator == ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator != ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator > ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator < ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator >= ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator <= ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-    };
-
-    template<typename LhsT>
-    class UnaryExpr : public ITransientExpression {
-        LhsT m_lhs;
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            os << Catch::Detail::stringify( m_lhs );
-        }
-
-    public:
-        explicit UnaryExpr( LhsT lhs )
-        :   ITransientExpression{ false, static_cast<bool>(lhs) },
-            m_lhs( lhs )
-        {}
-    };
-
-    // Specialised comparison functions to handle equality comparisons between ints and pointers (NULL deduces as an int)
-    template<typename LhsT, typename RhsT>
-    auto compareEqual( LhsT const& lhs, RhsT const& rhs ) -> bool { return static_cast<bool>(lhs == rhs); }
-    template<typename T>
-    auto compareEqual( T* const& lhs, int rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareEqual( T* const& lhs, long rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
-    template<typename T>
-    auto compareEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
-
-    template<typename LhsT, typename RhsT>
-    auto compareNotEqual( LhsT const& lhs, RhsT&& rhs ) -> bool { return static_cast<bool>(lhs != rhs); }
-    template<typename T>
-    auto compareNotEqual( T* const& lhs, int rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareNotEqual( T* const& lhs, long rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareNotEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
-    template<typename T>
-    auto compareNotEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
-
-    template<typename LhsT>
-    class ExprLhs {
-        LhsT m_lhs;
-    public:
-        explicit ExprLhs( LhsT lhs ) : m_lhs( lhs ) {}
-
-        template<typename RhsT>
-        auto operator == ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { compareEqual( m_lhs, rhs ), m_lhs, "==", rhs };
-        }
-        auto operator == ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
-            return { m_lhs == rhs, m_lhs, "==", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator != ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { compareNotEqual( m_lhs, rhs ), m_lhs, "!=", rhs };
-        }
-        auto operator != ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
-            return { m_lhs != rhs, m_lhs, "!=", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator > ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs > rhs), m_lhs, ">", rhs };
-        }
-        template<typename RhsT>
-        auto operator < ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs < rhs), m_lhs, "<", rhs };
-        }
-        template<typename RhsT>
-        auto operator >= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs >= rhs), m_lhs, ">=", rhs };
-        }
-        template<typename RhsT>
-        auto operator <= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs <= rhs), m_lhs, "<=", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator && ( RhsT const& ) -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<RhsT>::value,
-            "operator&& is not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename RhsT>
-        auto operator || ( RhsT const& ) -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<RhsT>::value,
-            "operator|| is not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        auto makeUnaryExpr() const -> UnaryExpr<LhsT> {
-            return UnaryExpr<LhsT>{ m_lhs };
-        }
-    };
-
-    void handleExpression( ITransientExpression const& expr );
-
-    template<typename T>
-    void handleExpression( ExprLhs<T> const& expr ) {
-        handleExpression( expr.makeUnaryExpr() );
-    }
-
-    struct Decomposer {
-        template<typename T>
-        auto operator <= ( T const& lhs ) -> ExprLhs<T const&> {
-            return ExprLhs<T const&>{ lhs };
-        }
-
-        auto operator <=( bool value ) -> ExprLhs<bool> {
-            return ExprLhs<bool>{ value };
-        }
-    };
-
-} // end namespace Catch
-
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-// end catch_decomposer.h
-// start catch_interfaces_capture.h
-
-#include <string>
-#include <chrono>
-
-namespace Catch {
-
-    class AssertionResult;
-    struct AssertionInfo;
-    struct SectionInfo;
-    struct SectionEndInfo;
-    struct MessageInfo;
-    struct MessageBuilder;
-    struct Counts;
-    struct AssertionReaction;
-    struct SourceLineInfo;
-
-    struct ITransientExpression;
-    struct IGeneratorTracker;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    struct BenchmarkInfo;
-    template <typename Duration = std::chrono::duration<double, std::nano>>
-    struct BenchmarkStats;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    struct IResultCapture {
-
-        virtual ~IResultCapture();
-
-        virtual bool sectionStarted(    SectionInfo const& sectionInfo,
-                                        Counts& assertions ) = 0;
-        virtual void sectionEnded( SectionEndInfo const& endInfo ) = 0;
-        virtual void sectionEndedEarly( SectionEndInfo const& endInfo ) = 0;
-
-        virtual auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& = 0;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        virtual void benchmarkPreparing( std::string const& name ) = 0;
-        virtual void benchmarkStarting( BenchmarkInfo const& info ) = 0;
-        virtual void benchmarkEnded( BenchmarkStats<> const& stats ) = 0;
-        virtual void benchmarkFailed( std::string const& error ) = 0;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        virtual void pushScopedMessage( MessageInfo const& message ) = 0;
-        virtual void popScopedMessage( MessageInfo const& message ) = 0;
-
-        virtual void emplaceUnscopedMessage( MessageBuilder const& builder ) = 0;
-
-        virtual void handleFatalErrorCondition( StringRef message ) = 0;
-
-        virtual void handleExpr
-                (   AssertionInfo const& info,
-                    ITransientExpression const& expr,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleMessage
-                (   AssertionInfo const& info,
-                    ResultWas::OfType resultType,
-                    StringRef const& message,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleUnexpectedExceptionNotThrown
-                (   AssertionInfo const& info,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleUnexpectedInflightException
-                (   AssertionInfo const& info,
-                    std::string const& message,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleIncomplete
-                (   AssertionInfo const& info ) = 0;
-        virtual void handleNonExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    AssertionReaction &reaction ) = 0;
-
-        virtual bool lastAssertionPassed() = 0;
-        virtual void assertionPassed() = 0;
-
-        // Deprecated, do not use:
-        virtual std::string getCurrentTestName() const = 0;
-        virtual const AssertionResult* getLastResult() const = 0;
-        virtual void exceptionEarlyReported() = 0;
-    };
-
-    IResultCapture& getResultCapture();
-}
-
-// end catch_interfaces_capture.h
-namespace Catch {
-
-    struct TestFailureException{};
-    struct AssertionResultData;
-    struct IResultCapture;
-    class RunContext;
-
-    class LazyExpression {
-        friend class AssertionHandler;
-        friend struct AssertionStats;
-        friend class RunContext;
-
-        ITransientExpression const* m_transientExpression = nullptr;
-        bool m_isNegated;
-    public:
-        LazyExpression( bool isNegated );
-        LazyExpression( LazyExpression const& other );
-        LazyExpression& operator = ( LazyExpression const& ) = delete;
-
-        explicit operator bool() const;
-
-        friend auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream&;
-    };
-
-    struct AssertionReaction {
-        bool shouldDebugBreak = false;
-        bool shouldThrow = false;
-    };
-
-    class AssertionHandler {
-        AssertionInfo m_assertionInfo;
-        AssertionReaction m_reaction;
-        bool m_completed = false;
-        IResultCapture& m_resultCapture;
-
-    public:
-        AssertionHandler
-            (   StringRef const& macroName,
-                SourceLineInfo const& lineInfo,
-                StringRef capturedExpression,
-                ResultDisposition::Flags resultDisposition );
-        ~AssertionHandler() {
-            if ( !m_completed ) {
-                m_resultCapture.handleIncomplete( m_assertionInfo );
-            }
-        }
-
-        template<typename T>
-        void handleExpr( ExprLhs<T> const& expr ) {
-            handleExpr( expr.makeUnaryExpr() );
-        }
-        void handleExpr( ITransientExpression const& expr );
-
-        void handleMessage(ResultWas::OfType resultType, StringRef const& message);
-
-        void handleExceptionThrownAsExpected();
-        void handleUnexpectedExceptionNotThrown();
-        void handleExceptionNotThrownAsExpected();
-        void handleThrowingCallSkipped();
-        void handleUnexpectedInflightException();
-
-        void complete();
-        void setCompleted();
-
-        // query
-        auto allowThrows() const -> bool;
-    };
-
-    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString );
-
-} // namespace Catch
-
-// end catch_assertionhandler.h
-// start catch_message.h
-
-#include <string>
-#include <vector>
-
-namespace Catch {
-
-    struct MessageInfo {
-        MessageInfo(    StringRef const& _macroName,
-                        SourceLineInfo const& _lineInfo,
-                        ResultWas::OfType _type );
-
-        StringRef macroName;
-        std::string message;
-        SourceLineInfo lineInfo;
-        ResultWas::OfType type;
-        unsigned int sequence;
-
-        bool operator == ( MessageInfo const& other ) const;
-        bool operator < ( MessageInfo const& other ) const;
-    private:
-        static unsigned int globalCount;
-    };
-
-    struct MessageStream {
-
-        template<typename T>
-        MessageStream& operator << ( T const& value ) {
-            m_stream << value;
-            return *this;
-        }
-
-        ReusableStringStream m_stream;
-    };
-
-    struct MessageBuilder : MessageStream {
-        MessageBuilder( StringRef const& macroName,
-                        SourceLineInfo const& lineInfo,
-                        ResultWas::OfType type );
-
-        template<typename T>
-        MessageBuilder& operator << ( T const& value ) {
-            m_stream << value;
-            return *this;
-        }
-
-        MessageInfo m_info;
-    };
-
-    class ScopedMessage {
-    public:
-        explicit ScopedMessage( MessageBuilder const& builder );
-        ScopedMessage( ScopedMessage& duplicate ) = delete;
-        ScopedMessage( ScopedMessage&& old );
-        ~ScopedMessage();
-
-        MessageInfo m_info;
-        bool m_moved;
-    };
-
-    class Capturer {
-        std::vector<MessageInfo> m_messages;
-        IResultCapture& m_resultCapture = getResultCapture();
-        size_t m_captured = 0;
-    public:
-        Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names );
-        ~Capturer();
-
-        void captureValue( size_t index, std::string const& value );
-
-        template<typename T>
-        void captureValues( size_t index, T const& value ) {
-            captureValue( index, Catch::Detail::stringify( value ) );
-        }
-
-        template<typename T, typename... Ts>
-        void captureValues( size_t index, T const& value, Ts const&... values ) {
-            captureValue( index, Catch::Detail::stringify(value) );
-            captureValues( index+1, values... );
-        }
-    };
-
-} // end namespace Catch
-
-// end catch_message.h
-#if !defined(CATCH_CONFIG_DISABLE)
-
-#if !defined(CATCH_CONFIG_DISABLE_STRINGIFICATION)
-  #define CATCH_INTERNAL_STRINGIFY(...) #__VA_ARGS__
-#else
-  #define CATCH_INTERNAL_STRINGIFY(...) "Disabled by CATCH_CONFIG_DISABLE_STRINGIFICATION"
-#endif
-
-#if defined(CATCH_CONFIG_FAST_COMPILE) || defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-
-///////////////////////////////////////////////////////////////////////////////
-// Another way to speed-up compilation is to omit local try-catch for REQUIRE*
-// macros.
-#define INTERNAL_CATCH_TRY
-#define INTERNAL_CATCH_CATCH( capturer )
-
-#else // CATCH_CONFIG_FAST_COMPILE
-
-#define INTERNAL_CATCH_TRY try
-#define INTERNAL_CATCH_CATCH( handler ) catch(...) { handler.handleUnexpectedInflightException(); }
-
-#endif
-
-#define INTERNAL_CATCH_REACT( handler ) handler.complete();
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_TEST( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
-        INTERNAL_CATCH_TRY { \
-            CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
-            catchAssertionHandler.handleExpr( Catch::Decomposer() <= __VA_ARGS__ ); \
-            CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \
-        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( (void)0, (false) && static_cast<bool>( !!(__VA_ARGS__) ) ) // the expression here is never evaluated at runtime but it forces the compiler to give it a look
-    // The double negation silences MSVC's C4800 warning, the static_cast forces short-circuit evaluation if the type has overloaded &&.
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_IF( macroName, resultDisposition, ... ) \
-    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
-    if( Catch::getResultCapture().lastAssertionPassed() )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_ELSE( macroName, resultDisposition, ... ) \
-    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
-    if( !Catch::getResultCapture().lastAssertionPassed() )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_NO_THROW( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
-        try { \
-            static_cast<void>(__VA_ARGS__); \
-            catchAssertionHandler.handleExceptionNotThrownAsExpected(); \
-        } \
-        catch( ... ) { \
-            catchAssertionHandler.handleUnexpectedInflightException(); \
-        } \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleExceptionThrownAsExpected(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS_AS( macroName, exceptionType, resultDisposition, expr ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr) ", " CATCH_INTERNAL_STRINGIFY(exceptionType), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(expr); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( exceptionType const& ) { \
-                catchAssertionHandler.handleExceptionThrownAsExpected(); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleUnexpectedInflightException(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_MSG( macroName, messageType, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::StringRef(), resultDisposition ); \
-        catchAssertionHandler.handleMessage( messageType, ( Catch::MessageStream() << __VA_ARGS__ + ::Catch::StreamEndStop() ).m_stream.str() ); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_CAPTURE( varName, macroName, ... ) \
-    auto varName = Catch::Capturer( macroName, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info, #__VA_ARGS__ ); \
-    varName.captureValues( 0, __VA_ARGS__ )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_INFO( macroName, log ) \
-    Catch::ScopedMessage INTERNAL_CATCH_UNIQUE_NAME( scopedMessage )( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log );
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_UNSCOPED_INFO( macroName, log ) \
-    Catch::getResultCapture().emplaceUnscopedMessage( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log )
-
-///////////////////////////////////////////////////////////////////////////////
-// Although this is matcher-based, it can be used with just a string
-#define INTERNAL_CATCH_THROWS_STR_MATCHES( macroName, resultDisposition, matcher, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( ... ) { \
-                Catch::handleExceptionMatchExpr( catchAssertionHandler, matcher, #matcher##_catch_sr ); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-#endif // CATCH_CONFIG_DISABLE
-
-// end catch_capture.hpp
-// start catch_section.h
-
-// start catch_section_info.h
-
-// start catch_totals.h
-
-#include <cstddef>
-
-namespace Catch {
-
-    struct Counts {
-        Counts operator - ( Counts const& other ) const;
-        Counts& operator += ( Counts const& other );
-
-        std::size_t total() const;
-        bool allPassed() const;
-        bool allOk() const;
-
-        std::size_t passed = 0;
-        std::size_t failed = 0;
-        std::size_t failedButOk = 0;
-    };
-
-    struct Totals {
-
-        Totals operator - ( Totals const& other ) const;
-        Totals& operator += ( Totals const& other );
-
-        Totals delta( Totals const& prevTotals ) const;
-
-        int error = 0;
-        Counts assertions;
-        Counts testCases;
-    };
-}
-
-// end catch_totals.h
-#include <string>
-
-namespace Catch {
-
-    struct SectionInfo {
-        SectionInfo
-            (   SourceLineInfo const& _lineInfo,
-                std::string const& _name );
-
-        // Deprecated
-        SectionInfo
-            (   SourceLineInfo const& _lineInfo,
-                std::string const& _name,
-                std::string const& ) : SectionInfo( _lineInfo, _name ) {}
-
-        std::string name;
-        std::string description; // !Deprecated: this will always be empty
-        SourceLineInfo lineInfo;
-    };
-
-    struct SectionEndInfo {
-        SectionInfo sectionInfo;
-        Counts prevAssertions;
-        double durationInSeconds;
-    };
-
-} // end namespace Catch
-
-// end catch_section_info.h
-// start catch_timer.h
-
-#include <cstdint>
-
-namespace Catch {
-
-    auto getCurrentNanosecondsSinceEpoch() -> uint64_t;
-    auto getEstimatedClockResolution() -> uint64_t;
-
-    class Timer {
-        uint64_t m_nanoseconds = 0;
-    public:
-        void start();
-        auto getElapsedNanoseconds() const -> uint64_t;
-        auto getElapsedMicroseconds() const -> uint64_t;
-        auto getElapsedMilliseconds() const -> unsigned int;
-        auto getElapsedSeconds() const -> double;
-    };
-
-} // namespace Catch
-
-// end catch_timer.h
-#include <string>
-
-namespace Catch {
-
-    class Section : NonCopyable {
-    public:
-        Section( SectionInfo const& info );
-        ~Section();
-
-        // This indicates whether the section should be executed or not
-        explicit operator bool() const;
-
-    private:
-        SectionInfo m_info;
-
-        std::string m_name;
-        Counts m_assertions;
-        bool m_sectionIncluded;
-        Timer m_timer;
-    };
-
-} // end namespace Catch
-
-#define INTERNAL_CATCH_SECTION( ... ) \
-    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, __VA_ARGS__ ) ) \
-    CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS
-
-#define INTERNAL_CATCH_DYNAMIC_SECTION( ... ) \
-    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, (Catch::ReusableStringStream() << __VA_ARGS__).str() ) ) \
-    CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS
-
-// end catch_section.h
-// start catch_interfaces_exception.h
-
-// start catch_interfaces_registry_hub.h
-
-#include <string>
-#include <memory>
-
-namespace Catch {
-
-    class TestCase;
-    struct ITestCaseRegistry;
-    struct IExceptionTranslatorRegistry;
-    struct IExceptionTranslator;
-    struct IReporterRegistry;
-    struct IReporterFactory;
-    struct ITagAliasRegistry;
-    struct IMutableEnumValuesRegistry;
-
-    class StartupExceptionRegistry;
-
-    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
-
-    struct IRegistryHub {
-        virtual ~IRegistryHub();
-
-        virtual IReporterRegistry const& getReporterRegistry() const = 0;
-        virtual ITestCaseRegistry const& getTestCaseRegistry() const = 0;
-        virtual ITagAliasRegistry const& getTagAliasRegistry() const = 0;
-        virtual IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const = 0;
-
-        virtual StartupExceptionRegistry const& getStartupExceptionRegistry() const = 0;
-    };
-
-    struct IMutableRegistryHub {
-        virtual ~IMutableRegistryHub();
-        virtual void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) = 0;
-        virtual void registerListener( IReporterFactoryPtr const& factory ) = 0;
-        virtual void registerTest( TestCase const& testInfo ) = 0;
-        virtual void registerTranslator( const IExceptionTranslator* translator ) = 0;
-        virtual void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) = 0;
-        virtual void registerStartupException() noexcept = 0;
-        virtual IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() = 0;
-    };
-
-    IRegistryHub const& getRegistryHub();
-    IMutableRegistryHub& getMutableRegistryHub();
-    void cleanUp();
-    std::string translateActiveException();
-
-}
-
-// end catch_interfaces_registry_hub.h
-#if defined(CATCH_CONFIG_DISABLE)
-    #define INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( translatorName, signature) \
-        static std::string translatorName( signature )
-#endif
-
-#include <exception>
-#include <string>
-#include <vector>
-
-namespace Catch {
-    using exceptionTranslateFunction = std::string(*)();
-
-    struct IExceptionTranslator;
-    using ExceptionTranslators = std::vector<std::unique_ptr<IExceptionTranslator const>>;
-
-    struct IExceptionTranslator {
-        virtual ~IExceptionTranslator();
-        virtual std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const = 0;
-    };
-
-    struct IExceptionTranslatorRegistry {
-        virtual ~IExceptionTranslatorRegistry();
-
-        virtual std::string translateActiveException() const = 0;
-    };
-
-    class ExceptionTranslatorRegistrar {
-        template<typename T>
-        class ExceptionTranslator : public IExceptionTranslator {
-        public:
-
-            ExceptionTranslator( std::string(*translateFunction)( T& ) )
-            : m_translateFunction( translateFunction )
-            {}
-
-            std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const override {
-                try {
-                    if( it == itEnd )
-                        std::rethrow_exception(std::current_exception());
-                    else
-                        return (*it)->translate( it+1, itEnd );
-                }
-                catch( T& ex ) {
-                    return m_translateFunction( ex );
-                }
-            }
-
-        protected:
-            std::string(*m_translateFunction)( T& );
-        };
-
-    public:
-        template<typename T>
-        ExceptionTranslatorRegistrar( std::string(*translateFunction)( T& ) ) {
-            getMutableRegistryHub().registerTranslator
-                ( new ExceptionTranslator<T>( translateFunction ) );
-        }
-    };
-}
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_TRANSLATE_EXCEPTION2( translatorName, signature ) \
-    static std::string translatorName( signature ); \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-    namespace{ Catch::ExceptionTranslatorRegistrar INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionRegistrar )( &translatorName ); } \
-    CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-    static std::string translatorName( signature )
-
-#define INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION2( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
-
-// end catch_interfaces_exception.h
-// start catch_approx.h
-
-#include <type_traits>
-
-namespace Catch {
-namespace Detail {
-
-    class Approx {
-    private:
-        bool equalityComparisonImpl(double other) const;
-        // Validates the new margin (margin >= 0)
-        // out-of-line to avoid including stdexcept in the header
-        void setMargin(double margin);
-        // Validates the new epsilon (0 < epsilon < 1)
-        // out-of-line to avoid including stdexcept in the header
-        void setEpsilon(double epsilon);
-
-    public:
-        explicit Approx ( double value );
-
-        static Approx custom();
-
-        Approx operator-() const;
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx operator()( T const& value ) {
-            Approx approx( static_cast<double>(value) );
-            approx.m_epsilon = m_epsilon;
-            approx.m_margin = m_margin;
-            approx.m_scale = m_scale;
-            return approx;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        explicit Approx( T const& value ): Approx(static_cast<double>(value))
-        {}
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator == ( const T& lhs, Approx const& rhs ) {
-            auto lhs_v = static_cast<double>(lhs);
-            return rhs.equalityComparisonImpl(lhs_v);
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator == ( Approx const& lhs, const T& rhs ) {
-            return operator==( rhs, lhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator != ( T const& lhs, Approx const& rhs ) {
-            return !operator==( lhs, rhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator != ( Approx const& lhs, T const& rhs ) {
-            return !operator==( rhs, lhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator <= ( T const& lhs, Approx const& rhs ) {
-            return static_cast<double>(lhs) < rhs.m_value || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator <= ( Approx const& lhs, T const& rhs ) {
-            return lhs.m_value < static_cast<double>(rhs) || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator >= ( T const& lhs, Approx const& rhs ) {
-            return static_cast<double>(lhs) > rhs.m_value || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator >= ( Approx const& lhs, T const& rhs ) {
-            return lhs.m_value > static_cast<double>(rhs) || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& epsilon( T const& newEpsilon ) {
-            double epsilonAsDouble = static_cast<double>(newEpsilon);
-            setEpsilon(epsilonAsDouble);
-            return *this;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& margin( T const& newMargin ) {
-            double marginAsDouble = static_cast<double>(newMargin);
-            setMargin(marginAsDouble);
-            return *this;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& scale( T const& newScale ) {
-            m_scale = static_cast<double>(newScale);
-            return *this;
-        }
-
-        std::string toString() const;
-
-    private:
-        double m_epsilon;
-        double m_margin;
-        double m_scale;
-        double m_value;
-    };
-} // end namespace Detail
-
-namespace literals {
-    Detail::Approx operator "" _a(long double val);
-    Detail::Approx operator "" _a(unsigned long long val);
-} // end namespace literals
-
-template<>
-struct StringMaker<Catch::Detail::Approx> {
-    static std::string convert(Catch::Detail::Approx const& value);
-};
-
-} // end namespace Catch
-
-// end catch_approx.h
-// start catch_string_manip.h
-
-#include <string>
-#include <iosfwd>
-#include <vector>
-
-namespace Catch {
-
-    bool startsWith( std::string const& s, std::string const& prefix );
-    bool startsWith( std::string const& s, char prefix );
-    bool endsWith( std::string const& s, std::string const& suffix );
-    bool endsWith( std::string const& s, char suffix );
-    bool contains( std::string const& s, std::string const& infix );
-    void toLowerInPlace( std::string& s );
-    std::string toLower( std::string const& s );
-    std::string trim( std::string const& str );
-
-    // !!! Be aware, returns refs into original string - make sure original string outlives them
-    std::vector<StringRef> splitStringRef( StringRef str, char delimiter );
-    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis );
-
-    struct pluralise {
-        pluralise( std::size_t count, std::string const& label );
-
-        friend std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser );
-
-        std::size_t m_count;
-        std::string m_label;
-    };
-}
-
-// end catch_string_manip.h
-#ifndef CATCH_CONFIG_DISABLE_MATCHERS
-// start catch_capture_matchers.h
-
-// start catch_matchers.h
-
-#include <string>
-#include <vector>
-
-namespace Catch {
-namespace Matchers {
-    namespace Impl {
-
-        template<typename ArgT> struct MatchAllOf;
-        template<typename ArgT> struct MatchAnyOf;
-        template<typename ArgT> struct MatchNotOf;
-
-        class MatcherUntypedBase {
-        public:
-            MatcherUntypedBase() = default;
-            MatcherUntypedBase ( MatcherUntypedBase const& ) = default;
-            MatcherUntypedBase& operator = ( MatcherUntypedBase const& ) = delete;
-            std::string toString() const;
-
-        protected:
-            virtual ~MatcherUntypedBase();
-            virtual std::string describe() const = 0;
-            mutable std::string m_cachedToString;
-        };
-
-#ifdef __clang__
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wnon-virtual-dtor"
-#endif
-
-        template<typename ObjectT>
-        struct MatcherMethod {
-            virtual bool match( ObjectT const& arg ) const = 0;
-        };
-
-#if defined(__OBJC__)
-        // Hack to fix Catch GH issue #1661. Could use id for generic Object support.
-        // use of const for Object pointers is very uncommon and under ARC it causes some kind of signature mismatch that breaks compilation
-        template<>
-        struct MatcherMethod<NSString*> {
-            virtual bool match( NSString* arg ) const = 0;
-        };
-#endif
-
-#ifdef __clang__
-#    pragma clang diagnostic pop
-#endif
-
-        template<typename T>
-        struct MatcherBase : MatcherUntypedBase, MatcherMethod<T> {
-
-            MatchAllOf<T> operator && ( MatcherBase const& other ) const;
-            MatchAnyOf<T> operator || ( MatcherBase const& other ) const;
-            MatchNotOf<T> operator ! () const;
-        };
-
-        template<typename ArgT>
-        struct MatchAllOf : MatcherBase<ArgT> {
-            bool match( ArgT const& arg ) const override {
-                for( auto matcher : m_matchers ) {
-                    if (!matcher->match(arg))
-                        return false;
-                }
-                return true;
-            }
-            std::string describe() const override {
-                std::string description;
-                description.reserve( 4 + m_matchers.size()*32 );
-                description += "( ";
-                bool first = true;
-                for( auto matcher : m_matchers ) {
-                    if( first )
-                        first = false;
-                    else
-                        description += " and ";
-                    description += matcher->toString();
-                }
-                description += " )";
-                return description;
-            }
-
-            MatchAllOf<ArgT>& operator && ( MatcherBase<ArgT> const& other ) {
-                m_matchers.push_back( &other );
-                return *this;
-            }
-
-            std::vector<MatcherBase<ArgT> const*> m_matchers;
-        };
-        template<typename ArgT>
-        struct MatchAnyOf : MatcherBase<ArgT> {
-
-            bool match( ArgT const& arg ) const override {
-                for( auto matcher : m_matchers ) {
-                    if (matcher->match(arg))
-                        return true;
-                }
-                return false;
-            }
-            std::string describe() const override {
-                std::string description;
-                description.reserve( 4 + m_matchers.size()*32 );
-                description += "( ";
-                bool first = true;
-                for( auto matcher : m_matchers ) {
-                    if( first )
-                        first = false;
-                    else
-                        description += " or ";
-                    description += matcher->toString();
-                }
-                description += " )";
-                return description;
-            }
-
-            MatchAnyOf<ArgT>& operator || ( MatcherBase<ArgT> const& other ) {
-                m_matchers.push_back( &other );
-                return *this;
-            }
-
-            std::vector<MatcherBase<ArgT> const*> m_matchers;
-        };
-
-        template<typename ArgT>
-        struct MatchNotOf : MatcherBase<ArgT> {
-
-            MatchNotOf( MatcherBase<ArgT> const& underlyingMatcher ) : m_underlyingMatcher( underlyingMatcher ) {}
-
-            bool match( ArgT const& arg ) const override {
-                return !m_underlyingMatcher.match( arg );
-            }
-
-            std::string describe() const override {
-                return "not " + m_underlyingMatcher.toString();
-            }
-            MatcherBase<ArgT> const& m_underlyingMatcher;
-        };
-
-        template<typename T>
-        MatchAllOf<T> MatcherBase<T>::operator && ( MatcherBase const& other ) const {
-            return MatchAllOf<T>() && *this && other;
-        }
-        template<typename T>
-        MatchAnyOf<T> MatcherBase<T>::operator || ( MatcherBase const& other ) const {
-            return MatchAnyOf<T>() || *this || other;
-        }
-        template<typename T>
-        MatchNotOf<T> MatcherBase<T>::operator ! () const {
-            return MatchNotOf<T>( *this );
-        }
-
-    } // namespace Impl
-
-} // namespace Matchers
-
-using namespace Matchers;
-using Matchers::Impl::MatcherBase;
-
-} // namespace Catch
-
-// end catch_matchers.h
-// start catch_matchers_floating.h
-
-#include <type_traits>
-#include <cmath>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace Floating {
-
-        enum class FloatingPointKind : uint8_t;
-
-        struct WithinAbsMatcher : MatcherBase<double> {
-            WithinAbsMatcher(double target, double margin);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            double m_margin;
-        };
-
-        struct WithinUlpsMatcher : MatcherBase<double> {
-            WithinUlpsMatcher(double target, int ulps, FloatingPointKind baseType);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            int m_ulps;
-            FloatingPointKind m_type;
-        };
-
-    } // namespace Floating
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-    Floating::WithinUlpsMatcher WithinULP(double target, int maxUlpDiff);
-    Floating::WithinUlpsMatcher WithinULP(float target, int maxUlpDiff);
-    Floating::WithinAbsMatcher WithinAbs(double target, double margin);
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_floating.h
-// start catch_matchers_generic.hpp
-
-#include <functional>
-#include <string>
-
-namespace Catch {
-namespace Matchers {
-namespace Generic {
-
-namespace Detail {
-    std::string finalizeDescription(const std::string& desc);
-}
-
-template <typename T>
-class PredicateMatcher : public MatcherBase<T> {
-    std::function<bool(T const&)> m_predicate;
-    std::string m_description;
-public:
-
-    PredicateMatcher(std::function<bool(T const&)> const& elem, std::string const& descr)
-        :m_predicate(std::move(elem)),
-        m_description(Detail::finalizeDescription(descr))
-    {}
-
-    bool match( T const& item ) const override {
-        return m_predicate(item);
-    }
-
-    std::string describe() const override {
-        return m_description;
-    }
-};
-
-} // namespace Generic
-
-    // The following functions create the actual matcher objects.
-    // The user has to explicitly specify type to the function, because
-    // inferring std::function<bool(T const&)> is hard (but possible) and
-    // requires a lot of TMP.
-    template<typename T>
-    Generic::PredicateMatcher<T> Predicate(std::function<bool(T const&)> const& predicate, std::string const& description = "") {
-        return Generic::PredicateMatcher<T>(predicate, description);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_generic.hpp
-// start catch_matchers_string.h
-
-#include <string>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace StdString {
-
-        struct CasedString
-        {
-            CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity );
-            std::string adjustString( std::string const& str ) const;
-            std::string caseSensitivitySuffix() const;
-
-            CaseSensitive::Choice m_caseSensitivity;
-            std::string m_str;
-        };
-
-        struct StringMatcherBase : MatcherBase<std::string> {
-            StringMatcherBase( std::string const& operation, CasedString const& comparator );
-            std::string describe() const override;
-
-            CasedString m_comparator;
-            std::string m_operation;
-        };
-
-        struct EqualsMatcher : StringMatcherBase {
-            EqualsMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct ContainsMatcher : StringMatcherBase {
-            ContainsMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct StartsWithMatcher : StringMatcherBase {
-            StartsWithMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct EndsWithMatcher : StringMatcherBase {
-            EndsWithMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-
-        struct RegexMatcher : MatcherBase<std::string> {
-            RegexMatcher( std::string regex, CaseSensitive::Choice caseSensitivity );
-            bool match( std::string const& matchee ) const override;
-            std::string describe() const override;
-
-        private:
-            std::string m_regex;
-            CaseSensitive::Choice m_caseSensitivity;
-        };
-
-    } // namespace StdString
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-
-    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::RegexMatcher Matches( std::string const& regex, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_string.h
-// start catch_matchers_vector.h
-
-#include <algorithm>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace Vector {
-        template<typename T>
-        struct ContainsElementMatcher : MatcherBase<std::vector<T>> {
-
-            ContainsElementMatcher(T const &comparator) : m_comparator( comparator) {}
-
-            bool match(std::vector<T> const &v) const override {
-                for (auto const& el : v) {
-                    if (el == m_comparator) {
-                        return true;
-                    }
-                }
-                return false;
-            }
-
-            std::string describe() const override {
-                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
-            }
-
-            T const& m_comparator;
-        };
-
-        template<typename T>
-        struct ContainsMatcher : MatcherBase<std::vector<T>> {
-
-            ContainsMatcher(std::vector<T> const &comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T> const &v) const override {
-                // !TBD: see note in EqualsMatcher
-                if (m_comparator.size() > v.size())
-                    return false;
-                for (auto const& comparator : m_comparator) {
-                    auto present = false;
-                    for (const auto& el : v) {
-                        if (el == comparator) {
-                            present = true;
-                            break;
-                        }
-                    }
-                    if (!present) {
-                        return false;
-                    }
-                }
-                return true;
-            }
-            std::string describe() const override {
-                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
-            }
-
-            std::vector<T> const& m_comparator;
-        };
-
-        template<typename T>
-        struct EqualsMatcher : MatcherBase<std::vector<T>> {
-
-            EqualsMatcher(std::vector<T> const &comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T> const &v) const override {
-                // !TBD: This currently works if all elements can be compared using !=
-                // - a more general approach would be via a compare template that defaults
-                // to using !=. but could be specialised for, e.g. std::vector<T> etc
-                // - then just call that directly
-                if (m_comparator.size() != v.size())
-                    return false;
-                for (std::size_t i = 0; i < v.size(); ++i)
-                    if (m_comparator[i] != v[i])
-                        return false;
-                return true;
-            }
-            std::string describe() const override {
-                return "Equals: " + ::Catch::Detail::stringify( m_comparator );
-            }
-            std::vector<T> const& m_comparator;
-        };
-
-        template<typename T>
-        struct ApproxMatcher : MatcherBase<std::vector<T>> {
-
-            ApproxMatcher(std::vector<T> const& comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T> const &v) const override {
-                if (m_comparator.size() != v.size())
-                    return false;
-                for (std::size_t i = 0; i < v.size(); ++i)
-                    if (m_comparator[i] != approx(v[i]))
-                        return false;
-                return true;
-            }
-            std::string describe() const override {
-                return "is approx: " + ::Catch::Detail::stringify( m_comparator );
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& epsilon( T const& newEpsilon ) {
-                approx.epsilon(newEpsilon);
-                return *this;
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& margin( T const& newMargin ) {
-                approx.margin(newMargin);
-                return *this;
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& scale( T const& newScale ) {
-                approx.scale(newScale);
-                return *this;
-            }
-
-            std::vector<T> const& m_comparator;
-            mutable Catch::Detail::Approx approx = Catch::Detail::Approx::custom();
-        };
-
-        template<typename T>
-        struct UnorderedEqualsMatcher : MatcherBase<std::vector<T>> {
-            UnorderedEqualsMatcher(std::vector<T> const& target) : m_target(target) {}
-            bool match(std::vector<T> const& vec) const override {
-                // Note: This is a reimplementation of std::is_permutation,
-                //       because I don't want to include <algorithm> inside the common path
-                if (m_target.size() != vec.size()) {
-                    return false;
-                }
-                return std::is_permutation(m_target.begin(), m_target.end(), vec.begin());
-            }
-
-            std::string describe() const override {
-                return "UnorderedEquals: " + ::Catch::Detail::stringify(m_target);
-            }
-        private:
-            std::vector<T> const& m_target;
-        };
-
-    } // namespace Vector
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-
-    template<typename T>
-    Vector::ContainsMatcher<T> Contains( std::vector<T> const& comparator ) {
-        return Vector::ContainsMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::ContainsElementMatcher<T> VectorContains( T const& comparator ) {
-        return Vector::ContainsElementMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::EqualsMatcher<T> Equals( std::vector<T> const& comparator ) {
-        return Vector::EqualsMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::ApproxMatcher<T> Approx( std::vector<T> const& comparator ) {
-        return Vector::ApproxMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::UnorderedEqualsMatcher<T> UnorderedEquals(std::vector<T> const& target) {
-        return Vector::UnorderedEqualsMatcher<T>(target);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_vector.h
-namespace Catch {
-
-    template<typename ArgT, typename MatcherT>
-    class MatchExpr : public ITransientExpression {
-        ArgT const& m_arg;
-        MatcherT m_matcher;
-        StringRef m_matcherString;
-    public:
-        MatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString )
-        :   ITransientExpression{ true, matcher.match( arg ) },
-            m_arg( arg ),
-            m_matcher( matcher ),
-            m_matcherString( matcherString )
-        {}
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            auto matcherAsString = m_matcher.toString();
-            os << Catch::Detail::stringify( m_arg ) << ' ';
-            if( matcherAsString == Detail::unprintableString )
-                os << m_matcherString;
-            else
-                os << matcherAsString;
-        }
-    };
-
-    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
-
-    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  );
-
-    template<typename ArgT, typename MatcherT>
-    auto makeMatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString  ) -> MatchExpr<ArgT, MatcherT> {
-        return MatchExpr<ArgT, MatcherT>( arg, matcher, matcherString );
-    }
-
-} // namespace Catch
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CHECK_THAT( macroName, matcher, resultDisposition, arg ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(arg) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        INTERNAL_CATCH_TRY { \
-            catchAssertionHandler.handleExpr( Catch::makeMatchExpr( arg, matcher, #matcher##_catch_sr ) ); \
-        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS_MATCHES( macroName, exceptionType, resultDisposition, matcher, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(exceptionType) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__ ); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( exceptionType const& ex ) { \
-                catchAssertionHandler.handleExpr( Catch::makeMatchExpr( ex, matcher, #matcher##_catch_sr ) ); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleUnexpectedInflightException(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-// end catch_capture_matchers.h
-#endif
-// start catch_generators.hpp
-
-// start catch_interfaces_generatortracker.h
-
-
-#include <memory>
-
-namespace Catch {
-
-    namespace Generators {
-        class GeneratorUntypedBase {
-        public:
-            GeneratorUntypedBase() = default;
-            virtual ~GeneratorUntypedBase();
-            // Attempts to move the generator to the next element
-             //
-             // Returns true iff the move succeeded (and a valid element
-             // can be retrieved).
-            virtual bool next() = 0;
-        };
-        using GeneratorBasePtr = std::unique_ptr<GeneratorUntypedBase>;
-
-    } // namespace Generators
-
-    struct IGeneratorTracker {
-        virtual ~IGeneratorTracker();
-        virtual auto hasGenerator() const -> bool = 0;
-        virtual auto getGenerator() const -> Generators::GeneratorBasePtr const& = 0;
-        virtual void setGenerator( Generators::GeneratorBasePtr&& generator ) = 0;
-    };
-
-} // namespace Catch
-
-// end catch_interfaces_generatortracker.h
-// start catch_enforce.h
-
-#include <exception>
-
-namespace Catch {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    template <typename Ex>
-    [[noreturn]]
-    void throw_exception(Ex const& e) {
-        throw e;
-    }
-#else // ^^ Exceptions are enabled //  Exceptions are disabled vv
-    [[noreturn]]
-    void throw_exception(std::exception const& e);
-#endif
-
-    [[noreturn]]
-    void throw_logic_error(std::string const& msg);
-    [[noreturn]]
-    void throw_domain_error(std::string const& msg);
-    [[noreturn]]
-    void throw_runtime_error(std::string const& msg);
-
-} // namespace Catch;
-
-#define CATCH_MAKE_MSG(...) \
-    (Catch::ReusableStringStream() << __VA_ARGS__).str()
-
-#define CATCH_INTERNAL_ERROR(...) \
-    Catch::throw_logic_error(CATCH_MAKE_MSG( CATCH_INTERNAL_LINEINFO << ": Internal Catch2 error: " << __VA_ARGS__));
-
-#define CATCH_ERROR(...) \
-    Catch::throw_domain_error(CATCH_MAKE_MSG( __VA_ARGS__ ));
-
-#define CATCH_RUNTIME_ERROR(...) \
-    Catch::throw_runtime_error(CATCH_MAKE_MSG( __VA_ARGS__ ));
-
-#define CATCH_ENFORCE( condition, ... ) \
-    do{ if( !(condition) ) CATCH_ERROR( __VA_ARGS__ ); } while(false)
-
-// end catch_enforce.h
-#include <memory>
-#include <vector>
-#include <cassert>
-
-#include <utility>
-#include <exception>
-
-namespace Catch {
-
-class GeneratorException : public std::exception {
-    const char* const m_msg = "";
-
-public:
-    GeneratorException(const char* msg):
-        m_msg(msg)
-    {}
-
-    const char* what() const noexcept override final;
-};
-
-namespace Generators {
-
-    // !TBD move this into its own location?
-    namespace pf{
-        template<typename T, typename... Args>
-        std::unique_ptr<T> make_unique( Args&&... args ) {
-            return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
-        }
-    }
-
-    template<typename T>
-    struct IGenerator : GeneratorUntypedBase {
-        virtual ~IGenerator() = default;
-
-        // Returns the current element of the generator
-        //
-        // \Precondition The generator is either freshly constructed,
-        // or the last call to `next()` returned true
-        virtual T const& get() const = 0;
-        using type = T;
-    };
-
-    template<typename T>
-    class SingleValueGenerator final : public IGenerator<T> {
-        T m_value;
-    public:
-        SingleValueGenerator(T const& value) : m_value( value ) {}
-        SingleValueGenerator(T&& value) : m_value(std::move(value)) {}
-
-        T const& get() const override {
-            return m_value;
-        }
-        bool next() override {
-            return false;
-        }
-    };
-
-    template<typename T>
-    class FixedValuesGenerator final : public IGenerator<T> {
-        static_assert(!std::is_same<T, bool>::value,
-            "ValuesGenerator does not support bools because of std::vector<bool>"
-            "specialization, use SingleValue Generator instead.");
-        std::vector<T> m_values;
-        size_t m_idx = 0;
-    public:
-        FixedValuesGenerator( std::initializer_list<T> values ) : m_values( values ) {}
-
-        T const& get() const override {
-            return m_values[m_idx];
-        }
-        bool next() override {
-            ++m_idx;
-            return m_idx < m_values.size();
-        }
-    };
-
-    template <typename T>
-    class GeneratorWrapper final {
-        std::unique_ptr<IGenerator<T>> m_generator;
-    public:
-        GeneratorWrapper(std::unique_ptr<IGenerator<T>> generator):
-            m_generator(std::move(generator))
-        {}
-        T const& get() const {
-            return m_generator->get();
-        }
-        bool next() {
-            return m_generator->next();
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> value(T&& value) {
-        return GeneratorWrapper<T>(pf::make_unique<SingleValueGenerator<T>>(std::forward<T>(value)));
-    }
-    template <typename T>
-    GeneratorWrapper<T> values(std::initializer_list<T> values) {
-        return GeneratorWrapper<T>(pf::make_unique<FixedValuesGenerator<T>>(values));
-    }
-
-    template<typename T>
-    class Generators : public IGenerator<T> {
-        std::vector<GeneratorWrapper<T>> m_generators;
-        size_t m_current = 0;
-
-        void populate(GeneratorWrapper<T>&& generator) {
-            m_generators.emplace_back(std::move(generator));
-        }
-        void populate(T&& val) {
-            m_generators.emplace_back(value(std::move(val)));
-        }
-        template<typename U>
-        void populate(U&& val) {
-            populate(T(std::move(val)));
-        }
-        template<typename U, typename... Gs>
-        void populate(U&& valueOrGenerator, Gs... moreGenerators) {
-            populate(std::forward<U>(valueOrGenerator));
-            populate(std::forward<Gs>(moreGenerators)...);
-        }
-
-    public:
-        template <typename... Gs>
-        Generators(Gs... moreGenerators) {
-            m_generators.reserve(sizeof...(Gs));
-            populate(std::forward<Gs>(moreGenerators)...);
-        }
-
-        T const& get() const override {
-            return m_generators[m_current].get();
-        }
-
-        bool next() override {
-            if (m_current >= m_generators.size()) {
-                return false;
-            }
-            const bool current_status = m_generators[m_current].next();
-            if (!current_status) {
-                ++m_current;
-            }
-            return m_current < m_generators.size();
-        }
-    };
-
-    template<typename... Ts>
-    GeneratorWrapper<std::tuple<Ts...>> table( std::initializer_list<std::tuple<typename std::decay<Ts>::type...>> tuples ) {
-        return values<std::tuple<Ts...>>( tuples );
-    }
-
-    // Tag type to signal that a generator sequence should convert arguments to a specific type
-    template <typename T>
-    struct as {};
-
-    template<typename T, typename... Gs>
-    auto makeGenerators( GeneratorWrapper<T>&& generator, Gs... moreGenerators ) -> Generators<T> {
-        return Generators<T>(std::move(generator), std::forward<Gs>(moreGenerators)...);
-    }
-    template<typename T>
-    auto makeGenerators( GeneratorWrapper<T>&& generator ) -> Generators<T> {
-        return Generators<T>(std::move(generator));
-    }
-    template<typename T, typename... Gs>
-    auto makeGenerators( T&& val, Gs... moreGenerators ) -> Generators<T> {
-        return makeGenerators( value( std::forward<T>( val ) ), std::forward<Gs>( moreGenerators )... );
-    }
-    template<typename T, typename U, typename... Gs>
-    auto makeGenerators( as<T>, U&& val, Gs... moreGenerators ) -> Generators<T> {
-        return makeGenerators( value( T( std::forward<U>( val ) ) ), std::forward<Gs>( moreGenerators )... );
-    }
-
-    auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker&;
-
-    template<typename L>
-    // Note: The type after -> is weird, because VS2015 cannot parse
-    //       the expression used in the typedef inside, when it is in
-    //       return type. Yeah.
-    auto generate( SourceLineInfo const& lineInfo, L const& generatorExpression ) -> decltype(std::declval<decltype(generatorExpression())>().get()) {
-        using UnderlyingType = typename decltype(generatorExpression())::type;
-
-        IGeneratorTracker& tracker = acquireGeneratorTracker( lineInfo );
-        if (!tracker.hasGenerator()) {
-            tracker.setGenerator(pf::make_unique<Generators<UnderlyingType>>(generatorExpression()));
-        }
-
-        auto const& generator = static_cast<IGenerator<UnderlyingType> const&>( *tracker.getGenerator() );
-        return generator.get();
-    }
-
-} // namespace Generators
-} // namespace Catch
-
-#define GENERATE( ... ) \
-    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [ ]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } )
-#define GENERATE_COPY( ... ) \
-    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [=]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } )
-#define GENERATE_REF( ... ) \
-    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [&]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } )
-
-// end catch_generators.hpp
-// start catch_generators_generic.hpp
-
-namespace Catch {
-namespace Generators {
-
-    template <typename T>
-    class TakeGenerator : public IGenerator<T> {
-        GeneratorWrapper<T> m_generator;
-        size_t m_returned = 0;
-        size_t m_target;
-    public:
-        TakeGenerator(size_t target, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_target(target)
-        {
-            assert(target != 0 && "Empty generators are not allowed");
-        }
-        T const& get() const override {
-            return m_generator.get();
-        }
-        bool next() override {
-            ++m_returned;
-            if (m_returned >= m_target) {
-                return false;
-            }
-
-            const auto success = m_generator.next();
-            // If the underlying generator does not contain enough values
-            // then we cut short as well
-            if (!success) {
-                m_returned = m_target;
-            }
-            return success;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> take(size_t target, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(pf::make_unique<TakeGenerator<T>>(target, std::move(generator)));
-    }
-
-    template <typename T, typename Predicate>
-    class FilterGenerator : public IGenerator<T> {
-        GeneratorWrapper<T> m_generator;
-        Predicate m_predicate;
-    public:
-        template <typename P = Predicate>
-        FilterGenerator(P&& pred, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_predicate(std::forward<P>(pred))
-        {
-            if (!m_predicate(m_generator.get())) {
-                // It might happen that there are no values that pass the
-                // filter. In that case we throw an exception.
-                auto has_initial_value = next();
-                if (!has_initial_value) {
-                    Catch::throw_exception(GeneratorException("No valid value found in filtered generator"));
-                }
-            }
-        }
-
-        T const& get() const override {
-            return m_generator.get();
-        }
-
-        bool next() override {
-            bool success = m_generator.next();
-            if (!success) {
-                return false;
-            }
-            while (!m_predicate(m_generator.get()) && (success = m_generator.next()) == true);
-            return success;
-        }
-    };
-
-    template <typename T, typename Predicate>
-    GeneratorWrapper<T> filter(Predicate&& pred, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(std::unique_ptr<IGenerator<T>>(pf::make_unique<FilterGenerator<T, Predicate>>(std::forward<Predicate>(pred), std::move(generator))));
-    }
-
-    template <typename T>
-    class RepeatGenerator : public IGenerator<T> {
-        static_assert(!std::is_same<T, bool>::value,
-            "RepeatGenerator currently does not support bools"
-            "because of std::vector<bool> specialization");
-        GeneratorWrapper<T> m_generator;
-        mutable std::vector<T> m_returned;
-        size_t m_target_repeats;
-        size_t m_current_repeat = 0;
-        size_t m_repeat_index = 0;
-    public:
-        RepeatGenerator(size_t repeats, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_target_repeats(repeats)
-        {
-            assert(m_target_repeats > 0 && "Repeat generator must repeat at least once");
-        }
-
-        T const& get() const override {
-            if (m_current_repeat == 0) {
-                m_returned.push_back(m_generator.get());
-                return m_returned.back();
-            }
-            return m_returned[m_repeat_index];
-        }
-
-        bool next() override {
-            // There are 2 basic cases:
-            // 1) We are still reading the generator
-            // 2) We are reading our own cache
-
-            // In the first case, we need to poke the underlying generator.
-            // If it happily moves, we are left in that state, otherwise it is time to start reading from our cache
-            if (m_current_repeat == 0) {
-                const auto success = m_generator.next();
-                if (!success) {
-                    ++m_current_repeat;
-                }
-                return m_current_repeat < m_target_repeats;
-            }
-
-            // In the second case, we need to move indices forward and check that we haven't run up against the end
-            ++m_repeat_index;
-            if (m_repeat_index == m_returned.size()) {
-                m_repeat_index = 0;
-                ++m_current_repeat;
-            }
-            return m_current_repeat < m_target_repeats;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> repeat(size_t repeats, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(pf::make_unique<RepeatGenerator<T>>(repeats, std::move(generator)));
-    }
-
-    template <typename T, typename U, typename Func>
-    class MapGenerator : public IGenerator<T> {
-        // TBD: provide static assert for mapping function, for friendly error message
-        GeneratorWrapper<U> m_generator;
-        Func m_function;
-        // To avoid returning dangling reference, we have to save the values
-        T m_cache;
-    public:
-        template <typename F2 = Func>
-        MapGenerator(F2&& function, GeneratorWrapper<U>&& generator) :
-            m_generator(std::move(generator)),
-            m_function(std::forward<F2>(function)),
-            m_cache(m_function(m_generator.get()))
-        {}
-
-        T const& get() const override {
-            return m_cache;
-        }
-        bool next() override {
-            const auto success = m_generator.next();
-            if (success) {
-                m_cache = m_function(m_generator.get());
-            }
-            return success;
-        }
-    };
-
-#if defined(__cpp_lib_is_invocable) && __cpp_lib_is_invocable >= 201703
-    // std::result_of is deprecated in C++17 and removed in C++20. Hence, it is
-    // replaced with std::invoke_result here. Also *_t format is preferred over
-    // typename *::type format.
-    template <typename Func, typename U>
-    using MapFunctionReturnType = std::remove_reference_t<std::remove_cv_t<std::invoke_result_t<Func, U>>>;
-#else
-    template <typename Func, typename U>
-    using MapFunctionReturnType = typename std::remove_reference<typename std::remove_cv<typename std::result_of<Func(U)>::type>::type>::type;
-#endif
-
-    template <typename Func, typename U, typename T = MapFunctionReturnType<Func, U>>
-    GeneratorWrapper<T> map(Func&& function, GeneratorWrapper<U>&& generator) {
-        return GeneratorWrapper<T>(
-            pf::make_unique<MapGenerator<T, U, Func>>(std::forward<Func>(function), std::move(generator))
-        );
-    }
-
-    template <typename T, typename U, typename Func>
-    GeneratorWrapper<T> map(Func&& function, GeneratorWrapper<U>&& generator) {
-        return GeneratorWrapper<T>(
-            pf::make_unique<MapGenerator<T, U, Func>>(std::forward<Func>(function), std::move(generator))
-        );
-    }
-
-    template <typename T>
-    class ChunkGenerator final : public IGenerator<std::vector<T>> {
-        std::vector<T> m_chunk;
-        size_t m_chunk_size;
-        GeneratorWrapper<T> m_generator;
-        bool m_used_up = false;
-    public:
-        ChunkGenerator(size_t size, GeneratorWrapper<T> generator) :
-            m_chunk_size(size), m_generator(std::move(generator))
-        {
-            m_chunk.reserve(m_chunk_size);
-            if (m_chunk_size != 0) {
-                m_chunk.push_back(m_generator.get());
-                for (size_t i = 1; i < m_chunk_size; ++i) {
-                    if (!m_generator.next()) {
-                        Catch::throw_exception(GeneratorException("Not enough values to initialize the first chunk"));
-                    }
-                    m_chunk.push_back(m_generator.get());
-                }
-            }
-        }
-        std::vector<T> const& get() const override {
-            return m_chunk;
-        }
-        bool next() override {
-            m_chunk.clear();
-            for (size_t idx = 0; idx < m_chunk_size; ++idx) {
-                if (!m_generator.next()) {
-                    return false;
-                }
-                m_chunk.push_back(m_generator.get());
-            }
-            return true;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<std::vector<T>> chunk(size_t size, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<std::vector<T>>(
-            pf::make_unique<ChunkGenerator<T>>(size, std::move(generator))
-        );
-    }
-
-} // namespace Generators
-} // namespace Catch
-
-// end catch_generators_generic.hpp
-// start catch_generators_specific.hpp
-
-// start catch_context.h
-
-#include <memory>
-
-namespace Catch {
-
-    struct IResultCapture;
-    struct IRunner;
-    struct IConfig;
-    struct IMutableContext;
-
-    using IConfigPtr = std::shared_ptr<IConfig const>;
-
-    struct IContext
-    {
-        virtual ~IContext();
-
-        virtual IResultCapture* getResultCapture() = 0;
-        virtual IRunner* getRunner() = 0;
-        virtual IConfigPtr const& getConfig() const = 0;
-    };
-
-    struct IMutableContext : IContext
-    {
-        virtual ~IMutableContext();
-        virtual void setResultCapture( IResultCapture* resultCapture ) = 0;
-        virtual void setRunner( IRunner* runner ) = 0;
-        virtual void setConfig( IConfigPtr const& config ) = 0;
-
-    private:
-        static IMutableContext *currentContext;
-        friend IMutableContext& getCurrentMutableContext();
-        friend void cleanUpContext();
-        static void createContext();
-    };
-
-    inline IMutableContext& getCurrentMutableContext()
-    {
-        if( !IMutableContext::currentContext )
-            IMutableContext::createContext();
-        return *IMutableContext::currentContext;
-    }
-
-    inline IContext& getCurrentContext()
-    {
-        return getCurrentMutableContext();
-    }
-
-    void cleanUpContext();
-}
-
-// end catch_context.h
-// start catch_interfaces_config.h
-
-// start catch_option.hpp
-
-namespace Catch {
-
-    // An optional type
-    template<typename T>
-    class Option {
-    public:
-        Option() : nullableValue( nullptr ) {}
-        Option( T const& _value )
-        : nullableValue( new( storage ) T( _value ) )
-        {}
-        Option( Option const& _other )
-        : nullableValue( _other ? new( storage ) T( *_other ) : nullptr )
-        {}
-
-        ~Option() {
-            reset();
-        }
-
-        Option& operator= ( Option const& _other ) {
-            if( &_other != this ) {
-                reset();
-                if( _other )
-                    nullableValue = new( storage ) T( *_other );
-            }
-            return *this;
-        }
-        Option& operator = ( T const& _value ) {
-            reset();
-            nullableValue = new( storage ) T( _value );
-            return *this;
-        }
-
-        void reset() {
-            if( nullableValue )
-                nullableValue->~T();
-            nullableValue = nullptr;
-        }
-
-        T& operator*() { return *nullableValue; }
-        T const& operator*() const { return *nullableValue; }
-        T* operator->() { return nullableValue; }
-        const T* operator->() const { return nullableValue; }
-
-        T valueOr( T const& defaultValue ) const {
-            return nullableValue ? *nullableValue : defaultValue;
-        }
-
-        bool some() const { return nullableValue != nullptr; }
-        bool none() const { return nullableValue == nullptr; }
-
-        bool operator !() const { return nullableValue == nullptr; }
-        explicit operator bool() const {
-            return some();
-        }
-
-    private:
-        T *nullableValue;
-        alignas(alignof(T)) char storage[sizeof(T)];
-    };
-
-} // end namespace Catch
-
-// end catch_option.hpp
-#include <iosfwd>
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    enum class Verbosity {
-        Quiet = 0,
-        Normal,
-        High
-    };
-
-    struct WarnAbout { enum What {
-        Nothing = 0x00,
-        NoAssertions = 0x01,
-        NoTests = 0x02
-    }; };
-
-    struct ShowDurations { enum OrNot {
-        DefaultForReporter,
-        Always,
-        Never
-    }; };
-    struct RunTests { enum InWhatOrder {
-        InDeclarationOrder,
-        InLexicographicalOrder,
-        InRandomOrder
-    }; };
-    struct UseColour { enum YesOrNo {
-        Auto,
-        Yes,
-        No
-    }; };
-    struct WaitForKeypress { enum When {
-        Never,
-        BeforeStart = 1,
-        BeforeExit = 2,
-        BeforeStartAndExit = BeforeStart | BeforeExit
-    }; };
-
-    class TestSpec;
-
-    struct IConfig : NonCopyable {
-
-        virtual ~IConfig();
-
-        virtual bool allowThrows() const = 0;
-        virtual std::ostream& stream() const = 0;
-        virtual std::string name() const = 0;
-        virtual bool includeSuccessfulResults() const = 0;
-        virtual bool shouldDebugBreak() const = 0;
-        virtual bool warnAboutMissingAssertions() const = 0;
-        virtual bool warnAboutNoTests() const = 0;
-        virtual int abortAfter() const = 0;
-        virtual bool showInvisibles() const = 0;
-        virtual ShowDurations::OrNot showDurations() const = 0;
-        virtual TestSpec const& testSpec() const = 0;
-        virtual bool hasTestFilters() const = 0;
-        virtual std::vector<std::string> const& getTestsOrTags() const = 0;
-        virtual RunTests::InWhatOrder runOrder() const = 0;
-        virtual unsigned int rngSeed() const = 0;
-        virtual UseColour::YesOrNo useColour() const = 0;
-        virtual std::vector<std::string> const& getSectionsToRun() const = 0;
-        virtual Verbosity verbosity() const = 0;
-
-        virtual bool benchmarkNoAnalysis() const = 0;
-        virtual int benchmarkSamples() const = 0;
-        virtual double benchmarkConfidenceInterval() const = 0;
-        virtual unsigned int benchmarkResamples() const = 0;
-    };
-
-    using IConfigPtr = std::shared_ptr<IConfig const>;
-}
-
-// end catch_interfaces_config.h
-#include <random>
-
-namespace Catch {
-namespace Generators {
-
-template <typename Float>
-class RandomFloatingGenerator final : public IGenerator<Float> {
-    // FIXME: What is the right seed?
-    std::minstd_rand m_rand;
-    std::uniform_real_distribution<Float> m_dist;
-    Float m_current_number;
-public:
-
-    RandomFloatingGenerator(Float a, Float b):
-        m_rand(getCurrentContext().getConfig()->rngSeed()),
-        m_dist(a, b) {
-        static_cast<void>(next());
-    }
-
-    Float const& get() const override {
-        return m_current_number;
-    }
-    bool next() override {
-        m_current_number = m_dist(m_rand);
-        return true;
-    }
-};
-
-template <typename Integer>
-class RandomIntegerGenerator final : public IGenerator<Integer> {
-    std::minstd_rand m_rand;
-    std::uniform_int_distribution<Integer> m_dist;
-    Integer m_current_number;
-public:
-
-    RandomIntegerGenerator(Integer a, Integer b):
-        m_rand(getCurrentContext().getConfig()->rngSeed()),
-        m_dist(a, b) {
-        static_cast<void>(next());
-    }
-
-    Integer const& get() const override {
-        return m_current_number;
-    }
-    bool next() override {
-        m_current_number = m_dist(m_rand);
-        return true;
-    }
-};
-
-// TODO: Ideally this would be also constrained against the various char types,
-//       but I don't expect users to run into that in practice.
-template <typename T>
-typename std::enable_if<std::is_integral<T>::value && !std::is_same<T, bool>::value,
-GeneratorWrapper<T>>::type
-random(T a, T b) {
-    return GeneratorWrapper<T>(
-        pf::make_unique<RandomIntegerGenerator<T>>(a, b)
-    );
-}
-
-template <typename T>
-typename std::enable_if<std::is_floating_point<T>::value,
-GeneratorWrapper<T>>::type
-random(T a, T b) {
-    return GeneratorWrapper<T>(
-        pf::make_unique<RandomFloatingGenerator<T>>(a, b)
-    );
-}
-
-template <typename T>
-class RangeGenerator final : public IGenerator<T> {
-    T m_current;
-    T m_end;
-    T m_step;
-    bool m_positive;
-
-public:
-    RangeGenerator(T const& start, T const& end, T const& step):
-        m_current(start),
-        m_end(end),
-        m_step(step),
-        m_positive(m_step > T(0))
-    {
-        assert(m_current != m_end && "Range start and end cannot be equal");
-        assert(m_step != T(0) && "Step size cannot be zero");
-        assert(((m_positive && m_current <= m_end) || (!m_positive && m_current >= m_end)) && "Step moves away from end");
-    }
-
-    RangeGenerator(T const& start, T const& end):
-        RangeGenerator(start, end, (start < end) ? T(1) : T(-1))
-    {}
-
-    T const& get() const override {
-        return m_current;
-    }
-
-    bool next() override {
-        m_current += m_step;
-        return (m_positive) ? (m_current < m_end) : (m_current > m_end);
-    }
-};
-
-template <typename T>
-GeneratorWrapper<T> range(T const& start, T const& end, T const& step) {
-    static_assert(std::is_integral<T>::value && !std::is_same<T, bool>::value, "Type must be an integer");
-    return GeneratorWrapper<T>(pf::make_unique<RangeGenerator<T>>(start, end, step));
-}
-
-template <typename T>
-GeneratorWrapper<T> range(T const& start, T const& end) {
-    static_assert(std::is_integral<T>::value && !std::is_same<T, bool>::value, "Type must be an integer");
-    return GeneratorWrapper<T>(pf::make_unique<RangeGenerator<T>>(start, end));
-}
-
-} // namespace Generators
-} // namespace Catch
-
-// end catch_generators_specific.hpp
-
-// These files are included here so the single_include script doesn't put them
-// in the conditionally compiled sections
-// start catch_test_case_info.h
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct ITestInvoker;
-
-    struct TestCaseInfo {
-        enum SpecialProperties{
-            None = 0,
-            IsHidden = 1 << 1,
-            ShouldFail = 1 << 2,
-            MayFail = 1 << 3,
-            Throws = 1 << 4,
-            NonPortable = 1 << 5,
-            Benchmark = 1 << 6
-        };
-
-        TestCaseInfo(   std::string const& _name,
-                        std::string const& _className,
-                        std::string const& _description,
-                        std::vector<std::string> const& _tags,
-                        SourceLineInfo const& _lineInfo );
-
-        friend void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags );
-
-        bool isHidden() const;
-        bool throws() const;
-        bool okToFail() const;
-        bool expectedToFail() const;
-
-        std::string tagsAsString() const;
-
-        std::string name;
-        std::string className;
-        std::string description;
-        std::vector<std::string> tags;
-        std::vector<std::string> lcaseTags;
-        SourceLineInfo lineInfo;
-        SpecialProperties properties;
-    };
-
-    class TestCase : public TestCaseInfo {
-    public:
-
-        TestCase( ITestInvoker* testCase, TestCaseInfo&& info );
-
-        TestCase withName( std::string const& _newName ) const;
-
-        void invoke() const;
-
-        TestCaseInfo const& getTestCaseInfo() const;
-
-        bool operator == ( TestCase const& other ) const;
-        bool operator < ( TestCase const& other ) const;
-
-    private:
-        std::shared_ptr<ITestInvoker> test;
-    };
-
-    TestCase makeTestCase(  ITestInvoker* testCase,
-                            std::string const& className,
-                            NameAndTags const& nameAndTags,
-                            SourceLineInfo const& lineInfo );
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_case_info.h
-// start catch_interfaces_runner.h
-
-namespace Catch {
-
-    struct IRunner {
-        virtual ~IRunner();
-        virtual bool aborting() const = 0;
-    };
-}
-
-// end catch_interfaces_runner.h
-
-#ifdef __OBJC__
-// start catch_objc.hpp
-
-#import <objc/runtime.h>
-
-#include <string>
-
-// NB. Any general catch headers included here must be included
-// in catch.hpp first to make sure they are included by the single
-// header for non obj-usage
-
-///////////////////////////////////////////////////////////////////////////////
-// This protocol is really only here for (self) documenting purposes, since
-// all its methods are optional.
-@protocol OcFixture
-
-@optional
-
--(void) setUp;
--(void) tearDown;
-
-@end
-
-namespace Catch {
-
-    class OcMethod : public ITestInvoker {
-
-    public:
-        OcMethod( Class cls, SEL sel ) : m_cls( cls ), m_sel( sel ) {}
-
-        virtual void invoke() const {
-            id obj = [[m_cls alloc] init];
-
-            performOptionalSelector( obj, @selector(setUp)  );
-            performOptionalSelector( obj, m_sel );
-            performOptionalSelector( obj, @selector(tearDown)  );
-
-            arcSafeRelease( obj );
-        }
-    private:
-        virtual ~OcMethod() {}
-
-        Class m_cls;
-        SEL m_sel;
-    };
-
-    namespace Detail{
-
-        inline std::string getAnnotation(   Class cls,
-                                            std::string const& annotationName,
-                                            std::string const& testCaseName ) {
-            NSString* selStr = [[NSString alloc] initWithFormat:@"Catch_%s_%s", annotationName.c_str(), testCaseName.c_str()];
-            SEL sel = NSSelectorFromString( selStr );
-            arcSafeRelease( selStr );
-            id value = performOptionalSelector( cls, sel );
-            if( value )
-                return [(NSString*)value UTF8String];
-            return "";
-        }
-    }
-
-    inline std::size_t registerTestMethods() {
-        std::size_t noTestMethods = 0;
-        int noClasses = objc_getClassList( nullptr, 0 );
-
-        Class* classes = (CATCH_UNSAFE_UNRETAINED Class *)malloc( sizeof(Class) * noClasses);
-        objc_getClassList( classes, noClasses );
-
-        for( int c = 0; c < noClasses; c++ ) {
-            Class cls = classes[c];
-            {
-                u_int count;
-                Method* methods = class_copyMethodList( cls, &count );
-                for( u_int m = 0; m < count ; m++ ) {
-                    SEL selector = method_getName(methods[m]);
-                    std::string methodName = sel_getName(selector);
-                    if( startsWith( methodName, "Catch_TestCase_" ) ) {
-                        std::string testCaseName = methodName.substr( 15 );
-                        std::string name = Detail::getAnnotation( cls, "Name", testCaseName );
-                        std::string desc = Detail::getAnnotation( cls, "Description", testCaseName );
-                        const char* className = class_getName( cls );
-
-                        getMutableRegistryHub().registerTest( makeTestCase( new OcMethod( cls, selector ), className, NameAndTags( name.c_str(), desc.c_str() ), SourceLineInfo("",0) ) );
-                        noTestMethods++;
-                    }
-                }
-                free(methods);
-            }
-        }
-        return noTestMethods;
-    }
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-
-    namespace Matchers {
-        namespace Impl {
-        namespace NSStringMatchers {
-
-            struct StringHolder : MatcherBase<NSString*>{
-                StringHolder( NSString* substr ) : m_substr( [substr copy] ){}
-                StringHolder( StringHolder const& other ) : m_substr( [other.m_substr copy] ){}
-                StringHolder() {
-                    arcSafeRelease( m_substr );
-                }
-
-                bool match( NSString* str ) const override {
-                    return false;
-                }
-
-                NSString* CATCH_ARC_STRONG m_substr;
-            };
-
-            struct Equals : StringHolder {
-                Equals( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str isEqualToString:m_substr];
-                }
-
-                std::string describe() const override {
-                    return "equals string: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-            struct Contains : StringHolder {
-                Contains( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location != NSNotFound;
-                }
-
-                std::string describe() const override {
-                    return "contains string: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-            struct StartsWith : StringHolder {
-                StartsWith( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location == 0;
-                }
-
-                std::string describe() const override {
-                    return "starts with: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-            struct EndsWith : StringHolder {
-                EndsWith( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location == [str length] - [m_substr length];
-                }
-
-                std::string describe() const override {
-                    return "ends with: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-        } // namespace NSStringMatchers
-        } // namespace Impl
-
-        inline Impl::NSStringMatchers::Equals
-            Equals( NSString* substr ){ return Impl::NSStringMatchers::Equals( substr ); }
-
-        inline Impl::NSStringMatchers::Contains
-            Contains( NSString* substr ){ return Impl::NSStringMatchers::Contains( substr ); }
-
-        inline Impl::NSStringMatchers::StartsWith
-            StartsWith( NSString* substr ){ return Impl::NSStringMatchers::StartsWith( substr ); }
-
-        inline Impl::NSStringMatchers::EndsWith
-            EndsWith( NSString* substr ){ return Impl::NSStringMatchers::EndsWith( substr ); }
-
-    } // namespace Matchers
-
-    using namespace Matchers;
-
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-} // namespace Catch
-
-///////////////////////////////////////////////////////////////////////////////
-#define OC_MAKE_UNIQUE_NAME( root, uniqueSuffix ) root##uniqueSuffix
-#define OC_TEST_CASE2( name, desc, uniqueSuffix ) \
-+(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Name_test_, uniqueSuffix ) \
-{ \
-return @ name; \
-} \
-+(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Description_test_, uniqueSuffix ) \
-{ \
-return @ desc; \
-} \
--(void) OC_MAKE_UNIQUE_NAME( Catch_TestCase_test_, uniqueSuffix )
-
-#define OC_TEST_CASE( name, desc ) OC_TEST_CASE2( name, desc, __LINE__ )
-
-// end catch_objc.hpp
-#endif
-
-// Benchmarking needs the externally-facing parts of reporters to work
-#if defined(CATCH_CONFIG_EXTERNAL_INTERFACES) || defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_external_interfaces.h
-
-// start catch_reporter_bases.hpp
-
-// start catch_interfaces_reporter.h
-
-// start catch_config.hpp
-
-// start catch_test_spec_parser.h
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-// start catch_test_spec.h
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-// start catch_wildcard_pattern.h
-
-namespace Catch
-{
-    class WildcardPattern {
-        enum WildcardPosition {
-            NoWildcard = 0,
-            WildcardAtStart = 1,
-            WildcardAtEnd = 2,
-            WildcardAtBothEnds = WildcardAtStart | WildcardAtEnd
-        };
-
-    public:
-
-        WildcardPattern( std::string const& pattern, CaseSensitive::Choice caseSensitivity );
-        virtual ~WildcardPattern() = default;
-        virtual bool matches( std::string const& str ) const;
-
-    private:
-        std::string adjustCase( std::string const& str ) const;
-        CaseSensitive::Choice m_caseSensitivity;
-        WildcardPosition m_wildcard = NoWildcard;
-        std::string m_pattern;
-    };
-}
-
-// end catch_wildcard_pattern.h
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    struct IConfig;
-
-    class TestSpec {
-        class Pattern {
-        public:
-            explicit Pattern( std::string const& name );
-            virtual ~Pattern();
-            virtual bool matches( TestCaseInfo const& testCase ) const = 0;
-            std::string const& name() const;
-        private:
-            std::string const m_name;
-        };
-        using PatternPtr = std::shared_ptr<Pattern>;
-
-        class NamePattern : public Pattern {
-        public:
-            explicit NamePattern( std::string const& name, std::string const& filterString );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            WildcardPattern m_wildcardPattern;
-        };
-
-        class TagPattern : public Pattern {
-        public:
-            explicit TagPattern( std::string const& tag, std::string const& filterString );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            std::string m_tag;
-        };
-
-        class ExcludedPattern : public Pattern {
-        public:
-            explicit ExcludedPattern( PatternPtr const& underlyingPattern );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            PatternPtr m_underlyingPattern;
-        };
-
-        struct Filter {
-            std::vector<PatternPtr> m_patterns;
-
-            bool matches( TestCaseInfo const& testCase ) const;
-            std::string name() const;
-        };
-
-    public:
-        struct FilterMatch {
-            std::string name;
-            std::vector<TestCase const*> tests;
-        };
-        using Matches = std::vector<FilterMatch>;
-
-        bool hasFilters() const;
-        bool matches( TestCaseInfo const& testCase ) const;
-        Matches matchesByFilter( std::vector<TestCase> const& testCases, IConfig const& config ) const;
-
-    private:
-        std::vector<Filter> m_filters;
-
-        friend class TestSpecParser;
-    };
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_spec.h
-// start catch_interfaces_tag_alias_registry.h
-
-#include <string>
-
-namespace Catch {
-
-    struct TagAlias;
-
-    struct ITagAliasRegistry {
-        virtual ~ITagAliasRegistry();
-        // Nullptr if not present
-        virtual TagAlias const* find( std::string const& alias ) const = 0;
-        virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const = 0;
-
-        static ITagAliasRegistry const& get();
-    };
-
-} // end namespace Catch
-
-// end catch_interfaces_tag_alias_registry.h
-namespace Catch {
-
-    class TestSpecParser {
-        enum Mode{ None, Name, QuotedName, Tag, EscapedName };
-        Mode m_mode = None;
-        bool m_exclusion = false;
-        std::size_t m_pos = 0;
-        std::string m_arg;
-        std::string m_substring;
-        std::string m_patternName;
-        std::vector<std::size_t> m_escapeChars;
-        TestSpec::Filter m_currentFilter;
-        TestSpec m_testSpec;
-        ITagAliasRegistry const* m_tagAliases = nullptr;
-
-    public:
-        TestSpecParser( ITagAliasRegistry const& tagAliases );
-
-        TestSpecParser& parse( std::string const& arg );
-        TestSpec testSpec();
-
-    private:
-        void visitChar( char c );
-        void startNewMode( Mode mode );
-        bool processNoneChar( char c );
-        void processNameChar( char c );
-        bool processOtherChar( char c );
-        void endMode();
-        void escape();
-        bool isControlChar( char c ) const;
-
-        template<typename T>
-        void addPattern() {
-            std::string token = m_patternName;
-            for( std::size_t i = 0; i < m_escapeChars.size(); ++i )
-                token = token.substr( 0, m_escapeChars[i] - i ) + token.substr( m_escapeChars[i] -i +1 );
-            m_escapeChars.clear();
-            if( startsWith( token, "exclude:" ) ) {
-                m_exclusion = true;
-                token = token.substr( 8 );
-            }
-            if( !token.empty() ) {
-                TestSpec::PatternPtr pattern = std::make_shared<T>( token, m_substring );
-                if( m_exclusion )
-                    pattern = std::make_shared<TestSpec::ExcludedPattern>( pattern );
-                m_currentFilter.m_patterns.push_back( pattern );
-            }
-            m_substring.clear();
-            m_patternName.clear();
-            m_exclusion = false;
-            m_mode = None;
-        }
-
-        void addFilter();
-    };
-    TestSpec parseTestSpec( std::string const& arg );
-
-} // namespace Catch
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_spec_parser.h
-// Libstdc++ doesn't like incomplete classes for unique_ptr
-
-#include <memory>
-#include <vector>
-#include <string>
-
-#ifndef CATCH_CONFIG_CONSOLE_WIDTH
-#define CATCH_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-namespace Catch {
-
-    struct IStream;
-
-    struct ConfigData {
-        bool listTests = false;
-        bool listTags = false;
-        bool listReporters = false;
-        bool listTestNamesOnly = false;
-
-        bool showSuccessfulTests = false;
-        bool shouldDebugBreak = false;
-        bool noThrow = false;
-        bool showHelp = false;
-        bool showInvisibles = false;
-        bool filenamesAsTags = false;
-        bool libIdentify = false;
-
-        int abortAfter = -1;
-        unsigned int rngSeed = 0;
-
-        bool benchmarkNoAnalysis = false;
-        unsigned int benchmarkSamples = 100;
-        double benchmarkConfidenceInterval = 0.95;
-        unsigned int benchmarkResamples = 100000;
-
-        Verbosity verbosity = Verbosity::Normal;
-        WarnAbout::What warnings = WarnAbout::Nothing;
-        ShowDurations::OrNot showDurations = ShowDurations::DefaultForReporter;
-        RunTests::InWhatOrder runOrder = RunTests::InDeclarationOrder;
-        UseColour::YesOrNo useColour = UseColour::Auto;
-        WaitForKeypress::When waitForKeypress = WaitForKeypress::Never;
-
-        std::string outputFilename;
-        std::string name;
-        std::string processName;
-#ifndef CATCH_CONFIG_DEFAULT_REPORTER
-#define CATCH_CONFIG_DEFAULT_REPORTER "console"
-#endif
-        std::string reporterName = CATCH_CONFIG_DEFAULT_REPORTER;
-#undef CATCH_CONFIG_DEFAULT_REPORTER
-
-        std::vector<std::string> testsOrTags;
-        std::vector<std::string> sectionsToRun;
-    };
-
-    class Config : public IConfig {
-    public:
-
-        Config() = default;
-        Config( ConfigData const& data );
-        virtual ~Config() = default;
-
-        std::string const& getFilename() const;
-
-        bool listTests() const;
-        bool listTestNamesOnly() const;
-        bool listTags() const;
-        bool listReporters() const;
-
-        std::string getProcessName() const;
-        std::string const& getReporterName() const;
-
-        std::vector<std::string> const& getTestsOrTags() const override;
-        std::vector<std::string> const& getSectionsToRun() const override;
-
-        TestSpec const& testSpec() const override;
-        bool hasTestFilters() const override;
-
-        bool showHelp() const;
-
-        // IConfig interface
-        bool allowThrows() const override;
-        std::ostream& stream() const override;
-        std::string name() const override;
-        bool includeSuccessfulResults() const override;
-        bool warnAboutMissingAssertions() const override;
-        bool warnAboutNoTests() const override;
-        ShowDurations::OrNot showDurations() const override;
-        RunTests::InWhatOrder runOrder() const override;
-        unsigned int rngSeed() const override;
-        UseColour::YesOrNo useColour() const override;
-        bool shouldDebugBreak() const override;
-        int abortAfter() const override;
-        bool showInvisibles() const override;
-        Verbosity verbosity() const override;
-        bool benchmarkNoAnalysis() const override;
-        int benchmarkSamples() const override;
-        double benchmarkConfidenceInterval() const override;
-        unsigned int benchmarkResamples() const override;
-
-    private:
-
-        IStream const* openStream();
-        ConfigData m_data;
-
-        std::unique_ptr<IStream const> m_stream;
-        TestSpec m_testSpec;
-        bool m_hasTestFilters = false;
-    };
-
-} // end namespace Catch
-
-// end catch_config.hpp
-// start catch_assertionresult.h
-
-#include <string>
-
-namespace Catch {
-
-    struct AssertionResultData
-    {
-        AssertionResultData() = delete;
-
-        AssertionResultData( ResultWas::OfType _resultType, LazyExpression const& _lazyExpression );
-
-        std::string message;
-        mutable std::string reconstructedExpression;
-        LazyExpression lazyExpression;
-        ResultWas::OfType resultType;
-
-        std::string reconstructExpression() const;
-    };
-
-    class AssertionResult {
-    public:
-        AssertionResult() = delete;
-        AssertionResult( AssertionInfo const& info, AssertionResultData const& data );
-
-        bool isOk() const;
-        bool succeeded() const;
-        ResultWas::OfType getResultType() const;
-        bool hasExpression() const;
-        bool hasMessage() const;
-        std::string getExpression() const;
-        std::string getExpressionInMacro() const;
-        bool hasExpandedExpression() const;
-        std::string getExpandedExpression() const;
-        std::string getMessage() const;
-        SourceLineInfo getSourceInfo() const;
-        StringRef getTestMacroName() const;
-
-    //protected:
-        AssertionInfo m_info;
-        AssertionResultData m_resultData;
-    };
-
-} // end namespace Catch
-
-// end catch_assertionresult.h
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_estimate.hpp
-
- // Statistics estimates
-
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct Estimate {
-            Duration point;
-            Duration lower_bound;
-            Duration upper_bound;
-            double confidence_interval;
-
-            template <typename Duration2>
-            operator Estimate<Duration2>() const {
-                return { point, lower_bound, upper_bound, confidence_interval };
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_estimate.hpp
-// start catch_outlier_classification.hpp
-
-// Outlier information
-
-namespace Catch {
-    namespace Benchmark {
-        struct OutlierClassification {
-            int samples_seen = 0;
-            int low_severe = 0;     // more than 3 times IQR below Q1
-            int low_mild = 0;       // 1.5 to 3 times IQR below Q1
-            int high_mild = 0;      // 1.5 to 3 times IQR above Q3
-            int high_severe = 0;    // more than 3 times IQR above Q3
-
-            int total() const {
-                return low_severe + low_mild + high_mild + high_severe;
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_outlier_classification.hpp
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-#include <string>
-#include <iosfwd>
-#include <map>
-#include <set>
-#include <memory>
-#include <algorithm>
-
-namespace Catch {
-
-    struct ReporterConfig {
-        explicit ReporterConfig( IConfigPtr const& _fullConfig );
-
-        ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream );
-
-        std::ostream& stream() const;
-        IConfigPtr fullConfig() const;
-
-    private:
-        std::ostream* m_stream;
-        IConfigPtr m_fullConfig;
-    };
-
-    struct ReporterPreferences {
-        bool shouldRedirectStdOut = false;
-        bool shouldReportAllAssertions = false;
-    };
-
-    template<typename T>
-    struct LazyStat : Option<T> {
-        LazyStat& operator=( T const& _value ) {
-            Option<T>::operator=( _value );
-            used = false;
-            return *this;
-        }
-        void reset() {
-            Option<T>::reset();
-            used = false;
-        }
-        bool used = false;
-    };
-
-    struct TestRunInfo {
-        TestRunInfo( std::string const& _name );
-        std::string name;
-    };
-    struct GroupInfo {
-        GroupInfo(  std::string const& _name,
-                    std::size_t _groupIndex,
-                    std::size_t _groupsCount );
-
-        std::string name;
-        std::size_t groupIndex;
-        std::size_t groupsCounts;
-    };
-
-    struct AssertionStats {
-        AssertionStats( AssertionResult const& _assertionResult,
-                        std::vector<MessageInfo> const& _infoMessages,
-                        Totals const& _totals );
-
-        AssertionStats( AssertionStats const& )              = default;
-        AssertionStats( AssertionStats && )                  = default;
-        AssertionStats& operator = ( AssertionStats const& ) = delete;
-        AssertionStats& operator = ( AssertionStats && )     = delete;
-        virtual ~AssertionStats();
-
-        AssertionResult assertionResult;
-        std::vector<MessageInfo> infoMessages;
-        Totals totals;
-    };
-
-    struct SectionStats {
-        SectionStats(   SectionInfo const& _sectionInfo,
-                        Counts const& _assertions,
-                        double _durationInSeconds,
-                        bool _missingAssertions );
-        SectionStats( SectionStats const& )              = default;
-        SectionStats( SectionStats && )                  = default;
-        SectionStats& operator = ( SectionStats const& ) = default;
-        SectionStats& operator = ( SectionStats && )     = default;
-        virtual ~SectionStats();
-
-        SectionInfo sectionInfo;
-        Counts assertions;
-        double durationInSeconds;
-        bool missingAssertions;
-    };
-
-    struct TestCaseStats {
-        TestCaseStats(  TestCaseInfo const& _testInfo,
-                        Totals const& _totals,
-                        std::string const& _stdOut,
-                        std::string const& _stdErr,
-                        bool _aborting );
-
-        TestCaseStats( TestCaseStats const& )              = default;
-        TestCaseStats( TestCaseStats && )                  = default;
-        TestCaseStats& operator = ( TestCaseStats const& ) = default;
-        TestCaseStats& operator = ( TestCaseStats && )     = default;
-        virtual ~TestCaseStats();
-
-        TestCaseInfo testInfo;
-        Totals totals;
-        std::string stdOut;
-        std::string stdErr;
-        bool aborting;
-    };
-
-    struct TestGroupStats {
-        TestGroupStats( GroupInfo const& _groupInfo,
-                        Totals const& _totals,
-                        bool _aborting );
-        TestGroupStats( GroupInfo const& _groupInfo );
-
-        TestGroupStats( TestGroupStats const& )              = default;
-        TestGroupStats( TestGroupStats && )                  = default;
-        TestGroupStats& operator = ( TestGroupStats const& ) = default;
-        TestGroupStats& operator = ( TestGroupStats && )     = default;
-        virtual ~TestGroupStats();
-
-        GroupInfo groupInfo;
-        Totals totals;
-        bool aborting;
-    };
-
-    struct TestRunStats {
-        TestRunStats(   TestRunInfo const& _runInfo,
-                        Totals const& _totals,
-                        bool _aborting );
-
-        TestRunStats( TestRunStats const& )              = default;
-        TestRunStats( TestRunStats && )                  = default;
-        TestRunStats& operator = ( TestRunStats const& ) = default;
-        TestRunStats& operator = ( TestRunStats && )     = default;
-        virtual ~TestRunStats();
-
-        TestRunInfo runInfo;
-        Totals totals;
-        bool aborting;
-    };
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    struct BenchmarkInfo {
-        std::string name;
-        double estimatedDuration;
-        int iterations;
-        int samples;
-        unsigned int resamples;
-        double clockResolution;
-        double clockCost;
-    };
-
-    template <class Duration>
-    struct BenchmarkStats {
-        BenchmarkInfo info;
-
-        std::vector<Duration> samples;
-        Benchmark::Estimate<Duration> mean;
-        Benchmark::Estimate<Duration> standardDeviation;
-        Benchmark::OutlierClassification outliers;
-        double outlierVariance;
-
-        template <typename Duration2>
-        operator BenchmarkStats<Duration2>() const {
-            std::vector<Duration2> samples2;
-            samples2.reserve(samples.size());
-            std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](Duration d) { return Duration2(d); });
-            return {
-                info,
-                std::move(samples2),
-                mean,
-                standardDeviation,
-                outliers,
-                outlierVariance,
-            };
-        }
-    };
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    struct IStreamingReporter {
-        virtual ~IStreamingReporter() = default;
-
-        // Implementing class must also provide the following static methods:
-        // static std::string getDescription();
-        // static std::set<Verbosity> getSupportedVerbosities()
-
-        virtual ReporterPreferences getPreferences() const = 0;
-
-        virtual void noMatchingTestCases( std::string const& spec ) = 0;
-
-        virtual void testRunStarting( TestRunInfo const& testRunInfo ) = 0;
-        virtual void testGroupStarting( GroupInfo const& groupInfo ) = 0;
-
-        virtual void testCaseStarting( TestCaseInfo const& testInfo ) = 0;
-        virtual void sectionStarting( SectionInfo const& sectionInfo ) = 0;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        virtual void benchmarkPreparing( std::string const& ) {}
-        virtual void benchmarkStarting( BenchmarkInfo const& ) {}
-        virtual void benchmarkEnded( BenchmarkStats<> const& ) {}
-        virtual void benchmarkFailed( std::string const& ) {}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        virtual void assertionStarting( AssertionInfo const& assertionInfo ) = 0;
-
-        // The return value indicates if the messages buffer should be cleared:
-        virtual bool assertionEnded( AssertionStats const& assertionStats ) = 0;
-
-        virtual void sectionEnded( SectionStats const& sectionStats ) = 0;
-        virtual void testCaseEnded( TestCaseStats const& testCaseStats ) = 0;
-        virtual void testGroupEnded( TestGroupStats const& testGroupStats ) = 0;
-        virtual void testRunEnded( TestRunStats const& testRunStats ) = 0;
-
-        virtual void skipTest( TestCaseInfo const& testInfo ) = 0;
-
-        // Default empty implementation provided
-        virtual void fatalErrorEncountered( StringRef name );
-
-        virtual bool isMulti() const;
-    };
-    using IStreamingReporterPtr = std::unique_ptr<IStreamingReporter>;
-
-    struct IReporterFactory {
-        virtual ~IReporterFactory();
-        virtual IStreamingReporterPtr create( ReporterConfig const& config ) const = 0;
-        virtual std::string getDescription() const = 0;
-    };
-    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
-
-    struct IReporterRegistry {
-        using FactoryMap = std::map<std::string, IReporterFactoryPtr>;
-        using Listeners = std::vector<IReporterFactoryPtr>;
-
-        virtual ~IReporterRegistry();
-        virtual IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const = 0;
-        virtual FactoryMap const& getFactories() const = 0;
-        virtual Listeners const& getListeners() const = 0;
-    };
-
-} // end namespace Catch
-
-// end catch_interfaces_reporter.h
-#include <algorithm>
-#include <cstring>
-#include <cfloat>
-#include <cstdio>
-#include <cassert>
-#include <memory>
-#include <ostream>
-
-namespace Catch {
-    void prepareExpandedExpression(AssertionResult& result);
-
-    // Returns double formatted as %.3f (format expected on output)
-    std::string getFormattedDuration( double duration );
-
-    std::string serializeFilters( std::vector<std::string> const& container );
-
-    template<typename DerivedT>
-    struct StreamingReporterBase : IStreamingReporter {
-
-        StreamingReporterBase( ReporterConfig const& _config )
-        :   m_config( _config.fullConfig() ),
-            stream( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = false;
-            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
-                CATCH_ERROR( "Verbosity level not supported by this reporter" );
-        }
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        ~StreamingReporterBase() override = default;
-
-        void noMatchingTestCases(std::string const&) override {}
-
-        void testRunStarting(TestRunInfo const& _testRunInfo) override {
-            currentTestRunInfo = _testRunInfo;
-        }
-
-        void testGroupStarting(GroupInfo const& _groupInfo) override {
-            currentGroupInfo = _groupInfo;
-        }
-
-        void testCaseStarting(TestCaseInfo const& _testInfo) override  {
-            currentTestCaseInfo = _testInfo;
-        }
-        void sectionStarting(SectionInfo const& _sectionInfo) override {
-            m_sectionStack.push_back(_sectionInfo);
-        }
-
-        void sectionEnded(SectionStats const& /* _sectionStats */) override {
-            m_sectionStack.pop_back();
-        }
-        void testCaseEnded(TestCaseStats const& /* _testCaseStats */) override {
-            currentTestCaseInfo.reset();
-        }
-        void testGroupEnded(TestGroupStats const& /* _testGroupStats */) override {
-            currentGroupInfo.reset();
-        }
-        void testRunEnded(TestRunStats const& /* _testRunStats */) override {
-            currentTestCaseInfo.reset();
-            currentGroupInfo.reset();
-            currentTestRunInfo.reset();
-        }
-
-        void skipTest(TestCaseInfo const&) override {
-            // Don't do anything with this by default.
-            // It can optionally be overridden in the derived class.
-        }
-
-        IConfigPtr m_config;
-        std::ostream& stream;
-
-        LazyStat<TestRunInfo> currentTestRunInfo;
-        LazyStat<GroupInfo> currentGroupInfo;
-        LazyStat<TestCaseInfo> currentTestCaseInfo;
-
-        std::vector<SectionInfo> m_sectionStack;
-        ReporterPreferences m_reporterPrefs;
-    };
-
-    template<typename DerivedT>
-    struct CumulativeReporterBase : IStreamingReporter {
-        template<typename T, typename ChildNodeT>
-        struct Node {
-            explicit Node( T const& _value ) : value( _value ) {}
-            virtual ~Node() {}
-
-            using ChildNodes = std::vector<std::shared_ptr<ChildNodeT>>;
-            T value;
-            ChildNodes children;
-        };
-        struct SectionNode {
-            explicit SectionNode(SectionStats const& _stats) : stats(_stats) {}
-            virtual ~SectionNode() = default;
-
-            bool operator == (SectionNode const& other) const {
-                return stats.sectionInfo.lineInfo == other.stats.sectionInfo.lineInfo;
-            }
-            bool operator == (std::shared_ptr<SectionNode> const& other) const {
-                return operator==(*other);
-            }
-
-            SectionStats stats;
-            using ChildSections = std::vector<std::shared_ptr<SectionNode>>;
-            using Assertions = std::vector<AssertionStats>;
-            ChildSections childSections;
-            Assertions assertions;
-            std::string stdOut;
-            std::string stdErr;
-        };
-
-        struct BySectionInfo {
-            BySectionInfo( SectionInfo const& other ) : m_other( other ) {}
-            BySectionInfo( BySectionInfo const& other ) : m_other( other.m_other ) {}
-            bool operator() (std::shared_ptr<SectionNode> const& node) const {
-                return ((node->stats.sectionInfo.name == m_other.name) &&
-                        (node->stats.sectionInfo.lineInfo == m_other.lineInfo));
-            }
-            void operator=(BySectionInfo const&) = delete;
-
-        private:
-            SectionInfo const& m_other;
-        };
-
-        using TestCaseNode = Node<TestCaseStats, SectionNode>;
-        using TestGroupNode = Node<TestGroupStats, TestCaseNode>;
-        using TestRunNode = Node<TestRunStats, TestGroupNode>;
-
-        CumulativeReporterBase( ReporterConfig const& _config )
-        :   m_config( _config.fullConfig() ),
-            stream( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = false;
-            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
-                CATCH_ERROR( "Verbosity level not supported by this reporter" );
-        }
-        ~CumulativeReporterBase() override = default;
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void testRunStarting( TestRunInfo const& ) override {}
-        void testGroupStarting( GroupInfo const& ) override {}
-
-        void testCaseStarting( TestCaseInfo const& ) override {}
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            SectionStats incompleteStats( sectionInfo, Counts(), 0, false );
-            std::shared_ptr<SectionNode> node;
-            if( m_sectionStack.empty() ) {
-                if( !m_rootSection )
-                    m_rootSection = std::make_shared<SectionNode>( incompleteStats );
-                node = m_rootSection;
-            }
-            else {
-                SectionNode& parentNode = *m_sectionStack.back();
-                auto it =
-                    std::find_if(   parentNode.childSections.begin(),
-                                    parentNode.childSections.end(),
-                                    BySectionInfo( sectionInfo ) );
-                if( it == parentNode.childSections.end() ) {
-                    node = std::make_shared<SectionNode>( incompleteStats );
-                    parentNode.childSections.push_back( node );
-                }
-                else
-                    node = *it;
-            }
-            m_sectionStack.push_back( node );
-            m_deepestSection = std::move(node);
-        }
-
-        void assertionStarting(AssertionInfo const&) override {}
-
-        bool assertionEnded(AssertionStats const& assertionStats) override {
-            assert(!m_sectionStack.empty());
-            // AssertionResult holds a pointer to a temporary DecomposedExpression,
-            // which getExpandedExpression() calls to build the expression string.
-            // Our section stack copy of the assertionResult will likely outlive the
-            // temporary, so it must be expanded or discarded now to avoid calling
-            // a destroyed object later.
-            prepareExpandedExpression(const_cast<AssertionResult&>( assertionStats.assertionResult ) );
-            SectionNode& sectionNode = *m_sectionStack.back();
-            sectionNode.assertions.push_back(assertionStats);
-            return true;
-        }
-        void sectionEnded(SectionStats const& sectionStats) override {
-            assert(!m_sectionStack.empty());
-            SectionNode& node = *m_sectionStack.back();
-            node.stats = sectionStats;
-            m_sectionStack.pop_back();
-        }
-        void testCaseEnded(TestCaseStats const& testCaseStats) override {
-            auto node = std::make_shared<TestCaseNode>(testCaseStats);
-            assert(m_sectionStack.size() == 0);
-            node->children.push_back(m_rootSection);
-            m_testCases.push_back(node);
-            m_rootSection.reset();
-
-            assert(m_deepestSection);
-            m_deepestSection->stdOut = testCaseStats.stdOut;
-            m_deepestSection->stdErr = testCaseStats.stdErr;
-        }
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            auto node = std::make_shared<TestGroupNode>(testGroupStats);
-            node->children.swap(m_testCases);
-            m_testGroups.push_back(node);
-        }
-        void testRunEnded(TestRunStats const& testRunStats) override {
-            auto node = std::make_shared<TestRunNode>(testRunStats);
-            node->children.swap(m_testGroups);
-            m_testRuns.push_back(node);
-            testRunEndedCumulative();
-        }
-        virtual void testRunEndedCumulative() = 0;
-
-        void skipTest(TestCaseInfo const&) override {}
-
-        IConfigPtr m_config;
-        std::ostream& stream;
-        std::vector<AssertionStats> m_assertions;
-        std::vector<std::vector<std::shared_ptr<SectionNode>>> m_sections;
-        std::vector<std::shared_ptr<TestCaseNode>> m_testCases;
-        std::vector<std::shared_ptr<TestGroupNode>> m_testGroups;
-
-        std::vector<std::shared_ptr<TestRunNode>> m_testRuns;
-
-        std::shared_ptr<SectionNode> m_rootSection;
-        std::shared_ptr<SectionNode> m_deepestSection;
-        std::vector<std::shared_ptr<SectionNode>> m_sectionStack;
-        ReporterPreferences m_reporterPrefs;
-    };
-
-    template<char C>
-    char const* getLineOfChars() {
-        static char line[CATCH_CONFIG_CONSOLE_WIDTH] = {0};
-        if( !*line ) {
-            std::memset( line, C, CATCH_CONFIG_CONSOLE_WIDTH-1 );
-            line[CATCH_CONFIG_CONSOLE_WIDTH-1] = 0;
-        }
-        return line;
-    }
-
-    struct TestEventListenerBase : StreamingReporterBase<TestEventListenerBase> {
-        TestEventListenerBase( ReporterConfig const& _config );
-
-        static std::set<Verbosity> getSupportedVerbosities();
-
-        void assertionStarting(AssertionInfo const&) override;
-        bool assertionEnded(AssertionStats const&) override;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_bases.hpp
-// start catch_console_colour.h
-
-namespace Catch {
-
-    struct Colour {
-        enum Code {
-            None = 0,
-
-            White,
-            Red,
-            Green,
-            Blue,
-            Cyan,
-            Yellow,
-            Grey,
-
-            Bright = 0x10,
-
-            BrightRed = Bright | Red,
-            BrightGreen = Bright | Green,
-            LightGrey = Bright | Grey,
-            BrightWhite = Bright | White,
-            BrightYellow = Bright | Yellow,
-
-            // By intention
-            FileName = LightGrey,
-            Warning = BrightYellow,
-            ResultError = BrightRed,
-            ResultSuccess = BrightGreen,
-            ResultExpectedFailure = Warning,
-
-            Error = BrightRed,
-            Success = Green,
-
-            OriginalExpression = Cyan,
-            ReconstructedExpression = BrightYellow,
-
-            SecondaryText = LightGrey,
-            Headers = White
-        };
-
-        // Use constructed object for RAII guard
-        Colour( Code _colourCode );
-        Colour( Colour&& other ) noexcept;
-        Colour& operator=( Colour&& other ) noexcept;
-        ~Colour();
-
-        // Use static method for one-shot changes
-        static void use( Code _colourCode );
-
-    private:
-        bool m_moved = false;
-    };
-
-    std::ostream& operator << ( std::ostream& os, Colour const& );
-
-} // end namespace Catch
-
-// end catch_console_colour.h
-// start catch_reporter_registrars.hpp
-
-
-namespace Catch {
-
-    template<typename T>
-    class ReporterRegistrar {
-
-        class ReporterFactory : public IReporterFactory {
-
-            IStreamingReporterPtr create( ReporterConfig const& config ) const override {
-                return std::unique_ptr<T>( new T( config ) );
-            }
-
-            std::string getDescription() const override {
-                return T::getDescription();
-            }
-        };
-
-    public:
-
-        explicit ReporterRegistrar( std::string const& name ) {
-            getMutableRegistryHub().registerReporter( name, std::make_shared<ReporterFactory>() );
-        }
-    };
-
-    template<typename T>
-    class ListenerRegistrar {
-
-        class ListenerFactory : public IReporterFactory {
-
-            IStreamingReporterPtr create( ReporterConfig const& config ) const override {
-                return std::unique_ptr<T>( new T( config ) );
-            }
-            std::string getDescription() const override {
-                return std::string();
-            }
-        };
-
-    public:
-
-        ListenerRegistrar() {
-            getMutableRegistryHub().registerListener( std::make_shared<ListenerFactory>() );
-        }
-    };
-}
-
-#if !defined(CATCH_CONFIG_DISABLE)
-
-#define CATCH_REGISTER_REPORTER( name, reporterType ) \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS          \
-    namespace{ Catch::ReporterRegistrar<reporterType> catch_internal_RegistrarFor##reporterType( name ); } \
-    CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-#define CATCH_REGISTER_LISTENER( listenerType ) \
-     CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS   \
-     namespace{ Catch::ListenerRegistrar<listenerType> catch_internal_RegistrarFor##listenerType; } \
-     CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-#else // CATCH_CONFIG_DISABLE
-
-#define CATCH_REGISTER_REPORTER(name, reporterType)
-#define CATCH_REGISTER_LISTENER(listenerType)
-
-#endif // CATCH_CONFIG_DISABLE
-
-// end catch_reporter_registrars.hpp
-// Allow users to base their work off existing reporters
-// start catch_reporter_compact.h
-
-namespace Catch {
-
-    struct CompactReporter : StreamingReporterBase<CompactReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        ~CompactReporter() override;
-
-        static std::string getDescription();
-
-        ReporterPreferences getPreferences() const override;
-
-        void noMatchingTestCases(std::string const& spec) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& _assertionStats) override;
-
-        void sectionEnded(SectionStats const& _sectionStats) override;
-
-        void testRunEnded(TestRunStats const& _testRunStats) override;
-
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_compact.h
-// start catch_reporter_console.h
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
-                              // Note that 4062 (not all labels are handled
-                              // and default is missing) is enabled
-#endif
-
-namespace Catch {
-    // Fwd decls
-    struct SummaryColumn;
-    class TablePrinter;
-
-    struct ConsoleReporter : StreamingReporterBase<ConsoleReporter> {
-        std::unique_ptr<TablePrinter> m_tablePrinter;
-
-        ConsoleReporter(ReporterConfig const& config);
-        ~ConsoleReporter() override;
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& spec) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& _assertionStats) override;
-
-        void sectionStarting(SectionInfo const& _sectionInfo) override;
-        void sectionEnded(SectionStats const& _sectionStats) override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting(BenchmarkInfo const& info) override;
-        void benchmarkEnded(BenchmarkStats<> const& stats) override;
-        void benchmarkFailed(std::string const& error) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void testCaseEnded(TestCaseStats const& _testCaseStats) override;
-        void testGroupEnded(TestGroupStats const& _testGroupStats) override;
-        void testRunEnded(TestRunStats const& _testRunStats) override;
-        void testRunStarting(TestRunInfo const& _testRunInfo) override;
-    private:
-
-        void lazyPrint();
-
-        void lazyPrintWithoutClosingBenchmarkTable();
-        void lazyPrintRunInfo();
-        void lazyPrintGroupInfo();
-        void printTestCaseAndSectionHeader();
-
-        void printClosedHeader(std::string const& _name);
-        void printOpenHeader(std::string const& _name);
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        void printHeaderString(std::string const& _string, std::size_t indent = 0);
-
-        void printTotals(Totals const& totals);
-        void printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row);
-
-        void printTotalsDivider(Totals const& totals);
-        void printSummaryDivider();
-        void printTestFilters();
-
-    private:
-        bool m_headerPrinted = false;
-    };
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-// end catch_reporter_console.h
-// start catch_reporter_junit.h
-
-// start catch_xmlwriter.h
-
-#include <vector>
-
-namespace Catch {
-
-    class XmlEncode {
-    public:
-        enum ForWhat { ForTextNodes, ForAttributes };
-
-        XmlEncode( std::string const& str, ForWhat forWhat = ForTextNodes );
-
-        void encodeTo( std::ostream& os ) const;
-
-        friend std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode );
-
-    private:
-        std::string m_str;
-        ForWhat m_forWhat;
-    };
-
-    class XmlWriter {
-    public:
-
-        class ScopedElement {
-        public:
-            ScopedElement( XmlWriter* writer );
-
-            ScopedElement( ScopedElement&& other ) noexcept;
-            ScopedElement& operator=( ScopedElement&& other ) noexcept;
-
-            ~ScopedElement();
-
-            ScopedElement& writeText( std::string const& text, bool indent = true );
-
-            template<typename T>
-            ScopedElement& writeAttribute( std::string const& name, T const& attribute ) {
-                m_writer->writeAttribute( name, attribute );
-                return *this;
-            }
-
-        private:
-            mutable XmlWriter* m_writer = nullptr;
-        };
-
-        XmlWriter( std::ostream& os = Catch::cout() );
-        ~XmlWriter();
-
-        XmlWriter( XmlWriter const& ) = delete;
-        XmlWriter& operator=( XmlWriter const& ) = delete;
-
-        XmlWriter& startElement( std::string const& name );
-
-        ScopedElement scopedElement( std::string const& name );
-
-        XmlWriter& endElement();
-
-        XmlWriter& writeAttribute( std::string const& name, std::string const& attribute );
-
-        XmlWriter& writeAttribute( std::string const& name, bool attribute );
-
-        template<typename T>
-        XmlWriter& writeAttribute( std::string const& name, T const& attribute ) {
-            ReusableStringStream rss;
-            rss << attribute;
-            return writeAttribute( name, rss.str() );
-        }
-
-        XmlWriter& writeText( std::string const& text, bool indent = true );
-
-        XmlWriter& writeComment( std::string const& text );
-
-        void writeStylesheetRef( std::string const& url );
-
-        XmlWriter& writeBlankLine();
-
-        void ensureTagClosed();
-
-    private:
-
-        void writeDeclaration();
-
-        void newlineIfNecessary();
-
-        bool m_tagIsOpen = false;
-        bool m_needsNewline = false;
-        std::vector<std::string> m_tags;
-        std::string m_indent;
-        std::ostream& m_os;
-    };
-
-}
-
-// end catch_xmlwriter.h
-namespace Catch {
-
-    class JunitReporter : public CumulativeReporterBase<JunitReporter> {
-    public:
-        JunitReporter(ReporterConfig const& _config);
-
-        ~JunitReporter() override;
-
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& /*spec*/) override;
-
-        void testRunStarting(TestRunInfo const& runInfo) override;
-
-        void testGroupStarting(GroupInfo const& groupInfo) override;
-
-        void testCaseStarting(TestCaseInfo const& testCaseInfo) override;
-        bool assertionEnded(AssertionStats const& assertionStats) override;
-
-        void testCaseEnded(TestCaseStats const& testCaseStats) override;
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override;
-
-        void testRunEndedCumulative() override;
-
-        void writeGroup(TestGroupNode const& groupNode, double suiteTime);
-
-        void writeTestCase(TestCaseNode const& testCaseNode);
-
-        void writeSection(std::string const& className,
-                          std::string const& rootName,
-                          SectionNode const& sectionNode);
-
-        void writeAssertions(SectionNode const& sectionNode);
-        void writeAssertion(AssertionStats const& stats);
-
-        XmlWriter xml;
-        Timer suiteTimer;
-        std::string stdOutForSuite;
-        std::string stdErrForSuite;
-        unsigned int unexpectedExceptions = 0;
-        bool m_okToFail = false;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_junit.h
-// start catch_reporter_xml.h
-
-namespace Catch {
-    class XmlReporter : public StreamingReporterBase<XmlReporter> {
-    public:
-        XmlReporter(ReporterConfig const& _config);
-
-        ~XmlReporter() override;
-
-        static std::string getDescription();
-
-        virtual std::string getStylesheetRef() const;
-
-        void writeSourceInfo(SourceLineInfo const& sourceInfo);
-
-    public: // StreamingReporterBase
-
-        void noMatchingTestCases(std::string const& s) override;
-
-        void testRunStarting(TestRunInfo const& testInfo) override;
-
-        void testGroupStarting(GroupInfo const& groupInfo) override;
-
-        void testCaseStarting(TestCaseInfo const& testInfo) override;
-
-        void sectionStarting(SectionInfo const& sectionInfo) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& assertionStats) override;
-
-        void sectionEnded(SectionStats const& sectionStats) override;
-
-        void testCaseEnded(TestCaseStats const& testCaseStats) override;
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override;
-
-        void testRunEnded(TestRunStats const& testRunStats) override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting(BenchmarkInfo const&) override;
-        void benchmarkEnded(BenchmarkStats<> const&) override;
-        void benchmarkFailed(std::string const&) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    private:
-        Timer m_testCaseTimer;
-        XmlWriter m_xml;
-        int m_sectionDepth = 0;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_xml.h
-
-// end catch_external_interfaces.h
-#endif
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_benchmark.hpp
-
- // Benchmark
-
-// start catch_chronometer.hpp
-
-// User-facing chronometer
-
-
-// start catch_clock.hpp
-
-// Clocks
-
-
-#include <chrono>
-#include <ratio>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Clock>
-        using ClockDuration = typename Clock::duration;
-        template <typename Clock>
-        using FloatDuration = std::chrono::duration<double, typename Clock::period>;
-
-        template <typename Clock>
-        using TimePoint = typename Clock::time_point;
-
-        using default_clock = std::chrono::steady_clock;
-
-        template <typename Clock>
-        struct now {
-            TimePoint<Clock> operator()() const {
-                return Clock::now();
-            }
-        };
-
-        using fp_seconds = std::chrono::duration<double, std::ratio<1>>;
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_clock.hpp
-// start catch_optimizer.hpp
-
- // Hinting the optimizer
-
-
-#if defined(_MSC_VER)
-#   include <atomic> // atomic_thread_fence
-#endif
-
-namespace Catch {
-    namespace Benchmark {
-#if defined(__GNUC__) || defined(__clang__)
-        template <typename T>
-        inline void keep_memory(T* p) {
-            asm volatile("" : : "g"(p) : "memory");
-        }
-        inline void keep_memory() {
-            asm volatile("" : : : "memory");
-        }
-
-        namespace Detail {
-            inline void optimizer_barrier() { keep_memory(); }
-        } // namespace Detail
-#elif defined(_MSC_VER)
-
-#pragma optimize("", off)
-        template <typename T>
-        inline void keep_memory(T* p) {
-            // thanks @milleniumbug
-            *reinterpret_cast<char volatile*>(p) = *reinterpret_cast<char const volatile*>(p);
-        }
-        // TODO equivalent keep_memory()
-#pragma optimize("", on)
-
-        namespace Detail {
-            inline void optimizer_barrier() {
-                std::atomic_thread_fence(std::memory_order_seq_cst);
-            }
-        } // namespace Detail
-
-#endif
-
-        template <typename T>
-        inline void deoptimize_value(T&& x) {
-            keep_memory(&x);
-        }
-
-        template <typename Fn, typename... Args>
-        inline auto invoke_deoptimized(Fn&& fn, Args&&... args) -> typename std::enable_if<!std::is_same<void, decltype(fn(args...))>::value>::type {
-            deoptimize_value(std::forward<Fn>(fn) (std::forward<Args...>(args...)));
-        }
-
-        template <typename Fn, typename... Args>
-        inline auto invoke_deoptimized(Fn&& fn, Args&&... args) -> typename std::enable_if<std::is_same<void, decltype(fn(args...))>::value>::type {
-            std::forward<Fn>(fn) (std::forward<Args...>(args...));
-        }
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_optimizer.hpp
-// start catch_complete_invoke.hpp
-
-// Invoke with a special case for void
-
-
-#include <type_traits>
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename T>
-            struct CompleteType { using type = T; };
-            template <>
-            struct CompleteType<void> { struct type {}; };
-
-            template <typename T>
-            using CompleteType_t = typename CompleteType<T>::type;
-
-            template <typename Result>
-            struct CompleteInvoker {
-                template <typename Fun, typename... Args>
-                static Result invoke(Fun&& fun, Args&&... args) {
-                    return std::forward<Fun>(fun)(std::forward<Args>(args)...);
-                }
-            };
-            template <>
-            struct CompleteInvoker<void> {
-                template <typename Fun, typename... Args>
-                static CompleteType_t<void> invoke(Fun&& fun, Args&&... args) {
-                    std::forward<Fun>(fun)(std::forward<Args>(args)...);
-                    return {};
-                }
-            };
-            template <typename Sig>
-            using ResultOf_t = typename std::result_of<Sig>::type;
-
-            // invoke and not return void :(
-            template <typename Fun, typename... Args>
-            CompleteType_t<ResultOf_t<Fun(Args...)>> complete_invoke(Fun&& fun, Args&&... args) {
-                return CompleteInvoker<ResultOf_t<Fun(Args...)>>::invoke(std::forward<Fun>(fun), std::forward<Args>(args)...);
-            }
-
-            const std::string benchmarkErrorMsg = "a benchmark failed to run successfully";
-        } // namespace Detail
-
-        template <typename Fun>
-        Detail::CompleteType_t<Detail::ResultOf_t<Fun()>> user_code(Fun&& fun) {
-            CATCH_TRY{
-                return Detail::complete_invoke(std::forward<Fun>(fun));
-            } CATCH_CATCH_ALL{
-                getResultCapture().benchmarkFailed(translateActiveException());
-                CATCH_RUNTIME_ERROR(Detail::benchmarkErrorMsg);
-            }
-        }
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_complete_invoke.hpp
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            struct ChronometerConcept {
-                virtual void start() = 0;
-                virtual void finish() = 0;
-                virtual ~ChronometerConcept() = default;
-            };
-            template <typename Clock>
-            struct ChronometerModel final : public ChronometerConcept {
-                void start() override { started = Clock::now(); }
-                void finish() override { finished = Clock::now(); }
-
-                ClockDuration<Clock> elapsed() const { return finished - started; }
-
-                TimePoint<Clock> started;
-                TimePoint<Clock> finished;
-            };
-        } // namespace Detail
-
-        struct Chronometer {
-        public:
-            template <typename Fun>
-            void measure(Fun&& fun) { measure(std::forward<Fun>(fun), is_callable<Fun(int)>()); }
-
-            int runs() const { return k; }
-
-            Chronometer(Detail::ChronometerConcept& meter, int k)
-                : impl(&meter)
-                , k(k) {}
-
-        private:
-            template <typename Fun>
-            void measure(Fun&& fun, std::false_type) {
-                measure([&fun](int) { return fun(); }, std::true_type());
-            }
-
-            template <typename Fun>
-            void measure(Fun&& fun, std::true_type) {
-                Detail::optimizer_barrier();
-                impl->start();
-                for (int i = 0; i < k; ++i) invoke_deoptimized(fun, i);
-                impl->finish();
-                Detail::optimizer_barrier();
-            }
-
-            Detail::ChronometerConcept* impl;
-            int k;
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_chronometer.hpp
-// start catch_environment.hpp
-
-// Environment information
-
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct EnvironmentEstimate {
-            Duration mean;
-            OutlierClassification outliers;
-
-            template <typename Duration2>
-            operator EnvironmentEstimate<Duration2>() const {
-                return { mean, outliers };
-            }
-        };
-        template <typename Clock>
-        struct Environment {
-            using clock_type = Clock;
-            EnvironmentEstimate<FloatDuration<Clock>> clock_resolution;
-            EnvironmentEstimate<FloatDuration<Clock>> clock_cost;
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_environment.hpp
-// start catch_execution_plan.hpp
-
- // Execution plan
-
-
-// start catch_benchmark_function.hpp
-
- // Dumb std::function implementation for consistent call overhead
-
-
-#include <cassert>
-#include <type_traits>
-#include <utility>
-#include <memory>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename T>
-            using Decay = typename std::decay<T>::type;
-            template <typename T, typename U>
-            struct is_related
-                : std::is_same<Decay<T>, Decay<U>> {};
-
-            /// We need to reinvent std::function because every piece of code that might add overhead
-            /// in a measurement context needs to have consistent performance characteristics so that we
-            /// can account for it in the measurement.
-            /// Implementations of std::function with optimizations that aren't always applicable, like
-            /// small buffer optimizations, are not uncommon.
-            /// This is effectively an implementation of std::function without any such optimizations;
-            /// it may be slow, but it is consistently slow.
-            struct BenchmarkFunction {
-            private:
-                struct callable {
-                    virtual void call(Chronometer meter) const = 0;
-                    virtual callable* clone() const = 0;
-                    virtual ~callable() = default;
-                };
-                template <typename Fun>
-                struct model : public callable {
-                    model(Fun&& fun) : fun(std::move(fun)) {}
-                    model(Fun const& fun) : fun(fun) {}
-
-                    model<Fun>* clone() const override { return new model<Fun>(*this); }
-
-                    void call(Chronometer meter) const override {
-                        call(meter, is_callable<Fun(Chronometer)>());
-                    }
-                    void call(Chronometer meter, std::true_type) const {
-                        fun(meter);
-                    }
-                    void call(Chronometer meter, std::false_type) const {
-                        meter.measure(fun);
-                    }
-
-                    Fun fun;
-                };
-
-                struct do_nothing { void operator()() const {} };
-
-                template <typename T>
-                BenchmarkFunction(model<T>* c) : f(c) {}
-
-            public:
-                BenchmarkFunction()
-                    : f(new model<do_nothing>{ {} }) {}
-
-                template <typename Fun,
-                    typename std::enable_if<!is_related<Fun, BenchmarkFunction>::value, int>::type = 0>
-                    BenchmarkFunction(Fun&& fun)
-                    : f(new model<typename std::decay<Fun>::type>(std::forward<Fun>(fun))) {}
-
-                BenchmarkFunction(BenchmarkFunction&& that)
-                    : f(std::move(that.f)) {}
-
-                BenchmarkFunction(BenchmarkFunction const& that)
-                    : f(that.f->clone()) {}
-
-                BenchmarkFunction& operator=(BenchmarkFunction&& that) {
-                    f = std::move(that.f);
-                    return *this;
-                }
-
-                BenchmarkFunction& operator=(BenchmarkFunction const& that) {
-                    f.reset(that.f->clone());
-                    return *this;
-                }
-
-                void operator()(Chronometer meter) const { f->call(meter); }
-
-            private:
-                std::unique_ptr<callable> f;
-            };
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_benchmark_function.hpp
-// start catch_repeat.hpp
-
-// repeat algorithm
-
-
-#include <type_traits>
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Fun>
-            struct repeater {
-                void operator()(int k) const {
-                    for (int i = 0; i < k; ++i) {
-                        fun();
-                    }
-                }
-                Fun fun;
-            };
-            template <typename Fun>
-            repeater<typename std::decay<Fun>::type> repeat(Fun&& fun) {
-                return { std::forward<Fun>(fun) };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_repeat.hpp
-// start catch_run_for_at_least.hpp
-
-// Run a function for a minimum amount of time
-
-
-// start catch_measure.hpp
-
-// Measure
-
-
-// start catch_timing.hpp
-
-// Timing
-
-
-#include <tuple>
-#include <type_traits>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration, typename Result>
-        struct Timing {
-            Duration elapsed;
-            Result result;
-            int iterations;
-        };
-        template <typename Clock, typename Sig>
-        using TimingOf = Timing<ClockDuration<Clock>, Detail::CompleteType_t<Detail::ResultOf_t<Sig>>>;
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_timing.hpp
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock, typename Fun, typename... Args>
-            TimingOf<Clock, Fun(Args...)> measure(Fun&& fun, Args&&... args) {
-                auto start = Clock::now();
-                auto&& r = Detail::complete_invoke(fun, std::forward<Args>(args)...);
-                auto end = Clock::now();
-                auto delta = end - start;
-                return { delta, std::forward<decltype(r)>(r), 1 };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_measure.hpp
-#include <utility>
-#include <type_traits>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun(int)> measure_one(Fun&& fun, int iters, std::false_type) {
-                return Detail::measure<Clock>(fun, iters);
-            }
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun(Chronometer)> measure_one(Fun&& fun, int iters, std::true_type) {
-                Detail::ChronometerModel<Clock> meter;
-                auto&& result = Detail::complete_invoke(fun, Chronometer(meter, iters));
-
-                return { meter.elapsed(), std::move(result), iters };
-            }
-
-            template <typename Clock, typename Fun>
-            using run_for_at_least_argument_t = typename std::conditional<is_callable<Fun(Chronometer)>::value, Chronometer, int>::type;
-
-            struct optimized_away_error : std::exception {
-                const char* what() const noexcept override {
-                    return "could not measure benchmark, maybe it was optimized away";
-                }
-            };
-
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun(run_for_at_least_argument_t<Clock, Fun>)> run_for_at_least(ClockDuration<Clock> how_long, int seed, Fun&& fun) {
-                auto iters = seed;
-                while (iters < (1 << 30)) {
-                    auto&& Timing = measure_one<Clock>(fun, iters, is_callable<Fun(Chronometer)>());
-
-                    if (Timing.elapsed >= how_long) {
-                        return { Timing.elapsed, std::move(Timing.result), iters };
-                    }
-                    iters *= 2;
-                }
-                throw optimized_away_error{};
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_run_for_at_least.hpp
-#include <algorithm>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct ExecutionPlan {
-            int iterations_per_sample;
-            Duration estimated_duration;
-            Detail::BenchmarkFunction benchmark;
-            Duration warmup_time;
-            int warmup_iterations;
-
-            template <typename Duration2>
-            operator ExecutionPlan<Duration2>() const {
-                return { iterations_per_sample, estimated_duration, benchmark, warmup_time, warmup_iterations };
-            }
-
-            template <typename Clock>
-            std::vector<FloatDuration<Clock>> run(const IConfig &cfg, Environment<FloatDuration<Clock>> env) const {
-                // warmup a bit
-                Detail::run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(warmup_time), warmup_iterations, Detail::repeat(now<Clock>{}));
-
-                std::vector<FloatDuration<Clock>> times;
-                times.reserve(cfg.benchmarkSamples());
-                std::generate_n(std::back_inserter(times), cfg.benchmarkSamples(), [this, env] {
-                    Detail::ChronometerModel<Clock> model;
-                    this->benchmark(Chronometer(model, iterations_per_sample));
-                    auto sample_time = model.elapsed() - env.clock_cost.mean;
-                    if (sample_time < FloatDuration<Clock>::zero()) sample_time = FloatDuration<Clock>::zero();
-                    return sample_time / iterations_per_sample;
-                });
-                return times;
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_execution_plan.hpp
-// start catch_estimate_clock.hpp
-
- // Environment measurement
-
-
-// start catch_stats.hpp
-
-// Statistical analysis tools
-
-
-#include <algorithm>
-#include <functional>
-#include <vector>
-#include <numeric>
-#include <tuple>
-#include <cmath>
-#include <utility>
-#include <cstddef>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            using sample = std::vector<double>;
-
-            double weighted_average_quantile(int k, int q, std::vector<double>::iterator first, std::vector<double>::iterator last);
-
-            template <typename Iterator>
-            OutlierClassification classify_outliers(Iterator first, Iterator last) {
-                std::vector<double> copy(first, last);
-
-                auto q1 = weighted_average_quantile(1, 4, copy.begin(), copy.end());
-                auto q3 = weighted_average_quantile(3, 4, copy.begin(), copy.end());
-                auto iqr = q3 - q1;
-                auto los = q1 - (iqr * 3.);
-                auto lom = q1 - (iqr * 1.5);
-                auto him = q3 + (iqr * 1.5);
-                auto his = q3 + (iqr * 3.);
-
-                OutlierClassification o;
-                for (; first != last; ++first) {
-                    auto&& t = *first;
-                    if (t < los) ++o.low_severe;
-                    else if (t < lom) ++o.low_mild;
-                    else if (t > his) ++o.high_severe;
-                    else if (t > him) ++o.high_mild;
-                    ++o.samples_seen;
-                }
-                return o;
-            }
-
-            template <typename Iterator>
-            double mean(Iterator first, Iterator last) {
-                auto count = last - first;
-                double sum = std::accumulate(first, last, 0.);
-                return sum / count;
-            }
-
-            template <typename URng, typename Iterator, typename Estimator>
-            sample resample(URng& rng, int resamples, Iterator first, Iterator last, Estimator& estimator) {
-                auto n = last - first;
-                std::uniform_int_distribution<decltype(n)> dist(0, n - 1);
-
-                sample out;
-                out.reserve(resamples);
-                std::generate_n(std::back_inserter(out), resamples, [n, first, &estimator, &dist, &rng] {
-                    std::vector<double> resampled;
-                    resampled.reserve(n);
-                    std::generate_n(std::back_inserter(resampled), n, [first, &dist, &rng] { return first[dist(rng)]; });
-                    return estimator(resampled.begin(), resampled.end());
-                });
-                std::sort(out.begin(), out.end());
-                return out;
-            }
-
-            template <typename Estimator, typename Iterator>
-            sample jackknife(Estimator&& estimator, Iterator first, Iterator last) {
-                auto n = last - first;
-                auto second = std::next(first);
-                sample results;
-                results.reserve(n);
-
-                for (auto it = first; it != last; ++it) {
-                    std::iter_swap(it, first);
-                    results.push_back(estimator(second, last));
-                }
-
-                return results;
-            }
-
-            inline double normal_cdf(double x) {
-                return std::erfc(-x / std::sqrt(2.0)) / 2.0;
-            }
-
-            double erfc_inv(double x);
-
-            double normal_quantile(double p);
-
-            template <typename Iterator, typename Estimator>
-            Estimate<double> bootstrap(double confidence_level, Iterator first, Iterator last, sample const& resample, Estimator&& estimator) {
-                auto n_samples = last - first;
-
-                double point = estimator(first, last);
-                // Degenerate case with a single sample
-                if (n_samples == 1) return { point, point, point, confidence_level };
-
-                sample jack = jackknife(estimator, first, last);
-                double jack_mean = mean(jack.begin(), jack.end());
-                double sum_squares, sum_cubes;
-                std::tie(sum_squares, sum_cubes) = std::accumulate(jack.begin(), jack.end(), std::make_pair(0., 0.), [jack_mean](std::pair<double, double> sqcb, double x) -> std::pair<double, double> {
-                    auto d = jack_mean - x;
-                    auto d2 = d * d;
-                    auto d3 = d2 * d;
-                    return { sqcb.first + d2, sqcb.second + d3 };
-                });
-
-                double accel = sum_cubes / (6 * std::pow(sum_squares, 1.5));
-                int n = static_cast<int>(resample.size());
-                double prob_n = std::count_if(resample.begin(), resample.end(), [point](double x) { return x < point; }) / (double)n;
-                // degenerate case with uniform samples
-                if (prob_n == 0) return { point, point, point, confidence_level };
-
-                double bias = normal_quantile(prob_n);
-                double z1 = normal_quantile((1. - confidence_level) / 2.);
-
-                auto cumn = [n](double x) -> int {
-                    return std::lround(normal_cdf(x) * n); };
-                auto a = [bias, accel](double b) { return bias + b / (1. - accel * b); };
-                double b1 = bias + z1;
-                double b2 = bias - z1;
-                double a1 = a(b1);
-                double a2 = a(b2);
-                auto lo = std::max(cumn(a1), 0);
-                auto hi = std::min(cumn(a2), n - 1);
-
-                return { point, resample[lo], resample[hi], confidence_level };
-            }
-
-            double outlier_variance(Estimate<double> mean, Estimate<double> stddev, int n);
-
-            struct bootstrap_analysis {
-                Estimate<double> mean;
-                Estimate<double> standard_deviation;
-                double outlier_variance;
-            };
-
-            bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector<double>::iterator first, std::vector<double>::iterator last);
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_stats.hpp
-#include <algorithm>
-#include <iterator>
-#include <tuple>
-#include <vector>
-#include <cmath>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock>
-            std::vector<double> resolution(int k) {
-                std::vector<TimePoint<Clock>> times;
-                times.reserve(k + 1);
-                std::generate_n(std::back_inserter(times), k + 1, now<Clock>{});
-
-                std::vector<double> deltas;
-                deltas.reserve(k);
-                std::transform(std::next(times.begin()), times.end(), times.begin(),
-                    std::back_inserter(deltas),
-                    [](TimePoint<Clock> a, TimePoint<Clock> b) { return static_cast<double>((a - b).count()); });
-
-                return deltas;
-            }
-
-            const auto warmup_iterations = 10000;
-            const auto warmup_time = std::chrono::milliseconds(100);
-            const auto minimum_ticks = 1000;
-            const auto warmup_seed = 10000;
-            const auto clock_resolution_estimation_time = std::chrono::milliseconds(500);
-            const auto clock_cost_estimation_time_limit = std::chrono::seconds(1);
-            const auto clock_cost_estimation_tick_limit = 100000;
-            const auto clock_cost_estimation_time = std::chrono::milliseconds(10);
-            const auto clock_cost_estimation_iterations = 10000;
-
-            template <typename Clock>
-            int warmup() {
-                return run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(warmup_time), warmup_seed, &resolution<Clock>)
-                    .iterations;
-            }
-            template <typename Clock>
-            EnvironmentEstimate<FloatDuration<Clock>> estimate_clock_resolution(int iterations) {
-                auto r = run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(clock_resolution_estimation_time), iterations, &resolution<Clock>)
-                    .result;
-                return {
-                    FloatDuration<Clock>(mean(r.begin(), r.end())),
-                    classify_outliers(r.begin(), r.end()),
-                };
-            }
-            template <typename Clock>
-            EnvironmentEstimate<FloatDuration<Clock>> estimate_clock_cost(FloatDuration<Clock> resolution) {
-                auto time_limit = std::min(resolution * clock_cost_estimation_tick_limit, FloatDuration<Clock>(clock_cost_estimation_time_limit));
-                auto time_clock = [](int k) {
-                    return Detail::measure<Clock>([k] {
-                        for (int i = 0; i < k; ++i) {
-                            volatile auto ignored = Clock::now();
-                            (void)ignored;
-                        }
-                    }).elapsed;
-                };
-                time_clock(1);
-                int iters = clock_cost_estimation_iterations;
-                auto&& r = run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(clock_cost_estimation_time), iters, time_clock);
-                std::vector<double> times;
-                int nsamples = static_cast<int>(std::ceil(time_limit / r.elapsed));
-                times.reserve(nsamples);
-                std::generate_n(std::back_inserter(times), nsamples, [time_clock, &r] {
-                    return static_cast<double>((time_clock(r.iterations) / r.iterations).count());
-                });
-                return {
-                    FloatDuration<Clock>(mean(times.begin(), times.end())),
-                    classify_outliers(times.begin(), times.end()),
-                };
-            }
-
-            template <typename Clock>
-            Environment<FloatDuration<Clock>> measure_environment() {
-                static Environment<FloatDuration<Clock>>* env = nullptr;
-                if (env) {
-                    return *env;
-                }
-
-                auto iters = Detail::warmup<Clock>();
-                auto resolution = Detail::estimate_clock_resolution<Clock>(iters);
-                auto cost = Detail::estimate_clock_cost<Clock>(resolution.mean);
-
-                env = new Environment<FloatDuration<Clock>>{ resolution, cost };
-                return *env;
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_estimate_clock.hpp
-// start catch_analyse.hpp
-
- // Run and analyse one benchmark
-
-
-// start catch_sample_analysis.hpp
-
-// Benchmark results
-
-
-#include <algorithm>
-#include <vector>
-#include <string>
-#include <iterator>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct SampleAnalysis {
-            std::vector<Duration> samples;
-            Estimate<Duration> mean;
-            Estimate<Duration> standard_deviation;
-            OutlierClassification outliers;
-            double outlier_variance;
-
-            template <typename Duration2>
-            operator SampleAnalysis<Duration2>() const {
-                std::vector<Duration2> samples2;
-                samples2.reserve(samples.size());
-                std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](Duration d) { return Duration2(d); });
-                return {
-                    std::move(samples2),
-                    mean,
-                    standard_deviation,
-                    outliers,
-                    outlier_variance,
-                };
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_sample_analysis.hpp
-#include <algorithm>
-#include <iterator>
-#include <vector>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Duration, typename Iterator>
-            SampleAnalysis<Duration> analyse(const IConfig &cfg, Environment<Duration>, Iterator first, Iterator last) {
-                if (!cfg.benchmarkNoAnalysis()) {
-                    std::vector<double> samples;
-                    samples.reserve(last - first);
-                    std::transform(first, last, std::back_inserter(samples), [](Duration d) { return d.count(); });
-
-                    auto analysis = Catch::Benchmark::Detail::analyse_samples(cfg.benchmarkConfidenceInterval(), cfg.benchmarkResamples(), samples.begin(), samples.end());
-                    auto outliers = Catch::Benchmark::Detail::classify_outliers(samples.begin(), samples.end());
-
-                    auto wrap_estimate = [](Estimate<double> e) {
-                        return Estimate<Duration> {
-                            Duration(e.point),
-                                Duration(e.lower_bound),
-                                Duration(e.upper_bound),
-                                e.confidence_interval,
-                        };
-                    };
-                    std::vector<Duration> samples2;
-                    samples2.reserve(samples.size());
-                    std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](double d) { return Duration(d); });
-                    return {
-                        std::move(samples2),
-                        wrap_estimate(analysis.mean),
-                        wrap_estimate(analysis.standard_deviation),
-                        outliers,
-                        analysis.outlier_variance,
-                    };
-                } else {
-                    std::vector<Duration> samples;
-                    samples.reserve(last - first);
-
-                    Duration mean = Duration(0);
-                    int i = 0;
-                    for (auto it = first; it < last; ++it, ++i) {
-                        samples.push_back(Duration(*it));
-                        mean += Duration(*it);
-                    }
-                    mean /= i;
-
-                    return {
-                        std::move(samples),
-                        Estimate<Duration>{mean, mean, mean, 0.0},
-                        Estimate<Duration>{Duration(0), Duration(0), Duration(0), 0.0},
-                        OutlierClassification{},
-                        0.0
-                    };
-                }
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_analyse.hpp
-#include <algorithm>
-#include <functional>
-#include <string>
-#include <vector>
-#include <cmath>
-
-namespace Catch {
-    namespace Benchmark {
-        struct Benchmark {
-            Benchmark(std::string &&name)
-                : name(std::move(name)) {}
-
-            template <class FUN>
-            Benchmark(std::string &&name, FUN &&func)
-                : fun(std::move(func)), name(std::move(name)) {}
-
-            template <typename Clock>
-            ExecutionPlan<FloatDuration<Clock>> prepare(const IConfig &cfg, Environment<FloatDuration<Clock>> env) const {
-                auto min_time = env.clock_resolution.mean * Detail::minimum_ticks;
-                auto run_time = std::max(min_time, std::chrono::duration_cast<decltype(min_time)>(Detail::warmup_time));
-                auto&& test = Detail::run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(run_time), 1, fun);
-                int new_iters = static_cast<int>(std::ceil(min_time * test.iterations / test.elapsed));
-                return { new_iters, test.elapsed / test.iterations * new_iters * cfg.benchmarkSamples(), fun, std::chrono::duration_cast<FloatDuration<Clock>>(Detail::warmup_time), Detail::warmup_iterations };
-            }
-
-            template <typename Clock = default_clock>
-            void run() {
-                IConfigPtr cfg = getCurrentContext().getConfig();
-
-                auto env = Detail::measure_environment<Clock>();
-
-                getResultCapture().benchmarkPreparing(name);
-                CATCH_TRY{
-                    auto plan = user_code([&] {
-                        return prepare<Clock>(*cfg, env);
-                    });
-
-                    BenchmarkInfo info {
-                        name,
-                        plan.estimated_duration.count(),
-                        plan.iterations_per_sample,
-                        cfg->benchmarkSamples(),
-                        cfg->benchmarkResamples(),
-                        env.clock_resolution.mean.count(),
-                        env.clock_cost.mean.count()
-                    };
-
-                    getResultCapture().benchmarkStarting(info);
-
-                    auto samples = user_code([&] {
-                        return plan.template run<Clock>(*cfg, env);
-                    });
-
-                    auto analysis = Detail::analyse(*cfg, env, samples.begin(), samples.end());
-                    BenchmarkStats<std::chrono::duration<double, std::nano>> stats{ info, analysis.samples, analysis.mean, analysis.standard_deviation, analysis.outliers, analysis.outlier_variance };
-                    getResultCapture().benchmarkEnded(stats);
-
-                } CATCH_CATCH_ALL{
-                    if (translateActiveException() != Detail::benchmarkErrorMsg) // benchmark errors have been reported, otherwise rethrow.
-                        std::rethrow_exception(std::current_exception());
-                }
-            }
-
-            // sets lambda to be used in fun *and* executes benchmark!
-            template <typename Fun,
-                typename std::enable_if<!Detail::is_related<Fun, Benchmark>::value, int>::type = 0>
-                Benchmark & operator=(Fun func) {
-                fun = Detail::BenchmarkFunction(func);
-                run();
-                return *this;
-            }
-
-            explicit operator bool() {
-                return true;
-            }
-
-        private:
-            Detail::BenchmarkFunction fun;
-            std::string name;
-        };
-    }
-} // namespace Catch
-
-#define INTERNAL_CATCH_GET_1_ARG(arg1, arg2, ...) arg1
-#define INTERNAL_CATCH_GET_2_ARG(arg1, arg2, ...) arg2
-
-#define INTERNAL_CATCH_BENCHMARK(BenchmarkName, name, benchmarkIndex)\
-    if( Catch::Benchmark::Benchmark BenchmarkName{name} ) \
-        BenchmarkName = [&](int benchmarkIndex)
-
-#define INTERNAL_CATCH_BENCHMARK_ADVANCED(BenchmarkName, name)\
-    if( Catch::Benchmark::Benchmark BenchmarkName{name} ) \
-        BenchmarkName = [&]
-
-// end catch_benchmark.hpp
-#endif
-
-#endif // ! CATCH_CONFIG_IMPL_ONLY
-
-#ifdef CATCH_IMPL
-// start catch_impl.hpp
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wweak-vtables"
-#endif
-
-// Keep these here for external reporters
-// start catch_test_case_tracker.h
-
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-namespace TestCaseTracking {
-
-    struct NameAndLocation {
-        std::string name;
-        SourceLineInfo location;
-
-        NameAndLocation( std::string const& _name, SourceLineInfo const& _location );
-    };
-
-    struct ITracker;
-
-    using ITrackerPtr = std::shared_ptr<ITracker>;
-
-    struct ITracker {
-        virtual ~ITracker();
-
-        // static queries
-        virtual NameAndLocation const& nameAndLocation() const = 0;
-
-        // dynamic queries
-        virtual bool isComplete() const = 0; // Successfully completed or failed
-        virtual bool isSuccessfullyCompleted() const = 0;
-        virtual bool isOpen() const = 0; // Started but not complete
-        virtual bool hasChildren() const = 0;
-
-        virtual ITracker& parent() = 0;
-
-        // actions
-        virtual void close() = 0; // Successfully complete
-        virtual void fail() = 0;
-        virtual void markAsNeedingAnotherRun() = 0;
-
-        virtual void addChild( ITrackerPtr const& child ) = 0;
-        virtual ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) = 0;
-        virtual void openChild() = 0;
-
-        // Debug/ checking
-        virtual bool isSectionTracker() const = 0;
-        virtual bool isGeneratorTracker() const = 0;
-    };
-
-    class TrackerContext {
-
-        enum RunState {
-            NotStarted,
-            Executing,
-            CompletedCycle
-        };
-
-        ITrackerPtr m_rootTracker;
-        ITracker* m_currentTracker = nullptr;
-        RunState m_runState = NotStarted;
-
-    public:
-
-        ITracker& startRun();
-        void endRun();
-
-        void startCycle();
-        void completeCycle();
-
-        bool completedCycle() const;
-        ITracker& currentTracker();
-        void setCurrentTracker( ITracker* tracker );
-    };
-
-    class TrackerBase : public ITracker {
-    protected:
-        enum CycleState {
-            NotStarted,
-            Executing,
-            ExecutingChildren,
-            NeedsAnotherRun,
-            CompletedSuccessfully,
-            Failed
-        };
-
-        using Children = std::vector<ITrackerPtr>;
-        NameAndLocation m_nameAndLocation;
-        TrackerContext& m_ctx;
-        ITracker* m_parent;
-        Children m_children;
-        CycleState m_runState = NotStarted;
-
-    public:
-        TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
-
-        NameAndLocation const& nameAndLocation() const override;
-        bool isComplete() const override;
-        bool isSuccessfullyCompleted() const override;
-        bool isOpen() const override;
-        bool hasChildren() const override;
-
-        void addChild( ITrackerPtr const& child ) override;
-
-        ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) override;
-        ITracker& parent() override;
-
-        void openChild() override;
-
-        bool isSectionTracker() const override;
-        bool isGeneratorTracker() const override;
-
-        void open();
-
-        void close() override;
-        void fail() override;
-        void markAsNeedingAnotherRun() override;
-
-    private:
-        void moveToParent();
-        void moveToThis();
-    };
-
-    class SectionTracker : public TrackerBase {
-        std::vector<std::string> m_filters;
-    public:
-        SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
-
-        bool isSectionTracker() const override;
-
-        bool isComplete() const override;
-
-        static SectionTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation );
-
-        void tryOpen();
-
-        void addInitialFilters( std::vector<std::string> const& filters );
-        void addNextFilters( std::vector<std::string> const& filters );
-    };
-
-} // namespace TestCaseTracking
-
-using TestCaseTracking::ITracker;
-using TestCaseTracking::TrackerContext;
-using TestCaseTracking::SectionTracker;
-
-} // namespace Catch
-
-// end catch_test_case_tracker.h
-
-// start catch_leak_detector.h
-
-namespace Catch {
-
-    struct LeakDetector {
-        LeakDetector();
-        ~LeakDetector();
-    };
-
-}
-// end catch_leak_detector.h
-// Cpp files will be included in the single-header file here
-// start catch_stats.cpp
-
-// Statistical analysis tools
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-
-#include <cassert>
-#include <random>
-
-#if defined(CATCH_CONFIG_USE_ASYNC)
-#include <future>
-#endif
-
-namespace {
-    double erf_inv(double x) {
-        // Code accompanying the article "Approximating the erfinv function" in GPU Computing Gems, Volume 2
-        double w, p;
-
-        w = -log((1.0 - x) * (1.0 + x));
-
-        if (w < 6.250000) {
-            w = w - 3.125000;
-            p = -3.6444120640178196996e-21;
-            p = -1.685059138182016589e-19 + p * w;
-            p = 1.2858480715256400167e-18 + p * w;
-            p = 1.115787767802518096e-17 + p * w;
-            p = -1.333171662854620906e-16 + p * w;
-            p = 2.0972767875968561637e-17 + p * w;
-            p = 6.6376381343583238325e-15 + p * w;
-            p = -4.0545662729752068639e-14 + p * w;
-            p = -8.1519341976054721522e-14 + p * w;
-            p = 2.6335093153082322977e-12 + p * w;
-            p = -1.2975133253453532498e-11 + p * w;
-            p = -5.4154120542946279317e-11 + p * w;
-            p = 1.051212273321532285e-09 + p * w;
-            p = -4.1126339803469836976e-09 + p * w;
-            p = -2.9070369957882005086e-08 + p * w;
-            p = 4.2347877827932403518e-07 + p * w;
-            p = -1.3654692000834678645e-06 + p * w;
-            p = -1.3882523362786468719e-05 + p * w;
-            p = 0.0001867342080340571352 + p * w;
-            p = -0.00074070253416626697512 + p * w;
-            p = -0.0060336708714301490533 + p * w;
-            p = 0.24015818242558961693 + p * w;
-            p = 1.6536545626831027356 + p * w;
-        } else if (w < 16.000000) {
-            w = sqrt(w) - 3.250000;
-            p = 2.2137376921775787049e-09;
-            p = 9.0756561938885390979e-08 + p * w;
-            p = -2.7517406297064545428e-07 + p * w;
-            p = 1.8239629214389227755e-08 + p * w;
-            p = 1.5027403968909827627e-06 + p * w;
-            p = -4.013867526981545969e-06 + p * w;
-            p = 2.9234449089955446044e-06 + p * w;
-            p = 1.2475304481671778723e-05 + p * w;
-            p = -4.7318229009055733981e-05 + p * w;
-            p = 6.8284851459573175448e-05 + p * w;
-            p = 2.4031110387097893999e-05 + p * w;
-            p = -0.0003550375203628474796 + p * w;
-            p = 0.00095328937973738049703 + p * w;
-            p = -0.0016882755560235047313 + p * w;
-            p = 0.0024914420961078508066 + p * w;
-            p = -0.0037512085075692412107 + p * w;
-            p = 0.005370914553590063617 + p * w;
-            p = 1.0052589676941592334 + p * w;
-            p = 3.0838856104922207635 + p * w;
-        } else {
-            w = sqrt(w) - 5.000000;
-            p = -2.7109920616438573243e-11;
-            p = -2.5556418169965252055e-10 + p * w;
-            p = 1.5076572693500548083e-09 + p * w;
-            p = -3.7894654401267369937e-09 + p * w;
-            p = 7.6157012080783393804e-09 + p * w;
-            p = -1.4960026627149240478e-08 + p * w;
-            p = 2.9147953450901080826e-08 + p * w;
-            p = -6.7711997758452339498e-08 + p * w;
-            p = 2.2900482228026654717e-07 + p * w;
-            p = -9.9298272942317002539e-07 + p * w;
-            p = 4.5260625972231537039e-06 + p * w;
-            p = -1.9681778105531670567e-05 + p * w;
-            p = 7.5995277030017761139e-05 + p * w;
-            p = -0.00021503011930044477347 + p * w;
-            p = -0.00013871931833623122026 + p * w;
-            p = 1.0103004648645343977 + p * w;
-            p = 4.8499064014085844221 + p * w;
-        }
-        return p * x;
-    }
-
-    double standard_deviation(std::vector<double>::iterator first, std::vector<double>::iterator last) {
-        auto m = Catch::Benchmark::Detail::mean(first, last);
-        double variance = std::accumulate(first, last, 0., [m](double a, double b) {
-            double diff = b - m;
-            return a + diff * diff;
-            }) / (last - first);
-            return std::sqrt(variance);
-    }
-
-}
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-
-            double weighted_average_quantile(int k, int q, std::vector<double>::iterator first, std::vector<double>::iterator last) {
-                auto count = last - first;
-                double idx = (count - 1) * k / static_cast<double>(q);
-                int j = static_cast<int>(idx);
-                double g = idx - j;
-                std::nth_element(first, first + j, last);
-                auto xj = first[j];
-                if (g == 0) return xj;
-
-                auto xj1 = *std::min_element(first + (j + 1), last);
-                return xj + g * (xj1 - xj);
-            }
-
-            double erfc_inv(double x) {
-                return erf_inv(1.0 - x);
-            }
-
-            double normal_quantile(double p) {
-                static const double ROOT_TWO = std::sqrt(2.0);
-
-                double result = 0.0;
-                assert(p >= 0 && p <= 1);
-                if (p < 0 || p > 1) {
-                    return result;
-                }
-
-                result = -erfc_inv(2.0 * p);
-                // result *= normal distribution standard deviation (1.0) * sqrt(2)
-                result *= /*sd * */ ROOT_TWO;
-                // result += normal disttribution mean (0)
-                return result;
-            }
-
-            double outlier_variance(Estimate<double> mean, Estimate<double> stddev, int n) {
-                double sb = stddev.point;
-                double mn = mean.point / n;
-                double mg_min = mn / 2.;
-                double sg = std::min(mg_min / 4., sb / std::sqrt(n));
-                double sg2 = sg * sg;
-                double sb2 = sb * sb;
-
-                auto c_max = [n, mn, sb2, sg2](double x) -> double {
-                    double k = mn - x;
-                    double d = k * k;
-                    double nd = n * d;
-                    double k0 = -n * nd;
-                    double k1 = sb2 - n * sg2 + nd;
-                    double det = k1 * k1 - 4 * sg2 * k0;
-                    return (int)(-2. * k0 / (k1 + std::sqrt(det)));
-                };
-
-                auto var_out = [n, sb2, sg2](double c) {
-                    double nc = n - c;
-                    return (nc / n) * (sb2 - nc * sg2);
-                };
-
-                return std::min(var_out(1), var_out(std::min(c_max(0.), c_max(mg_min)))) / sb2;
-            }
-
-            bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector<double>::iterator first, std::vector<double>::iterator last) {
-                CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-                static std::random_device entropy;
-                CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-                auto n = static_cast<int>(last - first); // seriously, one can't use integral types without hell in C++
-
-                auto mean = &Detail::mean<std::vector<double>::iterator>;
-                auto stddev = &standard_deviation;
-
-#if defined(CATCH_CONFIG_USE_ASYNC)
-                auto Estimate = [=](double(*f)(std::vector<double>::iterator, std::vector<double>::iterator)) {
-                    auto seed = entropy();
-                    return std::async(std::launch::async, [=] {
-                        std::mt19937 rng(seed);
-                        auto resampled = resample(rng, n_resamples, first, last, f);
-                        return bootstrap(confidence_level, first, last, resampled, f);
-                    });
-                };
-
-                auto mean_future = Estimate(mean);
-                auto stddev_future = Estimate(stddev);
-
-                auto mean_estimate = mean_future.get();
-                auto stddev_estimate = stddev_future.get();
-#else
-                auto Estimate = [=](double(*f)(std::vector<double>::iterator, std::vector<double>::iterator)) {
-                    auto seed = entropy();
-                    std::mt19937 rng(seed);
-                    auto resampled = resample(rng, n_resamples, first, last, f);
-                    return bootstrap(confidence_level, first, last, resampled, f);
-                };
-
-                auto mean_estimate = Estimate(mean);
-                auto stddev_estimate = Estimate(stddev);
-#endif // CATCH_USE_ASYNC
-
-                double outlier_variance = Detail::outlier_variance(mean_estimate, stddev_estimate, n);
-
-                return { mean_estimate, stddev_estimate, outlier_variance };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-// end catch_stats.cpp
-// start catch_approx.cpp
-
-#include <cmath>
-#include <limits>
-
-namespace {
-
-// Performs equivalent check of std::fabs(lhs - rhs) <= margin
-// But without the subtraction to allow for INFINITY in comparison
-bool marginComparison(double lhs, double rhs, double margin) {
-    return (lhs + margin >= rhs) && (rhs + margin >= lhs);
-}
-
-}
-
-namespace Catch {
-namespace Detail {
-
-    Approx::Approx ( double value )
-    :   m_epsilon( std::numeric_limits<float>::epsilon()*100 ),
-        m_margin( 0.0 ),
-        m_scale( 0.0 ),
-        m_value( value )
-    {}
-
-    Approx Approx::custom() {
-        return Approx( 0 );
-    }
-
-    Approx Approx::operator-() const {
-        auto temp(*this);
-        temp.m_value = -temp.m_value;
-        return temp;
-    }
-
-    std::string Approx::toString() const {
-        ReusableStringStream rss;
-        rss << "Approx( " << ::Catch::Detail::stringify( m_value ) << " )";
-        return rss.str();
-    }
-
-    bool Approx::equalityComparisonImpl(const double other) const {
-        // First try with fixed margin, then compute margin based on epsilon, scale and Approx's value
-        // Thanks to Richard Harris for his help refining the scaled margin value
-        return marginComparison(m_value, other, m_margin) || marginComparison(m_value, other, m_epsilon * (m_scale + std::fabs(m_value)));
-    }
-
-    void Approx::setMargin(double newMargin) {
-        CATCH_ENFORCE(newMargin >= 0,
-            "Invalid Approx::margin: " << newMargin << '.'
-            << " Approx::Margin has to be non-negative.");
-        m_margin = newMargin;
-    }
-
-    void Approx::setEpsilon(double newEpsilon) {
-        CATCH_ENFORCE(newEpsilon >= 0 && newEpsilon <= 1.0,
-            "Invalid Approx::epsilon: " << newEpsilon << '.'
-            << " Approx::epsilon has to be in [0, 1]");
-        m_epsilon = newEpsilon;
-    }
-
-} // end namespace Detail
-
-namespace literals {
-    Detail::Approx operator "" _a(long double val) {
-        return Detail::Approx(val);
-    }
-    Detail::Approx operator "" _a(unsigned long long val) {
-        return Detail::Approx(val);
-    }
-} // end namespace literals
-
-std::string StringMaker<Catch::Detail::Approx>::convert(Catch::Detail::Approx const& value) {
-    return value.toString();
-}
-
-} // end namespace Catch
-// end catch_approx.cpp
-// start catch_assertionhandler.cpp
-
-// start catch_debugger.h
-
-namespace Catch {
-    bool isDebuggerActive();
-}
-
-#ifdef CATCH_PLATFORM_MAC
-
-    #define CATCH_TRAP() __asm__("int $3\n" : : ) /* NOLINT */
-
-#elif defined(CATCH_PLATFORM_LINUX)
-    // If we can use inline assembler, do it because this allows us to break
-    // directly at the location of the failing check instead of breaking inside
-    // raise() called from it, i.e. one stack frame below.
-    #if defined(__GNUC__) && (defined(__i386) || defined(__x86_64))
-        #define CATCH_TRAP() asm volatile ("int $3") /* NOLINT */
-    #else // Fall back to the generic way.
-        #include <signal.h>
-
-        #define CATCH_TRAP() raise(SIGTRAP)
-    #endif
-#elif defined(_MSC_VER)
-    #define CATCH_TRAP() __debugbreak()
-#elif defined(__MINGW32__)
-    extern "C" __declspec(dllimport) void __stdcall DebugBreak();
-    #define CATCH_TRAP() DebugBreak()
-#endif
-
-#ifdef CATCH_TRAP
-    #define CATCH_BREAK_INTO_DEBUGGER() []{ if( Catch::isDebuggerActive() ) { CATCH_TRAP(); } }()
-#else
-    #define CATCH_BREAK_INTO_DEBUGGER() []{}()
-#endif
-
-// end catch_debugger.h
-// start catch_run_context.h
-
-// start catch_fatal_condition.h
-
-// start catch_windows_h_proxy.h
-
-
-#if defined(CATCH_PLATFORM_WINDOWS)
-
-#if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX)
-#  define CATCH_DEFINED_NOMINMAX
-#  define NOMINMAX
-#endif
-#if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN)
-#  define CATCH_DEFINED_WIN32_LEAN_AND_MEAN
-#  define WIN32_LEAN_AND_MEAN
-#endif
-
-#ifdef __AFXDLL
-#include <AfxWin.h>
-#else
-#include <windows.h>
-#endif
-
-#ifdef CATCH_DEFINED_NOMINMAX
-#  undef NOMINMAX
-#endif
-#ifdef CATCH_DEFINED_WIN32_LEAN_AND_MEAN
-#  undef WIN32_LEAN_AND_MEAN
-#endif
-
-#endif // defined(CATCH_PLATFORM_WINDOWS)
-
-// end catch_windows_h_proxy.h
-#if defined( CATCH_CONFIG_WINDOWS_SEH )
-
-namespace Catch {
-
-    struct FatalConditionHandler {
-
-        static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo);
-        FatalConditionHandler();
-        static void reset();
-        ~FatalConditionHandler();
-
-    private:
-        static bool isSet;
-        static ULONG guaranteeSize;
-        static PVOID exceptionHandlerHandle;
-    };
-
-} // namespace Catch
-
-#elif defined ( CATCH_CONFIG_POSIX_SIGNALS )
-
-#include <signal.h>
-
-namespace Catch {
-
-    struct FatalConditionHandler {
-
-        static bool isSet;
-        static struct sigaction oldSigActions[];
-        static stack_t oldSigStack;
-        static char altStackMem[];
-
-        static void handleSignal( int sig );
-
-        FatalConditionHandler();
-        ~FatalConditionHandler();
-        static void reset();
-    };
-
-} // namespace Catch
-
-#else
-
-namespace Catch {
-    struct FatalConditionHandler {
-        void reset();
-    };
-}
-
-#endif
-
-// end catch_fatal_condition.h
-#include <string>
-
-namespace Catch {
-
-    struct IMutableContext;
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    class RunContext : public IResultCapture, public IRunner {
-
-    public:
-        RunContext( RunContext const& ) = delete;
-        RunContext& operator =( RunContext const& ) = delete;
-
-        explicit RunContext( IConfigPtr const& _config, IStreamingReporterPtr&& reporter );
-
-        ~RunContext() override;
-
-        void testGroupStarting( std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount );
-        void testGroupEnded( std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount );
-
-        Totals runTest(TestCase const& testCase);
-
-        IConfigPtr config() const;
-        IStreamingReporter& reporter() const;
-
-    public: // IResultCapture
-
-        // Assertion handlers
-        void handleExpr
-                (   AssertionInfo const& info,
-                    ITransientExpression const& expr,
-                    AssertionReaction& reaction ) override;
-        void handleMessage
-                (   AssertionInfo const& info,
-                    ResultWas::OfType resultType,
-                    StringRef const& message,
-                    AssertionReaction& reaction ) override;
-        void handleUnexpectedExceptionNotThrown
-                (   AssertionInfo const& info,
-                    AssertionReaction& reaction ) override;
-        void handleUnexpectedInflightException
-                (   AssertionInfo const& info,
-                    std::string const& message,
-                    AssertionReaction& reaction ) override;
-        void handleIncomplete
-                (   AssertionInfo const& info ) override;
-        void handleNonExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    AssertionReaction &reaction ) override;
-
-        bool sectionStarted( SectionInfo const& sectionInfo, Counts& assertions ) override;
-
-        void sectionEnded( SectionEndInfo const& endInfo ) override;
-        void sectionEndedEarly( SectionEndInfo const& endInfo ) override;
-
-        auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing( std::string const& name ) override;
-        void benchmarkStarting( BenchmarkInfo const& info ) override;
-        void benchmarkEnded( BenchmarkStats<> const& stats ) override;
-        void benchmarkFailed( std::string const& error ) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void pushScopedMessage( MessageInfo const& message ) override;
-        void popScopedMessage( MessageInfo const& message ) override;
-
-        void emplaceUnscopedMessage( MessageBuilder const& builder ) override;
-
-        std::string getCurrentTestName() const override;
-
-        const AssertionResult* getLastResult() const override;
-
-        void exceptionEarlyReported() override;
-
-        void handleFatalErrorCondition( StringRef message ) override;
-
-        bool lastAssertionPassed() override;
-
-        void assertionPassed() override;
-
-    public:
-        // !TBD We need to do this another way!
-        bool aborting() const final;
-
-    private:
-
-        void runCurrentTest( std::string& redirectedCout, std::string& redirectedCerr );
-        void invokeActiveTestCase();
-
-        void resetAssertionInfo();
-        bool testForMissingAssertions( Counts& assertions );
-
-        void assertionEnded( AssertionResult const& result );
-        void reportExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    ITransientExpression const *expr,
-                    bool negated );
-
-        void populateReaction( AssertionReaction& reaction );
-
-    private:
-
-        void handleUnfinishedSections();
-
-        TestRunInfo m_runInfo;
-        IMutableContext& m_context;
-        TestCase const* m_activeTestCase = nullptr;
-        ITracker* m_testCaseTracker = nullptr;
-        Option<AssertionResult> m_lastResult;
-
-        IConfigPtr m_config;
-        Totals m_totals;
-        IStreamingReporterPtr m_reporter;
-        std::vector<MessageInfo> m_messages;
-        std::vector<ScopedMessage> m_messageScopes; /* Keeps owners of so-called unscoped messages. */
-        AssertionInfo m_lastAssertionInfo;
-        std::vector<SectionEndInfo> m_unfinishedSections;
-        std::vector<ITracker*> m_activeSections;
-        TrackerContext m_trackerContext;
-        bool m_lastAssertionPassed = false;
-        bool m_shouldReportUnexpected = true;
-        bool m_includeSuccessfulResults;
-    };
-
-} // end namespace Catch
-
-// end catch_run_context.h
-namespace Catch {
-
-    namespace {
-        auto operator <<( std::ostream& os, ITransientExpression const& expr ) -> std::ostream& {
-            expr.streamReconstructedExpression( os );
-            return os;
-        }
-    }
-
-    LazyExpression::LazyExpression( bool isNegated )
-    :   m_isNegated( isNegated )
-    {}
-
-    LazyExpression::LazyExpression( LazyExpression const& other ) : m_isNegated( other.m_isNegated ) {}
-
-    LazyExpression::operator bool() const {
-        return m_transientExpression != nullptr;
-    }
-
-    auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream& {
-        if( lazyExpr.m_isNegated )
-            os << "!";
-
-        if( lazyExpr ) {
-            if( lazyExpr.m_isNegated && lazyExpr.m_transientExpression->isBinaryExpression() )
-                os << "(" << *lazyExpr.m_transientExpression << ")";
-            else
-                os << *lazyExpr.m_transientExpression;
-        }
-        else {
-            os << "{** error - unchecked empty expression requested **}";
-        }
-        return os;
-    }
-
-    AssertionHandler::AssertionHandler
-        (   StringRef const& macroName,
-            SourceLineInfo const& lineInfo,
-            StringRef capturedExpression,
-            ResultDisposition::Flags resultDisposition )
-    :   m_assertionInfo{ macroName, lineInfo, capturedExpression, resultDisposition },
-        m_resultCapture( getResultCapture() )
-    {}
-
-    void AssertionHandler::handleExpr( ITransientExpression const& expr ) {
-        m_resultCapture.handleExpr( m_assertionInfo, expr, m_reaction );
-    }
-    void AssertionHandler::handleMessage(ResultWas::OfType resultType, StringRef const& message) {
-        m_resultCapture.handleMessage( m_assertionInfo, resultType, message, m_reaction );
-    }
-
-    auto AssertionHandler::allowThrows() const -> bool {
-        return getCurrentContext().getConfig()->allowThrows();
-    }
-
-    void AssertionHandler::complete() {
-        setCompleted();
-        if( m_reaction.shouldDebugBreak ) {
-
-            // If you find your debugger stopping you here then go one level up on the
-            // call-stack for the code that caused it (typically a failed assertion)
-
-            // (To go back to the test and change execution, jump over the throw, next)
-            CATCH_BREAK_INTO_DEBUGGER();
-        }
-        if (m_reaction.shouldThrow) {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-            throw Catch::TestFailureException();
-#else
-            CATCH_ERROR( "Test failure requires aborting test!" );
-#endif
-        }
-    }
-    void AssertionHandler::setCompleted() {
-        m_completed = true;
-    }
-
-    void AssertionHandler::handleUnexpectedInflightException() {
-        m_resultCapture.handleUnexpectedInflightException( m_assertionInfo, Catch::translateActiveException(), m_reaction );
-    }
-
-    void AssertionHandler::handleExceptionThrownAsExpected() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-    void AssertionHandler::handleExceptionNotThrownAsExpected() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-
-    void AssertionHandler::handleUnexpectedExceptionNotThrown() {
-        m_resultCapture.handleUnexpectedExceptionNotThrown( m_assertionInfo, m_reaction );
-    }
-
-    void AssertionHandler::handleThrowingCallSkipped() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-
-    // This is the overload that takes a string and infers the Equals matcher from it
-    // The more general overload, that takes any string matcher, is in catch_capture_matchers.cpp
-    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString  ) {
-        handleExceptionMatchExpr( handler, Matchers::Equals( str ), matcherString );
-    }
-
-} // namespace Catch
-// end catch_assertionhandler.cpp
-// start catch_assertionresult.cpp
-
-namespace Catch {
-    AssertionResultData::AssertionResultData(ResultWas::OfType _resultType, LazyExpression const & _lazyExpression):
-        lazyExpression(_lazyExpression),
-        resultType(_resultType) {}
-
-    std::string AssertionResultData::reconstructExpression() const {
-
-        if( reconstructedExpression.empty() ) {
-            if( lazyExpression ) {
-                ReusableStringStream rss;
-                rss << lazyExpression;
-                reconstructedExpression = rss.str();
-            }
-        }
-        return reconstructedExpression;
-    }
-
-    AssertionResult::AssertionResult( AssertionInfo const& info, AssertionResultData const& data )
-    :   m_info( info ),
-        m_resultData( data )
-    {}
-
-    // Result was a success
-    bool AssertionResult::succeeded() const {
-        return Catch::isOk( m_resultData.resultType );
-    }
-
-    // Result was a success, or failure is suppressed
-    bool AssertionResult::isOk() const {
-        return Catch::isOk( m_resultData.resultType ) || shouldSuppressFailure( m_info.resultDisposition );
-    }
-
-    ResultWas::OfType AssertionResult::getResultType() const {
-        return m_resultData.resultType;
-    }
-
-    bool AssertionResult::hasExpression() const {
-        return m_info.capturedExpression[0] != 0;
-    }
-
-    bool AssertionResult::hasMessage() const {
-        return !m_resultData.message.empty();
-    }
-
-    std::string AssertionResult::getExpression() const {
-        if( isFalseTest( m_info.resultDisposition ) )
-            return "!(" + m_info.capturedExpression + ")";
-        else
-            return m_info.capturedExpression;
-    }
-
-    std::string AssertionResult::getExpressionInMacro() const {
-        std::string expr;
-        if( m_info.macroName[0] == 0 )
-            expr = m_info.capturedExpression;
-        else {
-            expr.reserve( m_info.macroName.size() + m_info.capturedExpression.size() + 4 );
-            expr += m_info.macroName;
-            expr += "( ";
-            expr += m_info.capturedExpression;
-            expr += " )";
-        }
-        return expr;
-    }
-
-    bool AssertionResult::hasExpandedExpression() const {
-        return hasExpression() && getExpandedExpression() != getExpression();
-    }
-
-    std::string AssertionResult::getExpandedExpression() const {
-        std::string expr = m_resultData.reconstructExpression();
-        return expr.empty()
-                ? getExpression()
-                : expr;
-    }
-
-    std::string AssertionResult::getMessage() const {
-        return m_resultData.message;
-    }
-    SourceLineInfo AssertionResult::getSourceInfo() const {
-        return m_info.lineInfo;
-    }
-
-    StringRef AssertionResult::getTestMacroName() const {
-        return m_info.macroName;
-    }
-
-} // end namespace Catch
-// end catch_assertionresult.cpp
-// start catch_capture_matchers.cpp
-
-namespace Catch {
-
-    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
-
-    // This is the general overload that takes a any string matcher
-    // There is another overload, in catch_assertionhandler.h/.cpp, that only takes a string and infers
-    // the Equals matcher (so the header does not mention matchers)
-    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  ) {
-        std::string exceptionMessage = Catch::translateActiveException();
-        MatchExpr<std::string, StringMatcher const&> expr( exceptionMessage, matcher, matcherString );
-        handler.handleExpr( expr );
-    }
-
-} // namespace Catch
-// end catch_capture_matchers.cpp
-// start catch_commandline.cpp
-
-// start catch_commandline.h
-
-// start catch_clara.h
-
-// Use Catch's value for console width (store Clara's off to the side, if present)
-#ifdef CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#undef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#endif
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CONFIG_CONSOLE_WIDTH-1
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wweak-vtables"
-#pragma clang diagnostic ignored "-Wexit-time-destructors"
-#pragma clang diagnostic ignored "-Wshadow"
-#endif
-
-// start clara.hpp
-// Copyright 2017 Two Blue Cubes Ltd. All rights reserved.
-//
-// Distributed under the Boost Software License, Version 1.0. (See accompanying
-// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
-//
-// See https://github.com/philsquared/Clara for more details
-
-// Clara v1.1.5
-
-
-#ifndef CATCH_CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CLARA_CONFIG_CONSOLE_WIDTH
-#endif
-
-#ifndef CLARA_CONFIG_OPTIONAL_TYPE
-#ifdef __has_include
-#if __has_include(<optional>) && __cplusplus >= 201703L
-#include <optional>
-#define CLARA_CONFIG_OPTIONAL_TYPE std::optional
-#endif
-#endif
-#endif
-
-// ----------- #included from clara_textflow.hpp -----------
-
-// TextFlowCpp
-//
-// A single-header library for wrapping and laying out basic text, by Phil Nash
-//
-// Distributed under the Boost Software License, Version 1.0. (See accompanying
-// file LICENSE.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
-//
-// This project is hosted at https://github.com/philsquared/textflowcpp
-
-
-#include <cassert>
-#include <ostream>
-#include <sstream>
-#include <vector>
-
-#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-namespace Catch {
-namespace clara {
-namespace TextFlow {
-
-inline auto isWhitespace(char c) -> bool {
-	static std::string chars = " \t\n\r";
-	return chars.find(c) != std::string::npos;
-}
-inline auto isBreakableBefore(char c) -> bool {
-	static std::string chars = "[({<|";
-	return chars.find(c) != std::string::npos;
-}
-inline auto isBreakableAfter(char c) -> bool {
-	static std::string chars = "])}>.,:;*+-=&/\\";
-	return chars.find(c) != std::string::npos;
-}
-
-class Columns;
-
-class Column {
-	std::vector<std::string> m_strings;
-	size_t m_width = CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH;
-	size_t m_indent = 0;
-	size_t m_initialIndent = std::string::npos;
-
-public:
-	class iterator {
-		friend Column;
-
-		Column const& m_column;
-		size_t m_stringIndex = 0;
-		size_t m_pos = 0;
-
-		size_t m_len = 0;
-		size_t m_end = 0;
-		bool m_suffix = false;
-
-		iterator(Column const& column, size_t stringIndex)
-			: m_column(column),
-			m_stringIndex(stringIndex) {}
-
-		auto line() const -> std::string const& { return m_column.m_strings[m_stringIndex]; }
-
-		auto isBoundary(size_t at) const -> bool {
-			assert(at > 0);
-			assert(at <= line().size());
-
-			return at == line().size() ||
-				(isWhitespace(line()[at]) && !isWhitespace(line()[at - 1])) ||
-				isBreakableBefore(line()[at]) ||
-				isBreakableAfter(line()[at - 1]);
-		}
-
-		void calcLength() {
-			assert(m_stringIndex < m_column.m_strings.size());
-
-			m_suffix = false;
-			auto width = m_column.m_width - indent();
-			m_end = m_pos;
-			if (line()[m_pos] == '\n') {
-				++m_end;
-			}
-			while (m_end < line().size() && line()[m_end] != '\n')
-				++m_end;
-
-			if (m_end < m_pos + width) {
-				m_len = m_end - m_pos;
-			} else {
-				size_t len = width;
-				while (len > 0 && !isBoundary(m_pos + len))
-					--len;
-				while (len > 0 && isWhitespace(line()[m_pos + len - 1]))
-					--len;
-
-				if (len > 0) {
-					m_len = len;
-				} else {
-					m_suffix = true;
-					m_len = width - 1;
-				}
-			}
-		}
-
-		auto indent() const -> size_t {
-			auto initial = m_pos == 0 && m_stringIndex == 0 ? m_column.m_initialIndent : std::string::npos;
-			return initial == std::string::npos ? m_column.m_indent : initial;
-		}
-
-		auto addIndentAndSuffix(std::string const &plain) const -> std::string {
-			return std::string(indent(), ' ') + (m_suffix ? plain + "-" : plain);
-		}
-
-	public:
-		using difference_type = std::ptrdiff_t;
-		using value_type = std::string;
-		using pointer = value_type * ;
-		using reference = value_type & ;
-		using iterator_category = std::forward_iterator_tag;
-
-		explicit iterator(Column const& column) : m_column(column) {
-			assert(m_column.m_width > m_column.m_indent);
-			assert(m_column.m_initialIndent == std::string::npos || m_column.m_width > m_column.m_initialIndent);
-			calcLength();
-			if (m_len == 0)
-				m_stringIndex++; // Empty string
-		}
-
-		auto operator *() const -> std::string {
-			assert(m_stringIndex < m_column.m_strings.size());
-			assert(m_pos <= m_end);
-			return addIndentAndSuffix(line().substr(m_pos, m_len));
-		}
-
-		auto operator ++() -> iterator& {
-			m_pos += m_len;
-			if (m_pos < line().size() && line()[m_pos] == '\n')
-				m_pos += 1;
-			else
-				while (m_pos < line().size() && isWhitespace(line()[m_pos]))
-					++m_pos;
-
-			if (m_pos == line().size()) {
-				m_pos = 0;
-				++m_stringIndex;
-			}
-			if (m_stringIndex < m_column.m_strings.size())
-				calcLength();
-			return *this;
-		}
-		auto operator ++(int) -> iterator {
-			iterator prev(*this);
-			operator++();
-			return prev;
-		}
-
-		auto operator ==(iterator const& other) const -> bool {
-			return
-				m_pos == other.m_pos &&
-				m_stringIndex == other.m_stringIndex &&
-				&m_column == &other.m_column;
-		}
-		auto operator !=(iterator const& other) const -> bool {
-			return !operator==(other);
-		}
-	};
-	using const_iterator = iterator;
-
-	explicit Column(std::string const& text) { m_strings.push_back(text); }
-
-	auto width(size_t newWidth) -> Column& {
-		assert(newWidth > 0);
-		m_width = newWidth;
-		return *this;
-	}
-	auto indent(size_t newIndent) -> Column& {
-		m_indent = newIndent;
-		return *this;
-	}
-	auto initialIndent(size_t newIndent) -> Column& {
-		m_initialIndent = newIndent;
-		return *this;
-	}
-
-	auto width() const -> size_t { return m_width; }
-	auto begin() const -> iterator { return iterator(*this); }
-	auto end() const -> iterator { return { *this, m_strings.size() }; }
-
-	inline friend std::ostream& operator << (std::ostream& os, Column const& col) {
-		bool first = true;
-		for (auto line : col) {
-			if (first)
-				first = false;
-			else
-				os << "\n";
-			os << line;
-		}
-		return os;
-	}
-
-	auto operator + (Column const& other)->Columns;
-
-	auto toString() const -> std::string {
-		std::ostringstream oss;
-		oss << *this;
-		return oss.str();
-	}
-};
-
-class Spacer : public Column {
-
-public:
-	explicit Spacer(size_t spaceWidth) : Column("") {
-		width(spaceWidth);
-	}
-};
-
-class Columns {
-	std::vector<Column> m_columns;
-
-public:
-
-	class iterator {
-		friend Columns;
-		struct EndTag {};
-
-		std::vector<Column> const& m_columns;
-		std::vector<Column::iterator> m_iterators;
-		size_t m_activeIterators;
-
-		iterator(Columns const& columns, EndTag)
-			: m_columns(columns.m_columns),
-			m_activeIterators(0) {
-			m_iterators.reserve(m_columns.size());
-
-			for (auto const& col : m_columns)
-				m_iterators.push_back(col.end());
-		}
-
-	public:
-		using difference_type = std::ptrdiff_t;
-		using value_type = std::string;
-		using pointer = value_type * ;
-		using reference = value_type & ;
-		using iterator_category = std::forward_iterator_tag;
-
-		explicit iterator(Columns const& columns)
-			: m_columns(columns.m_columns),
-			m_activeIterators(m_columns.size()) {
-			m_iterators.reserve(m_columns.size());
-
-			for (auto const& col : m_columns)
-				m_iterators.push_back(col.begin());
-		}
-
-		auto operator ==(iterator const& other) const -> bool {
-			return m_iterators == other.m_iterators;
-		}
-		auto operator !=(iterator const& other) const -> bool {
-			return m_iterators != other.m_iterators;
-		}
-		auto operator *() const -> std::string {
-			std::string row, padding;
-
-			for (size_t i = 0; i < m_columns.size(); ++i) {
-				auto width = m_columns[i].width();
-				if (m_iterators[i] != m_columns[i].end()) {
-					std::string col = *m_iterators[i];
-					row += padding + col;
-					if (col.size() < width)
-						padding = std::string(width - col.size(), ' ');
-					else
-						padding = "";
-				} else {
-					padding += std::string(width, ' ');
-				}
-			}
-			return row;
-		}
-		auto operator ++() -> iterator& {
-			for (size_t i = 0; i < m_columns.size(); ++i) {
-				if (m_iterators[i] != m_columns[i].end())
-					++m_iterators[i];
-			}
-			return *this;
-		}
-		auto operator ++(int) -> iterator {
-			iterator prev(*this);
-			operator++();
-			return prev;
-		}
-	};
-	using const_iterator = iterator;
-
-	auto begin() const -> iterator { return iterator(*this); }
-	auto end() const -> iterator { return { *this, iterator::EndTag() }; }
-
-	auto operator += (Column const& col) -> Columns& {
-		m_columns.push_back(col);
-		return *this;
-	}
-	auto operator + (Column const& col) -> Columns {
-		Columns combined = *this;
-		combined += col;
-		return combined;
-	}
-
-	inline friend std::ostream& operator << (std::ostream& os, Columns const& cols) {
-
-		bool first = true;
-		for (auto line : cols) {
-			if (first)
-				first = false;
-			else
-				os << "\n";
-			os << line;
-		}
-		return os;
-	}
-
-	auto toString() const -> std::string {
-		std::ostringstream oss;
-		oss << *this;
-		return oss.str();
-	}
-};
-
-inline auto Column::operator + (Column const& other) -> Columns {
-	Columns cols;
-	cols += *this;
-	cols += other;
-	return cols;
-}
-}
-
-}
-}
-
-// ----------- end of #include from clara_textflow.hpp -----------
-// ........... back in clara.hpp
-
-#include <cctype>
-#include <string>
-#include <memory>
-#include <set>
-#include <algorithm>
-
-#if !defined(CATCH_PLATFORM_WINDOWS) && ( defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) )
-#define CATCH_PLATFORM_WINDOWS
-#endif
-
-namespace Catch { namespace clara {
-namespace detail {
-
-    // Traits for extracting arg and return type of lambdas (for single argument lambdas)
-    template<typename L>
-    struct UnaryLambdaTraits : UnaryLambdaTraits<decltype( &L::operator() )> {};
-
-    template<typename ClassT, typename ReturnT, typename... Args>
-    struct UnaryLambdaTraits<ReturnT( ClassT::* )( Args... ) const> {
-        static const bool isValid = false;
-    };
-
-    template<typename ClassT, typename ReturnT, typename ArgT>
-    struct UnaryLambdaTraits<ReturnT( ClassT::* )( ArgT ) const> {
-        static const bool isValid = true;
-        using ArgType = typename std::remove_const<typename std::remove_reference<ArgT>::type>::type;
-        using ReturnType = ReturnT;
-    };
-
-    class TokenStream;
-
-    // Transport for raw args (copied from main args, or supplied via init list for testing)
-    class Args {
-        friend TokenStream;
-        std::string m_exeName;
-        std::vector<std::string> m_args;
-
-    public:
-        Args( int argc, char const* const* argv )
-            : m_exeName(argv[0]),
-              m_args(argv + 1, argv + argc) {}
-
-        Args( std::initializer_list<std::string> args )
-        :   m_exeName( *args.begin() ),
-            m_args( args.begin()+1, args.end() )
-        {}
-
-        auto exeName() const -> std::string {
-            return m_exeName;
-        }
-    };
-
-    // Wraps a token coming from a token stream. These may not directly correspond to strings as a single string
-    // may encode an option + its argument if the : or = form is used
-    enum class TokenType {
-        Option, Argument
-    };
-    struct Token {
-        TokenType type;
-        std::string token;
-    };
-
-    inline auto isOptPrefix( char c ) -> bool {
-        return c == '-'
-#ifdef CATCH_PLATFORM_WINDOWS
-            || c == '/'
-#endif
-        ;
-    }
-
-    // Abstracts iterators into args as a stream of tokens, with option arguments uniformly handled
-    class TokenStream {
-        using Iterator = std::vector<std::string>::const_iterator;
-        Iterator it;
-        Iterator itEnd;
-        std::vector<Token> m_tokenBuffer;
-
-        void loadBuffer() {
-            m_tokenBuffer.resize( 0 );
-
-            // Skip any empty strings
-            while( it != itEnd && it->empty() )
-                ++it;
-
-            if( it != itEnd ) {
-                auto const &next = *it;
-                if( isOptPrefix( next[0] ) ) {
-                    auto delimiterPos = next.find_first_of( " :=" );
-                    if( delimiterPos != std::string::npos ) {
-                        m_tokenBuffer.push_back( { TokenType::Option, next.substr( 0, delimiterPos ) } );
-                        m_tokenBuffer.push_back( { TokenType::Argument, next.substr( delimiterPos + 1 ) } );
-                    } else {
-                        if( next[1] != '-' && next.size() > 2 ) {
-                            std::string opt = "- ";
-                            for( size_t i = 1; i < next.size(); ++i ) {
-                                opt[1] = next[i];
-                                m_tokenBuffer.push_back( { TokenType::Option, opt } );
-                            }
-                        } else {
-                            m_tokenBuffer.push_back( { TokenType::Option, next } );
-                        }
-                    }
-                } else {
-                    m_tokenBuffer.push_back( { TokenType::Argument, next } );
-                }
-            }
-        }
-
-    public:
-        explicit TokenStream( Args const &args ) : TokenStream( args.m_args.begin(), args.m_args.end() ) {}
-
-        TokenStream( Iterator it, Iterator itEnd ) : it( it ), itEnd( itEnd ) {
-            loadBuffer();
-        }
-
-        explicit operator bool() const {
-            return !m_tokenBuffer.empty() || it != itEnd;
-        }
-
-        auto count() const -> size_t { return m_tokenBuffer.size() + (itEnd - it); }
-
-        auto operator*() const -> Token {
-            assert( !m_tokenBuffer.empty() );
-            return m_tokenBuffer.front();
-        }
-
-        auto operator->() const -> Token const * {
-            assert( !m_tokenBuffer.empty() );
-            return &m_tokenBuffer.front();
-        }
-
-        auto operator++() -> TokenStream & {
-            if( m_tokenBuffer.size() >= 2 ) {
-                m_tokenBuffer.erase( m_tokenBuffer.begin() );
-            } else {
-                if( it != itEnd )
-                    ++it;
-                loadBuffer();
-            }
-            return *this;
-        }
-    };
-
-    class ResultBase {
-    public:
-        enum Type {
-            Ok, LogicError, RuntimeError
-        };
-
-    protected:
-        ResultBase( Type type ) : m_type( type ) {}
-        virtual ~ResultBase() = default;
-
-        virtual void enforceOk() const = 0;
-
-        Type m_type;
-    };
-
-    template<typename T>
-    class ResultValueBase : public ResultBase {
-    public:
-        auto value() const -> T const & {
-            enforceOk();
-            return m_value;
-        }
-
-    protected:
-        ResultValueBase( Type type ) : ResultBase( type ) {}
-
-        ResultValueBase( ResultValueBase const &other ) : ResultBase( other ) {
-            if( m_type == ResultBase::Ok )
-                new( &m_value ) T( other.m_value );
-        }
-
-        ResultValueBase( Type, T const &value ) : ResultBase( Ok ) {
-            new( &m_value ) T( value );
-        }
-
-        auto operator=( ResultValueBase const &other ) -> ResultValueBase & {
-            if( m_type == ResultBase::Ok )
-                m_value.~T();
-            ResultBase::operator=(other);
-            if( m_type == ResultBase::Ok )
-                new( &m_value ) T( other.m_value );
-            return *this;
-        }
-
-        ~ResultValueBase() override {
-            if( m_type == Ok )
-                m_value.~T();
-        }
-
-        union {
-            T m_value;
-        };
-    };
-
-    template<>
-    class ResultValueBase<void> : public ResultBase {
-    protected:
-        using ResultBase::ResultBase;
-    };
-
-    template<typename T = void>
-    class BasicResult : public ResultValueBase<T> {
-    public:
-        template<typename U>
-        explicit BasicResult( BasicResult<U> const &other )
-        :   ResultValueBase<T>( other.type() ),
-            m_errorMessage( other.errorMessage() )
-        {
-            assert( type() != ResultBase::Ok );
-        }
-
-        template<typename U>
-        static auto ok( U const &value ) -> BasicResult { return { ResultBase::Ok, value }; }
-        static auto ok() -> BasicResult { return { ResultBase::Ok }; }
-        static auto logicError( std::string const &message ) -> BasicResult { return { ResultBase::LogicError, message }; }
-        static auto runtimeError( std::string const &message ) -> BasicResult { return { ResultBase::RuntimeError, message }; }
-
-        explicit operator bool() const { return m_type == ResultBase::Ok; }
-        auto type() const -> ResultBase::Type { return m_type; }
-        auto errorMessage() const -> std::string { return m_errorMessage; }
-
-    protected:
-        void enforceOk() const override {
-
-            // Errors shouldn't reach this point, but if they do
-            // the actual error message will be in m_errorMessage
-            assert( m_type != ResultBase::LogicError );
-            assert( m_type != ResultBase::RuntimeError );
-            if( m_type != ResultBase::Ok )
-                std::abort();
-        }
-
-        std::string m_errorMessage; // Only populated if resultType is an error
-
-        BasicResult( ResultBase::Type type, std::string const &message )
-        :   ResultValueBase<T>(type),
-            m_errorMessage(message)
-        {
-            assert( m_type != ResultBase::Ok );
-        }
-
-        using ResultValueBase<T>::ResultValueBase;
-        using ResultBase::m_type;
-    };
-
-    enum class ParseResultType {
-        Matched, NoMatch, ShortCircuitAll, ShortCircuitSame
-    };
-
-    class ParseState {
-    public:
-
-        ParseState( ParseResultType type, TokenStream const &remainingTokens )
-        : m_type(type),
-          m_remainingTokens( remainingTokens )
-        {}
-
-        auto type() const -> ParseResultType { return m_type; }
-        auto remainingTokens() const -> TokenStream { return m_remainingTokens; }
-
-    private:
-        ParseResultType m_type;
-        TokenStream m_remainingTokens;
-    };
-
-    using Result = BasicResult<void>;
-    using ParserResult = BasicResult<ParseResultType>;
-    using InternalParseResult = BasicResult<ParseState>;
-
-    struct HelpColumns {
-        std::string left;
-        std::string right;
-    };
-
-    template<typename T>
-    inline auto convertInto( std::string const &source, T& target ) -> ParserResult {
-        std::stringstream ss;
-        ss << source;
-        ss >> target;
-        if( ss.fail() )
-            return ParserResult::runtimeError( "Unable to convert '" + source + "' to destination type" );
-        else
-            return ParserResult::ok( ParseResultType::Matched );
-    }
-    inline auto convertInto( std::string const &source, std::string& target ) -> ParserResult {
-        target = source;
-        return ParserResult::ok( ParseResultType::Matched );
-    }
-    inline auto convertInto( std::string const &source, bool &target ) -> ParserResult {
-        std::string srcLC = source;
-        std::transform( srcLC.begin(), srcLC.end(), srcLC.begin(), []( char c ) { return static_cast<char>( std::tolower(c) ); } );
-        if (srcLC == "y" || srcLC == "1" || srcLC == "true" || srcLC == "yes" || srcLC == "on")
-            target = true;
-        else if (srcLC == "n" || srcLC == "0" || srcLC == "false" || srcLC == "no" || srcLC == "off")
-            target = false;
-        else
-            return ParserResult::runtimeError( "Expected a boolean value but did not recognise: '" + source + "'" );
-        return ParserResult::ok( ParseResultType::Matched );
-    }
-#ifdef CLARA_CONFIG_OPTIONAL_TYPE
-    template<typename T>
-    inline auto convertInto( std::string const &source, CLARA_CONFIG_OPTIONAL_TYPE<T>& target ) -> ParserResult {
-        T temp;
-        auto result = convertInto( source, temp );
-        if( result )
-            target = std::move(temp);
-        return result;
-    }
-#endif // CLARA_CONFIG_OPTIONAL_TYPE
-
-    struct NonCopyable {
-        NonCopyable() = default;
-        NonCopyable( NonCopyable const & ) = delete;
-        NonCopyable( NonCopyable && ) = delete;
-        NonCopyable &operator=( NonCopyable const & ) = delete;
-        NonCopyable &operator=( NonCopyable && ) = delete;
-    };
-
-    struct BoundRef : NonCopyable {
-        virtual ~BoundRef() = default;
-        virtual auto isContainer() const -> bool { return false; }
-        virtual auto isFlag() const -> bool { return false; }
-    };
-    struct BoundValueRefBase : BoundRef {
-        virtual auto setValue( std::string const &arg ) -> ParserResult = 0;
-    };
-    struct BoundFlagRefBase : BoundRef {
-        virtual auto setFlag( bool flag ) -> ParserResult = 0;
-        virtual auto isFlag() const -> bool { return true; }
-    };
-
-    template<typename T>
-    struct BoundValueRef : BoundValueRefBase {
-        T &m_ref;
-
-        explicit BoundValueRef( T &ref ) : m_ref( ref ) {}
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            return convertInto( arg, m_ref );
-        }
-    };
-
-    template<typename T>
-    struct BoundValueRef<std::vector<T>> : BoundValueRefBase {
-        std::vector<T> &m_ref;
-
-        explicit BoundValueRef( std::vector<T> &ref ) : m_ref( ref ) {}
-
-        auto isContainer() const -> bool override { return true; }
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            T temp;
-            auto result = convertInto( arg, temp );
-            if( result )
-                m_ref.push_back( temp );
-            return result;
-        }
-    };
-
-    struct BoundFlagRef : BoundFlagRefBase {
-        bool &m_ref;
-
-        explicit BoundFlagRef( bool &ref ) : m_ref( ref ) {}
-
-        auto setFlag( bool flag ) -> ParserResult override {
-            m_ref = flag;
-            return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    template<typename ReturnType>
-    struct LambdaInvoker {
-        static_assert( std::is_same<ReturnType, ParserResult>::value, "Lambda must return void or clara::ParserResult" );
-
-        template<typename L, typename ArgType>
-        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
-            return lambda( arg );
-        }
-    };
-
-    template<>
-    struct LambdaInvoker<void> {
-        template<typename L, typename ArgType>
-        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
-            lambda( arg );
-            return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    template<typename ArgType, typename L>
-    inline auto invokeLambda( L const &lambda, std::string const &arg ) -> ParserResult {
-        ArgType temp{};
-        auto result = convertInto( arg, temp );
-        return !result
-           ? result
-           : LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( lambda, temp );
-    }
-
-    template<typename L>
-    struct BoundLambda : BoundValueRefBase {
-        L m_lambda;
-
-        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
-        explicit BoundLambda( L const &lambda ) : m_lambda( lambda ) {}
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            return invokeLambda<typename UnaryLambdaTraits<L>::ArgType>( m_lambda, arg );
-        }
-    };
-
-    template<typename L>
-    struct BoundFlagLambda : BoundFlagRefBase {
-        L m_lambda;
-
-        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
-        static_assert( std::is_same<typename UnaryLambdaTraits<L>::ArgType, bool>::value, "flags must be boolean" );
-
-        explicit BoundFlagLambda( L const &lambda ) : m_lambda( lambda ) {}
-
-        auto setFlag( bool flag ) -> ParserResult override {
-            return LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( m_lambda, flag );
-        }
-    };
-
-    enum class Optionality { Optional, Required };
-
-    struct Parser;
-
-    class ParserBase {
-    public:
-        virtual ~ParserBase() = default;
-        virtual auto validate() const -> Result { return Result::ok(); }
-        virtual auto parse( std::string const& exeName, TokenStream const &tokens) const -> InternalParseResult  = 0;
-        virtual auto cardinality() const -> size_t { return 1; }
-
-        auto parse( Args const &args ) const -> InternalParseResult {
-            return parse( args.exeName(), TokenStream( args ) );
-        }
-    };
-
-    template<typename DerivedT>
-    class ComposableParserImpl : public ParserBase {
-    public:
-        template<typename T>
-        auto operator|( T const &other ) const -> Parser;
-
-		template<typename T>
-        auto operator+( T const &other ) const -> Parser;
-    };
-
-    // Common code and state for Args and Opts
-    template<typename DerivedT>
-    class ParserRefImpl : public ComposableParserImpl<DerivedT> {
-    protected:
-        Optionality m_optionality = Optionality::Optional;
-        std::shared_ptr<BoundRef> m_ref;
-        std::string m_hint;
-        std::string m_description;
-
-        explicit ParserRefImpl( std::shared_ptr<BoundRef> const &ref ) : m_ref( ref ) {}
-
-    public:
-        template<typename T>
-        ParserRefImpl( T &ref, std::string const &hint )
-        :   m_ref( std::make_shared<BoundValueRef<T>>( ref ) ),
-            m_hint( hint )
-        {}
-
-        template<typename LambdaT>
-        ParserRefImpl( LambdaT const &ref, std::string const &hint )
-        :   m_ref( std::make_shared<BoundLambda<LambdaT>>( ref ) ),
-            m_hint(hint)
-        {}
-
-        auto operator()( std::string const &description ) -> DerivedT & {
-            m_description = description;
-            return static_cast<DerivedT &>( *this );
-        }
-
-        auto optional() -> DerivedT & {
-            m_optionality = Optionality::Optional;
-            return static_cast<DerivedT &>( *this );
-        };
-
-        auto required() -> DerivedT & {
-            m_optionality = Optionality::Required;
-            return static_cast<DerivedT &>( *this );
-        };
-
-        auto isOptional() const -> bool {
-            return m_optionality == Optionality::Optional;
-        }
-
-        auto cardinality() const -> size_t override {
-            if( m_ref->isContainer() )
-                return 0;
-            else
-                return 1;
-        }
-
-        auto hint() const -> std::string { return m_hint; }
-    };
-
-    class ExeName : public ComposableParserImpl<ExeName> {
-        std::shared_ptr<std::string> m_name;
-        std::shared_ptr<BoundValueRefBase> m_ref;
-
-        template<typename LambdaT>
-        static auto makeRef(LambdaT const &lambda) -> std::shared_ptr<BoundValueRefBase> {
-            return std::make_shared<BoundLambda<LambdaT>>( lambda) ;
-        }
-
-    public:
-        ExeName() : m_name( std::make_shared<std::string>( "<executable>" ) ) {}
-
-        explicit ExeName( std::string &ref ) : ExeName() {
-            m_ref = std::make_shared<BoundValueRef<std::string>>( ref );
-        }
-
-        template<typename LambdaT>
-        explicit ExeName( LambdaT const& lambda ) : ExeName() {
-            m_ref = std::make_shared<BoundLambda<LambdaT>>( lambda );
-        }
-
-        // The exe name is not parsed out of the normal tokens, but is handled specially
-        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
-            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
-        }
-
-        auto name() const -> std::string { return *m_name; }
-        auto set( std::string const& newName ) -> ParserResult {
-
-            auto lastSlash = newName.find_last_of( "\\/" );
-            auto filename = ( lastSlash == std::string::npos )
-                    ? newName
-                    : newName.substr( lastSlash+1 );
-
-            *m_name = filename;
-            if( m_ref )
-                return m_ref->setValue( filename );
-            else
-                return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    class Arg : public ParserRefImpl<Arg> {
-    public:
-        using ParserRefImpl::ParserRefImpl;
-
-        auto parse( std::string const &, TokenStream const &tokens ) const -> InternalParseResult override {
-            auto validationResult = validate();
-            if( !validationResult )
-                return InternalParseResult( validationResult );
-
-            auto remainingTokens = tokens;
-            auto const &token = *remainingTokens;
-            if( token.type != TokenType::Argument )
-                return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
-
-            assert( !m_ref->isFlag() );
-            auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
-
-            auto result = valueRef->setValue( remainingTokens->token );
-            if( !result )
-                return InternalParseResult( result );
-            else
-                return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
-        }
-    };
-
-    inline auto normaliseOpt( std::string const &optName ) -> std::string {
-#ifdef CATCH_PLATFORM_WINDOWS
-        if( optName[0] == '/' )
-            return "-" + optName.substr( 1 );
-        else
-#endif
-            return optName;
-    }
-
-    class Opt : public ParserRefImpl<Opt> {
-    protected:
-        std::vector<std::string> m_optNames;
-
-    public:
-        template<typename LambdaT>
-        explicit Opt( LambdaT const &ref ) : ParserRefImpl( std::make_shared<BoundFlagLambda<LambdaT>>( ref ) ) {}
-
-        explicit Opt( bool &ref ) : ParserRefImpl( std::make_shared<BoundFlagRef>( ref ) ) {}
-
-        template<typename LambdaT>
-        Opt( LambdaT const &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
-
-        template<typename T>
-        Opt( T &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
-
-        auto operator[]( std::string const &optName ) -> Opt & {
-            m_optNames.push_back( optName );
-            return *this;
-        }
-
-        auto getHelpColumns() const -> std::vector<HelpColumns> {
-            std::ostringstream oss;
-            bool first = true;
-            for( auto const &opt : m_optNames ) {
-                if (first)
-                    first = false;
-                else
-                    oss << ", ";
-                oss << opt;
-            }
-            if( !m_hint.empty() )
-                oss << " <" << m_hint << ">";
-            return { { oss.str(), m_description } };
-        }
-
-        auto isMatch( std::string const &optToken ) const -> bool {
-            auto normalisedToken = normaliseOpt( optToken );
-            for( auto const &name : m_optNames ) {
-                if( normaliseOpt( name ) == normalisedToken )
-                    return true;
-            }
-            return false;
-        }
-
-        using ParserBase::parse;
-
-        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
-            auto validationResult = validate();
-            if( !validationResult )
-                return InternalParseResult( validationResult );
-
-            auto remainingTokens = tokens;
-            if( remainingTokens && remainingTokens->type == TokenType::Option ) {
-                auto const &token = *remainingTokens;
-                if( isMatch(token.token ) ) {
-                    if( m_ref->isFlag() ) {
-                        auto flagRef = static_cast<detail::BoundFlagRefBase*>( m_ref.get() );
-                        auto result = flagRef->setFlag( true );
-                        if( !result )
-                            return InternalParseResult( result );
-                        if( result.value() == ParseResultType::ShortCircuitAll )
-                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
-                    } else {
-                        auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
-                        ++remainingTokens;
-                        if( !remainingTokens )
-                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
-                        auto const &argToken = *remainingTokens;
-                        if( argToken.type != TokenType::Argument )
-                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
-                        auto result = valueRef->setValue( argToken.token );
-                        if( !result )
-                            return InternalParseResult( result );
-                        if( result.value() == ParseResultType::ShortCircuitAll )
-                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
-                    }
-                    return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
-                }
-            }
-            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
-        }
-
-        auto validate() const -> Result override {
-            if( m_optNames.empty() )
-                return Result::logicError( "No options supplied to Opt" );
-            for( auto const &name : m_optNames ) {
-                if( name.empty() )
-                    return Result::logicError( "Option name cannot be empty" );
-#ifdef CATCH_PLATFORM_WINDOWS
-                if( name[0] != '-' && name[0] != '/' )
-                    return Result::logicError( "Option name must begin with '-' or '/'" );
-#else
-                if( name[0] != '-' )
-                    return Result::logicError( "Option name must begin with '-'" );
-#endif
-            }
-            return ParserRefImpl::validate();
-        }
-    };
-
-    struct Help : Opt {
-        Help( bool &showHelpFlag )
-        :   Opt([&]( bool flag ) {
-                showHelpFlag = flag;
-                return ParserResult::ok( ParseResultType::ShortCircuitAll );
-            })
-        {
-            static_cast<Opt &>( *this )
-                    ("display usage information")
-                    ["-?"]["-h"]["--help"]
-                    .optional();
-        }
-    };
-
-    struct Parser : ParserBase {
-
-        mutable ExeName m_exeName;
-        std::vector<Opt> m_options;
-        std::vector<Arg> m_args;
-
-        auto operator|=( ExeName const &exeName ) -> Parser & {
-            m_exeName = exeName;
-            return *this;
-        }
-
-        auto operator|=( Arg const &arg ) -> Parser & {
-            m_args.push_back(arg);
-            return *this;
-        }
-
-        auto operator|=( Opt const &opt ) -> Parser & {
-            m_options.push_back(opt);
-            return *this;
-        }
-
-        auto operator|=( Parser const &other ) -> Parser & {
-            m_options.insert(m_options.end(), other.m_options.begin(), other.m_options.end());
-            m_args.insert(m_args.end(), other.m_args.begin(), other.m_args.end());
-            return *this;
-        }
-
-        template<typename T>
-        auto operator|( T const &other ) const -> Parser {
-            return Parser( *this ) |= other;
-        }
-
-        // Forward deprecated interface with '+' instead of '|'
-        template<typename T>
-        auto operator+=( T const &other ) -> Parser & { return operator|=( other ); }
-        template<typename T>
-        auto operator+( T const &other ) const -> Parser { return operator|( other ); }
-
-        auto getHelpColumns() const -> std::vector<HelpColumns> {
-            std::vector<HelpColumns> cols;
-            for (auto const &o : m_options) {
-                auto childCols = o.getHelpColumns();
-                cols.insert( cols.end(), childCols.begin(), childCols.end() );
-            }
-            return cols;
-        }
-
-        void writeToStream( std::ostream &os ) const {
-            if (!m_exeName.name().empty()) {
-                os << "usage:\n" << "  " << m_exeName.name() << " ";
-                bool required = true, first = true;
-                for( auto const &arg : m_args ) {
-                    if (first)
-                        first = false;
-                    else
-                        os << " ";
-                    if( arg.isOptional() && required ) {
-                        os << "[";
-                        required = false;
-                    }
-                    os << "<" << arg.hint() << ">";
-                    if( arg.cardinality() == 0 )
-                        os << " ... ";
-                }
-                if( !required )
-                    os << "]";
-                if( !m_options.empty() )
-                    os << " options";
-                os << "\n\nwhere options are:" << std::endl;
-            }
-
-            auto rows = getHelpColumns();
-            size_t consoleWidth = CATCH_CLARA_CONFIG_CONSOLE_WIDTH;
-            size_t optWidth = 0;
-            for( auto const &cols : rows )
-                optWidth = (std::max)(optWidth, cols.left.size() + 2);
-
-            optWidth = (std::min)(optWidth, consoleWidth/2);
-
-            for( auto const &cols : rows ) {
-                auto row =
-                        TextFlow::Column( cols.left ).width( optWidth ).indent( 2 ) +
-                        TextFlow::Spacer(4) +
-                        TextFlow::Column( cols.right ).width( consoleWidth - 7 - optWidth );
-                os << row << std::endl;
-            }
-        }
-
-        friend auto operator<<( std::ostream &os, Parser const &parser ) -> std::ostream& {
-            parser.writeToStream( os );
-            return os;
-        }
-
-        auto validate() const -> Result override {
-            for( auto const &opt : m_options ) {
-                auto result = opt.validate();
-                if( !result )
-                    return result;
-            }
-            for( auto const &arg : m_args ) {
-                auto result = arg.validate();
-                if( !result )
-                    return result;
-            }
-            return Result::ok();
-        }
-
-        using ParserBase::parse;
-
-        auto parse( std::string const& exeName, TokenStream const &tokens ) const -> InternalParseResult override {
-
-            struct ParserInfo {
-                ParserBase const* parser = nullptr;
-                size_t count = 0;
-            };
-            const size_t totalParsers = m_options.size() + m_args.size();
-            assert( totalParsers < 512 );
-            // ParserInfo parseInfos[totalParsers]; // <-- this is what we really want to do
-            ParserInfo parseInfos[512];
-
-            {
-                size_t i = 0;
-                for (auto const &opt : m_options) parseInfos[i++].parser = &opt;
-                for (auto const &arg : m_args) parseInfos[i++].parser = &arg;
-            }
-
-            m_exeName.set( exeName );
-
-            auto result = InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
-            while( result.value().remainingTokens() ) {
-                bool tokenParsed = false;
-
-                for( size_t i = 0; i < totalParsers; ++i ) {
-                    auto&  parseInfo = parseInfos[i];
-                    if( parseInfo.parser->cardinality() == 0 || parseInfo.count < parseInfo.parser->cardinality() ) {
-                        result = parseInfo.parser->parse(exeName, result.value().remainingTokens());
-                        if (!result)
-                            return result;
-                        if (result.value().type() != ParseResultType::NoMatch) {
-                            tokenParsed = true;
-                            ++parseInfo.count;
-                            break;
-                        }
-                    }
-                }
-
-                if( result.value().type() == ParseResultType::ShortCircuitAll )
-                    return result;
-                if( !tokenParsed )
-                    return InternalParseResult::runtimeError( "Unrecognised token: " + result.value().remainingTokens()->token );
-            }
-            // !TBD Check missing required options
-            return result;
-        }
-    };
-
-    template<typename DerivedT>
-    template<typename T>
-    auto ComposableParserImpl<DerivedT>::operator|( T const &other ) const -> Parser {
-        return Parser() | static_cast<DerivedT const &>( *this ) | other;
-    }
-} // namespace detail
-
-// A Combined parser
-using detail::Parser;
-
-// A parser for options
-using detail::Opt;
-
-// A parser for arguments
-using detail::Arg;
-
-// Wrapper for argc, argv from main()
-using detail::Args;
-
-// Specifies the name of the executable
-using detail::ExeName;
-
-// Convenience wrapper for option parser that specifies the help option
-using detail::Help;
-
-// enum of result types from a parse
-using detail::ParseResultType;
-
-// Result type for parser operation
-using detail::ParserResult;
-
-}} // namespace Catch::clara
-
-// end clara.hpp
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// Restore Clara's value for console width, if present
-#ifdef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#undef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#endif
-
-// end catch_clara.h
-namespace Catch {
-
-    clara::Parser makeCommandLineParser( ConfigData& config );
-
-} // end namespace Catch
-
-// end catch_commandline.h
-#include <fstream>
-#include <ctime>
-
-namespace Catch {
-
-    clara::Parser makeCommandLineParser( ConfigData& config ) {
-
-        using namespace clara;
-
-        auto const setWarning = [&]( std::string const& warning ) {
-                auto warningSet = [&]() {
-                    if( warning == "NoAssertions" )
-                        return WarnAbout::NoAssertions;
-
-                    if ( warning == "NoTests" )
-                        return WarnAbout::NoTests;
-
-                    return WarnAbout::Nothing;
-                }();
-
-                if (warningSet == WarnAbout::Nothing)
-                    return ParserResult::runtimeError( "Unrecognised warning: '" + warning + "'" );
-                config.warnings = static_cast<WarnAbout::What>( config.warnings | warningSet );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const loadTestNamesFromFile = [&]( std::string const& filename ) {
-                std::ifstream f( filename.c_str() );
-                if( !f.is_open() )
-                    return ParserResult::runtimeError( "Unable to load input file: '" + filename + "'" );
-
-                std::string line;
-                while( std::getline( f, line ) ) {
-                    line = trim(line);
-                    if( !line.empty() && !startsWith( line, '#' ) ) {
-                        if( !startsWith( line, '"' ) )
-                            line = '"' + line + '"';
-                        config.testsOrTags.push_back( line + ',' );
-                    }
-                }
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setTestOrder = [&]( std::string const& order ) {
-                if( startsWith( "declared", order ) )
-                    config.runOrder = RunTests::InDeclarationOrder;
-                else if( startsWith( "lexical", order ) )
-                    config.runOrder = RunTests::InLexicographicalOrder;
-                else if( startsWith( "random", order ) )
-                    config.runOrder = RunTests::InRandomOrder;
-                else
-                    return clara::ParserResult::runtimeError( "Unrecognised ordering: '" + order + "'" );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setRngSeed = [&]( std::string const& seed ) {
-                if( seed != "time" )
-                    return clara::detail::convertInto( seed, config.rngSeed );
-                config.rngSeed = static_cast<unsigned int>( std::time(nullptr) );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setColourUsage = [&]( std::string const& useColour ) {
-                    auto mode = toLower( useColour );
-
-                    if( mode == "yes" )
-                        config.useColour = UseColour::Yes;
-                    else if( mode == "no" )
-                        config.useColour = UseColour::No;
-                    else if( mode == "auto" )
-                        config.useColour = UseColour::Auto;
-                    else
-                        return ParserResult::runtimeError( "colour mode must be one of: auto, yes or no. '" + useColour + "' not recognised" );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setWaitForKeypress = [&]( std::string const& keypress ) {
-                auto keypressLc = toLower( keypress );
-                if( keypressLc == "start" )
-                    config.waitForKeypress = WaitForKeypress::BeforeStart;
-                else if( keypressLc == "exit" )
-                    config.waitForKeypress = WaitForKeypress::BeforeExit;
-                else if( keypressLc == "both" )
-                    config.waitForKeypress = WaitForKeypress::BeforeStartAndExit;
-                else
-                    return ParserResult::runtimeError( "keypress argument must be one of: start, exit or both. '" + keypress + "' not recognised" );
-            return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setVerbosity = [&]( std::string const& verbosity ) {
-            auto lcVerbosity = toLower( verbosity );
-            if( lcVerbosity == "quiet" )
-                config.verbosity = Verbosity::Quiet;
-            else if( lcVerbosity == "normal" )
-                config.verbosity = Verbosity::Normal;
-            else if( lcVerbosity == "high" )
-                config.verbosity = Verbosity::High;
-            else
-                return ParserResult::runtimeError( "Unrecognised verbosity, '" + verbosity + "'" );
-            return ParserResult::ok( ParseResultType::Matched );
-        };
-        auto const setReporter = [&]( std::string const& reporter ) {
-            IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
-
-            auto lcReporter = toLower( reporter );
-            auto result = factories.find( lcReporter );
-
-            if( factories.end() != result )
-                config.reporterName = lcReporter;
-            else
-                return ParserResult::runtimeError( "Unrecognized reporter, '" + reporter + "'. Check available with --list-reporters" );
-            return ParserResult::ok( ParseResultType::Matched );
-        };
-
-        auto cli
-            = ExeName( config.processName )
-            | Help( config.showHelp )
-            | Opt( config.listTests )
-                ["-l"]["--list-tests"]
-                ( "list all/matching test cases" )
-            | Opt( config.listTags )
-                ["-t"]["--list-tags"]
-                ( "list all/matching tags" )
-            | Opt( config.showSuccessfulTests )
-                ["-s"]["--success"]
-                ( "include successful tests in output" )
-            | Opt( config.shouldDebugBreak )
-                ["-b"]["--break"]
-                ( "break into debugger on failure" )
-            | Opt( config.noThrow )
-                ["-e"]["--nothrow"]
-                ( "skip exception tests" )
-            | Opt( config.showInvisibles )
-                ["-i"]["--invisibles"]
-                ( "show invisibles (tabs, newlines)" )
-            | Opt( config.outputFilename, "filename" )
-                ["-o"]["--out"]
-                ( "output filename" )
-            | Opt( setReporter, "name" )
-                ["-r"]["--reporter"]
-                ( "reporter to use (defaults to console)" )
-            | Opt( config.name, "name" )
-                ["-n"]["--name"]
-                ( "suite name" )
-            | Opt( [&]( bool ){ config.abortAfter = 1; } )
-                ["-a"]["--abort"]
-                ( "abort at first failure" )
-            | Opt( [&]( int x ){ config.abortAfter = x; }, "no. failures" )
-                ["-x"]["--abortx"]
-                ( "abort after x failures" )
-            | Opt( setWarning, "warning name" )
-                ["-w"]["--warn"]
-                ( "enable warnings" )
-            | Opt( [&]( bool flag ) { config.showDurations = flag ? ShowDurations::Always : ShowDurations::Never; }, "yes|no" )
-                ["-d"]["--durations"]
-                ( "show test durations" )
-            | Opt( loadTestNamesFromFile, "filename" )
-                ["-f"]["--input-file"]
-                ( "load test names to run from a file" )
-            | Opt( config.filenamesAsTags )
-                ["-#"]["--filenames-as-tags"]
-                ( "adds a tag for the filename" )
-            | Opt( config.sectionsToRun, "section name" )
-                ["-c"]["--section"]
-                ( "specify section to run" )
-            | Opt( setVerbosity, "quiet|normal|high" )
-                ["-v"]["--verbosity"]
-                ( "set output verbosity" )
-            | Opt( config.listTestNamesOnly )
-                ["--list-test-names-only"]
-                ( "list all/matching test cases names only" )
-            | Opt( config.listReporters )
-                ["--list-reporters"]
-                ( "list all reporters" )
-            | Opt( setTestOrder, "decl|lex|rand" )
-                ["--order"]
-                ( "test case order (defaults to decl)" )
-            | Opt( setRngSeed, "'time'|number" )
-                ["--rng-seed"]
-                ( "set a specific seed for random numbers" )
-            | Opt( setColourUsage, "yes|no" )
-                ["--use-colour"]
-                ( "should output be colourised" )
-            | Opt( config.libIdentify )
-                ["--libidentify"]
-                ( "report name and version according to libidentify standard" )
-            | Opt( setWaitForKeypress, "start|exit|both" )
-                ["--wait-for-keypress"]
-                ( "waits for a keypress before exiting" )
-            | Opt( config.benchmarkSamples, "samples" )
-                ["--benchmark-samples"]
-                ( "number of samples to collect (default: 100)" )
-            | Opt( config.benchmarkResamples, "resamples" )
-                ["--benchmark-resamples"]
-                ( "number of resamples for the bootstrap (default: 100000)" )
-            | Opt( config.benchmarkConfidenceInterval, "confidence interval" )
-                ["--benchmark-confidence-interval"]
-                ( "confidence interval for the bootstrap (between 0 and 1, default: 0.95)" )
-            | Opt( config.benchmarkNoAnalysis )
-                ["--benchmark-no-analysis"]
-                ( "perform only measurements; do not perform any analysis" )
-			| Arg( config.testsOrTags, "test name|pattern|tags" )
-                ( "which test or tests to use" );
-
-        return cli;
-    }
-
-} // end namespace Catch
-// end catch_commandline.cpp
-// start catch_common.cpp
-
-#include <cstring>
-#include <ostream>
-
-namespace Catch {
-
-    bool SourceLineInfo::empty() const noexcept {
-        return file[0] == '\0';
-    }
-    bool SourceLineInfo::operator == ( SourceLineInfo const& other ) const noexcept {
-        return line == other.line && (file == other.file || std::strcmp(file, other.file) == 0);
-    }
-    bool SourceLineInfo::operator < ( SourceLineInfo const& other ) const noexcept {
-        // We can assume that the same file will usually have the same pointer.
-        // Thus, if the pointers are the same, there is no point in calling the strcmp
-        return line < other.line || ( line == other.line && file != other.file && (std::strcmp(file, other.file) < 0));
-    }
-
-    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ) {
-#ifndef __GNUG__
-        os << info.file << '(' << info.line << ')';
-#else
-        os << info.file << ':' << info.line;
-#endif
-        return os;
-    }
-
-    std::string StreamEndStop::operator+() const {
-        return std::string();
-    }
-
-    NonCopyable::NonCopyable() = default;
-    NonCopyable::~NonCopyable() = default;
-
-}
-// end catch_common.cpp
-// start catch_config.cpp
-
-namespace Catch {
-
-    Config::Config( ConfigData const& data )
-    :   m_data( data ),
-        m_stream( openStream() )
-    {
-        TestSpecParser parser(ITagAliasRegistry::get());
-        if (!data.testsOrTags.empty()) {
-            m_hasTestFilters = true;
-            for( auto const& testOrTags : data.testsOrTags )
-                parser.parse( testOrTags );
-        }
-        m_testSpec = parser.testSpec();
-    }
-
-    std::string const& Config::getFilename() const {
-        return m_data.outputFilename ;
-    }
-
-    bool Config::listTests() const          { return m_data.listTests; }
-    bool Config::listTestNamesOnly() const  { return m_data.listTestNamesOnly; }
-    bool Config::listTags() const           { return m_data.listTags; }
-    bool Config::listReporters() const      { return m_data.listReporters; }
-
-    std::string Config::getProcessName() const { return m_data.processName; }
-    std::string const& Config::getReporterName() const { return m_data.reporterName; }
-
-    std::vector<std::string> const& Config::getTestsOrTags() const { return m_data.testsOrTags; }
-    std::vector<std::string> const& Config::getSectionsToRun() const { return m_data.sectionsToRun; }
-
-    TestSpec const& Config::testSpec() const { return m_testSpec; }
-    bool Config::hasTestFilters() const { return m_hasTestFilters; }
-
-    bool Config::showHelp() const { return m_data.showHelp; }
-
-    // IConfig interface
-    bool Config::allowThrows() const                   { return !m_data.noThrow; }
-    std::ostream& Config::stream() const               { return m_stream->stream(); }
-    std::string Config::name() const                   { return m_data.name.empty() ? m_data.processName : m_data.name; }
-    bool Config::includeSuccessfulResults() const      { return m_data.showSuccessfulTests; }
-    bool Config::warnAboutMissingAssertions() const    { return !!(m_data.warnings & WarnAbout::NoAssertions); }
-    bool Config::warnAboutNoTests() const              { return !!(m_data.warnings & WarnAbout::NoTests); }
-    ShowDurations::OrNot Config::showDurations() const { return m_data.showDurations; }
-    RunTests::InWhatOrder Config::runOrder() const     { return m_data.runOrder; }
-    unsigned int Config::rngSeed() const               { return m_data.rngSeed; }
-    UseColour::YesOrNo Config::useColour() const       { return m_data.useColour; }
-    bool Config::shouldDebugBreak() const              { return m_data.shouldDebugBreak; }
-    int Config::abortAfter() const                     { return m_data.abortAfter; }
-    bool Config::showInvisibles() const                { return m_data.showInvisibles; }
-    Verbosity Config::verbosity() const                { return m_data.verbosity; }
-
-    bool Config::benchmarkNoAnalysis() const           { return m_data.benchmarkNoAnalysis; }
-    int Config::benchmarkSamples() const               { return m_data.benchmarkSamples; }
-    double Config::benchmarkConfidenceInterval() const { return m_data.benchmarkConfidenceInterval; }
-    unsigned int Config::benchmarkResamples() const    { return m_data.benchmarkResamples; }
-
-    IStream const* Config::openStream() {
-        return Catch::makeStream(m_data.outputFilename);
-    }
-
-} // end namespace Catch
-// end catch_config.cpp
-// start catch_console_colour.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-// start catch_errno_guard.h
-
-namespace Catch {
-
-    class ErrnoGuard {
-    public:
-        ErrnoGuard();
-        ~ErrnoGuard();
-    private:
-        int m_oldErrno;
-    };
-
-}
-
-// end catch_errno_guard.h
-#include <sstream>
-
-namespace Catch {
-    namespace {
-
-        struct IColourImpl {
-            virtual ~IColourImpl() = default;
-            virtual void use( Colour::Code _colourCode ) = 0;
-        };
-
-        struct NoColourImpl : IColourImpl {
-            void use( Colour::Code ) {}
-
-            static IColourImpl* instance() {
-                static NoColourImpl s_instance;
-                return &s_instance;
-            }
-        };
-
-    } // anon namespace
-} // namespace Catch
-
-#if !defined( CATCH_CONFIG_COLOUR_NONE ) && !defined( CATCH_CONFIG_COLOUR_WINDOWS ) && !defined( CATCH_CONFIG_COLOUR_ANSI )
-#   ifdef CATCH_PLATFORM_WINDOWS
-#       define CATCH_CONFIG_COLOUR_WINDOWS
-#   else
-#       define CATCH_CONFIG_COLOUR_ANSI
-#   endif
-#endif
-
-#if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) /////////////////////////////////////////
-
-namespace Catch {
-namespace {
-
-    class Win32ColourImpl : public IColourImpl {
-    public:
-        Win32ColourImpl() : stdoutHandle( GetStdHandle(STD_OUTPUT_HANDLE) )
-        {
-            CONSOLE_SCREEN_BUFFER_INFO csbiInfo;
-            GetConsoleScreenBufferInfo( stdoutHandle, &csbiInfo );
-            originalForegroundAttributes = csbiInfo.wAttributes & ~( BACKGROUND_GREEN | BACKGROUND_RED | BACKGROUND_BLUE | BACKGROUND_INTENSITY );
-            originalBackgroundAttributes = csbiInfo.wAttributes & ~( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE | FOREGROUND_INTENSITY );
-        }
-
-        void use( Colour::Code _colourCode ) override {
-            switch( _colourCode ) {
-                case Colour::None:      return setTextAttribute( originalForegroundAttributes );
-                case Colour::White:     return setTextAttribute( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
-                case Colour::Red:       return setTextAttribute( FOREGROUND_RED );
-                case Colour::Green:     return setTextAttribute( FOREGROUND_GREEN );
-                case Colour::Blue:      return setTextAttribute( FOREGROUND_BLUE );
-                case Colour::Cyan:      return setTextAttribute( FOREGROUND_BLUE | FOREGROUND_GREEN );
-                case Colour::Yellow:    return setTextAttribute( FOREGROUND_RED | FOREGROUND_GREEN );
-                case Colour::Grey:      return setTextAttribute( 0 );
-
-                case Colour::LightGrey:     return setTextAttribute( FOREGROUND_INTENSITY );
-                case Colour::BrightRed:     return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED );
-                case Colour::BrightGreen:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN );
-                case Colour::BrightWhite:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
-                case Colour::BrightYellow:  return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED | FOREGROUND_GREEN );
-
-                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
-
-                default:
-                    CATCH_ERROR( "Unknown colour requested" );
-            }
-        }
-
-    private:
-        void setTextAttribute( WORD _textAttribute ) {
-            SetConsoleTextAttribute( stdoutHandle, _textAttribute | originalBackgroundAttributes );
-        }
-        HANDLE stdoutHandle;
-        WORD originalForegroundAttributes;
-        WORD originalBackgroundAttributes;
-    };
-
-    IColourImpl* platformColourInstance() {
-        static Win32ColourImpl s_instance;
-
-        IConfigPtr config = getCurrentContext().getConfig();
-        UseColour::YesOrNo colourMode = config
-            ? config->useColour()
-            : UseColour::Auto;
-        if( colourMode == UseColour::Auto )
-            colourMode = UseColour::Yes;
-        return colourMode == UseColour::Yes
-            ? &s_instance
-            : NoColourImpl::instance();
-    }
-
-} // end anon namespace
-} // end namespace Catch
-
-#elif defined( CATCH_CONFIG_COLOUR_ANSI ) //////////////////////////////////////
-
-#include <unistd.h>
-
-namespace Catch {
-namespace {
-
-    // use POSIX/ ANSI console terminal codes
-    // Thanks to Adam Strzelecki for original contribution
-    // (http://github.com/nanoant)
-    // https://github.com/philsquared/Catch/pull/131
-    class PosixColourImpl : public IColourImpl {
-    public:
-        void use( Colour::Code _colourCode ) override {
-            switch( _colourCode ) {
-                case Colour::None:
-                case Colour::White:     return setColour( "[0m" );
-                case Colour::Red:       return setColour( "[0;31m" );
-                case Colour::Green:     return setColour( "[0;32m" );
-                case Colour::Blue:      return setColour( "[0;34m" );
-                case Colour::Cyan:      return setColour( "[0;36m" );
-                case Colour::Yellow:    return setColour( "[0;33m" );
-                case Colour::Grey:      return setColour( "[1;30m" );
-
-                case Colour::LightGrey:     return setColour( "[0;37m" );
-                case Colour::BrightRed:     return setColour( "[1;31m" );
-                case Colour::BrightGreen:   return setColour( "[1;32m" );
-                case Colour::BrightWhite:   return setColour( "[1;37m" );
-                case Colour::BrightYellow:  return setColour( "[1;33m" );
-
-                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
-                default: CATCH_INTERNAL_ERROR( "Unknown colour requested" );
-            }
-        }
-        static IColourImpl* instance() {
-            static PosixColourImpl s_instance;
-            return &s_instance;
-        }
-
-    private:
-        void setColour( const char* _escapeCode ) {
-            getCurrentContext().getConfig()->stream()
-                << '\033' << _escapeCode;
-        }
-    };
-
-    bool useColourOnPlatform() {
-        return
-#ifdef CATCH_PLATFORM_MAC
-            !isDebuggerActive() &&
-#endif
-#if !(defined(__DJGPP__) && defined(__STRICT_ANSI__))
-            isatty(STDOUT_FILENO)
-#else
-            false
-#endif
-            ;
-    }
-    IColourImpl* platformColourInstance() {
-        ErrnoGuard guard;
-        IConfigPtr config = getCurrentContext().getConfig();
-        UseColour::YesOrNo colourMode = config
-            ? config->useColour()
-            : UseColour::Auto;
-        if( colourMode == UseColour::Auto )
-            colourMode = useColourOnPlatform()
-                ? UseColour::Yes
-                : UseColour::No;
-        return colourMode == UseColour::Yes
-            ? PosixColourImpl::instance()
-            : NoColourImpl::instance();
-    }
-
-} // end anon namespace
-} // end namespace Catch
-
-#else  // not Windows or ANSI ///////////////////////////////////////////////
-
-namespace Catch {
-
-    static IColourImpl* platformColourInstance() { return NoColourImpl::instance(); }
-
-} // end namespace Catch
-
-#endif // Windows/ ANSI/ None
-
-namespace Catch {
-
-    Colour::Colour( Code _colourCode ) { use( _colourCode ); }
-    Colour::Colour( Colour&& rhs ) noexcept {
-        m_moved = rhs.m_moved;
-        rhs.m_moved = true;
-    }
-    Colour& Colour::operator=( Colour&& rhs ) noexcept {
-        m_moved = rhs.m_moved;
-        rhs.m_moved  = true;
-        return *this;
-    }
-
-    Colour::~Colour(){ if( !m_moved ) use( None ); }
-
-    void Colour::use( Code _colourCode ) {
-        static IColourImpl* impl = platformColourInstance();
-        // Strictly speaking, this cannot possibly happen.
-        // However, under some conditions it does happen (see #1626),
-        // and this change is small enough that we can let practicality
-        // triumph over purity in this case.
-        if (impl != NULL) {
-            impl->use( _colourCode );
-        }
-    }
-
-    std::ostream& operator << ( std::ostream& os, Colour const& ) {
-        return os;
-    }
-
-} // end namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-
-// end catch_console_colour.cpp
-// start catch_context.cpp
-
-namespace Catch {
-
-    class Context : public IMutableContext, NonCopyable {
-
-    public: // IContext
-        IResultCapture* getResultCapture() override {
-            return m_resultCapture;
-        }
-        IRunner* getRunner() override {
-            return m_runner;
-        }
-
-        IConfigPtr const& getConfig() const override {
-            return m_config;
-        }
-
-        ~Context() override;
-
-    public: // IMutableContext
-        void setResultCapture( IResultCapture* resultCapture ) override {
-            m_resultCapture = resultCapture;
-        }
-        void setRunner( IRunner* runner ) override {
-            m_runner = runner;
-        }
-        void setConfig( IConfigPtr const& config ) override {
-            m_config = config;
-        }
-
-        friend IMutableContext& getCurrentMutableContext();
-
-    private:
-        IConfigPtr m_config;
-        IRunner* m_runner = nullptr;
-        IResultCapture* m_resultCapture = nullptr;
-    };
-
-    IMutableContext *IMutableContext::currentContext = nullptr;
-
-    void IMutableContext::createContext()
-    {
-        currentContext = new Context();
-    }
-
-    void cleanUpContext() {
-        delete IMutableContext::currentContext;
-        IMutableContext::currentContext = nullptr;
-    }
-    IContext::~IContext() = default;
-    IMutableContext::~IMutableContext() = default;
-    Context::~Context() = default;
-}
-// end catch_context.cpp
-// start catch_debug_console.cpp
-
-// start catch_debug_console.h
-
-#include <string>
-
-namespace Catch {
-    void writeToDebugConsole( std::string const& text );
-}
-
-// end catch_debug_console.h
-#if defined(__ANDROID__)
-#include <android/log.h>
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            __android_log_print( ANDROID_LOG_DEBUG, "Catch", text.c_str() );
-        }
-    }
-
-#elif defined(CATCH_PLATFORM_WINDOWS)
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            ::OutputDebugStringA( text.c_str() );
-        }
-    }
-
-#else
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            // !TBD: Need a version for Mac/ XCode and other IDEs
-            Catch::cout() << text;
-        }
-    }
-
-#endif // Platform
-// end catch_debug_console.cpp
-// start catch_debugger.cpp
-
-#ifdef CATCH_PLATFORM_MAC
-
-#  include <assert.h>
-#  include <stdbool.h>
-#  include <sys/types.h>
-#  include <unistd.h>
-#  include <cstddef>
-#  include <ostream>
-
-#ifdef __apple_build_version__
-    // These headers will only compile with AppleClang (XCode)
-    // For other compilers (Clang, GCC, ... ) we need to exclude them
-#  include <sys/sysctl.h>
-#endif
-
-    namespace Catch {
-        #ifdef __apple_build_version__
-        // The following function is taken directly from the following technical note:
-        // https://developer.apple.com/library/archive/qa/qa1361/_index.html
-
-        // Returns true if the current process is being debugged (either
-        // running under the debugger or has a debugger attached post facto).
-        bool isDebuggerActive(){
-            int                 mib[4];
-            struct kinfo_proc   info;
-            std::size_t         size;
-
-            // Initialize the flags so that, if sysctl fails for some bizarre
-            // reason, we get a predictable result.
-
-            info.kp_proc.p_flag = 0;
-
-            // Initialize mib, which tells sysctl the info we want, in this case
-            // we're looking for information about a specific process ID.
-
-            mib[0] = CTL_KERN;
-            mib[1] = KERN_PROC;
-            mib[2] = KERN_PROC_PID;
-            mib[3] = getpid();
-
-            // Call sysctl.
-
-            size = sizeof(info);
-            if( sysctl(mib, sizeof(mib) / sizeof(*mib), &info, &size, nullptr, 0) != 0 ) {
-                Catch::cerr() << "\n** Call to sysctl failed - unable to determine if debugger is active **\n" << std::endl;
-                return false;
-            }
-
-            // We're being debugged if the P_TRACED flag is set.
-
-            return ( (info.kp_proc.p_flag & P_TRACED) != 0 );
-        }
-        #else
-        bool isDebuggerActive() {
-            // We need to find another way to determine this for non-appleclang compilers on macOS
-            return false;
-        }
-        #endif
-    } // namespace Catch
-
-#elif defined(CATCH_PLATFORM_LINUX)
-    #include <fstream>
-    #include <string>
-
-    namespace Catch{
-        // The standard POSIX way of detecting a debugger is to attempt to
-        // ptrace() the process, but this needs to be done from a child and not
-        // this process itself to still allow attaching to this process later
-        // if wanted, so is rather heavy. Under Linux we have the PID of the
-        // "debugger" (which doesn't need to be gdb, of course, it could also
-        // be strace, for example) in /proc/$PID/status, so just get it from
-        // there instead.
-        bool isDebuggerActive(){
-            // Libstdc++ has a bug, where std::ifstream sets errno to 0
-            // This way our users can properly assert over errno values
-            ErrnoGuard guard;
-            std::ifstream in("/proc/self/status");
-            for( std::string line; std::getline(in, line); ) {
-                static const int PREFIX_LEN = 11;
-                if( line.compare(0, PREFIX_LEN, "TracerPid:\t") == 0 ) {
-                    // We're traced if the PID is not 0 and no other PID starts
-                    // with 0 digit, so it's enough to check for just a single
-                    // character.
-                    return line.length() > PREFIX_LEN && line[PREFIX_LEN] != '0';
-                }
-            }
-
-            return false;
-        }
-    } // namespace Catch
-#elif defined(_MSC_VER)
-    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
-    namespace Catch {
-        bool isDebuggerActive() {
-            return IsDebuggerPresent() != 0;
-        }
-    }
-#elif defined(__MINGW32__)
-    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
-    namespace Catch {
-        bool isDebuggerActive() {
-            return IsDebuggerPresent() != 0;
-        }
-    }
-#else
-    namespace Catch {
-       bool isDebuggerActive() { return false; }
-    }
-#endif // Platform
-// end catch_debugger.cpp
-// start catch_decomposer.cpp
-
-namespace Catch {
-
-    ITransientExpression::~ITransientExpression() = default;
-
-    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs ) {
-        if( lhs.size() + rhs.size() < 40 &&
-                lhs.find('\n') == std::string::npos &&
-                rhs.find('\n') == std::string::npos )
-            os << lhs << " " << op << " " << rhs;
-        else
-            os << lhs << "\n" << op << "\n" << rhs;
-    }
-}
-// end catch_decomposer.cpp
-// start catch_enforce.cpp
-
-#include <stdexcept>
-
-namespace Catch {
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS_CUSTOM_HANDLER)
-    [[noreturn]]
-    void throw_exception(std::exception const& e) {
-        Catch::cerr() << "Catch will terminate because it needed to throw an exception.\n"
-                      << "The message was: " << e.what() << '\n';
-        std::terminate();
-    }
-#endif
-
-    [[noreturn]]
-    void throw_logic_error(std::string const& msg) {
-        throw_exception(std::logic_error(msg));
-    }
-
-    [[noreturn]]
-    void throw_domain_error(std::string const& msg) {
-        throw_exception(std::domain_error(msg));
-    }
-
-    [[noreturn]]
-    void throw_runtime_error(std::string const& msg) {
-        throw_exception(std::runtime_error(msg));
-    }
-
-} // namespace Catch;
-// end catch_enforce.cpp
-// start catch_enum_values_registry.cpp
-// start catch_enum_values_registry.h
-
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    namespace Detail {
-
-        std::unique_ptr<EnumInfo> makeEnumInfo( StringRef enumName, StringRef allValueNames, std::vector<int> const& values );
-
-        class EnumValuesRegistry : public IMutableEnumValuesRegistry {
-
-            std::vector<std::unique_ptr<EnumInfo>> m_enumInfos;
-
-            EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::vector<int> const& values) override;
-        };
-
-        std::vector<std::string> parseEnums( StringRef enums );
-
-    } // Detail
-
-} // Catch
-
-// end catch_enum_values_registry.h
-
-#include <map>
-#include <cassert>
-
-namespace Catch {
-
-    IMutableEnumValuesRegistry::~IMutableEnumValuesRegistry() {}
-
-    namespace Detail {
-
-        std::vector<std::string> parseEnums( StringRef enums ) {
-            auto enumValues = splitStringRef( enums, ',' );
-            std::vector<std::string> parsed;
-            parsed.reserve( enumValues.size() );
-            for( auto const& enumValue : enumValues ) {
-                auto identifiers = splitStringRef( enumValue, ':' );
-                parsed.push_back( Catch::trim( identifiers.back() ) );
-            }
-            return parsed;
-        }
-
-        EnumInfo::~EnumInfo() {}
-
-        StringRef EnumInfo::lookup( int value ) const {
-            for( auto const& valueToName : m_values ) {
-                if( valueToName.first == value )
-                    return valueToName.second;
-            }
-            return "{** unexpected enum value **}";
-        }
-
-        std::unique_ptr<EnumInfo> makeEnumInfo( StringRef enumName, StringRef allValueNames, std::vector<int> const& values ) {
-            std::unique_ptr<EnumInfo> enumInfo( new EnumInfo );
-            enumInfo->m_name = enumName;
-            enumInfo->m_values.reserve( values.size() );
-
-            const auto valueNames = Catch::Detail::parseEnums( allValueNames );
-            assert( valueNames.size() == values.size() );
-            std::size_t i = 0;
-            for( auto value : values )
-                enumInfo->m_values.push_back({ value, valueNames[i++] });
-
-            return enumInfo;
-        }
-
-        EnumInfo const& EnumValuesRegistry::registerEnum( StringRef enumName, StringRef allValueNames, std::vector<int> const& values ) {
-            auto enumInfo = makeEnumInfo( enumName, allValueNames, values );
-            EnumInfo* raw = enumInfo.get();
-            m_enumInfos.push_back( std::move( enumInfo ) );
-            return *raw;
-        }
-
-    } // Detail
-} // Catch
-
-// end catch_enum_values_registry.cpp
-// start catch_errno_guard.cpp
-
-#include <cerrno>
-
-namespace Catch {
-        ErrnoGuard::ErrnoGuard():m_oldErrno(errno){}
-        ErrnoGuard::~ErrnoGuard() { errno = m_oldErrno; }
-}
-// end catch_errno_guard.cpp
-// start catch_exception_translator_registry.cpp
-
-// start catch_exception_translator_registry.h
-
-#include <vector>
-#include <string>
-#include <memory>
-
-namespace Catch {
-
-    class ExceptionTranslatorRegistry : public IExceptionTranslatorRegistry {
-    public:
-        ~ExceptionTranslatorRegistry();
-        virtual void registerTranslator( const IExceptionTranslator* translator );
-        std::string translateActiveException() const override;
-        std::string tryTranslators() const;
-
-    private:
-        std::vector<std::unique_ptr<IExceptionTranslator const>> m_translators;
-    };
-}
-
-// end catch_exception_translator_registry.h
-#ifdef __OBJC__
-#import "Foundation/Foundation.h"
-#endif
-
-namespace Catch {
-
-    ExceptionTranslatorRegistry::~ExceptionTranslatorRegistry() {
-    }
-
-    void ExceptionTranslatorRegistry::registerTranslator( const IExceptionTranslator* translator ) {
-        m_translators.push_back( std::unique_ptr<const IExceptionTranslator>( translator ) );
-    }
-
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    std::string ExceptionTranslatorRegistry::translateActiveException() const {
-        try {
-#ifdef __OBJC__
-            // In Objective-C try objective-c exceptions first
-            @try {
-                return tryTranslators();
-            }
-            @catch (NSException *exception) {
-                return Catch::Detail::stringify( [exception description] );
-            }
-#else
-            // Compiling a mixed mode project with MSVC means that CLR
-            // exceptions will be caught in (...) as well. However, these
-            // do not fill-in std::current_exception and thus lead to crash
-            // when attempting rethrow.
-            // /EHa switch also causes structured exceptions to be caught
-            // here, but they fill-in current_exception properly, so
-            // at worst the output should be a little weird, instead of
-            // causing a crash.
-            if (std::current_exception() == nullptr) {
-                return "Non C++ exception. Possibly a CLR exception.";
-            }
-            return tryTranslators();
-#endif
-        }
-        catch( TestFailureException& ) {
-            std::rethrow_exception(std::current_exception());
-        }
-        catch( std::exception& ex ) {
-            return ex.what();
-        }
-        catch( std::string& msg ) {
-            return msg;
-        }
-        catch( const char* msg ) {
-            return msg;
-        }
-        catch(...) {
-            return "Unknown exception";
-        }
-    }
-
-    std::string ExceptionTranslatorRegistry::tryTranslators() const {
-        if (m_translators.empty()) {
-            std::rethrow_exception(std::current_exception());
-        } else {
-            return m_translators[0]->translate(m_translators.begin() + 1, m_translators.end());
-        }
-    }
-
-#else // ^^ Exceptions are enabled // Exceptions are disabled vv
-    std::string ExceptionTranslatorRegistry::translateActiveException() const {
-        CATCH_INTERNAL_ERROR("Attempted to translate active exception under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
-    }
-
-    std::string ExceptionTranslatorRegistry::tryTranslators() const {
-        CATCH_INTERNAL_ERROR("Attempted to use exception translators under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
-    }
-#endif
-
-}
-// end catch_exception_translator_registry.cpp
-// start catch_fatal_condition.cpp
-
-#if defined(__GNUC__)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wmissing-field-initializers"
-#endif
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH ) || defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-namespace {
-    // Report the error condition
-    void reportFatal( char const * const message ) {
-        Catch::getCurrentContext().getResultCapture()->handleFatalErrorCondition( message );
-    }
-}
-
-#endif // signals/SEH handling
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH )
-
-namespace Catch {
-    struct SignalDefs { DWORD id; const char* name; };
-
-    // There is no 1-1 mapping between signals and windows exceptions.
-    // Windows can easily distinguish between SO and SigSegV,
-    // but SigInt, SigTerm, etc are handled differently.
-    static SignalDefs signalDefs[] = {
-        { static_cast<DWORD>(EXCEPTION_ILLEGAL_INSTRUCTION),  "SIGILL - Illegal instruction signal" },
-        { static_cast<DWORD>(EXCEPTION_STACK_OVERFLOW), "SIGSEGV - Stack overflow" },
-        { static_cast<DWORD>(EXCEPTION_ACCESS_VIOLATION), "SIGSEGV - Segmentation violation signal" },
-        { static_cast<DWORD>(EXCEPTION_INT_DIVIDE_BY_ZERO), "Divide by zero error" },
-    };
-
-    LONG CALLBACK FatalConditionHandler::handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) {
-        for (auto const& def : signalDefs) {
-            if (ExceptionInfo->ExceptionRecord->ExceptionCode == def.id) {
-                reportFatal(def.name);
-            }
-        }
-        // If its not an exception we care about, pass it along.
-        // This stops us from eating debugger breaks etc.
-        return EXCEPTION_CONTINUE_SEARCH;
-    }
-
-    FatalConditionHandler::FatalConditionHandler() {
-        isSet = true;
-        // 32k seems enough for Catch to handle stack overflow,
-        // but the value was found experimentally, so there is no strong guarantee
-        guaranteeSize = 32 * 1024;
-        exceptionHandlerHandle = nullptr;
-        // Register as first handler in current chain
-        exceptionHandlerHandle = AddVectoredExceptionHandler(1, handleVectoredException);
-        // Pass in guarantee size to be filled
-        SetThreadStackGuarantee(&guaranteeSize);
-    }
-
-    void FatalConditionHandler::reset() {
-        if (isSet) {
-            RemoveVectoredExceptionHandler(exceptionHandlerHandle);
-            SetThreadStackGuarantee(&guaranteeSize);
-            exceptionHandlerHandle = nullptr;
-            isSet = false;
-        }
-    }
-
-    FatalConditionHandler::~FatalConditionHandler() {
-        reset();
-    }
-
-bool FatalConditionHandler::isSet = false;
-ULONG FatalConditionHandler::guaranteeSize = 0;
-PVOID FatalConditionHandler::exceptionHandlerHandle = nullptr;
-
-} // namespace Catch
-
-#elif defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-namespace Catch {
-
-    struct SignalDefs {
-        int id;
-        const char* name;
-    };
-
-    // 32kb for the alternate stack seems to be sufficient. However, this value
-    // is experimentally determined, so that's not guaranteed.
-    static constexpr std::size_t sigStackSize = 32768 >= MINSIGSTKSZ ? 32768 : MINSIGSTKSZ;
-
-    static SignalDefs signalDefs[] = {
-        { SIGINT,  "SIGINT - Terminal interrupt signal" },
-        { SIGILL,  "SIGILL - Illegal instruction signal" },
-        { SIGFPE,  "SIGFPE - Floating point error signal" },
-        { SIGSEGV, "SIGSEGV - Segmentation violation signal" },
-        { SIGTERM, "SIGTERM - Termination request signal" },
-        { SIGABRT, "SIGABRT - Abort (abnormal termination) signal" }
-    };
-
-    void FatalConditionHandler::handleSignal( int sig ) {
-        char const * name = "<unknown signal>";
-        for (auto const& def : signalDefs) {
-            if (sig == def.id) {
-                name = def.name;
-                break;
-            }
-        }
-        reset();
-        reportFatal(name);
-        raise( sig );
-    }
-
-    FatalConditionHandler::FatalConditionHandler() {
-        isSet = true;
-        stack_t sigStack;
-        sigStack.ss_sp = altStackMem;
-        sigStack.ss_size = sigStackSize;
-        sigStack.ss_flags = 0;
-        sigaltstack(&sigStack, &oldSigStack);
-        struct sigaction sa = { };
-
-        sa.sa_handler = handleSignal;
-        sa.sa_flags = SA_ONSTACK;
-        for (std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i) {
-            sigaction(signalDefs[i].id, &sa, &oldSigActions[i]);
-        }
-    }
-
-    FatalConditionHandler::~FatalConditionHandler() {
-        reset();
-    }
-
-    void FatalConditionHandler::reset() {
-        if( isSet ) {
-            // Set signals back to previous values -- hopefully nobody overwrote them in the meantime
-            for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) {
-                sigaction(signalDefs[i].id, &oldSigActions[i], nullptr);
-            }
-            // Return the old stack
-            sigaltstack(&oldSigStack, nullptr);
-            isSet = false;
-        }
-    }
-
-    bool FatalConditionHandler::isSet = false;
-    struct sigaction FatalConditionHandler::oldSigActions[sizeof(signalDefs)/sizeof(SignalDefs)] = {};
-    stack_t FatalConditionHandler::oldSigStack = {};
-    char FatalConditionHandler::altStackMem[sigStackSize] = {};
-
-} // namespace Catch
-
-#else
-
-namespace Catch {
-    void FatalConditionHandler::reset() {}
-}
-
-#endif // signals/SEH handling
-
-#if defined(__GNUC__)
-#    pragma GCC diagnostic pop
-#endif
-// end catch_fatal_condition.cpp
-// start catch_generators.cpp
-
-// start catch_random_number_generator.h
-
-#include <algorithm>
-#include <random>
-
-namespace Catch {
-
-    struct IConfig;
-
-    std::mt19937& rng();
-    void seedRng( IConfig const& config );
-    unsigned int rngSeed();
-
-}
-
-// end catch_random_number_generator.h
-#include <limits>
-#include <set>
-
-namespace Catch {
-
-IGeneratorTracker::~IGeneratorTracker() {}
-
-const char* GeneratorException::what() const noexcept {
-    return m_msg;
-}
-
-namespace Generators {
-
-    GeneratorUntypedBase::~GeneratorUntypedBase() {}
-
-    auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
-        return getResultCapture().acquireGeneratorTracker( lineInfo );
-    }
-
-} // namespace Generators
-} // namespace Catch
-// end catch_generators.cpp
-// start catch_interfaces_capture.cpp
-
-namespace Catch {
-    IResultCapture::~IResultCapture() = default;
-}
-// end catch_interfaces_capture.cpp
-// start catch_interfaces_config.cpp
-
-namespace Catch {
-    IConfig::~IConfig() = default;
-}
-// end catch_interfaces_config.cpp
-// start catch_interfaces_exception.cpp
-
-namespace Catch {
-    IExceptionTranslator::~IExceptionTranslator() = default;
-    IExceptionTranslatorRegistry::~IExceptionTranslatorRegistry() = default;
-}
-// end catch_interfaces_exception.cpp
-// start catch_interfaces_registry_hub.cpp
-
-namespace Catch {
-    IRegistryHub::~IRegistryHub() = default;
-    IMutableRegistryHub::~IMutableRegistryHub() = default;
-}
-// end catch_interfaces_registry_hub.cpp
-// start catch_interfaces_reporter.cpp
-
-// start catch_reporter_listening.h
-
-namespace Catch {
-
-    class ListeningReporter : public IStreamingReporter {
-        using Reporters = std::vector<IStreamingReporterPtr>;
-        Reporters m_listeners;
-        IStreamingReporterPtr m_reporter = nullptr;
-        ReporterPreferences m_preferences;
-
-    public:
-        ListeningReporter();
-
-        void addListener( IStreamingReporterPtr&& listener );
-        void addReporter( IStreamingReporterPtr&& reporter );
-
-    public: // IStreamingReporter
-
-        ReporterPreferences getPreferences() const override;
-
-        void noMatchingTestCases( std::string const& spec ) override;
-
-        static std::set<Verbosity> getSupportedVerbosities();
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) override;
-        void benchmarkEnded( BenchmarkStats<> const& benchmarkStats ) override;
-        void benchmarkFailed(std::string const&) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void testRunStarting( TestRunInfo const& testRunInfo ) override;
-        void testGroupStarting( GroupInfo const& groupInfo ) override;
-        void testCaseStarting( TestCaseInfo const& testInfo ) override;
-        void sectionStarting( SectionInfo const& sectionInfo ) override;
-        void assertionStarting( AssertionInfo const& assertionInfo ) override;
-
-        // The return value indicates if the messages buffer should be cleared:
-        bool assertionEnded( AssertionStats const& assertionStats ) override;
-        void sectionEnded( SectionStats const& sectionStats ) override;
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override;
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override;
-        void testRunEnded( TestRunStats const& testRunStats ) override;
-
-        void skipTest( TestCaseInfo const& testInfo ) override;
-        bool isMulti() const override;
-
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_listening.h
-namespace Catch {
-
-    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig )
-    :   m_stream( &_fullConfig->stream() ), m_fullConfig( _fullConfig ) {}
-
-    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream )
-    :   m_stream( &_stream ), m_fullConfig( _fullConfig ) {}
-
-    std::ostream& ReporterConfig::stream() const { return *m_stream; }
-    IConfigPtr ReporterConfig::fullConfig() const { return m_fullConfig; }
-
-    TestRunInfo::TestRunInfo( std::string const& _name ) : name( _name ) {}
-
-    GroupInfo::GroupInfo(  std::string const& _name,
-                           std::size_t _groupIndex,
-                           std::size_t _groupsCount )
-    :   name( _name ),
-        groupIndex( _groupIndex ),
-        groupsCounts( _groupsCount )
-    {}
-
-     AssertionStats::AssertionStats( AssertionResult const& _assertionResult,
-                                     std::vector<MessageInfo> const& _infoMessages,
-                                     Totals const& _totals )
-    :   assertionResult( _assertionResult ),
-        infoMessages( _infoMessages ),
-        totals( _totals )
-    {
-        assertionResult.m_resultData.lazyExpression.m_transientExpression = _assertionResult.m_resultData.lazyExpression.m_transientExpression;
-
-        if( assertionResult.hasMessage() ) {
-            // Copy message into messages list.
-            // !TBD This should have been done earlier, somewhere
-            MessageBuilder builder( assertionResult.getTestMacroName(), assertionResult.getSourceInfo(), assertionResult.getResultType() );
-            builder << assertionResult.getMessage();
-            builder.m_info.message = builder.m_stream.str();
-
-            infoMessages.push_back( builder.m_info );
-        }
-    }
-
-     AssertionStats::~AssertionStats() = default;
-
-    SectionStats::SectionStats(  SectionInfo const& _sectionInfo,
-                                 Counts const& _assertions,
-                                 double _durationInSeconds,
-                                 bool _missingAssertions )
-    :   sectionInfo( _sectionInfo ),
-        assertions( _assertions ),
-        durationInSeconds( _durationInSeconds ),
-        missingAssertions( _missingAssertions )
-    {}
-
-    SectionStats::~SectionStats() = default;
-
-    TestCaseStats::TestCaseStats(  TestCaseInfo const& _testInfo,
-                                   Totals const& _totals,
-                                   std::string const& _stdOut,
-                                   std::string const& _stdErr,
-                                   bool _aborting )
-    : testInfo( _testInfo ),
-        totals( _totals ),
-        stdOut( _stdOut ),
-        stdErr( _stdErr ),
-        aborting( _aborting )
-    {}
-
-    TestCaseStats::~TestCaseStats() = default;
-
-    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo,
-                                    Totals const& _totals,
-                                    bool _aborting )
-    :   groupInfo( _groupInfo ),
-        totals( _totals ),
-        aborting( _aborting )
-    {}
-
-    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo )
-    :   groupInfo( _groupInfo ),
-        aborting( false )
-    {}
-
-    TestGroupStats::~TestGroupStats() = default;
-
-    TestRunStats::TestRunStats(   TestRunInfo const& _runInfo,
-                    Totals const& _totals,
-                    bool _aborting )
-    :   runInfo( _runInfo ),
-        totals( _totals ),
-        aborting( _aborting )
-    {}
-
-    TestRunStats::~TestRunStats() = default;
-
-    void IStreamingReporter::fatalErrorEncountered( StringRef ) {}
-    bool IStreamingReporter::isMulti() const { return false; }
-
-    IReporterFactory::~IReporterFactory() = default;
-    IReporterRegistry::~IReporterRegistry() = default;
-
-} // end namespace Catch
-// end catch_interfaces_reporter.cpp
-// start catch_interfaces_runner.cpp
-
-namespace Catch {
-    IRunner::~IRunner() = default;
-}
-// end catch_interfaces_runner.cpp
-// start catch_interfaces_testcase.cpp
-
-namespace Catch {
-    ITestInvoker::~ITestInvoker() = default;
-    ITestCaseRegistry::~ITestCaseRegistry() = default;
-}
-// end catch_interfaces_testcase.cpp
-// start catch_leak_detector.cpp
-
-#ifdef CATCH_CONFIG_WINDOWS_CRTDBG
-#include <crtdbg.h>
-
-namespace Catch {
-
-    LeakDetector::LeakDetector() {
-        int flag = _CrtSetDbgFlag(_CRTDBG_REPORT_FLAG);
-        flag |= _CRTDBG_LEAK_CHECK_DF;
-        flag |= _CRTDBG_ALLOC_MEM_DF;
-        _CrtSetDbgFlag(flag);
-        _CrtSetReportMode(_CRT_WARN, _CRTDBG_MODE_FILE | _CRTDBG_MODE_DEBUG);
-        _CrtSetReportFile(_CRT_WARN, _CRTDBG_FILE_STDERR);
-        // Change this to leaking allocation's number to break there
-        _CrtSetBreakAlloc(-1);
-    }
-}
-
-#else
-
-    Catch::LeakDetector::LeakDetector() {}
-
-#endif
-
-Catch::LeakDetector::~LeakDetector() {
-    Catch::cleanUp();
-}
-// end catch_leak_detector.cpp
-// start catch_list.cpp
-
-// start catch_list.h
-
-#include <set>
-
-namespace Catch {
-
-    std::size_t listTests( Config const& config );
-
-    std::size_t listTestsNamesOnly( Config const& config );
-
-    struct TagInfo {
-        void add( std::string const& spelling );
-        std::string all() const;
-
-        std::set<std::string> spellings;
-        std::size_t count = 0;
-    };
-
-    std::size_t listTags( Config const& config );
-
-    std::size_t listReporters();
-
-    Option<std::size_t> list( std::shared_ptr<Config> const& config );
-
-} // end namespace Catch
-
-// end catch_list.h
-// start catch_text.h
-
-namespace Catch {
-    using namespace clara::TextFlow;
-}
-
-// end catch_text.h
-#include <limits>
-#include <algorithm>
-#include <iomanip>
-
-namespace Catch {
-
-    std::size_t listTests( Config const& config ) {
-        TestSpec testSpec = config.testSpec();
-        if( config.hasTestFilters() )
-            Catch::cout() << "Matching test cases:\n";
-        else {
-            Catch::cout() << "All available test cases:\n";
-        }
-
-        auto matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCaseInfo : matchedTestCases ) {
-            Colour::Code colour = testCaseInfo.isHidden()
-                ? Colour::SecondaryText
-                : Colour::None;
-            Colour colourGuard( colour );
-
-            Catch::cout() << Column( testCaseInfo.name ).initialIndent( 2 ).indent( 4 ) << "\n";
-            if( config.verbosity() >= Verbosity::High ) {
-                Catch::cout() << Column( Catch::Detail::stringify( testCaseInfo.lineInfo ) ).indent(4) << std::endl;
-                std::string description = testCaseInfo.description;
-                if( description.empty() )
-                    description = "(NO DESCRIPTION)";
-                Catch::cout() << Column( description ).indent(4) << std::endl;
-            }
-            if( !testCaseInfo.tags.empty() )
-                Catch::cout() << Column( testCaseInfo.tagsAsString() ).indent( 6 ) << "\n";
-        }
-
-        if( !config.hasTestFilters() )
-            Catch::cout() << pluralise( matchedTestCases.size(), "test case" ) << '\n' << std::endl;
-        else
-            Catch::cout() << pluralise( matchedTestCases.size(), "matching test case" ) << '\n' << std::endl;
-        return matchedTestCases.size();
-    }
-
-    std::size_t listTestsNamesOnly( Config const& config ) {
-        TestSpec testSpec = config.testSpec();
-        std::size_t matchedTests = 0;
-        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCaseInfo : matchedTestCases ) {
-            matchedTests++;
-            if( startsWith( testCaseInfo.name, '#' ) )
-               Catch::cout() << '"' << testCaseInfo.name << '"';
-            else
-               Catch::cout() << testCaseInfo.name;
-            if ( config.verbosity() >= Verbosity::High )
-                Catch::cout() << "\t@" << testCaseInfo.lineInfo;
-            Catch::cout() << std::endl;
-        }
-        return matchedTests;
-    }
-
-    void TagInfo::add( std::string const& spelling ) {
-        ++count;
-        spellings.insert( spelling );
-    }
-
-    std::string TagInfo::all() const {
-        size_t size = 0;
-        for (auto const& spelling : spellings) {
-            // Add 2 for the brackes
-            size += spelling.size() + 2;
-        }
-
-        std::string out; out.reserve(size);
-        for (auto const& spelling : spellings) {
-            out += '[';
-            out += spelling;
-            out += ']';
-        }
-        return out;
-    }
-
-    std::size_t listTags( Config const& config ) {
-        TestSpec testSpec = config.testSpec();
-        if( config.hasTestFilters() )
-            Catch::cout() << "Tags for matching test cases:\n";
-        else {
-            Catch::cout() << "All available tags:\n";
-        }
-
-        std::map<std::string, TagInfo> tagCounts;
-
-        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCase : matchedTestCases ) {
-            for( auto const& tagName : testCase.getTestCaseInfo().tags ) {
-                std::string lcaseTagName = toLower( tagName );
-                auto countIt = tagCounts.find( lcaseTagName );
-                if( countIt == tagCounts.end() )
-                    countIt = tagCounts.insert( std::make_pair( lcaseTagName, TagInfo() ) ).first;
-                countIt->second.add( tagName );
-            }
-        }
-
-        for( auto const& tagCount : tagCounts ) {
-            ReusableStringStream rss;
-            rss << "  " << std::setw(2) << tagCount.second.count << "  ";
-            auto str = rss.str();
-            auto wrapper = Column( tagCount.second.all() )
-                                                    .initialIndent( 0 )
-                                                    .indent( str.size() )
-                                                    .width( CATCH_CONFIG_CONSOLE_WIDTH-10 );
-            Catch::cout() << str << wrapper << '\n';
-        }
-        Catch::cout() << pluralise( tagCounts.size(), "tag" ) << '\n' << std::endl;
-        return tagCounts.size();
-    }
-
-    std::size_t listReporters() {
-        Catch::cout() << "Available reporters:\n";
-        IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
-        std::size_t maxNameLen = 0;
-        for( auto const& factoryKvp : factories )
-            maxNameLen = (std::max)( maxNameLen, factoryKvp.first.size() );
-
-        for( auto const& factoryKvp : factories ) {
-            Catch::cout()
-                    << Column( factoryKvp.first + ":" )
-                            .indent(2)
-                            .width( 5+maxNameLen )
-                    +  Column( factoryKvp.second->getDescription() )
-                            .initialIndent(0)
-                            .indent(2)
-                            .width( CATCH_CONFIG_CONSOLE_WIDTH - maxNameLen-8 )
-                    << "\n";
-        }
-        Catch::cout() << std::endl;
-        return factories.size();
-    }
-
-    Option<std::size_t> list( std::shared_ptr<Config> const& config ) {
-        Option<std::size_t> listedCount;
-        getCurrentMutableContext().setConfig( config );
-        if( config->listTests() )
-            listedCount = listedCount.valueOr(0) + listTests( *config );
-        if( config->listTestNamesOnly() )
-            listedCount = listedCount.valueOr(0) + listTestsNamesOnly( *config );
-        if( config->listTags() )
-            listedCount = listedCount.valueOr(0) + listTags( *config );
-        if( config->listReporters() )
-            listedCount = listedCount.valueOr(0) + listReporters();
-        return listedCount;
-    }
-
-} // end namespace Catch
-// end catch_list.cpp
-// start catch_matchers.cpp
-
-namespace Catch {
-namespace Matchers {
-    namespace Impl {
-
-        std::string MatcherUntypedBase::toString() const {
-            if( m_cachedToString.empty() )
-                m_cachedToString = describe();
-            return m_cachedToString;
-        }
-
-        MatcherUntypedBase::~MatcherUntypedBase() = default;
-
-    } // namespace Impl
-} // namespace Matchers
-
-using namespace Matchers;
-using Matchers::Impl::MatcherBase;
-
-} // namespace Catch
-// end catch_matchers.cpp
-// start catch_matchers_floating.cpp
-
-// start catch_polyfills.hpp
-
-namespace Catch {
-    bool isnan(float f);
-    bool isnan(double d);
-}
-
-// end catch_polyfills.hpp
-// start catch_to_string.hpp
-
-#include <string>
-
-namespace Catch {
-    template <typename T>
-    std::string to_string(T const& t) {
-#if defined(CATCH_CONFIG_CPP11_TO_STRING)
-        return std::to_string(t);
-#else
-        ReusableStringStream rss;
-        rss << t;
-        return rss.str();
-#endif
-    }
-} // end namespace Catch
-
-// end catch_to_string.hpp
-#include <cstdlib>
-#include <cstdint>
-#include <cstring>
-#include <sstream>
-#include <iomanip>
-#include <limits>
-
-namespace Catch {
-namespace Matchers {
-namespace Floating {
-enum class FloatingPointKind : uint8_t {
-    Float,
-    Double
-};
-}
-}
-}
-
-namespace {
-
-template <typename T>
-struct Converter;
-
-template <>
-struct Converter<float> {
-    static_assert(sizeof(float) == sizeof(int32_t), "Important ULP matcher assumption violated");
-    Converter(float f) {
-        std::memcpy(&i, &f, sizeof(f));
-    }
-    int32_t i;
-};
-
-template <>
-struct Converter<double> {
-    static_assert(sizeof(double) == sizeof(int64_t), "Important ULP matcher assumption violated");
-    Converter(double d) {
-        std::memcpy(&i, &d, sizeof(d));
-    }
-    int64_t i;
-};
-
-template <typename T>
-auto convert(T t) -> Converter<T> {
-    return Converter<T>(t);
-}
-
-template <typename FP>
-bool almostEqualUlps(FP lhs, FP rhs, int maxUlpDiff) {
-    // Comparison with NaN should always be false.
-    // This way we can rule it out before getting into the ugly details
-    if (Catch::isnan(lhs) || Catch::isnan(rhs)) {
-        return false;
-    }
-
-    auto lc = convert(lhs);
-    auto rc = convert(rhs);
-
-    if ((lc.i < 0) != (rc.i < 0)) {
-        // Potentially we can have +0 and -0
-        return lhs == rhs;
-    }
-
-    auto ulpDiff = std::abs(lc.i - rc.i);
-    return ulpDiff <= maxUlpDiff;
-}
-
-template <typename FP>
-FP step(FP start, FP direction, int steps) {
-    for (int i = 0; i < steps; ++i) {
-        start = std::nextafter(start, direction);
-    }
-    return start;
-}
-
-} // end anonymous namespace
-
-namespace Catch {
-namespace Matchers {
-namespace Floating {
-    WithinAbsMatcher::WithinAbsMatcher(double target, double margin)
-        :m_target{ target }, m_margin{ margin } {
-        CATCH_ENFORCE(margin >= 0, "Invalid margin: " << margin << '.'
-            << " Margin has to be non-negative.");
-    }
-
-    // Performs equivalent check of std::fabs(lhs - rhs) <= margin
-    // But without the subtraction to allow for INFINITY in comparison
-    bool WithinAbsMatcher::match(double const& matchee) const {
-        return (matchee + m_margin >= m_target) && (m_target + m_margin >= matchee);
-    }
-
-    std::string WithinAbsMatcher::describe() const {
-        return "is within " + ::Catch::Detail::stringify(m_margin) + " of " + ::Catch::Detail::stringify(m_target);
-    }
-
-    WithinUlpsMatcher::WithinUlpsMatcher(double target, int ulps, FloatingPointKind baseType)
-        :m_target{ target }, m_ulps{ ulps }, m_type{ baseType } {
-        CATCH_ENFORCE(ulps >= 0, "Invalid ULP setting: " << ulps << '.'
-            << " ULPs have to be non-negative.");
-    }
-
-#if defined(__clang__)
-#pragma clang diagnostic push
-// Clang <3.5 reports on the default branch in the switch below
-#pragma clang diagnostic ignored "-Wunreachable-code"
-#endif
-
-    bool WithinUlpsMatcher::match(double const& matchee) const {
-        switch (m_type) {
-        case FloatingPointKind::Float:
-            return almostEqualUlps<float>(static_cast<float>(matchee), static_cast<float>(m_target), m_ulps);
-        case FloatingPointKind::Double:
-            return almostEqualUlps<double>(matchee, m_target, m_ulps);
-        default:
-            CATCH_INTERNAL_ERROR( "Unknown FloatingPointKind value" );
-        }
-    }
-
-#if defined(__clang__)
-#pragma clang diagnostic pop
-#endif
-
-    std::string WithinUlpsMatcher::describe() const {
-        std::stringstream ret;
-
-        ret << "is within " << m_ulps << " ULPs of " << ::Catch::Detail::stringify(m_target);
-
-        if (m_type == FloatingPointKind::Float) {
-            ret << 'f';
-        }
-
-        ret << " ([";
-        ret << std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10);
-        if (m_type == FloatingPointKind::Double) {
-            ret << step(m_target, static_cast<double>(-INFINITY), m_ulps)
-                << ", "
-                << step(m_target, static_cast<double>(INFINITY), m_ulps);
-        } else {
-            ret << step<float>(static_cast<float>(m_target), -INFINITY, m_ulps)
-                << ", "
-                << step<float>(static_cast<float>(m_target), INFINITY, m_ulps);
-        }
-        ret << "])";
-
-        return ret.str();
-        //return "is within " + Catch::to_string(m_ulps) + " ULPs of " + ::Catch::Detail::stringify(m_target) + ((m_type == FloatingPointKind::Float)? "f" : "");
-    }
-
-}// namespace Floating
-
-Floating::WithinUlpsMatcher WithinULP(double target, int maxUlpDiff) {
-    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Double);
-}
-
-Floating::WithinUlpsMatcher WithinULP(float target, int maxUlpDiff) {
-    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Float);
-}
-
-Floating::WithinAbsMatcher WithinAbs(double target, double margin) {
-    return Floating::WithinAbsMatcher(target, margin);
-}
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_floating.cpp
-// start catch_matchers_generic.cpp
-
-std::string Catch::Matchers::Generic::Detail::finalizeDescription(const std::string& desc) {
-    if (desc.empty()) {
-        return "matches undescribed predicate";
-    } else {
-        return "matches predicate: \"" + desc + '"';
-    }
-}
-// end catch_matchers_generic.cpp
-// start catch_matchers_string.cpp
-
-#include <regex>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace StdString {
-
-        CasedString::CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity )
-        :   m_caseSensitivity( caseSensitivity ),
-            m_str( adjustString( str ) )
-        {}
-        std::string CasedString::adjustString( std::string const& str ) const {
-            return m_caseSensitivity == CaseSensitive::No
-                   ? toLower( str )
-                   : str;
-        }
-        std::string CasedString::caseSensitivitySuffix() const {
-            return m_caseSensitivity == CaseSensitive::No
-                   ? " (case insensitive)"
-                   : std::string();
-        }
-
-        StringMatcherBase::StringMatcherBase( std::string const& operation, CasedString const& comparator )
-        : m_comparator( comparator ),
-          m_operation( operation ) {
-        }
-
-        std::string StringMatcherBase::describe() const {
-            std::string description;
-            description.reserve(5 + m_operation.size() + m_comparator.m_str.size() +
-                                        m_comparator.caseSensitivitySuffix().size());
-            description += m_operation;
-            description += ": \"";
-            description += m_comparator.m_str;
-            description += "\"";
-            description += m_comparator.caseSensitivitySuffix();
-            return description;
-        }
-
-        EqualsMatcher::EqualsMatcher( CasedString const& comparator ) : StringMatcherBase( "equals", comparator ) {}
-
-        bool EqualsMatcher::match( std::string const& source ) const {
-            return m_comparator.adjustString( source ) == m_comparator.m_str;
-        }
-
-        ContainsMatcher::ContainsMatcher( CasedString const& comparator ) : StringMatcherBase( "contains", comparator ) {}
-
-        bool ContainsMatcher::match( std::string const& source ) const {
-            return contains( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        StartsWithMatcher::StartsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "starts with", comparator ) {}
-
-        bool StartsWithMatcher::match( std::string const& source ) const {
-            return startsWith( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        EndsWithMatcher::EndsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "ends with", comparator ) {}
-
-        bool EndsWithMatcher::match( std::string const& source ) const {
-            return endsWith( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        RegexMatcher::RegexMatcher(std::string regex, CaseSensitive::Choice caseSensitivity): m_regex(std::move(regex)), m_caseSensitivity(caseSensitivity) {}
-
-        bool RegexMatcher::match(std::string const& matchee) const {
-            auto flags = std::regex::ECMAScript; // ECMAScript is the default syntax option anyway
-            if (m_caseSensitivity == CaseSensitive::Choice::No) {
-                flags |= std::regex::icase;
-            }
-            auto reg = std::regex(m_regex, flags);
-            return std::regex_match(matchee, reg);
-        }
-
-        std::string RegexMatcher::describe() const {
-            return "matches " + ::Catch::Detail::stringify(m_regex) + ((m_caseSensitivity == CaseSensitive::Choice::Yes)? " case sensitively" : " case insensitively");
-        }
-
-    } // namespace StdString
-
-    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::EqualsMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::ContainsMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::EndsWithMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::StartsWithMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-
-    StdString::RegexMatcher Matches(std::string const& regex, CaseSensitive::Choice caseSensitivity) {
-        return StdString::RegexMatcher(regex, caseSensitivity);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-// end catch_matchers_string.cpp
-// start catch_message.cpp
-
-// start catch_uncaught_exceptions.h
-
-namespace Catch {
-    bool uncaught_exceptions();
-} // end namespace Catch
-
-// end catch_uncaught_exceptions.h
-#include <cassert>
-#include <stack>
-
-namespace Catch {
-
-    MessageInfo::MessageInfo(   StringRef const& _macroName,
-                                SourceLineInfo const& _lineInfo,
-                                ResultWas::OfType _type )
-    :   macroName( _macroName ),
-        lineInfo( _lineInfo ),
-        type( _type ),
-        sequence( ++globalCount )
-    {}
-
-    bool MessageInfo::operator==( MessageInfo const& other ) const {
-        return sequence == other.sequence;
-    }
-
-    bool MessageInfo::operator<( MessageInfo const& other ) const {
-        return sequence < other.sequence;
-    }
-
-    // This may need protecting if threading support is added
-    unsigned int MessageInfo::globalCount = 0;
-
-    ////////////////////////////////////////////////////////////////////////////
-
-    Catch::MessageBuilder::MessageBuilder( StringRef const& macroName,
-                                           SourceLineInfo const& lineInfo,
-                                           ResultWas::OfType type )
-        :m_info(macroName, lineInfo, type) {}
-
-    ////////////////////////////////////////////////////////////////////////////
-
-    ScopedMessage::ScopedMessage( MessageBuilder const& builder )
-    : m_info( builder.m_info ), m_moved()
-    {
-        m_info.message = builder.m_stream.str();
-        getResultCapture().pushScopedMessage( m_info );
-    }
-
-    ScopedMessage::ScopedMessage( ScopedMessage&& old )
-    : m_info( old.m_info ), m_moved()
-    {
-        old.m_moved = true;
-    }
-
-    ScopedMessage::~ScopedMessage() {
-        if ( !uncaught_exceptions() && !m_moved ){
-            getResultCapture().popScopedMessage(m_info);
-        }
-    }
-
-    Capturer::Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names ) {
-        auto trimmed = [&] (size_t start, size_t end) {
-            while (names[start] == ',' || isspace(names[start])) {
-                ++start;
-            }
-            while (names[end] == ',' || isspace(names[end])) {
-                --end;
-            }
-            return names.substr(start, end - start + 1);
-        };
-        auto skipq = [&] (size_t start, char quote) {
-            for (auto i = start + 1; i < names.size() ; ++i) {
-                if (names[i] == quote)
-                    return i;
-                if (names[i] == '\\')
-                    ++i;
-            }
-            CATCH_INTERNAL_ERROR("CAPTURE parsing encountered unmatched quote");
-        };
-
-        size_t start = 0;
-        std::stack<char> openings;
-        for (size_t pos = 0; pos < names.size(); ++pos) {
-            char c = names[pos];
-            switch (c) {
-            case '[':
-            case '{':
-            case '(':
-            // It is basically impossible to disambiguate between
-            // comparison and start of template args in this context
-//            case '<':
-                openings.push(c);
-                break;
-            case ']':
-            case '}':
-            case ')':
-//           case '>':
-                openings.pop();
-                break;
-            case '"':
-            case '\'':
-                pos = skipq(pos, c);
-                break;
-            case ',':
-                if (start != pos && openings.size() == 0) {
-                    m_messages.emplace_back(macroName, lineInfo, resultType);
-                    m_messages.back().message = trimmed(start, pos);
-                    m_messages.back().message += " := ";
-                    start = pos;
-                }
-            }
-        }
-        assert(openings.size() == 0 && "Mismatched openings");
-        m_messages.emplace_back(macroName, lineInfo, resultType);
-        m_messages.back().message = trimmed(start, names.size() - 1);
-        m_messages.back().message += " := ";
-    }
-    Capturer::~Capturer() {
-        if ( !uncaught_exceptions() ){
-            assert( m_captured == m_messages.size() );
-            for( size_t i = 0; i < m_captured; ++i  )
-                m_resultCapture.popScopedMessage( m_messages[i] );
-        }
-    }
-
-    void Capturer::captureValue( size_t index, std::string const& value ) {
-        assert( index < m_messages.size() );
-        m_messages[index].message += value;
-        m_resultCapture.pushScopedMessage( m_messages[index] );
-        m_captured++;
-    }
-
-} // end namespace Catch
-// end catch_message.cpp
-// start catch_output_redirect.cpp
-
-// start catch_output_redirect.h
-#ifndef TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-#define TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-
-#include <cstdio>
-#include <iosfwd>
-#include <string>
-
-namespace Catch {
-
-    class RedirectedStream {
-        std::ostream& m_originalStream;
-        std::ostream& m_redirectionStream;
-        std::streambuf* m_prevBuf;
-
-    public:
-        RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream );
-        ~RedirectedStream();
-    };
-
-    class RedirectedStdOut {
-        ReusableStringStream m_rss;
-        RedirectedStream m_cout;
-    public:
-        RedirectedStdOut();
-        auto str() const -> std::string;
-    };
-
-    // StdErr has two constituent streams in C++, std::cerr and std::clog
-    // This means that we need to redirect 2 streams into 1 to keep proper
-    // order of writes
-    class RedirectedStdErr {
-        ReusableStringStream m_rss;
-        RedirectedStream m_cerr;
-        RedirectedStream m_clog;
-    public:
-        RedirectedStdErr();
-        auto str() const -> std::string;
-    };
-
-    class RedirectedStreams {
-    public:
-        RedirectedStreams(RedirectedStreams const&) = delete;
-        RedirectedStreams& operator=(RedirectedStreams const&) = delete;
-        RedirectedStreams(RedirectedStreams&&) = delete;
-        RedirectedStreams& operator=(RedirectedStreams&&) = delete;
-
-        RedirectedStreams(std::string& redirectedCout, std::string& redirectedCerr);
-        ~RedirectedStreams();
-    private:
-        std::string& m_redirectedCout;
-        std::string& m_redirectedCerr;
-        RedirectedStdOut m_redirectedStdOut;
-        RedirectedStdErr m_redirectedStdErr;
-    };
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-
-    // Windows's implementation of std::tmpfile is terrible (it tries
-    // to create a file inside system folder, thus requiring elevated
-    // privileges for the binary), so we have to use tmpnam(_s) and
-    // create the file ourselves there.
-    class TempFile {
-    public:
-        TempFile(TempFile const&) = delete;
-        TempFile& operator=(TempFile const&) = delete;
-        TempFile(TempFile&&) = delete;
-        TempFile& operator=(TempFile&&) = delete;
-
-        TempFile();
-        ~TempFile();
-
-        std::FILE* getFile();
-        std::string getContents();
-
-    private:
-        std::FILE* m_file = nullptr;
-    #if defined(_MSC_VER)
-        char m_buffer[L_tmpnam] = { 0 };
-    #endif
-    };
-
-    class OutputRedirect {
-    public:
-        OutputRedirect(OutputRedirect const&) = delete;
-        OutputRedirect& operator=(OutputRedirect const&) = delete;
-        OutputRedirect(OutputRedirect&&) = delete;
-        OutputRedirect& operator=(OutputRedirect&&) = delete;
-
-        OutputRedirect(std::string& stdout_dest, std::string& stderr_dest);
-        ~OutputRedirect();
-
-    private:
-        int m_originalStdout = -1;
-        int m_originalStderr = -1;
-        TempFile m_stdoutFile;
-        TempFile m_stderrFile;
-        std::string& m_stdoutDest;
-        std::string& m_stderrDest;
-    };
-
-#endif
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-// end catch_output_redirect.h
-#include <cstdio>
-#include <cstring>
-#include <fstream>
-#include <sstream>
-#include <stdexcept>
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-    #if defined(_MSC_VER)
-    #include <io.h>      //_dup and _dup2
-    #define dup _dup
-    #define dup2 _dup2
-    #define fileno _fileno
-    #else
-    #include <unistd.h>  // dup and dup2
-    #endif
-#endif
-
-namespace Catch {
-
-    RedirectedStream::RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream )
-    :   m_originalStream( originalStream ),
-        m_redirectionStream( redirectionStream ),
-        m_prevBuf( m_originalStream.rdbuf() )
-    {
-        m_originalStream.rdbuf( m_redirectionStream.rdbuf() );
-    }
-
-    RedirectedStream::~RedirectedStream() {
-        m_originalStream.rdbuf( m_prevBuf );
-    }
-
-    RedirectedStdOut::RedirectedStdOut() : m_cout( Catch::cout(), m_rss.get() ) {}
-    auto RedirectedStdOut::str() const -> std::string { return m_rss.str(); }
-
-    RedirectedStdErr::RedirectedStdErr()
-    :   m_cerr( Catch::cerr(), m_rss.get() ),
-        m_clog( Catch::clog(), m_rss.get() )
-    {}
-    auto RedirectedStdErr::str() const -> std::string { return m_rss.str(); }
-
-    RedirectedStreams::RedirectedStreams(std::string& redirectedCout, std::string& redirectedCerr)
-    :   m_redirectedCout(redirectedCout),
-        m_redirectedCerr(redirectedCerr)
-    {}
-
-    RedirectedStreams::~RedirectedStreams() {
-        m_redirectedCout += m_redirectedStdOut.str();
-        m_redirectedCerr += m_redirectedStdErr.str();
-    }
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-
-#if defined(_MSC_VER)
-    TempFile::TempFile() {
-        if (tmpnam_s(m_buffer)) {
-            CATCH_RUNTIME_ERROR("Could not get a temp filename");
-        }
-        if (fopen_s(&m_file, m_buffer, "w")) {
-            char buffer[100];
-            if (strerror_s(buffer, errno)) {
-                CATCH_RUNTIME_ERROR("Could not translate errno to a string");
-            }
-            CATCH_RUNTIME_ERROR("Could not open the temp file: '" << m_buffer << "' because: " << buffer);
-        }
-    }
-#else
-    TempFile::TempFile() {
-        m_file = std::tmpfile();
-        if (!m_file) {
-            CATCH_RUNTIME_ERROR("Could not create a temp file.");
-        }
-    }
-
-#endif
-
-    TempFile::~TempFile() {
-         // TBD: What to do about errors here?
-         std::fclose(m_file);
-         // We manually create the file on Windows only, on Linux
-         // it will be autodeleted
-#if defined(_MSC_VER)
-         std::remove(m_buffer);
-#endif
-    }
-
-    FILE* TempFile::getFile() {
-        return m_file;
-    }
-
-    std::string TempFile::getContents() {
-        std::stringstream sstr;
-        char buffer[100] = {};
-        std::rewind(m_file);
-        while (std::fgets(buffer, sizeof(buffer), m_file)) {
-            sstr << buffer;
-        }
-        return sstr.str();
-    }
-
-    OutputRedirect::OutputRedirect(std::string& stdout_dest, std::string& stderr_dest) :
-        m_originalStdout(dup(1)),
-        m_originalStderr(dup(2)),
-        m_stdoutDest(stdout_dest),
-        m_stderrDest(stderr_dest) {
-        dup2(fileno(m_stdoutFile.getFile()), 1);
-        dup2(fileno(m_stderrFile.getFile()), 2);
-    }
-
-    OutputRedirect::~OutputRedirect() {
-        Catch::cout() << std::flush;
-        fflush(stdout);
-        // Since we support overriding these streams, we flush cerr
-        // even though std::cerr is unbuffered
-        Catch::cerr() << std::flush;
-        Catch::clog() << std::flush;
-        fflush(stderr);
-
-        dup2(m_originalStdout, 1);
-        dup2(m_originalStderr, 2);
-
-        m_stdoutDest += m_stdoutFile.getContents();
-        m_stderrDest += m_stderrFile.getContents();
-    }
-
-#endif // CATCH_CONFIG_NEW_CAPTURE
-
-} // namespace Catch
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-    #if defined(_MSC_VER)
-    #undef dup
-    #undef dup2
-    #undef fileno
-    #endif
-#endif
-// end catch_output_redirect.cpp
-// start catch_polyfills.cpp
-
-#include <cmath>
-
-namespace Catch {
-
-#if !defined(CATCH_CONFIG_POLYFILL_ISNAN)
-    bool isnan(float f) {
-        return std::isnan(f);
-    }
-    bool isnan(double d) {
-        return std::isnan(d);
-    }
-#else
-    // For now we only use this for embarcadero
-    bool isnan(float f) {
-        return std::_isnan(f);
-    }
-    bool isnan(double d) {
-        return std::_isnan(d);
-    }
-#endif
-
-} // end namespace Catch
-// end catch_polyfills.cpp
-// start catch_random_number_generator.cpp
-
-namespace Catch {
-
-    std::mt19937& rng() {
-        static std::mt19937 s_rng;
-        return s_rng;
-    }
-
-    void seedRng( IConfig const& config ) {
-        if( config.rngSeed() != 0 ) {
-            std::srand( config.rngSeed() );
-            rng().seed( config.rngSeed() );
-        }
-    }
-
-    unsigned int rngSeed() {
-        return getCurrentContext().getConfig()->rngSeed();
-    }
-}
-// end catch_random_number_generator.cpp
-// start catch_registry_hub.cpp
-
-// start catch_test_case_registry_impl.h
-
-#include <vector>
-#include <set>
-#include <algorithm>
-#include <ios>
-
-namespace Catch {
-
-    class TestCase;
-    struct IConfig;
-
-    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases );
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config );
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
-
-    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions );
-
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
-
-    class TestRegistry : public ITestCaseRegistry {
-    public:
-        virtual ~TestRegistry() = default;
-
-        virtual void registerTest( TestCase const& testCase );
-
-        std::vector<TestCase> const& getAllTests() const override;
-        std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const override;
-
-    private:
-        std::vector<TestCase> m_functions;
-        mutable RunTests::InWhatOrder m_currentSortOrder = RunTests::InDeclarationOrder;
-        mutable std::vector<TestCase> m_sortedFunctions;
-        std::size_t m_unnamedCount = 0;
-        std::ios_base::Init m_ostreamInit; // Forces cout/ cerr to be initialised
-    };
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    class TestInvokerAsFunction : public ITestInvoker {
-        void(*m_testAsFunction)();
-    public:
-        TestInvokerAsFunction( void(*testAsFunction)() ) noexcept;
-
-        void invoke() const override;
-    };
-
-    std::string extractClassName( StringRef const& classOrQualifiedMethodName );
-
-    ///////////////////////////////////////////////////////////////////////////
-
-} // end namespace Catch
-
-// end catch_test_case_registry_impl.h
-// start catch_reporter_registry.h
-
-#include <map>
-
-namespace Catch {
-
-    class ReporterRegistry : public IReporterRegistry {
-
-    public:
-
-        ~ReporterRegistry() override;
-
-        IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const override;
-
-        void registerReporter( std::string const& name, IReporterFactoryPtr const& factory );
-        void registerListener( IReporterFactoryPtr const& factory );
-
-        FactoryMap const& getFactories() const override;
-        Listeners const& getListeners() const override;
-
-    private:
-        FactoryMap m_factories;
-        Listeners m_listeners;
-    };
-}
-
-// end catch_reporter_registry.h
-// start catch_tag_alias_registry.h
-
-// start catch_tag_alias.h
-
-#include <string>
-
-namespace Catch {
-
-    struct TagAlias {
-        TagAlias(std::string const& _tag, SourceLineInfo _lineInfo);
-
-        std::string tag;
-        SourceLineInfo lineInfo;
-    };
-
-} // end namespace Catch
-
-// end catch_tag_alias.h
-#include <map>
-
-namespace Catch {
-
-    class TagAliasRegistry : public ITagAliasRegistry {
-    public:
-        ~TagAliasRegistry() override;
-        TagAlias const* find( std::string const& alias ) const override;
-        std::string expandAliases( std::string const& unexpandedTestSpec ) const override;
-        void add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo );
-
-    private:
-        std::map<std::string, TagAlias> m_registry;
-    };
-
-} // end namespace Catch
-
-// end catch_tag_alias_registry.h
-// start catch_startup_exception_registry.h
-
-#include <vector>
-#include <exception>
-
-namespace Catch {
-
-    class StartupExceptionRegistry {
-    public:
-        void add(std::exception_ptr const& exception) noexcept;
-        std::vector<std::exception_ptr> const& getExceptions() const noexcept;
-    private:
-        std::vector<std::exception_ptr> m_exceptions;
-    };
-
-} // end namespace Catch
-
-// end catch_startup_exception_registry.h
-// start catch_singletons.hpp
-
-namespace Catch {
-
-    struct ISingleton {
-        virtual ~ISingleton();
-    };
-
-    void addSingleton( ISingleton* singleton );
-    void cleanupSingletons();
-
-    template<typename SingletonImplT, typename InterfaceT = SingletonImplT, typename MutableInterfaceT = InterfaceT>
-    class Singleton : SingletonImplT, public ISingleton {
-
-        static auto getInternal() -> Singleton* {
-            static Singleton* s_instance = nullptr;
-            if( !s_instance ) {
-                s_instance = new Singleton;
-                addSingleton( s_instance );
-            }
-            return s_instance;
-        }
-
-    public:
-        static auto get() -> InterfaceT const& {
-            return *getInternal();
-        }
-        static auto getMutable() -> MutableInterfaceT& {
-            return *getInternal();
-        }
-    };
-
-} // namespace Catch
-
-// end catch_singletons.hpp
-namespace Catch {
-
-    namespace {
-
-        class RegistryHub : public IRegistryHub, public IMutableRegistryHub,
-                            private NonCopyable {
-
-        public: // IRegistryHub
-            RegistryHub() = default;
-            IReporterRegistry const& getReporterRegistry() const override {
-                return m_reporterRegistry;
-            }
-            ITestCaseRegistry const& getTestCaseRegistry() const override {
-                return m_testCaseRegistry;
-            }
-            IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const override {
-                return m_exceptionTranslatorRegistry;
-            }
-            ITagAliasRegistry const& getTagAliasRegistry() const override {
-                return m_tagAliasRegistry;
-            }
-            StartupExceptionRegistry const& getStartupExceptionRegistry() const override {
-                return m_exceptionRegistry;
-            }
-
-        public: // IMutableRegistryHub
-            void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) override {
-                m_reporterRegistry.registerReporter( name, factory );
-            }
-            void registerListener( IReporterFactoryPtr const& factory ) override {
-                m_reporterRegistry.registerListener( factory );
-            }
-            void registerTest( TestCase const& testInfo ) override {
-                m_testCaseRegistry.registerTest( testInfo );
-            }
-            void registerTranslator( const IExceptionTranslator* translator ) override {
-                m_exceptionTranslatorRegistry.registerTranslator( translator );
-            }
-            void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) override {
-                m_tagAliasRegistry.add( alias, tag, lineInfo );
-            }
-            void registerStartupException() noexcept override {
-                m_exceptionRegistry.add(std::current_exception());
-            }
-            IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() override {
-                return m_enumValuesRegistry;
-            }
-
-        private:
-            TestRegistry m_testCaseRegistry;
-            ReporterRegistry m_reporterRegistry;
-            ExceptionTranslatorRegistry m_exceptionTranslatorRegistry;
-            TagAliasRegistry m_tagAliasRegistry;
-            StartupExceptionRegistry m_exceptionRegistry;
-            Detail::EnumValuesRegistry m_enumValuesRegistry;
-        };
-    }
-
-    using RegistryHubSingleton = Singleton<RegistryHub, IRegistryHub, IMutableRegistryHub>;
-
-    IRegistryHub const& getRegistryHub() {
-        return RegistryHubSingleton::get();
-    }
-    IMutableRegistryHub& getMutableRegistryHub() {
-        return RegistryHubSingleton::getMutable();
-    }
-    void cleanUp() {
-        cleanupSingletons();
-        cleanUpContext();
-    }
-    std::string translateActiveException() {
-        return getRegistryHub().getExceptionTranslatorRegistry().translateActiveException();
-    }
-
-} // end namespace Catch
-// end catch_registry_hub.cpp
-// start catch_reporter_registry.cpp
-
-namespace Catch {
-
-    ReporterRegistry::~ReporterRegistry() = default;
-
-    IStreamingReporterPtr ReporterRegistry::create( std::string const& name, IConfigPtr const& config ) const {
-        auto it =  m_factories.find( name );
-        if( it == m_factories.end() )
-            return nullptr;
-        return it->second->create( ReporterConfig( config ) );
-    }
-
-    void ReporterRegistry::registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) {
-        m_factories.emplace(name, factory);
-    }
-    void ReporterRegistry::registerListener( IReporterFactoryPtr const& factory ) {
-        m_listeners.push_back( factory );
-    }
-
-    IReporterRegistry::FactoryMap const& ReporterRegistry::getFactories() const {
-        return m_factories;
-    }
-    IReporterRegistry::Listeners const& ReporterRegistry::getListeners() const {
-        return m_listeners;
-    }
-
-}
-// end catch_reporter_registry.cpp
-// start catch_result_type.cpp
-
-namespace Catch {
-
-    bool isOk( ResultWas::OfType resultType ) {
-        return ( resultType & ResultWas::FailureBit ) == 0;
-    }
-    bool isJustInfo( int flags ) {
-        return flags == ResultWas::Info;
-    }
-
-    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs ) {
-        return static_cast<ResultDisposition::Flags>( static_cast<int>( lhs ) | static_cast<int>( rhs ) );
-    }
-
-    bool shouldContinueOnFailure( int flags )    { return ( flags & ResultDisposition::ContinueOnFailure ) != 0; }
-    bool shouldSuppressFailure( int flags )      { return ( flags & ResultDisposition::SuppressFail ) != 0; }
-
-} // end namespace Catch
-// end catch_result_type.cpp
-// start catch_run_context.cpp
-
-#include <cassert>
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace Generators {
-        struct GeneratorTracker : TestCaseTracking::TrackerBase, IGeneratorTracker {
-            GeneratorBasePtr m_generator;
-
-            GeneratorTracker( TestCaseTracking::NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-            :   TrackerBase( nameAndLocation, ctx, parent )
-            {}
-            ~GeneratorTracker();
-
-            static GeneratorTracker& acquire( TrackerContext& ctx, TestCaseTracking::NameAndLocation const& nameAndLocation ) {
-                std::shared_ptr<GeneratorTracker> tracker;
-
-                ITracker& currentTracker = ctx.currentTracker();
-                if( TestCaseTracking::ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-                    assert( childTracker );
-                    assert( childTracker->isGeneratorTracker() );
-                    tracker = std::static_pointer_cast<GeneratorTracker>( childTracker );
-                }
-                else {
-                    tracker = std::make_shared<GeneratorTracker>( nameAndLocation, ctx, &currentTracker );
-                    currentTracker.addChild( tracker );
-                }
-
-                if( !ctx.completedCycle() && !tracker->isComplete() ) {
-                    tracker->open();
-                }
-
-                return *tracker;
-            }
-
-            // TrackerBase interface
-            bool isGeneratorTracker() const override { return true; }
-            auto hasGenerator() const -> bool override {
-                return !!m_generator;
-            }
-            void close() override {
-                TrackerBase::close();
-                // Generator interface only finds out if it has another item on atual move
-                if (m_runState == CompletedSuccessfully && m_generator->next()) {
-                    m_children.clear();
-                    m_runState = Executing;
-                }
-            }
-
-            // IGeneratorTracker interface
-            auto getGenerator() const -> GeneratorBasePtr const& override {
-                return m_generator;
-            }
-            void setGenerator( GeneratorBasePtr&& generator ) override {
-                m_generator = std::move( generator );
-            }
-        };
-        GeneratorTracker::~GeneratorTracker() {}
-    }
-
-    RunContext::RunContext(IConfigPtr const& _config, IStreamingReporterPtr&& reporter)
-    :   m_runInfo(_config->name()),
-        m_context(getCurrentMutableContext()),
-        m_config(_config),
-        m_reporter(std::move(reporter)),
-        m_lastAssertionInfo{ StringRef(), SourceLineInfo("",0), StringRef(), ResultDisposition::Normal },
-        m_includeSuccessfulResults( m_config->includeSuccessfulResults() || m_reporter->getPreferences().shouldReportAllAssertions )
-    {
-        m_context.setRunner(this);
-        m_context.setConfig(m_config);
-        m_context.setResultCapture(this);
-        m_reporter->testRunStarting(m_runInfo);
-    }
-
-    RunContext::~RunContext() {
-        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, aborting()));
-    }
-
-    void RunContext::testGroupStarting(std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount) {
-        m_reporter->testGroupStarting(GroupInfo(testSpec, groupIndex, groupsCount));
-    }
-
-    void RunContext::testGroupEnded(std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount) {
-        m_reporter->testGroupEnded(TestGroupStats(GroupInfo(testSpec, groupIndex, groupsCount), totals, aborting()));
-    }
-
-    Totals RunContext::runTest(TestCase const& testCase) {
-        Totals prevTotals = m_totals;
-
-        std::string redirectedCout;
-        std::string redirectedCerr;
-
-        auto const& testInfo = testCase.getTestCaseInfo();
-
-        m_reporter->testCaseStarting(testInfo);
-
-        m_activeTestCase = &testCase;
-
-        ITracker& rootTracker = m_trackerContext.startRun();
-        assert(rootTracker.isSectionTracker());
-        static_cast<SectionTracker&>(rootTracker).addInitialFilters(m_config->getSectionsToRun());
-        do {
-            m_trackerContext.startCycle();
-            m_testCaseTracker = &SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(testInfo.name, testInfo.lineInfo));
-            runCurrentTest(redirectedCout, redirectedCerr);
-        } while (!m_testCaseTracker->isSuccessfullyCompleted() && !aborting());
-
-        Totals deltaTotals = m_totals.delta(prevTotals);
-        if (testInfo.expectedToFail() && deltaTotals.testCases.passed > 0) {
-            deltaTotals.assertions.failed++;
-            deltaTotals.testCases.passed--;
-            deltaTotals.testCases.failed++;
-        }
-        m_totals.testCases += deltaTotals.testCases;
-        m_reporter->testCaseEnded(TestCaseStats(testInfo,
-                                  deltaTotals,
-                                  redirectedCout,
-                                  redirectedCerr,
-                                  aborting()));
-
-        m_activeTestCase = nullptr;
-        m_testCaseTracker = nullptr;
-
-        return deltaTotals;
-    }
-
-    IConfigPtr RunContext::config() const {
-        return m_config;
-    }
-
-    IStreamingReporter& RunContext::reporter() const {
-        return *m_reporter;
-    }
-
-    void RunContext::assertionEnded(AssertionResult const & result) {
-        if (result.getResultType() == ResultWas::Ok) {
-            m_totals.assertions.passed++;
-            m_lastAssertionPassed = true;
-        } else if (!result.isOk()) {
-            m_lastAssertionPassed = false;
-            if( m_activeTestCase->getTestCaseInfo().okToFail() )
-                m_totals.assertions.failedButOk++;
-            else
-                m_totals.assertions.failed++;
-        }
-        else {
-            m_lastAssertionPassed = true;
-        }
-
-        // We have no use for the return value (whether messages should be cleared), because messages were made scoped
-        // and should be let to clear themselves out.
-        static_cast<void>(m_reporter->assertionEnded(AssertionStats(result, m_messages, m_totals)));
-
-        if (result.getResultType() != ResultWas::Warning)
-            m_messageScopes.clear();
-
-        // Reset working state
-        resetAssertionInfo();
-        m_lastResult = result;
-    }
-    void RunContext::resetAssertionInfo() {
-        m_lastAssertionInfo.macroName = StringRef();
-        m_lastAssertionInfo.capturedExpression = "{Unknown expression after the reported line}"_sr;
-    }
-
-    bool RunContext::sectionStarted(SectionInfo const & sectionInfo, Counts & assertions) {
-        ITracker& sectionTracker = SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(sectionInfo.name, sectionInfo.lineInfo));
-        if (!sectionTracker.isOpen())
-            return false;
-        m_activeSections.push_back(&sectionTracker);
-
-        m_lastAssertionInfo.lineInfo = sectionInfo.lineInfo;
-
-        m_reporter->sectionStarting(sectionInfo);
-
-        assertions = m_totals.assertions;
-
-        return true;
-    }
-    auto RunContext::acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
-        using namespace Generators;
-        GeneratorTracker& tracker = GeneratorTracker::acquire( m_trackerContext, TestCaseTracking::NameAndLocation( "generator", lineInfo ) );
-        assert( tracker.isOpen() );
-        m_lastAssertionInfo.lineInfo = lineInfo;
-        return tracker;
-    }
-
-    bool RunContext::testForMissingAssertions(Counts& assertions) {
-        if (assertions.total() != 0)
-            return false;
-        if (!m_config->warnAboutMissingAssertions())
-            return false;
-        if (m_trackerContext.currentTracker().hasChildren())
-            return false;
-        m_totals.assertions.failed++;
-        assertions.failed++;
-        return true;
-    }
-
-    void RunContext::sectionEnded(SectionEndInfo const & endInfo) {
-        Counts assertions = m_totals.assertions - endInfo.prevAssertions;
-        bool missingAssertions = testForMissingAssertions(assertions);
-
-        if (!m_activeSections.empty()) {
-            m_activeSections.back()->close();
-            m_activeSections.pop_back();
-        }
-
-        m_reporter->sectionEnded(SectionStats(endInfo.sectionInfo, assertions, endInfo.durationInSeconds, missingAssertions));
-        m_messages.clear();
-        m_messageScopes.clear();
-    }
-
-    void RunContext::sectionEndedEarly(SectionEndInfo const & endInfo) {
-        if (m_unfinishedSections.empty())
-            m_activeSections.back()->fail();
-        else
-            m_activeSections.back()->close();
-        m_activeSections.pop_back();
-
-        m_unfinishedSections.push_back(endInfo);
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void RunContext::benchmarkPreparing(std::string const& name) {
-		m_reporter->benchmarkPreparing(name);
-	}
-    void RunContext::benchmarkStarting( BenchmarkInfo const& info ) {
-        m_reporter->benchmarkStarting( info );
-    }
-    void RunContext::benchmarkEnded( BenchmarkStats<> const& stats ) {
-        m_reporter->benchmarkEnded( stats );
-    }
-	void RunContext::benchmarkFailed(std::string const & error) {
-		m_reporter->benchmarkFailed(error);
-	}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    void RunContext::pushScopedMessage(MessageInfo const & message) {
-        m_messages.push_back(message);
-    }
-
-    void RunContext::popScopedMessage(MessageInfo const & message) {
-        m_messages.erase(std::remove(m_messages.begin(), m_messages.end(), message), m_messages.end());
-    }
-
-    void RunContext::emplaceUnscopedMessage( MessageBuilder const& builder ) {
-        m_messageScopes.emplace_back( builder );
-    }
-
-    std::string RunContext::getCurrentTestName() const {
-        return m_activeTestCase
-            ? m_activeTestCase->getTestCaseInfo().name
-            : std::string();
-    }
-
-    const AssertionResult * RunContext::getLastResult() const {
-        return &(*m_lastResult);
-    }
-
-    void RunContext::exceptionEarlyReported() {
-        m_shouldReportUnexpected = false;
-    }
-
-    void RunContext::handleFatalErrorCondition( StringRef message ) {
-        // First notify reporter that bad things happened
-        m_reporter->fatalErrorEncountered(message);
-
-        // Don't rebuild the result -- the stringification itself can cause more fatal errors
-        // Instead, fake a result data.
-        AssertionResultData tempResult( ResultWas::FatalErrorCondition, { false } );
-        tempResult.message = message;
-        AssertionResult result(m_lastAssertionInfo, tempResult);
-
-        assertionEnded(result);
-
-        handleUnfinishedSections();
-
-        // Recreate section for test case (as we will lose the one that was in scope)
-        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
-        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
-
-        Counts assertions;
-        assertions.failed = 1;
-        SectionStats testCaseSectionStats(testCaseSection, assertions, 0, false);
-        m_reporter->sectionEnded(testCaseSectionStats);
-
-        auto const& testInfo = m_activeTestCase->getTestCaseInfo();
-
-        Totals deltaTotals;
-        deltaTotals.testCases.failed = 1;
-        deltaTotals.assertions.failed = 1;
-        m_reporter->testCaseEnded(TestCaseStats(testInfo,
-                                  deltaTotals,
-                                  std::string(),
-                                  std::string(),
-                                  false));
-        m_totals.testCases.failed++;
-        testGroupEnded(std::string(), m_totals, 1, 1);
-        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, false));
-    }
-
-    bool RunContext::lastAssertionPassed() {
-         return m_lastAssertionPassed;
-    }
-
-    void RunContext::assertionPassed() {
-        m_lastAssertionPassed = true;
-        ++m_totals.assertions.passed;
-        resetAssertionInfo();
-        m_messageScopes.clear();
-    }
-
-    bool RunContext::aborting() const {
-        return m_totals.assertions.failed >= static_cast<std::size_t>(m_config->abortAfter());
-    }
-
-    void RunContext::runCurrentTest(std::string & redirectedCout, std::string & redirectedCerr) {
-        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
-        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
-        m_reporter->sectionStarting(testCaseSection);
-        Counts prevAssertions = m_totals.assertions;
-        double duration = 0;
-        m_shouldReportUnexpected = true;
-        m_lastAssertionInfo = { "TEST_CASE"_sr, testCaseInfo.lineInfo, StringRef(), ResultDisposition::Normal };
-
-        seedRng(*m_config);
-
-        Timer timer;
-        CATCH_TRY {
-            if (m_reporter->getPreferences().shouldRedirectStdOut) {
-#if !defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
-                RedirectedStreams redirectedStreams(redirectedCout, redirectedCerr);
-
-                timer.start();
-                invokeActiveTestCase();
-#else
-                OutputRedirect r(redirectedCout, redirectedCerr);
-                timer.start();
-                invokeActiveTestCase();
-#endif
-            } else {
-                timer.start();
-                invokeActiveTestCase();
-            }
-            duration = timer.getElapsedSeconds();
-        } CATCH_CATCH_ANON (TestFailureException&) {
-            // This just means the test was aborted due to failure
-        } CATCH_CATCH_ALL {
-            // Under CATCH_CONFIG_FAST_COMPILE, unexpected exceptions under REQUIRE assertions
-            // are reported without translation at the point of origin.
-            if( m_shouldReportUnexpected ) {
-                AssertionReaction dummyReaction;
-                handleUnexpectedInflightException( m_lastAssertionInfo, translateActiveException(), dummyReaction );
-            }
-        }
-        Counts assertions = m_totals.assertions - prevAssertions;
-        bool missingAssertions = testForMissingAssertions(assertions);
-
-        m_testCaseTracker->close();
-        handleUnfinishedSections();
-        m_messages.clear();
-        m_messageScopes.clear();
-
-        SectionStats testCaseSectionStats(testCaseSection, assertions, duration, missingAssertions);
-        m_reporter->sectionEnded(testCaseSectionStats);
-    }
-
-    void RunContext::invokeActiveTestCase() {
-        FatalConditionHandler fatalConditionHandler; // Handle signals
-        m_activeTestCase->invoke();
-        fatalConditionHandler.reset();
-    }
-
-    void RunContext::handleUnfinishedSections() {
-        // If sections ended prematurely due to an exception we stored their
-        // infos here so we can tear them down outside the unwind process.
-        for (auto it = m_unfinishedSections.rbegin(),
-             itEnd = m_unfinishedSections.rend();
-             it != itEnd;
-             ++it)
-            sectionEnded(*it);
-        m_unfinishedSections.clear();
-    }
-
-    void RunContext::handleExpr(
-        AssertionInfo const& info,
-        ITransientExpression const& expr,
-        AssertionReaction& reaction
-    ) {
-        m_reporter->assertionStarting( info );
-
-        bool negated = isFalseTest( info.resultDisposition );
-        bool result = expr.getResult() != negated;
-
-        if( result ) {
-            if (!m_includeSuccessfulResults) {
-                assertionPassed();
-            }
-            else {
-                reportExpr(info, ResultWas::Ok, &expr, negated);
-            }
-        }
-        else {
-            reportExpr(info, ResultWas::ExpressionFailed, &expr, negated );
-            populateReaction( reaction );
-        }
-    }
-    void RunContext::reportExpr(
-            AssertionInfo const &info,
-            ResultWas::OfType resultType,
-            ITransientExpression const *expr,
-            bool negated ) {
-
-        m_lastAssertionInfo = info;
-        AssertionResultData data( resultType, LazyExpression( negated ) );
-
-        AssertionResult assertionResult{ info, data };
-        assertionResult.m_resultData.lazyExpression.m_transientExpression = expr;
-
-        assertionEnded( assertionResult );
-    }
-
-    void RunContext::handleMessage(
-            AssertionInfo const& info,
-            ResultWas::OfType resultType,
-            StringRef const& message,
-            AssertionReaction& reaction
-    ) {
-        m_reporter->assertionStarting( info );
-
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( resultType, LazyExpression( false ) );
-        data.message = message;
-        AssertionResult assertionResult{ m_lastAssertionInfo, data };
-        assertionEnded( assertionResult );
-        if( !assertionResult.isOk() )
-            populateReaction( reaction );
-    }
-    void RunContext::handleUnexpectedExceptionNotThrown(
-            AssertionInfo const& info,
-            AssertionReaction& reaction
-    ) {
-        handleNonExpr(info, Catch::ResultWas::DidntThrowException, reaction);
-    }
-
-    void RunContext::handleUnexpectedInflightException(
-            AssertionInfo const& info,
-            std::string const& message,
-            AssertionReaction& reaction
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
-        data.message = message;
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-        populateReaction( reaction );
-    }
-
-    void RunContext::populateReaction( AssertionReaction& reaction ) {
-        reaction.shouldDebugBreak = m_config->shouldDebugBreak();
-        reaction.shouldThrow = aborting() || (m_lastAssertionInfo.resultDisposition & ResultDisposition::Normal);
-    }
-
-    void RunContext::handleIncomplete(
-            AssertionInfo const& info
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
-        data.message = "Exception translation was disabled by CATCH_CONFIG_FAST_COMPILE";
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-    }
-    void RunContext::handleNonExpr(
-            AssertionInfo const &info,
-            ResultWas::OfType resultType,
-            AssertionReaction &reaction
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( resultType, LazyExpression( false ) );
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-
-        if( !assertionResult.isOk() )
-            populateReaction( reaction );
-    }
-
-    IResultCapture& getResultCapture() {
-        if (auto* capture = getCurrentContext().getResultCapture())
-            return *capture;
-        else
-            CATCH_INTERNAL_ERROR("No result capture instance");
-    }
-}
-// end catch_run_context.cpp
-// start catch_section.cpp
-
-namespace Catch {
-
-    Section::Section( SectionInfo const& info )
-    :   m_info( info ),
-        m_sectionIncluded( getResultCapture().sectionStarted( m_info, m_assertions ) )
-    {
-        m_timer.start();
-    }
-
-    Section::~Section() {
-        if( m_sectionIncluded ) {
-            SectionEndInfo endInfo{ m_info, m_assertions, m_timer.getElapsedSeconds() };
-            if( uncaught_exceptions() )
-                getResultCapture().sectionEndedEarly( endInfo );
-            else
-                getResultCapture().sectionEnded( endInfo );
-        }
-    }
-
-    // This indicates whether the section should be executed or not
-    Section::operator bool() const {
-        return m_sectionIncluded;
-    }
-
-} // end namespace Catch
-// end catch_section.cpp
-// start catch_section_info.cpp
-
-namespace Catch {
-
-    SectionInfo::SectionInfo
-        (   SourceLineInfo const& _lineInfo,
-            std::string const& _name )
-    :   name( _name ),
-        lineInfo( _lineInfo )
-    {}
-
-} // end namespace Catch
-// end catch_section_info.cpp
-// start catch_session.cpp
-
-// start catch_session.h
-
-#include <memory>
-
-namespace Catch {
-
-    class Session : NonCopyable {
-    public:
-
-        Session();
-        ~Session() override;
-
-        void showHelp() const;
-        void libIdentify();
-
-        int applyCommandLine( int argc, char const * const * argv );
-    #if defined(CATCH_CONFIG_WCHAR) && defined(_WIN32) && defined(UNICODE)
-        int applyCommandLine( int argc, wchar_t const * const * argv );
-    #endif
-
-        void useConfigData( ConfigData const& configData );
-
-        template<typename CharT>
-        int run(int argc, CharT const * const argv[]) {
-            if (m_startupExceptions)
-                return 1;
-            int returnCode = applyCommandLine(argc, argv);
-            if (returnCode == 0)
-                returnCode = run();
-            return returnCode;
-        }
-
-        int run();
-
-        clara::Parser const& cli() const;
-        void cli( clara::Parser const& newParser );
-        ConfigData& configData();
-        Config& config();
-    private:
-        int runInternal();
-
-        clara::Parser m_cli;
-        ConfigData m_configData;
-        std::shared_ptr<Config> m_config;
-        bool m_startupExceptions = false;
-    };
-
-} // end namespace Catch
-
-// end catch_session.h
-// start catch_version.h
-
-#include <iosfwd>
-
-namespace Catch {
-
-    // Versioning information
-    struct Version {
-        Version( Version const& ) = delete;
-        Version& operator=( Version const& ) = delete;
-        Version(    unsigned int _majorVersion,
-                    unsigned int _minorVersion,
-                    unsigned int _patchNumber,
-                    char const * const _branchName,
-                    unsigned int _buildNumber );
-
-        unsigned int const majorVersion;
-        unsigned int const minorVersion;
-        unsigned int const patchNumber;
-
-        // buildNumber is only used if branchName is not null
-        char const * const branchName;
-        unsigned int const buildNumber;
-
-        friend std::ostream& operator << ( std::ostream& os, Version const& version );
-    };
-
-    Version const& libraryVersion();
-}
-
-// end catch_version.h
-#include <cstdlib>
-#include <iomanip>
-#include <set>
-#include <iterator>
-
-namespace Catch {
-
-    namespace {
-        const int MaxExitCode = 255;
-
-        IStreamingReporterPtr createReporter(std::string const& reporterName, IConfigPtr const& config) {
-            auto reporter = Catch::getRegistryHub().getReporterRegistry().create(reporterName, config);
-            CATCH_ENFORCE(reporter, "No reporter registered with name: '" << reporterName << "'");
-
-            return reporter;
-        }
-
-        IStreamingReporterPtr makeReporter(std::shared_ptr<Config> const& config) {
-            if (Catch::getRegistryHub().getReporterRegistry().getListeners().empty()) {
-                return createReporter(config->getReporterName(), config);
-            }
-
-            // On older platforms, returning std::unique_ptr<ListeningReporter>
-            // when the return type is std::unique_ptr<IStreamingReporter>
-            // doesn't compile without a std::move call. However, this causes
-            // a warning on newer platforms. Thus, we have to work around
-            // it a bit and downcast the pointer manually.
-            auto ret = std::unique_ptr<IStreamingReporter>(new ListeningReporter);
-            auto& multi = static_cast<ListeningReporter&>(*ret);
-            auto const& listeners = Catch::getRegistryHub().getReporterRegistry().getListeners();
-            for (auto const& listener : listeners) {
-                multi.addListener(listener->create(Catch::ReporterConfig(config)));
-            }
-            multi.addReporter(createReporter(config->getReporterName(), config));
-            return ret;
-        }
-
-        class TestGroup {
-        public:
-            explicit TestGroup(std::shared_ptr<Config> const& config)
-            : m_config{config}
-            , m_context{config, makeReporter(config)}
-            {
-                auto const& allTestCases = getAllTestCasesSorted(*m_config);
-                m_matches = m_config->testSpec().matchesByFilter(allTestCases, *m_config);
-
-                if (m_matches.empty()) {
-                    for (auto const& test : allTestCases)
-                        if (!test.isHidden())
-                            m_tests.emplace(&test);
-                } else {
-                    for (auto const& match : m_matches)
-                        m_tests.insert(match.tests.begin(), match.tests.end());
-                }
-            }
-
-            Totals execute() {
-                Totals totals;
-                m_context.testGroupStarting(m_config->name(), 1, 1);
-                for (auto const& testCase : m_tests) {
-                    if (!m_context.aborting())
-                        totals += m_context.runTest(*testCase);
-                    else
-                        m_context.reporter().skipTest(*testCase);
-                }
-
-                for (auto const& match : m_matches) {
-                    if (match.tests.empty()) {
-                        m_context.reporter().noMatchingTestCases(match.name);
-                        totals.error = -1;
-                    }
-                }
-                m_context.testGroupEnded(m_config->name(), totals, 1, 1);
-                return totals;
-            }
-
-        private:
-            using Tests = std::set<TestCase const*>;
-
-            std::shared_ptr<Config> m_config;
-            RunContext m_context;
-            Tests m_tests;
-            TestSpec::Matches m_matches;
-        };
-
-        void applyFilenamesAsTags(Catch::IConfig const& config) {
-            auto& tests = const_cast<std::vector<TestCase>&>(getAllTestCasesSorted(config));
-            for (auto& testCase : tests) {
-                auto tags = testCase.tags;
-
-                std::string filename = testCase.lineInfo.file;
-                auto lastSlash = filename.find_last_of("\\/");
-                if (lastSlash != std::string::npos) {
-                    filename.erase(0, lastSlash);
-                    filename[0] = '#';
-                }
-
-                auto lastDot = filename.find_last_of('.');
-                if (lastDot != std::string::npos) {
-                    filename.erase(lastDot);
-                }
-
-                tags.push_back(std::move(filename));
-                setTags(testCase, tags);
-            }
-        }
-
-    } // anon namespace
-
-    Session::Session() {
-        static bool alreadyInstantiated = false;
-        if( alreadyInstantiated ) {
-            CATCH_TRY { CATCH_INTERNAL_ERROR( "Only one instance of Catch::Session can ever be used" ); }
-            CATCH_CATCH_ALL { getMutableRegistryHub().registerStartupException(); }
-        }
-
-        // There cannot be exceptions at startup in no-exception mode.
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        const auto& exceptions = getRegistryHub().getStartupExceptionRegistry().getExceptions();
-        if ( !exceptions.empty() ) {
-            config();
-            getCurrentMutableContext().setConfig(m_config);
-
-            m_startupExceptions = true;
-            Colour colourGuard( Colour::Red );
-            Catch::cerr() << "Errors occurred during startup!" << '\n';
-            // iterate over all exceptions and notify user
-            for ( const auto& ex_ptr : exceptions ) {
-                try {
-                    std::rethrow_exception(ex_ptr);
-                } catch ( std::exception const& ex ) {
-                    Catch::cerr() << Column( ex.what() ).indent(2) << '\n';
-                }
-            }
-        }
-#endif
-
-        alreadyInstantiated = true;
-        m_cli = makeCommandLineParser( m_configData );
-    }
-    Session::~Session() {
-        Catch::cleanUp();
-    }
-
-    void Session::showHelp() const {
-        Catch::cout()
-                << "\nCatch v" << libraryVersion() << "\n"
-                << m_cli << std::endl
-                << "For more detailed usage please see the project docs\n" << std::endl;
-    }
-    void Session::libIdentify() {
-        Catch::cout()
-                << std::left << std::setw(16) << "description: " << "A Catch test executable\n"
-                << std::left << std::setw(16) << "category: " << "testframework\n"
-                << std::left << std::setw(16) << "framework: " << "Catch Test\n"
-                << std::left << std::setw(16) << "version: " << libraryVersion() << std::endl;
-    }
-
-    int Session::applyCommandLine( int argc, char const * const * argv ) {
-        if( m_startupExceptions )
-            return 1;
-
-        auto result = m_cli.parse( clara::Args( argc, argv ) );
-        if( !result ) {
-            config();
-            getCurrentMutableContext().setConfig(m_config);
-            Catch::cerr()
-                << Colour( Colour::Red )
-                << "\nError(s) in input:\n"
-                << Column( result.errorMessage() ).indent( 2 )
-                << "\n\n";
-            Catch::cerr() << "Run with -? for usage\n" << std::endl;
-            return MaxExitCode;
-        }
-
-        if( m_configData.showHelp )
-            showHelp();
-        if( m_configData.libIdentify )
-            libIdentify();
-        m_config.reset();
-        return 0;
-    }
-
-#if defined(CATCH_CONFIG_WCHAR) && defined(_WIN32) && defined(UNICODE)
-    int Session::applyCommandLine( int argc, wchar_t const * const * argv ) {
-
-        char **utf8Argv = new char *[ argc ];
-
-        for ( int i = 0; i < argc; ++i ) {
-            int bufSize = WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, NULL, 0, NULL, NULL );
-
-            utf8Argv[ i ] = new char[ bufSize ];
-
-            WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, utf8Argv[i], bufSize, NULL, NULL );
-        }
-
-        int returnCode = applyCommandLine( argc, utf8Argv );
-
-        for ( int i = 0; i < argc; ++i )
-            delete [] utf8Argv[ i ];
-
-        delete [] utf8Argv;
-
-        return returnCode;
-    }
-#endif
-
-    void Session::useConfigData( ConfigData const& configData ) {
-        m_configData = configData;
-        m_config.reset();
-    }
-
-    int Session::run() {
-        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeStart ) != 0 ) {
-            Catch::cout() << "...waiting for enter/ return before starting" << std::endl;
-            static_cast<void>(std::getchar());
-        }
-        int exitCode = runInternal();
-        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeExit ) != 0 ) {
-            Catch::cout() << "...waiting for enter/ return before exiting, with code: " << exitCode << std::endl;
-            static_cast<void>(std::getchar());
-        }
-        return exitCode;
-    }
-
-    clara::Parser const& Session::cli() const {
-        return m_cli;
-    }
-    void Session::cli( clara::Parser const& newParser ) {
-        m_cli = newParser;
-    }
-    ConfigData& Session::configData() {
-        return m_configData;
-    }
-    Config& Session::config() {
-        if( !m_config )
-            m_config = std::make_shared<Config>( m_configData );
-        return *m_config;
-    }
-
-    int Session::runInternal() {
-        if( m_startupExceptions )
-            return 1;
-
-        if (m_configData.showHelp || m_configData.libIdentify) {
-            return 0;
-        }
-
-        CATCH_TRY {
-            config(); // Force config to be constructed
-
-            seedRng( *m_config );
-
-            if( m_configData.filenamesAsTags )
-                applyFilenamesAsTags( *m_config );
-
-            // Handle list request
-            if( Option<std::size_t> listed = list( m_config ) )
-                return static_cast<int>( *listed );
-
-            TestGroup tests { m_config };
-            auto const totals = tests.execute();
-
-            if( m_config->warnAboutNoTests() && totals.error == -1 )
-                return 2;
-
-            // Note that on unices only the lower 8 bits are usually used, clamping
-            // the return value to 255 prevents false negative when some multiple
-            // of 256 tests has failed
-            return (std::min) (MaxExitCode, (std::max) (totals.error, static_cast<int>(totals.assertions.failed)));
-        }
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        catch( std::exception& ex ) {
-            Catch::cerr() << ex.what() << std::endl;
-            return MaxExitCode;
-        }
-#endif
-    }
-
-} // end namespace Catch
-// end catch_session.cpp
-// start catch_singletons.cpp
-
-#include <vector>
-
-namespace Catch {
-
-    namespace {
-        static auto getSingletons() -> std::vector<ISingleton*>*& {
-            static std::vector<ISingleton*>* g_singletons = nullptr;
-            if( !g_singletons )
-                g_singletons = new std::vector<ISingleton*>();
-            return g_singletons;
-        }
-    }
-
-    ISingleton::~ISingleton() {}
-
-    void addSingleton(ISingleton* singleton ) {
-        getSingletons()->push_back( singleton );
-    }
-    void cleanupSingletons() {
-        auto& singletons = getSingletons();
-        for( auto singleton : *singletons )
-            delete singleton;
-        delete singletons;
-        singletons = nullptr;
-    }
-
-} // namespace Catch
-// end catch_singletons.cpp
-// start catch_startup_exception_registry.cpp
-
-namespace Catch {
-void StartupExceptionRegistry::add( std::exception_ptr const& exception ) noexcept {
-        CATCH_TRY {
-            m_exceptions.push_back(exception);
-        } CATCH_CATCH_ALL {
-            // If we run out of memory during start-up there's really not a lot more we can do about it
-            std::terminate();
-        }
-    }
-
-    std::vector<std::exception_ptr> const& StartupExceptionRegistry::getExceptions() const noexcept {
-        return m_exceptions;
-    }
-
-} // end namespace Catch
-// end catch_startup_exception_registry.cpp
-// start catch_stream.cpp
-
-#include <cstdio>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    Catch::IStream::~IStream() = default;
-
-    namespace Detail { namespace {
-        template<typename WriterF, std::size_t bufferSize=256>
-        class StreamBufImpl : public std::streambuf {
-            char data[bufferSize];
-            WriterF m_writer;
-
-        public:
-            StreamBufImpl() {
-                setp( data, data + sizeof(data) );
-            }
-
-            ~StreamBufImpl() noexcept {
-                StreamBufImpl::sync();
-            }
-
-        private:
-            int overflow( int c ) override {
-                sync();
-
-                if( c != EOF ) {
-                    if( pbase() == epptr() )
-                        m_writer( std::string( 1, static_cast<char>( c ) ) );
-                    else
-                        sputc( static_cast<char>( c ) );
-                }
-                return 0;
-            }
-
-            int sync() override {
-                if( pbase() != pptr() ) {
-                    m_writer( std::string( pbase(), static_cast<std::string::size_type>( pptr() - pbase() ) ) );
-                    setp( pbase(), epptr() );
-                }
-                return 0;
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        struct OutputDebugWriter {
-
-            void operator()( std::string const&str ) {
-                writeToDebugConsole( str );
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class FileStream : public IStream {
-            mutable std::ofstream m_ofs;
-        public:
-            FileStream( StringRef filename ) {
-                m_ofs.open( filename.c_str() );
-                CATCH_ENFORCE( !m_ofs.fail(), "Unable to open file: '" << filename << "'" );
-            }
-            ~FileStream() override = default;
-        public: // IStream
-            std::ostream& stream() const override {
-                return m_ofs;
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class CoutStream : public IStream {
-            mutable std::ostream m_os;
-        public:
-            // Store the streambuf from cout up-front because
-            // cout may get redirected when running tests
-            CoutStream() : m_os( Catch::cout().rdbuf() ) {}
-            ~CoutStream() override = default;
-
-        public: // IStream
-            std::ostream& stream() const override { return m_os; }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class DebugOutStream : public IStream {
-            std::unique_ptr<StreamBufImpl<OutputDebugWriter>> m_streamBuf;
-            mutable std::ostream m_os;
-        public:
-            DebugOutStream()
-            :   m_streamBuf( new StreamBufImpl<OutputDebugWriter>() ),
-                m_os( m_streamBuf.get() )
-            {}
-
-            ~DebugOutStream() override = default;
-
-        public: // IStream
-            std::ostream& stream() const override { return m_os; }
-        };
-
-    }} // namespace anon::detail
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    auto makeStream( StringRef const &filename ) -> IStream const* {
-        if( filename.empty() )
-            return new Detail::CoutStream();
-        else if( filename[0] == '%' ) {
-            if( filename == "%debug" )
-                return new Detail::DebugOutStream();
-            else
-                CATCH_ERROR( "Unrecognised stream: '" << filename << "'" );
-        }
-        else
-            return new Detail::FileStream( filename );
-    }
-
-    // This class encapsulates the idea of a pool of ostringstreams that can be reused.
-    struct StringStreams {
-        std::vector<std::unique_ptr<std::ostringstream>> m_streams;
-        std::vector<std::size_t> m_unused;
-        std::ostringstream m_referenceStream; // Used for copy state/ flags from
-
-        auto add() -> std::size_t {
-            if( m_unused.empty() ) {
-                m_streams.push_back( std::unique_ptr<std::ostringstream>( new std::ostringstream ) );
-                return m_streams.size()-1;
-            }
-            else {
-                auto index = m_unused.back();
-                m_unused.pop_back();
-                return index;
-            }
-        }
-
-        void release( std::size_t index ) {
-            m_streams[index]->copyfmt( m_referenceStream ); // Restore initial flags and other state
-            m_unused.push_back(index);
-        }
-    };
-
-    ReusableStringStream::ReusableStringStream()
-    :   m_index( Singleton<StringStreams>::getMutable().add() ),
-        m_oss( Singleton<StringStreams>::getMutable().m_streams[m_index].get() )
-    {}
-
-    ReusableStringStream::~ReusableStringStream() {
-        static_cast<std::ostringstream*>( m_oss )->str("");
-        m_oss->clear();
-        Singleton<StringStreams>::getMutable().release( m_index );
-    }
-
-    auto ReusableStringStream::str() const -> std::string {
-        return static_cast<std::ostringstream*>( m_oss )->str();
-    }
-
-    ///////////////////////////////////////////////////////////////////////////
-
-#ifndef CATCH_CONFIG_NOSTDOUT // If you #define this you must implement these functions
-    std::ostream& cout() { return std::cout; }
-    std::ostream& cerr() { return std::cerr; }
-    std::ostream& clog() { return std::clog; }
-#endif
-}
-// end catch_stream.cpp
-// start catch_string_manip.cpp
-
-#include <algorithm>
-#include <ostream>
-#include <cstring>
-#include <cctype>
-#include <vector>
-
-namespace Catch {
-
-    namespace {
-        char toLowerCh(char c) {
-            return static_cast<char>( std::tolower( c ) );
-        }
-    }
-
-    bool startsWith( std::string const& s, std::string const& prefix ) {
-        return s.size() >= prefix.size() && std::equal(prefix.begin(), prefix.end(), s.begin());
-    }
-    bool startsWith( std::string const& s, char prefix ) {
-        return !s.empty() && s[0] == prefix;
-    }
-    bool endsWith( std::string const& s, std::string const& suffix ) {
-        return s.size() >= suffix.size() && std::equal(suffix.rbegin(), suffix.rend(), s.rbegin());
-    }
-    bool endsWith( std::string const& s, char suffix ) {
-        return !s.empty() && s[s.size()-1] == suffix;
-    }
-    bool contains( std::string const& s, std::string const& infix ) {
-        return s.find( infix ) != std::string::npos;
-    }
-    void toLowerInPlace( std::string& s ) {
-        std::transform( s.begin(), s.end(), s.begin(), toLowerCh );
-    }
-    std::string toLower( std::string const& s ) {
-        std::string lc = s;
-        toLowerInPlace( lc );
-        return lc;
-    }
-    std::string trim( std::string const& str ) {
-        static char const* whitespaceChars = "\n\r\t ";
-        std::string::size_type start = str.find_first_not_of( whitespaceChars );
-        std::string::size_type end = str.find_last_not_of( whitespaceChars );
-
-        return start != std::string::npos ? str.substr( start, 1+end-start ) : std::string();
-    }
-
-    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis ) {
-        bool replaced = false;
-        std::size_t i = str.find( replaceThis );
-        while( i != std::string::npos ) {
-            replaced = true;
-            str = str.substr( 0, i ) + withThis + str.substr( i+replaceThis.size() );
-            if( i < str.size()-withThis.size() )
-                i = str.find( replaceThis, i+withThis.size() );
-            else
-                i = std::string::npos;
-        }
-        return replaced;
-    }
-
-    std::vector<StringRef> splitStringRef( StringRef str, char delimiter ) {
-        std::vector<StringRef> subStrings;
-        std::size_t start = 0;
-        for(std::size_t pos = 0; pos < str.size(); ++pos ) {
-            if( str[pos] == delimiter ) {
-                if( pos - start > 1 )
-                    subStrings.push_back( str.substr( start, pos-start ) );
-                start = pos+1;
-            }
-        }
-        if( start < str.size() )
-            subStrings.push_back( str.substr( start, str.size()-start ) );
-        return subStrings;
-    }
-
-    pluralise::pluralise( std::size_t count, std::string const& label )
-    :   m_count( count ),
-        m_label( label )
-    {}
-
-    std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser ) {
-        os << pluraliser.m_count << ' ' << pluraliser.m_label;
-        if( pluraliser.m_count != 1 )
-            os << 's';
-        return os;
-    }
-
-}
-// end catch_string_manip.cpp
-// start catch_stringref.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-#include <ostream>
-#include <cstring>
-#include <cstdint>
-
-namespace {
-    const uint32_t byte_2_lead = 0xC0;
-    const uint32_t byte_3_lead = 0xE0;
-    const uint32_t byte_4_lead = 0xF0;
-}
-
-namespace Catch {
-    StringRef::StringRef( char const* rawChars ) noexcept
-    : StringRef( rawChars, static_cast<StringRef::size_type>(std::strlen(rawChars) ) )
-    {}
-
-    StringRef::operator std::string() const {
-        return std::string( m_start, m_size );
-    }
-
-    void StringRef::swap( StringRef& other ) noexcept {
-        std::swap( m_start, other.m_start );
-        std::swap( m_size, other.m_size );
-        std::swap( m_data, other.m_data );
-    }
-
-    auto StringRef::c_str() const -> char const* {
-        if( !isSubstring() )
-            return m_start;
-
-        const_cast<StringRef *>( this )->takeOwnership();
-        return m_data;
-    }
-    auto StringRef::currentData() const noexcept -> char const* {
-        return m_start;
-    }
-
-    auto StringRef::isOwned() const noexcept -> bool {
-        return m_data != nullptr;
-    }
-    auto StringRef::isSubstring() const noexcept -> bool {
-        return m_start[m_size] != '\0';
-    }
-
-    void StringRef::takeOwnership() {
-        if( !isOwned() ) {
-            m_data = new char[m_size+1];
-            memcpy( m_data, m_start, m_size );
-            m_data[m_size] = '\0';
-        }
-    }
-    auto StringRef::substr( size_type start, size_type size ) const noexcept -> StringRef {
-        if( start < m_size )
-            return StringRef( m_start+start, size );
-        else
-            return StringRef();
-    }
-    auto StringRef::operator == ( StringRef const& other ) const noexcept -> bool {
-        return
-            size() == other.size() &&
-            (std::strncmp( m_start, other.m_start, size() ) == 0);
-    }
-    auto StringRef::operator != ( StringRef const& other ) const noexcept -> bool {
-        return !operator==( other );
-    }
-
-    auto StringRef::operator[](size_type index) const noexcept -> char {
-        return m_start[index];
-    }
-
-    auto StringRef::numberOfCharacters() const noexcept -> size_type {
-        size_type noChars = m_size;
-        // Make adjustments for uft encodings
-        for( size_type i=0; i < m_size; ++i ) {
-            char c = m_start[i];
-            if( ( c & byte_2_lead ) == byte_2_lead ) {
-                noChars--;
-                if (( c & byte_3_lead ) == byte_3_lead )
-                    noChars--;
-                if( ( c & byte_4_lead ) == byte_4_lead )
-                    noChars--;
-            }
-        }
-        return noChars;
-    }
-
-    auto operator + ( StringRef const& lhs, StringRef const& rhs ) -> std::string {
-        std::string str;
-        str.reserve( lhs.size() + rhs.size() );
-        str += lhs;
-        str += rhs;
-        return str;
-    }
-    auto operator + ( StringRef const& lhs, const char* rhs ) -> std::string {
-        return std::string( lhs ) + std::string( rhs );
-    }
-    auto operator + ( char const* lhs, StringRef const& rhs ) -> std::string {
-        return std::string( lhs ) + std::string( rhs );
-    }
-
-    auto operator << ( std::ostream& os, StringRef const& str ) -> std::ostream& {
-        return os.write(str.currentData(), str.size());
-    }
-
-    auto operator+=( std::string& lhs, StringRef const& rhs ) -> std::string& {
-        lhs.append(rhs.currentData(), rhs.size());
-        return lhs;
-    }
-
-} // namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-// end catch_stringref.cpp
-// start catch_tag_alias.cpp
-
-namespace Catch {
-    TagAlias::TagAlias(std::string const & _tag, SourceLineInfo _lineInfo): tag(_tag), lineInfo(_lineInfo) {}
-}
-// end catch_tag_alias.cpp
-// start catch_tag_alias_autoregistrar.cpp
-
-namespace Catch {
-
-    RegistrarForTagAliases::RegistrarForTagAliases(char const* alias, char const* tag, SourceLineInfo const& lineInfo) {
-        CATCH_TRY {
-            getMutableRegistryHub().registerTagAlias(alias, tag, lineInfo);
-        } CATCH_CATCH_ALL {
-            // Do not throw when constructing global objects, instead register the exception to be processed later
-            getMutableRegistryHub().registerStartupException();
-        }
-    }
-
-}
-// end catch_tag_alias_autoregistrar.cpp
-// start catch_tag_alias_registry.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    TagAliasRegistry::~TagAliasRegistry() {}
-
-    TagAlias const* TagAliasRegistry::find( std::string const& alias ) const {
-        auto it = m_registry.find( alias );
-        if( it != m_registry.end() )
-            return &(it->second);
-        else
-            return nullptr;
-    }
-
-    std::string TagAliasRegistry::expandAliases( std::string const& unexpandedTestSpec ) const {
-        std::string expandedTestSpec = unexpandedTestSpec;
-        for( auto const& registryKvp : m_registry ) {
-            std::size_t pos = expandedTestSpec.find( registryKvp.first );
-            if( pos != std::string::npos ) {
-                expandedTestSpec =  expandedTestSpec.substr( 0, pos ) +
-                                    registryKvp.second.tag +
-                                    expandedTestSpec.substr( pos + registryKvp.first.size() );
-            }
-        }
-        return expandedTestSpec;
-    }
-
-    void TagAliasRegistry::add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) {
-        CATCH_ENFORCE( startsWith(alias, "[@") && endsWith(alias, ']'),
-                      "error: tag alias, '" << alias << "' is not of the form [@alias name].\n" << lineInfo );
-
-        CATCH_ENFORCE( m_registry.insert(std::make_pair(alias, TagAlias(tag, lineInfo))).second,
-                      "error: tag alias, '" << alias << "' already registered.\n"
-                      << "\tFirst seen at: " << find(alias)->lineInfo << "\n"
-                      << "\tRedefined at: " << lineInfo );
-    }
-
-    ITagAliasRegistry::~ITagAliasRegistry() {}
-
-    ITagAliasRegistry const& ITagAliasRegistry::get() {
-        return getRegistryHub().getTagAliasRegistry();
-    }
-
-} // end namespace Catch
-// end catch_tag_alias_registry.cpp
-// start catch_test_case_info.cpp
-
-#include <cctype>
-#include <exception>
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace {
-        TestCaseInfo::SpecialProperties parseSpecialTag( std::string const& tag ) {
-            if( startsWith( tag, '.' ) ||
-                tag == "!hide" )
-                return TestCaseInfo::IsHidden;
-            else if( tag == "!throws" )
-                return TestCaseInfo::Throws;
-            else if( tag == "!shouldfail" )
-                return TestCaseInfo::ShouldFail;
-            else if( tag == "!mayfail" )
-                return TestCaseInfo::MayFail;
-            else if( tag == "!nonportable" )
-                return TestCaseInfo::NonPortable;
-            else if( tag == "!benchmark" )
-                return static_cast<TestCaseInfo::SpecialProperties>( TestCaseInfo::Benchmark | TestCaseInfo::IsHidden );
-            else
-                return TestCaseInfo::None;
-        }
-        bool isReservedTag( std::string const& tag ) {
-            return parseSpecialTag( tag ) == TestCaseInfo::None && tag.size() > 0 && !std::isalnum( static_cast<unsigned char>(tag[0]) );
-        }
-        void enforceNotReservedTag( std::string const& tag, SourceLineInfo const& _lineInfo ) {
-            CATCH_ENFORCE( !isReservedTag(tag),
-                          "Tag name: [" << tag << "] is not allowed.\n"
-                          << "Tag names starting with non alphanumeric characters are reserved\n"
-                          << _lineInfo );
-        }
-    }
-
-    TestCase makeTestCase(  ITestInvoker* _testCase,
-                            std::string const& _className,
-                            NameAndTags const& nameAndTags,
-                            SourceLineInfo const& _lineInfo )
-    {
-        bool isHidden = false;
-
-        // Parse out tags
-        std::vector<std::string> tags;
-        std::string desc, tag;
-        bool inTag = false;
-        std::string _descOrTags = nameAndTags.tags;
-        for (char c : _descOrTags) {
-            if( !inTag ) {
-                if( c == '[' )
-                    inTag = true;
-                else
-                    desc += c;
-            }
-            else {
-                if( c == ']' ) {
-                    TestCaseInfo::SpecialProperties prop = parseSpecialTag( tag );
-                    if( ( prop & TestCaseInfo::IsHidden ) != 0 )
-                        isHidden = true;
-                    else if( prop == TestCaseInfo::None )
-                        enforceNotReservedTag( tag, _lineInfo );
-
-                    // Merged hide tags like `[.approvals]` should be added as
-                    // `[.][approvals]`. The `[.]` is added at later point, so
-                    // we only strip the prefix
-                    if (startsWith(tag, '.') && tag.size() > 1) {
-                        tag.erase(0, 1);
-                    }
-                    tags.push_back( tag );
-                    tag.clear();
-                    inTag = false;
-                }
-                else
-                    tag += c;
-            }
-        }
-        if( isHidden ) {
-            tags.push_back( "." );
-        }
-
-        TestCaseInfo info( nameAndTags.name, _className, desc, tags, _lineInfo );
-        return TestCase( _testCase, std::move(info) );
-    }
-
-    void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags ) {
-        std::sort(begin(tags), end(tags));
-        tags.erase(std::unique(begin(tags), end(tags)), end(tags));
-        testCaseInfo.lcaseTags.clear();
-
-        for( auto const& tag : tags ) {
-            std::string lcaseTag = toLower( tag );
-            testCaseInfo.properties = static_cast<TestCaseInfo::SpecialProperties>( testCaseInfo.properties | parseSpecialTag( lcaseTag ) );
-            testCaseInfo.lcaseTags.push_back( lcaseTag );
-        }
-        testCaseInfo.tags = std::move(tags);
-    }
-
-    TestCaseInfo::TestCaseInfo( std::string const& _name,
-                                std::string const& _className,
-                                std::string const& _description,
-                                std::vector<std::string> const& _tags,
-                                SourceLineInfo const& _lineInfo )
-    :   name( _name ),
-        className( _className ),
-        description( _description ),
-        lineInfo( _lineInfo ),
-        properties( None )
-    {
-        setTags( *this, _tags );
-    }
-
-    bool TestCaseInfo::isHidden() const {
-        return ( properties & IsHidden ) != 0;
-    }
-    bool TestCaseInfo::throws() const {
-        return ( properties & Throws ) != 0;
-    }
-    bool TestCaseInfo::okToFail() const {
-        return ( properties & (ShouldFail | MayFail ) ) != 0;
-    }
-    bool TestCaseInfo::expectedToFail() const {
-        return ( properties & (ShouldFail ) ) != 0;
-    }
-
-    std::string TestCaseInfo::tagsAsString() const {
-        std::string ret;
-        // '[' and ']' per tag
-        std::size_t full_size = 2 * tags.size();
-        for (const auto& tag : tags) {
-            full_size += tag.size();
-        }
-        ret.reserve(full_size);
-        for (const auto& tag : tags) {
-            ret.push_back('[');
-            ret.append(tag);
-            ret.push_back(']');
-        }
-
-        return ret;
-    }
-
-    TestCase::TestCase( ITestInvoker* testCase, TestCaseInfo&& info ) : TestCaseInfo( std::move(info) ), test( testCase ) {}
-
-    TestCase TestCase::withName( std::string const& _newName ) const {
-        TestCase other( *this );
-        other.name = _newName;
-        return other;
-    }
-
-    void TestCase::invoke() const {
-        test->invoke();
-    }
-
-    bool TestCase::operator == ( TestCase const& other ) const {
-        return  test.get() == other.test.get() &&
-                name == other.name &&
-                className == other.className;
-    }
-
-    bool TestCase::operator < ( TestCase const& other ) const {
-        return name < other.name;
-    }
-
-    TestCaseInfo const& TestCase::getTestCaseInfo() const
-    {
-        return *this;
-    }
-
-} // end namespace Catch
-// end catch_test_case_info.cpp
-// start catch_test_case_registry_impl.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases ) {
-
-        std::vector<TestCase> sorted = unsortedTestCases;
-
-        switch( config.runOrder() ) {
-            case RunTests::InLexicographicalOrder:
-                std::sort( sorted.begin(), sorted.end() );
-                break;
-            case RunTests::InRandomOrder:
-                seedRng( config );
-                std::shuffle( sorted.begin(), sorted.end(), rng() );
-                break;
-            case RunTests::InDeclarationOrder:
-                // already in declaration order
-                break;
-        }
-        return sorted;
-    }
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config ) {
-        return !testCase.throws() || config.allowThrows();
-    }
-
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ) {
-        return testSpec.matches( testCase ) && isThrowSafe( testCase, config );
-    }
-
-    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions ) {
-        std::set<TestCase> seenFunctions;
-        for( auto const& function : functions ) {
-            auto prev = seenFunctions.insert( function );
-            CATCH_ENFORCE( prev.second,
-                    "error: TEST_CASE( \"" << function.name << "\" ) already defined.\n"
-                    << "\tFirst seen at " << prev.first->getTestCaseInfo().lineInfo << "\n"
-                    << "\tRedefined at " << function.getTestCaseInfo().lineInfo );
-        }
-    }
-
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config ) {
-        std::vector<TestCase> filtered;
-        filtered.reserve( testCases.size() );
-        for (auto const& testCase : testCases) {
-            if ((!testSpec.hasFilters() && !testCase.isHidden()) ||
-                (testSpec.hasFilters() && matchTest(testCase, testSpec, config))) {
-                filtered.push_back(testCase);
-            }
-        }
-        return filtered;
-    }
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config ) {
-        return getRegistryHub().getTestCaseRegistry().getAllTestsSorted( config );
-    }
-
-    void TestRegistry::registerTest( TestCase const& testCase ) {
-        std::string name = testCase.getTestCaseInfo().name;
-        if( name.empty() ) {
-            ReusableStringStream rss;
-            rss << "Anonymous test case " << ++m_unnamedCount;
-            return registerTest( testCase.withName( rss.str() ) );
-        }
-        m_functions.push_back( testCase );
-    }
-
-    std::vector<TestCase> const& TestRegistry::getAllTests() const {
-        return m_functions;
-    }
-    std::vector<TestCase> const& TestRegistry::getAllTestsSorted( IConfig const& config ) const {
-        if( m_sortedFunctions.empty() )
-            enforceNoDuplicateTestCases( m_functions );
-
-        if(  m_currentSortOrder != config.runOrder() || m_sortedFunctions.empty() ) {
-            m_sortedFunctions = sortTests( config, m_functions );
-            m_currentSortOrder = config.runOrder();
-        }
-        return m_sortedFunctions;
-    }
-
-    ///////////////////////////////////////////////////////////////////////////
-    TestInvokerAsFunction::TestInvokerAsFunction( void(*testAsFunction)() ) noexcept : m_testAsFunction( testAsFunction ) {}
-
-    void TestInvokerAsFunction::invoke() const {
-        m_testAsFunction();
-    }
-
-    std::string extractClassName( StringRef const& classOrQualifiedMethodName ) {
-        std::string className = classOrQualifiedMethodName;
-        if( startsWith( className, '&' ) )
-        {
-            std::size_t lastColons = className.rfind( "::" );
-            std::size_t penultimateColons = className.rfind( "::", lastColons-1 );
-            if( penultimateColons == std::string::npos )
-                penultimateColons = 1;
-            className = className.substr( penultimateColons, lastColons-penultimateColons );
-        }
-        return className;
-    }
-
-} // end namespace Catch
-// end catch_test_case_registry_impl.cpp
-// start catch_test_case_tracker.cpp
-
-#include <algorithm>
-#include <cassert>
-#include <stdexcept>
-#include <memory>
-#include <sstream>
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-namespace Catch {
-namespace TestCaseTracking {
-
-    NameAndLocation::NameAndLocation( std::string const& _name, SourceLineInfo const& _location )
-    :   name( _name ),
-        location( _location )
-    {}
-
-    ITracker::~ITracker() = default;
-
-    ITracker& TrackerContext::startRun() {
-        m_rootTracker = std::make_shared<SectionTracker>( NameAndLocation( "{root}", CATCH_INTERNAL_LINEINFO ), *this, nullptr );
-        m_currentTracker = nullptr;
-        m_runState = Executing;
-        return *m_rootTracker;
-    }
-
-    void TrackerContext::endRun() {
-        m_rootTracker.reset();
-        m_currentTracker = nullptr;
-        m_runState = NotStarted;
-    }
-
-    void TrackerContext::startCycle() {
-        m_currentTracker = m_rootTracker.get();
-        m_runState = Executing;
-    }
-    void TrackerContext::completeCycle() {
-        m_runState = CompletedCycle;
-    }
-
-    bool TrackerContext::completedCycle() const {
-        return m_runState == CompletedCycle;
-    }
-    ITracker& TrackerContext::currentTracker() {
-        return *m_currentTracker;
-    }
-    void TrackerContext::setCurrentTracker( ITracker* tracker ) {
-        m_currentTracker = tracker;
-    }
-
-    TrackerBase::TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-    :   m_nameAndLocation( nameAndLocation ),
-        m_ctx( ctx ),
-        m_parent( parent )
-    {}
-
-    NameAndLocation const& TrackerBase::nameAndLocation() const {
-        return m_nameAndLocation;
-    }
-    bool TrackerBase::isComplete() const {
-        return m_runState == CompletedSuccessfully || m_runState == Failed;
-    }
-    bool TrackerBase::isSuccessfullyCompleted() const {
-        return m_runState == CompletedSuccessfully;
-    }
-    bool TrackerBase::isOpen() const {
-        return m_runState != NotStarted && !isComplete();
-    }
-    bool TrackerBase::hasChildren() const {
-        return !m_children.empty();
-    }
-
-    void TrackerBase::addChild( ITrackerPtr const& child ) {
-        m_children.push_back( child );
-    }
-
-    ITrackerPtr TrackerBase::findChild( NameAndLocation const& nameAndLocation ) {
-        auto it = std::find_if( m_children.begin(), m_children.end(),
-            [&nameAndLocation]( ITrackerPtr const& tracker ){
-                return
-                    tracker->nameAndLocation().location == nameAndLocation.location &&
-                    tracker->nameAndLocation().name == nameAndLocation.name;
-            } );
-        return( it != m_children.end() )
-            ? *it
-            : nullptr;
-    }
-    ITracker& TrackerBase::parent() {
-        assert( m_parent ); // Should always be non-null except for root
-        return *m_parent;
-    }
-
-    void TrackerBase::openChild() {
-        if( m_runState != ExecutingChildren ) {
-            m_runState = ExecutingChildren;
-            if( m_parent )
-                m_parent->openChild();
-        }
-    }
-
-    bool TrackerBase::isSectionTracker() const { return false; }
-    bool TrackerBase::isGeneratorTracker() const { return false; }
-
-    void TrackerBase::open() {
-        m_runState = Executing;
-        moveToThis();
-        if( m_parent )
-            m_parent->openChild();
-    }
-
-    void TrackerBase::close() {
-
-        // Close any still open children (e.g. generators)
-        while( &m_ctx.currentTracker() != this )
-            m_ctx.currentTracker().close();
-
-        switch( m_runState ) {
-            case NeedsAnotherRun:
-                break;
-
-            case Executing:
-                m_runState = CompletedSuccessfully;
-                break;
-            case ExecutingChildren:
-                if( std::all_of(m_children.begin(), m_children.end(), [](ITrackerPtr const& t){ return t->isComplete(); }) )
-                    m_runState = CompletedSuccessfully;
-                break;
-
-            case NotStarted:
-            case CompletedSuccessfully:
-            case Failed:
-                CATCH_INTERNAL_ERROR( "Illogical state: " << m_runState );
-
-            default:
-                CATCH_INTERNAL_ERROR( "Unknown state: " << m_runState );
-        }
-        moveToParent();
-        m_ctx.completeCycle();
-    }
-    void TrackerBase::fail() {
-        m_runState = Failed;
-        if( m_parent )
-            m_parent->markAsNeedingAnotherRun();
-        moveToParent();
-        m_ctx.completeCycle();
-    }
-    void TrackerBase::markAsNeedingAnotherRun() {
-        m_runState = NeedsAnotherRun;
-    }
-
-    void TrackerBase::moveToParent() {
-        assert( m_parent );
-        m_ctx.setCurrentTracker( m_parent );
-    }
-    void TrackerBase::moveToThis() {
-        m_ctx.setCurrentTracker( this );
-    }
-
-    SectionTracker::SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-    :   TrackerBase( nameAndLocation, ctx, parent )
-    {
-        if( parent ) {
-            while( !parent->isSectionTracker() )
-                parent = &parent->parent();
-
-            SectionTracker& parentSection = static_cast<SectionTracker&>( *parent );
-            addNextFilters( parentSection.m_filters );
-        }
-    }
-
-    bool SectionTracker::isComplete() const {
-        bool complete = true;
-
-        if ((m_filters.empty() || m_filters[0] == "") ||
-             std::find(m_filters.begin(), m_filters.end(),
-                       m_nameAndLocation.name) != m_filters.end())
-            complete = TrackerBase::isComplete();
-        return complete;
-
-    }
-
-    bool SectionTracker::isSectionTracker() const { return true; }
-
-    SectionTracker& SectionTracker::acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation ) {
-        std::shared_ptr<SectionTracker> section;
-
-        ITracker& currentTracker = ctx.currentTracker();
-        if( ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-            assert( childTracker );
-            assert( childTracker->isSectionTracker() );
-            section = std::static_pointer_cast<SectionTracker>( childTracker );
-        }
-        else {
-            section = std::make_shared<SectionTracker>( nameAndLocation, ctx, &currentTracker );
-            currentTracker.addChild( section );
-        }
-        if( !ctx.completedCycle() )
-            section->tryOpen();
-        return *section;
-    }
-
-    void SectionTracker::tryOpen() {
-        if( !isComplete() && (m_filters.empty() || m_filters[0].empty() ||  m_filters[0] == m_nameAndLocation.name ) )
-            open();
-    }
-
-    void SectionTracker::addInitialFilters( std::vector<std::string> const& filters ) {
-        if( !filters.empty() ) {
-            m_filters.push_back(""); // Root - should never be consulted
-            m_filters.push_back(""); // Test Case - not a section filter
-            m_filters.insert( m_filters.end(), filters.begin(), filters.end() );
-        }
-    }
-    void SectionTracker::addNextFilters( std::vector<std::string> const& filters ) {
-        if( filters.size() > 1 )
-            m_filters.insert( m_filters.end(), ++filters.begin(), filters.end() );
-    }
-
-} // namespace TestCaseTracking
-
-using TestCaseTracking::ITracker;
-using TestCaseTracking::TrackerContext;
-using TestCaseTracking::SectionTracker;
-
-} // namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-// end catch_test_case_tracker.cpp
-// start catch_test_registry.cpp
-
-namespace Catch {
-
-    auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker* {
-        return new(std::nothrow) TestInvokerAsFunction( testAsFunction );
-    }
-
-    NameAndTags::NameAndTags( StringRef const& name_ , StringRef const& tags_ ) noexcept : name( name_ ), tags( tags_ ) {}
-
-    AutoReg::AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept {
-        CATCH_TRY {
-            getMutableRegistryHub()
-                    .registerTest(
-                        makeTestCase(
-                            invoker,
-                            extractClassName( classOrMethod ),
-                            nameAndTags,
-                            lineInfo));
-        } CATCH_CATCH_ALL {
-            // Do not throw when constructing global objects, instead register the exception to be processed later
-            getMutableRegistryHub().registerStartupException();
-        }
-    }
-
-    AutoReg::~AutoReg() = default;
-}
-// end catch_test_registry.cpp
-// start catch_test_spec.cpp
-
-#include <algorithm>
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    TestSpec::Pattern::Pattern( std::string const& name )
-    : m_name( name )
-    {}
-
-    TestSpec::Pattern::~Pattern() = default;
-
-    std::string const& TestSpec::Pattern::name() const {
-        return m_name;
-    }
-
-    TestSpec::NamePattern::NamePattern( std::string const& name, std::string const& filterString )
-    : Pattern( filterString )
-    , m_wildcardPattern( toLower( name ), CaseSensitive::No )
-    {}
-
-    bool TestSpec::NamePattern::matches( TestCaseInfo const& testCase ) const {
-        return m_wildcardPattern.matches( toLower( testCase.name ) );
-    }
-
-    TestSpec::TagPattern::TagPattern( std::string const& tag, std::string const& filterString )
-    : Pattern( filterString )
-    , m_tag( toLower( tag ) )
-    {}
-
-    bool TestSpec::TagPattern::matches( TestCaseInfo const& testCase ) const {
-        return std::find(begin(testCase.lcaseTags),
-                         end(testCase.lcaseTags),
-                         m_tag) != end(testCase.lcaseTags);
-    }
-
-    TestSpec::ExcludedPattern::ExcludedPattern( PatternPtr const& underlyingPattern )
-    : Pattern( underlyingPattern->name() )
-    , m_underlyingPattern( underlyingPattern )
-    {}
-
-    bool TestSpec::ExcludedPattern::matches( TestCaseInfo const& testCase ) const {
-        return !m_underlyingPattern->matches( testCase );
-    }
-
-    bool TestSpec::Filter::matches( TestCaseInfo const& testCase ) const {
-        return std::all_of( m_patterns.begin(), m_patterns.end(), [&]( PatternPtr const& p ){ return p->matches( testCase ); } );
-    }
-
-    std::string TestSpec::Filter::name() const {
-        std::string name;
-        for( auto const& p : m_patterns )
-            name += p->name();
-        return name;
-    }
-
-    bool TestSpec::hasFilters() const {
-        return !m_filters.empty();
-    }
-
-    bool TestSpec::matches( TestCaseInfo const& testCase ) const {
-        return std::any_of( m_filters.begin(), m_filters.end(), [&]( Filter const& f ){ return f.matches( testCase ); } );
-    }
-
-    TestSpec::Matches TestSpec::matchesByFilter( std::vector<TestCase> const& testCases, IConfig const& config ) const
-    {
-        Matches matches( m_filters.size() );
-        std::transform( m_filters.begin(), m_filters.end(), matches.begin(), [&]( Filter const& filter ){
-            std::vector<TestCase const*> currentMatches;
-            for( auto const& test : testCases )
-                if( isThrowSafe( test, config ) && filter.matches( test ) )
-                    currentMatches.emplace_back( &test );
-            return FilterMatch{ filter.name(), currentMatches };
-        } );
-        return matches;
-    }
-
-}
-// end catch_test_spec.cpp
-// start catch_test_spec_parser.cpp
-
-namespace Catch {
-
-    TestSpecParser::TestSpecParser( ITagAliasRegistry const& tagAliases ) : m_tagAliases( &tagAliases ) {}
-
-    TestSpecParser& TestSpecParser::parse( std::string const& arg ) {
-        m_mode = None;
-        m_exclusion = false;
-        m_arg = m_tagAliases->expandAliases( arg );
-        m_escapeChars.clear();
-        m_substring.reserve(m_arg.size());
-        m_patternName.reserve(m_arg.size());
-        for( m_pos = 0; m_pos < m_arg.size(); ++m_pos )
-            visitChar( m_arg[m_pos] );
-        endMode();
-        return *this;
-    }
-    TestSpec TestSpecParser::testSpec() {
-        addFilter();
-        return m_testSpec;
-    }
-    void TestSpecParser::visitChar( char c ) {
-        if( c == ',' ) {
-            endMode();
-            addFilter();
-            return;
-        }
-
-        switch( m_mode ) {
-        case None:
-            if( processNoneChar( c ) )
-                return;
-            break;
-        case Name:
-            processNameChar( c );
-            break;
-        case EscapedName:
-            endMode();
-            break;
-        default:
-        case Tag:
-        case QuotedName:
-            if( processOtherChar( c ) )
-                return;
-            break;
-        }
-
-        m_substring += c;
-        if( !isControlChar( c ) )
-            m_patternName += c;
-    }
-    // Two of the processing methods return true to signal the caller to return
-    // without adding the given character to the current pattern strings
-    bool TestSpecParser::processNoneChar( char c ) {
-        switch( c ) {
-        case ' ':
-            return true;
-        case '~':
-            m_exclusion = true;
-            return false;
-        case '[':
-            startNewMode( Tag );
-            return false;
-        case '"':
-            startNewMode( QuotedName );
-            return false;
-        case '\\':
-            escape();
-            return true;
-        default:
-            startNewMode( Name );
-            return false;
-        }
-    }
-    void TestSpecParser::processNameChar( char c ) {
-        if( c == '[' ) {
-            if( m_substring == "exclude:" )
-                m_exclusion = true;
-            else
-                endMode();
-            startNewMode( Tag );
-        }
-    }
-    bool TestSpecParser::processOtherChar( char c ) {
-        if( !isControlChar( c ) )
-            return false;
-        m_substring += c;
-        endMode();
-        return true;
-    }
-    void TestSpecParser::startNewMode( Mode mode ) {
-        m_mode = mode;
-    }
-    void TestSpecParser::endMode() {
-        switch( m_mode ) {
-        case Name:
-        case QuotedName:
-            return addPattern<TestSpec::NamePattern>();
-        case Tag:
-            return addPattern<TestSpec::TagPattern>();
-        case EscapedName:
-            return startNewMode( Name );
-        case None:
-        default:
-            return startNewMode( None );
-        }
-    }
-    void TestSpecParser::escape() {
-        m_mode = EscapedName;
-        m_escapeChars.push_back( m_pos );
-    }
-    bool TestSpecParser::isControlChar( char c ) const {
-        switch( m_mode ) {
-            default:
-                return false;
-            case None:
-                return c == '~';
-            case Name:
-                return c == '[';
-            case EscapedName:
-                return true;
-            case QuotedName:
-                return c == '"';
-            case Tag:
-                return c == '[' || c == ']';
-        }
-    }
-
-    void TestSpecParser::addFilter() {
-        if( !m_currentFilter.m_patterns.empty() ) {
-            m_testSpec.m_filters.push_back( m_currentFilter );
-            m_currentFilter = TestSpec::Filter();
-        }
-    }
-
-    TestSpec parseTestSpec( std::string const& arg ) {
-        return TestSpecParser( ITagAliasRegistry::get() ).parse( arg ).testSpec();
-    }
-
-} // namespace Catch
-// end catch_test_spec_parser.cpp
-// start catch_timer.cpp
-
-#include <chrono>
-
-static const uint64_t nanosecondsInSecond = 1000000000;
-
-namespace Catch {
-
-    auto getCurrentNanosecondsSinceEpoch() -> uint64_t {
-        return std::chrono::duration_cast<std::chrono::nanoseconds>( std::chrono::high_resolution_clock::now().time_since_epoch() ).count();
-    }
-
-    namespace {
-        auto estimateClockResolution() -> uint64_t {
-            uint64_t sum = 0;
-            static const uint64_t iterations = 1000000;
-
-            auto startTime = getCurrentNanosecondsSinceEpoch();
-
-            for( std::size_t i = 0; i < iterations; ++i ) {
-
-                uint64_t ticks;
-                uint64_t baseTicks = getCurrentNanosecondsSinceEpoch();
-                do {
-                    ticks = getCurrentNanosecondsSinceEpoch();
-                } while( ticks == baseTicks );
-
-                auto delta = ticks - baseTicks;
-                sum += delta;
-
-                // If we have been calibrating for over 3 seconds -- the clock
-                // is terrible and we should move on.
-                // TBD: How to signal that the measured resolution is probably wrong?
-                if (ticks > startTime + 3 * nanosecondsInSecond) {
-                    return sum / ( i + 1u );
-                }
-            }
-
-            // We're just taking the mean, here. To do better we could take the std. dev and exclude outliers
-            // - and potentially do more iterations if there's a high variance.
-            return sum/iterations;
-        }
-    }
-    auto getEstimatedClockResolution() -> uint64_t {
-        static auto s_resolution = estimateClockResolution();
-        return s_resolution;
-    }
-
-    void Timer::start() {
-       m_nanoseconds = getCurrentNanosecondsSinceEpoch();
-    }
-    auto Timer::getElapsedNanoseconds() const -> uint64_t {
-        return getCurrentNanosecondsSinceEpoch() - m_nanoseconds;
-    }
-    auto Timer::getElapsedMicroseconds() const -> uint64_t {
-        return getElapsedNanoseconds()/1000;
-    }
-    auto Timer::getElapsedMilliseconds() const -> unsigned int {
-        return static_cast<unsigned int>(getElapsedMicroseconds()/1000);
-    }
-    auto Timer::getElapsedSeconds() const -> double {
-        return getElapsedMicroseconds()/1000000.0;
-    }
-
-} // namespace Catch
-// end catch_timer.cpp
-// start catch_tostring.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#    pragma clang diagnostic ignored "-Wglobal-constructors"
-#endif
-
-// Enable specific decls locally
-#if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#endif
-
-#include <cmath>
-#include <iomanip>
-
-namespace Catch {
-
-namespace Detail {
-
-    const std::string unprintableString = "{?}";
-
-    namespace {
-        const int hexThreshold = 255;
-
-        struct Endianness {
-            enum Arch { Big, Little };
-
-            static Arch which() {
-                union _{
-                    int asInt;
-                    char asChar[sizeof (int)];
-                } u;
-
-                u.asInt = 1;
-                return ( u.asChar[sizeof(int)-1] == 1 ) ? Big : Little;
-            }
-        };
-    }
-
-    std::string rawMemoryToString( const void *object, std::size_t size ) {
-        // Reverse order for little endian architectures
-        int i = 0, end = static_cast<int>( size ), inc = 1;
-        if( Endianness::which() == Endianness::Little ) {
-            i = end-1;
-            end = inc = -1;
-        }
-
-        unsigned char const *bytes = static_cast<unsigned char const *>(object);
-        ReusableStringStream rss;
-        rss << "0x" << std::setfill('0') << std::hex;
-        for( ; i != end; i += inc )
-             rss << std::setw(2) << static_cast<unsigned>(bytes[i]);
-       return rss.str();
-    }
-}
-
-template<typename T>
-std::string fpToString( T value, int precision ) {
-    if (Catch::isnan(value)) {
-        return "nan";
-    }
-
-    ReusableStringStream rss;
-    rss << std::setprecision( precision )
-        << std::fixed
-        << value;
-    std::string d = rss.str();
-    std::size_t i = d.find_last_not_of( '0' );
-    if( i != std::string::npos && i != d.size()-1 ) {
-        if( d[i] == '.' )
-            i++;
-        d = d.substr( 0, i+1 );
-    }
-    return d;
-}
-
-//// ======================================================= ////
-//
-//   Out-of-line defs for full specialization of StringMaker
-//
-//// ======================================================= ////
-
-std::string StringMaker<std::string>::convert(const std::string& str) {
-    if (!getCurrentContext().getConfig()->showInvisibles()) {
-        return '"' + str + '"';
-    }
-
-    std::string s("\"");
-    for (char c : str) {
-        switch (c) {
-        case '\n':
-            s.append("\\n");
-            break;
-        case '\t':
-            s.append("\\t");
-            break;
-        default:
-            s.push_back(c);
-            break;
-        }
-    }
-    s.append("\"");
-    return s;
-}
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-std::string StringMaker<std::string_view>::convert(std::string_view str) {
-    return ::Catch::Detail::stringify(std::string{ str });
-}
-#endif
-
-std::string StringMaker<char const*>::convert(char const* str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::string{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-std::string StringMaker<char*>::convert(char* str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::string{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-
-#ifdef CATCH_CONFIG_WCHAR
-std::string StringMaker<std::wstring>::convert(const std::wstring& wstr) {
-    std::string s;
-    s.reserve(wstr.size());
-    for (auto c : wstr) {
-        s += (c <= 0xff) ? static_cast<char>(c) : '?';
-    }
-    return ::Catch::Detail::stringify(s);
-}
-
-# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-std::string StringMaker<std::wstring_view>::convert(std::wstring_view str) {
-    return StringMaker<std::wstring>::convert(std::wstring(str));
-}
-# endif
-
-std::string StringMaker<wchar_t const*>::convert(wchar_t const * str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::wstring{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-std::string StringMaker<wchar_t *>::convert(wchar_t * str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::wstring{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-#endif
-
-#if defined(CATCH_CONFIG_CPP17_BYTE)
-#include <cstddef>
-std::string StringMaker<std::byte>::convert(std::byte value) {
-    return ::Catch::Detail::stringify(std::to_integer<unsigned long long>(value));
-}
-#endif // defined(CATCH_CONFIG_CPP17_BYTE)
-
-std::string StringMaker<int>::convert(int value) {
-    return ::Catch::Detail::stringify(static_cast<long long>(value));
-}
-std::string StringMaker<long>::convert(long value) {
-    return ::Catch::Detail::stringify(static_cast<long long>(value));
-}
-std::string StringMaker<long long>::convert(long long value) {
-    ReusableStringStream rss;
-    rss << value;
-    if (value > Detail::hexThreshold) {
-        rss << " (0x" << std::hex << value << ')';
-    }
-    return rss.str();
-}
-
-std::string StringMaker<unsigned int>::convert(unsigned int value) {
-    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
-}
-std::string StringMaker<unsigned long>::convert(unsigned long value) {
-    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
-}
-std::string StringMaker<unsigned long long>::convert(unsigned long long value) {
-    ReusableStringStream rss;
-    rss << value;
-    if (value > Detail::hexThreshold) {
-        rss << " (0x" << std::hex << value << ')';
-    }
-    return rss.str();
-}
-
-std::string StringMaker<bool>::convert(bool b) {
-    return b ? "true" : "false";
-}
-
-std::string StringMaker<signed char>::convert(signed char value) {
-    if (value == '\r') {
-        return "'\\r'";
-    } else if (value == '\f') {
-        return "'\\f'";
-    } else if (value == '\n') {
-        return "'\\n'";
-    } else if (value == '\t') {
-        return "'\\t'";
-    } else if ('\0' <= value && value < ' ') {
-        return ::Catch::Detail::stringify(static_cast<unsigned int>(value));
-    } else {
-        char chstr[] = "' '";
-        chstr[1] = value;
-        return chstr;
-    }
-}
-std::string StringMaker<char>::convert(char c) {
-    return ::Catch::Detail::stringify(static_cast<signed char>(c));
-}
-std::string StringMaker<unsigned char>::convert(unsigned char c) {
-    return ::Catch::Detail::stringify(static_cast<char>(c));
-}
-
-std::string StringMaker<std::nullptr_t>::convert(std::nullptr_t) {
-    return "nullptr";
-}
-
-int StringMaker<float>::precision = 5;
-
-std::string StringMaker<float>::convert(float value) {
-    return fpToString(value, precision) + 'f';
-}
-
-int StringMaker<double>::precision = 10;
-
-std::string StringMaker<double>::convert(double value) {
-    return fpToString(value, precision);
-}
-
-std::string ratio_string<std::atto>::symbol() { return "a"; }
-std::string ratio_string<std::femto>::symbol() { return "f"; }
-std::string ratio_string<std::pico>::symbol() { return "p"; }
-std::string ratio_string<std::nano>::symbol() { return "n"; }
-std::string ratio_string<std::micro>::symbol() { return "u"; }
-std::string ratio_string<std::milli>::symbol() { return "m"; }
-
-} // end namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-
-// end catch_tostring.cpp
-// start catch_totals.cpp
-
-namespace Catch {
-
-    Counts Counts::operator - ( Counts const& other ) const {
-        Counts diff;
-        diff.passed = passed - other.passed;
-        diff.failed = failed - other.failed;
-        diff.failedButOk = failedButOk - other.failedButOk;
-        return diff;
-    }
-
-    Counts& Counts::operator += ( Counts const& other ) {
-        passed += other.passed;
-        failed += other.failed;
-        failedButOk += other.failedButOk;
-        return *this;
-    }
-
-    std::size_t Counts::total() const {
-        return passed + failed + failedButOk;
-    }
-    bool Counts::allPassed() const {
-        return failed == 0 && failedButOk == 0;
-    }
-    bool Counts::allOk() const {
-        return failed == 0;
-    }
-
-    Totals Totals::operator - ( Totals const& other ) const {
-        Totals diff;
-        diff.assertions = assertions - other.assertions;
-        diff.testCases = testCases - other.testCases;
-        return diff;
-    }
-
-    Totals& Totals::operator += ( Totals const& other ) {
-        assertions += other.assertions;
-        testCases += other.testCases;
-        return *this;
-    }
-
-    Totals Totals::delta( Totals const& prevTotals ) const {
-        Totals diff = *this - prevTotals;
-        if( diff.assertions.failed > 0 )
-            ++diff.testCases.failed;
-        else if( diff.assertions.failedButOk > 0 )
-            ++diff.testCases.failedButOk;
-        else
-            ++diff.testCases.passed;
-        return diff;
-    }
-
-}
-// end catch_totals.cpp
-// start catch_uncaught_exceptions.cpp
-
-#include <exception>
-
-namespace Catch {
-    bool uncaught_exceptions() {
-#if defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-        return std::uncaught_exceptions() > 0;
-#else
-        return std::uncaught_exception();
-#endif
-  }
-} // end namespace Catch
-// end catch_uncaught_exceptions.cpp
-// start catch_version.cpp
-
-#include <ostream>
-
-namespace Catch {
-
-    Version::Version
-        (   unsigned int _majorVersion,
-            unsigned int _minorVersion,
-            unsigned int _patchNumber,
-            char const * const _branchName,
-            unsigned int _buildNumber )
-    :   majorVersion( _majorVersion ),
-        minorVersion( _minorVersion ),
-        patchNumber( _patchNumber ),
-        branchName( _branchName ),
-        buildNumber( _buildNumber )
-    {}
-
-    std::ostream& operator << ( std::ostream& os, Version const& version ) {
-        os  << version.majorVersion << '.'
-            << version.minorVersion << '.'
-            << version.patchNumber;
-        // branchName is never null -> 0th char is \0 if it is empty
-        if (version.branchName[0]) {
-            os << '-' << version.branchName
-               << '.' << version.buildNumber;
-        }
-        return os;
-    }
-
-    Version const& libraryVersion() {
-        static Version version( 2, 9, 2, "", 0 );
-        return version;
-    }
-
-}
-// end catch_version.cpp
-// start catch_wildcard_pattern.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    WildcardPattern::WildcardPattern( std::string const& pattern,
-                                      CaseSensitive::Choice caseSensitivity )
-    :   m_caseSensitivity( caseSensitivity ),
-        m_pattern( adjustCase( pattern ) )
-    {
-        if( startsWith( m_pattern, '*' ) ) {
-            m_pattern = m_pattern.substr( 1 );
-            m_wildcard = WildcardAtStart;
-        }
-        if( endsWith( m_pattern, '*' ) ) {
-            m_pattern = m_pattern.substr( 0, m_pattern.size()-1 );
-            m_wildcard = static_cast<WildcardPosition>( m_wildcard | WildcardAtEnd );
-        }
-    }
-
-    bool WildcardPattern::matches( std::string const& str ) const {
-        switch( m_wildcard ) {
-            case NoWildcard:
-                return m_pattern == adjustCase( str );
-            case WildcardAtStart:
-                return endsWith( adjustCase( str ), m_pattern );
-            case WildcardAtEnd:
-                return startsWith( adjustCase( str ), m_pattern );
-            case WildcardAtBothEnds:
-                return contains( adjustCase( str ), m_pattern );
-            default:
-                CATCH_INTERNAL_ERROR( "Unknown enum" );
-        }
-    }
-
-    std::string WildcardPattern::adjustCase( std::string const& str ) const {
-        return m_caseSensitivity == CaseSensitive::No ? toLower( str ) : str;
-    }
-}
-// end catch_wildcard_pattern.cpp
-// start catch_xmlwriter.cpp
-
-#include <iomanip>
-
-using uchar = unsigned char;
-
-namespace Catch {
-
-namespace {
-
-    size_t trailingBytes(unsigned char c) {
-        if ((c & 0xE0) == 0xC0) {
-            return 2;
-        }
-        if ((c & 0xF0) == 0xE0) {
-            return 3;
-        }
-        if ((c & 0xF8) == 0xF0) {
-            return 4;
-        }
-        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
-    }
-
-    uint32_t headerValue(unsigned char c) {
-        if ((c & 0xE0) == 0xC0) {
-            return c & 0x1F;
-        }
-        if ((c & 0xF0) == 0xE0) {
-            return c & 0x0F;
-        }
-        if ((c & 0xF8) == 0xF0) {
-            return c & 0x07;
-        }
-        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
-    }
-
-    void hexEscapeChar(std::ostream& os, unsigned char c) {
-        std::ios_base::fmtflags f(os.flags());
-        os << "\\x"
-            << std::uppercase << std::hex << std::setfill('0') << std::setw(2)
-            << static_cast<int>(c);
-        os.flags(f);
-    }
-
-} // anonymous namespace
-
-    XmlEncode::XmlEncode( std::string const& str, ForWhat forWhat )
-    :   m_str( str ),
-        m_forWhat( forWhat )
-    {}
-
-    void XmlEncode::encodeTo( std::ostream& os ) const {
-        // Apostrophe escaping not necessary if we always use " to write attributes
-        // (see: http://www.w3.org/TR/xml/#syntax)
-
-        for( std::size_t idx = 0; idx < m_str.size(); ++ idx ) {
-            uchar c = m_str[idx];
-            switch (c) {
-            case '<':   os << "&lt;"; break;
-            case '&':   os << "&amp;"; break;
-
-            case '>':
-                // See: http://www.w3.org/TR/xml/#syntax
-                if (idx > 2 && m_str[idx - 1] == ']' && m_str[idx - 2] == ']')
-                    os << "&gt;";
-                else
-                    os << c;
-                break;
-
-            case '\"':
-                if (m_forWhat == ForAttributes)
-                    os << "&quot;";
-                else
-                    os << c;
-                break;
-
-            default:
-                // Check for control characters and invalid utf-8
-
-                // Escape control characters in standard ascii
-                // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0
-                if (c < 0x09 || (c > 0x0D && c < 0x20) || c == 0x7F) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                // Plain ASCII: Write it to stream
-                if (c < 0x7F) {
-                    os << c;
-                    break;
-                }
-
-                // UTF-8 territory
-                // Check if the encoding is valid and if it is not, hex escape bytes.
-                // Important: We do not check the exact decoded values for validity, only the encoding format
-                // First check that this bytes is a valid lead byte:
-                // This means that it is not encoded as 1111 1XXX
-                // Or as 10XX XXXX
-                if (c <  0xC0 ||
-                    c >= 0xF8) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                auto encBytes = trailingBytes(c);
-                // Are there enough bytes left to avoid accessing out-of-bounds memory?
-                if (idx + encBytes - 1 >= m_str.size()) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-                // The header is valid, check data
-                // The next encBytes bytes must together be a valid utf-8
-                // This means: bitpattern 10XX XXXX and the extracted value is sane (ish)
-                bool valid = true;
-                uint32_t value = headerValue(c);
-                for (std::size_t n = 1; n < encBytes; ++n) {
-                    uchar nc = m_str[idx + n];
-                    valid &= ((nc & 0xC0) == 0x80);
-                    value = (value << 6) | (nc & 0x3F);
-                }
-
-                if (
-                    // Wrong bit pattern of following bytes
-                    (!valid) ||
-                    // Overlong encodings
-                    (value < 0x80) ||
-                    (0x80 <= value && value < 0x800   && encBytes > 2) ||
-                    (0x800 < value && value < 0x10000 && encBytes > 3) ||
-                    // Encoded value out of range
-                    (value >= 0x110000)
-                    ) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                // If we got here, this is in fact a valid(ish) utf-8 sequence
-                for (std::size_t n = 0; n < encBytes; ++n) {
-                    os << m_str[idx + n];
-                }
-                idx += encBytes - 1;
-                break;
-            }
-        }
-    }
-
-    std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode ) {
-        xmlEncode.encodeTo( os );
-        return os;
-    }
-
-    XmlWriter::ScopedElement::ScopedElement( XmlWriter* writer )
-    :   m_writer( writer )
-    {}
-
-    XmlWriter::ScopedElement::ScopedElement( ScopedElement&& other ) noexcept
-    :   m_writer( other.m_writer ){
-        other.m_writer = nullptr;
-    }
-    XmlWriter::ScopedElement& XmlWriter::ScopedElement::operator=( ScopedElement&& other ) noexcept {
-        if ( m_writer ) {
-            m_writer->endElement();
-        }
-        m_writer = other.m_writer;
-        other.m_writer = nullptr;
-        return *this;
-    }
-
-    XmlWriter::ScopedElement::~ScopedElement() {
-        if( m_writer )
-            m_writer->endElement();
-    }
-
-    XmlWriter::ScopedElement& XmlWriter::ScopedElement::writeText( std::string const& text, bool indent ) {
-        m_writer->writeText( text, indent );
-        return *this;
-    }
-
-    XmlWriter::XmlWriter( std::ostream& os ) : m_os( os )
-    {
-        writeDeclaration();
-    }
-
-    XmlWriter::~XmlWriter() {
-        while( !m_tags.empty() )
-            endElement();
-    }
-
-    XmlWriter& XmlWriter::startElement( std::string const& name ) {
-        ensureTagClosed();
-        newlineIfNecessary();
-        m_os << m_indent << '<' << name;
-        m_tags.push_back( name );
-        m_indent += "  ";
-        m_tagIsOpen = true;
-        return *this;
-    }
-
-    XmlWriter::ScopedElement XmlWriter::scopedElement( std::string const& name ) {
-        ScopedElement scoped( this );
-        startElement( name );
-        return scoped;
-    }
-
-    XmlWriter& XmlWriter::endElement() {
-        newlineIfNecessary();
-        m_indent = m_indent.substr( 0, m_indent.size()-2 );
-        if( m_tagIsOpen ) {
-            m_os << "/>";
-            m_tagIsOpen = false;
-        }
-        else {
-            m_os << m_indent << "</" << m_tags.back() << ">";
-        }
-        m_os << std::endl;
-        m_tags.pop_back();
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeAttribute( std::string const& name, std::string const& attribute ) {
-        if( !name.empty() && !attribute.empty() )
-            m_os << ' ' << name << "=\"" << XmlEncode( attribute, XmlEncode::ForAttributes ) << '"';
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeAttribute( std::string const& name, bool attribute ) {
-        m_os << ' ' << name << "=\"" << ( attribute ? "true" : "false" ) << '"';
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeText( std::string const& text, bool indent ) {
-        if( !text.empty() ){
-            bool tagWasOpen = m_tagIsOpen;
-            ensureTagClosed();
-            if( tagWasOpen && indent )
-                m_os << m_indent;
-            m_os << XmlEncode( text );
-            m_needsNewline = true;
-        }
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeComment( std::string const& text ) {
-        ensureTagClosed();
-        m_os << m_indent << "<!--" << text << "-->";
-        m_needsNewline = true;
-        return *this;
-    }
-
-    void XmlWriter::writeStylesheetRef( std::string const& url ) {
-        m_os << "<?xml-stylesheet type=\"text/xsl\" href=\"" << url << "\"?>\n";
-    }
-
-    XmlWriter& XmlWriter::writeBlankLine() {
-        ensureTagClosed();
-        m_os << '\n';
-        return *this;
-    }
-
-    void XmlWriter::ensureTagClosed() {
-        if( m_tagIsOpen ) {
-            m_os << ">" << std::endl;
-            m_tagIsOpen = false;
-        }
-    }
-
-    void XmlWriter::writeDeclaration() {
-        m_os << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
-    }
-
-    void XmlWriter::newlineIfNecessary() {
-        if( m_needsNewline ) {
-            m_os << std::endl;
-            m_needsNewline = false;
-        }
-    }
-}
-// end catch_xmlwriter.cpp
-// start catch_reporter_bases.cpp
-
-#include <cstring>
-#include <cfloat>
-#include <cstdio>
-#include <cassert>
-#include <memory>
-
-namespace Catch {
-    void prepareExpandedExpression(AssertionResult& result) {
-        result.getExpandedExpression();
-    }
-
-    // Because formatting using c++ streams is stateful, drop down to C is required
-    // Alternatively we could use stringstream, but its performance is... not good.
-    std::string getFormattedDuration( double duration ) {
-        // Max exponent + 1 is required to represent the whole part
-        // + 1 for decimal point
-        // + 3 for the 3 decimal places
-        // + 1 for null terminator
-        const std::size_t maxDoubleSize = DBL_MAX_10_EXP + 1 + 1 + 3 + 1;
-        char buffer[maxDoubleSize];
-
-        // Save previous errno, to prevent sprintf from overwriting it
-        ErrnoGuard guard;
-#ifdef _MSC_VER
-        sprintf_s(buffer, "%.3f", duration);
-#else
-        std::sprintf(buffer, "%.3f", duration);
-#endif
-        return std::string(buffer);
-    }
-
-    std::string serializeFilters( std::vector<std::string> const& container ) {
-        ReusableStringStream oss;
-        bool first = true;
-        for (auto&& filter : container)
-        {
-            if (!first)
-                oss << ' ';
-            else
-                first = false;
-
-            oss << filter;
-        }
-        return oss.str();
-    }
-
-    TestEventListenerBase::TestEventListenerBase(ReporterConfig const & _config)
-        :StreamingReporterBase(_config) {}
-
-    std::set<Verbosity> TestEventListenerBase::getSupportedVerbosities() {
-        return { Verbosity::Quiet, Verbosity::Normal, Verbosity::High };
-    }
-
-    void TestEventListenerBase::assertionStarting(AssertionInfo const &) {}
-
-    bool TestEventListenerBase::assertionEnded(AssertionStats const &) {
-        return false;
-    }
-
-} // end namespace Catch
-// end catch_reporter_bases.cpp
-// start catch_reporter_compact.cpp
-
-namespace {
-
-#ifdef CATCH_PLATFORM_MAC
-    const char* failedString() { return "FAILED"; }
-    const char* passedString() { return "PASSED"; }
-#else
-    const char* failedString() { return "failed"; }
-    const char* passedString() { return "passed"; }
-#endif
-
-    // Colour::LightGrey
-    Catch::Colour::Code dimColour() { return Catch::Colour::FileName; }
-
-    std::string bothOrAll( std::size_t count ) {
-        return count == 1 ? std::string() :
-               count == 2 ? "both " : "all " ;
-    }
-
-} // anon namespace
-
-namespace Catch {
-namespace {
-// Colour, message variants:
-// - white: No tests ran.
-// -   red: Failed [both/all] N test cases, failed [both/all] M assertions.
-// - white: Passed [both/all] N test cases (no assertions).
-// -   red: Failed N tests cases, failed M assertions.
-// - green: Passed [both/all] N tests cases with M assertions.
-void printTotals(std::ostream& out, const Totals& totals) {
-    if (totals.testCases.total() == 0) {
-        out << "No tests ran.";
-    } else if (totals.testCases.failed == totals.testCases.total()) {
-        Colour colour(Colour::ResultError);
-        const std::string qualify_assertions_failed =
-            totals.assertions.failed == totals.assertions.total() ?
-            bothOrAll(totals.assertions.failed) : std::string();
-        out <<
-            "Failed " << bothOrAll(totals.testCases.failed)
-            << pluralise(totals.testCases.failed, "test case") << ", "
-            "failed " << qualify_assertions_failed <<
-            pluralise(totals.assertions.failed, "assertion") << '.';
-    } else if (totals.assertions.total() == 0) {
-        out <<
-            "Passed " << bothOrAll(totals.testCases.total())
-            << pluralise(totals.testCases.total(), "test case")
-            << " (no assertions).";
-    } else if (totals.assertions.failed) {
-        Colour colour(Colour::ResultError);
-        out <<
-            "Failed " << pluralise(totals.testCases.failed, "test case") << ", "
-            "failed " << pluralise(totals.assertions.failed, "assertion") << '.';
-    } else {
-        Colour colour(Colour::ResultSuccess);
-        out <<
-            "Passed " << bothOrAll(totals.testCases.passed)
-            << pluralise(totals.testCases.passed, "test case") <<
-            " with " << pluralise(totals.assertions.passed, "assertion") << '.';
-    }
-}
-
-// Implementation of CompactReporter formatting
-class AssertionPrinter {
-public:
-    AssertionPrinter& operator= (AssertionPrinter const&) = delete;
-    AssertionPrinter(AssertionPrinter const&) = delete;
-    AssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
-        : stream(_stream)
-        , result(_stats.assertionResult)
-        , messages(_stats.infoMessages)
-        , itMessage(_stats.infoMessages.begin())
-        , printInfoMessages(_printInfoMessages) {}
-
-    void print() {
-        printSourceInfo();
-
-        itMessage = messages.begin();
-
-        switch (result.getResultType()) {
-        case ResultWas::Ok:
-            printResultType(Colour::ResultSuccess, passedString());
-            printOriginalExpression();
-            printReconstructedExpression();
-            if (!result.hasExpression())
-                printRemainingMessages(Colour::None);
-            else
-                printRemainingMessages();
-            break;
-        case ResultWas::ExpressionFailed:
-            if (result.isOk())
-                printResultType(Colour::ResultSuccess, failedString() + std::string(" - but was ok"));
-            else
-                printResultType(Colour::Error, failedString());
-            printOriginalExpression();
-            printReconstructedExpression();
-            printRemainingMessages();
-            break;
-        case ResultWas::ThrewException:
-            printResultType(Colour::Error, failedString());
-            printIssue("unexpected exception with message:");
-            printMessage();
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::FatalErrorCondition:
-            printResultType(Colour::Error, failedString());
-            printIssue("fatal error condition with message:");
-            printMessage();
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::DidntThrowException:
-            printResultType(Colour::Error, failedString());
-            printIssue("expected exception, got none");
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::Info:
-            printResultType(Colour::None, "info");
-            printMessage();
-            printRemainingMessages();
-            break;
-        case ResultWas::Warning:
-            printResultType(Colour::None, "warning");
-            printMessage();
-            printRemainingMessages();
-            break;
-        case ResultWas::ExplicitFailure:
-            printResultType(Colour::Error, failedString());
-            printIssue("explicitly");
-            printRemainingMessages(Colour::None);
-            break;
-            // These cases are here to prevent compiler warnings
-        case ResultWas::Unknown:
-        case ResultWas::FailureBit:
-        case ResultWas::Exception:
-            printResultType(Colour::Error, "** internal error **");
-            break;
-        }
-    }
-
-private:
-    void printSourceInfo() const {
-        Colour colourGuard(Colour::FileName);
-        stream << result.getSourceInfo() << ':';
-    }
-
-    void printResultType(Colour::Code colour, std::string const& passOrFail) const {
-        if (!passOrFail.empty()) {
-            {
-                Colour colourGuard(colour);
-                stream << ' ' << passOrFail;
-            }
-            stream << ':';
-        }
-    }
-
-    void printIssue(std::string const& issue) const {
-        stream << ' ' << issue;
-    }
-
-    void printExpressionWas() {
-        if (result.hasExpression()) {
-            stream << ';';
-            {
-                Colour colour(dimColour());
-                stream << " expression was:";
-            }
-            printOriginalExpression();
-        }
-    }
-
-    void printOriginalExpression() const {
-        if (result.hasExpression()) {
-            stream << ' ' << result.getExpression();
-        }
-    }
-
-    void printReconstructedExpression() const {
-        if (result.hasExpandedExpression()) {
-            {
-                Colour colour(dimColour());
-                stream << " for: ";
-            }
-            stream << result.getExpandedExpression();
-        }
-    }
-
-    void printMessage() {
-        if (itMessage != messages.end()) {
-            stream << " '" << itMessage->message << '\'';
-            ++itMessage;
-        }
-    }
-
-    void printRemainingMessages(Colour::Code colour = dimColour()) {
-        if (itMessage == messages.end())
-            return;
-
-        const auto itEnd = messages.cend();
-        const auto N = static_cast<std::size_t>(std::distance(itMessage, itEnd));
-
-        {
-            Colour colourGuard(colour);
-            stream << " with " << pluralise(N, "message") << ':';
-        }
-
-        while (itMessage != itEnd) {
-            // If this assertion is a warning ignore any INFO messages
-            if (printInfoMessages || itMessage->type != ResultWas::Info) {
-                printMessage();
-                if (itMessage != itEnd) {
-                    Colour colourGuard(dimColour());
-                    stream << " and";
-                }
-                continue;
-            }
-            ++itMessage;
-        }
-    }
-
-private:
-    std::ostream& stream;
-    AssertionResult const& result;
-    std::vector<MessageInfo> messages;
-    std::vector<MessageInfo>::const_iterator itMessage;
-    bool printInfoMessages;
-};
-
-} // anon namespace
-
-        std::string CompactReporter::getDescription() {
-            return "Reports test results on a single line, suitable for IDEs";
-        }
-
-        ReporterPreferences CompactReporter::getPreferences() const {
-            return m_reporterPrefs;
-        }
-
-        void CompactReporter::noMatchingTestCases( std::string const& spec ) {
-            stream << "No test cases matched '" << spec << '\'' << std::endl;
-        }
-
-        void CompactReporter::assertionStarting( AssertionInfo const& ) {}
-
-        bool CompactReporter::assertionEnded( AssertionStats const& _assertionStats ) {
-            AssertionResult const& result = _assertionStats.assertionResult;
-
-            bool printInfoMessages = true;
-
-            // Drop out if result was successful and we're not printing those
-            if( !m_config->includeSuccessfulResults() && result.isOk() ) {
-                if( result.getResultType() != ResultWas::Warning )
-                    return false;
-                printInfoMessages = false;
-            }
-
-            AssertionPrinter printer( stream, _assertionStats, printInfoMessages );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void CompactReporter::sectionEnded(SectionStats const& _sectionStats) {
-            if (m_config->showDurations() == ShowDurations::Always) {
-                stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl;
-            }
-        }
-
-        void CompactReporter::testRunEnded( TestRunStats const& _testRunStats ) {
-            printTotals( stream, _testRunStats.totals );
-            stream << '\n' << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-        CompactReporter::~CompactReporter() {}
-
-    CATCH_REGISTER_REPORTER( "compact", CompactReporter )
-
-} // end namespace Catch
-// end catch_reporter_compact.cpp
-// start catch_reporter_console.cpp
-
-#include <cfloat>
-#include <cstdio>
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
- // Note that 4062 (not all labels are handled and default is missing) is enabled
-#endif
-
-#if defined(__clang__)
-#  pragma clang diagnostic push
-// For simplicity, benchmarking-only helpers are always enabled
-#  pragma clang diagnostic ignored "-Wunused-function"
-#endif
-
-namespace Catch {
-
-namespace {
-
-// Formatter impl for ConsoleReporter
-class ConsoleAssertionPrinter {
-public:
-    ConsoleAssertionPrinter& operator= (ConsoleAssertionPrinter const&) = delete;
-    ConsoleAssertionPrinter(ConsoleAssertionPrinter const&) = delete;
-    ConsoleAssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
-        : stream(_stream),
-        stats(_stats),
-        result(_stats.assertionResult),
-        colour(Colour::None),
-        message(result.getMessage()),
-        messages(_stats.infoMessages),
-        printInfoMessages(_printInfoMessages) {
-        switch (result.getResultType()) {
-        case ResultWas::Ok:
-            colour = Colour::Success;
-            passOrFail = "PASSED";
-            //if( result.hasMessage() )
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "with messages";
-            break;
-        case ResultWas::ExpressionFailed:
-            if (result.isOk()) {
-                colour = Colour::Success;
-                passOrFail = "FAILED - but was ok";
-            } else {
-                colour = Colour::Error;
-                passOrFail = "FAILED";
-            }
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "with messages";
-            break;
-        case ResultWas::ThrewException:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "due to unexpected exception with ";
-            if (_stats.infoMessages.size() == 1)
-                messageLabel += "message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel += "messages";
-            break;
-        case ResultWas::FatalErrorCondition:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "due to a fatal error condition";
-            break;
-        case ResultWas::DidntThrowException:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "because no exception was thrown where one was expected";
-            break;
-        case ResultWas::Info:
-            messageLabel = "info";
-            break;
-        case ResultWas::Warning:
-            messageLabel = "warning";
-            break;
-        case ResultWas::ExplicitFailure:
-            passOrFail = "FAILED";
-            colour = Colour::Error;
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "explicitly with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "explicitly with messages";
-            break;
-            // These cases are here to prevent compiler warnings
-        case ResultWas::Unknown:
-        case ResultWas::FailureBit:
-        case ResultWas::Exception:
-            passOrFail = "** internal error **";
-            colour = Colour::Error;
-            break;
-        }
-    }
-
-    void print() const {
-        printSourceInfo();
-        if (stats.totals.assertions.total() > 0) {
-            printResultType();
-            printOriginalExpression();
-            printReconstructedExpression();
-        } else {
-            stream << '\n';
-        }
-        printMessage();
-    }
-
-private:
-    void printResultType() const {
-        if (!passOrFail.empty()) {
-            Colour colourGuard(colour);
-            stream << passOrFail << ":\n";
-        }
-    }
-    void printOriginalExpression() const {
-        if (result.hasExpression()) {
-            Colour colourGuard(Colour::OriginalExpression);
-            stream << "  ";
-            stream << result.getExpressionInMacro();
-            stream << '\n';
-        }
-    }
-    void printReconstructedExpression() const {
-        if (result.hasExpandedExpression()) {
-            stream << "with expansion:\n";
-            Colour colourGuard(Colour::ReconstructedExpression);
-            stream << Column(result.getExpandedExpression()).indent(2) << '\n';
-        }
-    }
-    void printMessage() const {
-        if (!messageLabel.empty())
-            stream << messageLabel << ':' << '\n';
-        for (auto const& msg : messages) {
-            // If this assertion is a warning ignore any INFO messages
-            if (printInfoMessages || msg.type != ResultWas::Info)
-                stream << Column(msg.message).indent(2) << '\n';
-        }
-    }
-    void printSourceInfo() const {
-        Colour colourGuard(Colour::FileName);
-        stream << result.getSourceInfo() << ": ";
-    }
-
-    std::ostream& stream;
-    AssertionStats const& stats;
-    AssertionResult const& result;
-    Colour::Code colour;
-    std::string passOrFail;
-    std::string messageLabel;
-    std::string message;
-    std::vector<MessageInfo> messages;
-    bool printInfoMessages;
-};
-
-std::size_t makeRatio(std::size_t number, std::size_t total) {
-    std::size_t ratio = total > 0 ? CATCH_CONFIG_CONSOLE_WIDTH * number / total : 0;
-    return (ratio == 0 && number > 0) ? 1 : ratio;
-}
-
-std::size_t& findMax(std::size_t& i, std::size_t& j, std::size_t& k) {
-    if (i > j && i > k)
-        return i;
-    else if (j > k)
-        return j;
-    else
-        return k;
-}
-
-struct ColumnInfo {
-    enum Justification { Left, Right };
-    std::string name;
-    int width;
-    Justification justification;
-};
-struct ColumnBreak {};
-struct RowBreak {};
-
-class Duration {
-    enum class Unit {
-        Auto,
-        Nanoseconds,
-        Microseconds,
-        Milliseconds,
-        Seconds,
-        Minutes
-    };
-    static const uint64_t s_nanosecondsInAMicrosecond = 1000;
-    static const uint64_t s_nanosecondsInAMillisecond = 1000 * s_nanosecondsInAMicrosecond;
-    static const uint64_t s_nanosecondsInASecond = 1000 * s_nanosecondsInAMillisecond;
-    static const uint64_t s_nanosecondsInAMinute = 60 * s_nanosecondsInASecond;
-
-    uint64_t m_inNanoseconds;
-    Unit m_units;
-
-public:
-	explicit Duration(double inNanoseconds, Unit units = Unit::Auto)
-        : Duration(static_cast<uint64_t>(inNanoseconds), units) {
-    }
-
-    explicit Duration(uint64_t inNanoseconds, Unit units = Unit::Auto)
-        : m_inNanoseconds(inNanoseconds),
-        m_units(units) {
-        if (m_units == Unit::Auto) {
-            if (m_inNanoseconds < s_nanosecondsInAMicrosecond)
-                m_units = Unit::Nanoseconds;
-            else if (m_inNanoseconds < s_nanosecondsInAMillisecond)
-                m_units = Unit::Microseconds;
-            else if (m_inNanoseconds < s_nanosecondsInASecond)
-                m_units = Unit::Milliseconds;
-            else if (m_inNanoseconds < s_nanosecondsInAMinute)
-                m_units = Unit::Seconds;
-            else
-                m_units = Unit::Minutes;
-        }
-
-    }
-
-    auto value() const -> double {
-        switch (m_units) {
-        case Unit::Microseconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMicrosecond);
-        case Unit::Milliseconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMillisecond);
-        case Unit::Seconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInASecond);
-        case Unit::Minutes:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMinute);
-        default:
-            return static_cast<double>(m_inNanoseconds);
-        }
-    }
-    auto unitsAsString() const -> std::string {
-        switch (m_units) {
-        case Unit::Nanoseconds:
-            return "ns";
-        case Unit::Microseconds:
-            return "us";
-        case Unit::Milliseconds:
-            return "ms";
-        case Unit::Seconds:
-            return "s";
-        case Unit::Minutes:
-            return "m";
-        default:
-            return "** internal error **";
-        }
-
-    }
-    friend auto operator << (std::ostream& os, Duration const& duration) -> std::ostream& {
-        return os << duration.value() << " " << duration.unitsAsString();
-    }
-};
-} // end anon namespace
-
-class TablePrinter {
-    std::ostream& m_os;
-    std::vector<ColumnInfo> m_columnInfos;
-    std::ostringstream m_oss;
-    int m_currentColumn = -1;
-    bool m_isOpen = false;
-
-public:
-    TablePrinter( std::ostream& os, std::vector<ColumnInfo> columnInfos )
-    :   m_os( os ),
-        m_columnInfos( std::move( columnInfos ) ) {}
-
-    auto columnInfos() const -> std::vector<ColumnInfo> const& {
-        return m_columnInfos;
-    }
-
-    void open() {
-        if (!m_isOpen) {
-            m_isOpen = true;
-            *this << RowBreak();
-
-			Columns headerCols;
-			Spacer spacer(2);
-			for (auto const& info : m_columnInfos) {
-				headerCols += Column(info.name).width(static_cast<std::size_t>(info.width - 2));
-				headerCols += spacer;
-			}
-			m_os << headerCols << "\n";
-
-            m_os << Catch::getLineOfChars<'-'>() << "\n";
-        }
-    }
-    void close() {
-        if (m_isOpen) {
-            *this << RowBreak();
-            m_os << std::endl;
-            m_isOpen = false;
-        }
-    }
-
-    template<typename T>
-    friend TablePrinter& operator << (TablePrinter& tp, T const& value) {
-        tp.m_oss << value;
-        return tp;
-    }
-
-    friend TablePrinter& operator << (TablePrinter& tp, ColumnBreak) {
-        auto colStr = tp.m_oss.str();
-        // This takes account of utf8 encodings
-        auto strSize = Catch::StringRef(colStr).numberOfCharacters();
-        tp.m_oss.str("");
-        tp.open();
-        if (tp.m_currentColumn == static_cast<int>(tp.m_columnInfos.size() - 1)) {
-            tp.m_currentColumn = -1;
-            tp.m_os << "\n";
-        }
-        tp.m_currentColumn++;
-
-        auto colInfo = tp.m_columnInfos[tp.m_currentColumn];
-        auto padding = (strSize + 2 < static_cast<std::size_t>(colInfo.width))
-            ? std::string(colInfo.width - (strSize + 2), ' ')
-            : std::string();
-        if (colInfo.justification == ColumnInfo::Left)
-            tp.m_os << colStr << padding << " ";
-        else
-            tp.m_os << padding << colStr << " ";
-        return tp;
-    }
-
-    friend TablePrinter& operator << (TablePrinter& tp, RowBreak) {
-        if (tp.m_currentColumn > 0) {
-            tp.m_os << "\n";
-            tp.m_currentColumn = -1;
-        }
-        return tp;
-    }
-};
-
-ConsoleReporter::ConsoleReporter(ReporterConfig const& config)
-    : StreamingReporterBase(config),
-    m_tablePrinter(new TablePrinter(config.stream(),
-    {
-        { "benchmark name", CATCH_CONFIG_CONSOLE_WIDTH - 32, ColumnInfo::Left },
-        { "samples      mean       std dev", 14, ColumnInfo::Right },
-        { "iterations   low mean   low std dev", 14, ColumnInfo::Right },
-        { "estimated    high mean  high std dev", 14, ColumnInfo::Right }
-    })) {}
-ConsoleReporter::~ConsoleReporter() = default;
-
-std::string ConsoleReporter::getDescription() {
-    return "Reports test results as plain lines of text";
-}
-
-void ConsoleReporter::noMatchingTestCases(std::string const& spec) {
-    stream << "No test cases matched '" << spec << '\'' << std::endl;
-}
-
-void ConsoleReporter::assertionStarting(AssertionInfo const&) {}
-
-bool ConsoleReporter::assertionEnded(AssertionStats const& _assertionStats) {
-    AssertionResult const& result = _assertionStats.assertionResult;
-
-    bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
-
-    // Drop out if result was successful but we're not printing them.
-    if (!includeResults && result.getResultType() != ResultWas::Warning)
-        return false;
-
-    lazyPrint();
-
-    ConsoleAssertionPrinter printer(stream, _assertionStats, includeResults);
-    printer.print();
-    stream << std::endl;
-    return true;
-}
-
-void ConsoleReporter::sectionStarting(SectionInfo const& _sectionInfo) {
-    m_tablePrinter->close();
-    m_headerPrinted = false;
-    StreamingReporterBase::sectionStarting(_sectionInfo);
-}
-void ConsoleReporter::sectionEnded(SectionStats const& _sectionStats) {
-    m_tablePrinter->close();
-    if (_sectionStats.missingAssertions) {
-        lazyPrint();
-        Colour colour(Colour::ResultError);
-        if (m_sectionStack.size() > 1)
-            stream << "\nNo assertions in section";
-        else
-            stream << "\nNo assertions in test case";
-        stream << " '" << _sectionStats.sectionInfo.name << "'\n" << std::endl;
-    }
-    if (m_config->showDurations() == ShowDurations::Always) {
-        stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl;
-    }
-    if (m_headerPrinted) {
-        m_headerPrinted = false;
-    }
-    StreamingReporterBase::sectionEnded(_sectionStats);
-}
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-void ConsoleReporter::benchmarkPreparing(std::string const& name) {
-	lazyPrintWithoutClosingBenchmarkTable();
-
-	auto nameCol = Column(name).width(static_cast<std::size_t>(m_tablePrinter->columnInfos()[0].width - 2));
-
-	bool firstLine = true;
-	for (auto line : nameCol) {
-		if (!firstLine)
-			(*m_tablePrinter) << ColumnBreak() << ColumnBreak() << ColumnBreak();
-		else
-			firstLine = false;
-
-		(*m_tablePrinter) << line << ColumnBreak();
-	}
-}
-
-void ConsoleReporter::benchmarkStarting(BenchmarkInfo const& info) {
-	(*m_tablePrinter) << info.samples << ColumnBreak()
-		<< info.iterations << ColumnBreak()
-		<< Duration(info.estimatedDuration) << ColumnBreak();
-}
-void ConsoleReporter::benchmarkEnded(BenchmarkStats<> const& stats) {
-	(*m_tablePrinter) << ColumnBreak()
-		<< Duration(stats.mean.point.count()) << ColumnBreak()
-		<< Duration(stats.mean.lower_bound.count()) << ColumnBreak()
-		<< Duration(stats.mean.upper_bound.count()) << ColumnBreak() << ColumnBreak()
-		<< Duration(stats.standardDeviation.point.count()) << ColumnBreak()
-		<< Duration(stats.standardDeviation.lower_bound.count()) << ColumnBreak()
-		<< Duration(stats.standardDeviation.upper_bound.count()) << ColumnBreak() << ColumnBreak() << ColumnBreak() << ColumnBreak() << ColumnBreak();
-}
-
-void ConsoleReporter::benchmarkFailed(std::string const& error) {
-	Colour colour(Colour::Red);
-    (*m_tablePrinter)
-        << "Benchmark failed (" << error << ")"
-        << ColumnBreak() << RowBreak();
-}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-void ConsoleReporter::testCaseEnded(TestCaseStats const& _testCaseStats) {
-    m_tablePrinter->close();
-    StreamingReporterBase::testCaseEnded(_testCaseStats);
-    m_headerPrinted = false;
-}
-void ConsoleReporter::testGroupEnded(TestGroupStats const& _testGroupStats) {
-    if (currentGroupInfo.used) {
-        printSummaryDivider();
-        stream << "Summary for group '" << _testGroupStats.groupInfo.name << "':\n";
-        printTotals(_testGroupStats.totals);
-        stream << '\n' << std::endl;
-    }
-    StreamingReporterBase::testGroupEnded(_testGroupStats);
-}
-void ConsoleReporter::testRunEnded(TestRunStats const& _testRunStats) {
-    printTotalsDivider(_testRunStats.totals);
-    printTotals(_testRunStats.totals);
-    stream << std::endl;
-    StreamingReporterBase::testRunEnded(_testRunStats);
-}
-void ConsoleReporter::testRunStarting(TestRunInfo const& _testInfo) {
-    StreamingReporterBase::testRunStarting(_testInfo);
-    printTestFilters();
-}
-
-void ConsoleReporter::lazyPrint() {
-
-    m_tablePrinter->close();
-    lazyPrintWithoutClosingBenchmarkTable();
-}
-
-void ConsoleReporter::lazyPrintWithoutClosingBenchmarkTable() {
-
-    if (!currentTestRunInfo.used)
-        lazyPrintRunInfo();
-    if (!currentGroupInfo.used)
-        lazyPrintGroupInfo();
-
-    if (!m_headerPrinted) {
-        printTestCaseAndSectionHeader();
-        m_headerPrinted = true;
-    }
-}
-void ConsoleReporter::lazyPrintRunInfo() {
-    stream << '\n' << getLineOfChars<'~'>() << '\n';
-    Colour colour(Colour::SecondaryText);
-    stream << currentTestRunInfo->name
-        << " is a Catch v" << libraryVersion() << " host application.\n"
-        << "Run with -? for options\n\n";
-
-    if (m_config->rngSeed() != 0)
-        stream << "Randomness seeded to: " << m_config->rngSeed() << "\n\n";
-
-    currentTestRunInfo.used = true;
-}
-void ConsoleReporter::lazyPrintGroupInfo() {
-    if (!currentGroupInfo->name.empty() && currentGroupInfo->groupsCounts > 1) {
-        printClosedHeader("Group: " + currentGroupInfo->name);
-        currentGroupInfo.used = true;
-    }
-}
-void ConsoleReporter::printTestCaseAndSectionHeader() {
-    assert(!m_sectionStack.empty());
-    printOpenHeader(currentTestCaseInfo->name);
-
-    if (m_sectionStack.size() > 1) {
-        Colour colourGuard(Colour::Headers);
-
-        auto
-            it = m_sectionStack.begin() + 1, // Skip first section (test case)
-            itEnd = m_sectionStack.end();
-        for (; it != itEnd; ++it)
-            printHeaderString(it->name, 2);
-    }
-
-    SourceLineInfo lineInfo = m_sectionStack.back().lineInfo;
-
-    if (!lineInfo.empty()) {
-        stream << getLineOfChars<'-'>() << '\n';
-        Colour colourGuard(Colour::FileName);
-        stream << lineInfo << '\n';
-    }
-    stream << getLineOfChars<'.'>() << '\n' << std::endl;
-}
-
-void ConsoleReporter::printClosedHeader(std::string const& _name) {
-    printOpenHeader(_name);
-    stream << getLineOfChars<'.'>() << '\n';
-}
-void ConsoleReporter::printOpenHeader(std::string const& _name) {
-    stream << getLineOfChars<'-'>() << '\n';
-    {
-        Colour colourGuard(Colour::Headers);
-        printHeaderString(_name);
-    }
-}
-
-// if string has a : in first line will set indent to follow it on
-// subsequent lines
-void ConsoleReporter::printHeaderString(std::string const& _string, std::size_t indent) {
-    std::size_t i = _string.find(": ");
-    if (i != std::string::npos)
-        i += 2;
-    else
-        i = 0;
-    stream << Column(_string).indent(indent + i).initialIndent(indent) << '\n';
-}
-
-struct SummaryColumn {
-
-    SummaryColumn( std::string _label, Colour::Code _colour )
-    :   label( std::move( _label ) ),
-        colour( _colour ) {}
-    SummaryColumn addRow( std::size_t count ) {
-        ReusableStringStream rss;
-        rss << count;
-        std::string row = rss.str();
-        for (auto& oldRow : rows) {
-            while (oldRow.size() < row.size())
-                oldRow = ' ' + oldRow;
-            while (oldRow.size() > row.size())
-                row = ' ' + row;
-        }
-        rows.push_back(row);
-        return *this;
-    }
-
-    std::string label;
-    Colour::Code colour;
-    std::vector<std::string> rows;
-
-};
-
-void ConsoleReporter::printTotals( Totals const& totals ) {
-    if (totals.testCases.total() == 0) {
-        stream << Colour(Colour::Warning) << "No tests ran\n";
-    } else if (totals.assertions.total() > 0 && totals.testCases.allPassed()) {
-        stream << Colour(Colour::ResultSuccess) << "All tests passed";
-        stream << " ("
-            << pluralise(totals.assertions.passed, "assertion") << " in "
-            << pluralise(totals.testCases.passed, "test case") << ')'
-            << '\n';
-    } else {
-
-        std::vector<SummaryColumn> columns;
-        columns.push_back(SummaryColumn("", Colour::None)
-                          .addRow(totals.testCases.total())
-                          .addRow(totals.assertions.total()));
-        columns.push_back(SummaryColumn("passed", Colour::Success)
-                          .addRow(totals.testCases.passed)
-                          .addRow(totals.assertions.passed));
-        columns.push_back(SummaryColumn("failed", Colour::ResultError)
-                          .addRow(totals.testCases.failed)
-                          .addRow(totals.assertions.failed));
-        columns.push_back(SummaryColumn("failed as expected", Colour::ResultExpectedFailure)
-                          .addRow(totals.testCases.failedButOk)
-                          .addRow(totals.assertions.failedButOk));
-
-        printSummaryRow("test cases", columns, 0);
-        printSummaryRow("assertions", columns, 1);
-    }
-}
-void ConsoleReporter::printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row) {
-    for (auto col : cols) {
-        std::string value = col.rows[row];
-        if (col.label.empty()) {
-            stream << label << ": ";
-            if (value != "0")
-                stream << value;
-            else
-                stream << Colour(Colour::Warning) << "- none -";
-        } else if (value != "0") {
-            stream << Colour(Colour::LightGrey) << " | ";
-            stream << Colour(col.colour)
-                << value << ' ' << col.label;
-        }
-    }
-    stream << '\n';
-}
-
-void ConsoleReporter::printTotalsDivider(Totals const& totals) {
-    if (totals.testCases.total() > 0) {
-        std::size_t failedRatio = makeRatio(totals.testCases.failed, totals.testCases.total());
-        std::size_t failedButOkRatio = makeRatio(totals.testCases.failedButOk, totals.testCases.total());
-        std::size_t passedRatio = makeRatio(totals.testCases.passed, totals.testCases.total());
-        while (failedRatio + failedButOkRatio + passedRatio < CATCH_CONFIG_CONSOLE_WIDTH - 1)
-            findMax(failedRatio, failedButOkRatio, passedRatio)++;
-        while (failedRatio + failedButOkRatio + passedRatio > CATCH_CONFIG_CONSOLE_WIDTH - 1)
-            findMax(failedRatio, failedButOkRatio, passedRatio)--;
-
-        stream << Colour(Colour::Error) << std::string(failedRatio, '=');
-        stream << Colour(Colour::ResultExpectedFailure) << std::string(failedButOkRatio, '=');
-        if (totals.testCases.allPassed())
-            stream << Colour(Colour::ResultSuccess) << std::string(passedRatio, '=');
-        else
-            stream << Colour(Colour::Success) << std::string(passedRatio, '=');
-    } else {
-        stream << Colour(Colour::Warning) << std::string(CATCH_CONFIG_CONSOLE_WIDTH - 1, '=');
-    }
-    stream << '\n';
-}
-void ConsoleReporter::printSummaryDivider() {
-    stream << getLineOfChars<'-'>() << '\n';
-}
-
-void ConsoleReporter::printTestFilters() {
-    if (m_config->testSpec().hasFilters())
-        stream << Colour(Colour::BrightYellow) << "Filters: " << serializeFilters( m_config->getTestsOrTags() ) << '\n';
-}
-
-CATCH_REGISTER_REPORTER("console", ConsoleReporter)
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-#if defined(__clang__)
-#  pragma clang diagnostic pop
-#endif
-// end catch_reporter_console.cpp
-// start catch_reporter_junit.cpp
-
-#include <cassert>
-#include <sstream>
-#include <ctime>
-#include <algorithm>
-
-namespace Catch {
-
-    namespace {
-        std::string getCurrentTimestamp() {
-            // Beware, this is not reentrant because of backward compatibility issues
-            // Also, UTC only, again because of backward compatibility (%z is C++11)
-            time_t rawtime;
-            std::time(&rawtime);
-            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
-
-#ifdef _MSC_VER
-            std::tm timeInfo = {};
-            gmtime_s(&timeInfo, &rawtime);
-#else
-            std::tm* timeInfo;
-            timeInfo = std::gmtime(&rawtime);
-#endif
-
-            char timeStamp[timeStampSize];
-            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
-
-#ifdef _MSC_VER
-            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
-#else
-            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
-#endif
-            return std::string(timeStamp);
-        }
-
-        std::string fileNameTag(const std::vector<std::string> &tags) {
-            auto it = std::find_if(begin(tags),
-                                   end(tags),
-                                   [] (std::string const& tag) {return tag.front() == '#'; });
-            if (it != tags.end())
-                return it->substr(1);
-            return std::string();
-        }
-    } // anonymous namespace
-
-    JunitReporter::JunitReporter( ReporterConfig const& _config )
-        :   CumulativeReporterBase( _config ),
-            xml( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-    JunitReporter::~JunitReporter() {}
-
-    std::string JunitReporter::getDescription() {
-        return "Reports test results in an XML format that looks like Ant's junitreport target";
-    }
-
-    void JunitReporter::noMatchingTestCases( std::string const& /*spec*/ ) {}
-
-    void JunitReporter::testRunStarting( TestRunInfo const& runInfo )  {
-        CumulativeReporterBase::testRunStarting( runInfo );
-        xml.startElement( "testsuites" );
-    }
-
-    void JunitReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        suiteTimer.start();
-        stdOutForSuite.clear();
-        stdErrForSuite.clear();
-        unexpectedExceptions = 0;
-        CumulativeReporterBase::testGroupStarting( groupInfo );
-    }
-
-    void JunitReporter::testCaseStarting( TestCaseInfo const& testCaseInfo ) {
-        m_okToFail = testCaseInfo.okToFail();
-    }
-
-    bool JunitReporter::assertionEnded( AssertionStats const& assertionStats ) {
-        if( assertionStats.assertionResult.getResultType() == ResultWas::ThrewException && !m_okToFail )
-            unexpectedExceptions++;
-        return CumulativeReporterBase::assertionEnded( assertionStats );
-    }
-
-    void JunitReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        stdOutForSuite += testCaseStats.stdOut;
-        stdErrForSuite += testCaseStats.stdErr;
-        CumulativeReporterBase::testCaseEnded( testCaseStats );
-    }
-
-    void JunitReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        double suiteTime = suiteTimer.getElapsedSeconds();
-        CumulativeReporterBase::testGroupEnded( testGroupStats );
-        writeGroup( *m_testGroups.back(), suiteTime );
-    }
-
-    void JunitReporter::testRunEndedCumulative() {
-        xml.endElement();
-    }
-
-    void JunitReporter::writeGroup( TestGroupNode const& groupNode, double suiteTime ) {
-        XmlWriter::ScopedElement e = xml.scopedElement( "testsuite" );
-
-        TestGroupStats const& stats = groupNode.value;
-        xml.writeAttribute( "name", stats.groupInfo.name );
-        xml.writeAttribute( "errors", unexpectedExceptions );
-        xml.writeAttribute( "failures", stats.totals.assertions.failed-unexpectedExceptions );
-        xml.writeAttribute( "tests", stats.totals.assertions.total() );
-        xml.writeAttribute( "hostname", "tbd" ); // !TBD
-        if( m_config->showDurations() == ShowDurations::Never )
-            xml.writeAttribute( "time", "" );
-        else
-            xml.writeAttribute( "time", suiteTime );
-        xml.writeAttribute( "timestamp", getCurrentTimestamp() );
-
-        // Write properties if there are any
-        if (m_config->hasTestFilters() || m_config->rngSeed() != 0) {
-            auto properties = xml.scopedElement("properties");
-            if (m_config->hasTestFilters()) {
-                xml.scopedElement("property")
-                    .writeAttribute("name", "filters")
-                    .writeAttribute("value", serializeFilters(m_config->getTestsOrTags()));
-            }
-            if (m_config->rngSeed() != 0) {
-                xml.scopedElement("property")
-                    .writeAttribute("name", "random-seed")
-                    .writeAttribute("value", m_config->rngSeed());
-            }
-        }
-
-        // Write test cases
-        for( auto const& child : groupNode.children )
-            writeTestCase( *child );
-
-        xml.scopedElement( "system-out" ).writeText( trim( stdOutForSuite ), false );
-        xml.scopedElement( "system-err" ).writeText( trim( stdErrForSuite ), false );
-    }
-
-    void JunitReporter::writeTestCase( TestCaseNode const& testCaseNode ) {
-        TestCaseStats const& stats = testCaseNode.value;
-
-        // All test cases have exactly one section - which represents the
-        // test case itself. That section may have 0-n nested sections
-        assert( testCaseNode.children.size() == 1 );
-        SectionNode const& rootSection = *testCaseNode.children.front();
-
-        std::string className = stats.testInfo.className;
-
-        if( className.empty() ) {
-            className = fileNameTag(stats.testInfo.tags);
-            if ( className.empty() )
-                className = "global";
-        }
-
-        if ( !m_config->name().empty() )
-            className = m_config->name() + "." + className;
-
-        writeSection( className, "", rootSection );
-    }
-
-    void JunitReporter::writeSection(  std::string const& className,
-                        std::string const& rootName,
-                        SectionNode const& sectionNode ) {
-        std::string name = trim( sectionNode.stats.sectionInfo.name );
-        if( !rootName.empty() )
-            name = rootName + '/' + name;
-
-        if( !sectionNode.assertions.empty() ||
-            !sectionNode.stdOut.empty() ||
-            !sectionNode.stdErr.empty() ) {
-            XmlWriter::ScopedElement e = xml.scopedElement( "testcase" );
-            if( className.empty() ) {
-                xml.writeAttribute( "classname", name );
-                xml.writeAttribute( "name", "root" );
-            }
-            else {
-                xml.writeAttribute( "classname", className );
-                xml.writeAttribute( "name", name );
-            }
-            xml.writeAttribute( "time", ::Catch::Detail::stringify( sectionNode.stats.durationInSeconds ) );
-
-            writeAssertions( sectionNode );
-
-            if( !sectionNode.stdOut.empty() )
-                xml.scopedElement( "system-out" ).writeText( trim( sectionNode.stdOut ), false );
-            if( !sectionNode.stdErr.empty() )
-                xml.scopedElement( "system-err" ).writeText( trim( sectionNode.stdErr ), false );
-        }
-        for( auto const& childNode : sectionNode.childSections )
-            if( className.empty() )
-                writeSection( name, "", *childNode );
-            else
-                writeSection( className, name, *childNode );
-    }
-
-    void JunitReporter::writeAssertions( SectionNode const& sectionNode ) {
-        for( auto const& assertion : sectionNode.assertions )
-            writeAssertion( assertion );
-    }
-
-    void JunitReporter::writeAssertion( AssertionStats const& stats ) {
-        AssertionResult const& result = stats.assertionResult;
-        if( !result.isOk() ) {
-            std::string elementName;
-            switch( result.getResultType() ) {
-                case ResultWas::ThrewException:
-                case ResultWas::FatalErrorCondition:
-                    elementName = "error";
-                    break;
-                case ResultWas::ExplicitFailure:
-                    elementName = "failure";
-                    break;
-                case ResultWas::ExpressionFailed:
-                    elementName = "failure";
-                    break;
-                case ResultWas::DidntThrowException:
-                    elementName = "failure";
-                    break;
-
-                // We should never see these here:
-                case ResultWas::Info:
-                case ResultWas::Warning:
-                case ResultWas::Ok:
-                case ResultWas::Unknown:
-                case ResultWas::FailureBit:
-                case ResultWas::Exception:
-                    elementName = "internalError";
-                    break;
-            }
-
-            XmlWriter::ScopedElement e = xml.scopedElement( elementName );
-
-            xml.writeAttribute( "message", result.getExpandedExpression() );
-            xml.writeAttribute( "type", result.getTestMacroName() );
-
-            ReusableStringStream rss;
-            if( !result.getMessage().empty() )
-                rss << result.getMessage() << '\n';
-            for( auto const& msg : stats.infoMessages )
-                if( msg.type == ResultWas::Info )
-                    rss << msg.message << '\n';
-
-            rss << "at " << result.getSourceInfo();
-            xml.writeText( rss.str(), false );
-        }
-    }
-
-    CATCH_REGISTER_REPORTER( "junit", JunitReporter )
-
-} // end namespace Catch
-// end catch_reporter_junit.cpp
-// start catch_reporter_listening.cpp
-
-#include <cassert>
-
-namespace Catch {
-
-    ListeningReporter::ListeningReporter() {
-        // We will assume that listeners will always want all assertions
-        m_preferences.shouldReportAllAssertions = true;
-    }
-
-    void ListeningReporter::addListener( IStreamingReporterPtr&& listener ) {
-        m_listeners.push_back( std::move( listener ) );
-    }
-
-    void ListeningReporter::addReporter(IStreamingReporterPtr&& reporter) {
-        assert(!m_reporter && "Listening reporter can wrap only 1 real reporter");
-        m_reporter = std::move( reporter );
-        m_preferences.shouldRedirectStdOut = m_reporter->getPreferences().shouldRedirectStdOut;
-    }
-
-    ReporterPreferences ListeningReporter::getPreferences() const {
-        return m_preferences;
-    }
-
-    std::set<Verbosity> ListeningReporter::getSupportedVerbosities() {
-        return std::set<Verbosity>{ };
-    }
-
-    void ListeningReporter::noMatchingTestCases( std::string const& spec ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->noMatchingTestCases( spec );
-        }
-        m_reporter->noMatchingTestCases( spec );
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void ListeningReporter::benchmarkPreparing( std::string const& name ) {
-		for (auto const& listener : m_listeners) {
-			listener->benchmarkPreparing(name);
-		}
-		m_reporter->benchmarkPreparing(name);
-	}
-    void ListeningReporter::benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->benchmarkStarting( benchmarkInfo );
-        }
-        m_reporter->benchmarkStarting( benchmarkInfo );
-    }
-    void ListeningReporter::benchmarkEnded( BenchmarkStats<> const& benchmarkStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->benchmarkEnded( benchmarkStats );
-        }
-        m_reporter->benchmarkEnded( benchmarkStats );
-    }
-
-	void ListeningReporter::benchmarkFailed( std::string const& error ) {
-		for (auto const& listener : m_listeners) {
-			listener->benchmarkFailed(error);
-		}
-		m_reporter->benchmarkFailed(error);
-	}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    void ListeningReporter::testRunStarting( TestRunInfo const& testRunInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testRunStarting( testRunInfo );
-        }
-        m_reporter->testRunStarting( testRunInfo );
-    }
-
-    void ListeningReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testGroupStarting( groupInfo );
-        }
-        m_reporter->testGroupStarting( groupInfo );
-    }
-
-    void ListeningReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testCaseStarting( testInfo );
-        }
-        m_reporter->testCaseStarting( testInfo );
-    }
-
-    void ListeningReporter::sectionStarting( SectionInfo const& sectionInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->sectionStarting( sectionInfo );
-        }
-        m_reporter->sectionStarting( sectionInfo );
-    }
-
-    void ListeningReporter::assertionStarting( AssertionInfo const& assertionInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->assertionStarting( assertionInfo );
-        }
-        m_reporter->assertionStarting( assertionInfo );
-    }
-
-    // The return value indicates if the messages buffer should be cleared:
-    bool ListeningReporter::assertionEnded( AssertionStats const& assertionStats ) {
-        for( auto const& listener : m_listeners ) {
-            static_cast<void>( listener->assertionEnded( assertionStats ) );
-        }
-        return m_reporter->assertionEnded( assertionStats );
-    }
-
-    void ListeningReporter::sectionEnded( SectionStats const& sectionStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->sectionEnded( sectionStats );
-        }
-        m_reporter->sectionEnded( sectionStats );
-    }
-
-    void ListeningReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testCaseEnded( testCaseStats );
-        }
-        m_reporter->testCaseEnded( testCaseStats );
-    }
-
-    void ListeningReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testGroupEnded( testGroupStats );
-        }
-        m_reporter->testGroupEnded( testGroupStats );
-    }
-
-    void ListeningReporter::testRunEnded( TestRunStats const& testRunStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testRunEnded( testRunStats );
-        }
-        m_reporter->testRunEnded( testRunStats );
-    }
-
-    void ListeningReporter::skipTest( TestCaseInfo const& testInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->skipTest( testInfo );
-        }
-        m_reporter->skipTest( testInfo );
-    }
-
-    bool ListeningReporter::isMulti() const {
-        return true;
-    }
-
-} // end namespace Catch
-// end catch_reporter_listening.cpp
-// start catch_reporter_xml.cpp
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
-                              // Note that 4062 (not all labels are handled
-                              // and default is missing) is enabled
-#endif
-
-namespace Catch {
-    XmlReporter::XmlReporter( ReporterConfig const& _config )
-    :   StreamingReporterBase( _config ),
-        m_xml(_config.stream())
-    {
-        m_reporterPrefs.shouldRedirectStdOut = true;
-        m_reporterPrefs.shouldReportAllAssertions = true;
-    }
-
-    XmlReporter::~XmlReporter() = default;
-
-    std::string XmlReporter::getDescription() {
-        return "Reports test results as an XML document";
-    }
-
-    std::string XmlReporter::getStylesheetRef() const {
-        return std::string();
-    }
-
-    void XmlReporter::writeSourceInfo( SourceLineInfo const& sourceInfo ) {
-        m_xml
-            .writeAttribute( "filename", sourceInfo.file )
-            .writeAttribute( "line", sourceInfo.line );
-    }
-
-    void XmlReporter::noMatchingTestCases( std::string const& s ) {
-        StreamingReporterBase::noMatchingTestCases( s );
-    }
-
-    void XmlReporter::testRunStarting( TestRunInfo const& testInfo ) {
-        StreamingReporterBase::testRunStarting( testInfo );
-        std::string stylesheetRef = getStylesheetRef();
-        if( !stylesheetRef.empty() )
-            m_xml.writeStylesheetRef( stylesheetRef );
-        m_xml.startElement( "Catch" );
-        if( !m_config->name().empty() )
-            m_xml.writeAttribute( "name", m_config->name() );
-        if (m_config->testSpec().hasFilters())
-            m_xml.writeAttribute( "filters", serializeFilters( m_config->getTestsOrTags() ) );
-        if( m_config->rngSeed() != 0 )
-            m_xml.scopedElement( "Randomness" )
-                .writeAttribute( "seed", m_config->rngSeed() );
-    }
-
-    void XmlReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        StreamingReporterBase::testGroupStarting( groupInfo );
-        m_xml.startElement( "Group" )
-            .writeAttribute( "name", groupInfo.name );
-    }
-
-    void XmlReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
-        StreamingReporterBase::testCaseStarting(testInfo);
-        m_xml.startElement( "TestCase" )
-            .writeAttribute( "name", trim( testInfo.name ) )
-            .writeAttribute( "description", testInfo.description )
-            .writeAttribute( "tags", testInfo.tagsAsString() );
-
-        writeSourceInfo( testInfo.lineInfo );
-
-        if ( m_config->showDurations() == ShowDurations::Always )
-            m_testCaseTimer.start();
-        m_xml.ensureTagClosed();
-    }
-
-    void XmlReporter::sectionStarting( SectionInfo const& sectionInfo ) {
-        StreamingReporterBase::sectionStarting( sectionInfo );
-        if( m_sectionDepth++ > 0 ) {
-            m_xml.startElement( "Section" )
-                .writeAttribute( "name", trim( sectionInfo.name ) );
-            writeSourceInfo( sectionInfo.lineInfo );
-            m_xml.ensureTagClosed();
-        }
-    }
-
-    void XmlReporter::assertionStarting( AssertionInfo const& ) { }
-
-    bool XmlReporter::assertionEnded( AssertionStats const& assertionStats ) {
-
-        AssertionResult const& result = assertionStats.assertionResult;
-
-        bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
-
-        if( includeResults || result.getResultType() == ResultWas::Warning ) {
-            // Print any info messages in <Info> tags.
-            for( auto const& msg : assertionStats.infoMessages ) {
-                if( msg.type == ResultWas::Info && includeResults ) {
-                    m_xml.scopedElement( "Info" )
-                            .writeText( msg.message );
-                } else if ( msg.type == ResultWas::Warning ) {
-                    m_xml.scopedElement( "Warning" )
-                            .writeText( msg.message );
-                }
-            }
-        }
-
-        // Drop out if result was successful but we're not printing them.
-        if( !includeResults && result.getResultType() != ResultWas::Warning )
-            return true;
-
-        // Print the expression if there is one.
-        if( result.hasExpression() ) {
-            m_xml.startElement( "Expression" )
-                .writeAttribute( "success", result.succeeded() )
-                .writeAttribute( "type", result.getTestMacroName() );
-
-            writeSourceInfo( result.getSourceInfo() );
-
-            m_xml.scopedElement( "Original" )
-                .writeText( result.getExpression() );
-            m_xml.scopedElement( "Expanded" )
-                .writeText( result.getExpandedExpression() );
-        }
-
-        // And... Print a result applicable to each result type.
-        switch( result.getResultType() ) {
-            case ResultWas::ThrewException:
-                m_xml.startElement( "Exception" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            case ResultWas::FatalErrorCondition:
-                m_xml.startElement( "FatalErrorCondition" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            case ResultWas::Info:
-                m_xml.scopedElement( "Info" )
-                    .writeText( result.getMessage() );
-                break;
-            case ResultWas::Warning:
-                // Warning will already have been written
-                break;
-            case ResultWas::ExplicitFailure:
-                m_xml.startElement( "Failure" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            default:
-                break;
-        }
-
-        if( result.hasExpression() )
-            m_xml.endElement();
-
-        return true;
-    }
-
-    void XmlReporter::sectionEnded( SectionStats const& sectionStats ) {
-        StreamingReporterBase::sectionEnded( sectionStats );
-        if( --m_sectionDepth > 0 ) {
-            XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResults" );
-            e.writeAttribute( "successes", sectionStats.assertions.passed );
-            e.writeAttribute( "failures", sectionStats.assertions.failed );
-            e.writeAttribute( "expectedFailures", sectionStats.assertions.failedButOk );
-
-            if ( m_config->showDurations() == ShowDurations::Always )
-                e.writeAttribute( "durationInSeconds", sectionStats.durationInSeconds );
-
-            m_xml.endElement();
-        }
-    }
-
-    void XmlReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        StreamingReporterBase::testCaseEnded( testCaseStats );
-        XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResult" );
-        e.writeAttribute( "success", testCaseStats.totals.assertions.allOk() );
-
-        if ( m_config->showDurations() == ShowDurations::Always )
-            e.writeAttribute( "durationInSeconds", m_testCaseTimer.getElapsedSeconds() );
-
-        if( !testCaseStats.stdOut.empty() )
-            m_xml.scopedElement( "StdOut" ).writeText( trim( testCaseStats.stdOut ), false );
-        if( !testCaseStats.stdErr.empty() )
-            m_xml.scopedElement( "StdErr" ).writeText( trim( testCaseStats.stdErr ), false );
-
-        m_xml.endElement();
-    }
-
-    void XmlReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        StreamingReporterBase::testGroupEnded( testGroupStats );
-        // TODO: Check testGroupStats.aborting and act accordingly.
-        m_xml.scopedElement( "OverallResults" )
-            .writeAttribute( "successes", testGroupStats.totals.assertions.passed )
-            .writeAttribute( "failures", testGroupStats.totals.assertions.failed )
-            .writeAttribute( "expectedFailures", testGroupStats.totals.assertions.failedButOk );
-        m_xml.endElement();
-    }
-
-    void XmlReporter::testRunEnded( TestRunStats const& testRunStats ) {
-        StreamingReporterBase::testRunEnded( testRunStats );
-        m_xml.scopedElement( "OverallResults" )
-            .writeAttribute( "successes", testRunStats.totals.assertions.passed )
-            .writeAttribute( "failures", testRunStats.totals.assertions.failed )
-            .writeAttribute( "expectedFailures", testRunStats.totals.assertions.failedButOk );
-        m_xml.endElement();
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void XmlReporter::benchmarkPreparing(std::string const& name) {
-        m_xml.startElement("BenchmarkResults")
-            .writeAttribute("name", name);
-    }
-
-    void XmlReporter::benchmarkStarting(BenchmarkInfo const &info) {
-        m_xml.writeAttribute("samples", info.samples)
-            .writeAttribute("resamples", info.resamples)
-            .writeAttribute("iterations", info.iterations)
-            .writeAttribute("clockResolution", static_cast<uint64_t>(info.clockResolution))
-            .writeAttribute("estimatedDuration", static_cast<uint64_t>(info.estimatedDuration))
-            .writeComment("All values in nano seconds");
-    }
-
-    void XmlReporter::benchmarkEnded(BenchmarkStats<> const& benchmarkStats) {
-        m_xml.startElement("mean")
-            .writeAttribute("value", static_cast<uint64_t>(benchmarkStats.mean.point.count()))
-            .writeAttribute("lowerBound", static_cast<uint64_t>(benchmarkStats.mean.lower_bound.count()))
-            .writeAttribute("upperBound", static_cast<uint64_t>(benchmarkStats.mean.upper_bound.count()))
-            .writeAttribute("ci", benchmarkStats.mean.confidence_interval);
-        m_xml.endElement();
-        m_xml.startElement("standardDeviation")
-            .writeAttribute("value", benchmarkStats.standardDeviation.point.count())
-            .writeAttribute("lowerBound", benchmarkStats.standardDeviation.lower_bound.count())
-            .writeAttribute("upperBound", benchmarkStats.standardDeviation.upper_bound.count())
-            .writeAttribute("ci", benchmarkStats.standardDeviation.confidence_interval);
-        m_xml.endElement();
-        m_xml.startElement("outliers")
-            .writeAttribute("variance", benchmarkStats.outlierVariance)
-            .writeAttribute("lowMild", benchmarkStats.outliers.low_mild)
-            .writeAttribute("lowSevere", benchmarkStats.outliers.low_severe)
-            .writeAttribute("highMild", benchmarkStats.outliers.high_mild)
-            .writeAttribute("highSevere", benchmarkStats.outliers.high_severe);
-        m_xml.endElement();
-        m_xml.endElement();
-    }
-
-    void XmlReporter::benchmarkFailed(std::string const &error) {
-        m_xml.scopedElement("failed").
-            writeAttribute("message", error);
-        m_xml.endElement();
-    }
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    CATCH_REGISTER_REPORTER( "xml", XmlReporter )
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-// end catch_reporter_xml.cpp
-
-namespace Catch {
-    LeakDetector leakDetector;
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_impl.hpp
-#endif
-
-#ifdef CATCH_CONFIG_MAIN
-// start catch_default_main.hpp
-
-#ifndef __OBJC__
-
-#if defined(CATCH_CONFIG_WCHAR) && defined(WIN32) && defined(_UNICODE) && !defined(DO_NOT_USE_WMAIN)
-// Standard C/C++ Win32 Unicode wmain entry point
-extern "C" int wmain (int argc, wchar_t * argv[], wchar_t * []) {
-#else
-// Standard C/C++ main entry point
-int main (int argc, char * argv[]) {
-#endif
-
-    return Catch::Session().run( argc, argv );
-}
-
-#else // __OBJC__
-
-// Objective-C entry point
-int main (int argc, char * const argv[]) {
-#if !CATCH_ARC_ENABLED
-    NSAutoreleasePool * pool = [[NSAutoreleasePool alloc] init];
-#endif
-
-    Catch::registerTestMethods();
-    int result = Catch::Session().run( argc, (char**)argv );
-
-#if !CATCH_ARC_ENABLED
-    [pool drain];
-#endif
-
-    return result;
-}
-
-#endif // __OBJC__
-
-// end catch_default_main.hpp
-#endif
-
-#if !defined(CATCH_CONFIG_IMPL_ONLY)
-
-#ifdef CLARA_CONFIG_MAIN_NOT_DEFINED
-#  undef CLARA_CONFIG_MAIN
-#endif
-
-#if !defined(CATCH_CONFIG_DISABLE)
-//////
-// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
-#ifdef CATCH_CONFIG_PREFIX_ALL
-
-#define CATCH_REQUIRE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-
-#define CATCH_REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "CATCH_REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
-#define CATCH_REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
-#endif// CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-
-#define CATCH_CHECK( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-#define CATCH_CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CATCH_CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CATCH_CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
-
-#define CATCH_CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CATCH_CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
-#define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
-
-#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( "CATCH_INFO", msg )
-#define CATCH_UNSCOPED_INFO( msg ) INTERNAL_CATCH_UNSCOPED_INFO( "CATCH_UNSCOPED_INFO", msg )
-#define CATCH_WARN( msg ) INTERNAL_CATCH_MSG( "CATCH_WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
-#define CATCH_CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CATCH_CAPTURE",__VA_ARGS__ )
-
-#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
-#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
-#define CATCH_REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
-#define CATCH_SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
-#define CATCH_DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
-#define CATCH_FAIL( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( "CATCH_SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#else
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#endif
-
-#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
-#define CATCH_STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__ ,      #__VA_ARGS__ );     CATCH_SUCCEED( #__VA_ARGS__ )
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); CATCH_SUCCEED( #__VA_ARGS__ )
-#else
-#define CATCH_STATIC_REQUIRE( ... )       CATCH_REQUIRE( __VA_ARGS__ )
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) CATCH_REQUIRE_FALSE( __VA_ARGS__ )
-#endif
-
-// "BDD-style" convenience wrappers
-#define CATCH_SCENARIO( ... ) CATCH_TEST_CASE( "Scenario: " __VA_ARGS__ )
-#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
-#define CATCH_GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
-#define CATCH_AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
-#define CATCH_WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
-#define CATCH_AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
-#define CATCH_THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
-#define CATCH_AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-#define CATCH_BENCHMARK(...) \
-    INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,))
-#define CATCH_BENCHMARK_ADVANCED(name) \
-    INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), name)
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
-#else
-
-#define REQUIRE( ... ) INTERNAL_CATCH_TEST( "REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__  )
-#define REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-
-#define REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
-#define REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-
-#define CHECK( ... ) INTERNAL_CATCH_TEST( "CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-#define CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
-
-#define CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
-#define CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
-
-#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define INFO( msg ) INTERNAL_CATCH_INFO( "INFO", msg )
-#define UNSCOPED_INFO( msg ) INTERNAL_CATCH_UNSCOPED_INFO( "UNSCOPED_INFO", msg )
-#define WARN( msg ) INTERNAL_CATCH_MSG( "WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
-#define CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CAPTURE",__VA_ARGS__ )
-
-#define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
-#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
-#define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
-#define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
-#define DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
-#define FAIL( ... ) INTERNAL_CATCH_MSG( "FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define SUCCEED( ... ) INTERNAL_CATCH_MSG( "SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define TEMPLATE_LIST_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(__VA_ARGS__)
-#define TEMPLATE_LIST_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define TEMPLATE_LIST_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_LIST_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#endif
-
-#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
-#define STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__,  #__VA_ARGS__ ); SUCCEED( #__VA_ARGS__ )
-#define STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); SUCCEED( "!(" #__VA_ARGS__ ")" )
-#else
-#define STATIC_REQUIRE( ... )       REQUIRE( __VA_ARGS__ )
-#define STATIC_REQUIRE_FALSE( ... ) REQUIRE_FALSE( __VA_ARGS__ )
-#endif
-
-#endif
-
-#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature )
-
-// "BDD-style" convenience wrappers
-#define SCENARIO( ... ) TEST_CASE( "Scenario: " __VA_ARGS__ )
-#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
-
-#define GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
-#define AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
-#define WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
-#define AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
-#define THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
-#define AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-#define BENCHMARK(...) \
-    INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,))
-#define BENCHMARK_ADVANCED(name) \
-    INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), name)
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-using Catch::Detail::Approx;
-
-#else // CATCH_CONFIG_DISABLE
-
-//////
-// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
-#ifdef CATCH_CONFIG_PREFIX_ALL
-
-#define CATCH_REQUIRE( ... )        (void)(0)
-#define CATCH_REQUIRE_FALSE( ... )  (void)(0)
-
-#define CATCH_REQUIRE_THROWS( ... ) (void)(0)
-#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CATCH_REQUIRE_THROWS_WITH( expr, matcher )     (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif// CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_REQUIRE_NOTHROW( ... ) (void)(0)
-
-#define CATCH_CHECK( ... )         (void)(0)
-#define CATCH_CHECK_FALSE( ... )   (void)(0)
-#define CATCH_CHECKED_IF( ... )    if (__VA_ARGS__)
-#define CATCH_CHECKED_ELSE( ... )  if (!(__VA_ARGS__))
-#define CATCH_CHECK_NOFAIL( ... )  (void)(0)
-
-#define CATCH_CHECK_THROWS( ... )  (void)(0)
-#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CATCH_CHECK_THROWS_WITH( expr, matcher )     (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_CHECK_NOTHROW( ... ) (void)(0)
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THAT( arg, matcher )   (void)(0)
-
-#define CATCH_REQUIRE_THAT( arg, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define CATCH_INFO( msg )          (void)(0)
-#define CATCH_UNSCOPED_INFO( msg ) (void)(0)
-#define CATCH_WARN( msg )          (void)(0)
-#define CATCH_CAPTURE( msg )       (void)(0)
-
-#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_METHOD_AS_TEST_CASE( method, ... )
-#define CATCH_REGISTER_TEST_CASE( Function, ... ) (void)(0)
-#define CATCH_SECTION( ... )
-#define CATCH_DYNAMIC_SECTION( ... )
-#define CATCH_FAIL( ... ) (void)(0)
-#define CATCH_FAIL_CHECK( ... ) (void)(0)
-#define CATCH_SUCCEED( ... ) (void)(0)
-
-#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#endif
-
-// "BDD-style" convenience wrappers
-#define CATCH_SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className )
-#define CATCH_GIVEN( desc )
-#define CATCH_AND_GIVEN( desc )
-#define CATCH_WHEN( desc )
-#define CATCH_AND_WHEN( desc )
-#define CATCH_THEN( desc )
-#define CATCH_AND_THEN( desc )
-
-#define CATCH_STATIC_REQUIRE( ... )       (void)(0)
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) (void)(0)
-
-// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
-#else
-
-#define REQUIRE( ... )       (void)(0)
-#define REQUIRE_FALSE( ... ) (void)(0)
-
-#define REQUIRE_THROWS( ... ) (void)(0)
-#define REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
-#define REQUIRE_THROWS_WITH( expr, matcher ) (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define REQUIRE_NOTHROW( ... ) (void)(0)
-
-#define CHECK( ... ) (void)(0)
-#define CHECK_FALSE( ... ) (void)(0)
-#define CHECKED_IF( ... ) if (__VA_ARGS__)
-#define CHECKED_ELSE( ... ) if (!(__VA_ARGS__))
-#define CHECK_NOFAIL( ... ) (void)(0)
-
-#define CHECK_THROWS( ... )  (void)(0)
-#define CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CHECK_THROWS_WITH( expr, matcher ) (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CHECK_NOTHROW( ... ) (void)(0)
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THAT( arg, matcher ) (void)(0)
-
-#define REQUIRE_THAT( arg, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define INFO( msg ) (void)(0)
-#define UNSCOPED_INFO( msg ) (void)(0)
-#define WARN( msg ) (void)(0)
-#define CAPTURE( msg ) (void)(0)
-
-#define TEST_CASE( ... )  INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define METHOD_AS_TEST_CASE( method, ... )
-#define REGISTER_TEST_CASE( Function, ... ) (void)(0)
-#define SECTION( ... )
-#define DYNAMIC_SECTION( ... )
-#define FAIL( ... ) (void)(0)
-#define FAIL_CHECK( ... ) (void)(0)
-#define SUCCEED( ... ) (void)(0)
-#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__)
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__)
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__)
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#endif
-
-#define STATIC_REQUIRE( ... )       (void)(0)
-#define STATIC_REQUIRE_FALSE( ... ) (void)(0)
-
-#endif
-
-#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
-
-// "BDD-style" convenience wrappers
-#define SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ) )
-#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className )
-
-#define GIVEN( desc )
-#define AND_GIVEN( desc )
-#define WHEN( desc )
-#define AND_WHEN( desc )
-#define THEN( desc )
-#define AND_THEN( desc )
-
-using Catch::Detail::Approx;
-
-#endif
-
-#endif // ! CATCH_CONFIG_IMPL_ONLY
-
-// start catch_reenable_warnings.h
-
-
-#ifdef __clang__
-#    ifdef __ICC // icpc defines the __clang__ macro
-#        pragma warning(pop)
-#    else
-#        pragma clang diagnostic pop
-#    endif
-#elif defined __GNUC__
-#    pragma GCC diagnostic pop
-#endif
-
-// end catch_reenable_warnings.h
-// end catch.hpp
-#endif // TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-
diff --git a/cereal/messaging/demo.cc b/cereal/messaging/demo.cc
deleted file mode 100644
index cfdf42209415fc..00000000000000
--- a/cereal/messaging/demo.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include <iostream>
-#include <cstddef>
-#include <chrono>
-#include <thread>
-#include <cassert>
-
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-
-#define MSGS 1e5
-
-int main() {
-  Context * c = Context::create();
-  SubSocket * sub_sock = SubSocket::create(c, "controlsState");
-  PubSocket * pub_sock = PubSocket::create(c, "controlsState");
-
-  char data[8];
-
-  Poller * poller = Poller::create({sub_sock});
-
-  auto start = std::chrono::steady_clock::now();
-
-  for (uint64_t i = 0; i < MSGS; i++){
-    *(uint64_t*)data = i;
-    pub_sock->send(data, 8);
-
-    auto r = poller->poll(100);
-
-    for (auto p : r){
-      Message * m = p->receive();
-      uint64_t ii = *(uint64_t*)m->getData();
-      assert(i == ii);
-      delete m;
-    }
-  }
-
-
-  auto end = std::chrono::steady_clock::now();
-  double elapsed = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count() / 1e9;
-  double throughput = ((double) MSGS / (double) elapsed);
-  std::cout << throughput << " msg/s" << std::endl;
-
-  delete poller;
-  delete sub_sock;
-  delete pub_sock;
-  delete c;
-
-
-  return 0;
-}
diff --git a/cereal/messaging/demo.py b/cereal/messaging/demo.py
deleted file mode 100644
index 7906a41e203cdf..00000000000000
--- a/cereal/messaging/demo.py
+++ /dev/null
@@ -1,30 +0,0 @@
-import time
-
-from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
-
-MSGS = 1e5
-
-if __name__ == "__main__":
-  c = Context()
-  sub_sock = SubSocket()
-  pub_sock = PubSocket()
-
-  sub_sock.connect(c, "controlsState")
-  pub_sock.connect(c, "controlsState")
-
-
-  poller = Poller()
-  poller.registerSocket(sub_sock)
-
-  t = time.time()
-  for i in range(int(MSGS)):
-    bts = i.to_bytes(4, 'little')
-    pub_sock.send(bts)
-
-    for s in poller.poll(100):
-      dat = s.receive()
-      ii = int.from_bytes(dat, 'little')
-      assert(i == ii)
-
-  dt = time.time() - t
-  print("%.1f msg/s" % (MSGS / dt))
diff --git a/cereal/messaging/impl_msgq.cc b/cereal/messaging/impl_msgq.cc
index d37b8c986d7237..862c94cb3e5140 100644
--- a/cereal/messaging/impl_msgq.cc
+++ b/cereal/messaging/impl_msgq.cc
@@ -5,8 +5,9 @@
 #include <csignal>
 #include <cerrno>
 
+#include "services.h"
+#include "impl_msgq.h"
 
-#include "impl_msgq.hpp"
 
 volatile sig_atomic_t msgq_do_exit = 0;
 
@@ -15,6 +16,25 @@ void sig_handler(int signal) {
   msgq_do_exit = 1;
 }
 
+static bool service_exists(std::string path){
+  for (const auto& it : services) {
+    if (it.name == path) {
+      return true;
+    }
+  }
+  return false;
+}
+
+static size_t get_size(std::string endpoint){
+  size_t sz = DEFAULT_SEGMENT_SIZE;
+
+  if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
+    sz *= 10;
+  }
+
+  return sz;
+}
+
 
 MSGQContext::MSGQContext() {
 }
@@ -49,13 +69,16 @@ MSGQMessage::~MSGQMessage() {
   this->close();
 }
 
-
-int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
   assert(context);
   assert(address == "127.0.0.1");
 
+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
   q = new msgq_queue_t;
-  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
   if (r != 0){
     return r;
   }
@@ -139,11 +162,19 @@ MSGQSubSocket::~MSGQSubSocket(){
   }
 }
 
-int MSGQPubSocket::connect(Context *context, std::string endpoint){
+int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
   assert(context);
 
+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
   q = new msgq_queue_t;
-  msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
+  if (r != 0){
+    return r;
+  }
+
   msgq_init_publisher(q);
 
   return 0;
@@ -165,6 +196,10 @@ int MSGQPubSocket::send(char *data, size_t size){
   return msgq_msg_send(&msg, q);
 }
 
+bool MSGQPubSocket::all_readers_updated() {
+  return msgq_all_readers_updated(q);
+}
+
 MSGQPubSocket::~MSGQPubSocket(){
   if (q != NULL){
     msgq_close_queue(q);
diff --git a/cereal/messaging/impl_msgq.h b/cereal/messaging/impl_msgq.h
new file mode 100644
index 00000000000000..b67aae6222c2b5
--- /dev/null
+++ b/cereal/messaging/impl_msgq.h
@@ -0,0 +1,65 @@
+#pragma once
+#include "messaging.h"
+#include "msgq.h"
+#include <zmq.h>
+#include <string>
+
+#define MAX_POLLERS 128
+
+class MSGQContext : public Context {
+private:
+  void * context = NULL;
+public:
+  MSGQContext();
+  void * getRawContext() {return context;}
+  ~MSGQContext();
+};
+
+class MSGQMessage : public Message {
+private:
+  char * data;
+  size_t size;
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  void takeOwnership(char *data, size_t size);
+  size_t getSize(){return size;}
+  char * getData(){return data;}
+  void close();
+  ~MSGQMessage();
+};
+
+class MSGQSubSocket : public SubSocket {
+private:
+  msgq_queue_t * q = NULL;
+  int timeout;
+public:
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
+  void setTimeout(int timeout);
+  void * getRawSocket() {return (void*)q;}
+  Message *receive(bool non_blocking=false);
+  ~MSGQSubSocket();
+};
+
+class MSGQPubSocket : public PubSocket {
+private:
+  msgq_queue_t * q = NULL;
+public:
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  bool all_readers_updated();
+  ~MSGQPubSocket();
+};
+
+class MSGQPoller : public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+  msgq_pollitem_t polls[MAX_POLLERS];
+  size_t num_polls = 0;
+
+public:
+  void registerSocket(SubSocket *socket);
+  std::vector<SubSocket*> poll(int timeout);
+  ~MSGQPoller(){};
+};
diff --git a/cereal/messaging/impl_msgq.hpp b/cereal/messaging/impl_msgq.hpp
deleted file mode 100644
index 98e6809457df6d..00000000000000
--- a/cereal/messaging/impl_msgq.hpp
+++ /dev/null
@@ -1,64 +0,0 @@
-#pragma once
-#include "messaging.hpp"
-#include "msgq.hpp"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class MSGQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  MSGQContext();
-  void * getRawContext() {return context;}
-  ~MSGQContext();
-};
-
-class MSGQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  void takeOwnership(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~MSGQMessage();
-};
-
-class MSGQSubSocket : public SubSocket {
-private:
-  msgq_queue_t * q = NULL;
-  int timeout;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return (void*)q;}
-  Message *receive(bool non_blocking=false);
-  ~MSGQSubSocket();
-};
-
-class MSGQPubSocket : public PubSocket {
-private:
-  msgq_queue_t * q = NULL;
-public:
-  int connect(Context *context, std::string endpoint);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  ~MSGQPubSocket();
-};
-
-class MSGQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  msgq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){};
-};
diff --git a/cereal/messaging/impl_zmq.cc b/cereal/messaging/impl_zmq.cc
index 195124de684121..aeed176ae814c6 100644
--- a/cereal/messaging/impl_zmq.cc
+++ b/cereal/messaging/impl_zmq.cc
@@ -7,7 +7,7 @@
 #include <zmq.h>
 
 #include "services.h"
-#include "impl_zmq.hpp"
+#include "impl_zmq.h"
 
 static int get_port(std::string endpoint) {
   int port = -1;
@@ -54,7 +54,7 @@ ZMQMessage::~ZMQMessage() {
 }
 
 
-int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
   sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
   if (sock == NULL){
     return -1;
@@ -71,7 +71,11 @@ int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string ad
   zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
 
   full_endpoint = "tcp://" + address + ":";
-  full_endpoint += std::to_string(get_port(endpoint));
+  if (check_endpoint){
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
 
   return zmq_connect(sock, full_endpoint.c_str());
 }
@@ -103,14 +107,18 @@ ZMQSubSocket::~ZMQSubSocket(){
   zmq_close(sock);
 }
 
-int ZMQPubSocket::connect(Context *context, std::string endpoint){
+int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
   sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
   if (sock == NULL){
     return -1;
   }
 
   full_endpoint = "tcp://*:";
-  full_endpoint += std::to_string(get_port(endpoint));
+  if (check_endpoint){
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
 
   return zmq_bind(sock, full_endpoint.c_str());
 }
@@ -123,6 +131,11 @@ int ZMQPubSocket::send(char *data, size_t size){
   return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }
 
+bool ZMQPubSocket::all_readers_updated() {
+  assert(false); // TODO not implemented
+  return false;
+}
+
 ZMQPubSocket::~ZMQPubSocket(){
   zmq_close(sock);
 }
diff --git a/cereal/messaging/impl_zmq.h b/cereal/messaging/impl_zmq.h
new file mode 100644
index 00000000000000..bb232049e034ba
--- /dev/null
+++ b/cereal/messaging/impl_zmq.h
@@ -0,0 +1,64 @@
+#pragma once
+#include "messaging.h"
+#include <zmq.h>
+#include <string>
+
+#define MAX_POLLERS 128
+
+class ZMQContext : public Context {
+private:
+  void * context = NULL;
+public:
+  ZMQContext();
+  void * getRawContext() {return context;}
+  ~ZMQContext();
+};
+
+class ZMQMessage : public Message {
+private:
+  char * data;
+  size_t size;
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  size_t getSize(){return size;}
+  char * getData(){return data;}
+  void close();
+  ~ZMQMessage();
+};
+
+class ZMQSubSocket : public SubSocket {
+private:
+  void * sock;
+  std::string full_endpoint;
+public:
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
+  void setTimeout(int timeout);
+  void * getRawSocket() {return sock;}
+  Message *receive(bool non_blocking=false);
+  ~ZMQSubSocket();
+};
+
+class ZMQPubSocket : public PubSocket {
+private:
+  void * sock;
+  std::string full_endpoint;
+public:
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  bool all_readers_updated();
+  ~ZMQPubSocket();
+};
+
+class ZMQPoller : public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+  zmq_pollitem_t polls[MAX_POLLERS];
+  size_t num_polls = 0;
+
+public:
+  void registerSocket(SubSocket *socket);
+  std::vector<SubSocket*> poll(int timeout);
+  ~ZMQPoller(){};
+};
diff --git a/cereal/messaging/impl_zmq.hpp b/cereal/messaging/impl_zmq.hpp
deleted file mode 100644
index bfa9b74cdc30d8..00000000000000
--- a/cereal/messaging/impl_zmq.hpp
+++ /dev/null
@@ -1,63 +0,0 @@
-#pragma once
-#include "messaging.hpp"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class ZMQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  ZMQContext();
-  void * getRawContext() {return context;}
-  ~ZMQContext();
-};
-
-class ZMQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~ZMQMessage();
-};
-
-class ZMQSubSocket : public SubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return sock;}
-  Message *receive(bool non_blocking=false);
-  ~ZMQSubSocket();
-};
-
-class ZMQPubSocket : public PubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  ~ZMQPubSocket();
-};
-
-class ZMQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  zmq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){};
-};
diff --git a/cereal/messaging/messaging.cc b/cereal/messaging/messaging.cc
index 1a9f860cd35666..bfa634e612044e 100644
--- a/cereal/messaging/messaging.cc
+++ b/cereal/messaging/messaging.cc
@@ -1,10 +1,20 @@
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include "impl_msgq.hpp"
+#include "messaging.h"
+#include "impl_zmq.h"
+#include "impl_msgq.h"
+
+#ifdef __APPLE__
+const bool MUST_USE_ZMQ = true;
+#else
+const bool MUST_USE_ZMQ = false;
+#endif
+
+bool messaging_use_zmq(){
+  return std::getenv("ZMQ") || MUST_USE_ZMQ;
+}
 
 Context * Context::create(){
   Context * c;
-  if (std::getenv("ZMQ")){
+  if (messaging_use_zmq()){
     c = new ZMQContext();
   } else {
     c = new MSGQContext();
@@ -14,7 +24,7 @@ Context * Context::create(){
 
 SubSocket * SubSocket::create(){
   SubSocket * s;
-  if (std::getenv("ZMQ")){
+  if (messaging_use_zmq()){
     s = new ZMQSubSocket();
   } else {
     s = new MSGQSubSocket();
@@ -22,33 +32,9 @@ SubSocket * SubSocket::create(){
   return s;
 }
 
-SubSocket * SubSocket::create(Context * context, std::string endpoint){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, "127.0.0.1");
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
   SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address, conflate);
+  int r = s->connect(context, endpoint, address, conflate, check_endpoint);
 
   if (r == 0) {
     return s;
@@ -60,7 +46,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
 
 PubSocket * PubSocket::create(){
   PubSocket * s;
-  if (std::getenv("ZMQ")){
+  if (messaging_use_zmq()){
     s = new ZMQPubSocket();
   } else {
     s = new MSGQPubSocket();
@@ -68,9 +54,9 @@ PubSocket * PubSocket::create(){
   return s;
 }
 
-PubSocket * PubSocket::create(Context * context, std::string endpoint){
+PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
   PubSocket *s = PubSocket::create();
-  int r = s->connect(context, endpoint);
+  int r = s->connect(context, endpoint, check_endpoint);
 
   if (r == 0) {
     return s;
@@ -82,7 +68,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){
 
 Poller * Poller::create(){
   Poller * p;
-  if (std::getenv("ZMQ")){
+  if (messaging_use_zmq()){
     p = new ZMQPoller();
   } else {
     p = new MSGQPoller();
diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h
new file mode 100644
index 00000000000000..4a184ff70c6d07
--- /dev/null
+++ b/cereal/messaging/messaging.h
@@ -0,0 +1,145 @@
+#pragma once
+#include <cstddef>
+#include <map>
+#include <string>
+#include <vector>
+#include <capnp/serialize.h>
+#include "../gen/cpp/log.capnp.h"
+
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+
+#define MSG_MULTIPLE_PUBLISHERS 100
+
+bool messaging_use_zmq();
+
+class Context {
+public:
+  virtual void * getRawContext() = 0;
+  static Context * create();
+  virtual ~Context(){};
+};
+
+class Message {
+public:
+  virtual void init(size_t size) = 0;
+  virtual void init(char * data, size_t size) = 0;
+  virtual void close() = 0;
+  virtual size_t getSize() = 0;
+  virtual char * getData() = 0;
+  virtual ~Message(){};
+};
+
+
+class SubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
+  virtual void setTimeout(int timeout) = 0;
+  virtual Message *receive(bool non_blocking=false) = 0;
+  virtual void * getRawSocket() = 0;
+  static SubSocket * create();
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
+  virtual ~SubSocket(){};
+};
+
+class PubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
+  virtual int sendMessage(Message *message) = 0;
+  virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
+  static PubSocket * create();
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
+  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
+  virtual ~PubSocket(){};
+};
+
+class Poller {
+public:
+  virtual void registerSocket(SubSocket *socket) = 0;
+  virtual std::vector<SubSocket*> poll(int timeout) = 0;
+  static Poller * create();
+  static Poller * create(std::vector<SubSocket*> sockets);
+  virtual ~Poller(){};
+};
+
+class SubMaster {
+public:
+  SubMaster(const std::vector<const char *> &service_list,
+            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
+  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  void drain();
+  ~SubMaster();
+
+  uint64_t frame = 0;
+  bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
+  uint64_t rcv_frame(const char *name) const;
+  uint64_t rcv_time(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name) const;
+
+private:
+  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
+  Poller *poller_ = nullptr;
+  struct SubMessage;
+  std::map<SubSocket *, SubMessage *> messages_;
+  std::map<std::string, SubMessage *> services_;
+};
+
+class MessageBuilder : public capnp::MallocMessageBuilder {
+public:
+  MessageBuilder() = default;
+
+  cereal::Event::Builder initEvent(bool valid = true) {
+    cereal::Event::Builder event = initRoot<cereal::Event>();
+    struct timespec t;
+    clock_gettime(CLOCK_BOOTTIME, &t);
+    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
+    event.setLogMonoTime(current_time);
+    event.setValid(valid);
+    return event;
+  }
+
+  kj::ArrayPtr<capnp::byte> toBytes() {
+    heapArray_ = capnp::messageToFlatArray(*this);
+    return heapArray_.asBytes();
+  }
+
+private:
+  kj::Array<capnp::word> heapArray_;
+};
+
+class PubMaster {
+public:
+  PubMaster(const std::vector<const char *> &service_list);
+  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
+  int send(const char *name, MessageBuilder &msg);
+  ~PubMaster();
+
+private:
+  std::map<std::string, PubSocket *> sockets_;
+};
+
+class AlignedBuffer {
+public:
+  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
+    words_size = size / sizeof(capnp::word) + 1;
+    if (aligned_buf.size() < words_size) {
+      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
+    }
+    memcpy(aligned_buf.begin(), data, size);
+    return aligned_buf.slice(0, words_size);
+  }
+  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
+    return align(m->getData(), m->getSize());
+  }
+private:
+  kj::Array<capnp::word> aligned_buf;
+  size_t words_size;
+};
diff --git a/cereal/messaging/messaging.hpp b/cereal/messaging/messaging.hpp
deleted file mode 100644
index 79968c97986f01..00000000000000
--- a/cereal/messaging/messaging.hpp
+++ /dev/null
@@ -1,56 +0,0 @@
-#pragma once
-#include <cstddef>
-#include <vector>
-#include <string>
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-class Context {
-public:
-  virtual void * getRawContext() = 0;
-  static Context * create();
-  virtual ~Context(){};
-};
-
-class Message {
-public:
-  virtual void init(size_t size) = 0;
-  virtual void init(char * data, size_t size) = 0;
-  virtual void close() = 0;
-  virtual size_t getSize() = 0;
-  virtual char * getData() = 0;
-  virtual ~Message(){};
-};
-
-
-class SubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
-  virtual void setTimeout(int timeout) = 0;
-  virtual Message *receive(bool non_blocking=false) = 0;
-  virtual void * getRawSocket() = 0;
-  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
-  virtual ~SubSocket(){};
-};
-
-class PubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint) = 0;
-  virtual int sendMessage(Message *message) = 0;
-  virtual int send(char *data, size_t size) = 0;
-  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint);
-  virtual ~PubSocket(){};
-};
-
-class Poller {
-public:
-  virtual void registerSocket(SubSocket *socket) = 0;
-  virtual std::vector<SubSocket*> poll(int timeout) = 0;
-  static Poller * create();
-  static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){};
-};
diff --git a/cereal/messaging/messaging.pxd b/cereal/messaging/messaging.pxd
index 8bbb2c7ab0564b..de232da5f1b8f4 100644
--- a/cereal/messaging/messaging.pxd
+++ b/cereal/messaging/messaging.pxd
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool
 
 
-cdef extern from "messaging.hpp":
+cdef extern from "messaging.h":
   cdef cppclass Context:
     @staticmethod
     Context * create()
@@ -31,6 +31,7 @@ cdef extern from "messaging.hpp":
     int connect(Context *, string)
     int sendMessage(Message *)
     int send(char *, size_t)
+    bool all_readers_updated()
 
   cdef cppclass Poller:
     @staticmethod
diff --git a/cereal/messaging/messaging_pyx.pyx b/cereal/messaging/messaging_pyx.pyx
index 1bb40731597380..eed548bb8e9cba 100644
--- a/cereal/messaging/messaging_pyx.pyx
+++ b/cereal/messaging/messaging_pyx.pyx
@@ -7,11 +7,11 @@ from libcpp cimport bool
 from libc cimport errno
 
 
-from messaging cimport Context as cppContext
-from messaging cimport SubSocket as cppSubSocket
-from messaging cimport PubSocket as cppPubSocket
-from messaging cimport Poller as cppPoller
-from messaging cimport Message as cppMessage
+from .messaging cimport Context as cppContext
+from .messaging cimport SubSocket as cppSubSocket
+from .messaging cimport PubSocket as cppPubSocket
+from .messaging cimport Poller as cppPoller
+from .messaging cimport Message as cppMessage
 
 
 class MessagingError(Exception):
@@ -59,12 +59,12 @@ cdef class Poller:
     cdef int t = timeout
 
     with nogil:
-        result = self.poller.poll(t)
+      result = self.poller.poll(t)
 
     for s in result:
-        socket = SubSocket()
-        socket.setPtr(s)
-        sockets.append(socket)
+      socket = SubSocket()
+      socket.setPtr(s)
+      sockets.append(socket)
 
     return sockets
 
@@ -140,12 +140,15 @@ cdef class PubSocket:
       else:
         raise MessagingError
 
-  def send(self, string data):
+  def send(self, bytes data):
     length = len(data)
-    r = self.socket.send(<char*>data.c_str(), length)
+    r = self.socket.send(<char*>data, length)
 
     if r != length:
       if errno.errno == errno.EADDRINUSE:
         raise MultiplePublishersError
       else:
         raise MessagingError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()
diff --git a/cereal/messaging/messaging_pyx_setup.py b/cereal/messaging/messaging_pyx_setup.py
deleted file mode 100644
index a763d89f862586..00000000000000
--- a/cereal/messaging/messaging_pyx_setup.py
+++ /dev/null
@@ -1,56 +0,0 @@
-import os
-import subprocess
-import sysconfig
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-from Cython.Build import cythonize
-from Cython.Distutils import build_ext
-
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
-
-sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
-libraries = ['zmq']
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-if ARCH == "aarch64":
-  extra_compile_args += ["-Wno-deprecated-register"]
-  libraries += ['gnustl_shared']
-
-setup(name='CAN parser',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "messaging_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-          libraries=libraries,
-          extra_objects=[
-            os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
-          ]
-        )
-      ),
-      nthreads=4,
-)
diff --git a/cereal/messaging/msgq.cc b/cereal/messaging/msgq.cc
index 4ccd13df44527a..cabf8aaba79ffb 100644
--- a/cereal/messaging/msgq.cc
+++ b/cereal/messaging/msgq.cc
@@ -21,7 +21,7 @@
 
 #include <stdio.h>
 
-#include "msgq.hpp"
+#include "msgq.h"
 
 void sigusr2_handler(int signal) {
   assert(signal == SIGUSR2);
@@ -31,7 +31,13 @@ uint64_t msgq_get_uid(void){
   std::random_device rd("/dev/urandom");
   std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
 
-  uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
+  #ifdef __APPLE__
+    // TODO: this doesn't work
+    uint64_t uid = distribution(rd) << 32 | getpid();
+  #else
+    uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
+  #endif
+
   return uid;
 }
 
@@ -76,10 +82,8 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
 }
 
 
-
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
-
   std::signal(SIGUSR2, sigusr2_handler);
 
   const char * prefix = "/dev/shm/";
@@ -87,22 +91,25 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   strcpy(full_path, prefix);
   strcat(full_path, path);
 
-  auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
-  delete[] full_path;
-
-  if (fd < 0)
+  auto fd = open(full_path, O_RDWR | O_CREAT, 0664);
+  if (fd < 0) {
+    std::cout << "Warning, could not open: " << full_path << std::endl;
+    delete[] full_path;
     return -1;
+  }
+  delete[] full_path;
 
   int rc = ftruncate(fd, size + sizeof(msgq_header_t));
-  if (rc < 0)
+  if (rc < 0){
+    close(fd);
     return -1;
-
+  }
   char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
   close(fd);
 
-  if (mem == NULL)
+  if (mem == NULL){
     return -1;
-
+  }
   q->mmap_p = mem;
 
   msgq_header_t *header = (msgq_header_t *)mem;
@@ -410,8 +417,6 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
 
 
 int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
-  assert(timeout >= 0);
-
   int num = 0;
 
   // Check if messages ready
@@ -447,3 +452,13 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
 
   return num;
 }
+
+bool msgq_all_readers_updated(msgq_queue_t *q) {
+  uint64_t num_readers = *q->num_readers;
+  for (uint64_t i = 0; i < num_readers; i++) {
+    if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
+      return false;
+    }
+  }
+  return num_readers > 0;
+}
diff --git a/cereal/messaging/msgq.h b/cereal/messaging/msgq.h
new file mode 100644
index 00000000000000..90a20acdd76be5
--- /dev/null
+++ b/cereal/messaging/msgq.h
@@ -0,0 +1,68 @@
+#pragma once
+#include <cstdint>
+#include <cstring>
+#include <string>
+#include <atomic>
+
+#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
+#define NUM_READERS 10
+#define ALIGN(n) ((n + (8 - 1)) & -8)
+
+#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
+#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
+
+struct  msgq_header_t {
+  uint64_t num_readers;
+  uint64_t write_pointer;
+  uint64_t write_uid;
+  uint64_t read_pointers[NUM_READERS];
+  uint64_t read_valids[NUM_READERS];
+  uint64_t read_uids[NUM_READERS];
+};
+
+struct msgq_queue_t {
+  std::atomic<uint64_t> *num_readers;
+  std::atomic<uint64_t> *write_pointer;
+  std::atomic<uint64_t> *write_uid;
+  std::atomic<uint64_t> *read_pointers[NUM_READERS];
+  std::atomic<uint64_t> *read_valids[NUM_READERS];
+  std::atomic<uint64_t> *read_uids[NUM_READERS];
+  char * mmap_p;
+  char * data;
+  size_t size;
+  int reader_id;
+  uint64_t read_uid_local;
+  uint64_t write_uid_local;
+
+  bool read_conflate;
+  std::string endpoint;
+};
+
+struct msgq_msg_t {
+  size_t size;
+  char * data;
+};
+
+struct msgq_pollitem_t {
+  msgq_queue_t *q;
+  int revents;
+};
+
+void msgq_wait_for_subscriber(msgq_queue_t *q);
+void msgq_reset_reader(msgq_queue_t *q);
+
+int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
+int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
+int msgq_msg_close(msgq_msg_t *msg);
+
+int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
+void msgq_close_queue(msgq_queue_t *q);
+void msgq_init_publisher(msgq_queue_t * q);
+void msgq_init_subscriber(msgq_queue_t * q);
+
+int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
+int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
+int msgq_msg_ready(msgq_queue_t * q);
+int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
+
+bool msgq_all_readers_updated(msgq_queue_t *q);
diff --git a/cereal/messaging/msgq.hpp b/cereal/messaging/msgq.hpp
deleted file mode 100644
index 3bead13d9d7e67..00000000000000
--- a/cereal/messaging/msgq.hpp
+++ /dev/null
@@ -1,66 +0,0 @@
-#pragma once
-#include <cstdint>
-#include <cstring>
-#include <string>
-#include <atomic>
-
-#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 8
-#define ALIGN(n) ((n + (8 - 1)) & -8)
-
-#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
-#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
-
-struct  msgq_header_t {
-  uint64_t num_readers;
-  uint64_t write_pointer;
-  uint64_t write_uid;
-  uint64_t read_pointers[NUM_READERS];
-  uint64_t read_valids[NUM_READERS];
-  uint64_t read_uids[NUM_READERS];
-};
-
-struct msgq_queue_t {
-  std::atomic<uint64_t> *num_readers;
-  std::atomic<uint64_t> *write_pointer;
-  std::atomic<uint64_t> *write_uid;
-  std::atomic<uint64_t> *read_pointers[NUM_READERS];
-  std::atomic<uint64_t> *read_valids[NUM_READERS];
-  std::atomic<uint64_t> *read_uids[NUM_READERS];
-  char * mmap_p;
-  char * data;
-  size_t size;
-  int reader_id;
-  uint64_t read_uid_local;
-  uint64_t write_uid_local;
-
-  bool read_conflate;
-  std::string endpoint;
-};
-
-struct msgq_msg_t {
-  size_t size;
-  char * data;
-};
-
-struct msgq_pollitem_t {
-  msgq_queue_t *q;
-  int revents;
-};
-
-void msgq_wait_for_subscriber(msgq_queue_t *q);
-void msgq_reset_reader(msgq_queue_t *q);
-
-int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
-int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
-int msgq_msg_close(msgq_msg_t *msg);
-
-int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
-void msgq_close_queue(msgq_queue_t *q);
-void msgq_init_publisher(msgq_queue_t * q);
-void msgq_init_subscriber(msgq_queue_t * q);
-
-int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
-int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
-int msgq_msg_ready(msgq_queue_t * q);
-int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
diff --git a/cereal/messaging/msgq.md b/cereal/messaging/msgq.md
deleted file mode 100644
index 8af82461e4ccf6..00000000000000
--- a/cereal/messaging/msgq.md
+++ /dev/null
@@ -1,56 +0,0 @@
-# MSGQ: A lock free single producer multi consumer message queue
-
-[![Build Status](https://dev.azure.com/commaai/default/_apis/build/status/commaai.msgq?branchName=master)](https://dev.azure.com/commaai/default/_build/latest?definitionId=21&branchName=master)
-
-## What is MSGQ?
-MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
-
-## Storage
-The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
-
-1. A counter to the number of readers that are active
-2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
-3. A cycle counter for the writer. This counter is incremented when the writer wraps around
-4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
-5. N counters,  counting the number of cycles for all the readers
-6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
-
-The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
-
-The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
-
-
-## Writing
-Writing involves the following steps:
-
-1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
-2. Write the message
-3. Increase the write pointer by the size of the message
-
-In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
-
-There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
-
-## Reset reader
-When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
-
-1. Set valid flag
-2. Set read cycle counter to that of the writer
-3. Set read pointer to write pointer
-
-## Reading
-Reading involves the following steps:
-
-1. Read the size field at the current read pointer
-2. Read the validity flag
-3. Copy the data out of the buffer
-4. Increase the read pointer by the size of the message
-5. Check the validity flag again
-
-Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
-
-If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
-
-If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
-
-If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
diff --git a/cereal/messaging/msgq_tests.cc b/cereal/messaging/msgq_tests.cc
deleted file mode 100644
index 01b2c7f5b71fce..00000000000000
--- a/cereal/messaging/msgq_tests.cc
+++ /dev/null
@@ -1,395 +0,0 @@
-#include "catch2/catch.hpp"
-#include "msgq.hpp"
-
-TEST_CASE("ALIGN"){
-  REQUIRE(ALIGN(0) == 0);
-  REQUIRE(ALIGN(1) == 8);
-  REQUIRE(ALIGN(7) == 8);
-  REQUIRE(ALIGN(8) == 8);
-  REQUIRE(ALIGN(99999) == 100000);
-}
-
-TEST_CASE("msgq_msg_init_size"){
-  const size_t msg_size = 30;
-  msgq_msg_t msg;
-
-  msgq_msg_init_size(&msg, msg_size);
-  REQUIRE(msg.size == msg_size);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_init_data"){
-  const size_t msg_size = 30;
-  char * data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++){
-    data[i] = i;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
-
-  REQUIRE(msg.size == msg_size);
-  REQUIRE(memcmp(msg.data, data, msg_size) == 0);
-
-  delete[] data;
-  msgq_msg_close(&msg);
-}
-
-
-TEST_CASE("msgq_init_subscriber"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  REQUIRE(*q.num_readers == 0);
-
-  q.reader_id = 1;
-  *q.read_valids[0] = false;
-  *q.read_pointers[0] = ((uint64_t)1 << 32);
-
-  *q.write_pointer = 255;
-
-  msgq_init_subscriber(&q);
-  REQUIRE(q.read_conflate == false);
-  REQUIRE(*q.read_valids[0] == true);
-  REQUIRE((*q.read_pointers[0] >> 32) == 0);
-  REQUIRE((*q.read_pointers[0]  & 0xFFFFFFFF) == 255);
-}
-
-TEST_CASE("msgq_msg_send first message"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE(*q.write_pointer == 0);
-
-  size_t msg_size = 128;
-
-  SECTION("Aligned message size"){
-  }
-  SECTION("Unaligned message size"){
-    msg_size--;
-  }
-
-  char * data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++){
-    data[i] = i;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
-
-
-  msgq_msg_send(&msg, &q);
-  REQUIRE(*(int64_t*)q.data == msg_size); // Check size tag
-  REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
-  REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
-
-  delete[] data;
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_send test wraparound"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0);
-  REQUIRE((*q.write_pointer >> 32) == 0);
-
-  const size_t msg_size = 120;
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, msg_size);
-
-  for (int i = 0; i < 8; i++) {
-    msgq_msg_send(&msg, &q);
-  }
-  // Check 8th message was written at the beginning
-  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t));
-
-  // Check cycle count
-  REQUIRE((*q.write_pointer >> 32) == 1);
-
-  // Check wraparound tag
-  char * tag_location = q.data;
-  tag_location += 7 * (msg_size + sizeof(int64_t));
-  REQUIRE(*(int64_t*)tag_location == -1);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_recv test wraparound"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-
-  REQUIRE((*q_pub.write_pointer >> 32) == 0);
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
-
-  const size_t msg_size = 120;
-  msgq_msg_t msg1;
-  msgq_msg_init_size(&msg1, msg_size);
-
-
-  SECTION("Check cycle counter after reset") {
-    for (int i = 0; i < 8; i++) {
-      msgq_msg_send(&msg1, &q_pub);
-    }
-
-    msgq_msg_t msg2;
-    msgq_msg_recv(&msg2, &q_sub);
-    REQUIRE(msg2.size == 0); // Reader had to reset
-    msgq_msg_close(&msg2);
-
-  }
-  SECTION("Check cycle counter while keeping up with writer") {
-    for (int i = 0; i < 8; i++) {
-      msgq_msg_send(&msg1, &q_pub);
-
-      msgq_msg_t msg2;
-      msgq_msg_recv(&msg2, &q_sub);
-      REQUIRE(msg2.size > 0);
-      msgq_msg_close(&msg2);
-    }
-  }
-
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
-  msgq_msg_close(&msg1);
-}
-
-TEST_CASE("msgq_msg_send test invalidation"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-  *q_sub.write_pointer = (uint64_t)1 << 32;
-
-  REQUIRE(*q_sub.read_valids[0] == true);
-
-  SECTION("read pointer in tag"){
-    *q_sub.read_pointers[0] = 0;
-  }
-  SECTION("read pointer in data section"){
-    *q_sub.read_pointers[0] = 64;
-  }
-  SECTION("read pointer in wraparound section"){
-    *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
-    *q_sub.read_pointers[0] = 1020;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, 128);
-  msgq_msg_send(&msg, &q_pub);
-
-  REQUIRE(*q_sub.read_valids[0] == false);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_init_subscriber init 2 subscribers"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q1, q2;
-  msgq_new_queue(&q1, "test_queue", 1024);
-  msgq_new_queue(&q2, "test_queue", 1024);
-
-  *q1.num_readers = 0;
-
-  REQUIRE(*q1.num_readers == 0);
-  REQUIRE(*q2.num_readers == 0);
-
-  msgq_init_subscriber(&q1);
-  REQUIRE(*q1.num_readers == 1);
-  REQUIRE(*q2.num_readers == 1);
-  REQUIRE(q1.reader_id == 0);
-
-  msgq_init_subscriber(&q2);
-  REQUIRE(*q1.num_readers == 2);
-  REQUIRE(*q2.num_readers == 2);
-  REQUIRE(q2.reader_id == 1);
-}
-
-
-TEST_CASE("Write 1 msg, read 1 msg", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  // Verify that there are no more messages
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-  reader.read_conflate = true;
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  // Verify that there are no more messages
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("1 publisher, 1 slow subscriber", "[integration]"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  int n_received = 0;
-  int n_skipped = 0;
-
-  for (uint64_t i = 0; i < 1e5; i++) {
-    msgq_msg_t outgoing_msg;
-    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
-    msgq_msg_send(&outgoing_msg, &writer);
-    msgq_msg_close(&outgoing_msg);
-
-    if (i % 10 == 0){
-      msgq_msg_t msg1;
-      msgq_msg_recv(&msg1, &reader);
-
-      if (msg1.size == 0){
-        n_skipped++;
-      } else {
-        n_received++;
-      }
-      msgq_msg_close(&msg1);
-    }
-  }
-
-  // TODO: verify these numbers by hand
-  REQUIRE(n_received == 8572);
-  REQUIRE(n_skipped == 1428);
-}
-
-TEST_CASE("1 publisher, 2 subscribers", "[integration]"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t writer, reader1, reader2;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader1, "test_queue", 1024);
-  msgq_new_queue(&reader2, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader1);
-  msgq_init_subscriber(&reader2);
-
-  for (uint64_t i = 0; i < 1024 * 3; i++) {
-    msgq_msg_t outgoing_msg;
-    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
-    msgq_msg_send(&outgoing_msg, &writer);
-
-    msgq_msg_t msg1, msg2;
-    msgq_msg_recv(&msg1, &reader1);
-    msgq_msg_recv(&msg2, &reader2);
-
-    REQUIRE(msg1.size == sizeof(uint64_t));
-    REQUIRE(msg2.size == sizeof(uint64_t));
-    REQUIRE(*(uint64_t*)msg1.data == i);
-    REQUIRE(*(uint64_t*)msg2.data == i);
-
-    msgq_msg_close(&outgoing_msg);
-    msgq_msg_close(&msg1);
-    msgq_msg_close(&msg2);
-  }
-}
diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc
new file mode 100644
index 00000000000000..56698dc2eb7bdb
--- /dev/null
+++ b/cereal/messaging/socketmaster.cc
@@ -0,0 +1,205 @@
+#include <time.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <string>
+#include <mutex>
+
+#include "services.h"
+#include "messaging.h"
+
+const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
+
+static inline uint64_t nanos_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000000000ULL + t.tv_nsec;
+}
+
+static const service *get_service(const char *name) {
+  for (const auto &it : services) {
+    if (strcmp(it.name, name) == 0) return &it;
+  }
+  return nullptr;
+}
+
+static inline bool inList(const std::vector<const char *> &list, const char *value) {
+  for (auto &v : list) {
+    if (strcmp(value, v) == 0) return true;
+  }
+  return false;
+}
+
+class MessageContext {
+public:
+  MessageContext() : ctx_(nullptr) {};
+  ~MessageContext() { delete ctx_; }
+  inline Context *context() {
+    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
+    return ctx_;
+  }
+private:
+  Context *ctx_;
+  std::once_flag init_flag;
+};
+
+MessageContext message_context;
+
+struct SubMaster::SubMessage {
+  std::string name;
+  SubSocket *socket = nullptr;
+  int freq = 0;
+  bool updated = false, alive = false, valid = true, ignore_alive;
+  uint64_t rcv_time = 0, rcv_frame = 0;
+  void *allocated_msg_reader = nullptr;
+  capnp::FlatArrayMessageReader *msg_reader = nullptr;
+  AlignedBuffer aligned_buf;
+  cereal::Event::Reader event;
+};
+
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
+                     const std::vector<const char *> &ignore_alive) {
+  poller_ = Poller::create();
+  for (auto name : service_list) {
+    const service *serv = get_service(name);
+    assert(serv != nullptr);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
+    assert(socket != 0);
+    poller_->registerSocket(socket);
+    SubMessage *m = new SubMessage{
+      .name = name,
+      .socket = socket,
+      .freq = serv->frequency,
+      .ignore_alive = inList(ignore_alive, name),
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
+    messages_[socket] = m;
+    services_[name] = m;
+  }
+}
+
+void SubMaster::update(int timeout) {
+  for (auto &kv : messages_) kv.second->updated = false;
+
+  auto sockets = poller_->poll(timeout);
+  uint64_t current_time = nanos_since_boot();
+
+  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
+
+  for (auto s : sockets) {
+    Message *msg = s->receive(true);
+    if (msg == nullptr) continue;
+
+    SubMessage *m = messages_.at(s);
+
+    m->msg_reader->~FlatArrayMessageReader();
+    capnp::ReaderOptions options;
+    options.traversalLimitInWords = kj::maxValue; // Don't limit
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
+    delete msg;
+    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
+  }
+
+  update_msgs(current_time, messages);
+}
+
+void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
+  if (++frame == UINT64_MAX) frame = 1;
+
+  for(auto &kv : messages) {
+    auto m_find = services_.find(kv.first);
+    if (m_find == services_.end()){
+      continue;
+    }
+    SubMessage *m = m_find->second;
+    m->event = kv.second;
+    m->updated = true;
+    m->rcv_time = current_time;
+    m->rcv_frame = frame;
+    m->valid = m->event.getValid();
+    if (SIMULATION) m->alive = true;
+  }
+
+  if (!SIMULATION) {
+    for (auto &kv : messages_) {
+      SubMessage *m = kv.second;
+      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+    }
+  }
+}
+
+bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
+  int found = 0;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
+      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
+    }
+  }
+  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
+}
+
+void SubMaster::drain() {
+  while (true) {
+    auto polls = poller_->poll(0);
+    if (polls.size() == 0)
+      break;
+
+    for (auto sock : polls) {
+      Message *msg = sock->receive(true);
+      delete msg;
+    }
+  }
+}
+
+bool SubMaster::updated(const char *name) const {
+  return services_.at(name)->updated;
+}
+
+bool SubMaster::alive(const char *name) const {
+  return services_.at(name)->alive;
+}
+
+bool SubMaster::valid(const char *name) const {
+  return services_.at(name)->valid;
+}
+
+uint64_t SubMaster::rcv_frame(const char *name) const {
+  return services_.at(name)->rcv_frame;
+}
+
+uint64_t SubMaster::rcv_time(const char *name) const {
+  return services_.at(name)->rcv_time;
+}
+
+cereal::Event::Reader &SubMaster::operator[](const char *name) const {
+  return services_.at(name)->event;
+};
+
+SubMaster::~SubMaster() {
+  delete poller_;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    m->msg_reader->~FlatArrayMessageReader();
+    free(m->allocated_msg_reader);
+    delete m->socket;
+    delete m;
+  }
+}
+
+PubMaster::PubMaster(const std::vector<const char *> &service_list) {
+  for (auto name : service_list) {
+    assert(get_service(name) != nullptr);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
+    assert(socket);
+    sockets_[name] = socket;
+  }
+}
+
+int PubMaster::send(const char *name, MessageBuilder &msg) {
+  auto bytes = msg.toBytes();
+  return send(name, bytes.begin(), bytes.size());
+}
+
+PubMaster::~PubMaster() {
+  for (auto s : sockets_) delete s.second;
+}
diff --git a/cereal/messaging/stress.py b/cereal/messaging/stress.py
deleted file mode 100644
index 388477c7bec942..00000000000000
--- a/cereal/messaging/stress.py
+++ /dev/null
@@ -1,14 +0,0 @@
-from messaging_pyx import Context, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
-
-if __name__ == "__main__":
-  c = Context()
-  pub_sock = PubSocket()
-  pub_sock.connect(c, "controlsState")
-
-  for i in range(int(1e10)):
-    print(i)
-    sub_sock = SubSocket()
-    sub_sock.connect(c, "controlsState")
-
-    pub_sock.send(b'a')
-    print(sub_sock.receive())
diff --git a/cereal/messaging/tests/test_poller.py b/cereal/messaging/tests/test_poller.py
deleted file mode 100644
index ea5f61c62b9f0a..00000000000000
--- a/cereal/messaging/tests/test_poller.py
+++ /dev/null
@@ -1,142 +0,0 @@
-import unittest
-import time
-import cereal.messaging as messaging
-
-import concurrent.futures
-
-
-def poller():
-  context = messaging.Context()
-
-  p = messaging.Poller()
-
-  sub = messaging.SubSocket()
-  sub.connect(context, 'controlsState')
-  p.registerSocket(sub)
-
-  socks = p.poll(10000)
-  r = [s.receive(non_blocking=True) for s in socks]
-
-  return r
-
-
-class TestPoller(unittest.TestCase):
-  def test_poll_once(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-
-      # Send message
-      pub.send("a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_poll_and_create_many_subscribers(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-      c = messaging.Context()
-      for _ in range(10):
-        messaging.SubSocket().connect(c, 'controlsState')
-
-      time.sleep(0.1)
-
-      # Send message
-      pub.send("a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_multiple_publishers_exception(self):
-    context = messaging.Context()
-
-    with self.assertRaises(messaging.MultiplePublishersError):
-      pub1 = messaging.PubSocket()
-      pub1.connect(context, 'controlsState')
-
-      pub2 = messaging.PubSocket()
-      pub2.connect(context, 'controlsState')
-
-      pub1.send("a")
-
-    del pub1
-    del pub2
-    context.term()
-
-  def test_multiple_messages(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState')
-
-    time.sleep(0.1)  # Slow joiner
-
-    for i in range(100):
-      pub.send(str(i))
-
-    msg_seen = False
-    i = 0
-    while True:
-      r = sub.receive(non_blocking=True)
-
-      if r is not None:
-        self.assertEqual(str(i), r.decode('utf8'))
-
-        msg_seen = True
-        i += 1
-
-      if r is None and msg_seen:  # ZMQ sometimes receives nothing on the first receive
-        break
-
-    del pub
-    del sub
-    context.term()
-
-  def test_conflate(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState', conflate=True)
-
-    time.sleep(0.1)  # Slow joiner
-    pub.send('a')
-    pub.send('b')
-
-    self.assertEqual(b'b', sub.receive())
-
-    del pub
-    del sub
-    context.term()
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/cereal/service_list.yaml b/cereal/service_list.yaml
deleted file mode 100644
index 5747293abd6f3a..00000000000000
--- a/cereal/service_list.yaml
+++ /dev/null
@@ -1,164 +0,0 @@
-# TODO: these port numbers are hardcoded in c, fix this
-
-# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
-
-# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
-
-# frame syncing packet
-frame: [8002, true, 20., 1]
-# accel, gyro, and compass
-sensorEvents: [8003, true, 100., 100]
-# GPS data, also global timestamp
-gpsNMEA: [8004, true, 9.]  # 9 msgs each sec
-# CPU+MEM+GPU+BAT temps
-thermal: [8005, true, 2., 1]
-# List(CanData), list of can messages
-can: [8006, true, 100.]
-controlsState: [8007, true, 100., 100]
-#liveEvent: [8008, true, 0.]
-model: [8009, true, 20., 5]
-features: [8010, true, 0.]
-health: [8011, true, 2., 1]
-radarState: [8012, true, 20.]
-#liveUI: [8014, true, 0.]
-encodeIdx: [8015, true, 20.]
-liveTracks: [8016, true, 20.]
-sendcan: [8017, true, 100.]
-logMessage: [8018, true, 0.]
-liveCalibration: [8019, true, 4., 4]
-androidLog: [8020, true, 0.]
-carState: [8021, true, 100., 10]
-# 8022 is reserved for sshd
-carControl: [8023, true, 100., 10]
-plan: [8024, true, 20.]
-liveLocation: [8025, true, 0., 1]
-gpsLocation: [8026, true, 1., 1]
-ethernetData: [8027, true, 0.]
-navUpdate: [8028, true, 0.]
-qcomGnss: [8029, true, 0.]
-lidarPts: [8030, true, 0.]
-procLog: [8031, true, 0.5]
-gpsLocationExternal: [8032, true, 10., 1]
-ubloxGnss: [8033, true, 10.]
-clocks: [8034, true, 1., 1]
-liveMpc: [8035, false, 20.]
-liveLongitudinalMpc: [8036, false, 20.]
-navStatus: [8038, true, 0.]
-gpsLocationTrimble: [8039, true, 0.]
-trimbleGnss: [8041, true, 0.]
-ubloxRaw: [8042, true, 20.]
-gpsPlannerPoints: [8043, true, 0.]
-gpsPlannerPlan: [8044, true, 0.]
-applanixRaw: [8046, true, 0.]
-orbLocation: [8047, true, 0.]
-trafficEvents: [8048, true, 0.]
-liveLocationTiming: [8049, true, 0.]
-orbslamCorrection: [8050, true, 0.]
-liveLocationCorrected: [8051, true, 0.]
-orbObservation: [8052, true, 0.]
-applanixLocation: [8053, true, 0.]
-liveLocationKalman: [8054, true, 0.]
-uiNavigationEvent: [8055, true, 0.]
-orbOdometry: [8057, true, 0.]
-orbFeatures: [8058, false, 0.]
-orbKeyFrame: [8059, true, 0.]
-uiLayoutState: [8060, true, 0.]
-frontEncodeIdx: [8061, true, 5.]
-orbFeaturesSummary: [8062, true, 0.]
-driverState: [8063, true, 5., 1]
-liveParameters: [8064, true, 10.]
-liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20., 5]
-pathPlan: [8067, true, 20.]
-kalmanOdometry: [8068, true, 0.]
-thumbnail: [8069, true, 0.2, 1]
-carEvents: [8070, true, 1., 1]
-carParams: [8071, true, 0.02, 1]
-frontFrame: [8072, true, 10.]
-dMonitoringState: [8073, true, 5., 1]
-
-testModel: [8040, false, 0.]
-testLiveLocation: [8045, false, 0.]
-testJoystick: [8056, false, 0.]
-
-# 8080 is reserved for slave testing daemon
-# 8762 is reserved for logserver
-
-# manager -- base process to manage starting and stopping of all others
-#   subscribes: thermal
-
-# **** processes that communicate with the outside world ****
-
-# thermald -- decides when to start and stop onroad
-#   subscribes: health, location
-#   publishes: thermal
-
-# boardd -- communicates with the car
-#   subscribes: sendcan
-#   publishes: can, health, ubloxRaw
-
-# sensord -- publishes IMU and Magnetometer
-#   publishes: sensorEvents
-
-# gpsd -- publishes EON's gps
-#   publishes: gpsNMEA
-
-# visiond -- talks to the cameras, runs the model, saves the videos
-#   publishes:  frame, model, driverMonitoring, cameraOdometry, thumbnail
-
-# **** stateful data transformers ****
-
-# plannerd -- decides where to drive the car
-#   subscribes: carState, model, radarState, controlsState, liveParameters
-#   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc
-
-# controlsd -- drives the car by sending CAN messages to panda
-#   subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
-#   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
-
-# radard -- processes the radar and vision data
-#   subscribes: can, controlsState, model, liveParameters
-#   publishes:  radarState, liveTracks
-
-# params_learner -- learns vehicle params by observing the vehicle dynamics
-#   subscribes: controlsState, sensorEvents, cameraOdometry
-#   publishes: liveParameters
-
-# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
-#   subscribes: cameraOdometry
-#   publishes: liveCalibration
-
-# ubloxd -- read raw ublox data and converts them in readable format
-#   subscribes: ubloxRaw
-#   publishes: ubloxGnss
-
-# **** LOGGING SERVICE ****
-
-# loggerd
-#   subscribes: EVERYTHING
-
-# **** NON VITAL SERVICES ****
-
-# ui
-#   subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
-
-# uploader
-#   communicates through file system with loggerd
-
-# deleter
-#   communicates through file system with loggerd and uploader
-
-# logmessaged -- central logging service, can log to cloud
-#   publishes:  logMessage
-
-# logcatd -- fetches logcat info from android
-#   publishes:  androidLog
-
-# proclogd -- fetches process information
-#   publishes: procLog
-
-# tombstoned -- reports native crashes
-
-# athenad -- on request, open a sub socket and return the value
-
-# updated -- waits for network access and tries to update every hour
diff --git a/cereal/services.py b/cereal/services.py
index 42b741b994da76..7b928778022c28 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -1,33 +1,93 @@
 #!/usr/bin/env python3
 import os
-import yaml
+from typing import Optional
 
-class Service():
-  def __init__(self, port, should_log, frequency, decimation=None):
+TICI = os.path.isfile('/TICI')
+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001
+
+
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
+
+
+class Service:
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
     self.port = port
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
 
-service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
+DCAM_FREQ = 10. if not TICI else 20.
 
-service_list = {}
-with open(service_list_path, "r") as f:
-  for k, v in yaml.safe_load(f).items():
-    decimation = None
-    if len(v) == 4:
-      decimation = v[3]
+services = {
+  # service: (should_log, frequency, qlog decimation (optional))
+  "sensorEvents": (True, 100., 100),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "can": (True, 100.),
+  "controlsState": (True, 100., 10),
+  "pandaStates": (True, 2., 1),
+  "peripheralState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (True, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100., 139),
+  "logMessage": (True, 0.),
+  "liveCalibration": (True, 4., 4),
+  "androidLog": (True, 0.),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 5),
+  "procLog": (True, 0.5),
+  "gpsLocationExternal": (True, 10., 1),
+  "ubloxGnss": (True, 10.),
+  "clocks": (True, 1., 1),
+  "ubloxRaw": (True, 20.),
+  "liveLocationKalman": (True, 20., 2),
+  "liveParameters": (True, 20., 2),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 5),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "roadCameraState": (True, 20., 20),
+  "driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
+  "driverEncodeIdx": (True, DCAM_FREQ, 1),
+  "driverState": (True, DCAM_FREQ, DCAM_FREQ / 2),
+  "driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
+  "wideRoadEncodeIdx": (True, 20., 1),
+  "wideRoadCameraState": (True, 20., 20),
+  "modelV2": (True, 20., 40),
+  "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 0.),
+  "navRoute": (True, 0.),
 
-    service_list[k] = Service(v[0], v[1], v[2], decimation)
+  # debug
+  "testJoystick": (False, 0.),
+}
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}
 
-if __name__ == "__main__":
-  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
-  print("#ifndef __SERVICES_H")
-  print("#define __SERVICES_H")
-  print("struct service { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
-  print("static struct service services[] = {")
+
+def build_header():
+  h = ""
+  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
+  h += "#ifndef __SERVICES_H\n"
+  h += "#define __SERVICES_H\n"
+  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static struct service services[] = {\n"
   for k, v in service_list.items():
-    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
-  print("};")
-  print("#endif")
+    should_log = "true" if v.should_log else "false"
+    decimation = -1 if v.decimation is None else v.decimation
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
+         (k, v.port, should_log, v.frequency, decimation)
+  h += "};\n"
+  h += "#endif\n"
+  return h
 
+
+if __name__ == "__main__":
+  print(build_header())
diff --git a/cereal/visionipc/.gitignore b/cereal/visionipc/.gitignore
new file mode 100644
index 00000000000000..fa5a2b9f388686
--- /dev/null
+++ b/cereal/visionipc/.gitignore
@@ -0,0 +1,2 @@
+visionipc_pyx.cpp
+*.so
diff --git a/cereal/messaging/tests/__init__.py b/cereal/visionipc/__init__.py
similarity index 100%
rename from cereal/messaging/tests/__init__.py
rename to cereal/visionipc/__init__.py
diff --git a/cereal/visionipc/ipc.cc b/cereal/visionipc/ipc.cc
new file mode 100644
index 00000000000000..29c4c9c37491d1
--- /dev/null
+++ b/cereal/visionipc/ipc.cc
@@ -0,0 +1,121 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/mman.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+
+#ifdef __APPLE__
+#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
+#else
+#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
+#endif
+
+#include "ipc.h"
+
+int ipc_connect(const char* socket_path) {
+  int err;
+
+  int sock = getsocket();
+
+  if (sock < 0) return -1;
+  struct sockaddr_un addr = {
+    .sun_family = AF_UNIX,
+  };
+  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
+  err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
+  if (err != 0) {
+    close(sock);
+    return -1;
+  }
+
+  return sock;
+}
+
+int ipc_bind(const char* socket_path) {
+  int err;
+
+  unlink(socket_path);
+
+  int sock = getsocket();
+
+  struct sockaddr_un addr = {
+    .sun_family = AF_UNIX,
+  };
+  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
+  err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
+  assert(err == 0);
+
+  err = listen(sock, 3);
+  assert(err == 0);
+
+  return sock;
+}
+
+
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds) {
+  char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
+  memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
+
+  struct iovec iov = {
+    .iov_base = buf,
+    .iov_len = buf_size,
+  };
+  struct msghdr msg = {
+    .msg_iov = &iov,
+    .msg_iovlen = 1,
+  };
+
+  if (num_fds > 0) {
+    assert(fds);
+
+    msg.msg_control = control_buf;
+    msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
+  }
+
+  if (send) {
+    if (num_fds) {
+      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
+      assert(cmsg);
+      cmsg->cmsg_level = SOL_SOCKET;
+      cmsg->cmsg_type = SCM_RIGHTS;
+      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
+      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
+    }
+    return sendmsg(fd, &msg, 0);
+  } else {
+    int r = recvmsg(fd, &msg, 0);
+    if (r < 0) return r;
+
+    int recv_fds = 0;
+    if (msg.msg_controllen > 0) {
+      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
+      assert(cmsg);
+      assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
+      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
+      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
+      recv_fds /= sizeof(int);
+
+      assert(fds && recv_fds <= num_fds);
+      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
+    }
+
+    if (msg.msg_flags) {
+      for (int i=0; i<recv_fds; i++) {
+        close(fds[i]);
+      }
+      return -1;
+    }
+
+    if (fds) {
+      assert(out_num_fds);
+      *out_num_fds = recv_fds;
+    }
+    return r;
+  }
+}
diff --git a/cereal/visionipc/ipc.h b/cereal/visionipc/ipc.h
new file mode 100644
index 00000000000000..14bb61a521b996
--- /dev/null
+++ b/cereal/visionipc/ipc.h
@@ -0,0 +1,7 @@
+#pragma once
+#include <cstddef>
+
+int ipc_connect(const char* socket_path);
+int ipc_bind(const char* socket_path);
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds);
diff --git a/cereal/messaging/test_runner.cc b/cereal/visionipc/test_runner.cc
similarity index 100%
rename from cereal/messaging/test_runner.cc
rename to cereal/visionipc/test_runner.cc
diff --git a/cereal/visionipc/visionbuf.cc b/cereal/visionipc/visionbuf.cc
new file mode 100644
index 00000000000000..e94a8bbc014760
--- /dev/null
+++ b/cereal/visionipc/visionbuf.cc
@@ -0,0 +1,49 @@
+#include "visionbuf.h"
+
+#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
+
+#ifdef QCOM
+// from libadreno_utils.so
+extern "C" void compute_aligned_width_and_height(int width,
+                                                 int height,
+                                                 int bpp,
+                                                 int tile_mode,
+                                                 int raster_mode,
+                                                 int padding_threshold,
+                                                 int *aligned_w,
+                                                 int *aligned_h);
+#endif
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
+#ifdef QCOM
+  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
+#else
+  *aligned_w = width; *aligned_h = height;
+#endif
+}
+
+void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
+  this->rgb = true;
+  this->width = init_width;
+  this->height = init_height;
+  this->stride = init_stride;
+}
+
+void VisionBuf::init_yuv(size_t init_width, size_t init_height){
+  this->rgb = false;
+  this->width = init_width;
+  this->height = init_height;
+
+  this->y = (uint8_t *)this->addr;
+  this->u = this->y + (this->width * this->height);
+  this->v = this->u + (this->width / 2 * this->height / 2);
+}
+
+
+uint64_t VisionBuf::get_frame_id() {
+  return *frame_id;
+}
+
+void VisionBuf::set_frame_id(uint64_t id) {
+  *frame_id = id;
+}
diff --git a/cereal/visionipc/visionbuf.h b/cereal/visionipc/visionbuf.h
new file mode 100644
index 00000000000000..51232e64076e91
--- /dev/null
+++ b/cereal/visionipc/visionbuf.h
@@ -0,0 +1,66 @@
+#pragma once
+#include "visionipc.h"
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#define VISIONBUF_SYNC_FROM_DEVICE 0
+#define VISIONBUF_SYNC_TO_DEVICE 1
+
+enum VisionStreamType {
+  VISION_STREAM_RGB_BACK,
+  VISION_STREAM_RGB_FRONT,
+  VISION_STREAM_RGB_WIDE,
+  VISION_STREAM_YUV_BACK,
+  VISION_STREAM_YUV_FRONT,
+  VISION_STREAM_YUV_WIDE,
+  VISION_STREAM_MAX,
+};
+
+class VisionBuf {
+ public:
+  size_t len = 0;
+  size_t mmap_len = 0;
+  void * addr = nullptr;
+  uint64_t *frame_id;
+  int fd = 0;
+
+  bool rgb = false;
+  size_t width = 0;
+  size_t height = 0;
+  size_t stride = 0;
+
+  // YUV
+  uint8_t * y = nullptr;
+  uint8_t * u = nullptr;
+  uint8_t * v = nullptr;
+
+  // Visionipc
+  uint64_t server_id = 0;
+  size_t idx = 0;
+  VisionStreamType type;
+
+  // OpenCL
+  cl_mem buf_cl = nullptr;
+  cl_command_queue copy_q = nullptr;
+
+  // ion
+  int handle = 0;
+
+  void allocate(size_t len);
+  void import();
+  void init_cl(cl_device_id device_id, cl_context ctx);
+  void init_rgb(size_t width, size_t height, size_t stride);
+  void init_yuv(size_t width, size_t height);
+  int sync(int dir);
+  int free();
+
+  void set_frame_id(uint64_t id);
+  uint64_t get_frame_id();
+};
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
diff --git a/cereal/visionipc/visionbuf_cl.cc b/cereal/visionipc/visionbuf_cl.cc
new file mode 100644
index 00000000000000..0286d28fddbf17
--- /dev/null
+++ b/cereal/visionipc/visionbuf_cl.cc
@@ -0,0 +1,94 @@
+#include "visionbuf.h"
+
+#include <atomic>
+#include <stdio.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+
+std::atomic<int> offset = 0;
+
+static void *malloc_with_fd(size_t len, int *fd) {
+  char full_path[0x100];
+
+#ifdef __APPLE__
+  snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
+#else
+  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
+#endif
+
+  *fd = open(full_path, O_RDWR | O_CREAT, 0664);
+  assert(*fd >= 0);
+
+  unlink(full_path);
+
+  ftruncate(*fd, len);
+  void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
+  assert(addr != MAP_FAILED);
+
+  return addr;
+}
+
+void VisionBuf::allocate(size_t length) {
+  this->len = length;
+  this->mmap_len = this->len;
+  this->addr = malloc_with_fd(this->len, &this->fd);
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
+}
+
+void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
+  int err;
+
+  this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
+  assert(err == 0);
+
+  this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
+  assert(err == 0);
+}
+
+
+void VisionBuf::import(){
+  assert(this->fd >= 0);
+  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
+  assert(this->addr != MAP_FAILED);
+
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
+}
+
+
+int VisionBuf::sync(int dir) {
+  int err = 0;
+  if (!this->buf_cl) return 0;
+
+  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
+    err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
+  } else {
+    err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
+  }
+
+  if (err == 0){
+    err = clFinish(this->copy_q);
+  }
+
+  return err;
+}
+
+int VisionBuf::free() {
+  int err = 0;
+  if (this->buf_cl){
+    err = clReleaseMemObject(this->buf_cl);
+    if (err != 0) return err;
+
+    err = clReleaseCommandQueue(this->copy_q);
+    if (err != 0) return err;
+  }
+
+  err = munmap(this->addr, this->len);
+  if (err != 0) return err;
+
+  err = close(this->fd);
+  return err;
+}
diff --git a/cereal/visionipc/visionbuf_ion.cc b/cereal/visionipc/visionbuf_ion.cc
new file mode 100644
index 00000000000000..c66b668c65839c
--- /dev/null
+++ b/cereal/visionipc/visionbuf_ion.cc
@@ -0,0 +1,158 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+#include <sys/mman.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <linux/ion.h>
+#include <CL/cl_ext.h>
+
+#include <msm_ion.h>
+
+#include "visionbuf.h"
+
+// keep trying if x gets interrupted by a signal
+#define HANDLE_EINTR(x)                                       \
+  ({                                                          \
+    decltype(x) ret;                                          \
+    int try_cnt = 0;                                          \
+    do {                                                      \
+      ret = (x);                                              \
+    } while (ret == -1 && errno == EINTR && try_cnt++ < 100); \
+    ret;                                                      \
+  })
+
+// just hard-code these for convenience
+// size_t device_page_size = 0;
+// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM,
+//                 sizeof(device_page_size), &device_page_size,
+//                 NULL);
+
+// size_t padding_cl = 0;
+// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM,
+//                 sizeof(padding_cl), &padding_cl,
+//                 NULL);
+#define DEVICE_PAGE_SIZE_CL 4096
+#define PADDING_CL 0
+
+static int ion_fd = -1;
+static void ion_init() {
+  if (ion_fd == -1) {
+    ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
+  }
+}
+
+void VisionBuf::allocate(size_t length) {
+  int err;
+
+  ion_init();
+
+  struct ion_allocation_data ion_alloc = {0};
+  ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
+  ion_alloc.align = 4096;
+  ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
+  ion_alloc.flags = ION_FLAG_CACHED;
+
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc));
+  assert(err == 0);
+
+  struct ion_fd_data ion_fd_data = {0};
+  ion_fd_data.handle = ion_alloc.handle;
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
+  assert(err == 0);
+
+  void *mmap_addr = mmap(NULL, ion_alloc.len,
+                         PROT_READ | PROT_WRITE,
+                         MAP_SHARED, ion_fd_data.fd, 0);
+  assert(mmap_addr != MAP_FAILED);
+
+  memset(mmap_addr, 0, ion_alloc.len);
+
+  this->len = length;
+  this->mmap_len = ion_alloc.len;
+  this->addr = mmap_addr;
+  this->handle = ion_alloc.handle;
+  this->fd = ion_fd_data.fd;
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
+}
+
+void VisionBuf::import(){
+  int err;
+  assert(this->fd >= 0);
+
+  ion_init();
+
+  // Get handle
+  struct ion_fd_data fd_data = {0};
+  fd_data.fd = this->fd;
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_IMPORT, &fd_data));
+  assert(err == 0);
+
+  this->handle = fd_data.handle;
+  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
+  assert(this->addr != MAP_FAILED);
+
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
+}
+
+void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
+  int err;
+
+  assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
+
+  cl_mem_ion_host_ptr ion_cl = {0};
+  ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
+  ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
+  ion_cl.ion_filedesc = this->fd;
+  ion_cl.ion_hostptr = this->addr;
+
+  this->buf_cl = clCreateBuffer(ctx,
+                              CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
+                              this->len, &ion_cl, &err);
+  assert(err == 0);
+}
+
+
+int VisionBuf::sync(int dir) {
+  struct ion_flush_data flush_data = {0};
+  flush_data.handle = this->handle;
+  flush_data.vaddr = this->addr;
+  flush_data.offset = 0;
+  flush_data.length = this->len;
+
+  // ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
+  // ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
+  // ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL
+
+  struct ion_custom_data custom_data = {0};
+
+   assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
+   custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
+     ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
+
+  custom_data.arg = (unsigned long)&flush_data;
+  return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data));
+}
+
+int VisionBuf::free() {
+  int err = 0;
+
+  if (this->buf_cl){
+    err = clReleaseMemObject(this->buf_cl);
+    if (err != 0) return err;
+  }
+
+  err = munmap(this->addr, this->mmap_len);
+  if (err != 0) return err;
+
+  err = close(this->fd);
+  if (err != 0) return err;
+
+  struct ion_handle_data handle_data = {.handle = this->handle};
+  return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_FREE, &handle_data));
+}
diff --git a/cereal/visionipc/visionipc.h b/cereal/visionipc/visionipc.h
new file mode 100644
index 00000000000000..fb640692c302fe
--- /dev/null
+++ b/cereal/visionipc/visionipc.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <cstdint>
+#include <cstddef>
+
+constexpr int VISIONIPC_MAX_FDS = 128;
+
+struct VisionIpcBufExtra {
+  uint32_t frame_id;
+  uint64_t timestamp_sof;
+  uint64_t timestamp_eof;
+};
+
+struct VisionIpcPacket {
+  uint64_t server_id;
+  size_t idx;
+  struct VisionIpcBufExtra extra;
+};
diff --git a/cereal/visionipc/visionipc.pxd b/cereal/visionipc/visionipc.pxd
new file mode 100644
index 00000000000000..5cb729f7e1fda4
--- /dev/null
+++ b/cereal/visionipc/visionipc.pxd
@@ -0,0 +1,39 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool
+
+cdef extern from "visionbuf.h":
+  cdef enum VisionStreamType:
+    pass
+
+  cdef cppclass VisionBuf:
+    void * addr
+    size_t len
+    size_t width
+    size_t height
+    size_t stride
+
+cdef extern from "visionipc.h":
+  struct VisionIpcBufExtra:
+    uint32_t frame_id
+    uint64_t timestamp_sof
+    uint64_t timestamp_eof
+
+cdef extern from "visionipc_server.h":
+  cdef cppclass VisionIpcServer:
+    VisionIpcServer(string, void*, void*)
+    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
+    VisionBuf * get_buffer(VisionStreamType)
+    void send(VisionBuf *, VisionIpcBufExtra *, bool)
+    void start_listener()
+
+cdef extern from "visionipc_client.h":
+  cdef cppclass VisionIpcClient:
+    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
+    VisionBuf * recv(VisionIpcBufExtra *, int)
+    bool connect(bool)
+    bool is_connected()
diff --git a/cereal/visionipc/visionipc_client.cc b/cereal/visionipc/visionipc_client.cc
new file mode 100644
index 00000000000000..da406067abf2f0
--- /dev/null
+++ b/cereal/visionipc/visionipc_client.cc
@@ -0,0 +1,129 @@
+#include <chrono>
+#include <cassert>
+#include <iostream>
+#include <thread>
+
+#include "visionipc/ipc.h"
+#include "visionipc/visionipc_client.h"
+#include "visionipc/visionipc_server.h"
+#include "logger/logger.h"
+
+VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
+  msg_ctx = Context::create();
+  sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
+
+  poller = Poller::create();
+  poller->registerSocket(sock);
+}
+
+// Connect is not thread safe. Do not use the buffers while calling connect
+bool VisionIpcClient::connect(bool blocking){
+  connected = false;
+
+  // Cleanup old buffers on reconnect
+  for (size_t i = 0; i < num_buffers; i++){
+    if (buffers[i].free() != 0) {
+      LOGE("Failed to free buffer %zu", i);
+    }
+  }
+
+  num_buffers = 0;
+
+  // Connect to server socket and ask for all FDs of type
+  std::string path = "/tmp/visionipc_" + name;
+
+  int socket_fd = -1;
+  while (socket_fd < 0) {
+    socket_fd = ipc_connect(path.c_str());
+
+    if (socket_fd < 0) {
+      if (blocking){
+        std::cout << "VisionIpcClient connecting" << std::endl;
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      } else {
+        return false;
+      }
+    }
+  }
+
+  // Send stream type to server to request FDs
+  int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
+  assert(r == sizeof(type));
+
+  // Get FDs
+  int fds[VISIONIPC_MAX_FDS];
+  VisionBuf bufs[VISIONIPC_MAX_FDS];
+  r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
+
+  assert(num_buffers > 0);
+  assert(r == sizeof(VisionBuf) * num_buffers);
+
+  // Import buffers
+  for (size_t i = 0; i < num_buffers; i++){
+    buffers[i] = bufs[i];
+    buffers[i].fd = fds[i];
+    buffers[i].import();
+    if (buffers[i].rgb) {
+      buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
+    } else {
+      buffers[i].init_yuv(buffers[i].width, buffers[i].height);
+    }
+
+    if (device_id) buffers[i].init_cl(device_id, ctx);
+  }
+
+  close(socket_fd);
+  connected = true;
+  return true;
+}
+
+VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
+  auto p = poller->poll(timeout_ms);
+
+  if (!p.size()){
+    return nullptr;
+  }
+
+  Message * r = sock->receive(true);
+  if (r == nullptr){
+    return nullptr;
+  }
+
+  // Get buffer
+  assert(r->getSize() == sizeof(VisionIpcPacket));
+  VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
+
+  assert(packet->idx < num_buffers);
+  VisionBuf * buf = &buffers[packet->idx];
+
+  if (buf->server_id != packet->server_id){
+    connected = false;
+    delete r;
+    return nullptr;
+  }
+
+  if (extra) {
+    *extra = packet->extra;
+  }
+
+  if (buf->sync(VISIONBUF_SYNC_TO_DEVICE) != 0) {
+    LOGE("Failed to sync buffer");
+  }
+
+  delete r;
+  return buf;
+}
+
+
+
+VisionIpcClient::~VisionIpcClient(){
+  for (size_t i = 0; i < num_buffers; i++){
+    if (buffers[i].free() != 0) {
+      LOGE("Failed to free buffer %zu", i);
+    }
+  }
+
+  delete sock;
+  delete poller;
+  delete msg_ctx;
+}
diff --git a/cereal/visionipc/visionipc_client.h b/cereal/visionipc/visionipc_client.h
new file mode 100644
index 00000000000000..a6426ce921efb1
--- /dev/null
+++ b/cereal/visionipc/visionipc_client.h
@@ -0,0 +1,33 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <unistd.h>
+
+#include "messaging/messaging.h"
+#include "visionipc/visionipc.h"
+#include "visionipc/visionbuf.h"
+
+class VisionIpcClient {
+private:
+  std::string name;
+  Context * msg_ctx;
+  SubSocket * sock;
+  Poller * poller;
+
+  VisionStreamType type;
+
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+
+  void init_msgq(bool conflate);
+
+public:
+  bool connected = false;
+  int num_buffers = 0;
+  VisionBuf buffers[VISIONIPC_MAX_FDS];
+  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcClient();
+  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
+  bool connect(bool blocking=true);
+  bool is_connected() { return connected; }
+};
diff --git a/cereal/visionipc/visionipc_pyx.pyx b/cereal/visionipc/visionipc_pyx.pyx
new file mode 100644
index 00000000000000..c0ba4c3eee9f91
--- /dev/null
+++ b/cereal/visionipc/visionipc_pyx.pyx
@@ -0,0 +1,93 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import sys
+import numpy as np
+cimport numpy as cnp
+from cython.view cimport array
+from libc.string cimport memcpy
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .visionipc cimport VisionIpcServer as cppVisionIpcServer
+from .visionipc cimport VisionIpcClient as cppVisionIpcClient
+from .visionipc cimport VisionBuf as cppVisionBuf
+from .visionipc cimport VisionIpcBufExtra
+
+cpdef enum VisionStreamType:
+  VISION_STREAM_RGB_BACK
+  VISION_STREAM_RGB_FRONT
+  VISION_STREAM_RGB_WIDE
+  VISION_STREAM_YUV_BACK
+  VISION_STREAM_YUV_FRONT
+  VISION_STREAM_YUV_WIDE
+
+
+cdef class VisionIpcServer:
+  cdef cppVisionIpcServer * server
+
+  def __init__(self, string name):
+    self.server = new cppVisionIpcServer(name, NULL, NULL)
+
+  def create_buffers(self,  VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
+    self.server.create_buffers(tp, num_buffers, rgb, width, height)
+
+  def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
+    cdef cppVisionBuf * buf = self.server.get_buffer(tp)
+
+    # Populate buffer
+    assert buf.len == len(data)
+    memcpy(buf.addr, <char*>data, len(data))
+
+    cdef VisionIpcBufExtra extra
+    extra.frame_id = frame_id
+    extra.timestamp_sof = timestamp_sof
+    extra.timestamp_eof = timestamp_eof
+
+    self.server.send(buf, &extra, False)
+
+  def start_listener(self):
+    self.server.start_listener()
+
+  def __dealloc__(self):
+    del self.server
+
+
+cdef class VisionIpcClient:
+  cdef cppVisionBuf * buf
+  cdef cppVisionIpcClient * client
+
+  def __cinit__(self, string name, VisionStreamType stream, bool conflate):
+    self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
+    self.buf = NULL
+
+  def __dealloc__(self):
+    del self.client
+
+  @property
+  def width(self):
+    return None if not self.buf else self.buf.width
+
+  @property
+  def height(self):
+    return None if not self.buf else self.buf.height
+
+  @property
+  def stride(self):
+    return None if not self.buf else self.buf.stride
+
+  def recv(self, int timeout_ms=100):
+    self.buf = self.client.recv(NULL, timeout_ms)
+    if not self.buf:
+      return None
+    cdef cnp.ndarray dat = np.empty(self.buf.len, dtype=np.uint8)
+    cdef char[:] dat_view = dat
+    memcpy(&dat_view[0], self.buf.addr, self.buf.len)
+    return dat
+
+  def connect(self, bool blocking):
+    return self.client.connect(blocking)
+
+  def is_connected(self):
+    return self.client.is_connected()
diff --git a/cereal/visionipc/visionipc_server.cc b/cereal/visionipc/visionipc_server.cc
new file mode 100644
index 00000000000000..e15c1aee4a94a1
--- /dev/null
+++ b/cereal/visionipc/visionipc_server.cc
@@ -0,0 +1,184 @@
+#include <iostream>
+#include <chrono>
+#include <cassert>
+#include <random>
+
+#include <poll.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include "messaging/messaging.h"
+#include "visionipc/ipc.h"
+#include "visionipc/visionipc_server.h"
+#include "logger/logger.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type){
+  if (messaging_use_zmq()){
+    assert(name == "camerad");
+    return std::to_string(9000 + static_cast<int>(type));
+  } else {
+    return "visionipc_" + name + "_" + std::to_string(type);
+  }
+}
+
+VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
+  msg_ctx = Context::create();
+
+  std::random_device rd("/dev/urandom");
+  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
+  server_id = distribution(rd);
+}
+
+void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
+  // TODO: assert that this type is not created yet
+  assert(num_buffers < VISIONIPC_MAX_FDS);
+  int aligned_w = 0, aligned_h = 0;
+
+  size_t size = 0;
+  size_t stride = 0; // Only used for RGB
+
+  if (rgb) {
+    visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
+    size = (size_t)aligned_w * (size_t)aligned_h * 3;
+    stride = aligned_w * 3;
+  } else {
+    size = width * height * 3 / 2;
+  }
+
+  // Create map + alloc requested buffers
+  for (size_t i = 0; i < num_buffers; i++){
+    VisionBuf* buf = new VisionBuf();
+    buf->allocate(size);
+    buf->idx = i;
+    buf->type = type;
+
+    if (device_id) buf->init_cl(device_id, ctx);
+
+    rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
+
+    buffers[type].push_back(buf);
+  }
+
+  cur_idx[type] = 0;
+
+  // Create msgq publisher for each of the `name` + type combos
+  // TODO: compute port number directly if using zmq
+  sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
+}
+
+
+void VisionIpcServer::start_listener(){
+  listener_thread = std::thread(&VisionIpcServer::listener, this);
+}
+
+
+void VisionIpcServer::listener(){
+  std::cout << "Starting listener for: " << name << std::endl;
+
+  std::string path = "/tmp/visionipc_" + name;
+  int sock = ipc_bind(path.c_str());
+  assert(sock >= 0);
+
+  while (!should_exit){
+    // Wait for incoming connection
+    struct pollfd polls[1] = {{0}};
+    polls[0].fd = sock;
+    polls[0].events = POLLIN;
+
+    int ret = poll(polls, 1, 100);
+    if (ret < 0) {
+      if (errno == EINTR || errno == EAGAIN) continue;
+      std::cout << "poll failed, stopping listener" << std::endl;
+      break;
+    }
+
+    if (should_exit) break;
+    if (!polls[0].revents) {
+      continue;
+    }
+
+    // Handle incoming request
+    int fd = accept(sock, NULL, NULL);
+    assert(fd >= 0);
+
+    VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
+    int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
+    assert(r == sizeof(type));
+    if (buffers.count(type) <= 0) {
+      std::cout << "got request for invalid buffer type: " << type << std::endl;
+      close(fd);
+      continue;
+    }
+
+    int fds[VISIONIPC_MAX_FDS];
+    int num_fds = buffers[type].size();
+    VisionBuf bufs[VISIONIPC_MAX_FDS];
+
+    for (int i = 0; i < num_fds; i++){
+      fds[i] = buffers[type][i]->fd;
+      bufs[i] = *buffers[type][i];
+
+      // Remove some private openCL/ion metadata
+      bufs[i].buf_cl = 0;
+      bufs[i].copy_q = 0;
+      bufs[i].handle = 0;
+
+      bufs[i].server_id = server_id;
+    }
+
+    r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
+
+    close(fd);
+  }
+
+  std::cout << "Stopping listener for: " << name << std::endl;
+  close(sock);
+}
+
+
+
+VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
+  // Do we want to keep track if the buffer has been sent out yet and warn user?
+  assert(buffers.count(type));
+  auto b = buffers[type];
+  return b[cur_idx[type]++ % b.size()];
+}
+
+void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
+  if (sync) {
+    if (buf->sync(VISIONBUF_SYNC_FROM_DEVICE) != 0) {
+      LOGE("Failed to sync buffer");
+    }
+  }
+  assert(buffers.count(buf->type));
+  assert(buf->idx < buffers[buf->type].size());
+
+  // Send over correct msgq socket
+  VisionIpcPacket packet = {0};
+  packet.server_id = server_id;
+  packet.idx = buf->idx;
+  packet.extra = *extra;
+
+  sockets[buf->type]->send((char*)&packet, sizeof(packet));
+}
+
+VisionIpcServer::~VisionIpcServer(){
+  should_exit = true;
+  listener_thread.join();
+
+  // VisionBuf cleanup
+  for( auto const& [type, buf] : buffers ) {
+    for (VisionBuf* b : buf){
+      if (b->free() != 0) {
+        LOGE("Failed to free buffer");
+      }
+      delete b;
+    }
+  }
+
+  // Messaging cleanup
+  for( auto const& [type, sock] : sockets ) {
+    delete sock;
+  }
+  delete msg_ctx;
+}
diff --git a/cereal/visionipc/visionipc_server.h b/cereal/visionipc/visionipc_server.h
new file mode 100644
index 00000000000000..01409f78d8dd85
--- /dev/null
+++ b/cereal/visionipc/visionipc_server.h
@@ -0,0 +1,42 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <thread>
+#include <atomic>
+#include <map>
+
+#include "messaging/messaging.h"
+#include "visionipc/visionipc.h"
+#include "visionipc/visionbuf.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type);
+
+class VisionIpcServer {
+ private:
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+  uint64_t server_id;
+
+  std::atomic<bool> should_exit = false;
+  std::string name;
+  std::thread listener_thread;
+
+  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
+  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
+  std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
+
+  Context * msg_ctx;
+  std::map<VisionStreamType, PubSocket*> sockets;
+
+  void listener(void);
+
+ public:
+  VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcServer();
+
+  VisionBuf * get_buffer(VisionStreamType type);
+
+  void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
+  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
+  void start_listener();
+};
diff --git a/cereal/visionipc/visionipc_tests.cc b/cereal/visionipc/visionipc_tests.cc
new file mode 100644
index 00000000000000..a68bda0b8a35d3
--- /dev/null
+++ b/cereal/visionipc/visionipc_tests.cc
@@ -0,0 +1,137 @@
+#include <thread>
+#include <chrono>
+
+#include "catch2/catch.hpp"
+#include "visionipc_server.h"
+#include "visionipc_client.h"
+
+static void zmq_sleep(int milliseconds=1000){
+  if (messaging_use_zmq()){
+    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+  }
+}
+
+TEST_CASE("Connecting"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+
+  REQUIRE(client.connected);
+}
+
+TEST_CASE("Check buffers"){
+  size_t width = 100, height = 200, num_buffers = 5;
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+
+  REQUIRE(client.buffers[0].width == width);
+  REQUIRE(client.buffers[0].height == height);
+  REQUIRE(client.buffers[0].len);
+  REQUIRE(client.num_buffers == num_buffers);
+}
+
+TEST_CASE("Check yuv/rgb"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
+  client_yuv.connect();
+  client_rgb.connect();
+
+  REQUIRE(client_rgb.buffers[0].rgb == true);
+  REQUIRE(client_yuv.buffers[0].rgb == false);
+}
+
+TEST_CASE("Send single buffer"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  *((uint64_t*)buf->addr) = 1234;
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1337;
+  buf->set_frame_id(extra.frame_id);
+
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
+  REQUIRE(extra_recv.frame_id == extra.frame_id);
+  REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
+}
+
+
+TEST_CASE("Test no conflate"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1;
+  server.send(buf, &extra);
+  extra.frame_id = 2;
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 1);
+
+  recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 2);
+}
+
+TEST_CASE("Test conflate"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1;
+  server.send(buf, &extra);
+  extra.frame_id = 2;
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 2);
+
+  recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf == nullptr);
+}
diff --git a/common/SConscript b/common/SConscript
index 103d416f535044..a41fc8b7eb241a 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,6 +1,4 @@
-Import('env')
+Import('envCython', 'common')
 
-# parser
-env.Command(['common_pyx.so'],
-  ['common_pyx_setup.py', 'clock.pyx'],
-  "cd common && python3 common_pyx_setup.py build_ext --inplace")
+envCython.Program('clock.so', 'clock.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
diff --git a/common/android.py b/common/android.py
deleted file mode 100644
index e0933e822357e0..00000000000000
--- a/common/android.py
+++ /dev/null
@@ -1,130 +0,0 @@
-import os
-import binascii
-import itertools
-import re
-import struct
-import subprocess
-import random
-from cereal import log
-
-NetworkType = log.ThermalData.NetworkType
-
-ANDROID = os.path.isfile('/EON')
-
-def getprop(key):
-  if not ANDROID:
-    return ""
-  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
-
-def get_imei(slot):
-  slot = str(slot)
-  if slot not in ("0", "1"):
-    raise ValueError("SIM slot must be 0 or 1")
-
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
-  if not ret:
-    # allow non android to be identified differently
-    ret = "%015d" % random.randint(0, 1<<32)
-  return ret
-
-def get_serial():
-  ret = getprop("ro.serialno")
-  if ret == "":
-    ret = "cccccccc"
-  return ret
-
-def get_subscriber_info():
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
-  if ret is None or len(ret) < 8:
-    return ""
-  return ret
-
-def reboot(reason=None):
-  if reason is None:
-    reason_args = ["null"]
-  else:
-    reason_args = ["s16", reason]
-
-  subprocess.check_output([
-    "service", "call", "power", "16", # IPowerManager.reboot
-    "i32", "0", # no confirmation,
-    *reason_args,
-    "i32", "1" # wait
-  ])
-
-def service_call(call):
-  if not ANDROID:
-    return None
-
-  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
-  if 'Parcel' not in ret:
-    return None
-
-  return parse_service_call_bytes(ret)
-
-def parse_service_call_unpack(r, fmt):
-  try:
-    return struct.unpack(fmt, r)[0]
-  except Exception:
-    return None
-
-def parse_service_call_string(r):
-  try:
-    r = r[8:] # Cut off length field
-    r = r.decode('utf_16_be')
-
-    # All pairs of two characters seem to be swapped. Not sure why
-    result = ""
-    for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
-        result += b + a
-
-    result = result.replace('\x00', '')
-
-    return result
-  except Exception:
-    return None
-
-def parse_service_call_bytes(ret):
-  try:
-    r = b""
-    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
-      r += binascii.unhexlify(hex_part)
-    return r
-  except Exception:
-    return None
-
-def get_network_type():
-  if not ANDROID:
-    return NetworkType.none
-
-  wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
-  if wifi_check is None:
-    return NetworkType.none
-  elif 'WIFI' in wifi_check:
-    return NetworkType.wifi
-  else:
-    cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
-    # from TelephonyManager.java
-    cell_networks = {
-      0: NetworkType.none,
-      1: NetworkType.cell2G,
-      2: NetworkType.cell2G,
-      3: NetworkType.cell3G,
-      4: NetworkType.cell2G,
-      5: NetworkType.cell3G,
-      6: NetworkType.cell3G,
-      7: NetworkType.cell3G,
-      8: NetworkType.cell3G,
-      9: NetworkType.cell3G,
-      10: NetworkType.cell3G,
-      11: NetworkType.cell2G,
-      12: NetworkType.cell3G,
-      13: NetworkType.cell4G,
-      14: NetworkType.cell4G,
-      15: NetworkType.cell3G,
-      16: NetworkType.cell2G,
-      17: NetworkType.cell3G,
-      18: NetworkType.cell4G,
-      19: NetworkType.cell4G
-    }
-    return cell_networks.get(cell_check, NetworkType.none)
diff --git a/common/api/__init__.py b/common/api/__init__.py
index 38fe6b2477c66e..5b1d66cf779273 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -1,9 +1,12 @@
 import jwt
+import os
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
 from selfdrive.version import version
 
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
 class Api():
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
@@ -27,16 +30,17 @@ def get_token(self):
       'iat': now,
       'exp': now + timedelta(hours=1)
     }
-    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+    
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  backend = "https://api.commadotai.com/"
-
   headers = {}
   if access_token is not None:
     headers['Authorization'] = "JWT "+access_token
 
   headers['User-Agent'] = "openpilot-" + version
 
-  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
-
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
diff --git a/common/apk.py b/common/apk.py
deleted file mode 100644
index 32bd2f54c6e32b..00000000000000
--- a/common/apk.py
+++ /dev/null
@@ -1,99 +0,0 @@
-import os
-import subprocess
-import glob
-import hashlib
-import shutil
-from common.basedir import BASEDIR
-from selfdrive.swaglog import cloudlog
-
-android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
-
-def get_installed_apks():
-  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
-  ret = {}
-  for x in dat:
-    if x.startswith("package:"):
-      v,k = x.split("package:")[1].split("=")
-      ret[k] = v
-  return ret
-
-def install_apk(path):
-  # can only install from world readable path
-  install_path = "/sdcard/%s" % os.path.basename(path)
-  shutil.copyfile(path, install_path)
-
-  ret = subprocess.call(["pm", "install", "-r", install_path])
-  os.remove(install_path)
-  return ret == 0
-
-def start_frame():
-  set_package_permissions()
-  system("am start -n ai.comma.plus.frame/.MainActivity")
-
-def set_package_permissions():
-  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
-  pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
-  appops_set("ai.comma.plus.offroad", "SU", "allow")
-  appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
-  appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow")
-  appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow")
-
-def appops_set(package, op, mode):
-  system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
-
-def pm_grant(package, permission):
-  system(f"pm grant {package} {permission}")
-
-def system(cmd):
-  try:
-    cloudlog.info("running %s" % cmd)
-    subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
-  except subprocess.CalledProcessError as e:
-    cloudlog.event("running failed",
-      cmd=e.cmd,
-      output=e.output[-1024:],
-      returncode=e.returncode)
-
-# *** external functions ***
-
-def update_apks():
-  # install apks
-  installed = get_installed_apks()
-
-  install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
-  for apk in install_apks:
-    app = os.path.basename(apk)[:-4]
-    if app not in installed:
-      installed[app] = None
-
-  cloudlog.info("installed apks %s" % (str(installed), ))
-
-  for app in installed.keys():
-    apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
-    if not os.path.exists(apk_path):
-      continue
-
-    h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
-    h2 = None
-    if installed[app] is not None:
-      h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
-      cloudlog.info("comparing version of %s  %s vs %s" % (app, h1, h2))
-
-    if h2 is None or h1 != h2:
-      cloudlog.info("installing %s" % app)
-
-      success = install_apk(apk_path)
-      if not success:
-        cloudlog.info("needing to uninstall %s" % app)
-        system("pm uninstall %s" % app)
-        success = install_apk(apk_path)
-
-      assert success
-
-def pm_apply_packages(cmd):
-  for p in android_packages:
-    system("pm %s %s" % (cmd, p))
-
-if __name__ == "__main__":
-  update_apks()
-
diff --git a/common/basedir.py b/common/basedir.py
index e928ded4c4d681..8be1cf6afa729d 100644
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,11 +1,11 @@
 import os
+from pathlib import Path
+
+from selfdrive.hardware import PC
+
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
-from common.android import ANDROID
-if ANDROID:
-  PERSIST = "/persist"
-  PARAMS = "/data/params"
+if PC:
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
-  PERSIST = os.path.join(BASEDIR, "persist")
-  PARAMS = os.path.join(BASEDIR, "persist", "params")
-
+  PERSIST = "/persist"
diff --git a/common/clock.pyx b/common/clock.pyx
index 654d53f8f0885b..81333565c58089 100644
--- a/common/clock.pyx
+++ b/common/clock.pyx
@@ -1,3 +1,5 @@
+# distutils: language = c++
+# cython: language_level = 3
 from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
 
 IF UNAME_SYSNAME == "Darwin":
diff --git a/common/common_pyx_setup.py b/common/common_pyx_setup.py
deleted file mode 100644
index 9d0f0fec8baab1..00000000000000
--- a/common/common_pyx_setup.py
+++ /dev/null
@@ -1,20 +0,0 @@
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-from Cython.Build import cythonize
-
-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-
-sourcefiles = ['clock.pyx']
-extra_compile_args = ["-std=c++11"]
-
-setup(name='Common',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "common_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-        )
-      ),
-      nthreads=4,
-)
diff --git a/common/dict_helpers.py b/common/dict_helpers.py
new file mode 100644
index 00000000000000..62cff63b58ebb7
--- /dev/null
+++ b/common/dict_helpers.py
@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d
diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py
index 0fbe162962e622..e6ee2c23f7af86 100644
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
   ffibuilder = FFI()
   ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
   os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 
diff --git a/common/file_helpers.py b/common/file_helpers.py
index 40c89fab0ead25..2037a665b060dc 100644
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@@ -3,13 +3,17 @@
 import tempfile
 from atomicwrites import AtomicWriter
 
+
 def mkdirs_exists_ok(path):
+  if path.startswith('http://') or path.startswith('https://'):
+    raise ValueError('URL path')
   try:
     os.makedirs(path)
   except OSError:
     if not os.path.isdir(path):
       raise
 
+
 def rm_not_exists_ok(path):
   try:
     os.remove(path)
@@ -17,12 +21,14 @@ def rm_not_exists_ok(path):
     if os.path.exists(path):
       raise
 
+
 def rm_tree_or_link(path):
   if os.path.islink(path):
     os.unlink(path)
   elif os.path.isdir(path):
     shutil.rmtree(path)
 
+
 def get_tmpdir_on_same_filesystem(path):
   normpath = os.path.normpath(path)
   parts = normpath.split("/")
@@ -32,25 +38,6 @@ def get_tmpdir_on_same_filesystem(path):
     return "/{}/runner/tmp".format(parts[1])
   return "/tmp"
 
-class AutoMoveTempdir():
-  def __init__(self, target_path, temp_dir=None):
-    self._target_path = target_path
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    os.rename(self._path, self._target_path)
-
-  def __enter__(self): return self
-
-  def __exit__(self, type, value, traceback):
-    if type is None:
-      self.close()
-    else:
-      shutil.rmtree(self._path)
 
 class NamedTemporaryDir():
   def __init__(self, temp_dir=None):
@@ -63,18 +50,38 @@ def name(self):
   def close(self):
     shutil.rmtree(self._path)
 
-  def __enter__(self): return self
+  def __enter__(self):
+    return self
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     self.close()
 
+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
 def _get_fileobject_func(writer, temp_dir):
   def _get_fileobject():
-    file_obj = writer.get_fileobject(dir=temp_dir)
-    os.chmod(file_obj.name, 0o644)
-    return file_obj
+    return writer.get_fileobject(dir=temp_dir)
   return _get_fileobject
 
+
 def atomic_write_on_fs_tmp(path, **kwargs):
   """Creates an atomic writer using a temporary file in a temporary directory
      on the same filesystem as path.
@@ -91,19 +98,3 @@ def atomic_write_in_dir(path, **kwargs):
   """
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
-
-def atomic_write_in_dir_neos(path, contents, mode=None):
-  """
-  Atomically writes contents to path using a temporary file in the same directory
-  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
-  """
-
-  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
-  f.write(contents)
-  f.flush()
-  if mode is not None:
-    os.fchmod(f.fileno(), mode)
-  os.fsync(f.fileno())
-  f.close()
-
-  os.rename(f.name, path)
diff --git a/common/filter_simple.py b/common/filter_simple.py
index a3206db1cc5684..0ec7a515621afb 100644
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@@ -1,10 +1,18 @@
-class FirstOrderFilter():
+class FirstOrderFilter:
   # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
+  def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
 
-  def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
-
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
 
+  def update(self, x):
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
+    return self.x
diff --git a/common/gpio.py b/common/gpio.py
new file mode 100644
index 00000000000000..cb0322146c14da
--- /dev/null
+++ b/common/gpio.py
@@ -0,0 +1,14 @@
+def gpio_init(pin, output):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
+      f.write(b"out" if output else b"in")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} direction: {e}")
+
+
+def gpio_set(pin, high):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
+      f.write(b"1" if high else b"0")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
diff --git a/common/kalman/SConscript b/common/kalman/SConscript
index abd7e04375efff..d60354c987ab60 100644
--- a/common/kalman/SConscript
+++ b/common/kalman/SConscript
@@ -1,6 +1,3 @@
-Import('env')
-
-env.Command(['simple_kalman_impl.so'],
-  ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
-  "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
+Import('envCython')
 
+envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
diff --git a/common/kalman/simple_kalman_impl.pxd b/common/kalman/simple_kalman_impl.pxd
index c81f959272610f..cb39a45bca2c36 100644
--- a/common/kalman/simple_kalman_impl.pxd
+++ b/common/kalman/simple_kalman_impl.pxd
@@ -1,3 +1,5 @@
+# cython: language_level = 3
+
 cdef class KF1D:
   cdef public:
     double x0_0
@@ -13,4 +15,4 @@ cdef class KF1D:
     double A_K_0
     double A_K_1
     double A_K_2
-    double A_K_3
\ No newline at end of file
+    double A_K_3
diff --git a/common/kalman/simple_kalman_impl.pyx b/common/kalman/simple_kalman_impl.pyx
index e65efd577e6b63..16aefba2e5b796 100644
--- a/common/kalman/simple_kalman_impl.pyx
+++ b/common/kalman/simple_kalman_impl.pyx
@@ -1,3 +1,4 @@
+# distutils: language = c++
 # cython: language_level=3
 
 cdef class KF1D:
diff --git a/common/kalman/simple_kalman_old.py b/common/kalman/simple_kalman_old.py
index 3f7d049cc55342..d11770faf6cc74 100644
--- a/common/kalman/simple_kalman_old.py
+++ b/common/kalman/simple_kalman_old.py
@@ -8,7 +8,7 @@ class KF1D:
   def __init__(self, x0, A, C, K):
     self.x = x0
     self.A = A
-    self.C = C
+    self.C = np.atleast_2d(C)
     self.K = K
 
     self.A_K = self.A - np.dot(self.K, self.C)
diff --git a/common/kalman/simple_kalman_setup.py b/common/kalman/simple_kalman_setup.py
deleted file mode 100644
index fb4886a0f28ca5..00000000000000
--- a/common/kalman/simple_kalman_setup.py
+++ /dev/null
@@ -1,9 +0,0 @@
-from distutils.core import Extension, setup
-
-from Cython.Build import cythonize
-
-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-
-setup(name='Simple Kalman Implementation',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py
index c1f9f7b03cd573..7b327918a3d33d 100644
--- a/common/kalman/tests/test_simple_kalman.py
+++ b/common/kalman/tests/test_simple_kalman.py
@@ -21,10 +21,10 @@ def setUp(self):
     K0_0 = 0.12287673
     K1_0 = 0.29666309
 
-    self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                           A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                           C=np.matrix([C0_0, C0_1]),
-                           K=np.matrix([[K0_0], [K1_0]]))
+    self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                           A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                           C=np.array([C0_0, C0_1]),
+                           K=np.array([[K0_0], [K1_0]]))
 
     self.kf = KF1D(x0=[[x0_0], [x1_0]],
                    A=[[A0_0, A0_1], [A1_0, A1_1]],
@@ -47,9 +47,8 @@ def test_old_equal_new(self):
       x = self.kf.update(v_wheel)
 
       # Compare the output x, verify that the error is less than 1e-4
-      self.assertAlmostEqual(x_old[0], x[0])
-      self.assertAlmostEqual(x_old[1], x[1])
-
+      np.testing.assert_almost_equal(x_old[0], x[0])
+      np.testing.assert_almost_equal(x_old[1], x[1])
 
   def test_new_is_faster(self):
     setup = """
@@ -70,10 +69,10 @@ def test_new_is_faster(self):
 K0_0 = 0.12287673
 K1_0 = 0.29666309
 
-kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                  A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                  C=np.matrix([C0_0, C0_1]),
-                  K=np.matrix([[K0_0], [K1_0]]))
+kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                  A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                  C=np.array([C0_0, C0_1]),
+                  K=np.array([[K0_0], [K1_0]]))
 
 kf = KF1D(x0=[[x0_0], [x1_0]],
           A=[[A0_0, A0_1], [A1_0, A1_1]],
@@ -83,3 +82,6 @@ def test_new_is_faster(self):
     kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
     kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
     self.assertTrue(kf_speed < kf_old_speed / 4)
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/common/logging_extra.py b/common/logging_extra.py
index b5d07f22099ba0..d3a75d0f485fa3 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -3,6 +3,7 @@
 import sys
 import copy
 import json
+import uuid
 import socket
 import logging
 import traceback
@@ -62,14 +63,57 @@ def format_dict(self, record):
     return record_dict
 
   def format(self, record):
+    if self.swaglogger is None:
+      raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
 
+class SwagLogFileFormatter(SwagFormatter):
+  def fix_kv(self, k, v):
+    # append type to names to preserve legacy naming in logs
+    # avoids overlapping key namespaces with different types
+    # e.g. log.info() creates 'msg' -> 'msg$s'
+    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
+    #      because overlapping namespace 'msg' caused problems
+    if isinstance(v, (str, bytes)):
+      k += "$s"
+    elif isinstance(v, float):
+      k += "$f"
+    elif isinstance(v, bool):
+      k += "$b"
+    elif isinstance(v, int):
+      k += "$i"
+    elif isinstance(v, dict):
+      nv = {}
+      for ik, iv in v.items():
+        ik, iv = self.fix_kv(ik, iv)
+        nv[ik] = iv
+      v = nv
+    elif isinstance(v, list):
+      k += "$a"
+    return k, v
+
+  def format(self, record):
+    if isinstance(record, str):
+      v = json.loads(record)
+    else:
+      v = self.format_dict(record)
+
+    mk, mv = self.fix_kv('msg', v['msg'])
+    del v['msg']
+    v[mk] = mv
+    v['id'] = uuid.uuid4().hex
+
+    return json_robust_dumps(v)
+
 class SwagErrorFilter(logging.Filter):
   def filter(self, record):
     return record.levelno < logging.ERROR
 
-_tmpfunc = lambda: 0
-_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+def _tmpfunc():
+  return 0
+
+def _srcfile():
+  return os.path.normcase(_tmpfunc.__code__.co_filename)
 
 class SwagLogger(logging.Logger):
   def __init__(self):
@@ -112,11 +156,10 @@ def event(self, event_name, *args, **kwargs):
     if args:
       evt['args'] = args
     evt.update(kwargs)
-    ctx = self.get_ctx()
-    if ctx:
-      evt['ctx'] = self.get_ctx()
     if 'error' in kwargs:
       self.error(evt)
+    elif 'debug' in kwargs:
+      self.debug(evt)
     else:
       self.info(evt)
 
@@ -140,7 +183,9 @@ def findCaller(self, stack_info=False, stacklevel=1):
     while hasattr(f, "f_code"):
         co = f.f_code
         filename = os.path.normcase(co.co_filename)
-        if filename == _srcfile:
+
+        # TODO: is this pylint exception correct?
+        if filename == _srcfile:  # pylint: disable=comparison-with-callable
             f = f.f_back
             continue
         sinfo = None
diff --git a/common/markdown.py b/common/markdown.py
new file mode 100755
index 00000000000000..30c5bc2c09c8c2
--- /dev/null
+++ b/common/markdown.py
@@ -0,0 +1,48 @@
+from typing import List
+
+HTML_REPLACEMENTS = [
+  (r'&', r'&amp;'),
+  (r'"', r'&quot;'),
+]
+
+
+def parse_markdown(text: str, tab_length: int = 2) -> str:
+  lines = text.split("\n")
+  output: List[str] = []
+  list_level = 0
+
+  def end_outstanding_lists(level: int, end_level: int) -> int:
+    while level > end_level:
+      level -= 1
+      output.append("</ul>")
+      if level > 0:
+        output.append("</li>")
+    return end_level
+
+  for i, line in enumerate(lines):
+    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
+      output.append(f"<h1>{line}</h1>")
+    elif line.startswith("==="):
+      pass
+    elif line.lstrip().startswith("* "):  # list
+      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
+      if list_level >= line_level:
+        list_level = end_outstanding_lists(list_level, line_level)
+      else:
+        list_level += 1
+        if list_level > 1:
+          output[-1] = output[-1].replace("</li>", "")
+        output.append("<ul>")
+      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
+    else:
+      list_level = end_outstanding_lists(list_level, 0)
+      if len(line) > 0:
+        output.append(line)
+
+  end_outstanding_lists(list_level, 0)
+  output_str = "\n".join(output) + "\n"
+
+  for (fr, to) in HTML_REPLACEMENTS:
+    output_str = output_str.replace(fr, to)
+
+  return output_str
diff --git a/common/numpy_fast.py b/common/numpy_fast.py
index a5d5ad3f502b03..a8361214d1ae44 100644
--- a/common/numpy_fast.py
+++ b/common/numpy_fast.py
@@ -6,6 +6,7 @@ def clip(x, lo, hi):
 
 def interp(x, xp, fp):
   N = len(xp)
+
   def get_interp(xv):
     hi = 0
     while hi < N and xv > xp[hi]:
@@ -14,8 +15,8 @@ def get_interp(xv):
     return fp[-1] if hi == N and xv > xp[low] else (
       fp[0] if hi == 0 else
       (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-  return [get_interp(v) for v in x] if hasattr(
-    x, '__iter__') else get_interp(x)
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
 
 def mean(x):
   return sum(x) / len(x)
diff --git a/common/params.py b/common/params.py
old mode 100755
new mode 100644
index c623e3dc313e5a..2cfca37129afd6
--- a/common/params.py
+++ b/common/params.py
@@ -1,417 +1,19 @@
-#!/usr/bin/env python3
-"""ROS has a parameter server, we have files.
-
-The parameter store is a persistent key value store, implemented as a directory with a writer lock.
-On Android, we store params under params_dir = /data/params. The writer lock is a file
-"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
-"<params_dir>/d".
-
-Each key, value pair is stored as a file with named <key> with contents <value>, located in
-  <params_dir>/d/<key>
-
-Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
-Readers who want a consistent snapshot of multiple keys should take the lock.
-
-Writers should take the lock before modifying anything. Writers should also leave the DB in a
-consistent state after a crash. The implementation below does this by copying all params to a temp
-directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
-before deleting the old <params_dir>/<d> directory.
-
-Writers that only modify a single key can simply take the lock, then swap the corresponding value
-file in place without messing with <params_dir>/d.
-"""
-import time
-import os
-import errno
-import sys
-import shutil
-import fcntl
-import tempfile
-import threading
-from enum import Enum
-from common.basedir import PARAMS
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
-class TxType(Enum):
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3
-
-
-class UnknownKeyName(Exception):
-  pass
-
-
-keys = {
-  "AccessToken": [TxType.PERSISTENT],
-  "AthenadPid": [TxType.PERSISTENT],
-  "CalibrationParams": [TxType.PERSISTENT],
-  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CommunityFeaturesToggle": [TxType.PERSISTENT],
-  "CompletedTrainingVersion": [TxType.PERSISTENT],
-  "ControlsParams": [TxType.PERSISTENT],
-  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  "DongleId": [TxType.PERSISTENT],
-  "GitBranch": [TxType.PERSISTENT],
-  "GitCommit": [TxType.PERSISTENT],
-  "GitRemote": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
-  "HasAcceptedTerms": [TxType.PERSISTENT],
-  "HasCompletedSetup": [TxType.PERSISTENT],
-  "IsLdwEnabled": [TxType.PERSISTENT],
-  "IsGeofenceEnabled": [TxType.PERSISTENT],
-  "IsMetric": [TxType.PERSISTENT],
-  "IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
-  "IsRHD": [TxType.PERSISTENT],
-  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUploadRawEnabled": [TxType.PERSISTENT],
-  "LastUpdateTime": [TxType.PERSISTENT],
-  "LimitSetSpeed": [TxType.PERSISTENT],
-  "LimitSetSpeedNeural": [TxType.PERSISTENT],
-  "LiveParameters": [TxType.PERSISTENT],
-  "LongitudinalControl": [TxType.PERSISTENT],
-  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  "LaneChangeEnabled": [TxType.PERSISTENT],
-  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Passive": [TxType.PERSISTENT],
-  "RecordFront": [TxType.PERSISTENT],
-  "ReleaseNotes": [TxType.PERSISTENT],
-  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  "SpeedLimitOffset": [TxType.PERSISTENT],
-  "SubscriberInfo": [TxType.PERSISTENT],
-  "TermsVersion": [TxType.PERSISTENT],
-  "TrainingVersion": [TxType.PERSISTENT],
-  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  "UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
-  "Version": [TxType.PERSISTENT],
-  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-}
-
-
-def fsync_dir(path):
-  fd = os.open(path, os.O_RDONLY)
-  try:
-    os.fsync(fd)
-  finally:
-    os.close(fd)
-
-
-class FileLock():
-  def __init__(self, path, create):
-    self._path = path
-    self._create = create
-    self._fd = None
-
-  def acquire(self):
-    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
-    fcntl.flock(self._fd, fcntl.LOCK_EX)
-
-  def release(self):
-    if self._fd is not None:
-      os.close(self._fd)
-      self._fd = None
-
-
-class DBAccessor():
-  def __init__(self, path):
-    self._path = path
-    self._vals = None
-
-  def keys(self):
-    self._check_entered()
-    return self._vals.keys()
-
-  def get(self, key):
-    self._check_entered()
-    try:
-      return self._vals[key]
-    except KeyError:
-      return None
-
-  def _get_lock(self, create):
-    lock = FileLock(os.path.join(self._path, ".lock"), create)
-    lock.acquire()
-    return lock
-
-  def _read_values_locked(self):
-    """Callers should hold a lock while calling this method."""
-    vals = {}
-    try:
-      data_path = self._data_path()
-      keys = os.listdir(data_path)
-      for key in keys:
-        with open(os.path.join(data_path, key), "rb") as f:
-          vals[key] = f.read()
-    except (OSError, IOError) as e:
-      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
-      # inconsistent state. Either way, return empty.
-      if e.errno == errno.ENOENT:
-        return {}
-
-    return vals
-
-  def _data_path(self):
-    return os.path.join(self._path, "d")
-
-  def _check_entered(self):
-    if self._vals is None:
-      raise Exception("Must call __enter__ before using DB")
-
-
-class DBReader(DBAccessor):
-  def __enter__(self):
-    try:
-      lock = self._get_lock(False)
-    except OSError as e:
-      # Do not create lock if it does not exist.
-      if e.errno == errno.ENOENT:
-        self._vals = {}
-        return self
-
-    try:
-      # Read everything.
-      self._vals = self._read_values_locked()
-      return self
-    finally:
-      lock.release()
-
-  def __exit__(self, type, value, traceback): pass
-
-
-class DBWriter(DBAccessor):
-  def __init__(self, path):
-    super(DBWriter, self).__init__(path)
-    self._lock = None
-    self._prev_umask = None
-
-  def put(self, key, value):
-    self._vals[key] = value
-
-  def delete(self, key):
-    self._vals.pop(key, None)
-
-  def __enter__(self):
-    mkdirs_exists_ok(self._path)
-
-    # Make sure we can write and that permissions are correct.
-    self._prev_umask = os.umask(0)
-
-    try:
-      os.chmod(self._path, 0o777)
-      self._lock = self._get_lock(True)
-      self._vals = self._read_values_locked()
-    except:
-      os.umask(self._prev_umask)
-      self._prev_umask = None
-      raise
-
-    return self
-
-  def __exit__(self, type, value, traceback):
-    self._check_entered()
-
-    try:
-      # data_path refers to the externally used path to the params. It is a symlink.
-      # old_data_path is the path currently pointed to by data_path.
-      # tempdir_path is a path where the new params will go, which the new data path will point to.
-      # new_data_path is a temporary symlink that will atomically overwrite data_path.
-      #
-      # The current situation is:
-      #   data_path -> old_data_path
-      # We're going to write params data to tempdir_path
-      #   tempdir_path -> params data
-      # Then point new_data_path to tempdir_path
-      #   new_data_path -> tempdir_path
-      # Then atomically overwrite data_path with new_data_path
-      #   data_path -> tempdir_path
-      old_data_path = None
-      new_data_path = None
-      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
-
-      try:
-        # Write back all keys.
-        os.chmod(tempdir_path, 0o777)
-        for k, v in self._vals.items():
-          with open(os.path.join(tempdir_path, k), "wb") as f:
-            f.write(v)
-            f.flush()
-            os.fsync(f.fileno())
-        fsync_dir(tempdir_path)
-
-        data_path = self._data_path()
-        try:
-          old_data_path = os.path.join(self._path, os.readlink(data_path))
-        except (OSError, IOError):
-          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
-          #                 copies to be left behind, but we still want to overwrite.
-          pass
-
-        new_data_path = "{}.link".format(tempdir_path)
-        os.symlink(os.path.basename(tempdir_path), new_data_path)
-        os.rename(new_data_path, data_path)
-        fsync_dir(self._path)
-      finally:
-        # If the rename worked, we can delete the old data. Otherwise delete the new one.
-        success = new_data_path is not None and os.path.exists(data_path) and (
-          os.readlink(data_path) == os.path.basename(tempdir_path))
-
-        if success:
-          if old_data_path is not None:
-            shutil.rmtree(old_data_path)
-        else:
-          shutil.rmtree(tempdir_path)
-
-        # Regardless of what happened above, there should be no link at new_data_path.
-        if new_data_path is not None and os.path.islink(new_data_path):
-          os.remove(new_data_path)
-    finally:
-      os.umask(self._prev_umask)
-      self._prev_umask = None
-
-      # Always release the lock.
-      self._lock.release()
-      self._lock = None
-
-
-def read_db(params_path, key):
-  path = "%s/d/%s" % (params_path, key)
-  try:
-    with open(path, "rb") as f:
-      return f.read()
-  except IOError:
-    return None
-
-def write_db(params_path, key, value):
-  if isinstance(value, str):
-    value = value.encode('utf8')
-
-  prev_umask = os.umask(0)
-  lock = FileLock(params_path+"/.lock", True)
-  lock.acquire()
-
-  try:
-    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
-    with open(tmp_path, "wb") as f:
-      f.write(value)
-      f.flush()
-      os.fsync(f.fileno())
-
-    path = "%s/d/%s" % (params_path, key)
-    os.rename(tmp_path, path)
-    fsync_dir(os.path.dirname(path))
-  finally:
-    os.umask(prev_umask)
-    lock.release()
-
-class Params():
-  def __init__(self, db=PARAMS):
-    self.db = db
-
-    # create the database if it doesn't exist...
-    if not os.path.exists(self.db+"/d"):
-      with self.transaction(write=True):
-        pass
-
-  def clear_all(self):
-    shutil.rmtree(self.db, ignore_errors=True)
-    with self.transaction(write=True):
-      pass
-
-  def transaction(self, write=False):
-    if write:
-      return DBWriter(self.db)
-    else:
-      return DBReader(self.db)
-
-  def _clear_keys_with_type(self, tx_type):
-    with self.transaction(write=True) as txn:
-      for key in keys:
-        if tx_type in keys[key]:
-          txn.delete(key)
-
-  def manager_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
-
-  def panda_disconnect(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
-
-  def delete(self, key):
-    with self.transaction(write=True) as txn:
-      txn.delete(key)
-
-  def get(self, key, block=False, encoding=None):
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    while 1:
-      ret = read_db(self.db, key)
-      if not block or ret is not None:
-        break
-      # is polling really the best we can do?
-      time.sleep(0.05)
-
-    if ret is not None and encoding is not None:
-      ret = ret.decode(encoding)
-
-    return ret
-
-  def put(self, key, dat):
-    """
-    Warning: This function blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-
-    Use the put_nonblocking helper function in time sensitive code, but
-    in general try to avoid writing params as much as possible.
-    """
-
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    write_db(self.db, key, dat)
-
-
-def put_nonblocking(key, val):
-  def f(key, val):
-    params = Params()
-    params.put(key, val)
-
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
-
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+assert Params
+assert ParamKeyType
+assert UnknownKeyName
+assert put_nonblocking
 
 if __name__ == "__main__":
+  import sys
+
   params = Params()
-  if len(sys.argv) > 2:
-    params.put(sys.argv[1], sys.argv[2])
-  else:
-    for k in keys:
-      pp = params.get(k)
-      if pp is None:
-        print("%s is None" % k)
-      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
-        print("%s = %s" % (k, pp))
-      else:
-        print("%s = %s" % (k, pp.encode("hex")))
+  key = sys.argv[1]
+  assert params.check_key(key), f"unknown param: {key}"
 
-  # Test multiprocess:
-  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done
+  if len(sys.argv) == 3:
+    val = sys.argv[2]
+    print(f"SET: {key} = {val}")
+    params.put(key, val)
+  elif len(sys.argv) == 2:
+    print(f"GET: {key} = {params.get(key)}")
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
new file mode 100755
index 00000000000000..7b35e815dfd973
--- /dev/null
+++ b/common/params_pyx.pyx
@@ -0,0 +1,106 @@
+# distutils: language = c++
+# cython: language_level = 3
+from libcpp cimport bool
+from libcpp.string cimport string
+import threading
+
+cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_PANDA_DISCONNECT
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
+  cdef cppclass c_Params "Params":
+    c_Params(string) nogil
+    string get(string, bool) nogil
+    bool getBool(string) nogil
+    int remove(string) nogil
+    int put(string, string) nogil
+    int putBool(string, bool) nogil
+    bool checkKey(string) nogil
+    void clearAll(ParamKeyType)
+
+
+def ensure_bytes(v):
+  return v.encode() if isinstance(v, str) else v;
+
+class UnknownKeyName(Exception):
+  pass
+
+cdef class Params:
+  cdef c_Params* p
+
+  def __cinit__(self, d=""):
+    cdef string path = <string>d.encode()
+    with nogil:
+      self.p = new c_Params(path)
+
+  def __dealloc__(self):
+    del self.p
+
+  def clear_all(self, tx_type=ParamKeyType.ALL):
+    self.p.clearAll(tx_type)
+
+  def check_key(self, key):
+    key = ensure_bytes(key)
+    if not self.p.checkKey(key):
+      raise UnknownKeyName(key)
+    return key
+
+  def get(self, key, bool block=False, encoding=None):
+    cdef string k = self.check_key(key)
+    cdef string val
+    with nogil:
+      val = self.p.get(k, block)
+
+    if val == b"":
+      if block:
+        # If we got no value while running in blocked mode
+        # it means we got an interrupt while waiting
+        raise KeyboardInterrupt
+      else:
+        return None
+
+    return val if encoding is None else val.decode(encoding)
+
+  def get_bool(self, key):
+    cdef string k = self.check_key(key)
+    cdef bool r
+    with nogil:
+      r = self.p.getBool(k)
+    return r
+
+  def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = ensure_bytes(dat)
+    with nogil:
+      self.p.put(k, dat_bytes)
+
+  def put_bool(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBool(k, val)
+
+  def delete(self, key):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.remove(k)
+
+def put_nonblocking(key, val, d=""):
+  def f(key, val):
+    params = Params(d)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)
+
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t
diff --git a/common/profiler.py b/common/profiler.py
index eab091c7fc4502..e4d208acaeb058 100644
--- a/common/profiler.py
+++ b/common/profiler.py
@@ -36,11 +36,10 @@ def display(self):
     if not self.enabled:
       return
     self.iter += 1
-    print("******* Profiling *******")
+    print("******* Profiling %d *******" % self.iter)
     for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
       if n in self.cp_ignored:
-        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
       else:
-        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
     print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
-
diff --git a/common/realtime.py b/common/realtime.py
index c21222e88c2285..762410f09e41e8 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -1,68 +1,80 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
+import gc
 import os
 import time
-import platform
-import subprocess
 import multiprocessing
-from cffi import FFI
+from typing import Optional
 
-from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from selfdrive.hardware import PC, TICI
 
 
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager
 
+# driver monitoring
+if TICI:
+  DT_DMON = 0.05
+else:
+  DT_DMON = 0.1
 
-ffi = FFI()
-ffi.cdef("long syscall(long number, ...);")
-libc = ffi.dlopen(None)
 
+class Priority:
+  # CORE 2
+  # - modeld = 55
+  # - camerad = 54
+  CTRL_LOW = 51 # plannerd & radard
 
-def set_realtime_priority(level):
-  if os.getuid() != 0:
-    print("not setting priority, not root")
-    return
-  if platform.machine() == "x86_64":
-    NR_gettid = 186
-  elif platform.machine() == "aarch64":
-    NR_gettid = 178
-  else:
-    raise NotImplementedError
+  # CORE 3
+  # - boardd = 55
+  CTRL_HIGH = 53
 
-  tid = libc.syscall(NR_gettid)
-  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
 
+def set_realtime_priority(level: int) -> None:
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
 
-class Ratekeeper():
-  def __init__(self, rate, print_delay_threshold=0.):
+
+def set_core_affinity(core: int) -> None:
+  if not PC:
+    os.sched_setaffinity(0, [core,])
+
+
+def config_realtime_process(core: int, priority: int) -> None:
+  gc.disable()
+  set_realtime_priority(priority)
+  set_core_affinity(core)
+
+
+class Ratekeeper:
+  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = sec_since_boot() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
-    self._remaining = 0
+    self._remaining = 0.0
     self._process_name = multiprocessing.current_process().name
 
   @property
-  def frame(self):
+  def frame(self) -> int:
     return self._frame
 
   @property
-  def remaining(self):
+  def remaining(self) -> float:
     return self._remaining
 
   # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self) -> bool:
     lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
     return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
diff --git a/common/spinner.py b/common/spinner.py
index 3582d3feed030a..27b765196fe699 100644
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -8,7 +8,7 @@ def __init__(self):
     try:
       self.spinner_proc = subprocess.Popen(["./spinner"],
                                            stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
                                            close_fds=True)
     except OSError:
       self.spinner_proc = None
@@ -16,7 +16,7 @@ def __init__(self):
   def __enter__(self):
     return self
 
-  def update(self, spinner_text):
+  def update(self, spinner_text: str):
     if self.spinner_proc is not None:
       self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
       try:
@@ -24,6 +24,9 @@ def update(self, spinner_text):
       except BrokenPipeError:
         pass
 
+  def update_progress(self, cur: int, total: int):
+    self.update(str(round(100 * cur / total)))
+
   def close(self):
     if self.spinner_proc is not None:
       try:
@@ -36,24 +39,10 @@ def close(self):
   def __del__(self):
     self.close()
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     self.close()
 
 
-class FakeSpinner():
-  def __init__(self):
-    pass
-
-  def __enter__(self):
-    return self
-
-  def update(self, _):
-    pass
-
-  def __exit__(self, type, value, traceback):
-    pass
-
-
 if __name__ == "__main__":
   import time
   with Spinner() as s:
diff --git a/common/stat_live.py b/common/stat_live.py
index f392956efd83f0..a91c1819bb9149 100644
--- a/common/stat_live.py
+++ b/common/stat_live.py
@@ -32,7 +32,7 @@ def push_data(self, new_data):
       self.S_last = 0.
     else:
       self.M = self.M_last + (new_data - self.M_last) / self.n
-      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
       self.M_last = self.M
       self.S_last = self.S
 
@@ -53,7 +53,7 @@ def params_to_save(self):
 
 class RunningStatFilter():
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
-    self.raw_stat = RunningStat(raw_priors, max_trackable)
+    self.raw_stat = RunningStat(raw_priors, -1)
     self.filtered_stat = RunningStat(filtered_priors, max_trackable)
 
   def reset(self):
@@ -64,7 +64,7 @@ def push_and_update(self, new_data):
     _std_last = self.raw_stat.std()
     self.raw_stat.push_data(new_data)
     _delta_std = self.raw_stat.std() - _std_last
-    if _delta_std<=0:
+    if _delta_std <= 0:
       self.filtered_stat.push_data(new_data)
     else:
       pass
diff --git a/common/testing.py b/common/testing.py
deleted file mode 100644
index 7e8b16d5cfefc3..00000000000000
--- a/common/testing.py
+++ /dev/null
@@ -1,9 +0,0 @@
-import os
-from nose.tools import nottest
-
-def phone_only(x):
-  if os.path.isfile("/init.qcom.rc"):
-    return x
-  else:
-    return nottest(x)
-
diff --git a/common/text_window.py b/common/text_window.py
new file mode 100755
index 00000000000000..bea3a149f8d193
--- /dev/null
+++ b/common/text_window.py
@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from common.basedir import BASEDIR
+
+
+class TextWindow:
+  def __init__(self, text):
+    try:
+      self.text_proc = subprocess.Popen(["./text", text],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    if self.text_proc is not None:
+      while True:
+        if self.get_status() == 1:
+          return
+        time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")
diff --git a/common/timeout.py b/common/timeout.py
index c2c1f69712f208..4d424cdc0a865c 100644
--- a/common/timeout.py
+++ b/common/timeout.py
@@ -25,4 +25,3 @@ def __enter__(self):
 
   def __exit__(self, exc_type, exc_val, exc_tb):
     signal.alarm(0)
-
diff --git a/common/transformations/SConscript b/common/transformations/SConscript
new file mode 100644
index 00000000000000..ee9b9a2b732fef
--- /dev/null
+++ b/common/transformations/SConscript
@@ -0,0 +1,6 @@
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+Export('transformations')
+
+envCython.Program('transformations.so', 'transformations.pyx')
diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index d8729e2f4b2c0c..d71f865ca94426 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -1,30 +1,60 @@
 import numpy as np
+
 import common.transformations.orientation as orient
-import math
+from selfdrive.hardware import TICI
 
-FULL_FRAME_SIZE = (1164, 874)
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-eon_focal_length = FOCAL = 910.0
+## -- hardcoded hardware params --
+eon_f_focal_length = 910.0
+eon_d_focal_length = 650.0
+tici_f_focal_length = 2648.0
+tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
+
+eon_f_frame_size = (1164, 874)
+eon_d_frame_size = (816, 612)
+tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
 
 # aka 'K' aka camera_frame_from_view_frame
-eon_intrinsics = np.array([
-  [FOCAL,   0.,   W/2.],
-  [  0.,  FOCAL,  H/2.],
-  [  0.,    0.,     1.]])
+eon_fcam_intrinsics = np.array([
+  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
+  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
+eon_intrinsics = eon_fcam_intrinsics # xx
+
+eon_dcam_intrinsics = np.array([
+  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
+  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
 
+tici_fcam_intrinsics = np.array([
+  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
+  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
 
-leon_dcam_intrinsics = np.array([
-  [650,   0,   816//2],
-  [  0,  650,  612//2],
-  [  0,    0,     1]])
+tici_dcam_intrinsics = np.array([
+  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
+  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
 
-eon_dcam_intrinsics = np.array([
-  [860,   0,   1152//2],
-  [  0,  860,  864//2],
-  [  0,    0,     1]])
+tici_ecam_intrinsics = tici_dcam_intrinsics
 
 # aka 'K_inv' aka view_frame_from_camera_frame
-eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
+eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
+eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+
+tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
+tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+
+
+if not TICI:
+  FULL_FRAME_SIZE = eon_f_frame_size
+  FOCAL = eon_f_focal_length
+  fcam_intrinsics = eon_fcam_intrinsics
+else:
+  FULL_FRAME_SIZE = tici_f_frame_size
+  FOCAL = tici_f_focal_length
+  fcam_intrinsics = tici_fcam_intrinsics
+
+W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
 
 
 # device/mesh : x->forward, y-> right, z->down
@@ -53,6 +83,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+# aka 'extrinsic_matrix'
+def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
+  device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
+  view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
+  return np.hstack((view_from_calib, [[0], [height], [0]]))
+
+
 def vp_from_ke(m):
   """
   Computes the vanishing point from the product of the intrinsic and extrinsic
@@ -60,12 +97,12 @@ def vp_from_ke(m):
 
   The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
   """
-  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
+  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
 
 
-def vp_from_rpy(rpy):
+def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
   e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(eon_intrinsics, e)
+  ke = np.dot(intrinsics, e)
   return vp_from_ke(ke)
 
 
@@ -75,32 +112,32 @@ def roll_from_ke(m):
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
 
-def normalize(img_pts, intrinsics=eon_intrinsics):
+def normalize(img_pts, intrinsics=fcam_intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
   intrinsics_inv = np.linalg.inv(intrinsics)
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
   img_pts_normalized = img_pts.dot(intrinsics_inv.T)
   img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
-  return img_pts_normalized[:,:2].reshape(input_shape)
+  return img_pts_normalized[:, :2].reshape(input_shape)
 
 
-def denormalize(img_pts, intrinsics=eon_intrinsics):
+def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
   img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
-  return img_pts_denormalized[:,:2].reshape(input_shape)
+  img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
@@ -125,103 +162,16 @@ def img_from_device(pt_device):
   pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
 
   # This function should never return negative depths
-  pt_view[pt_view[:,2] < 0] = np.nan
+  pt_view[pt_view[:, 2] < 0] = np.nan
 
-  pt_img = pt_view/pt_view[:,2:3]
-  return pt_img.reshape(input_shape)[:,:2]
+  pt_img = pt_view/pt_view[:, 2:3]
+  return pt_img.reshape(input_shape)[:, :2]
 
 
-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
+def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
   camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(eon_intrinsics,
+  calib_frame_from_ground = np.dot(intrinsics,
                                      get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
   ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
   camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
   return camera_frame_from_calib_frame
-
-
-def pretransform_from_calib(calib):
-  roll, pitch, yaw, height = calib
-  view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
-  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
-  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
-  return np.linalg.inv(camera_frame_from_calib_frame)
-
-
-def transform_img(base_img,
-                 augment_trans=np.array([0,0,0]),
-                 augment_eulers=np.array([0,0,0]),
-                 from_intr=eon_intrinsics,
-                 to_intr=eon_intrinsics,
-                 output_size=None,
-                 pretransform=None,
-                 top_hacks=False,
-                 yuv=False,
-                 alpha=1.0,
-                 beta=0,
-                 blur=0):
-  import cv2  # pylint: disable=import-error
-  cv2.setNumThreads(1)
-
-  if yuv:
-    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
-
-  size = base_img.shape[:2]
-  if not output_size:
-    output_size = size[::-1]
-
-  cy = from_intr[1,2]
-  def get_M(h=1.22):
-    quadrangle = np.array([[0, cy + 20],
-                           [size[1]-1, cy + 20],
-                           [0, size[0]-1],
-                           [size[1]-1, size[0]-1]], dtype=np.float32)
-    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
-    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
-                                        h*np.ones(4),
-                                        h/quadrangle_norm[:,1]))
-    rot = orient.rot_from_euler(augment_eulers)
-    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
-    to_KE = to_intr.dot(to_extrinsics)
-    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
-    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
-    return M
-
-  M = get_M()
-  if pretransform is not None:
-    M = M.dot(pretransform)
-  augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
-
-  if top_hacks:
-    cyy = int(math.ceil(to_intr[1,2]))
-    M = get_M(1000)
-    if pretransform is not None:
-      M = M.dot(pretransform)
-    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
-
-  # brightness and contrast augment
-  augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
-
-  # gaussian blur
-  if blur > 0:
-    augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
-
-  if yuv:
-    augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
-  else:
-    augmented_img = augmented_rgb
-  return augmented_img
-
-
-def yuv_crop(frame, output_size, center=None):
-  # output_size in camera coordinates so u,v
-  # center in array coordinates so row, column
-  import cv2  # pylint: disable=import-error
-  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
-  if not center:
-    center = (rgb.shape[0]/2, rgb.shape[1]/2)
-  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
-                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
-  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc
new file mode 100644
index 00000000000000..b729ac3d872bd2
--- /dev/null
+++ b/common/transformations/coordinates.cc
@@ -0,0 +1,102 @@
+#define _USE_MATH_DEFINES
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+#include "coordinates.hpp"
+
+
+
+double a = 6378137; // lgtm [cpp/short-global-name]
+double b = 6356752.3142; // lgtm [cpp/short-global-name]
+double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
+double e1sq = 6.73949674228 * 0.001;
+
+
+static Geodetic to_degrees(Geodetic geodetic){
+  geodetic.lat = RAD2DEG(geodetic.lat);
+  geodetic.lon = RAD2DEG(geodetic.lon);
+  return geodetic;
+}
+
+static Geodetic to_radians(Geodetic geodetic){
+  geodetic.lat = DEG2RAD(geodetic.lat);
+  geodetic.lon = DEG2RAD(geodetic.lon);
+  return geodetic;
+}
+
+
+ECEF geodetic2ecef(Geodetic g){
+  g = to_radians(g);
+  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
+  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
+  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
+  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
+  return {x, y, z};
+}
+
+Geodetic ecef2geodetic(ECEF e){
+  // Convert from ECEF to geodetic using Ferrari's methods
+  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
+  double x = e.x;
+  double y = e.y;
+  double z = e.z;
+
+  double r = sqrt(x * x + y * y);
+  double Esq = a * a - b * b;
+  double F = 54 * b * b * z * z;
+  double G = r * r + (1 - esq) * z * z - esq * Esq;
+  double C = (esq * esq * F * r * r) / (pow(G, 3));
+  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
+  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
+  double Q = sqrt(1 + 2 * esq * esq * P);
+  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
+  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
+  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
+  double Z_0 = b * b * z / (a * V);
+  double h = U * (1 - b * b / (a * V));
+
+  double lat = atan((z + e1sq * Z_0) / r);
+  double lon = atan2(y, x);
+
+  return to_degrees({lat, lon, h});
+}
+
+LocalCoord::LocalCoord(Geodetic g, ECEF e){
+  init_ecef <<  e.x, e.y, e.z;
+
+  g = to_radians(g);
+
+  ned2ecef_matrix <<
+    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
+    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
+    cos(g.lat), 0, -sin(g.lat);
+  ecef2ned_matrix = ned2ecef_matrix.transpose();
+}
+
+NED LocalCoord::ecef2ned(ECEF e) {
+  Eigen::Vector3d ecef;
+  ecef << e.x, e.y, e.z;
+
+  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
+  return {ned[0], ned[1], ned[2]};
+}
+
+ECEF LocalCoord::ned2ecef(NED n) {
+  Eigen::Vector3d ned;
+  ned << n.n, n.e, n.d;
+
+  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
+  return {ecef[0], ecef[1], ecef[2]};
+}
+
+NED LocalCoord::geodetic2ned(Geodetic g) {
+  ECEF e = ::geodetic2ecef(g);
+  return ecef2ned(e);
+}
+
+Geodetic LocalCoord::ned2geodetic(NED n){
+  ECEF e = ned2ecef(n);
+  return ::ecef2geodetic(e);
+}
diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp
new file mode 100644
index 00000000000000..f5ba0d3fe7ab83
--- /dev/null
+++ b/common/transformations/coordinates.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
+struct ECEF {
+  double x, y, z;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(x, y, z);
+  }
+};
+
+struct NED {
+  double n, e, d;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(n, e, d);
+  }
+};
+
+struct Geodetic {
+  double lat, lon, alt;
+  bool radians=false;
+};
+
+ECEF geodetic2ecef(Geodetic g);
+Geodetic ecef2geodetic(ECEF e);
+
+class LocalCoord {
+public:
+  Eigen::Matrix3d ned2ecef_matrix;
+  Eigen::Matrix3d ecef2ned_matrix;
+  Eigen::Vector3d init_ecef;
+  LocalCoord(Geodetic g, ECEF e);
+  LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
+  LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
+
+  NED ecef2ned(ECEF e);
+  ECEF ned2ecef(NED n);
+  NED geodetic2ned(Geodetic g);
+  Geodetic ned2geodetic(NED n);
+};
diff --git a/common/transformations/coordinates.py b/common/transformations/coordinates.py
index 864bc4d807e174..46cc0ded0d91fe 100644
--- a/common/transformations/coordinates.py
+++ b/common/transformations/coordinates.py
@@ -1,108 +1,19 @@
-import numpy as np
-"""
-Coordinate transformation module. All methods accept arrays as input
-with each row as a position.
-"""
+# pylint: skip-file
+from common.transformations.orientation import numpy_wrap
+from common.transformations.transformations import (ecef2geodetic_single,
+                                                    geodetic2ecef_single)
+from common.transformations.transformations import LocalCoord as LocalCoord_single
 
 
+class LocalCoord(LocalCoord_single):
+  ecef2ned = numpy_wrap(LocalCoord_single.ecef2ned_single, (3,), (3,))
+  ned2ecef = numpy_wrap(LocalCoord_single.ned2ecef_single, (3,), (3,))
+  geodetic2ned = numpy_wrap(LocalCoord_single.geodetic2ned_single, (3,), (3,))
+  ned2geodetic = numpy_wrap(LocalCoord_single.ned2geodetic_single, (3,), (3,))
 
-a = 6378137
-b = 6356752.3142
-esq = 6.69437999014 * 0.001
-e1sq = 6.73949674228 * 0.001
 
+geodetic2ecef = numpy_wrap(geodetic2ecef_single, (3,), (3,))
+ecef2geodetic = numpy_wrap(ecef2geodetic_single, (3,), (3,))
 
-def geodetic2ecef(geodetic, radians=False):
-  geodetic = np.array(geodetic)
-  input_shape = geodetic.shape
-  geodetic = np.atleast_2d(geodetic)
-
-  ratio = 1.0 if radians else (np.pi / 180.0)
-  lat = ratio*geodetic[:,0]
-  lon = ratio*geodetic[:,1]
-  alt = geodetic[:,2]
-
-  xi = np.sqrt(1 - esq * np.sin(lat)**2)
-  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
-  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
-  z = (a / xi * (1 - esq) + alt) * np.sin(lat)
-  ecef = np.array([x, y, z]).T
-  return ecef.reshape(input_shape)
-
-
-def ecef2geodetic(ecef, radians=False):
-  """
-  Convert ECEF coordinates to geodetic using ferrari's method
-  """
-  # Save shape and export column
-  ecef = np.atleast_1d(ecef)
-  input_shape = ecef.shape
-  ecef = np.atleast_2d(ecef)
-  x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
-
-  ratio = 1.0 if radians else (180.0 / np.pi)
-
-  # Conver from ECEF to geodetic using Ferrari's methods
-  # https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
-  r = np.sqrt(x * x + y * y)
-  Esq = a * a - b * b
-  F = 54 * b * b * z * z
-  G = r * r + (1 - esq) * z * z - esq * Esq
-  C = (esq * esq * F * r * r) / (pow(G, 3))
-  S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
-  P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
-  Q = np.sqrt(1 + 2 * esq * esq * P)
-  r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
-        P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
-  U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
-  V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
-  Z_0 = b * b * z / (a * V)
-  h = U * (1 - b * b / (a * V))
-  lat = ratio*np.arctan((z + e1sq * Z_0) / r)
-  lon = ratio*np.arctan2(y, x)
-
-  # stack the new columns and return to the original shape
-  geodetic = np.column_stack((lat, lon, h))
-  return geodetic.reshape(input_shape)
-
-class LocalCoord():
-  """
-   Allows conversions to local frames. In this case NED.
-   That is: North East Down from the start position in
-   meters.
-  """
-  def __init__(self, init_geodetic, init_ecef):
-    self.init_ecef = init_ecef
-    lat, lon, _ = (np.pi/180)*np.array(init_geodetic)
-    self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)],
-                                     [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
-                                     [np.cos(lat), 0, -np.sin(lat)]])
-    self.ecef2ned_matrix = self.ned2ecef_matrix.T
-
-  @classmethod
-  def from_geodetic(cls, init_geodetic):
-    init_ecef = geodetic2ecef(init_geodetic)
-    return LocalCoord(init_geodetic, init_ecef)
-
-  @classmethod
-  def from_ecef(cls, init_ecef):
-    init_geodetic = ecef2geodetic(init_ecef)
-    return LocalCoord(init_geodetic, init_ecef)
-
-
-  def ecef2ned(self, ecef):
-    ecef = np.array(ecef)
-    return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T
-
-  def ned2ecef(self, ned):
-    ned = np.array(ned)
-    # Transpose so that init_ecef will broadcast correctly for 1d or 2d ned.
-    return (np.dot(self.ned2ecef_matrix, ned.T).T + self.init_ecef)
-
-  def geodetic2ned(self, geodetic):
-    ecef = geodetic2ecef(geodetic)
-    return self.ecef2ned(ecef)
-
-  def ned2geodetic(self, ned):
-    ecef = self.ned2ecef(ned)
-    return ecef2geodetic(ecef)
+geodetic_from_ecef = ecef2geodetic
+ecef_from_geodetic = geodetic2ecef
diff --git a/common/transformations/model.py b/common/transformations/model.py
index c13cc7e38752da..1215909fc47a89 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,33 +1,33 @@
 import numpy as np
 
-from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
+from common.transformations.camera import (FULL_FRAME_SIZE,
+                                           FOCAL,
                                            get_view_frame_from_road_frame,
+                                           get_view_frame_from_calib_frame,
                                            vp_from_ke)
 
 # segnet
-
 SEGNET_SIZE = (512, 384)
 
-segnet_frame_from_camera_frame = np.array([
-  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
-  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
-
+def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
+  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
+                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
+segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
 
 # model
-
 MODEL_INPUT_SIZE = (320, 160)
 MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0]/2.
+MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
 MODEL_CY = 21.
 
-model_zoom = 1.25
+model_fl = 728.0
 model_height = 1.22
 
 # canonical model transform
-model_intrinsics = np.array(
-  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
-   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
-   [   0. ,                            0. ,   1.]])
+model_intrinsics = np.array([
+  [model_fl,  0.0,  MODEL_CX],
+  [0.0,  model_fl,  MODEL_CY],
+  [0.0,  0.0,            1.0]])
 
 
 # MED model
@@ -35,32 +35,45 @@
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
 MEDMODEL_CY = 47.6
 
-medmodel_zoom = 1.
-medmodel_intrinsics = np.array(
-  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+medmodel_fl = 910.0
+medmodel_intrinsics = np.array([
+  [medmodel_fl,  0.0,  0.5 * MEDMODEL_INPUT_SIZE[0]],
+  [0.0,  medmodel_fl,                   MEDMODEL_CY],
+  [0.0,  0.0,                                   1.0]])
 
 
-# BIG model
+# CAL model
+CALMODEL_INPUT_SIZE = (512, 256)
+CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
+CALMODEL_CY = 47.6
+
+calmodel_fl = 606.7
+calmodel_intrinsics = np.array([
+  [calmodel_fl,  0.0,  0.5 * CALMODEL_INPUT_SIZE[0]],
+  [0.0,  calmodel_fl,                   CALMODEL_CY],
+  [0.0,  0.0,                                   1.0]])
 
-BIGMODEL_INPUT_SIZE = (864, 288)
+
+# BIG model
+BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
 
-bigmodel_zoom = 1.
-bigmodel_intrinsics = np.array(
-  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  0.2 * BIGMODEL_INPUT_SIZE[1]],
-   [   0. ,                            0. ,   1.]])
+bigmodel_fl = 910.0
+bigmodel_intrinsics = np.array([
+  [bigmodel_fl,  0.0,  0.5 * BIGMODEL_INPUT_SIZE[0]],
+  [0.0,  bigmodel_fl,             256 + MEDMODEL_CY],
+  [0.0,  0.0,                                   1.0]])
 
 
-bigmodel_border = np.array([
-    [0,0,1],
-    [BIGMODEL_INPUT_SIZE[0], 0, 1],
-    [BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
-    [0, BIGMODEL_INPUT_SIZE[1], 1],
-])
+# SBIG model (big model with the size of small model)
+SBIGMODEL_INPUT_SIZE = (512, 256)
+SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
 
+sbigmodel_fl = 455.0
+sbigmodel_intrinsics = np.array([
+  [sbigmodel_fl,  0.0,  0.5 * SBIGMODEL_INPUT_SIZE[0]],
+  [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
+  [0.0,  0.0,                                     1.0]])
 
 model_frame_from_road_frame = np.dot(model_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
@@ -68,25 +81,33 @@
 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 
+bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 
+medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+
 
 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
   camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, 0],
-      [0, 0, 1],
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 0],
+    [0, 0, 1],
   ]))
 
   camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, height - model_height],
-      [0, 0, 1],
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, height - model_height],
+    [0, 0, 1],
   ]))
 
   road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
@@ -97,18 +118,19 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
 
 # camera_frame_from_model_frame aka 'warp matrix'
 # was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
   vp = vp_from_ke(camera_frame_from_road_frame)
 
+  model_zoom = camera_fl / model_fl
   model_camera_from_model_frame = np.array([
-    [model_zoom,         0., vp[0] - MODEL_CX * model_zoom],
-    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
-    [        0.,         0.,                            1.],
+    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
+    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
+    [0.0,  0.0,                                   1.0],
   ])
 
   # This function is super slow, so skip it if height is very close to canonical
   # TODO: speed it up!
-  if abs(height - model_height) > 0.001: #
+  if abs(height - model_height) > 0.001:
     camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
   else:
     camera_from_model_camera = np.eye(3)
@@ -138,9 +160,9 @@ def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
 
 def get_model_frame(snu_full, camera_frame_from_model_frame, size):
   idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0],1)).T.flatten(),
+                                                            np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
                                                             np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:,1], idxs[:,0]]
+  calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
   if len(snu_full.shape) == 3:
     calib = calib_flat.reshape((size[1], size[0], 3))
   elif len(snu_full.shape) == 2:
diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc
new file mode 100644
index 00000000000000..7909c0affba553
--- /dev/null
+++ b/common/transformations/orientation.cc
@@ -0,0 +1,144 @@
+#define _USE_MATH_DEFINES
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+#include "orientation.hpp"
+#include "coordinates.hpp"
+
+Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
+  if (quat.w() > 0){
+    return quat;
+  } else {
+    return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
+  }
+}
+
+Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){
+  Eigen::Quaterniond q;
+
+  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
+    * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
+    * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
+  return ensure_unique(q);
+}
+
+
+Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
+  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
+  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
+  // return {euler(2), euler(1), euler(0)};
+  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
+  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
+  double theta = asin(asin_arg_clipped);
+  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
+  return {gamma, theta, psi};
+}
+
+Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
+  return quat.toRotationMatrix();
+}
+
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
+  return ensure_unique(Eigen::Quaterniond(rot));
+}
+
+Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
+  return quat2rot(euler2quat(euler));
+}
+
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
+  return quat2euler(rot2quat(rot));
+}
+
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw){
+  return euler2rot({roll, pitch, yaw});
+}
+
+Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle){
+  Eigen::Quaterniond q;
+  q = Eigen::AngleAxisd(angle, axis);
+  return q.toRotationMatrix();
+}
+
+
+Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) {
+  /*
+    Using Rotations to Build Aerospace Coordinate Systems
+    Don Koks
+    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
+  */
+  LocalCoord converter = LocalCoord(ecef_init);
+  Eigen::Vector3d zero = ecef_init.to_vector();
+
+  Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
+  Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
+  Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
+
+  Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
+  Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
+  Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
+
+  Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
+  Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
+  Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
+
+  Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
+  Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
+
+
+  x0 = Eigen::Vector3d(1, 0, 0);
+  y0 = Eigen::Vector3d(0, 1, 0);
+  z0 = Eigen::Vector3d(0, 0, 1);
+
+  double psi = atan2(x3.dot(y0), x3.dot(x0));
+  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
+
+  y2 = rot(z0, psi) * y0;
+  z2 = rot(y2, theta) * z0;
+
+  double phi = atan2(y3.dot(z2), y3.dot(y2));
+
+  return {phi, theta, psi};
+}
+
+Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
+  /*
+    Using Rotations to Build Aerospace Coordinate Systems
+    Don Koks
+    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
+  */
+  LocalCoord converter = LocalCoord(ecef_init);
+
+  Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
+  Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
+  Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
+
+  Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
+  Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
+  Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
+
+  Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
+  Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
+  Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
+
+  Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
+  Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
+
+  Eigen::Vector3d zero = ecef_init.to_vector();
+  x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
+  y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
+  z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
+
+  double psi = atan2(x3.dot(y0), x3.dot(x0));
+  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
+
+  y2 = rot(z0, psi) * y0;
+  z2 = rot(y2, theta) * z0;
+
+  double phi = atan2(y3.dot(z2), y3.dot(y2));
+
+  return {phi, theta, psi};
+}
+
diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp
new file mode 100644
index 00000000000000..ebd7da0aeed2fc
--- /dev/null
+++ b/common/transformations/orientation.hpp
@@ -0,0 +1,17 @@
+#pragma once
+#include <eigen3/Eigen/Dense>
+#include "coordinates.hpp"
+
+
+Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
+
+Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
+Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
+Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
+Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
+Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
+Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
+Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose);
diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py
index acbd4a2bf3e025..415e247ab26323 100644
--- a/common/transformations/orientation.py
+++ b/common/transformations/orientation.py
@@ -1,295 +1,52 @@
+# pylint: skip-file
 import numpy as np
-from numpy import dot, inner, array, linalg
-from common.transformations.coordinates import LocalCoord
-
-
-'''
-Vectorized functions that transform between
-rotation matrices, euler angles and quaternions.
-All support lists, array or array of arrays as inputs.
-Supports both x2y and y_from_x format (y_from_x preferred!).
-'''
-
-def euler2quat(eulers):
-  eulers = array(eulers)
-  if len(eulers.shape) > 1:
-    output_shape = (-1,4)
-  else:
-    output_shape = (4,)
-  eulers = np.atleast_2d(eulers)
-  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
-
-  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
-       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
-  q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
-       np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
-  q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
-       np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
-  q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
-       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
-
-  quats = array([q0, q1, q2, q3]).T
-  for i in range(len(quats)):
-    if quats[i,0] < 0:
-      quats[i] = -quats[i]
-  return quats.reshape(output_shape)
-
-
-def quat2euler(quats):
-  quats = array(quats)
-  if len(quats.shape) > 1:
-    output_shape = (-1,3)
-  else:
-    output_shape = (3,)
-  quats = np.atleast_2d(quats)
-  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
-
-  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
-  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
-  psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
-
-  eulers = array([gamma, theta, psi]).T
-  return eulers.reshape(output_shape)
-
-
-def quat2rot(quats):
-  quats = array(quats)
-  input_shape = quats.shape
-  quats = np.atleast_2d(quats)
-  Rs = np.zeros((quats.shape[0], 3, 3))
-  q0 = quats[:, 0]
-  q1 = quats[:, 1]
-  q2 = quats[:, 2]
-  q3 = quats[:, 3]
-  Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
-  Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
-  Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
-  Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
-  Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
-  Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
-  Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
-  Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
-  Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
-
-  if len(input_shape) < 2:
-    return Rs[0]
-  else:
-    return Rs
-
-
-def rot2quat(rots):
-  input_shape = rots.shape
-  if len(input_shape) < 3:
-    rots = array([rots])
-  K3 = np.empty((len(rots), 4, 4))
-  K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
-  K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
-  K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
-  K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
-  K3[:, 1, 0] = K3[:, 0, 1]
-  K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
-  K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
-  K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
-  K3[:, 2, 0] = K3[:, 0, 2]
-  K3[:, 2, 1] = K3[:, 1, 2]
-  K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
-  K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
-  K3[:, 3, 0] = K3[:, 0, 3]
-  K3[:, 3, 1] = K3[:, 1, 3]
-  K3[:, 3, 2] = K3[:, 2, 3]
-  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
-  q = np.empty((len(rots), 4))
-  for i in range(len(rots)):
-    _, eigvecs = linalg.eigh(K3[i].T)
-    eigvecs = eigvecs[:,3:]
-    q[i, 0] = eigvecs[-1]
-    q[i, 1:] = -eigvecs[:-1].flatten()
-    if q[i, 0] < 0:
-      q[i] = -q[i]
-
-  if len(input_shape) < 3:
-    return q[0]
-  else:
-    return q
-
-
-def euler2rot(eulers):
-  return rotations_from_quats(euler2quat(eulers))
-
-
-def rot2euler(rots):
-  return quat2euler(quats_from_rotations(rots))
 
+from common.transformations.transformations import (ecef_euler_from_ned_single,
+                                                    euler2quat_single,
+                                                    euler2rot_single,
+                                                    ned_euler_from_ecef_single,
+                                                    quat2euler_single,
+                                                    quat2rot_single,
+                                                    rot2euler_single,
+                                                    rot2quat_single)
+
+
+def numpy_wrap(function, input_shape, output_shape):
+  """Wrap a function to take either an input or list of inputs and return the correct shape"""
+  def f(*inps):
+    *args, inp = inps
+    inp = np.array(inp)
+    shape = inp.shape
+
+    if len(shape) == len(input_shape):
+      out_shape = output_shape
+    else:
+      out_shape = (shape[0],) + output_shape
+
+    # Add empty dimension if inputs is not a list
+    if len(shape) == len(input_shape):
+      inp.shape = (1, ) + inp.shape
+
+    result = np.asarray([function(*args, i) for i in inp])
+    result.shape = out_shape
+    return result
+  return f
+
+
+euler2quat = numpy_wrap(euler2quat_single, (3,), (4,))
+quat2euler = numpy_wrap(quat2euler_single, (4,), (3,))
+quat2rot = numpy_wrap(quat2rot_single, (4,), (3, 3))
+rot2quat = numpy_wrap(rot2quat_single, (3, 3), (4,))
+euler2rot = numpy_wrap(euler2rot_single, (3,), (3, 3))
+rot2euler = numpy_wrap(rot2euler_single, (3, 3), (3,))
+ecef_euler_from_ned = numpy_wrap(ecef_euler_from_ned_single, (3,), (3,))
+ned_euler_from_ecef = numpy_wrap(ned_euler_from_ecef_single, (3,), (3,))
 
 quats_from_rotations = rot2quat
 quat_from_rot = rot2quat
 rotations_from_quats = quat2rot
-rot_from_quat= quat2rot
-rot_from_quat= quat2rot
+rot_from_quat = quat2rot
 euler_from_rot = rot2euler
 euler_from_quat = quat2euler
 rot_from_euler = euler2rot
 quat_from_euler = euler2quat
-
-
-
-
-
-
-'''
-Random helpers below
-'''
-
-
-def quat_product(q, r):
-  t = np.zeros(4)
-  t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
-  t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
-  t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
-  t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
-  return t
-
-
-def rot_matrix(roll, pitch, yaw):
-  cr, sr = np.cos(roll), np.sin(roll)
-  cp, sp = np.cos(pitch), np.sin(pitch)
-  cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
-  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
-  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
-  return ry.dot(rp.dot(rr))
-
-
-def rot(axis, angle):
-  # Rotates around an arbitrary axis
-  ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
-    axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
-  ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
-  ret_2 = np.cos(angle) * np.eye(3)
-  ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
-                              [-axis[1], axis[0], 0]])
-  return ret_1 + ret_2 + ret_3
-
-
-def ecef_euler_from_ned(ned_ecef_init, ned_pose):
-  '''
-  Got it from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-  '''
-  converter = LocalCoord.from_ecef(ned_ecef_init)
-  x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-  y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-  z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-  x1 = rot(z0, ned_pose[2]).dot(x0)
-  y1 = rot(z0, ned_pose[2]).dot(y0)
-  z1 = rot(z0, ned_pose[2]).dot(z0)
-
-  x2 = rot(y1, ned_pose[1]).dot(x1)
-  y2 = rot(y1, ned_pose[1]).dot(y1)
-  z2 = rot(y1, ned_pose[1]).dot(z1)
-
-  x3 = rot(x2, ned_pose[0]).dot(x2)
-  y3 = rot(x2, ned_pose[0]).dot(y2)
-  #z3 = rot(x2, ned_pose[0]).dot(z2)
-
-  x0 = array([1, 0, 0])
-  y0 = array([0, 1, 0])
-  z0 = array([0, 0, 1])
-
-  psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-  theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-  y2 = rot(z0, psi).dot(y0)
-  z2 = rot(y2, theta).dot(z0)
-  phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-
-  ret = array([phi, theta, psi])
-  return ret
-
-
-def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
-  '''
-  Got the math from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-
-  Also accepts array of ecef_poses and array of ned_ecef_inits.
-  Where each row is a pose and an ecef_init.
-  '''
-  ned_ecef_init = array(ned_ecef_init)
-  ecef_poses = array(ecef_poses)
-  output_shape = ecef_poses.shape
-  ned_ecef_init = np.atleast_2d(ned_ecef_init)
-  if ned_ecef_init.shape[0] == 1:
-    ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
-  ecef_poses = np.atleast_2d(ecef_poses)
-
-  ned_poses = np.zeros(ecef_poses.shape)
-  for i, ecef_pose in enumerate(ecef_poses):
-    converter = LocalCoord.from_ecef(ned_ecef_init[i])
-    x0 = array([1, 0, 0])
-    y0 = array([0, 1, 0])
-    z0 = array([0, 0, 1])
-
-    x1 = rot(z0, ecef_pose[2]).dot(x0)
-    y1 = rot(z0, ecef_pose[2]).dot(y0)
-    z1 = rot(z0, ecef_pose[2]).dot(z0)
-
-    x2 = rot(y1, ecef_pose[1]).dot(x1)
-    y2 = rot(y1, ecef_pose[1]).dot(y1)
-    z2 = rot(y1, ecef_pose[1]).dot(z1)
-
-    x3 = rot(x2, ecef_pose[0]).dot(x2)
-    y3 = rot(x2, ecef_pose[0]).dot(y2)
-    #z3 = rot(x2, ecef_pose[0]).dot(z2)
-
-    x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-    y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-    z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-    psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-    theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-    y2 = rot(z0, psi).dot(y0)
-    z2 = rot(y2, theta).dot(z0)
-    phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-    ned_poses[i] = array([phi, theta, psi])
-
-  return ned_poses.reshape(output_shape)
-
-
-def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
-  """
-  TODO: add roll rotation
-  Converts an array of points in ecef coordinates into
-  x-forward, y-left, z-up coordinates
-  Parameters
-  ----------
-  psi: yaw, radian
-  theta: pitch, radian
-  Returns
-  -------
-  [x, y, z] coordinates in car frame
-  """
-
-  # input is an array of points in ecef cocrdinates
-  # output is an array of points in car's coordinate (x-front, y-left, z-up)
-
-  # convert points to NED
-  points_ned = []
-  for p in points_ecef:
-    points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
-
-  points_ned = np.vstack(points_ned).T
-
-  # n, e, d -> x, y, z
-  # Calculate relative postions and rotate wrt to heading and pitch of car
-  invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
-
-  c, s = np.cos(psi), np.sin(psi)
-  yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
-
-  c, s = np.cos(theta), np.sin(theta)
-  pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
-
-  return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))
diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd
new file mode 100644
index 00000000000000..7af009870198ad
--- /dev/null
+++ b/common/transformations/transformations.pxd
@@ -0,0 +1,72 @@
+#cython: language_level=3
+from libcpp cimport bool
+
+cdef extern from "orientation.cc":
+  pass
+
+cdef extern from "orientation.hpp":
+  cdef cppclass Quaternion "Eigen::Quaterniond":
+    Quaternion()
+    Quaternion(double, double, double, double)
+    double w()
+    double x()
+    double y()
+    double z()
+
+  cdef cppclass Vector3 "Eigen::Vector3d":
+    Vector3()
+    Vector3(double, double, double)
+    double operator()(int)
+
+  cdef cppclass Matrix3 "Eigen::Matrix3d":
+    Matrix3()
+    Matrix3(double*)
+
+    double operator()(int, int)
+
+  Quaternion euler2quat(Vector3)
+  Vector3 quat2euler(Quaternion)
+  Matrix3 quat2rot(Quaternion)
+  Quaternion rot2quat(Matrix3)
+  Vector3 rot2euler(Matrix3)
+  Matrix3 euler2rot(Vector3)
+  Matrix3 rot_matrix(double, double, double)
+  Vector3 ecef_euler_from_ned(ECEF, Vector3)
+  Vector3 ned_euler_from_ecef(ECEF, Vector3)
+
+
+cdef extern from "coordinates.cc":
+  cdef struct ECEF:
+    double x
+    double y
+    double z
+
+  cdef struct NED:
+    double n
+    double e
+    double d
+
+  cdef struct Geodetic:
+    double lat
+    double lon
+    double alt
+    bool radians
+
+  ECEF geodetic2ecef(Geodetic)
+  Geodetic ecef2geodetic(ECEF)
+
+  cdef cppclass LocalCoord_c "LocalCoord":
+    Matrix3 ned2ecef_matrix
+    Matrix3 ecef2ned_matrix
+
+    LocalCoord_c(Geodetic, ECEF)
+    LocalCoord_c(Geodetic)
+    LocalCoord_c(ECEF)
+
+    NED ecef2ned(ECEF)
+    ECEF ned2ecef(NED)
+    NED geodetic2ned(Geodetic)
+    Geodetic ned2geodetic(NED)
+
+cdef extern from "coordinates.hpp":
+  pass
diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx
new file mode 100644
index 00000000000000..ce80d90d29ed07
--- /dev/null
+++ b/common/transformations/transformations.pyx
@@ -0,0 +1,174 @@
+# distutils: language = c++
+# cython: language_level = 3
+from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from common.transformations.transformations cimport ECEF, NED, Geodetic
+
+from common.transformations.transformations cimport euler2quat as euler2quat_c
+from common.transformations.transformations cimport quat2euler as quat2euler_c
+from common.transformations.transformations cimport quat2rot as quat2rot_c
+from common.transformations.transformations cimport rot2quat as rot2quat_c
+from common.transformations.transformations cimport euler2rot as euler2rot_c
+from common.transformations.transformations cimport rot2euler as rot2euler_c
+from common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from common.transformations.transformations cimport LocalCoord_c
+
+
+import cython
+import numpy as np
+cimport numpy as np
+
+cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
+    return np.array([
+        [m(0, 0), m(0, 1), m(0, 2)],
+        [m(1, 0), m(1, 1), m(1, 2)],
+        [m(2, 0), m(2, 1), m(2, 2)],
+    ])
+
+cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
+    assert m.shape[0] == 3
+    assert m.shape[1] == 3
+    return Matrix3(<double*>m.data)
+
+cdef ECEF list2ecef(ecef):
+    cdef ECEF e;
+    e.x = ecef[0]
+    e.y = ecef[1]
+    e.z = ecef[2]
+    return e
+
+cdef NED list2ned(ned):
+    cdef NED n;
+    n.n = ned[0]
+    n.e = ned[1]
+    n.d = ned[2]
+    return n
+
+cdef Geodetic list2geodetic(geodetic):
+    cdef Geodetic g
+    g.lat = geodetic[0]
+    g.lon = geodetic[1]
+    g.alt = geodetic[2]
+    return g
+
+def euler2quat_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Quaternion q = euler2quat_c(e)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def quat2euler_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Vector3 e = quat2euler_c(q);
+    return [e(0), e(1), e(2)]
+
+def quat2rot_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Matrix3 r = quat2rot_c(q)
+    return matrix2numpy(r)
+
+def rot2quat_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Quaternion q = rot2quat_c(r)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def euler2rot_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Matrix3 r = euler2rot_c(e)
+    return matrix2numpy(r)
+
+def rot2euler_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Vector3 e = rot2euler_c(r)
+    return [e(0), e(1), e(2)]
+
+def rot_matrix(roll, pitch, yaw):
+    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
+
+    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
+
+    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def geodetic2ecef_single(geodetic):
+    cdef Geodetic g = list2geodetic(geodetic)
+    cdef ECEF e = geodetic2ecef_c(g)
+    return [e.x, e.y, e.z]
+
+def ecef2geodetic_single(ecef):
+    cdef ECEF e = list2ecef(ecef)
+    cdef Geodetic g = ecef2geodetic_c(e)
+    return [g.lat, g.lon, g.alt]
+
+
+cdef class LocalCoord:
+    cdef LocalCoord_c * lc
+
+    def __init__(self, geodetic=None, ecef=None):
+        assert (geodetic is not None) or (ecef is not None)
+        if geodetic is not None:
+            self.lc = new LocalCoord_c(list2geodetic(geodetic))
+        elif ecef is not None:
+            self.lc = new LocalCoord_c(list2ecef(ecef))
+
+    @property
+    def ned2ecef_matrix(self):
+        return matrix2numpy(self.lc.ned2ecef_matrix)
+
+    @property
+    def ecef2ned_matrix(self):
+        return matrix2numpy(self.lc.ecef2ned_matrix)
+
+    @property
+    def ned_from_ecef_matrix(self):
+        return self.ecef2ned_matrix
+
+    @property
+    def ecef_from_ned_matrix(self):
+        return self.ned2ecef_matrix
+
+    @classmethod
+    def from_geodetic(cls, geodetic):
+        return cls(geodetic=geodetic)
+
+    @classmethod
+    def from_ecef(cls, ecef):
+        return cls(ecef=ecef)
+
+    def ecef2ned_single(self, ecef):
+        assert self.lc
+        cdef ECEF e = list2ecef(ecef)
+        cdef NED n = self.lc.ecef2ned(e)
+        return [n.n, n.e, n.d]
+
+    def ned2ecef_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef ECEF e = self.lc.ned2ecef(n)
+        return [e.x, e.y, e.z]
+
+    def geodetic2ned_single(self, geodetic):
+        assert self.lc
+        cdef Geodetic g = list2geodetic(geodetic)
+        cdef NED n = self.lc.geodetic2ned(g)
+        return [n.n, n.e, n.d]
+
+    def ned2geodetic_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef Geodetic g = self.lc.ned2geodetic(n)
+        return [g.lat, g.lon, g.alt]
+
+    def __dealloc__(self):
+        del self.lc
diff --git a/common/xattr.py b/common/xattr.py
new file mode 100644
index 00000000000000..fa61b9e0fc5635
--- /dev/null
+++ b/common/xattr.py
@@ -0,0 +1,45 @@
+import os
+from cffi import FFI
+
+# Workaround for the EON/termux build of Python having os.*xattr removed.
+ffi = FFI()
+ffi.cdef("""
+int setxattr(const char *path, const char *name, const void *value, size_t size, int flags);
+ssize_t getxattr(const char *path, const char *name, void *value, size_t size);
+ssize_t listxattr(const char *path, char *list, size_t size);
+int removexattr(const char *path, const char *name);
+""")
+libc = ffi.dlopen(None)
+
+def setxattr(path, name, value, flags=0):
+  path = path.encode()
+  name = name.encode()
+  if libc.setxattr(path, name, value, len(value), flags) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})")
+
+def getxattr(path, name, size=128):
+  path = path.encode()
+  name = name.encode()
+  value = ffi.new(f"char[{size}]")
+  l = libc.getxattr(path, name, value, size)
+  if l == -1:
+    # errno 61 means attribute hasn't been set
+    if ffi.errno == 61:
+      return None
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
+  return ffi.buffer(value)[:l]
+
+def listxattr(path, size=128):
+  path = path.encode()
+  attrs = ffi.new(f"char[{size}]")
+  l = libc.listxattr(path, attrs, size)
+  if l == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})")
+  # attrs is b'\0' delimited values (so chop off trailing empty item)
+  return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
+
+def removexattr(path, name):
+  path = path.encode()
+  name = name.encode()
+  if libc.removexattr(path, name) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})")
diff --git a/docs/CARS.md b/docs/CARS.md
new file mode 100644
index 00000000000000..aa23a85cecb0a6
--- /dev/null
+++ b/docs/CARS.md
@@ -0,0 +1,179 @@
+# Supported Cars
+
+## comma.ai supported cars
+
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
+| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | Civic Sedan 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Sedan 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | CR-V 2017-21                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | e 2020                        | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Freed 2020                    | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
+| Honda     | Passport 2019-21              | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2016-21                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
+| Hyundai   | Sonata 2020-22                | All               | Stock            | 0mph               | 0mph              |
+| Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
+| Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2020-21             | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Alphard 2020                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry 2021-22                 | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2021-22          | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | C-HR 2017-20                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Corolla 2020-22               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-22     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hybrid 2020-22        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander 2020-22            | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2020-22     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Mirai 2021                    | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2021-22           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+
+<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
+<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+
+## Community Maintained Cars and Features
+
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Audi      | A3 2014-19                    | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | A3 Sportback e-tron 2017-18   | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                       | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | S3 2015                       | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | Escalade ESV 2016<sup>1</sup> | ACC + LKAS        | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>1</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
+| GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Elantra 2021                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Elantra Hybrid 2021           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
+| Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Ioniq Hybrid 2017-19          | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Hybrid 2020-22          | SCC + LFA         | Stock            | 0mph               | 0mph         |
+| Hyundai   | Ioniq PHEV 2020-21            | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Kona EV 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Kona Hybrid 2020              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2021-22              | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata Hybrid 2021-22         | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Veloster 2019-20              | SCC + LKAS        | Stock            | 5mph               | 0mph         |
+| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-21                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | K5 2021                       | SCC + LFA         | Stock            | 0mph               | 0mph         |
+| Kia       | Niro EV 2019-21               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Niro Hybrid 2021              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Niro PHEV 2019                | SCC + LKAS        | Stock            | 10mph              | 32mph        |
+| Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Seltos 2021                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Telluride 2020                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Mazda     | CX-9 2021                     | All               | Stock            | 0mph               | 28mph        |
+| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2018-22                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| SEAT      | Leon 2014-2020                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kamiq 2021<sup>2</sup>        | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Karoq 2019                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kodiaq 2018-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2018-19         | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia RS 2016               | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Arteon 2021<sup>4</sup>       | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| California 2021<sup>4</sup>   | Driver Assistance | Stock            | 0mph               | 32mph        |
+| Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf 2015-20                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTI 2018-20              | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportWagen 2015          | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Passat 2016-18<sup>3</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Polo 2020                     | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Cross 2021<sup>4</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Taos 2022<sup>4</sup>         | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+
+<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>3</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
+remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
+in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
+Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
+
+To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
+
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
new file mode 100644
index 00000000000000..8dcdeee5095049
--- /dev/null
+++ b/docs/CONTRIBUTING.md
@@ -0,0 +1,46 @@
+# How to contribute
+
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+
+Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
+
+## Getting Started
+
+ * Setup your [development environment](../tools/)
+ * Join our [Discord](https://discord.comma.ai)
+ * Make sure you have a [GitHub account](https://github.com/signup/free)
+ * Fork [our repositories](https://github.com/commaai) on GitHub
+
+## Testing
+
+### Automated Testing
+
+All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
+
+### Code Style and Linting
+
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
+
+## Car Ports
+
+We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
+
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
+
+## Pull Requests
+
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
+```
+git clone https://github.com/commaai/openpilot.git --recursive
+```
+Or alternatively, when on the master branch:
+```
+git submodule update --init
+```
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
+Modules that are in seperate repositories include:
+* cereal
+* laika
+* opendbc
+* panda
+* rednose
diff --git a/docs/INTEGRATION.md b/docs/INTEGRATION.md
new file mode 100644
index 00000000000000..97b72e39d3cdc0
--- /dev/null
+++ b/docs/INTEGRATION.md
@@ -0,0 +1,11 @@
+# Integration with Stock Features
+
+In all supported cars:
+* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
+* Stock LDW is replaced by openpilot LDW.
+
+Additionally, on specific supported cars (see ACC column in [supported cars](CARS.md)):
+* Stock ACC is replaced by openpilot ACC.
+* openpilot FCW operates in addition to stock FCW.
+
+openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
diff --git a/docs/LIMITATIONS.md b/docs/LIMITATIONS.md
new file mode 100644
index 00000000000000..8c112659c24a2b
--- /dev/null
+++ b/docs/LIMITATIONS.md
@@ -0,0 +1,58 @@
+# Limitations
+## Limitations of openpilot ALC and LDW
+
+openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
+
+While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
+
+Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
+* In the presence of restricted lanes or construction zones.
+* When driving on highly banked roads or in presence of strong cross-wind.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Driving on hills, narrow, or winding roads.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+## Limitations of openpilot ACC and FCW
+
+openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
+
+Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* Approaching a toll booth, a bridge or a large metal plate.
+* When driving on roads with pedestrians, cyclists, etc...
+* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
+* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
+* In presence of vehicles in the same lane that are not moving.
+* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
+* When surrounding vehicles perform close cut-ins from neighbor lanes.
+* Driving on hills, narrow, or winding roads.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Interference from other equipment that generates radar waves.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+## Limitations of openpilot DM
+
+openpilot DM should not be considered an exact measurement of the alertness of the driver.
+
+Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
+
+* Low light conditions, such as driving at night or in dark tunnels.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* The driver's face is partially or completely outside field of view of the driver facing camera.
+* The driver facing camera is obstructed, covered, or damaged.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
diff --git a/installer/updater/Makefile b/installer/updater/Makefile
deleted file mode 100644
index d252fc2aa050c7..00000000000000
--- a/installer/updater/Makefile
+++ /dev/null
@@ -1,98 +0,0 @@
-CC = clang
-CXX = clang++
-
-PHONELIBS = ../../phonelibs
-
-WARN_FLAGS = -Werror=implicit-function-declaration \
-             -Werror=incompatible-pointer-types \
-             -Werror=int-conversion \
-             -Werror=return-type \
-             -Werror=format-extra-args
-
-CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
-
-CURL_FLAGS = -I$(PHONELIBS)/curl/include
-CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
-            $(PHONELIBS)/zlib/lib/libz.a
-
-BORINGSSL_FLAGS = -I$(PHONELIBS)/boringssl/include
-BORINGSSL_LIBS = $(PHONELIBS)/boringssl/lib/libssl_static.a \
-                 $(PHONELIBS)/boringssl/lib/libcrypto_static.a \
-
-NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
-
-JSON11_FLAGS = -I$(PHONELIBS)/json11
-
-OPENGL_LIBS = -lGLESv3
-
-FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
-
-.PHONY: all
-all: updater
-
-OBJS = opensans_regular.ttf.o \
-			 opensans_semibold.ttf.o \
-			 opensans_bold.ttf.o \
-       ../../selfdrive/common/touch.o \
-       ../../selfdrive/common/framebuffer.o \
-       $(PHONELIBS)/json11/json11.o \
-       $(PHONELIBS)/nanovg/nanovg.o
-
-DEPS := $(OBJS:.o=.d)
-
-updater: updater.o $(OBJS)
-	@echo "[ LINK ] $@"
-	$(CXX) $(CPPFLAGS) -fPIC -o 'updater' $^ \
-    $(FRAMEBUFFER_LIBS) \
-    $(CURL_LIBS) \
-    $(BORINGSSL_LIBS) \
-    -L/system/vendor/lib64 \
-    $(OPENGL_LIBS) \
-    -lcutils -lm -llog
-	strip updater
-
-opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-%.o: %.c
-	mkdir -p $(@D)
-	@echo "[ CC ] $@"
-	$(CC) $(CPPFLAGS) $(CFLAGS) \
-          -I../.. \
-          -I$(PHONELIBS)/android_frameworks_native/include \
-          -I$(PHONELIBS)/android_system_core/include \
-          -I$(PHONELIBS)/android_hardware_libhardware/include \
-          $(NANOVG_FLAGS) \
-          -c -o '$@' '$<'
-
-%.o: %.cc
-	mkdir -p $(@D)
-	@echo "[ CXX ] $@"
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) \
-           -I../../selfdrive \
-           -I../../ \
-           -I$(PHONELIBS)/android_frameworks_native/include \
-           -I$(PHONELIBS)/android_system_core/include \
-           -I$(PHONELIBS)/android_hardware_libhardware/include \
-           $(NANOVG_FLAGS) \
-           $(JSON11_FLAGS) \
-           $(CURL_FLAGS) \
-           $(BORINGSSL_FLAGS) \
-           -c -o '$@' '$<'
-
-
-.PHONY: clean
-clean:
-	rm -f $(OBJS) $(DEPS)
-
--include $(DEPS)
diff --git a/installer/updater/update.json b/installer/updater/update.json
deleted file mode 100644
index 6e2692bfad93cc..00000000000000
--- a/installer/updater/update.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
-  "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
-  "recovery_len": 15861036,
-  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
-}
diff --git a/installer/updater/updater b/installer/updater/updater
index 15858eabb4d66e..8bf40708a64510 100755
Binary files a/installer/updater/updater and b/installer/updater/updater differ
diff --git a/installer/updater/updater.cc b/installer/updater/updater.cc
deleted file mode 100644
index a76be8b8fde2ef..00000000000000
--- a/installer/updater/updater.cc
+++ /dev/null
@@ -1,768 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
-#include <fstream>
-#include <mutex>
-#include <thread>
-
-#include <curl/curl.h>
-#include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-
-#include "nanovg.h"
-#define NANOVG_GLES3_IMPLEMENTATION
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/utilpp.h"
-
-#define USER_AGENT "NEOSUpdater-0.2"
-
-#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
-#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
-#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
-const char *manifest_url = MANIFEST_URL_EON;
-
-#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
-#define RECOVERY_COMMAND "/cache/recovery/command"
-
-#define UPDATE_DIR "/data/neoupdate"
-
-extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
-extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
-extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
-extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
-extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
-extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
-
-namespace {
-
-std::string sha256_file(std::string fn, size_t limit=0) {
-  SHA256_CTX ctx;
-  SHA256_Init(&ctx);
-
-  FILE *file = fopen(fn.c_str(), "rb");
-  if (!file) return "";
-
-  const size_t buf_size = 8192;
-  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-  bool read_limit = (limit != 0);
-  while (true) {
-    size_t read_size = buf_size;
-    if (read_limit) read_size = std::min(read_size, limit);
-    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
-    if (!bytes_read) break;
-
-    SHA256_Update(&ctx, buffer.get(), bytes_read);
-
-    if (read_limit) {
-      limit -= bytes_read;
-      if (limit == 0) break;
-    }
-  }
-
-  uint8_t hash[SHA256_DIGEST_LENGTH];
-  SHA256_Final(hash, &ctx);
-
-  fclose(file);
-
-  return util::tohex(hash, sizeof(hash));
-}
-
-size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  size_t sz = size * nmeb;
-  ((std::string*)up)->append((char*)ptr, sz);
-  return sz;
-}
-
-std::string download_string(CURL *curl, std::string url) {
-  std::string os;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
-
-  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
-
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
-  CURLcode res = curl_easy_perform(curl);
-  if (res != CURLE_OK) {
-    return "";
-  }
-
-  return os;
-}
-
-size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  return fwrite(ptr, size, nmeb, (FILE*)up);
-}
-
-int battery_capacity() {
-  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  return atoi(bat_cap_s.c_str());
-}
-
-int battery_current() {
-  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
-  return atoi(current_now_s.c_str());
-}
-
-bool check_battery() {
-  int bat_cap = battery_capacity();
-  int current_now = battery_current();
-  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
-}
-
-bool check_space() {
-  struct statvfs stat;
-  if (statvfs("/data/", &stat) != 0) {
-    return false;
-  }
-  size_t space = stat.f_bsize * stat.f_bavail;
-  return space > 2000000000ULL; // 2GB
-}
-
-static void start_settings_activity(const char* name) {
-  char launch_cmd[1024];
-  snprintf(launch_cmd, sizeof(launch_cmd),
-           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
-  system(launch_cmd);
-}
-
-struct Updater {
-  bool do_exit = false;
-
-  TouchState touch;
-
-  int fb_w, fb_h;
-
-  FramebufferState *fb = NULL;
-  NVGcontext *vg = NULL;
-  int font_regular;
-  int font_semibold;
-  int font_bold;
-
-  std::thread update_thread_handle;
-
-  std::mutex lock;
-
-  // i hate state machines give me coroutines already
-  enum UpdateState {
-    CONFIRMATION,
-    LOW_BATTERY,
-    RUNNING,
-    ERROR,
-  };
-  UpdateState state;
-
-  std::string progress_text;
-  float progress_frac;
-
-  std::string error_text;
-
-  std::string low_battery_text;
-  std::string low_battery_title;
-  std::string low_battery_context;
-  std::string battery_cap_text;
-  int min_battery_cap = 35;
-
-  // button
-  int b_x, b_w, b_y, b_h;
-  int balt_x;
-
-  CURL *curl = NULL;
-
-  Updater() {
-    touch_init(&touch);
-
-    fb = framebuffer_init("updater", 0x00001000, false,
-                          &fb_w, &fb_h);
-    assert(fb);
-
-    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
-    assert(vg);
-
-    font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
-    assert(font_regular >= 0);
-
-    font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
-    assert(font_semibold >= 0);
-
-    font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
-    assert(font_bold >= 0);
-
-    b_w = 640;
-    balt_x = 200;
-    b_x = fb_w-b_w-200;
-    b_y = 720;
-    b_h = 220;
-
-    state = CONFIRMATION;
-
-  }
-
-  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
-                             curl_off_t ultotal, curl_off_t ulnow) {
-    {
-      std::lock_guard<std::mutex> guard(lock);
-      if (dltotal != 0) {
-        progress_frac = (float) dlno / dltotal;
-      }
-    }
-    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
-    return 0;
-  }
-
-  bool download_file(std::string url, std::string out_fn) {
-    FILE *of = fopen(out_fn.c_str(), "ab");
-    assert(of);
-
-    CURLcode res;
-    long last_resume_from = 0;
-
-    fseek(of, 0, SEEK_END);
-
-    int tries = 4;
-
-    bool ret = false;
-
-    while (true) {
-      long resume_from = ftell(of);
-
-      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
-      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
-
-      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
-      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
-
-      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
-
-      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
-      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
-
-      CURLcode res = curl_easy_perform(curl);
-
-      long response_code = 0;
-      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
-
-      // double content_length = 0.0;
-      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-
-      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
-      if (res == CURLE_OK) {
-        ret = true;
-        break;
-      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
-        // failed because the file is already complete?
-        ret = true;
-        break;
-      } else if (resume_from == last_resume_from) {
-        // failed and dind't make make forward progress. only retry a couple times
-        tries--;
-        if (tries <= 0) {
-          break;
-        }
-      }
-      last_resume_from = resume_from;
-    }
-    // printf("res %d\n", res);
-
-    // printf("- %ld %f\n", response_code, content_length);
-
-    fclose(of);
-
-    return ret;
-  }
-
-  void set_progress(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    progress_text = text;
-  }
-
-  void set_error(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    error_text = text;
-    state = ERROR;
-  }
-
-  void set_battery_low() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = LOW_BATTERY;
-  }
-
-  void set_running() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = RUNNING;
-  }
-
-  std::string stage_download(std::string url, std::string hash, std::string name) {
-    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
-
-    set_progress("Downloading " + name + "...");
-    bool r = download_file(url, out_fn);
-    if (!r) {
-      set_error("failed to download " + name);
-      return "";
-    }
-
-    set_progress("Verifying " + name + "...");
-    std::string fn_hash = sha256_file(out_fn);
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
-    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
-      unlink(out_fn.c_str());
-      return "";
-    }
-
-    return out_fn;
-  }
-
-  void run_stages() {
-    curl = curl_easy_init();
-    assert(curl);
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
-      }
-      set_running();
-    }
-
-    if (!check_space()) {
-      set_error("2GB of free space required to update");
-      return;
-    }
-
-    mkdir(UPDATE_DIR, 0777);
-
-    const int EON = (access("/EON", F_OK) != -1);
-
-    set_progress("Finding latest version...");
-    std::string manifest_s;
-    if (EON) {
-      manifest_s = download_string(curl, manifest_url);
-    } else {
-      // don't update NEO
-      exit(0);
-    }
-
-    printf("manifest: %s\n", manifest_s.c_str());
-
-    std::string err;
-    auto manifest = json11::Json::parse(manifest_s, err);
-    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
-      return;
-    }
-
-    std::string ota_url = manifest["ota_url"].string_value();
-    std::string ota_hash = manifest["ota_hash"].string_value();
-
-    std::string recovery_url = manifest["recovery_url"].string_value();
-    std::string recovery_hash = manifest["recovery_hash"].string_value();
-    int recovery_len = manifest["recovery_len"].int_value();
-
-    // std::string installer_url = manifest["installer_url"].string_value();
-    // std::string installer_hash = manifest["installer_hash"].string_value();
-
-    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
-      return;
-    }
-
-    // std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
-    // if (installer_fn.empty()) {
-    //   //error'd
-    //   return;
-    // }
-
-    std::string recovery_fn;
-    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("Skipping recovery flash...");
-    } else {
-      // only download the recovery if it differs from what's flashed
-      set_progress("Checking recovery...");
-      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
-
-      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
-        if (recovery_fn.empty()) {
-          // error'd
-          return;
-        }
-      }
-    }
-
-    std::string ota_fn = stage_download(ota_url, ota_hash, "update");
-    if (ota_fn.empty()) {
-      //error'd
-      return;
-    }
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
-      }
-      set_running();
-    }
-
-    if (!recovery_fn.empty()) {
-      // flash recovery
-      set_progress("Flashing recovery...");
-
-      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
-      if (!flash_file) {
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
-      if (!recovery_dev) {
-        fclose(flash_file);
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      const size_t buf_size = 4096;
-      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-      while (true) {
-        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
-        if (!bytes_read) break;
-
-        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
-        if (bytes_read != bytes_written) {
-          fclose(recovery_dev);
-          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
-          return;
-        }
-      }
-
-      fclose(recovery_dev);
-      fclose(flash_file);
-
-      set_progress("Verifying flash...");
-      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
-
-      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
-        return;
-      }
-
-    }
-
-    // write arguments to recovery
-    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
-    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
-      return;
-    }
-    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
-    fclose(cmd_file);
-
-    set_progress("Rebooting");
-
-    // remove the continue.sh so we come back into the setup.
-    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
-    //unlink("/data/data/com.termux/files/continue.sh");
-
-    // TODO: this should be generic between android versions
-    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-    system("service call power 16 i32 0 s16 recovery i32 1");
-    while(1) pause();
-
-    // execl("/system/bin/reboot", "recovery");
-    // set_error("failed to reboot into recovery");
-  }
-
-  void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
-
-    // draw button
-    if (button) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-
-    // draw button
-    if (altbutton) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-  }
-
-  void draw_battery_screen() {
-    low_battery_title = "Low Battery";
-    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
-    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
-
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
-  }
-
-  void draw_progress_screen() {
-    // draw progress message
-    nvgFontSize(vg, 64.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
-
-    // draw progress bar
-    {
-      int progress_width = 1000;
-      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 520;
-      int progress_height = 50;
-
-      int powerprompt_y = 312;
-      nvgFontFace(vg, "opensans_regular");
-      nvgFontSize(vg, 64.0f);
-      nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
-
-      NVGpaint paint = nvgBoxGradient(
-          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
-      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-
-      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
-      int bar_pos = ((progress_width - 2) * value);
-
-      paint = nvgBoxGradient(
-          vg, progress_x, progress_y,
-          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
-
-      nvgBeginPath(vg);
-      nvgRoundedRect(
-          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-    }
-  }
-
-  void ui_draw() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    switch (state) {
-    case CONFIRMATION:
-      draw_ack_screen("An update to NEOS is required.",
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
-                      "Continue",
-                      "Connect to WiFi");
-      break;
-    case LOW_BATTERY:
-      draw_battery_screen();
-      break;
-    case RUNNING:
-      draw_progress_screen();
-      break;
-    case ERROR:
-      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
-      break;
-    }
-
-    nvgEndFrame(vg);
-  }
-
-  void ui_update() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    switch (state) {
-    case ERROR:
-    case CONFIRMATION: {
-      int touch_x = -1, touch_y = -1;
-      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
-      if (res == 1 && !is_settings_active()) {
-        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            state = RUNNING;
-            update_thread_handle = std::thread(&Updater::run_stages, this);
-          }
-        }
-        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            start_settings_activity("Settings$WifiSettingsActivity");
-          } else if (state == ERROR) {
-            do_exit = 1;
-          }
-        }
-      }
-    }
-    default:
-      break;
-    }
-  }
-
-
-  void go() {
-    while (!do_exit) {
-      ui_update();
-
-      glClearColor(0.08, 0.08, 0.08, 1.0);
-      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-      // background
-      nvgBeginPath(vg);
-      NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
-        nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
-      nvgFillPaint(vg, bg);
-      nvgRect(vg, 0, 0, fb_w, fb_h);
-      nvgFill(vg);
-
-      glEnable(GL_BLEND);
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
-      ui_draw();
-
-      glDisable(GL_BLEND);
-
-      framebuffer_swap(fb);
-
-      assert(glGetError() == GL_NO_ERROR);
-
-      // no simple way to do 30fps vsync with surfaceflinger...
-      usleep(30000);
-    }
-
-    if (update_thread_handle.joinable()) {
-      update_thread_handle.join();
-    }
-
-    system("service call power 16 i32 0 i32 0 i32 1");
-  }
-
-  bool is_settings_active() {
-    FILE *fp;
-    char sys_output[4096];
-
-    fp = popen("/bin/dumpsys window windows", "r");
-    if (fp == NULL) {
-      return false;
-    }
-
-    bool active = false;
-    while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
-      if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
-        break;
-      }
-
-      if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
-        active = true;
-        break;
-      }
-    }
-
-    pclose(fp);
-
-    return active;
-  }
-
-};
-
-}
-int main(int argc, char *argv[]) {
-  if (argc > 1) {
-    if (strcmp(argv[1], "local") == 0) {
-      manifest_url = MANIFEST_URL_EON_LOCAL;
-    } else if (strcmp(argv[1], "staging") == 0) {
-      manifest_url = MANIFEST_URL_EON_STAGING;
-    } else {
-      manifest_url = argv[1];
-    }
-  }
-  printf("updating from %s\n", manifest_url);
-  Updater updater;
-  updater.go();
-
-  return 0;
-}
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index a33deaafd61ff1..7ef671c2652e2e 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -1,25 +1,140 @@
 #!/usr/bin/bash
 
-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
 if [ -z "$BASEDIR" ]; then
   BASEDIR="/data/openpilot"
 fi
 
-if [ -z "$PASSIVE" ]; then
-  export PASSIVE="1"
-fi
+source "$BASEDIR/launch_env.sh"
 
-STAGING_ROOT="/data/safe_staging"
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
-function launch {
-  # Wifi scan
+function two_init {
+
+  # set IO scheduler
+  setprop sys.io.scheduler noop
+  for f in /sys/block/*/queue/scheduler; do
+    echo noop > $f
+  done
+
+  # *** shield cores 2-3 ***
+
+  # TODO: should we enable this?
+  # offline cores 2-3 to force recurring timers onto the other cores
+  #echo 0 > /sys/devices/system/cpu/cpu2/online
+  #echo 0 > /sys/devices/system/cpu/cpu3/online
+  #echo 1 > /sys/devices/system/cpu/cpu2/online
+  #echo 1 > /sys/devices/system/cpu/cpu3/online
+
+  # android gets two cores
+  echo 0-1 > /dev/cpuset/background/cpus
+  echo 0-1 > /dev/cpuset/system-background/cpus
+  echo 0-1 > /dev/cpuset/foreground/cpus
+  echo 0-1 > /dev/cpuset/foreground/boost/cpus
+  echo 0-1 > /dev/cpuset/android/cpus
+
+  # openpilot gets all the cores
+  echo 0-3 > /dev/cpuset/app/cpus
+
+  # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
+  echo 3 | tee  /sys/class/net/*/queues/*/rps_cpus
+  echo 3 | tee  /sys/class/net/*/queues/*/xps_cpus
+
+  # *** set up governors ***
+
+  # +50mW offroad, +500mW onroad for 30% more RAM bandwidth
+  echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
+  echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+  echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
+
+  # unclear if these help, but they don't seem to hurt
+  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
+  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
+
+  # GPU
+  echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
+
+  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
+  # it seems to gain nothing but a wasted 500mW
+
+  # *** set up IRQ affinities ***
+
+  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
+  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
+  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
+  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
+  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
+
+  # USB traffic needs realtime handling on cpu 3
+  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
+
+  # GPU and camera get cpu 2
+  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
+  for irq in $CAM_IRQS; do
+    echo 2 > /proc/irq/$irq/smp_affinity_list
+  done
+  echo 2 > /proc/irq/193/smp_affinity_list # GPU
+
+  # give GPU threads RT priority
+  for pid in $(pgrep "kgsl"); do
+    chrt -f -p 52 $pid
+  done
+
+  # the flippening!
+  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
+
+  # disable bluetooth
+  service call bluetooth_manager 8
+
+  # wifi scan
   wpa_cli IFNAME=wlan0 SCAN
 
+  # Check for NEOS update
+  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
+    echo "Installing NEOS update"
+    NEOS_PY="$DIR/selfdrive/hardware/eon/neos.py"
+    MANIFEST="$DIR/selfdrive/hardware/eon/neos.json"
+    $NEOS_PY --swap-if-ready $MANIFEST
+    $DIR/selfdrive/hardware/eon/updater $NEOS_PY $MANIFEST
+  fi
+}
+
+function tici_init {
+  # wait longer for weston to come up
+  if [ -f "$BASEDIR/prebuilt" ]; then
+    sleep 3
+  fi
+
+  # setup governors
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
+
+  # TODO: move this to agnos
+  # network manager config
+  nmcli connection modify --temporary lte gsm.auto-config yes
+  nmcli connection modify --temporary lte gsm.home-only yes
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # Check if AGNOS update is required
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
+    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
+
+function launch {
+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
+  # Pull time from panda
+  $DIR/selfdrive/boardd/set_time.py
+
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
   #
@@ -41,11 +156,11 @@ function launch {
 
           mv $BASEDIR /data/safe_staging/old_openpilot
           mv "${STAGING_ROOT}/finalized" $BASEDIR
-
-          # The mv changed our working directory to /data/safe_staging/old_openpilot
-          cd "${BASEDIR}"
+          cd $BASEDIR
 
           echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset REQUIRED_NEOS_VERSION
+          unset AGNOS_VERSION
           exec "${LAUNCHER_LOCATION}"
         else
           echo "openpilot backup found, not updating"
@@ -55,38 +170,23 @@ function launch {
     fi
   fi
 
-  # no cpu rationing for now
-  echo 0-3 > /dev/cpuset/background/cpus
-  echo 0-3 > /dev/cpuset/system-background/cpus
-  echo 0-3 > /dev/cpuset/foreground/boost/cpus
-  echo 0-3 > /dev/cpuset/foreground/cpus
-  echo 0-3 > /dev/cpuset/android/cpus
-
-  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-  # Remove old NEOS update file
-  # TODO: move this code to the updater
-  if [ -d /data/neoupdate ]; then
-    rm -rf /data/neoupdate
-  fi
-
-  # Check for NEOS update
-  if [ $(< /VERSION) != "14" ]; then
-    if [ -f "$DIR/scripts/continue.sh" ]; then
-      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
-    fi
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD:$PWD/pyextra"
 
-    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+  # hardware specific init
+  if [ -f /EON ]; then
+    two_init
+  elif [ -f /TICI ]; then
+    tici_init
   fi
 
-
-  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd selfdrive
-  ./manager.py
+  cd selfdrive/manager
+  ./build.py && ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done
diff --git a/launch_env.sh b/launch_env.sh
new file mode 100755
index 00000000000000..47d98cc923e002
--- /dev/null
+++ b/launch_env.sh
@@ -0,0 +1,21 @@
+#!/usr/bin/bash
+
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
+if [ -z "$REQUIRED_NEOS_VERSION" ]; then
+  export REQUIRED_NEOS_VERSION="18"
+fi
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="2"
+fi
+
+if [ -z "$PASSIVE" ]; then
+  export PASSIVE="1"
+fi
+
+export STAGING_ROOT="/data/safe_staging"
diff --git a/models/dmonitoring_model_q.dlc b/models/dmonitoring_model_q.dlc
index 59104e18e865ff..be61a6c30e2ed9 100644
Binary files a/models/dmonitoring_model_q.dlc and b/models/dmonitoring_model_q.dlc differ
diff --git a/models/supercombo.dlc b/models/supercombo.dlc
index d7942d6df9e89c..3a46575906d043 100644
Binary files a/models/supercombo.dlc and b/models/supercombo.dlc differ
diff --git a/opendbc/.github/workflows/tests.yml b/opendbc/.github/workflows/tests.yml
deleted file mode 100644
index 2141cb0264acd0..00000000000000
--- a/opendbc/.github/workflows/tests.yml
+++ /dev/null
@@ -1,24 +0,0 @@
-name: Tests
-
-on: [push, pull_request]
-
-jobs:
-  test:
-    runs-on: ubuntu-16.04
-
-    steps:
-      - uses: actions/checkout@v2
-      - run: |
-          set -e
-          docker build -t opendbc .
-        name: "Build"
-      - run: |
-          docker run opendbc bash -c "python -m unittest discover opendbc"
-        name: "Unit tests"
-      - run: |
-          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
-          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
-        name: "Python linter"
-      - run: |
-          docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
-        name: "Generator test"
diff --git a/opendbc/.gitignore b/opendbc/.gitignore
index 1e219f2b79c89f..bf8570d8b06488 100644
--- a/opendbc/.gitignore
+++ b/opendbc/.gitignore
@@ -1,13 +1,17 @@
+.mypy_cache/
 *.pyc
 *.os
+*.o
 *.tmp
 *.dylib
 .*.swp
 .DS_Store
+.sconsign.dblite
 
 can/*.so
 can/build/
 can/obj/
 can/packer_pyx.cpp
 can/parser_pyx.cpp
-can/packer_impl.cpp
+can/packer_pyx.html
+can/parser_pyx.html
diff --git a/opendbc/Dockerfile b/opendbc/Dockerfile
deleted file mode 100644
index e105313756022c..00000000000000
--- a/opendbc/Dockerfile
+++ /dev/null
@@ -1,25 +0,0 @@
-from ubuntu:16.04
-
-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-COPY requirements.txt /tmp/
-RUN pip install -r /tmp/requirements.txt
-
-ENV PYTHONPATH=/project
-
-# TODO: Add tag to cereal
-RUN git clone https://github.com/commaai/cereal.git /project/cereal
-RUN /project/cereal/install_capnp.sh
-
-WORKDIR /project
-
-COPY SConstruct .
-COPY . /project/opendbc
-
-RUN scons -c && scons -j$(nproc)
diff --git a/opendbc/ESR.dbc b/opendbc/ESR.dbc
deleted file mode 100644
index e3837a68b2ff5a..00000000000000
--- a/opendbc/ESR.dbc
+++ /dev/null
@@ -1,1080 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: Gateway ESR
-VAL_TABLE_ ForwardReverse 1 "Reverse" 0 "Forward" ;
-VAL_TABLE_ LeftRight 1 "Right Clockwise" 0 "Left CounterClockwise" ;
-VAL_TABLE_ ValidInvalid 1 "Valid" 0 "Invalid" ;
-VAL_TABLE_ TrueFalse 1 "True" 0 "False" ;
-
-
-BO_ 1343 Target64: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1342 Target63: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1341 Target62: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1340 Target61: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1339 Target60: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1338 Target59: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1337 Target58: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1336 Target57: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1335 Target56: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1334 Target55: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1333 Target54: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1332 Target53: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1331 Target52: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1330 Target51: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1329 Target50: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1328 Target49: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1327 Target48: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1326 Target47: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1325 Target46: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1324 Target45: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1323 Target44: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1322 Target43: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1321 Target42: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1320 Target41: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1319 Target40: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1318 Target39: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1317 Target38: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1316 Target37: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1315 Target36: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1314 Target35: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1313 Target34: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1312 Target33: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1311 Target32: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1310 Target31: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1309 Target30: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1308 Target29: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1307 Target28: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1306 Target27: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1305 Target26: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1304 Target25: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1303 Target24: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1302 Target23: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1301 Target22: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1300 Target21: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1299 Target20: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1298 Target19: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1297 Target18: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1296 Target17: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1295 Target16: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1294 Target15: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1293 Target14: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1292 Target13: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1291 Target12: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1290 Target11: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1289 Target10: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1288 Target9: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1287 Target8: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1285 Target6: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1286 Target7: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1284 Target5: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1283 Target4: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1282 Target3: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1281 Target2: 8 Vector__XXX
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1524 VehicleData3: 8 Gateway
- SG_ CAN_RX_YAW_RATE_BIAS_SHIFT : 15|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_WHEELBASE : 55|8@0+ (2,200) [200|710] "cm" Vector__XXX
- SG_ CAN_RX_STEERING_GEAR_RATIO : 63|8@0+ (0.125,0) [0|31.875] "" Vector__XXX
- SG_ CAN_RX_OVERSTEER_UNDERSTEER : 7|8@0- (1,0) [-128|127] "%" Vector__XXX
- SG_ CAN_RX_FUNNEL_OFFSET_RIGHT : 31|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX
- SG_ CAN_RX_FUNNEL_OFFSET_LEFT : 23|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX
- SG_ CAN_RX_DISTANCE_REAR_AXLE : 47|8@0+ (2,200) [200|710] "cm" Vector__XXX
- SG_ CAN_RX_CW_BLOCKAGE_TRESHOLD : 39|8@0+ (0.0078125,0) [0|1.9921875] "" Vector__XXX
- SG_ CAN_RX_BEAMWIDTH_VERT : 14|7@0+ (0.0625,0) [0|7.9375] "deg" Vector__XXX
-
-BO_ 1523 FactoryAlignment: 8 Gateway
-
-BO_ 1522 Vehicle_Data2: 8 Gateway
- SG_ CAN_RX_WHEEL_SLIP : 41|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_RX_SERV_ALIGN_UPDATES_NEED : 55|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_RX_SERV_ALIGN_TYPE : 47|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_RADAR_HEIGHT : 38|7@0+ (1,0) [0|127] "cm" Vector__XXX
- SG_ CAN_RX_RADAR_FOV_MR : 30|7@0+ (1,0) [0|127] "deg" Vector__XXX
- SG_ CAN_RX_RADAR_FOV_LR : 19|5@0+ (1,0) [0|31] "deg" Vector__XXX
- SG_ CAN_RX_LONG_ACCEL_VALIDITY : 7|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_LONG_ACCEL : 12|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX
- SG_ CAN_RX_LAT_ACCEL_VALIDITY : 6|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_LAT_ACCEL : 5|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX
- SG_ CAN_RX_AUTO_ALIGN_DISABLE : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_AUTO_ALIGN_CONVERGED : 42|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_ANGLE_MOUNTING_OFFSET : 63|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX
- SG_ CAN_RX_AALIGN_AVG_CTR_TOTAL : 45|3@0+ (250,250) [250|2000] "" Vector__XXX
-
-BO_ 1512 CIPV_Targets_Etc: 8 ESR
-
-BO_ 1511 ESR_History_Fault: 8 ESR
-
-BO_ 1510 ESR_Active_Fault: 8 ESR
-
-BO_ 1508 AD_Data: 8 ESR
-
-BO_ 1489 SensorValidation2: 8 ESR
- SG_ CAN_TX_VALID_MR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_VALID_MR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX
- SG_ CAN_TX_VALID_MR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX
- SG_ CAN_TX_VALID_MR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX
- SG_ CAN_TX_VALID_MR_ANGLE : 40|16@1- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX
-
-BO_ 1488 SensorValidation: 8 ESR
- SG_ CAN_TX_VALID_LR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_VALID_LR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX
- SG_ CAN_TX_VALID_LR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX
- SG_ CAN_TX_VALID_LR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX
- SG_ CAN_TX_VALID_LR_ANGLE : 47|16@0- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX
-
-BO_ 1344 Track_Sensor: 1 ESR
- SG_ CAN_TX_TRACK_ROLLING_COUNT_2 : 4|1@0+ (1,0) [0|1] "" Vector__XXX
-
-BO_ 1280 Target1: 8 ESR
- SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
- SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
- SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
- SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
- SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
- SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
-
-BO_ 1265 SensorInput: 8 Gateway
- SG_ CAN_RX_USE_ANGLE_MISALIGNMENT : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CAN_RX_SCAN_INDEX_ACK : 7|16@0+ (1,0) [0|65535] "" Vector__XXX
- SG_ CAN_RX_LATERAL_MOUNTING_OFFSET : 47|8@0- (0.01563,0) [-2.00064|1.98501] "m" Vector__XXX
- SG_ CAN_RX_WIPER_STATUS : 57|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_VOLVO_SHORT_TRACK_ROC : 31|4@0- (500,0) [-4000|3500] "m" Vector__XXX
- SG_ CAN_RX_VEHICLE_SPEED_VALIDITY : 61|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_TURN_SIGNAL_STATUS : 63|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_RX_RAW_DATA_ENABLE : 56|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_RADAR_CMD_RADIATE : 55|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_MR_ONLY_TRANSMIT : 25|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CAN_RX_MMR_UPSIDE_DOWN : 60|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_MAXIMUM_TRACKS : 53|6@0+ (1,0) [0|63] "" Vector__XXX
- SG_ CAN_RX_LR_ONLY_TRANSMIT : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CAN_RX_HIGH_YAW_ANGLE : 21|6@0- (1,0) [-32|31] "deg" Vector__XXX
- SG_ CAN_RX_GROUPING_MODE : 59|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_RX_CLEAR_FAULTS : 22|1@0- (1,0) [0|0] "" Vector__XXX
- SG_ CAN_RX_BLOCKAGE_DISABLE : 54|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_ANGLE_MISALIGNMENT : 39|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX
-
-BO_ 1264 Vehicle_Data: 8 Gateway
- SG_ CAN_RX_YAW_RATE_VALIDITY : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CAN_RX_YAW_RATE : 11|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX
- SG_ CAN_RX_VEHICLE_SPEED_DIRECTION : 12|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_VEHICLE_SPEED : 7|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX
- SG_ CAN_RX_RADIUS_CURVATURE : 29|14@0- (1,0) [-8192|8191] "m" Vector__XXX
- SG_ CAN_RX_STEERING_VALIDITY : 47|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_STEERING_ANGLE_SIGN : 46|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_STEERING_ANGLE_RATE_SIGN : 30|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_RX_STEERING_ANGLE_RATE : 50|11@0+ (1,0) [0|2047] "deg/s" Vector__XXX
- SG_ CAN_RX_STEERING_ANGLE : 45|11@0+ (1,0) [0|2047] "deg" Vector__XXX
-
-BO_ 1251 ESR_Output_InPath: 8 ESR
- SG_ CAN_TX_PATH_ID_ACC_MOVE : 15|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_TRUCK_TARGET_DET : 7|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_SIDELOBE_BLOCKATE : 5|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_ROLLING_COUNT_3 : 1|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_PATH_ID_FCW_STAT : 47|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_PATH_ID_FCW_MOVE : 39|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_PATH_ID_CMBB_STAT : 31|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_PATH_ID_CMBB_MOVE : 23|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_PATH_ID_ACC_STAT : 63|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_PARTIAL_BLOCKAGE : 4|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_LR_ONLY_GRATING_LOBE_DET : 6|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_LMR_LR_MODE : 3|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_AUTO_ALIGN_ANGLE : 55|8@0- (0.0625,0) [-8|7.9375] "" Vector__XXX
-
-BO_ 1250 ESR_SW: 8 ESR
- SG_ CAN_TX_SW_VERSION_PLD : 63|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ CAN_TX_SW_VERSION_HOST : 15|24@0+ (1,0) [0|16777215] "" Vector__XXX
- SG_ CAN_TX_SERIAL_NUM : 39|24@0+ (1,0) [0|16777215] "" Vector__XXX
- SG_ CAN_TX_INTERFACE_VERSION : 7|4@0+ (1,0) [0|15] "" Vector__XXX
- SG_ CAN_TX_HW_VERSION : 3|4@0+ (1,0) [0|15] "" Vector__XXX
-
-BO_ 1249 ESR_Status2: 8 ESR
- SG_ CAN_TX_YAW_RATE_BIAS : 47|8@0- (0.125,0) [-16|15.875] "" Vector__XXX
- SG_ CAN_TX_XCVR_OPERATIONAL : 12|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_VEH_SPD_COMP_FACTOR : 39|6@0- (0.00195,1) [0.9376|1.06045] "" Vector__XXX
- SG_ CAN_TX_TEMPERATURE : 31|8@0- (1,0) [-128|127] "degC" Vector__XXX
- SG_ CAN_TX_SW_VERSION_DSP : 55|16@0+ (1,0) [0|65535] "" Vector__XXX
- SG_ CAN_TX_STEERING_ANGLE_ACK : 10|11@0+ (1,0) [0|2047] "deg" Vector__XXX
- SG_ CAN_TX_ROLLING_COUNT_2 : 1|2@0+ (1,0) [0|3] "" Vector__XXX
- SG_ CAN_TX_RAW_DATA_MODE : 11|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_RANGE_PERF_ERROR : 14|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_OVERHEAT_ERROR : 15|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_MAXIMUM_TRACKS_ACK : 7|6@0+ (1,1) [1|64] "" Vector__XXX
- SG_ CAN_TX_INTERNAL_ERROR : 13|1@0+ (1,0) [0|1] "" Vector__XXX
- SG_ CAN_TX_GROUPING_MODE : 33|2@0+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 1248 ESR_Status: 8 ESR
- SG_ CAN_TX_COMM_ERROR : 14|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CAN_TX_RADIUS_CURVATURE_CALC : 13|14@0- (1,0) [-8192|8191] "" Vector__XXX
- SG_ CAN_TX_YAW_RATE_CALC : 47|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX
- SG_ CAN_TX_VEHICLE_SPEED_CALC : 50|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX
- SG_ CAN_TX_DSP_TIMESTAMP : 5|7@0+ (2,0) [0|254] "ms" Vector__XXX
- SG_ CAN_TX_SCAN_INDEX : 31|16@0+ (1,0) [0|65535] "" Vector__XXX
- SG_ CAN_TX_ROLLING_COUNT_1 : 6|2@1+ (1,0) [0|3] "" Vector__XXX
-
-
-
-BA_DEF_  "BusType" STRING ;
-BA_DEF_DEF_  "BusType" "CAN";
-VAL_ 1264 CAN_RX_YAW_RATE_VALIDITY 1 "Valid" 0 "Invalid" ;
-VAL_ 1264 CAN_RX_VEHICLE_SPEED_DIRECTION 1 "Reverse" 0 "Forward" ;
-VAL_ 1264 CAN_RX_STEERING_VALIDITY 1 "True" 0 "False" ;
-VAL_ 1264 CAN_RX_STEERING_ANGLE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ;
-VAL_ 1264 CAN_RX_STEERING_ANGLE_RATE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ;
-
diff --git a/opendbc/README.md b/opendbc/README.md
deleted file mode 100644
index 4accc18059878f..00000000000000
--- a/opendbc/README.md
+++ /dev/null
@@ -1,56 +0,0 @@
-opendbc
-======
-
-The project to democratize access to the decoder ring of your car.
-
-
-
-### DBC file basics
-
-A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
-Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) and [Here](https://github.com/stefanhoelzl/CANpy/blob/master/docs/DBC_Specification.md) a couple of good overviews.
-
-### How to start reverse engineering cars
-
-[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
-
-Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
-
-### How to use reverse engineered DBC
-To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project.
-
-### DBC file preprocessor
-
-DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.
-
-### Good practices for contributing to opendbc
-
-- Comments: the best way to store comments is to add them directly to the DBC files. For example:
-    ```
-    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-    ```
-    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
-
-- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better.
-For example:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
-    ```
-    is better than:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
-    ```
-    However, the cleanest option is really:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
-    ```
-
-- Signal size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
-    ```
-    SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
-    ```
-    However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
-    ```
-    SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
-    ```
-    which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.
diff --git a/opendbc/SConstruct b/opendbc/SConstruct
deleted file mode 100644
index b051d182e1a0f3..00000000000000
--- a/opendbc/SConstruct
+++ /dev/null
@@ -1,57 +0,0 @@
-import os
-import subprocess
-
-zmq = 'zmq'
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-
-cereal_dir = Dir('.')
-
-cpppath = [
-    '#',
-    '#cereal',
-    "#cereal/messaging",
-    "#opendbc/can",
-    '/usr/lib/include',
-]
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-env = Environment(
-  ENV=os.environ,
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
-
-  CFLAGS="-std=gnu11",
-  CXXFLAGS="-std=c++14",
-  CPPPATH=cpppath,
-)
-
-Export('env', 'zmq', 'arch')
-
-cereal = [File('#cereal/libcereal.a')]
-messaging = [File('#cereal/libmessaging.a')]
-Export('cereal', 'messaging')
-
-SConscript(['cereal/SConscript'])
-SConscript(['opendbc/can/SConscript'])
diff --git a/opendbc/acura_ilx_2016_can_generated.dbc b/opendbc/acura_ilx_2016_can_generated.dbc
index b1e2b2cb854c54..3ad7520cbb34ac 100644
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,7 +233,25 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "acura_ilx_2016_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "acura_ilx_2016_can.dbc starts here";
 
 
 
@@ -275,7 +275,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
diff --git a/opendbc/acura_rdx_2018_can_generated.dbc b/opendbc/acura_rdx_2018_can_generated.dbc
index 1a87ebc55061af..48dbddd8023fcd 100644
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,13 +233,31 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "acura_rdx_2018_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "acura_rdx_2018_can.dbc starts here";
 
 
 
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
 
diff --git a/opendbc/acura_rdx_2020_can_generated.dbc b/opendbc/acura_rdx_2020_can_generated.dbc
new file mode 100644
index 00000000000000..a114e4e132a411
--- /dev/null
+++ b/opendbc/acura_rdx_2020_can_generated.dbc
@@ -0,0 +1,435 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _bosch_2020.dbc starts here";
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
+CM_ "acura_rdx_2020_can.dbc starts here";
+
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/cadillac_ct6_chassis.dbc b/opendbc/cadillac_ct6_chassis.dbc
deleted file mode 100644
index 9de969d762f9a2..00000000000000
--- a/opendbc/cadillac_ct6_chassis.dbc
+++ /dev/null
@@ -1,95 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM
-
-
-
-BO_ 823 PACMParkAssitCmd: 7 NEO
- SG_ RollingCounter : 35|2@0+ (1,0) [0|0] ""  NEO
- SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] ""  NEO
- SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] ""  NEO
-
-BO_ 560 EBCMRegen: 6 K17_EBCM
- SG_ Regen : 1|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 338 ASCMLKASteeringCmd: 6 NEO
- SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 23|2@0+ (1,0) [0|0] ""  NEO
- SG_ SetMe1 : 21|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
- SG_ LKASMode : 36|2@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 340 ASCMBLKASteeringCmd: 6 NEO
- SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 23|2@0+ (1,0) [0|0] ""  NEO
- SG_ SetMe1 : 21|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
- SG_ LKASteeringCmdActive2 : 35|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM
- SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] ""  NEO
-
-BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM
- SG_ RollingCounter : 37|6@0+ (1,0) [0|0] ""  NEO
- SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
- SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
- SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] ""  NEO
-
-BO_TX_BU_ 823 : K43_PSCM,NEO;
-BO_TX_BU_ 789 : NEO,K17_EBCM;
-
-
-CM_ BU_ K182_PACM "Parking Assist Control Module";
-CM_ BU_ K43_PSCM "Power Steering Control Module";
-CM_ BU_ K17_EBCM "Electronic Brake Control Module";
-CM_ BU_ NEO "Comma NEO";
-CM_ BU_ K124_ASCM "Active Safety Control Module";
-BA_DEF_  "UseGMParameterIDs" INT 0 0;
-BA_DEF_  "ProtocolType" STRING ;
-BA_DEF_  "BusType" STRING ;
-BA_DEF_DEF_  "UseGMParameterIDs" 1;
-BA_DEF_DEF_  "ProtocolType" "GMLAN";
-BA_DEF_DEF_  "BusType" "";
-BA_ "UseGMParameterIDs" 0;
-BA_ "BusType" "CAN";
-BA_ "ProtocolType" "GMLAN";
-
-VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ;
diff --git a/opendbc/cadillac_ct6_object.dbc b/opendbc/cadillac_ct6_object.dbc
deleted file mode 100644
index d83ae672b16307..00000000000000
--- a/opendbc/cadillac_ct6_object.dbc
+++ /dev/null
@@ -1,3470 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: RRSRR_FO LRSRR_FO CIPM_FO _DOFIMU2_FO _DOFIMU1_FO DMS_FO AMM_FO EOCM2B_IMX6_FO EOCM2B_K2_FO EOCM2B_K1_FO EOCM2A_IMX6_FO EOCM2A_K2_FO EOCM2A_K1_FO NVS_FO Dummy_FO TestTool_FO LRR_FO RFSRR_FO LFSRR_FO RSRR_FO VIS_FO EOCM_F_FO VIS2_FO
-VAL_TABLE_ vt_BooleanValues 1 "true" 0 "false" ;
-VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ;
-VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ;
-VAL_TABLE_ DrvrMonSysEngSt 7 "Unused and Reserved 1" 6 "Recovering" 5 "Tracking" 4 "Searching" 3 "Video test port only" 2 "Idle" 1 "Invalid state" 0 "Does not exist or DME" ;
-VAL_TABLE_ DrvrMonEngUnrecvrFltCod 7 "Unused and Reserved 3" 6 "Unused and Reserved 2" 5 "Unused and Reserved 1" 4 "Vehicle power supply Errors" 3 "Problem with LED illuminators" 2 "Vehicle input signals Errors" 1 "Problem with imager" 0 "Ok" ;
-VAL_TABLE_ DrvrMonEngRecvrFltCod 3 "Engine is unable to find a face" 2 "Input Images too dark" 1 "Input images too bright" 0 "Ok" ;
-VAL_TABLE_ DrvrMntrSysVTP 1 "Video test port active" 0 "Video test port inactive" ;
-VAL_TABLE_ DrvrAttnStatCnfdc 3 "High" 2 "Medium" 1 "Low" 0 "Lowest" ;
-VAL_TABLE_ DrvrAttnStat 7 "Invalid" 6 "Driver is exhibiting sleep" 5 "Driver is exhibiting microsleep" 4 "Attention is Center Console" 3 "Attention is Drivers Lap" 2 "Attention is Off Road" 1 "Attention is On Road" 0 "Unknown" ;
-VAL_TABLE_ PPSMd 7 "GNSS and RTX and DR and MM" 6 "DR ONLY" 5 "GNSS and RTX and DR" 4 "GNSS and SBAS and DR" 3 "GNSS and DR" 2 "GNSS and  RTX" 1 "GNSS and SBAS" 0 "GNSS Standalone" ;
-VAL_TABLE_ AdvDrvAstMpPrfShrtAcur 3 "Accuracy Is Unknown" 2 "Lowest Accuracy" 1 "Medium Accuracy" 0 "Highest Accuracy" ;
-VAL_TABLE_ AdvDrAstMpStbRtOfWay 3 "Not Applicable" 2 "Unknown" 1 "Sub Path Has Right Of Way Over Path" 0 "Path Has Right Of Way Over Sub Path" ;
-VAL_TABLE_ AdvDrAstMpStbPrtCalRut 3 "Not Applicable" 2 "Unknown" 1 "Path From This Point On Is Part Of Calculated Route" 0 "Path From This Point On Is Not Part Of Calculated Route" ;
-VAL_TABLE_ AdvDrAstMpStbMsgTyp 7 "Unused and Reserved 2" 6 "Metadata" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Unused and Reserved 1" ;
-VAL_TABLE_ AdvDrAstMpStbFmOfWay 15 "Not Applicable" 14 "Pedestrian Zone" 13 "Entrance To Or Exit To Service" 12 "Entrance To Or Exit Of A Car Park" 11 "Service Road Or Frontage Road" 10 "Slip Road per Ramp" 9 "Slip Road per Ramp On A Freeway Or Controlled Access Road" 8 "Parallel Road" 7 "Unused and Reserved 2" 6 "Unused and Reserved 1" 5 "Traffic Square per Special Traffic Figure" 4 "Roundabout Circle" 3 "Single Carriageway" 2 "Multiple Carriageway Or Multiply Digitized Road" 1 "Freeway Or Controlled Access Road That Is Not A Slip Road Or Ramp" 0 "Unknown" ;
-VAL_TABLE_ AdvDrAstMpStbCmplxInsct 3 "Not Applicable" 2 "Unknown" 1 "Stub Is Part Of Complex Intersection" 0 "Stub Is Not Part Of Complex Intersection" ;
-VAL_TABLE_ AdvDrAstMpSegTunl 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Tunnel" 0 "Segment Is Not A Part Of Tunnel" ;
-VAL_TABLE_ AdvDrAstMpSegPrtCalRut 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Calculated Route" 0 "Segment Is Not Part Of Calculated Route" ;
-VAL_TABLE_ AdvDrAstMpSegMsgTyp 7 "Unused and Reserved 2" 6 "Metadata" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Unused and Reserved 1" ;
-VAL_TABLE_ AdvDrAstMpSegFrmOfWay 15 "Not Applicable" 14 "Pedestrian Zone" 13 "Entrance To Or Exit To Service" 12 "Entrance To Or Exit Of A Car Park" 11 "Service Road Or Frontage Road" 10 "Slip Road per Ramp" 9 "Slip Road per Ramp On A Freeway Or Controlled Access Road" 8 "Parallel Road" 7 "Unused and Reserved 2" 6 "Unused and Reserved 1" 5 "Traffic Square per Special Traffic Figure" 4 "Roundabout Circle" 3 "Single Carriageway" 2 "Multiple Carriageway Or Multiply Digitized Road" 1 "Freeway Or Controlled Access Road That Is Not A Slip Road or Ramp" 0 "Unknown" ;
-VAL_TABLE_ AdvDrAstMpSegEffSdLmtTp 7 "Not Applicable" 6 "Explicit Snow" 5 "Explicit Rain" 4 "Explicit Time Of Day" 3 "Explicit By Day" 2 "Explicit By Night" 1 "Explicit On Traffic Sign" 0 "Implicit" ;
-VAL_TABLE_ AdvDrAstMpSegDivdRd 3 "Not Applicable" 2 "Unkown" 1 "Segment Is Part Of Divided Road" 0 "Segment Is Not Part Of Divided Road" ;
-VAL_TABLE_ AdvDrAstMpSegCmplxInsct 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Complex Intersection" 0 "Segment Is Not Part Of Complex Intersection" ;
-VAL_TABLE_ AdvDrAstMpSegBrdg 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Bridge" 0 "Segment Not Part Of Bridge" ;
-VAL_TABLE_ AdvDrAstMpSegBldUpAra 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Built Up Area" 0 "Segment Is Not Part Of Built Up Area" ;
-VAL_TABLE_ AdvDrAstMpMtdtSpdUnt 1 "Miles Per Hour" 0 "Kilometers Per Hour" ;
-VAL_TABLE_ AdvDrAstMpMtdtDrvSd 1 "Driving Side Right" 0 "Driving Side Left" ;
-VAL_TABLE_ WSMR_WiFiAssnReq 3 "Unexpected Undefined Connection Behavior" 2 "Wi Fi association failed with available credentials" 1 "Failed to receive Wi Fi credentials after 255 attempts" 0 "SSID and Passphrase Request" ;
-VAL_TABLE_ StrgColCommsFlt 2 "Disabled Communications DTC" 1 "No Communications Fault" 0 "Communications Fault" ;
-VAL_TABLE_ CPMAPINFO4 1 "Hardware Or Software Error" 0 "No Hardware Or Software Error" ;
-VAL_TABLE_ AdvDrvAstMpPrfShrt2Acur 3 "Accuracy Is Unknown" 2 "Lowest Accuracy" 1 "Medium Accuracy" 0 "Highest Accuracy" ;
-VAL_TABLE_ InterLghtStat 1 "Interior Lights On" 0 "Interior Light Off" ;
-VAL_TABLE_ VehLnStatConf 2 "High Confidence" 1 "Low Confidence" 0 "No Confidence" 3 "Very High Confidence" ;
-VAL_TABLE_ VehLnStat 3 "Lane Change To Right" 2 "Lane Change To Left" 1 "Staying in Lane" 0 "Unkown" ;
-VAL_TABLE_ HrznPrvdRstRq 1 "Reset Not Required" 0 "Reset Required" ;
-VAL_TABLE_ ExptNxtTrnstnDirConf 3 "Very High Confidence" 2 "High Confidence" 1 "Low Confidence" 0 "No Confidence" ;
-VAL_TABLE_ ExptNxtTrnstnDir 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Traversing Middle Transition" 2 "Traversing Next Transition Right" 1 "Traversing Next Transition Left" 0 "Unknown" ;
-VAL_TABLE_ ADASISMsgTypRetrans 7 "GM System Specific" 6 "Meta Data" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Checksum" ;
-VAL_TABLE_ NVSysStat 7 "Needs Headlights" 6 "Temporarily Unavailable" 5 "Not Dark" 4 "Needs Service" 3 "Active" 2 "Inactive" 1 "Initializing" 0 "Unknown" ;
-VAL_TABLE_ NVSysPedWrnIndReq 3 "Unused & Reserved" 2 "Pedestrian Alert" 1 "Pedestrian Detected" 0 "None" ;
-VAL_TABLE_ NVSysPedDetCstReq 2 "On" 1 "Off" 0 "No Value" ;
-VAL_TABLE_ NVSysPedDetCsCrStVal 2 "On" 1 "Off" 0 "No Value" ;
-VAL_TABLE_ FwVsnCinCoutPotT9Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT8Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT7Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT6Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT5Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT4Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT3Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT2Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT1Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT12Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT11Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ FwVsnCinCoutPotT10Rev 2 "Right" 1 "Left" 0 "None" ;
-VAL_TABLE_ GFHBObjDirTrk8 1 "Ahead Traffic" 0 "Incoming Traffic" ;
-VAL_TABLE_ GFHBObjDirTrk7 1 "Ahead Traffic" 0 "Incoming Traffic" ;
-VAL_TABLE_ GFHBObjDirTrk6 1 "Ahead Traffic" 0 "Incoming Traffic" ;
-VAL_TABLE_ GFHBObjDirTrk5 1 "Ahead Traffic" 0 "Incoming Traffic" ;
-VAL_TABLE_ GFHBObjDirTrk4 1 "Ahead Traffic" 0 "Incoming Traffic" ;
-VAL_TABLE_ GFHBObjDirTrk3 1 "Ahead Traffic" 0 "Incoming Traffic" ;
-VAL_TABLE_ GFHBObjDirTrk2 1 "Ahead Traffic" 0 "Incoming Traffic" ;
-VAL_TABLE_ GFHBObjDirTrk1 1 "Ahead Traffic" 0 "Incoming Traffic" ;
-VAL_TABLE_ GFHBFwVsnRelLaneTrk8 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ GFHBFwVsnRelLaneTrk7 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ GFHBFwVsnRelLaneTrk6 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ GFHBFwVsnRelLaneTrk5 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ GFHBFwVsnRelLaneTrk4 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ GFHBFwVsnRelLaneTrk3 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ GFHBFwVsnRelLaneTrk2 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ GFHBFwVsnRelLaneTrk1 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ GFHBFwVsnMesStatTrk8 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ GFHBFwVsnMesStatTrk7 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ GFHBFwVsnMesStatTrk6 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ GFHBFwVsnMesStatTrk5 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ GFHBFwVsnMesStatTrk4 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ GFHBFwVsnMesStatTrk3 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ GFHBFwVsnMesStatTrk2 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ GFHBFwVsnMesStatTrk1 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ GFHBFwVsnCnfdncTrk8 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ;
-VAL_TABLE_ GFHBFwVsnCnfdncTrk7 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ;
-VAL_TABLE_ GFHBFwVsnCnfdncTrk6 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ;
-VAL_TABLE_ GFHBFwVsnCnfdncTrk5 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ;
-VAL_TABLE_ GFHBFwVsnCnfdncTrk4 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ;
-VAL_TABLE_ GFHBFwVsnCnfdncTrk3 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ;
-VAL_TABLE_ GFHBFwVsnCnfdncTrk2 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ;
-VAL_TABLE_ GFHBFwVsnCnfdncTrk1 0 "Invalid" 3 "Confident" 2 "Speculative" 1 "Highly Speculative" ;
-VAL_TABLE_ GFHBFVsnObjTypTrkRev8 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ;
-VAL_TABLE_ GFHBFVsnObjTypTrkRev7 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ;
-VAL_TABLE_ GFHBFVsnObjTypTrkRev6 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ;
-VAL_TABLE_ GFHBFVsnObjTypTrkRev5 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ;
-VAL_TABLE_ GFHBFVsnObjTypTrkRev4 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ;
-VAL_TABLE_ GFHBFVsnObjTypTrkRev3 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ;
-VAL_TABLE_ GFHBFVsnObjTypTrkRev2 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ;
-VAL_TABLE_ GFHBFVsnObjTypTrkRev1 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car" 0 "Unknown" ;
-VAL_TABLE_ CRL_Cnfdnc 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Best" 2 "Marking Present" 1 "Weak Marking" 0 "No Lane" ;
-VAL_TABLE_ CLL_Cnfdnc 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Best" 2 "Marking Present" 1 "Weak Marking" 0 "No Lane" ;
-VAL_TABLE_ VBBrkCtrlSt 4 "Release Control" 3 "Hold Vehicle" 2 "Apply Brake" 1 "Decrease Torque" 0 "No Action" ;
-VAL_TABLE_ ObstacleType 6 "NO_OBJECT" 5 "OBJ_GUARDRAIL" 4 "OBJ_TUNNEL " 3 "OBJ_TRAFFIC_SIGN" 2 "OBJ_VEHICLE" 1 "OBJ_BRIDGE " 0 "OBJ_UNKNOWN" ;
-VAL_TABLE_ VpathMode 2 "Mid Hi Spped" 1 "Low Speed" 0 "Disabled" ;
-VAL_TABLE_ LaneChngStatus 2 "Lane Change Right" 1 "Lane Change Left" 0 "Idle" ;
-VAL_TABLE_ TravelDirection 3 "Other (excessive side slip)" 2 "reverse / stopped in rvrs gear" 1 "Forward / stopped in frwd gear" 0 "Unknown" ;
-VAL_TABLE_ TrueOrFalse 1 "true" 0 "false" ;
-VAL_TABLE_ ModeCommand 5 "Sensing with Reduced Power" 4 "Undefined" 3 "Radio Silent" 2 "Sensing" 1 "Not Sensing" 0 "Undefined" ;
-VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ;
-VAL_TABLE_ LnSnsRLnPosValid 1 "Invalid" 0 "Valid" ;
-VAL_TABLE_ Elevation 3 "Low " 2 "mid (reserved)" 1 "high " 0 "Unknown" ;
-VAL_TABLE_ ModeCommandFdbk 5 "Sensing with reduced power" 4 "Undefined" 3 "Radio Silent" 2 "Sensing" 1 "Not Sensing" 0 "Undefined" ;
-VAL_TABLE_ relativeLane 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ;
-VAL_TABLE_ RoadTypeInfo 5 "Constiction Zone Exit" 4 "Construction Zone Entry" 3 "Highway" 2 "Secondary Road" 1 "City" 0 "Unknown" ;
-VAL_TABLE_ ObjectLossInfo 2 "elevation conditions" 1 "tight curve" 0 "not lost" ;
-VAL_TABLE_ MeasurementStatus 3 "Measured this cycle" 2 "Latent track not detctd this cyc" 1 "New Object" 0 "No Object" ;
-VAL_TABLE_ ObjectType 7 "no object present" 6 "fixed roadside object" 5 "fixed overhead object" 4 "pedestrian" 3 "motocycle  / bicycle" 2 "Large vehicle (semi)" 1 "4 Wheel Vehicle (car, small trk)" 0 "Unknown" ;
-VAL_TABLE_ Confidence 3 "confident" 2 "speculative" 1 "highly speculative" 0 "invalid" ;
-VAL_TABLE_ DynamicProp 4 "Moving in opposite direction" 3 "Moving in same direction as host" 2 "Has moved but currently stopped" 1 "Has never moved" 0 "Unknown" ;
-VAL_TABLE_ DrvWndPosSt 6 "Fully Opened" 5 "Open More Than C" 4 "Position C" 3 "Posistion B" 2 "Posistion A" 1 "Open Less Than A" 0 "Fully Closed" ;
-VAL_TABLE_ VehMovSta 4 "Invalid" 3 "Reverse" 2 "Forward" 1 "Neutral" 0 "Parked" ;
-VAL_TABLE_ OtsdAmbtLtLvlStat 2 "Day" 1 "Night" 0 "Unknown" ;
-VAL_TABLE_ RtTrnLmpAtv 2 "On with telltale" 1 "On without telltale" 0 "Off" ;
-VAL_TABLE_ LftTrnLmpAtv 2 "On with telltale" 1 "On without telltale" 0 "Off" ;
-VAL_TABLE_ HdlmpBmSelectStat 2 "High Beams" 1 "Low Beams" 0 "Unknown" ;
-VAL_TABLE_ DTCI_DTCFaultType 3 "Type C" 2 "Type B" 1 "Type A" 0 "Not Supported" ;
-VAL_TABLE_ TrnsShftLvrPos 13 "Forward Range J" 12 "Froward Range I" 15 "Lever Position Unknown" 11 "Forward Range H" 10 "Forward Range G" 9 "Forward Range F" 8 "Forward Range E" 7 "Forward Range D" 6 "Forward Range C" 5 "Forward Range B" 4 "Forward Range A" 3 "Neutral Range" 2 "Reverse Range" 1 "Park Range" 0 "Between Ranges" ;
-VAL_TABLE_ SysPwrMd 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off" ;
-VAL_TABLE_ ValidityStates 1 "Invalid" 0 "Valid" ;
-
-
-BO_ 1548 ADAS_Profile_Short2_FO: 8 AMM_FO
- SG_ AdvDrvAstMpPrfShrt2Val1 : 1|10@0+ (1,0) [0|1023] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2Val0 : 33|10@0+ (1,0) [0|1023] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2Updt : 39|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2RTrns : 3|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2Typ : 38|5@0+ (1,0) [0|31] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2PthIdx : 23|6@0+ (1,0) [0|63] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2Ofst : 52|13@0+ (1,0) [0|8191] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2MsgTp : 55|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2Dist1 : 17|10@0+ (1,0) [0|1023] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2CycCnt : 7|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2CtlPt : 2|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpPrfShrt2Acur : 5|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 1547 ADAS_Profile_Long2_FO: 8 AMM_FO
- SG_ AdvDrAstMpProfLng2Val : 39|32@0+ (1,0) [0|4294967295] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLng2Updt : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLng2RTrns : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLng2PrfTyp : 4|5@0+ (1,0) [0|31] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLng2PthIdx : 13|6@0+ (1,0) [0|63] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLng2Ofst : 20|13@0+ (1,0) [0|8191] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLng2MgTyp : 23|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLng2CycCt : 15|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLng2CtrlPt : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 1630 USDT_Resp_From_EOCM2B_K2_FO: 8 EOCM2B_K2_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1374 UUDT_Resp_From_EOCM2B_K2_FO: 8 EOCM2B_K2_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 606 USDT_Req_to_EOCM2B_K2_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  EOCM2B_K2_FO
-
-BO_ 328 Vehicle_Info_FO: 5 EOCM2A_K1_FO
- SG_ StrWhAngGrd : 27|12@0- (1,0) [-2048|2047] "deg/sec"  DMS_FO
- SG_ TrnsShftLvrPos : 31|4@0+ (1,0) [0|15] ""  DMS_FO
- SG_ StrWhAng_148 : 15|16@0- (0.0625,0) [-2048|2047.9375] "deg"  DMS_FO
- SG_ TrnsShftLvrPosV : 3|1@0+ (1,0) [0|1] ""  DMS_FO
- SG_ StrWhAngV_148 : 4|1@0+ (1,0) [0|1] ""  DMS_FO
- SG_ StrWhAngMsk_148 : 5|1@0+ (1,0) [0|1] ""  DMS_FO
- SG_ StrWhAngGrdV : 6|1@0+ (1,0) [0|1] ""  DMS_FO
- SG_ StrWhAngGrdMsk : 7|1@0+ (1,0) [0|1] ""  DMS_FO
-
-BO_ 1930 DTC_Triggered_78A_FO: 7 LRSRR_FO
- SG_ DTCI_CodeSupported_78A : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_78A : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCFailType_78A : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_78A : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_78A : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCSource_78A : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_78A : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_78A : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_78A : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_78A : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_78A : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_78A : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_78A : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_78A : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_78A : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_78A : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_78A : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_78A : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_78A : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_78A : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1624 USDT_Resp_From_LRSRR: 8 LRSRR_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1368 UUDT_Resp_From_LRSRR: 8 LRSRR_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 600 USDT_Req_to_LRSRR: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  LRSRR_FO
-
-BO_ 613 PPS_QualMetrics_FO: 8 EOCM2A_K1_FO
- SG_ PPSPstnDilPrcs : 47|10@0+ (0.1,0) [0|102.3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSMd : 53|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPS3DAbsPosErrEstmt : 9|10@0+ (0.1,0) [0|102.3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSAbsHdngErrEstmt : 0|7@0+ (0.5,0) [0|63.5] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSAbsVelErrEstmt : 30|5@0+ (1,0) [0|31] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSPosQltyMtrcsChksm : 50|11@0+ (1,0) [0|2047] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPS2DAbsPosErrEstmt : 25|10@0+ (0.1,0) [0|102.3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSPosQltyMtcBrstID : 2|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPS2DAbsPosErrEstmtV : 5|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPS3DAbsPosErrEstmtV : 4|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSAbsHdngErrEstmtV : 3|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSAbsVelErrEstmtV : 31|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSMdV : 7|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSPstnDilPrcsV : 6|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
-
-BO_ 612 PPS_Time_FO: 8 EOCM2A_K1_FO
- SG_ PPSTmdayV : 2|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSCldrDayV : 0|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSCldrDay : 8|9@0+ (1,0) [0|511] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSTmBrstID : 52|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSTmday : 31|27@0+ (1,0) [0|134217727] "ms"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSTmChksm : 50|11@0+ (1,0) [0|2047] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSCldrYrV : 1|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSCldrYr : 15|7@0+ (1,2014) [2014|2141] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
-
-BO_ 611 PPS_SigAcqTime_FO: 6 EOCM2A_K1_FO
- SG_ PPSSigAqTmBrstID : 38|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSSigAcqTmV : 39|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSSigAcqTm : 7|32@0+ (1,0) [0|4294967295] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSSigAqTmChksm : 34|11@0+ (1,0) [0|2047] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
-
-BO_ 610 PPS_PosLong_FO: 6 EOCM2A_K1_FO
- SG_ PPSLongBrstID : 39|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSLong : 6|31@0- (1,0) [-1073741824|1073741823] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSLongV : 7|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSLongChksm : 34|11@0+ (1,0) [0|2047] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
-
-BO_ 609 PPS_PosLat_FO: 6 EOCM2A_K1_FO
- SG_ PPSLatV : 7|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSLatChksm : 34|11@0+ (1,0) [0|2047] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSLatBrstID : 36|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSLat : 5|30@0- (1,0) [-536870912|536870911] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
-
-BO_ 1160 PassPhrase_3_AMM_FO: 8 EOCM2A_K1_FO
- SG_ WiFiPssPhrsDgts17to24_Mp : 7|64@0+ (1,0) [0|0] ""  EOCM2B_K1_FO,AMM_FO
-
-BO_ 1159 PassPhrase_2_AMM_FO: 8 EOCM2A_K1_FO
- SG_ WiFiPssPhrsDgts9to16_Mp : 7|64@0+ (1,0) [0|0] ""  EOCM2B_K1_FO,AMM_FO
-
-BO_ 1158 PassPhrase_1_AMM_FO: 8 EOCM2A_K1_FO
- SG_ WiFiPssPhrsDgts1to8_Mp : 7|64@0+ (1,0) [0|0] ""  EOCM2B_K1_FO,AMM_FO
-
-BO_ 1546 ADAS_Protection_FO: 4 AMM_FO
- SG_ AdvDrAstMpPrfLng2Avbl : 11|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPosAvbl : 15|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpHwFlt : 7|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtAvbl : 8|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpProtChksm : 23|16@0+ (1,0) [0|65535] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpProtRTrns : 0|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpProtCycCtMsg : 2|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbAvbl : 9|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpSegAvbl : 10|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfShrtAvbl : 14|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfShrt2Avbl : 13|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrAstMpPrfLngAvbl : 12|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ AdvDrvAstMpInpSigFld : 6|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
-
-BO_ 1545 ADAS_Metadata_FO: 8 AMM_FO
- SG_ AdvDrAstMpMtdtVerYrQtr : 60|2@0+ (1,1) [1|4] "Qtr"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtVerYr : 53|6@0+ (1,2000) [2000|2063] "Year"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtSpdUnt : 39|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtPrvdr : 7|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtMsgTyp : 58|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtMnrPrtVr : 23|4@0+ (1,0) [0|15] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtCycCnt : 18|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtRgnCd : 38|15@0+ (1,0) [0|32767] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtHwVer : 16|9@0+ (1,0) [0|511] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtMnrPrtSbVr : 4|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtMjrPrtVr : 55|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtDrvSd : 19|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpMtdtCntryCd : 1|10@0+ (1,0) [0|1023] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
-
-BO_ 1543 ADAS_Profile_Long_FO: 8 AMM_FO
- SG_ AdvDrAstMpPrfLngUpdt : 7|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPrfLngRTrns : 6|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPrfLngCtlPt : 5|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPrfLngTyp : 4|5@0+ (1,0) [0|31] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPrfLngCycCt : 15|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPrfLngPthIdx : 13|6@0+ (1,0) [0|63] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPrfLngMsgTp : 23|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPrfLngOfst : 20|13@0+ (1,0) [0|8191] "m"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPrfLngVal : 39|32@0+ (1,0) [0|4294967295] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
-
-BO_ 1544 ADAS_Profile_Short_FO: 8 AMM_FO
- SG_ AdvDrvAstMpPrfShrtVal1 : 1|10@0+ (1,0) [0|1023] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtVal0 : 33|10@0+ (1,0) [0|1023] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtDist1 : 17|10@0+ (1,0) [0|1023] "m"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtCycCnt : 7|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtAcur : 5|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtCtlPt : 2|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtRetr : 3|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtTyp : 38|5@0+ (1,0) [0|31] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtUpdt : 39|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtPthIdx : 23|6@0+ (1,0) [0|63] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtMsgTp : 55|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrvAstMpPrfShrtOfst : 52|13@0+ (1,0) [0|8191] "m"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
-
-BO_ 1542 ADAS_Stub_FO: 8 AMM_FO
- SG_ AdvDrAstMpStbSubPthIdx : 63|6@0+ (1,0) [0|63] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbUpdt : 55|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbPrtCalRut : 57|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbNmLnDrvDir : 54|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbCycCnt : 51|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbCmplxInsct : 49|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbTrnAngl : 47|8@0+ (1.417,0) [0|361.335] "deg"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbRtOfWay : 38|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbRelProb : 36|5@0+ (3.333,0) [0|103.323] "%"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbRetr : 39|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbNmLnOppDir : 31|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbPathIdx : 29|6@0+ (1,0) [0|63] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbLstStbOfst : 23|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbMsgTyp : 22|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbFmOfWay : 19|4@0+ (1,0) [0|15] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbFuncRdCls : 7|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpStbOfst : 4|13@0+ (1,0) [0|8191] "m"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
-
-BO_ 1541 ADAS_Segment_FO: 8 AMM_FO
- SG_ AdvDrAstMpSegRelProb : 12|5@0+ (3.333,0) [0|103.323] "%"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegUpdt : 0|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegTunl : 25|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegCycCnt : 39|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegCmplxInsct : 37|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegBldUpAra : 43|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegBrdg : 41|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegRTrns : 1|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegDivdRd : 31|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegPthIdx : 7|6@0+ (1,0) [0|63] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegPrtCalRut : 27|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegNmLnOppDir : 29|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegNmLnDrvDir : 55|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegMsgTyp : 46|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegFunRdCls : 23|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegFrmOfWay : 35|4@0+ (1,0) [0|15] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegEffSpdLmt : 20|5@0+ (1,0) [0|31] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegEffSdLmtTp : 15|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpSegOffset : 52|13@0+ (1,0) [0|8191] "m"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
-
-BO_ 608 PPS_ElevHdSpd_FO: 8 EOCM2A_K1_FO
- SG_ PPSVel : 31|8@0+ (1,0) [0|255] "km / h"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSVelV : 3|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSElvHedngSpdBrstID : 5|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSElvHdengSpdChksm : 50|11@0+ (1,0) [0|2047] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSHedngV : 6|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSHedng : 2|19@0+ (0.001,0) [0|524.287] "deg"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSElvtnV : 7|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
- SG_ PPSElvtn : 39|21@0+ (1,-100000) [-100000|1997151] "cm"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO
-
-BO_ 1168 WiFi_Station_AMM_FO: 5 AMM_FO
- SG_ WSMR_WiFiStnMpMACAddr : 15|32@0+ (1,0) [0|4294967295] ""  EOCM2B_K1_FO,EOCM2A_K1_FO
- SG_ WSMR_WiFiAssnReq : 1|2@0+ (1,0) [0|3] ""  EOCM2B_K1_FO,EOCM2A_K1_FO
-
-BO_ 1161 WiFi_AP_Data_AMM_FO: 2 EOCM2A_K1_FO
- SG_ WAPDM_SecurityType : 15|4@0+ (1,0) [0|15] ""  EOCM2B_K1_FO,AMM_FO
- SG_ WAPDM_WiFiEnStat : 0|1@0+ (1,0) [0|1] ""  EOCM2B_K1_FO,AMM_FO
- SG_ WAPDM_EncrptnType : 11|4@0+ (1,0) [0|15] ""  EOCM2B_K1_FO,AMM_FO
-
-BO_ 1157 SSID_AMM_3_FO: 8 EOCM2A_K1_FO
- SG_ WiFiSSIDDgts17to24_Mp : 7|64@0+ (1,0) [0|0] ""  EOCM2B_K1_FO,AMM_FO
-
-BO_ 326 DMS_Eye_AOI_Info_FO: 6 DMS_FO
- SG_ DrvrMontSysInit : 1|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMontSysAvlbl : 3|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMontMdlDatFlshProgrs : 2|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonEngRecvrFltCodARC : 36|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrAttnStatChksm : 34|11@0+ (1,0) [0|2047] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrAttnStat : 39|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrAttnStatPrd : 22|15@0+ (0.025,0) [0|819.175] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonEngRecvrFltCodV : 23|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonEngUnrecvrFltCod : 10|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonEngUnrecvrFltCodV : 11|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrAttnStatCnfdc : 13|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonEngRecvrFltCod : 15|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrAttnStatV : 0|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
-
-BO_ 324 DMS_RawMeasurement_Info2_FO: 8 DMS_FO
- SG_ DrvrMonFrmNum : 47|8@0+ (1,0) [0|255] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMntrSysVTP : 29|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonSysEngStV : 2|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonSysEngSt : 28|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonFrmNumV : 3|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrHeadRotAngZV : 4|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrHeadRotAngYV : 5|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrHeadRotAngXV : 6|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrHeadRotAngARC : 52|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonLatV : 7|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrMonLat : 50|11@0+ (0.001,0) [0|2.047] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvHeadRotAngZ : 25|10@0- (0.00625,0) [-3.2|3.19375] "rad"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ DrvHeadRotAngY : 23|10@0- (0.00625,0) [-3.2|3.19375] "rad"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ DrvrHeadRotAngX : 1|10@0- (0.00625,0) [-3.2|3.19375] "rad"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 322 DMS_RawMeasurement_Info1_FO: 8 DMS_FO
- SG_ DrvrEyeClosrRt : 47|8@0+ (0.005,0) [0|1.275] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrEyeClosrLft : 39|8@0+ (0.005,0) [0|1.275] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvHeadPosZV : 3|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvHeadPosYV : 4|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvHeadPosXV : 5|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrEyeClosrRtV : 6|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrEyeClosrLftV : 7|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvrEyeClosrARC : 52|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ DrvHeadPosZ : 50|11@0- (0.005,0) [-5.12|5.115] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ DrvHeadPosY : 18|11@0- (0.005,0) [-5.12|5.115] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ DrvHeadPosX : 2|11@0- (0.005,0) [-5.12|5.115] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 320 Inertial2_Rates_FO: 8 _DOFIMU2_FO
- SG_ MstrTgrSyncInrtl2Rte : 55|5@0+ (1,0) [0|31] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2YawRteV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2YawRte : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2RollRteV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2RollRte : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2RteChksum : 50|11@0+ (1,0) [0|2047] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2PitchRteV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2PitchRte : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 308 Inertial1_Rates_FO: 8 _DOFIMU1_FO
- SG_ MstrTrgrSyncInrtl1Rte : 55|5@0+ (1,0) [0|31] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial1YawRteV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial1YawRte : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial1RollRteV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial1RollRte : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial1RteChksum : 50|11@0+ (1,0) [0|2047] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial1PitchRteV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial1PitchRte : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 312 Inertial2_Accel2_FO: 8 _DOFIMU2_FO
- SG_ MstrTrigSyncInrtl22 : 55|5@0+ (1,0) [0|31] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSns2AccFrm2Chksm : 50|11@0+ (1,0) [0|2047] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr2YawAccV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr2YawAcc : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr2RollAccV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr2RollAcc : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr2PtchAccV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr2PtchAcc : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 306 Inertial1_Accel2_FO: 8 _DOFIMU1_FO
- SG_ MstrTrigSyncInrtl12 : 55|5@0+ (1,0) [0|31] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1AccelFrm2Chksm : 50|11@0+ (1,0) [0|2047] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1YawAccV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1YawAcc : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1RollAccV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1RollAcc : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1PtchAccV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1PtchAcc : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 310 Inertial2_Accel1_FO: 8 _DOFIMU2_FO
- SG_ MstrTrigSyncInrtl21 : 7|5@0+ (1,0) [0|31] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2VertAccV : 34|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2VertAcc : 33|10@0- (0.0625,0) [-32|31.9375] "m/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2LonAccV : 2|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2LonAcc : 1|10@0- (0.0625,0) [-32|31.9375] "m/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2LatAccV : 18|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ Inertial2LatAcc : 17|10@0- (0.0625,0) [-32|31.9375] "m/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ IntlSnsr2AcelFm1Chksm : 50|11@0+ (1,0) [0|2047] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 304 Inertial1_Accel1_FO: 8 _DOFIMU1_FO
- SG_ MstrTrigSyncInrtl11 : 7|5@0+ (1,0) [0|31] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1VertAccV : 34|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1VertAcc : 33|10@0- (0.0625,0) [-32|31.9375] "m/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1LonAccV : 2|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1LonAcc : 1|10@0- (0.0625,0) [-32|31.9375] "m/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1LatAccV : 18|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InrtlSnsr1LatAcc : 17|10@0- (0.0625,0) [-32|31.9375] "m/s^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ IntlSnsr1AcelFm1Chksm : 50|11@0+ (1,0) [0|2047] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 356 Map_Pos_Correction_FO: 4 EOCM2A_K1_FO
- SG_ LongErrPstn : 7|8@0- (0.5,0) [-64|63.5] "m"  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ LatErrPstn : 15|8@0- (0.5,0) [-64|63.5] "m"  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ PstnErrChcksm : 18|11@0+ (1,0) [0|2047] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ PstnErrARC : 20|2@0+ (1,0) [0|3] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 354 Map_Retrans_Request_FO: 1 EOCM2A_K1_FO
- SG_ HrznPrvdRstRq : 2|1@0+ (1,0) [0|1] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ ADASISRwDtMplxdCycCnt : 7|2@0+ (1,0) [0|3] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ ADASISMsgTypRetrans : 5|3@0+ (1,0) [0|7] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 352 Map_Path_Correction_FO: 6 EOCM2A_K1_FO
- SG_ ExptNxtTrnstnDir : 37|3@0+ (1,0) [0|7] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ MstProbLnV : 15|1@0+ (1,0) [0|1] ""  AMM_FO
- SG_ MstProbLn : 14|5@0+ (1,0) [0|31] ""  AMM_FO
- SG_ PathCrtnChcksm : 34|11@0+ (1,0) [0|2047] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ PathCrtnARC : 4|2@0+ (1,0) [0|3] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ EgoLnCurvV : 2|1@0+ (1,0) [0|1] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ EgoLnCurv : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m^2"  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ VehLnStatV : 1|1@0+ (1,0) [0|1] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ VehLnStatConf : 6|2@0+ (1,0) [0|3] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ VehLnStat : 9|2@0+ (1,0) [0|3] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ ExptNxtTransDirV : 0|1@0+ (1,0) [0|1] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ ExptNxtTrnstnDirConf : 39|2@0+ (1,0) [0|3] ""  AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 264 Inertial_Trigger_FO: 1 EOCM2A_K1_FO
- SG_ InrtlSnsrMstrTrgrSync : 7|5@0+ (1,0) [0|31] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,_DOFIMU2_FO,_DOFIMU1_FO
-
-BO_ 1156 SSID_AMM_2_FO: 8 EOCM2A_K1_FO
- SG_ WiFiSSIDDgts9to16_Mp : 7|64@0+ (1,0) [0|0] ""  EOCM2B_K1_FO,AMM_FO
-
-BO_ 1155 SSID_AMM_1_FO: 8 EOCM2A_K1_FO
- SG_ WiFiSSIDDgts1to8_Mp : 7|64@0+ (1,0) [0|0] ""  EOCM2B_K1_FO,AMM_FO
-
-BO_ 1927 DTC_Triggered_787_FO: 7 DMS_FO
- SG_ DTCI_CodeSupported_787 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_787 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCFailType_787 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_787 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_787 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCSource_787 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_787 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_787 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_787 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_787 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_787 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_787 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_787 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_787 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_787 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_787 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_787 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_787 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_787 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_787 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1926 DTC_Triggered_786_FO: 7 AMM_FO
- SG_ DTCI_CodeSupported_786 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_786 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCFailType_786 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_786 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_786 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCSource_786 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_786 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_786 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_786 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_786 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_786 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_786 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_786 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_786 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_786 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_786 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_786 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_786 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_786 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_786 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1928 DTC_Triggered_788_FO: 7 _DOFIMU1_FO
- SG_ DTCI_CodeSupported_788 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_788 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCFailType_788 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_788 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_788 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCSource_788 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_788 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_788 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_788 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_788 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_788 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_788 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_788 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_788 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_788 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_788 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_788 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_788 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_788 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_788 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1929 DTC_Triggered_789_FO: 7 _DOFIMU2_FO
- SG_ DTCI_CodeSupported_789 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_789 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCFailType_789 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_789 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_789 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCSource_789 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_789 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_789 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_789 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_789 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_789 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_789 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_789 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_789 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_789 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_789 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_789 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_789 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_789 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_789 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1352 UUDT_Resp_From_6DOFIMU2_FO: 8 _DOFIMU2_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 588 USDT_Req_to_EOCM2B_K1_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  EOCM2B_K1_FO
-
-BO_ 1356 UUDT_Resp_From_EOCM2B_K1_FO: 8 EOCM2B_K1_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1612 USDT_Resp_From_EOCM2B_K1_FO: 8 EOCM2B_K1_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1616 USDT_Resp_From_EOCM2A_IMX6_FO: 8 EOCM2A_IMX6_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1360 UUDT_Resp_From_EOCM2A_IMX6_FO: 8 EOCM2A_IMX6_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 592 USDT_Req_to_EOCM2A_IMX6_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  EOCM2A_IMX6_FO
-
-BO_ 1610 USDT_Resp_From_EOCM2A_K1_FO: 8 EOCM2A_K1_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1354 UUDT_Resp_From_EOCM2A_K1_FO: 8 EOCM2A_K1_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 586 USDT_Req_to_EOCM2A_K1_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  EOCM2A_K1_FO
-
-BO_ 1925 DTC_Triggered_785_FO: 7 NVS_FO
- SG_ DTCI_CodeSupported_785 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_785 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCFailType_785 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_785 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_785 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCSource_785 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_785 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_785 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_785 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_785 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_785 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_785 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_785 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_785 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_785 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_785 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_785 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_785 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_785 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_785 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1859 VIN_Digits_10_to_17_FO: 8 EOCM_F_FO
- SG_ VehIdNmDig10_17 : 7|64@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO
-
-BO_ 1857 VIN_Digits_2_to_9_FO: 8 EOCM_F_FO
- SG_ VehIdNmDig2_9 : 7|64@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO
-
-BO_ 771 Outside_Air_Temperature_FO: 2 EOCM_F_FO
- SG_ OtsAirTmpCrValV : 0|1@0+ (1,0) [0|1] ""  NVS_FO
- SG_ OtsAirTmpCrVal : 15|8@0+ (0.5,-40) [-40|87.5] "deg C"  NVS_FO
-
-BO_ 777 Night_Vision_System_Ped_FO: 1 NVS_FO
- SG_ NVSysStat : 3|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ NVSysPedWrnIndReq : 7|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ NVSysPedDetCsCrStVal : 5|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ NVSysPedDetCstStAvl : 0|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
-
-BO_ 607 USDT_Req_to_NVS_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  NVS_FO
-
-BO_ 1631 USDT_Resp_From_NVS_FO: 8 NVS_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1375 UUDT_Resp_From_NVS_FO: 8 NVS_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1540 ADAS_Position_FO: 8 AMM_FO
- SG_ AdvDrAstMpLatOffst : 40|9@0+ (1,-256) [-256|255] "m"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnIndx : 63|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnCnf : 61|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPsnIdxCrLn : 58|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnPthIndx : 46|6@0+ (1,0) [0|63] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnProb : 31|5@0+ (3.333,0) [0|103.323] "%"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnCycCnt : 26|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnAge : 24|9@0+ (5,0) [0|2555] "ms"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnRelHd : 23|8@0+ (1.417,0) [0|361.335] "deg"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnMsgTyp : 7|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
- SG_ AdvDrAstMpPstnOfst : 4|13@0+ (1,0) [0|8191] "m"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO
-
-BO_ 1608 USDT_Resp_From_6DOFIMU2_FO: 8 _DOFIMU2_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 871 LGT_ObjectDetect_Info_8_FO: 8 VIS2_FO
- SG_ GFHBFwVsnWidthTrk8 : 62|7@0+ (0.1,0) [0|12.7] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnVertPosTrk8 : 53|6@0+ (0.25,-3) [-3|12.75] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnRelLaneTrk8 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnAzmthRtTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ GFHBFwVsnCnfdncTrk8 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnRngTrkRev8 : 16|12@0+ (0.2,0) [0|819] "m"  EOCM_F_FO
- SG_ GFHBFwVsnAzmthTrkRev8 : 10|10@0- (0.05,0) [-25.6|25.55] "deg"  EOCM_F_FO
- SG_ GFHBFVsnObjTypTrkRev8 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ GFHBObjDirTrk8 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ GFHBFwVsnMesStatTrk8 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnObjIDTrk8 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 870 LGT_ObjectDetect_Info_7_FO: 8 VIS2_FO
- SG_ GFHBFwVsnWidthTrk7 : 62|7@0+ (0.1,0) [0|12.7] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnVertPosTrk7 : 53|6@0+ (0.25,-3) [-3|12.75] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnRelLaneTrk7 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnAzmthRtTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ GFHBFwVsnCnfdncTrk7 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnRngTrkRev7 : 16|12@0+ (0.2,0) [0|819] "m"  EOCM_F_FO
- SG_ GFHBFwVsnAzmthTrkRev7 : 10|10@0- (0.05,0) [-25.6|25.55] "deg"  EOCM_F_FO
- SG_ GFHBFVsnObjTypTrkRev7 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ GFHBObjDirTrk7 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ GFHBFwVsnMesStatTrk7 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnObjIDTrk7 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 869 LGT_ObjectDetect_Info_6_FO: 8 VIS2_FO
- SG_ GFHBFwVsnWidthTrk6 : 62|7@0+ (0.1,0) [0|12.7] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnVertPosTrk6 : 53|6@0+ (0.25,-3) [-3|12.75] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnRelLaneTrk6 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnAzmthRtTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ GFHBFwVsnCnfdncTrk6 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnRngTrkRev6 : 16|12@0+ (0.2,0) [0|819] "m"  EOCM_F_FO
- SG_ GFHBFwVsnAzmthTrkRev6 : 10|10@0- (0.05,0) [-25.6|25.55] "deg"  EOCM_F_FO
- SG_ GFHBFVsnObjTypTrkRev6 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ GFHBObjDirTrk6 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ GFHBFwVsnMesStatTrk6 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnObjIDTrk6 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 868 LGT_ObjectDetect_Info_5_FO: 8 VIS2_FO
- SG_ GFHBFwVsnWidthTrk5 : 62|7@0+ (0.1,0) [0|12.7] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnVertPosTrk5 : 53|6@0+ (0.25,-3) [-3|12.75] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnRelLaneTrk5 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnAzmthRtTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ GFHBFwVsnCnfdncTrk5 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnRngTrkRev5 : 16|12@0+ (0.2,0) [0|819] "m"  EOCM_F_FO
- SG_ GFHBFwVsnAzmthTrkRev5 : 10|10@0- (0.05,0) [-25.6|25.55] "deg"  EOCM_F_FO
- SG_ GFHBFVsnObjTypTrkRev5 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ GFHBObjDirTrk5 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ GFHBFwVsnMesStatTrk5 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnObjIDTrk5 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 867 LGT_ObjectDetect_Info_4_FO: 8 VIS2_FO
- SG_ GFHBFwVsnWidthTrk4 : 62|7@0+ (0.1,0) [0|12.7] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnVertPosTrk4 : 53|6@0+ (0.25,-3) [-3|12.75] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnRelLaneTrk4 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnAzmthRtTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ GFHBFwVsnCnfdncTrk4 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnRngTrkRev4 : 16|12@0+ (0.2,0) [0|819] "m"  EOCM_F_FO
- SG_ GFHBFwVsnAzmthTrkRev4 : 10|10@0- (0.05,0) [-25.6|25.55] "deg"  EOCM_F_FO
- SG_ GFHBFVsnObjTypTrkRev4 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ GFHBObjDirTrk4 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ GFHBFwVsnMesStatTrk4 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnObjIDTrk4 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 866 LGT_ObjectDetect_Info_3_FO: 8 VIS2_FO
- SG_ GFHBFwVsnWidthTrk3 : 62|7@0+ (0.1,0) [0|12.7] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnVertPosTrk3 : 53|6@0+ (0.25,-3) [-3|12.75] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnRelLaneTrk3 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnAzmthRtTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ GFHBFwVsnCnfdncTrk3 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnRngTrkRev3 : 16|12@0+ (0.2,0) [0|819] "m"  EOCM_F_FO
- SG_ GFHBFwVsnAzmthTrkRev3 : 10|10@0- (0.05,0) [-25.6|25.55] "deg"  EOCM_F_FO
- SG_ GFHBFVsnObjTypTrkRev3 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ GFHBObjDirTrk3 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ GFHBFwVsnMesStatTrk3 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnObjIDTrk3 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 865 LGT_ObjectDetect_Info_2_FO: 8 VIS2_FO
- SG_ GFHBFwVsnWidthTrk2 : 62|7@0+ (0.1,0) [0|12.7] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnVertPosTrk2 : 53|6@0+ (0.25,-3) [-3|12.75] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnRelLaneTrk2 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnAzmthRtTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ GFHBFwVsnCnfdncTrk2 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnRngTrkRev2 : 16|12@0+ (0.2,0) [0|819] "m"  EOCM_F_FO
- SG_ GFHBFwVsnAzmthTrkRev2 : 10|10@0- (0.05,0) [-25.6|25.55] "deg"  EOCM_F_FO
- SG_ GFHBFVsnObjTypTrkRev2 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ GFHBFwVsnMesStatTrk2 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBObjDirTrk2 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ GFHBFwVsnObjIDTrk2 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 864 LGT_ObjectDetect_Info_1_FO: 8 VIS2_FO
- SG_ GFHBFwVsnWidthTrk1 : 62|7@0+ (0.1,0) [0|12.7] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnVertPosTrk1 : 53|6@0+ (0.25,-3) [-3|12.75] "deg"  EOCM_F_FO
- SG_ GFHBFwVsnRelLaneTrk1 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnAzmthRtTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ GFHBFwVsnCnfdncTrk1 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnRngTrkRev1 : 16|12@0+ (0.2,0) [0|819] "m"  EOCM_F_FO
- SG_ GFHBFwVsnAzmthTrkRev1 : 10|10@0- (0.05,0) [-25.6|25.55] "deg"  EOCM_F_FO
- SG_ GFHBFVsnObjTypTrkRev1 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ GFHBObjDirTrk1 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ GFHBFwVsnMesStatTrk1 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ GFHBFwVsnObjIDTrk1 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1915 DTC_Triggered_77B_FO: 7 VIS_FO
- SG_ DTCI_DTCFaultType_77B : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_CodeSupported_77B : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_77B : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_77B : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_77B : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_77B : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_77B : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_77B : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_77B : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCFailType_77B : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_77B : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCSource_77B : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_77B : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_77B : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_77B : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_77B : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_77B : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_77B : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_77B : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_77B : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1923 DTC_Triggered_783_FO: 7 RSRR_FO
- SG_ DTCI_WrnIndRqdSt_783 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_783 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_783 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_783 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_783 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_783 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_783 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCSource_783 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_783 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_783 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFailType_783 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_783 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CodeSupported_783 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_783 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_783 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_783 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_783 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_783 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_783 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_783 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1924 DTC_Triggered_784_FO: 7 RRSRR_FO
- SG_ DTCI_HistStat_784 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_784 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_784 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_784 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_784 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_784 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_784 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_784 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_784 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_784 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_784 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_784 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_784 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CodeSupported_784 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_784 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCFailType_784 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_784 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_784 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCSource_784 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_784 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1922 DTC_Triggered_782_FO: 7 RFSRR_FO
- SG_ DTCI_WrnIndRqdSt_782 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_782 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_782 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_782 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_782 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_782 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_782 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_782 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_782 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_782 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_782 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_782 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_782 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_782 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCSource_782 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_782 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_782 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFailType_782 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_CurrentStatus_782 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_CodeSupported_782 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1920 DTC_Triggered_780_FO: 7 LRR_FO
- SG_ DTCI_CurrentStatus_780 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_780 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_780 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_780 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_780 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_780 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_780 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_780 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_780 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_780 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_780 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_780 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_780 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_780 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_780 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCSource_780 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_780 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_780 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFailType_780 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_CodeSupported_780 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1921 DTC_Triggered_781_FO: 7 LFSRR_FO
- SG_ DTCI_CurrentStatus_781 : 41|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_WrnIndRqdSt_781 : 47|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused7_781 : 1|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused6_781 : 2|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused5_781 : 3|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused4_781 : 4|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused3_781 : 5|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused2_781 : 6|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCIUnused1_781 : 7|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdPwrUpSt_781 : 45|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstNPsdCdClrdSt_781 : 42|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldPwrUpSt_781 : 46|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_TstFldCdClrdStat_781 : 43|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_HistStat_781 : 44|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCTriggered_781 : 0|1@0+ (1,0) [0|1] ""  TestTool_FO
- SG_ DTCI_DTCSource_781 : 15|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCNumber_781 : 23|16@0+ (1,0) [0|65535] ""  TestTool_FO
- SG_ DTCI_DTCFaultType_781 : 55|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_DTCFailType_781 : 39|8@0+ (1,0) [0|255] ""  TestTool_FO
- SG_ DTCI_CodeSupported_781 : 40|1@0+ (1,0) [0|1] ""  TestTool_FO
-
-BO_ 1034 Curvature_Right_Line_FO: 7 VIS2_FO
- SG_ CRL_Cnfdnc : 50|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ CRL_ViewRng : 33|15@0+ (0.0039064,0) [0|128.0010088] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ CRL_CoefdA : 17|16@0- (3.6622E-009,0) [-0.0001200029696|0.0001199993074] "1/m^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ CRL_CoefA : 1|16@0- (6.1036E-007,0) [-0.02000027648|0.01999966612] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 1033 Curvature_Left_Line_FO: 7 VIS2_FO
- SG_ CLL_Cnfdnc : 50|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ CLL_ViewRng : 33|15@0+ (0.0039064,0) [0|128.0010088] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ CLL_CoefdA : 17|16@0- (3.6622E-009,0) [-0.0001200029696|0.0001199993074] "1/m^2"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ CLL_CoefA : 1|16@0- (6.1036E-007,0) [-0.02000027648|0.01999966612] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
-
-BO_ 1365 UUDT_Resp_From_VIS2_FO: 8 VIS2_FO
- SG_ DgnInf_OBJ555 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1621 USDT_Resp_From_VIS2_FO: 8 VIS2_FO
- SG_ DgnInf_OBJ655 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1094 F_Vision_Obj_Track_12: 8 VIS2_FO
- SG_ FwdVsnObjTypTr12Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FwdVsnAzmthTrk12Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnRngTrk12Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FVisionWidthTrk12 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FVisionMeasStatTrk12 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnVertPosTrk12 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FVisionRelLaneTrk12 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk12 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec"  EOCM_F_FO
- SG_ FVisionConfTrk12 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ ObjDirTrk12 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk12 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk12 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1093 F_Vision_Obj_Track_11: 8 VIS2_FO
- SG_ FwdVsnObjTypTr11Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FwdVsnAzmthTrk11Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnRngTrk11Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FVisionWidthTrk11 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FVisionMeasStatTrk11 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnVertPosTrk11 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FVisionRelLaneTrk11 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk11 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec"  EOCM_F_FO
- SG_ FVisionConfTrk11 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ ObjDirTrk11 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk11 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk11 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1100 F_Vision_Obj_Track_12_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT12Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk12 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk12 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk12 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk12 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr12 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk12 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo12 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1099 F_Vision_Obj_Track_11_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT11Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk11 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk11 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk11 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk11 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr11 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk11 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo11 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1098 F_Vision_Obj_Track_10_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT10Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk10 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk10 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk10 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk10 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr10 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk10 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo10 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1097 F_Vision_Obj_Track_9_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT9Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk9 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk9 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk9 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk9 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr9 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk9 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo9 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1096 F_Vision_Obj_Track_8_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT8Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk8 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk8 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk8 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk8 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr8 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk8 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo8 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1095 F_Vision_Obj_Track_7_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT7Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk7 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk7 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk7 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk7 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr7 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk7 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo7 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 863 F_Vision_GFHB_Data_FO: 8 VIS2_FO
- SG_ RgDtLgtSrcHrtAngl : 49|10@0- (0.04,0) [-20.48|20.44] "deg"  EOCM_F_FO
- SG_ RgDtLgtSrcHrtAngVcty : 55|6@0- (1,0) [-32|31] "deg/sec"  EOCM_F_FO
- SG_ LfDtLgtSrcHrtAngl : 33|10@0- (0.04,0) [-20.48|20.44] "deg"  EOCM_F_FO
- SG_ LfDtLgtSrcHrtAnVcty : 39|6@0- (1,0) [-32|31] "deg/sec"  EOCM_F_FO
- SG_ AdvWthrStat : 25|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ DtctdLghtSrcDstnc : 22|7@0+ (10,0) [0|1270] "m"  EOCM_F_FO
- SG_ DtctdLghtSrcVrtclAngl : 1|10@0- (0.04,0) [-20.48|20.44] "deg"  EOCM_F_FO
- SG_ IntLghtRngAct : 2|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ DtctdLghtSrcDstncV : 3|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ TwnDtctnSts : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ DtctdLghtSrcDrvngDrctn : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 862 LGT_ControlHighBeamGlare_FO: 2 VIS2_FO
- SG_ FwdCamSysOpStat : 10|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ EnvIllum : 2|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RdTyp : 5|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ AutoHgBmSts : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1068 F_Vision_Obj_Track_6_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT6Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk6 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk6 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk6 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk6 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr6 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk6 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo6 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1067 F_Vision_Obj_Track_5_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT5Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk5 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk5 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk5 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk5 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr5 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk5 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo5 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1066 F_Vision_Obj_Track_4_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT4Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk4 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk4 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk4 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk4 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr4 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk4 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo4 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1065 F_Vision_Obj_Track_3_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT3Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk3 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk3 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk3 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk3 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr3 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk3 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo3 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1064 F_Vision_Obj_Track_2_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT2Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk2 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk2 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk2 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk2 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr2 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk2 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo2 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1063 F_Vision_Obj_Track_1_B: 8 VIS2_FO
- SG_ FwVsnCinCoutPotT1Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnObjSclChgTrk1 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
- SG_ FwdVsnObjAgeTrk1 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
- SG_ FwdVsnLongVlctyTrk1 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
- SG_ FwdVsnLatOfstTrk1 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
- SG_ FwdVsnBrkLtStatTrk1 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FwdVsnTrnSigStatTr1 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FrtVsnBrstIDAddInfo1 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1151 Long_Range_Radar_add_Info_5_FO: 8 LRR_FO
- SG_ FrtRdrRdEdgLtLatRdEdgDst : 63|8@0- (0.1,0) [-12.8|12.7] "m/m"  EOCM_F_FO
- SG_ FrtRdrRdEdgLtCrvtPrvDst : 5|4@0+ (10,0) [0|150] ""  EOCM_F_FO
- SG_ FrtRdrRdEdgLtTanHdgAng : 15|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM_F_FO
- SG_ FrtRdrRdEdgLtCrvtV : 48|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtRdrRdEdgLtCrvtGradV : 0|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtRdrRdEdgLtCrvtGrad : 39|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)"  EOCM_F_FO
- SG_ FrtRdrRdEdgLtCrvtConf : 55|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM_F_FO
- SG_ FrtRdrRdEdgLtCrvt : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m"  EOCM_F_FO
- SG_ FrtRdrRdEdgLtTanHdgAngV : 1|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRAddInfo5BurstID : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1150 Long_Range_Radar_add_Info_4_FO: 8 LRR_FO
- SG_ FrtRdrRdEdgRtLatRdEdgDst : 63|8@0- (0.1,0) [-12.8|12.7] "m/m"  EOCM_F_FO
- SG_ FrtRdrRdEdgRtCrvtPrvDst : 5|4@0+ (10,0) [0|150] ""  EOCM_F_FO
- SG_ FrtRdrRdEdgRtTanHdgAngV : 1|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtRdrRdEdgRtTanHdgAng : 15|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM_F_FO
- SG_ FrtRdrRdEdgRtCrvtV : 48|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtRdrRdEdgRtCrvtGradV : 0|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtRdrRdEdgRtCrvtGrad : 39|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)"  EOCM_F_FO
- SG_ FrtRdrRdEdgRtCrvtConf : 55|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM_F_FO
- SG_ FrtRdrRdEdgRtCrvt : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m"  EOCM_F_FO
- SG_ FLRRAddInfo4BurstID : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1088 F_Vision_Obj_Header_2: 8 VIS2_FO
- SG_ FrntVsnInPthVehBrkNwSt : 35|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FrntVsnClostPedBrkNwSt : 39|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FrntVsnClostPedObjID : 29|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FrntVsnClostPedAlrtNwFlg : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrntVsnClostPedNotftnFlg : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrntVsnInPthVehAlrtNwFlg : 2|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtVsnVldTgtNum2 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FrtVsnTmStmp2V : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtVsnTmStmp2 : 10|11@0+ (1,0) [0|2047] ""  EOCM_F_FO
- SG_ FrtVsnRollCnt2 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FrtVsnBrstChksum2 : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
-
-BO_ 854 F_Vision_Environment_7: 3 VIS2_FO
- SG_ FwdVsnCnstrctAreaDst : 13|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ FwdVsnCnstrctZnDet : 15|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ FwdVsnEgoVehLnPos : 17|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ FwdVsnRdTypDet : 9|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ FwdVsnTunnlDetd : 23|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ FwdVsnTunnlDst : 21|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsBrstID5 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
-
-BO_ 853 F_Vision_Environment_6: 8 VIS2_FO
- SG_ LnMrkg4LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnSnsLnDstV : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnSnsLnCrvtGrad : 47|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnSnsLnCrvt : 31|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnMrkrTyp : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsBrstID4 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
-
-BO_ 852 F_Vision_Environment_5: 8 VIS2_FO
- SG_ LnMrkg3LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnSnsLnDstV : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnSnsLnCrvtGrad : 47|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnSnsLnCrvt : 31|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnMrkrTyp : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsBrstID3 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
-
-BO_ 602 USDT_Req_to_RRSRR: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  RRSRR_FO
-
-BO_ 1626 USDT_Resp_From_RRSRR: 8 RRSRR_FO
- SG_ DgnInf_OBJ65A : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1370 UUDT_Resp_From_RRSRR: 8 RRSRR_FO
- SG_ DgnInf_OBJ55A : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1536 RR_SRR_Trace_data: 8 RRSRR_FO
- SG_ RRSRRYear : 7|8@0+ (1,0) [0|0] ""  EOCM_F_FO
- SG_ RRSRRSerialNmbr : 39|32@0+ (1,0) [0|0] ""  EOCM_F_FO
- SG_ RRSRRJulianDate : 15|24@0+ (1,0) [0|0] ""  EOCM_F_FO
-
-BO_ 1210 RR_SRR_Object_Track10: 8 RRSRR_FO
- SG_ RRSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RRSrrBurstID10 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1209 RR_SRR_Object_Track9: 8 RRSRR_FO
- SG_ RRSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RRSrrBurstID9 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1208 RR_SRR_Object_Track8: 8 RRSRR_FO
- SG_ RRSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RRSrrBurstID8 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1207 RR_SRR_Object_Track7: 8 RRSRR_FO
- SG_ RRSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RRSrrBurstID7 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1206 RR_SRR_Object_Track6: 8 RRSRR_FO
- SG_ RRSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RRSrrBurstID6 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1205 RR_SRR_Object_Track5: 8 RRSRR_FO
- SG_ RRSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RRSrrBurstID5 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 262 LHT_AutoHighBeamAssistStatus_FO: 5 EOCM_F_FO
- SG_ NtVsnSysEnbld : 6|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO
- SG_ VehMovState : 5|3@0+ (1,0) [0|7] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO
- SG_ NVSysPedDetCstReq : 2|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO
- SG_ StrWhAngV : 8|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO
- SG_ StrWhAngMsk : 9|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ StrWhAng : 23|16@0- (0.0625,0) [-2048|2047.9375] "deg"  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO
- SG_ RtTrnLmpAtv : 13|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ MpDataAvlbl : 0|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ LftTrnLmpAtv : 11|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ HdlmpBmSelectStat : 33|2@0+ (1,0) [0|3] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ BldUpArDet : 14|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ FrFogLmpsAct : 15|1@0+ (1,0) [0|1] ""  EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO
-
-BO_ 309 LHT_CameraObjConfirmation_FO: 1 VIS_FO
- SG_ HiBmRecmnd : 1|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ CtLghtDet : 0|1@0+ (1,0) [0|1] ""  EOCM_F_FO
-
-BO_ 2034 CCP_Data_Transmission_Object_FO: 8 VIS2_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 2032 CCP_Command_Receive_Object_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  VIS2_FO
-
-BO_ 1362 F_Vis_Obj_Conf_CPS_1B: 8 EOCM_F_FO
- SG_ FObjConfCPSTrkObjectIDB : 7|6@0+ (1,0) [0|63] ""  VIS_FO
- SG_ CPSVisConfLonPos1 : 20|12@0- (0.125,0) [-256|255.875] "m"  VIS_FO
- SG_ CPSVisConfLatPos1 : 15|10@0- (0.125,0) [-64|63.875] "m"  VIS_FO
- SG_ CPSVisConfChecksum : 50|11@0+ (1,0) [0|2047] ""  VIS_FO
- SG_ FObjConfCPSTrkRangeRate : 45|11@0- (0.125,0) [-128|127.875] "m/s"  VIS_FO
- SG_ CPSConfTimeStamp : 24|11@0+ (1,0) [0|2047] "ms"  VIS_FO
- SG_ CPSConfTimeStampV : 21|1@0+ (1,0) [0|1] ""  VIS_FO
- SG_ FObjConfCPSRollingTrkCnt : 1|2@0+ (1,0) [0|3] ""  VIS_FO
-
-BO_ 1413 TOS_ACC_IDS: 5 EOCM_F_FO
- SG_ TOS_ACC_IDSRollCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ TOS_ACC_IDSFuncState : 5|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ TOS_ACC_ID1 : 3|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ TOS_ACC_ID2 : 13|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ TOS_ACC_ID3 : 23|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ TOS_ACC_ID4 : 17|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ TOS_ACC_ID5 : 27|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ TOS_ACC_ID6 : 37|6@0+ (1,0) [0|63] ""  Dummy_FO
-
-BO_ 1412 F_ACC_Target: 8 EOCM_F_FO
- SG_ FACCTOSRollCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FACCTOSFuncState : 5|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FACCTOSLongPos : 3|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FACCTOSLatPos : 23|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FACCTOSMeasStat : 28|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FACCTOSLongVel : 26|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FACCTOSTrgtDecelFlg : 47|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FACCTOSDynProp : 46|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FACCTOSLatVel : 42|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FACCTOSRelLane : 63|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FACCTOSHiThrtID : 61|6@0+ (1,0) [0|63] ""  Dummy_FO
-
-BO_ 1409 F_CPS_TOS_B: 8 EOCM_F_FO
- SG_ CPSTOSObjType : 7|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ CPSTOSHiThrtPriNo : 60|5@0+ (1,0) [0|31] ""  Dummy_FO
- SG_ CPSTOSRelLongAcc : 53|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ CPSTOSConfAsmt : 21|12@0+ (1,0) [0|4095] ""  Dummy_FO
- SG_ CPSTOSNumCycTrkd : 4|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ CPSTOSTimeToColl : 1|12@0+ (0.025,0) [0|102.375] "s"  Dummy_FO
- SG_ CPSTOSClosestInPthVehRng : 47|10@0+ (0.25,0) [0|255.75] "m"  Dummy_FO
- SG_ CPSTOSClosestInPthObID : 37|6@0+ (1,0) [0|63] "m"  Dummy_FO
- SG_ CPSTOSMeasStat : 39|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ CPSTOSFuncState : 25|2@0+ (1,0) [0|3] ""  Dummy_FO
-
-BO_ 1408 F_CPS_TOS_A: 8 EOCM_F_FO
- SG_ CPSTOSLongPos : 7|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ CPSTOSLatPos : 11|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ CPSTOSLongVel : 16|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ CPSTOSDynProp : 37|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ CPSTOSLatVel : 34|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ CPSTOSARelLane : 63|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ CPSTOSHiThrtID : 61|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ CPSTOSHighestThreatObAsmt : 55|8@0+ (1,0) [0|255] ""  Dummy_FO
-
-BO_ 1344 FLPEstimate: 8 EOCM_F_FO
- SG_ FLPRollCount : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ NewLaneIndex : 5|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ VehPathInOK : 3|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LaneSnsInOK : 2|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ MapInOK : 1|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FWDObjFusInOK : 0|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LngthFrstSeg : 15|4@0+ (10,0) [0|150] "m"  Dummy_FO
- SG_ LngthScndSeg : 11|4@0+ (10,0) [0|150] "m"  Dummy_FO
- SG_ CurvFrstSeg : 23|13@0- (5E-005,0) [-0.2048|0.20475] "1/m"  Dummy_FO
- SG_ CurvScndSeg : 26|3@0- (0.001,0) [-0.004|0.003] "1/m"  Dummy_FO
- SG_ OffstLaneCntr : 39|8@0- (0.05,0) [-6.4|6.35] "m"  Dummy_FO
- SG_ TngntLaneHead : 47|8@0- (0.002,0) [-0.256|0.254] "m/m"  Dummy_FO
- SG_ LaneWidth : 55|8@0+ (0.05,0) [0|12.75] "m"  Dummy_FO
- SG_ FLPDataTimeStampV : 63|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FLPDataTimeStamp : 62|7@0+ (16,0) [0|2032] "ms"  Dummy_FO
-
-BO_ 770 F_Fwd_Collision_Alert: 8 EOCM_F_FO
- SG_ Vpath_Accel : 51|11@0- (0.125,0) [-128|127.875] "m/s^2"  NVS_FO,Dummy_FO
- SG_ FCA_Ra : 7|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FCA_Range : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FCA_AlertLevel : 44|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FCA_Alert_Sup : 31|16@0+ (1,0) [0|65535] ""  Dummy_FO
- SG_ FCAStatus : 46|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FCA_VehAhead : 47|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FCA_CPS_Alert : 42|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FCAChime : 41|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FCADiagOK : 40|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ NBSMS_Alert : 55|1@0+ (1,0) [0|1] ""  Dummy_FO
-
-BO_ 1601 USDT_Resp_From_VIS: 8 VIS_FO
- SG_ DgnInf_OBJ641 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1606 USDT_Resp_From_RFSRR: 8 RFSRR_FO
- SG_ DgnInf_OBJ646 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1603 USDT_Resp_From_LFSRR: 8 LFSRR_FO
- SG_ DgnInf_OBJ643 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1602 USDT_Resp_From_LRR: 8 LRR_FO
- SG_ DgnInf_OBJ642 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1625 USDT_Resp_From_RSRR: 8 RSRR_FO
- SG_ DgnInf_OBJ644 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1611 USDT_Resp_From_FEOCM_FO: 8 EOCM_F_FO
- SG_ DgnInf_OBJ64B : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 768 F_Smgr_Vehicle_Motion: 8 EOCM_F_FO
- SG_ SmgrMotRollAngle : 44|10@0- (0.1,0) [-51.2|51.1] "deg"  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotRollAngleV : 0|1@0+ (1,0) [0|1] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotChecksum : 50|11@0+ (1,0) [0|2047] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotPitchAngle : 39|11@0- (0.1,0) [-102.4|102.3] "deg"  CIPM_FO,NVS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotPitchAngleV : 1|1@0+ (1,0) [0|1] ""  CIPM_FO,NVS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotLongSpeedV : 2|1@0+ (1,0) [0|1] " "  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotLongSpeed : 18|11@0- (0.1,0) [-102.4|102.3] "m/s"  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotYawRate : 14|12@0- (0.05,0) [-102.4|102.35] "deg/s"  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotYawRateV : 15|1@0+ (1,0) [0|1] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
- SG_ SmgrMotRollingCnt : 4|2@0+ (1,0) [0|3] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO
-
-BO_ 1350 UUDT_Resp_From_RFSRR: 8 RFSRR_FO
- SG_ DgnInf_OBJ546 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1369 UUDT_Resp_From_RSRR: 8 RSRR_FO
- SG_ DgnInf_OBJ544 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1347 UUDT_Resp_From_LFSRR: 8 LFSRR_FO
- SG_ DgnInf_OBJ543 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1346 UUDT_Resp_From_LRR: 8 LRR_FO
- SG_ DgnInf_OBJ542 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1345 UUDT_Resp_From_VIS: 8 VIS_FO
- SG_ DgnInf_OBJ541 : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 579 USDT_Req_to_LFSRR: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  LFSRR_FO
-
-BO_ 577 USDT_Req_to_VIS: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  VIS_FO
-
-BO_ 578 USDT_Req_to_LRR: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  LRR_FO
-
-BO_ 582 USDT_Req_to_RFSRR: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  RFSRR_FO
-
-BO_ 601 USDT_Req_to_RSRR: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  RSRR_FO
-
-BO_ 1355 UUDT_Resp_From_FEOCM_FO: 8 EOCM_F_FO
- SG_ DgnInf_OBJ54B : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 587 USDT_Req_to_FEOCM_obj: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  EOCM2A_K2_FO,EOCM_F_FO
-
-BO_ 784 Body_Info_FOB: 6 EOCM_F_FO
- SG_ StrgColUpDwnPos : 39|8@0+ (1,0) [0|255] ""  DMS_FO
- SG_ CPMAPINFO4 : 47|1@0+ (1,0) [0|1] ""  DMS_FO
- SG_ StrgColInOutPos : 31|8@0+ (1,0) [0|255] ""  DMS_FO
- SG_ StrgColCommsFlt : 19|2@0+ (1,0) [0|3] ""  DMS_FO
- SG_ DrDoorOpenSwActV : 16|1@0+ (1,0) [0|1] ""  DMS_FO
- SG_ DrDoorOpenSwAct : 17|1@0+ (1,0) [0|1] ""  DMS_FO
- SG_ DrvWndPosStat : 22|3@0+ (1,0) [0|7] ""  CIPM_FO,DMS_FO,VIS2_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ InterLghtStat : 23|1@0+ (1,0) [0|1] ""  CIPM_FO,DMS_FO,VIS2_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ DrvrHndsOnWhlZn3 : 13|1@0+ (1,0) [0|1] ""  CIPM_FO,AMM_FO,DMS_FO,VIS2_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ DrvrHndsOnWhlZn2 : 14|1@0+ (1,0) [0|1] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,VIS2_FO
- SG_ DrvrHndsOnWhlZn1 : 15|1@0+ (1,0) [0|1] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,VIS2_FO
- SG_ WSWshSwAtv : 11|1@0+ (1,0) [0|1] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,VIS_FO,VIS2_FO
- SG_ SysPwrMdV : 8|1@0+ (1,0) [0|1] ""  NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO,LRSRR_FO,CIPM_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,VIS2_FO
- SG_ SysPwrMd : 10|2@0+ (1,0) [0|3] ""  NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO,LRSRR_FO,CIPM_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,VIS2_FO
- SG_ WSWprAct : 2|1@0+ (1,0) [0|1] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO
- SG_ RtLwBmFld : 4|1@0+ (1,0) [0|1] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO
- SG_ OtsdAmbtLtLvlStatV : 5|1@0+ (1,0) [0|1] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO
- SG_ OtsdAmbtLtLvlStat : 7|2@0+ (1,0) [0|3] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO
- SG_ LowBmAct : 1|1@0+ (1,0) [0|1] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO
- SG_ LftLwBmFld : 3|1@0+ (1,0) [0|1] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO
- SG_ HighBmAct : 0|1@0+ (1,0) [0|1] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO
- SG_ TrStLgMdAtv : 12|1@0+ (1,0) [0|1] ""  CIPM_FO,NVS_FO,RRSRR_FO,LRSRR_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,LRR_FO,RFSRR_FO,LFSRR_FO,RSRR_FO,VIS_FO,VIS2_FO
-
-BO_ 1539 RF_SRR_Trace_Data: 8 RFSRR_FO
- SG_ RFSRRYear : 7|8@0+ (1,0) [0|0] ""  EOCM_F_FO
- SG_ RFSRRSerialNmbr : 39|32@0+ (1,0) [0|0] ""  EOCM_F_FO
- SG_ RFSRRJulianDate : 15|24@0+ (1,0) [0|0] ""  EOCM_F_FO
-
-BO_ 776 F_Vehicle_Path_Data_2: 7 EOCM_F_FO
- SG_ Vpath_Data2ModeInfo : 44|2@0+ (1,0) [0|3] ""  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath2_Checksum : 42|11@0+ (1,0) [0|2047] ""  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RFSRR_FO,LFSRR_FO,RSRR_FO,LRR_FO
- SG_ Vpath_Data2RollCnt : 46|2@0+ (1,0) [0|3] ""  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_Data2YawRateV : 2|1@0+ (1,0) [0|1] ""  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_Data2LongVelV : 1|1@0+ (1,0) [0|1] ""  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,NVS_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_Data2LatVelV : 47|1@0+ (1,0) [0|1] ""  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_Data2TravlDirctn : 4|2@0+ (1,0) [0|3] ""  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_Data2LongVel : 15|12@0- (0.0625,0) [-128|127.9375] "m/s"  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,NVS_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_Data2YawRate : 19|12@0- (0.0625,0) [-128|127.9375] "deg/s"  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_Data2LatVel : 39|8@0- (0.05,0) [-6.4|6.35] "m/s"  CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
-
-BO_ 161 F_Master_Time_Sync: 7 EOCM_F_FO
- SG_ FTimeSyncMstrChksm : 35|12@0+ (1,0) [0|4095] ""  AMM_FO,CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ FTimeSyncMstrClock : 7|32@0+ (1,0) [0|4294967295] "ms"  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ SensorModeCmdLRR : 39|3@0+ (1,0) [0|7] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ SensorModeCmdSRR : 50|3@0+ (1,0) [0|7] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ SensorModeCmdFCamera : 53|3@0+ (1,0) [0|7] ""  CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ FTimeSyncMstrClockV : 36|1@0+ (1,0) [0|1] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,LRR_FO,RFSRR_FO,LFSRR_FO
-
-BO_ 774 F_Vehicle_Path_Estimate: 8 EOCM_F_FO
- SG_ Vpath_RollingCount : 7|2@0+ (1,0) [0|3] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_TrnCtrLngOfstV : 1|1@0+ (1,0) [0|1] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO
- SG_ Vpath_Checksum : 50|11@0+ (1,0) [0|2047] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_TrnCtrLngOfst : 15|8@0- (0.1,0) [-12.8|12.7] "m"  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO
- SG_ Vpath_TrnCtrLatOfst : 21|14@0- (1,0) [-8192|8191] "m"  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO
- SG_ Vpath_Curvature : 39|16@0- (1E-005,0) [-0.32768|0.32767] "1/m"  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO
- SG_ Vpath_CurvatureV : 0|1@0+ (1,0) [0|1] ""  CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,LRR_FO,RSRR_FO,RFSRR_FO,LFSRR_FO
-
-BO_ 848 F_Vision_Environment: 8 VIS_FO
- SG_ FwdVsnEnvIllum : 37|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsTngtOfHdngLnRtV : 1|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsTngtOfHdngLnRt : 31|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLnChngStatus : 39|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LaneSenseRollingCount : 7|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LaneSenseSystemOK : 4|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LaneSnsLLnPosValid : 2|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSenseDistToLLnEdge : 14|7@0+ (0.05,0) [0|6.35] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsRLnPosValid : 0|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsDistToRLnEdge : 22|7@0+ (0.05,0) [0|6.35] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LaneSenseTimeStampV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LaneSenseTimeStamp : 34|11@0+ (1,0) [0|2047] "ms"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LaneSenseSystemOKV : 3|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
-
-BO_ 849 F_Vision_Environment_2: 8 VIS_FO
- SG_ LnSnsLatVRelToRgtMrkg : 23|8@0- (0.02,0) [-2.56|2.54] "m/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
- SG_ LnSnsRtLnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsCrvtGrdntRtV : 63|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLnMrkgWdthRt : 62|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsRtAnchrLn : 57|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLtAnchrLn : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLnCrvtrRghtV : 0|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLnCrvtrRght : 47|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsCrvtGrdntRt : 31|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/rad/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsBurstID : 2|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLatVRelToLftMrkg : 15|8@0- (0.02,0) [-2.56|2.54] "m/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
-
-BO_ 1184 R_SRR_Object_Header: 8 RSRR_FO
- SG_ RSRRNumValidTargets : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ RSrrRollingCnt : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTimeStampV : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
- SG_ RSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
- SG_ RSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRDiagSpare : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRCANRxErr : 28|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] ""  EOCM_F_FO
-
-BO_ 1185 R_SRR_Object_Track1: 8 RSRR_FO
- SG_ RSrrBurstID1 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1186 R_SRR_Object_Track2: 8 RSRR_FO
- SG_ RSrrBurstID2 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1187 R_SRR_Object_Track3: 8 RSRR_FO
- SG_ RSrrBurstID3 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1188 R_SRR_Object_Track4: 8 RSRR_FO
- SG_ RSrrBurstID4 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1189 R_SRR_Object_Track5: 8 RSRR_FO
- SG_ RSrrBurstID5 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1190 R_SRR_Object_Track6: 8 RSRR_FO
- SG_ RSrrBurstID6 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1191 R_SRR_Object_Track7: 8 RSRR_FO
- SG_ RSrrBurstID7 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1192 R_SRR_Object_Track8: 8 RSRR_FO
- SG_ RSrrBurstID8 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1193 R_SRR_Object_Track9: 8 RSRR_FO
- SG_ RSrrBurstID9 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1194 R_SRR_Object_Track10: 8 RSRR_FO
- SG_ RSrrBurstID10 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1410 RVB_TVR_Debug: 6 EOCM_F_FO
- SG_ VBBrkRqActv : 7|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ PATOSTTC : 37|12@0+ (0.025,0) [0|102.375] "s"  Dummy_FO
- SG_ BWTOSObjID : 27|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ BWTOSLonPstn : 23|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ VBSwInd : 10|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ VBBrkCtrlSt : 15|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ BrkPlsRqst : 6|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VBOpSt : 12|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ VBAccelOvrrd : 0|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VBUnavail : 1|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VBFld : 2|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VBDisbld : 3|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VBEnbl : 4|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VBBrkPrfReq : 5|1@0+ (1,0) [0|1] ""  Dummy_FO
-
-BO_ 1216 LF_SRR_Object_Header: 8 LFSRR_FO
- SG_ LFSRRNumValidTargets : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ LFSrrRollingCnt : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTimeStampV : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
- SG_ LFSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
- SG_ LFSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRDiagSpare : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRCANRxErr : 28|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ LFSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] ""  EOCM_F_FO
-
-BO_ 1217 LF_SRR_Object_Track1: 8 LFSRR_FO
- SG_ LFSrrBurstID1 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1218 LF_SRR_Object_Track2: 8 LFSRR_FO
- SG_ LFSrrBurstID2 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1219 LF_SRR_Object_Track3: 8 LFSRR_FO
- SG_ LFSrrBurstID3 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1220 LF_SRR_Object_Track4: 8 LFSRR_FO
- SG_ LFSrrBurstID4 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1221 LF_SRR_Object_Track5: 8 LFSRR_FO
- SG_ LFSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrBurstID5 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1222 LF_SRR_Object_Track6: 8 LFSRR_FO
- SG_ LFSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrBurstID6 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1223 LF_SRR_Object_Track7: 8 LFSRR_FO
- SG_ LFSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrBurstID7 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1224 LF_SRR_Object_Track8: 8 LFSRR_FO
- SG_ LFSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrBurstID8 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1225 LF_SRR_Object_Track9: 8 LFSRR_FO
- SG_ LFSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrBurstID9 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1226 LF_SRR_Object_Track10: 8 LFSRR_FO
- SG_ LFSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ LFSrrBurstID10 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ LFSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ LFSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ LFSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ LFSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ LFSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ LFSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
-
-BO_ 1232 RF_SRR_Object_Header: 8 RFSRR_FO
- SG_ RFSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRDiagSpare : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRCANRxErr : 28|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RFSRRNumValidTargets : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ RFSrrRollingCnt : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
- SG_ RFSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
- SG_ RFSrrTimeStampV : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
-
-BO_ 1233 RF_SRR_Object_Track1: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID1 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1234 RF_SRR_Object_Track2: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID2 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1235 RF_SRR_Object_Track3: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID3 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1236 RF_SRR_Object_Track4: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID4 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1237 RF_SRR_Object_Track5: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID5 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1238 RF_SRR_Object_Track6: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID6 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1239 RF_SRR_Object_Track7: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID7 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1240 RF_SRR_Object_Track8: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID8 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1241 RF_SRR_Object_Track9: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID9 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1242 RF_SRR_Object_Track10: 8 RFSRR_FO
- SG_ RFSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RFSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RFSrrBurstID10 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RFSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RFSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RFSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RFSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RFSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RFSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1056 F_Vision_Obj_Header: 6 VIS_FO
- SG_ FVsnSnsrBlckd : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ ClstInPathVehObjID : 30|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FrtVsnFld : 6|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtVsnIniDiagSuccCmpt : 5|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtVsnSrvAlgnInPrcs : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FrtVsnUnvlbl : 7|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisionRollingCnt : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVISModeCmdFdbk : 4|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FVisionNumValidTrgts : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FVisionTimeStampV : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisionTimeStamp : 10|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
- SG_ VISBurstChecksum : 39|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
-
-BO_ 1057 F_Vision_Obj_Track_1: 8 VIS_FO
- SG_ FwdVsnRngTrk1Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnAzmthTrk1Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnObjTypTr1Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FwdVsnVertPosTrk1 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FVisBurstIDTrk1 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk1 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FVisionConfTrk1 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk1 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk1 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk1 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ ObjDirTrk1 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
-
-BO_ 1058 F_Vision_Obj_Track_2: 8 VIS_FO
- SG_ FwdVsnVertPosTrk2 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FwdVsnRngTrk2Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnAzmthTrk2Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ ObjDirTrk2 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FwdVsnObjTypTr2Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk2 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk2 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FVisionConfTrk2 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk2 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk2 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk2 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
-
-BO_ 1059 F_Vision_Obj_Track_3: 8 VIS_FO
- SG_ FwdVsnVertPosTrk3 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FwdVsnRngTrk3Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnAzmthTrk3Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnObjTypTr3Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ ObjDirTrk3 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk3 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk3 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FVisionConfTrk3 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk3 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk3 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk3 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
-
-BO_ 1060 F_Vision_Obj_Track_4: 8 VIS_FO
- SG_ FwdVsnVertPosTrk4 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FVisionMeasStatTrk4 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk4 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FwdVsnRngTrk4Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnAzmthTrk4Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnObjTypTr4Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk4 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk4 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ ObjDirTrk4 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisionConfTrk4 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk4 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1061 F_Vision_Obj_Track_5: 8 VIS_FO
- SG_ FwdVsnVertPosTrk5 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FwdVsnRngTrk5Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnAzmthTrk5Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnObjTypTr5Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ ObjDirTrk5 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk5 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk5 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FVisionConfTrk5 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk5 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk5 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk5 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
-
-BO_ 1062 F_Vision_Obj_Track_6: 8 VIS_FO
- SG_ FwdVsnVertPosTrk6 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FwdVsnRngTrk6Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnAzmthTrk6Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnObjTypTr6Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ ObjDirTrk6 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk6 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk6 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FVisionConfTrk6 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk6 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk6 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk6 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
-
-BO_ 1538 LF_SRR_Trace_Data: 8 LFSRR_FO
- SG_ LFSRRYear : 7|8@0+ (1,0) [0|0] ""  EOCM_F_FO
- SG_ LFSRRSerialNmbr : 39|32@0+ (1,0) [0|0] ""  EOCM_F_FO
- SG_ LFSRRJulianDate : 15|24@0+ (1,0) [0|0] ""  EOCM_F_FO
-
-BO_ 1537 R_SRR_Trace_data: 8 RSRR_FO
- SG_ RSRRYear : 7|8@0+ (1,0) [0|0] ""  EOCM_F_FO
- SG_ RSRRSerialNmbr : 39|32@0+ (1,0) [0|0] ""  EOCM_F_FO
- SG_ RSRRJulianDate : 15|24@0+ (1,0) [0|0] ""  EOCM_F_FO
-
-BO_ 1089 F_Vision_Obj_Track_7: 8 VIS2_FO
- SG_ FVisBurstIDTrk7 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk7 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FVisionConfTrk7 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk7 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk7 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk7 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FwdVsnRngTrk7Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnObjTypTr7Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FwdVsnAzmthTrk7Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnVertPosTrk7 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ ObjDirTrk7 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
-
-BO_ 1090 F_Vision_Obj_Track_8: 8 VIS2_FO
- SG_ FVisBurstIDTrk8 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk8 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FwdVsnAzmthTrk8Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnVertPosTrk8 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FwdVsnRngTrk8Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnObjTypTr8Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ ObjDirTrk8 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisionConfTrk8 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk8 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk8 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk8 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
-
-BO_ 1091 F_Vision_Obj_Track_9: 8 VIS2_FO
- SG_ FwdVsnVertPosTrk9 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ FwdVsnRngTrk9Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnAzmthTrk9Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnObjTypTr9Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ ObjDirTrk9 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk9 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk9 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FVisionConfTrk9 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk9 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk9 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk9 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk9 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
-
-BO_ 1092 F_Vision_Obj_Track_10: 8 VIS2_FO
- SG_ FwdVsnRngTrk10Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
- SG_ FwdVsnAzmthTrk10Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
- SG_ FwdVsnObjTypTr10Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ FwdVsnVertPosTrk10 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
- SG_ ObjDirTrk10 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FVisBurstIDTrk10 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionObjectIDTrk10 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FVisionConfTrk10 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionAzRateTrk10 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FVisionRelLaneTrk10 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionMeasStatTrk10 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FVisionWidthTrk10 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
-
-BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO
- SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
- SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
- SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] ""  EOCM_F_FO
-
-BO_ 1121 F_LRR_Obj_Track_1: 8 LRR_FO
- SG_ FLRRTrk1BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk1Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk1RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk1RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk1DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk1Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk1Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk1MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk1ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FLRRTrk1Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1122 F_LRR_Obj_Track_2: 8 LRR_FO
- SG_ FLRRTrk2BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk2Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk2RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk2RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk2DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk2Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk2Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk2MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk2ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FLRRTrk2Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1123 F_LRR_Obj_Track_3: 8 LRR_FO
- SG_ FLRRTrk3BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk3Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk3RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk3RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk3DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk3Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk3Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk3MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk3ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FLRRTrk3Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1124 F_LRR_Obj_Track_4: 8 LRR_FO
- SG_ FLRRTrk4BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk4Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk4RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk4RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk4DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk4Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk4Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk4MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk4ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FLRRTrk4Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1125 F_LRR_Obj_Track_5: 8 LRR_FO
- SG_ FLRRTrk5BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk5Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk5RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk5RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk5DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk5Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk5Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk5MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk5ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FLRRTrk5Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1126 F_LRR_Obj_Track_6: 8 LRR_FO
- SG_ FLRRTrk6BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk6Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk6RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk6Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk6RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk6DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk6Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk6Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk6MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk6ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1127 F_LRR_Obj_Track_7: 8 LRR_FO
- SG_ FLRRTrk7Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk7BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk7Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk7RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk7RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk7DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk7Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk7Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk7MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk7ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1128 F_LRR_Obj_Track_8: 8 LRR_FO
- SG_ FLRRTrk8Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk8BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk8Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk8RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk8RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk8DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk8Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk8Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk8MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk8ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1129 F_LRR_Obj_Track_9: 8 LRR_FO
- SG_ FLRRTrk9Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk9BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk9Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk9RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk9RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk9DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk9Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk9Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk9MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk9ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1130 F_LRR_Obj_Track_10: 8 LRR_FO
- SG_ FLRRTrk10Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk10BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk10Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk10RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk10RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk10DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk10Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk10Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk10MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk10ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1131 F_LRR_Obj_Track_11: 8 LRR_FO
- SG_ FLRRTrk11Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk11BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk11Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk11RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk11RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk11DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk11Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk11Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk11MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk11ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1132 F_LRR_Obj_Track_12: 8 LRR_FO
- SG_ FLRRTrk12Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk12BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk12Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk12RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk12RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk12DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk12Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk12Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk12MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk12ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1133 F_LRR_Obj_Track_13: 8 LRR_FO
- SG_ FLRRTrk13Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk13BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk13Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk13RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk13RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk13DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk13Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk13Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk13MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk13ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1134 F_LRR_Obj_Track_14: 8 LRR_FO
- SG_ FLRRTrk14Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk14BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk14Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk14RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk14RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk14DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk14Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk14Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk14MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk14ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1135 F_LRR_Obj_Track_15: 8 LRR_FO
- SG_ FLRRTrk15Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk15MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk15Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk15ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
- SG_ FLRRTrk15BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk15Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk15RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk15RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk15DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk15Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
-
-BO_ 1136 F_LRR_Obj_Track_16: 8 LRR_FO
- SG_ FLRRTrk16Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk16BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk16Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk16RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk16RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk16DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk16Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk16Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk16MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk16ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1137 F_LRR_Obj_Track_17: 8 LRR_FO
- SG_ FLRRTrk17Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk17BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk17Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk17RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk17RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk17DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk17Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk17Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk17MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk17ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1138 F_LRR_Obj_Track_18: 8 LRR_FO
- SG_ FLRRTrk18Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk18BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk18Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk18RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk18RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk18DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk18Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk18Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk18MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk18ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1139 F_LRR_Obj_Track_19: 8 LRR_FO
- SG_ FLRRTrk19Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk19BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk19Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk19RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk19RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk19DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk19Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk19Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk19MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk19ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1140 F_LRR_Obj_Track_20: 8 LRR_FO
- SG_ FLRRTrk20Conf : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk20BurstID : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk20Range : 5|11@0+ (0.125,0) [0|255.875] "m"  EOCM_F_FO
- SG_ FLRRTrk20RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ FLRRTrk20RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  EOCM_F_FO
- SG_ FLRRTrk20DynProp : 38|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk20Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  EOCM_F_FO
- SG_ FLRRTrk20Width : 55|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
- SG_ FLRRTrk20MeasStatus : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk20ObjectID : 61|6@0+ (1,0) [0|63] ""  EOCM_F_FO
-
-BO_ 1141 Long_Range_Radar_add_Info_1: 8 LRR_FO
- SG_ FLRRAddInfo1BurstID : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ Cut_In_Out_Pot_Objtrk1 : 15|6@0+ (0.02,0) [0|1.26] ""  EOCM_F_FO
- SG_ ObjLossInfoObjTrk1 : 9|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ Cut_In_Out_Pot_Objtrk2 : 23|6@0+ (0.02,0) [0|1.26] ""  EOCM_F_FO
- SG_ ObjLossInfoObjTrk2 : 17|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ Cut_In_Out_Pot_Objtrk3 : 31|6@0+ (0.02,0) [0|1.26] ""  EOCM_F_FO
- SG_ ObjLossInfoObjTrk3 : 25|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ Cut_In_Out_Pot_Objtrk4 : 39|6@0+ (0.02,0) [0|1.26] ""  EOCM_F_FO
- SG_ ObjLossInfoObjTrk4 : 33|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ Cut_In_Out_Pot_Objtrk5 : 47|6@0+ (0.02,0) [0|1.26] ""  EOCM_F_FO
- SG_ ObjLossInfoObjTrk5 : 41|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ Cut_In_Out_Pot_Objtrk6 : 55|6@0+ (0.02,0) [0|1.26] ""  EOCM_F_FO
- SG_ ObjLossInfoObjTrk6 : 49|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1321 F_Fwd_Fus_Obj_TrackB_9: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn9 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB9RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB9Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB9MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB9DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB9RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB9RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB9Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB9ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB9ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB9ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB9ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB9ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB9ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB9NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB9LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB9LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1320 F_Fwd_Fus_Obj_TrackB_8: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn8 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB8RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB8Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB8MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB8DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB8RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB8RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB8Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB8ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB8ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB8ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB8ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB8ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB8ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB8NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB8LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB8LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1319 F_Fwd_Fus_Obj_TrackB_7: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn7 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB7RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB7Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB7MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB7DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB7RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB7RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB7Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB7ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB7ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB7ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB7ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB7ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB7ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB7NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB7LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB7LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1318 F_Fwd_Fus_Obj_TrackB_6: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn6 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB6RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB6Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB6MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB6DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB6RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB6RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB6Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB6ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB6ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB6ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB6ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB6ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB6ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB6NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB6LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB6LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1317 F_Fwd_Fus_Obj_TrackB_5: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn5 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB5RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB5Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB5MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB5DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB5RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB5RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB5Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB5ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB5ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB5ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB5ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB5ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB5ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB5NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB5LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB5LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1316 F_Fwd_Fus_Obj_TrackB_4: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn4 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB4RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB4Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB4MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB4DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB4RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB4RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB4Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB4ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB4ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB4ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB4ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB4ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB4ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB4NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB4LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB4LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1315 F_Fwd_Fus_Obj_TrackB_3: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn3 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB3RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB3Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB3MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB3DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB3RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB3RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB3Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB3ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB3ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB3ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB3ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB3ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB3ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB3NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB3LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB3LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1314 F_Fwd_Fus_Obj_TrackB_2: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn2 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB2RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB2Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB2MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB2DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB2RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB2RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB2Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB2ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB2ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB2ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB2ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB2ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB2ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB2NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB2LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB2LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1327 F_Fwd_Fus_Obj_TrackB_15: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn15 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB15RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB15Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB15MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB15DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB15RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB15RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB15Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB15ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB15ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB15ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB15ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTkB15ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB15ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB15NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB15LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB15LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1326 F_Fwd_Fus_Obj_TrackB_14: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn14 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB14RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB14Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB14MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB14DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB14RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB14RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB14Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB14ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB14ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB14ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB14ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB14ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB14ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB14NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB14LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB14LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1325 F_Fwd_Fus_Obj_TrackB_13: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn13 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB13RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB13Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB13MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB13DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB13RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB13RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB13Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB13ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB13ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB13ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB13ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB13ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB13ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB13NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB13LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB13LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1324 F_Fwd_Fus_Obj_TrackB_12: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn12 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB12RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB12Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB12MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB12DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB12RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB12RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB12Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB12ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB12ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB12ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB12ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB12ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB12ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB12NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB12LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB12LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1323 F_Fwd_Fus_Obj_TrackB_11: 7 EOCM_F_FO
- SG_ FwdFusTrkB11DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB11RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB11RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB11Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB11ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB11ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB11ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB11ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB11ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB11ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB11NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB11LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB11LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkBAnlgRlLn11 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB11RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB11Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB11MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
-
-BO_ 1322 F_Fwd_Fus_Obj_TrackB_10: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn10 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB10RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB10Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB10MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB10DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB10RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB10RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB10Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB10ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB10ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB10ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB10ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB10ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB10ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB10NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB10LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB10LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1313 F_Fwd_Fus_Obj_TrackB_1: 7 EOCM_F_FO
- SG_ FwdFusTrkBAnlgRlLn1 : 46|8@0- (0.1,0) [-12.8|12.7] ""  Dummy_FO
- SG_ FwdFusTrkB1RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB1Width : 5|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FwdFusTrkB1MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkB1DynProp : 11|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB1RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2"  Dummy_FO
- SG_ FwdFusTrkB1RelLane : 31|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkB1Height : 54|6@0+ (0.25,0) [0|15.75] "m"  Dummy_FO
- SG_ FFusTrkB1ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB1ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB1ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB1ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FFusTrkB1ObjSrcVIs : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB1ObjSrcLrr : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FwdFusTrkB1NmCycTrkd : 39|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB1LatPosDev : 36|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkB1LngPosDev : 33|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1305 F_Fwd_Fus_Obj_TrackA_9: 8 EOCM_F_FO
- SG_ FwdFusTrkA9RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA9ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA9MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA9LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA9RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA9Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA9LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA9RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA9MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA9ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1304 F_Fwd_Fus_Obj_TrackA_8: 8 EOCM_F_FO
- SG_ FwdFusTrkA8RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA8ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA8MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA8LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA8RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA8Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA8LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA8RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA8MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA8ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1303 F_Fwd_Fus_Obj_TrackA_7: 8 EOCM_F_FO
- SG_ FwdFusTrkA7RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA7ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA7MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA7LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA7RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA7Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA7LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA7RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA7MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA7ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1302 F_Fwd_Fus_Obj_TrackA_6: 8 EOCM_F_FO
- SG_ FwdFusTrkA6RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA6ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA6MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA6LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA6RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA6Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA6LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA6RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA6MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA6ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1301 F_Fwd_Fus_Obj_TrackA_5: 8 EOCM_F_FO
- SG_ FwdFusTrkA5RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA5ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA5MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA5LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA5RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA5Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA5LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA5RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA5MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA5ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1300 F_Fwd_Fus_Obj_TrackA_4: 8 EOCM_F_FO
- SG_ FwdFusTrkA4RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA4ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA4MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA4LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA4RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA4Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA4LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA4RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA4MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA4ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1299 F_Fwd_Fus_Obj_TrackA_3: 8 EOCM_F_FO
- SG_ FwdFusTrkA3RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA3ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA3MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA3LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA3RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA3Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA3LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA3RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA3MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA3ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1298 F_Fwd_Fus_Obj_TrackA_2: 8 EOCM_F_FO
- SG_ FwdFusTrkA2RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA2ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA2MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA2LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA2RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA2Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA2LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA2RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA2MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA2ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1311 F_Fwd_Fus_Obj_TrackA_15: 8 EOCM_F_FO
- SG_ FwdFusTrkA15RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA15ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA15MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA15LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA15RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA15Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA15LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA15RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA15MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA15ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1310 F_Fwd_Fus_Obj_TrackA_14: 8 EOCM_F_FO
- SG_ FwdFusTrkA14RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA14ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA14MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA14LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA14RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA14Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA14LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA14RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA14MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA14ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1309 F_Fwd_Fus_Obj_TrackA_13: 8 EOCM_F_FO
- SG_ FwdFusTrkA13RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA13ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA13MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA13LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA13RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA13Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA13LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA13RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA13MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA13ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1308 F_Fwd_Fus_Obj_TrackA_12: 8 EOCM_F_FO
- SG_ FwdFusTrkA12RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA12ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA12MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA12LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA12RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA12Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA12LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA12RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA12MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA12ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1307 F_Fwd_Fus_Obj_TrackA_11: 8 EOCM_F_FO
- SG_ FwdFusTrkA11ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA11MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA11LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA11RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA11Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA11LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA11RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA11MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA11ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
- SG_ FwdFusTrkA11RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
-
-BO_ 1306 F_Fwd_Fus_Obj_TrackA_10: 8 EOCM_F_FO
- SG_ FwdFusTrkA10RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA10ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA10MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA10LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA10RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA10Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA10LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA10RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA10MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA10ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1297 F_Fwd_Fus_Obj_TrackA_1: 8 EOCM_F_FO
- SG_ FwdFusTrkA1RollingCnt : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA1ObjectID : 5|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ FwdFusTrkA1MsgIndex : 15|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ FwdFusTrkA1LongPos : 11|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
- SG_ FwdFusTrkA1RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA1Confidence : 36|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA1LatPos : 34|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ FwdFusTrkA1RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s"  Dummy_FO
- SG_ FwdFusTrkA1MeasStatus : 60|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ FwdFusTrkA1ObjType : 58|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 1296 F_Fwd_Fus_Obj_Header: 7 EOCM_F_FO
- SG_ F_FusHeadRollingCount : 7|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ F_FusHeadFuncState : 5|2@0+ (1,0) [0|3] ""  Dummy_FO
- SG_ F_FusHedNmValTargts : 3|4@0+ (1,0) [0|15] ""  Dummy_FO
- SG_ F_FusHead_LrrOK : 15|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ F_FusHead_LFSRROK : 14|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ F_FusHead_VIsOK : 13|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ F_FusHead_MapDataOK : 12|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ F_FusHeadTimStmpV : 11|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ F_FusHeadTimStmp : 10|11@0+ (1,0) [0|2047] "ms"  Dummy_FO
- SG_ F_FusHead_LCSRROK : 31|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ F_FusHead_RCSRROK : 30|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ F_FusHead_RFSRROK : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ F_FusHed_ObjClstrCurv : 28|13@0- (5E-005,0) [-0.2048|0.20475] "1/m"  Dummy_FO
- SG_ F_FusHdObjClstTanHdng : 47|8@0- (0.002,0) [-0.256|0.254] "m/m"  Dummy_FO
- SG_ RoadTypeInfo : 55|3@0+ (1,0) [0|7] ""  Dummy_FO
-
-BO_ 257 USDT_Req_to_All_FO_ECUs: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  LRSRR_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2A_K2_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K1_FO,NVS_FO,CIPM_FO,VIS2_FO,RRSRR_FO,VIS_FO,RFSRR_FO,LRR_FO,LFSRR_FO,RSRR_FO,EOCM_F_FO
-
-BO_ 584 USDT_Req_to_6DOFIMU2_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  _DOFIMU2_FO
-
-BO_ 1348 UUDT_Resp_From_6DOFIMU1_FO: 8 _DOFIMU1_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1604 USDT_Resp_From_6DOFIMU1_FO: 8 _DOFIMU1_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 580 USDT_Req_to_6DOFIMU1_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  _DOFIMU1_FO
-
-BO_ 1349 UUDT_Resp_From_DMS_FO: 8 DMS_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1605 USDT_Resp_From_DMS_FO: 8 DMS_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 581 USDT_Req_to_DMS_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  DMS_FO
-
-BO_ 1372 UUDT_Resp_From_AMM_FO: 8 AMM_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1628 USDT_Resp_From_AMM_FO: 8 AMM_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 604 USDT_Req_to_AMM_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  AMM_FO
-
-BO_ 1622 USDT_Resp_From_EOCM2B_IMX6_FO: 8 EOCM2B_IMX6_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 1366 UUDT_Resp_From_EOCM2B_IMX6_FO: 8 EOCM2B_IMX6_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  TestTool_FO
-
-BO_ 598 USDT_Req_to_EOCM2B_IMX6_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  EOCM2B_IMX6_FO
-
-BO_ 590 USDT_Req_to_Free_4E_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Vector__XXX
-
-BO_ 1338 VPDR_Debug: 8 EOCM_F_FO
- SG_ FrtRWARateDiagFA : 43|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FrtRWABiasDiagFA : 42|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ HWAFrtVal : 41|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ HWADotValFrt : 40|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehAxRangeFA : 39|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehAxRateFA : 38|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehAxBiasFA : 37|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehAxCompFA : 36|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehAxVal : 35|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehAxVal : 34|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FrtRWACorrFA : 33|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FrtRWARangeDiagFA : 32|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehAyBiasFA : 31|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehAyCompFA : 30|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehAyVal : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehAyVal : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehAxCorrFA : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehAxRangeFA : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehAxRateFA : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehAxBiasFA : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehWzVal : 23|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehWzVal : 22|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehAyCorrDiagFA : 21|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehAyRangeFA : 20|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehAyRateFA : 19|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehAyBiasFA : 18|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehAyRangeFA : 17|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehAyRateFA : 16|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehWzCorrDiagFA : 15|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehWzRangeFA : 14|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehWzRateFA : 13|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S1VehWzBiasFA : 12|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehWzRangeFA : 11|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehWzRateFA : 10|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ S2VehWzBiasFA : 9|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehWzCompFA : 8|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ WhlVxLFCorrDiagFA : 7|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ WhlVxRFCorrDiagFA : 6|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ WhlVxLRCorrDiagFA : 5|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ WhlVxRRCorrDiagFA : 4|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ WhlLFVal : 3|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ WhlRFVal : 2|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ WhlLRVal : 1|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ WhlRRVal : 0|1@0+ (1,0) [0|1] ""  Dummy_FO
-
-BO_ 1328 Diag_Debug1: 8 EOCM_F_FO
- SG_ AlrtWrnIndReqFP : 1|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AlrtWrnIndReqFA : 0|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILRSRRSnsr_FP : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILRSRRSnsr_FA : 23|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILRSRRFrehns_FA : 22|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehPathEstCrvCSFP : 21|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehPathEstCrvCSFA : 20|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehPathWzEstCSFP : 19|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehPathWzEstCSFA : 18|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehPathVyEstCSFP : 17|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehPathVyEstCSFA : 16|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehPathVxEstCSFP : 15|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VehPathVxEstCSFA : 14|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTTCCSFP : 13|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTTCCSFA : 12|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLyCSFP : 11|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLyCSFA : 10|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThLxVxAxCSFP : 9|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThLxVxAxCSFA : 8|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ CurSetValDiagFP : 7|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ CurSetValDiagFA : 6|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ CrsAltDvrSlTpDiagFP : 5|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ CrsAltDvrSlTpDiagFA : 4|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FCAStatDiagFP : 3|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FCAStatDiagFA : 2|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ RVBBrkCtrlStFP : 62|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ RVBBrkCtrlStFA : 61|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ RVBOpStFP : 60|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ RVBOpStFA : 59|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ RVBBrkCtrlAccFP : 58|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ RVBBrkCtrlAccFA : 57|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ RVBAxlTrqRqFP : 56|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ RVBAxlTrqRqFA : 55|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRUPATTCFP : 54|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRUPATTCFA : 53|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRHiThrtObjIDFP : 52|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRHiThrtObjIDFA : 51|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRHiThrtTTCFP : 50|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRHiThrtTTCFA : 49|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRHiThrtLxFP : 48|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRHiThrtLxFA : 47|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRHiThrtLyFP : 46|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TVRHiThrtLyFA : 45|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFFuncStFP : 44|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFFuncStFA : 43|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFObjIDFP : 42|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFObjIDFA : 41|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFLatPstnVelRatFP : 40|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFLatPstnVelRatFA : 39|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFLonPstnVelFP : 38|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFLonPstnVelFA : 37|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFRltvLatVelDiagFP : 36|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFRltvLatVelDiagFA : 35|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFRltvLatPstnDiagFP : 34|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFRltvLatPstnDiagFA : 33|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFNrRltvLonPstnFP : 32|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFNrRltvLonPstnFA : 31|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFLonPstnVelRatFP : 30|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFLonPstnVelRatFA : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFConfDiagFP : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFConfDiagFA : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFRltvLnDiagFP : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ROFRltvLnDiagFA : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
-
-BO_ 1335 Diag_Debug3: 8 EOCM_F_FO
- SG_ BrkSysCmdAxDiagFPQ : 63|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ BrkSysCmdAxDiagFAQ : 62|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AxleTorqReqDiagFPQ : 61|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AxleTorqReqDiagFAQ : 60|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AutoBrkTypeDiagFPQ : 59|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AutoBrkTypeDiagFAQ : 58|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTTCFPQ : 57|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTTCFAQ : 56|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTmpMemFPQ : 55|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTmpMemFAQ : 54|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLxVxAxFPQ : 53|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLxVxAxFAQ : 52|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtVyFPQ : 51|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtVyFAQ : 50|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLyFPQ : 49|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLyFAQ : 48|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtConPriFPQ : 47|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtConPriFAQ : 46|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtCJLFPQ : 45|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtCJLFAQ : 44|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPDynPropDiagFPQ : 43|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPDynPropDiagFAQ : 42|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFRdTypInfoFPQ : 41|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFRdTypInfoFAQ : 40|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFRltvLnDiagFPQ : 39|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFRltvLnDiagFAQ : 38|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNumCycDiagFPQ : 37|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNumCycDiagFAQ : 36|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNumFusCyclsFPQ : 35|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNumFusCyclsFAQ : 34|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNrRltvLonPstnFPQ : 33|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNrRltvLonPstnFAQ : 32|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonVelAccRatFPQ : 31|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonVelAccRatFAQ : 30|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonPstnVelRatFPQ : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonPstnVelRatFAQ : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonPosVelAccFPQ : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonPosVelAccFAQ : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLatVelDiagFPQ : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLatVelDiagFAQ : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLatPstnDiagFPQ : 23|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLatPstnDiagFAQ : 22|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFConfDiagFPQ : 21|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFConfDiagFAQ : 20|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFOvrlpRtlChk_FAQ : 19|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFOvrlpRtlChk_FAQ : 18|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRROvrlpRtlChk_FAQ : 17|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISOvrlpRtlChk_FAQ : 16|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISAlign_FAQ : 15|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISSnsr_FAQ : 14|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISSnsr_FPQ : 13|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISFrshns_FAQ : 12|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRRAlign_FAQ : 11|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRRFrshns_FAQ : 10|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRRSnsr_FAQ : 9|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRRSnsr_FPQ : 8|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFSRRAlign_FAQ : 7|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFSRRFrehns_FAQ : 6|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFSRRSnsr_FAQ : 5|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFSRRSnsr_FPQ : 4|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFSRRSnsr_FPQ : 3|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFSRRSnsr_FAQ : 2|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFSRRFrshns_FAQ : 1|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFSRRAlign_FAQ : 0|1@0+ (1,0) [0|1] ""  Dummy_FO
-
-BO_ 1331 Diag_Debug2: 8 EOCM_F_FO
- SG_ TCPHiThrtTmpMemFP : 63|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTmpMemFA : 62|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtConPriFP : 61|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtConPriFA : 60|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtCJLFP : 59|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTTCFP : 58|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtTTCFA : 57|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtVyFP : 56|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtVyFA : 55|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLyFP : 54|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLyFA : 53|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLxVxAxFP : 52|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtLxVxAxFA : 51|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFRdTypInfoFP : 50|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFRdTypInfoFA : 49|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AutoBrkTypeDiagFA : 48|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ BrkSysCmdAxDiagFP : 47|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ BrkSysCmdAxDiagFA : 46|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AxleTorqReqDiagFP : 45|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AxleTorqReqDiagFA : 44|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPDynPropDiagFP : 43|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPDynPropDiagFA : 42|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ TCPHiThrtCJLFA : 41|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNumFusCyclsFP : 40|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ AutoBrkTypeDiagFP : 39|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNumFusCyclsFA : 38|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLatVelDiagFP : 37|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLatVelDiagFA : 36|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLatPstnDiagFP : 35|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLatPstnDiagFA : 34|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNumCycDiagFP : 33|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNumCycDiagFA : 32|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFRltvLnDiagFP : 31|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFRltvLnDiagFA : 30|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFConfDiagFP : 29|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFConfDiagFA : 28|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonVelAccRatFP : 27|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonVelAccRatFA : 26|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonPstnVelRatFP : 25|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonPstnVelRatFA : 24|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNrRltvLonPstnFP : 23|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFNrRltvLonPstnFA : 22|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonPosVelAccFP : 21|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ FOFLonPosVelAccFA : 20|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISOvrlpRtlChk_FA : 19|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRROvrlpRtlChk_FA : 18|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFOvrlpRtlChk_FA : 17|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFOvrlpRtlChk_FA : 16|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISAlign_FA : 15|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISFrshns_FA : 14|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISSnsr_FP : 13|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ VISSnsr_FA : 12|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRRAlign_FA : 11|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRRFrshns_FA : 10|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRRSnsr_FP : 9|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ LRRSnsr_FA : 8|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFSRRAlign_FA : 7|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFSRRFrehns_FA : 6|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFSRRSnsr_FP : 5|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ IRFSRRSnsr_FA : 4|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFSRRAlign_FA : 3|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFSRRFrshns_FA : 2|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFSRRSnsr_FP : 1|1@0+ (1,0) [0|1] ""  Dummy_FO
- SG_ ILFSRRSnsr_FA : 0|1@0+ (1,0) [0|1] ""  Dummy_FO
-
-BO_ 1787 AL_Test_Tool_Rsp_RFSRR: 8 RFSRR_FO
- SG_ RFSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  Dummy_FO
-
-BO_ 1788 AL_Test_Tool_Rsp_LFSRR: 8 LFSRR_FO
- SG_ LFSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  Dummy_FO
-
-BO_ 1790 AL_Test_Tool_Req_RFSRR: 8 Dummy_FO
- SG_ RFSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  RFSRR_FO
-
-BO_ 1791 AL_Test_Tool_Req_LFSRR: 8 Dummy_FO
- SG_ LFSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  LFSRR_FO
-
-BO_ 1786 AL_Test_Tool_Rsp_RSRR: 8 RSRR_FO
- SG_ RSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  Dummy_FO
-
-BO_ 1789 AL_Test_Tool_Req_RSRR: 8 Dummy_FO
- SG_ RSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  RSRR_FO
-
-BO_ 1149 F_LRR_Azmth_Rate_Info_4: 8 LRR_FO
- SG_ FLRRTrk20AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk19AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk18AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk17AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk16AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRAzRtInf4BurstID : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1148 F_LRR_Azmth_Rate_Info_3: 8 LRR_FO
- SG_ FLRRTrk15AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk14AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk13AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk12AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk11AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRAzRtInf3BurstID : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1147 F_LRR_Azmth_Rate_Info_2: 8 LRR_FO
- SG_ FLRRTrk9AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk8AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk7AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk6AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk10AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRAzRtInf2BurstID : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1146 F_LRR_Azmth_Rate_Info_1: 8 LRR_FO
- SG_ FLRRTrk5AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk4AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk3AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk2AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRTrk1AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
- SG_ FLRRAzRtInf1BurstID : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1143 Long_Range_Radar_add_Info_3: 8 LRR_FO
- SG_ FLRRAddInfo3BurstID : 57|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk13ObstType : 60|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk20ObstTypeConf : 52|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk20ObstType : 55|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk19ObstTypeConf : 44|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk19ObstType : 47|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk18ObstTypeConf : 36|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk18ObstType : 39|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk17ObstTypeConf : 28|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk17ObstType : 31|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk16ObstTypeConf : 20|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk16ObstType : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk15ObstTypeConf : 12|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk15ObstType : 15|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk14ObstTypeConf : 4|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk14ObstType : 7|3@0+ (1,0) [0|7] ""  EOCM_F_FO
-
-BO_ 1142 Long_Range_Radar_add_Info_2: 8 LRR_FO
- SG_ FLRRAddInfo2BurstID : 62|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ FLRRTrk13ObstTypeConf : 60|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk12ObstTypeConf : 52|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk12ObstType : 55|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk11ObstTypeConf : 44|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk11ObstType : 47|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk10ObstTypeConf : 36|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk10ObstType : 39|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk9ObstTypeConf : 28|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk9ObstType : 31|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk8ObstTypeConf : 20|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk8ObstType : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk7ObstTypeConf : 12|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk7ObstType : 15|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ FLRRTrk1ObstTypeConf : 4|5@0+ (0.0323,0) [0|1.0013] ""  EOCM_F_FO
- SG_ FLRRTrk1ObstType : 7|3@0+ (1,0) [0|7] ""  EOCM_F_FO
-
-BO_ 851 F_Vision_Environment_4: 8 VIS_FO
- SG_ LnMrkg3LnPrvwDst : 45|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsTtlNmLnMrkgDetRt : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsRtLinCrsTm : 25|5@0+ (0.1,0) [0|3.1] "s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsNumPrlLnsDetRt : 33|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsNumPrlLnsDetLt : 36|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsCrvtGrdntLftV : 31|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLtLinCrsTm : 30|5@0+ (0.1,0) [0|3.1] "s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnPrvwDst : 50|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnMrkgTypChgDst : 40|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnMrkgWdth : 62|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4LnMarkrElvtd : 51|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg4AnchrLnLin : 57|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnMrkgWdth : 41|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3LnMarkrElvtd : 46|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkg3AnchrLnLin : 52|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsBurstID2 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsCrvtGrdntLft : 15|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/rad/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
-
-BO_ 597 USDT_Req_to_VIS2_FO: 8 TestTool_FO
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  CIPM_FO,VIS2_FO
-
-BO_ 1204 RR_SRR_Object_Track4: 8 RRSRR_FO
- SG_ RRSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RRSrrBurstID4 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1203 RR_SRR_Object_Track3: 8 RRSRR_FO
- SG_ RRSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
- SG_ RRSrrBurstID3 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
-
-BO_ 1202 RR_SRR_Object_Track2: 8 RRSRR_FO
- SG_ RRSrrBurstID2 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
-
-BO_ 1201 RR_SRR_Object_Track1: 8 RRSRR_FO
- SG_ RRSrrBurstID1 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg"  EOCM_F_FO
- SG_ RRSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s"  EOCM_F_FO
- SG_ RRSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m"  EOCM_F_FO
- SG_ RRSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m"  EOCM_F_FO
- SG_ RRSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] ""  EOCM_F_FO
- SG_ RRSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg"  EOCM_F_FO
-
-BO_ 1200 RR_SRR_Object_Header: 8 RRSRR_FO
- SG_ RRSrrTimeStampV : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSrrTimeStamp : 10|11@0+ (1,0) [0|2047] ""  EOCM_F_FO
- SG_ RRSrrRollingCnt : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
- SG_ RRSRRNumValidTargets : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
- SG_ RRSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] ""  EOCM_F_FO
- SG_ RRSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRDiagSpare : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRCANRxErr : 28|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] ""  EOCM_F_FO
- SG_ RRSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
-
-BO_ 850 F_Vision_Environment_3: 8 VIS_FO
- SG_ LnSnsTtlNmLnMrkgDetLt : 58|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLtLnMrkgWdth : 63|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLtLnMrkgTypChgDst : 62|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsTngtOfHdngLnLftV : 23|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsTngtOfHdngLnLft : 31|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLnCrvtrLftV : 15|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsLnCrvtrLft : 39|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkrTypRght : 50|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkrTypLft : 53|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkrElvtdRght : 54|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnMrkrElvtdLft : 55|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnSnsBurstID1 : 7|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnQltyCnfdncLvlRght : 22|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnQltyCnfdncLvlLft : 14|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnPrvwDstncRght : 2|3@0+ (10,0) [0|70] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
- SG_ LnPrvwDstncLft : 5|3@0+ (10,0) [0|70] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
-
-BO_ 1414 RVB_TVR_Debug2_FO: 7 EOCM_F_FO
- SG_ VBBrkCntlAccel : 45|12@0- (0.01,0) [-20.48|20.47] "m/s^2"  Dummy_FO
- SG_ VBTOSObjID : 35|6@0+ (1,0) [0|63] ""  Dummy_FO
- SG_ VBTOSTTC : 31|12@0+ (0.025,0) [0|102.375] "s"  Dummy_FO
- SG_ VBTOSLatPstn : 11|11@0- (0.125,0) [-128|127.875] "m"  Dummy_FO
- SG_ VBTOSLonPstn : 7|12@0- (0.125,0) [-256|255.875] "m"  Dummy_FO
-
diff --git a/opendbc/cadillac_ct6_powertrain.dbc b/opendbc/cadillac_ct6_powertrain.dbc
deleted file mode 100644
index a91cdc14fe98d7..00000000000000
--- a/opendbc/cadillac_ct6_powertrain.dbc
+++ /dev/null
@@ -1,243 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM
-VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
-VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
-VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
-VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
-VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
-VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
-VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
-VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
-VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
-VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
-VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
-
-
-BO_ 717 ASCM_2CD: 5 K124_ASCM
-
-BO_ 869 ASCM_365: 4 K124_ASCM
-
-BO_ 1034 ASCM_40A: 7 K124_ASCM
-
-BO_ 1296 ASCM_510: 4 K124_ASCM
-
-BO_ 1930 ASCM_78A: 7 K124_ASCM
-
-BO_ 190 ECMAcceleratorPos: 6 K20_ECM
- SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
- SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] ""  NEO
-
-BO_ 201 ECMEngineStatus: 8 K20_ECM
- SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%"  NEO
- SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM"  NEO
-
-BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
- SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
-
-BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
- SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
- SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] ""  NEO
- SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] ""  NEO
- SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] ""  NEO
- SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] ""  NEO
- SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] ""  NEO
- SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 309 ECMPRDNL: 8 K20_ECM
- SG_ PRNDL : 2|3@0+ (1,0) [0|0] ""  NEO
-
-BO_ 320 BCMTurnSignals: 3 K9_BCM
- SG_ TurnSignals : 19|2@0+ (1,0) [0|0] ""  NEO
-
-BO_ 336 ASCMLKASStatus: 1 NEO
- SG_ Available : 7|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 338 ASCMLKASteeringCmd: 6 NEO
- SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 23|2@0+ (1,0) [0|0] ""  NEO
- SG_ SetMe1 : 21|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
- SG_ LKASMode : 36|2@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 340 ASCMBLKASteeringCmd: 6 NEO
- SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 23|2@0+ (1,0) [0|0] ""  NEO
- SG_ SetMe1 : 21|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
- SG_ LKASMode : 36|2@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 381 MSG_17D: 8 K20_ECM
- SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] ""  NEO
-
-BO_ 356 PSCMStatus: 8 K43_PSCM
- SG_ LKATorqueDeliveredStatus : 7|3@0+ (1,0) [0|7] ""  NEO
- SG_ LKADriverAppldTrq : 2|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
- SG_ LKATBDTorque : 21|14@0- (-0.005,0) [-10.24|10.23] "Nm"  NEO
- SG_ RollingCounter : 39|2@0+ (1,0) [0|0] ""  NEO
- SG_ LKATotalTorqueDelivered : 37|14@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
-
-BO_ 417 AcceleratorPedal: 7 XXX
- SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
-
-BO_ 451 GasAndAcc: 8 XXX
- SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] ""  NEO
-
-BO_ 452 AcceleratorPedal2: 8 XXX
- SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] ""  NEO
-
-BO_ 481 ASCMSteeringButton: 7 K124_ASCM
- SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
- SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
-
-BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
- SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
- SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
-
-BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
- SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s"  NEO
- SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2"  NEO
- SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
- SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
- SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
-
-BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne : 9|1@0+ (1,1) [1|1] ""  NEO
- SG_ GasRegenAlwaysThree : 15|2@0+ (1,1) [1|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ RollingCounter2 : 36|4@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne2 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|15@0+ (1,0) [0|0] ""  NEO
-
-BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
- SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
- SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
-
-BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
- SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
-
-BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
- SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
-
-BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
- SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
- SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
- SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
- SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
- SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
-
-BO_ 1033 ASCMKeepAlive: 7 NEO
- SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO
-
-BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO
-
-BO_ 1249 VIN_Part2: 8 K20_ECM
- SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
-
-BO_ 1300 VIN_Part1: 8 K20_ECM
- SG_ VINPart1 : 7|64@0+ (1,0) [0|0] ""  NEO
-
-BO_ 1912 PSCM_778: 8 K43_PSCM
-
-BO_TX_BU_ 338 : K124_ASCM,NEO;
-BO_TX_BU_ 880 : NEO,K124_ASCM;
-BO_TX_BU_ 1033 : K124_ASCM,NEO;
-BO_TX_BU_ 715 : NEO,K124_ASCM;
-
-
-CM_ BU_ K16_BECM "Battery Energy Control Module";
-CM_ BU_ K73_TCIC "Telematics Communication Control Module";
-CM_ BU_ K9_BCM "Body Control Module";
-CM_ BU_ K43_PSCM "Power Steering Control Module";
-CM_ BU_ K17_EBCM "Electronic Brake Control Module";
-CM_ BU_ K20_ECM "Engine Control Module";
-CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
-CM_ BU_ NEO "Comma NEO";
-CM_ BU_ K124_ASCM "Active Safety Control Module";
-CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
-CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
-CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
-CM_ SG_ 715 RollingCounter2 "Values cycle between 0, 7, 10, 13";
-BA_DEF_  "UseGMParameterIDs" INT 0 0;
-BA_DEF_  "ProtocolType" STRING ;
-BA_DEF_  "BusType" STRING ;
-BA_DEF_DEF_  "UseGMParameterIDs" 1;
-BA_DEF_DEF_  "ProtocolType" "GMLAN";
-BA_DEF_DEF_  "BusType" "";
-BA_ "BusType" "CAN";
-BA_ "ProtocolType" "GMLAN";
-BA_ "UseGMParameterIDs" 0;
-VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
-VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
-VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
-VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
-VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ;
-VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
-VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
-VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
-VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 356 LKATorqueDeliveredStatus 7 "Override Fault" 6 "LKAS Fault but Responsive" 5 "TBD but Responsive" 4 "TBD but Responsive" 3 "Fault" 1 "Active" 0 "Inactive" ;
-VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
-VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
-VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
diff --git a/opendbc/can/SConscript b/opendbc/can/SConscript
index 94a45ea18560e7..30940473441db5 100644
--- a/opendbc/can/SConscript
+++ b/opendbc/can/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'cereal')
+Import('env', 'envCython', 'cereal')
 
 import os
 from opendbc.can.process_dbc import process
@@ -13,15 +13,13 @@ for x in sorted(os.listdir('../')):
     dbc = env.Command(out_fn, in_fn, compile_dbc)
     dbcs.append(dbc)
 
-
 libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
 
-# packer
-env.Command(['packer_pyx.so'],
-  [libdbc, 'packer_pyx.pyx', 'packer_pyx_setup.py'],
-  "cd opendbc/can && python3 packer_pyx_setup.py build_ext --inplace")
+# Build packer and parser
+lenv = envCython.Clone()
+lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
+parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
+packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
 
-# parser
-env.Command(['parser_pyx.so'],
-  [libdbc, cereal, 'parser_pyx_setup.py', 'parser_pyx.pyx', 'common.pxd'],
-  "cd opendbc/can && python3 parser_pyx_setup.py build_ext --inplace")
+lenv.Depends(parser, libdbc)
+lenv.Depends(packer, libdbc)
diff --git a/opendbc/can/can_define.py b/opendbc/can/can_define.py
index 12c2d58b202ce1..ad79432a7ae436 100644
--- a/opendbc/can/can_define.py
+++ b/opendbc/can/can_define.py
@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANDefine # pylint: disable=no-name-in-module, import-error
+from opendbc.can.parser_pyx import CANDefine  # pylint: disable=no-name-in-module, import-error
 assert CANDefine
diff --git a/opendbc/can/common.cc b/opendbc/can/common.cc
index 5a131eb6c757af..0d9d23b5cf05bc 100644
--- a/opendbc/can/common.cc
+++ b/opendbc/can/common.cc
@@ -5,9 +5,11 @@ unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
   d >>= 4; // remove checksum
 
   int s = 0;
+  bool extended = address > 0x7FF; // extended can
   while (address) { s += (address & 0xF); address >>= 4; }
   while (d) { s += (d & 0xF); d >>= 4; }
   s = 8-s;
+  if (extended) s += 3;
   s &= 0xF;
 
   return s;
@@ -18,12 +20,55 @@ unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
   d >>= 8; // remove checksum
 
   unsigned int s = l;
-  while (address) { s += address & 0xff; address >>= 8; }
-  while (d) { s += d & 0xff; d >>= 8; }
+  while (address) { s += address & 0xFF; address >>= 8; }
+  while (d) { s += d & 0xFF; d >>= 8; }
 
   return s & 0xFF;
 }
 
+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l) {
+  d >>= ((8-l)*8); // remove padding
+
+  unsigned int s = 0;
+  while (address) { s += address & 0xFF; address >>= 8; }
+  l -= 1; // checksum is first byte
+  while (l) { s += d & 0xFF; d >>= 8; l -= 1; }
+
+  return s & 0xFF;
+}
+
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
+  /* This function does not want the checksum byte in the input data.
+  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  uint8_t checksum = 0xFF;
+  for (int j = 0; j < (l - 1); j++) {
+    uint8_t shift = 0x80;
+    uint8_t curr = (d >> 8*j) & 0xFF;
+    for (int i=0; i<8; i++) {
+      uint8_t bit_sum = curr & shift;
+      uint8_t temp_chk = checksum & 0x80U;
+      if (bit_sum != 0U) {
+        bit_sum = 0x1C;
+        if (temp_chk != 0U) {
+          bit_sum = 1;
+        }
+        checksum = checksum << 1;
+        temp_chk = checksum | 1U;
+        bit_sum ^= temp_chk;
+      } else {
+        if (temp_chk != 0U) {
+          bit_sum = 0x1D;
+        }
+        checksum = checksum << 1;
+        bit_sum ^= checksum;
+      }
+      checksum = bit_sum;
+      shift = shift >> 1;
+    }
+  }
+  return ~checksum & 0xFF;
+}
+
 // Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
 uint8_t crc8_lut_8h2f[256];
 
@@ -54,23 +99,22 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
   // a magic variable padding byte tacked onto the end of the payload.
   // https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf
 
-  uint8_t *dat = (uint8_t *)&d;
   uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR
 
   // CRC the payload first, skipping over the first byte where the CRC lives.
   for (int i = 1; i < l; i++) {
-    crc ^= dat[i];
+    crc ^= (d >> (i*8)) & 0xFF;
     crc = crc8_lut_8h2f[crc];
   }
 
   // Look up and apply the magic final CRC padding byte, which permutes by CAN
   // address, and additionally (for SOME addresses) by the message counter.
-  uint8_t counter = dat[1] & 0x0F;
+  uint8_t counter = ((d >> 8) & 0xFF) & 0x0F;
   switch(address) {
     case 0x86:  // LWI_01 Steering Angle
       crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
       break;
-    case 0x9F:  // EPS_01 Electric Power Steering
+    case 0x9F:  // LH_EPS_03 Electric Power Steering
       crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
       break;
     case 0xAD:  // Getriebe_11 Automatic Gearbox
@@ -83,7 +127,13 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
       crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
       break;
     case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
+      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
+      break;
+    case 0x120: // TSK_06 Drivetrain Coordinator
+      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      break;
+    case 0x121: // Motor_20 Driver Throttle Inputs
+      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
       break;
     case 0x122: // ACC_06 Automatic Cruise Control
       crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
@@ -100,6 +150,12 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x30C: // ACC_02 Automatic Cruise Control
       crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
       break;
+    case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
+      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
+      break;
+    case 0x324: // ACC_04 Automatic Cruise Control
+      crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
+      break;
     case 0x3C0: // Klemmen_Status_01 ignition and starting status
       crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
       break;
@@ -124,11 +180,9 @@ unsigned int pedal_checksum(uint64_t d, int l) {
   d >>= ((8-l)*8); // remove padding
   d >>= 8; // remove checksum
 
-  uint8_t *dat = (uint8_t *)&d;
-
   int i, j;
   for (i = 0; i < l - 1; i++) {
-    crc ^= dat[i];
+    crc ^= (d >> (i*8)) & 0xFF;
     for (j = 0; j < 8; j++) {
       if ((crc & 0x80) != 0) {
         crc = (uint8_t)((crc << 1) ^ poly);
diff --git a/opendbc/can/common.h b/opendbc/can/common.h
index 4d0e14cbc92d98..95833402e214fc 100644
--- a/opendbc/can/common.h
+++ b/opendbc/can/common.h
@@ -5,14 +5,20 @@
 #include <unordered_map>
 
 #include "common_dbc.h"
+#include <capnp/dynamic.h>
 #include <capnp/serialize.h>
+
+#ifndef DYNAMIC_CAPNP
 #include "cereal/gen/cpp/log.capnp.h"
+#endif
 
 #define MAX_BAD_COUNTER 5
 
 // Helper functions
 unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
 unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l);
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
 void init_crc_lookup_tables();
 unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
 unsigned int pedal_checksum(uint64_t d, int l);
@@ -34,6 +40,9 @@ class MessageState {
   uint8_t counter;
   uint8_t counter_fail;
 
+  bool ignore_checksum = false;
+  bool ignore_counter = false;
+
   bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
   bool update_counter_generic(int64_t v, int cnt_size);
 };
@@ -41,6 +50,7 @@ class MessageState {
 class CANParser {
 private:
   const int bus;
+  kj::Array<capnp::word> aligned_buf;
 
   const DBC *dbc = NULL;
   std::unordered_map<uint32_t, MessageState> message_states;
@@ -52,9 +62,13 @@ class CANParser {
   CANParser(int abus, const std::string& dbc_name,
             const std::vector<MessageParseOptions> &options,
             const std::vector<SignalParseOptions> &sigoptions);
+  CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
+  #ifndef DYNAMIC_CAPNP
+  void update_string(const std::string &data, bool sendcan);
   void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  #endif
+  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
   void UpdateValid(uint64_t sec);
-  void update_string(std::string data, bool sendcan);
   std::vector<SignalValue> query_latest();
 };
 
@@ -66,5 +80,6 @@ class CANPacker {
 
 public:
   CANPacker(const std::string& dbc_name);
-  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
+  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
+  Msg* lookup_message(uint32_t address);
 };
diff --git a/opendbc/can/common.pxd b/opendbc/can/common.pxd
index e07e0b35c70c43..273529bf58b219 100644
--- a/opendbc/can/common.pxd
+++ b/opendbc/can/common.pxd
@@ -18,7 +18,9 @@ cdef extern from "common_dbc.h":
     PEDAL_CHECKSUM,
     PEDAL_COUNTER,
     VOLKSWAGEN_CHECKSUM,
-    VOLKSWAGEN_COUNTER
+    VOLKSWAGEN_COUNTER,
+    SUBARU_CHECKSUM,
+    CHRYSLER_CHECKSUM
 
   cdef struct Signal:
     const char* name
@@ -64,7 +66,7 @@ cdef extern from "common_dbc.h":
     double value
 
   cdef struct SignalPackValue:
-    const char * name
+    string name
     double value
 
 
diff --git a/opendbc/can/common_dbc.h b/opendbc/can/common_dbc.h
index ae6f443ec90cd3..f40b4ac427ba12 100644
--- a/opendbc/can/common_dbc.h
+++ b/opendbc/can/common_dbc.h
@@ -3,11 +3,12 @@
 #include <cstddef>
 #include <cstdint>
 #include <string>
+#include <vector>
 
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
 
 struct SignalPackValue {
-  const char* name;
+  std::string name;
   double value;
 };
 
@@ -38,6 +39,8 @@ enum SignalType {
   PEDAL_COUNTER,
   VOLKSWAGEN_CHECKSUM,
   VOLKSWAGEN_COUNTER,
+  SUBARU_CHECKSUM,
+  CHRYSLER_CHECKSUM,
 };
 
 struct Signal {
@@ -72,6 +75,7 @@ struct DBC {
   size_t num_vals;
 };
 
+std::vector<const DBC*>& get_dbcs();
 const DBC* dbc_lookup(const std::string& dbc_name);
 
 void dbc_register(const DBC* dbc);
diff --git a/opendbc/can/dbc.cc b/opendbc/can/dbc.cc
index 6587de7fe0163a..5747c7c6bc0b52 100644
--- a/opendbc/can/dbc.cc
+++ b/opendbc/can/dbc.cc
@@ -2,15 +2,11 @@
 
 #include "common_dbc.h"
 
-namespace {
-
 std::vector<const DBC*>& get_dbcs() {
   static std::vector<const DBC*> vec;
   return vec;
 }
 
-}
-
 const DBC* dbc_lookup(const std::string& dbc_name) {
   for (const auto& dbci : get_dbcs()) {
     if (dbc_name == dbci->name) {
diff --git a/opendbc/can/dbc.py b/opendbc/can/dbc.py
index ed5ea748519e39..043a674a309105 100755
--- a/opendbc/can/dbc.py
+++ b/opendbc/can/dbc.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import re
 import os
 import struct
@@ -12,6 +13,7 @@ def int_or_float(s):
   else:
     return float(s)
 
+
 DBCSignal = namedtuple(
   "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
                 "factor", "offset", "tmin", "tmax", "units"])
@@ -41,7 +43,7 @@ def __init__(self, fn):
     self.def_vals = defaultdict(list)
 
     # lookup to bit reverse each byte
-    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in range(64)]
+    self.bits_index = [(i & ~0b111) + ((-i - 1) & 0b111) for i in range(64)]
 
     for l in self.txt:
       l = l.strip()
@@ -55,7 +57,7 @@ def __init__(self, fn):
 
         name = dat.group(2)
         size = int(dat.group(3))
-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
         if ids in self.msgs:
           sys.exit("Duplicate address detected %d %s" % (ids, self.name))
 
@@ -73,15 +75,15 @@ def __init__(self, fn):
           print("bad SG {0}".format(l))
 
         sgname = dat.group(1)
-        start_bit = int(dat.group(go+2))
-        signal_size = int(dat.group(go+3))
-        is_little_endian = int(dat.group(go+4))==1
-        is_signed = dat.group(go+5)=='-'
-        factor = int_or_float(dat.group(go+6))
-        offset = int_or_float(dat.group(go+7))
-        tmin = int_or_float(dat.group(go+8))
-        tmax = int_or_float(dat.group(go+9))
-        units = dat.group(go+10)
+        start_bit = int(dat.group(go + 2))
+        signal_size = int(dat.group(go + 3))
+        is_little_endian = int(dat.group(go + 4)) == 1
+        is_signed = dat.group(go + 5) == '-'
+        factor = int_or_float(dat.group(go + 6))
+        offset = int_or_float(dat.group(go + 7))
+        tmin = int_or_float(dat.group(go + 8))
+        tmax = int_or_float(dat.group(go + 9))
+        units = dat.group(go + 10)
 
         self.msgs[ids][1].append(
           DBCSignal(sgname, start_bit, signal_size, is_little_endian,
@@ -94,16 +96,16 @@ def __init__(self, fn):
         if dat is None:
           print("bad VAL {0}".format(l))
 
-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
         sgname = dat.group(2)
         defvals = dat.group(3)
 
-        defvals = defvals.replace("?",r"\?") #escape sequence in C++
+        defvals = defvals.replace("?", r"\?")  # escape sequence in C++
         defvals = defvals.split('"')[:-1]
 
         # convert strings to UPPER_CASE_WITH_UNDERSCORES
-        defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
-        defvals = '"'+"".join(str(i) for i in defvals)+'"'
+        defvals[1::2] = [d.strip().upper().replace(" ", "_") for d in defvals[1::2]]
+        defvals = '"' + "".join(str(i) for i in defvals) + '"'
 
         self.def_vals[ids].append((sgname, defvals))
 
@@ -147,7 +149,7 @@ def encode(self, msg_id, dd):
       ival = dd.get(s.name)
       if ival is not None:
 
-        ival = (ival / s.factor) - s.offset
+        ival = (ival - s.offset) / s.factor
         ival = int(round(ival))
 
         if s.is_signed and ival < 0:
@@ -193,12 +195,12 @@ def decode(self, x, arr=None, debug=False):
     if arr is None:
       out = {}
     else:
-      out = [None]*len(arr)
+      out = [None] * len(arr)
 
     msg = self.msgs.get(x[0])
     if msg is None:
       if x[0] not in self._warned_addresses:
-        #print("WARNING: Unknown message address {}".format(x[0]))
+        # print("WARNING: Unknown message address {}".format(x[0]))
         self._warned_addresses.add(x[0])
       return None, None
 
@@ -253,23 +255,3 @@ def decode(self, x, arr=None, debug=False):
   def get_signals(self, msg):
     msg = self.lookup_msg_id(msg)
     return [sgs.name for sgs in self.msgs[msg][1]]
-
-
-if __name__ == "__main__":
-   from opendbc import DBC_PATH
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
-   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x25, 0, encoded))
-   assert decoded == msg
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
-   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
-   assert abs(decoded[1]['SAS_Angle'] - (-26.2)) < 0.001
-
-   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x2b0, 0, encoded))
-
-   assert decoded == msg
diff --git a/opendbc/can/dbc_template.cc b/opendbc/can/dbc_template.cc
index f9540fcee9af16..f6d4988713767c 100644
--- a/opendbc/can/dbc_template.cc
+++ b/opendbc/can/dbc_template.cc
@@ -29,6 +29,10 @@ const Signal sigs_{{address}}[] = {
       .type = SignalType::VOLKSWAGEN_CHECKSUM,
       {% elif checksum_type == "volkswagen" and sig.name == "COUNTER" %}
       .type = SignalType::VOLKSWAGEN_COUNTER,
+      {% elif checksum_type == "subaru" and sig.name == "CHECKSUM" %}
+      .type = SignalType::SUBARU_CHECKSUM,
+      {% elif checksum_type == "chrysler" and sig.name == "CHECKSUM" %}
+      .type = SignalType::CHRYSLER_CHECKSUM,
       {% elif address in [512, 513] and sig.name == "CHECKSUM_PEDAL" %}
       .type = SignalType::PEDAL_CHECKSUM,
       {% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %}
diff --git a/opendbc/can/packer.cc b/opendbc/can/packer.cc
index fb81952768dd14..5a7312c600b997 100644
--- a/opendbc/can/packer.cc
+++ b/opendbc/can/packer.cc
@@ -20,7 +20,7 @@ uint64_t ReverseBytes(uint64_t x) {
           ((x & 0x00000000000000ffull) << 56);
 }
 
-uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
+static uint64_t set_value(uint64_t ret, const Signal& sig, int64_t ival) {
   int shift = sig.is_little_endian? sig.b1 : sig.bo;
   uint64_t mask = ((1ULL << sig.b2)-1) << shift;
   uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
@@ -51,15 +51,14 @@ CANPacker::CANPacker(const std::string& dbc_name) {
 uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter) {
   uint64_t ret = 0;
   for (const auto& sigval : signals) {
-    std::string name = std::string(sigval.name);
     double value = sigval.value;
 
-    auto sig_it = signal_lookup.find(std::make_pair(address, name));
+    auto sig_it = signal_lookup.find(std::make_pair(address, sigval.name));
     if (sig_it == signal_lookup.end()) {
-      WARN("undefined signal %s - %d\n", name.c_str(), address);
+      WARN("undefined signal %s - %d\n", sigval.name.c_str(), address);
       continue;
     }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;
 
     int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
     if (ival < 0) {
@@ -75,7 +74,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
       WARN("COUNTER not defined\n");
       return ret;
     }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;
 
     if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
       WARN("COUNTER signal type not valid\n");
@@ -86,7 +85,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
 
   auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
   if (sig_it_checksum != signal_lookup.end()) {
-    auto sig = sig_it_checksum->second;
+    const auto& sig = sig_it_checksum->second;
     if (sig.type == SignalType::HONDA_CHECKSUM) {
       unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
       ret = set_value(ret, sig, chksm);
@@ -99,6 +98,12 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
       // The correct fix is unclear but this works for the moment.
       unsigned int chksm = volkswagen_crc(address, ReverseBytes(ret), message_lookup[address].size);
       ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      unsigned int chksm = subaru_checksum(address, ret, message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
     } else {
       //WARN("CHECKSUM signal type not valid\n");
     }
@@ -106,3 +111,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
 
   return ret;
 }
+
+Msg* CANPacker::lookup_message(uint32_t address) {
+  return &message_lookup[address];
+}
diff --git a/opendbc/can/packer_pyx.pyx b/opendbc/can/packer_pyx.pyx
index 00f83eca65ff84..4b8f3e36f0e71b 100644
--- a/opendbc/can/packer_pyx.pyx
+++ b/opendbc/can/packer_pyx.pyx
@@ -8,8 +8,8 @@ from libcpp.string cimport string
 from libcpp cimport bool
 from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
 
-from common cimport CANPacker as cpp_CANPacker
-from common cimport dbc_lookup, SignalPackValue, DBC
+from .common cimport CANPacker as cpp_CANPacker
+from .common cimport dbc_lookup, SignalPackValue, DBC
 
 
 cdef class CANPacker:
@@ -20,9 +20,11 @@ cdef class CANPacker:
     map[int, int] address_to_size
 
   def __init__(self, dbc_name):
-    self.packer = new cpp_CANPacker(dbc_name)
     self.dbc = dbc_lookup(dbc_name)
+    if not self.dbc:
+      raise RuntimeError(f"Can't lookup {dbc_name}")
 
+    self.packer = new cpp_CANPacker(dbc_name)
     num_msgs = self.dbc[0].num_msgs
     for i in range(num_msgs):
       msg = self.dbc[0].msgs[i]
@@ -31,15 +33,11 @@ cdef class CANPacker:
 
   cdef uint64_t pack(self, addr, values, counter):
     cdef vector[SignalPackValue] values_thing
+    values_thing.reserve(len(values))
     cdef SignalPackValue spv
 
-    names = []
-
     for name, value in values.iteritems():
-      n = name.encode('utf8')
-      names.append(n) # TODO: find better way to keep reference to temp string arround
-
-      spv.name = n
+      spv.name = name.encode('utf8')
       spv.value = value
       values_thing.push_back(spv)
 
diff --git a/opendbc/can/packer_pyx_setup.py b/opendbc/can/packer_pyx_setup.py
deleted file mode 100644
index 48d1c260a952dc..00000000000000
--- a/opendbc/can/packer_pyx_setup.py
+++ /dev/null
@@ -1,69 +0,0 @@
-import os
-import sysconfig
-import subprocess
-import platform
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-from Cython.Build import cythonize
-from Cython.Distutils import build_ext
-
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
-
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
-
-sourcefiles = ['packer_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-if ARCH == "aarch64":
-  extra_compile_args += ["-Wno-deprecated-register"]
-
-if platform.system() == "Darwin":
-  libdbc = "libdbc.dylib"
-else:
-  libdbc = "libdbc.so"
-
-setup(name='CAN packer',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "packer_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-          include_dirs=[
-            BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
-          ],
-          extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
-          ],
-        )
-      ),
-      nthreads=4,
-)
-
-if platform.system() == "Darwin":
-  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")
-
diff --git a/opendbc/can/parser.cc b/opendbc/can/parser.cc
index 69fe3747a23fd6..7e64199a1fcf9b 100644
--- a/opendbc/can/parser.cc
+++ b/opendbc/can/parser.cc
@@ -13,7 +13,6 @@
 // #define DEBUG printf
 #define INFO printf
 
-
 bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
   uint64_t dat_le = read_u64_le(dat);
   uint64_t dat_be = read_u64_be(dat);
@@ -34,37 +33,52 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
 
     DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);
 
-    if (sig.type == SignalType::HONDA_CHECKSUM) {
-      if (honda_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::HONDA_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
-      if (toyota_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
-      if (volkswagen_crc(address, dat_le, size) != tmp) {
-        INFO("0x%X CRC FAIL\n", address);
-        return false;
+    if (!ignore_checksum) {
+      if (sig.type == SignalType::HONDA_CHECKSUM) {
+        if (honda_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
+        if (toyota_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
+        if (volkswagen_crc(address, dat_le, size) != tmp) {
+          INFO("0x%X CRC FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+        if (subaru_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+        if (chrysler_checksum(address, dat_le, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
+        if (pedal_checksum(dat_be, size) != tmp) {
+          INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
+          return false;
+        }
       }
-    } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+    }
+    if (!ignore_counter) {
+      if (sig.type == SignalType::HONDA_COUNTER) {
         if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
-      if (pedal_checksum(dat_be, size) != tmp) {
-        INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+          if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_COUNTER) {
+        if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
       }
     }
 
@@ -98,26 +112,24 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
 CANParser::CANParser(int abus, const std::string& dbc_name,
           const std::vector<MessageParseOptions> &options,
           const std::vector<SignalParseOptions> &sigoptions)
-  : bus(abus) {
+  : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
 
   dbc = dbc_lookup(dbc_name);
   assert(dbc);
   init_crc_lookup_tables();
 
   for (const auto& op : options) {
-    MessageState state = {
-      .address = op.address,
-      // .check_frequency = op.check_frequency,
-    };
+    MessageState &state = message_states[op.address];
+    state.address = op.address;
+    // state.check_frequency = op.check_frequency,
 
     // msg is not valid if a message isn't received for 10 consecutive steps
     if (op.check_frequency > 0) {
       state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
     }
 
-
     const Msg* msg = NULL;
-    for (int i=0; i<dbc->num_msgs; i++) {
+    for (int i = 0; i < dbc->num_msgs; i++) {
       if (dbc->msgs[i].address == op.address) {
         msg = &dbc->msgs[i];
         break;
@@ -131,7 +143,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
     state.size = msg->size;
 
     // track checksums and counters for this message
-    for (int i=0; i<msg->num_sigs; i++) {
+    for (int i = 0; i < msg->num_sigs; i++) {
       const Signal *sig = &msg->sigs[i];
       if (sig->type != SignalType::DEFAULT) {
         state.parse_sigs.push_back(*sig);
@@ -143,7 +155,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
     for (const auto& sigop : sigoptions) {
       if (sigop.address != op.address) continue;
 
-      for (int i=0; i<msg->num_sigs; i++) {
+      for (int i = 0; i < msg->num_sigs; i++) {
         const Signal *sig = &msg->sigs[i];
         if (strcmp(sig->name, sigop.name) == 0
             && sig->type == SignalType::DEFAULT) {
@@ -152,38 +164,105 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
           break;
         }
       }
+    }
+  }
+}
+
+CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter)
+  : bus(abus) {
+  // Add all messages and signals
+
+  dbc = dbc_lookup(dbc_name);
+  assert(dbc);
+  init_crc_lookup_tables();
 
+  for (int i = 0; i < dbc->num_msgs; i++) {
+    const Msg* msg = &dbc->msgs[i];
+    MessageState state = {
+      .address = msg->address,
+      .size = msg->size,
+      .ignore_checksum = ignore_checksum,
+      .ignore_counter = ignore_counter,
+    };
+
+    for (int j = 0; j < msg->num_sigs; j++) {
+      const Signal *sig = &msg->sigs[j];
+      state.parse_sigs.push_back(*sig);
+      state.vals.push_back(0);
     }
 
     message_states[state.address] = state;
   }
 }
 
+#ifndef DYNAMIC_CAPNP
+void CANParser::update_string(const std::string &data, bool sendcan) {
+  // format for board, make copy due to alignment issues.
+  const size_t buf_size = (data.length() / sizeof(capnp::word)) + 1;
+  if (aligned_buf.size() < buf_size) {
+    aligned_buf = kj::heapArray<capnp::word>(buf_size);
+  }
+  memcpy(aligned_buf.begin(), data.data(), data.length());
+
+  // extract the messages
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
+  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+
+  last_sec = event.getLogMonoTime();
+
+  auto cans = sendcan? event.getSendcan() : event.getCan();
+  UpdateCans(last_sec, cans);
+
+  UpdateValid(last_sec);
+}
+
 void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
-    int msg_count = cans.size();
-    uint64_t p;
+  int msg_count = cans.size();
 
-    DEBUG("got %d messages\n", msg_count);
+  DEBUG("got %d messages\n", msg_count);
 
+  for (int i = 0; i < msg_count; i++) {
+    auto cmsg = cans[i];
     // parse the messages
-    for (int i = 0; i < msg_count; i++) {
-      auto cmsg = cans[i];
-      if (cmsg.getSrc() != bus) {
-        // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
-        continue;
-      }
-      auto state_it = message_states.find(cmsg.getAddress());
-      if (state_it == message_states.end()) {
-        // DEBUG("skip %d: not specified\n", cmsg.getAddress());
-        continue;
-      }
+    if (cmsg.getSrc() != bus) {
+      // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
+      continue;
+    }
+    auto state_it = message_states.find(cmsg.getAddress());
+    if (state_it == message_states.end()) {
+      // DEBUG("skip %d: not specified\n", cmsg.getAddress());
+      continue;
+    }
 
-      if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
-      uint8_t dat[8] = {0};
-      memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
+    if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
+    uint8_t dat[8] = {0};
+    memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
 
-      state_it->second.parse(sec, cmsg.getBusTime(), dat);
-    }
+    state_it->second.parse(sec, cmsg.getBusTime(), dat);
+  }
+}
+#endif
+
+void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
+  // assume message struct is `cereal::CanData` and parse
+  assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
+
+  if (cmsg.get("src").as<uint8_t>() != bus) {
+    DEBUG("skip %d: wrong bus\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto state_it = message_states.find(cmsg.get("address").as<uint32_t>());
+  if (state_it == message_states.end()) {
+    DEBUG("skip %d: not specified\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto dat = cmsg.get("dat").as<capnp::Data>();
+  if (dat.size() > 8) return; //shouldn't ever happen
+  uint8_t data[8] = {0};
+  memcpy(data, dat.begin(), dat.size());
+  state_it->second.parse(sec, cmsg.get("busTime").as<uint16_t>(), data);
 }
 
 void CANParser::UpdateValid(uint64_t sec) {
@@ -193,30 +272,14 @@ void CANParser::UpdateValid(uint64_t sec) {
     if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
       if (state.seen > 0) {
         DEBUG("0x%X TIMEOUT\n", state.address);
+      } else {
+        DEBUG("0x%X MISSING\n", state.address);
       }
       can_valid = false;
     }
   }
 }
 
-void CANParser::update_string(std::string data, bool sendcan) {
-  // format for board, make copy due to alignment issues, will be freed on out of scope
-  auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), data.data(), data.length());
-
-  // extract the messages
-  capnp::FlatArrayMessageReader cmsg(amsg);
-  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-  last_sec = event.getLogMonoTime();
-
-  auto cans = sendcan? event.getSendcan() : event.getCan();
-  UpdateCans(last_sec, cans);
-
-  UpdateValid(last_sec);
-}
-
-
 std::vector<SignalValue> CANParser::query_latest() {
   std::vector<SignalValue> ret;
 
diff --git a/opendbc/can/parser.py b/opendbc/can/parser.py
index 3c3def204d1a66..04722115ce75f8 100644
--- a/opendbc/can/parser.py
+++ b/opendbc/can/parser.py
@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANParser # pylint: disable=no-name-in-module, import-error
-assert CANParser
+from opendbc.can.parser_pyx import CANParser, CANDefine  # pylint: disable=no-name-in-module, import-error
+assert CANParser, CANDefine
diff --git a/opendbc/can/parser_pyx.pyx b/opendbc/can/parser_pyx.pyx
index d7eb0c7224a23d..bf1842f55ebe6c 100644
--- a/opendbc/can/parser_pyx.pyx
+++ b/opendbc/can/parser_pyx.pyx
@@ -3,24 +3,20 @@
 
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp cimport bool
 from libcpp.unordered_set cimport unordered_set
 from libc.stdint cimport uint32_t, uint64_t, uint16_t
 from libcpp.map cimport map
+from libcpp cimport bool
 
-from collections import defaultdict
-
-from common cimport CANParser as cpp_CANParser
-from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
-
+from .common cimport CANParser as cpp_CANParser
+from .common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
 
-from libcpp cimport bool
 import os
 import numbers
+from collections import defaultdict
 
 cdef int CAN_INVALID_CNT = 5
 
-
 cdef class CANParser:
   cdef:
     cpp_CANParser *can
@@ -30,26 +26,28 @@ cdef class CANParser:
     vector[SignalValue] can_values
     bool test_mode_enabled
 
-  cdef public:
+  cdef readonly:
     string dbc_name
     dict vl
     dict ts
     bool can_valid
     int can_invalid_cnt
 
-  def __init__(self, dbc_name, signals, checks=None, bus=0):
+  def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
     if checks is None:
       checks = []
-
     self.can_valid = True
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
+    if not self.dbc:
+      raise RuntimeError(f"Can't find DBC: {dbc_name}")
     self.vl = {}
     self.ts = {}
 
     self.can_invalid_cnt = CAN_INVALID_CNT
 
-    num_msgs = self.dbc[0].num_msgs
+    cdef int i
+    cdef int num_msgs = self.dbc[0].num_msgs
     for i in range(num_msgs):
       msg = self.dbc[0].msgs[i]
       name = msg.name.decode('utf8')
@@ -76,6 +74,14 @@ cdef class CANParser:
         c = (self.msg_name_to_address[name], c[1])
         checks[i] = c
 
+    if enforce_checks:
+      checked_addrs = {c[0] for c in checks}
+      signal_addrs = {s[1] for s in signals}
+      unchecked = signal_addrs - checked_addrs
+      if len(unchecked):
+        err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
+        raise RuntimeError(f"Unchecked addrs: {err_msg}")
+
     cdef vector[SignalParseOptions] signal_options_v
     cdef SignalParseOptions spo
     for sig_name, sig_address, sig_default in signals:
@@ -110,9 +116,8 @@ cdef class CANParser:
         self.can_invalid_cnt = 0
     self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
 
-
     for cv in can_values:
-      # Cast char * directly to unicde
+      # Cast char * directly to unicode
       name = <unicode>self.address_to_msg_name[cv.address].c_str()
       cv_name = <unicode>cv.name
 
@@ -150,6 +155,8 @@ cdef class CANDefine():
   def __init__(self, dbc_name):
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
+    if not self.dbc:
+      raise RuntimeError(f"Can't find DBC: '{dbc_name}'")
 
     num_vals = self.dbc[0].num_vals
 
@@ -168,18 +175,15 @@ cdef class CANDefine():
       val = self.dbc[0].vals[i]
 
       sgname = val.name.decode('utf8')
-      address = val.address
       def_val = val.def_val.decode('utf8')
+      address = val.address
+      msgname = address_to_msg_name[address]
 
-      #separate definition/value pairs
+      # separate definition/value pairs
       def_val = def_val.split()
       values = [int(v) for v in def_val[::2]]
       defs = def_val[1::2]
 
-      if address not in dv:
-        dv[address] = {}
-        msgname = address_to_msg_name[address]
-        dv[msgname] = {}
 
       # two ways to lookup: address or msg name
       dv[address][sgname] = dict(zip(values, defs))
diff --git a/opendbc/can/parser_pyx_setup.py b/opendbc/can/parser_pyx_setup.py
deleted file mode 100644
index 5662530d7d8eb3..00000000000000
--- a/opendbc/can/parser_pyx_setup.py
+++ /dev/null
@@ -1,69 +0,0 @@
-import os
-import subprocess
-import sysconfig
-import platform
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-from Cython.Build import cythonize
-from Cython.Distutils import build_ext
-
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
-
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
-
-sourcefiles = ['parser_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-if ARCH == "aarch64":
-  extra_compile_args += ["-Wno-deprecated-register"]
-
-if platform.system() == "Darwin":
-  libdbc = "libdbc.dylib"
-else:
-  libdbc = "libdbc.so"
-
-setup(name='CAN parser',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "parser_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-          include_dirs=[
-            BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
-          ],
-          extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
-          ],
-        )
-      ),
-      nthreads=4,
-)
-
-if platform.system() == "Darwin":
-  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")
-
diff --git a/opendbc/can/process_dbc.py b/opendbc/can/process_dbc.py
index a1c91a8978db58..04a67db95e844d 100755
--- a/opendbc/can/process_dbc.py
+++ b/opendbc/can/process_dbc.py
@@ -10,7 +10,7 @@
 
 def process(in_fn, out_fn):
   dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
-  #print("processing %s: %s -> %s" % (dbc_name, in_fn, out_fn))
+  # print("processing %s: %s -> %s" % (dbc_name, in_fn, out_fn))
 
   template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
 
@@ -19,10 +19,11 @@ def process(in_fn, out_fn):
 
   can_dbc = dbc(in_fn)
 
-  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
+  # process counter and checksums first
+  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM")))
           for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
 
-  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
+  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()}  # remove duplicates
   def_vals = sorted(def_vals.items())
 
   if can_dbc.name.startswith(("honda_", "acura_")):
@@ -46,6 +47,20 @@ def process(in_fn, out_fn):
     checksum_start_bit = 0
     counter_start_bit = 0
     little_endian = True
+  elif can_dbc.name.startswith(("subaru_global_")):
+    checksum_type = "subaru"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 0
+    counter_start_bit = None
+    little_endian = True
+  elif can_dbc.name.startswith(("chrysler_", "stellantis_")):
+    checksum_type = "chrysler"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 7
+    counter_start_bit = None
+    little_endian = False
   else:
     checksum_type = None
     checksum_size = None
@@ -55,7 +70,7 @@ def process(in_fn, out_fn):
     little_endian = None
 
   # sanity checks on expected COUNTER and CHECKSUM rules, as packer and parser auto-compute those signals
-  for address, msg_name, msg_size, sigs in msgs:
+  for address, msg_name, _, sigs in msgs:
     dbc_msg_name = dbc_name + " " + msg_name
     for sig in sigs:
       if checksum_type is not None:
@@ -66,7 +81,7 @@ def process(in_fn, out_fn):
           if sig.start_bit % 8 != checksum_start_bit:
             sys.exit("%s: CHECKSUM starts at wrong bit" % dbc_msg_name)
           if little_endian != sig.is_little_endian:
-            sys.exit("%s: CHECKSUM has wrong endianess" % dbc_msg_name)
+            sys.exit("%s: CHECKSUM has wrong endianness" % dbc_msg_name)
         # counter rules
         if sig.name == "COUNTER":
           if counter_size is not None and sig.size != counter_size:
@@ -75,7 +90,7 @@ def process(in_fn, out_fn):
             print(counter_start_bit, sig.start_bit)
             sys.exit("%s: COUNTER starts at wrong bit" % dbc_msg_name)
           if little_endian != sig.is_little_endian:
-            sys.exit("%s: COUNTER has wrong endianess" % dbc_msg_name)
+            sys.exit("%s: COUNTER has wrong endianness" % dbc_msg_name)
       # pedal rules
       if address in [0x200, 0x201]:
         if sig.name == "COUNTER_PEDAL" and sig.size != 4:
@@ -91,8 +106,12 @@ def process(in_fn, out_fn):
 
   parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
 
-  with open(out_fn, "w") as out_f:
-    out_f.write(parser_code)
+  with open(out_fn, "a+") as out_f:
+    out_f.seek(0)
+    if out_f.read() != parser_code:
+      out_f.seek(0)
+      out_f.truncate()
+      out_f.write(parser_code)
 
 def main():
   if len(sys.argv) != 3:
@@ -107,6 +126,6 @@ def main():
 
   process(in_fn, out_fn)
 
+
 if __name__ == '__main__':
   main()
-
diff --git a/opendbc/can/tests/.gitignore b/opendbc/can/tests/.gitignore
deleted file mode 100644
index 192fb0945ec5b3..00000000000000
--- a/opendbc/can/tests/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.bz2
diff --git a/opendbc/can/tests/linter_python/.pylintrc b/opendbc/can/tests/linter_python/.pylintrc
deleted file mode 100644
index 64a55daf8fabb3..00000000000000
--- a/opendbc/can/tests/linter_python/.pylintrc
+++ /dev/null
@@ -1,585 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=print-statement,
-        parameter-unpacking,
-        unpacking-in-except,
-        old-raise-syntax,
-        backtick,
-        long-suffix,
-        old-ne-operator,
-        old-octal-literal,
-        import-star-module-level,
-        non-ascii-bytes-literal,
-        raw-checker-failed,
-        bad-inline-option,
-        locally-disabled,
-        locally-enabled,
-        file-ignored,
-        suppressed-message,
-        useless-suppression,
-        deprecated-pragma,
-        apply-builtin,
-        basestring-builtin,
-        buffer-builtin,
-        cmp-builtin,
-        coerce-builtin,
-        execfile-builtin,
-        file-builtin,
-        long-builtin,
-        raw_input-builtin,
-        reduce-builtin,
-        standarderror-builtin,
-        unicode-builtin,
-        xrange-builtin,
-        coerce-method,
-        delslice-method,
-        getslice-method,
-        setslice-method,
-        no-absolute-import,
-        old-division,
-        dict-iter-method,
-        dict-view-method,
-        next-method-called,
-        metaclass-assignment,
-        indexing-exception,
-        raising-string,
-        reload-builtin,
-        oct-method,
-        hex-method,
-        nonzero-method,
-        cmp-method,
-        input-builtin,
-        round-builtin,
-        intern-builtin,
-        unichr-builtin,
-        map-builtin-not-iterating,
-        zip-builtin-not-iterating,
-        range-builtin-not-iterating,
-        filter-builtin-not-iterating,
-        using-cmp-argument,
-        eq-without-hash,
-        div-method,
-        idiv-method,
-        rdiv-method,
-        exception-message-attribute,
-        invalid-str-codec,
-        sys-max-int,
-        bad-python3-import,
-        deprecated-string-function,
-        deprecated-str-translate-call,
-        deprecated-itertools-function,
-        deprecated-types-field,
-        next-method-defined,
-        dict-items-not-iterating,
-        dict-keys-not-iterating,
-        dict-values-not-iterating,
-        bad-indentation,
-        line-too-long,
-        missing-docstring,
-        multiple-statements,
-        bad-continuation,
-        invalid-name,
-        too-many-arguments,
-        too-many-locals,
-        superfluous-parens,
-        bad-whitespace,
-        too-many-instance-attributes,
-        wrong-import-position,
-        ungrouped-imports,
-        wrong-import-order,
-        protected-access,
-        trailing-whitespace,
-        too-many-branches,
-        too-few-public-methods,
-        too-many-statements,
-        trailing-newlines,
-        attribute-defined-outside-init,
-        too-many-return-statements,
-        too-many-public-methods,
-        unused-argument,
-        old-style-class,
-        no-init,
-        len-as-condition,
-        unneeded-not,
-        no-self-use,
-        multiple-imports,
-        no-else-return,
-        logging-not-lazy,
-        fixme,
-        redefined-outer-name,
-        unused-variable,
-        unsubscriptable-object,
-        expression-not-assigned,
-        too-many-boolean-expressions,
-        consider-using-ternary,
-        invalid-unary-operand-type,
-        relative-import,
-        deprecated-lambda
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception
diff --git a/opendbc/can/tests/linter_python/flake8_opendbc.sh b/opendbc/can/tests/linter_python/flake8_opendbc.sh
deleted file mode 100755
index 66402b236712ac..00000000000000
--- a/opendbc/can/tests/linter_python/flake8_opendbc.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-
-RESULT=$(python3 -m flake8 --select=F $(find ../../../ -type f | grep "\.py$"))
-if [[ $RESULT  ]]; then
-	echo "Pyflakes found errors in the code. Please fix and try again"
-	echo "$RESULT"
-	exit 1
-fi
diff --git a/opendbc/can/tests/linter_python/pylint_opendbc.sh b/opendbc/can/tests/linter_python/pylint_opendbc.sh
deleted file mode 100755
index c2e7efc8040e04..00000000000000
--- a/opendbc/can/tests/linter_python/pylint_opendbc.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-python3 -m pylint --disable=R,C,W $(find ../../../ -type f | grep "\.py$")
-
-exit_status=$?
-(( res = exit_status & 3 ))
-
-if [[ $res != 0  ]]; then
-	echo "Pylint found errors in the code. Please fix and try again"
-	exit 1
-fi
diff --git a/opendbc/can/tests/test_define.py b/opendbc/can/tests/test_define.py
deleted file mode 100644
index d9a6f7d671b7cd..00000000000000
--- a/opendbc/can/tests/test_define.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-
-from opendbc.can.can_define import CANDefine
-
-
-class TestCADNDefine(unittest.TestCase):
-  def test_civic(self):
-
-    dbc_file = "honda_civic_touring_2016_can_generated"
-    defs = CANDefine(dbc_file)
-
-    self.assertDictEqual(defs.dv[399], defs.dv['STEER_STATUS'])
-    self.assertDictEqual(defs.dv[399],
-                         {'STEER_STATUS':
-                          {6: 'TMP_FAULT',
-                           5: 'FAULT_1',
-                           4: 'NO_TORQUE_ALERT_2',
-                           3: 'LOW_SPEED_LOCKOUT',
-                           2: 'NO_TORQUE_ALERT_1',
-                           0: 'NORMAL'}
-                          }
-                         )
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/opendbc/can/tests/test_generator.sh b/opendbc/can/tests/test_generator.sh
deleted file mode 100755
index c4df547dca8d55..00000000000000
--- a/opendbc/can/tests/test_generator.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/bin/bash -e
-
-cd ../../generator/
-
-# run generator
-./generator.py
-
-if [ -n "$(git status --untracked-files=no --porcelain)" ]; then
-  echo "Unexpected changes after running generator.py";
-  exit 1
-else
-  echo "Success";
-fi
diff --git a/opendbc/can/tests/test_packer_parser.py b/opendbc/can/tests/test_packer_parser.py
deleted file mode 100644
index 1c28e8867cb298..00000000000000
--- a/opendbc/can/tests/test_packer_parser.py
+++ /dev/null
@@ -1,105 +0,0 @@
-#!/usr/bin/env python3
-
-import unittest
-
-from opendbc.can.parser import CANParser
-from opendbc.can.packer import CANPacker
-import cereal.messaging as messaging
-
-
-# Python implementation so we don't have to depend on boardd
-def can_list_to_can_capnp(can_msgs, msgtype='can'):
-  dat = messaging.new_message()
-  dat.init(msgtype, len(can_msgs))
-
-  for i, can_msg in enumerate(can_msgs):
-    if msgtype == 'sendcan':
-      cc = dat.sendcan[i]
-    else:
-      cc = dat.can[i]
-
-    cc.address = can_msg[0]
-    cc.busTime = can_msg[1]
-    cc.dat = bytes(can_msg[2])
-    cc.src = can_msg[3]
-
-  return dat.to_bytes()
-
-
-class TestCanParserPacker(unittest.TestCase):
-  def test_civic(self):
-
-    dbc_file = "honda_civic_touring_2016_can_generated"
-
-    signals = [
-      ("STEER_TORQUE", "STEERING_CONTROL", 0),
-      ("STEER_TORQUE_REQUEST", "STEERING_CONTROL", 0),
-    ]
-    checks = []
-
-    parser = CANParser(dbc_file, signals, checks, 0)
-    packer = CANPacker(dbc_file)
-
-    idx = 0
-
-    for steer in range(-256, 255):
-      for active in [1, 0]:
-        values = {
-          "STEER_TORQUE": steer,
-          "STEER_TORQUE_REQUEST": active,
-        }
-
-        msgs = packer.make_can_msg("STEERING_CONTROL", 0, values, idx)
-        bts = can_list_to_can_capnp([msgs])
-
-        parser.update_string(bts)
-
-        self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], steer)
-        self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE_REQUEST"], active)
-        self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["COUNTER"], idx % 4)
-
-        idx += 1
-
-  def test_subaru(self):
-    # Subuaru is little endian
-
-    dbc_file = "subaru_global_2017"
-
-    signals = [
-      ("Counter", "ES_LKAS", 0),
-      ("LKAS_Output", "ES_LKAS", 0),
-      ("LKAS_Request", "ES_LKAS", 0),
-      ("SET_1", "ES_LKAS", 0),
-
-    ]
-
-    checks = []
-
-    parser = CANParser(dbc_file, signals, checks, 0)
-    packer = CANPacker(dbc_file)
-
-    idx = 0
-
-    for steer in range(-256, 255):
-      for active in [1, 0]:
-        values = {
-          "Counter": idx,
-          "LKAS_Output": steer,
-          "LKAS_Request": active,
-          "SET_1": 1
-        }
-
-        msgs = packer.make_can_msg("ES_LKAS", 0, values)
-        bts = can_list_to_can_capnp([msgs])
-        parser.update_string(bts)
-
-        self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"], steer)
-        self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"], active)
-        self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1)
-        self.assertAlmostEqual(parser.vl["ES_LKAS"]["Counter"], idx % 16)
-
-        idx += 1
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/opendbc/chrysler_pacifica_2017_hybrid.dbc b/opendbc/chrysler_pacifica_2017_hybrid.dbc
index 80ec2a904b6bd3..245eefb8b0a335 100644
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -43,7 +43,7 @@ BO_ 258 STEERING: 8 XXX
  SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
  SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
 
-BO_ 514 SPEED_1: 4 XXX
+BO_ 514 SPEED_1: 8 XXX
  SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
  SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX
 
@@ -300,6 +300,7 @@ BO_ 501 DASHBOARD: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CRUISE_STATE : 38|3@0+ (1,0) [0|7] "" XXX
 
 BO_ 639 NEW_MSG_27f: 8 XXX
  SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
@@ -409,7 +410,7 @@ CM_ SG_ 571 CHECKSUM "standard checksum";
 CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning.";
 CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
 CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
-CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
+CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother";
 CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal";
 CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
 CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
@@ -425,9 +426,11 @@ CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help w
 CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
 CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
 CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
+CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both.";
 CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
+VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged";
 VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
diff --git a/opendbc/ford_cgea1_2_bodycan_2011.dbc b/opendbc/ford_cgea1_2_bodycan_2011.dbc
deleted file mode 100644
index 49fcae19c2e4f8..00000000000000
--- a/opendbc/ford_cgea1_2_bodycan_2011.dbc
+++ /dev/null
@@ -1,1070 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 58 BCM_m_FrP01: 8 XXX
- SG_ ChildLockCmd : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ ChildLockCmd_UB : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ CLockCmd : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ CLockCmd_UB : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ DDShortDrop : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ DDShortDrop_UB : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ DirectionIndication : 11|2@0+ (1,0) [0|0] "" XXX
- SG_ DirectionIndication_UB : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ EpsDrvInfo_D_Dsply : 36|4@0+ (1,0) [0|0] "" XXX
- SG_ EpsDrvInfo_D_Dsply_UB : 39|1@0+ (1,0) [0|0] "" XXX
- SG_ GearRvrseActv_D_Actl : 38|2@0+ (1,0) [0|0] "" XXX
- SG_ GearRvrseActv_D_Actl_UB : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ VehVActlEng_D_Qf_3A : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ Veh_V_ActlEng_UB_3A : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Veh_V_ActlEng_3A : 55|16@0+ (0.01,0) [0|0] "kph" XXX
- SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ Veh_V_RqCcSet : 32|9@0+ (0.5,0) [0|0] "kph" XXX
- SG_ WasherFluidLevelLow : 5|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 64 BCM_m_FrP02: 8 XXX
- SG_ FuelCutoffReq : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ FuelCutoffReq_UB : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ KVRFRSettings : 54|15@0+ (1,0) [0|0] "" XXX
- SG_ KVRFRSettings_UB : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ PsngrFrntDetct_D_Actl : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ PsngrFrntDetct_D_Actl_UB : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ RILReq : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ RILReq_UB : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBuckleDriver : 31|2@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBuckleDriver_UB : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBuckleMid : 29|2@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBuckleMid_UB : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBucklePsngr : 27|2@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBucklePsngr_UB : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ ThirdRowBuckleDriver : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ ThirdRowBuckleDriver_UB : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ ThirdRowBucklePsngr : 37|2@0+ (1,0) [0|0] "" XXX
- SG_ ThirdRowBucklePsngr_UB : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotationCnt : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotationCnt_UB : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotationCntQF : 35|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRr_D_Actl_UB_40 : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRr_D_Actl_40 : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRl_D_Actl_UB_40 : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRl_D_Actl_40 : 33|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 131 MS_Steering_Data: 8 XXX
- SG_ SteColumn_Status_UB : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ SteColumn_Status : 31|3@0+ (1,0) [0|0] "" XXX
- SG_ SteCol_Manual_Override_UB : 26|1@0+ (1,0) [0|0] "" XXX
- SG_ SteCol_Manual_Override : 27|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Send_UB : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Send : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Phone_UB : 17|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Phone : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_OK_UB : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_OK : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Volume_Up_UB : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Volume_Down_UB : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Voice_PTT_UB : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Seek_Right_UB : 19|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Seek_Left_UB : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Mode_UB : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Mode : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Media_UB : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Volume_Up : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Volume_Down : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Voice_PTT : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Seek_Right : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Seek_Left : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Media : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ VehYaw_W_Actl : 55|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
- SG_ SteWhlCtl_End_UB : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_End : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ VehYaw_W_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Mute_UB : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Mute : 12|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 257 Driver_Seat_Information: 8 XXX
- SG_ Reverse_Mirror_Stat : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ Memory_Feedback_Rqst : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ Easy_Entry_Exit_Stat : 7|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 260 Driver_Seat_Information_2: 8 XXX
- SG_ Memory_Cmd : 15|4@0+ (1,0) [0|0] "" XXX
- SG_ Easy_Entry_Rqst : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvSeat_Stat : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ Cancel_Auto_Movement : 1|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 269 IdleShutdown_Legacy: 8 XXX
- SG_ IDLE_ENGINE_SHUTDOWN : 23|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 272 Keyfob_Pad_Stat: 8 XXX
- SG_ L_Pwr_Sliding_Dr_Rqst : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Decklid_Rqst : 31|1@0+ (1,0) [0|0] "" XXX
- SG_ R_Pwr_Sliding_Dr_Rqst : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ Keyfob_Pad_Msg_Count : 23|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ Keyfob_Pad_Id_Number : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ Keyfob_Pad_Button_Pressed : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ Power_Liftgate_Rqst : 30|1@0+ (1,0) [0|0] "" XXX
- SG_ Keycode_Status : 27|20@0+ (1,0) [0|0] "" XXX
-
-BO_ 275 Power_Liftgate_Mode_StatM: 8 XXX
- SG_ Power_Liftgate_Mode_Stat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ DrTgateChime_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 276 Running_Board_CmdM: 8 XXX
- SG_ Running_Board_Cmd : 7|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 277 Running_Board_StatM: 8 XXX
- SG_ Running_Board_Stat : 7|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 288 ClmtCtrlSeat_SetCmdlegacy1: 8 XXX
- SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 289 ClmtCtrlSeat_SetStat_DvrM: 8 XXX
- SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 290 ClmtCtrlSeat_SetCmdlegacy2: 8 XXX
- SG_ ClmtCtrlSeat_SetCmd_Psgr : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 291 ClmtCtrlSeat_SetStat_PsgrM: 8 XXX
- SG_ ClmtCtrlSeat_SetStat_Psgr : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 292 ClmtCtrlSeatSet_Cmd_v2_MS: 8 XXX
- SG_ ClmtCtrlSeat_SetCmd_Psgr : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 293 ClmtCtrlSeatSet_Stat_v2: 8 XXX
- SG_ ClmtCtrlSeat_SetStat_Psgr : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 304 Mirror_Manual_Override_M: 8 XXX
- SG_ Mirror_Manual_Override : 7|1@0+ (1,0) [0|0] "Binary" XXX
-
-BO_ 305 Memory_Sw_StatM: 8 XXX
- SG_ Memory_Sw_Message_Count : 15|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ Memory_Set_Sw_Stat : 7|1@0+ (1,0) [0|0] "Binary" XXX
- SG_ Memory_Set_Cancel : 3|1@0+ (1,0) [0|0] "Binary" XXX
- SG_ Memory_3_Sw_Stat : 4|1@0+ (1,0) [0|0] "Binary" XXX
- SG_ Memory_2_Sw_Stat : 5|1@0+ (1,0) [0|0] "Binary" XXX
- SG_ Memory_1_Sw_Stat : 6|1@0+ (1,0) [0|0] "Binary" XXX
-
-BO_ 306 Driver_Lock_Sw_StatM: 8 XXX
- SG_ Driver_Door_Key_Unlock : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ Driver_Door_Key_Lock : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Driver_Lock_Sw_Message_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ Driver_Lock_Sw_Stat : 15|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 309 Memory_Cancel_Cmd_M: 8 XXX
- SG_ Memory_Cancel_Cmd : 7|1@0+ (1,0) [0|0] "Binary" XXX
-
-BO_ 310 Driver_Door_Lock_CmdM: 8 XXX
- SG_ Driver_Door_Lock_Msg_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ Driver_Door_Lock_Cmd : 15|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 311 Pass_Mirror_Sw_StatM: 8 XXX
- SG_ Pass_Mirror_Sw_UD_Stat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Mirror_Sw_LR_Stat : 5|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 313 RPwrSlideDr_Unlock_RqstM: 8 XXX
- SG_ RPwrSlideDr_Unlock_Rqst : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 320 LPwrSlideDr_Unlock_RqstM: 8 XXX
- SG_ LPwrSlideDr_Unlock_Rqst : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 321 Passive_Entry_Ctrl_Data: 8 XXX
- SG_ PE_Control_Data_1 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Control_Cmd : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ PK_SearchResults_Prog : 63|4@0+ (1,0) [0|0] "" XXX
- SG_ PK_SearchResults_MyKey : 4|4@0+ (1,0) [0|0] "" XXX
- SG_ PK_SearchResults_Found : 59|4@0+ (1,0) [0|0] "" XXX
- SG_ PK_Search_EvNum : 15|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ PE_Control_Data_5 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Control_Data_4 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Control_Data_3 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Control_Data_2 : 31|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 322 Passive_Entry_Target_Data: 8 XXX
- SG_ PE_Target_Data_5 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Target_Cmd : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ PE_Target_Status : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ PE_Target_Data_1 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Search_Rqst : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ PE_Target_Data_4 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Target_Data_3 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Target_Data_2 : 23|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 577 BCM_m_FrP28: 8 XXX
- SG_ WheelRotToothCntFrL : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotToothCntFrL_UB : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotToothCntFrR : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotToothCntFrR_UB : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotToothCntReL : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotToothCntReL_UB : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotToothCntReR : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ WheelRotToothCntReR_UB : 43|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 736 FCIM_Button_Press: 8 XXX
- SG_ FCIM_Target_ID : 13|4@0+ (1,0) [0|0] "" XXX
- SG_ FCIM_Button_Type : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ FCIM_Button_State : 15|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 806 Compressor_Req: 8 XXX
- SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
- SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
- SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
-
-BO_ 842 MassageSeat_Data1: 8 XXX
- SG_ SeatLmbrUpDrv_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatLmbrMidDrv_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatLmbrLoDrv_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatBlUpDrv_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatBlLoDrv_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 843 MassageSeat_Data2: 8 XXX
- SG_ SeatLmbrUpPsgr_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatLmbrMidPsgr_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatLmbrLoPsgr_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatBlUpPsgr_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatBlLoPsgr_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 844 MassageSeat_Stat1: 8 XXX
- SG_ StmsLmbrDrv_D_Stat : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ StmsCshnDrv_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ SeatSwtchDrv_B_Stat : 31|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnDrv_D_Stat : 23|3@0+ (1,0) [0|0] "" XXX
- SG_ SeatAirAmb_P_Actl : 7|16@0+ (0.01,0) [0|0] "KiloPascal" XXX
- SG_ SeatPDrv_B_Stat : 20|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 845 MassageSeat_Stat2: 8 XXX
- SG_ StmsLmbrPsgr_D_Stat : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ StmsCshnPsgr_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ SeatSwtchPsgr_B_Stat : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatPPsgr_B_Stat : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnPsgr_D_Stat : 6|3@0+ (1,0) [0|0] "" XXX
- SG_ PsgrMemFeedback_Rsp : 3|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 846 MassageSeat_Req_MS: 8 XXX
- SG_ SeatFnPsgr_D_Rq : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnDrv_D_Rq : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnDfaltPsgr_B_Rq : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnDfaltDrv_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnChngPsgr_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnChngDrv_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ PsgrMemory_Rq : 3|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 849 MassageSeat_Data3: 8 XXX
- SG_ SeatCshnDrvRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnDrvRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnDrvFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnDrvFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 850 MassageSeat_Data4: 8 XXX
- SG_ SeatCshnPsgrRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnPsgrRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnPsgrFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnPsgrFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 853 EFP_CC_Status_MS: 8 XXX
- SG_ Save_My_Temp : 59|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Left_Temp_Setpt : 31|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RrDefrost_HtdMirrorReq : 60|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Control_Status : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ MultipleButtonPressReq : 63|3@0+ (1,0) [0|0] "" XXX
- SG_ Rear_System_Mode_Req : 19|3@0+ (1,0) [0|0] "" XXX
- SG_ Recirc_Request : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ Front_Rt_Temp_Setpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ AC_Request : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ Windshield_ModeRequest : 15|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ Panel_Mode_Request : 7|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ Overriding_ModeReq : 10|3@0+ (1,0) [0|0] "" XXX
- SG_ Floor_Mode_Request : 3|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ Rear_Right_Temp_Setpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ Forced_Recirc_Req : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Left_Temp_Setpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX
-
-BO_ 854 EFP_CC_Seat_Req_Stat_MS: 8 XXX
- SG_ Front_Rear_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX
- SG_ Pass_Rr_Cond_Seat_Req : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Rr_Cond_Seat_Lvl : 8|3@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Fr_Cond_Seat_Req : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Fr_Cond_Seat_Lvl : 11|3@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Rr_Cond_Seat_Req : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Rr_Cond_Seat_Lvl : 2|3@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Fr_Cond_Seat_Req : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Fr_Cond_Seat_Lvl : 5|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 855 RCCM_CC_Status: 8 XXX
- SG_ RrBlwrCondStLdShedStat : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ FrBlwrCondStLdShedStat : 20|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_Rr_Rt_TempSetpt : 63|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RCCM_Rr_Left_TempSetpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RCCM_Fr_Rt_TempSetpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RCCM_Fr_Left_TempSetpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RCCM_Fr_Rr_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX
- SG_ Panel_Mode_State : 7|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ RrDefHtdMirrLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX
- SG_ Windshield_Mode_State : 15|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ Recirc_Door_State : 11|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_System_Mode_State : 23|3@0+ (1,0) [0|0] "" XXX
- SG_ Default_Defrost_State : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Auto_AC_Indicator_Temp : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ Floor_Mode_State : 3|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ RrDefrost_HtdMirrState : 8|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 856 RCCM_CC_Seat_Status: 8 XXX
- SG_ Active_My_Temp : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_HtdStrWhl_Req : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_PR_Cond_Seat_Lvl : 31|3@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_PR_Cond_Seat_Req : 28|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_PF_Cond_Seat_Req : 20|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_PF_Cond_Seat_Lvl : 23|3@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_DR_Cond_Seat_Req : 12|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_DR_Cond_Seat_Lvl : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_DF_Cond_Seat_Req : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_DF_Cond_Seat_Lvl : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ PassRrCondStLdShedStat : 26|2@0+ (1,0) [0|0] "" XXX
- SG_ PassFrCondStLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvRrCondStLdShedStat : 10|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvFrCondStLdShedStat : 1|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 857 RCCM_CC_MBP_Press_Stat: 8 XXX
- SG_ Report_Active : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Temp_Units : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Fan_Bars_Disply : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Temp_Units : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ MultBtnPushDsplyPass10 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ MultBtnPushDsplyPass1 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ MultBtnPushDsplyDrvr10 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ MultBtnPushDsplyDrvr1 : 15|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 859 MFD_CC_Status_MS: 8 XXX
- SG_ Rear_Mode_Bttn_Status : 38|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 860 EFP_CC_Info_Status_MS: 8 XXX
- SG_ Rear_Panel_Btn_State : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Floor_Btn_State : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ HtdStrWhl_SftBtt_Stt : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ AC_Sft_Button_State : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvRrCondSeatSftBttnSt : 47|3@0+ (1,0) [0|0] "" XXX
- SG_ DrvFrCondSeatSftBtnStt : 37|3@0+ (1,0) [0|0] "" XXX
- SG_ CC_RecircSBtn_St : 27|2@0+ (1,0) [0|0] "" XXX
- SG_ CC_RrDefrSBtn_St : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ PasRrCondSeatSftBttnSt : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ PasFrCondSeatSftBtnStt : 34|3@0+ (1,0) [0|0] "" XXX
- SG_ MyTemp_Soft_Bttn_State : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_MaxACSBtn_St : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ RearPowerButtonState : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ RearCoolBarsDisplayed : 11|3@0+ (1,0) [0|0] "Bars_On" XXX
- SG_ Rear_Sft_Control_Stat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ CC_RrNeutralBarDsp_St : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_RrHeatBarsDsp_St : 31|3@0+ (1,0) [0|0] "Bars_On" XXX
- SG_ Rear_Fan_Bars_Displayed : 19|3@0+ (1,0) [0|0] "" XXX
- SG_ CC_RrCtrlBtn_St : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Auto_Button_State : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_FrPowerSBtn_St : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_FrDefrostSBtn_St : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_Soft_Btn_Stt : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_MODE_State : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_FAN_State : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Dual_Button_State : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_BarPnlSBtn_St : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_BarPnFlrSBtn_St : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_BarFlrWsSBtn_St : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_BarDrvFlrSBtn_St : 3|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 861 HSWheel_CC_Info_Stat: 8 XXX
- SG_ HtdStrWhl_SftBtt_State : 57|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 862 Climate_Control_Data_2: 8 XXX
- SG_ HvacRec_Pc_Est : 31|7@0+ (1,0) [0|0] "%" XXX
- SG_ HvacEngIdleInc_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacAir_Flw_Est : 13|9@0+ (0.5,0) [0|0] "liter/second" XXX
- SG_ AmbTempImpr : 7|10@0+ (0.25,-128.0) [0|0] "degreesC" XXX
-
-BO_ 900 Vehicle_Access_RqstM: 8 XXX
- SG_ PE_AssocConfirm_D_Actl : 63|3@0+ (1,0) [0|0] "" XXX
- SG_ DrTgateOpen_D_RqRfa : 51|2@0+ (1,0) [0|0] "" XXX
- SG_ PE_Decklid_Inhibit_Rqst : 53|2@0+ (1,0) [0|0] "" XXX
- SG_ PK_Program : 45|2@0+ (1,0) [0|0] "" XXX
- SG_ PE_Packet_Cnt : 31|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ PE_Control_Status : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ PE_Control_Code : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ PE_Perimeter_Lighting_Stat : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ PE_RKE_Flash_Rqst : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ PE_Lock_EvNum : 23|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ PE_Lock_Requestor : 39|5@0+ (1,0) [0|0] "" XXX
- SG_ PE_Lock_Sub_Id : 11|4@0+ (1,0) [0|0] "" XXX
- SG_ PE_Lock_Status : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ PE_DrvCfg_Horn_Rqst : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ PEBackupSlot_Stats : 55|2@0+ (1,0) [0|0] "" XXX
- SG_ PE_Fob_Number : 43|4@0+ (1,0) [0|0] "Number" XXX
- SG_ PE_Keypad_LiftGlass_Rqst : 49|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 901 Vehicle_Lock_Status: 8 XXX
- SG_ CntrStkKeycodeActl : 55|16@0+ (1,0) [0|0] "" XXX
- SG_ CntrStk_D_RqAssoc_UB : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ CntrStk_D_RqAssoc : 43|3@0+ (1,0) [0|0] "" XXX
- SG_ KeyTypeChngMykey_D_Rq : 45|2@0+ (1,0) [0|0] "" XXX
- SG_ Veh_Lock_Sub_Id : 21|4@0+ (1,0) [0|0] "" XXX
- SG_ Veh_Lock_Status : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ Veh_Lock_Requestor : 39|5@0+ (1,0) [0|0] "" XXX
- SG_ Veh_Lock_EvNum : 31|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ Trim_Switch_Status_Count : 15|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ Trim_Switch_Status : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ DF_KeyCyl_Switch_Stat_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ DF_KeyCyl_Switch_Stat : 34|2@0+ (1,0) [0|0] "" XXX
- SG_ Perimeter_Alarm_Status : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ KeyTypeChngMykey_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 902 Remote_Start: 8 XXX
- SG_ Remote_Start_Req : 7|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 903 CC_FCIM_Update: 8 XXX
- SG_ Rr_Temp_M_H_Heat_Ind : 30|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Fan_7_Indicator : 45|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Fan_6_Indicator : 46|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Fan_5_Indicator : 47|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Fan_4_Indicator : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Fan_3_Indicator : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Fan_2_Indicator : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Fan_Low_Indicator : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ AC_Indicator : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ Floor_Mode_Indicator : 37|1@0+ (1,0) [0|0] "" XXX
- SG_ Panel_Mode_Indicator : 38|1@0+ (1,0) [0|0] "" XXX
- SG_ Windshield_Mode_Indicator : 39|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Temp_High_Cool_Ind : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Temp_M_H_Cool_Ind : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Temp_M_L_Cool_Ind : 26|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Temp_Low_Cool_Ind : 27|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Temp_Center_Ind_On : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Temp_High_Heat_Ind : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Temp_M_L_Heat_Ind : 31|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Temp_Low_Heat_Ind : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Control_Indicator : 17|1@0+ (1,0) [0|0] "" XXX
- SG_ Auto_Indicator_Rear : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Indicator_Rear : 19|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_U_R_Seat_Cool_Ind : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_M_Seat_Cool_Ind : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_L_L_Seat_Cool_Ind : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_U_R_Seat_Heat_Ind : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_M_Seat_Heat_Ind : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_L_L_Seat_Heat_Ind : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_U_R_Seat_Cool_Ind : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_M_Seat_Cool_Ind : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_L_L_Seat_Cool_Ind : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_U_R_Seat_Heat_Ind : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_M_Seat_Heat_Ind : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_L_L_Seat_Heat_Ind : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ Single_Mode_Indicator : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Auto_Indicator : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Recirc_Indicator : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ Max_AC_Econ_Indicator : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_DefHtd_Mirr_Indicator : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ Defrost_Indicator : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Temp_Dual_Indicator : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Indicator_Front : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 904 CC_NavChassis_Info_Status: 8 XXX
- SG_ Rear_Defrost_Soft_Bttn_Stt : 52|1@0+ (1,0) [0|0] "" XXX
- SG_ Recirc_Soft_Button_State : 54|2@0+ (1,0) [0|0] "" XXX
- SG_ Max_AC_Soft_Button_State : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_Soft_Btn_Stt : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Power_Soft_Btn_State : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Defrost_Soft_Btn_Stt : 26|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Power_Button_State : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_FAN_Indicator : 27|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_MODE_Indicator : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_Bar_Rear_Set_Temp_Display : 17|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_Bar_Rear_Set_Temp_Units : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Heat_Bars_Displayed : 42|3@0+ (1,0) [0|0] "Bars_On" XXX
- SG_ CC_Bar_Rear_Set_Temp_Dig3 : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ CC_Bar_Rear_Set_Temp_Dig2 : 15|8@0+ (1,0) [0|0] "ASCII" XXX
- SG_ CC_Bar_Rear_Set_Temp_Dig1 : 7|8@0+ (1,0) [0|0] "ASCII" XXX
- SG_ Rear_Neutral_Bar_Displayed : 43|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Fan_Bars_Displayed : 46|3@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Control_Button_State : 47|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Auto_Button_State : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ AC_Sft_Button_State : 35|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Cool_Bars_Displayed : 38|3@0+ (1,0) [0|0] "Bars_On" XXX
- SG_ Dual_Button_State : 39|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_Bar_Sft_Btn_FlrWs_State : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_Bar_Sft_Btn_Floor_State : 30|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_Bar_Sft_Btn_PnFlr_State : 31|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_Bar_Sft_Btn_Pnl_State : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Sft_Control_Status : 23|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 920 FCIM_CC_Status: 8 XXX
- SG_ Manual_Temp_Knob_Pos : 8|9@0+ (1,0) [0|0] "Degrees CW" XXX
- SG_ Manual_Blower_Knob_Pos : 24|9@0+ (1,0) [0|0] "Degrees CW" XXX
- SG_ Rear_Blower_IncreaseButton : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Blower_DecreaseButton : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Temp_Decrease_Button : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Temp_Increase_Button : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Control_Button : 43|1@0+ (1,0) [0|0] "" XXX
- SG_ Auto_Button_Rear : 44|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Button_Rear : 45|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_Heated_Seat_Btn : 47|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_Cooled_Seat_Btn : 46|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_Cooled_Seat_Btn : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_Heated_Seat_Btn : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ Blower_Decrease_Button : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ Blower_Increase_Button : 26|1@0+ (1,0) [0|0] "" XXX
- SG_ Floor_Defrost_Mode_Button : 27|1@0+ (1,0) [0|0] "" XXX
- SG_ Floor_Mode_Button : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ Panel_Floor_Mode_Button : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ Panel_Mode_Button : 30|1@0+ (1,0) [0|0] "" XXX
- SG_ Mode_Change_Button : 31|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_Temp_Increase : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_Temp_Decrease : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_Temp_Decrease : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Lft_Side_Temp_Increase : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ Auto_Button_Front : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ Recirc_Button : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Max_AC_Econ_Button : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ AC_Button : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ Rr_Def_Htd_Mirr_Button : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Defrost_Button : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ Rt_Side_Temp_Dual_Button : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Button_Front : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ Climate_Button : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ CcdMde_D_Rq : 54|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 921 Nav_CC_Status: 8 XXX
- SG_ Front_System_Button_Status : 7|5@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Temp_Button_Status : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Man_Temp_Bar_Status : 11|4@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Fan_Button_Status : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Man_ATC_Button_Status : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Blower_Bar_Status : 2|3@0+ (1,0) [0|0] "# of Bars" XXX
-
-BO_ 922 VoiceRec_CC_Request: 8 XXX
- SG_ Recirculate_On : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ Recirculate_Off : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Defrost_On : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Defrost_Off : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ Max_AC_On : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Max_AC_Off : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Defrost_On : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Defrost_Off : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Blower_Increment : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Blower_Decrement : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ Dual_Zone_Off : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ Driver_Temp_Increment : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ Driver_Temp_Decrement : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ Climate_On : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ Climate_Off : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ Automatic_Mode : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ AC_On : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ AC_Off : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Voice_Blower_Limit : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ Driver_Set_Temp : 31|8@0+ (0.5,0) [0|0] "Degrees" XXX
-
-BO_ 928 Ignition_Switch_PositionM: 8 XXX
- SG_ AirAmb_Te_ActlFilt_UB : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ AirAmb_Te_ActlFilt : 49|10@0+ (0.25,-128.0) [0|0] "deg C" XXX
- SG_ OdometerMasterValue_UB : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ OdometerMasterValue : 31|24@0+ (1,0) [0|0] "km" XXX
- SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ Key_In_Ignition_Stat : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ Ignition_Switch_Stable : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ Ignition_Status : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ BOO_Switch_Status : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ Remote_Device_Feedback : 23|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 934 Side_Detect_L_StatusM: 8 XXX
- SG_ Cross_Traffic_L_SnState : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_L_SysOpState : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_L_SnsrState : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ Side_Detect_L_Illum : 15|8@0+ (1,0) [0|0] "%" XXX
- SG_ Side_Detect_L_Detect : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_L_Op_State : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_L_Alert : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ Side_Detect_L_Alert : 5|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 935 Side_Detect_R_StatusM: 8 XXX
- SG_ Cross_Traffic_R_Alert : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_R_SnState : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_R_Op_State : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ Side_Detect_R_Detect : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Side_Detect_R_Illum : 15|8@0+ (1,0) [0|0] "%" XXX
- SG_ SideDetect_R_SnsrState : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_R_SysOpState : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ Side_Detect_R_Alert : 5|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 944 Body_Information_6_MS: 8 XXX
- SG_ DRV_SELECT_STAT : 3|4@0+ (1,0) [0|0] "" XXX
- SG_ reserve_2bits : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ reserve_2 : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ reserve_3 : 4|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 945 Ajar_Stat: 8 XXX
- SG_ Decklid_Ajar_Status : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ Hood_Ajar_Status : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ LG_Glass_Ajar_Status : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ DF_Door_Ajar_Status : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ PF_Door_Ajar_Status : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ DR_Door_Ajar_Status : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ PR_Door_Ajar_Status : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ LG_Door_Ajar_Status : 1|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 946 Body_Information_5_MS: 8 XXX
- SG_ CoolantFanStepAct_UB : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ AirCondRec_B_Rq_UB : 38|1@0+ (1,0) [0|0] "" XXX
- SG_ AirCondRec_B_Rq : 39|1@0+ (1,0) [0|0] "" XXX
- SG_ AirCondEvdc_D_Stats_UB : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ AirCondEvdc_D_Stats : 37|3@0+ (1,0) [0|0] "" XXX
- SG_ AirCondClutch_B_Stats_UB : 19|1@0+ (1,0) [0|0] "" XXX
- SG_ AirCondClutch_B_Stats : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ CoolantFanStepAct : 47|5@0+ (1,0) [0|0] "Steps" XXX
- SG_ AirCondFluidHi_P_Actl_UB : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ AirCondFluidHi_P_Actl : 31|8@0+ (0.125,0) [0|0] "bar" XXX
- SG_ SECONDARY_HEATER_STAT_UB : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ CURRENT_DRAW_UB : 62|1@0+ (1,0) [0|0] "" XXX
- SG_ SECONDARY_HEATER_STAT : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ CURRENT_DRAW : 55|8@0+ (0.5,0) [0|0] "Amps" XXX
-
-BO_ 947 BodyInformation_3_MS: 8 XXX
- SG_ CamraDefog_B_Req_UB : 58|1@0+ (1,0) [0|0] "" XXX
- SG_ TrStats_D_Actl_UB : 48|1@0+ (1,0) [0|0] "" XXX
- SG_ RearFog_Lamp_Dbnce_UB : 49|1@0+ (1,0) [0|0] "" XXX
- SG_ TrStats_D_Actl : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraDefog_B_Req : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ RearFog_Lamp_Dbnce : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ CarMode : 53|4@0+ (1,0) [0|0] "" XXX
- SG_ Day_Night_Status : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ Parklamp_Status : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ Litval : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ Mfs_Turn_Stalk_SW_Status : 11|2@0+ (1,0) [0|0] "" XXX
- SG_ PwMdeExten_D_Actl : 63|5@0+ (1,0) [0|0] "" XXX
- SG_ STR_WHL_ANGLE : 39|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX
- SG_ Turn_Seq_Cmd_Right : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Turn_Seq_Cmd_Left : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ Smart_Wiper_Motor_Stat_UB : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ Smart_Wiper_Motor_Stat : 55|2@0+ (1,0) [0|0] "" XXX
- SG_ Mfs_Turn_Stalk_SW_Status_UB : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ reserve : 1|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 950 RKE_Packet: 8 XXX
- SG_ RemoteKey_Packet_TIC : 7|32@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Packet_RollB : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Packet_RollA : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Packet_Ctrl : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Packet_CkSum : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 951 TPM_Frame: 8 XXX
- SG_ TirePress_Frame_Temp : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ TirePress_Frame_Status : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ TirePress_Frame_Press : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TirePress_Frame_ID : 7|32@0+ (1,0) [0|0] "" XXX
- SG_ TirePress_Frame_CkSum : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 952 RKE_TPM_Info: 8 XXX
- SG_ TirePress_HitRate_Ctrl : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_HitRate_Ctrl : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Antenna_Ctrl : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ TirePress_Filter_Ctrl : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Filter_Ctrl : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ Modulation_Ctrl : 1|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 953 RKE_Info: 8 XXX
- SG_ RemoteKey_Info_TIC : 7|32@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Info_RollB : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Info_RollA : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Info_Ctrl : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ RemoteKey_Info_CkSum : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 954 Tire_Pressure_Info: 8 XXX
- SG_ TirePress_Info_MaxInd : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ TirePress_Info_Index : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TirePress_Info_ID : 7|32@0+ (1,0) [0|0] "" XXX
-
-BO_ 956 Body_Information_7_MS: 8 XXX
- SG_ GearLvrPos_D_Actl_UB : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ PrplWhlTot_Tq_Actl : 31|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
- SG_ GearLvrPos_D_Actl : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ ApedPos_Pc_ActlArb : 15|10@0+ (0.1,0) [0|0] "%" XXX
- SG_ PrplWhlTot_Tq_Actl_UB : 17|1@0+ (1,0) [0|0] "" XXX
- SG_ EngOff_T_Actl : 47|16@0+ (1,0) [0|0] "seconds" XXX
- SG_ ApedPos_Pc_ActlArb_UB : 20|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 958 Rear_FoglampStat: 8 XXX
- SG_ RearFog_Lamp_Ind : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 963 BCM_to_MS_Body: 8 XXX
- SG_ LF_Low_Beam_CKT_CAN : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ IKT_Program_Status : 51|2@0+ (1,0) [0|0] "" XXX
- SG_ Veh_Spd_Slow_Puddle_Status : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ Illuminated_Exit_Status : 43|2@0+ (1,0) [0|0] "" XXX
- SG_ Illuminated_Entry_Status : 45|2@0+ (1,0) [0|0] "" XXX
- SG_ Door_Courtesy_Light_Status : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ Courtesy_Demand_BSave_Stat : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ Alarm_Lights_Courtesy_Stat : 35|2@0+ (1,0) [0|0] "" XXX
- SG_ Courtesy_Delay_Status : 37|2@0+ (1,0) [0|0] "" XXX
- SG_ Courtesy_Mode_Status : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ Front_Fog_Light_SW_Status : 22|2@0+ (1,0) [0|0] "" XXX
- SG_ Brake_Lamp_On_Status : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ ParkLamps_CKT_CAN : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ RF_Low_Beam_CKT_CAN : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Brk_Fluid_Lvl_Low : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ Park_Brake_Status : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ High_Beam_Indicator_Rqst : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Headlamp_On_Wrning_Cmd : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ Key_In_Ignition_Warn_Cmd : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ Park_Brake_Chime_Rqst : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ Daytime_Running_Lamps : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ AutoHighBeam_Cmd : 18|2@0+ (1,0) [0|0] "" XXX
- SG_ Perimeter_Alarm_Chime_Rqst : 20|2@0+ (1,0) [0|0] "" XXX
- SG_ OCSSensrDataUpperLim_UB : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ OCSSensrDataLowerLim_UB : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ OCSSensrDataUpperLim : 63|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSensrDataLowerLim : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ AutoHighBeam_Cmd_UB : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ PrkBrkActv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ Headlamp_Switch_Stat : 49|2@0+ (1,0) [0|0] "" XXX
- SG_ Perimeter_Alarm_Inclin_Cmd : 53|2@0+ (1,0) [0|0] "" XXX
- SG_ Perimeter_Alarm_Intrus_Cmd : 55|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 964 BodyInformation_2_MS: 8 XXX
- SG_ LockInhibit : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ MetricActvTe_B_Actl_UB : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ MetricActvTe_B_Actl : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Liftgate_Mode_Cmd : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ AirAmb_Te_Actl : 55|10@0+ (0.25,-128.0) [0|0] "degC" XXX
- SG_ EngClntTe_D_Qf : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_Cmd : 26|2@0+ (1,0) [0|0] "" XXX
- SG_ Side_Detect_Cmd : 28|2@0+ (1,0) [0|0] "" XXX
- SG_ SAPPStatusCoding : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ Delay_Accy : 31|1@0+ (1,0) [0|0] "" XXX
- SG_ Volume_Cutback : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ MetricActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatTgate_B_Actl : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatRr_B_Actl : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatRl_B_Actl : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatPsngr_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatInnrTgate_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatHood_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatDrv_B_Actl : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ EngClnt_Te_Actl : 23|8@0+ (1,-60.0) [0|0] "degC" XXX
- SG_ AirAmbTe_D_Qf_UB : 59|1@0+ (1,0) [0|0] "" XXX
- SG_ Volume_Cutback_UB : 58|1@0+ (1,0) [0|0] "" XXX
- SG_ Side_Detect_Cmd_UB : 57|1@0+ (1,0) [0|0] "" XXX
- SG_ SAPPStatusCoding_UB : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Liftgate_Mode_Cmd_UB : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ MetricActv_B_Actl_UB : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_Cmd_UB : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ AirAmbTe_D_Qf : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ AirAmb_Te_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ EngClnt_Te_Actl_UB : 24|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 966 Delay_AccyM_for_P473: 8 XXX
- SG_ Delay_Accy : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 967 CMPS_FDM_Info_StatusMS: 8 XXX
- SG_ Segment_MSD_UB : 37|1@0+ (1,0) [0|0] "" XXX
- SG_ Segment_LSD_UB : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ Compass_Display_UB : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ Segment_LSD : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ Segment_MSD : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ Cal_Icon : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ Zone_Icon : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ Compass_Display : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ Zone_Icon_UB : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ Cal_Icon_UB : 33|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 968 EATC_FDM_Info_Status: 8 XXX
- SG_ Outside_Rear_Temp_Digit3 : 47|4@0+ (1,0) [0|0] "BCD" XXX
- SG_ Outside_Rear_Temp_Digit2 : 35|4@0+ (1,0) [0|0] "BCD" XXX
- SG_ Outside_Rear_Temp_Digit1 : 39|4@0+ (1,0) [0|0] "BCD" XXX
- SG_ EATC_Out_Rear_Units : 58|2@0+ (1,0) [0|0] "" XXX
- SG_ Outside_Rear_Temp_Digit4 : 55|2@0+ (1,0) [0|0] "" XXX
- SG_ EATC_RHS_Units : 60|2@0+ (1,0) [0|0] "" XXX
- SG_ EATC_Fan_Speed : 51|3@0+ (1,0) [0|0] "" XXX
- SG_ EATC_Outside_Rear_Display : 62|2@0+ (1,0) [0|0] "" XXX
- SG_ RHS_Temp_Display_Digit2 : 31|8@0+ (1,0) [0|0] "ASCII" XXX
- SG_ RHS_Temp_Display_Digit3 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ RHS_Temp_Display_Digit1 : 23|8@0+ (1,0) [0|0] "ASCII" XXX
- SG_ EATC_RHS_Display : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ LHS_Temp_Display_Digit3 : 43|2@0+ (1,0) [0|0] "" XXX
- SG_ LHS_Temp_Display_Digit2 : 15|8@0+ (1,0) [0|0] "ASCII" XXX
- SG_ LHS_Temp_Display_Digit1 : 7|8@0+ (1,0) [0|0] "ASCII" XXX
- SG_ EATC_LHS_Display : 48|1@0+ (1,0) [0|0] "" XXX
- SG_ EATC_LHS_Units : 53|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 969 Aux_Body_Ctrl_Mod_Status: 8 XXX
- SG_ Perimeter_Alrm_Intrus_Stat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Turn_Outage_Stat_Rt_Rear : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ Turn_Outage_Stat_Left_Rear : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ Perimeter_Alrm_Inclin_Stat : 5|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 976 Veh_Characteristic_Set_2: 8 XXX
- SG_ VehMykey_Vl_LimRq_UB : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ CamraFrntStat_D_Stat : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraZoomMan_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ CamZoomActiveState : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlStat_D_Actl : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlDyn_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ CamPDCGuidStat : 31|2@0+ (1,0) [0|0] "" XXX
- SG_ VehMykey_Vl_LimRq : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ IgnKeyType_D_Actl : 4|4@0+ (1,0) [0|0] "" XXX
- SG_ New_Module_Attn_Event : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Beltminder_Warn_Stats : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Attn_Info_Audio : 7|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 977 ClmtCtrlSeat_SetCmd_LRPM: 8 XXX
- SG_ ClmtCtrlSeat_SetCmd_LRP : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 978 ClmtCtrlSeat_SetStat_LRPM: 8 XXX
- SG_ ClmtCtrlSeat_SetStat_LRP : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 979 ClmtCtrlSeat_SetCmd_RRPM: 8 XXX
- SG_ ClmtCtrlSeat_SetCmd_RRP : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 980 ClmtCtrlSeat_SetStat_RRPM: 8 XXX
- SG_ ClmtCtrlSeat_SetStat_RRP : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 981 Rear_HVAC_Control_Status: 8 XXX
- SG_ Temp_Knob_Position : 23|9@0+ (1,0) [0|0] "Degrees CW" XXX
- SG_ Rear_Lock_Ind_State : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Blower_Knob_Position : 7|9@0+ (1,0) [0|0] "Degrees CW" XXX
- SG_ AUTO_Ind_State : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ Panel_Mode_Ind_State : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ Panel_Floor_Md_Ind_State : 10|2@0+ (1,0) [0|0] "" XXX
- SG_ Floor_Mode_Ind_State : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Status : 14|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 982 Rear_HVAC_Control_Update: 8 XXX
- SG_ Power_State_Commanded : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Lock_Indicator : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ Panel_Floor_Mode_Indicator : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ R_Floor_Mode_Indicator : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ AUTO_Mode_Indicator : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ F_Panel_Mode_Indicator : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ R_Panel_Mode_Indicator : 12|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 986 Personality_APIM_Data3_MS: 8 XXX
- SG_ LightAmbIntSwtchInc_B : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ LightAmbIntSwtchDec_B : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ LightAmbIntsty_No_Rq : 15|8@0+ (1,0) [0|0] "% Intensity" XXX
- SG_ LightAmbColor_No_Rq : 7|8@0+ (1,0) [0|0] "Color Index" XXX
- SG_ LightAmbClrSwtchInc_B : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ LightAmbClrSwtchDec_B : 23|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 987 RHVAC_Data: 8 XXX
- SG_ CamraDefog_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 992 Personality_Data_MS: 8 XXX
- SG_ PersSetupRestr_D_Actl : 45|2@0+ (1,0) [0|0] "" XXX
- SG_ PersSetupAccessCtrl : 43|1@0+ (1,0) [0|0] "SES" XXX
- SG_ PersSetup_No_Actl : 55|16@0+ (1,0) [0|0] "Number" XXX
- SG_ MsgCntrPersIndex_D_Rq_UB : 47|1@0+ (1,0) [0|0] "" XXX
- SG_ MsgCntrFeatNoRq_UB : 46|1@0+ (1,0) [0|0] "" XXX
- SG_ MsgCntrFeatConfigRq_UB : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ MsgCntrDsplyOp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|0] "" XXX
- SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|0] "Number" XXX
- SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 993 Personality_DSM_Data: 8 XXX
- SG_ PersIndexDsm_D_Actl : 47|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoDsmActl : 31|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigDsmActl : 15|16@0+ (1,0) [0|0] "" XXX
- SG_ PersStore_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ MemSwtch_D_RqRecall : 5|3@0+ (1,0) [0|0] "" XXX
- SG_ MemSwtch_D_RqAssoc : 2|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 994 Personality_Data_MS_2: 8 XXX
- SG_ RecallEvent_No_Cnt : 63|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ PersNo_D_Actl : 55|3@0+ (1,0) [0|0] "" XXX
- SG_ PersNoPos_D_Actl : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ PersStore_D_Rq_UB : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkPersIndex_D_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkFeatNoActl_UB : 52|1@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkFeatConfigActl_UB : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkDsplyOp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|0] "" XXX
- SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 996 Personality_HCMB_Data: 8 XXX
- SG_ PersIndexHcmb_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoHcmbActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigHcmbActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 999 Personality_HVAC_Data: 8 XXX
- SG_ LightAmbIntsty_No_Actl : 55|8@0+ (1,0) [0|0] "% Intensity" XXX
- SG_ LightAmbColor_No_Actl : 47|8@0+ (1,0) [0|0] "Color Index" XXX
- SG_ PersIndexHvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoHvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigHvacActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 1000 ACM_Status_Message: 8 XXX
- SG_ Multimedia_System : 26|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1001 Personality_RFA_Data: 8 XXX
- SG_ PersIndexRfa_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoRfaActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigRfaActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 1005 Personality_RHVAC_Data: 8 XXX
- SG_ PersIndexRhvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoRhvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigRhvacActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 1006 Nav_HMI_Status: 8 XXX
- SG_ Nav_Unit_Setting : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ Fuel_Econ_AFE_Reset_Req : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ DistanceBarSetting : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ CamraZoomMan_D_Rq : 22|3@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlStat_D_Rq : 19|1@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlDyn_D_Rq : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ CamAutoTowbarZoom : 17|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1023 Reserve_3FF_MKX_Audio: 8 XXX
- SG_ reserve : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1034 GGCC_Config_Mgmt_ID_1: 8 XXX
- SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|0] "mixed" XXX
-
-BO_ 1050 Climate_Control_Data: 8 XXX
- SG_ SecondaryHeater_Rqst : 31|1@0+ (1,0) [0|0] "" XXX
- SG_ Passenger_Sunload_Raw : 15|8@0+ (5.0,0) [0|0] "W/m^2" XXX
- SG_ Driver_Sunload_Raw : 7|8@0+ (5.0,0) [0|0] "W/m^2" XXX
- SG_ HvacEvap_Te_Rq : 43|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
- SG_ HvacRemoteStrt_N_Rq : 47|4@0+ (100.0,450.0) [0|0] "RPM" XXX
- SG_ Remote_Start_QuietMode : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ InCarTempQF : 30|2@0+ (1,0) [0|0] "" XXX
- SG_ HvacAirCond_B_Rq : 27|1@0+ (1,0) [0|0] "" XXX
- SG_ InCarTemp : 39|8@0+ (0.5,-57.0) [0|0] "degreesC" XXX
- SG_ Outside_Air_Temp_Stat : 23|8@0+ (0.5,-40.0) [0|0] "Degrees C" XXX
- SG_ HvacEvap_Te_Actl : 49|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
-
-BO_ 1059 Engine_Data_MS: 8 XXX
- SG_ Res_UreaLvlLo_B_Dsply_UB : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ Res_UreaLvlLo_B_Dsply : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ Fuel_Level_State : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ AwdOffRoadMode_D_Stats_UB : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ AwdRnge_D_Actl_UB : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ RearDiffLckLamp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ AwdOffRoadMode_D_Stats : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ AwdRnge_D_Actl : 45|3@0+ (1,0) [0|0] "" XXX
- SG_ RearDiffLckLamp_D_Rq : 34|2@0+ (1,0) [0|0] "" XXX
- SG_ VEH_SPD : 7|16@0+ (0.01,-100.0) [0|0] "KPH" XXX
- SG_ ENG_SPD : 23|16@0+ (0.25,0) [0|0] "RPM" XXX
- SG_ Fuel_Level_State_UB : 37|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1061 Engine_Data_2_MS: 8 XXX
- SG_ RstrnImpactEvntStatus_UB : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ EngAirIn_Te_Actl_UB : 60|1@0+ (1,0) [0|0] "" XXX
- SG_ EngAirIn_Te_Actl : 55|10@0+ (0.25,-128.0) [0|0] "degC" XXX
- SG_ ACCompressorDisp_UB : 61|1@0+ (1,0) [0|0] "" XXX
- SG_ ACCompressorDisp : 46|7@0+ (1,0) [0|0] "%" XXX
- SG_ RstrnImpactEvntStatus : 59|3@0+ (1,0) [0|0] "" XXX
- SG_ EngAout_N_Actl_UB : 47|1@0+ (1,0) [0|0] "" XXX
- SG_ EngAout_N_Actl : 28|13@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ VehVActlEng_D_Qf : 31|2@0+ (1,0) [0|0] "" XXX
- SG_ Veh_V_ActlEng_UB : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ Veh_V_ActlEng : 15|16@0+ (0.01,0) [0|0] "kph" XXX
- SG_ PwPck_D_Stat_UB : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ PwPck_D_Stat : 7|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1062 ACM_NAV_WHEEL_INFO: 8 XXX
- SG_ WhlRotatRr_No_Cnt_UB : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatRl_No_Cnt_UB : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatFr_No_Cnt_UB : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatFl_No_Cnt_UB : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRr_D_Actl_UB : 44|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRl_D_Actl_UB : 45|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirFr_D_Actl_UB : 46|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirFl_D_Actl_UB : 47|1@0+ (1,0) [0|0] "" XXX
- SG_ WHEEL_ROLLING_TIMESTAMP_UB : 62|1@0+ (1,0) [0|0] "" XXX
- SG_ ACM_NAV_WHEEL_INFO_RESET : 43|1@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatRr_No_Cnt : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatFr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRr_D_Actl : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRl_D_Actl : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirFr_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirFl_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ WHEEL_ROLLING_TIMESTAMP : 55|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1068 Battery_Mgmt_2_MS: 8 XXX
- SG_ Shed_T_Eng_Off_B : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ Shed_Level_Req : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ Shed_Feature_Group_ID : 7|5@0+ (1,0) [0|0] "" XXX
- SG_ Shed_Drain_Eng_Off_B : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ Batt_Lo_SoC_B : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Batt_Crit_SoC_B : 0|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1125 GPS_Data_Nav_1: 8 XXX
- SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|0] "Minutes" XXX
- SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|0] "Minutes" XXX
- SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179.0) [0|0] "Degrees" XXX
- SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX
- SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|0] "Minutes" XXX
- SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89.0) [0|0] "Degrees" XXX
-
-BO_ 1126 GPS_Data_Nav_2: 8 XXX
- SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,1.0) [0|0] "Year" XXX
- SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1.0) [0|0] "Month" XXX
- SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1.0) [0|0] "Day" XXX
- SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|0] "seconds" XXX
- SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX
- SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|0] "Hours" XXX
- SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|0] "" XXX
- SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|0] "" XXX
- SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1127 GPS_Data_Nav_3: 8 XXX
- SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|0] "" XXX
- SG_ GPS_Speed : 47|8@0+ (1,0) [0|0] "MPH" XXX
- SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|0] "" XXX
- SG_ GPS_MSL_altitude : 15|12@0+ (10.0,-20460.0) [0|0] "feet" XXX
- SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|0] "Degrees" XXX
- SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|0] "" XXX
- SG_ GPS_dimension : 2|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 1144 GPS_Data_Nav_4: 8 XXX
- SG_ VehPos_L_Est : 39|32@0+ (0.01,0) [0|0] "meter" XXX
- SG_ VehHead_W_Actl : 23|16@0+ (0.01,-327.68) [0|0] "degrees/second" XXX
- SG_ VehHead_An_Est : 7|16@0+ (0.01,0) [0|0] "degrees" XXX
diff --git a/opendbc/ford_cgea1_2_ptcan_2011.dbc b/opendbc/ford_cgea1_2_ptcan_2011.dbc
deleted file mode 100644
index 128721cbbf7628..00000000000000
--- a/opendbc/ford_cgea1_2_ptcan_2011.dbc
+++ /dev/null
@@ -1,1487 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 65 Global_PATS_Control_Info: 8 XXX
- SG_ immoControlData_T1 : 15|40@0+ (1,0) [0|0] "" XXX
- SG_ immoControlCmd_T1 : 7|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 66 Global_PATS_Control_Info2: 8 XXX
- SG_ immoControlData_T2 : 15|40@0+ (1,0) [0|0] "" XXX
- SG_ immoControlCmd_T2 : 7|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 71 Global_PATS_Target_Info: 8 XXX
- SG_ immoTarget1Status : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ immoTarget1Data : 15|40@0+ (1,0) [0|0] "" XXX
- SG_ immoTarget1Cmd : 4|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 72 Global_PATS_Target_Info_2: 8 XXX
- SG_ immoTarget2Status : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ immoTarget2Data : 15|40@0+ (1,0) [0|0] "" XXX
- SG_ immoTarget2Cmd : 4|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 73 Global_PATS_SubTarget_FoE: 8 XXX
- SG_ immoSubTarget1Data_T1 : 15|40@0+ (1,0) [0|0] "" XXX
- SG_ immoSubTarget1Cmd_T1 : 7|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 74 VehEmergencyData1: 8 XXX
- SG_ VedsPasSideBag_D_Ltchd : 60|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsPasCrtnBag_D_Ltchd : 55|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsPasBelt_D_Ltchd : 52|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsPasBag_D_Ltchd : 47|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsMultiEvnt_D_Ltchd : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsMaxDeltaV_D_Ltchd : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ VedsKneeBag_D_Ltchd : 63|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsEvntType_D_Ltchd : 31|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsEvntRoll_D_Ltchd : 28|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsDrvSideBag_D_Ltchd : 23|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsDrvCrtnBag_D_Ltchd : 20|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsDrvBelt_D_Ltchd : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsDrvBag_D_Ltchd : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ eCallNotification : 2|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 75 VehEmergencyData2: 8 XXX
- SG_ VedsRw3rBckl_D_Ltchd : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw3mBckl_D_Ltchd : 31|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw3lBckl_D_Ltchd : 28|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw2rBckl_D_Ltchd : 23|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw2mBckl_D_Ltchd : 20|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw2lBckl_D_Ltchd : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw1PasChld_D_Ltchd : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw1PasBckl_D_Ltchd : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw1DrvBckl_D_Ltchd : 4|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw2rRib_D_Ltchd : 47|3@0+ (1,0) [0|0] "" XXX
- SG_ VedsRw2lRib_D_Ltchd : 36|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 116 BrakeSnData_2_CG1: 8 XXX
- SG_ VehDynamicsSOS : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ AwdLck_Tq_RqMx : 27|12@0+ (1,0) [0|0] "Nm" XXX
- SG_ AwdLck_Tq_RqMn : 23|12@0+ (1,0) [0|0] "Nm" XXX
- SG_ SteWhlComp_An_Est : 7|15@0+ (0.1,-1600.0) [0|0] "deg" XXX
- SG_ StopLamp_B_RqBrk : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ BrkTerrMdeChng_D_Rdy : 45|3@0+ (1,0) [0|0] "" XXX
- SG_ BrkTerrMde_D_Actl : 42|3@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCompAnEst_D_Qf : 47|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 117 BrakeSnData_3_CG1: 8 XXX
- SG_ HsaStat_D_Dsply : 35|3@0+ (1,0) [0|0] "" XXX
- SG_ HsaTrnAout_Tq_Rq : 55|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
- SG_ HsaStat_D_Actl : 38|3@0+ (1,0) [0|0] "" XXX
- SG_ HsaRoad_Grad_Est : 32|9@0+ (0.5,-127.0) [0|0] "%" XXX
- SG_ VehYawComp_W_Actl : 7|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX
- SG_ VehYaw_W_Rq : 11|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX
- SG_ VehSideSlip_An_Est : 31|9@0+ (0.002,-0.5) [0|0] "rad" XXX
-
-BO_ 124 BrakeSnData_4_CG1: 8 XXX
- SG_ EngRun_D_ReqBrk : 10|2@0+ (1,0) [0|0] "" XXX
- SG_ BrkTotTqRqArb_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ BrkTotTqRqArb_No_Cnt : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ BrkTot_Tq_RqArb : 7|13@0+ (4.0,0) [0|0] "Nm" XXX
- SG_ BrkTot_Tq_Actl : 39|13@0+ (4.0,0) [0|0] "Nm" XXX
- SG_ VehOverGnd_V_Est : 55|16@0+ (0.01,0) [0|0] "kph" XXX
-
-BO_ 129 Steering_Wheel_Data2: 8 XXX
- SG_ SteWhlCtl_RSide_OK : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_RSide_CursorUp : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_RSide_CursorRt : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_RSide_CursorLeft : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_RSide_CursorDown : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_LSide_OK : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_LSide_CursorUp : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_LSide_CursorRt : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_LSide_CursorLeft : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_LSide_CursorDown : 0|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 130 EPAS_INFO: 8 XXX
- SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX
- SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX
- SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX
- SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 131 Steering_Data: 8 XXX
- SG_ SteWhlCtl_Mute : 38|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Mode : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_OK : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Phone : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_End : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Send : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Voice_PTT : 19|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Seek_Left : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Seek_Right : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Media : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Volume_Down : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlCtl_Volume_Up : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ Smart_Wiper_Motor_Stat : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ Mfs_Turn_Stalk_SW_Status : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ HighBeam_FlashToPassSw : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ SteColumn_Status : 13|3@0+ (1,0) [0|0] "" XXX
- SG_ SteCol_Manual_Override : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ CcButtnStat_D_Actl : 34|11@0+ (1,0) [0|0] "" XXX
- SG_ HeatedWash_Mode_Stat : 55|3@0+ (1,0) [0|0] "" XXX
- SG_ LaSwtchPos_D_Stat : 18|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 132 Steering_Wheel_Data_CG1: 8 XXX
- SG_ SteWhlRelInit_An_Sns : 7|15@0+ (0.1,-1600.0) [0|0] "deg" XXX
- SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX
- SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX
- SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX
-
-BO_ 145 Yaw_Data: 8 XXX
- SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
- SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
- SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
-
-BO_ 146 Accel_Data: 8 XXX
- SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX
- SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX
- SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX
- SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
- SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
- SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
-
-BO_ 258 Cluster_Legacy: 8 XXX
- SG_ Veh_V_CompLimMx : 27|12@0+ (0.1,0) [0|0] "km/h" XXX
- SG_ DISPLAY_SPEED_SCALING : 20|4@0+ (0.5,100.0) [0|0] "%" XXX
- SG_ DISPLAY_SPEED_OFFSET : 23|3@0+ (0.5,0) [0|0] "kph" XXX
- SG_ Reverse_Mirror_Cmd : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ Autolamp_Delay_Cmd : 7|8@0+ (1,0) [0|0] "Seconds" XXX
- SG_ Running_Board_Cmd : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ Power_Liftgate_Mode_Cmd : 11|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 259 Body_MsgCntr_Stat_CG1: 8 XXX
- SG_ PE_PEPS_System_Stat : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ Keycode_Status : 11|20@0+ (1,0) [0|0] "" XXX
- SG_ Autolamp_Delay_Stat : 7|8@0+ (1,0) [0|0] "Seconds" XXX
- SG_ HvacEvap_Te_Rq_UB : 61|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacEvap_Te_Rq : 55|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
- SG_ Remote_Start_QuietMode_UB : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ Remote_Start_QuietMode : 32|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 264 Side_Detect_CmdM: 8 XXX
- SG_ Cross_Traffic_Cmd : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ Side_Detect_Cmd : 7|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 266 ParkAid_Audible_Warn_CmdM: 8 XXX
- SG_ AutoPark_Cancel_Request : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ ParkAid_Audible_Warn_Cmd : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ ParkAid_Aud_Frt_Warn_Cmd : 5|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 267 ParkAid_Audible_Warn_Stat: 8 XXX
- SG_ RpaChime_D_Rq : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ FpaChime_D_Rq : 12|4@0+ (1,0) [0|0] "" XXX
- SG_ SAPPStatusCoding : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ Volume_Cutback : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ ParkAid_Fault_Condition : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ ParkAid_Audible_Warn_Stat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ ParkAid_Aud_Frt_Trgt_Warn : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ ParkAid_Aud_Frt_Warn_Stat : 5|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 292 ClmtCtrlSeatSet_Cmd_v2: 8 XXX
- SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ ClmtCtrlSeat_SetCmd_Psgr : 15|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 293 ClmtCtrlSeatSetStat_v2_HS: 8 XXX
- SG_ ClmtCtrlSeat_SetStat_Psgr : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 336 TransData_1_CG1: 8 XXX
- SG_ TrnAinIdl_N_RqMn : 34|11@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ TrnAin_N_RqMxPrtct : 23|10@0+ (25.0,0) [0|0] "rpm" XXX
- SG_ TrnAin_Tq_RqFstMx : 29|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAin_Tq_RqSlwMxPrs : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX
-
-BO_ 337 EngineData_1_CG1: 8 XXX
- SG_ TrnEngBrk_B_Allw : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ TrnAout_W_ActlUnfilt : 23|15@0+ (0.1,0) [0|0] "rad/s" XXX
- SG_ TrnIpcDsplyGear_D_Actl : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ TrnIpcDsplyMde_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ TrnIpcDsplyMde_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ TrnIpcDsplyGear_D_Stat : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ TurboBoostPressure : 55|16@0+ (0.01,0) [0|0] "bar" XXX
-
-BO_ 338 TransData_2_CG1: 8 XXX
- SG_ GearPos_D_Actl : 55|4@0+ (1,0) [0|0] "" XXX
- SG_ TrnAout2_Tq_Actl : 39|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
- SG_ TrnTotTq_Rt_Actl : 23|16@0+ (0.001,0) [0|0] "" XXX
- SG_ TrnGbox_Rt_Pred : 7|16@0+ (0.001,0) [0|0] "" XXX
-
-BO_ 339 EngineData_2_CG1: 8 XXX
- SG_ TrnAin_Tq_MxSpcPdlEngN : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAin_Tq_MnSpcEngN : 31|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ EngPtoEngag_B_Actl : 60|1@0+ (1,0) [0|0] "" XXX
- SG_ TrnAin_N_SpcEcho : 4|13@0+ (2.0,0) [0|0] "rpm" XXX
-
-BO_ 340 EngineData_3_CG1: 8 XXX
- SG_ AirAmb_Te_ActlFilt : 33|10@0+ (0.25,-128.0) [0|0] "deg C" XXX
- SG_ EngAout_N_RqMxPrtct : 12|13@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ TqmTerrMdeChng_D_Rdy : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ EngAoutIdl_N_RqVsc : 7|11@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ TqmTerrMde_D_Actl : 36|3@0+ (1,0) [0|0] "" XXX
- SG_ PrplWhlTotVrt_Tq_RqArb : 55|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
-
-BO_ 341 EngineData_11_CG1: 8 XXX
- SG_ DieslPrtc_D_RqDsply : 42|3@0+ (1,0) [0|0] "" XXX
- SG_ EngPullUpPullDown_D_Rq : 20|4@0+ (1,0) [0|0] "" XXX
- SG_ TrnAin_Tq_RqDrv : 15|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ DieslPrtcRgen_D_Actl : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ DieslPrtcRgen_D_Rq : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ EngAout_Aa_Actl : 39|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX
- SG_ EngIgnIndTq_Rt_MnEc : 31|8@0+ (0.005,0) [0|0] "" XXX
- SG_ EngFuelCutFull_B_Allw : 45|1@0+ (1,0) [0|0] "" XXX
- SG_ EngStrtStopDis_B_Rq : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ PrplTqSys_D_Stat : 2|2@0+ (1,0) [0|0] "" XXX
- SG_ EngAoutTqDtrb_B_Actl : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ EngTurboMde_D_Actl : 44|2@0+ (1,0) [0|0] "" XXX
- SG_ EngTeColdPrtct_D_Stats : 54|2@0+ (1,0) [0|0] "" XXX
- SG_ EXHAUST_OVERTEMP_PROTECT : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ EngExhOvrTe_B_RqDsply : 55|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 342 Engine_Data_6: 8 XXX
- SG_ EngOvrhtMitgActv_D_Ind : 36|2@0+ (1,0) [0|0] "" XXX
- SG_ Res_UreaLvlLo_B_Dsply : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ EngClntTe_D_Qf : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ EngAcsyArcPmp_Tq_Actl : 63|8@0+ (0.5,0) [0|0] "Nm" XXX
- SG_ EngOilLvlDsply_D_Rq : 43|4@0+ (1,0) [0|0] "" XXX
- SG_ EngCtlAlive_No_Cnt : 47|4@0+ (1,0) [0|0] "" XXX
- SG_ EngCtl_No_Cs : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ EngOil_Te_Actl : 15|8@0+ (1,-60.0) [0|0] "degC" XXX
- SG_ EngClnt_Te_Actl : 7|8@0+ (1,-60.0) [0|0] "degC" XXX
-
-BO_ 343 EngineData_13_CG1: 8 XXX
- SG_ EngStrtFail_B_Actl : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ EngStrt_B_Complt : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ EngStrtSpin_B_Rdy : 58|1@0+ (1,0) [0|0] "" XXX
- SG_ EngWarmUp_B_Complt : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ EngAoutTqCtl_B_Falt : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ EngAoutActl_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ EngAoutActl_No_Cnt : 45|4@0+ (1,0) [0|0] "" XXX
- SG_ VehVLim_V_RqArb : 39|9@0+ (0.5,0) [0|0] "kph" XXX
-
-BO_ 344 EngineData_14: 8 XXX
- SG_ ApedPosScal_Pc_Actl : 9|10@0+ (0.1,0) [0|0] "%" XXX
- SG_ ApedPosPcActl_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ ApedPosPcActl_No_Cnt : 13|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 345 Engine_Data_7_CG1: 8 XXX
- SG_ EngDecelFuelCut_B_Allw : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ FuelFlw_Vl_Dsply : 55|10@0+ (25.0,0) [0|0] "Micro_Liter" XXX
- SG_ FuelFillInlet_B_Dsply : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ EngSrvcRqd_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ OdoCount : 47|8@0+ (0.2,0) [0|0] "Meters" XXX
- SG_ EngOilLife_Pc_Actl : 39|7@0+ (1,0) [0|0] "%" XXX
- SG_ AirAmbTe_D_Qf : 28|2@0+ (1,0) [0|0] "" XXX
- SG_ EngTqSlwDly_T_Est : 23|11@0+ (1,0) [0|0] "ms" XXX
- SG_ TrnKickDown_B_RqDrv : 26|1@0+ (1,0) [0|0] "" XXX
- SG_ AirAmb_Te_Actl : 1|10@0+ (0.25,-128.0) [0|0] "degC" XXX
- SG_ AirAmb_P_Actl : 7|6@0+ (10.0,500.0) [0|0] "mbar" XXX
- SG_ FuelFilterLamp_B_Dsply : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ AirCondRec_B_Rq : 61|1@0+ (1,0) [0|0] "" XXX
- SG_ AirCondEvdc_D_Stats : 60|3@0+ (1,0) [0|0] "" XXX
- SG_ AirCondClutch_B_Stats : 57|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 346 EngineData_4_CG1: 8 XXX
- SG_ TrnAin_Tq_Rq : 12|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAin_Tq_RqWoMdfy : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAin_Tq_ActlWoMdfy : 36|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAin_Tq_Actl : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAinCtlN_B_Allw : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ TrnAinTq_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 348 EngineData_16_CG1: 8 XXX
- SG_ EngOilLvlWarn_D_Rq1 : 50|3@0+ (1,0) [0|0] "" XXX
- SG_ EngExhBrkOnLamp_B_Rq : 51|1@0+ (1,0) [0|0] "" XXX
- SG_ EngExhBrkAutoLamp_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ EngAout_N_MxAllw : 36|13@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ EngAoutIdl_N_MnAllw : 31|11@0+ (1,0) [0|0] "rpm" XXX
- SG_ EngAoutIdlRqEc_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ EngAoutIdlRqEc_No_Cnt : 12|4@0+ (1,0) [0|0] "" XXX
- SG_ EngAoutIdl_N_RqEc : 7|11@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ EngExhBrkMde_D_Actl : 55|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 349 EngineData_17_CG1: 8 XXX
- SG_ EngResv_Tq_Actl : 52|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ EngAout_Tq_ActlSlw : 47|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ EngExhCat_Te_Est : 13|10@0+ (2.0,-60.0) [0|0] "degC" XXX
- SG_ EngCylCutIndTq_Rt_Actl : 39|8@0+ (0.005,0) [0|0] "Nm" XXX
- SG_ Eng_Aa_CalcEvntCyc : 7|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX
- SG_ Eng_Aa_CalcEvntCbust : 19|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX
- SG_ WaterInFuel : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ GlowIndication : 24|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 350 EngineData_18_CG1: 8 XXX
- SG_ EngAoutTqActl_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ EngAout_Tq_MnSpcNRtrd : 36|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ EngAout_Tq_Actl : 31|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ EngAoutLss_Tq_EstSpcN : 12|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ EngAout_Tq_MnSpcN : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX
-
-BO_ 351 EngineData_19: 8 XXX
- SG_ VehPreDelvr_V_LimMx : 15|16@0+ (0.01,0) [0|0] "kph" XXX
- SG_ BattLo_U_MeasEngMdule : 7|8@0+ (0.1,0) [0|0] "V" XXX
- SG_ EngStall_B_Actl : 47|1@0+ (1,0) [0|0] "" XXX
- SG_ EngDashPotActv_B_Actl : 46|1@0+ (1,0) [0|0] "" XXX
- SG_ EngAout_Tq_MnAllw : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX
-
-BO_ 352 TransData_3_CG1: 8 XXX
- SG_ TrnAinCtlN_N_RqMx : 7|13@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ TrnAin_Tq_RqSlwMxShif : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAinCtlN_B_RqEnbl : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ TrnGboxIn_N_Actl : 23|13@0+ (2.0,0) [0|0] "rpm" XXX
-
-BO_ 353 Engine_Data_8: 8 XXX
- SG_ TrnAinTqDtrb_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ TrnAin_Tq_MnSpcEngN : 34|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ EngAout_N_RqMnPrtct : 20|13@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ EngAout_N_MnAllw : 4|13@0+ (2.0,0) [0|0] "rpm" XXX
-
-BO_ 354 CGEA_Urea_Strategy_CG1: 8 XXX
- SG_ UreaQltySys_D_RqDsply : 27|3@0+ (1,0) [0|0] "" XXX
- SG_ UreaLvlTxt_D_RqDsply : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ VehUreaImmo_No_DsplyMx : 12|3@0+ (1,0) [0|0] "Counts" XXX
- SG_ VehUreaWarn_V_DsplyMx : 23|7@0+ (1,0) [0|0] "km/h" XXX
- SG_ VehUreaRnge_L_DsplyMx : 7|11@0+ (1,0) [0|0] "km" XXX
-
-BO_ 355 EngineData_10: 8 XXX
- SG_ WhlRearDual_D_Stat : 57|2@0+ (1,0) [0|0] "" XXX
- SG_ EngPtoMde_D_Actl : 60|3@0+ (1,0) [0|0] "" XXX
- SG_ ManRgenVeh_V_MinAllw : 55|7@0+ (1,0) [0|0] "kilometer/hour" XXX
- SG_ ManRgenTxt_D_RqDsply : 63|3@0+ (1,0) [0|0] "" XXX
- SG_ ManRgenSoot_Pc_RqDsply : 39|7@0+ (1,0) [0|0] "%" XXX
- SG_ ManRgenInhbt_T_RqDsply : 23|16@0+ (1,0) [0|0] "Minutes" XXX
- SG_ ManRgenInhbt_Pc_Soot : 47|7@0+ (1,0) [0|0] "%" XXX
- SG_ ManRgenInhbt_L_RqDsply : 7|16@0+ (1,0) [0|0] "kilometer" XXX
-
-BO_ 357 EngBrakeData: 8 XXX
- SG_ CmbbDeny_B_ActlPrpl : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ BpedDrvAppl_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ BpedDrvAppl_No_Cnt : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ BpedDrvAppl_D_Actl : 31|2@0+ (1,0) [0|0] "" XXX
- SG_ CmbbEngTqMn_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ AccEngStat_D_Actl : 2|3@0+ (1,0) [0|0] "" XXX
- SG_ CcMde_D_Actl : 13|3@0+ (1,0) [0|0] "" XXX
- SG_ TrnAinTqDtrb_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ CcStat_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX
- SG_ CcOvrrdActv_B_Actl : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ PwPck_D_Stat : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 389 ACCDATA_CG1: 8 XXX
- SG_ AccPrpl_A_Pred : 14|10@0+ (0.01,-5.0) [0|0] "m/s^2" XXX
- SG_ AccBrkPrkEl_B_Rq : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ Cmbb_B_Enbl : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ CmbbOvrrd_B_RqDrv : 57|1@0+ (1,0) [0|0] "" XXX
- SG_ CmbbDeny_B_Actl : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ AccVeh_V_Trg : 7|9@0+ (0.5,0) [0|0] "kph" XXX
- SG_ CmbbEngTqMn_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX
- SG_ AccPrpl_A_Rq : 55|10@0+ (0.01,-5.0) [0|0] "m/s^2" XXX
- SG_ AccDeny_B_Rq : 59|1@0+ (1,0) [0|0] "" XXX
- SG_ AccCancl_B_Rq : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ AccBrkTot_A_Rq : 39|13@0+ (0.0039,-20.0) [0|0] "m/s^2" XXX
- SG_ AccBrkPrchg_B_Rq : 60|1@0+ (1,0) [0|0] "" XXX
- SG_ AccBrkDecel_B_Rq : 61|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 392 HeadUpDisplayStat: 8 XXX
- SG_ Hud_B_Falt : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ HudActv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ Hud_B_Avail : 6|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 393 ACCDATA_2_CG1: 8 XXX
- SG_ ACC_AUTOBRAKE_CANCEL : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ ACC_RESUME_ACTIVE : 57|1@0+ (1,0) [0|0] "" XXX
- SG_ FcwAudioWarn_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX
- SG_ CadsAudioMute_D_Rq : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ AccWarn_D_Dsply : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ HudDsplyIntns_No_Actl : 55|8@0+ (0.5,0) [0|0] "%" XXX
- SG_ FcwVisblWarn_B_Rq : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ HudBlk3_B_Rq : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ HudBlk2_B_Rq : 43|1@0+ (1,0) [0|0] "" XXX
- SG_ HudBlk1_B_Rq : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ HudFlashRate_D_Actl : 45|2@0+ (1,0) [0|0] "" XXX
- SG_ CmbbBrkDecel_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ CmbbBrkDecel_A_Rq : 23|13@0+ (0.0039,-20.0) [0|0] "m/s^2" XXX
- SG_ CmbbBrkPrchg_D_Rq : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ CmbbBrkDecel_B_Rq : 26|1@0+ (1,0) [0|0] "" XXX
- SG_ CmbbBaSens_D_Rq : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ AccPrpl_V_Rq : 7|16@0+ (0.01,0) [0|0] "kph" XXX
-
-BO_ 394 ACCDATA_3: 8 XXX
- SG_ CadsMntr_No_Chk : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ FcwDeny_B_Dsply : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ FdaWarn_B_Rq : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ FcwMemStat_B_Actl : 30|1@0+ (1,0) [0|0] "" XXX
- SG_ AccTGap_B_Dsply : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ AccMsgTxt_D_Rq : 39|4@0+ (1,0) [0|0] "" XXX
- SG_ CadsAlignIncplt_B_Actl : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ AccLowVMde_B_Dsply : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ AccFllwMde_B_Dsply : 17|1@0+ (1,0) [0|0] "" XXX
- SG_ CadsRadrBlck_B_Actl : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ FdaStat_D_Dsply : 3|3@0+ (1,0) [0|0] "" XXX
- SG_ FdaDeny_B_Dsply : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ AccTrgDist_D_Dsply : 28|4@0+ (1,0) [0|0] "" XXX
- SG_ CadsChime_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ CmbbPostEvnt_B_Dsply : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ FcwCmbbSrvcRqd_B_Rq : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ AccStopMde_B_Dsply : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ CadsCamraBlck_B_Actl : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ FcwMemSens_D_Actl : 20|2@0+ (1,0) [0|0] "" XXX
- SG_ FcwMemDfaltOn_B_Actl : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ AccSrvcRqd_B_Rq : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ FcwMsgTxt_D_Rq : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ FcwMemAudioOn_B_Actl : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ AccTGap_D_Dsply : 34|3@0+ (1,0) [0|0] "" XXX
- SG_ AccMemEnbl_B_RqDrv : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ FdaMem_B_Stat : 41|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 512 TorqueDataEngFlags: 8 XXX
- SG_ BrkOnOffSwtch_D_Actl : 54|2@0+ (1,0) [0|0] "" XXX
- SG_ PrplTqMnSat_B_Actl : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ PrplWhlTot_Tq_Rq : 39|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
- SG_ PrplWhlTot_Tq_LimMn : 23|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
- SG_ PrplWhlTot_Tq_Actl : 7|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
- SG_ ACCompressorDisp : 63|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 513 EngVehicleSpThrottle_CG1: 8 XXX
- SG_ ApedPos_PcRate_ActlArb : 63|8@0+ (0.04,-5.0) [0|0] "%/ms" XXX
- SG_ Veh_V_RqCcSet : 45|9@0+ (0.5,0) [0|0] "kph" XXX
- SG_ VehVActlEng_D_Qf : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ reserve : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ EngAout_N_Actl : 7|13@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ Veh_V_ActlEng : 23|16@0+ (0.01,0) [0|0] "kph" XXX
- SG_ ApedPos_Pc_ActlArb : 39|10@0+ (0.1,0) [0|0] "%" XXX
- SG_ ApedPosPcActl_D_Qf : 52|2@0+ (1,0) [0|0] "" XXX
- SG_ Autostart_B_Stat : 50|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 529 DesiredTorqBrk_CG1: 8 XXX
- SG_ CmbbBrkDis_B_Actl : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ CMbbDeny_B_ActlBrk : 60|1@0+ (1,0) [0|0] "" XXX
- SG_ RgenTqLimActv_B_Actl : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ CcDis_B_Cmd : 53|1@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrk_Pc_Rq : 39|7@0+ (1,0) [0|0] "%" XXX
- SG_ RearDiffLck_Tq_RqMx : 23|12@0+ (1,0) [0|0] "Nm" XXX
- SG_ VehLongOvrGnd_A_Est : 47|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX
- SG_ StabCtlBrkActv_B_Actl : 27|1@0+ (1,0) [0|0] "" XXX
- SG_ CmbbBrkPrchg_B_Actl : 59|1@0+ (1,0) [0|0] "" XXX
- SG_ CmbbBrkDecel_B_Actl : 58|1@0+ (1,0) [0|0] "" XXX
- SG_ CmbbBaSensInc_B_Actl : 57|1@0+ (1,0) [0|0] "" XXX
- SG_ AccBrkWarm_B_Actl : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ AccBrkTotTqMn_B_Actl : 62|1@0+ (1,0) [0|0] "" XXX
- SG_ AccBrkPrchgActv_B_Actl : 61|1@0+ (1,0) [0|0] "" XXX
- SG_ AccBrkDis_B_Actl : 50|1@0+ (1,0) [0|0] "" XXX
- SG_ AccBrkDeny_B_Actl : 49|1@0+ (1,0) [0|0] "" XXX
- SG_ AccBrkActv_B_Actl : 48|1@0+ (1,0) [0|0] "" XXX
- SG_ PrplDrgCtlActv_B_Actl : 52|1@0+ (1,0) [0|0] "" XXX
- SG_ PrplWhlTot_Tq_RqMx : 7|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
- SG_ AbsActv_B_Actl : 51|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 533 WheelSpeed_CG1: 8 XXX
- SG_ WhlRr_W_Meas : 55|15@0+ (0.01,0) [0|0] "rad/s" XXX
- SG_ WhlRl_W_Meas : 39|15@0+ (0.01,0) [0|0] "rad/s" XXX
- SG_ WhlFr_W_Meas : 23|15@0+ (0.01,0) [0|0] "rad/s" XXX
- SG_ WhlFl_W_Meas : 7|15@0+ (0.01,0) [0|0] "rad/s" XXX
-
-BO_ 534 WheelData: 8 XXX
- SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 557 InfoCAN_22D: 8 XXX
- SG_ Multimedia_System : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 560 TransGearData: 8 XXX
- SG_ TrnIpcDsplyRng_D_Actl : 14|3@0+ (1,0) [0|0] "" XXX
- SG_ TrnGbox_Rt_Actl : 47|16@0+ (0.001,0) [0|0] "" XXX
- SG_ TrnShifMde_D_RqDrv : 3|3@0+ (1,0) [0|0] "" XXX
- SG_ TrnSrvcRqd_B_Rq : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ GearPos_D_Trg : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ TrnCnvtClu_D_Actl : 11|2@0+ (1,0) [0|0] "" XXX
- SG_ TrnShifActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ RtmTerrMdeChng_D_Rdy : 58|3@0+ (1,0) [0|0] "" XXX
- SG_ RtmTerrMde_D_Actl : 61|3@0+ (1,0) [0|0] "" XXX
- SG_ GearRvrseActv_B_Actl : 62|1@0+ (1,0) [0|0] "" XXX
- SG_ GearLvrPos_D_Actl : 23|4@0+ (1,0) [0|0] "" XXX
- SG_ GboxOil_Te_Actl : 31|8@0+ (1,-60.0) [0|0] "degC" XXX
-
-BO_ 561 TransGearData_2: 8 XXX
- SG_ MtrGen1Aout_Tq_Rq : 53|14@0+ (0.1,-800.0) [0|0] "Nm" XXX
- SG_ MtrGen1AoutTqRq_No_Cs : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ MtrGen1AoutTqRq_No_Cnt : 15|4@0+ (1,0) [0|0] "" XXX
- SG_ CoolFanTrn_D_Rq : 31|5@0+ (1,0) [0|0] "" XXX
- SG_ TrnMsgTxt_D_Rq : 39|4@0+ (1,0) [0|0] "" XXX
- SG_ TrnMil_D_Rq : 26|2@0+ (1,0) [0|0] "" XXX
- SG_ EngExhBrkTq_Pc_Rq : 23|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 562 TransGearData_3_CG1: 8 XXX
- SG_ TrnPto_D_Rdy : 12|2@0+ (1,0) [0|0] "" XXX
- SG_ TipInMgrInhbt_B_RqTrn : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ TrnAinIdl_Tq_Actl : 39|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAinLss_Tq_Est : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAin_Tq_RqSlwMn : 23|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ GearEngag_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX
- SG_ TrnAinTqDtrb_B_Rq : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ TrnTotLss_Tq_Actl : 55|8@0+ (0.5,0) [0|0] "Nm" XXX
-
-BO_ 563 TransGearData_4_CG1: 8 XXX
- SG_ TrnAinCtlN_N_RqMn : 20|13@0+ (2.0,0) [0|0] "rpm" XXX
- SG_ TrnAinTqMn_No_Cs : 63|8@0+ (1,0) [0|0] "" XXX
- SG_ TrnAinTqMn_No_Cnt : 11|4@0+ (1,0) [0|0] "" XXX
- SG_ TrnAinRq_Pc_SpcPdl : 7|10@0+ (0.1,0) [0|0] "%" XXX
- SG_ TrnAin_Tq_RqFstMn : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ TrnAin_N_SpcEng : 39|13@0+ (2.0,0) [0|0] "rpm" XXX
-
-BO_ 570 Suspension_Stat: 8 XXX
- SG_ CcdMsgTxt_D_RqDsply : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ SuspRear_L_Prev : 48|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX
- SG_ SuspRear_L_Actl : 32|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX
- SG_ SuspFrnt_L_Prev : 16|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX
- SG_ SuspFrnt_L_Actl : 0|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX
-
-BO_ 571 ColumnLockData: 8 XXX
- SG_ SteWhlLckMsgTxt_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 576 Body_Information_4_CG1: 8 XXX
- SG_ HvacRec_Pc_Est_UB : 51|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacRec_Pc_Est : 38|7@0+ (1,0) [0|0] "%" XXX
- SG_ HvacEngIdleInc_B_Rq_UB : 49|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacEngIdleInc_B_Rq : 53|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacAir_Flw_Est_UB : 52|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacAir_Flw_Est : 31|9@0+ (0.5,0) [0|0] "liter/second" XXX
- SG_ AmbTempImpr_UB : 50|1@0+ (1,0) [0|0] "" XXX
- SG_ AmbTempImpr : 47|10@0+ (0.25,-128.0) [0|0] "degreesC" XXX
- SG_ DriverCrankingReq : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ Fcw_B_DenyMntr : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ EngOff_T_Actl : 7|16@0+ (1,0) [0|0] "seconds" XXX
- SG_ CmbbMntr_B_Err : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ CmbbDeny_B_RqMntr : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ AccMntr_B_Err : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ AccDeny_B_RqMntr : 19|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 592 EONV_Status: 8 XXX
- SG_ EONV_FAULT : 59|1@0+ (1,0) [0|0] "" XXX
- SG_ EONV_KAL_IC_RQST : 53|1@0+ (1,0) [0|0] "" XXX
- SG_ EONV_T_STATUS : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ EONV_VREF_FLT : 62|1@0+ (1,0) [0|0] "" XXX
- SG_ EONV_VBATT_FLT : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ EONV_CANISTER_VENT_FLT : 54|1@0+ (1,0) [0|0] "" XXX
- SG_ EONV_CVS_CLOSED : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ EONV_BATT_VOLT : 23|16@0+ (0.0009765625,0) [0|0] "volts" XXX
- SG_ EONV_TANK_FLT : 48|1@0+ (1,0) [0|0] "" XXX
- SG_ EONV_TANK_PRESS : 7|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX
-
-BO_ 597 EONV_Control: 8 XXX
- SG_ EONV_POS_DET_THRESHOLD : 23|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX
- SG_ EONV_STAY_ALIVE : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ EONV_CVS_MODE : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ EONV_NEG_DET_THRESHOLD : 39|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX
- SG_ EONV_MIL_ON : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ EonvMsgTxOff_B_Rq : 4|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 608 Information4x4_CG1: 8 XXX
- SG_ AwdRngeShifActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ TrnAout_Tq_RqMx : 47|13@0+ (1,-1250.0) [0|0] "Nm" XXX
- SG_ AwdRngeFalt_D_Stat : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ AwdLck_Tq_Actl : 15|12@0+ (1,0) [0|0] "Nm" XXX
- SG_ AwdRnge_D_Actl : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ AwdTerrMdeChng_D_Rdy : 50|3@0+ (1,0) [0|0] "" XXX
- SG_ AwdTerrMde_D_Actl : 58|3@0+ (1,0) [0|0] "" XXX
- SG_ AwdOffRoadMode_D_Stats : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ AwdStat_D_RqDsply : 63|5@0+ (1,0) [0|0] "" XXX
- SG_ AwdLoLamp_D_RqDsply : 35|2@0+ (1,0) [0|0] "" XXX
- SG_ AwdHiLamp_D_RqDsply : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ AwdAutoLamp_D_RqDsply : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ AwdLckLamp_D_RqDsply : 27|2@0+ (1,0) [0|0] "" XXX
- SG_ AwdLck_D_Stat : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ Awd2wdLamp_D_RqDsply : 2|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 609 AWD_4x4_Data: 8 XXX
- SG_ AwdLck_Tq_Rq : 27|12@0+ (1,0) [0|0] "Nm" XXX
- SG_ AwdSrvcRqd_B_Rq : 44|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 613 PassengerSeatOCSInfo: 8 XXX
- SG_ VehicleMYCalibrationId : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ VehicleCalibrationId : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSensrDataUpperLim : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSensrDataLowerLim : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSLevel2Error : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ ObjectEntrapped : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ OCSLevel1Error : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 736 FCIM_Button_Press_HS: 8 XXX
- SG_ FCIM_Target_ID : 13|4@0+ (1,0) [0|0] "" XXX
- SG_ FCIM_Button_Type : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ FCIM_Button_State : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ FCIM_Target_ID_UB : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ FCIM_Button_Type_UB : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ FCIM_Button_State_UB : 8|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 806 Compressor_Req_HS: 8 XXX
- SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
- SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
- SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
-
-BO_ 832 RCMStatusMessage: 8 XXX
- SG_ eCallNotification : 2|2@0+ (1,0) [0|0] "" XXX
- SG_ CrashNotification : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ ThirdRowBucklePsngr : 57|2@0+ (1,0) [0|0] "" XXX
- SG_ ThirdRowBuckleMid : 59|2@0+ (1,0) [0|0] "" XXX
- SG_ ThirdRowBuckleDriver : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBucklePsngr : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBuckleMid : 49|2@0+ (1,0) [0|0] "" XXX
- SG_ SecondRowBuckleDriver : 51|2@0+ (1,0) [0|0] "" XXX
- SG_ FirstRowBuckleDriver : 55|2@0+ (1,0) [0|0] "" XXX
- SG_ RstrnTotalEvntCnt : 43|4@0+ (1,0) [0|0] "" XXX
- SG_ RstrnCurrentEvntCnt : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ RILReq : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ FuelCutoffReq : 13|4@0+ (1,0) [0|0] "" XXX
- SG_ SeatbeltIndicatorReq : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatbeltChimeReq : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ BeltMinderProgConfReq : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ BeltMinderLevelReq : 19|4@0+ (1,0) [0|0] "" XXX
- SG_ FirstRowBucklePsngr : 53|2@0+ (1,0) [0|0] "" XXX
- SG_ InfoLampReq : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ GenRedLampReq : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ RstrnTextMsgReq : 27|2@0+ (1,0) [0|0] "" XXX
- SG_ OCSSerialNumRcvd : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ RstrnStatDeployEnbld : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ RstrnImpactEvntStatus : 46|3@0+ (1,0) [0|0] "" XXX
- SG_ PassRstrnInd_Req : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ RstrnStatTrigEvnt : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ PsngrFrntDetct_D_Actl : 31|2@0+ (1,0) [0|0] "" XXX
- SG_ Beltminder_Warn_Stats : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ EDRTriggerEvntSync : 47|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 842 MassageSeat_Data1_HS: 8 XXX
- SG_ SeatLmbrUpDrv_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatLmbrMidDrv_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatLmbrLoDrv_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatBlUpDrv_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatBlLoDrv_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 843 MassageSeat_Data2_HS: 8 XXX
- SG_ SeatLmbrUpPsgr_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatLmbrMidPsgr_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatLmbrLoPsgr_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatBlUpPsgr_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatBlLoPsgr_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 844 MassageSeat_Stat1_HS: 8 XXX
- SG_ StmsLmbrDrv_D_Stat : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ StmsCshnDrv_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ SeatSwtchDrv_B_Stat : 31|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnDrv_D_Stat : 23|3@0+ (1,0) [0|0] "" XXX
- SG_ SeatAirAmb_P_Actl : 7|16@0+ (0.01,0) [0|0] "KiloPascal" XXX
- SG_ SeatPDrv_B_Stat : 20|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 845 MassageSeat_Stat2_HS: 8 XXX
- SG_ StmsLmbrPsgr_D_Stat : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ StmsCshnPsgr_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ SeatSwtchPsgr_B_Stat : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatPPsgr_B_Stat : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnPsgr_D_Stat : 6|3@0+ (1,0) [0|0] "" XXX
- SG_ PsgrMemFeedback_Rsp : 3|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 846 MassageSeat_Req: 8 XXX
- SG_ SeatFnPsgr_D_Rq : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnDrv_D_Rq : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnDfaltPsgr_B_Rq : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnDfaltDrv_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnChngPsgr_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ SeatFnChngDrv_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ PsgrMemory_Rq : 3|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 848 RestraintsData: 8 XXX
- SG_ PassRstrnInd_Stat_UB : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ SeatBltWrnChmeStat : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Seatbelt_IndctrStat : 4|3@0+ (1,0) [0|0] "" XXX
- SG_ RILStat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ PassRstrnInd_Stat : 15|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 849 MassageSeat_Data3_HS: 8 XXX
- SG_ SeatCshnDrvRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnDrvRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnDrvFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnDrvFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 850 MassageSeat_Data4_HS: 8 XXX
- SG_ SeatCshnPsgrRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnPsgrRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnPsgrFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX
- SG_ SeatCshnPsgrFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX
-
-BO_ 853 EFP_CC_Status: 8 XXX
- SG_ Save_My_Temp : 59|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Left_Temp_Setpt : 31|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RrDefrost_HtdMirrorReq : 60|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Control_Status : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ MultipleButtonPressReq : 63|3@0+ (1,0) [0|0] "" XXX
- SG_ Rear_System_Mode_Req : 19|3@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Left_Temp_Setpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ Recirc_Request : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ Front_Rt_Temp_Setpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ AC_Request : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ Windshield_ModeRequest : 15|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ Panel_Mode_Request : 7|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ Overriding_ModeReq : 10|3@0+ (1,0) [0|0] "" XXX
- SG_ Forced_Recirc_Req : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ Floor_Mode_Request : 3|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ Rear_Right_Temp_Setpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX
-
-BO_ 854 EFP_CC_Seat_Req_Stat: 8 XXX
- SG_ Front_Rear_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX
- SG_ Pass_Rr_Cond_Seat_Req : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Rr_Cond_Seat_Lvl : 8|3@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Fr_Cond_Seat_Req : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Fr_Cond_Seat_Lvl : 11|3@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Rr_Cond_Seat_Req : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Rr_Cond_Seat_Lvl : 2|3@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Fr_Cond_Seat_Req : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Fr_Cond_Seat_Lvl : 5|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 855 RCCM_CC_Status_HS: 8 XXX
- SG_ RrBlwrCondStLdShedStat : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ FrBlwrCondStLdShedStat : 20|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_Rr_Rt_TempSetpt : 63|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RCCM_Rr_Left_TempSetpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RCCM_Fr_Rt_TempSetpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RCCM_Fr_Rr_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX
- SG_ Panel_Mode_State : 7|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ RrDefHtdMirrLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX
- SG_ Windshield_Mode_State : 15|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ Recirc_Door_State : 11|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_System_Mode_State : 23|3@0+ (1,0) [0|0] "" XXX
- SG_ Default_Defrost_State : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Auto_AC_Indicator_Temp : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ Floor_Mode_State : 3|4@0+ (8.33,0) [0|0] "%" XXX
- SG_ RCCM_Fr_Left_TempSetpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX
- SG_ RrDefrost_HtdMirrState : 8|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 856 RCCM_CC_Seat_Status_HS: 8 XXX
- SG_ Active_My_Temp : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_HtdStrWhl_Req : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_PR_Cond_Seat_Lvl : 31|3@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_PR_Cond_Seat_Req : 28|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_PF_Cond_Seat_Req : 20|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_PF_Cond_Seat_Lvl : 23|3@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_DR_Cond_Seat_Req : 12|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_DR_Cond_Seat_Lvl : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_DF_Cond_Seat_Req : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ RCCM_DF_Cond_Seat_Lvl : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ PassRrCondStLdShedStat : 26|2@0+ (1,0) [0|0] "" XXX
- SG_ PassFrCondStLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvRrCondStLdShedStat : 10|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvFrCondStLdShedStat : 1|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 857 RCCM_CC_MBP_Press_Stat_HS: 8 XXX
- SG_ MultBtnPushDsplyPass10 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ MultBtnPushDsplyPass1 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ Report_Active : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ Pass_Temp_Units : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_Fan_Bars_Disply : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ Drvr_Temp_Units : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ MultBtnPushDsplyDrvr10 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ MultBtnPushDsplyDrvr1 : 15|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 859 MFD_CC_Status_HS: 8 XXX
- SG_ Rear_Mode_Bttn_Status : 38|1@0+ (1,0) [0|0] "" XXX
- SG_ ConditionSt_ButtonStat : 20|5@0+ (1,0) [0|0] "" XXX
- SG_ Driver_Set_Temp : 31|8@0+ (0.5,0) [0|0] "Degrees" XXX
- SG_ Frt_System_Button_Stat : 7|5@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Blower_Bar_Status : 2|3@0+ (1,0) [0|0] "# of Bars" XXX
- SG_ Rear_Fan_Button_Status : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Man_Temp_Bar_Stat : 11|4@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Temp_Button_Status : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ Voice_Blower_Limit : 21|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 860 EFP_CC_Info_Status: 8 XXX
- SG_ Rear_Panel_Btn_State : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Floor_Btn_State : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ HtdStrWhl_SftBtt_Stt : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ AC_Sft_Button_State : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvRrCondSeatSftBttnSt : 47|3@0+ (1,0) [0|0] "" XXX
- SG_ DrvFrCondSeatSftBtnStt : 37|3@0+ (1,0) [0|0] "" XXX
- SG_ CC_RecircSBtn_St : 27|2@0+ (1,0) [0|0] "" XXX
- SG_ CC_RrDefrSBtn_St : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ PasRrCondSeatSftBttnSt : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ PasFrCondSeatSftBtnStt : 34|3@0+ (1,0) [0|0] "" XXX
- SG_ MyTemp_Soft_Bttn_State : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_MaxACSBtn_St : 28|1@0+ (1,0) [0|0] "" XXX
- SG_ RearPowerButtonState : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ RearCoolBarsDisplayed : 11|3@0+ (1,0) [0|0] "Bars_On" XXX
- SG_ Rear_Sft_Control_Stat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ CC_RrNeutralBarDsp_St : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_RrHeatBarsDsp_St : 31|3@0+ (1,0) [0|0] "Bars_On" XXX
- SG_ Rear_Fan_Bars_Displayed : 19|3@0+ (1,0) [0|0] "" XXX
- SG_ CC_RrCtrlBtn_St : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ Rear_Auto_Button_State : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_FrPowerSBtn_St : 14|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_FrDefrostSBtn_St : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_Soft_Btn_Stt : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_MODE_State : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Front_AUTO_FAN_State : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Dual_Button_State : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_BarPnlSBtn_St : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_BarPnFlrSBtn_St : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_BarFlrWsSBtn_St : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ CC_BarDrvFlrSBtn_St : 3|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 890 Active_Noise: 8 XXX
- SG_ ANC_Chime_Supported : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ ActvNseAudio_D_Stat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ ActvNse_B_Actv : 5|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 891 Active_Noise_Data: 8 XXX
- SG_ CabnSndAmb_Db_Actl : 7|8@0+ (1,30.0) [0|0] "decibel" XXX
-
-BO_ 906 Body_Information_1: 8 XXX
- SG_ CcdMde_D_Rq_UB : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ CcdMde_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ CarMode : 5|4@0+ (1,0) [0|0] "" XXX
- SG_ SecondaryHeater_Rqst : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ Passenger_Sunload_Raw : 47|8@0+ (5.0,0) [0|0] "W/m^2" XXX
- SG_ Driver_Sunload_Raw : 39|8@0+ (5.0,0) [0|0] "W/m^2" XXX
- SG_ HvacEvap_Te_Actl_UB : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX
- SG_ SecondaryHeater_Rqst_UB : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ Outside_Air_Temp_Stat_UB : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ Outside_Air_Temp_Stat : 15|8@0+ (0.5,-40.0) [0|0] "Degrees C" XXX
- SG_ Veh_Lock_Status : 54|2@0+ (1,0) [0|0] "" XXX
- SG_ Veh_Lock_Requestor : 52|5@0+ (1,0) [0|0] "" XXX
- SG_ Veh_Lock_EvNum : 63|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ immoIndicatorCmd : 22|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 909 Body_Information_6: 8 XXX
- SG_ PEBackupSlot_Stats_UB : 43|1@0+ (1,0) [0|0] "" XXX
- SG_ PEBackupSlot_Stats : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ KeyMykeyTot_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX
- SG_ SideDetect_R_SysOpState_UB : 26|1@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_R_SysOpState : 28|2@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_R_SnsrState_UB : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_R_SnsrState : 31|2@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_L_SysOpState_UB : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_L_SysOpState : 18|2@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_L_SnsrState_UB : 19|1@0+ (1,0) [0|0] "" XXX
- SG_ SideDetect_L_SnsrState : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_R_SnState_UB : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_R_SnState : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_R_Op_State_UB : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_R_Op_State : 11|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_R_Alert_UB : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_R_Alert : 14|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_L_SnState_UB : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_L_SnState : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_L_Op_State_UB : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_L_Op_State : 4|2@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_L_Alert_UB : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ Cross_Traffic_L_Alert : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ IgnKeyType_D_Actl : 39|4@0+ (1,0) [0|0] "" XXX
- SG_ KeyAdmnTot_No_Cnt : 35|4@0+ (1,0) [0|0] "Counts" XXX
-
-BO_ 936 ParkAid_Data: 8 XXX
- SG_ SAPPErrorCoding : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ ExtSteeringAngleReq : 7|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX
- SG_ EPASExtAngleStatReq : 8|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 937 ParkAid_Range_to_Target: 8 XXX
- SG_ RangeToClosestObstacle : 55|12@0+ (1,0) [0|0] "cm" XXX
- SG_ RangeRearCornerRtSn : 35|12@0+ (1,0) [0|0] "cm" XXX
- SG_ RangeRearCornerLeftSn : 31|12@0+ (1,0) [0|0] "cm" XXX
- SG_ RangeRearCenterRtSn : 11|12@0+ (1,0) [0|0] "cm" XXX
- SG_ RangeRearCenterLeftSn : 7|12@0+ (1,0) [0|0] "cm" XXX
-
-BO_ 939 ParkAid_Data_CG1: 8 XXX
- SG_ EPASExtAngleStatReq : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ ExtSteeringAngleReq : 6|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX
- SG_ SAPPErrorCoding : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ RangeToClosestObstacle : 27|12@0+ (1,0) [0|0] "cm" XXX
-
-BO_ 942 BodyInformation_2: 8 XXX
- SG_ Easy_Entry_Exit_Stat : 14|2@0+ (1,0) [0|0] "" XXX
- SG_ Memory_Feedback_Rqst : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ Delay_Accy : 41|1@0+ (1,0) [0|0] "" XXX
- SG_ Fuel_Econ_AFE_Reset_Req_UB : 43|1@0+ (1,0) [0|0] "" XXX
- SG_ Multimedia_System : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatDrv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatHood_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatInnrTgate_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatPsngr_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatRl_B_Actl : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatRr_B_Actl : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ DrStatTgate_B_Actl : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Fuel_Econ_AFE_Reset_Req : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Nav_Unit_Setting : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ Cancel_Auto_Movement : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Cancel_Auto_Movement_UB : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ DrvSeat_Stat : 34|3@0+ (1,0) [0|0] "" XXX
- SG_ DrvSeat_Stat_UB : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ Easy_Entry_Rqst : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ Easy_Entry_Rqst_UB : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ Multimedia_System_UB : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ Memory_Cmd : 39|4@0+ (1,0) [0|0] "" XXX
- SG_ Memory_Cmd_UB : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ Memory_Feedback_Rqst_UB : 45|1@0+ (1,0) [0|0] "" XXX
- SG_ Decklid_Ajar_Status : 44|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 947 BodyInformation_3: 8 XXX
- SG_ RearFog_Lamp_Ind_UB : 49|1@0+ (1,0) [0|0] "" XXX
- SG_ RearFog_Lamp_Ind : 50|1@0+ (1,0) [0|0] "" XXX
- SG_ PwMdeExten_D_Actl : 63|5@0+ (1,0) [0|0] "" XXX
- SG_ Turn_Ind_Cmd_Right : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ Turn_Ind_Cmd_Left : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ Ignition_Switch_Stable : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ Parklamp_Status : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ Litval : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ Key_In_Ignition_Stat : 11|2@0+ (1,0) [0|0] "" XXX
- SG_ Ignition_Status : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ Day_Night_Status : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|0] "" XXX
- SG_ DRV_SELECT_STAT : 19|4@0+ (1,0) [0|0] "" XXX
- SG_ PrkBrkActv_B_Actl : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ HtdStrWhl_SftBtt_State_UB : 51|1@0+ (1,0) [0|0] "" XXX
- SG_ HtdStrWhl_SftBtt_State : 53|2@0+ (1,0) [0|0] "" XXX
- SG_ HvacRemoteStrt_N_Rq_UB : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacRemoteStrt_N_Rq : 23|4@0+ (100.0,450.0) [0|0] "RPM" XXX
- SG_ HvacAirCond_B_Rq_UB : 57|1@0+ (1,0) [0|0] "" XXX
- SG_ Remote_Start_Warn_Req : 54|1@0+ (1,0) [0|0] "" XXX
- SG_ HvacAirCond_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 948 Tire_Pressure_Status: 8 XXX
- SG_ Tire_Press_ILR_Stat2 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ Tire_Press_IRR_Stat2 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ Tire_Press_LR_OLR_Stat2 : 19|4@0+ (1,0) [0|0] "" XXX
- SG_ Tire_Press_RR_ORR_Stat2 : 23|4@0+ (1,0) [0|0] "" XXX
- SG_ Tire_Press_RF_Stat2 : 11|4@0+ (1,0) [0|0] "" XXX
- SG_ Tire_Press_LF_Stat2 : 15|4@0+ (1,0) [0|0] "" XXX
- SG_ Tire_Press_System_Stat2 : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ Tire_Press_Telltale : 3|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 949 Tire_Pressure_Data: 8 XXX
- SG_ Tire_Press_RR_ORR_Data : 23|8@0+ (1,0) [0|0] "Psi" XXX
- SG_ Tire_Press_RF_Data : 15|8@0+ (1,0) [0|0] "Psi" XXX
- SG_ Tire_Press_LR_OLR_Data : 31|8@0+ (1,0) [0|0] "Psi" XXX
- SG_ Tire_Press_IRR_Data : 39|8@0+ (1,0) [0|0] "Psi" XXX
- SG_ Tire_Press_ILR_Data : 47|8@0+ (1,0) [0|0] "Psi" XXX
- SG_ Tire_Press_LF_Data : 7|8@0+ (1,0) [0|0] "Psi" XXX
-
-BO_ 955 Smart_Headlamp_Stat: 8 XXX
- SG_ Headlamp_Switch_Stat : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ Fog_Lamp_Dbnce : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ Digital_Dimmer_Sw_Stat : 3|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 957 Rear_FogLamp: 8 XXX
- SG_ RearFog_Lamp_Dbnce : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 963 BCM_to_HS_Body: 8 XXX
- SG_ DrTgateChime_D_Rq_UB : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ DrTgateChime_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraDefog_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ Reverse_Mirror_Stat : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ Power_Liftgate_Mode_Stat : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ IKT_Program_Status : 51|2@0+ (1,0) [0|0] "" XXX
- SG_ Veh_Spd_Slow_Puddle_Status : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ Illuminated_Exit_Status : 43|2@0+ (1,0) [0|0] "" XXX
- SG_ Illuminated_Entry_Status : 45|2@0+ (1,0) [0|0] "" XXX
- SG_ Door_Courtesy_Light_Status : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ Courtesy_Demand_BSave_Stat : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ Alarm_Lights_Courtesy_Stat : 35|2@0+ (1,0) [0|0] "" XXX
- SG_ Courtesy_Delay_Status : 37|2@0+ (1,0) [0|0] "" XXX
- SG_ Courtesy_Mode_Status : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ Front_Fog_Light_SW_Status : 22|2@0+ (1,0) [0|0] "" XXX
- SG_ Brake_Lamp_On_Status : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ LowBeam_CKT_CAN : 11|1@0+ (1,0) [0|0] "" XXX
- SG_ ParkLamps_CKT_CAN : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ RF_Low_Beam_CKT_CAN : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ Brk_Fluid_Lvl_Low : 15|2@0+ (1,0) [0|0] "" XXX
- SG_ LF_Low_Beam_CKT_CAN : 12|1@0+ (1,0) [0|0] "" XXX
- SG_ High_Beam_Indicator_Rqst : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ Brake_Warn_Indicator_Rqst : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ Headlamp_On_Wrning_Cmd : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ Key_In_Ignition_Warn_Cmd : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ Fog_Lamps_Rly_Ckt_CAN : 10|1@0+ (1,0) [0|0] "" XXX
- SG_ Power_Liftgate_Mode_Stat_UB : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ Reverse_Mirror_Stat_UB : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ Park_Brake_Chime_Rqst : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ Daytime_Running_Lamps : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Running_Board_Stat_UB : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ Running_Board_Stat : 58|2@0+ (1,0) [0|0] "" XXX
- SG_ Perimeter_Alarm_Chime_Rqst : 20|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 967 CMPS_FDM_Info_Status: 8 XXX
- SG_ CamraFrntStat_D_Stat : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ Zone_Icon_UB : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ GPS_Compass_direction : 47|4@0+ (1,0) [0|0] "" XXX
- SG_ Segment_MSD_UB : 37|1@0+ (1,0) [0|0] "" XXX
- SG_ Segment_LSD_UB : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ ExcessiveMagnetism : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ Compass_Display_UB : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ Segment_LSD : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ Segment_MSD : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ Cal_Icon : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ Zone_Icon : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ Compass_Display : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ Cal_Icon_UB : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ RearCameraDelayStat : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlTow_D_Actl : 25|2@0+ (1,0) [0|0] "SE" XXX
- SG_ CamZoomActiveState : 29|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraZoomMan_D_Actl : 18|3@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlStat_D_Actl : 27|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlDyn_D_Actl : 20|2@0+ (1,0) [0|0] "" XXX
- SG_ CamPDCGuidStat : 31|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 970 Lane_Assist_Data1: 8 XXX
- SG_ LkaActvStats_D_Req : 7|3@0+ (1,0) [0|0] "" XXX
- SG_ LdwActvStats_D_Req : 4|3@0+ (1,0) [0|0] "" XXX
- SG_ LdwActvIntns_D_Req : 1|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 971 Lane_Assist_Data2: 8 XXX
- SG_ LaRefAng_No_Req : 19|12@0+ (0.05,-102.4) [0|0] "mrad" XXX
- SG_ LaRampType_B_Req : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ LaCurvature_No_Calc : 3|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX
-
-BO_ 972 Lane_Assist_Data3: 8 XXX
- SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 984 IPMA_Data: 8 XXX
- SG_ LaSwtch_D_RqDrv : 45|1@0+ (1,0) [0|0] "" XXX
- SG_ DasWarn_D_Dsply : 44|2@0+ (1,0) [0|0] "" XXX
- SG_ DasStats_D_Dsply : 47|2@0+ (1,0) [0|0] "" XXX
- SG_ DasAlrtLvl_D_Dsply : 55|3@0+ (1,0) [0|0] "" XXX
- SG_ CamraStats_D_Dsply : 35|2@0+ (1,0) [0|0] "" XXX
- SG_ CamraDefog_B_Req : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ LaSwtchStat_No_Actl : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ LaHandsOff_D_Dsply : 42|2@0+ (1,0) [0|0] "" XXX
- SG_ LaDenyStats_B_Dsply : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ LaActvStats_D_Dsply : 52|5@0+ (1,0) [0|0] "" XXX
- SG_ AhbcHiBeam_D_Rq : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ PersIndexIpma_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoIpmaActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigIpmaActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 986 Personality_APIM_Data3: 8 XXX
- SG_ LightAmbIntSwtchInc_B : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ LightAmbIntSwtchDec_B : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ LightAmbIntsty_No_Rq : 15|8@0+ (1,0) [0|0] "% Intensity" XXX
- SG_ LightAmbColor_No_Rq : 7|8@0+ (1,0) [0|0] "Color Index" XXX
- SG_ LightAmbClrSwtchInc_B : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ LightAmbClrSwtchDec_B : 23|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 991 Personality_VDM_Data: 8 XXX
- SG_ PersIndexVdm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoVdmActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigVdmActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 992 Personality_IPC_Data: 8 XXX
- SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|0] "" XXX
- SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|0] "Number" XXX
- SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 993 Personality_Data_HS: 8 XXX
- SG_ PersSetupRestr_D_Actl : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ PersSetupAccessCtrl : 19|1@0+ (1,0) [0|0] "SES" XXX
- SG_ PersSetup_No_Actl : 31|16@0+ (1,0) [0|0] "Number" XXX
- SG_ PersConflict_D_Actl : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ AssocConfirm_D_Actl : 15|3@0+ (1,0) [0|0] "" XXX
- SG_ RecallEvent_No_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX
- SG_ PersNo_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX
- SG_ PersStore_D_Actl_UB : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ PersStore_D_Actl : 12|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 994 Personality_APIM_Data: 8 XXX
- SG_ CamraOvrlTow_D_Rq : 42|1@0+ (1,0) [0|0] "" XXX
- SG_ Pers4OptIn_B_Stats : 43|1@0+ (1,0) [0|0] "" XXX
- SG_ Pers3OptIn_B_Stats : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ Pers2OptIn_B_Stats : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ Pers1OptIn_B_Stats : 44|1@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|0] "" XXX
- SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|0] "" XXX
- SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 995 Personality_BCM_Data: 8 XXX
- SG_ PersIndexBcm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoBcm_No_Actl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigBcmActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 996 Personality_HCMB_Data_HS: 8 XXX
- SG_ PersIndexHcmb_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ PersIndexHcmb_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoHcmbActl_UB : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoHcmbActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigHcmbActl_UB : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatConfigHcmbActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 997 Personality_CCM_Data: 8 XXX
- SG_ PersIndexCcm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoCcmActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigCcmActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 998 Personality_SCCM_Data: 8 XXX
- SG_ PersIndexSccm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoSccmActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigSccmActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 999 Personality_HVAC_Data_HS: 8 XXX
- SG_ LightAmbIntsty_No_Actl_UB : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ LightAmbIntsty_No_Actl : 55|8@0+ (1,0) [0|0] "% Intensity" XXX
- SG_ LightAmbColor_No_Actl_UB : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ LightAmbColor_No_Actl : 47|8@0+ (1,0) [0|0] "Color Index" XXX
- SG_ PersIndexHvac_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoHvacActl_UB : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatConfigHvacActl_UB : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ PersIndexHvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoHvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigHvacActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 1001 Personality_RFA_Data_HS: 8 XXX
- SG_ PersIndexRfa_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoRfaActl_UB : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatConfigRfaActl_UB : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ PersIndexRfa_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoRfaActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigRfaActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 1002 Personality_APIM_Data2: 8 XXX
- SG_ PersIndexApim_D_Actl : 63|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoApimActl : 39|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigApimActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ CntrStkKeycodeActl : 7|16@0+ (1,0) [0|0] "" XXX
- SG_ CntrStk_D_RqRecall : 52|3@0+ (1,0) [0|0] "" XXX
- SG_ CntrStk_D_RqAssoc : 55|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 1003 Personality_IPC_Data_2: 8 XXX
- SG_ PersIndexIpc_D_Actl : 34|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoIpcActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigIpcActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 1004 Personality_DSM_Data_HS: 8 XXX
- SG_ PersIndexDsm_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ PersIndexDsm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoDsmActl_UB : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoDsmActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigDsmActl_UB : 36|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatConfigDsmActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 1005 Personality_RHVAC_Data_HS: 8 XXX
- SG_ PersIndexRhvac_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoRhvacActl_UB : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ FeatConfigRhvacActl_UB : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ PersIndexRhvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ FeatNoRhvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX
- SG_ FeatConfigRhvacActl : 7|16@0+ (1,0) [0|0] "" XXX
-
-BO_ 1031 Diesel_Data_Legacy_1: 8 XXX
- SG_ W2S_COMMAND : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ TURBO_BOOST : 1|10@0+ (0.1,-30.0) [0|0] "PSI" XXX
- SG_ IDLE_ENGINE_SHUTDOWN : 42|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 1034 GGCC_Config_Mgmt_ID_1: 8 XXX
- SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|0] "mixed" XXX
-
-BO_ 1036 Desired_Torq_BrkSys_Stat: 8 XXX
- SG_ BRK_TC_TEMPORARILY_UNAVAIL : 47|1@0+ (1,0) [0|0] "" XXX
- SG_ TRLR_SWAY_EVNT_IN_PROGRESS : 22|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1043 ADAPTIVE_HEADLAMP_STAT: 8 XXX
- SG_ ADAPTIVE_HEADLAMP_FAILURE : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1044 AccelerationData: 8 XXX
- SG_ VehVertComp_A_Actl : 1|10@0+ (0.01,-0.4) [0|0] "m/s^2" XXX
- SG_ VehRolComp_W_Actl : 19|12@0+ (0.0002,-0.82) [0|0] "rad/s" XXX
- SG_ VehYawNonLin_W_Rq : 51|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX
- SG_ VehYawLin_W_Rq : 35|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX
-
-BO_ 1045 BrakeSysFeatures: 8 XXX
- SG_ TCMode : 34|1@0+ (1,0) [0|0] "" XXX
- SG_ DrvSlipCtlLamp_D_Rq : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ RSCMode : 48|1@0+ (1,0) [0|0] "" XXX
- SG_ EBAMode : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ DrvAntiLckLamp_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ ChimeBrk_B_Rq : 38|1@0+ (1,0) [0|0] "" XXX
- SG_ BrkLamp_B_Rq : 39|1@0+ (1,0) [0|0] "" XXX
- SG_ VehVActlBrk_No_Cs : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ VehVActlBrk_No_Cnt : 23|4@0+ (1,0) [0|0] "" XXX
- SG_ Veh_V_ActlBrk : 7|16@0+ (0.01,0) [0|0] "kph" XXX
- SG_ DrvSlipCtlMde_D_Ind : 33|2@0+ (1,0) [0|0] "" XXX
- SG_ VehRol_An_Dsply : 55|7@0+ (1,-64.0) [0|0] "Degrees" XXX
- SG_ VehPtch_An_Dsply : 47|7@0+ (1,-64.0) [0|0] "Degrees" XXX
- SG_ VehVActlBrk_D_Qf : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ HILL_DESC_MC : 37|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 1046 BrakeSysFeatures_2: 8 XXX
- SG_ BpedMove_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ BpedMove_No_Cnt : 3|4@0+ (1,0) [0|0] "" XXX
- SG_ BpedMove_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX
- SG_ AbsMduleAlive_No_Cnt : 39|4@0+ (1,0) [0|0] "" XXX
- SG_ Abs_No_Cs : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ BrkAsst_B_Actl : 33|1@0+ (1,0) [0|0] "" XXX
- SG_ StabCtlBrk_B_Avail : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ DrvHdcWarnInfo_D_Rq : 35|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvHdcMsg_D_Rq : 10|3@0+ (1,0) [0|0] "" XXX
- SG_ DrvHdcLampInfo_D_Rq : 12|2@0+ (1,0) [0|0] "" XXX
- SG_ Abs_B_Falt : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ VehLongComp_A_Actl : 49|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX
- SG_ TRAILER_SWAY_CONFIG_STAT : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ VehLatComp_A_Actl : 47|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX
-
-BO_ 1047 TractionCtrlStatus_CG1: 8 XXX
- SG_ EngEotcCtlMde_B_Ind : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ YawStabilityIndex : 48|9@0+ (1,-256.0) [0|0] "%" XXX
- SG_ TCS_ENG_FAILD : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ TCS_ENG_ONLY_PRESENT : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ TCS_BRK_FAILD : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ PrplWhlTqRqMn_No_Cnt : 47|4@0+ (1,0) [0|0] "" XXX
- SG_ PrplWhlTot_Tq_RqMn : 23|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX
- SG_ EngEotcCtlLamp_D_Rq : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ PrplWhlTqRqMn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ HdcMde_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ VehicleDir_D_Est : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ TracCtlPtActv_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1056 PowertrainData_1_CG1: 8 XXX
- SG_ FUEL_ALCOHOL_PERCNT : 63|8@0+ (0.3937008,0) [0|0] "%" XXX
- SG_ TrnTotTq_Rt_Est : 39|16@0+ (0.001,0) [0|0] "" XXX
- SG_ TrnTotLss_Tq_Est : 31|8@0+ (0.5,0) [0|0] "Nm" XXX
- SG_ ECMMILRequest : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ AirCondFluidHi_P_Actl : 55|8@0+ (0.125,0) [0|0] "bar" XXX
- SG_ OilPressureWarning : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ CluPdlPos_Pc_Meas : 7|10@0+ (0.1,0) [0|0] "%" XXX
- SG_ VehVLimStat_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ VehVLimActv_B_Actl : 13|1@0+ (1,0) [0|0] "" XXX
- SG_ CluPdlPosPcMeas_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ CoolantFanStepAct : 23|5@0+ (1,0) [0|0] "Steps" XXX
-
-BO_ 1058 PowertrainData_2_CG1: 8 XXX
- SG_ EngIdlShutDown_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX
- SG_ EngAout2_Tq_Actl : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX
- SG_ EngMsgTxt_D_Rq : 21|2@0+ (1,0) [0|0] "" XXX
- SG_ EngClnt_Te_ActlDiag : 39|8@0+ (1,-40.0) [0|0] "degC" XXX
- SG_ ThrPos_Pc_CalcDiag : 7|8@0+ (0.392157,0) [0|0] "%" XXX
- SG_ EngLoad_Pc_CalcDiag : 47|8@0+ (0.392157,0) [0|0] "%" XXX
- SG_ EngAirIn_Te_Actl : 15|10@0+ (0.25,-128.0) [0|0] "degC" XXX
- SG_ ApedPos_Pc_ActlDiag : 31|8@0+ (0.392157,0) [0|0] "%" XXX
-
-BO_ 1064 StrgWheel_PolicePkg: 8 XXX
- SG_ PoliceAux4Lamp_B_Rq : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ PoliceAux3Lamp_B_Rq : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ PoliceAux2Lamp_B_Rq : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ PoliceAux1Lamp_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1067 Battery_Mgmt_1: 8 XXX
- SG_ AlternatorExcDutyCycle : 31|5@0+ (3.22581,0) [0|0] "%" XXX
- SG_ EngineEffStatus : 39|2@0+ (1,0) [0|0] "" XXX
- SG_ AvailableCurrentAtIdle : 23|8@0+ (1,0) [0|0] "Amps" XXX
- SG_ AvailableCurrent : 15|8@0+ (1,0) [0|0] "Amps" XXX
- SG_ ActualCurrent : 7|8@0+ (1,0) [0|0] "Amps" XXX
- SG_ NoAlternatorResponse : 26|1@0+ (1,0) [0|0] "" XXX
- SG_ AlternatorTempFault : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ AlternatorMechFault : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ AlternatorElFault : 37|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1068 Battery_Mgmt_2: 8 XXX
- SG_ ChargeMode : 39|3@0+ (1,0) [0|0] "" XXX
- SG_ ChargeVoltageReq : 7|6@0+ (0.1,10.6) [0|0] "Volts" XXX
- SG_ ChargeVoltageReqMax : 23|6@0+ (0.1,10.6) [0|0] "Volts" XXX
- SG_ FrontBatteryTemp : 47|8@0+ (1,-60.0) [0|0] "DegC" XXX
- SG_ IBoost_Msg : 52|4@0+ (1,0) [0|0] "" XXX
- SG_ IdleSpeedIncrease_El : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ MaxLashStep : 11|3@0+ (0.1,0) [0|0] "Volts" XXX
- SG_ PowerSystemStatus : 15|4@0+ (1,0) [0|0] "" XXX
- SG_ Shed_T_Eng_Off_B : 17|1@0+ (1,0) [0|0] "" XXX
- SG_ Shed_Level_Req : 55|3@0+ (1,0) [0|0] "" XXX
- SG_ Shed_Feature_Group_ID : 36|5@0+ (1,0) [0|0] "" XXX
- SG_ Shed_Drain_Eng_Off_B : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ Batt_Lo_SoC_B : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ VoltageRampRateUpMax : 31|6@0+ (0.1,0) [0|0] "Volts/sec" XXX
- SG_ Batt_Crit_SoC_B : 24|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1069 Battery_Mgmt_3: 8 XXX
- SG_ BSFault : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ BSBattSOC : 30|7@0+ (1,0) [0|0] "%" XXX
- SG_ BSBattQDeltaRideAh : 38|15@0+ (0.0078125,-100.0) [0|0] "Ah" XXX
- SG_ BSBattQCapAh : 22|7@0+ (1,0) [0|0] "Ah" XXX
- SG_ BSBattCurrent : 5|14@0+ (0.0625,-512.0) [0|0] "Amps" XXX
- SG_ BattULoState_D_Qlty : 7|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 1072 Cluster_Information: 8 XXX
- SG_ ManRgen_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ Easy_Entry_Exit_Cmd : 49|1@0+ (1,0) [0|0] "" XXX
- SG_ KeyTypeChngMykey_D_Rq : 53|2@0+ (1,0) [0|0] "" XXX
- SG_ DrvSlipCtlMde_B_Rq : 19|1@0+ (1,0) [0|0] "" XXX
- SG_ MetricActv_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ LdwDfaltOn_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ Fda_B_Stat : 9|1@0+ (1,0) [0|0] "" XXX
- SG_ ePRNDL_MODE : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ AccDeny_B_RqIpc : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ MetricActvTe_B_Actl : 23|1@0+ (1,0) [0|0] "" XXX
- SG_ EngOilLife_B_RqReset : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ OdometerMasterValue : 31|24@0+ (1,0) [0|0] "km" XXX
- SG_ New_Module_Attn_Event : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ TRAILER_SWAY_CONFIG_CMD : 60|1@0+ (1,0) [0|0] "" XXX
- SG_ ParkDetect_Stat : 62|1@0+ (1,0) [0|0] "" XXX
- SG_ Attn_Info_Audio : 59|3@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrkMde_D_Rq : 61|1@0+ (1,0) [0|0] "" XXX
- SG_ TRAILER_BRAKE_CONFIG : 48|1@0+ (1,0) [0|0] "" XXX
- SG_ VehMykey_Vl_LimRq : 63|1@0+ (1,0) [0|0] "" XXX
- SG_ VehMykey_V_LimRqMx : 51|1@0+ (1,0) [0|0] "" XXX
- SG_ EmgcyCallAsstMykey_Rq : 50|1@0+ (1,0) [0|0] "" XXX
- SG_ DrvSlipCtlMde_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX
- SG_ AccEnbl_B_RqDrv : 20|1@0+ (1,0) [0|0] "" XXX
- SG_ AutoHighBeam_Cmd : 55|2@0+ (1,0) [0|0] "" XXX
-
-BO_ 1075 Cluster_Information_3_CG1: 8 XXX
- SG_ CamraFrntStat_D_Rq : 58|1@0+ (1,0) [0|0] "" XXX
- SG_ DieslFuelBio_B_ActlDrv : 56|1@0+ (1,0) [0|0] "" XXX
- SG_ RearCameraDelayCmd : 59|1@0+ (1,0) [0|0] "" XXX
- SG_ UreaWarnReset : 60|1@0+ (1,0) [0|0] "" XXX
- SG_ DistanceBarSetting : 49|1@0+ (1,0) [0|0] "" XXX
- SG_ CamraZoomMan_D_Rq : 63|3@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlStat_D_Rq : 48|1@0+ (1,0) [0|0] "" XXX
- SG_ CamraOvrlDyn_D_Rq : 25|1@0+ (1,0) [0|0] "" XXX
- SG_ CamAutoTowbarZoom : 24|1@0+ (1,0) [0|0] "" XXX
- SG_ FuelSecndActv_B_Actl : 39|1@0+ (1,0) [0|0] "" XXX
- SG_ HILL_DESC_SW : 38|1@0+ (1,0) [0|0] "" XXX
- SG_ FuelLvlPssvSide_No_Raw : 19|10@0+ (1,0) [0|0] "" XXX
- SG_ SPDJBCompassCMDDecalibrate : 50|1@0+ (1,0) [0|0] "" XXX
- SG_ SPDJBCompassCMDChangeZone : 51|1@0+ (1,0) [0|0] "" XXX
- SG_ SPDJBCompassCmdDesiredZone : 55|4@0+ (1,0) [0|0] "" XXX
- SG_ FUEL_SENSOR_NUM : 35|1@0+ (1,0) [0|0] "" XXX
- SG_ W2S_LAMP_OK : 37|1@0+ (1,0) [0|0] "" XXX
- SG_ Beltminder_Warn_Stats_IPC : 32|1@0+ (1,0) [0|0] "" XXX
- SG_ FuelLvlActvSide_No_Raw : 13|10@0+ (1,0) [0|0] "" XXX
- SG_ FuelLvl_Pc_Dsply : 7|10@0+ (0.108696,-5.22) [0|0] "%" XXX
- SG_ FUEL_LVL_PER_MEAN : 47|8@0+ (0.434783,-5.22) [0|0] "% Indication" XXX
- SG_ Fuel_Level_State : 34|2@0+ (1,0) [0|0] "" XXX
- SG_ H2O_IN_FUEL_LAMP_OK_OBD : 36|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1093 TrailerBrakeInfo: 8 XXX
- SG_ TrlrLampCnnct_B_Actl : 22|1@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrkActCnnct_B_Actl : 16|1@0+ (1,0) [0|0] "" XXX
- SG_ StopLamp_B_RqTrlrBrk : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrkOut_No_Dsply : 3|4@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrkGain_No_Actl : 21|5@0+ (0.5,0) [0|0] "" XXX
- SG_ TrlrBrkDsply_B_Rq : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrkDcnnt_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrkCtl_B_Falt : 4|1@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrkActCirct_B_Falt : 39|1@0+ (1,0) [0|0] "" XXX
- SG_ TrlrBrkMde_D_Actl : 23|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1104 SHCM_Status: 8 XXX
- SG_ CURRENT_DRAW : 15|8@0+ (0.5,0) [0|0] "Amps" XXX
- SG_ SECONDARY_HEATER_STAT : 7|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1107 PassengerOCSSerialNum: 8 XXX
- SG_ OCSSerialNoByte8 : 63|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSerialNoByte7 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSerialNoByte6 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSerialNoByte5 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSerialNoByte4 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSerialNoByte3 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSerialNoByte2 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ OCSSerialNoByte1 : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1108 RCMSerialNumber: 8 XXX
- SG_ RCMSerialNoByte8 : 63|8@0+ (1,0) [0|0] "" XXX
- SG_ RCMSerialNoByte7 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ RCMSerialNoByte6 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ RCMSerialNoByte5 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ RCMSerialNoByte4 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ RCMSerialNoByte3 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ RCMSerialNoByte2 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ RCMSerialNoByte1 : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1109 eCall_Info: 8 XXX
- SG_ eCallConfirmation : 7|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 1125 GPS_Data_Nav_1_HS: 8 XXX
- SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|0] "" XXX
- SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|0] "Minutes" XXX
- SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|0] "Minutes" XXX
- SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179.0) [0|0] "Degrees" XXX
- SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX
- SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|0] "Minutes" XXX
- SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89.0) [0|0] "Degrees" XXX
-
-BO_ 1126 GPS_Data_Nav_2_HS: 8 XXX
- SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,1.0) [0|0] "Year" XXX
- SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1.0) [0|0] "Month" XXX
- SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1.0) [0|0] "Day" XXX
- SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|0] "seconds" XXX
- SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX
- SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|0] "Hours" XXX
- SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|0] "" XXX
- SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|0] "" XXX
- SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1127 GPS_Data_Nav_3_HS: 8 XXX
- SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|0] "" XXX
- SG_ GPS_Speed : 47|8@0+ (1,0) [0|0] "MPH" XXX
- SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|0] "" XXX
- SG_ GPS_MSL_altitude : 15|12@0+ (10.0,-20460.0) [0|0] "feet" XXX
- SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|0] "Degrees" XXX
- SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|0] "" XXX
- SG_ GPS_dimension : 2|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 1152 All_Terrain_Data: 8 XXX
- SG_ HdcSwitchPos_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ TerrStat_D_RqDsply : 7|4@0+ (1,0) [0|0] "" XXX
- SG_ TerrMde_D_RqDrv : 3|3@0+ (1,0) [0|0] "" XXX
-
-BO_ 1186 Information_4x4_2_CG1: 8 XXX
- SG_ RearDiffFalt_D_Stat : 23|2@0+ (1,0) [0|0] "" XXX
- SG_ RearDiffLck_Tq_Actl : 7|12@0+ (1,0) [0|0] "Nm" XXX
- SG_ RearDiffLckMsg_D_Rq : 20|3@0+ (1,0) [0|0] "" XXX
- SG_ AwdSrvcRqd_B_Rq : 21|1@0+ (1,0) [0|0] "" XXX
- SG_ RearDiffLckLamp_D_Rq : 11|2@0+ (1,0) [0|0] "" XXX
diff --git a/opendbc/generator/generator.py b/opendbc/generator/generator.py
deleted file mode 100755
index ca7daac5ca6e38..00000000000000
--- a/opendbc/generator/generator.py
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/usr/bin/env python3
-import os
-import re
-
-cur_path = os.path.dirname(os.path.realpath(__file__))
-generator_path = os.path.join(cur_path, '../')
-include_pattern = re.compile(r'CM_ "IMPORT (.*?)"')
-
-
-def read_dbc(dir_name, filename):
-    with open(os.path.join(dir_name, filename)) as file_in:
-        return file_in.read()
-
-
-def create_dbc(dir_name, filename):
-    dbc_file_in = read_dbc(dir_name, filename)
-
-    includes = include_pattern.findall(dbc_file_in)
-
-    output_filename = filename.replace('.dbc', '_generated.dbc')
-    output_file_location = os.path.join(generator_path, output_filename)
-
-    with open(output_file_location, 'w') as dbc_file_out:
-        dbc_file_out.write('CM_ "AUTOGENERATED FILE, DO NOT EDIT"\n')
-
-        for include_filename in reversed(includes):
-            include_file_header = '\n\nCM_ "Imported file %s starts here"\n' % include_filename
-            dbc_file_out.write(include_file_header)
-
-            include_file = read_dbc(dir_name, include_filename)
-            dbc_file_out.write(include_file)
-
-        dbc_file_out.write('\nCM_ "%s starts here"\n' % filename)
-
-        core_dbc = include_pattern.sub('', dbc_file_in)
-        dbc_file_out.write(core_dbc)
-
-
-for dir_name, _, filenames in os.walk(cur_path):
-    if dir_name == cur_path:
-        continue
-
-    print(dir_name)
-    for filename in filenames:
-        if filename.startswith('_'):
-            continue
-
-        print(filename)
-        create_dbc(dir_name, filename)
diff --git a/opendbc/generator/honda/_bosch_2018.dbc b/opendbc/generator/honda/_bosch_2018.dbc
deleted file mode 100644
index bfbfe9b8b61af3..00000000000000
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ /dev/null
@@ -1,288 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 232 BRAKE_HOLD: 7 XXX
- SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
- SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
- SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
-CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
-CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
diff --git a/opendbc/generator/honda/_comma.dbc b/opendbc/generator/honda/_comma.dbc
deleted file mode 100644
index c96250baedaa84..00000000000000
--- a/opendbc/generator/honda/_comma.dbc
+++ /dev/null
@@ -1,15 +0,0 @@
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/generator/honda/_dual_can_nidec_2018.dbc b/opendbc/generator/honda/_dual_can_nidec_2018.dbc
deleted file mode 100644
index 67c019c92f5ec4..00000000000000
--- a/opendbc/generator/honda/_dual_can_nidec_2018.dbc
+++ /dev/null
@@ -1,215 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
- SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
- SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 LOCK_STATUS: 8 XXX
- SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
- SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
- SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/generator/honda/_honda_2017.dbc b/opendbc/generator/honda/_honda_2017.dbc
deleted file mode 100644
index de78403179d680..00000000000000
--- a/opendbc/generator/honda/_honda_2017.dbc
+++ /dev/null
@@ -1,230 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
- SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
- SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 LOCK_STATUS: 8 XXX
- SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
- SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
- SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
- SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/generator/honda/acura_ilx_2016_can.dbc b/opendbc/generator/honda/acura_ilx_2016_can.dbc
deleted file mode 100644
index 2d3c1a9d2e61eb..00000000000000
--- a/opendbc/generator/honda/acura_ilx_2016_can.dbc
+++ /dev/null
@@ -1,72 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
- SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/acura_rdx_2018_can.dbc b/opendbc/generator/honda/acura_rdx_2018_can.dbc
deleted file mode 100644
index 01d9d64383be56..00000000000000
--- a/opendbc/generator/honda/acura_rdx_2018_can.dbc
+++ /dev/null
@@ -1,59 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
-
-BO_ 392 GEARBOX: 6 XXX
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX
- SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" EON
- SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON
-
-BO_ 399 STEER_STATUS: 6 EPS
- SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
-
-BO_ 404 STEERING_CONTROL: 4 EON
- SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
-VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
-VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc b/opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc
deleted file mode 100644
index 099b1a9e564530..00000000000000
--- a/opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc
+++ /dev/null
@@ -1,59 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
- SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_accord_s2t_2018_can.dbc b/opendbc/generator/honda/honda_accord_s2t_2018_can.dbc
deleted file mode 100644
index 4967d60623d467..00000000000000
--- a/opendbc/generator/honda/honda_accord_s2t_2018_can.dbc
+++ /dev/null
@@ -1,55 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc b/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc
deleted file mode 100644
index c085466f526169..00000000000000
--- a/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc
+++ /dev/null
@@ -1,62 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
- SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_civic_sedan_16_diesel_2019_can.dbc b/opendbc/generator/honda/honda_civic_sedan_16_diesel_2019_can.dbc
deleted file mode 100644
index 23a579aa4b2e2d..00000000000000
--- a/opendbc/generator/honda/honda_civic_sedan_16_diesel_2019_can.dbc
+++ /dev/null
@@ -1,57 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 316 GAS_PEDAL_2: 8 XXX
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 419 GEARBOX: 8 XXX
- SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P" ;
-VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
deleted file mode 100644
index da4f59bdaa96d9..00000000000000
--- a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
+++ /dev/null
@@ -1,141 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 493 HUD_SETTING: 5 XXX
- SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
-BO_ 545 ECON_STATUS: 6 XXX
- SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
-
-BO_ 662 SCM_BUTTONS: 4 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 927 RADAR_HUD: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
-CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_crv_ex_2017_can.dbc b/opendbc/generator/honda/honda_crv_ex_2017_can.dbc
deleted file mode 100644
index 8382a9fdd348e0..00000000000000
--- a/opendbc/generator/honda/honda_crv_ex_2017_can.dbc
+++ /dev/null
@@ -1,73 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
- SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 344 DISTANCE_COUNTER "";
-CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
-CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
-CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
-CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
-
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_crv_executive_2016_can.dbc b/opendbc/generator/honda/honda_crv_executive_2016_can.dbc
deleted file mode 100644
index ac8082e3417121..00000000000000
--- a/opendbc/generator/honda/honda_crv_executive_2016_can.dbc
+++ /dev/null
@@ -1,65 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 6 EPS
- SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
- SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
- SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] ""  EON
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 404 STEERING_CONTROL: 4 EON
- SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
- SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc b/opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc
deleted file mode 100644
index 692ab8d0169ab8..00000000000000
--- a/opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc
+++ /dev/null
@@ -1,55 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 344 DISTANCE_COUNTER "";
-CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
-CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
-CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
-CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc
deleted file mode 100644
index 6d113fafdc9604..00000000000000
--- a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc
+++ /dev/null
@@ -1,69 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 6 EPS
- SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
- SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] ""  EON
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  EON
- SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] ""  EON
-
-BO_ 404 STEERING_CONTROL: 4 EON
- SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
- SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-
-CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_fit_ex_2018_can.dbc b/opendbc/generator/honda/honda_fit_ex_2018_can.dbc
deleted file mode 100644
index ed64c1feeb6e38..00000000000000
--- a/opendbc/generator/honda/honda_fit_ex_2018_can.dbc
+++ /dev/null
@@ -1,90 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc b/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc
deleted file mode 100644
index 4ceda6aefa35a1..00000000000000
--- a/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc
+++ /dev/null
@@ -1,112 +0,0 @@
-CM_ "IMPORT _dual_can_nidec_2018.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
- SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
-BO_ 545 ECON_STATUS: 5 XXX
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 927 RADAR_HUD: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
-
-CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_insight_ex_2019_can.dbc b/opendbc/generator/honda/honda_insight_ex_2019_can.dbc
deleted file mode 100644
index 770b3a150aac26..00000000000000
--- a/opendbc/generator/honda/honda_insight_ex_2019_can.dbc
+++ /dev/null
@@ -1,51 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 419 GEARBOX: 8 PCM
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
- VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
- VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_odyssey_exl_2018.dbc b/opendbc/generator/honda/honda_odyssey_exl_2018.dbc
deleted file mode 100644
index 64cff2e01f32db..00000000000000
--- a/opendbc/generator/honda/honda_odyssey_exl_2018.dbc
+++ /dev/null
@@ -1,106 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
- SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 450 EPB_STATUS: 8 XXX
- SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 662 SCM_BUTTONS: 4 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc b/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
deleted file mode 100644
index 3ffe59a118e548..00000000000000
--- a/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
+++ /dev/null
@@ -1,77 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 404 STEERING_CONTROL: 4 EON
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 XXX
- SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
diff --git a/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc b/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
deleted file mode 100644
index 1da2248b60594f..00000000000000
--- a/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
+++ /dev/null
@@ -1,62 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc b/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
deleted file mode 100644
index adc23d68793275..00000000000000
--- a/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
+++ /dev/null
@@ -1,57 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/toyota/_comma.dbc b/opendbc/generator/toyota/_comma.dbc
deleted file mode 100644
index aa6a55f8b00bd3..00000000000000
--- a/opendbc/generator/toyota/_comma.dbc
+++ /dev/null
@@ -1,27 +0,0 @@
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc
deleted file mode 100644
index 3ad15b80556732..00000000000000
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ /dev/null
@@ -1,323 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX DSU HCU EPS IPAS CGW
-
-BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
- SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 166 BRAKE: 8 XXX
- SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
-
-BO_ 180 SPEED: 8 XXX
- SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 353 DSU_SPEED: 8 XXX
- SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
- SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 552 ACCELEROMETER: 8 XXX
- SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
- SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
-
-BO_ 560 BRAKE_MODULE2: 7 XXX
- SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 614 STEERING_IPAS: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 643 PRE_COLLISION: 7 DSU
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
- SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
- SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
- SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 740 STEERING_LKA: 5 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 742 LEAD_INFO: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
- SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
- SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
-
-BO_ 835 ACC_CONTROL: 8 DSU
- SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
- SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
- SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
- SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 869 DSU_CRUISE : 7 DSU
- SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
- SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
-
-BO_ 921 PCM_CRUISE_SM: 8 XXX
- SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
- SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
- SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 951 ESP_CONTROL: 8 ESP
- SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1042 LKAS_HUD: 8 XXX
- SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
- SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1043 TIME : 8 CGW
- SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
- SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
- SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
- SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
- SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
- SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
- SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
- SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1408 VIN_PART_1: 8 CGW
- SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1409 VIN_PART_2: 8 CGW
- SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1410 VIN_PART_3: 8 CGW
- SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1553 UI_SETTING: 8 XXX
- SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1568 SEATS_DOORS: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1570 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1161 RSA1: 8 FCM
- SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
- SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1162 RSA2: 8 FCM
- SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
- SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1163 RSA3: 8 FCM
- SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
- SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
-
-CM_ SG_ 36 ACCEL_Y "unit is tbd";
-CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
-CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
-CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
-CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
-CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
-CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
-CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
-CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
-CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
-CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1163 TSREQPD "always 1";
-CM_ SG_ 1163 TSRMSW "always 1";
-CM_ SG_ 1163 OTSGNNTM "always 3";
-CM_ SG_ 1163 NTLVLSPD "always 3";
-CM_ SG_ 1163 OVSPNTM "always 3";
-CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
-CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
-CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
-CM_ SG_ 1163 TSRSPU "always 1";
-
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
-VAL_ 614 STATE 3 "enabled" 1 "disabled";
-VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
-VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
-VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
-VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
-VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
-VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
-VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-
-
-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
diff --git a/opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc b/opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc
deleted file mode 100644
index c6ec5e11d120e5..00000000000000
--- a/opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc
+++ /dev/null
@@ -1,37 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
diff --git a/opendbc/generator/toyota/lexus_gs300h_2017_pt.dbc b/opendbc/generator/toyota/lexus_gs300h_2017_pt.dbc
deleted file mode 100644
index 070b4e6e728a53..00000000000000
--- a/opendbc/generator/toyota/lexus_gs300h_2017_pt.dbc
+++ /dev/null
@@ -1,38 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_3: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|15] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/opendbc/generator/toyota/lexus_is_2018_pt.dbc b/opendbc/generator/toyota/lexus_is_2018_pt.dbc
deleted file mode 100644
index e1a6922e89ce71..00000000000000
--- a/opendbc/generator/toyota/lexus_is_2018_pt.dbc
+++ /dev/null
@@ -1,46 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL_ALT: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.77,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_ALT: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-BO_ 1599 LIGHT_STALK_ISH: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/lexus_nx300h_2018_pt.dbc b/opendbc/generator/toyota/lexus_nx300h_2018_pt.dbc
deleted file mode 100644
index fb42de9f68d36f..00000000000000
--- a/opendbc/generator/toyota/lexus_nx300h_2018_pt.dbc
+++ /dev/null
@@ -1,37 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
diff --git a/opendbc/generator/toyota/lexus_rx_350_2016_pt.dbc b/opendbc/generator/toyota/lexus_rx_350_2016_pt.dbc
deleted file mode 100644
index 4a6fe48fd91bf5..00000000000000
--- a/opendbc/generator/toyota/lexus_rx_350_2016_pt.dbc
+++ /dev/null
@@ -1,37 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_PEDAL : 55|8@0+ (1,0) [0|255] "" XXX
-
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled" ;
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby" ;
-VAL_ 956 SPORT_ON 0 "off" 1 "on" ;
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P" ;
-VAL_ 956 ECON_ON 0 "off" 1 "on" ;
diff --git a/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
deleted file mode 100644
index fb42de9f68d36f..00000000000000
--- a/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
+++ /dev/null
@@ -1,37 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
diff --git a/opendbc/generator/toyota/toyota_avalon_2017_pt.dbc b/opendbc/generator/toyota/toyota_avalon_2017_pt.dbc
deleted file mode 100644
index b867e937065b5f..00000000000000
--- a/opendbc/generator/toyota/toyota_avalon_2017_pt.dbc
+++ /dev/null
@@ -1,33 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc b/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
deleted file mode 100644
index 8b2cda1eb78fbe..00000000000000
--- a/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
+++ /dev/null
@@ -1,37 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 295 GEAR_PACKET: 8 XXX
- SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 8 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
-
-BO_ 610 EPS_STATUS: 8 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/toyota_corolla_2017_pt.dbc b/opendbc/generator/toyota/toyota_corolla_2017_pt.dbc
deleted file mode 100644
index 724b6e834bb0a4..00000000000000
--- a/opendbc/generator/toyota/toyota_corolla_2017_pt.dbc
+++ /dev/null
@@ -1,33 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
- SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ SPORT_ON : 3|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/toyota_highlander_2017_pt.dbc b/opendbc/generator/toyota/toyota_highlander_2017_pt.dbc
deleted file mode 100644
index b867e937065b5f..00000000000000
--- a/opendbc/generator/toyota/toyota_highlander_2017_pt.dbc
+++ /dev/null
@@ -1,33 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc b/opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc
deleted file mode 100644
index 8fe5ec1991f18a..00000000000000
--- a/opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc
+++ /dev/null
@@ -1,33 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/opendbc/generator/toyota/toyota_nodsu_hybrid_pt.dbc b/opendbc/generator/toyota/toyota_nodsu_hybrid_pt.dbc
deleted file mode 100644
index ac91c726f3970d..00000000000000
--- a/opendbc/generator/toyota/toyota_nodsu_hybrid_pt.dbc
+++ /dev/null
@@ -1,37 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 295 GEAR_PACKET: 8 XXX
- SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 8 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
-
-BO_ 610 EPS_STATUS: 8 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/toyota_nodsu_pt.dbc b/opendbc/generator/toyota/toyota_nodsu_pt.dbc
deleted file mode 100644
index 9bc1b1e6739079..00000000000000
--- a/opendbc/generator/toyota/toyota_nodsu_pt.dbc
+++ /dev/null
@@ -1,49 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 401 STEERING_LTA: 8 XXX
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
- SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
-
-BO_ 610 EPS_STATUS: 8 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
diff --git a/opendbc/generator/toyota/toyota_prius_2017_pt.dbc b/opendbc/generator/toyota/toyota_prius_2017_pt.dbc
deleted file mode 100644
index cf04ee7c8e7f5b..00000000000000
--- a/opendbc/generator/toyota/toyota_prius_2017_pt.dbc
+++ /dev/null
@@ -1,41 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 295 GEAR_PACKET: 8 XXX
- SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 8 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX 
-
-BO_ 610 EPS_STATUS: 8 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1083 AUTOPARK_STATUS: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero";
-VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/toyota_rav4_2017_pt.dbc b/opendbc/generator/toyota/toyota_rav4_2017_pt.dbc
deleted file mode 100644
index e9d748b6c258d6..00000000000000
--- a/opendbc/generator/toyota/toyota_rav4_2017_pt.dbc
+++ /dev/null
@@ -1,32 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
- SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc b/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
deleted file mode 100644
index d5a265fbb8386d..00000000000000
--- a/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
+++ /dev/null
@@ -1,45 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
-
-
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
-VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
-VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
diff --git a/opendbc/generator/toyota/toyota_sienna_xle_2018_pt.dbc b/opendbc/generator/toyota/toyota_sienna_xle_2018_pt.dbc
deleted file mode 100644
index 0c6ba26bc1ed7d..00000000000000
--- a/opendbc/generator/toyota/toyota_sienna_xle_2018_pt.dbc
+++ /dev/null
@@ -1,33 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"
diff --git a/opendbc/gm_global_a_high_voltage_management.dbc b/opendbc/gm_global_a_high_voltage_management.dbc
deleted file mode 100644
index 1baf542a2b202e..00000000000000
--- a/opendbc/gm_global_a_high_voltage_management.dbc
+++ /dev/null
@@ -1,176 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_: 
-BU_: K16_BECM K114B_HPCM T18_BatteryCharger
-
-BO_ 512 Battery_Module_1: 8 K16_BECM
-   SG_ Voltage_1_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_1 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
-
-BO_ 514 Battery_Module_2: 8 K16_BECM
-   SG_ Voltage_2_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_2 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
-
-BO_ 516 Battery_Module_3: 8 K16_BECM
-   SG_ Voltage_3_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_3 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
-
-BO_ 518 Battery_Module_4: 8 K16_BECM
-   SG_ Voltage_4_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_4 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
-
-BO_ 528 Pack_Stats: 8 K16_BECM
-   SG_ Pack_Voltage : 7|12@0+ (0.125,0) [0|0] "V" K16_BECM
-   SG_ Pack_Amps : 9|10@0+ (0.1,0) [0|0] "" K16_BECM
-   SG_ Pack_Amps2 : 28|12@0+ (0.05,0) [0|0] "" K16_BECM
-
-BO_ 530 Charger_stats: 6 T18_BatteryCharger
-   SG_ Charger_HV_Current : 0|13@1+ (0.05,0) [0|0] "A" K16_BECM
-   SG_ HV_Voltage : 13|10@1+ (0.5,0) [0|0] "V" K16_BECM
-   SG_ LV_Current : 23|8@1+ (0.2,0) [0|0] "A" K16_BECM
-   SG_ LV_Voltage : 31|10@1- (0.025,0) [0|0] "V" K16_BECM
-
-BO_ 770 Battery_temp: 8 K16_BECM
-   SG_ Temp_A m0 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Temp_B m0 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Temp_C m0 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Temp_D m0 : 32|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Temp_E m0 : 40|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Temp_F m0 : 48|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Temp_G m1 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Temp_H m1 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Temp_I m1 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM
-   SG_ Switch M : 2|1@1+ (1,0) [0|0] "" K16_BECM
-
-BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ;
-BA_DEF_ BO_ "GenMsgForegroundColor" STRING ;
-BA_DEF_ BO_ "isj1939dbc" INT 0 0;
-BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff";
-BA_DEF_DEF_ "GenMsgForegroundColor" "#000000";
-BA_DEF_DEF_ "isj1939dbc" 0;
-CM_ BU_ K16_BECM "Battery Energy Control Module";
-CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
-CM_ BU_ T18_BatteryCharger "Battery Charger";
\ No newline at end of file
diff --git a/opendbc/gm_global_a_lowspeed.dbc b/opendbc/gm_global_a_lowspeed.dbc
deleted file mode 100644
index 9ea4d1da3d93db..00000000000000
--- a/opendbc/gm_global_a_lowspeed.dbc
+++ /dev/null
@@ -1,110 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: GMLAN NEO
-VAL_TABLE_ GearShifter 3 "Park" 0 "Drive/Low" ;
-VAL_TABLE_ DriverDoorStatus 1 "Opened" 0 "Closed" ;
-VAL_TABLE_ LKAGapButton 2 "???" 1 "??" 0 "None" ;
-VAL_TABLE_ CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
-VAL_TABLE_ CruiseControlActive 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ BlinkerStatus 1 "Active" 0 "Inactive" ;
-
-
-BO_ 274923520 DriverDoorStatus: 1 GMLAN
- SG_ DriverDoorOpened : 0|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 272629760 Chime: 5 NEO
- SG_ ChimeType : 7|8@0+ (1,0) [0|0] ""  GMLAN
- SG_ ChimeRepeat : 23|8@0+ (1,0) [0|0] ""  GMLAN
- SG_ ChimeDuration : 15|8@0+ (1,0) [0|0] ""  GMLAN
- SG_ ChimeByte5 : 39|8@0+ (1,0) [0|0] ""  GMLAN
- SG_ ChimeByte4 : 31|8@0+ (1,0) [0|0] ""  GMLAN
-
-BO_ 270581760 BlinkerStatus: 5 GMLAN
- SG_ RightBlinker : 6|1@0+ (1,0) [0|0] ""  NEO
- SG_ LeftBlinker : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ BlinkerLight : 25|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 270794752 SteeringWheelAngle: 8 GMLAN
- SG_ SteeringWheelAngle : 39|16@0- (0.0625,0) [-540|540] "deg"  NEO
-
-BO_ 271368192 GearShifter: 8 GMLAN
- SG_ GearShifter : 17|2@0+ (1,0) [0|3] ""  NEO
-
-BO_ 271360000 GasPedalRegenCruise: 8 GMLAN
- SG_ CruiseControlActive : 56|1@0+ (1,0) [0|0] ""  GMLAN
- SG_ MaxRegen : 12|1@0+ (1,0) [0|1] ""  GMLAN,NEO
- SG_ GasPedal : 47|8@0+ (1,0) [0|254] ""  GMLAN,NEO
- SG_ GearShifter2NotUsed : 55|8@0+ (1,0) [0|255] ""  GMLAN,NEO
-
-BO_ 270860288 BrakePedal: 2 GMLAN
- SG_ BrakeLevel : 2|2@0+ (1,0) [0|3] ""  NEO
- SG_ BrakeSensor : 15|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 275480576 WheelSpeed: 8 GMLAN
- SG_ WheelSpeedFL : 7|16@0+ (0.01,0) [0|70] "yd/s"  NEO
- SG_ WheelSpeedFR : 39|16@0+ (0.01,0) [0|70] "yd/s"  NEO
- SG_ WheelSpeedRL : 23|16@0+ (0.01,0) [0|70] "yd/s"  NEO
- SG_ WheelSpeedRR : 55|16@0+ (0.01,0) [0|70] "yd/s"  NEO
-
-BO_ 270598144 VehicleSpeed: 8 GMLAN
- SG_ VehicleSpeed1 : 7|16@0+ (0.01,0) [0|100] "mph"  NEO
- SG_ VehicleSpeed2 : 39|16@0+ (0.01,0) [0|100] "mph"  NEO
-
-BO_ 276135936 CruiseButtons: 3 GMLAN
- SG_ CruiseButtons : 3|3@0+ (1,0) [0|12] ""  NEO
-
-BO_ 276127744 CruiseButtons2: 1 GMLAN
- SG_ LKAGapButton : 1|2@0+ (1,0) [0|2] ""  NEO
-
-
-
-BA_DEF_  "UseGMParameterIDs" INT 0 0;
-BA_DEF_  "ProtocolType" STRING ;
-BA_DEF_  "BusType" STRING ;
-BA_DEF_DEF_  "UseGMParameterIDs" 1;
-BA_DEF_DEF_  "ProtocolType" "GMLAN";
-BA_DEF_DEF_  "BusType" "";
-BA_ "BusType" "CAN";
-BA_ "ProtocolType" "GMLAN";
-VAL_ 274923520 DriverDoorOpened 1 "Opened" 0 "Closed" ;
-VAL_ 270581760 RightBlinker 1 "Active" 0 "Inactive" ;
-VAL_ 270581760 LeftBlinker 1 "Active" 0 "Inactive" ;
-VAL_ 270581760 BlinkerLight 1 "Active" 0 "Inactive" ;
-VAL_ 271368192 GearShifter 3 "Park" 0 "Drive/Low" ;
-VAL_ 271360000 CruiseControlActive 1 "Active" 0 "Inactive" ;
-VAL_ 276135936 CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
-VAL_ 276127744 LKAGapButton 2 "???" 1 "??" 0 "None" ;
-
diff --git a/opendbc/gm_global_a_lowspeed_1818125.dbc b/opendbc/gm_global_a_lowspeed_1818125.dbc
deleted file mode 100644
index 0920e47bc16478..00000000000000
--- a/opendbc/gm_global_a_lowspeed_1818125.dbc
+++ /dev/null
@@ -1,3993 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 2152177664 OTA_Electric_Pwr_Readiness_LS: 1 XXX
- SG_ RmtRflshElecPwrRdness : 7|8@0+ (0.025,0) [0|6.375] "AmpHour"  XXX
-
-BO_ 2152013824 Smart_High_Beam_Cust_LS: 1 XXX
- SG_ SmrtHgBmAstCstSetAvail : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ SmrtHgBmAstCstCurrSetVal : 7|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2159255552 ODI_CenterStack_2_BCM_LS: 8 XXX
- SG_ ODI_CntrStck2BCM : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159247360 ODI_BCM_2_CenterStack_LS: 8 XXX
- SG_ ODI_BCM2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2152046592 Remote_Climate_Control_Req_LS: 5 XXX
- SG_ RmClmCtrlHMIActIndReq : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RmClmCtrlRcrcSetReq : 3|3@0+ (1,0) [0|7] ""  XXX
- SG_ RmClmCtrlACSetReq : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ RmClmCtrlFrntFanStReq : 15|5@0+ (1,0) [0|31] ""  XXX
- SG_ RmClmCtrlFLAirDtStReq : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ RmClmCtrlClmModSetReq : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ RmClmCtrlLtSTempStReq : 29|6@0+ (1,0) [0|63] ""  XXX
- SG_ RmClmCtrlRrDfgSetReq : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ RmClmCtrlRtSTempStReq : 37|6@0+ (1,0) [0|63] ""  XXX
- SG_ RmClmCtrlSyncSetReq : 39|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2152030208 Tuner_Frequency_Request_LS: 8 XXX
- SG_ TnrFrqBndReq : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ TnrFrqChnlReq : 15|56@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150531072 Regen_Power_Ind_LS: 4 XXX
- SG_ RegPwrLmtdDspPrcnt : 0|9@0- (0.392157,0) [-100.392192|100.000035] "%"  XXX
- SG_ RegPwrLmtdDspPrcntVs : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RegPwrLmtdIO : 2|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151833600 Heated_Wndshild_CstmrIhbt_Req_LS: 1 XXX
- SG_ HtdFrntWSCustRqIhbt : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ HtdFrntWSDispReq : 7|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2151817216 Heated_Wndshild_Cstmr_Req_LS: 1 XXX
- SG_ HtdFrntWSCustRq : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151849984 Seat_Level_Setting_Request_LS: 2 XXX
- SG_ AutoThrmlStPasLvlStRq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ AutoThrmlStDrvLvStRq : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ AutoThrmlStPassMdStRq : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ AutoThrmlStDrvMdStRq : 15|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2153897984 ARB_OpMode_Customization_LS: 1 XXX
- SG_ RunBrdExtdFtrAvail : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ RunBrdOpMdCstCurrStVal : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ RunBrdOpMdCstStAvail : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151702528 Lane_Keeping_Assist_LS: 2 XXX
- SG_ LnKpngAstRecfblIndRq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ LnMrkngIndLft : 4|2@0+ (1,0) [0|3] ""  XXX
- SG_ LnKepAsstStIndLft : 7|3@0+ (1,0) [0|7] ""  XXX
- SG_ LnMrkngIndRgt : 12|2@0+ (1,0) [0|3] ""  XXX
- SG_ LnKepAsstStIndRgt : 15|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2156986368 PassPhrase_3_AMM_LS: 8 XXX
- SG_ WiFiPssPhrsDgts17to24_Mp : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2156978176 PassPhrase_2_AMM_LS: 8 XXX
- SG_ WiFiPssPhrsDgts9to16_Mp : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2156969984 PassPhrase_1_AMM_LS: 8 XXX
- SG_ WiFiPssPhrsDgts1to8_Mp : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2150236160 Unlock_Key_Store_Crypt_2_LS: 8 XXX
- SG_ UlckKyStrCrptoDt2Group : 4|61@0+ (1,0) [0|0] ""  XXX
- SG_ UlckKyStrCrptoDt2 : 3|60@0+ (1,0) [0|1.15292150460685E+018] ""  XXX
- SG_ UlckKyStrCrptoDt2M : 4|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150170624 Unlock_Key_Store_Crypt_1_LS: 8 XXX
- SG_ UlckKyStrCrptoDt1Group : 4|61@0+ (1,0) [0|0] ""  XXX
- SG_ UlckKyStrCrptoDt1 : 3|60@0+ (1,0) [0|1.15292150460685E+018] ""  XXX
- SG_ UlckKyStrCrptoDt1M : 4|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155126784 Drvr_Seat_Rearward_Movmnt_LS: 1 XXX
- SG_ DrvrSetRrwrdMvmnt : 7|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2154725376 Auxiliary_Heater_LS: 1 XXX
- SG_ AuxHtrAtv378 : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ AuxHtrRq : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2157051904 WiFi_Station_AMM_LS: 5 XXX
- SG_ WiFiStatnMpReq : 1|34@0+ (1,0) [0|0] ""  XXX
- SG_ WSMR_WiFiAssnReq : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ WSMR_WiFiStnMpMACAddr : 15|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2156994560 WiFi_AP_Data_AMM_LS: 2 XXX
- SG_ WiFiAccsPntData_Mp : 0|9@0+ (1,0) [0|0] ""  XXX
- SG_ WAPDM_WiFiEnStat : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ WAPDM_EncrptnType : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ WAPDM_SecurityType : 15|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2158133248 Hill_Top_Customization_LS: 6 XXX
- SG_ HTRCsStAvail : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRCsAvail : 7|7@0+ (1,0) [0|0] ""  XXX
- SG_ HTRCA_Res3Avail : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRCA_Res2Avail : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRCA_Res1Avail : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRCA_OnAwAvail : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRCA_OnHmAvail : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRCA_OnAvail : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRCA_OffAvail : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRCsCrStVal : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVDpltnMdMxCnfdcRgExt : 21|14@0+ (0.1,0) [0|1638.3] "km"  XXX
- SG_ HVDpltnMdMiCnfdcRgExt : 37|14@0+ (0.1,0) [0|1638.3] "km"  XXX
-
-BO_ 2154651648 Telematics_Audio_Control_LS: 1 XXX
- SG_ TeleAudCtl : 7|8@0+ (1,0) [0|0] ""  XXX
- SG_ TAC_AudConctOutcm : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ TAC_AudChConctStat : 7|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2154635264 Telematics_Audio_Request_LS: 1 XXX
- SG_ TeleAudReq : 7|8@0+ (1,0) [0|0] ""  XXX
- SG_ TAR_AudSrcStat : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ TAR_AudConctReq : 7|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2152529920 LVM_Audio_Video_Command_LS: 2 XXX
- SG_ LowVolModAudVidCmd : 5|14@0+ (1,0) [0|0] ""  XXX
- SG_ LVMAVC_StreoAudRsp : 0|2@0+ (1,0) [0|3] ""  XXX
- SG_ LVMAVC_PrmtAudRsp : 2|2@0+ (1,0) [0|3] ""  XXX
- SG_ LVMAVC_RemtEnbl : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ LVMAVC_SpchRcgnAval : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ LVMAVC_RemSpchRcgnActn : 11|2@0+ (1,0) [0|3] ""  XXX
- SG_ LVMAVC_RemSpchRcgnID : 14|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2152513536 LVM_Audio_Video_Req_LS: 2 XXX
- SG_ LowVolModAudVidReq : 0|9@0+ (1,0) [0|0] ""  XXX
- SG_ LVMAVR_DispReq : 0|3@0+ (1,0) [0|7] ""  XXX
- SG_ LVMAVR_SpchRcgnAct : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ LVMAVR_PrmtAudReq : 11|2@0+ (1,0) [0|3] ""  XXX
- SG_ LVMAVR_StreoAudReq : 13|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2154889216 Cluster_HMI_Animation_Req_LS: 1 XXX
- SG_ ClstrHMIAnmReq : 7|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2154872832 Infotainment_Activation_Req_LS: 1 XXX
- SG_ RmRflshUpdtAvail : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ InfoActvnReq : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2156961792 SSID_AMM_3_LS: 8 XXX
- SG_ WiFiSSIDDgts17to24_Mp : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2154569728 Infotainment_System_State_LS: 1 XXX
- SG_ InfotnmntSysSt : 7|5@0+ (1,0) [0|31] ""  XXX
-
-BO_ 2151931904 Custom_Launch_Ctrl_LS: 8 XXX
- SG_ LnchCtrlMdStat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ LnchCtrlWhlSlpStat : 7|5@0+ (1,0) [0|31] ""  XXX
- SG_ PTExPrtclFltWrng3IO : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ AWDRecmndIO : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnchCtrlEngRPMStat : 15|6@0+ (1,0) [0|63] ""  XXX
- SG_ ACCSysSltdMd : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ VehSpdCntlSystmType : 20|3@0+ (1,0) [0|7] ""  XXX
- SG_ PTExPartFltManRegStat : 23|3@0+ (1,0) [0|7] ""  XXX
- SG_ TCSTempDsblReqIO : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehStbCmptvMdCstAvl : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehStbEnmntCstAvl : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ TCSysCstAvl : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehStbCmptvMdCurSt : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElctShfPriLtdPerfMdIO : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ RegVltCtlEngyRcvryAct : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCSysSltdMdDispIO : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnchCtrlTmrVal : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ VehStbEnhmntCurSt : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ TCSysCurSt : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ TracAndStbScrnCnfg : 39|2@0+ (1,0) [0|3] ""  XXX
- SG_ BiFuelRflGaslinIndReq : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ AutoShtdwnIO : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnchCtrlBrkPresVal : 47|4@0+ (10,0) [0|150] "%"  XXX
- SG_ AutoShtdwnTmr : 55|8@0+ (1,0) [0|255] "min"  XXX
- SG_ FuelMdTrnstnIndReq : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2150244352 HMI_EngyConsmpHistGrph_1_LS: 8 XXX
- SG_ EngyCnsHsGrphDspDtVal : 7|55@0+ (1,0) [0|0] ""  XXX
- SG_ ECHGDDV_Col1 : 2|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_EngyConsAvg : 7|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col3 : 8|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col2 : 13|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col4 : 19|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col6 : 25|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col5 : 30|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col7 : 36|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col9 : 42|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col8 : 47|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHGDDV_Col10 : 53|5@0+ (1,0) [0|31] ""  XXX
-
-BO_ 2156953600 SSID_AMM_2_LS: 8 XXX
- SG_ WiFiSSIDDgts9to16_Mp : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2151686144 SD_Card_LS: 2 XXX
- SG_ SDCrdFullIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ SDCrdErrIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ NoSDCrdPrIO : 2|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155028480 Lane_Change_Threat_LS: 2 XXX
- SG_ RgtLnChgThrt : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtLnChngThrtAprchSpd : 15|8@0- (1,0) [-128|127] "km/h"  XXX
-
-BO_ 2151915520 HMI_Display_LS: 8 XXX
- SG_ AHDisbldDrOpnIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ AHDisbldStbltIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ AHAppBrkPedlIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ AHServcIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ShfToPrkBfExtngIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ AHEnbld : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ AHAct : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPDrvrIlkShfAtdIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPTransMalfIO : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPRngInvldReqIO : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPPrkInvldReqIO : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPHldShfLvrToEngRgIO : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPDrvrPrkIlkSftAtdIO : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngIntkArBstPrExtRngGroup : 14|15@0+ (1,0) [0|0] ""  XXX
- SG_ EngIntkArBstPrExtRng : 8|9@0+ (1,-110) [-110|401] "kPa"  XXX
- SG_ EngIntkArBstPrExtRngV : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElcTransRngSlctVDA : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElecShfRngDispRCExtd : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ ElecShfRngDisp : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ DrvEffInd : 39|8@0- (0.78125,0) [-100|99.21875] "%"  XXX
- SG_ ESPShfToDrvTryAgnIO : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPTrnVehOffFrPrkIO : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPTrnsCtlrMalfIO : 45|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElcShfPriTwoGrsSlInRq : 47|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2152153088 Right_Rear_Seat_Display_Stats_LS: 6 XXX
- SG_ RRStCtlDispStat : 3|44@0+ (1,0) [0|0] ""  XXX
- SG_ RRSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSCDS_Massg : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ RRSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_HdrstFdRrUDn : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ RRSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] ""  XXX
- SG_ RRSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ RRSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ RRSCDS_DispReq : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRSCDS_DispSz : 45|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2152136704 Right_Rear_Seat_Massage_LS: 8 XXX
- SG_ RRStMassgPrty : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ RRSMP_Type2 : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type1 : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type4 : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type3 : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type6 : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type5 : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type8 : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type7 : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type10 : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type9 : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type12 : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type11 : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type14 : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_Type13 : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] ""  XXX
- SG_ RRSMP_Type15 : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2152120320 Right_Rear_Seat_Actuator_LS: 8 XXX
- SG_ RRStActPrty : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ RRSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_Massg : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] ""  XXX
- SG_ RRSAP_DispSz : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2152103936 Left_Rear_Seat_Display_Status_LS: 6 XXX
- SG_ LRStCtlDispStat : 3|44@0+ (1,0) [0|0] ""  XXX
- SG_ LRSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSCDS_Massg : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ LRSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_HdrstFdRrUDn : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ LRSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] ""  XXX
- SG_ LRSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ LRSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ LRSCDS_DispReq : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ LRSCDS_DispSz : 45|2@0+ (1,0) [0|3] ""  XXX
- SG_ LRSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2152087552 Left_Rear_Seat_Massage_LS: 8 XXX
- SG_ LRStMassgPrty : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ LRSMP_Type2 : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type1 : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type4 : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type3 : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type6 : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type5 : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type8 : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type7 : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type10 : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type9 : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type12 : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type11 : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type14 : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_Type13 : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ LRSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] ""  XXX
- SG_ LRSMP_Type15 : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2152071168 Left_Rear_Seat_Actuator_LS: 8 XXX
- SG_ LRStActPrty : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ LRSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_Massg : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] ""  XXX
- SG_ LRSAP_DispSz : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2153947136 Remote_Reflash_Stat_LS: 1 XXX
- SG_ RmtRflshMdAct : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2152628224 OnBoard_Tester_Response_LS: 2 XXX
- SG_ OBTCResp : 2|11@0+ (1,0) [0|0] ""  XXX
- SG_ OBTCR_Stat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ OBTCR_ReqstrID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ OBTCMstrStat : 5|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2152112128 Performanc_Mode_Vis_Scrn_Stat_LS: 5 XXX
- SG_ PerfMdVislztnScrnStat : 0|33@0+ (1,0) [0|0] ""  XXX
- SG_ PMVSS_Snd : 0|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_Trans : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_Eng : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_Drvln : 17|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_Susp : 20|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_Strng : 23|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_PsngrSeat : 24|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_DrvrSeat : 27|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_AdptCrsCnt : 30|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_Disps : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ PMVSS_Exhst : 37|3@0+ (1,0) [0|7] ""  XXX
- SG_ PerfMdMainMenuType : 3|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2152775680 Front_360_Camera_On_LS: 3 XXX
- SG_ DispFrt360CamOn : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrPedDetCstStAvl : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrPedDetCstStVal : 4|3@0+ (1,0) [0|7] ""  XXX
- SG_ RrPdDetHptcStVbRqSeqN : 6|2@0+ (1,0) [0|3] ""  XXX
- SG_ TrgdVidRecFetrPrsnt : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrPdDetHptcStVbRq : 13|6@0+ (1,0) [0|63] "Pulse"  XXX
- SG_ DispTrgdVidOn : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ a_360DegVidFetrPrsnt : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ DispSmrtTwVidOn : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrPedDetCstAvail : 23|7@0+ (1,0) [0|0] ""  XXX
- SG_ RPDCA_Resrv3Avail : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ RPDCA_Resrv2Avail : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ RPDCA_Resrv1Avail : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ RPDCA_AlrtBrkAvail : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ RPDCA_AlrtAvail : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ RPDCA_OnAvail : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ RPDCA_OfAvail : 23|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2153857024 Teen_Driver_Event_Report_2_LS: 8 XXX
- SG_ TnDrvRptCrdAvlDspDat : 6|13@0+ (1,0) [0|0] ""  XXX
- SG_ TDRCADD_FCHdwyAlrt : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_ABSAtvEvt : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_StCtrlEvnts : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_TrCtrlEvnts : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_OvSpdEvnt : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_DistDrvn : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_MaxSpd : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_LDWEvnts : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_WOTEvnts : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_DrwDrvAlrt : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_FCMBrEvts : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_RCMBrEvts : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDRCADD_FCImntAlrts : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ TeenDrvWOTEvntsRpt : 9|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TnDrvABSAtvEvntsRpt : 31|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TnDrvStblCtrlEvntsRpt : 37|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TnDrvDrowDrvAlrtsRpt : 43|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TnDrvTrCtrlEvntsRpt : 49|10@0+ (1,0) [0|1023] "counts"  XXX
-
-BO_ 2153865216 Teen_Driver_Customization_Req_LS: 4 XXX
- SG_ TeenDrvReq : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ TDOvSpdWrnCstStReq : 12|5@0+ (1,0) [0|0] ""  XXX
- SG_ TDOWCSR_DecSwAct : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDOWCSR_IncSwAct : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDOWCSR_StatReq : 12|3@0+ (1,0) [0|7] ""  XXX
- SG_ TnDrvSpdLmtCstStReq : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ TeenDrvPinCd : 23|16@0+ (1,0) [0|39321] ""  XXX
-
-BO_ 2153840640 Teen_Driver_Event_Report_1_LS: 8 XXX
- SG_ TDFwdClnHdwyAlrtsRpt : 5|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TnDrvDRLOffUnbIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvALCOffUnbIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDFwdClnImntAlrtsRpt : 11|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TDFwdClnMtgnBrEvRpt : 17|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TDRevClnMtgnBrEvRpt : 39|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TeenDrvMaxSpdRpt : 45|12@0+ (0.0625,0) [0|255.9375] "km/h"  XXX
- SG_ TeenDrvLDWEvntsRpt : 49|10@0+ (1,0) [0|1023] "counts"  XXX
-
-BO_ 2153824256 Teen_Driver_Control_Info_LS: 8 XXX
- SG_ TnDrvSpdLmtCstCrStVl : 2|11@0+ (1,0) [0|0] ""  XXX
- SG_ TDSLCCSV_SpLmtStat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ TDSLCCSV_SpLmDisVl : 15|8@0+ (2,0) [0|510] "km/h"  XXX
- SG_ TnDrvSpdLmtCstStAvl : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvOvrSpdIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvGapAdjUnbIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ TeenDrvPINStrd : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ TeenDrvFtrAvl : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ TDOvSpdWrnCstCrStVl : 22|15@0+ (1,0) [0|0] ""  XXX
- SG_ TDOWCCSV_CrStVl : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  XXX
- SG_ TDOWCCSV_CrStat : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ TDOvSpdWrnCstStAvl : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvOvSpdEvntsRpt : 33|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ TeenDrvRsp : 37|4@0+ (1,0) [0|15] ""  XXX
- SG_ TeenDrvAct : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ TeenDrvAccelLimIO : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ TeenDrvDistDrvnRpt : 55|16@0+ (1,0) [0|65535] "km"  XXX
-
-BO_ 2155151360 Psngr_Seat_Massage_Priority_LS: 8 XXX
- SG_ PsngrStMassgPrty : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ PSMP_Type2 : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type1 : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type4 : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type3 : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type6 : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type5 : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type8 : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type7 : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type10 : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type9 : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type12 : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type11 : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type14 : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_Type13 : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ PSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] ""  XXX
- SG_ PSMP_Type15 : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2155134976 Psngr_Seat_Control_Disp_Stat_LS: 6 XXX
- SG_ PsngrStCtlDispStat : 3|44@0+ (1,0) [0|0] ""  XXX
- SG_ PSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSCDS_Massg : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ PSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_HdrstUDnFdRr : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ PSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] ""  XXX
- SG_ PSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ PSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ PSCDS_DispReq : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ PSCDS_DispSz : 45|2@0+ (1,0) [0|3] ""  XXX
- SG_ PSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] ""  XXX
- SG_ PsngrSetRrwdMvmnt : 6|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2155118592 Psngr_Seat_Actuator_Priority_LS: 8 XXX
- SG_ PsngrStActPrty : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ PSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_Massg : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] ""  XXX
- SG_ PSAP_DispSz : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2155102208 Driver_Seat_Massage_Priority_LS: 8 XXX
- SG_ DrvStMassgPrty : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ DSMP_Type2 : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type1 : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type4 : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type3 : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type6 : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type5 : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type8 : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type7 : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type10 : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type9 : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type12 : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type11 : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type14 : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_Type13 : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] ""  XXX
- SG_ DSMP_Type15 : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2155085824 Driver_Seat_Control_Disp_Stat_LS: 8 XXX
- SG_ DrvStCtlDispStat : 3|44@0+ (1,0) [0|0] ""  XXX
- SG_ DSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSCDS_Massg : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ DSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_HdrstUDnFdRr : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ DSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] ""  XXX
- SG_ DSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ DSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ DSCDS_DispReq : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSCDS_DispSz : 45|2@0+ (1,0) [0|3] ""  XXX
- SG_ DSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] ""  XXX
- SG_ CPMAPINFO4 : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrgColCommsFlt : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ StrgColInOutPos : 55|8@0+ (1,0) [0|255] ""  XXX
- SG_ StrgColUpDwnPos : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2155069440 Driver_Seat_Actuator_Priority_LS: 8 XXX
- SG_ DrvStActPrty : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ DSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_Massg : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] ""  XXX
- SG_ DSAP_DispSz : 63|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2156937216 PassPhrase_Digits_17_to_24_LS: 8 XXX
- SG_ WiFiPssPhrsDgts17to24 : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2156929024 PassPhrase_Digits_9_to_16_LS: 8 XXX
- SG_ WiFiPssPhrsDgts9to16 : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2156920832 PassPhrase_Digits_1_to_8_LS: 8 XXX
- SG_ WiFiPssPhrsDgts1to8 : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2156871680 SSID_Digits_17_to_24_LS: 8 XXX
- SG_ WiFiSSIDDgts17to24 : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2156863488 SSID_Digits_9_to_16_LS: 8 XXX
- SG_ WiFiSSIDDgts9to16 : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2156855296 SSID_Digits_1_to_8_LS: 8 XXX
- SG_ WiFiSSIDDgts1to8 : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2152480768 Perfr_Data_Recorder_Lap_Info_LS: 6 XXX
- SG_ PerfDatRecBstLpInfo : 2|19@0+ (1,0) [0|0] ""  XXX
- SG_ PDRBLI_BstLpTmMins : 2|6@0+ (1,0) [0|63] "min"  XXX
- SG_ PDRBLI_BstLpTmSecs : 12|6@0+ (1,0) [0|63] "sec"  XXX
- SG_ PDRBLI_BstLpTm100s : 22|7@0+ (0.01,0) [0|1.27] "sec"  XXX
- SG_ PerfDatRecLstLpInfo : 26|19@0+ (1,0) [0|0] ""  XXX
- SG_ PDRLLI_LstLpTmMins : 26|6@0+ (1,0) [0|63] "min"  XXX
- SG_ PDRLLI_LstLpTmSecs : 36|6@0+ (1,0) [0|63] "sec"  XXX
- SG_ PDRLLI_LstLpTm100s : 46|7@0+ (0.01,0) [0|1.27] "sec"  XXX
-
-BO_ 2152497152 Perf_Data_Recroder_RT_Info_LS: 4 XXX
- SG_ PerfDatRecRltmInfo : 1|26@0+ (1,0) [0|0] ""  XXX
- SG_ PDRRI_CrLpTmMins : 1|6@0+ (1,0) [0|63] "min"  XXX
- SG_ PDRRI_CrLpTmSecs : 11|6@0+ (1,0) [0|63] ""  XXX
- SG_ PDRRI_LpDiffTmSecs : 17|6@0+ (1,0) [0|63] "sec"  XXX
- SG_ PDRRI_CrLpTm10sSec : 21|4@0+ (0.1,0) [0|1.5] "sec"  XXX
- SG_ PDRRI_LpDiffTm10s : 27|4@0+ (0.1,0) [0|1.5] "sec"  XXX
-
-BO_ 2153791488 ARB_State_LS: 1 XXX
- SG_ ArtcldRngBrdSt : 2|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2149883904 BluetoothTetheringPairingRsp_LS: 7 XXX
- SG_ BTTethrngPrngRsp : 4|53@0+ (1,0) [0|0] ""  XXX
- SG_ BTPR_RspInfoAvail : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ BTPR_RspStat : 4|4@0+ (1,0) [0|15] ""  XXX
- SG_ BTPR_RspVal : 15|48@0+ (1,0) [0|281474976710655] ""  XXX
-
-BO_ 2150252544 HMI_EngyConsmpHistGrph_LS: 8 XXX
- SG_ EngyConsmpHistGrph : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ECHG_EngyCnsmdAvg : 4|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_MeasUnit : 7|3@0+ (1,0) [0|7] ""  XXX
- SG_ ECHG_Column02 : 10|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column01 : 15|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column04 : 16|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column03 : 21|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column05 : 27|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column07 : 33|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column06 : 38|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column08 : 44|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column10 : 50|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_Column09 : 55|5@0+ (1,0) [0|31] ""  XXX
- SG_ ECHG_YAxisMaxVal : 58|3@0+ (1,0) [0|7] ""  XXX
- SG_ ECHG_XAxisTkMrkIntvl : 61|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2150391808 HMI_Hourmeter_Data_LS: 6 XXX
- SG_ EngIdlAtvTm : 7|24@0+ (1,0) [0|16777215] "min"  XXX
- SG_ EngRunAtvTm : 31|24@0+ (1,0) [0|16777215] "min"  XXX
-
-BO_ 2155913216 Diesel_Information_2_LS: 7 XXX
- SG_ DslExhFldRmngDstHRsGroup : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ DslExhFldRmngDstHRs : 6|15@0+ (2,0) [0|65534] "km"  XXX
- SG_ DslExhFldRmngDstHRsV : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ DslExhFluidLvlPrcntGroup : 16|9@0+ (1,0) [0|0] ""  XXX
- SG_ DslExhFluidLvlPrcntV : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ DslExhFluidLvlPrcnt : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ DslEmnsOBDMrkt : 18|2@0+ (1,0) [0|3] ""  XXX
- SG_ PedFrndlyAlrtCsCrStVal : 21|3@0+ (1,0) [0|7] ""  XXX
- SG_ PedFrndlyAlrtCsSetAvl : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ PedFrndlyAlrtStat : 39|24@0+ (1,0) [0|0] ""  XXX
- SG_ PFAS_PFACrsOvrSpd : 34|8@0+ (1,0) [0|255] "km/h"  XXX
- SG_ PFAS_PFARevSnd : 36|2@0+ (1,0) [0|3] ""  XXX
- SG_ PFAS_PFAFwdSnd : 38|2@0+ (1,0) [0|3] ""  XXX
- SG_ PFAS_PFASndGenEn : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ PFAS_PFASndVolCtrl : 42|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ PFAS_SrvPedAlrtIO : 48|1@0+ (1,0) [0|1] ""  XXX
- SG_ PFAS_PFASysStat : 50|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2034 CCP_Data_Transmission_Object_LS: 8 XXX
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2032 CCP_Command_Receive_Object_LS: 8 XXX
- SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2152095744 HSGMLAN_Customization_Setings_LS: 5 XXX
- SG_ DrvlnPerfMdCustAvl : 5|6@0+ (1,0) [0|0] ""  XXX
- SG_ DPMCA_DrvlPrfMd6Avl : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DrvlPrfMd5Avl : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DrvlPrfMd4Avl : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DrvlPrfMd3Avl : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DrvlPrfMd2Avl : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DrvlPrfMd1Avl : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ DispPerfCustMdAvl : 13|6@0+ (1,0) [0|0] ""  XXX
- SG_ DPMCA_DispPrfMd6Avl : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DispPrfMd5Avl : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DispPrfMd4Avl : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DispPrfMd3Avl : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DispPrfMd2Avl : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ DPMCA_DispPrfMd1Avl : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ SndPerfMdCustAvl : 21|6@0+ (1,0) [0|0] ""  XXX
- SG_ SPMCA_SndPrfMd6Avl : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SndPrfMd5Avl : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SndPrfMd4Avl : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SndPrfMd3Avl : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SndPrfMd2Avl : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SndPrfMd1Avl : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrPerfMdCustAvl : 29|6@0+ (1,0) [0|0] ""  XXX
- SG_ SPMCA_StrPrfMd6Avl : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_StrPrfMd5Avl : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_StrPrfMd4Avl : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_StrPrfMd3Avl : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_StrPrfMd2Avl : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_StrPrfMd1Avl : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ SusPerfMdCustAvl : 37|6@0+ (1,0) [0|0] ""  XXX
- SG_ SPMCA_SusPrfMd6Avl : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SusPrfMd5Avl : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SusPrfMd4Avl : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SusPrfMd3Avl : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SusPrfMd2Avl : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ SPMCA_SusPrfMd1Avl : 37|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2156945408 SSID_AMM_1_LS: 8 XXX
- SG_ WiFiSSIDDgts1to8_Mp : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2152611840 OnBoard_Tester_Request_LS: 2 XXX
- SG_ OBTCReq : 4|5@0+ (1,0) [0|0] ""  XXX
- SG_ OBTCR_Prty : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ OBTCR_Actv : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ OBTCReqstrStat : 7|3@0+ (1,0) [0|7] ""  XXX
- SG_ OBTCReqstrID : 15|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2153308160 Hyb_Redundant_Batt_Data2_LS: 4 XXX
- SG_ RdHVltBatPckCrntGroup : 6|15@0+ (1,0) [0|0] ""  XXX
- SG_ RdHVltBatPckCrnt : 4|13@0- (0.15,0) [-614.4|614.25] "A"  XXX
- SG_ RdHVltBatPckCrntV : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ RdHVltBatPckCrntM : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ RdHVltBatPckVltGroup : 21|14@0+ (1,0) [0|0] ""  XXX
- SG_ RdHVltBatPckVlt : 19|12@0+ (0.125,0) [0|511.875] "V"  XXX
- SG_ RdHVltBatPckVltV : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ RdHVltBatPckVltM : 21|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155970560 HVAC_PowerManager_Status_LS: 1 XXX
- SG_ ClmCntLdShdLvlRq : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ ClmCntBatSaverIO : 5|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151178240 Lighting_Customization_Rqst_1_LS: 4 XXX
- SG_ LtRtHnTrGPSCstStRq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ LtRtHnTrCstStReq : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ AutHgBmAsSnCsStRq : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ AutHgBmAstCstStRq : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ AdpHgBmAsSnCsStRq : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ AdpHgBmAstCstStRq : 21|3@0+ (1,0) [0|7] ""  XXX
- SG_ AFLGPSCstStReq : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ AFLCstStReq : 29|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2154790912 Lighting_Customization_Info_2_LS: 2 XXX
- SG_ AutHgBmAsCsCrStVal : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ AutHgBmAsSnCsCrStVa : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ AutHgBmAsCsStAvl : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ AutHgBmAsSnCsStAvl : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ AdpHgBmAsCsCrStVal : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ AdpHgBmAsSnCsCrStVal : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ AdpHgBmAsCsStAvl : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ AdpHgBmAsSnCsStAvl : 15|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151292928 V2V_Customization_Menu_LS: 5 XXX
- SG_ TrfRdsdInfCsStAvail : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ CntdVehBrkAltCsStAvl : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ IntrStopAlrtCsSetAvl : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ IntrStAlrtCsCrSetVal : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ TrfRdsdInfCsCrStVal : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ CntdVehBrAltCsCrStVal : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ IntrStAlrtCsAvail : 22|7@0+ (1,0) [0|0] ""  XXX
- SG_ ISACA_Resrv4Avail : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ ISACA_Resrv3Avail : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ ISACA_Resrv2Avail : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ ISACA_Resrv1Avail : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ ISACA_AlrtBrkAvail : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ ISACA_AlrtAvail : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ ISACA_OfAvail : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ CntdVehBrkAlrtCsAvail : 30|7@0+ (1,0) [0|0] ""  XXX
- SG_ CVBACA_Resrv5Avail : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ CVBACA_Resrv4Avail : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ CVBACA_Resrv3Avail : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ CVBACA_Resrv2Avail : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ CVBACA_Resrv1Avail : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ CVBACA_OnAvail : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ CVBACA_OfAvail : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrfRdsdInfCsAvail : 38|7@0+ (1,0) [0|0] ""  XXX
- SG_ TRICA_Resrv5Avail : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ TRICA_Resrv4Avail : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ TRICA_Resrv3Avail : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ TRICA_Resrv2Avail : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ TRICA_Resrv1Avail : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ TRICA_OnAvail : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ TRICA_OfAvail : 38|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151464960 V2V_Warnings_LS: 5 XXX
- SG_ V2VWrngIndReq : 4|5@0+ (1,0) [0|31] ""  XXX
- SG_ V2VWrngDirctn : 7|3@0+ (1,0) [0|7] ""  XXX
- SG_ V2VWrngDistRemng : 9|10@0+ (1,0) [0|1023] ""  XXX
- SG_ V2VTrfLghtInfo : 28|13@0+ (1,0) [0|0] ""  XXX
- SG_ V2VTLI_TrfLghtTmPhsSw : 28|6@0+ (1,0) [0|63] ""  XXX
- SG_ V2VTLI_TrfLghtMntngDirctn : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ V2VTLI_TrfLghtValDirctn : 34|2@0+ (1,0) [0|3] ""  XXX
- SG_ V2VTLI_TrfLghtPhsArivl : 36|2@0+ (1,0) [0|3] ""  XXX
- SG_ V2VTLI_TrfLghtActlPhs : 38|2@0+ (1,0) [0|3] ""  XXX
- SG_ V2VSrvIndReq : 30|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2151448576 V2V_Seat_Vib_Request_LS: 3 XXX
- SG_ V2VSysHptcStVibReq : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ V2VSysHptStVibRqSN : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ V2VSyLftHptStVbRq : 13|6@0+ (1,0) [0|63] ""  XXX
- SG_ V2VSyLftHptStVbRqSN : 15|2@0+ (1,0) [0|3] ""  XXX
- SG_ V2VSyRghtHptStVbRq : 21|6@0+ (1,0) [0|63] ""  XXX
- SG_ V2VSyRghtHptStVbRqSN : 23|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2153930752 Lane_Centering_Convenience_LS: 3 XXX
- SG_ LCWrnIndReq : 4|5@0+ (1,0) [0|31] ""  XXX
- SG_ LCCDrvrAwrnsIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnCntrVhlStpd : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnCntrNonRspDrvrCnd : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ LCConvMsgIndreq : 12|5@0+ (1,0) [0|31] ""  XXX
- SG_ LCCIndReq : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ LnCntrEsclnStat : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ LnCntrSpchPrmtReq : 19|2@0+ (1,0) [0|3] ""  XXX
- SG_ LnCntrngCtlIcnLoctn : 23|4@0- (1,0) [-8|7] ""  XXX
-
-BO_ 2153889792 Lane_Centering_Arrow_LS: 5 XXX
- SG_ LCArrwBlk1Act : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ LCArrwBlk2Act : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ LCArrwBlk3Act : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ LCArrwBlk4Act : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ LCArrwBlk5Act : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ LCArrwBlk2Offst : 15|8@0- (1,0) [-128|127] ""  XXX
- SG_ LCArrwBlk3Offst : 23|8@0- (1,0) [-128|127] ""  XXX
- SG_ LCArrwBlk4Offst : 31|8@0- (1,0) [-128|127] ""  XXX
- SG_ LCArrwBlk5Offst : 39|8@0- (1,0) [-128|127] ""  XXX
-
-BO_ 2153914368 Energy_Usage_LS: 7 XXX
- SG_ EngyUsgScrScal : 7|56@0+ (1,0) [0|0] ""  XXX
- SG_ EUSS_OTEgUgScrMxScVal : 0|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUSS_OTEgUgScrMnScVal : 7|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUSS_ITEgUgScrMnScVal : 9|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUSS_ITEgUgScrMxScVal : 18|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUSS_TcEgUgScrMnScVal : 27|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUSS_TcEgUgScrMxScVal : 36|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUSS_TrEgUgScrMnScVal : 45|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUSS_TrEgUgScrMxScVal : 54|7@0- (0.1,0) [-5|5] ""  XXX
-
-BO_ 2151882752 PTO_Customization_Request_LS: 3 XXX
- SG_ PTOTpStpSpdCsStReq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ PTOEngRnTmrCsStRq : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ PTOStdbySpdCsStReq : 14|3@0+ (1,0) [0|7] ""  XXX
- SG_ PTOSet1SpdCsStReq : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ PTOSet2SpdCsStReq : 23|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2151899136 PTO_Status_LS: 5 XXX
- SG_ PTORelBrkPedIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTORelAccPedIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTORedEngSpdIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOPrsRelCltPedIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOPrsRelBrkPedIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOEngmntStatInd : 6|2@0+ (1,0) [0|3] ""  XXX
- SG_ PTODisengCrsCntlIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOSet1SpdCsStAvl : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOSet2SpdCsStAvl : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOTpStpSpdCsStAvl : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOEngRnTmrCsStAvl : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOStdbySpdCsStAvl : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOTransInGearIO : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOSetPrkBrkIO : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTORelCltPedIO : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOStdbSpdCsCrStVal : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ PTOGroup : 20|2@0+ (1,0) [0|0] ""  XXX
- SG_ PTOVDA : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOVDM : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOManTransInGrIO : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOAccelUpnBrkRelIO : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOEngUpnBrkRelIO : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOTpStSpdCsCrStVal : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ PTOEnRnTmCsCrStVal : 30|4@0+ (1,0) [0|15] ""  XXX
- SG_ PTOServIndOn : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOSet1SpdCsCrStVal : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ PTOSet2SpdCsCrStVal : 39|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2150580224 HMI_UtlChrgIntrfr_Indication_LS: 5 XXX
- SG_ CstmrNonUsblSOCGroup : 1|10@0+ (1,0) [0|0] ""  XXX
- SG_ CstmrNonUsblSOCV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ CstmrNonUsblSOC : 15|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ CstNonUsbSOCDspLvl : 23|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ PrpDspTtlPwrLvlPct : 24|9@0- (0.392157,0) [-100.392192|100.000035] "%"  XXX
-
-BO_ 2151735296 Rear_Cross_Traffic_Alert_Ind_LS: 1 XXX
- SG_ RrCrsTrfcAlrtOffIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnChgAlrtOffIndOn : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtRrCrsTrfcAlrtEnbld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtSBZAlrtEnbld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtLnChgAlrtEnbld : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtSdDetSysTmpDsbld : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtSdDetSysServDsbld : 6|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151792640 Rear_Cross_Traffic_Alert_Rght_LS: 5 XXX
- SG_ RrCTfcRHptcStRqSqN : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ RrCTfcRHptcStReq : 7|6@0+ (1,0) [0|63] ""  XXX
- SG_ RrCrsTrfAltRgtIndCtrl : 34|3@0+ (1,0) [0|0] ""  XXX
- SG_ RCTARIC_IndReq : 33|2@0+ (1,0) [0|3] ""  XXX
- SG_ RCTARIC_Indctr1Act : 34|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149826560 FCA_VisionBased_Info_2_LS: 4 XXX
- SG_ FCAGpStng : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ FCAHdwyStngIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ FCACrusCtrlCnclReqd : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ FCABrkPrflReq : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ FwdClnAlrtOffIO11E : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ FwdClnAlrtPr11E : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ SpdLmtVsnFsdSpdGroup : 15|15@0+ (1,0) [0|0] ""  XXX
- SG_ SpdLmtVsnFsdSpd : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ SpdLmtVsnFsdSpdM : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ FwdObjAlrtInd11E : 16|9@0+ (1,0) [0|0] ""  XXX
- SG_ FOAI_AlrtChmIhbRq11E : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ FOAI_VehAhdIndRq11E : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ FOAI_AlrtWrnIndRq11E : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ SpdLmtVnFsSpdNwDet : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ SpdLmtVsnFsdSpdUnt : 19|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149957632 Park_Assist_ESSprocess_Info_LS: 1 XXX
- SG_ ClsnMtgtnInhbtd : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstInhbtReq : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstRrObjSnsngRqAct : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstOprtrDsrdStat : 4|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2149941248 Park_Assist_ESSbased_Info_LS: 5 XXX
- SG_ PrkAstRrExtdDstUnfltd : 3|12@0+ (0.01,0) [0|40.95] "m"  XXX
- SG_ PrkAstRrSysStatUnfltd : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ PrkAstFntnSnsDstrbdIO : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstFntnSnrsBlkd : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstFntnFld : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstFntnDsbldIO : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstFntnClnPrkAstIO : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClsnMtgtnInhbtReqtd : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstRrObjSnsngAct : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ PARrRgn3ObjStatUnfltd : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ PARrRgn4ObjStatUnfltd : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ PARrRgn1ObjStatUnfltd : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ PARrRgn2ObjStatUnfltd : 39|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2156314624 High_Volt_Time_Based_Chrg_LS: 8 XXX
- SG_ TODCNxtPlnndDprtrTm : 5|14@0+ (1,0) [0|0] ""  XXX
- SG_ TODCNPDT_Hr : 2|5@0+ (1,0) [0|31] "Hour"  XXX
- SG_ TODCNPDT_DyOfWk : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ TODCNPDT_Min : 13|6@0+ (1,0) [0|63] "Minute"  XXX
- SG_ OffBrdCSFltDtctd : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ OBVhCsACChgRqBnVs : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVChgSyChgLvlPrfDt : 16|25@0+ (1,0) [0|0] ""  XXX
- SG_ HVCSCLPD_UsrIntTyp : 16|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVCSCLPD_NrmChrgC : 27|5@0+ (1,0) [0|31] "A"  XXX
- SG_ HVCSCLPD_ChgLvlPfS : 30|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVCSCLPD_RdCrntLv2 : 33|5@0+ (1,0) [0|31] "A"  XXX
- SG_ HVCSCLPD_RdCrntLv1 : 38|5@0+ (1,0) [0|31] "A"  XXX
- SG_ HVCSCLPD_RdCrntLv3 : 44|5@0+ (1,0) [0|31] "A"  XXX
- SG_ HVChrgAbrtRsn : 19|3@0+ (1,0) [0|7] ""  XXX
- SG_ TODCOpMd : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVChrgSysSplyFltIO : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ TODCDspMnPgTmpOr : 52|5@0+ (1,0) [0|0] ""  XXX
- SG_ TODCDMPTO_TpOvR : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ TODCDMPTO_CmPgR : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVChrgSysStNot : 55|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBatBlkSOC : 63|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
-
-BO_ 2150449152 Engine_Information_5_LS: 4 XXX
- SG_ SrvcFlSysPrkInOpnArIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvTrCtrlOffUnbIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvStblCtrlOffUnbIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ InActFuelMdFuelLvlIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ FuelSysNEmsRltMalfAct : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngInltSpcfcHmdtyGroup : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ EngInltSpcfcHmdtyM : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngInltSpcfcHmdtyV : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngInltSpcfcHmdty : 15|8@0+ (0.0196078,0) [0|4.999989] "% water"  XXX
- SG_ AutoStpInhbtRsnInd : 23|8@0+ (1,0) [0|0] ""  XXX
- SG_ ASIRI_Indication08 : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASIRI_Indication07 : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASIRI_Indication06 : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASIRI_Indication05 : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASIRI_Indication04 : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASIRI_Indication03 : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASIRI_Indication02 : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASIRI_Indication01 : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ SpdLmtrSttngTypAct : 25|2@0+ (1,0) [0|3] ""  XXX
- SG_ ManTransIndReq : 28|3@0+ (1,0) [0|7] ""  XXX
- SG_ ESPDrvrExtIO : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPDrvrDrStIndtrmntIO : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESPAutoPrkIO : 31|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149810176 FCA_VisionBased_Info_1_LS: 1 XXX
- SG_ FCAHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ FCAHptcStVbnReq : 7|6@0+ (1,0) [0|63] ""  XXX
-
-BO_ 2149793792 FCA_VisionBased_Info_LS: 6 XXX
- SG_ FwdClnAlrtCustCrntSetngVal : 3|3@0+ (1,0) [0|7] ""  XXX
- SG_ FCACustStngAvlbl : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ VhlAhdDstIndReq : 26|19@0+ (1,0) [0|0] ""  XXX
- SG_ VADIR_IndLvl : 26|4@0+ (1,0) [0|15] ""  XXX
- SG_ VADIR_FlwTme : 38|7@0+ (0.1,0) [0|12.7] "s"  XXX
- SG_ VADIR_FlwDst : 47|8@0+ (1,0) [0|255] "m"  XXX
-
-BO_ 2150080512 Aux_Coolant_Heater_Status_LS: 8 XXX
- SG_ EngAstHtDfrdHtMdAct : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ LBCCsCrStVal : 2|2@0+ (1,0) [0|3] ""  XXX
- SG_ AuxClntHtrVlvStat : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ LBCChrgLvlPrfExpIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ LBCCsStAvl : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ LBCCstmrDaRstResp : 12|5@0+ (1,0) [0|0] ""  XXX
- SG_ LBCCDRR_PosNumbr : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ LBCCDRR_ClrStrdPosResp : 12|2@0+ (1,0) [0|3] ""  XXX
- SG_ LBCPosStgStat : 20|5@0+ (1,0) [0|0] ""  XXX
- SG_ LBCPSS_PosUpdtLct : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ LBCPSS_PosUpdtStat : 20|2@0+ (1,0) [0|3] ""  XXX
- SG_ LBCVehLctStat : 27|4@0+ (1,0) [0|0] ""  XXX
- SG_ LBCVLS_VehGPSLct : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ LBCVLS_VehGPSLctV : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ LBCCstmrFdbk : 31|4@0+ (1,0) [0|0] ""  XXX
- SG_ LBCCF_Lct4PosStrdIO : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ LBCCF_Lct3PosStrdIO : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ LBCCF_Lct2PosStrdIO : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ LBCCF_Lct1PosStrdIO : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ ChrgCyclElecEngyEcnEq : 35|12@0+ (0.1,0) [0|409.5] "km/l"  XXX
- SG_ ChrgCyclOvrlEngyEcnEq : 51|12@0+ (0.1,0) [0|409.5] "km/l"  XXX
-
-BO_ 2153873408 Heated_Steering_Whl_Rqsted_LS: 1 XXX
- SG_ MnlHtdStWhlRqstd : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2152128512 Performance_Mode_Cust_Setings_LS: 4 XXX
- SG_ ACCPerfMdCustAvl : 5|6@0+ (1,0) [0|0] ""  XXX
- SG_ ACCPMCA_ACCPrfMd6Avl : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCPMCA_ACCPrfMd5Avl : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCPMCA_ACCPrfMd4Avl : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCPMCA_ACCPrfMd3Avl : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCPMCA_ACCPrfMd2Avl : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCPMCA_ACCPrfMd1Avl : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvrStPerfMdCustAvl : 13|6@0+ (1,0) [0|0] ""  XXX
- SG_ DSPMCA_DrvrStPrfMd6Avl : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvrStPrfMd5Avl : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvrStPrfMd4Avl : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvrStPrfMd3Avl : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvrStPrfMd2Avl : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvrStPrfMd1Avl : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsngStPerfMdCustAvl : 21|6@0+ (1,0) [0|0] ""  XXX
- SG_ PSPMCA_PsngStPrfMd6Avl : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ PSPMCA_PsngStPrfMd5Avl : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ PSPMCA_PsngStPrfMd4Avl : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ PSPMCA_PsngStPrfMd3Avl : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ PSPMCA_PsngStPrfMd2Avl : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ PSPMCA_PsngStPrfMd1Avl : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvStyPerfMdCustAvl : 30|7@0+ (1,0) [0|0] ""  XXX
- SG_ DSPMCA_DrvStyPrfMd7Avl : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvStyPrfMd6Avl : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvStyPrfMd5Avl : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvStyPrfMd4Avl : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvStyPrfMd3Avl : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvStyPrfMd2Avl : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSPMCA_DrvStyPrfMd1Avl : 30|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151997440 Driver_Drowsiness_Dtctn_Stat_LS: 5 XXX
- SG_ DrvDrowSysIndRq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvDrwDetCsCrStVal : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvDrowDetCstStAvl : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvDrsnHptcStRqSeqN : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ DrDrwSysHptcStVbnRq : 15|6@0+ (1,0) [0|63] ""  XXX
-
-BO_ 2156331008 High_Voltage_EnergyMgmt_Ctrl_LS: 7 XXX
- SG_ LwRngLVLdShdRq : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVDpltnMdMxCnfdcRg : 11|12@0+ (0.1,0) [0|409.5] "km"  XXX
- SG_ HVDpltnMdMiCnfdcRg : 27|12@0+ (0.1,0) [0|409.5] "km"  XXX
- SG_ HVDpltnMdMxGugRg : 43|12@0+ (0.1,0) [0|409.5] "km"  XXX
-
-BO_ 2151776256 Rear_Cross_Traffic_Alert_Left_LS: 5 XXX
- SG_ RrCTfcLHptcStRqSeqN : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ RrCTfcLHptcStReq : 7|6@0+ (1,0) [0|63] ""  XXX
- SG_ RrCrsTrfAltLftIndCtrl : 34|3@0+ (1,0) [0|0] ""  XXX
- SG_ RCTALIC_IndReq : 33|2@0+ (1,0) [0|3] ""  XXX
- SG_ RCTALIC_Indctr1Act : 34|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154774528 Lighting_Customization_Info_1_LS: 1 XXX
- SG_ LtRtHnTrCstStVal : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ LtRtHnTrGPCsCrStVal : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ LtRtHnTrCstStAvail : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ LtRtHnTrGPSCsStAvl : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150375424 Eng_Maintenance_Mode_Strt_Req_LS: 3 XXX
- SG_ MntnceMdStEngRq : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngAstHtCstStRq : 3|3@0+ (1,0) [0|7] ""  XXX
- SG_ EngAstHtPlgInCstStRq : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ DsplTrnsShftLvrLckRqd : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngyCnsHistGrphRstRq : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ USBProgInPrgrs : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ LBCPosMdfcReq : 12|3@0+ (1,0) [0|7] ""  XXX
- SG_ LBCCsStReq : 14|2@0+ (1,0) [0|3] ""  XXX
- SG_ LBCCstmrDaRstReq : 20|5@0+ (1,0) [0|0] ""  XXX
- SG_ LBCCDRR_PosNum : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ LBCCDRR_ClrStrdPosReq : 20|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2150383616 Engine_Maintenance_Mode_Req_LS: 8 XXX
- SG_ MntnceMdDsplyRq : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ EngMntnceMdAct : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngMntncePrcntCpl : 15|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ EngPrpDspPwrLvlPct : 23|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ EstElecPrpCap : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ PrpCapDspOpPs : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ PrpDspTtlPwr : 45|13@0+ (0.5,-326.6) [-326.6|3768.9] "kW"  XXX
- SG_ BatPrpDspPwrLvlPct : 48|9@0- (0.392157,0) [-100.392192|100.000035] "%"  XXX
-
-BO_ 2151981056 Drive_Cycle_Efficiency_LS: 8 XXX
- SG_ DstTrvldDt : 7|51@0+ (1,0) [0|0] ""  XXX
- SG_ DTD_BattPrpDstTrvld : 7|17@0+ (0.015625,0) [0|2047.984375] "km"  XXX
- SG_ DTD_FuelPrpDstTrvld : 22|17@0+ (0.015625,0) [0|2047.984375] "km"  XXX
- SG_ DTD_DrvCyclDstTrvld : 37|17@0+ (0.015625,0) [0|2047.984375] "km"  XXX
- SG_ DrvCyclBatPropRat : 50|11@0+ (0.048852,0) [0|100.000044] "%"  XXX
-
-BO_ 2151964672 Drive_Cycle_Energy_Efficiency_LS: 8 XXX
- SG_ DrvCyclBatCondEnrgEfncy : 7|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ DrvCyclCbnCondEnrgEfncy : 23|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ DrvCyclDrvStEnrgEfncy : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ DrvCyclTtlEnrgEfncy : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ DrvCyclFuelEnmy : 47|12@0+ (0.1,0) [0|409.5] "km/liters"  XXX
- SG_ DrvCyclFuelUsd : 51|12@0+ (0.125,0) [0|511.875] "liters"  XXX
-
-BO_ 2156298240 High_Volt_Batt_Time_Pwr_Chrg_LS: 8 XXX
- SG_ HVBatCmpltTmHghPwrChrg : 7|14@0+ (1,0) [0|0] ""  XXX
- SG_ HVBCTHPC_HrOfDy : 4|5@0+ (1,0) [0|31] "Hour"  XXX
- SG_ HVBCTHPC_DyOfWk : 7|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBCTHPC_MntOfHr : 15|6@0+ (1,0) [0|63] "Minute"  XXX
- SG_ HVBatCmpltTmLwPwrChrg : 9|14@0+ (1,0) [0|0] ""  XXX
- SG_ HVBCTLPC_DyOfWk : 9|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBCTLPC_MntOfHr : 17|6@0+ (1,0) [0|63] "Minute"  XXX
- SG_ HVBCTLPC_HrOfDy : 22|5@0+ (1,0) [0|31] "Hour"  XXX
- SG_ HVBatStrTmHghPwrChrg : 27|14@0+ (1,0) [0|0] ""  XXX
- SG_ HVBSTHPC_HrOfDy : 24|5@0+ (1,0) [0|31] "Hour"  XXX
- SG_ HVBSTHPC_DyOfWk : 27|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBSTHPC_MntOfHr : 35|6@0+ (1,0) [0|63] "Minute"  XXX
- SG_ HVBatStrTmLwPwrChrg : 45|14@0+ (1,0) [0|0] ""  XXX
- SG_ HVBSTLPC_HrOfDy : 42|5@0+ (1,0) [0|31] "Hour"  XXX
- SG_ HVBSTLPC_DyOfWk : 45|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBSTLPC_MntOfHr : 53|6@0+ (1,0) [0|63] "Minute"  XXX
- SG_ HVChrgSysDpTmExdSt : 58|3@0+ (1,0) [0|0] ""  XXX
- SG_ HVCSDTES_NPDTIO : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVCSDTES_HiPwrCIO : 57|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVCSDTES_LoPwrCIO : 58|1@0+ (1,0) [0|1] ""  XXX
- SG_ HTRActvIndOn : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ InsfcntTmTFlChrgIO : 60|1@0+ (1,0) [0|1] ""  XXX
- SG_ InvldHMIEtrIO : 61|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVBatChrgCrdAlrtReq : 63|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2149924864 Drv_Pref_Mode_Switch_Status_LS: 8 XXX
- SG_ DrvSelMd1Stat : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd1ReqDnd : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd2Stat : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd2ReqDnd : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd3Stat : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd3ReqDnd : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ HilRlbkCtrlActIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ FwdClnMtgnBrkReqAct : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMdSelnStat : 8|17@0+ (1,0) [0|0] ""  XXX
- SG_ DSMSS_DrvSelMd1Un : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd1Pn : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd8Un : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd7Un : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd6Un : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd5Un : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd4Un : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd3Un : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd2Un : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd0Pn : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd8Pn : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd7Pn : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd6Pn : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd5Pn : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd4Pn : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd3Pn : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ DSMSS_DrvSelMd2Pn : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd4Stat : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd4ReqDnd : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd5Stat : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd5ReqDnd : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd6Stat : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd6ReqDnd : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTOMobModTrnsInGrIO : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ ECODrvAsstDsplyStat : 34|11@0+ (1,0) [0|0] ""  XXX
- SG_ EDADS_ShftIndStat : 33|2@0+ (1,0) [0|3] ""  XXX
- SG_ EDADS_EcoDrvShftIO : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ EDADS_RcmndtFwdGr : 43|4@0+ (1,0) [0|15] ""  XXX
- SG_ EDADS_CrntFwdMsdG : 47|4@0+ (1,0) [0|15] ""  XXX
- SG_ DrvSelMd7Stat : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd7ReqDnd : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd8Stat : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvSelMd8ReqDnd : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ FstIdlMdAct : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ DsplyPerfMdRq : 50|3@0+ (1,0) [0|7] ""  XXX
- SG_ TireLFLowTracIO : 51|1@0+ (1,0) [0|1] ""  XXX
- SG_ TireLRLowTracIO : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ TireRFLowTracIO : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ TireRRLowTracIO : 54|1@0+ (1,0) [0|1] ""  XXX
- SG_ a_12VBatSysUnstab : 55|1@0+ (1,0) [0|1] ""  XXX
- SG_ ColPrepSysCustAvail : 62|7@0+ (1,0) [0|0] ""  XXX
- SG_ CPSCA_Resrv3Avail : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSCA_Resrv2Avail : 57|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSCA_Resrv1Avail : 58|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSCA_AlrtBrkStrAvail : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSCA_AlrtBrkAvail : 60|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSCA_AlrtAvail : 61|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSCA_OffAvail : 62|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2152054784 HMI_Disp_Hyb_Animation_Status_LS: 1 XXX
- SG_ AnmStrtReq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ IntPnlClstrAnmtStat : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ FuelEconMetDispUnts : 6|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150301696 HMI_Animation_Initiator_LS: 1 XXX
- SG_ WlcAnmReq : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150563840 HMI_AnimationHybridRadio_LS: 3 XXX
- SG_ RadAnmtStat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ RadAudQueStat : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrStStatDispAct : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsStStatDispAct : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154758144 Auxiliary_Heater_Active_LS: 1 XXX
- SG_ ChldLckOtSwAct : 1|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154577920 Amp_Sink_Stat_LS: 2 XXX
- SG_ AmpSnkStat : 4|13@0+ (1,0) [0|0] ""  XXX
- SG_ ASS_SurndAvail : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPAvail : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_VehNoisCmpnAvail : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_PhLckdLpLckd : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_MtxSnkMutStat : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPMd7Prsnt : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPMd6Prsnt : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPMd5Prsnt : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPMd4Prsnt : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPMd3Prsnt : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPMd2Prsnt : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPMd1Prsnt : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASS_DSPMd0Prsnt : 15|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154594304 Amp_Settings_Tone_Ctrl_LS: 5 XXX
- SG_ AmpSetTonCtrl : 1|34@0+ (1,0) [0|0] ""  XXX
- SG_ ASTC_ChimSnkLvl : 1|8@0+ (0.5,-127.5) [-127.5|0] "dB"  XXX
- SG_ ASTC_ChimSnkSpkrPos : 9|4@0+ (1,0) [0|15] ""  XXX
- SG_ ASTC_SurndLvl : 21|6@0- (1,0) [-32|31] ""  XXX
- SG_ ASTC_MtxSnkMutRmpTm : 25|8@0+ (5,0) [0|1275] "ms"  XXX
- SG_ ASTC_MtxSnkMut : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASTC_DSPMd : 30|4@0+ (1,0) [0|15] ""  XXX
- SG_ ASTC_VehNoisCmpnAct : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASTC_GblAudSnkMut : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASTC_AmpLwPwrSt : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ InfotnBkltngConfigSt : 3|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2154586112 Amp_Settings_Sink_Lvl_Ctrl_LS: 8 XXX
- SG_ AmpSetSnkLvlCtrl : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ASSLC_MtxSnkLvl : 7|8@0+ (0.5,-127.5) [-127.5|0] "dB"  XXX
- SG_ ASSLC_MxPrmtSnkLvl : 15|8@0+ (0.5,-127.5) [-127.5|0] "dB"  XXX
- SG_ ASSLC_AudFdbkSnkLvl : 23|8@0+ (0.5,-127.5) [-127.5|0] "dB"  XXX
- SG_ ASSLC_FvSnkLvl : 31|8@0+ (0.5,-127.5) [-127.5|0] "dB"  XXX
- SG_ ASSLC_MtxSnkFd : 33|6@0- (1,0) [-32|31] ""  XXX
- SG_ ASSLC_MtxSnkBal : 39|6@0- (1,0) [-32|31] ""  XXX
- SG_ ASSLC_MtxSnkBass : 43|6@0- (1,0) [-32|31] ""  XXX
- SG_ ASSLC_MtxSnkMdrng : 53|6@0- (1,0) [-32|31] ""  XXX
- SG_ ASSLC_AutoLdnsCmpnAct : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASSLC_VcSrcActOnMtx : 57|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASSLC_MtxSnkTrbl : 63|6@0- (1,0) [-32|31] ""  XXX
-
-BO_ 2152857600 ACC_TrafficJam_RouteSpd_Stat_LS: 3 XXX
- SG_ ACCRteSpdDrvIntvReq : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACCTrfcJamAstActStat : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ ACCRteSpdAdaptStat : 12|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACCGrnMdStat : 14|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACCTrfcJamAstRmnTm : 23|8@0+ (1,0) [0|255] "sec"  XXX
-
-BO_ 2158149632 High_Volt_Bat_Time_Bsd_Rsp_1_LS: 7 XXX
- SG_ HVBatTmBsSsnChRsp : 0|14@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBSCR_SsnStat : 0|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBTBSCR_SsnMthStat : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBSCR_SsnSlctStat : 14|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBTBSCR_SsnDyStat : 23|5@0+ (1,0) [0|31] "day"  XXX
- SG_ HVBatTmBsChrgStRsp : 3|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBatCrgDspStat : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBatTmBsChrgRtRsp : 17|10@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBCRS_ChRtEnblStat : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBTBCRS_ChRtSlctStat : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBCRS_ChRtDStat : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ EngyCnsHsGrphCnfgDt : 36|13@0+ (1,0) [0|0] ""  XXX
- SG_ ECHGCD_YAxMaxVal : 32|6@0+ (4,0) [0|252] ""  XXX
- SG_ ECHGCD_MeasUt : 36|4@0+ (1,0) [0|15] ""  XXX
- SG_ ECHGCD_XAxTkMrkInterv : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ EgyCnsHstGphInsEgyCns : 55|5@0+ (1,0) [0|31] ""  XXX
-
-BO_ 2158116864 High_Volt_Bat_Time_Bsd_Rsp_LS: 8 XXX
- SG_ OBHVBCMinsRmng : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ OBHVBCCompTmDispFrmt : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBatTmBsDelChrgRsp : 12|21@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBDCRS_DlChHRsp : 12|5@0+ (1,0) [0|31] "hr"  XXX
- SG_ HVBTBDCRS_DlChSlctStat : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBDCRS_DlChDStat : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBDCRS_DlChMHRsp : 29|6@0+ (1,0) [0|63] "min"  XXX
- SG_ HVBTBDCRS_DlChSsnStat : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBatTmBsRtChrgRsp : 34|27@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBRCR_RtChMHRsp : 32|6@0+ (1,0) [0|63] "min"  XXX
- SG_ HVBTBRCR_RtChSsnStat : 34|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBTBRCR_RtChSlctStat : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBTBRCR_RtChDStat : 50|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBRCR_RtChHRsp : 55|5@0+ (1,0) [0|31] "hr"  XXX
- SG_ HVBTBRCR_RtCHSlctTblRwStat : 58|3@0+ (1,0) [0|7] "rows"  XXX
- SG_ HVBTBRCR_RtChSlRtStat : 62|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2156281856 High_Volt_Bat_Time_Bsd_Req_1_LS: 7 XXX
- SG_ HVBatTmBsSsnChStReq : 0|14@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBSCSR_SsnStReq : 0|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBTBSCSR_SsnMthStReq : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBSCSR_SsnSlStReq : 14|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBTBSCSR_SsnDayStReq : 23|5@0+ (1,0) [0|31] "day"  XXX
- SG_ HVBatTmBsChrgMdReq : 3|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVChgSyChgLvlPrfSt : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ StTODChrgTmpOvrd : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVBatTmBsChrgRtStReq : 17|10@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBCRSR_ChRtEnblStReq : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBTBCRSR_ChRtSlStReq : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBCRSR_ChRtDStReq : 31|4@0+ (1,0) [0|15] ""  XXX
- SG_ TmpOvdNxtPlnDptTmRq : 32|17@0+ (1,0) [0|0] ""  XXX
- SG_ TONPDTR_StTmpOvrAtv : 32|2@0+ (1,0) [0|3] ""  XXX
- SG_ TONPDTR_HrOfDy : 42|5@0+ (1,0) [0|31] "Hour"  XXX
- SG_ TONPDTR_DyOfWk : 46|4@0+ (1,0) [0|15] ""  XXX
- SG_ TONPDTR_MntOfHr : 53|6@0+ (1,0) [0|63] "Minute"  XXX
- SG_ RtBsChrgCmplnTmPrfReq : 34|2@0+ (1,0) [0|3] ""  XXX
- SG_ HTRCsStReq : 37|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2156265472 High_Volt_Bat_Time_Bsd_Req_LS: 8 XXX
- SG_ ChgCdTfAlCzStRq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ ChgPwLsAlCzStRq : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ PrtyChrgRq : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBatTmBsDlChStReq : 12|21@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBDCSRQ_DlChHStReq : 12|5@0+ (1,0) [0|31] "hr"  XXX
- SG_ HVBTBDCSRQ_DlChSlStReq : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBDCSRQ_DlChDStReq : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBDCSRQ_DlChMHStReq : 29|6@0+ (1,0) [0|63] "min"  XXX
- SG_ HVBTBDCSRQ_DlChSsnStReq : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ ChgSysAudInCsStReq : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBatTmBsRtChrgStReq : 34|27@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBRCSR_RtChDStReq : 34|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBRCSR_RtChSlStReq : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVBTBRCSR_RtChSlRtStReq : 46|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBRCSR_RtChMHStReq : 48|6@0+ (1,0) [0|63] "min"  XXX
- SG_ HVBTBRCSR_RtChSsnStReq : 50|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBTBRCSR_RtChHStReq : 55|5@0+ (1,0) [0|31] "hr"  XXX
- SG_ HVBTBRCSR_RtChSlTbRwReq : 58|3@0+ (1,0) [0|7] "rows"  XXX
- SG_ OffBrdHVCVehCsChRq : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngyUsgScrnMeasUtStat : 39|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2150113280 Energy_Storage_System_LS: 8 XXX
- SG_ EngyStgSysActCoolEnb : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvCycElEnrgUsd : 21|14@0+ (0.36,0) [0|5897.88] "MJ"  XXX
- SG_ DrvCyclElecEngyEcon : 32|9@0+ (0.1,0) [0|51.1] ""  XXX
- SG_ HVChrgInhbRsn : 36|4@0+ (1,0) [0|15] ""  XXX
- SG_ DrvCyclTrpDstTrvld : 54|15@0+ (0.1,0) [0|3276.7] "km"  XXX
-
-BO_ 2150055936 Climate_Control_Status_LS: 5 XXX
- SG_ ClmtCtrlUpprPwrLmt : 7|8@0+ (0.1,0) [0|25.5] "kW"  XXX
- SG_ ClmtCtrlLwrPwrLmt : 15|8@0+ (0.1,0) [0|25.5] "kW"  XXX
- SG_ ClimCtrlHVDvcShtdwnCmd : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClmCntCmpPwrUsdClc : 39|8@0+ (0.04,0) [0|10.2] "kW"  XXX
-
-BO_ 2150039552 Thrml_Ref_Compressor_Status_LS: 5 XXX
- SG_ ThrmlRefCompStat : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ EvpCorOtltAirTmpCalcdGroup : 4|13@0+ (1,0) [0|0] ""  XXX
- SG_ EvpCorOtltAirTmpCalcdV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ EvpCorOtltAirTmpCalcd : 15|8@0+ (0.5,-40) [-40|87.5] "deg C"  XXX
- SG_ ThrmlRefCompSpdGroup : 22|15@0+ (1,0) [0|0] ""  XXX
- SG_ ThrmlRefCompSpd : 21|14@0+ (1,0) [0|16383] "rpm"  XXX
- SG_ ThrmlRefCompSpdV : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ ThrmlRfCmpOvTmpFltPr : 23|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154856448 Humidity_Sensor_Status_LS: 5 XXX
- SG_ HmdtySnsrGlssTemp : 1|10@0+ (0.146628,-50) [-50|100.000444] "deg C"  XXX
- SG_ HmdtySnsrTemp : 17|10@0+ (0.146628,-50) [-50|100.000444] "deg C"  XXX
- SG_ HmdtySnsrRltvHmdty : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
-
-BO_ 2151342080 Park_Assistant_Right_Status_LS: 2 XXX
- SG_ PARtRgn1ObjStat : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ PrkAstRtSysStat : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ PARtRgn3ObjStat : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ PARtRgn2ObjStat : 15|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2151325696 Park_Assistant_Left_Status_LS: 2 XXX
- SG_ PALtRgn1ObjStat : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ PrkAstLtSysStat : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ PALtRgn3ObjStat : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ PALtRgn2ObjStat : 15|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2151809024 Drv_Cycl_Elec_Enrgy_Consumd_LS: 8 XXX
- SG_ DrvCycElecEngySt5 : 5|14@0+ (0.36,0) [0|5897.88] "MJ"  XXX
- SG_ DrvCycElecEngyCnsmd : 23|32@0+ (1,0) [0|0] ""  XXX
- SG_ DCEEC_EngyPct1 : 23|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ DCEEC_EngyPct2 : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ DCEEC_EngyPct3 : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ DCEEC_EngyPct4 : 47|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ ElecEngyEconAvg : 48|9@0+ (0.1,0) [0|51.1] ""  XXX
-
-BO_ 2151858176 Drv_Cycl_Elec_Enrgy_States_LS: 8 XXX
- SG_ DrvCycElecEngySt1 : 5|14@0+ (0.36,0) [0|5897.88] "MJ"  XXX
- SG_ DrvCycElecEngySt2 : 21|14@0+ (0.36,0) [0|5897.88] "MJ"  XXX
- SG_ DrvCycElecEngySt3 : 37|14@0+ (0.36,0) [0|5897.88] "MJ"  XXX
- SG_ DrvCycElecEngySt4 : 53|14@0+ (0.36,0) [0|5897.88] "MJ"  XXX
-
-BO_ 2150547456 HMI_Hybrid_Vehicle_Status_LS: 8 XXX
- SG_ HVDpltnMdRng : 0|16@0+ (0.015625,0) [0|1023.984375] "km"  XXX
- SG_ VehChrgMdSt : 3|3@0+ (1,0) [0|7] ""  XXX
- SG_ GrnAudQueReq : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ SvcHybChrgSysIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVBatChrgCrdConnIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ CntrsOpnUndrTmpIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ OffBrdHVCVehCplrLkd : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVBatLimDTmpInd : 25|2@0+ (1,0) [0|3] ""  XXX
- SG_ OffBrdHVCVehPwrDrtd : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVChrgrSysStat : 29|3@0+ (1,0) [0|7] ""  XXX
- SG_ HVChrgrCplrStat : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ ChgrSysAdblIndReq : 33|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBatOutOfEnrgyInd : 36|3@0+ (1,0) [0|7] ""  XXX
- SG_ OffBrdHVBlkChrgCmp : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElecPrplsnMtrOvrSpdIO : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVBatCntctrsOpnIO : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVDpltnMdCnfdcTrndg : 47|8@0- (0.787402,0) [-100.787456|100.000054] "%"  XXX
- SG_ OffBrdHVBlkChgCpltTm : 53|14@0+ (1,0) [0|0] ""  XXX
- SG_ OBHVBCCT_HrofDay : 50|5@0+ (1,0) [0|31] ""  XXX
- SG_ OBHVBCCT_DayofWk : 53|3@0+ (1,0) [0|7] ""  XXX
- SG_ OBHVBCCT_MinofHr : 61|6@0+ (1,0) [0|63] ""  XXX
- SG_ OffBrdHVCVehPwrLvl : 55|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2151489536 CSV_EOCM_R_Indications_LS: 1 XXX
- SG_ RVBShtToPrkBfExtngVehIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RVBAutoBrkRlsIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ NVSysStat : 4|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2149761024 Chassis_Information_2_LS: 6 XXX
- SG_ PerfTrcCrnExStngVal : 4|5@0+ (1,0) [0|31] ""  XXX
- SG_ ActVehAccelGroup : 5|22@0+ (1,0) [0|0] ""  XXX
- SG_ ActVehAccelV : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ActVehAccel : 11|12@0- (0.01,0) [-20.48|20.47] "m/s^2"  XXX
- SG_ TrlrStabAstActIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElvtdIdlCstStAvl : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElvtdIdlCstCrStVal : 13|2@0+ (1,0) [0|3] ""  XXX
- SG_ TrnsCltchThrmlProtIndR : 27|20@0+ (1,0) [0|0] ""  XXX
- SG_ TCTPIR_DrvNotfn : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ TCTPIR_TnsEsClTmpD : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ TCTPIR_TnsEsClCDwT : 47|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ PsngStPerfMdCsCrStVal : 30|3@0+ (1,0) [0|7] ""  XXX
- SG_ PsngStPerfMdCsStAvl : 31|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155012096 SBZA_Right_Status_LS: 1 XXX
- SG_ SODTmpUnavlbleIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ SODSnsClnRqdIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ SODRtIndCntl : 6|5@0+ (1,0) [0|0] ""  XXX
- SG_ SODRIC_Ind3 : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ SODRIC_Ind2 : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ SODRIC_Ind1 : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ SODRIC_IndReq : 6|2@0+ (1,0) [0|3] ""  XXX
- SG_ SrvSODSysIO : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150514688 Power_Slidining_Door_Status_LS: 1 XXX
- SG_ SldngDrRgtStat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ SldngDrLftStat : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ PwrSldngDrUnavlblIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ SdClsrObstclDtctdStat : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2158067712 Video_Master_Info_2_LS: 5 XXX
- SG_ TchScnDsplUsrActnExt : 1|34@0+ (1,0) [0|0] ""  XXX
- SG_ TSDUAE_RotBtnPsh : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TSDUAE_ScrnPrsdRq : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TSDUAE_GrphStrkInfRq : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ TSDUAE_XCoOdntRq : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ TSDUAE_YCoOdntRq : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ TSDUAE_RotEnc : 39|8@0- (1,0) [-128|127] "Detentions"  XXX
-
-BO_ 2158051328 Video_Master_Info_1_LS: 5 XXX
- SG_ RemRcvrSrcInpCmd : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ VidMstrDsplyMd : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ VidSrcUICntrlStat : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ RmtRcvrTunCmnd : 12|5@0+ (1,0) [0|31] ""  XXX
- SG_ VidMstrArbCmd : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ RmtRcvrTunVal : 23|16@0- (1,0) [-32768|32767] ""  XXX
- SG_ VidMstrSrcType : 36|5@0+ (1,0) [0|31] ""  XXX
- SG_ TVDspCmd : 39|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2158034944 TV_Tuner_Info_LS: 6 XXX
- SG_ VidSrcCompFormatER : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ CurntTVStnServc : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ CurntTVStnQual : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ RmtRcvrCmndStat : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ RmtRecvtDataTyp : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ RmtRcvrTunStat : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ TVTunerPres : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ RmtRcvrPrgrmServID : 23|16@0+ (1,0) [0|65535] ""  XXX
- SG_ VidSrcStatCode : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ RemRcvrSrcInpStat : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ VidSrcType : 44|5@0+ (1,0) [0|31] ""  XXX
-
-BO_ 2158018560 TV_Station_Name_LS: 8 XXX
- SG_ TVStatNmeChar1_8 : 7|64@0+ (1,0) [0|0] ""  XXX
-
-BO_ 2156838912 WiFi_Station_LS: 7 XXX
- SG_ WiFiStationResp : 3|52@0+ (1,0) [0|0] ""  XXX
- SG_ WSR_WiFiAssnStat : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ WSR_WiFiStnMACAddr : 15|48@0+ (1,0) [0|281474976710655] ""  XXX
-
-BO_ 2156822528 WiFi_AP_Data_LS: 2 XXX
- SG_ WiFiAccsPntData : 0|9@0+ (1,0) [0|0] ""  XXX
- SG_ WAPD_IHUWiFiEnStat : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ WAPD_EncrptnType : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ WAPD_SecurityType : 15|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2151948288 Driver_Drow_Det_Cst_Rqst_LS: 1 XXX
- SG_ DrvDrowDetCstStRq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ RunBrdOpMdCstStReq : 7|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2158002176 XM_Radio_Service_LS: 1 XXX
- SG_ CurntStnServc : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ SrvcPrvdr : 5|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2149728256 Charging_Sys_Trans_Shift_Lock_LS: 5 XXX
- SG_ ChrgSysTrnsShftLckRq : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ChrgPrtDrStat : 2|2@0+ (1,0) [0|3] ""  XXX
- SG_ PrtyChrgActIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrtyChrgAct : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ HghVltgPropState : 7|3@0+ (1,0) [0|7] ""  XXX
- SG_ ChgCdTfAlCzCrStVal : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ ChgCdTfAlCzStAvbl : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ ChgPwLsAlCzCrStVal : 14|3@0+ (1,0) [0|7] ""  XXX
- SG_ ChgPwLsAlCzStAvbl : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ ChgSyAudInCsCrStVa : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ ChgSysAudInCsStAvl : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVChrgPwrLvl : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ EngAstHtCsCrStVal : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ EngAstHtCsStAvl : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngAstHtPlgInCsCrStVl : 30|3@0+ (1,0) [0|7] ""  XXX
- SG_ EngAstHtPlgInCsStAvl : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrtyChrgStPnt : 38|7@0+ (1,0) [0|127] ""  XXX
-
-BO_ 2150023168 Hybrid_Information_LS: 5 XXX
- SG_ HybChrgMdStat : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVInvRatVltGroup : 2|19@0+ (1,0) [0|0] ""  XXX
- SG_ HVInvRatVltV : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVInvRatVlt : 8|9@0+ (1,0) [0|511] "volts"  XXX
- SG_ OffBrdVehImmbNot : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ ElecPrplsnMtrTach : 28|13@0+ (1,0) [0|8191] "rpm"  XXX
-
-BO_ 2153988096 Power_Elec_Info_LS: 7 XXX
- SG_ PwrElecCoolLpTempGroup : 1|10@0+ (1,0) [0|0] ""  XXX
- SG_ PwrElecCoolLpTempV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ PwrElecCoolLpTempM : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PwrElecCoolLpTemp : 15|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ EngyUsgScr : 20|37@0+ (1,0) [0|0] ""  XXX
- SG_ EUS_TcEngyUsgScrAvVal : 20|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUS_TrEngyUsgScrAvVal : 29|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUS_OTEngyUsgScrAvVal : 38|7@0- (0.1,0) [-5|5] ""  XXX
- SG_ EUS_TtEngyUsgScrAvVal : 40|9@0- (0.1,0) [-20|20] ""  XXX
- SG_ EUS_ITEngyUsgScrAvVal : 47|7@0- (0.1,0) [-5|5] ""  XXX
-
-BO_ 2155945984 Jump_Start_Req_LS: 1 XXX
- SG_ JmpStrtReq : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TCSysCurStReq : 2|2@0+ (1,0) [0|3] ""  XXX
- SG_ VehStbEnhmntCurStRq : 4|2@0+ (1,0) [0|3] ""  XXX
- SG_ VehStbCmptvMdCurStRq : 6|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2155585536 MSB_Customization_Setting_Req_LS: 1 XXX
- SG_ StBltTgtCSRq : 2|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2155569152 CPS_Customization_Setting_Req_LS: 3 XXX
- SG_ ColPrSysCustReq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ ExtHlStrAssCsStRq : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ IntDimSeldClrTypStReq : 12|5@0+ (1,0) [0|31] ""  XXX
- SG_ HLOCCstSetReq : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ IntDimSeldAnmTypStReq : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ SmPhRmFunCstStReq : 22|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2155233280 VICM_Info_LS: 8 XXX
- SG_ VehRefuelSt : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ FlDrOpenIndOn : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ UtlChrgPopUpAct : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ UtlChrgIntrfrIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ShftPrkIO_3B2 : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ NtrlCstdwnCrtMdActvIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtBsChrgCmplnTmPrfRsp : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ EngRnngDutoVehSpdIO : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ NtrlGrWrngIO : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftmFuelEcon : 19|12@0+ (0.1,0) [0|409.5] "kilometers/liter"  XXX
- SG_ LiftimeFuelEcnEquiv : 35|12@0+ (0.1,0) [0|409.5] "km/l"  XXX
- SG_ ChrgCyclFuelEcn : 51|12@0+ (0.1,0) [0|409.5] "km/l"  XXX
-
-BO_ 2152169472 Coolant_Heater_Status_LS: 3 XXX
- SG_ ClntHtrSt : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ ClntHtrPCBOvTmpFlt : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClntHtrHtSnkOvTmpFlt : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClntHtrElecPwrGroup : 4|13@0+ (1,0) [0|0] ""  XXX
- SG_ ClntHtrElecPwrV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClntHtrElecPwr : 15|8@0+ (0.04,0) [0|10.2] "kW"  XXX
- SG_ ClntHtrFlt : 7|3@0+ (1,0) [0|7] ""  XXX
- SG_ ClntHtrInltClntTmp : 23|8@0+ (1,-40) [-40|215] "deg C"  XXX
-
-BO_ 2152759296 SITM_Front_Sensor_IO_LS: 1 XXX
- SG_ FrtCmrBlckdIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ FrtEOCMMdlFldIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ FrtCmrFldIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ FrtRdrFldIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ PedWrnIndReq : 5|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2152742912 SITM_Rear_Sensor_IO_LS: 1 XXX
- SG_ RrEOCMMdlFldIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrRdrBlckdIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrRdrFldIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ShrtRngRdrOffIO : 3|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150891520 Go_Notifier_Req_LS: 5 XXX
- SG_ DgtlMapSpdCat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ FwdClnAlrtCustStngReq : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ GNCustStngReq : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ DgtlMapDrvngSd : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ DgtlMapPsgRstrctn : 11|3@0+ (1,0) [0|7] ""  XXX
- SG_ RrStRmndrCstSetReq : 14|3@0+ (1,0) [0|7] ""  XXX
- SG_ DgtlMapEffSpdLmt : 20|5@0+ (1,0) [0|31] ""  XXX
- SG_ DgtlMapEffSpdLmtTyp : 23|3@0+ (1,0) [0|7] ""  XXX
- SG_ DgtlMapVerYr : 29|6@0+ (1,0) [0|63] ""  XXX
- SG_ DgtlMapVerQtr : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ DgtlMapCndlSpdLmt : 36|5@0+ (1,0) [0|31] ""  XXX
- SG_ DgtlMapCndlSpdLmtTyp : 39|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2151751680 Haptic_Seat_Status_LS: 3 XXX
- SG_ CrshAlrtDrvrSlctdType : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrshAlrtStPrsnt : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ HptcStVbnStat : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ HptcStFldIO : 4|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155536384 Rear_Virtual_Bmper_Indication_LS: 1 XXX
- SG_ RVBDsbldIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RVBEnbldIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RVBFldIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RVBUnblIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvRIMOffUnbIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ RevClnMtgnBrkReqAct : 5|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151481344 CSV_FSRACC_Indications_LS: 1 XXX
- SG_ AutoBrkRlsIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ShtToPrkBfExtngVehIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ HdUpDsplyUnblIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ FSRACCFrstRsmPrssIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ FrtRdrBlckdIO : 4|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151432192 ACC_Drv_Seat_Vib_Req_IO_LS: 1 XXX
- SG_ ACCHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACCHptcStVbnReq : 7|6@0+ (1,0) [0|63] ""  XXX
-
-BO_ 2151415808 Ln_Dep_Wrn_Drv_Seat_Vib_Req_LS: 5 XXX
- SG_ LDWLftHptcStRqSN : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ LDWLftHptcStRq : 7|6@0+ (1,0) [0|63] ""  XXX
- SG_ LDWRghtHptcStRqSN : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ LDWRghtHptcStRq : 15|6@0+ (1,0) [0|63] ""  XXX
- SG_ LftLnChgThrtHptStRqSN : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ LftLnChgThrtHptStRq : 23|6@0+ (1,0) [0|63] "Pulse"  XXX
- SG_ RgtLnChgThrtHptStRqSN : 25|2@0+ (1,0) [0|3] ""  XXX
- SG_ RgtLnChgThrtHptStRq : 31|6@0+ (1,0) [0|63] "Pulse"  XXX
- SG_ FrPedDetCsStAvl : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ FrPedDetCsCrStVal : 35|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2151350272 Frnt_Prk_Ast_Drv_Seat_Vib_Req_LS: 3 XXX
- SG_ FPAHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ FPAHptcStVbnReq : 7|6@0+ (1,0) [0|63] ""  XXX
- SG_ APAIconDispRq : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ APAIconFilPctRq : 22|7@0+ (1,0) [0|127] ""  XXX
-
-BO_ 2151333888 Rear_Prk_Ast_Drv_Seat_Vib_Req_LS: 1 XXX
- SG_ RPAHptcStVbRqSeqN : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ RPAHptcStVbnReq : 7|6@0+ (1,0) [0|63] ""  XXX
-
-BO_ 2151522304 Reset_FuelLife_Request_LS: 1 XXX
- SG_ FuelFltLfRstRqd : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElEngyEconAvgRstRq : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TCSTmpDsblReqConf : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ LnchCtrlRelLnLockReqd : 4|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150629376 CV_System_Failure_LS: 1 XXX
- SG_ CVSysFlrIO : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155929600 Diesel_Information_LS: 8 XXX
- SG_ DslExFldTpWrngIndRq : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ DslExhFldDiagWrnIdRq : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ DslExhFldQlyWrngIReq : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ DslExhFldWrngIdRqER : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ DslExhFluidDistTIndcmt : 22|15@0+ (2,0) [0|65534] "km"  XXX
- SG_ DslExNxEmWrngIndRq : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ DslExFldCnWrngIndRq : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ DslExFldWrngVSpdLmt : 47|24@0+ (1,0) [0|0] ""  XXX
- SG_ DEFWVSL_S1SpdLmt : 47|8@0+ (1,0) [0|255] "km / h"  XXX
- SG_ DEFWVSL_S2SpdLmt : 55|8@0+ (1,0) [0|255] "km / h"  XXX
- SG_ DEFWVSL_S3SpdLmt : 63|8@0+ (1,0) [0|255] "km / h"  XXX
-
-BO_ 2154741760 RSA_Status_LS: 1 XXX
- SG_ RSAPrsnt : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154807296 Lighting_Customization_Info_3_LS: 4 XXX
- SG_ AFLGPSCstCrStVal : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ AFLCstCrStVal : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ AFLGPSCstStAvl : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ AFLCstStAvl : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ AFLGPSMnu2CstStAvl : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ AFLMnu2CstStAvl : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ AFLMnu3CstStAvl : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngAutoStpNotProb : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESCMHiEleclLdReqAct : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngAutoStrtStpInfo : 17|10@0+ (1,0) [0|0] ""  XXX
- SG_ EASSI_StrtStpSt : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ EASSI_UnsdRsrvd2 : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ EASSI_TorqDetdIndet : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ EASSI_StlDetd : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ EASSI_TrqDetd : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ EASSI_FuelReqOn : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ EASSI_StrtTyp : 31|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2151079936 PDIM_Status_LS: 1 XXX
- SG_ PDIMPrsnt : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155364352 Hybrid_Information_SuperSlow_LS: 5 XXX
- SG_ SvcHybridSysIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ JmpStrtStat : 3|3@0+ (1,0) [0|7] ""  XXX
- SG_ HybMdDisp : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ CstmrUsblSOCGroup : 15|15@0+ (1,0) [0|0] ""  XXX
- SG_ CstmrUsblSOC : 15|8@0+ (0.39216,0) [0|100.0008] "%"  XXX
- SG_ CstmrUsblSOCV : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ BattCntrlPrcssrVDA : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ InstDrvEff : 31|8@0- (0.78125,0) [-100|99.21875] "%"  XXX
- SG_ ClntCrcFlwRtEst : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
-
-BO_ 2154979328 Front_Seat_Heat_Cool_Req_LS: 1 XXX
- SG_ FrntStVoltBstModReq : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155282432 RearSeat_HeatVent_Cool_LS: 1 XXX
- SG_ RrStVoltBstModReq : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151505920 VehInfoTripComputer_LS: 7 XXX
- SG_ SpdCurvAdvSysEnbld : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrBrkDsplyAct : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCSettingType : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ AutoMdSpdLmtCnfrmd : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTExPrtclFltManRgnRqd : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ Trp2OdomtrGroup : 6|55@0+ (1,0) [0|0] ""  XXX
- SG_ Trp2OdomtrV : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ Trp2Odomtr : 38|23@0+ (0.015625,0) [0|131071.984375] "km"  XXX
- SG_ Trp1OdomtrGroup : 7|32@0+ (1,0) [0|0] ""  XXX
- SG_ Trp1OdomtrV : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ Trp1Odomtr : 14|23@0+ (0.015625,0) [0|131071.984375] "km"  XXX
-
-BO_ 2155896832 Alternative_Fuel_Information_LS: 5 XXX
- SG_ FuelMdStat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ AltFuelMdReqDndIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ FlLvlTank2PctGroup : 4|13@0+ (1,0) [0|0] ""  XXX
- SG_ FlLvlTank2PctV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ FlLvlTank2Pct : 15|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ AltFuelAccWrnngAct : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ AltFuelLvlLo : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ AltFuelPHeatAct : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ FuelTotCapTnk2 : 19|12@0+ (0.125,0) [0|511.875] "liters"  XXX
- SG_ FuelAlchlCompAdptnPrg : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ FuelAlcoholCompGroup : 21|22@0+ (1,0) [0|0] ""  XXX
- SG_ FuelAlcoholCompV : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ FuelAlcoholComp : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
-
-BO_ 2155552768 Exterior_Lock_Switch_Req_LS: 1 XXX
- SG_ PsvEntCmftWndRq : 1|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2154496000 Rear_Closure_Soft_Top_Info_LS: 1 XXX
- SG_ CmpSftTopMotBfrOpTrnkIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TargaTopStateGroup : 2|2@0+ (1,0) [0|0] ""  XXX
- SG_ TargaTopState : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TargaTopStateV : 2|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155208704 Power_Conv_Top_Info_LS: 3 XXX
- SG_ SftTpAbvWrngSpdIndOn : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpFlrIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpLtcIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpMnlLtchIndOn : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpMchnOvhtIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpRmCrgCrrIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpStrIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpTmpLwIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpTneuCvrIO : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpVehOvSpdIndOn : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpVltLwIO : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ CkSoftTpIO : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClsTrnkLidIO : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ FTUpdWndPsLmtEnbld : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ VltSwAtvIndOn : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpTrnLmpsRqd : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ FldngTpSt : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ FldngTpWndCmftRq : 20|2@0+ (1,0) [0|3] ""  XXX
- SG_ SftTpPlsDnSrtdIndOn : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftTpPlsDnWrngIndOn : 22|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2153390080 Manual_Liftgate_Control_LS: 1 XXX
- SG_ RrClosOpenSwAct_2D1Group : 3|3@0+ (1,0) [0|0] ""  XXX
- SG_ RrClosOpenSwAct_2D1 : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrClosOpenSwAct_2D1V : 3|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155175936 CruiseControlGapSwitch_LS: 1 XXX
- SG_ AdptCrsGapSwAct : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ AdptCrsLKALDWSwAct : 2|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2156806144 Cellular_Network_Date_and_Time: 6 XXX
- SG_ CldrDayCmpstdVal : 4|5@0+ (1,0) [0|31] "days"  XXX
- SG_ HrsCmpstdValGroup : 5|30@0+ (1,0) [0|0] ""  XXX
- SG_ HrsCmpstdValV : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ HrsCmpstdVal : 28|5@0+ (1,0) [0|31] "h"  XXX
- SG_ MinsCmpstdValGroup : 6|39@0+ (1,0) [0|0] ""  XXX
- SG_ MinsCmpstdValV : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ MinsCmpstdVal : 37|6@0+ (1,0) [0|63] "min"  XXX
- SG_ SecCmpstdValGroup : 7|48@0+ (1,0) [0|0] ""  XXX
- SG_ SecCmpstdValV : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ SecCmpstdVal : 45|6@0+ (1,0) [0|63] "secs"  XXX
- SG_ CldrMthCmpstdVal : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ CellNtwrkDtTmAvl : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ CldrYrCmpstdVal : 23|8@0+ (1,2000) [2000|2255] "year"  XXX
-
-BO_ 2154078208 Window_Position_Status_LS: 2 XXX
- SG_ DrvWndPosStat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ LRWndPosStat : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ PsWndPosStat : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ RRWndPosStat : 13|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2159058944 ODIEvent_IPC_LS: 3 XXX
- SG_ ODIEvntPkt_IPC : 5|22@0+ (1,0) [0|0] ""  XXX
- SG_ ODIEI_EvID : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODIEI_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIEI_MultiFrRetCh : 23|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2159042560 ODI_DynData_IPC_LS: 8 XXX
- SG_ ODIDynData_IPC : 14|55@0+ (1,0) [0|0] ""  XXX
- SG_ ODDI_InvldData : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDI_DataType : 14|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODDI_FUCID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDI_DataId : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDI_DataVal : 39|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2150006784 System_Power_Mode_Pushbutton_LS: 1 XXX
- SG_ SysPwrMdPshbtnActGroup : 1|2@0+ (1,0) [0|0] ""  XXX
- SG_ SysPwrMdPshbtnAct : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ SysPwrMdPshbtnActV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PEPSRunCrnkRlyDctd : 2|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155216896 Road_Type_Information_LS: 6 XXX
- SG_ MpDataAvlbl : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ BldUpArDet : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ SprtLnRd : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ CntrldAccRd : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ CurvAdvInd : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ SpdLmtPstdSpdGroup : 6|23@0+ (1,0) [0|0] ""  XXX
- SG_ SpdLmtPstdSpdM : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ SpdLmtPstdSpd : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ DgtlMapPstdSpdLimAsrd : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ FncRdClass : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ RdSpdCatType : 12|2@0+ (1,0) [0|3] ""  XXX
- SG_ LnCat : 14|2@0+ (1,0) [0|3] ""  XXX
- SG_ SpdLmtUnits : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ SpdLmtRecmndSpd : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ IntlStdAlph2CddCntryCd : 33|10@0+ (1,0) [0|0] ""  XXX
- SG_ ISA2CCC_FrstCdChr : 33|5@0+ (1,0) [0|31] ""  XXX
- SG_ ISA2CCC_ScndCdChr : 44|5@0+ (1,0) [0|31] ""  XXX
-
-BO_ 2156216320 TTY_Status_LS: 1 XXX
- SG_ TxtTelephoneDevPr : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2158813184 ODIIndication_IPC_LS: 8 XXX
- SG_ ODIInd_IPC : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ODIIIPC_FUCID : 7|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIIIPC_ODIInd8 : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd7 : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd6 : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd5 : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd4 : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd3 : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd2 : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd1 : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd16 : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd15 : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd14 : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd13 : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd12 : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd11 : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd10 : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd9 : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd24 : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd23 : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd22 : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd21 : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd20 : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd19 : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd18 : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd17 : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd32 : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd31 : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd30 : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd29 : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd28 : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd27 : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd26 : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd25 : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd40 : 40|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd39 : 41|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd38 : 42|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd37 : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd36 : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd35 : 45|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd34 : 46|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd33 : 47|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd48 : 48|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd47 : 49|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd46 : 50|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd45 : 51|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd44 : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd43 : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd42 : 54|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd41 : 55|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd56 : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd55 : 57|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd54 : 58|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd53 : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd52 : 60|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd51 : 61|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd50 : 62|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIIPC_ODIInd49 : 63|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150277120 GPS_Geographical_Position_LS: 8 XXX
- SG_ PsngSysLatGroup : 6|31@0+ (1,0) [0|0] ""  XXX
- SG_ PsngSysLat : 5|30@0- (1,0) [-536870912|536870911] "ms arc"  XXX
- SG_ PsngSysLatV : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsngSysLongGroup : 39|32@0+ (1,0) [0|0] ""  XXX
- SG_ PsngSysLong : 38|31@0- (1,0) [-1073741824|1073741823] "ms arc"  XXX
- SG_ PsngSysLongV : 39|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150285312 GPS_Elevation_and_Heading_LS: 8 XXX
- SG_ PsngSysHdingGroup : 3|37@0+ (1,0) [0|0] ""  XXX
- SG_ PsngSysHding : 3|12@0+ (0.1,0) [0|409.5] "deg"  XXX
- SG_ PsngSysHdingV : 47|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsngSysDilPrcsGroup : 4|29@0+ (1,0) [0|0] ""  XXX
- SG_ PsngSysDilPrcsV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsngSysDilPrcs : 17|10@0+ (0.1,0) [0|102.3] ""  XXX
- SG_ PsngSysCalcSpdGroup : 39|10@0+ (1,0) [0|0] ""  XXX
- SG_ PsngSysCalcSpd : 39|8@0+ (1,0) [0|255] "km / h"  XXX
- SG_ PsngSysCalcSpdV : 46|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsngSysElvtnGroup : 45|22@0+ (1,0) [0|0] ""  XXX
- SG_ PsngSysElvtn : 44|21@0+ (1,-100000) [-100000|1997151] "cm"  XXX
- SG_ PsngSysElvtnV : 45|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151890944 Telematics_Indication_Request_LS: 4 XXX
- SG_ TlmtcsIndCntrlReq : 15|24@0+ (1,0) [0|0] ""  XXX
- SG_ TICR_Ind1Cnt : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ TICR_Ind1 : 13|2@0+ (1,0) [0|3] ""  XXX
- SG_ TICR_Ind1Req : 15|2@0+ (1,0) [0|3] ""  XXX
- SG_ TICR_Ind1FlshRtOff : 23|8@0+ (10,0) [0|2550] "ms"  XXX
- SG_ TICR_Ind1FlshRtOn : 31|8@0+ (10,0) [0|2550] "ms"  XXX
-
-BO_ 2151251968 Telematics_Indication_Control_LS: 4 XXX
- SG_ TlmtcsIndCntrlStat : 12|21@0+ (1,0) [0|0] ""  XXX
- SG_ TICS_Ind1V : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ TICS_Ind1 : 10|2@0+ (1,0) [0|3] ""  XXX
- SG_ TICS_Ind1Stat : 12|2@0+ (1,0) [0|3] ""  XXX
- SG_ TICS_Ind1FlshRtOffSt : 23|8@0+ (10,0) [0|2550] "ms"  XXX
- SG_ TICS_Ind1FlshRtOnSt : 31|8@0+ (10,0) [0|2550] "ms"  XXX
-
-BO_ 2155495424 Remote_Start_Seat_Request_LS: 1 XXX
- SG_ RmStrCldStEnReq : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RmStrHtdStEnRq : 1|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149990400 HS_Indications_Fast_LS: 8 XXX
- SG_ ABSIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ StpOnBrkToRelPBIndOn : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrBrkngVDA : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvThrtlOvrdIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ TreInfMonSysRstPrfmd : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCHdwayStngIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCDrvrSeltdSpdIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrWiringFltIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ AdvHlmpsVDA : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ SADmpVDA : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ ScndryAxleVDA : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ SrvTrlrBrkngSysIO : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrBrkngGainSetIO : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrCnctdIO : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ ChkTrlrIO : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrBrkngFrcOtpt : 23|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ TrlrBrkngGainSet : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ TrlrHtchSwAtv_ITBC : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ TransNtrlCntrlMdStat : 34|2@0+ (1,0) [0|3] ""  XXX
- SG_ MotStBltFldIO : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ MotStBltUnblIO : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnsfrCsRngShfSpdLmt : 47|8@0+ (1,0) [0|255] "km / h"  XXX
- SG_ InstFuelConsmpRate : 51|12@0+ (0.025,0) [0|102.375] "ltrs/hr"  XXX
- SG_ SecAxlOperMod : 55|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2155380736 HS_Indications_SuperSlow_LS: 6 XXX
- SG_ VehOvrLdIndOn : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ SrvLevSysIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ HdLtLvlFlrIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrLevVDA : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ AirCndOffIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOilHotIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTExPrtclFltrWrnIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ DslGlwPlgIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngHotFuelEnrchmntIO : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOilChngIO : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOilLvlLwIO : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOilPrsLwIO : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngWtrInFlIO : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ RdcdPwrIO : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ CkFlFilrCapIO : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngHt_StpEngIO : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrAsstRdcdLvl2IO : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ PwrStrIO : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTExPrtclFltrWrn2IO : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ AdvFrntLghtSysIndRq : 21|3@0+ (1,0) [0|7] ""  XXX
- SG_ StrngAsstRdcdIO : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrAsstRdcdLvl3IO : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ PwrPckAirInTempFlt : 31|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ PwrPkFnSpd : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ ARSFlrIO : 40|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150498304 Analog_Values_Slow_LS: 8 XXX
- SG_ EngCltTmpGroup : 0|57@0+ (1,0) [0|0] ""  XXX
- SG_ EngCltTmpV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngCltTmp : 63|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ EngIntAirTmpGroup : 1|50@0+ (1,0) [0|0] ""  XXX
- SG_ EngIntAirTmpV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngIntAirTmp : 55|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ EngOilTmpGroup : 2|43@0+ (1,0) [0|0] ""  XXX
- SG_ EngOilTmpV : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOilTmp : 47|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ OAT_PT_EstGroup : 4|37@0+ (1,0) [0|0] ""  XXX
- SG_ OAT_PT_EstV : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ OAT_PT_EstM : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ OAT_PT_Est : 39|8@0+ (0.5,-40) [-40|87.5] "deg C"  XXX
- SG_ TrnOilTmpGroup : 5|30@0+ (1,0) [0|0] ""  XXX
- SG_ TrnOilTmpV : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnOilTmp : 31|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ BarPrsAbsGroup : 6|23@0+ (1,0) [0|0] ""  XXX
- SG_ BarPrsAbsV : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ BarPrsAbs : 23|8@0+ (0.5,0) [0|127.5] "kPa"  XXX
- SG_ EngOilPrsGroup : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ EngOilPrsV : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOilPrs : 15|8@0+ (4,0) [0|1020] "kPa"  XXX
-
-BO_ 2151047168 HUD_Status_LS: 1 XXX
- SG_ HUDActv : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ HdUpDspAnmtStat : 3|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2155331584 Wheel_Pulses_LS: 4 XXX
- SG_ WhlPlsPerRevDrvn : 6|7@0+ (1,0) [0|127] ""  XXX
- SG_ WhlPlsPerRevNonDrvn : 14|7@0+ (1,0) [0|127] ""  XXX
- SG_ WhlRotStatTmstmpRes : 18|11@0+ (0.002,0) [0|4.094] "uSec"  XXX
-
-BO_ 2154225664 Door_Handle_Switch_Status_LS: 1 XXX
- SG_ DrvDrHndleSwAtv : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ PasDrHndleSwAtv : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RCHndleSwAtv : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRDrHndleSwAtv : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLDrHndleSwAtv : 4|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149900288 Telematics_Contol_LS: 3 XXX
- SG_ EnhSrvRClsRlsRq : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ EnhSrvVisAlRq : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ EnhSrvAudAlRq : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ EnhSrvRmStrtRq : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ EnhSrvLckRq : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ BTTethrngPrngReq : 14|4@0+ (1,0) [0|15] ""  XXX
- SG_ EnhSvVehTopSpdLim : 23|8@0+ (2,0) [0|510] "km / h"  XXX
-
-BO_ 2159001600 ODIEnumDynamicData_IPC_LS: 8 XXX
- SG_ ODIEnmDynData_IPC : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODIEDDIPC_Data2Value : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data1Value : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data5Value : 9|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data4Value : 12|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data3Value : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data8Value : 16|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data7Value : 19|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data6Value : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data10Value : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data9Value : 29|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data13Value : 33|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data12Value : 36|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data11Value : 39|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data16Value : 40|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data15Value : 43|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data14Value : 46|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data18Value : 50|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_Data17Value : 53|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDIPC_FUCID : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2158993408 ODIEnumDynamicData_CntrStack_LS: 8 XXX
- SG_ ODIEnmDynData_CenterStack : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODIEDDCS_Data2Value : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data1Value : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data5Value : 9|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data4Value : 12|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data3Value : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data8Value : 16|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data7Value : 19|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data6Value : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data10Value : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data9Value : 29|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data13Value : 33|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data12Value : 36|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data11Value : 39|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data16Value : 40|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data15Value : 43|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data14Value : 46|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data18Value : 50|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_Data17Value : 53|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDDCS_FUCID : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2154708992 Audio_Master_Source_Status_LS: 2 XXX
- SG_ AudSrcStat2 : 3|12@0+ (1,0) [0|0] ""  XXX
- SG_ ASS2AudSrcType : 3|5@0+ (1,0) [0|31] ""  XXX
- SG_ ASS2AudSrcStatCode : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ ASS2AudSrcChType : 14|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2158985216 ODIDynDataMultiReq_OTIM_LS: 8 XXX
- SG_ ODIDynDataMltRq_OTIM : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODDMO_DataID2Vld : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMO_DataID3Vld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMO_DataID4Vld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMO_DataID5Vld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMO_ReqType : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ ODDMO_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMO_DispMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMO_DataID1 : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMO_DataID2 : 39|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMO_DataID3 : 47|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMO_DataID4 : 55|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMO_DataID5 : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2154471424 Rear_Closure_Ajar_Switch_Status: 1 XXX
- SG_ RrClosAjarSwAct : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrClsrSnwLdIO : 1|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2159149056 ODI_TEL_2_CenterStack_LS: 8 XXX
- SG_ ODI_TEL2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159116288 ODI_TEL_2_AuxIP_LS: 8 XXX
- SG_ ODI_TEL2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2158796800 ODIIndication_LS: 8 XXX
- SG_ ODIInd : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ODII_FUCID : 7|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODII_ODIInd8 : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd7 : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd6 : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd5 : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd4 : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd3 : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd2 : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd1 : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd16 : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd15 : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd14 : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd13 : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd12 : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd11 : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd10 : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd9 : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd24 : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd23 : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd22 : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd21 : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd20 : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd19 : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd18 : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd17 : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd32 : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd31 : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd30 : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd29 : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd28 : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd27 : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd26 : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd25 : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd40 : 40|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd39 : 41|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd38 : 42|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd37 : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd36 : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd35 : 45|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd34 : 46|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd33 : 47|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd48 : 48|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd47 : 49|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd46 : 50|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd45 : 51|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd44 : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd43 : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd42 : 54|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd41 : 55|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd56 : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd55 : 57|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd54 : 58|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd53 : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd52 : 60|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd51 : 61|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd50 : 62|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODII_ODIInd49 : 63|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2158755840 ODIEvent_LS: 4 XXX
- SG_ ODIEvntPkt : 13|22@0+ (1,0) [0|0] ""  XXX
- SG_ ODIE_EvID : 13|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODIE_FUCID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIE_MultiFrRetCh : 31|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2159157248 ODI_CenterStack_2_TEL_LS: 8 XXX
- SG_ ODI_CntrStck2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2153955328 Infrastructure_Timer_Status_LS: 5 XXX
- SG_ EngOffTmExtRngGroup : 0|33@0+ (1,0) [0|0] ""  XXX
- SG_ EngOffTmExtRngV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOffTmExtRng : 39|8@0+ (4,0) [0|1020] "min"  XXX
- SG_ ElpsdTimeCntRstOcc : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ElpsdTimeCnt : 15|24@0+ (1,0) [0|16777215] "min"  XXX
-
-BO_ 2151063552 Infotainment_Operation_LS: 7 XXX
- SG_ InftnOprAlwd : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ValetMdAct : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ Frnt360CamSwAct : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ CamVideoICSDispAct : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ LRStStatDispAct : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRStStatDispAct : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrgdVidRecSwAct : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrPedDetCstStReq : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ IntrStopAlrtCsSetReq : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ ICSTchStat : 17|34@0+ (1,0) [0|0] ""  XXX
- SG_ ICSTS_TchPrxmty : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ ICSTS_X1TchCrdnt : 31|16@0+ (0.001526,0) [0|100] ""  XXX
- SG_ ICSTS_Y1TchCrdnt : 47|16@0+ (0.001526,0) [0|100] ""  XXX
- SG_ TrfRdsdInfCsStReq : 20|3@0+ (1,0) [0|7] ""  XXX
- SG_ CntdVehBrAltCsStReq : 23|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2157985792 Fob_Programming_Request_LS: 1 XXX
- SG_ FobProgEvntRqd : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151284736 Park_Assistant_General_Status: 1 XXX
- SG_ PrkAsstClnPrkAstIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAsstDisablIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstFld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstSnrsBlk : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstSnsDistrbdIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvPrkAstOffUnbIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAstOprtrDsrdStat_1D0 : 7|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2159099904 ODI_DAB_2_AuxIP_LS: 8 XXX
- SG_ ODI_DAB2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159067136 ODI_DAB_2_IPC_LS: 8 XXX
- SG_ ODI_DAB2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159206400 ODI_AuxIP_2_IPC_LS: 8 XXX
- SG_ ODI_AxIP2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159198208 ODI_IPC_2_AuxIP_LS: 8 XXX
- SG_ ODI_IPC2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159190016 ODI_AuxIP_2_CenterStack_LS: 8 XXX
- SG_ ODI_AxIP2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159181824 ODI_CenterStack_2_AuxIP_LS: 8 XXX
- SG_ ODI_CntrStck2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159173632 ODI_IPC_2_CenterStack_LS: 8 XXX
- SG_ ODI_IPC2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159165440 ODI_CenterStack_2_IPC_LS: 8 XXX
- SG_ ODI_CntrStck2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159108096 ODI_AuxIP_2_DAB_LS: 8 XXX
- SG_ ODI_AxIP2DAB : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159075328 ODI_IPC_2_DAB_LS: 8 XXX
- SG_ ODI_IPC2DAB : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2151718912 Chime_Active: 1 XXX
- SG_ ChmAct : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ChmVolSt : 2|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2155479040 Customization_Setting_Request_LS: 5 XXX
- SG_ DrvlnCustStngReq : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ RstrCustFctrDef : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ PedFrndlyAlrtCsStReq : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ SusCustStngReq : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ StrCustStngReq : 13|3@0+ (1,0) [0|7] ""  XXX
- SG_ ElvtdIdlCstStReq : 15|2@0+ (1,0) [0|3] ""  XXX
- SG_ SndPerfMdCsStRq : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ DispPerfMdCsStRq : 21|3@0+ (1,0) [0|7] ""  XXX
- SG_ ACCPerfMdCsStReq : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvrStPerfMdCsStReq : 29|3@0+ (1,0) [0|7] ""  XXX
- SG_ PsngStPerfMdCsStReq : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvStyPerfMdCsStReq : 37|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2151383040 Reset_TP_request_LS: 1 XXX
- SG_ TreInfMonSysRstReq : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155421696 Passive_Entry_Challenge_LS: 5 XXX
- SG_ PsvEntChlng : 7|32@0+ (1,0) [0|4294967295] "passwrd"  XXX
- SG_ ServKylsStSysIO : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsvEntApprchDtcd : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsvEntAprchDrctn : 36|3@0+ (1,0) [0|7] ""  XXX
- SG_ PsvEntApprchCnfgReq : 39|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2155413504 Drv_Dr_Key_Cyl_Status_LS: 3 XXX
- SG_ DrvrDrKeyCylUlkSwActGroup : 1|2@0+ (1,0) [0|0] ""  XXX
- SG_ DrvrDrKeyCylUlkSwAct : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvrDrKeyCylUlkSwActV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsvLckngReqd : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsvApprchVehId : 15|16@0+ (1,0) [0|65535] ""  XXX
-
-BO_ 2159026176 ODIDynamicData_LS: 8 XXX
- SG_ ODIDynData : 14|55@0+ (1,0) [0|0] ""  XXX
- SG_ ODD_InvldData : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODD_DataType : 14|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODD_FUCID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODD_DataId : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODD_DataVal : 39|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2158936064 ODIEnumDynamicData_LS: 8 XXX
- SG_ ODIEnmDynData : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODIEDD_Data2Value : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data1Value : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data5Value : 9|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data4Value : 12|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data3Value : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data8Value : 16|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data7Value : 19|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data6Value : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data10Value : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data9Value : 29|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data13Value : 33|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data12Value : 36|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data11Value : 39|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data16Value : 40|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data15Value : 43|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data14Value : 46|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data18Value : 50|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_Data17Value : 53|3@0+ (1,0) [0|7] ""  XXX
- SG_ ODIEDD_FUCID : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2158845952 ODIAction_CntrStack_LS: 8 XXX
- SG_ ODIActn_CntrStck : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODIAC_DaTy : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODIAC_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAC_ActnID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAC_DspMID : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAC_ActnVal : 39|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2158886912 ODIDynDataListRequest_IPC_LS: 8 XXX
- SG_ ODIDynDataLstRq_IPC : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ODDLI_FUCID : 7|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLI_DataId : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLI_DspMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLI_ReqDir : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLI_NmEntries : 31|7@0+ (1,0) [0|127] ""  XXX
- SG_ ODDLI_Idx : 39|16@0+ (1,0) [0|65535] ""  XXX
- SG_ ODDLI_SubIdReqM : 51|12@0+ (1,0) [0|4095] ""  XXX
- SG_ ODDLI_WrpArnd : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLI_BckgndFlag : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLI_ReqType : 55|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2151366656 Man_Prk_Brk_LS: 1 XXX
- SG_ RrAxlLckIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ FrntAxlLckIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkBrkSwAtv : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ AxlLcksServIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ AxlLckUnavailIndReq : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ AxlLcksVDA : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149842944 Vehicle_Stability_LS: 8 XXX
- SG_ IMUProtLonAccGroup : 2|11@0+ (1,0) [0|0] ""  XXX
- SG_ IMUProtLonAcc : 1|10@0- (0.03,0) [-15.36|15.33] "m/s^2"  XXX
- SG_ IMUProtLonAccV : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ TCSysAtv : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkSysAutBrkFld : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ VSEAct : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrWhAngGroup : 6|47@0+ (1,0) [0|0] ""  XXX
- SG_ StrWhAngV : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrWhAng : 39|16@0- (0.0625,0) [-2048|2047.9375] "deg"  XXX
- SG_ StWhAnVDA : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehStabEnhmntStat : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ VehStabEnhmntMd : 21|3@0+ (1,0) [0|7] ""  XXX
- SG_ StrWhlAngSenCalStat : 23|2@0+ (1,0) [0|3] ""  XXX
- SG_ TCSysOpMd : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ TCSysOpStat : 29|3@0+ (1,0) [0|7] ""  XXX
- SG_ VSELatAccGroup : 52|13@0+ (1,0) [0|0] ""  XXX
- SG_ VSELatAcc : 51|12@0- (0.015625,0) [-32|31.984375] "m/s^2"  XXX
- SG_ VSELatAccV : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ AdptDrvrSeatStng : 55|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2159132672 ODIAction_RearSeat_LS: 8 XXX
- SG_ ODIActn_RSD : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODIAR_DaTy : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODIAR_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAR_ActnID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAR_DspMID : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAR_ActnVal : 39|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2158968832 ODI_RearSeat_2_Centerstack_LS: 8 XXX
- SG_ ODI_RSD2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2158960640 ODIIndication_Centerstack_LS: 8 XXX
- SG_ ODIInd_CntrStck : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ODIIC_FUCID : 7|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIIC_ODIInd8 : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd7 : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd6 : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd5 : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd4 : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd3 : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd2 : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd1 : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd16 : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd15 : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd14 : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd13 : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd12 : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd11 : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd10 : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd9 : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd24 : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd23 : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd22 : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd21 : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd20 : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd19 : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd18 : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd17 : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd32 : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd31 : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd30 : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd29 : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd28 : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd27 : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd26 : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd25 : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd40 : 40|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd39 : 41|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd38 : 42|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd37 : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd36 : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd35 : 45|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd34 : 46|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd33 : 47|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd48 : 48|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd47 : 49|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd46 : 50|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd45 : 51|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd44 : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd43 : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd42 : 54|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd41 : 55|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd56 : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd55 : 57|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd54 : 58|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd53 : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd52 : 60|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd51 : 61|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd50 : 62|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODIIC_ODIInd49 : 63|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2158977024 ODIEvent_Centerstack_LS: 4 XXX
- SG_ ODIEvntPkt_CntrStck : 13|22@0+ (1,0) [0|0] ""  XXX
- SG_ ODIEC_EvID : 13|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODIEC_FUCID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIEC_MultiFrRetCh : 31|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2158952448 ODIDynDataMultiReq_RearSeat_LS: 8 XXX
- SG_ ODIDynDataMltRq_RSD : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODDMR_DataID2Vld : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMR_DataID3Vld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMR_DataID4Vld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMR_DataID5Vld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMR_ReqType : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ ODDMR_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMR_DispMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMR_DataID1 : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMR_DataID2 : 39|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMR_DataID3 : 47|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMR_DataID4 : 55|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMR_DataID5 : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2158944256 ODIDynDataListReq_RearSeat_LS: 8 XXX
- SG_ ODIDynDataLstRq_RSD : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ODDLR_FUCID : 7|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLR_DataId : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLR_DspMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLR_ReqDir : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLR_NmEntries : 31|7@0+ (1,0) [0|127] ""  XXX
- SG_ ODDLR_Idx : 39|16@0+ (1,0) [0|65535] ""  XXX
- SG_ ODDLR_SubIdReqM : 51|12@0+ (1,0) [0|4095] ""  XXX
- SG_ ODDLR_WrpArnd : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLR_BckgndFlag : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLR_ReqType : 55|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2158927872 ODI_DynData_CenterStack_LS: 8 XXX
- SG_ ODIDynData_CntrStck : 14|55@0+ (1,0) [0|0] ""  XXX
- SG_ ODDC_InvldData : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDC_DataType : 14|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODDC_FUCID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDC_DataId : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDC_DataVal : 39|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2158895104 ODI_CenterStack_2_RearSeat_LS: 8 XXX
- SG_ ODI_CntrStck2RSD : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2152038400 Infomatics_Response_Payload_LS: 8 XXX
- SG_ InfMdRspPld : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2152022016 Infomatics_Metadata_Response_LS: 7 XXX
- SG_ InfMdRspCmplt : 7|16@0+ (1,0) [0|65535] ""  XXX
- SG_ InfMdRspInf : 23|16@0+ (1,0) [0|65535] ""  XXX
- SG_ InfMdStRsp : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ AudSelctdSrcReq : 44|5@0+ (1,0) [0|31] ""  XXX
- SG_ AudSysVolSetCtrl : 55|8@0+ (1,0) [0|0] ""  XXX
- SG_ ASVSC_ReqEnbld : 48|1@0+ (1,0) [0|1] ""  XXX
- SG_ ASVSC_VolReq : 55|7@0+ (0.787402,0) [0|100.000054] ""  XXX
-
-BO_ 2152005632 Infomatics_Request_Payload_LS: 8 XXX
- SG_ InfMdRqstPld : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2151989248 Infomatics_Metadata_Request_LS: 5 XXX
- SG_ InfMdRqstCmplt : 7|16@0+ (1,0) [0|65535] ""  XXX
- SG_ InfMdRqstInt : 23|16@0+ (1,0) [0|65535] ""  XXX
- SG_ InfMdStReq : 35|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2151972864 Fuel_Level_Status_LS: 4 XXX
- SG_ FuelLvlLwIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnchCtrlMdReq : 2|2@0+ (1,0) [0|3] ""  XXX
- SG_ LnchCtrlWhlSlpReq : 7|5@0+ (1,0) [0|31] ""  XXX
- SG_ VehFuelRngCalcGroup : 9|18@0+ (1,0) [0|0] ""  XXX
- SG_ VehFuelRngCalc : 8|17@0+ (0.015625,0) [0|2047.984375] "km"  XXX
- SG_ VehFuelRngCalcV : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnchCtrlEngRPMReq : 15|6@0+ (1,0) [0|63] ""  XXX
-
-BO_ 2154528768 Wheel_Grnd_Velocity_LS: 8 XXX
- SG_ WhlGrndVlctyLftDrvnGroup : 6|15@0+ (1,0) [0|0] ""  XXX
- SG_ WhlGrndVlctyLftDrvn : 5|14@0+ (0.03125,0) [0|511.96875] "km / h"  XXX
- SG_ WhlGrndVlctyLftDrvnV : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ WhlGrndVlctyLftNnDrvnGroup : 22|15@0+ (1,0) [0|0] ""  XXX
- SG_ WhlGrndVlctyLftNnDrvn : 21|14@0+ (0.03125,0) [0|511.96875] "km / h"  XXX
- SG_ WhlGrndVlctyLftNnDrvnV : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ WhlGrndVlctyRtDrvnGroup : 38|15@0+ (1,0) [0|0] ""  XXX
- SG_ WhlGrndVlctyRtDrvn : 37|14@0+ (0.03125,0) [0|511.96875] "km / h"  XXX
- SG_ WhlGrndVlctyRtDrvnV : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ WhlGrndVlctyRtNnDrvnGroup : 54|15@0+ (1,0) [0|0] ""  XXX
- SG_ WhlGrndVlctyRtNnDrvn : 53|14@0+ (0.03125,0) [0|511.96875] "km / h"  XXX
- SG_ WhlGrndVlctyRtNnDrvnV : 54|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150916096 Park_Heater_Info_LS: 4 XXX
- SG_ PrkHtrAtv : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClntCircPmpAct : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkHtrCoolntTempGroup : 2|11@0+ (1,0) [0|0] ""  XXX
- SG_ PrkHtrCoolntTempV : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkHtrCoolntTemp : 15|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ PrkHtrFlCsmdRlCntRsOc : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkHtrFlCnsmdRolCntGroup : 4|29@0+ (1,0) [0|0] ""  XXX
- SG_ PrkHtrFlCnsmdRolCntV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkHtrFlCnsmdRolCnt : 23|16@0+ (3.05176E-006,0) [0|0.1999970916] "liters"  XXX
- SG_ PrkHtrPrhtAch : 5|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150367232 Immobilizer_Identifier_LS: 5 XXX
- SG_ ImoId : 7|16@0+ (1,0) [0|65535] ""  XXX
- SG_ LrnEnvId : 23|16@0+ (1,0) [0|65535] ""  XXX
- SG_ LrnEnvIdSt : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ ImoIdSt : 33|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150621184 Keyless_Start_Auth_LS: 1 XXX
- SG_ KylsStrAuthRslt : 7|8@0+ (1,0) [0|0] ""  XXX
- SG_ KSARUID8 : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ KSARUID7 : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ KSARUID6 : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ KSARUID5 : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ KSARUID4 : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ KSARUID3 : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ KSARUID2 : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ KSARUID1 : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151309312 Inflatable_Restraints_Key_Id_LS: 2 XXX
- SG_ InflRestId : 7|16@0+ (1,0) [0|39321] ""  XXX
-
-BO_ 2154061824 Window_Normalized_Indication_LS: 1 XXX
- SG_ PsWndNtNrmIndOn : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrWndNtNrmIndOn : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLWndNtNrmIndOn : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRWndNtNrmIndOn : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ RmtWndMvmntAtv : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ WndOprAlwd : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrDrUnlckIO : 6|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154512384 Rear_Closure_Rel_Sw_Sta_LS: 1 XXX
- SG_ RrClosRelSwActGroup : 1|2@0+ (1,0) [0|0] ""  XXX
- SG_ RrClosRelSwAct : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrClosRelSwActV : 1|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155347968 HS_Indications_Slow_LS: 8 XXX
- SG_ ActVbnCtrlMlfIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ PedtrnProtSysDpl : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TirePrsLowIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCUnavlbleDTWthrIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOilStrvtnIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ SecAxlNonEmMalfIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkFldLvlLwGroup : 7|4@0+ (1,0) [0|0] ""  XXX
- SG_ BrkFldLvlLwV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkFldLvlLw : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCSnsClnRqdIO : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCTmpUnavlbleIO : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngRecmndUpshftIO : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ ServAdpCrsCtrlIndOn : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ SrvSuspSysIO : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkPadWrnIO : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkSysMalFuncIndOn : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngEmsRelMalfIndReq : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ RrAxlMalfIO : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrShftCntrlReqDndIO : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ CompOvrhtIndOn : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnsSkpShftIO : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrAxlTmpInhIO : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ SecAxlTmpInhIO : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSAlrtOnlIO : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ EPBSysStatIndReq : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ EPBSysWrnIndReq : 29|2@0+ (1,0) [0|3] ""  XXX
- SG_ CPSFldIO : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSOffIO : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ CPSUnblIO : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ SrvPedtrnProtSysIO : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ PedtrnProtSysDisbld : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ PedtrnProtVDA : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ AppCltchAutSrtIO : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ StBltTgtSetAvl : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ FourWhlDrvIndReq : 42|3@0+ (1,0) [0|7] ""  XXX
- SG_ EngRecDwnshftIO : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ StBltTgtCrtSetVal : 46|3@0+ (1,0) [0|7] ""  XXX
- SG_ HillDesCtrlRedVehSpIO : 47|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehRollAngleGroup : 55|8@0+ (1,0) [0|0] ""  XXX
- SG_ VehRollAngle : 54|7@0+ (0.703125,-45) [-45|44.296875] "deg"  XXX
- SG_ VehRollAngleV : 55|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCPerfMdCsCrStVal : 58|3@0+ (1,0) [0|7] ""  XXX
- SG_ ACCPerfMdCsStAvl : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvrStPerfMdCsCrStVal : 62|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvrStPerfMdCsStAvl : 63|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149777408 Non_Drvn_Whl_Rot_Status_LS: 8 XXX
- SG_ WhlRotStatLftNDrvn : 7|32@0+ (1,0) [0|0] ""  XXX
- SG_ WRSLNDWhlDistPCntr : 1|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ WRSLNDWhlDistVal : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ WRSLNDWhlRotStRst : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ WRSLNDSeqNum : 5|2@0+ (1,0) [0|3] "counts"  XXX
- SG_ WRSLNDWhlDisTpRC : 7|2@0+ (1,0) [0|3] "counts"  XXX
- SG_ WRSLNDWhlDistTstm : 23|16@0+ (1,0) [0|65535] "counts"  XXX
- SG_ WhlRotStatRghtNDrvn : 39|32@0+ (1,0) [0|0] ""  XXX
- SG_ WRSRNDWhlDistPCntr : 33|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ WRSRNDWhlDistVal : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ WRSRNDWhlRotStRst : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ WRSRNDSeqNum : 37|2@0+ (1,0) [0|3] "counts"  XXX
- SG_ WRSRNDWhlDisTpRC : 39|2@0+ (1,0) [0|3] "counts"  XXX
- SG_ WRSRNDWhlDistTstm : 55|16@0+ (1,0) [0|65535] "counts"  XXX
-
-BO_ 2149769216 Driven_Whl_Rotational_Stat_LS: 8 XXX
- SG_ WhlRotatStatLftDrvn : 7|32@0+ (1,0) [0|0] ""  XXX
- SG_ WRSLDWhlDistPlsCntr : 1|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ WRSLDWhlDistVal : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ WRSLDWhlRotStatRst : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ WRSLDSeqNum : 5|2@0+ (1,0) [0|3] "counts"  XXX
- SG_ WRSLDWhlDisTpRC : 7|2@0+ (1,0) [0|3] "counts"  XXX
- SG_ WRSLDWhlDistTmstm : 23|16@0+ (1,0) [0|65535] "counts"  XXX
- SG_ WhlRotatStatRtDrvn : 39|32@0+ (1,0) [0|0] ""  XXX
- SG_ WRSRDWhlDistPlsCntr : 33|10@0+ (1,0) [0|1023] "counts"  XXX
- SG_ WRSRDWhlDistVal : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ WRSRDWhlRotStatRst : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ WRSRDSeqNum : 37|2@0+ (1,0) [0|3] "counts"  XXX
- SG_ WRSRDWhlDisTpRC : 39|2@0+ (1,0) [0|3] "counts"  XXX
- SG_ WRSRDWhlDistTmstm : 55|16@0+ (1,0) [0|65535] "counts"  XXX
-
-BO_ 2156789760 Time_of_Day_LS: 6 XXX
- SG_ CldrYr : 7|8@0+ (1,2000) [2000|2255] "year"  XXX
- SG_ CldrMth : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ FrPedDetCsStReq : 14|3@0+ (1,0) [0|7] ""  XXX
- SG_ CldrDay : 20|5@0+ (1,0) [0|31] "days"  XXX
- SG_ SmrtHgBmAstCstSetReq : 23|3@0+ (1,0) [0|7] ""  XXX
- SG_ TmofDay : 24|17@0+ (1,0) [0|0] ""  XXX
- SG_ TOD_HrofDay : 24|5@0+ (1,0) [0|31] "hr"  XXX
- SG_ TOD_MinofHr : 35|6@0+ (1,0) [0|63] "min"  XXX
- SG_ TOD_SecofMin : 45|6@0+ (1,0) [0|63] "s"  XXX
- SG_ TimeDispFormat : 25|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155020288 Language_Selection_LS: 1 XXX
- SG_ LngSelExt : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ ChVolRq2 : 7|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2150432768 Engine_Information_4_LS: 8 XXX
- SG_ TransOilTempSensPres : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ GenFldDutCycGroup : 1|42@0+ (1,0) [0|0] ""  XXX
- SG_ GenFldDutCycV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ GenFldDutCyc : 47|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ FuelFltLifRstPerf : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnEmsMlfAtv : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ GrdBrkgAct : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnsNEmsRltMalfActv : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngShtdwnPndgIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngManfldAirTempCrtdGroup : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ EngManfldAirTempCrtdV : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngManfldAirTempCrtd : 15|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ FuelTotCap : 19|12@0+ (0.125,0) [0|511.875] "liters"  XXX
- SG_ TrnsThrmlMngmntStat : 21|2@0+ (1,0) [0|3] ""  XXX
- SG_ PTHiElecLdReqd : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngOilRmnLf : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ FuelFltRmnLf : 63|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
-
-BO_ 2155298816 Tire_Pressure_Sensor_Prog_Req_LS: 1 XXX
- SG_ TrPrsSnsProgEvntRqd : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrPrsMntrTrLdRstRqstd : 2|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2158878720 ODIDynDataListReq_CntrStack_LS: 8 XXX
- SG_ ODIDynDataLstRq_CntrStck : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ODDLC_FUCID : 7|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLC_DataId : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLC_DspMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLC_ReqDir : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLC_NmEntries : 31|7@0+ (1,0) [0|127] ""  XXX
- SG_ ODDLC_Idx : 39|16@0+ (1,0) [0|65535] ""  XXX
- SG_ ODDLC_SubIdReqM : 51|12@0+ (1,0) [0|4095] ""  XXX
- SG_ ODDLC_WrpArnd : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLC_BckgndFlag : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLC_ReqType : 55|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2158870528 ODIDynDataListRequest_AuxIP_LS: 8 XXX
- SG_ ODIDynDataLstRq_AxIP : 7|64@0+ (1,0) [0|0] ""  XXX
- SG_ ODDLA_FUCID : 7|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLA_DataId : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLA_DspMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDLA_ReqDir : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLA_NmEntries : 31|7@0+ (1,0) [0|127] ""  XXX
- SG_ ODDLA_Idx : 39|16@0+ (1,0) [0|65535] ""  XXX
- SG_ ODDLA_SubIdReqM : 51|12@0+ (1,0) [0|4095] ""  XXX
- SG_ ODDLA_WrpArnd : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLA_BckgndFlag : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDLA_ReqType : 55|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2154692608 Audio_Source_Status_LS: 2 XXX
- SG_ AudSrcStat : 3|12@0+ (1,0) [0|0] ""  XXX
- SG_ ASSAudSrcType : 3|5@0+ (1,0) [0|31] ""  XXX
- SG_ ASSAudSrcStatCode : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ ASSAudSrcChType : 14|3@0+ (1,0) [0|7] ""  XXX
- SG_ LgclAVChnl : 7|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2154627072 Audio_Master_Arbitration_Command: 2 XXX
- SG_ AudMstrArbCom : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ LgclAVChnl_368 : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ AudMstrSrcTyp : 12|5@0+ (1,0) [0|31] ""  XXX
- SG_ AudMstrChnnlTyp : 15|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2151112704 Occupant_Sensning_Status_LS: 2 XXX
- SG_ FrntPassClass : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ FrPsSeatOccSnsOpMd : 5|3@0+ (1,0) [0|7] "N/A"  XXX
- SG_ FrPasSeatResCtrlOccStGroup : 7|14@0+ (1,0) [0|0] ""  XXX
- SG_ FrPasSeatResCtrlOccSt : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ FrPasSeatResCtrlOccStV : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ FrPsSeatOccFltSt : 9|2@0+ (1,0) [0|3] "N/A"  XXX
- SG_ FrPasSeatbltRemOccSt : 11|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2153938944 Remote_Reflash_Req_LS: 1 XXX
- SG_ RmtRflshMdReqtd : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2159239168 ODI_TEL_2_OTIM_LS: 8 XXX
- SG_ ODI_TEL2OTIM : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159230976 ODI_OTIM_2_TEL_LS: 8 XXX
- SG_ ODI_OTIM2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159222784 ODI_PDIM_2_CenterStack_LS: 8 XXX
- SG_ ODI_PDIM2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2159214592 ODI_CenterStack_2_PDIM_LS: 8 XXX
- SG_ ODI_CntrStck2PDIM : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2158862336 ODIAction_OTIM_LS: 8 XXX
- SG_ ODIActn_OTIM : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODIAOT_DaTy : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODIAOT_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAOT_ActnID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAOT_DspMID : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAOT_ActnVal : 39|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2150662144 Environment_Id_Resp_3_LS: 3 XXX
- SG_ EnvIdRsp3 : 7|16@0+ (1,0) [0|65535] ""  XXX
- SG_ EnvIdRspSt3 : 17|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2150653952 Environment_Id_Resp_2_LS: 3 XXX
- SG_ EnvIdRsp2 : 7|16@0+ (1,0) [0|65535] ""  XXX
- SG_ EnvIdRspSt2 : 17|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2150850560 Seatbelt_Information_LS: 1 XXX
- SG_ DrSbltAtcGroup : 1|2@0+ (1,0) [0|0] ""  XXX
- SG_ DrSbltAtc : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrSbltAtcV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsSbltAtcGroup : 3|2@0+ (1,0) [0|0] ""  XXX
- SG_ PsSbltAtc : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsSbltAtcV : 3|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154659840 Column_Lock_Status_2: 2 XXX
- SG_ UnlckRtryRotIndOn : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ UnlockRtryPshIndOn : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrgClmnLckVisNot : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClmnLckStatGroup : 5|6@0+ (1,0) [0|0] ""  XXX
- SG_ ClmnLckStat : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ ClmnLckStatV : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClmSysFlrIndOn : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrngClmnLckTT : 9|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2154938368 Fob_Programming_Mode_Status_LS: 1 XXX
- SG_ FobProgMdStat : 1|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2155266048 Rear_Seat_Heat_Cool_Switches_LS: 1 XXX
- SG_ RLHCSeatSw1Act : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSeatSw2Act : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSeatSw3Act : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSeatSw1Act : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSeatSw2Act : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSeatSw3Act : 5|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155249664 Rear_Seat_Heat_Cool_Control_LS: 4 XXX
- SG_ RLHCSModeIndCtrl : 4|5@0+ (1,0) [0|0] ""  XXX
- SG_ RLHCSMInd3 : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSMInd2 : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSMInd1 : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSMIndReq : 4|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRHCSModeIndCtrl : 12|5@0+ (1,0) [0|0] ""  XXX
- SG_ RRHCSMInd3 : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSMInd2 : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSMInd1 : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSMIndReq : 12|2@0+ (1,0) [0|3] ""  XXX
- SG_ RLHCSeatLevIndCtrl : 22|7@0+ (1,0) [0|0] ""  XXX
- SG_ RLHCSLSeatLev5 : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSLSeatLev4 : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSLSeatLev3 : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSLSeatLev2 : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSLSeatLev1 : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLHCSLIndReq : 22|2@0+ (1,0) [0|3] ""  XXX
- SG_ RRHCSeatLevIndCtrl : 30|7@0+ (1,0) [0|0] ""  XXX
- SG_ RRHCSLSeatLev5 : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSLSeatLev4 : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSLSeatLev3 : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSLSeatLev2 : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSLSeatLev1 : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRHCSLIndReq : 30|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2155184128 CruiseControl_LS: 3 XXX
- SG_ CrsCntAtv : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsSpdLmtrSwStat : 4|4@0+ (1,0) [0|15] ""  XXX
- SG_ TrnsShftLvrLckStat : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrStRmndrIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrStRmndrCstSetAvail : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsCntrlSwStat : 15|8@0+ (1,0) [0|0] ""  XXX
- SG_ CrsCntrlSwStSwDataIntgty : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ CrsCntrlSwStSpDcSwAct : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsCntrlSwStSpdInSwAct : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsCntrlSwStSetSwAct : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsCntrlSwStResSwAct : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsCntrlSwStOnSwAct : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsCntrlSwStCanSwAct : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ SmPhRmFunCstCurStVal : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ SmPhRmFunCstStAval : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ IdlRecmndToClEngIO : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrStRmndrCstCurrSetVal : 23|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2155167744 Power_Mode_Info_LS: 3 XXX
- SG_ ShftPrkIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ShftToNtrlIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ Ky_IdDevPr : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ SecPwrMdPshBtnAtv : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ TransModActIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ TransModInactIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ KylsStrtUseTxPckIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrStLgMdAtv : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehMovState : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ AutoShtdwnDsblIO : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ AppPrkBrkIO : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ NRmtDtdPsCluRstIO : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ ApplyBrkPdlIO : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ ApplyCltPdlIO : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ NoReDetInOn : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ NRmtDtdPsBrkRstIO : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrsBtnAgnTTrnEngOffIO : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ TSLgMdPwrCtOWAtv : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ NRmtDtctdRstrtAllwd : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrsStrtAgnIO : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrsCltchPrsStrtAgnIO : 22|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154921984 Fob_Status_LS: 2 XXX
- SG_ RFAFnc : 1|10@0+ (1,0) [0|0] ""  XXX
- SG_ RFRmtCntFobNm : 1|3@0+ (1,0) [0|7] ""  XXX
- SG_ RFRmtCntFobBatLw : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ RFRmtCntrlFobFnc : 14|6@0+ (1,0) [0|63] ""  XXX
- SG_ FobPogLimRchdIndOn : 2|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151317504 Park_Assistant_Rear_Status: 4 XXX
- SG_ PrkAsstRrExtdDist : 3|12@0+ (0.01,0) [0|40.95] "m"  XXX
- SG_ PrkAstRrSysStat : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ PARrRgn1ObjStat : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ PARrRgn2ObjStat : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ PARrRgn3ObjStat : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ PARrRgn4ObjStat : 31|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2151301120 Park_Assistant_Front_Status: 4 XXX
- SG_ PrkAsstFrtExtdDist : 3|12@0+ (0.01,0) [0|40.95] "m"  XXX
- SG_ PrkAstFrSysStat : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ PrkAstAdvSysAct : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkAsstRrOffIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ PAFrtRgn1ObjStat : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ PAFrtRgn2ObjStat : 23|4@0+ (1,0) [0|15] ""  XXX
- SG_ PAFrtRgn3ObjStat : 27|4@0+ (1,0) [0|15] ""  XXX
- SG_ PAFrtRgn4ObjStat : 31|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2159083520 ODI_TEL_2_IPC_LS: 8 XXX
- SG_ ODI_TEL2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2153922560 Climate_Control_Voltage_LS: 3 XXX
- SG_ ClimCtrlVoltBstModReq : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClmtCtrlHtrEngRunRq : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ HtrVlvRqstdPstn : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ ClntHtrElecPwrRatGroup : 4|13@0+ (1,0) [0|0] ""  XXX
- SG_ ClntHtrElecPwrRatV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClntHtrElecPwrRat : 15|8@0+ (0.04,0) [0|10.2] "kW"  XXX
- SG_ ClmCtrHiVltPwrRqtd : 23|8@0+ (0.1,0) [0|25.5] "kW"  XXX
-
-BO_ 2153807872 Door_Open_Switch_Status_LS: 1 XXX
- SG_ DrDoorOpenSwActGroup : 1|2@0+ (1,0) [0|0] ""  XXX
- SG_ DrDoorOpenSwAct : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrDoorOpenSwActV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsDoorOpenSwActGroup : 3|2@0+ (1,0) [0|0] ""  XXX
- SG_ PsDoorOpenSwAct : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsDoorOpenSwActV : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClmSysAuxFlrIndOn : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ PsvStrtStrngClmnLckTT : 6|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2150703104 Audio_Amplifier_Status: 1 XXX
- SG_ AudSysDigSigProcPres : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ AudSysSurSndSysPres : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ AudSysVNoisCompPres : 2|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151399424 Wash_Level_LS: 1 XXX
- SG_ WshFldLw : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151956480 Driver_Workload_LS: 2 XXX
- SG_ DrvWrkldLvl : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ ClstrHMIAnmSt : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ ClstrHMIRdy : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrWhlThbwhlCnts : 13|6@0- (1,0) [-32|31] "counts"  XXX
-
-BO_ 2151940096 Alarm_2_Request_LS: 7 XXX
- SG_ Alrm2ExtRngReq : 1|26@0+ (1,0) [0|0] ""  XXX
- SG_ A2ERRAlrmReq : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ A2ERRAlrmTime : 15|24@0+ (1,0) [0|16777215] "min"  XXX
- SG_ EstBulkIntAirTmpGroup : 2|35@0+ (1,0) [0|0] ""  XXX
- SG_ EstBulkIntAirTmpV : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ EstBulkIntAirTmp : 39|8@0+ (0.5,-40) [-40|87.5] "deg C"  XXX
- SG_ EstIntRfSrfcTmpGroup : 3|44@0+ (1,0) [0|0] ""  XXX
- SG_ EstIntRfSrfcTmpV : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ EstIntRfSrfcTmp : 47|8@0+ (0.5,-40) [-40|87.5] "deg C"  XXX
- SG_ EstIntHorzDshSrfTmpGroup : 4|53@0+ (1,0) [0|0] ""  XXX
- SG_ EstIntHorzDshSrfTmpM : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ EstIntHorzDshSrfTmp : 55|8@0+ (1,-40) [-40|215] "deg C"  XXX
-
-BO_ 2151923712 Alarm_1_Request_LS: 5 XXX
- SG_ Alrm1ExtRngReq : 1|26@0+ (1,0) [0|0] ""  XXX
- SG_ A1ERRAlrmReq : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ A1ERRAlrmTime : 15|24@0+ (1,0) [0|16777215] "min"  XXX
- SG_ HLOCCstCurrSetVal : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ HLOCCstSetAvail : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ HLOCCstAvail : 39|7@0+ (1,0) [0|0] ""  XXX
- SG_ HLOCCA_Res4Avail : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ HLOCCA_Res3Avail : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ HLOCCA_Res2Avail : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ HLOCCA_Res1Avail : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ HLOCCA_OnOpnOnlyAvail : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ HLOCCA_OnAvail : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ HLOCCA_OffAvail : 39|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150645760 Environment_Id_Resp_1_LS: 3 XXX
- SG_ EnvIdRsp1 : 7|16@0+ (1,0) [0|65535] ""  XXX
- SG_ EnvIdRspSt1 : 17|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2152464384 Lane_Departure_Warning_LS: 3 XXX
- SG_ LaneDepWrnDisbldIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ LnKpAstDisbldIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ SrvcLaneDepWrnSysIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ SrvcLnKpAstSysIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ HndsOffStrWhlDtIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ TnDrvLDWOffUnbIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftLnDepWrnSt : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ LaneDepWrnIndCntrl : 13|6@0+ (1,0) [0|0] ""  XXX
- SG_ LDWIC_LnDepWAWLn : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ LDWIC_Ind2 : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ LDWIC_Ind1 : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ LDWIC_IndReq : 13|2@0+ (1,0) [0|3] ""  XXX
- SG_ RtLnDepWrnSt : 15|2@0+ (1,0) [0|3] ""  XXX
- SG_ LnKpAstIndCntrl : 21|6@0+ (1,0) [0|0] ""  XXX
- SG_ LKAIC_AdbWngLn : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ LKAIC_Ind2 : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ LKAIC_Ind1 : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ LKAIC_IndReq : 21|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2154971136 Front_Seat_Heat_Cool_Switches_LS: 1 XXX
- SG_ DrvHCSeatSw1Act : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSeatSw2Act : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSeatSw3Act : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSeatSw1Act : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSeatSw2Act : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSeatSw3Act : 5|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154962944 Front_Seat_Heat_Cool_Control_LS: 4 XXX
- SG_ DrvHCSModeIndCtrl : 4|5@0+ (1,0) [0|0] ""  XXX
- SG_ DrvHCSMInd3 : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSMInd2 : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSMInd1 : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSMIndReq : 4|2@0+ (1,0) [0|3] ""  XXX
- SG_ PassHCSModeIndCtrl : 12|5@0+ (1,0) [0|0] ""  XXX
- SG_ PassHCSMInd3 : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSMInd2 : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSMInd1 : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSMIndReq : 12|2@0+ (1,0) [0|3] ""  XXX
- SG_ DrvHCSLevIndCtrl : 22|7@0+ (1,0) [0|0] ""  XXX
- SG_ DrvHCSLSeatLev5 : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSLSeatLev4 : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSLSeatLev3 : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSLSeatLev2 : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSLSeatLev1 : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvHCSLIndReq : 22|2@0+ (1,0) [0|3] ""  XXX
- SG_ PassHCSeatLevIndCtrl : 30|7@0+ (1,0) [0|0] ""  XXX
- SG_ PassHCSLSeatLev5 : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSLSeatLev4 : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSLSeatLev3 : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSLSeatLev2 : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSLSeatLev1 : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ PassHCSLIndReq : 30|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2156232704 Alarm_Clock_Status_LS: 4 XXX
- SG_ AlrmClkStat : 7|32@0+ (1,0) [0|0] ""  XXX
- SG_ ACSAlarm3 : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm2 : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm1 : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm0 : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm7 : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm6 : 11|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm5 : 13|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm4 : 15|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm11 : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm10 : 19|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm9 : 21|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm8 : 23|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm15 : 25|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm14 : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm13 : 29|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACSAlarm12 : 31|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2154987520 Hood_Status_LS: 1 XXX
- SG_ HdStGroup : 2|3@0+ (1,0) [0|0] ""  XXX
- SG_ HdSt : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ HdStV : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ WrlsChrgSysChrgStat : 5|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2154840064 Compass_Status_LS: 4 XXX
- SG_ CmpsOctHdingDataSrc : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ CmpsModFltPrs : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ CmpsModManCalInPrc : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ CmpsZnNvrSet : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ CmpsDecZone : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ CmpsOctHding : 14|3@0+ (1,0) [0|7] ""  XXX
- SG_ CmpsSatrtd : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ CmpsCrHding : 23|16@0+ (0.0054932,0) [0|359.996862] "deg"  XXX
-
-BO_ 2154676224 Compass_Request_LS: 1 XXX
- SG_ CmpsDecZonCmndVal : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ CmpsDecZonSetReq : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ CmpsModManCalReq : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ CmpsModSlfTstReq : 6|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154643456 Auxiliary_Heater_Status_LS: 3 XXX
- SG_ AuxHtrAtv : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ HtrCoreInltClntTmpCalcGroup : 4|21@0+ (1,0) [0|0] ""  XXX
- SG_ HtrCoreInltClntTmpCalcV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ HtrCoreInltClntTmpCalc : 23|8@0+ (1,-40) [-40|215] "deg C"  XXX
- SG_ CCClntCrcFlwRtReq : 15|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
-
-BO_ 2154905600 Driver_Identifier_LS: 1 XXX
- SG_ DrId : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvSeatPrsMemID : 5|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2154954752 High_Volt_Climate_Pwr_Status_LS: 5 XXX
- SG_ ClmtHtPwrRqd : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ HtdStWhlCmd : 2|2@0+ (1,0) [0|3] ""  XXX
- SG_ HtdStWhlInd : 4|2@0+ (1,0) [0|3] ""  XXX
- SG_ HtdStWhlCtrlSrc : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClntHtrElecPwrReq : 15|8@0+ (0.04,0) [0|10.2] "kW"  XXX
- SG_ EstACCompPwrRchCbnCmf : 23|8@0+ (0.04,0) [0|10.2] "kw"  XXX
- SG_ EstACCompPwrMtnCbnCmf : 31|8@0+ (0.04,0) [0|10.2] "kW"  XXX
-
-BO_ 2153381888 Control_Power_Liftgate_LS: 4 XXX
- SG_ FnshRrClsrMtnBfrDrvIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrClsrObstclDtctd : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrClsrInMtn : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrClosOpenSwActGroup : 4|3@0+ (1,0) [0|0] ""  XXX
- SG_ RrClosOpenSwAct : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrClosOpenSwActV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrWprInhbRq : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ GrgPrgMdCmpl : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ PwrLftgtInclAngGroup : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ PwrLftgtInclAngV : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ PwrLftgtInclAng : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ VehIncAngEst : 23|8@0+ (1,0) [0|255] "deg"  XXX
- SG_ PwrLftgtMotStat : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ VltActRrAccUnavlIO : 27|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149752832 Chassis_Information_LS: 8 XXX
- SG_ VehHghtStatGroup : 0|9@0+ (1,0) [0|0] ""  XXX
- SG_ VehHghtStatV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehHghtStat : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ IntBrkAssPreFilReq : 1|1@0+ (1,0) [0|1] "N/A"  XXX
- SG_ BksOvht : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ HalfSysFail : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkSysRedBrkTlltlReq : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ ABSAtv : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvlnCustStngAvlbl : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ StrCustStngAvlbl : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkBrkVDA : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ PowStVDA : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrDrCntVDA : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkSysVDA : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ SprTireSt : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ EPBSysAudWarnReq : 20|2@0+ (1,0) [0|3] ""  XXX
- SG_ EPBSysDspMsgReq : 23|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvlnCustCurrStngVal : 26|3@0+ (1,0) [0|7] ""  XXX
- SG_ StrCustCurrStngVal : 29|3@0+ (1,0) [0|7] ""  XXX
- SG_ SusCustStngAvlbl : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ EBDFailed : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ SusCustCurrStngVal : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ HillDscntCntlSysStat : 37|3@0+ (1,0) [0|7] ""  XXX
- SG_ ElecPrkBrkStat : 39|2@0+ (1,0) [0|3] ""  XXX
- SG_ HlStrAssActIO : 41|1@0+ (1,0) [0|1] ""  XXX
- SG_ ColPrSysStngAvl : 42|1@0+ (1,0) [0|1] ""  XXX
- SG_ GNCustSetngAvlbl : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ GNCustCrntStngVal : 47|3@0+ (1,0) [0|7] ""  XXX
- SG_ CPSInfotmntMtReq : 49|2@0+ (1,0) [0|3] ""  XXX
- SG_ ColPrSysCrntStng : 52|3@0+ (1,0) [0|7] ""  XXX
- SG_ SndEnhcmtPerfMdRq : 55|3@0+ (1,0) [0|7] ""  XXX
- SG_ DispPerfMdCsCrStVal : 58|3@0+ (1,0) [0|7] ""  XXX
- SG_ DispPerfMdCsStAvl : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ SndPerfMdCsCrStVal : 62|3@0+ (1,0) [0|7] ""  XXX
- SG_ SndPerfMdCsStAvl : 63|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151514112 Reset_OilLife_Request_LS: 1 XXX
- SG_ EngOilLfRstRq : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2158903296 ODIDynDataMultiRequest_AuxIP_LS: 8 XXX
- SG_ ODIDynDataMltRq_AuxIP : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODDMA_DataID2Vld : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMA_DataID3Vld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMA_DataID4Vld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMA_DataID5Vld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMA_ReqType : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ ODDMA_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMA_DispMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMA_DataID1 : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMA_DataID2 : 39|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMA_DataID3 : 47|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMA_DataID4 : 55|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMA_DataID5 : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2158911488 ODIDynDataMultiReq_CntrStack_LS: 8 XXX
- SG_ ODIDynDataMltRq_CntrStck : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODDMC_DataID2Vld : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMC_DataID3Vld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMC_DataID4Vld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMC_DataID5Vld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMC_ReqType : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ ODDMC_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMC_DispMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMC_DataID1 : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMC_DataID2 : 39|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMC_DataID3 : 47|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMC_DataID4 : 55|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMC_DataID5 : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2158919680 ODIDynDataMultiRequest_IPC_LS: 8 XXX
- SG_ ODIDynDataMltRq_IPC : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODDMI_DataID2Vld : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMI_DataID3Vld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMI_DataID4Vld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMI_DataID5Vld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ODDMI_ReqType : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ ODDMI_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMI_DispMID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMI_DataID1 : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMI_DataID2 : 39|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMI_DataID3 : 47|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMI_DataID4 : 55|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODDMI_DataID5 : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2151825408 Outside_Air_Temperature_LS: 3 XXX
- SG_ OtsAirTmpCrValGroup : 0|9@0+ (1,0) [0|0] ""  XXX
- SG_ OtsAirTmpCrValV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ OtsAirTmpCrVal : 15|8@0+ (0.5,-40) [-40|87.5] "deg C"  XXX
- SG_ OtsAirTmpGroup : 1|18@0+ (1,0) [0|0] ""  XXX
- SG_ OtsAirTmpV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ OtsAirTmp : 23|8@0+ (0.5,-40) [-40|87.5] "deg C"  XXX
- SG_ OtsAirTmpCrValMsk : 2|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151153664 Rear_Window_Defog_Status_LS: 1 XXX
- SG_ RrWndDfgOn : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151170048 Trailer_Status_LS: 2 XXX
- SG_ TrlrHtchSwAtv : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrBrkLtFld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrFgLtFld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrRvsLtFld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrTlLtFld : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrFgLtPrs : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlrRtTrInLtFld : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrlLfTrInLtFld : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftSecTrnIndFld : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtSecTrnIndFld : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ DisRrPrmryLmps : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLftPrkLmpFld : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRPrkLmpFld : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrEndCrrStat : 13|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151841792 Wipe_Wash_Status_LS: 1 XXX
- SG_ TurnWprIntIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RnSnsActIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RnSnsOffIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ WSWprAct : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ HtdFrntWSSt : 4|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154995712 Air_Conditioning_Comp_Type_LS: 1 XXX
- SG_ HVHtrOvrTmpIndOn : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVHtrFldIO : 4|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154094592 Adjustable_Pedal_Motion_Inh_LS: 8 XXX
- SG_ AdjPdlMotInhbtd : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ IntDimSeldAnmTypStVal : 4|4@0+ (1,0) [0|15] ""  XXX
- SG_ IntDimSeldClrTypStVal : 12|5@0+ (1,0) [0|31] ""  XXX
- SG_ IntDimAnmTypAvl : 22|15@0+ (1,0) [0|0] ""  XXX
- SG_ IDATA_AnmTyp6Avl : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp5Avl : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp4Avl : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp3Avl : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp2Avl : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp1Avl : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_OffAvl : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp14Avl : 24|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp13Avl : 25|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp12Avl : 26|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp11Avl : 27|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp10Avl : 28|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp9Avl : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp8Avl : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDATA_AnmTyp7Avl : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ IntDimClrTypAvl : 38|31@0+ (1,0) [0|0] ""  XXX
- SG_ IDCTA_ClrTyp6Avl : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp5Avl : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp4Avl : 34|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp3Avl : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp2Avl : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp1Avl : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_OffAvl : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp14Avl : 40|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp13Avl : 41|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp12Avl : 42|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp11Avl : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp10Avl : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp9Avl : 45|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp8Avl : 46|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp7Avl : 47|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp22Avl : 48|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp21Avl : 49|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp20Avl : 50|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp19Avl : 51|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp18Avl : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp17Avl : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp16Avl : 54|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp15Avl : 55|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp30Avl : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp29Avl : 57|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp28Avl : 58|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp27Avl : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp26Avl : 60|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp25Avl : 61|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp24Avl : 62|1@0+ (1,0) [0|1] ""  XXX
- SG_ IDCTA_ClrTyp23Avl : 63|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149711872 ACC_YawRate_Information_LS: 8 XXX
- SG_ ACCDrvrSeltdSpd : 3|12@0+ (0.0625,0) [0|255.9375] "km / h"  XXX
- SG_ AdapCrsCntVDA : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCAct370 : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsCntlDrSelSpdAct : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ CrsSpdLmtrDrvSelSpd : 19|12@0+ (0.0625,0) [0|255.9375] "km / h"  XXX
- SG_ ACCHdwyStg : 22|3@0+ (1,0) [0|7] ""  XXX
- SG_ FwdClnAlrtPr : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehDynYawRateGroup : 36|13@0+ (1,0) [0|0] ""  XXX
- SG_ VehDynYawRate : 35|12@0- (0.0625,0) [-128|127.9375] "deg/sec"  XXX
- SG_ VehDynYawRateV : 36|1@0+ (1,0) [0|1] ""  XXX
- SG_ SpdLmtrSpdWrngEnbld : 37|1@0+ (1,0) [0|1] ""  XXX
- SG_ SpdLmtrSpdWrngAct : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ FwdClnAlrtOffIO : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ FwdObjAlrtInd : 48|9@0+ (1,0) [0|0] ""  XXX
- SG_ FOAI_AlrtChmIhbRq : 48|1@0+ (1,0) [0|1] ""  XXX
- SG_ FOAI_AlrtWrnIndRq : 59|4@0+ (1,0) [0|15] ""  XXX
- SG_ FOAI_VehAhdIndRq : 63|4@0+ (1,0) [0|15] ""  XXX
- SG_ AutoMdSpdLmtStat : 50|2@0+ (1,0) [0|3] ""  XXX
- SG_ ACCAutoSetSpdStat : 52|2@0+ (1,0) [0|3] ""  XXX
- SG_ SetSpdLmtRchd : 54|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2153979904 BulbOutage_LS: 2 XXX
- SG_ CHMSLFld : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ FLTrnIndLtFld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ FRTrnIndLtFld : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftBrkLtFld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftLwBmFld : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftPrkLtFld : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ LicPltLtFld : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ RLTrnIndLtFld : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ RRTrnIndLtFld : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtBrkLtFld : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtLwBmFld : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtPrkLtFld : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ RFgLtFld : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ RvsLtFld : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftDytmRunLmpFld : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtDytmRunLmpFld : 15|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150154240 Passive_Entry_Reply_LS: 8 XXX
- SG_ PsvEntVehIdExt : 7|32@0+ (1,0) [0|4294967295] ""  XXX
- SG_ PsvEntChlngRply : 39|32@0+ (1,0) [0|4294967295] "passwrd"  XXX
-
-BO_ 2155003904 Side_Blind_Zone_Alert_Status: 2 XXX
- SG_ SBZASysClnIndOn : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ SBZASysOffIndOn : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ SBZASysSrvIndOn : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ SBZATmpUnvIndOn : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftLnChgThrt : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ LfLnChngThrtAprchSpd : 15|8@0- (1,0) [-128|127] "km/h"  XXX
-
-BO_ 2150817792 Airbag_Impact_Data_5: 3 XXX
- SG_ ImpMaxLateralDeltaVel : 7|8@0- (1,0) [-128|127] ""  XXX
- SG_ ImpMaxLongDeltaVel : 15|8@0- (1,0) [-128|127] ""  XXX
- SG_ ImpTimeToMaxDeltaVel : 23|8@0+ (10,0) [0|2550] "ms"  XXX
-
-BO_ 2150227968 Phone_Speech_Rec_Status_LS: 1 XXX
- SG_ PhnSpRcgnApSt : 1|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2162982912 VIN_Digits_10_to_17: 8 XXX
- SG_ VehIdNmDig10_17 : 7|64@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2162966528 VIN_Digits_2_to_9: 8 XXX
- SG_ VehIdNmDig2_9 : 7|64@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151497728 Tire_Pressure_Sensors_LS: 6 XXX
- SG_ TireLFPrsGroup : 0|17@0+ (1,0) [0|0] ""  XXX
- SG_ TireLFPrsV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TireLFPrs : 23|8@0+ (4,0) [0|1020] "kPaG"  XXX
- SG_ TireRFPrsGroup : 1|34@0+ (1,0) [0|0] ""  XXX
- SG_ TireRFPrsV : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TireRFPrs : 39|8@0+ (4,0) [0|1020] "kPaG"  XXX
- SG_ TireLFPrsStat : 4|3@0+ (1,0) [0|7] ""  XXX
- SG_ TireRFPrsStat : 7|3@0+ (1,0) [0|7] ""  XXX
- SG_ TireLRPrsGroup : 8|17@0+ (1,0) [0|0] ""  XXX
- SG_ TireLRPrsV : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ TireLRPrs : 31|8@0+ (4,0) [0|1020] "kPaG"  XXX
- SG_ TireRRPrsGroup : 9|34@0+ (1,0) [0|0] ""  XXX
- SG_ TireRRPrsV : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ TireRRPrs : 47|8@0+ (4,0) [0|1020] "kPaG"  XXX
- SG_ TireLRPrsStat : 12|3@0+ (1,0) [0|7] ""  XXX
- SG_ TireRRPrsStat : 15|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2151219200 Remote_Start_Status: 1 XXX
- SG_ RemStrtSt : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RmVehStrRq : 1|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2153775104 DTC_Triggered: 7 XXX
- SG_ DTCInfo : 7|56@0+ (1,0) [0|0] ""  XXX
- SG_ DTCI_DTCTriggered : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCIUnused1 : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCIUnused2 : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCIUnused3 : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCIUnused4 : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCIUnused5 : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCIUnused6 : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCIUnused7 : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_DTCSource : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ DTCI_DTCNumber : 23|16@0+ (1,0) [0|65535] ""  XXX
- SG_ DTCI_DTCFailType : 39|8@0+ (1,0) [0|255] ""  XXX
- SG_ DTCI_CodeSupported : 40|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_CurrentStatus : 41|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_TstNPsdCdClrdSt : 42|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_TstFldCdClrdStat : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_HistStat : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_TstNPsdPwrUpSt : 45|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_TstFldPwrUpSt : 46|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_WrnIndRqdSt : 47|1@0+ (1,0) [0|1] ""  XXX
- SG_ DTCI_DTCFaultType : 55|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2151235584 Vehicle_Theft_Notification_Stat: 5 XXX
- SG_ DrIdDevLrnd : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehSecSysFldIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ VTDTmprDetected : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ EhnSrvEngImmStat : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ IllDrIdDevDtctd : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlcKyIIncmIndOn : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehSecStrgColLckPwdGroup : 6|31@0+ (1,0) [0|0] ""  XXX
- SG_ VehSecStrgColLckPwdV : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehSecStrgColLckPwd : 23|16@0+ (1,0) [0|65535] ""  XXX
- SG_ VehSecAuthnSesComp : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ VhSecNImmoIndRq : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ StrgColLckCmd : 11|2@0+ (1,0) [0|3] ""  XXX
- SG_ NmofPrgKFbExtd : 15|4@0+ (1,0) [0|15] ""  XXX
- SG_ VehStatStAtv : 32|1@0+ (1,0) [0|1] ""  XXX
- SG_ EhnSrvImmbComRst : 33|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClmSysBkupFlrIndOn : 34|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150809600 Airbag_Impact_Data_4: 8 XXX
- SG_ ImpDltVlcSamp12 : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS12_Axis1 : 7|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS12_Axis2 : 15|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp13 : 23|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS13_Axis1 : 23|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS13_Axis2 : 31|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp14 : 39|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS14_Axis1 : 39|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS14_Axis2 : 47|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp15 : 55|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS15_Axis1 : 55|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS15_Axis2 : 63|8@0- (1,0) [-128|127] "counts"  XXX
-
-BO_ 2150793216 Airbag_Impact_Data_2: 8 XXX
- SG_ ImpDltVlcSamp4 : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS4_Axis1 : 7|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS4_Axis2 : 15|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp5 : 23|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS5_Axis1 : 23|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS5_Axis2 : 31|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp6 : 39|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS6_Axis1 : 39|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS6_Axis2 : 47|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp7 : 55|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS7_Axis1 : 55|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS7_Axis2 : 63|8@0- (1,0) [-128|127] "counts"  XXX
-
-BO_ 2150801408 Airbag_Impact_Data_3: 8 XXX
- SG_ ImpDltVlcSamp8 : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS8_Axis1 : 7|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS8_Axis2 : 15|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp9 : 23|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS9_Axis1 : 23|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS9_Axis2 : 31|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp10 : 39|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS10_Axis1 : 39|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS10_Axis2 : 47|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp11 : 55|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS11_Axis1 : 55|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS11_Axis2 : 63|8@0- (1,0) [-128|127] "counts"  XXX
-
-BO_ 2150785024 Airbag_Impact_Data_1: 8 XXX
- SG_ ImpDltVlcScal : 7|8@0+ (0.00245,0.706) [0.706|1.33075] "kph/cnt"  XXX
- SG_ AirbgAccelOrien : 10|3@0+ (45,0) [0|315] "deg"  XXX
- SG_ ImpDltVlcSamp1 : 23|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS1_Axis1 : 23|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS1_Axis2 : 31|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp2 : 39|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS2_Axis1 : 39|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS2_Axis2 : 47|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ ImpDltVlcSamp3 : 55|16@0+ (1,0) [0|0] ""  XXX
- SG_ IDVS3_Axis1 : 55|8@0- (1,0) [-128|127] "counts"  XXX
- SG_ IDVS3_Axis2 : 63|8@0- (1,0) [-128|127] "counts"  XXX
-
-BO_ 2151202816 Rear_Window_Defog_Inhibit: 5 XXX
- SG_ RrWndDfgInhRq : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrWndDfgSwAtv : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ ILSSCommErr : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ IPSnsrRwSolrIntFltd : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ IPSnsrSolrAnglFltd : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ IPSnsrTpCvrTempFltd : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ AuxHtrAlwd : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ IPSnsrRwSolrInt : 15|8@0+ (3,0) [0|765] "W/m2"  XXX
- SG_ IPSnsrSolrAzmthAngl : 23|8@0+ (2,-180) [-180|330] "deg"  XXX
- SG_ IPSnsrSolrElvtnAngl : 31|8@0+ (1,0) [0|255] "deg"  XXX
- SG_ IPSnsrTpCvrTemp : 39|8@0+ (0.5,-40) [-40|87.5] "deg C"  XXX
-
-BO_ 2150825984 Airbag_Indications: 6 XXX
- SG_ FsnDrvStbltIC : 7|8@0+ (1,0) [0|0] ""  XXX
- SG_ FDSIC_IndPer : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ FDSIC_IndDC : 6|3@0+ (12.5,12.5) [12.5|100] "%"  XXX
- SG_ FDSIC_IO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ FsnPsngStbltIC : 15|8@0+ (1,0) [0|0] ""  XXX
- SG_ FPSIC_IndPer : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ FPSIC_IndDtCyc : 14|3@0+ (12.5,12.5) [12.5|100] "%"  XXX
- SG_ FPSIC_IO : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ AirbgIC : 23|8@0+ (1,0) [0|0] ""  XXX
- SG_ AirbgICIndPer : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ AirbgICDutCyc : 22|3@0+ (12.5,12.5) [12.5|100] "%"  XXX
- SG_ AirbgICIO : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ FstnSndRwLtPsStbtInR : 25|2@0+ (1,0) [0|3] ""  XXX
- SG_ FstnSndRwCtPsStbtInR : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ FstnSndRwRtPsStbtInR : 29|2@0+ (1,0) [0|3] ""  XXX
- SG_ FsnDrStbAuxIR : 31|2@0+ (1,0) [0|3] ""  XXX
- SG_ FsnPsStbAuxIR : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ AirbgFldIO : 35|1@0+ (1,0) [0|1] ""  XXX
- SG_ SndRwStbltRdIndMd : 37|2@0+ (1,0) [0|3] ""  XXX
- SG_ FstnThrdRwCtPsStbtInR : 39|2@0+ (1,0) [0|3] ""  XXX
- SG_ FstnThrdRwRtPsStbtInR : 41|2@0+ (1,0) [0|3] ""  XXX
- SG_ FstnThrdRwLtPsStbtInR : 43|2@0+ (1,0) [0|3] ""  XXX
- SG_ SrvIntdPdstProtSysIO : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ PdstIntdProtSysDsbld : 45|1@0+ (1,0) [0|1] ""  XXX
- SG_ PdstIntdProtSysDplyd : 46|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151759872 Door_Lock_Command: 4 XXX
- SG_ CntrlLckRqwExtActFun : 9|18@0+ (1,0) [0|0] ""  XXX
- SG_ CLRAF_Unl_Lk : 9|3@0+ (1,0) [0|7] ""  XXX
- SG_ CLRAF_FuelD : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_RrCls : 17|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_Hd : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_RLD : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_RRD : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_PD : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_DD : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_ActFunc : 28|5@0+ (1,0) [0|31] ""  XXX
- SG_ CLRAF_UnandRsv3 : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_UnandRsv2 : 30|1@0+ (1,0) [0|1] ""  XXX
- SG_ CLRAF_UnandRsv1 : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrClsRelRq : 10|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149974016 Content_Theft_Sensor_Status: 3 XXX
- SG_ SrvAlrmSysIO : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ IntrSnsDisbld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgDrvDr : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgPsngDr : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgRrRtDr : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgRrLftDr : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrigTonn : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgTrnk : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgTltSns : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgIntMvmntSns : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrggrdBattRcnctd : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgGlsBrkSns : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgNonOffPM : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrigMidClsr : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmTrgdIO : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ AlrmStat : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ AlrmTrgHd : 21|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2151907328 Steering_Wheel_Control_Switches: 1 XXX
- SG_ StrgWhlUnit1SwStat : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ StrgWhlUnit2SwStat : 7|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2150219776 Voice_Recognition_Status: 1 XXX
- SG_ PhnSpRcgnRq : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ VcRecVcFdbckSt : 3|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2152685568 Radiomarks_Response: 8 XXX
- SG_ RadBrdcstSrc : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ RadConInfReqSrc : 7|4@0+ (1,0) [0|15] ""  XXX
- SG_ RadConInfCmd : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ RadConInfID : 31|40@0+ (1,0) [0|1099511627775] ""  XXX
-
-BO_ 2151874560 Vehicle_Theft_Notify_Reset_Req: 8 XXX
- SG_ EhnSrvEngImmbCom : 0|57@0+ (1,0) [0|0] ""  XXX
- SG_ ESEIC_EngImmbRq : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ESEIC_EngImRqPsw : 15|56@0+ (1,0) [0|1] ""  XXX
- SG_ RstVTDTmprDtctd : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ RstIllDrIdDevDtctd : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ RstDrIdDevLrnd : 3|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150268928 GPS_Date_and_Time_LS: 6 XXX
- SG_ CldrYr_154 : 7|8@0+ (1,2000) [2000|2255] "year"  XXX
- SG_ CldrMth_154 : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ CldrDay_154 : 20|5@0+ (1,0) [0|31] "days"  XXX
- SG_ HrsGroup : 29|6@0+ (1,0) [0|0] ""  XXX
- SG_ Hrs : 28|5@0+ (1,0) [0|31] "h"  XXX
- SG_ HrsV : 29|1@0+ (1,0) [0|1] ""  XXX
- SG_ MinsGroup : 38|7@0+ (1,0) [0|0] ""  XXX
- SG_ Mins : 37|6@0+ (1,0) [0|63] "min"  XXX
- SG_ MinsV : 38|1@0+ (1,0) [0|1] ""  XXX
- SG_ SecGroup : 46|7@0+ (1,0) [0|0] ""  XXX
- SG_ Sec : 45|6@0+ (1,0) [0|63] "s"  XXX
- SG_ SecV : 46|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150137856 RFA_Status_LS: 3 XXX
- SG_ FobPrevLrndIndOn : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ Ky_IdDevNotPrIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ FbProgCustActRqd : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ KeyInWrnIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehSecAtoLrnAtv : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ Ky_IdDevPrgmAuthReq : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ LMTTCPrsnOffStat : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehSecAtoLrnDlyTmr : 12|5@0+ (1,0) [0|31] "min"  XXX
- SG_ FldTpMotReq : 15|3@0+ (1,0) [0|7] ""  XXX
- SG_ RemCtrlFobNumForProgER : 19|4@0+ (1,0) [0|15] ""  XXX
-
-BO_ 2151677952 Chime_Command: 5 XXX
- SG_ SndChrs : 3|28@0+ (1,0) [0|0] ""  XXX
- SG_ SC_SndTne : 3|4@0+ (1,0) [0|15] ""  XXX
- SG_ SC_SndCdnPrd : 15|8@0+ (10,0) [0|2550] "ms"  XXX
- SG_ SC_NmofRp : 23|8@0+ (1,0) [0|255] "reps"  XXX
- SG_ SC_SndDutCyc : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ SndLoc : 7|4@0+ (1,0) [0|0] ""  XXX
- SG_ SndLocRtRr : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ SndLocLftRr : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ SndLocPasFr : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ SndLocDrFr : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ SndPriority : 39|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2150776832 Airbag_Status: 6 XXX
- SG_ ShfUlkBrToShftIndCtrl : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ShftLkdBuStbltIndCtrl : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ SbItlkTrnsShftLvLkRd : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ MmryRclImpctDisRq : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ EvntEnbld : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ SftyMuteRd : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ HybVehHiVltInvDisRqd : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ HybImpSnsDsbld : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ SIREvntSychCntr : 23|16@0+ (1,0) [0|65535] ""  XXX
- SG_ FrPsngrStOccSnsngPriDat : 39|16@0+ (1,0) [0|39321] ""  XXX
-
-BO_ 2150760448 Airbag_Impact_Data: 8 XXX
- SG_ SIRDpl : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ NotPsSeatStat : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotDrvSeatStat : 7|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotSecRowRtSeaOccStat : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotSndRwMdlSeatStat : 11|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotSndRwRtSeatStat : 13|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotSndRwLtSeatStat : 15|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotEventStat : 17|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotSecRowLeSeaOccStat : 25|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotSecRowCtSeaOccStat : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ NotiFrntPasSeatOccSta : 34|3@0+ (1,0) [0|7] ""  XXX
- SG_ NoEvDeLoSt : 46|7@0+ (1,0) [0|0] ""  XXX
- SG_ NEDLSSdCrtnArbgDpld : 40|1@0+ (1,0) [0|1] ""  XXX
- SG_ NEDLSRtSdArbgDld : 41|1@0+ (1,0) [0|1] ""  XXX
- SG_ NEDLSLtSdArbgDld : 42|1@0+ (1,0) [0|1] ""  XXX
- SG_ NEDLSPaFrSt2De : 43|1@0+ (1,0) [0|1] ""  XXX
- SG_ NEDLSPaFrSt1De : 44|1@0+ (1,0) [0|1] ""  XXX
- SG_ NEDLSDrFrSt2De : 45|1@0+ (1,0) [0|1] ""  XXX
- SG_ NEDLSDrFrSt1De : 46|1@0+ (1,0) [0|1] ""  XXX
- SG_ NoEvSevSt : 54|7@0+ (1,0) [0|0] ""  XXX
- SG_ NESSRoSevSt : 48|1@0+ (1,0) [0|1] ""  XXX
- SG_ NESSRiSiSevSt : 49|1@0+ (1,0) [0|1] ""  XXX
- SG_ NESSReImpSevSt : 50|1@0+ (1,0) [0|1] ""  XXX
- SG_ NESSLeSiSevSt : 51|1@0+ (1,0) [0|1] ""  XXX
- SG_ NESSFrImpSt2SevSt : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ NESSFrImpSt1SevSt : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ NESSFrImpPreSevSt : 54|1@0+ (1,0) [0|1] ""  XXX
- SG_ NotiEventCount : 63|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2155872256 Fuel_Information: 6 XXX
- SG_ FlLvlPctGroup : 0|9@0+ (1,0) [0|0] ""  XXX
- SG_ FlLvlPctV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ FlLvlPct : 15|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ FlInjRlCtRstOcc : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ FuelFltChgNwIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ DrvStyPerfMdCsCrStVal : 5|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvStyPerfMdCsStAvl : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ RdWhlAngGroup : 23|8@0+ (1,0) [0|0] ""  XXX
- SG_ RdWhlAng : 22|7@0+ (0.703125,-45) [-45|44.296875] "deg"  XXX
- SG_ RdWhlAngV : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehPitchAngleGroup : 31|8@0+ (1,0) [0|0] ""  XXX
- SG_ VehPitchAngle : 30|7@0+ (0.703125,-45) [-45|44.296875] "deg"  XXX
- SG_ VehPitchAngleV : 31|1@0+ (1,0) [0|1] ""  XXX
- SG_ FlInjRlCt : 39|16@0+ (3.05176E-005,0) [0|1.999970916] "liters"  XXX
-
-BO_ 2156175360 Display_Measurement_System_LS: 1 XXX
- SG_ DispMeasSysExt : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ DispMeasSys : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ NtVsnSysEnbld : 3|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149859328 System_Power_Mode_Backup_LS: 1 XXX
- SG_ SysBkupPwrMdEn : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ SysBkUpPwrMdGroup : 3|4@0+ (1,0) [0|0] ""  XXX
- SG_ SysBkUpPwrMd : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ SysBkUpPwrMdV : 3|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2158854144 ODIAction_IPC_LS: 8 XXX
- SG_ ODIActn_IPC : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODIAI_DaTy : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODIAI_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAI_ActnID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAI_DspMID : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAI_ActnVal : 39|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2158837760 ODIAction_AuxIP_LS: 8 XXX
- SG_ ODIActn_AxIP : 5|62@0+ (1,0) [0|0] ""  XXX
- SG_ ODIAA_DaTy : 5|6@0+ (1,0) [0|63] ""  XXX
- SG_ ODIAA_FUCID : 15|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAA_ActnID : 23|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAA_DspMID : 31|8@0+ (1,0) [0|255] ""  XXX
- SG_ ODIAA_ActnVal : 39|32@0+ (1,0) [0|4294967295] ""  XXX
-
-BO_ 2159091712 ODI_IPC_2_TEL_LS: 8 XXX
- SG_ ODI_IPC2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2154561536 Vehicle_Odo_LS: 5 XXX
- SG_ VehOdoGroup : 7|40@0+ (1,0) [0|0] ""  XXX
- SG_ VehOdo : 7|32@0+ (0.015625,0) [0|67108863.984375] "km"  XXX
- SG_ VehOdoV : 32|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149908480 Brake_Pedal_Status_LS: 2 XXX
- SG_ BrkPedInitTrvlAchvdStat : 1|2@0+ (1,0) [0|0] ""  XXX
- SG_ BrkPedTrvlAchvdV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkPedTrvlAchvd : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkPdlModTrvlGroup : 3|2@0+ (1,0) [0|0] ""  XXX
- SG_ BrkPdlModTrvl : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkPdlModTrvlV : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkPdlPos : 15|8@0+ (0.392157,0) [0|100.000035] "% full"  XXX
-
-BO_ 2151268352 Column_Lock_Status: 1 XXX
- SG_ ClmnLckTT : 1|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2150604800 Right_Rear_Door_Status: 1 XXX
- SG_ RRDoorAjarSwAct : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150588416 Passenger_Door_Status_LS: 1 XXX
- SG_ PDAjrSwAtv : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150596608 Left_Rear_Door_Status: 1 XXX
- SG_ RLDoorAjarSwAct : 0|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2155036672 Climate_Control_General_Status: 6 XXX
- SG_ ACCompNormLdGroup : 0|9@0+ (1,0) [0|0] ""  XXX
- SG_ ACCompNormLdV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCompNormLd : 15|8@0+ (0.1,0) [0|25.5] "l/min"  XXX
- SG_ ACCmEngRunReq : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCmpsrFldOn : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACCompModReq : 5|2@0+ (1,0) [0|3] ""  XXX
- SG_ ClmtCtrlTrgtTemp : 17|10@0+ (0.1,-10) [-10|92.3] "deg C"  XXX
-
-BO_ 2150424576 Engine_Information_3_LS: 8 XXX
- SG_ TrnsEngdStateGroup : 2|3@0+ (1,0) [0|0] ""  XXX
- SG_ TrnsEngdState : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ TrnsEngdStateV : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACRfHiSdFldPrsGroup : 3|20@0+ (1,0) [0|0] ""  XXX
- SG_ ACRfHiSdFldPrsV : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACRfHiSdFldPrs : 23|8@0+ (14,0) [0|3570] "kPaG"  XXX
- SG_ ACCompCmnd : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrAxlELSDCplLwResGroup : 5|46@0+ (1,0) [0|0] ""  XXX
- SG_ RrAxlELSDCplLwResV : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrAxlELSDCplLwRes : 47|8@0+ (10,0) [0|2550] "Nm"  XXX
- SG_ EngAirIntBstPrGroup : 6|39@0+ (1,0) [0|0] ""  XXX
- SG_ EngAirIntBstPrV : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngAirIntBstPr : 39|8@0- (1,0) [-128|127] "kPaG"  XXX
- SG_ ExtHlStrAssCsStAvl : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnsRngInhbtStat : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ DrvtShftCntrlTrgtGear : 14|4@0+ (1,0) [0|15] ""  XXX
- SG_ ACCmpNrmLdGrdAld : 31|8@0+ (0.1,0) [0|25.5] "dm3/m/s"  XXX
- SG_ EngTrqDrRqdExtRngGroup : 52|13@0+ (1,0) [0|0] ""  XXX
- SG_ EngTrqDrRqdExtRng : 51|12@0+ (0.5,-848) [-848|1199.5] "Nm"  XXX
- SG_ EngTrqDrRqdExtRngV : 52|1@0+ (1,0) [0|1] ""  XXX
- SG_ ExtHlStrAssCsCrStVal : 55|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2150416384 Engine_Information_2_LS: 8 XXX
- SG_ EngBstPrsIndGroup : 0|33@0+ (1,0) [0|0] ""  XXX
- SG_ EngBstPrsIndV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngBstPrsInd : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ VaccBoostFailure : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ GenFld : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngSpdLmtnMdAct : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ PTWrmgWtToShftIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngNEmsnsRelMalfAct : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngCstFlCutAct : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngRunAtv : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngIdlAtv : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehTopSpdLmtMdAct : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngCylDeactMd : 15|2@0+ (1,0) [0|3] ""  XXX
- SG_ TransEstGearGroup : 20|5@0+ (1,0) [0|0] ""  XXX
- SG_ TransEstGear : 19|4@0+ (1,0) [0|15] ""  XXX
- SG_ TransEstGearV : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngTrqActExtRngGroup : 21|46@0+ (1,0) [0|0] ""  XXX
- SG_ EngTrqActExtRngV : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngTrqActExtRng : 51|12@0+ (0.5,-848) [-848|1199.5] "Nm"  XXX
- SG_ EngVDA : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnsVDA : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngCoolFanSpd : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ VehTopSpdLmtArbVal : 47|8@0+ (2,0) [0|510] "km / h"  XXX
- SG_ EngSpdStat : 53|2@0+ (1,0) [0|3] ""  XXX
- SG_ RmVhStrtEngRng : 54|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnCrpMdAtv : 55|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2150408192 Engine_Information_1_LS: 8 XXX
- SG_ TrnsSftMdStat : 2|3@0+ (1,0) [0|7] ""  XXX
- SG_ ThrPosGroup : 3|36@0+ (1,0) [0|0] ""  XXX
- SG_ ThrPosV : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ ThrPos : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ AccActPosGroup : 4|45@0+ (1,0) [0|0] ""  XXX
- SG_ AccActPosV : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ AccActPos : 47|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ ElcRngSelDrvAct : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ TmpDrvrShftCtlAct : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ AccPdlOvrrdAtv : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnShftPtrnActStat : 10|3@0+ (1,0) [0|7] ""  XXX
- SG_ TransTUDMdStat : 12|2@0+ (1,0) [0|3] ""  XXX
- SG_ Eng12vStrtrMtrCmmdOn : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ EngRunng : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnsShftLvrPosGroup : 15|48@0+ (1,0) [0|0] ""  XXX
- SG_ TrnsShftLvrPosV : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnsShftLvrPos : 51|4@0+ (1,0) [0|15] ""  XXX
- SG_ EngSpd : 23|16@0+ (0.25,0) [0|16383.75] "rpm"  XXX
- SG_ AutoTransComndGear : 55|4@0+ (1,0) [0|15] ""  XXX
- SG_ CrsCntEnbld : 56|1@0+ (1,0) [0|1] ""  XXX
- SG_ CltStartSwAtvGroup : 58|2@0+ (1,0) [0|0] ""  XXX
- SG_ CltStartSwAtv : 57|1@0+ (1,0) [0|1] ""  XXX
- SG_ CltStartSwAtvV : 58|1@0+ (1,0) [0|1] ""  XXX
- SG_ TopTrvlCltchSwActGroup : 60|2@0+ (1,0) [0|0] ""  XXX
- SG_ TopTrvlCltchSwAct : 59|1@0+ (1,0) [0|1] ""  XXX
- SG_ TopTrvlCltchSwActV : 60|1@0+ (1,0) [0|1] ""  XXX
- SG_ AdptPsngrSeatStng : 63|3@0+ (1,0) [0|7] ""  XXX
-
-BO_ 2155954176 Climate_Control_Basic_Status_LS: 4 XXX
- SG_ ACHtIdleBstLevReq : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ ClimCtrlAftBlowModActv : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ AirCndActIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClmCntlExtDefActIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClntCircPmpRq : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ ClmCntFrBlwFnSp : 15|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ AirCndCmptLdEst : 23|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ ClmCntRrBlwFnSp : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
-
-BO_ 2153971712 Driver_Door_Status: 1 XXX
- SG_ LftglsAjrSwAct : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ LftglsRelSwAct : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ DDAjrSwAtvGroup : 7|8@0+ (1,0) [0|0] ""  XXX
- SG_ DDAjrSwAtv : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DDAjrSwAtvM : 7|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149875712 Battery_Voltage: 7 XXX
- SG_ BatVltGroup : 0|17@0+ (1,0) [0|0] ""  XXX
- SG_ BatVltV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ BatVlt : 23|8@0+ (0.1,3) [3|28.5] "volts"  XXX
- SG_ BatSaverIO : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ SrvBattChrgSysIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ BatSOCGroup : 3|28@0+ (1,0) [0|0] ""  XXX
- SG_ BatSOCV : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ BatSOC : 31|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ BattStOfChrgCrtyLow : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ IntlgntBattSnsFldIO : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ BattStOfChrgLowIO : 6|1@0+ (1,0) [0|1] ""  XXX
- SG_ DCCnvStblznErrIO : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ EnrgMgtLdShdRq : 11|4@0+ (1,0) [0|15] ""  XXX
- SG_ BattVltIRq : 13|2@0+ (1,0) [0|3] ""  XXX
- SG_ PwrMdOffBattSOC : 39|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ BattCrntFltrd : 47|8@0- (0.5,0) [-64|63.5] "A"  XXX
- SG_ BatSvrMdSevLvl : 55|8@0+ (1,0) [0|255] ""  XXX
-
-BO_ 2151186432 Auto_High_Beam_Status: 1 XXX
- SG_ AutoBmSlctStat : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ CtLghtDet : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ AutoHgBmCtrlInOn : 3|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2149629952 Lighting_Status_LS: 5 XXX
- SG_ OtsdAmbtLtLvlStatGroup : 0|23@0+ (1,0) [0|0] ""  XXX
- SG_ OtsdAmbtLtLvlStatV : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ OtsdAmbtLtLvlStat : 27|2@0+ (1,0) [0|3] ""  XXX
- SG_ DRLAct : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ HazSwAtv : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkLtLeftIO : 3|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkLtRightIO : 4|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrnSwAct : 6|2@0+ (1,0) [0|3] ""  XXX
- SG_ FrFogLmpsAct : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkLtLeftOn : 8|1@0+ (1,0) [0|1] ""  XXX
- SG_ FrFgLtIO : 9|1@0+ (1,0) [0|1] ""  XXX
- SG_ AutoLtsInactIO : 10|1@0+ (1,0) [0|1] ""  XXX
- SG_ AutoLtsActIO : 11|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrFgLtIO : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ HiBmIO : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkLtIO : 14|1@0+ (1,0) [0|1] ""  XXX
- SG_ BrkLtsAtv : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ FlToPsSwAtv : 16|1@0+ (1,0) [0|1] ""  XXX
- SG_ RevLmpAtv : 17|1@0+ (1,0) [0|1] "N/A"  XXX
- SG_ PrkngLtsAct : 18|1@0+ (1,0) [0|1] ""  XXX
- SG_ RrFogLmpsAct : 19|1@0+ (1,0) [0|1] ""  XXX
- SG_ HiBmReqd : 20|1@0+ (1,0) [0|1] ""  XXX
- SG_ AutoBmSlctAllwd : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ PrkLtRightOn : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ SrvlnceMdAct : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ RtTrnLmpAtv : 25|2@0+ (1,0) [0|3] ""  XXX
- SG_ LftTrnLmpAtv : 29|2@0+ (1,0) [0|3] ""  XXX
- SG_ MainLghtSw : 31|2@0+ (1,0) [0|3] "N/A"  XXX
- SG_ HdlmpBmSelectStat : 33|2@0+ (1,0) [0|3] ""  XXX
-
-BO_ 2149646336 Vehicle_Speed_Information: 8 XXX
- SG_ VehSpdAvgDrvnGroup : 7|16@0+ (1,0) [0|0] ""  XXX
- SG_ VehSpdAvgDrvn : 6|15@0+ (0.015625,0) [0|511.984375] "km / h"  XXX
- SG_ VehSpdAvgDrvnV : 7|1@0+ (1,0) [0|1] ""  XXX
- SG_ DstRolCntAvgDrnRstOc : 21|1@0+ (1,0) [0|1] ""  XXX
- SG_ DistRollCntAvgDrvnGroup : 22|15@0+ (1,0) [0|0] ""  XXX
- SG_ DistRollCntAvgDrvn : 20|13@0+ (0.125,0) [0|1023.875] "m"  XXX
- SG_ DistRollCntAvgDrvnV : 22|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehSpdAvgDrvnSrc : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ VehSpdAvgNDrvnGroup : 38|17@0+ (1,0) [0|0] ""  XXX
- SG_ VehSpdAvgNDrvn : 38|15@0+ (0.015625,0) [0|511.984375] "km / h"  XXX
- SG_ VehSpdAvgNDrvnV : 54|1@0+ (1,0) [0|1] ""  XXX
- SG_ DstRolCntAvgNonDrvnGroup : 39|32@0+ (1,0) [0|0] ""  XXX
- SG_ DstRolCntAvgNonDrvnV : 39|1@0+ (1,0) [0|1] ""  XXX
- SG_ DstRolCntAvgNonDrvn : 52|13@0+ (0.125,0) [0|1023.875] "m"  XXX
- SG_ DstRolCntAvNDrRstOc : 53|1@0+ (1,0) [0|1] ""  XXX
- SG_ DistRollCntAvgDrvnSrc : 55|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2154053632 Dimming_Information_LS: 3 XXX
- SG_ IntDimNtPnlAtv : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ DispNtSchmAtv : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ CargoLmpActIO : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ IntDimLvl : 15|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
- SG_ IntDimDspLvl : 23|8@0+ (0.392157,0) [0|100.000035] "%"  XXX
-
-BO_ 2149851136 System_Power_Mode_LS: 1 XXX
- SG_ SysPwrMdGroup : 2|3@0+ (1,0) [0|0] ""  XXX
- SG_ SysPwrMd : 1|2@0+ (1,0) [0|3] ""  XXX
- SG_ SysPwrMdV : 2|1@0+ (1,0) [0|1] ""  XXX
- SG_ KylsStrtAuthRq : 3|1@0+ (1,0) [0|1] ""  XXX
-
-BO_ 2159124480 ODI_AuxIP_2_TEL_LS: 8 XXX
- SG_ ODI_AxIP2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] ""  XXX
-
-BO_ 2151530496 TPM_Display_Commands: 6 XXX
- SG_ TPMTrLrnMdCmplt : 0|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrPrsMntrAtLocFld : 1|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrPrsMntrTrLdStat : 3|2@0+ (1,0) [0|3] ""  XXX
- SG_ TireTrdTmpStat : 6|3@0+ (1,0) [0|7] ""  XXX
- SG_ TrFrntAxlPresStat : 9|2@0+ (1,0) [0|3] ""  XXX
- SG_ TrRrAxlPresStat : 11|2@0+ (1,0) [0|3] ""  XXX
- SG_ WintTrRecIndOn : 12|1@0+ (1,0) [0|1] ""  XXX
- SG_ TrPrsMntrFld : 13|1@0+ (1,0) [0|1] ""  XXX
- SG_ TireLocatnWarnEn : 15|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVChgSyChgLvPfStRmt1 : 18|3@0+ (1,0) [0|7] ""  XXX
- SG_ StTODChrgTmpOvrdRmt1 : 20|2@0+ (1,0) [0|3] ""  XXX
- SG_ PrtyChrgRqRmt1 : 22|2@0+ (1,0) [0|3] ""  XXX
- SG_ OfBrdHVCVhCsChRqRmt1 : 23|1@0+ (1,0) [0|1] ""  XXX
- SG_ HVBatTmBsDlChStRqRmt1 : 28|21@0+ (1,0) [0|0] ""  XXX
- SG_ HVBTBDCSRR1_DChHStRq : 28|5@0+ (1,0) [0|31] "hr"  XXX
- SG_ HVBTBDCSRR1_DChSlSRq : 35|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBDCSRR1_DChDStRq : 39|4@0+ (1,0) [0|15] ""  XXX
- SG_ HVBTBDCSRR1_DChMHSRq : 45|6@0+ (1,0) [0|63] "min"  XXX
- SG_ HVBTBDCSRR1_DChSnSRq : 47|2@0+ (1,0) [0|3] ""  XXX
- SG_ HVBatTmBsChgMdRqRmt1 : 31|3@0+ (1,0) [0|7] ""  XXX
-
-
-
-BA_DEF_  "UseGMParameterIDs" INT 0 0;
-BA_DEF_  "ProtocolType" STRING ;
-BA_DEF_  "BusType" STRING ;
-BA_DEF_DEF_  "UseGMParameterIDs" 1;
-BA_DEF_DEF_  "ProtocolType" "GMLAN";
-BA_DEF_DEF_  "BusType" "";
-BA_ "ProtocolType" "GMLAN";
-BA_ "BusType" "CAN";
-
diff --git a/opendbc/gm_global_a_object.dbc b/opendbc/gm_global_a_object.dbc
index 1532e90dadac90..4643a640ac85f4 100644
--- a/opendbc/gm_global_a_object.dbc
+++ b/opendbc/gm_global_a_object.dbc
@@ -37,7 +37,7 @@ BU_: K109_FCM B233B_LRR NEO VIS_FO VIS2_FO K124_ASCM Vector__XXX EOCM_F_FO EOCM2
 VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ;
 VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected" 1 "New object" 0 "No object" ;
-VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
+VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currently stopped" 1 "Has never moved," 0 "Unknown" ;
 VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ;
 VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ;
 VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ;
diff --git a/opendbc/gm_global_a_powertrain.dbc b/opendbc/gm_global_a_powertrain.dbc
index 48611cfc736b90..ab23e95ce90fbd 100644
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@@ -72,8 +72,13 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
  SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
  SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
 
-BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
- SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
+BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
+ SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX
+ SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX
+ SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX
 
 BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
  SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO
@@ -116,7 +121,7 @@ BO_ 388 PSCMStatus: 8 K43_PSCM
  SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
  SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
 
-BO_ 417 AcceleratorPedal: 8 XXX
+BO_ 417 AcceleratorPedal: 7 XXX
  SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
 
 BO_ 451 GasAndAcc: 8 XXX
@@ -133,8 +138,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
- SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
- SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s"  NEO
 
 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
  SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
@@ -142,6 +147,22 @@ BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
  SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
  SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
 
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.135677,-85.47286) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.271354,-91.71359) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.135677,-85.47286) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.271354,-91.71359) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
 BO_ 560 EPBStatus: 8 EPB
  SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
 
@@ -163,14 +184,14 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 
 BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
- SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
+ SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond"  NEO
  SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
 
 BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
  SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
  SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 
-BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
+BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
  SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
  SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 
diff --git a/opendbc/honda_accord_2018_can_generated.dbc b/opendbc/honda_accord_2018_can_generated.dbc
new file mode 100644
index 00000000000000..1c78b38b611d12
--- /dev/null
+++ b/opendbc/honda_accord_2018_can_generated.dbc
@@ -0,0 +1,492 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _bosch_2018.dbc starts here";
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 13274 LKAS_HUD_A: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
+CM_ "honda_accord_2018_can.dbc starts here";
+
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 401 GEARBOX_15T: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/honda_accord_lx15t_2018_can_generated.dbc b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
deleted file mode 100644
index 00a01f6ed96837..00000000000000
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ /dev/null
@@ -1,353 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _bosch_2018.dbc starts here"
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 232 BRAKE_HOLD: 7 XXX
- SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
- SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
- SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
-CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
-CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-
-CM_ "honda_accord_lx15t_2018_can.dbc starts here"
-
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
- SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/honda_accord_s2t_2018_can_generated.dbc b/opendbc/honda_accord_s2t_2018_can_generated.dbc
deleted file mode 100644
index a89d4504f7667d..00000000000000
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ /dev/null
@@ -1,349 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _bosch_2018.dbc starts here"
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 232 BRAKE_HOLD: 7 XXX
- SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
- SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
- SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
-CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
-CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-
-CM_ "honda_accord_s2t_2018_can.dbc starts here"
-
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/honda_accord_touring_2016_can.dbc b/opendbc/honda_accord_touring_2016_can.dbc
deleted file mode 100644
index 744e55a9b5e3b5..00000000000000
--- a/opendbc/honda_accord_touring_2016_can.dbc
+++ /dev/null
@@ -1,399 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
-
-
-BO_ 57 XXX_1: 3 XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" NEO
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 145 XXX_2: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" NEO
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" NEO
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ ZEROS_BOH : 23|16@0+ (1,0) [0|15000] "" NEO
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 380 POWERTRAIN_DATA2: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" NEO
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" NEO
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" NEO
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" NEO
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 398 XXX_3: 3 XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
- SG_ GEAR : 35|4@0+ (1,0) [0|15] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 426 XXX_4: 8 VSA
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" NEO
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" NEO
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 476 XXX_5: 4 XXX
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 487 XXX_6: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" NEO
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" NEO
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
- SG_ FCW : 43|1@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] "" EBCM
- SG_ FCW2 : 40|1@0+ (1,0) [0|0] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
-
-BO_ 507 XXX_7: 1 XXX
-
-BO_ 542 XXX_8: 7 XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 545 XXX_9: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" NEO
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" NEO
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" NEO
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" NEO
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 660 SCM_COMMANDS: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 661 XXX_10: 4 XXX
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 662 CRUISE_BUTTONS: 4 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
- SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 777 XXX_11: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s" BDY
- SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 800 XXX_12: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] "" NEO
- SG_ BOH : 15|8@0+ (1,0) [0|255] "" NEO
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" NEO
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" NEO
- SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 808 XXX_13: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 871 XXX_14: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 882 XXX_15: 2 XXX
- SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 XXX_16: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 891 XXX_17: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 918 XXX_18: 7 XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 923 XXX_19: 2 XXX
- SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 ACC_HUD_2: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 929 XXX_20: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 983 XXX_21: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 985 XXX_22: 3 XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
-
-BO_ 1024 XXX_23: 5 XXX
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1027 XXX_24: 5 XXX
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" NEO
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" NEO
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" NEO
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
-
-BO_ 1036 XXX_25: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1039 XXX_26: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1057 XXX_27: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1064 XXX_28: 7 XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1088 XXX_29: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1089 XXX_30: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1108 XXX_31: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1125 XXX_32: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1296 XXX_33: 3 XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
-
-BO_ 1365 XXX_34: 5 XXX
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1424 XXX_35: 5 XXX
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1600 XXX_36: 5 XXX
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1601 XXX_37: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1633 XXX_38: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_TX_BU_ 506 : NEO,ADAS;
-BO_TX_BU_ 780 : NEO,ADAS;
-BO_TX_BU_ 829 : NEO,ADAS;
-BO_TX_BU_ 927 : NEO,ADAS;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
index 9b5091c2f67b85..fe9a13af8e4c46 100644
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
 
 
@@ -48,9 +48,18 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -164,6 +173,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -200,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -285,13 +371,59 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
-CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
+CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here";
 
 
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -300,7 +432,7 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
  SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
+
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
@@ -317,6 +449,11 @@ BO_ 432 STANDSTILL: 7 VSA
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
+BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS
+ SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
diff --git a/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc b/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
index c9042135da6255..8e7199cc9201d8 100644
--- a/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
+++ b/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
 
 
@@ -48,9 +48,18 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -164,6 +173,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -200,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -285,13 +371,59 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
-CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
+CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here";
 
 
 BO_ 316 GAS_PEDAL_2: 8 XXX
@@ -312,6 +444,11 @@ BO_ 432 STANDSTILL: 7 VSA
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
+BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS
+ SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
diff --git a/opendbc/honda_civic_touring_2016_can_generated.dbc b/opendbc/honda_civic_touring_2016_can_generated.dbc
index 26173859b4398f..56168a6fb85aa5 100644
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,7 +233,25 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "honda_civic_touring_2016_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "honda_civic_touring_2016_can.dbc starts here";
 
 
 
@@ -346,6 +346,7 @@ BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
  SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
  SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
  SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
@@ -389,6 +390,7 @@ VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
 
diff --git a/opendbc/honda_clarity_hybrid_2018_can.dbc b/opendbc/honda_clarity_hybrid_2018_can.dbc
deleted file mode 100644
index dfd30ff79c99a5..00000000000000
--- a/opendbc/honda_clarity_hybrid_2018_can.dbc
+++ /dev/null
@@ -1,433 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
-
-
-BO_ 57 XXX_1: 3 XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 148 XXX_2: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" NEO
- SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 304 GAS_PEDAL2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" NEO
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" NEO
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" NEO
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" NEO
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" NEO
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
- SG_ TRIP_DISTANCE : 55|8@0+ (0.010588,0) [0|255] "km" NEO
-
-BO_ 380 POWERTRAIN_DATA2: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" NEO
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" NEO
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" NEO
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" NEO
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" NEO
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" NEO
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" NEO
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" NEO
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 401 GEARBOX_1: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
- SG_ GEAR : 43|4@0+ (1,0) [0|15] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" NEO
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
-
-BO_ 427 XXX_3: 3 VSA
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|6] "" NEO
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 428 XXX_4: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" NEO
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" NEO
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" NEO
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 450 XXX_5: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" NEO
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 476 XXX_7: 7 XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 487 XXX_8: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" NEO
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" NEO
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 493 XXX_9: 5 VSA
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 55|10@0+ (0.003906248,0) [0|0] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
- SG_ FCW : 43|1@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] "" EBCM
- SG_ FCW2 : 40|1@0+ (1,0) [0|0] "" EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EBCM
-
-BO_ 512 GAS_COMMAND: 3 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 545 XXX_10: 5 XXX
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" NEO
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" NEO
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" NEO
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" NEO
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" NEO
- SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|6] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 662 CRUISE_BUTTONS: 4 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
- SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" NEO
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" NEO
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" NEO
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" NEO
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" NEO
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 777 XXX_11: 8 XXX
- SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" NEO
- SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 795 XXX_12: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 800 XXX_13: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" NEO
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" NEO
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" NEO
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" NEO
- SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" NEO
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" NEO
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" NEO
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" NEO
- SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 808 XXX_14: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 829 LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 862 XXX_15: 8 ADAS
- SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" NEO
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" NEO
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" NEO
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 891 XXX_17: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 927 XXX_19: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 929 XXX_20: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 985 XXX_21: 3 XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 1024 XXX_22: 5 XXX
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 1027 XXX_23: 5 XXX
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" NEO
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" NEO
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" NEO
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" NEO
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 1036 XXX_24: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 1039 XXX_25: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 1108 XXX_26: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 1302 XXX_27: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 1322 XXX_28: 5 XXX
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
-
-BO_ 1361 XXX_29: 5 XXX
-
-BO_ 1365 XXX_30: 5 XXX
-
-BO_ 1424 XXX_31: 5 XXX
-
-BO_ 1600 XXX_32: 5 XXX
-
-BO_ 1601 XXX_33: 8 XXX
-
-BO_ 1633 XXX_34: 8 XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
-
-BO_ 419 GEARBOX_2: 8 XXX
- SG_ GEAR : 29|6@0+ (1,0) [0|63] "" NEO
- SG_ GEAR_SHIFTER : 34|3@0+ (1,0) [0|7] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
-
-BO_TX_BU_ 228 : NEO,ADAS;
-BO_TX_BU_ 506 : NEO,ADAS;
-BO_TX_BU_ 780 : NEO,ADAS;
-BO_TX_BU_ 829 : NEO,ADAS;
-BO_TX_BU_ 862 : NEO,ADAS;
-BO_TX_BU_ 927 : NEO,ADAS;
-
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
-CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
diff --git a/opendbc/honda_crv_ex_2017_body_generated.dbc b/opendbc/honda_crv_ex_2017_body_generated.dbc
new file mode 100644
index 00000000000000..4d154e53f730b7
--- /dev/null
+++ b/opendbc/honda_crv_ex_2017_body_generated.dbc
@@ -0,0 +1,13 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+CM_ "honda_crv_ex_2017_body.dbc starts here";
+BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX
+ SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 318291615 BSM_STATUS_LEFT: 8 XXX
+ SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
+
+VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off";
+VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off";
diff --git a/opendbc/honda_crv_ex_2017_can_generated.dbc b/opendbc/honda_crv_ex_2017_can_generated.dbc
index 6cdb0c02d72ead..cef50babc1758a 100644
--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
 
 
@@ -48,9 +48,18 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -164,6 +173,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -200,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -285,13 +371,59 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
-CM_ "honda_crv_ex_2017_can.dbc starts here"
+CM_ "honda_crv_ex_2017_can.dbc starts here";
 
 
 BO_ 304 GAS_PEDAL_2: 8 PCM
diff --git a/opendbc/honda_crv_executive_2016_can_generated.dbc b/opendbc/honda_crv_executive_2016_can_generated.dbc
index ce838416fa8968..d4249ea02e2033 100644
--- a/opendbc/honda_crv_executive_2016_can_generated.dbc
+++ b/opendbc/honda_crv_executive_2016_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,7 +233,25 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "honda_crv_executive_2016_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "honda_crv_executive_2016_can.dbc starts here";
 
 
 
diff --git a/opendbc/honda_crv_hybrid_2019_can_generated.dbc b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
index f744c490bca0a6..4a6ad4b82c84ca 100644
--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
 
 
@@ -48,9 +48,18 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -164,6 +173,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -200,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -285,13 +371,59 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
-CM_ "honda_crv_hybrid_2019_can.dbc starts here"
+CM_ "honda_crv_hybrid_2019_can.dbc starts here";
 
 
 BO_ 304 GAS_PEDAL_2: 8 PCM
diff --git a/opendbc/honda_crv_touring_2016_can_generated.dbc b/opendbc/honda_crv_touring_2016_can_generated.dbc
index 8730e0357541e2..35a3da3614ed73 100644
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,13 +233,31 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "honda_crv_touring_2016_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "honda_crv_touring_2016_can.dbc starts here";
 
 
 
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
 
diff --git a/opendbc/honda_fit_ex_2018_can_generated.dbc b/opendbc/honda_fit_ex_2018_can_generated.dbc
index a9cf3eb9e69ece..0459cf5b86a63a 100644
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,7 +233,25 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "honda_fit_ex_2018_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "honda_fit_ex_2018_can.dbc starts here";
 
 
 
@@ -273,9 +273,12 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
@@ -299,6 +302,7 @@ BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
  SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
  SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
diff --git a/opendbc/honda_fit_hybrid_2018_can_generated.dbc b/opendbc/honda_fit_hybrid_2018_can_generated.dbc
deleted file mode 100644
index fe76cbf57aa8c1..00000000000000
--- a/opendbc/honda_fit_hybrid_2018_can_generated.dbc
+++ /dev/null
@@ -1,351 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _dual_can_nidec_2018.dbc starts here"
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
- SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
- SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 LOCK_STATUS: 8 XXX
- SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
- SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
- SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "honda_fit_hybrid_2018_can.dbc starts here"
-
-
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
- SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
-BO_ 545 ECON_STATUS: 5 XXX
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 927 RADAR_HUD: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
-
-CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/honda_insight_ex_2019_can_generated.dbc b/opendbc/honda_insight_ex_2019_can_generated.dbc
index f5cc66dccc862b..024f68d3c5ca19 100644
--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""
 
 
@@ -48,9 +48,18 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -164,6 +173,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -200,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -285,13 +371,59 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
-CM_ "honda_insight_ex_2019_can.dbc starts here"
+CM_ "honda_insight_ex_2019_can.dbc starts here";
 
 
 BO_ 304 GAS_PEDAL_2: 8 PCM
diff --git a/opendbc/honda_odyssey_exl_2018_generated.dbc b/opendbc/honda_odyssey_exl_2018_generated.dbc
index 36af55b113bdd2..a27fc5be4f04cf 100644
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,7 +233,25 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "honda_odyssey_exl_2018.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "honda_odyssey_exl_2018.dbc starts here";
 
 
 
@@ -267,7 +267,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
diff --git a/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
index 3c5a88a35619cd..db99d2184a6c1a 100644
--- a/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
+++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,7 +233,25 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here";
 
 
 
diff --git a/opendbc/honda_pilot_touring_2017_can_generated.dbc b/opendbc/honda_pilot_touring_2017_can_generated.dbc
index 1f8221323da2c4..e9217d3e46cb83 100644
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,7 +233,25 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "honda_pilot_touring_2017_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "honda_pilot_touring_2017_can.dbc starts here";
 
 
 
@@ -275,7 +275,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
diff --git a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
index cdfb2310038eaf..02989aabc77b11 100644
--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -1,25 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""
 
 
@@ -251,7 +233,25 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here";
 
 
 
@@ -270,7 +270,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
diff --git a/opendbc/hyundai_2015_ccan.dbc b/opendbc/hyundai_2015_ccan.dbc
deleted file mode 100644
index 0c86beb9585aab..00000000000000
--- a/opendbc/hyundai_2015_ccan.dbc
+++ /dev/null
@@ -1,1416 +0,0 @@
-VERSION ""
-
-
-NS_ :
- NS_DESC_
- CM_
- BA_DEF_
- BA_
- VAL_
- CAT_DEF_
- CAT_
- FILTER
- BA_DEF_DEF_
- EV_DATA_
- ENVVAR_DATA_
- SGTYPE_
- SGTYPE_VAL_
- BA_DEF_SGTYPE_
- BA_SGTYPE_
- SIG_TYPE_REF_
- VAL_TABLE_
- SIG_GROUP_
- SIG_VALTYPE_
- SIGTYPE_VALTYPE_
- BO_TX_BU_
- BA_DEF_REL_
- BA_REL_
- BA_DEF_DEF_REL_
- BU_SG_REL_
- BU_EV_REL_
- BU_BO_REL_
- SG_MUL_VAL_
-
-BS_:
-
-BU_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS EMS LCA TCU IBOX FATC AFLS FPCM SCC AHLS AVM ABS SNV OPI PGS SAS AAF Dummy LDWS_LKAS LVR ESC PSB CLU ECS ACU REA
-
-BO_ 1532 ODS13: 5 ODS
- SG_ CR_Ods_ID : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
- SG_ CR_Ods_Chksum_H : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  Dummy
- SG_ CR_Ods_Chksum_L : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  Dummy
- SG_ CR_Ods_RomID_H : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  Dummy
- SG_ CR_Ods_RomID_L : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  Dummy
-
-BO_ 1531 ODS12: 8 ODS
- SG_ CR_Ods_SerNum0 : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
- SG_ CR_Ods_SerNum1 : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
- SG_ CR_Ods_SerNum2 : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
- SG_ CR_Ods_SerNum3 : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
- SG_ CR_Ods_SerNum4 : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
- SG_ CR_Ods_SerNum5 : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
- SG_ CR_Ods_SerNum6 : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
- SG_ CR_Ods_SerNum7 : 56|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
-
-BO_ 1530 ODS11: 8 ODS
- SG_ CF_Ods_PrcCmd : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  Dummy
- SG_ CF_Ods_BtsFail : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  Dummy
- SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
- SG_ CF_Ods_EolCal : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
- SG_ CF_Ods_PsFail : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
- SG_ CF_Ods_EcuFail : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
- SG_ CF_Ods_WgtStat : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
- SG_ CF_Ods_OccStat : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
- SG_ CR_Wcs_ErrStat : 32|8@1+ (1.0,0.0) [0.0|63.0] ""  ACU
- SG_ CR_Wcs_ClassStat : 40|8@1+ (1.0,0.0) [0.0|4.0] ""  ACU,BCM
-
-BO_ 1017 ECS12: 4 ECS
- SG_ Height_FL : 0|8@1+ (1.0,-128.0) [-128.0|127.0] "mm"  AFLS
- SG_ Height_FR : 8|8@1+ (1.0,-128.0) [-128.0|127.0] "mm"  AFLS
- SG_ Height_RL : 16|8@1+ (1.0,-128.0) [-128.0|127.0] "mm"  AFLS
- SG_ Height_RR : 24|8@1+ (1.0,-128.0) [-128.0|127.0] "mm"  AFLS
-
-BO_ 1268 SPAS12: 8 SPAS
- SG_ CF_Spas_HMI_Stat : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ CF_Spas_Disp : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS
- SG_ CF_Spas_FIL_Ind : 10|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_FIR_Ind : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_FOL_Ind : 16|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_FOR_Ind : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_VolDown : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Spas_RIL_Ind : 24|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_RIR_Ind : 27|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Spas_ROL_Ind : 32|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_ROR_Ind : 35|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Spas_FI_Ind : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_RI_Ind : 43|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
- SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Spas_FR_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
- SG_ CF_Spas_RR_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
- SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
- SG_ CF_Spas_StatAlarm : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1265 CLU11: 4 CLU
- SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,LDWS_LKAS,SCC
- SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,LDWS_LKAS,SCC
- SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count"  EMS
- SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] ""  EMS
- SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH"  BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC
- SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC
- SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  AVM,BCM,LCA,PGS,SPAS
- SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] ""  AVM,BCM,LCA,PGS,SPAS
- SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] ""  AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC
-
-BO_ 1492 TMU_GW_PE_01: 8 CLU
- SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
- SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
-
-BO_ 1491 HU_DATC_PE_00: 8 CLU
- SG_ HU_VRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
- SG_ HU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
- SG_ BlowerNoiseControl : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
-
-BO_ 1490 HU_DATC_E_02: 8 CLU
- SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
- SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
-
-BO_ 1479 EMS21: 8 EMS
- SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ SCR_LEVEL_WARN : 1|3@1+ (1.0,0.0) [0.0|4.0] ""  CLU
- SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0.0) [0.0|100.0] "%"  CLU
- SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1.0,0.0) [0.0|25000.0] "km"  CLU
-
-BO_ 1472 GW_Warning_PE: 8 BCM
- SG_ Audio_VolumeDown : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,PGS
- SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,PGS
-
-BO_ 1984 CAL_SAS11: 2 ESC
- SG_ CCW : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  SAS
- SG_ SAS_CID : 4|11@1+ (1.0,0.0) [0.0|2047.0] ""  SAS
-
-BO_ 1456 CLU12: 4 CLU
- SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km"  _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS
-
-BO_ 688 SAS11: 5 MDPS
- SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg"  _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
- SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] ""  AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU
- SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
- SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
- SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
-
-BO_ 1441 ACU12: 8 ACU
- SG_ CR_Acu_SN : 0|64@1+ (1.0,0.0) [0.0|0.0] ""  ODS
-
-BO_ 1440 ACU11: 8 ACU
- SG_ CF_Ods_SNRcv : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
- SG_ CF_Ods_IDRcv : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
- SG_ CF_Ods_RZReq : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
- SG_ CF_Abg_DepInhEnt : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
- SG_ CF_Abg_DepEnt : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
- SG_ CF_PasBkl_FltStat : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS,PSB
- SG_ CF_DriBkl_FltStat : 29|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS,PSB
- SG_ CF_PasBkl_Stat : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,ODS,PSB,TMU
- SG_ CF_DriBkl_Stat : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS,PSB
- SG_ CF_SWL_Ind : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CUBIS,IBOX
- SG_ CF_Acu_FltStat : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  CUBIS,IBOX
- SG_ CF_Acu_ExtOfSab : 36|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,CUBIS,IBOX
- SG_ CF_Acu_Dtc : 40|16@1+ (1.0,0.0) [0.0|65535.0] ""  CUBIS,IBOX
- SG_ CF_Acu_NumOfFlt : 56|8@1+ (1.0,0.0) [0.0|255.0] ""  CUBIS,IBOX
-
-BO_ 1437 AHLS11: 8 AHLS
- SG_ CF_Ahls_WarnLamp : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Ahls_WarnMsg : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1434 PSB11: 2 PSB
- SG_ PSB_LH_FAIL : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ PSB_LH_TGL : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ PSB_LH_ACT : 3|4@1+ (1.0,0.0) [0.0|4.0] ""  Dummy
- SG_ PSB_RH_FAIL : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ PSB_RH_TGL : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ PSB_RH_ACT : 11|4@1+ (1.0,0.0) [0.0|4.0] ""  Dummy
-
-BO_ 916 TCS13: 8 ESC
- SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,SCC
- SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,SCC
- SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
- SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,SCC
- SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
- SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS
- SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,SCC
- SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
- SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
- SG_ StandStill : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
- SG_ CheckSum_TCS3 : 48|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,SCC
- SG_ ACC_EQUIP : 52|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
- SG_ PBRAKE_ACT : 53|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
- SG_ ACC_REQ : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ DriverBraking : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
- SG_ CF_VSM_Coded : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  SCC
- SG_ CF_VSM_Avail : 57|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,SCC
- SG_ CF_VSM_Handshake : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  SCC
- SG_ CF_DriBkeStat : 60|1@1+ (1.0,0.0) [0.0|1.0] ""  SCC
- SG_ CF_VSM_ConfSwi : 61|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
- SG_ AEB_EQUIP : 63|1@1+ (1.0,0.0) [0.0|1.0] ""  SCC
-
-BO_ 1427 TPMS11: 6 BCM
- SG_ TPMS_W_LAMP : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX
- SG_ TREAD_W_LAMP : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX
- SG_ POS_FL_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,HUD,IBOX
- SG_ POS_FR_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,HUD,IBOX
- SG_ POS_RL_W_LAMP : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,HUD,IBOX
- SG_ POS_RR_W_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,HUD,IBOX
- SG_ STATUS_TPMS : 8|3@1+ (1.0,0.0) [0.0|0.0] ""  CLU
- SG_ UNIT : 11|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ PRESSURE_FL : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ PRESSURE_FR : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ PRESSURE_RL : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ PRESSURE_RR : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
-
-BO_ 915 TCS12: 4 ESC
- SG_ SA_COUNT : 0|16@1+ (2.0,-32768.0) [-32768.0|98302.0] ""  _4WD,ACU,MDPS
- SG_ SA_Z_COUNT : 16|15@1+ (2.0,-32768.0) [-32768.0|32766.0] ""  _4WD,ACU,MDPS
- SG_ SA_Z_FLAG : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,MDPS
-
-BO_ 1170 EMS19: 8 EMS
- SG_ CF_Ems_BrkReq : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX,TCU
- SG_ CF_Ems_DnShftReq : 1|4@1+ (1.0,0.0) [0.0|14.0] ""  IBOX,TCU
- SG_ CF_Ems_RepModChk : 5|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX
- SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  AAF,IBOX
- SG_ CF_Ems_DecelReq : 8|12@1+ (0.0010,-4.094) [-4.094|0.0] "m/s^2"  ESC,IBOX,TCU
- SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0.0) [0.0|4094.0] "hPa"  CLU,IBOX
- SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40.0) [0.0|254.0] "deg"  CLU,IBOX
- SG_ DPF_LAMP_STAT : 40|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX
- SG_ BAT_LAMP_STAT : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41.0) [-41.0|85.5] "deg"  AAF,IBOX
- SG_ CF_Ems_OPSFail : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU
- SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU
-
-BO_ 1425 AFLS11: 2 AFLS
- SG_ AFLS_STAT : 1|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Afls_TrfChgStat : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Afls_LedHLStat : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 912 SPAS11: 7 SPAS
- SG_ CF_Spas_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,MDPS
- SG_ CF_Spas_TestMode : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  MDPS
- SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0.0) [-3276.8|3276.7] ""  MDPS
- SG_ CF_Spas_BeepAlarm : 24|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ CF_Spas_Mode_Seq : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Spas_AliveCnt : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
- SG_ CF_Spas_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
- SG_ CF_Spas_PasVol : 48|3@1+ (1.0,0.0) [0.0|7.0] ""  CGW,CLU
-
-BO_ 1168 EPB11: 7 EPB
- SG_ EPB_I_LAMP : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU,CUBIS,ESC,IBOX
- SG_ EPB_F_LAMP : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,ESC,IBOX
- SG_ EPB_ALARM : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ EPB_CLU : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU,ESC
- SG_ EPB_SWITCH : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  ESC,SCC
- SG_ EPB_RBL : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,ESC
- SG_ EPB_STATUS : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,EMS,ESC,SCC,TCU
- SG_ EPB_FRC_ERR : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,ESC,SCC,TCU
- SG_ EPB_DBF_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ ESP_ACK : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ EPB_DBF_REQ : 26|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ EPB_FAIL : 29|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC,SCC
- SG_ EPB_FORCE : 32|12@1+ (1.0,-1000.0) [-1000.0|3000.0] ""  ESC
- SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0.0) [0.0|2.54] "g"  ESC
-
-BO_ 399 EMS_H12: 8 EMS
- SG_ R_TqAcnApvC : 0|8@1+ (0.2,0.0) [0.0|51.0] "Nm"  DATC,IBOX
- SG_ R_PAcnC : 8|8@1+ (125.0,0.0) [0.0|31875.0] "hPa"  DATC,IBOX
- SG_ TQI_B : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  ABS,ESC,IBOX
- SG_ SLD_VS : 24|8@1+ (1.0,0.0) [0.0|255.0] "km/h"  CLU,IBOX
- SG_ CF_CdaStat : 32|3@1+ (1.0,0.0) [0.0|7.0] ""  AEMC,IBOX,TCU
- SG_ CF_Ems_IsgStat : 35|3@1+ (1.0,0.0) [0.0|7.0] ""  ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU
- SG_ CF_Ems_OilChg : 38|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ R_NEngIdlTgC : 40|8@1+ (10.0,0.0) [0.0|2550.0] "rpm"  DATC,IBOX,TCU
- SG_ CF_Ems_UpTarGr : 48|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_DownTarGr : 49|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_DesCurGr : 50|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX
- SG_ CF_Ems_SldAct : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_SldPosAct : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_HPresStat : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
- SG_ CF_Ems_IsgBuz : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,TCU
- SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC,IBOX,TCU
- SG_ CF_Ems_IsgStat2 : 62|2@1+ (2.0,0.0) [0.0|3.0] ""  CLU,IBOX,TCU
-
-BO_ 1419 LCA11: 8 LCA
- SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
- SG_ CF_Rcta_Stat : 4|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
- SG_ CF_Lca_IndLeft : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
- SG_ CF_Rcw_Stat : 10|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
- SG_ CF_RCW_Warning : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
- SG_ CF_Lca_IndRight : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
- SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
- SG_ CF_FR_SndWan : 20|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU
- SG_ CF_FL_SndWan : 21|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU
- SG_ CF_RR_SndWan : 22|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU
- SG_ CF_RL_SndWan : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU
- SG_ CF_Lca_IndBriLeft : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
- SG_ CF_Lca_IndBriRight : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
- SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
- SG_ CF_RCTA_IndBriRight : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
- SG_ CF_RCTA_IndLeft : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
- SG_ CF_RCTA_IndRight : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
- SG_ CF_SndWarnForClu : 60|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
-
-BO_ 906 ABS11: 8 ABS
- SG_ ABS_DEF : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,EMS,SPAS,TCU
- SG_ EBD_DEF : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,SPAS,TCU
- SG_ ABS_ACT : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,EPB,SPAS,TCU
- SG_ ABS_W_LAMP : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,MTS,TMU
- SG_ EBD_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU
- SG_ ABS_DIAG : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU
- SG_ ESS_STAT : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,BCM,CLU,EMS
-
-BO_ 903 WHL_PUL11: 6 ABS
- SG_ WHL_PUL_FL : 0|8@1+ (0.5,0.0) [0.0|127.5] "pulse count"  CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS
- SG_ WHL_PUL_FR : 8|8@1+ (0.5,0.0) [0.0|127.5] "pulse count"  CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS
- SG_ WHL_PUL_RL : 16|8@1+ (0.5,0.0) [0.0|127.5] "pulse count"  CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS
- SG_ WHL_PUL_RR : 24|8@1+ (0.5,0.0) [0.0|127.5] "pulse count"  CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS
- SG_ WHL_DIR_FL : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS
- SG_ WHL_DIR_FR : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS
- SG_ WHL_DIR_RL : 36|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS
- SG_ WHL_DIR_RR : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS
- SG_ WHL_PUL_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS
-
-BO_ 1415 TMU11: 8 IBOX
- SG_ CF_Tmu_VehSld : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Tmu_VehImmo : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS
- SG_ CF_Tmu_AirconCtr : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC
- SG_ CF_Tmu_TempMd : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC
- SG_ CF_Tmu_TempSet : 6|16@1+ (1.0,0.0) [0.0|20.0] ""  DATC
- SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,FATC
- SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS
-
-BO_ 902 WHL_SPD11: 8 ABS
- SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h"  _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS
- SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h"  _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS
- SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h"  _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS
- SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h"  _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS
- SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
- SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
- SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
- SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
-
-BO_ 1414 EVP11: 3 EVP
- SG_ CF_Evp_Stat : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
-
-BO_ 1412 AAF11: 8 AAF
- SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  AAF_Tester
- SG_ CF_Aaf_ModeStatus : 2|3@1+ (1.0,0.0) [0.0|7.0] ""  AAF_Tester
- SG_ CF_Aaf_WrnLamp : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Aaf_ErrStatus : 6|10@1+ (1.0,0.0) [0.0|1023.0] ""  AAF_Tester,EMS
- SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  AAF_Tester
- SG_ CF_Aaf_PStatus : 24|8@1+ (1.0,0.0) [0.0|100.0] "%"  AAF_Tester
- SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  AAF_Tester
- SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1.0,0.0) [0.0|3.0] ""  AAF_Tester
- SG_ CF_Aaf_MilOnReq : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
-
-BO_ 900 EMS17: 8 EMS
- SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
- SG_ CF_Ems_HolCurMSV : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
- SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
- SG_ CF_Ems_InjVActSet : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
- SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  DI_BOX
- SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1.0,0.0) [0.0|1.0] ""  DI_BOX
- SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1.0,0.0) [0.0|1.0] ""  DI_BOX
- SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1.0,0.0) [0.0|1.0] ""  DI_BOX
- SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%"  DI_BOX
- SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0.0) [0.0|25.5] "V"  DI_BOX
-
-BO_ 387 REA11: 8 REA
- SG_ CF_EndBst_PwmDuH : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_PwmDuL : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_EepFlt : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_RomFlt : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_RamFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_CanFlt : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_AgH : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_AgL : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_EndBst_ORVol : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0.0) [1.989|118.053] ""  EMS
- SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0.0) [0.0|119.691] ""  EMS
- SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0.0) [0.0|99.99] "%"  EMS
-
-BO_ 1411 CUBIS11: 8 CUBIS
- SG_ CF_Cubis_HUDisp : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
-
-BO_ 899 FATC11: 8 DATC
- SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0.0) [0.0|50.8] "Nm"  EMS,IBOX
- SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  AAF,EMS,IBOX
- SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Fatc_EcvFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Fatc_BlwrOn : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_FATC_Iden : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
- SG_ CF_Fatc_BlwrMax : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX
- SG_ CF_Fatc_EngStartReq : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Fatc_CtrInf : 17|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,IBOX
- SG_ CF_Fatc_MsgCnt : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,IBOX
- SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40.0) [-40.0|60.0] "deg"  BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS
- SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40.0) [-40.0|60.0] "deg"  AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU
- SG_ CF_Fatc_Compload : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,IBOX
- SG_ CF_Fatc_ActiveEco : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Fatc_AutoActivation : 44|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX
- SG_ CF_Fatc_DefSw : 45|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,IBOX
- SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Fatc_ChkSum : 56|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS,IBOX,SPAS
-
-BO_ 129 EMS_DCT12: 8 EMS
- SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5.0,0.0) [0.0|315.0] "Min"  TCU
- SG_ BRAKE_ACT : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  TCU
- SG_ CF_Ems_EngOperStat : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  TCU
- SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  TCU
- SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
- SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
-
-BO_ 897 MDPS11: 8 MDPS
- SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,EMS,IBOX,SPAS
- SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] ""  CLU,LDWS_LKAS
- SG_ CF_Mdps_FlexDisp : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Mdps_Stat : 7|4@1+ (1.0,0.0) [0.0|15.0] ""  SPAS
- SG_ CR_Mdps_DrvTq : 11|12@1+ (0.01,-20.48) [-20.48|20.46] ""  SPAS
- SG_ CF_Mdps_ALTRequest : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg"  SPAS
- SG_ CF_Mdps_AliveCnt : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  LDWS_LKAS,SPAS
- SG_ CF_Mdps_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  LDWS_LKAS,SPAS
- SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1.0,0.0) [0.0|1.0] "flag"  SPAS
- SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag"  LDWS_LKAS
- SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
- SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] ""  LDWS_LKAS,SPAS
-
-BO_ 896 DI_BOX13: 8 DI_BOX
- SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
-
-BO_ 640 EMS13: 8 EMS
- SG_ LV_FUEL_TYPE_ECU : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,LPI,SMK
- SG_ LV_BFS_CFIRM : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
- SG_ LV_CRASH : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
- SG_ LV_VB_OFF_ACT : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
- SG_ LV_GSL_MAP M : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
- SG_ LV_ENG_TURN : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
- SG_ ERR_FUEL : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  LPI
- SG_ EOS : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  LPI
- SG_ TCO : 24|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  LPI
- SG_ N_32 : 32|8@1+ (32.0,0.0) [0.0|8160.0] "rpm"  LPI
- SG_ MAF : 40|8@1+ (5.447,0.0) [0.0|1388.985] "mg/TDC"  LPI
- SG_ TIA : 48|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  LPI
- SG_ MAP m1 : 56|8@1+ (0.47058,0.0) [0.0|119.9979] "kPa"  LPI
- SG_ AMP m0 : 56|8@1+ (21.22,0.0) [0.0|5411.1] "hPa"  LPI
-
-BO_ 128 EMS_DCT11: 8 EMS
- SG_ PV_AV_CAN : 0|8@1+ (0.3906,0.0) [0.0|99.603] "%"  TCU
- SG_ TQ_STND : 8|6@1+ (10.0,0.0) [0.0|630.0] "Nm"  TCU
- SG_ F_N_ENG : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
- SG_ F_SUB_TQI : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
- SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm"  TCU
- SG_ TQI_ACOR : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  IBOX,TCU
- SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  TCU
- SG_ TQI : 48|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  TCU
- SG_ CF_Ems_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
- SG_ CF_Ems_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
-
-BO_ 1407 HU_MON_PE_01: 8 CLU
- SG_ HU_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  AVM,PGS
-
-BO_ 127 CGW5: 8 BCM
- SG_ C_StopLampLhOpenSts : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_StopLampRhOpenSts : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_HMSLOpenSts : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_HLampLowLhOpenSts : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_HLampLowRhOpenSts : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_HLampHighLhOpenSts : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_HLampHighRhOpenSts : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_DRLLampLhOpenSts : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_DRLLampRhOpenSts : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_RearFOGLhOpenSts : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_RearFOGRhOpenSts : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_SBendingLhOpenSts : 21|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_SBendingRhOpenSts : 22|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
-
-BO_ 1151 ESP11: 6 ESC
- SG_ AVH_STAT : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,EPB,TCU
- SG_ LDM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB,TCU
- SG_ REQ_EPB_ACT : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,TCU
- SG_ REQ_EPB_STAT : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB
- SG_ ECD_ACT : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB
- SG_ _4WD_LIM_REQ : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS
- SG_ ROL_CNT_ESP : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  EPB,TCU
- SG_ _4WD_TQC_LIM : 16|16@1+ (1.0,0.0) [0.0|65535.0] "Nm"  _4WD,EMS
- SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  _4WD,EMS
- SG_ _4WD_OPEN : 40|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,EMS
- SG_ _4WD_LIM_MODE : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD
-
-BO_ 1397 HU_AVM_E_00: 8 CLU
- SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_AVM_Cal_Method : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  AVM,PGS
- SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  AVM,PGS
- SG_ HU_AVM_PT_X : 8|12@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_AVM_PT_Y : 24|12@1+ (1.0,0.0) [0.0|4095.0] ""  AVM,PGS
- SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_AVM_SelectedMenu : 40|5@1+ (1.0,0.0) [0.0|31.0] ""  AVM,PGS
- SG_ HU_AVM_CameraOff : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  AVM,PGS
- SG_ HU_AVM_Option : 48|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_AVM_RearView_Option : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_AVM_FrontView_Option : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
-
-BO_ 1395 HU_AVM_E_01: 8 CLU
- SG_ HU_PGSSelectedMenu : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_PGSOption : 8|5@1+ (1.0,0.0) [0.0|31.0] ""  AVM,PGS
- SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
- SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
-
-BO_ 1393 OPI11: 5 OPI
- SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20.0,0.0) [0.0|3500.0] "rpm"  TCU
- SG_ CF_Opi_Over_Temp : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
- SG_ CF_Opi_Over_Cur : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,TCU
- SG_ CF_Opi_Over_Vol : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
- SG_ CF_Opi_Hall_Fail : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,TCU
- SG_ CF_Opi_Flt : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,TCU
- SG_ CF_Opi_Motor_Dir : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
- SG_ CF_Opi_Romver : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  TCU
- SG_ CF_Opi_PWM_Rate : 24|12@1+ (1.0,0.0) [0.0|100.0] "%"  TCU
-
-BO_ 625 LPI11: 8 LPI
- SG_ FUP_LPG_MMV : 0|8@1+ (128.0,0.0) [0.0|32640.0] "hPa"  EMS
- SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ LV_GAS_OK : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ LV_FUP_ENA_THD : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,EMS,SMK
- SG_ LPI_OBD : 12|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS
- SG_ ERR_GAS : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ FAC_TI_GAS_COR : 24|16@1+ (3.05E-5,0.0) [0.0|1.9988175] ""  EMS
- SG_ FTL_AFU : 40|8@1+ (0.392,0.0) [0.0|99.96] "%"  EMS
- SG_ BFS_CYL : 48|8@1+ (1.0,0.0) [0.0|6.0] "Cyl Nr."  EMS
- SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
-
-BO_ 356 VSM11: 4 ESC
- SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm"  MDPS
- SG_ CF_Esc_Act : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS,MDPS
- SG_ CF_Esc_CtrMode : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  MDPS
- SG_ CF_Esc_Def : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
- SG_ CF_Esc_AliveCnt : 17|4@1+ (1.0,0.0) [0.0|15.0] ""  LDWS_LKAS,MDPS
- SG_ CF_Esc_Chksum : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  LDWS_LKAS,MDPS
-
-BO_ 1379 PGS_HU_PE_01: 8 PGS
- SG_ PGS_State : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ PGS_ParkGuideState : 8|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
- SG_ PGS_Option : 16|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
- SG_ PGS_Version : 32|16@1+ (1.0,0.0) [0.0|65535.0] ""  CLU
-
-BO_ 354 TCU_DCT13: 3 TCU
- SG_ Clutch_Driving_Tq : 0|10@1+ (1.0,-512.0) [0.0|0.0] "Nm"  ESC
- SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0.0) [0.0|0.0] ""  CLU
- SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1.0,0.0) [0.0|0.0] ""  CLU
-
-BO_ 1378 HUD11: 4 HUD
- SG_ CF_Hud_HeightStaus : 0|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
- SG_ CF_Hud_PBackStatus : 6|2@1+ (1.0,0.0) [0.0|0.0] ""  BCM,CLU
- SG_ CF_Hud_Brightness : 8|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
-
-BO_ 608 EMS16: 8 EMS
- SG_ TQI_MIN : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  ESC,IBOX,TCU
- SG_ TQI : 8|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  ESC,IBOX,TCU
- SG_ TQI_TARGET : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EPB,ESC,IBOX,TCU
- SG_ GLOW_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,IBOX,SMK
- SG_ CRUISE_LAMP_M : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,TCU
- SG_ CRUISE_LAMP_S : 26|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,TCU
- SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
- SG_ ENG_STAT : 28|3@1+ (1.0,0.0) [0.0|7.0] ""  ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU
- SG_ SOAK_TIME_ERROR : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,EPB,IBOX,TCU
- SG_ SOAK_TIME : 32|8@1+ (1.0,0.0) [0.0|255.0] "Min"  _4WD,DATC,EPB,IBOX,TCU
- SG_ TQI_MAX : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  ESC,IBOX,TCU
- SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60.0] ""  IBOX,TCU
- SG_ Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,IBOX,LDWS_LKAS,MDPS,SCC
- SG_ AliveCounter : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX,LDWS_LKAS,MDPS,SCC
- SG_ CF_Ems_AclAct : 62|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX,SCC
-
-BO_ 1371 AVM_HU_PE_00: 8 AVM
- SG_ AVM_View : 0|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
- SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ AVM_Display_Message : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ AVM_Popup_Msg : 16|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ AVM_Ready : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ AVM_ParkingAssist_Step : 24|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ AVM_FrontBtn_Type : 28|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ AVM_Option : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ AVM_HU_RearView_Option : 40|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ AVM_HU_FrontView_Option : 44|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ AVM_Version : 48|16@1+ (1.0,0.0) [0.0|65535.0] ""  CLU
-
-BO_ 1370 HU_AVM_PE_00: 8 CLU
- SG_ HU_AVM_Status : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  AVM,PGS
-
-BO_ 1369 CGW4: 8 BCM
- SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,HUD
- SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_RLWdwState : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_RRWdwState : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_AstWdwStat : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_MemoryEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_PBACKStop : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,HUD
- SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
- SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
-
-BO_ 1367 EngFrzFrm12: 8 EMS
- SG_ PID_06h : 0|8@1+ (0.78125,-100.0) [-100.0|99.22] "%"  AAF,IBOX,TCU
- SG_ PID_07h : 8|8@1+ (0.78125,-100.0) [-100.0|99.22] "%"  AAF,IBOX,TCU
- SG_ PID_08h : 16|8@1+ (0.78125,-100.0) [-100.0|99.22] "%"  AAF,IBOX,TCU
- SG_ PID_09h : 24|8@1+ (0.78125,-100.0) [-100.0|99.22] "%"  AAF,IBOX,TCU
- SG_ PID_0Bh : 32|8@1+ (1.0,0.0) [0.0|255.0] "kPa"  AAF,IBOX,TCU
- SG_ PID_23h : 40|16@1+ (10.0,0.0) [0.0|655350.0] "kPa"  AAF,IBOX,TCU
-
-BO_ 1366 EngFrzFrm11: 8 EMS
- SG_ PID_04h : 0|8@1+ (0.3921568627,0.0) [0.0|100.0] "%"  AAF,TCU
- SG_ PID_05h : 8|8@1+ (1.0,-40.0) [-40.0|215.0] "deg"  AAF,TCU
- SG_ PID_0Ch : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm"  AAF,TCU
- SG_ PID_0Dh : 32|8@1+ (1.0,0.0) [0.0|255.0] "km/h"  AAF,TCU
- SG_ PID_11h : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%"  AAF,TCU
- SG_ PID_03h : 48|16@1+ (1.0,0.0) [0.0|65535.0] ""  AAF,TCU
-
-BO_ 1365 FPCM11: 8 FPCM
- SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa"  EMS
- SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
-
-BO_ 852 LVR11: 7 LVR
- SG_ CF_Lvr_GearInf : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,TCU
- SG_ CF_Lvr_PRelStat : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,SMK,TCU
- SG_ CF_Lvr_BkeAct : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
- SG_ CF_Lvr_NFnStat : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Lvr_PosInf : 8|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
- SG_ CF_Lvr_PosCpl : 12|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
- SG_ CF_Lvr_UlkButStat : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  TCU
- SG_ CF_Lvr_PNStat : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
- SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1.0,0.0) [0.0|8191.0] ""  CLU,TCU
- SG_ CF_Lvr_AC : 48|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
- SG_ CF_Lvr_CS : 52|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
-
-BO_ 1363 CGW2: 8 BCM
- SG_ CF_Gway_GwayDiagState : 0|1@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
- SG_ CF_Gway_DDMDiagState : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_SCMDiagState : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_PSMDiagState : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_SJBDiagState : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_IPMDiagState : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_LDMFail : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,LDWS_LKAS,LDWS_LKAS
- SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1.0,0.0) [0.0|63.0] ""  CLU,Dummy
- SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_CLUSwMode : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_AutoLightValue : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  LCA,LCA
- SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_AvTail : 20|1@1+ (1.0,0.0) [0.0|3.0] ""  CLU,SNV,SNV
- SG_ CF_Gway_RearFogAct : 21|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_ExtTailAct : 22|1@1+ (1.0,0.0) [0.0|1.0] ""  AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS
- SG_ CF_Gway_RRDrSw : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_RLDrSw : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_IntTailAct : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_CountryCfg : 26|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,PGS,Dummy
- SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS
- SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS,SNV,LDWS_LKAS,SNV
- SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS,SNV,LDWS_LKAS,SNV
- SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_IDoutWarn : 38|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_ImmoLp : 40|1@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
- SG_ CF_Gway_BCMRKEID : 41|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,Dummy
- SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_SSBWarn : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_SMKFobID : 48|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,Dummy
- SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,Dummy
- SG_ CF_Gway_AutoLightOption : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_KeyoutLp : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
- SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,Dummy
- SG_ CF_Gway_WngBuz : 61|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,Dummy
-
-BO_ 339 TCS11: 8 ESC
- SG_ TCS_REQ : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,TCU
- SG_ MSR_C_REQ : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,EPB,SCC,TCU
- SG_ TCS_PAS : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,SCC,SPAS,TCU
- SG_ TCS_GSC : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,TCU
- SG_ CF_Esc_LimoInfo : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,SCC
- SG_ ABS_DIAG : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,EPB
- SG_ ABS_DEF : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU
- SG_ TCS_DEF : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,SCC,SPAS,TCU
- SG_ TCS_CTL : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,SCC,SPAS,TCU
- SG_ ABS_ACT : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU
- SG_ EBD_DEF : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,SPAS,TCU
- SG_ ESP_PAS : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU
- SG_ ESP_DEF : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU
- SG_ ESP_CTL : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU
- SG_ TCS_MFRN : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,EPB,TCU
- SG_ DBC_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB
- SG_ DBC_PAS : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB
- SG_ DBC_DEF : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB
- SG_ HAC_CTL : 19|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,EPB,TCU
- SG_ HAC_PAS : 20|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,EPB,TCU
- SG_ HAC_DEF : 21|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,EPB,TCU
- SG_ ESS_STAT : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,BCM,CLU,EMS,EPB
- SG_ TQI_TCS : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,EPB,TCU
- SG_ TQI_MSR : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,EPB,TCU
- SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,EPB,TCU
- SG_ CF_Esc_BrkCtl : 48|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ BLA_CTL : 49|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CGW,CLU
- SG_ AliveCounter_TCS1 : 52|4@1+ (1.0,0.0) [0.0|14.0] ""  EMS,EPB,LDWS_LKAS
- SG_ CheckSum_TCS1 : 56|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS,EPB,LDWS_LKAS
-
-BO_ 1362 SNV11: 4 SNV
- SG_ CF_SNV_DisplayControl : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,HUD
- SG_ CF_Snv_BeepWarning : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,HUD
- SG_ CF_Snv_WarningMessage : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,HUD
- SG_ CF_Snv_DetectionEnable : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,HUD
- SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,HUD
- SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,HUD
-
-BO_ 593 MDPS12: 8 MDPS
- SG_ CR_Mdps_StrColTq : 0|11@1+ (0.0078125,-8.0) [-8.0|7.9921875] "Nm"  LDWS_LKAS
- SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
- SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
- SG_ CF_Mdps_ToiFlt : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
- SG_ CF_Mdps_FailStat : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
- SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  ESC,LDWS_LKAS
- SG_ CF_Mdps_Chksum2 : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ESC,LDWS_LKAS
- SG_ CF_Mdps_SErr : 37|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm"  ESC
- SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] ""  ESC,LDWS_LKAS
-
-BO_ 1360 IAP11: 3 IAP
- SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Iap_ReqWarn : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1356 TCU_DCT14: 8 TCU
- SG_ Vehicle_Stop_Time : 0|5@1+ (1.0,0.0) [0.0|0.0] ""  CLU
- SG_ HILL_HOLD_WARNING : 5|1@1+ (1.0,0.0) [0.0|0.0] ""  CLU
-
-BO_ 1353 BAT11: 8 EMS
- SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327.0) [-327.0|328.0] "A"  CGW,CUBIS,IBOX,TMU
- SG_ BAT_SOC : 16|8@1+ (1.0,0.0) [0.0|100.0] "%"  CGW,CUBIS,IBOX,TMU
- SG_ BAT_SNSR_V : 24|14@1+ (0.0010,6.0) [6.0|18.0] "V"  CGW,CUBIS,IBOX,TMU
- SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40.0) [-40.0|125.0] "deg"  CGW,CUBIS,IBOX,TMU
- SG_ BAT_SNSR_State : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  CGW,CUBIS,IBOX,TMU
- SG_ BAT_SOH : 48|7@1+ (1.0,0.0) [0.0|100.0] "%"  CGW,CUBIS,IBOX,TMU
- SG_ BAT_SNSR_Invalid : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CGW,CUBIS,IBOX,TMU
- SG_ BAT_SOF : 56|7@1+ (0.1,0.0) [0.0|12.0] "V"  CGW,CUBIS,IBOX,TMU
- SG_ BAT_SNSR_Error : 63|1@1+ (1.0,0.0) [0.0|1.0] ""  CGW,CUBIS,IBOX,TMU
-
-BO_ 1351 EMS15: 8 EMS
- SG_ ECGPOvrd : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX,SCC
- SG_ QECACC : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
- SG_ ECFail : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
- SG_ SwitchOffCondExt : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
- SG_ BLECFail : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
- SG_ CF_Ems_IsaAct : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ FA_PV_CAN : 8|8@1+ (0.3906,0.0) [0.0|99.2] "%"  IBOX,LDWS_LKAS,TCU
- SG_ IntAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  _4WD,ECS,EPB,IBOX,TCU
- SG_ STATE_DC_OBD : 24|7@1+ (1.0,0.0) [0.0|127.0] ""  IBOX,TCU
- SG_ INH_DC_OBD : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
- SG_ CTR_IG_CYC_OBD : 32|16@1+ (1.0,0.0) [0.0|65535.0] ""  ACU,IBOX,TCU
- SG_ CTR_CDN_OBD : 48|16@1+ (1.0,0.0) [0.0|65535.0] ""  IBOX,TCU
-
-BO_ 1350 DI_BOX12: 8 DI_BOX
- SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
- SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0.0) [0.0|25.5] "V"  EMS
- SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
-
-BO_ 1349 EMS14: 8 EMS
- SG_ IMMO_LAMP_STAT : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ L_MIL : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,IBOX
- SG_ IM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg"  CLU,IBOX,TCU,TPMS
- SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0.0) [0.0|100.0] "%"  CGW,CUBIS,IBOX,TMU
- SG_ VB : 24|8@1+ (0.1015625,0.0) [0.0|25.8984375] "V"  CLU,CUBIS,DATC,EPB,FPCM,IBOX
- SG_ EMS_VS : 32|12@1+ (0.0625,0.0) [0.0|255.875] "km/h"  CLU
- SG_ TEMP_FUEL : 56|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  FPCM
-
-BO_ 68 DATC11: 8 DATC
- SG_ CF_Datc_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ CF_Datc_VerMaj : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ CF_Datc_VerMin : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg"  CLU,FPCM
- SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg"  CLU
- SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg"  BCM,CLU
-
-BO_ 67 DATC13: 8 DATC
- SG_ CF_Datc_TempDispUnit : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX
- SG_ CF_Datc_ModDisp : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ CF_Datc_IonClean : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_IntakeDisp : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_AutoDisp : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_FrDefLed : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX
- SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_AqsDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_AcDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_OpSts : 25|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_DualDisp : 30|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_PwrInf : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ CF_Datc_RearManual : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Datc_RearOffDisp : 42|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_RearModDisp : 48|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ CF_Datc_PSModDisp : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX
-
-BO_ 66 DATC12: 8 DATC
- SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] ""  CLU,IBOX
- SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] ""  CLU,IBOX
- SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU
- SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] ""  CLU
- SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1345 CGW1: 8 BCM
- SG_ CF_Gway_IGNSw : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC
- SG_ CF_Gway_RKECmd : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ECS,EMS,IBOX,ECS,EMS,IBOX
- SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  ECS,EMS,IBOX,ECS,EMS,IBOX
- SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  ECS,EMS,IBOX,ECS,EMS,IBOX
- SG_ CF_Gway_DrvDrSw : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU
- SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU
- SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX
- SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX,PSB,IBOX,PSB
- SG_ CF_Gway_SMKOption : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,EMS,IBOX,SMK
- SG_ CF_Gway_HoodSw : 17|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX
- SG_ CF_Gway_TurnSigLh : 19|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC
- SG_ CF_Gway_WiperIntT : 21|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
- SG_ CF_Gway_WiperIntSw : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
- SG_ CF_Gway_WiperLowSw : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
- SG_ CF_Gway_WiperHighSw : 26|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
- SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
- SG_ CF_Gway_RainSnsState : 28|3@1+ (1.0,0.0) [0.0|7.0] ""  AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS
- SG_ CF_Gway_HeadLampLow : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV
- SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS
- SG_ CF_Gway_HazardSw : 33|2@1+ (1.0,0.0) [0.0|3.0] ""  ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS
- SG_ CF_Gway_AstDrSw : 35|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,IBOX
- SG_ CF_Gway_DefoggerRly : 36|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX,EMS,IBOX
- SG_ CF_Gway_ALightStat : 37|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS
- SG_ CF_Gway_LightSwState : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS
- SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS
- SG_ CF_Gway_TSigRHSw : 41|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
- SG_ CF_Gway_TSigLHSw : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
- SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
- SG_ CF_Gway_StarterRlyState : 44|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX,EMS,IBOX,SMK
- SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK
- SG_ CF_Gway_WiperMistSw : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS
- SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK
- SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,DATC,IBOX
- SG_ CF_Gway_PassingSW : 51|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS
- SG_ CF_Gway_HBAControlMode : 52|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
- SG_ CF_Gway_HLpHighSw : 53|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
- SG_ CF_Gway_InhibitRMT : 54|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS
- SG_ CF_Gway_RainSnsOption : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,DATC,IBOX,DATC,IBOX
- SG_ CF_Gway_Ign1 : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_Ign2 : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IBOX,SCC,ESC,IBOX,SCC
- SG_ CF_Gway_TurnSigRh : 62|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC
-
-BO_ 64 DATC14: 8 DATC
- SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] ""  CLU
- SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 832 LKAS11: 8 LDWS_LKAS
- SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
- SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
- SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
- SG_ CF_Lkas_LdwsRHWarning : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
- SG_ CF_Lkas_HbaLamp : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Lkas_FcwBasReq : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC
- SG_ CR_Lkas_StrToqReq : 16|11@1+ (0.0078125,-8.0) [-8.0|8.0] "Nm"  MDPS
- SG_ CF_Lkas_ActToi : 27|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
- SG_ CF_Lkas_ToiFlt : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
- SG_ CF_Lkas_HbaSysState : 29|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM,CLU
- SG_ CF_Lkas_FcwOpt : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Lkas_HbaOpt : 34|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CGW
- SG_ CF_Lkas_MsgCount : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,MDPS
- SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
- SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
- SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,MDPS
-
-BO_ 1342 LKAS12: 6 LDWS_LKAS
- SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_LkasTsrStatus : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
- SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
- SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1338 TMU_GW_E_01: 8 CLU
- SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
-
-BO_ 1078 PAS11: 4 BCM
- SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,AVM
- SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,AVM
- SG_ CF_Gway_PASRsound : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
- SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,AVM
- SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,PGS,AVM
- SG_ CF_Gway_PASFsound : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
- SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,PGS,AVM
- SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,PGS,AVM
- SG_ CF_Gway_PASCheckSound : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
- SG_ CF_Gway_PASSystemOn : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
- SG_ CF_Gway_PASOption : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_PASDistance : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
-
-BO_ 48 EMS18: 6 EMS
- SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
- SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1.0,0.0) [0.0|65535.0] ""  DI_BOX
- SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0.0) [0.0|49.8] "%"  DI_BOX
- SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0.0) [0.0|35.0] "%"  DI_BOX
- SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0.0) [0.0|100.0] "%"  DI_BOX
-
-BO_ 1322 CLU15: 8 CLU
- SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM
- SG_ CF_Clu_InhibitP : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitR : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitN : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitD : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] ""  HUD
- SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
- SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
- SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
- SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
- SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
- SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  HUD
- SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
- SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] ""  BCM,PGS
- SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] ""  BCM,CGW,FATC
-
-BO_ 1066 _4WD13: 6 _4WD
- SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A"  TCU
- SG_ _4WD_POSITION : 8|16@1+ (0.015625,0.0) [-180.0|180.0] "Deg"  TCU
- SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1.0,0.0) [0.0|100.0] "%"  TCU
- SG_ _4WD_STATUS : 32|8@1+ (1.0,0.0) [0.0|15.0] ""  ESC,TCU
-
-BO_ 1065 _4WD12: 8 _4WD
- SG_ Ster_Pos : 0|16@1+ (1.0,-600.0) [-600.0|600.0] "Deg"  ESC
- SG_ FRSS : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  ESC
- SG_ FLSS : 24|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  ESC
- SG_ RRSS : 32|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  ESC
- SG_ RLSS : 40|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  ESC
- SG_ CLU_PRES : 48|16@1+ (0.0625,-50.0) [-50.0|50.0] "Bar"  ESC
-
-BO_ 809 EMS12: 8 EMS
- SG_ CONF_TCU m1 : 0|6@1+ (1.0,0.0) [0.0|63.0] ""  _4WD,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LCA,SMK
- SG_ CAN_VERS m0 : 0|6@1+ (1.0,0.0) [0.0|7.7] ""  _4WD,ABS,ESC,IBOX
- SG_ TQ_STND m3 : 0|6@1+ (10.0,0.0) [0.0|630.0] "Nm"  _4WD,DATC,ECS,EPB,ESC,FATC,IBOX
- SG_ OBD_FRF_ACK m2 : 0|6@1+ (1.0,0.0) [0.0|63.0] ""  _4WD,ESC,IBOX
- SG_ MUL_CODE M : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,ABS,ACU,BCM,CLU,DATC,ECS,EPB,ESC,IBOX,LCA,SMK,TCU
- SG_ TEMP_ENG : 8|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU
- SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0.0) [0.0|1.99155] ""  IBOX,TCU
- SG_ VB_OFF_ACT : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
- SG_ ACK_ES : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,IBOX
- SG_ CONF_MIL_FMY : 26|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC,IBOX,TCU
- SG_ OD_OFF_REQ : 29|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
- SG_ ACC_ACT : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU
- SG_ CLU_ACK : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EPB,ESC,IBOX
- SG_ BRAKE_ACT : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU
- SG_ ENG_CHR : 34|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU
- SG_ GP_CTL : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX
- SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%"  _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU
- SG_ PV_AV_CAN : 48|8@1+ (0.3906,0.0) [0.0|99.603] "%"  _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU
- SG_ ENG_VOL : 56|8@1+ (0.1,0.0) [0.0|25.5] "liter"  _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK
-
-BO_ 1064 _4WD11: 8 _4WD
- SG_ _4WD_TYPE : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  ACU,ESC,TPMS
- SG_ _4WD_SUPPORT : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  ABS,ESC,TPMS
- SG_ _4WD_ERR : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU,ESC
- SG_ CLU_DUTY : 16|8@1+ (1.0,0.0) [0.0|64.0] "%"  ABS,ESC
- SG_ R_TIRE : 24|8@1+ (1.0,200.0) [200.0|455.0] "mm"  ABS,ESC,TPMS
- SG_ _4WD_SW : 32|8@1+ (1.0,0.0) [0.0|9.9] ""  ESC
- SG_ _2H_ACT : 40|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC
- SG_ _4H_ACT : 41|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,CLU,ESC,TPMS
- SG_ LOW_ACT : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC,TCU,TPMS
- SG_ AUTO_ACT : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC,TPMS
- SG_ LOCK_ACT : 44|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,CLU,ESC,TPMS
- SG_ _4WD_TQC_CUR : 48|16@1+ (1.0,0.0) [0.0|65535.0] "Nm"  ABS,ESC
-
-BO_ 1319 HU_GW_E_01: 8 CLU
- SG_ C_ADrLNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ C_ADrUNValueSet : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ C_TwUnNValueSet : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_ABuzzerNValueSet : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_ArmWKeyNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_PSMNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_SCMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_HLEscortNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_WELNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_TriTurnLNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_SNVWarnNValueSet : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_LkasWarnNValueSet : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
-
-BO_ 1318 HU_GW_E_00: 8 CLU
- SG_ C_ADrLURValueReq : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_TwUnRValueReq : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_AlarmRValueReq : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_IMSRValueReq : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_HLEscortRValueReq : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_WELRValueReq : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_TriTurnLRValueReq : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_SNVWarnRValueReq : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ C_LkasWarnRValueReq : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
-
-BO_ 1317 GW_HU_E_01: 8 BCM
- SG_ C_ADrLRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ C_ADrURValue : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ C_TwUnRValue : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_ABuzzerRValue : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_ArmWKeyRValue : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_PSMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_SCMRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_HLEscortRValue : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_WELRValue : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_TriTurnLRValue : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1316 GW_HU_E_00: 8 BCM
- SG_ C_ADrLUNValueConf : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_TwUnNValueConf : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_AlarmNValueConf : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_PSMNValueConf : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_SCMNValueConf : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_HLEscortNValueConf : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_WELNValueConf : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_TriTurnLNValueConf : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1315 GW_SWRC_PE: 8 BCM
- SG_ C_ModeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_MuteSW : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_SeekDnSW : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_SeekUpSW : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_BTPhoneCallSW : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_BTPhoneHangUpSW : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_DISCDownSW : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_DISCUpSW : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_SdsSW : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_MTSSW : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_VolDnSW : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_VolUpSW : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1314 GW_IPM_PE_1: 8 BCM
- SG_ C_AV_Tail : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_ParkingBrakeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_RKECMD : 4|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ C_BAState : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_IGNSW : 12|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ C_CountryCfg : 16|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ C_TailLampActivity : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ RearSW_RSELockOnOff : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_SMKTeleCrankingState : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1057 SCC12: 8 SCC
- SG_ CF_VSM_Prefill : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_VSM_DecCmdAct : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_VSM_HBACmd : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  ESC
- SG_ CF_VSM_Warn : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IAP
- SG_ CF_VSM_Stat : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,PSB
- SG_ CF_VSM_BeltCmd : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC,PSB
- SG_ ACCFailInfo : 11|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,ESC,IBOX
- SG_ ACCMode : 13|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IBOX,TCU
- SG_ StopReq : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB,ESC
- SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0.0) [0.0|2.55] "g"  ESC
- SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,ESC,TCU
- SG_ TakeOverReq : 35|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC,TCU
- SG_ PreFill : 36|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,TCU
- SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,ESC,TCU
- SG_ CF_VSM_ConfMode : 48|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_Failinfo : 50|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_Status : 52|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_CmdAct : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ AEB_StopReq : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC
- SG_ CR_VSM_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,PSB
- SG_ CR_VSM_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,PSB
-
-BO_ 1313 GW_DDM_PE: 8 BCM
- SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_ASTDoorStatus : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_RLDoorStatus : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1056 SCC11: 8 SCC
- SG_ MainMode_ACC : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,ESC
- SG_ SCCInfoDisplay : 1|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC
- SG_ AliveCounterACC : 4|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,EMS,ESC,TCU
- SG_ VSetDis : 8|8@1+ (1.0,0.0) [0.0|255.0] "km/h or MPH"  CLU,ESC,TCU
- SG_ ObjValid : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC,TCU
- SG_ DriverAlertDisplay : 17|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ TauGapSet : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC,TCU
- SG_ ACC_ObjStatus : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  ABS,ESC
- SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20.0) [-20.0|31.1] "m"  ABS,ESC
- SG_ ACC_ObjDist : 33|11@1+ (0.1,0.0) [0.0|204.7] "m"  ABS,ESC
- SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170.0) [-170.0|239.5] "m/s"  ABS,ESC
- SG_ Navi_SCC_Curve_Status : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Curve_Act : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Camera_Act : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Camera_Status : 62|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
-BO_ 1312 CGW3: 8 BCM
- SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] ""  DATC,DATC
- SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0.0) [0.0|20000.0] ""  DATC,DATC
- SG_ CF_Hoodsw_memory : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,EMS
- SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40.0|60.0] "deg"  AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS
-
-BO_ 544 ESP12: 8 ESC
- SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU
- SG_ LAT_ACCEL_STAT : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU
- SG_ LAT_ACCEL_DIAG : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU
- SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU
- SG_ LONG_ACCEL_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
- SG_ LONG_ACCEL_DIAG : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
- SG_ CYL_PRES : 26|12@1+ (0.1,0.0) [0.0|409.5] "Bar"  _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU
- SG_ CYL_PRES_STAT : 38|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU
- SG_ CYL_PRESS_DIAG : 39|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU
- SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
- SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
- SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
- SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
- SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
-
-BO_ 1307 CLU16: 8 CLU
- SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  TPMS
- SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
- SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
-
-BO_ 790 EMS11: 8 EMS
- SG_ SWI_IGK : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU
- SG_ F_N_ENG : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU
- SG_ ACK_TCS : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
- SG_ PUC_STAT : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,DATC,IBOX,TCU
- SG_ TQ_COR_STAT : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,ESC,IBOX,TCU
- SG_ RLY_AC : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,IBOX,TCU
- SG_ F_SUB_TQI : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ECS,EPB,ESC,IBOX,TCU
- SG_ TQI_ACOR : 8|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  _4WD,EPB,ESC,IBOX,TCU
- SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm"  _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU
- SG_ TQI : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  _4WD,ECS,EPB,ESC,IBOX,TCU
- SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  _4WD,EPB,ESC,IBOX,TCU
- SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS
- SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] ""  _4WD,IBOX,TCU
-
-BO_ 1301 CLU14: 8 CLU
- SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,DATC
- SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ CF_Clu_TrfChgSet : 27|2@1+ (1.0,0.0) [0.0|3.0] ""  AFLS
- SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  LCA
- SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  LCA
- SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1.0,0.0) [0.0|3.0] ""  LCA
- SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC
- SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
- SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
- SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
- SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
- SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
- SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
- SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1.0,0.0) [0.0|7.0] ""  SCC
- SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
- SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
-
-BO_ 275 TCU13: 8 TCU
- SG_ N_TGT_LUP : 0|8@1+ (10.0,500.0) [500.0|3040.0] "rpm"  EMS,IBOX
- SG_ SLOPE_TCU : 8|6@1+ (0.5,-16.0) [-16.0|15.5] "%"  CLU,CUBIS,EMS,IBOX
- SG_ CF_Tcu_InhCda : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Tcu_IsgInhib : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
- SG_ CF_Tcu_NCStat : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
- SG_ CF_Tcu_TarGr : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC
- SG_ CF_Tcu_ShfPatt : 24|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,CUBIS,EMS,IBOX
- SG_ CF_Tcu_InhVis : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Tcu_PRelReq : 29|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LVR
- SG_ CF_Tcu_ITPhase : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10.0,0.0) [0.0|2540.0] "Nm/s"  EMS,IBOX
- SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20.0,0.0) [0.0|3500.0] "rpm"  EMS,IBOX
- SG_ CF_Tcu_SptRdy : 48|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
- SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ CF_Tcu_Alive3 : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
- SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,IBOX
-
-BO_ 274 TCU12: 8 TCU
- SG_ ETL_TCU : 0|8@1+ (2.0,0.0) [0.0|508.0] "Nm"  EMS,IBOX
- SG_ CUR_GR : 8|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,ESC,IBOX,SCC,TPMS
- SG_ CF_Tcu_Alive : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,ESC,IBOX,SCC
- SG_ CF_Tcu_ChkSum : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,ESC,IBOX,SCC
- SG_ VS_TCU : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV
- SG_ FUEL_CUT_TCU : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ INH_FUEL_CUT : 29|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ IDLE_UP_TCU : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ N_INC_TCU : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
- SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15.0|15.0] ""  EMS,IBOX
- SG_ N_TC_RAW : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm"  EMS,IBOX
- SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0.0) [0.0|0.9921875] "km/h"  CLU,EMS,IBOX,LCA
-
-BO_ 273 TCU11: 8 TCU
- SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,ESC,IBOX
- SG_ G_SEL_DISP : 8|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS
- SG_ F_TCU : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,ESC,IBOX
- SG_ TCU_TYPE : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,EMS,ESC,IBOX
- SG_ TCU_OBD : 16|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,ESC,IBOX
- SG_ SWI_GS : 19|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,ESC,IBOX,SCC
- SG_ GEAR_TYPE : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,CLU,EMS,ESC,IBOX,SCC
- SG_ TQI_TCU : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,ESC,IBOX
- SG_ TEMP_AT : 32|8@1+ (1.0,-40.0) [-40.0|214.0] "deg"  AAF,CLU,CUBIS,EMS,ESC,IBOX
- SG_ N_TC : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm"  _4WD,EMS,EPB,ESC,IBOX
- SG_ SWI_CC : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,CLU,EMS,ESC,IBOX
- SG_ CF_Tcu_Alive1 : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
- SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,IBOX
-
-BO_ 16 ACU13: 8 ACU
- SG_ CF_Acu_CshAct : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CUBIS,IBOX,ODS
-
-BO_ 1040 CGW_USM1: 8 BCM
- SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_PTGMRValue : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_ADrLRValue : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Gway_ADrURValue : 11|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Gway_SCMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_WlightRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_PSMRValue : 18|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Gway_HAnBRValue : 27|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
-
-BO_ 1292 CLU13: 8 CLU
- SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,FPCM,IBOX
- SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX
- SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX
- SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,SCC
- SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] ""  IBOX
- SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC,ECS,EMS,ESC,IAP,MDPS,TCU
- SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] ""  CGW,IBOX
- SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
- SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] ""  DATC
- SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
- SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] ""  ACU,EMS
- SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,EMS,TCU
- SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CUBIS,EMS,IAP,IBOX
- SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
- SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
- SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,DATC,EMS
- SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,LDWS_LKAS
-
-BO_ 1290 SCC13: 8 SCC
- SG_ SCCDrvModeRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ SCC_Equip : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ AebDrvSetStatus : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC
-
-BO_ 1287 TCS15: 4 ESC
- SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,IBOX
- SG_ TCS_OFF_LAMP : 1|2@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,CLU
- SG_ TCS_LAMP : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,ACU,CLU,CUBIS,IBOX,SCC
- SG_ DBC_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU
- SG_ DBC_F_LAMP : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,CLU
- SG_ ESC_Off_Step : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ AVH_CLU : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU,EPB
- SG_ AVH_I_LAMP : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB
- SG_ EBD_W_LAMP : 26|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU
- SG_ AVH_ALARM : 27|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ AVH_LAMP : 29|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,EPB,SPAS
-
-BO_ 1282 TCU14: 4 TCU
- SG_ CF_TCU_WarnMsg : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ CF_TCU_WarnImg : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_TCU_WarnSnd : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,LVR
- SG_ CF_Tcu_StRelStat : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,ESC
- SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,EMS,ESC
- SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS,ESC
-
-BO_ 1281 ECS11: 3 ECS
- SG_ ECS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,IBOX
- SG_ SYS_NA : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ ECS_DEF : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ ECS_DIAG : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ L_CHG_NA : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ Leveling_Off : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ LC_overheat : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ Lifting : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ Lowering : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
- SG_ Damping_Mode : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ REQ_Damping : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ REQ_Height : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ REQ_level : 16|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
- SG_ ACT_Height : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
-
-BO_ 1024 CLU_CFG11: 2 CLU
- SG_ Vehicle_Type : 0|16@1+ (1.0,0.0) [0.0|65536.0] ""  _4WD
-
-BO_ 1280 ACU14: 1 ACU
- SG_ CF_SWL_Ind : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_TTL_Ind : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
-
-BO_ 512 EMS20: 6 EMS
- SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul"  CLU,CUBIS,FPCM,IBOX
- SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa"  FPCM,IBOX
- SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  FPCM
diff --git a/opendbc/hyundai_2015_mcan.dbc b/opendbc/hyundai_2015_mcan.dbc
deleted file mode 100644
index 6bcd771e511205..00000000000000
--- a/opendbc/hyundai_2015_mcan.dbc
+++ /dev/null
@@ -1,1564 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: CLOCK HUD H_U DATC CCP KMA_TMU CUBIS TMU IPM RSE_R RRC CGW RSE_L AMP EDT SWRC IBOX CLU FHCU ASD MON AVM KBD
-
-
-BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
- SG_ C_WHEEL_FL : 0|12@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_WHEEL_FR : 0|12@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_WHEEL_RL : 0|12@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_WHEEL_RR : 0|12@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 2046 TP_EDT_AMP: 8 EDT
- SG_ Byte0_TCP_7FE : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte1_Data_7FE : 15|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte2_Data_7FE : 23|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte3_Data_7FE : 31|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte4_Data_7FE : 39|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte5_Data_7FE : 47|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte6_Data_7FE : 55|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte7_Data_7FE : 63|8@0+ (1,0) [0|0] ""  AMP
-
-BO_ 251 HU_TMU_E_02: 8 H_U
- SG_ HU_GPS_Year : 7|8@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ HU_GPS_Month : 15|8@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ HU_GPS_Day : 23|8@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ HU_GPS_Hour : 31|8@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ HU_GPS_Minute : 39|8@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ HU_GPS_Second : 47|8@0+ (1,0) [0|0] ""  CUBIS,TMU
-
-BO_ 250 HU_TMU_E_01: 8 H_U
- SG_ HU_VoiceRecCom : 2|3@0+ (1,0) [0|0] ""  TMU
- SG_ HU_LangChgCom : 5|3@0+ (1,0) [0|0] ""  TMU
- SG_ HU_CallEndCmd : 9|2@0+ (1,0) [0|0] ""  TMU
- SG_ HU_ServiceReqtID : 13|4@0+ (1,0) [0|0] ""  TMU
- SG_ HU_MicReqCmd : 15|2@0+ (1,0) [0|0] ""  TMU
- SG_ HU_SeviceAction : 18|3@0+ (1,0) [0|0] ""  TMU
- SG_ HU_eCallStatus : 20|2@0+ (1,0) [0|0] ""  TMU
-
-BO_ 1269 TP_CLU_ANDAUTO_HU: 8 CLU
- SG_ Byte0_TCP_4F5 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4F5 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4F5 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4F5 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4F5 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4F5 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4F5 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4F5 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1268 TP_HU_ANDAUTO_CLU: 8 H_U
- SG_ Byte0_TCP_4F4 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4F4 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4F4 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4F4 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4F4 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4F4 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4F4 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4F4 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1267 TP_CLU_CARPLAY_HU: 8 CLU
- SG_ Byte0_TCP_4F3 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4F3 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4F3 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4F3 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4F3 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4F3 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4F3 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4F3 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1266 TP_HU_CARPLAY_CLU: 8 H_U
- SG_ Byte0_TCP_4F2 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4F2 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4F2 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4F2 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4F2 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4F2 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4F2 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4F2 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1263 TP_CLU_IBOX_HU: 8 CLU
- SG_ Byte0_TCP_4EF : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4EF : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4EF : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4EF : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4EF : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4EF : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4EF : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4EF : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1262 TP_HU_IBOX_CLU: 8 H_U
- SG_ Byte0_TCP_4EE : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4EE : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4EE : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4EE : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4EE : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4EE : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4EE : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4EE : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1261 TP_CLU_DLNA_HU: 8 CLU
- SG_ Byte0_TCP_4ED : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4ED : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4ED : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4ED : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4ED : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4ED : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4ED : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4ED : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1260 TP_HU_DLNA_CLU: 8 H_U
- SG_ Byte0_TCP_4EC : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4EC : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4EC : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4EC : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4EC : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4EC : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4EC : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4EC : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 491 GW_DDM_PE: 8 CLU
- SG_ C_DRVDoorStatus : 1|2@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ C_ASTDoorStatus : 3|2@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ C_RLDoorStatus : 5|2@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ C_RRDoorStatus : 7|2@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ C_TrunkStatus : 9|2@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ C_OSMirrorStatus : 11|2@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
-
-BO_ 1259 TP_CLU_MP_HU: 8 CLU
- SG_ Byte0_TCP_4EB : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4EB : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4EB : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4EB : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4EB : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4EB : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4EB : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4EB : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1258 TP_HU_MP_CLU: 8 H_U
- SG_ Byte0_TCP_4EA : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4EA : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4EA : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4EA : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4EA : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4EA : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4EA : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4EA : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1257 TP_CLU_FM_HU: 8 CLU
- SG_ Byte0_TCP_4E9 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4E9 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4E9 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4E9 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4E9 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4E9 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4E9 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4E9 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1256 TP_HU_FM_CLU: 8 H_U
- SG_ Byte0_TCP_4E8 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4E8 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4E8 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4E8 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4E8 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4E8 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4E8 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4E8 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1255 TP_CLU_MLT_HU: 8 CLU
- SG_ Byte0_TCP_4E7 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4E7 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4E7 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4E7 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4E7 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4E7 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4E7 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4E7 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 487 HU_CLU_PE_13: 8 H_U
- SG_ Navi_DistToPoint1_F : 11|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToPoint1_I : 7|12@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToPoint1_U : 23|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToPoint2_I : 19|12@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToPoint2_F : 35|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToPoint2_U : 39|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToPoint3_F : 51|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToPoint3_I : 47|12@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToPoint3_U : 63|4@0+ (1,0) [0|0] ""  CLU,HUD
-
-BO_ 1254 TP_HU_MLT_CLU: 8 H_U
- SG_ Byte0_TCP_4E6 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4E6 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4E6 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4E6 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4E6 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4E6 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4E6 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4E6 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 486 HU_CLU_PE_12: 8 H_U
- SG_ Navi_DistToDest_I : 7|16@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToDest_F : 19|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_DistToDest_U : 23|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_EstimHour : 31|8@0+ (1,0) [0|254] "hh"  CLU,HUD
- SG_ Navi_EstimMin : 37|6@0+ (1,0) [0|59] "mm"  CLU,HUD
- SG_ Navi_EstimTimeType : 39|2@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_Compass : 45|6@0+ (7.5,-7.5) [0|352.5] "Degree"  CLU,HUD
-
-BO_ 229 HU_SYS_E_00: 8 H_U
- SG_ SYS_SW_Ver_Req : 1|2@0+ (1,0) [0|0] ""  AMP,CCP,CGW,CLOCK,CLU,HUD,IBOX,RRC,RSE_L
- SG_ SYS_CAN_Ver_Req : 3|2@0+ (1,0) [0|0] ""  AMP,CCP,CGW,CLOCK,CLU,HUD,IBOX,RRC,RSE_L
- SG_ SYS_HW_Ver_Req : 5|2@0+ (1,0) [0|0] ""  AMP,CCP,CGW,CLOCK,CLU,IBOX,RRC
- SG_ SYS_RBD_Req : 9|2@0+ (1,0) [0|0] ""  AMP,IBOX
- SG_ SYS_MOSTErrorDiag_Req : 11|2@0+ (1,0) [0|0] ""  AMP,IBOX
- SG_ SYS_Reset_Req : 17|2@0+ (1,0) [0|0] ""  AMP,IBOX
-
-BO_ 1253 TP_CLU_VCDC_HU: 8 CLU
- SG_ Byte0_TCP_4E5 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4E5 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4E5 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4E5 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4E5 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4E5 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4E5 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4E5 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 485 HU_CLU_PE_11: 8 H_U
- SG_ Navi_FixedSpdTrap : 3|4@0+ (10,0) [10|110] "Km/h"  CLU,HUD
- SG_ Navi_MobileSpdTrap : 7|4@0+ (10,0) [10|110] "Km/h"  CLU,HUD
- SG_ Navi_OverSpdAlarm : 11|2@0+ (1,0) [0|0] ""  CGW,CLU,HUD
- SG_ Navi_SpdRedlightTrap : 15|4@0+ (10,0) [10|110] "Km/h"  CLU,HUD
- SG_ Navi_NonSpdTrap : 20|5@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_WarningZone : 27|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_MergeWarning : 33|2@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_CurveWarning : 39|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_BusSpdTrap : 43|4@0+ (10,0) [10|110] "Km/h"  CLU,HUD
- SG_ Navi_SpdLimit_Type : 49|2@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_SpdLimit_Unit : 51|2@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_SpdInfo_Type : 55|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ Navi_SpdLimit : 63|8@0+ (1,0) [1|254] ""  CLU,HUD
-
-BO_ 1252 TP_HU_VCDC_CLU: 8 H_U
- SG_ Byte0_TCP_4E4 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4E4 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4E4 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4E4 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4E4 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4E4 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4E4 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4E4 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1251 TP_CLU_JB_HU: 8 CLU
- SG_ Byte0_TCP_4E3 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4E3 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4E3 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4E3 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4E3 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4E3 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4E3 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4E3 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1250 TP_HU_JB_CLU: 8 H_U
- SG_ Byte0_TCP_4E2 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4E2 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4E2 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4E2 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4E2 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4E2 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4E2 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4E2 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1248 TP_TMU_HU: 8 TMU
- SG_ Byte0_TCP_4E0 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4E0 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4E0 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4E0 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4E0 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4E0 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4E0 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4E0 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 479 CLU_HU_PE_01: 8 CLU
- SG_ CLU_Type : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ CLU_Region : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ CLU_VersionMinor : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ CLU_VersionMajor : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ CLU_CurrentDispState : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ C_DRVDRSW : 41|2@0+ (1,0) [0|0] ""  H_U
- SG_ CF_Clu_LowfuelWarning : 44|2@0+ (1,0) [0|0] ""  H_U
- SG_ CLU_PowerInfo : 46|2@0+ (1,0) [0|0] ""  H_U
- SG_ C_DrivingModeState : 50|3@0+ (1,0) [0|0] ""  H_U
- SG_ Clu_RheostatLvl : 55|5@0+ (1,0) [0|0] ""  H_U,MON,SWRC
- SG_ C_Clu_ActiveEcoSW : 57|2@0+ (1,0) [0|0] ""  H_U
- SG_ C_Detent : 59|2@0+ (1,0) [0|0] ""  CCP,CLOCK,H_U,KBD,MON,RRC,RSE_L,RSE_R
- SG_ C_DrivingModeOn : 61|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 2015 TP_EDT_All_Req: 8 EDT
- SG_ Byte0_TCP_7DF : 7|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
- SG_ Byte1_Data_7DF : 15|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
- SG_ Byte2_Data_7DF : 23|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
- SG_ Byte3_Data_7DF : 31|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
- SG_ Byte4_Data_7DF : 39|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
- SG_ Byte5_Data_7DF : 47|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
- SG_ Byte6_Data_7DF : 55|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
- SG_ Byte7_Data_7DF : 63|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
-
-BO_ 474 CLU_HU_PE_02: 8 CLU
- SG_ CF_Clu_AvgFCU : 1|2@0+ (1,0) [0|0] ""  H_U
- SG_ CF_Clu_AvgFCL : 9|10@0+ (1,0) [0|0] ""  H_U
- SG_ CF_Clu_TermAvgSync : 25|2@0+ (1,0) [0|0] ""  H_U
- SG_ CF_Clu_EcoDriveInf : 36|3@0+ (1,0) [0|0] ""  H_U
- SG_ CR_Clu_TermAvgFCI : 33|10@0+ (1,0) [0|0] ""  H_U
- SG_ CF_CLU_EcoScore : 55|16@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1495 CLU_HU_P_05: 8 CLU
- SG_ Clu_TripUnit : 9|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ Clu_DTEWarn : 11|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ Clu_DTE : 7|12@0+ (1,0) [0|1500] "km"  H_U,IBOX
- SG_ Clu_AFC : 23|10@0+ (0.1,0) [0|99.9] ""  H_U,IBOX
- SG_ Clu_IFC : 29|10@0+ (0.1,0) [0|99.9] ""  H_U,IBOX
- SG_ Clu_Odometer : 47|24@0+ (1,0) [0|999999] ""  H_U,IBOX
-
-BO_ 1494 CLU_HU_P_01: 8 CLU
- SG_ CF_TripUnit : 13|2@0+ (1,0) [0|0] ""  H_U
- SG_ CF_DTE : 7|10@0+ (1,0) [0|0] ""  H_U
-
-BO_ 214 AMP_HU_E_SYS: 8 AMP
- SG_ AMP_SWVerMajor : 7|8@0+ (1,0) [0|254] ""  H_U,IBOX
- SG_ AMP_SWVerMinor : 15|8@0+ (1,0) [0|254] ""  H_U,IBOX
- SG_ AMP_CANVerMajor : 23|8@0+ (1,0) [0|254] ""  H_U,IBOX
- SG_ AMP_CANVerMinor : 31|8@0+ (1,0) [0|254] ""  H_U,IBOX
- SG_ AMP_RBDResult : 34|3@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MOSTErrorDiagResult : 38|3@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_HWVerMajor : 55|8@0+ (1,0) [0|254] ""  H_U,IBOX
- SG_ AMP_HWVerMinor : 63|8@0+ (1,0) [0|254] ""  H_U,IBOX
-
-BO_ 1492 CLU_HU_P_04: 8 CLU
- SG_ MM_CR_Fatc_AcnComCst_W : 7|10@0+ (10,0) [0|8000] "W"  H_U
- SG_ MM_CR_Ldc_PwrMon_W : 12|8@0+ (10,0) [0|2550] "W"  H_U
- SG_ MM_CR_Fatc_PTCPwrCon_W : 17|10@0+ (10,0) [0|10000] "W"  H_U
- SG_ MM_CR_BmsChgExp_T_Fast : 39|16@0+ (1,0) [0|0] "minute"  H_U
- SG_ MM_CR_BmsChgExp_T_Slow : 55|16@0+ (1,0) [0|0] "minute"  H_U
-
-BO_ 1491 CLU_HU_P_03: 8 CLU
- SG_ MM_CF_Vcu_EvMod : 3|4@0+ (1,0) [0|0] ""  H_U
- SG_ MM_CF_Vcu_GarSelDisp : 7|4@0+ (999,0) [0|0] ""  H_U
- SG_ MM_CF_Vcu_ThiBatTir : 8|1@0+ (1,0) [0|0] ""  H_U
- SG_ CR_Mcu_MotEstTqPc : 23|10@0+ (0.2,-100) [-100|99.8] "%"  H_U
- SG_ CR_Mcu_MotActRotSpd_rpm : 39|16@0+ (1,-32768) [-32768|32767] "rpm"  H_U
-
-BO_ 1490 CLU_HU_P_02: 8 CLU
- SG_ MM_CR_Vcu_EcoSco : 3|4@0+ (1,0) [0|0] ""  H_U
- SG_ MM_CF_Vcu_PgmRun5 : 5|2@0+ (1,0) [0|0] ""  H_U
- SG_ MM_CR_Clu_Odometer_kph : 15|24@0+ (0.1,0) [0|0] "km"  H_U
-
-BO_ 1489 DATC_P_B_01: 8 CLU
- SG_ C_InhibitR_DATC : 51|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_InhibitP_DATC : 50|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_InhibitN_DATC : 49|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_InhibitD_DATC : 48|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 465 CLU_HU_PE_03: 8 CLU
- SG_ CF_Clu_EVDTEDisp : 0|9@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ CF_Clu_GasDTEDisp : 17|10@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ MM_CR_Clu_TotalDTEDisp : 34|11@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ CF_Clu_TripUnit : 49|2@0+ (1,0) [0|0] ""  H_U,IBOX
-
-BO_ 1232 TP_HU_TMU: 8 H_U
- SG_ Byte0_TCP_4D0 : 7|8@0+ (1,0) [0|0] ""  TMU
- SG_ Byte1_Data_4D0 : 15|8@0+ (1,0) [0|0] ""  TMU
- SG_ Byte2_Data_4D0 : 23|8@0+ (1,0) [0|0] ""  TMU
- SG_ Byte3_Data_4D0 : 31|8@0+ (1,0) [0|0] ""  TMU
- SG_ Byte4_Data_4D0 : 39|8@0+ (1,0) [0|0] ""  TMU
- SG_ Byte5_Data_4D0 : 47|8@0+ (1,0) [0|0] ""  TMU
- SG_ Byte6_Data_4D0 : 55|8@0+ (1,0) [0|0] ""  TMU
- SG_ Byte7_Data_4D0 : 63|8@0+ (1,0) [0|0] ""  TMU
-
-BO_ 1488 CLU_HU_P_00: 8 CLU
- SG_ MM_CR_Mcu_VehSpd_Kph : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ MM_CR_Mcu_VehSpdDec_Kph : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ MM_CR_Bms_Soc_Pc : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ MM_CR_Vcu_TqMotClu_Pc : 31|8@0+ (1,-127) [0|0] ""  H_U
- SG_ MM_CR_Bms_DrvEnaDist : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ MM_CR_Clu_Soc_Seg : 44|5@0+ (1,0) [0|0] ""  H_U,IBOX
-
-BO_ 208 CLU_HU_E_SYS: 8 CLU
- SG_ CLU_SWVerMajor : 7|8@0+ (1,0) [0|254] ""  H_U
- SG_ CLU_SWVerMinor : 15|8@0+ (1,0) [0|254] ""  H_U
- SG_ CLU_CANVerMajor : 23|8@0+ (1,0) [0|254] ""  H_U
- SG_ CLU_CANVerMinor : 31|8@0+ (1,0) [0|254] ""  H_U
- SG_ CLU_HWVerMajor : 55|8@0+ (1,0) [0|254] ""  H_U
- SG_ CLU_HWVerMinor : 63|8@0+ (1,0) [0|254] ""  H_U
-
-BO_ 448 HU_DATC_PE_00: 8 H_U
- SG_ DATC_AqsLevelChg : 3|4@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ RSELockOnOff : 7|2@0+ (1,0) [0|0] ""  CGW,DATC,IPM,RRC
- SG_ DATC_AqsMode : 9|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_Graphreset_Info : 17|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_VRActivity : 33|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_PhoneActivity : 35|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ BlowerNoiseControl : 37|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
-
-BO_ 1211 TP_HU_TBT_CLU: 8 H_U
- SG_ Byte0_TCP_4BB : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4BB : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4BB : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4BB : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4BB : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4BB : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4BB : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4BB : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1207 TP_HU_DAB_CLU: 8 H_U
- SG_ Byte0_TCP_4B7 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4B7 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4B7 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4B7 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4B7 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4B7 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4B7 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4B7 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1206 TP_HU_XM_CLU: 8 H_U
- SG_ Byte0_TCP_4B6 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4B6 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4B6 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4B6 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4B6 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4B6 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4B6 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4B6 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1204 TP_HU_DMB_CLU: 8 H_U
- SG_ Byte0_TCP_4B4 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_4B4 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_4B4 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_4B4 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_4B4 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_4B4 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_4B4 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_4B4 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 432 TMU_GW_PE_01: 8 TMU
- SG_ C_DATCOnOffReq : 1|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,H_U,IPM
- SG_ C_DATCTempUnit : 3|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,H_U,IPM
- SG_ C_DATCTempSet : 15|8@0+ (1,0) [0|0] ""  CGW,CLU,DATC,H_U,IPM
- SG_ TMU_IVRActivity : 33|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,H_U,IPM
- SG_ TMU_PhoneActivity : 35|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,H_U,IPM
-
-BO_ 1195 TP_CLU_TBT_HU: 8 CLU
- SG_ Byte0_TCP_4AB : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4AB : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4AB : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4AB : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4AB : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4AB : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4AB : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4AB : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1191 TP_CLU_DAB_HU: 8 CLU
- SG_ Byte0_TCP_4A7 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4A7 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4A7 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4A7 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4A7 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4A7 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4A7 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4A7 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1190 TP_CLU_XM_HU: 8 CLU
- SG_ Byte0_TCP_4A6 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4A6 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4A6 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4A6 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4A6 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4A6 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4A6 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4A6 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1188 TP_CLU_DMB_HU: 8 CLU
- SG_ Byte0_TCP_4A4 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_4A4 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_4A4 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_4A4 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_4A4 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_4A4 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_4A4 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_4A4 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1179 TP_HU_NAVI_CLU: 8 H_U
- SG_ Byte0_TCP_49B : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_49B : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_49B : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_49B : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_49B : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_49B : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_49B : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_49B : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1178 TP_CLU_Ipod_HU: 8 CLU
- SG_ Byte0_TCP_49A : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_49A : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_49A : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_49A : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_49A : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_49A : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_49A : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_49A : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 410 HU_CLU_PE_08: 8 H_U
- SG_ VCDC_SelDiscNo : 11|4@0+ (1,0) [0|0] ""  CLU
- SG_ VCDC_TrackChapterNo : 7|10@0+ (1,0) [0|0] ""  CLU
- SG_ VCDC_PlayTime : 23|24@0+ (1,0) [0|0] ""  CLU
- SG_ MLT_PlayTime : 47|24@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1176 TP_CLU_DVD_HU: 8 CLU
- SG_ Byte0_TCP_498 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_498 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_498 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_498 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_498 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_498 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_498 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_498 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1175 TP_CLU_USB_HU: 8 CLU
- SG_ Byte0_TCP_497 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_497 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_497 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_497 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_497 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_497 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_497 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_497 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 407 HU_CLU_PE_05: 8 H_U
- SG_ HU_LanguageInfo : 7|8@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ HU_MuteStatus : 9|2@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ HU_VolumeStatus : 15|6@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ HU_NaviDisp : 17|2@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ HU_NaviStatus : 19|2@0+ (1,0) [0|0] ""  CGW,CLU,HUD,IPM
- SG_ HU_DistanceUnit : 21|2@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ HU_Navigation_On_Off : 23|2@0+ (1,0) [0|0] ""  AVM,CGW,CLU,DATC,HUD,IPM
-
-BO_ 1942 TP_AMP_HU_DiagRes: 8 AMP
- SG_ Byte0_TCP_796 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_796 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_796 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_796 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_796 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_796 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_796 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_796 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 406 HU_CLU_PE_04: 8 H_U
- SG_ C_SDARS_ChannelNo : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ C_NaviRouteGuidance : 11|2@0+ (1,0) [0|0] ""  CLU
- SG_ HD_SPS_ChannelNo : 15|4@0+ (1,0) [0|0] ""  CLU
- SG_ C_SDARS_PresetNo : 19|4@0+ (1,0) [0|0] ""  CLU
- SG_ DAB_ServiceFollowing : 21|2@0+ (1,0) [0|0] ""  CLU
- SG_ SXM_ChannelNo : 25|10@0+ (1,0) [0|999] ""  AMP,CLU,HUD
-
-BO_ 1941 TP_HU_AMP_DiagReq: 8 H_U
- SG_ Byte0_TCP_795 : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte1_Data_795 : 15|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte2_Data_795 : 23|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte3_Data_795 : 31|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte4_Data_795 : 39|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte5_Data_795 : 47|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte6_Data_795 : 55|8@0+ (1,0) [0|0] ""  AMP
- SG_ Byte7_Data_795 : 63|8@0+ (1,0) [0|0] ""  AMP
-
-BO_ 1173 TP_CLU_CD_HU: 8 CLU
- SG_ Byte0_TCP_495 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_495 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_495 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_495 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_495 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_495 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_495 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_495 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 405 HU_CLU_PE_03: 8 H_U
- SG_ HU_IntegPresetNum : 7|8@0+ (1,0) [0|0] ""  AMP,CLU,HUD
- SG_ Radio_Area : 10|8@0+ (1,0) [0|0] ""  CLU
- SG_ DMB_PresetNo : 29|5@0+ (1,0) [0|0] ""  CLU
- SG_ RADIO_PresetNo : 18|5@0+ (1,0) [0|0] ""  CLU
- SG_ HU_Opstate_DIS2 : 38|7@0+ (1,0) [0|0] ""  AMP,CLU,HUD
-
-BO_ 1168 TP_HU_USB_CLU: 8 H_U
- SG_ Byte0_TCP_490 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_490 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_490 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_490 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_490 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_490 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_490 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_490 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1936 TP_HU_All_Req: 8 H_U
- SG_ Byte0_TCP_790 : 7|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ Byte1_Data_790 : 15|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ Byte2_Data_790 : 23|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ Byte3_Data_790 : 31|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ Byte4_Data_790 : 39|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ Byte5_Data_790 : 47|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ Byte6_Data_790 : 55|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
- SG_ Byte7_Data_790 : 63|8@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU
-
-BO_ 1167 TP_HU_Ipod_CLU: 8 H_U
- SG_ Byte0_TCP_48F : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_48F : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_48F : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_48F : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_48F : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_48F : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_48F : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_48F : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1166 TP_HU_DVD_CLU: 8 H_U
- SG_ Byte0_TCP_48E : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_48E : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_48E : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_48E : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_48E : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_48E : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_48E : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_48E : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1165 TP_HU_CD_CLU: 8 H_U
- SG_ Byte0_TCP_48D : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_48D : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_48D : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_48D : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_48D : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_48D : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_48D : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_48D : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1164 TP_CLU_NAVI_HU: 8 CLU
- SG_ Byte0_TCP_48C : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_48C : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_48C : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_48C : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_48C : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_48C : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_48C : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_48C : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 139 AMP_HU_E_12: 8 AMP
- SG_ AMP_Beep2VolumeState : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep2FrequencyState : 15|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep2OutputMaskState : 31|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep2DOnState : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep2DOffState : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep2NOfCycleState : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 138 AMP_HU_E_11: 8 AMP
- SG_ AMP_Beep1VolumeState : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep1FrequencyState : 15|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep1OutputMaskState : 31|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep1DOnState : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep1DOffState : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep1NOfCycleState : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 137 AMP_HU_E_10: 8 AMP
- SG_ AMP_MTSOutputMaskSupport : 1|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MTSMuteMaskSupport : 5|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_HFOutputMaskSupport : 9|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_HFMuteMaskSupport : 13|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_NaviOutputMaskSupport : 17|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_NaviMuteMaskSupport : 21|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1928 TP_HU_PhyRes: 8 H_U
- SG_ Byte0_TCP_788 : 7|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte1_Data_788 : 15|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte2_Data_788 : 23|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte3_Data_788 : 31|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte4_Data_788 : 39|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte5_Data_788 : 47|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte6_Data_788 : 55|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte7_Data_788 : 63|8@0+ (1,0) [0|0] ""  EDT
-
-BO_ 136 AMP_HU_E_09: 8 AMP
- SG_ AMP_MaxBeep2VolumeState : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBeep2Freq_State : 15|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep2OutputMaskSup : 33|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBeep2DOnState : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBeep2DOffState : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBeep2NOfCycleState : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 135 AMP_HU_E_08: 8 AMP
- SG_ AMP_MaxBeep1VolumeState : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBeep1Freq_State : 15|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_Beep1OutputMaskSup : 33|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBeep1DOnState : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBeep1DOffState : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBeep1NOfCycleState : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 134 AMP_HU_E_07: 8 AMP
- SG_ ASD_SetValue : 2|3@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ ASD_Version : 15|8@0+ (1,0) [0|0] ""  H_U,IBOX
-
-BO_ 1157 TP_HU_CLU_HF: 8 H_U
- SG_ Byte0_TCP_485 : 7|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte1_Data_485 : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte2_Data_485 : 23|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte3_Data_485 : 31|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte4_Data_485 : 39|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte5_Data_485 : 47|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte6_Data_485 : 55|8@0+ (1,0) [0|0] ""  CLU
- SG_ Byte7_Data_485 : 63|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 133 AMP_HU_E_06: 8 AMP
- SG_ AMP_MaxVolumeStep : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBalanceStep : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxFadeStep : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxBassStep : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxMidStep : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxTrebleStep : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_ASDMajorVer : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_ASDMinorVer : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 389 AMP_HU_PE_05: 8 AMP
- SG_ AMP_EngOrderC2Setting : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_EngOrderC4Setting : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_EngOrderC6Setting : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_APSBand0Setting : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_APSBand1Setting : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_APSBand2Setting : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_APSBand3Setting : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_APSBand4Setting : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 132 AMP_HU_E_05: 8 AMP
- SG_ AMP_HFVolumeState : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_HFAudioCutState : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_HFOutputMaskState : 23|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_HFMuteMaskState : 39|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxHFVolumeState : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxHFAudioCutState : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 388 AMP_HU_PE_04: 8 AMP
- SG_ AMP_PESSModeState : 1|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_PESSDesignSetting : 4|3@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_PESSAPSSetting : 7|3@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_PESSVolumeSetting : 15|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1156 TP_CLU_HF_HU: 8 CLU
- SG_ Byte0_TCP_484 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_484 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_484 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_484 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_484 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_484 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_484 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_484 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 131 AMP_HU_E_04: 8 AMP
- SG_ AMP_MTSVolumeState : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MTSAudioCutState : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MTSOutputMaskState : 23|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MTSMuteMaskState : 39|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxMTSVolumeState : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxMTSAudioCutState : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 387 AMP_HU_PE_03: 8 AMP
- SG_ AMP_MainVolumeSetting : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_BalanceSetting : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_FadeSetting : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_BassSetting : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MidSetting : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_TrebleSetting : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_VehicleSpeedamp : 55|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 130 AMP_HU_E_03: 8 AMP
- SG_ AMP_NaviVolumeState : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_NaviAudioCutState : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_NaviOutputMaskState : 23|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_NaviMuteMaskState : 39|16@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxNaviVolumeState : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MaxNaviAudioCutState : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 129 AMP_HU_E_02: 8 AMP
- SG_ AMP_DriveState : 1|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_ConvertibleTopState : 5|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 385 AMP_HU_PE_02: 8 AMP
- SG_ AMP_MuteState : 1|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_RearSpMuteState : 3|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SurroundModeState : 9|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_EQState : 13|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SPDIFMuteSt : 17|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_BeatsModeState : 21|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_DefaultBeep1St : 25|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_DefaultBeep2St : 29|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_AudioSource : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_VIPModeState : 41|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_QLSModeState : 43|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 128 AMP_HU_E_01: 8 AMP
- SG_ AMP_CurrentVehicleID : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SPDIFModeState : 11|4@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MajorVer : 23|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ AMP_MinorVer : 31|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ AMP_UpdateStartResp : 33|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_UpdateEndResp : 41|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_TuningMajorVer : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_TuningMinorVer : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 384 AMP_HU_PE_01: 8 AMP
- SG_ AMP_HFModeState : 1|2@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ HU_InitInfo : 3|2@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_ASDModeState : 6|3@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_NaviModeState : 9|2@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_SPDIFInfo : 12|3@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_MTSModeState : 17|2@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_VSCModeState : 25|2@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_SDVCStepState : 29|3@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_Beep1ModeState : 33|2@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_Beep2ModeState : 41|2@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_DistrInfoState : 55|8@0+ (1,0) [0|0] ""  CLU,H_U
- SG_ AMP_INFORM_TO_IPM : 57|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,H_U,IPM
- SG_ AMP_SignalDoctorState : 59|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_AutoVolumeState : 61|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1408 AMP_HU_P_01: 8 AMP
- SG_ AMP_SupportMute : 1|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportHFMode : 3|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportCfgBeep1 : 5|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportCfgBeep2 : 7|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportSpeedAdjust : 9|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportSurroundMode : 11|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportNaviMode : 13|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportMTSMode : 15|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportTopState : 17|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportBothLHDandRHD : 19|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportEQState : 21|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportVehicleID : 23|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportAudioSource : 25|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportSPDIFModeState : 27|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportRearSpMute : 29|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportVEQMode : 31|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_MakerID : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportASDMode : 41|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportBeatsMode : 43|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportVIPMode : 45|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportQLS : 47|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportSignalDoctor : 49|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportAutoVolume : 51|2@0+ (1,0) [0|0] ""  H_U
- SG_ AMP_SupportPESSMode : 53|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1920 TP_HU_PhyReq: 8 EDT
- SG_ Byte0_TCP_780 : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte1_Data_780 : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte2_Data_780 : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte3_Data_780 : 31|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte4_Data_780 : 39|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte5_Data_780 : 47|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte6_Data_780 : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ Byte7_Data_780 : 63|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 371 HU_TMU_PE_01: 8 H_U
- SG_ HU_AliveStatus : 1|2@0+ (1,0) [0|0] ""  CLU,CGW,TMU
- SG_ HU_DeviceType : 5|4@0+ (1,0) [0|0] ""  TMU
- SG_ HU_DistanceUnit : 7|2@0+ (1,0) [0|0] ""  TMU
- SG_ HU_AudAllocStatus : 9|2@0+ (1,0) [0|0] ""  TMU
- SG_ HU_PowerStatus : 12|3@0+ (1,0) [0|0] ""  TMU
- SG_ HU_BTCallStatus : 15|3@0+ (1,0) [0|0] ""  TMU
- SG_ HU_VoiceRecStatus : 17|2@0+ (1,0) [0|0] ""  TMU
- SG_ HU_LangStatus : 20|3@0+ (1,0) [0|0] ""  TMU
-
-BO_ 369 HU_Car_PE_01: 8 H_U
- SG_ HU_VehiclePwr : 3|4@0+ (1,0) [0|0] ""  AMP,ASD,AVM,CCP,CLOCK,CLU,CUBIS,DATC,FHCU,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU
-
-BO_ 1392 HU_TMU_P_01: 8 H_U
- SG_ HU_GPS_Signal : 7|64@0+ (1,0) [0|0] ""  TMU
-
-BO_ 112 HU_AMP_E_09: 8 H_U
- SG_ AMP_Beep1VolumeStep : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep1Frequency : 15|16@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep1Ch_OutputMask : 31|16@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep1DurationOn : 47|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep1DurationOff : 55|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep1NumberOfCycles : 63|8@0+ (1,0) [0|0] ""  AMP
-
-BO_ 1390 GW_CLU_P: 8 CLU
- SG_ C_VehicleSpeed : 7|8@0+ (1,0) [0|254] ""  H_U,IBOX
- SG_ C_Odometer : 15|24@0+ (1,0) [0|999999] ""  H_U,IBOX
-
-BO_ 363 GW_IPM_PE_2: 8 CLU
- SG_ C_DRVUnlockState : 1|2@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ C_ASTUnlockState : 3|2@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ C_RLUnlockstate : 5|2@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ C_RRUnlockState : 7|2@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ C_VehicleInfoTMU : 9|2@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ C_Engine_Status : 11|2@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ C_TMULockFeedBack : 23|2@0+ (1,0) [0|0] ""  CUBIS,TMU
-
-BO_ 362 GW_IPM_PE_1: 8 CLU
- SG_ C_AV_Tail : 1|2@0+ (1,0) [0|0] ""  AMP,CCP,CLOCK,CLU,HUD,H_U,IBOX,RRC,RSE_L
- SG_ C_ParkingBrakeSW : 3|2@0+ (1,0) [0|0] ""  H_U
- SG_ C_RKECMD : 7|4@0+ (1,0) [0|0] ""  H_U
- SG_ C_BAState : 9|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_IGNSW : 14|3@0+ (1,0) [0|0] ""  AMP,AVM,CUBIS,EDT,H_U,MON,RRC,SWRC
- SG_ C_CountryCfg : 18|3@0+ (1,0) [0|0] ""  AVM,H_U
- SG_ C_AltL : 25|2@0+ (1,0) [0|0] ""  H_U
- SG_ C_TailLampActivity : 27|2@0+ (1,0) [0|0] ""  AMP,CCP,CLOCK,HUD,H_U,IBOX,RRC,RSE_L,SWRC
- SG_ RearSW_RSELockOnOff : 29|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_TMULockFeedBack : 31|2@0+ (1,0) [0|0] ""  CUBIS,TMU
- SG_ C_SMKTeleCrankingState : 33|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_SMKTeleCrankingFailRes : 35|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_RKECMD_GEN2 : 39|3@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_Acu_CshAct : 41|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_IntTailAct : 43|2@0+ (1,0) [0|0] ""  AMP,CCP,CLOCK,CLU,HUD,H_U,IBOX,RRC,RSE_L
- SG_ C_PassiveAccessUnlock : 47|3@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ Lca_IndLeft : 49|2@0+ (1,0) [0|0] ""  H_U
- SG_ FL_SndWarn : 51|2@0+ (1,0) [0|0] ""  AMP
- SG_ FR_SndWarn : 53|2@0+ (1,0) [0|0] ""  AMP
- SG_ Lca_IndRight : 55|2@0+ (1,0) [0|0] ""  H_U
- SG_ RCTA_IndLeft : 57|2@0+ (1,0) [0|0] ""  H_U
- SG_ RL_SndWarn : 59|2@0+ (1,0) [0|0] ""  AMP
- SG_ RR_SndWarn : 61|2@0+ (1,0) [0|0] ""  AMP
- SG_ RCTA_IndRight : 63|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 361 GW_CHASSIS_PE_1: 8 CLU
- SG_ C_Inhibit_State : 3|4@0+ (1,0) [0|0] ""  AVM,H_U
- SG_ C_P_BrakeStatus : 5|2@0+ (1,0) [0|0] ""  AVM,H_U
- SG_ C_Clu_AltLStatus : 7|2@0+ (1,0) [0|0] ""  AVM,H_U
-
-BO_ 359 GW_WARNING_PE_01: 8 CLU
- SG_ Spas_BEEP_Alarm : 3|4@0+ (1,0) [0|0] ""  AMP
- SG_ Spas_Audio_VolumeDown : 5|2@0+ (1,0) [0|0] ""  AMP
- SG_ Spas_Spkr_Flh_Alarm : 9|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Spas_Spkr_Fcnt_Alarm : 11|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Spas_Spkr_Frh_Alarm : 13|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Spas_Spkr_Rlh_Alarm : 17|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Spas_Spkr_Rcnt_Alarm : 19|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Spas_Spkr_Rrh_Alarm : 21|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Lkas_SysStatus : 27|4@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Lkas_LH_Warning : 29|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Lkas_RH_Warning : 31|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Spas_Spkr_Level : 35|3@0+ (1,0) [0|0] ""  AMP
- SG_ Lkas_Audio_VolumeDown : 37|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Audio_VolumeDown : 39|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Pas_BEEP_Alarm : 43|4@0+ (1,0) [0|0] ""  AMP
- SG_ Pas_Audio_VolumeDown : 45|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Pas_Spkr_Level : 32|3@0+ (1,0) [0|0] ""  AMP
- SG_ Pas_Spkr_Flh_Alarm : 49|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Pas_Spkr_Fcnt_Alarm : 51|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Pas_Spkr_Frh_Alarm : 53|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Pas_Spkr_Rlh_Alarm : 57|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Pas_Spkr_Rcnt_Alarm : 59|2@0+ (1,0) [0|0] ""  AMP,H_U
- SG_ Pas_Spkr_Rrh_Alarm : 61|2@0+ (1,0) [0|0] ""  AMP,H_U
-
-BO_ 1376 HU_TMU_P_02: 8 H_U
- SG_ HU_GPS_Signal2 : 7|8@0+ (2,0) [0|0] "Degree"  TMU
- SG_ HU_GPS_Signal3 : 9|2@0+ (1,0) [0|0] ""  TMU
- SG_ HU_GPS_Signal4 : 12|3@0+ (1,0) [0|0] ""  TMU
-
-BO_ 93 DATC_HU_E_SYS: 8 CLU
- SG_ DATC_SWVerMajor : 7|8@0+ (1,0) [0|254] ""  H_U
- SG_ DATC_SWVerMinor : 15|8@0+ (1,0) [0|254] ""  H_U
- SG_ DATC_CANVerMajor : 23|8@0+ (1,0) [0|254] ""  H_U
- SG_ DATC_CANVerMinor : 31|8@0+ (1,0) [0|254] ""  H_U
-
-BO_ 344 GW_CLU_PE: 8 CLU
- SG_ C_InhibitP : 1|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_InhibitR : 3|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_InhibitN : 5|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_InhibitD : 7|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_P_BrakeStatus : 9|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_Clu_AltLStatus : 11|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ CF_Clu_LowfuelWarning : 13|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ C_InhibitRMT : 15|2@0+ (1,0) [0|0] ""  H_U
- SG_ CF_SMKRKECmd : 18|3@0+ (1,0) [0|0] ""  H_U
-
-BO_ 87 HU_E_02: 8 H_U
- SG_ NaviValidity : 1|2@0+ (1,0) [0|0] ""  CGW,CLU
-
-BO_ 343 GW_WARNING_PE_02: 8 CLU
- SG_ CF_Lkas_TsrSlifOpt : 1|2@0+ (1,0) [0|3] ""  H_U
- SG_ CF_Lkas_TsrStatus : 3|2@0+ (1,0) [0|3] ""  H_U
- SG_ CF_Lkas_TsrAddinfo_Disp : 7|2@0+ (1,0) [0|3] ""  H_U
- SG_ CF_Lkas_TsrSpeed_Display : 15|8@0+ (1,0) [0|255] ""  H_U
-
-BO_ 75 HU_AMP_E_12: 8 H_U
- SG_ AMP_EngOrderC2GainSet : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_EngOrderC4GainSet : 15|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_EngOrderC6GainSet : 23|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_APSBand0GainSet : 31|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_APSBand1GainSet : 39|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_APSBand2GainSet : 47|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_APSBand3GainSet : 55|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_APSBand4GainSet : 63|8@0+ (1,0) [0|0] ""  AMP
-
-BO_ 74 HU_AMP_E_11: 8 H_U
- SG_ AMP_PESSMode : 1|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_PESSDesignSet : 4|3@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_PESSAPSSet : 7|3@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_PESSVolumeSet : 15|8@0+ (1,0) [0|0] ""  AMP
-
-BO_ 1864 TP_AMP_EDT: 8 AMP
- SG_ Byte0_TCP_748 : 7|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte1_Data_748 : 15|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte2_Data_748 : 23|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte3_Data_748 : 31|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte4_Data_748 : 39|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte5_Data_748 : 47|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte6_Data_748 : 55|8@0+ (1,0) [0|0] ""  EDT
- SG_ Byte7_Data_748 : 63|8@0+ (1,0) [0|0] ""  EDT
-
-BO_ 327 TMU_HU_PE_03: 8 TMU
- SG_ TMU_TbT_TurnIcon : 7|8@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_CountDownBar : 11|4@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_Distance_Unit : 13|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_DestDistance_Unit : 15|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_DistanceLo : 27|4@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_DistanceHi : 23|12@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_DestDistanceLo : 43|4@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_DestDistanceHi : 39|12@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_ExpectRemainHour : 55|8@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TbT_ExpectRemainMin : 61|6@0+ (1,0) [0|0] ""  H_U
-
-BO_ 326 TMU_HU_PE_02: 8 TMU
- SG_ TMU_CallStatus : 3|4@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_CallType : 6|3@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_CDMA_Streng : 11|4@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_PacketStatus : 13|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TalkTimeHour : 20|5@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TalkTimeMinute : 29|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TalkTimeSecond : 37|6@0+ (1,0) [0|0] ""  H_U
-
-BO_ 325 TMU_HU_PE_01: 8 TMU
- SG_ TMU_AliveStatus : 2|3@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_AudioStatus : 4|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_UpdateStatus : 7|3@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_LangStatus : 10|3@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_VoiceRecStatus : 12|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_MicStatus : 14|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_ServCommuStatus : 19|4@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_PowerStatus : 21|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_EngineStatus : 23|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_DownProgress : 31|8@0+ (1,0) [0|0] ""  H_U
-
-BO_ 69 TMU_HU_E_04: 8 TMU
- SG_ TMU_eCall : 1|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 67 TMU_GW_E_01: 8 TMU
- SG_ C_ReqDrLock : 1|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ C_ReqDrUnlock : 3|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ C_ReqHazard : 5|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ C_ReqHorn : 7|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ C_ReqEngineOperate : 9|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
-
-BO_ 66 TMU_HU_E_03: 8 TMU
- SG_ CDMA_SelfDiag : 1|2@0+ (1,0) [0|0] ""  H_U
- SG_ CDMA_Antena_SelfDiag : 3|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1345 TMU_HU_P_02: 8 TMU
- SG_ TMU_SupVoiceTextService : 1|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_SupEcoCoachService : 3|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_SupSongTagService : 5|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_SupContentService : 7|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_MajorVersion : 15|8@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_MinorVersion : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_DistributeInfo : 27|4@0+ (1,0) [0|0] ""  H_U
-
-BO_ 65 TMU_HU_E_02: 8 TMU
- SG_ TMU_BarLevel1 : 7|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel2 : 1|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel4 : 21|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel3 : 11|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel5 : 31|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel6 : 25|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel8 : 45|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel7 : 35|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel9 : 55|6@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BarLevel10 : 63|6@0+ (1,0) [0|0] ""  H_U
-
-BO_ 1344 TMU_HU_P_01: 8 TMU
- SG_ TMU_Arrow : 3|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_ReFill_Info : 5|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_AverageMPG : 1|10@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_TotalMPG : 23|10@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_RewardStar : 37|14@0+ (1,0) [0|0] ""  H_U
-
-BO_ 64 TMU_HU_E_01: 8 TMU
- SG_ TMU_DisMode : 3|4@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_AudSrcType : 7|4@0+ (1,0) [0|0] ""  CLU,DATC,H_U
- SG_ TMU_AudReqCmd : 9|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_LangCmd : 12|3@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_ServReq : 15|3@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_ErrorEvent : 23|8@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_BeepCmd : 25|2@0+ (1,0) [0|0] ""  H_U
- SG_ TMU_eCall : 28|3@0+ (1,0) [0|0] ""  H_U
-
-BO_ 62 HU_Navi_E_00: 8 H_U
- SG_ Navi_SLIF_SpdUnit : 1|2@0+ (1,0) [0|0] ""  CGW,CLU,HUD
- SG_ Navi_SLIF_Frwinfo : 4|3@0+ (1,0) [0|0] ""  CGW,CLU,HUD
- SG_ Navi_SLIF_LinkClass : 7|3@0+ (1,0) [0|0] ""  CGW,CLU,HUD
- SG_ Navi_SLIF_SpdLimit : 15|8@0+ (1,0) [1|254] ""  CGW,CLU,HUD
- SG_ Navi_SLIFMapSource : 29|4@0+ (1,0) [0|8] ""  CGW,CLU,HUD
- SG_ Navi_SLIF_CountryCode : 23|10@0+ (1,0) [0|0] ""  CGW,CLU,HUD
-
-BO_ 52 HU_DATC_E_02: 8 H_U
- SG_ HU_DATC_DrTempUpDn : 1|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_PsTempUpDn : 3|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_RlTempUpDn : 5|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_RrTempUpDn : 7|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_MainBlower : 11|4@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_SubBlower : 15|4@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_RearBlower : 19|4@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATCRearPsModeSet : 23|4@0+ (1,0) [0|0] ""  CGW,CLU
- SG_ HU_DATC_FrontModeSet : 27|4@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_RearModeSet : 31|4@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_AutoSet : 33|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_OffReq : 35|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_IntakeSet : 37|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_RearOnOffSet : 39|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_AcSet : 41|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_AqsSet : 43|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_FrontDefog : 45|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_RearDefog : 47|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_ZoneControl : 49|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ HU_DATC_CO2Set : 51|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ DATC_SmartVentOnOffSet : 53|2@0+ (1,0) [0|0] ""  CGW,CLU,DATC,IPM
- SG_ DATC_ADSOnOffSet : 55|2@0+ (1,0) [0|0] ""  CGW,CLU
- SG_ HU_DATC_RearAutoDisp : 57|2@0+ (1,0) [0|0] ""  CGW,CLU
- SG_ HU_DATC_RearOffDisp : 59|2@0+ (1,0) [0|0] ""  CGW,CLU
-
-BO_ 308 DATC_PE_05: 8 CLU
- SG_ DATC_PwrInfo : 3|4@0+ (1,0) [0|0] ""  AMP,AVM,CUBIS,H_U,MON
- SG_ DATC_AltL : 5|2@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_CarInfo : 7|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_ParkingBrake : 9|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_LowFuelWarn : 11|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_Rear_Off_Disp : 13|2@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_Rear_AutoDisp : 15|2@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_Rear_BlowerDisp : 19|4@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_DrSeatWarmerDisp : 22|3@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_SyncDisp : 27|4@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_RearDispCtrl : 31|4@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_RearDrModeDisp : 35|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_PsSeatWarmerDisp : 38|3@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_DrVentSeatDisp : 42|3@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_PSVentSeatDisp : 46|3@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_RrDefLed : 49|2@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_SmartVentOnOffStatus : 51|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_ADSOnOffStatus : 53|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_AcDisp_OSD : 55|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_PsModeDisp_OSD : 59|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_ModeDisp_OSD : 63|4@0+ (1,0) [0|0] ""  H_U
-
-BO_ 307 DATC_PE_04: 8 CLU
- SG_ DATC_DiagMode : 1|2@0+ (1,0) [0|0] ""  H_U,IBOX,MON
- SG_ DATC_Rear_ChangeReqDisp : 3|2@0+ (1,0) [0|0] ""  H_U,IBOX,MON
- SG_ DATC_Rear_ClimateScnDisp : 5|2@0+ (1,0) [0|0] ""  H_U,IBOX,MON
- SG_ DATC_CO2OnOffStatus : 7|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_SelfDiagDisp : 15|8@0+ (1,0) [0|0] ""  H_U,IBOX,MON
- SG_ DATC_RearBlwDisp_OSD : 19|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_AqsLevelOut : 23|4@0+ (1,0) [0|0] ""  H_U,IBOX,MON
- SG_ DATC_RearModeDisp : 27|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_RearPsModeDisp : 31|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_FrontBlwDisp_Ps : 35|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_AutoDisp_Ps : 39|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_RearModeDisp_OSD : 43|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_RearPSModeDisp_OSD : 47|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_FrontBlwDisp_OSD : 51|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_FrontBlwDispPs_OSD : 55|4@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_Variant : 63|8@0+ (1,0) [0|0] ""  H_U,IBOX,MON
-
-BO_ 306 DATC_PE_03: 8 CLU
- SG_ DATC_ModeDisp : 3|4@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_TempUnit : 5|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_AutoDisp : 9|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_IntakeDisp : 11|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_ChangeReqDisp : 13|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_AcDisp : 17|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_AqsDisp : 19|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_ClimateScnDisp : 21|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_DualDisp : 25|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_OffDisp : 27|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_OpSts : 30|3@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_RearManual : 33|2@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_FrDefLed : 37|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_SmartVentDisp : 39|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_AutoDefogBlink : 41|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_ADSDisp : 43|2@0+ (1,0) [0|0] ""  H_U
- SG_ DATC_IonClean : 45|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_CO2Warning : 47|2@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_SubBlowerDisp : 51|4@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_BeepReq : 55|4@0+ (1,0) [0|0] ""  H_U,KBD,MON
- SG_ DATC_MainBlowerDisp : 59|4@0+ (1,0) [0|0] ""  H_U,IBOX
- SG_ DATC_PsModeDisp : 63|4@0+ (1,0) [0|0] ""  H_U,IBOX
-
-BO_ 1329 DATC_P_02: 8 CLU
- SG_ DATC_AmbientTemp_C : 7|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_AmbientTemp_F : 23|8@0+ (1,0) [0|0] ""  H_U,MON
-
-BO_ 305 DATC_PE_02: 8 CLU
- SG_ DATC_DrTempDispC : 7|8@0+ (0.5,14) [15|32] "C"  H_U,IBOX,MON
- SG_ DATC_Rear_DrTempDispC : 15|8@0+ (0.5,14) [15|32] "C"  H_U,IBOX,MON
- SG_ DATC_DrTempDispF : 23|8@0+ (1,56) [58|90] "F"  H_U,IBOX,MON
- SG_ DATC_Rear_DrTempDispF : 31|8@0+ (1,56) [58|90] "F"  H_U,IBOX,MON
- SG_ DATC_PsTempDispC : 39|8@0+ (0.5,14) [15|32] "C"  H_U,IBOX,MON
- SG_ Datc_RearPsTempDispC : 47|8@0+ (0.5,14) [15|32] "C"  H_U,IBOX,MON
- SG_ DATC_PsTempDispF : 55|8@0+ (1,56) [58|90] "F"  H_U,IBOX,MON
- SG_ DATC_RearPsTempDispF : 63|8@0+ (1,56) [58|90] "F"  H_U,IBOX,MON
-
-BO_ 304 DATC_PE_01: 8 CLU
- SG_ DATC_Type : 7|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_VerMMMajor : 15|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_VerMMMinor : 23|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_VerBDFMajor : 31|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_VerBDMinor : 39|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_VerCSMajor : 47|8@0+ (1,0) [0|0] ""  H_U,MON
- SG_ DATC_VerCSMinor : 55|8@0+ (1,0) [0|0] ""  H_U,MON
-
-BO_ 291 HU_CLU_PE_07: 8 H_U
- SG_ NV_DS_Curve : 3|4@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_Merge : 7|4@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_RailCross : 9|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_FallingRocks : 11|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_SchoolZone : 13|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_AccidentBlack : 15|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_SpeedBump : 17|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_RoadKill : 19|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_Downhill : 21|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DS_Fog : 23|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_Display_TG : 31|2@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ NV_Charge : 39|16@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ NV_Charge_Unit : 55|8@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ TBT_BarGraph100Level : 63|8@0+ (1,0) [0|100] "%"  CLU,HUD
-
-BO_ 290 HU_CLU_PE_06: 8 H_U
- SG_ NV_SD_SpdLimit2 : 3|4@0+ (10,0) [0|0] "km/h"  CLU
- SG_ NV_SD_SpdLimit1 : 7|4@0+ (10,0) [0|0] "km/h"  CLU
- SG_ NV_SD_EtcCam : 11|4@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_SpdLimit3 : 15|4@0+ (10,0) [0|0] "km/h"  CLU
- SG_ NV_SD_SignCam : 17|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_SignOverCam : 19|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_MobileCam : 21|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_FixedCam : 23|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_OverLoadCam : 25|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_ParkCam : 27|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_CutInCam : 29|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_BusOnlyCam : 31|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_ShoulderCam : 35|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_TrafficCam : 37|2@0+ (1,0) [0|0] ""  CLU
- SG_ NV_SD_PlateRcgCam : 39|2@0+ (1,0) [0|0] ""  CLU
-
-BO_ 286 HU_CLU_PE_10: 8 H_U
- SG_ Navi_TBTInfo : 63|8@0+ (1,0) [0|0] ""  CGW,CLU
-
-BO_ 29 CLU_HU_E_00: 8 CLU
- SG_ SYS_CLUVer : 7|16@0+ (1,0) [0|0] ""  CUBIS,H_U
- SG_ CLU_ClockInfoReq : 17|2@0+ (1,0) [0|0] ""  H_U
- SG_ CLU_DateInfoReq : 19|2@0+ (1,0) [0|0] ""  H_U
-
-BO_ 27 AMP_HU_E_00: 8 AMP
- SG_ SYS_AMPVer : 7|16@0+ (1,0) [0|0] ""  H_U
-
-BO_ 23 HU_IPM_E_00: 8 H_U
- SG_ C_ADrLNValueSet : 2|3@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_ADrUNValueSet : 5|3@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ SYS_Ver_Req : 7|2@0+ (1,0) [0|0] ""  AMP,AVM,CLU,CUBIS,DATC,IPM
- SG_ C_IMSRValueReq : 9|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_PSMNValueSet : 11|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_SCMNValueSet : 13|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_ADrLURValueReq : 15|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_ABuzzerNValueSet : 17|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_AlarmRValueReq : 19|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_ArmWKeyNValueSet : 21|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_TwUnRValueReq : 23|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_TwUnNValueSet : 25|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_AutoMRFoldRValueReq : 27|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_AutoMRFoldNValueSet : 29|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_ADrLRValueReq : 31|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_ArmWKeyRValueReq : 33|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_ABuzzerRValueReq : 35|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_ADrURValueReq : 37|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_PSMRValueReq : 39|2@0+ (1,0) [0|0] ""  DATC,IPM
- SG_ C_SCMRValueReq : 47|2@0+ (1,0) [0|0] ""  DATC,IPM
-
-BO_ 277 HU_CLU_PE_02: 8 H_U
- SG_ TBT_Display_Type : 7|8@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ TBT_Side_Street : 15|16@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ TBT_Direction : 31|8@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ TBT_Distance_Turn_Point : 39|16@0+ (1,0) [0|0] "m"  CLU,HUD
- SG_ TBT_Combined_Side_Street : 51|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ TBT_Scale : 55|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ TBT_DistancetoTurnPoint : 59|4@0+ (1,0) [0|0] "times"  CLU,HUD
- SG_ TBT_Bar_Graph_Level : 63|4@0+ (10,0) [0|100] ""  CLU,HUD
-
-BO_ 276 HU_CLU_PE_01: 8 H_U
- SG_ HU_OpState : 6|7@0+ (1,0) [0|0] ""  AMP,CLU
- SG_ HU_Navi_On_Off : 7|1@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ HU_Preset_Number : 12|5@0+ (1,1) [1|30] ""  AMP,CLU
- SG_ HU_Tuner_Area : 15|3@0+ (1,0) [0|0] ""  AMP,CLU
- SG_ HU_Track_Number : 23|16@0+ (1,0) [0|0] ""  CLU
- SG_ HU_Play_time_Sec : 39|6@0+ (1,0) [0|0] ""  CLU
- SG_ HU_Play_time_Min : 33|7@0+ (1,0) [0|0] ""  CLU
- SG_ HU_Play_time_Hour : 42|6@0+ (1,0) [0|0] ""  CLU
- SG_ HU_Disc_select_No : 59|4@0+ (1,0) [0|0] ""  CLU
- SG_ HU_Frequency : 52|9@0+ (1,0) [0|0] ""  AMP,CLU
-
-BO_ 17 HU_AMP_E_10: 8 H_U
- SG_ AMP_Beep2VolumeStep : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep2Frequency : 15|16@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep2Ch_OutputMask : 31|16@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep2DurationOn : 47|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep2DurationOff : 55|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep2NumberOfCycles : 63|8@0+ (1,0) [0|0] ""  AMP
-
-BO_ 15 HU_AMP_E_08: 8 H_U
- SG_ AMP_MainVolumeSet : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_BalanceSet : 15|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_FadeSet : 23|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_BassSet : 31|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_MidSet : 39|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_TrebleSet : 47|8@0+ (1,0) [0|0] ""  AMP
-
-BO_ 14 HU_AMP_E_07: 8 H_U
- SG_ AMP_HFVolumeStep : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_HFMainAudioCut : 15|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_HFChannelOutputMask : 23|16@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_HFChannelMuteMask : 39|16@0+ (1,0) [0|0] ""  AMP
-
-BO_ 13 HU_AMP_E_06: 8 H_U
- SG_ AMP_MTSVolumeStep : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_MTSMainAudioCut : 15|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_MTSChannelOutputMask : 23|16@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_MTSChannelMuteMask : 39|16@0+ (1,0) [0|0] ""  AMP
-
-BO_ 12 HU_AMP_E_05: 8 H_U
- SG_ AMP_NaviVolumeStep : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_NaviMainAudioCut : 15|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_NaviChannelOutputMask : 23|16@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_NaviChannelMuteMask : 39|16@0+ (1,0) [0|0] ""  AMP
-
-BO_ 11 HU_AMP_E_04: 8 H_U
- SG_ AMP_Drive : 1|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_ConvertibleTop : 5|2@0+ (1,0) [0|0] ""  AMP
-
-BO_ 10 HU_AMP_E_03: 8 H_U
- SG_ AMP_CrtVehicleID : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_SPDIFMode : 11|4@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_VersionReq : 17|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_UpdateStart : 25|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_UpdateEnd : 33|2@0+ (1,0) [0|0] ""  AMP
-
-BO_ 9 HU_AMP_E_02: 8 H_U
- SG_ AMP_Mute : 1|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_RearSpMute : 3|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_SurroundMode : 5|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_VEQMode : 7|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_AudioMode : 15|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_EQ : 17|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Reset : 19|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_SPDIFMute : 21|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_DefaultBeep1 : 25|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_DefaultBeep2 : 29|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_BeatsMode : 33|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_VIPMode : 35|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_QLSMode : 37|2@0+ (1,0) [0|0] ""  AMP
-
-BO_ 1288 HU_CLU_P_02: 8 H_U
- SG_ NV_TIME_TYPE : 3|4@0+ (1,0) [0|0] ""  CLU
- SG_ NV_Hour : 15|8@0+ (1,0) [0|0] ""  CLU
- SG_ NV_Min : 23|8@0+ (1,0) [0|0] ""  CLU
-
-BO_ 8 HU_AMP_E_01: 8 H_U
- SG_ AMP_HFMode : 1|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_NaviMode : 3|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_MTSMode : 5|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_VSCMode : 7|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep1Mode : 9|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_Beep2Mode : 11|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_SDVCStep : 14|3@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_ASDMode : 18|3@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_SignalDoctor : 20|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_AutoVolume : 22|2@0+ (1,0) [0|0] ""  AMP
-
-BO_ 1287 HU_CLU_P_01: 8 H_U
- SG_ NV_DistToTurn_F1 : 3|4@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DistToTurn_Unit : 7|4@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DistToTurn_F3 : 11|4@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DistToTurn_F2 : 15|4@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DistToTurn_I1 : 23|16@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DistToTurn_I2 : 39|16@0+ (1,0) [0|0] ""  CLU
- SG_ NV_DistToTurn_I3 : 55|16@0+ (1,0) [0|0] ""  CLU
-
-BO_ 1286 HU_CLU_P_00: 8 H_U
- SG_ NV_EstDist_F : 3|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ NV_EstDist_Unit : 7|4@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ NV_EstHour : 15|8@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ NV_EstMin : 23|8@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ NV_Azimuth : 31|8@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ NV_EstDist_I : 39|16@0+ (1,0) [0|0] ""  CLU,HUD
- SG_ NV_EstimTimeType : 49|2@0+ (1,0) [0|0] ""  CGW,CLU,HUD
- SG_ NV_EstimTimeFormat : 51|2@0+ (1,0) [0|0] ""  CGW,CLU,HUD
-
-BO_ 1284 HU_AMP_P_01: 8 H_U
- SG_ HU_VehicleSpeed : 7|8@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_SetMaxMainVolStep : 9|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_LKASWarningOn : 21|2@0+ (1,0) [0|0] ""  AMP
- SG_ AMP_BSDWarningOn : 23|2@0+ (1,0) [0|0] ""  AMP
-
-BO_ 256 HU_MON_PE_01: 8 H_U
- SG_ HU_Type : 7|8@0+ (1,0) [0|0] ""  AMP,CGW,CLU,HUD,KMA_TMU
- SG_ HU_VerMajor : 15|8@0+ (1,0) [0|0] ""  AMP,CLU,KMA_TMU,MON
- SG_ HU_VerMinor : 23|8@0+ (1,0) [0|0] ""  AMP,CLU,KMA_TMU,MON
- SG_ HU_DistributeInfo : 31|8@0+ (1,0) [0|0] ""  AMP,CGW,CLU,KMA_TMU,MON,RRC
- SG_ HU_SubVerMajor : 39|8@0+ (1,0) [0|0] ""  AMP,MON
- SG_ HU_SubVerMinor : 47|8@0+ (1,0) [0|0] ""  AMP,MON
- SG_ HU_SDARSVersion : 55|8@0+ (1,0) [0|0] ""  AMP,MON
- SG_ HU_AdasSupport : 58|3@0+ (1,0) [0|0] ""  CGW,CLU
-
-BO_ 1092 NM_CLOCK: 8 CLOCK
- SG_ Destination_CLOCK : 7|8@0+ (1,0) [0|0] ""  HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_CLOCK : 13|2@0+ (1,0) [0|0] ""  HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_CLOCK : 10|3@0+ (1,0) [0|0] ""  HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1108 NM_HUD: 8 HUD
- SG_ Destination_HUD : 7|8@0+ (1,0) [0|0] ""  CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_HUD : 13|2@0+ (1,0) [0|0] ""  CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_HUD : 10|3@0+ (1,0) [0|0] ""  CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1088 NM_H_U: 8 H_U
- SG_ Destination_H_U : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_H_U : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_H_U : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1091 NM_DATC: 8 DATC
- SG_ Destination_DATC : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_DATC : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_DATC : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1105 NM_CCP: 8 CCP
- SG_ Destination_CCP : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_CCP : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_CCP : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1100 NM_KMA_TMU: 8 KMA_TMU
- SG_ Destination_KMA_TMU : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_KMA_TMU : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_KMA_TMU : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1098 NM_CUBIS: 8 CUBIS
- SG_ Destination_CUBIS : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_CUBIS : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_CUBIS : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1099 NM_TMU: 8 TMU
- SG_ Destination_TMU : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_TMU : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_TMU : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1095 NM_IPM: 8 IPM
- SG_ Destination_IPM : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_IPM : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_IPM : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1107 NM_RSE_R: 8 RSE_R
- SG_ Destination_RSE_R : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_RSE_R : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_RSE_R : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1093 NM_RRC: 8 RRC
- SG_ Destination_RRC : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_RRC : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_RRC : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1109 NM_CGW: 8 CGW
- SG_ Destination_CGW : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_CGW : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_CGW : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1106 NM_RSE_L: 8 RSE_L
- SG_ Destination_RSE_L : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_RSE_L : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_RSE_L : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1096 NM_AMP: 8 AMP
- SG_ Destination_AMP : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_AMP : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_AMP : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1103 NM_EDT: 8 EDT
- SG_ Destination_EDT : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_EDT : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_EDT : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1110 NM_SWRC: 8 SWRC
- SG_ Destination_SWRC : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_SWRC : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_SWRC : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1102 NM_IBOX: 8 IBOX
- SG_ Destination_IBOX : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_IBOX : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_IBOX : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1101 NM_CLU: 8 CLU
- SG_ Destination_CLU : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_CLU : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_CLU : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD
-
-BO_ 1097 NM_FHCU: 8 FHCU
- SG_ Destination_FHCU : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD
- SG_ NMSleepFlag_FHCU : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD
- SG_ NMCommandCode_FHCU : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD
-
-BO_ 1094 NM_ASD: 8 ASD
- SG_ Destination_ASD : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD
- SG_ NMSleepFlag_ASD : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD
- SG_ NMCommandCode_ASD : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD
-
-BO_ 1089 NM_MON: 8 MON
- SG_ Destination_MON : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD
- SG_ NMSleepFlag_MON : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD
- SG_ NMCommandCode_MON : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD
-
-BO_ 1104 NM_AVM: 8 AVM
- SG_ Destination_AVM : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD
- SG_ NMSleepFlag_AVM : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD
- SG_ NMCommandCode_AVM : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD
-
-BO_ 1090 NM_KBD: 8 KBD
- SG_ Destination_KBD : 7|8@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM
- SG_ NMSleepFlag_KBD : 13|2@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM
- SG_ NMCommandCode_KBD : 10|3@0+ (1,0) [0|0] ""  CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM
-
diff --git a/opendbc/hyundai_i30_2014.dbc b/opendbc/hyundai_i30_2014.dbc
deleted file mode 100644
index 3524f9b21a893c..00000000000000
--- a/opendbc/hyundai_i30_2014.dbc
+++ /dev/null
@@ -1,549 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 128 EMS_DCT1: 8 XXX
-    SG_ PV_AV_CAN : 0|8@1+ (0.3906,0) [0|99.603] "%" XXX
-    SG_ TQ_STND : 8|6@1+ (10,0) [0|630] "Nm" XXX
-    SG_ F_N_ENG : 14|1@1+ (1,0) [0|1] "" XXX
-    SG_ F_SUB_TQI : 15|1@1+ (1,0) [0|1] "" XXX
-    SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
-    SG_ TQI_ACOR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ TQI : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ CF_Ems_Alive : 56|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Ems_ChkSum : 60|4@1+ (1,0) [0|15] "" XXX
-
-
-BO_ 129 EMS_DCT2: 8 XXX
-    SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5,0) [0|315] "Min" XXX
-    SG_ BRAKE_ACT : 6|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Ems_EngOperStat : 8|8@1+ (1,0) [0|255] "" XXX
-    SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX
-    SG_ CF_Ems_Alive2 : 56|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Ems_ChkSum2 : 60|4@1+ (1,0) [0|15] "" XXX
-
-
-BO_ 160 EngFrzFrm1: 8 XXX
-    SG_ PID_04h : 0|8@1+ (0.392157,0) [0|100] "%" XXX
-    SG_ PID_05h : 8|8@1+ (1,-40) [-40|215] "" XXX
-    SG_ PID_0Ch : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
-    SG_ PID_0Dh : 32|8@1+ (1,0) [0|255] "km/h" XXX
-    SG_ PID_11h : 40|8@1+ (0.392157,0) [0|100] "%" XXX
-    SG_ PID_03h : 48|16@1+ (1,0) [0|65535] "" XXX
-
-
-BO_ 161 EngFrzFrm2: 8 XXX
-    SG_ PID_06h : 0|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
-    SG_ PID_07h : 8|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
-    SG_ PID_08h : 16|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
-    SG_ PID_09h : 24|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
-    SG_ PID_0Bh : 32|8@1+ (1,0) [0|255] "kPa" XXX
-    SG_ PID_23h : 40|16@1+ (10,0) [0|655350] "kPa" XXX
-
-
-BO_ 304 YRS1: 8 XXX
-    SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "" XXX
-    SG_ CF_Yrs_SnsStat1 : 16|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Yrs_YrStat : 20|4@1+ (1,0) [0|15] "" XXX
-    SG_ CR_Yrs_LatAc : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX
-    SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Yrs_LatAcStat1 : 52|4@1+ (1,0) [0|15] "" XXX
-    SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" XXX
-
-
-BO_ 305 YRS3: 8 XXX
-    SG_ CR_Yrs_YawAcc : 0|16@1+ (0.125,-4096) [-4096|4095.75] "" XXX
-    SG_ CF_Yrs_YawAccStat : 20|4@1+ (1,0) [0|15] "" XXX
-    SG_ CR_Yrs_Ax : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX
-    SG_ CR_Yrs_MsgCnt3 : 48|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Yrs_AxStat : 52|4@1+ (1,0) [0|15] "" XXX
-    SG_ CR_Yrs_Crc3 : 56|8@1+ (1,0) [0|255] "" XXX
-
-
-BO_ 320 YRS2: 8 XXX
-    SG_ CF_Yrs_McuStat : 0|8@1+ (1,0) [0|255] "" XXX
-    SG_ CF_Yrs_SnsStat2 : 8|8@1+ (1,0) [0|255] "" XXX
-    SG_ CF_Yrs_ExtSysStat : 32|8@1+ (1,0) [0|255] "" XXX
-    SG_ CR_Yrs_Diag : 40|8@1+ (1,0) [0|255] "" XXX
-    SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Yrs_Type : 52|4@1+ (1,0) [0|15] "" XXX
-    SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" XXX
-
-
-BO_ 339 TCS1: 8 XXX
-    SG_ TCS_REQ : 0|1@1+ (1,0) [0|1] "" XXX
-    SG_ MSR_C_REQ : 1|1@1+ (1,0) [0|1] "" XXX
-    SG_ TCS_PAS : 2|1@1+ (1,0) [0|1] "" XXX
-    SG_ TCS_GSC : 3|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Esc_LimoInfo : 4|2@1+ (1,0) [0|3] "" XXX
-    SG_ ABS_DIAG : 6|1@1+ (1,0) [0|1] "" XXX
-    SG_ ABS_DEF : 7|1@1+ (1,0) [0|1] "" XXX
-    SG_ TCS_DEF : 8|1@1+ (1,0) [0|1] "" XXX
-    SG_ TCS_CTL : 9|1@1+ (1,0) [0|1] "" XXX
-    SG_ ABS_ACT : 10|1@1+ (1,0) [0|1] "" XXX
-    SG_ EBD_DEF : 11|1@1+ (1,0) [0|1] "" XXX
-    SG_ ESP_PAS : 12|1@1+ (1,0) [0|1] "" XXX
-    SG_ ESP_DEF : 13|1@1+ (1,0) [0|1] "" XXX
-    SG_ ESP_CTL : 14|1@1+ (1,0) [0|1] "" XXX
-    SG_ TCS_MFRN : 15|1@1+ (1,0) [0|1] "" XXX
-    SG_ DBC_CTL : 16|1@1+ (1,0) [0|1] "" XXX
-    SG_ DBC_PAS : 17|1@1+ (1,0) [0|1] "" XXX
-    SG_ DBC_DEF : 18|1@1+ (1,0) [0|1] "" XXX
-    SG_ HAC_CTL : 19|1@1+ (1,0) [0|1] "" XXX
-    SG_ HAC_PAS : 20|1@1+ (1,0) [0|1] "" XXX
-    SG_ HAC_DEF : 21|1@1+ (1,0) [0|1] "" XXX
-    SG_ ESS_STAT : 22|2@1+ (1,0) [0|3] "" XXX
-    SG_ TQI_TCS : 24|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ TQI_MSR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ CF_Esc_BrkCtl : 48|1@1+ (1,0) [0|1] "" XXX
-    SG_ ESC_OFF_STEP : 49|2@1+ (1,0) [0|3] "" XXX
-    SG_ _4WD_Status : 51|1@1+ (1,0) [0|1] "" XXX
-    SG_ AliveCounter_TCS1 : 52|4@1+ (1,0) [0|1] "" XXX
-    SG_ CheckSum_TCS1 : 56|8@1+ (1,0) [0|1] "" XXX
-
-
-BO_ 356 VSM1: 8 XXX
-    SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX
-    SG_ CF_Esc_Act : 12|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Esc_CtrMode : 13|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Esc_Def : 16|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Esc_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Esc_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
-
-
-BO_ 357 VSM2: 8 XXX
-    SG_ CR_Mdps_StrTq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX
-    SG_ CR_Mdps_OutTq : 12|12@1+ (0.1,-204.8) [-204.8|204.7] "" XXX
-    SG_ CF_Mdps_Def : 24|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Mdps_SErr : 25|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Mdps_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Mdps_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
-
-
-BO_ 399 EMS_H2: 8 XXX
-    SG_ R_TqAcnApvC : 0|8@1+ (0.2,0) [0|51] "Nm" XXX
-    SG_ R_PAcnC : 8|8@1+ (125,0) [0|31875] "hPa" XXX
-    SG_ TQI_B : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ SLD_VS : 24|8@1+ (1,0) [0|255] "km/h" XXX
-    SG_ CF_CdaStat : 32|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Ems_IsgStat : 35|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Ems_OilChg : 38|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1,0) [0|1] "" XXX
-    SG_ R_NEngIdlTgC : 40|8@1+ (10,0) [0|2550] "rpm" XXX
-    SG_ CF_Ems_UpTarGr : 48|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_DownTarGr : 49|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_DesCurGr : 50|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Ems_SldAct : 54|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_SldPosAct : 55|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_HPresStat : 56|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_IsgBuz : 57|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_FCopen : 59|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_ActEcoAct : 60|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_EngRunNorm : 61|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_IsgStat2 : 62|2@1+ (2,0) [0|3] "" XXX
-
-
-BO_ 497 TCS5: 8 XXX
-    SG_ ABS_W_LAMP : 0|1@1+ (1,0) [0|1] "" XXX
-    SG_ EBD_W_LAMP : 1|1@1+ (1,0) [0|1] "" XXX
-    SG_ TCS_OFF_LAMP : 2|1@1+ (1,0) [0|1] "" XXX
-    SG_ TCS_LAMP : 3|2@1+ (1,0) [0|3] "" XXX
-    SG_ DBC_W_LAMP : 5|1@1+ (1,0) [0|1] "" XXX
-    SG_ DBC_F_LAMP : 6|2@1+ (1,0) [0|3] "" XXX
-    SG_ ODOMETER_LEFT : 8|4@1+ (1,0) [0|15] "m" XXX
-    SG_ ODOMETER_RIGHT : 12|4@1+ (1,0) [0|15] "m" XXX
-    SG_ WHEEL_FL : 16|12@1+ (0.125,0) [0|511.875] "km/h" XXX
-    SG_ WHEEL_FR : 28|12@1+ (0.125,0) [0|511.875] "km/h" XXX
-    SG_ WHEEL_RL : 40|12@1+ (0.125,0) [0|511.875] "km/h" XXX
-    SG_ WHEEL_RR : 52|12@1+ (0.125,0) [0|511.875] "km/h" XXX
-
-
-BO_ 544 ESP2: 8 XXX
-    SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
-    SG_ ESP2_AliveCounter_LSB : 11|3@1+ (1,0) [0|7] "" XXX
-    SG_ LAT_ACCEL_STAT : 14|1@1+ (1,0) [0|1] "" XXX
-    SG_ LAT_ACCEL_DIAG : 15|1@1+ (1,0) [0|1] "" XXX
-    SG_ LONG_ACCEL : 16|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
-    SG_ ESP2_AliveCounter_MSB : 27|1@1+ (1,0) [0|1] "" XXX
-    SG_ ESP2_Checksum_LSB : 28|2@1+ (1,0) [0|3] "" XXX
-    SG_ LONG_ACCEL_STAT : 30|1@1+ (1,0) [0|1] "" XXX
-    SG_ LONG_ACCEL_DIAG : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ CYL_PRES : 32|12@1+ (0.1,0) [0|409.5] "Bar" XXX
-    SG_ ESP12_Checksum_MSB : 44|2@1+ (1,0) [0|3] "" XXX
-    SG_ CYL_PRES_STAT : 46|1@1+ (1,0) [0|1] "" XXX
-    SG_ CYL_PRESS_DIAG : 47|1@1+ (1,0) [0|1] "" XXX
-    SG_ YAW_RATE : 48|13@1+ (0.01,-40.95) [-40.95|40.96] "" XXX
-    SG_ CYL_PRES_FLAG : 61|1@1+ (1,0) [0|1] "" XXX
-    SG_ YAW_RATE_STAT : 62|1@1+ (1,0) [0|1] "" XXX
-    SG_ YAW_RATE_DIAG : 63|1@1+ (1,0) [0|1] "" XXX
-
-
-BO_ 608 EMS6: 8 XXX
-    SG_ TQI_MIN : 0|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ TQI : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ TQI_TARGET : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ GLOW_STAT : 24|1@1+ (1,0) [0|1] "" XXX
-    SG_ CRUISE_LAMP_M : 25|1@1+ (1,0) [0|1] "" XXX
-    SG_ CRUISE_LAMP_S : 26|1@1+ (1,0) [0|1] "" XXX
-    SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1,0) [0|1] "" XXX
-    SG_ ENG_STAT : 28|3@1+ (1,0) [0|7] "" XXX
-    SG_ SOAK_TIME_ERROR : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ SOAK_TIME : 32|8@1+ (1,0) [0|255] "Min" XXX
-    SG_ TQI_MAX : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60] "" XXX
-    SG_ Checksum : 56|4@1+ (1,0) [0|15] "" XXX
-    SG_ AliveCounter : 60|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Ems_AclAct : 62|2@1+ (1,0) [0|3] "" XXX
-
-
-BO_ 672 EMS5: 8 XXX
-    SG_ ECGPOvrd : 0|1@1+ (1,0) [0|1] "" XXX
-    SG_ QECACC : 1|1@1+ (1,0) [0|1] "" XXX
-    SG_ ECFail : 2|1@1+ (1,0) [0|1] "" XXX
-    SG_ SwitchOffCondExt : 3|1@1+ (1,0) [0|1] "" XXX
-    SG_ BLECFail : 4|1@1+ (1,0) [0|1] "" XXX
-    SG_ AliveCounter : 5|2@1+ (1,0) [0|3] "" XXX
-    SG_ Byte0Parity : 7|1@1+ (1,0) [0|1] "" XXX
-    SG_ FA_PV_CAN : 8|8@1+ (0.3906,0) [0|99.2] "%" XXX
-    SG_ IntAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX
-    SG_ STATE_DC_OBD : 24|7@1+ (1,0) [0|127] "" XXX
-    SG_ INH_DC_OBD : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ CTR_IG_CYC_OBD : 32|16@1+ (1,0) [0|65535] "" XXX
-    SG_ CTR_CDN_OBD : 48|16@1+ (1,0) [0|65535] "" XXX
-
-
-BO_ 688 SAS1: 8 XXX
-    SG_ SAS_Angle : 0|16@1+ (0.1,0) [-3276.8|3276.7] "Deg" XXX
-    SG_ SAS_Speed : 16|8@1+ (4,0) [0|1016] "" XXX
-    SG_ SAS_Stat : 24|8@1+ (1,0) [0|255] "" XXX
-    SG_ MsgCount : 32|4@1+ (1,0) [0|15] "" XXX
-    SG_ CheckSum : 36|4@1+ (1,0) [0|15] "" XXX
-
-
-BO_ 790 EMS1: 8 XXX
-    SG_ SWI_IGK : 0|1@1+ (1,0) [0|1] "" XXX
-    SG_ F_N_ENG : 1|1@1+ (1,0) [0|1] "" XXX
-    SG_ ACK_TCS : 2|1@1+ (1,0) [0|1] "" XXX
-    SG_ PUC_STAT : 3|1@1+ (1,0) [0|1] "" XXX
-    SG_ TQ_COR_STAT : 4|2@1+ (1,0) [0|3] "" XXX
-    SG_ RLY_AC : 6|1@1+ (1,0) [0|1] "" XXX
-    SG_ F_SUB_TQI : 7|1@1+ (1,0) [0|1] "" XXX
-    SG_ TQI_ACOR : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
-    SG_ TQI : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ VS : 48|8@1+ (1,0) [0|254] "km/h" XXX
-    SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0) [0|2] "" XXX
-
-
-BO_ 809 EMS2: 8 XXX
-    SG_ TQ_STND : 0|6@1+ (10,0) [0|630] "Nm" XXX
-    SG_ CAN_VERS : 0|6@1+ (1,0) [0|7.7] "" XXX
-    SG_ CONF_TCU : 0|6@1+ (1,0) [0|63] "" XXX
-    SG_ OBD_FRF_ACK : 0|6@1+ (1,0) [0|63] "" XXX
-    SG_ MUL_CODE : 6|2@1+ (1,0) [0|3] "" XXX
-    SG_ TEMP_ENG : 8|8@1+ (0.75,-48) [-48|143.25] "" XXX
-    SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0) [0|1.99155] "" XXX
-    SG_ VB_OFF_ACT : 24|1@1+ (1,0) [0|1] "" XXX
-    SG_ ACK_ES : 25|1@1+ (1,0) [0|1] "" XXX
-    SG_ CONF_MIL_FMY : 26|3@1+ (1,0) [0|7] "" XXX
-    SG_ OD_OFF_REQ : 29|1@1+ (1,0) [0|1] "" XXX
-    SG_ ACC_ACT : 30|1@1+ (1,0) [0|1] "" XXX
-    SG_ CLU_ACK : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ BRAKE_ACT : 32|2@1+ (1,0) [0|3] "" XXX
-    SG_ ENG_CHR : 34|4@1+ (1,0) [0|15] "" XXX
-    SG_ GP_CTL : 38|2@1+ (1,0) [0|3] "" XXX
-    SG_ TPS : 40|8@1+ (0.469484,-15.0235) [-15.0235|104.695] "%" XXX
-    SG_ PV_AV_CAN : 48|8@1+ (0.3906,0) [0|99.603] "%" XXX
-    SG_ ENG_VOL : 56|8@1+ (0.1,0) [0|25.5] "liter" XXX
-
-
-BO_ 848 FATC: 8 XXX
-    SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0) [0|50.8] "Nm" XXX
-    SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_EcvFlt : 10|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_BlwrOn : 11|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_FATC_Iden : 12|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Fatc_BlwrMax : 14|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_EngStartReq : 15|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_CtrInf : 17|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Fatc_MsgCnt : 20|4@1+ (1,0) [0|15] "" XXX
-    SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40) [-40|60] "" XXX
-    SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40) [-40|60] "" XXX
-    SG_ CF_Fatc_Compload : 40|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Fatc_ActiveEco : 43|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_AutoActivation : 44|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_DefSw : 45|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Fatc_ChkSum : 56|8@1+ (1,0) [0|255] "" XXX
-
-
-BO_ 880 TCU3: 8 XXX
-    SG_ N_TGT_LUP : 0|8@1+ (10,500) [500|3040] "rpm" XXX
-    SG_ SLOPE_TCU : 8|6@1+ (0.5,-16) [-16|15.5] "%" XXX
-    SG_ CF_Tcu_InhCda : 14|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_IsgInhib : 15|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Tcu_NCStat : 18|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Tcu_TarGr : 20|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Tcu_ShfPatt : 24|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Tcu_InhVis : 28|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_PRelReq : 29|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_ITPhase : 30|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10,0) [0|2540] "Nm/s" XXX
-    SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20,0) [0|3500] "rpm" XXX
-    SG_ TQI_TCU_INC : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX
-    SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_SptRdy : 57|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_Alive3 : 58|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1,0) [0|15] "" XXX
-
-
-BO_ 898 EMS9: 8 XXX
-    SG_ CF_Ems_BrkReq : 0|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_DnShftReq : 1|4@1+ (1,0) [0|14] "" XXX
-    SG_ CF_Ems_RepModChk : 5|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_DecelReq : 8|12@1+ (0.001,-4.094) [-4.094|0] "m/s^2" XXX
-    SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0) [0|4094] "hPa" XXX
-    SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40) [0|254] "" XXX
-    SG_ CF_Ems_PumpTPres : 40|8@1+ (3.13725,0) [0|800] "kPa" XXX
-    SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41) [-40|60] "" XXX
-    SG_ CF_Ems_OPSFail : 56|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_ECTTRQLIM : 57|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1,0) [0|15] "" XXX
-
-
-BO_ 1075 EPB1: 8 XXX
-    SG_ EPB_I_LAMP : 0|4@1+ (1,0) [0|15] "" XXX
-    SG_ EPB_F_LAMP : 4|2@1+ (1,0) [0|3] "" XXX
-    SG_ EPB_ALARM : 6|2@1+ (1,0) [0|3] "" XXX
-    SG_ EPB_CLU : 8|8@1+ (1,0) [0|255] "" XXX
-    SG_ EPB_SWITCH : 16|2@1+ (1,0) [0|3] "" XXX
-    SG_ EPB_RBL : 18|1@1+ (1,0) [0|1] "" XXX
-    SG_ EPB_STATUS : 19|3@1+ (1,0) [0|7] "" XXX
-    SG_ EPB_FRC_ERR : 22|2@1+ (1,0) [0|3] "" XXX
-    SG_ EPB_DBF_STAT : 24|1@1+ (1,0) [0|1] "" XXX
-    SG_ ESP_ACK : 25|1@1+ (1,0) [0|1] "" XXX
-    SG_ EPB_DBF_REQ : 26|1@1+ (1,0) [0|1] "" XXX
-    SG_ EPB_FAIL : 29|3@1+ (1,0) [0|7] "" XXX
-    SG_ EPB_FORCE : 32|12@1+ (1,-1000) [-1000|3000] "" XXX
-    SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0) [0|2.54] "g" XXX
-
-
-BO_ 1087 TCU1: 8 XXX
-    SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX
-    SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX
-    SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX
-    SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX
-    SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX
-    SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX
-    SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX
-    SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX
-    SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX
-    SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX
-    SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX
-
-
-BO_ 1088 TCU2: 8 XXX
-    SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX
-    SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX
-    SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX
-    SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX
-    SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX
-    SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX
-    SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX
-    SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX
-    SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX
-    SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX
-    SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX
-
-
-BO_ 1200 WHL_SPD: 8 XXX
-    SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
-    SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
-    SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
-    SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
-
-
-BO_ 1201 WHL_PUL: 8 XXX
-    SG_ WHL_PUL_FL : 0|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
-    SG_ WHL_PUL_FR : 8|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
-    SG_ WHL_PUL_RL : 16|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
-    SG_ WHL_PUL_RR : 24|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
-    SG_ WHL_DIR_FL : 32|2@1+ (1,0) [0|3] "" XXX
-    SG_ WHL_DIR_FR : 34|2@1+ (1,0) [0|3] "" XXX
-    SG_ WHL_DIR_RL : 36|2@1+ (1,0) [0|3] "" XXX
-    SG_ WHL_DIR_RR : 38|2@1+ (1,0) [0|3] "" XXX
-    SG_ WHL_PUL_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
-
-
-BO_ 1264 CLU1: 8 XXX
-    SG_ CF_Clu_CruiseSwState : 0|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Blr_MaxStat : 3|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_SldMainSW : 4|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_ParityBit1 : 5|1@1+ (1,0) [0|1] "pulse count" XXX
-    SG_ CF_Clu_SPEED_UNIT : 6|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_ParkBrakeSw : 7|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0) [0|255.5] "km/h or MPH" XXX
-    SG_ CF_Clu_AliveCounter : 17|7@1+ (1,0) [0|127] "" XXX
-    SG_ CF_Clu_CruiseSwMain : 24|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_VanzDecimal : 25|2@1+ (1,0) [0|0.375] "" XXX
-    SG_ VEHICLE_INFO : 27|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Clu_StrRlyState : 30|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_SMKOption : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ R_TqAcnOutC : 32|8@1+ (1,0) [0|51] "Nm" XXX
-    SG_ CF_Clu_Odometer : 40|24@1+ (0.1,0) [0|1.67772e+006] "km" XXX
-
-
-BO_ 1265 CLU3: 8 XXX
-    SG_ CF_Clu_AcnRqSwi : 0|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_AcnCltEnRq : 1|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_RefDetMod : 2|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_DefoggerRly : 5|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_LowfuelWarn : 16|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_SportsModeSwi : 18|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_ALightStat : 20|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_FrtFog : 21|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_DetentOut : 22|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HeadLampTail : 23|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_TrailerMode : 24|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_DTE : 25|10@1+ (1,0) [0|1023] "" XXX
-    SG_ CF_Clu_TripUnit : 35|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_IsaMainSW : 37|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_FlexSteerSW : 40|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_AvsmCur : 41|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HudSpeedset : 42|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HudTbtSet : 43|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HudSccSet : 44|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HudLdwsSet : 45|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HudDisSet : 46|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HudFontSizeSet : 47|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_HudFontColorSet : 49|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_HudBrightSet : 51|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_HudHeightSet : 53|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_CluInfo : 55|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_RheostatLevel : 56|5@1+ (1,0) [0|31] "" XXX
-    SG_ CF_Clu_DrivinglampStat : 61|3@1+ (1,0) [0|7] "" XXX
-
-
-BO_ 1349 EMS4: 8 XXX
-    SG_ IMMO_LAMP_STAT : 0|1@1+ (1,0) [0|1] "" XXX
-    SG_ L_MIL : 1|1@1+ (1,0) [0|1] "" XXX
-    SG_ IM_STAT : 2|1@1+ (1,0) [0|1] "" XXX
-    SG_ AMP_CAN : 3|5@1+ (10.7316,458.98) [458.98|791.66] "mmHg" XXX
-    SG_ FCO : 8|16@1+ (0.128,0) [0|8388.48] "ul" XXX
-    SG_ VB : 24|8@1+ (0.101563,0) [0|25.8984] "V" XXX
-    SG_ TEMP_FUEL : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX
-    SG_ Split_Stat : 56|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Ems_IsaAct : 57|1@1+ (1,0) [0|1] "" XXX
-
-
-BO_ 1435 TCU4: 8 XXX
-    SG_ CF_TCU_WarnMsg : 0|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_TCU_WarnImg : 3|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_TCU_WarnSnd : 4|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_EolStat : 5|1@1+ (1,0) [0|1] "" XXX
-    SG_ CR_Tcu_GearSelDisp2 : 8|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Tcu_StRelStat : 12|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Tcu_DrivingModeReq : 18|4@1+ (1,0) [0|0] "" XXX
-    SG_ CF_Tcu_DrivingModeDisp : 22|4@1+ (1,0) [0|0] "" XXX
-    SG_ CF_Tcu_SiCluster : 26|5@1+ (1,0) [0|0] "" XXX
-    SG_ CF_Tcu_DSmode_Inf : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Tcu_Alive4 : 58|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Tcu_ChkSum4 : 60|4@1+ (1,0) [0|15] "" XXX
-
-
-BO_ 1508 MDPS1: 8 XXX
-    SG_ CF_Mdps_WLmp : 1|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Mdps_ALTRequest : 5|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Mdps_Flex : 8|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Mdps_FlexDisp : 11|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Mdps_CurrMode : 12|2@1+ (1,0) [0|3] "" XXX
-
-
-BO_ 1680 CLU2: 8 XXX
-    SG_ CF_Clu_IGNSw : 0|3@1+ (1,0) [0|7] "" XXX
-    SG_ RKE_CMD : 3|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Clu_DrvDrSw : 6|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_DrvKeyLockSw : 8|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_DrvKeyUnlockSw : 9|1@1+ (1,0) [0|1] "" XXX
-    SG_ PIC_Lock : 10|3@1+ (1,0) [0|7] "" XXX
-    SG_ PIC_Unlock : 13|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Clu_DrvSeatBeltSw : 16|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_TrunkTgSw : 18|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_AstSeatBeltSw : 20|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_HoodSw : 22|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_TurnSigLh : 24|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_TurnSigRh : 25|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_LdwsLkasSW : 26|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_WiperIntT : 27|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Clu_WiperIntSW : 30|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_WiperLow : 31|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_WiperHigh : 32|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_WiperAuto : 33|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_RainSnsStat : 34|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Clu_HeadLampLow : 37|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HeadLampHigh : 38|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_AltLStatus : 39|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Clu_SwiGearR : 43|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_SWL_Stat : 45|3@1+ (1,0) [0|7] "" XXX
-    SG_ CF_Clu_ActiveEcoSW : 48|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_HazardSW : 49|1@1+ (1,0) [0|1] "" XXX
-    SG_ CF_Clu_AliveCnt2 : 50|4@1+ (1,0) [0|15] "" XXX
-    SG_ CF_Clu_AstDrSw : 54|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_LkasDispMode : 56|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_AutoLightLevel : 58|2@1+ (1,0) [0|3] "" XXX
-    SG_ CF_Clu_SunRoofOpenState : 60|1@1+ (1,0) [0|1] "" XXX
-
-
diff --git a/opendbc/hyundai_kia_generic.dbc b/opendbc/hyundai_kia_generic.dbc
index 67fb0914bafca1..3ae17aab68c60b 100644
--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -191,8 +191,12 @@ BO_ 916 TCS13: 8 ESC
  SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,SCC
  SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
  SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,SCC
- SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
- SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS
+ SG_ Pre_TCS_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ EBA_ACK : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ FCA_ACK : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ DF_BF_STAT : 19|2@1+ (1.0,0.0) [0.0|3.0] ""  BCW
+ SG_ SCCReqLim : 21|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ TQI_SCC : 23|9@1+ (0.390625,0.0) [0.0|199.609375] "%"  Vector__XXX
  SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,SCC
  SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
  SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
@@ -448,6 +452,7 @@ BO_ 897 MDPS11: 8 MDPS
  SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag"  LDWS_LKAS
  SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
  SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] ""  LDWS_LKAS,SPAS
+ SG_ CF_MDPS_VSM_FUNC : 56|1@0+ (1.0,0.0) [0.0|1.0] "" XXX
 
 BO_ 896 DI_BOX13: 8 DI_BOX
  SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
@@ -961,7 +966,7 @@ BO_ 64 DATC14: 8 DATC
  SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 
 BO_ 832 LKAS11: 8 LDWS_LKAS
- SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
+ SG_ CF_Lkas_LdwsActivemode : 0|2@1+ (1,0) [0|3] "" CLU,IBOX,PSB
  SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
  SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
  SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
@@ -978,11 +983,11 @@ BO_ 832 LKAS11: 8 LDWS_LKAS
  SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
  SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ CF_Lkas_Unknown1 : 47|1@1+ (1.0,0.0) [0.0|1.0] "" XXX
  SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
  SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
  SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,MDPS
- SG_ CF_Lkas_Unknown1 : 47|1@1+ (1,0) [0|3] "" XXX
- SG_ CF_Lkas_Unknown2 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ CF_Lkas_Unknown2 : 62|2@1+ (1.0,0.0) [0.0|1.0] "" XXX
 
 BO_ 1342 LKAS12: 6 LDWS_LKAS
  SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
@@ -990,6 +995,8 @@ BO_ 1342 LKAS12: 6 LDWS_LKAS
  SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
  SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
  SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU
+ SG_ CF_Lkas_Daw_USM : 37|3@1+ (1,0) [0|7] "" CLU
 
 BO_ 1338 TMU_GW_E_01: 8 CLU
  SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
@@ -1021,10 +1028,7 @@ BO_ 48 EMS18: 6 EMS
 
 BO_ 1322 CLU15: 8 CLU
  SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM
- SG_ CF_Clu_InhibitP : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitR : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitN : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitD : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
+ SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM
  SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] ""  HUD
  SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
  SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
@@ -1035,6 +1039,7 @@ BO_ 1322 CLU15: 8 CLU
  SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
  SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] ""  BCM,PGS
  SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] ""  BCM,CGW,FATC
+ SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 1066 _4WD13: 6 _4WD
  SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A"  TCU
@@ -1159,27 +1164,27 @@ BO_ 1314 GW_IPM_PE_1: 8 BCM
  SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 
 BO_ 1057 SCC12: 8 SCC
- SG_ CF_VSM_Prefill : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_VSM_DecCmdAct : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_VSM_HBACmd : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  ESC
- SG_ CF_VSM_Warn : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IAP
- SG_ CF_VSM_Stat : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,PSB
- SG_ CF_VSM_BeltCmd : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC,PSB
- SG_ ACCFailInfo : 11|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,ESC,IBOX
- SG_ ACCMode : 13|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IBOX,TCU
- SG_ StopReq : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB,ESC
- SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0.0) [0.0|2.55] "g"  ESC
- SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,ESC,TCU
- SG_ TakeOverReq : 35|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC,TCU
- SG_ PreFill : 36|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,TCU
- SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,ESC,TCU
- SG_ CF_VSM_ConfMode : 48|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_Failinfo : 50|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_Status : 52|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_CmdAct : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ AEB_StopReq : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC
- SG_ CR_VSM_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,PSB
- SG_ CR_VSM_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,PSB
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_DecCmdAct : 1|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_HBACmd : 2|2@1+ (1,0) [0|3] "" ESC
+ SG_ CF_VSM_Warn : 4|2@1+ (1,0) [0|3] "" CLU,ESC,IAP
+ SG_ CF_VSM_Stat : 6|2@1+ (1,0) [0|3] "" CLU,ESC,PSB
+ SG_ CF_VSM_BeltCmd : 8|3@1+ (1,0) [0|7] "" ESC,PSB
+ SG_ ACCFailInfo : 11|2@1+ (1,0) [0|3] "" CLU,CUBIS,ESC,IBOX
+ SG_ ACCMode : 13|2@1+ (1,0) [0|3] "" CLU,ESC,IBOX,TCU
+ SG_ StopReq : 15|1@1+ (1,0) [0|1] "" EPB,ESC
+ SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0) [0|2.55] "g" ESC
+ SG_ TakeOverReq : 35|1@1+ (1,0) [0|1] "" CLU,ESC,TCU
+ SG_ PreFill : 36|1@1+ (1,0) [0|1] "" ESC,TCU
+ SG_ CF_VSM_ConfMode : 48|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_Failinfo : 50|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_Status : 52|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_CmdAct : 54|1@1+ (1,0) [0|1] "" ESC
+ SG_ AEB_StopReq : 55|1@1+ (1,0) [0|1] "" CLU,ESC
+ SG_ CR_VSM_Alive : 56|4@1+ (1,0) [0|15] "" ESC,PSB
+ SG_ CR_VSM_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC,PSB
+ SG_ aReqValue : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX
+ SG_ aReqRaw : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX
 
 BO_ 1313 GW_DDM_PE: 8 BCM
  SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
@@ -1190,21 +1195,21 @@ BO_ 1313 GW_DDM_PE: 8 BCM
  SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 
 BO_ 1056 SCC11: 8 SCC
- SG_ MainMode_ACC : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,ESC
- SG_ SCCInfoDisplay : 1|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC
- SG_ AliveCounterACC : 4|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,EMS,ESC,TCU
- SG_ VSetDis : 8|8@1+ (1.0,0.0) [0.0|255.0] "km/h or MPH"  CLU,ESC,TCU
- SG_ ObjValid : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC,TCU
- SG_ DriverAlertDisplay : 17|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ TauGapSet : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC,TCU
- SG_ ACC_ObjStatus : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  ABS,ESC
- SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20.0) [-20.0|31.1] "m"  ABS,ESC
- SG_ ACC_ObjDist : 33|11@1+ (0.1,0.0) [0.0|204.7] "m"  ABS,ESC
- SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170.0) [-170.0|239.5] "m/s"  ABS,ESC
- SG_ Navi_SCC_Curve_Status : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Curve_Act : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Camera_Act : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Camera_Status : 62|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ MainMode_ACC : 0|1@1+ (1,0) [0|1] "" CLU,EMS,ESC
+ SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ AliveCounterACC : 4|4@1+ (1,0) [0|15] "" CLU,EMS,ESC,TCU
+ SG_ VSetDis : 8|8@1+ (1,0) [0|255] "km/h or MPH" CLU,ESC,TCU
+ SG_ ObjValid : 16|1@1+ (1,0) [0|1] "" CLU,ESC,TCU
+ SG_ DriverAlertDisplay : 17|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ TauGapSet : 19|3@1+ (1,0) [0|7] "" CLU,ESC,TCU
+ SG_ Navi_SCC_Curve_Status : 56|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Curve_Act : 58|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Camera_Act : 60|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Camera_Status : 62|2@1+ (1,0) [0|3] "" CLU
+ SG_ ACC_ObjStatus : 22|2@1+ (1,0) [0|3] "" ABS,ESC
+ SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20) [-20|31.1] "m" ABS,ESC
+ SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170) [-170|239.5] "m/s" ABS,ESC
+ SG_ ACC_ObjDist : 33|11@1+ (0.1,0) [0|204.7] "m" ABS,ESC
 
 BO_ 1312 CGW3: 8 BCM
  SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] ""  DATC,DATC
@@ -1225,8 +1230,8 @@ BO_ 544 ESP12: 8 ESC
  SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
  SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
  SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
- SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
- SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+ SG_ ESP12_Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+ SG_ ESP12_AliveCounter : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
 
 BO_ 1307 CLU16: 8 CLU
  SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  TPMS
@@ -1367,9 +1372,10 @@ BO_ 1292 CLU13: 8 CLU
  SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,LDWS_LKAS
 
 BO_ 1290 SCC13: 8 SCC
- SG_ SCCDrvModeRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ SCC_Equip : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ AebDrvSetStatus : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC
+ SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU
+ SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
+ SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ Lead_Veh_Dep_Alert_USM : 13|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1287 TCS15: 4 ESC
  SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,IBOX
@@ -1423,26 +1429,229 @@ BO_ 512 EMS20: 6 EMS
  SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  FPCM
 
 BO_ 909 FCA11: 8 FCA
- SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] ""  ESC
- SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] ""  ESC
- SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
- SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] ""  ESC
- SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g"  ESC
- SG_ FCA_Status : 18|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
- SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] ""  ESC
- SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] ""  CLU,ESC
- SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] ""  CLU,ESC
- SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] ""  ESC
- SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] ""  ACU,CLU,ESC
- SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] ""  ESC
- SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] ""  ESC
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] "" ESC
+ SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
+ SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] "" ESC
+ SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g" ESC
+ SG_ FCA_Status : 18|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
+ SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] "" ESC
+ SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] "" CLU,ESC
+ SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] "" ESC
+ SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] "" ACU,CLU,ESC
+ SG_ FCA_RelativeVelocity : 39|9@1+ (0.1,-25.5) [-25.5|25.5] "m/s" iBAU
+ SG_ FCA_TimetoCollision : 48|8@1+ (10,0) [0|2540] "ms" iBAU
+ SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] "" ESC
+ SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC
+ SG_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
+ SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX
+
+BO_ 1156 HDA11_MFC: 8 XXX
+ SG_ Counter : 5|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 1|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 18|14@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 33|2@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 34|14@1+ (1,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_8 : 49|2@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 50|14@1- (1,-4095) [0|16383] "" XXX
+
+BO_ 1155 FCA12: 8 FCA
+ SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC
+ SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW
+
+BO_ 1186 FRT_RADAR11: 2 FCA
+ SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC
 
 BO_ 905 SCC14: 8 SCC
- SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
- SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
- SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
- SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
- SG_ SCCMode : 32|3@1+ (1,0) [0|7] ""  ESC
+ SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
+ SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
+ SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
+ SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
+ SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
+ SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
+
+BO_ 1157 LFAHDA_MFC: 4 XXX
+ SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 20|3@1+ (1,0) [0|7] "" XXX
+ SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 913 BCM_PO_11: 8 Vector__XXX
+ SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
+ SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
+ SG_ LFA_Pressed : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1426 LABEL11: 8 XXX
+ SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 910 WHL_SPD12_FS: 5 iBAU
+ SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ WHL_SPD12_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ WHL_SPD_FL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+ SG_ WHL_SPD_FR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+
+BO_ 911 WHL_SPD13_FS: 5 iBAU
+ SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ WHL_SPD13_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ WHL_SPD_RL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+ SG_ WHL_SPD_RR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+
+BO_ 865 ADAS_PRK_11: 8 ADAS_PRK
+ SG_ CF_PCA_BrkReq : 24|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ CF_PCA_DclTrgtVal : 28|4@1+ (0.04,0) [0|0] "g" Vector__XXX
+ SG_ PCA_ALIVE_CNT : 40|4@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCA_CHECK_SUM : 48|8@1+ (1,0) [0|0] "" Vector__XXX
 
 BO_ 882 ELECT_GEAR: 8 XXX
- SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] ""  CLU
+ SG_ Elect_Gear_Shifter : 16|4@1+ (1,0) [0|7] ""  CLU
+
+BO_ 881 E_EMS11: 8 XXX
+ SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
+ SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
+ SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
+ SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
+ SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|254] "" XXX
+ SG_ CR_Vcu_AccPedDep_Pos : 56|8@1+ (1,0) [0|254] "" XXX
+
+BO_ 1355 EV_PC6: 8 CGW
+ SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX
+
+BO_ 1430 EV_PC2: 8 CGW
+ SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX
+
+BO_ 1535 EV_PC10: 8 CGW
+ SG_ CF_Vcu_EpbRequest : 37|1@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 908 RSPA11: 8 RSPA
+ SG_ CF_RSPA_State : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ CF_RSPA_Act : 4|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_DecCmd : 6|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_Trgt_Spd : 8|10@1+ (0.01,0) [0|10.23] "km/h" XXX
+ SG_ CF_RSPA_StopReq : 18|1@1+ (1,0) [0|2] "" XXX
+ SG_ CR_RSPA_EPB_Req : 22|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_ACC_ACT : 50|1@1+ (1,0) [0|2] "" XXX
+ SG_ CF_RSPA_AliveCounter : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CF_RSPA_CRC : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 914 S_MDPS11: 8 XXX
+ SG_ CF_Mdps_Stat : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ CR_Mdps_DrvTq : 8|12@1+ (1,0) [0|15] "" XXX
+ SG_ CR_Mdps_StrAng : 24|16@1- (1,0) [0|65535] "" XXX
+ SG_ CF_Mdps_AliveCnt : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CF_Mdps_Chksum : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 357 S_MDPS12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 12|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 352 AHB1: 8 iBAU
+ SG_ CF_Ahb_SLmp : 0|2@1+ (1,0) [0|3] "" CLU
+ SG_ CF_Ahb_Def : 2|2@1+ (1,0) [0|3] "" CGW
+ SG_ CF_Ahb_Act : 4|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CF_Ahb_Diag : 6|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_WLmp : 7|1@1+ (1,0) [0|1] "" CLU
+ SG_ CR_Ahb_StDep_mm : 8|16@1- (0.1,0) [-3276.8|3276.7] "mm" Vector__XXX
+ SG_ CF_Ahb_SnsFail : 24|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_PedalCalStat : 25|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX
+
+BO_ 1191 MFC_4a7: 8 XXX
+ SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1162 BCA11: 8 BCW
+ SG_ CF_BCA_State : 16|3@1+ (1,0) [0|7] "" CLU,iBAU
+ SG_ CF_BCA_Warning : 19|2@1+ (1,0) [0|3] "" CLU,iBAU
+ SG_ AliveCounter : 21|4@1+ (1,0) [0|15] "" CLU,iBAU
+ SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
+ SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU
+
+BO_ 1136 P_STS: 8 CGW
+ SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
+ SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
+ SG_ Counter : 58|4@1+ (1,0) [0|15] "" MDPS
+ SG_ Checksum : 62|2@1+ (1,0) [0|3] "" MDPS
+
+BO_ 304 YRS11: 8 ACU
+ SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
+ SG_ CR_Yrs_LatAc : 16|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" iBAU
+ SG_ CF_Yrs_YrStat : 32|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_LatAcStat : 36|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_MCUStat : 40|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" iBAU
+
+BO_ 320 YRS12: 8 ACU
+ SG_ CF_Yrs_LongAcStat : 16|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_IMU_ResetStat : 20|4@1+ (1,0) [0|15] "" iBAU
+ SG_ YRS_Temp : 24|8@1+ (1,-68) [-68|187] "" iBAU
+ SG_ YRS_TempStat : 32|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_Type : 36|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" iBAU
+ SG_ CR_Yrs_LongAc : 0|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" CGW,iBAU
+
+BO_ 1173 YRS13: 8 ACU
+ SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU
+
+BO_ 870 EMS_366: 8 EMS
+ SG_ TQI_1 : 0|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
+ SG_ N : 8|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" MDPS
+ SG_ TQI_2 : 24|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
+ SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
+ SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 854 M_356: 8 XXX
+ SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
+ SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
+ SG_ PAINT4 : 38|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 ICM_412h: 8 ICM
+ SG_ T_Outside_input : 0|9@0+ (0.01,0) [0|5] "V" Vector__XXX
+ SG_ WarningSoundOutput_1Group : 5|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ WarningSoundOutput_2Group : 6|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ WarningSoundOutput_3Group : 7|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ TRIP_A_DT_Display_clock : 22|7@0+ (1,0) [0|99] "clock" Vector__XXX
+ SG_ TRIP_A_DT_Display_minute : 29|6@0+ (1,0) [0|59] "minute" Vector__XXX
+ SG_ TRIP_B_DT_Display_clock : 38|7@0+ (1,0) [0|99] "clock" Vector__XXX
+ SG_ TRIP_B_DT_Display_minute : 45|6@0+ (1,0) [0|59] "minute" Vector__XXX
+ SG_ PopupMessageOutput_1Level : 48|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_2Level : 49|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_3Level : 50|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_4Level : 51|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_5Level : 52|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_6Level : 53|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 1348 Navi_HU: 8 XXX
+ SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX
+
+
+
+
+VAL_ 871 CF_Lvr_Gear 5 "D" 8 "S" 6 "N" 7 "R" 0 "P" ;
+VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D" ;
+VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P" ;
+VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB" ;
+VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda" ;
+VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red" ;
+VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink" ;
+VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled" ;
+VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P" ;
+CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
+CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";
\ No newline at end of file
diff --git a/opendbc/hyundai_kia_mando_front_radar.dbc b/opendbc/hyundai_kia_mando_front_radar.dbc
new file mode 100644
index 00000000000000..552cdddeaf55ba
--- /dev/null
+++ b/opendbc/hyundai_kia_mando_front_radar.dbc
@@ -0,0 +1,454 @@
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 1280 RADAR_TRACK_500: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1281 RADAR_TRACK_501: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1282 RADAR_TRACK_502: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1283 RADAR_TRACK_503: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1284 RADAR_TRACK_504: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1285 RADAR_TRACK_505: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1286 RADAR_TRACK_506: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1287 RADAR_TRACK_507: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1288 RADAR_TRACK_508: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1289 RADAR_TRACK_509: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1290 RADAR_TRACK_50a: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1291 RADAR_TRACK_50b: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1292 RADAR_TRACK_50c: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1293 RADAR_TRACK_50d: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1294 RADAR_TRACK_50e: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1295 RADAR_TRACK_50f: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1296 RADAR_TRACK_510: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1297 RADAR_TRACK_511: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1298 RADAR_TRACK_512: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1299 RADAR_TRACK_513: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1300 RADAR_TRACK_514: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1301 RADAR_TRACK_515: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1302 RADAR_TRACK_516: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1303 RADAR_TRACK_517: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1304 RADAR_TRACK_518: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1305 RADAR_TRACK_519: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1306 RADAR_TRACK_51a: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1307 RADAR_TRACK_51b: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1308 RADAR_TRACK_51c: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1309 RADAR_TRACK_51d: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1310 RADAR_TRACK_51e: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
+
+BO_ 1311 RADAR_TRACK_51f: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+
diff --git a/opendbc/lexus_ct200h_2018_pt_generated.dbc b/opendbc/lexus_ct200h_2018_pt_generated.dbc
index 0f322dd16e49f1..883f2ee0af85cf 100644
--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,20 +366,61 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "lexus_ct200h_2018_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "lexus_ct200h_2018_pt.dbc starts here";
 
 
 
 BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 581 GAS_PEDAL: 5 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -373,6 +430,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/lexus_gs300h_2017_pt_generated.dbc b/opendbc/lexus_gs300h_2017_pt_generated.dbc
deleted file mode 100644
index 5bd0bbf5d9d577..00000000000000
--- a/opendbc/lexus_gs300h_2017_pt_generated.dbc
+++ /dev/null
@@ -1,397 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX DSU HCU EPS IPAS CGW
-
-BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
- SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 166 BRAKE: 8 XXX
- SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
-
-BO_ 180 SPEED: 8 XXX
- SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 353 DSU_SPEED: 8 XXX
- SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
- SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 552 ACCELEROMETER: 8 XXX
- SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
- SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
-
-BO_ 560 BRAKE_MODULE2: 7 XXX
- SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 614 STEERING_IPAS: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 643 PRE_COLLISION: 7 DSU
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
- SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
- SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
- SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 740 STEERING_LKA: 5 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 742 LEAD_INFO: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
- SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
- SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
-
-BO_ 835 ACC_CONTROL: 8 DSU
- SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
- SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
- SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
- SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 869 DSU_CRUISE : 7 DSU
- SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
- SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
-
-BO_ 921 PCM_CRUISE_SM: 8 XXX
- SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
- SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
- SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 951 ESP_CONTROL: 8 ESP
- SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1042 LKAS_HUD: 8 XXX
- SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
- SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1043 TIME : 8 CGW
- SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
- SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
- SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
- SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
- SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
- SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
- SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
- SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
- SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
-
-BO_ 1408 VIN_PART_1: 8 CGW
- SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1409 VIN_PART_2: 8 CGW
- SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1410 VIN_PART_3: 8 CGW
- SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1553 UI_SETTING: 8 XXX
- SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1568 SEATS_DOORS: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1570 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1161 RSA1: 8 FCM
- SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
- SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1162 RSA2: 8 FCM
- SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
- SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1163 RSA3: 8 FCM
- SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
- SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
-
-CM_ SG_ 36 ACCEL_Y "unit is tbd";
-CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
-CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
-CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
-CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
-CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
-CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
-CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
-CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
-CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
-CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1163 TSREQPD "always 1";
-CM_ SG_ 1163 TSRMSW "always 1";
-CM_ SG_ 1163 OTSGNNTM "always 3";
-CM_ SG_ 1163 NTLVLSPD "always 3";
-CM_ SG_ 1163 OVSPNTM "always 3";
-CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
-CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
-CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
-CM_ SG_ 1163 TSRSPU "always 1";
-
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
-VAL_ 614 STATE 3 "enabled" 1 "disabled";
-VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
-VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
-VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
-VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
-VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
-VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
-VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-
-
-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
-
-CM_ "lexus_gs300h_2017_pt.dbc starts here"
-
-
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_3: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|15] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc
index 0b1f5315e40e09..30e8cbbaff74f9 100644
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "lexus_is_2018_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "lexus_is_2018_pt.dbc starts here";
 
 
 
diff --git a/opendbc/lexus_nx300_2018_pt_generated.dbc b/opendbc/lexus_nx300_2018_pt_generated.dbc
new file mode 100644
index 00000000000000..7b4fcaa13d020f
--- /dev/null
+++ b/opendbc/lexus_nx300_2018_pt_generated.dbc
@@ -0,0 +1,456 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 353 DSU_SPEED: 7 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
+
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "lexus_nx300_2018_pt.dbc starts here";
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
diff --git a/opendbc/lexus_nx300h_2018_pt_generated.dbc b/opendbc/lexus_nx300h_2018_pt_generated.dbc
index c5f0e7ab46f00c..c7cb4616d3a824 100644
--- a/opendbc/lexus_nx300h_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300h_2018_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "lexus_nx300h_2018_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "lexus_nx300h_2018_pt.dbc starts here";
 
 
 
@@ -373,6 +431,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/lexus_rx_350_2016_pt_generated.dbc b/opendbc/lexus_rx_350_2016_pt_generated.dbc
index 2370835ae36b0c..7a1b1a704ed6a4 100644
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "lexus_rx_350_2016_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "lexus_rx_350_2016_pt.dbc starts here";
 
 
 
@@ -370,6 +428,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
index ef9052b28133ee..b481318a156edb 100644
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "lexus_rx_hybrid_2017_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "lexus_rx_hybrid_2017_pt.dbc starts here";
 
 
 
@@ -373,6 +431,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/luxgen_s5_2015.dbc b/opendbc/luxgen_s5_2015.dbc
deleted file mode 100644
index 855e67bfeba9e5..00000000000000
--- a/opendbc/luxgen_s5_2015.dbc
+++ /dev/null
@@ -1,153 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 928 EPB_STATUS: 8 XXX
- SG_ EPB_BRAKE : 16|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 1104 SEATBELT_STATUS: 8 XXX
- SG_ DRIVER_SEAT_BELT_ONOFF : 21|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 1056 BODY_ECU_STATUS: 8 XXX
- SG_ DOOR_RL_STATUS : 18|1@0+ (1,0) [0|255] "" XXX
- SG_ DOOR_FL_STATUS : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_FR_STATUS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_RR_STATUS : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_BACK_DOOR_STATUS : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_SIGNAL_STATUS : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_SIGNAL_STATUS : 9|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 832 GEAR_RPM_SPEED_STATUS: 8 XXX
- SG_ TRANS_MODE : 7|5@1+ (1,0) [0|0] "" XXX
- SG_ TRANS_GEAR_POS : 2|3@0+ (1,0) [0|1] "" XXX
- SG_ ENGINE_RPM1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ ENGINE_TEMP : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 821 THROTTLE_STATUS: 8 XXX
- SG_ CRUSE_ONOFF : 2|1@0+ (1,0) [0|1] "on/off" XXX
- SG_ CRUSE_ENABLED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ THROTTLE_PEDAL_POS : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ THROTTLE_POS : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ RPM : 48|8@1- (1,0) [0|65535] "" XXX
-
-BO_ 922 STEERING_ANGLE_STATUS: 8 XXX
- SG_ STEER_ANGLE_9000 : 7|16@0- (1,0) [0|65535] "" XXX
-
-BO_ 906 WHEEL_SPEEDS: 8 XXX
- SG_ SPEED_FR : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ABS_UNDEF1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ SPEED_FL : 0|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 848 ABS_WHEELS_STATUS: 8 XXX
- SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1402 DASH_STATUS: 8 XXX
- SG_ CAR_SPEED : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ DASH_INFO2 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ DASH_INFO0 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ DASH_INFO_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ DASH_INFO_3 : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1306 _SPEEDX: 8 XXX
- SG_ DASH_CAR_SPEED : 7|9@0+ (1,0) [0|255] "" XXX
-
-BO_ 1296 undefined: 8 XXX
-
-BO_ 790 ENGINE_DATA: 8 XXX
- SG_ _X2 : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1313 undefined: 8 XXX
-
-BO_ 1312 __trigger_every_range: 8 XXX
- SG_ __SIGNAL_every_interval : 4|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 896 undefined: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 809 undefined: 8 XXX
-
-BO_ 864 BREAK_TCS_STATUS: 8 XXX
- SG_ SPEED3 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ TCS_ON_FF : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ XXXX1 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PRSSED : 42|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 842 undefined: 8 XXX
-
-BO_ 880 WHEEL_RPM_STATUS: 8 XXX
- SG_ WHEEL_RL_SPEED : 23|16@0+ (1,0) [0|255] "" XXX
- SG_ WHEEL_FR_SPEED : 39|16@0+ (1,0) [0|255] "" XXX
- SG_ WHEEL_FL_SPEED : 55|16@0+ (1,0) [0|255] "" XXX
- SG_ WHEEL_RR_SPEED : 7|16@0- (1,0) [0|255] "" XXX
-
-BO_ 1040 CONSOLE_STATUS: 8 XXX
- SG_ LEFT_SIGNAL_SWITCH : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_SIGNAL_SWITCH : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ HEAD_LIGHT_HANDLE_SWITCH : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ HID_LIGHT_SWITCH : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ YELLOW_WARN_TEMP_TRIGGER : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ HID_LIGHT_HANDLE_SWITCH : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ MIX_MODE : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ slider_rain_bar : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ temp_slider_rain_bar : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ temp_water_push : 11|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1120 HAVC_STATUS: 8 XXX
- SG_ HAVC_TEMP : 32|8@1+ (1,0) [0|255] "" XXX
-
-
-CM_ SG_ 1104 DRIVER_SEAT_BELT_ONOFF "0 - on , 1 = off";
-CM_ SG_ 1056 DOOR_RL_STATUS "04 - RL - open";
-CM_ SG_ 1056 DOOR_FL_STATUS "28 - FL open , 38 - FR";
-CM_ SG_ 1056 RIGHT_SIGNAL_STATUS "R,L shows at same time means hazard";
-CM_ SG_ 832 TRANS_MODE "AT - 85 / MT - 8D";
-CM_ SG_ 832 TRANS_GEAR_POS "R-7 , 0 - N";
-CM_ SG_ 821 CRUSE_ONOFF "Cruse Switch";
-CM_ SG_ 821 CRUSE_ENABLED "Cruse enabled";
-CM_ SG_ 821 THROTTLE_PEDAL_POS "Real Pedal Pos";
-CM_ SG_ 821 THROTTLE_POS "Throttle Pos for Cruse Mode";
-CM_ SG_ 906 ABS_UNDEF1 "ABS force";
-CM_ SG_ 906 SPEED_FL "used for car speed in dash board";
-CM_ SG_ 864 TCS_ON_FF "ON = 1, OFF =0";
diff --git a/opendbc/mazda_2017.dbc b/opendbc/mazda_2017.dbc
new file mode 100644
index 00000000000000..fdd6d28248e865
--- /dev/null
+++ b/opendbc/mazda_2017.dbc
@@ -0,0 +1,764 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 117 STEER_RELATED: 8 XXX
+ SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
+ SG_ STEER_ANGLE_2 : 39|16@0+ (0.1,-1800) [0|131071] "" XXX
+ SG_ STEER_TORQUE : 19|12@0+ (1,-2000) [0|255] "" XXX
+
+BO_ 118 RPM_RELATED: 8 XXX
+ SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX
+
+BO_ 514 ENGINE_DATA: 8 XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+ SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX
+ SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "%" XXX
+
+BO_ 357 PEDALS: 8 XXX
+ SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 8|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACC_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_OFF : 2|1@1+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX
+ SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
+
+BO_ 533 WHEEL_SPEEDS: 8 XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "kph" XXX
+ SG_ RL : 39|16@0+ (0.01,-100) [0|15] "kph" XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "kph" XXX
+
+BO_ 134 STEER2: 8 XXX
+ SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX
+ SG_ STEER_ANGLE_ROUGH : 26|11@0+ (1,-1000) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX
+ SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|7] "" XXX
+
+BO_ 576 STEER_TORQUE: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ SENSOR1 : 39|8@0+ (1,-128) [0|127] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 46|15@0- (0.1,0) [-3000|3000] "tbd" XXX
+ SG_ NEW_SIGNAL_2 : 62|4@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|127] "" XXX
+ SG_ STEER_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX
+
+BO_ 577 STEER_RATE: 8 XXX
+ SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|15] "" XXX
+ SG_ LKAS_EFFECTIVE : 39|12@0+ (1,-2048) [0|255] "" XXX
+ SG_ HANDS_OFF_5_SECONDS : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_BLOCK : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_TRACK_STATE : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 582 CAM_LANEMAYBE: 8 XXX
+ SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX
+ SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 541 CAM_EMPTY: 8 XXX
+
+BO_ 605 CAM_PEDESTRIAN: 8 XXX
+ SG_ CTR : 17|4@0+ (1,0) [0|255] "" XXX
+ SG_ AEB_NOT_ENGAGED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ PED_WARNING : 9|1@0+ (1,0) [0|255] "" XXX
+ SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX
+ SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX
+ SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX
+ SG_ BRAKE_WARNING : 25|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 578 CAM_LANETRACK: 8 XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZERO : 53|6@0+ (1,0) [0|63] "" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ LINE2 : 9|10@0+ (1,-686) [0|255] "" XXX
+ SG_ LANE_CURVE : 31|8@0+ (1,-127) [0|255] "" XXX
+ SG_ SIG1 : 39|8@0+ (1,-128) [0|255] "" XXX
+ SG_ SIG2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SIG3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX
+
+BO_ 579 CAM_LKAS: 8 XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
+ SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ ANGLE_ENABLED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEERING_ANGLE : 33|12@0+ (1,-2048) [-2048|2047] "" XXX
+
+BO_ 580 CAM_DISTANCE: 8 XXX
+ SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
+ SG_ S2 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ S3 : 16|8@1+ (1,0) [0|3] "" XXX
+ SG_ S4 : 24|8@1+ (1,0) [0|31] "" XXX
+ SG_ S5 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ DISTANCE : 47|8@0+ (1,0) [0|65535] "" XXX
+ SG_ S6 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 581 CAM_IDK3: 8 XXX
+ SG_ S1 : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ S2 : 8|6@1+ (1,0) [0|255] "" XXX
+ SG_ S3 : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ S4 : 16|8@1+ (1,0) [0|15] "" XXX
+ SG_ S5 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ S6 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ S7 : 40|8@1+ (1,0) [0|3] "" XXX
+ SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
+ SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
+ SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
+ SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
+ SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1157 CAM_SETTINGS: 8 XXX
+ SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
+ SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
+ SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_SENSETIVITY : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
+ SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX
+ SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1160 CAM_Empty3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
+
+BO_ 1088 CAM_LANEINFO: 8 XXX
+ SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
+ SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
+ SG_ S1_HBEAM : 54|1@0+ (1,0) [0|31] "" XXX
+ SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
+ SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_ERR_BIT : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT2 : 13|1@0+ (1,0) [0|15] "" XXX
+ SG_ LANE_LINES : 10|3@0+ (1,0) [0|3] "" XXX
+ SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX
+ SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
+ SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1479 NEW_MSG_470: 8 XXX
+
+BO_ 1456 NEW_MSG_300: 8 XXX
+
+BO_ 1446 NEW_MSG_a600: 8 XXX
+
+BO_ 1416 MSG_18: 8 XXX
+
+BO_ 1086 DOORS: 8 XXX
+ SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX
+ SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEYFOB_LOCK : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEYFOB_UNLOCK : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR1 : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ CTR2 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ BR : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX
+ SG_ DOORS_UNLOCKED : 30|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 977 TWO_STATES: 8 XXX
+ SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 56|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 51|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1085 MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_3 : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 40|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 159 MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX
+ SG_ INCREASEING : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1278 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ MILAGE_MAYBE : 7|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1277 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1275 2017_5: 8 XXX
+ SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX
+
+BO_ 1274 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 55|4@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_2 : 35|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|3@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 48|4@1+ (1,0) [0|7] "" XXX
+
+BO_ 1180 last_byte_roughRPM: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1078 HVAC: 8 XXX
+ SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX
+
+BO_ 1056 CHECK_AND_TEMP: 8 XXX
+ SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX
+ SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX
+ SG_ COOLANT_TEMP : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LOW_ENGINE_OIL_PRESSURE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECK_FUEL_CAP : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHARGING_SYSTEM_MALFUNCTION : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ OUTDOOR_TEMP : 63|8@0+ (0.25,-63) [0|255] "cel" XXX
+
+BO_ 1045 TRACTION: 8 XXX
+ SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX
+ SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX
+ SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ IS_MOVING : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_WARNING : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ ABS_MALFUNCTION : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ DSC_OFF : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ TCS_DCS_MALFUNCTION : 6|2@0+ (1,0) [0|3] "" XXX
+ SG_ LOUD_BEEP : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ TPMS_WARNING_DOUBLE_BLINK : 31|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1034 MSG_07: 8 XXX
+ SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 870 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 867 NEW_MSG_17: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 130 STEER: 8 XXX
+ SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 47|4@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX
+ SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 120 BRAKE: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 304 GEAR_RELATED: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 865 NEW_MSG_5: 8 XXX
+ SG_ SPEED_INVERSE : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ IS_MOVING : 43|3@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 46|1@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 15|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 836 NEW_MSG_19: 8 XXX
+ SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 832 SEATBELT: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ PASSENGER_SEATBELT : 26|1@1+ (1,0) [0|7] "" XXX
+ SG_ CTR1 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 23|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ DRIVER_SEATBELT : 27|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 866 NEW_MSG_21: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|131071] "" XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 158 MSG_05: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 157 CRZ_BTNS: 8 XXX
+ SG_ BIT1 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT2 : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT3 : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_P_INV : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAN_OFF_INV : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAN_OFF : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_M_INV : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_M : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_P : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_INV : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_LESS : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_MORE_INV : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_Y : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_X : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_X_INV : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR : 29|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 154 BLINK_INFO: 8 XXX
+ SG_ LEFT_BLINK : 18|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINK : 19|1@0+ (1,0) [0|255] "" XXX
+ SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX
+ SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAMS : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAMS : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LBEAM1 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ LBEAM2 : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ LBEAM3 : 60|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 145 TURN_SWITCH: 8 XXX
+ SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_RIGHT_SWITCH : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 80 MSG_04: 8 XXX
+ SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 978 MSG_03: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 1|2@0+ (1,0) [0|255] "" XXX
+
+BO_ 607 NEW_MSG_25: 8 XXX
+
+BO_ 1115 MSG_02: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 2|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1067 NEW_MSG_27: 8 XXX
+ SG_ NEW_SIGNAL_2 : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 11|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_7 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 8|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 358 NEW_MSG_28: 8 XXX
+
+BO_ 608 NEW_MSG_29: 8 XXX
+ SG_ NEW_SIGNAL_1 : 8|5@1+ (1,0) [0|7] "" XXX
+
+BO_ 606 SPEED_TBD: 8 XXX
+ SG_ SPEED_TBD : 7|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX
+
+BO_ 552 GEAR: 8 XXX
+ SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX
+ SG_ MORE_GEAR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ GEAR : 2|3@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR_BOX : 36|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 543 CRZ_EVENTS: 8 XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_21 : 23|1@0+ (1,0) [0|15] "" XXX
+ SG_ GAS_MAYBE : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_CMD : 46|8@0- (1,0) [0|15] "" XXX
+ SG_ CRUISE_ACTIVE_CAR_MOVING : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ PLUS_ONE_CRZ : 17|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRZ_STARTED : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ PLUS_ONE_CRZ_2 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_CMD_LOW_RES : 29|8@0- (1,0) [0|255] "" XXX
+ SG_ CRZ_SPEED : 7|16@0+ (0.005,-0.5) [0|328] "kph" XXX
+
+BO_ 542 NEW_MSG_33: 8 XXX
+ SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 868 NEW_MSG_34: 8 XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 869 NEW_MSG_35: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 50|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 1114 NEW_MSG_4: 8 XXX
+
+BO_ 535 CURVE_CTRS: 8 XXX
+ SG_ CTR_A_1 : 4|3@0+ (1,0) [0|31] "" XXX
+ SG_ CTR_A_2 : 7|3@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_B_1 : 12|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_B_2 : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_C_1 : 20|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
+ SG_ SPEED : 39|16@0+ (0.01,0) [0|7] "kph" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_MAYBE : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_SEATBELT_MAYBE : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 540 CRZ_CTRL: 8 XXX
+ SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
+ SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 45|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRZ_AVAILABLE : 17|1@0+ (1,0) [0|255] "" XXX
+ SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX
+
+BO_ 539 CRZ_INFO: 8 XXX
+ SG_ NEW_SIGNAL_5 : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_CMD : 31|8@0- (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 121 EPB: 8 XXX
+ SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 25|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 41|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 47|1@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_10 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX
+
+BO_ 1070 2017_1: 8 XXX
+
+BO_ 1183 2017_2: 8 XXX
+
+BO_ 1243 2017_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1269 MSG_2017_4: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1178 2017_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1179 2017_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1435 2017_8: 8 XXX
+
+BO_ 253 GAS: 8 XXX
+ SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
+ SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_CMD : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 359 MORE_GAS: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 36|5@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 512 NEW_MSG_30: 8 XXX
+ SG_ NEW_SIGNAL_1 : 6|7@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 22|7@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 38|7@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_9 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR : 51|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 515 MSG_01: 8 XXX
+ SG_ CTR : 39|4@0+ (1,0) [0|65535] "" XXX
+ SG_ CHKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ START1 : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ START2 : 28|5@0+ (1,0) [0|255] "" XXX
+
+BO_ 529 NEW_MSG_36: 8 XXX
+ SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|3] "" XXX
+ SG_ CTR : 39|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_2 : 47|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 53|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 1242 NEW_MSG_37: 8 XXX
+
+BO_ 1266 MSG_09: 8 XXX
+ SG_ NEW_SIGNAL_1 : 20|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 976 MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|6@0+ (1,0) [0|1] "" XXX
+
+BO_ 155 MSG_14: 8 XXX
+
+BO_ 1267 MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_1 : 40|1@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_2 : 42|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 305 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 10|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1238 TEMPERATURE: 8 XXX
+ SG_ TEMPERATURE_MAYBE : 47|8@0+ (1,0) [0|4294967295] "" XXX
+
+BO_ 1087 NEW_MSG_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1143 BSM: 8 XXX
+ SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS1 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX
+ SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
+ SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX
+
+BO_ 1361 KEY_POSITION: 8 XXX
+
+BO_ 1283 KEY_POSITION2: 8 XXX
+
+BO_ 628 MSG_06: 8 XXX
+
+BO_ 1154 MSG_08: 8 XXX
+
+BO_ 1139 MSG_13: 8 XXX
+
+BO_ 1270 MSG_16: 8 XXX
+
+BO_ 1272 MSG_17: 8 XXX
+
+BO_ 1425 MSG_19: 8 XXX
+
+BO_ 70 MOB1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 1|3@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 14|6@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 30|6@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 38|6@0+ (1,0) [0|7] "" XXX
+
+BO_ 64 MOB2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 10|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_7 : 13|3@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_9 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_10 : 31|6@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_11 : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1171 MOB3: 8 XXX
+
+BO_ 1248 MOB4: 8 XXX
+
+
+
+
+CM_ SG_ 357 GEAR "13P, 26R, 13N, 24D";
+CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
+CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
+CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
+CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
+CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
+CM_ SG_ 863 STOP_SIGN "value 9 when stop sign is active";
+CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
+CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
+CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
+CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high";
+CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
+CM_ SG_ 1157 WARNING "1 Rare, 0 often";
+CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
+CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
+CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
+CM_ SG_ 552 MORE_GEAR "";
+CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
+CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
+CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
+CM_ SG_ 540 DISTANCE_SETTING "Radar distance 0: disabled, 1: 4 bars, 2: 3 bars, 3: 2 bars, 4: 1 bar";
+CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
+VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
diff --git a/opendbc/mazda_cx5_gt_2017.dbc b/opendbc/mazda_cx5_gt_2017.dbc
deleted file mode 100644
index 971b136118d2bf..00000000000000
--- a/opendbc/mazda_cx5_gt_2017.dbc
+++ /dev/null
@@ -1,760 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 117 STEER_RELATED: 8 XXX
- SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
- SG_ STEER_ANGLE_2 : 39|16@0+ (0.1,-1800) [0|131071] "" XXX
- SG_ STEER_TORQUE : 19|12@0+ (1,-2000) [0|255] "" XXX
-
-BO_ 118 RPM_RELATED: 8 XXX
- SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX
-
-BO_ 514 ENGINE_DATA: 8 XXX
- SG_ PEDAL_GAS : 39|12@0+ (0.002778,0) [0|255] "%" XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX
- SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX
-
-BO_ 357 PEDALS: 8 XXX
- SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 8|3@1+ (1,0) [0|7] "" XXX
- SG_ ACC_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_OFF : 2|1@1+ (1,0) [0|15] "" XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
- SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX
- SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX
- SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
- SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX
- SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX
- SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
-
-BO_ 533 WHEEL_SPEEDS: 8 XXX
- SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
- SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "kph" XXX
- SG_ RL : 39|16@0+ (0.01,-100) [0|15] "kph" XXX
- SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "kph" XXX
-
-BO_ 134 STEER2: 8 XXX
- SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX
- SG_ STEER_ANGLE_ROUGH : 26|11@0+ (1,-1000) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
- SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX
- SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|7] "" XXX
-
-BO_ 576 STEER_TORQUE: 8 XXX
- SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ SENSOR1 : 39|8@0+ (1,-128) [0|127] "" XXX
- SG_ STEER_TORQUE_MOTOR : 46|15@0- (0.1,0) [-3000|3000] "tbd" XXX
- SG_ NEW_SIGNAL_2 : 62|4@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|127] "" XXX
- SG_ STEER_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX
-
-BO_ 577 STEER_RATE: 8 XXX
- SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX
- SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|15] "" XXX
- SG_ LKAS_EFFECTIVE : 39|12@0+ (1,-2048) [0|255] "" XXX
- SG_ HANDS_OFF_5_SECONDS : 51|1@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_BLOCK : 50|1@1+ (1,0) [0|3] "" XXX
- SG_ LKAS_TRACK_STATE : 52|1@0+ (1,0) [0|3] "" XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 582 CAM_LANEMAYBE: 8 XXX
- SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX
- SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 541 CAM_EMPTY: 8 XXX
-
-BO_ 605 CAM_PEDESTRIAN: 8 XXX
- SG_ CTR : 17|4@0+ (1,0) [0|255] "" XXX
- SG_ AEB_NOT_ENGAGED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ PED_WARNING : 9|1@0+ (1,0) [0|255] "" XXX
- SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX
- SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX
- SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX
- SG_ BRAKE_WARNING : 25|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 578 CAM_LANETRACK: 8 XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ ZERO : 53|6@0+ (1,0) [0|63] "" XXX
- SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ LINE2 : 9|10@0+ (1,-686) [0|255] "" XXX
- SG_ LANE_CURVE : 31|8@0+ (1,-127) [0|255] "" XXX
- SG_ SIG1 : 39|8@0+ (1,-128) [0|255] "" XXX
- SG_ SIG2 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SIG3 : 55|2@0+ (1,0) [0|3] "" XXX
- SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX
-
-BO_ 579 CAM_LKAS: 8 XXX
- SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
- SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
- SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
-
-BO_ 580 CAM_DISTANCE: 8 XXX
- SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
- SG_ S2 : 15|8@0+ (1,0) [0|1] "" XXX
- SG_ S3 : 16|8@1+ (1,0) [0|3] "" XXX
- SG_ S4 : 24|8@1+ (1,0) [0|31] "" XXX
- SG_ S5 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ DISTANCE : 47|8@0+ (1,0) [0|65535] "" XXX
- SG_ S6 : 55|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 581 CAM_IDK3: 8 XXX
- SG_ S1 : 0|8@1+ (1,0) [0|15] "" XXX
- SG_ S2 : 8|6@1+ (1,0) [0|255] "" XXX
- SG_ S3 : 15|2@0+ (1,0) [0|3] "" XXX
- SG_ S4 : 16|8@1+ (1,0) [0|15] "" XXX
- SG_ S5 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ S6 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ S7 : 40|8@1+ (1,0) [0|3] "" XXX
- SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 863 CAM_STATUS: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_5 : 4|2@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
- SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
-
-BO_ 1157 CAM_SETTINGS: 8 XXX
- SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
- SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
- SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_SENSETIVITY : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
- SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
- SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1160 CAM_Empty3: 8 XXX
- SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
-
-BO_ 1088 CAM_LANEINFO: 8 XXX
- SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
- SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
- SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
- SG_ S1_NOT : 54|1@0+ (1,0) [0|31] "" XXX
- SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
- SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ NO_ERR_BIT : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT2 : 13|1@0+ (1,0) [0|15] "" XXX
- SG_ LANE_LINES : 10|3@0+ (1,0) [0|3] "" XXX
- SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX
- SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
- SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX
- SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1479 NEW_MSG_470: 8 XXX
-
-BO_ 1456 NEW_MSG_300: 8 XXX
-
-BO_ 1446 NEW_MSG_a600: 8 XXX
-
-BO_ 1416 MSG_18: 8 XXX
-
-BO_ 1086 DOORS: 8 XXX
- SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX
- SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ KEYFOB_LOCK : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ KEYFOB_UNLOCK : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CTR1 : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ CTR2 : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ BR : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX
- SG_ DOORS_UNLOCKED : 30|1@0+ (1,0) [0|255] "" XXX
-
-BO_ 977 TWO_STATES: 8 XXX
- SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_2 : 56|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 28|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 24|4@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_6 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_8 : 51|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1085 MSG_12: 8 XXX
- SG_ NEW_SIGNAL_3 : 36|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_6 : 40|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 159 MSG_11: 8 XXX
- SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX
- SG_ INCREASEING : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1278 NEW_MSG_3: 8 XXX
- SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ MILAGE_MAYBE : 7|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 1277 NEW_MSG_10: 8 XXX
- SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1275 2017_5: 8 XXX
- SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX
-
-BO_ 1274 NEW_MSG_12: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ CTR : 55|4@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_2 : 35|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 32|3@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 48|4@1+ (1,0) [0|7] "" XXX
-
-BO_ 1180 last_byte_roughRPM: 8 XXX
- SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1078 HVAC: 8 XXX
- SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX
-
-BO_ 1056 CHECK_AND_TEMP: 8 XXX
- SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX
- SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX
- SG_ COOLANT_TEMP : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ LOW_ENGINE_OIL_PRESSURE : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECK_FUEL_CAP : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ CHARGING_SYSTEM_MALFUNCTION : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ OUTDOOR_TEMP : 63|8@0+ (0.25,-63) [0|255] "cel" XXX
-
-BO_ 1045 TRACTION: 8 XXX
- SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX
- SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX
- SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ IS_MOVING : 12|1@0+ (1,0) [0|3] "" XXX
- SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_WARNING : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ ABS_MALFUNCTION : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ DSC_OFF : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ TCS_DCS_MALFUNCTION : 6|2@0+ (1,0) [0|3] "" XXX
- SG_ LOUD_BEEP : 28|1@0+ (1,0) [0|1] "" XXX
- SG_ TPMS_WARNING_DOUBLE_BLINK : 31|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1034 MSG_07: 8 XXX
- SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 0|4@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_3 : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_9 : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 870 NEW_MSG_16: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 867 NEW_MSG_17: 8 XXX
- SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 130 STEER: 8 XXX
- SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 47|4@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX
- SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 120 BRAKE: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 304 GEAR_RELATED: 8 XXX
- SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 865 NEW_MSG_5: 8 XXX
- SG_ SPEED_INVERSE : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 47|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ IS_MOVING : 43|3@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_2 : 46|1@0+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_4 : 44|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_10 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 15|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 836 NEW_MSG_19: 8 XXX
- SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 832 SEATBELT: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ PASSENGER_SEATBELT : 26|1@1+ (1,0) [0|7] "" XXX
- SG_ CTR1 : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ CTR2 : 23|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ DRIVER_SEATBELT : 27|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 866 NEW_MSG_21: 8 XXX
- SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|131071] "" XXX
- SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 27|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 158 MSG_05: 8 XXX
- SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 157 CRZ_BTNS: 8 XXX
- SG_ SET_P_INV : 21|1@0+ (1,0) [0|3] "" XXX
- SG_ CAN_OFF_INV : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ CAN_OFF : 0|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_M_INV : 22|1@0+ (1,0) [0|255] "" XXX
- SG_ SET_M : 5|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_P : 4|1@0+ (1,0) [0|3] "" XXX
- SG_ RES_INV : 19|1@1+ (1,0) [0|3] "" XXX
- SG_ RES : 2|1@1+ (1,0) [0|3] "" XXX
- SG_ DISTANCE_LESS : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|31] "" XXX
- SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|3] "" XXX
- SG_ DISTANCE_MORE_INV : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ MODE_Y : 13|1@1+ (1,0) [0|3] "" XXX
- SG_ MODE_X : 14|1@0+ (1,0) [0|255] "" XXX
- SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|3] "" XXX
- SG_ MODE_X_INV : 31|1@0+ (1,0) [0|3] "" XXX
- SG_ CTR : 29|4@0+ (1,0) [0|255] "" XXX
-
-BO_ 154 BLINK_INFO: 8 XXX
- SG_ LEFT_BLINK : 18|1@1+ (1,0) [0|3] "" XXX
- SG_ RIGHT_BLINK : 19|1@0+ (1,0) [0|255] "" XXX
- SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX
- SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_BEAMS : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ HIGH_BEAMS : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ LBEAM1 : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ LBEAM2 : 50|1@0+ (1,0) [0|1] "" XXX
- SG_ LBEAM3 : 60|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 145 TURN_SWITCH: 8 XXX
- SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ TURN_RIGHT_SWITCH : 12|1@0+ (1,0) [0|3] "" XXX
- SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX
- SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
-
-BO_ 80 MSG_04: 8 XXX
- SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 978 MSG_03: 8 XXX
- SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 1|2@0+ (1,0) [0|255] "" XXX
-
-BO_ 607 NEW_MSG_25: 8 XXX
-
-BO_ 1115 MSG_02: 8 XXX
- SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 47|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 2|3@0+ (1,0) [0|255] "" XXX
-
-BO_ 1067 NEW_MSG_27: 8 XXX
- SG_ NEW_SIGNAL_2 : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_6 : 11|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_7 : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_8 : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_9 : 8|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 358 NEW_MSG_28: 8 XXX
-
-BO_ 608 NEW_MSG_29: 8 XXX
- SG_ NEW_SIGNAL_1 : 8|5@1+ (1,0) [0|7] "" XXX
-
-BO_ 606 SPEED_TBD: 8 XXX
- SG_ SPEED_TBD : 7|12@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX
-
-BO_ 552 GEAR: 8 XXX
- SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 18|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX
- SG_ GEAR : 35|4@0+ (1,0) [0|15] "" XXX
- SG_ MORE_GEAR : 7|4@0+ (1,0) [0|255] "" XXX
-
-BO_ 543 CRZ_EVENTS: 8 XXX
- SG_ NEW_SIGNAL_3 : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_6 : 6|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_9 : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_10 : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_12 : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_13 : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_18 : 12|1@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_19 : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_20 : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_21 : 23|1@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_24 : 31|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL_PRESSED : 32|1@0+ (1,0) [0|255] "" XXX
- SG_ CRZ_STARTED : 18|1@0+ (1,0) [0|1] "" XXX
- SG_ PLUS_ONE_CRZ : 17|1@0+ (1,0) [0|255] "" XXX
- SG_ PLUS_ONE_CRZ_2 : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_MAYBE : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ NONACC_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACTIVE_CAR_MOVING : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ NONACC_RELATED : 11|1@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ CAS_CMD_MAYBE : 30|7@0- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|255] "" XXX
-
-BO_ 542 NEW_MSG_33: 8 XXX
- SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ CTR2 : 56|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 868 NEW_MSG_34: 8 XXX
- SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
-
-BO_ 869 NEW_MSG_35: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 50|4@1+ (1,0) [0|15] "" XXX
- SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
-
-BO_ 1114 NEW_MSG_4: 8 XXX
-
-BO_ 535 CURVE_CTRS: 8 XXX
- SG_ CTR_A_1 : 4|3@0+ (1,0) [0|31] "" XXX
- SG_ CTR_A_2 : 7|3@0+ (1,0) [0|255] "" XXX
- SG_ CTR_B_1 : 12|3@0+ (1,0) [0|7] "" XXX
- SG_ CTR_B_2 : 15|3@0+ (1,0) [0|7] "" XXX
- SG_ CTR_C_1 : 20|3@0+ (1,0) [0|7] "" XXX
- SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
- SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
- SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
- SG_ CURVE : 39|16@0+ (1,0) [0|7] "" XXX
- SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_6 : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_8 : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ SEATBELT_MAYBE : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ NO_SEATBELT_MAYBE : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 540 CRZ_CTRL: 8 XXX
- SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 8|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 18|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
- SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
- SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
- SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
-
-BO_ 539 CRZ_INFO: 8 XXX
- SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
- SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
- SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_CMD : 31|10@0- (1,0) [0|1] "" XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 121 EPB: 8 XXX
- SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 25|2@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 41|2@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_9 : 47|1@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_10 : 46|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX
-
-BO_ 1070 2017_1: 8 XXX
-
-BO_ 1183 2017_2: 8 XXX
-
-BO_ 1243 2017_3: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
-
-BO_ 1269 MSG_2017_4: 8 XXX
- SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX
-
-BO_ 1178 2017_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
-
-BO_ 1179 2017_7: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
-
-BO_ 1435 2017_8: 8 XXX
-
-BO_ 253 NEW_MSG_7: 8 XXX
- SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
- SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX
-
-BO_ 359 NEW_MSG_11: 8 XXX
- SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 36|5@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 37|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_6 : 47|4@0+ (1,0) [0|255] "" XXX
-
-BO_ 512 NEW_MSG_30: 8 XXX
- SG_ NEW_SIGNAL_1 : 6|7@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 22|7@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_6 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_8 : 38|7@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_9 : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_10 : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ CTR : 51|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 515 MSG_01: 8 XXX
- SG_ CTR : 39|4@0+ (1,0) [0|65535] "" XXX
- SG_ CHKSUM : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ START1 : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ START2 : 28|5@0+ (1,0) [0|255] "" XXX
-
-BO_ 529 NEW_MSG_36: 8 XXX
- SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|3] "" XXX
- SG_ CTR : 39|4@0+ (1,0) [0|255] "" XXX
- SG_ CTR_2 : 47|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 53|1@0+ (1,0) [0|255] "" XXX
-
-BO_ 1242 NEW_MSG_37: 8 XXX
-
-BO_ 1266 MSG_09: 8 XXX
- SG_ NEW_SIGNAL_1 : 20|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 19|4@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 31|1@0+ (1,0) [0|255] "" XXX
-
-BO_ 976 MSG_15: 8 XXX
- SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 61|6@0+ (1,0) [0|1] "" XXX
-
-BO_ 155 MSG_14: 8 XXX
-
-BO_ 1267 MSG_10: 8 XXX
- SG_ NEW_SIGNAL_1 : 40|1@0+ (1,0) [0|16777215] "" XXX
- SG_ NEW_SIGNAL_2 : 42|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 305 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 10|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1238 TEMPERATURE: 8 XXX
- SG_ TEMPERATURE_MAYBE : 47|8@0+ (1,0) [0|4294967295] "" XXX
-
-BO_ 1087 NEW_MSG_1: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1143 BSM: 8 XXX
- SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BS1 : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX
- SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
- SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1361 KEY_POSITION: 8 XXX
-
-BO_ 1283 KEY_POSITION2: 8 XXX
-
-BO_ 628 MSG_06: 8 XXX
-
-BO_ 1154 MSG_08: 8 XXX
-
-BO_ 1139 MSG_13: 8 XXX
-
-BO_ 1270 MSG_16: 8 XXX
-
-BO_ 1272 MSG_17: 8 XXX
-
-BO_ 1425 MSG_19: 8 XXX
-
-BO_ 70 MOB1: 8 XXX
- SG_ NEW_SIGNAL_1 : 1|3@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 14|6@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 30|6@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 38|6@0+ (1,0) [0|7] "" XXX
-
-BO_ 64 MOB2: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|2@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 10|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 35|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_7 : 13|3@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_8 : 15|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_9 : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_10 : 31|6@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_11 : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1171 MOB3: 8 XXX
-
-BO_ 1248 MOB4: 8 XXX
-
-
-
-
-CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
-CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
-CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
-CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
-CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
-CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high";
-CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
-CM_ SG_ 1157 WARNING "1 Rare, 0 often";
-CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
-CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
-CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
-CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
-CM_ SG_ 552 MORE_GEAR "";
-CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
diff --git a/opendbc/mercedes_benz_e350_2010.dbc b/opendbc/mercedes_benz_e350_2010.dbc
deleted file mode 100644
index da6ae4c15ee66b..00000000000000
--- a/opendbc/mercedes_benz_e350_2010.dbc
+++ /dev/null
@@ -1,176 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 3 STEER_SENSOR: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_RATE : 19|12@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_DIRECTION : 4|1@0+ (1,2) [0|1] "" XXX
- SG_ STEER_ANGLE : 3|12@0- (-0.5,0) [-500|500] "degrees" XXX
-
-BO_ 5 BRAKE_MODULE: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_HOLD : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_POSITION : 17|10@0+ (1,0) [0|65535] "" XXX
- SG_ DRIVER_BRAKE : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COMPUTER_BRAKE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_PRESSED : 0|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 69 DRIVER_CONTROLS: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ STEERING_WHEEL_BUTTONS : 32|16@1+ (1,0) [0|255] "4 directional, 2 volume control & 2 phone buttons" XXX
- SG_ LEFT_BLINKER : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAM_TOGGLE : 18|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAM_MOMENTARY : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_CANCEL : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_RESUME : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_ACCEL_HIGH : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_DECEL_HIGH : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_ACCEL_LOW : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_DECEL_LOW : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_XFF : 15|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 513 WHEEL_ENCODERS: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ WHEEL_ENCODER_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ WHEEL_ENCODER_3 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ WHEEL_ENCODER_4 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ WHEEL_ENCODER_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 261 GAS_PEDAL: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ ENGINE_RPM : 4|5@0+ (1,0) [0|255] "" XXX
- SG_ GAS_PEDAL : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ COMBINED_GAS : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 643 DOOR_SENSORS: 8 XXX
- SG_ BRAKE_PRESSED : 27|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 3|1@1+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_RR : 7|1@0+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_FL : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FL : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FR : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_RL : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_RR : 6|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 885 SEATBELT_SENSORS: 8 XXX
- SG_ SEATBELT_DRIVER_LATCHED : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ SEATBELT_PASSENGER_LATCHED : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 257 CRUISE_CONTROL: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|255] "" XXX
- SG_ CRUISE_DISABLED : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X002 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_1 : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACCELERATING : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LONGITUDINAL_ACCEL_REQUEST : 15|8@0- (1,0) [0|127] "" XXX
-
-BO_ 260 CRUISE_CONTROL2: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_XFF : 31|8@0+ (1,0) [0|65535] "" XXX
- SG_ SET_ME_X02 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_XFF2 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
-
-BO_ 14 STEER_TORQUE: 8 XXX
- SG_ STEER_TORQUE : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 888 CRUISE_CONTROL3: 8 XXX
- SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_DISABLED : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ENABLED : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X004 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X002 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CRUISE_SET_SPEED : 15|8@0+ (1,0) [0|63] "mph" XXX
- SG_ CRUISE_SPEED_CHANGE : 55|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 307 POWER_SEATS: 8 XXX
- SG_ DRIVER_FORWARD : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVER_BACK : 1|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 109 GEAR_LEVER: 8 XXX
- SG_ PARK_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ NEUTRAL_UP : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ NEUTRAL_DOWN : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ REVERSE : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 23|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 115 GEAR_PACKET: 8 XXX
- SG_ GEAR : 0|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 581 IGNITION: 8 XXX
-
-BO_ 515 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_MOVING_FR : 22|1@1+ (1,0) [0|15] "" XXX
- SG_ WHEEL_MOVING_RL : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ WHEEL_MOVING_FL : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ WHEEL_MOVING_RR : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ WHEEL_SPEED_FL : 2|11@0+ (0.0375,0) [0|255] "mph" XXX
- SG_ WHEEL_SPEED_FR : 18|11@0+ (0.0375,0) [0|255] "mph" XXX
- SG_ WHEEL_SPEED_RL : 34|11@0+ (0.0375,0) [0|255] "mph" XXX
- SG_ WHEEL_SPEED_RR : 50|11@0+ (0.0375,0) [0|255] "mph" XXX
-
-
-
-
-CM_ SG_ 3 STEER_DIRECTION "0 = left, 1 = right";
-CM_ SG_ 5 BRAKE_POSITION "computer and driver";
-CM_ SG_ 5 BRAKE_PRESSED "computer and driver";
-CM_ SG_ 261 GAS_PEDAL "user gas input";
-CM_ SG_ 261 COMBINED_GAS "computer and driver gas";
-CM_ SG_ 257 CRUISE_ACCELERATING "";
\ No newline at end of file
diff --git a/opendbc/nissan_2017.dbc b/opendbc/nissan_2017.dbc
deleted file mode 100644
index 1d03b7ab5f72d9..00000000000000
--- a/opendbc/nissan_2017.dbc
+++ /dev/null
@@ -1,184 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 644 Speed_1: 8 XXX
- SG_ Speed_FR : 7|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_FL : 23|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_Vehicle : 39|16@0+ (0.0245,0) [0|65535] "" XXX
-
-BO_ 645 WheelspeedRear: 8 XXX
- SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
- SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
-
-BO_ 768 STEER_TORQUE: 8 XXX
- SG_ STEERING_TOURQUE : 0|7@1+ (1,0) [0|127] "" XXX
-
-BO_ 459 Maybe_RegenBraking: 8 XXX
-
-BO_ 372 Maybe_Gear_Selector: 8 XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 460 Maybe_Brake_Related: 8 XXX
-
-BO_ 2 SteeringWheel: 8 XXX
- SG_ Steering_RateChange : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ Always_07 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
-
-BO_ 384 Maybe_PowerInfo: 8 XXX
- SG_ Unknown_Timer_PowerInfo : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
- SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX
-
-BO_ 1107 Lights: 8 XXX
- SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ _HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 666 WheelspeedFront: 8 XXX
- SG_ _FL_WHEELSPEED : 39|16@0+ (0.01014,0) [0|65535] "" XXX
- SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
- SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
-
-BO_ 398 NEW_MSG_2: 8 XXX
-
-BO_ 389 NEW_MSG_3: 8 XXX
- SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 22|6@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 30|8@0- (1,0) [0|255] "" XXX
-
-BO_ 397 NEW_MSG_4: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|31] "" XXX
-
-BO_ 658 NEW_MSG_5: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 855 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 773 NEW_MSG_7: 8 XXX
- SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 851 SPEED_RELATED: 8 XXX
- SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
-
-BO_ 386 Accelerator: 8 XXX
- SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
-
-BO_ 347 ACCELSOMETHING: 8 XXX
- SG_ PowerMaybe : 9|10@0+ (1,0) [0|1023] "" XXX
- SG_ ACCELERATOR2 : 6|11@0+ (1,-800) [0|65535] "" XXX
-
-BO_ 346 ANOTHER_ACCEL: 8 XXX
- SG_ ANOTHERACCEL : 23|10@0+ (1,0) [0|1023] "" XXX
- SG_ Reverse_ACCEL : 25|10@0+ (1,0) [0|1023] "" XXX
-
-BO_ 348 FULLRANGEACCEL: 8 XXX
- SG_ AccelFullRange : 47|10@0+ (1,0) [0|1023] "" XXX
- SG_ Accel : 26|11@0+ (1,0) [0|2047] "" XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 566 ANOTHERFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERFULLRANGEACCEL : 43|8@0+ (1,0) [0|1023] "" XXX
- SG_ RPMORTORQUE : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 523 Yetyetanotheraccel: 8 XXX
- SG_ ANOTHERREVERSEACCEL : 37|10@0+ (1,0) [0|1023] "" XXX
- SG_ yetyetanotheraccel : 31|10@0+ (1,0) [0|255] "" XXX
-
-BO_ 779 ANOTHERRRFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERRRFULLRANGEACCEL : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1108 Doors: 8 XXX
- SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
- SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 403 LKAS_OLD: 8 XXX
- SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
- SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
- SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX
-
-BO_ 412 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 361 LKAS: 8 XXX
- SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_X80 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ LKA_Active : 52|1@0+ (1,0) [0|15] "" XXX
- SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ Des_Angle : 7|18@0+ (-0.01,1310) [0|255] "" XXX
-
-BO_ 438 ProPilot: 8 XXX
- SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 27|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
- SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_3 : 32|2@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
- SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
- SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ STEER_STATUS : 51|1@1+ (1,0) [0|3] "" XXX
- 
diff --git a/opendbc/nissan_leaf_2018.dbc b/opendbc/nissan_leaf_2018.dbc
new file mode 100644
index 00000000000000..6483d9cbf9ec1c
--- /dev/null
+++ b/opendbc/nissan_leaf_2018.dbc
@@ -0,0 +1,211 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 42 SEATBELT: 8 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
+ SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 361 LKAS: 8 XXX
+ SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
+ SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 460 BRAKE_PEDAL: 8 XXX
+ SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
+
+BO_ 569 CRUISE_THROTTLE: 8 XXX
+ SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
+ SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 640 CANCEL_MSG: 8 XXX
+  SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
+  SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
+
+BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
+ SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 689 PROPILOT_HUD: 8 XXX
+ SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
+ SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
+ SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 783 CRUISE_STATE: 3 XXX
+ SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 852 ESP: 8 XXX
+ SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 853 HUD_SETTINGS: 8 XXX
+ SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 856 LIGHTS: 8 XXX
+ SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1057 GEARBOX: 3 XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
+ SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
+ SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
+ SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1549 DOORS_LIGHTS: 8 XXX
+ SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1227 LKAS_SETTINGS: 8 XXX
+ SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
+VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
+VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
+VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
diff --git a/opendbc/nissan_x_trail_2017.dbc b/opendbc/nissan_x_trail_2017.dbc
new file mode 100644
index 00000000000000..ea27445d3286e2
--- /dev/null
+++ b/opendbc/nissan_x_trail_2017.dbc
@@ -0,0 +1,218 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 348 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
+
+BO_ 361 LKAS: 8 XXX
+ SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
+ SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 438 PRO_PILOT: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
+ SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 523 CRUISE_THROTTLE: 6 XXX
+ SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
+ SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
+ SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
+ SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
+ SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
+ SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
+ SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 665 ESP: 8 XXX
+ SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 689 PROPILOT_HUD: 8 XXX
+ SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
+ SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
+ SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
+ SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
+
+BO_ 783 CRUISE_STATE: 3 XXX
+ SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1055 GEARBOX: 2 XXX
+ SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1107 LIGHTS: 8 XXX
+ SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1108 DOORS_LIGHTS: 8 XXX
+ SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
+ SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
+ SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
+ SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
+ SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1227 LKAS_SETTINGS: 8 XXX
+ SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1273 HUD: 7 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
+VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
+VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
+VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
diff --git a/opendbc/requirements.txt b/opendbc/requirements.txt
deleted file mode 100644
index c1ac27ec9243cb..00000000000000
--- a/opendbc/requirements.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-Cython==0.29.14
-flake8==3.7.9
-Jinja2==2.10.3
-pycapnp==0.6.4
-pylint==2.4.3
-pyyaml==5.1.2
-scons==3.1.1
diff --git a/opendbc/subaru_crosstrek_2018.dbc b/opendbc/subaru_crosstrek_2018.dbc
deleted file mode 100644
index b766cdca87972d..00000000000000
--- a/opendbc/subaru_crosstrek_2018.dbc
+++ /dev/null
@@ -1,369 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX X
-
-
-BO_ 2 Steering: 8 XXX
- SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
-
-BO_ 64 Throttle: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
-
-BO_ 65 NEW_MSG_1: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
-
-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 316 NEW_MSG_3: 8 XXX
-
-BO_ 326 Cruise_Buttons: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
- SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
- SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
- SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
-
-BO_ 315 G_Sensor: 8 XXX
- SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
- SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
-
-BO_ 314 Wheel_Speeds: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
-
-BO_ 73 NEW_MSG_5: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
-
-BO_ 280 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
- SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
-
-BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
- SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
- SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
- SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
-
-BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 313 Brake_Pedal: 8 XXX
- SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
-
-BO_ 290 ES_LKAS: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
- SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 722 NEW_MSG_10: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 544 ES_Brake: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
-
-BO_ 545 ES_Distance: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
- SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
- SG_ ACC_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_Set : 57|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_Resume : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 59|5@1+ (1,0) [0|1] "" XXX
-
-BO_ 546 ES_Status: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
- SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 554 ES_Blank: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
- SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 557 NEW_MSG_14: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 576 CruiseControl: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
-
-BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 912 Dashlights: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
- SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 940 BodyInfo: 8 XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
- SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 801 ES_DashStatus: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
- SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Hold : 60|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 802 ES_LKAS_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
- SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
- SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
- SG_ Vehicle_In_Front_Has_Moved : 35|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 808 NEW_MSG_23: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 837 NEW_MSG_24: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 838 NEW_MSG_25: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 842 NEW_MSG_26: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 915 NEW_MSG_27: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
-
-BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 816 NEW_MSG_29: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 826 NEW_MSG_30: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 839 NEW_MSG_31: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 2015 NEW_MSG_32: 8 XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 2024 NEW_MSG_33: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1632 NEW_MSG_36: 8 XXX
- SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 1677 Dash_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1785 NEW_MSG_42: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 1759 NEW_MSG_43: 8 XXX
- SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 1786 NEW_MSG_44: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
-
-BO_ 1787 NEW_MSG_45: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
-
-
-
-
-CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
-CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
-CM_ SG_ 801 ACC_Hold "0 = No Hold, 3 = Hold";
-CM_ SG_ 802 Vehicle_In_Front_Has_Moved "Crosstrek 2018 = car in front has moved";
-CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
-CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
-CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
diff --git a/opendbc/subaru_forester_2017_generated.dbc b/opendbc/subaru_forester_2017_generated.dbc
new file mode 100644
index 00000000000000..6e5b3ff27bcfd6
--- /dev/null
+++ b/opendbc/subaru_forester_2017_generated.dbc
@@ -0,0 +1,265 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 880 Steering_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel: 8 XXX
+
+BO_ 977 Dash_State2: 8 XXX
+ SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 1745 Dash_State: 8 XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
+
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+
+CM_ "subaru_forester_2017.dbc starts here";
+
+
+BO_ 355 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 40|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
diff --git a/opendbc/subaru_global_2017.dbc b/opendbc/subaru_global_2017.dbc
deleted file mode 100644
index 38b2774aba1b1f..00000000000000
--- a/opendbc/subaru_global_2017.dbc
+++ /dev/null
@@ -1,368 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX X
-
-
-BO_ 2 Steering: 8 XXX
- SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
-
-BO_ 64 Throttle: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
-
-BO_ 65 NEW_MSG_1: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
-
-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 316 NEW_MSG_3: 8 XXX
-
-BO_ 326 Cruise_Buttons: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
- SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
- SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
- SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
-
-BO_ 315 G_Sensor: 8 XXX
- SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
- SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
-
-BO_ 314 Wheel_Speeds: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
-
-BO_ 73 NEW_MSG_5: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
-
-BO_ 280 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
- SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
-
-BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
- SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
- SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
- SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
- SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
- SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 313 Brake_Pedal: 8 XXX
- SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
-
-BO_ 290 ES_LKAS: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
- SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 722 NEW_MSG_10: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 544 ES_Brake: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
-
-BO_ 545 ES_Distance: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
- SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
- SG_ Main : 56|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX
-
-BO_ 546 ES_Status: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
- SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 554 ES_Blank: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
- SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 557 NEW_MSG_14: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 576 CruiseControl: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
-
-BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 912 Dashlights: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
- SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 940 BodyInfo: 8 XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
- SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 801 ES_DashStatus: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_9 : 60|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
- SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
-
-BO_ 802 ES_LKAS_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
- SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
- SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ Traffic_light_Ahead : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
-
-BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 808 NEW_MSG_23: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 837 NEW_MSG_24: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 838 NEW_MSG_25: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 842 NEW_MSG_26: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 915 NEW_MSG_27: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
-
-BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 816 NEW_MSG_29: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 826 NEW_MSG_30: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 839 NEW_MSG_31: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 2015 NEW_MSG_32: 8 XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 2024 NEW_MSG_33: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1632 NEW_MSG_36: 8 XXX
- SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 1677 Dash_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1785 NEW_MSG_42: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 1759 NEW_MSG_43: 8 XXX
- SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 1786 NEW_MSG_44: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
-
-BO_ 1787 NEW_MSG_45: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
-
-
-
-
-CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
-CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
-CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
-CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
-CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
-CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
diff --git a/opendbc/subaru_global_2017_generated.dbc b/opendbc/subaru_global_2017_generated.dbc
new file mode 100644
index 00000000000000..7964225b978eca
--- /dev/null
+++ b/opendbc/subaru_global_2017_generated.dbc
@@ -0,0 +1,317 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _subaru_global.dbc starts here";
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 64 Throttle: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 316 Brake_Status: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
+ SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 326 Cruise_Buttons: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
+ SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
+
+BO_ 315 G_Sensor: 8 XXX
+ SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
+ SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX
+
+BO_ 314 Wheel_Speeds: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
+
+BO_ 280 STOP_START: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 281 Steering_Torque: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX
+
+BO_ 312 Brake_Pressure_L_R: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 313 Brake_Pedal: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX
+ SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX
+ SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX
+
+BO_ 290 ES_LKAS: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
+ SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 544 ES_Brake: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX
+
+BO_ 577 Cruise_Status: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Active : 57|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 552 BSD_RCTA: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 912 Dashlights: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 940 BodyInfo: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 801 ES_DashStatus: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX
+ SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 802 ES_LKAS_State: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX
+ SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX
+ SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX
+ SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX
+
+BO_ 722 AC_State: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX
+ SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX
+
+BO_ 1677 Dash_State: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
+
+CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
+CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
+CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
+CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
+CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
+CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
+CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
+CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast";
+CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope";
+CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
+CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual";
+CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display";
+CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off";
+CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep";
+CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
+CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active";
+CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
+CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial";
+CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
+
+CM_ "subaru_global_2017.dbc starts here";
+
+
+BO_ 72 Transmission: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ RPM : 40|16@1+ (1,0) [0|65535] "" XXX
+
+BO_ 73 CVT: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 545 ES_Distance: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX
+
+BO_ 546 ES_Status: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX
+
+BO_ 576 CruiseControl: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX
+ SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
+
+CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
+CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
+CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
+CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
+CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
diff --git a/opendbc/subaru_outback_2015_eyesight.dbc b/opendbc/subaru_outback_2015_eyesight.dbc
deleted file mode 100644
index dd1d5422c5dba9..00000000000000
--- a/opendbc/subaru_outback_2015_eyesight.dbc
+++ /dev/null
@@ -1,371 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX 0
-
-
-BO_ 2 Steering: 8 XXX
- SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
- SG_ NEW_SIGNAL_6 : 24|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX
- SG_ Counter : 27|3@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX
- SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 208 G_Sensor: 8 XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ _Latitudinal : 16|16@1- (0.0035,1) [0|65535] "" XXX
- SG_ _Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
- SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 209 Brake_Pedal: 8 XXX
- SG_ NEW_SIGNAL_1 : 26|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX
- SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
-
-BO_ 210 Brake_2: 8 XXX
- SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
- SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 46|1@1+ (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_2 : 37|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 211 Brake_Type: 8 XXX
- SG_ NEW_SIGNAL_3 : 7|1@1+ (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_2 : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Light : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 28|4@1+ (1,0) [0|15] "" XXX
- SG_ Speed_Counter : 32|8@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|3] "" XXX
- SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 212 Wheel_Speeds: 8 XXX
- SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
- SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
- SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
- SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX
-
-BO_ 320 Throttle: 8 XXX
- SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
- SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 63|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 61|1@1+ (1,0) [0|3] "" XXX
- SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
- SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|15] "" XXX
-
-BO_ 321 Engine: 8 XXX
- SG_ NEW_SIGNAL_7 : 59|2@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_2 : 47|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
- SG_ NEW_SIGNAL_3 : 53|2@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 46|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_8 : 28|4@1+ (1,0) [0|15] "" XXX
- SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
- SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
-
-BO_ 324 CruiseControl: 8 XXX
- SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_BUTTON : 3|1@1+ (1,0) [0|3] "" XXX
- SG_ RES_BUTTON : 4|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 8|1@1+ (1,0) [0|255] "" XXX
- SG_ Button : 13|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_9 : 15|1@1+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,-124) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 24|5@1+ (1,0) [0|16777215] "" XXX
- SG_ Cruise_On : 48|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 49|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_6 : 50|1@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 328 Transmission: 8 XXX
- SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
- SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
- SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
- SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_7 : 63|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 43|1@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 31|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
-
-BO_ 329 CVT_Ratio: 8 XXX
- SG_ NEW_SIGNAL_4 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 8|4@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 336 Brake_Pressure: 8 XXX
- SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 338 Stalk: 8 XXX
- SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
- SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX
- SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
- SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
- SG_ brake_light : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 346 Counter_3: 8 XXX
- SG_ Counter : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 20|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 57|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 352 ES_Brake: 8 XXX
- SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
- SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX
-
-BO_ 353 ES_CruiseThrottle: 8 XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
- SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ Unknown : 18|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_On : 20|1@1+ (1,0) [0|7] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
- SG_ SET_0_1 : 32|9@1+ (1,0) [0|255] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
- SG_ SET_0_2 : 51|5@1+ (1,0) [0|31] "" XXX
- SG_ SET_0_3 : 47|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_0_4 : 43|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_1 : 23|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 19|1@1+ (1,0) [0|1] "" XXX
- SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
- SG_ SET_2 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Cruise_Activatedish : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_9 : 17|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 354 ES_RPM: 8 XXX
- SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
- SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
- SG_ Cruise_Activated : 9|1@1+ (1,0) [0|3] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|65535] "" XXX
-
-BO_ 356 ES_LKAS: 8 XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
-
-BO_ 358 ES_DashStatus: 8 XXX
- SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
- SG_ 3SecondDisengage : 12|2@1+ (1,0) [0|3] "" XXX
- SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX
- SG_ Driver_Input : 20|1@1+ (1,0) [0|15] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 35|1@1+ (1,0) [0|31] "" XXX
- SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
- SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Lead_Car : 46|1@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|3] "" XXX
- SG_ Untitled_Blank_2 : 18|1@1+ (1,0) [0|3] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
-
-BO_ 359 ES_LDW: 8 XXX
- SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
- SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
- SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
- SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
- SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
-
-BO_ 392 Counter_0: 8 XXX
- SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 554 NEW_MSG_3: 8 XXX
- SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
-
-BO_ 640 NEW_MSG_10: 8 XXX
- SG_ NEW_SIGNAL_6 : 0|1@1+ (1,0) [0|7] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 33|2@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_7 : 38|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 39|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 53|2@1+ (1,0) [0|15] "" XXX
-
-BO_ 642 Dashlights: 8 XXX
- SG_ NEW_SIGNAL_2 : 32|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 34|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX
- SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 644 NEW_MSG_8: 8 XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 880 Steer_Torque_2: 8 XXX
- SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 8|1@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 30|1@1+ (1,0) [0|3] "" XXX
- SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
- SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 48|4@1- (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4_2017 : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5_2017 : 54|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 881 Steering_Torque: 8 XXX
- SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
- SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|-8500] "" XXX
- SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
-
-BO_ 882 Counter: 8 XXX
- SG_ Something : 16|2@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 12|4@1+ (1,0) [0|31] "" XXX
-
-BO_ 884 BodyInfo: 8 XXX
- SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ _UNKNOWN : 0|3@1+ (1,0) [0|1] "" XXX
-
-BO_ 864 Engine_Temp: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
- SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
- SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
-
-BO_ 865 NEW_MSG_16: 8 XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 12|1@1+ (1,0) [0|255] "" XXX
-
-BO_ 866 Fuel__: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 24|1@1+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|16777215] "" XXX
-
-BO_ 872 NEW_MSG_15: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|65535] "" XXX
-
-BO_ 977 NEW_MSG_12: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 16|12@1+ (1,0) [0|255] "" XXX
-
-BO_ 1632 Huge_Counter: 8 XXX
- SG_ Counter : 55|16@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1745 NEW_MSG_11: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|6@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 40|6@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 0|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 1786 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_2 : 8|16@1+ (1,0) [0|15] "" XXX
- SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
-
-
-
-
-CM_ SG_ 2 NEW_SIGNAL_1 "";
-CM_ SG_ 211 Brake_Pedal_On "high tolerance";
-CM_ SG_ 212 FL "KPH";
-CM_ SG_ 212 RL "KPH";
-CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
-CM_ SG_ 320 Throttle_Body_ "Throttle related";
-CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
-CM_ SG_ 353 Brake_On "long activatedish";
-CM_ SG_ 353 SET_1 "always 1";
-CM_ SG_ 353 SET_2 "";
-CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement";
-CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
-CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
-CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
-CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
-CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
-CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
-CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
-CM_ SG_ 359 Alerts "2 = lead beep";
-CM_ SG_ 359 Sig1All_Depart "Left and right depart";
-CM_ SG_ 359 Sig2All_Depart "Left and right depart";
-CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
-CM_ SG_ 642 Counter "Affected by signals";
-CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
-CM_ SG_ 642 SEATBELT_FL "";
-CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
-CM_ SG_ 880 NEW_SIGNAL_1 "0 in 2017";
-CM_ SG_ 880 NEW_SIGNAL_4_2017 "1 in 2017";
-CM_ SG_ 880 NEW_SIGNAL_5_2017 "1 in 2017";
diff --git a/opendbc/subaru_outback_2015_generated.dbc b/opendbc/subaru_outback_2015_generated.dbc
new file mode 100644
index 00000000000000..bea56d5323338b
--- /dev/null
+++ b/opendbc/subaru_outback_2015_generated.dbc
@@ -0,0 +1,280 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 880 Steering_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel: 8 XXX
+
+BO_ 977 Dash_State2: 8 XXX
+ SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 1745 Dash_State: 8 XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
+
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+
+CM_ "subaru_outback_2015.dbc starts here";
+
+
+BO_ 358 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
+
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";
diff --git a/opendbc/subaru_outback_2019_generated.dbc b/opendbc/subaru_outback_2019_generated.dbc
new file mode 100644
index 00000000000000..ba6a9fc310c966
--- /dev/null
+++ b/opendbc/subaru_outback_2019_generated.dbc
@@ -0,0 +1,280 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 880 Steering_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel: 8 XXX
+
+BO_ 977 Dash_State2: 8 XXX
+ SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 1745 Dash_State: 8 XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
+
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+
+CM_ "subaru_outback_2019.dbc starts here";
+
+
+BO_ 358 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
+
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";
diff --git a/opendbc/tesla_can.dbc b/opendbc/tesla_can.dbc
index c257fe2e032f77..57a63e12809bd1 100644
--- a/opendbc/tesla_can.dbc
+++ b/opendbc/tesla_can.dbc
@@ -34,14 +34,17 @@ NS_ :
 BS_:
 
 BU_:
-    NEO
-    MCU
-    GTW
-    EPAS
-    DI
-    ESP
-    SBW
-    STW
+	NEO
+	MCU
+	GTW
+	EPAS
+	DI
+	ESP
+	SBW
+	STW
+	APP
+	DAS
+	XXX
 
 VAL_TABLE_ StW_AnglHP_Spd 16383 "SNA" ;
 VAL_TABLE_ DI_aebFaultReason 15 "DI_AEB_FAULT_DAS_REQ_DI_UNAVAIL" 14 "DI_AEB_FAULT_ACCEL_REQ_INVALID" 13 "DI_AEB_FAULT_MIN_TIME_BTWN_EVENTS" 12 "DI_AEB_FAULT_ESP_MIA" 11 "DI_AEB_FAULT_ESP_FAULT" 10 "DI_AEB_FAULT_EPB_NOT_PARKED" 9 "DI_AEB_FAULT_ACCEL_OUT_OF_BOUNDS" 8 "DI_AEB_FAULT_PM_REQUEST" 7 "DI_AEB_FAULT_VEL_EST_ABNORMAL" 6 "DI_AEB_FAULT_DAS_SNA" 5 "DI_AEB_FAULT_DAS_CONTROL_MIA" 4 "DI_AEB_FAULT_SPEED_DELTA" 3 "DI_AEB_FAULT_EBR_FAULT" 2 "DI_AEB_FAULT_PM_MIA" 1 "DI_AEB_FAULT_EPB_MIA" 0 "DI_AEB_FAULT_NONE" ;
@@ -68,6 +71,17 @@ BO_ 1160 DAS_steeringControl: 4 NEO
  SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS
  SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS
 
+BO_ 697 DAS_control: 8 NEO
+ SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" NEO
+ SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" NEO
+ SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" NEO
+ SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" NEO
+ SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" NEO
+ SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO
+ SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO
+ SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" NEO
+ SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" NEO
+
 BO_ 257 GTW_epasControl: 3 NEO
  SG_ GTW_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO
  SG_ GTW_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO
@@ -98,7 +112,7 @@ BO_ 3 STW_ANGL_STAT: 8 STW
  SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] ""  NEO
  SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] ""  NEO
 
-BO_ 14 STW_ANGLHP_STAT: 8 STW
 
+BO_ 14 STW_ANGLHP_STAT: 8 STW
  SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg"  NEO
  SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s"  NEO
  SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] ""  NEO
@@ -147,38 +161,48 @@ BO_ 309 ESP_135h: 5 ESP
  SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] ""  NEO
  SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] ""  NEO
  SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] ""  NEO
- SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEO

BO_ 341 ESP_B: 8 ESP
 
- SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS
 
- SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS
 
- SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS
 
- SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS
 
- SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
- SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
- SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
+ SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 341 ESP_B: 8 ESP
+ SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS
+ SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS
+ SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS
+ SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS
  SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
-BO_ 532 EPB_epasControl: 3 EPB
 
- SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS
 
- SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
 
+BO_ 513 SDM1: 5 GTW
+ SG_ SDM_bcklPassStatus : 3|2@0+ (1,0) [0|3] "" NEO
+ SG_ SDM_bcklDrivStatus : 5|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 532 EPB_epasControl: 3 EPB
+ SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS
+ SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
  SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] ""  NEO,EPAS
 
 BO_ 792 GTW_carState: 8 GTW
- SG_ BOOT_STATE : 47|2@0+ (1,0) [-1|4] ""  NEO
- SG_ CERRD : 7|1@0+ (1,0) [-1|2] ""  NEO
- SG_ DAY : 36|5@0+ (1,0) [2|31] ""  NEO
- SG_ DOOR_STATE_FL : 13|2@0+ (1,0) [-1|4] ""  NEO
- SG_ DOOR_STATE_FR : 15|2@0+ (1,0) [-1|4] ""  NEO
- SG_ DOOR_STATE_FrontTrunk : 51|2@0+ (1,0) [-1|4] ""  NEO
- SG_ DOOR_STATE_RL : 23|2@0+ (1,0) [-1|4] ""  NEO
- SG_ DOOR_STATE_RR : 30|2@0+ (1,0) [-1|4] ""  NEO
- SG_ GTW_updateInProgress : 49|2@0+ (1,0) [-1|4] ""  NEO
- SG_ Hour : 28|5@0+ (1,0) [0|29] "h"  NEO
- SG_ MCU_factoryMode : 52|1@0+ (1,0) [-1|2] ""  NEO
- SG_ MCU_transportModeOn : 53|1@0+ (1,0) [1|1] ""  NEO
- SG_ MINUTE : 45|6@0+ (1,0) [0|61] "min"  NEO
- SG_ MONTH : 11|4@0+ (1,0) [0|14] "Month"  NEO
- SG_ SECOND : 21|6@0+ (1,0) [0|61] "s"  NEO
- SG_ YEAR : 6|7@0+ (1,2000) [2000|2125] "Year"  NEO
+ SG_ YEAR : 0|7@1+ (1,2000) [2000|2127] "Year" NEO
+ SG_ CERRD : 7|1@1+ (1,0) [0|1] "" NEO
+ SG_ MONTH : 8|4@1+ (1,0) [1|12] "Month" NEO
+ SG_ DOOR_STATE_FL : 12|2@1+ (1,0) [0|3] "" NEO
+ SG_ DOOR_STATE_FR : 14|2@1+ (1,0) [0|3] "" NEO
+ SG_ SECOND : 16|6@1+ (1,0) [0|59] "s" NEO
+ SG_ DOOR_STATE_RL : 22|2@1+ (1,0) [0|3] "" NEO
+ SG_ Hour : 24|5@1+ (1,0) [0|23] "h" NEO
+ SG_ DOOR_STATE_RR : 29|2@1+ (1,0) [0|3] "" NEO
+ SG_ DAY : 32|5@1+ (1,0) [0|31] "" NEO
+ SG_ MINUTE : 40|6@1+ (1,0) [0|59] "min" NEO
+ SG_ BOOT_STATE : 46|2@1+ (1,0) [0|3] "" NEO
+ SG_ GTW_updateInProgress : 48|2@1+ (1,0) [0|3] "" NEO
+ SG_ DOOR_STATE_FrontTrunk : 50|2@1+ (1,0) [0|3] "" NEO
+ SG_ MCU_factoryMode : 52|1@1+ (1,0) [0|1] "" NEO
+ SG_ MCU_transportModeOn : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BC_headLightLStatus : 55|2@0+ (1,0) [0|3] "" NEO
+ SG_ BC_headLightRStatus : 57|2@0+ (1,0) [0|3] "" NEO
+ SG_ BC_indicatorLStatus : 59|2@0+ (1,0) [0|3] "" NEO
+ SG_ BC_indicatorRStatus : 61|2@0+ (1,0) [0|3] "" NEO
 
 BO_ 872 DI_state: 8 DI
  SG_ DI_systemState : 0|3@1+ (1,0) [0|0] ""  NEO
@@ -271,14 +295,45 @@ BO_ 643 BODY_R1: 8 GTW
  SG_ VTA_Alm_Actv : 13|1@0+ (1,0) [0|1] ""  NEO
  SG_ WprOutsdPkPosn : 29|1@0+ (1,0) [0|1] ""  NEO
 
-BO_ 760 MCU_gpsVehicleSpeed: 8 MCU
- SG_ MCU_gpsHDOP : 0|8@1+ (0.1,0) [0|25.5] "1"  NEO
- SG_ MCU_gpsVehicleHeading : 8|16@1+ (0.00781,0) [0|511.82835] "deg"  NEO
- SG_ MCU_gpsVehicleSpeed : 24|16@1+ (0.00391,0) [0|256.24185] "km/hr"  NEO
- SG_ MCU_mppSpeedLimit : 51|5@1+ (5,0) [0|155] "kph/mph" NEO
- SG_ MCU_speedLimitUnits : 41|1@1+ (1,0) [-1|2] ""  NEO
- SG_ MCU_userSpeedOffset : 42|6@1+ (1,-30) [-30|33] "kph/mph" NEO
- SG_ MCU_userSpeedOffsetUnits : 40|1@1+ (1,0) [-1|2] ""  NEO
+BO_ 760 UI_gpsVehicleSpeed: 8 GTW
+ SG_ UI_gpsHDOP : 0|8@1+ (0.1,0) [0|25.5] "1" DAS
+ SG_ UI_gpsVehicleHeading : 8|16@1+ (0.0078125,0) [0|511.9921875] "deg" DAS
+ SG_ UI_gpsVehicleSpeed : 24|16@1+ (0.00390625,0) [0|250.996] "km/hr" Vector__XXX
+ SG_ UI_userSpeedOffset : 40|6@1+ (1,-30) [-30|33] "kph/mph" DAS
+ SG_ UI_mapSpeedLimitUnits : 46|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_userSpeedOffsetUnits : 47|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_mppSpeedLimit : 48|5@1+ (5,0) [0|155] "kph/mph" DAS
+ SG_ UI_gpsNmeaMIA : 53|1@1+ (1,0) [0|0] "" DAS
+
+BO_ 536 MCU_chassisControl: 8 GTW
+ SG_ MCU_dasDebugEnable : 0|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_parkBrakeRequest : 1|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_trailerModeCH : 3|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_fcwSensitivity : 4|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_fcwEnable : 6|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_latControlEnable : 8|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_accOvertakeEnable : 10|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_ldwEnable : 12|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_aebEnable : 14|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_bsdEnable : 16|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_ahlbEnable : 18|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_parkSetting : 20|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_pedalSafetyEnable : 22|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_frontDefrostReq_das : 24|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_autoParkRequest : 26|4@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_redLightStopSignEnable : 30|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_enableCreepTorqueCH : 32|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_narrowGarages : 33|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_rebootAutopilot : 34|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_enableAutowipers : 35|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_overPaintedUSS : 38|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_selfParkTune : 40|4@1+ (1,0) [0|15] "" NEO
+ SG_ MCU_towModeEnable : 44|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_zeroSpeedConfirmed : 46|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_aesEnable : 48|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_autoLaneChangeEnable : 50|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_chassisControlCounter : 52|4@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_chassisControlChecksum : 56|8@1+ (1,0) [0|0] "" NEO
 
 BO_ 904 MCU_clusterBacklightRequest: 3 NEO
  SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO
@@ -287,9 +342,13 @@ BO_ 904 MCU_clusterBacklightRequest: 3 NEO
  SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO
 
 BO_ 984 MCU_locationStatus: 8 MCU
- SG_ MCU_gpsAccuracy : 56|7@1+ (0.200000003,0) [0|25.200000378] "m" NEO
- SG_ MCU_latitude : 0|28@1- (1E-006,0) [-134.217727597347|134.217726597347] "deg"  NEO
- SG_ MCU_longitude : 28|28@1- (1E-006,0) [-268.435455194694|268.435454194694] "deg"  NEO
+ SG_ MCU_gpsAccuracy : 57|7@1+ (0.2,0) [0|0] "m" NEO
+ SG_ MCU_latitude : 0|28@1- (1E-06,0) [0|0] "deg" NEO
+ SG_ MCU_longitude : 28|29@1- (1E-06,0) [0|0] "deg" NEO
+
+BO_ 104 MCU_locationStatus2: 8 MCU
+ SG_ MCU_elevation : 0|32@1- (0.1,0) [0|0] "m" GTW
+ SG_ MCU_navigonExpectedSpeed : 32|7@1+ (1,0) [0|126] "mph" GTW
 
 BO_ 840 GTW_status: 8 GTW
  SG_ GTW_accGoingDown : 6|1@0+ (1,0) [0|1] ""  NEO
@@ -307,7 +366,265 @@ BO_ 840 GTW_status: 8 GTW
  SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
  SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
 
-CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
+BO_ 920 GTW_carConfig: 8 GTW
+ SG_ GTW_performanceConfig : 2|3@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_fourWheelDrive : 4|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown1 : 5|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_dasHw : 7|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_parkAssistInstalled : 9|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_forwardRadarHw : 11|2@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_airSuspensionInstalled : 14|3@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown2 : 15|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_country : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_parkSensorGeometryType : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rhd : 34|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_bodyControlsType : 35|1@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_radarPosition : 39|4@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rearCornerRadarHw : 41|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_frontCornerRadarHw : 43|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_epasType : 45|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_chassisType : 47|2@0+ (1,0) [0|2] ""  NEO
+ SG_ GTW_wheelType : 52|5@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rearSeatControllerMask : 55|3@0+ (1,0) [0|7] ""  NEO
+ SG_ GTW_euVehicle : 56|1@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_foldingMirrorsInstalled : 57|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_brakeHwType : 59|2@0+ (1,0) [0|2] ""  NEO
+ SG_ GTW_autopilot : 61|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown3 : 63|2@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1006 UI_autopilotControl: 8 GTW
+ SG_ UI_autopilotControlIndex M : 0|3@1+ (1,0) [0|7] "" APP,APS
+ SG_ UI_hovEnabled m0 : 3|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donDisableAutoWiperDuration m0 : 4|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donDisableOnAutoWiperSpeed m0 : 7|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_blindspotMinSpeed m0 : 11|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_blindspotDistance m0 : 15|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_blindspotTTC m0 : 18|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donStopEndOfRampBuffer m0 : 21|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donDisableCutin m0 : 24|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donMinGoreWidthForAbortMap m0 : 25|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donAlcProgGoreAbortThres m0 : 29|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donMinGoreWidthForAbortNotMap m0 : 33|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcDisableUltrasonicCheck m0 : 37|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcUltrasonicDistance m0 : 38|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcUltrasonicWaitTime m0 : 42|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcEgoLeadingReactionAccel m0 : 48|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcMergIntervalRearDHyst m0 : 50|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcMergingIntervalHeadwayHyst m0 : 52|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcAssertivenessRate m0 : 54|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcViewRangeSensitivity m0 : 56|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_camBlockLaneCheckDisable m1 : 3|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_camBlockLaneCheckThreshold m1 : 4|6@1+ (0.01587,0) [0|1] "%" APP,APS
+ SG_ UI_camBlockBlurDisable m1 : 10|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_camBlockBlurThreshold m1 : 11|6@1+ (0.01587,0) [0|1] "%" APP,APS
+
+BO_ 728 UI_csaOfframpCurvature: 8 GTW
+ SG_ UI_csaOfframpCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS
+ SG_ UI_csaOfframpCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS
+ SG_ UI_csaOfframpCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS
+ SG_ UI_csaOfframpCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ UI_csaOfframpCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_csaOfframpCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_csaOfframpCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 744 UI_csaRoadCurvature: 8 GTW
+ SG_ UI_csaRoadCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS
+ SG_ UI_csaRoadCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS
+ SG_ UI_csaRoadCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS
+ SG_ UI_csaRoadCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ UI_csaRoadCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_csaRoadCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_csaRoadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1080 UI_driverAssistAnonDebugParams: 8 GTW
+ SG_ UI_anonDebugParam1 : 0|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugFlag1 : 7|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_anonDebugParam2 : 8|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugFlag2 : 15|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_anonDebugParam3 : 16|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugFlag3 : 23|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_anonDebugParam4 : 24|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugFlag4 : 31|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_anonDebugParam5 : 32|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugParam6 : 40|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugParam7 : 48|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_visionSpeedSlider : 56|7@1+ (1,0) [0|100] "" DAS
+
+BO_ 1000 UI_driverAssistControl: 8 GTW
+ SG_ UI_autopilotControlRequest : 0|1@1+ (1,0) [1|0] "" DAS
+ SG_ UI_ulcStalkConfirm : 1|1@1+ (1,0) [1|0] "" DAS
+ SG_ UI_summonHeartbeat : 2|2@1+ (1,0) [0|0] "" DAS
+ SG_ UI_curvSpeedAdaptDisable : 4|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_dasDeveloper : 5|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_enableVinAssociation : 6|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_lssLkaEnabled : 7|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_lssLdwEnabled : 8|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_autoSummonEnable : 10|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_exceptionListEnable : 11|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_roadCheckDisable : 12|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_driveOnMapsEnable : 13|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_handsOnRequirementDisable : 14|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_forksEnable : 15|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_fuseLanesDisable : 16|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_fuseHPPDisable : 17|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_fuseVehiclesDisable : 18|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_enableNextGenACC : 19|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_visionSpeedType : 20|2@1+ (1,0) [0|0] "" APP
+ SG_ UI_curvatureDatabaseOnly : 22|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_lssElkEnabled : 23|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_summonExitType : 24|2@1+ (1,0) [0|3] "" DAS
+ SG_ UI_summonEntryType : 26|2@1+ (1,0) [0|3] "" DAS
+ SG_ UI_selfParkRequest : 28|4@1+ (1,0) [0|15] "" DAS,PARK
+ SG_ UI_summonReverseDist : 32|6@1+ (1,0) [0|63] "" DAS
+ SG_ UI_undertakeAssistEnable : 38|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_adaptiveSetSpeedEnable : 39|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_drivingSide : 40|2@1+ (1,0) [0|3] "" DAS
+ SG_ UI_enableClipTelemetry : 42|1@1+ (1,0) [0|0] "" APP
+ SG_ UI_enableTripTelemetry : 43|1@1+ (1,0) [0|0] "" APP
+ SG_ UI_enableRoadSegmentTelemetry : 44|1@1+ (1,0) [0|0] "" APP
+ SG_ UI_followNavRouteEnable : 46|1@1+ (1,0) [0|0] "" APP
+ SG_ UI_ulcSpeedConfig : 48|2@1+ (1,0) [0|3] "" APP
+ SG_ UI_ulcBlindSpotConfig : 50|2@1+ (1,0) [0|3] "" APP
+ SG_ UI_autopilotAlwaysOn : 52|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_accFromZero : 53|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_alcOffHighwayEnable : 54|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_validationLoop : 55|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_ulcOffHighway : 56|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_enableNavRouteCSA : 57|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_enableCutinExperiments : 58|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_source3D : 60|3@1+ (1,0) [0|7] "" APP
+ SG_ UI_enableVisionOnlyStops : 63|1@1+ (1,0) [0|1] "" APP
+
+BO_ 968 UI_driverAssistMapData: 8 GTW
+ SG_ UI_mapSpeedLimitDependency : 0|3@1+ (1,0) [0|0] "" DAS
+ SG_ UI_roadClass : 3|3@1+ (1,0) [0|0] "" DAS
+ SG_ UI_inSuperchargerGeofence : 6|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapSpeedUnits : 7|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapSpeedLimit : 8|5@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapSpeedLimitType : 13|3@1+ (1,0) [0|0] "" DAS
+ SG_ UI_countryCode : 16|10@1+ (1,0) [0|0] "" DAS
+ SG_ UI_streetCount : 26|2@1+ (1,0) [0|0] "" DAS
+ SG_ UI_gpsRoadMatch : 28|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_navRouteActive : 29|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_parallelAutoparkEnabled : 30|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_perpendicularAutoparkEnabled : 31|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_nextBranchDist : 32|5@1+ (10,0) [0|300] "m" DAS
+ SG_ UI_controlledAccess : 37|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_nextBranchLeftOffRamp : 38|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_nextBranchRightOffRamp : 39|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectLeftLane : 40|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectRightLane : 41|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectHPP : 42|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectNav : 43|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectLeftFreeSpace : 44|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectRightFreeSpace : 45|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectAutosteer : 46|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectHandsOn : 47|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_acceptBottsDots : 48|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_autosteerRestricted : 49|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_pmmEnabled : 50|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_scaEnabled : 51|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS
+
+BO_ 568 UI_driverAssistRoadSign: 8 GTW
+ SG_ UI_roadSign M : 0|8@1+ (1,0) [0|0] "" DAS
+ SG_ UI_splineLocConfidence : 40|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_splineID : 48|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ UI_roadSignCounter : 52|4@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_roadSignChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_dummyData m0 : 8|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_stopSignStopLineDist m1 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX
+ SG_ UI_stopSignStopLineConf m1 : 18|7@1+ (1,0) [0|100] "" Vector__XXX
+ SG_ UI_trafficLightStopLineDist m2 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX
+ SG_ UI_trafficLightStopLineConf m2 : 18|7@1+ (1,0) [0|100] "" Vector__XXX
+ SG_ UI_baseMapSpeedLimitMPS m3 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_bottomQrtlFleetSpeedMPS m3 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_topQrtlFleetSpeedMPS m3 : 24|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_meanFleetSplineSpeedMPS m4 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_medianFleetSpeedMPS m4 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_meanFleetSplineAccelMPS2 m4 : 24|8@1+ (0.05,-6.35) [-6.35|6.4] "m/s^2" DAS
+ SG_ UI_rampType m4 : 32|3@1+ (1,0) [0|7] "" DAS
+ SG_ UI_currSplineIdFull m5 : 8|32@1+ (1,0) [0|1] "" APP
+
+
+BO_ 696 UI_radarMapData: 8 GTW
+ SG_ UI_radarTargetDx : 0|8@1+ (1,-95) [-95|160] "m" DAS
+ SG_ UI_radarTargetDxEnd : 8|8@1+ (1,0) [0|255] "m" DAS
+ SG_ UI_radarTargetTrustMap : 16|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_radarEnableBraking : 17|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_radarMapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS
+ SG_ UI_radarMapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS
+
+BO_ 712 UI_roadCurvature: 8 GTW
+ SG_ UI_roadCurvC0 : 0|11@1- (0.02,0) [-20.48|20.46] "m" DAS
+ SG_ UI_roadCurvC1 : 11|10@1- (0.00075,0) [-0.384|0.38325] "1" DAS
+ SG_ UI_roadCurvC2 : 21|14@1- (7.5E-06,0) [-0.03072|0.03071625] "1/m" DAS
+ SG_ UI_roadCurvC3 : 35|13@1- (3E-08,0) [-0.00012288|0.00012285] "1/m2" DAS
+ SG_ UI_roadCurvRange : 48|6@1+ (4,0) [0|252] "m" DAS
+ SG_ UI_roadCurvHealth : 54|2@1+ (1,0) [0|0] "" DAS
+ SG_ UI_roadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 582 UI_solarData: 5 GTW
+ SG_ UI_solarAzimuthAngle : 0|16@1- (1,0) [0|360] "deg" APP
+ SG_ UI_solarAzimuthAngleCarRef : 16|9@1- (1,0) [-180|180] "deg" APP
+ SG_ UI_isSunUp : 25|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_solarElevationAngle : 32|8@1- (1,0) [-90|90] "deg" APP
+
+BO_ 824 UI_status: 8 GTW
+ SG_ UI_touchActive : 0|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_audioActive : 1|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_bluetoothActive : 2|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_cellActive : 3|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_displayReady : 4|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_gpsActive : 5|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_wifiConnected : 6|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_systemActive : 7|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_xmActive : 8|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_displayOn : 9|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_readyForDrive : 10|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_cellConnected : 11|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_vpnActive : 12|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_wifiActive : 13|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_cameraActive : 14|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_usbActive : 15|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_screenshotActive : 16|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_monitorModemPower : 17|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_factoryReset : 18|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ UI_cellNetworkTechnology : 20|4@1+ (1,0) [0|15] "" APP
+ SG_ UI_tegraCoreTemperature : 24|8@1+ (1,-64) [0|0] "deg C" IC
+ SG_ UI_tegraAmbientTemperature : 32|8@1+ (1,-64) [0|0] "deg C" IC
+ SG_ UI_googleWifiUsages : 40|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_autopilotTrial : 48|2@1+ (1,0) [0|0] "" APP
+ SG_ UI_cellSignalBars : 50|3@1+ (1,0) [0|7] "" APP
+ SG_ UI_hardwareType : 53|2@1+ (1,0) [0|3] "" APP
+ SG_ UI_developmentCar : 55|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_cellReceiverPower : 56|8@1+ (1,-128) [-128|127] "dB" APP
+
+BO_ 1064 UI_telemetryControl: 8 GTW
+ SG_ UI_TCR_enable : 0|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_moveStateStanding : 1|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_moveStateStopped : 2|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_moveStateMoving : 3|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_moveStateIndeterm : 4|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classConstElem : 5|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classMovingPed : 6|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classMovingTwoWheel : 7|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classMovingFourWheel : 8|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classUnknown : 9|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_downSampleFactor : 16|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ UI_TCR_wExist : 24|5@1+ (1,0) [0|31] "" Vector__XXX
+ SG_ UI_TCR_vehSpeed : 32|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_TCR_minRCS : 40|8@1+ (0.25,-14) [-14|49.75] "dB" Vector__XXX
+ SG_ UI_TCR_maxDy : 48|5@1+ (0.5,0) [0|15.5] "m" Vector__XXX
+ SG_ UI_TCR_maxObjects : 56|5@1+ (1,0) [0|31] "" Vector__XXX
+ SG_ UI_TCR_maxRoadClass : 61|3@1+ (1,0) [0|7] "" Vector__XXX
+
+BO_ 522 BrakeMessage: 8 XXX
+ SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 921 AutopilotStatus: 8 XXX
+ SG_ autopilotStatus : 0|4@1+ (1,0) [0|0] "" XXX
 
 VAL_ 3 StW_Angl 16383 "SNA" ;
 VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
@@ -364,8 +681,10 @@ VAL_ 309 ESP_absFaultLamp 0 "OFF" 1 "ON" ;
 VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ;
 VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ;
 VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ;
-VAL_ 760 MCU_speedLimitUnits 1 "KPH" 0 "MPH" ;
-VAL_ 760 MCU_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ;
+VAL_ 568 UI_mapSpeedLimit 31 "SNA" 30 "UNLIMITED" 29 "LESS_OR_EQ_160" 28 "LESS_OR_EQ_150" 27 "LESS_OR_EQ_140" 26 "LESS_OR_EQ_130" 25 "LESS_OR_EQ_120" 24 "LESS_OR_EQ_115" 23 "LESS_OR_EQ_110" 22 "LESS_OR_EQ_105" 21 "LESS_OR_EQ_100" 20 "LESS_OR_EQ_95" 19 "LESS_OR_EQ_90" 18 "LESS_OR_EQ_85" 17 "LESS_OR_EQ_80" 16 "LESS_OR_EQ_75" 15 "LESS_OR_EQ_70" 14 "LESS_OR_EQ_65" 13 "LESS_OR_EQ_60" 12 "LESS_OR_EQ_55" 11 "LESS_OR_EQ_50" 10 "LESS_OR_EQ_45" 9 "LESS_OR_EQ_40" 8 "LESS_OR_EQ_35" 7 "LESS_OR_EQ_30" 6 "LESS_OR_EQ_25" 5 "LESS_OR_EQ_20" 4 "LESS_OR_EQ_15" 3 "LESS_OR_EQ_10" 2 "LESS_OR_EQ_7" 1 "LESS_OR_EQ_5" 0 "UNKNOWN" ;
+VAL_ 522 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ;
+VAL_ 760 UI_mapSpeedLimitUnits 1 "KPH" 0 "MPH" ;
+VAL_ 760 UI_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ;
 VAL_ 643 AirTemp_Insd 255 "SNA" ;
 VAL_ 643 AirTemp_Outsd 254 "INIT" 255 "SNA" ;
 VAL_ 643 Bckl_Sw_RL_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
@@ -382,6 +701,13 @@ VAL_ 643 MPkBrk_Stat 1 "ENGG" 0 "RELS" ;
 VAL_ 643 RevGr_Engg 0 "DISENGG" 1 "ENGG" 2 "NDEF2" 3 "SNA" ;
 VAL_ 643 StW_Cond_Stat 3 "BLINK" 1 "NDEF1" 0 "OFF" 2 "ON" ;
 VAL_ 643 Trlr_Stat 2 "NDEF2" 0 "NONE" 1 "OK" 3 "SNA" ;
+VAL_ 697 DAS_setSpeed 4095 "SNA" ;
+VAL_ 697 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ;
+VAL_ 697 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ;
+VAL_ 697 DAS_jerkMin 511 "SNA" ;
+VAL_ 697 DAS_jerkMax 255 "SNA" ;
+VAL_ 697 DAS_accelMin 511 "SNA" ;
+VAL_ 697 DAS_accelMax 511 "SNA" ;
 VAL_ 792 BOOT_STATE 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
 VAL_ 792 CERRD 1 "CAN error detect" 0 "no Can error detected" ;
 VAL_ 792 DAY 1 "Init" 0 "SNA" ;
@@ -416,6 +742,10 @@ VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ;
 VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
 VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
 VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
+VAL_ 921 autopilotStatus 5 "ACTIVE_NAVIGATE_ON_AUTOPILOT" 4 "ACTIVE_2" 3 "ACTIVE_1" 2 "AVAILABLE" 1 "UNAVAILABLE" 0 "DISABLED" ;
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
+
+
+CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
diff --git a/opendbc/toyota_2017_ref_pt.dbc b/opendbc/toyota_2017_ref_pt.dbc
deleted file mode 100644
index 17cd8f1b36900e..00000000000000
--- a/opendbc/toyota_2017_ref_pt.dbc
+++ /dev/null
@@ -1,1638 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: AFS BSR CGW CSR DS1 FCM FRD KSS MAV SCS Vector__XXX
-
-
-BO_ 1196 ABG1D50: 8 CGW
- SG_ DRABG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1212 ABG1D51: 8 CGW
- SG_ DRABG09 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRABG16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 945 ABG1S01: 8 CGW
- SG_ CDT : 22|3@0+ (1,0) [0|0] "" DS1
- SG_ AB : 19|2@0+ (1,0) [0|0] "" DS1
- SG_ DBKLAB : 17|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PODT : 27|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBKLAB : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ EDRTRG : 44|2@0+ (1,0) [0|0] "" DS1
-
-BO_ 836 ACC1F01: 8 DS1
- SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
- SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
- SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
- SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCF01SM : 63|8@0+ (1,0) [0|0] "" FCM
-
-BO_ 1227 ACC1N01: 8 DS1
- SG_ ACCNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ ACCSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ ACCSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ ACCREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-BO_ 835 ACC1S03: 8 DS1
- SG_ ATACC2 : 7|16@0- (0.001,0) [0|0] "m/s^2" Vector__XXX
- SG_ ACCTYPE : 23|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XTRGT2 : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XLTMD2 : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LCDT2 : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LCNG : 18|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SMC : 17|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ STOKJD : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PMTBRKG : 30|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LVSTP : 29|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LCCWOK : 25|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LCBW2 : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CACC : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AT_RAW : 47|8@0- (0.05,0) [0|0] "m/s^2" Vector__XXX
- SG_ ACC03SUM : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 896 ACN1S01: 8 CGW
- SG_ R_AC2 : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_HTR : 5|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ECOSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_EGON : 1|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BLWON : 15|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SCAC : 13|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CGIH : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FAN_AC : 22|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACHI : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACMAX : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_VSCUS : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_SHTR : 30|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_PTC : 29|2@0+ (1,0) [0|0] "piece" Vector__XXX
- SG_ GNRTIH : 27|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_COL_TM : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_HET_TM : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "" Vector__XXX
-
-BO_ 897 ACN1S04: 8 CGW
- SG_ R_ACCALL : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_AC_WNG : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_SW_CON : 5|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_BEEP : 4|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_RA_AUT : 3|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_RA_AC : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_RA_LO : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_RA_HI : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_AUTO_D : 15|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_AUTO_P : 14|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_DEF : 13|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_RRDEF : 12|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_RFAUT : 11|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_REC : 10|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_FRS : 9|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_AC : 8|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_MHTR : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_WIPD : 22|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_DUSY : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_SWNG : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_BLW_F : 19|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_OAUT_D : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_OLET_D : 30|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_OAUT_P : 27|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_OLET_P : 26|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ST_BMN_F : 39|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_AIRPR : 47|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_O2 : 46|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_PLSM : 45|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_KAFUN : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_SAFS : 42|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_ACOFF : 41|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_ONSCRN : 40|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 944 ACN1S07: 6 CGW
- SG_ RDEF : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MHTR : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "" Vector__XXX
- SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "" CSR,DS1,FCM
- SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AC_MODE : 43|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1250 AFS1N01: 8 AFS
- SG_ AFSNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ AFSSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ AFSSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ AFSREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-BO_ 913 AFS1S01: 8 AFS
- SG_ HLLI : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AZB_ADV : 5|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HEDH_AZB : 3|1@0+ (1,0) [0|0] "" FCM
- SG_ AZB_IND : 13|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AZB_HIND : 11|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AZB_PRE : 10|1@0+ (1,0) [0|0] "" FCM
- SG_ LED_HLI : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LPECU_PR : 24|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 845 AFS1S02: 5 AFS
- SG_ AHRR : 17|10@0+ (0.0048828125,0) [0|0] "V" Vector__XXX
- SG_ AHVLD : 39|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AHFAIL : 38|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1044 AHB1S01: 8 FCM
- SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
- SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 900 AVN1S01: 6 CGW
- SG_ RDC : 7|4@0+ (1,0) [0|0] "" SCS
- SG_ CONFID01 : 3|2@0+ (1,0) [0|0] "" SCS
- SG_ CONF : 1|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LYT : 15|4@0+ (1,0) [0|0] "" SCS
- SG_ DRVW : 9|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MWMP : 8|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GRAD : 23|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HARSHID : 19|4@0+ (1,0) [0|0] "" SCS
- SG_ BRANCH : 27|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HARSH : 35|2@0+ (1,0) [0|0] "" SCS
- SG_ TOLLGATE : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TUNL : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LEAVEOUT : 47|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MRGLANE : 46|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LVLANE : 45|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 902 AVN1S03: 6 CGW
- SG_ ANS : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CRS1 : 15|1@0+ (1,0) [0|0] "" SCS
- SG_ RQAC : 14|7@0+ (0.02,0) [0|0] "G" Vector__XXX
- SG_ GUID : 23|1@0+ (1,0) [0|0] "" SCS
- SG_ GYRO : 22|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ NCRN : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CRN6 : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CRN5 : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CRN3 : 18|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CRN2 : 17|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CRN1 : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CONFID03 : 31|2@0+ (1,0) [0|0] "" SCS
- SG_ CURV : 29|2@0+ (1,0) [0|0] "" SCS
- SG_ CVST : 27|1@0+ (1,0) [0|0] "" SCS
- SG_ NAVI_STR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MIND : 25|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ONOFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HWPB : 39|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RAD : 38|7@0+ (5,0) [0|0] "m" SCS
- SG_ AFS_SW : 41|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVS_SW : 40|1@0+ (1,0) [0|0] "" SCS
-
-BO_ 911 AVN1S07: 8 CGW
- SG_ TOFC_RST : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SL_CSTM : 3|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SL_RMDG : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ST_RTCOM : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVN07VLD : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ST_UCST : 15|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RSCOM51 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RSCOM52 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RSCOM53 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RSCOM54 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RSCOM55 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RSCOM56 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 905 AVN1S08: 8 CGW
- SG_ VVSW : 7|3@0+ (1,0) [0|0] "" CSR
- SG_ BZV : 4|3@0+ (1,0) [0|0] "" CSR
- SG_ DFS : 1|2@0+ (1,0) [0|0] "" CSR
- SG_ BZ_M_SW : 15|1@0+ (1,0) [0|0] "" CSR
- SG_ VOL_SW : 14|1@0+ (1,0) [0|0] "" CSR
- SG_ BM : 13|1@0+ (1,0) [0|0] "" CSR
- SG_ DOFR : 12|1@0+ (1,0) [0|0] "" CSR
- SG_ RDSW : 11|1@0+ (1,0) [0|0] "" CSR
- SG_ FDSW : 10|1@0+ (1,0) [0|0] "" CSR
- SG_ RBSW : 9|1@0+ (1,0) [0|0] "" CSR
- SG_ FBSW : 8|1@0+ (1,0) [0|0] "" CSR
- SG_ NVDP_OK : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DEVICE : 22|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DISPSIZE : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HPTCSW_L : 30|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HPTCSW_R : 29|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HPTCSW_E : 28|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_MODE : 27|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VARBGM : 26|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WBGM : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ X_LL : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ Y_LL : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ X_RH : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ Y_RH : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 998 AVN1S11: 5 CGW
- SG_ SENSPFM : 7|3@0+ (1,0) [0|0] "" SCS
- SG_ SENSFAIL : 4|3@0+ (1,0) [0|0] "" SCS
- SG_ CONFID11 : 1|2@0+ (1,0) [0|0] "" SCS
- SG_ CONFMMC : 15|8@0+ (1,0) [0|0] "" SCS
- SG_ DISTERR : 23|8@0+ (1,0) [0|0] "" SCS
- SG_ CONFLANE : 31|8@0+ (1,0) [0|0] "" SCS
- SG_ CONFDIR : 39|8@0+ (1,0) [0|0] "" SCS
-
-BO_ 933 AVN1S13: 8 CGW
- SG_ HUD_DISP : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRVSIDE : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DT_GP : 5|6@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DT_UNIT : 15|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DIR_TURN : 12|5@0+ (11.25,0) [0|0] "degree" Vector__XXX
- SG_ ROTARY : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ROAD_TP1 : 22|15@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ROAD_TP2 : 39|16@0+ (1,0) [0|0] "" Vector__XXX
- SG_ N_H_UP : 55|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ COMPASS : 54|6@0+ (11.25,0) [0|0] "degree" Vector__XXX
- SG_ DIR : 63|6@0+ (11.25,0) [0|0] "degree" Vector__XXX
-
-BO_ 936 AVN1S16: 5 CGW
- SG_ NDADVSRY : 7|5@0+ (1,0) [0|0] "" Vector__XXX
- SG_ NDCAUTON : 15|5@0+ (1,0) [0|0] "" Vector__XXX
- SG_ NDSSLCT : 23|5@0+ (1,0) [0|0] "" Vector__XXX
- SG_ NDCNFDID : 18|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ NDINDST : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVN16SUM : 39|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 999 AVN1S17: 7 CGW
- SG_ AVN17VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANEID17 : 6|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRVLANE : 3|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRV_SIDE : 12|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE_NS : 11|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE1FLG : 23|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE2FLG : 19|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE1DIR : 31|16@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE2DIR : 47|16@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1000 AVN1S18: 8 CGW
- SG_ AVN18VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANEID18 : 6|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE3FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE4FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE5FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE3DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE4DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE5DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1001 AVN1S19: 8 CGW
- SG_ AVN19VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANEID19 : 6|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE6FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE7FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE8FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE6DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE7DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LANE8DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1076 AVN1S20: 8 CGW
- SG_ A_LNG_ST : 7|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LANG : 5|6@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_LNGCHG : 56|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1077 AVN1S21: 8 CGW
- SG_ A_OPEN_S : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OPENCHG : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CAPSW_S : 5|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_CLR_S : 3|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DISP_BRT : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DISP_CNT : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MM_CLOCK : 31|11@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CLK_OFST : 36|4@0- (5,0) [0|0] "min" Vector__XXX
- SG_ DST : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CLK_TYP : 47|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_UNTTMP : 45|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_UNTSP : 43|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_UNTDST : 41|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_UNTCSP : 55|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_CLRCHG : 52|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_TMPCHG : 51|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_SPCHG : 50|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_DSTCHG : 49|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_CSPCHG : 48|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ A_SPLM : 63|6@0+ (5,0) [0|0] "" Vector__XXX
- SG_ A_UTSPLM : 57|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1043 AVN1S31: 8 CGW
- SG_ GPSTM_Y : 7|8@0+ (1,0) [0|0] "year" Vector__XXX
- SG_ GPSTM_MO : 15|8@0+ (1,0) [0|0] "month" Vector__XXX
- SG_ GPSTM_D : 23|8@0+ (1,0) [0|0] "day" Vector__XXX
- SG_ GPSTM_H : 31|8@0+ (1,0) [0|0] "hour" Vector__XXX
- SG_ GPSTM_MI : 39|8@0+ (1,0) [0|0] "minute" Vector__XXX
- SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GMTDIF_H : 54|4@0+ (1,0) [0|0] "hour" Vector__XXX
- SG_ GMTDIF_M : 50|6@0+ (1,0) [0|0] "minute" Vector__XXX
- SG_ SUMMERTM : 60|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075054137 BDB1F01_14: 8 CGW
- SG_ BDBF01ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDBF01IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SALR : 23|6@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HDCY_BDB : 17|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AARE_B : 31|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ I_SEN_B : 27|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ INTSET_B : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ INCSET_B : 25|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ISSD_BDB : 39|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SEID : 37|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WS_ID : 44|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WS_SWON : 41|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WS_DATA : 55|16@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075185211 BDB1F03_16: 8 CGW
- SG_ BDBF03ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ BDBF03IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM
- SG_ TRIP_CNT : 23|16@0+ (1,0) [0|0] "trip" AFS,BSR,CSR,DS1,FCM,MAV
- SG_ TIME_CNT : 39|32@0+ (100,0) [0|0] "ms" AFS,BSR,CSR,DS1,FCM,MAV
-
-BO_ 1074791968 BDB1S01_10: 8 CGW
- SG_ BDB01_ID : 7|8@0+ (1,0) [0|0] "" FCM,MAV
- SG_ BDB01_IF : 15|8@0+ (1,0) [0|0] "" FCM
- SG_ LX : 23|16@0+ (0.2,0) [0|0] "ms" FCM
- SG_ ADIM : 39|2@0+ (1,0) [0|0] "" AFS,BSR,CSR
- SG_ IG_BDB : 37|1@0+ (1,0) [0|0] "" AFS,MAV
- SG_ ACC_BDB : 36|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SKSW : 46|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DCTY : 45|1@0+ (1,0) [0|0] "" FCM,MAV,SCS
- SG_ PCTY : 44|1@0+ (1,0) [0|0] "" MAV,SCS
- SG_ RRCY : 43|1@0+ (1,0) [0|0] "" MAV,SCS
- SG_ RLCY : 42|1@0+ (1,0) [0|0] "" MAV,SCS
- SG_ BCTY : 41|1@0+ (1,0) [0|0] "" MAV,SCS
- SG_ PSW : 51|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SRBZ : 49|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DBKL : 63|2@0+ (1,0) [0|0] "" FCM
- SG_ PKB_BDB : 60|1@0+ (1,0) [0|0] "" CSR
- SG_ SREXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SRPOS : 58|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1074857505 BDB1S02_11: 8 CGW
- SG_ BDB02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LUD : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TRNKOPN : 45|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1074923042 BDB1S03_12: 8 CGW
- SG_ BDB03_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM
- SG_ BDB03_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM
- SG_ LTS : 23|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PANL : 19|1@0+ (1,0) [0|0] "" BSR,CSR
- SG_ UDRL : 31|1@0+ (1,0) [0|0] "" AFS
- SG_ HEDH : 30|1@0+ (1,0) [0|0] "" AFS,DS1,FCM
- SG_ HEDL : 29|1@0+ (1,0) [0|0] "" AFS,DS1
- SG_ TAIL : 28|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1
- SG_ FFOG : 27|1@0+ (1,0) [0|0] "" DS1
- SG_ RFOG : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SB_IND : 39|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SB_OK : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RTRRQ : 35|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SRWARN : 51|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PWWARN : 50|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WEL_REQ : 48|1@0+ (1,0) [0|0] "" AFS
- SG_ DRPBZ_R : 62|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075381795 BDB1S04_19: 8 CGW
- SG_ BDB04_ID : 7|8@0+ (1,0) [0|0] "" MAV
- SG_ BDB04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MRMV_R : 23|2@0+ (1,0) [0|0] "" MAV
- SG_ RSEL : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LSEL : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MHR : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MHL : 18|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MVU : 17|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MVD : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GHSW : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GCTY : 30|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GHOPN : 42|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ABIF : 55|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FLSHRQ : 63|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SB_ADV : 60|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1074988600 BDB1S05_13: 8 CGW
- SG_ BDB05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PARK : 23|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSWB : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LSWD : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LSWP : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LSWR : 18|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LSWL : 17|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LSWB : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRVKS_R : 31|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PWDRD : 39|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PWDRP : 37|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PWDRR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PWDRL : 33|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DKLS : 43|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BKLS : 54|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ KIDSCN_R : 51|7@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075250736 BDB1S06_17: 8 CGW
- SG_ BDB06_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB06_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TBSW : 25|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WBZF : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WVOL : 42|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075316273 BDB1S07_18: 8 CGW
- SG_ BDB07_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB07_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WCD : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ W1D : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ W2D : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ W3D : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB7SUM1 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB7SUM2 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075447332 BDB1S08_1A: 8 CGW
- SG_ BDB08_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ BDB08_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM
- SG_ DEST_BDB : 23|8@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV
- SG_ DS_PACK1 : 31|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV
- SG_ DS_PACK2 : 39|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV
- SG_ STRG_WHL : 47|2@0+ (1,0) [0|0] "" AFS,CSR,DS1,FCM,MAV
- SG_ DEICER : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ KEYPLATE : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DBLLCK : 62|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ U2OP_CST : 61|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ U2OP_DFT : 60|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075643943 BDB1S11_1D: 8 CGW
- SG_ BDB11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDBREQ11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDBREQ12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1083704892 BDB1S17_98: 8 CGW
- SG_ BDB17_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB17_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CHABASE1 : 23|8@0+ (1,0) [0|0] "" AFS
- SG_ CHABASE2 : 31|8@0+ (1,0) [0|0] "" AFS
- SG_ CHABASE3 : 39|8@0+ (1,0) [0|0] "" AFS
- SG_ CHA_NO1 : 47|4@0+ (1,0) [0|0] "" AFS
- SG_ CHA_NO2 : 43|4@0+ (1,0) [0|0] "" AFS
- SG_ CHA_NO3 : 55|4@0+ (1,0) [0|0] "" AFS
- SG_ SP_BODY : 63|5@0+ (1,0) [0|0] "" AFS
-
-BO_ 1083770429 BDB1S18_99: 8 CGW
- SG_ BDB18_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB18_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ POP_NAME : 23|8@0+ (1,0) [0|0] "" AFS
- SG_ BODY : 31|8@0+ (1,0) [0|0] "" AFS
- SG_ GEAR : 39|8@0+ (1,0) [0|0] "" AFS
- SG_ GRADE : 47|8@0+ (1,0) [0|0] "" AFS
- SG_ ENGINE : 55|8@0+ (1,0) [0|0] "" AFS
-
-BO_ 1020 BDB1S19: 8 CGW
- SG_ SOLAR_R : 23|9@0+ (100,0) [0|0] "" Vector__XXX
- SG_ SOLAR_L : 39|9@0+ (100,0) [0|0] "" Vector__XXX
- SG_ N_LX : 55|13@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1083835966 BDB1S20_9A: 8 CGW
- SG_ BDB20_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB20_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RNBDYC : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RNBDYD : 39|32@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1083901503 BDB1S21_9B: 8 CGW
- SG_ BDB21_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BDB21_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RFOG_SW : 22|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FFOG_SW : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HF_SW : 20|1@0+ (1,0) [0|0] "" AFS
- SG_ HU_SW : 19|1@0+ (1,0) [0|0] "" AFS
- SG_ AUTO_SW : 18|1@0+ (1,0) [0|0] "" AFS
- SG_ HEAD_SW : 17|1@0+ (1,0) [0|0] "" AFS
- SG_ TAIL_SW : 16|1@0+ (1,0) [0|0] "" AFS
- SG_ DRL_OFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1005 BGM1S01: 2 CGW
- SG_ WCAA : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ R_DISP : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BGM_BEEP : 11|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BGM_MODE : 9|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1237 BSR1N01: 8 BSR
- SG_ BSRNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ BSRSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ BSRSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ BSRREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-BO_ 1014 BSR1S01: 8 BSR
- SG_ BSD_STAT : 7|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BSD_SW : 15|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BSD_BUZ : 23|1@0+ (1,0) [0|0] "" CSR
-
-BO_ 1114 CGW1N02: 8 CGW
- SG_ CGW2REV : 7|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1228 CSR1N01: 8 CSR
- SG_ CSRNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ CSRSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ CSRSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ CSRREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-BO_ 918 CSR1S01: 7 CSR
- SG_ CSV : 7|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CSSR : 4|2@0+ (1,0) [0|0] "" MAV
- SG_ CSD : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CSME : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CSIN : 0|1@0+ (1,0) [0|0] "" MAV
- SG_ FL_INFO : 15|4@0+ (1,0) [0|0] "" MAV
- SG_ FR_INFO : 11|4@0+ (1,0) [0|0] "" MAV
- SG_ RB_INFO : 23|4@0+ (1,0) [0|0] "" MAV
- SG_ FC_INFO : 19|4@0+ (1,0) [0|0] "" MAV
- SG_ RL_INFO : 31|4@0+ (1,0) [0|0] "" MAV
- SG_ RR_INFO : 27|4@0+ (1,0) [0|0] "" MAV
- SG_ CZV : 39|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VOT : 47|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FCZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RCZD : 42|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FCDD : 41|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RCDD : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VOL : 55|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CDG : 52|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MUTE : 49|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BZ_OFF : 48|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1087768273 DMS1S02_D6: 8 CGW
- SG_ SS_MODE : 25|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 869 DS11D70: 7 DS1
- SG_ D_TRGJDG : 7|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_RESSW : 3|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_SETSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_CANSW : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_MAINSW : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_VMCC : 15|8@0+ (1,0) [0|0] "km/h" Vector__XXX
- SG_ D_VNCC : 23|8@0+ (1,0) [0|0] "km/h" Vector__XXX
- SG_ D_CCREQ : 31|8@0+ (100,-12800) [0|0] "N" Vector__XXX
- SG_ D_TGTDST : 39|8@0+ (1,0) [0|0] "m" Vector__XXX
- SG_ D_VRCC : 47|8@0- (1,0) [0|0] "km/h" Vector__XXX
- SG_ D_WSTL : 55|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_DSW : 54|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_FDJDG : 52|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_DSSJDG : 51|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 870 DS11D71: 7 DS1
- SG_ XREQALM : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQABK : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TGT_DIST : 5|14@0+ (0.01,0) [0|0] "m" Vector__XXX
- SG_ XREQPBA : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQFPB : 22|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQPB : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQEXT : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQPSB : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TGT_VGAP : 18|11@0+ (0.025,-51.175) [0|0] "m/s" Vector__XXX
- SG_ PCSDISP : 39|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XPCSRDY : 35|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TGT_NUMB : 34|3@0+ (1,1) [0|0] "" Vector__XXX
- SG_ TGT_POSX : 47|8@0- (0.04,0) [0|0] "m" Vector__XXX
-
-BO_ 871 DS11D72: 2 FCM
- SG_ LKADRTRG : 7|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKADRSHR : 5|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKADRSLK : 4|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKADRSLD : 3|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKADRCC : 2|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKADRTUR : 15|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKADRINV : 13|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 643 DS11F01: 7 DS1
- SG_ DSCOUNT : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSLCCW1 : 15|1@0+ (1,0) [0|0] "" FCM
- SG_ DSSTPBZ : 14|1@0+ (1,0) [0|0] "" FCM
- SG_ PBRTRGR2 : 12|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSSFTRQD : 11|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSS1FDRV : 23|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ DSS1STBK : 39|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSS1STAT : 36|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSBHOK : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSRQBH : 47|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IBTRGR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK2 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSNOCHG : 41|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1F01SM : 55|8@0+ (1,0) [0|0] "" FCM
-
-BO_ 1041 DS12F02: 8 DS1
- SG_ PCSINDI : 7|2@0+ (1,0) [0|0] "" FCM
- SG_ PCSWM : 5|2@0+ (1,0) [0|0] "" FCM
- SG_ PCSFCT : 3|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSTUCT : 2|1@0+ (1,0) [0|0] "" FCM
- SG_ DS1LCCK : 1|2@0+ (1,0) [0|0] "" FCM
- SG_ PBTUCT : 14|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSEXIST : 13|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWDUCT : 11|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWD : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDW : 39|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDSRF : 36|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSTEMP : 35|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDUST : 34|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSLCCK : 33|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSPEDW : 47|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSPVSN : 44|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCTEMP2 : 42|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDUST2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSOFFS : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWDS : 55|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FRDADJ : 53|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1042 DS12F03: 8 FCM
- SG_ LKAINDI : 7|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKAWLSL : 5|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKAWLSR : 3|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKAFCT : 15|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKATUCT : 14|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKACAMT : 13|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LDWEXIST : 10|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKASPCND : 23|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKAWTCS : 18|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKASAUT : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LDWBZ : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LDAFCVB : 47|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LDARDA : 46|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SWSSENSD : 45|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SWSSWD : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SWSRAD : 55|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SWSFLD : 53|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SWSBUZ : 50|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1207 ECO1D50: 8 CGW
- SG_ DRECO01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECO02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECO03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECO04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECO05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECO06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECO07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECO08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 355 ECO1S01: 5 CGW
- SG_ ECOSTAON : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ECOMODE : 18|3@0+ (1,0) [0|0] "" KSS,SCS
- SG_ FCREQ : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SSVMREQ : 27|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ E2MRXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BPHLDRQ : 36|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BPHLDRQ2 : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ECOEGSTP : 33|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 922 ECO1S90: 8 CGW
- SG_ ECOBZR : 23|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ECOLMP : 21|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TESTECO : 30|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OPLMPMSK : 29|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MSTART : 28|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ECOMODE3 : 27|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ INFSSCOP : 39|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ INFSSSTL : 36|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ECLMP : 34|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AUTOSTA : 47|1@0+ (1,0) [0|0] "" SCS
- SG_ INFSSFAL : 46|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ INFSSINH : 45|6@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SSACMODE : 52|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ INFSSADV : 50|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1182 ECT1D50: 8 CGW
- SG_ DRECT01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1183 ECT1D51: 8 CGW
- SG_ DRECT11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1200 ECT1D52: 8 CGW
- SG_ DRECT21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1201 ECT1D53: 8 CGW
- SG_ DRECT31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1202 ECT1D54: 8 CGW
- SG_ DRECT41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1203 ECT1D55: 8 CGW
- SG_ DRECT51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRECT58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 464 ECT1F03: 8 CGW
- SG_ NT : 7|16@0- (0.390625,0) [0|0] "rpm" Vector__XXX
- SG_ ACT : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XDMET : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XNTSW : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XNMET : 18|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XRMET : 17|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XPMET : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SFTOUT_S : 29|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ X3MET : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ X2MET : 25|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XLOMET : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ L4SW : 38|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SNOW : 36|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XFSFT : 35|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SFTOUT : 34|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HSSLWN : 55|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HSINH : 54|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CLTMODBK : 53|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LUOUT : 51|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LUKG : 50|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FBCOA : 48|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ECTF03SM : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 725 ECT1S10: 2 CGW
- SG_ VTORATIO : 7|16@0+ (0.0009765625,0) [0|0] "" Vector__XXX
-
-BO_ 956 ECT1S92: 8 CGW
- SG_ B_OILW : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_OILMD : 5|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_ISNW : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_RJTB : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_WNDL : 15|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_LMULRJ : 14|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_P : 13|1@0+ (1,0) [0|0] "" AFS,CSR,MAV
- SG_ B_R : 12|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV
- SG_ B_N : 11|1@0+ (1,0) [0|0] "" AFS,CSR,MAV
- SG_ B_ISPTM : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "" Vector__XXX
- SG_ B_GEAR : 39|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_SMDE : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_D : 47|1@0+ (1,0) [0|0] "" AFS,CSR,DS1,MAV
- SG_ B_ECOMI : 40|1@0+ (1,0) [0|0] "" DS1
- SG_ B_SPTMI : 55|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_PWRM : 54|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_OILWM : 51|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_SPTMS : 49|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_DMODE : 61|3@0+ (1,0) [0|0] "" SCS
-
-BO_ 1176 ENG1D50: 8 CGW
- SG_ DRENG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1177 ENG1D51: 8 CGW
- SG_ DRENG11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1178 ENG1D52: 8 CGW
- SG_ DRENG21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1179 ENG1D53: 8 CGW
- SG_ DRENG31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1180 ENG1D54: 8 CGW
- SG_ DRENG41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1181 ENG1D55: 8 CGW
- SG_ DRENG51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1192 ENG1D56: 8 CGW
- SG_ DRENG61 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG62 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG63 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG64 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG65 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG66 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG67 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG68 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1191 ENG1D57: 8 CGW
- SG_ DRENG71 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG72 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG73 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG74 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG75 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG76 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG77 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG78 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1197 ENG1D58: 8 CGW
- SG_ DRENG81 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG82 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG83 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG84 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG85 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG86 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG87 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG88 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1198 ENG1D59: 8 CGW
- SG_ DRENG91 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG92 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG93 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG94 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG95 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG96 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG97 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG98 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1199 ENG1D60: 8 CGW
- SG_ DRENG101 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG102 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG103 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG104 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG105 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG106 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG107 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRENG108 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1017 ENG1F03: 8 CGW
- SG_ VARENG1 : 7|4@0+ (1,0) [0|0] "" AFS,SCS
- SG_ VARENG2 : 3|4@0+ (1,0) [0|0] "" AFS,SCS
- SG_ VARENG3 : 15|4@0+ (1,0) [0|0] "" AFS,SCS
- SG_ VARENG4 : 11|1@0+ (1,0) [0|0] "" AFS,SCS
- SG_ HVFLAG : 10|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,SCS
- SG_ VARTRM1 : 23|4@0+ (1,0) [0|0] "" AFS,CSR,FCM,MAV,SCS
- SG_ GEARINF : 19|4@0+ (1,0) [0|0] "" SCS
- SG_ DVINF : 31|2@0+ (1,0) [0|0] "" AFS,DS1,FCM,SCS
- SG_ OBDINF : 27|4@0+ (1,0) [0|0] "" BSR,DS1,FCM,SCS
- SG_ ECOFLAG : 39|1@0+ (1,0) [0|0] "" FCM
- SG_ CDYMD : 38|2@0+ (1,0) [0|0] "" DS1,FCM
- SG_ ENGF03SM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
-
-BO_ 452 ENG1F07: 8 CGW
- SG_ NE1 : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "" Vector__XXX
- SG_ THWX : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ EGF : 30|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ T2ERXF : 29|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ T2ERXMK : 28|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ASTEFI : 27|1@0+ (1,0) [0|0] "" AFS
- SG_ B2ERXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PDLF : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ENTCAL2 : 39|8@0+ (12.5,0) [0|0] "rpm" Vector__XXX
- SG_ EGFB : 46|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ PTFB : 45|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MILREQ : 43|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_ECOL : 55|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_IECOCR : 53|6@0+ (2,0) [0|0] "" Vector__XXX
- SG_ ENGF07SM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM
-
-BO_ 114 ENG1F43: 5 CGW
- SG_ FAVLMCHL : 7|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ FAVLMONL : 23|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ ENGF43SM : 39|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 705 ENG1S01: 8 CGW
- SG_ ETCSFB : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ETCSF : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VSCTH : 5|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ THF : 4|1@0+ (1,0) [0|0] "" DS1
- SG_ IDL1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XCCACT2 : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ STPSWF : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WTC : 0|1@0+ (1,0) [0|0] "" KSS,SCS
- SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX
- SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
- SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" Vector__XXX
- SG_ EACCP : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
- SG_ ENG01SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
-
-BO_ 961 ENG1S23: 3 CGW
- SG_ EKLSM : 7|8@0+ (0.625,0) [0|0] "%" Vector__XXX
- SG_ GATHW : 15|16@0- (0.625,0) [0|0] "" Vector__XXX
-
-BO_ 979 ENG1S28: 2 CGW
- SG_ B_FC : 7|16@0+ (0.0005,0) [0|0] "ml" Vector__XXX
-
-BO_ 1408 ENG1S51: 8 CGW
- SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1409 ENG1S52: 8 CGW
- SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1410 ENG1S54: 8 CGW
- SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VC : 52|5@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TES : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 955 ENG1S92: 8 CGW
- SG_ B_ST : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_TC : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_GLOW : 3|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_STPE : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_OMWI : 15|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_SILUP : 13|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_SILDN : 12|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_WSTP : 11|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_LOUT : 10|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_OILPL : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "" Vector__XXX
- SG_ OGENETCS : 30|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_DPFW : 28|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BOSLAMP : 37|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BOSMINF : 34|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GOSLAMP : 45|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GOSMINF : 42|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 921 ENG1S95: 8 CGW
- SG_ B_LLSP2 : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TLSTBZ : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_ASLBZ2 : 5|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_SPU2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACASID1 : 3|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACASID2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX
- SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX
- SG_ CACCTRN : 47|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CACCINF : 46|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CACCFR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CACCFR1 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CACCFLD : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CACCCM3 : 42|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CACCCM2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CACCCM1 : 40|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 238 ENG2F01: 4 CGW
- SG_ STOFOK : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GROWIND : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "" Vector__XXX
- SG_ IMMINJST : 23|16@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 466 ENG2F04: 8 CGW
- SG_ XLDR : 7|1@0+ (1,0) [0|0] "" DS1
- SG_ XACCACTV : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XACCACT : 5|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ XPAIDLV : 4|1@0+ (1,0) [0|0] "" DS1
- SG_ XPAIDL : 3|1@0+ (1,0) [0|0] "" DS1
- SG_ BHOK : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RQBH : 1|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSTAT : 15|3@0+ (1,0) [0|0] "" DS1
- SG_ ACCSTBK : 12|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ STPBZ : 9|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ PLOCKF : 8|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCREQ : 23|16@0- (0.0009765625,0) [0|0] "m/s^2" DS1
- SG_ ACCAVL : 39|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "" DS1
- SG_ SSTOK : 51|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CANREQ : 49|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FCACT : 48|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SM1D2 : 63|8@0+ (1,0) [0|0] "" DS1,FCM
-
-BO_ 467 ENG2F05: 8 CGW
- SG_ LCCW2 : 4|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ WSTL2 : 3|1@0+ (1,0) [0|0] "" DS1
- SG_ LCCHK : 2|3@0+ (1,0) [0|0] "" DS1
- SG_ XCCOK2 : 15|1@0+ (1,0) [0|0] "" DS1
- SG_ SLTACC : 14|2@0+ (1,0) [0|0] "" DS1
- SG_ LTME2 : 12|2@0+ (1,0) [0|0] "" DS1
- SG_ STPSWF2 : 10|1@0+ (1,0) [0|0] "" DS1
- SG_ CCSF : 9|1@0+ (1,0) [0|0] "" DS1
- SG_ CCSNG : 8|1@0+ (1,0) [0|0] "" DS1
- SG_ VM : 23|16@0+ (0.00390625,0) [0|0] "km/h" DS1
- SG_ INTG : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1
- SG_ D2PRXMK : 47|1@0+ (1,0) [0|0] "" DS1
- SG_ SM1D3 : 63|8@0+ (1,0) [0|0] "" DS1,FCM
-
-BO_ 119 ENG2F41: 6 CGW
- SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX
- SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 120 ENG2F42: 4 CGW
- SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 916 EPS1S90: 1 CGW
- SG_ B_WPS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1235 FCM1N01: 8 FCM
- SG_ FCMNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ FCMSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ FCMSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ FCMREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-BO_ 1161 FCM1S10: 8 FCM
- SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1162 FCM1S11: 8 FCM
- SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1163 FCM1S12: 8 FCM
- SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" Vector__XXX
- SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" Vector__XXX
- SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" Vector__XXX
- SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1279 FRD1N01: 8 FRD
- SG_ FRDNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ FRDSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ FRDSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ FRDREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-BO_ 737 FWM1S01: 2 CGW
- SG_ ACTHLF : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MOT4WD : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CCANCEL : 5|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AI4WD : 4|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LOW4 : 3|1@0+ (1,0) [0|0] "" MAV,SCS
- SG_ DLOCK : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RDLOCK : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HLN : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ F_SP4WD : 15|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RQ_SP4WD : 14|7@0+ (1,73) [0|0] "km/h" Vector__XXX
-
-BO_ 1082263092 IDT1S03_82: 8 CGW
- SG_ IDT03_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IDT03_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CO_IDT : 23|16@0+ (1,0) [0|0] "" Vector__XXX
- SG_ UACK : 39|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WRT : 38|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RSTP : 37|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1082328629 IDT1S04_83: 8 CGW
- SG_ IDT04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IDT04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OSID : 47|16@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1257 KSS1N01: 8 KSS
- SG_ KSSNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ KSSSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ KSSSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ KSSREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-BO_ 927 KSS1S90: 1 KSS
- SG_ LKSS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1263 MAV1N01: 8 MAV
- SG_ MAVNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ MAVSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ MAVSPF : 23|16@0+ (1,0) [0|0] "" CGW
-
-BO_ 1075840528 MET1S01_20: 8 CGW
- SG_ MET01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET_SPD : 23|8@0+ (1,0) [0|0] "km/h" CSR
- SG_ RHEOSTAT : 30|7@0+ (1,0) [0|0] "%" Vector__XXX
- SG_ TAIL_CN : 39|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ILL_OF : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ UNIT_TMP : 33|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IN_FC : 47|16@0+ (0.1,0) [0|0] "Note" Vector__XXX
- SG_ UNIT_0 : 63|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SP_TL : 60|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET_TC : 56|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075906065 MET1S02_21: 8 CGW
- SG_ MET02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET_DEST : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ODO_UNIT : 29|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OMRS : 27|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ UNIT_CH : 26|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ODO : 39|32@0+ (1,0) [0|0] "km/mile" Vector__XXX
-
-BO_ 1076037145 MET1S04_23: 8 CGW
- SG_ MET04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AF_FC : 23|16@0+ (0.1,0) [0|0] "Note" Vector__XXX
- SG_ UNIT_3 : 39|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RANGE : 47|16@0+ (1,0) [0|0] "Note" Vector__XXX
- SG_ UNIT_4 : 63|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1076102682 MET1S05_24: 8 CGW
- SG_ MET05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TO_SP : 23|16@0+ (0.1,0) [0|0] "km/h,MPH" Vector__XXX
- SG_ UNIT_5 : 39|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPG Ekm/l El/100km Ekm/gallon" Vector__XXX
- SG_ UNIT_6 : 63|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1076299282 MET1S08_27: 8 CGW
- SG_ MET08_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET08_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TO_DT : 23|16@0+ (1,0) [0|0] "km,mile" Vector__XXX
- SG_ UNIT_10 : 39|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1076364819 MET1S09_28: 8 CGW
- SG_ MET09_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET09_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WASH : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BLVW : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_CW : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ENGW : 29|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ABSW : 28|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VSCW : 27|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OPW : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OLW : 36|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LW : 35|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FSRS : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ HALW : 46|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRW : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TIRW : 42|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FWW : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SUSW : 53|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LKAW : 61|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET_PCSW : 59|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ WTPW : 57|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1076430356 MET1S10_29: 8 CGW
- SG_ MET10_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM
- SG_ MET10_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM
- SG_ OM_MLG : 23|7@0+ (100,0) [0|0] "miles" Vector__XXX
- SG_ PR_OM_FL : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TNS : 29|2@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM
- SG_ HZS : 27|1@0+ (1,0) [0|0] "" AFS,FCM
-
-BO_ 1076495893 MET1S11_2A: 8 CGW
- SG_ MET11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ UNIT_CH2 : 23|2@0+ (1,0) [0|0] "" FCM
- SG_ TOLER_A : 21|6@0+ (0.002,0.94) [0|0] "" FCM
- SG_ CDISP_EX : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TOLER_B : 29|6@0- (0.2,0) [0|0] "km/h" FCM
- SG_ TRIP_B : 39|32@0+ (0.1,0) [0|0] "km/MILE" Vector__XXX
-
-BO_ 1076561430 MET1S12_2B: 8 CGW
- SG_ MET12_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MET12_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ESLW : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CSOW : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LHLW : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SMBW : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ KDSW : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OMRW : 46|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BSDW : 54|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MTSW : 48|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ATSW : 63|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 992 MET1S18: 8 CGW
- SG_ M_LANG : 7|6@0+ (1,0) [0|0] "" Vector__XXX
- SG_ M_LNG_ST : 1|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ M_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ M_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ M_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ M_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ M_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ M_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ M_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1075840755 MET1S22_20: 8 CGW
- SG_ ID6F320 : 7|8@0+ (1,0) [0|0] "" DS1,FCM
- SG_ IF6F320 : 15|8@0+ (1,0) [0|0] "" DS1,FCM
- SG_ TSR_OSM : 22|2@0+ (1,0) [0|0] "" FCM
- SG_ TSR_OSL : 20|2@0+ (1,0) [0|0] "" FCM
- SG_ TSR_SNM : 18|2@0+ (1,0) [0|0] "" FCM
- SG_ TSR_MAIN : 16|1@0+ (1,0) [0|0] "" FCM
- SG_ LDAMCUS : 31|2@0+ (1,0) [0|0] "" FCM
- SG_ LDAMSW : 29|2@0+ (1,0) [0|0] "" FCM
- SG_ FCMUSER : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ FCMMCUS : 26|2@0+ (1,0) [0|0] "" FCM
- SG_ FCMMSW : 24|1@0+ (1,0) [0|0] "" FCM
- SG_ BSMMSW : 37|1@0+ (1,0) [0|0] "" BSR
- SG_ CSRMSW : 34|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSMCUS : 41|1@0+ (1,0) [0|0] "" DS1
- SG_ PCSMSW : 40|1@0+ (1,0) [0|0] "" DS1
- SG_ LKACTCSW : 51|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LDA_SFB : 50|3@0+ (1,0) [0|0] "" FCM
-
-BO_ 1088685760 PMN1F03_E4: 8 CGW
- SG_ PMNF03ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PMNF03IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PSSW_PMN : 17|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PSW_PMN : 31|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ KCC_PMN : 29|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PMOD_PMN : 27|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ MOD_EIG : 39|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SWBZ_EIG : 36|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1193 SCS1D50: 8 SCS
- SG_ DRSCS01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRSCS02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRSCS03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRSCS04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRSCS05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRSCS06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRSCS07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DRSCS08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1226 SCS1N01: 8 SCS
- SG_ SCSNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ SCSSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ SCSSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ SCSREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-BO_ 744 SCS1S01: 8 SCS
- SG_ SELECTOR : 3|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVS_MD : 63|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 815 SCS1S06: 5 SCS
- SG_ RRVH : 23|8@0- (1,0) [0|0] "mm" AFS
- SG_ RLVH : 31|8@0- (1,0) [0|0] "mm" AFS
- SG_ SCECOINH : 35|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 917 SCS1S90: 4 SCS
- SG_ B_LSUS6 : 7|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_LSUS4 : 5|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_LSUS2 : 3|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_LSUS8 : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DLR_HSID : 23|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LAR_HS : 18|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSNI : 16|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 37 STR1S01: 8 CGW
- SG_ STS3 : 7|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV
- SG_ STS2 : 6|1@0+ (1,0) [0|0] "" AFS,DS1,FCM,KSS,MAV,SCS
- SG_ STS1 : 5|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,KSS,MAV,SCS
- SG_ STS0 : 4|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SSA : 3|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM,KSS,MAV,SCS
- SG_ SAZS : 23|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM
- SG_ SFRZ : 22|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ SSAZ : 19|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM
- SG_ SSAS : 39|4@0- (0.1,0) [0|0] "deg" FCM,KSS,SCS
- SG_ SSAV : 35|12@0- (1,0) [0|0] "deg/s" FCM,KSS,SCS
- SG_ STDID : 51|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ STR01SUM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV
-
-BO_ 1059 STR1S02: 1 CGW
- SG_ SFR : 5|1@0+ (1,0) [0|0] "" MAV
- SG_ STRWVG : 4|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM
-
-BO_ 170 VSC1F01: 8 CGW
- SG_ VXFREF : 7|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
- SG_ VXFR : 6|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
- SG_ VXFLEF : 23|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
- SG_ VXFL : 22|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
- SG_ VXRREF : 39|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
- SG_ VXRR : 38|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
- SG_ VXRLEF : 55|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
- SG_ VXRL : 54|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
-
-BO_ 426 VSC1F02: 6 CGW
- SG_ VXFRF : 7|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
- SG_ VXFRIGS : 6|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
- SG_ VXFRHDS : 5|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
- SG_ VXFLF : 2|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
- SG_ VXFLIGS : 1|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
- SG_ VXFLHDS : 0|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
- SG_ VXRRF : 13|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
- SG_ VXRRIGS : 12|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
- SG_ VXRRHDS : 11|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
- SG_ VXRLF : 8|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
- SG_ VXRLIGS : 23|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
- SG_ VXRLHDS : 22|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
- SG_ VSCF02SM : 47|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV
-
-BO_ 550 VSC1F06: 8 CGW
- SG_ VSCF01FG : 7|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AHCURQ : 4|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PMCF : 3|1@0+ (1,0) [0|0] "" DS1
- SG_ PMCS : 2|1@0+ (1,0) [0|0] "" DS1
- SG_ PMC : 1|10@0+ (0.02,0) [0|0] "Mpa" DS1
- SG_ ECOEN : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CCS : 22|1@0+ (1,0) [0|0] "" DS1
- SG_ FBA : 21|1@0+ (1,0) [0|0] "" DS1
- SG_ TRBRKSYS : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TS : 38|1@0+ (1,0) [0|0] "" KSS,SCS
- SG_ WSTP : 37|1@0+ (1,0) [0|0] "" DS1,KSS,SCS
- SG_ VSCACT : 36|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ BAEX : 35|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TEM : 34|3@0+ (1,0) [0|0] "" SCS
- SG_ FSTP : 60|1@0+ (1,0) [0|0] "" DS1
- SG_ ABSACT : 59|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
-
-BO_ 180 VSC1S03: 8 CGW
- SG_ SP1P : 39|6@0+ (1,0) [0|0] "" DS1,FCM
- SG_ SP1S : 33|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
- SG_ SP1 : 47|16@0- (0.01,0) [0|0] "km/h" BSR,DS1,FCM,MAV
- SG_ VSC03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
-
-BO_ 800 VSC1S07: 8 CGW
- SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1
- SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1
- SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1
- SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1
- SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1
- SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1
- SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1
- SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1
- SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1
- SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1
- SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1
- SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1
- SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1
- SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
-
-BO_ 1056 VSC1S08: 8 CGW
- SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV
- SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV
- SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS
- SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS
- SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS
- SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
- SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
-
-BO_ 186 VSC1S12: 4 CGW
- SG_ HAC2ESRQ : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FHACHOLD : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VSC12SUM : 31|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 562 VSC1S14: 6 CGW
- SG_ VWPSUMFR : 7|8@0+ (1,0) [0|0] "" MAV
- SG_ VWPSUMFL : 15|8@0+ (1,0) [0|0] "" MAV
- SG_ VWPFRPM : 23|1@0+ (1,0) [0|0] "" MAV
- SG_ VWPFLPM : 22|1@0+ (1,0) [0|0] "" MAV
- SG_ S14CNT : 21|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VWPFRPMS : 18|1@0+ (1,0) [0|0] "" MAV
- SG_ VWPFLPMS : 17|1@0+ (1,0) [0|0] "" MAV
- SG_ VWPSUMRR : 31|8@0+ (1,0) [0|0] "" MAV
- SG_ VWPSUMRL : 39|8@0+ (1,0) [0|0] "" MAV
- SG_ VSC14SUM : 47|8@0+ (1,0) [0|0] "" MAV
-
-BO_ 552 VSC1S29: 4 CGW
- SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1
- SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1
- SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1
-
-BO_ 1168 VSC1S92: 1 CGW
- SG_ C_DCMOD1 : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_DCMOD2 : 6|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ C_DCMOD3 : 3|4@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 951 VSC1S95: 8 CGW
- SG_ B_BRKW : 7|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_ABS : 5|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_BRLV : 14|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TRCOFF : 13|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ VSCOFF : 12|2@0+ (1,0) [0|0] "" DS1,FCM
- SG_ SLP_WL : 10|3@0+ (1,0) [0|0] "" MAV
- SG_ B_MCST : 19|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_BUZZER : 31|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_ALSD : 27|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_DACIND : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ OGENVSC : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_ATRC : 47|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_STRC : 46|3@0+ (1,0) [0|0] "" MAV
- SG_ B_HZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VSCSWIH : 51|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ STRCDISP : 50|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ STRCDSP2 : 60|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VSCEXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1063 VSC1S96: 8 CGW
- SG_ MTS_DISP : 5|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_MTS : 1|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TRCCONRL : 11|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TRCCONRR : 10|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TRCCONFL : 9|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TRCCONFR : 8|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 545 VSC2F05: 5 CGW
- SG_ TQER : 7|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX
- SG_ REQC : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ REQ2 : 22|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ REQ1 : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AIDWI : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ RTD : 19|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ LOMUSFT : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VSC2F05S : 39|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 544 VSC2F07: 4 CGW
- SG_ FSROT : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRK2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRK1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FCNG : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TSLP : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TRCACT : 15|1@0+ (1,0) [0|0] "" DS1,FCM
- SG_ ABSSLP : 14|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VDMACT : 13|1@0+ (1,0) [0|0] "" FCM
- SG_ DAC_CND : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VSC2F07S : 31|8@0+ (1,0) [0|0] "" DS1,FCM
-
-BO_ 36 YGS1S03: 8 CGW
- SG_ YRS11S : 7|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ YRS14S : 6|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ YRS21S : 5|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ YRS24S : 4|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
- SG_ YGS1 : 3|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
- SG_ YGS0 : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YR : 1|10@0+ (0.244,-125) [0|0] "deg/sec" DS1,FCM,MAV
- SG_ YR_CPUMN : 23|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ GS4S : 19|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
- SG_ GS1S : 18|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
- SG_ GL1X : 17|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS
- SG_ YG_ID : 39|4@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS
- SG_ GS5S : 35|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
- SG_ GS2S : 34|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
- SG_ GL2Y : 33|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS
- SG_ YR_DIF : 55|8@0+ (0.244,-31) [0|0] "deg/sec" DS1,FCM,MAV
- SG_ YGS03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
-
-BO_ 1073743490 YGW1S01_0: 8 CGW
- SG_ YGW01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YGW01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YR_STSW : 22|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YR_EGST : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YR_DRLK : 18|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YR_KLEG : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YR_HZRD : 26|3@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1073743491 YGW1S02_0: 8 CGW
- SG_ YGW02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YGW02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YR_DEFOG : 19|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YR_ARCON : 17|2@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1073743494 YGW1S05_0: 8 CGW
- SG_ YGW05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YGW05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YI_IMO_E : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YI_UREQ : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX
diff --git a/opendbc/toyota_avalon_2017_pt_generated.dbc b/opendbc/toyota_avalon_2017_pt_generated.dbc
index 026191e9bacc77..8043d75aea380c 100644
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_avalon_2017_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_avalon_2017_pt.dbc starts here";
 
 
 
@@ -374,6 +432,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
index f60681a17a184d..72ef797a37fcb6 100644
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_camry_hybrid_2018_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_camry_hybrid_2018_pt.dbc starts here";
 
 
 
diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc
index f02e50195caf59..9ff7b5852e06e2 100644
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_corolla_2017_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_corolla_2017_pt.dbc starts here";
 
 
 
@@ -369,10 +427,11 @@ BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.88,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/toyota_highlander_2017_pt_generated.dbc b/opendbc/toyota_highlander_2017_pt_generated.dbc
index a5306ac8f64d05..7c279f0da1cebc 100644
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_highlander_2017_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_highlander_2017_pt.dbc starts here";
 
 
 
@@ -374,6 +432,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
index d19ac45fff0727..a2b5da03ae3f39 100644
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here";
 
 
 
@@ -373,6 +431,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/toyota_iQ_2009_can.dbc b/opendbc/toyota_iQ_2009_can.dbc
deleted file mode 100644
index 90f91d7cb283b5..00000000000000
--- a/opendbc/toyota_iQ_2009_can.dbc
+++ /dev/null
@@ -1,197 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-BO_ 1552 CONTAINS_LRES_SPEED: 8 XXX
- SG_ SPEED_LOWRES : 16|8@1+ (1,0) [0|255] "km/h?" XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 452 ENGINE: 8 XXX
- SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ DIFFERENT_EACH_RIDE : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ A_DECREASING_VALUE : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 37 STEERING: 8 XXX
- SG_ STEER_DIRECTION : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 42|2@0- (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 44|2@0- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 46|2@0- (1,0) [0|3] "" XXX
- SG_ STEER_ANGLE : 2|11@0- (1,0) [-350|350] "" XXX
-
-BO_ 36 ACCELERATIONS: 8 XXX
- SG_ ACC_LAT_CLEAN : 2|11@0- (1,0) [0|255] "" XXX
- SG_ ACC_LATERAL : 63|8@0- (1,0) [0|255] "" XXX
- SG_ ACC_FRONT_BACK_1 : 31|8@0- (1,0) [0|255] "" XXX
- SG_ ACC_FRONT_BACK_2 : 47|8@0- (1,0) [0|255] "" XXX
-
-BO_ 947 LOW_RES_INDICATORS: 8 XXX
- SG_ LOW_RES_ACC_PEDAL : 23|7@0+ (1,0) [0|63] "" XXX
- SG_ LOW_RES_RPM : 7|16@0+ (1,0) [0|255] "rpm" XXX
-
-BO_ 955 BRAKING_PLUS_OTHER: 8 XXX
- SG_ IS_BRAKING_2 : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ ENGINE_TEMPERATURE : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ MAYBE_CLUTCH : 13|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1595 CONTAINS_TIME: 8 XXX
- SG_ TIME_ON : 55|16@0+ (0.1,0) [0|65535] "s" XXX
- SG_ BETWEEN_RIDES : 7|32@0+ (1,0) [0|4294967295] "" XXX
-
-BO_ 170 WHEELS_SPEEDS: 8 XXX
- SG_ FRONT_LEFT_WHEEL_SPEED : 23|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
- SG_ REAR_RIGHT_WHEEL_SPEED : 39|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
- SG_ REAR_LEFT_WHEEL_SPEED : 55|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
- SG_ FRONT_RIGHT_WHEEL_SPEED : 7|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
-
-BO_ 180 VEHICLE_DYNAMICS: 8 XXX
- SG_ WIERD_STUFF : 8|2@1+ (1,0) [0|3] "" XXX
- SG_ VEHICLE_SPEED : 47|16@0+ (0.01,0) [0|255] "km/h" XXX
- SG_ SPEED_MOD_256 : 63|8@0- (1,0) [0|255] "" XXX
- SG_ MAYBE_DISTANCE_MOD_256 : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 186 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 426 NEW_MSG_5: 8 XXX
- SG_ CONSTANT : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 906 BOOLS: 8 XXX
- SG_ MAY_CONTAIN_LIGHTS : 7|4@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_1 : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ MOVEMENT_START_TRIGGER : 0|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 979 LOW_RES_ACCELERATOR: 8 XXX
- SG_ VERY_LRES_ACC : 7|16@0+ (1,0) [0|65535] "" XXX
-
-BO_ 1600 SLOW_VARIABLE_INFOS: 8 XXX
- SG_ CHANGES_EACH_RIDE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ INCREASING_VALUE_FUEL : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1568 DOORS: 8 XXX
- SG_ KEY_ACC : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ KEY_ON : 37|1@0+ (1,0) [0|1] "" XXX
- SG_ KEY_INSERT : 46|1@0+ (1,0) [0|1] "" XXX
- SG_ NOT_ON : 63|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_RIGHT : 44|1@0+ (1,0) [0|3] "" XXX
- SG_ DOOR_TRUNK : 41|1@1+ (1,0) [0|3] "" XXX
- SG_ DOOR_LEFT : 45|1@0+ (1,0) [0|255] "" XXX
- SG_ HANDBRAKE : 60|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVER_SEATBELT : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ TRIGGER_BOOL : 15|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 705 COMMAND: 8 XXX
- SG_ NOT_ACCELERATING_PEDAL : 3|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_PEDAL_SENSOR : 55|16@0+ (1,0) [0|65535] "" XXX
- SG_ ACC_COMMAND : 31|16@0- (1,0) [0|7] "" XXX
- SG_ ACC_PEDAL_MEAN : 15|16@0- (1,0) [0|255] "" XXX
- SG_ NEGATIVE_COMMAND_OFFSET : 47|8@0- (1,0) [0|255] "" XXX
-
-BO_ 928 STEER2_MAYBE: 8 XXX
- SG_ NEW_SIGNAL_1 : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_2 : 60|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_4 : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 46|7@0+ (1,0) [0|15] "" XXX
-
-BO_ 896 LONG_TERM_2: 8 XXX
- SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 944 LONG_TERM_MSG: 8 XXX
- SG_ LONG_TERM_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1553 TOTAL_DIST: 8 XXX
- SG_ TOTAL_DISTANCE : 55|16@0+ (1,0) [0|65535] "" XXX
-
-BO_ 1572 WHY_THESE_VALUES: 8 XXX
-
-BO_ 1555 BETWEEN_RIDES_CHANGE_1: 8 XXX
- SG_ BETWEEN_RIDES : 23|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1090 ASYNC_MSG_ACK: 8 XXX
- SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1592 NEW_MSG_14: 8 XXX
- SG_ DOORS_LOCKED2 : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ DOORS_LOCKED1 : 16|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 NEW_MSG_6: 8 XXX
- SG_ VERY_SMALL_SIGNAL2 : 56|1@0+ (1,0) [0|255] "" XXX
- SG_ VERY_SMALL_SIGNAL1 : 0|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 945 BETWEEN_RIDES_CHANGES_2: 8 XXX
- SG_ BETWEEN_RIDES : 24|1@0+ (1,0) [0|65535] "" XXX
-
-
-
-
-CM_ SG_ 1552 SPEED_LOWRES "Negative values to check";
-CM_ SG_ 452 CHECKSUM "Follows path of RPMs but more precise & 1 byte only";
-CM_ SG_ 452 A_DECREASING_VALUE "stabilizes to 62 after ~10 mins";
-CM_ SG_ 37 STEER_DIRECTION "Could be intended as 12 bit steering angle";
-CM_ SG_ 37 STEER_ANGLE "can convert to degrees (imprecise) or percentage of max amplitude";
-CM_ SG_ 36 ACC_FRONT_BACK_1 "more likely up-down";
-CM_ SG_ 36 ACC_FRONT_BACK_2 "more likely front-back";
-CM_ SG_ 947 LOW_RES_ACC_PEDAL "Follows rather closely other acceleration commands";
-CM_ SG_ 947 LOW_RES_RPM "Mabe used for onboard display?";
-CM_ SG_ 955 MAYBE_CLUTCH "might be related to shifting gears";
-CM_ SG_ 1595 TIME_ON "Time since last ignition, tenth of seconds";
-CM_ SG_ 1595 BETWEEN_RIDES "the fourth byte (at least) changes between rides";
-CM_ SG_ 180 WIERD_STUFF "Might be a signed value on the whole two bytes (sometimes all set)";
-CM_ SG_ 180 VEHICLE_SPEED "Roughly 2 seconds before wheel speeds";
-CM_ SG_ 180 SPEED_MOD_256 "One byte speed, a bit before vehicle speed";
-CM_ SG_ 180 MAYBE_DISTANCE_MOD_256 "Looks like measure for distance or wheel angle";
-CM_ SG_ 906 MOVEMENT_START_TRIGGER "trigger of when speed becomes != 0";
-CM_ SG_ 979 VERY_LRES_ACC "Power used by engine? moves alongside speed, very low res, goes from 0 to 9 max?";
-CM_ SG_ 1600 CHANGES_EACH_RIDE "Small decrementation during some rides, possibly long term fuel";
-CM_ SG_ 1600 INCREASING_VALUE_FUEL "Fuel/distance? Average fuel consumption?";
-CM_ SG_ 705 NOT_ACCELERATING_PEDAL "Looks like opposite of accelerating bit";
-CM_ SG_ 705 ACC_PEDAL_SENSOR "similar to pedal sensor maybe checksum.";
-CM_ SG_ 705 ACC_COMMAND "Similar to other pedal indicator., cleaner, must be sent back to engine";
-CM_ SG_ 705 ACC_PEDAL_MEAN "Actual sensor for pedal (works when engine off)";
-CM_ SG_ 705 NEGATIVE_COMMAND_OFFSET "Mysterious for now";
-CM_ SG_ 928 NEW_SIGNAL_1 "Very slow changing noisy value, 45-49 in 10 min";
-CM_ SG_ 928 NEW_SIGNAL_2 "Other very slow changing 24-26 in 10 min";
-CM_ SG_ 928 NEW_SIGNAL_4 "Inconsistent across rides";
-CM_ SG_ 896 NEW_SIGNAL_1 "there is a difference at the beginning of 2017-10-31--12-04-05";
-CM_ SG_ 1553 TOTAL_DISTANCE "Probably also contains the previous/two previous bytes but can't confirm";
-CM_ SG_ 945 BETWEEN_RIDES "Might be others in the same message. at least this one";
-
-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 452 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 955 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
index 28ad1d61aca454..a6d4dc6d795437 100644
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,86 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_nodsu_hybrid_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+
+CM_ "Imported file _toyota_nodsu_common.dbc starts here";
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
+ SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+CM_ "toyota_nodsu_hybrid_pt.dbc starts here";
+
 
 
 
diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc
index ab54939b50a4df..c84fa415fb9ca8 100644
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,18 +366,57 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_nodsu_pt.dbc starts here"
 
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
 
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
 
+
+CM_ "Imported file _toyota_nodsu_common.dbc starts here";
 BO_ 401 STEERING_LTA: 8 XXX
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
  SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
@@ -370,6 +425,29 @@ BO_ 401 STEERING_LTA: 8 XXX
  SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
  SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
  SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+CM_ "toyota_nodsu_pt.dbc starts here";
+
+
+
 
 BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
diff --git a/opendbc/toyota_prius_2010_pt.dbc b/opendbc/toyota_prius_2010_pt.dbc
deleted file mode 100644
index 634b1dc0bf0b80..00000000000000
--- a/opendbc/toyota_prius_2010_pt.dbc
+++ /dev/null
@@ -1,203 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX DSU HCU EPS IPAS
-
-
-BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
-
-BO_ 166 BRAKE: 8 XXX
- SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
-
-BO_ 180 SPEED: 8 XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 47|16@0+ (0.0062,0) [0|115] "mph" XXX
- SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 295 GEAR_PACKET: 8 XXX
- SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
- SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 552 ACCELEROMETER: 8 XXX
- SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
- SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
-
-BO_ 560 BRAKE_MODULE2: 8 XXX
- SG_ BRAKE_LIGHTS : 26|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 8 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 614 STEERING_IPAS: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 643 PRE_COLLISION: 8 XXX
-
-BO_ 740 STEERING_LKA: 8 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
-
-BO_ 742 LEAD_INFO: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
- SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
- SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
-
-BO_ 835 ACC_CONTROL: 8 DSU
- SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
-
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 921 PCM_CRUISE_SM: 8 XXX
- SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
- SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 951 ESP_CONTROL: 8 ESP
- SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1042 LKAS_HUD: 8 XXX
- SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
- SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1553 UI_SEETING: 8 XXX
- SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1568 SEATS_DOORS: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 452 POWERTRAIN: 8 XXX
- SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-
-
-
-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
-CM_ SG_ 36 ACCEL_Y "unit is tbd";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 560 BRAKE_LIGHTS "double check";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
-CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
-CM_ SG_ 1042 SET_ME_1 "unclear what this is, nut it's always 1 in drive traces";
-VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B" ;
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled" ;
-VAL_ 610 LKA_STATE 50 "temporary_fault" ;
-VAL_ 614 STATE 3 "enabled" 1 "disabled" ;
-VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left" ;
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted" ;
-VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none" ;
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ;
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ;
-VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none" ;
-VAL_ 1553 UNITS 1 "km" 2 "miles" ;
diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc
index 2bd788e2d2105c..af9603c7dab7e0 100644
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_prius_2017_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_prius_2017_pt.dbc starts here";
 
 
 
diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc
index a9e8a03e517da6..41021cce31f2a3 100644
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_rav4_2017_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_rav4_2017_pt.dbc starts here";
 
 
 
@@ -373,6 +431,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
index 27ced0f9cdb393..9dba21a70dbe02 100644
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here";
 
 
 
@@ -373,6 +431,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
index 2cbd918ce3e08a..05e282b0708046 100644
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -1,37 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
 
 
@@ -94,9 +64,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -155,14 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -186,12 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 XXX
  SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -245,11 +229,15 @@ BO_ 1410 VIN_PART_3: 8 CGW
 
 BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -258,6 +246,11 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -301,13 +294,19 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -316,13 +315,23 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -334,13 +343,20 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
 
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -350,13 +366,55 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "toyota_sienna_xle_2018_pt.dbc starts here"
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+CM_ "toyota_sienna_xle_2018_pt.dbc starts here";
 
 
 
@@ -374,6 +432,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/vw_golf_mk4.dbc b/opendbc/vw_golf_mk4.dbc
deleted file mode 100644
index bdfe6390f77740..00000000000000
--- a/opendbc/vw_golf_mk4.dbc
+++ /dev/null
@@ -1,1050 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 1394 ZAS_1: 2 XXX
- SG_ Fehlerspeichereintrag__ZAS_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_ZAS_1_3 : 8|7@1+ (1,0) [0|0] "" XXX
- SG_ Frei_ZAS_1_2 : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_15_SV : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_ZAS_1_1 : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_P__Parklichtstellung_ : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_50__Starten_ : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_X__Startvorgang_ : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_15__Z_ndung_ein_ : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Kontakt__Schl_ssel_steckt_ : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1336 Wischer_1: 2 XXX
- SG_ Blockierung_Heckwischer_erkannt : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Wischer_1_2 : 12|3@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerspeichereintrag__Wischer_ : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_Scheibenwischer_Hec : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_Wascher_Heck : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Scheibenwischer_Heck_eingeschal : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Blockierung_Frontwischer_erkann : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Wischer_1_1 : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Waschduesenheizung : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Parklage_Frontwischer : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_Frontwischer_Schnel : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_Frontwischer_Normal : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_Wascher_Front : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Frontwischer__eingeschaltet : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1464 WFS_1: 2 XXX
- SG_ WFS_Textbits : 8|8@1+ (1,0) [0|0] "" XXX
- SG_ Frei_WFS_1_1 : 1|7@1+ (1,0) [0|0] "" XXX
- SG_ WFS_LED : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1096 Waehlhebel_1: 4 XXX
- SG_ Frei_Waehlhebel_1_1 : 29|3@1+ (1,0) [0|0] "" XXX
- SG_ Test_aktiv_Flag : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Waehlhebel_1 : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ Waehlhebel_Testergebnis : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Fehler_Waehlhebel : 8|8@1+ (1,0) [0|0] "" XXX
- SG_ Waehlhebelposition : 4|4@1+ (1,0) [0|0] "" XXX
- SG_ Waehlhebel_Initialisierung : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Shiftlock_Position : 0|3@1+ (1,0) [0|0] "" XXX
-
-BO_ 1496 Verbauliste_1: 8 XXX
- SG_ TV_Tuner : 63|1@1+ (1,0) [0|0] "" XXX
- SG_ DSP : 62|1@1+ (1,0) [0|0] "" XXX
- SG_ CD_Wechsler : 61|1@1+ (1,0) [0|0] "" XXX
- SG_ Spracheingabe : 60|1@1+ (1,0) [0|0] "" XXX
- SG_ Telematik : 59|1@1+ (1,0) [0|0] "" XXX
- SG_ Navigation : 58|1@1+ (1,0) [0|0] "" XXX
- SG_ Telefon : 57|1@1+ (1,0) [0|0] "" XXX
- SG_ Radio : 56|1@1+ (1,0) [0|0] "" XXX
- SG_ MMI_vorne : 55|1@1+ (1,0) [0|0] "" XXX
- SG_ MMI_hinten : 54|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Verbauliste_1_11 : 53|1@1+ (1,0) [0|0] "" XXX
- SG_ Klimabedienteil_HL : 52|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Verbauliste_1_10 : 50|2@1+ (1,0) [0|0] "" XXX
- SG_ Tankgeber : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Assistenzfahrlicht : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Memory_hinter_Fahrer : 47|1@1+ (1,0) [0|0] "" XXX
- SG_ Sitzmemory_hinten : 46|1@1+ (1,0) [0|0] "" XXX
- SG_ Sitzmemory_Beifahrer : 45|1@1+ (1,0) [0|0] "" XXX
- SG_ Anh_ngersteuergeraet : 44|1@1+ (1,0) [0|0] "" XXX
- SG_ Energiemanagement : 43|1@1+ (1,0) [0|0] "" XXX
- SG_ Wischermodul : 42|1@1+ (1,0) [0|0] "" XXX
- SG_ EZS___Kessy__Komfort_ : 41|1@1+ (1,0) [0|0] "" XXX
- SG_ Verdecksteuergeraet : 40|1@1+ (1,0) [0|0] "" XXX
- SG_ Standheizung : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Verbauliste_1_9 : 38|1@1+ (1,0) [0|0] "" XXX
- SG_ Einparkhilfe : 37|1@1+ (1,0) [0|0] "" XXX
- SG_ Klimasteuergeraet_Komfort : 36|1@1+ (1,0) [0|0] "" XXX
- SG_ Gateway : 35|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenksaeulenmodul : 34|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruck : 33|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombiinstrument_Komfort : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Dachmodul : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Memory : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ TSG_HR : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ TSG_HL : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ TSG_BT : 27|1@1+ (1,0) [0|0] "" XXX
- SG_ TSG_FT : 26|1@1+ (1,0) [0|0] "" XXX
- SG_ ZKE : 25|1@1+ (1,0) [0|0] "" XXX
- SG_ BSG_Komfort : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Verbauliste_1_8 : 19|5@1+ (1,0) [0|0] "" XXX
- SG_ Stabi_Entkopplung : 18|1@1+ (1,0) [0|0] "" XXX
- SG_ Waehlhebel : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Batteriemanager : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Daempfer_SG : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Niveauregulierung : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ EZS___Kessy__Antrieb_ : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsbooster : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Antrieb : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Einspritzpumpe : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Allrad : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ BSG_Antrieb : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ ADR : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Airbag : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Climatronic_Antrieb : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ ABS : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Getriebesteuergeraet : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Motorsteuergeraet : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1488 Systeminfo_1: 6 XXX
- SG_ CAN_Stand_4_1_Antrieb_Daten_Hau : 44|4@1+ (1,0) [0|15] "" XXX
- SG_ CAN_Stand_4_1_Antrieb_Daten_Neb : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ CAN_Stand_4_1_Komfort_Daten_Hau : 36|4@1+ (1,0) [0|15] "" XXX
- SG_ CAN_Stand_4_1_Komfort_Daten_Neb : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ Frei_Systeminfo_1_6 : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ Viertuerer : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Rechtslenker : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrzeug_Index : 24|4@1+ (1,0) [0|0] "" XXX
- SG_ Fahrzeug_Generation : 20|4@1+ (1,0) [0|15] "" XXX
- SG_ Fahrzeug_Derivat : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ Fahrzeug_Marke_2 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Fahrzeug_Klasse : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Verbauinformation_gueltig : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ CAN_Infotainment_verbaut : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ CAN_Infotainment_in_Diagnose : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Sleep_CAN_Infotainment : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ CAN_Komfort_in_Diagnose : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Sleep_CAN_Komfort : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ CAN_Antrieb_in_Diagnose : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ CAN_Extern_zugeschaltet : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 268 Slave_1: 8 XXX
- SG_ Delta_reduziertes_Sollmoment : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Delta_Drosselklappenwinkel : 32|16@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Slave_1_1 : 25|7@1+ (1,0) [0|0] "" XXX
- SG_ Delta_Zuendwinkelausgabe : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Ubat_Freigabe_DVE__Slave_ : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ Drosselklappe_Sollwertbegrenzun : 22|1@1+ (1,0) [0|0] "" XXX
- SG_ Einspritzverbot_lernen__Slave_ : 21|1@1+ (1,0) [0|0] "" XXX
- SG_ Master_erkannt__Slave_ : 20|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehler_Momentenausgabe : 19|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehler_Getriebe_Moment : 18|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehler_Bremsenbotschaft : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Indiziertes_Istmoment__Slave_ : 0|16@1+ (0.0015259,0) [0|99.998] "%" XXX
- SG_ Timeout_Bremsenbotschaft : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1332 Sitz_info: 2 XXX
- SG_ Positionserkennung_Beifahrersit : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Beifahrersitz_im_vorderen_Dritt : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Positionserkennung_Fahrersitz_u : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrersitz_im_vorderen_Drittel : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Sitzinfo : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksumme_Sitzinfo : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 1810 PSG_3: 2 XXX
- SG_ Selbsttestergebnis : 0|16@1+ (1,0) [0|0] "" XXX
-
-BO_ 1298 PSG_2: 8 XXX
- SG_ RAM_Inhalt_4 : 48|16@1+ (1,0) [0|0] "" XXX
- SG_ RAM_Inhalt_3 : 32|16@1+ (1,0) [0|0] "" XXX
- SG_ RAM_Inhalt_2 : 16|16@1+ (1,0) [0|0] "" XXX
- SG_ RAM_Inhalt_1 : 0|16@1+ (1,0) [0|0] "" XXX
-
-BO_ 274 PSG_1: 8 XXX
- SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "K" XXX
- SG_ Pumpentemperatur__3_2_2_ : 44|12@1+ (1,0) [0|0] "" XXX
- SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zaehler" XXX
- SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "NW" XXX
- SG_ Nockenwellendrehzahl__3_2_2_ : 20|12@1+ (4,0) [0|16380] "upm" XXX
- SG_ Pumpen_Statuswort__3_2_2_ : 0|20@1+ (1,0) [0|0] "" XXX
-
-BO_ 1300 NOX_1: 8 XXX
- SG_ OBD_fuer_NOX : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Frei_NOX1_4 : 53|3@1+ (1,0) [0|0] "" XXX
- SG_ IP2 : 52|1@1+ (1,0) [0|0] "" XXX
- SG_ IP1 : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ IP0 : 50|1@1+ (1,0) [0|0] "" XXX
- SG_ Sondenheizung_NOX : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Offsetkorrektur_NOX : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_NOX1_3 : 43|5@1+ (1,0) [0|0] "" XXX
- SG_ Sauerstoff_binaer : 32|11@1+ (1,-200) [-200|1847] "mV" XXX
- SG_ Frei_NOX1_2 : 27|5@1+ (1,0) [0|0] "" XXX
- SG_ Sauerstoff_linear : 16|11@1+ (1,0) [0|2047] "1000/Lambd" XXX
- SG_ Frei_NOX1_1 : 11|5@1+ (1,0) [0|0] "" XXX
- SG_ NOX_Signal : 0|11@1+ (1,0) [0|2047] "ppm" XXX
-
-BO_ 1424 Niveau_1: 6 XXX
- SG_ Beladungszustand : 40|8@1+ (1,0) [0|253] "Zuladung" XXX
- SG_ Fehlerspeichereintrag__Niveau_1 : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ Systemstatus__Niveau_1_ : 38|1@1+ (1,0) [0|0] "" XXX
- SG_ Reserve_Fahrzeugart : 37|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrzeugart_Niveau : 36|1@1+ (1,0) [0|0] "" XXX
- SG_ Textbits__Niveau_1_ : 32|4@1+ (1,0) [0|0] "" XXX
- SG_ Verstellung_HL : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Verstellung_HR : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ Verstellung_VL : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Verstellung_VR : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Absenkung_Fahrzeug : 27|1@1+ (1,0) [0|0] "" XXX
- SG_ Anhebung_Fahrzeug : 26|1@1+ (1,0) [0|0] "" XXX
- SG_ Verstellung_aktiv : 25|1@1+ (1,0) [0|0] "" XXX
- SG_ Kompressorlauf_in_Kuerze : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Niveau_1_5 : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ Taster_Niveau : 22|1@1+ (1,0) [0|0] "" XXX
- SG_ Parkniveau : 21|1@1+ (1,0) [0|0] "" XXX
- SG_ Zwischenniveau : 20|1@1+ (1,0) [0|0] "" XXX
- SG_ Niveaustati : 16|4@1+ (1,0) [0|0] "" XXX
- SG_ MSG_Einschraenkung : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ ESP_Beeinflussung : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Warnlampe_Niveau_1 : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Niveau_1_1 : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zaehler" XXX
- SG_ Checksumme_Niveau_1 : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 1328 Navigation_1: 7 XXX
- SG_ Kreuzungstyp : 54|2@1+ (1,0) [0|3] "" XXX
- SG_ Entfernung_bis_Kreuzung : 48|6@1+ (5,0) [0|315] "m" XXX
- SG_ Entfernung_bis_Kurvenanfang : 40|8@1+ (1,0) [0|255] "m" XXX
- SG_ Voarusliegende_Kurvenrichtung : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ Vorausliegender_Kurvenverlauf : 32|7@1+ (50,0) [0|6350] "m" XXX
- SG_ Fehler_Navigation : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Anzahl_Fahrbahnen__0_ist_unguel : 28|3@1+ (1,0) [1|7] "" XXX
- SG_ Strassentyp : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ Laenderkennung : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ Vorzeichen_Gierrate______ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Gierratenfehler : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "deg/sek" XXX
-
-BO_ 1792 MSG_3: 3 XXX
- SG_ MSG_Konfiguration : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "KW" XXX
-
-BO_ 1280 MSG_2: 8 XXX
- SG_ RAM_Adresse_4 : 48|16@1+ (1,0) [0|0] "" XXX
- SG_ RAM_Adresse_3 : 32|16@1+ (1,0) [0|0] "" XXX
- SG_ RAM_Adresse_2 : 16|16@1+ (1,0) [0|0] "" XXX
- SG_ Ram_Adresse_1 : 0|16@1+ (1,0) [0|0] "" XXX
-
-BO_ 256 MSG_1: 8 XXX
- SG_ Kurbelwellendrehzahl__3_2_2_ : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "KW" XXX
- SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "degNW" XXX
- SG_ Soll_Voreinspritzung : 16|12@1+ (1,0) [0|0] "" XXX
- SG_ Soll_Einspritzmenge : 0|16@1+ (0.03125,0) [0|2047] "mg/H" XXX
-
-BO_ 1796 Motor_NOX: 8 XXX
- SG_ Frei_Motor_NOX_1_2 : 24|40@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Motor_NOX_1_1 : 19|5@1+ (1,0) [0|0] "" XXX
- SG_ Heizleistungsanforderung : 18|1@1+ (1,0) [0|0] "" XXX
- SG_ Offsetkorrektur_moeglich : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Betriebsbereich : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "C" XXX
- SG_ Abgasdruck_NOX : 0|8@1+ (5,600) [600|1870] "mbar" XXX
-
-BO_ 900 Motor_Momente: 8 XXX
- SG_ Momentenangaben_ungenau__Moment : 35|2@1+ (1,0) [0|0] "" XXX
-
-BO_ 1408 Motor_Flexia: 8 XXX
- SG_ Ansaugsystem m0 : 63|1@1+ (1,0) [0|0] "" XXX
- SG_ Hubraum m0 : 56|7@1+ (0.1,0) [0|12.7] "l" XXX
- SG_ Steigung_der_Befuellungskennlin m1 : 56|8@1+ (0.001,0) [0|0.255] "l/mm" XXX
- SG_ Anzahl_Zylinder m0 : 52|4@1+ (1,0) [0|15] "Vent./Zyl." XXX
- SG_ Bewertungsfaktor_Russindex_Turb m1 : 50|6@1+ (0.1,0) [0|6.3] "" XXX
- SG_ Anzahl_Ventile m0 : 49|3@1+ (1,0) [0|7] "Vent./Zyl." XXX
- SG_ Bewertungsfaktor_Verschleissind m1 : 44|6@1+ (0.1,0) [0|6.3] "" XXX
- SG_ Hersteller_Code m1 : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ Motorleistung m0 : 40|9@1+ (1,0) [0|512] "KW" XXX
- SG_ Max_Drehmoment m0 : 32|8@1+ (10,0) [0|2550] "Nm" XXX
- SG_ Normierter_Verbrauch m1 : 32|8@1+ (10,0) [0|2550] "l/Zyl." XXX
- SG_ Oelniveauschwelle m1 : 24|8@1+ (0.25,0) [0|63.75] "cm" XXX
- SG_ Drehzahl_MaxNorm m0 : 24|8@1+ (100,0) [0|25500] "U/min" XXX
- SG_ Verschleissindex : 16|8@1+ (1,0) [0|254] "" XXX
- SG_ Russindex : 8|8@1+ (1,0) [0|254] "" XXX
- SG_ Verbrennungsart : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Motor_Flexia_1 : 4|3@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Motor_Flexia : 1|3@1+ (1,0) [0|15] "" XXX
- SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1416 Motor_7: 8 XXX
- SG_ Frei_Motor_7_3 : 40|24@1+ (1,0) [0|0] "" XXX
- SG_ Ladedruck : 32|8@1+ (0.01,0) [0|2.54] "bar" XXX
- SG_ Vorzeichen_Motordrehzahlgradien : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Motordrehzahlgradient : 24|7@1+ (1,0) [0|126] "U/min" XXX
- SG_ Hoeheninfo__Motor_7_ : 16|8@1+ (0.00787,0) [0|2] "" XXX
- SG_ Klemme_DFM : 8|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ PTC___Gluehstifte_ausgeschaltet : 5|3@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Motor_7_1 : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerspeichereintrag__Motor_7_ : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Statusbit_Geschwindikeitsbegren : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Geschwindigkegrenzung_aktivierb : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Leerlauf_Solldrehzahl_auf_Max_W : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1160 Motor_6: 8 XXX
- SG_ Zaehler_Motor_6 : 60|4@1+ (1,0) [0|15] "" XXX
- SG_ Frei_Motor_6_4 : 58|2@1+ (1,0) [0|0] "" XXX
- SG_ ltemperaturschutz : 57|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_Bremseingriff_Freigabe : 56|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Motor_6_3 : 40|16@1+ (1,0) [0|0] "" XXX
- SG_ GRA_Sollbeschleunigung : 32|8@1+ (0.024,-3.984) [-3.984|2.112] "m/s2" XXX
- SG_ Hoeheninfo__Motor_6_ : 24|8@1+ (0.00787,0) [0|2] "" XXX
- SG_ Istmoment_f_r_Getriebe : 16|8@1+ (0.39,0) [0|99] "MDI" XXX
- SG_ Sollmoment_f_r_Getriebe : 8|8@1+ (0.39,0) [0|99] "MDI" XXX
- SG_ Checksumme_Motor_6 : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 1152 Motor_5: 8 XXX
- SG_ Checksumme_Motor_5 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Motortext_Bits__4_1_ : 52|4@1+ (1,0) [0|0] "" XXX
- SG_ Doppelte_Momente : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_Hauptschalter : 50|1@1+ (1,0) [0|0] "" XXX
- SG_ Anlasser_Ausspuren : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Anlasser_Freigabe : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Klimadrucksignal__Motor_5_ : 40|8@1+ (0.2,0) [0|50.8] "bar" XXX
- SG_ K_hlerluefteransteuerung : 32|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Verbrauch_Ueberlauf : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Kraftstoffverbrauchssignal : 16|15@1+ (1,0) [0|32767] "ul" XXX
- SG_ Klimakompressor_Leistungsreduzi : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Kennfeldkuehlung : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Klimakompressor_aus__Motor_5_ : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ CAT_Warnung : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ OBD_2_Lampe : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ E_Gas_Lampe : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Vorgluehlampe__Motor_5_ : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Ladekontroll_Lampe : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Code M : 6|2@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Info_norm__Verbrauch m3 : 0|6@1+ (20,0) [0|1260] "l/Zyl" XXX
- SG_ Multiplex_Info_Motortyp m2 : 0|6@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Info_Drehzahl_MD_Max m1 : 0|6@1+ (100,0) [0|6300] "U/min" XXX
- SG_ Multiplex_Info_Max_Drehmoment m0 : 0|6@1+ (10,0) [0|630] "Nm" XXX
-
-BO_ 896 Motor_3: 8 XXX
- SG_ Drosselklappenpoti : 56|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Motor_Wunschdrehzahl : 48|8@1+ (25,0) [0|6350] "U/min" XXX
- SG_ Motordrehzahlbeeinflussung : 40|8@1+ (0.392,0) [0|100] "%" XXX
- SG_ Kein_Start_Stop : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ Kein_E_Gas : 38|1@1+ (1,0) [0|0] "" XXX
- SG_ Reserviert_Motor_3_1 : 37|1@1+ (1,0) [0|0] "" XXX
- SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX
- SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX
- SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
- SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrpedalwert_ungenau__Motor_3_ : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Motor_3_1 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Motor_Wunschdrehzahl_Priorit_t : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Uebertemperaturschutz__Motor_3_ : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Vorgluehmeldung : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 648 Motor_2: 8 XXX
- SG_ Minimales_Motormoment_bei_Zuend : 56|8@1+ (0.39,0) [0|99] "MDI" XXX
- SG_ Begrenzungsmoment : 48|8@1+ (0.39,0) [0|99] "MDI" XXX
- SG_ Leerlaufsolldrehzahl__Motor_2_ : 40|8@1+ (10,0) [0|2540] "U/min" XXX
- SG_ Soll_Geschwindigkeit_bei_GRA_Be : 32|8@1+ (1.28,0) [0|325] "km/h" XXX
- SG_ Fahrzeuggeschwindigkeit : 24|8@1+ (1.28,0) [0|325] "km/h" XXX
- SG_ GRA_Status : 22|2@1+ (1,0) [0|0] "" XXX
- SG_ OBD_2_freeze_frame : 21|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Normalbetrieb : 20|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_Klima__4_1_ : 19|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Kuhlmitteltempera : 18|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremstestschalter : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslichtschalter : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
- SG_ Multiplex_Code_Motor_2 M : 6|2@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Info_Motorcode__4_x_ m1 : 0|6@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Info_Getriebecode m2 : 0|6@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Info_Max_Moment__Norm m3 : 0|6@1+ (10,0) [0|630] "Nm" XXX
- SG_ Multiplex_Info_CAN_Stand m0 : 0|6@1+ (1,0) [0|0] "" XXX
-
-BO_ 640 Motor_1: 8 XXX
- SG_ Fahrerwunschmoment : 56|8@1+ (0.39,0) [0|99] "MDI" XXX
- SG_ mechanisches_Motor_Verlustmomen : 48|8@1+ (0.39,0) [0|99] "MDI" XXX
- SG_ Fahrpedalwert_oder_Drosselklapp : 40|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ inneres_Motor_Moment_ohne_exter : 32|8@1+ (0.39,0) [0|99] "MDI" XXX
- SG_ Motordrehzahl : 16|16@1+ (0.25,0) [0|16256] "U/min" XXX
- SG_ inneres_Motor_Moment : 8|8@1+ (0.39,0) [0|99] "MDI" XXX
- SG_ Momentenangaben_ungenau : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Getriebe_Momentene : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Brems_Momenteneing : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Time_Out_Bremsen_Botschaft : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Kupplungsschalter : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Kickdownschalter : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrpedalwert_ungenau__Motor_1_ M : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Leergasinformation : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 262 Master_3: 8 XXX
- SG_ Frei_Master_3_1 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX
- SG_ Indiziertes_Sollmoment_f_r_Vmax : 32|16@1+ (0.0015259,0) [0|100] "%" XXX
- SG_ Relative_Momentenanforderung_de : 16|16@1+ (0.003052,0) [0|200] "%" XXX
- SG_ Delta_Motormoment_aus_Verlustmo : 0|16@1+ (0.003052,-100) [-100|100] "%" XXX
-
-BO_ 260 Master_2: 8 XXX
- SG_ Ubat_Freigabe_DVE : 45|1@1+ (1,0) [0|0] "" XXX
- SG_ DK_Sollwertbegrenzung : 44|1@1+ (1,0) [0|0] "" XXX
- SG_ Einspritzverbot_DV_E_lernen : 43|1@1+ (1,0) [0|0] "" XXX
- SG_ Master_erkannt : 42|1@1+ (1,0) [0|0] "" XXX
- SG_ Vmax_Begrenzung_aktiv : 41|1@1+ (1,0) [0|0] "" XXX
- SG_ SA_Verbot_von_FGR : 40|1@1+ (1,0) [0|0] "" XXX
- SG_ Pedalwert_Komplement : 24|16@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler__Master_2_ : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Normierter_Fahrpedalwinkel : 0|16@1+ (0.001526,0) [0|100] "%" XXX
-
-BO_ 258 Master_1: 8 XXX
- SG_ Stationaere_Solldrehzahl : 56|8@1+ (10,0) [0|2550] "Umin" XXX
- SG_ Drehmoment_LLR__I_Anteil_ : 40|16@1+ (0.003052,-100) [-100|100] "%" XXX
- SG_ Drehmoment_LLR__PD_Anteil_ : 24|16@1+ (0.003052,-100) [-100|100] "%" XXX
- SG_ Drehmoment_LLR__Luftpfad_ : 8|16@1+ (0.003052,-100) [-100|100] "%" XXX
- SG_ Frei_Master_1_1 : 4|4@1+ (1,0) [0|0] "" XXX
- SG_ LLR_ist_aktiv : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ I_Anteil_der_LLR_aktiv : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ PD_Anteil_der_LLR_aktiv : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ LLR_Freigabe_nach_Start : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1984 LWS_Kalibrierung: 2 XXX
- SG_ Frei_LWS_Kalibrierung_1_1 : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ LWS_Identifier : 8|7@1+ (1,0) [0|0] "" XXX
- SG_ Frei_LWS_Kalibrierung_1_2 : 4|4@1+ (1,0) [0|0] "" XXX
- SG_ Command_Dode_Word : 0|4@1+ (1,0) [0|0] "" XXX
-
-BO_ 1986 Lenkwinkel_Init: 4 XXX
- SG_ Kodierbytes : 8|24@1+ (1,0) [0|0] "" XXX
- SG_ Identiifier_f_r_LWS_Init : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 192 Lenkwinkel_1__RB_: 2 XXX
- SG_ Vorzeichen__RB_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "" XXX
- SG_ LWS_OK__RB_ : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ LWS_Abgleich__RB_ : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Lenkwinkel_1_1__RB_ : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ FINE_CHECK__RB_ : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ COARSE_CHECK__RB_ : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 196 Lenkwinkel_1__ITT_: 2 XXX
- SG_ Vorzeichen__ITT_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "" XXX
- SG_ LWS_OK : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ LWS_Abgleich__ITT_ : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ LWS_Initialisierung__ITT_ : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ FINE_CHECK__ITT_ : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ COARSE_CHECK__ITT_ : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 194 Lenkwinkel_1: 8 XXX
- SG_ Checksumme_Lenkwinkel_1 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Kodierdaten : 48|8@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Lenkwinkel_1 : 44|4@1+ (1,0) [0|15] "" XXX
- SG_ Status_KL30_Ausfall__z_Zt__nur : 43|1@1+ (1,0) [0|0] "" XXX
- SG_ Interner_Status : 41|2@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Lenkwinkel_1_1 : 40|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel_ID : 32|8@1+ (1,0) [0|0] "" XXX
- SG_ Lenkradwinkel_Geschwindigkeit_S : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkradwinkel_Geschwindigkeit : 16|15@1+ (0.04375,0) [0|1433.6] "Grad/Sek" XXX
- SG_ Lenkradwinkel_Sign : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkradwinkel : 0|15@1+ (0.04375,0) [0|1433.6] "Grad" XXX
-
-BO_ 1502 Lenkhilfe_Fehler: 7 XXX
- SG_ Werkstattcode : 48|8@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Signal : 45|3@1+ (1,0) [0|7] "" XXX
- SG_ Sensorcodierung_Lenkhilfe : 44|1@1+ (1,0) [0|0] "" XXX
- SG_ Kennliniencodierung_Lenkhilfe : 40|4@1+ (1,0) [0|15] "Kennlinie" XXX
- SG_ Geber_f__Lenkw__Speicher_ausles : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombiinstr__Speicher_auslesen : 38|1@1+ (1,0) [0|0] "" XXX
- SG_ Steuerger__Speicher_auslesen : 37|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Steuergeraet_defekt : 36|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Lenkhilfe_1_3 : 32|4@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Lenkhilfe_1_4 : 30|2@1+ (1,0) [0|0] "" XXX
- SG_ Geber_f__Lenkwi__k__CAN_Komm_sp : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Geber_f__Lenkwinkel_k__CAN_Komm : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombiinstr__k__CAN_Kommunik__sp : 27|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombiinstrument_k__CAN_Kommunik : 26|1@1+ (1,0) [0|0] "" XXX
- SG_ Steuergeraet_k__CAN_Kommunik__S : 25|1@1+ (1,0) [0|0] "" XXX
- SG_ Steuergeraet_keine_CAN_Kommunik : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Spannung_Ks__nach_Mas : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Spannung_Ks_nach_Mass : 22|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Spannung_Ks__nach___s : 21|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Spannung_Ks__nach__ : 20|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Temperaturschutz_sp_ : 19|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Temperaturschutz : 18|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Betrieb_unpl__Sig__sp : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfe_Betrieb_unpl__Signal : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfesensor_k__Kommunik__sp : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfesensor_keine_Kommunik_ : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfesensor_defekt_sp_ : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfesensor_defekt : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfesensor_Unterbrechung_s : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfesensor_Unterbrechung : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhilfesensor_Ks_nach_Masse_s : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkhifesensor_Ks_nach_Masse : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Spannung_Kl_15_zu_klein_sp_ : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Spannung_Kl_15_zu_klein : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Lenkhilfe_1_5 : 4|2@1+ (1,0) [0|0] "" XXX
- SG_ Spannung_Kl_30_zu_klein_sp_ : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Spannung_Kl_30_zu_klein : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Spannung_Kl_30_zu_gro__sp_ : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Spannung_Kl_30_zu_gro_ : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 976 Lenkhilfe_1: 2 XXX
- SG_ Fehlerspeichereintrag__Lenkhilf : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Lenkhilfe_1_2 : 9|6@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerlampe_Lenkhilfe : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Lastinformation : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Lastinformation : 0|7@1+ (1,0) [0|127] "A" XXX
-
-BO_ 1312 Kombi_3: 8 XXX
- SG_ Frei_Kombi_3_2 : 60|4@1+ (1,0) [0|0] "" XXX
- SG_ Kilometerstand : 40|20@1+ (1,0) [0|1000000] "km" XXX
- SG_ Fehlerstatus_Standzeit : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ Standzeit : 24|15@1+ (4,0) [0|131068] "sec" XXX
- SG_ Frei_Kombi_3_1 : 20|4@1+ (1,0) [0|0] "" XXX
- SG_ Schluesselinfo : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ Kombi_Multiplex_Code M : 14|2@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Niveauregulie m3 : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Multiplex_Marke m1 : 11|3@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Lenkhilfe m3 : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Dieselpumpe m3 : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Lenkwinkel m3 : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Multiplex_Baureihe m1 : 8|3@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Multiplex_Laendervariante m0 : 8|6@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Allrad m3 : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Bordnetz m3 : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_ACC m3 : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Airbag m3 : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Multiplex_Generation m1 : 4|4@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Klima m3 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_ABS m3 : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Verbauliste_Motor m3 : 0|1@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Multiplex_Derivat m1 : 0|4@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Multiplex_Sprachvariante m0 : 0|8@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_Multiplex_Reifenumfang m2 : 0|12@1+ (1,0) [0|4095] "mm" XXX
-
-BO_ 1056 Kombi_2: 8 XXX
- SG_ Frei_Kombi_2_2 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Kl__58_s : 55|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_58s__Kombi_2_ : 48|7@1+ (1,0) [0|100] "%" XXX
- SG_ Fehlerstatus_Kl__58_d : 47|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_58d__Kombi_2_ : 40|7@1+ (1,0) [0|100] "%" XXX
- SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "C" XXX
- SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "C" XXX
- SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "C" XXX
- SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "C" XXX
- SG_ Fehlerspeichereintrag__Kombi_ : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Kombi_2_1 : 4|3@1+ (1,0) [0|0] "" XXX
- SG_ Anhaenger_erkannt : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerst__Kuehlmitteltemp__4_1 : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Oeltemperatur_4_1 : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Aussentemp__4_1 : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 800 Kombi_1: 8 XXX
- SG_ Frei_Kombi_1_3 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Angezeigte_Geschwindigkeit : 46|10@1+ (0.32,0) [0|325] "km/h" XXX
- SG_ Blinker_rechts_4_1 : 45|1@1+ (1,0) [0|0] "" XXX
- SG_ Blinker_links_4_1 : 44|1@1+ (1,0) [0|0] "" XXX
- SG_ Gesetzte_Zeitluecke__Kombi_1_ : 43|1@1+ (1,0) [0|0] "" XXX
- SG_ ADR_Summer_abgeschaltet : 42|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Kombi_1_2 : 40|2@1+ (1,0) [0|0] "" XXX
- SG_ Geschwindigkeit__Kombi_1_ : 25|15@1+ (0.01,0) [0|326] "km/h" XXX
- SG_ Signalquelle_Geschwindigkeit_4_ : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Tankwarnung : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ Tankinhalt : 16|7@1+ (1,0) [0|126] "l" XXX
- SG_ Tankstop : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Kombi_1_7 : 12|3@1+ (1,0) [0|0] "" XXX
- SG_ Kombi_im_Stellgliedtest : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Ladekontroll_Lampe__Kombi_ : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsinfo : 8|2@1+ (1,0) [0|0] "" XXX
- SG_ Vorgluehlampe__Kombi_1_ : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Tankwarnlampe : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Heissleuchten_Vorwarnung : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Kuehlmittelmangel : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Dynamische_Oeldruckwarnung : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Oeldruck : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Tank : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrertuer_4_1 : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1504 Klima_1: 8 XXX
- SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "C" XXX
- SG_ Fehlerspeichereintrag__Klima_ : 55|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Klima_1_5 : 50|5@1+ (1,0) [0|0] "" XXX
- SG_ AC_Schalter : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Temperatureinheit : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Kuehlerluefteransteuerung__Klim : 40|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Geblaeselast_4_1 : 32|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Kompressorlast : 24|8@1+ (0.25,0) [0|63.5] "Nm" XXX
- SG_ Klimadrucksignal__Klima_1_ : 16|8@1+ (0.2,0) [0|50.8] "bar" XXX
- SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "C" XXX
- SG_ Kaeltemitteldruck_veraltet : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Kompressormoment_veraltet_4_1 : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Keine_Heizleistg_gewuenscht_4_1 : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Kompressorzustand__4_1_ : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Heizbare_Frontscheibe : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Heizbare_Heckscheibe : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrerwunsch_Zuheizer : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Drehzahlanhebung : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 906 GRA_neu: 4 XXX
- SG_ Tiptronik_Bedienteilfehler : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_GRA_neu_1_2 : 29|2@1+ (1,0) [0|0] "" XXX
- SG_ Limiter_ein : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Zeitlueckenverstellung : 26|2@1+ (1,0) [0|0] "" XXX
- SG_ Tiptronic_Tip_Up__4_1_ : 25|1@1+ (1,0) [0|0] "" XXX
- SG_ Tiptronic_Tip_Down__4_1_ : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler__GRA_neu_ : 20|4@1+ (1,0) [0|15] "" XXX
- SG_ Sender_Codierung__4_1_ : 18|2@1+ (1,0) [0|0] "" XXX
- SG_ Wiederaufnahme : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Setzen : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_Neu_frei_1 : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Bedienteil_Fehler : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Lang_Tip_up : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Lang_Tip_down : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Kurz_Tip_up : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Kurz_Tip_down : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Abbrechen : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Hauptschalter : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Checksumme_GRA_Neu : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 904 GRA: 3 XXX
- SG_ Checksumme_GRA_alt : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ Frei_GRA_alt : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_alt__ADR_Bedienteil_Fehler : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_alt__ADR_beschleunigen : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_alt__ADR_verzoegern : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_alt__ADR___Tipschalter__Wie : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_alt__ADR___Tipschalter__Set : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_alt__ADR___Tipschalter__Aus : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_alt__ADR___Hauptschalter : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_GRA_alt : 0|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 1352 Getriebe_4: 3 XXX
- SG_ Testparameter_2 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Testparameter_1 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ Waehlhebelausleuchtung : 4|4@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Getriebe_4_1 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Testfreigabeflag : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Handbremserinnerung_s_Lampe : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Shiftlock_Getriebe_4 : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1344 Getriebe_2: 8 XXX
- SG_ eingelegte_Fahrstufe : 60|4@1+ (1,0) [0|0] "" XXX
- SG_ Ganganzeige_Kombi___Getriebe_Va : 56|4@1+ (1,0) [0|15] "" XXX
- SG_ Fehlerlampe_f_r_Kupplung_bei_VL : 55|1@1+ (1,0) [0|0] "" XXX
- SG_ Anforderung_Kriechadaption : 54|1@1+ (1,0) [0|0] "" XXX
- SG_ ECO_Anzeige__4_1_ : 53|1@1+ (1,0) [0|0] "" XXX
- SG_ Shift_Lock_Lampe : 52|1@1+ (1,0) [0|0] "" XXX
- SG_ Unterdrueckung_von_Warnungen : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Gong : 50|1@1+ (1,0) [0|0] "" XXX
- SG_ Starter_wird_angesteuert : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Hochschaltlampe : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Synchronisationszeit : 40|8@1+ (20,0) [0|5080] "ms" XXX
- SG_ invertierte_Synchronisations_Wu : 32|8@1+ (25,0) [0|6350] "U/min" XXX
- SG_ Synchronisations_Wunschdrehzahl : 24|8@1+ (25,0) [0|6350] "U/min" XXX
- SG_ Gradientenbegrenzung : 16|8@1+ (10,0) [0|2540] "Nm/s" XXX
- SG_ Leerlaufsolldrehzahl__Getriebe : 8|8@1+ (10,0) [0|2540] "U/min" XXX
- SG_ Zahler_Getriebe_2 : 4|4@1+ (1,0) [0|15] "" XXX
- SG_ Zwischengasflag : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Ecomatic__4_1_ : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Schubabschaltunterstuetzung : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ LFR_Adaption_Freigabeflag : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1088 Getriebe_1: 8 XXX
- SG_ Wandlerverlustmoment : 56|8@1+ (0.39,0) [0|99.06] "MDI" XXX
- SG_ Fehlerspeichereintrag__Getriebe : 55|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Getriebe_1 : 51|4@1+ (1,0) [0|15] "" XXX
- SG_ Gang_eingelegt : 50|1@1+ (1,0) [0|0] "" XXX
- SG_ Schaltabsicht : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Motor_aus : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ OBD_Status__Getriebe_1___4_1_ : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ Kuehlleistung : 44|2@1+ (1,0) [0|0] "" XXX
- SG_ Getriebe_Notlauf : 40|4@1+ (1,0) [0|0] "" XXX
- SG_ Fahrwiderstandsindex : 32|8@1+ (0.249,-31.6) [-31.6|31.6] "" XXX
- SG_ inneres_Soll_Motormoment : 24|8@1+ (0.39,0) [0|99.06] "MDI" XXX
- SG_ Uebertragungsfunktion : 16|8@1+ (0.1,0) [0|25.4] "" XXX
- SG_ Waehlhebelposition__Getriebe_1_ : 12|4@1+ (1,0) [0|0] "" XXX
- SG_ Zielgang_oder_eingelegter_Gang : 8|4@1+ (1,0) [0|0] "" XXX
- SG_ EGS_Anforderung : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Kodierung_im_MSG : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Leerlaufsolldrehzahlanhebung : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Wandlerkupplung : 3|2@1+ (1,0) [0|0] "" XXX
- SG_ Klimakompressor_aus__Getriebe_1 : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 912 Gateway_Komfort_1: 6 XXX
- SG_ Bremslicht_Anhaenger : 47|1@1+ (1,0) [0|0] "" XXX
- SG_ Anhaenger_erkannt_Gateway : 46|1@1+ (1,0) [0|0] "" XXX
- SG_ ECD_AAG_unplausibel : 45|1@1+ (1,0) [0|0] "" XXX
- SG_ BLS_AAG_unplausibel : 44|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Anhaenger : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ Frei_Gateway_Komfort_1_4 : 34|6@1+ (1,0) [0|0] "" XXX
- SG_ ECD_ILM_unplausibel : 33|1@1+ (1,0) [0|0] "" XXX
- SG_ BLS_ILM_unplausibel : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_mitte_defekt : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_rechts_defekt : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_links_defekt : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Rueckfahrlicht_Gateway : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Bremslicht : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ Frei_Gateway_Komfort_1_3 : 17|7@1+ (1,0) [0|0] "" XXX
- SG_ Fahrertuerkontakt : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Systemfehler : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Warnstufe_1 : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Warnstufe_2 : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_Reserverad : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_hinten_recht : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_hinten_links : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_vorn_rechts : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_vorn_links : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Gateway_Komfort_1_2 : 5|3@1+ (1,0) [0|0] "" XXX
- SG_ Fahrertuerkontakt_veraltet : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Gateway_Komfort_1_1 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Licht_1_Botschaft_veraltet : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Anhaenger_Botschaft_veraltet : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_veraltet : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1340 Fahrwerk_1: 1 XXX
- SG_ Frei_Fahrwerk_1_2 : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Fahrwerk_1_1 : 6|2@1+ (1,0) [0|0] "" XXX
- SG_ Einstellung_Fahrwerkdaempfung_4 : 4|3@1+ (1,0) [0|7] "" XXX
- SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1472 EPB_1: 8 XXX
- SG_ Textmeldungen_EPB : 52|4@1+ (1,0) [0|0] "" XXX
- SG_ Aufmerksamkeits_Gtong_EPB : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehler_Gong_EBP : 50|1@1+ (1,0) [0|0] "" XXX
- SG_ Warnton_EPB : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Funktionslampe_EPB : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_EPB_1_1 : 33|15@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerspeichereintrag_EPB : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Neigungswinkel : 24|8@1+ (1,-128) [-128|127] "g" XXX
- SG_ Verzoegerungsanforderung__EPB_ : 24|8@1+ (0.5,0) [0|255] "g" XXX
- SG_ Status_Neigungswinkelgeber : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Schalterinfo_Parkbremse : 13|2@1+ (1,0) [0|0] "" XXX
- SG_ Erreichte_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX
- SG_ Checksumme_Parkbremse : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ Schalterstatus_Parkbremse : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Parkbremse : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Parkbremse : 4|2@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Parkbremse : 0|4@1+ (1,0) [0|0] "" XXX
-
-BO_ 1326 Diag_Lenkhilfe: 3 XXX
- SG_ Werkstattcode__Diag_ : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Signal__Diag_ : 13|3@1+ (1,0) [0|7] "" XXX
- SG_ Befehl_Sensorcodierung_Lenkhilf : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Befehl_Kennliniencodierung_Lenk : 8|4@1+ (1,0) [0|0] "" XXX
- SG_ Befehl_Fehlerspeicher_loeschen : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 1432 Daempfer_1: 2 XXX
- SG_ Frei_Daempfer_1_4 : 12|4@1+ (1,0) [0|0] "" XXX
- SG_ Textbits_Daempfer : 8|4@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerspeicherbit__Daempfer_1_ : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Systemstatus__Daempfer_1_ : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Daempfer_1_3 : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_CDC_Taster : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Daempfer_1_2 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Daempferregelung_4_1 : 0|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 1392 BSG_Last: 4 XXX
- SG_ Klimaanlage_abschalten : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Sitzbelueftung_abschalten : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ Wischwasserheizung_abschalten : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkradheizung_abschalten : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Heizbare_Sitze_abschalten : 27|1@1+ (1,0) [0|0] "" XXX
- SG_ Heizbare_Aussenspiegel_abschalt : 26|1@1+ (1,0) [0|0] "" XXX
- SG_ Heizbare_Frontscheibe_abschalte : 25|1@1+ (1,0) [0|0] "" XXX
- SG_ Heizbare_Heckscheibe_abschalten : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Batteriespannung_Bordnetzbatter : 16|8@1+ (0.05,5) [5|17.7] "V" XXX
- SG_ Motorhaubenkontakt : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Leuchtweitenregulierung : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerspeichereintrag__BSG_Last : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Zustand_der_Starterbatterie : 11|2@1+ (1,0) [0|0] "" XXX
- SG_ Zustand_der_Bordnetzbatterie : 9|2@1+ (1,0) [0|0] "" XXX
- SG_ LL_Drehzahlanhebung : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_L : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_BSG_Last_1_1 : 4|3@1+ (1,0) [0|0] "" XXX
- SG_ ZAS_Klemme_50 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ ZAS_Klemme_X : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ ZAS_Klemme_15 : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ ZAS_Klemme_S : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1136 BSG_Kombi: 5 XXX
- SG_ Frei_BSG_Kombi_1_3 : 36|4@1+ (1,0) [0|0] "" XXX
- SG_ Ruecksitzlehne_HR_verr__4_1 : 35|1@1+ (1,0) [0|0] "" XXX
- SG_ Ruecksitzlehne_HL_verr__4_1 : 34|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerlampe_Lenkhilfe_veraltet : 33|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerlampe_Lenkhilfe__BSG_Komb : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Kl__58s : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_58s__BSG_Kombi_ : 24|7@1+ (1,0) [0|100] "%" XXX
- SG_ Fehlerstatus_Kl__58d : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ Klemme_58d__BSG_Kombi_ : 16|7@1+ (1,0) [0|100] "%" XXX
- SG_ Unterspannung : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_BSG_Kombi_1_2 : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Heckdeckel_geoeffnet : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Motorhaube_geoeffnet : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Tuer_hinten_rechts_geoeffnet : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Tuer_hinten_links_geoeffnet : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Beifahrertuer_geoeffnet : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrertuer_geoeffnet : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Lade_Kontrollampe : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_BSG_Kombi_1_1 : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Rueckfahrlicht : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ DWA_Akku : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Warnblink_Mode : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Anhaenger_Kontrollampe : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Blinker_rechts_Kontrollampe : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Blinker_links_Kontrollampe : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 424 Bremse_6: 3 XXX
- SG_ Checksumme_Bremse_6 : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Bremse_6 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Status_Bremsdruck__Bremse_6__du : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Bremse_6_1 : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsdruck__Bremse_6_ : 0|10@1+ (0.3255,-40) [-40|293] "bar" XXX
-
-BO_ 1192 Bremse_5: 8 XXX
- SG_ Checksumme_Bremse_5 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Bremse_5 : 52|4@1+ (1,0) [0|15] "" XXX
- SG_ Bremslicht_ECD : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "C" XXX
- SG_ Frei_Bremse_5_5 : 40|8@1+ (1,0) [0|0] "" XXX
- SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "deg/s" XXX
- SG_ Vorzeichen_Bremsdruck : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Bremsdruck_durch_ESP_Sys : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsdruck_ungueltig : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Bremse_5_3 : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsdruck : 16|12@1+ (0.1,0) [0|250] "bar" XXX
- SG_ Vorzeichen_der_Giergeschwindigk : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Gierrate_ungueltig : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Giergeschwindigkeit : 0|14@1+ (0.01,0) [0|100] "Grad/sec" XXX
-
-BO_ 672 Bremse_4: 3 XXX
- SG_ Frei_Bremse_4_1 : 17|7@1+ (1,0) [0|0] "" XXX
- SG_ Einheit_Kupplungssteifigkeit : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ ABS_Vorgabewert_hinten_Kupplung : 8|8@1+ (0.7874,0) [0|100] "%" XXX
- SG_ ABS_Vorgabewert_mitte_Kupplungs : 0|8@1+ (3,-381) [-381|378] "Nm/min" XXX
-
-BO_ 1184 Bremse_3: 8 XXX
- SG_ Radgeschw__HR_4_1 : 49|15@1+ (0.01,0) [0|326] "km/h" XXX
- SG_ Frei_Bremse_3_4 : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Radgeschw__HL_4_1 : 33|15@1+ (0.01,0) [0|326] "km/h" XXX
- SG_ Frei_Bremse_3_3 : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Radgeschw__VR_4_1 : 17|15@1+ (0.01,0) [0|326] "km/h" XXX
- SG_ Frei_Bremse_3_2 : 16|1@1+ (0.01,0) [0|325] "km/h" XXX
- SG_ Radgeschw__VL_4_1 : 1|15@1+ (0.01,0) [0|326] "km/h" XXX
- SG_ Frei_Bremse_3_1 : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1440 Bremse_2: 8 XXX
- SG_ gemessene_Querbeschleunigung : 63|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Bremse_2_2 : 62|1@1+ (1,0) [0|0] "" XXX
- SG_ Impulszahl : 56|6@1+ (1,0) [0|63] "" XXX
- SG_ Fehlerstatus_Wegimpulse_4_1 : 55|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Bremse_2_5 : 54|1@1+ (1,0) [0|0] "" XXX
- SG_ Warnlampe_DDS : 53|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerspeichereintrag_Bremse : 52|1@1+ (1,0) [0|0] "" XXX
- SG_ Wegimpulszaehlerstatus : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Wegimpulse_Vorderachse : 40|11@1+ (1,0) [0|2047] "" XXX
- SG_ Zeitstempel : 24|16@1+ (1,0) [0|65535] "tics" XXX
- SG_ mittlere_Raddrehzahl__Bremse_2 : 9|15@1+ (0.002,0) [0|65.278] "U/sec" XXX
- SG_ Querbeschl__TimerTic M : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Timer m1 : 0|8@1+ (0.04,0) [0|10.2] "usec" XXX
- SG_ Querbeschleunigung m0 : 0|8@1+ (0.01,-1.27) [-1.27|1.27] "g" XXX
-
-BO_ 416 Bremse_1: 8 XXX
- SG_ Geschwindigkeitsersatzwert : 63|1@1+ (1,0) [0|0] "" XXX
- SG_ ESP_Systemstatus_4_1 : 62|1@1+ (1,0) [0|0] "" XXX
- SG_ ESP_Passiv_getastet : 61|1@1+ (1,0) [0|0] "" XXX
- SG_ ASR_Steuerger_t : 60|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Bremse_1 : 56|4@1+ (1,0) [0|15] "" XXX
- SG_ MSR_Eingriffsmoment : 48|8@1+ (0.39,0) [0|99.06] "MDI" XXX
- SG_ ASR_Eingriffsmoment_schnell : 40|8@1+ (0.39,0) [0|99.06] "MDI" XXX
- SG_ ASR_Eingriffsmoment_langsam : 32|8@1+ (0.39,0) [0|99.06] "MDI" XXX
- SG_ Geschwindigkeit_neu__Bremse_1_ : 17|15@1+ (0.01,0) [0|326.39] "km/h" XXX
- SG_ Aktiver_Bremskraftverstaerker : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ ABS_in_Diagnose : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Schlechtwegausblen : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Schlechtwegausblendung : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrer_bremst__Bremse_1___4_1_ : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremskontroll_Lampe : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Lampe_ASR___ESP : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Lampe_ABS : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ EBV_Eingriff : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ ASR_Schaltbeeinflussung : 5|2@1+ (1,0) [0|0] "" XXX
- SG_ ESP_Eingriff : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ EDS_Eingriff : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ ABS_Bremsung__4_1_ : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ MSR_Anforderung : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ ASR_Anforderung : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 680 Bremsbooster_1: 3 XXX
- SG_ Fehlerspeichereintrag_Booster : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ Loseschalter_unplausibel_Boost : 22|1@1+ (1,0) [0|0] "" XXX
- SG_ Position_Standby : 21|1@1+ (1,0) [0|0] "" XXX
- SG_ ADR_Relais_ge_ffnet : 20|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Bremsbooster_Steuerung : 19|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsbooster_verf_gbar : 18|1@1+ (1,0) [0|0] "" XXX
- SG_ Eingriff_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremseingriff_Fahrer : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Bremsbooster_1_1 : 12|4@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Booster_1 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksumme_Booster_1 : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 1400 BatMan_1: 1 XXX
- SG_ Fehlerspeichereintrag__BatMan_ : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Leistungsrelais : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Messung_Starterleitung : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Zustand_Starterleitung : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Umschaltrelais_Bordnetzbatterie : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Ladung_Starterbatterie : 1|2@1+ (1,0) [0|0] "" XXX
- SG_ Startmodus : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 704 Allrad_1: 5 XXX
- SG_ Kupplungssteifigkeit_Hinten__Is : 32|8@1+ (0.7874,0) [0|100] "%" XXX
- SG_ Fehlerspeichereintrag_Allrad_1 : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Allrad_1_1 : 26|5@1+ (1,0) [0|0] "" XXX
- SG_ Schaltung_Vorwarnung : 25|1@1+ (1,0) [0|0] "" XXX
- SG_ Schaltung_aktiv__Allrad_1_ : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Ganginfo__PNG_ : 20|4@1+ (1,0) [0|0] "" XXX
- SG_ PNG_Anzeige_blinkend : 19|1@1+ (1,0) [0|0] "" XXX
- SG_ PNG_Status_4_1 : 16|3@1+ (1,0) [0|0] "" XXX
- SG_ Kupplungssteifigkeit_Mitte__Ist : 8|8@1+ (3,-381) [-381|378] "Nm/min" XXX
- SG_ Einheit_der_Kupplungssteifigkei : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Geschwindigkeitsbegrenzung : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Allrad_Warnlampe : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Notlauf : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Kupplung_komplett_offen : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Kupplungssteifigke : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Ubertemperaturschutz__Allrad_1_ : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehler_Allrad_Kupplung : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 1360 Airbag_2: 2 XXX
- SG_ OOP_Beifahrer : 14|2@1+ (1,0) [0|0] "" XXX
- SG_ OOP_Fahrer : 12|2@1+ (1,0) [0|0] "" XXX
- SG_ Belegungserkennung_hinten_mitte : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Belegungserkennung_hinten_recht : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Belegungserkennung_hinten_links : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Belegungserkennung_Beifahrersit : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Checksumme_Airbag_2__reserviert : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 80 Airbag_1: 4 XXX
- SG_ Checksumme_Airbag_1 : 24|8@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Airbag_1 : 20|4@1+ (1,0) [0|15] "" XXX
- SG_ Fehlerspeichereintrag : 19|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Airbag_1_2 : 18|1@1+ (1,0) [0|0] "" XXX
- SG_ Airbag_im_Stellgliedtest : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Airbag_in_Diagnose : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Gurtwarnung_Beifahrer : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Gurtschalter_Beifahrer : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Gurtwarnung_Fahrer : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Gurtschalter_Fahrer : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Airbag_Systemfehler : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Kindersitzerkennung : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Airbag_deaktiviert : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Airbag_Lampe : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Crash_Intensitaet : 5|3@1+ (1,0) [0|111] "B" XXX
- SG_ Rollover : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Seiten_Crash_Beifahrer : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Seiten_Crash_Fahrer : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Heck_Crash : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Front_Crash : 0|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 864 ADR_System: 8 XXX
- SG_ S_Checksumme_ADR_1 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ S_Frei_ADR_1_1 : 52|4@1+ (1,0) [0|0] "" XXX
- SG_ S_Zeitluecke_gemessen : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ S_Fehlerspeichereintrag_ADR : 47|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Fehlerspeichereintrag_Bremsbo : 46|1@1+ (1,0) [0|0] "" XXX
- SG_ S_ADR_Relais_geoeffnet : 45|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Bremsbooster_Status : 43|2@1+ (1,0) [0|0] "" XXX
- SG_ S_Eingriff_Bremsbooster : 42|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Loeseschalter_unplausibel : 41|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Bremseingriff_Fahrer : 40|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Anzeige_Sensor_blind : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Ansteuerung_optischer_Fahrerh : 38|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Ansteuerung_Gong_2 : 37|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Ansteuerung_Gong_1 : 36|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Schaltaufforderung : 34|2@1+ (1,0) [0|0] "" XXX
- SG_ S_Anzeige_Prioritaet : 33|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Anzeige_Zeitluecke : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Wunschgeschwindigkeit : 24|8@1+ (1,0) [0|254] "km/h" XXX
- SG_ S_Objekt_erfasst : 22|2@1+ (1,0) [0|0] "" XXX
- SG_ S_Gesetzte_Zeitluecke__ADR_1_ : 18|4@1+ (1,0) [0|15] "" XXX
- SG_ S_Synchronisation_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Momentenanforderung_Freigabe : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Verhinderung_Schubabschaltung : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Status_ADR_1__S_ : 13|2@1+ (1,0) [0|0] "" XXX
- SG_ S_Fehler_ADR_1__S_ : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ S_Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ S_Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX
-
-BO_ 608 ADR_2: 4 XXX
- SG_ Frei_ADR_2_2 : 27|5@1+ (1,0) [0|0] "" XXX
- SG_ Anforderung_Bremsdruck : 16|11@1+ (0.0625,0) [0|127.9375] "bar" XXX
- SG_ Frei_ADR_2_1 : 14|2@1+ (1,0) [0|0] "" XXX
- SG_ Relais_Test_Fehler : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Standby : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_ADR_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksumme_ADR_2 : 0|8@1+ (1,0) [0|0] "" XXX
-
-BO_ 1324 ADR_1: 8 XXX
- SG_ Checksumme_ADR_1 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Frei_ADR_1_5 : 52|4@1+ (1,0) [0|0] "" XXX
- SG_ Zeitluecke_gemessen : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Fehlerspeichereintrag_ADR : 47|1@1+ (1,0) [0|0] "" XXX
- SG_ Reserviert_ADR_1_1 : 40|7@1+ (1,0) [0|0] "" XXX
- SG_ Anzeige_Sensor_blind : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_optischer_Fahrerhin : 38|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_Gong_2 : 37|1@1+ (1,0) [0|0] "" XXX
- SG_ Ansteuerung_Gong_1 : 36|1@1+ (1,0) [0|0] "" XXX
- SG_ Schaltaufforderung : 34|2@1+ (1,0) [0|0] "" XXX
- SG_ Anzeige_Prioritaet : 33|1@1+ (1,0) [0|0] "" XXX
- SG_ Anzeige_Zeitluecke : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Wunschgeschwindigkeit : 24|8@1+ (1,0) [0|254] "km/h" XXX
- SG_ Objekt_erfasst : 22|2@1+ (1,0) [0|0] "" XXX
- SG_ Gesetzte_Zeitluecke__ADR_1_ : 18|4@1+ (1,0) [0|15] "" XXX
- SG_ Synchronisation_Bremsbooster : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Momentenanforderung_Freigabe : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Verhinderung_Schubabschaltung : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_ADR_1 : 13|2@1+ (1,0) [0|0] "" XXX
- SG_ Fehler_ADR_1 : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX
-
-BO_ 210 PQ_HCA: 8 XXX
- SG_ HCA_Torque : 16|15@1+ (1,0) [0|32767] "" XXX
- SG_ UNK_Bit : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ HCA_Torque_VZ : 31|1@0+ (1,0) [0|1] "" XXX
- SG_ PQ_HCA_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ PQ_HCA_Checksum : 0|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1490 VIN_1: 8 XXX
diff --git a/opendbc/vw_mqb_2010.dbc b/opendbc/vw_mqb_2010.dbc
index 063cd1b795b614..63477a1cbffcca 100644
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
@@ -825,6 +825,8 @@ BO_ 1648 Motor_18: 8 Motor_Diesel_MQB
  SG_ MO_obere_Drehzahlgrenze : 56|8@1+ (50,0) [50|12750] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 
 BO_ 289 Motor_20: 8 Motor_Diesel_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
  SG_ MO_Fahrpedalrohwert_01 : 12|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ MO_QBit_Fahrpedalwerte_01 : 20|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ MO_Fahrpedalgradient : 21|8@1+ (25,0) [0|6350] "Unit_PerCentPerSecon" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
@@ -1106,8 +1108,8 @@ BO_ 1413 Systeminfo_01: 8 Gateway_MQB
  SG_ SI_BUS_15 : 30|1@1+ (1,0) [0|1] "" Vector__XXX
 
 BO_ 288 TSK_06: 8 Motor_Diesel_MQB
- SG_ TSK_06_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
- SG_ TSK_06_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Radbremsmom : 12|12@1+ (8,0) [0|32760] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Status : 24|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_v_Begrenzung_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
@@ -1192,18 +1194,18 @@ BO_ 294 HCA_01: 8 XXX
  SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 159 EPS_01: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Steering_Wheel_Angle : 16|13@1+ (0.15,0) [0|16383] "Unit_DegreOfArc" XXX
- SG_ Steering_Wheel_Angle_VZ : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ Unknown_Status2 : 63|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Ready : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ Driver_Strain : 40|13@1+ (1,0) [0|255] "Nm" XXX
- SG_ Driver_Strain_VZ : 55|1@1+ (1,0) [0|1] "" XXX
- SG_ Unknown_Status1 : 62|1@1+ (1,0) [0|1] "" XXX
+BO_ 159 LH_EPS_03: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  XXX
+ SG_ EPS_DSR_Status : 12|4@1+ (1,0) [0|15] ""  XXX
+ SG_ EPS_Berechneter_LW : 16|12@1+ (0.15,0) [0|613.95] "Unit_DegreOfArc"  XXX
+ SG_ EPS_BLW_QBit : 30|1@1+ (1,0) [0|1] ""  XXX
+ SG_ EPS_VZ_BLW : 31|1@1+ (1,0) [0|1] ""  XXX
+ SG_ EPS_HCA_Status : 32|4@1+ (1,0) [0|15] ""  XXX
+ SG_ EPS_Lenkmoment : 40|10@1+ (1,0) [0|8] "Unit_centiNewtoMeter"  XXX
+ SG_ EPS_Lenkmoment_QBit : 54|1@1+ (1,0) [0|1] ""  XXX
+ SG_ EPS_VZ_Lenkmoment : 55|1@1+ (1,0) [0|1] ""  XXX
+ SG_ EPS_Lenkungstyp : 60|4@1+ (1,0) [0|15] ""  XXX
 
 BO_ 286 VehicleSpeed: 8 XXX
  SG_ VehicleSpeed_CRC : 0|8@1+ (1,0) [0|255] "" XXX
@@ -1211,34 +1213,44 @@ BO_ 286 VehicleSpeed: 8 XXX
  SG_ Speed : 52|12@1+ (0.125,0) [0|1] "" XXX
 
 BO_ 919 LDW_02: 8 XXX
- SG_ LDW_DLC : 40|8@1+ (0.01,0) [0|255] "m" XXX
- SG_ LDW_TLC : 48|5@1+ (0.05,0) [0|255] "Seconds" XXX
- SG_ LDW_Unknown : 14|2@1+ (1,0) [0|3] "" XXX
- SG_ Alert_Message : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ LDW_Direction : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Right_Lane_Status : 36|2@1+ (1,0) [0|3] "" XXX
- SG_ Left_Lane_Status : 38|2@1+ (1,0) [0|3] "" XXX
- SG_ Kombi_Lamp_Orange : 61|1@1+ (1,0) [0|1] "" XXX
- SG_ Kombi_Lamp_Green : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDW_Gong : 12|2@1+ (1,0) [0|3] ""  XXX
+ SG_ LDW_SW_Warnung_links : 14|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_SW_Warnung_rechts : 15|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Texte : 16|4@1+ (1,0) [0|15] ""  XXX
+ SG_ LDW_Seite_DLCTLC : 20|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Lernmodus : 21|3@1+ (1,0) [0|7] ""  XXX
+ SG_ LDW_Anlaufsp_VLR : 24|4@1+ (1,0) [0|15] ""  XXX
+ SG_ LDW_Vib_Amp_VLR : 28|4@1+ (1,0) [0|15] ""  XXX
+ SG_ LDW_Anlaufzeit_VLR : 32|4@1+ (1,0) [0|15] ""  XXX
+ SG_ LDW_Lernmodus_rechts : 36|2@1+ (1,0) [0|3] ""  XXX
+ SG_ LDW_Lernmodus_links : 38|2@1+ (1,0) [0|3] ""  XXX
+ SG_ LDW_DLC : 40|8@1+ (0.01,-1.25) [-1.25|1.25] "Unit_Meter"  XXX
+ SG_ LDW_TLC : 48|5@1+ (0.1,0) [0|3] "Unit_Secon"  XXX
+ SG_ LDW_Warnung_links : 56|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Warnung_rechts : 57|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Codierinfo_fuer_VLR : 58|2@1+ (1,0) [0|3] ""  XXX
+ SG_ LDW_Frontscheibenheizung_aktiv : 60|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Status_LED_gelb : 61|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Status_LED_gruen : 62|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_KD_Fehler : 63|1@1+ (1,0) [0|1] ""  XXX
 
 BO_ 780 ACC_02: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SetSpeed : 12|10@1+ (0.08865,0) [0|90.68] "Unit_MeterPerSecond" XXX
- SG_ Kollision1 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ Abstand : 24|10@1+ (0.1,0) [0|102.3] "m" XXX
- SG_ ACC_MinusInv : 36|2@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Minus : 38|2@1+ (1,0) [0|3] "" XXX
- SG_ Kollision2 : 40|1@1+ (1,0) [0|1] "" XXX
- SG_ MotorbitB5_1 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ 1_aktivieren : 42|1@1+ (1,0) [0|1] "" XXX
- SG_ Tacho_LED : 43|1@1+ (1,0) [0|1] "" XXX
- SG_ Hebelquit : 44|1@1+ (1,0) [0|1] "" XXX
- SG_ 1_aktivieren_inv : 45|1@1+ (1,0) [0|1] "" XXX
- SG_ Folgefahrt : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ MotorbitB5_7 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ SetAbstand : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Hebel : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  XXX
+ SG_ ACC_Wunschgeschw : 12|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour"  XXX
+ SG_ ACC_Status_Prim_Anz : 22|2@1+ (1.0,0.0) [0.0|3] ""  XXX
+ SG_ ACC_Abstandsindex : 24|10@1+ (1,0) [1|1021] ""  XXX
+ SG_ ACC_Akustik : 34|3@1+ (1.0,0.0) [0.0|7] ""  XXX
+ SG_ ACC_Gesetzte_Zeitluecke : 37|3@1+ (1.0,0.0) [0.0|7] ""  XXX
+ SG_ ACC_Optischer_Fahrerhinweis : 40|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Typ_Tachokranz : 41|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Anzeige_Zeitluecke : 42|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Tachokranz : 43|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Display_Prio : 44|2@1+ (1.0,0.0) [0.0|3] ""  XXX
+ SG_ ACC_Relevantes_Objekt : 46|2@1+ (1.0,0.0) [0.0|3] ""  XXX
+ SG_ ACC_Texte_Primaeranz : 48|7@1+ (1.0,0.0) [0.0|127] ""  XXX
+ SG_ ACC_Wunschgeschw_erreicht : 55|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] ""  XXX
 
 BO_ 302 ACC_07: 8 XXX
  SG_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
@@ -1252,13 +1264,39 @@ BO_ 695 RCTA_01: 8 XXX
  SG_ RCTA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ RCTA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 783 SWA_01: 8 XXX
- SG_ SWA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SWA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 783 SWA_01: 8 Gateway_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  Vector__XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  Vector__XXX
+ SG_ SWA_Anzeigen : 12|4@1+ (1,0) [0|15] ""  Kombi_D4
+ SG_ SWA_Blindheit_erkannt : 16|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_rel_Nichtverf : 17|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_rel_Fehler : 18|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Sta_aktiv : 19|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Sta_passiv : 20|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Standziele_li : 24|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_li : 25|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_mi : 33|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Standziele_re : 40|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_re : 41|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Gischtzaehler : 48|7@1+ (1,0) [0|100] "Unit_PerCent"  Vector__XXX
+ SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] ""  Vector__XXX
 
 BO_ 804 ACC_04: 8 XXX
- SG_ ACC_04_CRC : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ ACC_04_BZ : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  XXX
+ SG_ ACC_Texte_Zusatzanz : 16|6@1+ (1.0,0.0) [0.0|63] ""  XXX
+ SG_ ACC_Status_Zusatzanz : 22|5@1+ (1.0,0.0) [0.0|31] ""  XXX
+ SG_ ACC_Texte : 27|5@1+ (1.0,0.0) [0.0|31] ""  XXX
+ SG_ ACC_Texte_braking_guard : 32|3@1+ (1.0,0.0) [0.0|7] ""  XXX
+ SG_ ACC_Warnhinweis : 35|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Geschw_Zielfahrzeug : 40|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour"  XXX
+ SG_ ACC_Charisma_FahrPr : 56|3@1+ (1.0,0.0) [0.0|7] ""  XXX
+ SG_ ACC_Charisma_Status : 59|2@1+ (1.0,0.0) [0.0|3] ""  XXX
+ SG_ ACC_Charisma_Umschaltung : 61|2@1+ (1.0,0.0) [0.0|3] ""  XXX
 
 BO_ 917 LWR_AFS_01: 8 XXX
 
@@ -1296,6 +1334,14 @@ BO_ 981 Licht_Anf_01: 8 XXX
 BO_ 1440 RLS_01: 8 XXX
 
 BO_ 870 Blinkmodi_02: 8 XXX
+ SG_ Hazard_Switch : 20|1@1+ (1,0) [0|1] ""  XXX
+ SG_ Comfort_Signal_Left : 23|1@1+ (1,0) [0|1] ""  XXX
+ SG_ Comfort_Signal_Right : 24|1@1+ (1,0) [0|1] ""  XXX
+ SG_ Left_Turn_Exterior_Bulb_1 : 25|1@1+ (1,0) [0|1] ""  XXX
+ SG_ Right_Turn_Exterior_Bulb_1 : 26|1@1+ (1,0) [0|1] ""  XXX
+ SG_ Left_Turn_Exterior_Bulb_2 : 27|1@1+ (1,0) [0|1] ""  XXX
+ SG_ Right_Turn_Exterior_Bulb_2 : 28|1@1+ (1,0) [0|1] ""  XXX
+ SG_ Fast_Send_Rate_Active : 37|1@1+ (1,0) [0|1] ""  XXX
 
 BO_ 1385 HVEM_04: 8 XXX
 
@@ -1313,18 +1359,27 @@ BO_ 391 EV_Gearshift: 8 XXX
  SG_ GearPosition : 16|4@1+ (1,0) [0|255] "" XXX
  SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX
 
-CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
 CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included";
+CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature"
+CM_ SG_ 159 EPS_Lenkmoment "Steering input by driver, torque";
+CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction";
+CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees";
+CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"
+CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
 CM_ SG_ 294 3 "May be zero when sent by older cameras";
 CM_ SG_ 294 7 "May be zero when sent by older cameras";
 CM_ SG_ 294 254 "May be zero when sent by older cameras";
 CM_ SG_ 294 Assist_Torque "Heading control input, torque";
 CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)";
 CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
-CM_ SG_ 159 HCA_Ready "1 if HCA is okay, 0 if the rack doesn't have HCA configured or a timer/constraint has been violated, rack will not respond to HCA commands";
-CM_ SG_ 159 Driver_Strain "Steering input by driver, torque";
-CM_ SG_ 159 Driver_Strain_VZ "Steering input by driver, sign (direction)";
-CM_ SG_ 159 Steering_Wheel_Angle "Steering angle WITHOUT variable ratio effect included";
+CM_ SG_ 870 Hazard_Switch "Four-way flashers active";
+CM_ SG_ 870 Comfort_Signal_Left "Comfort turn signal active, left";
+CM_ SG_ 870 Comfort_Signal_Right "Comfort turn signal active, right";
+CM_ SG_ 870 Left_Turn_Exterior_Bulb_1 "Probably front";
+CM_ SG_ 870 Right_Turn_Exterior_Bulb_1 "Probably front";
+CM_ SG_ 870 Left_Turn_Exterior_Bulb_2 "Probably rear";
+CM_ SG_ 870 Right_Turn_Exterior_Bulb_2 "Probably rear";
+CM_ SG_ 870 Fast_Send_Rate_Active "CAN message send rate";
 CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)";
 CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)";
 CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag";
@@ -1340,6 +1395,8 @@ CM_ SG_ 780 Abstand "Following distance";
 CM_ SG_ 780 SetSpeed "ACC set speed";
 CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode mapped to Drive";
 CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on";
+VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
 VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T";
 VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
 VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";
+VAL_ 870 Fast_Send_Rate_Active 0 "1 Hz" 1 "50 Hz";
diff --git a/panda/.circleci/config.yml b/panda/.circleci/config.yml
deleted file mode 100644
index a4ae26efe51f35..00000000000000
--- a/panda/.circleci/config.yml
+++ /dev/null
@@ -1,118 +0,0 @@
-version: 2
-jobs:
-  safety:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t panda_safety -f tests/safety/Dockerfile ."
-      - run:
-          name: Run safety test
-          command: |
-            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"
-
-  misra-c2012:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t panda_misra -f tests/misra/Dockerfile ."
-      - run:
-          name: Run Misra C 2012 test
-          command: |
-            mkdir /tmp/misra
-            docker run -v /tmp/misra:/tmp/misra panda_misra /bin/bash -c "cd /panda/tests/misra; ./test_misra.sh"
-      - store_artifacts:
-          name: Store cppcheck test output
-          path: /tmp/misra/cppcheck_output.txt
-      - store_artifacts:
-          name: Store misra test output
-          path: /tmp/misra/misra_output.txt
-
-  build:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t panda_build -f tests/build/Dockerfile ."
-      - run:
-          name: Test python package installer
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
-      - run:
-          name: Build Panda STM image
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda/board; make bin"
-      - run:
-          name: Build Panda STM bootstub image
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda/board; make obj/bootstub.panda.bin"
-      - run:
-          name: Build Pedal STM image
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
-      - run:
-          name: Build Pedal STM bootstub image
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/bootstub.bin"
-      - run:
-          name: Build ESP image
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda/boardesp; ./get_sdk.sh; make user1.bin"
-
-  safety_replay:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t panda_safety_replay -f tests/safety_replay/Dockerfile ."
-      - run:
-          name: Replay drives
-          command: |
-            docker run panda_safety_replay /bin/bash -c "cd /openpilot/panda/tests/safety_replay; PYTHONPATH=/openpilot ./test_safety_replay.py"
-
-  language_check:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t language_check -f tests/language/Dockerfile ."
-      - run:
-          name: Check code for bad language
-          command: |
-            docker run language_check /bin/bash -c "cd /panda/tests/language; ./test_language.py"
-
-  linter_python:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t linter_python -f tests/linter_python/Dockerfile ."
-      - run:
-          name: Run linter python test
-          command: |
-            docker run linter_python /bin/bash -c "cd /panda/tests/linter_python; PYTHONPATH=/ ./flake8_panda.sh"
-            docker run linter_python /bin/bash -c "cd /panda/tests/linter_python; PYTHONPATH=/ ./pylint_panda.sh"
-
-workflows:
-  version: 2
-  main:
-    jobs:
-      - safety
-      - misra-c2012
-      - build
-      - safety_replay
-      - language_check
-      - linter_python
diff --git a/panda/.dockerignore b/panda/.dockerignore
deleted file mode 100644
index f04ae5c0aa6892..00000000000000
--- a/panda/.dockerignore
+++ /dev/null
@@ -1,3 +0,0 @@
-.git
-.DS_Store
-boardesp/esp-open-sdk
diff --git a/panda/.gitignore b/panda/.gitignore
index 397996a0bcca35..3a8ead1e0fbf1f 100644
--- a/panda/.gitignore
+++ b/panda/.gitignore
@@ -3,6 +3,7 @@
 .*.swo
 *.o
 *.so
+*.os
 *.d
 *.dump
 a.out
@@ -13,5 +14,7 @@ pandacan.egg-info/
 board/obj/
 examples/output.csv
 .DS_Store
-.vscode
+.vscode*
 nosetests.xml
+.mypy_cache/
+.sconsign.dblite
diff --git a/panda/Dockerfile b/panda/Dockerfile
deleted file mode 100644
index fa020ad0597a76..00000000000000
--- a/panda/Dockerfile
+++ /dev/null
@@ -1,83 +0,0 @@
-FROM ubuntu:16.04
-ENV PYTHONUNBUFFERED 1
-
-RUN apt-get update && apt-get install -y \
-    autoconf \
-    automake \
-    bash \
-    bison \
-    bzip2 \
-    curl \
-    dfu-util \
-    flex \
-    g++ \
-    gawk \
-    gcc \
-    git \
-    gperf \
-    help2man \
-    iputils-ping \
-    libbz2-dev \
-    libexpat-dev \
-    libffi-dev \
-    libssl-dev \
-    libstdc++-arm-none-eabi-newlib \
-    libtool \
-    libtool-bin \
-    libusb-1.0-0 \
-    locales  \
-    make \
-    ncurses-dev \
-    network-manager \
-    python-dev \
-    python-serial \
-    sed \
-    texinfo \
-    unrar-free \
-    unzip \
-    wget \
-    build-essential \
-    python-dev \
-    python-pip \
-    screen \
-    vim \
-    wget \
-    wireless-tools \
-    zlib1g-dev
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv install 2.7.12
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-RUN pip install --upgrade pip==18.0
-
-COPY requirements.txt /tmp/
-RUN pip install -r /tmp/requirements.txt
-
-RUN mkdir -p /home/batman
-ENV HOME /home/batman
-
-ENV PYTHONPATH /tmp:$PYTHONPATH
-
-COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/
-COPY ./boardesp/python2_make.py /tmp/panda/boardesp/
-
-COPY ./panda_jungle /tmp/panda_jungle
-
-RUN useradd --system -s /sbin/nologin pandauser
-RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
-RUN chown pandauser /tmp/panda/boardesp/esp-open-sdk
-USER pandauser
-RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh
-USER root
-
-ADD ./panda.tar.gz /tmp/panda
diff --git a/panda/Jenkinsfile b/panda/Jenkinsfile
deleted file mode 100644
index 61068a48652c1f..00000000000000
--- a/panda/Jenkinsfile
+++ /dev/null
@@ -1,80 +0,0 @@
-pipeline {
-  agent any
-  environment {
-    AUTHOR = """${sh(
-                returnStdout: true,
-                script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}"
-             ).trim()}"""
-
-    DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}"
-    DOCKER_NAME = "panda-test-${env.GIT_COMMIT}"
-  }
-  stages {
-    stage('Build Docker Image') {
-      steps {
-        timeout(time: 60, unit: 'MINUTES') {
-          script {
-            try {
-              sh 'cp -R /home/batman/panda_jungle .'
-            } catch (err) {
-              echo "Folder already exists"
-            }
-            sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
-            dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
-          }
-        }
-      }
-    }
-    stage('Test Dev Build (no WIFI)') {
-      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; SKIPWIFI=1 ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev_nowifi.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
-          }
-        }
-      }
-    }
-    stage('Test EON Build') {
-      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'touch /EON; cd /tmp/panda; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_eon.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
-          }
-        }
-      }
-    }
-/*
-    stage('Test Dev Build (WIFI)') {
-      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
-          }
-        }
-      }
-    }
-*/
-  }
-  post {
-    failure {
-      script {
-        sh "docker rm ${env.DOCKER_NAME} || true"
-      }
-    }
-    always {
-      junit "test_results*.xml"
-    }
-  }
-}
diff --git a/panda/LICENSE b/panda/LICENSE
deleted file mode 100644
index 8a6c6976b70de3..00000000000000
--- a/panda/LICENSE
+++ /dev/null
@@ -1,7 +0,0 @@
-Copyright (c) 2016, Comma.ai, Inc.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/panda/README.md b/panda/README.md
deleted file mode 100644
index 9979295a0b2834..00000000000000
--- a/panda/README.md
+++ /dev/null
@@ -1,123 +0,0 @@
-Welcome to panda
-======
-
-[panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
-
-<a href="https://comma.ai/shop/products/panda-obd-ii-dongle"><img src="https://github.com/commaai/panda/blob/master/panda.png">
-
-<img src="https://github.com/commaai/panda/blob/master/buy.png"></a>
-
-It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has both USB and Wi-Fi.
-
-It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004) for low level stuff and an [ESP8266](https://en.wikipedia.org/wiki/ESP8266) for Wi-Fi. They are connected over high speed SPI, so the panda is actually capable of dumping the full contents of the busses over Wi-Fi, unlike every other dongle on amazon. ELM327 is weak, panda is strong.
-
-It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
-
-[![CircleCI](https://circleci.com/gh/commaai/panda.svg?style=svg)](https://circleci.com/gh/commaai/panda)
-
-Usage (Python)
-------
-
-To install the library:
-```
-# pip install pandacan
-```
-
-See [this class](https://github.com/commaai/panda/blob/master/python/__init__.py#L80) for how to interact with the panda.
-
-For example, to receive CAN messages:
-```
->>> from panda import Panda
->>> panda = Panda()
->>> panda.can_recv()
-```
-And to send one on bus 0:
-```
->>> panda.can_send(0x1aa, "message", 0)
-```
-Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/Panda_scripts)
-
-Note that you may have to setup [udev rules](https://community.comma.ai/wiki/index.php/Panda#Linux_udev_rules) for Linux, such as
-```
-sudo tee /etc/udev/rules.d/11-panda.rules <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
-EOF
-sudo udevadm control --reload-rules && sudo udevadm trigger
-```
-
-Usage (JavaScript)
--------
-
-See [PandaJS](https://github.com/commaai/pandajs)
-
-
-Software interface support
-------
-
-As a universal car interface, it should support every reasonable software interface.
-
-- [User space](https://github.com/commaai/panda/tree/master/python)
-- [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
-- [ELM327](https://github.com/commaai/panda/blob/master/boardesp/elm327.c)
-- [Windows J2534](https://github.com/commaai/panda/tree/master/drivers/windows)
-
-Directory structure
-------
-
-- board      -- Code that runs on the STM32
-- boardesp   -- Code that runs on the ESP8266
-- drivers    -- Drivers (not needed for use with python)
-- python     -- Python userspace library for interfacing with the panda
-- tests      -- Tests and helper programs for panda
-
-Programming (over USB)
-------
-
-[Programming the Board (STM32)](board/README.md)
-
-[Programming the ESP](boardesp/README.md)
-
-
-Debugging
-------
-
-To print out the serial console from the STM32, run tests/debug_console.py
-
-To print out the serial console from the ESP8266, run PORT=1 tests/debug_console.py
-
-Safety Model
-------
-
-When a panda powers up, by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB.
-
-Safety modes optionally supports `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
-
-Code Rigor
-------
-When compiled from an [EON Dev Kit](https://comma.ai/shop/products/eon-gold-dashcam-devkit), the panda FW is configured and optimized (at compile time) for its use in
-conjuction with [openpilot](https://github.com/commaai/openpilot). The panda FW, through its safety model, provides and enforces the
-[openpilot Safety](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
-
-These are the [CI regression tests](https://circleci.com/gh/commaai/panda) we have in place:
-* A generic static code analysis is performed by [Cppcheck](https://github.com/danmar/cppcheck/).
-* In addition, [Cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
-* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced on board and pedal makefiles.
-* The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
-* A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
-to ensure that the behavior remains unchanged.
-* An internal Hardware-in-the-loop test, which currently only runs on pull requests opened by comma.ai's organization members, verifies the following functionalities:
-    * compiling the code in various configuration and flashing it both through USB and WiFi.
-    * Receiving, sending and forwarding CAN messages on all buses, over USB and WiFi.
-
-In addition, we run [Pylint](https://www.pylint.org/) and [Flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.
-
-Hardware
-------
-
-Check out the hardware [guide](https://github.com/commaai/panda/blob/master/docs/guide.pdf)
-
-Licensing
-------
-
-panda software is released under the MIT license unless otherwise specified.
diff --git a/panda/TODO b/panda/TODO
deleted file mode 100644
index 4e4a3551549dc1..00000000000000
--- a/panda/TODO
+++ /dev/null
@@ -1,31 +0,0 @@
-** Projects **
-
-== ELM327 Emulator ==
-
-Write an elm327 emulator in boardesp/elm327.c and make it work with Torque
-
-You'll find a start at this in the "elm327" branch.
-
-== socketcan Kernel Driver ==
-
-Write a kernel driver version of lib/panda.py that exposes the Panda on socketcan and makes it work with those tools.
-
-You may want to switch to interrupt endpoint first. Should LIN be exposed as a serial interface?
-
-== Windows J2534 DLL ==
-
-Write a Windows DLL that exposes the J2534 API.
-
-Will make the Panda work with car diagnostic software.
-
-
-** Refactors **
-
-== USB Interrupt Endpoint ==
-
-Switch USB to use an interrupt endpoint instead of a bulk endpoint for can recv
-
-== WebSocket Support ==
-
-Add CAN streaming over WebSocket to the ELM code in addition to the UDP pipe.
-
diff --git a/panda/UPDATING.md b/panda/UPDATING.md
deleted file mode 100644
index ab60f88ac81694..00000000000000
--- a/panda/UPDATING.md
+++ /dev/null
@@ -1,9 +0,0 @@
-# Updating your panda
-
-Panda should update automatically via the [openpilot](http://openpilot.comma.ai/).
-
-On Linux or Mac OSX, you can manually update it using:
-```
-sudo pip install --upgrade pandacan`
-PYTHONPATH="" sudo python -c "import panda; panda.flash_release()"`
-```
diff --git a/panda/VERSION b/panda/VERSION
deleted file mode 100644
index 0d687f1e2ba8c5..00000000000000
--- a/panda/VERSION
+++ /dev/null
@@ -1 +0,0 @@
-v1.7.3
\ No newline at end of file
diff --git a/panda/__init__.py b/panda/__init__.py
index 5374d5a9ab550a..a9bf38f4812bae 100644
--- a/panda/__init__.py
+++ b/panda/__init__.py
@@ -1 +1,9 @@
-from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial  # noqa: F401
+# flake8: noqa
+# pylint: skip-file
+from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, \
+                    BASEDIR, ensure_st_up_to_date, PandaSerial, pack_can_buffer, unpack_can_buffer, \
+                    DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC
+
+from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \
+                           BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \
+                           DEVICE_SERIAL_NUMBER_ADDR_FX
diff --git a/panda/board/Makefile b/panda/board/Makefile
deleted file mode 100644
index adeba0479a85e9..00000000000000
--- a/panda/board/Makefile
+++ /dev/null
@@ -1,8 +0,0 @@
-PROJ_NAME = panda
-CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
-
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
-CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-STARTUP_FILE = startup_stm32f413xx
-
-include build.mk
diff --git a/panda/board/README.md b/panda/board/README.md
index 7151bfbf93e32a..add2e92350c83a 100644
--- a/panda/board/README.md
+++ b/panda/board/README.md
@@ -21,7 +21,8 @@ Programming
 **Panda**
 
 ```
-make
+scons -u # Compile
+./flash.sh # Compile & Flash
 ```
 
 Troubleshooting
@@ -29,7 +30,7 @@ Troubleshooting
 
 If your panda will not flash and is quickly blinking a single Green LED, use:
 ```
-make recover
+./recover.sh
 ```
 
 
diff --git a/panda/board/SConscript b/panda/board/SConscript
new file mode 100644
index 00000000000000..4570bf1a5ba386
--- /dev/null
+++ b/panda/board/SConscript
@@ -0,0 +1,188 @@
+import os
+import subprocess
+
+PREFIX = "arm-none-eabi-"
+BUILDER = "DEV"
+
+common_flags = []
+build_projects = {}
+
+if os.getenv("PEDAL"):
+  build_projects["pedal"] = {
+    "MAIN": "pedal/main.c",
+    "STARTUP_FILE": "stm32fx/startup_stm32f205xx.s",
+    "LINKER_SCRIPT": "stm32fx/stm32fx_flash.ld",
+    "APP_START_ADDRESS": "0x8004000",
+    "PROJECT_FLAGS": [
+      "-mcpu=cortex-m3",
+      "-msoft-float",
+      "-DSTM32F2",
+      "-DSTM32F205xx",
+      "-O2",
+      "-DPEDAL",
+    ],
+  }
+
+  if os.getenv("PEDAL_USB"):
+    build_projects["pedal_usb"] = build_projects.pop("pedal")
+    build_projects["pedal_usb"]["PROJECT_FLAGS"].append("-DPEDAL_USB")
+
+build_projects["panda"] = {
+  "MAIN": "main.c",
+  "STARTUP_FILE": "stm32fx/startup_stm32f413xx.s",
+  "LINKER_SCRIPT": "stm32fx/stm32fx_flash.ld",
+  "APP_START_ADDRESS": "0x8004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+    "-DPANDA",
+  ],
+}
+
+# arm-none-eabi-gcc on comma two has no cortex-m7 support
+if not os.path.exists("/EON"):
+  build_projects["panda_h7"] = {
+    "MAIN": "main.c",
+    "STARTUP_FILE": "stm32h7/startup_stm32h7x5xx.s",
+    "LINKER_SCRIPT": "stm32h7/stm32h7x5_flash.ld",
+    "APP_START_ADDRESS": "0x8020000",
+    "PROJECT_FLAGS": [
+      "-mcpu=cortex-m7",
+      "-mhard-float",
+      "-DSTM32H7",
+      "-DSTM32H725xx",
+      "-mfpu=fpv5-d16",
+      "-fsingle-precision-constant",
+      "-Os",
+      "-g",
+      "-DPANDA",
+    ],
+  }
+
+if os.getenv("RELEASE"):
+  BUILD_TYPE = "RELEASE"
+  cert_fn = os.getenv("CERT")
+  assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
+  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
+else:
+  BUILD_TYPE = "DEBUG"
+  cert_fn = File("../certs/debug").srcnode().abspath
+  common_flags += ["-DALLOW_DEBUG"]
+
+if os.getenv("DEBUG"):
+  common_flags += ["-DDEBUG"]
+
+includes = [
+  "stm32fx/inc",
+  "stm32h7/inc",
+  "..",
+  ".",
+]
+
+def get_version(builder, build_type):
+  try:
+    git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    git = "unknown"
+  return f"{builder}-{git}-{build_type}"
+
+
+def to_c_uint32(x):
+  nums = []
+  for _ in range(0x20):
+    nums.append(x % (2**32))
+    x //= (2**32)
+  return "{" + 'U,'.join(map(str, nums)) + "U}"
+
+
+def get_key_header(name):
+  from Crypto.PublicKey import RSA
+
+  public_fn = File(f'../certs/{name}.pub').srcnode().abspath
+  rsa = RSA.importKey(open(public_fn).read())
+  assert(rsa.size_in_bits() == 1024)
+
+  rr = pow(2**1024, 2, rsa.n)
+  n0inv = 2**32 - pow(rsa.n, -1, 2**32)
+
+  r = [
+    f"RSAPublicKey {name}_rsa_key = {{",
+    f"  .len = 0x20,",
+    f"  .n0inv = {n0inv}U,",
+    f"  .n = {to_c_uint32(rsa.n)},",
+    f"  .rr = {to_c_uint32(rr)},",
+    f"  .exponent = {rsa.e},",
+    f"}};",
+  ]
+  return r
+
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
+# Common autogenerated includes
+with open("obj/gitversion.h", "w") as f:
+  f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
+
+certs = [get_key_header(n) for n in ["debug", "release"]]
+with open("obj/cert.h", "w") as f:
+  for cert in certs:
+    f.write("\n".join(cert) + "\n")
+
+for project_name in build_projects:
+  project = build_projects[project_name]
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().abspath
+
+  flags = [
+    "-Wall",
+    "-Wextra",
+    "-Wstrict-prototypes",
+    "-Werror",
+    "-mlittle-endian",
+    "-mthumb",
+    "-nostdlib",
+    "-fno-builtin",
+    f"-T{linkerscript_fn}",
+    "-std=gnu11",
+  ] + project["PROJECT_FLAGS"] + common_flags
+
+  project_env = Environment(
+    ENV=os.environ,
+    CC=PREFIX + 'gcc',
+    AS=PREFIX + 'gcc',
+    OBJCOPY=PREFIX + 'objcopy',
+    OBJDUMP=PREFIX + 'objdump',
+    ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+    CFLAGS=flags,
+    ASFLAGS=flags,
+    LINKFLAGS=flags,
+    CPPPATH=includes,
+    BUILDERS={
+      'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+    }
+  )
+  startup = project_env.Object(project["STARTUP_FILE"])
+
+  # Bootstub
+  crypto_obj = [
+    project_env.Object(f"rsa-{project_name}", "../crypto/rsa.c"),
+    project_env.Object(f"sha-{project_name}", "../crypto/sha.c")
+  ]
+  bootstub_obj = project_env.Object(f"bootstub-{project_name}", "bootstub.c")
+  bootstub_elf = project_env.Program(f"obj/bootstub.{project_name}.elf", [startup] + crypto_obj + [bootstub_obj])
+  bootstub_bin = project_env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
+
+  # Build main
+  main_obj = project_env.Object(f"main-{project_name}", project["MAIN"])
+  main_elf = project_env.Program(f"obj/{project_name}.elf", [startup, main_obj],
+    LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)
+
+  # Sign main
+  sign_py = File("../crypto/sign.py").srcnode().abspath
+  panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
diff --git a/panda/board/board.h b/panda/board/board.h
deleted file mode 100644
index 30e1fa4d17a51e..00000000000000
--- a/panda/board/board.h
+++ /dev/null
@@ -1,94 +0,0 @@
-// ///////////////////////////////////////////////////////////// //
-// Hardware abstraction layer for all different supported boards //
-// ///////////////////////////////////////////////////////////// //
-#include "board_declarations.h"
-#include "boards/common.h"
-
-// ///// Board definition and detection ///// //
-#include "drivers/harness.h"
-#ifdef PANDA
-  #include "drivers/fan.h"
-  #include "drivers/rtc.h"
-  #include "boards/white.h"
-  #include "boards/grey.h"
-  #include "boards/black.h"
-  #include "boards/uno.h"
-#else
-  #include "boards/pedal.h"
-#endif
-
-void detect_board_type(void) {
-  #ifdef PANDA
-    // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
-    set_gpio_output(GPIOC, 14, 1);
-    set_gpio_output(GPIOC, 5, 1);
-    if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
-      hw_type = HW_TYPE_WHITE_PANDA;
-      current_board = &board_white;
-    } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
-      hw_type = HW_TYPE_GREY_PANDA;
-      current_board = &board_grey;
-    } else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
-      hw_type = HW_TYPE_UNO;
-      current_board = &board_uno;
-    } else {
-      hw_type = HW_TYPE_BLACK_PANDA;
-      current_board = &board_black;
-    }
-  #else
-    #ifdef PEDAL
-      hw_type = HW_TYPE_PEDAL;
-      current_board = &board_pedal;
-    #else
-      hw_type = HW_TYPE_UNKNOWN;
-      puts("Hardware type is UNKNOWN!\n");
-    #endif
-  #endif
-}
-
-
-// ///// Configuration detection ///// //
-bool has_external_debug_serial = 0;
-bool is_entering_bootmode = 0;
-
-void detect_configuration(void) {
-  // detect if external serial debugging is present
-  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
-
-  #ifdef PANDA
-    if(hw_type == HW_TYPE_WHITE_PANDA) {
-      // check if the ESP is trying to put me in boot mode
-      is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
-    } else {
-      is_entering_bootmode = 0;
-    }
-  #else
-    is_entering_bootmode = 0;
-  #endif
-}
-
-// ///// Board functions ///// //
-// TODO: Make these config options in the board struct
-bool board_has_gps(void) {
-  return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
-}
-
-bool board_has_gmlan(void) {
-  return ((hw_type == HW_TYPE_WHITE_PANDA) || (hw_type == HW_TYPE_GREY_PANDA));
-}
-
-bool board_has_obd(void) {
-  return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
-}
-
-bool board_has_lin(void) {
-  return ((hw_type == HW_TYPE_WHITE_PANDA) || (hw_type == HW_TYPE_GREY_PANDA));
-}
-
-bool board_has_rtc(void) {
-  return (hw_type == HW_TYPE_UNO);
-}
-
-bool board_has_relay(void) {
-  return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
-}
diff --git a/panda/board/board_declarations.h b/panda/board/board_declarations.h
deleted file mode 100644
index d973551bafc2e0..00000000000000
--- a/panda/board/board_declarations.h
+++ /dev/null
@@ -1,74 +0,0 @@
-// ******************** Prototypes ********************
-typedef void (*board_init)(void);
-typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
-typedef void (*board_enable_can_transcievers)(bool enabled);
-typedef void (*board_set_led)(uint8_t color, bool enabled);
-typedef void (*board_set_usb_power_mode)(uint8_t mode);
-typedef void (*board_set_esp_gps_mode)(uint8_t mode);
-typedef void (*board_set_can_mode)(uint8_t mode);
-typedef void (*board_usb_power_mode_tick)(uint32_t uptime);
-typedef bool (*board_check_ignition)(void);
-typedef uint32_t (*board_read_current)(void);
-typedef void (*board_set_ir_power)(uint8_t percentage);
-typedef void (*board_set_fan_power)(uint8_t percentage);
-typedef void (*board_set_phone_power)(bool enabled);
-
-struct board {
-  const char *board_type;
-  const harness_configuration *harness_config;
-  board_init init;
-  board_enable_can_transciever enable_can_transciever;
-  board_enable_can_transcievers enable_can_transcievers;
-  board_set_led set_led;
-  board_set_usb_power_mode set_usb_power_mode;
-  board_set_esp_gps_mode set_esp_gps_mode;
-  board_set_can_mode set_can_mode;
-  board_usb_power_mode_tick usb_power_mode_tick;
-  board_check_ignition check_ignition;
-  board_read_current read_current;
-  board_set_ir_power set_ir_power;
-  board_set_fan_power set_fan_power;
-  board_set_phone_power set_phone_power;
-};
-
-// ******************* Definitions ********************
-// These should match the enums in cereal/log.capnp and __init__.py
-#define HW_TYPE_UNKNOWN 0U
-#define HW_TYPE_WHITE_PANDA 1U
-#define HW_TYPE_GREY_PANDA 2U
-#define HW_TYPE_BLACK_PANDA 3U
-#define HW_TYPE_PEDAL 4U
-#define HW_TYPE_UNO 5U
-
-// LED colors
-#define LED_RED 0U
-#define LED_GREEN 1U
-#define LED_BLUE 2U
-
-// USB power modes (from cereal.log.health)
-#define USB_POWER_NONE 0U
-#define USB_POWER_CLIENT 1U
-#define USB_POWER_CDP 2U
-#define USB_POWER_DCP 3U
-
-// ESP modes
-#define ESP_GPS_DISABLED 0U
-#define ESP_GPS_ENABLED 1U
-#define ESP_GPS_BOOTMODE 2U
-
-// CAN modes
-#define CAN_MODE_NORMAL 0U
-#define CAN_MODE_GMLAN_CAN2 1U
-#define CAN_MODE_GMLAN_CAN3 2U
-#define CAN_MODE_OBD_CAN2 3U
-
-// ********************* Globals **********************
-uint8_t usb_power_mode = USB_POWER_NONE;
-
-// ************ Board function prototypes *************
-bool board_has_gps(void);
-bool board_has_gmlan(void);
-bool board_has_obd(void);
-bool board_has_lin(void);
-bool board_has_rtc(void);
-bool board_has_relay(void);
\ No newline at end of file
diff --git a/panda/board/boards/black.h b/panda/board/boards/black.h
index 97f322f69b04b0..5e86deecd85ca6 100644
--- a/panda/board/boards/black.h
+++ b/panda/board/boards/black.h
@@ -2,8 +2,8 @@
 // Black Panda + Harness //
 // ///////////////////// //
 
-void black_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
     case 1U:
       set_gpio_output(GPIOC, 1, !enabled);
       break;
@@ -17,15 +17,19 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
       set_gpio_output(GPIOB, 10, !enabled);
       break;
     default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
       break;
   }
 }
 
-void black_enable_can_transcievers(bool enabled) {
-  uint8_t t1 = enabled ? 1U : 2U;  // leave transciever 1 enabled to detect CAN ignition
-  for(uint8_t i=t1; i<=4U; i++) {
-    black_enable_can_transciever(i, enabled);
+void black_enable_can_transceivers(bool enabled) {
+  for(uint8_t i=1U; i<=4U; i++){
+    // Leave main CAN always on for CAN-based ignition detection
+    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+      black_enable_can_transceiver(i, true);
+    } else {
+      black_enable_can_transceiver(i, enabled);
+    }
   }
 }
 
@@ -73,24 +77,24 @@ void black_set_usb_power_mode(uint8_t mode) {
   }
 }
 
-void black_set_esp_gps_mode(uint8_t mode) {
+void black_set_gps_mode(uint8_t mode) {
   switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
       // GPS OFF
       set_gpio_output(GPIOC, 14, 0);
       set_gpio_output(GPIOC, 5, 0);
       break;
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
       // GPS ON
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 1);
       break;
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 0);
       break;
     default:
-      puts("Invalid ESP/GPS mode\n");
+      puts("Invalid GPS mode\n");
       break;
   }
 }
@@ -123,33 +127,11 @@ void black_set_can_mode(uint8_t mode){
   }
 }
 
-void black_usb_power_mode_tick(uint32_t uptime){
-  UNUSED(uptime);
-  // Not applicable
-}
-
 bool black_check_ignition(void){
   // ignition is checked through harness
   return harness_check_ignition();
 }
 
-uint32_t black_read_current(void){
-  // No current sense on black panda
-  return 0U;
-}
-
-void black_set_ir_power(uint8_t percentage){
-  UNUSED(percentage);
-}
-
-void black_set_fan_power(uint8_t percentage){
-  UNUSED(percentage);
-}
-
-void black_set_phone_power(bool enabled){
-  UNUSED(enabled);
-}
-
 void black_init(void) {
   common_init_gpio();
 
@@ -163,7 +145,7 @@ void black_init(void) {
   set_gpio_mode(GPIOC, 3, MODE_ANALOG);
 
   // Set default state of GPS
-  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+  current_board->set_gps_mode(GPS_ENABLED);
 
   // C10: OBD_SBU1_RELAY (harness relay driving output)
   // C11: OBD_SBU2_RELAY (harness relay driving output)
@@ -186,8 +168,8 @@ void black_init(void) {
   // Initialize harness
   harness_init();
 
-  // Enable CAN transcievers
-  black_enable_can_transcievers(true);
+  // Enable CAN transceivers
+  black_enable_can_transceivers(true);
 
   // Disable LEDs
   black_set_led(LED_RED, false);
@@ -201,9 +183,6 @@ void black_init(void) {
   if (car_harness_status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
-
-  // init multiplexer
-  can_set_obd(car_harness_status, false);
 }
 
 const harness_configuration black_harness_config = {
@@ -223,17 +202,24 @@ const harness_configuration black_harness_config = {
 const board board_black = {
   .board_type = "Black",
   .harness_config = &black_harness_config,
+  .has_gps = true,
+  .has_hw_gmlan = false,
+  .has_obd = true,
+  .has_lin = false,
+  .has_rtc = false,
   .init = black_init,
-  .enable_can_transciever = black_enable_can_transciever,
-  .enable_can_transcievers = black_enable_can_transcievers,
+  .enable_can_transceiver = black_enable_can_transceiver,
+  .enable_can_transceivers = black_enable_can_transceivers,
   .set_led = black_set_led,
   .set_usb_power_mode = black_set_usb_power_mode,
-  .set_esp_gps_mode = black_set_esp_gps_mode,
+  .set_gps_mode = black_set_gps_mode,
   .set_can_mode = black_set_can_mode,
-  .usb_power_mode_tick = black_usb_power_mode_tick,
+  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = black_check_ignition,
-  .read_current = black_read_current,
-  .set_fan_power = black_set_fan_power,
-  .set_ir_power = black_set_ir_power,
-  .set_phone_power = black_set_phone_power
+  .read_current = unused_read_current,
+  .set_fan_power = unused_set_fan_power,
+  .set_ir_power = unused_set_ir_power,
+  .set_phone_power = unused_set_phone_power,
+  .set_clock_source_mode = unused_set_clock_source_mode,
+  .set_siren = unused_set_siren
 };
diff --git a/panda/board/boards/board_declarations.h b/panda/board/boards/board_declarations.h
new file mode 100644
index 00000000000000..0ec1a5f2a2dac7
--- /dev/null
+++ b/panda/board/boards/board_declarations.h
@@ -0,0 +1,77 @@
+// ******************** Prototypes ********************
+typedef void (*board_init)(void);
+typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
+typedef void (*board_enable_can_transceivers)(bool enabled);
+typedef void (*board_set_led)(uint8_t color, bool enabled);
+typedef void (*board_set_usb_power_mode)(uint8_t mode);
+typedef void (*board_set_gps_mode)(uint8_t mode);
+typedef void (*board_set_can_mode)(uint8_t mode);
+typedef void (*board_usb_power_mode_tick)(uint32_t uptime);
+typedef bool (*board_check_ignition)(void);
+typedef uint32_t (*board_read_current)(void);
+typedef void (*board_set_ir_power)(uint8_t percentage);
+typedef void (*board_set_fan_power)(uint8_t percentage);
+typedef void (*board_set_phone_power)(bool enabled);
+typedef void (*board_set_clock_source_mode)(uint8_t mode);
+typedef void (*board_set_siren)(bool enabled);
+
+struct board {
+  const char *board_type;
+  const harness_configuration *harness_config;
+  const bool has_gps;
+  const bool has_hw_gmlan;
+  const bool has_obd;
+  const bool has_lin;
+  const bool has_rtc;
+  board_init init;
+  board_enable_can_transceiver enable_can_transceiver;
+  board_enable_can_transceivers enable_can_transceivers;
+  board_set_led set_led;
+  board_set_usb_power_mode set_usb_power_mode;
+  board_set_gps_mode set_gps_mode;
+  board_set_can_mode set_can_mode;
+  board_usb_power_mode_tick usb_power_mode_tick;
+  board_check_ignition check_ignition;
+  board_read_current read_current;
+  board_set_ir_power set_ir_power;
+  board_set_fan_power set_fan_power;
+  board_set_phone_power set_phone_power;
+  board_set_clock_source_mode set_clock_source_mode;
+  board_set_siren set_siren;
+};
+
+// ******************* Definitions ********************
+// These should match the enums in cereal/log.capnp and __init__.py
+#define HW_TYPE_UNKNOWN 0U
+#define HW_TYPE_WHITE_PANDA 1U
+#define HW_TYPE_GREY_PANDA 2U
+#define HW_TYPE_BLACK_PANDA 3U
+#define HW_TYPE_PEDAL 4U
+#define HW_TYPE_UNO 5U
+#define HW_TYPE_DOS 6U
+#define HW_TYPE_RED_PANDA 7U
+
+// LED colors
+#define LED_RED 0U
+#define LED_GREEN 1U
+#define LED_BLUE 2U
+
+// USB power modes (from cereal.log.health)
+#define USB_POWER_NONE 0U
+#define USB_POWER_CLIENT 1U
+#define USB_POWER_CDP 2U
+#define USB_POWER_DCP 3U
+
+// GPS modes
+#define GPS_DISABLED 0U
+#define GPS_ENABLED 1U
+#define GPS_BOOTMODE 2U
+
+// CAN modes
+#define CAN_MODE_NORMAL 0U
+#define CAN_MODE_GMLAN_CAN2 1U
+#define CAN_MODE_GMLAN_CAN3 2U
+#define CAN_MODE_OBD_CAN2 3U
+
+// ********************* Globals **********************
+uint8_t usb_power_mode = USB_POWER_NONE;
diff --git a/panda/board/boards/common.h b/panda/board/boards/common.h
deleted file mode 100644
index d0a49087632ee6..00000000000000
--- a/panda/board/boards/common.h
+++ /dev/null
@@ -1,84 +0,0 @@
-#ifdef STM32F4
-  #include "stm32f4xx_hal_gpio_ex.h"
-#else
-  #include "stm32f2xx_hal_gpio_ex.h"
-#endif
-
-// Common GPIO initialization
-void common_init_gpio(void){
-  // TODO: Is this block actually doing something???
-  // pull low to hold ESP in reset??
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOB->ODR = 0;
-  GPIOA->PUPDR = 0;
-  GPIOB->AFR[0] = 0;
-  GPIOB->AFR[1] = 0;
-
-  // C2: Voltage sense line
-  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
-
-  // A11,A12: USB
-  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
-  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
-  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-
-  // A9,A10: USART 1 for talking to the ESP / GPS
-  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
-  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
-
-   // B8,B9: CAN 1
-  #ifdef STM32F4
-    set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
-    set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
-  #else
-    set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
-    set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
-  #endif
-}
-
-// Peripheral initialization
-void peripherals_init(void){
-  // enable GPIOB, UART2, CAN, USB clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
-
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
-  #ifdef PANDA
-    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
-  #ifdef CAN3
-    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // pedal and fan PWM
-  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt and IR PWM
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;  // interrupt timer
-  RCC->APB1ENR |= RCC_APB1ENR_PWREN;   // for RTC config
-  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
-  RCC->APB2ENR |= RCC_APB2ENR_TIM9EN;  // slow loop
-}
-
-// Detection with internal pullup
-#define PULL_EFFECTIVE_DELAY 10
-bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
-  set_gpio_mode(GPIO, pin, MODE_INPUT);
-  set_gpio_pullup(GPIO, pin, mode);
-  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
-  bool ret = get_gpio_input(GPIO, pin);
-  set_gpio_pullup(GPIO, pin, PULL_NONE);
-  return ret;
-}
\ No newline at end of file
diff --git a/panda/board/boards/dos.h b/panda/board/boards/dos.h
new file mode 100644
index 00000000000000..90f075e49b1752
--- /dev/null
+++ b/panda/board/boards/dos.h
@@ -0,0 +1,227 @@
+// ///////////// //
+// Dos + Harness //
+// ///////////// //
+
+void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
+    case 1U:
+      set_gpio_output(GPIOC, 1, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOC, 13, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOA, 0, !enabled);
+      break;
+    case 4U:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void dos_enable_can_transceivers(bool enabled) {
+  for(uint8_t i=1U; i<=4U; i++){
+    // Leave main CAN always on for CAN-based ignition detection
+    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+      dos_enable_can_transceiver(i, true);
+    } else {
+      dos_enable_can_transceiver(i, enabled);
+    }
+  }
+}
+
+void dos_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOC, 9, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOC, 7, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOC, 6, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void dos_set_bootkick(bool enabled){
+  set_gpio_output(GPIOC, 4, !enabled);
+}
+
+void dos_set_usb_power_mode(uint8_t mode) {
+  bool valid = false;
+  switch (mode) {
+    case USB_POWER_CLIENT:
+      dos_set_bootkick(false);
+      valid = true;
+      break;
+    case USB_POWER_CDP:
+      dos_set_bootkick(true);
+      valid = true;
+      break;
+    default:
+      puts("Invalid USB power mode\n");
+      break;
+  }
+  if (valid) {
+    usb_power_mode = mode;
+  }
+}
+
+void dos_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+    case CAN_MODE_OBD_CAN2:
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
+        // B12,B13: disable OBD mode
+        set_gpio_mode(GPIOB, 12, MODE_INPUT);
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+        // B5,B6: normal CAN2 mode
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+      } else {
+        // B5,B6: disable normal CAN2 mode
+        set_gpio_mode(GPIOB, 5, MODE_INPUT);
+        set_gpio_mode(GPIOB, 6, MODE_INPUT);
+
+        // B12,B13: OBD mode
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+      }
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+bool dos_check_ignition(void){
+  // ignition is checked through harness
+  return harness_check_ignition();
+}
+
+void dos_set_usb_switch(bool phone){
+  set_gpio_output(GPIOB, 3, phone);
+}
+
+void dos_set_ir_power(uint8_t percentage){
+  pwm_set(TIM4, 2, percentage);
+}
+
+void dos_set_fan_power(uint8_t percentage){
+  // Enable fan power only if percentage is non-zero.
+  set_gpio_output(GPIOA, 1, (percentage != 0U));
+  fan_set_power(percentage);
+}
+
+void dos_set_clock_source_mode(uint8_t mode){
+  clock_source_init(mode);
+}
+
+void dos_set_siren(bool enabled){
+  set_gpio_output(GPIOC, 12, enabled);
+}
+
+void dos_init(void) {
+  common_init_gpio();
+
+  // A8,A15: normal CAN3 mode
+  set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+  set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+
+  // C0: OBD_SBU1 (orientation detection)
+  // C3: OBD_SBU2 (orientation detection)
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // C10: OBD_SBU1_RELAY (harness relay driving output)
+  // C11: OBD_SBU2_RELAY (harness relay driving output)
+  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
+  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
+  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output(GPIOC, 10, 1);
+  set_gpio_output(GPIOC, 11, 1);
+
+  // C8: FAN PWM aka TIM3_CH3
+  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+
+  // Initialize IR PWM and set to 0%
+  set_gpio_alternate(GPIOB, 7, GPIO_AF2_TIM4);
+  pwm_init(TIM4, 2);
+  dos_set_ir_power(0U);
+
+  // Initialize fan and set to 0%
+  fan_init();
+  dos_set_fan_power(0U);
+
+  // Initialize harness
+  harness_init();
+
+  // Initialize RTC
+  rtc_init();
+
+  // Enable CAN transceivers
+  dos_enable_can_transceivers(true);
+
+  // Disable LEDs
+  dos_set_led(LED_RED, false);
+  dos_set_led(LED_GREEN, false);
+  dos_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  dos_set_can_mode(CAN_MODE_NORMAL);
+
+  // flip CAN0 and CAN2 if we are flipped
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+    can_flip_buses(0, 2);
+  }
+
+  // Init clock source as internal free running
+  dos_set_clock_source_mode(CLOCK_SOURCE_MODE_FREE_RUNNING);
+}
+
+const harness_configuration dos_harness_config = {
+  .has_harness = true,
+  .GPIO_SBU1 = GPIOC,
+  .GPIO_SBU2 = GPIOC,
+  .GPIO_relay_SBU1 = GPIOC,
+  .GPIO_relay_SBU2 = GPIOC,
+  .pin_SBU1 = 0,
+  .pin_SBU2 = 3,
+  .pin_relay_SBU1 = 10,
+  .pin_relay_SBU2 = 11,
+  .adc_channel_SBU1 = 10,
+  .adc_channel_SBU2 = 13
+};
+
+const board board_dos = {
+  .board_type = "Dos",
+  .harness_config = &dos_harness_config,
+  .has_gps = false,
+  .has_hw_gmlan = false,
+  .has_obd = true,
+  .has_lin = false,
+  .has_rtc = true,
+  .init = dos_init,
+  .enable_can_transceiver = dos_enable_can_transceiver,
+  .enable_can_transceivers = dos_enable_can_transceivers,
+  .set_led = dos_set_led,
+  .set_usb_power_mode = dos_set_usb_power_mode,
+  .set_gps_mode = unused_set_gps_mode,
+  .set_can_mode = dos_set_can_mode,
+  .usb_power_mode_tick = unused_usb_power_mode_tick,
+  .check_ignition = dos_check_ignition,
+  .read_current = unused_read_current,
+  .set_fan_power = dos_set_fan_power,
+  .set_ir_power = dos_set_ir_power,
+  .set_phone_power = unused_set_phone_power,
+  .set_clock_source_mode = dos_set_clock_source_mode,
+  .set_siren = dos_set_siren
+};
diff --git a/panda/board/boards/grey.h b/panda/board/boards/grey.h
index 1c7278d278561e..ad68787fac61bd 100644
--- a/panda/board/boards/grey.h
+++ b/panda/board/boards/grey.h
@@ -8,22 +8,22 @@ void grey_init(void) {
   white_grey_common_init();
 
   // Set default state of GPS
-  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+  current_board->set_gps_mode(GPS_ENABLED);
 }
 
-void grey_set_esp_gps_mode(uint8_t mode) {
+void grey_set_gps_mode(uint8_t mode) {
   switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
       // GPS OFF
       set_gpio_output(GPIOC, 14, 0);
       set_gpio_output(GPIOC, 5, 0);
       break;
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
       // GPS ON
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 1);
       break;
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 0);
       break;
@@ -36,17 +36,24 @@ void grey_set_esp_gps_mode(uint8_t mode) {
 const board board_grey = {
   .board_type = "Grey",
   .harness_config = &white_harness_config,
+  .has_gps = true,
+  .has_hw_gmlan = true,
+  .has_obd = false,
+  .has_lin = true,
+  .has_rtc = false,
   .init = grey_init,
-  .enable_can_transciever = white_enable_can_transciever,
-  .enable_can_transcievers = white_enable_can_transcievers,
+  .enable_can_transceiver = white_enable_can_transceiver,
+  .enable_can_transceivers = white_enable_can_transceivers,
   .set_led = white_set_led,
   .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = grey_set_esp_gps_mode,
+  .set_gps_mode = grey_set_gps_mode,
   .set_can_mode = white_set_can_mode,
-  .usb_power_mode_tick = white_usb_power_mode_tick,
+  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = white_check_ignition,
   .read_current = white_read_current,
-  .set_fan_power = white_set_fan_power,
-  .set_ir_power = white_set_ir_power,
-  .set_phone_power = white_set_phone_power
-};
\ No newline at end of file
+  .set_fan_power = unused_set_fan_power,
+  .set_ir_power = unused_set_ir_power,
+  .set_phone_power = unused_set_phone_power,
+  .set_clock_source_mode = unused_set_clock_source_mode,
+  .set_siren = unused_set_siren
+};
diff --git a/panda/board/boards/pedal.h b/panda/board/boards/pedal.h
index c67d39151d8b87..f3922b164d9317 100644
--- a/panda/board/boards/pedal.h
+++ b/panda/board/boards/pedal.h
@@ -2,19 +2,19 @@
 // Pedal //
 // ///// //
 
-void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
     case 1:
       set_gpio_output(GPIOB, 3, !enabled);
       break;
     default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
       break;
   }
 }
 
-void pedal_enable_can_transcievers(bool enabled) {
-  pedal_enable_can_transciever(1U, enabled);
+void pedal_enable_can_transceivers(bool enabled) {
+  pedal_enable_can_transceiver(1U, enabled);
 }
 
 void pedal_set_led(uint8_t color, bool enabled) {
@@ -35,7 +35,7 @@ void pedal_set_usb_power_mode(uint8_t mode){
   puts("Trying to set USB power mode on pedal. This is not supported.\n");
 }
 
-void pedal_set_esp_gps_mode(uint8_t mode) {
+void pedal_set_gps_mode(uint8_t mode) {
   UNUSED(mode);
   puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
 }
@@ -50,33 +50,11 @@ void pedal_set_can_mode(uint8_t mode){
   }
 }
 
-void pedal_usb_power_mode_tick(uint32_t uptime){
-  UNUSED(uptime);
-  // Not applicable
-}
-
 bool pedal_check_ignition(void){
   // not supported on pedal
   return false;
 }
 
-uint32_t pedal_read_current(void){
-  // No current sense on pedal
-  return 0U;
-}
-
-void pedal_set_ir_power(uint8_t percentage){
-  UNUSED(percentage);
-}
-
-void pedal_set_fan_power(uint8_t percentage){
-  UNUSED(percentage);
-}
-
-void pedal_set_phone_power(bool enabled){
-  UNUSED(enabled);
-}
-
 void pedal_init(void) {
   common_init_gpio();
 
@@ -86,8 +64,8 @@ void pedal_init(void) {
   // DAC outputs on A4 and A5
   //   apparently they don't need GPIO setup
 
-  // Enable transciever
-  pedal_enable_can_transcievers(true);
+  // Enable transceiver
+  pedal_enable_can_transceivers(true);
 
   // Disable LEDs
   pedal_set_led(LED_RED, false);
@@ -101,17 +79,24 @@ const harness_configuration pedal_harness_config = {
 const board board_pedal = {
   .board_type = "Pedal",
   .harness_config = &pedal_harness_config,
+  .has_gps = false,
+  .has_hw_gmlan = false,
+  .has_obd = false,
+  .has_lin = false,
+  .has_rtc = false,
   .init = pedal_init,
-  .enable_can_transciever = pedal_enable_can_transciever,
-  .enable_can_transcievers = pedal_enable_can_transcievers,
+  .enable_can_transceiver = pedal_enable_can_transceiver,
+  .enable_can_transceivers = pedal_enable_can_transceivers,
   .set_led = pedal_set_led,
   .set_usb_power_mode = pedal_set_usb_power_mode,
-  .set_esp_gps_mode = pedal_set_esp_gps_mode,
+  .set_gps_mode = pedal_set_gps_mode,
   .set_can_mode = pedal_set_can_mode,
-  .usb_power_mode_tick = pedal_usb_power_mode_tick,
+  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = pedal_check_ignition,
-  .read_current = pedal_read_current,
-  .set_fan_power = pedal_set_fan_power,
-  .set_ir_power = pedal_set_ir_power,
-  .set_phone_power = pedal_set_phone_power
-};
\ No newline at end of file
+  .read_current = unused_read_current,
+  .set_fan_power = unused_set_fan_power,
+  .set_ir_power = unused_set_ir_power,
+  .set_phone_power = unused_set_phone_power,
+  .set_clock_source_mode = unused_set_clock_source_mode,
+  .set_siren = unused_set_siren
+};
diff --git a/panda/board/boards/red.h b/panda/board/boards/red.h
new file mode 100644
index 00000000000000..17d4f039253c1a
--- /dev/null
+++ b/panda/board/boards/red.h
@@ -0,0 +1,202 @@
+// ///////////////////// //
+// Red Panda + Harness //
+// ///////////////////// //
+
+void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver) {
+    case 1U:
+      set_gpio_output(GPIOG, 11, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOB, 3, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOD, 7, !enabled);
+      break;
+    case 4U:
+      set_gpio_output(GPIOB, 4, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void red_enable_can_transceivers(bool enabled) {
+  uint8_t main_bus = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
+  for (uint8_t i=1U; i<=4U; i++) {
+    // Leave main CAN always on for CAN-based ignition detection
+    if (i == main_bus) {
+      red_enable_can_transceiver(i, true);
+    } else {
+      red_enable_can_transceiver(i, enabled);
+    }
+  }
+}
+
+void red_set_led(uint8_t color, bool enabled) {
+  switch (color) {
+    case LED_RED:
+      set_gpio_output(GPIOE, 4, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOE, 3, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOE, 2, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void red_set_usb_load_switch(bool enabled) {
+  set_gpio_output(GPIOB, 14, !enabled);
+}
+
+void red_set_usb_power_mode(uint8_t mode) {
+  bool valid = false;
+  switch (mode) {
+    case USB_POWER_CLIENT:
+      red_set_usb_load_switch(false);
+      valid = true;
+      break;
+    case USB_POWER_CDP:
+      red_set_usb_load_switch(true);
+      valid = true;
+      break;
+    default:
+      break;
+  }
+  if (valid) {
+    usb_power_mode = mode;
+  }
+}
+
+void red_set_can_mode(uint8_t mode) {
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+    case CAN_MODE_OBD_CAN2:
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
+        // B12,B13: disable normal mode
+        set_gpio_pullup(GPIOB, 12, PULL_NONE);
+        set_gpio_mode(GPIOB, 12, MODE_ANALOG);
+
+        set_gpio_pullup(GPIOB, 13, PULL_NONE);
+        set_gpio_mode(GPIOB, 13, MODE_ANALOG);
+        
+        // B5,B6: FDCAN2 mode
+        set_gpio_pullup(GPIOB, 5, PULL_NONE);
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
+
+        set_gpio_pullup(GPIOB, 6, PULL_NONE);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
+      } else {
+        // B5,B6: disable normal mode
+        set_gpio_pullup(GPIOB, 5, PULL_NONE);
+        set_gpio_mode(GPIOB, 5, MODE_ANALOG);
+
+        set_gpio_pullup(GPIOB, 6, PULL_NONE);
+        set_gpio_mode(GPIOB, 6, MODE_ANALOG);
+        // B12,B13: FDCAN2 mode
+        set_gpio_pullup(GPIOB, 12, PULL_NONE);
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_FDCAN2);
+
+        set_gpio_pullup(GPIOB, 13, PULL_NONE);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
+      }
+      break;
+    default:
+      break;
+  }
+}
+
+bool red_check_ignition(void) {
+  // ignition is checked through harness
+  return harness_check_ignition();
+}
+
+void red_init(void) {
+  common_init_gpio();
+
+  //C4,A1: OBD_SBU1, OBD_SBU2
+  set_gpio_pullup(GPIOC, 4, PULL_NONE);
+  set_gpio_mode(GPIOC, 4, MODE_ANALOG);
+
+  set_gpio_pullup(GPIOA, 1, PULL_NONE);
+  set_gpio_mode(GPIOA, 1, MODE_ANALOG);
+
+  //C10,C11 : OBD_SBU1_RELAY, OBD_SBU2_RELAY
+  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_pullup(GPIOC, 10, PULL_NONE);
+  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
+  set_gpio_output(GPIOC, 10, 1);
+
+  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_pullup(GPIOC, 11, PULL_NONE);
+  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
+  set_gpio_output(GPIOC, 11, 1);
+
+  // Turn on USB load switch.
+  red_set_usb_load_switch(true);
+
+  // Set right power mode
+  red_set_usb_power_mode(USB_POWER_CDP);
+
+  // Initialize harness
+  harness_init();
+
+  // Enable CAN transceivers
+  red_enable_can_transceivers(true);
+
+  // Disable LEDs
+  red_set_led(LED_RED, false);
+  red_set_led(LED_GREEN, false);
+  red_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  red_set_can_mode(CAN_MODE_NORMAL);
+
+  // flip CAN0 and CAN2 if we are flipped
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+    can_flip_buses(0, 2);
+  }
+}
+
+const harness_configuration red_harness_config = {
+  .has_harness = true,
+  .GPIO_SBU1 = GPIOC,
+  .GPIO_SBU2 = GPIOA,
+  .GPIO_relay_SBU1 = GPIOC,
+  .GPIO_relay_SBU2 = GPIOC,
+  .pin_SBU1 = 4,
+  .pin_SBU2 = 1,
+  .pin_relay_SBU1 = 10,
+  .pin_relay_SBU2 = 11,
+  .adc_channel_SBU1 = 4, //ADC12_INP4
+  .adc_channel_SBU2 = 17 //ADC1_INP17
+};
+
+const board board_red = {
+  .board_type = "Red",
+  .harness_config = &red_harness_config,
+  .has_gps = false,
+  .has_hw_gmlan = false,
+  .has_obd = true,
+  .has_lin = false,
+  .has_rtc = false,
+  .init = red_init,
+  .enable_can_transceiver = red_enable_can_transceiver,
+  .enable_can_transceivers = red_enable_can_transceivers,
+  .set_led = red_set_led,
+  .set_usb_power_mode = red_set_usb_power_mode,
+  .set_gps_mode = unused_set_gps_mode,
+  .set_can_mode = red_set_can_mode,
+  .usb_power_mode_tick = unused_usb_power_mode_tick,
+  .check_ignition = red_check_ignition,
+  .read_current = unused_read_current,
+  .set_fan_power = unused_set_fan_power,
+  .set_ir_power = unused_set_ir_power,
+  .set_phone_power = unused_set_phone_power,
+  .set_clock_source_mode = unused_set_clock_source_mode,
+  .set_siren = unused_set_siren
+};
diff --git a/panda/board/boards/uno.h b/panda/board/boards/uno.h
index a6a06eff3e9974..d8f0e0c849d25e 100644
--- a/panda/board/boards/uno.h
+++ b/panda/board/boards/uno.h
@@ -4,8 +4,8 @@
 #define BOOTKICK_TIME 3U
 uint8_t bootkick_timer = 0U;
 
-void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
     case 1U:
       set_gpio_output(GPIOC, 1, !enabled);
       break;
@@ -19,14 +19,19 @@ void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
       set_gpio_output(GPIOB, 10, !enabled);
       break;
     default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
       break;
   }
 }
 
-void uno_enable_can_transcievers(bool enabled) {
+void uno_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
-    uno_enable_can_transciever(i, enabled);
+    // Leave main CAN always on for CAN-based ignition detection
+    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+      uno_enable_can_transceiver(i, true);
+    } else {
+      uno_enable_can_transceiver(i, enabled);
+    }
   }
 }
 
@@ -51,7 +56,12 @@ void uno_set_gps_load_switch(bool enabled) {
 }
 
 void uno_set_bootkick(bool enabled){
-  set_gpio_output(GPIOB, 14, !enabled);
+  if(enabled){
+    set_gpio_output(GPIOB, 14, false);
+  } else {
+    // We want the pin to be floating, not forced high!
+    set_gpio_mode(GPIOB, 14, MODE_INPUT);
+  }
 }
 
 void uno_bootkick(void) {
@@ -67,11 +77,9 @@ void uno_set_usb_power_mode(uint8_t mode) {
   bool valid = false;
   switch (mode) {
     case USB_POWER_CLIENT:
-      uno_set_phone_power(false);
       valid = true;
       break;
     case USB_POWER_CDP:
-      uno_set_phone_power(true);
       uno_bootkick();
       valid = true;
       break;
@@ -84,21 +92,21 @@ void uno_set_usb_power_mode(uint8_t mode) {
   }
 }
 
-void uno_set_esp_gps_mode(uint8_t mode) {
+void uno_set_gps_mode(uint8_t mode) {
   switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
       // GPS OFF
       set_gpio_output(GPIOB, 1, 0);
       set_gpio_output(GPIOC, 5, 0);
       uno_set_gps_load_switch(false);
       break;
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
       // GPS ON
       set_gpio_output(GPIOB, 1, 1);
       set_gpio_output(GPIOC, 5, 1);
       uno_set_gps_load_switch(true);
       break;
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
       set_gpio_output(GPIOB, 1, 1);
       set_gpio_output(GPIOC, 5, 0);
       uno_set_gps_load_switch(true);
@@ -165,11 +173,6 @@ void uno_set_fan_power(uint8_t percentage){
   fan_set_power(percentage);
 }
 
-uint32_t uno_read_current(void){
-  // No current sense on Uno
-  return 0U;
-}
-
 void uno_init(void) {
   common_init_gpio();
 
@@ -183,7 +186,7 @@ void uno_init(void) {
   set_gpio_mode(GPIOC, 3, MODE_ANALOG);
 
   // Set default state of GPS
-  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+  current_board->set_gps_mode(GPS_ENABLED);
 
   // C10: OBD_SBU1_RELAY (harness relay driving output)
   // C11: OBD_SBU2_RELAY (harness relay driving output)
@@ -218,8 +221,8 @@ void uno_init(void) {
   // Initialize RTC
   rtc_init();
 
-  // Enable CAN transcievers
-  uno_enable_can_transcievers(true);
+  // Enable CAN transceivers
+  uno_enable_can_transceivers(true);
 
   // Disable LEDs
   uno_set_led(LED_RED, false);
@@ -234,9 +237,6 @@ void uno_init(void) {
     can_flip_buses(0, 2);
   }
 
-  // init multiplexer
-  can_set_obd(car_harness_status, false);
-
   // Switch to phone usb mode if harness connection is powered by less than 7V
   if(adc_get_voltage() < 7000U){
     uno_set_usb_switch(true);
@@ -265,17 +265,24 @@ const harness_configuration uno_harness_config = {
 const board board_uno = {
   .board_type = "Uno",
   .harness_config = &uno_harness_config,
+  .has_gps = true,
+  .has_hw_gmlan = false,
+  .has_obd = true,
+  .has_lin = false,
+  .has_rtc = true,
   .init = uno_init,
-  .enable_can_transciever = uno_enable_can_transciever,
-  .enable_can_transcievers = uno_enable_can_transcievers,
+  .enable_can_transceiver = uno_enable_can_transceiver,
+  .enable_can_transceivers = uno_enable_can_transceivers,
   .set_led = uno_set_led,
   .set_usb_power_mode = uno_set_usb_power_mode,
-  .set_esp_gps_mode = uno_set_esp_gps_mode,
+  .set_gps_mode = uno_set_gps_mode,
   .set_can_mode = uno_set_can_mode,
   .usb_power_mode_tick = uno_usb_power_mode_tick,
   .check_ignition = uno_check_ignition,
-  .read_current = uno_read_current,
+  .read_current = unused_read_current,
   .set_fan_power = uno_set_fan_power,
   .set_ir_power = uno_set_ir_power,
-  .set_phone_power = uno_set_phone_power
+  .set_phone_power = uno_set_phone_power,
+  .set_clock_source_mode = unused_set_clock_source_mode,
+  .set_siren = unused_set_siren
 };
diff --git a/panda/board/boards/unused_funcs.h b/panda/board/boards/unused_funcs.h
new file mode 100644
index 00000000000000..e9d59c69a2f29d
--- /dev/null
+++ b/panda/board/boards/unused_funcs.h
@@ -0,0 +1,31 @@
+void unused_set_gps_mode(uint8_t mode) {
+  UNUSED(mode);
+}
+
+void unused_usb_power_mode_tick(uint32_t uptime) {
+  UNUSED(uptime);
+}
+
+void unused_set_ir_power(uint8_t percentage) {
+  UNUSED(percentage);
+}
+
+void unused_set_fan_power(uint8_t percentage) {
+  UNUSED(percentage);
+}
+
+void unused_set_phone_power(bool enabled) {
+  UNUSED(enabled);
+}
+
+void unused_set_clock_source_mode(uint8_t mode) {
+  UNUSED(mode);
+}
+
+void unused_set_siren(bool enabled) {
+  UNUSED(enabled);
+}
+
+uint32_t unused_read_current(void) {
+  return 0U;
+}
diff --git a/panda/board/boards/white.h b/panda/board/boards/white.h
index 1be0702f9496b4..560a3d4a590603 100644
--- a/panda/board/boards/white.h
+++ b/panda/board/boards/white.h
@@ -2,8 +2,8 @@
 // White Panda //
 // /////////// //
 
-void white_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
     case 1U:
       set_gpio_output(GPIOC, 1, !enabled);
       break;
@@ -14,15 +14,15 @@ void white_enable_can_transciever(uint8_t transciever, bool enabled) {
       set_gpio_output(GPIOA, 0, !enabled);
       break;
     default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
       break;
   }
 }
 
-void white_enable_can_transcievers(bool enabled) {
-  uint8_t t1 = enabled ? 1U : 2U;  // leave transciever 1 enabled to detect CAN ignition
+void white_enable_can_transceivers(bool enabled) {
+  uint8_t t1 = enabled ? 1U : 2U;  // leave transceiver 1 enabled to detect CAN ignition
   for(uint8_t i=t1; i<=3U; i++) {
-    white_enable_can_transciever(i, enabled);
+    white_enable_can_transceiver(i, enabled);
   }
 }
 
@@ -71,21 +71,14 @@ void white_set_usb_power_mode(uint8_t mode){
   }
 }
 
-void white_set_esp_gps_mode(uint8_t mode) {
+void white_set_gps_mode(uint8_t mode) {
   switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
       // ESP OFF
       set_gpio_output(GPIOC, 14, 0);
       set_gpio_output(GPIOC, 5, 0);
       break;
-#ifndef EON
-    case ESP_GPS_ENABLED:
-      // ESP ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-#endif
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 0);
       break;
@@ -158,90 +151,11 @@ uint32_t white_read_current(void){
   return adc_get(ADCCHAN_CURRENT);
 }
 
-uint32_t marker = 0;
-void white_usb_power_mode_tick(uint32_t uptime){
-
-  // on EON or BOOTSTUB, no state machine
-#if !defined(BOOTSTUB) && !defined(EON)
-  #define CURRENT_THRESHOLD 0xF00U
-  #define CLICKS 5U // 5 seconds to switch modes
-
-  uint32_t current = white_read_current();
-
-  // ~0x9a = 500 ma
-  // puth(current); puts("\n");
-
-  switch (usb_power_mode) {
-    case USB_POWER_CLIENT:
-      if ((uptime - marker) >= CLICKS) {
-        if (!is_enumerated) {
-          puts("USBP: didn't enumerate, switching to CDP mode\n");
-          // switch to CDP
-          white_set_usb_power_mode(USB_POWER_CDP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if it's enumerated
-      if (is_enumerated) {
-        marker = uptime;
-      }
-      break;
-    case USB_POWER_CDP:
-      // been CLICKS clicks since we switched to CDP
-      if ((uptime - marker) >= CLICKS) {
-        // measure current draw, if positive and no enumeration, switch to DCP
-        if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
-          puts("USBP: no enumeration with current draw, switching to DCP mode\n");
-          white_set_usb_power_mode(USB_POWER_DCP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if there's no current draw in CDP
-      if (current >= CURRENT_THRESHOLD) {
-        marker = uptime;
-      }
-      break;
-    case USB_POWER_DCP:
-      // been at least CLICKS clicks since we switched to DCP
-      if ((uptime - marker) >= CLICKS) {
-        // if no current draw, switch back to CDP
-        if (current >= CURRENT_THRESHOLD) {
-          puts("USBP: no current draw, switching back to CDP mode\n");
-          white_set_usb_power_mode(USB_POWER_CDP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if there's current draw in DCP
-      if (current < CURRENT_THRESHOLD) {
-        marker = uptime;
-      }
-      break;
-    default:
-      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
-      break;
-  }
-#else
-  UNUSED(uptime);
-#endif
-}
-
-void white_set_ir_power(uint8_t percentage){
-  UNUSED(percentage);
-}
-
-void white_set_fan_power(uint8_t percentage){
-  UNUSED(percentage);
-}
-
 bool white_check_ignition(void){
   // ignition is on PA1
   return !get_gpio_input(GPIOA, 1);
 }
 
-void white_set_phone_power(bool enabled){
-  UNUSED(enabled);
-}
-
 void white_grey_common_init(void) {
   common_init_gpio();
 
@@ -291,8 +205,8 @@ void white_grey_common_init(void) {
   set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
   set_gpio_pullup(GPIOC, 11, PULL_UP);
 
-  // Enable CAN transcievers
-  white_enable_can_transcievers(true);
+  // Enable CAN transceivers
+  white_enable_can_transceivers(true);
 
   // Disable LEDs
   white_set_led(LED_RED, false);
@@ -305,7 +219,7 @@ void white_grey_common_init(void) {
   // Init usb power mode
   uint32_t voltage = adc_get_voltage();
   // Init in CDP mode only if panda is powered by 12V.
-  // Otherwise a PC would not be able to flash a standalone panda with EON build
+  // Otherwise a PC would not be able to flash a standalone panda
   if (voltage > 8000U) {  // 8V threshold
     white_set_usb_power_mode(USB_POWER_CDP);
   } else {
@@ -316,12 +230,8 @@ void white_grey_common_init(void) {
 void white_init(void) {
   white_grey_common_init();
 
-  // Set default state of ESP
-  #ifdef EON
-    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
-  #else
-    current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
-  #endif
+  // Set ESP off by default
+  current_board->set_gps_mode(GPS_DISABLED);
 }
 
 const harness_configuration white_harness_config = {
@@ -331,17 +241,24 @@ const harness_configuration white_harness_config = {
 const board board_white = {
   .board_type = "White",
   .harness_config = &white_harness_config,
+  .has_gps = false,
+  .has_hw_gmlan = true,
+  .has_obd = false,
+  .has_lin = true,
+  .has_rtc = false,
   .init = white_init,
-  .enable_can_transciever = white_enable_can_transciever,
-  .enable_can_transcievers = white_enable_can_transcievers,
+  .enable_can_transceiver = white_enable_can_transceiver,
+  .enable_can_transceivers = white_enable_can_transceivers,
   .set_led = white_set_led,
   .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_gps_mode = white_set_gps_mode,
   .set_can_mode = white_set_can_mode,
-  .usb_power_mode_tick = white_usb_power_mode_tick,
+  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = white_check_ignition,
   .read_current = white_read_current,
-  .set_fan_power = white_set_fan_power,
-  .set_ir_power = white_set_ir_power,
-  .set_phone_power = white_set_phone_power
+  .set_fan_power = unused_set_fan_power,
+  .set_ir_power = unused_set_ir_power,
+  .set_phone_power = unused_set_phone_power,
+  .set_clock_source_mode = unused_set_clock_source_mode,
+  .set_siren = unused_set_siren
 };
diff --git a/panda/board/bootstub.c b/panda/board/bootstub.c
index 1521b5324030d0..a31721232ece02 100644
--- a/panda/board/bootstub.c
+++ b/panda/board/bootstub.c
@@ -3,62 +3,24 @@
 #define VERS_TAG 0x53524556
 #define MIN_VERSION 2
 
+// ********************* Includes *********************
 #include "config.h"
-#include "obj/gitversion.h"
-
-#ifdef STM32F4
-  #define PANDA
-  #include "stm32f4xx.h"
-  #include "stm32f4xx_hal_gpio_ex.h"
-#else
-  #include "stm32f2xx.h"
-  #include "stm32f2xx_hal_gpio_ex.h"
-#endif
 
-// ******************** Prototypes ********************
-void puts(const char *a){ UNUSED(a); }
-void puth(unsigned int i){ UNUSED(i); }
-void puth2(unsigned int i){ UNUSED(i); }
-typedef struct board board;
-typedef struct harness_configuration harness_configuration;
-// No CAN support on bootloader
-void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
-void can_set_obd(int harness_orientation, bool obd){UNUSED(harness_orientation); UNUSED(obd);}
-
-// ********************* Globals **********************
-int hw_type = 0;
-const board *current_board;
-
-// ********************* Includes *********************
-#include "libc.h"
-#include "provision.h"
-#include "critical.h"
-#include "faults.h"
-
-#include "drivers/registers.h"
-#include "drivers/interrupts.h"
-#include "drivers/clock.h"
-#include "drivers/llgpio.h"
-#include "drivers/adc.h"
 #include "drivers/pwm.h"
-
-#include "board.h"
-
-#include "gpio.h"
-
-#include "drivers/spi.h"
 #include "drivers/usb.h"
-//#include "drivers/uart.h"
+
+#include "early_init.h"
+#include "provision.h"
 
 #include "crypto/rsa.h"
 #include "crypto/sha.h"
 
 #include "obj/cert.h"
-
-#include "spi_flasher.h"
+#include "obj/gitversion.h"
+#include "flasher.h"
 
 void __initialize_hardware_early(void) {
-  early();
+  early_initialization();
 }
 
 void fail(void) {
@@ -77,7 +39,7 @@ int main(void) {
 
   disable_interrupts();
   clock_init();
-  detect_configuration();
+  detect_external_debug_serial();
   detect_board_type();
 
   if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
@@ -121,4 +83,3 @@ int main(void) {
   ((void(*)(void)) _app_start[1])();
   return 0;
 }
-
diff --git a/panda/board/bootstub_declarations.h b/panda/board/bootstub_declarations.h
new file mode 100644
index 00000000000000..8e9f07312f0a30
--- /dev/null
+++ b/panda/board/bootstub_declarations.h
@@ -0,0 +1,15 @@
+// ******************** Prototypes ********************
+void puts(const char *a){ UNUSED(a); }
+void puth(uint8_t i){ UNUSED(i); }
+void puth2(uint8_t i){ UNUSED(i); }
+void puth4(uint8_t i){ UNUSED(i); }
+typedef struct board board;
+typedef struct harness_configuration harness_configuration;
+// No CAN support on bootloader
+void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
+void pwm_init(TIM_TypeDef *TIM, uint8_t channel);
+void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage);
+
+// ********************* Globals **********************
+uint8_t hw_type = 0;
+const board *current_board;
diff --git a/panda/board/build.mk b/panda/board/build.mk
deleted file mode 100644
index 21daf53ad02710..00000000000000
--- a/panda/board/build.mk
+++ /dev/null
@@ -1,84 +0,0 @@
-CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os
-
-CFLAGS += -Tstm32_flash.ld
-
-DFU_UTIL = "dfu-util"
-
-# Compile fast charge (DCP) only not on EON
-ifeq (,$(wildcard /EON))
-  BUILDER = DEV
-else
-  CFLAGS += "-DEON"
-  BUILDER = EON
-  DFU_UTIL = "tools/dfu-util-aarch64"
-endif
-
-CC = arm-none-eabi-gcc
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-
-ifeq ($(RELEASE),1)
-  CERT = ../../pandaextra/certs/release
-else
-  # enable the debug cert
-  CERT = ../certs/debug
-  CFLAGS += "-DALLOW_DEBUG"
-endif
-
-
-DEPDIR = generated_dependencies
-$(shell mkdir -p -m 777 $(DEPDIR) >/dev/null)
-DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPDIR)/$*.Td
-POSTCOMPILE = @mv -f $(DEPDIR)/$*.Td $(DEPDIR)/$*.d && touch $@
-
-# this no longer pushes the bootstub
-flash: obj/$(PROJ_NAME).bin
-	PYTHONPATH=../ python3 -c "from python import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
-
-ota: obj/$(PROJ_NAME).bin
-	curl http://192.168.0.10/stupdate --upload-file $<
-
-bin: obj/$(PROJ_NAME).bin
-
-# this flashes everything
-recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
-	-PYTHONPATH=../ python3 -c "from python import Panda; Panda().reset(enter_bootloader=True)"
-	sleep 1.0
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin
-
-include ../common/version.mk
-
-obj/cert.h: ../crypto/getcertheader.py
-	../crypto/getcertheader.py ../certs/debug.pub ../certs/release.pub > $@
-
-obj/%.$(PROJ_NAME).o: %.c obj/gitversion.h obj/cert.h $(DEPDIR)/%.d
-	$(CC) $(DEPFLAGS) $(CFLAGS) -o $@ -c $<
-	$(POSTCOMPILE)
-
-obj/%.$(PROJ_NAME).o: ../crypto/%.c
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(STARTUP_FILE).o: $(STARTUP_FILE).s
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
-  # hack
-	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
-	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
-	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \
-	if [ $$BINSIZE -ge 49152 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
-
-obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
-	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
-
-$(DEPDIR)/%.d: ;
-.PRECIOUS: $(DEPDIR)/%.d
-
-include $(wildcard $(patsubst %,$(DEPDIR)/%.d,$(basename $(wildcard *.c))))
-
-clean:
-	@$(RM) obj/*
-	@rm -rf $(DEPDIR)
diff --git a/panda/board/build_all.sh b/panda/board/build_all.sh
new file mode 100755
index 00000000000000..a461f6fa7085e0
--- /dev/null
+++ b/panda/board/build_all.sh
@@ -0,0 +1,6 @@
+#!/usr/bin/env sh
+set -e
+
+scons -u
+PEDAL=1 scons -u
+PEDAL=1 PEDAL_USB=1 scons -u
diff --git a/panda/board/can_definitions.h b/panda/board/can_definitions.h
new file mode 100644
index 00000000000000..552cf3ff9685ab
--- /dev/null
+++ b/panda/board/can_definitions.h
@@ -0,0 +1,29 @@
+#include "dlc_to_len.h"
+
+#define CAN_PACKET_VERSION 2
+typedef struct {
+  unsigned char reserved : 1;
+  unsigned char bus : 3;
+  unsigned char data_len_code : 4;
+  unsigned char rejected : 1;
+  unsigned char returned : 1;
+  unsigned char extended : 1;
+  unsigned int addr : 29;
+  unsigned char data[CANPACKET_DATA_SIZE_MAX];
+} __attribute__((packed, aligned(4))) CANPacket_t;
+
+#define GET_BUS(msg) ((msg)->bus)
+#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
+#define GET_ADDR(msg) ((msg)->addr)
+
+// Flasher and pedal use raw mailbox access
+#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
+#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
+
+#define CAN_INIT_TIMEOUT_MS 500U
+
+#define CANPACKET_HEAD_SIZE 5U
+
+#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFF); 1[dst8] = (((src32) >> 8) & 0xFF); 2[dst8] = (((src32) >> 16) & 0xFF); 3[dst8] = (((src32) >> 24) & 0xFF)
+#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8) | (2[src8] << 16) | (3[src8] << 24))
diff --git a/panda/board/config.h b/panda/board/config.h
index 15096b69fa809b..311a0a2e179533 100644
--- a/panda/board/config.h
+++ b/panda/board/config.h
@@ -7,22 +7,14 @@
 //#define DEBUG_SPI
 //#define DEBUG_FAULTS
 
-#ifdef STM32F4
-  #define PANDA
-  #include "stm32f4xx.h"
-#else
-  #include "stm32f2xx.h"
-#endif
-
 #define USB_VID 0xbbaaU
 
 #ifdef BOOTSTUB
-#define USB_PID 0xddeeU
+  #define USB_PID 0xddeeU
 #else
-#define USB_PID 0xddccU
+  #define USB_PID 0xddccU
 #endif
 
-#include <stdbool.h>
 #define NULL ((void*)0)
 #define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))
 
@@ -36,10 +28,17 @@
      __typeof__ (b) _b = (b); \
    (_a > _b) ? _a : _b; })
 
-#define MAX_RESP_LEN 0x40U
+#define ABS(a) \
+ ({ __typeof__ (a) _a = (a); \
+   (_a > 0) ? _a : (-_a); })
 
-// Around (1Mbps / 8 bits/byte / 12 bytes per message)
-#define CAN_INTERRUPT_RATE 12000U
+#define MAX_RESP_LEN 0x40U
 
+#include <stdbool.h>
+#ifdef STM32H7
+  #include "stm32h7/stm32h7_config.h"
+#else
+  #include "stm32fx/stm32fx_config.h"
 #endif
 
+#endif
diff --git a/panda/board/crc.h b/panda/board/crc.h
new file mode 100644
index 00000000000000..0d62dd316e3c24
--- /dev/null
+++ b/panda/board/crc.h
@@ -0,0 +1,17 @@
+uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly) {
+  uint8_t crc = 0xFFU;
+  int i;
+  int j;
+  for (i = len - 1; i >= 0; i--) {
+    crc ^= dat[i];
+    for (j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U) {
+        crc = (uint8_t)((crc << 1) ^ poly);
+      }
+      else {
+        crc <<= 1;
+      }
+    }
+  }
+  return crc;
+}
diff --git a/panda/board/dlc_to_len.h b/panda/board/dlc_to_len.h
new file mode 100644
index 00000000000000..82d743ffb895ca
--- /dev/null
+++ b/panda/board/dlc_to_len.h
@@ -0,0 +1 @@
+unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
diff --git a/panda/board/drivers/adc.h b/panda/board/drivers/adc.h
deleted file mode 100644
index 358497adbfdcda..00000000000000
--- a/panda/board/drivers/adc.h
+++ /dev/null
@@ -1,38 +0,0 @@
-// ACCEL1 = ADC10
-// ACCEL2 = ADC11
-// VOLT_S = ADC12
-// CURR_S = ADC13
-
-#define ADCCHAN_ACCEL0 10
-#define ADCCHAN_ACCEL1 11
-#define ADCCHAN_VOLTAGE 12
-#define ADCCHAN_CURRENT 13
-
-void adc_init(void) {
-  register_set(&(ADC->CCR), ADC_CCR_TSVREFE | ADC_CCR_VBATE, 0xC30000U);
-  register_set(&(ADC1->CR2), ADC_CR2_ADON, 0xFF7F0F03U);
-  register_set(&(ADC1->SMPR1), ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13, 0x7FFFFFFU);
-}
-
-uint32_t adc_get(unsigned int channel) {
-  // Select channel
-  register_set(&(ADC1->JSQR), (channel << 15U), 0x3FFFFFU);
-
-  // Start conversion
-  ADC1->SR &= ~(ADC_SR_JEOC);
-  ADC1->CR2 |= ADC_CR2_JSWSTART;
-  while (!(ADC1->SR & ADC_SR_JEOC));
-
-  return ADC1->JDR1;
-}
-
-uint32_t adc_get_voltage(void) {
-  // REVC has a 10, 1 (1/11) voltage divider
-  // Here is the calculation for the scale (s)
-  // ADCV = VIN_S * (1/11) * (4095/3.3)
-  // RETVAL = ADCV * s = VIN_S*1000
-  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
-
-  // Avoid needing floating point math, so output in mV
-  return (adc_get(ADCCHAN_VOLTAGE) * 8862U) / 1000U;
-}
diff --git a/panda/board/drivers/bxcan.h b/panda/board/drivers/bxcan.h
new file mode 100644
index 00000000000000..10cee05fce6c28
--- /dev/null
+++ b/panda/board/drivers/bxcan.h
@@ -0,0 +1,241 @@
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
+//       CAN2_TX, CAN2_RX0, CAN2_SCE
+//       CAN3_TX, CAN3_RX0, CAN3_SCE
+
+CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
+
+bool can_set_speed(uint8_t can_number) {
+  bool ret = true;
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+
+  ret &= llcan_set_speed(CAN, bus_config[bus_number].can_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
+  return ret;
+}
+
+// TODO: Cleanup with new abstraction
+void can_set_gmlan(uint8_t bus) {
+  if(current_board->has_hw_gmlan){
+    // first, disable GMLAN on prev bus
+    uint8_t prev_bus = bus_config[3].can_num_lookup;
+    if (bus != prev_bus) {
+      switch (prev_bus) {
+        case 1:
+        case 2:
+          puts("Disable GMLAN on CAN");
+          puth(prev_bus + 1U);
+          puts("\n");
+          current_board->set_can_mode(CAN_MODE_NORMAL);
+          bus_config[prev_bus].bus_lookup = prev_bus;
+          bus_config[prev_bus].can_num_lookup = prev_bus;
+          bus_config[3].can_num_lookup = -1;
+          bool ret = can_init(prev_bus);
+          UNUSED(ret);
+          break;
+        default:
+          // GMLAN was not set on either BUS 1 or 2
+          break;
+      }
+    }
+
+    // now enable GMLAN on the new bus
+    switch (bus) {
+      case 1:
+      case 2:
+        puts("Enable GMLAN on CAN");
+        puth(bus + 1U);
+        puts("\n");
+        current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
+        bus_config[bus].bus_lookup = 3;
+        bus_config[bus].can_num_lookup = -1;
+        bus_config[3].can_num_lookup = bus;
+        bool ret = can_init(bus);
+        UNUSED(ret);
+        break;
+      case 0xFF:  //-1 unsigned
+        break;
+      default:
+        puts("GMLAN can only be set on CAN2 or CAN3\n");
+        break;
+    }
+  } else {
+    puts("GMLAN not available on black panda\n");
+  }
+}
+
+// CAN error
+void can_sce(CAN_TypeDef *CAN) {
+  ENTER_CRITICAL();
+
+  #ifdef DEBUG
+    if (CAN==CAN1) puts("CAN1:  ");
+    if (CAN==CAN2) puts("CAN2:  ");
+    #ifdef CAN3
+      if (CAN==CAN3) puts("CAN3:  ");
+    #endif
+    puts("MSR:");
+    puth(CAN->MSR);
+    puts(" TSR:");
+    puth(CAN->TSR);
+    puts(" RF0R:");
+    puth(CAN->RF0R);
+    puts(" RF1R:");
+    puth(CAN->RF1R);
+    puts(" ESR:");
+    puth(CAN->ESR);
+    puts("\n");
+  #endif
+
+  can_err_cnt += 1;
+  llcan_clear_send(CAN);
+  EXIT_CRITICAL();
+}
+
+// ***************************** CAN *****************************
+void process_can(uint8_t can_number) {
+  if (can_number != 0xffU) {
+
+    ENTER_CRITICAL();
+
+    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+
+    // check for empty mailbox
+    CANPacket_t to_send;
+    if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+      // add successfully transmitted message to my fifo
+      if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
+        can_txd_cnt += 1;
+
+        if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
+          CANPacket_t to_push;
+          to_push.returned = 1U;
+          to_push.rejected = 0U;
+          to_push.extended = (CAN->sTxMailBox[0].TIR >> 2) & 0x1U;
+          to_push.addr = (to_push.extended != 0) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
+          to_push.data_len_code = CAN->sTxMailBox[0].TDTR & 0xFU;
+          to_push.bus = bus_number;
+          WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sTxMailBox[0].TDLR);
+          WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sTxMailBox[0].TDHR);
+
+          can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
+        }
+
+        if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
+          #ifdef DEBUG
+            puts("CAN TX ERROR!\n");
+          #endif
+        }
+
+        if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
+          #ifdef DEBUG
+            puts("CAN TX ARBITRATION LOST!\n");
+          #endif
+        }
+
+        // clear interrupt
+        // careful, this can also be cleared by requesting a transmission
+        CAN->TSR |= CAN_TSR_RQCP0;
+      }
+
+      if (can_pop(can_queues[bus_number], &to_send)) {
+        can_tx_cnt += 1;
+        // only send if we have received a packet
+        CAN->sTxMailBox[0].TIR = ((to_send.extended != 0) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
+        CAN->sTxMailBox[0].TDTR = to_send.data_len_code;
+        BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDLR, &to_send.data[0]);
+        BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDHR, &to_send.data[4]);
+        // Send request TXRQ
+        CAN->sTxMailBox[0].TIR |= 0x1U;
+
+        usb_cb_ep3_out_complete();
+      }
+    }
+
+    EXIT_CRITICAL();
+  }
+}
+
+// CAN receive handlers
+// blink blue when we are receiving CAN messages
+void can_rx(uint8_t can_number) {
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
+    can_rx_cnt += 1;
+
+    // can is live
+    pending_can_live = 1;
+
+    // add to my fifo
+    CANPacket_t to_push;
+
+    to_push.returned = 0U;
+    to_push.rejected = 0U;
+    to_push.extended = (CAN->sFIFOMailBox[0].RIR >> 2) & 0x1U;
+    to_push.addr = (to_push.extended != 0) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
+    to_push.data_len_code = CAN->sFIFOMailBox[0].RDTR & 0xFU;
+    to_push.bus = bus_number;
+    WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sFIFOMailBox[0].RDLR);
+    WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sFIFOMailBox[0].RDHR);
+
+    // forwarding (panda only)
+    int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
+    if (bus_fwd_num != -1) {
+      CANPacket_t to_send;
+
+      to_send.returned = 0U;
+      to_push.rejected = 0U;
+      to_send.extended = to_push.extended; // TXRQ
+      to_send.addr = to_push.addr;
+      to_send.bus = to_push.bus;
+      to_send.data_len_code = to_push.data_len_code;
+      (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
+      can_send(&to_send, bus_fwd_num, true);
+    }
+
+    can_rx_errs += safety_rx_hook(&to_push) ? 0U : 1U;
+    ignition_can_hook(&to_push);
+
+    current_board->set_led(LED_BLUE, true);
+    can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
+
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_TX_IRQ_Handler(void) { process_can(0); }
+void CAN1_RX0_IRQ_Handler(void) { can_rx(0); }
+void CAN1_SCE_IRQ_Handler(void) { can_sce(CAN1); }
+
+void CAN2_TX_IRQ_Handler(void) { process_can(1); }
+void CAN2_RX0_IRQ_Handler(void) { can_rx(1); }
+void CAN2_SCE_IRQ_Handler(void) { can_sce(CAN2); }
+
+void CAN3_TX_IRQ_Handler(void) { process_can(2); }
+void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
+void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }
+
+bool can_init(uint8_t can_number) {
+  bool ret = false;
+
+  REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
+  REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
+  REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
+  REGISTER_INTERRUPT(CAN2_TX_IRQn, CAN2_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
+  REGISTER_INTERRUPT(CAN2_RX0_IRQn, CAN2_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
+  REGISTER_INTERRUPT(CAN2_SCE_IRQn, CAN2_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
+  REGISTER_INTERRUPT(CAN3_TX_IRQn, CAN3_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
+  REGISTER_INTERRUPT(CAN3_RX0_IRQn, CAN3_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
+  REGISTER_INTERRUPT(CAN3_SCE_IRQn, CAN3_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
+
+  if (can_number != 0xffU) {
+    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    ret &= can_set_speed(can_number);
+    ret &= llcan_init(CAN);
+    // in case there are queued up messages
+    process_can(can_number);
+  }
+  return ret;
+}
diff --git a/panda/board/drivers/can.h b/panda/board/drivers/can.h
deleted file mode 100644
index 93db2565ca5342..00000000000000
--- a/panda/board/drivers/can.h
+++ /dev/null
@@ -1,449 +0,0 @@
-// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
-//       CAN2_TX, CAN2_RX0, CAN2_SCE
-//       CAN3_TX, CAN3_RX0, CAN3_SCE
-
-typedef struct {
-  volatile uint32_t w_ptr;
-  volatile uint32_t r_ptr;
-  uint32_t fifo_size;
-  CAN_FIFOMailBox_TypeDef *elems;
-} can_ring;
-
-#define CAN_BUS_RET_FLAG 0x80U
-#define CAN_BUS_NUM_MASK 0x7FU
-
-#define BUS_MAX 4U
-
-uint32_t can_rx_errs = 0;
-uint32_t can_send_errs = 0;
-uint32_t can_fwd_errs = 0;
-uint32_t gmlan_send_errs = 0;
-extern int can_live, pending_can_live;
-
-// must reinit after changing these
-extern int can_loopback, can_silent;
-extern uint32_t can_speed[4];
-
-void can_set_forwarding(int from, int to);
-
-void can_init(uint8_t can_number);
-void can_init_all(void);
-void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
-bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
-
-// Ignition detected from CAN meessages
-bool ignition_can = false;
-uint32_t ignition_can_cnt = 0U;
-
-// end API
-
-#define ALL_CAN_SILENT 0xFF
-#define ALL_CAN_LIVE 0
-
-int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
-
-// ********************* instantiate queues *********************
-
-#define can_buffer(x, size) \
-  CAN_FIFOMailBox_TypeDef elems_##x[size]; \
-  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = size, .elems = (CAN_FIFOMailBox_TypeDef *)&elems_##x };
-
-can_buffer(rx_q, 0x1000)
-can_buffer(tx1_q, 0x100)
-can_buffer(tx2_q, 0x100)
-can_buffer(tx3_q, 0x100)
-can_buffer(txgmlan_q, 0x100)
-can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
-
-// global CAN stats
-int can_rx_cnt = 0;
-int can_tx_cnt = 0;
-int can_txd_cnt = 0;
-int can_err_cnt = 0;
-int can_overflow_cnt = 0;
-
-// ********************* interrupt safe queue *********************
-
-bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  bool ret = 0;
-
-  ENTER_CRITICAL();
-  if (q->w_ptr != q->r_ptr) {
-    *elem = q->elems[q->r_ptr];
-    if ((q->r_ptr + 1U) == q->fifo_size) {
-      q->r_ptr = 0;
-    } else {
-      q->r_ptr += 1U;
-    }
-    ret = 1;
-  }
-  EXIT_CRITICAL();
-
-  return ret;
-}
-
-bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  bool ret = false;
-  uint32_t next_w_ptr;
-
-  ENTER_CRITICAL();
-  if ((q->w_ptr + 1U) == q->fifo_size) {
-    next_w_ptr = 0;
-  } else {
-    next_w_ptr = q->w_ptr + 1U;
-  }
-  if (next_w_ptr != q->r_ptr) {
-    q->elems[q->w_ptr] = *elem;
-    q->w_ptr = next_w_ptr;
-    ret = true;
-  }
-  EXIT_CRITICAL();
-  if (!ret) {
-    can_overflow_cnt++;
-    #ifdef DEBUG
-      puts("can_push failed!\n");
-    #endif
-  }
-  return ret;
-}
-
-void can_clear(can_ring *q) {
-  ENTER_CRITICAL();
-  q->w_ptr = 0;
-  q->r_ptr = 0;
-  EXIT_CRITICAL();
-}
-
-// assign CAN numbering
-// bus num: Can bus number on ODB connector. Sent to/from USB
-//    Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
-// cans: Look up MCU can interface from bus number
-// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
-// bus_lookup: Translates from 'can number' to 'bus number'.
-// can_num_lookup: Translates from 'bus number' to 'can number'.
-// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
-
-// Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
-CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
-uint8_t bus_lookup[] = {0,1,2};
-uint8_t can_num_lookup[] = {0,1,2,-1};
-int8_t can_forwarding[] = {-1,-1,-1,-1};
-uint32_t can_speed[] = {5000, 5000, 5000, 333};
-#define CAN_MAX 3U
-
-#define CANIF_FROM_CAN_NUM(num) (cans[num])
-#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
-#define CAN_NAME_FROM_CANIF(CAN) ((CAN)==CAN1 ? "CAN1" : ((CAN) == CAN2 ? "CAN2" : "CAN3"))
-#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
-#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
-
-void process_can(uint8_t can_number);
-
-void can_set_speed(uint8_t can_number) {
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-
-  if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number))) {
-    puts("CAN init FAILED!!!!!\n");
-    puth(can_number); puts(" ");
-    puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
-  }
-}
-
-void can_init_all(void) {
-  for (uint8_t i=0U; i < CAN_MAX; i++) {
-    can_init(i);
-  }
-}
-
-void can_flip_buses(uint8_t bus1, uint8_t bus2){
-  bus_lookup[bus1] = bus2;
-  bus_lookup[bus2] = bus1;
-  can_num_lookup[bus1] = bus2;
-  can_num_lookup[bus2] = bus1;
-}
-
-// TODO: Cleanup with new abstraction
-void can_set_gmlan(uint8_t bus) {
-  if(board_has_gmlan()){
-    // first, disable GMLAN on prev bus
-    uint8_t prev_bus = can_num_lookup[3];
-    if (bus != prev_bus) {
-      switch (prev_bus) {
-        case 1:
-        case 2:
-          puts("Disable GMLAN on CAN");
-          puth(prev_bus + 1U);
-          puts("\n");
-          current_board->set_can_mode(CAN_MODE_NORMAL);
-          bus_lookup[prev_bus] = prev_bus;
-          can_num_lookup[prev_bus] = prev_bus;
-          can_num_lookup[3] = -1;
-          can_init(prev_bus);
-          break;
-        default:
-          // GMLAN was not set on either BUS 1 or 2
-          break;
-      }
-    }
-
-    // now enable GMLAN on the new bus
-    switch (bus) {
-      case 1:
-      case 2:
-        puts("Enable GMLAN on CAN");
-        puth(bus + 1U);
-        puts("\n");
-        current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
-        bus_lookup[bus] = 3;
-        can_num_lookup[bus] = -1;
-        can_num_lookup[3] = bus;
-        can_init(bus);
-        break;
-      case 0xFF:  //-1 unsigned
-        break;
-      default:
-        puts("GMLAN can only be set on CAN2 or CAN3\n");
-        break;
-    }
-  } else {
-    puts("GMLAN not available on black panda\n");
-  }
-}
-
-// TODO: remove
-void can_set_obd(uint8_t harness_orientation, bool obd){
-  if(obd){
-    puts("setting CAN2 to be OBD\n");
-  } else {
-    puts("setting CAN2 to be normal\n");
-  }
-  if(board_has_obd()){
-    if(obd != (bool)(harness_orientation == HARNESS_STATUS_NORMAL)){
-        // B5,B6: disable normal mode
-        set_gpio_mode(GPIOB, 5, MODE_INPUT);
-        set_gpio_mode(GPIOB, 6, MODE_INPUT);
-        // B12,B13: CAN2 mode
-        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-    } else {
-        // B5,B6: CAN2 mode
-        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-        // B12,B13: disable normal mode
-        set_gpio_mode(GPIOB, 12, MODE_INPUT);
-        set_gpio_mode(GPIOB, 13, MODE_INPUT);
-    }
-  } else {
-    puts("OBD CAN not available on this board\n");
-  }
-}
-
-// CAN error
-void can_sce(CAN_TypeDef *CAN) {
-  ENTER_CRITICAL();
-
-  #ifdef DEBUG
-    if (CAN==CAN1) puts("CAN1:  ");
-    if (CAN==CAN2) puts("CAN2:  ");
-    #ifdef CAN3
-      if (CAN==CAN3) puts("CAN3:  ");
-    #endif
-    puts("MSR:");
-    puth(CAN->MSR);
-    puts(" TSR:");
-    puth(CAN->TSR);
-    puts(" RF0R:");
-    puth(CAN->RF0R);
-    puts(" RF1R:");
-    puth(CAN->RF1R);
-    puts(" ESR:");
-    puth(CAN->ESR);
-    puts("\n");
-  #endif
-
-  can_err_cnt += 1;
-  llcan_clear_send(CAN);
-  EXIT_CRITICAL();
-}
-
-// ***************************** CAN *****************************
-
-void process_can(uint8_t can_number) {
-  if (can_number != 0xffU) {
-
-    ENTER_CRITICAL();
-
-    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-
-    // check for empty mailbox
-    CAN_FIFOMailBox_TypeDef to_send;
-    if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
-      // add successfully transmitted message to my fifo
-      if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
-        can_txd_cnt += 1;
-
-        if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
-          CAN_FIFOMailBox_TypeDef to_push;
-          to_push.RIR = CAN->sTxMailBox[0].TIR;
-          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
-          to_push.RDLR = CAN->sTxMailBox[0].TDLR;
-          to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-          can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
-        }
-
-        if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
-          #ifdef DEBUG
-            puts("CAN TX ERROR!\n");
-          #endif
-        }
-
-        if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
-          #ifdef DEBUG
-            puts("CAN TX ARBITRATION LOST!\n");
-          #endif
-        }
-
-        // clear interrupt
-        // careful, this can also be cleared by requesting a transmission
-        CAN->TSR |= CAN_TSR_RQCP0;
-      }
-
-      if (can_pop(can_queues[bus_number], &to_send)) {
-        can_tx_cnt += 1;
-        // only send if we have received a packet
-        CAN->sTxMailBox[0].TDLR = to_send.RDLR;
-        CAN->sTxMailBox[0].TDHR = to_send.RDHR;
-        CAN->sTxMailBox[0].TDTR = to_send.RDTR;
-        CAN->sTxMailBox[0].TIR = to_send.RIR;
-      }
-    }
-
-    EXIT_CRITICAL();
-  }
-}
-
-void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus = GET_BUS(to_push);
-  int addr = GET_ADDR(to_push);
-  int len = GET_LEN(to_push);
-
-  ignition_can_cnt = 0U;  // reset counter
-
-  if (bus == 0) {
-    // GM exception
-    if ((addr == 0x1F1) && (len == 8)) {
-      //Bit 5 is ignition "on"
-      ignition_can = (GET_BYTE(to_push, 0) & 0x20) != 0;
-    }
-    // Tesla exception
-    if ((addr == 0x348) && (len == 8)) {
-      // GTW_status
-      ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
-    }
-    // Cadillac exception
-    if ((addr == 0x160) && (len == 5)) {
-      // this message isn't all zeros when ignition is on
-      ignition_can = GET_BYTES_04(to_push) != 0;
-    }
-  }
-}
-
-// CAN receive handlers
-// blink blue when we are receiving CAN messages
-void can_rx(uint8_t can_number) {
-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
-    can_rx_cnt += 1;
-
-    // can is live
-    pending_can_live = 1;
-
-    // add to my fifo
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RIR = CAN->sFIFOMailBox[0].RIR;
-    to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
-    to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
-    to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
-
-    // modify RDTR for our API
-    to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
-
-    // forwarding (panda only)
-    int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
-    if (bus_fwd_num != -1) {
-      CAN_FIFOMailBox_TypeDef to_send;
-      to_send.RIR = to_push.RIR | 1; // TXRQ
-      to_send.RDTR = to_push.RDTR;
-      to_send.RDLR = to_push.RDLR;
-      to_send.RDHR = to_push.RDHR;
-      can_send(&to_send, bus_fwd_num, true);
-    }
-
-    can_rx_errs += safety_rx_hook(&to_push) ? 0U : 1U;
-    ignition_can_hook(&to_push);
-
-    current_board->set_led(LED_BLUE, true);
-    can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
-
-    // next
-    CAN->RF0R |= CAN_RF0R_RFOM0;
-  }
-}
-
-void CAN1_TX_IRQ_Handler(void) { process_can(0); }
-void CAN1_RX0_IRQ_Handler(void) { can_rx(0); }
-void CAN1_SCE_IRQ_Handler(void) { can_sce(CAN1); }
-
-void CAN2_TX_IRQ_Handler(void) { process_can(1); }
-void CAN2_RX0_IRQ_Handler(void) { can_rx(1); }
-void CAN2_SCE_IRQ_Handler(void) { can_sce(CAN2); }
-
-void CAN3_TX_IRQ_Handler(void) { process_can(2); }
-void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
-void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }
-
-void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
-  if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
-    if (bus_number < BUS_MAX) {
-      // add CAN packet to send queue
-      // bus number isn't passed through
-      to_push->RDTR &= 0xF;
-      if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
-        gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
-      } else {
-        can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
-        process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
-      }
-    }
-  }
-}
-
-void can_set_forwarding(int from, int to) {
-  can_forwarding[from] = to;
-}
-
-void can_init(uint8_t can_number) {
-  REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-  REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-  REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-  REGISTER_INTERRUPT(CAN2_TX_IRQn, CAN2_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
-  REGISTER_INTERRUPT(CAN2_RX0_IRQn, CAN2_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
-  REGISTER_INTERRUPT(CAN2_SCE_IRQn, CAN2_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
-  REGISTER_INTERRUPT(CAN3_TX_IRQn, CAN3_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
-  REGISTER_INTERRUPT(CAN3_RX0_IRQn, CAN3_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
-  REGISTER_INTERRUPT(CAN3_SCE_IRQn, CAN3_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
-
-  if (can_number != 0xffU) {
-    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-    can_set_speed(can_number);
-
-    llcan_init(CAN);
-
-    // in case there are queued up messages
-    process_can(can_number);
-  }
-}
-
diff --git a/panda/board/drivers/can_common.h b/panda/board/drivers/can_common.h
new file mode 100644
index 00000000000000..fac2028785539f
--- /dev/null
+++ b/panda/board/drivers/can_common.h
@@ -0,0 +1,252 @@
+typedef struct {
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
+  uint32_t fifo_size;
+  CANPacket_t *elems;
+} can_ring;
+
+typedef struct {
+  uint8_t bus_lookup;
+  uint8_t can_num_lookup;
+  uint32_t can_speed;
+  uint32_t can_data_speed;
+} bus_config_t;
+
+#define CAN_BUS_NUM_MASK 0x3FU
+
+#define BUS_MAX 4U
+
+uint32_t can_rx_errs = 0;
+uint32_t can_send_errs = 0;
+uint32_t can_fwd_errs = 0;
+uint32_t gmlan_send_errs = 0;
+
+extern int can_live;
+extern int pending_can_live;
+
+// must reinit after changing these
+extern int can_loopback;
+extern int can_silent;
+
+// Ignition detected from CAN meessages
+bool ignition_can = false;
+bool ignition_cadillac = false;
+uint32_t ignition_can_cnt = 0U;
+
+#define ALL_CAN_SILENT 0xFF
+#define ALL_CAN_LIVE 0
+
+int can_live = 0;
+int pending_can_live = 0;
+int can_loopback = 0;
+int can_silent = ALL_CAN_SILENT;
+
+// ******************* functions prototypes *********************
+bool can_init(uint8_t can_number);
+void process_can(uint8_t can_number);
+
+// ********************* instantiate queues *********************
+#define can_buffer(x, size) \
+  CANPacket_t elems_##x[size]; \
+  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
+
+#ifdef STM32H7
+__attribute__((section(".ram_d1"))) can_buffer(rx_q, 0x1000)
+__attribute__((section(".ram_d1"))) can_buffer(txgmlan_q, 0x1A0)
+#else
+can_buffer(rx_q, 0x1000)
+can_buffer(txgmlan_q, 0x1A0)
+#endif
+can_buffer(tx1_q, 0x1A0)
+can_buffer(tx2_q, 0x1A0)
+can_buffer(tx3_q, 0x1A0)
+// FIXME:
+// cppcheck-suppress misra-c2012-9.3
+can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
+
+// global CAN stats
+int can_rx_cnt = 0;
+int can_tx_cnt = 0;
+int can_txd_cnt = 0;
+int can_err_cnt = 0;
+int can_overflow_cnt = 0;
+
+// ********************* interrupt safe queue *********************
+bool can_pop(can_ring *q, CANPacket_t *elem) {
+  bool ret = 0;
+
+  ENTER_CRITICAL();
+  if (q->w_ptr != q->r_ptr) {
+    *elem = q->elems[q->r_ptr];
+    if ((q->r_ptr + 1U) == q->fifo_size) {
+      q->r_ptr = 0;
+    } else {
+      q->r_ptr += 1U;
+    }
+    ret = 1;
+  }
+  EXIT_CRITICAL();
+
+  return ret;
+}
+
+bool can_push(can_ring *q, CANPacket_t *elem) {
+  bool ret = false;
+  uint32_t next_w_ptr;
+
+  ENTER_CRITICAL();
+  if ((q->w_ptr + 1U) == q->fifo_size) {
+    next_w_ptr = 0;
+  } else {
+    next_w_ptr = q->w_ptr + 1U;
+  }
+  if (next_w_ptr != q->r_ptr) {
+    q->elems[q->w_ptr] = *elem;
+    q->w_ptr = next_w_ptr;
+    ret = true;
+  }
+  EXIT_CRITICAL();
+  if (!ret) {
+    can_overflow_cnt++;
+    #ifdef DEBUG
+      puts("can_push to ");
+      if (q == &can_rx_q) {
+        puts("can_rx_q");
+      } else if (q == &can_tx1_q) {
+        puts("can_tx1_q");
+      } else if (q == &can_tx2_q) {
+        puts("can_tx2_q");
+      } else if (q == &can_tx3_q) {
+        puts("can_tx3_q");
+      } else if (q == &can_txgmlan_q) {
+        puts("can_txgmlan_q");
+      } else {
+        puts("unknown");
+      }
+      puts(" failed!\n");
+    #endif
+  }
+  return ret;
+}
+
+uint32_t can_slots_empty(can_ring *q) {
+  uint32_t ret = 0;
+
+  ENTER_CRITICAL();
+  if (q->w_ptr >= q->r_ptr) {
+    ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
+  } else {
+    ret = q->r_ptr - q->w_ptr - 1U;
+  }
+  EXIT_CRITICAL();
+
+  return ret;
+}
+
+void can_clear(can_ring *q) {
+  ENTER_CRITICAL();
+  q->w_ptr = 0;
+  q->r_ptr = 0;
+  EXIT_CRITICAL();
+  // handle TX buffer full with zero ECUs awake on the bus
+  usb_cb_ep3_out_complete();
+}
+
+// assign CAN numbering
+// bus num: Can bus number on ODB connector. Sent to/from USB
+//    Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
+// cans: Look up MCU can interface from bus number
+// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
+// bus_lookup: Translates from 'can number' to 'bus number'.
+// can_num_lookup: Translates from 'bus number' to 'can number'.
+
+// Helpers
+// Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
+bus_config_t bus_config[] = {
+  { .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U },
+  { .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U },
+  { .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U },
+  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U },
+};
+
+#define CAN_MAX 3U
+
+#define CANIF_FROM_CAN_NUM(num) (cans[num])
+#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
+#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
+
+void can_init_all(void) {
+  bool ret = true;
+  for (uint8_t i=0U; i < CAN_MAX; i++) {
+    can_clear(can_queues[i]);
+    ret &= can_init(i);
+  }
+  UNUSED(ret);
+}
+
+void can_flip_buses(uint8_t bus1, uint8_t bus2){
+  bus_config[bus1].bus_lookup = bus2;
+  bus_config[bus2].bus_lookup = bus1;
+  bus_config[bus1].can_num_lookup = bus2;
+  bus_config[bus2].can_num_lookup = bus1;
+}
+
+void ignition_can_hook(CANPacket_t *to_push) {
+  int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
+  int len = GET_LEN(to_push);
+
+  ignition_can_cnt = 0U;  // reset counter
+
+  if (bus == 0) {
+    // GM exception
+    // TODO: verify on all supported GM models that we can reliably detect ignition using only this signal,
+    // since the 0x1F1 signal can briefly go low immediately after ignition
+    if ((addr == 0x160) && (len == 5)) {
+      // this message isn't all zeros when ignition is on
+      ignition_cadillac = GET_BYTES_04(to_push) != 0;
+    }
+    if ((addr == 0x1F1) && (len == 8)) {
+      // Bit 5 is ignition "on"
+      bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
+      ignition_can = ignition_gm || ignition_cadillac;
+    }
+
+    // Tesla exception
+    if ((addr == 0x348) && (len == 8)) {
+      // GTW_status
+      ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
+    }
+
+    // Mazda exception
+    if ((addr == 0x9E) && (len == 8)) {
+      ignition_can = (GET_BYTE(to_push, 0) >> 4) == 0xDU;
+    }
+
+  }
+}
+
+bool can_tx_check_min_slots_free(uint32_t min) {
+  return
+    (can_slots_empty(&can_tx1_q) >= min) &&
+    (can_slots_empty(&can_tx2_q) >= min) &&
+    (can_slots_empty(&can_tx3_q) >= min) &&
+    (can_slots_empty(&can_txgmlan_q) >= min);
+}
+
+void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
+  if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
+    if (bus_number < BUS_MAX) {
+      // add CAN packet to send queue
+      if ((bus_number == 3U) && (bus_config[3].can_num_lookup == 0xFFU)) {
+        gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
+      } else {
+        can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
+        process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
+      }
+    }
+  } else {
+    to_push->rejected = 1U;
+    can_send_errs += can_push(&can_rx_q, to_push) ? 0U : 1U;
+  }
+}
diff --git a/panda/board/drivers/clock.h b/panda/board/drivers/clock.h
deleted file mode 100644
index b75692438ec63a..00000000000000
--- a/panda/board/drivers/clock.h
+++ /dev/null
@@ -1,40 +0,0 @@
-void clock_init(void) {
-  // enable external oscillator
-  register_set_bits(&(RCC->CR), RCC_CR_HSEON);
-  while ((RCC->CR & RCC_CR_HSERDY) == 0);
-
-  // divide things
-  register_set(&(RCC->CFGR), RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4, 0xFF7FFCF3U);
-
-  // 16mhz crystal
-  register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE, 0x7F437FFFU);
-
-  // start PLL
-  register_set_bits(&(RCC->CR), RCC_CR_PLLON);
-  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
-
-  // Configure Flash prefetch, Instruction cache, Data cache and wait state
-  // *** without this, it breaks ***
-  register_set(&(FLASH->ACR), FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS, 0x1F0FU);
-
-  // switch to PLL
-  register_set_bits(&(RCC->CFGR), RCC_CFGR_SW_PLL);
-  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
-
-  // *** running on PLL ***
-}
-
-void watchdog_init(void) {
-  // setup watchdog
-  IWDG->KR = 0x5555U;
-  register_set(&(IWDG->PR), 0x0U, 0x7U);  // divider/4
-
-  // 0 = 0.125 ms, let's have a 50ms watchdog
-  register_set(&(IWDG->RLR), (400U-1U), 0xFFFU);
-  IWDG->KR = 0xCCCCU;
-}
-
-void watchdog_feed(void) {
-  IWDG->KR = 0xAAAAU;
-}
-
diff --git a/panda/board/drivers/dac.h b/panda/board/drivers/dac.h
deleted file mode 100644
index 4bdb16100c7bb6..00000000000000
--- a/panda/board/drivers/dac.h
+++ /dev/null
@@ -1,20 +0,0 @@
-void puth(unsigned int i);
-void puts(const char *a);
-
-void dac_init(void) {
-  // No buffers required since we have an opamp
-  register_set(&(DAC->DHR12R1), 0U, 0xFFFU);
-  register_set(&(DAC->DHR12R2), 0U, 0xFFFU);
-  register_set(&(DAC->CR), DAC_CR_EN1 | DAC_CR_EN2, 0x3FFF3FFFU);
-}
-
-void dac_set(int channel, uint32_t value) {
-  if (channel == 0) {
-    register_set(&(DAC->DHR12R1), value, 0xFFFU);
-  } else if (channel == 1) {
-    register_set(&(DAC->DHR12R2), value, 0xFFFU);
-  } else {
-    puts("Failed to set DAC: invalid channel value: 0x"); puth(value); puts("\n");
-  }
-}
-
diff --git a/panda/board/drivers/fan.h b/panda/board/drivers/fan.h
index 2f10e5ca8d7b51..c273972a1d5e29 100644
--- a/panda/board/drivers/fan.h
+++ b/panda/board/drivers/fan.h
@@ -1,39 +1,14 @@
+uint16_t fan_tach_counter = 0U;
+uint16_t fan_rpm = 0U;
+
 void fan_set_power(uint8_t percentage){
   pwm_set(TIM3, 3, percentage);
 }
 
-uint16_t fan_tach_counter = 0U;
-uint16_t fan_rpm = 0U;
-
 // Can be way more acurate than this, but this is probably good enough for our purposes.
-
 // Call this every second
 void fan_tick(void){
     // 4 interrupts per rotation
     fan_rpm = fan_tach_counter * 15U;
     fan_tach_counter = 0U;
 }
-
-// TACH interrupt handler
-void EXTI2_IRQ_Handler(void) {
-    volatile unsigned int pr = EXTI->PR & (1U << 2);
-    if ((pr & (1U << 2)) != 0U) {
-        fan_tach_counter++;
-    }
-    EXTI->PR = (1U << 2);
-}
-
-void fan_init(void){
-    // 5000RPM * 4 tach edges / 60 seconds
-    REGISTER_INTERRUPT(EXTI2_IRQn, EXTI2_IRQ_Handler, 700U, FAULT_INTERRUPT_RATE_TACH)
-
-    // Init PWM speed control
-    pwm_init(TIM3, 3);
-
-    // Init TACH interrupt
-    register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI2_PD, 0xF00U);
-    register_set_bits(&(EXTI->IMR), (1U << 2));
-    register_set_bits(&(EXTI->RTSR), (1U << 2));
-    register_set_bits(&(EXTI->FTSR), (1U << 2));
-    NVIC_EnableIRQ(EXTI2_IRQn);
-}
\ No newline at end of file
diff --git a/panda/board/drivers/fdcan.h b/panda/board/drivers/fdcan.h
new file mode 100644
index 00000000000000..3d7d376e702cba
--- /dev/null
+++ b/panda/board/drivers/fdcan.h
@@ -0,0 +1,218 @@
+// IRQs: FDCAN1_IT0, FDCAN1_IT1
+//       FDCAN2_IT0, FDCAN2_IT1
+//       FDCAN3_IT0, FDCAN3_IT1
+
+#define BUS_OFF_FAIL_LIMIT 2U
+uint8_t bus_off_err[] = {0U, 0U, 0U};
+
+typedef struct {
+  volatile uint32_t header[2];
+  volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
+} canfd_fifo;
+
+FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
+
+bool can_set_speed(uint8_t can_number) {
+  bool ret = true;
+  FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+
+  ret &= llcan_set_speed(CANx, bus_config[bus_number].can_speed, bus_config[bus_number].can_data_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
+  return ret;
+}
+
+void can_set_gmlan(uint8_t bus) {
+  UNUSED(bus);
+  puts("GMLAN not available on red panda\n");
+}
+
+void cycle_transceiver(uint8_t can_number) {
+  // FDCAN1 = trans 1, FDCAN3 = trans 3, FDCAN2 = trans 2 normal or 4 flipped harness
+  uint8_t transceiver_number = can_number;
+  if (can_number == 2U) {
+    uint8_t flip = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 2U : 0U;
+    transceiver_number += flip;
+  }
+  current_board->enable_can_transceiver(transceiver_number, false);
+  delay(20000);
+  current_board->enable_can_transceiver(transceiver_number, true);
+  bus_off_err[can_number] = 0U;
+  puts("Cycled transceiver number: "); puth(transceiver_number); puts("\n");
+}
+
+// ***************************** CAN *****************************
+void process_can(uint8_t can_number) {
+  if (can_number != 0xffU) {
+    ENTER_CRITICAL();
+
+    FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
+    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+
+    CANx->IR |= FDCAN_IR_TFE; // Clear Tx FIFO Empty flag
+
+    if ((CANx->TXFQS & FDCAN_TXFQS_TFQF) == 0) {
+      CANPacket_t to_send;
+      if (can_pop(can_queues[bus_number], &to_send)) {
+        can_tx_cnt += 1;
+        uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
+        uint8_t tx_index = (CANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
+        // only send if we have received a packet
+        canfd_fifo *fifo;
+        fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
+
+        fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0) ? (to_send.addr) : (to_send.addr << 18));
+        fifo->header[1] = (to_send.data_len_code << 16); // | (1U << 21) | (1U << 20) to enable CAN FD , enable BRS
+
+        uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
+        data_len_w += ((dlc_to_len[to_send.data_len_code] % 4) > 0) ? 1U : 0U;
+        for (unsigned int i = 0; i < data_len_w; i++) {
+          BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4]);
+        }
+
+        CANx->TXBAR = (1UL << tx_index);
+
+        // Send back to USB
+        can_txd_cnt += 1;
+        CANPacket_t to_push;
+
+        to_push.returned = 1U;
+        to_push.rejected = 0U;
+        to_push.extended = to_send.extended;
+        to_push.addr = to_send.addr;
+        to_push.bus = to_send.bus;
+        to_push.data_len_code = to_send.data_len_code;
+        (void)memcpy(to_push.data, to_send.data, dlc_to_len[to_push.data_len_code]);
+        can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
+
+        usb_cb_ep3_out_complete();
+      }
+    }
+
+    // Recover after Bus-off state
+    if (((CANx->PSR & FDCAN_PSR_BO) != 0) && ((CANx->CCCR & FDCAN_CCCR_INIT) != 0)) {
+      bus_off_err[can_number] += 1U;
+      puts("CAN is in Bus_Off state! Resetting... CAN number: "); puth(can_number); puts("\n");
+      if (bus_off_err[can_number] > BUS_OFF_FAIL_LIMIT) {
+        cycle_transceiver(can_number);
+      }
+      CANx->IR = 0xFFC60000U; // Reset all flags(Only errors!)
+      CANx->CCCR &= ~(FDCAN_CCCR_INIT);
+      uint32_t timeout_counter = 0U;
+      while((CANx->CCCR & FDCAN_CCCR_INIT) != 0) {
+        // Delay for about 1ms
+        delay(10000);
+        timeout_counter++;
+
+        if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+          puts(CAN_NAME_FROM_CANIF(CANx)); puts(" Bus_Off reset timed out!\n");
+          break;
+        }
+      }
+    }
+    EXIT_CRITICAL();
+  }
+}
+
+// CAN receive handlers
+// blink blue when we are receiving CAN messages
+void can_rx(uint8_t can_number) {
+  FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  uint8_t rx_fifo_idx;
+
+  // Rx FIFO 0 new message
+  if((CANx->IR & FDCAN_IR_RF0N) != 0) {
+    CANx->IR |= FDCAN_IR_RF0N;
+    while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
+      can_rx_cnt += 1;
+
+      // can is live
+      pending_can_live = 1;
+
+      // getting new message index (0 to 63)
+      rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
+
+      uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
+      CANPacket_t to_push;
+      canfd_fifo *fifo;
+
+      // getting address
+      fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
+
+      to_push.returned = 0U;
+      to_push.rejected = 0U;
+      to_push.extended = (fifo->header[0] >> 30) & 0x1U;
+      to_push.addr = ((to_push.extended != 0) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
+      to_push.bus = bus_number;
+      to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
+
+      uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
+      data_len_w += ((dlc_to_len[to_push.data_len_code] % 4) > 0) ? 1U : 0U;
+      for (unsigned int i = 0; i < data_len_w; i++) {
+        WORD_TO_BYTE_ARRAY(&to_push.data[i*4], fifo->data_word[i]);
+      }
+
+      // forwarding (panda only)
+      int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
+      if (bus_fwd_num != -1) {
+        CANPacket_t to_send;
+
+        to_send.returned = 0U;
+        to_push.rejected = 0U;
+        to_send.extended = to_push.extended;
+        to_send.addr = to_push.addr;
+        to_send.bus = to_push.bus;
+        to_send.data_len_code = to_push.data_len_code;
+        (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
+        can_send(&to_send, bus_fwd_num, true);
+      }
+
+      can_rx_errs += safety_rx_hook(&to_push) ? 0U : 1U;
+      ignition_can_hook(&to_push);
+
+      current_board->set_led(LED_BLUE, true);
+      can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
+
+      // update read index
+      CANx->RXF0A = rx_fifo_idx;
+    }
+
+  } else if((CANx->IR & (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO)) != 0) {
+    #ifdef DEBUG
+      puts("FDCAN error, FDCAN_IR: ");puth(CANx->IR);puts("\n");
+    #endif
+    CANx->IR |= (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO); // Clean all error flags
+    can_err_cnt += 1;
+  } else {
+
+  }
+}
+
+void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
+void FDCAN1_IT1_IRQ_Handler(void) { process_can(0); }
+
+void FDCAN2_IT0_IRQ_Handler(void) { can_rx(1); }
+void FDCAN2_IT1_IRQ_Handler(void) { process_can(1); }
+
+void FDCAN3_IT0_IRQ_Handler(void) { can_rx(2);  }
+void FDCAN3_IT1_IRQ_Handler(void) { process_can(2); }
+
+bool can_init(uint8_t can_number) {
+  bool ret = false;
+
+  REGISTER_INTERRUPT(FDCAN1_IT0_IRQn, FDCAN1_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
+  REGISTER_INTERRUPT(FDCAN1_IT1_IRQn, FDCAN1_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
+  REGISTER_INTERRUPT(FDCAN2_IT0_IRQn, FDCAN2_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
+  REGISTER_INTERRUPT(FDCAN2_IT1_IRQn, FDCAN2_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
+  REGISTER_INTERRUPT(FDCAN3_IT0_IRQn, FDCAN3_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
+  REGISTER_INTERRUPT(FDCAN3_IT1_IRQn, FDCAN3_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
+
+  if (can_number != 0xffU) {
+    FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
+    ret &= can_set_speed(can_number);
+    ret &= llcan_init(CANx);
+    // in case there are queued up messages
+    process_can(can_number);
+  }
+  return ret;
+}
diff --git a/panda/board/drivers/gmlan_alt.h b/panda/board/drivers/gmlan_alt.h
index 2f2e568055b02f..9b95e0dd8c39f9 100644
--- a/panda/board/drivers/gmlan_alt.h
+++ b/panda/board/drivers/gmlan_alt.h
@@ -75,7 +75,7 @@ int append_int(char *in, int in_len, int val, int val_len) {
   return in_len_copy;
 }
 
-int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
+int get_bit_message(char *out, CANPacket_t *to_bang) {
   char pkt[MAX_BITS_CAN_PACKET];
   char footer[] = {
     1,  // CRC delimiter
@@ -88,18 +88,18 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   int len = 0;
 
   // test packet
-  int dlc_len = to_bang->RDTR & 0xF;
+  int dlc_len = GET_LEN(to_bang);
   len = append_int(pkt, len, 0, 1);    // Start-of-frame
 
-  if ((to_bang->RIR & 4) != 0) {
+  if (to_bang->extended != 0) {
     // extended identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, GET_ADDR(to_bang) >> 18, 11);  // Identifier
     len = append_int(pkt, len, 3, 2);    // SRR+IDE
-    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18);  // Identifier
+    len = append_int(pkt, len, (GET_ADDR(to_bang)) & ((1U << 18) - 1U), 18);  // Identifier
     len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
   } else {
     // standard identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, GET_ADDR(to_bang), 11);  // Identifier
     len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
   }
 
@@ -107,8 +107,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
 
   // append data
   for (int i = 0; i < dlc_len; i++) {
-    unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
-    len = append_int(pkt, len, dat, 8);
+    len = append_int(pkt, len, to_bang->data[i], 8);
   }
 
   // append crc
@@ -122,23 +121,23 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   return len;
 }
 
-void TIM4_IRQ_Handler(void);
+void TIM12_IRQ_Handler(void);
 
-void setup_timer4(void) {
+void setup_timer(void) {
   // register interrupt
-  REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
+  REGISTER_INTERRUPT(TIM8_BRK_TIM12_IRQn, TIM12_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
 
   // setup
-  register_set(&(TIM4->PSC), (48-1), 0xFFFFU);    // Tick on 1 us
-  register_set(&(TIM4->CR1), TIM_CR1_CEN, 0x3FU); // Enable
-  register_set(&(TIM4->ARR), (30-1), 0xFFFFU);   // 33.3 kbps
+  register_set(&(TIM12->PSC), (48-1), 0xFFFFU);    // Tick on 1 us
+  register_set(&(TIM12->CR1), TIM_CR1_CEN, 0x3FU); // Enable
+  register_set(&(TIM12->ARR), (30-1), 0xFFFFU);   // 33.3 kbps
 
   // in case it's disabled
-  NVIC_EnableIRQ(TIM4_IRQn);
+  NVIC_EnableIRQ(TIM8_BRK_TIM12_IRQn);
 
   // run the interrupt
-  register_set(&(TIM4->DIER), TIM_DIER_UIE, 0x5F5FU); // Update interrupt
-  TIM4->SR = 0;
+  register_set(&(TIM12->DIER), TIM_DIER_UIE, 0x5F5FU); // Update interrupt
+  TIM12->SR = 0;
 }
 
 int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
@@ -154,7 +153,7 @@ void gmlan_switch_init(int timeout_enable) {
   gmlan_switch_below_timeout = 1;
   set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
 
-  setup_timer4();
+  setup_timer();
 
   inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
 }
@@ -192,9 +191,9 @@ int gmlan_fail_count = 0;
 #define REQUIRED_SILENT_TIME 10
 #define MAX_FAIL_COUNT 10
 
-void TIM4_IRQ_Handler(void) {
+void TIM12_IRQ_Handler(void) {
   if (gmlan_alt_mode == BITBANG) {
-    if ((TIM4->SR & TIM_SR_UIF) && (gmlan_sendmax != -1)) {
+    if ((TIM12->SR & TIM_SR_UIF) && (gmlan_sendmax != -1)) {
       int read = get_gpio_input(GPIOB, 12);
       if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
         if (read == 0) {
@@ -236,13 +235,13 @@ void TIM4_IRQ_Handler(void) {
       if ((gmlan_sending == gmlan_sendmax) || (gmlan_fail_count == MAX_FAIL_COUNT)) {
         set_bitbanged_gmlan(1); // recessive
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
-        register_clear_bits(&(TIM4->DIER), TIM_DIER_UIE); // No update interrupt
-        register_set(&(TIM4->CR1), 0U, 0x3FU); // Disable timer
+        register_clear_bits(&(TIM12->DIER), TIM_DIER_UIE); // No update interrupt
+        register_set(&(TIM12->CR1), 0U, 0x3FU); // Disable timer
         gmlan_sendmax = -1;   // exit
       }
     }
   } else if (gmlan_alt_mode == GPIO_SWITCH) {
-    if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
+    if ((TIM12->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
       if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
         //it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
         set_gpio_output(GPIOB, 13, GMLAN_LOW);
@@ -266,10 +265,10 @@ void TIM4_IRQ_Handler(void) {
   } else {
     // Invalid GMLAN mode. Do not put a print statement here, way too fast to keep up with
   }
-  TIM4->SR = 0;
+  TIM12->SR = 0;
 }
 
-bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+bool bitbang_gmlan(CANPacket_t *to_bang) {
   gmlan_send_ok = true;
   gmlan_alt_mode = BITBANG;
 
@@ -284,8 +283,7 @@ bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
     set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
 
     // 33kbps
-    setup_timer4();
+    setup_timer();
   }
   return gmlan_send_ok;
 }
-
diff --git a/panda/board/drivers/gpio.h b/panda/board/drivers/gpio.h
new file mode 100644
index 00000000000000..77af87658cae5b
--- /dev/null
+++ b/panda/board/drivers/gpio.h
@@ -0,0 +1,75 @@
+#define MODE_INPUT 0
+#define MODE_OUTPUT 1
+#define MODE_ALTERNATE 2
+#define MODE_ANALOG 3
+
+#define PULL_NONE 0
+#define PULL_UP 1
+#define PULL_DOWN 2
+
+#define OUTPUT_TYPE_PUSH_PULL 0U
+#define OUTPUT_TYPE_OPEN_DRAIN 1U
+
+void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
+  uint32_t tmp = GPIO->MODER;
+  tmp &= ~(3U << (pin * 2U));
+  tmp |= (mode << (pin * 2U));
+  register_set(&(GPIO->MODER), tmp, 0xFFFFFFFFU);
+  EXIT_CRITICAL();
+}
+
+void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
+  ENTER_CRITICAL();
+  if (enabled) {
+    register_set_bits(&(GPIO->ODR), (1U << pin));
+  } else {
+    register_clear_bits(&(GPIO->ODR), (1U << pin));
+  }
+  set_gpio_mode(GPIO, pin, MODE_OUTPUT);
+  EXIT_CRITICAL();
+}
+
+void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
+  ENTER_CRITICAL();
+  if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
+    register_set_bits(&(GPIO->OTYPER), (1U << pin));
+  } else {
+    register_clear_bits(&(GPIO->OTYPER), (1U << pin));
+  }
+  EXIT_CRITICAL();
+}
+
+void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
+  uint32_t tmp = GPIO->AFR[pin >> 3U];
+  tmp &= ~(0xFU << ((pin & 7U) * 4U));
+  tmp |= mode << ((pin & 7U) * 4U);
+  register_set(&(GPIO->AFR[pin >> 3]), tmp, 0xFFFFFFFFU);
+  set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
+  EXIT_CRITICAL();
+}
+
+void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
+  uint32_t tmp = GPIO->PUPDR;
+  tmp &= ~(3U << (pin * 2U));
+  tmp |= (mode << (pin * 2U));
+  register_set(&(GPIO->PUPDR), tmp, 0xFFFFFFFFU);
+  EXIT_CRITICAL();
+}
+
+int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
+  return (GPIO->IDR & (1U << pin)) == (1U << pin);
+}
+
+// Detection with internal pullup
+#define PULL_EFFECTIVE_DELAY 4096
+bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
+  set_gpio_mode(GPIO, pin, MODE_INPUT);
+  set_gpio_pullup(GPIO, pin, mode);
+  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
+  bool ret = get_gpio_input(GPIO, pin);
+  set_gpio_pullup(GPIO, pin, PULL_NONE);
+  return ret;
+}
diff --git a/panda/board/drivers/harness.h b/panda/board/drivers/harness.h
index 4aeb41fe6300b0..7d0f0ae3e734fc 100644
--- a/panda/board/drivers/harness.h
+++ b/panda/board/drivers/harness.h
@@ -3,9 +3,6 @@ uint8_t car_harness_status = 0U;
 #define HARNESS_STATUS_NORMAL 1U
 #define HARNESS_STATUS_FLIPPED 2U
 
-// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
-#define HARNESS_CONNECTED_THRESHOLD 2500U
-
 struct harness_configuration {
   const bool has_harness;
   GPIO_TypeDef *GPIO_SBU1;
diff --git a/panda/board/drivers/interrupts.h b/panda/board/drivers/interrupts.h
index f15c441ab04dfe..a9137f76d5016a 100644
--- a/panda/board/drivers/interrupts.h
+++ b/panda/board/drivers/interrupts.h
@@ -6,21 +6,22 @@ typedef struct interrupt {
   uint32_t call_rate_fault;
 } interrupt;
 
+void interrupt_timer_init(void);
+
 void unused_interrupt_handler(void) {
   // Something is wrong if this handler is called!
   puts("Unused interrupt handler called!\n");
   fault_occurred(FAULT_UNUSED_INTERRUPT_HANDLED);
 }
 
-#define NUM_INTERRUPTS 102U                // There are 102 external interrupt sources (see stm32f413.h)
 interrupt interrupts[NUM_INTERRUPTS];
 
 #define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate, rate_fault) \
-  interrupts[irq_num].irq_type = irq_num; \
-  interrupts[irq_num].handler = func_ptr;  \
+  interrupts[irq_num].irq_type = (irq_num); \
+  interrupts[irq_num].handler = (func_ptr);  \
   interrupts[irq_num].call_counter = 0U;   \
-  interrupts[irq_num].max_call_rate = call_rate; \
-  interrupts[irq_num].call_rate_fault = rate_fault;
+  interrupts[irq_num].max_call_rate = (call_rate); \
+  interrupts[irq_num].call_rate_fault = (rate_fault);
 
 bool check_interrupt_rate = false;
 
@@ -36,13 +37,13 @@ void handle_interrupt(IRQn_Type irq_type){
 }
 
 // Reset interrupt counter every second
-void TIM6_DAC_IRQ_Handler(void) {
-  if (TIM6->SR != 0) {
+void interrupt_timer_handler(void) {
+  if (INTERRUPT_TIMER->SR != 0) {
     for(uint16_t i=0U; i<NUM_INTERRUPTS; i++){
       interrupts[i].call_counter = 0U;
     }
   }
-  TIM6->SR = 0;
+  INTERRUPT_TIMER->SR = 0;
 }
 
 void init_interrupts(bool check_rate_limit){
@@ -52,113 +53,6 @@ void init_interrupts(bool check_rate_limit){
     interrupts[i].handler = unused_interrupt_handler;
   }
 
-  // Init timer 10 for a 1s interval
-  register_set_bits(&(RCC->APB1ENR), RCC_APB1ENR_TIM6EN);  // Enable interrupt timer peripheral
-  REGISTER_INTERRUPT(TIM6_DAC_IRQn, TIM6_DAC_IRQ_Handler, 1, FAULT_INTERRUPT_RATE_INTERRUPTS)
-  register_set(&(TIM6->PSC), (732-1), 0xFFFFU);
-  register_set(&(TIM6->DIER), TIM_DIER_UIE, 0x5F5FU);
-  register_set(&(TIM6->CR1), TIM_CR1_CEN, 0x3FU);
-  TIM6->SR = 0;
-  NVIC_EnableIRQ(TIM6_DAC_IRQn);
+  // Init interrupt timer for a 1s interval
+  interrupt_timer_init();
 }
-
-// ********************* Bare interrupt handlers *********************
-// Only implemented the STM32F413 interrupts for now, the STM32F203 specific ones do not fall into the scope of SIL2
-
-void WWDG_IRQHandler(void) {handle_interrupt(WWDG_IRQn);}
-void PVD_IRQHandler(void) {handle_interrupt(PVD_IRQn);}
-void TAMP_STAMP_IRQHandler(void) {handle_interrupt(TAMP_STAMP_IRQn);}
-void RTC_WKUP_IRQHandler(void) {handle_interrupt(RTC_WKUP_IRQn);}
-void FLASH_IRQHandler(void) {handle_interrupt(FLASH_IRQn);}
-void RCC_IRQHandler(void) {handle_interrupt(RCC_IRQn);}
-void EXTI0_IRQHandler(void) {handle_interrupt(EXTI0_IRQn);}
-void EXTI1_IRQHandler(void) {handle_interrupt(EXTI1_IRQn);}
-void EXTI2_IRQHandler(void) {handle_interrupt(EXTI2_IRQn);}
-void EXTI3_IRQHandler(void) {handle_interrupt(EXTI3_IRQn);}
-void EXTI4_IRQHandler(void) {handle_interrupt(EXTI4_IRQn);}
-void DMA1_Stream0_IRQHandler(void) {handle_interrupt(DMA1_Stream0_IRQn);}
-void DMA1_Stream1_IRQHandler(void) {handle_interrupt(DMA1_Stream1_IRQn);}
-void DMA1_Stream2_IRQHandler(void) {handle_interrupt(DMA1_Stream2_IRQn);}
-void DMA1_Stream3_IRQHandler(void) {handle_interrupt(DMA1_Stream3_IRQn);}
-void DMA1_Stream4_IRQHandler(void) {handle_interrupt(DMA1_Stream4_IRQn);}
-void DMA1_Stream5_IRQHandler(void) {handle_interrupt(DMA1_Stream5_IRQn);}
-void DMA1_Stream6_IRQHandler(void) {handle_interrupt(DMA1_Stream6_IRQn);}
-void ADC_IRQHandler(void) {handle_interrupt(ADC_IRQn);}
-void CAN1_TX_IRQHandler(void) {handle_interrupt(CAN1_TX_IRQn);}
-void CAN1_RX0_IRQHandler(void) {handle_interrupt(CAN1_RX0_IRQn);}
-void CAN1_RX1_IRQHandler(void) {handle_interrupt(CAN1_RX1_IRQn);}
-void CAN1_SCE_IRQHandler(void) {handle_interrupt(CAN1_SCE_IRQn);}
-void EXTI9_5_IRQHandler(void) {handle_interrupt(EXTI9_5_IRQn);}
-void TIM1_BRK_TIM9_IRQHandler(void) {handle_interrupt(TIM1_BRK_TIM9_IRQn);}
-void TIM1_UP_TIM10_IRQHandler(void) {handle_interrupt(TIM1_UP_TIM10_IRQn);}
-void TIM1_TRG_COM_TIM11_IRQHandler(void) {handle_interrupt(TIM1_TRG_COM_TIM11_IRQn);}
-void TIM1_CC_IRQHandler(void) {handle_interrupt(TIM1_CC_IRQn);}
-void TIM2_IRQHandler(void) {handle_interrupt(TIM2_IRQn);}
-void TIM3_IRQHandler(void) {handle_interrupt(TIM3_IRQn);}
-void TIM4_IRQHandler(void) {handle_interrupt(TIM4_IRQn);}
-void I2C1_EV_IRQHandler(void) {handle_interrupt(I2C1_EV_IRQn);}
-void I2C1_ER_IRQHandler(void) {handle_interrupt(I2C1_ER_IRQn);}
-void I2C2_EV_IRQHandler(void) {handle_interrupt(I2C2_EV_IRQn);}
-void I2C2_ER_IRQHandler(void) {handle_interrupt(I2C2_ER_IRQn);}
-void SPI1_IRQHandler(void) {handle_interrupt(SPI1_IRQn);}
-void SPI2_IRQHandler(void) {handle_interrupt(SPI2_IRQn);}
-void USART1_IRQHandler(void) {handle_interrupt(USART1_IRQn);}
-void USART2_IRQHandler(void) {handle_interrupt(USART2_IRQn);}
-void USART3_IRQHandler(void) {handle_interrupt(USART3_IRQn);}
-void EXTI15_10_IRQHandler(void) {handle_interrupt(EXTI15_10_IRQn);}
-void RTC_Alarm_IRQHandler(void) {handle_interrupt(RTC_Alarm_IRQn);}
-void OTG_FS_WKUP_IRQHandler(void) {handle_interrupt(OTG_FS_WKUP_IRQn);}
-void TIM8_BRK_TIM12_IRQHandler(void) {handle_interrupt(TIM8_BRK_TIM12_IRQn);}
-void TIM8_UP_TIM13_IRQHandler(void) {handle_interrupt(TIM8_UP_TIM13_IRQn);}
-void TIM8_TRG_COM_TIM14_IRQHandler(void) {handle_interrupt(TIM8_TRG_COM_TIM14_IRQn);}
-void TIM8_CC_IRQHandler(void) {handle_interrupt(TIM8_CC_IRQn);}
-void DMA1_Stream7_IRQHandler(void) {handle_interrupt(DMA1_Stream7_IRQn);}
-void FSMC_IRQHandler(void) {handle_interrupt(FSMC_IRQn);}
-void SDIO_IRQHandler(void) {handle_interrupt(SDIO_IRQn);}
-void TIM5_IRQHandler(void) {handle_interrupt(TIM5_IRQn);}
-void SPI3_IRQHandler(void) {handle_interrupt(SPI3_IRQn);}
-void UART4_IRQHandler(void) {handle_interrupt(UART4_IRQn);}
-void UART5_IRQHandler(void) {handle_interrupt(UART5_IRQn);}
-void TIM6_DAC_IRQHandler(void) {handle_interrupt(TIM6_DAC_IRQn);}
-void TIM7_IRQHandler(void) {handle_interrupt(TIM7_IRQn);}
-void DMA2_Stream0_IRQHandler(void) {handle_interrupt(DMA2_Stream0_IRQn);}
-void DMA2_Stream1_IRQHandler(void) {handle_interrupt(DMA2_Stream1_IRQn);}
-void DMA2_Stream2_IRQHandler(void) {handle_interrupt(DMA2_Stream2_IRQn);}
-void DMA2_Stream3_IRQHandler(void) {handle_interrupt(DMA2_Stream3_IRQn);}
-void DMA2_Stream4_IRQHandler(void) {handle_interrupt(DMA2_Stream4_IRQn);}
-void CAN2_TX_IRQHandler(void) {handle_interrupt(CAN2_TX_IRQn);}
-void CAN2_RX0_IRQHandler(void) {handle_interrupt(CAN2_RX0_IRQn);}
-void CAN2_RX1_IRQHandler(void) {handle_interrupt(CAN2_RX1_IRQn);}
-void CAN2_SCE_IRQHandler(void) {handle_interrupt(CAN2_SCE_IRQn);}
-void OTG_FS_IRQHandler(void) {handle_interrupt(OTG_FS_IRQn);}
-void DMA2_Stream5_IRQHandler(void) {handle_interrupt(DMA2_Stream5_IRQn);}
-void DMA2_Stream6_IRQHandler(void) {handle_interrupt(DMA2_Stream6_IRQn);}
-void DMA2_Stream7_IRQHandler(void) {handle_interrupt(DMA2_Stream7_IRQn);}
-void USART6_IRQHandler(void) {handle_interrupt(USART6_IRQn);}
-void I2C3_EV_IRQHandler(void) {handle_interrupt(I2C3_EV_IRQn);}
-void I2C3_ER_IRQHandler(void) {handle_interrupt(I2C3_ER_IRQn);}
-#ifdef STM32F4
-  void DFSDM1_FLT0_IRQHandler(void) {handle_interrupt(DFSDM1_FLT0_IRQn);}
-  void DFSDM1_FLT1_IRQHandler(void) {handle_interrupt(DFSDM1_FLT1_IRQn);}
-  void CAN3_TX_IRQHandler(void) {handle_interrupt(CAN3_TX_IRQn);}
-  void CAN3_RX0_IRQHandler(void) {handle_interrupt(CAN3_RX0_IRQn);}
-  void CAN3_RX1_IRQHandler(void) {handle_interrupt(CAN3_RX1_IRQn);}
-  void CAN3_SCE_IRQHandler(void) {handle_interrupt(CAN3_SCE_IRQn);}
-  void RNG_IRQHandler(void) {handle_interrupt(RNG_IRQn);}
-  void FPU_IRQHandler(void) {handle_interrupt(FPU_IRQn);}
-  void UART7_IRQHandler(void) {handle_interrupt(UART7_IRQn);}
-  void UART8_IRQHandler(void) {handle_interrupt(UART8_IRQn);}
-  void SPI4_IRQHandler(void) {handle_interrupt(SPI4_IRQn);}
-  void SPI5_IRQHandler(void) {handle_interrupt(SPI5_IRQn);}
-  void SAI1_IRQHandler(void) {handle_interrupt(SAI1_IRQn);}
-  void UART9_IRQHandler(void) {handle_interrupt(UART9_IRQn);}
-  void UART10_IRQHandler(void) {handle_interrupt(UART10_IRQn);}
-  void QUADSPI_IRQHandler(void) {handle_interrupt(QUADSPI_IRQn);}
-  void FMPI2C1_EV_IRQHandler(void) {handle_interrupt(FMPI2C1_EV_IRQn);}
-  void FMPI2C1_ER_IRQHandler(void) {handle_interrupt(FMPI2C1_ER_IRQn);}
-  void LPTIM1_IRQHandler(void) {handle_interrupt(LPTIM1_IRQn);}
-  void DFSDM2_FLT0_IRQHandler(void) {handle_interrupt(DFSDM2_FLT0_IRQn);}
-  void DFSDM2_FLT1_IRQHandler(void) {handle_interrupt(DFSDM2_FLT1_IRQn);}
-  void DFSDM2_FLT2_IRQHandler(void) {handle_interrupt(DFSDM2_FLT2_IRQn);}
-  void DFSDM2_FLT3_IRQHandler(void) {handle_interrupt(DFSDM2_FLT3_IRQn);}
-#endif
\ No newline at end of file
diff --git a/panda/board/drivers/kline_init.h b/panda/board/drivers/kline_init.h
new file mode 100644
index 00000000000000..a8a859cba7704e
--- /dev/null
+++ b/panda/board/drivers/kline_init.h
@@ -0,0 +1,119 @@
+void TIM5_IRQ_Handler(void);
+
+void setup_timer5(void) {
+  // register interrupt
+  REGISTER_INTERRUPT(TIM5_IRQn, TIM5_IRQ_Handler, 1050000U, FAULT_INTERRUPT_RATE_KLINE_INIT)
+
+  // setup
+  register_set(&(TIM5->PSC), (48-1), 0xFFFFU);        // Tick on 1 us
+  register_set(&(TIM5->CR1), TIM_CR1_CEN, 0x3FU);     // Enable
+  register_set(&(TIM5->ARR), (5000-1), 0xFFFFFFFFU);  // Reset every 5 ms
+
+  // in case it's disabled
+  NVIC_EnableIRQ(TIM5_IRQn);
+
+  // run the interrupt
+  register_set(&(TIM5->DIER), TIM_DIER_UIE, 0x5F5FU); // Update interrupt
+  TIM5->SR = 0;
+}
+
+bool k_init = false;
+bool l_init = false;
+void setup_kline(bool bitbang) {
+  if (bitbang) {
+    if (k_init) {
+      set_gpio_output(GPIOC, 12, true);
+    }
+    if (l_init) {
+      set_gpio_output(GPIOC, 10, true);
+    }
+  } else {
+    if (k_init) {
+      set_gpio_mode(GPIOC, 12, MODE_ALTERNATE);
+    }
+    if (l_init) {
+      set_gpio_mode(GPIOC, 10, MODE_ALTERNATE);
+    }
+  }
+}
+
+void set_bitbanged_kline(bool marking) {
+  // tickle needs to be super fast (so logic level doesn't change)
+  ENTER_CRITICAL();
+  if (k_init) {
+    register_set_bits(&(GPIOC->ODR), (1U << 12));
+    if (!marking) {
+      register_clear_bits(&(GPIOC->ODR), (1U << 12));
+    }
+  }
+  if (l_init) {
+    register_set_bits(&(GPIOC->ODR), (1U << 10));
+    if (!marking) {
+      register_clear_bits(&(GPIOC->ODR), (1U << 10));
+    }
+  }
+  EXIT_CRITICAL();
+  // blink blue LED each time line is pulled low
+  current_board->set_led(LED_BLUE, marking);
+}
+
+uint16_t kline_data = 0;
+uint16_t kline_data_len = 0;
+uint16_t kline_bit_count = 0;
+uint16_t kline_tick_count = 0;
+uint16_t kline_ticks_per_bit = 0;
+
+void TIM5_IRQ_Handler(void) {
+  if ((TIM5->SR & TIM_SR_UIF) && (kline_data != 0U)) {
+    if (kline_bit_count < kline_data_len) {
+      bool marking = (kline_data & (1U << kline_bit_count)) != 0U;
+      set_bitbanged_kline(marking);
+    } else {
+      register_clear_bits(&(TIM5->DIER), TIM_DIER_UIE); // No update interrupt
+      register_set(&(TIM5->CR1), 0U, 0x3FU); // Disable timer
+      setup_kline(false);
+      kline_data = 0U;
+      USB_WritePacket(NULL, 0, 0); // required call (so send nothing)
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+    }
+    kline_tick_count++;
+    if ((kline_tick_count % kline_ticks_per_bit) == 0U) {
+      kline_bit_count++;
+    }
+  }
+  TIM5->SR = 0;
+}
+
+bool bitbang_five_baud_addr(bool k, bool l, uint8_t addr) {
+  bool result = false;
+  if (kline_data == 0U) {
+    k_init = k;
+    l_init = l;
+    kline_data = (addr << 1) + 0x200U; // add start/stop bits
+    kline_data_len = 10U;
+    kline_bit_count = 0;
+    kline_tick_count = 0;
+    kline_ticks_per_bit = 40U; // 200ms == 5bps
+    setup_kline(true);
+    setup_timer5();
+    result = true;
+  }
+  return result;
+}
+
+bool bitbang_wakeup(bool k, bool l) {
+  bool result = false;
+  if (kline_data == 0U) {
+    k_init = k;
+    l_init = l;
+    kline_data = 2U; // low then high
+    kline_data_len = 2U;
+    kline_bit_count = 0;
+    kline_tick_count = 0;
+    kline_ticks_per_bit = 5U; // 25ms == 40bps
+    setup_kline(true);
+    setup_timer5();
+    result = true;
+  }
+  return result;
+}
diff --git a/panda/board/drivers/llcan.h b/panda/board/drivers/llcan.h
deleted file mode 100644
index 4cd9b4b5abd416..00000000000000
--- a/panda/board/drivers/llcan.h
+++ /dev/null
@@ -1,98 +0,0 @@
-// this is needed for 1 mbps support
-#define CAN_QUANTA 8U
-#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
-#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
-
-#define CAN_PCLK 24000U
-// 333 = 33.3 kbps
-// 5000 = 500 kbps
-#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
-
-#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
-#define GET_LEN(msg) ((msg)->RDTR & 0xF)
-#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
-#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
-#define GET_BYTES_04(msg) ((msg)->RDLR)
-#define GET_BYTES_48(msg) ((msg)->RDHR)
-
-void puts(const char *a);
-
-bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
-  // initialization mode
-  register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_INRQ, 0x180FFU);
-  while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-
-  // set time quanta from defines
-  register_set(&(CAN_obj->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
-            (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
-            (can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU);
-
-  // silent loopback mode for debugging
-  if (loopback) {
-    register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM | CAN_BTR_LBKM);
-  }
-  if (silent) {
-    register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM);
-  }
-
-  // reset
-  register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_ABOM, 0x180FFU);
-
-  #define CAN_TIMEOUT 1000000
-  int tmp = 0;
-  bool ret = false;
-  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
-  if (tmp < CAN_TIMEOUT) {
-    ret = true;
-  }
-
-  return ret;
-}
-
-void llcan_init(CAN_TypeDef *CAN_obj) {
-  // Enter init mode
-  register_set_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
-  
-  // Wait for INAK bit to be set
-  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {}
-
-  // no mask
-  // For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters.
-  CAN_obj->sFilterRegister[0].FR1 = 0U;
-  CAN_obj->sFilterRegister[0].FR2 = 0U;
-  CAN_obj->sFilterRegister[14].FR1 = 0U;
-  CAN_obj->sFilterRegister[14].FR2 = 0U;
-  CAN_obj->FA1R |= 1U | (1U << 14);
-
-  // Exit init mode, do not wait
-  register_clear_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
-
-  // enable certain CAN interrupts
-  register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE);
-
-  if (CAN_obj == CAN1) {
-    NVIC_EnableIRQ(CAN1_TX_IRQn);
-    NVIC_EnableIRQ(CAN1_RX0_IRQn);
-    NVIC_EnableIRQ(CAN1_SCE_IRQn);
-  } else if (CAN_obj == CAN2) {
-    NVIC_EnableIRQ(CAN2_TX_IRQn);
-    NVIC_EnableIRQ(CAN2_RX0_IRQn);
-    NVIC_EnableIRQ(CAN2_SCE_IRQn);
-#ifdef CAN3
-  } else if (CAN_obj == CAN3) {
-    NVIC_EnableIRQ(CAN3_TX_IRQn);
-    NVIC_EnableIRQ(CAN3_RX0_IRQn);
-    NVIC_EnableIRQ(CAN3_SCE_IRQn);
-#endif
-  } else {
-    puts("Invalid CAN: initialization failed\n");
-  }
-}
-
-void llcan_clear_send(CAN_TypeDef *CAN_obj) {
-  CAN_obj->TSR |= CAN_TSR_ABRQ0;
-  register_clear_bits(&(CAN_obj->MSR), CAN_MSR_ERRI);
-  // cppcheck-suppress selfAssignment ; needed to clear the register
-  CAN_obj->MSR = CAN_obj->MSR;
-}
-
diff --git a/panda/board/drivers/llgpio.h b/panda/board/drivers/llgpio.h
deleted file mode 100644
index 0bd58c3b8a5316..00000000000000
--- a/panda/board/drivers/llgpio.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#define MODE_INPUT 0
-#define MODE_OUTPUT 1
-#define MODE_ALTERNATE 2
-#define MODE_ANALOG 3
-
-#define PULL_NONE 0
-#define PULL_UP 1
-#define PULL_DOWN 2
-
-#define OUTPUT_TYPE_PUSH_PULL 0U
-#define OUTPUT_TYPE_OPEN_DRAIN 1U
-
-void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
-  ENTER_CRITICAL();
-  uint32_t tmp = GPIO->MODER;
-  tmp &= ~(3U << (pin * 2U));
-  tmp |= (mode << (pin * 2U));
-  register_set(&(GPIO->MODER), tmp, 0xFFFFFFFFU);
-  EXIT_CRITICAL();
-}
-
-void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
-  ENTER_CRITICAL();
-  if (enabled) {
-    register_set_bits(&(GPIO->ODR), (1U << pin));
-  } else {
-    register_clear_bits(&(GPIO->ODR), (1U << pin));
-  }
-  set_gpio_mode(GPIO, pin, MODE_OUTPUT);
-  EXIT_CRITICAL();
-}
-
-void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
-  ENTER_CRITICAL();
-  if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
-    register_set_bits(&(GPIO->OTYPER), (1U << pin));
-  } else {
-    register_clear_bits(&(GPIO->OTYPER), (1U << pin));
-  }
-  EXIT_CRITICAL();
-}
-
-void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
-  ENTER_CRITICAL();
-  uint32_t tmp = GPIO->AFR[pin >> 3U];
-  tmp &= ~(0xFU << ((pin & 7U) * 4U));
-  tmp |= mode << ((pin & 7U) * 4U);
-  register_set(&(GPIO->AFR[pin >> 3]), tmp, 0xFFFFFFFFU);
-  set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
-  EXIT_CRITICAL();
-}
-
-void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
-  ENTER_CRITICAL();
-  uint32_t tmp = GPIO->PUPDR;
-  tmp &= ~(3U << (pin * 2U));
-  tmp |= (mode << (pin * 2U));
-  register_set(&(GPIO->PUPDR), tmp, 0xFFFFFFFFU);
-  EXIT_CRITICAL();
-}
-
-int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
-  return (GPIO->IDR & (1U << pin)) == (1U << pin);
-}
-
diff --git a/panda/board/drivers/pwm.h b/panda/board/drivers/pwm.h
index c3709200c1ce1e..67e5181e1a1c7b 100644
--- a/panda/board/drivers/pwm.h
+++ b/panda/board/drivers/pwm.h
@@ -53,4 +53,4 @@ void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage){
         default:
             break;
     }
-}
\ No newline at end of file
+}
diff --git a/panda/board/drivers/registers.h b/panda/board/drivers/registers.h
index 76748295d9f7be..4595a568672309 100644
--- a/panda/board/drivers/registers.h
+++ b/panda/board/drivers/registers.h
@@ -8,7 +8,7 @@ typedef struct reg {
 // 10 bit hash with 23 as a prime
 #define REGISTER_MAP_SIZE 0x3FFU
 #define HASHING_PRIME 23U
-#define CHECK_COLLISION(hash, addr) (((uint32_t) register_map[hash].address != 0U) && (register_map[hash].address != addr))
+#define CHECK_COLLISION(hash, addr) (((uint32_t) register_map[hash].address != 0U) && (register_map[hash].address != (addr)))
 
 reg register_map[REGISTER_MAP_SIZE];
 
@@ -78,4 +78,4 @@ void init_registers(void) {
     register_map[i].address = (volatile uint32_t *) 0U;
     register_map[i].check_mask = 0U;
   }
-}
\ No newline at end of file
+}
diff --git a/panda/board/drivers/rtc.h b/panda/board/drivers/rtc.h
index 301c4de77091be..e8d86fd5d93041 100644
--- a/panda/board/drivers/rtc.h
+++ b/panda/board/drivers/rtc.h
@@ -1,5 +1,4 @@
 #define RCC_BDCR_OPTIONS (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL_0 | RCC_BDCR_LSEON)
-#define RCC_BDCR_MASK (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL | RCC_BDCR_LSEMOD | RCC_BDCR_LSEBYP | RCC_BDCR_LSEON)
 
 #define YEAR_OFFSET 2000U
 
@@ -14,95 +13,95 @@ typedef struct __attribute__((packed)) timestamp_t {
 } timestamp_t;
 
 uint8_t to_bcd(uint16_t value){
-    return (((value / 10U) & 0x0FU) << 4U) | ((value % 10U) & 0x0FU);
+  return (((value / 10U) & 0x0FU) << 4U) | ((value % 10U) & 0x0FU);
 }
 
 uint16_t from_bcd(uint8_t value){
-    return (((value & 0xF0U) >> 4U) * 10U) + (value & 0x0FU);
+  return (((value & 0xF0U) >> 4U) * 10U) + (value & 0x0FU);
 }
 
 void rtc_init(void){
-    if(board_has_rtc()){
-        // Initialize RTC module and clock if not done already.
-        if((RCC->BDCR & RCC_BDCR_MASK) != RCC_BDCR_OPTIONS){
-            puts("Initializing RTC\n");
-            // Reset backup domain
-            register_set_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
+  if(current_board->has_rtc){
+    // Initialize RTC module and clock if not done already.
+    if((RCC->BDCR & RCC_BDCR_MASK) != RCC_BDCR_OPTIONS){
+      puts("Initializing RTC\n");
+      // Reset backup domain
+      register_set_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
 
-            // Disable write protection
-            register_set_bits(&(PWR->CR), PWR_CR_DBP);
+      // Disable write protection
+      disable_bdomain_protection();
 
-            // Clear backup domain reset
-            register_clear_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
+      // Clear backup domain reset
+      register_clear_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
 
-            // Set RTC options
-            register_set(&(RCC->BDCR), RCC_BDCR_OPTIONS, RCC_BDCR_MASK);
+      // Set RTC options
+      register_set(&(RCC->BDCR), RCC_BDCR_OPTIONS, RCC_BDCR_MASK);
 
-            // Enable write protection
-            register_clear_bits(&(PWR->CR), PWR_CR_DBP);
-        }
+      // Enable write protection
+      enable_bdomain_protection();
     }
+  }
 }
 
 void rtc_set_time(timestamp_t time){
-    if(board_has_rtc()){
-        puts("Setting RTC time\n");
-
-        // Disable write protection
-        register_set_bits(&(PWR->CR), PWR_CR_DBP);
-        RTC->WPR = 0xCA;
-        RTC->WPR = 0x53;
-
-        // Enable initialization mode
-        register_set_bits(&(RTC->ISR), RTC_ISR_INIT);
-        while((RTC->ISR & RTC_ISR_INITF) == 0){}
-        
-        // Set time
-        RTC->TR = (to_bcd(time.hour) << RTC_TR_HU_Pos) | (to_bcd(time.minute) << RTC_TR_MNU_Pos) | (to_bcd(time.second) << RTC_TR_SU_Pos);
-        RTC->DR = (to_bcd(time.year - YEAR_OFFSET) << RTC_DR_YU_Pos) | (time.weekday << RTC_DR_WDU_Pos) | (to_bcd(time.month) << RTC_DR_MU_Pos) | (to_bcd(time.day) << RTC_DR_DU_Pos);
-
-        // Set options
-        register_set(&(RTC->CR), 0U, 0xFCFFFFU);
-        
-        // Disable initalization mode
-        register_clear_bits(&(RTC->ISR), RTC_ISR_INIT);
-
-        // Wait for synchronization
-        while((RTC->ISR & RTC_ISR_RSF) == 0){}
-
-        // Re-enable write protection
-        RTC->WPR = 0x00;
-        register_clear_bits(&(PWR->CR), PWR_CR_DBP);
-    }
+  if(current_board->has_rtc){
+    puts("Setting RTC time\n");
+
+    // Disable write protection
+    disable_bdomain_protection();
+    RTC->WPR = 0xCA;
+    RTC->WPR = 0x53;
+
+    // Enable initialization mode
+    register_set_bits(&(RTC->ISR), RTC_ISR_INIT);
+    while((RTC->ISR & RTC_ISR_INITF) == 0){}
+
+    // Set time
+    RTC->TR = (to_bcd(time.hour) << RTC_TR_HU_Pos) | (to_bcd(time.minute) << RTC_TR_MNU_Pos) | (to_bcd(time.second) << RTC_TR_SU_Pos);
+    RTC->DR = (to_bcd(time.year - YEAR_OFFSET) << RTC_DR_YU_Pos) | (time.weekday << RTC_DR_WDU_Pos) | (to_bcd(time.month) << RTC_DR_MU_Pos) | (to_bcd(time.day) << RTC_DR_DU_Pos);
+
+    // Set options
+    register_set(&(RTC->CR), 0U, 0xFCFFFFU);
+
+    // Disable initalization mode
+    register_clear_bits(&(RTC->ISR), RTC_ISR_INIT);
+
+    // Wait for synchronization
+    while((RTC->ISR & RTC_ISR_RSF) == 0){}
+
+    // Re-enable write protection
+    RTC->WPR = 0x00;
+    enable_bdomain_protection();
+  }
 }
 
 timestamp_t rtc_get_time(void){
-    timestamp_t result;
-    // Init with zero values in case there is no RTC running
-    result.year = 0U;
-    result.month = 0U;
-    result.day = 0U;
-    result.weekday = 0U;
-    result.hour = 0U;
-    result.minute = 0U;
-    result.second = 0U;
-
-    if(board_has_rtc()){
-        // Wait until the register sync flag is set
-        while((RTC->ISR & RTC_ISR_RSF) == 0){}
-
-        // Read time and date registers. Since our HSE > 7*LSE, this should be fine.
-        uint32_t time = RTC->TR;
-        uint32_t date = RTC->DR;
-
-        // Parse values        
-        result.year = from_bcd((date & (RTC_DR_YT | RTC_DR_YU)) >> RTC_DR_YU_Pos) + YEAR_OFFSET;
-        result.month = from_bcd((date & (RTC_DR_MT | RTC_DR_MU)) >> RTC_DR_MU_Pos);
-        result.day = from_bcd((date & (RTC_DR_DT | RTC_DR_DU)) >> RTC_DR_DU_Pos);
-        result.weekday = ((date & RTC_DR_WDU) >> RTC_DR_WDU_Pos);
-        result.hour = from_bcd((time & (RTC_TR_HT | RTC_TR_HU)) >> RTC_TR_HU_Pos);
-        result.minute = from_bcd((time & (RTC_TR_MNT | RTC_TR_MNU)) >> RTC_TR_MNU_Pos);
-        result.second = from_bcd((time & (RTC_TR_ST | RTC_TR_SU)) >> RTC_TR_SU_Pos);
-    }
-    return result;
-}
\ No newline at end of file
+  timestamp_t result;
+  // Init with zero values in case there is no RTC running
+  result.year = 0U;
+  result.month = 0U;
+  result.day = 0U;
+  result.weekday = 0U;
+  result.hour = 0U;
+  result.minute = 0U;
+  result.second = 0U;
+
+  if(current_board->has_rtc){
+    // Wait until the register sync flag is set
+    while((RTC->ISR & RTC_ISR_RSF) == 0){}
+
+    // Read time and date registers. Since our HSE > 7*LSE, this should be fine.
+    uint32_t time = RTC->TR;
+    uint32_t date = RTC->DR;
+
+    // Parse values
+    result.year = from_bcd((date & (RTC_DR_YT | RTC_DR_YU)) >> RTC_DR_YU_Pos) + YEAR_OFFSET;
+    result.month = from_bcd((date & (RTC_DR_MT | RTC_DR_MU)) >> RTC_DR_MU_Pos);
+    result.day = from_bcd((date & (RTC_DR_DT | RTC_DR_DU)) >> RTC_DR_DU_Pos);
+    result.weekday = ((date & RTC_DR_WDU) >> RTC_DR_WDU_Pos);
+    result.hour = from_bcd((time & (RTC_TR_HT | RTC_TR_HU)) >> RTC_TR_HU_Pos);
+    result.minute = from_bcd((time & (RTC_TR_MNT | RTC_TR_MNU)) >> RTC_TR_MNU_Pos);
+    result.second = from_bcd((time & (RTC_TR_ST | RTC_TR_SU)) >> RTC_TR_SU_Pos);
+  }
+  return result;
+}
diff --git a/panda/board/drivers/spi.h b/panda/board/drivers/spi.h
deleted file mode 100644
index 29963b6bdfce77..00000000000000
--- a/panda/board/drivers/spi.h
+++ /dev/null
@@ -1,131 +0,0 @@
-// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
-
-void spi_init(void);
-int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
-
-// end API
-
-#define SPI_BUF_SIZE 256
-uint8_t spi_buf[SPI_BUF_SIZE];
-int spi_buf_count = 0;
-int spi_total_count = 0;
-
-void spi_tx_dma(void *addr, int len) {
-  // disable DMA
-  register_clear_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN);
-  register_clear_bits(&(DMA2_Stream3->CR), DMA_SxCR_EN);
-
-  // DMA2, stream 3, channel 3
-  register_set(&(DMA2_Stream3->M0AR), (uint32_t)addr, 0xFFFFFFFFU);
-  DMA2_Stream3->NDTR = len;
-  register_set(&(DMA2_Stream3->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU);
-
-  // channel3, increment memory, memory -> periph, enable
-  register_set(&(DMA2_Stream3->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN), 0x1E077EFEU);
-  delay(0);
-  register_set_bits(&(DMA2_Stream3->CR), DMA_SxCR_TCIE);
-
-  register_set_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN);
-
-  // signal data is ready by driving low
-  // esp must be configured as input by this point
-  set_gpio_output(GPIOB, 0, 0);
-}
-
-void spi_rx_dma(void *addr, int len) {
-  // disable DMA
-  register_clear_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN);
-  register_clear_bits(&(DMA2_Stream2->CR), DMA_SxCR_EN);
-
-  // drain the bus
-  volatile uint8_t dat = SPI1->DR;
-  (void)dat;
-
-  // DMA2, stream 2, channel 3
-  register_set(&(DMA2_Stream2->M0AR), (uint32_t)addr, 0xFFFFFFFFU);
-  DMA2_Stream2->NDTR = len;
-  register_set(&(DMA2_Stream2->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU);
-
-  // channel3, increment memory, periph -> memory, enable
-  register_set(&(DMA2_Stream2->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_EN), 0x1E077EFEU);
-  delay(0);
-  register_set_bits(&(DMA2_Stream2->CR), DMA_SxCR_TCIE);
-
-  register_set_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN);
-}
-
-// ***************************** SPI IRQs *****************************
-// can't go on the stack cause it's DMAed
-uint8_t spi_tx_buf[0x44];
-
-// SPI RX
-void DMA2_Stream2_IRQ_Handler(void) {
-  int *resp_len = (int*)spi_tx_buf;
-  (void)memset(spi_tx_buf, 0xaa, 0x44);
-  *resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
-  #ifdef DEBUG_SPI
-    puts("SPI write: ");
-    puth(*resp_len);
-    puts("\n");
-  #endif
-  spi_tx_dma(spi_tx_buf, *resp_len + 4);
-
-  // ack
-  DMA2->LIFCR = DMA_LIFCR_CTCIF2;
-}
-
-// SPI TX
-void DMA2_Stream3_IRQ_Handler(void) {
-  #ifdef DEBUG_SPI
-    puts("SPI handshake\n");
-  #endif
-
-  // reset handshake back to pull up
-  set_gpio_mode(GPIOB, 0, MODE_INPUT);
-  set_gpio_pullup(GPIOB, 0, PULL_UP);
-
-  // ack
-  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
-}
-
-void EXTI4_IRQ_Handler(void) {
-  volatile unsigned int pr = EXTI->PR & (1U << 4);
-  #ifdef DEBUG_SPI
-    puts("exti4\n");
-  #endif
-  // SPI CS falling
-  if ((pr & (1U << 4)) != 0U) {
-    spi_total_count = 0;
-    spi_rx_dma(spi_buf, 0x14);
-  }
-  EXTI->PR = pr;
-}
-
-// ***************************** SPI init *****************************
-void spi_init(void) {
-  // Max SPI clock the ESP can produce is 80MHz. At buffer size of 256 bytes, that's a max of about 40k buffers per second
-  REGISTER_INTERRUPT(DMA2_Stream2_IRQn, DMA2_Stream2_IRQ_Handler, 50000U, FAULT_INTERRUPT_RATE_SPI_DMA)
-  REGISTER_INTERRUPT(DMA2_Stream3_IRQn, DMA2_Stream3_IRQ_Handler, 50000U, FAULT_INTERRUPT_RATE_SPI_DMA)
-  REGISTER_INTERRUPT(EXTI4_IRQn, EXTI4_IRQ_Handler, 50000U, FAULT_INTERRUPT_RATE_SPI_CS) // TODO: Figure out if this is a reasonable limit
-
-  //puts("SPI init\n");
-  register_set(&(SPI1->CR1), SPI_CR1_SPE, 0xFFFFU);
-
-  // enable SPI interrupts
-  //SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
-  register_set(&(SPI1->CR2), SPI_CR2_RXNEIE, 0xF7U);
-
-  NVIC_EnableIRQ(DMA2_Stream2_IRQn);
-  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
-  //NVIC_EnableIRQ(SPI1_IRQn);
-
-  // reset handshake back to pull up
-  set_gpio_mode(GPIOB, 0, MODE_INPUT);
-  set_gpio_pullup(GPIOB, 0, PULL_UP);
-
-  // setup interrupt on falling edge of SPI enable (on PA4)
-  register_set(&(SYSCFG->EXTICR[2]), SYSCFG_EXTICR2_EXTI4_PA, 0xFFFFU);
-  register_set_bits(&(EXTI->IMR), (1U << 4));
-  register_set_bits(&(EXTI->FTSR), (1U << 4));
-  NVIC_EnableIRQ(EXTI4_IRQn);
-}
\ No newline at end of file
diff --git a/panda/board/drivers/timer.h b/panda/board/drivers/timer.h
deleted file mode 100644
index d7aa7e8811093a..00000000000000
--- a/panda/board/drivers/timer.h
+++ /dev/null
@@ -1,7 +0,0 @@
-void timer_init(TIM_TypeDef *TIM, int psc) {
-  register_set(&(TIM->PSC), (psc-1), 0xFFFFU);
-  register_set(&(TIM->DIER), TIM_DIER_UIE, 0x5F5FU);
-  register_set(&(TIM->CR1), TIM_CR1_CEN, 0x3FU);
-  TIM->SR = 0;
-}
-
diff --git a/panda/board/drivers/timers.h b/panda/board/drivers/timers.h
new file mode 100644
index 00000000000000..eb053988631179
--- /dev/null
+++ b/panda/board/drivers/timers.h
@@ -0,0 +1,31 @@
+void timer_init(TIM_TypeDef *TIM, int psc) {
+  register_set(&(TIM->PSC), (psc-1), 0xFFFFU);
+  register_set(&(TIM->DIER), TIM_DIER_UIE, 0x5F5FU);
+  register_set(&(TIM->CR1), TIM_CR1_CEN, 0x3FU);
+  TIM->SR = 0;
+}
+
+void microsecond_timer_init(void) {
+  MICROSECOND_TIMER->PSC = (APB1_FREQ)-1U;
+  MICROSECOND_TIMER->CR1 = TIM_CR1_CEN;
+  MICROSECOND_TIMER->EGR = TIM_EGR_UG;
+}
+
+uint32_t microsecond_timer_get(void) {
+  return MICROSECOND_TIMER->CNT;
+}
+
+void interrupt_timer_init(void) {
+  enable_interrupt_timer();
+  REGISTER_INTERRUPT(INTERRUPT_TIMER_IRQ, interrupt_timer_handler, 1, FAULT_INTERRUPT_RATE_INTERRUPTS)
+  register_set(&(INTERRUPT_TIMER->PSC), ((uint16_t)(15.25*APB1_FREQ)-1U), 0xFFFFU);
+  register_set(&(INTERRUPT_TIMER->DIER), TIM_DIER_UIE, 0x5F5FU);
+  register_set(&(INTERRUPT_TIMER->CR1), TIM_CR1_CEN, 0x3FU);
+  INTERRUPT_TIMER->SR = 0;
+  NVIC_EnableIRQ(INTERRUPT_TIMER_IRQ);
+}
+
+void tick_timer_init(void) {
+  timer_init(TICK_TIMER, (uint16_t)((15.25*APB2_FREQ)/8U));
+  NVIC_EnableIRQ(TICK_TIMER_IRQ);
+}
diff --git a/panda/board/drivers/uart.h b/panda/board/drivers/uart.h
index da45803001f84f..d6107a6c3faa42 100644
--- a/panda/board/drivers/uart.h
+++ b/panda/board/drivers/uart.h
@@ -24,34 +24,26 @@ typedef struct uart_ring {
   uart_ring uart_ring_##x = {  \
     .w_ptr_tx = 0, \
     .r_ptr_tx = 0, \
-    .elems_tx = ((uint8_t *)&elems_tx_##x), \
-    .tx_fifo_size = size_tx, \
+    .elems_tx = ((uint8_t *)&(elems_tx_##x)), \
+    .tx_fifo_size = (size_tx), \
     .w_ptr_rx = 0, \
     .r_ptr_rx = 0, \
-    .elems_rx = ((uint8_t *)&elems_rx_##x), \
-    .rx_fifo_size = size_rx, \
-    .uart = uart_ptr, \
-    .callback = callback_ptr, \
-    .dma_rx = rx_dma \
+    .elems_rx = ((uint8_t *)&(elems_rx_##x)), \
+    .rx_fifo_size = (size_rx), \
+    .uart = (uart_ptr), \
+    .callback = (callback_ptr), \
+    .dma_rx = (rx_dma) \
   };
 
-
 // ***************************** Function prototypes *****************************
-void uart_init(uart_ring *q, int baud);
-
-bool getc(uart_ring *q, char *elem);
-bool putc(uart_ring *q, char elem);
-
-void puts(const char *a);
-void puth(unsigned int i);
-void hexdump(const void *a, int l);
-
 void debug_ring_callback(uart_ring *ring);
+void uart_tx_ring(uart_ring *q);
+void uart_send_break(uart_ring *u);
 
 // ******************************** UART buffers ********************************
 
-// esp_gps = USART1
-UART_BUFFER(esp_gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
+// gps = USART1
+UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
 
 // lin1, K-LINE = UART5
 // lin2, L-LINE = USART3
@@ -68,7 +60,7 @@ uart_ring *get_ring_by_number(int a) {
       ring = &uart_ring_debug;
       break;
     case 1:
-      ring = &uart_ring_esp_gps;
+      ring = &uart_ring_gps;
       break;
     case 2:
       ring = &uart_ring_lin1;
@@ -83,227 +75,7 @@ uart_ring *get_ring_by_number(int a) {
   return ring;
 }
 
-// ***************************** Interrupt handlers *****************************
-
-void uart_tx_ring(uart_ring *q){
-  ENTER_CRITICAL();
-  // Send out next byte of TX buffer
-  if (q->w_ptr_tx != q->r_ptr_tx) {
-    // Only send if transmit register is empty (aka last byte has been sent)
-    if ((q->uart->SR & USART_SR_TXE) != 0) {
-      q->uart->DR = q->elems_tx[q->r_ptr_tx];   // This clears TXE
-      q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size;
-    }
-
-    // Enable TXE interrupt if there is still data to be sent
-    if(q->r_ptr_tx != q->w_ptr_tx){
-      q->uart->CR1 |= USART_CR1_TXEIE;
-    } else {
-      q->uart->CR1 &= ~USART_CR1_TXEIE;
-    }
-  }
-  EXIT_CRITICAL();
-}
-
-void uart_rx_ring(uart_ring *q){
-  // Do not read out directly if DMA enabled
-  if (q->dma_rx == false) {
-    ENTER_CRITICAL();
-
-    // Read out RX buffer
-    uint8_t c = q->uart->DR;  // This read after reading SR clears a bunch of interrupts
-
-    uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
-    // Do not overwrite buffer data
-    if (next_w_ptr != q->r_ptr_rx) {
-      q->elems_rx[q->w_ptr_rx] = c;
-      q->w_ptr_rx = next_w_ptr;
-      if (q->callback != NULL) {
-        q->callback(q);
-      }
-    }
-
-    EXIT_CRITICAL();
-  }
-}
-
-// This function should be called on:
-// * Half-transfer DMA interrupt
-// * Full-transfer DMA interrupt
-// * UART IDLE detection
-uint32_t prev_w_index = 0;
-void dma_pointer_handler(uart_ring *q, uint32_t dma_ndtr) {
-  ENTER_CRITICAL();
-  uint32_t w_index = (q->rx_fifo_size - dma_ndtr);
-  
-  // Check for new data
-  if (w_index != prev_w_index){
-    // Check for overflow
-    if (
-      ((prev_w_index < q->r_ptr_rx) && (q->r_ptr_rx <= w_index)) ||                               // No rollover
-      ((w_index < prev_w_index) && ((q->r_ptr_rx <= w_index) || (prev_w_index < q->r_ptr_rx)))    // Rollover
-    ){   
-      // We lost data. Set the new read pointer to the oldest byte still available
-      q->r_ptr_rx = (w_index + 1U) % q->rx_fifo_size;
-    }
-
-    // Set write pointer
-    q->w_ptr_rx = w_index;
-  }
-
-  prev_w_index = w_index;
-  EXIT_CRITICAL();
-}
-
-// This read after reading SR clears all error interrupts. We don't want compiler warnings, nor optimizations
-#define UART_READ_DR(uart) volatile uint8_t t = (uart)->DR; UNUSED(t);
-
-void uart_interrupt_handler(uart_ring *q) {
-  ENTER_CRITICAL();
-
-  // Read UART status. This is also the first step necessary in clearing most interrupts
-  uint32_t status = q->uart->SR;
-
-  // If RXNE is set, perform a read. This clears RXNE, ORE, IDLE, NF and FE
-  if((status & USART_SR_RXNE) != 0U){
-    uart_rx_ring(q);
-  }
-
-  // Detect errors and clear them
-  uint32_t err = (status & USART_SR_ORE) | (status & USART_SR_NE) | (status & USART_SR_FE) | (status & USART_SR_PE);
-  if(err != 0U){
-    #ifdef DEBUG_UART
-      puts("Encountered UART error: "); puth(err); puts("\n");
-    #endif
-    UART_READ_DR(q->uart)
-  }
-  // Send if necessary
-  uart_tx_ring(q);
-
-  // Run DMA pointer handler if the line is idle
-  if(q->dma_rx && (status & USART_SR_IDLE)){
-    // Reset IDLE flag
-    UART_READ_DR(q->uart)
-
-    if(q == &uart_ring_esp_gps){
-      dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
-    } else {
-      #ifdef DEBUG_UART
-        puts("No IDLE dma_pointer_handler implemented for this UART.");
-      #endif
-    }
-  }
-
-  EXIT_CRITICAL();
-}
-
-void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_esp_gps); }
-void USART2_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_debug); }
-void USART3_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin2); }
-void UART5_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin1); }
-
-void DMA2_Stream5_IRQ_Handler(void) {
-  ENTER_CRITICAL();
-
-  // Handle errors
-  if((DMA2->HISR & DMA_HISR_TEIF5) || (DMA2->HISR & DMA_HISR_DMEIF5) || (DMA2->HISR & DMA_HISR_FEIF5)){
-    #ifdef DEBUG_UART
-      puts("Encountered UART DMA error. Clearing and restarting DMA...\n");
-    #endif
-
-    // Clear flags
-    DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
-
-    // Re-enable the DMA if necessary
-    DMA2_Stream5->CR |= DMA_SxCR_EN;
-  }
-
-  // Re-calculate write pointer and reset flags
-  dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
-  DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
-
-  EXIT_CRITICAL();
-}
-
-// ***************************** Hardware setup *****************************
-
-void dma_rx_init(uart_ring *q) {
-  // Initialization is UART-dependent
-  if(q == &uart_ring_esp_gps){
-    // DMA2, stream 5, channel 4
-
-    // Disable FIFO mode (enable direct)
-    DMA2_Stream5->FCR &= ~DMA_SxFCR_DMDIS;
-
-    // Setup addresses
-    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);    // Source
-    DMA2_Stream5->M0AR = (uint32_t)q->elems_rx;     // Destination
-    DMA2_Stream5->NDTR = q->rx_fifo_size;           // Number of bytes to copy
-
-    // Circular, Increment memory, byte size, periph -> memory, enable
-    // Transfer complete, half transfer, transfer error and direct mode error interrupt enable
-    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_TEIE | DMA_SxCR_DMEIE | DMA_SxCR_EN;
-    
-    // Enable DMA receiver in UART
-    q->uart->CR3 |= USART_CR3_DMAR;
-
-    // Enable UART IDLE interrupt
-    q->uart->CR1 |= USART_CR1_IDLEIE;
-
-    // Enable interrupt
-    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
-  } else {
-    puts("Tried to initialize RX DMA for an unsupported UART\n");
-  }
-}
-
-#define __DIV(_PCLK_, _BAUD_)                    (((_PCLK_) * 25U) / (4U * (_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                (__DIV((_PCLK_), (_BAUD_)) / 100U)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
-
-void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
-  if (u == USART1) {
-    // USART1 is on APB2
-    u->BRR = __USART_BRR(48000000U, baud);
-  } else {
-    u->BRR = __USART_BRR(24000000U, baud);
-  }
-}
-
-void uart_init(uart_ring *q, int baud) {
-  // Register interrupts (max data rate: 115200 baud)
-  REGISTER_INTERRUPT(USART1_IRQn, USART1_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_1)
-  REGISTER_INTERRUPT(USART2_IRQn, USART2_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_2)
-  REGISTER_INTERRUPT(USART3_IRQn, USART3_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_3)
-  REGISTER_INTERRUPT(UART5_IRQn, UART5_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_5)
-  REGISTER_INTERRUPT(DMA2_Stream5_IRQn, DMA2_Stream5_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_UART_DMA)   // Called twice per buffer
-
-  // Set baud and enable peripheral with TX and RX mode
-  uart_set_baud(q->uart, baud);
-  q->uart->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
-
-  // Enable UART interrupts
-  if(q->uart == USART1){
-    NVIC_EnableIRQ(USART1_IRQn);
-  } else if (q->uart == USART2){
-    NVIC_EnableIRQ(USART2_IRQn);
-  } else if (q->uart == USART3){
-    NVIC_EnableIRQ(USART3_IRQn);
-  } else if (q->uart == UART5){
-    NVIC_EnableIRQ(UART5_IRQn);
-  } else {
-    // UART not used. Skip enabling interrupts
-  }
-
-  // Initialise RX DMA if used
-  if(q->dma_rx){
-    dma_rx_init(q);
-  }
-}
-
 // ************************* Low-level buffer functions *************************
-
 bool getc(uart_ring *q, char *elem) {
   bool ret = false;
 
@@ -367,11 +139,6 @@ void uart_flush_sync(uart_ring *q) {
   }
 }
 
-void uart_send_break(uart_ring *u) {
-  while ((u->uart->CR1 & USART_CR1_SBK) != 0);
-  u->uart->CR1 |= USART_CR1_SBK;
-}
-
 void clear_uart_buff(uart_ring *q) {
   ENTER_CRITICAL();
   q->w_ptr_tx = 0;
@@ -414,18 +181,23 @@ void putui(uint32_t i) {
   puts(&str[idx + 1U]);
 }
 
-void puth(unsigned int i) {
-  char c[] = "0123456789abcdef";
-  for (int pos = 28; pos != -4; pos -= 4) {
+void puthx(uint32_t i, uint8_t len) {
+  const char c[] = "0123456789abcdef";
+  for (int pos = ((int)len * 4) - 4; pos > -4; pos -= 4) {
     putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
   }
 }
 
+void puth(unsigned int i) {
+  puthx(i, 8U);
+}
+
 void puth2(unsigned int i) {
-  char c[] = "0123456789abcdef";
-  for (int pos = 4; pos != -4; pos -= 4) {
-    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
-  }
+  puthx(i, 2U);
+}
+
+void puth4(unsigned int i) {
+  puthx(i, 4U);
 }
 
 void hexdump(const void *a, int l) {
diff --git a/panda/board/drivers/usb.h b/panda/board/drivers/usb.h
index a970194ffd284e..6b743bd197e7f8 100644
--- a/panda/board/drivers/usb.h
+++ b/panda/board/drivers/usb.h
@@ -23,31 +23,22 @@ typedef union _USB_Setup {
 }
 USB_Setup_TypeDef;
 
+#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
+#define MAX_EP1_CHUNK_PER_BULK_TRANSFER 16256 // max data stream chunk in bytes, shouldn't be higher than 16320 or counter will overflow
+
+bool usb_eopf_detected = false;
+
 void usb_init(void);
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
 int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
 void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
 void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out_complete(void);
 void usb_cb_enumeration_complete(void);
+void usb_outep3_resume_if_paused(void);
 
 // **** supporting defines ****
 
-typedef struct
-{
-  __IO uint32_t HPRT;
-}
-USB_OTG_HostPortTypeDef;
-
-USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
-
-#define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
-#define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
-#define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
-#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
-#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
-#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE))
-#define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
-
 #define  USB_REQ_GET_STATUS                             0x00
 #define  USB_REQ_CLEAR_FEATURE                          0x01
 #define  USB_REQ_SET_FEATURE                            0x03
@@ -96,10 +87,6 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #define STS_SETUP_COMP                         4
 #define STS_SETUP_UPDT                         6
 
-#define USBD_FS_TRDT_VALUE           5U
-
-#define USB_OTG_SPEED_FULL 3
-
 uint8_t resp[MAX_RESP_LEN];
 
 // for the repeating interfaces
@@ -137,11 +124,7 @@ uint8_t device_desc[] = {
   0xFF, 0xFF, 0xFF, 0x40, // Class, Subclass, Protocol, Max Packet Size
   TOUSBORDER(USB_VID), // idVendor
   TOUSBORDER(USB_PID), // idProduct
-#ifdef STM32F4
-  0x00, 0x23, // bcdDevice
-#else
-  0x00, 0x22, // bcdDevice
-#endif
+  0x00, 0x00, // bcdDevice
   0x01, 0x02, // Manufacturer, Product
   0x03, 0x01 // Serial Number, Num Configurations
 };
@@ -380,6 +363,7 @@ USB_Setup_TypeDef setup;
 uint8_t usbdata[0x100];
 uint8_t* ep0_txdata = NULL;
 uint16_t ep0_txlen = 0;
+bool outep3_processing = false;
 
 // Store the current interface alt setting.
 int current_int0_alt_setting = 0;
@@ -403,7 +387,7 @@ void USB_WritePacket(const void *src, uint16_t len, uint32_t ep) {
   hexdump(src, len);
   #endif
 
-  uint8_t numpacket = (len + (MAX_RESP_LEN - 1U)) / MAX_RESP_LEN;
+  uint32_t numpacket = (len + (MAX_RESP_LEN - 1U)) / MAX_RESP_LEN;
   uint32_t count32b = 0;
   count32b = (len + 3U) / 4U;
 
@@ -413,10 +397,12 @@ void USB_WritePacket(const void *src, uint16_t len, uint32_t ep) {
   USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
 
   // load the FIFO
-  const uint32_t *src_copy = (const uint32_t *)src;
-  for (uint32_t i = 0; i < count32b; i++) {
-    USBx_DFIFO(ep) = *src_copy;
-    src_copy++;
+  if (src != NULL) {
+    const uint32_t *src_copy = (const uint32_t *)src;
+    for (uint32_t i = 0; i < count32b; i++) {
+      USBx_DFIFO(ep) = *src_copy;
+      src_copy++;
+    }
   }
 }
 
@@ -508,7 +494,7 @@ void usb_setup(void) {
                                USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
       USBx_OUTEP(2)->DOEPINT = 0xFF;
 
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
       USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
                                USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
       USBx_OUTEP(3)->DOEPINT = 0xFF;
@@ -541,6 +527,8 @@ void usb_setup(void) {
         case USB_DESC_TYPE_DEVICE:
           //puts("    writing device descriptor\n");
 
+          // set bcdDevice to hardware type
+          device_desc[13] = hw_type;
           // setup transfer
           USB_WritePacket(device_desc, MIN(sizeof(device_desc), setup.b.wLength.w), 0);
           USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
@@ -655,8 +643,11 @@ void usb_setup(void) {
       break;
     default:
       resp_len = usb_cb_control_msg(&setup, resp, 1);
-      USB_WritePacket(resp, MIN(resp_len, setup.b.wLength.w), 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      // response pending if -1 was returned
+      if (resp_len != -1) {
+        USB_WritePacket(resp, MIN(resp_len, setup.b.wLength.w), 0);
+        USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      }
   }
 }
 
@@ -691,6 +682,10 @@ void usb_irqhandler(void) {
     puts("ESUSP detected\n");
   }
 
+  if ((gintsts & USB_OTG_GINTSTS_EOPF) != 0) {
+    usb_eopf_detected = true;
+  }
+
   if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0) {
     puts("USB reset\n");
     usb_reset();
@@ -744,6 +739,7 @@ void usb_irqhandler(void) {
       }
 
       if (endpoint == 3) {
+        outep3_processing = true;
         usb_cb_ep3_out(usbdata, len, 1);
       }
     } else if (status == STS_SETUP_UPDT) {
@@ -816,19 +812,23 @@ void usb_irqhandler(void) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET XFRC\n");
       #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+      // NAK cleared by process_can (if tx buffers have room)
+      outep3_processing = false;
+      usb_cb_ep3_out_complete();
     } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET WTF\n");
       #endif
       // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      // TODO: why was this here? fires when TX buffers when we can't clear NAK
+      // USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      // USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
     } else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
-      puts("OUTEP3 error ");
-      puth(USBx_OUTEP(3)->DOEPINT);
-      puts("\n");
+      #ifdef DEBUG_USB
+        puts("OUTEP3 error ");
+        puth(USBx_OUTEP(3)->DOEPINT);
+        puts("\n");
+      #endif
     } else {
       // USBx_OUTEP(3)->DOEPINT is 0, ok to skip
     }
@@ -932,85 +932,23 @@ void usb_irqhandler(void) {
   //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
 }
 
-void OTG_FS_IRQ_Handler(void) {
-  NVIC_DisableIRQ(OTG_FS_IRQn);
-  //__disable_irq();
-  usb_irqhandler();
-  //__enable_irq();
-  NVIC_EnableIRQ(OTG_FS_IRQn);
+void usb_outep3_resume_if_paused(void) {
+  ENTER_CRITICAL();
+  if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
+    USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
+    USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+  }
+  EXIT_CRITICAL();
 }
 
-// ***************************** USB init *****************************
-
-void usb_init(void) {
-  REGISTER_INTERRUPT(OTG_FS_IRQn, OTG_FS_IRQ_Handler, 1500000U, FAULT_INTERRUPT_RATE_USB) //TODO: Find out a better rate limit for USB. Now it's the 1.5MB/s rate
-
-  // full speed PHY, do reset and remove power down
-  /*puth(USBx->GRSTCTL);
-  puts(" resetting PHY\n");*/
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
-  //puts("AHB idle\n");
-
-  // reset PHY here
-  USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
-  //puts("reset done\n");
-
-  // internal PHY, force device mode
-  USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_FDMOD;
-
-  // slowest timings
-  USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
-
-  // power up the PHY
-#ifdef STM32F4
-  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN;
-
-  //USBx->GCCFG |= USB_OTG_GCCFG_VBDEN | USB_OTG_GCCFG_SDEN |USB_OTG_GCCFG_PDEN | USB_OTG_GCCFG_DCDEN;
-
-  /* B-peripheral session valid override enable*/
-  USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOVAL;
-  USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOEN;
-#else
-  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
-#endif
-
-  // be a device, slowest timings
-  //USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
-  //USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
-  //USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
-
-  // **** for debugging, doesn't seem to work ****
-  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
-
-  // reset PHY clock
-  USBx_PCGCCTL = 0;
-
-  // enable the fancy OTG things
-  // DCFG_FRAME_INTERVAL_80 is 0
-  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
-  USBx_DEVICE->DCFG |= USB_OTG_SPEED_FULL | USB_OTG_DCFG_NZLSOHSK;
-
-  //USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
-  //USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
-
-  // clear pending interrupts
-  USBx->GINTSTS = 0xBFFFFFFFU;
-
-  // setup USB interrupts
-  // all interrupts except TXFIFO EMPTY
-  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
-  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
-  USBx->GINTMSK = USB_OTG_GINTMSK_USBRST | USB_OTG_GINTMSK_ENUMDNEM | USB_OTG_GINTMSK_OTGINT |
-                  USB_OTG_GINTMSK_RXFLVLM | USB_OTG_GINTMSK_GONAKEFFM | USB_OTG_GINTMSK_GINAKEFFM |
-                  USB_OTG_GINTMSK_OEPINT | USB_OTG_GINTMSK_IEPINT | USB_OTG_GINTMSK_USBSUSPM |
-                  USB_OTG_GINTMSK_CIDSCHGM | USB_OTG_GINTMSK_SRQIM | USB_OTG_GINTMSK_MMISM;
-
-  USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
-
-  // DCTL startup value is 2 on new chip, 0 on old chip
-  USBx_DEVICE->DCTL = 0;
-
-  // enable the IRQ
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-}
\ No newline at end of file
+bool usb_enumerated(void) {
+  // This relies on the USB being suspended after no activity for 3ms.
+  // Seems pretty stable in combination with the EOPF to reject noise.
+  bool ret = false;
+  if(!(USBx_DEVICE->DSTS & USB_OTG_DSTS_SUSPSTS)){
+    // Check to see if an end of periodic frame is detected
+    ret = usb_eopf_detected;
+  }
+  usb_eopf_detected = false;
+  return ret;
+}
diff --git a/panda/board/early_init.h b/panda/board/early_init.h
new file mode 100644
index 00000000000000..0841fc876721d4
--- /dev/null
+++ b/panda/board/early_init.h
@@ -0,0 +1,61 @@
+// Early bringup
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeefU
+#define ENTER_SOFTLOADER_MAGIC 0xdeadc0deU
+#define BOOT_NORMAL 0xdeadb111U
+
+extern void *g_pfnVectors;
+extern uint32_t enter_bootloader_mode;
+
+void jump_to_bootloader(void) {
+  // do enter bootloader
+  enter_bootloader_mode = 0;
+  void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)BOOTLOADER_ADDRESS));
+
+  // jump to bootloader
+  enable_interrupts();
+  bootloader();
+
+  // reset on exit
+  enter_bootloader_mode = BOOT_NORMAL;
+  NVIC_SystemReset();
+}
+
+void early_initialization(void) {
+  // Reset global critical depth
+  disable_interrupts();
+  global_critical_depth = 0;
+
+  // Init register and interrupt tables
+  init_registers();
+
+  // after it's been in the bootloader, things are initted differently, so we reset
+  if ((enter_bootloader_mode != BOOT_NORMAL) &&
+      (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
+      (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
+    enter_bootloader_mode = BOOT_NORMAL;
+    NVIC_SystemReset();
+  }
+
+  // if wrong chip, reboot
+  volatile unsigned int id = DBGMCU->IDCODE;
+    if ((id & 0xFFFU) != MCU_IDCODE) {
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    }
+
+  // setup interrupt table
+  SCB->VTOR = (uint32_t)&g_pfnVectors;
+
+  // early GPIOs float everything
+  early_gpio_float();
+
+  detect_external_debug_serial();
+  detect_board_type();
+
+  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
+  #ifdef PANDA
+    current_board->set_gps_mode(GPS_DISABLED);
+  #endif
+    current_board->set_led(LED_GREEN, 1);
+    jump_to_bootloader();
+  }
+}
diff --git a/panda/board/faults.h b/panda/board/faults.h
index aa5db341b5c21b..2b152fc1e6c42d 100644
--- a/panda/board/faults.h
+++ b/panda/board/faults.h
@@ -3,25 +3,28 @@
 #define FAULT_STATUS_PERMANENT 2U
 
 // Fault types
-#define FAULT_RELAY_MALFUNCTION         (1U << 0)
-#define FAULT_UNUSED_INTERRUPT_HANDLED  (1U << 1)
-#define FAULT_INTERRUPT_RATE_CAN_1      (1U << 2)
-#define FAULT_INTERRUPT_RATE_CAN_2      (1U << 3)
-#define FAULT_INTERRUPT_RATE_CAN_3      (1U << 4)
-#define FAULT_INTERRUPT_RATE_TACH       (1U << 5)
-#define FAULT_INTERRUPT_RATE_GMLAN      (1U << 6)
-#define FAULT_INTERRUPT_RATE_INTERRUPTS (1U << 7)
-#define FAULT_INTERRUPT_RATE_SPI_DMA    (1U << 8)
-#define FAULT_INTERRUPT_RATE_SPI_CS     (1U << 9)
-#define FAULT_INTERRUPT_RATE_UART_1     (1U << 10)
-#define FAULT_INTERRUPT_RATE_UART_2     (1U << 11)
-#define FAULT_INTERRUPT_RATE_UART_3     (1U << 12)
-#define FAULT_INTERRUPT_RATE_UART_5     (1U << 13)
-#define FAULT_INTERRUPT_RATE_UART_DMA   (1U << 14)
-#define FAULT_INTERRUPT_RATE_USB        (1U << 15)
-#define FAULT_INTERRUPT_RATE_TIM1       (1U << 16)
-#define FAULT_INTERRUPT_RATE_TIM3       (1U << 17)
-#define FAULT_REGISTER_DIVERGENT        (1U << 18)
+#define FAULT_RELAY_MALFUNCTION             (1U << 0)
+#define FAULT_UNUSED_INTERRUPT_HANDLED      (1U << 1)
+#define FAULT_INTERRUPT_RATE_CAN_1          (1U << 2)
+#define FAULT_INTERRUPT_RATE_CAN_2          (1U << 3)
+#define FAULT_INTERRUPT_RATE_CAN_3          (1U << 4)
+#define FAULT_INTERRUPT_RATE_TACH           (1U << 5)
+#define FAULT_INTERRUPT_RATE_GMLAN          (1U << 6)
+#define FAULT_INTERRUPT_RATE_INTERRUPTS     (1U << 7)
+#define FAULT_INTERRUPT_RATE_SPI_DMA        (1U << 8)
+#define FAULT_INTERRUPT_RATE_SPI_CS         (1U << 9)
+#define FAULT_INTERRUPT_RATE_UART_1         (1U << 10)
+#define FAULT_INTERRUPT_RATE_UART_2         (1U << 11)
+#define FAULT_INTERRUPT_RATE_UART_3         (1U << 12)
+#define FAULT_INTERRUPT_RATE_UART_5         (1U << 13)
+#define FAULT_INTERRUPT_RATE_UART_DMA       (1U << 14)
+#define FAULT_INTERRUPT_RATE_USB            (1U << 15)
+#define FAULT_INTERRUPT_RATE_TIM1           (1U << 16)
+#define FAULT_INTERRUPT_RATE_TIM3           (1U << 17)
+#define FAULT_REGISTER_DIVERGENT            (1U << 18)
+#define FAULT_INTERRUPT_RATE_KLINE_INIT     (1U << 19)
+#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE   (1U << 20)
+#define FAULT_INTERRUPT_RATE_TICK           (1U << 21)
 
 // Permanent faults
 #define PERMANENT_FAULTS 0U
@@ -46,4 +49,4 @@ void fault_recovered(uint32_t fault) {
   } else {
     puts("Cannot recover from a permanent fault!\n");
   }
-}
\ No newline at end of file
+}
diff --git a/panda/board/flash.sh b/panda/board/flash.sh
new file mode 100755
index 00000000000000..f6e5a4b712b4a1
--- /dev/null
+++ b/panda/board/flash.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/env sh
+set -e
+
+scons -u
+PYTHONPATH=.. python3 -c "from python import Panda; Panda().flash('obj/panda.bin.signed')"
diff --git a/panda/board/flash_h7.sh b/panda/board/flash_h7.sh
new file mode 100755
index 00000000000000..a7372c3f3f18fc
--- /dev/null
+++ b/panda/board/flash_h7.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/env sh
+set -e
+
+scons -u
+PYTHONPATH=.. python3 -c "from python import Panda; Panda().flash('obj/panda_h7.bin.signed')"
diff --git a/panda/board/flasher.h b/panda/board/flasher.h
new file mode 100644
index 00000000000000..534b65e7883c01
--- /dev/null
+++ b/panda/board/flasher.h
@@ -0,0 +1,316 @@
+// flasher state variables
+uint32_t *prog_ptr = NULL;
+bool unlocked = false;
+
+#ifdef uart_ring
+void debug_ring_callback(uart_ring *ring) {}
+#endif
+
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
+  int resp_len = 0;
+
+  // flasher machine
+  memset(resp, 0, 4);
+  memcpy(resp+4, "\xde\xad\xd0\x0d", 4);
+  resp[0] = 0xff;
+  resp[2] = setup->b.bRequest;
+  resp[3] = ~setup->b.bRequest;
+  *((uint32_t **)&resp[8]) = prog_ptr;
+  resp_len = 0xc;
+
+  int sec;
+  switch (setup->b.bRequest) {
+    // **** 0xb0: flasher echo
+    case 0xb0:
+      resp[1] = 0xff;
+      break;
+    // **** 0xb1: unlock flash
+    case 0xb1:
+      if (flash_is_locked()) {
+        flash_unlock();
+        resp[1] = 0xff;
+      }
+      current_board->set_led(LED_GREEN, 1);
+      unlocked = true;
+      prog_ptr = (uint32_t *)APP_START_ADDRESS;
+      break;
+    // **** 0xb2: erase sector
+    case 0xb2:
+      sec = setup->b.wValue.w;
+      if (flash_erase_sector(sec, unlocked)) {
+        resp[1] = 0xff;
+      }
+      break;
+    // **** 0xd0: fetch serial number
+    case 0xd0:
+      #ifndef STM32F2
+        // addresses are OTP
+        if (setup->b.wValue.w == 1) {
+          memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
+          resp_len = 0x10;
+        } else {
+          get_provision_chunk(resp);
+          resp_len = PROVISION_CHUNK_LEN;
+        }
+      #endif
+      break;
+    // **** 0xd1: enter bootloader mode
+    case 0xd1:
+      // this allows reflashing of the bootstub
+      // so it's blocked over wifi
+      switch (setup->b.wValue.w) {
+        case 0:
+          // TODO: put this back when it's no longer a "devkit"
+          //#ifdef ALLOW_DEBUG
+          #if 1
+          if (hardwired) {
+          #else
+          // no more bootstub on UNO once OTP block is flashed
+          if (hardwired && ((hw_type != HW_TYPE_UNO) || (!is_provisioned()))) {
+          #endif
+            puts("-> entering bootloader\n");
+            enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+            NVIC_SystemReset();
+          }
+          break;
+        case 1:
+          puts("-> entering softloader\n");
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+          break;
+      }
+      break;
+    // **** 0xd6: get version
+    case 0xd6:
+      COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
+      memcpy(resp, gitversion, sizeof(gitversion));
+      resp_len = sizeof(gitversion);
+      break;
+    // **** 0xd8: reset ST
+    case 0xd8:
+      flush_write_buffer();
+      NVIC_SystemReset();
+      break;
+  }
+  return resp_len;
+}
+
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+  return 0;
+}
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
+  UNUSED(usbdata);
+  UNUSED(len);
+  UNUSED(hardwired);
+}
+void usb_cb_ep3_out_complete(void) {}
+
+int is_enumerated = 0;
+void usb_cb_enumeration_complete(void) {
+  puts("USB enumeration complete\n");
+  is_enumerated = 1;
+}
+
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
+  current_board->set_led(LED_RED, 0);
+  for (int i = 0; i < len/4; i++) {
+    flash_write_word(prog_ptr, *(uint32_t*)(usbdata+(i*4)));
+
+    //*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
+    prog_ptr++;
+  }
+  current_board->set_led(LED_RED, 1);
+}
+
+
+int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
+  UNUSED(len);
+  int resp_len = 0;
+  switch (data[0]) {
+    case 0:
+      // control transfer
+      resp_len = usb_cb_control_msg((USB_Setup_TypeDef *)(data+4), data_out, 0);
+      break;
+    case 2:
+      // ep 2, flash!
+      usb_cb_ep2_out(data+4, data[2], 0);
+      break;
+  }
+  return resp_len;
+}
+
+#ifdef PEDAL
+
+#include "stm32fx/llbxcan.h"
+#define CAN CAN1
+
+#define CAN_BL_INPUT 0x1
+#define CAN_BL_OUTPUT 0x2
+
+void CAN1_TX_IRQ_Handler(void) {
+  // clear interrupt
+  CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+#define ISOTP_BUF_SIZE 0x110
+
+uint8_t isotp_buf[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_ptr = NULL;
+int isotp_buf_remain = 0;
+
+uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_out_ptr = NULL;
+int isotp_buf_out_remain = 0;
+int isotp_buf_out_idx = 0;
+
+void bl_can_send(uint8_t *odat) {
+  // wait for send
+  while (!(CAN->TSR & CAN_TSR_TME0));
+
+  // send continue
+  CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
+  CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
+  CAN->sTxMailBox[0].TDTR = 8;
+  CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
+}
+
+void CAN1_RX0_IRQ_Handler(void) {
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
+      uint8_t dat[8];
+      for (int i = 0; i < 8; i++) {
+        dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
+      }
+      uint8_t odat[8];
+      uint8_t type = dat[0] & 0xF0;
+      if (type == 0x30) {
+        // continue
+        while (isotp_buf_out_remain > 0) {
+          // wait for send
+          while (!(CAN->TSR & CAN_TSR_TME0));
+
+          odat[0] = 0x20 | isotp_buf_out_idx;
+          memcpy(odat+1, isotp_buf_out_ptr, 7);
+          isotp_buf_out_remain -= 7;
+          isotp_buf_out_ptr += 7;
+          isotp_buf_out_idx++;
+
+          bl_can_send(odat);
+        }
+      } else if (type == 0x20) {
+        if (isotp_buf_remain > 0) {
+          memcpy(isotp_buf_ptr, dat+1, 7);
+          isotp_buf_ptr += 7;
+          isotp_buf_remain -= 7;
+        }
+        if (isotp_buf_remain <= 0) {
+          int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
+
+          // call the function
+          memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
+          isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
+          isotp_buf_out_ptr = isotp_buf_out;
+          isotp_buf_out_idx = 0;
+
+          // send initial
+          if (isotp_buf_out_remain <= 7) {
+            odat[0] = isotp_buf_out_remain;
+            memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
+          } else {
+            odat[0] = 0x10 | (isotp_buf_out_remain>>8);
+            odat[1] = isotp_buf_out_remain & 0xFF;
+            memcpy(odat+2, isotp_buf_out_ptr, 6);
+            isotp_buf_out_remain -= 6;
+            isotp_buf_out_ptr += 6;
+            isotp_buf_out_idx++;
+          }
+
+          bl_can_send(odat);
+        }
+      } else if (type == 0x10) {
+        int len = ((dat[0]&0xF)<<8) | dat[1];
+
+        // setup buffer
+        isotp_buf_ptr = isotp_buf;
+        memcpy(isotp_buf_ptr, dat+2, 6);
+
+        if (len < (ISOTP_BUF_SIZE-0x10)) {
+          isotp_buf_ptr += 6;
+          isotp_buf_remain = len-6;
+        }
+
+        memset(odat, 0, 8);
+        odat[0] = 0x30;
+        bl_can_send(odat);
+      }
+    }
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_SCE_IRQ_Handler(void) {
+  llcan_clear_send(CAN);
+}
+
+#endif
+
+void soft_flasher_start(void) {
+  #ifdef PEDAL
+    REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
+    REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
+    REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
+  #endif
+
+  puts("\n\n\n************************ FLASHER START ************************\n");
+
+  enter_bootloader_mode = 0;
+
+  flasher_peripherals_init();
+
+// pedal has the canloader
+#ifdef PEDAL
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+
+  // B8,B9: CAN 1
+  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+  current_board->enable_can_transceiver(1, true);
+
+  // init can
+  llcan_set_speed(CAN1, 5000, false, false);
+  llcan_init(CAN1);
+#endif
+
+  gpio_usart2_init();
+  gpio_usb_init();
+
+  // enable USB
+  usb_init();
+
+  // green LED on for flashing
+  current_board->set_led(LED_GREEN, 1);
+
+  enable_interrupts();
+
+  uint64_t cnt = 0;
+
+  for (cnt=0;;cnt++) {
+    if (cnt == 35 && !is_enumerated && usb_power_mode == USB_POWER_CLIENT) {
+      // if you are connected through a hub to the phone
+      // you need power to be able to see the device
+      puts("USBP: didn't enumerate, switching to CDP mode\n");
+      current_board->set_usb_power_mode(USB_POWER_CDP);
+      current_board->set_led(LED_BLUE, 1);
+    }
+    // blink the green LED fast
+    current_board->set_led(LED_GREEN, 0);
+    delay(500000);
+    current_board->set_led(LED_GREEN, 1);
+    delay(500000);
+  }
+}
diff --git a/panda/board/get_sdk.sh b/panda/board/get_sdk.sh
index 3a009a5a13173f..84964244ed02b3 100755
--- a/panda/board/get_sdk.sh
+++ b/panda/board/get_sdk.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 sudo apt-get install gcc-arm-none-eabi python-pip
-sudo pip install libusb1 pycrypto requests
+sudo pip install libusb1 pycryptodome requests
diff --git a/panda/board/get_sdk_mac.sh b/panda/board/get_sdk_mac.sh
index a0a919f7d85e04..9e4b71590f53b2 100755
--- a/panda/board/get_sdk_mac.sh
+++ b/panda/board/get_sdk_mac.sh
@@ -1,5 +1,7 @@
 #!/bin/bash
 # Need formula for gcc
+sudo easy_install pip
+/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc
-pip install --user libusb1 pycrypto requests
+pip install --user libusb1 pycryptodome requests
diff --git a/panda/board/gpio.h b/panda/board/gpio.h
deleted file mode 100644
index 2b937eced4cfdd..00000000000000
--- a/panda/board/gpio.h
+++ /dev/null
@@ -1,76 +0,0 @@
-// Early bringup
-#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
-#define ENTER_SOFTLOADER_MAGIC 0xdeadc0de
-#define BOOT_NORMAL 0xdeadb111
-
-extern void *g_pfnVectors;
-extern uint32_t enter_bootloader_mode;
-
-void jump_to_bootloader(void) {
-  // do enter bootloader
-  enter_bootloader_mode = 0;
-  void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
-
-  // jump to bootloader
-  bootloader();
-
-  // reset on exit
-  enter_bootloader_mode = BOOT_NORMAL;
-  NVIC_SystemReset();
-}
-
-void early(void) {
-  // Reset global critical depth
-  global_critical_depth = 0;
-
-  // Init register and interrupt tables
-  init_registers();
-
-  // neccesary for DFU flashing on a non-power cycled white panda
-  enable_interrupts();
-
-  // after it's been in the bootloader, things are initted differently, so we reset
-  if ((enter_bootloader_mode != BOOT_NORMAL) &&
-      (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
-      (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
-    enter_bootloader_mode = BOOT_NORMAL;
-    NVIC_SystemReset();
-  }
-
-  // if wrong chip, reboot
-  volatile unsigned int id = DBGMCU->IDCODE;
-  #ifdef STM32F4
-    if ((id & 0xFFFU) != 0x463U) {
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-    }
-  #else
-    if ((id & 0xFFFU) != 0x411U) {
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-    }
-  #endif
-
-  // setup interrupt table
-  SCB->VTOR = (uint32_t)&g_pfnVectors;
-
-  // early GPIOs float everything
-  RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
-
-  GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0;
-  GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
-  GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
-
-  detect_configuration();
-  detect_board_type();
-
-  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
-  #ifdef PANDA
-    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
-  #endif
-    current_board->set_led(LED_GREEN, 1);
-    jump_to_bootloader();
-  }
-
-  if (is_entering_bootmode) {
-    enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
-  }
-}
\ No newline at end of file
diff --git a/panda/board/inc/cmsis_gcc.h b/panda/board/inc/cmsis_gcc.h
deleted file mode 100644
index 3589d18b243b7d..00000000000000
--- a/panda/board/inc/cmsis_gcc.h
+++ /dev/null
@@ -1,2169 +0,0 @@
-/**************************************************************************//**
- * @file     cmsis_gcc.h
- * @brief    CMSIS compiler GCC header file
- * @version  V5.2.0
- * @date     08. May 2019
- ******************************************************************************/
-/*
- * Copyright (c) 2009-2019 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef __CMSIS_GCC_H
-#define __CMSIS_GCC_H
-
-/* ignore some GCC warnings */
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wsign-conversion"
-#pragma GCC diagnostic ignored "-Wconversion"
-#pragma GCC diagnostic ignored "-Wunused-parameter"
-
-/* Fallback for __has_builtin */
-#ifndef __has_builtin
-  #define __has_builtin(x) (0)
-#endif
-
-/* CMSIS compiler specific defines */
-#ifndef   __ASM
-  #define __ASM                                  __asm
-#endif
-#ifndef   __INLINE
-  #define __INLINE                               inline
-#endif
-#ifndef   __STATIC_INLINE
-  #define __STATIC_INLINE                        static inline
-#endif
-#ifndef   __STATIC_FORCEINLINE                 
-  #define __STATIC_FORCEINLINE                   __attribute__((always_inline)) static inline
-#endif                                           
-#ifndef   __NO_RETURN
-  #define __NO_RETURN                            __attribute__((__noreturn__))
-#endif
-#ifndef   __USED
-  #define __USED                                 __attribute__((used))
-#endif
-#ifndef   __WEAK
-  #define __WEAK                                 __attribute__((weak))
-#endif
-#ifndef   __PACKED
-  #define __PACKED                               __attribute__((packed, aligned(1)))
-#endif
-#ifndef   __PACKED_STRUCT
-  #define __PACKED_STRUCT                        struct __attribute__((packed, aligned(1)))
-#endif
-#ifndef   __PACKED_UNION
-  #define __PACKED_UNION                         union __attribute__((packed, aligned(1)))
-#endif
-#ifndef   __UNALIGNED_UINT32        /* deprecated */
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wpacked"
-  #pragma GCC diagnostic ignored "-Wattributes"
-  struct __attribute__((packed)) T_UINT32 { uint32_t v; };
-  #pragma GCC diagnostic pop
-  #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
-#endif
-#ifndef   __UNALIGNED_UINT16_WRITE
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wpacked"
-  #pragma GCC diagnostic ignored "-Wattributes"
-  __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
-  #pragma GCC diagnostic pop
-  #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
-#endif
-#ifndef   __UNALIGNED_UINT16_READ
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wpacked"
-  #pragma GCC diagnostic ignored "-Wattributes"
-  __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
-  #pragma GCC diagnostic pop
-  #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
-#endif
-#ifndef   __UNALIGNED_UINT32_WRITE
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wpacked"
-  #pragma GCC diagnostic ignored "-Wattributes"
-  __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
-  #pragma GCC diagnostic pop
-  #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
-#endif
-#ifndef   __UNALIGNED_UINT32_READ
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wpacked"
-  #pragma GCC diagnostic ignored "-Wattributes"
-  __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
-  #pragma GCC diagnostic pop
-  #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
-#endif
-#ifndef   __ALIGNED
-  #define __ALIGNED(x)                           __attribute__((aligned(x)))
-#endif
-#ifndef   __RESTRICT
-  #define __RESTRICT                             __restrict
-#endif
-#ifndef   __COMPILER_BARRIER
-  #define __COMPILER_BARRIER()                   __ASM volatile("":::"memory")
-#endif
-
-/* #########################  Startup and Lowlevel Init  ######################## */
-
-#ifndef __PROGRAM_START
-
-/**
-  \brief   Initializes data and bss sections
-  \details This default implementations initialized all data and additional bss
-           sections relying on .copy.table and .zero.table specified properly
-           in the used linker script.
-  
- */
-__STATIC_FORCEINLINE __NO_RETURN void __cmsis_start(void)
-{
-  extern void _start(void) __NO_RETURN;
-  
-  typedef struct {
-    uint32_t const* src;
-    uint32_t* dest;
-    uint32_t  wlen;
-  } __copy_table_t;
-  
-  typedef struct {
-    uint32_t* dest;
-    uint32_t  wlen;
-  } __zero_table_t;
-  
-  extern const __copy_table_t __copy_table_start__;
-  extern const __copy_table_t __copy_table_end__;
-  extern const __zero_table_t __zero_table_start__;
-  extern const __zero_table_t __zero_table_end__;
-
-  for (__copy_table_t const* pTable = &__copy_table_start__; pTable < &__copy_table_end__; ++pTable) {
-    for(uint32_t i=0u; i<pTable->wlen; ++i) {
-      pTable->dest[i] = pTable->src[i];
-    }
-  }
- 
-  for (__zero_table_t const* pTable = &__zero_table_start__; pTable < &__zero_table_end__; ++pTable) {
-    for(uint32_t i=0u; i<pTable->wlen; ++i) {
-      pTable->dest[i] = 0u;
-    }
-  }
- 
-  _start();
-}
-  
-#define __PROGRAM_START           __cmsis_start
-#endif
-
-#ifndef __INITIAL_SP
-#define __INITIAL_SP              __StackTop
-#endif
-
-#ifndef __STACK_LIMIT
-#define __STACK_LIMIT             __StackLimit
-#endif
-
-#ifndef __VECTOR_TABLE
-#define __VECTOR_TABLE            __Vectors
-#endif
-
-#ifndef __VECTOR_TABLE_ATTRIBUTE
-#define __VECTOR_TABLE_ATTRIBUTE  __attribute((used, section(".vectors")))
-#endif
-
-/* ###########################  Core Function Access  ########################### */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
-  @{
- */
-
-/**
-  \brief   Enable IRQ Interrupts
-  \details Enables IRQ interrupts by clearing the I-bit in the CPSR.
-           Can only be executed in Privileged modes.
- */
-__STATIC_FORCEINLINE void __enable_irq(void)
-{
-  __ASM volatile ("cpsie i" : : : "memory");
-}
-
-
-/**
-  \brief   Disable IRQ Interrupts
-  \details Disables IRQ interrupts by setting the I-bit in the CPSR.
-           Can only be executed in Privileged modes.
- */
-__STATIC_FORCEINLINE void __disable_irq(void)
-{
-  __ASM volatile ("cpsid i" : : : "memory");
-}
-
-
-/**
-  \brief   Get Control Register
-  \details Returns the content of the Control Register.
-  \return               Control Register value
- */
-__STATIC_FORCEINLINE uint32_t __get_CONTROL(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, control" : "=r" (result) );
-  return(result);
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Get Control Register (non-secure)
-  \details Returns the content of the non-secure Control Register when in secure mode.
-  \return               non-secure Control Register value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_CONTROL_NS(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, control_ns" : "=r" (result) );
-  return(result);
-}
-#endif
-
-
-/**
-  \brief   Set Control Register
-  \details Writes the given value to the Control Register.
-  \param [in]    control  Control Register value to set
- */
-__STATIC_FORCEINLINE void __set_CONTROL(uint32_t control)
-{
-  __ASM volatile ("MSR control, %0" : : "r" (control) : "memory");
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Set Control Register (non-secure)
-  \details Writes the given value to the non-secure Control Register when in secure state.
-  \param [in]    control  Control Register value to set
- */
-__STATIC_FORCEINLINE void __TZ_set_CONTROL_NS(uint32_t control)
-{
-  __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory");
-}
-#endif
-
-
-/**
-  \brief   Get IPSR Register
-  \details Returns the content of the IPSR Register.
-  \return               IPSR Register value
- */
-__STATIC_FORCEINLINE uint32_t __get_IPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
-  return(result);
-}
-
-
-/**
-  \brief   Get APSR Register
-  \details Returns the content of the APSR Register.
-  \return               APSR Register value
- */
-__STATIC_FORCEINLINE uint32_t __get_APSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
-  return(result);
-}
-
-
-/**
-  \brief   Get xPSR Register
-  \details Returns the content of the xPSR Register.
-  \return               xPSR Register value
- */
-__STATIC_FORCEINLINE uint32_t __get_xPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
-  return(result);
-}
-
-
-/**
-  \brief   Get Process Stack Pointer
-  \details Returns the current value of the Process Stack Pointer (PSP).
-  \return               PSP Register value
- */
-__STATIC_FORCEINLINE uint32_t __get_PSP(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, psp"  : "=r" (result) );
-  return(result);
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Get Process Stack Pointer (non-secure)
-  \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state.
-  \return               PSP Register value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_PSP_NS(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, psp_ns"  : "=r" (result) );
-  return(result);
-}
-#endif
-
-
-/**
-  \brief   Set Process Stack Pointer
-  \details Assigns the given value to the Process Stack Pointer (PSP).
-  \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-__STATIC_FORCEINLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : );
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Set Process Stack Pointer (non-secure)
-  \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state.
-  \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-__STATIC_FORCEINLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack)
-{
-  __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : );
-}
-#endif
-
-
-/**
-  \brief   Get Main Stack Pointer
-  \details Returns the current value of the Main Stack Pointer (MSP).
-  \return               MSP Register value
- */
-__STATIC_FORCEINLINE uint32_t __get_MSP(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, msp" : "=r" (result) );
-  return(result);
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Get Main Stack Pointer (non-secure)
-  \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state.
-  \return               MSP Register value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_MSP_NS(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, msp_ns" : "=r" (result) );
-  return(result);
-}
-#endif
-
-
-/**
-  \brief   Set Main Stack Pointer
-  \details Assigns the given value to the Main Stack Pointer (MSP).
-  \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-__STATIC_FORCEINLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : );
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Set Main Stack Pointer (non-secure)
-  \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state.
-  \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-__STATIC_FORCEINLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack)
-{
-  __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : );
-}
-#endif
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Get Stack Pointer (non-secure)
-  \details Returns the current value of the non-secure Stack Pointer (SP) when in secure state.
-  \return               SP Register value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_SP_NS(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, sp_ns" : "=r" (result) );
-  return(result);
-}
-
-
-/**
-  \brief   Set Stack Pointer (non-secure)
-  \details Assigns the given value to the non-secure Stack Pointer (SP) when in secure state.
-  \param [in]    topOfStack  Stack Pointer value to set
- */
-__STATIC_FORCEINLINE void __TZ_set_SP_NS(uint32_t topOfStack)
-{
-  __ASM volatile ("MSR sp_ns, %0" : : "r" (topOfStack) : );
-}
-#endif
-
-
-/**
-  \brief   Get Priority Mask
-  \details Returns the current state of the priority mask bit from the Priority Mask Register.
-  \return               Priority Mask value
- */
-__STATIC_FORCEINLINE uint32_t __get_PRIMASK(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, primask" : "=r" (result) :: "memory");
-  return(result);
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Get Priority Mask (non-secure)
-  \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state.
-  \return               Priority Mask value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_PRIMASK_NS(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, primask_ns" : "=r" (result) :: "memory");
-  return(result);
-}
-#endif
-
-
-/**
-  \brief   Set Priority Mask
-  \details Assigns the given value to the Priority Mask Register.
-  \param [in]    priMask  Priority Mask
- */
-__STATIC_FORCEINLINE void __set_PRIMASK(uint32_t priMask)
-{
-  __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory");
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Set Priority Mask (non-secure)
-  \details Assigns the given value to the non-secure Priority Mask Register when in secure state.
-  \param [in]    priMask  Priority Mask
- */
-__STATIC_FORCEINLINE void __TZ_set_PRIMASK_NS(uint32_t priMask)
-{
-  __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory");
-}
-#endif
-
-
-#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
-     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
-     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
-/**
-  \brief   Enable FIQ
-  \details Enables FIQ interrupts by clearing the F-bit in the CPSR.
-           Can only be executed in Privileged modes.
- */
-__STATIC_FORCEINLINE void __enable_fault_irq(void)
-{
-  __ASM volatile ("cpsie f" : : : "memory");
-}
-
-
-/**
-  \brief   Disable FIQ
-  \details Disables FIQ interrupts by setting the F-bit in the CPSR.
-           Can only be executed in Privileged modes.
- */
-__STATIC_FORCEINLINE void __disable_fault_irq(void)
-{
-  __ASM volatile ("cpsid f" : : : "memory");
-}
-
-
-/**
-  \brief   Get Base Priority
-  \details Returns the current value of the Base Priority register.
-  \return               Base Priority register value
- */
-__STATIC_FORCEINLINE uint32_t __get_BASEPRI(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, basepri" : "=r" (result) );
-  return(result);
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Get Base Priority (non-secure)
-  \details Returns the current value of the non-secure Base Priority register when in secure state.
-  \return               Base Priority register value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_BASEPRI_NS(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) );
-  return(result);
-}
-#endif
-
-
-/**
-  \brief   Set Base Priority
-  \details Assigns the given value to the Base Priority register.
-  \param [in]    basePri  Base Priority value to set
- */
-__STATIC_FORCEINLINE void __set_BASEPRI(uint32_t basePri)
-{
-  __ASM volatile ("MSR basepri, %0" : : "r" (basePri) : "memory");
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Set Base Priority (non-secure)
-  \details Assigns the given value to the non-secure Base Priority register when in secure state.
-  \param [in]    basePri  Base Priority value to set
- */
-__STATIC_FORCEINLINE void __TZ_set_BASEPRI_NS(uint32_t basePri)
-{
-  __ASM volatile ("MSR basepri_ns, %0" : : "r" (basePri) : "memory");
-}
-#endif
-
-
-/**
-  \brief   Set Base Priority with condition
-  \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled,
-           or the new value increases the BASEPRI priority level.
-  \param [in]    basePri  Base Priority value to set
- */
-__STATIC_FORCEINLINE void __set_BASEPRI_MAX(uint32_t basePri)
-{
-  __ASM volatile ("MSR basepri_max, %0" : : "r" (basePri) : "memory");
-}
-
-
-/**
-  \brief   Get Fault Mask
-  \details Returns the current value of the Fault Mask register.
-  \return               Fault Mask register value
- */
-__STATIC_FORCEINLINE uint32_t __get_FAULTMASK(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
-  return(result);
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Get Fault Mask (non-secure)
-  \details Returns the current value of the non-secure Fault Mask register when in secure state.
-  \return               Fault Mask register value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_FAULTMASK_NS(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) );
-  return(result);
-}
-#endif
-
-
-/**
-  \brief   Set Fault Mask
-  \details Assigns the given value to the Fault Mask register.
-  \param [in]    faultMask  Fault Mask value to set
- */
-__STATIC_FORCEINLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory");
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Set Fault Mask (non-secure)
-  \details Assigns the given value to the non-secure Fault Mask register when in secure state.
-  \param [in]    faultMask  Fault Mask value to set
- */
-__STATIC_FORCEINLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask)
-{
-  __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory");
-}
-#endif
-
-#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
-           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
-           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
-
-
-#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
-     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
-
-/**
-  \brief   Get Process Stack Pointer Limit
-  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
-  Stack Pointer Limit register hence zero is returned always in non-secure
-  mode.
-  
-  \details Returns the current value of the Process Stack Pointer Limit (PSPLIM).
-  \return               PSPLIM Register value
- */
-__STATIC_FORCEINLINE uint32_t __get_PSPLIM(void)
-{
-#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-    // without main extensions, the non-secure PSPLIM is RAZ/WI
-  return 0U;
-#else
-  uint32_t result;
-  __ASM volatile ("MRS %0, psplim"  : "=r" (result) );
-  return result;
-#endif
-}
-
-#if (defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3))
-/**
-  \brief   Get Process Stack Pointer Limit (non-secure)
-  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
-  Stack Pointer Limit register hence zero is returned always.
-
-  \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state.
-  \return               PSPLIM Register value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_PSPLIM_NS(void)
-{
-#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
-  // without main extensions, the non-secure PSPLIM is RAZ/WI
-  return 0U;
-#else
-  uint32_t result;
-  __ASM volatile ("MRS %0, psplim_ns"  : "=r" (result) );
-  return result;
-#endif
-}
-#endif
-
-
-/**
-  \brief   Set Process Stack Pointer Limit
-  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
-  Stack Pointer Limit register hence the write is silently ignored in non-secure
-  mode.
-  
-  \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM).
-  \param [in]    ProcStackPtrLimit  Process Stack Pointer Limit value to set
- */
-__STATIC_FORCEINLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit)
-{
-#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-  // without main extensions, the non-secure PSPLIM is RAZ/WI
-  (void)ProcStackPtrLimit;
-#else
-  __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit));
-#endif
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
-/**
-  \brief   Set Process Stack Pointer (non-secure)
-  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
-  Stack Pointer Limit register hence the write is silently ignored.
-
-  \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state.
-  \param [in]    ProcStackPtrLimit  Process Stack Pointer Limit value to set
- */
-__STATIC_FORCEINLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit)
-{
-#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
-  // without main extensions, the non-secure PSPLIM is RAZ/WI
-  (void)ProcStackPtrLimit;
-#else
-  __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit));
-#endif
-}
-#endif
-
-
-/**
-  \brief   Get Main Stack Pointer Limit
-  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
-  Stack Pointer Limit register hence zero is returned always in non-secure
-  mode.
-
-  \details Returns the current value of the Main Stack Pointer Limit (MSPLIM).
-  \return               MSPLIM Register value
- */
-__STATIC_FORCEINLINE uint32_t __get_MSPLIM(void)
-{
-#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-  // without main extensions, the non-secure MSPLIM is RAZ/WI
-  return 0U;
-#else
-  uint32_t result;
-  __ASM volatile ("MRS %0, msplim" : "=r" (result) );
-  return result;
-#endif
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
-/**
-  \brief   Get Main Stack Pointer Limit (non-secure)
-  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
-  Stack Pointer Limit register hence zero is returned always.
-
-  \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state.
-  \return               MSPLIM Register value
- */
-__STATIC_FORCEINLINE uint32_t __TZ_get_MSPLIM_NS(void)
-{
-#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
-  // without main extensions, the non-secure MSPLIM is RAZ/WI
-  return 0U;
-#else
-  uint32_t result;
-  __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) );
-  return result;
-#endif
-}
-#endif
-
-
-/**
-  \brief   Set Main Stack Pointer Limit
-  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
-  Stack Pointer Limit register hence the write is silently ignored in non-secure
-  mode.
-
-  \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM).
-  \param [in]    MainStackPtrLimit  Main Stack Pointer Limit value to set
- */
-__STATIC_FORCEINLINE void __set_MSPLIM(uint32_t MainStackPtrLimit)
-{
-#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-  // without main extensions, the non-secure MSPLIM is RAZ/WI
-  (void)MainStackPtrLimit;
-#else
-  __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit));
-#endif
-}
-
-
-#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
-/**
-  \brief   Set Main Stack Pointer Limit (non-secure)
-  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
-  Stack Pointer Limit register hence the write is silently ignored.
-
-  \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state.
-  \param [in]    MainStackPtrLimit  Main Stack Pointer value to set
- */
-__STATIC_FORCEINLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit)
-{
-#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
-  // without main extensions, the non-secure MSPLIM is RAZ/WI
-  (void)MainStackPtrLimit;
-#else
-  __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit));
-#endif
-}
-#endif
-
-#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
-           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
-
-
-/**
-  \brief   Get FPSCR
-  \details Returns the current value of the Floating Point Status/Control register.
-  \return               Floating Point Status/Control register value
- */
-__STATIC_FORCEINLINE uint32_t __get_FPSCR(void)
-{
-#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
-     (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
-#if __has_builtin(__builtin_arm_get_fpscr) 
-// Re-enable using built-in when GCC has been fixed
-// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2)
-  /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */
-  return __builtin_arm_get_fpscr();
-#else
-  uint32_t result;
-
-  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
-  return(result);
-#endif
-#else
-  return(0U);
-#endif
-}
-
-
-/**
-  \brief   Set FPSCR
-  \details Assigns the given value to the Floating Point Status/Control register.
-  \param [in]    fpscr  Floating Point Status/Control value to set
- */
-__STATIC_FORCEINLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
-     (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
-#if __has_builtin(__builtin_arm_set_fpscr)
-// Re-enable using built-in when GCC has been fixed
-// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2)
-  /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */
-  __builtin_arm_set_fpscr(fpscr);
-#else
-  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc", "memory");
-#endif
-#else
-  (void)fpscr;
-#endif
-}
-
-
-/*@} end of CMSIS_Core_RegAccFunctions */
-
-
-/* ##########################  Core Instruction Access  ######################### */
-/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
-  Access to dedicated instructions
-  @{
-*/
-
-/* Define macros for porting to both thumb1 and thumb2.
- * For thumb1, use low register (r0-r7), specified by constraint "l"
- * Otherwise, use general registers, specified by constraint "r" */
-#if defined (__thumb__) && !defined (__thumb2__)
-#define __CMSIS_GCC_OUT_REG(r) "=l" (r)
-#define __CMSIS_GCC_RW_REG(r) "+l" (r)
-#define __CMSIS_GCC_USE_REG(r) "l" (r)
-#else
-#define __CMSIS_GCC_OUT_REG(r) "=r" (r)
-#define __CMSIS_GCC_RW_REG(r) "+r" (r)
-#define __CMSIS_GCC_USE_REG(r) "r" (r)
-#endif
-
-/**
-  \brief   No Operation
-  \details No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-#define __NOP()                             __ASM volatile ("nop")
-
-/**
-  \brief   Wait For Interrupt
-  \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs.
- */
-#define __WFI()                             __ASM volatile ("wfi")
-
-
-/**
-  \brief   Wait For Event
-  \details Wait For Event is a hint instruction that permits the processor to enter
-           a low-power state until one of a number of events occurs.
- */
-#define __WFE()                             __ASM volatile ("wfe")
-
-
-/**
-  \brief   Send Event
-  \details Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-#define __SEV()                             __ASM volatile ("sev")
-
-
-/**
-  \brief   Instruction Synchronization Barrier
-  \details Instruction Synchronization Barrier flushes the pipeline in the processor,
-           so that all instructions following the ISB are fetched from cache or memory,
-           after the instruction has been completed.
- */
-__STATIC_FORCEINLINE void __ISB(void)
-{
-  __ASM volatile ("isb 0xF":::"memory");
-}
-
-
-/**
-  \brief   Data Synchronization Barrier
-  \details Acts as a special kind of Data Memory Barrier.
-           It completes when all explicit memory accesses before this instruction complete.
- */
-__STATIC_FORCEINLINE void __DSB(void)
-{
-  __ASM volatile ("dsb 0xF":::"memory");
-}
-
-
-/**
-  \brief   Data Memory Barrier
-  \details Ensures the apparent order of the explicit memory operations before
-           and after the instruction, without ensuring their completion.
- */
-__STATIC_FORCEINLINE void __DMB(void)
-{
-  __ASM volatile ("dmb 0xF":::"memory");
-}
-
-
-/**
-  \brief   Reverse byte order (32 bit)
-  \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412.
-  \param [in]    value  Value to reverse
-  \return               Reversed value
- */
-__STATIC_FORCEINLINE uint32_t __REV(uint32_t value)
-{
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5)
-  return __builtin_bswap32(value);
-#else
-  uint32_t result;
-
-  __ASM volatile ("rev %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
-  return result;
-#endif
-}
-
-
-/**
-  \brief   Reverse byte order (16 bit)
-  \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856.
-  \param [in]    value  Value to reverse
-  \return               Reversed value
- */
-__STATIC_FORCEINLINE uint32_t __REV16(uint32_t value)
-{
-  uint32_t result;
-
-  __ASM volatile ("rev16 %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
-  return result;
-}
-
-
-/**
-  \brief   Reverse byte order (16 bit)
-  \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000.
-  \param [in]    value  Value to reverse
-  \return               Reversed value
- */
-__STATIC_FORCEINLINE int16_t __REVSH(int16_t value)
-{
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
-  return (int16_t)__builtin_bswap16(value);
-#else
-  int16_t result;
-
-  __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
-  return result;
-#endif
-}
-
-
-/**
-  \brief   Rotate Right in unsigned value (32 bit)
-  \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
-  \param [in]    op1  Value to rotate
-  \param [in]    op2  Number of Bits to rotate
-  \return               Rotated value
- */
-__STATIC_FORCEINLINE uint32_t __ROR(uint32_t op1, uint32_t op2)
-{
-  op2 %= 32U;
-  if (op2 == 0U)
-  {
-    return op1;
-  }
-  return (op1 >> op2) | (op1 << (32U - op2));
-}
-
-
-/**
-  \brief   Breakpoint
-  \details Causes the processor to enter Debug state.
-           Debug tools can use this to investigate system state when the instruction at a particular address is reached.
-  \param [in]    value  is ignored by the processor.
-                 If required, a debugger can use it to store additional information about the breakpoint.
- */
-#define __BKPT(value)                       __ASM volatile ("bkpt "#value)
-
-
-/**
-  \brief   Reverse bit order of value
-  \details Reverses the bit order of the given value.
-  \param [in]    value  Value to reverse
-  \return               Reversed value
- */
-__STATIC_FORCEINLINE uint32_t __RBIT(uint32_t value)
-{
-  uint32_t result;
-
-#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
-     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
-     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
-   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
-#else
-  uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */
-
-  result = value;                      /* r will be reversed bits of v; first get LSB of v */
-  for (value >>= 1U; value != 0U; value >>= 1U)
-  {
-    result <<= 1U;
-    result |= value & 1U;
-    s--;
-  }
-  result <<= s;                        /* shift when v's highest bits are zero */
-#endif
-  return result;
-}
-
-
-/**
-  \brief   Count leading zeros
-  \details Counts the number of leading zeros of a data value.
-  \param [in]  value  Value to count the leading zeros
-  \return             number of leading zeros in value
- */
-__STATIC_FORCEINLINE uint8_t __CLZ(uint32_t value)
-{
-  /* Even though __builtin_clz produces a CLZ instruction on ARM, formally
-     __builtin_clz(0) is undefined behaviour, so handle this case specially.
-     This guarantees ARM-compatible results if happening to compile on a non-ARM
-     target, and ensures the compiler doesn't decide to activate any
-     optimisations using the logic "value was passed to __builtin_clz, so it
-     is non-zero".
-     ARM GCC 7.3 and possibly earlier will optimise this test away, leaving a
-     single CLZ instruction.
-   */
-  if (value == 0U)
-  {
-    return 32U;
-  }
-  return __builtin_clz(value);
-}
-
-
-#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
-     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
-     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
-     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
-/**
-  \brief   LDR Exclusive (8 bit)
-  \details Executes a exclusive LDR instruction for 8 bit value.
-  \param [in]    ptr  Pointer to data
-  \return             value of type uint8_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint8_t __LDREXB(volatile uint8_t *addr)
-{
-    uint32_t result;
-
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
-   __ASM volatile ("ldrexb %0, %1" : "=r" (result) : "Q" (*addr) );
-#else
-    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
-       accepted by assembler. So has to use following less efficient pattern.
-    */
-   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) : "memory" );
-#endif
-   return ((uint8_t) result);    /* Add explicit type cast here */
-}
-
-
-/**
-  \brief   LDR Exclusive (16 bit)
-  \details Executes a exclusive LDR instruction for 16 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint16_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint16_t __LDREXH(volatile uint16_t *addr)
-{
-    uint32_t result;
-
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
-   __ASM volatile ("ldrexh %0, %1" : "=r" (result) : "Q" (*addr) );
-#else
-    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
-       accepted by assembler. So has to use following less efficient pattern.
-    */
-   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) : "memory" );
-#endif
-   return ((uint16_t) result);    /* Add explicit type cast here */
-}
-
-
-/**
-  \brief   LDR Exclusive (32 bit)
-  \details Executes a exclusive LDR instruction for 32 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint32_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint32_t __LDREXW(volatile uint32_t *addr)
-{
-    uint32_t result;
-
-   __ASM volatile ("ldrex %0, %1" : "=r" (result) : "Q" (*addr) );
-   return(result);
-}
-
-
-/**
-  \brief   STR Exclusive (8 bit)
-  \details Executes a exclusive STR instruction for 8 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-__STATIC_FORCEINLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
-{
-   uint32_t result;
-
-   __ASM volatile ("strexb %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) );
-   return(result);
-}
-
-
-/**
-  \brief   STR Exclusive (16 bit)
-  \details Executes a exclusive STR instruction for 16 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-__STATIC_FORCEINLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
-{
-   uint32_t result;
-
-   __ASM volatile ("strexh %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) );
-   return(result);
-}
-
-
-/**
-  \brief   STR Exclusive (32 bit)
-  \details Executes a exclusive STR instruction for 32 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-__STATIC_FORCEINLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
-{
-   uint32_t result;
-
-   __ASM volatile ("strex %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" (value) );
-   return(result);
-}
-
-
-/**
-  \brief   Remove the exclusive lock
-  \details Removes the exclusive lock which is created by LDREX.
- */
-__STATIC_FORCEINLINE void __CLREX(void)
-{
-  __ASM volatile ("clrex" ::: "memory");
-}
-
-#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
-           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
-           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
-           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
-
-
-#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
-     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
-     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
-/**
-  \brief   Signed Saturate
-  \details Saturates a signed value.
-  \param [in]  ARG1  Value to be saturated
-  \param [in]  ARG2  Bit position to saturate to (1..32)
-  \return             Saturated value
- */
-#define __SSAT(ARG1,ARG2) \
-__extension__ \
-({                          \
-  int32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/**
-  \brief   Unsigned Saturate
-  \details Saturates an unsigned value.
-  \param [in]  ARG1  Value to be saturated
-  \param [in]  ARG2  Bit position to saturate to (0..31)
-  \return             Saturated value
- */
-#define __USAT(ARG1,ARG2) \
- __extension__ \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/**
-  \brief   Rotate Right with Extend (32 bit)
-  \details Moves each bit of a bitstring right by one bit.
-           The carry input is shifted in at the left end of the bitstring.
-  \param [in]    value  Value to rotate
-  \return               Rotated value
- */
-__STATIC_FORCEINLINE uint32_t __RRX(uint32_t value)
-{
-  uint32_t result;
-
-  __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
-  return(result);
-}
-
-
-/**
-  \brief   LDRT Unprivileged (8 bit)
-  \details Executes a Unprivileged LDRT instruction for 8 bit value.
-  \param [in]    ptr  Pointer to data
-  \return             value of type uint8_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint8_t __LDRBT(volatile uint8_t *ptr)
-{
-    uint32_t result;
-
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
-   __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) );
-#else
-    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
-       accepted by assembler. So has to use following less efficient pattern.
-    */
-   __ASM volatile ("ldrbt %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" );
-#endif
-   return ((uint8_t) result);    /* Add explicit type cast here */
-}
-
-
-/**
-  \brief   LDRT Unprivileged (16 bit)
-  \details Executes a Unprivileged LDRT instruction for 16 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint16_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint16_t __LDRHT(volatile uint16_t *ptr)
-{
-    uint32_t result;
-
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
-   __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) );
-#else
-    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
-       accepted by assembler. So has to use following less efficient pattern.
-    */
-   __ASM volatile ("ldrht %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" );
-#endif
-   return ((uint16_t) result);    /* Add explicit type cast here */
-}
-
-
-/**
-  \brief   LDRT Unprivileged (32 bit)
-  \details Executes a Unprivileged LDRT instruction for 32 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint32_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint32_t __LDRT(volatile uint32_t *ptr)
-{
-    uint32_t result;
-
-   __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) );
-   return(result);
-}
-
-
-/**
-  \brief   STRT Unprivileged (8 bit)
-  \details Executes a Unprivileged STRT instruction for 8 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-__STATIC_FORCEINLINE void __STRBT(uint8_t value, volatile uint8_t *ptr)
-{
-   __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
-}
-
-
-/**
-  \brief   STRT Unprivileged (16 bit)
-  \details Executes a Unprivileged STRT instruction for 16 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-__STATIC_FORCEINLINE void __STRHT(uint16_t value, volatile uint16_t *ptr)
-{
-   __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
-}
-
-
-/**
-  \brief   STRT Unprivileged (32 bit)
-  \details Executes a Unprivileged STRT instruction for 32 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-__STATIC_FORCEINLINE void __STRT(uint32_t value, volatile uint32_t *ptr)
-{
-   __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) );
-}
-
-#else  /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
-           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
-           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
-
-/**
-  \brief   Signed Saturate
-  \details Saturates a signed value.
-  \param [in]  value  Value to be saturated
-  \param [in]    sat  Bit position to saturate to (1..32)
-  \return             Saturated value
- */
-__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat)
-{
-  if ((sat >= 1U) && (sat <= 32U))
-  {
-    const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U);
-    const int32_t min = -1 - max ;
-    if (val > max)
-    {
-      return max;
-    }
-    else if (val < min)
-    {
-      return min;
-    }
-  }
-  return val;
-}
-
-/**
-  \brief   Unsigned Saturate
-  \details Saturates an unsigned value.
-  \param [in]  value  Value to be saturated
-  \param [in]    sat  Bit position to saturate to (0..31)
-  \return             Saturated value
- */
-__STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat)
-{
-  if (sat <= 31U)
-  {
-    const uint32_t max = ((1U << sat) - 1U);
-    if (val > (int32_t)max)
-    {
-      return max;
-    }
-    else if (val < 0)
-    {
-      return 0U;
-    }
-  }
-  return (uint32_t)val;
-}
-
-#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
-           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
-           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
-
-
-#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
-     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
-/**
-  \brief   Load-Acquire (8 bit)
-  \details Executes a LDAB instruction for 8 bit value.
-  \param [in]    ptr  Pointer to data
-  \return             value of type uint8_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint8_t __LDAB(volatile uint8_t *ptr)
-{
-    uint32_t result;
-
-   __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) );
-   return ((uint8_t) result);
-}
-
-
-/**
-  \brief   Load-Acquire (16 bit)
-  \details Executes a LDAH instruction for 16 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint16_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint16_t __LDAH(volatile uint16_t *ptr)
-{
-    uint32_t result;
-
-   __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) );
-   return ((uint16_t) result);
-}
-
-
-/**
-  \brief   Load-Acquire (32 bit)
-  \details Executes a LDA instruction for 32 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint32_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint32_t __LDA(volatile uint32_t *ptr)
-{
-    uint32_t result;
-
-   __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) );
-   return(result);
-}
-
-
-/**
-  \brief   Store-Release (8 bit)
-  \details Executes a STLB instruction for 8 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-__STATIC_FORCEINLINE void __STLB(uint8_t value, volatile uint8_t *ptr)
-{
-   __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
-}
-
-
-/**
-  \brief   Store-Release (16 bit)
-  \details Executes a STLH instruction for 16 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-__STATIC_FORCEINLINE void __STLH(uint16_t value, volatile uint16_t *ptr)
-{
-   __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
-}
-
-
-/**
-  \brief   Store-Release (32 bit)
-  \details Executes a STL instruction for 32 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-__STATIC_FORCEINLINE void __STL(uint32_t value, volatile uint32_t *ptr)
-{
-   __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
-}
-
-
-/**
-  \brief   Load-Acquire Exclusive (8 bit)
-  \details Executes a LDAB exclusive instruction for 8 bit value.
-  \param [in]    ptr  Pointer to data
-  \return             value of type uint8_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint8_t __LDAEXB(volatile uint8_t *ptr)
-{
-    uint32_t result;
-
-   __ASM volatile ("ldaexb %0, %1" : "=r" (result) : "Q" (*ptr) );
-   return ((uint8_t) result);
-}
-
-
-/**
-  \brief   Load-Acquire Exclusive (16 bit)
-  \details Executes a LDAH exclusive instruction for 16 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint16_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint16_t __LDAEXH(volatile uint16_t *ptr)
-{
-    uint32_t result;
-
-   __ASM volatile ("ldaexh %0, %1" : "=r" (result) : "Q" (*ptr) );
-   return ((uint16_t) result);
-}
-
-
-/**
-  \brief   Load-Acquire Exclusive (32 bit)
-  \details Executes a LDA exclusive instruction for 32 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint32_t at (*ptr)
- */
-__STATIC_FORCEINLINE uint32_t __LDAEX(volatile uint32_t *ptr)
-{
-    uint32_t result;
-
-   __ASM volatile ("ldaex %0, %1" : "=r" (result) : "Q" (*ptr) );
-   return(result);
-}
-
-
-/**
-  \brief   Store-Release Exclusive (8 bit)
-  \details Executes a STLB exclusive instruction for 8 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-__STATIC_FORCEINLINE uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr)
-{
-   uint32_t result;
-
-   __ASM volatile ("stlexb %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
-   return(result);
-}
-
-
-/**
-  \brief   Store-Release Exclusive (16 bit)
-  \details Executes a STLH exclusive instruction for 16 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-__STATIC_FORCEINLINE uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr)
-{
-   uint32_t result;
-
-   __ASM volatile ("stlexh %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
-   return(result);
-}
-
-
-/**
-  \brief   Store-Release Exclusive (32 bit)
-  \details Executes a STL exclusive instruction for 32 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-__STATIC_FORCEINLINE uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr)
-{
-   uint32_t result;
-
-   __ASM volatile ("stlex %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
-   return(result);
-}
-
-#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
-           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
-
-/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
-
-
-/* ###################  Compiler specific Intrinsics  ########################### */
-/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
-  Access to dedicated SIMD instructions
-  @{
-*/
-
-#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1))
-
-__STATIC_FORCEINLINE uint32_t __SADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __QADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-
-__STATIC_FORCEINLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __USUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-
-__STATIC_FORCEINLINE uint32_t __SADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __USUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __QASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SHASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UQASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UHASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __QSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __USAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __USAD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-#define __SSAT16(ARG1,ARG2) \
-({                          \
-  int32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-#define __USAT16(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("usat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-__STATIC_FORCEINLINE uint32_t __UXTB16(uint32_t op1)
-{
-  uint32_t result;
-
-  __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1));
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SXTB16(uint32_t op1)
-{
-  uint32_t result;
-
-  __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1));
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SMUAD  (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc)
-{
-  union llreg_u{
-    uint32_t w32[2];
-    uint64_t w64;
-  } llr;
-  llr.w64 = acc;
-
-#ifndef __ARMEB__   /* Little endian */
-  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
-#else               /* Big endian */
-  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
-#endif
-
-  return(llr.w64);
-}
-
-__STATIC_FORCEINLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc)
-{
-  union llreg_u{
-    uint32_t w32[2];
-    uint64_t w64;
-  } llr;
-  llr.w64 = acc;
-
-#ifndef __ARMEB__   /* Little endian */
-  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
-#else               /* Big endian */
-  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
-#endif
-
-  return(llr.w64);
-}
-
-__STATIC_FORCEINLINE uint32_t __SMUSD  (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc)
-{
-  union llreg_u{
-    uint32_t w32[2];
-    uint64_t w64;
-  } llr;
-  llr.w64 = acc;
-
-#ifndef __ARMEB__   /* Little endian */
-  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
-#else               /* Big endian */
-  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
-#endif
-
-  return(llr.w64);
-}
-
-__STATIC_FORCEINLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc)
-{
-  union llreg_u{
-    uint32_t w32[2];
-    uint64_t w64;
-  } llr;
-  llr.w64 = acc;
-
-#ifndef __ARMEB__   /* Little endian */
-  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
-#else               /* Big endian */
-  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
-#endif
-
-  return(llr.w64);
-}
-
-__STATIC_FORCEINLINE uint32_t __SEL  (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE  int32_t __QADD( int32_t op1,  int32_t op2)
-{
-  int32_t result;
-
-  __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__STATIC_FORCEINLINE  int32_t __QSUB( int32_t op1,  int32_t op2)
-{
-  int32_t result;
-
-  __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-#if 0
-#define __PKHBT(ARG1,ARG2,ARG3) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
-  __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
-  __RES; \
- })
-
-#define __PKHTB(ARG1,ARG2,ARG3) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
-  if (ARG3 == 0) \
-    __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2)  ); \
-  else \
-    __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
-  __RES; \
- })
-#endif
-
-#define __PKHBT(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0x0000FFFFUL) |  \
-                                           ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL)  )
-
-#define __PKHTB(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0xFFFF0000UL) |  \
-                                           ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL)  )
-
-__STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3)
-{
- int32_t result;
-
- __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r"  (op1), "r" (op2), "r" (op3) );
- return(result);
-}
-
-#endif /* (__ARM_FEATURE_DSP == 1) */
-/*@} end of group CMSIS_SIMD_intrinsics */
-
-
-#pragma GCC diagnostic pop
-
-#endif /* __CMSIS_GCC_H */
-
diff --git a/panda/board/libc.h b/panda/board/libc.h
index 67411fbb313391..1e32d4206e481a 100644
--- a/panda/board/libc.h
+++ b/panda/board/libc.h
@@ -1,7 +1,7 @@
 // **** libc ****
 
-void delay(int a) {
-  volatile int i;
+void delay(uint32_t a) {
+  volatile uint32_t i;
   for (i = 0; i < a; i++);
 }
 
@@ -14,13 +14,36 @@ void *memset(void *str, int c, unsigned int n) {
   return str;
 }
 
-void *memcpy(void *dest, const void *src, unsigned int n) {
-  uint8_t *d = dest;
-  const uint8_t *s = src;
-  for (unsigned int i = 0; i < n; i++) {
-    *d = *s;
-    d++;
-    s++;
+#define UNALIGNED(X, Y) \
+  (((uint32_t)(X) & (sizeof(uint32_t) - 1U)) | ((uint32_t)(Y) & (sizeof(uint32_t) - 1U)))
+
+void *memcpy(void *dest, const void *src, unsigned int len) {
+  unsigned int n = len;
+  uint8_t *d8 = dest;
+  const uint8_t *s8 = src;
+
+  if ((n >= 4U) && !UNALIGNED(s8, d8)) {
+    uint32_t *d32 = (uint32_t *)d8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
+    const uint32_t *s32 = (const uint32_t *)s8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
+
+    while(n >= 16U) {
+      *d32 = *s32; d32++; s32++;
+      *d32 = *s32; d32++; s32++;
+      *d32 = *s32; d32++; s32++;
+      *d32 = *s32; d32++; s32++;
+      n -= 16U;
+    }
+
+    while(n >= 4U) {
+      *d32 = *s32; d32++; s32++;
+      n -= 4U;
+    }
+
+    d8 = (uint8_t *)d32;
+    s8 = (const uint8_t *)s32;
+  }
+  while (n-- > 0U) {
+    *d8 = *s8; d8++; s8++;
   }
   return dest;
 }
@@ -39,4 +62,3 @@ int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
   }
   return ret;
 }
-
diff --git a/panda/board/main.c b/panda/board/main.c
index 8bc4ac78f1b43b..c0fa83e979e72b 100644
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -1,46 +1,33 @@
-//#define EON
-//#define PANDA
-
 // ********************* Includes *********************
 #include "config.h"
-#include "obj/gitversion.h"
 
-#include "main_declarations.h"
-#include "critical.h"
-
-#include "libc.h"
-#include "provision.h"
-#include "faults.h"
-
-#include "drivers/registers.h"
-#include "drivers/interrupts.h"
-
-#include "drivers/llcan.h"
-#include "drivers/llgpio.h"
-#include "drivers/adc.h"
 #include "drivers/pwm.h"
-
-#include "board.h"
-
-#include "drivers/uart.h"
 #include "drivers/usb.h"
 #include "drivers/gmlan_alt.h"
-#include "drivers/timer.h"
-#include "drivers/clock.h"
-
-#include "gpio.h"
+#include "drivers/kline_init.h"
 
-#ifndef EON
-#include "drivers/spi.h"
-#endif
+#include "early_init.h"
+#include "provision.h"
 
 #include "power_saving.h"
 #include "safety.h"
 
-#include "drivers/can.h"
+#include "drivers/can_common.h"
+
+#ifdef STM32H7
+  #include "drivers/fdcan.h"
+#else
+  #include "drivers/bxcan.h"
+#endif
+
+#include "usb_protocol.h"
+
+#include "obj/gitversion.h"
 
 extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
 
+// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
+#define HEALTH_PACKET_VERSION 1
 struct __attribute__((packed)) health_t {
   uint32_t uptime_pkt;
   uint32_t voltage_pkt;
@@ -57,8 +44,10 @@ struct __attribute__((packed)) health_t {
   uint8_t car_harness_status_pkt;
   uint8_t usb_power_mode_pkt;
   uint8_t safety_mode_pkt;
+  int16_t safety_param_pkt;
   uint8_t fault_status_pkt;
   uint8_t power_save_enabled_pkt;
+  uint8_t heartbeat_lost_pkt;
 };
 
 
@@ -123,14 +112,14 @@ void set_safety_mode(uint16_t mode, int16_t param) {
   switch (mode_copy) {
     case SAFETY_SILENT:
       set_intercept_relay(false);
-      if (board_has_obd()) {
+      if (current_board->has_obd) {
         current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       can_silent = ALL_CAN_SILENT;
       break;
     case SAFETY_NOOUTPUT:
       set_intercept_relay(false);
-      if (board_has_obd()) {
+      if (current_board->has_obd) {
         current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       can_silent = ALL_CAN_LIVE;
@@ -138,15 +127,21 @@ void set_safety_mode(uint16_t mode, int16_t param) {
     case SAFETY_ELM327:
       set_intercept_relay(false);
       heartbeat_counter = 0U;
-      if (board_has_obd()) {
-        current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+      heartbeat_lost = false;
+      if (current_board->has_obd) {
+        if (param == 0) {
+          current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+        } else {
+          current_board->set_can_mode(CAN_MODE_NORMAL);
+        }
       }
       can_silent = ALL_CAN_LIVE;
       break;
     default:
       set_intercept_relay(true);
       heartbeat_counter = 0U;
-      if (board_has_obd()) {
+      heartbeat_lost = false;
+      if (current_board->has_obd) {
         current_board->set_can_mode(CAN_MODE_NORMAL);
       }
       can_silent = ALL_CAN_LIVE;
@@ -155,6 +150,12 @@ void set_safety_mode(uint16_t mode, int16_t param) {
   can_init_all();
 }
 
+bool is_car_safety_mode(uint16_t mode) {
+  return (mode != SAFETY_SILENT) &&
+         (mode != SAFETY_NOOUTPUT) &&
+         (mode != SAFETY_ELM327);
+}
+
 // ***************************** USB port *****************************
 
 int get_health_pkt(void *dat) {
@@ -178,7 +179,9 @@ int get_health_pkt(void *dat) {
   health->car_harness_status_pkt = car_harness_status;
   health->usb_power_mode_pkt = usb_power_mode;
   health->safety_mode_pkt = (uint8_t)(current_safety_mode);
+  health->safety_param_pkt = current_safety_param;
   health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
+  health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
 
   health->fault_status_pkt = fault_status;
   health->faults_pkt = faults;
@@ -192,15 +195,7 @@ int get_rtc_pkt(void *dat) {
   return sizeof(t);
 }
 
-int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
-  UNUSED(hardwired);
-  CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
-  int ilen = 0;
-  while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) {
-    ilen++;
-  }
-  return ilen*0x10;
-}
+
 
 // send on serial, first byte to select the ring
 void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
@@ -218,24 +213,13 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
   }
 }
 
-// send on CAN
-void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
-  UNUSED(hardwired);
-  int dpkt = 0;
-  uint32_t *d32 = (uint32_t *)usbdata;
-  for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RDHR = d32[dpkt + 3];
-    to_push.RDLR = d32[dpkt + 2];
-    to_push.RDTR = d32[dpkt + 1];
-    to_push.RIR = d32[dpkt];
-
-    uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
-    can_send(&to_push, bus_number, false);
+void usb_cb_ep3_out_complete(void) {
+  if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
+    usb_outep3_resume_if_paused();
   }
 }
 
-void usb_cb_enumeration_complete() {
+void usb_cb_enumeration_complete(void) {
   puts("USB enumeration complete\n");
   is_enumerated = 1;
 }
@@ -243,7 +227,6 @@ void usb_cb_enumeration_complete() {
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
   unsigned int resp_len = 0;
   uart_ring *ur = NULL;
-  int i;
   timestamp_t t;
   switch (setup->b.bRequest) {
     // **** 0xa0: get rtc time
@@ -327,7 +310,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     case 0xd0:
       // addresses are OTP
       if (setup->b.wValue.w == 1U) {
-        (void)memcpy(resp, (uint8_t *)0x1fff79c0, 0x10);
+        (void)memcpy(resp, (uint8_t *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
         resp_len = 0x10;
       } else {
         get_provision_chunk(resp);
@@ -394,28 +377,28 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     // **** 0xd9: set ESP power
     case 0xd9:
       if (setup->b.wValue.w == 1U) {
-        current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+        current_board->set_gps_mode(GPS_ENABLED);
       } else if (setup->b.wValue.w == 2U) {
-        current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
+        current_board->set_gps_mode(GPS_BOOTMODE);
       } else {
-        current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+        current_board->set_gps_mode(GPS_DISABLED);
       }
       break;
     // **** 0xda: reset ESP, with optional boot mode
     case 0xda:
-      current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+      current_board->set_gps_mode(GPS_DISABLED);
       delay(1000000);
       if (setup->b.wValue.w == 1U) {
-        current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
+        current_board->set_gps_mode(GPS_BOOTMODE);
       } else {
-        current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+        current_board->set_gps_mode(GPS_ENABLED);
       }
       delay(1000000);
-      current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+      current_board->set_gps_mode(GPS_ENABLED);
       break;
     // **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
     case 0xdb:
-      if(board_has_obd()){
+      if(current_board->has_obd){
         if (setup->b.wValue.w == 1U) {
           // Enable OBD CAN
           current_board->set_can_mode(CAN_MODE_OBD_CAN2);
@@ -449,24 +432,26 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
         set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
       }
       break;
-    // **** 0xdd: enable can forwarding
+    // **** 0xdd: get healthpacket and CANPacket versions
     case 0xdd:
-      // wValue = Can Bus Num to forward from
-      // wIndex = Can Bus Num to forward to
-      if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
-          (setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
-        can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
-      } else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFFU)){ //Clear Forwarding
-        can_set_forwarding(setup->b.wValue.w, -1);
-      } else {
-        puts("Invalid CAN bus forwarding\n");
-      }
+      resp[0] = HEALTH_PACKET_VERSION;
+      resp[1] = CAN_PACKET_VERSION;
+      resp_len = 2;
       break;
     // **** 0xde: set can bitrate
     case 0xde:
       if (setup->b.wValue.w < BUS_MAX) {
-        can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
-        can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
+        // TODO: add sanity check, ideally check if value is correct(from array of correct values)
+        bus_config[setup->b.wValue.w].can_speed = setup->b.wIndex.w;
+        bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
+        UNUSED(ret);
+      }
+      break;
+    // **** 0xdf: set unsafe mode
+    case 0xdf:
+      // you can only set this if you are in a non car safety mode
+      if (!is_car_safety_mode(current_safety_mode)) {
+        unsafe_mode = setup->b.wValue.w;
       }
       break;
     // **** 0xe0: uart read
@@ -477,7 +462,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       }
 
       // TODO: Remove this again and fix boardd code to hande the message bursts instead of single chars
-      if (ur == &uart_ring_esp_gps) {
+      if (ur == &uart_ring_gps) {
         dma_pointer_handler(ur, DMA2_Stream5->NDTR);
       }
 
@@ -541,38 +526,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     case 0xe7:
       set_power_save_state(setup->b.wValue.w);
       break;
-    // **** 0xf0: do k-line wValue pulse on uart2 for Acura
+    // **** 0xf0: k-line/l-line wake-up pulse for KWP2000 fast initialization
     case 0xf0:
-      if (setup->b.wValue.w == 1U) {
-        GPIOC->ODR &= ~(1U << 10);
-        GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
-        GPIOC->MODER |= GPIO_MODER_MODER10_0;
-      } else {
-        GPIOC->ODR &= ~(1U << 12);
-        GPIOC->MODER &= ~GPIO_MODER_MODER12_1;
-        GPIOC->MODER |= GPIO_MODER_MODER12_0;
-      }
-
-      for (i = 0; i < 80; i++) {
-        delay(8000);
-        if (setup->b.wValue.w == 1U) {
-          GPIOC->ODR |= (1U << 10);
-          GPIOC->ODR &= ~(1U << 10);
-        } else {
-          GPIOC->ODR |= (1U << 12);
-          GPIOC->ODR &= ~(1U << 12);
+      if(current_board->has_lin) {
+        bool k = (setup->b.wValue.w == 0U) || (setup->b.wValue.w == 2U);
+        bool l = (setup->b.wValue.w == 1U) || (setup->b.wValue.w == 2U);
+        if (bitbang_wakeup(k, l)) {
+          resp_len = -1; // do not clear NAK yet (wait for bit banging to finish)
         }
       }
-
-      if (setup->b.wValue.w == 1U) {
-        GPIOC->MODER &= ~GPIO_MODER_MODER10_0;
-        GPIOC->MODER |= GPIO_MODER_MODER10_1;
-      } else {
-        GPIOC->MODER &= ~GPIO_MODER_MODER12_0;
-        GPIOC->MODER |= GPIO_MODER_MODER12_1;
-      }
-
-      delay(140 * 9000);
       break;
     // **** 0xf1: Clear CAN ring buffer.
     case 0xf1:
@@ -600,8 +562,48 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     case 0xf3:
       {
         heartbeat_counter = 0U;
+        heartbeat_lost = false;
+        heartbeat_disabled = false;
         break;
       }
+    // **** 0xf4: k-line/l-line 5 baud initialization
+    case 0xf4:
+      if(current_board->has_lin) {
+        bool k = (setup->b.wValue.w == 0U) || (setup->b.wValue.w == 2U);
+        bool l = (setup->b.wValue.w == 1U) || (setup->b.wValue.w == 2U);
+        uint8_t five_baud_addr = (setup->b.wIndex.w & 0xFFU);
+        if (bitbang_five_baud_addr(k, l, five_baud_addr)) {
+          resp_len = -1; // do not clear NAK yet (wait for bit banging to finish)
+        }
+      }
+      break;
+    // **** 0xf5: set clock source mode
+    case 0xf5:
+      current_board->set_clock_source_mode(setup->b.wValue.w);
+      break;
+    // **** 0xf6: set siren enabled
+    case 0xf6:
+      siren_enabled = (setup->b.wValue.w != 0U);
+      break;
+    // **** 0xf7: set green led enabled
+    case 0xf7:
+      green_led_enabled = (setup->b.wValue.w != 0U);
+      break;
+#ifdef ALLOW_DEBUG
+    // **** 0xf8: disable heartbeat checks
+    case 0xf8:
+      heartbeat_disabled = true;
+      break;
+#endif
+    // **** 0xde: set CAN FD data bitrate
+    case 0xf9:
+      if (setup->b.wValue.w < CAN_MAX) {
+        // TODO: add sanity check, ideally check if value is correct(from array of correct values)
+        bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
+        bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
+        UNUSED(ret);
+      }
+      break;
     default:
       puts("NO HANDLER ");
       puth(setup->b.bRequest);
@@ -611,43 +613,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
   return resp_len;
 }
 
-#ifndef EON
-int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
-  // data[0]  = endpoint
-  // data[2]  = length
-  // data[4:] = data
-  UNUSED(len);
-  int resp_len = 0;
-  switch (data[0]) {
-    case 0:
-      // control transfer
-      resp_len = usb_cb_control_msg((USB_Setup_TypeDef *)(data+4), data_out, 0);
-      break;
-    case 1:
-      // ep 1, read
-      resp_len = usb_cb_ep1_in(data_out, 0x40, 0);
-      break;
-    case 2:
-      // ep 2, send serial
-      usb_cb_ep2_out(data+4, data[2], 0);
-      break;
-    case 3:
-      // ep 3, send CAN
-      usb_cb_ep3_out(data+4, data[2], 0);
-      break;
-    default:
-      puts("SPI data invalid");
-      break;
-  }
-  return resp_len;
-}
-#endif
-
 // ***************************** main code *****************************
 
 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
 void __initialize_hardware_early(void) {
-  early();
+  early_initialization();
 }
 
 void __attribute__ ((noinline)) enable_fpu(void) {
@@ -655,104 +625,140 @@ void __attribute__ ((noinline)) enable_fpu(void) {
   SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
 }
 
-// go into SILENT when the EON does not send a heartbeat for this amount of seconds.
-#define EON_HEARTBEAT_IGNITION_CNT_ON 5U
-#define EON_HEARTBEAT_IGNITION_CNT_OFF 2U
+// go into SILENT when heartbeat isn't received for this amount of seconds.
+#define HEARTBEAT_IGNITION_CNT_ON 5U
+#define HEARTBEAT_IGNITION_CNT_OFF 2U
 
-// called at 1Hz
-void TIM1_BRK_TIM9_IRQ_Handler(void) {
-  if (TIM9->SR != 0) {
-    can_live = pending_can_live;
+// called at 8Hz
+uint8_t loop_counter = 0U;
+void tick_handler(void) {
+  if (TICK_TIMER->SR != 0) {
+    // siren
+    current_board->set_siren((loop_counter & 1U) && (siren_enabled || (siren_countdown > 0U)));
 
-    current_board->usb_power_mode_tick(uptime_cnt);
+    // decimated to 1Hz
+    if (loop_counter == 0U) {
+      can_live = pending_can_live;
 
-    //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
+      current_board->usb_power_mode_tick(uptime_cnt);
 
-    // reset this every 16th pass
-    if ((uptime_cnt & 0xFU) == 0U) {
-      pending_can_live = 0;
-    }
-    #ifdef DEBUG
-      puts("** blink ");
-      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
-      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
-      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
-    #endif
+      //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
 
-    // Tick fan driver
-    fan_tick();
-    //puts("Fan speed: "); puth((unsigned int) fan_rpm); puts("rpm\n");
+      // reset this every 16th pass
+      if ((uptime_cnt & 0xFU) == 0U) {
+        pending_can_live = 0;
+      }
+      #ifdef DEBUG
+        puts("** blink ");
+        puts("rx:"); puth4(can_rx_q.r_ptr); puts("-"); puth4(can_rx_q.w_ptr); puts("  ");
+        puts("tx1:"); puth4(can_tx1_q.r_ptr); puts("-"); puth4(can_tx1_q.w_ptr); puts("  ");
+        puts("tx2:"); puth4(can_tx2_q.r_ptr); puts("-"); puth4(can_tx2_q.w_ptr); puts("  ");
+        puts("tx3:"); puth4(can_tx3_q.r_ptr); puts("-"); puth4(can_tx3_q.w_ptr); puts("\n");
+      #endif
 
-    // set green LED to be controls allowed
-    current_board->set_led(LED_GREEN, controls_allowed);
+      // Tick drivers
+      fan_tick();
 
-    // turn off the blue LED, turned on by CAN
-    // unless we are in power saving mode
-    current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
+      // set green LED to be controls allowed
+      current_board->set_led(LED_GREEN, controls_allowed | green_led_enabled);
 
-    // increase heartbeat counter and cap it at the uint32 limit
-    if (heartbeat_counter < __UINT32_MAX__) {
-      heartbeat_counter += 1U;
-    }
+      // turn off the blue LED, turned on by CAN
+      // unless we are in power saving mode
+      current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
 
-    #ifdef EON
-    // check heartbeat counter if we are running EON code.
-    // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
-    if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
-      puts("EON hasn't sent a heartbeat for 0x");
-      puth(heartbeat_counter);
-      puts(" seconds. Safety is set to SILENT mode.\n");
-      if (current_safety_mode != SAFETY_SILENT) {
-        set_safety_mode(SAFETY_SILENT, 0U);
+      // increase heartbeat counter and cap it at the uint32 limit
+      if (heartbeat_counter < __UINT32_MAX__) {
+        heartbeat_counter += 1U;
       }
-      if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
-        set_power_save_state(POWER_SAVE_STATUS_ENABLED);
+
+      if (siren_countdown > 0U) {
+        siren_countdown -= 1U;
       }
 
-      // Also disable fan and IR when the heartbeat goes missing
-      current_board->set_fan_power(0U);
-      current_board->set_ir_power(0U);
-    }
+      if (controls_allowed) {
+        controls_allowed_countdown = 30U;
+      } else if (controls_allowed_countdown > 0U) {
+        controls_allowed_countdown -= 1U;
+      } else {
 
-    // enter CDP mode when car starts to ensure we are charging a turned off EON
-    if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
-      current_board->set_usb_power_mode(USB_POWER_CDP);
-    }
-    #endif
+      }
+
+      if (!heartbeat_disabled) {
+        // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
+        if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
+          puts("device hasn't sent a heartbeat for 0x");
+          puth(heartbeat_counter);
+          puts(" seconds. Safety is set to SILENT mode.\n");
+
+          if (controls_allowed_countdown > 0U) {
+            siren_countdown = 5U;
+            controls_allowed_countdown = 0U;
+          }
 
-    // check registers
-    check_registers();
+          // set flag to indicate the heartbeat was lost
+          if (is_car_safety_mode(current_safety_mode)) {
+            heartbeat_lost = true;
+          }
+
+          if (current_safety_mode != SAFETY_SILENT) {
+            set_safety_mode(SAFETY_SILENT, 0U);
+          }
+          if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
+            set_power_save_state(POWER_SAVE_STATUS_ENABLED);
+          }
 
-    // set ignition_can to false after 2s of no CAN seen
-    if (ignition_can_cnt > 2U) {
-      ignition_can = false;
-    };
+          // Also disable IR when the heartbeat goes missing
+          current_board->set_ir_power(0U);
 
-    // on to the next one
-    uptime_cnt += 1U;
-    safety_mode_cnt += 1U;
-    ignition_can_cnt += 1U;
+          // If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
+          if(usb_enumerated()){
+            current_board->set_fan_power(50U);
+          } else {
+            current_board->set_fan_power(0U);
+          }
+        }
+
+        // enter CDP mode when car starts to ensure we are charging a turned off EON
+        if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
+          current_board->set_usb_power_mode(USB_POWER_CDP);
+        }
+      }
+
+      // check registers
+      check_registers();
+
+      // set ignition_can to false after 2s of no CAN seen
+      if (ignition_can_cnt > 2U) {
+        ignition_can = false;
+      }
 
-    // synchronous safety check
-    safety_tick(current_hooks);
+      // on to the next one
+      uptime_cnt += 1U;
+      safety_mode_cnt += 1U;
+      ignition_can_cnt += 1U;
+
+      // synchronous safety check
+      safety_tick(current_rx_checks);
+    }
+
+    loop_counter++;
+    loop_counter %= 8U;
   }
-  TIM9->SR = 0;
+  TICK_TIMER->SR = 0;
 }
 
+
 int main(void) {
   // Init interrupt table
   init_interrupts(true);
 
-  // 1s timer
-  REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 2U, FAULT_INTERRUPT_RATE_TIM1)
-
   // shouldn't have interrupts here, but just in case
   disable_interrupts();
 
   // init early devices
   clock_init();
   peripherals_init();
-  detect_configuration();
+  detect_external_debug_serial();
   detect_board_type();
   adc_init();
 
@@ -768,7 +774,6 @@ int main(void) {
   puts("Config:\n");
   puts("  Board type: "); puts(current_board->board_type); puts("\n");
   puts(has_external_debug_serial ? "  Real serial\n" : "  USB serial\n");
-  puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  No bootmode\n");
 
   // init board
   current_board->init();
@@ -783,14 +788,14 @@ int main(void) {
     uart_init(&uart_ring_debug, 115200);
   }
 
-  if (board_has_gps()) {
-    uart_init(&uart_ring_esp_gps, 9600);
+  if (current_board->has_gps) {
+    uart_init(&uart_ring_gps, 9600);
   } else {
     // enable ESP uart
-    uart_init(&uart_ring_esp_gps, 115200);
+    uart_init(&uart_ring_gps, 115200);
   }
 
-  if(board_has_lin()){
+  if(current_board->has_lin){
     // enable LIN
     uart_init(&uart_ring_lin1, 10400);
     UART5->CR2 |= USART_CR2_LINEN;
@@ -798,27 +803,17 @@ int main(void) {
     USART3->CR2 |= USART_CR2_LINEN;
   }
 
-  // init microsecond system timer
-  // increments 1000000 times per second
-  // generate an update to set the prescaler
-  TIM2->PSC = 48-1;
-  TIM2->CR1 = TIM_CR1_CEN;
-  TIM2->EGR = TIM_EGR_UG;
-  // use TIM2->CNT to read
+  microsecond_timer_init();
 
   // init to SILENT and can silent
   set_safety_mode(SAFETY_SILENT, 0);
 
   // enable CAN TXs
-  current_board->enable_can_transcievers(true);
-
-#ifndef EON
-  spi_init();
-#endif
+  current_board->enable_can_transceivers(true);
 
-  // 1hz
-  timer_init(TIM9, 1464);
-  NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
+  // 8Hz timer
+  REGISTER_INTERRUPT(TICK_TIMER_IRQ, tick_handler, 10U, FAULT_INTERRUPT_RATE_TICK)
+  tick_timer_init();
 
 #ifdef DEBUG
   puts("DEBUG ENABLED\n");
@@ -837,19 +832,23 @@ int main(void) {
       #ifdef DEBUG_FAULTS
       if(fault_status == FAULT_STATUS_NONE){
       #endif
-        int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1);
+        uint32_t div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4U : 1U);
 
         // useful for debugging, fade breaks = panda is overloaded
-        for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
-          for (int fade = 0; fade < 1024; fade += 8) {
-            for (int i = 0; i < (128/div_mode); i++) {
-              current_board->set_led(LED_RED, 1);
-              if (fade < 512) { delay(fade); } else { delay(1024-fade); }
-              current_board->set_led(LED_RED, 0);
-              if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
-            }
-          }
+        for(uint32_t fade = 0U; fade < MAX_LED_FADE; fade += div_mode){
+          current_board->set_led(LED_RED, true);
+          delay(fade >> 4);
+          current_board->set_led(LED_RED, false);
+          delay((MAX_LED_FADE - fade) >> 4);
         }
+
+        for(uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= div_mode){
+          current_board->set_led(LED_RED, true);
+          delay(fade >> 4);
+          current_board->set_led(LED_RED, false);
+          delay((MAX_LED_FADE - fade) >> 4);
+        }
+
       #ifdef DEBUG_FAULTS
       } else {
           current_board->set_led(LED_RED, 1);
diff --git a/panda/board/main_declarations.h b/panda/board/main_declarations.h
index 363a992dbfe8a7..c211e598823063 100644
--- a/panda/board/main_declarations.h
+++ b/panda/board/main_declarations.h
@@ -2,14 +2,27 @@
 void puts(const char *a);
 void puth(unsigned int i);
 void puth2(unsigned int i);
+void puth4(unsigned int i);
 typedef struct board board;
 typedef struct harness_configuration harness_configuration;
 void can_flip_buses(uint8_t bus1, uint8_t bus2);
-void can_set_obd(uint8_t harness_orientation, bool obd);
+void pwm_init(TIM_TypeDef *TIM, uint8_t channel);
+void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage);
 
 // ********************* Globals **********************
 uint8_t hw_type = 0;
 const board *current_board;
 bool is_enumerated = 0;
-uint32_t heartbeat_counter = 0;
 uint32_t uptime_cnt = 0;
+bool green_led_enabled = false;
+
+// heartbeat state
+uint32_t heartbeat_counter = 0;
+bool heartbeat_lost = false;
+bool heartbeat_disabled = false; // set over USB
+
+// siren state
+bool siren_enabled = false;
+uint32_t siren_countdown = 0; // siren plays while countdown > 0
+uint32_t controls_allowed_countdown = 0;
+
diff --git a/panda/board/pedal/Makefile b/panda/board/pedal/Makefile
deleted file mode 100644
index 7ce6dd07684da5..00000000000000
--- a/panda/board/pedal/Makefile
+++ /dev/null
@@ -1,67 +0,0 @@
-# :set noet
-PROJ_NAME = comma
-
-CFLAGS  = -O2 -Wall -Wextra -Wstrict-prototypes -Werror -std=gnu11 -DPEDAL
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
-CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib -fno-builtin
-CFLAGS += -T../stm32_flash.ld
-
-STARTUP_FILE = startup_stm32f205xx
-
-CC = arm-none-eabi-gcc
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-DFU_UTIL = "dfu-util"
-
-# pedal only uses the debug cert
-CERT = ../../certs/debug
-CFLAGS += "-DALLOW_DEBUG"
-
-canflash: obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py $<
-
-usbflash: obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py; sleep 0.5
-	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
-
-recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
-
-include ../../common/version.mk
-
-obj/cert.h: ../../crypto/getcertheader.py
-	../../crypto/getcertheader.py ../../certs/debug.pub ../../certs/release.pub > $@
-
-obj/main.o: main.c ../*.h
-	mkdir -p obj
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/bootstub.o: ../bootstub.c ../*.h obj/gitversion.h obj/cert.h
-	mkdir -p obj
-	mkdir -p ../obj
-	cp obj/gitversion.h ../obj/gitversion.h
-	cp obj/cert.h  ../obj/cert.h
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/%.o: ../../crypto/%.c
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
-  # hack
-	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
-	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
-
-obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
-	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
-	
-clean:
-	rm -f obj/*
-
diff --git a/panda/board/pedal/flash_can.sh b/panda/board/pedal/flash_can.sh
new file mode 100755
index 00000000000000..1125372766d7f6
--- /dev/null
+++ b/panda/board/pedal/flash_can.sh
@@ -0,0 +1,8 @@
+#!/usr/bin/env sh
+set -e
+
+cd ..
+PEDAL=1 scons -u
+cd pedal
+
+../../tests/pedal/enter_canloader.py ../obj/pedal.bin.signed
diff --git a/panda/board/pedal/main.c b/panda/board/pedal/main.c
index 667d27bf0f8d29..7eda85da06040b 100644
--- a/panda/board/pedal/main.c
+++ b/panda/board/pedal/main.c
@@ -1,31 +1,14 @@
 // ********************* Includes *********************
+#define PEDAL_USB
+#define DEBUG
 #include "../config.h"
-#include "libc.h"
 
-#include "main_declarations.h"
-#include "critical.h"
-#include "faults.h"
-
-#include "drivers/registers.h"
-#include "drivers/interrupts.h"
-#include "drivers/llcan.h"
-#include "drivers/llgpio.h"
-#include "drivers/adc.h"
-
-#include "board.h"
-
-#include "drivers/clock.h"
-#include "drivers/dac.h"
-#include "drivers/timer.h"
-
-#include "gpio.h"
+#include "early_init.h"
+#include "crc.h"
 
 #define CAN CAN1
 
-//#define PEDAL_USB
-
 #ifdef PEDAL_USB
-  #include "drivers/uart.h"
   #include "drivers/usb.h"
 #else
   // no serial either
@@ -40,12 +23,12 @@
   }
 #endif
 
-#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeefU
 uint32_t enter_bootloader_mode;
 
 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
 void __initialize_hardware_early(void) {
-  early();
+  early_initialization();
 }
 
 // ********************* serial debugging *********************
@@ -75,6 +58,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   UNUSED(len);
   UNUSED(hardwired);
 }
+void usb_cb_ep3_out_complete(void) {}
 void usb_cb_enumeration_complete(void) {}
 
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
@@ -82,6 +66,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
   unsigned int resp_len = 0;
   uart_ring *ur = NULL;
   switch (setup->b.bRequest) {
+    // **** 0xc1: get hardware type
+    case 0xc1:
+      resp[0] = hw_type;
+      resp_len = 1;
+      break;
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);
@@ -105,26 +94,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
 
 #endif
 
-// ***************************** pedal can checksum *****************************
-
-uint8_t pedal_checksum(uint8_t *dat, int len) {
-  uint8_t crc = 0xFF;
-  uint8_t poly = 0xD5; // standard crc8
-  int i, j;
-  for (i = len - 1; i >= 0; i--) {
-    crc ^= dat[i];
-    for (j = 0; j < 8; j++) {
-      if ((crc & 0x80U) != 0U) {
-        crc = (uint8_t)((crc << 1) ^ poly);
-      }
-      else {
-        crc <<= 1;
-      }
-    }
-  }
-  return crc;
-}
-
 // ***************************** can port *****************************
 
 // addresses to be used on CAN
@@ -154,6 +123,7 @@ uint32_t current_index = 0;
 #define FAULT_TIMEOUT 5U
 #define FAULT_INVALID 6U
 uint8_t state = FAULT_STARTUP;
+const uint8_t crc_poly = 0xD5U;  // standard crc8
 
 void CAN1_RX0_IRQ_Handler(void) {
   while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
@@ -163,11 +133,11 @@ void CAN1_RX0_IRQ_Handler(void) {
     int address = CAN->sFIFOMailBox[0].RIR >> 21;
     if (address == CAN_GAS_INPUT) {
       // softloader entry
-      if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
-        if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
+      if (GET_MAILBOX_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
+        if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
           enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
           NVIC_SystemReset();
-        } else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
+        } else if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
           enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
           NVIC_SystemReset();
         } else {
@@ -178,13 +148,13 @@ void CAN1_RX0_IRQ_Handler(void) {
       // normal packet
       uint8_t dat[8];
       for (int i=0; i<8; i++) {
-        dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
+        dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
       }
       uint16_t value_0 = (dat[0] << 8) | dat[1];
       uint16_t value_1 = (dat[2] << 8) | dat[3];
       bool enable = ((dat[4] >> 7) & 1U) != 0U;
       uint8_t index = dat[4] & COUNTER_CYCLE;
-      if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
+      if (crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly) == dat[5]) {
         if (((current_index + 1U) & COUNTER_CYCLE) == index) {
           #ifdef DEBUG
             puts("setting gas ");
@@ -247,7 +217,7 @@ void TIM3_IRQ_Handler(void) {
     dat[2] = (pdl1 >> 8) & 0xFFU;
     dat[3] = (pdl1 >> 0) & 0xFFU;
     dat[4] = ((state & 0xFU) << 4) | pkt_idx;
-    dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
+    dat[5] = crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly);
     CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
     CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
     CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5
@@ -302,7 +272,7 @@ int main(void) {
   REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
   REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
   REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-
+  
   // Should run at around 732Hz (see init below)
   REGISTER_INTERRUPT(TIM3_IRQn, TIM3_IRQ_Handler, 1000U, FAULT_INTERRUPT_RATE_TIM3)
 
@@ -311,7 +281,7 @@ int main(void) {
   // init devices
   clock_init();
   peripherals_init();
-  detect_configuration();
+  detect_external_debug_serial();
   detect_board_type();
 
   // init board
@@ -332,7 +302,8 @@ int main(void) {
     puts("Failed to set llcan speed");
   }
 
-  llcan_init(CAN1);
+  bool ret = llcan_init(CAN1);
+  UNUSED(ret);
 
   // 48mhz / 65536 ~= 732
   timer_init(TIM3, 15);
diff --git a/panda/board/pedal/main_declarations.h b/panda/board/pedal/main_declarations.h
index 9a40f8ae3af447..13bf7ebc0eb802 100644
--- a/panda/board/pedal/main_declarations.h
+++ b/panda/board/pedal/main_declarations.h
@@ -2,10 +2,11 @@
 void puts(const char *a);
 void puth(unsigned int i);
 void puth2(unsigned int i);
+void puth4(unsigned int i);
 typedef struct board board;
 typedef struct harness_configuration harness_configuration;
 
 // ********************* Globals **********************
 uint8_t hw_type = 0;
 const board *current_board;
-bool is_enumerated = 0;
\ No newline at end of file
+bool is_enumerated = 0;
diff --git a/panda/board/pedal/obj/.gitkeep b/panda/board/pedal/obj/.gitkeep
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/panda/board/pedal/recover.sh b/panda/board/pedal/recover.sh
new file mode 100755
index 00000000000000..607a32cea4dd8d
--- /dev/null
+++ b/panda/board/pedal/recover.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+set -e
+
+DFU_UTIL="dfu-util"
+
+cd ..
+PEDAL=1 scons -u
+cd pedal
+
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D ../obj/pedal.bin.signed
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D ../obj/bootstub.pedal.bin
diff --git a/panda/board/power_saving.h b/panda/board/power_saving.h
index f7e42371aa2188..52c65028a43ed5 100644
--- a/panda/board/power_saving.h
+++ b/panda/board/power_saving.h
@@ -13,37 +13,37 @@ void set_power_save_state(int state) {
     bool enable = false;
     if (state == POWER_SAVE_STATUS_ENABLED) {
       puts("enable power savings\n");
-      if (board_has_gps()) {
-        char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
+      if (current_board->has_gps) {
+        const char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
         uart_ring *ur = get_ring_by_number(1);
         for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1U; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
       }
     } else {
       puts("disable power savings\n");
-      if (board_has_gps()) {
-        char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
+      if (current_board->has_gps) {
+        const char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
         uart_ring *ur = get_ring_by_number(1);
         for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1U; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
       }
       enable = true;
     }
 
-    current_board->enable_can_transcievers(enable);
+    current_board->enable_can_transceivers(enable);
 
     // Switch EPS/GPS
     if (enable) {
-      current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+      current_board->set_gps_mode(GPS_ENABLED);
     } else {
-      current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+      current_board->set_gps_mode(GPS_DISABLED);
     }
 
-    if(board_has_gmlan()){
+    if(current_board->has_hw_gmlan){
       // turn on GMLAN
       set_gpio_output(GPIOB, 14, enable);
       set_gpio_output(GPIOB, 15, enable);
     }
 
-    if(board_has_lin()){
+    if(current_board->has_lin){
       // turn on LIN
       set_gpio_output(GPIOB, 7, enable);
       set_gpio_output(GPIOA, 14, enable);
@@ -52,7 +52,7 @@ void set_power_save_state(int state) {
     // Switch off IR when in power saving
     if(!enable){
       current_board->set_ir_power(0U);
-    }   
+    }
 
     power_save_status = state;
   }
diff --git a/panda/board/provision.h b/panda/board/provision.h
index 0b09d8ff8be337..ed670a6db89ccc 100644
--- a/panda/board/provision.h
+++ b/panda/board/provision.h
@@ -5,7 +5,7 @@
 // SHA1 checksum = 0x1C - 0x20
 
 void get_provision_chunk(uint8_t *resp) {
-  (void)memcpy(resp, (uint8_t *)0x1fff79e0, PROVISION_CHUNK_LEN);
+  (void)memcpy(resp, (uint8_t *)PROVISION_CHUNK_ADDRESS, PROVISION_CHUNK_LEN);
   if (memcmp(resp, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) == 0) {
     (void)memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
   }
@@ -13,7 +13,6 @@ void get_provision_chunk(uint8_t *resp) {
 
 uint8_t chunk[PROVISION_CHUNK_LEN];
 bool is_provisioned(void) {
-  (void)memcpy(chunk, (uint8_t *)0x1fff79e0, PROVISION_CHUNK_LEN);
+  (void)memcpy(chunk, (uint8_t *)PROVISION_CHUNK_ADDRESS, PROVISION_CHUNK_LEN);
   return (memcmp(chunk, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) != 0);
 }
-
diff --git a/panda/board/recover.sh b/panda/board/recover.sh
new file mode 100755
index 00000000000000..9cf68e5da0579e
--- /dev/null
+++ b/panda/board/recover.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+set -e
+
+DFU_UTIL="dfu-util"
+
+scons -u
+
+PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true
+sleep 1
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D obj/panda.bin.signed
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda.bin
diff --git a/panda/board/recover_h7.sh b/panda/board/recover_h7.sh
new file mode 100755
index 00000000000000..1ca11884fe2af8
--- /dev/null
+++ b/panda/board/recover_h7.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+set -e
+
+DFU_UTIL="dfu-util"
+
+scons -u
+
+PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true
+sleep 1
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08020000 -D obj/panda_h7.bin.signed
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda_h7.bin
diff --git a/panda/board/safety.h b/panda/board/safety.h
index 7fd057b5249837..fd151627ad2c16 100644
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -4,16 +4,14 @@
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"
 #include "safety/safety_toyota.h"
-#include "safety/safety_toyota_ipas.h"
 #include "safety/safety_tesla.h"
-#include "safety/safety_gm_ascm.h"
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
-#include "safety/safety_cadillac.h"
 #include "safety/safety_hyundai.h"
 #include "safety/safety_chrysler.h"
 #include "safety/safety_subaru.h"
 #include "safety/safety_mazda.h"
+#include "safety/safety_nissan.h"
 #include "safety/safety_volkswagen.h"
 #include "safety/safety_elm327.h"
 
@@ -25,42 +23,66 @@
 #define SAFETY_GM 4U
 #define SAFETY_HONDA_BOSCH_GIRAFFE 5U
 #define SAFETY_FORD 6U
-#define SAFETY_CADILLAC 7U
 #define SAFETY_HYUNDAI 8U
 #define SAFETY_CHRYSLER 9U
 #define SAFETY_TESLA 10U
 #define SAFETY_SUBARU 11U
 #define SAFETY_MAZDA 13U
-#define SAFETY_VOLKSWAGEN 15U
-#define SAFETY_TOYOTA_IPAS 16U
+#define SAFETY_NISSAN 14U
+#define SAFETY_VOLKSWAGEN_MQB 15U
 #define SAFETY_ALLOUTPUT 17U
 #define SAFETY_GM_ASCM 18U
 #define SAFETY_NOOUTPUT 19U
 #define SAFETY_HONDA_BOSCH_HARNESS 20U
+#define SAFETY_VOLKSWAGEN_PQ 21U
+#define SAFETY_SUBARU_LEGACY 22U
+#define SAFETY_HYUNDAI_LEGACY 23U
+#define SAFETY_HYUNDAI_COMMUNITY 24U
 
 uint16_t current_safety_mode = SAFETY_SILENT;
+int16_t current_safety_param = 0;
 const safety_hooks *current_hooks = &nooutput_hooks;
+const addr_checks *current_rx_checks = &default_rx_checks;
 
-int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
+int safety_rx_hook(CANPacket_t *to_push) {
   return current_hooks->rx(to_push);
 }
 
-int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-  return current_hooks->tx(to_send);
+int safety_tx_hook(CANPacket_t *to_send) {
+  return (relay_malfunction ? -1 : current_hooks->tx(to_send));
 }
 
-int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
+int safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return current_hooks->tx_lin(lin_num, data, len);
 }
 
-int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return current_hooks->fwd(bus_num, to_fwd);
+int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
+  return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, to_fwd));
 }
 
-bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
+// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
+// algorithm. Called at init time for safety modes using CRC-8.
+void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
+  for (int i = 0; i < 256; i++) {
+    uint8_t crc = i;
+    for (int j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U)
+        crc = (uint8_t)((crc << 1) ^ poly);
+      else
+        crc <<= 1;
+    }
+    crc_lut[i] = crc;
+  }
+}
+
+bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len) {
+  int addr = GET_ADDR(to_send);
+  int bus = GET_BUS(to_send);
+  int length = GET_LEN(to_send);
+
   bool allowed = false;
   for (int i = 0; i < len; i++) {
-    if ((addr == addr_list[i].addr) && (bus == addr_list[i].bus)) {
+    if ((addr == msg_list[i].addr) && (bus == msg_list[i].bus) && (length == msg_list[i].len)) {
       allowed = true;
       break;
     }
@@ -74,34 +96,46 @@ uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
   return ts - ts_last;
 }
 
-int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len) {
+int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], const int len) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);
+  int length = GET_LEN(to_push);
 
   int index = -1;
   for (int i = 0; i < len; i++) {
-    for (uint8_t j = 0U; addr_list[i].addr[j] != 0; j++) {
-      if ((addr == addr_list[i].addr[j]) && (bus == addr_list[i].bus)) {
-        index = i;
-        goto Return;
+    // if multiple msgs are allowed, determine which one is present on the bus
+    if (!addr_list[i].msg_seen) {
+      for (uint8_t j = 0U; addr_list[i].msg[j].addr != 0; j++) {
+        if ((addr == addr_list[i].msg[j].addr) && (bus == addr_list[i].msg[j].bus) &&
+              (length == addr_list[i].msg[j].len)) {
+          addr_list[i].index = j;
+          addr_list[i].msg_seen = true;
+          break;
+        }
       }
     }
+
+    int idx = addr_list[i].index;
+    if ((addr == addr_list[i].msg[idx].addr) && (bus == addr_list[i].msg[idx].bus) &&
+        (length == addr_list[i].msg[idx].len)) {
+      index = i;
+      break;
+    }
   }
-Return:
   return index;
 }
 
 // 1Hz safety function called by main. Now just a check for lagging safety messages
-void safety_tick(const safety_hooks *hooks) {
-  uint32_t ts = TIM2->CNT;
-  if (hooks->addr_check != NULL) {
-    for (int i=0; i < hooks->addr_check_len; i++) {
-      uint32_t elapsed_time = get_ts_elapsed(ts, hooks->addr_check[i].last_timestamp);
+void safety_tick(const addr_checks *rx_checks) {
+  uint32_t ts = microsecond_timer_get();
+  if (rx_checks != NULL) {
+    for (int i=0; i < rx_checks->len; i++) {
+      uint32_t elapsed_time = get_ts_elapsed(ts, rx_checks->check[i].last_timestamp);
       // lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
       // Quite conservative to not risk false triggers.
       // 2s of lag is worse case, since the function is called at 1Hz
-      bool lagging = elapsed_time > MAX(hooks->addr_check[i].expected_timestep * MAX_MISSED_MSGS, 1e6);
-      hooks->addr_check[i].lagging = lagging;
+      bool lagging = elapsed_time > MAX(rx_checks->check[i].msg[rx_checks->check[i].index].expected_timestep * MAX_MISSED_MSGS, 1e6);
+      rx_checks->check[i].lagging = lagging;
       if (lagging) {
         controls_allowed = 0;
       }
@@ -111,7 +145,7 @@ void safety_tick(const safety_hooks *hooks) {
 
 void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {
   if (index != -1) {
-    uint8_t expected_counter = (addr_list[index].last_counter + 1U) % (addr_list[index].max_counter + 1U);
+    uint8_t expected_counter = (addr_list[index].last_counter + 1U) % (addr_list[index].msg[addr_list[index].index].max_counter + 1U);
     addr_list[index].wrong_counters += (expected_counter == counter) ? -1 : 1;
     addr_list[index].wrong_counters = MAX(MIN(addr_list[index].wrong_counters, MAX_WRONG_COUNTERS), 0);
     addr_list[index].last_counter = counter;
@@ -131,42 +165,69 @@ bool is_msg_valid(AddrCheckStruct addr_list[], int index) {
 
 void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {
   if (index != -1) {
-    uint32_t ts = TIM2->CNT;
+    uint32_t ts = microsecond_timer_get();
     addr_list[index].last_timestamp = ts;
   }
 }
 
-bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
-                       AddrCheckStruct *rx_checks,
-                       const int rx_checks_len,
-                       uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
-                       uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
-                       uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push)) {
+bool addr_safety_check(CANPacket_t *to_push,
+                       const addr_checks *rx_checks,
+                       uint8_t (*get_checksum)(CANPacket_t *to_push),
+                       uint8_t (*compute_checksum)(CANPacket_t *to_push),
+                       uint8_t (*get_counter)(CANPacket_t *to_push)) {
 
-  int index = get_addr_check_index(to_push, rx_checks, rx_checks_len);
-  update_addr_timestamp(rx_checks, index);
+  int index = get_addr_check_index(to_push, rx_checks->check, rx_checks->len);
+  update_addr_timestamp(rx_checks->check, index);
 
   if (index != -1) {
     // checksum check
-    if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[index].check_checksum) {
+    if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks->check[index].msg[rx_checks->check[index].index].check_checksum) {
       uint8_t checksum = get_checksum(to_push);
       uint8_t checksum_comp = compute_checksum(to_push);
-      rx_checks[index].valid_checksum = checksum_comp == checksum;
+      rx_checks->check[index].valid_checksum = checksum_comp == checksum;
     } else {
-      rx_checks[index].valid_checksum = true;
+      rx_checks->check[index].valid_checksum = true;
     }
 
     // counter check (max_counter == 0 means skip check)
-    if ((get_counter != NULL) && (rx_checks[index].max_counter > 0U)) {
+    if ((get_counter != NULL) && (rx_checks->check[index].msg[rx_checks->check[index].index].max_counter > 0U)) {
       uint8_t counter = get_counter(to_push);
-      update_counter(rx_checks, index, counter);
+      update_counter(rx_checks->check, index, counter);
     } else {
-      rx_checks[index].wrong_counters = 0U;
+      rx_checks->check[index].wrong_counters = 0U;
     }
   }
-  return is_msg_valid(rx_checks, index);
+  return is_msg_valid(rx_checks->check, index);
+}
+
+void generic_rx_checks(bool stock_ecu_detected) {
+  // exit controls on rising edge of gas press
+  if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
+    controls_allowed = 0;
+  }
+  gas_pressed_prev = gas_pressed;
+
+  // exit controls on rising edge of brake press
+  if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
+    controls_allowed = 0;
+  }
+  brake_pressed_prev = brake_pressed;
+
+  // check if stock ECU is on bus broken by car harness
+  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) {
+    relay_malfunction_set();
+  }
+}
+
+void relay_malfunction_set(void) {
+  relay_malfunction = true;
+  fault_occurred(FAULT_RELAY_MALFUNCTION);
 }
 
+void relay_malfunction_reset(void) {
+  relay_malfunction = false;
+  fault_recovered(FAULT_RELAY_MALFUNCTION);
+}
 
 typedef struct {
   uint16_t id;
@@ -184,33 +245,63 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
-  {SAFETY_MAZDA, &mazda_hooks},
-  {SAFETY_VOLKSWAGEN, &volkswagen_hooks},
+  {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
+  {SAFETY_NISSAN, &nissan_hooks},
   {SAFETY_NOOUTPUT, &nooutput_hooks},
+  {SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks},
+  {SAFETY_MAZDA, &mazda_hooks},
 #ifdef ALLOW_DEBUG
-  {SAFETY_CADILLAC, &cadillac_hooks},
-  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
   {SAFETY_TESLA, &tesla_hooks},
+  {SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
+  {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
-  {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_FORD, &ford_hooks},
 #endif
 };
 
 int set_safety_hooks(uint16_t mode, int16_t param) {
-  safety_mode_cnt = 0U;  // reset safety mode timer
+  // reset state set by safety mode
+  safety_mode_cnt = 0U;
+  relay_malfunction = false;
+  gas_interceptor_detected = false;
+  gas_interceptor_prev = 0;
+  gas_pressed = false;
+  gas_pressed_prev = false;
+  brake_pressed = false;
+  brake_pressed_prev = false;
+  cruise_engaged_prev = false;
+  vehicle_speed = 0;
+  vehicle_moving = false;
+  desired_torque_last = 0;
+  rt_torque_last = 0;
+  ts_angle_last = 0;
+  desired_angle_last = 0;
+  ts_last = 0;
+
+  torque_meas.max = 0;
+  torque_meas.max = 0;
+  torque_driver.min = 0;
+  torque_driver.max = 0;
+  angle_meas.min = 0;
+  angle_meas.max = 0;
+
   int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
   for (int i = 0; i < hook_config_count; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
-      current_safety_mode = safety_hook_registry[i].id;
+      current_safety_mode = mode;
+      current_safety_param = param;
       set_status = 0;  // set
-      break;
     }
   }
   if ((set_status == 0) && (current_hooks->init != NULL)) {
-    current_hooks->init(param);
+    current_rx_checks = current_hooks->init(param);
+    // reset message index and seen flags in addr struct
+    for (int j = 0; j < current_rx_checks->len; j++) {
+      current_rx_checks->check[j].index = 0;
+      current_rx_checks->check[j].msg_seen = false;
+    }
   }
   return set_status;
 }
diff --git a/panda/board/safety/safety_cadillac.h b/panda/board/safety/safety_cadillac.h
deleted file mode 100644
index 0f500a8cd10327..00000000000000
--- a/panda/board/safety/safety_cadillac.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#define CADILLAC_TORQUE_MSG_N 4      // 4 torque messages: 0x151, 0x152, 0x153, 0x154
-
-const AddrBus CADILLAC_TX_MSGS[] = {{0x151, 2}, {0x152, 0}, {0x153, 2}, {0x154, 0}};
-const int CADILLAC_MAX_STEER = 150; // 1s
-// real time torque limit to prevent controls spamming
-// the real time limit is 1500/sec
-const int CADILLAC_MAX_RT_DELTA = 75;       // max delta torque allowed for real time checks
-const uint32_t CADILLAC_RT_INTERVAL = 250000;    // 250ms between real time checks
-const int CADILLAC_MAX_RATE_UP = 2;
-const int CADILLAC_MAX_RATE_DOWN = 5;
-const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
-const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
-
-int cadillac_cruise_engaged_last = 0;
-int cadillac_rt_torque_last = 0;
-const int cadillac_torque_msgs_n = 4;
-int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
-uint32_t cadillac_ts_last = 0;
-bool cadillac_supercruise_on = 0;
-struct sample_t cadillac_torque_driver;         // last few driver torques measured
-
-int cadillac_get_torque_idx(int addr, int array_size) {
-  return MIN(MAX(addr - 0x151, 0), array_size);  // 0x151 is id 0, 0x152 is id 1 and so on...
-}
-
-static int cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus = GET_BUS(to_push);
-  int addr = GET_ADDR(to_push);
-
-  if (addr == 356) {
-    int torque_driver_new = ((GET_BYTE(to_push, 0) & 0x7U) << 8) | (GET_BYTE(to_push, 1));
-
-    torque_driver_new = to_signed(torque_driver_new, 11);
-    // update array of samples
-    update_sample(&cadillac_torque_driver, torque_driver_new);
-  }
-
-  // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == 0x370) && (bus == 0)) {
-    int cruise_engaged = GET_BYTE(to_push, 2) & 0x80;  // bit 23
-    if (cruise_engaged && !cadillac_cruise_engaged_last) {
-      controls_allowed = 1;
-    }
-    if (!cruise_engaged) {
-      controls_allowed = 0;
-    }
-    cadillac_cruise_engaged_last = cruise_engaged;
-  }
-
-  // know supercruise mode and block openpilot msgs if on
-  if ((addr == 0x152) || (addr == 0x154)) {
-    cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0;
-  }
-  return 1;
-}
-
-static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-  int tx = 1;
-  int addr = GET_ADDR(to_send);
-  int bus = GET_BUS(to_send);
-
-  if (!msg_allowed(addr, bus, CADILLAC_TX_MSGS, sizeof(CADILLAC_TX_MSGS) / sizeof(CADILLAC_TX_MSGS[0]))) {
-    tx = 0;
-  }
-
-  // steer cmd checks
-  if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
-    int desired_torque = ((GET_BYTE(to_send, 0) & 0x3f) << 8) | GET_BYTE(to_send, 1);
-    int violation = 0;
-    uint32_t ts = TIM2->CNT;
-    int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N);
-    desired_torque = to_signed(desired_torque, 14);
-
-    if (controls_allowed) {
-
-      // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER, -CADILLAC_MAX_STEER);
-
-      // *** torque rate limit check ***
-      int desired_torque_last = cadillac_desired_torque_last[idx];
-      violation |= driver_limit_check(desired_torque, desired_torque_last, &cadillac_torque_driver,
-        CADILLAC_MAX_STEER, CADILLAC_MAX_RATE_UP, CADILLAC_MAX_RATE_DOWN,
-        CADILLAC_DRIVER_TORQUE_ALLOWANCE, CADILLAC_DRIVER_TORQUE_FACTOR);
-
-      // used next time
-      cadillac_desired_torque_last[idx] = desired_torque;
-
-      // *** torque real time rate limit check ***
-      violation |= rt_rate_limit_check(desired_torque, cadillac_rt_torque_last, CADILLAC_MAX_RT_DELTA);
-
-      // every RT_INTERVAL set the new limits
-      uint32_t ts_elapsed = get_ts_elapsed(ts, cadillac_ts_last);
-      if (ts_elapsed > CADILLAC_RT_INTERVAL) {
-        cadillac_rt_torque_last = desired_torque;
-        cadillac_ts_last = ts;
-      }
-    }
-
-    // no torque if controls is not allowed
-    if (!controls_allowed && (desired_torque != 0)) {
-      violation = 1;
-    }
-
-    // reset to 0 if either controls is not allowed or there's a violation
-    if (violation || !controls_allowed) {
-      cadillac_desired_torque_last[idx] = 0;
-      cadillac_rt_torque_last = 0;
-      cadillac_ts_last = ts;
-    }
-
-    if (violation || cadillac_supercruise_on) {
-      tx = 0;
-    }
-
-  }
-  return tx;
-}
-
-const safety_hooks cadillac_hooks = {
-  .init = nooutput_init,
-  .rx = cadillac_rx_hook,
-  .tx = cadillac_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .fwd = default_fwd_hook,
-};
diff --git a/panda/board/safety/safety_chrysler.h b/panda/board/safety/safety_chrysler.h
index 293839b7f62d98..35474f3462fde2 100644
--- a/panda/board/safety/safety_chrysler.h
+++ b/panda/board/safety/safety_chrysler.h
@@ -4,28 +4,70 @@ const uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
 const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
-const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};
-
-// TODO: do checksum and counter checks
-AddrCheckStruct chrysler_rx_checks[] = {
-  {.addr = {544}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {500}, .bus = 0, .expected_timestep = 20000U},
+const int CHRYSLER_GAS_THRSLD = 30;  // 7% more than 2m/s
+const int CHRYSLER_STANDSTILL_THRSLD = 10;  // about 1m/s
+const CanMsg CHRYSLER_TX_MSGS[] = {{571, 0, 3}, {658, 0, 6}, {678, 0, 8}};
+
+AddrCheckStruct chrysler_addr_checks[] = {
+  {.msg = {{544, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{500, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{308, 0, 8, .check_checksum = false, .max_counter = 15U,  .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{320, 0, 8, .check_checksum = true, .max_counter = 15U,  .expected_timestep = 20000U}, { 0 }, { 0 }}},
 };
-const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
+#define CHRYSLER_ADDR_CHECK_LEN (sizeof(chrysler_addr_checks) / sizeof(chrysler_addr_checks[0]))
+addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
+
+static uint8_t chrysler_get_checksum(CANPacket_t *to_push) {
+  int checksum_byte = GET_LEN(to_push) - 1;
+  return (uint8_t)(GET_BYTE(to_push, checksum_byte));
+}
+
+static uint8_t chrysler_compute_checksum(CANPacket_t *to_push) {
+  /* This function does not want the checksum byte in the input data.
+  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  uint8_t checksum = 0xFFU;
+  int len = GET_LEN(to_push);
+  for (int j = 0; j < (len - 1); j++) {
+    uint8_t shift = 0x80U;
+    uint8_t curr = (uint8_t)GET_BYTE(to_push, j);
+    for (int i=0; i<8; i++) {
+      uint8_t bit_sum = curr & shift;
+      uint8_t temp_chk = checksum & 0x80U;
+      if (bit_sum != 0U) {
+        bit_sum = 0x1C;
+        if (temp_chk != 0U) {
+          bit_sum = 1;
+        }
+        checksum = checksum << 1;
+        temp_chk = checksum | 1U;
+        bit_sum ^= temp_chk;
+      } else {
+        if (temp_chk != 0U) {
+          bit_sum = 0x1D;
+        }
+        checksum = checksum << 1;
+        bit_sum ^= checksum;
+      }
+      checksum = bit_sum;
+      shift = shift >> 1;
+    }
+  }
+  return ~checksum;
+}
 
-int chrysler_rt_torque_last = 0;
-int chrysler_desired_torque_last = 0;
-int chrysler_cruise_engaged_last = 0;
-uint32_t chrysler_ts_last = 0;
-struct sample_t chrysler_torque_meas;         // last few torques measured
+static uint8_t chrysler_get_counter(CANPacket_t *to_push) {
+  // Well defined counter only for 8 bytes messages
+  return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
+}
 
-static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int chrysler_rx_hook(CANPacket_t *to_push) {
 
-  bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+  bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
+                                 chrysler_get_checksum, chrysler_compute_checksum,
+                                 chrysler_get_counter);
 
-  if (valid) {
-    int bus = GET_BUS(to_push);
+  if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
     // Measured eps torque
@@ -33,49 +75,61 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
 
       // update array of samples
-      update_sample(&chrysler_torque_meas, torque_meas_new);
+      update_sample(&torque_meas, torque_meas_new);
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if (addr == 0x1F4) {
+    if (addr == 500) {
       int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
-      if (cruise_engaged && !chrysler_cruise_engaged_last) {
+      if (cruise_engaged && !cruise_engaged_prev) {
         controls_allowed = 1;
       }
       if (!cruise_engaged) {
         controls_allowed = 0;
       }
-      chrysler_cruise_engaged_last = cruise_engaged;
+      cruise_engaged_prev = cruise_engaged;
     }
 
-    // TODO: add gas pressed check
+    // update speed
+    if (addr == 514) {
+      int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
+      int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
+      vehicle_speed = (speed_l + speed_r) / 2;
+      vehicle_moving = (int)vehicle_speed > CHRYSLER_STANDSTILL_THRSLD;
+    }
+
+    // exit controls on rising edge of gas press
+    if (addr == 308) {
+      gas_pressed = ((GET_BYTE(to_push, 5) & 0x7F) != 0) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
+    }
 
-    // check if stock camera ECU is on bus 0
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
-      relay_malfunction = true;
+    // exit controls on rising edge of brake press
+    if (addr == 320) {
+      brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
+      if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
     }
+
+    generic_rx_checks((addr == 0x292));
   }
   return valid;
 }
 
-static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int chrysler_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);
-  int bus = GET_BUS(to_send);
-
-  if (!msg_allowed(addr, bus, CHRYSLER_TX_MSGS, sizeof(CHRYSLER_TX_MSGS) / sizeof(CHRYSLER_TX_MSGS[0]))) {
-    tx = 0;
-  }
 
-  if (relay_malfunction) {
+  if (!msg_allowed(to_send, CHRYSLER_TX_MSGS, sizeof(CHRYSLER_TX_MSGS) / sizeof(CHRYSLER_TX_MSGS[0]))) {
     tx = 0;
   }
 
   // LKA STEER
   if (addr == 0x292) {
     int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
-    uint32_t ts = TIM2->CNT;
+    uint32_t ts = microsecond_timer_get();
     bool violation = 0;
 
     if (controls_allowed) {
@@ -84,20 +138,20 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       violation |= max_limit_check(desired_torque, CHRYSLER_MAX_STEER, -CHRYSLER_MAX_STEER);
 
       // *** torque rate limit check ***
-      violation |= dist_to_meas_check(desired_torque, chrysler_desired_torque_last,
-        &chrysler_torque_meas, CHRYSLER_MAX_RATE_UP, CHRYSLER_MAX_RATE_DOWN, CHRYSLER_MAX_TORQUE_ERROR);
+      violation |= dist_to_meas_check(desired_torque, desired_torque_last,
+        &torque_meas, CHRYSLER_MAX_RATE_UP, CHRYSLER_MAX_RATE_DOWN, CHRYSLER_MAX_TORQUE_ERROR);
 
       // used next time
-      chrysler_desired_torque_last = desired_torque;
+      desired_torque_last = desired_torque;
 
       // *** torque real time rate limit check ***
-      violation |= rt_rate_limit_check(desired_torque, chrysler_rt_torque_last, CHRYSLER_MAX_RT_DELTA);
+      violation |= rt_rate_limit_check(desired_torque, rt_torque_last, CHRYSLER_MAX_RT_DELTA);
 
       // every RT_INTERVAL set the new limits
-      uint32_t ts_elapsed = get_ts_elapsed(ts, chrysler_ts_last);
+      uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
       if (ts_elapsed > CHRYSLER_RT_INTERVAL) {
-        chrysler_rt_torque_last = desired_torque;
-        chrysler_ts_last = ts;
+        rt_torque_last = desired_torque;
+        ts_last = ts;
       }
     }
 
@@ -108,9 +162,9 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // reset to 0 if either controls is not allowed or there's a violation
     if (violation || !controls_allowed) {
-      chrysler_desired_torque_last = 0;
-      chrysler_rt_torque_last = 0;
-      chrysler_ts_last = ts;
+      desired_torque_last = 0;
+      rt_torque_last = 0;
+      ts_last = ts;
     }
 
     if (violation) {
@@ -120,7 +174,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // FORCE CANCEL: only the cancel button press is allowed
   if (addr == 571) {
-    if (GET_BYTE(to_send, 0) != 1) {
+    if ((GET_BYTE(to_send, 0) != 1) || ((GET_BYTE(to_send, 1) & 1) == 1)) {
       tx = 0;
     }
   }
@@ -128,31 +182,35 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
-static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int chrysler_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
 
   int bus_fwd = -1;
   int addr = GET_ADDR(to_fwd);
 
-  if (!relay_malfunction) {
-    // forward CAN 0 -> 2 so stock LKAS camera sees messages
-    if (bus_num == 0) {
-      bus_fwd = 2;
-    }
-    // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
-    if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
-      bus_fwd = 0;
-    }
+  // forward CAN 0 -> 2 so stock LKAS camera sees messages
+  if (bus_num == 0) {
+    bus_fwd = 2;
+  }
+
+  // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
+  if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
+    bus_fwd = 0;
   }
+
   return bus_fwd;
 }
 
+static const addr_checks* chrysler_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+  return &chrysler_rx_checks;
+}
 
 const safety_hooks chrysler_hooks = {
-  .init = nooutput_init,
+  .init = chrysler_init,
   .rx = chrysler_rx_hook,
   .tx = chrysler_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = chrysler_fwd_hook,
-  .addr_check = chrysler_rx_checks,
-  .addr_check_len = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]),
 };
diff --git a/panda/board/safety/safety_defaults.h b/panda/board/safety/safety_defaults.h
index ba96b7dd99c874..409ab0c818fbea 100644
--- a/panda/board/safety/safety_defaults.h
+++ b/panda/board/safety/safety_defaults.h
@@ -1,17 +1,23 @@
-int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+const addr_checks default_rx_checks = {
+  .check = NULL,
+  .len = 0,
+};
+
+int default_rx_hook(CANPacket_t *to_push) {
   UNUSED(to_push);
   return true;
 }
 
 // *** no output safety mode ***
 
-static void nooutput_init(int16_t param) {
+static const addr_checks* nooutput_init(int16_t param) {
   UNUSED(param);
   controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
+  return &default_rx_checks;
 }
 
-static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int nooutput_tx_hook(CANPacket_t *to_send) {
   UNUSED(to_send);
   return false;
 }
@@ -23,7 +29,7 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return false;
 }
 
-static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int default_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   UNUSED(bus_num);
   UNUSED(to_fwd);
   return -1;
@@ -39,13 +45,14 @@ const safety_hooks nooutput_hooks = {
 
 // *** all output safety mode ***
 
-static void alloutput_init(int16_t param) {
+static const addr_checks* alloutput_init(int16_t param) {
   UNUSED(param);
   controls_allowed = true;
-  relay_malfunction = false;
+  relay_malfunction_reset();
+  return &default_rx_checks;
 }
 
-static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int alloutput_tx_hook(CANPacket_t *to_send) {
   UNUSED(to_send);
   return true;
 }
diff --git a/panda/board/safety/safety_elm327.h b/panda/board/safety/safety_elm327.h
index a39c4125cefee5..d4f562a8302d95 100644
--- a/panda/board/safety/safety_elm327.h
+++ b/panda/board/safety/safety_elm327.h
@@ -1,4 +1,4 @@
-static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int elm327_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);
@@ -33,6 +33,7 @@ static int elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return tx;
 }
 
+// If current_board->has_obd and safety_param == 0, bus 1 is multiplexed to the OBD-II port
 const safety_hooks elm327_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
diff --git a/panda/board/safety/safety_ford.h b/panda/board/safety/safety_ford.h
index 97e0f57a2cd6ee..6a8f0583822849 100644
--- a/panda/board/safety/safety_ford.h
+++ b/panda/board/safety/safety_ford.h
@@ -7,20 +7,18 @@
 //      brake rising edge
 //      brake > 0mph
 
-int ford_brake_prev = 0;
-int ford_gas_prev = 0;
-bool ford_moving = false;
 
-static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int ford_rx_hook(CANPacket_t *to_push) {
 
   int addr = GET_ADDR(to_push);
   int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
 
   if (addr == 0x217) {
     // wheel speeds are 14 bits every 16
-    ford_moving = false;
+    vehicle_moving = false;
     for (int i = 0; i < 8; i += 2) {
-      ford_moving |= GET_BYTE(to_push, i) | (GET_BYTE(to_push, (int)(i + 1)) & 0xFCU);
+      vehicle_moving |= GET_BYTE(to_push, i) | (GET_BYTE(to_push, (int)(i + 1)) & 0xFCU);
     }
   }
 
@@ -39,24 +37,24 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when
   // speed > 0
   if (addr == 0x165) {
-    int brake = GET_BYTE(to_push, 0) & 0x20;
-    if (brake && (!(ford_brake_prev) || ford_moving)) {
+    brake_pressed = GET_BYTE(to_push, 0) & 0x20;
+    if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
       controls_allowed = 0;
     }
-    ford_brake_prev = brake;
+    brake_pressed_prev = brake_pressed;
   }
 
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
-    int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
-    if (gas && !(ford_gas_prev)) {
+    gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
+    if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
       controls_allowed = 0;
     }
-    ford_gas_prev = gas;
+    gas_pressed_prev = gas_pressed;
   }
 
   if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
-    relay_malfunction = true;
+    relay_malfunction_set();
   }
   return 1;
 }
@@ -67,19 +65,19 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 // else
 //     block all commands that produce actuation
 
-static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int ford_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
-  bool current_controls_allowed = controls_allowed && !(pedal_pressed);
-
-  if (relay_malfunction) {
-    tx = 0;
+  int pedal_pressed = brake_pressed_prev && vehicle_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
   }
+  bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // STEER: safety check
   if (addr == 0x3CA) {
diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index 81512908488528..2e7c79ef46035b 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -1,13 +1,9 @@
 // board enforces
 //   in-state
-//      accel set/resume
+//      accel set/resume/main on
 //   out-state
-//      cancel button
-//      regen paddle
-//      accel rising edge
 //      brake rising edge
 //      brake > 0mph
-
 const int GM_MAX_STEER = 300;
 const int GM_MAX_RT_DELTA = 128;          // max delta torque allowed for real time checks
 const uint32_t GM_RT_INTERVAL = 250000;    // 250ms between real time checks
@@ -18,224 +14,232 @@ const int GM_DRIVER_TORQUE_FACTOR = 4;
 const int GM_MAX_GAS = 3072;
 const int GM_MAX_REGEN = 1404;
 const int GM_MAX_BRAKE = 350;
-const AddrBus GM_TX_MSGS[] = {{384, 0}, {1033, 0}, {1034, 0}, {715, 0}, {880, 0},  // pt bus
-                              {161, 1}, {774, 1}, {776, 1}, {784, 1},   // obs bus
-                              {789, 2},  // ch bus
-                              {0x104c006c, 3}, {0x10400060, 3}};  // gmlan
+const int GM_GAS_INTERCEPTOR_THRESHOLD = 458;  // (610 + 306.25) / 2ratio between offset and gain from dbc file
+#define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2) // avg between 2 tracks
+
+// Safety-relevant CAN messages for Bolt EV
+#define MSG_RX_STEER      0x184   // RX from PSCM, for steering torque and status
+#define MSG_RX_WHEEL      0x34A   // RX from EBCM, for wheel speed
+#define MSG_RX_BUTTON     0x1E1   // RX from BCM, for Cruise Buttons
+#define MSG_RX_BRAKE      0xF1    // RX from EBCM, for Brake Position
+#define MSG_RX_GAS        0x1A1   // RX from EBCM, for Pedal Position
+#define MSG_RX_PEDAL      0x201   // RX from Pedal Interceptor
+
+#define MSG_TX_LKA        0x180   // TX by OP, for LKA commands
+#define MSG_TX_ALIVE      0x409   // TX by OP, for ASCM Alive, To do : We need to check if this message is used for Bolt EV or not.
+#define MSG_TX_ASCM       0x40A   // TX by OP, for ASCM, To do : We need to check if this message is used for Bolt EV or not.
+#define MSG_TX_ACC        0x370   // TX by OP, for ACC Status, To do : We need to check if this message is used for Bolt EV or not.
+#define MSG_TX_PEDAL      0x200   // TX by OP, for Pedal Interceptor
+#define MSG_REGEN         0x189   // TX/RX for Regen Paddle
+
+
+const CanMsg GM_TX_MSGS[] = {{MSG_TX_LKA, 0, 4}, {MSG_TX_ALIVE, 0, 7}, {MSG_TX_ASCM, 0, 7}, {MSG_TX_ACC, 0, 6}, {MSG_TX_PEDAL, 0, 6}, {MSG_REGEN, 0, 7}, // pt bus
+                             {0x104c006c, 3, 3}, {0x10400060, 3, 5}};  // gmlan
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
-AddrCheckStruct gm_rx_checks[] = {
-  {.addr = {388}, .bus = 0, .expected_timestep = 100000U},
-  {.addr = {842}, .bus = 0, .expected_timestep = 100000U},
-  {.addr = {481}, .bus = 0, .expected_timestep = 100000U},
-  {.addr = {241}, .bus = 0, .expected_timestep = 100000U},
-  {.addr = {417}, .bus = 0, .expected_timestep = 100000U},
+AddrCheckStruct gm_addr_checks[] = {
+  {.msg = {{MSG_RX_STEER, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_RX_WHEEL, 0, 5, .expected_timestep = 100000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_RX_BUTTON, 0, 7, .expected_timestep = 100000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_RX_BRAKE, 0, 6, .expected_timestep = 100000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_RX_GAS, 0, 7, .expected_timestep = 100000U}, { 0 }, { 0 }}},
 };
-const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);
+#define GM_RX_CHECK_LEN (sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]))
+addr_checks gm_rx_checks = {gm_addr_checks, GM_RX_CHECK_LEN};
+
+int cam_can_bus = -1;
+int bus_camera = -1;
+int bus_vehicle = -1;
 
-int gm_brake_prev = 0;
-int gm_gas_prev = 0;
-bool gm_moving = false;
-int gm_rt_torque_last = 0;
-int gm_desired_torque_last = 0;
-uint32_t gm_ts_last = 0;
-struct sample_t gm_torque_driver;         // last few driver torques measured
+static int gm_rx_hook(CANPacket_t *to_push) {
 
-static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);
 
-  bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+  int addr = GET_ADDR(to_push);
+  int bus = GET_BUS(to_push);
 
-  if (valid) {
-    int bus = GET_BUS(to_push);
-    int addr = GET_ADDR(to_push);
+  if (bus == 1 && (addr == MSG_TX_LKA)) {
+    cam_can_bus = 1;
+  }
+  if (bus == 2 && (addr == MSG_TX_LKA)) {
+    cam_can_bus = 2;
+  }
 
-    if (addr == 388) {
+  if (valid && bus == 0) {
+    if (addr == MSG_RX_STEER) {
       int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
       torque_driver_new = to_signed(torque_driver_new, 11);
       // update array of samples
-      update_sample(&gm_torque_driver, torque_driver_new);
+      update_sample(&torque_driver, torque_driver_new);
     }
 
     // sample speed, really only care if car is moving or not
     // rear left wheel speed
-    if (addr == 842) {
-      gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
+    if (addr == MSG_RX_WHEEL) {
+      vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
     }
 
     // ACC steering wheel buttons
-    if (addr == 481) {
+    if (addr == MSG_RX_BUTTON) {
       int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
       switch (button) {
         case 2:  // resume
         case 3:  // set
+        case 5:  // main on
           controls_allowed = 1;
           break;
-        case 6:  // cancel
-          controls_allowed = 0;
-          break;
         default:
           break;  // any other button is irrelevant
       }
     }
 
-    // exit controls on rising edge of brake press or on brake press when
     // speed > 0
-    if (addr == 241) {
-      int brake = GET_BYTE(to_push, 1);
+    if (addr == MSG_RX_BRAKE) {
       // Brake pedal's potentiometer returns near-zero reading
       // even when pedal is not pressed
-      if (brake < 10) {
-        brake = 0;
-      }
-      if (brake && (!gm_brake_prev || gm_moving)) {
-         controls_allowed = 0;
-      }
-      gm_brake_prev = brake;
+      brake_pressed = GET_BYTE(to_push, 1) >= 10;
     }
 
-    // exit controls on rising edge of gas press
-    if (addr == 417) {
-      int gas = GET_BYTE(to_push, 6);
-      if (gas && !gm_gas_prev) {
-        controls_allowed = 0;
-      }
-      gm_gas_prev = gas;
+    // Gas Interceptor Check
+    if (addr == MSG_RX_PEDAL) {
+      gas_interceptor_detected = 1;
+      //int gas_interceptor = GM_GET_INTERCEPTOR(to_push);
+      //gas_pressed = gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD;
+      //gas_interceptor_prev = gas_interceptor;
     }
 
-    // exit controls on regen paddle
-    if (addr == 189) {
-      bool regen = GET_BYTE(to_push, 0) & 0x20;
-      if (regen) {
-        controls_allowed = 0;
-      }
+    if ((addr == MSG_RX_GAS) && (!gas_interceptor_detected)) {
+      gas_pressed = GET_BYTE(to_push, 6) != 0;
     }
 
-    // Check if ASCM or LKA camera are online
+    // Check if LKA camera are online
     // on powertrain bus.
     // 384 = ASCMLKASteeringCmd
-    // 715 = ASCMGasRegenCmd
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
-      relay_malfunction = true;
-    }
+    generic_rx_checks(addr == MSG_TX_LKA);
   }
   return valid;
 }
 
-// all commands: gas/regen, friction brake and steering
-// if controls_allowed and no pedals pressed
-//     allow all commands up to limit
-// else
-//     block all commands that produce actuation
+static bool gm_steering_check(int desired_torque) {
+  bool violation = false;
+  uint32_t ts = microsecond_timer_get();
 
-static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  if (controls_allowed) {
+    // *** global torque limit check ***
+    violation |= max_limit_check(desired_torque, GM_MAX_STEER, -GM_MAX_STEER);
 
-  int tx = 1;
-  int addr = GET_ADDR(to_send);
-  int bus = GET_BUS(to_send);
+    // *** torque rate limit check ***
+    violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
+      GM_MAX_STEER, GM_MAX_RATE_UP, GM_MAX_RATE_DOWN,
+      GM_DRIVER_TORQUE_ALLOWANCE, GM_DRIVER_TORQUE_FACTOR);
 
-  if (!msg_allowed(addr, bus, GM_TX_MSGS, sizeof(GM_TX_MSGS)/sizeof(GM_TX_MSGS[0]))) {
-    tx = 0;
+    // used next time
+    desired_torque_last = desired_torque;
+
+    // *** torque real time rate limit check ***
+    violation |= rt_rate_limit_check(desired_torque, rt_torque_last, GM_MAX_RT_DELTA);
+
+    // every RT_INTERVAL set the new limits
+    uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
+    if (ts_elapsed > GM_RT_INTERVAL) {
+      rt_torque_last = desired_torque;
+      ts_last = ts;
+    }
+  }
+
+  // no torque if controls is not allowed
+  if (!controls_allowed && (desired_torque != 0)) {
+    violation = true;
+  }
+
+  // reset to 0 if either controls is not allowed or there's a violation
+  if (violation || !controls_allowed) {
+    desired_torque_last = 0;
+    rt_torque_last = 0;
+    ts_last = ts;
   }
 
-  if (relay_malfunction) {
+  return violation;
+}
+
+
+static int gm_tx_hook(CANPacket_t *to_send) {
+
+  int tx = 1;
+  int addr = GET_ADDR(to_send);
+
+  if (!msg_allowed(to_send, GM_TX_MSGS, sizeof(GM_TX_MSGS)/sizeof(GM_TX_MSGS[0])) || relay_malfunction) {
     tx = 0;
   }
 
-  // disallow actuator commands if gas or brake (with vehicle moving) are pressed
-  // and the the latching controls_allowed flag is True
-  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
-  bool current_controls_allowed = controls_allowed && !pedal_pressed;
-
-  // BRAKE: safety check
-  if (addr == 789) {
-    int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
-    brake = (0x1000 - brake) & 0xFFF;
-    if (!current_controls_allowed) {
-      if (brake != 0) {
+  // GAS: Interceptor safety check
+  if (addr == MSG_TX_PEDAL) {
+    if (!controls_allowed) {
+      if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
         tx = 0;
       }
     }
-    if (brake > GM_MAX_BRAKE) {
-      tx = 0;
-    }
   }
 
   // LKA STEER: safety check
-  if (addr == 384) {
+  if (addr == MSG_TX_LKA) {
     int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1);
-    uint32_t ts = TIM2->CNT;
-    bool violation = 0;
     desired_torque = to_signed(desired_torque, 11);
 
-    if (current_controls_allowed) {
-
-      // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, GM_MAX_STEER, -GM_MAX_STEER);
-
-      // *** torque rate limit check ***
-      violation |= driver_limit_check(desired_torque, gm_desired_torque_last, &gm_torque_driver,
-        GM_MAX_STEER, GM_MAX_RATE_UP, GM_MAX_RATE_DOWN,
-        GM_DRIVER_TORQUE_ALLOWANCE, GM_DRIVER_TORQUE_FACTOR);
-
-      // used next time
-      gm_desired_torque_last = desired_torque;
-
-      // *** torque real time rate limit check ***
-      violation |= rt_rate_limit_check(desired_torque, gm_rt_torque_last, GM_MAX_RT_DELTA);
-
-      // every RT_INTERVAL set the new limits
-      uint32_t ts_elapsed = get_ts_elapsed(ts, gm_ts_last);
-      if (ts_elapsed > GM_RT_INTERVAL) {
-        gm_rt_torque_last = desired_torque;
-        gm_ts_last = ts;
-      }
+    if (gm_steering_check(desired_torque)) {
+      tx = 0;
     }
+  }
 
-    // no torque if controls is not allowed
-    if (!current_controls_allowed && (desired_torque != 0)) {
-      violation = 1;
-    }
+  // 1 allows the message through
+  return tx;
+}
 
-    // reset to 0 if either controls is not allowed or there's a violation
-    if (violation || !current_controls_allowed) {
-      gm_desired_torque_last = 0;
-      gm_rt_torque_last = 0;
-      gm_ts_last = ts;
-    }
+static int gm_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
+  int bus_fwd = -1;
+  int addr = GET_ADDR(to_fwd);
 
-    if (violation) {
-      tx = 0;
+  if (cam_can_bus == 1) {
+    bus_camera = 1;   //camera PT can bus for grey panda and custom made harness
+  } else {
+    if (cam_can_bus != -1){
+      bus_camera = 2;  //camera PT can bus for comma ai harness
     }
   }
 
-  // GAS/REGEN: safety check
-  if (addr == 715) {
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
-    // Disabled message is !engaged with gas
-    // value that corresponds to max regen.
-    if (!current_controls_allowed) {
-      bool apply = GET_BYTE(to_send, 0) & 1U;
-      if (apply || (gas_regen != GM_MAX_REGEN)) {
-        tx = 0;
-      }
-    }
-    if (gas_regen > GM_MAX_GAS) {
-      tx = 0;
+  if (bus_num == bus_vehicle) {
+    bus_fwd = bus_camera;       //Forward all messages from vehicle
+  }
+  if (bus_num == bus_camera) {
+    if (addr == MSG_TX_LKA) {
+      bus_fwd = -1;    //Block LKA message from camera
+    } else {
+    bus_fwd = bus_vehicle;       //Forward all messages except LAK message
     }
   }
+  return bus_fwd;
+}
 
-  // 1 allows the message through
-  return tx;
+
+static const addr_checks* gm_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+  gas_interceptor_detected = 0;
+  cam_can_bus = -1;
+  bus_camera = -1;
+  //bus_radar = 1;  // Radar can bus, Bolt EV doesn't need this can bus
+  bus_vehicle = 0; //vehicle PT can bus for comma ai harness
+  return &gm_rx_checks;
 }
 
 
 const safety_hooks gm_hooks = {
-  .init = nooutput_init,
+  .init = gm_init,
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .fwd = default_fwd_hook,
-  .addr_check = gm_rx_checks,
-  .addr_check_len = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]),
+  .fwd = gm_fwd_hook,
+//  .addr_check = gm_addr_checks,
+//  .addr_check_len = sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]),
 };
diff --git a/panda/board/safety/safety_gm_ascm.h b/panda/board/safety/safety_gm_ascm.h
deleted file mode 100644
index e7eddf454a1963..00000000000000
--- a/panda/board/safety/safety_gm_ascm.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// BUS 0 is on the LKAS module (ASCM) side
-// BUS 2 is on the actuator (EPS) side
-
-static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-
-  int bus_fwd = -1;
-
-  if (bus_num == 0) {
-    int addr = GET_ADDR(to_fwd);
-    bus_fwd = 2;
-    // do not propagate lkas messages from ascm to actuators, unless supercruise is on
-    // block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
-    // block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
-    //if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
-    if ((addr == 0x152) || (addr == 0x154)) {
-      bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0;  // bit 36
-      if (!supercruise_on) {
-        bus_fwd = -1;
-      }
-    }
-    if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
-      // on the chassis bus, the OBDII port is on the module side, so we need to read
-      // the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
-      // the actuator as 0x152 and 0x154
-      uint32_t fwd_addr = addr + 1;
-      to_fwd->RIR = (fwd_addr << 21) | (to_fwd->RIR & 0x1fffff);
-    }
-  }
-
-  if (bus_num == 2) {
-    bus_fwd = 0;
-  }
-
-  return bus_fwd;
-}
-
-const safety_hooks gm_ascm_hooks = {
-  .init = nooutput_init,
-  .rx = default_rx_hook,
-  .tx = alloutput_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .fwd = gm_ascm_fwd_hook,
-};
diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
index b49c9293631c43..8b797e67d72054 100644
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -6,49 +6,66 @@
 //      accel rising edge
 //      brake rising edge
 //      brake > 0mph
-const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
-const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}};  // Bosch Giraffe
-const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}};  // Bosch Harness
-const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;  // ratio between offset and gain from dbc file
+const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
+const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}};  // Bosch Giraffe
+const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}};  // Bosch Harness
+const CanMsg HONDA_BG_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x1DF, 0, 8}, {0x1EF, 0, 8}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x39F, 0, 8}, {0x18DAB0F1, 0, 8}};  // Bosch Giraffe w/ gas and brakes
+const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}};  // Bosch Harness w/ gas and brakes
+
+// Roughly calculated using the offsets in openpilot +5%:
+// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
+// gas_norm1 = ((gain_dbc1*gas1) + offset_dbc)
+// gas_norm2 = ((gain_dbc2*gas2) + offset_dbc)
+// assuming that 2*(gain_dbc1*gas1) == (gain_dbc2*gas2)
+// In this safety: ((gas1 + (gas2/2))/2) > THRESHOLD
+const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 344;
+#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2) // avg between 2 tracks
+const int HONDA_BOSCH_NO_GAS_VALUE = -30000; // value sent when not requesting gas
+const int HONDA_BOSCH_GAS_MAX = 2000;
+const int HONDA_BOSCH_ACCEL_MIN = -350; // max braking == -3.5m/s2
 
 // Nidec and Bosch giraffe have pt on bus 0
-AddrCheckStruct honda_rx_checks[] = {
-  {.addr = {0x1A6, 0x296}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
-  {.addr = {       0x158}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
-  {.addr = {       0x17C}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+AddrCheckStruct honda_addr_checks[] = {
+  {.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
+           {0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},{ 0 }}},
+  {.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
 };
-const int HONDA_RX_CHECKS_LEN = sizeof(honda_rx_checks) / sizeof(honda_rx_checks[0]);
+#define HONDA_ADDR_CHECKS_LEN (sizeof(honda_addr_checks) / sizeof(honda_addr_checks[0]))
 
 // Bosch harness has pt on bus 1
-AddrCheckStruct honda_bh_rx_checks[] = {
-  {.addr = {0x296}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
-  {.addr = {0x158}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
-  {.addr = {0x17C}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+AddrCheckStruct honda_bh_addr_checks[] = {
+  {.msg = {{0x296, 1, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }, { 0 }}},
+  {.msg = {{0x158, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+           {0x1BE, 1, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}, { 0 }}},
 };
-const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);
+#define HONDA_BH_ADDR_CHECKS_LEN (sizeof(honda_bh_addr_checks) / sizeof(honda_bh_addr_checks[0]))
+
+const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
+const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
 
 int honda_brake = 0;
-int honda_gas_prev = 0;
-bool honda_brake_pressed_prev = false;
-bool honda_moving = false;
 bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
+bool honda_bosch_long = false;
 enum {HONDA_N_HW, HONDA_BG_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
+addr_checks honda_rx_checks = {honda_addr_checks, HONDA_ADDR_CHECKS_LEN};
 
 
-static uint8_t honda_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t honda_get_checksum(CANPacket_t *to_push) {
   int checksum_byte = GET_LEN(to_push) - 1;
   return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
 }
 
-static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t honda_compute_checksum(CANPacket_t *to_push) {
   int len = GET_LEN(to_push);
   uint8_t checksum = 0U;
   unsigned int addr = GET_ADDR(to_push);
   while (addr > 0U) {
     checksum += (addr & 0xFU); addr >>= 4;
   }
-  for (int j = 0; (j < len); j++) {
+  for (int j = 0; j < len; j++) {
     uint8_t byte = GET_BYTE(to_push, j);
     checksum += (byte & 0xFU) + (byte >> 4U);
     if (j == (len - 1)) {
@@ -58,21 +75,15 @@ static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
   return (8U - checksum) & 0xFU;
 }
 
-static uint8_t honda_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t honda_get_counter(CANPacket_t *to_push) {
   int counter_byte = GET_LEN(to_push) - 1;
   return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
 }
 
-static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int honda_rx_hook(CANPacket_t *to_push) {
 
-  bool valid;
-  if (honda_hw == HONDA_BH_HW) {
-    valid = addr_safety_check(to_push, honda_bh_rx_checks, HONDA_BH_RX_CHECKS_LEN,
-                              honda_get_checksum, honda_compute_checksum, honda_get_counter);
-  } else {
-    valid = addr_safety_check(to_push, honda_rx_checks, HONDA_RX_CHECKS_LEN,
-                              honda_get_checksum, honda_compute_checksum, honda_get_counter);
-  }
+  bool valid = addr_safety_check(to_push, &honda_rx_checks,
+                                 honda_get_checksum, honda_compute_checksum, honda_get_counter);
 
   if (valid) {
     int addr = GET_ADDR(to_push);
@@ -82,7 +93,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // sample speed
     if (addr == 0x158) {
       // first 2 bytes
-      honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
+      vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
     }
 
     // state machine to enter and exit controls
@@ -108,62 +119,63 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // in these cases, this is used instead.
     // most hondas: 0x17C bit 53
     // accord, crv: 0x1BE bit 4
-    // exit controls on rising edge of brake press or on brake press when speed > 0
     bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
     if (is_user_brake_msg) {
-      bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
-      if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
-        controls_allowed = 0;
-      }
-      honda_brake_pressed_prev = brake_pressed;
+      brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
     }
 
-    // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
     // length check because bosch hardware also uses this id (0x201 w/ len = 8)
     if ((addr == 0x201) && (len == 6)) {
       gas_interceptor_detected = 1;
-      int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
-          (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
-        controls_allowed = 0;
-      }
+      int gas_interceptor = HONDA_GET_INTERCEPTOR(to_push);
+      gas_pressed = gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD;
       gas_interceptor_prev = gas_interceptor;
     }
 
-    // exit controls on rising edge of gas press if no interceptor
     if (!gas_interceptor_detected) {
       if (addr == 0x17C) {
-        int gas = GET_BYTE(to_push, 0);
-        if (gas && !honda_gas_prev) {
-          controls_allowed = 0;
-        }
-        honda_gas_prev = gas;
+        gas_pressed = GET_BYTE(to_push, 0) != 0;
       }
     }
-    if ((bus == 2) && (addr == 0x1FA)) {
-      bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
-      int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
-
-      // Forward AEB when stock braking is higher than openpilot braking
-      // only stop forwarding when AEB event is over
-      if (!honda_stock_aeb) {
-        honda_fwd_brake = false;
-      } else if (honda_stock_brake >= honda_brake) {
-        honda_fwd_brake = true;
-      } else {
-        // Leave Honda forward brake as is
+
+    // disable stock Honda AEB in unsafe mode
+    if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
+      if ((bus == 2) && (addr == 0x1FA)) {
+        bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
+        int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
+
+        // Forward AEB when stock braking is higher than openpilot braking
+        // only stop forwarding when AEB event is over
+        if (!honda_stock_aeb) {
+          honda_fwd_brake = false;
+        } else if (honda_stock_brake >= honda_brake) {
+          honda_fwd_brake = true;
+        } else {
+          // Leave Honda forward brake as is
+        }
       }
     }
 
-    // if steering controls messages are received on the destination bus, it's an indication
-    // that the relay might be malfunctioning
+    bool stock_ecu_detected = false;
     int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2;  // radar bus, car side
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
-      if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) ||
-        ((honda_hw == HONDA_N_HW) && (bus == 0))) {
-        relay_malfunction = true;
+    int pt_bus = (honda_hw == HONDA_BH_HW) ? 1 : 0;
+
+    if (safety_mode_cnt > RELAY_TRNS_TIMEOUT) {
+      // If steering controls messages are received on the destination bus, it's an indication
+      // that the relay might be malfunctioning
+      if ((addr == 0xE4) || (addr == 0x194)) {
+        if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_N_HW) && (bus == 0))) {
+          stock_ecu_detected = true;
+        }
+      }
+      // If Honda Bosch longitudinal mode is selected we need to ensure the radar is turned off
+      // Verify this by ensuring ACC_CONTROL (0x1DF) is not received on the PT bus
+      if (honda_bosch_long && (bus == pt_bus) && (addr == 0x1DF)) {
+        stock_ecu_detected = true;
       }
     }
+
+    generic_rx_checks(stock_ecu_detected);
   }
   return valid;
 }
@@ -174,32 +186,36 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 // else
 //     block all commands that produce actuation
 
-static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int honda_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
-  if (honda_hw == HONDA_BG_HW) {
-    tx = msg_allowed(addr, bus, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
-  } else if (honda_hw == HONDA_BH_HW) {
-    tx = msg_allowed(addr, bus, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
+  if ((honda_hw == HONDA_BG_HW) && !honda_bosch_long) {
+    tx = msg_allowed(to_send, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
+  } else if ((honda_hw == HONDA_BG_HW) && honda_bosch_long) {
+    tx = msg_allowed(to_send, HONDA_BG_LONG_TX_MSGS, sizeof(HONDA_BG_LONG_TX_MSGS)/sizeof(HONDA_BG_LONG_TX_MSGS[0]));
+  } else if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
+    tx = msg_allowed(to_send, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
+  } else if ((honda_hw == HONDA_BH_HW) && honda_bosch_long) {
+    tx = msg_allowed(to_send, HONDA_BH_LONG_TX_MSGS, sizeof(HONDA_BH_LONG_TX_MSGS)/sizeof(HONDA_BH_LONG_TX_MSGS[0]));
   } else {
-    tx = msg_allowed(addr, bus, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
-  }
-
-  if (relay_malfunction) {
-    tx = 0;
+    tx = msg_allowed(to_send, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
   }
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-                      (honda_brake_pressed_prev && honda_moving);
+  int pedal_pressed = brake_pressed_prev && vehicle_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
+  }
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
+  int bus_pt = (honda_hw == HONDA_BH_HW)? 1 : 0;
 
-  // BRAKE: safety check
-  if ((addr == 0x1FA) && (bus == 0)) {
+  // BRAKE: safety check (nidec)
+  if ((addr == 0x1FA) && (bus == bus_pt)) {
     honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
     if (!current_controls_allowed) {
       if (honda_brake != 0) {
@@ -214,6 +230,31 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
   }
 
+  // BRAKE/GAS: safety check (bosch)
+  if ((addr == 0x1DF) && (bus == bus_pt)) {
+    int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7);
+    accel = to_signed(accel, 11);
+    if (!current_controls_allowed) {
+      if (accel != 0) {
+        tx = 0;
+      }
+    }
+    if (accel < HONDA_BOSCH_ACCEL_MIN) {
+      tx = 0;
+    }
+
+    int gas = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
+    gas = to_signed(gas, 16);
+    if (!current_controls_allowed) {
+      if (gas != HONDA_BOSCH_NO_GAS_VALUE) {
+        tx = 0;
+      }
+    }
+    if (gas > HONDA_BOSCH_GAS_MAX) {
+      tx = 0;
+    }
+  }
+
   // STEER: safety check
   if ((addr == 0xE4) || (addr == 0x194)) {
     if (!current_controls_allowed) {
@@ -224,7 +265,14 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
   }
 
-  // GAS: safety check
+    // Bosch supplemental control check
+  if (addr == 0xE5) {
+    if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
+      tx = 0;
+    }
+  }
+
+  // GAS: safety check (interceptor)
   if (addr == 0x200) {
     if (!current_controls_allowed) {
       if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
@@ -236,83 +284,108 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
   // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
   // This avoids unintended engagements while still allowing resume spam
-  int bus_pt = (honda_hw == HONDA_BH_HW)? 1 : 0;
   if ((addr == 0x296) && !current_controls_allowed && (bus == bus_pt)) {
     if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
       tx = 0;
     }
   }
 
+  // Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
+  if (addr == 0x18DAB0F1) {
+  if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
+    tx = 0;
+  }
+  }
+
   // 1 allows the message through
   return tx;
 }
 
-static void honda_nidec_init(int16_t param) {
+static const addr_checks* honda_nidec_init(int16_t param) {
   UNUSED(param);
   controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
+  gas_interceptor_detected = 0;
   honda_hw = HONDA_N_HW;
   honda_alt_brake_msg = false;
+  honda_bosch_long = false;
+  honda_rx_checks = (addr_checks){honda_addr_checks, HONDA_ADDR_CHECKS_LEN};
+  return &honda_rx_checks;
 }
 
-static void honda_bosch_giraffe_init(int16_t param) {
+static const addr_checks* honda_bosch_giraffe_init(int16_t param) {
   controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
   honda_hw = HONDA_BG_HW;
   // Checking for alternate brake override from safety parameter
-  honda_alt_brake_msg = (param == 1) ? true : false;
+  honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
+
+  // radar disabled so allow gas/brakes
+#ifdef ALLOW_DEBUG
+  honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
+#endif
+
+  honda_rx_checks = (addr_checks){honda_addr_checks, HONDA_ADDR_CHECKS_LEN};
+  return &honda_rx_checks;
 }
 
-static void honda_bosch_harness_init(int16_t param) {
+static const addr_checks* honda_bosch_harness_init(int16_t param) {
   controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
   honda_hw = HONDA_BH_HW;
   // Checking for alternate brake override from safety parameter
-  honda_alt_brake_msg = (param == 1) ? true : false;
+  honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
+
+  // radar disabled so allow gas/brakes
+#ifdef ALLOW_DEBUG
+  honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
+#endif
+
+  honda_rx_checks = (addr_checks){honda_bh_addr_checks, HONDA_BH_ADDR_CHECKS_LEN};
+  return &honda_rx_checks;
 }
 
-static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int honda_nidec_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   // fwd from car to camera. also fwd certain msgs from camera to car
   // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
   // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
   int bus_fwd = -1;
 
-  if (!relay_malfunction) {
-    if (bus_num == 0) {
-      bus_fwd = 2;
-    }
-    if (bus_num == 2) {
-      // block stock lkas messages and stock acc messages (if OP is doing ACC)
-      int addr = GET_ADDR(to_fwd);
-      bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
-      bool is_acc_hud_msg = addr == 0x30C;
-      bool is_brake_msg = addr == 0x1FA;
-      bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
-      if (!block_fwd) {
-        bus_fwd = 0;
-      }
+  if (bus_num == 0) {
+    bus_fwd = 2;
+  }
+
+  if (bus_num == 2) {
+    // block stock lkas messages and stock acc messages (if OP is doing ACC)
+    int addr = GET_ADDR(to_fwd);
+    bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
+    bool is_acc_hud_msg = addr == 0x30C;
+    bool is_brake_msg = addr == 0x1FA;
+    bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
+    if (!block_fwd) {
+      bus_fwd = 0;
     }
   }
+
   return bus_fwd;
 }
 
-static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int honda_bosch_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   int bus_fwd = -1;
   int bus_rdr_cam = (honda_hw == HONDA_BH_HW) ? 2 : 1;  // radar bus, camera side
   int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2;  // radar bus, car side
 
-  if (!relay_malfunction) {
-    if (bus_num == bus_rdr_car) {
-      bus_fwd = bus_rdr_cam;
-    }
-    if (bus_num == bus_rdr_cam)  {
-      int addr = GET_ADDR(to_fwd);
-      int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
-      if (!is_lkas_msg) {
-        bus_fwd = bus_rdr_car;
-      }
+  if (bus_num == bus_rdr_car) {
+    bus_fwd = bus_rdr_cam;
+  }
+  if (bus_num == bus_rdr_cam)  {
+    int addr = GET_ADDR(to_fwd);
+    int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
+    if (!is_lkas_msg) {
+      bus_fwd = bus_rdr_car;
     }
   }
+
   return bus_fwd;
 }
 
@@ -322,8 +395,6 @@ const safety_hooks honda_nidec_hooks = {
   .tx = honda_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = honda_nidec_fwd_hook,
-  .addr_check = honda_rx_checks,
-  .addr_check_len = sizeof(honda_rx_checks) / sizeof(honda_rx_checks[0]),
 };
 
 const safety_hooks honda_bosch_giraffe_hooks = {
@@ -332,8 +403,6 @@ const safety_hooks honda_bosch_giraffe_hooks = {
   .tx = honda_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = honda_bosch_fwd_hook,
-  .addr_check = honda_rx_checks,
-  .addr_check_len = sizeof(honda_rx_checks) / sizeof(honda_rx_checks[0]),
 };
 
 const safety_hooks honda_bosch_harness_hooks = {
@@ -342,6 +411,4 @@ const safety_hooks honda_bosch_harness_hooks = {
   .tx = honda_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = honda_bosch_fwd_hook,
-  .addr_check = honda_bh_rx_checks,
-  .addr_check_len = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]),
 };
diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h
index 33a670f299b08e..4e4f0e65a9e8e0 100644
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -1,81 +1,280 @@
-const int HYUNDAI_MAX_STEER = 255;             // like stock
+const int HYUNDAI_MAX_STEER = 384;             // like stock
 const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
-const uint32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t HYUNDAI_RT_INTERVAL = 250000;   // 250ms between real time checks
 const int HYUNDAI_MAX_RATE_UP = 3;
 const int HYUNDAI_MAX_RATE_DOWN = 7;
 const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
 const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
-const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};
+const int HYUNDAI_STANDSTILL_THRSLD = 30;  // ~1kph
 
-// TODO: do checksum and counter checks
-AddrCheckStruct hyundai_rx_checks[] = {
-  {.addr = {897}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
+const int HYUNDAI_MAX_ACCEL = 200;  // 1/100 m/s2
+const int HYUNDAI_MIN_ACCEL = -350; // 1/100 m/s2
+
+const CanMsg HYUNDAI_TX_MSGS[] = {
+  {832, 0, 8},  // LKAS11 Bus 0
+  {1265, 0, 4}, // CLU11 Bus 0
+  {1157, 0, 4}, // LFAHDA_MFC Bus 0
+ };
+
+const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
+  {832, 0, 8},  // LKAS11 Bus 0
+  {1265, 0, 4}, // CLU11 Bus 0
+  {1157, 0, 4}, // LFAHDA_MFC Bus 0
+  {1056, 0, 8}, // SCC11 Bus 0
+  {1057, 0, 8}, // SCC12 Bus 0
+  {1290, 0, 8}, // SCC13 Bus 0
+  {905, 0, 8},  // SCC14 Bus 0
+  {1186, 0, 2}, // FRT_RADAR11 Bus 0
+  {909, 0, 8},  // FCA11 Bus 0
+  {1155, 0, 8}, // FCA12 Bus 0
+  {2000, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
+ };
+
+AddrCheckStruct hyundai_addr_checks[] = {
+  {.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+           {881, 0, 8, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{902, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+};
+#define HYUNDAI_ADDR_CHECK_LEN (sizeof(hyundai_addr_checks) / sizeof(hyundai_addr_checks[0]))
+
+AddrCheckStruct hyundai_long_addr_checks[] = {
+  {.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+           {881, 0, 8, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{902, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{1265, 0, 4, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
 };
-const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);
+#define HYUNDAI_LONG_ADDR_CHECK_LEN (sizeof(hyundai_long_addr_checks) / sizeof(hyundai_long_addr_checks[0]))
+
+// older hyundai models have less checks due to missing counters and checksums
+AddrCheckStruct hyundai_legacy_addr_checks[] = {
+  {.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+           {881, 0, 8, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{902, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{916, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+};
+#define HYUNDAI_LEGACY_ADDR_CHECK_LEN (sizeof(hyundai_legacy_addr_checks) / sizeof(hyundai_legacy_addr_checks[0]))
+
+const int HYUNDAI_PARAM_EV_GAS = 1;
+const int HYUNDAI_PARAM_HYBRID_GAS = 2;
+const int HYUNDAI_PARAM_LONGITUDINAL = 4;
+
+bool hyundai_legacy = false;
+bool hyundai_ev_gas_signal = false;
+bool hyundai_hybrid_gas_signal = false;
+bool hyundai_longitudinal = false;
+
+addr_checks hyundai_rx_checks = {hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
+
+static uint8_t hyundai_get_counter(CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
+
+  uint8_t cnt;
+  if (addr == 608) {
+    cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3;
+  } else if (addr == 902) {
+    cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
+  } else if (addr == 916) {
+    cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7;
+  } else if (addr == 1057) {
+    cnt = GET_BYTE(to_push, 7) & 0xF;
+  } else if (addr == 1265) {
+    cnt = (GET_BYTE(to_push, 3) >> 4) & 0xF;
+  } else {
+    cnt = 0;
+  }
+  return cnt;
+}
+
+static uint8_t hyundai_get_checksum(CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
+
+  uint8_t chksum;
+  if (addr == 608) {
+    chksum = GET_BYTE(to_push, 7) & 0xF;
+  } else if (addr == 902) {
+    chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
+  } else if (addr == 916) {
+    chksum = GET_BYTE(to_push, 6) & 0xF;
+  } else if (addr == 1057) {
+    chksum = GET_BYTE(to_push, 7) >> 4;
+  } else {
+    chksum = 0;
+  }
+  return chksum;
+}
 
-int hyundai_rt_torque_last = 0;
-int hyundai_desired_torque_last = 0;
-int hyundai_cruise_engaged_last = 0;
-uint32_t hyundai_ts_last = 0;
-struct sample_t hyundai_torque_driver;         // last few driver torques measured
+static uint8_t hyundai_compute_checksum(CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
 
-static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  uint8_t chksum = 0;
+  if (addr == 902) {
+    // count the bits
+    for (int i = 0; i < 8; i++) {
+      uint8_t b = GET_BYTE(to_push, i);
+      for (int j = 0; j < 8; j++) {
+        uint8_t bit = 0;
+        // exclude checksum and counter
+        if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) {
+          bit = (b >> (uint8_t)j) & 1U;
+        }
+        chksum += bit;
+      }
+    }
+    chksum = (chksum ^ 9U) & 15U;
+  } else {
+    // sum of nibbles
+    for (int i = 0; i < 8; i++) {
+      if ((addr == 916) && (i == 7)) {
+        continue; // exclude
+      }
+      uint8_t b = GET_BYTE(to_push, i);
+      if (((addr == 608) && (i == 7)) || ((addr == 916) && (i == 6)) || ((addr == 1057) && (i == 7))) {
+        b &= (addr == 1057) ? 0x0FU : 0xF0U; // remove checksum
+      }
+      chksum += (b % 16U) + (b / 16U);
+    }
+    chksum = (16U - (chksum %  16U)) % 16U;
+  }
+
+  return chksum;
+}
+
+static int hyundai_rx_hook(CANPacket_t *to_push) {
 
-  bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+  bool valid = addr_safety_check(to_push, &hyundai_rx_checks,
+                                 hyundai_get_checksum, hyundai_compute_checksum,
+                                 hyundai_get_counter);
 
-  if (valid) {
-    int bus = GET_BUS(to_push);
+  if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
-    if (addr == 897) {
-      int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
+    if (addr == 593) {
+      int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ff) * 0.79) - 808; // scale down new driver torque signal to match previous one
       // update array of samples
-      update_sample(&hyundai_torque_driver, torque_driver_new);
+      update_sample(&torque_driver, torque_driver_new);
     }
 
-    // enter controls on rising edge of ACC, exit controls on ACC off
-    if (addr == 1057) {
-      // 2 bits: 13-14
-      int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
-      if (cruise_engaged && !hyundai_cruise_engaged_last) {
-        controls_allowed = 1;
+    if (hyundai_longitudinal) {
+      // ACC steering wheel buttons
+      if (addr == 1265) {
+        int button = GET_BYTE(to_push, 0) & 0x7;
+        switch (button) {
+          case 1:  // resume
+          case 2:  // set
+            controls_allowed = 1;
+            break;
+          case 4:  // cancel
+            controls_allowed = 0;
+            break;
+          default:
+            break;  // any other button is irrelevant
+        }
       }
-      if (!cruise_engaged) {
-        controls_allowed = 0;
+    } else {
+      // enter controls on rising edge of ACC, exit controls on ACC off
+      if (addr == 1057) {
+        // 2 bits: 13-14
+        int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
+        if (cruise_engaged && !cruise_engaged_prev) {
+          controls_allowed = 1;
+        }
+        if (!cruise_engaged) {
+          controls_allowed = 0;
+        }
+        cruise_engaged_prev = cruise_engaged;
       }
-      hyundai_cruise_engaged_last = cruise_engaged;
     }
 
-    // TODO: check gas pressed
+    // read gas pressed signal
+    if ((addr == 881) && hyundai_ev_gas_signal) {
+      gas_pressed = (((GET_BYTE(to_push, 4) & 0x7F) << 1) | GET_BYTE(to_push, 3) >> 7) != 0;
+    } else if ((addr == 881) && hyundai_hybrid_gas_signal) {
+      gas_pressed = GET_BYTE(to_push, 7) != 0;
+    } else if (addr == 608) {  // ICE
+      gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
+    } else {
+    }
+
+    // sample wheel speed, averaging opposite corners
+    if (addr == 902) {
+      int hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF;  // FL
+      hyundai_speed += (GET_BYTES_48(to_push) >> 16) & 0x3FFF;  // RL
+      hyundai_speed /= 2;
+      vehicle_moving = hyundai_speed > HYUNDAI_STANDSTILL_THRSLD;
+    }
 
-    // check if stock camera ECU is on bus 0
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
-      relay_malfunction = true;
+    if (addr == 916) {
+      brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
     }
+
+    bool stock_ecu_detected = (addr == 832);
+
+    // If openpilot is controlling longitudinal we need to ensure the radar is turned off
+    // Enforce by checking we don't see SCC12
+    if (hyundai_longitudinal && (addr == 1057)) {
+      stock_ecu_detected = true;
+    }
+    generic_rx_checks(stock_ecu_detected);
   }
   return valid;
 }
 
-static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int hyundai_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);
-  int bus = GET_BUS(to_send);
 
-  if (!msg_allowed(addr, bus, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]))) {
-    tx = 0;
+  if (hyundai_longitudinal) {
+    tx = msg_allowed(to_send, HYUNDAI_LONG_TX_MSGS, sizeof(HYUNDAI_LONG_TX_MSGS)/sizeof(HYUNDAI_LONG_TX_MSGS[0]));
+  } else {
+    tx = msg_allowed(to_send, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]));
+  }
+
+  // FCA11: Block any potential actuation
+  if (addr == 909) {
+    int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
+    int FCA_CmdAct = (GET_BYTE(to_send, 2) >> 5) & 1;
+    int CF_VSM_DecCmdAct = (GET_BYTE(to_send, 3) >> 7) & 1;
+
+    if ((CR_VSM_DecCmd != 0) || (FCA_CmdAct != 0) || (CF_VSM_DecCmdAct != 0)) {
+      tx = 0;
+    }
   }
 
-  if (relay_malfunction) {
-    tx = 0;
+  // ACCEL: safety check
+  if (addr == 1057) {
+    int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7) << 8) | GET_BYTE(to_send, 3)) - 1023;
+    int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023;
+
+    int aeb_decel_cmd = GET_BYTE(to_send, 2);
+    int aeb_req = (GET_BYTE(to_send, 6) >> 6) & 1;
+
+    bool violation = 0;
+
+    if (!controls_allowed) {
+      if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
+        violation = 1;
+      }
+    }
+    violation |= max_limit_check(desired_accel_raw, HYUNDAI_MAX_ACCEL, HYUNDAI_MIN_ACCEL);
+    violation |= max_limit_check(desired_accel_val, HYUNDAI_MAX_ACCEL, HYUNDAI_MIN_ACCEL);
+
+    violation |= (aeb_decel_cmd != 0);
+    violation |= (aeb_req != 0);
+
+    if (violation) {
+      tx = 0;
+    }
   }
 
   // LKA STEER: safety check
   if (addr == 832) {
     int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024;
-    uint32_t ts = TIM2->CNT;
+    uint32_t ts = microsecond_timer_get();
     bool violation = 0;
 
     if (controls_allowed) {
@@ -84,21 +283,21 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);
 
       // *** torque rate limit check ***
-      violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
+      violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
         HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
         HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);
 
       // used next time
-      hyundai_desired_torque_last = desired_torque;
+      desired_torque_last = desired_torque;
 
       // *** torque real time rate limit check ***
-      violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);
+      violation |= rt_rate_limit_check(desired_torque, rt_torque_last, HYUNDAI_MAX_RT_DELTA);
 
       // every RT_INTERVAL set the new limits
-      uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
+      uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
       if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
-        hyundai_rt_torque_last = desired_torque;
-        hyundai_ts_last = ts;
+        rt_torque_last = desired_torque;
+        ts_last = ts;
       }
     }
 
@@ -109,9 +308,9 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // reset to 0 if either controls is not allowed or there's a violation
     if (violation || !controls_allowed) {
-      hyundai_desired_torque_last = 0;
-      hyundai_rt_torque_last = 0;
-      hyundai_ts_last = ts;
+      desired_torque_last = 0;
+      rt_torque_last = 0;
+      ts_last = ts;
     }
 
     if (violation) {
@@ -119,6 +318,13 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
   }
 
+  // UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
+  if (addr == 2000) {
+    if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
+      tx = 0;
+    }
+  }
+
   // FORCE CANCEL: safety check only relevant when spamming the cancel button.
   // ensuring that only the cancel button press is sent (VAL 4) when controls are off.
   // This avoids unintended engagements while still allowing resume spam
@@ -132,29 +338,66 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
-static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int hyundai_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
 
   int bus_fwd = -1;
   int addr = GET_ADDR(to_fwd);
+
   // forward cam to ccan and viceversa, except lkas cmd
-  if (!relay_malfunction) {
-    if (bus_num == 0) {
-      bus_fwd = 2;
-    }
-    if ((bus_num == 2) && (addr != 832)) {
-      bus_fwd = 0;
-    }
+  if (bus_num == 0) {
+    bus_fwd = 2;
+  }
+  if ((bus_num == 2) && (addr != 832) && (addr != 1157)) {
+    bus_fwd = 0;
   }
+
   return bus_fwd;
 }
 
+static const addr_checks* hyundai_init(int16_t param) {
+  controls_allowed = false;
+  relay_malfunction_reset();
+
+  hyundai_legacy = false;
+  hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
+  hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
+
+#ifdef ALLOW_DEBUG
+  hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
+#endif
+
+  if (hyundai_longitudinal) {
+    hyundai_rx_checks = (addr_checks){hyundai_long_addr_checks, HYUNDAI_LONG_ADDR_CHECK_LEN};
+  } else {
+    hyundai_rx_checks = (addr_checks){hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
+  }
+  return &hyundai_rx_checks;
+}
+
+static const addr_checks* hyundai_legacy_init(int16_t param) {
+  controls_allowed = false;
+  relay_malfunction_reset();
+
+  hyundai_legacy = true;
+  hyundai_longitudinal = false;
+  hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
+  hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
+  hyundai_rx_checks = (addr_checks){hyundai_legacy_addr_checks, HYUNDAI_LEGACY_ADDR_CHECK_LEN};
+  return &hyundai_rx_checks;
+}
 
 const safety_hooks hyundai_hooks = {
-  .init = nooutput_init,
+  .init = hyundai_init,
+  .rx = hyundai_rx_hook,
+  .tx = hyundai_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = hyundai_fwd_hook,
+};
+
+const safety_hooks hyundai_legacy_hooks = {
+  .init = hyundai_legacy_init,
   .rx = hyundai_rx_hook,
   .tx = hyundai_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = hyundai_fwd_hook,
-  .addr_check = hyundai_rx_checks,
-  .addr_check_len = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]),
 };
diff --git a/panda/board/safety/safety_mazda.h b/panda/board/safety/safety_mazda.h
index f6b19c1a2fab3a..01cc29f1b341c1 100644
--- a/panda/board/safety/safety_mazda.h
+++ b/panda/board/safety/safety_mazda.h
@@ -1,10 +1,11 @@
-
 // CAN msgs we care about
-#define MAZDA_LKAS 0x243
-#define MAZDA_LANEINFO 0x440
-#define MAZDA_CRZ_CTRL 0x21c
-#define MAZDA_WHEEL_SPEED 0x215
-#define MAZDA_STEER_TORQUE 0x240
+#define MAZDA_LKAS          0x243
+#define MAZDA_LKAS_HUD      0x440
+#define MAZDA_CRZ_CTRL      0x21c
+#define MAZDA_CRZ_BTNS      0x09d
+#define MAZDA_STEER_TORQUE  0x240
+#define MAZDA_ENGINE_DATA   0x202
+#define MAZDA_PEDALS        0x165
 
 // CAN bus numbers
 #define MAZDA_MAIN 0
@@ -21,61 +22,81 @@
 #define MAZDA_MAX_RATE_DOWN 25
 #define MAZDA_DRIVER_TORQUE_ALLOWANCE 15
 #define MAZDA_DRIVER_TORQUE_FACTOR 1
+#define MAZDA_MAX_TORQUE_ERROR 350
+
+const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
 
-int mazda_cruise_engaged_last = 0;
-int mazda_rt_torque_last = 0;
-int mazda_desired_torque_last = 0;
-uint32_t mazda_ts_last = 0;
-struct sample_t mazda_torque_driver;         // last few driver torques measured
+AddrCheckStruct mazda_addr_checks[] = {
+  {.msg = {{MAZDA_CRZ_CTRL,     0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{MAZDA_CRZ_BTNS,     0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},
+  {.msg = {{MAZDA_STEER_TORQUE, 0, 8, .expected_timestep = 12000U}, { 0 }, { 0 }}},
+  {.msg = {{MAZDA_ENGINE_DATA,  0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{MAZDA_PEDALS,       0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+};
+#define MAZDA_ADDR_CHECKS_LEN (sizeof(mazda_addr_checks) / sizeof(mazda_addr_checks[0]))
+addr_checks mazda_rx_checks = {mazda_addr_checks, MAZDA_ADDR_CHECKS_LEN};
 
 // track msgs coming from OP so that we know what CAM msgs to drop and what to forward
-static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus = GET_BUS(to_push);
-  int addr = GET_ADDR(to_push);
-
-  if ((addr == MAZDA_STEER_TORQUE) && (bus == MAZDA_MAIN)) {
-    int torque_driver_new = GET_BYTE(to_push, 0) - 127;
-    // update array of samples
-    update_sample(&mazda_torque_driver, torque_driver_new);
-  }
+static int mazda_rx_hook(CANPacket_t *to_push) {
+  bool valid = addr_safety_check(to_push, &mazda_rx_checks, NULL, NULL, NULL);
+  if (valid && (GET_BUS(to_push) == MAZDA_MAIN)) {
+    int addr = GET_ADDR(to_push);
+
+    if (addr == MAZDA_ENGINE_DATA) {
+      // sample speed: scale by 0.01 to get kph
+      int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
+      vehicle_moving = speed > 10; // moving when speed > 0.1 kph
+    }
+
+    if (addr == MAZDA_STEER_TORQUE) {
+      int torque_driver_new = GET_BYTE(to_push, 0) - 127;
+      // update array of samples
+      update_sample(&torque_driver, torque_driver_new);
+    }
 
-  // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == MAZDA_CRZ_CTRL) && (bus == MAZDA_MAIN)) {
-    int cruise_engaged = GET_BYTE(to_push, 0) & 8;
-    if (cruise_engaged != 0) {
-      if (!mazda_cruise_engaged_last) {
-        controls_allowed = 1;
+    // enter controls on rising edge of ACC, exit controls on ACC off
+    if (addr == MAZDA_CRZ_CTRL) {
+      bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
+      if (cruise_engaged) {
+        if (!cruise_engaged_prev) {
+          controls_allowed = 1;
+        }
+      } else {
+        controls_allowed = 0;
       }
+      cruise_engaged_prev = cruise_engaged;
     }
-    else {
-      controls_allowed = 0;
+
+    if (addr == MAZDA_ENGINE_DATA) {
+      gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0));
     }
-    mazda_cruise_engaged_last = cruise_engaged;
-  }
 
-  // if we see wheel speed msgs on MAZDA_CAM bus then relay is closed
-  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
-    relay_malfunction = true;
+    if (addr == MAZDA_PEDALS) {
+      brake_pressed = (GET_BYTE(to_push, 0) & 0x10);
+    }
+
+    generic_rx_checks((addr == MAZDA_LKAS));
   }
-  return 1;
+  return valid;
 }
 
-static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int mazda_tx_hook(CANPacket_t *to_send) {
   int tx = 1;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
-  if (relay_malfunction) {
+  if (!msg_allowed(to_send, MAZDA_TX_MSGS, sizeof(MAZDA_TX_MSGS)/sizeof(MAZDA_TX_MSGS[0]))) {
     tx = 0;
   }
 
   // Check if msg is sent on the main BUS
   if (bus == MAZDA_MAIN) {
+
     // steer cmd checks
     if (addr == MAZDA_LKAS) {
       int desired_torque = (((GET_BYTE(to_send, 0) & 0x0f) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
       bool violation = 0;
-      uint32_t ts = TIM2->CNT;
+      uint32_t ts = microsecond_timer_get();
 
       if (controls_allowed) {
 
@@ -83,21 +104,21 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
         violation |= max_limit_check(desired_torque, MAZDA_MAX_STEER, -MAZDA_MAX_STEER);
 
         // *** torque rate limit check ***
-        int desired_torque_last = mazda_desired_torque_last;
-        violation |= driver_limit_check(desired_torque, desired_torque_last, &mazda_torque_driver,
+        violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
                                         MAZDA_MAX_STEER, MAZDA_MAX_RATE_UP, MAZDA_MAX_RATE_DOWN,
                                         MAZDA_DRIVER_TORQUE_ALLOWANCE, MAZDA_DRIVER_TORQUE_FACTOR);
+
         // used next time
-        mazda_desired_torque_last = desired_torque;
+        desired_torque_last = desired_torque;
 
         // *** torque real time rate limit check ***
-        violation |= rt_rate_limit_check(desired_torque, mazda_rt_torque_last, MAZDA_MAX_RT_DELTA);
+        violation |= rt_rate_limit_check(desired_torque, rt_torque_last, MAZDA_MAX_RT_DELTA);
 
         // every RT_INTERVAL set the new limits
-        uint32_t ts_elapsed = get_ts_elapsed(ts, mazda_ts_last);
+        uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
         if (ts_elapsed > ((uint32_t) MAZDA_RT_INTERVAL)) {
-          mazda_rt_torque_last = desired_torque;
-          mazda_ts_last = ts;
+          rt_torque_last = desired_torque;
+          ts_last = ts;
         }
       }
 
@@ -108,43 +129,59 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
       // reset to 0 if either controls is not allowed or there's a violation
       if (violation || !controls_allowed) {
-        mazda_desired_torque_last = 0;
-        mazda_rt_torque_last = 0;
-        mazda_ts_last = ts;
+        desired_torque_last = 0;
+        rt_torque_last = 0;
+        ts_last = ts;
       }
 
       if (violation) {
         tx = 0;
       }
     }
+
+    // cruise buttons check
+    if (addr == MAZDA_CRZ_BTNS) {
+      // allow resume spamming while controls allowed, but
+      // only allow cancel while contrls not allowed
+      bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U);
+      if (!controls_allowed && !cancel_cmd) {
+        tx = 0;
+      }
+    }
   }
+
   return tx;
 }
 
-static int mazda_fwd_hook(int bus, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int mazda_fwd_hook(int bus, CANPacket_t *to_fwd) {
   int bus_fwd = -1;
-  if (!relay_malfunction) {
-    int addr = GET_ADDR(to_fwd);
-    if (bus == MAZDA_MAIN) {
-      bus_fwd = MAZDA_CAM;
-    }
-    else if (bus == MAZDA_CAM) {
-      if (!(addr == MAZDA_LKAS)) {
-        bus_fwd = MAZDA_MAIN;
-      }
-    }
-    else {
-      bus_fwd = -1;
+  int addr = GET_ADDR(to_fwd);
+
+  if (bus == MAZDA_MAIN) {
+    bus_fwd = MAZDA_CAM;
+  } else if (bus == MAZDA_CAM) {
+    bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
+    if (!block) {
+      bus_fwd = MAZDA_MAIN;
     }
+  } else {
+    // don't fwd
   }
+
   return bus_fwd;
 }
 
+static const addr_checks* mazda_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+  return &mazda_rx_checks;
+}
+
 const safety_hooks mazda_hooks = {
-  .init = nooutput_init,
+  .init = mazda_init,
   .rx = mazda_rx_hook,
   .tx = mazda_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = mazda_fwd_hook,
-  // TODO: add addr safety checks
 };
diff --git a/panda/board/safety/safety_nissan.h b/panda/board/safety/safety_nissan.h
new file mode 100644
index 00000000000000..2c2c6f68056d54
--- /dev/null
+++ b/panda/board/safety/safety_nissan.h
@@ -0,0 +1,204 @@
+
+const uint32_t NISSAN_RT_INTERVAL = 250000;    // 250ms between real time checks
+
+const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_UP = {
+  {2., 7., 17.},
+  {5., .8, .15}};
+
+const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
+  {2., 7., 17.},
+  {5., 3.5, .5}};
+
+const int NISSAN_DEG_TO_CAN = 100;
+
+const CanMsg NISSAN_TX_MSGS[] = {
+  {0x169, 0, 8},  // LKAS
+  {0x2b1, 0, 8},  // PROPILOT_HUD
+  {0x4cc, 0, 8},  // PROPILOT_HUD_INFO_MSG
+  {0x20b, 2, 6},  // CRUISE_THROTTLE (X-Trail)
+  {0x20b, 1, 6},  // CRUISE_THROTTLE (Altima)
+  {0x280, 2, 8}   // CANCEL_MSG (Leaf)
+};
+
+// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
+AddrCheckStruct nissan_addr_checks[] = {
+  {.msg = {{0x2, 0, 5, .expected_timestep = 10000U},
+           {0x2, 1, 5, .expected_timestep = 10000U}, { 0 }}},  // STEER_ANGLE_SENSOR (100Hz)
+  {.msg = {{0x285, 0, 8, .expected_timestep = 20000U},
+           {0x285, 1, 8, .expected_timestep = 20000U}, { 0 }}}, // WHEEL_SPEEDS_REAR (50Hz)
+  {.msg = {{0x30f, 2, 3, .expected_timestep = 100000U},
+           {0x30f, 1, 3, .expected_timestep = 100000U}, { 0 }}}, // CRUISE_STATE (10Hz)
+  {.msg = {{0x15c, 0, 8, .expected_timestep = 20000U},
+           {0x15c, 1, 8, .expected_timestep = 20000U},
+           {0x239, 0, 8, .expected_timestep = 20000U}}}, // GAS_PEDAL (100Hz / 50Hz)
+  {.msg = {{0x454, 0, 8, .expected_timestep = 100000U},
+           {0x454, 1, 8, .expected_timestep = 100000U},
+           {0x1cc, 0, 4, .expected_timestep = 10000U}}}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
+};
+#define NISSAN_ADDR_CHECK_LEN (sizeof(nissan_addr_checks) / sizeof(nissan_addr_checks[0]))
+addr_checks nissan_rx_checks = {nissan_addr_checks, NISSAN_ADDR_CHECK_LEN};
+
+// EPS Location. false = V-CAN, true = C-CAN
+bool nissan_alt_eps = false;
+
+static int nissan_rx_hook(CANPacket_t *to_push) {
+
+  bool valid = addr_safety_check(to_push, &nissan_rx_checks, NULL, NULL, NULL);
+
+  if (valid) {
+    int bus = GET_BUS(to_push);
+    int addr = GET_ADDR(to_push);
+
+    if (((bus == 0) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps))) {
+      if (addr == 0x2) {
+        // Current steering angle
+        // Factor -0.1, little endian
+        int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFF);
+        // Need to multiply by 10 here as LKAS and Steering wheel are different base unit
+        angle_meas_new = to_signed(angle_meas_new, 16) * 10;
+
+        // update array of samples
+        update_sample(&angle_meas, angle_meas_new);
+      }
+
+      if (addr == 0x285) {
+        // Get current speed
+        // Factor 0.005
+        vehicle_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.005 / 3.6;
+        vehicle_moving = vehicle_speed > 0.;
+      }
+
+      // X-Trail 0x15c, Leaf 0x239
+      if ((addr == 0x15c) || (addr == 0x239)) {
+        if (addr == 0x15c){
+          gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 3;
+        } else {
+          gas_pressed = GET_BYTE(to_push, 0) > 3;
+        }
+      }
+    }
+
+    // X-trail 0x454, Leaf  0x239
+    if ((addr == 0x454) || (addr == 0x239)) {
+      if (addr == 0x454){
+        brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
+      } else {
+        brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1) != 0;
+      }
+    }
+
+    // Handle cruise enabled
+    if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
+      bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
+
+      if (cruise_engaged && !cruise_engaged_prev) {
+        controls_allowed = 1;
+      }
+      if (!cruise_engaged) {
+        controls_allowed = 0;
+      }
+      cruise_engaged_prev = cruise_engaged;
+    }
+
+    generic_rx_checks((addr == 0x169) && (bus == 0));
+  }
+  return valid;
+}
+
+
+static int nissan_tx_hook(CANPacket_t *to_send) {
+  int tx = 1;
+  int addr = GET_ADDR(to_send);
+  bool violation = 0;
+
+  if (!msg_allowed(to_send, NISSAN_TX_MSGS, sizeof(NISSAN_TX_MSGS) / sizeof(NISSAN_TX_MSGS[0]))) {
+    tx = 0;
+  }
+
+  // steer cmd checks
+  if (addr == 0x169) {
+    int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3));
+    bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1;
+
+    // offeset 1310 * NISSAN_DEG_TO_CAN
+    desired_angle =  desired_angle - 131000;
+
+    if (controls_allowed && lka_active) {
+      // add 1 to not false trigger the violation
+      float delta_angle_float;
+      delta_angle_float = (interpolate(NISSAN_LOOKUP_ANGLE_RATE_UP, vehicle_speed) * NISSAN_DEG_TO_CAN) + 1.;
+      int delta_angle_up = (int)(delta_angle_float);
+      delta_angle_float =  (interpolate(NISSAN_LOOKUP_ANGLE_RATE_DOWN, vehicle_speed) * NISSAN_DEG_TO_CAN) + 1.;
+      int delta_angle_down = (int)(delta_angle_float);
+      int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
+      int lowest_desired_angle = desired_angle_last - ((desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
+
+      // check for violation;
+      violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
+    }
+    desired_angle_last = desired_angle;
+
+    // desired steer angle should be the same as steer angle measured when controls are off
+    if ((!controls_allowed) &&
+          ((desired_angle < (angle_meas.min - 1)) ||
+          (desired_angle > (angle_meas.max + 1)))) {
+      violation = 1;
+    }
+
+    // no lka_enabled bit if controls not allowed
+    if (!controls_allowed && lka_active) {
+      violation = 1;
+    }
+  }
+
+  // acc button check, only allow cancel button to be sent
+  if (addr == 0x20b) {
+    // Violation of any button other than cancel is pressed
+    violation |= ((GET_BYTE(to_send, 1) & 0x3d) > 0);
+  }
+
+  if (violation) {
+    controls_allowed = 0;
+    tx = 0;
+  }
+
+  return tx;
+}
+
+
+static int nissan_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
+  int bus_fwd = -1;
+  int addr = GET_ADDR(to_fwd);
+
+  if (bus_num == 0) {
+    int block_msg = (addr == 0x280); // CANCEL_MSG
+    if (!block_msg) {
+      bus_fwd = 2;  // ADAS
+    }
+  }
+
+  if (bus_num == 2) {
+    // 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
+    int block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
+    if (!block_msg) {
+      bus_fwd = 0;  // V-CAN
+    }
+  }
+
+  return bus_fwd;
+}
+
+static const addr_checks* nissan_init(int16_t param) {
+  controls_allowed = 0;
+  nissan_alt_eps = param ? 1 : 0;
+  relay_malfunction_reset();
+  return &nissan_rx_checks;
+}
+
+const safety_hooks nissan_hooks = {
+  .init = nissan_init,
+  .rx = nissan_rx_hook,
+  .tx = nissan_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = nissan_fwd_hook,
+};
diff --git a/panda/board/safety/safety_subaru.h b/panda/board/safety/safety_subaru.h
index 885e2731d523c2..36eecb513a603b 100644
--- a/panda/board/safety/safety_subaru.h
+++ b/panda/board/safety/safety_subaru.h
@@ -7,81 +7,222 @@ const int SUBARU_MAX_RATE_UP = 50;
 const int SUBARU_MAX_RATE_DOWN = 70;
 const int SUBARU_DRIVER_TORQUE_ALLOWANCE = 60;
 const int SUBARU_DRIVER_TORQUE_FACTOR = 10;
+const int SUBARU_STANDSTILL_THRSLD = 20;  // about 1kph
 
-const AddrBus SUBARU_TX_MSGS[] = {{0x122, 0}, {0x164, 0}, {0x221, 0}, {0x322, 0}};
+const int SUBARU_L_DRIVER_TORQUE_ALLOWANCE = 75;
+const int SUBARU_L_DRIVER_TORQUE_FACTOR = 10;
+
+const CanMsg SUBARU_TX_MSGS[] = {{0x122, 0, 8}, {0x221, 0, 8}, {0x322, 0, 8}};
+#define SUBARU_TX_MSGS_LEN (sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))
+
+AddrCheckStruct subaru_addr_checks[] = {
+  {.msg = {{ 0x40, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{0x119, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{0x13a, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{0x13c, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{0x240, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}},
+};
+#define SUBARU_ADDR_CHECK_LEN (sizeof(subaru_addr_checks) / sizeof(subaru_addr_checks[0]))
+addr_checks subaru_rx_checks = {subaru_addr_checks, SUBARU_ADDR_CHECK_LEN};
+
+const CanMsg SUBARU_L_TX_MSGS[] = {{0x161, 0, 8}, {0x164, 0, 8}};
+#define SUBARU_L_TX_MSGS_LEN (sizeof(SUBARU_L_TX_MSGS) / sizeof(SUBARU_L_TX_MSGS[0]))
 
 // TODO: do checksum and counter checks after adding the signals to the outback dbc file
-AddrCheckStruct subaru_rx_checks[] = {
-  {.addr = {0x119, 0x371}, .bus = 0, .expected_timestep = 20000U},
-  {.addr = {0x240, 0x144}, .bus = 0, .expected_timestep = 50000U},
+AddrCheckStruct subaru_l_addr_checks[] = {
+  {.msg = {{0x140, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{0x371, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{0x144, 0, 8, .expected_timestep = 50000U}, { 0 }, { 0 }}},
 };
-const int SUBARU_RX_CHECK_LEN = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]);
+#define SUBARU_L_ADDR_CHECK_LEN (sizeof(subaru_l_addr_checks) / sizeof(subaru_l_addr_checks[0]))
+addr_checks subaru_l_rx_checks = {subaru_l_addr_checks, SUBARU_L_ADDR_CHECK_LEN};
 
-int subaru_cruise_engaged_last = 0;
-int subaru_rt_torque_last = 0;
-int subaru_desired_torque_last = 0;
-uint32_t subaru_ts_last = 0;
-struct sample_t subaru_torque_driver;         // last few driver torques measured
+static uint8_t subaru_get_checksum(CANPacket_t *to_push) {
+  return (uint8_t)GET_BYTE(to_push, 0);
+}
 
-static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t subaru_get_counter(CANPacket_t *to_push) {
+  return (uint8_t)(GET_BYTE(to_push, 1) & 0xF);
+}
 
-  bool valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+static uint8_t subaru_compute_checksum(CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
+  int len = GET_LEN(to_push);
+  uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U);
+  for (int i = 1; i < len; i++) {
+    checksum += (uint8_t)GET_BYTE(to_push, i);
+  }
+  return checksum;
+}
+
+static int subaru_rx_hook(CANPacket_t *to_push) {
+
+  bool valid = addr_safety_check(to_push, &subaru_rx_checks,
+                            subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);
 
-  if (valid) {
-    int bus = GET_BUS(to_push);
+  if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
+    if (addr == 0x119) {
+      int torque_driver_new;
+      torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
+      torque_driver_new = -1 * to_signed(torque_driver_new, 11);
+      update_sample(&torque_driver, torque_driver_new);
+    }
+
+    // enter controls on rising edge of ACC, exit controls on ACC off
+    if (addr == 0x240) {
+      int cruise_engaged = ((GET_BYTES_48(to_push) >> 9) & 1);
+      if (cruise_engaged && !cruise_engaged_prev) {
+        controls_allowed = 1;
+      }
+      if (!cruise_engaged) {
+        controls_allowed = 0;
+      }
+      cruise_engaged_prev = cruise_engaged;
+    }
 
-    if (((addr == 0x119) || (addr == 0x371)) && (bus == 0)){
-      int bit_shift = (addr == 0x119) ? 16 : 29;
-      int torque_driver_new = ((GET_BYTES_04(to_push) >> bit_shift) & 0x7FF);
+    // sample wheel speed, averaging opposite corners
+    if (addr == 0x13a) {
+      int subaru_speed = (GET_BYTES_04(to_push) >> 12) & 0x1FFF;  // FR
+      subaru_speed += (GET_BYTES_48(to_push) >> 6) & 0x1FFF;  // RL
+      subaru_speed /= 2;
+      vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
+    }
+
+    if (addr == 0x13c) {
+      brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1);
+    }
+
+    if (addr == 0x40) {
+      gas_pressed = GET_BYTE(to_push, 4) != 0;
+    }
+
+    generic_rx_checks((addr == 0x122));
+  }
+  return valid;
+}
+
+static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
+
+  bool valid = addr_safety_check(to_push, &subaru_l_rx_checks, NULL, NULL, NULL);
+
+  if (valid && (GET_BUS(to_push) == 0)) {
+    int addr = GET_ADDR(to_push);
+    if (addr == 0x371) {
+      int torque_driver_new;
+      torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
       torque_driver_new = to_signed(torque_driver_new, 11);
-      // update array of samples
-      update_sample(&subaru_torque_driver, torque_driver_new);
+      update_sample(&torque_driver, torque_driver_new);
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if (((addr == 0x240) || (addr == 0x144)) && (bus == 0)) {
-      int bit_shift = (addr == 0x240) ? 9 : 17;
-      int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1);
-      if (cruise_engaged && !subaru_cruise_engaged_last) {
+    if (addr == 0x144) {
+      int cruise_engaged = ((GET_BYTES_48(to_push) >> 17) & 1);
+      if (cruise_engaged && !cruise_engaged_prev) {
         controls_allowed = 1;
       }
       if (!cruise_engaged) {
         controls_allowed = 0;
       }
-      subaru_cruise_engaged_last = cruise_engaged;
+      cruise_engaged_prev = cruise_engaged;
     }
 
-    // TODO: enforce cancellation on gas pressed
+    // sample wheel speed, averaging opposite corners
+    if (addr == 0xD4) {
+      int subaru_speed = (GET_BYTES_04(to_push) >> 16) & 0xFFFF;  // FR
+      subaru_speed += GET_BYTES_48(to_push) & 0xFFFF;  // RL
+      subaru_speed /= 2;
+      vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
+    }
 
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
-      relay_malfunction = true;
+    if (addr == 0xD1) {
+      brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFF) > 0;
     }
+
+    if (addr == 0x140) {
+      gas_pressed = GET_BYTE(to_push, 0) != 0;
+    }
+
+    generic_rx_checks((addr == 0x164));
   }
   return valid;
 }
 
-static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int subaru_tx_hook(CANPacket_t *to_send) {
   int tx = 1;
   int addr = GET_ADDR(to_send);
-  int bus = GET_BUS(to_send);
 
-  if (!msg_allowed(addr, bus, SUBARU_TX_MSGS, sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))) {
+  if (!msg_allowed(to_send, SUBARU_TX_MSGS, SUBARU_TX_MSGS_LEN)) {
     tx = 0;
   }
 
-  if (relay_malfunction) {
+  // steer cmd checks
+  if (addr == 0x122) {
+    int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
+    bool violation = 0;
+    uint32_t ts = microsecond_timer_get();
+
+    desired_torque = -1 * to_signed(desired_torque, 13);
+
+    if (controls_allowed) {
+
+      // *** global torque limit check ***
+      violation |= max_limit_check(desired_torque, SUBARU_MAX_STEER, -SUBARU_MAX_STEER);
+
+      // *** torque rate limit check ***
+      violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
+        SUBARU_MAX_STEER, SUBARU_MAX_RATE_UP, SUBARU_MAX_RATE_DOWN,
+        SUBARU_DRIVER_TORQUE_ALLOWANCE, SUBARU_DRIVER_TORQUE_FACTOR);
+
+      // used next time
+      desired_torque_last = desired_torque;
+
+      // *** torque real time rate limit check ***
+      violation |= rt_rate_limit_check(desired_torque, rt_torque_last, SUBARU_MAX_RT_DELTA);
+
+      // every RT_INTERVAL set the new limits
+      uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
+      if (ts_elapsed > SUBARU_RT_INTERVAL) {
+        rt_torque_last = desired_torque;
+        ts_last = ts;
+      }
+    }
+
+    // no torque if controls is not allowed
+    if (!controls_allowed && (desired_torque != 0)) {
+      violation = 1;
+    }
+
+    // reset to 0 if either controls is not allowed or there's a violation
+    if (violation || !controls_allowed) {
+      desired_torque_last = 0;
+      rt_torque_last = 0;
+      ts_last = ts;
+    }
+
+    if (violation) {
+      tx = 0;
+    }
+
+  }
+  return tx;
+}
+
+static int subaru_legacy_tx_hook(CANPacket_t *to_send) {
+  int tx = 1;
+  int addr = GET_ADDR(to_send);
+
+  if (!msg_allowed(to_send, SUBARU_L_TX_MSGS, SUBARU_L_TX_MSGS_LEN)) {
     tx = 0;
   }
 
   // steer cmd checks
-  if ((addr == 0x122) || (addr == 0x164)) {
-    int bit_shift = (addr == 0x122) ? 16 : 8;
-    int desired_torque = ((GET_BYTES_04(to_send) >> bit_shift) & 0x1FFF);
+  if (addr == 0x164) {
+    int desired_torque = ((GET_BYTES_04(to_send) >> 8) & 0x1FFF);
     bool violation = 0;
-    uint32_t ts = TIM2->CNT;
-    desired_torque = to_signed(desired_torque, 13);
+    uint32_t ts = microsecond_timer_get();
+
+    desired_torque = -1 * to_signed(desired_torque, 13);
 
     if (controls_allowed) {
 
@@ -89,22 +230,21 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       violation |= max_limit_check(desired_torque, SUBARU_MAX_STEER, -SUBARU_MAX_STEER);
 
       // *** torque rate limit check ***
-      int desired_torque_last = subaru_desired_torque_last;
-      violation |= driver_limit_check(desired_torque, desired_torque_last, &subaru_torque_driver,
+      violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
         SUBARU_MAX_STEER, SUBARU_MAX_RATE_UP, SUBARU_MAX_RATE_DOWN,
-        SUBARU_DRIVER_TORQUE_ALLOWANCE, SUBARU_DRIVER_TORQUE_FACTOR);
+        SUBARU_L_DRIVER_TORQUE_ALLOWANCE, SUBARU_L_DRIVER_TORQUE_FACTOR);
 
       // used next time
-      subaru_desired_torque_last = desired_torque;
+      desired_torque_last = desired_torque;
 
       // *** torque real time rate limit check ***
-      violation |= rt_rate_limit_check(desired_torque, subaru_rt_torque_last, SUBARU_MAX_RT_DELTA);
+      violation |= rt_rate_limit_check(desired_torque, rt_torque_last, SUBARU_MAX_RT_DELTA);
 
       // every RT_INTERVAL set the new limits
-      uint32_t ts_elapsed = get_ts_elapsed(ts, subaru_ts_last);
+      uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
       if (ts_elapsed > SUBARU_RT_INTERVAL) {
-        subaru_rt_torque_last = desired_torque;
-        subaru_ts_last = ts;
+        rt_torque_last = desired_torque;
+        ts_last = ts;
       }
     }
 
@@ -115,9 +255,9 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // reset to 0 if either controls is not allowed or there's a violation
     if (violation || !controls_allowed) {
-      subaru_desired_torque_last = 0;
-      subaru_rt_torque_last = 0;
-      subaru_ts_last = ts;
+      desired_torque_last = 0;
+      rt_torque_last = 0;
+      ts_last = ts;
     }
 
     if (violation) {
@@ -128,35 +268,75 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
-static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int subaru_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   int bus_fwd = -1;
 
-  if (!relay_malfunction) {
-    if (bus_num == 0) {
-      bus_fwd = 2;  // Camera CAN
-    }
-    if (bus_num == 2) {
-      // 290 is LKAS for Global Platform
-      // 356 is LKAS for outback 2015
-      // 545 is ES_Distance
-      // 802 is ES_LKAS
-      int addr = GET_ADDR(to_fwd);
-      int block_msg = (addr == 290) || (addr == 356) || (addr == 545) || (addr == 802);
-      if (!block_msg) {
-        bus_fwd = 0;  // Main CAN
-      }
+  if (bus_num == 0) {
+    bus_fwd = 2;  // Camera CAN
+  }
+
+  if (bus_num == 2) {
+    // Global platform
+    // 0x122 ES_LKAS
+    // 0x221 ES_Distance
+    // 0x322 ES_LKAS_State
+    int addr = GET_ADDR(to_fwd);
+    int block_msg = ((addr == 0x122) || (addr == 0x221) || (addr == 0x322));
+    if (!block_msg) {
+      bus_fwd = 0;  // Main CAN
     }
   }
-  // fallback to do not forward
+
   return bus_fwd;
 }
 
+static int subaru_legacy_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
+  int bus_fwd = -1;
+
+  if (bus_num == 0) {
+    bus_fwd = 2;  // Camera CAN
+  }
+
+  if (bus_num == 2) {
+    // Preglobal platform
+    // 0x161 is ES_CruiseThrottle
+    // 0x164 is ES_LKAS
+    int addr = GET_ADDR(to_fwd);
+    int block_msg = ((addr == 0x161) || (addr == 0x164));
+    if (!block_msg) {
+      bus_fwd = 0;  // Main CAN
+    }
+  }
+
+  return bus_fwd;
+}
+
+static const addr_checks* subaru_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+  return &subaru_rx_checks;
+}
+
 const safety_hooks subaru_hooks = {
-  .init = nooutput_init,
+  .init = subaru_init,
   .rx = subaru_rx_hook,
   .tx = subaru_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = subaru_fwd_hook,
-  .addr_check = subaru_rx_checks,
-  .addr_check_len = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]),
+};
+
+static const addr_checks* subaru_legacy_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+  return &subaru_l_rx_checks;
+}
+
+const safety_hooks subaru_legacy_hooks = {
+  .init = subaru_legacy_init,
+  .rx = subaru_legacy_rx_hook,
+  .tx = subaru_legacy_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = subaru_legacy_fwd_hook,
 };
diff --git a/panda/board/safety/safety_tesla.h b/panda/board/safety/safety_tesla.h
index fbb464dcde1cc0..aa771d35bac5db 100644
--- a/panda/board/safety/safety_tesla.h
+++ b/panda/board/safety/safety_tesla.h
@@ -1,18 +1,3 @@
-// board enforces
-//   in-state
-//      accel set/resume
-//   out-state
-//      cancel button
-//      regen paddle
-//      accel rising edge
-//      brake rising edge
-//      brake > 0mph
-//
-bool fmax_limit_check(float val, const float MAX_VAL, const float MIN_VAL) {
-  return (val > MAX_VAL) || (val < MIN_VAL);
-}
-
-// 2m/s are added to be less restrictive
 const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_UP = {
     {2., 7., 17.},
     {5., .8, .25}};
@@ -21,190 +6,189 @@ const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_DOWN = {
     {2., 7., 17.},
     {5., 3.5, .8}};
 
-const struct lookup_t TESLA_LOOKUP_MAX_ANGLE = {
-    {2., 29., 38.},
-    {410., 92., 36.}};
-
-const uint32_t TESLA_RT_INTERVAL = 250000; // 250ms between real time checks
+const int TESLA_DEG_TO_CAN = 10;
 
-// state of angle limits
-float tesla_desired_angle_last = 0; // last desired steer angle
-float tesla_rt_angle_last = 0.; // last real time angle
-float tesla_ts_angle_last = 0;
+const CanMsg TESLA_TX_MSGS[] = {
+  {0x488, 0, 4},  // DAS_steeringControl
+  {0x45, 0, 8},   // STW_ACTN_RQ
+  {0x45, 2, 8},   // STW_ACTN_RQ
+};
 
-int tesla_controls_allowed_last = 0;
+AddrCheckStruct tesla_addr_checks[] = {
+  {.msg = {{0x370, 0, 8, .expected_timestep = 40000U}, { 0 }, { 0 }}},   // EPAS_sysStatus (25Hz)
+  {.msg = {{0x108, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},   // DI_torque1 (100Hz)
+  {.msg = {{0x118, 0, 6, .expected_timestep = 10000U}, { 0 }, { 0 }}},   // DI_torque2 (100Hz)
+  {.msg = {{0x155, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},   // ESP_B (50Hz)
+  {.msg = {{0x20a, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},   // BrakeMessage (50Hz)
+  {.msg = {{0x368, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},  // DI_state (10Hz)
+  {.msg = {{0x318, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},  // GTW_carState (10Hz)
+};
+#define TESLA_ADDR_CHECK_LEN (sizeof(tesla_addr_checks) / sizeof(tesla_addr_checks[0]))
+addr_checks tesla_rx_checks = {tesla_addr_checks, TESLA_ADDR_CHECK_LEN};
 
-int tesla_brake_prev = 0;
-int tesla_gas_prev = 0;
-int tesla_speed = 0;
-int eac_status = 0;
+bool autopilot_enabled = false;
 
-void set_gmlan_digital_output(int to_set);
-void reset_gmlan_switch_timeout(void);
-void gmlan_switch_init(int timeout_enable);
+static int tesla_rx_hook(CANPacket_t *to_push) {
+  bool valid = addr_safety_check(to_push, &tesla_rx_checks,
+                                 NULL, NULL, NULL);
 
+  if(valid) {
+    int bus = GET_BUS(to_push);
+    int addr = GET_ADDR(to_push);
 
-static int tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  set_gmlan_digital_output(0); // #define GMLAN_HIGH 0
-  reset_gmlan_switch_timeout(); //we're still in tesla safety mode, reset the timeout counter and make sure our output is enabled
+    if(bus == 0) {
+      if(addr == 0x370) {
+        // Steering angle: (0.1 * val) - 819.2 in deg.
+        // Store it 1/10 deg to match steering request
+        int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3F) << 8) | GET_BYTE(to_push, 5)) - 8192;
+        update_sample(&angle_meas, angle_meas_new);
+      }
 
-  int addr = GET_ADDR(to_push);
+      if(addr == 0x155) {
+        // Vehicle speed: (0.01 * val) * KPH_TO_MPS
+        vehicle_speed = ((GET_BYTE(to_push, 5) << 8) | (GET_BYTE(to_push, 6))) * 0.01 / 3.6;
+        vehicle_moving = vehicle_speed > 0.;
+      }
 
-  if (addr == 0x45) {
-    // 6 bits starting at position 0
-    int lever_position = GET_BYTE(to_push, 0) & 0x3F;
-    if (lever_position == 2) { // pull forward
-      // activate openpilot
-      controls_allowed = 1;
-    }
-    if (lever_position == 1) { // push towards the back
-      // deactivate openpilot
-      controls_allowed = 0;
-    }
-  }
+      if(addr == 0x108) {
+        // Gas pressed
+        gas_pressed = (GET_BYTE(to_push, 6) != 0);
+      }
 
-  // exit controls on brake press
-  // DI_torque2::DI_brakePedal 0x118
-  if (addr == 0x118) {
-    // 1 bit at position 16
-    if ((GET_BYTE(to_push, 1) & 0x80) != 0) {
-      // disable break cancel by commenting line below
-      controls_allowed = 0;
-    }
-    //get vehicle speed in m/s. Tesla gives MPH
-    tesla_speed = (((((GET_BYTE(to_push, 3) & 0xF) << 8) + GET_BYTE(to_push, 2)) * 0.05) - 25) * 1.609 / 3.6;
-    if (tesla_speed < 0) {
-      tesla_speed = 0;
-    }
-  }
+      if(addr == 0x20a) {
+        // Brake pressed
+        brake_pressed = (((GET_BYTE(to_push, 0) & 0x0C) >> 2) != 1);
+      }
 
-  // exit controls on EPAS error
-  // EPAS_sysStatus::EPAS_eacStatus 0x370
-  if (addr == 0x370) {
-    // if EPAS_eacStatus is not 1 or 2, disable control
-    eac_status = (GET_BYTE(to_push, 6) >> 5) & 0x7;
-    // For human steering override we must not disable controls when eac_status == 0
-    // Additional safety: we could only allow eac_status == 0 when we have human steering allowed
-    if (controls_allowed && (eac_status != 0) && (eac_status != 1) && (eac_status != 2)) {
-      controls_allowed = 0;
-      //puts("EPAS error! \n");
-    }
-  }
-  //get latest steering wheel angle
-  if (addr == 0x00E) {
-    float angle_meas_now = (int)(((((GET_BYTE(to_push, 0) & 0x3F) << 8) + GET_BYTE(to_push, 1)) * 0.1) - 819.2);
-    uint32_t ts = TIM2->CNT;
-    uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
-
-    // *** angle real time check
-    // add 1 to not false trigger the violation and multiply by 25 since the check is done every 250 ms and steer angle is updated at     100Hz
-    float rt_delta_angle_up = (interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) * 25.) + 1.;
-    float rt_delta_angle_down = (interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) * 25.) + 1.;
-    float highest_rt_angle = tesla_rt_angle_last + ((tesla_rt_angle_last > 0.) ? rt_delta_angle_up : rt_delta_angle_down);
-    float lowest_rt_angle = tesla_rt_angle_last - ((tesla_rt_angle_last > 0.) ? rt_delta_angle_down : rt_delta_angle_up);
-
-    if ((ts_elapsed > TESLA_RT_INTERVAL) || (controls_allowed && !tesla_controls_allowed_last)) {
-      tesla_rt_angle_last = angle_meas_now;
-      tesla_ts_angle_last = ts;
+      if(addr == 0x368) {
+        // Cruise state
+        int cruise_state = (GET_BYTE(to_push, 1) >> 4);
+        bool cruise_engaged = (cruise_state == 2) ||  // ENABLED
+                              (cruise_state == 3) ||  // STANDSTILL
+                              (cruise_state == 4) ||  // OVERRIDE
+                              (cruise_state == 6) ||  // PRE_FAULT
+                              (cruise_state == 7);    // PRE_CANCEL
+
+        if(cruise_engaged && !cruise_engaged_prev) {
+          controls_allowed = 1;
+        }
+        if(!cruise_engaged) {
+          controls_allowed = 0;
+        }
+        cruise_engaged_prev = cruise_engaged;
+      }
     }
 
-    // check for violation;
-    if (fmax_limit_check(angle_meas_now, highest_rt_angle, lowest_rt_angle)) {
-      // We should not be able to STEER under these conditions
-      // Other sending is fine (to allow human override)
-      controls_allowed = 0;
-      //puts("WARN: RT Angle - No steer allowed! \n");
-    } else {
-      controls_allowed = 1;
+    if (bus == 2) {
+      if (addr == 0x399) {
+        // Autopilot status
+        int autopilot_status = (GET_BYTE(to_push, 0) & 0xF);
+        autopilot_enabled = (autopilot_status == 3) ||  // ACTIVE_1
+                            (autopilot_status == 4) ||  // ACTIVE_2
+                            (autopilot_status == 5);    // ACTIVE_NAVIGATE_ON_AUTOPILOT
+
+        if (autopilot_enabled) {
+          controls_allowed = 0;
+        }
+      }
     }
 
-    tesla_controls_allowed_last = controls_allowed;
+    // 0x488: DAS_steeringControl should not be received on bus 0
+    generic_rx_checks((addr == 0x488) && (bus == 0));
   }
-  return 1;
-}
 
-// all commands: gas/regen, friction brake and steering
-// if controls_allowed and no pedals pressed
-//     allow all commands up to limit
-// else
-//     block all commands that produce actuation
+  return valid;
+}
 
-static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
+static int tesla_tx_hook(CANPacket_t *to_send) {
   int tx = 1;
   int addr = GET_ADDR(to_send);
+  bool violation = false;
 
-  // do not transmit CAN message if steering angle too high
-  // DAS_steeringControl::DAS_steeringAngleRequest
-  if (addr == 0x488) {
-    float angle_raw = ((GET_BYTE(to_send, 0) & 0x7F) << 8) + GET_BYTE(to_send, 1);
-    float desired_angle = (angle_raw * 0.1) - 1638.35;
-    bool violation = 0;
-    int st_enabled = GET_BYTE(to_send, 2) & 0x40;
-
-    if (st_enabled == 0) {
-      //steering is not enabled, do not check angles and do send
-      tesla_desired_angle_last = desired_angle;
-    } else if (controls_allowed) {
-      // add 1 to not false trigger the violation
-      float delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) + 1.;
-      float delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) + 1.;
-      float highest_desired_angle = tesla_desired_angle_last + ((tesla_desired_angle_last > 0.) ? delta_angle_up : delta_angle_down);
-      float lowest_desired_angle = tesla_desired_angle_last - ((tesla_desired_angle_last > 0.) ? delta_angle_down : delta_angle_up);
-      float TESLA_MAX_ANGLE = interpolate(TESLA_LOOKUP_MAX_ANGLE, tesla_speed) + 1.;
-
-      //check for max angles
-      violation |= fmax_limit_check(desired_angle, TESLA_MAX_ANGLE, -TESLA_MAX_ANGLE);
-
-      //check for angle delta changes
-      violation |= fmax_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
-
-      if (violation) {
-        controls_allowed = 0;
-        tx = 0;
-      }
-      tesla_desired_angle_last = desired_angle;
-    } else {
-      tx = 0;
+  if(!msg_allowed(to_send, TESLA_TX_MSGS, sizeof(TESLA_TX_MSGS) / sizeof(TESLA_TX_MSGS[0]))) {
+    tx = 0;
+  }
+
+  if(addr == 0x488) {
+    // Steering control: (0.1 * val) - 1638.35 in deg.
+    // We use 1/10 deg as a unit here
+    int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7F) << 8) | GET_BYTE(to_send, 1));
+    int desired_angle = raw_angle_can - 16384;
+    int steer_control_type = GET_BYTE(to_send, 2) >> 6;
+    bool steer_control_enabled = (steer_control_type != 0) &&  // NONE
+                                 (steer_control_type != 3);    // DISABLED
+
+    // Rate limit while steering
+    if(controls_allowed && steer_control_enabled) {
+      // Add 1 to not false trigger the violation
+      float delta_angle_float;
+      delta_angle_float = (interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, vehicle_speed) * TESLA_DEG_TO_CAN);
+      int delta_angle_up = (int)(delta_angle_float) + 1;
+      delta_angle_float =  (interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, vehicle_speed) * TESLA_DEG_TO_CAN);
+      int delta_angle_down = (int)(delta_angle_float) + 1;
+      int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
+      int lowest_desired_angle = desired_angle_last - ((desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
+
+      // Check for violation;
+      violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
+    }
+    desired_angle_last = desired_angle;
+
+    // Angle should be the same as current angle while not steering
+    if(!controls_allowed && ((desired_angle < (angle_meas.min - 1)) || (desired_angle > (angle_meas.max + 1)))) {
+      violation = true;
+    }
+
+    // No angle control allowed when controls are not allowed
+    if(!controls_allowed && steer_control_enabled) {
+      violation = true;
     }
   }
-  return tx;
-}
 
-static void tesla_init(int16_t param) {
-  UNUSED(param);
-  controls_allowed = 0;
-  gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
-}
+  if(addr == 0x45) {
+    // No button other than cancel can be sent by us
+    int control_lever_status = (GET_BYTE(to_send, 0) & 0x3F);
+    if((control_lever_status != 0) && (control_lever_status != 1)) {
+      violation = true;
+    }
+  }
+
+  if(violation) {
+    controls_allowed = 0;
+    tx = 0;
+  }
 
-static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return tx;
+}
 
+static int tesla_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   int bus_fwd = -1;
   int addr = GET_ADDR(to_fwd);
 
-  if (bus_num == 0) {
-    // change inhibit of GTW_epasControl
-
-    if (addr != 0x214) {
-      // remove EPB_epasControl
-      bus_fwd = 2; // Custom EPAS bus
-    }
-    if (addr == 0x101) {
-      to_fwd->RDLR = GET_BYTES_04(to_fwd) | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
-      uint32_t checksum = (GET_BYTE(to_fwd, 1) + GET_BYTE(to_fwd, 0) + 2) & 0xFF;
-      to_fwd->RDLR = GET_BYTES_04(to_fwd) & 0xFFFF;
-      to_fwd->RDLR = GET_BYTES_04(to_fwd) + (checksum << 16);
-    }
+  if(bus_num == 0) {
+    // Chassis to autopilot
+    bus_fwd = 2;
   }
-  if (bus_num == 2) {
-    // remove GTW_epasControl in forwards
-    if (addr != 0x101) {
-      bus_fwd = 0;  // Chassis CAN
+
+  if(bus_num == 2) {
+    // Autopilot to chassis
+    bool block_msg = ((addr == 0x488) && !autopilot_enabled);
+    if(!block_msg) {
+      bus_fwd = 0;
     }
   }
+
   return bus_fwd;
 }
 
+static const addr_checks* tesla_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = 0;
+  relay_malfunction_reset();
+  return &tesla_rx_checks;
+}
+
 const safety_hooks tesla_hooks = {
   .init = tesla_init,
   .rx = tesla_rx_hook,
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 4bf0a5de43d067..843acab0b4e70f 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -13,35 +13,38 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
-const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
-
-const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and gain from dbc file
-
-const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0},  // DSU bus 0
-                                  {0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1},  // DSU bus 1
-                                  {0x2E4, 0}, {0x411, 0}, {0x412, 0}, {0x343, 0}, {0x1D2, 0},  // LKAS + ACC
-                                  {0x200, 0}, {0x750, 0}};  // interceptor + Blindspot monitor
-
-AddrCheckStruct toyota_rx_checks[] = {
-  {.addr = {0x260}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 20000U},
-  {.addr = {0x1D2}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 30000U},
+const int TOYOTA_MAX_ACCEL = 2000;        // 2.0 m/s2
+const int TOYOTA_MIN_ACCEL = -3500;       // -3.5 m/s2
+
+const int TOYOTA_STANDSTILL_THRSLD = 100;  // 1kph
+
+// Roughly calculated using the offsets in openpilot +5%:
+// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
+// gas_norm1 = ((gain_dbc*gas1) + offset1_dbc)
+// gas_norm2 = ((gain_dbc*gas2) + offset2_dbc)
+// In this safety: ((gas1 + gas2)/2) > THRESHOLD
+const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 845;
+#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2) // avg between 2 tracks
+
+const CanMsg TOYOTA_TX_MSGS[] = {{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8},  // DSU bus 0
+                                 {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4},  // DSU bus 1
+                                 {0x2E4, 0, 5}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  // LKAS + ACC
+                                 {0x200, 0, 6}};  // interceptor
+
+AddrCheckStruct toyota_addr_checks[] = {
+  {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .expected_timestep = 12000U}, { 0 }, { 0 }}},
+  {.msg = {{0x260, 0, 8, .check_checksum = true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{0x1D2, 0, 8, .check_checksum = true, .expected_timestep = 30000U}, { 0 }, { 0 }}},
+  {.msg = {{0x224, 0, 8, .check_checksum = false, .expected_timestep = 25000U},
+           {0x226, 0, 8, .check_checksum = false, .expected_timestep = 25000U}, { 0 }}},
 };
-const int TOYOTA_RX_CHECKS_LEN = sizeof(toyota_rx_checks) / sizeof(toyota_rx_checks[0]);
+#define TOYOTA_ADDR_CHECKS_LEN (sizeof(toyota_addr_checks) / sizeof(toyota_addr_checks[0]))
+addr_checks toyota_rx_checks = {toyota_addr_checks, TOYOTA_ADDR_CHECKS_LEN};
 
 // global actuation limit states
 int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
 
-// states
-int toyota_desired_torque_last = 0;       // last desired steer torque
-int toyota_rt_torque_last = 0;            // last desired torque for real time check
-uint32_t toyota_ts_last = 0;
-int toyota_cruise_engaged_last = 0;       // cruise state
-int toyota_gas_prev = 0;
-struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
-
-
-static uint8_t toyota_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t toyota_compute_checksum(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
   int len = GET_LEN(to_push);
   uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U) + (uint8_t)(len);
@@ -51,17 +54,17 @@ static uint8_t toyota_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
   return checksum;
 }
 
-static uint8_t toyota_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t toyota_get_checksum(CANPacket_t *to_push) {
   int checksum_byte = GET_LEN(to_push) - 1;
   return (uint8_t)(GET_BYTE(to_push, checksum_byte));
 }
 
-static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int toyota_rx_hook(CANPacket_t *to_push) {
 
-  bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
+  bool valid = addr_safety_check(to_push, &toyota_rx_checks,
                                  toyota_get_checksum, toyota_compute_checksum, NULL);
-  if (valid) {
-    int bus = GET_BUS(to_push);
+
+  if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
     // get eps motor torque (0.66 factor in dbc)
@@ -73,65 +76,71 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
 
       // update array of sample
-      update_sample(&toyota_torque_meas, torque_meas_new);
+      update_sample(&torque_meas, torque_meas_new);
 
       // increase torque_meas by 1 to be conservative on rounding
-      toyota_torque_meas.min--;
-      toyota_torque_meas.max++;
+      torque_meas.min--;
+      torque_meas.max++;
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
+    // exit controls on rising edge of gas press
     if (addr == 0x1D2) {
       // 5th bit is CRUISE_ACTIVE
       int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
       if (!cruise_engaged) {
         controls_allowed = 0;
       }
-      if (cruise_engaged && !toyota_cruise_engaged_last) {
+      if (cruise_engaged && !cruise_engaged_prev) {
         controls_allowed = 1;
       }
-      toyota_cruise_engaged_last = cruise_engaged;
-    }
+      cruise_engaged_prev = cruise_engaged;
 
-    // exit controls on rising edge of interceptor gas press
-    if (addr == 0x201) {
-      gas_interceptor_detected = 1;
-      int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
-          (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD)) {
-        controls_allowed = 0;
+      // sample gas pedal
+      if (!gas_interceptor_detected) {
+        gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
       }
-      gas_interceptor_prev = gas_interceptor;
     }
 
-    // exit controls on rising edge of gas press
-    if (addr == 0x2C1) {
-      int gas = GET_BYTE(to_push, 6) & 0xFF;
-      if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected) {
-        controls_allowed = 0;
+    // sample speed
+    if (addr == 0xaa) {
+      int speed = 0;
+      // sum 4 wheel speeds
+      for (int i=0; i<8; i+=2) {
+        int next_byte = i + 1;  // hack to deal with misra 10.8
+        speed += (GET_BYTE(to_push, i) << 8) + GET_BYTE(to_push, next_byte) - 0x1a6f;
       }
-      toyota_gas_prev = gas;
+      vehicle_moving = ABS(speed / 4) > TOYOTA_STANDSTILL_THRSLD;
     }
 
-    // 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x2E4) && (bus == 0)) {
-      relay_malfunction = true;
+    // most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
+    if ((addr == 0x224) || (addr == 0x226)) {
+      int byte = (addr == 0x224) ? 0 : 4;
+      brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
     }
+
+    // sample gas interceptor
+    if (addr == 0x201) {
+      gas_interceptor_detected = 1;
+      int gas_interceptor = TOYOTA_GET_INTERCEPTOR(to_push);
+      gas_pressed = gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD;
+
+      // TODO: remove this, only left in for gas_interceptor_prev test
+      gas_interceptor_prev = gas_interceptor;
+    }
+
+    generic_rx_checks((addr == 0x2E4));
   }
   return valid;
 }
 
-static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int toyota_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
-  if (!msg_allowed(addr, bus, TOYOTA_TX_MSGS, sizeof(TOYOTA_TX_MSGS)/sizeof(TOYOTA_TX_MSGS[0]))) {
-    tx = 0;
-  }
-
-  if (relay_malfunction) {
+  if (!msg_allowed(to_send, TOYOTA_TX_MSGS, sizeof(TOYOTA_TX_MSGS)/sizeof(TOYOTA_TX_MSGS[0]))) {
     tx = 0;
   }
 
@@ -157,18 +166,34 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
         }
       }
       bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+
       if (violation) {
         tx = 0;
       }
     }
 
+    // LTA steering check
+    // only sent to prevent dash errors, no actuation is accepted
+    if (addr == 0x191) {
+      // check the STEER_REQUEST, STEER_REQUEST_2, and STEER_ANGLE_CMD signals
+      bool lta_request = (GET_BYTE(to_send, 0) & 1) != 0;
+      bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1) != 0;
+      int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
+      lta_angle = to_signed(lta_angle, 16);
+
+      // block LTA msgs with actuation requests
+      if (lta_request || lta_request2 || (lta_angle != 0)) {
+        tx = 0;
+      }
+    }
+
     // STEER: safety check on bytes 2-3
     if (addr == 0x2E4) {
       int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
       desired_torque = to_signed(desired_torque, 16);
       bool violation = 0;
 
-      uint32_t ts = TIM2->CNT;
+      uint32_t ts = microsecond_timer_get();
 
       if (controls_allowed) {
 
@@ -176,20 +201,20 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
         violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
 
         // *** torque rate limit check ***
-        violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
-          &toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
+        violation |= dist_to_meas_check(desired_torque, desired_torque_last,
+          &torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
 
         // used next time
-        toyota_desired_torque_last = desired_torque;
+        desired_torque_last = desired_torque;
 
         // *** torque real time rate limit check ***
-        violation |= rt_rate_limit_check(desired_torque, toyota_rt_torque_last, TOYOTA_MAX_RT_DELTA);
+        violation |= rt_rate_limit_check(desired_torque, rt_torque_last, TOYOTA_MAX_RT_DELTA);
 
         // every RT_INTERVAL set the new limits
-        uint32_t ts_elapsed = get_ts_elapsed(ts, toyota_ts_last);
+        uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
         if (ts_elapsed > TOYOTA_RT_INTERVAL) {
-          toyota_rt_torque_last = desired_torque;
-          toyota_ts_last = ts;
+          rt_torque_last = desired_torque;
+          ts_last = ts;
         }
       }
 
@@ -200,9 +225,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
       // reset to 0 if either controls is not allowed or there's a violation
       if (violation || !controls_allowed) {
-        toyota_desired_torque_last = 0;
-        toyota_rt_torque_last = 0;
-        toyota_ts_last = ts;
+        desired_torque_last = 0;
+        rt_torque_last = 0;
+        ts_last = ts;
       }
 
       if (violation) {
@@ -214,32 +239,35 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
-static void toyota_init(int16_t param) {
+static const addr_checks* toyota_init(int16_t param) {
   controls_allowed = 0;
-  relay_malfunction = 0;
+  relay_malfunction_reset();
+  gas_interceptor_detected = 0;
   toyota_dbc_eps_torque_factor = param;
+  return &toyota_rx_checks;
 }
 
-static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int toyota_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
 
   int bus_fwd = -1;
-  if (!relay_malfunction) {
-    if (bus_num == 0) {
-      bus_fwd = 2;
-    }
-    if (bus_num == 2) {
-      int addr = GET_ADDR(to_fwd);
-      // block stock lkas messages and stock acc messages (if OP is doing ACC)
-      // in TSS2, 0x191 is LTA which we need to block to avoid controls collision
-      int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
-      // in TSS2 the camera does ACC as well, so filter 0x343
-      int is_acc_msg = (addr == 0x343);
-      int block_msg = is_lkas_msg || is_acc_msg;
-      if (!block_msg) {
-        bus_fwd = 0;
-      }
+
+  if (bus_num == 0) {
+    bus_fwd = 2;
+  }
+
+  if (bus_num == 2) {
+    int addr = GET_ADDR(to_fwd);
+    // block stock lkas messages and stock acc messages (if OP is doing ACC)
+    // in TSS2, 0x191 is LTA which we need to block to avoid controls collision
+    int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
+    // in TSS2 the camera does ACC as well, so filter 0x343
+    int is_acc_msg = (addr == 0x343);
+    int block_msg = is_lkas_msg || is_acc_msg;
+    if (!block_msg) {
+      bus_fwd = 0;
     }
   }
+
   return bus_fwd;
 }
 
@@ -249,6 +277,4 @@ const safety_hooks toyota_hooks = {
   .tx = toyota_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = toyota_fwd_hook,
-  .addr_check = toyota_rx_checks,
-  .addr_check_len = sizeof(toyota_rx_checks)/sizeof(toyota_rx_checks[0]),
 };
diff --git a/panda/board/safety/safety_toyota_ipas.h b/panda/board/safety/safety_toyota_ipas.h
deleted file mode 100644
index e9515658cdded0..00000000000000
--- a/panda/board/safety/safety_toyota_ipas.h
+++ /dev/null
@@ -1,169 +0,0 @@
-// uses tons from safety_toyota
-// TODO: refactor to repeat less code
-
-// IPAS override
-const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value
-
-// 2m/s are added to be less restrictive
-const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
-  {2., 7., 17.},
-  {5., .8, .15}};
-
-const struct lookup_t LOOKUP_ANGLE_RATE_DOWN = {
-  {2., 7., 17.},
-  {5., 3.5, .4}};
-
-const float RT_ANGLE_FUDGE = 1.5;     // for RT checks allow 50% more angle change
-const float CAN_TO_DEG = 2. / 3.;      // convert angles from CAN unit to degrees
-
-int ipas_state = 1;                    // 1 disabled, 3 executing angle control, 5 override
-int angle_control = 0;                 // 1 if direct angle control packets are seen
-float speed = 0.;
-
-struct sample_t angle_meas;            // last 3 steer angles
-struct sample_t torque_driver;         // last 3 driver steering torque
-
-// state of angle limits
-int16_t desired_angle_last = 0;        // last desired steer angle
-int16_t rt_angle_last = 0;             // last desired torque for real time check
-uint32_t ts_angle_last = 0;
-
-int controls_allowed_last = 0;
-
-
-static int toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  // check standard toyota stuff as well
-  bool valid = toyota_rx_hook(to_push);
-
-  int addr = GET_ADDR(to_push);
-
-  if (addr == 0x260) {
-    // get driver steering torque
-    int16_t torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2);
-
-    // update array of samples
-    update_sample(&torque_driver, torque_driver_new);
-  }
-
-  // get steer angle
-  if (addr == 0x25) {
-    int angle_meas_new = ((GET_BYTE(to_push, 0) & 0xF) << 8) | GET_BYTE(to_push, 1);
-    uint32_t ts = TIM2->CNT;
-
-    angle_meas_new = to_signed(angle_meas_new, 12);
-
-    // update array of samples
-    update_sample(&angle_meas, angle_meas_new);
-
-    // *** angle real time check
-    // add 1 to not false trigger the violation and multiply by 20 since the check is done every 250ms and steer angle is updated at 80Hz
-    int rt_delta_angle_up = ((int)(RT_ANGLE_FUDGE * ((interpolate(LOOKUP_ANGLE_RATE_UP, speed) * 20. * CAN_TO_DEG) + 1.)));
-    int rt_delta_angle_down = ((int)(RT_ANGLE_FUDGE * ((interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * 20. * CAN_TO_DEG) + 1.)));
-    int highest_rt_angle = rt_angle_last + ((rt_angle_last > 0) ? rt_delta_angle_up : rt_delta_angle_down);
-    int lowest_rt_angle = rt_angle_last - ((rt_angle_last > 0) ? rt_delta_angle_down : rt_delta_angle_up);
-
-    // every RT_INTERVAL or when controls are turned on, set the new limits
-    uint32_t ts_elapsed = get_ts_elapsed(ts, ts_angle_last);
-    if ((ts_elapsed > TOYOTA_RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
-      rt_angle_last = angle_meas_new;
-      ts_angle_last = ts;
-    }
-
-    // check for violation
-    if (angle_control &&
-        ((angle_meas_new < lowest_rt_angle) ||
-         (angle_meas_new > highest_rt_angle))) {
-      controls_allowed = 0;
-    }
-
-    controls_allowed_last = controls_allowed;
-  }
-
-  // get speed
-  if (addr == 0xb4) {
-    speed = ((float)((GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6))) * 0.01 / 3.6;
-  }
-
-  // get ipas state
-  if (addr == 0x262) {
-    ipas_state = GET_BYTE(to_push, 0) & 0xf;
-  }
-
-  // exit controls on high steering override
-  if (angle_control && ((torque_driver.min > TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
-                        (torque_driver.max < -TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
-                        (ipas_state==5))) {
-    controls_allowed = 0;
-  }
-  return valid;
-}
-
-static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-
-  int tx = 1;
-  int bypass_standard_tx_hook = 0;
-  int bus = GET_BUS(to_send);
-  int addr = GET_ADDR(to_send);
-
-  // Check if msg is sent on BUS 0
-  if (bus == 0) {
-
-    // STEER ANGLE
-    if ((addr == 0x266) || (addr == 0x167)) {
-
-      angle_control = 1;   // we are in angle control mode
-      int desired_angle = ((GET_BYTE(to_send, 0) & 0xF) << 8) | GET_BYTE(to_send, 1);
-      int ipas_state_cmd = GET_BYTE(to_send, 0) >> 4;
-      bool violation = 0;
-
-      desired_angle = to_signed(desired_angle, 12);
-
-      if (controls_allowed) {
-        // add 1 to not false trigger the violation
-        float delta_angle_float;
-        delta_angle_float = (interpolate(LOOKUP_ANGLE_RATE_UP, speed) * CAN_TO_DEG) + 1.;
-        int delta_angle_up = (int) (delta_angle_float);
-        delta_angle_float = (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * CAN_TO_DEG) + 1.;
-        int delta_angle_down = (int) (delta_angle_float);
-
-        int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
-        int lowest_desired_angle = desired_angle_last - ((desired_angle_last > 0) ? delta_angle_down : delta_angle_up);
-        if ((desired_angle > highest_desired_angle) ||
-            (desired_angle < lowest_desired_angle)){
-          violation = 1;
-          controls_allowed = 0;
-        }
-      }
-
-      // desired steer angle should be the same as steer angle measured when controls are off
-      if ((!controls_allowed) &&
-           ((desired_angle < (angle_meas.min - 1)) ||
-            (desired_angle > (angle_meas.max + 1)) ||
-            (ipas_state_cmd != 1))) {
-        violation = 1;
-      }
-
-      desired_angle_last = desired_angle;
-
-      if (violation) {
-        tx = 0;
-      }
-      bypass_standard_tx_hook = 1;
-    }
-  }
-
-  // check standard toyota stuff as well if addr isn't IPAS related
-  if (!bypass_standard_tx_hook) {
-    tx &= toyota_tx_hook(to_send);
-  }
-
-  return tx;
-}
-
-const safety_hooks toyota_ipas_hooks = {
-  .init = toyota_init,
-  .rx = toyota_ipas_rx_hook,
-  .tx = toyota_ipas_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .fwd = toyota_fwd_hook,
-};
diff --git a/panda/board/safety/safety_volkswagen.h b/panda/board/safety/safety_volkswagen.h
index 102cb22b57b04f..42c6cac2fe59a6 100644
--- a/panda/board/safety/safety_volkswagen.h
+++ b/panda/board/safety/safety_volkswagen.h
@@ -1,142 +1,321 @@
-// Safety-relevant CAN messages for the Volkswagen MQB platform.
-#define MSG_EPS_01              0x09F
-#define MSG_MOTOR_20            0x121
-#define MSG_ACC_06              0x122
-#define MSG_HCA_01              0x126
-#define MSG_GRA_ACC_01          0x12B
-#define MSG_LDW_02              0x397
-
-const int VOLKSWAGEN_MAX_STEER = 250;               // 2.5 Nm (EPS side max of 3.0Nm with fault if violated)
+// Safety-relevant steering constants for Volkswagen
+const int VOLKSWAGEN_MAX_STEER = 300;               // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
 const int VOLKSWAGEN_MAX_RT_DELTA = 75;             // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
 const uint32_t VOLKSWAGEN_RT_INTERVAL = 250000;     // 250ms between real time checks
-const int VOLKSWAGEN_MAX_RATE_UP = 4;               // 2.0 Nm/s available rate of change from the steering rack (EPS side delta-limit of 5.0 Nm/s)
-const int VOLKSWAGEN_MAX_RATE_DOWN = 10;            // 5.0 Nm/s available rate of change from the steering rack (EPS side delta-limit of 5.0 Nm/s)
+const int VOLKSWAGEN_MAX_RATE_UP = 4;               // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
+const int VOLKSWAGEN_MAX_RATE_DOWN = 10;            // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
 const int VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE = 80;
 const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;
 
-// MSG_GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
-const AddrBus VOLKSWAGEN_TX_MSGS[] = {{MSG_HCA_01, 0}, {MSG_GRA_ACC_01, 0}, {MSG_GRA_ACC_01, 2}, {MSG_LDW_02, 0}};
-
-// TODO: do checksum and counter checks
-AddrCheckStruct volkswagen_rx_checks[] = {
-  {.addr = {MSG_EPS_01}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {MSG_ACC_06}, .bus = 0, .expected_timestep = 20000U},
-  {.addr = {MSG_MOTOR_20}, .bus = 0, .expected_timestep = 20000U},
+// Safety-relevant CAN messages for the Volkswagen MQB platform
+#define MSG_ESP_19      0x0B2   // RX from ABS, for wheel speeds
+#define MSG_LH_EPS_03   0x09F   // RX from EPS, for driver steering torque
+#define MSG_ESP_05      0x106   // RX from ABS, for brake switch state
+#define MSG_TSK_06      0x120   // RX from ECU, for ACC status from drivetrain coordinator
+#define MSG_MOTOR_20    0x121   // RX from ECU, for driver throttle input
+#define MSG_HCA_01      0x126   // TX by OP, Heading Control Assist steering torque
+#define MSG_GRA_ACC_01  0x12B   // TX by OP, ACC control buttons for cancel/resume
+#define MSG_LDW_02      0x397   // TX by OP, Lane line recognition and text alerts
+
+// Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+const CanMsg VOLKSWAGEN_MQB_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_GRA_ACC_01, 0, 8}, {MSG_GRA_ACC_01, 2, 8}, {MSG_LDW_02, 0, 8}};
+#define VOLKSWAGEN_MQB_TX_MSGS_LEN (sizeof(VOLKSWAGEN_MQB_TX_MSGS) / sizeof(VOLKSWAGEN_MQB_TX_MSGS[0]))
+
+AddrCheckStruct volkswagen_mqb_addr_checks[] = {
+  {.msg = {{MSG_ESP_19, 0, 8, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_LH_EPS_03, 0, 8, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_ESP_05, 0, 8, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_TSK_06, 0, 8, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+};
+#define VOLKSWAGEN_MQB_ADDR_CHECKS_LEN (sizeof(volkswagen_mqb_addr_checks) / sizeof(volkswagen_mqb_addr_checks[0]))
+addr_checks volkswagen_mqb_rx_checks = {volkswagen_mqb_addr_checks, VOLKSWAGEN_MQB_ADDR_CHECKS_LEN};
+
+// Safety-relevant CAN messages for the Volkswagen PQ35/PQ46/NMS platforms
+#define MSG_LENKHILFE_3 0x0D0   // RX from EPS, for steering angle and driver steering torque
+#define MSG_HCA_1       0x0D2   // TX by OP, Heading Control Assist steering torque
+#define MSG_MOTOR_2     0x288   // RX from ECU, for CC state and brake switch state
+#define MSG_MOTOR_3     0x380   // RX from ECU, for driver throttle input
+#define MSG_GRA_NEU     0x38A   // TX by OP, ACC control buttons for cancel/resume
+#define MSG_BREMSE_1    0x1A0   // RX from ABS, for ego speed
+#define MSG_LDW_1       0x5BE   // TX by OP, Lane line recognition and text alerts
+
+// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+const CanMsg VOLKSWAGEN_PQ_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_GRA_NEU, 0, 4}, {MSG_GRA_NEU, 2, 4}, {MSG_LDW_1, 0, 8}};
+#define VOLKSWAGEN_PQ_TX_MSGS_LEN (sizeof(VOLKSWAGEN_PQ_TX_MSGS) / sizeof(VOLKSWAGEN_PQ_TX_MSGS[0]))
+
+AddrCheckStruct volkswagen_pq_addr_checks[] = {
+  {.msg = {{MSG_LENKHILFE_3, 0, 6, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_MOTOR_2, 0, 8, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_MOTOR_3, 0, 8, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_BREMSE_1, 0, 8, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U}, { 0 }, { 0 }}},
 };
+#define VOLKSWAGEN_PQ_ADDR_CHECKS_LEN (sizeof(volkswagen_pq_addr_checks) / sizeof(volkswagen_pq_addr_checks[0]))
+addr_checks volkswagen_pq_rx_checks = {volkswagen_pq_addr_checks, VOLKSWAGEN_PQ_ADDR_CHECKS_LEN};
 
-const int VOLKSWAGEN_RX_CHECK_LEN = sizeof(volkswagen_rx_checks) / sizeof(volkswagen_rx_checks[0]);
-
-struct sample_t volkswagen_torque_driver;  // last few driver torques measured
-int volkswagen_rt_torque_last = 0;
-int volkswagen_desired_torque_last = 0;
-uint32_t volkswagen_ts_last = 0;
-int volkswagen_gas_prev = 0;
-
-static int volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-
-  bool valid = addr_safety_check(to_push, volkswagen_rx_checks, VOLKSWAGEN_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
-
-  if (valid) {
-   int bus = GET_BUS(to_push);
-   int addr = GET_ADDR(to_push);
-
-   // Update driver input torque samples from EPS_01.Driver_Strain for absolute torque, and EPS_01.Driver_Strain_VZ
-   // for the direction.
-   if ((bus == 0) && (addr == MSG_EPS_01)) {
-     int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
-     int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
-     if (sign == 1) {
-       torque_driver_new *= -1;
-     }
-
-     update_sample(&volkswagen_torque_driver, torque_driver_new);
-   }
-
-   // Monitor ACC_06.ACC_Status_ACC for stock ACC status. Because the current MQB port is lateral-only, OP's control
-   // allowed state is directly driven by stock ACC engagement. Permit the ACC message to come from either bus, in
-   // order to accommodate future camera-side integrations if needed.
-   if (addr == MSG_ACC_06) {
-     int acc_status = (GET_BYTE(to_push, 7) & 0x70) >> 4;
-     controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
-   }
-
-   // exit controls on rising edge of gas press. Bits [12-20)
-   if (addr == MSG_MOTOR_20) {
-     int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
-     if ((gas > 0) && (volkswagen_gas_prev == 0)) {
-       controls_allowed = 0;
-     }
-     volkswagen_gas_prev = gas;
-   }
-
-   if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_01)) {
-     relay_malfunction = true;
-   }
-  }
-  return valid;
+int volkswagen_torque_msg = 0;
+int volkswagen_lane_msg = 0;
+uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
+
+
+static uint8_t volkswagen_get_checksum(CANPacket_t *to_push) {
+  return (uint8_t)GET_BYTE(to_push, 0);
 }
 
-static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-  int addr = GET_ADDR(to_send);
-  int bus = GET_BUS(to_send);
-  int tx = 1;
+static uint8_t volkswagen_mqb_get_counter(CANPacket_t *to_push) {
+  // MQB message counters are consistently found at LSB 8.
+  return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
+}
 
-  if (!msg_allowed(addr, bus, VOLKSWAGEN_TX_MSGS, sizeof(VOLKSWAGEN_TX_MSGS)/sizeof(VOLKSWAGEN_TX_MSGS[0]))) {
-    tx = 0;
+static uint8_t volkswagen_pq_get_counter(CANPacket_t *to_push) {
+  // Few PQ messages have counters, and their offsets are inconsistent. This
+  // function works only for Lenkhilfe_3 at this time.
+  return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
+}
+
+static uint8_t volkswagen_mqb_compute_crc(CANPacket_t *to_push) {
+  int addr = GET_ADDR(to_push);
+  int len = GET_LEN(to_push);
+
+  // This is CRC-8H2F/AUTOSAR with a twist. See the OpenDBC implementation
+  // of this algorithm for a version with explanatory comments.
+
+  uint8_t crc = 0xFFU;
+  for (int i = 1; i < len; i++) {
+    crc ^= (uint8_t)GET_BYTE(to_push, i);
+    crc = volkswagen_crc8_lut_8h2f[crc];
   }
 
-  if (relay_malfunction) {
-    tx = 0;
+  uint8_t counter = volkswagen_mqb_get_counter(to_push);
+  switch(addr) {
+    case MSG_LH_EPS_03:
+      crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
+      break;
+    case MSG_ESP_05:
+      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
+      break;
+    case MSG_TSK_06:
+      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      break;
+    case MSG_MOTOR_20:
+      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      break;
+    default: // Undefined CAN message, CRC check expected to fail
+      break;
   }
+  crc = volkswagen_crc8_lut_8h2f[crc];
 
-  // Safety check for HCA_01 Heading Control Assist torque.
-  if (addr == MSG_HCA_01) {
-    bool violation = false;
+  return crc ^ 0xFFU;
+}
 
-    int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3F) << 8);
-    int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
-    if (sign == 1) {
-      desired_torque *= -1;
+static uint8_t volkswagen_pq_compute_checksum(CANPacket_t *to_push) {
+  int len = GET_LEN(to_push);
+  uint8_t checksum = 0U;
+
+  for (int i = 1; i < len; i++) {
+    checksum ^= (uint8_t)GET_BYTE(to_push, i);
+  }
+
+  return checksum;
+}
+
+static const addr_checks* volkswagen_mqb_init(int16_t param) {
+  UNUSED(param);
+
+  controls_allowed = false;
+  relay_malfunction_reset();
+  volkswagen_torque_msg = MSG_HCA_01;
+  volkswagen_lane_msg = MSG_LDW_02;
+  gen_crc_lookup_table(0x2F, volkswagen_crc8_lut_8h2f);
+  return &volkswagen_mqb_rx_checks;
+}
+
+static const addr_checks* volkswagen_pq_init(int16_t param) {
+  UNUSED(param);
+
+  controls_allowed = false;
+  relay_malfunction_reset();
+  volkswagen_torque_msg = MSG_HCA_1;
+  volkswagen_lane_msg = MSG_LDW_1;
+  return &volkswagen_pq_rx_checks;
+}
+
+static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
+
+  bool valid = addr_safety_check(to_push, &volkswagen_mqb_rx_checks,
+                                 volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
+
+  if (valid && (GET_BUS(to_push) == 0)) {
+    int addr = GET_ADDR(to_push);
+
+    // Update in-motion state by sampling front wheel speeds
+    // Signal: ESP_19.ESP_VL_Radgeschw_02 (front left) in scaled km/h
+    // Signal: ESP_19.ESP_VR_Radgeschw_02 (front right) in scaled km/h
+    if (addr == MSG_ESP_19) {
+      int wheel_speed_fl = GET_BYTE(to_push, 4) | (GET_BYTE(to_push, 5) << 8);
+      int wheel_speed_fr = GET_BYTE(to_push, 6) | (GET_BYTE(to_push, 7) << 8);
+      // Check for average front speed in excess of 0.3m/s, 1.08km/h
+      // DBC speed scale 0.0075: 0.3m/s = 144, sum both wheels to compare
+      vehicle_moving = (wheel_speed_fl + wheel_speed_fr) > 288;
     }
 
-    uint32_t ts = TIM2->CNT;
+    // Update driver input torque samples
+    // Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
+    // Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
+    if (addr == MSG_LH_EPS_03) {
+      int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
+      int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
+      if (sign == 1) {
+        torque_driver_new *= -1;
+      }
+      update_sample(&torque_driver, torque_driver_new);
+    }
 
-    if (controls_allowed) {
+    // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
+    // Signal: TSK_06.TSK_Status
+    if (addr == MSG_TSK_06) {
+      int acc_status = (GET_BYTE(to_push, 3) & 0x7);
+      int cruise_engaged = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
+      if (cruise_engaged && !cruise_engaged_prev) {
+        controls_allowed = 1;
+      }
+      if (!cruise_engaged) {
+        controls_allowed = 0;
+      }
+      cruise_engaged_prev = cruise_engaged;
+    }
 
-      // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, VOLKSWAGEN_MAX_STEER, -VOLKSWAGEN_MAX_STEER);
+    // Signal: Motor_20.MO_Fahrpedalrohwert_01
+    if (addr == MSG_MOTOR_20) {
+      gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
+    }
 
-      // *** torque rate limit check ***
-      violation |= driver_limit_check(desired_torque, volkswagen_desired_torque_last, &volkswagen_torque_driver,
-        VOLKSWAGEN_MAX_STEER, VOLKSWAGEN_MAX_RATE_UP, VOLKSWAGEN_MAX_RATE_DOWN,
-        VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE, VOLKSWAGEN_DRIVER_TORQUE_FACTOR);
-      volkswagen_desired_torque_last = desired_torque;
+    // Signal: ESP_05.ESP_Fahrer_bremst
+    if (addr == MSG_ESP_05) {
+      brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
+    }
 
-      // *** torque real time rate limit check ***
-      violation |= rt_rate_limit_check(desired_torque, volkswagen_rt_torque_last, VOLKSWAGEN_MAX_RT_DELTA);
+    generic_rx_checks((addr == MSG_HCA_01));
+  }
+  return valid;
+}
+
+static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
+
+  bool valid = addr_safety_check(to_push, &volkswagen_pq_rx_checks,
+                                volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
+
+  if (valid && (GET_BUS(to_push) == 0)) {
+    int addr = GET_ADDR(to_push);
+
+    // Update in-motion state from speed value.
+    // Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_
+    if (addr == MSG_BREMSE_1) {
+      int speed = ((GET_BYTE(to_push, 2) & 0xFE) >> 1) | (GET_BYTE(to_push, 3) << 7);
+      // DBC speed scale 0.01: 0.3m/s = 108.
+      vehicle_moving = speed > 108;
+    }
+
+    // Update driver input torque samples
+    // Signal: Lenkhilfe_3.LH3_LM (absolute torque)
+    // Signal: Lenkhilfe_3.LH3_LMSign (direction)
+    if (addr == MSG_LENKHILFE_3) {
+      int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
+      int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
+      if (sign == 1) {
+        torque_driver_new *= -1;
+      }
+      update_sample(&torque_driver, torque_driver_new);
+    }
 
-      // every RT_INTERVAL set the new limits
-      uint32_t ts_elapsed = get_ts_elapsed(ts, volkswagen_ts_last);
-      if (ts_elapsed > VOLKSWAGEN_RT_INTERVAL) {
-        volkswagen_rt_torque_last = desired_torque;
-        volkswagen_ts_last = ts;
+    // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
+    // Signal: Motor_2.GRA_Status
+    if (addr == MSG_MOTOR_2) {
+      int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
+      int cruise_engaged = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
+      if (cruise_engaged && !cruise_engaged_prev) {
+        controls_allowed = 1;
       }
+      if (!cruise_engaged) {
+        controls_allowed = 0;
+      }
+      cruise_engaged_prev = cruise_engaged;
+    }
+
+    // Signal: Motor_3.Fahrpedal_Rohsignal
+    if (addr == MSG_MOTOR_3) {
+      gas_pressed = (GET_BYTE(to_push, 2));
+    }
+
+    // Signal: Motor_2.Bremslichtschalter
+    if (addr == MSG_MOTOR_2) {
+      brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
     }
 
-    // no torque if controls is not allowed
-    if (!controls_allowed && (desired_torque != 0)) {
-      violation = true;
+    generic_rx_checks((addr == MSG_HCA_1));
+  }
+  return valid;
+}
+
+static bool volkswagen_steering_check(int desired_torque) {
+  bool violation = false;
+  uint32_t ts = microsecond_timer_get();
+
+  if (controls_allowed) {
+    // *** global torque limit check ***
+    violation |= max_limit_check(desired_torque, VOLKSWAGEN_MAX_STEER, -VOLKSWAGEN_MAX_STEER);
+
+    // *** torque rate limit check ***
+    violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
+      VOLKSWAGEN_MAX_STEER, VOLKSWAGEN_MAX_RATE_UP, VOLKSWAGEN_MAX_RATE_DOWN,
+      VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE, VOLKSWAGEN_DRIVER_TORQUE_FACTOR);
+    desired_torque_last = desired_torque;
+
+    // *** torque real time rate limit check ***
+    violation |= rt_rate_limit_check(desired_torque, rt_torque_last, VOLKSWAGEN_MAX_RT_DELTA);
+
+    // every RT_INTERVAL set the new limits
+    uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
+    if (ts_elapsed > VOLKSWAGEN_RT_INTERVAL) {
+      rt_torque_last = desired_torque;
+      ts_last = ts;
     }
+  }
+
+  // no torque if controls is not allowed
+  if (!controls_allowed && (desired_torque != 0)) {
+    violation = true;
+  }
+
+  // reset to 0 if either controls is not allowed or there's a violation
+  if (violation || !controls_allowed) {
+    desired_torque_last = 0;
+    rt_torque_last = 0;
+    ts_last = ts;
+  }
+
+  return violation;
+}
 
-    // reset to 0 if either controls is not allowed or there's a violation
-    if (violation || !controls_allowed) {
-      volkswagen_desired_torque_last = 0;
-      volkswagen_rt_torque_last = 0;
-      volkswagen_ts_last = ts;
+static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
+  int addr = GET_ADDR(to_send);
+  int tx = 1;
+
+  if (!msg_allowed(to_send, VOLKSWAGEN_MQB_TX_MSGS, VOLKSWAGEN_MQB_TX_MSGS_LEN)) {
+    tx = 0;
+  }
+
+  // Safety check for HCA_01 Heading Control Assist torque
+  // Signal: HCA_01.Assist_Torque (absolute torque)
+  // Signal: HCA_01.Assist_VZ (direction)
+  if (addr == MSG_HCA_01) {
+    int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3F) << 8);
+    int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
+    if (sign == 1) {
+      desired_torque *= -1;
     }
 
-    if (violation) {
+    if (volkswagen_steering_check(desired_torque)) {
       tx = 0;
     }
   }
@@ -154,42 +333,84 @@ static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
-static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
+  int addr = GET_ADDR(to_send);
+  int tx = 1;
+
+  if (!msg_allowed(to_send, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN)) {
+    tx = 0;
+  }
+
+  // Safety check for HCA_1 Heading Control Assist torque
+  // Signal: HCA_1.LM_Offset (absolute torque)
+  // Signal: HCA_1.LM_Offsign (direction)
+  if (addr == MSG_HCA_1) {
+    int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
+    desired_torque = desired_torque / 32;  // DBC scale from PQ network to centi-Nm
+    int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
+    if (sign == 1) {
+      desired_torque *= -1;
+    }
+
+    if (volkswagen_steering_check(desired_torque)) {
+      tx = 0;
+    }
+  }
+
+  // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
+  // This avoids unintended engagements while still allowing resume spam
+  if ((addr == MSG_GRA_NEU) && !controls_allowed) {
+    // disallow resume and set: bits 16 and 17
+    if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
+      tx = 0;
+    }
+  }
+
+  // 1 allows the message through
+  return tx;
+}
+
+static int volkswagen_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   int addr = GET_ADDR(to_fwd);
   int bus_fwd = -1;
 
-  // NOTE: Will need refactoring for other bus layouts, such as no-forwarding at camera or J533 running-gear CAN
-
-  if (!relay_malfunction) {
-    switch (bus_num) {
-      case 0:
-        // Forward all traffic from J533 gateway to Extended CAN devices.
-        bus_fwd = 2;
-        break;
-      case 2:
-        if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {
-          // OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera.
-          bus_fwd = -1;
-        } else {
-          // Forward all remaining traffic from Extended CAN devices to J533 gateway.
-          bus_fwd = 0;
-        }
-        break;
-      default:
-        // No other buses should be in use; fallback to do-not-forward.
+  switch (bus_num) {
+    case 0:
+      // Forward all traffic from the Extended CAN onward
+      bus_fwd = 2;
+      break;
+    case 2:
+      if ((addr == volkswagen_torque_msg) || (addr == volkswagen_lane_msg)) {
+        // OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera
         bus_fwd = -1;
-        break;
-    }
+      } else {
+        // Forward all remaining traffic from Extended CAN devices to J533 gateway
+        bus_fwd = 0;
+      }
+      break;
+    default:
+      // No other buses should be in use; fallback to do-not-forward
+      bus_fwd = -1;
+      break;
   }
+
   return bus_fwd;
 }
 
-const safety_hooks volkswagen_hooks = {
-  .init = nooutput_init,
-  .rx = volkswagen_rx_hook,
-  .tx = volkswagen_tx_hook,
+// Volkswagen MQB platform
+const safety_hooks volkswagen_mqb_hooks = {
+  .init = volkswagen_mqb_init,
+  .rx = volkswagen_mqb_rx_hook,
+  .tx = volkswagen_mqb_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = volkswagen_fwd_hook,
+};
+
+// Volkswagen PQ35/PQ46/NMS platforms
+const safety_hooks volkswagen_pq_hooks = {
+  .init = volkswagen_pq_init,
+  .rx = volkswagen_pq_rx_hook,
+  .tx = volkswagen_pq_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = volkswagen_fwd_hook,
-  .addr_check = volkswagen_rx_checks,
-  .addr_check_len = sizeof(volkswagen_rx_checks) / sizeof(volkswagen_rx_checks[0]),
 };
diff --git a/panda/board/safety_declarations.h b/panda/board/safety_declarations.h
index 1a6a8dd21a16f9..4754738f62c655 100644
--- a/panda/board/safety_declarations.h
+++ b/panda/board/safety_declarations.h
@@ -1,3 +1,8 @@
+#define GET_BYTE(msg, b) ((msg)->data[(b)])
+#define GET_BYTES_04(msg) ((msg)->data[0] | ((msg)->data[1] << 8) | ((msg)->data[2] << 16) | ((msg)->data[3] << 24))
+#define GET_BYTES_48(msg) ((msg)->data[4] | ((msg)->data[5] << 8) | ((msg)->data[6] << 16) | ((msg)->data[7] << 24))
+#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
+
 const int MAX_WRONG_COUNTERS = 5;
 const uint8_t MAX_MISSED_MSGS = 10U;
 
@@ -6,7 +11,7 @@ struct sample_t {
   int values[6];
   int min;
   int max;
-} sample_t_default = {{0}, 0, 0};
+} sample_t_default = {.values = {0}, .min = 0, .max = 0};
 
 // safety code requires floats
 struct lookup_t {
@@ -17,17 +22,25 @@ struct lookup_t {
 typedef struct {
   int addr;
   int bus;
-} AddrBus;
+  int len;
+} CanMsg;
 
-// params and flags about checksum, counter and frequency checks for each monitored address
 typedef struct {
-  // const params
-  const int addr[3];                 // check either messages (e.g. honda steer). Array MUST terminate with a zero to know its length.
-  const int bus;                     // bus where to expect the addr. Temp hack: -1 means skip the bus check
+  const int addr;
+  const int bus;
+  const int len;
   const bool check_checksum;         // true is checksum check is performed
   const uint8_t max_counter;         // maximum value of the counter. 0 means that the counter check is skipped
   const uint32_t expected_timestep;  // expected time between message updates [us]
+} CanMsgCheck;
+
+// params and flags about checksum, counter and frequency checks for each monitored address
+typedef struct {
+  // const params
+  const CanMsgCheck msg[3];          // check either messages (e.g. honda steer). Array MUST terminate with an empty struct to know its length.
   // dynamic flags
+  bool msg_seen;
+  int index;                         // if multiple messages are allowed to be checked, this stores the index of the first one seen. only msg[msg_index] will be used
   bool valid_checksum;               // true if and only if checksum check is passed
   int wrong_counters;                // counter of wrong counters, saturated between 0 and MAX_WRONG_COUNTERS
   uint8_t last_counter;              // last counter value
@@ -35,8 +48,13 @@ typedef struct {
   bool lagging;                      // true if and only if the time between updates is excessive
 } AddrCheckStruct;
 
-int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
-int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+typedef struct {
+  AddrCheckStruct *check;
+  int len;
+} addr_checks;
+
+int safety_rx_hook(CANPacket_t *to_push);
+int safety_tx_hook(CANPacket_t *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
 int to_signed(int d, int bits);
@@ -49,23 +67,26 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
   const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
 float interpolate(struct lookup_t xy, float x);
-bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len);
-int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len);
+void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]);
+bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len);
+int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], const int len);
 void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter);
 void update_addr_timestamp(AddrCheckStruct addr_list[], int index);
 bool is_msg_valid(AddrCheckStruct addr_list[], int index);
-bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
-                       AddrCheckStruct *addr_check,
-                       const int addr_check_len,
-                       uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
-                       uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
-                       uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push));
-
-typedef void (*safety_hook_init)(int16_t param);
-typedef int (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
-typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
+bool addr_safety_check(CANPacket_t *to_push,
+                       const addr_checks *rx_checks,
+                       uint8_t (*get_checksum)(CANPacket_t *to_push),
+                       uint8_t (*compute_checksum)(CANPacket_t *to_push),
+                       uint8_t (*get_counter)(CANPacket_t *to_push));
+void generic_rx_checks(bool stock_ecu_detected);
+void relay_malfunction_set(void);
+void relay_malfunction_reset(void);
+
+typedef const addr_checks* (*safety_hook_init)(int16_t param);
+typedef int (*rx_hook)(CANPacket_t *to_push);
+typedef int (*tx_hook)(CANPacket_t *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
-typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
+typedef int (*fwd_hook)(int bus_num, CANPacket_t *to_fwd);
 
 typedef struct {
   safety_hook_init init;
@@ -73,22 +94,55 @@ typedef struct {
   tx_hook tx;
   tx_lin_hook tx_lin;
   fwd_hook fwd;
-  AddrCheckStruct *addr_check;
-  const int addr_check_len;
 } safety_hooks;
 
-void safety_tick(const safety_hooks *hooks);
+void safety_tick(const addr_checks *addr_checks);
 
 // This can be set by the safety hooks
 bool controls_allowed = false;
 bool relay_malfunction = false;
 bool gas_interceptor_detected = false;
 int gas_interceptor_prev = 0;
+bool gas_pressed = false;
+bool gas_pressed_prev = false;
+bool brake_pressed = false;
+bool brake_pressed_prev = false;
+bool cruise_engaged_prev = false;
+float vehicle_speed = 0;
+bool vehicle_moving = false;
+
+// for safety modes with torque steering control
+int desired_torque_last = 0;       // last desired steer torque
+int rt_torque_last = 0;            // last desired torque for real time check
+struct sample_t torque_meas;       // last 3 motor torques produced by the eps
+struct sample_t torque_driver;     // last 3 driver torques measured
+uint32_t ts_last = 0;
+
+// for safety modes with angle steering control
+uint32_t ts_angle_last = 0;
+int desired_angle_last = 0;
+struct sample_t angle_meas;         // last 3 steer angles
+
+// This can be set with a USB command
+// It enables features we consider to be unsafe, but understand others may have different opinions
+// It is always 0 on mainline comma.ai openpilot
+
+// If using this flag, be very careful about what happens if your fork wants to brake while the
+//   user is pressing the gas. Tesla is careful with this.
+#define UNSAFE_DISABLE_DISENGAGE_ON_GAS 1
+
+// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
+#define UNSAFE_DISABLE_STOCK_AEB 2
+
+// If using this flag, be aware that harder braking is more likely to lead to rear endings,
+//   and that alone this flag doesn't make braking compliant because there's also a time element.
+// Setting this flag is used for allowing the full -5.0 to +4.0 m/s^2 at lower speeds
+// See ISO 15622:2018 for more information.
+#define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
+
+int unsafe_mode = 0;
 
 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;
 // allow 1s of transition timeout after relay changes state before assessing malfunctioning
 const uint32_t RELAY_TRNS_TIMEOUT = 1U;
-
-// avg between 2 tracks
-#define GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2)
diff --git a/panda/board/spi_flasher.h b/panda/board/spi_flasher.h
deleted file mode 100644
index 1c703516ac1731..00000000000000
--- a/panda/board/spi_flasher.h
+++ /dev/null
@@ -1,342 +0,0 @@
-// flasher state variables
-uint32_t *prog_ptr = NULL;
-int unlocked = 0;
-
-#ifdef uart_ring
-void debug_ring_callback(uart_ring *ring) {}
-#endif
-
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
-  int resp_len = 0;
-
-  // flasher machine
-  memset(resp, 0, 4);
-  memcpy(resp+4, "\xde\xad\xd0\x0d", 4);
-  resp[0] = 0xff;
-  resp[2] = setup->b.bRequest;
-  resp[3] = ~setup->b.bRequest;
-  *((uint32_t **)&resp[8]) = prog_ptr;
-  resp_len = 0xc;
-
-  int sec;
-  switch (setup->b.bRequest) {
-    // **** 0xb0: flasher echo
-    case 0xb0:
-      resp[1] = 0xff;
-      break;
-    // **** 0xb1: unlock flash
-    case 0xb1:
-      if (FLASH->CR & FLASH_CR_LOCK) {
-        FLASH->KEYR = 0x45670123;
-        FLASH->KEYR = 0xCDEF89AB;
-        resp[1] = 0xff;
-      }
-      current_board->set_led(LED_GREEN, 1);
-      unlocked = 1;
-      prog_ptr = (uint32_t *)0x8004000;
-      break;
-    // **** 0xb2: erase sector
-    case 0xb2:
-      sec = setup->b.wValue.w;
-      // don't erase the bootloader
-      if (sec != 0 && sec < 12 && unlocked) {
-        FLASH->CR = (sec << 3) | FLASH_CR_SER;
-        FLASH->CR |= FLASH_CR_STRT;
-        while (FLASH->SR & FLASH_SR_BSY);
-        resp[1] = 0xff;
-      }
-      break;
-    // **** 0xd0: fetch serial number
-    case 0xd0:
-      #ifdef STM32F4
-        // addresses are OTP
-        if (setup->b.wValue.w == 1) {
-          memcpy(resp, (void *)0x1fff79c0, 0x10);
-          resp_len = 0x10;
-        } else {
-          get_provision_chunk(resp);
-          resp_len = PROVISION_CHUNK_LEN;
-        }
-      #endif
-      break;
-    // **** 0xd1: enter bootloader mode
-    case 0xd1:
-      // this allows reflashing of the bootstub
-      // so it's blocked over wifi
-      switch (setup->b.wValue.w) {
-        case 0:
-          // TODO: put this back when it's no longer a "devkit"
-          //#ifdef ALLOW_DEBUG
-          #if 1
-          if (hardwired) {
-          #else
-          // no more bootstub on UNO once OTP block is flashed
-          if (hardwired && ((hw_type != HW_TYPE_UNO) || (!is_provisioned()))) {
-          #endif
-            puts("-> entering bootloader\n");
-            enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-            NVIC_SystemReset();
-          }
-          break;
-        case 1:
-          puts("-> entering softloader\n");
-          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
-          NVIC_SystemReset();
-          break;
-      }
-      break;
-    // **** 0xd6: get version
-    case 0xd6:
-      COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
-      memcpy(resp, gitversion, sizeof(gitversion));
-      resp_len = sizeof(gitversion);
-      break;
-    // **** 0xd8: reset ST
-    case 0xd8:
-      NVIC_SystemReset();
-      break;
-  }
-  return resp_len;
-}
-
-int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
-  UNUSED(usbdata);
-  UNUSED(len);
-  UNUSED(hardwired);
-  return 0;
-}
-void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
-  UNUSED(usbdata);
-  UNUSED(len);
-  UNUSED(hardwired);
-}
-
-int is_enumerated = 0;
-void usb_cb_enumeration_complete(void) {
-  puts("USB enumeration complete\n");
-  is_enumerated = 1;
-}
-
-void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
-  UNUSED(hardwired);
-  current_board->set_led(LED_RED, 0);
-  for (int i = 0; i < len/4; i++) {
-    // program byte 1
-    FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
-
-    *prog_ptr = *(uint32_t*)(usbdata+(i*4));
-    while (FLASH->SR & FLASH_SR_BSY);
-
-    //*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
-    prog_ptr++;
-  }
-  current_board->set_led(LED_RED, 1);
-}
-
-
-int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
-  UNUSED(len);
-  int resp_len = 0;
-  switch (data[0]) {
-    case 0:
-      // control transfer
-      resp_len = usb_cb_control_msg((USB_Setup_TypeDef *)(data+4), data_out, 0);
-      break;
-    case 2:
-      // ep 2, flash!
-      usb_cb_ep2_out(data+4, data[2], 0);
-      break;
-  }
-  return resp_len;
-}
-
-#ifdef PEDAL
-
-#include "drivers/llcan.h"
-#define CAN CAN1
-
-#define CAN_BL_INPUT 0x1
-#define CAN_BL_OUTPUT 0x2
-
-void CAN1_TX_IRQ_Handler(void) {
-  // clear interrupt
-  CAN->TSR |= CAN_TSR_RQCP0;
-}
-
-#define ISOTP_BUF_SIZE 0x110
-
-uint8_t isotp_buf[ISOTP_BUF_SIZE];
-uint8_t *isotp_buf_ptr = NULL;
-int isotp_buf_remain = 0;
-
-uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
-uint8_t *isotp_buf_out_ptr = NULL;
-int isotp_buf_out_remain = 0;
-int isotp_buf_out_idx = 0;
-
-void bl_can_send(uint8_t *odat) {
-  // wait for send
-  while (!(CAN->TSR & CAN_TSR_TME0));
-
-  // send continue
-  CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
-  CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
-  CAN->sTxMailBox[0].TDTR = 8;
-  CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
-}
-
-void CAN1_RX0_IRQ_Handler(void) {
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
-    if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
-      uint8_t dat[8];
-      for (int i = 0; i < 8; i++) {
-        dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
-      }
-      uint8_t odat[8];
-      uint8_t type = dat[0] & 0xF0;
-      if (type == 0x30) {
-        // continue
-        while (isotp_buf_out_remain > 0) {
-          // wait for send
-          while (!(CAN->TSR & CAN_TSR_TME0));
-
-          odat[0] = 0x20 | isotp_buf_out_idx;
-          memcpy(odat+1, isotp_buf_out_ptr, 7);
-          isotp_buf_out_remain -= 7;
-          isotp_buf_out_ptr += 7;
-          isotp_buf_out_idx++;
-
-          bl_can_send(odat);
-        }
-      } else if (type == 0x20) {
-        if (isotp_buf_remain > 0) {
-          memcpy(isotp_buf_ptr, dat+1, 7);
-          isotp_buf_ptr += 7;
-          isotp_buf_remain -= 7;
-        }
-        if (isotp_buf_remain <= 0) {
-          int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
-
-          // call the function
-          memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
-          isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
-          isotp_buf_out_ptr = isotp_buf_out;
-          isotp_buf_out_idx = 0;
-
-          // send initial
-          if (isotp_buf_out_remain <= 7) {
-            odat[0] = isotp_buf_out_remain;
-            memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
-          } else {
-            odat[0] = 0x10 | (isotp_buf_out_remain>>8);
-            odat[1] = isotp_buf_out_remain & 0xFF;
-            memcpy(odat+2, isotp_buf_out_ptr, 6);
-            isotp_buf_out_remain -= 6;
-            isotp_buf_out_ptr += 6;
-            isotp_buf_out_idx++;
-          }
-
-          bl_can_send(odat);
-        }
-      } else if (type == 0x10) {
-        int len = ((dat[0]&0xF)<<8) | dat[1];
-
-        // setup buffer
-        isotp_buf_ptr = isotp_buf;
-        memcpy(isotp_buf_ptr, dat+2, 6);
-
-        if (len < (ISOTP_BUF_SIZE-0x10)) {
-          isotp_buf_ptr += 6;
-          isotp_buf_remain = len-6;
-        }
-
-        memset(odat, 0, 8);
-        odat[0] = 0x30;
-        bl_can_send(odat);
-      }
-    }
-    // next
-    CAN->RF0R |= CAN_RF0R_RFOM0;
-  }
-}
-
-void CAN1_SCE_IRQ_Handler(void) {
-  llcan_clear_send(CAN);
-}
-
-#endif
-
-void soft_flasher_start(void) {
-  #ifdef PEDAL
-    REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-    REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-    REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
-  #endif
-
-  puts("\n\n\n************************ FLASHER START ************************\n");
-
-  enter_bootloader_mode = 0;
-
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-
-// pedal has the canloader
-#ifdef PEDAL
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-
-  // B8,B9: CAN 1
-  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
-  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
-  current_board->enable_can_transciever(1, true);
-
-  // init can
-  llcan_set_speed(CAN1, 5000, false, false);
-  llcan_init(CAN1);
-#endif
-
-  // A4,A5,A6,A7: setup SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-
-  // A2,A3: USART 2 for debugging
-  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
-  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
-
-  // A11,A12: USB
-  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
-  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
-  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-
-  // flasher
-  spi_init();
-
-  // enable USB
-  usb_init();
-
-  // green LED on for flashing
-  current_board->set_led(LED_GREEN, 1);
-
-  enable_interrupts();
-
-  uint64_t cnt = 0;
-
-  for (cnt=0;;cnt++) {
-    if (cnt == 35 && !is_enumerated && usb_power_mode == USB_POWER_CLIENT) {
-      // if you are connected through a hub to the phone
-      // you need power to be able to see the device
-      puts("USBP: didn't enumerate, switching to CDP mode\n");
-      current_board->set_usb_power_mode(USB_POWER_CDP);
-      current_board->set_led(LED_BLUE, 1);
-    }
-    // blink the green LED fast
-    current_board->set_led(LED_GREEN, 0);
-    delay(500000);
-    current_board->set_led(LED_GREEN, 1);
-    delay(500000);
-  }
-}
-
diff --git a/panda/board/stm32_flash.ld b/panda/board/stm32_flash.ld
deleted file mode 100644
index 500319377efee1..00000000000000
--- a/panda/board/stm32_flash.ld
+++ /dev/null
@@ -1,165 +0,0 @@
-/*
-*****************************************************************************
-**
-**  File        : stm32_flash.ld
-**
-**  Abstract    : Linker script for STM32F407VG Device with
-**                1024KByte FLASH, 192KByte RAM
-**
-**                Set heap size, stack size and stack location according
-**                to application requirements.
-**
-**                Set memory bank area and size if external memory is used.
-**
-**  Target      : STMicroelectronics STM32
-**
-**  Environment : Atollic TrueSTUDIO(R)
-**
-**  Distribution: The file is distributed �as is,� without any warranty
-**                of any kind.
-**
-**  (c)Copyright Atollic AB.
-**  You may use this file as-is or modify it according to the needs of your
-**  project. Distribution of this file (unmodified or modified) is not
-**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
-**  rights to distribute the assembled, compiled & linked contents of this
-**  file as part of an application binary file, provided that it is built
-**  using the Atollic TrueSTUDIO(R) toolchain.
-**
-*****************************************************************************
-*/
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/* Highest address of the user mode stack */
-enter_bootloader_mode = 0x2001FFFC;
-_estack = 0x2001FFFC;    /* end of 128K RAM on AHB bus*/
-_app_start = 0x08004000; /* Reserve 16K for bootloader */
-
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0;      /* required amount of heap  */
-_Min_Stack_Size = 0x400; /* required amount of stack */
-
-/* Specify the memory areas */
-MEMORY
-{
-  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 128K
-  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 128K
-  MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
-}
-
-/* Define output sections */
-SECTIONS
-{
-  /* The startup code goes first into FLASH */
-  .isr_vector :
-  {
-    . = ALIGN(4);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-  } >FLASH
-
-  /* The program code and other data goes into FLASH */
-  .text :
-  {
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-	*(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-    _exit = .;
-  } >FLASH
-
-
-   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
-    .ARM : {
-    __exidx_start = .;
-      *(.ARM.exidx*)
-      __exidx_end = .;
-    } >FLASH
-
-  .preinit_array     :
-  {
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-  } >FLASH
-  .init_array :
-  {
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-  } >FLASH
-  .fini_array :
-  {
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(.fini_array*))
-    KEEP (*(SORT(.fini_array.*)))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-  /* used by the startup to initialize data */
-  _sidata = .;
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : AT ( _sidata )
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-  } >RAM
-
-  /* Uninitialized data section */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss secion */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough RAM left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(4);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(4);
-  } >RAM
-
-  /* MEMORY_bank1 section, code must be located here explicitly            */
-  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
-  .memory_b1_text :
-  {
-    *(.mb1text)        /* .mb1text sections (code) */
-    *(.mb1text*)       /* .mb1text* sections (code)  */
-    *(.mb1rodata)      /* read-only data (constants) */
-    *(.mb1rodata*)
-  } >MEMORY_B1
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}
diff --git a/panda/board/stm32fx/board.h b/panda/board/stm32fx/board.h
new file mode 100644
index 00000000000000..90aa739fda901e
--- /dev/null
+++ b/panda/board/stm32fx/board.h
@@ -0,0 +1,61 @@
+// ///////////////////////////////////////////////////////////// //
+// Hardware abstraction layer for all different supported boards //
+// ///////////////////////////////////////////////////////////// //
+#include "boards/board_declarations.h"
+#include "boards/unused_funcs.h"
+
+// ///// Board definition and detection ///// //
+#include "drivers/harness.h"
+#ifdef PANDA
+  #include "drivers/fan.h"
+  #include "stm32fx/llfan.h"
+  #include "stm32fx/llrtc.h"
+  #include "drivers/rtc.h"
+  #include "stm32fx/clock_source.h"
+  #include "boards/white.h"
+  #include "boards/grey.h"
+  #include "boards/black.h"
+  #include "boards/uno.h"
+  #include "boards/dos.h"
+#else
+  #include "boards/pedal.h"
+#endif
+
+void detect_board_type(void) {
+  #ifdef PANDA
+    // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
+    set_gpio_output(GPIOC, 14, 1);
+    set_gpio_output(GPIOC, 5, 1);
+    if(!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)){
+      hw_type = HW_TYPE_DOS;
+      current_board = &board_dos;
+    } else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
+      hw_type = HW_TYPE_WHITE_PANDA;
+      current_board = &board_white;
+    } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
+      hw_type = HW_TYPE_GREY_PANDA;
+      current_board = &board_grey;
+    } else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
+      hw_type = HW_TYPE_UNO;
+      current_board = &board_uno;
+    } else {
+      hw_type = HW_TYPE_BLACK_PANDA;
+      current_board = &board_black;
+    }
+  #else
+    #ifdef PEDAL
+      hw_type = HW_TYPE_PEDAL;
+      current_board = &board_pedal;
+    #else
+      hw_type = HW_TYPE_UNKNOWN;
+      puts("Hardware type is UNKNOWN!\n");
+    #endif
+  #endif
+}
+
+bool has_external_debug_serial = 0;
+
+void detect_external_debug_serial(void) {
+  // detect if external serial debugging is present
+  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
+}
diff --git a/panda/board/stm32fx/clock.h b/panda/board/stm32fx/clock.h
new file mode 100644
index 00000000000000..4f7beaae47fcaa
--- /dev/null
+++ b/panda/board/stm32fx/clock.h
@@ -0,0 +1,39 @@
+void clock_init(void) {
+  // enable external oscillator
+  register_set_bits(&(RCC->CR), RCC_CR_HSEON);
+  while ((RCC->CR & RCC_CR_HSERDY) == 0);
+
+  // divide things
+  register_set(&(RCC->CFGR), RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4, 0xFF7FFCF3U);
+
+  // 16mhz crystal
+  register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE, 0x7F437FFFU);
+
+  // start PLL
+  register_set_bits(&(RCC->CR), RCC_CR_PLLON);
+  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
+
+  // Configure Flash prefetch, Instruction cache, Data cache and wait state
+  // *** without this, it breaks ***
+  register_set(&(FLASH->ACR), FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS, 0x1F0FU);
+
+  // switch to PLL
+  register_set_bits(&(RCC->CFGR), RCC_CFGR_SW_PLL);
+  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
+
+  // *** running on PLL ***
+}
+
+void watchdog_init(void) {
+  // setup watchdog
+  IWDG->KR = 0x5555U;
+  register_set(&(IWDG->PR), 0x0U, 0x7U);  // divider/4
+
+  // 0 = 0.125 ms, let's have a 50ms watchdog
+  register_set(&(IWDG->RLR), (400U-1U), 0xFFFU);
+  IWDG->KR = 0xCCCCU;
+}
+
+void watchdog_feed(void) {
+  IWDG->KR = 0xAAAAU;
+}
diff --git a/panda/board/stm32fx/clock_source.h b/panda/board/stm32fx/clock_source.h
new file mode 100644
index 00000000000000..691010bd3759a7
--- /dev/null
+++ b/panda/board/stm32fx/clock_source.h
@@ -0,0 +1,102 @@
+
+#define CLOCK_SOURCE_MODE_DISABLED       0U
+#define CLOCK_SOURCE_MODE_FREE_RUNNING   1U
+#define CLOCK_SOURCE_MODE_EXTERNAL_SYNC  2U
+
+#define CLOCK_SOURCE_PERIOD_MS           50U
+#define CLOCK_SOURCE_PULSE_LEN_MS        2U
+
+uint8_t clock_source_mode = CLOCK_SOURCE_MODE_DISABLED;
+
+void EXTI0_IRQ_Handler(void) {
+  volatile unsigned int pr = EXTI->PR & (1U << 0);
+  if (pr != 0U) {
+    if(clock_source_mode == CLOCK_SOURCE_MODE_EXTERNAL_SYNC){
+      // TODO: Implement!
+    }
+  }
+  EXTI->PR = (1U << 0);
+}
+
+void TIM1_UP_TIM10_IRQ_Handler(void) {
+  if((TIM1->SR & TIM_SR_UIF) != 0) {
+    if(clock_source_mode != CLOCK_SOURCE_MODE_DISABLED) {
+      // Start clock pulse
+      set_gpio_output(GPIOB, 14, true);
+      set_gpio_output(GPIOB, 15, true);
+      set_gpio_output(GPIOC, 5, true);
+    }
+
+    // Reset interrupt
+    TIM1->SR &= ~(TIM_SR_UIF);
+  }
+}
+
+void TIM1_CC_IRQ_Handler(void) {
+  if((TIM1->SR & TIM_SR_CC1IF) != 0) {
+    if(clock_source_mode != CLOCK_SOURCE_MODE_DISABLED) {
+      // End clock pulse
+      set_gpio_output(GPIOB, 14, false);
+      set_gpio_output(GPIOB, 15, false);
+      set_gpio_output(GPIOC, 5, false);
+    }
+
+    // Reset interrupt
+    TIM1->SR &= ~(TIM_SR_CC1IF);
+  }
+}
+
+void clock_source_init(uint8_t mode){
+  // Setup external clock signal interrupt
+  REGISTER_INTERRUPT(EXTI0_IRQn, EXTI0_IRQ_Handler, 110U, FAULT_INTERRUPT_RATE_CLOCK_SOURCE)
+  register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI0_PB, 0xFU);
+  register_set_bits(&(EXTI->IMR), (1U << 0));
+  register_set_bits(&(EXTI->RTSR), (1U << 0));
+  register_clear_bits(&(EXTI->FTSR), (1U << 0));
+
+  // Setup timer
+  REGISTER_INTERRUPT(TIM1_UP_TIM10_IRQn, TIM1_UP_TIM10_IRQ_Handler, (1200U / CLOCK_SOURCE_PERIOD_MS) , FAULT_INTERRUPT_RATE_TIM1)
+  REGISTER_INTERRUPT(TIM1_CC_IRQn, TIM1_CC_IRQ_Handler, (1200U / CLOCK_SOURCE_PERIOD_MS) , FAULT_INTERRUPT_RATE_TIM1)
+  register_set(&(TIM1->PSC), ((APB2_FREQ*100U)-1U), 0xFFFFU);                   // Tick on 0.1 ms
+  register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU);   // Period
+  register_set(&(TIM1->CCMR1), 0U, 0xFFFFU);                                  // No output on compare
+  register_set_bits(&(TIM1->CCER), TIM_CCER_CC1E);                            // Enable compare 1
+  register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 1 value
+  register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE);            // Enable interrupts
+  register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU);                             // Enable timer
+
+  // Set mode
+  switch(mode) {
+    case CLOCK_SOURCE_MODE_DISABLED:
+      // No clock signal
+      NVIC_DisableIRQ(EXTI0_IRQn);
+      NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
+      NVIC_DisableIRQ(TIM1_CC_IRQn);
+
+      // Disable pulse if we were in the middle of it
+      set_gpio_output(GPIOB, 14, false);
+      set_gpio_output(GPIOB, 15, false);
+
+      clock_source_mode = CLOCK_SOURCE_MODE_DISABLED;
+      break;
+    case CLOCK_SOURCE_MODE_FREE_RUNNING:
+      // Clock signal is based on internal timer
+      NVIC_DisableIRQ(EXTI0_IRQn);
+      NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
+      NVIC_EnableIRQ(TIM1_CC_IRQn);
+
+      clock_source_mode = CLOCK_SOURCE_MODE_FREE_RUNNING;
+      break;
+    case CLOCK_SOURCE_MODE_EXTERNAL_SYNC:
+      // Clock signal is based on external timer
+      NVIC_EnableIRQ(EXTI0_IRQn);
+      NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
+      NVIC_EnableIRQ(TIM1_CC_IRQn);
+
+      clock_source_mode = CLOCK_SOURCE_MODE_EXTERNAL_SYNC;
+      break;
+    default:
+      puts("Unknown clock source mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
diff --git a/panda/board/inc/cmsis_compiler.h b/panda/board/stm32fx/inc/cmsis_compiler.h
similarity index 100%
rename from panda/board/inc/cmsis_compiler.h
rename to panda/board/stm32fx/inc/cmsis_compiler.h
diff --git a/panda/board/stm32fx/inc/cmsis_gcc.h b/panda/board/stm32fx/inc/cmsis_gcc.h
new file mode 100644
index 00000000000000..2f68473f64e216
--- /dev/null
+++ b/panda/board/stm32fx/inc/cmsis_gcc.h
@@ -0,0 +1,2169 @@
+/**************************************************************************//**
+ * @file     cmsis_gcc.h
+ * @brief    CMSIS compiler GCC header file
+ * @version  V5.2.0
+ * @date     08. May 2019
+ ******************************************************************************/
+/*
+ * Copyright (c) 2009-2019 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CMSIS_GCC_H
+#define __CMSIS_GCC_H
+
+/* ignore some GCC warnings */
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wsign-conversion"
+#pragma GCC diagnostic ignored "-Wconversion"
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+
+/* Fallback for __has_builtin */
+#ifndef __has_builtin
+  #define __has_builtin(x) (0)
+#endif
+
+/* CMSIS compiler specific defines */
+#ifndef   __ASM
+  #define __ASM                                  __asm
+#endif
+#ifndef   __INLINE
+  #define __INLINE                               inline
+#endif
+#ifndef   __STATIC_INLINE
+  #define __STATIC_INLINE                        static inline
+#endif
+#ifndef   __STATIC_FORCEINLINE
+  #define __STATIC_FORCEINLINE                   __attribute__((always_inline)) static inline
+#endif
+#ifndef   __NO_RETURN
+  #define __NO_RETURN                            __attribute__((__noreturn__))
+#endif
+#ifndef   __USED
+  #define __USED                                 __attribute__((used))
+#endif
+#ifndef   __WEAK
+  #define __WEAK                                 __attribute__((weak))
+#endif
+#ifndef   __PACKED
+  #define __PACKED                               __attribute__((packed, aligned(1)))
+#endif
+#ifndef   __PACKED_STRUCT
+  #define __PACKED_STRUCT                        struct __attribute__((packed, aligned(1)))
+#endif
+#ifndef   __PACKED_UNION
+  #define __PACKED_UNION                         union __attribute__((packed, aligned(1)))
+#endif
+#ifndef   __UNALIGNED_UINT32        /* deprecated */
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  struct __attribute__((packed)) T_UINT32 { uint32_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
+#endif
+#ifndef   __UNALIGNED_UINT16_WRITE
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
+#endif
+#ifndef   __UNALIGNED_UINT16_READ
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
+#endif
+#ifndef   __UNALIGNED_UINT32_WRITE
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
+#endif
+#ifndef   __UNALIGNED_UINT32_READ
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
+#endif
+#ifndef   __ALIGNED
+  #define __ALIGNED(x)                           __attribute__((aligned(x)))
+#endif
+#ifndef   __RESTRICT
+  #define __RESTRICT                             __restrict
+#endif
+#ifndef   __COMPILER_BARRIER
+  #define __COMPILER_BARRIER()                   __ASM volatile("":::"memory")
+#endif
+
+/* #########################  Startup and Lowlevel Init  ######################## */
+
+#ifndef __PROGRAM_START
+
+/**
+  \brief   Initializes data and bss sections
+  \details This default implementations initialized all data and additional bss
+           sections relying on .copy.table and .zero.table specified properly
+           in the used linker script.
+
+ */
+__STATIC_FORCEINLINE __NO_RETURN void __cmsis_start(void)
+{
+  extern void _start(void) __NO_RETURN;
+
+  typedef struct {
+    uint32_t const* src;
+    uint32_t* dest;
+    uint32_t  wlen;
+  } __copy_table_t;
+
+  typedef struct {
+    uint32_t* dest;
+    uint32_t  wlen;
+  } __zero_table_t;
+
+  extern const __copy_table_t __copy_table_start__;
+  extern const __copy_table_t __copy_table_end__;
+  extern const __zero_table_t __zero_table_start__;
+  extern const __zero_table_t __zero_table_end__;
+
+  for (__copy_table_t const* pTable = &__copy_table_start__; pTable < &__copy_table_end__; ++pTable) {
+    for(uint32_t i=0u; i<pTable->wlen; ++i) {
+      pTable->dest[i] = pTable->src[i];
+    }
+  }
+
+  for (__zero_table_t const* pTable = &__zero_table_start__; pTable < &__zero_table_end__; ++pTable) {
+    for(uint32_t i=0u; i<pTable->wlen; ++i) {
+      pTable->dest[i] = 0u;
+    }
+  }
+
+  _start();
+}
+
+#define __PROGRAM_START           __cmsis_start
+#endif
+
+#ifndef __INITIAL_SP
+#define __INITIAL_SP              __StackTop
+#endif
+
+#ifndef __STACK_LIMIT
+#define __STACK_LIMIT             __StackLimit
+#endif
+
+#ifndef __VECTOR_TABLE
+#define __VECTOR_TABLE            __Vectors
+#endif
+
+#ifndef __VECTOR_TABLE_ATTRIBUTE
+#define __VECTOR_TABLE_ATTRIBUTE  __attribute((used, section(".vectors")))
+#endif
+
+/* ###########################  Core Function Access  ########################### */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
+  @{
+ */
+
+/**
+  \brief   Enable IRQ Interrupts
+  \details Enables IRQ interrupts by clearing the I-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+__STATIC_FORCEINLINE void __enable_irq(void)
+{
+  __ASM volatile ("cpsie i" : : : "memory");
+}
+
+
+/**
+  \brief   Disable IRQ Interrupts
+  \details Disables IRQ interrupts by setting the I-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+__STATIC_FORCEINLINE void __disable_irq(void)
+{
+  __ASM volatile ("cpsid i" : : : "memory");
+}
+
+
+/**
+  \brief   Get Control Register
+  \details Returns the content of the Control Register.
+  \return               Control Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_CONTROL(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, control" : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Control Register (non-secure)
+  \details Returns the content of the non-secure Control Register when in secure mode.
+  \return               non-secure Control Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_CONTROL_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, control_ns" : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Control Register
+  \details Writes the given value to the Control Register.
+  \param [in]    control  Control Register value to set
+ */
+__STATIC_FORCEINLINE void __set_CONTROL(uint32_t control)
+{
+  __ASM volatile ("MSR control, %0" : : "r" (control) : "memory");
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Control Register (non-secure)
+  \details Writes the given value to the non-secure Control Register when in secure state.
+  \param [in]    control  Control Register value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_CONTROL_NS(uint32_t control)
+{
+  __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory");
+}
+#endif
+
+
+/**
+  \brief   Get IPSR Register
+  \details Returns the content of the IPSR Register.
+  \return               IPSR Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_IPSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
+  return(result);
+}
+
+
+/**
+  \brief   Get APSR Register
+  \details Returns the content of the APSR Register.
+  \return               APSR Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_APSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
+  return(result);
+}
+
+
+/**
+  \brief   Get xPSR Register
+  \details Returns the content of the xPSR Register.
+  \return               xPSR Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_xPSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
+  return(result);
+}
+
+
+/**
+  \brief   Get Process Stack Pointer
+  \details Returns the current value of the Process Stack Pointer (PSP).
+  \return               PSP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_PSP(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, psp"  : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Process Stack Pointer (non-secure)
+  \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state.
+  \return               PSP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_PSP_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, psp_ns"  : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Process Stack Pointer
+  \details Assigns the given value to the Process Stack Pointer (PSP).
+  \param [in]    topOfProcStack  Process Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __set_PSP(uint32_t topOfProcStack)
+{
+  __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : );
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Process Stack Pointer (non-secure)
+  \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state.
+  \param [in]    topOfProcStack  Process Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack)
+{
+  __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : );
+}
+#endif
+
+
+/**
+  \brief   Get Main Stack Pointer
+  \details Returns the current value of the Main Stack Pointer (MSP).
+  \return               MSP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_MSP(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, msp" : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Main Stack Pointer (non-secure)
+  \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state.
+  \return               MSP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_MSP_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, msp_ns" : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Main Stack Pointer
+  \details Assigns the given value to the Main Stack Pointer (MSP).
+  \param [in]    topOfMainStack  Main Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __set_MSP(uint32_t topOfMainStack)
+{
+  __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : );
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Main Stack Pointer (non-secure)
+  \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state.
+  \param [in]    topOfMainStack  Main Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack)
+{
+  __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : );
+}
+#endif
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Stack Pointer (non-secure)
+  \details Returns the current value of the non-secure Stack Pointer (SP) when in secure state.
+  \return               SP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_SP_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, sp_ns" : "=r" (result) );
+  return(result);
+}
+
+
+/**
+  \brief   Set Stack Pointer (non-secure)
+  \details Assigns the given value to the non-secure Stack Pointer (SP) when in secure state.
+  \param [in]    topOfStack  Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_SP_NS(uint32_t topOfStack)
+{
+  __ASM volatile ("MSR sp_ns, %0" : : "r" (topOfStack) : );
+}
+#endif
+
+
+/**
+  \brief   Get Priority Mask
+  \details Returns the current state of the priority mask bit from the Priority Mask Register.
+  \return               Priority Mask value
+ */
+__STATIC_FORCEINLINE uint32_t __get_PRIMASK(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, primask" : "=r" (result) :: "memory");
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Priority Mask (non-secure)
+  \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state.
+  \return               Priority Mask value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_PRIMASK_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, primask_ns" : "=r" (result) :: "memory");
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Priority Mask
+  \details Assigns the given value to the Priority Mask Register.
+  \param [in]    priMask  Priority Mask
+ */
+__STATIC_FORCEINLINE void __set_PRIMASK(uint32_t priMask)
+{
+  __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory");
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Priority Mask (non-secure)
+  \details Assigns the given value to the non-secure Priority Mask Register when in secure state.
+  \param [in]    priMask  Priority Mask
+ */
+__STATIC_FORCEINLINE void __TZ_set_PRIMASK_NS(uint32_t priMask)
+{
+  __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory");
+}
+#endif
+
+
+#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
+/**
+  \brief   Enable FIQ
+  \details Enables FIQ interrupts by clearing the F-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+__STATIC_FORCEINLINE void __enable_fault_irq(void)
+{
+  __ASM volatile ("cpsie f" : : : "memory");
+}
+
+
+/**
+  \brief   Disable FIQ
+  \details Disables FIQ interrupts by setting the F-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+__STATIC_FORCEINLINE void __disable_fault_irq(void)
+{
+  __ASM volatile ("cpsid f" : : : "memory");
+}
+
+
+/**
+  \brief   Get Base Priority
+  \details Returns the current value of the Base Priority register.
+  \return               Base Priority register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_BASEPRI(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, basepri" : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Base Priority (non-secure)
+  \details Returns the current value of the non-secure Base Priority register when in secure state.
+  \return               Base Priority register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_BASEPRI_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Base Priority
+  \details Assigns the given value to the Base Priority register.
+  \param [in]    basePri  Base Priority value to set
+ */
+__STATIC_FORCEINLINE void __set_BASEPRI(uint32_t basePri)
+{
+  __ASM volatile ("MSR basepri, %0" : : "r" (basePri) : "memory");
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Base Priority (non-secure)
+  \details Assigns the given value to the non-secure Base Priority register when in secure state.
+  \param [in]    basePri  Base Priority value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_BASEPRI_NS(uint32_t basePri)
+{
+  __ASM volatile ("MSR basepri_ns, %0" : : "r" (basePri) : "memory");
+}
+#endif
+
+
+/**
+  \brief   Set Base Priority with condition
+  \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled,
+           or the new value increases the BASEPRI priority level.
+  \param [in]    basePri  Base Priority value to set
+ */
+__STATIC_FORCEINLINE void __set_BASEPRI_MAX(uint32_t basePri)
+{
+  __ASM volatile ("MSR basepri_max, %0" : : "r" (basePri) : "memory");
+}
+
+
+/**
+  \brief   Get Fault Mask
+  \details Returns the current value of the Fault Mask register.
+  \return               Fault Mask register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_FAULTMASK(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Fault Mask (non-secure)
+  \details Returns the current value of the non-secure Fault Mask register when in secure state.
+  \return               Fault Mask register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_FAULTMASK_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Fault Mask
+  \details Assigns the given value to the Fault Mask register.
+  \param [in]    faultMask  Fault Mask value to set
+ */
+__STATIC_FORCEINLINE void __set_FAULTMASK(uint32_t faultMask)
+{
+  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory");
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Fault Mask (non-secure)
+  \details Assigns the given value to the non-secure Fault Mask register when in secure state.
+  \param [in]    faultMask  Fault Mask value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask)
+{
+  __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory");
+}
+#endif
+
+#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
+
+
+#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
+
+/**
+  \brief   Get Process Stack Pointer Limit
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence zero is returned always in non-secure
+  mode.
+
+  \details Returns the current value of the Process Stack Pointer Limit (PSPLIM).
+  \return               PSPLIM Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_PSPLIM(void)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
+    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
+    // without main extensions, the non-secure PSPLIM is RAZ/WI
+  return 0U;
+#else
+  uint32_t result;
+  __ASM volatile ("MRS %0, psplim"  : "=r" (result) );
+  return result;
+#endif
+}
+
+#if (defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Process Stack Pointer Limit (non-secure)
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence zero is returned always.
+
+  \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state.
+  \return               PSPLIM Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_PSPLIM_NS(void)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
+  // without main extensions, the non-secure PSPLIM is RAZ/WI
+  return 0U;
+#else
+  uint32_t result;
+  __ASM volatile ("MRS %0, psplim_ns"  : "=r" (result) );
+  return result;
+#endif
+}
+#endif
+
+
+/**
+  \brief   Set Process Stack Pointer Limit
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence the write is silently ignored in non-secure
+  mode.
+
+  \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM).
+  \param [in]    ProcStackPtrLimit  Process Stack Pointer Limit value to set
+ */
+__STATIC_FORCEINLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
+    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
+  // without main extensions, the non-secure PSPLIM is RAZ/WI
+  (void)ProcStackPtrLimit;
+#else
+  __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit));
+#endif
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
+/**
+  \brief   Set Process Stack Pointer (non-secure)
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence the write is silently ignored.
+
+  \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state.
+  \param [in]    ProcStackPtrLimit  Process Stack Pointer Limit value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
+  // without main extensions, the non-secure PSPLIM is RAZ/WI
+  (void)ProcStackPtrLimit;
+#else
+  __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit));
+#endif
+}
+#endif
+
+
+/**
+  \brief   Get Main Stack Pointer Limit
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence zero is returned always in non-secure
+  mode.
+
+  \details Returns the current value of the Main Stack Pointer Limit (MSPLIM).
+  \return               MSPLIM Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_MSPLIM(void)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
+    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
+  // without main extensions, the non-secure MSPLIM is RAZ/WI
+  return 0U;
+#else
+  uint32_t result;
+  __ASM volatile ("MRS %0, msplim" : "=r" (result) );
+  return result;
+#endif
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
+/**
+  \brief   Get Main Stack Pointer Limit (non-secure)
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence zero is returned always.
+
+  \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state.
+  \return               MSPLIM Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_MSPLIM_NS(void)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
+  // without main extensions, the non-secure MSPLIM is RAZ/WI
+  return 0U;
+#else
+  uint32_t result;
+  __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) );
+  return result;
+#endif
+}
+#endif
+
+
+/**
+  \brief   Set Main Stack Pointer Limit
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence the write is silently ignored in non-secure
+  mode.
+
+  \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM).
+  \param [in]    MainStackPtrLimit  Main Stack Pointer Limit value to set
+ */
+__STATIC_FORCEINLINE void __set_MSPLIM(uint32_t MainStackPtrLimit)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
+    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
+  // without main extensions, the non-secure MSPLIM is RAZ/WI
+  (void)MainStackPtrLimit;
+#else
+  __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit));
+#endif
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
+/**
+  \brief   Set Main Stack Pointer Limit (non-secure)
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence the write is silently ignored.
+
+  \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state.
+  \param [in]    MainStackPtrLimit  Main Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
+  // without main extensions, the non-secure MSPLIM is RAZ/WI
+  (void)MainStackPtrLimit;
+#else
+  __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit));
+#endif
+}
+#endif
+
+#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
+
+
+/**
+  \brief   Get FPSCR
+  \details Returns the current value of the Floating Point Status/Control register.
+  \return               Floating Point Status/Control register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_FPSCR(void)
+{
+#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
+     (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
+#if __has_builtin(__builtin_arm_get_fpscr)
+// Re-enable using built-in when GCC has been fixed
+// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2)
+  /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */
+  return __builtin_arm_get_fpscr();
+#else
+  uint32_t result;
+
+  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
+  return(result);
+#endif
+#else
+  return(0U);
+#endif
+}
+
+
+/**
+  \brief   Set FPSCR
+  \details Assigns the given value to the Floating Point Status/Control register.
+  \param [in]    fpscr  Floating Point Status/Control value to set
+ */
+__STATIC_FORCEINLINE void __set_FPSCR(uint32_t fpscr)
+{
+#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
+     (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
+#if __has_builtin(__builtin_arm_set_fpscr)
+// Re-enable using built-in when GCC has been fixed
+// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2)
+  /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */
+  __builtin_arm_set_fpscr(fpscr);
+#else
+  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc", "memory");
+#endif
+#else
+  (void)fpscr;
+#endif
+}
+
+
+/*@} end of CMSIS_Core_RegAccFunctions */
+
+
+/* ##########################  Core Instruction Access  ######################### */
+/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
+  Access to dedicated instructions
+  @{
+*/
+
+/* Define macros for porting to both thumb1 and thumb2.
+ * For thumb1, use low register (r0-r7), specified by constraint "l"
+ * Otherwise, use general registers, specified by constraint "r" */
+#if defined (__thumb__) && !defined (__thumb2__)
+#define __CMSIS_GCC_OUT_REG(r) "=l" (r)
+#define __CMSIS_GCC_RW_REG(r) "+l" (r)
+#define __CMSIS_GCC_USE_REG(r) "l" (r)
+#else
+#define __CMSIS_GCC_OUT_REG(r) "=r" (r)
+#define __CMSIS_GCC_RW_REG(r) "+r" (r)
+#define __CMSIS_GCC_USE_REG(r) "r" (r)
+#endif
+
+/**
+  \brief   No Operation
+  \details No Operation does nothing. This instruction can be used for code alignment purposes.
+ */
+#define __NOP()                             __ASM volatile ("nop")
+
+/**
+  \brief   Wait For Interrupt
+  \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs.
+ */
+#define __WFI()                             __ASM volatile ("wfi")
+
+
+/**
+  \brief   Wait For Event
+  \details Wait For Event is a hint instruction that permits the processor to enter
+           a low-power state until one of a number of events occurs.
+ */
+#define __WFE()                             __ASM volatile ("wfe")
+
+
+/**
+  \brief   Send Event
+  \details Send Event is a hint instruction. It causes an event to be signaled to the CPU.
+ */
+#define __SEV()                             __ASM volatile ("sev")
+
+
+/**
+  \brief   Instruction Synchronization Barrier
+  \details Instruction Synchronization Barrier flushes the pipeline in the processor,
+           so that all instructions following the ISB are fetched from cache or memory,
+           after the instruction has been completed.
+ */
+__STATIC_FORCEINLINE void __ISB(void)
+{
+  __ASM volatile ("isb 0xF":::"memory");
+}
+
+
+/**
+  \brief   Data Synchronization Barrier
+  \details Acts as a special kind of Data Memory Barrier.
+           It completes when all explicit memory accesses before this instruction complete.
+ */
+__STATIC_FORCEINLINE void __DSB(void)
+{
+  __ASM volatile ("dsb 0xF":::"memory");
+}
+
+
+/**
+  \brief   Data Memory Barrier
+  \details Ensures the apparent order of the explicit memory operations before
+           and after the instruction, without ensuring their completion.
+ */
+__STATIC_FORCEINLINE void __DMB(void)
+{
+  __ASM volatile ("dmb 0xF":::"memory");
+}
+
+
+/**
+  \brief   Reverse byte order (32 bit)
+  \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+__STATIC_FORCEINLINE uint32_t __REV(uint32_t value)
+{
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5)
+  return __builtin_bswap32(value);
+#else
+  uint32_t result;
+
+  __ASM volatile ("rev %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return result;
+#endif
+}
+
+
+/**
+  \brief   Reverse byte order (16 bit)
+  \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+__STATIC_FORCEINLINE uint32_t __REV16(uint32_t value)
+{
+  uint32_t result;
+
+  __ASM volatile ("rev16 %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return result;
+}
+
+
+/**
+  \brief   Reverse byte order (16 bit)
+  \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+__STATIC_FORCEINLINE int16_t __REVSH(int16_t value)
+{
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+  return (int16_t)__builtin_bswap16(value);
+#else
+  int16_t result;
+
+  __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return result;
+#endif
+}
+
+
+/**
+  \brief   Rotate Right in unsigned value (32 bit)
+  \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
+  \param [in]    op1  Value to rotate
+  \param [in]    op2  Number of Bits to rotate
+  \return               Rotated value
+ */
+__STATIC_FORCEINLINE uint32_t __ROR(uint32_t op1, uint32_t op2)
+{
+  op2 %= 32U;
+  if (op2 == 0U)
+  {
+    return op1;
+  }
+  return (op1 >> op2) | (op1 << (32U - op2));
+}
+
+
+/**
+  \brief   Breakpoint
+  \details Causes the processor to enter Debug state.
+           Debug tools can use this to investigate system state when the instruction at a particular address is reached.
+  \param [in]    value  is ignored by the processor.
+                 If required, a debugger can use it to store additional information about the breakpoint.
+ */
+#define __BKPT(value)                       __ASM volatile ("bkpt "#value)
+
+
+/**
+  \brief   Reverse bit order of value
+  \details Reverses the bit order of the given value.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+__STATIC_FORCEINLINE uint32_t __RBIT(uint32_t value)
+{
+  uint32_t result;
+
+#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
+   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
+#else
+  uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */
+
+  result = value;                      /* r will be reversed bits of v; first get LSB of v */
+  for (value >>= 1U; value != 0U; value >>= 1U)
+  {
+    result <<= 1U;
+    result |= value & 1U;
+    s--;
+  }
+  result <<= s;                        /* shift when v's highest bits are zero */
+#endif
+  return result;
+}
+
+
+/**
+  \brief   Count leading zeros
+  \details Counts the number of leading zeros of a data value.
+  \param [in]  value  Value to count the leading zeros
+  \return             number of leading zeros in value
+ */
+__STATIC_FORCEINLINE uint8_t __CLZ(uint32_t value)
+{
+  /* Even though __builtin_clz produces a CLZ instruction on ARM, formally
+     __builtin_clz(0) is undefined behaviour, so handle this case specially.
+     This guarantees ARM-compatible results if happening to compile on a non-ARM
+     target, and ensures the compiler doesn't decide to activate any
+     optimisations using the logic "value was passed to __builtin_clz, so it
+     is non-zero".
+     ARM GCC 7.3 and possibly earlier will optimise this test away, leaving a
+     single CLZ instruction.
+   */
+  if (value == 0U)
+  {
+    return 32U;
+  }
+  return __builtin_clz(value);
+}
+
+
+#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
+/**
+  \brief   LDR Exclusive (8 bit)
+  \details Executes a exclusive LDR instruction for 8 bit value.
+  \param [in]    ptr  Pointer to data
+  \return             value of type uint8_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint8_t __LDREXB(volatile uint8_t *addr)
+{
+    uint32_t result;
+
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+   __ASM volatile ("ldrexb %0, %1" : "=r" (result) : "Q" (*addr) );
+#else
+    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
+       accepted by assembler. So has to use following less efficient pattern.
+    */
+   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) : "memory" );
+#endif
+   return ((uint8_t) result);    /* Add explicit type cast here */
+}
+
+
+/**
+  \brief   LDR Exclusive (16 bit)
+  \details Executes a exclusive LDR instruction for 16 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint16_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint16_t __LDREXH(volatile uint16_t *addr)
+{
+    uint32_t result;
+
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+   __ASM volatile ("ldrexh %0, %1" : "=r" (result) : "Q" (*addr) );
+#else
+    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
+       accepted by assembler. So has to use following less efficient pattern.
+    */
+   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) : "memory" );
+#endif
+   return ((uint16_t) result);    /* Add explicit type cast here */
+}
+
+
+/**
+  \brief   LDR Exclusive (32 bit)
+  \details Executes a exclusive LDR instruction for 32 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint32_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint32_t __LDREXW(volatile uint32_t *addr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldrex %0, %1" : "=r" (result) : "Q" (*addr) );
+   return(result);
+}
+
+
+/**
+  \brief   STR Exclusive (8 bit)
+  \details Executes a exclusive STR instruction for 8 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strexb %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+
+/**
+  \brief   STR Exclusive (16 bit)
+  \details Executes a exclusive STR instruction for 16 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strexh %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+
+/**
+  \brief   STR Exclusive (32 bit)
+  \details Executes a exclusive STR instruction for 32 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strex %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" (value) );
+   return(result);
+}
+
+
+/**
+  \brief   Remove the exclusive lock
+  \details Removes the exclusive lock which is created by LDREX.
+ */
+__STATIC_FORCEINLINE void __CLREX(void)
+{
+  __ASM volatile ("clrex" ::: "memory");
+}
+
+#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
+
+
+#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
+/**
+  \brief   Signed Saturate
+  \details Saturates a signed value.
+  \param [in]  ARG1  Value to be saturated
+  \param [in]  ARG2  Bit position to saturate to (1..32)
+  \return             Saturated value
+ */
+#define __SSAT(ARG1,ARG2) \
+__extension__ \
+({                          \
+  int32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+
+/**
+  \brief   Unsigned Saturate
+  \details Saturates an unsigned value.
+  \param [in]  ARG1  Value to be saturated
+  \param [in]  ARG2  Bit position to saturate to (0..31)
+  \return             Saturated value
+ */
+#define __USAT(ARG1,ARG2) \
+ __extension__ \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+
+/**
+  \brief   Rotate Right with Extend (32 bit)
+  \details Moves each bit of a bitstring right by one bit.
+           The carry input is shifted in at the left end of the bitstring.
+  \param [in]    value  Value to rotate
+  \return               Rotated value
+ */
+__STATIC_FORCEINLINE uint32_t __RRX(uint32_t value)
+{
+  uint32_t result;
+
+  __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return(result);
+}
+
+
+/**
+  \brief   LDRT Unprivileged (8 bit)
+  \details Executes a Unprivileged LDRT instruction for 8 bit value.
+  \param [in]    ptr  Pointer to data
+  \return             value of type uint8_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint8_t __LDRBT(volatile uint8_t *ptr)
+{
+    uint32_t result;
+
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+   __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) );
+#else
+    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
+       accepted by assembler. So has to use following less efficient pattern.
+    */
+   __ASM volatile ("ldrbt %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" );
+#endif
+   return ((uint8_t) result);    /* Add explicit type cast here */
+}
+
+
+/**
+  \brief   LDRT Unprivileged (16 bit)
+  \details Executes a Unprivileged LDRT instruction for 16 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint16_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint16_t __LDRHT(volatile uint16_t *ptr)
+{
+    uint32_t result;
+
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+   __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) );
+#else
+    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
+       accepted by assembler. So has to use following less efficient pattern.
+    */
+   __ASM volatile ("ldrht %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" );
+#endif
+   return ((uint16_t) result);    /* Add explicit type cast here */
+}
+
+
+/**
+  \brief   LDRT Unprivileged (32 bit)
+  \details Executes a Unprivileged LDRT instruction for 32 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint32_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint32_t __LDRT(volatile uint32_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return(result);
+}
+
+
+/**
+  \brief   STRT Unprivileged (8 bit)
+  \details Executes a Unprivileged STRT instruction for 8 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STRBT(uint8_t value, volatile uint8_t *ptr)
+{
+   __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   STRT Unprivileged (16 bit)
+  \details Executes a Unprivileged STRT instruction for 16 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STRHT(uint16_t value, volatile uint16_t *ptr)
+{
+   __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   STRT Unprivileged (32 bit)
+  \details Executes a Unprivileged STRT instruction for 32 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STRT(uint32_t value, volatile uint32_t *ptr)
+{
+   __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) );
+}
+
+#else  /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
+
+/**
+  \brief   Signed Saturate
+  \details Saturates a signed value.
+  \param [in]  value  Value to be saturated
+  \param [in]    sat  Bit position to saturate to (1..32)
+  \return             Saturated value
+ */
+__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat)
+{
+  if ((sat >= 1U) && (sat <= 32U))
+  {
+    const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U);
+    const int32_t min = -1 - max ;
+    if (val > max)
+    {
+      return max;
+    }
+    else if (val < min)
+    {
+      return min;
+    }
+  }
+  return val;
+}
+
+/**
+  \brief   Unsigned Saturate
+  \details Saturates an unsigned value.
+  \param [in]  value  Value to be saturated
+  \param [in]    sat  Bit position to saturate to (0..31)
+  \return             Saturated value
+ */
+__STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat)
+{
+  if (sat <= 31U)
+  {
+    const uint32_t max = ((1U << sat) - 1U);
+    if (val > (int32_t)max)
+    {
+      return max;
+    }
+    else if (val < 0)
+    {
+      return 0U;
+    }
+  }
+  return (uint32_t)val;
+}
+
+#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
+
+
+#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
+/**
+  \brief   Load-Acquire (8 bit)
+  \details Executes a LDAB instruction for 8 bit value.
+  \param [in]    ptr  Pointer to data
+  \return             value of type uint8_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint8_t __LDAB(volatile uint8_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return ((uint8_t) result);
+}
+
+
+/**
+  \brief   Load-Acquire (16 bit)
+  \details Executes a LDAH instruction for 16 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint16_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint16_t __LDAH(volatile uint16_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return ((uint16_t) result);
+}
+
+
+/**
+  \brief   Load-Acquire (32 bit)
+  \details Executes a LDA instruction for 32 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint32_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint32_t __LDA(volatile uint32_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return(result);
+}
+
+
+/**
+  \brief   Store-Release (8 bit)
+  \details Executes a STLB instruction for 8 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STLB(uint8_t value, volatile uint8_t *ptr)
+{
+   __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   Store-Release (16 bit)
+  \details Executes a STLH instruction for 16 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STLH(uint16_t value, volatile uint16_t *ptr)
+{
+   __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   Store-Release (32 bit)
+  \details Executes a STL instruction for 32 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STL(uint32_t value, volatile uint32_t *ptr)
+{
+   __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   Load-Acquire Exclusive (8 bit)
+  \details Executes a LDAB exclusive instruction for 8 bit value.
+  \param [in]    ptr  Pointer to data
+  \return             value of type uint8_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint8_t __LDAEXB(volatile uint8_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldaexb %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return ((uint8_t) result);
+}
+
+
+/**
+  \brief   Load-Acquire Exclusive (16 bit)
+  \details Executes a LDAH exclusive instruction for 16 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint16_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint16_t __LDAEXH(volatile uint16_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldaexh %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return ((uint16_t) result);
+}
+
+
+/**
+  \brief   Load-Acquire Exclusive (32 bit)
+  \details Executes a LDA exclusive instruction for 32 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint32_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint32_t __LDAEX(volatile uint32_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldaex %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return(result);
+}
+
+
+/**
+  \brief   Store-Release Exclusive (8 bit)
+  \details Executes a STLB exclusive instruction for 8 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr)
+{
+   uint32_t result;
+
+   __ASM volatile ("stlexb %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+
+/**
+  \brief   Store-Release Exclusive (16 bit)
+  \details Executes a STLH exclusive instruction for 16 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr)
+{
+   uint32_t result;
+
+   __ASM volatile ("stlexh %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+
+/**
+  \brief   Store-Release Exclusive (32 bit)
+  \details Executes a STL exclusive instruction for 32 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr)
+{
+   uint32_t result;
+
+   __ASM volatile ("stlex %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
+
+/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
+
+
+/* ###################  Compiler specific Intrinsics  ########################### */
+/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
+  Access to dedicated SIMD instructions
+  @{
+*/
+
+#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1))
+
+__STATIC_FORCEINLINE uint32_t __SADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+
+__STATIC_FORCEINLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+
+__STATIC_FORCEINLINE uint32_t __SADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USAD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+#define __SSAT16(ARG1,ARG2) \
+({                          \
+  int32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+#define __USAT16(ARG1,ARG2) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("usat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+__STATIC_FORCEINLINE uint32_t __UXTB16(uint32_t op1)
+{
+  uint32_t result;
+
+  __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1));
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SXTB16(uint32_t op1)
+{
+  uint32_t result;
+
+  __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1));
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUAD  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc)
+{
+  union llreg_u{
+    uint32_t w32[2];
+    uint64_t w64;
+  } llr;
+  llr.w64 = acc;
+
+#ifndef __ARMEB__   /* Little endian */
+  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
+#else               /* Big endian */
+  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
+#endif
+
+  return(llr.w64);
+}
+
+__STATIC_FORCEINLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc)
+{
+  union llreg_u{
+    uint32_t w32[2];
+    uint64_t w64;
+  } llr;
+  llr.w64 = acc;
+
+#ifndef __ARMEB__   /* Little endian */
+  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
+#else               /* Big endian */
+  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
+#endif
+
+  return(llr.w64);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUSD  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc)
+{
+  union llreg_u{
+    uint32_t w32[2];
+    uint64_t w64;
+  } llr;
+  llr.w64 = acc;
+
+#ifndef __ARMEB__   /* Little endian */
+  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
+#else               /* Big endian */
+  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
+#endif
+
+  return(llr.w64);
+}
+
+__STATIC_FORCEINLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc)
+{
+  union llreg_u{
+    uint32_t w32[2];
+    uint64_t w64;
+  } llr;
+  llr.w64 = acc;
+
+#ifndef __ARMEB__   /* Little endian */
+  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
+#else               /* Big endian */
+  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
+#endif
+
+  return(llr.w64);
+}
+
+__STATIC_FORCEINLINE uint32_t __SEL  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE  int32_t __QADD( int32_t op1,  int32_t op2)
+{
+  int32_t result;
+
+  __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE  int32_t __QSUB( int32_t op1,  int32_t op2)
+{
+  int32_t result;
+
+  __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+#if 0
+#define __PKHBT(ARG1,ARG2,ARG3) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
+  __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
+  __RES; \
+ })
+
+#define __PKHTB(ARG1,ARG2,ARG3) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
+  if (ARG3 == 0) \
+    __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2)  ); \
+  else \
+    __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
+  __RES; \
+ })
+#endif
+
+#define __PKHBT(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0x0000FFFFUL) |  \
+                                           ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL)  )
+
+#define __PKHTB(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0xFFFF0000UL) |  \
+                                           ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL)  )
+
+__STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3)
+{
+ int32_t result;
+
+ __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r"  (op1), "r" (op2), "r" (op3) );
+ return(result);
+}
+
+#endif /* (__ARM_FEATURE_DSP == 1) */
+/*@} end of group CMSIS_SIMD_intrinsics */
+
+
+#pragma GCC diagnostic pop
+
+#endif /* __CMSIS_GCC_H */
+
diff --git a/panda/board/inc/cmsis_version.h b/panda/board/stm32fx/inc/cmsis_version.h
similarity index 100%
rename from panda/board/inc/cmsis_version.h
rename to panda/board/stm32fx/inc/cmsis_version.h
diff --git a/panda/board/inc/core_cm3.h b/panda/board/stm32fx/inc/core_cm3.h
similarity index 100%
rename from panda/board/inc/core_cm3.h
rename to panda/board/stm32fx/inc/core_cm3.h
diff --git a/panda/board/inc/core_cm4.h b/panda/board/stm32fx/inc/core_cm4.h
similarity index 100%
rename from panda/board/inc/core_cm4.h
rename to panda/board/stm32fx/inc/core_cm4.h
diff --git a/panda/board/inc/mpu_armv7.h b/panda/board/stm32fx/inc/mpu_armv7.h
similarity index 98%
rename from panda/board/inc/mpu_armv7.h
rename to panda/board/stm32fx/inc/mpu_armv7.h
index ef8e6810ca42ff..e72cc4623db517 100644
--- a/panda/board/inc/mpu_armv7.h
+++ b/panda/board/stm32fx/inc/mpu_armv7.h
@@ -21,13 +21,13 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
- 
+
 #if   defined ( __ICCARM__ )
   #pragma system_include         /* treat file as system include file for MISRA check */
 #elif defined (__clang__)
   #pragma clang system_header    /* treat file as system include file */
 #endif
- 
+
 #ifndef ARM_MPU_ARMV7_H
 #define ARM_MPU_ARMV7_H
 
@@ -79,12 +79,12 @@
 
 /**
 * MPU Memory Access Attributes
-* 
+*
 * \param TypeExtField      Type extension field, allows you to configure memory access type, for example strongly ordered, peripheral.
 * \param IsShareable       Region is shareable between multiple bus masters.
 * \param IsCacheable       Region is cacheable, i.e. its value may be kept in cache.
 * \param IsBufferable      Region is bufferable, i.e. using write-back caching. Cacheable but non-bufferable regions use write-through policy.
-*/  
+*/
 #define ARM_MPU_ACCESS_(TypeExtField, IsShareable, IsCacheable, IsBufferable)   \
   ((((TypeExtField) << MPU_RASR_TEX_Pos) & MPU_RASR_TEX_Msk)                  | \
    (((IsShareable)  << MPU_RASR_S_Pos)   & MPU_RASR_S_Msk)                    | \
@@ -93,7 +93,7 @@
 
 /**
 * MPU Region Attribute and Size Register Value
-* 
+*
 * \param DisableExec       Instruction access disable bit, 1= disable instruction fetches.
 * \param AccessPermission  Data access permissions, allows you to configure read/write access for User and Privileged mode.
 * \param AccessAttributes  Memory access attribution, see \ref ARM_MPU_ACCESS_.
@@ -110,7 +110,7 @@
 
 /**
 * MPU Region Attribute and Size Register Value
-* 
+*
 * \param DisableExec       Instruction access disable bit, 1= disable instruction fetches.
 * \param AccessPermission  Data access permissions, allows you to configure read/write access for User and Privileged mode.
 * \param TypeExtField      Type extension field, allows you to configure memory access type, for example strongly ordered, peripheral.
@@ -119,7 +119,7 @@
 * \param IsBufferable      Region is bufferable, i.e. using write-back caching. Cacheable but non-bufferable regions use write-through policy.
 * \param SubRegionDisable  Sub-region disable field.
 * \param Size              Region size of the region to be configured, for example 4K, 8K.
-*/                         
+*/
 #define ARM_MPU_RASR(DisableExec, AccessPermission, TypeExtField, IsShareable, IsCacheable, IsBufferable, SubRegionDisable, Size) \
   ARM_MPU_RASR_EX(DisableExec, AccessPermission, ARM_MPU_ACCESS_(TypeExtField, IsShareable, IsCacheable, IsBufferable), SubRegionDisable, Size)
 
@@ -129,7 +129,7 @@
 *  - Shareable
 *  - Non-cacheable
 *  - Non-bufferable
-*/ 
+*/
 #define ARM_MPU_ACCESS_ORDERED ARM_MPU_ACCESS_(0U, 1U, 0U, 0U)
 
 /**
@@ -140,7 +140,7 @@
 *  - Bufferable (if shareable) or non-bufferable (if non-shareable)
 *
 * \param IsShareable Configures the device memory as shareable or non-shareable.
-*/ 
+*/
 #define ARM_MPU_ACCESS_DEVICE(IsShareable) ((IsShareable) ? ARM_MPU_ACCESS_(0U, 1U, 0U, 1U) : ARM_MPU_ACCESS_(2U, 0U, 0U, 0U))
 
 /**
@@ -153,7 +153,7 @@
 * \param OuterCp Configures the outer cache policy.
 * \param InnerCp Configures the inner cache policy.
 * \param IsShareable Configures the memory as shareable or non-shareable.
-*/ 
+*/
 #define ARM_MPU_ACCESS_NORMAL(OuterCp, InnerCp, IsShareable) ARM_MPU_ACCESS_((4U | (OuterCp)), IsShareable, ((InnerCp) & 2U), ((InnerCp) & 1U))
 
 /**
@@ -184,7 +184,7 @@ typedef struct {
   uint32_t RBAR; //!< The region base address register value (RBAR)
   uint32_t RASR; //!< The region attribute and size register value (RASR) \ref MPU_RASR
 } ARM_MPU_Region_t;
-    
+
 /** Enable the MPU.
 * \param MPU_Control Default access permissions for unconfigured regions.
 */
@@ -221,7 +221,7 @@ __STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr)
 /** Configure an MPU region.
 * \param rbar Value for RBAR register.
 * \param rsar Value for RSAR register.
-*/   
+*/
 __STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rbar, uint32_t rasr)
 {
   MPU->RBAR = rbar;
@@ -232,7 +232,7 @@ __STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rbar, uint32_t rasr)
 * \param rnr Region number to be configured.
 * \param rbar Value for RBAR register.
 * \param rsar Value for RSAR register.
-*/   
+*/
 __STATIC_INLINE void ARM_MPU_SetRegionEx(uint32_t rnr, uint32_t rbar, uint32_t rasr)
 {
   MPU->RNR = rnr;
@@ -248,7 +248,7 @@ __STATIC_INLINE void ARM_MPU_SetRegionEx(uint32_t rnr, uint32_t rbar, uint32_t r
 __STATIC_INLINE void ARM_MPU_OrderedMemcpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len)
 {
   uint32_t i;
-  for (i = 0U; i < len; ++i) 
+  for (i = 0U; i < len; ++i)
   {
     dst[i] = src[i];
   }
@@ -258,7 +258,7 @@ __STATIC_INLINE void ARM_MPU_OrderedMemcpy(volatile uint32_t* dst, const uint32_
 * \param table Pointer to the MPU configuration table.
 * \param cnt Amount of regions to be configured.
 */
-__STATIC_INLINE void ARM_MPU_Load(ARM_MPU_Region_t const* table, uint32_t cnt) 
+__STATIC_INLINE void ARM_MPU_Load(ARM_MPU_Region_t const* table, uint32_t cnt)
 {
   const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U;
   while (cnt > MPU_TYPE_RALIASES) {
diff --git a/panda/board/inc/stm32f205xx.h b/panda/board/stm32fx/inc/stm32f205xx.h
similarity index 100%
rename from panda/board/inc/stm32f205xx.h
rename to panda/board/stm32fx/inc/stm32f205xx.h
diff --git a/panda/board/inc/stm32f2xx.h b/panda/board/stm32fx/inc/stm32f2xx.h
similarity index 94%
rename from panda/board/inc/stm32f2xx.h
rename to panda/board/stm32fx/inc/stm32f2xx.h
index 19981d4932658c..39346c64c0725e 100644
--- a/panda/board/inc/stm32f2xx.h
+++ b/panda/board/stm32fx/inc/stm32f2xx.h
@@ -10,8 +10,8 @@
   *          is using in the C source code, usually in main.c. This file contains:
   *           - Configuration section that allows to select:
   *              - The STM32F2xx device used in the target application
-  *              - To use or not the peripheral�s drivers in application code(i.e.
-  *                code will be based on direct access to peripheral�s registers
+  *              - To use or not the peripheral’s drivers in application code(i.e.
+  *                code will be based on direct access to peripheral’s registers
   *                rather than drivers API), this option is controlled by
   *                "#define USE_HAL_DRIVER"
   *
@@ -74,7 +74,7 @@
 /* Uncomment the line below according to the target STM32 device used in your
    application
   */
-#if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
+/* #if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx) */
 
   /* #define STM32F205xx */   /*!< STM32F205RG, STM32F205VG, STM32F205ZG, STM32F205RF, STM32F205VF, STM32F205ZF,
                                    STM32F205RE, STM32F205VE, STM32F205ZE, STM32F205RC, STM32F205VC, STM32F205ZC,
@@ -84,7 +84,7 @@
                                    STM32F207VE, STM32F207ZE, STM32F207IE, STM32F207VC, STM32F207ZC and STM32F207IC Devices */
   /* #define STM32F217xx */   /*!< STM32F217VG, STM32F217ZG, STM32F217IG, STM32F217VE, STM32F217ZE and STM32F217IE Devices */
 
-#endif
+//#endif
 
 /*  Tip: To avoid modifying this file each time you need to switch between these
         devices, you can define the device in your toolchain compiler preprocessor.
@@ -118,14 +118,14 @@
   * @{
   */
 
-#if defined(STM32F205xx)
-  #include "stm32f205xx.h"
-#elif defined(STM32F215xx)
+#if defined(STM32F215xx)
   #include "stm32f215xx.h"
-#elif defined(STM32F207xx)
-  #include "stm32f207xx.h"
-#elif defined(STM32F217xx)
-  #include "stm32f217xx.h"
+#elif defined(STM32F205xx)
+  #include "stm32f205xx.h"
+// #elif defined(STM32F207xx)
+//   #include "stm32f207xx.h"
+// #elif defined(STM32F217xx)
+//   #include "stm32f217xx.h"
 #else
  #error "Please select first the target STM32F2xx device used in your application (in stm32f2xx.h file)"
 #endif
diff --git a/panda/board/inc/stm32f2xx_hal_def.h b/panda/board/stm32fx/inc/stm32f2xx_hal_def.h
similarity index 100%
rename from panda/board/inc/stm32f2xx_hal_def.h
rename to panda/board/stm32fx/inc/stm32f2xx_hal_def.h
diff --git a/panda/board/inc/stm32f2xx_hal_gpio_ex.h b/panda/board/stm32fx/inc/stm32f2xx_hal_gpio_ex.h
similarity index 100%
rename from panda/board/inc/stm32f2xx_hal_gpio_ex.h
rename to panda/board/stm32fx/inc/stm32f2xx_hal_gpio_ex.h
diff --git a/panda/board/inc/stm32f413xx.h b/panda/board/stm32fx/inc/stm32f413xx.h
similarity index 100%
rename from panda/board/inc/stm32f413xx.h
rename to panda/board/stm32fx/inc/stm32f413xx.h
diff --git a/panda/board/inc/stm32f4xx.h b/panda/board/stm32fx/inc/stm32f4xx.h
similarity index 85%
rename from panda/board/inc/stm32f4xx.h
rename to panda/board/stm32fx/inc/stm32f4xx.h
index 092d8acec4b930..ae7b366af1f248 100644
--- a/panda/board/inc/stm32f4xx.h
+++ b/panda/board/stm32fx/inc/stm32f4xx.h
@@ -10,8 +10,8 @@
   *          is using in the C source code, usually in main.c. This file contains:
   *           - Configuration section that allows to select:
   *              - The STM32F4xx device used in the target application
-  *              - To use or not the peripheral�s drivers in application code(i.e.
-  *                code will be based on direct access to peripheral�s registers
+  *              - To use or not the peripheral’s drivers in application code(i.e.
+  *                code will be based on direct access to peripheral’s registers
   *                rather than drivers API), this option is controlled by
   *                "#define USE_HAL_DRIVER"
   *
@@ -74,12 +74,12 @@
 /* Uncomment the line below according to the target STM32 device used in your
    application
   */
-#if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \
+/* #if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \
     !defined (STM32F427xx) && !defined (STM32F437xx) && !defined (STM32F429xx) && !defined (STM32F439xx) && \
     !defined (STM32F401xC) && !defined (STM32F401xE) && !defined (STM32F410Tx) && !defined (STM32F410Cx) && \
     !defined (STM32F410Rx) && !defined (STM32F411xE) && !defined (STM32F446xx) && !defined (STM32F469xx) && \
     !defined (STM32F479xx) && !defined (STM32F412Cx) && !defined (STM32F412Rx) && !defined (STM32F412Vx) && \
-    !defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx)
+    !defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx) */
   /* #define STM32F405xx */   /*!< STM32F405RG, STM32F405VG and STM32F405ZG Devices */
   /* #define STM32F415xx */   /*!< STM32F415RG, STM32F415VG and STM32F415ZG Devices */
   /* #define STM32F407xx */   /*!< STM32F407VG, STM32F407VE, STM32F407ZG, STM32F407ZE, STM32F407IG  and STM32F407IE Devices */
@@ -109,7 +109,7 @@
   /* #define STM32F413xx */   /*!< STM32F413CH, STM32F413MH, STM32F413RH, STM32F413VH, STM32F413ZH, STM32F413CG, STM32F413MG,
                                    STM32F413RG, STM32F413VG and STM32F413ZG Devices */
   /* #define STM32F423xx */   /*!< STM32F423CH, STM32F423RH, STM32F423VH and STM32F423ZH Devices */
-#endif
+//#endif
 
 /*  Tip: To avoid modifying this file each time you need to switch between these
         devices, you can define the device in your toolchain compiler preprocessor.
@@ -143,51 +143,51 @@
   * @{
   */
 
-#if defined(STM32F405xx)
-  #include "stm32f405xx.h"
-#elif defined(STM32F415xx)
-  #include "stm32f415xx.h"
-#elif defined(STM32F407xx)
-  #include "stm32f407xx.h"
-#elif defined(STM32F417xx)
-  #include "stm32f417xx.h"
-#elif defined(STM32F427xx)
-  #include "stm32f427xx.h"
-#elif defined(STM32F437xx)
-  #include "stm32f437xx.h"
-#elif defined(STM32F429xx)
-  #include "stm32f429xx.h"
-#elif defined(STM32F439xx)
-  #include "stm32f439xx.h"
-#elif defined(STM32F401xC)
-  #include "stm32f401xc.h"
-#elif defined(STM32F401xE)
-  #include "stm32f401xe.h"
-#elif defined(STM32F410Tx)
-  #include "stm32f410tx.h"
-#elif defined(STM32F410Cx)
-  #include "stm32f410cx.h"
-#elif defined(STM32F410Rx)
-  #include "stm32f410rx.h"
-#elif defined(STM32F411xE)
-  #include "stm32f411xe.h"
-#elif defined(STM32F446xx)
-  #include "stm32f446xx.h"
-#elif defined(STM32F469xx)
-  #include "stm32f469xx.h"
-#elif defined(STM32F479xx)
-  #include "stm32f479xx.h"
-#elif defined(STM32F412Cx)
-  #include "stm32f412cx.h"
-#elif defined(STM32F412Zx)
-  #include "stm32f412zx.h"
-#elif defined(STM32F412Rx)
-  #include "stm32f412rx.h"
-#elif defined(STM32F412Vx)
-  #include "stm32f412vx.h"
-#elif defined(STM32F413xx)
+// #if defined(STM32F405xx)
+//   #include "stm32f405xx.h"
+// #elif defined(STM32F415xx)
+//   #include "stm32f415xx.h"
+// #elif defined(STM32F407xx)
+//   #include "stm32f407xx.h"
+// #elif defined(STM32F417xx)
+//   #include "stm32f417xx.h"
+// #elif defined(STM32F427xx)
+//   #include "stm32f427xx.h"
+// #elif defined(STM32F437xx)
+//   #include "stm32f437xx.h"
+// #elif defined(STM32F429xx)
+//   #include "stm32f429xx.h"
+// #elif defined(STM32F439xx)
+//   #include "stm32f439xx.h"
+// #elif defined(STM32F401xC)
+//   #include "stm32f401xc.h"
+// #elif defined(STM32F401xE)
+//   #include "stm32f401xe.h"
+// #elif defined(STM32F410Tx)
+//   #include "stm32f410tx.h"
+// #elif defined(STM32F410Cx)
+//   #include "stm32f410cx.h"
+// #elif defined(STM32F410Rx)
+//   #include "stm32f410rx.h"
+// #elif defined(STM32F411xE)
+//   #include "stm32f411xe.h"
+// #elif defined(STM32F446xx)
+//   #include "stm32f446xx.h"
+// #elif defined(STM32F469xx)
+//   #include "stm32f469xx.h"
+// #elif defined(STM32F479xx)
+//   #include "stm32f479xx.h"
+// #elif defined(STM32F412Cx)
+//   #include "stm32f412cx.h"
+// #elif defined(STM32F412Zx)
+//   #include "stm32f412zx.h"
+// #elif defined(STM32F412Rx)
+//   #include "stm32f412rx.h"
+// #elif defined(STM32F412Vx)
+//   #include "stm32f412vx.h"
+#if defined(STM32F413xx)
   #include "stm32f413xx.h"
-#elif defined(STM32F423xx)
+ #elif defined(STM32F423xx)
   #include "stm32f423xx.h"
 #else
  #error "Please select first the target STM32F4xx device used in your application (in stm32f4xx.h file)"
diff --git a/panda/board/inc/stm32f4xx_hal_def.h b/panda/board/stm32fx/inc/stm32f4xx_hal_def.h
similarity index 100%
rename from panda/board/inc/stm32f4xx_hal_def.h
rename to panda/board/stm32fx/inc/stm32f4xx_hal_def.h
diff --git a/panda/board/inc/stm32f4xx_hal_gpio_ex.h b/panda/board/stm32fx/inc/stm32f4xx_hal_gpio_ex.h
similarity index 100%
rename from panda/board/inc/stm32f4xx_hal_gpio_ex.h
rename to panda/board/stm32fx/inc/stm32f4xx_hal_gpio_ex.h
diff --git a/panda/board/inc/system_stm32f2xx.h b/panda/board/stm32fx/inc/system_stm32f2xx.h
similarity index 100%
rename from panda/board/inc/system_stm32f2xx.h
rename to panda/board/stm32fx/inc/system_stm32f2xx.h
diff --git a/panda/board/inc/system_stm32f4xx.h b/panda/board/stm32fx/inc/system_stm32f4xx.h
similarity index 100%
rename from panda/board/inc/system_stm32f4xx.h
rename to panda/board/stm32fx/inc/system_stm32f4xx.h
diff --git a/panda/board/stm32fx/interrupt_handlers.h b/panda/board/stm32fx/interrupt_handlers.h
new file mode 100644
index 00000000000000..3b40f4ee527a6c
--- /dev/null
+++ b/panda/board/stm32fx/interrupt_handlers.h
@@ -0,0 +1,100 @@
+// ********************* Bare interrupt handlers *********************
+// Only implemented the STM32F413 interrupts for now, the STM32F203 specific ones do not fall into the scope of SIL2
+
+void WWDG_IRQHandler(void) {handle_interrupt(WWDG_IRQn);}
+void PVD_IRQHandler(void) {handle_interrupt(PVD_IRQn);}
+void TAMP_STAMP_IRQHandler(void) {handle_interrupt(TAMP_STAMP_IRQn);}
+void RTC_WKUP_IRQHandler(void) {handle_interrupt(RTC_WKUP_IRQn);}
+void FLASH_IRQHandler(void) {handle_interrupt(FLASH_IRQn);}
+void RCC_IRQHandler(void) {handle_interrupt(RCC_IRQn);}
+void EXTI0_IRQHandler(void) {handle_interrupt(EXTI0_IRQn);}
+void EXTI1_IRQHandler(void) {handle_interrupt(EXTI1_IRQn);}
+void EXTI2_IRQHandler(void) {handle_interrupt(EXTI2_IRQn);}
+void EXTI3_IRQHandler(void) {handle_interrupt(EXTI3_IRQn);}
+void EXTI4_IRQHandler(void) {handle_interrupt(EXTI4_IRQn);}
+void DMA1_Stream0_IRQHandler(void) {handle_interrupt(DMA1_Stream0_IRQn);}
+void DMA1_Stream1_IRQHandler(void) {handle_interrupt(DMA1_Stream1_IRQn);}
+void DMA1_Stream2_IRQHandler(void) {handle_interrupt(DMA1_Stream2_IRQn);}
+void DMA1_Stream3_IRQHandler(void) {handle_interrupt(DMA1_Stream3_IRQn);}
+void DMA1_Stream4_IRQHandler(void) {handle_interrupt(DMA1_Stream4_IRQn);}
+void DMA1_Stream5_IRQHandler(void) {handle_interrupt(DMA1_Stream5_IRQn);}
+void DMA1_Stream6_IRQHandler(void) {handle_interrupt(DMA1_Stream6_IRQn);}
+void ADC_IRQHandler(void) {handle_interrupt(ADC_IRQn);}
+void CAN1_TX_IRQHandler(void) {handle_interrupt(CAN1_TX_IRQn);}
+void CAN1_RX0_IRQHandler(void) {handle_interrupt(CAN1_RX0_IRQn);}
+void CAN1_RX1_IRQHandler(void) {handle_interrupt(CAN1_RX1_IRQn);}
+void CAN1_SCE_IRQHandler(void) {handle_interrupt(CAN1_SCE_IRQn);}
+void EXTI9_5_IRQHandler(void) {handle_interrupt(EXTI9_5_IRQn);}
+void TIM1_BRK_TIM9_IRQHandler(void) {handle_interrupt(TIM1_BRK_TIM9_IRQn);}
+void TIM1_UP_TIM10_IRQHandler(void) {handle_interrupt(TIM1_UP_TIM10_IRQn);}
+void TIM1_TRG_COM_TIM11_IRQHandler(void) {handle_interrupt(TIM1_TRG_COM_TIM11_IRQn);}
+void TIM1_CC_IRQHandler(void) {handle_interrupt(TIM1_CC_IRQn);}
+void TIM2_IRQHandler(void) {handle_interrupt(TIM2_IRQn);}
+void TIM3_IRQHandler(void) {handle_interrupt(TIM3_IRQn);}
+void TIM4_IRQHandler(void) {handle_interrupt(TIM4_IRQn);}
+void I2C1_EV_IRQHandler(void) {handle_interrupt(I2C1_EV_IRQn);}
+void I2C1_ER_IRQHandler(void) {handle_interrupt(I2C1_ER_IRQn);}
+void I2C2_EV_IRQHandler(void) {handle_interrupt(I2C2_EV_IRQn);}
+void I2C2_ER_IRQHandler(void) {handle_interrupt(I2C2_ER_IRQn);}
+void SPI1_IRQHandler(void) {handle_interrupt(SPI1_IRQn);}
+void SPI2_IRQHandler(void) {handle_interrupt(SPI2_IRQn);}
+void USART1_IRQHandler(void) {handle_interrupt(USART1_IRQn);}
+void USART2_IRQHandler(void) {handle_interrupt(USART2_IRQn);}
+void USART3_IRQHandler(void) {handle_interrupt(USART3_IRQn);}
+void EXTI15_10_IRQHandler(void) {handle_interrupt(EXTI15_10_IRQn);}
+void RTC_Alarm_IRQHandler(void) {handle_interrupt(RTC_Alarm_IRQn);}
+void OTG_FS_WKUP_IRQHandler(void) {handle_interrupt(OTG_FS_WKUP_IRQn);}
+void TIM8_BRK_TIM12_IRQHandler(void) {handle_interrupt(TIM8_BRK_TIM12_IRQn);}
+void TIM8_UP_TIM13_IRQHandler(void) {handle_interrupt(TIM8_UP_TIM13_IRQn);}
+void TIM8_TRG_COM_TIM14_IRQHandler(void) {handle_interrupt(TIM8_TRG_COM_TIM14_IRQn);}
+void TIM8_CC_IRQHandler(void) {handle_interrupt(TIM8_CC_IRQn);}
+void DMA1_Stream7_IRQHandler(void) {handle_interrupt(DMA1_Stream7_IRQn);}
+void FSMC_IRQHandler(void) {handle_interrupt(FSMC_IRQn);}
+void SDIO_IRQHandler(void) {handle_interrupt(SDIO_IRQn);}
+void TIM5_IRQHandler(void) {handle_interrupt(TIM5_IRQn);}
+void SPI3_IRQHandler(void) {handle_interrupt(SPI3_IRQn);}
+void UART4_IRQHandler(void) {handle_interrupt(UART4_IRQn);}
+void UART5_IRQHandler(void) {handle_interrupt(UART5_IRQn);}
+void TIM6_DAC_IRQHandler(void) {handle_interrupt(TIM6_DAC_IRQn);}
+void TIM7_IRQHandler(void) {handle_interrupt(TIM7_IRQn);}
+void DMA2_Stream0_IRQHandler(void) {handle_interrupt(DMA2_Stream0_IRQn);}
+void DMA2_Stream1_IRQHandler(void) {handle_interrupt(DMA2_Stream1_IRQn);}
+void DMA2_Stream2_IRQHandler(void) {handle_interrupt(DMA2_Stream2_IRQn);}
+void DMA2_Stream3_IRQHandler(void) {handle_interrupt(DMA2_Stream3_IRQn);}
+void DMA2_Stream4_IRQHandler(void) {handle_interrupt(DMA2_Stream4_IRQn);}
+void CAN2_TX_IRQHandler(void) {handle_interrupt(CAN2_TX_IRQn);}
+void CAN2_RX0_IRQHandler(void) {handle_interrupt(CAN2_RX0_IRQn);}
+void CAN2_RX1_IRQHandler(void) {handle_interrupt(CAN2_RX1_IRQn);}
+void CAN2_SCE_IRQHandler(void) {handle_interrupt(CAN2_SCE_IRQn);}
+void OTG_FS_IRQHandler(void) {handle_interrupt(OTG_FS_IRQn);}
+void DMA2_Stream5_IRQHandler(void) {handle_interrupt(DMA2_Stream5_IRQn);}
+void DMA2_Stream6_IRQHandler(void) {handle_interrupt(DMA2_Stream6_IRQn);}
+void DMA2_Stream7_IRQHandler(void) {handle_interrupt(DMA2_Stream7_IRQn);}
+void USART6_IRQHandler(void) {handle_interrupt(USART6_IRQn);}
+void I2C3_EV_IRQHandler(void) {handle_interrupt(I2C3_EV_IRQn);}
+void I2C3_ER_IRQHandler(void) {handle_interrupt(I2C3_ER_IRQn);}
+#ifdef STM32F4
+  void DFSDM1_FLT0_IRQHandler(void) {handle_interrupt(DFSDM1_FLT0_IRQn);}
+  void DFSDM1_FLT1_IRQHandler(void) {handle_interrupt(DFSDM1_FLT1_IRQn);}
+  void CAN3_TX_IRQHandler(void) {handle_interrupt(CAN3_TX_IRQn);}
+  void CAN3_RX0_IRQHandler(void) {handle_interrupt(CAN3_RX0_IRQn);}
+  void CAN3_RX1_IRQHandler(void) {handle_interrupt(CAN3_RX1_IRQn);}
+  void CAN3_SCE_IRQHandler(void) {handle_interrupt(CAN3_SCE_IRQn);}
+  void RNG_IRQHandler(void) {handle_interrupt(RNG_IRQn);}
+  void FPU_IRQHandler(void) {handle_interrupt(FPU_IRQn);}
+  void UART7_IRQHandler(void) {handle_interrupt(UART7_IRQn);}
+  void UART8_IRQHandler(void) {handle_interrupt(UART8_IRQn);}
+  void SPI4_IRQHandler(void) {handle_interrupt(SPI4_IRQn);}
+  void SPI5_IRQHandler(void) {handle_interrupt(SPI5_IRQn);}
+  void SAI1_IRQHandler(void) {handle_interrupt(SAI1_IRQn);}
+  void UART9_IRQHandler(void) {handle_interrupt(UART9_IRQn);}
+  void UART10_IRQHandler(void) {handle_interrupt(UART10_IRQn);}
+  void QUADSPI_IRQHandler(void) {handle_interrupt(QUADSPI_IRQn);}
+  void FMPI2C1_EV_IRQHandler(void) {handle_interrupt(FMPI2C1_EV_IRQn);}
+  void FMPI2C1_ER_IRQHandler(void) {handle_interrupt(FMPI2C1_ER_IRQn);}
+  void LPTIM1_IRQHandler(void) {handle_interrupt(LPTIM1_IRQn);}
+  void DFSDM2_FLT0_IRQHandler(void) {handle_interrupt(DFSDM2_FLT0_IRQn);}
+  void DFSDM2_FLT1_IRQHandler(void) {handle_interrupt(DFSDM2_FLT1_IRQn);}
+  void DFSDM2_FLT2_IRQHandler(void) {handle_interrupt(DFSDM2_FLT2_IRQn);}
+  void DFSDM2_FLT3_IRQHandler(void) {handle_interrupt(DFSDM2_FLT3_IRQn);}
+#endif
diff --git a/panda/board/stm32fx/lladc.h b/panda/board/stm32fx/lladc.h
new file mode 100644
index 00000000000000..2ae14a2dcbd684
--- /dev/null
+++ b/panda/board/stm32fx/lladc.h
@@ -0,0 +1,40 @@
+// ACCEL1 = ADC10
+// ACCEL2 = ADC11
+// VOLT_S = ADC12
+// CURR_S = ADC13
+
+#define ADCCHAN_ACCEL0 10
+#define ADCCHAN_ACCEL1 11
+#define ADCCHAN_VOLTAGE 12
+#define ADCCHAN_CURRENT 13
+
+void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask);
+
+void adc_init(void) {
+  register_set(&(ADC->CCR), ADC_CCR_TSVREFE | ADC_CCR_VBATE, 0xC30000U);
+  register_set(&(ADC1->CR2), ADC_CR2_ADON, 0xFF7F0F03U);
+  register_set(&(ADC1->SMPR1), ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13, 0x7FFFFFFU);
+}
+
+uint32_t adc_get(unsigned int channel) {
+  // Select channel
+  register_set(&(ADC1->JSQR), (channel << 15U), 0x3FFFFFU);
+
+  // Start conversion
+  ADC1->SR &= ~(ADC_SR_JEOC);
+  ADC1->CR2 |= ADC_CR2_JSWSTART;
+  while (!(ADC1->SR & ADC_SR_JEOC));
+
+  return ADC1->JDR1;
+}
+
+uint32_t adc_get_voltage(void) {
+  // REVC has a 10, 1 (1/11) voltage divider
+  // Here is the calculation for the scale (s)
+  // ADCV = VIN_S * (1/11) * (4095/3.3)
+  // RETVAL = ADCV * s = VIN_S*1000
+  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
+
+  // Avoid needing floating point math, so output in mV
+  return (adc_get(ADCCHAN_VOLTAGE) * 8862U) / 1000U;
+}
diff --git a/panda/board/stm32fx/llbxcan.h b/panda/board/stm32fx/llbxcan.h
new file mode 100644
index 00000000000000..f1d5187cb205fb
--- /dev/null
+++ b/panda/board/stm32fx/llbxcan.h
@@ -0,0 +1,128 @@
+// this is needed for 1 mbps support
+#define CAN_QUANTA 8U
+#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
+#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
+
+#define CAN_PCLK 24000U
+// 333 = 33.3 kbps
+// 5000 = 500 kbps
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
+
+#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==CAN1) ? "CAN1" : (((CAN_DEV) == CAN2) ? "CAN2" : "CAN3"))
+
+void puts(const char *a);
+
+bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
+  bool ret = true;
+
+  // initialization mode
+  register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_INRQ, 0x180FFU);
+  uint32_t timeout_counter = 0U;
+  while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){
+    // Delay for about 1ms
+    delay(10000);
+    timeout_counter++;
+
+    if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+      puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" set_speed timed out (1)!\n");
+      ret = false;
+      break;
+    }
+  }
+
+  if(ret){
+    // set time quanta from defines
+    register_set(&(CAN_obj->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+              (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+              (can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU);
+
+    // silent loopback mode for debugging
+    if (loopback) {
+      register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM | CAN_BTR_LBKM);
+    }
+    if (silent) {
+      register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM);
+    }
+
+    // reset
+    register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_ABOM, 0x180FFU);
+
+    timeout_counter = 0U;
+    while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
+      // Delay for about 1ms
+      delay(10000);
+      timeout_counter++;
+
+      if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+        puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" set_speed timed out (2)!\n");
+        ret = false;
+        break;
+      }
+    }
+  }
+
+  return ret;
+}
+
+bool llcan_init(CAN_TypeDef *CAN_obj) {
+  bool ret = true;
+
+  // Enter init mode
+  register_set_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
+
+  // Wait for INAK bit to be set
+  uint32_t timeout_counter = 0U;
+  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
+    // Delay for about 1ms
+    delay(10000);
+    timeout_counter++;
+
+    if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
+      puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" initialization timed out!\n");
+      ret = false;
+      break;
+    }
+  }
+
+  if(ret){
+    // no mask
+    // For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters.
+    CAN_obj->sFilterRegister[0].FR1 = 0U;
+    CAN_obj->sFilterRegister[0].FR2 = 0U;
+    CAN_obj->sFilterRegister[14].FR1 = 0U;
+    CAN_obj->sFilterRegister[14].FR2 = 0U;
+    CAN_obj->FA1R |= 1U | (1U << 14);
+
+    // Exit init mode, do not wait
+    register_clear_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
+
+    // enable certain CAN interrupts
+    register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE);
+
+    if (CAN_obj == CAN1) {
+      NVIC_EnableIRQ(CAN1_TX_IRQn);
+      NVIC_EnableIRQ(CAN1_RX0_IRQn);
+      NVIC_EnableIRQ(CAN1_SCE_IRQn);
+    } else if (CAN_obj == CAN2) {
+      NVIC_EnableIRQ(CAN2_TX_IRQn);
+      NVIC_EnableIRQ(CAN2_RX0_IRQn);
+      NVIC_EnableIRQ(CAN2_SCE_IRQn);
+    #ifdef CAN3
+      } else if (CAN_obj == CAN3) {
+        NVIC_EnableIRQ(CAN3_TX_IRQn);
+        NVIC_EnableIRQ(CAN3_RX0_IRQn);
+        NVIC_EnableIRQ(CAN3_SCE_IRQn);
+    #endif
+    } else {
+      puts("Invalid CAN: initialization failed\n");
+    }
+  }
+  return ret;
+}
+
+void llcan_clear_send(CAN_TypeDef *CAN_obj) {
+  CAN_obj->TSR |= CAN_TSR_ABRQ0;
+  register_clear_bits(&(CAN_obj->MSR), CAN_MSR_ERRI);
+  // cppcheck-suppress selfAssignment ; needed to clear the register
+  CAN_obj->MSR = CAN_obj->MSR;
+}
diff --git a/panda/board/stm32fx/lldac.h b/panda/board/stm32fx/lldac.h
new file mode 100644
index 00000000000000..7b2e112bee3604
--- /dev/null
+++ b/panda/board/stm32fx/lldac.h
@@ -0,0 +1,16 @@
+void dac_init(void) {
+  // No buffers required since we have an opamp
+  register_set(&(DAC->DHR12R1), 0U, 0xFFFU);
+  register_set(&(DAC->DHR12R2), 0U, 0xFFFU);
+  register_set(&(DAC->CR), DAC_CR_EN1 | DAC_CR_EN2, 0x3FFF3FFFU);
+}
+
+void dac_set(int channel, uint32_t value) {
+  if (channel == 0) {
+    register_set(&(DAC->DHR12R1), value, 0xFFFU);
+  } else if (channel == 1) {
+    register_set(&(DAC->DHR12R2), value, 0xFFFU);
+  } else {
+    puts("Failed to set DAC: invalid channel value: 0x"); puth(value); puts("\n");
+  }
+}
diff --git a/panda/board/stm32fx/llfan.h b/panda/board/stm32fx/llfan.h
new file mode 100644
index 00000000000000..a9d21f19b4144a
--- /dev/null
+++ b/panda/board/stm32fx/llfan.h
@@ -0,0 +1,23 @@
+// TACH interrupt handler
+void EXTI2_IRQ_Handler(void) {
+    volatile unsigned int pr = EXTI->PR & (1U << 2);
+    if ((pr & (1U << 2)) != 0U) {
+        fan_tach_counter++;
+    }
+    EXTI->PR = (1U << 2);
+}
+
+void fan_init(void){
+    // 5000RPM * 4 tach edges / 60 seconds
+    REGISTER_INTERRUPT(EXTI2_IRQn, EXTI2_IRQ_Handler, 700U, FAULT_INTERRUPT_RATE_TACH)
+
+    // Init PWM speed control
+    pwm_init(TIM3, 3);
+
+    // Init TACH interrupt
+    register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI2_PD, 0xF00U);
+    register_set_bits(&(EXTI->IMR), (1U << 2));
+    register_set_bits(&(EXTI->RTSR), (1U << 2));
+    register_set_bits(&(EXTI->FTSR), (1U << 2));
+    NVIC_EnableIRQ(EXTI2_IRQn);
+}
diff --git a/panda/board/stm32fx/llflash.h b/panda/board/stm32fx/llflash.h
new file mode 100644
index 00000000000000..61adcd4584c3a6
--- /dev/null
+++ b/panda/board/stm32fx/llflash.h
@@ -0,0 +1,28 @@
+bool flash_is_locked(void) {
+  return (FLASH->CR & FLASH_CR_LOCK);
+}
+
+void flash_unlock(void) {
+  FLASH->KEYR = 0x45670123;
+  FLASH->KEYR = 0xCDEF89AB;
+}
+
+bool flash_erase_sector(uint8_t sector, bool unlocked) {
+  // don't erase the bootloader(sector 0)
+  if (sector != 0 && sector < 12 && unlocked) {
+    FLASH->CR = (sector << 3) | FLASH_CR_SER;
+    FLASH->CR |= FLASH_CR_STRT;
+    while (FLASH->SR & FLASH_SR_BSY);
+    return true;
+  }
+  return false;
+}
+
+void flash_write_word(void *prog_ptr, uint32_t data) {
+  uint32_t *pp = prog_ptr;
+  FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
+  *pp = data;
+  while (FLASH->SR & FLASH_SR_BSY);
+}
+
+void flush_write_buffer(void) { }
diff --git a/panda/board/stm32fx/llrtc.h b/panda/board/stm32fx/llrtc.h
new file mode 100644
index 00000000000000..1dc137369251e5
--- /dev/null
+++ b/panda/board/stm32fx/llrtc.h
@@ -0,0 +1,9 @@
+#define RCC_BDCR_MASK (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL | RCC_BDCR_LSEMOD | RCC_BDCR_LSEBYP | RCC_BDCR_LSEON)
+
+void enable_bdomain_protection(void) {
+  register_clear_bits(&(PWR->CR), PWR_CR_DBP);
+}
+
+void disable_bdomain_protection(void) {
+  register_set_bits(&(PWR->CR), PWR_CR_DBP);
+}
diff --git a/panda/board/stm32fx/llspi.h b/panda/board/stm32fx/llspi.h
new file mode 100644
index 00000000000000..d07bce352fbb31
--- /dev/null
+++ b/panda/board/stm32fx/llspi.h
@@ -0,0 +1,131 @@
+// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
+
+void spi_init(void);
+int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
+
+// end API
+
+#define SPI_BUF_SIZE 256
+uint8_t spi_buf[SPI_BUF_SIZE];
+int spi_buf_count = 0;
+int spi_total_count = 0;
+
+void spi_tx_dma(void *addr, int len) {
+  // disable DMA
+  register_clear_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN);
+  register_clear_bits(&(DMA2_Stream3->CR), DMA_SxCR_EN);
+
+  // DMA2, stream 3, channel 3
+  register_set(&(DMA2_Stream3->M0AR), (uint32_t)addr, 0xFFFFFFFFU);
+  DMA2_Stream3->NDTR = len;
+  register_set(&(DMA2_Stream3->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU);
+
+  // channel3, increment memory, memory -> periph, enable
+  register_set(&(DMA2_Stream3->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN), 0x1E077EFEU);
+  delay(0);
+  register_set_bits(&(DMA2_Stream3->CR), DMA_SxCR_TCIE);
+
+  register_set_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN);
+
+  // signal data is ready by driving low
+  // esp must be configured as input by this point
+  set_gpio_output(GPIOB, 0, 0);
+}
+
+void spi_rx_dma(void *addr, int len) {
+  // disable DMA
+  register_clear_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN);
+  register_clear_bits(&(DMA2_Stream2->CR), DMA_SxCR_EN);
+
+  // drain the bus
+  volatile uint8_t dat = SPI1->DR;
+  (void)dat;
+
+  // DMA2, stream 2, channel 3
+  register_set(&(DMA2_Stream2->M0AR), (uint32_t)addr, 0xFFFFFFFFU);
+  DMA2_Stream2->NDTR = len;
+  register_set(&(DMA2_Stream2->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU);
+
+  // channel3, increment memory, periph -> memory, enable
+  register_set(&(DMA2_Stream2->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_EN), 0x1E077EFEU);
+  delay(0);
+  register_set_bits(&(DMA2_Stream2->CR), DMA_SxCR_TCIE);
+
+  register_set_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN);
+}
+
+// ***************************** SPI IRQs *****************************
+// can't go on the stack cause it's DMAed
+uint8_t spi_tx_buf[0x44];
+
+// SPI RX
+void DMA2_Stream2_IRQ_Handler(void) {
+  int *resp_len = (int*)spi_tx_buf;
+  (void)memset(spi_tx_buf, 0xaa, 0x44);
+  *resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
+  #ifdef DEBUG_SPI
+    puts("SPI write: ");
+    puth(*resp_len);
+    puts("\n");
+  #endif
+  spi_tx_dma(spi_tx_buf, *resp_len + 4);
+
+  // ack
+  DMA2->LIFCR = DMA_LIFCR_CTCIF2;
+}
+
+// SPI TX
+void DMA2_Stream3_IRQ_Handler(void) {
+  #ifdef DEBUG_SPI
+    puts("SPI handshake\n");
+  #endif
+
+  // reset handshake back to pull up
+  set_gpio_mode(GPIOB, 0, MODE_INPUT);
+  set_gpio_pullup(GPIOB, 0, PULL_UP);
+
+  // ack
+  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
+}
+
+void EXTI4_IRQ_Handler(void) {
+  volatile unsigned int pr = EXTI->PR & (1U << 4);
+  #ifdef DEBUG_SPI
+    puts("exti4\n");
+  #endif
+  // SPI CS falling
+  if ((pr & (1U << 4)) != 0U) {
+    spi_total_count = 0;
+    spi_rx_dma(spi_buf, 0x14);
+  }
+  EXTI->PR = pr;
+}
+
+// ***************************** SPI init *****************************
+void spi_init(void) {
+  // Max SPI clock the ESP can produce is 80MHz. At buffer size of 256 bytes, that's a max of about 40k buffers per second
+  REGISTER_INTERRUPT(DMA2_Stream2_IRQn, DMA2_Stream2_IRQ_Handler, 50000U, FAULT_INTERRUPT_RATE_SPI_DMA)
+  REGISTER_INTERRUPT(DMA2_Stream3_IRQn, DMA2_Stream3_IRQ_Handler, 50000U, FAULT_INTERRUPT_RATE_SPI_DMA)
+  REGISTER_INTERRUPT(EXTI4_IRQn, EXTI4_IRQ_Handler, 50000U, FAULT_INTERRUPT_RATE_SPI_CS) // TODO: Figure out if this is a reasonable limit
+
+  //puts("SPI init\n");
+  register_set(&(SPI1->CR1), SPI_CR1_SPE, 0xFFFFU);
+
+  // enable SPI interrupts
+  //SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
+  register_set(&(SPI1->CR2), SPI_CR2_RXNEIE, 0xF7U);
+
+  NVIC_EnableIRQ(DMA2_Stream2_IRQn);
+  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  //NVIC_EnableIRQ(SPI1_IRQn);
+
+  // reset handshake back to pull up
+  set_gpio_mode(GPIOB, 0, MODE_INPUT);
+  set_gpio_pullup(GPIOB, 0, PULL_UP);
+
+  // setup interrupt on falling edge of SPI enable (on PA4)
+  register_set(&(SYSCFG->EXTICR[2]), SYSCFG_EXTICR2_EXTI4_PA, 0xFFFFU);
+  register_set_bits(&(EXTI->IMR), (1U << 4));
+  register_set_bits(&(EXTI->FTSR), (1U << 4));
+  NVIC_EnableIRQ(EXTI4_IRQn);
+}
diff --git a/panda/board/stm32fx/lluart.h b/panda/board/stm32fx/lluart.h
new file mode 100644
index 00000000000000..69959a76f5b9c1
--- /dev/null
+++ b/panda/board/stm32fx/lluart.h
@@ -0,0 +1,235 @@
+// ***************************** Interrupt handlers *****************************
+
+void uart_tx_ring(uart_ring *q){
+  ENTER_CRITICAL();
+  // Send out next byte of TX buffer
+  if (q->w_ptr_tx != q->r_ptr_tx) {
+    // Only send if transmit register is empty (aka last byte has been sent)
+    if ((q->uart->SR & USART_SR_TXE) != 0) {
+      q->uart->DR = q->elems_tx[q->r_ptr_tx];   // This clears TXE
+      q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size;
+    }
+
+    // Enable TXE interrupt if there is still data to be sent
+    if(q->r_ptr_tx != q->w_ptr_tx){
+      q->uart->CR1 |= USART_CR1_TXEIE;
+    } else {
+      q->uart->CR1 &= ~USART_CR1_TXEIE;
+    }
+  }
+  EXIT_CRITICAL();
+}
+
+void uart_rx_ring(uart_ring *q){
+  // Do not read out directly if DMA enabled
+  if (q->dma_rx == false) {
+    ENTER_CRITICAL();
+
+    // Read out RX buffer
+    uint8_t c = q->uart->DR;  // This read after reading SR clears a bunch of interrupts
+
+    uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
+    // Do not overwrite buffer data
+    if (next_w_ptr != q->r_ptr_rx) {
+      q->elems_rx[q->w_ptr_rx] = c;
+      q->w_ptr_rx = next_w_ptr;
+      if (q->callback != NULL) {
+        q->callback(q);
+      }
+    }
+
+    EXIT_CRITICAL();
+  }
+}
+
+void uart_send_break(uart_ring *u) {
+  while ((u->uart->CR1 & USART_CR1_SBK) != 0);
+  u->uart->CR1 |= USART_CR1_SBK;
+}
+
+// This function should be called on:
+// * Half-transfer DMA interrupt
+// * Full-transfer DMA interrupt
+// * UART IDLE detection
+uint32_t prev_w_index = 0;
+void dma_pointer_handler(uart_ring *q, uint32_t dma_ndtr) {
+  ENTER_CRITICAL();
+  uint32_t w_index = (q->rx_fifo_size - dma_ndtr);
+
+  // Check for new data
+  if (w_index != prev_w_index){
+    // Check for overflow
+    if (
+      ((prev_w_index < q->r_ptr_rx) && (q->r_ptr_rx <= w_index)) ||                               // No rollover
+      ((w_index < prev_w_index) && ((q->r_ptr_rx <= w_index) || (prev_w_index < q->r_ptr_rx)))    // Rollover
+    ){
+      // We lost data. Set the new read pointer to the oldest byte still available
+      q->r_ptr_rx = (w_index + 1U) % q->rx_fifo_size;
+    }
+
+    // Set write pointer
+    q->w_ptr_rx = w_index;
+  }
+
+  prev_w_index = w_index;
+  EXIT_CRITICAL();
+}
+
+// This read after reading SR clears all error interrupts. We don't want compiler warnings, nor optimizations
+#define UART_READ_DR(uart) volatile uint8_t t = (uart)->DR; UNUSED(t);
+
+void uart_interrupt_handler(uart_ring *q) {
+  ENTER_CRITICAL();
+
+  // Read UART status. This is also the first step necessary in clearing most interrupts
+  uint32_t status = q->uart->SR;
+
+  // If RXNE is set, perform a read. This clears RXNE, ORE, IDLE, NF and FE
+  if((status & USART_SR_RXNE) != 0U){
+    uart_rx_ring(q);
+  }
+
+  // Detect errors and clear them
+  uint32_t err = (status & USART_SR_ORE) | (status & USART_SR_NE) | (status & USART_SR_FE) | (status & USART_SR_PE);
+  if(err != 0U){
+    #ifdef DEBUG_UART
+      puts("Encountered UART error: "); puth(err); puts("\n");
+    #endif
+    UART_READ_DR(q->uart)
+  }
+  // Send if necessary
+  uart_tx_ring(q);
+
+  // Run DMA pointer handler if the line is idle
+  if(q->dma_rx && (status & USART_SR_IDLE)){
+    // Reset IDLE flag
+    UART_READ_DR(q->uart)
+
+    if(q == &uart_ring_gps){
+      dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
+    } else {
+      #ifdef DEBUG_UART
+        puts("No IDLE dma_pointer_handler implemented for this UART.");
+      #endif
+    }
+  }
+
+  EXIT_CRITICAL();
+}
+
+void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_gps); }
+void USART2_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_debug); }
+void USART3_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin2); }
+void UART5_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin1); }
+
+void DMA2_Stream5_IRQ_Handler(void) {
+  ENTER_CRITICAL();
+
+  // Handle errors
+  if((DMA2->HISR & DMA_HISR_TEIF5) || (DMA2->HISR & DMA_HISR_DMEIF5) || (DMA2->HISR & DMA_HISR_FEIF5)){
+    #ifdef DEBUG_UART
+      puts("Encountered UART DMA error. Clearing and restarting DMA...\n");
+    #endif
+
+    // Clear flags
+    DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
+
+    // Re-enable the DMA if necessary
+    DMA2_Stream5->CR |= DMA_SxCR_EN;
+  }
+
+  // Re-calculate write pointer and reset flags
+  dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
+  DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
+
+  EXIT_CRITICAL();
+}
+
+// ***************************** Hardware setup *****************************
+
+void dma_rx_init(uart_ring *q) {
+  // Initialization is UART-dependent
+  if(q == &uart_ring_gps){
+    // DMA2, stream 5, channel 4
+
+    // Disable FIFO mode (enable direct)
+    DMA2_Stream5->FCR &= ~DMA_SxFCR_DMDIS;
+
+    // Setup addresses
+    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);    // Source
+    DMA2_Stream5->M0AR = (uint32_t)q->elems_rx;     // Destination
+    DMA2_Stream5->NDTR = q->rx_fifo_size;           // Number of bytes to copy
+
+    // Circular, Increment memory, byte size, periph -> memory, enable
+    // Transfer complete, half transfer, transfer error and direct mode error interrupt enable
+    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_TEIE | DMA_SxCR_DMEIE | DMA_SxCR_EN;
+
+    // Enable DMA receiver in UART
+    q->uart->CR3 |= USART_CR3_DMAR;
+
+    // Enable UART IDLE interrupt
+    q->uart->CR1 |= USART_CR1_IDLEIE;
+
+    // Enable interrupt
+    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
+  } else {
+    puts("Tried to initialize RX DMA for an unsupported UART\n");
+  }
+}
+
+#define __DIV(_PCLK_, _BAUD_)                    (((_PCLK_) * 25U) / (4U * (_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                (__DIV((_PCLK_), (_BAUD_)) / 100U)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
+
+void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
+  if (u == USART1) {
+    // USART1 is on APB2
+    u->BRR = __USART_BRR(48000000U, baud);
+  } else {
+    u->BRR = __USART_BRR(24000000U, baud);
+  }
+}
+
+void uart_init(uart_ring *q, int baud) {
+  // Register interrupts (max data rate: 115200 baud)
+  if(q->uart == USART1){
+    REGISTER_INTERRUPT(USART1_IRQn, USART1_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_1)
+  } else if (q->uart == USART2){
+    REGISTER_INTERRUPT(USART2_IRQn, USART2_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_2)
+  } else if (q->uart == USART3){
+    REGISTER_INTERRUPT(USART3_IRQn, USART3_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_3)
+  } else if (q->uart == UART5){
+    REGISTER_INTERRUPT(UART5_IRQn, UART5_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_5)
+  } else {
+    // UART not used. Skip registering interrupts
+  }
+  if(q->dma_rx){
+    REGISTER_INTERRUPT(DMA2_Stream5_IRQn, DMA2_Stream5_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_UART_DMA)   // Called twice per buffer
+  }
+
+  // Set baud and enable peripheral with TX and RX mode
+  uart_set_baud(q->uart, baud);
+  q->uart->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
+  if ((q->uart == USART2) || (q->uart == USART3) || (q->uart == UART5)) {
+    q->uart->CR1 |= USART_CR1_RXNEIE;
+  }
+
+  // Enable UART interrupts
+  if(q->uart == USART1){
+    NVIC_EnableIRQ(USART1_IRQn);
+  } else if (q->uart == USART2){
+    NVIC_EnableIRQ(USART2_IRQn);
+  } else if (q->uart == USART3){
+    NVIC_EnableIRQ(USART3_IRQn);
+  } else if (q->uart == UART5){
+    NVIC_EnableIRQ(UART5_IRQn);
+  } else {
+    // UART not used. Skip enabling interrupts
+  }
+
+  // Initialise RX DMA if used
+  if(q->dma_rx){
+    dma_rx_init(q);
+  }
+}
diff --git a/panda/board/stm32fx/llusb.h b/panda/board/stm32fx/llusb.h
new file mode 100644
index 00000000000000..df4747312eb2a7
--- /dev/null
+++ b/panda/board/stm32fx/llusb.h
@@ -0,0 +1,102 @@
+typedef struct
+{
+  __IO uint32_t HPRT;
+}
+USB_OTG_HostPortTypeDef;
+
+USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
+
+#define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
+#define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
+#define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
+#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE))
+#define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
+
+#define USBD_FS_TRDT_VALUE           5U
+#define USB_OTG_SPEED_FULL 3
+
+
+void usb_irqhandler(void);
+
+void OTG_FS_IRQ_Handler(void) {
+  NVIC_DisableIRQ(OTG_FS_IRQn);
+  //__disable_irq();
+  usb_irqhandler();
+  //__enable_irq();
+  NVIC_EnableIRQ(OTG_FS_IRQn);
+}
+
+void usb_init(void) {
+  REGISTER_INTERRUPT(OTG_FS_IRQn, OTG_FS_IRQ_Handler, 1500000U, FAULT_INTERRUPT_RATE_USB) //TODO: Find out a better rate limit for USB. Now it's the 1.5MB/s rate
+
+  // full speed PHY, do reset and remove power down
+  /*puth(USBx->GRSTCTL);
+  puts(" resetting PHY\n");*/
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
+  //puts("AHB idle\n");
+
+  // reset PHY here
+  USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
+  //puts("reset done\n");
+
+  // internal PHY, force device mode
+  USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_FDMOD;
+
+  // slowest timings
+  USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+
+  // power up the PHY
+#ifdef STM32F4
+  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN;
+
+  //USBx->GCCFG |= USB_OTG_GCCFG_VBDEN | USB_OTG_GCCFG_SDEN |USB_OTG_GCCFG_PDEN | USB_OTG_GCCFG_DCDEN;
+
+  /* B-peripheral session valid override enable*/
+  USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOVAL;
+  USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOEN;
+#else
+  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
+#endif
+
+  // be a device, slowest timings
+  //USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
+  //USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+  //USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
+
+  // **** for debugging, doesn't seem to work ****
+  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
+
+  // reset PHY clock
+  USBx_PCGCCTL = 0;
+
+  // enable the fancy OTG things
+  // DCFG_FRAME_INTERVAL_80 is 0
+  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
+  USBx_DEVICE->DCFG |= USB_OTG_SPEED_FULL | USB_OTG_DCFG_NZLSOHSK;
+
+  //USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
+  //USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
+
+  // clear pending interrupts
+  USBx->GINTSTS = 0xBFFFFFFFU;
+
+  // setup USB interrupts
+  // all interrupts except TXFIFO EMPTY
+  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
+  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
+  USBx->GINTMSK = USB_OTG_GINTMSK_USBRST | USB_OTG_GINTMSK_ENUMDNEM | USB_OTG_GINTMSK_OTGINT |
+                  USB_OTG_GINTMSK_RXFLVLM | USB_OTG_GINTMSK_GONAKEFFM | USB_OTG_GINTMSK_GINAKEFFM |
+                  USB_OTG_GINTMSK_OEPINT | USB_OTG_GINTMSK_IEPINT | USB_OTG_GINTMSK_USBSUSPM |
+                  USB_OTG_GINTMSK_CIDSCHGM | USB_OTG_GINTMSK_SRQIM | USB_OTG_GINTMSK_MMISM | USB_OTG_GINTMSK_EOPFM;
+
+  USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
+
+  // DCTL startup value is 2 on new chip, 0 on old chip
+  USBx_DEVICE->DCTL = 0;
+
+  // enable the IRQ
+  NVIC_EnableIRQ(OTG_FS_IRQn);
+}
diff --git a/panda/board/stm32fx/peripherals.h b/panda/board/stm32fx/peripherals.h
new file mode 100644
index 00000000000000..40ef6cb573427d
--- /dev/null
+++ b/panda/board/stm32fx/peripherals.h
@@ -0,0 +1,89 @@
+void gpio_usb_init(void) {
+  // A11,A12: USB
+  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
+  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
+  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
+}
+
+void gpio_usart2_init(void) {
+  // A2,A3: USART 2 for debugging
+  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
+  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
+}
+
+// Common GPIO initialization
+void common_init_gpio(void) {
+  // TODO: Is this block actually doing something???
+  // pull low to hold ESP in reset??
+  // enable OTG out tied to ground
+  GPIOA->ODR = 0;
+  GPIOB->ODR = 0;
+  GPIOA->PUPDR = 0;
+  GPIOB->AFR[0] = 0;
+  GPIOB->AFR[1] = 0;
+
+  // C2: Voltage sense line
+  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
+
+  gpio_usb_init();
+
+  // A9,A10: USART 1 for talking to the GPS
+  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
+  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
+
+   // B8,B9: CAN 1
+  #ifdef STM32F4
+    set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
+    set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
+  #else
+    set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+    set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+  #endif
+}
+
+void flasher_peripherals_init(void) {
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+}
+
+// Peripheral initialization
+void peripherals_init(void) {
+  // enable GPIOB, UART2, CAN, USB clock
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
+  #ifdef PANDA
+    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
+  #ifdef CAN3
+    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // pedal and fan PWM
+  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // IR PWM
+  RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;  // k-line init
+  RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;  // interrupt timer
+  RCC->APB1ENR |= RCC_APB1ENR_TIM12EN; // gmlan_alt
+  RCC->APB1ENR |= RCC_APB1ENR_PWREN;   // for RTC config
+  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
+  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
+  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM9EN;  // slow loop
+}
+
+void enable_interrupt_timer(void) {
+  register_set_bits(&(RCC->APB1ENR), RCC_APB1ENR_TIM6EN);  // Enable interrupt timer peripheral
+}
diff --git a/panda/board/startup_stm32f205xx.s b/panda/board/stm32fx/startup_stm32f205xx.s
similarity index 100%
rename from panda/board/startup_stm32f205xx.s
rename to panda/board/stm32fx/startup_stm32f205xx.s
diff --git a/panda/board/startup_stm32f413xx.s b/panda/board/stm32fx/startup_stm32f413xx.s
similarity index 100%
rename from panda/board/startup_stm32f413xx.s
rename to panda/board/stm32fx/startup_stm32f413xx.s
diff --git a/panda/board/stm32fx/stm32fx_config.h b/panda/board/stm32fx/stm32fx_config.h
new file mode 100644
index 00000000000000..8c5ca1c717bfb5
--- /dev/null
+++ b/panda/board/stm32fx/stm32fx_config.h
@@ -0,0 +1,94 @@
+#ifdef STM32F4
+  #include "stm32fx/inc/stm32f4xx.h"
+  #include "stm32fx/inc/stm32f4xx_hal_gpio_ex.h"
+  #define MCU_IDCODE 0x463U
+#else
+  #include "stm32fx/inc/stm32f2xx.h"
+  #include "stm32fx/inc/stm32f2xx_hal_gpio_ex.h"
+  #define MCU_IDCODE 0x411U
+#endif
+// from the linker script
+#define APP_START_ADDRESS 0x8004000U
+
+#define CORE_FREQ 96U // in Mhz
+//APB1 - 48Mhz, APB2 - 96Mhz
+#define APB1_FREQ CORE_FREQ/2U 
+#define APB2_FREQ CORE_FREQ/1U
+
+#define BOOTLOADER_ADDRESS 0x1FFF0004U
+
+// Around (1Mbps / 8 bits/byte / 12 bytes per message)
+#define CAN_INTERRUPT_RATE 12000U
+
+#define MAX_LED_FADE 8192U
+
+// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
+#define HARNESS_CONNECTED_THRESHOLD 2500U
+
+#define NUM_INTERRUPTS 102U                // There are 102 external interrupt sources (see stm32f413.h)
+
+#define TICK_TIMER_IRQ TIM1_BRK_TIM9_IRQn
+#define TICK_TIMER TIM9
+
+#define MICROSECOND_TIMER TIM2
+
+#define INTERRUPT_TIMER_IRQ TIM6_DAC_IRQn
+#define INTERRUPT_TIMER TIM6
+
+#define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
+#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
+
+#define CANPACKET_DATA_SIZE_MAX 8U
+
+#include "can_definitions.h"
+
+#ifndef BOOTSTUB
+  #ifdef PANDA
+    #include "main_declarations.h"
+  #else
+    #include "pedal/main_declarations.h"
+  #endif
+#else
+  #include "bootstub_declarations.h"
+#endif
+
+#include "libc.h"
+#include "critical.h"
+#include "faults.h"
+
+#include "drivers/registers.h"
+#include "drivers/interrupts.h"
+#include "drivers/gpio.h"
+#include "stm32fx/peripherals.h"
+#include "stm32fx/interrupt_handlers.h"
+#include "drivers/timers.h"
+#include "stm32fx/lladc.h"
+#include "stm32fx/board.h"
+#include "stm32fx/clock.h"
+
+#if !defined (BOOTSTUB) && (defined(PANDA) || defined(PEDAL_USB))
+  #include "drivers/uart.h"
+  #include "stm32fx/lluart.h"
+#endif
+
+#ifdef BOOTSTUB
+  #include "stm32fx/llflash.h"
+#else
+  #include "stm32fx/llbxcan.h"
+#endif
+
+#if defined(PANDA) || defined(BOOTSTUB) || defined(PEDAL_USB)
+  #include "stm32fx/llusb.h"
+#endif
+
+#ifdef PEDAL
+  #include "stm32fx/lldac.h"
+#endif
+
+void early_gpio_float(void) {
+  RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
+
+  GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0;
+  GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
+  GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
+}
diff --git a/panda/board/stm32fx/stm32fx_flash.ld b/panda/board/stm32fx/stm32fx_flash.ld
new file mode 100644
index 00000000000000..bdc23bc8cefab6
--- /dev/null
+++ b/panda/board/stm32fx/stm32fx_flash.ld
@@ -0,0 +1,165 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32f4_flash.ld
+**
+**  Abstract    : Linker script for STM32F407VG Device with
+**                1024KByte FLASH, 192KByte RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**  Environment : Atollic TrueSTUDIO(R)
+**
+**  Distribution: The file is distributed "as is," without any warranty
+**                of any kind.
+**
+**  (c)Copyright Atollic AB.
+**  You may use this file as-is or modify it according to the needs of your
+**  project. Distribution of this file (unmodified or modified) is not
+**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
+**  rights to distribute the assembled, compiled & linked contents of this
+**  file as part of an application binary file, provided that it is built
+**  using the Atollic TrueSTUDIO(R) toolchain.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+enter_bootloader_mode = 0x2001FFFC;
+_estack = 0x2001FFFC;    /* end of 128K RAM on AHB bus*/
+_app_start = 0x08004000; /* Reserve Sector 0(16K) for bootloader */
+
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0;      /* required amount of heap  */
+_Min_Stack_Size = 0x400; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 128K
+  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 128K
+  MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+	*(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+    _exit = .;
+  } >FLASH
+
+
+   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+    .ARM : {
+    __exidx_start = .;
+      *(.ARM.exidx*)
+      __exidx_end = .;
+    } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(.fini_array*))
+    KEEP (*(SORT(.fini_array.*)))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = .;
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data : AT ( _sidata )
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM
+
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(4);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(4);
+  } >RAM
+
+  /* MEMORY_bank1 section, code must be located here explicitly            */
+  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
+  .memory_b1_text :
+  {
+    *(.mb1text)        /* .mb1text sections (code) */
+    *(.mb1text*)       /* .mb1text* sections (code)  */
+    *(.mb1rodata)      /* read-only data (constants) */
+    *(.mb1rodata*)
+  } >MEMORY_B1
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
diff --git a/panda/board/stm32h7/board.h b/panda/board/stm32h7/board.h
new file mode 100644
index 00000000000000..769e9789e7c25a
--- /dev/null
+++ b/panda/board/stm32h7/board.h
@@ -0,0 +1,36 @@
+// ///////////////////////////////////////////////////////////// //
+// Hardware abstraction layer for all different supported boards //
+// ///////////////////////////////////////////////////////////// //
+#include "boards/board_declarations.h"
+#include "boards/unused_funcs.h"
+
+// ///// Board definition and detection ///// //
+#include "drivers/harness.h"
+#include "drivers/fan.h"
+#include "stm32h7/llfan.h"
+#include "stm32h7/llrtc.h"
+#include "drivers/rtc.h"
+#include "boards/red.h"
+
+uint8_t board_id(void) {
+  return detect_with_pull(GPIOF, 7, PULL_UP) |
+        (detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
+        (detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
+        (detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
+}
+
+void detect_board_type(void) {
+  if(board_id() == 0U){
+    hw_type = HW_TYPE_RED_PANDA;
+    current_board = &board_red;
+  } else {
+    hw_type = HW_TYPE_UNKNOWN;
+    puts("Hardware type is UNKNOWN!\n");
+  }
+}
+
+bool has_external_debug_serial = 0;
+void detect_external_debug_serial(void) {
+  // detect if external serial debugging is present
+  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
+}
diff --git a/panda/board/stm32h7/clock.h b/panda/board/stm32h7/clock.h
new file mode 100644
index 00000000000000..ce692b40836c8e
--- /dev/null
+++ b/panda/board/stm32h7/clock.h
@@ -0,0 +1,54 @@
+void clock_init(void) {
+  //Set power mode to direct SMPS power supply(depends on the board layout)
+  register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
+  //Set VOS level to VOS0. (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
+  register_set(&(PWR->D3CR), PWR_D3CR_VOS_1, 0xC000U); //VOS2
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0);
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOS) != (PWR->D3CR & PWR_D3CR_VOS)); // check that VOS level was actually set
+  // Configure Flash ACR register LATENCY and WRHIGHFREQ (VOS0 range!)
+  register_set(&(FLASH->ACR), FLASH_ACR_LATENCY_2WS | 0x20U, 0x3FU); // VOS2, AXI 100MHz-150MHz
+  // enable external oscillator HSE
+  register_set_bits(&(RCC->CR), RCC_CR_HSEON);
+  while ((RCC->CR & RCC_CR_HSERDY) == 0);
+  // Specify the frequency source for PLL1, divider for DIVM1, divider for DIVM2 : HSE, 5, 5
+  register_set(&(RCC->PLLCKSELR), RCC_PLLCKSELR_PLLSRC_HSE | RCC_PLLCKSELR_DIVM1_0 | RCC_PLLCKSELR_DIVM1_2 | RCC_PLLCKSELR_DIVM2_0 | RCC_PLLCKSELR_DIVM2_2, 0x3F3F3U);
+
+  // *** PLL1 start ***
+  // Specify multiplier N and dividers P, Q, R for PLL1 : 48, 1, 5, 2
+  register_set(&(RCC->PLL1DIVR), 0x104002FU, 0x7F7FFFFFU);
+  // Specify the input and output frequency ranges, enable dividers for PLL1
+  register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLL1RGE_2 | RCC_PLLCFGR_DIVP1EN | RCC_PLLCFGR_DIVQ1EN | RCC_PLLCFGR_DIVR1EN, 0x7000CU);
+  // Enable PLL1
+  register_set_bits(&(RCC->CR), RCC_CR_PLL1ON);
+  while((RCC->CR & RCC_CR_PLL1RDY) == 0);
+  // *** PLL1 end ***
+
+  //////////////OTHER CLOCKS////////////////////
+  // RCC HCLK Clock Source / RCC APB3 Clock Source / RCC SYS Clock Source
+  register_set(&(RCC->D1CFGR), RCC_D1CFGR_HPRE_DIV2 | RCC_D1CFGR_D1PPRE_DIV2 | RCC_D1CFGR_D1CPRE_DIV1, 0xF7FU);
+  // RCC APB1 Clock Source / RCC APB2 Clock Source
+  register_set(&(RCC->D2CFGR), RCC_D2CFGR_D2PPRE1_DIV2 | RCC_D2CFGR_D2PPRE2_DIV2, 0x770U);
+  // RCC APB4 Clock Source
+  register_set(&(RCC->D3CFGR), RCC_D3CFGR_D3PPRE_DIV2, 0x70U);
+  // PLL2P for ADC
+  register_clear_bits(&(RCC->D3CFGR), RCC_D3CCIPR_ADCSEL);
+
+  // Set SysClock source to PLL
+  register_set(&(RCC->CFGR), RCC_CFGR_SW_PLL1, 0x7U);
+  while((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL1);
+
+  // SYSCFG peripheral clock enable
+  register_set_bits(&(RCC->AHB4ENR), RCC_APB4ENR_SYSCFGEN);
+  //////////////END OTHER CLOCKS////////////////////
+
+  // Configure clock source for USB
+  register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_0, RCC_D2CCIP2R_USBSEL); //PLL1Q
+  // Configure clock source for FDCAN
+  register_set(&(RCC->D2CCIP1R), RCC_D2CCIP1R_FDCANSEL_0, RCC_D2CCIP1R_FDCANSEL); //PLL1Q
+  // Configure clock source for ADC1,2,3
+  register_set(&(RCC->D3CCIPR), RCC_D3CCIPR_ADCSEL_1, RCC_D3CCIPR_ADCSEL); //per_ck(currently HSE)
+  //Enable the Clock Security System
+  register_set_bits(&(RCC->CR), RCC_CR_CSSHSEON);
+  //Enable Vdd33usb supply level detector
+  register_set_bits(&(PWR->CR3), PWR_CR3_USB33DEN);
+}
diff --git a/panda/board/stm32h7/inc/cmsis_compiler.h b/panda/board/stm32h7/inc/cmsis_compiler.h
new file mode 100644
index 00000000000000..d0f39eef67ed91
--- /dev/null
+++ b/panda/board/stm32h7/inc/cmsis_compiler.h
@@ -0,0 +1,284 @@
+/**************************************************************************//**
+ * @file     cmsis_compiler.h
+ * @brief    CMSIS compiler generic header file
+ * @version  V5.1.0
+ * @date     09. October 2018
+ ******************************************************************************/
+/*
+ * Copyright (c) 2009-2018 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CMSIS_COMPILER_H
+#define __CMSIS_COMPILER_H
+
+#include <stdint.h>
+
+/*
+ * Arm Compiler 4/5
+ */
+#if   defined ( __CC_ARM )
+  #include "cmsis_armcc.h"
+
+
+/*
+ * Arm Compiler 6.6 LTM (armclang)
+ */
+#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) && (__ARMCC_VERSION < 6100100)
+  #include "cmsis_armclang_ltm.h"
+
+  /*
+ * Arm Compiler above 6.10.1 (armclang)
+ */
+#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6100100)
+  #include "cmsis_armclang.h"
+
+
+/*
+ * GNU Compiler
+ */
+#elif defined ( __GNUC__ )
+  #include "cmsis_gcc.h"
+
+
+/*
+ * IAR Compiler
+ */
+#elif defined ( __ICCARM__ )
+  #include <cmsis_iccarm.h>
+
+
+/*
+ * TI Arm Compiler
+ */
+#elif defined ( __TI_ARM__ )
+  #include <cmsis_ccs.h>
+
+  #ifndef   __ASM
+    #define __ASM                                  __asm
+  #endif
+  #ifndef   __INLINE
+    #define __INLINE                               inline
+  #endif
+  #ifndef   __STATIC_INLINE
+    #define __STATIC_INLINE                        static inline
+  #endif
+  #ifndef   __STATIC_FORCEINLINE
+    #define __STATIC_FORCEINLINE                   __STATIC_INLINE
+  #endif
+  #ifndef   __NO_RETURN
+    #define __NO_RETURN                            __attribute__((noreturn))
+  #endif
+  #ifndef   __USED
+    #define __USED                                 __attribute__((used))
+  #endif
+  #ifndef   __WEAK
+    #define __WEAK                                 __attribute__((weak))
+  #endif
+  #ifndef   __PACKED
+    #define __PACKED                               __attribute__((packed))
+  #endif
+  #ifndef   __PACKED_STRUCT
+    #define __PACKED_STRUCT                        struct __attribute__((packed))
+  #endif
+  #ifndef   __PACKED_UNION
+    #define __PACKED_UNION                         union __attribute__((packed))
+  #endif
+  #ifndef   __UNALIGNED_UINT32        /* deprecated */
+    struct __attribute__((packed)) T_UINT32 { uint32_t v; };
+    #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
+  #endif
+  #ifndef   __UNALIGNED_UINT16_WRITE
+    __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
+    #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void*)(addr))->v) = (val))
+  #endif
+  #ifndef   __UNALIGNED_UINT16_READ
+    __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
+    #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
+  #endif
+  #ifndef   __UNALIGNED_UINT32_WRITE
+    __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
+    #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
+  #endif
+  #ifndef   __UNALIGNED_UINT32_READ
+    __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
+    #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
+  #endif
+  #ifndef   __ALIGNED
+    #define __ALIGNED(x)                           __attribute__((aligned(x)))
+  #endif
+  #ifndef   __RESTRICT
+    #define __RESTRICT                             __restrict
+  #endif
+  #ifndef   __COMPILER_BARRIER
+    #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
+    #define __COMPILER_BARRIER()                   (void)0
+  #endif
+
+
+/*
+ * TASKING Compiler
+ */
+#elif defined ( __TASKING__ )
+  /*
+   * The CMSIS functions have been implemented as intrinsics in the compiler.
+   * Please use "carm -?i" to get an up to date list of all intrinsics,
+   * Including the CMSIS ones.
+   */
+
+  #ifndef   __ASM
+    #define __ASM                                  __asm
+  #endif
+  #ifndef   __INLINE
+    #define __INLINE                               inline
+  #endif
+  #ifndef   __STATIC_INLINE
+    #define __STATIC_INLINE                        static inline
+  #endif
+  #ifndef   __STATIC_FORCEINLINE
+    #define __STATIC_FORCEINLINE                   __STATIC_INLINE
+  #endif
+  #ifndef   __NO_RETURN
+    #define __NO_RETURN                            __attribute__((noreturn))
+  #endif
+  #ifndef   __USED
+    #define __USED                                 __attribute__((used))
+  #endif
+  #ifndef   __WEAK
+    #define __WEAK                                 __attribute__((weak))
+  #endif
+  #ifndef   __PACKED
+    #define __PACKED                               __packed__
+  #endif
+  #ifndef   __PACKED_STRUCT
+    #define __PACKED_STRUCT                        struct __packed__
+  #endif
+  #ifndef   __PACKED_UNION
+    #define __PACKED_UNION                         union __packed__
+  #endif
+  #ifndef   __UNALIGNED_UINT32        /* deprecated */
+    struct __packed__ T_UINT32 { uint32_t v; };
+    #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
+  #endif
+  #ifndef   __UNALIGNED_UINT16_WRITE
+    __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
+    #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
+  #endif
+  #ifndef   __UNALIGNED_UINT16_READ
+    __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
+    #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
+  #endif
+  #ifndef   __UNALIGNED_UINT32_WRITE
+    __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
+    #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
+  #endif
+  #ifndef   __UNALIGNED_UINT32_READ
+    __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
+    #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
+  #endif
+  #ifndef   __ALIGNED
+    #define __ALIGNED(x)              __align(x)
+  #endif
+  #ifndef   __RESTRICT
+    #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored.
+    #define __RESTRICT
+  #endif
+  #ifndef   __COMPILER_BARRIER
+    #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
+    #define __COMPILER_BARRIER()                   (void)0
+  #endif
+
+
+/*
+ * COSMIC Compiler
+ */
+#elif defined ( __CSMC__ )
+   #include <cmsis_csm.h>
+
+ #ifndef   __ASM
+    #define __ASM                                  _asm
+  #endif
+  #ifndef   __INLINE
+    #define __INLINE                               inline
+  #endif
+  #ifndef   __STATIC_INLINE
+    #define __STATIC_INLINE                        static inline
+  #endif
+  #ifndef   __STATIC_FORCEINLINE
+    #define __STATIC_FORCEINLINE                   __STATIC_INLINE
+  #endif
+  #ifndef   __NO_RETURN
+    // NO RETURN is automatically detected hence no warning here
+    #define __NO_RETURN
+  #endif
+  #ifndef   __USED
+    #warning No compiler specific solution for __USED. __USED is ignored.
+    #define __USED
+  #endif
+  #ifndef   __WEAK
+    #define __WEAK                                 __weak
+  #endif
+  #ifndef   __PACKED
+    #define __PACKED                               @packed
+  #endif
+  #ifndef   __PACKED_STRUCT
+    #define __PACKED_STRUCT                        @packed struct
+  #endif
+  #ifndef   __PACKED_UNION
+    #define __PACKED_UNION                         @packed union
+  #endif
+  #ifndef   __UNALIGNED_UINT32        /* deprecated */
+    @packed struct T_UINT32 { uint32_t v; };
+    #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
+  #endif
+  #ifndef   __UNALIGNED_UINT16_WRITE
+    __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
+    #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
+  #endif
+  #ifndef   __UNALIGNED_UINT16_READ
+    __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
+    #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
+  #endif
+  #ifndef   __UNALIGNED_UINT32_WRITE
+    __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
+    #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
+  #endif
+  #ifndef   __UNALIGNED_UINT32_READ
+    __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
+    #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
+  #endif
+  #ifndef   __ALIGNED
+    #warning No compiler specific solution for __ALIGNED. __ALIGNED is ignored.
+    #define __ALIGNED(x)
+  #endif
+  #ifndef   __RESTRICT
+    #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored.
+    #define __RESTRICT
+  #endif
+  #ifndef   __COMPILER_BARRIER
+    #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
+    #define __COMPILER_BARRIER()                   (void)0
+  #endif
+
+
+#else
+  #error Unknown compiler.
+#endif
+
+
+#endif /* __CMSIS_COMPILER_H */
+
+
diff --git a/panda/board/stm32h7/inc/cmsis_gcc.h b/panda/board/stm32h7/inc/cmsis_gcc.h
new file mode 100644
index 00000000000000..2f68473f64e216
--- /dev/null
+++ b/panda/board/stm32h7/inc/cmsis_gcc.h
@@ -0,0 +1,2169 @@
+/**************************************************************************//**
+ * @file     cmsis_gcc.h
+ * @brief    CMSIS compiler GCC header file
+ * @version  V5.2.0
+ * @date     08. May 2019
+ ******************************************************************************/
+/*
+ * Copyright (c) 2009-2019 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CMSIS_GCC_H
+#define __CMSIS_GCC_H
+
+/* ignore some GCC warnings */
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wsign-conversion"
+#pragma GCC diagnostic ignored "-Wconversion"
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+
+/* Fallback for __has_builtin */
+#ifndef __has_builtin
+  #define __has_builtin(x) (0)
+#endif
+
+/* CMSIS compiler specific defines */
+#ifndef   __ASM
+  #define __ASM                                  __asm
+#endif
+#ifndef   __INLINE
+  #define __INLINE                               inline
+#endif
+#ifndef   __STATIC_INLINE
+  #define __STATIC_INLINE                        static inline
+#endif
+#ifndef   __STATIC_FORCEINLINE
+  #define __STATIC_FORCEINLINE                   __attribute__((always_inline)) static inline
+#endif
+#ifndef   __NO_RETURN
+  #define __NO_RETURN                            __attribute__((__noreturn__))
+#endif
+#ifndef   __USED
+  #define __USED                                 __attribute__((used))
+#endif
+#ifndef   __WEAK
+  #define __WEAK                                 __attribute__((weak))
+#endif
+#ifndef   __PACKED
+  #define __PACKED                               __attribute__((packed, aligned(1)))
+#endif
+#ifndef   __PACKED_STRUCT
+  #define __PACKED_STRUCT                        struct __attribute__((packed, aligned(1)))
+#endif
+#ifndef   __PACKED_UNION
+  #define __PACKED_UNION                         union __attribute__((packed, aligned(1)))
+#endif
+#ifndef   __UNALIGNED_UINT32        /* deprecated */
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  struct __attribute__((packed)) T_UINT32 { uint32_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
+#endif
+#ifndef   __UNALIGNED_UINT16_WRITE
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
+#endif
+#ifndef   __UNALIGNED_UINT16_READ
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
+#endif
+#ifndef   __UNALIGNED_UINT32_WRITE
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
+#endif
+#ifndef   __UNALIGNED_UINT32_READ
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wpacked"
+  #pragma GCC diagnostic ignored "-Wattributes"
+  __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
+  #pragma GCC diagnostic pop
+  #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
+#endif
+#ifndef   __ALIGNED
+  #define __ALIGNED(x)                           __attribute__((aligned(x)))
+#endif
+#ifndef   __RESTRICT
+  #define __RESTRICT                             __restrict
+#endif
+#ifndef   __COMPILER_BARRIER
+  #define __COMPILER_BARRIER()                   __ASM volatile("":::"memory")
+#endif
+
+/* #########################  Startup and Lowlevel Init  ######################## */
+
+#ifndef __PROGRAM_START
+
+/**
+  \brief   Initializes data and bss sections
+  \details This default implementations initialized all data and additional bss
+           sections relying on .copy.table and .zero.table specified properly
+           in the used linker script.
+
+ */
+__STATIC_FORCEINLINE __NO_RETURN void __cmsis_start(void)
+{
+  extern void _start(void) __NO_RETURN;
+
+  typedef struct {
+    uint32_t const* src;
+    uint32_t* dest;
+    uint32_t  wlen;
+  } __copy_table_t;
+
+  typedef struct {
+    uint32_t* dest;
+    uint32_t  wlen;
+  } __zero_table_t;
+
+  extern const __copy_table_t __copy_table_start__;
+  extern const __copy_table_t __copy_table_end__;
+  extern const __zero_table_t __zero_table_start__;
+  extern const __zero_table_t __zero_table_end__;
+
+  for (__copy_table_t const* pTable = &__copy_table_start__; pTable < &__copy_table_end__; ++pTable) {
+    for(uint32_t i=0u; i<pTable->wlen; ++i) {
+      pTable->dest[i] = pTable->src[i];
+    }
+  }
+
+  for (__zero_table_t const* pTable = &__zero_table_start__; pTable < &__zero_table_end__; ++pTable) {
+    for(uint32_t i=0u; i<pTable->wlen; ++i) {
+      pTable->dest[i] = 0u;
+    }
+  }
+
+  _start();
+}
+
+#define __PROGRAM_START           __cmsis_start
+#endif
+
+#ifndef __INITIAL_SP
+#define __INITIAL_SP              __StackTop
+#endif
+
+#ifndef __STACK_LIMIT
+#define __STACK_LIMIT             __StackLimit
+#endif
+
+#ifndef __VECTOR_TABLE
+#define __VECTOR_TABLE            __Vectors
+#endif
+
+#ifndef __VECTOR_TABLE_ATTRIBUTE
+#define __VECTOR_TABLE_ATTRIBUTE  __attribute((used, section(".vectors")))
+#endif
+
+/* ###########################  Core Function Access  ########################### */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
+  @{
+ */
+
+/**
+  \brief   Enable IRQ Interrupts
+  \details Enables IRQ interrupts by clearing the I-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+__STATIC_FORCEINLINE void __enable_irq(void)
+{
+  __ASM volatile ("cpsie i" : : : "memory");
+}
+
+
+/**
+  \brief   Disable IRQ Interrupts
+  \details Disables IRQ interrupts by setting the I-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+__STATIC_FORCEINLINE void __disable_irq(void)
+{
+  __ASM volatile ("cpsid i" : : : "memory");
+}
+
+
+/**
+  \brief   Get Control Register
+  \details Returns the content of the Control Register.
+  \return               Control Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_CONTROL(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, control" : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Control Register (non-secure)
+  \details Returns the content of the non-secure Control Register when in secure mode.
+  \return               non-secure Control Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_CONTROL_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, control_ns" : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Control Register
+  \details Writes the given value to the Control Register.
+  \param [in]    control  Control Register value to set
+ */
+__STATIC_FORCEINLINE void __set_CONTROL(uint32_t control)
+{
+  __ASM volatile ("MSR control, %0" : : "r" (control) : "memory");
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Control Register (non-secure)
+  \details Writes the given value to the non-secure Control Register when in secure state.
+  \param [in]    control  Control Register value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_CONTROL_NS(uint32_t control)
+{
+  __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory");
+}
+#endif
+
+
+/**
+  \brief   Get IPSR Register
+  \details Returns the content of the IPSR Register.
+  \return               IPSR Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_IPSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
+  return(result);
+}
+
+
+/**
+  \brief   Get APSR Register
+  \details Returns the content of the APSR Register.
+  \return               APSR Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_APSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
+  return(result);
+}
+
+
+/**
+  \brief   Get xPSR Register
+  \details Returns the content of the xPSR Register.
+  \return               xPSR Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_xPSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
+  return(result);
+}
+
+
+/**
+  \brief   Get Process Stack Pointer
+  \details Returns the current value of the Process Stack Pointer (PSP).
+  \return               PSP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_PSP(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, psp"  : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Process Stack Pointer (non-secure)
+  \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state.
+  \return               PSP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_PSP_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, psp_ns"  : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Process Stack Pointer
+  \details Assigns the given value to the Process Stack Pointer (PSP).
+  \param [in]    topOfProcStack  Process Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __set_PSP(uint32_t topOfProcStack)
+{
+  __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : );
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Process Stack Pointer (non-secure)
+  \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state.
+  \param [in]    topOfProcStack  Process Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack)
+{
+  __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : );
+}
+#endif
+
+
+/**
+  \brief   Get Main Stack Pointer
+  \details Returns the current value of the Main Stack Pointer (MSP).
+  \return               MSP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_MSP(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, msp" : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Main Stack Pointer (non-secure)
+  \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state.
+  \return               MSP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_MSP_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, msp_ns" : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Main Stack Pointer
+  \details Assigns the given value to the Main Stack Pointer (MSP).
+  \param [in]    topOfMainStack  Main Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __set_MSP(uint32_t topOfMainStack)
+{
+  __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : );
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Main Stack Pointer (non-secure)
+  \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state.
+  \param [in]    topOfMainStack  Main Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack)
+{
+  __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : );
+}
+#endif
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Stack Pointer (non-secure)
+  \details Returns the current value of the non-secure Stack Pointer (SP) when in secure state.
+  \return               SP Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_SP_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, sp_ns" : "=r" (result) );
+  return(result);
+}
+
+
+/**
+  \brief   Set Stack Pointer (non-secure)
+  \details Assigns the given value to the non-secure Stack Pointer (SP) when in secure state.
+  \param [in]    topOfStack  Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_SP_NS(uint32_t topOfStack)
+{
+  __ASM volatile ("MSR sp_ns, %0" : : "r" (topOfStack) : );
+}
+#endif
+
+
+/**
+  \brief   Get Priority Mask
+  \details Returns the current state of the priority mask bit from the Priority Mask Register.
+  \return               Priority Mask value
+ */
+__STATIC_FORCEINLINE uint32_t __get_PRIMASK(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, primask" : "=r" (result) :: "memory");
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Priority Mask (non-secure)
+  \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state.
+  \return               Priority Mask value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_PRIMASK_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, primask_ns" : "=r" (result) :: "memory");
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Priority Mask
+  \details Assigns the given value to the Priority Mask Register.
+  \param [in]    priMask  Priority Mask
+ */
+__STATIC_FORCEINLINE void __set_PRIMASK(uint32_t priMask)
+{
+  __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory");
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Priority Mask (non-secure)
+  \details Assigns the given value to the non-secure Priority Mask Register when in secure state.
+  \param [in]    priMask  Priority Mask
+ */
+__STATIC_FORCEINLINE void __TZ_set_PRIMASK_NS(uint32_t priMask)
+{
+  __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory");
+}
+#endif
+
+
+#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
+/**
+  \brief   Enable FIQ
+  \details Enables FIQ interrupts by clearing the F-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+__STATIC_FORCEINLINE void __enable_fault_irq(void)
+{
+  __ASM volatile ("cpsie f" : : : "memory");
+}
+
+
+/**
+  \brief   Disable FIQ
+  \details Disables FIQ interrupts by setting the F-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+__STATIC_FORCEINLINE void __disable_fault_irq(void)
+{
+  __ASM volatile ("cpsid f" : : : "memory");
+}
+
+
+/**
+  \brief   Get Base Priority
+  \details Returns the current value of the Base Priority register.
+  \return               Base Priority register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_BASEPRI(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, basepri" : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Base Priority (non-secure)
+  \details Returns the current value of the non-secure Base Priority register when in secure state.
+  \return               Base Priority register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_BASEPRI_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Base Priority
+  \details Assigns the given value to the Base Priority register.
+  \param [in]    basePri  Base Priority value to set
+ */
+__STATIC_FORCEINLINE void __set_BASEPRI(uint32_t basePri)
+{
+  __ASM volatile ("MSR basepri, %0" : : "r" (basePri) : "memory");
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Base Priority (non-secure)
+  \details Assigns the given value to the non-secure Base Priority register when in secure state.
+  \param [in]    basePri  Base Priority value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_BASEPRI_NS(uint32_t basePri)
+{
+  __ASM volatile ("MSR basepri_ns, %0" : : "r" (basePri) : "memory");
+}
+#endif
+
+
+/**
+  \brief   Set Base Priority with condition
+  \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled,
+           or the new value increases the BASEPRI priority level.
+  \param [in]    basePri  Base Priority value to set
+ */
+__STATIC_FORCEINLINE void __set_BASEPRI_MAX(uint32_t basePri)
+{
+  __ASM volatile ("MSR basepri_max, %0" : : "r" (basePri) : "memory");
+}
+
+
+/**
+  \brief   Get Fault Mask
+  \details Returns the current value of the Fault Mask register.
+  \return               Fault Mask register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_FAULTMASK(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
+  return(result);
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Fault Mask (non-secure)
+  \details Returns the current value of the non-secure Fault Mask register when in secure state.
+  \return               Fault Mask register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_FAULTMASK_NS(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) );
+  return(result);
+}
+#endif
+
+
+/**
+  \brief   Set Fault Mask
+  \details Assigns the given value to the Fault Mask register.
+  \param [in]    faultMask  Fault Mask value to set
+ */
+__STATIC_FORCEINLINE void __set_FAULTMASK(uint32_t faultMask)
+{
+  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory");
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Set Fault Mask (non-secure)
+  \details Assigns the given value to the non-secure Fault Mask register when in secure state.
+  \param [in]    faultMask  Fault Mask value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask)
+{
+  __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory");
+}
+#endif
+
+#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
+
+
+#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
+
+/**
+  \brief   Get Process Stack Pointer Limit
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence zero is returned always in non-secure
+  mode.
+
+  \details Returns the current value of the Process Stack Pointer Limit (PSPLIM).
+  \return               PSPLIM Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_PSPLIM(void)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
+    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
+    // without main extensions, the non-secure PSPLIM is RAZ/WI
+  return 0U;
+#else
+  uint32_t result;
+  __ASM volatile ("MRS %0, psplim"  : "=r" (result) );
+  return result;
+#endif
+}
+
+#if (defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3))
+/**
+  \brief   Get Process Stack Pointer Limit (non-secure)
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence zero is returned always.
+
+  \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state.
+  \return               PSPLIM Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_PSPLIM_NS(void)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
+  // without main extensions, the non-secure PSPLIM is RAZ/WI
+  return 0U;
+#else
+  uint32_t result;
+  __ASM volatile ("MRS %0, psplim_ns"  : "=r" (result) );
+  return result;
+#endif
+}
+#endif
+
+
+/**
+  \brief   Set Process Stack Pointer Limit
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence the write is silently ignored in non-secure
+  mode.
+
+  \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM).
+  \param [in]    ProcStackPtrLimit  Process Stack Pointer Limit value to set
+ */
+__STATIC_FORCEINLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
+    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
+  // without main extensions, the non-secure PSPLIM is RAZ/WI
+  (void)ProcStackPtrLimit;
+#else
+  __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit));
+#endif
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
+/**
+  \brief   Set Process Stack Pointer (non-secure)
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence the write is silently ignored.
+
+  \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state.
+  \param [in]    ProcStackPtrLimit  Process Stack Pointer Limit value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
+  // without main extensions, the non-secure PSPLIM is RAZ/WI
+  (void)ProcStackPtrLimit;
+#else
+  __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit));
+#endif
+}
+#endif
+
+
+/**
+  \brief   Get Main Stack Pointer Limit
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence zero is returned always in non-secure
+  mode.
+
+  \details Returns the current value of the Main Stack Pointer Limit (MSPLIM).
+  \return               MSPLIM Register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_MSPLIM(void)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
+    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
+  // without main extensions, the non-secure MSPLIM is RAZ/WI
+  return 0U;
+#else
+  uint32_t result;
+  __ASM volatile ("MRS %0, msplim" : "=r" (result) );
+  return result;
+#endif
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
+/**
+  \brief   Get Main Stack Pointer Limit (non-secure)
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence zero is returned always.
+
+  \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state.
+  \return               MSPLIM Register value
+ */
+__STATIC_FORCEINLINE uint32_t __TZ_get_MSPLIM_NS(void)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
+  // without main extensions, the non-secure MSPLIM is RAZ/WI
+  return 0U;
+#else
+  uint32_t result;
+  __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) );
+  return result;
+#endif
+}
+#endif
+
+
+/**
+  \brief   Set Main Stack Pointer Limit
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence the write is silently ignored in non-secure
+  mode.
+
+  \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM).
+  \param [in]    MainStackPtrLimit  Main Stack Pointer Limit value to set
+ */
+__STATIC_FORCEINLINE void __set_MSPLIM(uint32_t MainStackPtrLimit)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
+    (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
+  // without main extensions, the non-secure MSPLIM is RAZ/WI
+  (void)MainStackPtrLimit;
+#else
+  __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit));
+#endif
+}
+
+
+#if (defined (__ARM_FEATURE_CMSE  ) && (__ARM_FEATURE_CMSE   == 3))
+/**
+  \brief   Set Main Stack Pointer Limit (non-secure)
+  Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure
+  Stack Pointer Limit register hence the write is silently ignored.
+
+  \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state.
+  \param [in]    MainStackPtrLimit  Main Stack Pointer value to set
+ */
+__STATIC_FORCEINLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit)
+{
+#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)))
+  // without main extensions, the non-secure MSPLIM is RAZ/WI
+  (void)MainStackPtrLimit;
+#else
+  __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit));
+#endif
+}
+#endif
+
+#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
+
+
+/**
+  \brief   Get FPSCR
+  \details Returns the current value of the Floating Point Status/Control register.
+  \return               Floating Point Status/Control register value
+ */
+__STATIC_FORCEINLINE uint32_t __get_FPSCR(void)
+{
+#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
+     (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
+#if __has_builtin(__builtin_arm_get_fpscr)
+// Re-enable using built-in when GCC has been fixed
+// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2)
+  /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */
+  return __builtin_arm_get_fpscr();
+#else
+  uint32_t result;
+
+  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
+  return(result);
+#endif
+#else
+  return(0U);
+#endif
+}
+
+
+/**
+  \brief   Set FPSCR
+  \details Assigns the given value to the Floating Point Status/Control register.
+  \param [in]    fpscr  Floating Point Status/Control value to set
+ */
+__STATIC_FORCEINLINE void __set_FPSCR(uint32_t fpscr)
+{
+#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
+     (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
+#if __has_builtin(__builtin_arm_set_fpscr)
+// Re-enable using built-in when GCC has been fixed
+// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2)
+  /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */
+  __builtin_arm_set_fpscr(fpscr);
+#else
+  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc", "memory");
+#endif
+#else
+  (void)fpscr;
+#endif
+}
+
+
+/*@} end of CMSIS_Core_RegAccFunctions */
+
+
+/* ##########################  Core Instruction Access  ######################### */
+/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
+  Access to dedicated instructions
+  @{
+*/
+
+/* Define macros for porting to both thumb1 and thumb2.
+ * For thumb1, use low register (r0-r7), specified by constraint "l"
+ * Otherwise, use general registers, specified by constraint "r" */
+#if defined (__thumb__) && !defined (__thumb2__)
+#define __CMSIS_GCC_OUT_REG(r) "=l" (r)
+#define __CMSIS_GCC_RW_REG(r) "+l" (r)
+#define __CMSIS_GCC_USE_REG(r) "l" (r)
+#else
+#define __CMSIS_GCC_OUT_REG(r) "=r" (r)
+#define __CMSIS_GCC_RW_REG(r) "+r" (r)
+#define __CMSIS_GCC_USE_REG(r) "r" (r)
+#endif
+
+/**
+  \brief   No Operation
+  \details No Operation does nothing. This instruction can be used for code alignment purposes.
+ */
+#define __NOP()                             __ASM volatile ("nop")
+
+/**
+  \brief   Wait For Interrupt
+  \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs.
+ */
+#define __WFI()                             __ASM volatile ("wfi")
+
+
+/**
+  \brief   Wait For Event
+  \details Wait For Event is a hint instruction that permits the processor to enter
+           a low-power state until one of a number of events occurs.
+ */
+#define __WFE()                             __ASM volatile ("wfe")
+
+
+/**
+  \brief   Send Event
+  \details Send Event is a hint instruction. It causes an event to be signaled to the CPU.
+ */
+#define __SEV()                             __ASM volatile ("sev")
+
+
+/**
+  \brief   Instruction Synchronization Barrier
+  \details Instruction Synchronization Barrier flushes the pipeline in the processor,
+           so that all instructions following the ISB are fetched from cache or memory,
+           after the instruction has been completed.
+ */
+__STATIC_FORCEINLINE void __ISB(void)
+{
+  __ASM volatile ("isb 0xF":::"memory");
+}
+
+
+/**
+  \brief   Data Synchronization Barrier
+  \details Acts as a special kind of Data Memory Barrier.
+           It completes when all explicit memory accesses before this instruction complete.
+ */
+__STATIC_FORCEINLINE void __DSB(void)
+{
+  __ASM volatile ("dsb 0xF":::"memory");
+}
+
+
+/**
+  \brief   Data Memory Barrier
+  \details Ensures the apparent order of the explicit memory operations before
+           and after the instruction, without ensuring their completion.
+ */
+__STATIC_FORCEINLINE void __DMB(void)
+{
+  __ASM volatile ("dmb 0xF":::"memory");
+}
+
+
+/**
+  \brief   Reverse byte order (32 bit)
+  \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+__STATIC_FORCEINLINE uint32_t __REV(uint32_t value)
+{
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5)
+  return __builtin_bswap32(value);
+#else
+  uint32_t result;
+
+  __ASM volatile ("rev %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return result;
+#endif
+}
+
+
+/**
+  \brief   Reverse byte order (16 bit)
+  \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+__STATIC_FORCEINLINE uint32_t __REV16(uint32_t value)
+{
+  uint32_t result;
+
+  __ASM volatile ("rev16 %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return result;
+}
+
+
+/**
+  \brief   Reverse byte order (16 bit)
+  \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+__STATIC_FORCEINLINE int16_t __REVSH(int16_t value)
+{
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+  return (int16_t)__builtin_bswap16(value);
+#else
+  int16_t result;
+
+  __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return result;
+#endif
+}
+
+
+/**
+  \brief   Rotate Right in unsigned value (32 bit)
+  \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
+  \param [in]    op1  Value to rotate
+  \param [in]    op2  Number of Bits to rotate
+  \return               Rotated value
+ */
+__STATIC_FORCEINLINE uint32_t __ROR(uint32_t op1, uint32_t op2)
+{
+  op2 %= 32U;
+  if (op2 == 0U)
+  {
+    return op1;
+  }
+  return (op1 >> op2) | (op1 << (32U - op2));
+}
+
+
+/**
+  \brief   Breakpoint
+  \details Causes the processor to enter Debug state.
+           Debug tools can use this to investigate system state when the instruction at a particular address is reached.
+  \param [in]    value  is ignored by the processor.
+                 If required, a debugger can use it to store additional information about the breakpoint.
+ */
+#define __BKPT(value)                       __ASM volatile ("bkpt "#value)
+
+
+/**
+  \brief   Reverse bit order of value
+  \details Reverses the bit order of the given value.
+  \param [in]    value  Value to reverse
+  \return               Reversed value
+ */
+__STATIC_FORCEINLINE uint32_t __RBIT(uint32_t value)
+{
+  uint32_t result;
+
+#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
+   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
+#else
+  uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */
+
+  result = value;                      /* r will be reversed bits of v; first get LSB of v */
+  for (value >>= 1U; value != 0U; value >>= 1U)
+  {
+    result <<= 1U;
+    result |= value & 1U;
+    s--;
+  }
+  result <<= s;                        /* shift when v's highest bits are zero */
+#endif
+  return result;
+}
+
+
+/**
+  \brief   Count leading zeros
+  \details Counts the number of leading zeros of a data value.
+  \param [in]  value  Value to count the leading zeros
+  \return             number of leading zeros in value
+ */
+__STATIC_FORCEINLINE uint8_t __CLZ(uint32_t value)
+{
+  /* Even though __builtin_clz produces a CLZ instruction on ARM, formally
+     __builtin_clz(0) is undefined behaviour, so handle this case specially.
+     This guarantees ARM-compatible results if happening to compile on a non-ARM
+     target, and ensures the compiler doesn't decide to activate any
+     optimisations using the logic "value was passed to __builtin_clz, so it
+     is non-zero".
+     ARM GCC 7.3 and possibly earlier will optimise this test away, leaving a
+     single CLZ instruction.
+   */
+  if (value == 0U)
+  {
+    return 32U;
+  }
+  return __builtin_clz(value);
+}
+
+
+#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
+/**
+  \brief   LDR Exclusive (8 bit)
+  \details Executes a exclusive LDR instruction for 8 bit value.
+  \param [in]    ptr  Pointer to data
+  \return             value of type uint8_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint8_t __LDREXB(volatile uint8_t *addr)
+{
+    uint32_t result;
+
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+   __ASM volatile ("ldrexb %0, %1" : "=r" (result) : "Q" (*addr) );
+#else
+    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
+       accepted by assembler. So has to use following less efficient pattern.
+    */
+   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) : "memory" );
+#endif
+   return ((uint8_t) result);    /* Add explicit type cast here */
+}
+
+
+/**
+  \brief   LDR Exclusive (16 bit)
+  \details Executes a exclusive LDR instruction for 16 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint16_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint16_t __LDREXH(volatile uint16_t *addr)
+{
+    uint32_t result;
+
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+   __ASM volatile ("ldrexh %0, %1" : "=r" (result) : "Q" (*addr) );
+#else
+    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
+       accepted by assembler. So has to use following less efficient pattern.
+    */
+   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) : "memory" );
+#endif
+   return ((uint16_t) result);    /* Add explicit type cast here */
+}
+
+
+/**
+  \brief   LDR Exclusive (32 bit)
+  \details Executes a exclusive LDR instruction for 32 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint32_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint32_t __LDREXW(volatile uint32_t *addr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldrex %0, %1" : "=r" (result) : "Q" (*addr) );
+   return(result);
+}
+
+
+/**
+  \brief   STR Exclusive (8 bit)
+  \details Executes a exclusive STR instruction for 8 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strexb %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+
+/**
+  \brief   STR Exclusive (16 bit)
+  \details Executes a exclusive STR instruction for 16 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strexh %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+
+/**
+  \brief   STR Exclusive (32 bit)
+  \details Executes a exclusive STR instruction for 32 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strex %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" (value) );
+   return(result);
+}
+
+
+/**
+  \brief   Remove the exclusive lock
+  \details Removes the exclusive lock which is created by LDREX.
+ */
+__STATIC_FORCEINLINE void __CLREX(void)
+{
+  __ASM volatile ("clrex" ::: "memory");
+}
+
+#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
+
+
+#if ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+     (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+     (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    )
+/**
+  \brief   Signed Saturate
+  \details Saturates a signed value.
+  \param [in]  ARG1  Value to be saturated
+  \param [in]  ARG2  Bit position to saturate to (1..32)
+  \return             Saturated value
+ */
+#define __SSAT(ARG1,ARG2) \
+__extension__ \
+({                          \
+  int32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+
+/**
+  \brief   Unsigned Saturate
+  \details Saturates an unsigned value.
+  \param [in]  ARG1  Value to be saturated
+  \param [in]  ARG2  Bit position to saturate to (0..31)
+  \return             Saturated value
+ */
+#define __USAT(ARG1,ARG2) \
+ __extension__ \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+
+/**
+  \brief   Rotate Right with Extend (32 bit)
+  \details Moves each bit of a bitstring right by one bit.
+           The carry input is shifted in at the left end of the bitstring.
+  \param [in]    value  Value to rotate
+  \return               Rotated value
+ */
+__STATIC_FORCEINLINE uint32_t __RRX(uint32_t value)
+{
+  uint32_t result;
+
+  __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) );
+  return(result);
+}
+
+
+/**
+  \brief   LDRT Unprivileged (8 bit)
+  \details Executes a Unprivileged LDRT instruction for 8 bit value.
+  \param [in]    ptr  Pointer to data
+  \return             value of type uint8_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint8_t __LDRBT(volatile uint8_t *ptr)
+{
+    uint32_t result;
+
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+   __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) );
+#else
+    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
+       accepted by assembler. So has to use following less efficient pattern.
+    */
+   __ASM volatile ("ldrbt %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" );
+#endif
+   return ((uint8_t) result);    /* Add explicit type cast here */
+}
+
+
+/**
+  \brief   LDRT Unprivileged (16 bit)
+  \details Executes a Unprivileged LDRT instruction for 16 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint16_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint16_t __LDRHT(volatile uint16_t *ptr)
+{
+    uint32_t result;
+
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+   __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) );
+#else
+    /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not
+       accepted by assembler. So has to use following less efficient pattern.
+    */
+   __ASM volatile ("ldrht %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" );
+#endif
+   return ((uint16_t) result);    /* Add explicit type cast here */
+}
+
+
+/**
+  \brief   LDRT Unprivileged (32 bit)
+  \details Executes a Unprivileged LDRT instruction for 32 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint32_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint32_t __LDRT(volatile uint32_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return(result);
+}
+
+
+/**
+  \brief   STRT Unprivileged (8 bit)
+  \details Executes a Unprivileged STRT instruction for 8 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STRBT(uint8_t value, volatile uint8_t *ptr)
+{
+   __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   STRT Unprivileged (16 bit)
+  \details Executes a Unprivileged STRT instruction for 16 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STRHT(uint16_t value, volatile uint16_t *ptr)
+{
+   __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   STRT Unprivileged (32 bit)
+  \details Executes a Unprivileged STRT instruction for 32 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STRT(uint32_t value, volatile uint32_t *ptr)
+{
+   __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) );
+}
+
+#else  /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
+
+/**
+  \brief   Signed Saturate
+  \details Saturates a signed value.
+  \param [in]  value  Value to be saturated
+  \param [in]    sat  Bit position to saturate to (1..32)
+  \return             Saturated value
+ */
+__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat)
+{
+  if ((sat >= 1U) && (sat <= 32U))
+  {
+    const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U);
+    const int32_t min = -1 - max ;
+    if (val > max)
+    {
+      return max;
+    }
+    else if (val < min)
+    {
+      return min;
+    }
+  }
+  return val;
+}
+
+/**
+  \brief   Unsigned Saturate
+  \details Saturates an unsigned value.
+  \param [in]  value  Value to be saturated
+  \param [in]    sat  Bit position to saturate to (0..31)
+  \return             Saturated value
+ */
+__STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat)
+{
+  if (sat <= 31U)
+  {
+    const uint32_t max = ((1U << sat) - 1U);
+    if (val > (int32_t)max)
+    {
+      return max;
+    }
+    else if (val < 0)
+    {
+      return 0U;
+    }
+  }
+  return (uint32_t)val;
+}
+
+#endif /* ((defined (__ARM_ARCH_7M__      ) && (__ARM_ARCH_7M__      == 1)) || \
+           (defined (__ARM_ARCH_7EM__     ) && (__ARM_ARCH_7EM__     == 1)) || \
+           (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))    ) */
+
+
+#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
+/**
+  \brief   Load-Acquire (8 bit)
+  \details Executes a LDAB instruction for 8 bit value.
+  \param [in]    ptr  Pointer to data
+  \return             value of type uint8_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint8_t __LDAB(volatile uint8_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return ((uint8_t) result);
+}
+
+
+/**
+  \brief   Load-Acquire (16 bit)
+  \details Executes a LDAH instruction for 16 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint16_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint16_t __LDAH(volatile uint16_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return ((uint16_t) result);
+}
+
+
+/**
+  \brief   Load-Acquire (32 bit)
+  \details Executes a LDA instruction for 32 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint32_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint32_t __LDA(volatile uint32_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return(result);
+}
+
+
+/**
+  \brief   Store-Release (8 bit)
+  \details Executes a STLB instruction for 8 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STLB(uint8_t value, volatile uint8_t *ptr)
+{
+   __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   Store-Release (16 bit)
+  \details Executes a STLH instruction for 16 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STLH(uint16_t value, volatile uint16_t *ptr)
+{
+   __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   Store-Release (32 bit)
+  \details Executes a STL instruction for 32 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+ */
+__STATIC_FORCEINLINE void __STL(uint32_t value, volatile uint32_t *ptr)
+{
+   __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) );
+}
+
+
+/**
+  \brief   Load-Acquire Exclusive (8 bit)
+  \details Executes a LDAB exclusive instruction for 8 bit value.
+  \param [in]    ptr  Pointer to data
+  \return             value of type uint8_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint8_t __LDAEXB(volatile uint8_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldaexb %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return ((uint8_t) result);
+}
+
+
+/**
+  \brief   Load-Acquire Exclusive (16 bit)
+  \details Executes a LDAH exclusive instruction for 16 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint16_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint16_t __LDAEXH(volatile uint16_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldaexh %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return ((uint16_t) result);
+}
+
+
+/**
+  \brief   Load-Acquire Exclusive (32 bit)
+  \details Executes a LDA exclusive instruction for 32 bit values.
+  \param [in]    ptr  Pointer to data
+  \return        value of type uint32_t at (*ptr)
+ */
+__STATIC_FORCEINLINE uint32_t __LDAEX(volatile uint32_t *ptr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldaex %0, %1" : "=r" (result) : "Q" (*ptr) );
+   return(result);
+}
+
+
+/**
+  \brief   Store-Release Exclusive (8 bit)
+  \details Executes a STLB exclusive instruction for 8 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr)
+{
+   uint32_t result;
+
+   __ASM volatile ("stlexb %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+
+/**
+  \brief   Store-Release Exclusive (16 bit)
+  \details Executes a STLH exclusive instruction for 16 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr)
+{
+   uint32_t result;
+
+   __ASM volatile ("stlexh %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+
+/**
+  \brief   Store-Release Exclusive (32 bit)
+  \details Executes a STL exclusive instruction for 32 bit values.
+  \param [in]  value  Value to store
+  \param [in]    ptr  Pointer to location
+  \return          0  Function succeeded
+  \return          1  Function failed
+ */
+__STATIC_FORCEINLINE uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr)
+{
+   uint32_t result;
+
+   __ASM volatile ("stlex %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) );
+   return(result);
+}
+
+#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
+           (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    ) */
+
+/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
+
+
+/* ###################  Compiler specific Intrinsics  ########################### */
+/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
+  Access to dedicated SIMD instructions
+  @{
+*/
+
+#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1))
+
+__STATIC_FORCEINLINE uint32_t __SADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+
+__STATIC_FORCEINLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+
+__STATIC_FORCEINLINE uint32_t __SADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __QSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USAD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+#define __SSAT16(ARG1,ARG2) \
+({                          \
+  int32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+#define __USAT16(ARG1,ARG2) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("usat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+__STATIC_FORCEINLINE uint32_t __UXTB16(uint32_t op1)
+{
+  uint32_t result;
+
+  __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1));
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SXTB16(uint32_t op1)
+{
+  uint32_t result;
+
+  __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1));
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUAD  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc)
+{
+  union llreg_u{
+    uint32_t w32[2];
+    uint64_t w64;
+  } llr;
+  llr.w64 = acc;
+
+#ifndef __ARMEB__   /* Little endian */
+  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
+#else               /* Big endian */
+  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
+#endif
+
+  return(llr.w64);
+}
+
+__STATIC_FORCEINLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc)
+{
+  union llreg_u{
+    uint32_t w32[2];
+    uint64_t w64;
+  } llr;
+  llr.w64 = acc;
+
+#ifndef __ARMEB__   /* Little endian */
+  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
+#else               /* Big endian */
+  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
+#endif
+
+  return(llr.w64);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUSD  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc)
+{
+  union llreg_u{
+    uint32_t w32[2];
+    uint64_t w64;
+  } llr;
+  llr.w64 = acc;
+
+#ifndef __ARMEB__   /* Little endian */
+  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
+#else               /* Big endian */
+  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
+#endif
+
+  return(llr.w64);
+}
+
+__STATIC_FORCEINLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc)
+{
+  union llreg_u{
+    uint32_t w32[2];
+    uint64_t w64;
+  } llr;
+  llr.w64 = acc;
+
+#ifndef __ARMEB__   /* Little endian */
+  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) );
+#else               /* Big endian */
+  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) );
+#endif
+
+  return(llr.w64);
+}
+
+__STATIC_FORCEINLINE uint32_t __SEL  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE  int32_t __QADD( int32_t op1,  int32_t op2)
+{
+  int32_t result;
+
+  __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__STATIC_FORCEINLINE  int32_t __QSUB( int32_t op1,  int32_t op2)
+{
+  int32_t result;
+
+  __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+#if 0
+#define __PKHBT(ARG1,ARG2,ARG3) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
+  __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
+  __RES; \
+ })
+
+#define __PKHTB(ARG1,ARG2,ARG3) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
+  if (ARG3 == 0) \
+    __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2)  ); \
+  else \
+    __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
+  __RES; \
+ })
+#endif
+
+#define __PKHBT(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0x0000FFFFUL) |  \
+                                           ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL)  )
+
+#define __PKHTB(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0xFFFF0000UL) |  \
+                                           ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL)  )
+
+__STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3)
+{
+ int32_t result;
+
+ __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r"  (op1), "r" (op2), "r" (op3) );
+ return(result);
+}
+
+#endif /* (__ARM_FEATURE_DSP == 1) */
+/*@} end of group CMSIS_SIMD_intrinsics */
+
+
+#pragma GCC diagnostic pop
+
+#endif /* __CMSIS_GCC_H */
+
diff --git a/panda/board/stm32h7/inc/cmsis_version.h b/panda/board/stm32h7/inc/cmsis_version.h
new file mode 100644
index 00000000000000..bf57cf3e805348
--- /dev/null
+++ b/panda/board/stm32h7/inc/cmsis_version.h
@@ -0,0 +1,40 @@
+/**************************************************************************//**
+ * @file     cmsis_version.h
+ * @brief    CMSIS Core(M) Version definitions
+ * @version  V5.0.3
+ * @date     24. June 2019
+ ******************************************************************************/
+/*
+ * Copyright (c) 2009-2019 ARM Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#if   defined ( __ICCARM__ )
+  #pragma system_include         /* treat file as system include file for MISRA check */
+#elif defined (__clang__)
+  #pragma clang system_header   /* treat file as system include file */
+#endif
+
+#ifndef __CMSIS_VERSION_H
+#define __CMSIS_VERSION_H
+
+/*  CMSIS Version definitions */
+#define __CM_CMSIS_VERSION_MAIN  ( 5U)                                      /*!< [31:16] CMSIS Core(M) main version */
+#define __CM_CMSIS_VERSION_SUB   ( 3U)                                      /*!< [15:0]  CMSIS Core(M) sub version */
+#define __CM_CMSIS_VERSION       ((__CM_CMSIS_VERSION_MAIN << 16U) | \
+                                   __CM_CMSIS_VERSION_SUB           )       /*!< CMSIS Core(M) version number */
+#endif
+
diff --git a/panda/board/stm32h7/inc/core_cm7.h b/panda/board/stm32h7/inc/core_cm7.h
new file mode 100644
index 00000000000000..3da3c43e40e18f
--- /dev/null
+++ b/panda/board/stm32h7/inc/core_cm7.h
@@ -0,0 +1,2725 @@
+/**************************************************************************//**
+ * @file     core_cm7.h
+ * @brief    CMSIS Cortex-M7 Core Peripheral Access Layer Header File
+ * @version  V5.1.1
+ * @date     28. March 2019
+ ******************************************************************************/
+/*
+ * Copyright (c) 2009-2019 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#if   defined ( __ICCARM__ )
+  #pragma system_include         /* treat file as system include file for MISRA check */
+#elif defined (__clang__)
+  #pragma clang system_header   /* treat file as system include file */
+#endif
+
+#ifndef __CORE_CM7_H_GENERIC
+#define __CORE_CM7_H_GENERIC
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/**
+  \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions
+  CMSIS violates the following MISRA-C:2004 rules:
+
+   \li Required Rule 8.5, object/function definition in header file.<br>
+     Function definitions in header files are used to allow 'inlining'.
+
+   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>
+     Unions are used for effective representation of core registers.
+
+   \li Advisory Rule 19.7, Function-like macro defined.<br>
+     Function-like macros are used to allow more efficient code.
+ */
+
+
+/*******************************************************************************
+ *                 CMSIS definitions
+ ******************************************************************************/
+/**
+  \ingroup Cortex_M7
+  @{
+ */
+
+#include "cmsis_version.h"
+
+/* CMSIS CM7 definitions */
+#define __CM7_CMSIS_VERSION_MAIN  (__CM_CMSIS_VERSION_MAIN)                  /*!< \deprecated [31:16] CMSIS HAL main version */
+#define __CM7_CMSIS_VERSION_SUB   ( __CM_CMSIS_VERSION_SUB)                  /*!< \deprecated [15:0]  CMSIS HAL sub version */
+#define __CM7_CMSIS_VERSION       ((__CM7_CMSIS_VERSION_MAIN << 16U) | \
+                                    __CM7_CMSIS_VERSION_SUB           )      /*!< \deprecated CMSIS HAL version number */
+
+#define __CORTEX_M                (7U)                                       /*!< Cortex-M Core */
+
+/** __FPU_USED indicates whether an FPU is used or not.
+    For this, __FPU_PRESENT has to be checked prior to making use of FPU specific registers and functions.
+*/
+#if defined ( __CC_ARM )
+  #if defined __TARGET_FPU_VFP
+    #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)
+      #define __FPU_USED       1U
+    #else
+      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0U
+    #endif
+  #else
+    #define __FPU_USED         0U
+  #endif
+
+#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+  #if defined __ARM_FP
+    #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)
+      #define __FPU_USED       1U
+    #else
+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0U
+    #endif
+  #else
+    #define __FPU_USED         0U
+  #endif
+
+#elif defined ( __GNUC__ )
+  #if defined (__VFP_FP__) && !defined(__SOFTFP__)
+    #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)
+      #define __FPU_USED       1U
+    #else
+      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0U
+    #endif
+  #else
+    #define __FPU_USED         0U
+  #endif
+
+#elif defined ( __ICCARM__ )
+  #if defined __ARMVFP__
+    #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)
+      #define __FPU_USED       1U
+    #else
+      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0U
+    #endif
+  #else
+    #define __FPU_USED         0U
+  #endif
+
+#elif defined ( __TI_ARM__ )
+  #if defined __TI_VFP_SUPPORT__
+    #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)
+      #define __FPU_USED       1U
+    #else
+      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0U
+    #endif
+  #else
+    #define __FPU_USED         0U
+  #endif
+
+#elif defined ( __TASKING__ )
+  #if defined __FPU_VFP__
+    #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)
+      #define __FPU_USED       1U
+    #else
+      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0U
+    #endif
+  #else
+    #define __FPU_USED         0U
+  #endif
+
+#elif defined ( __CSMC__ )
+  #if ( __CSMC__ & 0x400U)
+    #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)
+      #define __FPU_USED       1U
+    #else
+      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0U
+    #endif
+  #else
+    #define __FPU_USED         0U
+  #endif
+
+#endif
+
+#include "cmsis_compiler.h"               /* CMSIS compiler specific defines */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CORE_CM7_H_GENERIC */
+
+#ifndef __CMSIS_GENERIC
+
+#ifndef __CORE_CM7_H_DEPENDANT
+#define __CORE_CM7_H_DEPENDANT
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* check device defines and use defaults */
+#if defined __CHECK_DEVICE_DEFINES
+  #ifndef __CM7_REV
+    #define __CM7_REV               0x0000U
+    #warning "__CM7_REV not defined in device header file; using default!"
+  #endif
+
+  #ifndef __FPU_PRESENT
+    #define __FPU_PRESENT             0U
+    #warning "__FPU_PRESENT not defined in device header file; using default!"
+  #endif
+
+  #ifndef __MPU_PRESENT
+    #define __MPU_PRESENT             0U
+    #warning "__MPU_PRESENT not defined in device header file; using default!"
+  #endif
+
+  #ifndef __ICACHE_PRESENT
+    #define __ICACHE_PRESENT          0U
+    #warning "__ICACHE_PRESENT not defined in device header file; using default!"
+  #endif
+
+  #ifndef __DCACHE_PRESENT
+    #define __DCACHE_PRESENT          0U
+    #warning "__DCACHE_PRESENT not defined in device header file; using default!"
+  #endif
+
+  #ifndef __DTCM_PRESENT
+    #define __DTCM_PRESENT            0U
+    #warning "__DTCM_PRESENT        not defined in device header file; using default!"
+  #endif
+
+  #ifndef __NVIC_PRIO_BITS
+    #define __NVIC_PRIO_BITS          3U
+    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
+  #endif
+
+  #ifndef __Vendor_SysTickConfig
+    #define __Vendor_SysTickConfig    0U
+    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"
+  #endif
+#endif
+
+/* IO definitions (access restrictions to peripheral registers) */
+/**
+    \defgroup CMSIS_glob_defs CMSIS Global Defines
+
+    <strong>IO Type Qualifiers</strong> are used
+    \li to specify the access to peripheral variables.
+    \li for automatic generation of peripheral register debug information.
+*/
+#ifdef __cplusplus
+  #define   __I     volatile             /*!< Defines 'read only' permissions */
+#else
+  #define   __I     volatile const       /*!< Defines 'read only' permissions */
+#endif
+#define     __O     volatile             /*!< Defines 'write only' permissions */
+#define     __IO    volatile             /*!< Defines 'read / write' permissions */
+
+/* following defines should be used for structure members */
+#define     __IM     volatile const      /*! Defines 'read only' structure member permissions */
+#define     __OM     volatile            /*! Defines 'write only' structure member permissions */
+#define     __IOM    volatile            /*! Defines 'read / write' structure member permissions */
+
+/*@} end of group Cortex_M7 */
+
+
+
+/*******************************************************************************
+ *                 Register Abstraction
+  Core Register contain:
+  - Core Register
+  - Core NVIC Register
+  - Core SCB Register
+  - Core SysTick Register
+  - Core Debug Register
+  - Core MPU Register
+  - Core FPU Register
+ ******************************************************************************/
+/**
+  \defgroup CMSIS_core_register Defines and Type Definitions
+  \brief Type definitions and defines for Cortex-M processor based devices.
+*/
+
+/**
+  \ingroup    CMSIS_core_register
+  \defgroup   CMSIS_CORE  Status and Control Registers
+  \brief      Core Register type definitions.
+  @{
+ */
+
+/**
+  \brief  Union type to access the Application Program Status Register (APSR).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t _reserved0:16;              /*!< bit:  0..15  Reserved */
+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags */
+    uint32_t _reserved1:7;               /*!< bit: 20..26  Reserved */
+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag */
+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag */
+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag */
+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag */
+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag */
+  } b;                                   /*!< Structure used for bit  access */
+  uint32_t w;                            /*!< Type      used for word access */
+} APSR_Type;
+
+/* APSR Register Definitions */
+#define APSR_N_Pos                         31U                                            /*!< APSR: N Position */
+#define APSR_N_Msk                         (1UL << APSR_N_Pos)                            /*!< APSR: N Mask */
+
+#define APSR_Z_Pos                         30U                                            /*!< APSR: Z Position */
+#define APSR_Z_Msk                         (1UL << APSR_Z_Pos)                            /*!< APSR: Z Mask */
+
+#define APSR_C_Pos                         29U                                            /*!< APSR: C Position */
+#define APSR_C_Msk                         (1UL << APSR_C_Pos)                            /*!< APSR: C Mask */
+
+#define APSR_V_Pos                         28U                                            /*!< APSR: V Position */
+#define APSR_V_Msk                         (1UL << APSR_V_Pos)                            /*!< APSR: V Mask */
+
+#define APSR_Q_Pos                         27U                                            /*!< APSR: Q Position */
+#define APSR_Q_Msk                         (1UL << APSR_Q_Pos)                            /*!< APSR: Q Mask */
+
+#define APSR_GE_Pos                        16U                                            /*!< APSR: GE Position */
+#define APSR_GE_Msk                        (0xFUL << APSR_GE_Pos)                         /*!< APSR: GE Mask */
+
+
+/**
+  \brief  Union type to access the Interrupt Program Status Register (IPSR).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number */
+    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved */
+  } b;                                   /*!< Structure used for bit  access */
+  uint32_t w;                            /*!< Type      used for word access */
+} IPSR_Type;
+
+/* IPSR Register Definitions */
+#define IPSR_ISR_Pos                        0U                                            /*!< IPSR: ISR Position */
+#define IPSR_ISR_Msk                       (0x1FFUL /*<< IPSR_ISR_Pos*/)                  /*!< IPSR: ISR Mask */
+
+
+/**
+  \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number */
+    uint32_t _reserved0:1;               /*!< bit:      9  Reserved */
+    uint32_t ICI_IT_1:6;                 /*!< bit: 10..15  ICI/IT part 1 */
+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags */
+    uint32_t _reserved1:4;               /*!< bit: 20..23  Reserved */
+    uint32_t T:1;                        /*!< bit:     24  Thumb bit */
+    uint32_t ICI_IT_2:2;                 /*!< bit: 25..26  ICI/IT part 2 */
+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag */
+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag */
+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag */
+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag */
+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag */
+  } b;                                   /*!< Structure used for bit  access */
+  uint32_t w;                            /*!< Type      used for word access */
+} xPSR_Type;
+
+/* xPSR Register Definitions */
+#define xPSR_N_Pos                         31U                                            /*!< xPSR: N Position */
+#define xPSR_N_Msk                         (1UL << xPSR_N_Pos)                            /*!< xPSR: N Mask */
+
+#define xPSR_Z_Pos                         30U                                            /*!< xPSR: Z Position */
+#define xPSR_Z_Msk                         (1UL << xPSR_Z_Pos)                            /*!< xPSR: Z Mask */
+
+#define xPSR_C_Pos                         29U                                            /*!< xPSR: C Position */
+#define xPSR_C_Msk                         (1UL << xPSR_C_Pos)                            /*!< xPSR: C Mask */
+
+#define xPSR_V_Pos                         28U                                            /*!< xPSR: V Position */
+#define xPSR_V_Msk                         (1UL << xPSR_V_Pos)                            /*!< xPSR: V Mask */
+
+#define xPSR_Q_Pos                         27U                                            /*!< xPSR: Q Position */
+#define xPSR_Q_Msk                         (1UL << xPSR_Q_Pos)                            /*!< xPSR: Q Mask */
+
+#define xPSR_ICI_IT_2_Pos                  25U                                            /*!< xPSR: ICI/IT part 2 Position */
+#define xPSR_ICI_IT_2_Msk                  (3UL << xPSR_ICI_IT_2_Pos)                     /*!< xPSR: ICI/IT part 2 Mask */
+
+#define xPSR_T_Pos                         24U                                            /*!< xPSR: T Position */
+#define xPSR_T_Msk                         (1UL << xPSR_T_Pos)                            /*!< xPSR: T Mask */
+
+#define xPSR_GE_Pos                        16U                                            /*!< xPSR: GE Position */
+#define xPSR_GE_Msk                        (0xFUL << xPSR_GE_Pos)                         /*!< xPSR: GE Mask */
+
+#define xPSR_ICI_IT_1_Pos                  10U                                            /*!< xPSR: ICI/IT part 1 Position */
+#define xPSR_ICI_IT_1_Msk                  (0x3FUL << xPSR_ICI_IT_1_Pos)                  /*!< xPSR: ICI/IT part 1 Mask */
+
+#define xPSR_ISR_Pos                        0U                                            /*!< xPSR: ISR Position */
+#define xPSR_ISR_Msk                       (0x1FFUL /*<< xPSR_ISR_Pos*/)                  /*!< xPSR: ISR Mask */
+
+
+/**
+  \brief  Union type to access the Control Registers (CONTROL).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t nPRIV:1;                    /*!< bit:      0  Execution privilege in Thread mode */
+    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used */
+    uint32_t FPCA:1;                     /*!< bit:      2  FP extension active flag */
+    uint32_t _reserved0:29;              /*!< bit:  3..31  Reserved */
+  } b;                                   /*!< Structure used for bit  access */
+  uint32_t w;                            /*!< Type      used for word access */
+} CONTROL_Type;
+
+/* CONTROL Register Definitions */
+#define CONTROL_FPCA_Pos                    2U                                            /*!< CONTROL: FPCA Position */
+#define CONTROL_FPCA_Msk                   (1UL << CONTROL_FPCA_Pos)                      /*!< CONTROL: FPCA Mask */
+
+#define CONTROL_SPSEL_Pos                   1U                                            /*!< CONTROL: SPSEL Position */
+#define CONTROL_SPSEL_Msk                  (1UL << CONTROL_SPSEL_Pos)                     /*!< CONTROL: SPSEL Mask */
+
+#define CONTROL_nPRIV_Pos                   0U                                            /*!< CONTROL: nPRIV Position */
+#define CONTROL_nPRIV_Msk                  (1UL /*<< CONTROL_nPRIV_Pos*/)                 /*!< CONTROL: nPRIV Mask */
+
+/*@} end of group CMSIS_CORE */
+
+
+/**
+  \ingroup    CMSIS_core_register
+  \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)
+  \brief      Type definitions for the NVIC Registers
+  @{
+ */
+
+/**
+  \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).
+ */
+typedef struct
+{
+  __IOM uint32_t ISER[8U];               /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register */
+        uint32_t RESERVED0[24U];
+  __IOM uint32_t ICER[8U];               /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register */
+        uint32_t RESERVED1[24U];
+  __IOM uint32_t ISPR[8U];               /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register */
+        uint32_t RESERVED2[24U];
+  __IOM uint32_t ICPR[8U];               /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register */
+        uint32_t RESERVED3[24U];
+  __IOM uint32_t IABR[8U];               /*!< Offset: 0x200 (R/W)  Interrupt Active bit Register */
+        uint32_t RESERVED4[56U];
+  __IOM uint8_t  IP[240U];               /*!< Offset: 0x300 (R/W)  Interrupt Priority Register (8Bit wide) */
+        uint32_t RESERVED5[644U];
+  __OM  uint32_t STIR;                   /*!< Offset: 0xE00 ( /W)  Software Trigger Interrupt Register */
+}  NVIC_Type;
+
+/* Software Triggered Interrupt Register Definitions */
+#define NVIC_STIR_INTID_Pos                 0U                                         /*!< STIR: INTLINESNUM Position */
+#define NVIC_STIR_INTID_Msk                (0x1FFUL /*<< NVIC_STIR_INTID_Pos*/)        /*!< STIR: INTLINESNUM Mask */
+
+/*@} end of group CMSIS_NVIC */
+
+
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_SCB     System Control Block (SCB)
+  \brief    Type definitions for the System Control Block Registers
+  @{
+ */
+
+/**
+  \brief  Structure type to access the System Control Block (SCB).
+ */
+typedef struct
+{
+  __IM  uint32_t CPUID;                  /*!< Offset: 0x000 (R/ )  CPUID Base Register */
+  __IOM uint32_t ICSR;                   /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register */
+  __IOM uint32_t VTOR;                   /*!< Offset: 0x008 (R/W)  Vector Table Offset Register */
+  __IOM uint32_t AIRCR;                  /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register */
+  __IOM uint32_t SCR;                    /*!< Offset: 0x010 (R/W)  System Control Register */
+  __IOM uint32_t CCR;                    /*!< Offset: 0x014 (R/W)  Configuration Control Register */
+  __IOM uint8_t  SHPR[12U];              /*!< Offset: 0x018 (R/W)  System Handlers Priority Registers (4-7, 8-11, 12-15) */
+  __IOM uint32_t SHCSR;                  /*!< Offset: 0x024 (R/W)  System Handler Control and State Register */
+  __IOM uint32_t CFSR;                   /*!< Offset: 0x028 (R/W)  Configurable Fault Status Register */
+  __IOM uint32_t HFSR;                   /*!< Offset: 0x02C (R/W)  HardFault Status Register */
+  __IOM uint32_t DFSR;                   /*!< Offset: 0x030 (R/W)  Debug Fault Status Register */
+  __IOM uint32_t MMFAR;                  /*!< Offset: 0x034 (R/W)  MemManage Fault Address Register */
+  __IOM uint32_t BFAR;                   /*!< Offset: 0x038 (R/W)  BusFault Address Register */
+  __IOM uint32_t AFSR;                   /*!< Offset: 0x03C (R/W)  Auxiliary Fault Status Register */
+  __IM  uint32_t ID_PFR[2U];             /*!< Offset: 0x040 (R/ )  Processor Feature Register */
+  __IM  uint32_t ID_DFR;                 /*!< Offset: 0x048 (R/ )  Debug Feature Register */
+  __IM  uint32_t ID_AFR;                 /*!< Offset: 0x04C (R/ )  Auxiliary Feature Register */
+  __IM  uint32_t ID_MFR[4U];             /*!< Offset: 0x050 (R/ )  Memory Model Feature Register */
+  __IM  uint32_t ID_ISAR[5U];            /*!< Offset: 0x060 (R/ )  Instruction Set Attributes Register */
+        uint32_t RESERVED0[1U];
+  __IM  uint32_t CLIDR;                  /*!< Offset: 0x078 (R/ )  Cache Level ID register */
+  __IM  uint32_t CTR;                    /*!< Offset: 0x07C (R/ )  Cache Type register */
+  __IM  uint32_t CCSIDR;                 /*!< Offset: 0x080 (R/ )  Cache Size ID Register */
+  __IOM uint32_t CSSELR;                 /*!< Offset: 0x084 (R/W)  Cache Size Selection Register */
+  __IOM uint32_t CPACR;                  /*!< Offset: 0x088 (R/W)  Coprocessor Access Control Register */
+        uint32_t RESERVED3[93U];
+  __OM  uint32_t STIR;                   /*!< Offset: 0x200 ( /W)  Software Triggered Interrupt Register */
+        uint32_t RESERVED4[15U];
+  __IM  uint32_t MVFR0;                  /*!< Offset: 0x240 (R/ )  Media and VFP Feature Register 0 */
+  __IM  uint32_t MVFR1;                  /*!< Offset: 0x244 (R/ )  Media and VFP Feature Register 1 */
+  __IM  uint32_t MVFR2;                  /*!< Offset: 0x248 (R/ )  Media and VFP Feature Register 2 */
+        uint32_t RESERVED5[1U];
+  __OM  uint32_t ICIALLU;                /*!< Offset: 0x250 ( /W)  I-Cache Invalidate All to PoU */
+        uint32_t RESERVED6[1U];
+  __OM  uint32_t ICIMVAU;                /*!< Offset: 0x258 ( /W)  I-Cache Invalidate by MVA to PoU */
+  __OM  uint32_t DCIMVAC;                /*!< Offset: 0x25C ( /W)  D-Cache Invalidate by MVA to PoC */
+  __OM  uint32_t DCISW;                  /*!< Offset: 0x260 ( /W)  D-Cache Invalidate by Set-way */
+  __OM  uint32_t DCCMVAU;                /*!< Offset: 0x264 ( /W)  D-Cache Clean by MVA to PoU */
+  __OM  uint32_t DCCMVAC;                /*!< Offset: 0x268 ( /W)  D-Cache Clean by MVA to PoC */
+  __OM  uint32_t DCCSW;                  /*!< Offset: 0x26C ( /W)  D-Cache Clean by Set-way */
+  __OM  uint32_t DCCIMVAC;               /*!< Offset: 0x270 ( /W)  D-Cache Clean and Invalidate by MVA to PoC */
+  __OM  uint32_t DCCISW;                 /*!< Offset: 0x274 ( /W)  D-Cache Clean and Invalidate by Set-way */
+        uint32_t RESERVED7[6U];
+  __IOM uint32_t ITCMCR;                 /*!< Offset: 0x290 (R/W)  Instruction Tightly-Coupled Memory Control Register */
+  __IOM uint32_t DTCMCR;                 /*!< Offset: 0x294 (R/W)  Data Tightly-Coupled Memory Control Registers */
+  __IOM uint32_t AHBPCR;                 /*!< Offset: 0x298 (R/W)  AHBP Control Register */
+  __IOM uint32_t CACR;                   /*!< Offset: 0x29C (R/W)  L1 Cache Control Register */
+  __IOM uint32_t AHBSCR;                 /*!< Offset: 0x2A0 (R/W)  AHB Slave Control Register */
+        uint32_t RESERVED8[1U];
+  __IOM uint32_t ABFSR;                  /*!< Offset: 0x2A8 (R/W)  Auxiliary Bus Fault Status Register */
+} SCB_Type;
+
+/* SCB CPUID Register Definitions */
+#define SCB_CPUID_IMPLEMENTER_Pos          24U                                            /*!< SCB CPUID: IMPLEMENTER Position */
+#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */
+
+#define SCB_CPUID_VARIANT_Pos              20U                                            /*!< SCB CPUID: VARIANT Position */
+#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */
+
+#define SCB_CPUID_ARCHITECTURE_Pos         16U                                            /*!< SCB CPUID: ARCHITECTURE Position */
+#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */
+
+#define SCB_CPUID_PARTNO_Pos                4U                                            /*!< SCB CPUID: PARTNO Position */
+#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */
+
+#define SCB_CPUID_REVISION_Pos              0U                                            /*!< SCB CPUID: REVISION Position */
+#define SCB_CPUID_REVISION_Msk             (0xFUL /*<< SCB_CPUID_REVISION_Pos*/)          /*!< SCB CPUID: REVISION Mask */
+
+/* SCB Interrupt Control State Register Definitions */
+#define SCB_ICSR_NMIPENDSET_Pos            31U                                            /*!< SCB ICSR: NMIPENDSET Position */
+#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */
+
+#define SCB_ICSR_PENDSVSET_Pos             28U                                            /*!< SCB ICSR: PENDSVSET Position */
+#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */
+
+#define SCB_ICSR_PENDSVCLR_Pos             27U                                            /*!< SCB ICSR: PENDSVCLR Position */
+#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */
+
+#define SCB_ICSR_PENDSTSET_Pos             26U                                            /*!< SCB ICSR: PENDSTSET Position */
+#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */
+
+#define SCB_ICSR_PENDSTCLR_Pos             25U                                            /*!< SCB ICSR: PENDSTCLR Position */
+#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */
+
+#define SCB_ICSR_ISRPREEMPT_Pos            23U                                            /*!< SCB ICSR: ISRPREEMPT Position */
+#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */
+
+#define SCB_ICSR_ISRPENDING_Pos            22U                                            /*!< SCB ICSR: ISRPENDING Position */
+#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */
+
+#define SCB_ICSR_VECTPENDING_Pos           12U                                            /*!< SCB ICSR: VECTPENDING Position */
+#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */
+
+#define SCB_ICSR_RETTOBASE_Pos             11U                                            /*!< SCB ICSR: RETTOBASE Position */
+#define SCB_ICSR_RETTOBASE_Msk             (1UL << SCB_ICSR_RETTOBASE_Pos)                /*!< SCB ICSR: RETTOBASE Mask */
+
+#define SCB_ICSR_VECTACTIVE_Pos             0U                                            /*!< SCB ICSR: VECTACTIVE Position */
+#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/)       /*!< SCB ICSR: VECTACTIVE Mask */
+
+/* SCB Vector Table Offset Register Definitions */
+#define SCB_VTOR_TBLOFF_Pos                 7U                                            /*!< SCB VTOR: TBLOFF Position */
+#define SCB_VTOR_TBLOFF_Msk                (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos)           /*!< SCB VTOR: TBLOFF Mask */
+
+/* SCB Application Interrupt and Reset Control Register Definitions */
+#define SCB_AIRCR_VECTKEY_Pos              16U                                            /*!< SCB AIRCR: VECTKEY Position */
+#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
+
+#define SCB_AIRCR_VECTKEYSTAT_Pos          16U                                            /*!< SCB AIRCR: VECTKEYSTAT Position */
+#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */
+
+#define SCB_AIRCR_ENDIANESS_Pos            15U                                            /*!< SCB AIRCR: ENDIANESS Position */
+#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */
+
+#define SCB_AIRCR_PRIGROUP_Pos              8U                                            /*!< SCB AIRCR: PRIGROUP Position */
+#define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
+
+#define SCB_AIRCR_SYSRESETREQ_Pos           2U                                            /*!< SCB AIRCR: SYSRESETREQ Position */
+#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */
+
+#define SCB_AIRCR_VECTCLRACTIVE_Pos         1U                                            /*!< SCB AIRCR: VECTCLRACTIVE Position */
+#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */
+
+#define SCB_AIRCR_VECTRESET_Pos             0U                                            /*!< SCB AIRCR: VECTRESET Position */
+#define SCB_AIRCR_VECTRESET_Msk            (1UL /*<< SCB_AIRCR_VECTRESET_Pos*/)           /*!< SCB AIRCR: VECTRESET Mask */
+
+/* SCB System Control Register Definitions */
+#define SCB_SCR_SEVONPEND_Pos               4U                                            /*!< SCB SCR: SEVONPEND Position */
+#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */
+
+#define SCB_SCR_SLEEPDEEP_Pos               2U                                            /*!< SCB SCR: SLEEPDEEP Position */
+#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */
+
+#define SCB_SCR_SLEEPONEXIT_Pos             1U                                            /*!< SCB SCR: SLEEPONEXIT Position */
+#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */
+
+/* SCB Configuration Control Register Definitions */
+#define SCB_CCR_BP_Pos                      18U                                           /*!< SCB CCR: Branch prediction enable bit Position */
+#define SCB_CCR_BP_Msk                     (1UL << SCB_CCR_BP_Pos)                        /*!< SCB CCR: Branch prediction enable bit Mask */
+
+#define SCB_CCR_IC_Pos                      17U                                           /*!< SCB CCR: Instruction cache enable bit Position */
+#define SCB_CCR_IC_Msk                     (1UL << SCB_CCR_IC_Pos)                        /*!< SCB CCR: Instruction cache enable bit Mask */
+
+#define SCB_CCR_DC_Pos                      16U                                           /*!< SCB CCR: Cache enable bit Position */
+#define SCB_CCR_DC_Msk                     (1UL << SCB_CCR_DC_Pos)                        /*!< SCB CCR: Cache enable bit Mask */
+
+#define SCB_CCR_STKALIGN_Pos                9U                                            /*!< SCB CCR: STKALIGN Position */
+#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */
+
+#define SCB_CCR_BFHFNMIGN_Pos               8U                                            /*!< SCB CCR: BFHFNMIGN Position */
+#define SCB_CCR_BFHFNMIGN_Msk              (1UL << SCB_CCR_BFHFNMIGN_Pos)                 /*!< SCB CCR: BFHFNMIGN Mask */
+
+#define SCB_CCR_DIV_0_TRP_Pos               4U                                            /*!< SCB CCR: DIV_0_TRP Position */
+#define SCB_CCR_DIV_0_TRP_Msk              (1UL << SCB_CCR_DIV_0_TRP_Pos)                 /*!< SCB CCR: DIV_0_TRP Mask */
+
+#define SCB_CCR_UNALIGN_TRP_Pos             3U                                            /*!< SCB CCR: UNALIGN_TRP Position */
+#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */
+
+#define SCB_CCR_USERSETMPEND_Pos            1U                                            /*!< SCB CCR: USERSETMPEND Position */
+#define SCB_CCR_USERSETMPEND_Msk           (1UL << SCB_CCR_USERSETMPEND_Pos)              /*!< SCB CCR: USERSETMPEND Mask */
+
+#define SCB_CCR_NONBASETHRDENA_Pos          0U                                            /*!< SCB CCR: NONBASETHRDENA Position */
+#define SCB_CCR_NONBASETHRDENA_Msk         (1UL /*<< SCB_CCR_NONBASETHRDENA_Pos*/)        /*!< SCB CCR: NONBASETHRDENA Mask */
+
+/* SCB System Handler Control and State Register Definitions */
+#define SCB_SHCSR_USGFAULTENA_Pos          18U                                            /*!< SCB SHCSR: USGFAULTENA Position */
+#define SCB_SHCSR_USGFAULTENA_Msk          (1UL << SCB_SHCSR_USGFAULTENA_Pos)             /*!< SCB SHCSR: USGFAULTENA Mask */
+
+#define SCB_SHCSR_BUSFAULTENA_Pos          17U                                            /*!< SCB SHCSR: BUSFAULTENA Position */
+#define SCB_SHCSR_BUSFAULTENA_Msk          (1UL << SCB_SHCSR_BUSFAULTENA_Pos)             /*!< SCB SHCSR: BUSFAULTENA Mask */
+
+#define SCB_SHCSR_MEMFAULTENA_Pos          16U                                            /*!< SCB SHCSR: MEMFAULTENA Position */
+#define SCB_SHCSR_MEMFAULTENA_Msk          (1UL << SCB_SHCSR_MEMFAULTENA_Pos)             /*!< SCB SHCSR: MEMFAULTENA Mask */
+
+#define SCB_SHCSR_SVCALLPENDED_Pos         15U                                            /*!< SCB SHCSR: SVCALLPENDED Position */
+#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */
+
+#define SCB_SHCSR_BUSFAULTPENDED_Pos       14U                                            /*!< SCB SHCSR: BUSFAULTPENDED Position */
+#define SCB_SHCSR_BUSFAULTPENDED_Msk       (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos)          /*!< SCB SHCSR: BUSFAULTPENDED Mask */
+
+#define SCB_SHCSR_MEMFAULTPENDED_Pos       13U                                            /*!< SCB SHCSR: MEMFAULTPENDED Position */
+#define SCB_SHCSR_MEMFAULTPENDED_Msk       (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos)          /*!< SCB SHCSR: MEMFAULTPENDED Mask */
+
+#define SCB_SHCSR_USGFAULTPENDED_Pos       12U                                            /*!< SCB SHCSR: USGFAULTPENDED Position */
+#define SCB_SHCSR_USGFAULTPENDED_Msk       (1UL << SCB_SHCSR_USGFAULTPENDED_Pos)          /*!< SCB SHCSR: USGFAULTPENDED Mask */
+
+#define SCB_SHCSR_SYSTICKACT_Pos           11U                                            /*!< SCB SHCSR: SYSTICKACT Position */
+#define SCB_SHCSR_SYSTICKACT_Msk           (1UL << SCB_SHCSR_SYSTICKACT_Pos)              /*!< SCB SHCSR: SYSTICKACT Mask */
+
+#define SCB_SHCSR_PENDSVACT_Pos            10U                                            /*!< SCB SHCSR: PENDSVACT Position */
+#define SCB_SHCSR_PENDSVACT_Msk            (1UL << SCB_SHCSR_PENDSVACT_Pos)               /*!< SCB SHCSR: PENDSVACT Mask */
+
+#define SCB_SHCSR_MONITORACT_Pos            8U                                            /*!< SCB SHCSR: MONITORACT Position */
+#define SCB_SHCSR_MONITORACT_Msk           (1UL << SCB_SHCSR_MONITORACT_Pos)              /*!< SCB SHCSR: MONITORACT Mask */
+
+#define SCB_SHCSR_SVCALLACT_Pos             7U                                            /*!< SCB SHCSR: SVCALLACT Position */
+#define SCB_SHCSR_SVCALLACT_Msk            (1UL << SCB_SHCSR_SVCALLACT_Pos)               /*!< SCB SHCSR: SVCALLACT Mask */
+
+#define SCB_SHCSR_USGFAULTACT_Pos           3U                                            /*!< SCB SHCSR: USGFAULTACT Position */
+#define SCB_SHCSR_USGFAULTACT_Msk          (1UL << SCB_SHCSR_USGFAULTACT_Pos)             /*!< SCB SHCSR: USGFAULTACT Mask */
+
+#define SCB_SHCSR_BUSFAULTACT_Pos           1U                                            /*!< SCB SHCSR: BUSFAULTACT Position */
+#define SCB_SHCSR_BUSFAULTACT_Msk          (1UL << SCB_SHCSR_BUSFAULTACT_Pos)             /*!< SCB SHCSR: BUSFAULTACT Mask */
+
+#define SCB_SHCSR_MEMFAULTACT_Pos           0U                                            /*!< SCB SHCSR: MEMFAULTACT Position */
+#define SCB_SHCSR_MEMFAULTACT_Msk          (1UL /*<< SCB_SHCSR_MEMFAULTACT_Pos*/)         /*!< SCB SHCSR: MEMFAULTACT Mask */
+
+/* SCB Configurable Fault Status Register Definitions */
+#define SCB_CFSR_USGFAULTSR_Pos            16U                                            /*!< SCB CFSR: Usage Fault Status Register Position */
+#define SCB_CFSR_USGFAULTSR_Msk            (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos)          /*!< SCB CFSR: Usage Fault Status Register Mask */
+
+#define SCB_CFSR_BUSFAULTSR_Pos             8U                                            /*!< SCB CFSR: Bus Fault Status Register Position */
+#define SCB_CFSR_BUSFAULTSR_Msk            (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos)            /*!< SCB CFSR: Bus Fault Status Register Mask */
+
+#define SCB_CFSR_MEMFAULTSR_Pos             0U                                            /*!< SCB CFSR: Memory Manage Fault Status Register Position */
+#define SCB_CFSR_MEMFAULTSR_Msk            (0xFFUL /*<< SCB_CFSR_MEMFAULTSR_Pos*/)        /*!< SCB CFSR: Memory Manage Fault Status Register Mask */
+
+/* MemManage Fault Status Register (part of SCB Configurable Fault Status Register) */
+#define SCB_CFSR_MMARVALID_Pos             (SCB_SHCSR_MEMFAULTACT_Pos + 7U)               /*!< SCB CFSR (MMFSR): MMARVALID Position */
+#define SCB_CFSR_MMARVALID_Msk             (1UL << SCB_CFSR_MMARVALID_Pos)                /*!< SCB CFSR (MMFSR): MMARVALID Mask */
+
+#define SCB_CFSR_MLSPERR_Pos               (SCB_SHCSR_MEMFAULTACT_Pos + 5U)               /*!< SCB CFSR (MMFSR): MLSPERR Position */
+#define SCB_CFSR_MLSPERR_Msk               (1UL << SCB_CFSR_MLSPERR_Pos)                  /*!< SCB CFSR (MMFSR): MLSPERR Mask */
+
+#define SCB_CFSR_MSTKERR_Pos               (SCB_SHCSR_MEMFAULTACT_Pos + 4U)               /*!< SCB CFSR (MMFSR): MSTKERR Position */
+#define SCB_CFSR_MSTKERR_Msk               (1UL << SCB_CFSR_MSTKERR_Pos)                  /*!< SCB CFSR (MMFSR): MSTKERR Mask */
+
+#define SCB_CFSR_MUNSTKERR_Pos             (SCB_SHCSR_MEMFAULTACT_Pos + 3U)               /*!< SCB CFSR (MMFSR): MUNSTKERR Position */
+#define SCB_CFSR_MUNSTKERR_Msk             (1UL << SCB_CFSR_MUNSTKERR_Pos)                /*!< SCB CFSR (MMFSR): MUNSTKERR Mask */
+
+#define SCB_CFSR_DACCVIOL_Pos              (SCB_SHCSR_MEMFAULTACT_Pos + 1U)               /*!< SCB CFSR (MMFSR): DACCVIOL Position */
+#define SCB_CFSR_DACCVIOL_Msk              (1UL << SCB_CFSR_DACCVIOL_Pos)                 /*!< SCB CFSR (MMFSR): DACCVIOL Mask */
+
+#define SCB_CFSR_IACCVIOL_Pos              (SCB_SHCSR_MEMFAULTACT_Pos + 0U)               /*!< SCB CFSR (MMFSR): IACCVIOL Position */
+#define SCB_CFSR_IACCVIOL_Msk              (1UL /*<< SCB_CFSR_IACCVIOL_Pos*/)             /*!< SCB CFSR (MMFSR): IACCVIOL Mask */
+
+/* BusFault Status Register (part of SCB Configurable Fault Status Register) */
+#define SCB_CFSR_BFARVALID_Pos            (SCB_CFSR_BUSFAULTSR_Pos + 7U)                  /*!< SCB CFSR (BFSR): BFARVALID Position */
+#define SCB_CFSR_BFARVALID_Msk            (1UL << SCB_CFSR_BFARVALID_Pos)                 /*!< SCB CFSR (BFSR): BFARVALID Mask */
+
+#define SCB_CFSR_LSPERR_Pos               (SCB_CFSR_BUSFAULTSR_Pos + 5U)                  /*!< SCB CFSR (BFSR): LSPERR Position */
+#define SCB_CFSR_LSPERR_Msk               (1UL << SCB_CFSR_LSPERR_Pos)                    /*!< SCB CFSR (BFSR): LSPERR Mask */
+
+#define SCB_CFSR_STKERR_Pos               (SCB_CFSR_BUSFAULTSR_Pos + 4U)                  /*!< SCB CFSR (BFSR): STKERR Position */
+#define SCB_CFSR_STKERR_Msk               (1UL << SCB_CFSR_STKERR_Pos)                    /*!< SCB CFSR (BFSR): STKERR Mask */
+
+#define SCB_CFSR_UNSTKERR_Pos             (SCB_CFSR_BUSFAULTSR_Pos + 3U)                  /*!< SCB CFSR (BFSR): UNSTKERR Position */
+#define SCB_CFSR_UNSTKERR_Msk             (1UL << SCB_CFSR_UNSTKERR_Pos)                  /*!< SCB CFSR (BFSR): UNSTKERR Mask */
+
+#define SCB_CFSR_IMPRECISERR_Pos          (SCB_CFSR_BUSFAULTSR_Pos + 2U)                  /*!< SCB CFSR (BFSR): IMPRECISERR Position */
+#define SCB_CFSR_IMPRECISERR_Msk          (1UL << SCB_CFSR_IMPRECISERR_Pos)               /*!< SCB CFSR (BFSR): IMPRECISERR Mask */
+
+#define SCB_CFSR_PRECISERR_Pos            (SCB_CFSR_BUSFAULTSR_Pos + 1U)                  /*!< SCB CFSR (BFSR): PRECISERR Position */
+#define SCB_CFSR_PRECISERR_Msk            (1UL << SCB_CFSR_PRECISERR_Pos)                 /*!< SCB CFSR (BFSR): PRECISERR Mask */
+
+#define SCB_CFSR_IBUSERR_Pos              (SCB_CFSR_BUSFAULTSR_Pos + 0U)                  /*!< SCB CFSR (BFSR): IBUSERR Position */
+#define SCB_CFSR_IBUSERR_Msk              (1UL << SCB_CFSR_IBUSERR_Pos)                   /*!< SCB CFSR (BFSR): IBUSERR Mask */
+
+/* UsageFault Status Register (part of SCB Configurable Fault Status Register) */
+#define SCB_CFSR_DIVBYZERO_Pos            (SCB_CFSR_USGFAULTSR_Pos + 9U)                  /*!< SCB CFSR (UFSR): DIVBYZERO Position */
+#define SCB_CFSR_DIVBYZERO_Msk            (1UL << SCB_CFSR_DIVBYZERO_Pos)                 /*!< SCB CFSR (UFSR): DIVBYZERO Mask */
+
+#define SCB_CFSR_UNALIGNED_Pos            (SCB_CFSR_USGFAULTSR_Pos + 8U)                  /*!< SCB CFSR (UFSR): UNALIGNED Position */
+#define SCB_CFSR_UNALIGNED_Msk            (1UL << SCB_CFSR_UNALIGNED_Pos)                 /*!< SCB CFSR (UFSR): UNALIGNED Mask */
+
+#define SCB_CFSR_NOCP_Pos                 (SCB_CFSR_USGFAULTSR_Pos + 3U)                  /*!< SCB CFSR (UFSR): NOCP Position */
+#define SCB_CFSR_NOCP_Msk                 (1UL << SCB_CFSR_NOCP_Pos)                      /*!< SCB CFSR (UFSR): NOCP Mask */
+
+#define SCB_CFSR_INVPC_Pos                (SCB_CFSR_USGFAULTSR_Pos + 2U)                  /*!< SCB CFSR (UFSR): INVPC Position */
+#define SCB_CFSR_INVPC_Msk                (1UL << SCB_CFSR_INVPC_Pos)                     /*!< SCB CFSR (UFSR): INVPC Mask */
+
+#define SCB_CFSR_INVSTATE_Pos             (SCB_CFSR_USGFAULTSR_Pos + 1U)                  /*!< SCB CFSR (UFSR): INVSTATE Position */
+#define SCB_CFSR_INVSTATE_Msk             (1UL << SCB_CFSR_INVSTATE_Pos)                  /*!< SCB CFSR (UFSR): INVSTATE Mask */
+
+#define SCB_CFSR_UNDEFINSTR_Pos           (SCB_CFSR_USGFAULTSR_Pos + 0U)                  /*!< SCB CFSR (UFSR): UNDEFINSTR Position */
+#define SCB_CFSR_UNDEFINSTR_Msk           (1UL << SCB_CFSR_UNDEFINSTR_Pos)                /*!< SCB CFSR (UFSR): UNDEFINSTR Mask */
+
+/* SCB Hard Fault Status Register Definitions */
+#define SCB_HFSR_DEBUGEVT_Pos              31U                                            /*!< SCB HFSR: DEBUGEVT Position */
+#define SCB_HFSR_DEBUGEVT_Msk              (1UL << SCB_HFSR_DEBUGEVT_Pos)                 /*!< SCB HFSR: DEBUGEVT Mask */
+
+#define SCB_HFSR_FORCED_Pos                30U                                            /*!< SCB HFSR: FORCED Position */
+#define SCB_HFSR_FORCED_Msk                (1UL << SCB_HFSR_FORCED_Pos)                   /*!< SCB HFSR: FORCED Mask */
+
+#define SCB_HFSR_VECTTBL_Pos                1U                                            /*!< SCB HFSR: VECTTBL Position */
+#define SCB_HFSR_VECTTBL_Msk               (1UL << SCB_HFSR_VECTTBL_Pos)                  /*!< SCB HFSR: VECTTBL Mask */
+
+/* SCB Debug Fault Status Register Definitions */
+#define SCB_DFSR_EXTERNAL_Pos               4U                                            /*!< SCB DFSR: EXTERNAL Position */
+#define SCB_DFSR_EXTERNAL_Msk              (1UL << SCB_DFSR_EXTERNAL_Pos)                 /*!< SCB DFSR: EXTERNAL Mask */
+
+#define SCB_DFSR_VCATCH_Pos                 3U                                            /*!< SCB DFSR: VCATCH Position */
+#define SCB_DFSR_VCATCH_Msk                (1UL << SCB_DFSR_VCATCH_Pos)                   /*!< SCB DFSR: VCATCH Mask */
+
+#define SCB_DFSR_DWTTRAP_Pos                2U                                            /*!< SCB DFSR: DWTTRAP Position */
+#define SCB_DFSR_DWTTRAP_Msk               (1UL << SCB_DFSR_DWTTRAP_Pos)                  /*!< SCB DFSR: DWTTRAP Mask */
+
+#define SCB_DFSR_BKPT_Pos                   1U                                            /*!< SCB DFSR: BKPT Position */
+#define SCB_DFSR_BKPT_Msk                  (1UL << SCB_DFSR_BKPT_Pos)                     /*!< SCB DFSR: BKPT Mask */
+
+#define SCB_DFSR_HALTED_Pos                 0U                                            /*!< SCB DFSR: HALTED Position */
+#define SCB_DFSR_HALTED_Msk                (1UL /*<< SCB_DFSR_HALTED_Pos*/)               /*!< SCB DFSR: HALTED Mask */
+
+/* SCB Cache Level ID Register Definitions */
+#define SCB_CLIDR_LOUU_Pos                 27U                                            /*!< SCB CLIDR: LoUU Position */
+#define SCB_CLIDR_LOUU_Msk                 (7UL << SCB_CLIDR_LOUU_Pos)                    /*!< SCB CLIDR: LoUU Mask */
+
+#define SCB_CLIDR_LOC_Pos                  24U                                            /*!< SCB CLIDR: LoC Position */
+#define SCB_CLIDR_LOC_Msk                  (7UL << SCB_CLIDR_LOC_Pos)                     /*!< SCB CLIDR: LoC Mask */
+
+/* SCB Cache Type Register Definitions */
+#define SCB_CTR_FORMAT_Pos                 29U                                            /*!< SCB CTR: Format Position */
+#define SCB_CTR_FORMAT_Msk                 (7UL << SCB_CTR_FORMAT_Pos)                    /*!< SCB CTR: Format Mask */
+
+#define SCB_CTR_CWG_Pos                    24U                                            /*!< SCB CTR: CWG Position */
+#define SCB_CTR_CWG_Msk                    (0xFUL << SCB_CTR_CWG_Pos)                     /*!< SCB CTR: CWG Mask */
+
+#define SCB_CTR_ERG_Pos                    20U                                            /*!< SCB CTR: ERG Position */
+#define SCB_CTR_ERG_Msk                    (0xFUL << SCB_CTR_ERG_Pos)                     /*!< SCB CTR: ERG Mask */
+
+#define SCB_CTR_DMINLINE_Pos               16U                                            /*!< SCB CTR: DminLine Position */
+#define SCB_CTR_DMINLINE_Msk               (0xFUL << SCB_CTR_DMINLINE_Pos)                /*!< SCB CTR: DminLine Mask */
+
+#define SCB_CTR_IMINLINE_Pos                0U                                            /*!< SCB CTR: ImInLine Position */
+#define SCB_CTR_IMINLINE_Msk               (0xFUL /*<< SCB_CTR_IMINLINE_Pos*/)            /*!< SCB CTR: ImInLine Mask */
+
+/* SCB Cache Size ID Register Definitions */
+#define SCB_CCSIDR_WT_Pos                  31U                                            /*!< SCB CCSIDR: WT Position */
+#define SCB_CCSIDR_WT_Msk                  (1UL << SCB_CCSIDR_WT_Pos)                     /*!< SCB CCSIDR: WT Mask */
+
+#define SCB_CCSIDR_WB_Pos                  30U                                            /*!< SCB CCSIDR: WB Position */
+#define SCB_CCSIDR_WB_Msk                  (1UL << SCB_CCSIDR_WB_Pos)                     /*!< SCB CCSIDR: WB Mask */
+
+#define SCB_CCSIDR_RA_Pos                  29U                                            /*!< SCB CCSIDR: RA Position */
+#define SCB_CCSIDR_RA_Msk                  (1UL << SCB_CCSIDR_RA_Pos)                     /*!< SCB CCSIDR: RA Mask */
+
+#define SCB_CCSIDR_WA_Pos                  28U                                            /*!< SCB CCSIDR: WA Position */
+#define SCB_CCSIDR_WA_Msk                  (1UL << SCB_CCSIDR_WA_Pos)                     /*!< SCB CCSIDR: WA Mask */
+
+#define SCB_CCSIDR_NUMSETS_Pos             13U                                            /*!< SCB CCSIDR: NumSets Position */
+#define SCB_CCSIDR_NUMSETS_Msk             (0x7FFFUL << SCB_CCSIDR_NUMSETS_Pos)           /*!< SCB CCSIDR: NumSets Mask */
+
+#define SCB_CCSIDR_ASSOCIATIVITY_Pos        3U                                            /*!< SCB CCSIDR: Associativity Position */
+#define SCB_CCSIDR_ASSOCIATIVITY_Msk       (0x3FFUL << SCB_CCSIDR_ASSOCIATIVITY_Pos)      /*!< SCB CCSIDR: Associativity Mask */
+
+#define SCB_CCSIDR_LINESIZE_Pos             0U                                            /*!< SCB CCSIDR: LineSize Position */
+#define SCB_CCSIDR_LINESIZE_Msk            (7UL /*<< SCB_CCSIDR_LINESIZE_Pos*/)           /*!< SCB CCSIDR: LineSize Mask */
+
+/* SCB Cache Size Selection Register Definitions */
+#define SCB_CSSELR_LEVEL_Pos                1U                                            /*!< SCB CSSELR: Level Position */
+#define SCB_CSSELR_LEVEL_Msk               (7UL << SCB_CSSELR_LEVEL_Pos)                  /*!< SCB CSSELR: Level Mask */
+
+#define SCB_CSSELR_IND_Pos                  0U                                            /*!< SCB CSSELR: InD Position */
+#define SCB_CSSELR_IND_Msk                 (1UL /*<< SCB_CSSELR_IND_Pos*/)                /*!< SCB CSSELR: InD Mask */
+
+/* SCB Software Triggered Interrupt Register Definitions */
+#define SCB_STIR_INTID_Pos                  0U                                            /*!< SCB STIR: INTID Position */
+#define SCB_STIR_INTID_Msk                 (0x1FFUL /*<< SCB_STIR_INTID_Pos*/)            /*!< SCB STIR: INTID Mask */
+
+/* SCB D-Cache Invalidate by Set-way Register Definitions */
+#define SCB_DCISW_WAY_Pos                  30U                                            /*!< SCB DCISW: Way Position */
+#define SCB_DCISW_WAY_Msk                  (3UL << SCB_DCISW_WAY_Pos)                     /*!< SCB DCISW: Way Mask */
+
+#define SCB_DCISW_SET_Pos                   5U                                            /*!< SCB DCISW: Set Position */
+#define SCB_DCISW_SET_Msk                  (0x1FFUL << SCB_DCISW_SET_Pos)                 /*!< SCB DCISW: Set Mask */
+
+/* SCB D-Cache Clean by Set-way Register Definitions */
+#define SCB_DCCSW_WAY_Pos                  30U                                            /*!< SCB DCCSW: Way Position */
+#define SCB_DCCSW_WAY_Msk                  (3UL << SCB_DCCSW_WAY_Pos)                     /*!< SCB DCCSW: Way Mask */
+
+#define SCB_DCCSW_SET_Pos                   5U                                            /*!< SCB DCCSW: Set Position */
+#define SCB_DCCSW_SET_Msk                  (0x1FFUL << SCB_DCCSW_SET_Pos)                 /*!< SCB DCCSW: Set Mask */
+
+/* SCB D-Cache Clean and Invalidate by Set-way Register Definitions */
+#define SCB_DCCISW_WAY_Pos                 30U                                            /*!< SCB DCCISW: Way Position */
+#define SCB_DCCISW_WAY_Msk                 (3UL << SCB_DCCISW_WAY_Pos)                    /*!< SCB DCCISW: Way Mask */
+
+#define SCB_DCCISW_SET_Pos                  5U                                            /*!< SCB DCCISW: Set Position */
+#define SCB_DCCISW_SET_Msk                 (0x1FFUL << SCB_DCCISW_SET_Pos)                /*!< SCB DCCISW: Set Mask */
+
+/* Instruction Tightly-Coupled Memory Control Register Definitions */
+#define SCB_ITCMCR_SZ_Pos                   3U                                            /*!< SCB ITCMCR: SZ Position */
+#define SCB_ITCMCR_SZ_Msk                  (0xFUL << SCB_ITCMCR_SZ_Pos)                   /*!< SCB ITCMCR: SZ Mask */
+
+#define SCB_ITCMCR_RETEN_Pos                2U                                            /*!< SCB ITCMCR: RETEN Position */
+#define SCB_ITCMCR_RETEN_Msk               (1UL << SCB_ITCMCR_RETEN_Pos)                  /*!< SCB ITCMCR: RETEN Mask */
+
+#define SCB_ITCMCR_RMW_Pos                  1U                                            /*!< SCB ITCMCR: RMW Position */
+#define SCB_ITCMCR_RMW_Msk                 (1UL << SCB_ITCMCR_RMW_Pos)                    /*!< SCB ITCMCR: RMW Mask */
+
+#define SCB_ITCMCR_EN_Pos                   0U                                            /*!< SCB ITCMCR: EN Position */
+#define SCB_ITCMCR_EN_Msk                  (1UL /*<< SCB_ITCMCR_EN_Pos*/)                 /*!< SCB ITCMCR: EN Mask */
+
+/* Data Tightly-Coupled Memory Control Register Definitions */
+#define SCB_DTCMCR_SZ_Pos                   3U                                            /*!< SCB DTCMCR: SZ Position */
+#define SCB_DTCMCR_SZ_Msk                  (0xFUL << SCB_DTCMCR_SZ_Pos)                   /*!< SCB DTCMCR: SZ Mask */
+
+#define SCB_DTCMCR_RETEN_Pos                2U                                            /*!< SCB DTCMCR: RETEN Position */
+#define SCB_DTCMCR_RETEN_Msk               (1UL << SCB_DTCMCR_RETEN_Pos)                   /*!< SCB DTCMCR: RETEN Mask */
+
+#define SCB_DTCMCR_RMW_Pos                  1U                                            /*!< SCB DTCMCR: RMW Position */
+#define SCB_DTCMCR_RMW_Msk                 (1UL << SCB_DTCMCR_RMW_Pos)                    /*!< SCB DTCMCR: RMW Mask */
+
+#define SCB_DTCMCR_EN_Pos                   0U                                            /*!< SCB DTCMCR: EN Position */
+#define SCB_DTCMCR_EN_Msk                  (1UL /*<< SCB_DTCMCR_EN_Pos*/)                 /*!< SCB DTCMCR: EN Mask */
+
+/* AHBP Control Register Definitions */
+#define SCB_AHBPCR_SZ_Pos                   1U                                            /*!< SCB AHBPCR: SZ Position */
+#define SCB_AHBPCR_SZ_Msk                  (7UL << SCB_AHBPCR_SZ_Pos)                     /*!< SCB AHBPCR: SZ Mask */
+
+#define SCB_AHBPCR_EN_Pos                   0U                                            /*!< SCB AHBPCR: EN Position */
+#define SCB_AHBPCR_EN_Msk                  (1UL /*<< SCB_AHBPCR_EN_Pos*/)                 /*!< SCB AHBPCR: EN Mask */
+
+/* L1 Cache Control Register Definitions */
+#define SCB_CACR_FORCEWT_Pos                2U                                            /*!< SCB CACR: FORCEWT Position */
+#define SCB_CACR_FORCEWT_Msk               (1UL << SCB_CACR_FORCEWT_Pos)                  /*!< SCB CACR: FORCEWT Mask */
+
+#define SCB_CACR_ECCEN_Pos                  1U                                            /*!< SCB CACR: ECCEN Position */
+#define SCB_CACR_ECCEN_Msk                 (1UL << SCB_CACR_ECCEN_Pos)                    /*!< SCB CACR: ECCEN Mask */
+
+#define SCB_CACR_SIWT_Pos                   0U                                            /*!< SCB CACR: SIWT Position */
+#define SCB_CACR_SIWT_Msk                  (1UL /*<< SCB_CACR_SIWT_Pos*/)                 /*!< SCB CACR: SIWT Mask */
+
+/* AHBS Control Register Definitions */
+#define SCB_AHBSCR_INITCOUNT_Pos           11U                                            /*!< SCB AHBSCR: INITCOUNT Position */
+#define SCB_AHBSCR_INITCOUNT_Msk           (0x1FUL << SCB_AHBPCR_INITCOUNT_Pos)           /*!< SCB AHBSCR: INITCOUNT Mask */
+
+#define SCB_AHBSCR_TPRI_Pos                 2U                                            /*!< SCB AHBSCR: TPRI Position */
+#define SCB_AHBSCR_TPRI_Msk                (0x1FFUL << SCB_AHBPCR_TPRI_Pos)               /*!< SCB AHBSCR: TPRI Mask */
+
+#define SCB_AHBSCR_CTL_Pos                  0U                                            /*!< SCB AHBSCR: CTL Position*/
+#define SCB_AHBSCR_CTL_Msk                 (3UL /*<< SCB_AHBPCR_CTL_Pos*/)                /*!< SCB AHBSCR: CTL Mask */
+
+/* Auxiliary Bus Fault Status Register Definitions */
+#define SCB_ABFSR_AXIMTYPE_Pos              8U                                            /*!< SCB ABFSR: AXIMTYPE Position*/
+#define SCB_ABFSR_AXIMTYPE_Msk             (3UL << SCB_ABFSR_AXIMTYPE_Pos)                /*!< SCB ABFSR: AXIMTYPE Mask */
+
+#define SCB_ABFSR_EPPB_Pos                  4U                                            /*!< SCB ABFSR: EPPB Position*/
+#define SCB_ABFSR_EPPB_Msk                 (1UL << SCB_ABFSR_EPPB_Pos)                    /*!< SCB ABFSR: EPPB Mask */
+
+#define SCB_ABFSR_AXIM_Pos                  3U                                            /*!< SCB ABFSR: AXIM Position*/
+#define SCB_ABFSR_AXIM_Msk                 (1UL << SCB_ABFSR_AXIM_Pos)                    /*!< SCB ABFSR: AXIM Mask */
+
+#define SCB_ABFSR_AHBP_Pos                  2U                                            /*!< SCB ABFSR: AHBP Position*/
+#define SCB_ABFSR_AHBP_Msk                 (1UL << SCB_ABFSR_AHBP_Pos)                    /*!< SCB ABFSR: AHBP Mask */
+
+#define SCB_ABFSR_DTCM_Pos                  1U                                            /*!< SCB ABFSR: DTCM Position*/
+#define SCB_ABFSR_DTCM_Msk                 (1UL << SCB_ABFSR_DTCM_Pos)                    /*!< SCB ABFSR: DTCM Mask */
+
+#define SCB_ABFSR_ITCM_Pos                  0U                                            /*!< SCB ABFSR: ITCM Position*/
+#define SCB_ABFSR_ITCM_Msk                 (1UL /*<< SCB_ABFSR_ITCM_Pos*/)                /*!< SCB ABFSR: ITCM Mask */
+
+/*@} end of group CMSIS_SCB */
+
+
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)
+  \brief    Type definitions for the System Control and ID Register not in the SCB
+  @{
+ */
+
+/**
+  \brief  Structure type to access the System Control and ID Register not in the SCB.
+ */
+typedef struct
+{
+        uint32_t RESERVED0[1U];
+  __IM  uint32_t ICTR;                   /*!< Offset: 0x004 (R/ )  Interrupt Controller Type Register */
+  __IOM uint32_t ACTLR;                  /*!< Offset: 0x008 (R/W)  Auxiliary Control Register */
+} SCnSCB_Type;
+
+/* Interrupt Controller Type Register Definitions */
+#define SCnSCB_ICTR_INTLINESNUM_Pos         0U                                         /*!< ICTR: INTLINESNUM Position */
+#define SCnSCB_ICTR_INTLINESNUM_Msk        (0xFUL /*<< SCnSCB_ICTR_INTLINESNUM_Pos*/)  /*!< ICTR: INTLINESNUM Mask */
+
+/* Auxiliary Control Register Definitions */
+#define SCnSCB_ACTLR_DISDYNADD_Pos         26U                                         /*!< ACTLR: DISDYNADD Position */
+#define SCnSCB_ACTLR_DISDYNADD_Msk         (1UL << SCnSCB_ACTLR_DISDYNADD_Pos)         /*!< ACTLR: DISDYNADD Mask */
+
+#define SCnSCB_ACTLR_DISISSCH1_Pos         21U                                         /*!< ACTLR: DISISSCH1 Position */
+#define SCnSCB_ACTLR_DISISSCH1_Msk         (0x1FUL << SCnSCB_ACTLR_DISISSCH1_Pos)      /*!< ACTLR: DISISSCH1 Mask */
+
+#define SCnSCB_ACTLR_DISDI_Pos             16U                                         /*!< ACTLR: DISDI Position */
+#define SCnSCB_ACTLR_DISDI_Msk             (0x1FUL << SCnSCB_ACTLR_DISDI_Pos)          /*!< ACTLR: DISDI Mask */
+
+#define SCnSCB_ACTLR_DISCRITAXIRUR_Pos     15U                                         /*!< ACTLR: DISCRITAXIRUR Position */
+#define SCnSCB_ACTLR_DISCRITAXIRUR_Msk     (1UL << SCnSCB_ACTLR_DISCRITAXIRUR_Pos)     /*!< ACTLR: DISCRITAXIRUR Mask */
+
+#define SCnSCB_ACTLR_DISBTACALLOC_Pos      14U                                         /*!< ACTLR: DISBTACALLOC Position */
+#define SCnSCB_ACTLR_DISBTACALLOC_Msk      (1UL << SCnSCB_ACTLR_DISBTACALLOC_Pos)      /*!< ACTLR: DISBTACALLOC Mask */
+
+#define SCnSCB_ACTLR_DISBTACREAD_Pos       13U                                         /*!< ACTLR: DISBTACREAD Position */
+#define SCnSCB_ACTLR_DISBTACREAD_Msk       (1UL << SCnSCB_ACTLR_DISBTACREAD_Pos)       /*!< ACTLR: DISBTACREAD Mask */
+
+#define SCnSCB_ACTLR_DISITMATBFLUSH_Pos    12U                                         /*!< ACTLR: DISITMATBFLUSH Position */
+#define SCnSCB_ACTLR_DISITMATBFLUSH_Msk    (1UL << SCnSCB_ACTLR_DISITMATBFLUSH_Pos)    /*!< ACTLR: DISITMATBFLUSH Mask */
+
+#define SCnSCB_ACTLR_DISRAMODE_Pos         11U                                         /*!< ACTLR: DISRAMODE Position */
+#define SCnSCB_ACTLR_DISRAMODE_Msk         (1UL << SCnSCB_ACTLR_DISRAMODE_Pos)         /*!< ACTLR: DISRAMODE Mask */
+
+#define SCnSCB_ACTLR_FPEXCODIS_Pos         10U                                         /*!< ACTLR: FPEXCODIS Position */
+#define SCnSCB_ACTLR_FPEXCODIS_Msk         (1UL << SCnSCB_ACTLR_FPEXCODIS_Pos)         /*!< ACTLR: FPEXCODIS Mask */
+
+#define SCnSCB_ACTLR_DISFOLD_Pos            2U                                         /*!< ACTLR: DISFOLD Position */
+#define SCnSCB_ACTLR_DISFOLD_Msk           (1UL << SCnSCB_ACTLR_DISFOLD_Pos)           /*!< ACTLR: DISFOLD Mask */
+
+#define SCnSCB_ACTLR_DISMCYCINT_Pos         0U                                         /*!< ACTLR: DISMCYCINT Position */
+#define SCnSCB_ACTLR_DISMCYCINT_Msk        (1UL /*<< SCnSCB_ACTLR_DISMCYCINT_Pos*/)    /*!< ACTLR: DISMCYCINT Mask */
+
+/*@} end of group CMSIS_SCnotSCB */
+
+
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_SysTick     System Tick Timer (SysTick)
+  \brief    Type definitions for the System Timer Registers.
+  @{
+ */
+
+/**
+  \brief  Structure type to access the System Timer (SysTick).
+ */
+typedef struct
+{
+  __IOM uint32_t CTRL;                   /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
+  __IOM uint32_t LOAD;                   /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register */
+  __IOM uint32_t VAL;                    /*!< Offset: 0x008 (R/W)  SysTick Current Value Register */
+  __IM  uint32_t CALIB;                  /*!< Offset: 0x00C (R/ )  SysTick Calibration Register */
+} SysTick_Type;
+
+/* SysTick Control / Status Register Definitions */
+#define SysTick_CTRL_COUNTFLAG_Pos         16U                                            /*!< SysTick CTRL: COUNTFLAG Position */
+#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
+
+#define SysTick_CTRL_CLKSOURCE_Pos          2U                                            /*!< SysTick CTRL: CLKSOURCE Position */
+#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
+
+#define SysTick_CTRL_TICKINT_Pos            1U                                            /*!< SysTick CTRL: TICKINT Position */
+#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
+
+#define SysTick_CTRL_ENABLE_Pos             0U                                            /*!< SysTick CTRL: ENABLE Position */
+#define SysTick_CTRL_ENABLE_Msk            (1UL /*<< SysTick_CTRL_ENABLE_Pos*/)           /*!< SysTick CTRL: ENABLE Mask */
+
+/* SysTick Reload Register Definitions */
+#define SysTick_LOAD_RELOAD_Pos             0U                                            /*!< SysTick LOAD: RELOAD Position */
+#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/)    /*!< SysTick LOAD: RELOAD Mask */
+
+/* SysTick Current Register Definitions */
+#define SysTick_VAL_CURRENT_Pos             0U                                            /*!< SysTick VAL: CURRENT Position */
+#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/)    /*!< SysTick VAL: CURRENT Mask */
+
+/* SysTick Calibration Register Definitions */
+#define SysTick_CALIB_NOREF_Pos            31U                                            /*!< SysTick CALIB: NOREF Position */
+#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
+
+#define SysTick_CALIB_SKEW_Pos             30U                                            /*!< SysTick CALIB: SKEW Position */
+#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
+
+#define SysTick_CALIB_TENMS_Pos             0U                                            /*!< SysTick CALIB: TENMS Position */
+#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/)    /*!< SysTick CALIB: TENMS Mask */
+
+/*@} end of group CMSIS_SysTick */
+
+
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_ITM     Instrumentation Trace Macrocell (ITM)
+  \brief    Type definitions for the Instrumentation Trace Macrocell (ITM)
+  @{
+ */
+
+/**
+  \brief  Structure type to access the Instrumentation Trace Macrocell Register (ITM).
+ */
+typedef struct
+{
+  __OM  union
+  {
+    __OM  uint8_t    u8;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 8-bit */
+    __OM  uint16_t   u16;                /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 16-bit */
+    __OM  uint32_t   u32;                /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 32-bit */
+  }  PORT [32U];                         /*!< Offset: 0x000 ( /W)  ITM Stimulus Port Registers */
+        uint32_t RESERVED0[864U];
+  __IOM uint32_t TER;                    /*!< Offset: 0xE00 (R/W)  ITM Trace Enable Register */
+        uint32_t RESERVED1[15U];
+  __IOM uint32_t TPR;                    /*!< Offset: 0xE40 (R/W)  ITM Trace Privilege Register */
+        uint32_t RESERVED2[15U];
+  __IOM uint32_t TCR;                    /*!< Offset: 0xE80 (R/W)  ITM Trace Control Register */
+        uint32_t RESERVED3[32U];
+        uint32_t RESERVED4[43U];
+  __OM  uint32_t LAR;                    /*!< Offset: 0xFB0 ( /W)  ITM Lock Access Register */
+  __IM  uint32_t LSR;                    /*!< Offset: 0xFB4 (R/ )  ITM Lock Status Register */
+        uint32_t RESERVED5[6U];
+  __IM  uint32_t PID4;                   /*!< Offset: 0xFD0 (R/ )  ITM Peripheral Identification Register #4 */
+  __IM  uint32_t PID5;                   /*!< Offset: 0xFD4 (R/ )  ITM Peripheral Identification Register #5 */
+  __IM  uint32_t PID6;                   /*!< Offset: 0xFD8 (R/ )  ITM Peripheral Identification Register #6 */
+  __IM  uint32_t PID7;                   /*!< Offset: 0xFDC (R/ )  ITM Peripheral Identification Register #7 */
+  __IM  uint32_t PID0;                   /*!< Offset: 0xFE0 (R/ )  ITM Peripheral Identification Register #0 */
+  __IM  uint32_t PID1;                   /*!< Offset: 0xFE4 (R/ )  ITM Peripheral Identification Register #1 */
+  __IM  uint32_t PID2;                   /*!< Offset: 0xFE8 (R/ )  ITM Peripheral Identification Register #2 */
+  __IM  uint32_t PID3;                   /*!< Offset: 0xFEC (R/ )  ITM Peripheral Identification Register #3 */
+  __IM  uint32_t CID0;                   /*!< Offset: 0xFF0 (R/ )  ITM Component  Identification Register #0 */
+  __IM  uint32_t CID1;                   /*!< Offset: 0xFF4 (R/ )  ITM Component  Identification Register #1 */
+  __IM  uint32_t CID2;                   /*!< Offset: 0xFF8 (R/ )  ITM Component  Identification Register #2 */
+  __IM  uint32_t CID3;                   /*!< Offset: 0xFFC (R/ )  ITM Component  Identification Register #3 */
+} ITM_Type;
+
+/* ITM Trace Privilege Register Definitions */
+#define ITM_TPR_PRIVMASK_Pos                0U                                            /*!< ITM TPR: PRIVMASK Position */
+#define ITM_TPR_PRIVMASK_Msk               (0xFFFFFFFFUL /*<< ITM_TPR_PRIVMASK_Pos*/)     /*!< ITM TPR: PRIVMASK Mask */
+
+/* ITM Trace Control Register Definitions */
+#define ITM_TCR_BUSY_Pos                   23U                                            /*!< ITM TCR: BUSY Position */
+#define ITM_TCR_BUSY_Msk                   (1UL << ITM_TCR_BUSY_Pos)                      /*!< ITM TCR: BUSY Mask */
+
+#define ITM_TCR_TraceBusID_Pos             16U                                            /*!< ITM TCR: ATBID Position */
+#define ITM_TCR_TraceBusID_Msk             (0x7FUL << ITM_TCR_TraceBusID_Pos)             /*!< ITM TCR: ATBID Mask */
+
+#define ITM_TCR_GTSFREQ_Pos                10U                                            /*!< ITM TCR: Global timestamp frequency Position */
+#define ITM_TCR_GTSFREQ_Msk                (3UL << ITM_TCR_GTSFREQ_Pos)                   /*!< ITM TCR: Global timestamp frequency Mask */
+
+#define ITM_TCR_TSPrescale_Pos              8U                                            /*!< ITM TCR: TSPrescale Position */
+#define ITM_TCR_TSPrescale_Msk             (3UL << ITM_TCR_TSPrescale_Pos)                /*!< ITM TCR: TSPrescale Mask */
+
+#define ITM_TCR_SWOENA_Pos                  4U                                            /*!< ITM TCR: SWOENA Position */
+#define ITM_TCR_SWOENA_Msk                 (1UL << ITM_TCR_SWOENA_Pos)                    /*!< ITM TCR: SWOENA Mask */
+
+#define ITM_TCR_DWTENA_Pos                  3U                                            /*!< ITM TCR: DWTENA Position */
+#define ITM_TCR_DWTENA_Msk                 (1UL << ITM_TCR_DWTENA_Pos)                    /*!< ITM TCR: DWTENA Mask */
+
+#define ITM_TCR_SYNCENA_Pos                 2U                                            /*!< ITM TCR: SYNCENA Position */
+#define ITM_TCR_SYNCENA_Msk                (1UL << ITM_TCR_SYNCENA_Pos)                   /*!< ITM TCR: SYNCENA Mask */
+
+#define ITM_TCR_TSENA_Pos                   1U                                            /*!< ITM TCR: TSENA Position */
+#define ITM_TCR_TSENA_Msk                  (1UL << ITM_TCR_TSENA_Pos)                     /*!< ITM TCR: TSENA Mask */
+
+#define ITM_TCR_ITMENA_Pos                  0U                                            /*!< ITM TCR: ITM Enable bit Position */
+#define ITM_TCR_ITMENA_Msk                 (1UL /*<< ITM_TCR_ITMENA_Pos*/)                /*!< ITM TCR: ITM Enable bit Mask */
+
+/* ITM Lock Status Register Definitions */
+#define ITM_LSR_ByteAcc_Pos                 2U                                            /*!< ITM LSR: ByteAcc Position */
+#define ITM_LSR_ByteAcc_Msk                (1UL << ITM_LSR_ByteAcc_Pos)                   /*!< ITM LSR: ByteAcc Mask */
+
+#define ITM_LSR_Access_Pos                  1U                                            /*!< ITM LSR: Access Position */
+#define ITM_LSR_Access_Msk                 (1UL << ITM_LSR_Access_Pos)                    /*!< ITM LSR: Access Mask */
+
+#define ITM_LSR_Present_Pos                 0U                                            /*!< ITM LSR: Present Position */
+#define ITM_LSR_Present_Msk                (1UL /*<< ITM_LSR_Present_Pos*/)               /*!< ITM LSR: Present Mask */
+
+/*@}*/ /* end of group CMSIS_ITM */
+
+
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_DWT     Data Watchpoint and Trace (DWT)
+  \brief    Type definitions for the Data Watchpoint and Trace (DWT)
+  @{
+ */
+
+/**
+  \brief  Structure type to access the Data Watchpoint and Trace Register (DWT).
+ */
+typedef struct
+{
+  __IOM uint32_t CTRL;                   /*!< Offset: 0x000 (R/W)  Control Register */
+  __IOM uint32_t CYCCNT;                 /*!< Offset: 0x004 (R/W)  Cycle Count Register */
+  __IOM uint32_t CPICNT;                 /*!< Offset: 0x008 (R/W)  CPI Count Register */
+  __IOM uint32_t EXCCNT;                 /*!< Offset: 0x00C (R/W)  Exception Overhead Count Register */
+  __IOM uint32_t SLEEPCNT;               /*!< Offset: 0x010 (R/W)  Sleep Count Register */
+  __IOM uint32_t LSUCNT;                 /*!< Offset: 0x014 (R/W)  LSU Count Register */
+  __IOM uint32_t FOLDCNT;                /*!< Offset: 0x018 (R/W)  Folded-instruction Count Register */
+  __IM  uint32_t PCSR;                   /*!< Offset: 0x01C (R/ )  Program Counter Sample Register */
+  __IOM uint32_t COMP0;                  /*!< Offset: 0x020 (R/W)  Comparator Register 0 */
+  __IOM uint32_t MASK0;                  /*!< Offset: 0x024 (R/W)  Mask Register 0 */
+  __IOM uint32_t FUNCTION0;              /*!< Offset: 0x028 (R/W)  Function Register 0 */
+        uint32_t RESERVED0[1U];
+  __IOM uint32_t COMP1;                  /*!< Offset: 0x030 (R/W)  Comparator Register 1 */
+  __IOM uint32_t MASK1;                  /*!< Offset: 0x034 (R/W)  Mask Register 1 */
+  __IOM uint32_t FUNCTION1;              /*!< Offset: 0x038 (R/W)  Function Register 1 */
+        uint32_t RESERVED1[1U];
+  __IOM uint32_t COMP2;                  /*!< Offset: 0x040 (R/W)  Comparator Register 2 */
+  __IOM uint32_t MASK2;                  /*!< Offset: 0x044 (R/W)  Mask Register 2 */
+  __IOM uint32_t FUNCTION2;              /*!< Offset: 0x048 (R/W)  Function Register 2 */
+        uint32_t RESERVED2[1U];
+  __IOM uint32_t COMP3;                  /*!< Offset: 0x050 (R/W)  Comparator Register 3 */
+  __IOM uint32_t MASK3;                  /*!< Offset: 0x054 (R/W)  Mask Register 3 */
+  __IOM uint32_t FUNCTION3;              /*!< Offset: 0x058 (R/W)  Function Register 3 */
+        uint32_t RESERVED3[981U];
+  __OM  uint32_t LAR;                    /*!< Offset: 0xFB0 (  W)  Lock Access Register */
+  __IM  uint32_t LSR;                    /*!< Offset: 0xFB4 (R  )  Lock Status Register */
+} DWT_Type;
+
+/* DWT Control Register Definitions */
+#define DWT_CTRL_NUMCOMP_Pos               28U                                         /*!< DWT CTRL: NUMCOMP Position */
+#define DWT_CTRL_NUMCOMP_Msk               (0xFUL << DWT_CTRL_NUMCOMP_Pos)             /*!< DWT CTRL: NUMCOMP Mask */
+
+#define DWT_CTRL_NOTRCPKT_Pos              27U                                         /*!< DWT CTRL: NOTRCPKT Position */
+#define DWT_CTRL_NOTRCPKT_Msk              (0x1UL << DWT_CTRL_NOTRCPKT_Pos)            /*!< DWT CTRL: NOTRCPKT Mask */
+
+#define DWT_CTRL_NOEXTTRIG_Pos             26U                                         /*!< DWT CTRL: NOEXTTRIG Position */
+#define DWT_CTRL_NOEXTTRIG_Msk             (0x1UL << DWT_CTRL_NOEXTTRIG_Pos)           /*!< DWT CTRL: NOEXTTRIG Mask */
+
+#define DWT_CTRL_NOCYCCNT_Pos              25U                                         /*!< DWT CTRL: NOCYCCNT Position */
+#define DWT_CTRL_NOCYCCNT_Msk              (0x1UL << DWT_CTRL_NOCYCCNT_Pos)            /*!< DWT CTRL: NOCYCCNT Mask */
+
+#define DWT_CTRL_NOPRFCNT_Pos              24U                                         /*!< DWT CTRL: NOPRFCNT Position */
+#define DWT_CTRL_NOPRFCNT_Msk              (0x1UL << DWT_CTRL_NOPRFCNT_Pos)            /*!< DWT CTRL: NOPRFCNT Mask */
+
+#define DWT_CTRL_CYCEVTENA_Pos             22U                                         /*!< DWT CTRL: CYCEVTENA Position */
+#define DWT_CTRL_CYCEVTENA_Msk             (0x1UL << DWT_CTRL_CYCEVTENA_Pos)           /*!< DWT CTRL: CYCEVTENA Mask */
+
+#define DWT_CTRL_FOLDEVTENA_Pos            21U                                         /*!< DWT CTRL: FOLDEVTENA Position */
+#define DWT_CTRL_FOLDEVTENA_Msk            (0x1UL << DWT_CTRL_FOLDEVTENA_Pos)          /*!< DWT CTRL: FOLDEVTENA Mask */
+
+#define DWT_CTRL_LSUEVTENA_Pos             20U                                         /*!< DWT CTRL: LSUEVTENA Position */
+#define DWT_CTRL_LSUEVTENA_Msk             (0x1UL << DWT_CTRL_LSUEVTENA_Pos)           /*!< DWT CTRL: LSUEVTENA Mask */
+
+#define DWT_CTRL_SLEEPEVTENA_Pos           19U                                         /*!< DWT CTRL: SLEEPEVTENA Position */
+#define DWT_CTRL_SLEEPEVTENA_Msk           (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos)         /*!< DWT CTRL: SLEEPEVTENA Mask */
+
+#define DWT_CTRL_EXCEVTENA_Pos             18U                                         /*!< DWT CTRL: EXCEVTENA Position */
+#define DWT_CTRL_EXCEVTENA_Msk             (0x1UL << DWT_CTRL_EXCEVTENA_Pos)           /*!< DWT CTRL: EXCEVTENA Mask */
+
+#define DWT_CTRL_CPIEVTENA_Pos             17U                                         /*!< DWT CTRL: CPIEVTENA Position */
+#define DWT_CTRL_CPIEVTENA_Msk             (0x1UL << DWT_CTRL_CPIEVTENA_Pos)           /*!< DWT CTRL: CPIEVTENA Mask */
+
+#define DWT_CTRL_EXCTRCENA_Pos             16U                                         /*!< DWT CTRL: EXCTRCENA Position */
+#define DWT_CTRL_EXCTRCENA_Msk             (0x1UL << DWT_CTRL_EXCTRCENA_Pos)           /*!< DWT CTRL: EXCTRCENA Mask */
+
+#define DWT_CTRL_PCSAMPLENA_Pos            12U                                         /*!< DWT CTRL: PCSAMPLENA Position */
+#define DWT_CTRL_PCSAMPLENA_Msk            (0x1UL << DWT_CTRL_PCSAMPLENA_Pos)          /*!< DWT CTRL: PCSAMPLENA Mask */
+
+#define DWT_CTRL_SYNCTAP_Pos               10U                                         /*!< DWT CTRL: SYNCTAP Position */
+#define DWT_CTRL_SYNCTAP_Msk               (0x3UL << DWT_CTRL_SYNCTAP_Pos)             /*!< DWT CTRL: SYNCTAP Mask */
+
+#define DWT_CTRL_CYCTAP_Pos                 9U                                         /*!< DWT CTRL: CYCTAP Position */
+#define DWT_CTRL_CYCTAP_Msk                (0x1UL << DWT_CTRL_CYCTAP_Pos)              /*!< DWT CTRL: CYCTAP Mask */
+
+#define DWT_CTRL_POSTINIT_Pos               5U                                         /*!< DWT CTRL: POSTINIT Position */
+#define DWT_CTRL_POSTINIT_Msk              (0xFUL << DWT_CTRL_POSTINIT_Pos)            /*!< DWT CTRL: POSTINIT Mask */
+
+#define DWT_CTRL_POSTPRESET_Pos             1U                                         /*!< DWT CTRL: POSTPRESET Position */
+#define DWT_CTRL_POSTPRESET_Msk            (0xFUL << DWT_CTRL_POSTPRESET_Pos)          /*!< DWT CTRL: POSTPRESET Mask */
+
+#define DWT_CTRL_CYCCNTENA_Pos              0U                                         /*!< DWT CTRL: CYCCNTENA Position */
+#define DWT_CTRL_CYCCNTENA_Msk             (0x1UL /*<< DWT_CTRL_CYCCNTENA_Pos*/)       /*!< DWT CTRL: CYCCNTENA Mask */
+
+/* DWT CPI Count Register Definitions */
+#define DWT_CPICNT_CPICNT_Pos               0U                                         /*!< DWT CPICNT: CPICNT Position */
+#define DWT_CPICNT_CPICNT_Msk              (0xFFUL /*<< DWT_CPICNT_CPICNT_Pos*/)       /*!< DWT CPICNT: CPICNT Mask */
+
+/* DWT Exception Overhead Count Register Definitions */
+#define DWT_EXCCNT_EXCCNT_Pos               0U                                         /*!< DWT EXCCNT: EXCCNT Position */
+#define DWT_EXCCNT_EXCCNT_Msk              (0xFFUL /*<< DWT_EXCCNT_EXCCNT_Pos*/)       /*!< DWT EXCCNT: EXCCNT Mask */
+
+/* DWT Sleep Count Register Definitions */
+#define DWT_SLEEPCNT_SLEEPCNT_Pos           0U                                         /*!< DWT SLEEPCNT: SLEEPCNT Position */
+#define DWT_SLEEPCNT_SLEEPCNT_Msk          (0xFFUL /*<< DWT_SLEEPCNT_SLEEPCNT_Pos*/)   /*!< DWT SLEEPCNT: SLEEPCNT Mask */
+
+/* DWT LSU Count Register Definitions */
+#define DWT_LSUCNT_LSUCNT_Pos               0U                                         /*!< DWT LSUCNT: LSUCNT Position */
+#define DWT_LSUCNT_LSUCNT_Msk              (0xFFUL /*<< DWT_LSUCNT_LSUCNT_Pos*/)       /*!< DWT LSUCNT: LSUCNT Mask */
+
+/* DWT Folded-instruction Count Register Definitions */
+#define DWT_FOLDCNT_FOLDCNT_Pos             0U                                         /*!< DWT FOLDCNT: FOLDCNT Position */
+#define DWT_FOLDCNT_FOLDCNT_Msk            (0xFFUL /*<< DWT_FOLDCNT_FOLDCNT_Pos*/)     /*!< DWT FOLDCNT: FOLDCNT Mask */
+
+/* DWT Comparator Mask Register Definitions */
+#define DWT_MASK_MASK_Pos                   0U                                         /*!< DWT MASK: MASK Position */
+#define DWT_MASK_MASK_Msk                  (0x1FUL /*<< DWT_MASK_MASK_Pos*/)           /*!< DWT MASK: MASK Mask */
+
+/* DWT Comparator Function Register Definitions */
+#define DWT_FUNCTION_MATCHED_Pos           24U                                         /*!< DWT FUNCTION: MATCHED Position */
+#define DWT_FUNCTION_MATCHED_Msk           (0x1UL << DWT_FUNCTION_MATCHED_Pos)         /*!< DWT FUNCTION: MATCHED Mask */
+
+#define DWT_FUNCTION_DATAVADDR1_Pos        16U                                         /*!< DWT FUNCTION: DATAVADDR1 Position */
+#define DWT_FUNCTION_DATAVADDR1_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos)      /*!< DWT FUNCTION: DATAVADDR1 Mask */
+
+#define DWT_FUNCTION_DATAVADDR0_Pos        12U                                         /*!< DWT FUNCTION: DATAVADDR0 Position */
+#define DWT_FUNCTION_DATAVADDR0_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos)      /*!< DWT FUNCTION: DATAVADDR0 Mask */
+
+#define DWT_FUNCTION_DATAVSIZE_Pos         10U                                         /*!< DWT FUNCTION: DATAVSIZE Position */
+#define DWT_FUNCTION_DATAVSIZE_Msk         (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos)       /*!< DWT FUNCTION: DATAVSIZE Mask */
+
+#define DWT_FUNCTION_LNK1ENA_Pos            9U                                         /*!< DWT FUNCTION: LNK1ENA Position */
+#define DWT_FUNCTION_LNK1ENA_Msk           (0x1UL << DWT_FUNCTION_LNK1ENA_Pos)         /*!< DWT FUNCTION: LNK1ENA Mask */
+
+#define DWT_FUNCTION_DATAVMATCH_Pos         8U                                         /*!< DWT FUNCTION: DATAVMATCH Position */
+#define DWT_FUNCTION_DATAVMATCH_Msk        (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos)      /*!< DWT FUNCTION: DATAVMATCH Mask */
+
+#define DWT_FUNCTION_CYCMATCH_Pos           7U                                         /*!< DWT FUNCTION: CYCMATCH Position */
+#define DWT_FUNCTION_CYCMATCH_Msk          (0x1UL << DWT_FUNCTION_CYCMATCH_Pos)        /*!< DWT FUNCTION: CYCMATCH Mask */
+
+#define DWT_FUNCTION_EMITRANGE_Pos          5U                                         /*!< DWT FUNCTION: EMITRANGE Position */
+#define DWT_FUNCTION_EMITRANGE_Msk         (0x1UL << DWT_FUNCTION_EMITRANGE_Pos)       /*!< DWT FUNCTION: EMITRANGE Mask */
+
+#define DWT_FUNCTION_FUNCTION_Pos           0U                                         /*!< DWT FUNCTION: FUNCTION Position */
+#define DWT_FUNCTION_FUNCTION_Msk          (0xFUL /*<< DWT_FUNCTION_FUNCTION_Pos*/)    /*!< DWT FUNCTION: FUNCTION Mask */
+
+/*@}*/ /* end of group CMSIS_DWT */
+
+
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_TPI     Trace Port Interface (TPI)
+  \brief    Type definitions for the Trace Port Interface (TPI)
+  @{
+ */
+
+/**
+  \brief  Structure type to access the Trace Port Interface Register (TPI).
+ */
+typedef struct
+{
+  __IM  uint32_t SSPSR;                  /*!< Offset: 0x000 (R/ )  Supported Parallel Port Size Register */
+  __IOM uint32_t CSPSR;                  /*!< Offset: 0x004 (R/W)  Current Parallel Port Size Register */
+        uint32_t RESERVED0[2U];
+  __IOM uint32_t ACPR;                   /*!< Offset: 0x010 (R/W)  Asynchronous Clock Prescaler Register */
+        uint32_t RESERVED1[55U];
+  __IOM uint32_t SPPR;                   /*!< Offset: 0x0F0 (R/W)  Selected Pin Protocol Register */
+        uint32_t RESERVED2[131U];
+  __IM  uint32_t FFSR;                   /*!< Offset: 0x300 (R/ )  Formatter and Flush Status Register */
+  __IOM uint32_t FFCR;                   /*!< Offset: 0x304 (R/W)  Formatter and Flush Control Register */
+  __IM  uint32_t FSCR;                   /*!< Offset: 0x308 (R/ )  Formatter Synchronization Counter Register */
+        uint32_t RESERVED3[759U];
+  __IM  uint32_t TRIGGER;                /*!< Offset: 0xEE8 (R/ )  TRIGGER Register */
+  __IM  uint32_t FIFO0;                  /*!< Offset: 0xEEC (R/ )  Integration ETM Data */
+  __IM  uint32_t ITATBCTR2;              /*!< Offset: 0xEF0 (R/ )  ITATBCTR2 */
+        uint32_t RESERVED4[1U];
+  __IM  uint32_t ITATBCTR0;              /*!< Offset: 0xEF8 (R/ )  ITATBCTR0 */
+  __IM  uint32_t FIFO1;                  /*!< Offset: 0xEFC (R/ )  Integration ITM Data */
+  __IOM uint32_t ITCTRL;                 /*!< Offset: 0xF00 (R/W)  Integration Mode Control */
+        uint32_t RESERVED5[39U];
+  __IOM uint32_t CLAIMSET;               /*!< Offset: 0xFA0 (R/W)  Claim tag set */
+  __IOM uint32_t CLAIMCLR;               /*!< Offset: 0xFA4 (R/W)  Claim tag clear */
+        uint32_t RESERVED7[8U];
+  __IM  uint32_t DEVID;                  /*!< Offset: 0xFC8 (R/ )  TPIU_DEVID */
+  __IM  uint32_t DEVTYPE;                /*!< Offset: 0xFCC (R/ )  TPIU_DEVTYPE */
+} TPI_Type;
+
+/* TPI Asynchronous Clock Prescaler Register Definitions */
+#define TPI_ACPR_PRESCALER_Pos              0U                                         /*!< TPI ACPR: PRESCALER Position */
+#define TPI_ACPR_PRESCALER_Msk             (0x1FFFUL /*<< TPI_ACPR_PRESCALER_Pos*/)    /*!< TPI ACPR: PRESCALER Mask */
+
+/* TPI Selected Pin Protocol Register Definitions */
+#define TPI_SPPR_TXMODE_Pos                 0U                                         /*!< TPI SPPR: TXMODE Position */
+#define TPI_SPPR_TXMODE_Msk                (0x3UL /*<< TPI_SPPR_TXMODE_Pos*/)          /*!< TPI SPPR: TXMODE Mask */
+
+/* TPI Formatter and Flush Status Register Definitions */
+#define TPI_FFSR_FtNonStop_Pos              3U                                         /*!< TPI FFSR: FtNonStop Position */
+#define TPI_FFSR_FtNonStop_Msk             (0x1UL << TPI_FFSR_FtNonStop_Pos)           /*!< TPI FFSR: FtNonStop Mask */
+
+#define TPI_FFSR_TCPresent_Pos              2U                                         /*!< TPI FFSR: TCPresent Position */
+#define TPI_FFSR_TCPresent_Msk             (0x1UL << TPI_FFSR_TCPresent_Pos)           /*!< TPI FFSR: TCPresent Mask */
+
+#define TPI_FFSR_FtStopped_Pos              1U                                         /*!< TPI FFSR: FtStopped Position */
+#define TPI_FFSR_FtStopped_Msk             (0x1UL << TPI_FFSR_FtStopped_Pos)           /*!< TPI FFSR: FtStopped Mask */
+
+#define TPI_FFSR_FlInProg_Pos               0U                                         /*!< TPI FFSR: FlInProg Position */
+#define TPI_FFSR_FlInProg_Msk              (0x1UL /*<< TPI_FFSR_FlInProg_Pos*/)        /*!< TPI FFSR: FlInProg Mask */
+
+/* TPI Formatter and Flush Control Register Definitions */
+#define TPI_FFCR_TrigIn_Pos                 8U                                         /*!< TPI FFCR: TrigIn Position */
+#define TPI_FFCR_TrigIn_Msk                (0x1UL << TPI_FFCR_TrigIn_Pos)              /*!< TPI FFCR: TrigIn Mask */
+
+#define TPI_FFCR_EnFCont_Pos                1U                                         /*!< TPI FFCR: EnFCont Position */
+#define TPI_FFCR_EnFCont_Msk               (0x1UL << TPI_FFCR_EnFCont_Pos)             /*!< TPI FFCR: EnFCont Mask */
+
+/* TPI TRIGGER Register Definitions */
+#define TPI_TRIGGER_TRIGGER_Pos             0U                                         /*!< TPI TRIGGER: TRIGGER Position */
+#define TPI_TRIGGER_TRIGGER_Msk            (0x1UL /*<< TPI_TRIGGER_TRIGGER_Pos*/)      /*!< TPI TRIGGER: TRIGGER Mask */
+
+/* TPI Integration ETM Data Register Definitions (FIFO0) */
+#define TPI_FIFO0_ITM_ATVALID_Pos          29U                                         /*!< TPI FIFO0: ITM_ATVALID Position */
+#define TPI_FIFO0_ITM_ATVALID_Msk          (0x1UL << TPI_FIFO0_ITM_ATVALID_Pos)        /*!< TPI FIFO0: ITM_ATVALID Mask */
+
+#define TPI_FIFO0_ITM_bytecount_Pos        27U                                         /*!< TPI FIFO0: ITM_bytecount Position */
+#define TPI_FIFO0_ITM_bytecount_Msk        (0x3UL << TPI_FIFO0_ITM_bytecount_Pos)      /*!< TPI FIFO0: ITM_bytecount Mask */
+
+#define TPI_FIFO0_ETM_ATVALID_Pos          26U                                         /*!< TPI FIFO0: ETM_ATVALID Position */
+#define TPI_FIFO0_ETM_ATVALID_Msk          (0x1UL << TPI_FIFO0_ETM_ATVALID_Pos)        /*!< TPI FIFO0: ETM_ATVALID Mask */
+
+#define TPI_FIFO0_ETM_bytecount_Pos        24U                                         /*!< TPI FIFO0: ETM_bytecount Position */
+#define TPI_FIFO0_ETM_bytecount_Msk        (0x3UL << TPI_FIFO0_ETM_bytecount_Pos)      /*!< TPI FIFO0: ETM_bytecount Mask */
+
+#define TPI_FIFO0_ETM2_Pos                 16U                                         /*!< TPI FIFO0: ETM2 Position */
+#define TPI_FIFO0_ETM2_Msk                 (0xFFUL << TPI_FIFO0_ETM2_Pos)              /*!< TPI FIFO0: ETM2 Mask */
+
+#define TPI_FIFO0_ETM1_Pos                  8U                                         /*!< TPI FIFO0: ETM1 Position */
+#define TPI_FIFO0_ETM1_Msk                 (0xFFUL << TPI_FIFO0_ETM1_Pos)              /*!< TPI FIFO0: ETM1 Mask */
+
+#define TPI_FIFO0_ETM0_Pos                  0U                                         /*!< TPI FIFO0: ETM0 Position */
+#define TPI_FIFO0_ETM0_Msk                 (0xFFUL /*<< TPI_FIFO0_ETM0_Pos*/)          /*!< TPI FIFO0: ETM0 Mask */
+
+/* TPI ITATBCTR2 Register Definitions */
+#define TPI_ITATBCTR2_ATREADY2_Pos          0U                                         /*!< TPI ITATBCTR2: ATREADY2 Position */
+#define TPI_ITATBCTR2_ATREADY2_Msk         (0x1UL /*<< TPI_ITATBCTR2_ATREADY2_Pos*/)   /*!< TPI ITATBCTR2: ATREADY2 Mask */
+
+#define TPI_ITATBCTR2_ATREADY1_Pos          0U                                         /*!< TPI ITATBCTR2: ATREADY1 Position */
+#define TPI_ITATBCTR2_ATREADY1_Msk         (0x1UL /*<< TPI_ITATBCTR2_ATREADY1_Pos*/)   /*!< TPI ITATBCTR2: ATREADY1 Mask */
+
+/* TPI Integration ITM Data Register Definitions (FIFO1) */
+#define TPI_FIFO1_ITM_ATVALID_Pos          29U                                         /*!< TPI FIFO1: ITM_ATVALID Position */
+#define TPI_FIFO1_ITM_ATVALID_Msk          (0x1UL << TPI_FIFO1_ITM_ATVALID_Pos)        /*!< TPI FIFO1: ITM_ATVALID Mask */
+
+#define TPI_FIFO1_ITM_bytecount_Pos        27U                                         /*!< TPI FIFO1: ITM_bytecount Position */
+#define TPI_FIFO1_ITM_bytecount_Msk        (0x3UL << TPI_FIFO1_ITM_bytecount_Pos)      /*!< TPI FIFO1: ITM_bytecount Mask */
+
+#define TPI_FIFO1_ETM_ATVALID_Pos          26U                                         /*!< TPI FIFO1: ETM_ATVALID Position */
+#define TPI_FIFO1_ETM_ATVALID_Msk          (0x1UL << TPI_FIFO1_ETM_ATVALID_Pos)        /*!< TPI FIFO1: ETM_ATVALID Mask */
+
+#define TPI_FIFO1_ETM_bytecount_Pos        24U                                         /*!< TPI FIFO1: ETM_bytecount Position */
+#define TPI_FIFO1_ETM_bytecount_Msk        (0x3UL << TPI_FIFO1_ETM_bytecount_Pos)      /*!< TPI FIFO1: ETM_bytecount Mask */
+
+#define TPI_FIFO1_ITM2_Pos                 16U                                         /*!< TPI FIFO1: ITM2 Position */
+#define TPI_FIFO1_ITM2_Msk                 (0xFFUL << TPI_FIFO1_ITM2_Pos)              /*!< TPI FIFO1: ITM2 Mask */
+
+#define TPI_FIFO1_ITM1_Pos                  8U                                         /*!< TPI FIFO1: ITM1 Position */
+#define TPI_FIFO1_ITM1_Msk                 (0xFFUL << TPI_FIFO1_ITM1_Pos)              /*!< TPI FIFO1: ITM1 Mask */
+
+#define TPI_FIFO1_ITM0_Pos                  0U                                         /*!< TPI FIFO1: ITM0 Position */
+#define TPI_FIFO1_ITM0_Msk                 (0xFFUL /*<< TPI_FIFO1_ITM0_Pos*/)          /*!< TPI FIFO1: ITM0 Mask */
+
+/* TPI ITATBCTR0 Register Definitions */
+#define TPI_ITATBCTR0_ATREADY2_Pos          0U                                         /*!< TPI ITATBCTR0: ATREADY2 Position */
+#define TPI_ITATBCTR0_ATREADY2_Msk         (0x1UL /*<< TPI_ITATBCTR0_ATREADY2_Pos*/)   /*!< TPI ITATBCTR0: ATREADY2 Mask */
+
+#define TPI_ITATBCTR0_ATREADY1_Pos          0U                                         /*!< TPI ITATBCTR0: ATREADY1 Position */
+#define TPI_ITATBCTR0_ATREADY1_Msk         (0x1UL /*<< TPI_ITATBCTR0_ATREADY1_Pos*/)   /*!< TPI ITATBCTR0: ATREADY1 Mask */
+
+/* TPI Integration Mode Control Register Definitions */
+#define TPI_ITCTRL_Mode_Pos                 0U                                         /*!< TPI ITCTRL: Mode Position */
+#define TPI_ITCTRL_Mode_Msk                (0x3UL /*<< TPI_ITCTRL_Mode_Pos*/)          /*!< TPI ITCTRL: Mode Mask */
+
+/* TPI DEVID Register Definitions */
+#define TPI_DEVID_NRZVALID_Pos             11U                                         /*!< TPI DEVID: NRZVALID Position */
+#define TPI_DEVID_NRZVALID_Msk             (0x1UL << TPI_DEVID_NRZVALID_Pos)           /*!< TPI DEVID: NRZVALID Mask */
+
+#define TPI_DEVID_MANCVALID_Pos            10U                                         /*!< TPI DEVID: MANCVALID Position */
+#define TPI_DEVID_MANCVALID_Msk            (0x1UL << TPI_DEVID_MANCVALID_Pos)          /*!< TPI DEVID: MANCVALID Mask */
+
+#define TPI_DEVID_PTINVALID_Pos             9U                                         /*!< TPI DEVID: PTINVALID Position */
+#define TPI_DEVID_PTINVALID_Msk            (0x1UL << TPI_DEVID_PTINVALID_Pos)          /*!< TPI DEVID: PTINVALID Mask */
+
+#define TPI_DEVID_MinBufSz_Pos              6U                                         /*!< TPI DEVID: MinBufSz Position */
+#define TPI_DEVID_MinBufSz_Msk             (0x7UL << TPI_DEVID_MinBufSz_Pos)           /*!< TPI DEVID: MinBufSz Mask */
+
+#define TPI_DEVID_AsynClkIn_Pos             5U                                         /*!< TPI DEVID: AsynClkIn Position */
+#define TPI_DEVID_AsynClkIn_Msk            (0x1UL << TPI_DEVID_AsynClkIn_Pos)          /*!< TPI DEVID: AsynClkIn Mask */
+
+#define TPI_DEVID_NrTraceInput_Pos          0U                                         /*!< TPI DEVID: NrTraceInput Position */
+#define TPI_DEVID_NrTraceInput_Msk         (0x1FUL /*<< TPI_DEVID_NrTraceInput_Pos*/)  /*!< TPI DEVID: NrTraceInput Mask */
+
+/* TPI DEVTYPE Register Definitions */
+#define TPI_DEVTYPE_SubType_Pos             4U                                         /*!< TPI DEVTYPE: SubType Position */
+#define TPI_DEVTYPE_SubType_Msk            (0xFUL /*<< TPI_DEVTYPE_SubType_Pos*/)      /*!< TPI DEVTYPE: SubType Mask */
+
+#define TPI_DEVTYPE_MajorType_Pos           0U                                         /*!< TPI DEVTYPE: MajorType Position */
+#define TPI_DEVTYPE_MajorType_Msk          (0xFUL << TPI_DEVTYPE_MajorType_Pos)        /*!< TPI DEVTYPE: MajorType Mask */
+
+/*@}*/ /* end of group CMSIS_TPI */
+
+
+#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U)
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_MPU     Memory Protection Unit (MPU)
+  \brief    Type definitions for the Memory Protection Unit (MPU)
+  @{
+ */
+
+/**
+  \brief  Structure type to access the Memory Protection Unit (MPU).
+ */
+typedef struct
+{
+  __IM  uint32_t TYPE;                   /*!< Offset: 0x000 (R/ )  MPU Type Register */
+  __IOM uint32_t CTRL;                   /*!< Offset: 0x004 (R/W)  MPU Control Register */
+  __IOM uint32_t RNR;                    /*!< Offset: 0x008 (R/W)  MPU Region RNRber Register */
+  __IOM uint32_t RBAR;                   /*!< Offset: 0x00C (R/W)  MPU Region Base Address Register */
+  __IOM uint32_t RASR;                   /*!< Offset: 0x010 (R/W)  MPU Region Attribute and Size Register */
+  __IOM uint32_t RBAR_A1;                /*!< Offset: 0x014 (R/W)  MPU Alias 1 Region Base Address Register */
+  __IOM uint32_t RASR_A1;                /*!< Offset: 0x018 (R/W)  MPU Alias 1 Region Attribute and Size Register */
+  __IOM uint32_t RBAR_A2;                /*!< Offset: 0x01C (R/W)  MPU Alias 2 Region Base Address Register */
+  __IOM uint32_t RASR_A2;                /*!< Offset: 0x020 (R/W)  MPU Alias 2 Region Attribute and Size Register */
+  __IOM uint32_t RBAR_A3;                /*!< Offset: 0x024 (R/W)  MPU Alias 3 Region Base Address Register */
+  __IOM uint32_t RASR_A3;                /*!< Offset: 0x028 (R/W)  MPU Alias 3 Region Attribute and Size Register */
+} MPU_Type;
+
+#define MPU_TYPE_RALIASES                  4U
+
+/* MPU Type Register Definitions */
+#define MPU_TYPE_IREGION_Pos               16U                                            /*!< MPU TYPE: IREGION Position */
+#define MPU_TYPE_IREGION_Msk               (0xFFUL << MPU_TYPE_IREGION_Pos)               /*!< MPU TYPE: IREGION Mask */
+
+#define MPU_TYPE_DREGION_Pos                8U                                            /*!< MPU TYPE: DREGION Position */
+#define MPU_TYPE_DREGION_Msk               (0xFFUL << MPU_TYPE_DREGION_Pos)               /*!< MPU TYPE: DREGION Mask */
+
+#define MPU_TYPE_SEPARATE_Pos               0U                                            /*!< MPU TYPE: SEPARATE Position */
+#define MPU_TYPE_SEPARATE_Msk              (1UL /*<< MPU_TYPE_SEPARATE_Pos*/)             /*!< MPU TYPE: SEPARATE Mask */
+
+/* MPU Control Register Definitions */
+#define MPU_CTRL_PRIVDEFENA_Pos             2U                                            /*!< MPU CTRL: PRIVDEFENA Position */
+#define MPU_CTRL_PRIVDEFENA_Msk            (1UL << MPU_CTRL_PRIVDEFENA_Pos)               /*!< MPU CTRL: PRIVDEFENA Mask */
+
+#define MPU_CTRL_HFNMIENA_Pos               1U                                            /*!< MPU CTRL: HFNMIENA Position */
+#define MPU_CTRL_HFNMIENA_Msk              (1UL << MPU_CTRL_HFNMIENA_Pos)                 /*!< MPU CTRL: HFNMIENA Mask */
+
+#define MPU_CTRL_ENABLE_Pos                 0U                                            /*!< MPU CTRL: ENABLE Position */
+#define MPU_CTRL_ENABLE_Msk                (1UL /*<< MPU_CTRL_ENABLE_Pos*/)               /*!< MPU CTRL: ENABLE Mask */
+
+/* MPU Region Number Register Definitions */
+#define MPU_RNR_REGION_Pos                  0U                                            /*!< MPU RNR: REGION Position */
+#define MPU_RNR_REGION_Msk                 (0xFFUL /*<< MPU_RNR_REGION_Pos*/)             /*!< MPU RNR: REGION Mask */
+
+/* MPU Region Base Address Register Definitions */
+#define MPU_RBAR_ADDR_Pos                   5U                                            /*!< MPU RBAR: ADDR Position */
+#define MPU_RBAR_ADDR_Msk                  (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos)             /*!< MPU RBAR: ADDR Mask */
+
+#define MPU_RBAR_VALID_Pos                  4U                                            /*!< MPU RBAR: VALID Position */
+#define MPU_RBAR_VALID_Msk                 (1UL << MPU_RBAR_VALID_Pos)                    /*!< MPU RBAR: VALID Mask */
+
+#define MPU_RBAR_REGION_Pos                 0U                                            /*!< MPU RBAR: REGION Position */
+#define MPU_RBAR_REGION_Msk                (0xFUL /*<< MPU_RBAR_REGION_Pos*/)             /*!< MPU RBAR: REGION Mask */
+
+/* MPU Region Attribute and Size Register Definitions */
+#define MPU_RASR_ATTRS_Pos                 16U                                            /*!< MPU RASR: MPU Region Attribute field Position */
+#define MPU_RASR_ATTRS_Msk                 (0xFFFFUL << MPU_RASR_ATTRS_Pos)               /*!< MPU RASR: MPU Region Attribute field Mask */
+
+#define MPU_RASR_XN_Pos                    28U                                            /*!< MPU RASR: ATTRS.XN Position */
+#define MPU_RASR_XN_Msk                    (1UL << MPU_RASR_XN_Pos)                       /*!< MPU RASR: ATTRS.XN Mask */
+
+#define MPU_RASR_AP_Pos                    24U                                            /*!< MPU RASR: ATTRS.AP Position */
+#define MPU_RASR_AP_Msk                    (0x7UL << MPU_RASR_AP_Pos)                     /*!< MPU RASR: ATTRS.AP Mask */
+
+#define MPU_RASR_TEX_Pos                   19U                                            /*!< MPU RASR: ATTRS.TEX Position */
+#define MPU_RASR_TEX_Msk                   (0x7UL << MPU_RASR_TEX_Pos)                    /*!< MPU RASR: ATTRS.TEX Mask */
+
+#define MPU_RASR_S_Pos                     18U                                            /*!< MPU RASR: ATTRS.S Position */
+#define MPU_RASR_S_Msk                     (1UL << MPU_RASR_S_Pos)                        /*!< MPU RASR: ATTRS.S Mask */
+
+#define MPU_RASR_C_Pos                     17U                                            /*!< MPU RASR: ATTRS.C Position */
+#define MPU_RASR_C_Msk                     (1UL << MPU_RASR_C_Pos)                        /*!< MPU RASR: ATTRS.C Mask */
+
+#define MPU_RASR_B_Pos                     16U                                            /*!< MPU RASR: ATTRS.B Position */
+#define MPU_RASR_B_Msk                     (1UL << MPU_RASR_B_Pos)                        /*!< MPU RASR: ATTRS.B Mask */
+
+#define MPU_RASR_SRD_Pos                    8U                                            /*!< MPU RASR: Sub-Region Disable Position */
+#define MPU_RASR_SRD_Msk                   (0xFFUL << MPU_RASR_SRD_Pos)                   /*!< MPU RASR: Sub-Region Disable Mask */
+
+#define MPU_RASR_SIZE_Pos                   1U                                            /*!< MPU RASR: Region Size Field Position */
+#define MPU_RASR_SIZE_Msk                  (0x1FUL << MPU_RASR_SIZE_Pos)                  /*!< MPU RASR: Region Size Field Mask */
+
+#define MPU_RASR_ENABLE_Pos                 0U                                            /*!< MPU RASR: Region enable bit Position */
+#define MPU_RASR_ENABLE_Msk                (1UL /*<< MPU_RASR_ENABLE_Pos*/)               /*!< MPU RASR: Region enable bit Disable Mask */
+
+/*@} end of group CMSIS_MPU */
+#endif /* defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) */
+
+
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_FPU     Floating Point Unit (FPU)
+  \brief    Type definitions for the Floating Point Unit (FPU)
+  @{
+ */
+
+/**
+  \brief  Structure type to access the Floating Point Unit (FPU).
+ */
+typedef struct
+{
+        uint32_t RESERVED0[1U];
+  __IOM uint32_t FPCCR;                  /*!< Offset: 0x004 (R/W)  Floating-Point Context Control Register */
+  __IOM uint32_t FPCAR;                  /*!< Offset: 0x008 (R/W)  Floating-Point Context Address Register */
+  __IOM uint32_t FPDSCR;                 /*!< Offset: 0x00C (R/W)  Floating-Point Default Status Control Register */
+  __IM  uint32_t MVFR0;                  /*!< Offset: 0x010 (R/ )  Media and FP Feature Register 0 */
+  __IM  uint32_t MVFR1;                  /*!< Offset: 0x014 (R/ )  Media and FP Feature Register 1 */
+  __IM  uint32_t MVFR2;                  /*!< Offset: 0x018 (R/ )  Media and FP Feature Register 2 */
+} FPU_Type;
+
+/* Floating-Point Context Control Register Definitions */
+#define FPU_FPCCR_ASPEN_Pos                31U                                            /*!< FPCCR: ASPEN bit Position */
+#define FPU_FPCCR_ASPEN_Msk                (1UL << FPU_FPCCR_ASPEN_Pos)                   /*!< FPCCR: ASPEN bit Mask */
+
+#define FPU_FPCCR_LSPEN_Pos                30U                                            /*!< FPCCR: LSPEN Position */
+#define FPU_FPCCR_LSPEN_Msk                (1UL << FPU_FPCCR_LSPEN_Pos)                   /*!< FPCCR: LSPEN bit Mask */
+
+#define FPU_FPCCR_MONRDY_Pos                8U                                            /*!< FPCCR: MONRDY Position */
+#define FPU_FPCCR_MONRDY_Msk               (1UL << FPU_FPCCR_MONRDY_Pos)                  /*!< FPCCR: MONRDY bit Mask */
+
+#define FPU_FPCCR_BFRDY_Pos                 6U                                            /*!< FPCCR: BFRDY Position */
+#define FPU_FPCCR_BFRDY_Msk                (1UL << FPU_FPCCR_BFRDY_Pos)                   /*!< FPCCR: BFRDY bit Mask */
+
+#define FPU_FPCCR_MMRDY_Pos                 5U                                            /*!< FPCCR: MMRDY Position */
+#define FPU_FPCCR_MMRDY_Msk                (1UL << FPU_FPCCR_MMRDY_Pos)                   /*!< FPCCR: MMRDY bit Mask */
+
+#define FPU_FPCCR_HFRDY_Pos                 4U                                            /*!< FPCCR: HFRDY Position */
+#define FPU_FPCCR_HFRDY_Msk                (1UL << FPU_FPCCR_HFRDY_Pos)                   /*!< FPCCR: HFRDY bit Mask */
+
+#define FPU_FPCCR_THREAD_Pos                3U                                            /*!< FPCCR: processor mode bit Position */
+#define FPU_FPCCR_THREAD_Msk               (1UL << FPU_FPCCR_THREAD_Pos)                  /*!< FPCCR: processor mode active bit Mask */
+
+#define FPU_FPCCR_USER_Pos                  1U                                            /*!< FPCCR: privilege level bit Position */
+#define FPU_FPCCR_USER_Msk                 (1UL << FPU_FPCCR_USER_Pos)                    /*!< FPCCR: privilege level bit Mask */
+
+#define FPU_FPCCR_LSPACT_Pos                0U                                            /*!< FPCCR: Lazy state preservation active bit Position */
+#define FPU_FPCCR_LSPACT_Msk               (1UL /*<< FPU_FPCCR_LSPACT_Pos*/)              /*!< FPCCR: Lazy state preservation active bit Mask */
+
+/* Floating-Point Context Address Register Definitions */
+#define FPU_FPCAR_ADDRESS_Pos               3U                                            /*!< FPCAR: ADDRESS bit Position */
+#define FPU_FPCAR_ADDRESS_Msk              (0x1FFFFFFFUL << FPU_FPCAR_ADDRESS_Pos)        /*!< FPCAR: ADDRESS bit Mask */
+
+/* Floating-Point Default Status Control Register Definitions */
+#define FPU_FPDSCR_AHP_Pos                 26U                                            /*!< FPDSCR: AHP bit Position */
+#define FPU_FPDSCR_AHP_Msk                 (1UL << FPU_FPDSCR_AHP_Pos)                    /*!< FPDSCR: AHP bit Mask */
+
+#define FPU_FPDSCR_DN_Pos                  25U                                            /*!< FPDSCR: DN bit Position */
+#define FPU_FPDSCR_DN_Msk                  (1UL << FPU_FPDSCR_DN_Pos)                     /*!< FPDSCR: DN bit Mask */
+
+#define FPU_FPDSCR_FZ_Pos                  24U                                            /*!< FPDSCR: FZ bit Position */
+#define FPU_FPDSCR_FZ_Msk                  (1UL << FPU_FPDSCR_FZ_Pos)                     /*!< FPDSCR: FZ bit Mask */
+
+#define FPU_FPDSCR_RMode_Pos               22U                                            /*!< FPDSCR: RMode bit Position */
+#define FPU_FPDSCR_RMode_Msk               (3UL << FPU_FPDSCR_RMode_Pos)                  /*!< FPDSCR: RMode bit Mask */
+
+/* Media and FP Feature Register 0 Definitions */
+#define FPU_MVFR0_FP_rounding_modes_Pos    28U                                            /*!< MVFR0: FP rounding modes bits Position */
+#define FPU_MVFR0_FP_rounding_modes_Msk    (0xFUL << FPU_MVFR0_FP_rounding_modes_Pos)     /*!< MVFR0: FP rounding modes bits Mask */
+
+#define FPU_MVFR0_Short_vectors_Pos        24U                                            /*!< MVFR0: Short vectors bits Position */
+#define FPU_MVFR0_Short_vectors_Msk        (0xFUL << FPU_MVFR0_Short_vectors_Pos)         /*!< MVFR0: Short vectors bits Mask */
+
+#define FPU_MVFR0_Square_root_Pos          20U                                            /*!< MVFR0: Square root bits Position */
+#define FPU_MVFR0_Square_root_Msk          (0xFUL << FPU_MVFR0_Square_root_Pos)           /*!< MVFR0: Square root bits Mask */
+
+#define FPU_MVFR0_Divide_Pos               16U                                            /*!< MVFR0: Divide bits Position */
+#define FPU_MVFR0_Divide_Msk               (0xFUL << FPU_MVFR0_Divide_Pos)                /*!< MVFR0: Divide bits Mask */
+
+#define FPU_MVFR0_FP_excep_trapping_Pos    12U                                            /*!< MVFR0: FP exception trapping bits Position */
+#define FPU_MVFR0_FP_excep_trapping_Msk    (0xFUL << FPU_MVFR0_FP_excep_trapping_Pos)     /*!< MVFR0: FP exception trapping bits Mask */
+
+#define FPU_MVFR0_Double_precision_Pos      8U                                            /*!< MVFR0: Double-precision bits Position */
+#define FPU_MVFR0_Double_precision_Msk     (0xFUL << FPU_MVFR0_Double_precision_Pos)      /*!< MVFR0: Double-precision bits Mask */
+
+#define FPU_MVFR0_Single_precision_Pos      4U                                            /*!< MVFR0: Single-precision bits Position */
+#define FPU_MVFR0_Single_precision_Msk     (0xFUL << FPU_MVFR0_Single_precision_Pos)      /*!< MVFR0: Single-precision bits Mask */
+
+#define FPU_MVFR0_A_SIMD_registers_Pos      0U                                            /*!< MVFR0: A_SIMD registers bits Position */
+#define FPU_MVFR0_A_SIMD_registers_Msk     (0xFUL /*<< FPU_MVFR0_A_SIMD_registers_Pos*/)  /*!< MVFR0: A_SIMD registers bits Mask */
+
+/* Media and FP Feature Register 1 Definitions */
+#define FPU_MVFR1_FP_fused_MAC_Pos         28U                                            /*!< MVFR1: FP fused MAC bits Position */
+#define FPU_MVFR1_FP_fused_MAC_Msk         (0xFUL << FPU_MVFR1_FP_fused_MAC_Pos)          /*!< MVFR1: FP fused MAC bits Mask */
+
+#define FPU_MVFR1_FP_HPFP_Pos              24U                                            /*!< MVFR1: FP HPFP bits Position */
+#define FPU_MVFR1_FP_HPFP_Msk              (0xFUL << FPU_MVFR1_FP_HPFP_Pos)               /*!< MVFR1: FP HPFP bits Mask */
+
+#define FPU_MVFR1_D_NaN_mode_Pos            4U                                            /*!< MVFR1: D_NaN mode bits Position */
+#define FPU_MVFR1_D_NaN_mode_Msk           (0xFUL << FPU_MVFR1_D_NaN_mode_Pos)            /*!< MVFR1: D_NaN mode bits Mask */
+
+#define FPU_MVFR1_FtZ_mode_Pos              0U                                            /*!< MVFR1: FtZ mode bits Position */
+#define FPU_MVFR1_FtZ_mode_Msk             (0xFUL /*<< FPU_MVFR1_FtZ_mode_Pos*/)          /*!< MVFR1: FtZ mode bits Mask */
+
+/* Media and FP Feature Register 2 Definitions */
+
+#define FPU_MVFR2_VFP_Misc_Pos              4U                                            /*!< MVFR2: VFP Misc bits Position */
+#define FPU_MVFR2_VFP_Misc_Msk             (0xFUL << FPU_MVFR2_VFP_Misc_Pos)              /*!< MVFR2: VFP Misc bits Mask */
+
+/*@} end of group CMSIS_FPU */
+
+
+/**
+  \ingroup  CMSIS_core_register
+  \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)
+  \brief    Type definitions for the Core Debug Registers
+  @{
+ */
+
+/**
+  \brief  Structure type to access the Core Debug Register (CoreDebug).
+ */
+typedef struct
+{
+  __IOM uint32_t DHCSR;                  /*!< Offset: 0x000 (R/W)  Debug Halting Control and Status Register */
+  __OM  uint32_t DCRSR;                  /*!< Offset: 0x004 ( /W)  Debug Core Register Selector Register */
+  __IOM uint32_t DCRDR;                  /*!< Offset: 0x008 (R/W)  Debug Core Register Data Register */
+  __IOM uint32_t DEMCR;                  /*!< Offset: 0x00C (R/W)  Debug Exception and Monitor Control Register */
+} CoreDebug_Type;
+
+/* Debug Halting Control and Status Register Definitions */
+#define CoreDebug_DHCSR_DBGKEY_Pos         16U                                            /*!< CoreDebug DHCSR: DBGKEY Position */
+#define CoreDebug_DHCSR_DBGKEY_Msk         (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos)       /*!< CoreDebug DHCSR: DBGKEY Mask */
+
+#define CoreDebug_DHCSR_S_RESET_ST_Pos     25U                                            /*!< CoreDebug DHCSR: S_RESET_ST Position */
+#define CoreDebug_DHCSR_S_RESET_ST_Msk     (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos)        /*!< CoreDebug DHCSR: S_RESET_ST Mask */
+
+#define CoreDebug_DHCSR_S_RETIRE_ST_Pos    24U                                            /*!< CoreDebug DHCSR: S_RETIRE_ST Position */
+#define CoreDebug_DHCSR_S_RETIRE_ST_Msk    (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos)       /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */
+
+#define CoreDebug_DHCSR_S_LOCKUP_Pos       19U                                            /*!< CoreDebug DHCSR: S_LOCKUP Position */
+#define CoreDebug_DHCSR_S_LOCKUP_Msk       (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos)          /*!< CoreDebug DHCSR: S_LOCKUP Mask */
+
+#define CoreDebug_DHCSR_S_SLEEP_Pos        18U                                            /*!< CoreDebug DHCSR: S_SLEEP Position */
+#define CoreDebug_DHCSR_S_SLEEP_Msk        (1UL << CoreDebug_DHCSR_S_SLEEP_Pos)           /*!< CoreDebug DHCSR: S_SLEEP Mask */
+
+#define CoreDebug_DHCSR_S_HALT_Pos         17U                                            /*!< CoreDebug DHCSR: S_HALT Position */
+#define CoreDebug_DHCSR_S_HALT_Msk         (1UL << CoreDebug_DHCSR_S_HALT_Pos)            /*!< CoreDebug DHCSR: S_HALT Mask */
+
+#define CoreDebug_DHCSR_S_REGRDY_Pos       16U                                            /*!< CoreDebug DHCSR: S_REGRDY Position */
+#define CoreDebug_DHCSR_S_REGRDY_Msk       (1UL << CoreDebug_DHCSR_S_REGRDY_Pos)          /*!< CoreDebug DHCSR: S_REGRDY Mask */
+
+#define CoreDebug_DHCSR_C_SNAPSTALL_Pos     5U                                            /*!< CoreDebug DHCSR: C_SNAPSTALL Position */
+#define CoreDebug_DHCSR_C_SNAPSTALL_Msk    (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos)       /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */
+
+#define CoreDebug_DHCSR_C_MASKINTS_Pos      3U                                            /*!< CoreDebug DHCSR: C_MASKINTS Position */
+#define CoreDebug_DHCSR_C_MASKINTS_Msk     (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos)        /*!< CoreDebug DHCSR: C_MASKINTS Mask */
+
+#define CoreDebug_DHCSR_C_STEP_Pos          2U                                            /*!< CoreDebug DHCSR: C_STEP Position */
+#define CoreDebug_DHCSR_C_STEP_Msk         (1UL << CoreDebug_DHCSR_C_STEP_Pos)            /*!< CoreDebug DHCSR: C_STEP Mask */
+
+#define CoreDebug_DHCSR_C_HALT_Pos          1U                                            /*!< CoreDebug DHCSR: C_HALT Position */
+#define CoreDebug_DHCSR_C_HALT_Msk         (1UL << CoreDebug_DHCSR_C_HALT_Pos)            /*!< CoreDebug DHCSR: C_HALT Mask */
+
+#define CoreDebug_DHCSR_C_DEBUGEN_Pos       0U                                            /*!< CoreDebug DHCSR: C_DEBUGEN Position */
+#define CoreDebug_DHCSR_C_DEBUGEN_Msk      (1UL /*<< CoreDebug_DHCSR_C_DEBUGEN_Pos*/)     /*!< CoreDebug DHCSR: C_DEBUGEN Mask */
+
+/* Debug Core Register Selector Register Definitions */
+#define CoreDebug_DCRSR_REGWnR_Pos         16U                                            /*!< CoreDebug DCRSR: REGWnR Position */
+#define CoreDebug_DCRSR_REGWnR_Msk         (1UL << CoreDebug_DCRSR_REGWnR_Pos)            /*!< CoreDebug DCRSR: REGWnR Mask */
+
+#define CoreDebug_DCRSR_REGSEL_Pos          0U                                            /*!< CoreDebug DCRSR: REGSEL Position */
+#define CoreDebug_DCRSR_REGSEL_Msk         (0x1FUL /*<< CoreDebug_DCRSR_REGSEL_Pos*/)     /*!< CoreDebug DCRSR: REGSEL Mask */
+
+/* Debug Exception and Monitor Control Register Definitions */
+#define CoreDebug_DEMCR_TRCENA_Pos         24U                                            /*!< CoreDebug DEMCR: TRCENA Position */
+#define CoreDebug_DEMCR_TRCENA_Msk         (1UL << CoreDebug_DEMCR_TRCENA_Pos)            /*!< CoreDebug DEMCR: TRCENA Mask */
+
+#define CoreDebug_DEMCR_MON_REQ_Pos        19U                                            /*!< CoreDebug DEMCR: MON_REQ Position */
+#define CoreDebug_DEMCR_MON_REQ_Msk        (1UL << CoreDebug_DEMCR_MON_REQ_Pos)           /*!< CoreDebug DEMCR: MON_REQ Mask */
+
+#define CoreDebug_DEMCR_MON_STEP_Pos       18U                                            /*!< CoreDebug DEMCR: MON_STEP Position */
+#define CoreDebug_DEMCR_MON_STEP_Msk       (1UL << CoreDebug_DEMCR_MON_STEP_Pos)          /*!< CoreDebug DEMCR: MON_STEP Mask */
+
+#define CoreDebug_DEMCR_MON_PEND_Pos       17U                                            /*!< CoreDebug DEMCR: MON_PEND Position */
+#define CoreDebug_DEMCR_MON_PEND_Msk       (1UL << CoreDebug_DEMCR_MON_PEND_Pos)          /*!< CoreDebug DEMCR: MON_PEND Mask */
+
+#define CoreDebug_DEMCR_MON_EN_Pos         16U                                            /*!< CoreDebug DEMCR: MON_EN Position */
+#define CoreDebug_DEMCR_MON_EN_Msk         (1UL << CoreDebug_DEMCR_MON_EN_Pos)            /*!< CoreDebug DEMCR: MON_EN Mask */
+
+#define CoreDebug_DEMCR_VC_HARDERR_Pos     10U                                            /*!< CoreDebug DEMCR: VC_HARDERR Position */
+#define CoreDebug_DEMCR_VC_HARDERR_Msk     (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos)        /*!< CoreDebug DEMCR: VC_HARDERR Mask */
+
+#define CoreDebug_DEMCR_VC_INTERR_Pos       9U                                            /*!< CoreDebug DEMCR: VC_INTERR Position */
+#define CoreDebug_DEMCR_VC_INTERR_Msk      (1UL << CoreDebug_DEMCR_VC_INTERR_Pos)         /*!< CoreDebug DEMCR: VC_INTERR Mask */
+
+#define CoreDebug_DEMCR_VC_BUSERR_Pos       8U                                            /*!< CoreDebug DEMCR: VC_BUSERR Position */
+#define CoreDebug_DEMCR_VC_BUSERR_Msk      (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos)         /*!< CoreDebug DEMCR: VC_BUSERR Mask */
+
+#define CoreDebug_DEMCR_VC_STATERR_Pos      7U                                            /*!< CoreDebug DEMCR: VC_STATERR Position */
+#define CoreDebug_DEMCR_VC_STATERR_Msk     (1UL << CoreDebug_DEMCR_VC_STATERR_Pos)        /*!< CoreDebug DEMCR: VC_STATERR Mask */
+
+#define CoreDebug_DEMCR_VC_CHKERR_Pos       6U                                            /*!< CoreDebug DEMCR: VC_CHKERR Position */
+#define CoreDebug_DEMCR_VC_CHKERR_Msk      (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos)         /*!< CoreDebug DEMCR: VC_CHKERR Mask */
+
+#define CoreDebug_DEMCR_VC_NOCPERR_Pos      5U                                            /*!< CoreDebug DEMCR: VC_NOCPERR Position */
+#define CoreDebug_DEMCR_VC_NOCPERR_Msk     (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos)        /*!< CoreDebug DEMCR: VC_NOCPERR Mask */
+
+#define CoreDebug_DEMCR_VC_MMERR_Pos        4U                                            /*!< CoreDebug DEMCR: VC_MMERR Position */
+#define CoreDebug_DEMCR_VC_MMERR_Msk       (1UL << CoreDebug_DEMCR_VC_MMERR_Pos)          /*!< CoreDebug DEMCR: VC_MMERR Mask */
+
+#define CoreDebug_DEMCR_VC_CORERESET_Pos    0U                                            /*!< CoreDebug DEMCR: VC_CORERESET Position */
+#define CoreDebug_DEMCR_VC_CORERESET_Msk   (1UL /*<< CoreDebug_DEMCR_VC_CORERESET_Pos*/)  /*!< CoreDebug DEMCR: VC_CORERESET Mask */
+
+/*@} end of group CMSIS_CoreDebug */
+
+
+/**
+  \ingroup    CMSIS_core_register
+  \defgroup   CMSIS_core_bitfield     Core register bit field macros
+  \brief      Macros for use with bit field definitions (xxx_Pos, xxx_Msk).
+  @{
+ */
+
+/**
+  \brief   Mask and shift a bit field value for use in a register bit range.
+  \param[in] field  Name of the register bit field.
+  \param[in] value  Value of the bit field. This parameter is interpreted as an uint32_t type.
+  \return           Masked and shifted value.
+*/
+#define _VAL2FLD(field, value)    (((uint32_t)(value) << field ## _Pos) & field ## _Msk)
+
+/**
+  \brief     Mask and shift a register value to extract a bit filed value.
+  \param[in] field  Name of the register bit field.
+  \param[in] value  Value of register. This parameter is interpreted as an uint32_t type.
+  \return           Masked and shifted bit field value.
+*/
+#define _FLD2VAL(field, value)    (((uint32_t)(value) & field ## _Msk) >> field ## _Pos)
+
+/*@} end of group CMSIS_core_bitfield */
+
+
+/**
+  \ingroup    CMSIS_core_register
+  \defgroup   CMSIS_core_base     Core Definitions
+  \brief      Definitions for base addresses, unions, and structures.
+  @{
+ */
+
+/* Memory mapping of Core Hardware */
+#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address */
+#define ITM_BASE            (0xE0000000UL)                            /*!< ITM Base Address */
+#define DWT_BASE            (0xE0001000UL)                            /*!< DWT Base Address */
+#define TPI_BASE            (0xE0040000UL)                            /*!< TPI Base Address */
+#define CoreDebug_BASE      (0xE000EDF0UL)                            /*!< Core Debug Base Address */
+#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address */
+#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address */
+#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address */
+
+#define SCnSCB              ((SCnSCB_Type    *)     SCS_BASE      )   /*!< System control Register not in SCB */
+#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct */
+#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct */
+#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct */
+#define ITM                 ((ITM_Type       *)     ITM_BASE      )   /*!< ITM configuration struct */
+#define DWT                 ((DWT_Type       *)     DWT_BASE      )   /*!< DWT configuration struct */
+#define TPI                 ((TPI_Type       *)     TPI_BASE      )   /*!< TPI configuration struct */
+#define CoreDebug           ((CoreDebug_Type *)     CoreDebug_BASE)   /*!< Core Debug configuration struct */
+
+#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U)
+  #define MPU_BASE          (SCS_BASE +  0x0D90UL)                    /*!< Memory Protection Unit */
+  #define MPU               ((MPU_Type       *)     MPU_BASE      )   /*!< Memory Protection Unit */
+#endif
+
+#define FPU_BASE            (SCS_BASE +  0x0F30UL)                    /*!< Floating Point Unit */
+#define FPU                 ((FPU_Type       *)     FPU_BASE      )   /*!< Floating Point Unit */
+
+/*@} */
+
+
+
+/*******************************************************************************
+ *                Hardware Abstraction Layer
+  Core Function Interface contains:
+  - Core NVIC Functions
+  - Core SysTick Functions
+  - Core Debug Functions
+  - Core Register Access Functions
+ ******************************************************************************/
+/**
+  \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
+*/
+
+
+
+/* ##########################   NVIC functions  #################################### */
+/**
+  \ingroup  CMSIS_Core_FunctionInterface
+  \defgroup CMSIS_Core_NVICFunctions NVIC Functions
+  \brief    Functions that manage interrupts and exceptions via the NVIC.
+  @{
+ */
+
+#ifdef CMSIS_NVIC_VIRTUAL
+  #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE
+    #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h"
+  #endif
+  #include CMSIS_NVIC_VIRTUAL_HEADER_FILE
+#else
+  #define NVIC_SetPriorityGrouping    __NVIC_SetPriorityGrouping
+  #define NVIC_GetPriorityGrouping    __NVIC_GetPriorityGrouping
+  #define NVIC_EnableIRQ              __NVIC_EnableIRQ
+  #define NVIC_GetEnableIRQ           __NVIC_GetEnableIRQ
+  #define NVIC_DisableIRQ             __NVIC_DisableIRQ
+  #define NVIC_GetPendingIRQ          __NVIC_GetPendingIRQ
+  #define NVIC_SetPendingIRQ          __NVIC_SetPendingIRQ
+  #define NVIC_ClearPendingIRQ        __NVIC_ClearPendingIRQ
+  #define NVIC_GetActive              __NVIC_GetActive
+  #define NVIC_SetPriority            __NVIC_SetPriority
+  #define NVIC_GetPriority            __NVIC_GetPriority
+  #define NVIC_SystemReset            __NVIC_SystemReset
+#endif /* CMSIS_NVIC_VIRTUAL */
+
+#ifdef CMSIS_VECTAB_VIRTUAL
+  #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE
+    #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h"
+  #endif
+  #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE
+#else
+  #define NVIC_SetVector              __NVIC_SetVector
+  #define NVIC_GetVector              __NVIC_GetVector
+#endif  /* (CMSIS_VECTAB_VIRTUAL) */
+
+#define NVIC_USER_IRQ_OFFSET          16
+
+
+/* The following EXC_RETURN values are saved the LR on exception entry */
+#define EXC_RETURN_HANDLER         (0xFFFFFFF1UL)     /* return to Handler mode, uses MSP after return                               */
+#define EXC_RETURN_THREAD_MSP      (0xFFFFFFF9UL)     /* return to Thread mode, uses MSP after return                                */
+#define EXC_RETURN_THREAD_PSP      (0xFFFFFFFDUL)     /* return to Thread mode, uses PSP after return                                */
+#define EXC_RETURN_HANDLER_FPU     (0xFFFFFFE1UL)     /* return to Handler mode, uses MSP after return, restore floating-point state */
+#define EXC_RETURN_THREAD_MSP_FPU  (0xFFFFFFE9UL)     /* return to Thread mode, uses MSP after return, restore floating-point state  */
+#define EXC_RETURN_THREAD_PSP_FPU  (0xFFFFFFEDUL)     /* return to Thread mode, uses PSP after return, restore floating-point state  */
+
+
+/**
+  \brief   Set Priority Grouping
+  \details Sets the priority grouping field using the required unlock sequence.
+           The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field.
+           Only values from 0..7 are used.
+           In case of a conflict between priority grouping and available
+           priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.
+  \param [in]      PriorityGroup  Priority grouping field.
+ */
+__STATIC_INLINE void __NVIC_SetPriorityGrouping(uint32_t PriorityGroup)
+{
+  uint32_t reg_value;
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL);             /* only values 0..7 are used          */
+
+  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
+  reg_value &= ~((uint32_t)(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk)); /* clear bits to change               */
+  reg_value  =  (reg_value                                   |
+                ((uint32_t)0x5FAUL << SCB_AIRCR_VECTKEY_Pos) |
+                (PriorityGroupTmp << SCB_AIRCR_PRIGROUP_Pos)  );              /* Insert write key and priority group */
+  SCB->AIRCR =  reg_value;
+}
+
+
+/**
+  \brief   Get Priority Grouping
+  \details Reads the priority grouping field from the NVIC Interrupt Controller.
+  \return                Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field).
+ */
+__STATIC_INLINE uint32_t __NVIC_GetPriorityGrouping(void)
+{
+  return ((uint32_t)((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos));
+}
+
+
+/**
+  \brief   Enable Interrupt
+  \details Enables a device specific interrupt in the NVIC interrupt controller.
+  \param [in]      IRQn  Device specific interrupt number.
+  \note    IRQn must not be negative.
+ */
+__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn)
+{
+  if ((int32_t)(IRQn) >= 0)
+  {
+    __COMPILER_BARRIER();
+    NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
+    __COMPILER_BARRIER();
+  }
+}
+
+
+/**
+  \brief   Get Interrupt Enable status
+  \details Returns a device specific interrupt enable status from the NVIC interrupt controller.
+  \param [in]      IRQn  Device specific interrupt number.
+  \return             0  Interrupt is not enabled.
+  \return             1  Interrupt is enabled.
+  \note    IRQn must not be negative.
+ */
+__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn)
+{
+  if ((int32_t)(IRQn) >= 0)
+  {
+    return((uint32_t)(((NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
+  }
+  else
+  {
+    return(0U);
+  }
+}
+
+
+/**
+  \brief   Disable Interrupt
+  \details Disables a device specific interrupt in the NVIC interrupt controller.
+  \param [in]      IRQn  Device specific interrupt number.
+  \note    IRQn must not be negative.
+ */
+__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn)
+{
+  if ((int32_t)(IRQn) >= 0)
+  {
+    NVIC->ICER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
+    __DSB();
+    __ISB();
+  }
+}
+
+
+/**
+  \brief   Get Pending Interrupt
+  \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt.
+  \param [in]      IRQn  Device specific interrupt number.
+  \return             0  Interrupt status is not pending.
+  \return             1  Interrupt status is pending.
+  \note    IRQn must not be negative.
+ */
+__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn)
+{
+  if ((int32_t)(IRQn) >= 0)
+  {
+    return((uint32_t)(((NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
+  }
+  else
+  {
+    return(0U);
+  }
+}
+
+
+/**
+  \brief   Set Pending Interrupt
+  \details Sets the pending bit of a device specific interrupt in the NVIC pending register.
+  \param [in]      IRQn  Device specific interrupt number.
+  \note    IRQn must not be negative.
+ */
+__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn)
+{
+  if ((int32_t)(IRQn) >= 0)
+  {
+    NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
+  }
+}
+
+
+/**
+  \brief   Clear Pending Interrupt
+  \details Clears the pending bit of a device specific interrupt in the NVIC pending register.
+  \param [in]      IRQn  Device specific interrupt number.
+  \note    IRQn must not be negative.
+ */
+__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn)
+{
+  if ((int32_t)(IRQn) >= 0)
+  {
+    NVIC->ICPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
+  }
+}
+
+
+/**
+  \brief   Get Active Interrupt
+  \details Reads the active register in the NVIC and returns the active bit for the device specific interrupt.
+  \param [in]      IRQn  Device specific interrupt number.
+  \return             0  Interrupt status is not active.
+  \return             1  Interrupt status is active.
+  \note    IRQn must not be negative.
+ */
+__STATIC_INLINE uint32_t __NVIC_GetActive(IRQn_Type IRQn)
+{
+  if ((int32_t)(IRQn) >= 0)
+  {
+    return((uint32_t)(((NVIC->IABR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
+  }
+  else
+  {
+    return(0U);
+  }
+}
+
+
+/**
+  \brief   Set Interrupt Priority
+  \details Sets the priority of a device specific interrupt or a processor exception.
+           The interrupt number can be positive to specify a device specific interrupt,
+           or negative to specify a processor exception.
+  \param [in]      IRQn  Interrupt number.
+  \param [in]  priority  Priority to set.
+  \note    The priority cannot be set for every processor exception.
+ */
+__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
+{
+  if ((int32_t)(IRQn) >= 0)
+  {
+    NVIC->IP[((uint32_t)IRQn)]                = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL);
+  }
+  else
+  {
+    SCB->SHPR[(((uint32_t)IRQn) & 0xFUL)-4UL] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL);
+  }
+}
+
+
+/**
+  \brief   Get Interrupt Priority
+  \details Reads the priority of a device specific interrupt or a processor exception.
+           The interrupt number can be positive to specify a device specific interrupt,
+           or negative to specify a processor exception.
+  \param [in]   IRQn  Interrupt number.
+  \return             Interrupt Priority.
+                      Value is aligned automatically to the implemented priority bits of the microcontroller.
+ */
+__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn)
+{
+
+  if ((int32_t)(IRQn) >= 0)
+  {
+    return(((uint32_t)NVIC->IP[((uint32_t)IRQn)]                >> (8U - __NVIC_PRIO_BITS)));
+  }
+  else
+  {
+    return(((uint32_t)SCB->SHPR[(((uint32_t)IRQn) & 0xFUL)-4UL] >> (8U - __NVIC_PRIO_BITS)));
+  }
+}
+
+
+/**
+  \brief   Encode Priority
+  \details Encodes the priority for an interrupt with the given priority group,
+           preemptive priority value, and subpriority value.
+           In case of a conflict between priority grouping and available
+           priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.
+  \param [in]     PriorityGroup  Used priority group.
+  \param [in]   PreemptPriority  Preemptive priority value (starting from 0).
+  \param [in]       SubPriority  Subpriority value (starting from 0).
+  \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().
+ */
+__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)
+{
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL);   /* only values 0..7 are used          */
+  uint32_t PreemptPriorityBits;
+  uint32_t SubPriorityBits;
+
+  PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp);
+  SubPriorityBits     = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS));
+
+  return (
+           ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) |
+           ((SubPriority     & (uint32_t)((1UL << (SubPriorityBits    )) - 1UL)))
+         );
+}
+
+
+/**
+  \brief   Decode Priority
+  \details Decodes an interrupt priority value with a given priority group to
+           preemptive priority value and subpriority value.
+           In case of a conflict between priority grouping and available
+           priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set.
+  \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().
+  \param [in]     PriorityGroup  Used priority group.
+  \param [out] pPreemptPriority  Preemptive priority value (starting from 0).
+  \param [out]     pSubPriority  Subpriority value (starting from 0).
+ */
+__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority)
+{
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL);   /* only values 0..7 are used          */
+  uint32_t PreemptPriorityBits;
+  uint32_t SubPriorityBits;
+
+  PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp);
+  SubPriorityBits     = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS));
+
+  *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL);
+  *pSubPriority     = (Priority                   ) & (uint32_t)((1UL << (SubPriorityBits    )) - 1UL);
+}
+
+
+/**
+  \brief   Set Interrupt Vector
+  \details Sets an interrupt vector in SRAM based interrupt vector table.
+           The interrupt number can be positive to specify a device specific interrupt,
+           or negative to specify a processor exception.
+           VTOR must been relocated to SRAM before.
+  \param [in]   IRQn      Interrupt number
+  \param [in]   vector    Address of interrupt handler function
+ */
+__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector)
+{
+  uint32_t vectors = (uint32_t )SCB->VTOR;
+  (* (int *) (vectors + ((int32_t)IRQn + NVIC_USER_IRQ_OFFSET) * 4)) = vector;
+  __DSB();
+}
+
+
+/**
+  \brief   Get Interrupt Vector
+  \details Reads an interrupt vector from interrupt vector table.
+           The interrupt number can be positive to specify a device specific interrupt,
+           or negative to specify a processor exception.
+  \param [in]   IRQn      Interrupt number.
+  \return                 Address of interrupt handler function
+ */
+__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn)
+{
+  uint32_t vectors = (uint32_t )SCB->VTOR;
+  return (uint32_t)(* (int *) (vectors + ((int32_t)IRQn + NVIC_USER_IRQ_OFFSET) * 4));
+}
+
+
+/**
+  \brief   System Reset
+  \details Initiates a system reset request to reset the MCU.
+ */
+__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void)
+{
+  __DSB();                                                          /* Ensure all outstanding memory accesses included
+                                                                       buffered write are completed before reset */
+  SCB->AIRCR  = (uint32_t)((0x5FAUL << SCB_AIRCR_VECTKEY_Pos)    |
+                           (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) |
+                            SCB_AIRCR_SYSRESETREQ_Msk    );         /* Keep priority group unchanged */
+  __DSB();                                                          /* Ensure completion of memory access */
+
+  for(;;)                                                           /* wait until reset */
+  {
+    __NOP();
+  }
+}
+
+/*@} end of CMSIS_Core_NVICFunctions */
+
+
+/* ##########################  MPU functions  #################################### */
+
+#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U)
+
+#include "mpu_armv7.h"
+
+#endif
+
+
+/* ##########################  FPU functions  #################################### */
+/**
+  \ingroup  CMSIS_Core_FunctionInterface
+  \defgroup CMSIS_Core_FpuFunctions FPU Functions
+  \brief    Function that provides FPU type.
+  @{
+ */
+
+/**
+  \brief   get FPU type
+  \details returns the FPU type
+  \returns
+   - \b  0: No FPU
+   - \b  1: Single precision FPU
+   - \b  2: Double + Single precision FPU
+ */
+__STATIC_INLINE uint32_t SCB_GetFPUType(void)
+{
+  uint32_t mvfr0;
+
+  mvfr0 = SCB->MVFR0;
+  if      ((mvfr0 & (FPU_MVFR0_Single_precision_Msk | FPU_MVFR0_Double_precision_Msk)) == 0x220U)
+  {
+    return 2U;           /* Double + Single precision FPU */
+  }
+  else if ((mvfr0 & (FPU_MVFR0_Single_precision_Msk | FPU_MVFR0_Double_precision_Msk)) == 0x020U)
+  {
+    return 1U;           /* Single precision FPU */
+  }
+  else
+  {
+    return 0U;           /* No FPU */
+  }
+}
+
+/*@} end of CMSIS_Core_FpuFunctions */
+
+
+
+/* ##########################  Cache functions  #################################### */
+/**
+  \ingroup  CMSIS_Core_FunctionInterface
+  \defgroup CMSIS_Core_CacheFunctions Cache Functions
+  \brief    Functions that configure Instruction and Data cache.
+  @{
+ */
+
+/* Cache Size ID Register Macros */
+#define CCSIDR_WAYS(x)         (((x) & SCB_CCSIDR_ASSOCIATIVITY_Msk) >> SCB_CCSIDR_ASSOCIATIVITY_Pos)
+#define CCSIDR_SETS(x)         (((x) & SCB_CCSIDR_NUMSETS_Msk      ) >> SCB_CCSIDR_NUMSETS_Pos      )
+
+#define __SCB_DCACHE_LINE_SIZE  32U /*!< Cortex-M7 cache line size is fixed to 32 bytes (8 words). See also register SCB_CCSIDR */
+#define __SCB_ICACHE_LINE_SIZE  32U /*!< Cortex-M7 cache line size is fixed to 32 bytes (8 words). See also register SCB_CCSIDR */
+
+/**
+  \brief   Enable I-Cache
+  \details Turns on I-Cache
+  */
+__STATIC_FORCEINLINE void SCB_EnableICache (void)
+{
+  #if defined (__ICACHE_PRESENT) && (__ICACHE_PRESENT == 1U)
+    if (SCB->CCR & SCB_CCR_IC_Msk) return;  /* return if ICache is already enabled */
+
+    __DSB();
+    __ISB();
+    SCB->ICIALLU = 0UL;                     /* invalidate I-Cache */
+    __DSB();
+    __ISB();
+    SCB->CCR |=  (uint32_t)SCB_CCR_IC_Msk;  /* enable I-Cache */
+    __DSB();
+    __ISB();
+  #endif
+}
+
+
+/**
+  \brief   Disable I-Cache
+  \details Turns off I-Cache
+  */
+__STATIC_FORCEINLINE void SCB_DisableICache (void)
+{
+  #if defined (__ICACHE_PRESENT) && (__ICACHE_PRESENT == 1U)
+    __DSB();
+    __ISB();
+    SCB->CCR &= ~(uint32_t)SCB_CCR_IC_Msk;  /* disable I-Cache */
+    SCB->ICIALLU = 0UL;                     /* invalidate I-Cache */
+    __DSB();
+    __ISB();
+  #endif
+}
+
+
+/**
+  \brief   Invalidate I-Cache
+  \details Invalidates I-Cache
+  */
+__STATIC_FORCEINLINE void SCB_InvalidateICache (void)
+{
+  #if defined (__ICACHE_PRESENT) && (__ICACHE_PRESENT == 1U)
+    __DSB();
+    __ISB();
+    SCB->ICIALLU = 0UL;
+    __DSB();
+    __ISB();
+  #endif
+}
+
+
+/**
+  \brief   I-Cache Invalidate by address
+  \details Invalidates I-Cache for the given address.
+           I-Cache is invalidated starting from a 32 byte aligned address in 32 byte granularity.
+           I-Cache memory blocks which are part of given address + given size are invalidated.
+  \param[in]   addr    address
+  \param[in]   isize   size of memory block (in number of bytes)
+*/
+__STATIC_FORCEINLINE void SCB_InvalidateICache_by_Addr (void *addr, int32_t isize)
+{
+  #if defined (__ICACHE_PRESENT) && (__ICACHE_PRESENT == 1U)
+    if ( isize > 0 ) {
+       int32_t op_size = isize + (((uint32_t)addr) & (__SCB_ICACHE_LINE_SIZE - 1U));
+      uint32_t op_addr = (uint32_t)addr /* & ~(__SCB_ICACHE_LINE_SIZE - 1U) */;
+
+      __DSB();
+
+      do {
+        SCB->ICIMVAU = op_addr;             /* register accepts only 32byte aligned values, only bits 31..5 are valid */
+        op_addr += __SCB_ICACHE_LINE_SIZE;
+        op_size -= __SCB_ICACHE_LINE_SIZE;
+      } while ( op_size > 0 );
+
+      __DSB();
+      __ISB();
+    }
+  #endif
+}
+
+
+/**
+  \brief   Enable D-Cache
+  \details Turns on D-Cache
+  */
+__STATIC_FORCEINLINE void SCB_EnableDCache (void)
+{
+  #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
+    uint32_t ccsidr;
+    uint32_t sets;
+    uint32_t ways;
+
+    if (SCB->CCR & SCB_CCR_DC_Msk) return;  /* return if DCache is already enabled */
+
+    SCB->CSSELR = 0U;                       /* select Level 1 data cache */
+    __DSB();
+
+    ccsidr = SCB->CCSIDR;
+
+                                            /* invalidate D-Cache */
+    sets = (uint32_t)(CCSIDR_SETS(ccsidr));
+    do {
+      ways = (uint32_t)(CCSIDR_WAYS(ccsidr));
+      do {
+        SCB->DCISW = (((sets << SCB_DCISW_SET_Pos) & SCB_DCISW_SET_Msk) |
+                      ((ways << SCB_DCISW_WAY_Pos) & SCB_DCISW_WAY_Msk)  );
+        #if defined ( __CC_ARM )
+          __schedule_barrier();
+        #endif
+      } while (ways-- != 0U);
+    } while(sets-- != 0U);
+    __DSB();
+
+    SCB->CCR |=  (uint32_t)SCB_CCR_DC_Msk;  /* enable D-Cache */
+
+    __DSB();
+    __ISB();
+  #endif
+}
+
+
+/**
+  \brief   Disable D-Cache
+  \details Turns off D-Cache
+  */
+__STATIC_FORCEINLINE void SCB_DisableDCache (void)
+{
+  #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
+    uint32_t ccsidr;
+    uint32_t sets;
+    uint32_t ways;
+
+    SCB->CSSELR = 0U;                       /* select Level 1 data cache */
+    __DSB();
+
+    SCB->CCR &= ~(uint32_t)SCB_CCR_DC_Msk;  /* disable D-Cache */
+    __DSB();
+
+    ccsidr = SCB->CCSIDR;
+
+                                            /* clean & invalidate D-Cache */
+    sets = (uint32_t)(CCSIDR_SETS(ccsidr));
+    do {
+      ways = (uint32_t)(CCSIDR_WAYS(ccsidr));
+      do {
+        SCB->DCCISW = (((sets << SCB_DCCISW_SET_Pos) & SCB_DCCISW_SET_Msk) |
+                       ((ways << SCB_DCCISW_WAY_Pos) & SCB_DCCISW_WAY_Msk)  );
+        #if defined ( __CC_ARM )
+          __schedule_barrier();
+        #endif
+      } while (ways-- != 0U);
+    } while(sets-- != 0U);
+
+    __DSB();
+    __ISB();
+  #endif
+}
+
+
+/**
+  \brief   Invalidate D-Cache
+  \details Invalidates D-Cache
+  */
+__STATIC_FORCEINLINE void SCB_InvalidateDCache (void)
+{
+  #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
+    uint32_t ccsidr;
+    uint32_t sets;
+    uint32_t ways;
+
+    SCB->CSSELR = 0U;                       /* select Level 1 data cache */
+    __DSB();
+
+    ccsidr = SCB->CCSIDR;
+
+                                            /* invalidate D-Cache */
+    sets = (uint32_t)(CCSIDR_SETS(ccsidr));
+    do {
+      ways = (uint32_t)(CCSIDR_WAYS(ccsidr));
+      do {
+        SCB->DCISW = (((sets << SCB_DCISW_SET_Pos) & SCB_DCISW_SET_Msk) |
+                      ((ways << SCB_DCISW_WAY_Pos) & SCB_DCISW_WAY_Msk)  );
+        #if defined ( __CC_ARM )
+          __schedule_barrier();
+        #endif
+      } while (ways-- != 0U);
+    } while(sets-- != 0U);
+
+    __DSB();
+    __ISB();
+  #endif
+}
+
+
+/**
+  \brief   Clean D-Cache
+  \details Cleans D-Cache
+  */
+__STATIC_FORCEINLINE void SCB_CleanDCache (void)
+{
+  #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
+    uint32_t ccsidr;
+    uint32_t sets;
+    uint32_t ways;
+
+    SCB->CSSELR = 0U;                       /* select Level 1 data cache */
+    __DSB();
+
+    ccsidr = SCB->CCSIDR;
+
+                                            /* clean D-Cache */
+    sets = (uint32_t)(CCSIDR_SETS(ccsidr));
+    do {
+      ways = (uint32_t)(CCSIDR_WAYS(ccsidr));
+      do {
+        SCB->DCCSW = (((sets << SCB_DCCSW_SET_Pos) & SCB_DCCSW_SET_Msk) |
+                      ((ways << SCB_DCCSW_WAY_Pos) & SCB_DCCSW_WAY_Msk)  );
+        #if defined ( __CC_ARM )
+          __schedule_barrier();
+        #endif
+      } while (ways-- != 0U);
+    } while(sets-- != 0U);
+
+    __DSB();
+    __ISB();
+  #endif
+}
+
+
+/**
+  \brief   Clean & Invalidate D-Cache
+  \details Cleans and Invalidates D-Cache
+  */
+__STATIC_FORCEINLINE void SCB_CleanInvalidateDCache (void)
+{
+  #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
+    uint32_t ccsidr;
+    uint32_t sets;
+    uint32_t ways;
+
+    SCB->CSSELR = 0U;                       /* select Level 1 data cache */
+    __DSB();
+
+    ccsidr = SCB->CCSIDR;
+
+                                            /* clean & invalidate D-Cache */
+    sets = (uint32_t)(CCSIDR_SETS(ccsidr));
+    do {
+      ways = (uint32_t)(CCSIDR_WAYS(ccsidr));
+      do {
+        SCB->DCCISW = (((sets << SCB_DCCISW_SET_Pos) & SCB_DCCISW_SET_Msk) |
+                       ((ways << SCB_DCCISW_WAY_Pos) & SCB_DCCISW_WAY_Msk)  );
+        #if defined ( __CC_ARM )
+          __schedule_barrier();
+        #endif
+      } while (ways-- != 0U);
+    } while(sets-- != 0U);
+
+    __DSB();
+    __ISB();
+  #endif
+}
+
+
+/**
+  \brief   D-Cache Invalidate by address
+  \details Invalidates D-Cache for the given address.
+           D-Cache is invalidated starting from a 32 byte aligned address in 32 byte granularity.
+           D-Cache memory blocks which are part of given address + given size are invalidated.
+  \param[in]   addr    address
+  \param[in]   dsize   size of memory block (in number of bytes)
+*/
+__STATIC_FORCEINLINE void SCB_InvalidateDCache_by_Addr (void *addr, int32_t dsize)
+{
+  #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
+    if ( dsize > 0 ) { 
+       int32_t op_size = dsize + (((uint32_t)addr) & (__SCB_DCACHE_LINE_SIZE - 1U));
+      uint32_t op_addr = (uint32_t)addr /* & ~(__SCB_DCACHE_LINE_SIZE - 1U) */;
+    
+      __DSB();
+
+      do {
+        SCB->DCIMVAC = op_addr;             /* register accepts only 32byte aligned values, only bits 31..5 are valid */
+        op_addr += __SCB_DCACHE_LINE_SIZE;
+        op_size -= __SCB_DCACHE_LINE_SIZE;
+      } while ( op_size > 0 );
+
+      __DSB();
+      __ISB();
+    }
+  #endif
+}
+
+
+/**
+  \brief   D-Cache Clean by address
+  \details Cleans D-Cache for the given address
+           D-Cache is cleaned starting from a 32 byte aligned address in 32 byte granularity.
+           D-Cache memory blocks which are part of given address + given size are cleaned.
+  \param[in]   addr    address
+  \param[in]   dsize   size of memory block (in number of bytes)
+*/
+__STATIC_FORCEINLINE void SCB_CleanDCache_by_Addr (uint32_t *addr, int32_t dsize)
+{
+  #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
+    if ( dsize > 0 ) { 
+       int32_t op_size = dsize + (((uint32_t)addr) & (__SCB_DCACHE_LINE_SIZE - 1U));
+      uint32_t op_addr = (uint32_t)addr /* & ~(__SCB_DCACHE_LINE_SIZE - 1U) */;
+    
+      __DSB();
+
+      do {
+        SCB->DCCMVAC = op_addr;             /* register accepts only 32byte aligned values, only bits 31..5 are valid */
+        op_addr += __SCB_DCACHE_LINE_SIZE;
+        op_size -= __SCB_DCACHE_LINE_SIZE;
+      } while ( op_size > 0 );
+
+      __DSB();
+      __ISB();
+    }
+  #endif
+}
+
+
+/**
+  \brief   D-Cache Clean and Invalidate by address
+  \details Cleans and invalidates D_Cache for the given address
+           D-Cache is cleaned and invalidated starting from a 32 byte aligned address in 32 byte granularity.
+           D-Cache memory blocks which are part of given address + given size are cleaned and invalidated.
+  \param[in]   addr    address (aligned to 32-byte boundary)
+  \param[in]   dsize   size of memory block (in number of bytes)
+*/
+__STATIC_FORCEINLINE void SCB_CleanInvalidateDCache_by_Addr (uint32_t *addr, int32_t dsize)
+{
+  #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
+    if ( dsize > 0 ) { 
+       int32_t op_size = dsize + (((uint32_t)addr) & (__SCB_DCACHE_LINE_SIZE - 1U));
+      uint32_t op_addr = (uint32_t)addr /* & ~(__SCB_DCACHE_LINE_SIZE - 1U) */;
+    
+      __DSB();
+
+      do {
+        SCB->DCCIMVAC = op_addr;            /* register accepts only 32byte aligned values, only bits 31..5 are valid */
+        op_addr +=          __SCB_DCACHE_LINE_SIZE;
+        op_size -=          __SCB_DCACHE_LINE_SIZE;
+      } while ( op_size > 0 );
+
+      __DSB();
+      __ISB();
+    }
+  #endif
+}
+
+/*@} end of CMSIS_Core_CacheFunctions */
+
+
+
+/* ##################################    SysTick function  ############################################ */
+/**
+  \ingroup  CMSIS_Core_FunctionInterface
+  \defgroup CMSIS_Core_SysTickFunctions SysTick Functions
+  \brief    Functions that configure the System.
+  @{
+ */
+
+#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U)
+
+/**
+  \brief   System Tick Configuration
+  \details Initializes the System Timer and its interrupt, and starts the System Tick Timer.
+           Counter is in free running mode to generate periodic interrupts.
+  \param [in]  ticks  Number of ticks between two interrupts.
+  \return          0  Function succeeded.
+  \return          1  Function failed.
+  \note    When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the
+           function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>
+           must contain a vendor-specific implementation of this function.
+ */
+__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
+{
+  if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk)
+  {
+    return (1UL);                                                   /* Reload value impossible */
+  }
+
+  SysTick->LOAD  = (uint32_t)(ticks - 1UL);                         /* set reload register */
+  NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */
+  SysTick->VAL   = 0UL;                                             /* Load the SysTick Counter Value */
+  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |
+                   SysTick_CTRL_TICKINT_Msk   |
+                   SysTick_CTRL_ENABLE_Msk;                         /* Enable SysTick IRQ and SysTick Timer */
+  return (0UL);                                                     /* Function successful */
+}
+
+#endif
+
+/*@} end of CMSIS_Core_SysTickFunctions */
+
+
+
+/* ##################################### Debug In/Output function ########################################### */
+/**
+  \ingroup  CMSIS_Core_FunctionInterface
+  \defgroup CMSIS_core_DebugFunctions ITM Functions
+  \brief    Functions that access the ITM debug interface.
+  @{
+ */
+
+extern volatile int32_t ITM_RxBuffer;                              /*!< External variable to receive characters. */
+#define                 ITM_RXBUFFER_EMPTY  ((int32_t)0x5AA55AA5U) /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */
+
+
+/**
+  \brief   ITM Send Character
+  \details Transmits a character via the ITM channel 0, and
+           \li Just returns when no debugger is connected that has booked the output.
+           \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted.
+  \param [in]     ch  Character to transmit.
+  \returns            Character to transmit.
+ */
+__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch)
+{
+  if (((ITM->TCR & ITM_TCR_ITMENA_Msk) != 0UL) &&      /* ITM enabled */
+      ((ITM->TER & 1UL               ) != 0UL)   )     /* ITM Port #0 enabled */
+  {
+    while (ITM->PORT[0U].u32 == 0UL)
+    {
+      __NOP();
+    }
+    ITM->PORT[0U].u8 = (uint8_t)ch;
+  }
+  return (ch);
+}
+
+
+/**
+  \brief   ITM Receive Character
+  \details Inputs a character via the external variable \ref ITM_RxBuffer.
+  \return             Received character.
+  \return         -1  No character pending.
+ */
+__STATIC_INLINE int32_t ITM_ReceiveChar (void)
+{
+  int32_t ch = -1;                           /* no character available */
+
+  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY)
+  {
+    ch = ITM_RxBuffer;
+    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */
+  }
+
+  return (ch);
+}
+
+
+/**
+  \brief   ITM Check Character
+  \details Checks whether a character is pending for reading in the variable \ref ITM_RxBuffer.
+  \return          0  No character available.
+  \return          1  Character available.
+ */
+__STATIC_INLINE int32_t ITM_CheckChar (void)
+{
+
+  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY)
+  {
+    return (0);                              /* no character available */
+  }
+  else
+  {
+    return (1);                              /*    character available */
+  }
+}
+
+/*@} end of CMSIS_core_DebugFunctions */
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CORE_CM7_H_DEPENDANT */
+
+#endif /* __CMSIS_GENERIC */
diff --git a/panda/board/stm32h7/inc/mpu_armv8.h b/panda/board/stm32h7/inc/mpu_armv8.h
new file mode 100644
index 00000000000000..2fe28b687f2276
--- /dev/null
+++ b/panda/board/stm32h7/inc/mpu_armv8.h
@@ -0,0 +1,346 @@
+/******************************************************************************
+ * @file     mpu_armv8.h
+ * @brief    CMSIS MPU API for Armv8-M and Armv8.1-M MPU
+ * @version  V5.1.0
+ * @date     08. March 2019
+ ******************************************************************************/
+/*
+ * Copyright (c) 2017-2019 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#if   defined ( __ICCARM__ )
+  #pragma system_include         /* treat file as system include file for MISRA check */
+#elif defined (__clang__)
+  #pragma clang system_header    /* treat file as system include file */
+#endif
+
+#ifndef ARM_MPU_ARMV8_H
+#define ARM_MPU_ARMV8_H
+
+/** \brief Attribute for device memory (outer only) */
+#define ARM_MPU_ATTR_DEVICE                           ( 0U )
+
+/** \brief Attribute for non-cacheable, normal memory */
+#define ARM_MPU_ATTR_NON_CACHEABLE                    ( 4U )
+
+/** \brief Attribute for normal memory (outer and inner)
+* \param NT Non-Transient: Set to 1 for non-transient data.
+* \param WB Write-Back: Set to 1 to use write-back update policy.
+* \param RA Read Allocation: Set to 1 to use cache allocation on read miss.
+* \param WA Write Allocation: Set to 1 to use cache allocation on write miss.
+*/
+#define ARM_MPU_ATTR_MEMORY_(NT, WB, RA, WA) \
+  (((NT & 1U) << 3U) | ((WB & 1U) << 2U) | ((RA & 1U) << 1U) | (WA & 1U))
+
+/** \brief Device memory type non Gathering, non Re-ordering, non Early Write Acknowledgement */
+#define ARM_MPU_ATTR_DEVICE_nGnRnE (0U)
+
+/** \brief Device memory type non Gathering, non Re-ordering, Early Write Acknowledgement */
+#define ARM_MPU_ATTR_DEVICE_nGnRE  (1U)
+
+/** \brief Device memory type non Gathering, Re-ordering, Early Write Acknowledgement */
+#define ARM_MPU_ATTR_DEVICE_nGRE   (2U)
+
+/** \brief Device memory type Gathering, Re-ordering, Early Write Acknowledgement */
+#define ARM_MPU_ATTR_DEVICE_GRE    (3U)
+
+/** \brief Memory Attribute
+* \param O Outer memory attributes
+* \param I O == ARM_MPU_ATTR_DEVICE: Device memory attributes, else: Inner memory attributes
+*/
+#define ARM_MPU_ATTR(O, I) (((O & 0xFU) << 4U) | (((O & 0xFU) != 0U) ? (I & 0xFU) : ((I & 0x3U) << 2U)))
+
+/** \brief Normal memory non-shareable  */
+#define ARM_MPU_SH_NON   (0U)
+
+/** \brief Normal memory outer shareable  */
+#define ARM_MPU_SH_OUTER (2U)
+
+/** \brief Normal memory inner shareable  */
+#define ARM_MPU_SH_INNER (3U)
+
+/** \brief Memory access permissions
+* \param RO Read-Only: Set to 1 for read-only memory.
+* \param NP Non-Privileged: Set to 1 for non-privileged memory.
+*/
+#define ARM_MPU_AP_(RO, NP) (((RO & 1U) << 1U) | (NP & 1U))
+
+/** \brief Region Base Address Register value
+* \param BASE The base address bits [31:5] of a memory region. The value is zero extended. Effective address gets 32 byte aligned.
+* \param SH Defines the Shareability domain for this memory region.
+* \param RO Read-Only: Set to 1 for a read-only memory region.
+* \param NP Non-Privileged: Set to 1 for a non-privileged memory region.
+* \oaram XN eXecute Never: Set to 1 for a non-executable memory region.
+*/
+#define ARM_MPU_RBAR(BASE, SH, RO, NP, XN) \
+  ((BASE & MPU_RBAR_BASE_Msk) | \
+  ((SH << MPU_RBAR_SH_Pos) & MPU_RBAR_SH_Msk) | \
+  ((ARM_MPU_AP_(RO, NP) << MPU_RBAR_AP_Pos) & MPU_RBAR_AP_Msk) | \
+  ((XN << MPU_RBAR_XN_Pos) & MPU_RBAR_XN_Msk))
+
+/** \brief Region Limit Address Register value
+* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended.
+* \param IDX The attribute index to be associated with this memory region.
+*/
+#define ARM_MPU_RLAR(LIMIT, IDX) \
+  ((LIMIT & MPU_RLAR_LIMIT_Msk) | \
+  ((IDX << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \
+  (MPU_RLAR_EN_Msk))
+
+#if defined(MPU_RLAR_PXN_Pos)
+  
+/** \brief Region Limit Address Register with PXN value
+* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended.
+* \param PXN Privileged execute never. Defines whether code can be executed from this privileged region.
+* \param IDX The attribute index to be associated with this memory region.
+*/
+#define ARM_MPU_RLAR_PXN(LIMIT, PXN, IDX) \
+  ((LIMIT & MPU_RLAR_LIMIT_Msk) | \
+  ((PXN << MPU_RLAR_PXN_Pos) & MPU_RLAR_PXN_Msk) | \
+  ((IDX << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \
+  (MPU_RLAR_EN_Msk))
+  
+#endif
+
+/**
+* Struct for a single MPU Region
+*/
+typedef struct {
+  uint32_t RBAR;                   /*!< Region Base Address Register value */
+  uint32_t RLAR;                   /*!< Region Limit Address Register value */
+} ARM_MPU_Region_t;
+    
+/** Enable the MPU.
+* \param MPU_Control Default access permissions for unconfigured regions.
+*/
+__STATIC_INLINE void ARM_MPU_Enable(uint32_t MPU_Control)
+{
+  MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk;
+#ifdef SCB_SHCSR_MEMFAULTENA_Msk
+  SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk;
+#endif
+  __DSB();
+  __ISB();
+}
+
+/** Disable the MPU.
+*/
+__STATIC_INLINE void ARM_MPU_Disable(void)
+{
+  __DMB();
+#ifdef SCB_SHCSR_MEMFAULTENA_Msk
+  SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk;
+#endif
+  MPU->CTRL  &= ~MPU_CTRL_ENABLE_Msk;
+}
+
+#ifdef MPU_NS
+/** Enable the Non-secure MPU.
+* \param MPU_Control Default access permissions for unconfigured regions.
+*/
+__STATIC_INLINE void ARM_MPU_Enable_NS(uint32_t MPU_Control)
+{
+  MPU_NS->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk;
+#ifdef SCB_SHCSR_MEMFAULTENA_Msk
+  SCB_NS->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk;
+#endif
+  __DSB();
+  __ISB();
+}
+
+/** Disable the Non-secure MPU.
+*/
+__STATIC_INLINE void ARM_MPU_Disable_NS(void)
+{
+  __DMB();
+#ifdef SCB_SHCSR_MEMFAULTENA_Msk
+  SCB_NS->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk;
+#endif
+  MPU_NS->CTRL  &= ~MPU_CTRL_ENABLE_Msk;
+}
+#endif
+
+/** Set the memory attribute encoding to the given MPU.
+* \param mpu Pointer to the MPU to be configured.
+* \param idx The attribute index to be set [0-7]
+* \param attr The attribute value to be set.
+*/
+__STATIC_INLINE void ARM_MPU_SetMemAttrEx(MPU_Type* mpu, uint8_t idx, uint8_t attr)
+{
+  const uint8_t reg = idx / 4U;
+  const uint32_t pos = ((idx % 4U) * 8U);
+  const uint32_t mask = 0xFFU << pos;
+  
+  if (reg >= (sizeof(mpu->MAIR) / sizeof(mpu->MAIR[0]))) {
+    return; // invalid index
+  }
+  
+  mpu->MAIR[reg] = ((mpu->MAIR[reg] & ~mask) | ((attr << pos) & mask));
+}
+
+/** Set the memory attribute encoding.
+* \param idx The attribute index to be set [0-7]
+* \param attr The attribute value to be set.
+*/
+__STATIC_INLINE void ARM_MPU_SetMemAttr(uint8_t idx, uint8_t attr)
+{
+  ARM_MPU_SetMemAttrEx(MPU, idx, attr);
+}
+
+#ifdef MPU_NS
+/** Set the memory attribute encoding to the Non-secure MPU.
+* \param idx The attribute index to be set [0-7]
+* \param attr The attribute value to be set.
+*/
+__STATIC_INLINE void ARM_MPU_SetMemAttr_NS(uint8_t idx, uint8_t attr)
+{
+  ARM_MPU_SetMemAttrEx(MPU_NS, idx, attr);
+}
+#endif
+
+/** Clear and disable the given MPU region of the given MPU.
+* \param mpu Pointer to MPU to be used.
+* \param rnr Region number to be cleared.
+*/
+__STATIC_INLINE void ARM_MPU_ClrRegionEx(MPU_Type* mpu, uint32_t rnr)
+{
+  mpu->RNR = rnr;
+  mpu->RLAR = 0U;
+}
+
+/** Clear and disable the given MPU region.
+* \param rnr Region number to be cleared.
+*/
+__STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr)
+{
+  ARM_MPU_ClrRegionEx(MPU, rnr);
+}
+
+#ifdef MPU_NS
+/** Clear and disable the given Non-secure MPU region.
+* \param rnr Region number to be cleared.
+*/
+__STATIC_INLINE void ARM_MPU_ClrRegion_NS(uint32_t rnr)
+{  
+  ARM_MPU_ClrRegionEx(MPU_NS, rnr);
+}
+#endif
+
+/** Configure the given MPU region of the given MPU.
+* \param mpu Pointer to MPU to be used.
+* \param rnr Region number to be configured.
+* \param rbar Value for RBAR register.
+* \param rlar Value for RLAR register.
+*/   
+__STATIC_INLINE void ARM_MPU_SetRegionEx(MPU_Type* mpu, uint32_t rnr, uint32_t rbar, uint32_t rlar)
+{
+  mpu->RNR = rnr;
+  mpu->RBAR = rbar;
+  mpu->RLAR = rlar;
+}
+
+/** Configure the given MPU region.
+* \param rnr Region number to be configured.
+* \param rbar Value for RBAR register.
+* \param rlar Value for RLAR register.
+*/   
+__STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rnr, uint32_t rbar, uint32_t rlar)
+{
+  ARM_MPU_SetRegionEx(MPU, rnr, rbar, rlar);
+}
+
+#ifdef MPU_NS
+/** Configure the given Non-secure MPU region.
+* \param rnr Region number to be configured.
+* \param rbar Value for RBAR register.
+* \param rlar Value for RLAR register.
+*/   
+__STATIC_INLINE void ARM_MPU_SetRegion_NS(uint32_t rnr, uint32_t rbar, uint32_t rlar)
+{
+  ARM_MPU_SetRegionEx(MPU_NS, rnr, rbar, rlar);  
+}
+#endif
+
+/** Memcopy with strictly ordered memory access, e.g. for register targets.
+* \param dst Destination data is copied to.
+* \param src Source data is copied from.
+* \param len Amount of data words to be copied.
+*/
+__STATIC_INLINE void ARM_MPU_OrderedMemcpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len)
+{
+  uint32_t i;
+  for (i = 0U; i < len; ++i) 
+  {
+    dst[i] = src[i];
+  }
+}
+
+/** Load the given number of MPU regions from a table to the given MPU.
+* \param mpu Pointer to the MPU registers to be used.
+* \param rnr First region number to be configured.
+* \param table Pointer to the MPU configuration table.
+* \param cnt Amount of regions to be configured.
+*/
+__STATIC_INLINE void ARM_MPU_LoadEx(MPU_Type* mpu, uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
+{
+  const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U;
+  if (cnt == 1U) {
+    mpu->RNR = rnr;
+    ARM_MPU_OrderedMemcpy(&(mpu->RBAR), &(table->RBAR), rowWordSize);
+  } else {
+    uint32_t rnrBase   = rnr & ~(MPU_TYPE_RALIASES-1U);
+    uint32_t rnrOffset = rnr % MPU_TYPE_RALIASES;
+    
+    mpu->RNR = rnrBase;
+    while ((rnrOffset + cnt) > MPU_TYPE_RALIASES) {
+      uint32_t c = MPU_TYPE_RALIASES - rnrOffset;
+      ARM_MPU_OrderedMemcpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), c*rowWordSize);
+      table += c;
+      cnt -= c;
+      rnrOffset = 0U;
+      rnrBase += MPU_TYPE_RALIASES;
+      mpu->RNR = rnrBase;
+    }
+    
+    ARM_MPU_OrderedMemcpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), cnt*rowWordSize);
+  }
+}
+
+/** Load the given number of MPU regions from a table.
+* \param rnr First region number to be configured.
+* \param table Pointer to the MPU configuration table.
+* \param cnt Amount of regions to be configured.
+*/
+__STATIC_INLINE void ARM_MPU_Load(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
+{
+  ARM_MPU_LoadEx(MPU, rnr, table, cnt);
+}
+
+#ifdef MPU_NS
+/** Load the given number of MPU regions from a table to the Non-secure MPU.
+* \param rnr First region number to be configured.
+* \param table Pointer to the MPU configuration table.
+* \param cnt Amount of regions to be configured.
+*/
+__STATIC_INLINE void ARM_MPU_Load_NS(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
+{
+  ARM_MPU_LoadEx(MPU_NS, rnr, table, cnt);
+}
+#endif
+
+#endif
+
diff --git a/panda/board/stm32h7/inc/stm32h725xx.h b/panda/board/stm32h7/inc/stm32h725xx.h
new file mode 100644
index 00000000000000..0631daac0d306f
--- /dev/null
+++ b/panda/board/stm32h7/inc/stm32h725xx.h
@@ -0,0 +1,24740 @@
+/**
+  ******************************************************************************
+  * @file    stm32h735xx.h
+  * @author  MCD Application Team
+  * @brief   CMSIS STM32H735xx Device Peripheral Access Layer Header File.
+  *
+  *          This file contains:
+  *           - Data structures and the address mapping for all peripherals
+  *           - Peripheral's registers declarations and bits definition
+  *           - Macros to access peripheral's registers hardware
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS_Device
+  * @{
+  */
+
+/** @addtogroup stm32h735xx
+  * @{
+  */
+
+#ifndef STM32H735xx_H
+#define STM32H735xx_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif /* __cplusplus */
+
+/** @addtogroup Peripheral_interrupt_number_definition
+  * @{
+  */
+
+/**
+ * @brief STM32H7XX Interrupt Number Definition, according to the selected device
+ *        in @ref Library_configuration_section
+ */
+typedef enum
+{
+/******  Cortex-M Processor Exceptions Numbers *****************************************************************/
+  NonMaskableInt_IRQn         = -14,    /*!< 2 Non Maskable Interrupt                                          */
+  HardFault_IRQn              = -13,    /*!< 4 Cortex-M Memory Management Interrupt                            */
+  MemoryManagement_IRQn       = -12,    /*!< 4 Cortex-M Memory Management Interrupt                            */
+  BusFault_IRQn               = -11,    /*!< 5 Cortex-M Bus Fault Interrupt                                    */
+  UsageFault_IRQn             = -10,    /*!< 6 Cortex-M Usage Fault Interrupt                                  */
+  SVCall_IRQn                 = -5,     /*!< 11 Cortex-M SV Call Interrupt                                     */
+  DebugMonitor_IRQn           = -4,     /*!< 12 Cortex-M Debug Monitor Interrupt                               */
+  PendSV_IRQn                 = -2,     /*!< 14 Cortex-M Pend SV Interrupt                                     */
+  SysTick_IRQn                = -1,     /*!< 15 Cortex-M System Tick Interrupt                                 */
+/******  STM32 specific Interrupt Numbers **********************************************************************/
+  WWDG_IRQn                   = 0,      /*!< Window WatchDog Interrupt ( wwdg1_it, wwdg2_it)                   */
+  PVD_AVD_IRQn                = 1,      /*!< PVD/AVD through EXTI Line detection Interrupt                     */
+  TAMP_STAMP_IRQn             = 2,      /*!< Tamper and TimeStamp interrupts through the EXTI line             */
+  RTC_WKUP_IRQn               = 3,      /*!< RTC Wakeup interrupt through the EXTI line                        */
+  FLASH_IRQn                  = 4,      /*!< FLASH global Interrupt                                            */
+  RCC_IRQn                    = 5,      /*!< RCC global Interrupt                                              */
+  EXTI0_IRQn                  = 6,      /*!< EXTI Line0 Interrupt                                              */
+  EXTI1_IRQn                  = 7,      /*!< EXTI Line1 Interrupt                                              */
+  EXTI2_IRQn                  = 8,      /*!< EXTI Line2 Interrupt                                              */
+  EXTI3_IRQn                  = 9,      /*!< EXTI Line3 Interrupt                                              */
+  EXTI4_IRQn                  = 10,     /*!< EXTI Line4 Interrupt                                              */
+  DMA1_Stream0_IRQn           = 11,     /*!< DMA1 Stream 0 global Interrupt                                    */
+  DMA1_Stream1_IRQn           = 12,     /*!< DMA1 Stream 1 global Interrupt                                    */
+  DMA1_Stream2_IRQn           = 13,     /*!< DMA1 Stream 2 global Interrupt                                    */
+  DMA1_Stream3_IRQn           = 14,     /*!< DMA1 Stream 3 global Interrupt                                    */
+  DMA1_Stream4_IRQn           = 15,     /*!< DMA1 Stream 4 global Interrupt                                    */
+  DMA1_Stream5_IRQn           = 16,     /*!< DMA1 Stream 5 global Interrupt                                    */
+  DMA1_Stream6_IRQn           = 17,     /*!< DMA1 Stream 6 global Interrupt                                    */
+  ADC_IRQn                    = 18,     /*!< ADC1 and  ADC2 global Interrupts                                  */
+  FDCAN1_IT0_IRQn             = 19,     /*!< FDCAN1 Interrupt line 0                                           */
+  FDCAN2_IT0_IRQn             = 20,     /*!< FDCAN2 Interrupt line 0                                           */
+  FDCAN1_IT1_IRQn             = 21,     /*!< FDCAN1 Interrupt line 1                                           */
+  FDCAN2_IT1_IRQn             = 22,     /*!< FDCAN2 Interrupt line 1                                           */
+  EXTI9_5_IRQn                = 23,     /*!< External Line[9:5] Interrupts                                     */
+  TIM1_BRK_IRQn               = 24,     /*!< TIM1 Break Interrupt                                              */
+  TIM1_UP_IRQn                = 25,     /*!< TIM1 Update Interrupt                                             */
+  TIM1_TRG_COM_IRQn           = 26,     /*!< TIM1 Trigger and Commutation Interrupt                            */
+  TIM1_CC_IRQn                = 27,     /*!< TIM1 Capture Compare Interrupt                                    */
+  TIM2_IRQn                   = 28,     /*!< TIM2 global Interrupt                                             */
+  TIM3_IRQn                   = 29,     /*!< TIM3 global Interrupt                                             */
+  TIM4_IRQn                   = 30,     /*!< TIM4 global Interrupt                                             */
+  I2C1_EV_IRQn                = 31,     /*!< I2C1 Event Interrupt                                              */
+  I2C1_ER_IRQn                = 32,     /*!< I2C1 Error Interrupt                                              */
+  I2C2_EV_IRQn                = 33,     /*!< I2C2 Event Interrupt                                              */
+  I2C2_ER_IRQn                = 34,     /*!< I2C2 Error Interrupt                                              */
+  SPI1_IRQn                   = 35,     /*!< SPI1 global Interrupt                                             */
+  SPI2_IRQn                   = 36,     /*!< SPI2 global Interrupt                                             */
+  USART1_IRQn                 = 37,     /*!< USART1 global Interrupt                                           */
+  USART2_IRQn                 = 38,     /*!< USART2 global Interrupt                                           */
+  USART3_IRQn                 = 39,     /*!< USART3 global Interrupt                                           */
+  EXTI15_10_IRQn              = 40,     /*!< External Line[15:10] Interrupts                                   */
+  RTC_Alarm_IRQn              = 41,     /*!< RTC Alarm (A and B) through EXTI Line Interrupt                   */
+  TIM8_BRK_TIM12_IRQn         = 43,     /*!< TIM8 Break Interrupt and TIM12 global interrupt                   */
+  TIM8_UP_TIM13_IRQn          = 44,     /*!< TIM8 Update Interrupt and TIM13 global interrupt                  */
+  TIM8_TRG_COM_TIM14_IRQn     = 45,     /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */
+  TIM8_CC_IRQn                = 46,     /*!< TIM8 Capture Compare Interrupt                                    */
+  DMA1_Stream7_IRQn           = 47,     /*!< DMA1 Stream7 Interrupt                                            */
+  FMC_IRQn                    = 48,     /*!< FMC global Interrupt                                              */
+  SDMMC1_IRQn                 = 49,     /*!< SDMMC1 global Interrupt                                           */
+  TIM5_IRQn                   = 50,     /*!< TIM5 global Interrupt                                             */
+  SPI3_IRQn                   = 51,     /*!< SPI3 global Interrupt                                             */
+  UART4_IRQn                  = 52,     /*!< UART4 global Interrupt                                            */
+  UART5_IRQn                  = 53,     /*!< UART5 global Interrupt                                            */
+  TIM6_DAC_IRQn               = 54,     /*!< TIM6 global and DAC1&2 underrun error  interrupts                 */
+  TIM7_IRQn                   = 55,     /*!< TIM7 global interrupt                                             */
+  DMA2_Stream0_IRQn           = 56,     /*!<   DMA2 Stream 0 global Interrupt                                  */
+  DMA2_Stream1_IRQn           = 57,     /*!<   DMA2 Stream 1 global Interrupt                                  */
+  DMA2_Stream2_IRQn           = 58,     /*!<   DMA2 Stream 2 global Interrupt                                  */
+  DMA2_Stream3_IRQn           = 59,     /*!<   DMA2 Stream 3 global Interrupt                                  */
+  DMA2_Stream4_IRQn           = 60,     /*!<   DMA2 Stream 4 global Interrupt                                  */
+  ETH_IRQn                    = 61,     /*!< Ethernet global Interrupt                                         */
+  ETH_WKUP_IRQn               = 62,     /*!< Ethernet Wakeup through EXTI line Interrupt                       */
+  FDCAN_CAL_IRQn              = 63,     /*!< FDCAN Calibration unit Interrupt                                  */
+  DMA2_Stream5_IRQn           = 68,     /*!< DMA2 Stream 5 global interrupt                                    */
+  DMA2_Stream6_IRQn           = 69,     /*!< DMA2 Stream 6 global interrupt                                    */
+  DMA2_Stream7_IRQn           = 70,     /*!< DMA2 Stream 7 global interrupt                                    */
+  USART6_IRQn                 = 71,     /*!< USART6 global interrupt                                           */
+  I2C3_EV_IRQn                = 72,     /*!< I2C3 event interrupt                                              */
+  I2C3_ER_IRQn                = 73,     /*!< I2C3 error interrupt                                              */
+  OTG_HS_EP1_OUT_IRQn         = 74,     /*!< USB OTG HS End Point 1 Out global interrupt                       */
+  OTG_HS_EP1_IN_IRQn          = 75,     /*!< USB OTG HS End Point 1 In global interrupt                        */
+  OTG_HS_WKUP_IRQn            = 76,     /*!< USB OTG HS Wakeup through EXTI interrupt                          */
+  OTG_HS_IRQn                 = 77,     /*!< USB OTG HS global interrupt                                       */
+  DCMI_PSSI_IRQn              = 78,     /*!< DCMI and PSSI global interrupt                                    */
+  CRYP_IRQn                   = 79,     /*!< CRYP crypto global interrupt                                      */
+  HASH_RNG_IRQn               = 80,     /*!< HASH and RNG global interrupt                                     */
+  FPU_IRQn                    = 81,     /*!< FPU global interrupt                                              */
+  UART7_IRQn                  = 82,     /*!< UART7 global interrupt                                            */
+  UART8_IRQn                  = 83,     /*!< UART8 global interrupt                                            */
+  SPI4_IRQn                   = 84,     /*!< SPI4 global Interrupt                                             */
+  SPI5_IRQn                   = 85,     /*!< SPI5 global Interrupt                                             */
+  SPI6_IRQn                   = 86,     /*!< SPI6 global Interrupt                                             */
+  SAI1_IRQn                   = 87,     /*!< SAI1 global Interrupt                                             */
+  LTDC_IRQn                   = 88,     /*!< LTDC global Interrupt                                             */
+  LTDC_ER_IRQn                = 89,     /*!< LTDC Error global Interrupt                                       */
+  DMA2D_IRQn                  = 90,     /*!< DMA2D global Interrupt                                            */
+  OCTOSPI1_IRQn               = 92,     /*!< OCTOSPI1 global interrupt                                         */
+  LPTIM1_IRQn                 = 93,     /*!< LP TIM1 interrupt                                                 */
+  CEC_IRQn                    = 94,     /*!< HDMI-CEC global Interrupt                                         */
+  I2C4_EV_IRQn                = 95,     /*!< I2C4 Event Interrupt                                              */
+  I2C4_ER_IRQn                = 96,     /*!< I2C4 Error Interrupt                                              */
+  SPDIF_RX_IRQn               = 97,     /*!< SPDIF-RX global Interrupt                                         */
+  DMAMUX1_OVR_IRQn            = 102,    /*!<DMAMUX1 Overrun interrupt                                          */
+  DFSDM1_FLT0_IRQn            = 110,    /*!<DFSDM Filter1 Interrupt                                            */
+  DFSDM1_FLT1_IRQn            = 111,    /*!<DFSDM Filter2 Interrupt                                            */
+  DFSDM1_FLT2_IRQn            = 112,    /*!<DFSDM Filter3 Interrupt                                            */
+  DFSDM1_FLT3_IRQn            = 113,    /*!<DFSDM Filter4 Interrupt                                            */
+  SWPMI1_IRQn                 = 115,    /*!< Serial Wire Interface 1 global interrupt                          */
+  TIM15_IRQn                  = 116,    /*!< TIM15 global Interrupt                                            */
+  TIM16_IRQn                  = 117,    /*!< TIM16 global Interrupt                                            */
+  TIM17_IRQn                  = 118,    /*!< TIM17 global Interrupt                                            */
+  MDIOS_WKUP_IRQn             = 119,    /*!< MDIOS Wakeup  Interrupt                                           */
+  MDIOS_IRQn                  = 120,    /*!< MDIOS global Interrupt                                            */
+  MDMA_IRQn                   = 122,    /*!< MDMA global Interrupt                                             */
+  SDMMC2_IRQn                 = 124,    /*!< SDMMC2 global Interrupt                                           */
+  HSEM1_IRQn                  = 125,    /*!< HSEM1 global Interrupt                                            */
+  ADC3_IRQn                   = 127,    /*!< ADC3 global Interrupt                                             */
+  DMAMUX2_OVR_IRQn            = 128,    /*!<DMAMUX2 Overrun interrupt                                          */
+  BDMA_Channel0_IRQn          = 129,    /*!< BDMA Channel 0 global Interrupt                                   */
+  BDMA_Channel1_IRQn          = 130,    /*!< BDMA Channel 1 global Interrupt                                   */
+  BDMA_Channel2_IRQn          = 131,    /*!< BDMA Channel 2 global Interrupt                                   */
+  BDMA_Channel3_IRQn          = 132,    /*!< BDMA Channel 3 global Interrupt                                   */
+  BDMA_Channel4_IRQn          = 133,    /*!< BDMA Channel 4 global Interrupt                                   */
+  BDMA_Channel5_IRQn          = 134,    /*!< BDMA Channel 5 global Interrupt                                   */
+  BDMA_Channel6_IRQn          = 135,    /*!< BDMA Channel 6 global Interrupt                                   */
+  BDMA_Channel7_IRQn          = 136,    /*!< BDMA Channel 7 global Interrupt                                   */
+  COMP_IRQn                   = 137 ,   /*!< COMP global Interrupt                                             */
+  LPTIM2_IRQn                 = 138,    /*!< LP TIM2 global interrupt                                          */
+  LPTIM3_IRQn                 = 139,    /*!< LP TIM3 global interrupt                                          */
+  LPTIM4_IRQn                 = 140,    /*!< LP TIM4 global interrupt                                          */
+  LPTIM5_IRQn                 = 141,    /*!< LP TIM5 global interrupt                                          */
+  LPUART1_IRQn                = 142,    /*!< LP UART1 interrupt                                                */
+  CRS_IRQn                    = 144,    /*!< Clock Recovery Global Interrupt                                   */
+  ECC_IRQn                    = 145,    /*!< ECC diagnostic Global Interrupt                                   */
+  SAI4_IRQn                   = 146,    /*!< SAI4 global interrupt                                             */
+  DTS_IRQn                    = 147,    /*!< Digital Temperature Sensor Global Interrupt                       */
+  WAKEUP_PIN_IRQn             = 149,    /*!< Interrupt for all 6 wake-up pins                                  */
+  OCTOSPI2_IRQn               = 150,    /*!< OctoSPI2 global interrupt                                         */
+  OTFDEC1_IRQn                = 151,    /*!< OTFDEC1 global interrupt                                          */
+  OTFDEC2_IRQn                = 152,    /*!< OTFDEC2 global interrupt                                          */
+  FMAC_IRQn                   = 153,    /*!< FMAC global interrupt                                             */
+  CORDIC_IRQn                 = 154,    /*!< CORDIC global interrupt                                           */
+  UART9_IRQn                  = 155,    /*!< UART9 global Interrupt                                            */
+  USART10_IRQn                = 156,    /*!< USART10 global interrupt                                          */
+  I2C5_EV_IRQn                = 157,    /*!< I2C5 event interrupt                                              */
+  I2C5_ER_IRQn                = 158,    /*!< I2C5 error interrupt                                              */
+  FDCAN3_IT0_IRQn             = 159,    /*!< FDCAN3 Interrupt line 0                                           */
+  FDCAN3_IT1_IRQn             = 160,    /*!< FDCAN3 Interrupt line 1                                           */
+  TIM23_IRQn                  = 161,    /*!< TIM23 global interrupt                                            */
+  TIM24_IRQn                  = 162,    /*!< TIM24 global interrupt                                            */
+} IRQn_Type;
+
+/**
+  * @}
+  */
+
+/** @addtogroup Configuration_section_for_CMSIS
+  * @{
+  */
+
+#define SMPS       /*!< Switched mode power supply feature */
+
+
+
+/**
+  * @brief Configuration of the Cortex-M7 Processor and Core Peripherals
+   */
+#define __CM7_REV               0x0100U   /*!< Cortex-M7 revision r1p0                       */
+#define __MPU_PRESENT             1       /*!< CM7 provides an MPU                           */
+#define __NVIC_PRIO_BITS          4       /*!< CM7 uses 4 Bits for the Priority Levels       */
+#define __Vendor_SysTickConfig    0       /*!< Set to 1 if different SysTick Config is used  */
+#define __FPU_PRESENT             1       /*!< FPU present                                   */
+#define __ICACHE_PRESENT          1       /*!< CM7 instruction cache present                 */
+#define __DCACHE_PRESENT          1       /*!< CM7 data cache present                        */
+#include "core_cm7.h"                     /*!< Cortex-M7 processor and core peripherals      */
+
+/**
+  * @}
+  */
+
+
+
+
+#include "system_stm32h7xx.h"
+#include <stdint.h>
+
+/** @addtogroup Peripheral_registers_structures
+  * @{
+  */
+
+/**
+  * @brief Analog to Digital Converter
+  */
+
+typedef struct
+{
+  __IO uint32_t ISR;              /*!< ADC Interrupt and Status Register,                          Address offset: 0x00 */
+  __IO uint32_t IER;              /*!< ADC Interrupt Enable Register,                              Address offset: 0x04 */
+  __IO uint32_t CR;               /*!< ADC control register,                                       Address offset: 0x08 */
+  __IO uint32_t CFGR;             /*!< ADC Configuration register,                                 Address offset: 0x0C */
+  __IO uint32_t CFGR2;            /*!< ADC Configuration register 2,                               Address offset: 0x10 */
+  __IO uint32_t SMPR1;            /*!< ADC sample time register 1,                                 Address offset: 0x14 */
+  __IO uint32_t SMPR2;            /*!< ADC sample time register 2,                                 Address offset: 0x18 */
+  __IO uint32_t PCSEL_RES0;       /*!< Rserved for ADC3, ADC1/2 pre-channel selection,             Address offset: 0x1C */
+  __IO uint32_t LTR1_TR1;         /*!< ADC watchdog Lower threshold register 1,                    Address offset: 0x20 */
+  __IO uint32_t HTR1_TR2;         /*!< ADC watchdog higher threshold register 1,                   Address offset: 0x24 */
+  __IO uint32_t RES1_TR3;         /*!< Rserved for ADC1/2, ADC3 threshold register,                Address offset: 0x28 */
+  uint32_t      RESERVED2;        /*!< Reserved, 0x02C                                                                  */
+  __IO uint32_t SQR1;             /*!< ADC regular sequence register 1,                            Address offset: 0x30 */
+  __IO uint32_t SQR2;             /*!< ADC regular sequence register 2,                            Address offset: 0x34 */
+  __IO uint32_t SQR3;             /*!< ADC regular sequence register 3,                            Address offset: 0x38 */
+  __IO uint32_t SQR4;             /*!< ADC regular sequence register 4,                            Address offset: 0x3C */
+  __IO uint32_t DR;               /*!< ADC regular data register,                                  Address offset: 0x40 */
+  uint32_t      RESERVED3;        /*!< Reserved, 0x044                                                                  */
+  uint32_t      RESERVED4;        /*!< Reserved, 0x048                                                                  */
+  __IO uint32_t JSQR;             /*!< ADC injected sequence register,                             Address offset: 0x4C */
+  uint32_t      RESERVED5[4];     /*!< Reserved, 0x050 - 0x05C                                                          */
+  __IO uint32_t OFR1;             /*!< ADC offset register 1,                                      Address offset: 0x60 */
+  __IO uint32_t OFR2;             /*!< ADC offset register 2,                                      Address offset: 0x64 */
+  __IO uint32_t OFR3;             /*!< ADC offset register 3,                                      Address offset: 0x68 */
+  __IO uint32_t OFR4;             /*!< ADC offset register 4,                                      Address offset: 0x6C */
+  uint32_t      RESERVED6[4];     /*!< Reserved, 0x070 - 0x07C                                                          */
+  __IO uint32_t JDR1;             /*!< ADC injected data register 1,                               Address offset: 0x80 */
+  __IO uint32_t JDR2;             /*!< ADC injected data register 2,                               Address offset: 0x84 */
+  __IO uint32_t JDR3;             /*!< ADC injected data register 3,                               Address offset: 0x88 */
+  __IO uint32_t JDR4;             /*!< ADC injected data register 4,                               Address offset: 0x8C */
+  uint32_t      RESERVED7[4];     /*!< Reserved, 0x090 - 0x09C                                                          */
+  __IO uint32_t AWD2CR;           /*!< ADC  Analog Watchdog 2 Configuration Register,              Address offset: 0xA0 */
+  __IO uint32_t AWD3CR;           /*!< ADC  Analog Watchdog 3 Configuration Register,              Address offset: 0xA4 */
+  uint32_t      RESERVED8;        /*!< Reserved, 0x0A8                                                                  */
+  uint32_t      RESERVED9;        /*!< Reserved, 0x0AC                                                                  */
+  __IO uint32_t LTR2_DIFSEL;      /*!< ADC watchdog Lower threshold register 2, Difsel for ADC3,   Address offset: 0xB0 */
+  __IO uint32_t HTR2_CALFACT;     /*!< ADC watchdog Higher threshold register 2, Calfact for ADC3, Address offset: 0xB4 */
+  __IO uint32_t LTR3_RES10;       /*!< ADC watchdog Lower threshold register 3, specific ADC1/2,   Address offset: 0xB8 */
+  __IO uint32_t HTR3_RES11;       /*!< ADC watchdog Higher threshold register 3, specific ADC1/2,  Address offset: 0xBC */
+  __IO uint32_t DIFSEL_RES12;     /*!< ADC Differential Mode Selection Register specific ADC1/2,   Address offset: 0xC0 */
+  __IO uint32_t CALFACT_RES13;    /*!< ADC Calibration Factors specific ADC1/2,                    Address offset: 0xC4 */
+  __IO uint32_t CALFACT2_RES14;   /*!< ADC Linearity Calibration Factors specific ADC1/2,          Address offset: 0xC8 */
+} ADC_TypeDef;
+
+
+typedef struct
+{
+__IO uint32_t CSR; /*!< ADC Common status register, Address offset: ADC1/3 base address + 0x300 */
+uint32_t RESERVED; /*!< Reserved, ADC1/3 base address + 0x304 */
+__IO uint32_t CCR; /*!< ADC common control register, Address offset: ADC1/3 base address + 0x308 */
+__IO uint32_t CDR; /*!< ADC common regular data register for dual Address offset: ADC1/3 base address + 0x30C */
+__IO uint32_t CDR2; /*!< ADC common regular data register for 32-bit dual mode Address offset: ADC1/3 base address + 0x310 */
+
+} ADC_Common_TypeDef;
+
+
+/**
+  * @brief VREFBUF
+  */
+
+typedef struct
+{
+  __IO uint32_t CSR;         /*!< VREFBUF control and status register,         Address offset: 0x00 */
+  __IO uint32_t CCR;         /*!< VREFBUF calibration and control register,    Address offset: 0x04 */
+} VREFBUF_TypeDef;
+
+
+/**
+  * @brief FD Controller Area Network
+  */
+
+typedef struct
+{
+  __IO uint32_t CREL;         /*!< FDCAN Core Release register,                                     Address offset: 0x000 */
+  __IO uint32_t ENDN;         /*!< FDCAN Endian register,                                           Address offset: 0x004 */
+  __IO uint32_t RESERVED1;    /*!< Reserved,                                                                        0x008 */
+  __IO uint32_t DBTP;         /*!< FDCAN Data Bit Timing & Prescaler register,                      Address offset: 0x00C */
+  __IO uint32_t TEST;         /*!< FDCAN Test register,                                             Address offset: 0x010 */
+  __IO uint32_t RWD;          /*!< FDCAN RAM Watchdog register,                                     Address offset: 0x014 */
+  __IO uint32_t CCCR;         /*!< FDCAN CC Control register,                                       Address offset: 0x018 */
+  __IO uint32_t NBTP;         /*!< FDCAN Nominal Bit Timing & Prescaler register,                   Address offset: 0x01C */
+  __IO uint32_t TSCC;         /*!< FDCAN Timestamp Counter Configuration register,                  Address offset: 0x020 */
+  __IO uint32_t TSCV;         /*!< FDCAN Timestamp Counter Value register,                          Address offset: 0x024 */
+  __IO uint32_t TOCC;         /*!< FDCAN Timeout Counter Configuration register,                    Address offset: 0x028 */
+  __IO uint32_t TOCV;         /*!< FDCAN Timeout Counter Value register,                            Address offset: 0x02C */
+  __IO uint32_t RESERVED2[4]; /*!< Reserved,                                                                0x030 - 0x03C */
+  __IO uint32_t ECR;          /*!< FDCAN Error Counter register,                                    Address offset: 0x040 */
+  __IO uint32_t PSR;          /*!< FDCAN Protocol Status register,                                  Address offset: 0x044 */
+  __IO uint32_t TDCR;         /*!< FDCAN Transmitter Delay Compensation register,                   Address offset: 0x048 */
+  __IO uint32_t RESERVED3;    /*!< Reserved,                                                                        0x04C */
+  __IO uint32_t IR;           /*!< FDCAN Interrupt register,                                        Address offset: 0x050 */
+  __IO uint32_t IE;           /*!< FDCAN Interrupt Enable register,                                 Address offset: 0x054 */
+  __IO uint32_t ILS;          /*!< FDCAN Interrupt Line Select register,                            Address offset: 0x058 */
+  __IO uint32_t ILE;          /*!< FDCAN Interrupt Line Enable register,                            Address offset: 0x05C */
+  __IO uint32_t RESERVED4[8]; /*!< Reserved,                                                                0x060 - 0x07C */
+  __IO uint32_t GFC;          /*!< FDCAN Global Filter Configuration register,                      Address offset: 0x080 */
+  __IO uint32_t SIDFC;        /*!< FDCAN Standard ID Filter Configuration register,                 Address offset: 0x084 */
+  __IO uint32_t XIDFC;        /*!< FDCAN Extended ID Filter Configuration register,                 Address offset: 0x088 */
+  __IO uint32_t RESERVED5;    /*!< Reserved,                                                                        0x08C */
+  __IO uint32_t XIDAM;        /*!< FDCAN Extended ID AND Mask register,                             Address offset: 0x090 */
+  __IO uint32_t HPMS;         /*!< FDCAN High Priority Message Status register,                     Address offset: 0x094 */
+  __IO uint32_t NDAT1;        /*!< FDCAN New Data 1 register,                                       Address offset: 0x098 */
+  __IO uint32_t NDAT2;        /*!< FDCAN New Data 2 register,                                       Address offset: 0x09C */
+  __IO uint32_t RXF0C;        /*!< FDCAN Rx FIFO 0 Configuration register,                          Address offset: 0x0A0 */
+  __IO uint32_t RXF0S;        /*!< FDCAN Rx FIFO 0 Status register,                                 Address offset: 0x0A4 */
+  __IO uint32_t RXF0A;        /*!< FDCAN Rx FIFO 0 Acknowledge register,                            Address offset: 0x0A8 */
+  __IO uint32_t RXBC;         /*!< FDCAN Rx Buffer Configuration register,                          Address offset: 0x0AC */
+  __IO uint32_t RXF1C;        /*!< FDCAN Rx FIFO 1 Configuration register,                          Address offset: 0x0B0 */
+  __IO uint32_t RXF1S;        /*!< FDCAN Rx FIFO 1 Status register,                                 Address offset: 0x0B4 */
+  __IO uint32_t RXF1A;        /*!< FDCAN Rx FIFO 1 Acknowledge register,                            Address offset: 0x0B8 */
+  __IO uint32_t RXESC;        /*!< FDCAN Rx Buffer/FIFO Element Size Configuration register,        Address offset: 0x0BC */
+  __IO uint32_t TXBC;         /*!< FDCAN Tx Buffer Configuration register,                          Address offset: 0x0C0 */
+  __IO uint32_t TXFQS;        /*!< FDCAN Tx FIFO/Queue Status register,                             Address offset: 0x0C4 */
+  __IO uint32_t TXESC;        /*!< FDCAN Tx Buffer Element Size Configuration register,             Address offset: 0x0C8 */
+  __IO uint32_t TXBRP;        /*!< FDCAN Tx Buffer Request Pending register,                        Address offset: 0x0CC */
+  __IO uint32_t TXBAR;        /*!< FDCAN Tx Buffer Add Request register,                            Address offset: 0x0D0 */
+  __IO uint32_t TXBCR;        /*!< FDCAN Tx Buffer Cancellation Request register,                   Address offset: 0x0D4 */
+  __IO uint32_t TXBTO;        /*!< FDCAN Tx Buffer Transmission Occurred register,                  Address offset: 0x0D8 */
+  __IO uint32_t TXBCF;        /*!< FDCAN Tx Buffer Cancellation Finished register,                  Address offset: 0x0DC */
+  __IO uint32_t TXBTIE;       /*!< FDCAN Tx Buffer Transmission Interrupt Enable register,          Address offset: 0x0E0 */
+  __IO uint32_t TXBCIE;       /*!< FDCAN Tx Buffer Cancellation Finished Interrupt Enable register, Address offset: 0x0E4 */
+  __IO uint32_t RESERVED6[2]; /*!< Reserved,                                                                0x0E8 - 0x0EC */
+  __IO uint32_t TXEFC;        /*!< FDCAN Tx Event FIFO Configuration register,                      Address offset: 0x0F0 */
+  __IO uint32_t TXEFS;        /*!< FDCAN Tx Event FIFO Status register,                             Address offset: 0x0F4 */
+  __IO uint32_t TXEFA;        /*!< FDCAN Tx Event FIFO Acknowledge register,                        Address offset: 0x0F8 */
+  __IO uint32_t RESERVED7;    /*!< Reserved,                                                                        0x0FC */
+} FDCAN_GlobalTypeDef;
+
+/**
+  * @brief TTFD Controller Area Network
+  */
+
+typedef struct
+{
+  __IO uint32_t TTTMC;          /*!< TT Trigger Memory Configuration register,    Address offset: 0x100 */
+  __IO uint32_t TTRMC;          /*!< TT Reference Message Configuration register, Address offset: 0x104 */
+  __IO uint32_t TTOCF;          /*!< TT Operation Configuration register,         Address offset: 0x108 */
+  __IO uint32_t TTMLM;          /*!< TT Matrix Limits register,                   Address offset: 0x10C */
+  __IO uint32_t TURCF;          /*!< TUR Configuration register,                  Address offset: 0x110 */
+  __IO uint32_t TTOCN;          /*!< TT Operation Control register,               Address offset: 0x114 */
+  __IO uint32_t TTGTP;          /*!< TT Global Time Preset register,              Address offset: 0x118 */
+  __IO uint32_t TTTMK;          /*!< TT Time Mark register,                       Address offset: 0x11C */
+  __IO uint32_t TTIR;           /*!< TT Interrupt register,                       Address offset: 0x120 */
+  __IO uint32_t TTIE;           /*!< TT Interrupt Enable register,                Address offset: 0x124 */
+  __IO uint32_t TTILS;          /*!< TT Interrupt Line Select register,           Address offset: 0x128 */
+  __IO uint32_t TTOST;          /*!< TT Operation Status register,                Address offset: 0x12C */
+  __IO uint32_t TURNA;          /*!< TT TUR Numerator Actual register,            Address offset: 0x130 */
+  __IO uint32_t TTLGT;          /*!< TT Local and Global Time register,           Address offset: 0x134 */
+  __IO uint32_t TTCTC;          /*!< TT Cycle Time and Count register,            Address offset: 0x138 */
+  __IO uint32_t TTCPT;          /*!< TT Capture Time register,                    Address offset: 0x13C */
+  __IO uint32_t TTCSM;          /*!< TT Cycle Sync Mark register,                 Address offset: 0x140 */
+  __IO uint32_t RESERVED1[111]; /*!< Reserved,                                            0x144 - 0x2FC */
+  __IO uint32_t TTTS;           /*!< TT Trigger Select register,                  Address offset: 0x300 */
+} TTCAN_TypeDef;
+
+/**
+  * @brief FD Controller Area Network
+  */
+
+typedef struct
+{
+  __IO uint32_t CREL;  /*!< Clock Calibration Unit Core Release register, Address offset: 0x00 */
+  __IO uint32_t CCFG;  /*!< Calibration Configuration register,           Address offset: 0x04 */
+  __IO uint32_t CSTAT; /*!< Calibration Status register,                  Address offset: 0x08 */
+  __IO uint32_t CWD;   /*!< Calibration Watchdog register,                Address offset: 0x0C */
+  __IO uint32_t IR;    /*!< CCU Interrupt register,                       Address offset: 0x10 */
+  __IO uint32_t IE;    /*!< CCU Interrupt Enable register,                Address offset: 0x14 */
+} FDCAN_ClockCalibrationUnit_TypeDef;
+
+
+/**
+  * @brief Consumer Electronics Control
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;           /*!< CEC control register,              Address offset:0x00 */
+  __IO uint32_t CFGR;         /*!< CEC configuration register,        Address offset:0x04 */
+  __IO uint32_t TXDR;         /*!< CEC Tx data register ,             Address offset:0x08 */
+  __IO uint32_t RXDR;         /*!< CEC Rx Data Register,              Address offset:0x0C */
+  __IO uint32_t ISR;          /*!< CEC Interrupt and Status Register, Address offset:0x10 */
+  __IO uint32_t IER;          /*!< CEC interrupt enable register,     Address offset:0x14 */
+}CEC_TypeDef;
+
+/**
+  * @brief COordincate Rotation DIgital Computer
+  */
+typedef struct
+{
+  __IO uint32_t CSR;          /*!< CORDIC control and status register,        Address offset: 0x00 */
+  __IO uint32_t WDATA;        /*!< CORDIC argument register,                  Address offset: 0x04 */
+  __IO uint32_t RDATA;        /*!< CORDIC result register,                    Address offset: 0x08 */
+} CORDIC_TypeDef;
+
+/**
+  * @brief CRC calculation unit
+  */
+
+typedef struct
+{
+  __IO uint32_t DR;          /*!< CRC Data register,                           Address offset: 0x00 */
+  __IO uint32_t IDR;         /*!< CRC Independent data register,               Address offset: 0x04 */
+  __IO uint32_t CR;          /*!< CRC Control register,                        Address offset: 0x08 */
+  uint32_t      RESERVED2;   /*!< Reserved,                                                    0x0C */
+  __IO uint32_t INIT;        /*!< Initial CRC value register,                  Address offset: 0x10 */
+  __IO uint32_t POL;         /*!< CRC polynomial register,                     Address offset: 0x14 */
+} CRC_TypeDef;
+
+
+/**
+  * @brief Clock Recovery System
+  */
+typedef struct
+{
+__IO uint32_t CR;            /*!< CRS ccontrol register,              Address offset: 0x00 */
+__IO uint32_t CFGR;          /*!< CRS configuration register,         Address offset: 0x04 */
+__IO uint32_t ISR;           /*!< CRS interrupt and status register,  Address offset: 0x08 */
+__IO uint32_t ICR;           /*!< CRS interrupt flag clear register,  Address offset: 0x0C */
+} CRS_TypeDef;
+
+
+/**
+  * @brief Digital to Analog Converter
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;       /*!< DAC control register,                                    Address offset: 0x00 */
+  __IO uint32_t SWTRIGR;  /*!< DAC software trigger register,                           Address offset: 0x04 */
+  __IO uint32_t DHR12R1;  /*!< DAC channel1 12-bit right-aligned data holding register, Address offset: 0x08 */
+  __IO uint32_t DHR12L1;  /*!< DAC channel1 12-bit left aligned data holding register,  Address offset: 0x0C */
+  __IO uint32_t DHR8R1;   /*!< DAC channel1 8-bit right aligned data holding register,  Address offset: 0x10 */
+  __IO uint32_t DHR12R2;  /*!< DAC channel2 12-bit right aligned data holding register, Address offset: 0x14 */
+  __IO uint32_t DHR12L2;  /*!< DAC channel2 12-bit left aligned data holding register,  Address offset: 0x18 */
+  __IO uint32_t DHR8R2;   /*!< DAC channel2 8-bit right-aligned data holding register,  Address offset: 0x1C */
+  __IO uint32_t DHR12RD;  /*!< Dual DAC 12-bit right-aligned data holding register,     Address offset: 0x20 */
+  __IO uint32_t DHR12LD;  /*!< DUAL DAC 12-bit left aligned data holding register,      Address offset: 0x24 */
+  __IO uint32_t DHR8RD;   /*!< DUAL DAC 8-bit right aligned data holding register,      Address offset: 0x28 */
+  __IO uint32_t DOR1;     /*!< DAC channel1 data output register,                       Address offset: 0x2C */
+  __IO uint32_t DOR2;     /*!< DAC channel2 data output register,                       Address offset: 0x30 */
+  __IO uint32_t SR;       /*!< DAC status register,                                     Address offset: 0x34 */
+  __IO uint32_t CCR;      /*!< DAC calibration control register,                        Address offset: 0x38 */
+  __IO uint32_t MCR;      /*!< DAC mode control register,                               Address offset: 0x3C */
+  __IO uint32_t SHSR1;    /*!< DAC Sample and Hold sample time register 1,              Address offset: 0x40 */
+  __IO uint32_t SHSR2;    /*!< DAC Sample and Hold sample time register 2,              Address offset: 0x44 */
+  __IO uint32_t SHHR;     /*!< DAC Sample and Hold hold time register,                  Address offset: 0x48 */
+  __IO uint32_t SHRR;     /*!< DAC Sample and Hold refresh time register,               Address offset: 0x4C */
+} DAC_TypeDef;
+
+/**
+  * @brief DFSDM module registers
+  */
+typedef struct
+{
+  __IO uint32_t FLTCR1;          /*!< DFSDM control register1,                          Address offset: 0x100 */
+  __IO uint32_t FLTCR2;          /*!< DFSDM control register2,                          Address offset: 0x104 */
+  __IO uint32_t FLTISR;          /*!< DFSDM interrupt and status register,              Address offset: 0x108 */
+  __IO uint32_t FLTICR;          /*!< DFSDM interrupt flag clear register,              Address offset: 0x10C */
+  __IO uint32_t FLTJCHGR;        /*!< DFSDM injected channel group selection register,  Address offset: 0x110 */
+  __IO uint32_t FLTFCR;          /*!< DFSDM filter control register,                    Address offset: 0x114 */
+  __IO uint32_t FLTJDATAR;       /*!< DFSDM data register for injected group,           Address offset: 0x118 */
+  __IO uint32_t FLTRDATAR;       /*!< DFSDM data register for regular group,            Address offset: 0x11C */
+  __IO uint32_t FLTAWHTR;        /*!< DFSDM analog watchdog high threshold register,    Address offset: 0x120 */
+  __IO uint32_t FLTAWLTR;        /*!< DFSDM analog watchdog low threshold register,     Address offset: 0x124 */
+  __IO uint32_t FLTAWSR;         /*!< DFSDM analog watchdog status register             Address offset: 0x128 */
+  __IO uint32_t FLTAWCFR;        /*!< DFSDM analog watchdog clear flag register         Address offset: 0x12C */
+  __IO uint32_t FLTEXMAX;        /*!< DFSDM extreme detector maximum register,          Address offset: 0x130 */
+  __IO uint32_t FLTEXMIN;        /*!< DFSDM extreme detector minimum register           Address offset: 0x134 */
+  __IO uint32_t FLTCNVTIMR;      /*!< DFSDM conversion timer,                           Address offset: 0x138 */
+} DFSDM_Filter_TypeDef;
+
+/**
+  * @brief DFSDM channel configuration registers
+  */
+typedef struct
+{
+  __IO uint32_t CHCFGR1;      /*!< DFSDM channel configuration register1,            Address offset: 0x00 */
+  __IO uint32_t CHCFGR2;      /*!< DFSDM channel configuration register2,            Address offset: 0x04 */
+  __IO uint32_t CHAWSCDR;     /*!< DFSDM channel analog watchdog and
+                                   short circuit detector register,                  Address offset: 0x08 */
+  __IO uint32_t CHWDATAR;     /*!< DFSDM channel watchdog filter data register,      Address offset: 0x0C */
+  __IO uint32_t CHDATINR;     /*!< DFSDM channel data input register,                Address offset: 0x10 */
+} DFSDM_Channel_TypeDef;
+
+/**
+  * @brief Debug MCU
+  */
+typedef struct
+{
+  __IO uint32_t IDCODE;        /*!< MCU device ID code,                     Address offset: 0x00 */
+  __IO uint32_t CR;            /*!< Debug MCU configuration register,       Address offset: 0x04 */
+  uint32_t RESERVED4[11];      /*!< Reserved,                             Address offset: 0x08 */
+  __IO uint32_t APB3FZ1;     /*!< Debug MCU APB3FZ1 freeze register,    Address offset: 0x34 */
+  uint32_t RESERVED5;          /*!< Reserved,                             Address offset: 0x38 */
+  __IO uint32_t APB1LFZ1;    /*!< Debug MCU APB1LFZ1 freeze register,   Address offset: 0x3C */
+  uint32_t RESERVED6;          /*!< Reserved,                             Address offset: 0x40 */
+  __IO uint32_t APB1HFZ1;    /*!< Debug MCU APB1LFZ1 freeze register,   Address offset: 0x44 */
+  uint32_t RESERVED7;          /*!< Reserved,                             Address offset: 0x48 */
+  __IO uint32_t APB2FZ1;     /*!< Debug MCU APB2FZ1 freeze register,    Address offset: 0x4C */
+  uint32_t RESERVED8;          /*!< Reserved,                             Address offset: 0x50 */
+  __IO uint32_t APB4FZ1;     /*!< Debug MCU APB4FZ1 freeze register,    Address offset: 0x54 */
+  __IO uint32_t RESERVED9[990]; /*!< Reserved,                         Address offset: 0x58-0xFCC */
+  __IO uint32_t PIDR4;       /*!< Debug MCU peripheral identity register 4,  Address offset: 0xFD0 */
+  __IO uint32_t RESERVED10[3];/*!< Reserved,                            Address offset: 0xFD4-0xFDC */
+  __IO uint32_t PIDR0;       /*!< Debug MCU peripheral identity register 0,  Address offset: 0xFE0 */
+  __IO uint32_t PIDR1;       /*!< Debug MCU peripheral identity register 1,  Address offset: 0xFE4 */
+  __IO uint32_t PIDR2;       /*!< Debug MCU peripheral identity register 2,  Address offset: 0xFE8 */
+  __IO uint32_t PIDR3;       /*!< Debug MCU peripheral identity register 3,  Address offset: 0xFEC */
+  __IO uint32_t CIDR0;       /*!< Debug MCU component identity register 0,   Address offset: 0xFF0 */
+  __IO uint32_t CIDR1;       /*!< Debug MCU component identity register 1,   Address offset: 0xFF4 */
+  __IO uint32_t CIDR2;       /*!< Debug MCU component identity register 2,   Address offset: 0xFF8 */
+  __IO uint32_t CIDR3;       /*!< Debug MCU component identity register 3,   Address offset: 0xFFC */
+}DBGMCU_TypeDef;
+/**
+  * @brief DCMI
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;       /*!< DCMI control register 1,                       Address offset: 0x00 */
+  __IO uint32_t SR;       /*!< DCMI status register,                          Address offset: 0x04 */
+  __IO uint32_t RISR;     /*!< DCMI raw interrupt status register,            Address offset: 0x08 */
+  __IO uint32_t IER;      /*!< DCMI interrupt enable register,                Address offset: 0x0C */
+  __IO uint32_t MISR;     /*!< DCMI masked interrupt status register,         Address offset: 0x10 */
+  __IO uint32_t ICR;      /*!< DCMI interrupt clear register,                 Address offset: 0x14 */
+  __IO uint32_t ESCR;     /*!< DCMI embedded synchronization code register,   Address offset: 0x18 */
+  __IO uint32_t ESUR;     /*!< DCMI embedded synchronization unmask register, Address offset: 0x1C */
+  __IO uint32_t CWSTRTR;  /*!< DCMI crop window start,                        Address offset: 0x20 */
+  __IO uint32_t CWSIZER;  /*!< DCMI crop window size,                         Address offset: 0x24 */
+  __IO uint32_t DR;       /*!< DCMI data register,                            Address offset: 0x28 */
+} DCMI_TypeDef;
+
+/**
+  * @brief PSSI
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;             /*!< PSSI control register 1,               Address offset: 0x000 */
+  __IO uint32_t SR;             /*!< PSSI status register,                  Address offset: 0x004 */
+  __IO uint32_t RIS;            /*!< PSSI raw interrupt status register,    Address offset: 0x008 */
+  __IO uint32_t IER;            /*!< PSSI interrupt enable register,        Address offset: 0x00C */
+  __IO uint32_t MIS;            /*!< PSSI masked interrupt status register, Address offset: 0x010 */
+  __IO uint32_t ICR;            /*!< PSSI interrupt clear register,         Address offset: 0x014 */
+  __IO uint32_t RESERVED1[4];   /*!< Reserved,                                      0x018 - 0x024 */
+  __IO uint32_t DR;             /*!< PSSI data register,                    Address offset: 0x028 */
+  __IO uint32_t RESERVED2[241]; /*!< Reserved,                                      0x02C - 0x3EC */
+  __IO uint32_t HWCFGR;         /*!< PSSI IP HW configuration register,     Address offset: 0x3F0 */
+  __IO uint32_t VERR;           /*!< PSSI IP version register,              Address offset: 0x3F4 */
+  __IO uint32_t IPIDR;          /*!< PSSI IP ID register,                   Address offset: 0x3F8 */
+  __IO uint32_t SIDR;           /*!< PSSI SIZE ID register,                 Address offset: 0x3FC */
+} PSSI_TypeDef;
+
+/**
+  * @brief DMA Controller
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;     /*!< DMA stream x configuration register      */
+  __IO uint32_t NDTR;   /*!< DMA stream x number of data register     */
+  __IO uint32_t PAR;    /*!< DMA stream x peripheral address register */
+  __IO uint32_t M0AR;   /*!< DMA stream x memory 0 address register   */
+  __IO uint32_t M1AR;   /*!< DMA stream x memory 1 address register   */
+  __IO uint32_t FCR;    /*!< DMA stream x FIFO control register       */
+} DMA_Stream_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t LISR;   /*!< DMA low interrupt status register,      Address offset: 0x00 */
+  __IO uint32_t HISR;   /*!< DMA high interrupt status register,     Address offset: 0x04 */
+  __IO uint32_t LIFCR;  /*!< DMA low interrupt flag clear register,  Address offset: 0x08 */
+  __IO uint32_t HIFCR;  /*!< DMA high interrupt flag clear register, Address offset: 0x0C */
+} DMA_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CCR;          /*!< DMA channel x configuration register          */
+  __IO uint32_t CNDTR;        /*!< DMA channel x number of data register         */
+  __IO uint32_t CPAR;         /*!< DMA channel x peripheral address register     */
+  __IO uint32_t CM0AR;        /*!< DMA channel x memory 0 address register       */
+  __IO uint32_t CM1AR;        /*!< DMA channel x memory 1 address register       */
+} BDMA_Channel_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t ISR;          /*!< DMA interrupt status register,               Address offset: 0x00 */
+  __IO uint32_t IFCR;         /*!< DMA interrupt flag clear register,           Address offset: 0x04 */
+} BDMA_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  CCR;        /*!< DMA Multiplexer Channel x Control Register   */
+}DMAMUX_Channel_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  CSR;      /*!< DMA Channel Status Register     */
+  __IO uint32_t  CFR;      /*!< DMA Channel Clear Flag Register */
+}DMAMUX_ChannelStatus_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  RGCR;        /*!< DMA Request Generator x Control Register   */
+}DMAMUX_RequestGen_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  RGSR;        /*!< DMA Request Generator Status Register       */
+  __IO uint32_t  RGCFR;       /*!< DMA Request Generator Clear Flag Register   */
+}DMAMUX_RequestGenStatus_TypeDef;
+
+/**
+  * @brief MDMA Controller
+  */
+typedef struct
+{
+  __IO uint32_t  GISR0;   /*!< MDMA Global Interrupt/Status Register 0,          Address offset: 0x00 */
+}MDMA_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  CISR;      /*!< MDMA channel x interrupt/status register,             Address offset: 0x40 */
+  __IO uint32_t  CIFCR;     /*!< MDMA channel x interrupt flag clear register,         Address offset: 0x44 */
+  __IO uint32_t  CESR;      /*!< MDMA Channel x error status register,                 Address offset: 0x48 */
+  __IO uint32_t  CCR;       /*!< MDMA channel x control register,                      Address offset: 0x4C */
+  __IO uint32_t  CTCR;      /*!< MDMA channel x Transfer Configuration register,       Address offset: 0x50 */
+  __IO uint32_t  CBNDTR;    /*!< MDMA Channel x block number of data register,         Address offset: 0x54 */
+  __IO uint32_t  CSAR;      /*!< MDMA channel x source address register,               Address offset: 0x58 */
+  __IO uint32_t  CDAR;      /*!< MDMA channel x destination address register,          Address offset: 0x5C */
+  __IO uint32_t  CBRUR;     /*!< MDMA channel x Block Repeat address Update register,  Address offset: 0x60 */
+  __IO uint32_t  CLAR;      /*!< MDMA channel x Link Address register,                 Address offset: 0x64 */
+  __IO uint32_t  CTBR;      /*!< MDMA channel x Trigger and Bus selection Register,    Address offset: 0x68 */
+  uint32_t       RESERVED0; /*!< Reserved, 0x6C                                                             */
+  __IO uint32_t  CMAR;      /*!< MDMA channel x Mask address register,                 Address offset: 0x70 */
+  __IO uint32_t  CMDR;      /*!< MDMA channel x Mask Data register,                    Address offset: 0x74 */
+}MDMA_Channel_TypeDef;
+
+/**
+  * @brief DMA2D Controller
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;            /*!< DMA2D Control Register,                         Address offset: 0x00 */
+  __IO uint32_t ISR;           /*!< DMA2D Interrupt Status Register,                Address offset: 0x04 */
+  __IO uint32_t IFCR;          /*!< DMA2D Interrupt Flag Clear Register,            Address offset: 0x08 */
+  __IO uint32_t FGMAR;         /*!< DMA2D Foreground Memory Address Register,       Address offset: 0x0C */
+  __IO uint32_t FGOR;          /*!< DMA2D Foreground Offset Register,               Address offset: 0x10 */
+  __IO uint32_t BGMAR;         /*!< DMA2D Background Memory Address Register,       Address offset: 0x14 */
+  __IO uint32_t BGOR;          /*!< DMA2D Background Offset Register,               Address offset: 0x18 */
+  __IO uint32_t FGPFCCR;       /*!< DMA2D Foreground PFC Control Register,          Address offset: 0x1C */
+  __IO uint32_t FGCOLR;        /*!< DMA2D Foreground Color Register,                Address offset: 0x20 */
+  __IO uint32_t BGPFCCR;       /*!< DMA2D Background PFC Control Register,          Address offset: 0x24 */
+  __IO uint32_t BGCOLR;        /*!< DMA2D Background Color Register,                Address offset: 0x28 */
+  __IO uint32_t FGCMAR;        /*!< DMA2D Foreground CLUT Memory Address Register,  Address offset: 0x2C */
+  __IO uint32_t BGCMAR;        /*!< DMA2D Background CLUT Memory Address Register,  Address offset: 0x30 */
+  __IO uint32_t OPFCCR;        /*!< DMA2D Output PFC Control Register,              Address offset: 0x34 */
+  __IO uint32_t OCOLR;         /*!< DMA2D Output Color Register,                    Address offset: 0x38 */
+  __IO uint32_t OMAR;          /*!< DMA2D Output Memory Address Register,           Address offset: 0x3C */
+  __IO uint32_t OOR;           /*!< DMA2D Output Offset Register,                   Address offset: 0x40 */
+  __IO uint32_t NLR;           /*!< DMA2D Number of Line Register,                  Address offset: 0x44 */
+  __IO uint32_t LWR;           /*!< DMA2D Line Watermark Register,                  Address offset: 0x48 */
+  __IO uint32_t AMTCR;         /*!< DMA2D AHB Master Timer Configuration Register,  Address offset: 0x4C */
+  uint32_t      RESERVED[236]; /*!< Reserved, 0x50-0x3FF */
+  __IO uint32_t FGCLUT[256];   /*!< DMA2D Foreground CLUT,                          Address offset:400-7FF */
+  __IO uint32_t BGCLUT[256];   /*!< DMA2D Background CLUT,                          Address offset:800-BFF */
+} DMA2D_TypeDef;
+
+
+/**
+  * @brief Ethernet MAC
+  */
+typedef struct
+{
+  __IO uint32_t MACCR;
+  __IO uint32_t MACECR;
+  __IO uint32_t MACPFR;
+  __IO uint32_t MACWTR;
+  __IO uint32_t MACHT0R;
+  __IO uint32_t MACHT1R;
+  uint32_t      RESERVED1[14];
+  __IO uint32_t MACVTR;
+  uint32_t      RESERVED2;
+  __IO uint32_t MACVHTR;
+  uint32_t      RESERVED3;
+  __IO uint32_t MACVIR;
+  __IO uint32_t MACIVIR;
+  uint32_t      RESERVED4[2];
+  __IO uint32_t MACTFCR;
+  uint32_t      RESERVED5[7];
+  __IO uint32_t MACRFCR;
+  uint32_t      RESERVED6[7];
+  __IO uint32_t MACISR;
+  __IO uint32_t MACIER;
+  __IO uint32_t MACRXTXSR;
+  uint32_t      RESERVED7;
+  __IO uint32_t MACPCSR;
+  __IO uint32_t MACRWKPFR;
+  uint32_t      RESERVED8[2];
+  __IO uint32_t MACLCSR;
+  __IO uint32_t MACLTCR;
+  __IO uint32_t MACLETR;
+  __IO uint32_t MAC1USTCR;
+  uint32_t      RESERVED9[12];
+  __IO uint32_t MACVR;
+  __IO uint32_t MACDR;
+  uint32_t      RESERVED10;
+  __IO uint32_t MACHWF0R;
+  __IO uint32_t MACHWF1R;
+  __IO uint32_t MACHWF2R;
+  uint32_t      RESERVED11[54];
+  __IO uint32_t MACMDIOAR;
+  __IO uint32_t MACMDIODR;
+  uint32_t      RESERVED12[2];
+  __IO uint32_t MACARPAR;
+  uint32_t      RESERVED13[59];
+  __IO uint32_t MACA0HR;
+  __IO uint32_t MACA0LR;
+  __IO uint32_t MACA1HR;
+  __IO uint32_t MACA1LR;
+  __IO uint32_t MACA2HR;
+  __IO uint32_t MACA2LR;
+  __IO uint32_t MACA3HR;
+  __IO uint32_t MACA3LR;
+  uint32_t      RESERVED14[248];
+  __IO uint32_t MMCCR;
+  __IO uint32_t MMCRIR;
+  __IO uint32_t MMCTIR;
+  __IO uint32_t MMCRIMR;
+  __IO uint32_t MMCTIMR;
+  uint32_t      RESERVED15[14];
+  __IO uint32_t MMCTSCGPR;
+  __IO uint32_t MMCTMCGPR;
+  uint32_t      RESERVED16[5];
+  __IO uint32_t MMCTPCGR;
+  uint32_t      RESERVED17[10];
+  __IO uint32_t MMCRCRCEPR;
+  __IO uint32_t MMCRAEPR;
+  uint32_t      RESERVED18[10];
+  __IO uint32_t MMCRUPGR;
+  uint32_t      RESERVED19[9];
+  __IO uint32_t MMCTLPIMSTR;
+  __IO uint32_t MMCTLPITCR;
+  __IO uint32_t MMCRLPIMSTR;
+  __IO uint32_t MMCRLPITCR;
+  uint32_t      RESERVED20[65];
+  __IO uint32_t MACL3L4C0R;
+  __IO uint32_t MACL4A0R;
+  uint32_t      RESERVED21[2];
+  __IO uint32_t MACL3A0R0R;
+  __IO uint32_t MACL3A1R0R;
+  __IO uint32_t MACL3A2R0R;
+  __IO uint32_t MACL3A3R0R;
+  uint32_t      RESERVED22[4];
+  __IO uint32_t MACL3L4C1R;
+  __IO uint32_t MACL4A1R;
+  uint32_t      RESERVED23[2];
+  __IO uint32_t MACL3A0R1R;
+  __IO uint32_t MACL3A1R1R;
+  __IO uint32_t MACL3A2R1R;
+  __IO uint32_t MACL3A3R1R;
+  uint32_t      RESERVED24[108];
+  __IO uint32_t MACTSCR;
+  __IO uint32_t MACSSIR;
+  __IO uint32_t MACSTSR;
+  __IO uint32_t MACSTNR;
+  __IO uint32_t MACSTSUR;
+  __IO uint32_t MACSTNUR;
+  __IO uint32_t MACTSAR;
+  uint32_t      RESERVED25;
+  __IO uint32_t MACTSSR;
+  uint32_t      RESERVED26[3];
+  __IO uint32_t MACTTSSNR;
+  __IO uint32_t MACTTSSSR;
+  uint32_t      RESERVED27[2];
+  __IO uint32_t MACACR;
+  uint32_t      RESERVED28;
+  __IO uint32_t MACATSNR;
+  __IO uint32_t MACATSSR;
+  __IO uint32_t MACTSIACR;
+  __IO uint32_t MACTSEACR;
+  __IO uint32_t MACTSICNR;
+  __IO uint32_t MACTSECNR;
+  uint32_t      RESERVED29[4];
+  __IO uint32_t MACPPSCR;
+  uint32_t      RESERVED30[3];
+  __IO uint32_t MACPPSTTSR;
+  __IO uint32_t MACPPSTTNR;
+  __IO uint32_t MACPPSIR;
+  __IO uint32_t MACPPSWR;
+  uint32_t      RESERVED31[12];
+  __IO uint32_t MACPOCR;
+  __IO uint32_t MACSPI0R;
+  __IO uint32_t MACSPI1R;
+  __IO uint32_t MACSPI2R;
+  __IO uint32_t MACLMIR;
+  uint32_t      RESERVED32[11];
+  __IO uint32_t MTLOMR;
+  uint32_t      RESERVED33[7];
+  __IO uint32_t MTLISR;
+  uint32_t      RESERVED34[55];
+  __IO uint32_t MTLTQOMR;
+  __IO uint32_t MTLTQUR;
+  __IO uint32_t MTLTQDR;
+  uint32_t      RESERVED35[8];
+  __IO uint32_t MTLQICSR;
+  __IO uint32_t MTLRQOMR;
+  __IO uint32_t MTLRQMPOCR;
+  __IO uint32_t MTLRQDR;
+  uint32_t      RESERVED36[177];
+  __IO uint32_t DMAMR;
+  __IO uint32_t DMASBMR;
+  __IO uint32_t DMAISR;
+  __IO uint32_t DMADSR;
+  uint32_t      RESERVED37[60];
+  __IO uint32_t DMACCR;
+  __IO uint32_t DMACTCR;
+  __IO uint32_t DMACRCR;
+  uint32_t      RESERVED38[2];
+  __IO uint32_t DMACTDLAR;
+  uint32_t      RESERVED39;
+  __IO uint32_t DMACRDLAR;
+  __IO uint32_t DMACTDTPR;
+  uint32_t      RESERVED40;
+  __IO uint32_t DMACRDTPR;
+  __IO uint32_t DMACTDRLR;
+  __IO uint32_t DMACRDRLR;
+  __IO uint32_t DMACIER;
+  __IO uint32_t DMACRIWTR;
+__IO uint32_t DMACSFCSR;
+  uint32_t      RESERVED41;
+  __IO uint32_t DMACCATDR;
+  uint32_t      RESERVED42;
+  __IO uint32_t DMACCARDR;
+  uint32_t      RESERVED43;
+  __IO uint32_t DMACCATBR;
+  uint32_t      RESERVED44;
+  __IO uint32_t DMACCARBR;
+  __IO uint32_t DMACSR;
+uint32_t      RESERVED45[2];
+__IO uint32_t DMACMFCR;
+}ETH_TypeDef;
+/**
+  * @brief External Interrupt/Event Controller
+  */
+
+typedef struct
+{
+__IO uint32_t RTSR1;               /*!< EXTI Rising trigger selection register,          Address offset: 0x00 */
+__IO uint32_t FTSR1;               /*!< EXTI Falling trigger selection register,         Address offset: 0x04 */
+__IO uint32_t SWIER1;              /*!< EXTI Software interrupt event register,          Address offset: 0x08 */
+__IO uint32_t D3PMR1;              /*!< EXTI D3 Pending mask register, (same register as to SRDPMR1) Address offset: 0x0C */
+__IO uint32_t D3PCR1L;             /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR1L)     Address offset: 0x10 */
+__IO uint32_t D3PCR1H;             /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR1H)   Address offset: 0x14 */
+uint32_t      RESERVED1[2];        /*!< Reserved,                                        0x18 to 0x1C         */
+__IO uint32_t RTSR2;               /*!< EXTI Rising trigger selection register,          Address offset: 0x20 */
+__IO uint32_t FTSR2;               /*!< EXTI Falling trigger selection register,         Address offset: 0x24 */
+__IO uint32_t SWIER2;              /*!< EXTI Software interrupt event register,          Address offset: 0x28 */
+__IO uint32_t D3PMR2;              /*!< EXTI D3 Pending mask register, (same register as to SRDPMR2) Address offset: 0x2C */
+__IO uint32_t D3PCR2L;             /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR2L)  Address offset: 0x30 */
+__IO uint32_t D3PCR2H;             /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR2H) Address offset: 0x34 */
+uint32_t      RESERVED2[2];        /*!< Reserved,                                        0x38 to 0x3C         */
+__IO uint32_t RTSR3;               /*!< EXTI Rising trigger selection register,          Address offset: 0x40 */
+__IO uint32_t FTSR3;               /*!< EXTI Falling trigger selection register,         Address offset: 0x44 */
+__IO uint32_t SWIER3;              /*!< EXTI Software interrupt event register,          Address offset: 0x48 */
+__IO uint32_t D3PMR3;              /*!< EXTI D3 Pending mask register, (same register as to SRDPMR3) Address offset: 0x4C */
+__IO uint32_t D3PCR3L;             /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR3L) Address offset: 0x50 */
+__IO uint32_t D3PCR3H;             /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR3H) Address offset: 0x54 */
+uint32_t      RESERVED3[10];       /*!< Reserved,                                        0x58 to 0x7C         */
+__IO uint32_t IMR1;                /*!< EXTI Interrupt mask register,                    Address offset: 0x80 */
+__IO uint32_t EMR1;                /*!< EXTI Event mask register,                        Address offset: 0x84 */
+__IO uint32_t PR1;                 /*!< EXTI Pending register,                           Address offset: 0x88 */
+uint32_t      RESERVED4;           /*!< Reserved,                                        0x8C                 */
+__IO uint32_t IMR2;                /*!< EXTI Interrupt mask register,                    Address offset: 0x90 */
+__IO uint32_t EMR2;                /*!< EXTI Event mask register,                        Address offset: 0x94 */
+__IO uint32_t PR2;                 /*!< EXTI Pending register,                           Address offset: 0x98 */
+uint32_t      RESERVED5;           /*!< Reserved,                                        0x9C                 */
+__IO uint32_t IMR3;                /*!< EXTI Interrupt mask register,                    Address offset: 0xA0 */
+__IO uint32_t EMR3;                /*!< EXTI Event mask register,                        Address offset: 0xA4 */
+__IO uint32_t PR3;                 /*!< EXTI Pending register,                           Address offset: 0xA8 */
+}EXTI_TypeDef;
+
+/**
+  * @brief This structure registers corresponds to EXTI_Typdef CPU1/CPU2 registers subset (IMRx, EMRx and PRx), allowing to define EXTI_D1/EXTI_D2
+  *        with rapid/common access to these IMRx, EMRx, PRx registers for CPU1 and CPU2.
+  *        Note that EXTI_D1 and EXTI_D2 bases addresses are calculated to point to CPUx first register:
+  *           IMR1   in case of EXTI_D1 that is addressing CPU1 (Coretx-M7)
+  *           C2IMR1 in case of EXTI_D2 that is addressing CPU2 (Coretx-M4)
+  *        Note: EXTI_D2 and corresponding C2IMRx, C2EMRx and C2PRx registers are available for Dual Core devices only
+  */
+
+typedef struct
+{
+__IO uint32_t IMR1;                /*!< EXTI Interrupt mask register,                Address offset: 0x00 */
+__IO uint32_t EMR1;                /*!< EXTI Event mask register,                    Address offset: 0x04 */
+__IO uint32_t PR1;                 /*!< EXTI Pending register,                       Address offset: 0x08 */
+uint32_t      RESERVED1;           /*!< Reserved, 0x0C                                                    */
+__IO uint32_t IMR2;                /*!< EXTI Interrupt mask register,                Address offset: 0x10 */
+__IO uint32_t EMR2;                /*!< EXTI Event mask register,                    Address offset: 0x14 */
+__IO uint32_t PR2;                 /*!< EXTI Pending register,                       Address offset: 0x18 */
+uint32_t      RESERVED2;           /*!< Reserved, 0x1C                                                    */
+__IO uint32_t IMR3;                /*!< EXTI Interrupt mask register,                Address offset: 0x20 */
+__IO uint32_t EMR3;                /*!< EXTI Event mask register,                    Address offset: 0x24 */
+__IO uint32_t PR3;                 /*!< EXTI Pending register,                       Address offset: 0x28 */
+}EXTI_Core_TypeDef;
+
+
+/**
+  * @brief FLASH Registers
+  */
+
+typedef struct
+{
+  __IO uint32_t ACR;             /*!< FLASH access control register,                            Address offset: 0x00  */
+  __IO uint32_t KEYR1;           /*!< Flash Key Register for bank1,                             Address offset: 0x04  */
+  __IO uint32_t OPTKEYR;         /*!< Flash Option Key Register,                                Address offset: 0x08  */
+  __IO uint32_t CR1;             /*!< Flash Control Register for bank1,                         Address offset: 0x0C  */
+  __IO uint32_t SR1;             /*!< Flash Status Register for bank1,                          Address offset: 0x10  */
+  __IO uint32_t CCR1;            /*!< Flash Control Register for bank1,                         Address offset: 0x14  */
+  __IO uint32_t OPTCR;           /*!< Flash Option Control Register,                            Address offset: 0x18  */
+  __IO uint32_t OPTSR_CUR;       /*!< Flash Option Status Current Register,                     Address offset: 0x1C  */
+  __IO uint32_t OPTSR_PRG;       /*!< Flash Option Status to Program Register,                  Address offset: 0x20  */
+  __IO uint32_t OPTCCR;          /*!< Flash Option Clear Control Register,                      Address offset: 0x24  */
+  __IO uint32_t PRAR_CUR1;       /*!< Flash Current Protection Address Register for bank1,      Address offset: 0x28  */
+  __IO uint32_t PRAR_PRG1;       /*!< Flash Protection Address to Program Register for bank1,   Address offset: 0x2C  */
+  __IO uint32_t SCAR_CUR1;       /*!< Flash Current Secure Address Register for bank1,          Address offset: 0x30  */
+  __IO uint32_t SCAR_PRG1;       /*!< Flash Secure Address to Program Register for bank1,       Address offset: 0x34  */
+  __IO uint32_t WPSN_CUR1;       /*!< Flash Current Write Protection Register on bank1,         Address offset: 0x38  */
+  __IO uint32_t WPSN_PRG1;       /*!< Flash Write Protection to Program Register on bank1,      Address offset: 0x3C  */
+  __IO uint32_t BOOT_CUR;        /*!< Flash Current Boot Address for Pelican Core Register,     Address offset: 0x40  */
+  __IO uint32_t BOOT_PRG;        /*!< Flash Boot Address to Program for Pelican Core Register,  Address offset: 0x44  */
+  uint32_t      RESERVED0[2];    /*!< Reserved, 0x48 to 0x4C                                                          */
+  __IO uint32_t CRCCR1;          /*!< Flash CRC Control register For Bank1 Register ,           Address offset: 0x50  */
+  __IO uint32_t CRCSADD1;        /*!< Flash CRC Start Address Register for Bank1 ,              Address offset: 0x54  */
+  __IO uint32_t CRCEADD1;        /*!< Flash CRC End Address Register for Bank1 ,                Address offset: 0x58  */
+  __IO uint32_t CRCDATA;         /*!< Flash CRC Data Register for Bank1 ,                       Address offset: 0x5C  */
+  __IO uint32_t ECC_FA1;         /*!< Flash ECC Fail Address For Bank1 Register ,               Address offset: 0x60  */
+  uint32_t      RESERVED[3];     /*!< Reserved, 0x64 to 0x6C                                                          */
+  __IO uint32_t OPTSR2_CUR;      /*!< Flash Option Status Current Register 2,                   Address offset: 0x70  */
+  __IO uint32_t OPTSR2_PRG;      /*!< Flash Option Status to Program Register 2,                Address offset: 0x74  */
+} FLASH_TypeDef;
+
+/**
+  * @brief Filter and Mathematical ACcelerator
+  */
+typedef struct
+{
+  __IO uint32_t X1BUFCFG;        /*!< FMAC X1 Buffer Configuration register, Address offset: 0x00          */
+  __IO uint32_t X2BUFCFG;        /*!< FMAC X2 Buffer Configuration register, Address offset: 0x04          */
+  __IO uint32_t YBUFCFG;         /*!< FMAC Y Buffer Configuration register,  Address offset: 0x08          */
+  __IO uint32_t PARAM;           /*!< FMAC Parameter register,               Address offset: 0x0C          */
+  __IO uint32_t CR;              /*!< FMAC Control register,                 Address offset: 0x10          */
+  __IO uint32_t SR;              /*!< FMAC Status register,                  Address offset: 0x14          */
+  __IO uint32_t WDATA;           /*!< FMAC Write Data register,              Address offset: 0x18          */
+  __IO uint32_t RDATA;           /*!< FMAC Read Data register,               Address offset: 0x1C          */
+} FMAC_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller
+  */
+
+typedef struct
+{
+  __IO uint32_t BTCR[8];    /*!< NOR/PSRAM chip-select control register(BCR) and chip-select timing register(BTR), Address offset: 0x00-1C */
+} FMC_Bank1_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller Bank1E
+  */
+
+typedef struct
+{
+  __IO uint32_t BWTR[7];    /*!< NOR/PSRAM write timing registers, Address offset: 0x104-0x11C */
+} FMC_Bank1E_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller Bank2
+  */
+
+typedef struct
+{
+  __IO uint32_t PCR2;       /*!< NAND Flash control register 2,                       Address offset: 0x60 */
+  __IO uint32_t SR2;        /*!< NAND Flash FIFO status and interrupt register 2,     Address offset: 0x64 */
+  __IO uint32_t PMEM2;      /*!< NAND Flash Common memory space timing register 2,    Address offset: 0x68 */
+  __IO uint32_t PATT2;      /*!< NAND Flash Attribute memory space timing register 2, Address offset: 0x6C */
+  uint32_t      RESERVED0;  /*!< Reserved, 0x70                                                            */
+  __IO uint32_t ECCR2;      /*!< NAND Flash ECC result registers 2,                   Address offset: 0x74 */
+} FMC_Bank2_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller Bank3
+  */
+
+typedef struct
+{
+  __IO uint32_t PCR;       /*!< NAND Flash control register 3,                       Address offset: 0x80 */
+  __IO uint32_t SR;        /*!< NAND Flash FIFO status and interrupt register 3,     Address offset: 0x84 */
+  __IO uint32_t PMEM;      /*!< NAND Flash Common memory space timing register 3,    Address offset: 0x88 */
+  __IO uint32_t PATT;      /*!< NAND Flash Attribute memory space timing register 3, Address offset: 0x8C */
+  uint32_t      RESERVED;  /*!< Reserved, 0x90                                                            */
+  __IO uint32_t ECCR;      /*!< NAND Flash ECC result registers 3,                   Address offset: 0x94 */
+} FMC_Bank3_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller Bank5 and 6
+  */
+
+
+typedef struct
+{
+  __IO uint32_t SDCR[2];        /*!< SDRAM Control registers ,      Address offset: 0x140-0x144  */
+  __IO uint32_t SDTR[2];        /*!< SDRAM Timing registers ,       Address offset: 0x148-0x14C  */
+  __IO uint32_t SDCMR;       /*!< SDRAM Command Mode register,    Address offset: 0x150  */
+  __IO uint32_t SDRTR;       /*!< SDRAM Refresh Timer register,   Address offset: 0x154  */
+  __IO uint32_t SDSR;        /*!< SDRAM Status register,          Address offset: 0x158  */
+} FMC_Bank5_6_TypeDef;
+
+/**
+  * @brief General Purpose I/O
+  */
+
+typedef struct
+{
+  __IO uint32_t MODER;    /*!< GPIO port mode register,               Address offset: 0x00      */
+  __IO uint32_t OTYPER;   /*!< GPIO port output type register,        Address offset: 0x04      */
+  __IO uint32_t OSPEEDR;  /*!< GPIO port output speed register,       Address offset: 0x08      */
+  __IO uint32_t PUPDR;    /*!< GPIO port pull-up/pull-down register,  Address offset: 0x0C      */
+  __IO uint32_t IDR;      /*!< GPIO port input data register,         Address offset: 0x10      */
+  __IO uint32_t ODR;      /*!< GPIO port output data register,        Address offset: 0x14      */
+  __IO uint32_t BSRR;     /*!< GPIO port bit set/reset,               Address offset: 0x18      */
+  __IO uint32_t LCKR;     /*!< GPIO port configuration lock register, Address offset: 0x1C      */
+  __IO uint32_t AFR[2];   /*!< GPIO alternate function registers,     Address offset: 0x20-0x24 */
+} GPIO_TypeDef;
+
+/**
+  * @brief Operational Amplifier (OPAMP)
+  */
+
+typedef struct
+{
+  __IO uint32_t CSR;          /*!< OPAMP control/status register,                      Address offset: 0x00 */
+  __IO uint32_t OTR;          /*!< OPAMP offset trimming register for normal mode,     Address offset: 0x04 */
+  __IO uint32_t HSOTR;        /*!< OPAMP offset trimming register for high speed mode, Address offset: 0x08 */
+} OPAMP_TypeDef;
+
+/**
+  * @brief System configuration controller
+  */
+
+typedef struct
+{
+ uint32_t RESERVED1;           /*!< Reserved,                                           Address offset: 0x00        */
+ __IO uint32_t PMCR;           /*!< SYSCFG peripheral mode configuration register,      Address offset: 0x04        */
+ __IO uint32_t EXTICR[4];      /*!< SYSCFG external interrupt configuration registers,  Address offset: 0x08-0x14   */
+ __IO uint32_t CFGR;           /*!< SYSCFG configuration registers,                     Address offset: 0x18        */
+ uint32_t RESERVED2;           /*!< Reserved,                                           Address offset: 0x1C        */
+ __IO uint32_t CCCSR;          /*!< SYSCFG compensation cell control/status register,   Address offset: 0x20        */
+ __IO uint32_t CCVR;           /*!< SYSCFG compensation cell value register,            Address offset: 0x24        */
+ __IO uint32_t CCCR;           /*!< SYSCFG compensation cell code register,             Address offset: 0x28        */
+ uint32_t     RESERVED3;       /*!< Reserved,                                           Address offset: 0x2C        */
+ __IO uint32_t ADC2ALT;        /*!< ADC2 internal input alternate connection register,  Address offset: 0x30        */
+ uint32_t     RESERVED4[60];   /*!< Reserved, 0x34-0x120                                                            */
+  __IO uint32_t PKGR;          /*!< SYSCFG package register,                            Address offset: 0x124       */
+  uint32_t     RESERVED5[118]; /*!< Reserved, 0x128-0x2FC                                                           */
+ __IO uint32_t UR0;            /*!< SYSCFG user register 0,                             Address offset: 0x300       */
+ __IO uint32_t UR1;            /*!< SYSCFG user register 1,                             Address offset: 0x304       */
+ __IO uint32_t UR2;            /*!< SYSCFG user register 2,                             Address offset: 0x308       */
+ __IO uint32_t UR3;            /*!< SYSCFG user register 3,                             Address offset: 0x30C       */
+ __IO uint32_t UR4;            /*!< SYSCFG user register 4,                             Address offset: 0x310       */
+ __IO uint32_t UR5;            /*!< SYSCFG user register 5,                             Address offset: 0x314       */
+ __IO uint32_t UR6;            /*!< SYSCFG user register 6,                             Address offset: 0x318       */
+ __IO uint32_t UR7;            /*!< SYSCFG user register 7,                             Address offset: 0x31C       */
+ uint32_t     RESERVED6[3];    /*!< Reserved,                                           Address offset: 0x320-0x328 */
+ __IO uint32_t UR11;           /*!< SYSCFG user register 11,                            Address offset: 0x32C       */
+ __IO uint32_t UR12;           /*!< SYSCFG user register 12,                            Address offset: 0x330       */
+ __IO uint32_t UR13;           /*!< SYSCFG user register 13,                            Address offset: 0x334       */
+ __IO uint32_t UR14;           /*!< SYSCFG user register 14,                            Address offset: 0x338       */
+ __IO uint32_t UR15;           /*!< SYSCFG user register 15,                            Address offset: 0x33C       */
+ __IO uint32_t UR16;           /*!< SYSCFG user register 16,                            Address offset: 0x340       */
+ __IO uint32_t UR17;           /*!< SYSCFG user register 17,                            Address offset: 0x344       */
+ __IO uint32_t UR18;           /*!< SYSCFG user register 18,                            Address offset: 0x348       */
+
+} SYSCFG_TypeDef;
+
+/**
+  * @brief Inter-integrated Circuit Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;      /*!< I2C Control register 1,            Address offset: 0x00 */
+  __IO uint32_t CR2;      /*!< I2C Control register 2,            Address offset: 0x04 */
+  __IO uint32_t OAR1;     /*!< I2C Own address 1 register,        Address offset: 0x08 */
+  __IO uint32_t OAR2;     /*!< I2C Own address 2 register,        Address offset: 0x0C */
+  __IO uint32_t TIMINGR;  /*!< I2C Timing register,               Address offset: 0x10 */
+  __IO uint32_t TIMEOUTR; /*!< I2C Timeout register,              Address offset: 0x14 */
+  __IO uint32_t ISR;      /*!< I2C Interrupt and status register, Address offset: 0x18 */
+  __IO uint32_t ICR;      /*!< I2C Interrupt clear register,      Address offset: 0x1C */
+  __IO uint32_t PECR;     /*!< I2C PEC register,                  Address offset: 0x20 */
+  __IO uint32_t RXDR;     /*!< I2C Receive data register,         Address offset: 0x24 */
+  __IO uint32_t TXDR;     /*!< I2C Transmit data register,        Address offset: 0x28 */
+} I2C_TypeDef;
+
+/**
+  * @brief Independent WATCHDOG
+  */
+
+typedef struct
+{
+  __IO uint32_t KR;   /*!< IWDG Key register,       Address offset: 0x00 */
+  __IO uint32_t PR;   /*!< IWDG Prescaler register, Address offset: 0x04 */
+  __IO uint32_t RLR;  /*!< IWDG Reload register,    Address offset: 0x08 */
+  __IO uint32_t SR;   /*!< IWDG Status register,    Address offset: 0x0C */
+  __IO uint32_t WINR; /*!< IWDG Window register,    Address offset: 0x10 */
+} IWDG_TypeDef;
+
+
+/**
+  * @brief LCD-TFT Display Controller
+  */
+
+typedef struct
+{
+  uint32_t      RESERVED0[2];  /*!< Reserved, 0x00-0x04                                                       */
+  __IO uint32_t SSCR;          /*!< LTDC Synchronization Size Configuration Register,    Address offset: 0x08 */
+  __IO uint32_t BPCR;          /*!< LTDC Back Porch Configuration Register,              Address offset: 0x0C */
+  __IO uint32_t AWCR;          /*!< LTDC Active Width Configuration Register,            Address offset: 0x10 */
+  __IO uint32_t TWCR;          /*!< LTDC Total Width Configuration Register,             Address offset: 0x14 */
+  __IO uint32_t GCR;           /*!< LTDC Global Control Register,                        Address offset: 0x18 */
+  uint32_t      RESERVED1[2];  /*!< Reserved, 0x1C-0x20                                                       */
+  __IO uint32_t SRCR;          /*!< LTDC Shadow Reload Configuration Register,           Address offset: 0x24 */
+  uint32_t      RESERVED2[1];  /*!< Reserved, 0x28                                                            */
+  __IO uint32_t BCCR;          /*!< LTDC Background Color Configuration Register,        Address offset: 0x2C */
+  uint32_t      RESERVED3[1];  /*!< Reserved, 0x30                                                            */
+  __IO uint32_t IER;           /*!< LTDC Interrupt Enable Register,                      Address offset: 0x34 */
+  __IO uint32_t ISR;           /*!< LTDC Interrupt Status Register,                      Address offset: 0x38 */
+  __IO uint32_t ICR;           /*!< LTDC Interrupt Clear Register,                       Address offset: 0x3C */
+  __IO uint32_t LIPCR;         /*!< LTDC Line Interrupt Position Configuration Register, Address offset: 0x40 */
+  __IO uint32_t CPSR;          /*!< LTDC Current Position Status Register,               Address offset: 0x44 */
+  __IO uint32_t CDSR;         /*!< LTDC Current Display Status Register,                 Address offset: 0x48 */
+} LTDC_TypeDef;
+
+/**
+  * @brief LCD-TFT Display layer x Controller
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;            /*!< LTDC Layerx Control Register                                  Address offset: 0x84 */
+  __IO uint32_t WHPCR;         /*!< LTDC Layerx Window Horizontal Position Configuration Register Address offset: 0x88 */
+  __IO uint32_t WVPCR;         /*!< LTDC Layerx Window Vertical Position Configuration Register   Address offset: 0x8C */
+  __IO uint32_t CKCR;          /*!< LTDC Layerx Color Keying Configuration Register               Address offset: 0x90 */
+  __IO uint32_t PFCR;          /*!< LTDC Layerx Pixel Format Configuration Register               Address offset: 0x94 */
+  __IO uint32_t CACR;          /*!< LTDC Layerx Constant Alpha Configuration Register             Address offset: 0x98 */
+  __IO uint32_t DCCR;          /*!< LTDC Layerx Default Color Configuration Register              Address offset: 0x9C */
+  __IO uint32_t BFCR;          /*!< LTDC Layerx Blending Factors Configuration Register           Address offset: 0xA0 */
+  uint32_t      RESERVED0[2];  /*!< Reserved */
+  __IO uint32_t CFBAR;         /*!< LTDC Layerx Color Frame Buffer Address Register               Address offset: 0xAC */
+  __IO uint32_t CFBLR;         /*!< LTDC Layerx Color Frame Buffer Length Register                Address offset: 0xB0 */
+  __IO uint32_t CFBLNR;        /*!< LTDC Layerx ColorFrame Buffer Line Number Register            Address offset: 0xB4 */
+  uint32_t      RESERVED1[3];  /*!< Reserved */
+  __IO uint32_t CLUTWR;         /*!< LTDC Layerx CLUT Write Register                               Address offset: 0x144 */
+
+} LTDC_Layer_TypeDef;
+
+/**
+  * @brief Power Control
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;       /*!< PWR power control register 1,            Address offset: 0x00 */
+  __IO uint32_t CSR1;      /*!< PWR power control status register 1,     Address offset: 0x04 */
+  __IO uint32_t CR2;       /*!< PWR power control register 2,            Address offset: 0x08 */
+  __IO uint32_t CR3;       /*!< PWR power control register 3,            Address offset: 0x0C */
+  __IO uint32_t CPUCR;     /*!< PWR CPU control register,                Address offset: 0x10 */
+       uint32_t RESERVED0; /*!< Reserved,                                Address offset: 0x14 */
+  __IO uint32_t D3CR;      /*!< PWR D3 domain control register,          Address offset: 0x18 */
+       uint32_t RESERVED1; /*!< Reserved,                                Address offset: 0x1C */
+  __IO uint32_t WKUPCR;    /*!< PWR wakeup clear register,               Address offset: 0x20 */
+  __IO uint32_t WKUPFR;    /*!< PWR wakeup flag register,                Address offset: 0x24 */
+  __IO uint32_t WKUPEPR;   /*!< PWR wakeup enable and polarity register, Address offset: 0x28 */
+} PWR_TypeDef;
+
+/**
+  * @brief Reset and Clock Control
+  */
+
+typedef struct
+{
+ __IO uint32_t CR;             /*!< RCC clock control register,                                              Address offset: 0x00  */
+ __IO uint32_t HSICFGR;        /*!< HSI Clock Calibration Register,                                          Address offset: 0x04  */
+ __IO uint32_t CRRCR;          /*!< Clock Recovery RC  Register,                                             Address offset: 0x08  */
+ __IO uint32_t CSICFGR;        /*!< CSI Clock Calibration Register,                                          Address offset: 0x0C  */
+ __IO uint32_t CFGR;           /*!< RCC clock configuration register,                                        Address offset: 0x10  */
+ uint32_t     RESERVED1;       /*!< Reserved,                                                                Address offset: 0x14  */
+ __IO uint32_t D1CFGR;         /*!< RCC Domain 1 configuration register,                                     Address offset: 0x18  */
+ __IO uint32_t D2CFGR;         /*!< RCC Domain 2 configuration register,                                     Address offset: 0x1C  */
+ __IO uint32_t D3CFGR;         /*!< RCC Domain 3 configuration register,                                     Address offset: 0x20  */
+ uint32_t     RESERVED2;       /*!< Reserved,                                                                Address offset: 0x24  */
+ __IO uint32_t PLLCKSELR;      /*!< RCC PLLs Clock Source Selection Register,                                Address offset: 0x28  */
+ __IO uint32_t PLLCFGR;        /*!< RCC PLLs  Configuration Register,                                        Address offset: 0x2C  */
+ __IO uint32_t PLL1DIVR;       /*!< RCC PLL1 Dividers Configuration Register,                                Address offset: 0x30  */
+ __IO uint32_t PLL1FRACR;      /*!< RCC PLL1 Fractional Divider Configuration Register,                      Address offset: 0x34  */
+ __IO uint32_t PLL2DIVR;       /*!< RCC PLL2 Dividers Configuration Register,                                Address offset: 0x38  */
+ __IO uint32_t PLL2FRACR;      /*!< RCC PLL2 Fractional Divider Configuration Register,                      Address offset: 0x3C  */
+ __IO uint32_t PLL3DIVR;       /*!< RCC PLL3 Dividers Configuration Register,                                Address offset: 0x40  */
+ __IO uint32_t PLL3FRACR;      /*!< RCC PLL3 Fractional Divider Configuration Register,                      Address offset: 0x44  */
+ uint32_t      RESERVED3;      /*!< Reserved,                                                                Address offset: 0x48  */
+ __IO uint32_t  D1CCIPR;       /*!< RCC Domain 1 Kernel Clock Configuration Register                         Address offset: 0x4C  */
+ __IO uint32_t  D2CCIP1R;      /*!< RCC Domain 2 Kernel Clock Configuration Register                         Address offset: 0x50  */
+ __IO uint32_t  D2CCIP2R;      /*!< RCC Domain 2 Kernel Clock Configuration Register                         Address offset: 0x54  */
+ __IO uint32_t  D3CCIPR;       /*!< RCC Domain 3 Kernel Clock Configuration Register                         Address offset: 0x58  */
+ uint32_t      RESERVED4;      /*!< Reserved,                                                                Address offset: 0x5C  */
+ __IO uint32_t  CIER;          /*!< RCC Clock Source Interrupt Enable Register                               Address offset: 0x60  */
+ __IO uint32_t  CIFR;          /*!< RCC Clock Source Interrupt Flag Register                                 Address offset: 0x64  */
+ __IO uint32_t  CICR;          /*!< RCC Clock Source Interrupt Clear Register                                Address offset: 0x68  */
+ uint32_t     RESERVED5;       /*!< Reserved,                                                                Address offset: 0x6C  */
+ __IO uint32_t  BDCR;          /*!< RCC Vswitch Backup Domain Control Register,                              Address offset: 0x70  */
+ __IO uint32_t  CSR;           /*!< RCC clock control & status register,                                     Address offset: 0x74  */
+ uint32_t     RESERVED6;       /*!< Reserved,                                                                Address offset: 0x78  */
+ __IO uint32_t AHB3RSTR;       /*!< RCC AHB3 peripheral reset register,                                      Address offset: 0x7C  */
+ __IO uint32_t AHB1RSTR;       /*!< RCC AHB1 peripheral reset register,                                      Address offset: 0x80  */
+ __IO uint32_t AHB2RSTR;       /*!< RCC AHB2 peripheral reset register,                                      Address offset: 0x84  */
+ __IO uint32_t AHB4RSTR;       /*!< RCC AHB4 peripheral reset register,                                      Address offset: 0x88  */
+ __IO uint32_t APB3RSTR;       /*!< RCC APB3 peripheral reset register,                                      Address offset: 0x8C  */
+ __IO uint32_t APB1LRSTR;      /*!< RCC APB1 peripheral reset Low Word register,                             Address offset: 0x90  */
+ __IO uint32_t APB1HRSTR;      /*!< RCC APB1 peripheral reset High Word register,                            Address offset: 0x94  */
+ __IO uint32_t APB2RSTR;       /*!< RCC APB2 peripheral reset register,                                      Address offset: 0x98  */
+ __IO uint32_t APB4RSTR;       /*!< RCC APB4 peripheral reset register,                                      Address offset: 0x9C  */
+ __IO uint32_t GCR;            /*!< RCC RCC Global Control  Register,                                        Address offset: 0xA0  */
+ uint32_t     RESERVED8;       /*!< Reserved,                                                                Address offset: 0xA4  */
+ __IO uint32_t D3AMR;          /*!< RCC Domain 3 Autonomous Mode Register,                                   Address offset: 0xA8  */
+ uint32_t     RESERVED11[9];    /*!< Reserved, 0xAC-0xCC                                                      Address offset: 0xAC  */
+ __IO uint32_t RSR;            /*!< RCC Reset status register,                                               Address offset: 0xD0  */
+ __IO uint32_t AHB3ENR;        /*!< RCC AHB3 peripheral clock  register,                                     Address offset: 0xD4  */
+ __IO uint32_t AHB1ENR;        /*!< RCC AHB1 peripheral clock  register,                                     Address offset: 0xD8  */
+ __IO uint32_t AHB2ENR;        /*!< RCC AHB2 peripheral clock  register,                                     Address offset: 0xDC  */
+ __IO uint32_t AHB4ENR;        /*!< RCC AHB4 peripheral clock  register,                                     Address offset: 0xE0  */
+ __IO uint32_t APB3ENR;        /*!< RCC APB3 peripheral clock  register,                                     Address offset: 0xE4  */
+ __IO uint32_t APB1LENR;       /*!< RCC APB1 peripheral clock  Low Word register,                            Address offset: 0xE8  */
+ __IO uint32_t APB1HENR;       /*!< RCC APB1 peripheral clock  High Word register,                           Address offset: 0xEC  */
+ __IO uint32_t APB2ENR;        /*!< RCC APB2 peripheral clock  register,                                     Address offset: 0xF0  */
+ __IO uint32_t APB4ENR;        /*!< RCC APB4 peripheral clock  register,                                     Address offset: 0xF4  */
+ uint32_t      RESERVED12;      /*!< Reserved,                                                                Address offset: 0xF8  */
+ __IO uint32_t AHB3LPENR;      /*!< RCC AHB3 peripheral sleep clock  register,                               Address offset: 0xFC  */
+ __IO uint32_t AHB1LPENR;      /*!< RCC AHB1 peripheral sleep clock  register,                               Address offset: 0x100 */
+ __IO uint32_t AHB2LPENR;      /*!< RCC AHB2 peripheral sleep clock  register,                               Address offset: 0x104 */
+ __IO uint32_t AHB4LPENR;      /*!< RCC AHB4 peripheral sleep clock  register,                               Address offset: 0x108 */
+ __IO uint32_t APB3LPENR;      /*!< RCC APB3 peripheral sleep clock  register,                               Address offset: 0x10C */
+ __IO uint32_t APB1LLPENR;     /*!< RCC APB1 peripheral sleep clock  Low Word register,                      Address offset: 0x110 */
+ __IO uint32_t APB1HLPENR;     /*!< RCC APB1 peripheral sleep clock  High Word register,                     Address offset: 0x114 */
+ __IO uint32_t APB2LPENR;      /*!< RCC APB2 peripheral sleep clock  register,                               Address offset: 0x118 */
+ __IO uint32_t APB4LPENR;      /*!< RCC APB4 peripheral sleep clock  register,                               Address offset: 0x11C */
+ uint32_t     RESERVED13[4];   /*!< Reserved, 0x120-0x12C                                                    Address offset: 0x120 */
+
+} RCC_TypeDef;
+
+
+/**
+  * @brief Real-Time Clock
+  */
+typedef struct
+{
+  __IO uint32_t TR;         /*!< RTC time register,                                         Address offset: 0x00 */
+  __IO uint32_t DR;         /*!< RTC date register,                                         Address offset: 0x04 */
+  __IO uint32_t CR;         /*!< RTC control register,                                      Address offset: 0x08 */
+  __IO uint32_t ISR;        /*!< RTC initialization and status register,                    Address offset: 0x0C */
+  __IO uint32_t PRER;       /*!< RTC prescaler register,                                    Address offset: 0x10 */
+  __IO uint32_t WUTR;       /*!< RTC wakeup timer register,                                 Address offset: 0x14 */
+       uint32_t RESERVED;   /*!< Reserved,                                                  Address offset: 0x18 */
+  __IO uint32_t ALRMAR;     /*!< RTC alarm A register,                                      Address offset: 0x1C */
+  __IO uint32_t ALRMBR;     /*!< RTC alarm B register,                                      Address offset: 0x20 */
+  __IO uint32_t WPR;        /*!< RTC write protection register,                             Address offset: 0x24 */
+  __IO uint32_t SSR;        /*!< RTC sub second register,                                   Address offset: 0x28 */
+  __IO uint32_t SHIFTR;     /*!< RTC shift control register,                                Address offset: 0x2C */
+  __IO uint32_t TSTR;       /*!< RTC time stamp time register,                              Address offset: 0x30 */
+  __IO uint32_t TSDR;       /*!< RTC time stamp date register,                              Address offset: 0x34 */
+  __IO uint32_t TSSSR;      /*!< RTC time-stamp sub second register,                        Address offset: 0x38 */
+  __IO uint32_t CALR;       /*!< RTC calibration register,                                  Address offset: 0x3C */
+  __IO uint32_t TAMPCR;     /*!< RTC tamper configuration register,                         Address offset: 0x40 */
+  __IO uint32_t ALRMASSR;   /*!< RTC alarm A sub second register,                           Address offset: 0x44 */
+  __IO uint32_t ALRMBSSR;   /*!< RTC alarm B sub second register,                           Address offset: 0x48 */
+  __IO uint32_t OR;         /*!< RTC option register,                                       Address offset: 0x4C */
+  __IO uint32_t BKP0R;      /*!< RTC backup register 0,                                     Address offset: 0x50 */
+  __IO uint32_t BKP1R;      /*!< RTC backup register 1,                                     Address offset: 0x54 */
+  __IO uint32_t BKP2R;      /*!< RTC backup register 2,                                     Address offset: 0x58 */
+  __IO uint32_t BKP3R;      /*!< RTC backup register 3,                                     Address offset: 0x5C */
+  __IO uint32_t BKP4R;      /*!< RTC backup register 4,                                     Address offset: 0x60 */
+  __IO uint32_t BKP5R;      /*!< RTC backup register 5,                                     Address offset: 0x64 */
+  __IO uint32_t BKP6R;      /*!< RTC backup register 6,                                     Address offset: 0x68 */
+  __IO uint32_t BKP7R;      /*!< RTC backup register 7,                                     Address offset: 0x6C */
+  __IO uint32_t BKP8R;      /*!< RTC backup register 8,                                     Address offset: 0x70 */
+  __IO uint32_t BKP9R;      /*!< RTC backup register 9,                                     Address offset: 0x74 */
+  __IO uint32_t BKP10R;     /*!< RTC backup register 10,                                    Address offset: 0x78 */
+  __IO uint32_t BKP11R;     /*!< RTC backup register 11,                                    Address offset: 0x7C */
+  __IO uint32_t BKP12R;     /*!< RTC backup register 12,                                    Address offset: 0x80 */
+  __IO uint32_t BKP13R;     /*!< RTC backup register 13,                                    Address offset: 0x84 */
+  __IO uint32_t BKP14R;     /*!< RTC backup register 14,                                    Address offset: 0x88 */
+  __IO uint32_t BKP15R;     /*!< RTC backup register 15,                                    Address offset: 0x8C */
+  __IO uint32_t BKP16R;     /*!< RTC backup register 16,                                    Address offset: 0x90 */
+  __IO uint32_t BKP17R;     /*!< RTC backup register 17,                                    Address offset: 0x94 */
+  __IO uint32_t BKP18R;     /*!< RTC backup register 18,                                    Address offset: 0x98 */
+  __IO uint32_t BKP19R;     /*!< RTC backup register 19,                                    Address offset: 0x9C */
+  __IO uint32_t BKP20R;     /*!< RTC backup register 20,                                    Address offset: 0xA0 */
+  __IO uint32_t BKP21R;     /*!< RTC backup register 21,                                    Address offset: 0xA4 */
+  __IO uint32_t BKP22R;     /*!< RTC backup register 22,                                    Address offset: 0xA8 */
+  __IO uint32_t BKP23R;     /*!< RTC backup register 23,                                    Address offset: 0xAC */
+  __IO uint32_t BKP24R;     /*!< RTC backup register 24,                                    Address offset: 0xB0 */
+  __IO uint32_t BKP25R;     /*!< RTC backup register 25,                                    Address offset: 0xB4 */
+  __IO uint32_t BKP26R;     /*!< RTC backup register 26,                                    Address offset: 0xB8 */
+  __IO uint32_t BKP27R;     /*!< RTC backup register 27,                                    Address offset: 0xBC */
+  __IO uint32_t BKP28R;     /*!< RTC backup register 28,                                    Address offset: 0xC0 */
+  __IO uint32_t BKP29R;     /*!< RTC backup register 29,                                    Address offset: 0xC4 */
+  __IO uint32_t BKP30R;     /*!< RTC backup register 30,                                    Address offset: 0xC8 */
+  __IO uint32_t BKP31R;     /*!< RTC backup register 31,                                    Address offset: 0xCC */
+} RTC_TypeDef;
+
+/**
+  * @brief Serial Audio Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t GCR;           /*!< SAI global configuration register, Address offset: 0x00 */
+  uint32_t      RESERVED0[16]; /*!< Reserved, 0x04 - 0x43                                   */
+  __IO uint32_t PDMCR;         /*!< SAI PDM control register,          Address offset: 0x44 */
+  __IO uint32_t PDMDLY;        /*!< SAI PDM delay register,            Address offset: 0x48 */
+} SAI_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CR1;      /*!< SAI block x configuration register 1,     Address offset: 0x04 */
+  __IO uint32_t CR2;      /*!< SAI block x configuration register 2,     Address offset: 0x08 */
+  __IO uint32_t FRCR;     /*!< SAI block x frame configuration register, Address offset: 0x0C */
+  __IO uint32_t SLOTR;    /*!< SAI block x slot register,                Address offset: 0x10 */
+  __IO uint32_t IMR;      /*!< SAI block x interrupt mask register,      Address offset: 0x14 */
+  __IO uint32_t SR;       /*!< SAI block x status register,              Address offset: 0x18 */
+  __IO uint32_t CLRFR;    /*!< SAI block x clear flag register,          Address offset: 0x1C */
+  __IO uint32_t DR;       /*!< SAI block x data register,                Address offset: 0x20 */
+} SAI_Block_TypeDef;
+
+/**
+  * @brief SPDIF-RX Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t   CR;           /*!< Control register,                   Address offset: 0x00 */
+  __IO uint32_t   IMR;          /*!< Interrupt mask register,            Address offset: 0x04 */
+  __IO uint32_t   SR;           /*!< Status register,                    Address offset: 0x08 */
+  __IO uint32_t   IFCR;         /*!< Interrupt Flag Clear register,      Address offset: 0x0C */
+  __IO uint32_t   DR;           /*!< Data input register,                Address offset: 0x10 */
+  __IO uint32_t   CSR;          /*!< Channel Status register,            Address offset: 0x14 */
+  __IO uint32_t   DIR;          /*!< Debug Information register,         Address offset: 0x18 */
+  uint32_t        RESERVED2;    /*!< Reserved,  0x1A                                          */
+} SPDIFRX_TypeDef;
+
+
+/**
+  * @brief Secure digital input/output Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t POWER;          /*!< SDMMC power control register,             Address offset: 0x00  */
+  __IO uint32_t CLKCR;          /*!< SDMMC clock control register,             Address offset: 0x04  */
+  __IO uint32_t ARG;            /*!< SDMMC argument register,                  Address offset: 0x08  */
+  __IO uint32_t CMD;            /*!< SDMMC command register,                   Address offset: 0x0C  */
+  __I uint32_t  RESPCMD;        /*!< SDMMC command response register,          Address offset: 0x10  */
+  __I uint32_t  RESP1;          /*!< SDMMC response 1 register,                Address offset: 0x14  */
+  __I uint32_t  RESP2;          /*!< SDMMC response 2 register,                Address offset: 0x18  */
+  __I uint32_t  RESP3;          /*!< SDMMC response 3 register,                Address offset: 0x1C  */
+  __I uint32_t  RESP4;          /*!< SDMMC response 4 register,                Address offset: 0x20  */
+  __IO uint32_t DTIMER;         /*!< SDMMC data timer register,                Address offset: 0x24  */
+  __IO uint32_t DLEN;           /*!< SDMMC data length register,               Address offset: 0x28  */
+  __IO uint32_t DCTRL;          /*!< SDMMC data control register,              Address offset: 0x2C  */
+  __I uint32_t  DCOUNT;         /*!< SDMMC data counter register,              Address offset: 0x30  */
+  __I uint32_t  STA;            /*!< SDMMC status register,                    Address offset: 0x34  */
+  __IO uint32_t ICR;            /*!< SDMMC interrupt clear register,           Address offset: 0x38  */
+  __IO uint32_t MASK;           /*!< SDMMC mask register,                      Address offset: 0x3C  */
+  __IO uint32_t ACKTIME;        /*!< SDMMC Acknowledgement timer register,     Address offset: 0x40  */
+  uint32_t      RESERVED0[3];   /*!< Reserved, 0x44 - 0x4C - 0x4C                                    */
+  __IO uint32_t IDMACTRL;       /*!< SDMMC DMA control register,               Address offset: 0x50  */
+  __IO uint32_t IDMABSIZE;      /*!< SDMMC DMA buffer size register,           Address offset: 0x54  */
+  __IO uint32_t IDMABASE0;      /*!< SDMMC DMA buffer 0 base address register, Address offset: 0x58  */
+  __IO uint32_t IDMABASE1;      /*!< SDMMC DMA buffer 1 base address register, Address offset: 0x5C  */
+  uint32_t      RESERVED1[8];   /*!< Reserved, 0x60-0x7C                                             */
+  __IO uint32_t FIFO;           /*!< SDMMC data FIFO register,                 Address offset: 0x80  */
+  uint32_t      RESERVED2[222]; /*!< Reserved, 0x84-0x3F8                                            */
+  __IO uint32_t IPVR;           /*!< SDMMC data FIFO register,                 Address offset: 0x3FC */
+} SDMMC_TypeDef;
+
+
+/**
+  * @brief Delay Block DLYB
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;          /*!< DELAY BLOCK control register,  Address offset: 0x00 */
+  __IO uint32_t CFGR;        /*!< DELAY BLOCK configuration register,  Address offset: 0x04 */
+} DLYB_TypeDef;
+
+/**
+  * @brief HW Semaphore HSEM
+  */
+
+typedef struct
+{
+  __IO uint32_t R[32];      /*!< 2-step write lock and read back registers,     Address offset: 00h-7Ch  */
+  __IO uint32_t RLR[32];    /*!< 1-step read lock registers,                    Address offset: 80h-FCh  */
+  __IO uint32_t C1IER;      /*!< HSEM Interrupt enable register ,             Address offset: 100h     */
+  __IO uint32_t C1ICR;      /*!< HSEM Interrupt clear register ,              Address offset: 104h     */
+  __IO uint32_t C1ISR;      /*!< HSEM Interrupt Status register ,             Address offset: 108h     */
+  __IO uint32_t C1MISR;     /*!< HSEM Interrupt Masked Status register ,      Address offset: 10Ch     */
+  uint32_t  Reserved[12];   /* Reserved                                       Address offset: 110h-13Ch  */
+  __IO uint32_t CR;         /*!< HSEM Semaphore clear register ,                Address offset: 140h      */
+  __IO uint32_t KEYR;       /*!< HSEM Semaphore clear key register ,            Address offset: 144h      */
+
+} HSEM_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t IER;        /*!< HSEM interrupt enable register ,                Address offset:   0h     */
+  __IO uint32_t ICR;        /*!< HSEM interrupt clear register ,                 Address offset:   4h     */
+  __IO uint32_t ISR;        /*!< HSEM interrupt status register ,                Address offset:   8h     */
+  __IO uint32_t MISR;       /*!< HSEM masked interrupt status register ,         Address offset:   Ch     */
+} HSEM_Common_TypeDef;
+
+/**
+  * @brief Serial Peripheral Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;           /*!< SPI/I2S Control register 1,                      Address offset: 0x00 */
+  __IO uint32_t CR2;           /*!< SPI Control register 2,                          Address offset: 0x04 */
+  __IO uint32_t CFG1;          /*!< SPI Configuration register 1,                    Address offset: 0x08 */
+  __IO uint32_t CFG2;          /*!< SPI Configuration register 2,                    Address offset: 0x0C */
+  __IO uint32_t IER;           /*!< SPI/I2S Interrupt Enable register,               Address offset: 0x10 */
+  __IO uint32_t SR;            /*!< SPI/I2S Status register,                         Address offset: 0x14 */
+  __IO uint32_t IFCR;          /*!< SPI/I2S Interrupt/Status flags clear register,   Address offset: 0x18 */
+  uint32_t      RESERVED0;     /*!< Reserved, 0x1C                                                        */
+  __IO uint32_t TXDR;          /*!< SPI/I2S Transmit data register,                  Address offset: 0x20 */
+  uint32_t      RESERVED1[3];  /*!< Reserved, 0x24-0x2C                                                   */
+  __IO uint32_t RXDR;          /*!< SPI/I2S Receive data register,                   Address offset: 0x30 */
+  uint32_t      RESERVED2[3];  /*!< Reserved, 0x34-0x3C                                                   */
+  __IO uint32_t CRCPOLY;       /*!< SPI CRC Polynomial register,                     Address offset: 0x40 */
+  __IO uint32_t TXCRC;         /*!< SPI Transmitter CRC register,                    Address offset: 0x44 */
+  __IO uint32_t RXCRC;         /*!< SPI Receiver CRC register,                       Address offset: 0x48 */
+  __IO uint32_t UDRDR;         /*!< SPI Underrun data register,                      Address offset: 0x4C */
+  __IO uint32_t I2SCFGR;       /*!< I2S Configuration register,                      Address offset: 0x50 */
+
+} SPI_TypeDef;
+
+/**
+  * @brief DTS
+  */
+typedef struct
+{
+  __IO uint32_t CFGR1;         /*!< DTS configuration register,                Address offset: 0x00 */
+  uint32_t RESERVED0;          /*!< Reserved,                                  Address offset: 0x04 */
+  __IO uint32_t T0VALR1;       /*!< DTS T0 Value register,                     Address offset: 0x08 */
+  uint32_t RESERVED1;          /*!< Reserved,                                  Address offset: 0x0C */
+  __IO uint32_t RAMPVALR;      /*!< DTS Ramp value register,                   Address offset: 0x10 */
+  __IO uint32_t ITR1;          /*!< DTS Interrupt threshold register,          Address offset: 0x14 */
+  uint32_t RESERVED2;          /*!< Reserved,                                  Address offset: 0x18 */
+  __IO uint32_t DR;            /*!< DTS data register,                         Address offset: 0x1C */
+  __IO uint32_t SR;            /*!< DTS status register                        Address offset: 0x20 */
+  __IO uint32_t ITENR;         /*!< DTS Interrupt enable register,             Address offset: 0x24 */
+  __IO uint32_t ICIFR;         /*!< DTS Clear Interrupt flag register,         Address offset: 0x28 */
+  __IO uint32_t OR;            /*!< DTS option register 1,                     Address offset: 0x2C */
+}
+DTS_TypeDef;
+
+/**
+  * @brief TIM
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;         /*!< TIM control register 1,                   Address offset: 0x00 */
+  __IO uint32_t CR2;         /*!< TIM control register 2,                   Address offset: 0x04 */
+  __IO uint32_t SMCR;        /*!< TIM slave mode control register,          Address offset: 0x08 */
+  __IO uint32_t DIER;        /*!< TIM DMA/interrupt enable register,        Address offset: 0x0C */
+  __IO uint32_t SR;          /*!< TIM status register,                      Address offset: 0x10 */
+  __IO uint32_t EGR;         /*!< TIM event generation register,            Address offset: 0x14 */
+  __IO uint32_t CCMR1;       /*!< TIM capture/compare mode register 1,      Address offset: 0x18 */
+  __IO uint32_t CCMR2;       /*!< TIM capture/compare mode register 2,      Address offset: 0x1C */
+  __IO uint32_t CCER;        /*!< TIM capture/compare enable register,      Address offset: 0x20 */
+  __IO uint32_t CNT;         /*!< TIM counter register,                     Address offset: 0x24 */
+  __IO uint32_t PSC;         /*!< TIM prescaler,                            Address offset: 0x28 */
+  __IO uint32_t ARR;         /*!< TIM auto-reload register,                 Address offset: 0x2C */
+  __IO uint32_t RCR;         /*!< TIM repetition counter register,          Address offset: 0x30 */
+  __IO uint32_t CCR1;        /*!< TIM capture/compare register 1,           Address offset: 0x34 */
+  __IO uint32_t CCR2;        /*!< TIM capture/compare register 2,           Address offset: 0x38 */
+  __IO uint32_t CCR3;        /*!< TIM capture/compare register 3,           Address offset: 0x3C */
+  __IO uint32_t CCR4;        /*!< TIM capture/compare register 4,           Address offset: 0x40 */
+  __IO uint32_t BDTR;        /*!< TIM break and dead-time register,         Address offset: 0x44 */
+  __IO uint32_t DCR;         /*!< TIM DMA control register,                 Address offset: 0x48 */
+  __IO uint32_t DMAR;        /*!< TIM DMA address for full transfer,        Address offset: 0x4C */
+  uint32_t      RESERVED1;   /*!< Reserved, 0x50                                                 */
+  __IO uint32_t CCMR3;       /*!< TIM capture/compare mode register 3,      Address offset: 0x54 */
+  __IO uint32_t CCR5;        /*!< TIM capture/compare register5,            Address offset: 0x58 */
+  __IO uint32_t CCR6;        /*!< TIM capture/compare register6,            Address offset: 0x5C */
+  __IO uint32_t AF1;         /*!< TIM alternate function option register 1, Address offset: 0x60 */
+  __IO uint32_t AF2;         /*!< TIM alternate function option register 2, Address offset: 0x64 */
+  __IO uint32_t TISEL;       /*!< TIM Input Selection register,             Address offset: 0x68 */
+} TIM_TypeDef;
+
+/**
+  * @brief LPTIMIMER
+  */
+typedef struct
+{
+  __IO uint32_t ISR;      /*!< LPTIM Interrupt and Status register,         Address offset: 0x00 */
+  __IO uint32_t ICR;      /*!< LPTIM Interrupt Clear register,              Address offset: 0x04 */
+  __IO uint32_t IER;      /*!< LPTIM Interrupt Enable register,             Address offset: 0x08 */
+  __IO uint32_t CFGR;     /*!< LPTIM Configuration register,                Address offset: 0x0C */
+  __IO uint32_t CR;       /*!< LPTIM Control register,                      Address offset: 0x10 */
+  __IO uint32_t CMP;      /*!< LPTIM Compare register,                      Address offset: 0x14 */
+  __IO uint32_t ARR;      /*!< LPTIM Autoreload register,                   Address offset: 0x18 */
+  __IO uint32_t CNT;      /*!< LPTIM Counter register,                      Address offset: 0x1C */
+  uint32_t  RESERVED1;    /*!< Reserved, 0x20                                                    */
+  __IO uint32_t CFGR2;    /*!< LPTIM Configuration register,                Address offset: 0x24 */
+} LPTIM_TypeDef;
+
+/**
+  * @brief Comparator
+  */
+typedef struct
+{
+  __IO uint32_t SR;        /*!< Comparator status register,                    Address offset: 0x00 */
+  __IO uint32_t ICFR;      /*!< Comparator interrupt clear flag register,       Address offset: 0x04 */
+  __IO uint32_t OR;        /*!< Comparator option register,                  Address offset: 0x08 */
+} COMPOPT_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CFGR;      /*!< Comparator configuration register  ,           Address offset: 0x00 */
+} COMP_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CFGR;       /*!< COMP control and status register, used for bits common to several COMP instances, Address offset: 0x00 */
+} COMP_Common_TypeDef;
+/**
+  * @brief Universal Synchronous Asynchronous Receiver Transmitter
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;    /*!< USART Control register 1,                 Address offset: 0x00 */
+  __IO uint32_t CR2;    /*!< USART Control register 2,                 Address offset: 0x04 */
+  __IO uint32_t CR3;    /*!< USART Control register 3,                 Address offset: 0x08 */
+  __IO uint32_t BRR;    /*!< USART Baud rate register,                 Address offset: 0x0C */
+  __IO uint32_t GTPR;   /*!< USART Guard time and prescaler register,  Address offset: 0x10 */
+  __IO uint32_t RTOR;   /*!< USART Receiver Time Out register,         Address offset: 0x14 */
+  __IO uint32_t RQR;    /*!< USART Request register,                   Address offset: 0x18 */
+  __IO uint32_t ISR;    /*!< USART Interrupt and status register,      Address offset: 0x1C */
+  __IO uint32_t ICR;    /*!< USART Interrupt flag Clear register,      Address offset: 0x20 */
+  __IO uint32_t RDR;    /*!< USART Receive Data register,              Address offset: 0x24 */
+  __IO uint32_t TDR;    /*!< USART Transmit Data register,             Address offset: 0x28 */
+  __IO uint32_t PRESC;  /*!< USART clock Prescaler register,           Address offset: 0x2C */
+} USART_TypeDef;
+
+/**
+  * @brief Single Wire Protocol Master Interface SPWMI
+  */
+typedef struct
+{
+  __IO uint32_t CR;          /*!< SWPMI Configuration/Control register,     Address offset: 0x00 */
+  __IO uint32_t BRR;         /*!< SWPMI bitrate register,                   Address offset: 0x04 */
+    uint32_t  RESERVED1;     /*!< Reserved, 0x08                                                 */
+  __IO uint32_t ISR;         /*!< SWPMI Interrupt and Status register,      Address offset: 0x0C */
+  __IO uint32_t ICR;         /*!< SWPMI Interrupt Flag Clear register,      Address offset: 0x10 */
+  __IO uint32_t IER;         /*!< SWPMI Interrupt Enable register,          Address offset: 0x14 */
+  __IO uint32_t RFL;         /*!< SWPMI Receive Frame Length register,      Address offset: 0x18 */
+  __IO uint32_t TDR;         /*!< SWPMI Transmit data register,             Address offset: 0x1C */
+  __IO uint32_t RDR;         /*!< SWPMI Receive data register,              Address offset: 0x20 */
+  __IO uint32_t OR;          /*!< SWPMI Option register,                    Address offset: 0x24 */
+} SWPMI_TypeDef;
+
+/**
+  * @brief Window WATCHDOG
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;   /*!< WWDG Control register,       Address offset: 0x00 */
+  __IO uint32_t CFR;  /*!< WWDG Configuration register, Address offset: 0x04 */
+  __IO uint32_t SR;   /*!< WWDG Status register,        Address offset: 0x08 */
+} WWDG_TypeDef;
+
+
+/**
+  * @brief RAM_ECC_Specific_Registers
+  */
+typedef struct
+{
+  __IO uint32_t CR;           /*!< RAMECC monitor configuration register          */
+  __IO uint32_t SR;           /*!< RAMECC monitor status register                 */
+  __IO uint32_t FAR;          /*!< RAMECC monitor failing address register        */
+  __IO uint32_t FDRL;         /*!< RAMECC monitor failing data low register       */
+  __IO uint32_t FDRH;         /*!< RAMECC monitor failing data high register      */
+  __IO uint32_t FECR;         /*!< RAMECC monitor failing ECC error code register */
+} RAMECC_MonitorTypeDef;
+
+typedef struct
+{
+  __IO uint32_t IER;          /*!< RAMECC interrupt enable register */
+} RAMECC_TypeDef;
+/**
+  * @}
+  */
+
+
+/**
+  * @brief Crypto Processor
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;         /*!< CRYP control register,                                    Address offset: 0x00 */
+  __IO uint32_t SR;         /*!< CRYP status register,                                     Address offset: 0x04 */
+  __IO uint32_t DIN;         /*!< CRYP data input register,                                Address offset: 0x08 */
+  __IO uint32_t DOUT;       /*!< CRYP data output register,                                Address offset: 0x0C */
+  __IO uint32_t DMACR;      /*!< CRYP DMA control register,                                Address offset: 0x10 */
+  __IO uint32_t IMSCR;      /*!< CRYP interrupt mask set/clear register,                   Address offset: 0x14 */
+  __IO uint32_t RISR;       /*!< CRYP raw interrupt status register,                       Address offset: 0x18 */
+  __IO uint32_t MISR;       /*!< CRYP masked interrupt status register,                    Address offset: 0x1C */
+  __IO uint32_t K0LR;       /*!< CRYP key left  register 0,                                Address offset: 0x20 */
+  __IO uint32_t K0RR;       /*!< CRYP key right register 0,                                Address offset: 0x24 */
+  __IO uint32_t K1LR;       /*!< CRYP key left  register 1,                                Address offset: 0x28 */
+  __IO uint32_t K1RR;       /*!< CRYP key right register 1,                                Address offset: 0x2C */
+  __IO uint32_t K2LR;       /*!< CRYP key left  register 2,                                Address offset: 0x30 */
+  __IO uint32_t K2RR;       /*!< CRYP key right register 2,                                Address offset: 0x34 */
+  __IO uint32_t K3LR;       /*!< CRYP key left  register 3,                                Address offset: 0x38 */
+  __IO uint32_t K3RR;       /*!< CRYP key right register 3,                                Address offset: 0x3C */
+  __IO uint32_t IV0LR;      /*!< CRYP initialization vector left-word  register 0,         Address offset: 0x40 */
+  __IO uint32_t IV0RR;      /*!< CRYP initialization vector right-word register 0,         Address offset: 0x44 */
+  __IO uint32_t IV1LR;      /*!< CRYP initialization vector left-word  register 1,         Address offset: 0x48 */
+  __IO uint32_t IV1RR;      /*!< CRYP initialization vector right-word register 1,         Address offset: 0x4C */
+  __IO uint32_t CSGCMCCM0R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 0,        Address offset: 0x50 */
+  __IO uint32_t CSGCMCCM1R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 1,        Address offset: 0x54 */
+  __IO uint32_t CSGCMCCM2R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 2,        Address offset: 0x58 */
+  __IO uint32_t CSGCMCCM3R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 3,        Address offset: 0x5C */
+  __IO uint32_t CSGCMCCM4R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 4,        Address offset: 0x60 */
+  __IO uint32_t CSGCMCCM5R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 5,        Address offset: 0x64 */
+  __IO uint32_t CSGCMCCM6R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 6,        Address offset: 0x68 */
+  __IO uint32_t CSGCMCCM7R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 7,        Address offset: 0x6C */
+  __IO uint32_t CSGCM0R;    /*!< CRYP GCM/GMAC context swap register 0,                    Address offset: 0x70 */
+  __IO uint32_t CSGCM1R;    /*!< CRYP GCM/GMAC context swap register 1,                    Address offset: 0x74 */
+  __IO uint32_t CSGCM2R;    /*!< CRYP GCM/GMAC context swap register 2,                    Address offset: 0x78 */
+  __IO uint32_t CSGCM3R;    /*!< CRYP GCM/GMAC context swap register 3,                    Address offset: 0x7C */
+  __IO uint32_t CSGCM4R;    /*!< CRYP GCM/GMAC context swap register 4,                    Address offset: 0x80 */
+  __IO uint32_t CSGCM5R;    /*!< CRYP GCM/GMAC context swap register 5,                    Address offset: 0x84 */
+  __IO uint32_t CSGCM6R;    /*!< CRYP GCM/GMAC context swap register 6,                    Address offset: 0x88 */
+  __IO uint32_t CSGCM7R;    /*!< CRYP GCM/GMAC context swap register 7,                    Address offset: 0x8C */
+} CRYP_TypeDef;
+
+/**
+  * @brief HASH
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;               /*!< HASH control register,          Address offset: 0x00        */
+  __IO uint32_t DIN;              /*!< HASH data input register,       Address offset: 0x04        */
+  __IO uint32_t STR;              /*!< HASH start register,            Address offset: 0x08        */
+  __IO uint32_t HR[5];            /*!< HASH digest registers,          Address offset: 0x0C-0x1C   */
+  __IO uint32_t IMR;              /*!< HASH interrupt enable register, Address offset: 0x20        */
+  __IO uint32_t SR;               /*!< HASH status register,           Address offset: 0x24        */
+       uint32_t RESERVED[52];     /*!< Reserved, 0x28-0xF4                                         */
+  __IO uint32_t CSR[54];          /*!< HASH context swap registers,    Address offset: 0x0F8-0x1CC */
+} HASH_TypeDef;
+
+/**
+  * @brief HASH_DIGEST
+  */
+
+typedef struct
+{
+  __IO uint32_t HR[8];     /*!< HASH digest registers,          Address offset: 0x310-0x32C */
+} HASH_DIGEST_TypeDef;
+
+
+/**
+  * @brief RNG
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;  /*!< RNG control register, Address offset: 0x00 */
+  __IO uint32_t SR;  /*!< RNG status register,  Address offset: 0x04 */
+  __IO uint32_t DR;  /*!< RNG data register,    Address offset: 0x08 */
+  uint32_t RESERVED;
+  __IO uint32_t HTCR;  /*!< RNG health test configuration register, Address offset: 0x10 */
+} RNG_TypeDef;
+
+/**
+  * @brief MDIOS
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;
+  __IO uint32_t WRFR;
+  __IO uint32_t CWRFR;
+  __IO uint32_t RDFR;
+  __IO uint32_t CRDFR;
+  __IO uint32_t SR;
+  __IO uint32_t CLRFR;
+  uint32_t RESERVED[57];
+  __IO uint32_t DINR0;
+  __IO uint32_t DINR1;
+  __IO uint32_t DINR2;
+  __IO uint32_t DINR3;
+  __IO uint32_t DINR4;
+  __IO uint32_t DINR5;
+  __IO uint32_t DINR6;
+  __IO uint32_t DINR7;
+  __IO uint32_t DINR8;
+  __IO uint32_t DINR9;
+  __IO uint32_t DINR10;
+  __IO uint32_t DINR11;
+  __IO uint32_t DINR12;
+  __IO uint32_t DINR13;
+  __IO uint32_t DINR14;
+  __IO uint32_t DINR15;
+  __IO uint32_t DINR16;
+  __IO uint32_t DINR17;
+  __IO uint32_t DINR18;
+  __IO uint32_t DINR19;
+  __IO uint32_t DINR20;
+  __IO uint32_t DINR21;
+  __IO uint32_t DINR22;
+  __IO uint32_t DINR23;
+  __IO uint32_t DINR24;
+  __IO uint32_t DINR25;
+  __IO uint32_t DINR26;
+  __IO uint32_t DINR27;
+  __IO uint32_t DINR28;
+  __IO uint32_t DINR29;
+  __IO uint32_t DINR30;
+  __IO uint32_t DINR31;
+  __IO uint32_t DOUTR0;
+  __IO uint32_t DOUTR1;
+  __IO uint32_t DOUTR2;
+  __IO uint32_t DOUTR3;
+  __IO uint32_t DOUTR4;
+  __IO uint32_t DOUTR5;
+  __IO uint32_t DOUTR6;
+  __IO uint32_t DOUTR7;
+  __IO uint32_t DOUTR8;
+  __IO uint32_t DOUTR9;
+  __IO uint32_t DOUTR10;
+  __IO uint32_t DOUTR11;
+  __IO uint32_t DOUTR12;
+  __IO uint32_t DOUTR13;
+  __IO uint32_t DOUTR14;
+  __IO uint32_t DOUTR15;
+  __IO uint32_t DOUTR16;
+  __IO uint32_t DOUTR17;
+  __IO uint32_t DOUTR18;
+  __IO uint32_t DOUTR19;
+  __IO uint32_t DOUTR20;
+  __IO uint32_t DOUTR21;
+  __IO uint32_t DOUTR22;
+  __IO uint32_t DOUTR23;
+  __IO uint32_t DOUTR24;
+  __IO uint32_t DOUTR25;
+  __IO uint32_t DOUTR26;
+  __IO uint32_t DOUTR27;
+  __IO uint32_t DOUTR28;
+  __IO uint32_t DOUTR29;
+  __IO uint32_t DOUTR30;
+  __IO uint32_t DOUTR31;
+} MDIOS_TypeDef;
+
+
+/**
+  * @brief USB_OTG_Core_Registers
+  */
+typedef struct
+{
+ __IO uint32_t GOTGCTL;               /*!< USB_OTG Control and Status Register          000h */
+  __IO uint32_t GOTGINT;              /*!< USB_OTG Interrupt Register                   004h */
+  __IO uint32_t GAHBCFG;              /*!< Core AHB Configuration Register              008h */
+  __IO uint32_t GUSBCFG;              /*!< Core USB Configuration Register              00Ch */
+  __IO uint32_t GRSTCTL;              /*!< Core Reset Register                          010h */
+  __IO uint32_t GINTSTS;              /*!< Core Interrupt Register                      014h */
+  __IO uint32_t GINTMSK;              /*!< Core Interrupt Mask Register                 018h */
+  __IO uint32_t GRXSTSR;              /*!< Receive Sts Q Read Register                  01Ch */
+  __IO uint32_t GRXSTSP;              /*!< Receive Sts Q Read & POP Register            020h */
+  __IO uint32_t GRXFSIZ;              /*!< Receive FIFO Size Register                   024h */
+  __IO uint32_t DIEPTXF0_HNPTXFSIZ;   /*!< EP0 / Non Periodic Tx FIFO Size Register     028h */
+  __IO uint32_t HNPTXSTS;             /*!< Non Periodic Tx FIFO/Queue Sts reg           02Ch */
+  uint32_t Reserved30[2];             /*!< Reserved                                     030h */
+  __IO uint32_t GCCFG;                /*!< General Purpose IO Register                  038h */
+  __IO uint32_t CID;                  /*!< User ID Register                             03Ch */
+  __IO uint32_t GSNPSID;              /* USB_OTG core ID                                040h*/
+  __IO uint32_t GHWCFG1;              /* User HW config1                                044h*/
+  __IO uint32_t GHWCFG2;              /* User HW config2                                048h*/
+  __IO uint32_t GHWCFG3;              /*!< User HW config3                              04Ch */
+  uint32_t  Reserved6;                /*!< Reserved                                     050h */
+  __IO uint32_t GLPMCFG;              /*!< LPM Register                                 054h */
+  __IO uint32_t GPWRDN;               /*!< Power Down Register                          058h */
+  __IO uint32_t GDFIFOCFG;            /*!< DFIFO Software Config Register               05Ch */
+   __IO uint32_t GADPCTL;             /*!< ADP Timer, Control and Status Register       60Ch */
+    uint32_t  Reserved43[39];         /*!< Reserved                                058h-0FFh */
+  __IO uint32_t HPTXFSIZ;             /*!< Host Periodic Tx FIFO Size Reg               100h */
+  __IO uint32_t DIEPTXF[0x0F];        /*!< dev Periodic Transmit FIFO */
+} USB_OTG_GlobalTypeDef;
+
+
+/**
+  * @brief USB_OTG_device_Registers
+  */
+typedef struct
+{
+  __IO uint32_t DCFG;            /*!< dev Configuration Register   800h */
+  __IO uint32_t DCTL;            /*!< dev Control Register         804h */
+  __IO uint32_t DSTS;            /*!< dev Status Register (RO)     808h */
+  uint32_t Reserved0C;           /*!< Reserved                     80Ch */
+  __IO uint32_t DIEPMSK;         /*!< dev IN Endpoint Mask         810h */
+  __IO uint32_t DOEPMSK;         /*!< dev OUT Endpoint Mask        814h */
+  __IO uint32_t DAINT;           /*!< dev All Endpoints Itr Reg    818h */
+  __IO uint32_t DAINTMSK;        /*!< dev All Endpoints Itr Mask   81Ch */
+  uint32_t  Reserved20;          /*!< Reserved                     820h */
+  uint32_t Reserved9;            /*!< Reserved                     824h */
+  __IO uint32_t DVBUSDIS;        /*!< dev VBUS discharge Register  828h */
+  __IO uint32_t DVBUSPULSE;      /*!< dev VBUS Pulse Register      82Ch */
+  __IO uint32_t DTHRCTL;         /*!< dev threshold                830h */
+  __IO uint32_t DIEPEMPMSK;      /*!< dev empty msk                834h */
+  __IO uint32_t DEACHINT;        /*!< dedicated EP interrupt       838h */
+  __IO uint32_t DEACHMSK;        /*!< dedicated EP msk             83Ch */
+  uint32_t Reserved40;           /*!< dedicated EP mask            840h */
+  __IO uint32_t DINEP1MSK;       /*!< dedicated EP mask            844h */
+  uint32_t  Reserved44[15];      /*!< Reserved                 844-87Ch */
+  __IO uint32_t DOUTEP1MSK;      /*!< dedicated EP msk             884h */
+} USB_OTG_DeviceTypeDef;
+
+
+/**
+  * @brief USB_OTG_IN_Endpoint-Specific_Register
+  */
+typedef struct
+{
+  __IO uint32_t DIEPCTL;           /*!< dev IN Endpoint Control Reg    900h + (ep_num * 20h) + 00h */
+  uint32_t Reserved04;             /*!< Reserved                       900h + (ep_num * 20h) + 04h */
+  __IO uint32_t DIEPINT;           /*!< dev IN Endpoint Itr Reg        900h + (ep_num * 20h) + 08h */
+  uint32_t Reserved0C;             /*!< Reserved                       900h + (ep_num * 20h) + 0Ch */
+  __IO uint32_t DIEPTSIZ;          /*!< IN Endpoint Txfer Size         900h + (ep_num * 20h) + 10h */
+  __IO uint32_t DIEPDMA;           /*!< IN Endpoint DMA Address Reg    900h + (ep_num * 20h) + 14h */
+  __IO uint32_t DTXFSTS;           /*!< IN Endpoint Tx FIFO Status Reg 900h + (ep_num * 20h) + 18h */
+  uint32_t Reserved18;             /*!< Reserved  900h+(ep_num*20h)+1Ch-900h+ (ep_num * 20h) + 1Ch */
+} USB_OTG_INEndpointTypeDef;
+
+
+/**
+  * @brief USB_OTG_OUT_Endpoint-Specific_Registers
+  */
+typedef struct
+{
+  __IO uint32_t DOEPCTL;       /*!< dev OUT Endpoint Control Reg           B00h + (ep_num * 20h) + 00h */
+  uint32_t Reserved04;         /*!< Reserved                               B00h + (ep_num * 20h) + 04h */
+  __IO uint32_t DOEPINT;       /*!< dev OUT Endpoint Itr Reg               B00h + (ep_num * 20h) + 08h */
+  uint32_t Reserved0C;         /*!< Reserved                               B00h + (ep_num * 20h) + 0Ch */
+  __IO uint32_t DOEPTSIZ;      /*!< dev OUT Endpoint Txfer Size            B00h + (ep_num * 20h) + 10h */
+  __IO uint32_t DOEPDMA;       /*!< dev OUT Endpoint DMA Address           B00h + (ep_num * 20h) + 14h */
+  uint32_t Reserved18[2];      /*!< Reserved B00h + (ep_num * 20h) + 18h - B00h + (ep_num * 20h) + 1Ch */
+} USB_OTG_OUTEndpointTypeDef;
+
+
+/**
+  * @brief USB_OTG_Host_Mode_Register_Structures
+  */
+typedef struct
+{
+  __IO uint32_t HCFG;             /*!< Host Configuration Register          400h */
+  __IO uint32_t HFIR;             /*!< Host Frame Interval Register         404h */
+  __IO uint32_t HFNUM;            /*!< Host Frame Nbr/Frame Remaining       408h */
+  uint32_t Reserved40C;           /*!< Reserved                             40Ch */
+  __IO uint32_t HPTXSTS;          /*!< Host Periodic Tx FIFO/ Queue Status  410h */
+  __IO uint32_t HAINT;            /*!< Host All Channels Interrupt Register 414h */
+  __IO uint32_t HAINTMSK;         /*!< Host All Channels Interrupt Mask     418h */
+} USB_OTG_HostTypeDef;
+
+/**
+  * @brief USB_OTG_Host_Channel_Specific_Registers
+  */
+typedef struct
+{
+  __IO uint32_t HCCHAR;           /*!< Host Channel Characteristics Register    500h */
+  __IO uint32_t HCSPLT;           /*!< Host Channel Split Control Register      504h */
+  __IO uint32_t HCINT;            /*!< Host Channel Interrupt Register          508h */
+  __IO uint32_t HCINTMSK;         /*!< Host Channel Interrupt Mask Register     50Ch */
+  __IO uint32_t HCTSIZ;           /*!< Host Channel Transfer Size Register      510h */
+  __IO uint32_t HCDMA;            /*!< Host Channel DMA Address Register        514h */
+  uint32_t Reserved[2];           /*!< Reserved                                      */
+} USB_OTG_HostChannelTypeDef;
+/**
+  * @}
+  */
+
+/**
+  * @brief OCTO Serial Peripheral Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;          /*!< OCTOSPI Control register,                           Address offset: 0x000 */
+  uint32_t RESERVED;         /*!< Reserved,                                           Address offset: 0x004 */
+  __IO uint32_t DCR1;        /*!< OCTOSPI Device Configuration register 1,            Address offset: 0x008 */
+  __IO uint32_t DCR2;        /*!< OCTOSPI Device Configuration register 2,            Address offset: 0x00C */
+  __IO uint32_t DCR3;        /*!< OCTOSPI Device Configuration register 3,            Address offset: 0x010 */
+  __IO uint32_t DCR4;        /*!< OCTOSPI Device Configuration register 4,            Address offset: 0x014 */
+  uint32_t RESERVED1[2];     /*!< Reserved,                                           Address offset: 0x018-0x01C */
+  __IO uint32_t SR;          /*!< OCTOSPI Status register,                            Address offset: 0x020 */
+  __IO uint32_t FCR;         /*!< OCTOSPI Flag Clear register,                        Address offset: 0x024 */
+  uint32_t RESERVED2[6];     /*!< Reserved,                                           Address offset: 0x028-0x03C */
+  __IO uint32_t DLR;         /*!< OCTOSPI Data Length register,                       Address offset: 0x040 */
+  uint32_t RESERVED3;        /*!< Reserved,                                           Address offset: 0x044 */
+  __IO uint32_t AR;          /*!< OCTOSPI Address register,                           Address offset: 0x048 */
+  uint32_t RESERVED4;        /*!< Reserved,                                           Address offset: 0x04C */
+  __IO uint32_t DR;          /*!< OCTOSPI Data register,                              Address offset: 0x050 */
+  uint32_t RESERVED5[11];    /*!< Reserved,                                           Address offset: 0x054-0x07C */
+  __IO uint32_t PSMKR;       /*!< OCTOSPI Polling Status Mask register,               Address offset: 0x080 */
+  uint32_t RESERVED6;        /*!< Reserved,                                           Address offset: 0x084 */
+  __IO uint32_t PSMAR;       /*!< OCTOSPI Polling Status Match register,              Address offset: 0x088 */
+  uint32_t RESERVED7;        /*!< Reserved,                                           Address offset: 0x08C */
+  __IO uint32_t PIR;         /*!< OCTOSPI Polling Interval register,                  Address offset: 0x090 */
+  uint32_t RESERVED8[27];    /*!< Reserved,                                           Address offset: 0x094-0x0FC */
+  __IO uint32_t CCR;         /*!< OCTOSPI Communication Configuration register,       Address offset: 0x100 */
+  uint32_t RESERVED9;        /*!< Reserved,                                           Address offset: 0x104 */
+  __IO uint32_t TCR;         /*!< OCTOSPI Timing Configuration register,              Address offset: 0x108 */
+  uint32_t RESERVED10;       /*!< Reserved,                                           Address offset: 0x10C */
+  __IO uint32_t IR;          /*!< OCTOSPI Instruction register,                       Address offset: 0x110 */
+  uint32_t RESERVED11[3];    /*!< Reserved,                                           Address offset: 0x114-0x11C */
+  __IO uint32_t ABR;         /*!< OCTOSPI Alternate Bytes register,                   Address offset: 0x120 */
+  uint32_t RESERVED12[3];    /*!< Reserved,                                           Address offset: 0x124-0x12C */
+  __IO uint32_t LPTR;        /*!< OCTOSPI Low Power Timeout register,                 Address offset: 0x130 */
+  uint32_t RESERVED13[3];    /*!< Reserved,                                           Address offset: 0x134-0x13C */
+  __IO uint32_t WPCCR;       /*!< OCTOSPI Wrap Communication Configuration register,  Address offset: 0x140 */
+  uint32_t RESERVED14;       /*!< Reserved,                                           Address offset: 0x144 */
+  __IO uint32_t WPTCR;       /*!< OCTOSPI Wrap Timing Configuration register,         Address offset: 0x148 */
+  uint32_t RESERVED15;       /*!< Reserved,                                           Address offset: 0x14C */
+  __IO uint32_t WPIR;        /*!< OCTOSPI Wrap Instruction register,                  Address offset: 0x150 */
+  uint32_t RESERVED16[3];    /*!< Reserved,                                           Address offset: 0x154-0x15C */
+  __IO uint32_t WPABR;       /*!< OCTOSPI Wrap Alternate Bytes register,              Address offset: 0x160 */
+  uint32_t RESERVED17[7];    /*!< Reserved,                                           Address offset: 0x164-0x17C */
+  __IO uint32_t WCCR;        /*!< OCTOSPI Write Communication Configuration register, Address offset: 0x180 */
+  uint32_t RESERVED18;       /*!< Reserved,                                           Address offset: 0x184 */
+  __IO uint32_t WTCR;        /*!< OCTOSPI Write Timing Configuration register,        Address offset: 0x188 */
+  uint32_t RESERVED19;       /*!< Reserved,                                           Address offset: 0x18C */
+  __IO uint32_t WIR;         /*!< OCTOSPI Write Instruction register,                 Address offset: 0x190 */
+  uint32_t RESERVED20[3];    /*!< Reserved,                                           Address offset: 0x194-0x19C */
+  __IO uint32_t WABR;        /*!< OCTOSPI Write Alternate Bytes register,             Address offset: 0x1A0 */
+  uint32_t RESERVED21[23];   /*!< Reserved,                                           Address offset: 0x1A4-0x1FC */
+  __IO uint32_t HLCR;        /*!< OCTOSPI Hyperbus Latency Configuration register,    Address offset: 0x200 */
+  uint32_t RESERVED22[122];  /*!< Reserved,                                           Address offset: 0x204-0x3EC */
+  __IO uint32_t HWCFGR;      /*!< OCTOSPI HW Configuration register,                  Address offset: 0x3F0 */
+  __IO uint32_t VER;         /*!< OCTOSPI Version register,                           Address offset: 0x3F4 */
+  __IO uint32_t ID;          /*!< OCTOSPI Identification register,                    Address offset: 0x3F8 */
+  __IO uint32_t MID;         /*!< OCTOPSI HW Magic ID register,                       Address offset: 0x3FC */
+} OCTOSPI_TypeDef;
+
+/**
+  * @}
+  */
+/**
+  * @brief OCTO Serial Peripheral Interface IO Manager
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;          /*!< OCTOSPI IO Manager Control register,                 Address offset: 0x00 */
+  __IO uint32_t PCR[3];      /*!< OCTOSPI IO Manager Port[1:3] Configuration register, Address offset: 0x04-0x20 */
+} OCTOSPIM_TypeDef;
+
+/**
+  * @}
+  */
+
+/**
+  * @brief OTFD register
+  */
+typedef struct
+{
+  __IO uint32_t REG_CONFIGR;
+  __IO uint32_t REG_START_ADDR;
+  __IO uint32_t REG_END_ADDR;
+  __IO uint32_t REG_NONCER0;
+  __IO uint32_t REG_NONCER1;
+  __IO uint32_t REG_KEYR0;
+  __IO uint32_t REG_KEYR1;
+  __IO uint32_t REG_KEYR2;
+  __IO uint32_t REG_KEYR3;
+} OTFDEC_Region_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CR;
+  uint32_t RESERVED1[191];
+  __IO uint32_t ISR;
+  __IO uint32_t ICR;
+  __IO uint32_t IER;
+  uint32_t RESERVED2[56];
+  __IO uint32_t HWCFGR2;
+  __IO uint32_t HWCFGR1;
+  __IO uint32_t VERR;
+  __IO uint32_t IPIDR;
+  __IO uint32_t SIDR;
+} OTFDEC_TypeDef;
+/**
+  * @}
+  */
+
+/**
+  * @brief Global Programmer View
+  */
+
+typedef struct
+{
+  uint32_t      RESERVED0[2036];     /*!< Reserved,                                                                           Address offset: 0x00-0x1FCC     */
+  __IO uint32_t AXI_PERIPH_ID_4;     /*!< AXI interconnect - peripheral ID4 register,                                         Address offset: 0x1FD0          */
+  uint32_t      AXI_PERIPH_ID_5;     /*!< Reserved,                                                                           Address offset: 0x1FD4          */
+  uint32_t      AXI_PERIPH_ID_6;     /*!< Reserved,                                                                           Address offset: 0x1FD8          */
+  uint32_t      AXI_PERIPH_ID_7;     /*!< Reserved,                                                                           Address offset: 0x1FDC          */
+  __IO uint32_t AXI_PERIPH_ID_0;     /*!< AXI interconnect - peripheral ID0 register,                                         Address offset: 0x1FE0          */
+  __IO uint32_t AXI_PERIPH_ID_1;     /*!< AXI interconnect - peripheral ID1 register,                                         Address offset: 0x1FE4          */
+  __IO uint32_t AXI_PERIPH_ID_2;     /*!< AXI interconnect - peripheral ID2 register,                                         Address offset: 0x1FE8          */
+  __IO uint32_t AXI_PERIPH_ID_3;     /*!< AXI interconnect - peripheral ID3 register,                                         Address offset: 0x1FEC          */
+  __IO uint32_t AXI_COMP_ID_0;       /*!< AXI interconnect - component ID0 register,                                          Address offset: 0x1FF0          */
+  __IO uint32_t AXI_COMP_ID_1;       /*!< AXI interconnect - component ID1 register,                                          Address offset: 0x1FF4          */
+  __IO uint32_t AXI_COMP_ID_2;       /*!< AXI interconnect - component ID2 register,                                          Address offset: 0x1FF8          */
+  __IO uint32_t AXI_COMP_ID_3;       /*!< AXI interconnect - component ID3 register,                                          Address offset: 0x1FFC          */
+  uint32_t      RESERVED1[2];        /*!< Reserved,                                                                           Address offset: 0x2000-0x2004   */
+  __IO uint32_t AXI_TARG1_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 1 bus matrix issuing functionality register,           Address offset: 0x2008          */
+  uint32_t      RESERVED2[6];        /*!< Reserved,                                                                           Address offset: 0x200C-0x2020   */
+  __IO uint32_t AXI_TARG1_FN_MOD2;   /*!< AXI interconnect - TARG 1 bus matrix functionality 2 register,                      Address offset: 0x2024          */
+  uint32_t      RESERVED3;           /*!< Reserved,                                                                           Address offset: 0x2028          */
+  __IO uint32_t AXI_TARG1_FN_MOD_LB; /*!< AXI interconnect - TARG 1 long burst functionality modification register,           Address offset: 0x202C          */
+  uint32_t      RESERVED4[54];       /*!< Reserved,                                                                           Address offset: 0x2030-0x2104   */
+  __IO uint32_t AXI_TARG1_FN_MOD;    /*!< AXI interconnect - TARG 1 issuing functionality modification register,              Address offset: 0x2108          */
+  uint32_t      RESERVED5[959];      /*!< Reserved,                                                                           Address offset: 0x210C-0x3004   */
+  __IO uint32_t AXI_TARG2_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 2 bus matrix issuing functionality register,           Address offset: 0x3008          */
+  uint32_t      RESERVED6[6];        /*!< Reserved,                                                                           Address offset: 0x300C-0x3020   */
+  __IO uint32_t AXI_TARG2_FN_MOD2;   /*!< AXI interconnect - TARG 2 bus matrix functionality 2 register,                      Address offset: 0x3024          */
+  uint32_t      RESERVED7;           /*!< Reserved,                                                                           Address offset: 0x3028          */
+  __IO uint32_t AXI_TARG2_FN_MOD_LB; /*!< AXI interconnect - TARG 2 long burst functionality modification register,           Address offset: 0x302C          */
+  uint32_t      RESERVED8[54];       /*!< Reserved,                                                                           Address offset: 0x3030-0x3104   */
+  __IO uint32_t AXI_TARG2_FN_MOD;    /*!< AXI interconnect - TARG 2 issuing functionality modification register,              Address offset: 0x3108          */
+  uint32_t      RESERVED9[959];      /*!< Reserved,                                                                           Address offset: 0x310C-0x4004   */
+  __IO uint32_t AXI_TARG3_FN_MOD_ISS_BM;   /*!< AXI interconnect - TARG 3 bus matrix issuing functionality register,          Address offset: 0x4008          */
+  uint32_t      RESERVED10[1023];    /*!< Reserved,                                                                           Address offset: 0x400C-0x5004   */
+  __IO uint32_t AXI_TARG4_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 4 bus matrix issuing functionality register,           Address offset: 0x5008          */
+  uint32_t      RESERVED11[1023];    /*!< Reserved,                                                                           Address offset: 0x500C-0x6004   */
+  __IO uint32_t AXI_TARG5_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 5 bus matrix issuing functionality register,           Address offset: 0x6008          */
+  uint32_t      RESERVED12[1023];    /*!< Reserved,                                                                           Address offset: 0x600C-0x7004   */
+  __IO uint32_t AXI_TARG6_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 6 bus matrix issuing functionality register,           Address offset: 0x7008          */
+  uint32_t      RESERVED13[1023];    /*!< Reserved,                                                                           Address offset: 0x700C-0x8004   */
+  __IO uint32_t AXI_TARG7_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 7 bus matrix issuing functionality register,           Address offset: 0x8008          */
+  uint32_t      RESERVED14[6];       /*!< Reserved,                                                                           Address offset: 0x800C-0x8020   */
+  __IO uint32_t AXI_TARG7_FN_MOD2;   /*!< AXI interconnect - TARG 7 bus matrix functionality 2 register,                      Address offset: 0x8024          */
+  uint32_t      RESERVED15;          /*!< Reserved,                                                                           Address offset: 0x8028          */
+  __IO uint32_t AXI_TARG7_FN_MOD_LB; /*!< AXI interconnect - TARG 7 long burst functionality modification register,           Address offset: 0x802C          */
+  uint32_t      RESERVED16[54];      /*!< Reserved,                                                                           Address offset: 0x8030-0x8104   */
+  __IO uint32_t AXI_TARG7_FN_MOD;    /*!< AXI interconnect - TARG 7 issuing functionality modification register,              Address offset: 0x8108          */
+  uint32_t      RESERVED17[959];     /*!< Reserved,                                                                           Address offset: 0x810C-0x9004   */
+  __IO uint32_t AXI_TARG8_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 8 bus matrix issuing functionality register,           Address offset: 0x9008          */
+  uint32_t      RESERVED117[6];      /*!< Reserved,                                                                           Address offset: 0x900C-0x9020   */
+  __IO uint32_t AXI_TARG8_FN_MOD2;   /*!< AXI interconnect - TARG 8 bus matrix functionality 2 register,                      Address offset: 0x9024          */
+  uint32_t      RESERVED118[56];     /*!< Reserved,                                                                           Address offset: 0x9028-0x9104   */
+  __IO uint32_t AXI_TARG8_FN_MOD;    /*!< AXI interconnect - TARG 8 issuing functionality modification register,              Address offset: 0x9108          */
+  uint32_t      RESERVED119[58310];  /*!< Reserved,                                                                           Address offset: 0x910C-0x42020  */
+  __IO uint32_t AXI_INI1_FN_MOD2;    /*!< AXI interconnect - INI 1 functionality modification 2 register,                     Address offset: 0x42024         */
+  __IO uint32_t AXI_INI1_FN_MOD_AHB; /*!< AXI interconnect - INI 1 AHB functionality modification register,                   Address offset: 0x42028         */
+  uint32_t      RESERVED18[53];      /*!< Reserved,                                                                           Address offset: 0x4202C-0x420FC */
+  __IO uint32_t AXI_INI1_READ_QOS;   /*!< AXI interconnect - INI 1 read QoS register,                                         Address offset: 0x42100         */
+  __IO uint32_t AXI_INI1_WRITE_QOS;  /*!< AXI interconnect - INI 1 write QoS register,                                        Address offset: 0x42104         */
+  __IO uint32_t AXI_INI1_FN_MOD;     /*!< AXI interconnect - INI 1 issuing functionality modification register,               Address offset: 0x42108         */
+  uint32_t      RESERVED19[1021];    /*!< Reserved,                                                                           Address offset: 0x4210C-0x430FC */
+  __IO uint32_t AXI_INI2_READ_QOS;   /*!< AXI interconnect - INI 2 read QoS register,                                         Address offset: 0x43100         */
+  __IO uint32_t AXI_INI2_WRITE_QOS;  /*!< AXI interconnect - INI 2 write QoS register,                                        Address offset: 0x43104         */
+  __IO uint32_t AXI_INI2_FN_MOD;     /*!< AXI interconnect - INI 2 issuing functionality modification register,               Address offset: 0x43108         */
+  uint32_t      RESERVED20[966];     /*!< Reserved,                                                                           Address offset: 0x4310C-0x44020 */
+  __IO uint32_t AXI_INI3_FN_MOD2;    /*!< AXI interconnect - INI 3 functionality modification 2 register,                     Address offset: 0x44024         */
+  __IO uint32_t AXI_INI3_FN_MOD_AHB; /*!< AXI interconnect - INI 3 AHB functionality modification register,                   Address offset: 0x44028         */
+  uint32_t      RESERVED21[53];      /*!< Reserved,                                                                           Address offset: 0x4402C-0x440FC */
+  __IO uint32_t AXI_INI3_READ_QOS;   /*!< AXI interconnect - INI 3 read QoS register,                                         Address offset: 0x44100         */
+  __IO uint32_t AXI_INI3_WRITE_QOS;  /*!< AXI interconnect - INI 3 write QoS register,                                        Address offset: 0x44104         */
+  __IO uint32_t AXI_INI3_FN_MOD;     /*!< AXI interconnect - INI 3 issuing functionality modification register,               Address offset: 0x44108         */
+  uint32_t      RESERVED22[1021];    /*!< Reserved,                                                                           Address offset: 0x4410C-0x450FC */
+  __IO uint32_t AXI_INI4_READ_QOS;   /*!< AXI interconnect - INI 4 read QoS register,                                         Address offset: 0x45100         */
+  __IO uint32_t AXI_INI4_WRITE_QOS;  /*!< AXI interconnect - INI 4 write QoS register,                                        Address offset: 0x45104         */
+  __IO uint32_t AXI_INI4_FN_MOD;     /*!< AXI interconnect - INI 4 issuing functionality modification register,               Address offset: 0x45108         */
+  uint32_t      RESERVED23[1021];    /*!< Reserved,                                                                           Address offset: 0x4510C-0x460FC */
+  __IO uint32_t AXI_INI5_READ_QOS;   /*!< AXI interconnect - INI 5 read QoS register,                                         Address offset: 0x46100         */
+  __IO uint32_t AXI_INI5_WRITE_QOS;  /*!< AXI interconnect - INI 5 write QoS register,                                        Address offset: 0x46104         */
+  __IO uint32_t AXI_INI5_FN_MOD;     /*!< AXI interconnect - INI 5 issuing functionality modification register,               Address offset: 0x46108         */
+  uint32_t      RESERVED24[1021];    /*!< Reserved,                                                                           Address offset: 0x4610C-0x470FC */
+  __IO uint32_t AXI_INI6_READ_QOS;   /*!< AXI interconnect - INI 6 read QoS register,                                         Address offset: 0x47100         */
+  __IO uint32_t AXI_INI6_WRITE_QOS;  /*!< AXI interconnect - INI 6 write QoS register,                                        Address offset: 0x47104         */
+  __IO uint32_t AXI_INI6_FN_MOD;     /*!< AXI interconnect - INI 6 issuing functionality modification register,               Address offset: 0x47108         */
+
+} GPV_TypeDef;
+
+/** @addtogroup Peripheral_memory_map
+  * @{
+  */
+#define D1_ITCMRAM_BASE           (0x00000000UL) /*!< Base address of : 64KB RAM reserved for CPU execution/instruction accessible over ITCM  */
+#define D1_ITCMICP_BASE           (0x00100000UL) /*!< Base address of : (up to 128KB) embedded Test FLASH memory accessible over ITCM         */
+#define D1_DTCMRAM_BASE           (0x20000000UL) /*!< Base address of : 128KB system data RAM accessible over DTCM                            */
+#define D1_AXIFLASH_BASE          (0x08000000UL) /*!< Base address of : (up to 1 MB) embedded FLASH memory accessible over AXI                */
+#define D1_AXIICP_BASE            (0x1FF00000UL) /*!< Base address of : (up to 128KB) embedded Test FLASH memory accessible over AXI          */
+#define D1_AXISRAM1_BASE           (0x24000000UL) /*!< Base address of : (up to 128KB) system data RAM1 accessible over over AXI                */
+#define D1_AXISRAM2_BASE           (0x24020000UL) /*!< Base address of : (up to 192KB) system data RAM2 accessible over over AXI to be shared with ITCM (64K granularity)  */
+#define D1_AXISRAM_BASE            D1_AXISRAM1_BASE /*!< Base address of : (up to 320KB) system data RAM1/2 accessible over over AXI             */
+
+#define D2_AHBSRAM1_BASE          (0x30000000UL)   /*!< Base address of : (up to 16KB) system data RAM accessible over over AXI->AHB Bridge    */
+#define D2_AHBSRAM2_BASE          (0x30004000UL)   /*!< Base address of : (up to 16KB) system data RAM accessible over over AXI->AHB Bridge    */
+#define D2_AHBSRAM_BASE           D2_AHBSRAM1_BASE /*!< Base address of : (up to 32KB) system data RAM1/2 accessible over over AXI->AHB Bridge */
+
+#define D3_BKPSRAM_BASE           (0x38800000UL) /*!< Base address of : Backup SRAM(4 KB) over AXI->AHB Bridge                                */
+#define D3_SRAM_BASE              (0x38000000UL) /*!< Base address of : Backup SRAM(16 KB) over AXI->AHB Bridge                               */
+
+#define PERIPH_BASE               (0x40000000UL) /*!< Base address of : AHB/APB Peripherals                                                   */
+#define OCTOSPI1_BASE             (0x90000000UL) /*!< Base address of : OCTOSPI1 memories  accessible over AXI                                 */
+#define OCTOSPI2_BASE             (0x70000000UL) /*!< Base address of : OCTOSPI2 memories  accessible over AXI                                 */
+
+#define FLASH_BANK1_BASE          (0x08000000UL) /*!< Base address of : (up to 1 MB) Flash Bank1 accessible over AXI                          */
+#define FLASH_END                 (0x080FFFFFUL) /*!< FLASH end address                                                                       */
+
+
+/* Legacy define */
+#define FLASH_BASE                FLASH_BANK1_BASE
+
+/*!< Device electronic signature memory map */
+#define UID_BASE                  (0x1FF1E800UL)            /*!< Unique device ID register base address */
+#define FLASHSIZE_BASE            (0x1FF1E880UL)            /*!< FLASH Size register base address */
+
+
+/*!< Peripheral memory map */
+#define D2_APB1PERIPH_BASE        PERIPH_BASE
+#define D2_APB2PERIPH_BASE       (PERIPH_BASE + 0x00010000UL)
+#define D2_AHB1PERIPH_BASE       (PERIPH_BASE + 0x00020000UL)
+#define D2_AHB2PERIPH_BASE       (PERIPH_BASE + 0x08020000UL)
+
+#define D1_APB1PERIPH_BASE       (PERIPH_BASE + 0x10000000UL)
+#define D1_AHB1PERIPH_BASE       (PERIPH_BASE + 0x12000000UL)
+
+#define D3_APB1PERIPH_BASE       (PERIPH_BASE + 0x18000000UL)
+#define D3_AHB1PERIPH_BASE       (PERIPH_BASE + 0x18020000UL)
+
+/*!< Legacy Peripheral memory map */
+#define APB1PERIPH_BASE        PERIPH_BASE
+#define APB2PERIPH_BASE       (PERIPH_BASE + 0x00010000UL)
+#define AHB1PERIPH_BASE       (PERIPH_BASE + 0x00020000UL)
+#define AHB2PERIPH_BASE       (PERIPH_BASE + 0x08000000UL)
+
+
+/*!< D1_AHB1PERIPH peripherals */
+
+#define MDMA_BASE             (D1_AHB1PERIPH_BASE + 0x0000UL)
+#define DMA2D_BASE            (D1_AHB1PERIPH_BASE + 0x1000UL)
+#define FLASH_R_BASE          (D1_AHB1PERIPH_BASE + 0x2000UL)
+#define FMC_R_BASE            (D1_AHB1PERIPH_BASE + 0x4000UL)
+#define OCTOSPI1_R_BASE       (D1_AHB1PERIPH_BASE + 0x5000UL)
+#define DLYB_OCTOSPI1_BASE    (D1_AHB1PERIPH_BASE + 0x6000UL)
+#define SDMMC1_BASE           (D1_AHB1PERIPH_BASE + 0x7000UL)
+#define DLYB_SDMMC1_BASE      (D1_AHB1PERIPH_BASE + 0x8000UL)
+#define RAMECC1_BASE          (D1_AHB1PERIPH_BASE + 0x9000UL)
+#define OCTOSPI2_R_BASE       (D1_AHB1PERIPH_BASE + 0xA000UL)
+#define DLYB_OCTOSPI2_BASE    (D1_AHB1PERIPH_BASE + 0xB000UL)
+#define OCTOSPIM_BASE         (D1_AHB1PERIPH_BASE + 0xB400UL)
+
+#define OTFDEC1_BASE          (D1_AHB1PERIPH_BASE + 0xB800UL)
+#define OTFDEC1_REGION1_BASE  (OTFDEC1_BASE + 0x20UL)
+#define OTFDEC1_REGION2_BASE  (OTFDEC1_BASE + 0x50UL)
+#define OTFDEC1_REGION3_BASE  (OTFDEC1_BASE + 0x80UL)
+#define OTFDEC1_REGION4_BASE  (OTFDEC1_BASE + 0xB0UL)
+#define OTFDEC2_BASE          (D1_AHB1PERIPH_BASE + 0xBC00UL)
+#define OTFDEC2_REGION1_BASE  (OTFDEC2_BASE + 0x20UL)
+#define OTFDEC2_REGION2_BASE  (OTFDEC2_BASE + 0x50UL)
+#define OTFDEC2_REGION3_BASE  (OTFDEC2_BASE + 0x80UL)
+#define OTFDEC2_REGION4_BASE  (OTFDEC2_BASE + 0xB0UL)
+
+/*!< D2_AHB1PERIPH peripherals */
+
+#define DMA1_BASE               (D2_AHB1PERIPH_BASE + 0x0000UL)
+#define DMA2_BASE               (D2_AHB1PERIPH_BASE + 0x0400UL)
+#define DMAMUX1_BASE            (D2_AHB1PERIPH_BASE + 0x0800UL)
+#define ADC1_BASE               (D2_AHB1PERIPH_BASE + 0x2000UL)
+#define ADC2_BASE               (D2_AHB1PERIPH_BASE + 0x2100UL)
+#define ADC12_COMMON_BASE       (D2_AHB1PERIPH_BASE + 0x2300UL)
+#define ETH_BASE                (D2_AHB1PERIPH_BASE + 0x8000UL)
+#define ETH_MAC_BASE            (ETH_BASE)
+
+/*!< USB registers base address */
+#define USB1_OTG_HS_PERIPH_BASE              (0x40040000UL)
+#define USB_OTG_GLOBAL_BASE                  (0x000UL)
+#define USB_OTG_DEVICE_BASE                  (0x800UL)
+#define USB_OTG_IN_ENDPOINT_BASE             (0x900UL)
+#define USB_OTG_OUT_ENDPOINT_BASE            (0xB00UL)
+#define USB_OTG_EP_REG_SIZE                  (0x20UL)
+#define USB_OTG_HOST_BASE                    (0x400UL)
+#define USB_OTG_HOST_PORT_BASE               (0x440UL)
+#define USB_OTG_HOST_CHANNEL_BASE            (0x500UL)
+#define USB_OTG_HOST_CHANNEL_SIZE            (0x20UL)
+#define USB_OTG_PCGCCTL_BASE                 (0xE00UL)
+#define USB_OTG_FIFO_BASE                    (0x1000UL)
+#define USB_OTG_FIFO_SIZE                    (0x1000UL)
+
+/*!< D2_AHB2PERIPH peripherals */
+
+#define DCMI_BASE              (D2_AHB2PERIPH_BASE + 0x0000UL)
+#define PSSI_BASE              (D2_AHB2PERIPH_BASE + 0x0400UL)
+#define CRYP_BASE              (D2_AHB2PERIPH_BASE + 0x1000UL)
+#define HASH_BASE              (D2_AHB2PERIPH_BASE + 0x1400UL)
+#define HASH_DIGEST_BASE       (D2_AHB2PERIPH_BASE + 0x1710UL)
+#define RNG_BASE               (D2_AHB2PERIPH_BASE + 0x1800UL)
+#define SDMMC2_BASE            (D2_AHB2PERIPH_BASE + 0x2400UL)
+#define DLYB_SDMMC2_BASE       (D2_AHB2PERIPH_BASE + 0x2800UL)
+#define RAMECC2_BASE           (D2_AHB2PERIPH_BASE + 0x3000UL)
+#define FMAC_BASE              (D2_AHB2PERIPH_BASE + 0x4000UL)
+#define CORDIC_BASE            (D2_AHB2PERIPH_BASE + 0x4400UL)
+
+/*!< D3_AHB1PERIPH peripherals */
+#define GPIOA_BASE            (D3_AHB1PERIPH_BASE + 0x0000UL)
+#define GPIOB_BASE            (D3_AHB1PERIPH_BASE + 0x0400UL)
+#define GPIOC_BASE            (D3_AHB1PERIPH_BASE + 0x0800UL)
+#define GPIOD_BASE            (D3_AHB1PERIPH_BASE + 0x0C00UL)
+#define GPIOE_BASE            (D3_AHB1PERIPH_BASE + 0x1000UL)
+#define GPIOF_BASE            (D3_AHB1PERIPH_BASE + 0x1400UL)
+#define GPIOG_BASE            (D3_AHB1PERIPH_BASE + 0x1800UL)
+#define GPIOH_BASE            (D3_AHB1PERIPH_BASE + 0x1C00UL)
+#define GPIOJ_BASE            (D3_AHB1PERIPH_BASE + 0x2400UL)
+#define GPIOK_BASE            (D3_AHB1PERIPH_BASE + 0x2800UL)
+#define RCC_BASE              (D3_AHB1PERIPH_BASE + 0x4400UL)
+#define PWR_BASE              (D3_AHB1PERIPH_BASE + 0x4800UL)
+#define CRC_BASE              (D3_AHB1PERIPH_BASE + 0x4C00UL)
+#define BDMA_BASE             (D3_AHB1PERIPH_BASE + 0x5400UL)
+#define DMAMUX2_BASE          (D3_AHB1PERIPH_BASE + 0x5800UL)
+#define ADC3_BASE             (D3_AHB1PERIPH_BASE + 0x6000UL)
+#define ADC3_COMMON_BASE      (D3_AHB1PERIPH_BASE + 0x6300UL)
+#define HSEM_BASE             (D3_AHB1PERIPH_BASE + 0x6400UL)
+#define RAMECC3_BASE          (D3_AHB1PERIPH_BASE + 0x7000UL)
+
+/*!< D1_APB1PERIPH peripherals */
+#define LTDC_BASE             (D1_APB1PERIPH_BASE + 0x1000UL)
+#define LTDC_Layer1_BASE      (LTDC_BASE + 0x84UL)
+#define LTDC_Layer2_BASE      (LTDC_BASE + 0x104UL)
+#define WWDG1_BASE            (D1_APB1PERIPH_BASE + 0x3000UL)
+
+/*!< D2_APB1PERIPH peripherals */
+#define TIM2_BASE             (D2_APB1PERIPH_BASE + 0x0000UL)
+#define TIM3_BASE             (D2_APB1PERIPH_BASE + 0x0400UL)
+#define TIM4_BASE             (D2_APB1PERIPH_BASE + 0x0800UL)
+#define TIM5_BASE             (D2_APB1PERIPH_BASE + 0x0C00UL)
+#define TIM6_BASE             (D2_APB1PERIPH_BASE + 0x1000UL)
+#define TIM7_BASE             (D2_APB1PERIPH_BASE + 0x1400UL)
+#define TIM12_BASE            (D2_APB1PERIPH_BASE + 0x1800UL)
+#define TIM13_BASE            (D2_APB1PERIPH_BASE + 0x1C00UL)
+#define TIM14_BASE            (D2_APB1PERIPH_BASE + 0x2000UL)
+#define LPTIM1_BASE           (D2_APB1PERIPH_BASE + 0x2400UL)
+
+
+#define SPI2_BASE             (D2_APB1PERIPH_BASE + 0x3800UL)
+#define SPI3_BASE             (D2_APB1PERIPH_BASE + 0x3C00UL)
+#define SPDIFRX_BASE          (D2_APB1PERIPH_BASE + 0x4000UL)
+#define USART2_BASE           (D2_APB1PERIPH_BASE + 0x4400UL)
+#define USART3_BASE           (D2_APB1PERIPH_BASE + 0x4800UL)
+#define UART4_BASE            (D2_APB1PERIPH_BASE + 0x4C00UL)
+#define UART5_BASE            (D2_APB1PERIPH_BASE + 0x5000UL)
+#define I2C1_BASE             (D2_APB1PERIPH_BASE + 0x5400UL)
+#define I2C2_BASE             (D2_APB1PERIPH_BASE + 0x5800UL)
+#define I2C3_BASE             (D2_APB1PERIPH_BASE + 0x5C00UL)
+#define I2C5_BASE             (D2_APB1PERIPH_BASE + 0x6400UL)
+#define CEC_BASE              (D2_APB1PERIPH_BASE + 0x6C00UL)
+#define DAC1_BASE             (D2_APB1PERIPH_BASE + 0x7400UL)
+#define UART7_BASE            (D2_APB1PERIPH_BASE + 0x7800UL)
+#define UART8_BASE            (D2_APB1PERIPH_BASE + 0x7C00UL)
+#define CRS_BASE              (D2_APB1PERIPH_BASE + 0x8400UL)
+#define SWPMI1_BASE           (D2_APB1PERIPH_BASE + 0x8800UL)
+#define OPAMP_BASE            (D2_APB1PERIPH_BASE + 0x9000UL)
+#define OPAMP1_BASE           (D2_APB1PERIPH_BASE + 0x9000UL)
+#define OPAMP2_BASE           (D2_APB1PERIPH_BASE + 0x9010UL)
+#define MDIOS_BASE            (D2_APB1PERIPH_BASE + 0x9400UL)
+#define FDCAN1_BASE           (D2_APB1PERIPH_BASE + 0xA000UL)
+#define FDCAN2_BASE           (D2_APB1PERIPH_BASE + 0xA400UL)
+#define FDCAN_CCU_BASE        (D2_APB1PERIPH_BASE + 0xA800UL)
+#define SRAMCAN_BASE          (D2_APB1PERIPH_BASE + 0xAC00UL)
+#define FDCAN3_BASE           (D2_APB1PERIPH_BASE + 0xD400UL)
+#define TIM23_BASE            (D2_APB1PERIPH_BASE + 0xE000UL)
+#define TIM24_BASE            (D2_APB1PERIPH_BASE + 0xE400UL)
+
+/*!< D2_APB2PERIPH peripherals */
+
+#define TIM1_BASE             (D2_APB2PERIPH_BASE + 0x0000UL)
+#define TIM8_BASE             (D2_APB2PERIPH_BASE + 0x0400UL)
+#define USART1_BASE           (D2_APB2PERIPH_BASE + 0x1000UL)
+#define USART6_BASE           (D2_APB2PERIPH_BASE + 0x1400UL)
+#define UART9_BASE            (D2_APB2PERIPH_BASE + 0x1800UL)
+#define USART10_BASE          (D2_APB2PERIPH_BASE + 0x1C00UL)
+#define SPI1_BASE             (D2_APB2PERIPH_BASE + 0x3000UL)
+#define SPI4_BASE             (D2_APB2PERIPH_BASE + 0x3400UL)
+#define TIM15_BASE            (D2_APB2PERIPH_BASE + 0x4000UL)
+#define TIM16_BASE            (D2_APB2PERIPH_BASE + 0x4400UL)
+#define TIM17_BASE            (D2_APB2PERIPH_BASE + 0x4800UL)
+#define SPI5_BASE             (D2_APB2PERIPH_BASE + 0x5000UL)
+#define SAI1_BASE             (D2_APB2PERIPH_BASE + 0x5800UL)
+#define SAI1_Block_A_BASE     (SAI1_BASE + 0x004UL)
+#define SAI1_Block_B_BASE     (SAI1_BASE + 0x024UL)
+#define DFSDM1_BASE           (D2_APB2PERIPH_BASE + 0x7800UL)
+#define DFSDM1_Channel0_BASE  (DFSDM1_BASE + 0x00UL)
+#define DFSDM1_Channel1_BASE  (DFSDM1_BASE + 0x20UL)
+#define DFSDM1_Channel2_BASE  (DFSDM1_BASE + 0x40UL)
+#define DFSDM1_Channel3_BASE  (DFSDM1_BASE + 0x60UL)
+#define DFSDM1_Channel4_BASE  (DFSDM1_BASE + 0x80UL)
+#define DFSDM1_Channel5_BASE  (DFSDM1_BASE + 0xA0UL)
+#define DFSDM1_Channel6_BASE  (DFSDM1_BASE + 0xC0UL)
+#define DFSDM1_Channel7_BASE  (DFSDM1_BASE + 0xE0UL)
+#define DFSDM1_Filter0_BASE   (DFSDM1_BASE + 0x100UL)
+#define DFSDM1_Filter1_BASE   (DFSDM1_BASE + 0x180UL)
+#define DFSDM1_Filter2_BASE   (DFSDM1_BASE + 0x200UL)
+#define DFSDM1_Filter3_BASE   (DFSDM1_BASE + 0x280UL)
+
+
+/*!< D3_APB1PERIPH peripherals */
+#define EXTI_BASE             (D3_APB1PERIPH_BASE + 0x0000UL)
+#define EXTI_D1_BASE          (EXTI_BASE + 0x0080UL)
+#define EXTI_D2_BASE          (EXTI_BASE + 0x00C0UL)
+#define SYSCFG_BASE           (D3_APB1PERIPH_BASE + 0x0400UL)
+#define LPUART1_BASE          (D3_APB1PERIPH_BASE + 0x0C00UL)
+#define SPI6_BASE             (D3_APB1PERIPH_BASE + 0x1400UL)
+#define I2C4_BASE             (D3_APB1PERIPH_BASE + 0x1C00UL)
+#define LPTIM2_BASE           (D3_APB1PERIPH_BASE + 0x2400UL)
+#define LPTIM3_BASE           (D3_APB1PERIPH_BASE + 0x2800UL)
+#define LPTIM4_BASE           (D3_APB1PERIPH_BASE + 0x2C00UL)
+#define LPTIM5_BASE           (D3_APB1PERIPH_BASE + 0x3000UL)
+#define COMP12_BASE           (D3_APB1PERIPH_BASE + 0x3800UL)
+#define COMP1_BASE            (COMP12_BASE + 0x0CUL)
+#define COMP2_BASE            (COMP12_BASE + 0x10UL)
+#define VREFBUF_BASE          (D3_APB1PERIPH_BASE + 0x3C00UL)
+#define RTC_BASE              (D3_APB1PERIPH_BASE + 0x4000UL)
+#define IWDG1_BASE            (D3_APB1PERIPH_BASE + 0x4800UL)
+
+
+#define SAI4_BASE             (D3_APB1PERIPH_BASE + 0x5400UL)
+#define SAI4_Block_A_BASE     (SAI4_BASE + 0x004UL)
+#define SAI4_Block_B_BASE     (SAI4_BASE + 0x024UL)
+
+#define DTS_BASE              (D3_APB1PERIPH_BASE + 0x6800UL)
+
+
+
+#define BDMA_Channel0_BASE    (BDMA_BASE + 0x0008UL)
+#define BDMA_Channel1_BASE    (BDMA_BASE + 0x001CUL)
+#define BDMA_Channel2_BASE    (BDMA_BASE + 0x0030UL)
+#define BDMA_Channel3_BASE    (BDMA_BASE + 0x0044UL)
+#define BDMA_Channel4_BASE    (BDMA_BASE + 0x0058UL)
+#define BDMA_Channel5_BASE    (BDMA_BASE + 0x006CUL)
+#define BDMA_Channel6_BASE    (BDMA_BASE + 0x0080UL)
+#define BDMA_Channel7_BASE    (BDMA_BASE + 0x0094UL)
+
+#define DMAMUX2_Channel0_BASE    (DMAMUX2_BASE)
+#define DMAMUX2_Channel1_BASE    (DMAMUX2_BASE + 0x0004UL)
+#define DMAMUX2_Channel2_BASE    (DMAMUX2_BASE + 0x0008UL)
+#define DMAMUX2_Channel3_BASE    (DMAMUX2_BASE + 0x000CUL)
+#define DMAMUX2_Channel4_BASE    (DMAMUX2_BASE + 0x0010UL)
+#define DMAMUX2_Channel5_BASE    (DMAMUX2_BASE + 0x0014UL)
+#define DMAMUX2_Channel6_BASE    (DMAMUX2_BASE + 0x0018UL)
+#define DMAMUX2_Channel7_BASE    (DMAMUX2_BASE + 0x001CUL)
+
+#define DMAMUX2_RequestGenerator0_BASE  (DMAMUX2_BASE + 0x0100UL)
+#define DMAMUX2_RequestGenerator1_BASE  (DMAMUX2_BASE + 0x0104UL)
+#define DMAMUX2_RequestGenerator2_BASE  (DMAMUX2_BASE + 0x0108UL)
+#define DMAMUX2_RequestGenerator3_BASE  (DMAMUX2_BASE + 0x010CUL)
+#define DMAMUX2_RequestGenerator4_BASE  (DMAMUX2_BASE + 0x0110UL)
+#define DMAMUX2_RequestGenerator5_BASE  (DMAMUX2_BASE + 0x0114UL)
+#define DMAMUX2_RequestGenerator6_BASE  (DMAMUX2_BASE + 0x0118UL)
+#define DMAMUX2_RequestGenerator7_BASE  (DMAMUX2_BASE + 0x011CUL)
+
+#define DMAMUX2_ChannelStatus_BASE      (DMAMUX2_BASE + 0x0080UL)
+#define DMAMUX2_RequestGenStatus_BASE   (DMAMUX2_BASE + 0x0140UL)
+
+#define DMA1_Stream0_BASE     (DMA1_BASE + 0x010UL)
+#define DMA1_Stream1_BASE     (DMA1_BASE + 0x028UL)
+#define DMA1_Stream2_BASE     (DMA1_BASE + 0x040UL)
+#define DMA1_Stream3_BASE     (DMA1_BASE + 0x058UL)
+#define DMA1_Stream4_BASE     (DMA1_BASE + 0x070UL)
+#define DMA1_Stream5_BASE     (DMA1_BASE + 0x088UL)
+#define DMA1_Stream6_BASE     (DMA1_BASE + 0x0A0UL)
+#define DMA1_Stream7_BASE     (DMA1_BASE + 0x0B8UL)
+
+#define DMA2_Stream0_BASE     (DMA2_BASE + 0x010UL)
+#define DMA2_Stream1_BASE     (DMA2_BASE + 0x028UL)
+#define DMA2_Stream2_BASE     (DMA2_BASE + 0x040UL)
+#define DMA2_Stream3_BASE     (DMA2_BASE + 0x058UL)
+#define DMA2_Stream4_BASE     (DMA2_BASE + 0x070UL)
+#define DMA2_Stream5_BASE     (DMA2_BASE + 0x088UL)
+#define DMA2_Stream6_BASE     (DMA2_BASE + 0x0A0UL)
+#define DMA2_Stream7_BASE     (DMA2_BASE + 0x0B8UL)
+
+#define DMAMUX1_Channel0_BASE    (DMAMUX1_BASE)
+#define DMAMUX1_Channel1_BASE    (DMAMUX1_BASE + 0x0004UL)
+#define DMAMUX1_Channel2_BASE    (DMAMUX1_BASE + 0x0008UL)
+#define DMAMUX1_Channel3_BASE    (DMAMUX1_BASE + 0x000CUL)
+#define DMAMUX1_Channel4_BASE    (DMAMUX1_BASE + 0x0010UL)
+#define DMAMUX1_Channel5_BASE    (DMAMUX1_BASE + 0x0014UL)
+#define DMAMUX1_Channel6_BASE    (DMAMUX1_BASE + 0x0018UL)
+#define DMAMUX1_Channel7_BASE    (DMAMUX1_BASE + 0x001CUL)
+#define DMAMUX1_Channel8_BASE    (DMAMUX1_BASE + 0x0020UL)
+#define DMAMUX1_Channel9_BASE    (DMAMUX1_BASE + 0x0024UL)
+#define DMAMUX1_Channel10_BASE   (DMAMUX1_BASE + 0x0028UL)
+#define DMAMUX1_Channel11_BASE   (DMAMUX1_BASE + 0x002CUL)
+#define DMAMUX1_Channel12_BASE   (DMAMUX1_BASE + 0x0030UL)
+#define DMAMUX1_Channel13_BASE   (DMAMUX1_BASE + 0x0034UL)
+#define DMAMUX1_Channel14_BASE   (DMAMUX1_BASE + 0x0038UL)
+#define DMAMUX1_Channel15_BASE   (DMAMUX1_BASE + 0x003CUL)
+
+#define DMAMUX1_RequestGenerator0_BASE  (DMAMUX1_BASE + 0x0100UL)
+#define DMAMUX1_RequestGenerator1_BASE  (DMAMUX1_BASE + 0x0104UL)
+#define DMAMUX1_RequestGenerator2_BASE  (DMAMUX1_BASE + 0x0108UL)
+#define DMAMUX1_RequestGenerator3_BASE  (DMAMUX1_BASE + 0x010CUL)
+#define DMAMUX1_RequestGenerator4_BASE  (DMAMUX1_BASE + 0x0110UL)
+#define DMAMUX1_RequestGenerator5_BASE  (DMAMUX1_BASE + 0x0114UL)
+#define DMAMUX1_RequestGenerator6_BASE  (DMAMUX1_BASE + 0x0118UL)
+#define DMAMUX1_RequestGenerator7_BASE  (DMAMUX1_BASE + 0x011CUL)
+
+#define DMAMUX1_ChannelStatus_BASE      (DMAMUX1_BASE + 0x0080UL)
+#define DMAMUX1_RequestGenStatus_BASE   (DMAMUX1_BASE + 0x0140UL)
+
+/*!< FMC Banks registers base  address */
+#define FMC_Bank1_R_BASE      (FMC_R_BASE + 0x0000UL)
+#define FMC_Bank1E_R_BASE     (FMC_R_BASE + 0x0104UL)
+#define FMC_Bank2_R_BASE      (FMC_R_BASE + 0x0060UL)
+#define FMC_Bank3_R_BASE      (FMC_R_BASE + 0x0080UL)
+#define FMC_Bank5_6_R_BASE    (FMC_R_BASE + 0x0140UL)
+
+/* Debug MCU registers base address */
+#define DBGMCU_BASE           (0x5C001000UL)
+
+#define MDMA_Channel0_BASE    (MDMA_BASE + 0x00000040UL)
+#define MDMA_Channel1_BASE    (MDMA_BASE + 0x00000080UL)
+#define MDMA_Channel2_BASE    (MDMA_BASE + 0x000000C0UL)
+#define MDMA_Channel3_BASE    (MDMA_BASE + 0x00000100UL)
+#define MDMA_Channel4_BASE    (MDMA_BASE + 0x00000140UL)
+#define MDMA_Channel5_BASE    (MDMA_BASE + 0x00000180UL)
+#define MDMA_Channel6_BASE    (MDMA_BASE + 0x000001C0UL)
+#define MDMA_Channel7_BASE    (MDMA_BASE + 0x00000200UL)
+#define MDMA_Channel8_BASE    (MDMA_BASE + 0x00000240UL)
+#define MDMA_Channel9_BASE    (MDMA_BASE + 0x00000280UL)
+#define MDMA_Channel10_BASE   (MDMA_BASE + 0x000002C0UL)
+#define MDMA_Channel11_BASE   (MDMA_BASE + 0x00000300UL)
+#define MDMA_Channel12_BASE   (MDMA_BASE + 0x00000340UL)
+#define MDMA_Channel13_BASE   (MDMA_BASE + 0x00000380UL)
+#define MDMA_Channel14_BASE   (MDMA_BASE + 0x000003C0UL)
+#define MDMA_Channel15_BASE   (MDMA_BASE + 0x00000400UL)
+
+#define RAMECC1_Monitor1_BASE (RAMECC1_BASE + 0x20UL)
+#define RAMECC1_Monitor2_BASE (RAMECC1_BASE + 0x40UL)
+#define RAMECC1_Monitor3_BASE (RAMECC1_BASE + 0x60UL)
+#define RAMECC1_Monitor4_BASE (RAMECC1_BASE + 0x80UL)
+#define RAMECC1_Monitor5_BASE (RAMECC1_BASE + 0xA0UL)
+#define RAMECC1_Monitor6_BASE (RAMECC1_BASE + 0xC0UL)
+
+#define RAMECC2_Monitor1_BASE (RAMECC2_BASE + 0x20UL)
+#define RAMECC2_Monitor2_BASE (RAMECC2_BASE + 0x40UL)
+#define RAMECC2_Monitor3_BASE (RAMECC2_BASE + 0x60UL)
+
+#define RAMECC3_Monitor1_BASE (RAMECC3_BASE + 0x20UL)
+#define RAMECC3_Monitor2_BASE (RAMECC3_BASE + 0x40UL)
+
+
+
+#define GPV_BASE       (PERIPH_BASE + 0x11000000UL)   /*!<  GPV_BASE       (PERIPH_BASE + 0x11000000UL)                    */
+
+/**
+  * @}
+  */
+
+/** @addtogroup Peripheral_declaration
+  * @{
+  */
+#define TIM2                ((TIM_TypeDef *) TIM2_BASE)
+#define TIM3                ((TIM_TypeDef *) TIM3_BASE)
+#define TIM4                ((TIM_TypeDef *) TIM4_BASE)
+#define TIM5                ((TIM_TypeDef *) TIM5_BASE)
+#define TIM6                ((TIM_TypeDef *) TIM6_BASE)
+#define TIM7                ((TIM_TypeDef *) TIM7_BASE)
+#define TIM13               ((TIM_TypeDef *) TIM13_BASE)
+#define TIM14               ((TIM_TypeDef *) TIM14_BASE)
+#define VREFBUF             ((VREFBUF_TypeDef *) VREFBUF_BASE)
+#define RTC                 ((RTC_TypeDef *) RTC_BASE)
+#define WWDG1               ((WWDG_TypeDef *) WWDG1_BASE)
+
+
+#define IWDG1               ((IWDG_TypeDef *) IWDG1_BASE)
+#define SPI2                ((SPI_TypeDef *) SPI2_BASE)
+#define SPI3                ((SPI_TypeDef *) SPI3_BASE)
+#define SPI4                ((SPI_TypeDef *) SPI4_BASE)
+#define SPI5                ((SPI_TypeDef *) SPI5_BASE)
+#define SPI6                ((SPI_TypeDef *) SPI6_BASE)
+#define USART2              ((USART_TypeDef *) USART2_BASE)
+#define USART3              ((USART_TypeDef *) USART3_BASE)
+#define USART6              ((USART_TypeDef *) USART6_BASE)
+#define USART10             ((USART_TypeDef *) USART10_BASE)
+#define UART7               ((USART_TypeDef *) UART7_BASE)
+#define UART8               ((USART_TypeDef *) UART8_BASE)
+#define UART9               ((USART_TypeDef *) UART9_BASE)
+#define CRS                 ((CRS_TypeDef *) CRS_BASE)
+#define UART4               ((USART_TypeDef *) UART4_BASE)
+#define UART5               ((USART_TypeDef *) UART5_BASE)
+#define I2C1                ((I2C_TypeDef *) I2C1_BASE)
+#define I2C2                ((I2C_TypeDef *) I2C2_BASE)
+#define I2C3                ((I2C_TypeDef *) I2C3_BASE)
+#define I2C4                ((I2C_TypeDef *) I2C4_BASE)
+#define I2C5                ((I2C_TypeDef *) I2C5_BASE)
+#define FDCAN1              ((FDCAN_GlobalTypeDef *) FDCAN1_BASE)
+#define FDCAN2              ((FDCAN_GlobalTypeDef *) FDCAN2_BASE)
+#define FDCAN_CCU           ((FDCAN_ClockCalibrationUnit_TypeDef *) FDCAN_CCU_BASE)
+#define FDCAN3              ((FDCAN_GlobalTypeDef *) FDCAN3_BASE)
+#define TIM23               ((TIM_TypeDef *) TIM23_BASE)
+#define TIM24               ((TIM_TypeDef *) TIM24_BASE)
+#define CEC                 ((CEC_TypeDef *) CEC_BASE)
+#define LPTIM1              ((LPTIM_TypeDef *) LPTIM1_BASE)
+#define PWR                 ((PWR_TypeDef *) PWR_BASE)
+#define DAC1                ((DAC_TypeDef *) DAC1_BASE)
+#define LPUART1             ((USART_TypeDef *) LPUART1_BASE)
+#define SWPMI1              ((SWPMI_TypeDef *) SWPMI1_BASE)
+#define LPTIM2              ((LPTIM_TypeDef *) LPTIM2_BASE)
+#define LPTIM3              ((LPTIM_TypeDef *) LPTIM3_BASE)
+#define DTS                 ((DTS_TypeDef *) DTS_BASE)
+#define LPTIM4              ((LPTIM_TypeDef *) LPTIM4_BASE)
+#define LPTIM5              ((LPTIM_TypeDef *) LPTIM5_BASE)
+
+#define SYSCFG              ((SYSCFG_TypeDef *) SYSCFG_BASE)
+#define COMP12              ((COMPOPT_TypeDef *) COMP12_BASE)
+#define COMP1               ((COMP_TypeDef *) COMP1_BASE)
+#define COMP2               ((COMP_TypeDef *) COMP2_BASE)
+#define COMP12_COMMON       ((COMP_Common_TypeDef *) COMP2_BASE)
+#define OPAMP               ((OPAMP_TypeDef *) OPAMP_BASE)
+#define OPAMP1              ((OPAMP_TypeDef *) OPAMP1_BASE)
+#define OPAMP2              ((OPAMP_TypeDef *) OPAMP2_BASE)
+
+
+#define EXTI                ((EXTI_TypeDef *) EXTI_BASE)
+#define EXTI_D1             ((EXTI_Core_TypeDef *) EXTI_D1_BASE)
+#define EXTI_D2             ((EXTI_Core_TypeDef *) EXTI_D2_BASE)
+#define TIM1                ((TIM_TypeDef *) TIM1_BASE)
+#define SPI1                ((SPI_TypeDef *) SPI1_BASE)
+#define TIM8                ((TIM_TypeDef *) TIM8_BASE)
+#define USART1              ((USART_TypeDef *) USART1_BASE)
+#define TIM12               ((TIM_TypeDef *) TIM12_BASE)
+#define TIM15               ((TIM_TypeDef *) TIM15_BASE)
+#define TIM16               ((TIM_TypeDef *) TIM16_BASE)
+#define TIM17               ((TIM_TypeDef *) TIM17_BASE)
+#define SAI1                ((SAI_TypeDef *) SAI1_BASE)
+#define SAI1_Block_A        ((SAI_Block_TypeDef *)SAI1_Block_A_BASE)
+#define SAI1_Block_B        ((SAI_Block_TypeDef *)SAI1_Block_B_BASE)
+#define SAI4                ((SAI_TypeDef *) SAI4_BASE)
+#define SAI4_Block_A        ((SAI_Block_TypeDef *)SAI4_Block_A_BASE)
+#define SAI4_Block_B        ((SAI_Block_TypeDef *)SAI4_Block_B_BASE)
+
+#define SPDIFRX             ((SPDIFRX_TypeDef *) SPDIFRX_BASE)
+#define DFSDM1_Channel0     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel0_BASE)
+#define DFSDM1_Channel1     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel1_BASE)
+#define DFSDM1_Channel2     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel2_BASE)
+#define DFSDM1_Channel3     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel3_BASE)
+#define DFSDM1_Channel4     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel4_BASE)
+#define DFSDM1_Channel5     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel5_BASE)
+#define DFSDM1_Channel6     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel6_BASE)
+#define DFSDM1_Channel7     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel7_BASE)
+#define DFSDM1_Filter0      ((DFSDM_Filter_TypeDef *) DFSDM1_Filter0_BASE)
+#define DFSDM1_Filter1      ((DFSDM_Filter_TypeDef *) DFSDM1_Filter1_BASE)
+#define DFSDM1_Filter2      ((DFSDM_Filter_TypeDef *) DFSDM1_Filter2_BASE)
+#define DFSDM1_Filter3      ((DFSDM_Filter_TypeDef *) DFSDM1_Filter3_BASE)
+#define DMA2D               ((DMA2D_TypeDef *) DMA2D_BASE)
+#define DCMI                ((DCMI_TypeDef *) DCMI_BASE)
+#define PSSI                ((PSSI_TypeDef *) PSSI_BASE)
+#define RCC                 ((RCC_TypeDef *) RCC_BASE)
+#define FLASH               ((FLASH_TypeDef *) FLASH_R_BASE)
+#define CRC                 ((CRC_TypeDef *) CRC_BASE)
+
+#define GPIOA               ((GPIO_TypeDef *) GPIOA_BASE)
+#define GPIOB               ((GPIO_TypeDef *) GPIOB_BASE)
+#define GPIOC               ((GPIO_TypeDef *) GPIOC_BASE)
+#define GPIOD               ((GPIO_TypeDef *) GPIOD_BASE)
+#define GPIOE               ((GPIO_TypeDef *) GPIOE_BASE)
+#define GPIOF               ((GPIO_TypeDef *) GPIOF_BASE)
+#define GPIOG               ((GPIO_TypeDef *) GPIOG_BASE)
+#define GPIOH               ((GPIO_TypeDef *) GPIOH_BASE)
+#define GPIOJ               ((GPIO_TypeDef *) GPIOJ_BASE)
+#define GPIOK               ((GPIO_TypeDef *) GPIOK_BASE)
+
+#define ADC1                ((ADC_TypeDef *) ADC1_BASE)
+#define ADC2                ((ADC_TypeDef *) ADC2_BASE)
+#define ADC3                ((ADC_TypeDef *) ADC3_BASE)
+#define ADC3_COMMON         ((ADC_Common_TypeDef *) ADC3_COMMON_BASE)
+#define ADC12_COMMON        ((ADC_Common_TypeDef *) ADC12_COMMON_BASE)
+
+#define CRYP                ((CRYP_TypeDef *) CRYP_BASE)
+#define HASH                ((HASH_TypeDef *) HASH_BASE)
+#define HASH_DIGEST         ((HASH_DIGEST_TypeDef *) HASH_DIGEST_BASE)
+#define RNG                 ((RNG_TypeDef *) RNG_BASE)
+#define SDMMC2              ((SDMMC_TypeDef *) SDMMC2_BASE)
+#define DLYB_SDMMC2         ((DLYB_TypeDef *) DLYB_SDMMC2_BASE)
+#define FMAC                ((FMAC_TypeDef *) FMAC_BASE)
+#define CORDIC              ((CORDIC_TypeDef *) CORDIC_BASE)
+
+#define BDMA                ((BDMA_TypeDef *) BDMA_BASE)
+#define BDMA_Channel0       ((BDMA_Channel_TypeDef *) BDMA_Channel0_BASE)
+#define BDMA_Channel1       ((BDMA_Channel_TypeDef *) BDMA_Channel1_BASE)
+#define BDMA_Channel2       ((BDMA_Channel_TypeDef *) BDMA_Channel2_BASE)
+#define BDMA_Channel3       ((BDMA_Channel_TypeDef *) BDMA_Channel3_BASE)
+#define BDMA_Channel4       ((BDMA_Channel_TypeDef *) BDMA_Channel4_BASE)
+#define BDMA_Channel5       ((BDMA_Channel_TypeDef *) BDMA_Channel5_BASE)
+#define BDMA_Channel6       ((BDMA_Channel_TypeDef *) BDMA_Channel6_BASE)
+#define BDMA_Channel7       ((BDMA_Channel_TypeDef *) BDMA_Channel7_BASE)
+
+#define RAMECC1              ((RAMECC_TypeDef *)RAMECC1_BASE)
+#define RAMECC1_Monitor1     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor1_BASE)
+#define RAMECC1_Monitor2     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor2_BASE)
+#define RAMECC1_Monitor3     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor3_BASE)
+#define RAMECC1_Monitor4     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor4_BASE)
+#define RAMECC1_Monitor5     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor5_BASE)
+#define RAMECC1_Monitor6     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor6_BASE)
+
+#define RAMECC2              ((RAMECC_TypeDef *)RAMECC2_BASE)
+#define RAMECC2_Monitor1     ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor1_BASE)
+#define RAMECC2_Monitor2     ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor2_BASE)
+#define RAMECC2_Monitor3     ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor3_BASE)
+
+#define RAMECC3              ((RAMECC_TypeDef *)RAMECC3_BASE)
+#define RAMECC3_Monitor1     ((RAMECC_MonitorTypeDef *)RAMECC3_Monitor1_BASE)
+#define RAMECC3_Monitor2     ((RAMECC_MonitorTypeDef *)RAMECC3_Monitor2_BASE)
+
+#define DMAMUX2                ((DMAMUX_Channel_TypeDef *) DMAMUX2_BASE)
+#define DMAMUX2_Channel0       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel0_BASE)
+#define DMAMUX2_Channel1       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel1_BASE)
+#define DMAMUX2_Channel2       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel2_BASE)
+#define DMAMUX2_Channel3       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel3_BASE)
+#define DMAMUX2_Channel4       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel4_BASE)
+#define DMAMUX2_Channel5       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel5_BASE)
+#define DMAMUX2_Channel6       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel6_BASE)
+#define DMAMUX2_Channel7       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel7_BASE)
+
+
+#define DMAMUX2_RequestGenerator0  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator0_BASE)
+#define DMAMUX2_RequestGenerator1  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator1_BASE)
+#define DMAMUX2_RequestGenerator2  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator2_BASE)
+#define DMAMUX2_RequestGenerator3  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator3_BASE)
+#define DMAMUX2_RequestGenerator4  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator4_BASE)
+#define DMAMUX2_RequestGenerator5  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator5_BASE)
+#define DMAMUX2_RequestGenerator6  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator6_BASE)
+#define DMAMUX2_RequestGenerator7  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator7_BASE)
+
+#define DMAMUX2_ChannelStatus      ((DMAMUX_ChannelStatus_TypeDef *) DMAMUX2_ChannelStatus_BASE)
+#define DMAMUX2_RequestGenStatus   ((DMAMUX_RequestGenStatus_TypeDef *) DMAMUX2_RequestGenStatus_BASE)
+
+#define DMA2                ((DMA_TypeDef *) DMA2_BASE)
+#define DMA2_Stream0        ((DMA_Stream_TypeDef *) DMA2_Stream0_BASE)
+#define DMA2_Stream1        ((DMA_Stream_TypeDef *) DMA2_Stream1_BASE)
+#define DMA2_Stream2        ((DMA_Stream_TypeDef *) DMA2_Stream2_BASE)
+#define DMA2_Stream3        ((DMA_Stream_TypeDef *) DMA2_Stream3_BASE)
+#define DMA2_Stream4        ((DMA_Stream_TypeDef *) DMA2_Stream4_BASE)
+#define DMA2_Stream5        ((DMA_Stream_TypeDef *) DMA2_Stream5_BASE)
+#define DMA2_Stream6        ((DMA_Stream_TypeDef *) DMA2_Stream6_BASE)
+#define DMA2_Stream7        ((DMA_Stream_TypeDef *) DMA2_Stream7_BASE)
+
+#define DMA1                ((DMA_TypeDef *) DMA1_BASE)
+#define DMA1_Stream0        ((DMA_Stream_TypeDef *) DMA1_Stream0_BASE)
+#define DMA1_Stream1        ((DMA_Stream_TypeDef *) DMA1_Stream1_BASE)
+#define DMA1_Stream2        ((DMA_Stream_TypeDef *) DMA1_Stream2_BASE)
+#define DMA1_Stream3        ((DMA_Stream_TypeDef *) DMA1_Stream3_BASE)
+#define DMA1_Stream4        ((DMA_Stream_TypeDef *) DMA1_Stream4_BASE)
+#define DMA1_Stream5        ((DMA_Stream_TypeDef *) DMA1_Stream5_BASE)
+#define DMA1_Stream6        ((DMA_Stream_TypeDef *) DMA1_Stream6_BASE)
+#define DMA1_Stream7        ((DMA_Stream_TypeDef *) DMA1_Stream7_BASE)
+
+
+#define DMAMUX1              ((DMAMUX_Channel_TypeDef *) DMAMUX1_BASE)
+#define DMAMUX1_Channel0     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel0_BASE)
+#define DMAMUX1_Channel1     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel1_BASE)
+#define DMAMUX1_Channel2     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel2_BASE)
+#define DMAMUX1_Channel3     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel3_BASE)
+#define DMAMUX1_Channel4     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel4_BASE)
+#define DMAMUX1_Channel5     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel5_BASE)
+#define DMAMUX1_Channel6     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel6_BASE)
+#define DMAMUX1_Channel7     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel7_BASE)
+#define DMAMUX1_Channel8     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel8_BASE)
+#define DMAMUX1_Channel9     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel9_BASE)
+#define DMAMUX1_Channel10    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel10_BASE)
+#define DMAMUX1_Channel11    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel11_BASE)
+#define DMAMUX1_Channel12    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel12_BASE)
+#define DMAMUX1_Channel13    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel13_BASE)
+#define DMAMUX1_Channel14    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel14_BASE)
+#define DMAMUX1_Channel15    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel15_BASE)
+
+#define DMAMUX1_RequestGenerator0  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator0_BASE)
+#define DMAMUX1_RequestGenerator1  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator1_BASE)
+#define DMAMUX1_RequestGenerator2  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator2_BASE)
+#define DMAMUX1_RequestGenerator3  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator3_BASE)
+#define DMAMUX1_RequestGenerator4  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator4_BASE)
+#define DMAMUX1_RequestGenerator5  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator5_BASE)
+#define DMAMUX1_RequestGenerator6  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator6_BASE)
+#define DMAMUX1_RequestGenerator7  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator7_BASE)
+
+#define DMAMUX1_ChannelStatus      ((DMAMUX_ChannelStatus_TypeDef *)    DMAMUX1_ChannelStatus_BASE)
+#define DMAMUX1_RequestGenStatus   ((DMAMUX_RequestGenStatus_TypeDef *) DMAMUX1_RequestGenStatus_BASE)
+
+
+#define FMC_Bank1_R           ((FMC_Bank1_TypeDef *) FMC_Bank1_R_BASE)
+#define FMC_Bank1E_R          ((FMC_Bank1E_TypeDef *) FMC_Bank1E_R_BASE)
+#define FMC_Bank2_R           ((FMC_Bank2_TypeDef *) FMC_Bank2_R_BASE)
+#define FMC_Bank3_R           ((FMC_Bank3_TypeDef *) FMC_Bank3_R_BASE)
+#define FMC_Bank5_6_R         ((FMC_Bank5_6_TypeDef *) FMC_Bank5_6_R_BASE)
+
+#define OCTOSPI1            ((OCTOSPI_TypeDef *) OCTOSPI1_R_BASE)
+#define DLYB_OCTOSPI1       ((DLYB_TypeDef *) DLYB_OCTOSPI1_BASE)
+#define OCTOSPI2            ((OCTOSPI_TypeDef *) OCTOSPI2_R_BASE)
+#define DLYB_OCTOSPI2       ((DLYB_TypeDef *) DLYB_OCTOSPI2_BASE)
+#define OCTOSPIM            ((OCTOSPIM_TypeDef *) OCTOSPIM_BASE)
+
+#define OTFDEC1               ((OTFDEC_TypeDef *) OTFDEC1_BASE)
+#define OTFDEC1_REGION1       ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION1_BASE)
+#define OTFDEC1_REGION2       ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION2_BASE)
+#define OTFDEC1_REGION3       ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION3_BASE)
+#define OTFDEC1_REGION4       ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION4_BASE)
+
+#define OTFDEC2               ((OTFDEC_TypeDef *) OTFDEC2_BASE)
+#define OTFDEC2_REGION1       ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION1_BASE)
+#define OTFDEC2_REGION2       ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION2_BASE)
+#define OTFDEC2_REGION3       ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION3_BASE)
+#define OTFDEC2_REGION4       ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION4_BASE)
+
+#define SDMMC1                ((SDMMC_TypeDef *) SDMMC1_BASE)
+#define DLYB_SDMMC1           ((DLYB_TypeDef *) DLYB_SDMMC1_BASE)
+
+#define DBGMCU              ((DBGMCU_TypeDef *) DBGMCU_BASE)
+
+#define HSEM                ((HSEM_TypeDef *) HSEM_BASE)
+#define HSEM_COMMON         ((HSEM_Common_TypeDef *) (HSEM_BASE + 0x100UL))
+
+#define LTDC                ((LTDC_TypeDef *)LTDC_BASE)
+#define LTDC_Layer1         ((LTDC_Layer_TypeDef *)LTDC_Layer1_BASE)
+#define LTDC_Layer2         ((LTDC_Layer_TypeDef *)LTDC_Layer2_BASE)
+
+#define MDIOS               ((MDIOS_TypeDef *) MDIOS_BASE)
+
+#define ETH                 ((ETH_TypeDef *)ETH_BASE)
+#define MDMA                ((MDMA_TypeDef *)MDMA_BASE)
+#define MDMA_Channel0       ((MDMA_Channel_TypeDef *)MDMA_Channel0_BASE)
+#define MDMA_Channel1       ((MDMA_Channel_TypeDef *)MDMA_Channel1_BASE)
+#define MDMA_Channel2       ((MDMA_Channel_TypeDef *)MDMA_Channel2_BASE)
+#define MDMA_Channel3       ((MDMA_Channel_TypeDef *)MDMA_Channel3_BASE)
+#define MDMA_Channel4       ((MDMA_Channel_TypeDef *)MDMA_Channel4_BASE)
+#define MDMA_Channel5       ((MDMA_Channel_TypeDef *)MDMA_Channel5_BASE)
+#define MDMA_Channel6       ((MDMA_Channel_TypeDef *)MDMA_Channel6_BASE)
+#define MDMA_Channel7       ((MDMA_Channel_TypeDef *)MDMA_Channel7_BASE)
+#define MDMA_Channel8       ((MDMA_Channel_TypeDef *)MDMA_Channel8_BASE)
+#define MDMA_Channel9       ((MDMA_Channel_TypeDef *)MDMA_Channel9_BASE)
+#define MDMA_Channel10      ((MDMA_Channel_TypeDef *)MDMA_Channel10_BASE)
+#define MDMA_Channel11      ((MDMA_Channel_TypeDef *)MDMA_Channel11_BASE)
+#define MDMA_Channel12      ((MDMA_Channel_TypeDef *)MDMA_Channel12_BASE)
+#define MDMA_Channel13      ((MDMA_Channel_TypeDef *)MDMA_Channel13_BASE)
+#define MDMA_Channel14      ((MDMA_Channel_TypeDef *)MDMA_Channel14_BASE)
+#define MDMA_Channel15      ((MDMA_Channel_TypeDef *)MDMA_Channel15_BASE)
+
+
+#define USB1_OTG_HS         ((USB_OTG_GlobalTypeDef *) USB1_OTG_HS_PERIPH_BASE)
+
+/* Legacy defines */
+#define USB_OTG_HS                   USB1_OTG_HS
+#define USB_OTG_HS_PERIPH_BASE       USB1_OTG_HS_PERIPH_BASE
+
+#define GPV                ((GPV_TypeDef *) GPV_BASE)
+
+/**
+  * @}
+  */
+
+/** @addtogroup Exported_constants
+  * @{
+  */
+
+  /** @addtogroup Peripheral_Registers_Bits_Definition
+  * @{
+  */
+
+/******************************************************************************/
+/*                         Peripheral Registers_Bits_Definition               */
+/******************************************************************************/
+
+/******************************************************************************/
+/*                                                                            */
+/*                        Analog to Digital Converter                         */
+/*                                                                            */
+/******************************************************************************/
+/*******************************  ADC VERSION  ********************************/
+#define ADC_VER_V5_V90
+/********************  Bit definition for ADC_ISR register  ********************/
+#define ADC_ISR_ADRDY_Pos                 (0U)
+#define ADC_ISR_ADRDY_Msk                 (0x1UL << ADC_ISR_ADRDY_Pos)         /*!< 0x00000001 */
+#define ADC_ISR_ADRDY                     ADC_ISR_ADRDY_Msk                    /*!< ADC Ready (ADRDY) flag  */
+#define ADC_ISR_EOSMP_Pos                 (1U)
+#define ADC_ISR_EOSMP_Msk                 (0x1UL << ADC_ISR_EOSMP_Pos)         /*!< 0x00000002 */
+#define ADC_ISR_EOSMP                     ADC_ISR_EOSMP_Msk                    /*!< ADC End of Sampling flag */
+#define ADC_ISR_EOC_Pos                   (2U)
+#define ADC_ISR_EOC_Msk                   (0x1UL << ADC_ISR_EOC_Pos)           /*!< 0x00000004 */
+#define ADC_ISR_EOC                       ADC_ISR_EOC_Msk                      /*!< ADC End of Regular Conversion flag */
+#define ADC_ISR_EOS_Pos                   (3U)
+#define ADC_ISR_EOS_Msk                   (0x1UL << ADC_ISR_EOS_Pos)           /*!< 0x00000008 */
+#define ADC_ISR_EOS                       ADC_ISR_EOS_Msk                      /*!< ADC End of Regular sequence of Conversions flag */
+#define ADC_ISR_OVR_Pos                   (4U)
+#define ADC_ISR_OVR_Msk                   (0x1UL << ADC_ISR_OVR_Pos)           /*!< 0x00000010 */
+#define ADC_ISR_OVR                       ADC_ISR_OVR_Msk                      /*!< ADC overrun flag */
+#define ADC_ISR_JEOC_Pos                  (5U)
+#define ADC_ISR_JEOC_Msk                  (0x1UL << ADC_ISR_JEOC_Pos)          /*!< 0x00000020 */
+#define ADC_ISR_JEOC                      ADC_ISR_JEOC_Msk                     /*!< ADC End of Injected Conversion flag */
+#define ADC_ISR_JEOS_Pos                  (6U)
+#define ADC_ISR_JEOS_Msk                  (0x1UL << ADC_ISR_JEOS_Pos)          /*!< 0x00000040 */
+#define ADC_ISR_JEOS                      ADC_ISR_JEOS_Msk                     /*!< ADC End of Injected sequence of Conversions flag */
+#define ADC_ISR_AWD1_Pos                  (7U)
+#define ADC_ISR_AWD1_Msk                  (0x1UL << ADC_ISR_AWD1_Pos)          /*!< 0x00000080 */
+#define ADC_ISR_AWD1                      ADC_ISR_AWD1_Msk                     /*!< ADC Analog watchdog 1 flag */
+#define ADC_ISR_AWD2_Pos                  (8U)
+#define ADC_ISR_AWD2_Msk                  (0x1UL << ADC_ISR_AWD2_Pos)          /*!< 0x00000100 */
+#define ADC_ISR_AWD2                      ADC_ISR_AWD2_Msk                     /*!< ADC Analog watchdog 2 flag */
+#define ADC_ISR_AWD3_Pos                  (9U)
+#define ADC_ISR_AWD3_Msk                  (0x1UL << ADC_ISR_AWD3_Pos)          /*!< 0x00000200 */
+#define ADC_ISR_AWD3                      ADC_ISR_AWD3_Msk                     /*!< ADC Analog watchdog 3 flag */
+#define ADC_ISR_JQOVF_Pos                 (10U)
+#define ADC_ISR_JQOVF_Msk                 (0x1UL << ADC_ISR_JQOVF_Pos)         /*!< 0x00000400 */
+#define ADC_ISR_JQOVF                     ADC_ISR_JQOVF_Msk                    /*!< ADC Injected Context Queue Overflow flag */
+#define ADC_ISR_LDORDY_Pos                 (12U)
+#define ADC_ISR_LDORDY_Msk                 (0x1UL << ADC_ISR_LDORDY_Pos)         /*!< 0x00001000 */
+#define ADC_ISR_LDORDY                     ADC_ISR_LDORDY_Msk                    /*!< ADC LDO Ready (LDORDY) flag  */
+
+/********************  Bit definition for ADC_IER register  ********************/
+#define ADC_IER_ADRDYIE_Pos               (0U)
+#define ADC_IER_ADRDYIE_Msk               (0x1UL << ADC_IER_ADRDYIE_Pos)       /*!< 0x00000001 */
+#define ADC_IER_ADRDYIE                   ADC_IER_ADRDYIE_Msk                  /*!< ADC Ready (ADRDY) interrupt source */
+#define ADC_IER_EOSMPIE_Pos               (1U)
+#define ADC_IER_EOSMPIE_Msk               (0x1UL << ADC_IER_EOSMPIE_Pos)       /*!< 0x00000002 */
+#define ADC_IER_EOSMPIE                   ADC_IER_EOSMPIE_Msk                  /*!< ADC End of Sampling interrupt source */
+#define ADC_IER_EOCIE_Pos                 (2U)
+#define ADC_IER_EOCIE_Msk                 (0x1UL << ADC_IER_EOCIE_Pos)         /*!< 0x00000004 */
+#define ADC_IER_EOCIE                     ADC_IER_EOCIE_Msk                    /*!< ADC End of Regular Conversion interrupt source */
+#define ADC_IER_EOSIE_Pos                 (3U)
+#define ADC_IER_EOSIE_Msk                 (0x1UL << ADC_IER_EOSIE_Pos)         /*!< 0x00000008 */
+#define ADC_IER_EOSIE                     ADC_IER_EOSIE_Msk                    /*!< ADC End of Regular sequence of Conversions interrupt source */
+#define ADC_IER_OVRIE_Pos                 (4U)
+#define ADC_IER_OVRIE_Msk                 (0x1UL << ADC_IER_OVRIE_Pos)         /*!< 0x00000010 */
+#define ADC_IER_OVRIE                     ADC_IER_OVRIE_Msk                    /*!< ADC overrun interrupt source */
+#define ADC_IER_JEOCIE_Pos                (5U)
+#define ADC_IER_JEOCIE_Msk                (0x1UL << ADC_IER_JEOCIE_Pos)        /*!< 0x00000020 */
+#define ADC_IER_JEOCIE                    ADC_IER_JEOCIE_Msk                   /*!< ADC End of Injected Conversion interrupt source */
+#define ADC_IER_JEOSIE_Pos                (6U)
+#define ADC_IER_JEOSIE_Msk                (0x1UL << ADC_IER_JEOSIE_Pos)        /*!< 0x00000040 */
+#define ADC_IER_JEOSIE                    ADC_IER_JEOSIE_Msk                   /*!< ADC End of Injected sequence of Conversions interrupt source */
+#define ADC_IER_AWD1IE_Pos                (7U)
+#define ADC_IER_AWD1IE_Msk                (0x1UL << ADC_IER_AWD1IE_Pos)        /*!< 0x00000080 */
+#define ADC_IER_AWD1IE                    ADC_IER_AWD1IE_Msk                   /*!< ADC Analog watchdog 1 interrupt source */
+#define ADC_IER_AWD2IE_Pos                (8U)
+#define ADC_IER_AWD2IE_Msk                (0x1UL << ADC_IER_AWD2IE_Pos)        /*!< 0x00000100 */
+#define ADC_IER_AWD2IE                    ADC_IER_AWD2IE_Msk                   /*!< ADC Analog watchdog 2 interrupt source */
+#define ADC_IER_AWD3IE_Pos                (9U)
+#define ADC_IER_AWD3IE_Msk                (0x1UL << ADC_IER_AWD3IE_Pos)        /*!< 0x00000200 */
+#define ADC_IER_AWD3IE                    ADC_IER_AWD3IE_Msk                   /*!< ADC Analog watchdog 3 interrupt source */
+#define ADC_IER_JQOVFIE_Pos               (10U)
+#define ADC_IER_JQOVFIE_Msk               (0x1UL << ADC_IER_JQOVFIE_Pos)       /*!< 0x00000400 */
+#define ADC_IER_JQOVFIE                   ADC_IER_JQOVFIE_Msk                  /*!< ADC Injected Context Queue Overflow interrupt source */
+
+/********************  Bit definition for ADC_CR register  ********************/
+#define ADC_CR_ADEN_Pos                   (0U)
+#define ADC_CR_ADEN_Msk                   (0x1UL << ADC_CR_ADEN_Pos)           /*!< 0x00000001 */
+#define ADC_CR_ADEN                       ADC_CR_ADEN_Msk                      /*!< ADC Enable control */
+#define ADC_CR_ADDIS_Pos                  (1U)
+#define ADC_CR_ADDIS_Msk                  (0x1UL << ADC_CR_ADDIS_Pos)          /*!< 0x00000002 */
+#define ADC_CR_ADDIS                      ADC_CR_ADDIS_Msk                     /*!< ADC Disable command */
+#define ADC_CR_ADSTART_Pos                (2U)
+#define ADC_CR_ADSTART_Msk                (0x1UL << ADC_CR_ADSTART_Pos)        /*!< 0x00000004 */
+#define ADC_CR_ADSTART                    ADC_CR_ADSTART_Msk                   /*!< ADC Start of Regular conversion */
+#define ADC_CR_JADSTART_Pos               (3U)
+#define ADC_CR_JADSTART_Msk               (0x1UL << ADC_CR_JADSTART_Pos)       /*!< 0x00000008 */
+#define ADC_CR_JADSTART                   ADC_CR_JADSTART_Msk                  /*!< ADC Start of injected conversion */
+#define ADC_CR_ADSTP_Pos                  (4U)
+#define ADC_CR_ADSTP_Msk                  (0x1UL << ADC_CR_ADSTP_Pos)          /*!< 0x00000010 */
+#define ADC_CR_ADSTP                      ADC_CR_ADSTP_Msk                     /*!< ADC Stop of Regular conversion */
+#define ADC_CR_JADSTP_Pos                 (5U)
+#define ADC_CR_JADSTP_Msk                 (0x1UL << ADC_CR_JADSTP_Pos)         /*!< 0x00000020 */
+#define ADC_CR_JADSTP                     ADC_CR_JADSTP_Msk                    /*!< ADC Stop of injected conversion */
+#define ADC_CR_BOOST_Pos                  (8U)
+#define ADC_CR_BOOST_Msk                  (0x3UL << ADC_CR_BOOST_Pos)          /*!< 0x00000300 */
+#define ADC_CR_BOOST                      ADC_CR_BOOST_Msk                     /*!< ADC Boost Mode configuration */
+#define ADC_CR_BOOST_0                    (0x1UL << ADC_CR_BOOST_Pos)           /*!< 0x00000100 */
+#define ADC_CR_BOOST_1                    (0x2UL << ADC_CR_BOOST_Pos)           /*!< 0x00000200 */
+#define ADC_CR_ADCALLIN_Pos               (16U)
+#define ADC_CR_ADCALLIN_Msk               (0x1UL << ADC_CR_ADCALLIN_Pos)       /*!< 0x00010000 */
+#define ADC_CR_ADCALLIN                   ADC_CR_ADCALLIN_Msk                  /*!< ADC Linearity calibration */
+#define ADC_CR_LINCALRDYW1_Pos            (22U)
+#define ADC_CR_LINCALRDYW1_Msk            (0x1UL << ADC_CR_LINCALRDYW1_Pos)    /*!< 0x00400000 */
+#define ADC_CR_LINCALRDYW1                ADC_CR_LINCALRDYW1_Msk               /*!< ADC Linearity calibration ready Word 1 */
+#define ADC_CR_LINCALRDYW2_Pos            (23U)
+#define ADC_CR_LINCALRDYW2_Msk            (0x1UL << ADC_CR_LINCALRDYW2_Pos)    /*!< 0x00800000 */
+#define ADC_CR_LINCALRDYW2                ADC_CR_LINCALRDYW2_Msk               /*!< ADC Linearity calibration ready Word 2 */
+#define ADC_CR_LINCALRDYW3_Pos            (24U)
+#define ADC_CR_LINCALRDYW3_Msk            (0x1UL << ADC_CR_LINCALRDYW3_Pos)    /*!< 0x01000000 */
+#define ADC_CR_LINCALRDYW3                ADC_CR_LINCALRDYW3_Msk               /*!< ADC Linearity calibration ready Word 3 */
+#define ADC_CR_LINCALRDYW4_Pos            (25U)
+#define ADC_CR_LINCALRDYW4_Msk            (0x1UL << ADC_CR_LINCALRDYW4_Pos)    /*!< 0x02000000 */
+#define ADC_CR_LINCALRDYW4                ADC_CR_LINCALRDYW4_Msk               /*!< ADC Linearity calibration ready Word 4 */
+#define ADC_CR_LINCALRDYW5_Pos            (26U)
+#define ADC_CR_LINCALRDYW5_Msk            (0x1UL << ADC_CR_LINCALRDYW5_Pos)    /*!< 0x04000000 */
+#define ADC_CR_LINCALRDYW5                ADC_CR_LINCALRDYW5_Msk               /*!< ADC Linearity calibration ready Word 5 */
+#define ADC_CR_LINCALRDYW6_Pos            (27U)
+#define ADC_CR_LINCALRDYW6_Msk            (0x1UL << ADC_CR_LINCALRDYW6_Pos)    /*!< 0x08000000 */
+#define ADC_CR_LINCALRDYW6                ADC_CR_LINCALRDYW6_Msk               /*!< ADC Linearity calibration ready Word 6 */
+#define ADC_CR_ADVREGEN_Pos               (28U)
+#define ADC_CR_ADVREGEN_Msk               (0x1UL << ADC_CR_ADVREGEN_Pos)       /*!< 0x10000000 */
+#define ADC_CR_ADVREGEN                   ADC_CR_ADVREGEN_Msk                  /*!< ADC Voltage regulator Enable */
+#define ADC_CR_DEEPPWD_Pos                (29U)
+#define ADC_CR_DEEPPWD_Msk                (0x1UL << ADC_CR_DEEPPWD_Pos)        /*!< 0x20000000 */
+#define ADC_CR_DEEPPWD                    ADC_CR_DEEPPWD_Msk                   /*!< ADC Deep power down Enable */
+#define ADC_CR_ADCALDIF_Pos               (30U)
+#define ADC_CR_ADCALDIF_Msk               (0x1UL << ADC_CR_ADCALDIF_Pos)       /*!< 0x40000000 */
+#define ADC_CR_ADCALDIF                   ADC_CR_ADCALDIF_Msk                  /*!< ADC Differential Mode for calibration */
+#define ADC_CR_ADCAL_Pos                  (31U)
+#define ADC_CR_ADCAL_Msk                  (0x1UL << ADC_CR_ADCAL_Pos)          /*!< 0x80000000 */
+#define ADC_CR_ADCAL                      ADC_CR_ADCAL_Msk                     /*!< ADC Calibration */
+
+/********************  Bit definition for ADC_CFGR register  ********************/
+#define ADC_CFGR_DMNGT_Pos                (0U)
+#define ADC_CFGR_DMNGT_Msk                (0x3UL << ADC_CFGR_DMNGT_Pos)        /*!< 0x00000003 */
+#define ADC_CFGR_DMNGT                    ADC_CFGR_DMNGT_Msk                   /*!< ADC Data Management configuration */
+#define ADC_CFGR_DMNGT_0                  (0x1UL << ADC_CFGR_DMNGT_Pos)         /*!< 0x00000001 */
+#define ADC_CFGR_DMNGT_1                  (0x2UL << ADC_CFGR_DMNGT_Pos)         /*!< 0x00000002 */
+
+#define ADC_CFGR_RES_Pos                  (2U)
+#define ADC_CFGR_RES_Msk                  (0x7UL << ADC_CFGR_RES_Pos)          /*!< 0x0000001C */
+#define ADC_CFGR_RES                      ADC_CFGR_RES_Msk                     /*!< ADC Data resolution */
+#define ADC_CFGR_RES_0                    (0x1UL << ADC_CFGR_RES_Pos)           /*!< 0x00000004 */
+#define ADC_CFGR_RES_1                    (0x2UL << ADC_CFGR_RES_Pos)           /*!< 0x00000008 */
+#define ADC_CFGR_RES_2                    (0x4UL << ADC_CFGR_RES_Pos)           /*!< 0x00000010 */
+
+#define ADC_CFGR_EXTSEL_Pos               (5U)
+#define ADC_CFGR_EXTSEL_Msk               (0x1FUL << ADC_CFGR_EXTSEL_Pos)      /*!< 0x000003E0 */
+#define ADC_CFGR_EXTSEL                   ADC_CFGR_EXTSEL_Msk                  /*!< ADC External trigger selection for regular group */
+#define ADC_CFGR_EXTSEL_0                 (0x01UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000020 */
+#define ADC_CFGR_EXTSEL_1                 (0x02UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000040 */
+#define ADC_CFGR_EXTSEL_2                 (0x04UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000080 */
+#define ADC_CFGR_EXTSEL_3                 (0x08UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000100 */
+#define ADC_CFGR_EXTSEL_4                 (0x10UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000200 */
+
+#define ADC_CFGR_EXTEN_Pos                (10U)
+#define ADC_CFGR_EXTEN_Msk                (0x3UL << ADC_CFGR_EXTEN_Pos)        /*!< 0x00000C00 */
+#define ADC_CFGR_EXTEN                    ADC_CFGR_EXTEN_Msk                   /*!< ADC External trigger enable and polarity selection for regular channels */
+#define ADC_CFGR_EXTEN_0                  (0x1UL << ADC_CFGR_EXTEN_Pos)         /*!< 0x00000400 */
+#define ADC_CFGR_EXTEN_1                  (0x2UL << ADC_CFGR_EXTEN_Pos)         /*!< 0x00000800 */
+
+#define ADC_CFGR_OVRMOD_Pos               (12U)
+#define ADC_CFGR_OVRMOD_Msk               (0x1UL << ADC_CFGR_OVRMOD_Pos)       /*!< 0x00001000 */
+#define ADC_CFGR_OVRMOD                   ADC_CFGR_OVRMOD_Msk                  /*!< ADC overrun mode */
+#define ADC_CFGR_CONT_Pos                 (13U)
+#define ADC_CFGR_CONT_Msk                 (0x1UL << ADC_CFGR_CONT_Pos)         /*!< 0x00002000 */
+#define ADC_CFGR_CONT                     ADC_CFGR_CONT_Msk                    /*!< ADC Single/continuous conversion mode for regular conversion */
+#define ADC_CFGR_AUTDLY_Pos               (14U)
+#define ADC_CFGR_AUTDLY_Msk               (0x1UL << ADC_CFGR_AUTDLY_Pos)       /*!< 0x00004000 */
+#define ADC_CFGR_AUTDLY                   ADC_CFGR_AUTDLY_Msk                  /*!< ADC Delayed conversion mode */
+
+#define ADC_CFGR_DISCEN_Pos               (16U)
+#define ADC_CFGR_DISCEN_Msk               (0x1UL << ADC_CFGR_DISCEN_Pos)       /*!< 0x00010000 */
+#define ADC_CFGR_DISCEN                   ADC_CFGR_DISCEN_Msk                  /*!< ADC Discontinuous mode for regular channels */
+
+#define ADC_CFGR_DISCNUM_Pos              (17U)
+#define ADC_CFGR_DISCNUM_Msk              (0x7UL << ADC_CFGR_DISCNUM_Pos)      /*!< 0x000E0000 */
+#define ADC_CFGR_DISCNUM                  ADC_CFGR_DISCNUM_Msk                 /*!< ADC Discontinuous mode channel count */
+#define ADC_CFGR_DISCNUM_0                (0x1UL << ADC_CFGR_DISCNUM_Pos)       /*!< 0x00020000 */
+#define ADC_CFGR_DISCNUM_1                (0x2UL << ADC_CFGR_DISCNUM_Pos)       /*!< 0x00040000 */
+#define ADC_CFGR_DISCNUM_2                (0x4UL << ADC_CFGR_DISCNUM_Pos)       /*!< 0x00080000 */
+
+#define ADC_CFGR_JDISCEN_Pos              (20U)
+#define ADC_CFGR_JDISCEN_Msk              (0x1UL << ADC_CFGR_JDISCEN_Pos)      /*!< 0x00100000 */
+#define ADC_CFGR_JDISCEN                  ADC_CFGR_JDISCEN_Msk                 /*!< ADC Discontinuous mode on injected channels */
+#define ADC_CFGR_JQM_Pos                  (21U)
+#define ADC_CFGR_JQM_Msk                  (0x1UL << ADC_CFGR_JQM_Pos)          /*!< 0x00200000 */
+#define ADC_CFGR_JQM                      ADC_CFGR_JQM_Msk                     /*!< ADC JSQR Queue mode */
+#define ADC_CFGR_AWD1SGL_Pos              (22U)
+#define ADC_CFGR_AWD1SGL_Msk              (0x1UL << ADC_CFGR_AWD1SGL_Pos)      /*!< 0x00400000 */
+#define ADC_CFGR_AWD1SGL                  ADC_CFGR_AWD1SGL_Msk                 /*!< Enable the watchdog 1 on a single channel or on all channels */
+#define ADC_CFGR_AWD1EN_Pos               (23U)
+#define ADC_CFGR_AWD1EN_Msk               (0x1UL << ADC_CFGR_AWD1EN_Pos)       /*!< 0x00800000 */
+#define ADC_CFGR_AWD1EN                   ADC_CFGR_AWD1EN_Msk                  /*!< ADC Analog watchdog 1 enable on regular Channels */
+#define ADC_CFGR_JAWD1EN_Pos              (24U)
+#define ADC_CFGR_JAWD1EN_Msk              (0x1UL << ADC_CFGR_JAWD1EN_Pos)      /*!< 0x01000000 */
+#define ADC_CFGR_JAWD1EN                  ADC_CFGR_JAWD1EN_Msk                 /*!< ADC Analog watchdog 1 enable on injected Channels */
+#define ADC_CFGR_JAUTO_Pos                (25U)
+#define ADC_CFGR_JAUTO_Msk                (0x1UL << ADC_CFGR_JAUTO_Pos)        /*!< 0x02000000 */
+#define ADC_CFGR_JAUTO                    ADC_CFGR_JAUTO_Msk                   /*!< ADC Automatic injected group conversion */
+
+#define ADC_CFGR_AWD1CH_Pos               (26U)
+#define ADC_CFGR_AWD1CH_Msk               (0x1FUL << ADC_CFGR_AWD1CH_Pos)      /*!< 0x7C000000 */
+#define ADC_CFGR_AWD1CH                   ADC_CFGR_AWD1CH_Msk                  /*!< ADC Analog watchdog 1 Channel selection */
+#define ADC_CFGR_AWD1CH_0                 (0x01UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x04000000 */
+#define ADC_CFGR_AWD1CH_1                 (0x02UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x08000000 */
+#define ADC_CFGR_AWD1CH_2                 (0x04UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x10000000 */
+#define ADC_CFGR_AWD1CH_3                 (0x08UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x20000000 */
+#define ADC_CFGR_AWD1CH_4                 (0x10UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x40000000 */
+
+#define ADC_CFGR_JQDIS_Pos                (31U)
+#define ADC_CFGR_JQDIS_Msk                (0x1UL << ADC_CFGR_JQDIS_Pos)        /*!< 0x80000000 */
+#define ADC_CFGR_JQDIS                    ADC_CFGR_JQDIS_Msk                   /*!< ADC Injected queue disable */
+
+#define ADC3_CFGR_DMAEN_Pos             (0U)
+#define ADC3_CFGR_DMAEN_Msk             (0x1UL << ADC3_CFGR_DMAEN_Pos)           /*!< 0x00000001 */
+#define ADC3_CFGR_DMAEN                 ADC3_CFGR_DMAEN_Msk                      /*!< ADC DMA transfer enable */
+#define ADC3_CFGR_DMACFG_Pos            (1U)
+#define ADC3_CFGR_DMACFG_Msk            (0x1UL << ADC3_CFGR_DMACFG_Pos)          /*!< 0x00000002 */
+#define ADC3_CFGR_DMACFG                ADC3_CFGR_DMACFG_Msk                     /*!< ADC DMA transfer configuration */
+
+#define ADC3_CFGR_RES_Pos               (3U)
+#define ADC3_CFGR_RES_Msk               (0x3UL << ADC3_CFGR_RES_Pos)             /*!< 0x00000018 */
+#define ADC3_CFGR_RES                   ADC3_CFGR_RES_Msk                        /*!< ADC data resolution */
+#define ADC3_CFGR_RES_0                 (0x1UL << ADC3_CFGR_RES_Pos)             /*!< 0x00000008 */
+#define ADC3_CFGR_RES_1                 (0x2UL << ADC3_CFGR_RES_Pos)             /*!< 0x00000010 */
+
+#define ADC3_CFGR_ALIGN_Pos             (15U)
+#define ADC3_CFGR_ALIGN_Msk             (0x1UL << ADC3_CFGR_ALIGN_Pos)           /*!< 0x00008000 */
+#define ADC3_CFGR_ALIGN                 ADC3_CFGR_ALIGN_Msk                      /*!< ADC data alignment */
+/********************  Bit definition for ADC_CFGR2 register  ********************/
+#define ADC_CFGR2_ROVSE_Pos               (0U)
+#define ADC_CFGR2_ROVSE_Msk               (0x1UL << ADC_CFGR2_ROVSE_Pos)       /*!< 0x00000001 */
+#define ADC_CFGR2_ROVSE                   ADC_CFGR2_ROVSE_Msk                  /*!< ADC Regular group oversampler enable */
+#define ADC_CFGR2_JOVSE_Pos               (1U)
+#define ADC_CFGR2_JOVSE_Msk               (0x1UL << ADC_CFGR2_JOVSE_Pos)       /*!< 0x00000002 */
+#define ADC_CFGR2_JOVSE                   ADC_CFGR2_JOVSE_Msk                  /*!< ADC Injected group oversampler enable */
+
+#define ADC_CFGR2_OVSS_Pos                (5U)
+#define ADC_CFGR2_OVSS_Msk                (0xFUL << ADC_CFGR2_OVSS_Pos)        /*!< 0x000001E0 */
+#define ADC_CFGR2_OVSS                    ADC_CFGR2_OVSS_Msk                   /*!< ADC Regular Oversampling shift */
+#define ADC_CFGR2_OVSS_0                  (0x1UL << ADC_CFGR2_OVSS_Pos)         /*!< 0x00000020 */
+#define ADC_CFGR2_OVSS_1                  (0x2UL << ADC_CFGR2_OVSS_Pos)         /*!< 0x00000040 */
+#define ADC_CFGR2_OVSS_2                  (0x4UL << ADC_CFGR2_OVSS_Pos)         /*!< 0x00000080 */
+#define ADC_CFGR2_OVSS_3                  (0x8UL << ADC_CFGR2_OVSS_Pos)         /*!< 0x00000100 */
+
+#define ADC_CFGR2_TROVS_Pos               (9U)
+#define ADC_CFGR2_TROVS_Msk               (0x1UL << ADC_CFGR2_TROVS_Pos)       /*!< 0x00000200 */
+#define ADC_CFGR2_TROVS                   ADC_CFGR2_TROVS_Msk                  /*!< ADC Triggered regular Oversampling */
+#define ADC_CFGR2_ROVSM_Pos               (10U)
+#define ADC_CFGR2_ROVSM_Msk               (0x1UL << ADC_CFGR2_ROVSM_Pos)       /*!< 0x00000400 */
+#define ADC_CFGR2_ROVSM                   ADC_CFGR2_ROVSM_Msk                  /*!< ADC Regular oversampling mode */
+
+#define ADC_CFGR2_RSHIFT1_Pos             (11U)
+#define ADC_CFGR2_RSHIFT1_Msk             (0x1UL << ADC_CFGR2_RSHIFT1_Pos)     /*!< 0x00000800 */
+#define ADC_CFGR2_RSHIFT1                 ADC_CFGR2_RSHIFT1_Msk                /*!< ADC Right-shift data after Offset 1 correction */
+#define ADC_CFGR2_RSHIFT2_Pos             (12U)
+#define ADC_CFGR2_RSHIFT2_Msk             (0x1UL << ADC_CFGR2_RSHIFT2_Pos)     /*!< 0x00001000 */
+#define ADC_CFGR2_RSHIFT2                 ADC_CFGR2_RSHIFT2_Msk                /*!< ADC Right-shift data after Offset 2 correction */
+#define ADC_CFGR2_RSHIFT3_Pos             (13U)
+#define ADC_CFGR2_RSHIFT3_Msk             (0x1UL << ADC_CFGR2_RSHIFT3_Pos)     /*!< 0x00002000 */
+#define ADC_CFGR2_RSHIFT3                 ADC_CFGR2_RSHIFT3_Msk                /*!< ADC Right-shift data after Offset 3 correction */
+#define ADC_CFGR2_RSHIFT4_Pos             (14U)
+#define ADC_CFGR2_RSHIFT4_Msk             (0x1UL << ADC_CFGR2_RSHIFT4_Pos)     /*!< 0x00004000 */
+#define ADC_CFGR2_RSHIFT4                 ADC_CFGR2_RSHIFT4_Msk                /*!< ADC Right-shift data after Offset 4 correction */
+
+#define ADC_CFGR2_OVSR_Pos                (16U)
+#define ADC_CFGR2_OVSR_Msk                (0x3FFUL << ADC_CFGR2_OVSR_Pos)      /*!< 0x03FF0000 */
+#define ADC_CFGR2_OVSR                    ADC_CFGR2_OVSR_Msk                   /*!< ADC oversampling Ratio */
+#define ADC_CFGR2_OVSR_0                  (0x001UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00010000 */
+#define ADC_CFGR2_OVSR_1                  (0x002UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00020000 */
+#define ADC_CFGR2_OVSR_2                  (0x004UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00040000 */
+#define ADC_CFGR2_OVSR_3                  (0x008UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00080000 */
+#define ADC_CFGR2_OVSR_4                  (0x010UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00100000 */
+#define ADC_CFGR2_OVSR_5                  (0x020UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00200000 */
+#define ADC_CFGR2_OVSR_6                  (0x040UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00400000 */
+#define ADC_CFGR2_OVSR_7                  (0x080UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00800000 */
+#define ADC_CFGR2_OVSR_8                  (0x100UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x01000000 */
+#define ADC_CFGR2_OVSR_9                  (0x200UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x02000000 */
+
+#define ADC_CFGR2_LSHIFT_Pos              (28U)
+#define ADC_CFGR2_LSHIFT_Msk              (0xFUL << ADC_CFGR2_LSHIFT_Pos)      /*!< 0xF0000000 */
+#define ADC_CFGR2_LSHIFT                  ADC_CFGR2_LSHIFT_Msk                 /*!< ADC Left shift factor */
+#define ADC_CFGR2_LSHIFT_0                (0x1UL << ADC_CFGR2_LSHIFT_Pos)       /*!< 0x10000000 */
+#define ADC_CFGR2_LSHIFT_1                (0x2UL << ADC_CFGR2_LSHIFT_Pos)       /*!< 0x20000000 */
+#define ADC_CFGR2_LSHIFT_2                (0x4UL << ADC_CFGR2_LSHIFT_Pos)       /*!< 0x40000000 */
+#define ADC_CFGR2_LSHIFT_3                (0x8UL << ADC_CFGR2_LSHIFT_Pos)       /*!< 0x80000000 */
+
+#define ADC3_CFGR2_OVSR_Pos             (2U)
+#define ADC3_CFGR2_OVSR_Msk             (0x7UL << ADC3_CFGR2_OVSR_Pos)           /*!< 0x0000001C */
+#define ADC3_CFGR2_OVSR                 ADC3_CFGR2_OVSR_Msk                      /*!< ADC oversampling ratio */
+#define ADC3_CFGR2_OVSR_0               (0x1UL << ADC3_CFGR2_OVSR_Pos)           /*!< 0x00000004 */
+#define ADC3_CFGR2_OVSR_1               (0x2UL << ADC3_CFGR2_OVSR_Pos)           /*!< 0x00000008 */
+#define ADC3_CFGR2_OVSR_2               (0x4UL << ADC3_CFGR2_OVSR_Pos)           /*!< 0x00000010 */
+
+#define ADC3_CFGR2_SWTRIG_Pos           (25U)
+#define ADC3_CFGR2_SWTRIG_Msk           (0x1UL << ADC3_CFGR2_SWTRIG_Pos)         /*!< 0x02000000 */
+#define ADC3_CFGR2_SWTRIG               ADC3_CFGR2_SWTRIG_Msk                    /*!< ADC Software Trigger Bit for Sample time control trigger mode */
+#define ADC3_CFGR2_BULB_Pos             (26U)
+#define ADC3_CFGR2_BULB_Msk             (0x1UL << ADC3_CFGR2_BULB_Pos)           /*!< 0x04000000 */
+#define ADC3_CFGR2_BULB                 ADC3_CFGR2_BULB_Msk                      /*!< ADC Bulb sampling mode */
+#define ADC3_CFGR2_SMPTRIG_Pos          (27U)
+#define ADC3_CFGR2_SMPTRIG_Msk          (0x1UL << ADC3_CFGR2_SMPTRIG_Pos)        /*!< 0x08000000 */
+#define ADC3_CFGR2_SMPTRIG              ADC3_CFGR2_SMPTRIG_Msk                   /*!< ADC Sample Time Control Trigger mode */
+/********************  Bit definition for ADC_SMPR1 register  ********************/
+#define ADC_SMPR1_SMP0_Pos                (0U)
+#define ADC_SMPR1_SMP0_Msk                (0x7UL << ADC_SMPR1_SMP0_Pos)        /*!< 0x00000007 */
+#define ADC_SMPR1_SMP0                    ADC_SMPR1_SMP0_Msk                   /*!< ADC Channel 0 Sampling time selection  */
+#define ADC_SMPR1_SMP0_0                  (0x1UL << ADC_SMPR1_SMP0_Pos)         /*!< 0x00000001 */
+#define ADC_SMPR1_SMP0_1                  (0x2UL << ADC_SMPR1_SMP0_Pos)         /*!< 0x00000002 */
+#define ADC_SMPR1_SMP0_2                  (0x4UL << ADC_SMPR1_SMP0_Pos)         /*!< 0x00000004 */
+
+#define ADC_SMPR1_SMP1_Pos                (3U)
+#define ADC_SMPR1_SMP1_Msk                (0x7UL << ADC_SMPR1_SMP1_Pos)        /*!< 0x00000038 */
+#define ADC_SMPR1_SMP1                    ADC_SMPR1_SMP1_Msk                   /*!< ADC Channel 1 Sampling time selection  */
+#define ADC_SMPR1_SMP1_0                  (0x1UL << ADC_SMPR1_SMP1_Pos)         /*!< 0x00000008 */
+#define ADC_SMPR1_SMP1_1                  (0x2UL << ADC_SMPR1_SMP1_Pos)         /*!< 0x00000010 */
+#define ADC_SMPR1_SMP1_2                  (0x4UL << ADC_SMPR1_SMP1_Pos)         /*!< 0x00000020 */
+
+#define ADC_SMPR1_SMP2_Pos                (6U)
+#define ADC_SMPR1_SMP2_Msk                (0x7UL << ADC_SMPR1_SMP2_Pos)        /*!< 0x000001C0 */
+#define ADC_SMPR1_SMP2                    ADC_SMPR1_SMP2_Msk                   /*!< ADC Channel 2 Sampling time selection  */
+#define ADC_SMPR1_SMP2_0                  (0x1UL << ADC_SMPR1_SMP2_Pos)         /*!< 0x00000040 */
+#define ADC_SMPR1_SMP2_1                  (0x2UL << ADC_SMPR1_SMP2_Pos)         /*!< 0x00000080 */
+#define ADC_SMPR1_SMP2_2                  (0x4UL << ADC_SMPR1_SMP2_Pos)         /*!< 0x00000100 */
+
+#define ADC_SMPR1_SMP3_Pos                (9U)
+#define ADC_SMPR1_SMP3_Msk                (0x7UL << ADC_SMPR1_SMP3_Pos)        /*!< 0x00000E00 */
+#define ADC_SMPR1_SMP3                    ADC_SMPR1_SMP3_Msk                   /*!< ADC Channel 3 Sampling time selection  */
+#define ADC_SMPR1_SMP3_0                  (0x1UL << ADC_SMPR1_SMP3_Pos)         /*!< 0x00000200 */
+#define ADC_SMPR1_SMP3_1                  (0x2UL << ADC_SMPR1_SMP3_Pos)         /*!< 0x00000400 */
+#define ADC_SMPR1_SMP3_2                  (0x4UL << ADC_SMPR1_SMP3_Pos)         /*!< 0x00000800 */
+
+#define ADC_SMPR1_SMP4_Pos                (12U)
+#define ADC_SMPR1_SMP4_Msk                (0x7UL << ADC_SMPR1_SMP4_Pos)        /*!< 0x00007000 */
+#define ADC_SMPR1_SMP4                    ADC_SMPR1_SMP4_Msk                   /*!< ADC Channel 4 Sampling time selection  */
+#define ADC_SMPR1_SMP4_0                  (0x1UL << ADC_SMPR1_SMP4_Pos)         /*!< 0x00001000 */
+#define ADC_SMPR1_SMP4_1                  (0x2UL << ADC_SMPR1_SMP4_Pos)         /*!< 0x00002000 */
+#define ADC_SMPR1_SMP4_2                  (0x4UL << ADC_SMPR1_SMP4_Pos)         /*!< 0x00004000 */
+
+#define ADC_SMPR1_SMP5_Pos                (15U)
+#define ADC_SMPR1_SMP5_Msk                (0x7UL << ADC_SMPR1_SMP5_Pos)        /*!< 0x00038000 */
+#define ADC_SMPR1_SMP5                    ADC_SMPR1_SMP5_Msk                   /*!< ADC Channel 5 Sampling time selection  */
+#define ADC_SMPR1_SMP5_0                  (0x1UL << ADC_SMPR1_SMP5_Pos)         /*!< 0x00008000 */
+#define ADC_SMPR1_SMP5_1                  (0x2UL << ADC_SMPR1_SMP5_Pos)         /*!< 0x00010000 */
+#define ADC_SMPR1_SMP5_2                  (0x4UL << ADC_SMPR1_SMP5_Pos)         /*!< 0x00020000 */
+
+#define ADC_SMPR1_SMP6_Pos                (18U)
+#define ADC_SMPR1_SMP6_Msk                (0x7UL << ADC_SMPR1_SMP6_Pos)        /*!< 0x001C0000 */
+#define ADC_SMPR1_SMP6                    ADC_SMPR1_SMP6_Msk                   /*!< ADC Channel 6 Sampling time selection  */
+#define ADC_SMPR1_SMP6_0                  (0x1UL << ADC_SMPR1_SMP6_Pos)         /*!< 0x00040000 */
+#define ADC_SMPR1_SMP6_1                  (0x2UL << ADC_SMPR1_SMP6_Pos)         /*!< 0x00080000 */
+#define ADC_SMPR1_SMP6_2                  (0x4UL << ADC_SMPR1_SMP6_Pos)         /*!< 0x00100000 */
+
+#define ADC_SMPR1_SMP7_Pos                (21U)
+#define ADC_SMPR1_SMP7_Msk                (0x7UL << ADC_SMPR1_SMP7_Pos)        /*!< 0x00E00000 */
+#define ADC_SMPR1_SMP7                    ADC_SMPR1_SMP7_Msk                   /*!< ADC Channel 7 Sampling time selection  */
+#define ADC_SMPR1_SMP7_0                  (0x1UL << ADC_SMPR1_SMP7_Pos)         /*!< 0x00200000 */
+#define ADC_SMPR1_SMP7_1                  (0x2UL << ADC_SMPR1_SMP7_Pos)         /*!< 0x00400000 */
+#define ADC_SMPR1_SMP7_2                  (0x4UL << ADC_SMPR1_SMP7_Pos)         /*!< 0x00800000 */
+
+#define ADC_SMPR1_SMP8_Pos                (24U)
+#define ADC_SMPR1_SMP8_Msk                (0x7UL << ADC_SMPR1_SMP8_Pos)        /*!< 0x07000000 */
+#define ADC_SMPR1_SMP8                    ADC_SMPR1_SMP8_Msk                   /*!< ADC Channel 8 Sampling time selection  */
+#define ADC_SMPR1_SMP8_0                  (0x1UL << ADC_SMPR1_SMP8_Pos)         /*!< 0x01000000 */
+#define ADC_SMPR1_SMP8_1                  (0x2UL << ADC_SMPR1_SMP8_Pos)         /*!< 0x02000000 */
+#define ADC_SMPR1_SMP8_2                  (0x4UL << ADC_SMPR1_SMP8_Pos)         /*!< 0x04000000 */
+
+#define ADC_SMPR1_SMP9_Pos                (27U)
+#define ADC_SMPR1_SMP9_Msk                (0x7UL << ADC_SMPR1_SMP9_Pos)        /*!< 0x38000000 */
+#define ADC_SMPR1_SMP9                    ADC_SMPR1_SMP9_Msk                   /*!< ADC Channel 9 Sampling time selection  */
+#define ADC_SMPR1_SMP9_0                  (0x1UL << ADC_SMPR1_SMP9_Pos)         /*!< 0x08000000 */
+#define ADC_SMPR1_SMP9_1                  (0x2UL << ADC_SMPR1_SMP9_Pos)         /*!< 0x10000000 */
+#define ADC_SMPR1_SMP9_2                  (0x4UL << ADC_SMPR1_SMP9_Pos)         /*!< 0x20000000 */
+
+/********************  Bit definition for ADC_SMPR2 register  ********************/
+#define ADC_SMPR2_SMP10_Pos               (0U)
+#define ADC_SMPR2_SMP10_Msk               (0x7UL << ADC_SMPR2_SMP10_Pos)       /*!< 0x00000007 */
+#define ADC_SMPR2_SMP10                   ADC_SMPR2_SMP10_Msk                  /*!< ADC Channel 10 Sampling time selection  */
+#define ADC_SMPR2_SMP10_0                 (0x1UL << ADC_SMPR2_SMP10_Pos)        /*!< 0x00000001 */
+#define ADC_SMPR2_SMP10_1                 (0x2UL << ADC_SMPR2_SMP10_Pos)        /*!< 0x00000002 */
+#define ADC_SMPR2_SMP10_2                 (0x4UL << ADC_SMPR2_SMP10_Pos)        /*!< 0x00000004 */
+
+#define ADC_SMPR2_SMP11_Pos               (3U)
+#define ADC_SMPR2_SMP11_Msk               (0x7UL << ADC_SMPR2_SMP11_Pos)       /*!< 0x00000038 */
+#define ADC_SMPR2_SMP11                   ADC_SMPR2_SMP11_Msk                  /*!< ADC Channel 11 Sampling time selection  */
+#define ADC_SMPR2_SMP11_0                 (0x1UL << ADC_SMPR2_SMP11_Pos)        /*!< 0x00000008 */
+#define ADC_SMPR2_SMP11_1                 (0x2UL << ADC_SMPR2_SMP11_Pos)        /*!< 0x00000010 */
+#define ADC_SMPR2_SMP11_2                 (0x4UL << ADC_SMPR2_SMP11_Pos)        /*!< 0x00000020 */
+
+#define ADC_SMPR2_SMP12_Pos               (6U)
+#define ADC_SMPR2_SMP12_Msk               (0x7UL << ADC_SMPR2_SMP12_Pos)       /*!< 0x000001C0 */
+#define ADC_SMPR2_SMP12                   ADC_SMPR2_SMP12_Msk                  /*!< ADC Channel 12 Sampling time selection  */
+#define ADC_SMPR2_SMP12_0                 (0x1UL << ADC_SMPR2_SMP12_Pos)        /*!< 0x00000040 */
+#define ADC_SMPR2_SMP12_1                 (0x2UL << ADC_SMPR2_SMP12_Pos)        /*!< 0x00000080 */
+#define ADC_SMPR2_SMP12_2                 (0x4UL << ADC_SMPR2_SMP12_Pos)        /*!< 0x00000100 */
+
+#define ADC_SMPR2_SMP13_Pos               (9U)
+#define ADC_SMPR2_SMP13_Msk               (0x7UL << ADC_SMPR2_SMP13_Pos)       /*!< 0x00000E00 */
+#define ADC_SMPR2_SMP13                   ADC_SMPR2_SMP13_Msk                  /*!< ADC Channel 13 Sampling time selection  */
+#define ADC_SMPR2_SMP13_0                 (0x1UL << ADC_SMPR2_SMP13_Pos)        /*!< 0x00000200 */
+#define ADC_SMPR2_SMP13_1                 (0x2UL << ADC_SMPR2_SMP13_Pos)        /*!< 0x00000400 */
+#define ADC_SMPR2_SMP13_2                 (0x4UL << ADC_SMPR2_SMP13_Pos)        /*!< 0x00000800 */
+
+#define ADC_SMPR2_SMP14_Pos               (12U)
+#define ADC_SMPR2_SMP14_Msk               (0x7UL << ADC_SMPR2_SMP14_Pos)       /*!< 0x00007000 */
+#define ADC_SMPR2_SMP14                   ADC_SMPR2_SMP14_Msk                  /*!< ADC Channel 14 Sampling time selection  */
+#define ADC_SMPR2_SMP14_0                 (0x1UL << ADC_SMPR2_SMP14_Pos)        /*!< 0x00001000 */
+#define ADC_SMPR2_SMP14_1                 (0x2UL << ADC_SMPR2_SMP14_Pos)        /*!< 0x00002000 */
+#define ADC_SMPR2_SMP14_2                 (0x4UL << ADC_SMPR2_SMP14_Pos)        /*!< 0x00004000 */
+
+#define ADC_SMPR2_SMP15_Pos               (15U)
+#define ADC_SMPR2_SMP15_Msk               (0x7UL << ADC_SMPR2_SMP15_Pos)       /*!< 0x00038000 */
+#define ADC_SMPR2_SMP15                   ADC_SMPR2_SMP15_Msk                  /*!< ADC Channel 15 Sampling time selection  */
+#define ADC_SMPR2_SMP15_0                 (0x1UL << ADC_SMPR2_SMP15_Pos)        /*!< 0x00008000 */
+#define ADC_SMPR2_SMP15_1                 (0x2UL << ADC_SMPR2_SMP15_Pos)        /*!< 0x00010000 */
+#define ADC_SMPR2_SMP15_2                 (0x4UL << ADC_SMPR2_SMP15_Pos)        /*!< 0x00020000 */
+
+#define ADC_SMPR2_SMP16_Pos               (18U)
+#define ADC_SMPR2_SMP16_Msk               (0x7UL << ADC_SMPR2_SMP16_Pos)       /*!< 0x001C0000 */
+#define ADC_SMPR2_SMP16                   ADC_SMPR2_SMP16_Msk                  /*!< ADC Channel 16 Sampling time selection  */
+#define ADC_SMPR2_SMP16_0                 (0x1UL << ADC_SMPR2_SMP16_Pos)        /*!< 0x00040000 */
+#define ADC_SMPR2_SMP16_1                 (0x2UL << ADC_SMPR2_SMP16_Pos)        /*!< 0x00080000 */
+#define ADC_SMPR2_SMP16_2                 (0x4UL << ADC_SMPR2_SMP16_Pos)        /*!< 0x00100000 */
+
+#define ADC_SMPR2_SMP17_Pos               (21U)
+#define ADC_SMPR2_SMP17_Msk               (0x7UL << ADC_SMPR2_SMP17_Pos)       /*!< 0x00E00000 */
+#define ADC_SMPR2_SMP17                   ADC_SMPR2_SMP17_Msk                  /*!< ADC Channel 17 Sampling time selection  */
+#define ADC_SMPR2_SMP17_0                 (0x1UL << ADC_SMPR2_SMP17_Pos)        /*!< 0x00200000 */
+#define ADC_SMPR2_SMP17_1                 (0x2UL << ADC_SMPR2_SMP17_Pos)        /*!< 0x00400000 */
+#define ADC_SMPR2_SMP17_2                 (0x4UL << ADC_SMPR2_SMP17_Pos)        /*!< 0x00800000 */
+
+#define ADC_SMPR2_SMP18_Pos               (24U)
+#define ADC_SMPR2_SMP18_Msk               (0x7UL << ADC_SMPR2_SMP18_Pos)       /*!< 0x07000000 */
+#define ADC_SMPR2_SMP18                   ADC_SMPR2_SMP18_Msk                  /*!< ADC Channel 18 Sampling time selection  */
+#define ADC_SMPR2_SMP18_0                 (0x1UL << ADC_SMPR2_SMP18_Pos)        /*!< 0x01000000 */
+#define ADC_SMPR2_SMP18_1                 (0x2UL << ADC_SMPR2_SMP18_Pos)        /*!< 0x02000000 */
+#define ADC_SMPR2_SMP18_2                 (0x4UL << ADC_SMPR2_SMP18_Pos)        /*!< 0x04000000 */
+
+#define ADC_SMPR2_SMP19_Pos               (27U)
+#define ADC_SMPR2_SMP19_Msk               (0x7UL << ADC_SMPR2_SMP19_Pos)       /*!< 0x38000000 */
+#define ADC_SMPR2_SMP19                   ADC_SMPR2_SMP19_Msk                  /*!< ADC Channel 19 Sampling time selection  */
+#define ADC_SMPR2_SMP19_0                 (0x1UL << ADC_SMPR2_SMP19_Pos)        /*!< 0x08000000 */
+#define ADC_SMPR2_SMP19_1                 (0x2UL << ADC_SMPR2_SMP19_Pos)        /*!< 0x10000000 */
+#define ADC_SMPR2_SMP19_2                 (0x4UL << ADC_SMPR2_SMP19_Pos)        /*!< 0x20000000 */
+
+/********************  Bit definition for ADC_PCSEL register  ********************/
+#define ADC_PCSEL_PCSEL_Pos               (0U)
+#define ADC_PCSEL_PCSEL_Msk               (0xFFFFFUL << ADC_PCSEL_PCSEL_Pos)   /*!< 0x000FFFFF */
+#define ADC_PCSEL_PCSEL                   ADC_PCSEL_PCSEL_Msk                  /*!< ADC pre channel selection */
+#define ADC_PCSEL_PCSEL_0                 (0x00001UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000001 */
+#define ADC_PCSEL_PCSEL_1                 (0x00002UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000002 */
+#define ADC_PCSEL_PCSEL_2                 (0x00004UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000004 */
+#define ADC_PCSEL_PCSEL_3                 (0x00008UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000008 */
+#define ADC_PCSEL_PCSEL_4                 (0x00010UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000010 */
+#define ADC_PCSEL_PCSEL_5                 (0x00020UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000020 */
+#define ADC_PCSEL_PCSEL_6                 (0x00040UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000040 */
+#define ADC_PCSEL_PCSEL_7                 (0x00080UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000080 */
+#define ADC_PCSEL_PCSEL_8                 (0x00100UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000100 */
+#define ADC_PCSEL_PCSEL_9                 (0x00200UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000200 */
+#define ADC_PCSEL_PCSEL_10                (0x00400UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000400 */
+#define ADC_PCSEL_PCSEL_11                (0x00800UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000800 */
+#define ADC_PCSEL_PCSEL_12                (0x01000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00001000 */
+#define ADC_PCSEL_PCSEL_13                (0x02000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00002000 */
+#define ADC_PCSEL_PCSEL_14                (0x04000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00004000 */
+#define ADC_PCSEL_PCSEL_15                (0x08000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00008000 */
+#define ADC_PCSEL_PCSEL_16                (0x10000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00010000 */
+#define ADC_PCSEL_PCSEL_17                (0x20000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00020000 */
+#define ADC_PCSEL_PCSEL_18                (0x40000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00040000 */
+#define ADC_PCSEL_PCSEL_19                (0x80000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00080000 */
+
+/*****************  Bit definition for ADC_LTR1, 2, 3 registers *****************/
+#define ADC_LTR_LT_Pos                    (0U)
+#define ADC_LTR_LT_Msk                    (0x3FFFFFFUL << ADC_LTR_LT_Pos)      /*!< 0x03FFFFFF */
+#define ADC_LTR_LT                        ADC_LTR_LT_Msk                       /*!< ADC Analog watchdog 1, 2 and 3 lower threshold */
+
+/*****************  Bit definition for ADC_HTR1, 2, 3 registers  ****************/
+#define ADC_HTR_HT_Pos                    (0U)
+#define ADC_HTR_HT_Msk                    (0x3FFFFFFUL << ADC_HTR_HT_Pos)      /*!< 0x03FFFFFF */
+#define ADC_HTR_HT                        ADC_HTR_HT_Msk                       /*!< ADC Analog watchdog 1,2 and 3 higher threshold */
+
+/********************  Bit definition for ADC3_TR1 register  *******************/
+#define ADC3_TR1_LT1_Pos                (0U)
+#define ADC3_TR1_LT1_Msk                (0xFFFUL << ADC3_TR1_LT1_Pos)            /*!< 0x00000FFF */
+#define ADC3_TR1_LT1                    ADC3_TR1_LT1_Msk                         /*!< ADC analog watchdog 1 threshold low */
+
+#define ADC3_TR1_AWDFILT_Pos            (12U)
+#define ADC3_TR1_AWDFILT_Msk            (0x7UL << ADC3_TR1_AWDFILT_Pos)          /*!< 0x00007000 */
+#define ADC3_TR1_AWDFILT                ADC3_TR1_AWDFILT_Msk                     /*!< ADC analog watchdog filtering parameter  */
+#define ADC3_TR1_AWDFILT_0              (0x1UL << ADC3_TR1_AWDFILT_Pos)          /*!< 0x00001000 */
+#define ADC3_TR1_AWDFILT_1              (0x2UL << ADC3_TR1_AWDFILT_Pos)          /*!< 0x00002000 */
+#define ADC3_TR1_AWDFILT_2              (0x4UL << ADC3_TR1_AWDFILT_Pos)          /*!< 0x00004000 */
+
+#define ADC3_TR1_HT1_Pos                (16U)
+#define ADC3_TR1_HT1_Msk                (0xFFFUL << ADC3_TR1_HT1_Pos)            /*!< 0x0FFF0000 */
+#define ADC3_TR1_HT1                    ADC3_TR1_HT1_Msk                         /*!< ADC analog watchdog 1 threshold high */
+
+/********************  Bit definition for ADC3_TR2 register  *******************/
+#define ADC3_TR2_LT2_Pos                (0U)
+#define ADC3_TR2_LT2_Msk                (0xFFUL << ADC3_TR2_LT2_Pos)             /*!< 0x000000FF */
+#define ADC3_TR2_LT2                    ADC3_TR2_LT2_Msk                         /*!< ADC analog watchdog 2 threshold low */
+
+#define ADC3_TR2_HT2_Pos                (16U)
+#define ADC3_TR2_HT2_Msk                (0xFFUL << ADC3_TR2_HT2_Pos)             /*!< 0x00FF0000 */
+#define ADC3_TR2_HT2                    ADC3_TR2_HT2_Msk                         /*!< ADC analog watchdog 2 threshold high */
+
+/********************  Bit definition for ADC3_TR3 register  *******************/
+#define ADC3_TR3_LT3_Pos                (0U)
+#define ADC3_TR3_LT3_Msk                (0xFFUL << ADC3_TR3_LT3_Pos)             /*!< 0x000000FF */
+#define ADC3_TR3_LT3                    ADC3_TR3_LT3_Msk                         /*!< ADC analog watchdog 3 threshold low */
+
+#define ADC3_TR3_HT3_Pos                (16U)
+#define ADC3_TR3_HT3_Msk                (0xFFUL << ADC3_TR3_HT3_Pos)             /*!< 0x00FF0000 */
+#define ADC3_TR3_HT3                    ADC3_TR3_HT3_Msk                         /*!< ADC analog watchdog 3 threshold high */
+
+/********************  Bit definition for ADC_SQR1 register  ********************/
+#define ADC_SQR1_L_Pos                    (0U)
+#define ADC_SQR1_L_Msk                    (0xFUL << ADC_SQR1_L_Pos)            /*!< 0x0000000F */
+#define ADC_SQR1_L                        ADC_SQR1_L_Msk                       /*!< ADC regular channel sequence length */
+#define ADC_SQR1_L_0                      (0x1UL << ADC_SQR1_L_Pos)             /*!< 0x00000001 */
+#define ADC_SQR1_L_1                      (0x2UL << ADC_SQR1_L_Pos)             /*!< 0x00000002 */
+#define ADC_SQR1_L_2                      (0x4UL << ADC_SQR1_L_Pos)             /*!< 0x00000004 */
+#define ADC_SQR1_L_3                      (0x8UL << ADC_SQR1_L_Pos)             /*!< 0x00000008 */
+
+#define ADC_SQR1_SQ1_Pos                  (6U)
+#define ADC_SQR1_SQ1_Msk                  (0x1FUL << ADC_SQR1_SQ1_Pos)         /*!< 0x000007C0 */
+#define ADC_SQR1_SQ1                      ADC_SQR1_SQ1_Msk                     /*!< ADC 1st conversion in regular sequence */
+#define ADC_SQR1_SQ1_0                    (0x01UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000040 */
+#define ADC_SQR1_SQ1_1                    (0x02UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000080 */
+#define ADC_SQR1_SQ1_2                    (0x04UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000100 */
+#define ADC_SQR1_SQ1_3                    (0x08UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000200 */
+#define ADC_SQR1_SQ1_4                    (0x10UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000400 */
+
+#define ADC_SQR1_SQ2_Pos                  (12U)
+#define ADC_SQR1_SQ2_Msk                  (0x1FUL << ADC_SQR1_SQ2_Pos)         /*!< 0x0001F000 */
+#define ADC_SQR1_SQ2                      ADC_SQR1_SQ2_Msk                     /*!< ADC 2nd conversion in regular sequence */
+#define ADC_SQR1_SQ2_0                    (0x01UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00001000 */
+#define ADC_SQR1_SQ2_1                    (0x02UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00002000 */
+#define ADC_SQR1_SQ2_2                    (0x04UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00004000 */
+#define ADC_SQR1_SQ2_3                    (0x08UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00008000 */
+#define ADC_SQR1_SQ2_4                    (0x10UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00010000 */
+
+#define ADC_SQR1_SQ3_Pos                  (18U)
+#define ADC_SQR1_SQ3_Msk                  (0x1FUL << ADC_SQR1_SQ3_Pos)         /*!< 0x007C0000 */
+#define ADC_SQR1_SQ3                      ADC_SQR1_SQ3_Msk                     /*!< ADC 3rd conversion in regular sequence */
+#define ADC_SQR1_SQ3_0                    (0x01UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00040000 */
+#define ADC_SQR1_SQ3_1                    (0x02UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00080000 */
+#define ADC_SQR1_SQ3_2                    (0x04UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00100000 */
+#define ADC_SQR1_SQ3_3                    (0x08UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00200000 */
+#define ADC_SQR1_SQ3_4                    (0x10UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00400000 */
+
+#define ADC_SQR1_SQ4_Pos                  (24U)
+#define ADC_SQR1_SQ4_Msk                  (0x1FUL << ADC_SQR1_SQ4_Pos)         /*!< 0x1F000000 */
+#define ADC_SQR1_SQ4                      ADC_SQR1_SQ4_Msk                     /*!< ADC 4th conversion in regular sequence */
+#define ADC_SQR1_SQ4_0                    (0x01UL << ADC_SQR1_SQ4_Pos)          /*!< 0x01000000 */
+#define ADC_SQR1_SQ4_1                    (0x02UL << ADC_SQR1_SQ4_Pos)          /*!< 0x02000000 */
+#define ADC_SQR1_SQ4_2                    (0x04UL << ADC_SQR1_SQ4_Pos)          /*!< 0x04000000 */
+#define ADC_SQR1_SQ4_3                    (0x08UL << ADC_SQR1_SQ4_Pos)          /*!< 0x08000000 */
+#define ADC_SQR1_SQ4_4                    (0x10UL << ADC_SQR1_SQ4_Pos)          /*!< 0x10000000 */
+
+/********************  Bit definition for ADC_SQR2 register  ********************/
+#define ADC_SQR2_SQ5_Pos                  (0U)
+#define ADC_SQR2_SQ5_Msk                  (0x1FUL << ADC_SQR2_SQ5_Pos)         /*!< 0x0000001F */
+#define ADC_SQR2_SQ5                      ADC_SQR2_SQ5_Msk                     /*!< ADC 5th conversion in regular sequence */
+#define ADC_SQR2_SQ5_0                    (0x01UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000001 */
+#define ADC_SQR2_SQ5_1                    (0x02UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000002 */
+#define ADC_SQR2_SQ5_2                    (0x04UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000004 */
+#define ADC_SQR2_SQ5_3                    (0x08UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000008 */
+#define ADC_SQR2_SQ5_4                    (0x10UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000010 */
+
+#define ADC_SQR2_SQ6_Pos                  (6U)
+#define ADC_SQR2_SQ6_Msk                  (0x1FUL << ADC_SQR2_SQ6_Pos)         /*!< 0x000007C0 */
+#define ADC_SQR2_SQ6                      ADC_SQR2_SQ6_Msk                     /*!< ADC 6th conversion in regular sequence */
+#define ADC_SQR2_SQ6_0                    (0x01UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000040 */
+#define ADC_SQR2_SQ6_1                    (0x02UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000080 */
+#define ADC_SQR2_SQ6_2                    (0x04UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000100 */
+#define ADC_SQR2_SQ6_3                    (0x08UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000200 */
+#define ADC_SQR2_SQ6_4                    (0x10UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000400 */
+
+#define ADC_SQR2_SQ7_Pos                  (12U)
+#define ADC_SQR2_SQ7_Msk                  (0x1FUL << ADC_SQR2_SQ7_Pos)         /*!< 0x0001F000 */
+#define ADC_SQR2_SQ7                      ADC_SQR2_SQ7_Msk                     /*!< ADC 7th conversion in regular sequence */
+#define ADC_SQR2_SQ7_0                    (0x01UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00001000 */
+#define ADC_SQR2_SQ7_1                    (0x02UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00002000 */
+#define ADC_SQR2_SQ7_2                    (0x04UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00004000 */
+#define ADC_SQR2_SQ7_3                    (0x08UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00008000 */
+#define ADC_SQR2_SQ7_4                    (0x10UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00010000 */
+
+#define ADC_SQR2_SQ8_Pos                  (18U)
+#define ADC_SQR2_SQ8_Msk                  (0x1FUL << ADC_SQR2_SQ8_Pos)         /*!< 0x007C0000 */
+#define ADC_SQR2_SQ8                      ADC_SQR2_SQ8_Msk                     /*!< ADC 8th conversion in regular sequence */
+#define ADC_SQR2_SQ8_0                    (0x01UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00040000 */
+#define ADC_SQR2_SQ8_1                    (0x02UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00080000 */
+#define ADC_SQR2_SQ8_2                    (0x04UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00100000 */
+#define ADC_SQR2_SQ8_3                    (0x08UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00200000 */
+#define ADC_SQR2_SQ8_4                    (0x10UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00400000 */
+
+#define ADC_SQR2_SQ9_Pos                  (24U)
+#define ADC_SQR2_SQ9_Msk                  (0x1FUL << ADC_SQR2_SQ9_Pos)         /*!< 0x1F000000 */
+#define ADC_SQR2_SQ9                      ADC_SQR2_SQ9_Msk                     /*!< ADC 9th conversion in regular sequence */
+#define ADC_SQR2_SQ9_0                    (0x01UL << ADC_SQR2_SQ9_Pos)          /*!< 0x01000000 */
+#define ADC_SQR2_SQ9_1                    (0x02UL << ADC_SQR2_SQ9_Pos)          /*!< 0x02000000 */
+#define ADC_SQR2_SQ9_2                    (0x04UL << ADC_SQR2_SQ9_Pos)          /*!< 0x04000000 */
+#define ADC_SQR2_SQ9_3                    (0x08UL << ADC_SQR2_SQ9_Pos)          /*!< 0x08000000 */
+#define ADC_SQR2_SQ9_4                    (0x10UL << ADC_SQR2_SQ9_Pos)          /*!< 0x10000000 */
+
+/********************  Bit definition for ADC_SQR3 register  ********************/
+#define ADC_SQR3_SQ10_Pos                 (0U)
+#define ADC_SQR3_SQ10_Msk                 (0x1FUL << ADC_SQR3_SQ10_Pos)        /*!< 0x0000001F */
+#define ADC_SQR3_SQ10                     ADC_SQR3_SQ10_Msk                    /*!< ADC 10th conversion in regular sequence */
+#define ADC_SQR3_SQ10_0                   (0x01UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000001 */
+#define ADC_SQR3_SQ10_1                   (0x02UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000002 */
+#define ADC_SQR3_SQ10_2                   (0x04UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000004 */
+#define ADC_SQR3_SQ10_3                   (0x08UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000008 */
+#define ADC_SQR3_SQ10_4                   (0x10UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000010 */
+
+#define ADC_SQR3_SQ11_Pos                 (6U)
+#define ADC_SQR3_SQ11_Msk                 (0x1FUL << ADC_SQR3_SQ11_Pos)        /*!< 0x000007C0 */
+#define ADC_SQR3_SQ11                     ADC_SQR3_SQ11_Msk                    /*!< ADC 11th conversion in regular sequence */
+#define ADC_SQR3_SQ11_0                   (0x01UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000040 */
+#define ADC_SQR3_SQ11_1                   (0x02UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000080 */
+#define ADC_SQR3_SQ11_2                   (0x04UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000100 */
+#define ADC_SQR3_SQ11_3                   (0x08UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000200 */
+#define ADC_SQR3_SQ11_4                   (0x10UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000400 */
+
+#define ADC_SQR3_SQ12_Pos                 (12U)
+#define ADC_SQR3_SQ12_Msk                 (0x1FUL << ADC_SQR3_SQ12_Pos)        /*!< 0x0001F000 */
+#define ADC_SQR3_SQ12                     ADC_SQR3_SQ12_Msk                    /*!< ADC 12th conversion in regular sequence */
+#define ADC_SQR3_SQ12_0                   (0x01UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00001000 */
+#define ADC_SQR3_SQ12_1                   (0x02UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00002000 */
+#define ADC_SQR3_SQ12_2                   (0x04UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00004000 */
+#define ADC_SQR3_SQ12_3                   (0x08UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00008000 */
+#define ADC_SQR3_SQ12_4                   (0x10UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00010000 */
+
+#define ADC_SQR3_SQ13_Pos                 (18U)
+#define ADC_SQR3_SQ13_Msk                 (0x1FUL << ADC_SQR3_SQ13_Pos)        /*!< 0x007C0000 */
+#define ADC_SQR3_SQ13                     ADC_SQR3_SQ13_Msk                    /*!< ADC 13th conversion in regular sequence */
+#define ADC_SQR3_SQ13_0                   (0x01UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00040000 */
+#define ADC_SQR3_SQ13_1                   (0x02UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00080000 */
+#define ADC_SQR3_SQ13_2                   (0x04UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00100000 */
+#define ADC_SQR3_SQ13_3                   (0x08UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00200000 */
+#define ADC_SQR3_SQ13_4                   (0x10UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00400000 */
+
+#define ADC_SQR3_SQ14_Pos                 (24U)
+#define ADC_SQR3_SQ14_Msk                 (0x1FUL << ADC_SQR3_SQ14_Pos)        /*!< 0x1F000000 */
+#define ADC_SQR3_SQ14                     ADC_SQR3_SQ14_Msk                    /*!< ADC 14th conversion in regular sequence */
+#define ADC_SQR3_SQ14_0                   (0x01UL << ADC_SQR3_SQ14_Pos)         /*!< 0x01000000 */
+#define ADC_SQR3_SQ14_1                   (0x02UL << ADC_SQR3_SQ14_Pos)         /*!< 0x02000000 */
+#define ADC_SQR3_SQ14_2                   (0x04UL << ADC_SQR3_SQ14_Pos)         /*!< 0x04000000 */
+#define ADC_SQR3_SQ14_3                   (0x08UL << ADC_SQR3_SQ14_Pos)         /*!< 0x08000000 */
+#define ADC_SQR3_SQ14_4                   (0x10UL << ADC_SQR3_SQ14_Pos)         /*!< 0x10000000 */
+
+/********************  Bit definition for ADC_SQR4 register  ********************/
+#define ADC_SQR4_SQ15_Pos                 (0U)
+#define ADC_SQR4_SQ15_Msk                 (0x1FUL << ADC_SQR4_SQ15_Pos)        /*!< 0x0000001F */
+#define ADC_SQR4_SQ15                     ADC_SQR4_SQ15_Msk                    /*!< ADC 15th conversion in regular sequence */
+#define ADC_SQR4_SQ15_0                   (0x01UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000001 */
+#define ADC_SQR4_SQ15_1                   (0x02UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000002 */
+#define ADC_SQR4_SQ15_2                   (0x04UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000004 */
+#define ADC_SQR4_SQ15_3                   (0x08UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000008 */
+#define ADC_SQR4_SQ15_4                   (0x10UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000010 */
+
+#define ADC_SQR4_SQ16_Pos                 (6U)
+#define ADC_SQR4_SQ16_Msk                 (0x1FUL << ADC_SQR4_SQ16_Pos)        /*!< 0x000007C0 */
+#define ADC_SQR4_SQ16                     ADC_SQR4_SQ16_Msk                    /*!< ADC 16th conversion in regular sequence */
+#define ADC_SQR4_SQ16_0                   (0x01UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000040 */
+#define ADC_SQR4_SQ16_1                   (0x02UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000080 */
+#define ADC_SQR4_SQ16_2                   (0x04UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000100 */
+#define ADC_SQR4_SQ16_3                   (0x08UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000200 */
+#define ADC_SQR4_SQ16_4                   (0x10UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000400 */
+/********************  Bit definition for ADC_DR register  ********************/
+#define ADC_DR_RDATA_Pos                  (0U)
+#define ADC_DR_RDATA_Msk                  (0xFFFFFFFFUL << ADC_DR_RDATA_Pos)   /*!< 0xFFFFFFFF */
+#define ADC_DR_RDATA                      ADC_DR_RDATA_Msk                     /*!< ADC regular Data converted */
+
+/********************  Bit definition for ADC_JSQR register  ********************/
+#define ADC_JSQR_JL_Pos                   (0U)
+#define ADC_JSQR_JL_Msk                   (0x3UL << ADC_JSQR_JL_Pos)           /*!< 0x00000003 */
+#define ADC_JSQR_JL                       ADC_JSQR_JL_Msk                      /*!< ADC injected channel sequence length */
+#define ADC_JSQR_JL_0                     (0x1UL << ADC_JSQR_JL_Pos)           /*!< 0x00000001 */
+#define ADC_JSQR_JL_1                     (0x2UL << ADC_JSQR_JL_Pos)           /*!< 0x00000002 */
+
+#define ADC_JSQR_JEXTSEL_Pos              (2U)
+#define ADC_JSQR_JEXTSEL_Msk              (0x1FUL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x0000007C */
+#define ADC_JSQR_JEXTSEL                  ADC_JSQR_JEXTSEL_Msk                 /*!< ADC external trigger selection for injected group */
+#define ADC_JSQR_JEXTSEL_0                (0x01UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000004 */
+#define ADC_JSQR_JEXTSEL_1                (0x02UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000008 */
+#define ADC_JSQR_JEXTSEL_2                (0x04UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000010 */
+#define ADC_JSQR_JEXTSEL_3                (0x08UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000020 */
+#define ADC_JSQR_JEXTSEL_4                (0x10UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000040 */
+
+#define ADC_JSQR_JEXTEN_Pos               (7U)
+#define ADC_JSQR_JEXTEN_Msk               (0x3UL << ADC_JSQR_JEXTEN_Pos)       /*!< 0x00000180 */
+#define ADC_JSQR_JEXTEN                   ADC_JSQR_JEXTEN_Msk                  /*!< ADC external trigger enable and polarity selection for injected channels */
+#define ADC_JSQR_JEXTEN_0                 (0x1UL << ADC_JSQR_JEXTEN_Pos)       /*!< 0x00000080 */
+#define ADC_JSQR_JEXTEN_1                 (0x2UL << ADC_JSQR_JEXTEN_Pos)       /*!< 0x00000100 */
+
+#define ADC_JSQR_JSQ1_Pos                 (9U)
+#define ADC_JSQR_JSQ1_Msk                 (0x1FUL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00003E00 */
+#define ADC_JSQR_JSQ1                     ADC_JSQR_JSQ1_Msk                    /*!< ADC 1st conversion in injected sequence */
+#define ADC_JSQR_JSQ1_0                   (0x01UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00000200 */
+#define ADC_JSQR_JSQ1_1                   (0x02UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00000400 */
+#define ADC_JSQR_JSQ1_2                   (0x04UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00000800 */
+#define ADC_JSQR_JSQ1_3                   (0x08UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00001000 */
+#define ADC_JSQR_JSQ1_4                   (0x10UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00002000 */
+
+#define ADC_JSQR_JSQ2_Pos                 (15U)
+#define ADC_JSQR_JSQ2_Msk                 (0x1FUL << ADC_JSQR_JSQ2_Pos)        /*!< 0x000F8000 */
+#define ADC_JSQR_JSQ2                     ADC_JSQR_JSQ2_Msk                    /*!< ADC 2nd conversion in injected sequence */
+#define ADC_JSQR_JSQ2_0                   (0x01UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00008000 */
+#define ADC_JSQR_JSQ2_1                   (0x02UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00010000 */
+#define ADC_JSQR_JSQ2_2                   (0x04UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00020000 */
+#define ADC_JSQR_JSQ2_3                   (0x08UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00040000 */
+#define ADC_JSQR_JSQ2_4                   (0x10UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00080000 */
+
+#define ADC_JSQR_JSQ3_Pos                 (21U)
+#define ADC_JSQR_JSQ3_Msk                 (0x1FUL << ADC_JSQR_JSQ3_Pos)        /*!< 0x03E00000 */
+#define ADC_JSQR_JSQ3                     ADC_JSQR_JSQ3_Msk                    /*!< ADC 3rd conversion in injected sequence */
+#define ADC_JSQR_JSQ3_0                   (0x01UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x00200000 */
+#define ADC_JSQR_JSQ3_1                   (0x02UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x00400000 */
+#define ADC_JSQR_JSQ3_2                   (0x04UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x00800000 */
+#define ADC_JSQR_JSQ3_3                   (0x08UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x01000000 */
+#define ADC_JSQR_JSQ3_4                   (0x10UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x02000000 */
+
+#define ADC_JSQR_JSQ4_Pos                 (27U)
+#define ADC_JSQR_JSQ4_Msk                 (0x1FUL << ADC_JSQR_JSQ4_Pos)        /*!< 0xF8000000 */
+#define ADC_JSQR_JSQ4                     ADC_JSQR_JSQ4_Msk                    /*!< ADC 4th conversion in injected sequence */
+#define ADC_JSQR_JSQ4_0                   (0x01UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x08000000 */
+#define ADC_JSQR_JSQ4_1                   (0x02UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x10000000 */
+#define ADC_JSQR_JSQ4_2                   (0x04UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x20000000 */
+#define ADC_JSQR_JSQ4_3                   (0x08UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x40000000 */
+#define ADC_JSQR_JSQ4_4                   (0x10UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_OFR1 register  ********************/
+#define ADC_OFR1_OFFSET1_Pos              (0U)
+#define ADC_OFR1_OFFSET1_Msk              (0x3FFFFFFUL << ADC_OFR1_OFFSET1_Pos) /*!< 0x03FFFFFF */
+#define ADC_OFR1_OFFSET1                  ADC_OFR1_OFFSET1_Msk                  /*!< ADC data offset 1 for channel programmed into bits OFFSET1_CH[4:0] */
+#define ADC_OFR1_OFFSET1_0                (0x0000001UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000001 */
+#define ADC_OFR1_OFFSET1_1                (0x0000002UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000002 */
+#define ADC_OFR1_OFFSET1_2                (0x0000004UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000004 */
+#define ADC_OFR1_OFFSET1_3                (0x0000008UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000008 */
+#define ADC_OFR1_OFFSET1_4                (0x0000010UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000010 */
+#define ADC_OFR1_OFFSET1_5                (0x0000020UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000020 */
+#define ADC_OFR1_OFFSET1_6                (0x0000040UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000040 */
+#define ADC_OFR1_OFFSET1_7                (0x0000080UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000080 */
+#define ADC_OFR1_OFFSET1_8                (0x0000100UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000100 */
+#define ADC_OFR1_OFFSET1_9                (0x0000200UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000200 */
+#define ADC_OFR1_OFFSET1_10               (0x0000400UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000400 */
+#define ADC_OFR1_OFFSET1_11               (0x0000800UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000800 */
+#define ADC_OFR1_OFFSET1_12               (0x0001000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00001000 */
+#define ADC_OFR1_OFFSET1_13               (0x0002000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00002000 */
+#define ADC_OFR1_OFFSET1_14               (0x0004000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00004000 */
+#define ADC_OFR1_OFFSET1_15               (0x0008000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00008000 */
+#define ADC_OFR1_OFFSET1_16               (0x0010000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00010000 */
+#define ADC_OFR1_OFFSET1_17               (0x0020000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00020000 */
+#define ADC_OFR1_OFFSET1_18               (0x0040000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00040000 */
+#define ADC_OFR1_OFFSET1_19               (0x0080000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00080000 */
+#define ADC_OFR1_OFFSET1_20               (0x0100000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00100000 */
+#define ADC_OFR1_OFFSET1_21               (0x0200000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00200000 */
+#define ADC_OFR1_OFFSET1_22               (0x0400000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00400000 */
+#define ADC_OFR1_OFFSET1_23               (0x0800000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00800000 */
+#define ADC_OFR1_OFFSET1_24               (0x1000000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x01000000 */
+#define ADC_OFR1_OFFSET1_25               (0x2000000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x02000000 */
+
+#define ADC_OFR1_OFFSET1_CH_Pos           (26U)
+#define ADC_OFR1_OFFSET1_CH_Msk           (0x1FUL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x7C000000 */
+#define ADC_OFR1_OFFSET1_CH               ADC_OFR1_OFFSET1_CH_Msk               /*!< ADC Channel selection for the data offset 1 */
+#define ADC_OFR1_OFFSET1_CH_0             (0x01UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x04000000 */
+#define ADC_OFR1_OFFSET1_CH_1             (0x02UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x08000000 */
+#define ADC_OFR1_OFFSET1_CH_2             (0x04UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x10000000 */
+#define ADC_OFR1_OFFSET1_CH_3             (0x08UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x20000000 */
+#define ADC_OFR1_OFFSET1_CH_4             (0x10UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x40000000 */
+
+#define ADC_OFR1_SSATE_Pos                (31U)
+#define ADC_OFR1_SSATE_Msk                (0x1UL << ADC_OFR1_SSATE_Pos)         /*!< 0x80000000 */
+#define ADC_OFR1_SSATE                    ADC_OFR1_SSATE_Msk                    /*!< ADC Signed saturation Enable */
+
+#define ADC3_OFR1_OFFSET1_Pos              (0U)
+#define ADC3_OFR1_OFFSET1_Msk              (0xFFFUL << ADC3_OFR1_OFFSET1_Pos)   /*!< 0x00000FFF */
+#define ADC3_OFR1_OFFSET1                  ADC3_OFR1_OFFSET1_Msk                /*!< ADC data offset 1 for channel programmed into bits OFFSET1_CH[4:0] */
+
+#define ADC3_OFR1_OFFSETPOS_Pos         (24U)
+#define ADC3_OFR1_OFFSETPOS_Msk         (0x1UL << ADC3_OFR1_OFFSETPOS_Pos)      /*!< 0x01000000 */
+#define ADC3_OFR1_OFFSETPOS             ADC3_OFR1_OFFSETPOS_Msk                 /*!< ADC offset number 1 positive */
+#define ADC3_OFR1_SATEN_Pos             (25U)
+#define ADC3_OFR1_SATEN_Msk             (0x1UL << ADC3_OFR1_SATEN_Pos)          /*!< 0x02000000 */
+#define ADC3_OFR1_SATEN                 ADC3_OFR1_SATEN_Msk                     /*!< ADC offset number 1 saturation enable */
+
+#define ADC3_OFR1_OFFSET1_EN_Pos        (31U)
+#define ADC3_OFR1_OFFSET1_EN_Msk        (0x1UL << ADC3_OFR1_OFFSET1_EN_Pos)     /*!< 0x80000000 */
+#define ADC3_OFR1_OFFSET1_EN            ADC3_OFR1_OFFSET1_EN_Msk                /*!< ADC offset number 1 enable */
+
+/********************  Bit definition for ADC_OFR2 register  ********************/
+#define ADC_OFR2_OFFSET2_Pos              (0U)
+#define ADC_OFR2_OFFSET2_Msk              (0x3FFFFFFUL << ADC_OFR2_OFFSET2_Pos) /*!< 0x03FFFFFF */
+#define ADC_OFR2_OFFSET2                  ADC_OFR2_OFFSET2_Msk                  /*!< ADC data offset 2 for channel programmed into bits OFFSET2_CH[4:0] */
+#define ADC_OFR2_OFFSET2_0                (0x0000001UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000001 */
+#define ADC_OFR2_OFFSET2_1                (0x0000002UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000002 */
+#define ADC_OFR2_OFFSET2_2                (0x0000004UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000004 */
+#define ADC_OFR2_OFFSET2_3                (0x0000008UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000008 */
+#define ADC_OFR2_OFFSET2_4                (0x0000010UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000010 */
+#define ADC_OFR2_OFFSET2_5                (0x0000020UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000020 */
+#define ADC_OFR2_OFFSET2_6                (0x0000040UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000040 */
+#define ADC_OFR2_OFFSET2_7                (0x0000080UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000080 */
+#define ADC_OFR2_OFFSET2_8                (0x0000100UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000100 */
+#define ADC_OFR2_OFFSET2_9                (0x0000200UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000200 */
+#define ADC_OFR2_OFFSET2_10               (0x0000400UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000400 */
+#define ADC_OFR2_OFFSET2_11               (0x0000800UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000800 */
+#define ADC_OFR2_OFFSET2_12               (0x0001000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00001000 */
+#define ADC_OFR2_OFFSET2_13               (0x0002000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00002000 */
+#define ADC_OFR2_OFFSET2_14               (0x0004000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00004000 */
+#define ADC_OFR2_OFFSET2_15               (0x0008000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00008000 */
+#define ADC_OFR2_OFFSET2_16               (0x0010000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00010000 */
+#define ADC_OFR2_OFFSET2_17               (0x0020000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00020000 */
+#define ADC_OFR2_OFFSET2_18               (0x0040000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00040000 */
+#define ADC_OFR2_OFFSET2_19               (0x0080000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00080000 */
+#define ADC_OFR2_OFFSET2_20               (0x0100000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00100000 */
+#define ADC_OFR2_OFFSET2_21               (0x0200000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00200000 */
+#define ADC_OFR2_OFFSET2_22               (0x0400000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00400000 */
+#define ADC_OFR2_OFFSET2_23               (0x0800000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00800000 */
+#define ADC_OFR2_OFFSET2_24               (0x1000000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x01000000 */
+#define ADC_OFR2_OFFSET2_25               (0x2000000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x02000000 */
+
+#define ADC_OFR2_OFFSET2_CH_Pos           (26U)
+#define ADC_OFR2_OFFSET2_CH_Msk           (0x1FUL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x7C000000 */
+#define ADC_OFR2_OFFSET2_CH               ADC_OFR2_OFFSET2_CH_Msk               /*!< ADC Channel selection for the data offset 2 */
+#define ADC_OFR2_OFFSET2_CH_0             (0x01UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x04000000 */
+#define ADC_OFR2_OFFSET2_CH_1             (0x02UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x08000000 */
+#define ADC_OFR2_OFFSET2_CH_2             (0x04UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x10000000 */
+#define ADC_OFR2_OFFSET2_CH_3             (0x08UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x20000000 */
+#define ADC_OFR2_OFFSET2_CH_4             (0x10UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x40000000 */
+
+#define ADC_OFR2_SSATE_Pos                (31U)
+#define ADC_OFR2_SSATE_Msk                (0x1UL << ADC_OFR2_SSATE_Pos)         /*!< 0x80000000 */
+#define ADC_OFR2_SSATE                    ADC_OFR2_SSATE_Msk                    /*!< ADC Signed saturation Enable */
+
+#define ADC3_OFR2_OFFSET2_Pos              (0U)
+#define ADC3_OFR2_OFFSET2_Msk              (0xFFFUL << ADC3_OFR2_OFFSET2_Pos)   /*!< 0x00000FFF */
+#define ADC3_OFR2_OFFSET2                  ADC3_OFR2_OFFSET2_Msk                /*!< ADC data offset 2 for channel programmed into bits OFFSET1_CH[4:0] */
+
+#define ADC3_OFR2_OFFSETPOS_Pos         (24U)
+#define ADC3_OFR2_OFFSETPOS_Msk         (0x1UL << ADC3_OFR2_OFFSETPOS_Pos)      /*!< 0x01000000 */
+#define ADC3_OFR2_OFFSETPOS             ADC3_OFR2_OFFSETPOS_Msk                 /*!< ADC offset number 2 positive */
+#define ADC3_OFR2_SATEN_Pos             (25U)
+#define ADC3_OFR2_SATEN_Msk             (0x1UL << ADC3_OFR2_SATEN_Pos)          /*!< 0x02000000 */
+#define ADC3_OFR2_SATEN                 ADC3_OFR2_SATEN_Msk                     /*!< ADC offset number 2 saturation enable */
+
+#define ADC3_OFR2_OFFSET2_EN_Pos        (31U)
+#define ADC3_OFR2_OFFSET2_EN_Msk        (0x1UL << ADC3_OFR2_OFFSET2_EN_Pos)     /*!< 0x80000000 */
+#define ADC3_OFR2_OFFSET2_EN            ADC3_OFR2_OFFSET2_EN_Msk                /*!< ADC offset number 2 enable */
+
+/********************  Bit definition for ADC_OFR3 register  ********************/
+#define ADC_OFR3_OFFSET3_Pos              (0U)
+#define ADC_OFR3_OFFSET3_Msk              (0x3FFFFFFUL << ADC_OFR3_OFFSET3_Pos) /*!< 0x03FFFFFF */
+#define ADC_OFR3_OFFSET3                  ADC_OFR3_OFFSET3_Msk                  /*!< ADC data offset 3 for channel programmed into bits OFFSET3_CH[4:0] */
+#define ADC_OFR3_OFFSET3_0                (0x0000001UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000001 */
+#define ADC_OFR3_OFFSET3_1                (0x0000002UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000002 */
+#define ADC_OFR3_OFFSET3_2                (0x0000004UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000004 */
+#define ADC_OFR3_OFFSET3_3                (0x0000008UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000008 */
+#define ADC_OFR3_OFFSET3_4                (0x0000010UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000010 */
+#define ADC_OFR3_OFFSET3_5                (0x0000020UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000020 */
+#define ADC_OFR3_OFFSET3_6                (0x0000040UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000040 */
+#define ADC_OFR3_OFFSET3_7                (0x0000080UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000080 */
+#define ADC_OFR3_OFFSET3_8                (0x0000100UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000100 */
+#define ADC_OFR3_OFFSET3_9                (0x0000200UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000200 */
+#define ADC_OFR3_OFFSET3_10               (0x0000400UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000400 */
+#define ADC_OFR3_OFFSET3_11               (0x0000800UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000800 */
+#define ADC_OFR3_OFFSET3_12               (0x0001000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00001000 */
+#define ADC_OFR3_OFFSET3_13               (0x0002000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00002000 */
+#define ADC_OFR3_OFFSET3_14               (0x0004000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00004000 */
+#define ADC_OFR3_OFFSET3_15               (0x0008000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00008000 */
+#define ADC_OFR3_OFFSET3_16               (0x0010000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00010000 */
+#define ADC_OFR3_OFFSET3_17               (0x0020000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00020000 */
+#define ADC_OFR3_OFFSET3_18               (0x0040000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00040000 */
+#define ADC_OFR3_OFFSET3_19               (0x0080000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00080000 */
+#define ADC_OFR3_OFFSET3_20               (0x0100000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00100000 */
+#define ADC_OFR3_OFFSET3_21               (0x0200000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00200000 */
+#define ADC_OFR3_OFFSET3_22               (0x0400000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00400000 */
+#define ADC_OFR3_OFFSET3_23               (0x0800000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00800000 */
+#define ADC_OFR3_OFFSET3_24               (0x1000000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x01000000 */
+#define ADC_OFR3_OFFSET3_25               (0x2000000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x02000000 */
+
+#define ADC_OFR3_OFFSET3_CH_Pos           (26U)
+#define ADC_OFR3_OFFSET3_CH_Msk           (0x1FUL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x7C000000 */
+#define ADC_OFR3_OFFSET3_CH               ADC_OFR3_OFFSET3_CH_Msk               /*!< ADC Channel selection for the data offset 3 */
+#define ADC_OFR3_OFFSET3_CH_0             (0x01UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x04000000 */
+#define ADC_OFR3_OFFSET3_CH_1             (0x02UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x08000000 */
+#define ADC_OFR3_OFFSET3_CH_2             (0x04UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x10000000 */
+#define ADC_OFR3_OFFSET3_CH_3             (0x08UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x20000000 */
+#define ADC_OFR3_OFFSET3_CH_4             (0x10UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x40000000 */
+
+#define ADC_OFR3_SSATE_Pos                (31U)
+#define ADC_OFR3_SSATE_Msk                (0x1UL << ADC_OFR3_SSATE_Pos)         /*!< 0x80000000 */
+#define ADC_OFR3_SSATE                    ADC_OFR3_SSATE_Msk                    /*!< ADC Signed saturation Enable */
+
+#define ADC3_OFR3_OFFSET3_Pos              (0U)
+#define ADC3_OFR3_OFFSET3_Msk              (0xFFFUL << ADC3_OFR3_OFFSET3_Pos)   /*!< 0x00000FFF */
+#define ADC3_OFR3_OFFSET3                  ADC3_OFR3_OFFSET3_Msk                /*!< ADC data offset 3 for channel programmed into bits OFFSET1_CH[4:0] */
+
+#define ADC3_OFR3_OFFSETPOS_Pos         (24U)
+#define ADC3_OFR3_OFFSETPOS_Msk         (0x1UL << ADC3_OFR3_OFFSETPOS_Pos)      /*!< 0x01000000 */
+#define ADC3_OFR3_OFFSETPOS             ADC3_OFR3_OFFSETPOS_Msk                 /*!< ADC offset number 3 positive */
+#define ADC3_OFR3_SATEN_Pos             (25U)
+#define ADC3_OFR3_SATEN_Msk             (0x1UL << ADC3_OFR3_SATEN_Pos)          /*!< 0x02000000 */
+#define ADC3_OFR3_SATEN                 ADC3_OFR3_SATEN_Msk                     /*!< ADC offset number 3 saturation enable */
+
+#define ADC3_OFR3_OFFSET3_EN_Pos        (31U)
+#define ADC3_OFR3_OFFSET3_EN_Msk        (0x1UL << ADC3_OFR3_OFFSET3_EN_Pos)     /*!< 0x80000000 */
+#define ADC3_OFR3_OFFSET3_EN            ADC3_OFR3_OFFSET3_EN_Msk                /*!< ADC offset number 3 enable */
+
+/********************  Bit definition for ADC_OFR4 register  ********************/
+#define ADC_OFR4_OFFSET4_Pos              (0U)
+#define ADC_OFR4_OFFSET4_Msk              (0x3FFFFFFUL << ADC_OFR4_OFFSET4_Pos) /*!< 0x03FFFFFF */
+#define ADC_OFR4_OFFSET4                  ADC_OFR4_OFFSET4_Msk                  /*!< ADC data offset 4 for channel programmed into bits OFFSET4_CH[4:0] */
+#define ADC_OFR4_OFFSET4_0                (0x0000001UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000001 */
+#define ADC_OFR4_OFFSET4_1                (0x0000002UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000002 */
+#define ADC_OFR4_OFFSET4_2                (0x0000004UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000004 */
+#define ADC_OFR4_OFFSET4_3                (0x0000008UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000008 */
+#define ADC_OFR4_OFFSET4_4                (0x0000010UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000010 */
+#define ADC_OFR4_OFFSET4_5                (0x0000020UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000020 */
+#define ADC_OFR4_OFFSET4_6                (0x0000040UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000040 */
+#define ADC_OFR4_OFFSET4_7                (0x0000080UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000080 */
+#define ADC_OFR4_OFFSET4_8                (0x0000100UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000100 */
+#define ADC_OFR4_OFFSET4_9                (0x0000200UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000200 */
+#define ADC_OFR4_OFFSET4_10               (0x0000400UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000400 */
+#define ADC_OFR4_OFFSET4_11               (0x0000800UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000800 */
+#define ADC_OFR4_OFFSET4_12               (0x0001000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00001000 */
+#define ADC_OFR4_OFFSET4_13               (0x0002000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00002000 */
+#define ADC_OFR4_OFFSET4_14               (0x0004000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00004000 */
+#define ADC_OFR4_OFFSET4_15               (0x0008000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00008000 */
+#define ADC_OFR4_OFFSET4_16               (0x0010000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00010000 */
+#define ADC_OFR4_OFFSET4_17               (0x0020000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00020000 */
+#define ADC_OFR4_OFFSET4_18               (0x0040000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00040000 */
+#define ADC_OFR4_OFFSET4_19               (0x0080000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00080000 */
+#define ADC_OFR4_OFFSET4_20               (0x0100000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00100000 */
+#define ADC_OFR4_OFFSET4_21               (0x0200000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00200000 */
+#define ADC_OFR4_OFFSET4_22               (0x0400000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00400000 */
+#define ADC_OFR4_OFFSET4_23               (0x0800000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00800000 */
+#define ADC_OFR4_OFFSET4_24               (0x1000000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x01000000 */
+#define ADC_OFR4_OFFSET4_25               (0x2000000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x02000000 */
+
+#define ADC_OFR4_OFFSET4_CH_Pos           (26U)
+#define ADC_OFR4_OFFSET4_CH_Msk           (0x1FUL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x7C000000 */
+#define ADC_OFR4_OFFSET4_CH               ADC_OFR4_OFFSET4_CH_Msk               /*!< ADC Channel selection for the data offset 4 */
+#define ADC_OFR4_OFFSET4_CH_0             (0x01UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x04000000 */
+#define ADC_OFR4_OFFSET4_CH_1             (0x02UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x08000000 */
+#define ADC_OFR4_OFFSET4_CH_2             (0x04UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x10000000 */
+#define ADC_OFR4_OFFSET4_CH_3             (0x08UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x20000000 */
+#define ADC_OFR4_OFFSET4_CH_4             (0x10UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x40000000 */
+
+#define ADC_OFR4_SSATE_Pos                (31U)
+#define ADC_OFR4_SSATE_Msk                (0x1UL << ADC_OFR4_SSATE_Pos)         /*!< 0x80000000 */
+#define ADC_OFR4_SSATE                    ADC_OFR4_SSATE_Msk                    /*!< ADC Signed saturation Enable */
+
+#define ADC3_OFR4_OFFSET4_Pos              (0U)
+#define ADC3_OFR4_OFFSET4_Msk              (0xFFFUL << ADC3_OFR4_OFFSET4_Pos)   /*!< 0x00000FFF */
+#define ADC3_OFR4_OFFSET4                  ADC3_OFR4_OFFSET4_Msk                /*!< ADC data offset 4 for channel programmed into bits OFFSET1_CH[4:0] */
+
+#define ADC3_OFR4_OFFSETPOS_Pos         (24U)
+#define ADC3_OFR4_OFFSETPOS_Msk         (0x1UL << ADC3_OFR4_OFFSETPOS_Pos)      /*!< 0x01000000 */
+#define ADC3_OFR4_OFFSETPOS             ADC3_OFR4_OFFSETPOS_Msk                 /*!< ADC offset number 4 positive */
+#define ADC3_OFR4_SATEN_Pos             (25U)
+#define ADC3_OFR4_SATEN_Msk             (0x1UL << ADC3_OFR4_SATEN_Pos)          /*!< 0x02000000 */
+#define ADC3_OFR4_SATEN                 ADC3_OFR4_SATEN_Msk                     /*!< ADC offset number 4 saturation enable */
+
+#define ADC3_OFR4_OFFSET4_EN_Pos        (31U)
+#define ADC3_OFR4_OFFSET4_EN_Msk        (0x1UL << ADC3_OFR4_OFFSET4_EN_Pos)     /*!< 0x80000000 */
+#define ADC3_OFR4_OFFSET4_EN            ADC3_OFR4_OFFSET4_EN_Msk                /*!< ADC offset number 4 enable */
+
+/********************  Bit definition for ADC_JDR1 register  ********************/
+#define ADC_JDR1_JDATA_Pos                (0U)
+#define ADC_JDR1_JDATA_Msk                (0xFFFFFFFFUL << ADC_JDR1_JDATA_Pos)  /*!< 0xFFFFFFFF */
+#define ADC_JDR1_JDATA                    ADC_JDR1_JDATA_Msk                    /*!< ADC Injected DATA */
+#define ADC_JDR1_JDATA_0                  (0x00000001UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000001 */
+#define ADC_JDR1_JDATA_1                  (0x00000002UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000002 */
+#define ADC_JDR1_JDATA_2                  (0x00000004UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000004 */
+#define ADC_JDR1_JDATA_3                  (0x00000008UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000008 */
+#define ADC_JDR1_JDATA_4                  (0x00000010UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000010 */
+#define ADC_JDR1_JDATA_5                  (0x00000020UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000020 */
+#define ADC_JDR1_JDATA_6                  (0x00000040UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000040 */
+#define ADC_JDR1_JDATA_7                  (0x00000080UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000080 */
+#define ADC_JDR1_JDATA_8                  (0x00000100UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000100 */
+#define ADC_JDR1_JDATA_9                  (0x00000200UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000200 */
+#define ADC_JDR1_JDATA_10                 (0x00000400UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000400 */
+#define ADC_JDR1_JDATA_11                 (0x00000800UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000800 */
+#define ADC_JDR1_JDATA_12                 (0x00001000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00001000 */
+#define ADC_JDR1_JDATA_13                 (0x00002000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00002000 */
+#define ADC_JDR1_JDATA_14                 (0x00004000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00004000 */
+#define ADC_JDR1_JDATA_15                 (0x00008000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00008000 */
+#define ADC_JDR1_JDATA_16                 (0x00010000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00010000 */
+#define ADC_JDR1_JDATA_17                 (0x00020000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00020000 */
+#define ADC_JDR1_JDATA_18                 (0x00040000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00040000 */
+#define ADC_JDR1_JDATA_19                 (0x00080000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00080000 */
+#define ADC_JDR1_JDATA_20                 (0x00100000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00100000 */
+#define ADC_JDR1_JDATA_21                 (0x00200000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00200000 */
+#define ADC_JDR1_JDATA_22                 (0x00400000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00400000 */
+#define ADC_JDR1_JDATA_23                 (0x00800000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00800000 */
+#define ADC_JDR1_JDATA_24                 (0x01000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x01000000 */
+#define ADC_JDR1_JDATA_25                 (0x02000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x02000000 */
+#define ADC_JDR1_JDATA_26                 (0x04000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x04000000 */
+#define ADC_JDR1_JDATA_27                 (0x08000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x08000000 */
+#define ADC_JDR1_JDATA_28                 (0x10000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x10000000 */
+#define ADC_JDR1_JDATA_29                 (0x20000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x20000000 */
+#define ADC_JDR1_JDATA_30                 (0x40000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x40000000 */
+#define ADC_JDR1_JDATA_31                 (0x80000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_JDR2 register  ********************/
+#define ADC_JDR2_JDATA_Pos                (0U)
+#define ADC_JDR2_JDATA_Msk                (0xFFFFFFFFUL << ADC_JDR2_JDATA_Pos)  /*!< 0xFFFFFFFF */
+#define ADC_JDR2_JDATA                    ADC_JDR2_JDATA_Msk                    /*!< ADC Injected DATA */
+#define ADC_JDR2_JDATA_0                  (0x00000001UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000001 */
+#define ADC_JDR2_JDATA_1                  (0x00000002UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000002 */
+#define ADC_JDR2_JDATA_2                  (0x00000004UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000004 */
+#define ADC_JDR2_JDATA_3                  (0x00000008UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000008 */
+#define ADC_JDR2_JDATA_4                  (0x00000010UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000010 */
+#define ADC_JDR2_JDATA_5                  (0x00000020UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000020 */
+#define ADC_JDR2_JDATA_6                  (0x00000040UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000040 */
+#define ADC_JDR2_JDATA_7                  (0x00000080UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000080 */
+#define ADC_JDR2_JDATA_8                  (0x00000100UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000100 */
+#define ADC_JDR2_JDATA_9                  (0x00000200UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000200 */
+#define ADC_JDR2_JDATA_10                 (0x00000400UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000400 */
+#define ADC_JDR2_JDATA_11                 (0x00000800UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000800 */
+#define ADC_JDR2_JDATA_12                 (0x00001000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00001000 */
+#define ADC_JDR2_JDATA_13                 (0x00002000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00002000 */
+#define ADC_JDR2_JDATA_14                 (0x00004000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00004000 */
+#define ADC_JDR2_JDATA_15                 (0x00008000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00008000 */
+#define ADC_JDR2_JDATA_16                 (0x00010000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00010000 */
+#define ADC_JDR2_JDATA_17                 (0x00020000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00020000 */
+#define ADC_JDR2_JDATA_18                 (0x00040000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00040000 */
+#define ADC_JDR2_JDATA_19                 (0x00080000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00080000 */
+#define ADC_JDR2_JDATA_20                 (0x00100000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00100000 */
+#define ADC_JDR2_JDATA_21                 (0x00200000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00200000 */
+#define ADC_JDR2_JDATA_22                 (0x00400000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00400000 */
+#define ADC_JDR2_JDATA_23                 (0x00800000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00800000 */
+#define ADC_JDR2_JDATA_24                 (0x01000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x01000000 */
+#define ADC_JDR2_JDATA_25                 (0x02000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x02000000 */
+#define ADC_JDR2_JDATA_26                 (0x04000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x04000000 */
+#define ADC_JDR2_JDATA_27                 (0x08000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x08000000 */
+#define ADC_JDR2_JDATA_28                 (0x10000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x10000000 */
+#define ADC_JDR2_JDATA_29                 (0x20000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x20000000 */
+#define ADC_JDR2_JDATA_30                 (0x40000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x40000000 */
+#define ADC_JDR2_JDATA_31                 (0x80000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_JDR3 register  ********************/
+#define ADC_JDR3_JDATA_Pos                (0U)
+#define ADC_JDR3_JDATA_Msk                (0xFFFFFFFFUL << ADC_JDR3_JDATA_Pos)  /*!< 0xFFFFFFFF */
+#define ADC_JDR3_JDATA                    ADC_JDR3_JDATA_Msk                    /*!< ADC Injected DATA */
+#define ADC_JDR3_JDATA_0                  (0x00000001UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000001 */
+#define ADC_JDR3_JDATA_1                  (0x00000002UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000002 */
+#define ADC_JDR3_JDATA_2                  (0x00000004UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000004 */
+#define ADC_JDR3_JDATA_3                  (0x00000008UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000008 */
+#define ADC_JDR3_JDATA_4                  (0x00000010UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000010 */
+#define ADC_JDR3_JDATA_5                  (0x00000020UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000020 */
+#define ADC_JDR3_JDATA_6                  (0x00000040UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000040 */
+#define ADC_JDR3_JDATA_7                  (0x00000080UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000080 */
+#define ADC_JDR3_JDATA_8                  (0x00000100UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000100 */
+#define ADC_JDR3_JDATA_9                  (0x00000200UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000200 */
+#define ADC_JDR3_JDATA_10                 (0x00000400UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000400 */
+#define ADC_JDR3_JDATA_11                 (0x00000800UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000800 */
+#define ADC_JDR3_JDATA_12                 (0x00001000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00001000 */
+#define ADC_JDR3_JDATA_13                 (0x00002000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00002000 */
+#define ADC_JDR3_JDATA_14                 (0x00004000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00004000 */
+#define ADC_JDR3_JDATA_15                 (0x00008000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00008000 */
+#define ADC_JDR3_JDATA_16                 (0x00010000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00010000 */
+#define ADC_JDR3_JDATA_17                 (0x00020000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00020000 */
+#define ADC_JDR3_JDATA_18                 (0x00040000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00040000 */
+#define ADC_JDR3_JDATA_19                 (0x00080000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00080000 */
+#define ADC_JDR3_JDATA_20                 (0x00100000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00100000 */
+#define ADC_JDR3_JDATA_21                 (0x00200000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00200000 */
+#define ADC_JDR3_JDATA_22                 (0x00400000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00400000 */
+#define ADC_JDR3_JDATA_23                 (0x00800000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00800000 */
+#define ADC_JDR3_JDATA_24                 (0x01000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x01000000 */
+#define ADC_JDR3_JDATA_25                 (0x02000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x02000000 */
+#define ADC_JDR3_JDATA_26                 (0x04000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x04000000 */
+#define ADC_JDR3_JDATA_27                 (0x08000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x08000000 */
+#define ADC_JDR3_JDATA_28                 (0x10000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x10000000 */
+#define ADC_JDR3_JDATA_29                 (0x20000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x20000000 */
+#define ADC_JDR3_JDATA_30                 (0x40000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x40000000 */
+#define ADC_JDR3_JDATA_31                 (0x80000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_JDR4 register  ********************/
+#define ADC_JDR4_JDATA_Pos                (0U)
+#define ADC_JDR4_JDATA_Msk                (0xFFFFFFFFUL << ADC_JDR4_JDATA_Pos)  /*!< 0xFFFFFFFF */
+#define ADC_JDR4_JDATA                    ADC_JDR4_JDATA_Msk                    /*!< ADC Injected DATA */
+#define ADC_JDR4_JDATA_0                  (0x00000001UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000001 */
+#define ADC_JDR4_JDATA_1                  (0x00000002UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000002 */
+#define ADC_JDR4_JDATA_2                  (0x00000004UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000004 */
+#define ADC_JDR4_JDATA_3                  (0x00000008UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000008 */
+#define ADC_JDR4_JDATA_4                  (0x00000010UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000010 */
+#define ADC_JDR4_JDATA_5                  (0x00000020UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000020 */
+#define ADC_JDR4_JDATA_6                  (0x00000040UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000040 */
+#define ADC_JDR4_JDATA_7                  (0x00000080UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000080 */
+#define ADC_JDR4_JDATA_8                  (0x00000100UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000100 */
+#define ADC_JDR4_JDATA_9                  (0x00000200UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000200 */
+#define ADC_JDR4_JDATA_10                 (0x00000400UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000400 */
+#define ADC_JDR4_JDATA_11                 (0x00000800UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000800 */
+#define ADC_JDR4_JDATA_12                 (0x00001000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00001000 */
+#define ADC_JDR4_JDATA_13                 (0x00002000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00002000 */
+#define ADC_JDR4_JDATA_14                 (0x00004000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00004000 */
+#define ADC_JDR4_JDATA_15                 (0x00008000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00008000 */
+#define ADC_JDR4_JDATA_16                 (0x00010000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00010000 */
+#define ADC_JDR4_JDATA_17                 (0x00020000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00020000 */
+#define ADC_JDR4_JDATA_18                 (0x00040000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00040000 */
+#define ADC_JDR4_JDATA_19                 (0x00080000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00080000 */
+#define ADC_JDR4_JDATA_20                 (0x00100000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00100000 */
+#define ADC_JDR4_JDATA_21                 (0x00200000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00200000 */
+#define ADC_JDR4_JDATA_22                 (0x00400000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00400000 */
+#define ADC_JDR4_JDATA_23                 (0x00800000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00800000 */
+#define ADC_JDR4_JDATA_24                 (0x01000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x01000000 */
+#define ADC_JDR4_JDATA_25                 (0x02000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x02000000 */
+#define ADC_JDR4_JDATA_26                 (0x04000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x04000000 */
+#define ADC_JDR4_JDATA_27                 (0x08000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x08000000 */
+#define ADC_JDR4_JDATA_28                 (0x10000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x10000000 */
+#define ADC_JDR4_JDATA_29                 (0x20000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x20000000 */
+#define ADC_JDR4_JDATA_30                 (0x40000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x40000000 */
+#define ADC_JDR4_JDATA_31                 (0x80000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_AWD2CR register  ********************/
+#define ADC_AWD2CR_AWD2CH_Pos             (0U)
+#define ADC_AWD2CR_AWD2CH_Msk             (0xFFFFFUL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x000FFFFF */
+#define ADC_AWD2CR_AWD2CH                 ADC_AWD2CR_AWD2CH_Msk                 /*!< ADC Analog watchdog 2 channel selection */
+#define ADC_AWD2CR_AWD2CH_0               (0x00001UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000001 */
+#define ADC_AWD2CR_AWD2CH_1               (0x00002UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000002 */
+#define ADC_AWD2CR_AWD2CH_2               (0x00004UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000004 */
+#define ADC_AWD2CR_AWD2CH_3               (0x00008UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000008 */
+#define ADC_AWD2CR_AWD2CH_4               (0x00010UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000010 */
+#define ADC_AWD2CR_AWD2CH_5               (0x00020UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000020 */
+#define ADC_AWD2CR_AWD2CH_6               (0x00040UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000040 */
+#define ADC_AWD2CR_AWD2CH_7               (0x00080UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000080 */
+#define ADC_AWD2CR_AWD2CH_8               (0x00100UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000100 */
+#define ADC_AWD2CR_AWD2CH_9               (0x00200UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000200 */
+#define ADC_AWD2CR_AWD2CH_10              (0x00400UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000400 */
+#define ADC_AWD2CR_AWD2CH_11              (0x00800UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000800 */
+#define ADC_AWD2CR_AWD2CH_12              (0x01000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00001000 */
+#define ADC_AWD2CR_AWD2CH_13              (0x02000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00002000 */
+#define ADC_AWD2CR_AWD2CH_14              (0x04000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00004000 */
+#define ADC_AWD2CR_AWD2CH_15              (0x08000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00008000 */
+#define ADC_AWD2CR_AWD2CH_16              (0x10000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00010000 */
+#define ADC_AWD2CR_AWD2CH_17              (0x20000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00020000 */
+#define ADC_AWD2CR_AWD2CH_18              (0x40000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00040000 */
+#define ADC_AWD2CR_AWD2CH_19              (0x80000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00080000 */
+
+/********************  Bit definition for ADC_AWD3CR register  ********************/
+#define ADC_AWD3CR_AWD3CH_Pos             (0U)
+#define ADC_AWD3CR_AWD3CH_Msk             (0xFFFFFUL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x000FFFFF */
+#define ADC_AWD3CR_AWD3CH                 ADC_AWD3CR_AWD3CH_Msk                 /*!< ADC Analog watchdog 2 channel selection */
+#define ADC_AWD3CR_AWD3CH_0               (0x00001UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000001 */
+#define ADC_AWD3CR_AWD3CH_1               (0x00002UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000002 */
+#define ADC_AWD3CR_AWD3CH_2               (0x00004UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000004 */
+#define ADC_AWD3CR_AWD3CH_3               (0x00008UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000008 */
+#define ADC_AWD3CR_AWD3CH_4               (0x00010UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000010 */
+#define ADC_AWD3CR_AWD3CH_5               (0x00020UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000020 */
+#define ADC_AWD3CR_AWD3CH_6               (0x00040UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000040 */
+#define ADC_AWD3CR_AWD3CH_7               (0x00080UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000080 */
+#define ADC_AWD3CR_AWD3CH_8               (0x00100UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000100 */
+#define ADC_AWD3CR_AWD3CH_9               (0x00200UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000200 */
+#define ADC_AWD3CR_AWD3CH_10              (0x00400UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000400 */
+#define ADC_AWD3CR_AWD3CH_11              (0x00800UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000800 */
+#define ADC_AWD3CR_AWD3CH_12              (0x01000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00001000 */
+#define ADC_AWD3CR_AWD3CH_13              (0x02000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00002000 */
+#define ADC_AWD3CR_AWD3CH_14              (0x04000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00004000 */
+#define ADC_AWD3CR_AWD3CH_15              (0x08000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00008000 */
+#define ADC_AWD3CR_AWD3CH_16              (0x10000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00010000 */
+#define ADC_AWD3CR_AWD3CH_17              (0x20000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00020000 */
+#define ADC_AWD3CR_AWD3CH_18              (0x40000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00040000 */
+#define ADC_AWD3CR_AWD3CH_19              (0x80000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00080000 */
+
+/********************  Bit definition for ADC_DIFSEL register  ********************/
+#define ADC_DIFSEL_DIFSEL_Pos             (0U)
+#define ADC_DIFSEL_DIFSEL_Msk             (0xFFFFFUL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x000FFFFF */
+#define ADC_DIFSEL_DIFSEL                 ADC_DIFSEL_DIFSEL_Msk                 /*!< ADC differential modes for channels 1 to 18 */
+#define ADC_DIFSEL_DIFSEL_0               (0x00001UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000001 */
+#define ADC_DIFSEL_DIFSEL_1               (0x00002UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000002 */
+#define ADC_DIFSEL_DIFSEL_2               (0x00004UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000004 */
+#define ADC_DIFSEL_DIFSEL_3               (0x00008UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000008 */
+#define ADC_DIFSEL_DIFSEL_4               (0x00010UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000010 */
+#define ADC_DIFSEL_DIFSEL_5               (0x00020UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000020 */
+#define ADC_DIFSEL_DIFSEL_6               (0x00040UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000040 */
+#define ADC_DIFSEL_DIFSEL_7               (0x00080UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000080 */
+#define ADC_DIFSEL_DIFSEL_8               (0x00100UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000100 */
+#define ADC_DIFSEL_DIFSEL_9               (0x00200UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000200 */
+#define ADC_DIFSEL_DIFSEL_10              (0x00400UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000400 */
+#define ADC_DIFSEL_DIFSEL_11              (0x00800UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000800 */
+#define ADC_DIFSEL_DIFSEL_12              (0x01000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00001000 */
+#define ADC_DIFSEL_DIFSEL_13              (0x02000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00002000 */
+#define ADC_DIFSEL_DIFSEL_14              (0x04000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00004000 */
+#define ADC_DIFSEL_DIFSEL_15              (0x08000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00008000 */
+#define ADC_DIFSEL_DIFSEL_16              (0x10000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00010000 */
+#define ADC_DIFSEL_DIFSEL_17              (0x20000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00020000 */
+#define ADC_DIFSEL_DIFSEL_18              (0x40000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00040000 */
+#define ADC_DIFSEL_DIFSEL_19              (0x80000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00080000 */
+
+/********************  Bit definition for ADC_CALFACT register  ********************/
+#define ADC_CALFACT_CALFACT_S_Pos         (0U)
+#define ADC_CALFACT_CALFACT_S_Msk         (0x7FFUL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x000007FF */
+#define ADC_CALFACT_CALFACT_S             ADC_CALFACT_CALFACT_S_Msk              /*!< ADC calibration factors in single-ended mode */
+#define ADC_CALFACT_CALFACT_S_0           (0x001UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000001 */
+#define ADC_CALFACT_CALFACT_S_1           (0x002UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000002 */
+#define ADC_CALFACT_CALFACT_S_2           (0x004UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000004 */
+#define ADC_CALFACT_CALFACT_S_3           (0x008UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000008 */
+#define ADC_CALFACT_CALFACT_S_4           (0x010UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000010 */
+#define ADC_CALFACT_CALFACT_S_5           (0x020UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000020 */
+#define ADC_CALFACT_CALFACT_S_6           (0x040UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000040 */
+#define ADC_CALFACT_CALFACT_S_7           (0x080UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000080 */
+#define ADC_CALFACT_CALFACT_S_8           (0x100UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000100 */
+#define ADC_CALFACT_CALFACT_S_9           (0x200UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000200 */
+#define ADC_CALFACT_CALFACT_S_10          (0x400UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000400 */
+#define ADC_CALFACT_CALFACT_D_Pos         (16U)
+#define ADC_CALFACT_CALFACT_D_Msk         (0x7FFUL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x07FF0000 */
+#define ADC_CALFACT_CALFACT_D             ADC_CALFACT_CALFACT_D_Msk              /*!< ADC calibration factors in differential mode */
+#define ADC_CALFACT_CALFACT_D_0           (0x001UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00010000 */
+#define ADC_CALFACT_CALFACT_D_1           (0x002UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00020000 */
+#define ADC_CALFACT_CALFACT_D_2           (0x004UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00040000 */
+#define ADC_CALFACT_CALFACT_D_3           (0x008UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00080000 */
+#define ADC_CALFACT_CALFACT_D_4           (0x010UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00100000 */
+#define ADC_CALFACT_CALFACT_D_5           (0x020UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00200000 */
+#define ADC_CALFACT_CALFACT_D_6           (0x040UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00400000 */
+#define ADC_CALFACT_CALFACT_D_7           (0x080UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00800000 */
+#define ADC_CALFACT_CALFACT_D_8           (0x100UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x01000000 */
+#define ADC_CALFACT_CALFACT_D_9           (0x200UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x02000000 */
+#define ADC_CALFACT_CALFACT_D_10          (0x400UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x04000000 */
+
+/********************  Bit definition for ADC_CALFACT2 register  ********************/
+#define ADC_CALFACT2_LINCALFACT_Pos       (0U)
+#define ADC_CALFACT2_LINCALFACT_Msk       (0x3FFFFFFFUL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x3FFFFFFF */
+#define ADC_CALFACT2_LINCALFACT           ADC_CALFACT2_LINCALFACT_Msk                   /*!< ADC Linearity calibration factors */
+#define ADC_CALFACT2_LINCALFACT_0         (0x00000001UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000001 */
+#define ADC_CALFACT2_LINCALFACT_1         (0x00000002UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000002 */
+#define ADC_CALFACT2_LINCALFACT_2         (0x00000004UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000004 */
+#define ADC_CALFACT2_LINCALFACT_3         (0x00000008UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000008 */
+#define ADC_CALFACT2_LINCALFACT_4         (0x00000010UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000010 */
+#define ADC_CALFACT2_LINCALFACT_5         (0x00000020UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000020 */
+#define ADC_CALFACT2_LINCALFACT_6         (0x00000040UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000040 */
+#define ADC_CALFACT2_LINCALFACT_7         (0x00000080UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000080 */
+#define ADC_CALFACT2_LINCALFACT_8         (0x00000100UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000100 */
+#define ADC_CALFACT2_LINCALFACT_9         (0x00000200UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000200 */
+#define ADC_CALFACT2_LINCALFACT_10        (0x00000400UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000400 */
+#define ADC_CALFACT2_LINCALFACT_11        (0x00000800UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000800 */
+#define ADC_CALFACT2_LINCALFACT_12        (0x00001000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00001000 */
+#define ADC_CALFACT2_LINCALFACT_13        (0x00002000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00002000 */
+#define ADC_CALFACT2_LINCALFACT_14        (0x00004000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00004000 */
+#define ADC_CALFACT2_LINCALFACT_15        (0x00008000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00008000 */
+#define ADC_CALFACT2_LINCALFACT_16        (0x00010000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00010000 */
+#define ADC_CALFACT2_LINCALFACT_17        (0x00020000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00020000 */
+#define ADC_CALFACT2_LINCALFACT_18        (0x00040000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00040000 */
+#define ADC_CALFACT2_LINCALFACT_19        (0x00080000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00080000 */
+#define ADC_CALFACT2_LINCALFACT_20        (0x00100000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00100000 */
+#define ADC_CALFACT2_LINCALFACT_21        (0x00200000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00200000 */
+#define ADC_CALFACT2_LINCALFACT_22        (0x00400000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00400000 */
+#define ADC_CALFACT2_LINCALFACT_23        (0x00800000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00800000 */
+#define ADC_CALFACT2_LINCALFACT_24        (0x01000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x01000000 */
+#define ADC_CALFACT2_LINCALFACT_25        (0x02000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x02000000 */
+#define ADC_CALFACT2_LINCALFACT_26        (0x04000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x04000000 */
+#define ADC_CALFACT2_LINCALFACT_27        (0x08000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x08000000 */
+#define ADC_CALFACT2_LINCALFACT_28        (0x10000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x10000000 */
+#define ADC_CALFACT2_LINCALFACT_29        (0x20000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x20000000 */
+
+/*************************  ADC Common registers  *****************************/
+/********************  Bit definition for ADC_CSR register  ********************/
+#define ADC_CSR_ADRDY_MST_Pos             (0U)
+#define ADC_CSR_ADRDY_MST_Msk             (0x1UL << ADC_CSR_ADRDY_MST_Pos)     /*!< 0x00000001 */
+#define ADC_CSR_ADRDY_MST                 ADC_CSR_ADRDY_MST_Msk                /*!< Master ADC ready */
+#define ADC_CSR_EOSMP_MST_Pos             (1U)
+#define ADC_CSR_EOSMP_MST_Msk             (0x1UL << ADC_CSR_EOSMP_MST_Pos)     /*!< 0x00000002 */
+#define ADC_CSR_EOSMP_MST                 ADC_CSR_EOSMP_MST_Msk                /*!< End of sampling phase flag of the master ADC */
+#define ADC_CSR_EOC_MST_Pos               (2U)
+#define ADC_CSR_EOC_MST_Msk               (0x1UL << ADC_CSR_EOC_MST_Pos)       /*!< 0x00000004 */
+#define ADC_CSR_EOC_MST                   ADC_CSR_EOC_MST_Msk                  /*!< End of regular conversion of the master ADC */
+#define ADC_CSR_EOS_MST_Pos               (3U)
+#define ADC_CSR_EOS_MST_Msk               (0x1UL << ADC_CSR_EOS_MST_Pos)       /*!< 0x00000008 */
+#define ADC_CSR_EOS_MST                   ADC_CSR_EOS_MST_Msk                  /*!< End of regular sequence flag of the master ADC */
+#define ADC_CSR_OVR_MST_Pos               (4U)
+#define ADC_CSR_OVR_MST_Msk               (0x1UL << ADC_CSR_OVR_MST_Pos)       /*!< 0x00000010 */
+#define ADC_CSR_OVR_MST                   ADC_CSR_OVR_MST_Msk                  /*!< Overrun flag of the master ADC */
+#define ADC_CSR_JEOC_MST_Pos              (5U)
+#define ADC_CSR_JEOC_MST_Msk              (0x1UL << ADC_CSR_JEOC_MST_Pos)      /*!< 0x00000020 */
+#define ADC_CSR_JEOC_MST                  ADC_CSR_JEOC_MST_Msk                 /*!< End of injected conversion of the master ADC */
+#define ADC_CSR_JEOS_MST_Pos              (6U)
+#define ADC_CSR_JEOS_MST_Msk              (0x1UL << ADC_CSR_JEOS_MST_Pos)      /*!< 0x00000040 */
+#define ADC_CSR_JEOS_MST                  ADC_CSR_JEOS_MST_Msk                 /*!< End of injected sequence flag of the master ADC */
+#define ADC_CSR_AWD1_MST_Pos              (7U)
+#define ADC_CSR_AWD1_MST_Msk              (0x1UL << ADC_CSR_AWD1_MST_Pos)      /*!< 0x00000080 */
+#define ADC_CSR_AWD1_MST                  ADC_CSR_AWD1_MST_Msk                 /*!< Analog watchdog 1 flag of the master ADC */
+#define ADC_CSR_AWD2_MST_Pos              (8U)
+#define ADC_CSR_AWD2_MST_Msk              (0x1UL << ADC_CSR_AWD2_MST_Pos)      /*!< 0x00000100 */
+#define ADC_CSR_AWD2_MST                  ADC_CSR_AWD2_MST_Msk                 /*!< Analog watchdog 2 flag of the master ADC */
+#define ADC_CSR_AWD3_MST_Pos              (9U)
+#define ADC_CSR_AWD3_MST_Msk              (0x1UL << ADC_CSR_AWD3_MST_Pos)      /*!< 0x00000200 */
+#define ADC_CSR_AWD3_MST                  ADC_CSR_AWD3_MST_Msk                 /*!< Analog watchdog 3 flag of the master ADC */
+#define ADC_CSR_JQOVF_MST_Pos             (10U)
+#define ADC_CSR_JQOVF_MST_Msk             (0x1UL << ADC_CSR_JQOVF_MST_Pos)     /*!< 0x00000400 */
+#define ADC_CSR_JQOVF_MST                 ADC_CSR_JQOVF_MST_Msk                /*!< Injected context queue overflow flag of the master ADC */
+#define ADC_CSR_ADRDY_SLV_Pos             (16U)
+#define ADC_CSR_ADRDY_SLV_Msk             (0x1UL << ADC_CSR_ADRDY_SLV_Pos)     /*!< 0x00010000 */
+#define ADC_CSR_ADRDY_SLV                 ADC_CSR_ADRDY_SLV_Msk                /*!< Slave ADC ready */
+#define ADC_CSR_EOSMP_SLV_Pos             (17U)
+#define ADC_CSR_EOSMP_SLV_Msk             (0x1UL << ADC_CSR_EOSMP_SLV_Pos)     /*!< 0x00020000 */
+#define ADC_CSR_EOSMP_SLV                 ADC_CSR_EOSMP_SLV_Msk                /*!< End of sampling phase flag of the slave ADC */
+#define ADC_CSR_EOC_SLV_Pos               (18U)
+#define ADC_CSR_EOC_SLV_Msk               (0x1UL << ADC_CSR_EOC_SLV_Pos)       /*!< 0x00040000 */
+#define ADC_CSR_EOC_SLV                   ADC_CSR_EOC_SLV_Msk                  /*!< End of regular conversion of the slave ADC */
+#define ADC_CSR_EOS_SLV_Pos               (19U)
+#define ADC_CSR_EOS_SLV_Msk               (0x1UL << ADC_CSR_EOS_SLV_Pos)       /*!< 0x00080000 */
+#define ADC_CSR_EOS_SLV                   ADC_CSR_EOS_SLV_Msk                  /*!< End of regular sequence flag of the slave ADC */
+#define ADC_CSR_OVR_SLV_Pos               (20U)
+#define ADC_CSR_OVR_SLV_Msk               (0x1UL << ADC_CSR_OVR_SLV_Pos)       /*!< 0x00100000 */
+#define ADC_CSR_OVR_SLV                   ADC_CSR_OVR_SLV_Msk                  /*!< Overrun flag of the slave ADC */
+#define ADC_CSR_JEOC_SLV_Pos              (21U)
+#define ADC_CSR_JEOC_SLV_Msk              (0x1UL << ADC_CSR_JEOC_SLV_Pos)      /*!< 0x00200000 */
+#define ADC_CSR_JEOC_SLV                  ADC_CSR_JEOC_SLV_Msk                 /*!< End of injected conversion of the slave ADC */
+#define ADC_CSR_JEOS_SLV_Pos              (22U)
+#define ADC_CSR_JEOS_SLV_Msk              (0x1UL << ADC_CSR_JEOS_SLV_Pos)      /*!< 0x00400000 */
+#define ADC_CSR_JEOS_SLV                  ADC_CSR_JEOS_SLV_Msk                 /*!< End of injected sequence flag of the slave ADC */
+#define ADC_CSR_AWD1_SLV_Pos              (23U)
+#define ADC_CSR_AWD1_SLV_Msk              (0x1UL << ADC_CSR_AWD1_SLV_Pos)      /*!< 0x00800000 */
+#define ADC_CSR_AWD1_SLV                  ADC_CSR_AWD1_SLV_Msk                 /*!< Analog watchdog 1 flag of the slave ADC */
+#define ADC_CSR_AWD2_SLV_Pos              (24U)
+#define ADC_CSR_AWD2_SLV_Msk              (0x1UL << ADC_CSR_AWD2_SLV_Pos)      /*!< 0x01000000 */
+#define ADC_CSR_AWD2_SLV                  ADC_CSR_AWD2_SLV_Msk                 /*!< Analog watchdog 2 flag of the slave ADC */
+#define ADC_CSR_AWD3_SLV_Pos              (25U)
+#define ADC_CSR_AWD3_SLV_Msk              (0x1UL << ADC_CSR_AWD3_SLV_Pos)      /*!< 0x02000000 */
+#define ADC_CSR_AWD3_SLV                  ADC_CSR_AWD3_SLV_Msk                 /*!< Analog watchdog 3 flag of the slave ADC */
+#define ADC_CSR_JQOVF_SLV_Pos             (26U)
+#define ADC_CSR_JQOVF_SLV_Msk             (0x1UL << ADC_CSR_JQOVF_SLV_Pos)     /*!< 0x04000000 */
+#define ADC_CSR_JQOVF_SLV                 ADC_CSR_JQOVF_SLV_Msk                /*!< Injected context queue overflow flag of the slave ADC */
+
+/********************  Bit definition for ADC_CCR register  ********************/
+#define ADC_CCR_DUAL_Pos                  (0U)
+#define ADC_CCR_DUAL_Msk                  (0x1FUL << ADC_CCR_DUAL_Pos)          /*!< 0x0000001F */
+#define ADC_CCR_DUAL                      ADC_CCR_DUAL_Msk                      /*!< Dual ADC mode selection */
+#define ADC_CCR_DUAL_0                    (0x01UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000001 */
+#define ADC_CCR_DUAL_1                    (0x02UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000002 */
+#define ADC_CCR_DUAL_2                    (0x04UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000004 */
+#define ADC_CCR_DUAL_3                    (0x08UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000008 */
+#define ADC_CCR_DUAL_4                    (0x10UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000010 */
+
+#define ADC_CCR_DELAY_Pos                 (8U)
+#define ADC_CCR_DELAY_Msk                 (0xFUL << ADC_CCR_DELAY_Pos)          /*!< 0x00000F00 */
+#define ADC_CCR_DELAY                     ADC_CCR_DELAY_Msk                     /*!< Delay between 2 sampling phases */
+#define ADC_CCR_DELAY_0                   (0x1UL << ADC_CCR_DELAY_Pos)          /*!< 0x00000100 */
+#define ADC_CCR_DELAY_1                   (0x2UL << ADC_CCR_DELAY_Pos)          /*!< 0x00000200 */
+#define ADC_CCR_DELAY_2                   (0x4UL << ADC_CCR_DELAY_Pos)          /*!< 0x00000400 */
+#define ADC_CCR_DELAY_3                   (0x8UL << ADC_CCR_DELAY_Pos)          /*!< 0x00000800 */
+
+
+#define ADC_CCR_DAMDF_Pos                 (14U)
+#define ADC_CCR_DAMDF_Msk                 (0x3UL << ADC_CCR_DAMDF_Pos)          /*!< 0x0000C000 */
+#define ADC_CCR_DAMDF                     ADC_CCR_DAMDF_Msk                     /*!< Dual ADC mode Data format */
+#define ADC_CCR_DAMDF_0                   (0x1UL << ADC_CCR_DAMDF_Pos)          /*!< 0x00004000 */
+#define ADC_CCR_DAMDF_1                   (0x2UL << ADC_CCR_DAMDF_Pos)          /*!< 0x00008000 */
+
+#define ADC_CCR_CKMODE_Pos                (16U)
+#define ADC_CCR_CKMODE_Msk                (0x3UL << ADC_CCR_CKMODE_Pos)         /*!< 0x00030000 */
+#define ADC_CCR_CKMODE                    ADC_CCR_CKMODE_Msk                    /*!< ADC clock mode */
+#define ADC_CCR_CKMODE_0                  (0x1UL << ADC_CCR_CKMODE_Pos)         /*!< 0x00010000 */
+#define ADC_CCR_CKMODE_1                  (0x2UL << ADC_CCR_CKMODE_Pos)         /*!< 0x00020000 */
+
+#define ADC_CCR_PRESC_Pos                 (18U)
+#define ADC_CCR_PRESC_Msk                 (0xFUL << ADC_CCR_PRESC_Pos)          /*!< 0x003C0000 */
+#define ADC_CCR_PRESC                     ADC_CCR_PRESC_Msk                     /*!< ADC prescaler */
+#define ADC_CCR_PRESC_0                   (0x1UL << ADC_CCR_PRESC_Pos)          /*!< 0x00040000 */
+#define ADC_CCR_PRESC_1                   (0x2UL << ADC_CCR_PRESC_Pos)          /*!< 0x00080000 */
+#define ADC_CCR_PRESC_2                   (0x4UL << ADC_CCR_PRESC_Pos)          /*!< 0x00100000 */
+#define ADC_CCR_PRESC_3                   (0x8UL << ADC_CCR_PRESC_Pos)          /*!< 0x00200000 */
+
+#define ADC_CCR_VREFEN_Pos                (22U)
+#define ADC_CCR_VREFEN_Msk                (0x1UL << ADC_CCR_VREFEN_Pos)         /*!< 0x00400000 */
+#define ADC_CCR_VREFEN                    ADC_CCR_VREFEN_Msk                    /*!< VREFINT enable */
+#define ADC_CCR_TSEN_Pos                  (23U)
+#define ADC_CCR_TSEN_Msk                  (0x1UL << ADC_CCR_TSEN_Pos)           /*!< 0x00800000 */
+#define ADC_CCR_TSEN                      ADC_CCR_TSEN_Msk                      /*!< Temperature sensor enable */
+#define ADC_CCR_VBATEN_Pos                (24U)
+#define ADC_CCR_VBATEN_Msk                (0x1UL << ADC_CCR_VBATEN_Pos)         /*!< 0x01000000 */
+#define ADC_CCR_VBATEN                    ADC_CCR_VBATEN_Msk                    /*!< VBAT enable */
+
+/********************  Bit definition for ADC_CDR register  *******************/
+#define ADC_CDR_RDATA_MST_Pos             (0U)
+#define ADC_CDR_RDATA_MST_Msk             (0xFFFFUL << ADC_CDR_RDATA_MST_Pos)   /*!< 0x0000FFFF */
+#define ADC_CDR_RDATA_MST                 ADC_CDR_RDATA_MST_Msk                 /*!< ADC multimode master group regular conversion data */
+
+#define ADC_CDR_RDATA_SLV_Pos             (16U)
+#define ADC_CDR_RDATA_SLV_Msk             (0xFFFFUL << ADC_CDR_RDATA_SLV_Pos)   /*!< 0xFFFF0000 */
+#define ADC_CDR_RDATA_SLV                 ADC_CDR_RDATA_SLV_Msk                 /*!< ADC multimode slave group regular conversion data */
+
+/********************  Bit definition for ADC_CDR2 register  ******************/
+#define ADC_CDR2_RDATA_ALT_Pos            (0U)
+#define ADC_CDR2_RDATA_ALT_Msk            (0xFFFFFFFFUL << ADC_CDR2_RDATA_ALT_Pos) /*!< 0xFFFFFFFF */
+#define ADC_CDR2_RDATA_ALT                ADC_CDR2_RDATA_ALT_Msk                   /*!< Regular data of the master/slave alternated ADCs */
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                   VREFBUF                                  */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for VREFBUF_CSR register  ****************/
+#define VREFBUF_CSR_ENVR_Pos        (0U)
+#define VREFBUF_CSR_ENVR_Msk        (0x1UL << VREFBUF_CSR_ENVR_Pos)            /*!< 0x00000001 */
+#define VREFBUF_CSR_ENVR            VREFBUF_CSR_ENVR_Msk                       /*!<Voltage reference buffer enable */
+#define VREFBUF_CSR_HIZ_Pos         (1U)
+#define VREFBUF_CSR_HIZ_Msk         (0x1UL << VREFBUF_CSR_HIZ_Pos)             /*!< 0x00000002 */
+#define VREFBUF_CSR_HIZ             VREFBUF_CSR_HIZ_Msk                        /*!<High impedance mode             */
+#define VREFBUF_CSR_VRR_Pos         (3U)
+#define VREFBUF_CSR_VRR_Msk         (0x1UL << VREFBUF_CSR_VRR_Pos)             /*!< 0x00000008 */
+#define VREFBUF_CSR_VRR             VREFBUF_CSR_VRR_Msk                        /*!<Voltage reference buffer ready  */
+#define VREFBUF_CSR_VRS_Pos         (4U)
+#define VREFBUF_CSR_VRS_Msk         (0x7UL << VREFBUF_CSR_VRS_Pos)             /*!< 0x00000070 */
+#define VREFBUF_CSR_VRS             VREFBUF_CSR_VRS_Msk                        /*!<Voltage reference scale         */
+
+#define VREFBUF_CSR_VRS_OUT1        ((uint32_t)0x00000000)                     /*!<Voltage reference VREF_OUT1     */
+#define VREFBUF_CSR_VRS_OUT2_Pos    (4U)
+#define VREFBUF_CSR_VRS_OUT2_Msk    (0x1UL << VREFBUF_CSR_VRS_OUT2_Pos)        /*!< 0x00000010 */
+#define VREFBUF_CSR_VRS_OUT2        VREFBUF_CSR_VRS_OUT2_Msk                   /*!<Voltage reference VREF_OUT2     */
+#define VREFBUF_CSR_VRS_OUT3_Pos    (5U)
+#define VREFBUF_CSR_VRS_OUT3_Msk    (0x1UL << VREFBUF_CSR_VRS_OUT3_Pos)        /*!< 0x00000020 */
+#define VREFBUF_CSR_VRS_OUT3        VREFBUF_CSR_VRS_OUT3_Msk                   /*!<Voltage reference VREF_OUT3     */
+#define VREFBUF_CSR_VRS_OUT4_Pos    (4U)
+#define VREFBUF_CSR_VRS_OUT4_Msk    (0x3UL << VREFBUF_CSR_VRS_OUT4_Pos)        /*!< 0x00000030 */
+#define VREFBUF_CSR_VRS_OUT4        VREFBUF_CSR_VRS_OUT4_Msk                   /*!<Voltage reference VREF_OUT4     */
+
+/*******************  Bit definition for VREFBUF_CCR register  ****************/
+#define VREFBUF_CCR_TRIM_Pos        (0U)
+#define VREFBUF_CCR_TRIM_Msk        (0x3FUL << VREFBUF_CCR_TRIM_Pos)           /*!< 0x0000003F */
+#define VREFBUF_CCR_TRIM            VREFBUF_CCR_TRIM_Msk                       /*!<TRIM[5:0] bits (Trimming code)  */
+
+/******************************************************************************/
+/*                                                                            */
+/*                 Flexible Datarate Controller Area Network                  */
+/*                                                                            */
+/******************************************************************************/
+/*!<FDCAN control and status registers */
+/*****************  Bit definition for FDCAN_CREL register  *******************/
+#define FDCAN_CREL_DAY_Pos        (0U)
+#define FDCAN_CREL_DAY_Msk        (0xFFUL << FDCAN_CREL_DAY_Pos)               /*!< 0x000000FF */
+#define FDCAN_CREL_DAY            FDCAN_CREL_DAY_Msk                           /*!<Timestamp Day                           */
+#define FDCAN_CREL_MON_Pos        (8U)
+#define FDCAN_CREL_MON_Msk        (0xFFUL << FDCAN_CREL_MON_Pos)               /*!< 0x0000FF00 */
+#define FDCAN_CREL_MON            FDCAN_CREL_MON_Msk                           /*!<Timestamp Month                         */
+#define FDCAN_CREL_YEAR_Pos       (16U)
+#define FDCAN_CREL_YEAR_Msk       (0xFUL << FDCAN_CREL_YEAR_Pos)               /*!< 0x000F0000 */
+#define FDCAN_CREL_YEAR           FDCAN_CREL_YEAR_Msk                          /*!<Timestamp Year                          */
+#define FDCAN_CREL_SUBSTEP_Pos    (20U)
+#define FDCAN_CREL_SUBSTEP_Msk    (0xFUL << FDCAN_CREL_SUBSTEP_Pos)            /*!< 0x00F00000 */
+#define FDCAN_CREL_SUBSTEP        FDCAN_CREL_SUBSTEP_Msk                       /*!<Sub-step of Core release                */
+#define FDCAN_CREL_STEP_Pos       (24U)
+#define FDCAN_CREL_STEP_Msk       (0xFUL << FDCAN_CREL_STEP_Pos)               /*!< 0x0F000000 */
+#define FDCAN_CREL_STEP           FDCAN_CREL_STEP_Msk                          /*!<Step of Core release                    */
+#define FDCAN_CREL_REL_Pos        (28U)
+#define FDCAN_CREL_REL_Msk        (0xFUL << FDCAN_CREL_REL_Pos)                /*!< 0xF0000000 */
+#define FDCAN_CREL_REL            FDCAN_CREL_REL_Msk                           /*!<Core release                            */
+
+/*****************  Bit definition for FDCAN_ENDN register  *******************/
+#define FDCAN_ENDN_ETV_Pos        (0U)
+#define FDCAN_ENDN_ETV_Msk        (0xFFFFFFFFUL << FDCAN_ENDN_ETV_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_ENDN_ETV            FDCAN_ENDN_ETV_Msk                           /*!<Endianness Test Value                   */
+
+/*****************  Bit definition for FDCAN_DBTP register  *******************/
+#define FDCAN_DBTP_DSJW_Pos       (0U)
+#define FDCAN_DBTP_DSJW_Msk       (0xFUL << FDCAN_DBTP_DSJW_Pos)               /*!< 0x0000000F */
+#define FDCAN_DBTP_DSJW           FDCAN_DBTP_DSJW_Msk                          /*!<Synchronization Jump Width              */
+#define FDCAN_DBTP_DTSEG2_Pos     (4U)
+#define FDCAN_DBTP_DTSEG2_Msk     (0xFUL << FDCAN_DBTP_DTSEG2_Pos)             /*!< 0x000000F0 */
+#define FDCAN_DBTP_DTSEG2         FDCAN_DBTP_DTSEG2_Msk                        /*!<Data time segment after sample point    */
+#define FDCAN_DBTP_DTSEG1_Pos     (8U)
+#define FDCAN_DBTP_DTSEG1_Msk     (0x1FUL << FDCAN_DBTP_DTSEG1_Pos)            /*!< 0x00001F00 */
+#define FDCAN_DBTP_DTSEG1         FDCAN_DBTP_DTSEG1_Msk                        /*!<Data time segment before sample point   */
+#define FDCAN_DBTP_DBRP_Pos       (16U)
+#define FDCAN_DBTP_DBRP_Msk       (0x1FUL << FDCAN_DBTP_DBRP_Pos)              /*!< 0x001F0000 */
+#define FDCAN_DBTP_DBRP           FDCAN_DBTP_DBRP_Msk                          /*!<Data BIt Rate Prescaler                 */
+#define FDCAN_DBTP_TDC_Pos        (23U)
+#define FDCAN_DBTP_TDC_Msk        (0x1UL << FDCAN_DBTP_TDC_Pos)                /*!< 0x00800000 */
+#define FDCAN_DBTP_TDC            FDCAN_DBTP_TDC_Msk                           /*!<Transceiver Delay Compensation          */
+
+/*****************  Bit definition for FDCAN_TEST register  *******************/
+#define FDCAN_TEST_LBCK_Pos       (4U)
+#define FDCAN_TEST_LBCK_Msk       (0x1UL << FDCAN_TEST_LBCK_Pos)               /*!< 0x00000010 */
+#define FDCAN_TEST_LBCK           FDCAN_TEST_LBCK_Msk                          /*!<Loop Back mode                           */
+#define FDCAN_TEST_TX_Pos         (5U)
+#define FDCAN_TEST_TX_Msk         (0x3UL << FDCAN_TEST_TX_Pos)                 /*!< 0x00000060 */
+#define FDCAN_TEST_TX             FDCAN_TEST_TX_Msk                            /*!<Control of Transmit Pin                  */
+#define FDCAN_TEST_RX_Pos         (7U)
+#define FDCAN_TEST_RX_Msk         (0x1UL << FDCAN_TEST_RX_Pos)                 /*!< 0x00000080 */
+#define FDCAN_TEST_RX             FDCAN_TEST_RX_Msk                            /*!<Receive Pin                              */
+
+/*****************  Bit definition for FDCAN_RWD register  ********************/
+#define FDCAN_RWD_WDC_Pos         (0U)
+#define FDCAN_RWD_WDC_Msk         (0xFFUL << FDCAN_RWD_WDC_Pos)                /*!< 0x000000FF */
+#define FDCAN_RWD_WDC             FDCAN_RWD_WDC_Msk                            /*!<Watchdog configuration                   */
+#define FDCAN_RWD_WDV_Pos         (8U)
+#define FDCAN_RWD_WDV_Msk         (0xFFUL << FDCAN_RWD_WDV_Pos)                /*!< 0x0000FF00 */
+#define FDCAN_RWD_WDV             FDCAN_RWD_WDV_Msk                            /*!<Watchdog value                           */
+
+/*****************  Bit definition for FDCAN_CCCR register  ********************/
+#define FDCAN_CCCR_INIT_Pos       (0U)
+#define FDCAN_CCCR_INIT_Msk       (0x1UL << FDCAN_CCCR_INIT_Pos)               /*!< 0x00000001 */
+#define FDCAN_CCCR_INIT           FDCAN_CCCR_INIT_Msk                          /*!<Initialization                           */
+#define FDCAN_CCCR_CCE_Pos        (1U)
+#define FDCAN_CCCR_CCE_Msk        (0x1UL << FDCAN_CCCR_CCE_Pos)                /*!< 0x00000002 */
+#define FDCAN_CCCR_CCE            FDCAN_CCCR_CCE_Msk                           /*!<Configuration Change Enable              */
+#define FDCAN_CCCR_ASM_Pos        (2U)
+#define FDCAN_CCCR_ASM_Msk        (0x1UL << FDCAN_CCCR_ASM_Pos)                /*!< 0x00000004 */
+#define FDCAN_CCCR_ASM            FDCAN_CCCR_ASM_Msk                           /*!<ASM Restricted Operation Mode            */
+#define FDCAN_CCCR_CSA_Pos        (3U)
+#define FDCAN_CCCR_CSA_Msk        (0x1UL << FDCAN_CCCR_CSA_Pos)                /*!< 0x00000008 */
+#define FDCAN_CCCR_CSA            FDCAN_CCCR_CSA_Msk                           /*!<Clock Stop Acknowledge                   */
+#define FDCAN_CCCR_CSR_Pos        (4U)
+#define FDCAN_CCCR_CSR_Msk        (0x1UL << FDCAN_CCCR_CSR_Pos)                /*!< 0x00000010 */
+#define FDCAN_CCCR_CSR            FDCAN_CCCR_CSR_Msk                           /*!<Clock Stop Request                       */
+#define FDCAN_CCCR_MON_Pos        (5U)
+#define FDCAN_CCCR_MON_Msk        (0x1UL << FDCAN_CCCR_MON_Pos)                /*!< 0x00000020 */
+#define FDCAN_CCCR_MON            FDCAN_CCCR_MON_Msk                           /*!<Bus Monitoring Mode                      */
+#define FDCAN_CCCR_DAR_Pos        (6U)
+#define FDCAN_CCCR_DAR_Msk        (0x1UL << FDCAN_CCCR_DAR_Pos)                /*!< 0x00000040 */
+#define FDCAN_CCCR_DAR            FDCAN_CCCR_DAR_Msk                           /*!<Disable Automatic Retransmission         */
+#define FDCAN_CCCR_TEST_Pos       (7U)
+#define FDCAN_CCCR_TEST_Msk       (0x1UL << FDCAN_CCCR_TEST_Pos)               /*!< 0x00000080 */
+#define FDCAN_CCCR_TEST           FDCAN_CCCR_TEST_Msk                          /*!<Test Mode Enable                         */
+#define FDCAN_CCCR_FDOE_Pos       (8U)
+#define FDCAN_CCCR_FDOE_Msk       (0x1UL << FDCAN_CCCR_FDOE_Pos)               /*!< 0x00000100 */
+#define FDCAN_CCCR_FDOE           FDCAN_CCCR_FDOE_Msk                          /*!<FD Operation Enable                      */
+#define FDCAN_CCCR_BRSE_Pos       (9U)
+#define FDCAN_CCCR_BRSE_Msk       (0x1UL << FDCAN_CCCR_BRSE_Pos)               /*!< 0x00000200 */
+#define FDCAN_CCCR_BRSE           FDCAN_CCCR_BRSE_Msk                          /*!<FDCAN Bit Rate Switching                 */
+#define FDCAN_CCCR_PXHD_Pos       (12U)
+#define FDCAN_CCCR_PXHD_Msk       (0x1UL << FDCAN_CCCR_PXHD_Pos)               /*!< 0x00001000 */
+#define FDCAN_CCCR_PXHD           FDCAN_CCCR_PXHD_Msk                          /*!<Protocol Exception Handling Disable      */
+#define FDCAN_CCCR_EFBI_Pos       (13U)
+#define FDCAN_CCCR_EFBI_Msk       (0x1UL << FDCAN_CCCR_EFBI_Pos)               /*!< 0x00002000 */
+#define FDCAN_CCCR_EFBI           FDCAN_CCCR_EFBI_Msk                          /*!<Edge Filtering during Bus Integration    */
+#define FDCAN_CCCR_TXP_Pos        (14U)
+#define FDCAN_CCCR_TXP_Msk        (0x1UL << FDCAN_CCCR_TXP_Pos)                /*!< 0x00004000 */
+#define FDCAN_CCCR_TXP            FDCAN_CCCR_TXP_Msk                           /*!<Two CAN bit times Pause                  */
+#define FDCAN_CCCR_NISO_Pos       (15U)
+#define FDCAN_CCCR_NISO_Msk       (0x1UL << FDCAN_CCCR_NISO_Pos)               /*!< 0x00008000 */
+#define FDCAN_CCCR_NISO           FDCAN_CCCR_NISO_Msk                          /*!<Non ISO Operation                        */
+
+/*****************  Bit definition for FDCAN_NBTP register  ********************/
+#define FDCAN_NBTP_NTSEG2_Pos     (0U)
+#define FDCAN_NBTP_NTSEG2_Msk     (0x7FUL << FDCAN_NBTP_NTSEG2_Pos)            /*!< 0x0000007F */
+#define FDCAN_NBTP_NTSEG2         FDCAN_NBTP_NTSEG2_Msk                        /*!<Nominal Time segment after sample point  */
+#define FDCAN_NBTP_NTSEG1_Pos     (8U)
+#define FDCAN_NBTP_NTSEG1_Msk     (0xFFUL << FDCAN_NBTP_NTSEG1_Pos)            /*!< 0x0000FF00 */
+#define FDCAN_NBTP_NTSEG1         FDCAN_NBTP_NTSEG1_Msk                        /*!<Nominal Time segment before sample point */
+#define FDCAN_NBTP_NBRP_Pos       (16U)
+#define FDCAN_NBTP_NBRP_Msk       (0x1FFUL << FDCAN_NBTP_NBRP_Pos)             /*!< 0x01FF0000 */
+#define FDCAN_NBTP_NBRP           FDCAN_NBTP_NBRP_Msk                          /*!<Bit Rate Prescaler                       */
+#define FDCAN_NBTP_NSJW_Pos       (25U)
+#define FDCAN_NBTP_NSJW_Msk       (0x7FUL << FDCAN_NBTP_NSJW_Pos)              /*!< 0xFE000000 */
+#define FDCAN_NBTP_NSJW           FDCAN_NBTP_NSJW_Msk                          /*!<Nominal (Re)Synchronization Jump Width   */
+
+/*****************  Bit definition for FDCAN_TSCC register  ********************/
+#define FDCAN_TSCC_TSS_Pos        (0U)
+#define FDCAN_TSCC_TSS_Msk        (0x3UL << FDCAN_TSCC_TSS_Pos)                /*!< 0x00000003 */
+#define FDCAN_TSCC_TSS            FDCAN_TSCC_TSS_Msk                           /*!<Timestamp Select                         */
+#define FDCAN_TSCC_TCP_Pos        (16U)
+#define FDCAN_TSCC_TCP_Msk        (0xFUL << FDCAN_TSCC_TCP_Pos)                /*!< 0x000F0000 */
+#define FDCAN_TSCC_TCP            FDCAN_TSCC_TCP_Msk                           /*!<Timestamp Counter Prescaler              */
+
+/*****************  Bit definition for FDCAN_TSCV register  ********************/
+#define FDCAN_TSCV_TSC_Pos        (0U)
+#define FDCAN_TSCV_TSC_Msk        (0xFFFFUL << FDCAN_TSCV_TSC_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TSCV_TSC            FDCAN_TSCV_TSC_Msk                           /*!<Timestamp Counter                        */
+
+/*****************  Bit definition for FDCAN_TOCC register  ********************/
+#define FDCAN_TOCC_ETOC_Pos       (0U)
+#define FDCAN_TOCC_ETOC_Msk       (0x1UL << FDCAN_TOCC_ETOC_Pos)               /*!< 0x00000001 */
+#define FDCAN_TOCC_ETOC           FDCAN_TOCC_ETOC_Msk                          /*!<Enable Timeout Counter                   */
+#define FDCAN_TOCC_TOS_Pos        (1U)
+#define FDCAN_TOCC_TOS_Msk        (0x3UL << FDCAN_TOCC_TOS_Pos)                /*!< 0x00000006 */
+#define FDCAN_TOCC_TOS            FDCAN_TOCC_TOS_Msk                           /*!<Timeout Select                           */
+#define FDCAN_TOCC_TOP_Pos        (16U)
+#define FDCAN_TOCC_TOP_Msk        (0xFFFFUL << FDCAN_TOCC_TOP_Pos)             /*!< 0xFFFF0000 */
+#define FDCAN_TOCC_TOP            FDCAN_TOCC_TOP_Msk                           /*!<Timeout Period                           */
+
+/*****************  Bit definition for FDCAN_TOCV register  ********************/
+#define FDCAN_TOCV_TOC_Pos        (0U)
+#define FDCAN_TOCV_TOC_Msk        (0xFFFFUL << FDCAN_TOCV_TOC_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TOCV_TOC            FDCAN_TOCV_TOC_Msk                           /*!<Timeout Counter                          */
+
+/*****************  Bit definition for FDCAN_ECR register  *********************/
+#define FDCAN_ECR_TEC_Pos         (0U)
+#define FDCAN_ECR_TEC_Msk         (0xFFUL << FDCAN_ECR_TEC_Pos)                 /*!< 0x000000FF */
+#define FDCAN_ECR_TEC             FDCAN_ECR_TEC_Msk                            /*!<Transmit Error Counter                   */
+#define FDCAN_ECR_REC_Pos         (8U)
+#define FDCAN_ECR_REC_Msk         (0x7FUL << FDCAN_ECR_REC_Pos)                /*!< 0x00007F00 */
+#define FDCAN_ECR_REC             FDCAN_ECR_REC_Msk                            /*!<Receive Error Counter                    */
+#define FDCAN_ECR_RP_Pos          (15U)
+#define FDCAN_ECR_RP_Msk          (0x1UL << FDCAN_ECR_RP_Pos)                  /*!< 0x00008000 */
+#define FDCAN_ECR_RP              FDCAN_ECR_RP_Msk                             /*!<Receive Error Passive                    */
+#define FDCAN_ECR_CEL_Pos         (16U)
+#define FDCAN_ECR_CEL_Msk         (0xFFUL << FDCAN_ECR_CEL_Pos)                /*!< 0x00FF0000 */
+#define FDCAN_ECR_CEL             FDCAN_ECR_CEL_Msk                            /*!<CAN Error Logging                        */
+
+/*****************  Bit definition for FDCAN_PSR register  *********************/
+#define FDCAN_PSR_LEC_Pos         (0U)
+#define FDCAN_PSR_LEC_Msk         (0x7UL << FDCAN_PSR_LEC_Pos)                 /*!< 0x00000007 */
+#define FDCAN_PSR_LEC             FDCAN_PSR_LEC_Msk                            /*!<Last Error Code                          */
+#define FDCAN_PSR_ACT_Pos         (3U)
+#define FDCAN_PSR_ACT_Msk         (0x3UL << FDCAN_PSR_ACT_Pos)                 /*!< 0x00000018 */
+#define FDCAN_PSR_ACT             FDCAN_PSR_ACT_Msk                            /*!<Activity                                 */
+#define FDCAN_PSR_EP_Pos          (5U)
+#define FDCAN_PSR_EP_Msk          (0x1UL << FDCAN_PSR_EP_Pos)                  /*!< 0x00000020 */
+#define FDCAN_PSR_EP              FDCAN_PSR_EP_Msk                             /*!<Error Passive                            */
+#define FDCAN_PSR_EW_Pos          (6U)
+#define FDCAN_PSR_EW_Msk          (0x1UL << FDCAN_PSR_EW_Pos)                  /*!< 0x00000040 */
+#define FDCAN_PSR_EW              FDCAN_PSR_EW_Msk                             /*!<Warning Status                           */
+#define FDCAN_PSR_BO_Pos          (7U)
+#define FDCAN_PSR_BO_Msk          (0x1UL << FDCAN_PSR_BO_Pos)                  /*!< 0x00000080 */
+#define FDCAN_PSR_BO              FDCAN_PSR_BO_Msk                             /*!<Bus_Off Status                           */
+#define FDCAN_PSR_DLEC_Pos        (8U)
+#define FDCAN_PSR_DLEC_Msk        (0x7UL << FDCAN_PSR_DLEC_Pos)                /*!< 0x00000700 */
+#define FDCAN_PSR_DLEC            FDCAN_PSR_DLEC_Msk                           /*!<Data Last Error Code                     */
+#define FDCAN_PSR_RESI_Pos        (11U)
+#define FDCAN_PSR_RESI_Msk        (0x1UL << FDCAN_PSR_RESI_Pos)                /*!< 0x00000800 */
+#define FDCAN_PSR_RESI            FDCAN_PSR_RESI_Msk                           /*!<ESI flag of last received FDCAN Message  */
+#define FDCAN_PSR_RBRS_Pos        (12U)
+#define FDCAN_PSR_RBRS_Msk        (0x1UL << FDCAN_PSR_RBRS_Pos)                /*!< 0x00001000 */
+#define FDCAN_PSR_RBRS            FDCAN_PSR_RBRS_Msk                           /*!<BRS flag of last received FDCAN Message  */
+#define FDCAN_PSR_REDL_Pos        (13U)
+#define FDCAN_PSR_REDL_Msk        (0x1UL << FDCAN_PSR_REDL_Pos)                /*!< 0x00002000 */
+#define FDCAN_PSR_REDL            FDCAN_PSR_REDL_Msk                           /*!<Received FDCAN Message                   */
+#define FDCAN_PSR_PXE_Pos         (14U)
+#define FDCAN_PSR_PXE_Msk         (0x1UL << FDCAN_PSR_PXE_Pos)                 /*!< 0x00004000 */
+#define FDCAN_PSR_PXE             FDCAN_PSR_PXE_Msk                            /*!<Protocol Exception Event                 */
+#define FDCAN_PSR_TDCV_Pos        (16U)
+#define FDCAN_PSR_TDCV_Msk        (0x7FUL << FDCAN_PSR_TDCV_Pos)               /*!< 0x007F0000 */
+#define FDCAN_PSR_TDCV            FDCAN_PSR_TDCV_Msk                           /*!<Transmitter Delay Compensation Value     */
+
+/*****************  Bit definition for FDCAN_TDCR register  ********************/
+#define FDCAN_TDCR_TDCF_Pos       (0U)
+#define FDCAN_TDCR_TDCF_Msk       (0x7FUL << FDCAN_TDCR_TDCF_Pos)              /*!< 0x0000007F */
+#define FDCAN_TDCR_TDCF           FDCAN_TDCR_TDCF_Msk                          /*!<Transmitter Delay Compensation Filter    */
+#define FDCAN_TDCR_TDCO_Pos       (8U)
+#define FDCAN_TDCR_TDCO_Msk       (0x7FUL << FDCAN_TDCR_TDCO_Pos)              /*!< 0x00007F00 */
+#define FDCAN_TDCR_TDCO           FDCAN_TDCR_TDCO_Msk                          /*!<Transmitter Delay Compensation Offset    */
+
+/*****************  Bit definition for FDCAN_IR register  **********************/
+#define FDCAN_IR_RF0N_Pos         (0U)
+#define FDCAN_IR_RF0N_Msk         (0x1UL << FDCAN_IR_RF0N_Pos)                 /*!< 0x00000001 */
+#define FDCAN_IR_RF0N             FDCAN_IR_RF0N_Msk                            /*!<Rx FIFO 0 New Message                    */
+#define FDCAN_IR_RF0W_Pos         (1U)
+#define FDCAN_IR_RF0W_Msk         (0x1UL << FDCAN_IR_RF0W_Pos)                 /*!< 0x00000002 */
+#define FDCAN_IR_RF0W             FDCAN_IR_RF0W_Msk                            /*!<Rx FIFO 0 Watermark Reached              */
+#define FDCAN_IR_RF0F_Pos         (2U)
+#define FDCAN_IR_RF0F_Msk         (0x1UL << FDCAN_IR_RF0F_Pos)                 /*!< 0x00000004 */
+#define FDCAN_IR_RF0F             FDCAN_IR_RF0F_Msk                            /*!<Rx FIFO 0 Full                           */
+#define FDCAN_IR_RF0L_Pos         (3U)
+#define FDCAN_IR_RF0L_Msk         (0x1UL << FDCAN_IR_RF0L_Pos)                 /*!< 0x00000008 */
+#define FDCAN_IR_RF0L             FDCAN_IR_RF0L_Msk                            /*!<Rx FIFO 0 Message Lost                   */
+#define FDCAN_IR_RF1N_Pos         (4U)
+#define FDCAN_IR_RF1N_Msk         (0x1UL << FDCAN_IR_RF1N_Pos)                 /*!< 0x00000010 */
+#define FDCAN_IR_RF1N             FDCAN_IR_RF1N_Msk                            /*!<Rx FIFO 1 New Message                    */
+#define FDCAN_IR_RF1W_Pos         (5U)
+#define FDCAN_IR_RF1W_Msk         (0x1UL << FDCAN_IR_RF1W_Pos)                 /*!< 0x00000020 */
+#define FDCAN_IR_RF1W             FDCAN_IR_RF1W_Msk                            /*!<Rx FIFO 1 Watermark Reached              */
+#define FDCAN_IR_RF1F_Pos         (6U)
+#define FDCAN_IR_RF1F_Msk         (0x1UL << FDCAN_IR_RF1F_Pos)                 /*!< 0x00000040 */
+#define FDCAN_IR_RF1F             FDCAN_IR_RF1F_Msk                            /*!<Rx FIFO 1 Full                           */
+#define FDCAN_IR_RF1L_Pos         (7U)
+#define FDCAN_IR_RF1L_Msk         (0x1UL << FDCAN_IR_RF1L_Pos)                 /*!< 0x00000080 */
+#define FDCAN_IR_RF1L             FDCAN_IR_RF1L_Msk                            /*!<Rx FIFO 1 Message Lost                   */
+#define FDCAN_IR_HPM_Pos          (8U)
+#define FDCAN_IR_HPM_Msk          (0x1UL << FDCAN_IR_HPM_Pos)                  /*!< 0x00000100 */
+#define FDCAN_IR_HPM              FDCAN_IR_HPM_Msk                             /*!<High Priority Message                    */
+#define FDCAN_IR_TC_Pos           (9U)
+#define FDCAN_IR_TC_Msk           (0x1UL << FDCAN_IR_TC_Pos)                   /*!< 0x00000200 */
+#define FDCAN_IR_TC               FDCAN_IR_TC_Msk                              /*!<Transmission Completed                   */
+#define FDCAN_IR_TCF_Pos          (10U)
+#define FDCAN_IR_TCF_Msk          (0x1UL << FDCAN_IR_TCF_Pos)                  /*!< 0x00000400 */
+#define FDCAN_IR_TCF              FDCAN_IR_TCF_Msk                             /*!<Transmission Cancellation Finished       */
+#define FDCAN_IR_TFE_Pos          (11U)
+#define FDCAN_IR_TFE_Msk          (0x1UL << FDCAN_IR_TFE_Pos)                  /*!< 0x00000800 */
+#define FDCAN_IR_TFE              FDCAN_IR_TFE_Msk                             /*!<Tx FIFO Empty                            */
+#define FDCAN_IR_TEFN_Pos         (12U)
+#define FDCAN_IR_TEFN_Msk         (0x1UL << FDCAN_IR_TEFN_Pos)                 /*!< 0x00001000 */
+#define FDCAN_IR_TEFN             FDCAN_IR_TEFN_Msk                            /*!<Tx Event FIFO New Entry                  */
+#define FDCAN_IR_TEFW_Pos         (13U)
+#define FDCAN_IR_TEFW_Msk         (0x1UL << FDCAN_IR_TEFW_Pos)                 /*!< 0x00002000 */
+#define FDCAN_IR_TEFW             FDCAN_IR_TEFW_Msk                            /*!<Tx Event FIFO Watermark Reached          */
+#define FDCAN_IR_TEFF_Pos         (14U)
+#define FDCAN_IR_TEFF_Msk         (0x1UL << FDCAN_IR_TEFF_Pos)                 /*!< 0x00004000 */
+#define FDCAN_IR_TEFF             FDCAN_IR_TEFF_Msk                            /*!<Tx Event FIFO Full                       */
+#define FDCAN_IR_TEFL_Pos         (15U)
+#define FDCAN_IR_TEFL_Msk         (0x1UL << FDCAN_IR_TEFL_Pos)                 /*!< 0x00008000 */
+#define FDCAN_IR_TEFL             FDCAN_IR_TEFL_Msk                            /*!<Tx Event FIFO Element Lost               */
+#define FDCAN_IR_TSW_Pos          (16U)
+#define FDCAN_IR_TSW_Msk          (0x1UL << FDCAN_IR_TSW_Pos)                  /*!< 0x00010000 */
+#define FDCAN_IR_TSW              FDCAN_IR_TSW_Msk                             /*!<Timestamp Wraparound                     */
+#define FDCAN_IR_MRAF_Pos         (17U)
+#define FDCAN_IR_MRAF_Msk         (0x1UL << FDCAN_IR_MRAF_Pos)                 /*!< 0x00020000 */
+#define FDCAN_IR_MRAF             FDCAN_IR_MRAF_Msk                            /*!<Message RAM Access Failure               */
+#define FDCAN_IR_TOO_Pos          (18U)
+#define FDCAN_IR_TOO_Msk          (0x1UL << FDCAN_IR_TOO_Pos)                  /*!< 0x00040000 */
+#define FDCAN_IR_TOO              FDCAN_IR_TOO_Msk                             /*!<Timeout Occurred                         */
+#define FDCAN_IR_DRX_Pos          (19U)
+#define FDCAN_IR_DRX_Msk          (0x1UL << FDCAN_IR_DRX_Pos)                  /*!< 0x00080000 */
+#define FDCAN_IR_DRX              FDCAN_IR_DRX_Msk                             /*!<Message stored to Dedicated Rx Buffer    */
+#define FDCAN_IR_ELO_Pos          (22U)
+#define FDCAN_IR_ELO_Msk          (0x1UL << FDCAN_IR_ELO_Pos)                  /*!< 0x00400000 */
+#define FDCAN_IR_ELO              FDCAN_IR_ELO_Msk                             /*!<Error Logging Overflow                   */
+#define FDCAN_IR_EP_Pos           (23U)
+#define FDCAN_IR_EP_Msk           (0x1UL << FDCAN_IR_EP_Pos)                   /*!< 0x00800000 */
+#define FDCAN_IR_EP               FDCAN_IR_EP_Msk                              /*!<Error Passive                            */
+#define FDCAN_IR_EW_Pos           (24U)
+#define FDCAN_IR_EW_Msk           (0x1UL << FDCAN_IR_EW_Pos)                   /*!< 0x01000000 */
+#define FDCAN_IR_EW               FDCAN_IR_EW_Msk                              /*!<Warning Status                           */
+#define FDCAN_IR_BO_Pos           (25U)
+#define FDCAN_IR_BO_Msk           (0x1UL << FDCAN_IR_BO_Pos)                   /*!< 0x02000000 */
+#define FDCAN_IR_BO               FDCAN_IR_BO_Msk                              /*!<Bus_Off Status                           */
+#define FDCAN_IR_WDI_Pos          (26U)
+#define FDCAN_IR_WDI_Msk          (0x1UL << FDCAN_IR_WDI_Pos)                  /*!< 0x04000000 */
+#define FDCAN_IR_WDI              FDCAN_IR_WDI_Msk                             /*!<Watchdog Interrupt                       */
+#define FDCAN_IR_PEA_Pos          (27U)
+#define FDCAN_IR_PEA_Msk          (0x1UL << FDCAN_IR_PEA_Pos)                  /*!< 0x08000000 */
+#define FDCAN_IR_PEA              FDCAN_IR_PEA_Msk                             /*!<Protocol Error in Arbitration Phase      */
+#define FDCAN_IR_PED_Pos          (28U)
+#define FDCAN_IR_PED_Msk          (0x1UL << FDCAN_IR_PED_Pos)                  /*!< 0x10000000 */
+#define FDCAN_IR_PED              FDCAN_IR_PED_Msk                             /*!<Protocol Error in Data Phase             */
+#define FDCAN_IR_ARA_Pos          (29U)
+#define FDCAN_IR_ARA_Msk          (0x1UL << FDCAN_IR_ARA_Pos)                  /*!< 0x20000000 */
+#define FDCAN_IR_ARA              FDCAN_IR_ARA_Msk                             /*!<Access to Reserved Address               */
+
+/*****************  Bit definition for FDCAN_IE register  **********************/
+#define FDCAN_IE_RF0NE_Pos        (0U)
+#define FDCAN_IE_RF0NE_Msk        (0x1UL << FDCAN_IE_RF0NE_Pos)                /*!< 0x00000001 */
+#define FDCAN_IE_RF0NE            FDCAN_IE_RF0NE_Msk                           /*!<Rx FIFO 0 New Message Enable                 */
+#define FDCAN_IE_RF0WE_Pos        (1U)
+#define FDCAN_IE_RF0WE_Msk        (0x1UL << FDCAN_IE_RF0WE_Pos)                /*!< 0x00000002 */
+#define FDCAN_IE_RF0WE            FDCAN_IE_RF0WE_Msk                           /*!<Rx FIFO 0 Watermark Reached Enable           */
+#define FDCAN_IE_RF0FE_Pos        (2U)
+#define FDCAN_IE_RF0FE_Msk        (0x1UL << FDCAN_IE_RF0FE_Pos)                /*!< 0x00000004 */
+#define FDCAN_IE_RF0FE            FDCAN_IE_RF0FE_Msk                           /*!<Rx FIFO 0 Full Enable                        */
+#define FDCAN_IE_RF0LE_Pos        (3U)
+#define FDCAN_IE_RF0LE_Msk        (0x1UL << FDCAN_IE_RF0LE_Pos)                /*!< 0x00000008 */
+#define FDCAN_IE_RF0LE            FDCAN_IE_RF0LE_Msk                           /*!<Rx FIFO 0 Message Lost Enable                */
+#define FDCAN_IE_RF1NE_Pos        (4U)
+#define FDCAN_IE_RF1NE_Msk        (0x1UL << FDCAN_IE_RF1NE_Pos)                /*!< 0x00000010 */
+#define FDCAN_IE_RF1NE            FDCAN_IE_RF1NE_Msk                           /*!<Rx FIFO 1 New Message Enable                 */
+#define FDCAN_IE_RF1WE_Pos        (5U)
+#define FDCAN_IE_RF1WE_Msk        (0x1UL << FDCAN_IE_RF1WE_Pos)                /*!< 0x00000020 */
+#define FDCAN_IE_RF1WE            FDCAN_IE_RF1WE_Msk                           /*!<Rx FIFO 1 Watermark Reached Enable           */
+#define FDCAN_IE_RF1FE_Pos        (6U)
+#define FDCAN_IE_RF1FE_Msk        (0x1UL << FDCAN_IE_RF1FE_Pos)                /*!< 0x00000040 */
+#define FDCAN_IE_RF1FE            FDCAN_IE_RF1FE_Msk                           /*!<Rx FIFO 1 Full Enable                        */
+#define FDCAN_IE_RF1LE_Pos        (7U)
+#define FDCAN_IE_RF1LE_Msk        (0x1UL << FDCAN_IE_RF1LE_Pos)                /*!< 0x00000080 */
+#define FDCAN_IE_RF1LE            FDCAN_IE_RF1LE_Msk                           /*!<Rx FIFO 1 Message Lost Enable                */
+#define FDCAN_IE_HPME_Pos         (8U)
+#define FDCAN_IE_HPME_Msk         (0x1UL << FDCAN_IE_HPME_Pos)                 /*!< 0x00000100 */
+#define FDCAN_IE_HPME             FDCAN_IE_HPME_Msk                            /*!<High Priority Message Enable                 */
+#define FDCAN_IE_TCE_Pos          (9U)
+#define FDCAN_IE_TCE_Msk          (0x1UL << FDCAN_IE_TCE_Pos)                  /*!< 0x00000200 */
+#define FDCAN_IE_TCE              FDCAN_IE_TCE_Msk                             /*!<Transmission Completed Enable                */
+#define FDCAN_IE_TCFE_Pos         (10U)
+#define FDCAN_IE_TCFE_Msk         (0x1UL << FDCAN_IE_TCFE_Pos)                 /*!< 0x00000400 */
+#define FDCAN_IE_TCFE             FDCAN_IE_TCFE_Msk                            /*!<Transmission Cancellation Finished Enable    */
+#define FDCAN_IE_TFEE_Pos         (11U)
+#define FDCAN_IE_TFEE_Msk         (0x1UL << FDCAN_IE_TFEE_Pos)                 /*!< 0x00000800 */
+#define FDCAN_IE_TFEE             FDCAN_IE_TFEE_Msk                            /*!<Tx FIFO Empty Enable                         */
+#define FDCAN_IE_TEFNE_Pos        (12U)
+#define FDCAN_IE_TEFNE_Msk        (0x1UL << FDCAN_IE_TEFNE_Pos)                /*!< 0x00001000 */
+#define FDCAN_IE_TEFNE            FDCAN_IE_TEFNE_Msk                           /*!<Tx Event FIFO New Entry Enable               */
+#define FDCAN_IE_TEFWE_Pos        (13U)
+#define FDCAN_IE_TEFWE_Msk        (0x1UL << FDCAN_IE_TEFWE_Pos)                /*!< 0x00002000 */
+#define FDCAN_IE_TEFWE            FDCAN_IE_TEFWE_Msk                           /*!<Tx Event FIFO Watermark Reached Enable       */
+#define FDCAN_IE_TEFFE_Pos        (14U)
+#define FDCAN_IE_TEFFE_Msk        (0x1UL << FDCAN_IE_TEFFE_Pos)                /*!< 0x00004000 */
+#define FDCAN_IE_TEFFE            FDCAN_IE_TEFFE_Msk                           /*!<Tx Event FIFO Full Enable                    */
+#define FDCAN_IE_TEFLE_Pos        (15U)
+#define FDCAN_IE_TEFLE_Msk        (0x1UL << FDCAN_IE_TEFLE_Pos)                /*!< 0x00008000 */
+#define FDCAN_IE_TEFLE            FDCAN_IE_TEFLE_Msk                           /*!<Tx Event FIFO Element Lost Enable            */
+#define FDCAN_IE_TSWE_Pos         (16U)
+#define FDCAN_IE_TSWE_Msk         (0x1UL << FDCAN_IE_TSWE_Pos)                 /*!< 0x00010000 */
+#define FDCAN_IE_TSWE             FDCAN_IE_TSWE_Msk                            /*!<Timestamp Wraparound Enable                  */
+#define FDCAN_IE_MRAFE_Pos        (17U)
+#define FDCAN_IE_MRAFE_Msk        (0x1UL << FDCAN_IE_MRAFE_Pos)                /*!< 0x00020000 */
+#define FDCAN_IE_MRAFE            FDCAN_IE_MRAFE_Msk                           /*!<Message RAM Access Failure Enable            */
+#define FDCAN_IE_TOOE_Pos         (18U)
+#define FDCAN_IE_TOOE_Msk         (0x1UL << FDCAN_IE_TOOE_Pos)                 /*!< 0x00040000 */
+#define FDCAN_IE_TOOE             FDCAN_IE_TOOE_Msk                            /*!<Timeout Occurred Enable                      */
+#define FDCAN_IE_DRXE_Pos         (19U)
+#define FDCAN_IE_DRXE_Msk         (0x1UL << FDCAN_IE_DRXE_Pos)                 /*!< 0x00080000 */
+#define FDCAN_IE_DRXE             FDCAN_IE_DRXE_Msk                            /*!<Message stored to Dedicated Rx Buffer Enable */
+#define FDCAN_IE_BECE_Pos         (20U)
+#define FDCAN_IE_BECE_Msk         (0x1UL << FDCAN_IE_BECE_Pos)                 /*!< 0x00100000 */
+#define FDCAN_IE_BECE             FDCAN_IE_BECE_Msk                            /*!<Bit Error Corrected Interrupt Enable         */
+#define FDCAN_IE_BEUE_Pos         (21U)
+#define FDCAN_IE_BEUE_Msk         (0x1UL << FDCAN_IE_BEUE_Pos)                 /*!< 0x00200000 */
+#define FDCAN_IE_BEUE             FDCAN_IE_BEUE_Msk                            /*!<Bit Error Uncorrected Interrupt Enable       */
+#define FDCAN_IE_ELOE_Pos         (22U)
+#define FDCAN_IE_ELOE_Msk         (0x1UL << FDCAN_IE_ELOE_Pos)                 /*!< 0x00400000 */
+#define FDCAN_IE_ELOE             FDCAN_IE_ELOE_Msk                            /*!<Error Logging Overflow Enable                */
+#define FDCAN_IE_EPE_Pos          (23U)
+#define FDCAN_IE_EPE_Msk          (0x1UL << FDCAN_IE_EPE_Pos)                  /*!< 0x00800000 */
+#define FDCAN_IE_EPE              FDCAN_IE_EPE_Msk                             /*!<Error Passive Enable                         */
+#define FDCAN_IE_EWE_Pos          (24U)
+#define FDCAN_IE_EWE_Msk          (0x1UL << FDCAN_IE_EWE_Pos)                  /*!< 0x01000000 */
+#define FDCAN_IE_EWE              FDCAN_IE_EWE_Msk                             /*!<Warning Status Enable                        */
+#define FDCAN_IE_BOE_Pos          (25U)
+#define FDCAN_IE_BOE_Msk          (0x1UL << FDCAN_IE_BOE_Pos)                  /*!< 0x02000000 */
+#define FDCAN_IE_BOE              FDCAN_IE_BOE_Msk                             /*!<Bus_Off Status Enable                        */
+#define FDCAN_IE_WDIE_Pos         (26U)
+#define FDCAN_IE_WDIE_Msk         (0x1UL << FDCAN_IE_WDIE_Pos)                 /*!< 0x04000000 */
+#define FDCAN_IE_WDIE             FDCAN_IE_WDIE_Msk                            /*!<Watchdog Interrupt Enable                    */
+#define FDCAN_IE_PEAE_Pos         (27U)
+#define FDCAN_IE_PEAE_Msk         (0x1UL << FDCAN_IE_PEAE_Pos)                 /*!< 0x08000000 */
+#define FDCAN_IE_PEAE             FDCAN_IE_PEAE_Msk                            /*!<Protocol Error in Arbitration Phase Enable   */
+#define FDCAN_IE_PEDE_Pos         (28U)
+#define FDCAN_IE_PEDE_Msk         (0x1UL << FDCAN_IE_PEDE_Pos)                 /*!< 0x10000000 */
+#define FDCAN_IE_PEDE             FDCAN_IE_PEDE_Msk                            /*!<Protocol Error in Data Phase Enable          */
+#define FDCAN_IE_ARAE_Pos         (29U)
+#define FDCAN_IE_ARAE_Msk         (0x1UL << FDCAN_IE_ARAE_Pos)                 /*!< 0x20000000 */
+#define FDCAN_IE_ARAE             FDCAN_IE_ARAE_Msk                            /*!<Access to Reserved Address Enable            */
+
+/*****************  Bit definition for FDCAN_ILS register  **********************/
+#define FDCAN_ILS_RF0NL_Pos       (0U)
+#define FDCAN_ILS_RF0NL_Msk       (0x1UL << FDCAN_ILS_RF0NL_Pos)               /*!< 0x00000001 */
+#define FDCAN_ILS_RF0NL           FDCAN_ILS_RF0NL_Msk                          /*!<Rx FIFO 0 New Message Line                  */
+#define FDCAN_ILS_RF0WL_Pos       (1U)
+#define FDCAN_ILS_RF0WL_Msk       (0x1UL << FDCAN_ILS_RF0WL_Pos)               /*!< 0x00000002 */
+#define FDCAN_ILS_RF0WL           FDCAN_ILS_RF0WL_Msk                          /*!<Rx FIFO 0 Watermark Reached Line            */
+#define FDCAN_ILS_RF0FL_Pos       (2U)
+#define FDCAN_ILS_RF0FL_Msk       (0x1UL << FDCAN_ILS_RF0FL_Pos)               /*!< 0x00000004 */
+#define FDCAN_ILS_RF0FL           FDCAN_ILS_RF0FL_Msk                          /*!<Rx FIFO 0 Full Line                         */
+#define FDCAN_ILS_RF0LL_Pos       (3U)
+#define FDCAN_ILS_RF0LL_Msk       (0x1UL << FDCAN_ILS_RF0LL_Pos)               /*!< 0x00000008 */
+#define FDCAN_ILS_RF0LL           FDCAN_ILS_RF0LL_Msk                          /*!<Rx FIFO 0 Message Lost Line                 */
+#define FDCAN_ILS_RF1NL_Pos       (4U)
+#define FDCAN_ILS_RF1NL_Msk       (0x1UL << FDCAN_ILS_RF1NL_Pos)               /*!< 0x00000010 */
+#define FDCAN_ILS_RF1NL           FDCAN_ILS_RF1NL_Msk                          /*!<Rx FIFO 1 New Message Line                  */
+#define FDCAN_ILS_RF1WL_Pos       (5U)
+#define FDCAN_ILS_RF1WL_Msk       (0x1UL << FDCAN_ILS_RF1WL_Pos)               /*!< 0x00000020 */
+#define FDCAN_ILS_RF1WL           FDCAN_ILS_RF1WL_Msk                          /*!<Rx FIFO 1 Watermark Reached Line            */
+#define FDCAN_ILS_RF1FL_Pos       (6U)
+#define FDCAN_ILS_RF1FL_Msk       (0x1UL << FDCAN_ILS_RF1FL_Pos)               /*!< 0x00000040 */
+#define FDCAN_ILS_RF1FL           FDCAN_ILS_RF1FL_Msk                          /*!<Rx FIFO 1 Full Line                         */
+#define FDCAN_ILS_RF1LL_Pos       (7U)
+#define FDCAN_ILS_RF1LL_Msk       (0x1UL << FDCAN_ILS_RF1LL_Pos)               /*!< 0x00000080 */
+#define FDCAN_ILS_RF1LL           FDCAN_ILS_RF1LL_Msk                          /*!<Rx FIFO 1 Message Lost Line                 */
+#define FDCAN_ILS_HPML_Pos        (8U)
+#define FDCAN_ILS_HPML_Msk        (0x1UL << FDCAN_ILS_HPML_Pos)                /*!< 0x00000100 */
+#define FDCAN_ILS_HPML            FDCAN_ILS_HPML_Msk                           /*!<High Priority Message Line                  */
+#define FDCAN_ILS_TCL_Pos         (9U)
+#define FDCAN_ILS_TCL_Msk         (0x1UL << FDCAN_ILS_TCL_Pos)                 /*!< 0x00000200 */
+#define FDCAN_ILS_TCL             FDCAN_ILS_TCL_Msk                            /*!<Transmission Completed Line                 */
+#define FDCAN_ILS_TCFL_Pos        (10U)
+#define FDCAN_ILS_TCFL_Msk        (0x1UL << FDCAN_ILS_TCFL_Pos)                /*!< 0x00000400 */
+#define FDCAN_ILS_TCFL            FDCAN_ILS_TCFL_Msk                           /*!<Transmission Cancellation Finished Line     */
+#define FDCAN_ILS_TFEL_Pos        (11U)
+#define FDCAN_ILS_TFEL_Msk        (0x1UL << FDCAN_ILS_TFEL_Pos)                /*!< 0x00000800 */
+#define FDCAN_ILS_TFEL            FDCAN_ILS_TFEL_Msk                           /*!<Tx FIFO Empty Line                          */
+#define FDCAN_ILS_TEFNL_Pos       (12U)
+#define FDCAN_ILS_TEFNL_Msk       (0x1UL << FDCAN_ILS_TEFNL_Pos)               /*!< 0x00001000 */
+#define FDCAN_ILS_TEFNL           FDCAN_ILS_TEFNL_Msk                          /*!<Tx Event FIFO New Entry Line                */
+#define FDCAN_ILS_TEFWL_Pos       (13U)
+#define FDCAN_ILS_TEFWL_Msk       (0x1UL << FDCAN_ILS_TEFWL_Pos)               /*!< 0x00002000 */
+#define FDCAN_ILS_TEFWL           FDCAN_ILS_TEFWL_Msk                          /*!<Tx Event FIFO Watermark Reached Line        */
+#define FDCAN_ILS_TEFFL_Pos       (14U)
+#define FDCAN_ILS_TEFFL_Msk       (0x1UL << FDCAN_ILS_TEFFL_Pos)               /*!< 0x00004000 */
+#define FDCAN_ILS_TEFFL           FDCAN_ILS_TEFFL_Msk                          /*!<Tx Event FIFO Full Line                     */
+#define FDCAN_ILS_TEFLL_Pos       (15U)
+#define FDCAN_ILS_TEFLL_Msk       (0x1UL << FDCAN_ILS_TEFLL_Pos)               /*!< 0x00008000 */
+#define FDCAN_ILS_TEFLL           FDCAN_ILS_TEFLL_Msk                          /*!<Tx Event FIFO Element Lost Line             */
+#define FDCAN_ILS_TSWL_Pos        (16U)
+#define FDCAN_ILS_TSWL_Msk        (0x1UL << FDCAN_ILS_TSWL_Pos)                /*!< 0x00010000 */
+#define FDCAN_ILS_TSWL            FDCAN_ILS_TSWL_Msk                           /*!<Timestamp Wraparound Line                   */
+#define FDCAN_ILS_MRAFE_Pos       (17U)
+#define FDCAN_ILS_MRAFE_Msk       (0x1UL << FDCAN_ILS_MRAFE_Pos)               /*!< 0x00020000 */
+#define FDCAN_ILS_MRAFE           FDCAN_ILS_MRAFE_Msk                          /*!<Message RAM Access Failure Line             */
+#define FDCAN_ILS_TOOE_Pos        (18U)
+#define FDCAN_ILS_TOOE_Msk        (0x1UL << FDCAN_ILS_TOOE_Pos)                /*!< 0x00040000 */
+#define FDCAN_ILS_TOOE            FDCAN_ILS_TOOE_Msk                           /*!<Timeout Occurred Line                       */
+#define FDCAN_ILS_DRXE_Pos        (19U)
+#define FDCAN_ILS_DRXE_Msk        (0x1UL << FDCAN_ILS_DRXE_Pos)                /*!< 0x00080000 */
+#define FDCAN_ILS_DRXE            FDCAN_ILS_DRXE_Msk                           /*!<Message stored to Dedicated Rx Buffer Line  */
+#define FDCAN_ILS_BECE_Pos        (20U)
+#define FDCAN_ILS_BECE_Msk        (0x1UL << FDCAN_ILS_BECE_Pos)                /*!< 0x00100000 */
+#define FDCAN_ILS_BECE            FDCAN_ILS_BECE_Msk                           /*!<Bit Error Corrected Interrupt Line          */
+#define FDCAN_ILS_BEUE_Pos        (21U)
+#define FDCAN_ILS_BEUE_Msk        (0x1UL << FDCAN_ILS_BEUE_Pos)                /*!< 0x00200000 */
+#define FDCAN_ILS_BEUE            FDCAN_ILS_BEUE_Msk                           /*!<Bit Error Uncorrected Interrupt Line        */
+#define FDCAN_ILS_ELOE_Pos        (22U)
+#define FDCAN_ILS_ELOE_Msk        (0x1UL << FDCAN_ILS_ELOE_Pos)                /*!< 0x00400000 */
+#define FDCAN_ILS_ELOE            FDCAN_ILS_ELOE_Msk                           /*!<Error Logging Overflow Line                 */
+#define FDCAN_ILS_EPE_Pos         (23U)
+#define FDCAN_ILS_EPE_Msk         (0x1UL << FDCAN_ILS_EPE_Pos)                 /*!< 0x00800000 */
+#define FDCAN_ILS_EPE             FDCAN_ILS_EPE_Msk                            /*!<Error Passive Line                          */
+#define FDCAN_ILS_EWE_Pos         (24U)
+#define FDCAN_ILS_EWE_Msk         (0x1UL << FDCAN_ILS_EWE_Pos)                 /*!< 0x01000000 */
+#define FDCAN_ILS_EWE             FDCAN_ILS_EWE_Msk                            /*!<Warning Status Line                         */
+#define FDCAN_ILS_BOE_Pos         (25U)
+#define FDCAN_ILS_BOE_Msk         (0x1UL << FDCAN_ILS_BOE_Pos)                 /*!< 0x02000000 */
+#define FDCAN_ILS_BOE             FDCAN_ILS_BOE_Msk                            /*!<Bus_Off Status Line                         */
+#define FDCAN_ILS_WDIE_Pos        (26U)
+#define FDCAN_ILS_WDIE_Msk        (0x1UL << FDCAN_ILS_WDIE_Pos)                /*!< 0x04000000 */
+#define FDCAN_ILS_WDIE            FDCAN_ILS_WDIE_Msk                           /*!<Watchdog Interrupt Line                     */
+#define FDCAN_ILS_PEAE_Pos        (27U)
+#define FDCAN_ILS_PEAE_Msk        (0x1UL << FDCAN_ILS_PEAE_Pos)                /*!< 0x08000000 */
+#define FDCAN_ILS_PEAE            FDCAN_ILS_PEAE_Msk                           /*!<Protocol Error in Arbitration Phase Line    */
+#define FDCAN_ILS_PEDE_Pos        (28U)
+#define FDCAN_ILS_PEDE_Msk        (0x1UL << FDCAN_ILS_PEDE_Pos)                /*!< 0x10000000 */
+#define FDCAN_ILS_PEDE            FDCAN_ILS_PEDE_Msk                           /*!<Protocol Error in Data Phase Line           */
+#define FDCAN_ILS_ARAE_Pos        (29U)
+#define FDCAN_ILS_ARAE_Msk        (0x1UL << FDCAN_ILS_ARAE_Pos)                /*!< 0x20000000 */
+#define FDCAN_ILS_ARAE            FDCAN_ILS_ARAE_Msk                           /*!<Access to Reserved Address Line             */
+
+/*****************  Bit definition for FDCAN_ILE register  **********************/
+#define FDCAN_ILE_EINT0_Pos       (0U)
+#define FDCAN_ILE_EINT0_Msk       (0x1UL << FDCAN_ILE_EINT0_Pos)               /*!< 0x00000001 */
+#define FDCAN_ILE_EINT0           FDCAN_ILE_EINT0_Msk                          /*!<Enable Interrupt Line 0                   */
+#define FDCAN_ILE_EINT1_Pos       (1U)
+#define FDCAN_ILE_EINT1_Msk       (0x1UL << FDCAN_ILE_EINT1_Pos)               /*!< 0x00000002 */
+#define FDCAN_ILE_EINT1           FDCAN_ILE_EINT1_Msk                          /*!<Enable Interrupt Line 1                   */
+
+/*****************  Bit definition for FDCAN_GFC register  **********************/
+#define FDCAN_GFC_RRFE_Pos        (0U)
+#define FDCAN_GFC_RRFE_Msk        (0x1UL << FDCAN_GFC_RRFE_Pos)                /*!< 0x00000001 */
+#define FDCAN_GFC_RRFE            FDCAN_GFC_RRFE_Msk                           /*!<Reject Remote Frames Extended             */
+#define FDCAN_GFC_RRFS_Pos        (1U)
+#define FDCAN_GFC_RRFS_Msk        (0x1UL << FDCAN_GFC_RRFS_Pos)                /*!< 0x00000002 */
+#define FDCAN_GFC_RRFS            FDCAN_GFC_RRFS_Msk                           /*!<Reject Remote Frames Standard             */
+#define FDCAN_GFC_ANFE_Pos        (2U)
+#define FDCAN_GFC_ANFE_Msk        (0x3UL << FDCAN_GFC_ANFE_Pos)                /*!< 0x0000000C */
+#define FDCAN_GFC_ANFE            FDCAN_GFC_ANFE_Msk                           /*!<Accept Non-matching Frames Extended       */
+#define FDCAN_GFC_ANFS_Pos        (4U)
+#define FDCAN_GFC_ANFS_Msk        (0x3UL << FDCAN_GFC_ANFS_Pos)                /*!< 0x00000030 */
+#define FDCAN_GFC_ANFS            FDCAN_GFC_ANFS_Msk                           /*!<Accept Non-matching Frames Standard       */
+
+/*****************  Bit definition for FDCAN_SIDFC register  ********************/
+#define FDCAN_SIDFC_FLSSA_Pos     (2U)
+#define FDCAN_SIDFC_FLSSA_Msk     (0x3FFFUL << FDCAN_SIDFC_FLSSA_Pos)          /*!< 0x0000FFFC */
+#define FDCAN_SIDFC_FLSSA         FDCAN_SIDFC_FLSSA_Msk                        /*!<Filter List Standard Start Address        */
+#define FDCAN_SIDFC_LSS_Pos       (16U)
+#define FDCAN_SIDFC_LSS_Msk       (0xFFUL << FDCAN_SIDFC_LSS_Pos)              /*!< 0x00FF0000 */
+#define FDCAN_SIDFC_LSS           FDCAN_SIDFC_LSS_Msk                          /*!<List Size Standard                        */
+
+/*****************  Bit definition for FDCAN_XIDFC register  ********************/
+#define FDCAN_XIDFC_FLESA_Pos     (2U)
+#define FDCAN_XIDFC_FLESA_Msk     (0x3FFFUL << FDCAN_XIDFC_FLESA_Pos)          /*!< 0x0000FFFC */
+#define FDCAN_XIDFC_FLESA         FDCAN_XIDFC_FLESA_Msk                        /*!<Filter List Standard Start Address        */
+#define FDCAN_XIDFC_LSE_Pos       (16U)
+#define FDCAN_XIDFC_LSE_Msk       (0x7FUL << FDCAN_XIDFC_LSE_Pos)              /*!< 0x007F0000 */
+#define FDCAN_XIDFC_LSE           FDCAN_XIDFC_LSE_Msk                          /*!<List Size Extended                        */
+
+/*****************  Bit definition for FDCAN_XIDAM register  ********************/
+#define FDCAN_XIDAM_EIDM_Pos      (0U)
+#define FDCAN_XIDAM_EIDM_Msk      (0x1FFFFFFFUL << FDCAN_XIDAM_EIDM_Pos)       /*!< 0x1FFFFFFF */
+#define FDCAN_XIDAM_EIDM          FDCAN_XIDAM_EIDM_Msk                         /*!<Extended ID Mask                          */
+
+/*****************  Bit definition for FDCAN_HPMS register  *********************/
+#define FDCAN_HPMS_BIDX_Pos       (0U)
+#define FDCAN_HPMS_BIDX_Msk       (0x3FUL << FDCAN_HPMS_BIDX_Pos)              /*!< 0x0000003F */
+#define FDCAN_HPMS_BIDX           FDCAN_HPMS_BIDX_Msk                          /*!<Buffer Index                              */
+#define FDCAN_HPMS_MSI_Pos        (6U)
+#define FDCAN_HPMS_MSI_Msk        (0x3UL << FDCAN_HPMS_MSI_Pos)                /*!< 0x000000C0 */
+#define FDCAN_HPMS_MSI            FDCAN_HPMS_MSI_Msk                           /*!<Message Storage Indicator                 */
+#define FDCAN_HPMS_FIDX_Pos       (8U)
+#define FDCAN_HPMS_FIDX_Msk       (0x7FUL << FDCAN_HPMS_FIDX_Pos)              /*!< 0x00007F00 */
+#define FDCAN_HPMS_FIDX           FDCAN_HPMS_FIDX_Msk                          /*!<Filter Index                              */
+#define FDCAN_HPMS_FLST_Pos       (15U)
+#define FDCAN_HPMS_FLST_Msk       (0x1UL << FDCAN_HPMS_FLST_Pos)               /*!< 0x00008000 */
+#define FDCAN_HPMS_FLST           FDCAN_HPMS_FLST_Msk                          /*!<Filter List                               */
+
+/*****************  Bit definition for FDCAN_NDAT1 register  ********************/
+#define FDCAN_NDAT1_ND0_Pos       (0U)
+#define FDCAN_NDAT1_ND0_Msk       (0x1UL << FDCAN_NDAT1_ND0_Pos)               /*!< 0x00000001 */
+#define FDCAN_NDAT1_ND0           FDCAN_NDAT1_ND0_Msk                          /*!<New Data flag of Rx Buffer 0              */
+#define FDCAN_NDAT1_ND1_Pos       (1U)
+#define FDCAN_NDAT1_ND1_Msk       (0x1UL << FDCAN_NDAT1_ND1_Pos)               /*!< 0x00000002 */
+#define FDCAN_NDAT1_ND1           FDCAN_NDAT1_ND1_Msk                          /*!<New Data flag of Rx Buffer 1              */
+#define FDCAN_NDAT1_ND2_Pos       (2U)
+#define FDCAN_NDAT1_ND2_Msk       (0x1UL << FDCAN_NDAT1_ND2_Pos)               /*!< 0x00000004 */
+#define FDCAN_NDAT1_ND2           FDCAN_NDAT1_ND2_Msk                          /*!<New Data flag of Rx Buffer 2              */
+#define FDCAN_NDAT1_ND3_Pos       (3U)
+#define FDCAN_NDAT1_ND3_Msk       (0x1UL << FDCAN_NDAT1_ND3_Pos)               /*!< 0x00000008 */
+#define FDCAN_NDAT1_ND3           FDCAN_NDAT1_ND3_Msk                          /*!<New Data flag of Rx Buffer 3              */
+#define FDCAN_NDAT1_ND4_Pos       (4U)
+#define FDCAN_NDAT1_ND4_Msk       (0x1UL << FDCAN_NDAT1_ND4_Pos)               /*!< 0x00000010 */
+#define FDCAN_NDAT1_ND4           FDCAN_NDAT1_ND4_Msk                          /*!<New Data flag of Rx Buffer 4              */
+#define FDCAN_NDAT1_ND5_Pos       (5U)
+#define FDCAN_NDAT1_ND5_Msk       (0x1UL << FDCAN_NDAT1_ND5_Pos)               /*!< 0x00000020 */
+#define FDCAN_NDAT1_ND5           FDCAN_NDAT1_ND5_Msk                          /*!<New Data flag of Rx Buffer 5              */
+#define FDCAN_NDAT1_ND6_Pos       (6U)
+#define FDCAN_NDAT1_ND6_Msk       (0x1UL << FDCAN_NDAT1_ND6_Pos)               /*!< 0x00000040 */
+#define FDCAN_NDAT1_ND6           FDCAN_NDAT1_ND6_Msk                          /*!<New Data flag of Rx Buffer 6              */
+#define FDCAN_NDAT1_ND7_Pos       (7U)
+#define FDCAN_NDAT1_ND7_Msk       (0x1UL << FDCAN_NDAT1_ND7_Pos)               /*!< 0x00000080 */
+#define FDCAN_NDAT1_ND7           FDCAN_NDAT1_ND7_Msk                          /*!<New Data flag of Rx Buffer 7              */
+#define FDCAN_NDAT1_ND8_Pos       (8U)
+#define FDCAN_NDAT1_ND8_Msk       (0x1UL << FDCAN_NDAT1_ND8_Pos)               /*!< 0x00000100 */
+#define FDCAN_NDAT1_ND8           FDCAN_NDAT1_ND8_Msk                          /*!<New Data flag of Rx Buffer 8              */
+#define FDCAN_NDAT1_ND9_Pos       (9U)
+#define FDCAN_NDAT1_ND9_Msk       (0x1UL << FDCAN_NDAT1_ND9_Pos)               /*!< 0x00000200 */
+#define FDCAN_NDAT1_ND9           FDCAN_NDAT1_ND9_Msk                          /*!<New Data flag of Rx Buffer 9              */
+#define FDCAN_NDAT1_ND10_Pos      (10U)
+#define FDCAN_NDAT1_ND10_Msk      (0x1UL << FDCAN_NDAT1_ND10_Pos)              /*!< 0x00000400 */
+#define FDCAN_NDAT1_ND10          FDCAN_NDAT1_ND10_Msk                         /*!<New Data flag of Rx Buffer 10             */
+#define FDCAN_NDAT1_ND11_Pos      (11U)
+#define FDCAN_NDAT1_ND11_Msk      (0x1UL << FDCAN_NDAT1_ND11_Pos)              /*!< 0x00000800 */
+#define FDCAN_NDAT1_ND11          FDCAN_NDAT1_ND11_Msk                         /*!<New Data flag of Rx Buffer 11             */
+#define FDCAN_NDAT1_ND12_Pos      (12U)
+#define FDCAN_NDAT1_ND12_Msk      (0x1UL << FDCAN_NDAT1_ND12_Pos)              /*!< 0x00001000 */
+#define FDCAN_NDAT1_ND12          FDCAN_NDAT1_ND12_Msk                         /*!<New Data flag of Rx Buffer 12             */
+#define FDCAN_NDAT1_ND13_Pos      (13U)
+#define FDCAN_NDAT1_ND13_Msk      (0x1UL << FDCAN_NDAT1_ND13_Pos)              /*!< 0x00002000 */
+#define FDCAN_NDAT1_ND13          FDCAN_NDAT1_ND13_Msk                         /*!<New Data flag of Rx Buffer 13             */
+#define FDCAN_NDAT1_ND14_Pos      (14U)
+#define FDCAN_NDAT1_ND14_Msk      (0x1UL << FDCAN_NDAT1_ND14_Pos)              /*!< 0x00004000 */
+#define FDCAN_NDAT1_ND14          FDCAN_NDAT1_ND14_Msk                         /*!<New Data flag of Rx Buffer 14             */
+#define FDCAN_NDAT1_ND15_Pos      (15U)
+#define FDCAN_NDAT1_ND15_Msk      (0x1UL << FDCAN_NDAT1_ND15_Pos)              /*!< 0x00008000 */
+#define FDCAN_NDAT1_ND15          FDCAN_NDAT1_ND15_Msk                         /*!<New Data flag of Rx Buffer 15             */
+#define FDCAN_NDAT1_ND16_Pos      (16U)
+#define FDCAN_NDAT1_ND16_Msk      (0x1UL << FDCAN_NDAT1_ND16_Pos)              /*!< 0x00010000 */
+#define FDCAN_NDAT1_ND16          FDCAN_NDAT1_ND16_Msk                         /*!<New Data flag of Rx Buffer 16             */
+#define FDCAN_NDAT1_ND17_Pos      (17U)
+#define FDCAN_NDAT1_ND17_Msk      (0x1UL << FDCAN_NDAT1_ND17_Pos)              /*!< 0x00020000 */
+#define FDCAN_NDAT1_ND17          FDCAN_NDAT1_ND17_Msk                         /*!<New Data flag of Rx Buffer 17             */
+#define FDCAN_NDAT1_ND18_Pos      (18U)
+#define FDCAN_NDAT1_ND18_Msk      (0x1UL << FDCAN_NDAT1_ND18_Pos)              /*!< 0x00040000 */
+#define FDCAN_NDAT1_ND18          FDCAN_NDAT1_ND18_Msk                         /*!<New Data flag of Rx Buffer 18             */
+#define FDCAN_NDAT1_ND19_Pos      (19U)
+#define FDCAN_NDAT1_ND19_Msk      (0x1UL << FDCAN_NDAT1_ND19_Pos)              /*!< 0x00080000 */
+#define FDCAN_NDAT1_ND19          FDCAN_NDAT1_ND19_Msk                         /*!<New Data flag of Rx Buffer 19             */
+#define FDCAN_NDAT1_ND20_Pos      (20U)
+#define FDCAN_NDAT1_ND20_Msk      (0x1UL << FDCAN_NDAT1_ND20_Pos)              /*!< 0x00100000 */
+#define FDCAN_NDAT1_ND20          FDCAN_NDAT1_ND20_Msk                         /*!<New Data flag of Rx Buffer 20             */
+#define FDCAN_NDAT1_ND21_Pos      (21U)
+#define FDCAN_NDAT1_ND21_Msk      (0x1UL << FDCAN_NDAT1_ND21_Pos)              /*!< 0x00200000 */
+#define FDCAN_NDAT1_ND21          FDCAN_NDAT1_ND21_Msk                         /*!<New Data flag of Rx Buffer 21             */
+#define FDCAN_NDAT1_ND22_Pos      (22U)
+#define FDCAN_NDAT1_ND22_Msk      (0x1UL << FDCAN_NDAT1_ND22_Pos)              /*!< 0x00400000 */
+#define FDCAN_NDAT1_ND22          FDCAN_NDAT1_ND22_Msk                         /*!<New Data flag of Rx Buffer 22             */
+#define FDCAN_NDAT1_ND23_Pos      (23U)
+#define FDCAN_NDAT1_ND23_Msk      (0x1UL << FDCAN_NDAT1_ND23_Pos)              /*!< 0x00800000 */
+#define FDCAN_NDAT1_ND23          FDCAN_NDAT1_ND23_Msk                         /*!<New Data flag of Rx Buffer 23             */
+#define FDCAN_NDAT1_ND24_Pos      (24U)
+#define FDCAN_NDAT1_ND24_Msk      (0x1UL << FDCAN_NDAT1_ND24_Pos)              /*!< 0x01000000 */
+#define FDCAN_NDAT1_ND24          FDCAN_NDAT1_ND24_Msk                         /*!<New Data flag of Rx Buffer 24             */
+#define FDCAN_NDAT1_ND25_Pos      (25U)
+#define FDCAN_NDAT1_ND25_Msk      (0x1UL << FDCAN_NDAT1_ND25_Pos)              /*!< 0x02000000 */
+#define FDCAN_NDAT1_ND25          FDCAN_NDAT1_ND25_Msk                         /*!<New Data flag of Rx Buffer 25             */
+#define FDCAN_NDAT1_ND26_Pos      (26U)
+#define FDCAN_NDAT1_ND26_Msk      (0x1UL << FDCAN_NDAT1_ND26_Pos)              /*!< 0x04000000 */
+#define FDCAN_NDAT1_ND26          FDCAN_NDAT1_ND26_Msk                         /*!<New Data flag of Rx Buffer 26             */
+#define FDCAN_NDAT1_ND27_Pos      (27U)
+#define FDCAN_NDAT1_ND27_Msk      (0x1UL << FDCAN_NDAT1_ND27_Pos)              /*!< 0x08000000 */
+#define FDCAN_NDAT1_ND27          FDCAN_NDAT1_ND27_Msk                         /*!<New Data flag of Rx Buffer 27             */
+#define FDCAN_NDAT1_ND28_Pos      (28U)
+#define FDCAN_NDAT1_ND28_Msk      (0x1UL << FDCAN_NDAT1_ND28_Pos)              /*!< 0x10000000 */
+#define FDCAN_NDAT1_ND28          FDCAN_NDAT1_ND28_Msk                         /*!<New Data flag of Rx Buffer 28             */
+#define FDCAN_NDAT1_ND29_Pos      (29U)
+#define FDCAN_NDAT1_ND29_Msk      (0x1UL << FDCAN_NDAT1_ND29_Pos)              /*!< 0x20000000 */
+#define FDCAN_NDAT1_ND29          FDCAN_NDAT1_ND29_Msk                         /*!<New Data flag of Rx Buffer 29             */
+#define FDCAN_NDAT1_ND30_Pos      (30U)
+#define FDCAN_NDAT1_ND30_Msk      (0x1UL << FDCAN_NDAT1_ND30_Pos)              /*!< 0x40000000 */
+#define FDCAN_NDAT1_ND30          FDCAN_NDAT1_ND30_Msk                         /*!<New Data flag of Rx Buffer 30             */
+#define FDCAN_NDAT1_ND31_Pos      (31U)
+#define FDCAN_NDAT1_ND31_Msk      (0x1UL << FDCAN_NDAT1_ND31_Pos)              /*!< 0x80000000 */
+#define FDCAN_NDAT1_ND31          FDCAN_NDAT1_ND31_Msk                         /*!<New Data flag of Rx Buffer 31             */
+
+/*****************  Bit definition for FDCAN_NDAT2 register  ********************/
+#define FDCAN_NDAT2_ND32_Pos      (0U)
+#define FDCAN_NDAT2_ND32_Msk      (0x1UL << FDCAN_NDAT2_ND32_Pos)              /*!< 0x00000001 */
+#define FDCAN_NDAT2_ND32          FDCAN_NDAT2_ND32_Msk                         /*!<New Data flag of Rx Buffer 32             */
+#define FDCAN_NDAT2_ND33_Pos      (1U)
+#define FDCAN_NDAT2_ND33_Msk      (0x1UL << FDCAN_NDAT2_ND33_Pos)              /*!< 0x00000002 */
+#define FDCAN_NDAT2_ND33          FDCAN_NDAT2_ND33_Msk                         /*!<New Data flag of Rx Buffer 33             */
+#define FDCAN_NDAT2_ND34_Pos      (2U)
+#define FDCAN_NDAT2_ND34_Msk      (0x1UL << FDCAN_NDAT2_ND34_Pos)              /*!< 0x00000004 */
+#define FDCAN_NDAT2_ND34          FDCAN_NDAT2_ND34_Msk                         /*!<New Data flag of Rx Buffer 34             */
+#define FDCAN_NDAT2_ND35_Pos      (3U)
+#define FDCAN_NDAT2_ND35_Msk      (0x1UL << FDCAN_NDAT2_ND35_Pos)              /*!< 0x00000008 */
+#define FDCAN_NDAT2_ND35          FDCAN_NDAT2_ND35_Msk                         /*!<New Data flag of Rx Buffer 35             */
+#define FDCAN_NDAT2_ND36_Pos      (4U)
+#define FDCAN_NDAT2_ND36_Msk      (0x1UL << FDCAN_NDAT2_ND36_Pos)              /*!< 0x00000010 */
+#define FDCAN_NDAT2_ND36          FDCAN_NDAT2_ND36_Msk                         /*!<New Data flag of Rx Buffer 36             */
+#define FDCAN_NDAT2_ND37_Pos      (5U)
+#define FDCAN_NDAT2_ND37_Msk      (0x1UL << FDCAN_NDAT2_ND37_Pos)              /*!< 0x00000020 */
+#define FDCAN_NDAT2_ND37          FDCAN_NDAT2_ND37_Msk                         /*!<New Data flag of Rx Buffer 37             */
+#define FDCAN_NDAT2_ND38_Pos      (6U)
+#define FDCAN_NDAT2_ND38_Msk      (0x1UL << FDCAN_NDAT2_ND38_Pos)              /*!< 0x00000040 */
+#define FDCAN_NDAT2_ND38          FDCAN_NDAT2_ND38_Msk                         /*!<New Data flag of Rx Buffer 38             */
+#define FDCAN_NDAT2_ND39_Pos      (7U)
+#define FDCAN_NDAT2_ND39_Msk      (0x1UL << FDCAN_NDAT2_ND39_Pos)              /*!< 0x00000080 */
+#define FDCAN_NDAT2_ND39          FDCAN_NDAT2_ND39_Msk                         /*!<New Data flag of Rx Buffer 39             */
+#define FDCAN_NDAT2_ND40_Pos      (8U)
+#define FDCAN_NDAT2_ND40_Msk      (0x1UL << FDCAN_NDAT2_ND40_Pos)              /*!< 0x00000100 */
+#define FDCAN_NDAT2_ND40          FDCAN_NDAT2_ND40_Msk                         /*!<New Data flag of Rx Buffer 40             */
+#define FDCAN_NDAT2_ND41_Pos      (9U)
+#define FDCAN_NDAT2_ND41_Msk      (0x1UL << FDCAN_NDAT2_ND41_Pos)              /*!< 0x00000200 */
+#define FDCAN_NDAT2_ND41          FDCAN_NDAT2_ND41_Msk                         /*!<New Data flag of Rx Buffer 41             */
+#define FDCAN_NDAT2_ND42_Pos      (10U)
+#define FDCAN_NDAT2_ND42_Msk      (0x1UL << FDCAN_NDAT2_ND42_Pos)              /*!< 0x00000400 */
+#define FDCAN_NDAT2_ND42          FDCAN_NDAT2_ND42_Msk                         /*!<New Data flag of Rx Buffer 42             */
+#define FDCAN_NDAT2_ND43_Pos      (11U)
+#define FDCAN_NDAT2_ND43_Msk      (0x1UL << FDCAN_NDAT2_ND43_Pos)              /*!< 0x00000800 */
+#define FDCAN_NDAT2_ND43          FDCAN_NDAT2_ND43_Msk                         /*!<New Data flag of Rx Buffer 43             */
+#define FDCAN_NDAT2_ND44_Pos      (12U)
+#define FDCAN_NDAT2_ND44_Msk      (0x1UL << FDCAN_NDAT2_ND44_Pos)              /*!< 0x00001000 */
+#define FDCAN_NDAT2_ND44          FDCAN_NDAT2_ND44_Msk                         /*!<New Data flag of Rx Buffer 44             */
+#define FDCAN_NDAT2_ND45_Pos      (13U)
+#define FDCAN_NDAT2_ND45_Msk      (0x1UL << FDCAN_NDAT2_ND45_Pos)              /*!< 0x00002000 */
+#define FDCAN_NDAT2_ND45          FDCAN_NDAT2_ND45_Msk                         /*!<New Data flag of Rx Buffer 45             */
+#define FDCAN_NDAT2_ND46_Pos      (14U)
+#define FDCAN_NDAT2_ND46_Msk      (0x1UL << FDCAN_NDAT2_ND46_Pos)              /*!< 0x00004000 */
+#define FDCAN_NDAT2_ND46          FDCAN_NDAT2_ND46_Msk                         /*!<New Data flag of Rx Buffer 46             */
+#define FDCAN_NDAT2_ND47_Pos      (15U)
+#define FDCAN_NDAT2_ND47_Msk      (0x1UL << FDCAN_NDAT2_ND47_Pos)              /*!< 0x00008000 */
+#define FDCAN_NDAT2_ND47          FDCAN_NDAT2_ND47_Msk                         /*!<New Data flag of Rx Buffer 47             */
+#define FDCAN_NDAT2_ND48_Pos      (16U)
+#define FDCAN_NDAT2_ND48_Msk      (0x1UL << FDCAN_NDAT2_ND48_Pos)              /*!< 0x00010000 */
+#define FDCAN_NDAT2_ND48          FDCAN_NDAT2_ND48_Msk                         /*!<New Data flag of Rx Buffer 48             */
+#define FDCAN_NDAT2_ND49_Pos      (17U)
+#define FDCAN_NDAT2_ND49_Msk      (0x1UL << FDCAN_NDAT2_ND49_Pos)              /*!< 0x00020000 */
+#define FDCAN_NDAT2_ND49          FDCAN_NDAT2_ND49_Msk                         /*!<New Data flag of Rx Buffer 49             */
+#define FDCAN_NDAT2_ND50_Pos      (18U)
+#define FDCAN_NDAT2_ND50_Msk      (0x1UL << FDCAN_NDAT2_ND50_Pos)              /*!< 0x00040000 */
+#define FDCAN_NDAT2_ND50          FDCAN_NDAT2_ND50_Msk                         /*!<New Data flag of Rx Buffer 50             */
+#define FDCAN_NDAT2_ND51_Pos      (19U)
+#define FDCAN_NDAT2_ND51_Msk      (0x1UL << FDCAN_NDAT2_ND51_Pos)              /*!< 0x00080000 */
+#define FDCAN_NDAT2_ND51          FDCAN_NDAT2_ND51_Msk                         /*!<New Data flag of Rx Buffer 51             */
+#define FDCAN_NDAT2_ND52_Pos      (20U)
+#define FDCAN_NDAT2_ND52_Msk      (0x1UL << FDCAN_NDAT2_ND52_Pos)              /*!< 0x00100000 */
+#define FDCAN_NDAT2_ND52          FDCAN_NDAT2_ND52_Msk                         /*!<New Data flag of Rx Buffer 52             */
+#define FDCAN_NDAT2_ND53_Pos      (21U)
+#define FDCAN_NDAT2_ND53_Msk      (0x1UL << FDCAN_NDAT2_ND53_Pos)              /*!< 0x00200000 */
+#define FDCAN_NDAT2_ND53          FDCAN_NDAT2_ND53_Msk                         /*!<New Data flag of Rx Buffer 53             */
+#define FDCAN_NDAT2_ND54_Pos      (22U)
+#define FDCAN_NDAT2_ND54_Msk      (0x1UL << FDCAN_NDAT2_ND54_Pos)              /*!< 0x00400000 */
+#define FDCAN_NDAT2_ND54          FDCAN_NDAT2_ND54_Msk                         /*!<New Data flag of Rx Buffer 54             */
+#define FDCAN_NDAT2_ND55_Pos      (23U)
+#define FDCAN_NDAT2_ND55_Msk      (0x1UL << FDCAN_NDAT2_ND55_Pos)              /*!< 0x00800000 */
+#define FDCAN_NDAT2_ND55          FDCAN_NDAT2_ND55_Msk                         /*!<New Data flag of Rx Buffer 55             */
+#define FDCAN_NDAT2_ND56_Pos      (24U)
+#define FDCAN_NDAT2_ND56_Msk      (0x1UL << FDCAN_NDAT2_ND56_Pos)              /*!< 0x01000000 */
+#define FDCAN_NDAT2_ND56          FDCAN_NDAT2_ND56_Msk                         /*!<New Data flag of Rx Buffer 56             */
+#define FDCAN_NDAT2_ND57_Pos      (25U)
+#define FDCAN_NDAT2_ND57_Msk      (0x1UL << FDCAN_NDAT2_ND57_Pos)              /*!< 0x02000000 */
+#define FDCAN_NDAT2_ND57          FDCAN_NDAT2_ND57_Msk                         /*!<New Data flag of Rx Buffer 57             */
+#define FDCAN_NDAT2_ND58_Pos      (26U)
+#define FDCAN_NDAT2_ND58_Msk      (0x1UL << FDCAN_NDAT2_ND58_Pos)              /*!< 0x04000000 */
+#define FDCAN_NDAT2_ND58          FDCAN_NDAT2_ND58_Msk                         /*!<New Data flag of Rx Buffer 58             */
+#define FDCAN_NDAT2_ND59_Pos      (27U)
+#define FDCAN_NDAT2_ND59_Msk      (0x1UL << FDCAN_NDAT2_ND59_Pos)              /*!< 0x08000000 */
+#define FDCAN_NDAT2_ND59          FDCAN_NDAT2_ND59_Msk                         /*!<New Data flag of Rx Buffer 59             */
+#define FDCAN_NDAT2_ND60_Pos      (28U)
+#define FDCAN_NDAT2_ND60_Msk      (0x1UL << FDCAN_NDAT2_ND60_Pos)              /*!< 0x10000000 */
+#define FDCAN_NDAT2_ND60          FDCAN_NDAT2_ND60_Msk                         /*!<New Data flag of Rx Buffer 60             */
+#define FDCAN_NDAT2_ND61_Pos      (29U)
+#define FDCAN_NDAT2_ND61_Msk      (0x1UL << FDCAN_NDAT2_ND61_Pos)              /*!< 0x20000000 */
+#define FDCAN_NDAT2_ND61          FDCAN_NDAT2_ND61_Msk                         /*!<New Data flag of Rx Buffer 61             */
+#define FDCAN_NDAT2_ND62_Pos      (30U)
+#define FDCAN_NDAT2_ND62_Msk      (0x1UL << FDCAN_NDAT2_ND62_Pos)              /*!< 0x40000000 */
+#define FDCAN_NDAT2_ND62          FDCAN_NDAT2_ND62_Msk                         /*!<New Data flag of Rx Buffer 62             */
+#define FDCAN_NDAT2_ND63_Pos      (31U)
+#define FDCAN_NDAT2_ND63_Msk      (0x1UL << FDCAN_NDAT2_ND63_Pos)              /*!< 0x80000000 */
+#define FDCAN_NDAT2_ND63          FDCAN_NDAT2_ND63_Msk                         /*!<New Data flag of Rx Buffer 63             */
+
+/*****************  Bit definition for FDCAN_RXF0C register  ********************/
+#define FDCAN_RXF0C_F0SA_Pos      (2U)
+#define FDCAN_RXF0C_F0SA_Msk      (0x3FFFUL << FDCAN_RXF0C_F0SA_Pos)           /*!< 0x0000FFFC */
+#define FDCAN_RXF0C_F0SA          FDCAN_RXF0C_F0SA_Msk                         /*!<Rx FIFO 0 Start Address                   */
+#define FDCAN_RXF0C_F0S_Pos       (16U)
+#define FDCAN_RXF0C_F0S_Msk       (0x7FUL << FDCAN_RXF0C_F0S_Pos)              /*!< 0x007F0000 */
+#define FDCAN_RXF0C_F0S           FDCAN_RXF0C_F0S_Msk                          /*!<Number of Rx FIFO 0 elements              */
+#define FDCAN_RXF0C_F0WM_Pos      (24U)
+#define FDCAN_RXF0C_F0WM_Msk      (0x7FUL << FDCAN_RXF0C_F0WM_Pos)             /*!< 0x7F000000 */
+#define FDCAN_RXF0C_F0WM          FDCAN_RXF0C_F0WM_Msk                         /*!<FIFO 0 Watermark                          */
+#define FDCAN_RXF0C_F0OM_Pos      (31U)
+#define FDCAN_RXF0C_F0OM_Msk      (0x1UL << FDCAN_RXF0C_F0OM_Pos)              /*!< 0x80000000 */
+#define FDCAN_RXF0C_F0OM          FDCAN_RXF0C_F0OM_Msk                         /*!<FIFO 0 Operation Mode                     */
+
+/*****************  Bit definition for FDCAN_RXF0S register  ********************/
+#define FDCAN_RXF0S_F0FL_Pos      (0U)
+#define FDCAN_RXF0S_F0FL_Msk      (0x7FUL << FDCAN_RXF0S_F0FL_Pos)             /*!< 0x0000007F */
+#define FDCAN_RXF0S_F0FL          FDCAN_RXF0S_F0FL_Msk                         /*!<Rx FIFO 0 Fill Level                      */
+#define FDCAN_RXF0S_F0GI_Pos      (8U)
+#define FDCAN_RXF0S_F0GI_Msk      (0x3FUL << FDCAN_RXF0S_F0GI_Pos)             /*!< 0x00003F00 */
+#define FDCAN_RXF0S_F0GI          FDCAN_RXF0S_F0GI_Msk                         /*!<Rx FIFO 0 Get Index                       */
+#define FDCAN_RXF0S_F0PI_Pos      (16U)
+#define FDCAN_RXF0S_F0PI_Msk      (0x3FUL << FDCAN_RXF0S_F0PI_Pos)             /*!< 0x003F0000 */
+#define FDCAN_RXF0S_F0PI          FDCAN_RXF0S_F0PI_Msk                         /*!<Rx FIFO 0 Put Index                       */
+#define FDCAN_RXF0S_F0F_Pos       (24U)
+#define FDCAN_RXF0S_F0F_Msk       (0x1UL << FDCAN_RXF0S_F0F_Pos)               /*!< 0x01000000 */
+#define FDCAN_RXF0S_F0F           FDCAN_RXF0S_F0F_Msk                          /*!<Rx FIFO 0 Full                            */
+#define FDCAN_RXF0S_RF0L_Pos      (25U)
+#define FDCAN_RXF0S_RF0L_Msk      (0x1UL << FDCAN_RXF0S_RF0L_Pos)              /*!< 0x02000000 */
+#define FDCAN_RXF0S_RF0L          FDCAN_RXF0S_RF0L_Msk                         /*!<Rx FIFO 0 Message Lost                    */
+
+/*****************  Bit definition for FDCAN_RXF0A register  ********************/
+#define FDCAN_RXF0A_F0AI_Pos      (0U)
+#define FDCAN_RXF0A_F0AI_Msk      (0x3FUL << FDCAN_RXF0A_F0AI_Pos)             /*!< 0x0000003F */
+#define FDCAN_RXF0A_F0AI          FDCAN_RXF0A_F0AI_Msk                         /*!<Rx FIFO 0 Acknowledge Index               */
+
+/*****************  Bit definition for FDCAN_RXBC register  ********************/
+#define FDCAN_RXBC_RBSA_Pos       (2U)
+#define FDCAN_RXBC_RBSA_Msk       (0x3FFFUL << FDCAN_RXBC_RBSA_Pos)            /*!< 0x0000FFFC */
+#define FDCAN_RXBC_RBSA           FDCAN_RXBC_RBSA_Msk                          /*!<Rx Buffer Start Address                   */
+
+/*****************  Bit definition for FDCAN_RXF1C register  ********************/
+#define FDCAN_RXF1C_F1SA_Pos      (2U)
+#define FDCAN_RXF1C_F1SA_Msk      (0x3FFFUL << FDCAN_RXF1C_F1SA_Pos)           /*!< 0x0000FFFC */
+#define FDCAN_RXF1C_F1SA          FDCAN_RXF1C_F1SA_Msk                         /*!<Rx FIFO 1 Start Address                   */
+#define FDCAN_RXF1C_F1S_Pos       (16U)
+#define FDCAN_RXF1C_F1S_Msk       (0x7FUL << FDCAN_RXF1C_F1S_Pos)              /*!< 0x007F0000 */
+#define FDCAN_RXF1C_F1S           FDCAN_RXF1C_F1S_Msk                          /*!<Number of Rx FIFO 1 elements              */
+#define FDCAN_RXF1C_F1WM_Pos      (24U)
+#define FDCAN_RXF1C_F1WM_Msk      (0x7FUL << FDCAN_RXF1C_F1WM_Pos)             /*!< 0x7F000000 */
+#define FDCAN_RXF1C_F1WM          FDCAN_RXF1C_F1WM_Msk                         /*!<Rx FIFO 1 Watermark                       */
+#define FDCAN_RXF1C_F1OM_Pos      (31U)
+#define FDCAN_RXF1C_F1OM_Msk      (0x1UL << FDCAN_RXF1C_F1OM_Pos)              /*!< 0x80000000 */
+#define FDCAN_RXF1C_F1OM          FDCAN_RXF1C_F1OM_Msk                         /*!<FIFO 1 Operation Mode                     */
+
+/*****************  Bit definition for FDCAN_RXF1S register  ********************/
+#define FDCAN_RXF1S_F1FL_Pos      (0U)
+#define FDCAN_RXF1S_F1FL_Msk      (0x7FUL << FDCAN_RXF1S_F1FL_Pos)             /*!< 0x0000007F */
+#define FDCAN_RXF1S_F1FL          FDCAN_RXF1S_F1FL_Msk                         /*!<Rx FIFO 1 Fill Level                      */
+#define FDCAN_RXF1S_F1GI_Pos      (8U)
+#define FDCAN_RXF1S_F1GI_Msk      (0x3FUL << FDCAN_RXF1S_F1GI_Pos)             /*!< 0x00003F00 */
+#define FDCAN_RXF1S_F1GI          FDCAN_RXF1S_F1GI_Msk                         /*!<Rx FIFO 1 Get Index                       */
+#define FDCAN_RXF1S_F1PI_Pos      (16U)
+#define FDCAN_RXF1S_F1PI_Msk      (0x3FUL << FDCAN_RXF1S_F1PI_Pos)             /*!< 0x003F0000 */
+#define FDCAN_RXF1S_F1PI          FDCAN_RXF1S_F1PI_Msk                         /*!<Rx FIFO 1 Put Index                       */
+#define FDCAN_RXF1S_F1F_Pos       (24U)
+#define FDCAN_RXF1S_F1F_Msk       (0x1UL << FDCAN_RXF1S_F1F_Pos)               /*!< 0x01000000 */
+#define FDCAN_RXF1S_F1F           FDCAN_RXF1S_F1F_Msk                          /*!<Rx FIFO 1 Full                            */
+#define FDCAN_RXF1S_RF1L_Pos      (25U)
+#define FDCAN_RXF1S_RF1L_Msk      (0x1UL << FDCAN_RXF1S_RF1L_Pos)              /*!< 0x02000000 */
+#define FDCAN_RXF1S_RF1L          FDCAN_RXF1S_RF1L_Msk                         /*!<Rx FIFO 1 Message Lost                    */
+
+/*****************  Bit definition for FDCAN_RXF1A register  ********************/
+#define FDCAN_RXF1A_F1AI_Pos      (0U)
+#define FDCAN_RXF1A_F1AI_Msk      (0x3FUL << FDCAN_RXF1A_F1AI_Pos)             /*!< 0x0000003F */
+#define FDCAN_RXF1A_F1AI          FDCAN_RXF1A_F1AI_Msk                         /*!<Rx FIFO 1 Acknowledge Index               */
+
+/*****************  Bit definition for FDCAN_RXESC register  ********************/
+#define FDCAN_RXESC_F0DS_Pos      (0U)
+#define FDCAN_RXESC_F0DS_Msk      (0x7UL << FDCAN_RXESC_F0DS_Pos)              /*!< 0x00000007 */
+#define FDCAN_RXESC_F0DS          FDCAN_RXESC_F0DS_Msk                         /*!<Rx FIFO 1 Data Field Size                 */
+#define FDCAN_RXESC_F1DS_Pos      (4U)
+#define FDCAN_RXESC_F1DS_Msk      (0x7UL << FDCAN_RXESC_F1DS_Pos)              /*!< 0x00000070 */
+#define FDCAN_RXESC_F1DS          FDCAN_RXESC_F1DS_Msk                         /*!<Rx FIFO 0 Data Field Size                 */
+#define FDCAN_RXESC_RBDS_Pos      (8U)
+#define FDCAN_RXESC_RBDS_Msk      (0x7UL << FDCAN_RXESC_RBDS_Pos)              /*!< 0x00000700 */
+#define FDCAN_RXESC_RBDS          FDCAN_RXESC_RBDS_Msk                         /*!<Rx Buffer Data Field Size                 */
+
+/*****************  Bit definition for FDCAN_TXBC register  *********************/
+#define FDCAN_TXBC_TBSA_Pos       (2U)
+#define FDCAN_TXBC_TBSA_Msk       (0x3FFFUL << FDCAN_TXBC_TBSA_Pos)            /*!< 0x0000FFFC */
+#define FDCAN_TXBC_TBSA           FDCAN_TXBC_TBSA_Msk                          /*!<Tx Buffers Start Address                  */
+#define FDCAN_TXBC_NDTB_Pos       (16U)
+#define FDCAN_TXBC_NDTB_Msk       (0x3FUL << FDCAN_TXBC_NDTB_Pos)              /*!< 0x003F0000 */
+#define FDCAN_TXBC_NDTB           FDCAN_TXBC_NDTB_Msk                          /*!<Number of Dedicated Transmit Buffers      */
+#define FDCAN_TXBC_TFQS_Pos       (24U)
+#define FDCAN_TXBC_TFQS_Msk       (0x3FUL << FDCAN_TXBC_TFQS_Pos)              /*!< 0x3F000000 */
+#define FDCAN_TXBC_TFQS           FDCAN_TXBC_TFQS_Msk                          /*!<Transmit FIFO/Queue Size                  */
+#define FDCAN_TXBC_TFQM_Pos       (30U)
+#define FDCAN_TXBC_TFQM_Msk       (0x1UL << FDCAN_TXBC_TFQM_Pos)               /*!< 0x40000000 */
+#define FDCAN_TXBC_TFQM           FDCAN_TXBC_TFQM_Msk                          /*!<Tx FIFO/Queue Mode                        */
+
+/*****************  Bit definition for FDCAN_TXFQS register  *********************/
+#define FDCAN_TXFQS_TFFL_Pos      (0U)
+#define FDCAN_TXFQS_TFFL_Msk      (0x3FUL << FDCAN_TXFQS_TFFL_Pos)             /*!< 0x0000003F */
+#define FDCAN_TXFQS_TFFL          FDCAN_TXFQS_TFFL_Msk                         /*!<Tx FIFO Free Level                        */
+#define FDCAN_TXFQS_TFGI_Pos      (8U)
+#define FDCAN_TXFQS_TFGI_Msk      (0x1FUL << FDCAN_TXFQS_TFGI_Pos)             /*!< 0x00001F00 */
+#define FDCAN_TXFQS_TFGI          FDCAN_TXFQS_TFGI_Msk                         /*!<Tx FIFO Get Index                         */
+#define FDCAN_TXFQS_TFQPI_Pos     (16U)
+#define FDCAN_TXFQS_TFQPI_Msk     (0x1FUL << FDCAN_TXFQS_TFQPI_Pos)            /*!< 0x001F0000 */
+#define FDCAN_TXFQS_TFQPI         FDCAN_TXFQS_TFQPI_Msk                        /*!<Tx FIFO/Queue Put Index                   */
+#define FDCAN_TXFQS_TFQF_Pos      (21U)
+#define FDCAN_TXFQS_TFQF_Msk      (0x1UL << FDCAN_TXFQS_TFQF_Pos)              /*!< 0x00200000 */
+#define FDCAN_TXFQS_TFQF          FDCAN_TXFQS_TFQF_Msk                         /*!<Tx FIFO/Queue Full                        */
+
+/*****************  Bit definition for FDCAN_TXESC register  *********************/
+#define FDCAN_TXESC_TBDS_Pos      (0U)
+#define FDCAN_TXESC_TBDS_Msk      (0x7UL << FDCAN_TXESC_TBDS_Pos)              /*!< 0x00000007 */
+#define FDCAN_TXESC_TBDS          FDCAN_TXESC_TBDS_Msk                         /*!<Tx Buffer Data Field Size                 */
+
+/*****************  Bit definition for FDCAN_TXBRP register  *********************/
+#define FDCAN_TXBRP_TRP_Pos       (0U)
+#define FDCAN_TXBRP_TRP_Msk       (0xFFFFFFFFUL << FDCAN_TXBRP_TRP_Pos)        /*!< 0xFFFFFFFF */
+#define FDCAN_TXBRP_TRP           FDCAN_TXBRP_TRP_Msk                          /*!<Transmission Request Pending              */
+
+/*****************  Bit definition for FDCAN_TXBAR register  *********************/
+#define FDCAN_TXBAR_AR_Pos        (0U)
+#define FDCAN_TXBAR_AR_Msk        (0xFFFFFFFFUL << FDCAN_TXBAR_AR_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_TXBAR_AR            FDCAN_TXBAR_AR_Msk                           /*!<Add Request                               */
+
+/*****************  Bit definition for FDCAN_TXBCR register  *********************/
+#define FDCAN_TXBCR_CR_Pos        (0U)
+#define FDCAN_TXBCR_CR_Msk        (0xFFFFFFFFUL << FDCAN_TXBCR_CR_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_TXBCR_CR            FDCAN_TXBCR_CR_Msk                           /*!<Cancellation Request                      */
+
+/*****************  Bit definition for FDCAN_TXBTO register  *********************/
+#define FDCAN_TXBTO_TO_Pos        (0U)
+#define FDCAN_TXBTO_TO_Msk        (0xFFFFFFFFUL << FDCAN_TXBTO_TO_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_TXBTO_TO            FDCAN_TXBTO_TO_Msk                           /*!<Transmission Occurred                     */
+
+/*****************  Bit definition for FDCAN_TXBCF register  *********************/
+#define FDCAN_TXBCF_CF_Pos        (0U)
+#define FDCAN_TXBCF_CF_Msk        (0xFFFFFFFFUL << FDCAN_TXBCF_CF_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_TXBCF_CF            FDCAN_TXBCF_CF_Msk                           /*!<Cancellation Finished                     */
+
+/*****************  Bit definition for FDCAN_TXBTIE register  ********************/
+#define FDCAN_TXBTIE_TIE_Pos      (0U)
+#define FDCAN_TXBTIE_TIE_Msk      (0xFFFFFFFFUL << FDCAN_TXBTIE_TIE_Pos)       /*!< 0xFFFFFFFF */
+#define FDCAN_TXBTIE_TIE          FDCAN_TXBTIE_TIE_Msk                         /*!<Transmission Interrupt Enable             */
+
+/*****************  Bit definition for FDCAN_ TXBCIE register  *******************/
+#define FDCAN_TXBCIE_CFIE_Pos     (0U)
+#define FDCAN_TXBCIE_CFIE_Msk     (0xFFFFFFFFUL << FDCAN_TXBCIE_CFIE_Pos)      /*!< 0xFFFFFFFF */
+#define FDCAN_TXBCIE_CFIE         FDCAN_TXBCIE_CFIE_Msk                        /*!<Cancellation Finished Interrupt Enable    */
+
+/*****************  Bit definition for FDCAN_TXEFC register  *********************/
+#define FDCAN_TXEFC_EFSA_Pos      (2U)
+#define FDCAN_TXEFC_EFSA_Msk      (0x3FFFUL << FDCAN_TXEFC_EFSA_Pos)           /*!< 0x0000FFFC */
+#define FDCAN_TXEFC_EFSA          FDCAN_TXEFC_EFSA_Msk                         /*!<Event FIFO Start Address                  */
+#define FDCAN_TXEFC_EFS_Pos       (16U)
+#define FDCAN_TXEFC_EFS_Msk       (0x3FUL << FDCAN_TXEFC_EFS_Pos)              /*!< 0x003F0000 */
+#define FDCAN_TXEFC_EFS           FDCAN_TXEFC_EFS_Msk                          /*!<Event FIFO Size                           */
+#define FDCAN_TXEFC_EFWM_Pos      (24U)
+#define FDCAN_TXEFC_EFWM_Msk      (0x3FUL << FDCAN_TXEFC_EFWM_Pos)             /*!< 0x3F000000 */
+#define FDCAN_TXEFC_EFWM          FDCAN_TXEFC_EFWM_Msk                         /*!<Event FIFO Watermark                      */
+
+/*****************  Bit definition for FDCAN_TXEFS register  *********************/
+#define FDCAN_TXEFS_EFFL_Pos      (0U)
+#define FDCAN_TXEFS_EFFL_Msk      (0x3FUL << FDCAN_TXEFS_EFFL_Pos)             /*!< 0x0000003F */
+#define FDCAN_TXEFS_EFFL          FDCAN_TXEFS_EFFL_Msk                         /*!<Event FIFO Fill Level                     */
+#define FDCAN_TXEFS_EFGI_Pos      (8U)
+#define FDCAN_TXEFS_EFGI_Msk      (0x1FUL << FDCAN_TXEFS_EFGI_Pos)             /*!< 0x00001F00 */
+#define FDCAN_TXEFS_EFGI          FDCAN_TXEFS_EFGI_Msk                         /*!<Event FIFO Get Index                      */
+#define FDCAN_TXEFS_EFPI_Pos      (16U)
+#define FDCAN_TXEFS_EFPI_Msk      (0x1FUL << FDCAN_TXEFS_EFPI_Pos)             /*!< 0x001F0000 */
+#define FDCAN_TXEFS_EFPI          FDCAN_TXEFS_EFPI_Msk                         /*!<Event FIFO Put Index                      */
+#define FDCAN_TXEFS_EFF_Pos       (24U)
+#define FDCAN_TXEFS_EFF_Msk       (0x1UL << FDCAN_TXEFS_EFF_Pos)               /*!< 0x01000000 */
+#define FDCAN_TXEFS_EFF           FDCAN_TXEFS_EFF_Msk                          /*!<Event FIFO Full                           */
+#define FDCAN_TXEFS_TEFL_Pos      (25U)
+#define FDCAN_TXEFS_TEFL_Msk      (0x1UL << FDCAN_TXEFS_TEFL_Pos)              /*!< 0x02000000 */
+#define FDCAN_TXEFS_TEFL          FDCAN_TXEFS_TEFL_Msk                         /*!<Tx Event FIFO Element Lost                */
+
+/*****************  Bit definition for FDCAN_TXEFA register  *********************/
+#define FDCAN_TXEFA_EFAI_Pos      (0U)
+#define FDCAN_TXEFA_EFAI_Msk      (0x1FUL << FDCAN_TXEFA_EFAI_Pos)             /*!< 0x0000001F */
+#define FDCAN_TXEFA_EFAI          FDCAN_TXEFA_EFAI_Msk                         /*!<Event FIFO Acknowledge Index              */
+
+/*****************  Bit definition for FDCAN_TTTMC register  *********************/
+#define FDCAN_TTTMC_TMSA_Pos      (2U)
+#define FDCAN_TTTMC_TMSA_Msk      (0x3FFFUL << FDCAN_TTTMC_TMSA_Pos)           /*!< 0x0000FFFC */
+#define FDCAN_TTTMC_TMSA          FDCAN_TTTMC_TMSA_Msk                         /*!<Trigger Memory Start Address              */
+#define FDCAN_TTTMC_TME_Pos       (16U)
+#define FDCAN_TTTMC_TME_Msk       (0x7FUL << FDCAN_TTTMC_TME_Pos)              /*!< 0x007F0000 */
+#define FDCAN_TTTMC_TME           FDCAN_TTTMC_TME_Msk                          /*!<Trigger Memory Elements                   */
+
+/*****************  Bit definition for FDCAN_TTRMC register  *********************/
+#define FDCAN_TTRMC_RID_Pos       (0U)
+#define FDCAN_TTRMC_RID_Msk       (0x1FFFFFFFUL << FDCAN_TTRMC_RID_Pos)        /*!< 0x1FFFFFFF */
+#define FDCAN_TTRMC_RID           FDCAN_TTRMC_RID_Msk                          /*!<Reference Identifier                      */
+#define FDCAN_TTRMC_XTD_Pos       (30U)
+#define FDCAN_TTRMC_XTD_Msk       (0x1UL << FDCAN_TTRMC_XTD_Pos)               /*!< 0x40000000 */
+#define FDCAN_TTRMC_XTD           FDCAN_TTRMC_XTD_Msk                          /*!< Extended Identifier                      */
+#define FDCAN_TTRMC_RMPS_Pos      (31U)
+#define FDCAN_TTRMC_RMPS_Msk      (0x1UL << FDCAN_TTRMC_RMPS_Pos)              /*!< 0x80000000 */
+#define FDCAN_TTRMC_RMPS          FDCAN_TTRMC_RMPS_Msk                         /*!<Reference Message Payload Select          */
+
+/*****************  Bit definition for FDCAN_TTOCF register  *********************/
+#define FDCAN_TTOCF_OM_Pos        (0U)
+#define FDCAN_TTOCF_OM_Msk        (0x3UL << FDCAN_TTOCF_OM_Pos)                /*!< 0x00000003 */
+#define FDCAN_TTOCF_OM            FDCAN_TTOCF_OM_Msk                           /*!<Operation Mode                            */
+#define FDCAN_TTOCF_GEN_Pos       (3U)
+#define FDCAN_TTOCF_GEN_Msk       (0x1UL << FDCAN_TTOCF_GEN_Pos)               /*!< 0x00000008 */
+#define FDCAN_TTOCF_GEN           FDCAN_TTOCF_GEN_Msk                          /*!<Gap Enable                                */
+#define FDCAN_TTOCF_TM_Pos        (4U)
+#define FDCAN_TTOCF_TM_Msk        (0x1UL << FDCAN_TTOCF_TM_Pos)                /*!< 0x00000010 */
+#define FDCAN_TTOCF_TM            FDCAN_TTOCF_TM_Msk                           /*!<Time Master                               */
+#define FDCAN_TTOCF_LDSDL_Pos     (5U)
+#define FDCAN_TTOCF_LDSDL_Msk     (0x7UL << FDCAN_TTOCF_LDSDL_Pos)             /*!< 0x000000E0 */
+#define FDCAN_TTOCF_LDSDL         FDCAN_TTOCF_LDSDL_Msk                        /*!<LD of Synchronization Deviation Limit     */
+#define FDCAN_TTOCF_IRTO_Pos      (8U)
+#define FDCAN_TTOCF_IRTO_Msk      (0x7FUL << FDCAN_TTOCF_IRTO_Pos)             /*!< 0x00007F00 */
+#define FDCAN_TTOCF_IRTO          FDCAN_TTOCF_IRTO_Msk                         /*!<Initial Reference Trigger Offset          */
+#define FDCAN_TTOCF_EECS_Pos      (15U)
+#define FDCAN_TTOCF_EECS_Msk      (0x1UL << FDCAN_TTOCF_EECS_Pos)              /*!< 0x00008000 */
+#define FDCAN_TTOCF_EECS          FDCAN_TTOCF_EECS_Msk                         /*!<Enable External Clock Synchronization     */
+#define FDCAN_TTOCF_AWL_Pos       (16U)
+#define FDCAN_TTOCF_AWL_Msk       (0xFFUL << FDCAN_TTOCF_AWL_Pos)              /*!< 0x00FF0000 */
+#define FDCAN_TTOCF_AWL           FDCAN_TTOCF_AWL_Msk                          /*!<Application Watchdog Limit                */
+#define FDCAN_TTOCF_EGTF_Pos      (24U)
+#define FDCAN_TTOCF_EGTF_Msk      (0x1UL << FDCAN_TTOCF_EGTF_Pos)              /*!< 0x01000000 */
+#define FDCAN_TTOCF_EGTF          FDCAN_TTOCF_EGTF_Msk                         /*!<Enable Global Time Filtering              */
+#define FDCAN_TTOCF_ECC_Pos       (25U)
+#define FDCAN_TTOCF_ECC_Msk       (0x1UL << FDCAN_TTOCF_ECC_Pos)               /*!< 0x02000000 */
+#define FDCAN_TTOCF_ECC           FDCAN_TTOCF_ECC_Msk                          /*!<Enable Clock Calibration                  */
+#define FDCAN_TTOCF_EVTP_Pos      (26U)
+#define FDCAN_TTOCF_EVTP_Msk      (0x1UL << FDCAN_TTOCF_EVTP_Pos)              /*!< 0x04000000 */
+#define FDCAN_TTOCF_EVTP          FDCAN_TTOCF_EVTP_Msk                         /*!<Event Trigger Polarity                    */
+
+/*****************  Bit definition for FDCAN_TTMLM register  *********************/
+#define FDCAN_TTMLM_CCM_Pos       (0U)
+#define FDCAN_TTMLM_CCM_Msk       (0x3FUL << FDCAN_TTMLM_CCM_Pos)              /*!< 0x0000003F */
+#define FDCAN_TTMLM_CCM           FDCAN_TTMLM_CCM_Msk                          /*!<Cycle Count Max                           */
+#define FDCAN_TTMLM_CSS_Pos       (6U)
+#define FDCAN_TTMLM_CSS_Msk       (0x3UL << FDCAN_TTMLM_CSS_Pos)               /*!< 0x000000C0 */
+#define FDCAN_TTMLM_CSS           FDCAN_TTMLM_CSS_Msk                          /*!<Cycle Start Synchronization               */
+#define FDCAN_TTMLM_TXEW_Pos      (8U)
+#define FDCAN_TTMLM_TXEW_Msk      (0xFUL << FDCAN_TTMLM_TXEW_Pos)              /*!< 0x00000F00 */
+#define FDCAN_TTMLM_TXEW          FDCAN_TTMLM_TXEW_Msk                         /*!<Tx Enable Window                          */
+#define FDCAN_TTMLM_ENTT_Pos      (16U)
+#define FDCAN_TTMLM_ENTT_Msk      (0xFFFUL << FDCAN_TTMLM_ENTT_Pos)            /*!< 0x0FFF0000 */
+#define FDCAN_TTMLM_ENTT          FDCAN_TTMLM_ENTT_Msk                         /*!<Expected Number of Tx Triggers            */
+
+/*****************  Bit definition for FDCAN_TURCF register  *********************/
+#define FDCAN_TURCF_NCL_Pos       (0U)
+#define FDCAN_TURCF_NCL_Msk       (0xFFFFUL << FDCAN_TURCF_NCL_Pos)            /*!< 0x0000FFFF */
+#define FDCAN_TURCF_NCL           FDCAN_TURCF_NCL_Msk                          /*!<Numerator Configuration Low               */
+#define FDCAN_TURCF_DC_Pos        (16U)
+#define FDCAN_TURCF_DC_Msk        (0x3FFFUL << FDCAN_TURCF_DC_Pos)             /*!< 0x3FFF0000 */
+#define FDCAN_TURCF_DC            FDCAN_TURCF_DC_Msk                           /*!<Denominator Configuration                 */
+#define FDCAN_TURCF_ELT_Pos       (31U)
+#define FDCAN_TURCF_ELT_Msk       (0x1UL << FDCAN_TURCF_ELT_Pos)               /*!< 0x80000000 */
+#define FDCAN_TURCF_ELT           FDCAN_TURCF_ELT_Msk                          /*!<Enable Local Time                         */
+
+/*****************  Bit definition for FDCAN_TTOCN register  ********************/
+#define FDCAN_TTOCN_SGT_Pos       (0U)
+#define FDCAN_TTOCN_SGT_Msk       (0x1UL << FDCAN_TTOCN_SGT_Pos)               /*!< 0x00000001 */
+#define FDCAN_TTOCN_SGT           FDCAN_TTOCN_SGT_Msk                          /*!<Set Global time                           */
+#define FDCAN_TTOCN_ECS_Pos       (1U)
+#define FDCAN_TTOCN_ECS_Msk       (0x1UL << FDCAN_TTOCN_ECS_Pos)               /*!< 0x00000002 */
+#define FDCAN_TTOCN_ECS           FDCAN_TTOCN_ECS_Msk                          /*!<External Clock Synchronization            */
+#define FDCAN_TTOCN_SWP_Pos       (2U)
+#define FDCAN_TTOCN_SWP_Msk       (0x1UL << FDCAN_TTOCN_SWP_Pos)               /*!< 0x00000004 */
+#define FDCAN_TTOCN_SWP           FDCAN_TTOCN_SWP_Msk                          /*!<Stop Watch Polarity                       */
+#define FDCAN_TTOCN_SWS_Pos       (3U)
+#define FDCAN_TTOCN_SWS_Msk       (0x3UL << FDCAN_TTOCN_SWS_Pos)               /*!< 0x00000018 */
+#define FDCAN_TTOCN_SWS           FDCAN_TTOCN_SWS_Msk                          /*!<Stop Watch Source                         */
+#define FDCAN_TTOCN_RTIE_Pos      (5U)
+#define FDCAN_TTOCN_RTIE_Msk      (0x1UL << FDCAN_TTOCN_RTIE_Pos)              /*!< 0x00000020 */
+#define FDCAN_TTOCN_RTIE          FDCAN_TTOCN_RTIE_Msk                         /*!<Register Time Mark Interrupt Pulse Enable */
+#define FDCAN_TTOCN_TMC_Pos       (6U)
+#define FDCAN_TTOCN_TMC_Msk       (0x3UL << FDCAN_TTOCN_TMC_Pos)               /*!< 0x000000C0 */
+#define FDCAN_TTOCN_TMC           FDCAN_TTOCN_TMC_Msk                          /*!<Register Time Mark Compare                */
+#define FDCAN_TTOCN_TTIE_Pos      (8U)
+#define FDCAN_TTOCN_TTIE_Msk      (0x1UL << FDCAN_TTOCN_TTIE_Pos)              /*!< 0x00000100 */
+#define FDCAN_TTOCN_TTIE          FDCAN_TTOCN_TTIE_Msk                         /*!<Trigger Time Mark Interrupt Pulse Enable  */
+#define FDCAN_TTOCN_GCS_Pos       (9U)
+#define FDCAN_TTOCN_GCS_Msk       (0x1UL << FDCAN_TTOCN_GCS_Pos)               /*!< 0x00000200 */
+#define FDCAN_TTOCN_GCS           FDCAN_TTOCN_GCS_Msk                          /*!<Gap Control Select                        */
+#define FDCAN_TTOCN_FGP_Pos       (10U)
+#define FDCAN_TTOCN_FGP_Msk       (0x1UL << FDCAN_TTOCN_FGP_Pos)               /*!< 0x00000400 */
+#define FDCAN_TTOCN_FGP           FDCAN_TTOCN_FGP_Msk                          /*!<Finish Gap                                */
+#define FDCAN_TTOCN_TMG_Pos       (11U)
+#define FDCAN_TTOCN_TMG_Msk       (0x1UL << FDCAN_TTOCN_TMG_Pos)               /*!< 0x00000800 */
+#define FDCAN_TTOCN_TMG           FDCAN_TTOCN_TMG_Msk                          /*!<Time Mark Gap                             */
+#define FDCAN_TTOCN_NIG_Pos       (12U)
+#define FDCAN_TTOCN_NIG_Msk       (0x1UL << FDCAN_TTOCN_NIG_Pos)               /*!< 0x00001000 */
+#define FDCAN_TTOCN_NIG           FDCAN_TTOCN_NIG_Msk                          /*!<Next is Gap                               */
+#define FDCAN_TTOCN_ESCN_Pos      (13U)
+#define FDCAN_TTOCN_ESCN_Msk      (0x1UL << FDCAN_TTOCN_ESCN_Pos)              /*!< 0x00002000 */
+#define FDCAN_TTOCN_ESCN          FDCAN_TTOCN_ESCN_Msk                         /*!<External Synchronization Control          */
+#define FDCAN_TTOCN_LCKC_Pos      (15U)
+#define FDCAN_TTOCN_LCKC_Msk      (0x1UL << FDCAN_TTOCN_LCKC_Pos)              /*!< 0x00008000 */
+#define FDCAN_TTOCN_LCKC          FDCAN_TTOCN_LCKC_Msk                         /*!<TT Operation Control Register Locked      */
+
+/*****************  Bit definition for FDCAN_TTGTP register  ********************/
+#define FDCAN_TTGTP_TP_Pos        (0U)
+#define FDCAN_TTGTP_TP_Msk        (0xFFFFUL << FDCAN_TTGTP_TP_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TTGTP_TP            FDCAN_TTGTP_TP_Msk                           /*!<Time Preset                               */
+#define FDCAN_TTGTP_CTP_Pos       (16U)
+#define FDCAN_TTGTP_CTP_Msk       (0xFFFFUL << FDCAN_TTGTP_CTP_Pos)            /*!< 0xFFFF0000 */
+#define FDCAN_TTGTP_CTP           FDCAN_TTGTP_CTP_Msk                          /*!<Cycle Time Target Phase                   */
+
+/*****************  Bit definition for FDCAN_TTTMK register  ********************/
+#define FDCAN_TTTMK_TM_Pos        (0U)
+#define FDCAN_TTTMK_TM_Msk        (0xFFFFUL << FDCAN_TTTMK_TM_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TTTMK_TM            FDCAN_TTTMK_TM_Msk                           /*!<Time Mark                                 */
+#define FDCAN_TTTMK_TICC_Pos      (16U)
+#define FDCAN_TTTMK_TICC_Msk      (0x7FUL << FDCAN_TTTMK_TICC_Pos)             /*!< 0x007F0000 */
+#define FDCAN_TTTMK_TICC          FDCAN_TTTMK_TICC_Msk                         /*!<Time Mark Cycle Code                      */
+#define FDCAN_TTTMK_LCKM_Pos      (31U)
+#define FDCAN_TTTMK_LCKM_Msk      (0x1UL << FDCAN_TTTMK_LCKM_Pos)              /*!< 0x80000000 */
+#define FDCAN_TTTMK_LCKM          FDCAN_TTTMK_LCKM_Msk                         /*!<TT Time Mark Register Locked              */
+
+/*****************  Bit definition for FDCAN_TTIR register  ********************/
+#define FDCAN_TTIR_SBC_Pos        (0U)
+#define FDCAN_TTIR_SBC_Msk        (0x1UL << FDCAN_TTIR_SBC_Pos)                /*!< 0x00000001 */
+#define FDCAN_TTIR_SBC            FDCAN_TTIR_SBC_Msk                           /*!<Start of Basic Cycle                      */
+#define FDCAN_TTIR_SMC_Pos        (1U)
+#define FDCAN_TTIR_SMC_Msk        (0x1UL << FDCAN_TTIR_SMC_Pos)                /*!< 0x00000002 */
+#define FDCAN_TTIR_SMC            FDCAN_TTIR_SMC_Msk                           /*!<Start of Matrix Cycle                     */
+#define FDCAN_TTIR_CSM_Pos        (2U)
+#define FDCAN_TTIR_CSM_Msk        (0x1UL << FDCAN_TTIR_CSM_Pos)                /*!< 0x00000004 */
+#define FDCAN_TTIR_CSM            FDCAN_TTIR_CSM_Msk                           /*!<Change of Synchronization Mode            */
+#define FDCAN_TTIR_SOG_Pos        (3U)
+#define FDCAN_TTIR_SOG_Msk        (0x1UL << FDCAN_TTIR_SOG_Pos)                /*!< 0x00000008 */
+#define FDCAN_TTIR_SOG            FDCAN_TTIR_SOG_Msk                           /*!<Start of Gap                              */
+#define FDCAN_TTIR_RTMI_Pos       (4U)
+#define FDCAN_TTIR_RTMI_Msk       (0x1UL << FDCAN_TTIR_RTMI_Pos)               /*!< 0x00000010 */
+#define FDCAN_TTIR_RTMI           FDCAN_TTIR_RTMI_Msk                          /*!<Register Time Mark Interrupt              */
+#define FDCAN_TTIR_TTMI_Pos       (5U)
+#define FDCAN_TTIR_TTMI_Msk       (0x1UL << FDCAN_TTIR_TTMI_Pos)               /*!< 0x00000020 */
+#define FDCAN_TTIR_TTMI           FDCAN_TTIR_TTMI_Msk                          /*!<Trigger Time Mark Event Internal          */
+#define FDCAN_TTIR_SWE_Pos        (6U)
+#define FDCAN_TTIR_SWE_Msk        (0x1UL << FDCAN_TTIR_SWE_Pos)                /*!< 0x00000040 */
+#define FDCAN_TTIR_SWE            FDCAN_TTIR_SWE_Msk                           /*!<Stop Watch Event                          */
+#define FDCAN_TTIR_GTW_Pos        (7U)
+#define FDCAN_TTIR_GTW_Msk        (0x1UL << FDCAN_TTIR_GTW_Pos)                /*!< 0x00000080 */
+#define FDCAN_TTIR_GTW            FDCAN_TTIR_GTW_Msk                           /*!<Global Time Wrap                          */
+#define FDCAN_TTIR_GTD_Pos        (8U)
+#define FDCAN_TTIR_GTD_Msk        (0x1UL << FDCAN_TTIR_GTD_Pos)                /*!< 0x00000100 */
+#define FDCAN_TTIR_GTD            FDCAN_TTIR_GTD_Msk                           /*!<Global Time Discontinuity                 */
+#define FDCAN_TTIR_GTE_Pos        (9U)
+#define FDCAN_TTIR_GTE_Msk        (0x1UL << FDCAN_TTIR_GTE_Pos)                /*!< 0x00000200 */
+#define FDCAN_TTIR_GTE            FDCAN_TTIR_GTE_Msk                           /*!<Global Time Error                         */
+#define FDCAN_TTIR_TXU_Pos        (10U)
+#define FDCAN_TTIR_TXU_Msk        (0x1UL << FDCAN_TTIR_TXU_Pos)                /*!< 0x00000400 */
+#define FDCAN_TTIR_TXU            FDCAN_TTIR_TXU_Msk                           /*!<Tx Count Underflow                        */
+#define FDCAN_TTIR_TXO_Pos        (11U)
+#define FDCAN_TTIR_TXO_Msk        (0x1UL << FDCAN_TTIR_TXO_Pos)                /*!< 0x00000800 */
+#define FDCAN_TTIR_TXO            FDCAN_TTIR_TXO_Msk                           /*!<Tx Count Overflow                         */
+#define FDCAN_TTIR_SE1_Pos        (12U)
+#define FDCAN_TTIR_SE1_Msk        (0x1UL << FDCAN_TTIR_SE1_Pos)                /*!< 0x00001000 */
+#define FDCAN_TTIR_SE1            FDCAN_TTIR_SE1_Msk                           /*!<Scheduling Error 1                        */
+#define FDCAN_TTIR_SE2_Pos        (13U)
+#define FDCAN_TTIR_SE2_Msk        (0x1UL << FDCAN_TTIR_SE2_Pos)                /*!< 0x00002000 */
+#define FDCAN_TTIR_SE2            FDCAN_TTIR_SE2_Msk                           /*!<Scheduling Error 2                        */
+#define FDCAN_TTIR_ELC_Pos        (14U)
+#define FDCAN_TTIR_ELC_Msk        (0x1UL << FDCAN_TTIR_ELC_Pos)                /*!< 0x00004000 */
+#define FDCAN_TTIR_ELC            FDCAN_TTIR_ELC_Msk                           /*!<Error Level Changed                       */
+#define FDCAN_TTIR_IWT_Pos        (15U)
+#define FDCAN_TTIR_IWT_Msk        (0x1UL << FDCAN_TTIR_IWT_Pos)                /*!< 0x00008000 */
+#define FDCAN_TTIR_IWT            FDCAN_TTIR_IWT_Msk                           /*!<Initialization Watch Trigger              */
+#define FDCAN_TTIR_WT_Pos         (16U)
+#define FDCAN_TTIR_WT_Msk         (0x1UL << FDCAN_TTIR_WT_Pos)                 /*!< 0x00010000 */
+#define FDCAN_TTIR_WT             FDCAN_TTIR_WT_Msk                            /*!<Watch Trigger                             */
+#define FDCAN_TTIR_AW_Pos         (17U)
+#define FDCAN_TTIR_AW_Msk         (0x1UL << FDCAN_TTIR_AW_Pos)                 /*!< 0x00020000 */
+#define FDCAN_TTIR_AW             FDCAN_TTIR_AW_Msk                            /*!<Application Watchdog                      */
+#define FDCAN_TTIR_CER_Pos        (18U)
+#define FDCAN_TTIR_CER_Msk        (0x1UL << FDCAN_TTIR_CER_Pos)                /*!< 0x00040000 */
+#define FDCAN_TTIR_CER            FDCAN_TTIR_CER_Msk                           /*!<Configuration Error                       */
+
+/*****************  Bit definition for FDCAN_TTIE register  ********************/
+#define FDCAN_TTIE_SBCE_Pos       (0U)
+#define FDCAN_TTIE_SBCE_Msk       (0x1UL << FDCAN_TTIE_SBCE_Pos)               /*!< 0x00000001 */
+#define FDCAN_TTIE_SBCE           FDCAN_TTIE_SBCE_Msk                          /*!<Start of Basic Cycle Interrupt Enable             */
+#define FDCAN_TTIE_SMCE_Pos       (1U)
+#define FDCAN_TTIE_SMCE_Msk       (0x1UL << FDCAN_TTIE_SMCE_Pos)               /*!< 0x00000002 */
+#define FDCAN_TTIE_SMCE           FDCAN_TTIE_SMCE_Msk                          /*!<Start of Matrix Cycle Interrupt Enable            */
+#define FDCAN_TTIE_CSME_Pos       (2U)
+#define FDCAN_TTIE_CSME_Msk       (0x1UL << FDCAN_TTIE_CSME_Pos)               /*!< 0x00000004 */
+#define FDCAN_TTIE_CSME           FDCAN_TTIE_CSME_Msk                          /*!<Change of Synchronization Mode Interrupt Enable   */
+#define FDCAN_TTIE_SOGE_Pos       (3U)
+#define FDCAN_TTIE_SOGE_Msk       (0x1UL << FDCAN_TTIE_SOGE_Pos)               /*!< 0x00000008 */
+#define FDCAN_TTIE_SOGE           FDCAN_TTIE_SOGE_Msk                          /*!<Start of Gap Interrupt Enable                     */
+#define FDCAN_TTIE_RTMIE_Pos      (4U)
+#define FDCAN_TTIE_RTMIE_Msk      (0x1UL << FDCAN_TTIE_RTMIE_Pos)              /*!< 0x00000010 */
+#define FDCAN_TTIE_RTMIE          FDCAN_TTIE_RTMIE_Msk                         /*!<Register Time Mark Interrupt Interrupt Enable     */
+#define FDCAN_TTIE_TTMIE_Pos      (5U)
+#define FDCAN_TTIE_TTMIE_Msk      (0x1UL << FDCAN_TTIE_TTMIE_Pos)              /*!< 0x00000020 */
+#define FDCAN_TTIE_TTMIE          FDCAN_TTIE_TTMIE_Msk                         /*!<Trigger Time Mark Event Internal Interrupt Enable */
+#define FDCAN_TTIE_SWEE_Pos       (6U)
+#define FDCAN_TTIE_SWEE_Msk       (0x1UL << FDCAN_TTIE_SWEE_Pos)               /*!< 0x00000040 */
+#define FDCAN_TTIE_SWEE           FDCAN_TTIE_SWEE_Msk                          /*!<Stop Watch Event Interrupt Enable                 */
+#define FDCAN_TTIE_GTWE_Pos       (7U)
+#define FDCAN_TTIE_GTWE_Msk       (0x1UL << FDCAN_TTIE_GTWE_Pos)               /*!< 0x00000080 */
+#define FDCAN_TTIE_GTWE           FDCAN_TTIE_GTWE_Msk                          /*!<Global Time Wrap Interrupt Enable                 */
+#define FDCAN_TTIE_GTDE_Pos       (8U)
+#define FDCAN_TTIE_GTDE_Msk       (0x1UL << FDCAN_TTIE_GTDE_Pos)               /*!< 0x00000100 */
+#define FDCAN_TTIE_GTDE           FDCAN_TTIE_GTDE_Msk                          /*!<Global Time Discontinuity Interrupt Enable        */
+#define FDCAN_TTIE_GTEE_Pos       (9U)
+#define FDCAN_TTIE_GTEE_Msk       (0x1UL << FDCAN_TTIE_GTEE_Pos)               /*!< 0x00000200 */
+#define FDCAN_TTIE_GTEE           FDCAN_TTIE_GTEE_Msk                          /*!<Global Time Error Interrupt Enable                */
+#define FDCAN_TTIE_TXUE_Pos       (10U)
+#define FDCAN_TTIE_TXUE_Msk       (0x1UL << FDCAN_TTIE_TXUE_Pos)               /*!< 0x00000400 */
+#define FDCAN_TTIE_TXUE           FDCAN_TTIE_TXUE_Msk                          /*!<Tx Count Underflow Interrupt Enable               */
+#define FDCAN_TTIE_TXOE_Pos       (11U)
+#define FDCAN_TTIE_TXOE_Msk       (0x1UL << FDCAN_TTIE_TXOE_Pos)               /*!< 0x00000800 */
+#define FDCAN_TTIE_TXOE           FDCAN_TTIE_TXOE_Msk                          /*!<Tx Count Overflow Interrupt Enable                */
+#define FDCAN_TTIE_SE1E_Pos       (12U)
+#define FDCAN_TTIE_SE1E_Msk       (0x1UL << FDCAN_TTIE_SE1E_Pos)               /*!< 0x00001000 */
+#define FDCAN_TTIE_SE1E           FDCAN_TTIE_SE1E_Msk                          /*!<Scheduling Error 1 Interrupt Enable               */
+#define FDCAN_TTIE_SE2E_Pos       (13U)
+#define FDCAN_TTIE_SE2E_Msk       (0x1UL << FDCAN_TTIE_SE2E_Pos)               /*!< 0x00002000 */
+#define FDCAN_TTIE_SE2E           FDCAN_TTIE_SE2E_Msk                          /*!<Scheduling Error 2 Interrupt Enable               */
+#define FDCAN_TTIE_ELCE_Pos       (14U)
+#define FDCAN_TTIE_ELCE_Msk       (0x1UL << FDCAN_TTIE_ELCE_Pos)               /*!< 0x00004000 */
+#define FDCAN_TTIE_ELCE           FDCAN_TTIE_ELCE_Msk                          /*!<Error Level Changed Interrupt Enable              */
+#define FDCAN_TTIE_IWTE_Pos       (15U)
+#define FDCAN_TTIE_IWTE_Msk       (0x1UL << FDCAN_TTIE_IWTE_Pos)               /*!< 0x00008000 */
+#define FDCAN_TTIE_IWTE           FDCAN_TTIE_IWTE_Msk                          /*!<Initialization Watch Trigger Interrupt Enable     */
+#define FDCAN_TTIE_WTE_Pos        (16U)
+#define FDCAN_TTIE_WTE_Msk        (0x1UL << FDCAN_TTIE_WTE_Pos)                /*!< 0x00010000 */
+#define FDCAN_TTIE_WTE            FDCAN_TTIE_WTE_Msk                           /*!<Watch Trigger Interrupt Enable                    */
+#define FDCAN_TTIE_AWE_Pos        (17U)
+#define FDCAN_TTIE_AWE_Msk        (0x1UL << FDCAN_TTIE_AWE_Pos)                /*!< 0x00020000 */
+#define FDCAN_TTIE_AWE            FDCAN_TTIE_AWE_Msk                           /*!<Application Watchdog Interrupt Enable             */
+#define FDCAN_TTIE_CERE_Pos       (18U)
+#define FDCAN_TTIE_CERE_Msk       (0x1UL << FDCAN_TTIE_CERE_Pos)               /*!< 0x00040000 */
+#define FDCAN_TTIE_CERE           FDCAN_TTIE_CERE_Msk                          /*!<Configuration Error Interrupt Enable              */
+
+/*****************  Bit definition for FDCAN_TTILS register  ********************/
+#define FDCAN_TTILS_SBCS_Pos      (0U)
+#define FDCAN_TTILS_SBCS_Msk      (0x1UL << FDCAN_TTILS_SBCS_Pos)              /*!< 0x00000001 */
+#define FDCAN_TTILS_SBCS          FDCAN_TTILS_SBCS_Msk                         /*!<Start of Basic Cycle Interrupt Line               */
+#define FDCAN_TTILS_SMCS_Pos      (1U)
+#define FDCAN_TTILS_SMCS_Msk      (0x1UL << FDCAN_TTILS_SMCS_Pos)              /*!< 0x00000002 */
+#define FDCAN_TTILS_SMCS          FDCAN_TTILS_SMCS_Msk                         /*!<Start of Matrix Cycle Interrupt Line              */
+#define FDCAN_TTILS_CSMS_Pos      (2U)
+#define FDCAN_TTILS_CSMS_Msk      (0x1UL << FDCAN_TTILS_CSMS_Pos)              /*!< 0x00000004 */
+#define FDCAN_TTILS_CSMS          FDCAN_TTILS_CSMS_Msk                         /*!<Change of Synchronization Mode Interrupt Line     */
+#define FDCAN_TTILS_SOGS_Pos      (3U)
+#define FDCAN_TTILS_SOGS_Msk      (0x1UL << FDCAN_TTILS_SOGS_Pos)              /*!< 0x00000008 */
+#define FDCAN_TTILS_SOGS          FDCAN_TTILS_SOGS_Msk                         /*!<Start of Gap Interrupt Line                       */
+#define FDCAN_TTILS_RTMIS_Pos     (4U)
+#define FDCAN_TTILS_RTMIS_Msk     (0x1UL << FDCAN_TTILS_RTMIS_Pos)             /*!< 0x00000010 */
+#define FDCAN_TTILS_RTMIS         FDCAN_TTILS_RTMIS_Msk                        /*!<Register Time Mark Interrupt Interrupt Line       */
+#define FDCAN_TTILS_TTMIS_Pos     (5U)
+#define FDCAN_TTILS_TTMIS_Msk     (0x1UL << FDCAN_TTILS_TTMIS_Pos)             /*!< 0x00000020 */
+#define FDCAN_TTILS_TTMIS         FDCAN_TTILS_TTMIS_Msk                        /*!<Trigger Time Mark Event Internal Interrupt Line   */
+#define FDCAN_TTILS_SWES_Pos      (6U)
+#define FDCAN_TTILS_SWES_Msk      (0x1UL << FDCAN_TTILS_SWES_Pos)              /*!< 0x00000040 */
+#define FDCAN_TTILS_SWES          FDCAN_TTILS_SWES_Msk                         /*!<Stop Watch Event Interrupt Line                   */
+#define FDCAN_TTILS_GTWS_Pos      (7U)
+#define FDCAN_TTILS_GTWS_Msk      (0x1UL << FDCAN_TTILS_GTWS_Pos)              /*!< 0x00000080 */
+#define FDCAN_TTILS_GTWS          FDCAN_TTILS_GTWS_Msk                         /*!<Global Time Wrap Interrupt Line                   */
+#define FDCAN_TTILS_GTDS_Pos      (8U)
+#define FDCAN_TTILS_GTDS_Msk      (0x1UL << FDCAN_TTILS_GTDS_Pos)              /*!< 0x00000100 */
+#define FDCAN_TTILS_GTDS          FDCAN_TTILS_GTDS_Msk                         /*!<Global Time Discontinuity Interrupt Line          */
+#define FDCAN_TTILS_GTES_Pos      (9U)
+#define FDCAN_TTILS_GTES_Msk      (0x1UL << FDCAN_TTILS_GTES_Pos)              /*!< 0x00000200 */
+#define FDCAN_TTILS_GTES          FDCAN_TTILS_GTES_Msk                         /*!<Global Time Error Interrupt Line                  */
+#define FDCAN_TTILS_TXUS_Pos      (10U)
+#define FDCAN_TTILS_TXUS_Msk      (0x1UL << FDCAN_TTILS_TXUS_Pos)              /*!< 0x00000400 */
+#define FDCAN_TTILS_TXUS          FDCAN_TTILS_TXUS_Msk                         /*!<Tx Count Underflow Interrupt Line                 */
+#define FDCAN_TTILS_TXOS_Pos      (11U)
+#define FDCAN_TTILS_TXOS_Msk      (0x1UL << FDCAN_TTILS_TXOS_Pos)              /*!< 0x00000800 */
+#define FDCAN_TTILS_TXOS          FDCAN_TTILS_TXOS_Msk                         /*!<Tx Count Overflow Interrupt Line                  */
+#define FDCAN_TTILS_SE1S_Pos      (12U)
+#define FDCAN_TTILS_SE1S_Msk      (0x1UL << FDCAN_TTILS_SE1S_Pos)              /*!< 0x00001000 */
+#define FDCAN_TTILS_SE1S          FDCAN_TTILS_SE1S_Msk                         /*!<Scheduling Error 1 Interrupt Line                 */
+#define FDCAN_TTILS_SE2S_Pos      (13U)
+#define FDCAN_TTILS_SE2S_Msk      (0x1UL << FDCAN_TTILS_SE2S_Pos)              /*!< 0x00002000 */
+#define FDCAN_TTILS_SE2S          FDCAN_TTILS_SE2S_Msk                         /*!<Scheduling Error 2 Interrupt Line                 */
+#define FDCAN_TTILS_ELCS_Pos      (14U)
+#define FDCAN_TTILS_ELCS_Msk      (0x1UL << FDCAN_TTILS_ELCS_Pos)              /*!< 0x00004000 */
+#define FDCAN_TTILS_ELCS          FDCAN_TTILS_ELCS_Msk                         /*!<Error Level Changed Interrupt Line                */
+#define FDCAN_TTILS_IWTS_Pos      (15U)
+#define FDCAN_TTILS_IWTS_Msk      (0x1UL << FDCAN_TTILS_IWTS_Pos)              /*!< 0x00008000 */
+#define FDCAN_TTILS_IWTS          FDCAN_TTILS_IWTS_Msk                         /*!<Initialization Watch Trigger Interrupt Line       */
+#define FDCAN_TTILS_WTS_Pos       (16U)
+#define FDCAN_TTILS_WTS_Msk       (0x1UL << FDCAN_TTILS_WTS_Pos)               /*!< 0x00010000 */
+#define FDCAN_TTILS_WTS           FDCAN_TTILS_WTS_Msk                          /*!<Watch Trigger Interrupt Line                      */
+#define FDCAN_TTILS_AWS_Pos       (17U)
+#define FDCAN_TTILS_AWS_Msk       (0x1UL << FDCAN_TTILS_AWS_Pos)               /*!< 0x00020000 */
+#define FDCAN_TTILS_AWS           FDCAN_TTILS_AWS_Msk                          /*!<Application Watchdog Interrupt Line               */
+#define FDCAN_TTILS_CERS_Pos      (18U)
+#define FDCAN_TTILS_CERS_Msk      (0x1UL << FDCAN_TTILS_CERS_Pos)              /*!< 0x00040000 */
+#define FDCAN_TTILS_CERS          FDCAN_TTILS_CERS_Msk                         /*!<Configuration Error Interrupt Line                */
+
+/*****************  Bit definition for FDCAN_TTOST register  ********************/
+#define FDCAN_TTOST_EL_Pos        (0U)
+#define FDCAN_TTOST_EL_Msk        (0x3UL << FDCAN_TTOST_EL_Pos)                /*!< 0x00000003 */
+#define FDCAN_TTOST_EL            FDCAN_TTOST_EL_Msk                           /*!<Error Level                              */
+#define FDCAN_TTOST_MS_Pos        (2U)
+#define FDCAN_TTOST_MS_Msk        (0x3UL << FDCAN_TTOST_MS_Pos)                /*!< 0x0000000C */
+#define FDCAN_TTOST_MS            FDCAN_TTOST_MS_Msk                           /*!<Master State                             */
+#define FDCAN_TTOST_SYS_Pos       (4U)
+#define FDCAN_TTOST_SYS_Msk       (0x3UL << FDCAN_TTOST_SYS_Pos)               /*!< 0x00000030 */
+#define FDCAN_TTOST_SYS           FDCAN_TTOST_SYS_Msk                          /*!<Synchronization State                    */
+#define FDCAN_TTOST_QGTP_Pos      (6U)
+#define FDCAN_TTOST_QGTP_Msk      (0x1UL << FDCAN_TTOST_QGTP_Pos)              /*!< 0x00000040 */
+#define FDCAN_TTOST_QGTP          FDCAN_TTOST_QGTP_Msk                         /*!<Quality of Global Time Phase             */
+#define FDCAN_TTOST_QCS_Pos       (7U)
+#define FDCAN_TTOST_QCS_Msk       (0x1UL << FDCAN_TTOST_QCS_Pos)               /*!< 0x00000080 */
+#define FDCAN_TTOST_QCS           FDCAN_TTOST_QCS_Msk                          /*!<Quality of Clock Speed                   */
+#define FDCAN_TTOST_RTO_Pos       (8U)
+#define FDCAN_TTOST_RTO_Msk       (0xFFUL << FDCAN_TTOST_RTO_Pos)              /*!< 0x0000FF00 */
+#define FDCAN_TTOST_RTO           FDCAN_TTOST_RTO_Msk                          /*!<Reference Trigger Offset                 */
+#define FDCAN_TTOST_WGTD_Pos      (22U)
+#define FDCAN_TTOST_WGTD_Msk      (0x1UL << FDCAN_TTOST_WGTD_Pos)              /*!< 0x00400000 */
+#define FDCAN_TTOST_WGTD          FDCAN_TTOST_WGTD_Msk                         /*!<Wait for Global Time Discontinuity       */
+#define FDCAN_TTOST_GFI_Pos       (23U)
+#define FDCAN_TTOST_GFI_Msk       (0x1UL << FDCAN_TTOST_GFI_Pos)               /*!< 0x00800000 */
+#define FDCAN_TTOST_GFI           FDCAN_TTOST_GFI_Msk                          /*!<Gap Finished Indicator                   */
+#define FDCAN_TTOST_TMP_Pos       (24U)
+#define FDCAN_TTOST_TMP_Msk       (0x7UL << FDCAN_TTOST_TMP_Pos)               /*!< 0x07000000 */
+#define FDCAN_TTOST_TMP           FDCAN_TTOST_TMP_Msk                          /*!<Time Master Priority                     */
+#define FDCAN_TTOST_GSI_Pos       (27U)
+#define FDCAN_TTOST_GSI_Msk       (0x1UL << FDCAN_TTOST_GSI_Pos)               /*!< 0x08000000 */
+#define FDCAN_TTOST_GSI           FDCAN_TTOST_GSI_Msk                          /*!<Gap Started Indicator                    */
+#define FDCAN_TTOST_WFE_Pos       (28U)
+#define FDCAN_TTOST_WFE_Msk       (0x1UL << FDCAN_TTOST_WFE_Pos)               /*!< 0x10000000 */
+#define FDCAN_TTOST_WFE           FDCAN_TTOST_WFE_Msk                          /*!<Wait for Event                           */
+#define FDCAN_TTOST_AWE_Pos       (29U)
+#define FDCAN_TTOST_AWE_Msk       (0x1UL << FDCAN_TTOST_AWE_Pos)               /*!< 0x20000000 */
+#define FDCAN_TTOST_AWE           FDCAN_TTOST_AWE_Msk                          /*!<Application Watchdog Event               */
+#define FDCAN_TTOST_WECS_Pos      (30U)
+#define FDCAN_TTOST_WECS_Msk      (0x1UL << FDCAN_TTOST_WECS_Pos)              /*!< 0x40000000 */
+#define FDCAN_TTOST_WECS          FDCAN_TTOST_WECS_Msk                         /*!<Wait for External Clock Synchronization  */
+#define FDCAN_TTOST_SPL_Pos       (31U)
+#define FDCAN_TTOST_SPL_Msk       (0x1UL << FDCAN_TTOST_SPL_Pos)               /*!< 0x80000000 */
+#define FDCAN_TTOST_SPL           FDCAN_TTOST_SPL_Msk                          /*!<Schedule Phase Lock                      */
+
+/*****************  Bit definition for FDCAN_TURNA register  ********************/
+#define FDCAN_TURNA_NAV_Pos       (0U)
+#define FDCAN_TURNA_NAV_Msk       (0x3FFFFUL << FDCAN_TURNA_NAV_Pos)           /*!< 0x0003FFFF */
+#define FDCAN_TURNA_NAV           FDCAN_TURNA_NAV_Msk                          /*!<Numerator Actual Value                   */
+
+/*****************  Bit definition for FDCAN_TTLGT register  ********************/
+#define FDCAN_TTLGT_LT_Pos        (0U)
+#define FDCAN_TTLGT_LT_Msk        (0xFFFFUL << FDCAN_TTLGT_LT_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TTLGT_LT            FDCAN_TTLGT_LT_Msk                           /*!<Local Time                               */
+#define FDCAN_TTLGT_GT_Pos        (16U)
+#define FDCAN_TTLGT_GT_Msk        (0xFFFFUL << FDCAN_TTLGT_GT_Pos)             /*!< 0xFFFF0000 */
+#define FDCAN_TTLGT_GT            FDCAN_TTLGT_GT_Msk                           /*!<Global Time                              */
+
+/*****************  Bit definition for FDCAN_TTCTC register  ********************/
+#define FDCAN_TTCTC_CT_Pos        (0U)
+#define FDCAN_TTCTC_CT_Msk        (0xFFFFUL << FDCAN_TTCTC_CT_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TTCTC_CT            FDCAN_TTCTC_CT_Msk                           /*!<Cycle Time                               */
+#define FDCAN_TTCTC_CC_Pos        (16U)
+#define FDCAN_TTCTC_CC_Msk        (0x3FUL << FDCAN_TTCTC_CC_Pos)               /*!< 0x003F0000 */
+#define FDCAN_TTCTC_CC            FDCAN_TTCTC_CC_Msk                           /*!<Cycle Count                              */
+
+/*****************  Bit definition for FDCAN_TTCPT register  ********************/
+#define FDCAN_TTCPT_CCV_Pos       (0U)
+#define FDCAN_TTCPT_CCV_Msk       (0x3FUL << FDCAN_TTCPT_CCV_Pos)              /*!< 0x0000003F */
+#define FDCAN_TTCPT_CCV           FDCAN_TTCPT_CCV_Msk                          /*!<Cycle Count Value                        */
+#define FDCAN_TTCPT_SWV_Pos       (16U)
+#define FDCAN_TTCPT_SWV_Msk       (0xFFFFUL << FDCAN_TTCPT_SWV_Pos)            /*!< 0xFFFF0000 */
+#define FDCAN_TTCPT_SWV           FDCAN_TTCPT_SWV_Msk                          /*!<Stop Watch Value                         */
+
+/*****************  Bit definition for FDCAN_TTCSM register  ********************/
+#define FDCAN_TTCSM_CSM_Pos       (0U)
+#define FDCAN_TTCSM_CSM_Msk       (0xFFFFUL << FDCAN_TTCSM_CSM_Pos)            /*!< 0x0000FFFF */
+#define FDCAN_TTCSM_CSM           FDCAN_TTCSM_CSM_Msk                          /*!<Cycle Sync Mark                          */
+
+/*****************  Bit definition for FDCAN_TTTS register  *********************/
+#define FDCAN_TTTS_SWTSEL_Pos     (0U)
+#define FDCAN_TTTS_SWTSEL_Msk     (0x3UL << FDCAN_TTTS_SWTSEL_Pos)             /*!< 0x00000003 */
+#define FDCAN_TTTS_SWTSEL         FDCAN_TTTS_SWTSEL_Msk                        /*!<Stop watch trigger input selection       */
+#define FDCAN_TTTS_EVTSEL_Pos     (4U)
+#define FDCAN_TTTS_EVTSEL_Msk     (0x3UL << FDCAN_TTTS_EVTSEL_Pos)             /*!< 0x00000030 */
+#define FDCAN_TTTS_EVTSEL         FDCAN_TTTS_EVTSEL_Msk                        /*!<Event trigger input selection            */
+
+/********************************************************************************/
+/*                                                                              */
+/*                      FDCANCCU (Clock Calibration unit)                       */
+/*                                                                              */
+/********************************************************************************/
+
+/*****************  Bit definition for FDCANCCU_CREL register  ******************/
+#define FDCANCCU_CREL_DAY_Pos        (0U)
+#define FDCANCCU_CREL_DAY_Msk        (0xFFUL << FDCANCCU_CREL_DAY_Pos)         /*!< 0x000000FF */
+#define FDCANCCU_CREL_DAY            FDCANCCU_CREL_DAY_Msk                     /*!<Timestamp Day                           */
+#define FDCANCCU_CREL_MON_Pos        (8U)
+#define FDCANCCU_CREL_MON_Msk        (0xFFUL << FDCANCCU_CREL_MON_Pos)         /*!< 0x0000FF00 */
+#define FDCANCCU_CREL_MON            FDCANCCU_CREL_MON_Msk                     /*!<Timestamp Month                         */
+#define FDCANCCU_CREL_YEAR_Pos       (16U)
+#define FDCANCCU_CREL_YEAR_Msk       (0xFUL << FDCANCCU_CREL_YEAR_Pos)         /*!< 0x000F0000 */
+#define FDCANCCU_CREL_YEAR           FDCANCCU_CREL_YEAR_Msk                    /*!<Timestamp Year                          */
+#define FDCANCCU_CREL_SUBSTEP_Pos    (20U)
+#define FDCANCCU_CREL_SUBSTEP_Msk    (0xFUL << FDCANCCU_CREL_SUBSTEP_Pos)      /*!< 0x00F00000 */
+#define FDCANCCU_CREL_SUBSTEP        FDCANCCU_CREL_SUBSTEP_Msk                 /*!<Sub-step of Core release                */
+#define FDCANCCU_CREL_STEP_Pos       (24U)
+#define FDCANCCU_CREL_STEP_Msk       (0xFUL << FDCANCCU_CREL_STEP_Pos)         /*!< 0x0F000000 */
+#define FDCANCCU_CREL_STEP           FDCANCCU_CREL_STEP_Msk                    /*!<Step of Core release                    */
+#define FDCANCCU_CREL_REL_Pos        (28U)
+#define FDCANCCU_CREL_REL_Msk        (0xFUL << FDCANCCU_CREL_REL_Pos)          /*!< 0xF0000000 */
+#define FDCANCCU_CREL_REL            FDCANCCU_CREL_REL_Msk                     /*!<Core release                            */
+
+/*****************  Bit definition for FDCANCCU_CCFG register  ******************/
+#define FDCANCCU_CCFG_TQBT_Pos       (0U)
+#define FDCANCCU_CCFG_TQBT_Msk       (0x1FUL << FDCANCCU_CCFG_TQBT_Pos)        /*!< 0x0000001F */
+#define FDCANCCU_CCFG_TQBT           FDCANCCU_CCFG_TQBT_Msk                    /*!<Time Quanta per Bit Time                */
+#define FDCANCCU_CCFG_BCC_Pos        (6U)
+#define FDCANCCU_CCFG_BCC_Msk        (0x1UL << FDCANCCU_CCFG_BCC_Pos)          /*!< 0x00000040 */
+#define FDCANCCU_CCFG_BCC            FDCANCCU_CCFG_BCC_Msk                     /*!<Bypass Clock Calibration                */
+#define FDCANCCU_CCFG_CFL_Pos        (7U)
+#define FDCANCCU_CCFG_CFL_Msk        (0x1UL << FDCANCCU_CCFG_CFL_Pos)          /*!< 0x00000080 */
+#define FDCANCCU_CCFG_CFL            FDCANCCU_CCFG_CFL_Msk                     /*!<Calibration Field Length                */
+#define FDCANCCU_CCFG_OCPM_Pos       (8U)
+#define FDCANCCU_CCFG_OCPM_Msk       (0xFFUL << FDCANCCU_CCFG_OCPM_Pos)        /*!< 0x0000FF00 */
+#define FDCANCCU_CCFG_OCPM           FDCANCCU_CCFG_OCPM_Msk                    /*!<Oscillator Clock Periods Minimum        */
+#define FDCANCCU_CCFG_CDIV_Pos       (16U)
+#define FDCANCCU_CCFG_CDIV_Msk       (0xFUL << FDCANCCU_CCFG_CDIV_Pos)         /*!< 0x000F0000 */
+#define FDCANCCU_CCFG_CDIV           FDCANCCU_CCFG_CDIV_Msk                    /*!<Clock Divider                           */
+#define FDCANCCU_CCFG_SWR_Pos        (31U)
+#define FDCANCCU_CCFG_SWR_Msk        (0x1UL << FDCANCCU_CCFG_SWR_Pos)          /*!< 0x80000000 */
+#define FDCANCCU_CCFG_SWR            FDCANCCU_CCFG_SWR_Msk                     /*!<Software Reset                          */
+
+/*****************  Bit definition for FDCANCCU_CSTAT register  *****************/
+#define FDCANCCU_CSTAT_OCPC_Pos      (0U)
+#define FDCANCCU_CSTAT_OCPC_Msk      (0x3FFFFUL << FDCANCCU_CSTAT_OCPC_Pos)    /*!< 0x0003FFFF */
+#define FDCANCCU_CSTAT_OCPC          FDCANCCU_CSTAT_OCPC_Msk                   /*!<Oscillator Clock Period Counter        */
+#define FDCANCCU_CSTAT_TQC_Pos       (18U)
+#define FDCANCCU_CSTAT_TQC_Msk       (0x7FFUL << FDCANCCU_CSTAT_TQC_Pos)       /*!< 0x1FFC0000 */
+#define FDCANCCU_CSTAT_TQC           FDCANCCU_CSTAT_TQC_Msk                    /*!<Time Quanta Counter                    */
+#define FDCANCCU_CSTAT_CALS_Pos      (30U)
+#define FDCANCCU_CSTAT_CALS_Msk      (0x3UL << FDCANCCU_CSTAT_CALS_Pos)        /*!< 0xC0000000 */
+#define FDCANCCU_CSTAT_CALS          FDCANCCU_CSTAT_CALS_Msk                   /*!<Calibration State                      */
+
+/******************  Bit definition for FDCANCCU_CWD register  ******************/
+#define FDCANCCU_CWD_WDC_Pos         (0U)
+#define FDCANCCU_CWD_WDC_Msk         (0xFFFFUL << FDCANCCU_CWD_WDC_Pos)        /*!< 0x0000FFFF */
+#define FDCANCCU_CWD_WDC             FDCANCCU_CWD_WDC_Msk                      /*!<Watchdog Configuration                 */
+#define FDCANCCU_CWD_WDV_Pos         (16U)
+#define FDCANCCU_CWD_WDV_Msk         (0xFFFFUL << FDCANCCU_CWD_WDV_Pos)        /*!< 0xFFFF0000 */
+#define FDCANCCU_CWD_WDV             FDCANCCU_CWD_WDV_Msk                      /*!<Watchdog Value                         */
+
+/******************  Bit definition for FDCANCCU_IR register  *******************/
+#define FDCANCCU_IR_CWE_Pos          (0U)
+#define FDCANCCU_IR_CWE_Msk          (0x1UL << FDCANCCU_IR_CWE_Pos)            /*!< 0x00000001 */
+#define FDCANCCU_IR_CWE              FDCANCCU_IR_CWE_Msk                       /*!<Calibration Watchdog Event             */
+#define FDCANCCU_IR_CSC_Pos          (1U)
+#define FDCANCCU_IR_CSC_Msk          (0x1UL << FDCANCCU_IR_CSC_Pos)            /*!< 0x00000002 */
+#define FDCANCCU_IR_CSC              FDCANCCU_IR_CSC_Msk                       /*!<Calibration State Changed              */
+
+/******************  Bit definition for FDCANCCU_IE register  *******************/
+#define FDCANCCU_IE_CWEE_Pos         (0U)
+#define FDCANCCU_IE_CWEE_Msk         (0x1UL << FDCANCCU_IE_CWEE_Pos)           /*!< 0x00000001 */
+#define FDCANCCU_IE_CWEE             FDCANCCU_IE_CWEE_Msk                      /*!<Calibration Watchdog Event Enable      */
+#define FDCANCCU_IE_CSCE_Pos         (1U)
+#define FDCANCCU_IE_CSCE_Msk         (0x1UL << FDCANCCU_IE_CSCE_Pos)           /*!< 0x00000002 */
+#define FDCANCCU_IE_CSCE             FDCANCCU_IE_CSCE_Msk                      /*!<Calibration State Changed Enable       */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          HDMI-CEC (CEC)                                    */
+/*                                                                            */
+/******************************************************************************/
+
+/*******************  Bit definition for CEC_CR register  *********************/
+#define CEC_CR_CECEN_Pos         (0U)
+#define CEC_CR_CECEN_Msk         (0x1UL << CEC_CR_CECEN_Pos)                   /*!< 0x00000001 */
+#define CEC_CR_CECEN             CEC_CR_CECEN_Msk                              /*!< CEC Enable                                */
+#define CEC_CR_TXSOM_Pos         (1U)
+#define CEC_CR_TXSOM_Msk         (0x1UL << CEC_CR_TXSOM_Pos)                   /*!< 0x00000002 */
+#define CEC_CR_TXSOM             CEC_CR_TXSOM_Msk                              /*!< CEC Tx Start Of Message                   */
+#define CEC_CR_TXEOM_Pos         (2U)
+#define CEC_CR_TXEOM_Msk         (0x1UL << CEC_CR_TXEOM_Pos)                   /*!< 0x00000004 */
+#define CEC_CR_TXEOM             CEC_CR_TXEOM_Msk                              /*!< CEC Tx End Of Message                     */
+
+/*******************  Bit definition for CEC_CFGR register  *******************/
+#define CEC_CFGR_SFT_Pos         (0U)
+#define CEC_CFGR_SFT_Msk         (0x7UL << CEC_CFGR_SFT_Pos)                   /*!< 0x00000007 */
+#define CEC_CFGR_SFT             CEC_CFGR_SFT_Msk                              /*!< CEC Signal Free Time                      */
+#define CEC_CFGR_RXTOL_Pos       (3U)
+#define CEC_CFGR_RXTOL_Msk       (0x1UL << CEC_CFGR_RXTOL_Pos)                 /*!< 0x00000008 */
+#define CEC_CFGR_RXTOL           CEC_CFGR_RXTOL_Msk                            /*!< CEC Tolerance                             */
+#define CEC_CFGR_BRESTP_Pos      (4U)
+#define CEC_CFGR_BRESTP_Msk      (0x1UL << CEC_CFGR_BRESTP_Pos)                /*!< 0x00000010 */
+#define CEC_CFGR_BRESTP          CEC_CFGR_BRESTP_Msk                           /*!< CEC Rx Stop                               */
+#define CEC_CFGR_BREGEN_Pos      (5U)
+#define CEC_CFGR_BREGEN_Msk      (0x1UL << CEC_CFGR_BREGEN_Pos)                /*!< 0x00000020 */
+#define CEC_CFGR_BREGEN          CEC_CFGR_BREGEN_Msk                           /*!< CEC Bit Rising Error generation           */
+#define CEC_CFGR_LBPEGEN_Pos     (6U)
+#define CEC_CFGR_LBPEGEN_Msk     (0x1UL << CEC_CFGR_LBPEGEN_Pos)               /*!< 0x00000040 */
+#define CEC_CFGR_LBPEGEN         CEC_CFGR_LBPEGEN_Msk                          /*!< CEC Long Bit Period Error generation      */
+#define CEC_CFGR_SFTOPT_Pos      (8U)
+#define CEC_CFGR_SFTOPT_Msk      (0x1UL << CEC_CFGR_SFTOPT_Pos)                /*!< 0x00000100 */
+#define CEC_CFGR_SFTOPT          CEC_CFGR_SFTOPT_Msk                           /*!< CEC Signal Free Time optional             */
+#define CEC_CFGR_BRDNOGEN_Pos    (7U)
+#define CEC_CFGR_BRDNOGEN_Msk    (0x1UL << CEC_CFGR_BRDNOGEN_Pos)              /*!< 0x00000080 */
+#define CEC_CFGR_BRDNOGEN        CEC_CFGR_BRDNOGEN_Msk                         /*!< CEC Broadcast No error generation         */
+#define CEC_CFGR_OAR_Pos         (16U)
+#define CEC_CFGR_OAR_Msk         (0x7FFFUL << CEC_CFGR_OAR_Pos)                /*!< 0x7FFF0000 */
+#define CEC_CFGR_OAR             CEC_CFGR_OAR_Msk                              /*!< CEC Own Address                           */
+#define CEC_CFGR_LSTN_Pos        (31U)
+#define CEC_CFGR_LSTN_Msk        (0x1UL << CEC_CFGR_LSTN_Pos)                  /*!< 0x80000000 */
+#define CEC_CFGR_LSTN            CEC_CFGR_LSTN_Msk                             /*!< CEC Listen mode                           */
+
+/*******************  Bit definition for CEC_TXDR register  *******************/
+#define CEC_TXDR_TXD_Pos         (0U)
+#define CEC_TXDR_TXD_Msk         (0xFFUL << CEC_TXDR_TXD_Pos)                  /*!< 0x000000FF */
+#define CEC_TXDR_TXD             CEC_TXDR_TXD_Msk                              /*!< CEC Tx Data                               */
+
+/*******************  Bit definition for CEC_RXDR register  *******************/
+#define CEC_RXDR_RXD_Pos         (0U)
+#define CEC_RXDR_RXD_Msk         (0xFFUL << CEC_RXDR_RXD_Pos)                  /*!< 0x000000FF */
+#define CEC_RXDR_RXD             CEC_RXDR_RXD_Msk                              /*!< CEC Rx Data                               */
+
+/*******************  Bit definition for CEC_ISR register  ********************/
+#define CEC_ISR_RXBR_Pos         (0U)
+#define CEC_ISR_RXBR_Msk         (0x1UL << CEC_ISR_RXBR_Pos)                   /*!< 0x00000001 */
+#define CEC_ISR_RXBR             CEC_ISR_RXBR_Msk                              /*!< CEC Rx-Byte Received                      */
+#define CEC_ISR_RXEND_Pos        (1U)
+#define CEC_ISR_RXEND_Msk        (0x1UL << CEC_ISR_RXEND_Pos)                  /*!< 0x00000002 */
+#define CEC_ISR_RXEND            CEC_ISR_RXEND_Msk                             /*!< CEC End Of Reception                      */
+#define CEC_ISR_RXOVR_Pos        (2U)
+#define CEC_ISR_RXOVR_Msk        (0x1UL << CEC_ISR_RXOVR_Pos)                  /*!< 0x00000004 */
+#define CEC_ISR_RXOVR            CEC_ISR_RXOVR_Msk                             /*!< CEC Rx-Overrun                            */
+#define CEC_ISR_BRE_Pos          (3U)
+#define CEC_ISR_BRE_Msk          (0x1UL << CEC_ISR_BRE_Pos)                    /*!< 0x00000008 */
+#define CEC_ISR_BRE              CEC_ISR_BRE_Msk                               /*!< CEC Rx Bit Rising Error                   */
+#define CEC_ISR_SBPE_Pos         (4U)
+#define CEC_ISR_SBPE_Msk         (0x1UL << CEC_ISR_SBPE_Pos)                   /*!< 0x00000010 */
+#define CEC_ISR_SBPE             CEC_ISR_SBPE_Msk                              /*!< CEC Rx Short Bit period Error             */
+#define CEC_ISR_LBPE_Pos         (5U)
+#define CEC_ISR_LBPE_Msk         (0x1UL << CEC_ISR_LBPE_Pos)                   /*!< 0x00000020 */
+#define CEC_ISR_LBPE             CEC_ISR_LBPE_Msk                              /*!< CEC Rx Long Bit period Error              */
+#define CEC_ISR_RXACKE_Pos       (6U)
+#define CEC_ISR_RXACKE_Msk       (0x1UL << CEC_ISR_RXACKE_Pos)                 /*!< 0x00000040 */
+#define CEC_ISR_RXACKE           CEC_ISR_RXACKE_Msk                            /*!< CEC Rx Missing Acknowledge                */
+#define CEC_ISR_ARBLST_Pos       (7U)
+#define CEC_ISR_ARBLST_Msk       (0x1UL << CEC_ISR_ARBLST_Pos)                 /*!< 0x00000080 */
+#define CEC_ISR_ARBLST           CEC_ISR_ARBLST_Msk                            /*!< CEC Arbitration Lost                      */
+#define CEC_ISR_TXBR_Pos         (8U)
+#define CEC_ISR_TXBR_Msk         (0x1UL << CEC_ISR_TXBR_Pos)                   /*!< 0x00000100 */
+#define CEC_ISR_TXBR             CEC_ISR_TXBR_Msk                              /*!< CEC Tx Byte Request                       */
+#define CEC_ISR_TXEND_Pos        (9U)
+#define CEC_ISR_TXEND_Msk        (0x1UL << CEC_ISR_TXEND_Pos)                  /*!< 0x00000200 */
+#define CEC_ISR_TXEND            CEC_ISR_TXEND_Msk                             /*!< CEC End of Transmission                   */
+#define CEC_ISR_TXUDR_Pos        (10U)
+#define CEC_ISR_TXUDR_Msk        (0x1UL << CEC_ISR_TXUDR_Pos)                  /*!< 0x00000400 */
+#define CEC_ISR_TXUDR            CEC_ISR_TXUDR_Msk                             /*!< CEC Tx-Buffer Underrun                    */
+#define CEC_ISR_TXERR_Pos        (11U)
+#define CEC_ISR_TXERR_Msk        (0x1UL << CEC_ISR_TXERR_Pos)                  /*!< 0x00000800 */
+#define CEC_ISR_TXERR            CEC_ISR_TXERR_Msk                             /*!< CEC Tx-Error                              */
+#define CEC_ISR_TXACKE_Pos       (12U)
+#define CEC_ISR_TXACKE_Msk       (0x1UL << CEC_ISR_TXACKE_Pos)                 /*!< 0x00001000 */
+#define CEC_ISR_TXACKE           CEC_ISR_TXACKE_Msk                            /*!< CEC Tx Missing Acknowledge                */
+
+/*******************  Bit definition for CEC_IER register  ********************/
+#define CEC_IER_RXBRIE_Pos       (0U)
+#define CEC_IER_RXBRIE_Msk       (0x1UL << CEC_IER_RXBRIE_Pos)                 /*!< 0x00000001 */
+#define CEC_IER_RXBRIE           CEC_IER_RXBRIE_Msk                            /*!< CEC Rx-Byte Received IT Enable            */
+#define CEC_IER_RXENDIE_Pos      (1U)
+#define CEC_IER_RXENDIE_Msk      (0x1UL << CEC_IER_RXENDIE_Pos)                /*!< 0x00000002 */
+#define CEC_IER_RXENDIE          CEC_IER_RXENDIE_Msk                           /*!< CEC End Of Reception IT Enable            */
+#define CEC_IER_RXOVRIE_Pos      (2U)
+#define CEC_IER_RXOVRIE_Msk      (0x1UL << CEC_IER_RXOVRIE_Pos)                /*!< 0x00000004 */
+#define CEC_IER_RXOVRIE          CEC_IER_RXOVRIE_Msk                           /*!< CEC Rx-Overrun IT Enable                  */
+#define CEC_IER_BREIE_Pos        (3U)
+#define CEC_IER_BREIE_Msk        (0x1UL << CEC_IER_BREIE_Pos)                  /*!< 0x00000008 */
+#define CEC_IER_BREIE            CEC_IER_BREIE_Msk                             /*!< CEC Rx Bit Rising Error IT Enable         */
+#define CEC_IER_SBPEIE_Pos       (4U)
+#define CEC_IER_SBPEIE_Msk       (0x1UL << CEC_IER_SBPEIE_Pos)                 /*!< 0x00000010 */
+#define CEC_IER_SBPEIE           CEC_IER_SBPEIE_Msk                            /*!< CEC Rx Short Bit period Error IT Enable   */
+#define CEC_IER_LBPEIE_Pos       (5U)
+#define CEC_IER_LBPEIE_Msk       (0x1UL << CEC_IER_LBPEIE_Pos)                 /*!< 0x00000020 */
+#define CEC_IER_LBPEIE           CEC_IER_LBPEIE_Msk                            /*!< CEC Rx Long Bit period Error IT Enable    */
+#define CEC_IER_RXACKEIE_Pos     (6U)
+#define CEC_IER_RXACKEIE_Msk     (0x1UL << CEC_IER_RXACKEIE_Pos)               /*!< 0x00000040 */
+#define CEC_IER_RXACKEIE         CEC_IER_RXACKEIE_Msk                          /*!< CEC Rx Missing Acknowledge IT Enable      */
+#define CEC_IER_ARBLSTIE_Pos     (7U)
+#define CEC_IER_ARBLSTIE_Msk     (0x1UL << CEC_IER_ARBLSTIE_Pos)               /*!< 0x00000080 */
+#define CEC_IER_ARBLSTIE         CEC_IER_ARBLSTIE_Msk                          /*!< CEC Arbitration Lost IT Enable            */
+#define CEC_IER_TXBRIE_Pos       (8U)
+#define CEC_IER_TXBRIE_Msk       (0x1UL << CEC_IER_TXBRIE_Pos)                 /*!< 0x00000100 */
+#define CEC_IER_TXBRIE           CEC_IER_TXBRIE_Msk                            /*!< CEC Tx Byte Request  IT Enable            */
+#define CEC_IER_TXENDIE_Pos      (9U)
+#define CEC_IER_TXENDIE_Msk      (0x1UL << CEC_IER_TXENDIE_Pos)                /*!< 0x00000200 */
+#define CEC_IER_TXENDIE          CEC_IER_TXENDIE_Msk                           /*!< CEC End of Transmission IT Enable         */
+#define CEC_IER_TXUDRIE_Pos      (10U)
+#define CEC_IER_TXUDRIE_Msk      (0x1UL << CEC_IER_TXUDRIE_Pos)                /*!< 0x00000400 */
+#define CEC_IER_TXUDRIE          CEC_IER_TXUDRIE_Msk                           /*!< CEC Tx-Buffer Underrun IT Enable          */
+#define CEC_IER_TXERRIE_Pos      (11U)
+#define CEC_IER_TXERRIE_Msk      (0x1UL << CEC_IER_TXERRIE_Pos)                /*!< 0x00000800 */
+#define CEC_IER_TXERRIE          CEC_IER_TXERRIE_Msk                           /*!< CEC Tx-Error IT Enable                    */
+#define CEC_IER_TXACKEIE_Pos     (12U)
+#define CEC_IER_TXACKEIE_Msk     (0x1UL << CEC_IER_TXACKEIE_Pos)               /*!< 0x00001000 */
+#define CEC_IER_TXACKEIE         CEC_IER_TXACKEIE_Msk                          /*!< CEC Tx Missing Acknowledge IT Enable      */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          CORDIC calculation unit                           */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for CORDIC_CSR register  *****************/
+#define CORDIC_CSR_FUNC_Pos      (0U)
+#define CORDIC_CSR_FUNC_Msk      (0xFUL << CORDIC_CSR_FUNC_Pos)                /*!< 0x0000000F */
+#define CORDIC_CSR_FUNC          CORDIC_CSR_FUNC_Msk                           /*!< Function */
+#define CORDIC_CSR_FUNC_0        (0x1UL << CORDIC_CSR_FUNC_Pos)                /*!< 0x00000001 */
+#define CORDIC_CSR_FUNC_1        (0x2UL << CORDIC_CSR_FUNC_Pos)                /*!< 0x00000002 */
+#define CORDIC_CSR_FUNC_2        (0x4UL << CORDIC_CSR_FUNC_Pos)                /*!< 0x00000004 */
+#define CORDIC_CSR_FUNC_3        (0x8UL << CORDIC_CSR_FUNC_Pos)                /*!< 0x00000008 */
+#define CORDIC_CSR_PRECISION_Pos (4U)
+#define CORDIC_CSR_PRECISION_Msk (0xFUL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x000000F0 */
+#define CORDIC_CSR_PRECISION     CORDIC_CSR_PRECISION_Msk                      /*!< Precision */
+#define CORDIC_CSR_PRECISION_0   (0x1UL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x00000010 */
+#define CORDIC_CSR_PRECISION_1   (0x2UL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x00000020 */
+#define CORDIC_CSR_PRECISION_2   (0x4UL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x00000040 */
+#define CORDIC_CSR_PRECISION_3   (0x8UL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x00000080 */
+#define CORDIC_CSR_SCALE_Pos     (8U)
+#define CORDIC_CSR_SCALE_Msk     (0x7UL << CORDIC_CSR_SCALE_Pos)               /*!< 0x00000700 */
+#define CORDIC_CSR_SCALE         CORDIC_CSR_SCALE_Msk                          /*!< Scaling factor */
+#define CORDIC_CSR_SCALE_0       (0x1UL << CORDIC_CSR_SCALE_Pos)               /*!< 0x00000100 */
+#define CORDIC_CSR_SCALE_1       (0x2UL << CORDIC_CSR_SCALE_Pos)               /*!< 0x00000200 */
+#define CORDIC_CSR_SCALE_2       (0x4UL << CORDIC_CSR_SCALE_Pos)               /*!< 0x00000400 */
+#define CORDIC_CSR_IEN_Pos       (16U)
+#define CORDIC_CSR_IEN_Msk       (0x1UL << CORDIC_CSR_IEN_Pos)                 /*!< 0x00010000 */
+#define CORDIC_CSR_IEN           CORDIC_CSR_IEN_Msk                            /*!< Interrupt Enable */
+#define CORDIC_CSR_DMAREN_Pos    (17U)
+#define CORDIC_CSR_DMAREN_Msk    (0x1UL << CORDIC_CSR_DMAREN_Pos)              /*!< 0x00020000 */
+#define CORDIC_CSR_DMAREN        CORDIC_CSR_DMAREN_Msk                         /*!< DMA Read channel Enable */
+#define CORDIC_CSR_DMAWEN_Pos    (18U)
+#define CORDIC_CSR_DMAWEN_Msk    (0x1UL << CORDIC_CSR_DMAWEN_Pos)              /*!< 0x00040000 */
+#define CORDIC_CSR_DMAWEN        CORDIC_CSR_DMAWEN_Msk                         /*!< DMA Write channel Enable */
+#define CORDIC_CSR_NRES_Pos      (19U)
+#define CORDIC_CSR_NRES_Msk      (0x1UL << CORDIC_CSR_NRES_Pos)                /*!< 0x00080000 */
+#define CORDIC_CSR_NRES          CORDIC_CSR_NRES_Msk                           /*!< Number of results in WDATA register */
+#define CORDIC_CSR_NARGS_Pos     (20U)
+#define CORDIC_CSR_NARGS_Msk     (0x1UL << CORDIC_CSR_NARGS_Pos)               /*!< 0x00100000 */
+#define CORDIC_CSR_NARGS         CORDIC_CSR_NARGS_Msk                          /*!< Number of arguments in RDATA register */
+#define CORDIC_CSR_RESSIZE_Pos   (21U)
+#define CORDIC_CSR_RESSIZE_Msk   (0x1UL << CORDIC_CSR_RESSIZE_Pos)             /*!< 0x00200000 */
+#define CORDIC_CSR_RESSIZE       CORDIC_CSR_RESSIZE_Msk                        /*!< Width of output data */
+#define CORDIC_CSR_ARGSIZE_Pos   (22U)
+#define CORDIC_CSR_ARGSIZE_Msk   (0x1UL << CORDIC_CSR_ARGSIZE_Pos)             /*!< 0x00400000 */
+#define CORDIC_CSR_ARGSIZE       CORDIC_CSR_ARGSIZE_Msk                        /*!< Width of input data */
+#define CORDIC_CSR_RRDY_Pos      (31U)
+#define CORDIC_CSR_RRDY_Msk      (0x1UL << CORDIC_CSR_RRDY_Pos)                /*!< 0x80000000 */
+#define CORDIC_CSR_RRDY          CORDIC_CSR_RRDY_Msk                           /*!< Result Ready Flag */
+
+/*******************  Bit definition for CORDIC_WDATA register  ***************/
+#define CORDIC_WDATA_ARG_Pos     (0U)
+#define CORDIC_WDATA_ARG_Msk     (0xFFFFFFFFUL << CORDIC_WDATA_ARG_Pos)        /*!< 0xFFFFFFFF */
+#define CORDIC_WDATA_ARG         CORDIC_WDATA_ARG_Msk                          /*!< Input Argument */
+
+/*******************  Bit definition for CORDIC_RDATA register  ***************/
+#define CORDIC_RDATA_RES_Pos     (0U)
+#define CORDIC_RDATA_RES_Msk     (0xFFFFFFFFUL << CORDIC_RDATA_RES_Pos)        /*!< 0xFFFFFFFF */
+#define CORDIC_RDATA_RES         CORDIC_RDATA_RES_Msk                          /*!< Output Result */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          CRC calculation unit                              */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for CRC_DR register  *********************/
+#define CRC_DR_DR_Pos            (0U)
+#define CRC_DR_DR_Msk            (0xFFFFFFFFUL << CRC_DR_DR_Pos)               /*!< 0xFFFFFFFF */
+#define CRC_DR_DR                CRC_DR_DR_Msk                                 /*!< Data register bits */
+
+/*******************  Bit definition for CRC_IDR register  ********************/
+#define CRC_IDR_IDR_Pos          (0U)
+#define CRC_IDR_IDR_Msk          (0xFFFFFFFFUL << CRC_IDR_IDR_Pos)             /*!< 0xFFFFFFFF */
+#define CRC_IDR_IDR              CRC_IDR_IDR_Msk                               /*!< General-purpose 32-bit data register bits */
+
+/********************  Bit definition for CRC_CR register  ********************/
+#define CRC_CR_RESET_Pos         (0U)
+#define CRC_CR_RESET_Msk         (0x1UL << CRC_CR_RESET_Pos)                   /*!< 0x00000001 */
+#define CRC_CR_RESET             CRC_CR_RESET_Msk                              /*!< RESET the CRC computation unit bit */
+#define CRC_CR_POLYSIZE_Pos      (3U)
+#define CRC_CR_POLYSIZE_Msk      (0x3UL << CRC_CR_POLYSIZE_Pos)                /*!< 0x00000018 */
+#define CRC_CR_POLYSIZE          CRC_CR_POLYSIZE_Msk                           /*!< Polynomial size bits */
+#define CRC_CR_POLYSIZE_0        (0x1UL << CRC_CR_POLYSIZE_Pos)                 /*!< 0x00000008 */
+#define CRC_CR_POLYSIZE_1        (0x2UL << CRC_CR_POLYSIZE_Pos)                 /*!< 0x00000010 */
+#define CRC_CR_REV_IN_Pos        (5U)
+#define CRC_CR_REV_IN_Msk        (0x3UL << CRC_CR_REV_IN_Pos)                  /*!< 0x00000060 */
+#define CRC_CR_REV_IN            CRC_CR_REV_IN_Msk                             /*!< REV_IN Reverse Input Data bits */
+#define CRC_CR_REV_IN_0          (0x1UL << CRC_CR_REV_IN_Pos)                   /*!< 0x00000020 */
+#define CRC_CR_REV_IN_1          (0x2UL << CRC_CR_REV_IN_Pos)                   /*!< 0x00000040 */
+#define CRC_CR_REV_OUT_Pos       (7U)
+#define CRC_CR_REV_OUT_Msk       (0x1UL << CRC_CR_REV_OUT_Pos)                 /*!< 0x00000080 */
+#define CRC_CR_REV_OUT           CRC_CR_REV_OUT_Msk                            /*!< REV_OUT Reverse Output Data bits */
+
+/*******************  Bit definition for CRC_INIT register  *******************/
+#define CRC_INIT_INIT_Pos        (0U)
+#define CRC_INIT_INIT_Msk        (0xFFFFFFFFUL << CRC_INIT_INIT_Pos)           /*!< 0xFFFFFFFF */
+#define CRC_INIT_INIT            CRC_INIT_INIT_Msk                             /*!< Initial CRC value bits */
+
+/*******************  Bit definition for CRC_POL register  ********************/
+#define CRC_POL_POL_Pos          (0U)
+#define CRC_POL_POL_Msk          (0xFFFFFFFFUL << CRC_POL_POL_Pos)             /*!< 0xFFFFFFFF */
+#define CRC_POL_POL              CRC_POL_POL_Msk                               /*!< Coefficients of the polynomial */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          CRS Clock Recovery System                         */
+/******************************************************************************/
+
+/*******************  Bit definition for CRS_CR register  *********************/
+#define CRS_CR_SYNCOKIE_Pos       (0U)
+#define CRS_CR_SYNCOKIE_Msk       (0x1UL << CRS_CR_SYNCOKIE_Pos)               /*!< 0x00000001 */
+#define CRS_CR_SYNCOKIE           CRS_CR_SYNCOKIE_Msk                          /*!< SYNC event OK interrupt enable */
+#define CRS_CR_SYNCWARNIE_Pos     (1U)
+#define CRS_CR_SYNCWARNIE_Msk     (0x1UL << CRS_CR_SYNCWARNIE_Pos)             /*!< 0x00000002 */
+#define CRS_CR_SYNCWARNIE         CRS_CR_SYNCWARNIE_Msk                        /*!< SYNC warning interrupt enable */
+#define CRS_CR_ERRIE_Pos          (2U)
+#define CRS_CR_ERRIE_Msk          (0x1UL << CRS_CR_ERRIE_Pos)                  /*!< 0x00000004 */
+#define CRS_CR_ERRIE              CRS_CR_ERRIE_Msk                             /*!< SYNC error or trimming error interrupt enable */
+#define CRS_CR_ESYNCIE_Pos        (3U)
+#define CRS_CR_ESYNCIE_Msk        (0x1UL << CRS_CR_ESYNCIE_Pos)                /*!< 0x00000008 */
+#define CRS_CR_ESYNCIE            CRS_CR_ESYNCIE_Msk                           /*!< Expected SYNC interrupt enable */
+#define CRS_CR_CEN_Pos            (5U)
+#define CRS_CR_CEN_Msk            (0x1UL << CRS_CR_CEN_Pos)                    /*!< 0x00000020 */
+#define CRS_CR_CEN                CRS_CR_CEN_Msk                               /*!< Frequency error counter enable */
+#define CRS_CR_AUTOTRIMEN_Pos     (6U)
+#define CRS_CR_AUTOTRIMEN_Msk     (0x1UL << CRS_CR_AUTOTRIMEN_Pos)             /*!< 0x00000040 */
+#define CRS_CR_AUTOTRIMEN         CRS_CR_AUTOTRIMEN_Msk                        /*!< Automatic trimming enable */
+#define CRS_CR_SWSYNC_Pos         (7U)
+#define CRS_CR_SWSYNC_Msk         (0x1UL << CRS_CR_SWSYNC_Pos)                 /*!< 0x00000080 */
+#define CRS_CR_SWSYNC             CRS_CR_SWSYNC_Msk                            /*!< Generate software SYNC event */
+#define CRS_CR_TRIM_Pos           (8U)
+#define CRS_CR_TRIM_Msk           (0x3FUL << CRS_CR_TRIM_Pos)                  /*!< 0x00003F00 */
+#define CRS_CR_TRIM               CRS_CR_TRIM_Msk                              /*!< HSI48 oscillator smooth trimming */
+
+/*******************  Bit definition for CRS_CFGR register  *********************/
+#define CRS_CFGR_RELOAD_Pos       (0U)
+#define CRS_CFGR_RELOAD_Msk       (0xFFFFUL << CRS_CFGR_RELOAD_Pos)            /*!< 0x0000FFFF */
+#define CRS_CFGR_RELOAD           CRS_CFGR_RELOAD_Msk                          /*!< Counter reload value */
+#define CRS_CFGR_FELIM_Pos        (16U)
+#define CRS_CFGR_FELIM_Msk        (0xFFUL << CRS_CFGR_FELIM_Pos)               /*!< 0x00FF0000 */
+#define CRS_CFGR_FELIM            CRS_CFGR_FELIM_Msk                           /*!< Frequency error limit */
+
+#define CRS_CFGR_SYNCDIV_Pos      (24U)
+#define CRS_CFGR_SYNCDIV_Msk      (0x7UL << CRS_CFGR_SYNCDIV_Pos)              /*!< 0x07000000 */
+#define CRS_CFGR_SYNCDIV          CRS_CFGR_SYNCDIV_Msk                         /*!< SYNC divider */
+#define CRS_CFGR_SYNCDIV_0        (0x1UL << CRS_CFGR_SYNCDIV_Pos)               /*!< 0x01000000 */
+#define CRS_CFGR_SYNCDIV_1        (0x2UL << CRS_CFGR_SYNCDIV_Pos)               /*!< 0x02000000 */
+#define CRS_CFGR_SYNCDIV_2        (0x4UL << CRS_CFGR_SYNCDIV_Pos)               /*!< 0x04000000 */
+
+#define CRS_CFGR_SYNCSRC_Pos      (28U)
+#define CRS_CFGR_SYNCSRC_Msk      (0x3UL << CRS_CFGR_SYNCSRC_Pos)              /*!< 0x30000000 */
+#define CRS_CFGR_SYNCSRC          CRS_CFGR_SYNCSRC_Msk                         /*!< SYNC signal source selection */
+#define CRS_CFGR_SYNCSRC_0        (0x1UL << CRS_CFGR_SYNCSRC_Pos)               /*!< 0x10000000 */
+#define CRS_CFGR_SYNCSRC_1        (0x2UL << CRS_CFGR_SYNCSRC_Pos)               /*!< 0x20000000 */
+
+#define CRS_CFGR_SYNCPOL_Pos      (31U)
+#define CRS_CFGR_SYNCPOL_Msk      (0x1UL << CRS_CFGR_SYNCPOL_Pos)              /*!< 0x80000000 */
+#define CRS_CFGR_SYNCPOL          CRS_CFGR_SYNCPOL_Msk                         /*!< SYNC polarity selection */
+
+/*******************  Bit definition for CRS_ISR register  *********************/
+#define CRS_ISR_SYNCOKF_Pos       (0U)
+#define CRS_ISR_SYNCOKF_Msk       (0x1UL << CRS_ISR_SYNCOKF_Pos)               /*!< 0x00000001 */
+#define CRS_ISR_SYNCOKF           CRS_ISR_SYNCOKF_Msk                          /*!< SYNC event OK flag */
+#define CRS_ISR_SYNCWARNF_Pos     (1U)
+#define CRS_ISR_SYNCWARNF_Msk     (0x1UL << CRS_ISR_SYNCWARNF_Pos)             /*!< 0x00000002 */
+#define CRS_ISR_SYNCWARNF         CRS_ISR_SYNCWARNF_Msk                        /*!< SYNC warning flag */
+#define CRS_ISR_ERRF_Pos          (2U)
+#define CRS_ISR_ERRF_Msk          (0x1UL << CRS_ISR_ERRF_Pos)                  /*!< 0x00000004 */
+#define CRS_ISR_ERRF              CRS_ISR_ERRF_Msk                             /*!< Error flag */
+#define CRS_ISR_ESYNCF_Pos        (3U)
+#define CRS_ISR_ESYNCF_Msk        (0x1UL << CRS_ISR_ESYNCF_Pos)                /*!< 0x00000008 */
+#define CRS_ISR_ESYNCF            CRS_ISR_ESYNCF_Msk                           /*!< Expected SYNC flag */
+#define CRS_ISR_SYNCERR_Pos       (8U)
+#define CRS_ISR_SYNCERR_Msk       (0x1UL << CRS_ISR_SYNCERR_Pos)               /*!< 0x00000100 */
+#define CRS_ISR_SYNCERR           CRS_ISR_SYNCERR_Msk                          /*!< SYNC error */
+#define CRS_ISR_SYNCMISS_Pos      (9U)
+#define CRS_ISR_SYNCMISS_Msk      (0x1UL << CRS_ISR_SYNCMISS_Pos)              /*!< 0x00000200 */
+#define CRS_ISR_SYNCMISS          CRS_ISR_SYNCMISS_Msk                         /*!< SYNC missed */
+#define CRS_ISR_TRIMOVF_Pos       (10U)
+#define CRS_ISR_TRIMOVF_Msk       (0x1UL << CRS_ISR_TRIMOVF_Pos)               /*!< 0x00000400 */
+#define CRS_ISR_TRIMOVF           CRS_ISR_TRIMOVF_Msk                          /*!< Trimming overflow or underflow */
+#define CRS_ISR_FEDIR_Pos         (15U)
+#define CRS_ISR_FEDIR_Msk         (0x1UL << CRS_ISR_FEDIR_Pos)                 /*!< 0x00008000 */
+#define CRS_ISR_FEDIR             CRS_ISR_FEDIR_Msk                            /*!< Frequency error direction */
+#define CRS_ISR_FECAP_Pos         (16U)
+#define CRS_ISR_FECAP_Msk         (0xFFFFUL << CRS_ISR_FECAP_Pos)              /*!< 0xFFFF0000 */
+#define CRS_ISR_FECAP             CRS_ISR_FECAP_Msk                            /*!< Frequency error capture */
+
+/*******************  Bit definition for CRS_ICR register  *********************/
+#define CRS_ICR_SYNCOKC_Pos       (0U)
+#define CRS_ICR_SYNCOKC_Msk       (0x1UL << CRS_ICR_SYNCOKC_Pos)               /*!< 0x00000001 */
+#define CRS_ICR_SYNCOKC           CRS_ICR_SYNCOKC_Msk                          /*!< SYNC event OK clear flag */
+#define CRS_ICR_SYNCWARNC_Pos     (1U)
+#define CRS_ICR_SYNCWARNC_Msk     (0x1UL << CRS_ICR_SYNCWARNC_Pos)             /*!< 0x00000002 */
+#define CRS_ICR_SYNCWARNC         CRS_ICR_SYNCWARNC_Msk                        /*!< SYNC warning clear flag */
+#define CRS_ICR_ERRC_Pos          (2U)
+#define CRS_ICR_ERRC_Msk          (0x1UL << CRS_ICR_ERRC_Pos)                  /*!< 0x00000004 */
+#define CRS_ICR_ERRC              CRS_ICR_ERRC_Msk                             /*!< Error clear flag */
+#define CRS_ICR_ESYNCC_Pos        (3U)
+#define CRS_ICR_ESYNCC_Msk        (0x1UL << CRS_ICR_ESYNCC_Pos)                /*!< 0x00000008 */
+#define CRS_ICR_ESYNCC            CRS_ICR_ESYNCC_Msk                           /*!< Expected SYNC clear flag */
+
+/******************************************************************************/
+/*                                                                            */
+/*                            Crypto Processor                                */
+/*                                                                            */
+/******************************************************************************/
+/********************************  CRYP VER  **********************************/
+#define  CRYP_VER_2_2
+/******************* Bits definition for CRYP_CR register  ********************/
+#define CRYP_CR_ALGODIR_Pos              (2U)
+#define CRYP_CR_ALGODIR_Msk              (0x1UL << CRYP_CR_ALGODIR_Pos)        /*!< 0x00000004 */
+#define CRYP_CR_ALGODIR                  CRYP_CR_ALGODIR_Msk
+
+#define CRYP_CR_ALGOMODE_Pos             (3U)
+#define CRYP_CR_ALGOMODE_Msk             (0x10007UL << CRYP_CR_ALGOMODE_Pos)   /*!< 0x00080038 */
+#define CRYP_CR_ALGOMODE                 CRYP_CR_ALGOMODE_Msk
+#define CRYP_CR_ALGOMODE_0               (0x00001UL << CRYP_CR_ALGOMODE_Pos)    /*!< 0x00000008 */
+#define CRYP_CR_ALGOMODE_1               (0x00002UL << CRYP_CR_ALGOMODE_Pos)    /*!< 0x00000010 */
+#define CRYP_CR_ALGOMODE_2               (0x00004UL << CRYP_CR_ALGOMODE_Pos)    /*!< 0x00000020 */
+#define CRYP_CR_ALGOMODE_TDES_ECB        ((uint32_t)0x00000000)
+#define CRYP_CR_ALGOMODE_TDES_CBC_Pos    (3U)
+#define CRYP_CR_ALGOMODE_TDES_CBC_Msk    (0x1UL << CRYP_CR_ALGOMODE_TDES_CBC_Pos) /*!< 0x00000008 */
+#define CRYP_CR_ALGOMODE_TDES_CBC        CRYP_CR_ALGOMODE_TDES_CBC_Msk
+#define CRYP_CR_ALGOMODE_DES_ECB_Pos     (4U)
+#define CRYP_CR_ALGOMODE_DES_ECB_Msk     (0x1UL << CRYP_CR_ALGOMODE_DES_ECB_Pos) /*!< 0x00000010 */
+#define CRYP_CR_ALGOMODE_DES_ECB         CRYP_CR_ALGOMODE_DES_ECB_Msk
+#define CRYP_CR_ALGOMODE_DES_CBC_Pos     (3U)
+#define CRYP_CR_ALGOMODE_DES_CBC_Msk     (0x3UL << CRYP_CR_ALGOMODE_DES_CBC_Pos) /*!< 0x00000018 */
+#define CRYP_CR_ALGOMODE_DES_CBC         CRYP_CR_ALGOMODE_DES_CBC_Msk
+#define CRYP_CR_ALGOMODE_AES_ECB_Pos     (5U)
+#define CRYP_CR_ALGOMODE_AES_ECB_Msk     (0x1UL << CRYP_CR_ALGOMODE_AES_ECB_Pos) /*!< 0x00000020 */
+#define CRYP_CR_ALGOMODE_AES_ECB         CRYP_CR_ALGOMODE_AES_ECB_Msk
+#define CRYP_CR_ALGOMODE_AES_CBC_Pos     (3U)
+#define CRYP_CR_ALGOMODE_AES_CBC_Msk     (0x5UL << CRYP_CR_ALGOMODE_AES_CBC_Pos) /*!< 0x00000028 */
+#define CRYP_CR_ALGOMODE_AES_CBC         CRYP_CR_ALGOMODE_AES_CBC_Msk
+#define CRYP_CR_ALGOMODE_AES_CTR_Pos     (4U)
+#define CRYP_CR_ALGOMODE_AES_CTR_Msk     (0x3UL << CRYP_CR_ALGOMODE_AES_CTR_Pos) /*!< 0x00000030 */
+#define CRYP_CR_ALGOMODE_AES_CTR         CRYP_CR_ALGOMODE_AES_CTR_Msk
+#define CRYP_CR_ALGOMODE_AES_KEY_Pos     (3U)
+#define CRYP_CR_ALGOMODE_AES_KEY_Msk     (0x7UL << CRYP_CR_ALGOMODE_AES_KEY_Pos) /*!< 0x00000038 */
+#define CRYP_CR_ALGOMODE_AES_KEY         CRYP_CR_ALGOMODE_AES_KEY_Msk
+#define CRYP_CR_ALGOMODE_AES_GCM_Pos     (19U)
+#define CRYP_CR_ALGOMODE_AES_GCM_Msk     (0x1UL << CRYP_CR_ALGOMODE_AES_GCM_Pos) /*!< 0x00080000 */
+#define CRYP_CR_ALGOMODE_AES_GCM         CRYP_CR_ALGOMODE_AES_GCM_Msk
+#define CRYP_CR_ALGOMODE_AES_CCM_Pos     (3U)
+#define CRYP_CR_ALGOMODE_AES_CCM_Msk     (0x10001UL << CRYP_CR_ALGOMODE_AES_CCM_Pos) /*!< 0x00080008 */
+#define CRYP_CR_ALGOMODE_AES_CCM         CRYP_CR_ALGOMODE_AES_CCM_Msk
+
+#define CRYP_CR_DATATYPE_Pos             (6U)
+#define CRYP_CR_DATATYPE_Msk             (0x3UL << CRYP_CR_DATATYPE_Pos)       /*!< 0x000000C0 */
+#define CRYP_CR_DATATYPE                 CRYP_CR_DATATYPE_Msk
+#define CRYP_CR_DATATYPE_0               (0x1UL << CRYP_CR_DATATYPE_Pos)        /*!< 0x00000040 */
+#define CRYP_CR_DATATYPE_1               (0x2UL << CRYP_CR_DATATYPE_Pos)        /*!< 0x00000080 */
+#define CRYP_CR_KEYSIZE_Pos              (8U)
+#define CRYP_CR_KEYSIZE_Msk              (0x3UL << CRYP_CR_KEYSIZE_Pos)        /*!< 0x00000300 */
+#define CRYP_CR_KEYSIZE                  CRYP_CR_KEYSIZE_Msk
+#define CRYP_CR_KEYSIZE_0                (0x1UL << CRYP_CR_KEYSIZE_Pos)         /*!< 0x00000100 */
+#define CRYP_CR_KEYSIZE_1                (0x2UL << CRYP_CR_KEYSIZE_Pos)         /*!< 0x00000200 */
+#define CRYP_CR_FFLUSH_Pos               (14U)
+#define CRYP_CR_FFLUSH_Msk               (0x1UL << CRYP_CR_FFLUSH_Pos)         /*!< 0x00004000 */
+#define CRYP_CR_FFLUSH                   CRYP_CR_FFLUSH_Msk
+#define CRYP_CR_CRYPEN_Pos               (15U)
+#define CRYP_CR_CRYPEN_Msk               (0x1UL << CRYP_CR_CRYPEN_Pos)         /*!< 0x00008000 */
+#define CRYP_CR_CRYPEN                   CRYP_CR_CRYPEN_Msk
+
+#define CRYP_CR_GCM_CCMPH_Pos            (16U)
+#define CRYP_CR_GCM_CCMPH_Msk            (0x3UL << CRYP_CR_GCM_CCMPH_Pos)      /*!< 0x00030000 */
+#define CRYP_CR_GCM_CCMPH                CRYP_CR_GCM_CCMPH_Msk
+#define CRYP_CR_GCM_CCMPH_0              (0x1UL << CRYP_CR_GCM_CCMPH_Pos)       /*!< 0x00010000 */
+#define CRYP_CR_GCM_CCMPH_1              (0x2UL << CRYP_CR_GCM_CCMPH_Pos)       /*!< 0x00020000 */
+#define CRYP_CR_ALGOMODE_3               ((uint32_t)0x00080000)
+#define CRYP_CR_NPBLB_Pos                (20U)
+#define CRYP_CR_NPBLB_Msk                (0xFUL << CRYP_CR_NPBLB_Pos)          /*!< 0x00F00000 */
+#define CRYP_CR_NPBLB                    CRYP_CR_NPBLB_Msk
+
+/****************** Bits definition for CRYP_SR register  *********************/
+#define CRYP_SR_IFEM_Pos                 (0U)
+#define CRYP_SR_IFEM_Msk                 (0x1UL << CRYP_SR_IFEM_Pos)           /*!< 0x00000001 */
+#define CRYP_SR_IFEM                     CRYP_SR_IFEM_Msk
+#define CRYP_SR_IFNF_Pos                 (1U)
+#define CRYP_SR_IFNF_Msk                 (0x1UL << CRYP_SR_IFNF_Pos)           /*!< 0x00000002 */
+#define CRYP_SR_IFNF                     CRYP_SR_IFNF_Msk
+#define CRYP_SR_OFNE_Pos                 (2U)
+#define CRYP_SR_OFNE_Msk                 (0x1UL << CRYP_SR_OFNE_Pos)           /*!< 0x00000004 */
+#define CRYP_SR_OFNE                     CRYP_SR_OFNE_Msk
+#define CRYP_SR_OFFU_Pos                 (3U)
+#define CRYP_SR_OFFU_Msk                 (0x1UL << CRYP_SR_OFFU_Pos)           /*!< 0x00000008 */
+#define CRYP_SR_OFFU                     CRYP_SR_OFFU_Msk
+#define CRYP_SR_BUSY_Pos                 (4U)
+#define CRYP_SR_BUSY_Msk                 (0x1UL << CRYP_SR_BUSY_Pos)           /*!< 0x00000010 */
+#define CRYP_SR_BUSY                     CRYP_SR_BUSY_Msk
+/****************** Bits definition for CRYP_DMACR register  ******************/
+#define CRYP_DMACR_DIEN_Pos              (0U)
+#define CRYP_DMACR_DIEN_Msk              (0x1UL << CRYP_DMACR_DIEN_Pos)        /*!< 0x00000001 */
+#define CRYP_DMACR_DIEN                  CRYP_DMACR_DIEN_Msk
+#define CRYP_DMACR_DOEN_Pos              (1U)
+#define CRYP_DMACR_DOEN_Msk              (0x1UL << CRYP_DMACR_DOEN_Pos)        /*!< 0x00000002 */
+#define CRYP_DMACR_DOEN                  CRYP_DMACR_DOEN_Msk
+/*****************  Bits definition for CRYP_IMSCR register  ******************/
+#define CRYP_IMSCR_INIM_Pos              (0U)
+#define CRYP_IMSCR_INIM_Msk              (0x1UL << CRYP_IMSCR_INIM_Pos)        /*!< 0x00000001 */
+#define CRYP_IMSCR_INIM                  CRYP_IMSCR_INIM_Msk
+#define CRYP_IMSCR_OUTIM_Pos             (1U)
+#define CRYP_IMSCR_OUTIM_Msk             (0x1UL << CRYP_IMSCR_OUTIM_Pos)       /*!< 0x00000002 */
+#define CRYP_IMSCR_OUTIM                 CRYP_IMSCR_OUTIM_Msk
+/****************** Bits definition for CRYP_RISR register  *******************/
+#define CRYP_RISR_INRIS_Pos              (0U)
+#define CRYP_RISR_INRIS_Msk              (0x1UL << CRYP_RISR_INRIS_Pos)        /*!< 0x00000001 */
+#define CRYP_RISR_INRIS                  CRYP_RISR_INRIS_Msk
+#define CRYP_RISR_OUTRIS_Pos             (1U)
+#define CRYP_RISR_OUTRIS_Msk             (0x1UL << CRYP_RISR_OUTRIS_Pos)       /*!< 0x00000002 */
+#define CRYP_RISR_OUTRIS                 CRYP_RISR_OUTRIS_Msk
+/****************** Bits definition for CRYP_MISR register  *******************/
+#define CRYP_MISR_INMIS_Pos              (0U)
+#define CRYP_MISR_INMIS_Msk              (0x1UL << CRYP_MISR_INMIS_Pos)        /*!< 0x00000001 */
+#define CRYP_MISR_INMIS                  CRYP_MISR_INMIS_Msk
+#define CRYP_MISR_OUTMIS_Pos             (1U)
+#define CRYP_MISR_OUTMIS_Msk             (0x1UL << CRYP_MISR_OUTMIS_Pos)       /*!< 0x00000002 */
+#define CRYP_MISR_OUTMIS                 CRYP_MISR_OUTMIS_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                      Digital to Analog Converter                           */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for DAC_CR register  ********************/
+#define DAC_CR_EN1_Pos              (0U)
+#define DAC_CR_EN1_Msk              (0x1UL << DAC_CR_EN1_Pos)                  /*!< 0x00000001 */
+#define DAC_CR_EN1                  DAC_CR_EN1_Msk                             /*!<DAC channel1 enable */
+#define DAC_CR_TEN1_Pos             (1U)
+#define DAC_CR_TEN1_Msk             (0x1UL << DAC_CR_TEN1_Pos)                 /*!< 0x00000002 */
+#define DAC_CR_TEN1                 DAC_CR_TEN1_Msk                            /*!<DAC channel1 Trigger enable */
+
+#define DAC_CR_TSEL1_Pos            (2U)
+#define DAC_CR_TSEL1_Msk            (0xFUL << DAC_CR_TSEL1_Pos)                /*!< 0x0000003C */
+#define DAC_CR_TSEL1                DAC_CR_TSEL1_Msk                           /*!<TSEL1[2:0] (DAC channel1 Trigger selection) */
+#define DAC_CR_TSEL1_0              (0x1UL << DAC_CR_TSEL1_Pos)                 /*!< 0x00000004 */
+#define DAC_CR_TSEL1_1              (0x2UL << DAC_CR_TSEL1_Pos)                 /*!< 0x00000008 */
+#define DAC_CR_TSEL1_2              (0x4UL << DAC_CR_TSEL1_Pos)                 /*!< 0x00000010 */
+#define DAC_CR_TSEL1_3              (0x8UL << DAC_CR_TSEL1_Pos)                 /*!< 0x00000020 */
+
+
+#define DAC_CR_WAVE1_Pos            (6U)
+#define DAC_CR_WAVE1_Msk            (0x3UL << DAC_CR_WAVE1_Pos)                /*!< 0x000000C0 */
+#define DAC_CR_WAVE1                DAC_CR_WAVE1_Msk                           /*!<WAVE1[1:0] (DAC channel1 noise/triangle wave generation enable) */
+#define DAC_CR_WAVE1_0              (0x1UL << DAC_CR_WAVE1_Pos)                 /*!< 0x00000040 */
+#define DAC_CR_WAVE1_1              (0x2UL << DAC_CR_WAVE1_Pos)                 /*!< 0x00000080 */
+
+#define DAC_CR_MAMP1_Pos            (8U)
+#define DAC_CR_MAMP1_Msk            (0xFUL << DAC_CR_MAMP1_Pos)                /*!< 0x00000F00 */
+#define DAC_CR_MAMP1                DAC_CR_MAMP1_Msk                           /*!<MAMP1[3:0] (DAC channel1 Mask/Amplitude selector) */
+#define DAC_CR_MAMP1_0              (0x1UL << DAC_CR_MAMP1_Pos)                 /*!< 0x00000100 */
+#define DAC_CR_MAMP1_1              (0x2UL << DAC_CR_MAMP1_Pos)                 /*!< 0x00000200 */
+#define DAC_CR_MAMP1_2              (0x4UL << DAC_CR_MAMP1_Pos)                 /*!< 0x00000400 */
+#define DAC_CR_MAMP1_3              (0x8UL << DAC_CR_MAMP1_Pos)                 /*!< 0x00000800 */
+
+#define DAC_CR_DMAEN1_Pos           (12U)
+#define DAC_CR_DMAEN1_Msk           (0x1UL << DAC_CR_DMAEN1_Pos)               /*!< 0x00001000 */
+#define DAC_CR_DMAEN1               DAC_CR_DMAEN1_Msk                          /*!<DAC channel1 DMA enable */
+#define DAC_CR_DMAUDRIE1_Pos        (13U)
+#define DAC_CR_DMAUDRIE1_Msk        (0x1UL << DAC_CR_DMAUDRIE1_Pos)            /*!< 0x00002000 */
+#define DAC_CR_DMAUDRIE1            DAC_CR_DMAUDRIE1_Msk                       /*!<DAC channel 1 DMA underrun interrupt enable  >*/
+#define DAC_CR_CEN1_Pos             (14U)
+#define DAC_CR_CEN1_Msk             (0x1UL << DAC_CR_CEN1_Pos)                 /*!< 0x00004000 */
+#define DAC_CR_CEN1                 DAC_CR_CEN1_Msk                            /*!<DAC channel 1 calibration enable >*/
+
+#define DAC_CR_EN2_Pos              (16U)
+#define DAC_CR_EN2_Msk              (0x1UL << DAC_CR_EN2_Pos)                  /*!< 0x00010000 */
+#define DAC_CR_EN2                  DAC_CR_EN2_Msk                             /*!<DAC channel2 enable */
+#define DAC_CR_TEN2_Pos             (17U)
+#define DAC_CR_TEN2_Msk             (0x1UL << DAC_CR_TEN2_Pos)                 /*!< 0x00020000 */
+#define DAC_CR_TEN2                 DAC_CR_TEN2_Msk                            /*!<DAC channel2 Trigger enable */
+
+#define DAC_CR_TSEL2_Pos            (18U)
+#define DAC_CR_TSEL2_Msk            (0xFUL << DAC_CR_TSEL2_Pos)                /*!< 0x003C0000 */
+#define DAC_CR_TSEL2                DAC_CR_TSEL2_Msk                           /*!<TSEL2[2:0] (DAC channel2 Trigger selection) */
+#define DAC_CR_TSEL2_0              (0x1UL << DAC_CR_TSEL2_Pos)                 /*!< 0x00040000 */
+#define DAC_CR_TSEL2_1              (0x2UL << DAC_CR_TSEL2_Pos)                 /*!< 0x00080000 */
+#define DAC_CR_TSEL2_2              (0x4UL << DAC_CR_TSEL2_Pos)                 /*!< 0x00100000 */
+#define DAC_CR_TSEL2_3              (0x8UL << DAC_CR_TSEL2_Pos)                 /*!< 0x00200000 */
+
+
+#define DAC_CR_WAVE2_Pos            (22U)
+#define DAC_CR_WAVE2_Msk            (0x3UL << DAC_CR_WAVE2_Pos)                /*!< 0x00C00000 */
+#define DAC_CR_WAVE2                DAC_CR_WAVE2_Msk                           /*!<WAVE2[1:0] (DAC channel2 noise/triangle wave generation enable) */
+#define DAC_CR_WAVE2_0              (0x1UL << DAC_CR_WAVE2_Pos)                 /*!< 0x00400000 */
+#define DAC_CR_WAVE2_1              (0x2UL << DAC_CR_WAVE2_Pos)                 /*!< 0x00800000 */
+
+#define DAC_CR_MAMP2_Pos            (24U)
+#define DAC_CR_MAMP2_Msk            (0xFUL << DAC_CR_MAMP2_Pos)                /*!< 0x0F000000 */
+#define DAC_CR_MAMP2                DAC_CR_MAMP2_Msk                           /*!<MAMP2[3:0] (DAC channel2 Mask/Amplitude selector) */
+#define DAC_CR_MAMP2_0              (0x1UL << DAC_CR_MAMP2_Pos)                 /*!< 0x01000000 */
+#define DAC_CR_MAMP2_1              (0x2UL << DAC_CR_MAMP2_Pos)                 /*!< 0x02000000 */
+#define DAC_CR_MAMP2_2              (0x4UL << DAC_CR_MAMP2_Pos)                 /*!< 0x04000000 */
+#define DAC_CR_MAMP2_3              (0x8UL << DAC_CR_MAMP2_Pos)                 /*!< 0x08000000 */
+
+#define DAC_CR_DMAEN2_Pos           (28U)
+#define DAC_CR_DMAEN2_Msk           (0x1UL << DAC_CR_DMAEN2_Pos)               /*!< 0x10000000 */
+#define DAC_CR_DMAEN2               DAC_CR_DMAEN2_Msk                          /*!<DAC channel2 DMA enabled */
+#define DAC_CR_DMAUDRIE2_Pos        (29U)
+#define DAC_CR_DMAUDRIE2_Msk        (0x1UL << DAC_CR_DMAUDRIE2_Pos)            /*!< 0x20000000 */
+#define DAC_CR_DMAUDRIE2            DAC_CR_DMAUDRIE2_Msk                       /*!<DAC channel2 DMA underrun interrupt enable  >*/
+#define DAC_CR_CEN2_Pos             (30U)
+#define DAC_CR_CEN2_Msk             (0x1UL << DAC_CR_CEN2_Pos)                 /*!< 0x40000000 */
+#define DAC_CR_CEN2                 DAC_CR_CEN2_Msk                            /*!<DAC channel2 calibration enable >*/
+
+/*****************  Bit definition for DAC_SWTRIGR register  ******************/
+#define DAC_SWTRIGR_SWTRIG1_Pos     (0U)
+#define DAC_SWTRIGR_SWTRIG1_Msk     (0x1UL << DAC_SWTRIGR_SWTRIG1_Pos)         /*!< 0x00000001 */
+#define DAC_SWTRIGR_SWTRIG1         DAC_SWTRIGR_SWTRIG1_Msk                    /*!<DAC channel1 software trigger */
+#define DAC_SWTRIGR_SWTRIG2_Pos     (1U)
+#define DAC_SWTRIGR_SWTRIG2_Msk     (0x1UL << DAC_SWTRIGR_SWTRIG2_Pos)         /*!< 0x00000002 */
+#define DAC_SWTRIGR_SWTRIG2         DAC_SWTRIGR_SWTRIG2_Msk                    /*!<DAC channel2 software trigger */
+
+/*****************  Bit definition for DAC_DHR12R1 register  ******************/
+#define DAC_DHR12R1_DACC1DHR_Pos    (0U)
+#define DAC_DHR12R1_DACC1DHR_Msk    (0xFFFUL << DAC_DHR12R1_DACC1DHR_Pos)      /*!< 0x00000FFF */
+#define DAC_DHR12R1_DACC1DHR        DAC_DHR12R1_DACC1DHR_Msk                   /*!<DAC channel1 12-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12L1 register  ******************/
+#define DAC_DHR12L1_DACC1DHR_Pos    (4U)
+#define DAC_DHR12L1_DACC1DHR_Msk    (0xFFFUL << DAC_DHR12L1_DACC1DHR_Pos)      /*!< 0x0000FFF0 */
+#define DAC_DHR12L1_DACC1DHR        DAC_DHR12L1_DACC1DHR_Msk                   /*!<DAC channel1 12-bit Left aligned data */
+
+/******************  Bit definition for DAC_DHR8R1 register  ******************/
+#define DAC_DHR8R1_DACC1DHR_Pos     (0U)
+#define DAC_DHR8R1_DACC1DHR_Msk     (0xFFUL << DAC_DHR8R1_DACC1DHR_Pos)        /*!< 0x000000FF */
+#define DAC_DHR8R1_DACC1DHR         DAC_DHR8R1_DACC1DHR_Msk                    /*!<DAC channel1 8-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12R2 register  ******************/
+#define DAC_DHR12R2_DACC2DHR_Pos    (0U)
+#define DAC_DHR12R2_DACC2DHR_Msk    (0xFFFUL << DAC_DHR12R2_DACC2DHR_Pos)      /*!< 0x00000FFF */
+#define DAC_DHR12R2_DACC2DHR        DAC_DHR12R2_DACC2DHR_Msk                   /*!<DAC channel2 12-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12L2 register  ******************/
+#define DAC_DHR12L2_DACC2DHR_Pos    (4U)
+#define DAC_DHR12L2_DACC2DHR_Msk    (0xFFFUL << DAC_DHR12L2_DACC2DHR_Pos)      /*!< 0x0000FFF0 */
+#define DAC_DHR12L2_DACC2DHR        DAC_DHR12L2_DACC2DHR_Msk                   /*!<DAC channel2 12-bit Left aligned data */
+
+/******************  Bit definition for DAC_DHR8R2 register  ******************/
+#define DAC_DHR8R2_DACC2DHR_Pos     (0U)
+#define DAC_DHR8R2_DACC2DHR_Msk     (0xFFUL << DAC_DHR8R2_DACC2DHR_Pos)        /*!< 0x000000FF */
+#define DAC_DHR8R2_DACC2DHR         DAC_DHR8R2_DACC2DHR_Msk                    /*!<DAC channel2 8-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12RD register  ******************/
+#define DAC_DHR12RD_DACC1DHR_Pos    (0U)
+#define DAC_DHR12RD_DACC1DHR_Msk    (0xFFFUL << DAC_DHR12RD_DACC1DHR_Pos)      /*!< 0x00000FFF */
+#define DAC_DHR12RD_DACC1DHR        DAC_DHR12RD_DACC1DHR_Msk                   /*!<DAC channel1 12-bit Right aligned data */
+#define DAC_DHR12RD_DACC2DHR_Pos    (16U)
+#define DAC_DHR12RD_DACC2DHR_Msk    (0xFFFUL << DAC_DHR12RD_DACC2DHR_Pos)      /*!< 0x0FFF0000 */
+#define DAC_DHR12RD_DACC2DHR        DAC_DHR12RD_DACC2DHR_Msk                   /*!<DAC channel2 12-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12LD register  ******************/
+#define DAC_DHR12LD_DACC1DHR_Pos    (4U)
+#define DAC_DHR12LD_DACC1DHR_Msk    (0xFFFUL << DAC_DHR12LD_DACC1DHR_Pos)      /*!< 0x0000FFF0 */
+#define DAC_DHR12LD_DACC1DHR        DAC_DHR12LD_DACC1DHR_Msk                   /*!<DAC channel1 12-bit Left aligned data */
+#define DAC_DHR12LD_DACC2DHR_Pos    (20U)
+#define DAC_DHR12LD_DACC2DHR_Msk    (0xFFFUL << DAC_DHR12LD_DACC2DHR_Pos)      /*!< 0xFFF00000 */
+#define DAC_DHR12LD_DACC2DHR        DAC_DHR12LD_DACC2DHR_Msk                   /*!<DAC channel2 12-bit Left aligned data */
+
+/******************  Bit definition for DAC_DHR8RD register  ******************/
+#define DAC_DHR8RD_DACC1DHR_Pos     (0U)
+#define DAC_DHR8RD_DACC1DHR_Msk     (0xFFUL << DAC_DHR8RD_DACC1DHR_Pos)        /*!< 0x000000FF */
+#define DAC_DHR8RD_DACC1DHR         DAC_DHR8RD_DACC1DHR_Msk                    /*!<DAC channel1 8-bit Right aligned data */
+#define DAC_DHR8RD_DACC2DHR_Pos     (8U)
+#define DAC_DHR8RD_DACC2DHR_Msk     (0xFFUL << DAC_DHR8RD_DACC2DHR_Pos)        /*!< 0x0000FF00 */
+#define DAC_DHR8RD_DACC2DHR         DAC_DHR8RD_DACC2DHR_Msk                    /*!<DAC channel2 8-bit Right aligned data */
+
+/*******************  Bit definition for DAC_DOR1 register  *******************/
+#define DAC_DOR1_DACC1DOR_Pos       (0U)
+#define DAC_DOR1_DACC1DOR_Msk       (0xFFFUL << DAC_DOR1_DACC1DOR_Pos)         /*!< 0x00000FFF */
+#define DAC_DOR1_DACC1DOR           DAC_DOR1_DACC1DOR_Msk                      /*!<DAC channel1 data output */
+
+/*******************  Bit definition for DAC_DOR2 register  *******************/
+#define DAC_DOR2_DACC2DOR_Pos       (0U)
+#define DAC_DOR2_DACC2DOR_Msk       (0xFFFUL << DAC_DOR2_DACC2DOR_Pos)         /*!< 0x00000FFF */
+#define DAC_DOR2_DACC2DOR           DAC_DOR2_DACC2DOR_Msk                      /*!<DAC channel2 data output */
+
+/********************  Bit definition for DAC_SR register  ********************/
+#define DAC_SR_DMAUDR1_Pos          (13U)
+#define DAC_SR_DMAUDR1_Msk          (0x1UL << DAC_SR_DMAUDR1_Pos)              /*!< 0x00002000 */
+#define DAC_SR_DMAUDR1              DAC_SR_DMAUDR1_Msk                         /*!<DAC channel1 DMA underrun flag */
+#define DAC_SR_CAL_FLAG1_Pos        (14U)
+#define DAC_SR_CAL_FLAG1_Msk        (0x1UL << DAC_SR_CAL_FLAG1_Pos)            /*!< 0x00004000 */
+#define DAC_SR_CAL_FLAG1            DAC_SR_CAL_FLAG1_Msk                       /*!<DAC channel1 calibration offset status */
+#define DAC_SR_BWST1_Pos            (15U)
+#define DAC_SR_BWST1_Msk            (0x4001UL << DAC_SR_BWST1_Pos)             /*!< 0x20008000 */
+#define DAC_SR_BWST1                DAC_SR_BWST1_Msk                           /*!<DAC channel1 busy writing sample time flag */
+
+#define DAC_SR_DMAUDR2_Pos          (29U)
+#define DAC_SR_DMAUDR2_Msk          (0x1UL << DAC_SR_DMAUDR2_Pos)              /*!< 0x20000000 */
+#define DAC_SR_DMAUDR2              DAC_SR_DMAUDR2_Msk                         /*!<DAC channel2 DMA underrun flag */
+#define DAC_SR_CAL_FLAG2_Pos        (30U)
+#define DAC_SR_CAL_FLAG2_Msk        (0x1UL << DAC_SR_CAL_FLAG2_Pos)            /*!< 0x40000000 */
+#define DAC_SR_CAL_FLAG2            DAC_SR_CAL_FLAG2_Msk                       /*!<DAC channel2 calibration offset status */
+#define DAC_SR_BWST2_Pos            (31U)
+#define DAC_SR_BWST2_Msk            (0x1UL << DAC_SR_BWST2_Pos)                /*!< 0x80000000 */
+#define DAC_SR_BWST2                DAC_SR_BWST2_Msk                           /*!<DAC channel2 busy writing sample time flag */
+
+/*******************  Bit definition for DAC_CCR register  ********************/
+#define DAC_CCR_OTRIM1_Pos          (0U)
+#define DAC_CCR_OTRIM1_Msk          (0x1FUL << DAC_CCR_OTRIM1_Pos)             /*!< 0x0000001F */
+#define DAC_CCR_OTRIM1              DAC_CCR_OTRIM1_Msk                         /*!<DAC channel1 offset trimming value */
+#define DAC_CCR_OTRIM2_Pos          (16U)
+#define DAC_CCR_OTRIM2_Msk          (0x1FUL << DAC_CCR_OTRIM2_Pos)             /*!< 0x001F0000 */
+#define DAC_CCR_OTRIM2              DAC_CCR_OTRIM2_Msk                         /*!<DAC channel2 offset trimming value */
+
+/*******************  Bit definition for DAC_MCR register  *******************/
+#define DAC_MCR_MODE1_Pos           (0U)
+#define DAC_MCR_MODE1_Msk           (0x7UL << DAC_MCR_MODE1_Pos)               /*!< 0x00000007 */
+#define DAC_MCR_MODE1               DAC_MCR_MODE1_Msk                          /*!<MODE1[2:0] (DAC channel1 mode) */
+#define DAC_MCR_MODE1_0             (0x1UL << DAC_MCR_MODE1_Pos)                /*!< 0x00000001 */
+#define DAC_MCR_MODE1_1             (0x2UL << DAC_MCR_MODE1_Pos)                /*!< 0x00000002 */
+#define DAC_MCR_MODE1_2             (0x4UL << DAC_MCR_MODE1_Pos)                /*!< 0x00000004 */
+
+#define DAC_MCR_MODE2_Pos           (16U)
+#define DAC_MCR_MODE2_Msk           (0x7UL << DAC_MCR_MODE2_Pos)               /*!< 0x00070000 */
+#define DAC_MCR_MODE2               DAC_MCR_MODE2_Msk                          /*!<MODE2[2:0] (DAC channel2 mode) */
+#define DAC_MCR_MODE2_0             (0x1UL << DAC_MCR_MODE2_Pos)                /*!< 0x00010000 */
+#define DAC_MCR_MODE2_1             (0x2UL << DAC_MCR_MODE2_Pos)                /*!< 0x00020000 */
+#define DAC_MCR_MODE2_2             (0x4UL << DAC_MCR_MODE2_Pos)                /*!< 0x00040000 */
+
+/******************  Bit definition for DAC_SHSR1 register  ******************/
+#define DAC_SHSR1_TSAMPLE1_Pos      (0U)
+#define DAC_SHSR1_TSAMPLE1_Msk      (0x3FFUL << DAC_SHSR1_TSAMPLE1_Pos)        /*!< 0x000003FF */
+#define DAC_SHSR1_TSAMPLE1          DAC_SHSR1_TSAMPLE1_Msk                     /*!<DAC channel1 sample time */
+
+/******************  Bit definition for DAC_SHSR2 register  ******************/
+#define DAC_SHSR2_TSAMPLE2_Pos      (0U)
+#define DAC_SHSR2_TSAMPLE2_Msk      (0x3FFUL << DAC_SHSR2_TSAMPLE2_Pos)        /*!< 0x000003FF */
+#define DAC_SHSR2_TSAMPLE2          DAC_SHSR2_TSAMPLE2_Msk                     /*!<DAC channel2 sample time */
+
+/******************  Bit definition for DAC_SHHR register  ******************/
+#define DAC_SHHR_THOLD1_Pos         (0U)
+#define DAC_SHHR_THOLD1_Msk         (0x3FFUL << DAC_SHHR_THOLD1_Pos)           /*!< 0x000003FF */
+#define DAC_SHHR_THOLD1             DAC_SHHR_THOLD1_Msk                        /*!<DAC channel1 hold time */
+#define DAC_SHHR_THOLD2_Pos         (16U)
+#define DAC_SHHR_THOLD2_Msk         (0x3FFUL << DAC_SHHR_THOLD2_Pos)           /*!< 0x03FF0000 */
+#define DAC_SHHR_THOLD2             DAC_SHHR_THOLD2_Msk                        /*!<DAC channel2 hold time */
+
+/******************  Bit definition for DAC_SHRR register  ******************/
+#define DAC_SHRR_TREFRESH1_Pos      (0U)
+#define DAC_SHRR_TREFRESH1_Msk      (0xFFUL << DAC_SHRR_TREFRESH1_Pos)         /*!< 0x000000FF */
+#define DAC_SHRR_TREFRESH1          DAC_SHRR_TREFRESH1_Msk                     /*!<DAC channel1 refresh time */
+#define DAC_SHRR_TREFRESH2_Pos      (16U)
+#define DAC_SHRR_TREFRESH2_Msk      (0xFFUL << DAC_SHRR_TREFRESH2_Pos)         /*!< 0x00FF0000 */
+#define DAC_SHRR_TREFRESH2          DAC_SHRR_TREFRESH2_Msk                     /*!<DAC channel2 refresh time */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    DCMI                                    */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bits definition for DCMI_CR register  ******************/
+#define DCMI_CR_CAPTURE_Pos        (0U)
+#define DCMI_CR_CAPTURE_Msk        (0x1UL << DCMI_CR_CAPTURE_Pos)              /*!< 0x00000001 */
+#define DCMI_CR_CAPTURE            DCMI_CR_CAPTURE_Msk
+#define DCMI_CR_CM_Pos             (1U)
+#define DCMI_CR_CM_Msk             (0x1UL << DCMI_CR_CM_Pos)                   /*!< 0x00000002 */
+#define DCMI_CR_CM                 DCMI_CR_CM_Msk
+#define DCMI_CR_CROP_Pos           (2U)
+#define DCMI_CR_CROP_Msk           (0x1UL << DCMI_CR_CROP_Pos)                 /*!< 0x00000004 */
+#define DCMI_CR_CROP               DCMI_CR_CROP_Msk
+#define DCMI_CR_JPEG_Pos           (3U)
+#define DCMI_CR_JPEG_Msk           (0x1UL << DCMI_CR_JPEG_Pos)                 /*!< 0x00000008 */
+#define DCMI_CR_JPEG               DCMI_CR_JPEG_Msk
+#define DCMI_CR_ESS_Pos            (4U)
+#define DCMI_CR_ESS_Msk            (0x1UL << DCMI_CR_ESS_Pos)                  /*!< 0x00000010 */
+#define DCMI_CR_ESS                DCMI_CR_ESS_Msk
+#define DCMI_CR_PCKPOL_Pos         (5U)
+#define DCMI_CR_PCKPOL_Msk         (0x1UL << DCMI_CR_PCKPOL_Pos)               /*!< 0x00000020 */
+#define DCMI_CR_PCKPOL             DCMI_CR_PCKPOL_Msk
+#define DCMI_CR_HSPOL_Pos          (6U)
+#define DCMI_CR_HSPOL_Msk          (0x1UL << DCMI_CR_HSPOL_Pos)                /*!< 0x00000040 */
+#define DCMI_CR_HSPOL              DCMI_CR_HSPOL_Msk
+#define DCMI_CR_VSPOL_Pos          (7U)
+#define DCMI_CR_VSPOL_Msk          (0x1UL << DCMI_CR_VSPOL_Pos)                /*!< 0x00000080 */
+#define DCMI_CR_VSPOL              DCMI_CR_VSPOL_Msk
+#define DCMI_CR_FCRC_0             ((uint32_t)0x00000100U)
+#define DCMI_CR_FCRC_1             ((uint32_t)0x00000200U)
+#define DCMI_CR_EDM_0              ((uint32_t)0x00000400U)
+#define DCMI_CR_EDM_1              ((uint32_t)0x00000800U)
+#define DCMI_CR_CRE_Pos            (12U)
+#define DCMI_CR_CRE_Msk            (0x1UL << DCMI_CR_CRE_Pos)                  /*!< 0x00001000 */
+#define DCMI_CR_CRE                DCMI_CR_CRE_Msk
+#define DCMI_CR_ENABLE_Pos         (14U)
+#define DCMI_CR_ENABLE_Msk         (0x1UL << DCMI_CR_ENABLE_Pos)               /*!< 0x00004000 */
+#define DCMI_CR_ENABLE             DCMI_CR_ENABLE_Msk
+#define DCMI_CR_BSM_Pos            (16U)
+#define DCMI_CR_BSM_Msk            (0x3UL << DCMI_CR_BSM_Pos)                  /*!< 0x00030000 */
+#define DCMI_CR_BSM                DCMI_CR_BSM_Msk
+#define DCMI_CR_BSM_0              (0x1UL << DCMI_CR_BSM_Pos)                   /*!< 0x00010000 */
+#define DCMI_CR_BSM_1              (0x2UL << DCMI_CR_BSM_Pos)                   /*!< 0x00020000 */
+#define DCMI_CR_OEBS_Pos           (18U)
+#define DCMI_CR_OEBS_Msk           (0x1UL << DCMI_CR_OEBS_Pos)                 /*!< 0x00040000 */
+#define DCMI_CR_OEBS               DCMI_CR_OEBS_Msk
+#define DCMI_CR_LSM_Pos            (19U)
+#define DCMI_CR_LSM_Msk            (0x1UL << DCMI_CR_LSM_Pos)                  /*!< 0x00080000 */
+#define DCMI_CR_LSM                DCMI_CR_LSM_Msk
+#define DCMI_CR_OELS_Pos           (20U)
+#define DCMI_CR_OELS_Msk           (0x1UL << DCMI_CR_OELS_Pos)                 /*!< 0x00100000 */
+#define DCMI_CR_OELS               DCMI_CR_OELS_Msk
+
+/********************  Bits definition for DCMI_SR register  ******************/
+#define DCMI_SR_HSYNC_Pos          (0U)
+#define DCMI_SR_HSYNC_Msk          (0x1UL << DCMI_SR_HSYNC_Pos)                /*!< 0x00000001 */
+#define DCMI_SR_HSYNC              DCMI_SR_HSYNC_Msk
+#define DCMI_SR_VSYNC_Pos          (1U)
+#define DCMI_SR_VSYNC_Msk          (0x1UL << DCMI_SR_VSYNC_Pos)                /*!< 0x00000002 */
+#define DCMI_SR_VSYNC              DCMI_SR_VSYNC_Msk
+#define DCMI_SR_FNE_Pos            (2U)
+#define DCMI_SR_FNE_Msk            (0x1UL << DCMI_SR_FNE_Pos)                  /*!< 0x00000004 */
+#define DCMI_SR_FNE                DCMI_SR_FNE_Msk
+
+/********************  Bits definition for DCMI_RIS register   ****************/
+#define DCMI_RIS_FRAME_RIS_Pos     (0U)
+#define DCMI_RIS_FRAME_RIS_Msk     (0x1UL << DCMI_RIS_FRAME_RIS_Pos)           /*!< 0x00000001 */
+#define DCMI_RIS_FRAME_RIS         DCMI_RIS_FRAME_RIS_Msk
+#define DCMI_RIS_OVR_RIS_Pos       (1U)
+#define DCMI_RIS_OVR_RIS_Msk       (0x1UL << DCMI_RIS_OVR_RIS_Pos)             /*!< 0x00000002 */
+#define DCMI_RIS_OVR_RIS           DCMI_RIS_OVR_RIS_Msk
+#define DCMI_RIS_ERR_RIS_Pos       (2U)
+#define DCMI_RIS_ERR_RIS_Msk       (0x1UL << DCMI_RIS_ERR_RIS_Pos)             /*!< 0x00000004 */
+#define DCMI_RIS_ERR_RIS           DCMI_RIS_ERR_RIS_Msk
+#define DCMI_RIS_VSYNC_RIS_Pos     (3U)
+#define DCMI_RIS_VSYNC_RIS_Msk     (0x1UL << DCMI_RIS_VSYNC_RIS_Pos)           /*!< 0x00000008 */
+#define DCMI_RIS_VSYNC_RIS         DCMI_RIS_VSYNC_RIS_Msk
+#define DCMI_RIS_LINE_RIS_Pos      (4U)
+#define DCMI_RIS_LINE_RIS_Msk      (0x1UL << DCMI_RIS_LINE_RIS_Pos)            /*!< 0x00000010 */
+#define DCMI_RIS_LINE_RIS          DCMI_RIS_LINE_RIS_Msk
+
+/********************  Bits definition for DCMI_IER register  *****************/
+#define DCMI_IER_FRAME_IE_Pos      (0U)
+#define DCMI_IER_FRAME_IE_Msk      (0x1UL << DCMI_IER_FRAME_IE_Pos)            /*!< 0x00000001 */
+#define DCMI_IER_FRAME_IE          DCMI_IER_FRAME_IE_Msk
+#define DCMI_IER_OVR_IE_Pos        (1U)
+#define DCMI_IER_OVR_IE_Msk        (0x1UL << DCMI_IER_OVR_IE_Pos)              /*!< 0x00000002 */
+#define DCMI_IER_OVR_IE            DCMI_IER_OVR_IE_Msk
+#define DCMI_IER_ERR_IE_Pos        (2U)
+#define DCMI_IER_ERR_IE_Msk        (0x1UL << DCMI_IER_ERR_IE_Pos)              /*!< 0x00000004 */
+#define DCMI_IER_ERR_IE            DCMI_IER_ERR_IE_Msk
+#define DCMI_IER_VSYNC_IE_Pos      (3U)
+#define DCMI_IER_VSYNC_IE_Msk      (0x1UL << DCMI_IER_VSYNC_IE_Pos)            /*!< 0x00000008 */
+#define DCMI_IER_VSYNC_IE          DCMI_IER_VSYNC_IE_Msk
+#define DCMI_IER_LINE_IE_Pos       (4U)
+#define DCMI_IER_LINE_IE_Msk       (0x1UL << DCMI_IER_LINE_IE_Pos)             /*!< 0x00000010 */
+#define DCMI_IER_LINE_IE           DCMI_IER_LINE_IE_Msk
+
+
+/********************  Bits definition for DCMI_MIS register  *****************/
+#define DCMI_MIS_FRAME_MIS_Pos     (0U)
+#define DCMI_MIS_FRAME_MIS_Msk     (0x1UL << DCMI_MIS_FRAME_MIS_Pos)           /*!< 0x00000001 */
+#define DCMI_MIS_FRAME_MIS         DCMI_MIS_FRAME_MIS_Msk
+#define DCMI_MIS_OVR_MIS_Pos       (1U)
+#define DCMI_MIS_OVR_MIS_Msk       (0x1UL << DCMI_MIS_OVR_MIS_Pos)             /*!< 0x00000002 */
+#define DCMI_MIS_OVR_MIS           DCMI_MIS_OVR_MIS_Msk
+#define DCMI_MIS_ERR_MIS_Pos       (2U)
+#define DCMI_MIS_ERR_MIS_Msk       (0x1UL << DCMI_MIS_ERR_MIS_Pos)             /*!< 0x00000004 */
+#define DCMI_MIS_ERR_MIS           DCMI_MIS_ERR_MIS_Msk
+#define DCMI_MIS_VSYNC_MIS_Pos     (3U)
+#define DCMI_MIS_VSYNC_MIS_Msk     (0x1UL << DCMI_MIS_VSYNC_MIS_Pos)           /*!< 0x00000008 */
+#define DCMI_MIS_VSYNC_MIS         DCMI_MIS_VSYNC_MIS_Msk
+#define DCMI_MIS_LINE_MIS_Pos      (4U)
+#define DCMI_MIS_LINE_MIS_Msk      (0x1UL << DCMI_MIS_LINE_MIS_Pos)            /*!< 0x00000010 */
+#define DCMI_MIS_LINE_MIS          DCMI_MIS_LINE_MIS_Msk
+
+
+/********************  Bits definition for DCMI_ICR register  *****************/
+#define DCMI_ICR_FRAME_ISC_Pos     (0U)
+#define DCMI_ICR_FRAME_ISC_Msk     (0x1UL << DCMI_ICR_FRAME_ISC_Pos)           /*!< 0x00000001 */
+#define DCMI_ICR_FRAME_ISC         DCMI_ICR_FRAME_ISC_Msk
+#define DCMI_ICR_OVR_ISC_Pos       (1U)
+#define DCMI_ICR_OVR_ISC_Msk       (0x1UL << DCMI_ICR_OVR_ISC_Pos)             /*!< 0x00000002 */
+#define DCMI_ICR_OVR_ISC           DCMI_ICR_OVR_ISC_Msk
+#define DCMI_ICR_ERR_ISC_Pos       (2U)
+#define DCMI_ICR_ERR_ISC_Msk       (0x1UL << DCMI_ICR_ERR_ISC_Pos)             /*!< 0x00000004 */
+#define DCMI_ICR_ERR_ISC           DCMI_ICR_ERR_ISC_Msk
+#define DCMI_ICR_VSYNC_ISC_Pos     (3U)
+#define DCMI_ICR_VSYNC_ISC_Msk     (0x1UL << DCMI_ICR_VSYNC_ISC_Pos)           /*!< 0x00000008 */
+#define DCMI_ICR_VSYNC_ISC         DCMI_ICR_VSYNC_ISC_Msk
+#define DCMI_ICR_LINE_ISC_Pos      (4U)
+#define DCMI_ICR_LINE_ISC_Msk      (0x1UL << DCMI_ICR_LINE_ISC_Pos)            /*!< 0x00000010 */
+#define DCMI_ICR_LINE_ISC          DCMI_ICR_LINE_ISC_Msk
+
+
+/********************  Bits definition for DCMI_ESCR register  ******************/
+#define DCMI_ESCR_FSC_Pos          (0U)
+#define DCMI_ESCR_FSC_Msk          (0xFFUL << DCMI_ESCR_FSC_Pos)               /*!< 0x000000FF */
+#define DCMI_ESCR_FSC              DCMI_ESCR_FSC_Msk
+#define DCMI_ESCR_LSC_Pos          (8U)
+#define DCMI_ESCR_LSC_Msk          (0xFFUL << DCMI_ESCR_LSC_Pos)               /*!< 0x0000FF00 */
+#define DCMI_ESCR_LSC              DCMI_ESCR_LSC_Msk
+#define DCMI_ESCR_LEC_Pos          (16U)
+#define DCMI_ESCR_LEC_Msk          (0xFFUL << DCMI_ESCR_LEC_Pos)               /*!< 0x00FF0000 */
+#define DCMI_ESCR_LEC              DCMI_ESCR_LEC_Msk
+#define DCMI_ESCR_FEC_Pos          (24U)
+#define DCMI_ESCR_FEC_Msk          (0xFFUL << DCMI_ESCR_FEC_Pos)               /*!< 0xFF000000 */
+#define DCMI_ESCR_FEC              DCMI_ESCR_FEC_Msk
+
+/********************  Bits definition for DCMI_ESUR register  ******************/
+#define DCMI_ESUR_FSU_Pos          (0U)
+#define DCMI_ESUR_FSU_Msk          (0xFFUL << DCMI_ESUR_FSU_Pos)               /*!< 0x000000FF */
+#define DCMI_ESUR_FSU              DCMI_ESUR_FSU_Msk
+#define DCMI_ESUR_LSU_Pos          (8U)
+#define DCMI_ESUR_LSU_Msk          (0xFFUL << DCMI_ESUR_LSU_Pos)               /*!< 0x0000FF00 */
+#define DCMI_ESUR_LSU              DCMI_ESUR_LSU_Msk
+#define DCMI_ESUR_LEU_Pos          (16U)
+#define DCMI_ESUR_LEU_Msk          (0xFFUL << DCMI_ESUR_LEU_Pos)               /*!< 0x00FF0000 */
+#define DCMI_ESUR_LEU              DCMI_ESUR_LEU_Msk
+#define DCMI_ESUR_FEU_Pos          (24U)
+#define DCMI_ESUR_FEU_Msk          (0xFFUL << DCMI_ESUR_FEU_Pos)               /*!< 0xFF000000 */
+#define DCMI_ESUR_FEU              DCMI_ESUR_FEU_Msk
+
+/********************  Bits definition for DCMI_CWSTRT register  ******************/
+#define DCMI_CWSTRT_HOFFCNT_Pos    (0U)
+#define DCMI_CWSTRT_HOFFCNT_Msk    (0x3FFFUL << DCMI_CWSTRT_HOFFCNT_Pos)       /*!< 0x00003FFF */
+#define DCMI_CWSTRT_HOFFCNT        DCMI_CWSTRT_HOFFCNT_Msk
+#define DCMI_CWSTRT_VST_Pos        (16U)
+#define DCMI_CWSTRT_VST_Msk        (0x1FFFUL << DCMI_CWSTRT_VST_Pos)           /*!< 0x1FFF0000 */
+#define DCMI_CWSTRT_VST            DCMI_CWSTRT_VST_Msk
+
+/********************  Bits definition for DCMI_CWSIZE register  ******************/
+#define DCMI_CWSIZE_CAPCNT_Pos     (0U)
+#define DCMI_CWSIZE_CAPCNT_Msk     (0x3FFFUL << DCMI_CWSIZE_CAPCNT_Pos)        /*!< 0x00003FFF */
+#define DCMI_CWSIZE_CAPCNT         DCMI_CWSIZE_CAPCNT_Msk
+#define DCMI_CWSIZE_VLINE_Pos      (16U)
+#define DCMI_CWSIZE_VLINE_Msk      (0x3FFFUL << DCMI_CWSIZE_VLINE_Pos)         /*!< 0x3FFF0000 */
+#define DCMI_CWSIZE_VLINE          DCMI_CWSIZE_VLINE_Msk
+
+/********************  Bits definition for DCMI_DR register  ******************/
+#define DCMI_DR_BYTE0_Pos          (0U)
+#define DCMI_DR_BYTE0_Msk          (0xFFUL << DCMI_DR_BYTE0_Pos)               /*!< 0x000000FF */
+#define DCMI_DR_BYTE0              DCMI_DR_BYTE0_Msk
+#define DCMI_DR_BYTE1_Pos          (8U)
+#define DCMI_DR_BYTE1_Msk          (0xFFUL << DCMI_DR_BYTE1_Pos)               /*!< 0x0000FF00 */
+#define DCMI_DR_BYTE1              DCMI_DR_BYTE1_Msk
+#define DCMI_DR_BYTE2_Pos          (16U)
+#define DCMI_DR_BYTE2_Msk          (0xFFUL << DCMI_DR_BYTE2_Pos)               /*!< 0x00FF0000 */
+#define DCMI_DR_BYTE2              DCMI_DR_BYTE2_Msk
+#define DCMI_DR_BYTE3_Pos          (24U)
+#define DCMI_DR_BYTE3_Msk          (0xFFUL << DCMI_DR_BYTE3_Pos)               /*!< 0xFF000000 */
+#define DCMI_DR_BYTE3              DCMI_DR_BYTE3_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                 Digital Filter for Sigma Delta Modulators                  */
+/*                                                                            */
+/******************************************************************************/
+
+/****************   DFSDM channel configuration registers  ********************/
+
+/***************  Bit definition for DFSDM_CHCFGR1 register  ******************/
+#define DFSDM_CHCFGR1_DFSDMEN_Pos       (31U)
+#define DFSDM_CHCFGR1_DFSDMEN_Msk       (0x1UL << DFSDM_CHCFGR1_DFSDMEN_Pos)   /*!< 0x80000000 */
+#define DFSDM_CHCFGR1_DFSDMEN           DFSDM_CHCFGR1_DFSDMEN_Msk              /*!< Global enable for DFSDM interface */
+#define DFSDM_CHCFGR1_CKOUTSRC_Pos      (30U)
+#define DFSDM_CHCFGR1_CKOUTSRC_Msk      (0x1UL << DFSDM_CHCFGR1_CKOUTSRC_Pos)  /*!< 0x40000000 */
+#define DFSDM_CHCFGR1_CKOUTSRC          DFSDM_CHCFGR1_CKOUTSRC_Msk             /*!< Output serial clock source selection */
+#define DFSDM_CHCFGR1_CKOUTDIV_Pos      (16U)
+#define DFSDM_CHCFGR1_CKOUTDIV_Msk      (0xFFUL << DFSDM_CHCFGR1_CKOUTDIV_Pos) /*!< 0x00FF0000 */
+#define DFSDM_CHCFGR1_CKOUTDIV          DFSDM_CHCFGR1_CKOUTDIV_Msk             /*!< CKOUTDIV[7:0] output serial clock divider */
+#define DFSDM_CHCFGR1_DATPACK_Pos       (14U)
+#define DFSDM_CHCFGR1_DATPACK_Msk       (0x3UL << DFSDM_CHCFGR1_DATPACK_Pos)   /*!< 0x0000C000 */
+#define DFSDM_CHCFGR1_DATPACK           DFSDM_CHCFGR1_DATPACK_Msk              /*!< DATPACK[1:0] Data packing mode */
+#define DFSDM_CHCFGR1_DATPACK_1         (0x2UL << DFSDM_CHCFGR1_DATPACK_Pos)    /*!< 0x00008000 */
+#define DFSDM_CHCFGR1_DATPACK_0         (0x1UL << DFSDM_CHCFGR1_DATPACK_Pos)    /*!< 0x00004000 */
+#define DFSDM_CHCFGR1_DATMPX_Pos        (12U)
+#define DFSDM_CHCFGR1_DATMPX_Msk        (0x3UL << DFSDM_CHCFGR1_DATMPX_Pos)    /*!< 0x00003000 */
+#define DFSDM_CHCFGR1_DATMPX            DFSDM_CHCFGR1_DATMPX_Msk               /*!< DATMPX[1:0] Input data multiplexer for channel y */
+#define DFSDM_CHCFGR1_DATMPX_1          (0x2UL << DFSDM_CHCFGR1_DATMPX_Pos)     /*!< 0x00002000 */
+#define DFSDM_CHCFGR1_DATMPX_0          (0x1UL << DFSDM_CHCFGR1_DATMPX_Pos)     /*!< 0x00001000 */
+#define DFSDM_CHCFGR1_CHINSEL_Pos       (8U)
+#define DFSDM_CHCFGR1_CHINSEL_Msk       (0x1UL << DFSDM_CHCFGR1_CHINSEL_Pos)   /*!< 0x00000100 */
+#define DFSDM_CHCFGR1_CHINSEL           DFSDM_CHCFGR1_CHINSEL_Msk              /*!< Serial inputs selection for channel y */
+#define DFSDM_CHCFGR1_CHEN_Pos          (7U)
+#define DFSDM_CHCFGR1_CHEN_Msk          (0x1UL << DFSDM_CHCFGR1_CHEN_Pos)      /*!< 0x00000080 */
+#define DFSDM_CHCFGR1_CHEN              DFSDM_CHCFGR1_CHEN_Msk                 /*!< Channel y enable */
+#define DFSDM_CHCFGR1_CKABEN_Pos        (6U)
+#define DFSDM_CHCFGR1_CKABEN_Msk        (0x1UL << DFSDM_CHCFGR1_CKABEN_Pos)    /*!< 0x00000040 */
+#define DFSDM_CHCFGR1_CKABEN            DFSDM_CHCFGR1_CKABEN_Msk               /*!< Clock absence detector enable on channel y */
+#define DFSDM_CHCFGR1_SCDEN_Pos         (5U)
+#define DFSDM_CHCFGR1_SCDEN_Msk         (0x1UL << DFSDM_CHCFGR1_SCDEN_Pos)     /*!< 0x00000020 */
+#define DFSDM_CHCFGR1_SCDEN             DFSDM_CHCFGR1_SCDEN_Msk                /*!< Short circuit detector enable on channel y */
+#define DFSDM_CHCFGR1_SPICKSEL_Pos      (2U)
+#define DFSDM_CHCFGR1_SPICKSEL_Msk      (0x3UL << DFSDM_CHCFGR1_SPICKSEL_Pos)  /*!< 0x0000000C */
+#define DFSDM_CHCFGR1_SPICKSEL          DFSDM_CHCFGR1_SPICKSEL_Msk             /*!< SPICKSEL[1:0] SPI clock select for channel y */
+#define DFSDM_CHCFGR1_SPICKSEL_1        (0x2UL << DFSDM_CHCFGR1_SPICKSEL_Pos)   /*!< 0x00000008 */
+#define DFSDM_CHCFGR1_SPICKSEL_0        (0x1UL << DFSDM_CHCFGR1_SPICKSEL_Pos)   /*!< 0x00000004 */
+#define DFSDM_CHCFGR1_SITP_Pos          (0U)
+#define DFSDM_CHCFGR1_SITP_Msk          (0x3UL << DFSDM_CHCFGR1_SITP_Pos)      /*!< 0x00000003 */
+#define DFSDM_CHCFGR1_SITP              DFSDM_CHCFGR1_SITP_Msk                 /*!< SITP[1:0] Serial interface type for channel y */
+#define DFSDM_CHCFGR1_SITP_1            (0x2UL << DFSDM_CHCFGR1_SITP_Pos)       /*!< 0x00000002 */
+#define DFSDM_CHCFGR1_SITP_0            (0x1UL << DFSDM_CHCFGR1_SITP_Pos)       /*!< 0x00000001 */
+
+/***************  Bit definition for DFSDM_CHCFGR2 register  ******************/
+#define DFSDM_CHCFGR2_OFFSET_Pos        (8U)
+#define DFSDM_CHCFGR2_OFFSET_Msk        (0xFFFFFFUL << DFSDM_CHCFGR2_OFFSET_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_CHCFGR2_OFFSET            DFSDM_CHCFGR2_OFFSET_Msk               /*!< OFFSET[23:0] 24-bit calibration offset for channel y */
+#define DFSDM_CHCFGR2_DTRBS_Pos         (3U)
+#define DFSDM_CHCFGR2_DTRBS_Msk         (0x1FUL << DFSDM_CHCFGR2_DTRBS_Pos)    /*!< 0x000000F8 */
+#define DFSDM_CHCFGR2_DTRBS             DFSDM_CHCFGR2_DTRBS_Msk                /*!< DTRBS[4:0] Data right bit-shift for channel y */
+
+/******************  Bit definition for DFSDM_CHAWSCDR register *****************/
+#define DFSDM_CHAWSCDR_AWFORD_Pos       (22U)
+#define DFSDM_CHAWSCDR_AWFORD_Msk       (0x3UL << DFSDM_CHAWSCDR_AWFORD_Pos)   /*!< 0x00C00000 */
+#define DFSDM_CHAWSCDR_AWFORD           DFSDM_CHAWSCDR_AWFORD_Msk              /*!< AWFORD[1:0] Analog watchdog Sinc filter order on channel y */
+#define DFSDM_CHAWSCDR_AWFORD_1         (0x2UL << DFSDM_CHAWSCDR_AWFORD_Pos)    /*!< 0x00800000 */
+#define DFSDM_CHAWSCDR_AWFORD_0         (0x1UL << DFSDM_CHAWSCDR_AWFORD_Pos)    /*!< 0x00400000 */
+#define DFSDM_CHAWSCDR_AWFOSR_Pos       (16U)
+#define DFSDM_CHAWSCDR_AWFOSR_Msk       (0x1FUL << DFSDM_CHAWSCDR_AWFOSR_Pos)  /*!< 0x001F0000 */
+#define DFSDM_CHAWSCDR_AWFOSR           DFSDM_CHAWSCDR_AWFOSR_Msk              /*!< AWFOSR[4:0] Analog watchdog filter oversampling ratio on channel y */
+#define DFSDM_CHAWSCDR_BKSCD_Pos        (12U)
+#define DFSDM_CHAWSCDR_BKSCD_Msk        (0xFUL << DFSDM_CHAWSCDR_BKSCD_Pos)    /*!< 0x0000F000 */
+#define DFSDM_CHAWSCDR_BKSCD            DFSDM_CHAWSCDR_BKSCD_Msk               /*!< BKSCD[3:0] Break signal assignment for short circuit detector on channel y */
+#define DFSDM_CHAWSCDR_SCDT_Pos         (0U)
+#define DFSDM_CHAWSCDR_SCDT_Msk         (0xFFUL << DFSDM_CHAWSCDR_SCDT_Pos)    /*!< 0x000000FF */
+#define DFSDM_CHAWSCDR_SCDT             DFSDM_CHAWSCDR_SCDT_Msk                /*!< SCDT[7:0] Short circuit detector threshold for channel y */
+
+/****************  Bit definition for DFSDM_CHWDATR register *******************/
+#define DFSDM_CHWDATR_WDATA_Pos         (0U)
+#define DFSDM_CHWDATR_WDATA_Msk         (0xFFFFUL << DFSDM_CHWDATR_WDATA_Pos)  /*!< 0x0000FFFF */
+#define DFSDM_CHWDATR_WDATA             DFSDM_CHWDATR_WDATA_Msk                /*!< WDATA[15:0] Input channel y watchdog data */
+
+/****************  Bit definition for DFSDM_CHDATINR register *****************/
+#define DFSDM_CHDATINR_INDAT0_Pos       (0U)
+#define DFSDM_CHDATINR_INDAT0_Msk       (0xFFFFUL << DFSDM_CHDATINR_INDAT0_Pos) /*!< 0x0000FFFF */
+#define DFSDM_CHDATINR_INDAT0           DFSDM_CHDATINR_INDAT0_Msk              /*!< INDAT0[31:16] Input data for channel y or channel (y+1) */
+#define DFSDM_CHDATINR_INDAT1_Pos       (16U)
+#define DFSDM_CHDATINR_INDAT1_Msk       (0xFFFFUL << DFSDM_CHDATINR_INDAT1_Pos) /*!< 0xFFFF0000 */
+#define DFSDM_CHDATINR_INDAT1           DFSDM_CHDATINR_INDAT1_Msk              /*!< INDAT0[15:0] Input data for channel y */
+
+/************************   DFSDM module registers  ****************************/
+
+/********************  Bit definition for DFSDM_FLTCR1 register *******************/
+#define DFSDM_FLTCR1_AWFSEL_Pos         (30U)
+#define DFSDM_FLTCR1_AWFSEL_Msk         (0x1UL << DFSDM_FLTCR1_AWFSEL_Pos)     /*!< 0x40000000 */
+#define DFSDM_FLTCR1_AWFSEL             DFSDM_FLTCR1_AWFSEL_Msk                /*!< Analog watchdog fast mode select */
+#define DFSDM_FLTCR1_FAST_Pos           (29U)
+#define DFSDM_FLTCR1_FAST_Msk           (0x1UL << DFSDM_FLTCR1_FAST_Pos)       /*!< 0x20000000 */
+#define DFSDM_FLTCR1_FAST               DFSDM_FLTCR1_FAST_Msk                  /*!< Fast conversion mode selection */
+#define DFSDM_FLTCR1_RCH_Pos            (24U)
+#define DFSDM_FLTCR1_RCH_Msk            (0x7UL << DFSDM_FLTCR1_RCH_Pos)        /*!< 0x07000000 */
+#define DFSDM_FLTCR1_RCH                DFSDM_FLTCR1_RCH_Msk                   /*!< RCH[2:0] Regular channel selection */
+#define DFSDM_FLTCR1_RDMAEN_Pos         (21U)
+#define DFSDM_FLTCR1_RDMAEN_Msk         (0x1UL << DFSDM_FLTCR1_RDMAEN_Pos)     /*!< 0x00200000 */
+#define DFSDM_FLTCR1_RDMAEN             DFSDM_FLTCR1_RDMAEN_Msk                /*!< DMA channel enabled to read data for the regular conversion */
+#define DFSDM_FLTCR1_RSYNC_Pos          (19U)
+#define DFSDM_FLTCR1_RSYNC_Msk          (0x1UL << DFSDM_FLTCR1_RSYNC_Pos)      /*!< 0x00080000 */
+#define DFSDM_FLTCR1_RSYNC              DFSDM_FLTCR1_RSYNC_Msk                 /*!< Launch regular conversion synchronously with DFSDMx */
+#define DFSDM_FLTCR1_RCONT_Pos          (18U)
+#define DFSDM_FLTCR1_RCONT_Msk          (0x1UL << DFSDM_FLTCR1_RCONT_Pos)      /*!< 0x00040000 */
+#define DFSDM_FLTCR1_RCONT              DFSDM_FLTCR1_RCONT_Msk                 /*!< Continuous mode selection for regular conversions */
+#define DFSDM_FLTCR1_RSWSTART_Pos       (17U)
+#define DFSDM_FLTCR1_RSWSTART_Msk       (0x1UL << DFSDM_FLTCR1_RSWSTART_Pos)   /*!< 0x00020000 */
+#define DFSDM_FLTCR1_RSWSTART           DFSDM_FLTCR1_RSWSTART_Msk              /*!< Software start of a conversion on the regular channel */
+#define DFSDM_FLTCR1_JEXTEN_Pos         (13U)
+#define DFSDM_FLTCR1_JEXTEN_Msk         (0x3UL << DFSDM_FLTCR1_JEXTEN_Pos)     /*!< 0x00006000 */
+#define DFSDM_FLTCR1_JEXTEN             DFSDM_FLTCR1_JEXTEN_Msk                /*!< JEXTEN[1:0] Trigger enable and trigger edge selection for injected conversions */
+#define DFSDM_FLTCR1_JEXTEN_1           (0x2UL << DFSDM_FLTCR1_JEXTEN_Pos)      /*!< 0x00004000 */
+#define DFSDM_FLTCR1_JEXTEN_0           (0x1UL << DFSDM_FLTCR1_JEXTEN_Pos)      /*!< 0x00002000 */
+#define DFSDM_FLTCR1_JEXTSEL_Pos        (8U)
+#define DFSDM_FLTCR1_JEXTSEL_Msk        (0x1FUL << DFSDM_FLTCR1_JEXTSEL_Pos)   /*!< 0x00001F00 */
+#define DFSDM_FLTCR1_JEXTSEL            DFSDM_FLTCR1_JEXTSEL_Msk               /*!< JEXTSEL[4:0]Trigger signal selection for launching injected conversions */
+#define DFSDM_FLTCR1_JEXTSEL_0          (0x01UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00000100 */
+#define DFSDM_FLTCR1_JEXTSEL_1          (0x02UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00000200 */
+#define DFSDM_FLTCR1_JEXTSEL_2          (0x04UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00000400 */
+#define DFSDM_FLTCR1_JEXTSEL_3          (0x08UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00000800 */
+#define DFSDM_FLTCR1_JEXTSEL_4          (0x10UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00001000 */
+
+#define DFSDM_FLTCR1_JDMAEN_Pos         (5U)
+#define DFSDM_FLTCR1_JDMAEN_Msk         (0x1UL << DFSDM_FLTCR1_JDMAEN_Pos)     /*!< 0x00000020 */
+#define DFSDM_FLTCR1_JDMAEN             DFSDM_FLTCR1_JDMAEN_Msk                /*!< DMA channel enabled to read data for the injected channel group */
+#define DFSDM_FLTCR1_JSCAN_Pos          (4U)
+#define DFSDM_FLTCR1_JSCAN_Msk          (0x1UL << DFSDM_FLTCR1_JSCAN_Pos)      /*!< 0x00000010 */
+#define DFSDM_FLTCR1_JSCAN              DFSDM_FLTCR1_JSCAN_Msk                 /*!< Scanning conversion in continuous mode selection for injected conversions */
+#define DFSDM_FLTCR1_JSYNC_Pos          (3U)
+#define DFSDM_FLTCR1_JSYNC_Msk          (0x1UL << DFSDM_FLTCR1_JSYNC_Pos)      /*!< 0x00000008 */
+#define DFSDM_FLTCR1_JSYNC              DFSDM_FLTCR1_JSYNC_Msk                 /*!< Launch an injected conversion synchronously with DFSDMx JSWSTART trigger  */
+#define DFSDM_FLTCR1_JSWSTART_Pos       (1U)
+#define DFSDM_FLTCR1_JSWSTART_Msk       (0x1UL << DFSDM_FLTCR1_JSWSTART_Pos)   /*!< 0x00000002 */
+#define DFSDM_FLTCR1_JSWSTART           DFSDM_FLTCR1_JSWSTART_Msk              /*!< Start the conversion of the injected group of channels */
+#define DFSDM_FLTCR1_DFEN_Pos           (0U)
+#define DFSDM_FLTCR1_DFEN_Msk           (0x1UL << DFSDM_FLTCR1_DFEN_Pos)       /*!< 0x00000001 */
+#define DFSDM_FLTCR1_DFEN               DFSDM_FLTCR1_DFEN_Msk                  /*!< DFSDM enable */
+
+/********************  Bit definition for DFSDM_FLTCR2 register *******************/
+#define DFSDM_FLTCR2_AWDCH_Pos          (16U)
+#define DFSDM_FLTCR2_AWDCH_Msk          (0xFFUL << DFSDM_FLTCR2_AWDCH_Pos)     /*!< 0x00FF0000 */
+#define DFSDM_FLTCR2_AWDCH              DFSDM_FLTCR2_AWDCH_Msk                 /*!< AWDCH[7:0] Analog watchdog channel selection */
+#define DFSDM_FLTCR2_EXCH_Pos           (8U)
+#define DFSDM_FLTCR2_EXCH_Msk           (0xFFUL << DFSDM_FLTCR2_EXCH_Pos)      /*!< 0x0000FF00 */
+#define DFSDM_FLTCR2_EXCH               DFSDM_FLTCR2_EXCH_Msk                  /*!< EXCH[7:0] Extreme detector channel selection */
+#define DFSDM_FLTCR2_CKABIE_Pos         (6U)
+#define DFSDM_FLTCR2_CKABIE_Msk         (0x1UL << DFSDM_FLTCR2_CKABIE_Pos)     /*!< 0x00000040 */
+#define DFSDM_FLTCR2_CKABIE             DFSDM_FLTCR2_CKABIE_Msk                /*!< Clock absence interrupt enable */
+#define DFSDM_FLTCR2_SCDIE_Pos          (5U)
+#define DFSDM_FLTCR2_SCDIE_Msk          (0x1UL << DFSDM_FLTCR2_SCDIE_Pos)      /*!< 0x00000020 */
+#define DFSDM_FLTCR2_SCDIE              DFSDM_FLTCR2_SCDIE_Msk                 /*!< Short circuit detector interrupt enable */
+#define DFSDM_FLTCR2_AWDIE_Pos          (4U)
+#define DFSDM_FLTCR2_AWDIE_Msk          (0x1UL << DFSDM_FLTCR2_AWDIE_Pos)      /*!< 0x00000010 */
+#define DFSDM_FLTCR2_AWDIE              DFSDM_FLTCR2_AWDIE_Msk                 /*!< Analog watchdog interrupt enable */
+#define DFSDM_FLTCR2_ROVRIE_Pos         (3U)
+#define DFSDM_FLTCR2_ROVRIE_Msk         (0x1UL << DFSDM_FLTCR2_ROVRIE_Pos)     /*!< 0x00000008 */
+#define DFSDM_FLTCR2_ROVRIE             DFSDM_FLTCR2_ROVRIE_Msk                /*!< Regular data overrun interrupt enable */
+#define DFSDM_FLTCR2_JOVRIE_Pos         (2U)
+#define DFSDM_FLTCR2_JOVRIE_Msk         (0x1UL << DFSDM_FLTCR2_JOVRIE_Pos)     /*!< 0x00000004 */
+#define DFSDM_FLTCR2_JOVRIE             DFSDM_FLTCR2_JOVRIE_Msk                /*!< Injected data overrun interrupt enable */
+#define DFSDM_FLTCR2_REOCIE_Pos         (1U)
+#define DFSDM_FLTCR2_REOCIE_Msk         (0x1UL << DFSDM_FLTCR2_REOCIE_Pos)     /*!< 0x00000002 */
+#define DFSDM_FLTCR2_REOCIE             DFSDM_FLTCR2_REOCIE_Msk                /*!< Regular end of conversion interrupt enable */
+#define DFSDM_FLTCR2_JEOCIE_Pos         (0U)
+#define DFSDM_FLTCR2_JEOCIE_Msk         (0x1UL << DFSDM_FLTCR2_JEOCIE_Pos)     /*!< 0x00000001 */
+#define DFSDM_FLTCR2_JEOCIE             DFSDM_FLTCR2_JEOCIE_Msk                /*!< Injected end of conversion interrupt enable */
+
+/********************  Bit definition for DFSDM_FLTISR register *******************/
+#define DFSDM_FLTISR_SCDF_Pos           (24U)
+#define DFSDM_FLTISR_SCDF_Msk           (0xFFUL << DFSDM_FLTISR_SCDF_Pos)      /*!< 0xFF000000 */
+#define DFSDM_FLTISR_SCDF               DFSDM_FLTISR_SCDF_Msk                  /*!< SCDF[7:0] Short circuit detector flag */
+#define DFSDM_FLTISR_CKABF_Pos          (16U)
+#define DFSDM_FLTISR_CKABF_Msk          (0xFFUL << DFSDM_FLTISR_CKABF_Pos)     /*!< 0x00FF0000 */
+#define DFSDM_FLTISR_CKABF              DFSDM_FLTISR_CKABF_Msk                 /*!< CKABF[7:0] Clock absence flag */
+#define DFSDM_FLTISR_RCIP_Pos           (14U)
+#define DFSDM_FLTISR_RCIP_Msk           (0x1UL << DFSDM_FLTISR_RCIP_Pos)       /*!< 0x00004000 */
+#define DFSDM_FLTISR_RCIP               DFSDM_FLTISR_RCIP_Msk                  /*!< Regular conversion in progress status */
+#define DFSDM_FLTISR_JCIP_Pos           (13U)
+#define DFSDM_FLTISR_JCIP_Msk           (0x1UL << DFSDM_FLTISR_JCIP_Pos)       /*!< 0x00002000 */
+#define DFSDM_FLTISR_JCIP               DFSDM_FLTISR_JCIP_Msk                  /*!< Injected conversion in progress status */
+#define DFSDM_FLTISR_AWDF_Pos           (4U)
+#define DFSDM_FLTISR_AWDF_Msk           (0x1UL << DFSDM_FLTISR_AWDF_Pos)       /*!< 0x00000010 */
+#define DFSDM_FLTISR_AWDF               DFSDM_FLTISR_AWDF_Msk                  /*!< Analog watchdog */
+#define DFSDM_FLTISR_ROVRF_Pos          (3U)
+#define DFSDM_FLTISR_ROVRF_Msk          (0x1UL << DFSDM_FLTISR_ROVRF_Pos)      /*!< 0x00000008 */
+#define DFSDM_FLTISR_ROVRF              DFSDM_FLTISR_ROVRF_Msk                 /*!< Regular conversion overrun flag */
+#define DFSDM_FLTISR_JOVRF_Pos          (2U)
+#define DFSDM_FLTISR_JOVRF_Msk          (0x1UL << DFSDM_FLTISR_JOVRF_Pos)      /*!< 0x00000004 */
+#define DFSDM_FLTISR_JOVRF              DFSDM_FLTISR_JOVRF_Msk                 /*!< Injected conversion overrun flag */
+#define DFSDM_FLTISR_REOCF_Pos          (1U)
+#define DFSDM_FLTISR_REOCF_Msk          (0x1UL << DFSDM_FLTISR_REOCF_Pos)      /*!< 0x00000002 */
+#define DFSDM_FLTISR_REOCF              DFSDM_FLTISR_REOCF_Msk                 /*!< End of regular conversion flag */
+#define DFSDM_FLTISR_JEOCF_Pos          (0U)
+#define DFSDM_FLTISR_JEOCF_Msk          (0x1UL << DFSDM_FLTISR_JEOCF_Pos)      /*!< 0x00000001 */
+#define DFSDM_FLTISR_JEOCF              DFSDM_FLTISR_JEOCF_Msk                 /*!< End of injected conversion flag */
+
+/********************  Bit definition for DFSDM_FLTICR register *******************/
+#define DFSDM_FLTICR_CLRSCDF_Pos        (24U)
+#define DFSDM_FLTICR_CLRSCDF_Msk        (0xFFUL << DFSDM_FLTICR_CLRSCDF_Pos)   /*!< 0xFF000000 */
+#define DFSDM_FLTICR_CLRSCDF            DFSDM_FLTICR_CLRSCDF_Msk               /*!< CLRSCSDF[7:0] Clear the short circuit detector flag */
+#define DFSDM_FLTICR_CLRCKABF_Pos       (16U)
+#define DFSDM_FLTICR_CLRCKABF_Msk       (0xFFUL << DFSDM_FLTICR_CLRCKABF_Pos)  /*!< 0x00FF0000 */
+#define DFSDM_FLTICR_CLRCKABF           DFSDM_FLTICR_CLRCKABF_Msk              /*!< CLRCKABF[7:0] Clear the clock absence flag */
+#define DFSDM_FLTICR_CLRROVRF_Pos       (3U)
+#define DFSDM_FLTICR_CLRROVRF_Msk       (0x1UL << DFSDM_FLTICR_CLRROVRF_Pos)   /*!< 0x00000008 */
+#define DFSDM_FLTICR_CLRROVRF           DFSDM_FLTICR_CLRROVRF_Msk              /*!< Clear the regular conversion overrun flag */
+#define DFSDM_FLTICR_CLRJOVRF_Pos       (2U)
+#define DFSDM_FLTICR_CLRJOVRF_Msk       (0x1UL << DFSDM_FLTICR_CLRJOVRF_Pos)   /*!< 0x00000004 */
+#define DFSDM_FLTICR_CLRJOVRF           DFSDM_FLTICR_CLRJOVRF_Msk              /*!< Clear the injected conversion overrun flag */
+
+/*******************  Bit definition for DFSDM_FLTJCHGR register ******************/
+#define DFSDM_FLTJCHGR_JCHG_Pos         (0U)
+#define DFSDM_FLTJCHGR_JCHG_Msk         (0xFFUL << DFSDM_FLTJCHGR_JCHG_Pos)    /*!< 0x000000FF */
+#define DFSDM_FLTJCHGR_JCHG             DFSDM_FLTJCHGR_JCHG_Msk                /*!< JCHG[7:0] Injected channel group selection */
+
+/********************  Bit definition for DFSDM_FLTFCR register *******************/
+#define DFSDM_FLTFCR_FORD_Pos           (29U)
+#define DFSDM_FLTFCR_FORD_Msk           (0x7UL << DFSDM_FLTFCR_FORD_Pos)       /*!< 0xE0000000 */
+#define DFSDM_FLTFCR_FORD               DFSDM_FLTFCR_FORD_Msk                  /*!< FORD[2:0] Sinc filter order */
+#define DFSDM_FLTFCR_FORD_2             (0x4UL << DFSDM_FLTFCR_FORD_Pos)        /*!< 0x80000000 */
+#define DFSDM_FLTFCR_FORD_1             (0x2UL << DFSDM_FLTFCR_FORD_Pos)        /*!< 0x40000000 */
+#define DFSDM_FLTFCR_FORD_0             (0x1UL << DFSDM_FLTFCR_FORD_Pos)        /*!< 0x20000000 */
+#define DFSDM_FLTFCR_FOSR_Pos           (16U)
+#define DFSDM_FLTFCR_FOSR_Msk           (0x3FFUL << DFSDM_FLTFCR_FOSR_Pos)     /*!< 0x03FF0000 */
+#define DFSDM_FLTFCR_FOSR               DFSDM_FLTFCR_FOSR_Msk                  /*!< FOSR[9:0] Sinc filter oversampling ratio (decimation rate) */
+#define DFSDM_FLTFCR_IOSR_Pos           (0U)
+#define DFSDM_FLTFCR_IOSR_Msk           (0xFFUL << DFSDM_FLTFCR_IOSR_Pos)      /*!< 0x000000FF */
+#define DFSDM_FLTFCR_IOSR               DFSDM_FLTFCR_IOSR_Msk                  /*!< IOSR[7:0] Integrator oversampling ratio (averaging length) */
+
+/******************  Bit definition for DFSDM_FLTJDATAR register *****************/
+#define DFSDM_FLTJDATAR_JDATA_Pos       (8U)
+#define DFSDM_FLTJDATAR_JDATA_Msk       (0xFFFFFFUL << DFSDM_FLTJDATAR_JDATA_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTJDATAR_JDATA           DFSDM_FLTJDATAR_JDATA_Msk              /*!< JDATA[23:0] Injected group conversion data */
+#define DFSDM_FLTJDATAR_JDATACH_Pos     (0U)
+#define DFSDM_FLTJDATAR_JDATACH_Msk     (0x7UL << DFSDM_FLTJDATAR_JDATACH_Pos) /*!< 0x00000007 */
+#define DFSDM_FLTJDATAR_JDATACH         DFSDM_FLTJDATAR_JDATACH_Msk            /*!< JDATACH[2:0] Injected channel most recently converted */
+
+/******************  Bit definition for DFSDM_FLTRDATAR register *****************/
+#define DFSDM_FLTRDATAR_RDATA_Pos       (8U)
+#define DFSDM_FLTRDATAR_RDATA_Msk       (0xFFFFFFUL << DFSDM_FLTRDATAR_RDATA_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTRDATAR_RDATA           DFSDM_FLTRDATAR_RDATA_Msk              /*!< RDATA[23:0] Regular channel conversion data */
+#define DFSDM_FLTRDATAR_RPEND_Pos       (4U)
+#define DFSDM_FLTRDATAR_RPEND_Msk       (0x1UL << DFSDM_FLTRDATAR_RPEND_Pos)   /*!< 0x00000010 */
+#define DFSDM_FLTRDATAR_RPEND           DFSDM_FLTRDATAR_RPEND_Msk              /*!< RPEND Regular channel pending data */
+#define DFSDM_FLTRDATAR_RDATACH_Pos     (0U)
+#define DFSDM_FLTRDATAR_RDATACH_Msk     (0x7UL << DFSDM_FLTRDATAR_RDATACH_Pos) /*!< 0x00000007 */
+#define DFSDM_FLTRDATAR_RDATACH         DFSDM_FLTRDATAR_RDATACH_Msk            /*!< RDATACH[2:0] Regular channel most recently converted */
+
+/******************  Bit definition for DFSDM_FLTAWHTR register ******************/
+#define DFSDM_FLTAWHTR_AWHT_Pos         (8U)
+#define DFSDM_FLTAWHTR_AWHT_Msk         (0xFFFFFFUL << DFSDM_FLTAWHTR_AWHT_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTAWHTR_AWHT             DFSDM_FLTAWHTR_AWHT_Msk                /*!< AWHT[23:0] Analog watchdog high threshold */
+#define DFSDM_FLTAWHTR_BKAWH_Pos        (0U)
+#define DFSDM_FLTAWHTR_BKAWH_Msk        (0xFUL << DFSDM_FLTAWHTR_BKAWH_Pos)    /*!< 0x0000000F */
+#define DFSDM_FLTAWHTR_BKAWH            DFSDM_FLTAWHTR_BKAWH_Msk               /*!< BKAWH[3:0] Break signal assignment to analog watchdog high threshold event */
+
+/******************  Bit definition for DFSDM_FLTAWLTR register ******************/
+#define DFSDM_FLTAWLTR_AWLT_Pos         (8U)
+#define DFSDM_FLTAWLTR_AWLT_Msk         (0xFFFFFFUL << DFSDM_FLTAWLTR_AWLT_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTAWLTR_AWLT             DFSDM_FLTAWLTR_AWLT_Msk                /*!< AWHT[23:0] Analog watchdog low threshold */
+#define DFSDM_FLTAWLTR_BKAWL_Pos        (0U)
+#define DFSDM_FLTAWLTR_BKAWL_Msk        (0xFUL << DFSDM_FLTAWLTR_BKAWL_Pos)    /*!< 0x0000000F */
+#define DFSDM_FLTAWLTR_BKAWL            DFSDM_FLTAWLTR_BKAWL_Msk               /*!< BKAWL[3:0] Break signal assignment to analog watchdog low threshold event */
+
+/******************  Bit definition for DFSDM_FLTAWSR register ******************/
+#define DFSDM_FLTAWSR_AWHTF_Pos         (8U)
+#define DFSDM_FLTAWSR_AWHTF_Msk         (0xFFUL << DFSDM_FLTAWSR_AWHTF_Pos)    /*!< 0x0000FF00 */
+#define DFSDM_FLTAWSR_AWHTF             DFSDM_FLTAWSR_AWHTF_Msk                /*!< AWHTF[15:8] Analog watchdog high threshold error on given channels */
+#define DFSDM_FLTAWSR_AWLTF_Pos         (0U)
+#define DFSDM_FLTAWSR_AWLTF_Msk         (0xFFUL << DFSDM_FLTAWSR_AWLTF_Pos)    /*!< 0x000000FF */
+#define DFSDM_FLTAWSR_AWLTF             DFSDM_FLTAWSR_AWLTF_Msk                /*!< AWLTF[7:0] Analog watchdog low threshold error on given channels */
+
+/******************  Bit definition for DFSDM_FLTAWCFR) register *****************/
+#define DFSDM_FLTAWCFR_CLRAWHTF_Pos     (8U)
+#define DFSDM_FLTAWCFR_CLRAWHTF_Msk     (0xFFUL << DFSDM_FLTAWCFR_CLRAWHTF_Pos) /*!< 0x0000FF00 */
+#define DFSDM_FLTAWCFR_CLRAWHTF         DFSDM_FLTAWCFR_CLRAWHTF_Msk            /*!< CLRAWHTF[15:8] Clear the Analog watchdog high threshold flag */
+#define DFSDM_FLTAWCFR_CLRAWLTF_Pos     (0U)
+#define DFSDM_FLTAWCFR_CLRAWLTF_Msk     (0xFFUL << DFSDM_FLTAWCFR_CLRAWLTF_Pos) /*!< 0x000000FF */
+#define DFSDM_FLTAWCFR_CLRAWLTF         DFSDM_FLTAWCFR_CLRAWLTF_Msk            /*!< CLRAWLTF[7:0] Clear the Analog watchdog low threshold flag */
+
+/******************  Bit definition for DFSDM_FLTEXMAX register ******************/
+#define DFSDM_FLTEXMAX_EXMAX_Pos        (8U)
+#define DFSDM_FLTEXMAX_EXMAX_Msk        (0xFFFFFFUL << DFSDM_FLTEXMAX_EXMAX_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTEXMAX_EXMAX            DFSDM_FLTEXMAX_EXMAX_Msk               /*!< EXMAX[23:0] Extreme detector maximum value */
+#define DFSDM_FLTEXMAX_EXMAXCH_Pos      (0U)
+#define DFSDM_FLTEXMAX_EXMAXCH_Msk      (0x7UL << DFSDM_FLTEXMAX_EXMAXCH_Pos)  /*!< 0x00000007 */
+#define DFSDM_FLTEXMAX_EXMAXCH          DFSDM_FLTEXMAX_EXMAXCH_Msk             /*!< EXMAXCH[2:0] Extreme detector maximum data channel */
+
+/******************  Bit definition for DFSDM_FLTEXMIN register ******************/
+#define DFSDM_FLTEXMIN_EXMIN_Pos        (8U)
+#define DFSDM_FLTEXMIN_EXMIN_Msk        (0xFFFFFFUL << DFSDM_FLTEXMIN_EXMIN_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTEXMIN_EXMIN            DFSDM_FLTEXMIN_EXMIN_Msk               /*!< EXMIN[23:0] Extreme detector minimum value */
+#define DFSDM_FLTEXMIN_EXMINCH_Pos      (0U)
+#define DFSDM_FLTEXMIN_EXMINCH_Msk      (0x7UL << DFSDM_FLTEXMIN_EXMINCH_Pos)  /*!< 0x00000007 */
+#define DFSDM_FLTEXMIN_EXMINCH          DFSDM_FLTEXMIN_EXMINCH_Msk             /*!< EXMINCH[2:0] Extreme detector minimum data channel */
+
+/******************  Bit definition for DFSDM_FLTCNVTIMR register ******************/
+#define DFSDM_FLTCNVTIMR_CNVCNT_Pos     (4U)
+#define DFSDM_FLTCNVTIMR_CNVCNT_Msk     (0xFFFFFFFUL << DFSDM_FLTCNVTIMR_CNVCNT_Pos) /*!< 0xFFFFFFF0 */
+#define DFSDM_FLTCNVTIMR_CNVCNT         DFSDM_FLTCNVTIMR_CNVCNT_Msk            /*!< CNVCNT[27:0]: 28-bit timer counting conversion time */
+
+/******************************************************************************/
+/*                                                                            */
+/*                           BDMA Controller                                  */
+/*                                                                            */
+/******************************************************************************/
+
+/*******************  Bit definition for BDMA_ISR register  ********************/
+#define BDMA_ISR_GIF0_Pos       (0U)
+#define BDMA_ISR_GIF0_Msk       (0x1UL << BDMA_ISR_GIF0_Pos)                   /*!< 0x00000001 */
+#define BDMA_ISR_GIF0           BDMA_ISR_GIF0_Msk                              /*!< Channel 0 Global interrupt flag */
+#define BDMA_ISR_TCIF0_Pos      (1U)
+#define BDMA_ISR_TCIF0_Msk      (0x1UL << BDMA_ISR_TCIF0_Pos)                  /*!< 0x00000002 */
+#define BDMA_ISR_TCIF0          BDMA_ISR_TCIF0_Msk                             /*!< Channel 0 Transfer Complete flag */
+#define BDMA_ISR_HTIF0_Pos      (2U)
+#define BDMA_ISR_HTIF0_Msk      (0x1UL << BDMA_ISR_HTIF0_Pos)                  /*!< 0x00000004 */
+#define BDMA_ISR_HTIF0          BDMA_ISR_HTIF0_Msk                             /*!< Channel 0 Half Transfer flag */
+#define BDMA_ISR_TEIF0_Pos      (3U)
+#define BDMA_ISR_TEIF0_Msk      (0x1UL << BDMA_ISR_TEIF0_Pos)                  /*!< 0x00000008 */
+#define BDMA_ISR_TEIF0          BDMA_ISR_TEIF0_Msk                             /*!< Channel 0 Transfer Error flag */
+#define BDMA_ISR_GIF1_Pos       (4U)
+#define BDMA_ISR_GIF1_Msk       (0x1UL << BDMA_ISR_GIF1_Pos)                   /*!< 0x00000010 */
+#define BDMA_ISR_GIF1           BDMA_ISR_GIF1_Msk                              /*!< Channel 1 Global interrupt flag */
+#define BDMA_ISR_TCIF1_Pos      (5U)
+#define BDMA_ISR_TCIF1_Msk      (0x1UL << BDMA_ISR_TCIF1_Pos)                  /*!< 0x00000020 */
+#define BDMA_ISR_TCIF1          BDMA_ISR_TCIF1_Msk                             /*!< Channel 1 Transfer Complete flag */
+#define BDMA_ISR_HTIF1_Pos      (6U)
+#define BDMA_ISR_HTIF1_Msk      (0x1UL << BDMA_ISR_HTIF1_Pos)                  /*!< 0x00000040 */
+#define BDMA_ISR_HTIF1          BDMA_ISR_HTIF1_Msk                             /*!< Channel 1 Half Transfer flag */
+#define BDMA_ISR_TEIF1_Pos      (7U)
+#define BDMA_ISR_TEIF1_Msk      (0x1UL << BDMA_ISR_TEIF1_Pos)                  /*!< 0x00000080 */
+#define BDMA_ISR_TEIF1          BDMA_ISR_TEIF1_Msk                             /*!< Channel 1 Transfer Error flag */
+#define BDMA_ISR_GIF2_Pos       (8U)
+#define BDMA_ISR_GIF2_Msk       (0x1UL << BDMA_ISR_GIF2_Pos)                   /*!< 0x00000100 */
+#define BDMA_ISR_GIF2           BDMA_ISR_GIF2_Msk                              /*!< Channel 2 Global interrupt flag */
+#define BDMA_ISR_TCIF2_Pos      (9U)
+#define BDMA_ISR_TCIF2_Msk      (0x1UL << BDMA_ISR_TCIF2_Pos)                  /*!< 0x00000200 */
+#define BDMA_ISR_TCIF2          BDMA_ISR_TCIF2_Msk                             /*!< Channel 2 Transfer Complete flag */
+#define BDMA_ISR_HTIF2_Pos      (10U)
+#define BDMA_ISR_HTIF2_Msk      (0x1UL << BDMA_ISR_HTIF2_Pos)                  /*!< 0x00000400 */
+#define BDMA_ISR_HTIF2          BDMA_ISR_HTIF2_Msk                             /*!< Channel 2 Half Transfer flag */
+#define BDMA_ISR_TEIF2_Pos      (11U)
+#define BDMA_ISR_TEIF2_Msk      (0x1UL << BDMA_ISR_TEIF2_Pos)                  /*!< 0x00000800 */
+#define BDMA_ISR_TEIF2          BDMA_ISR_TEIF2_Msk                             /*!< Channel 2 Transfer Error flag */
+#define BDMA_ISR_GIF3_Pos       (12U)
+#define BDMA_ISR_GIF3_Msk       (0x1UL << BDMA_ISR_GIF3_Pos)                   /*!< 0x00001000 */
+#define BDMA_ISR_GIF3           BDMA_ISR_GIF3_Msk                              /*!< Channel 3 Global interrupt flag */
+#define BDMA_ISR_TCIF3_Pos      (13U)
+#define BDMA_ISR_TCIF3_Msk      (0x1UL << BDMA_ISR_TCIF3_Pos)                  /*!< 0x00002000 */
+#define BDMA_ISR_TCIF3          BDMA_ISR_TCIF3_Msk                             /*!< Channel 3 Transfer Complete flag */
+#define BDMA_ISR_HTIF3_Pos      (14U)
+#define BDMA_ISR_HTIF3_Msk      (0x1UL << BDMA_ISR_HTIF3_Pos)                  /*!< 0x00004000 */
+#define BDMA_ISR_HTIF3          BDMA_ISR_HTIF3_Msk                             /*!< Channel 3 Half Transfer flag */
+#define BDMA_ISR_TEIF3_Pos      (15U)
+#define BDMA_ISR_TEIF3_Msk      (0x1UL << BDMA_ISR_TEIF3_Pos)                  /*!< 0x00008000 */
+#define BDMA_ISR_TEIF3          BDMA_ISR_TEIF3_Msk                             /*!< Channel 3 Transfer Error flag */
+#define BDMA_ISR_GIF4_Pos       (16U)
+#define BDMA_ISR_GIF4_Msk       (0x1UL << BDMA_ISR_GIF4_Pos)                   /*!< 0x00010000 */
+#define BDMA_ISR_GIF4           BDMA_ISR_GIF4_Msk                              /*!< Channel 4 Global interrupt flag */
+#define BDMA_ISR_TCIF4_Pos      (17U)
+#define BDMA_ISR_TCIF4_Msk      (0x1UL << BDMA_ISR_TCIF4_Pos)                  /*!< 0x00020000 */
+#define BDMA_ISR_TCIF4          BDMA_ISR_TCIF4_Msk                             /*!< Channel 4 Transfer Complete flag */
+#define BDMA_ISR_HTIF4_Pos      (18U)
+#define BDMA_ISR_HTIF4_Msk      (0x1UL << BDMA_ISR_HTIF4_Pos)                  /*!< 0x00040000 */
+#define BDMA_ISR_HTIF4          BDMA_ISR_HTIF4_Msk                             /*!< Channel 4 Half Transfer flag */
+#define BDMA_ISR_TEIF4_Pos      (19U)
+#define BDMA_ISR_TEIF4_Msk      (0x1UL << BDMA_ISR_TEIF4_Pos)                  /*!< 0x00080000 */
+#define BDMA_ISR_TEIF4          BDMA_ISR_TEIF4_Msk                             /*!< Channel 4 Transfer Error flag */
+#define BDMA_ISR_GIF5_Pos       (20U)
+#define BDMA_ISR_GIF5_Msk       (0x1UL << BDMA_ISR_GIF5_Pos)                   /*!< 0x00100000 */
+#define BDMA_ISR_GIF5           BDMA_ISR_GIF5_Msk                              /*!< Channel 5 Global interrupt flag */
+#define BDMA_ISR_TCIF5_Pos      (21U)
+#define BDMA_ISR_TCIF5_Msk      (0x1UL << BDMA_ISR_TCIF5_Pos)                  /*!< 0x00200000 */
+#define BDMA_ISR_TCIF5          BDMA_ISR_TCIF5_Msk                             /*!< Channel 5 Transfer Complete flag */
+#define BDMA_ISR_HTIF5_Pos      (22U)
+#define BDMA_ISR_HTIF5_Msk      (0x1UL << BDMA_ISR_HTIF5_Pos)                  /*!< 0x00400000 */
+#define BDMA_ISR_HTIF5          BDMA_ISR_HTIF5_Msk                             /*!< Channel 5 Half Transfer flag */
+#define BDMA_ISR_TEIF5_Pos      (23U)
+#define BDMA_ISR_TEIF5_Msk      (0x1UL << BDMA_ISR_TEIF5_Pos)                  /*!< 0x00800000 */
+#define BDMA_ISR_TEIF5          BDMA_ISR_TEIF5_Msk                             /*!< Channel 5 Transfer Error flag */
+#define BDMA_ISR_GIF6_Pos       (24U)
+#define BDMA_ISR_GIF6_Msk       (0x1UL << BDMA_ISR_GIF6_Pos)                   /*!< 0x01000000 */
+#define BDMA_ISR_GIF6           BDMA_ISR_GIF6_Msk                              /*!< Channel 6 Global interrupt flag */
+#define BDMA_ISR_TCIF6_Pos      (25U)
+#define BDMA_ISR_TCIF6_Msk      (0x1UL << BDMA_ISR_TCIF6_Pos)                  /*!< 0x02000000 */
+#define BDMA_ISR_TCIF6          BDMA_ISR_TCIF6_Msk                             /*!< Channel 6 Transfer Complete flag */
+#define BDMA_ISR_HTIF6_Pos      (26U)
+#define BDMA_ISR_HTIF6_Msk      (0x1UL << BDMA_ISR_HTIF6_Pos)                  /*!< 0x04000000 */
+#define BDMA_ISR_HTIF6          BDMA_ISR_HTIF6_Msk                             /*!< Channel 6 Half Transfer flag */
+#define BDMA_ISR_TEIF6_Pos      (27U)
+#define BDMA_ISR_TEIF6_Msk      (0x1UL << BDMA_ISR_TEIF6_Pos)                  /*!< 0x08000000 */
+#define BDMA_ISR_TEIF6          BDMA_ISR_TEIF6_Msk                             /*!< Channel 6 Transfer Error flag */
+#define BDMA_ISR_GIF7_Pos       (28U)
+#define BDMA_ISR_GIF7_Msk       (0x1UL << BDMA_ISR_GIF7_Pos)                   /*!< 0x10000000 */
+#define BDMA_ISR_GIF7           BDMA_ISR_GIF7_Msk                              /*!< Channel 7 Global interrupt flag */
+#define BDMA_ISR_TCIF7_Pos      (29U)
+#define BDMA_ISR_TCIF7_Msk      (0x1UL << BDMA_ISR_TCIF7_Pos)                  /*!< 0x20000000 */
+#define BDMA_ISR_TCIF7          BDMA_ISR_TCIF7_Msk                             /*!< Channel 7 Transfer Complete flag */
+#define BDMA_ISR_HTIF7_Pos      (30U)
+#define BDMA_ISR_HTIF7_Msk      (0x1UL << BDMA_ISR_HTIF7_Pos)                  /*!< 0x40000000 */
+#define BDMA_ISR_HTIF7          BDMA_ISR_HTIF7_Msk                             /*!< Channel 7 Half Transfer flag */
+#define BDMA_ISR_TEIF7_Pos      (31U)
+#define BDMA_ISR_TEIF7_Msk      (0x1UL << BDMA_ISR_TEIF7_Pos)                  /*!< 0x80000000 */
+#define BDMA_ISR_TEIF7          BDMA_ISR_TEIF7_Msk                             /*!< Channel 7 Transfer Error flag */
+
+/*******************  Bit definition for BDMA_IFCR register  *******************/
+#define BDMA_IFCR_CGIF0_Pos     (0U)
+#define BDMA_IFCR_CGIF0_Msk     (0x1UL << BDMA_IFCR_CGIF0_Pos)                 /*!< 0x00000001 */
+#define BDMA_IFCR_CGIF0         BDMA_IFCR_CGIF0_Msk                            /*!< Channel 0 Global interrupt clearr */
+#define BDMA_IFCR_CTCIF0_Pos    (1U)
+#define BDMA_IFCR_CTCIF0_Msk    (0x1UL << BDMA_IFCR_CTCIF0_Pos)                /*!< 0x00000002 */
+#define BDMA_IFCR_CTCIF0        BDMA_IFCR_CTCIF0_Msk                           /*!< Channel 0 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF0_Pos    (2U)
+#define BDMA_IFCR_CHTIF0_Msk    (0x1UL << BDMA_IFCR_CHTIF0_Pos)                /*!< 0x00000004 */
+#define BDMA_IFCR_CHTIF0        BDMA_IFCR_CHTIF0_Msk                           /*!< Channel 0 Half Transfer clear */
+#define BDMA_IFCR_CTEIF0_Pos    (3U)
+#define BDMA_IFCR_CTEIF0_Msk    (0x1UL << BDMA_IFCR_CTEIF0_Pos)                /*!< 0x00000008 */
+#define BDMA_IFCR_CTEIF0        BDMA_IFCR_CTEIF0_Msk                           /*!< Channel 0 Transfer Error clear */
+#define BDMA_IFCR_CGIF1_Pos     (4U)
+#define BDMA_IFCR_CGIF1_Msk     (0x1UL << BDMA_IFCR_CGIF1_Pos)                 /*!< 0x00000010 */
+#define BDMA_IFCR_CGIF1         BDMA_IFCR_CGIF1_Msk                            /*!< Channel 1 Global interrupt clear */
+#define BDMA_IFCR_CTCIF1_Pos    (5U)
+#define BDMA_IFCR_CTCIF1_Msk    (0x1UL << BDMA_IFCR_CTCIF1_Pos)                /*!< 0x00000020 */
+#define BDMA_IFCR_CTCIF1        BDMA_IFCR_CTCIF1_Msk                           /*!< Channel 1 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF1_Pos    (6U)
+#define BDMA_IFCR_CHTIF1_Msk    (0x1UL << BDMA_IFCR_CHTIF1_Pos)                /*!< 0x00000040 */
+#define BDMA_IFCR_CHTIF1        BDMA_IFCR_CHTIF1_Msk                           /*!< Channel 1 Half Transfer clear */
+#define BDMA_IFCR_CTEIF1_Pos    (7U)
+#define BDMA_IFCR_CTEIF1_Msk    (0x1UL << BDMA_IFCR_CTEIF1_Pos)                /*!< 0x00000080 */
+#define BDMA_IFCR_CTEIF1        BDMA_IFCR_CTEIF1_Msk                           /*!< Channel 1 Transfer Error clear */
+#define BDMA_IFCR_CGIF2_Pos     (8U)
+#define BDMA_IFCR_CGIF2_Msk     (0x1UL << BDMA_IFCR_CGIF2_Pos)                 /*!< 0x00000100 */
+#define BDMA_IFCR_CGIF2         BDMA_IFCR_CGIF2_Msk                            /*!< Channel 2 Global interrupt clear */
+#define BDMA_IFCR_CTCIF2_Pos    (9U)
+#define BDMA_IFCR_CTCIF2_Msk    (0x1UL << BDMA_IFCR_CTCIF2_Pos)                /*!< 0x00000200 */
+#define BDMA_IFCR_CTCIF2        BDMA_IFCR_CTCIF2_Msk                           /*!< Channel 2 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF2_Pos    (10U)
+#define BDMA_IFCR_CHTIF2_Msk    (0x1UL << BDMA_IFCR_CHTIF2_Pos)                /*!< 0x00000400 */
+#define BDMA_IFCR_CHTIF2        BDMA_IFCR_CHTIF2_Msk                           /*!< Channel 2 Half Transfer clear */
+#define BDMA_IFCR_CTEIF2_Pos    (11U)
+#define BDMA_IFCR_CTEIF2_Msk    (0x1UL << BDMA_IFCR_CTEIF2_Pos)                /*!< 0x00000800 */
+#define BDMA_IFCR_CTEIF2        BDMA_IFCR_CTEIF2_Msk                           /*!< Channel 2 Transfer Error clear */
+#define BDMA_IFCR_CGIF3_Pos     (12U)
+#define BDMA_IFCR_CGIF3_Msk     (0x1UL << BDMA_IFCR_CGIF3_Pos)                 /*!< 0x00001000 */
+#define BDMA_IFCR_CGIF3         BDMA_IFCR_CGIF3_Msk                            /*!< Channel 3 Global interrupt clear */
+#define BDMA_IFCR_CTCIF3_Pos    (13U)
+#define BDMA_IFCR_CTCIF3_Msk    (0x1UL << BDMA_IFCR_CTCIF3_Pos)                /*!< 0x00002000 */
+#define BDMA_IFCR_CTCIF3        BDMA_IFCR_CTCIF3_Msk                           /*!< Channel 3 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF3_Pos    (14U)
+#define BDMA_IFCR_CHTIF3_Msk    (0x1UL << BDMA_IFCR_CHTIF3_Pos)                /*!< 0x00004000 */
+#define BDMA_IFCR_CHTIF3        BDMA_IFCR_CHTIF3_Msk                           /*!< Channel 3 Half Transfer clear */
+#define BDMA_IFCR_CTEIF3_Pos    (15U)
+#define BDMA_IFCR_CTEIF3_Msk    (0x1UL << BDMA_IFCR_CTEIF3_Pos)                /*!< 0x00008000 */
+#define BDMA_IFCR_CTEIF3        BDMA_IFCR_CTEIF3_Msk                           /*!< Channel 3 Transfer Error clear */
+#define BDMA_IFCR_CGIF4_Pos     (16U)
+#define BDMA_IFCR_CGIF4_Msk     (0x1UL << BDMA_IFCR_CGIF4_Pos)                 /*!< 0x00010000 */
+#define BDMA_IFCR_CGIF4         BDMA_IFCR_CGIF4_Msk                            /*!< Channel 4 Global interrupt clear */
+#define BDMA_IFCR_CTCIF4_Pos    (17U)
+#define BDMA_IFCR_CTCIF4_Msk    (0x1UL << BDMA_IFCR_CTCIF4_Pos)                /*!< 0x00020000 */
+#define BDMA_IFCR_CTCIF4        BDMA_IFCR_CTCIF4_Msk                           /*!< Channel 4 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF4_Pos    (18U)
+#define BDMA_IFCR_CHTIF4_Msk    (0x1UL << BDMA_IFCR_CHTIF4_Pos)                /*!< 0x00040000 */
+#define BDMA_IFCR_CHTIF4        BDMA_IFCR_CHTIF4_Msk                           /*!< Channel 4 Half Transfer clear */
+#define BDMA_IFCR_CTEIF4_Pos    (19U)
+#define BDMA_IFCR_CTEIF4_Msk    (0x1UL << BDMA_IFCR_CTEIF4_Pos)                /*!< 0x00080000 */
+#define BDMA_IFCR_CTEIF4        BDMA_IFCR_CTEIF4_Msk                           /*!< Channel 4 Transfer Error clear */
+#define BDMA_IFCR_CGIF5_Pos     (20U)
+#define BDMA_IFCR_CGIF5_Msk     (0x1UL << BDMA_IFCR_CGIF5_Pos)                 /*!< 0x00100000 */
+#define BDMA_IFCR_CGIF5         BDMA_IFCR_CGIF5_Msk                            /*!< Channel 5 Global interrupt clear */
+#define BDMA_IFCR_CTCIF5_Pos    (21U)
+#define BDMA_IFCR_CTCIF5_Msk    (0x1UL << BDMA_IFCR_CTCIF5_Pos)                /*!< 0x00200000 */
+#define BDMA_IFCR_CTCIF5        BDMA_IFCR_CTCIF5_Msk                           /*!< Channel 5 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF5_Pos    (22U)
+#define BDMA_IFCR_CHTIF5_Msk    (0x1UL << BDMA_IFCR_CHTIF5_Pos)                /*!< 0x00400000 */
+#define BDMA_IFCR_CHTIF5        BDMA_IFCR_CHTIF5_Msk                           /*!< Channel 5 Half Transfer clear */
+#define BDMA_IFCR_CTEIF5_Pos    (23U)
+#define BDMA_IFCR_CTEIF5_Msk    (0x1UL << BDMA_IFCR_CTEIF5_Pos)                /*!< 0x00800000 */
+#define BDMA_IFCR_CTEIF5        BDMA_IFCR_CTEIF5_Msk                           /*!< Channel 5 Transfer Error clear */
+#define BDMA_IFCR_CGIF6_Pos     (24U)
+#define BDMA_IFCR_CGIF6_Msk     (0x1UL << BDMA_IFCR_CGIF6_Pos)                 /*!< 0x01000000 */
+#define BDMA_IFCR_CGIF6         BDMA_IFCR_CGIF6_Msk                            /*!< Channel 6 Global interrupt clear */
+#define BDMA_IFCR_CTCIF6_Pos    (25U)
+#define BDMA_IFCR_CTCIF6_Msk    (0x1UL << BDMA_IFCR_CTCIF6_Pos)                /*!< 0x02000000 */
+#define BDMA_IFCR_CTCIF6        BDMA_IFCR_CTCIF6_Msk                           /*!< Channel 6 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF6_Pos    (26U)
+#define BDMA_IFCR_CHTIF6_Msk    (0x1UL << BDMA_IFCR_CHTIF6_Pos)                /*!< 0x04000000 */
+#define BDMA_IFCR_CHTIF6        BDMA_IFCR_CHTIF6_Msk                           /*!< Channel 6 Half Transfer clear */
+#define BDMA_IFCR_CTEIF6_Pos    (27U)
+#define BDMA_IFCR_CTEIF6_Msk    (0x1UL << BDMA_IFCR_CTEIF6_Pos)                /*!< 0x08000000 */
+#define BDMA_IFCR_CTEIF6        BDMA_IFCR_CTEIF6_Msk                           /*!< Channel 6 Transfer Error clear */
+#define BDMA_IFCR_CGIF7_Pos     (28U)
+#define BDMA_IFCR_CGIF7_Msk     (0x1UL << BDMA_IFCR_CGIF7_Pos)                 /*!< 0x10000000 */
+#define BDMA_IFCR_CGIF7         BDMA_IFCR_CGIF7_Msk                            /*!< Channel 7 Global interrupt clear */
+#define BDMA_IFCR_CTCIF7_Pos    (29U)
+#define BDMA_IFCR_CTCIF7_Msk    (0x1UL << BDMA_IFCR_CTCIF7_Pos)                /*!< 0x20000000 */
+#define BDMA_IFCR_CTCIF7        BDMA_IFCR_CTCIF7_Msk                           /*!< Channel 7 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF7_Pos    (30U)
+#define BDMA_IFCR_CHTIF7_Msk    (0x1UL << BDMA_IFCR_CHTIF7_Pos)                /*!< 0x40000000 */
+#define BDMA_IFCR_CHTIF7        BDMA_IFCR_CHTIF7_Msk                           /*!< Channel 7 Half Transfer clear */
+#define BDMA_IFCR_CTEIF7_Pos    (31U)
+#define BDMA_IFCR_CTEIF7_Msk    (0x1UL << BDMA_IFCR_CTEIF7_Pos)                /*!< 0x80000000 */
+#define BDMA_IFCR_CTEIF7        BDMA_IFCR_CTEIF7_Msk                           /*!< Channel 7 Transfer Error clear */
+
+/*******************  Bit definition for BDMA_CCR register  ********************/
+#define BDMA_CCR_EN_Pos         (0U)
+#define BDMA_CCR_EN_Msk         (0x1UL << BDMA_CCR_EN_Pos)                     /*!< 0x00000001 */
+#define BDMA_CCR_EN             BDMA_CCR_EN_Msk                                /*!< Channel enable                      */
+#define BDMA_CCR_TCIE_Pos       (1U)
+#define BDMA_CCR_TCIE_Msk       (0x1UL << BDMA_CCR_TCIE_Pos)                   /*!< 0x00000002 */
+#define BDMA_CCR_TCIE           BDMA_CCR_TCIE_Msk                              /*!< Transfer complete interrupt enable  */
+#define BDMA_CCR_HTIE_Pos       (2U)
+#define BDMA_CCR_HTIE_Msk       (0x1UL << BDMA_CCR_HTIE_Pos)                   /*!< 0x00000004 */
+#define BDMA_CCR_HTIE           BDMA_CCR_HTIE_Msk                              /*!< Half Transfer interrupt enable      */
+#define BDMA_CCR_TEIE_Pos       (3U)
+#define BDMA_CCR_TEIE_Msk       (0x1UL << BDMA_CCR_TEIE_Pos)                   /*!< 0x00000008 */
+#define BDMA_CCR_TEIE           BDMA_CCR_TEIE_Msk                              /*!< Transfer error interrupt enable     */
+#define BDMA_CCR_DIR_Pos        (4U)
+#define BDMA_CCR_DIR_Msk        (0x1UL << BDMA_CCR_DIR_Pos)                    /*!< 0x00000010 */
+#define BDMA_CCR_DIR            BDMA_CCR_DIR_Msk                               /*!< Data transfer direction             */
+#define BDMA_CCR_CIRC_Pos       (5U)
+#define BDMA_CCR_CIRC_Msk       (0x1UL << BDMA_CCR_CIRC_Pos)                   /*!< 0x00000020 */
+#define BDMA_CCR_CIRC           BDMA_CCR_CIRC_Msk                              /*!< Circular mode                       */
+#define BDMA_CCR_PINC_Pos       (6U)
+#define BDMA_CCR_PINC_Msk       (0x1UL << BDMA_CCR_PINC_Pos)                   /*!< 0x00000040 */
+#define BDMA_CCR_PINC           BDMA_CCR_PINC_Msk                              /*!< Peripheral increment mode           */
+#define BDMA_CCR_MINC_Pos       (7U)
+#define BDMA_CCR_MINC_Msk       (0x1UL << BDMA_CCR_MINC_Pos)                   /*!< 0x00000080 */
+#define BDMA_CCR_MINC           BDMA_CCR_MINC_Msk                              /*!< Memory increment mode               */
+
+#define BDMA_CCR_PSIZE_Pos      (8U)
+#define BDMA_CCR_PSIZE_Msk      (0x3UL << BDMA_CCR_PSIZE_Pos)                  /*!< 0x00000300 */
+#define BDMA_CCR_PSIZE          BDMA_CCR_PSIZE_Msk                             /*!< PSIZE[1:0] bits (Peripheral size)   */
+#define BDMA_CCR_PSIZE_0        (0x1UL << BDMA_CCR_PSIZE_Pos)                   /*!< 0x00000100 */
+#define BDMA_CCR_PSIZE_1        (0x2UL << BDMA_CCR_PSIZE_Pos)                   /*!< 0x00000200 */
+
+#define BDMA_CCR_MSIZE_Pos      (10U)
+#define BDMA_CCR_MSIZE_Msk      (0x3UL << BDMA_CCR_MSIZE_Pos)                  /*!< 0x00000C00 */
+#define BDMA_CCR_MSIZE          BDMA_CCR_MSIZE_Msk                             /*!< MSIZE[1:0] bits (Memory size)       */
+#define BDMA_CCR_MSIZE_0        (0x1UL << BDMA_CCR_MSIZE_Pos)                   /*!< 0x00000400 */
+#define BDMA_CCR_MSIZE_1        (0x2UL << BDMA_CCR_MSIZE_Pos)                   /*!< 0x00000800 */
+
+#define BDMA_CCR_PL_Pos         (12U)
+#define BDMA_CCR_PL_Msk         (0x3UL << BDMA_CCR_PL_Pos)                     /*!< 0x00003000 */
+#define BDMA_CCR_PL             BDMA_CCR_PL_Msk                                /*!< PL[1:0] bits(Channel Priority level)*/
+#define BDMA_CCR_PL_0           (0x1UL << BDMA_CCR_PL_Pos)                      /*!< 0x00001000 */
+#define BDMA_CCR_PL_1           (0x2UL << BDMA_CCR_PL_Pos)                      /*!< 0x00002000 */
+
+#define BDMA_CCR_MEM2MEM_Pos    (14U)
+#define BDMA_CCR_MEM2MEM_Msk    (0x1UL << BDMA_CCR_MEM2MEM_Pos)                /*!< 0x00004000 */
+#define BDMA_CCR_MEM2MEM        BDMA_CCR_MEM2MEM_Msk                           /*!< Memory to memory mode               */
+#define BDMA_CCR_DBM_Pos        (15U)
+#define BDMA_CCR_DBM_Msk        (0x1UL << BDMA_CCR_DBM_Pos)                    /*!< 0x0000A000 */
+#define BDMA_CCR_DBM            BDMA_CCR_DBM_Msk                               /*!< Memory to memory mode               */
+#define BDMA_CCR_CT_Pos         (16U)
+#define BDMA_CCR_CT_Msk         (0x1UL << BDMA_CCR_CT_Pos)                     /*!< 0x00010000 */
+#define BDMA_CCR_CT             BDMA_CCR_CT_Msk                                /*!< Memory to memory mode               */
+
+/******************  Bit definition for BDMA_CNDTR register  *******************/
+#define BDMA_CNDTR_NDT_Pos      (0U)
+#define BDMA_CNDTR_NDT_Msk      (0xFFFFUL << BDMA_CNDTR_NDT_Pos)               /*!< 0x0000FFFF */
+#define BDMA_CNDTR_NDT          BDMA_CNDTR_NDT_Msk                             /*!< Number of data to Transfer          */
+
+/******************  Bit definition for BDMA_CPAR register  ********************/
+#define BDMA_CPAR_PA_Pos        (0U)
+#define BDMA_CPAR_PA_Msk        (0xFFFFFFFFUL << BDMA_CPAR_PA_Pos)             /*!< 0xFFFFFFFF */
+#define BDMA_CPAR_PA            BDMA_CPAR_PA_Msk                               /*!< Peripheral Address                  */
+
+/******************  Bit definition for BDMA_CM0AR register  ********************/
+#define BDMA_CM0AR_MA_Pos        (0U)
+#define BDMA_CM0AR_MA_Msk        (0xFFFFFFFFUL << BDMA_CM0AR_MA_Pos)             /*!< 0xFFFFFFFF */
+#define BDMA_CM0AR_MA            BDMA_CM0AR_MA_Msk                               /*!< Memory Address                      */
+
+/******************  Bit definition for BDMA_CM1AR register  ********************/
+#define BDMA_CM1AR_MA_Pos        (0U)
+#define BDMA_CM1AR_MA_Msk        (0xFFFFFFFFUL << BDMA_CM1AR_MA_Pos)             /*!< 0xFFFFFFFF */
+#define BDMA_CM1AR_MA            BDMA_CM1AR_MA_Msk                               /*!< Memory Address                      */
+
+/******************************************************************************/
+/*                                                                            */
+/*                Ethernet MAC Registers bits definitions                     */
+/*                                                                            */
+/******************************************************************************/
+/* Bit definition for Ethernet MAC Configuration Register register */
+#define ETH_MACCR_ARP_Pos                             (31U)
+#define ETH_MACCR_ARP_Msk                             (0x1UL << ETH_MACCR_ARP_Pos) /*!< 0x80000000 */
+#define ETH_MACCR_ARP                                 ETH_MACCR_ARP_Msk        /* ARP Offload Enable */
+#define ETH_MACCR_SARC_Pos                            (28U)
+#define ETH_MACCR_SARC_Msk                            (0x7UL << ETH_MACCR_SARC_Pos) /*!< 0x70000000 */
+#define ETH_MACCR_SARC                                ETH_MACCR_SARC_Msk       /* Source Address Insertion or Replacement Control */
+#define ETH_MACCR_SARC_MTIATI                         ((uint32_t)0x00000000)   /* The mti_sa_ctrl_i and ati_sa_ctrl_i input signals control the SA field generation. */
+#define ETH_MACCR_SARC_INSADDR0_Pos                   (29U)
+#define ETH_MACCR_SARC_INSADDR0_Msk                   (0x1UL << ETH_MACCR_SARC_INSADDR0_Pos) /*!< 0x20000000 */
+#define ETH_MACCR_SARC_INSADDR0                       ETH_MACCR_SARC_INSADDR0_Msk /* Insert MAC Address0 in the SA field of all transmitted packets. */
+#define ETH_MACCR_SARC_INSADDR1_Pos                   (29U)
+#define ETH_MACCR_SARC_INSADDR1_Msk                   (0x3UL << ETH_MACCR_SARC_INSADDR1_Pos) /*!< 0x60000000 */
+#define ETH_MACCR_SARC_INSADDR1                       ETH_MACCR_SARC_INSADDR1_Msk /* Insert MAC Address1 in the SA field of all transmitted packets. */
+#define ETH_MACCR_SARC_REPADDR0_Pos                   (28U)
+#define ETH_MACCR_SARC_REPADDR0_Msk                   (0x3UL << ETH_MACCR_SARC_REPADDR0_Pos) /*!< 0x30000000 */
+#define ETH_MACCR_SARC_REPADDR0                       ETH_MACCR_SARC_REPADDR0_Msk /* Replace MAC Address0 in the SA field of all transmitted packets. */
+#define ETH_MACCR_SARC_REPADDR1_Pos                   (28U)
+#define ETH_MACCR_SARC_REPADDR1_Msk                   (0x7UL << ETH_MACCR_SARC_REPADDR1_Pos) /*!< 0x70000000 */
+#define ETH_MACCR_SARC_REPADDR1                       ETH_MACCR_SARC_REPADDR1_Msk /* Replace MAC Address1 in the SA field of all transmitted packets. */
+#define ETH_MACCR_IPC_Pos                             (27U)
+#define ETH_MACCR_IPC_Msk                             (0x1UL << ETH_MACCR_IPC_Pos) /*!< 0x08000000 */
+#define ETH_MACCR_IPC                                 ETH_MACCR_IPC_Msk        /* Checksum Offload */
+#define ETH_MACCR_IPG_Pos                             (24U)
+#define ETH_MACCR_IPG_Msk                             (0x7UL << ETH_MACCR_IPG_Pos) /*!< 0x07000000 */
+#define ETH_MACCR_IPG                                 ETH_MACCR_IPG_Msk        /* Inter-Packet Gap */
+#define ETH_MACCR_IPG_96BIT                           ((uint32_t)0x00000000)   /* Minimum IFG between Packets during transmission is 96Bit */
+#define ETH_MACCR_IPG_88BIT                           ((uint32_t)0x01000000)   /* Minimum IFG between Packets during transmission is 88Bit */
+#define ETH_MACCR_IPG_80BIT                           ((uint32_t)0x02000000)   /* Minimum IFG between Packets during transmission is 80Bit */
+#define ETH_MACCR_IPG_72BIT                           ((uint32_t)0x03000000)   /* Minimum IFG between Packets during transmission is 72Bit */
+#define ETH_MACCR_IPG_64BIT                           ((uint32_t)0x04000000)   /* Minimum IFG between Packets during transmission is 64Bit */
+#define ETH_MACCR_IPG_56BIT                           ((uint32_t)0x05000000)   /* Minimum IFG between Packets during transmission is 56Bit */
+#define ETH_MACCR_IPG_48BIT                           ((uint32_t)0x06000000)   /* Minimum IFG between Packets during transmission is 48Bit */
+#define ETH_MACCR_IPG_40BIT                           ((uint32_t)0x07000000)   /* Minimum IFG between Packets during transmission is 40Bit */
+#define ETH_MACCR_GPSLCE_Pos                          (23U)
+#define ETH_MACCR_GPSLCE_Msk                          (0x1UL << ETH_MACCR_GPSLCE_Pos) /*!< 0x00800000 */
+#define ETH_MACCR_GPSLCE                              ETH_MACCR_GPSLCE_Msk     /* Giant Packet Size Limit Control Enable */
+#define ETH_MACCR_S2KP_Pos                            (22U)
+#define ETH_MACCR_S2KP_Msk                            (0x1UL << ETH_MACCR_S2KP_Pos) /*!< 0x00400000 */
+#define ETH_MACCR_S2KP                                ETH_MACCR_S2KP_Msk       /* IEEE 802.3as Support for 2K Packets */
+#define ETH_MACCR_CST_Pos                             (21U)
+#define ETH_MACCR_CST_Msk                             (0x1UL << ETH_MACCR_CST_Pos) /*!< 0x00200000 */
+#define ETH_MACCR_CST                                 ETH_MACCR_CST_Msk        /* CRC stripping for Type packets */
+#define ETH_MACCR_ACS_Pos                             (20U)
+#define ETH_MACCR_ACS_Msk                             (0x1UL << ETH_MACCR_ACS_Pos) /*!< 0x00100000 */
+#define ETH_MACCR_ACS                                 ETH_MACCR_ACS_Msk        /* Automatic Pad or CRC Stripping */
+#define ETH_MACCR_WD_Pos                              (19U)
+#define ETH_MACCR_WD_Msk                              (0x1UL << ETH_MACCR_WD_Pos) /*!< 0x00080000 */
+#define ETH_MACCR_WD                                  ETH_MACCR_WD_Msk         /* Watchdog disable */
+#define ETH_MACCR_JD_Pos                              (17U)
+#define ETH_MACCR_JD_Msk                              (0x1UL << ETH_MACCR_JD_Pos) /*!< 0x00020000 */
+#define ETH_MACCR_JD                                  ETH_MACCR_JD_Msk         /* Jabber disable */
+#define ETH_MACCR_JE_Pos                              (16U)
+#define ETH_MACCR_JE_Msk                              (0x1UL << ETH_MACCR_JE_Pos) /*!< 0x00010000 */
+#define ETH_MACCR_JE                                  ETH_MACCR_JE_Msk         /* Jumbo Packet Enable */
+#define ETH_MACCR_FES_Pos                             (14U)
+#define ETH_MACCR_FES_Msk                             (0x1UL << ETH_MACCR_FES_Pos) /*!< 0x00004000 */
+#define ETH_MACCR_FES                                 ETH_MACCR_FES_Msk        /* Fast ethernet speed */
+#define ETH_MACCR_DM_Pos                              (13U)
+#define ETH_MACCR_DM_Msk                              (0x1UL << ETH_MACCR_DM_Pos) /*!< 0x00002000 */
+#define ETH_MACCR_DM                                  ETH_MACCR_DM_Msk         /* Duplex mode */
+#define ETH_MACCR_LM_Pos                              (12U)
+#define ETH_MACCR_LM_Msk                              (0x1UL << ETH_MACCR_LM_Pos) /*!< 0x00001000 */
+#define ETH_MACCR_LM                                  ETH_MACCR_LM_Msk         /* loopback mode */
+#define ETH_MACCR_ECRSFD_Pos                          (11U)
+#define ETH_MACCR_ECRSFD_Msk                          (0x1UL << ETH_MACCR_ECRSFD_Pos) /*!< 0x00000800 */
+#define ETH_MACCR_ECRSFD                              ETH_MACCR_ECRSFD_Msk     /* Enable Carrier Sense Before Transmission in Full-Duplex Mode */
+#define ETH_MACCR_DO_Pos                              (10U)
+#define ETH_MACCR_DO_Msk                              (0x1UL << ETH_MACCR_DO_Pos) /*!< 0x00000400 */
+#define ETH_MACCR_DO                                  ETH_MACCR_DO_Msk         /* Disable Receive own  */
+#define ETH_MACCR_DCRS_Pos                            (9U)
+#define ETH_MACCR_DCRS_Msk                            (0x1UL << ETH_MACCR_DCRS_Pos) /*!< 0x00000200 */
+#define ETH_MACCR_DCRS                                ETH_MACCR_DCRS_Msk       /* Disable Carrier Sense During Transmission */
+#define ETH_MACCR_DR_Pos                              (8U)
+#define ETH_MACCR_DR_Msk                              (0x1UL << ETH_MACCR_DR_Pos) /*!< 0x00000100 */
+#define ETH_MACCR_DR                                  ETH_MACCR_DR_Msk         /* Disable Retry */
+#define ETH_MACCR_BL_Pos                              (5U)
+#define ETH_MACCR_BL_Msk                              (0x3UL << ETH_MACCR_BL_Pos) /*!< 0x00000060 */
+#define ETH_MACCR_BL                                  ETH_MACCR_BL_Msk         /* Back-off limit mask */
+#define ETH_MACCR_BL_10                               (0x0UL << ETH_MACCR_BL_Pos) /*!< 0x00000000 */
+#define ETH_MACCR_BL_8                                (0x1UL << ETH_MACCR_BL_Pos) /*!< 0x00000020 */
+#define ETH_MACCR_BL_4                                (0x2UL << ETH_MACCR_BL_Pos) /*!< 0x00000040 */
+#define ETH_MACCR_BL_1                                (0x3UL << ETH_MACCR_BL_Pos) /*!< 0x00000060 */
+#define ETH_MACCR_DC_Pos                              (4U)
+#define ETH_MACCR_DC_Msk                              (0x1UL << ETH_MACCR_DC_Pos) /*!< 0x00000010 */
+#define ETH_MACCR_DC                                  ETH_MACCR_DC_Msk         /* Defferal check */
+#define ETH_MACCR_PRELEN_Pos                          (2U)
+#define ETH_MACCR_PRELEN_Msk                          (0x3UL << ETH_MACCR_PRELEN_Pos) /*!< 0x0000000C */
+#define ETH_MACCR_PRELEN                              ETH_MACCR_PRELEN_Msk     /* Preamble Length for Transmit packets */
+#define ETH_MACCR_PRELEN_7                            (0x0UL << ETH_MACCR_PRELEN_Pos) /*!< 0x00000000 */
+#define ETH_MACCR_PRELEN_5                            (0x1UL << ETH_MACCR_PRELEN_Pos) /*!< 0x00000004 */
+#define ETH_MACCR_PRELEN_3                            (0x2UL << ETH_MACCR_PRELEN_Pos) /*!< 0x00000008 */
+#define ETH_MACCR_TE_Pos                              (1U)
+#define ETH_MACCR_TE_Msk                              (0x1UL << ETH_MACCR_TE_Pos) /*!< 0x00000002 */
+#define ETH_MACCR_TE                                  ETH_MACCR_TE_Msk         /* Transmitter enable */
+#define ETH_MACCR_RE_Pos                              (0U)
+#define ETH_MACCR_RE_Msk                              (0x1UL << ETH_MACCR_RE_Pos) /*!< 0x00000001 */
+#define ETH_MACCR_RE                                  ETH_MACCR_RE_Msk         /* Receiver enable */
+
+/* Bit definition for Ethernet MAC Extended Configuration Register register */
+#define ETH_MACECR_EIPG_Pos                           (25U)
+#define ETH_MACECR_EIPG_Msk                           (0x1FUL << ETH_MACECR_EIPG_Pos) /*!< 0x3E000000 */
+#define ETH_MACECR_EIPG                               ETH_MACECR_EIPG_Msk      /* Extended Inter-Packet Gap */
+#define ETH_MACECR_EIPGEN_Pos                         (24U)
+#define ETH_MACECR_EIPGEN_Msk                         (0x1UL << ETH_MACECR_EIPGEN_Pos) /*!< 0x01000000 */
+#define ETH_MACECR_EIPGEN                             ETH_MACECR_EIPGEN_Msk    /* Extended Inter-Packet Gap Enable */
+#define ETH_MACECR_USP_Pos                            (18U)
+#define ETH_MACECR_USP_Msk                            (0x1UL << ETH_MACECR_USP_Pos) /*!< 0x00040000 */
+#define ETH_MACECR_USP                                ETH_MACECR_USP_Msk       /* Unicast Slow Protocol Packet Detect */
+#define ETH_MACECR_SPEN_Pos                           (17U)
+#define ETH_MACECR_SPEN_Msk                           (0x1UL << ETH_MACECR_SPEN_Pos) /*!< 0x00020000 */
+#define ETH_MACECR_SPEN                               ETH_MACECR_SPEN_Msk      /* Slow Protocol Detection Enable */
+#define ETH_MACECR_DCRCC_Pos                          (16U)
+#define ETH_MACECR_DCRCC_Msk                          (0x1UL << ETH_MACECR_DCRCC_Pos) /*!< 0x00010000 */
+#define ETH_MACECR_DCRCC                              ETH_MACECR_DCRCC_Msk     /* Disable CRC Checking for Received Packets */
+#define ETH_MACECR_GPSL_Pos                           (0U)
+#define ETH_MACECR_GPSL_Msk                           (0x3FFFUL << ETH_MACECR_GPSL_Pos) /*!< 0x00003FFF */
+#define ETH_MACECR_GPSL                               ETH_MACECR_GPSL_Msk      /* Giant Packet Size Limit */
+
+/* Bit definition for Ethernet MAC Packet Filter Register */
+#define ETH_MACPFR_RA_Pos                             (31U)
+#define ETH_MACPFR_RA_Msk                             (0x1UL << ETH_MACPFR_RA_Pos) /*!< 0x80000000 */
+#define ETH_MACPFR_RA                                 ETH_MACPFR_RA_Msk        /* Receive all */
+#define ETH_MACPFR_DNTU_Pos                           (21U)
+#define ETH_MACPFR_DNTU_Msk                           (0x1UL << ETH_MACPFR_DNTU_Pos) /*!< 0x00200000 */
+#define ETH_MACPFR_DNTU                               ETH_MACPFR_DNTU_Msk      /* Drop Non-TCP/UDP over IP Packets */
+#define ETH_MACPFR_IPFE_Pos                           (20U)
+#define ETH_MACPFR_IPFE_Msk                           (0x1UL << ETH_MACPFR_IPFE_Pos) /*!< 0x00100000 */
+#define ETH_MACPFR_IPFE                               ETH_MACPFR_IPFE_Msk      /* Layer 3 and Layer 4 Filter Enable */
+#define ETH_MACPFR_VTFE_Pos                           (16U)
+#define ETH_MACPFR_VTFE_Msk                           (0x1UL << ETH_MACPFR_VTFE_Pos) /*!< 0x00010000 */
+#define ETH_MACPFR_VTFE                               ETH_MACPFR_VTFE_Msk      /* VLAN Tag Filter Enable */
+#define ETH_MACPFR_HPF_Pos                            (10U)
+#define ETH_MACPFR_HPF_Msk                            (0x1UL << ETH_MACPFR_HPF_Pos) /*!< 0x00000400 */
+#define ETH_MACPFR_HPF                                ETH_MACPFR_HPF_Msk       /* Hash or perfect filter */
+#define ETH_MACPFR_SAF_Pos                            (9U)
+#define ETH_MACPFR_SAF_Msk                            (0x1UL << ETH_MACPFR_SAF_Pos) /*!< 0x00000200 */
+#define ETH_MACPFR_SAF                                ETH_MACPFR_SAF_Msk       /* Source address filter enable */
+#define ETH_MACPFR_SAIF_Pos                           (8U)
+#define ETH_MACPFR_SAIF_Msk                           (0x1UL << ETH_MACPFR_SAIF_Pos) /*!< 0x00000100 */
+#define ETH_MACPFR_SAIF                               ETH_MACPFR_SAIF_Msk      /* SA inverse filtering */
+#define ETH_MACPFR_PCF_Pos                            (6U)
+#define ETH_MACPFR_PCF_Msk                            (0x3UL << ETH_MACPFR_PCF_Pos) /*!< 0x000000C0 */
+#define ETH_MACPFR_PCF                                ETH_MACPFR_PCF_Msk       /* Pass control frames: 4 cases */
+#define ETH_MACPFR_PCF_BLOCKALL                       ((uint32_t)0x00000000)   /* MAC filters all control frames from reaching the application */
+#define ETH_MACPFR_PCF_FORWARDALLEXCEPTPA_Pos         (6U)
+#define ETH_MACPFR_PCF_FORWARDALLEXCEPTPA_Msk         (0x1UL << ETH_MACPFR_PCF_FORWARDALLEXCEPTPA_Pos) /*!< 0x00000040 */
+#define ETH_MACPFR_PCF_FORWARDALLEXCEPTPA             ETH_MACPFR_PCF_FORWARDALLEXCEPTPA_Msk /* MAC forwards all control frames except Pause packets to application even if they fail the Address Filter */
+#define ETH_MACPFR_PCF_FORWARDALL_Pos                 (7U)
+#define ETH_MACPFR_PCF_FORWARDALL_Msk                 (0x1UL << ETH_MACPFR_PCF_FORWARDALL_Pos) /*!< 0x00000080 */
+#define ETH_MACPFR_PCF_FORWARDALL                     ETH_MACPFR_PCF_FORWARDALL_Msk /* MAC forwards all control frames to application even if they fail the Address Filter */
+#define ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER_Pos    (6U)
+#define ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER_Msk    (0x3UL << ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER_Pos) /*!< 0x000000C0 */
+#define ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER        ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER_Msk /* MAC forwards control frames that pass the Address Filter. */
+#define ETH_MACPFR_DBF_Pos                            (5U)
+#define ETH_MACPFR_DBF_Msk                            (0x1UL << ETH_MACPFR_DBF_Pos) /*!< 0x00000020 */
+#define ETH_MACPFR_DBF                                ETH_MACPFR_DBF_Msk       /* Disable Broadcast Packets */
+#define ETH_MACPFR_PM_Pos                             (4U)
+#define ETH_MACPFR_PM_Msk                             (0x1UL << ETH_MACPFR_PM_Pos) /*!< 0x00000010 */
+#define ETH_MACPFR_PM                                 ETH_MACPFR_PM_Msk        /* Pass all mutlicast */
+#define ETH_MACPFR_DAIF_Pos                           (3U)
+#define ETH_MACPFR_DAIF_Msk                           (0x1UL << ETH_MACPFR_DAIF_Pos) /*!< 0x00000008 */
+#define ETH_MACPFR_DAIF                               ETH_MACPFR_DAIF_Msk      /* DA Inverse filtering */
+#define ETH_MACPFR_HMC_Pos                            (2U)
+#define ETH_MACPFR_HMC_Msk                            (0x1UL << ETH_MACPFR_HMC_Pos) /*!< 0x00000004 */
+#define ETH_MACPFR_HMC                                ETH_MACPFR_HMC_Msk       /* Hash multicast */
+#define ETH_MACPFR_HUC_Pos                            (1U)
+#define ETH_MACPFR_HUC_Msk                            (0x1UL << ETH_MACPFR_HUC_Pos) /*!< 0x00000002 */
+#define ETH_MACPFR_HUC                                ETH_MACPFR_HUC_Msk       /* Hash unicast */
+#define ETH_MACPFR_PR_Pos                             (0U)
+#define ETH_MACPFR_PR_Msk                             (0x1UL << ETH_MACPFR_PR_Pos) /*!< 0x00000001 */
+#define ETH_MACPFR_PR                                 ETH_MACPFR_PR_Msk        /* Promiscuous mode */
+
+/* Bit definition for Ethernet MAC Watchdog Timeout Register */
+#define ETH_MACWTR_PWE_Pos                            (8U)
+#define ETH_MACWTR_PWE_Msk                            (0x1UL << ETH_MACWTR_PWE_Pos) /*!< 0x00000100 */
+#define ETH_MACWTR_PWE                                ETH_MACWTR_PWE_Msk       /* Programmable Watchdog Enable */
+#define ETH_MACWTR_WTO_Pos                            (0U)
+#define ETH_MACWTR_WTO_Msk                            (0xFUL << ETH_MACWTR_WTO_Pos) /*!< 0x0000000F */
+#define ETH_MACWTR_WTO                                ETH_MACWTR_WTO_Msk       /* Watchdog Timeout */
+#define ETH_MACWTR_WTO_2KB                            ((uint32_t)0x00000000)   /* Maximum received packet length 2KB*/
+#define ETH_MACWTR_WTO_3KB                            ((uint32_t)0x00000001)   /* Maximum received packet length 3KB */
+#define ETH_MACWTR_WTO_4KB                            ((uint32_t)0x00000002)   /* Maximum received packet length 4KB */
+#define ETH_MACWTR_WTO_5KB                            ((uint32_t)0x00000003)   /* Maximum received packet length 5KB */
+#define ETH_MACWTR_WTO_6KB                            ((uint32_t)0x00000004)   /* Maximum received packet length 6KB */
+#define ETH_MACWTR_WTO_7KB                            ((uint32_t)0x00000005)   /* Maximum received packet length 7KB */
+#define ETH_MACWTR_WTO_8KB                            ((uint32_t)0x00000006)   /* Maximum received packet length 8KB */
+#define ETH_MACWTR_WTO_9KB                            ((uint32_t)0x00000007)   /* Maximum received packet length 9KB */
+#define ETH_MACWTR_WTO_10KB                           ((uint32_t)0x00000008)   /* Maximum received packet length 10KB */
+#define ETH_MACWTR_WTO_11KB                           ((uint32_t)0x00000009)   /* Maximum received packet length 11KB */
+#define ETH_MACWTR_WTO_12KB                           ((uint32_t)0x0000000A)   /* Maximum received packet length 12KB */
+#define ETH_MACWTR_WTO_13KB                           ((uint32_t)0x0000000B)   /* Maximum received packet length 13KB */
+#define ETH_MACWTR_WTO_14KB                           ((uint32_t)0x0000000C)   /* Maximum received packet length 14KB */
+#define ETH_MACWTR_WTO_15KB                           ((uint32_t)0x0000000D)   /* Maximum received packet length 15KB */
+#define ETH_MACWTR_WTO_16KB                           ((uint32_t)0x0000000E)   /* Maximum received packet length 16KB */
+
+/* Bit definition for Ethernet MAC Hash Table High Register */
+#define ETH_MACHTHR_HTH_Pos                           (0U)
+#define ETH_MACHTHR_HTH_Msk                           (0xFFFFFFFFUL << ETH_MACHTHR_HTH_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACHTHR_HTH                               ETH_MACHTHR_HTH_Msk      /* Hash table high */
+
+/* Bit definition for Ethernet MAC Hash Table Low Register */
+#define ETH_MACHTLR_HTL_Pos                           (0U)
+#define ETH_MACHTLR_HTL_Msk                           (0xFFFFFFFFUL << ETH_MACHTLR_HTL_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACHTLR_HTL                               ETH_MACHTLR_HTL_Msk      /* Hash table low */
+
+/* Bit definition for Ethernet MAC VLAN Tag Register */
+#define ETH_MACVTR_EIVLRXS_Pos                        (31U)
+#define ETH_MACVTR_EIVLRXS_Msk                        (0x1UL << ETH_MACVTR_EIVLRXS_Pos) /*!< 0x80000000 */
+#define ETH_MACVTR_EIVLRXS                            ETH_MACVTR_EIVLRXS_Msk   /* Enable Inner VLAN Tag in Rx Status */
+#define ETH_MACVTR_EIVLS_Pos                          (28U)
+#define ETH_MACVTR_EIVLS_Msk                          (0x3UL << ETH_MACVTR_EIVLS_Pos) /*!< 0x30000000 */
+#define ETH_MACVTR_EIVLS                              ETH_MACVTR_EIVLS_Msk     /* Enable Inner VLAN Tag Stripping on Receive */
+#define ETH_MACVTR_EIVLS_DONOTSTRIP                   ((uint32_t)0x00000000)   /* Do not strip */
+#define ETH_MACVTR_EIVLS_STRIPIFPASS_Pos              (28U)
+#define ETH_MACVTR_EIVLS_STRIPIFPASS_Msk              (0x1UL << ETH_MACVTR_EIVLS_STRIPIFPASS_Pos) /*!< 0x10000000 */
+#define ETH_MACVTR_EIVLS_STRIPIFPASS                  ETH_MACVTR_EIVLS_STRIPIFPASS_Msk /* Strip if VLAN filter passes */
+#define ETH_MACVTR_EIVLS_STRIPIFFAILS_Pos             (29U)
+#define ETH_MACVTR_EIVLS_STRIPIFFAILS_Msk             (0x1UL << ETH_MACVTR_EIVLS_STRIPIFFAILS_Pos) /*!< 0x20000000 */
+#define ETH_MACVTR_EIVLS_STRIPIFFAILS                 ETH_MACVTR_EIVLS_STRIPIFFAILS_Msk /* Strip if VLAN filter fails */
+#define ETH_MACVTR_EIVLS_ALWAYSSTRIP_Pos              (28U)
+#define ETH_MACVTR_EIVLS_ALWAYSSTRIP_Msk              (0x3UL << ETH_MACVTR_EIVLS_ALWAYSSTRIP_Pos) /*!< 0x30000000 */
+#define ETH_MACVTR_EIVLS_ALWAYSSTRIP                  ETH_MACVTR_EIVLS_ALWAYSSTRIP_Msk /* Always strip */
+#define ETH_MACVTR_ERIVLT_Pos                         (27U)
+#define ETH_MACVTR_ERIVLT_Msk                         (0x1UL << ETH_MACVTR_ERIVLT_Pos) /*!< 0x08000000 */
+#define ETH_MACVTR_ERIVLT                             ETH_MACVTR_ERIVLT_Msk    /* Enable Inner VLAN Tag */
+#define ETH_MACVTR_EDVLP_Pos                          (26U)
+#define ETH_MACVTR_EDVLP_Msk                          (0x1UL << ETH_MACVTR_EDVLP_Pos) /*!< 0x04000000 */
+#define ETH_MACVTR_EDVLP                              ETH_MACVTR_EDVLP_Msk     /* Enable Double VLAN Processing */
+#define ETH_MACVTR_VTHM_Pos                           (25U)
+#define ETH_MACVTR_VTHM_Msk                           (0x1UL << ETH_MACVTR_VTHM_Pos) /*!< 0x02000000 */
+#define ETH_MACVTR_VTHM                               ETH_MACVTR_VTHM_Msk      /* VLAN Tag Hash Table Match Enable */
+#define ETH_MACVTR_EVLRXS_Pos                         (24U)
+#define ETH_MACVTR_EVLRXS_Msk                         (0x1UL << ETH_MACVTR_EVLRXS_Pos) /*!< 0x01000000 */
+#define ETH_MACVTR_EVLRXS                             ETH_MACVTR_EVLRXS_Msk    /* Enable VLAN Tag in Rx status */
+#define ETH_MACVTR_EVLS_Pos                           (21U)
+#define ETH_MACVTR_EVLS_Msk                           (0x3UL << ETH_MACVTR_EVLS_Pos) /*!< 0x00600000 */
+#define ETH_MACVTR_EVLS                               ETH_MACVTR_EVLS_Msk      /* Enable VLAN Tag Stripping on Receive */
+#define ETH_MACVTR_EVLS_DONOTSTRIP                    ((uint32_t)0x00000000)   /* Do not strip */
+#define ETH_MACVTR_EVLS_STRIPIFPASS_Pos               (21U)
+#define ETH_MACVTR_EVLS_STRIPIFPASS_Msk               (0x1UL << ETH_MACVTR_EVLS_STRIPIFPASS_Pos) /*!< 0x00200000 */
+#define ETH_MACVTR_EVLS_STRIPIFPASS                   ETH_MACVTR_EVLS_STRIPIFPASS_Msk /* Strip if VLAN filter passes */
+#define ETH_MACVTR_EVLS_STRIPIFFAILS_Pos              (22U)
+#define ETH_MACVTR_EVLS_STRIPIFFAILS_Msk              (0x1UL << ETH_MACVTR_EVLS_STRIPIFFAILS_Pos) /*!< 0x00400000 */
+#define ETH_MACVTR_EVLS_STRIPIFFAILS                  ETH_MACVTR_EVLS_STRIPIFFAILS_Msk /* Strip if VLAN filter fails */
+#define ETH_MACVTR_EVLS_ALWAYSSTRIP_Pos               (21U)
+#define ETH_MACVTR_EVLS_ALWAYSSTRIP_Msk               (0x3UL << ETH_MACVTR_EVLS_ALWAYSSTRIP_Pos) /*!< 0x00600000 */
+#define ETH_MACVTR_EVLS_ALWAYSSTRIP                   ETH_MACVTR_EVLS_ALWAYSSTRIP_Msk /* Always strip */
+#define ETH_MACVTR_DOVLTC_Pos                         (20U)
+#define ETH_MACVTR_DOVLTC_Msk                         (0x1UL << ETH_MACVTR_DOVLTC_Pos) /*!< 0x00100000 */
+#define ETH_MACVTR_DOVLTC                             ETH_MACVTR_DOVLTC_Msk    /* Disable VLAN Type Check */
+#define ETH_MACVTR_ERSVLM_Pos                         (19U)
+#define ETH_MACVTR_ERSVLM_Msk                         (0x1UL << ETH_MACVTR_ERSVLM_Pos) /*!< 0x00080000 */
+#define ETH_MACVTR_ERSVLM                             ETH_MACVTR_ERSVLM_Msk    /* Enable Receive S-VLAN Match */
+#define ETH_MACVTR_ESVL_Pos                           (18U)
+#define ETH_MACVTR_ESVL_Msk                           (0x1UL << ETH_MACVTR_ESVL_Pos) /*!< 0x00040000 */
+#define ETH_MACVTR_ESVL                               ETH_MACVTR_ESVL_Msk      /* Enable S-VLAN */
+#define ETH_MACVTR_VTIM_Pos                           (17U)
+#define ETH_MACVTR_VTIM_Msk                           (0x1UL << ETH_MACVTR_VTIM_Pos) /*!< 0x00020000 */
+#define ETH_MACVTR_VTIM                               ETH_MACVTR_VTIM_Msk      /* VLAN Tag Inverse Match Enable */
+#define ETH_MACVTR_ETV_Pos                            (16U)
+#define ETH_MACVTR_ETV_Msk                            (0x1UL << ETH_MACVTR_ETV_Pos) /*!< 0x00010000 */
+#define ETH_MACVTR_ETV                                ETH_MACVTR_ETV_Msk       /* Enable 12-Bit VLAN Tag Comparison */
+#define ETH_MACVTR_VL_Pos                             (0U)
+#define ETH_MACVTR_VL_Msk                             (0xFFFFUL << ETH_MACVTR_VL_Pos) /*!< 0x0000FFFF */
+#define ETH_MACVTR_VL                                 ETH_MACVTR_VL_Msk        /* VLAN Tag Identifier for Receive Packets */
+#define ETH_MACVTR_VL_UP_Pos                          (13U)
+#define ETH_MACVTR_VL_UP_Msk                          (0x7UL << ETH_MACVTR_VL_UP_Pos) /*!< 0x0000E000 */
+#define ETH_MACVTR_VL_UP                              ETH_MACVTR_VL_UP_Msk     /* User Priority */
+#define ETH_MACVTR_VL_CFIDEI_Pos                      (12U)
+#define ETH_MACVTR_VL_CFIDEI_Msk                      (0x1UL << ETH_MACVTR_VL_CFIDEI_Pos) /*!< 0x00001000 */
+#define ETH_MACVTR_VL_CFIDEI                          ETH_MACVTR_VL_CFIDEI_Msk /* Canonical Format Indicator or Drop Eligible Indicator */
+#define ETH_MACVTR_VL_VID_Pos                         (0U)
+#define ETH_MACVTR_VL_VID_Msk                         (0xFFFUL << ETH_MACVTR_VL_VID_Pos) /*!< 0x00000FFF */
+#define ETH_MACVTR_VL_VID                             ETH_MACVTR_VL_VID_Msk    /* VLAN Identifier field of VLAN tag */
+
+/* Bit definition for Ethernet MAC VLAN Hash Table Register */
+#define ETH_MACVHTR_VLHT_Pos                          (0U)
+#define ETH_MACVHTR_VLHT_Msk                          (0xFFFFUL << ETH_MACVHTR_VLHT_Pos) /*!< 0x0000FFFF */
+#define ETH_MACVHTR_VLHT                              ETH_MACVHTR_VLHT_Msk     /* VLAN Hash Table */
+
+/* Bit definition for Ethernet MAC VLAN Incl Register */
+#define ETH_MACVIR_VLTI_Pos                           (20U)
+#define ETH_MACVIR_VLTI_Msk                           (0x1UL << ETH_MACVIR_VLTI_Pos) /*!< 0x00100000 */
+#define ETH_MACVIR_VLTI                               ETH_MACVIR_VLTI_Msk      /* VLAN Tag Input */
+#define ETH_MACVIR_CSVL_Pos                           (19U)
+#define ETH_MACVIR_CSVL_Msk                           (0x1UL << ETH_MACVIR_CSVL_Pos) /*!< 0x00080000 */
+#define ETH_MACVIR_CSVL                               ETH_MACVIR_CSVL_Msk      /* C-VLAN or S-VLAN */
+#define ETH_MACVIR_VLP_Pos                            (18U)
+#define ETH_MACVIR_VLP_Msk                            (0x1UL << ETH_MACVIR_VLP_Pos) /*!< 0x00040000 */
+#define ETH_MACVIR_VLP                                ETH_MACVIR_VLP_Msk       /* VLAN Priority Control */
+#define ETH_MACVIR_VLC_Pos                            (16U)
+#define ETH_MACVIR_VLC_Msk                            (0x3UL << ETH_MACVIR_VLC_Pos) /*!< 0x00030000 */
+#define ETH_MACVIR_VLC                                ETH_MACVIR_VLC_Msk       /* VLAN Tag Control in Transmit Packets */
+#define ETH_MACVIR_VLC_NOVLANTAG                      ((uint32_t)0x00000000)   /* No VLAN tag deletion, insertion, or replacement */
+#define ETH_MACVIR_VLC_VLANTAGDELETE_Pos              (16U)
+#define ETH_MACVIR_VLC_VLANTAGDELETE_Msk              (0x1UL << ETH_MACVIR_VLC_VLANTAGDELETE_Pos) /*!< 0x00010000 */
+#define ETH_MACVIR_VLC_VLANTAGDELETE                  ETH_MACVIR_VLC_VLANTAGDELETE_Msk /* VLAN tag deletion */
+#define ETH_MACVIR_VLC_VLANTAGINSERT_Pos              (17U)
+#define ETH_MACVIR_VLC_VLANTAGINSERT_Msk              (0x1UL << ETH_MACVIR_VLC_VLANTAGINSERT_Pos) /*!< 0x00020000 */
+#define ETH_MACVIR_VLC_VLANTAGINSERT                  ETH_MACVIR_VLC_VLANTAGINSERT_Msk /* VLAN tag insertion */
+#define ETH_MACVIR_VLC_VLANTAGREPLACE_Pos             (16U)
+#define ETH_MACVIR_VLC_VLANTAGREPLACE_Msk             (0x3UL << ETH_MACVIR_VLC_VLANTAGREPLACE_Pos) /*!< 0x00030000 */
+#define ETH_MACVIR_VLC_VLANTAGREPLACE                 ETH_MACVIR_VLC_VLANTAGREPLACE_Msk /* VLAN tag replacement */
+#define ETH_MACVIR_VLT_Pos                            (0U)
+#define ETH_MACVIR_VLT_Msk                            (0xFFFFUL << ETH_MACVIR_VLT_Pos) /*!< 0x0000FFFF */
+#define ETH_MACVIR_VLT                                ETH_MACVIR_VLT_Msk       /* VLAN Tag for Transmit Packets */
+#define ETH_MACVIR_VLT_UP_Pos                         (13U)
+#define ETH_MACVIR_VLT_UP_Msk                         (0x7UL << ETH_MACVIR_VLT_UP_Pos) /*!< 0x0000E000 */
+#define ETH_MACVIR_VLT_UP                             ETH_MACVIR_VLT_UP_Msk    /* User Priority */
+#define ETH_MACVIR_VLT_CFIDEI_Pos                     (12U)
+#define ETH_MACVIR_VLT_CFIDEI_Msk                     (0x1UL << ETH_MACVIR_VLT_CFIDEI_Pos) /*!< 0x00001000 */
+#define ETH_MACVIR_VLT_CFIDEI                         ETH_MACVIR_VLT_CFIDEI_Msk /* Canonical Format Indicator or Drop Eligible Indicator */
+#define ETH_MACVIR_VLT_VID_Pos                        (0U)
+#define ETH_MACVIR_VLT_VID_Msk                        (0xFFFUL << ETH_MACVIR_VLT_VID_Pos) /*!< 0x00000FFF */
+#define ETH_MACVIR_VLT_VID                            ETH_MACVIR_VLT_VID_Msk   /* VLAN Identifier field of VLAN tag */
+
+/* Bit definition for Ethernet MAC Inner_VLAN Incl Register */
+#define ETH_MACIVIR_VLTI_Pos                          (20U)
+#define ETH_MACIVIR_VLTI_Msk                          (0x1UL << ETH_MACIVIR_VLTI_Pos) /*!< 0x00100000 */
+#define ETH_MACIVIR_VLTI                              ETH_MACIVIR_VLTI_Msk     /* VLAN Tag Input */
+#define ETH_MACIVIR_CSVL_Pos                          (19U)
+#define ETH_MACIVIR_CSVL_Msk                          (0x1UL << ETH_MACIVIR_CSVL_Pos) /*!< 0x00080000 */
+#define ETH_MACIVIR_CSVL                              ETH_MACIVIR_CSVL_Msk     /* C-VLAN or S-VLAN */
+#define ETH_MACIVIR_VLP_Pos                           (18U)
+#define ETH_MACIVIR_VLP_Msk                           (0x1UL << ETH_MACIVIR_VLP_Pos) /*!< 0x00040000 */
+#define ETH_MACIVIR_VLP                               ETH_MACIVIR_VLP_Msk      /* VLAN Priority Control */
+#define ETH_MACIVIR_VLC_Pos                           (16U)
+#define ETH_MACIVIR_VLC_Msk                           (0x3UL << ETH_MACIVIR_VLC_Pos) /*!< 0x00030000 */
+#define ETH_MACIVIR_VLC                               ETH_MACIVIR_VLC_Msk      /* VLAN Tag Control in Transmit Packets */
+#define ETH_MACIVIR_VLC_NOVLANTAG                     ((uint32_t)0x00000000)   /* No VLAN tag deletion, insertion, or replacement */
+#define ETH_MACIVIR_VLC_VLANTAGDELETE_Pos             (16U)
+#define ETH_MACIVIR_VLC_VLANTAGDELETE_Msk             (0x1UL << ETH_MACIVIR_VLC_VLANTAGDELETE_Pos) /*!< 0x00010000 */
+#define ETH_MACIVIR_VLC_VLANTAGDELETE                 ETH_MACIVIR_VLC_VLANTAGDELETE_Msk /* VLAN tag deletion */
+#define ETH_MACIVIR_VLC_VLANTAGINSERT_Pos             (17U)
+#define ETH_MACIVIR_VLC_VLANTAGINSERT_Msk             (0x1UL << ETH_MACIVIR_VLC_VLANTAGINSERT_Pos) /*!< 0x00020000 */
+#define ETH_MACIVIR_VLC_VLANTAGINSERT                 ETH_MACIVIR_VLC_VLANTAGINSERT_Msk /* VLAN tag insertion */
+#define ETH_MACIVIR_VLC_VLANTAGREPLACE_Pos            (16U)
+#define ETH_MACIVIR_VLC_VLANTAGREPLACE_Msk            (0x3UL << ETH_MACIVIR_VLC_VLANTAGREPLACE_Pos) /*!< 0x00030000 */
+#define ETH_MACIVIR_VLC_VLANTAGREPLACE                ETH_MACIVIR_VLC_VLANTAGREPLACE_Msk /* VLAN tag replacement */
+#define ETH_MACIVIR_VLT_Pos                           (0U)
+#define ETH_MACIVIR_VLT_Msk                           (0xFFFFUL << ETH_MACIVIR_VLT_Pos) /*!< 0x0000FFFF */
+#define ETH_MACIVIR_VLT                               ETH_MACIVIR_VLT_Msk      /* VLAN Tag for Transmit Packets */
+#define ETH_MACIVIR_VLT_UP_Pos                        (13U)
+#define ETH_MACIVIR_VLT_UP_Msk                        (0x7UL << ETH_MACIVIR_VLT_UP_Pos) /*!< 0x0000E000 */
+#define ETH_MACIVIR_VLT_UP                            ETH_MACIVIR_VLT_UP_Msk   /* User Priority */
+#define ETH_MACIVIR_VLT_CFIDEI_Pos                    (12U)
+#define ETH_MACIVIR_VLT_CFIDEI_Msk                    (0x1UL << ETH_MACIVIR_VLT_CFIDEI_Pos) /*!< 0x00001000 */
+#define ETH_MACIVIR_VLT_CFIDEI                        ETH_MACIVIR_VLT_CFIDEI_Msk /* Canonical Format Indicator or Drop Eligible Indicator */
+#define ETH_MACIVIR_VLT_VID_Pos                       (0U)
+#define ETH_MACIVIR_VLT_VID_Msk                       (0xFFFUL << ETH_MACIVIR_VLT_VID_Pos) /*!< 0x00000FFF */
+#define ETH_MACIVIR_VLT_VID                           ETH_MACIVIR_VLT_VID_Msk  /* VLAN Identifier field of VLAN tag */
+
+/* Bit definition for Ethernet MAC Tx Flow Ctrl Register */
+#define ETH_MACTFCR_PT_Pos                            (16U)
+#define ETH_MACTFCR_PT_Msk                            (0xFFFFUL << ETH_MACTFCR_PT_Pos) /*!< 0xFFFF0000 */
+#define ETH_MACTFCR_PT                                ETH_MACTFCR_PT_Msk       /* Pause Time */
+#define ETH_MACTFCR_DZPQ_Pos                          (7U)
+#define ETH_MACTFCR_DZPQ_Msk                          (0x1UL << ETH_MACTFCR_DZPQ_Pos) /*!< 0x00000080 */
+#define ETH_MACTFCR_DZPQ                              ETH_MACTFCR_DZPQ_Msk     /* Disable Zero-Quanta Pause */
+#define ETH_MACTFCR_PLT_Pos                           (4U)
+#define ETH_MACTFCR_PLT_Msk                           (0x7UL << ETH_MACTFCR_PLT_Pos) /*!< 0x00000070 */
+#define ETH_MACTFCR_PLT                               ETH_MACTFCR_PLT_Msk      /* Pause Low Threshold */
+#define ETH_MACTFCR_PLT_MINUS4                        ((uint32_t)0x00000000)   /* Pause time minus 4 slot times */
+#define ETH_MACTFCR_PLT_MINUS28_Pos                   (4U)
+#define ETH_MACTFCR_PLT_MINUS28_Msk                   (0x1UL << ETH_MACTFCR_PLT_MINUS28_Pos) /*!< 0x00000010 */
+#define ETH_MACTFCR_PLT_MINUS28                       ETH_MACTFCR_PLT_MINUS28_Msk /* Pause time minus 28 slot times */
+#define ETH_MACTFCR_PLT_MINUS36_Pos                   (5U)
+#define ETH_MACTFCR_PLT_MINUS36_Msk                   (0x1UL << ETH_MACTFCR_PLT_MINUS36_Pos) /*!< 0x00000020 */
+#define ETH_MACTFCR_PLT_MINUS36                       ETH_MACTFCR_PLT_MINUS36_Msk /* Pause time minus 36 slot times */
+#define ETH_MACTFCR_PLT_MINUS144_Pos                  (4U)
+#define ETH_MACTFCR_PLT_MINUS144_Msk                  (0x3UL << ETH_MACTFCR_PLT_MINUS144_Pos) /*!< 0x00000030 */
+#define ETH_MACTFCR_PLT_MINUS144                      ETH_MACTFCR_PLT_MINUS144_Msk /* Pause time minus 144 slot times */
+#define ETH_MACTFCR_PLT_MINUS256_Pos                  (6U)
+#define ETH_MACTFCR_PLT_MINUS256_Msk                  (0x1UL << ETH_MACTFCR_PLT_MINUS256_Pos) /*!< 0x00000040 */
+#define ETH_MACTFCR_PLT_MINUS256                      ETH_MACTFCR_PLT_MINUS256_Msk /* Pause time minus 256 slot times */
+#define ETH_MACTFCR_PLT_MINUS512_Pos                  (4U)
+#define ETH_MACTFCR_PLT_MINUS512_Msk                  (0x5UL << ETH_MACTFCR_PLT_MINUS512_Pos) /*!< 0x00000050 */
+#define ETH_MACTFCR_PLT_MINUS512                      ETH_MACTFCR_PLT_MINUS512_Msk /* Pause time minus 512 slot times */
+#define ETH_MACTFCR_TFE_Pos                           (1U)
+#define ETH_MACTFCR_TFE_Msk                           (0x1UL << ETH_MACTFCR_TFE_Pos) /*!< 0x00000002 */
+#define ETH_MACTFCR_TFE                               ETH_MACTFCR_TFE_Msk      /* Transmit Flow Control Enable */
+#define ETH_MACTFCR_FCB_Pos                           (0U)
+#define ETH_MACTFCR_FCB_Msk                           (0x1UL << ETH_MACTFCR_FCB_Pos) /*!< 0x00000001 */
+#define ETH_MACTFCR_FCB                               ETH_MACTFCR_FCB_Msk      /* Flow Control Busy or Backpressure Activate */
+
+/* Bit definition for Ethernet MAC Rx Flow Ctrl Register */
+#define ETH_MACRFCR_UP_Pos                            (1U)
+#define ETH_MACRFCR_UP_Msk                            (0x1UL << ETH_MACRFCR_UP_Pos) /*!< 0x00000002 */
+#define ETH_MACRFCR_UP                                ETH_MACRFCR_UP_Msk       /* Unicast Pause Packet Detect */
+#define ETH_MACRFCR_RFE_Pos                           (0U)
+#define ETH_MACRFCR_RFE_Msk                           (0x1UL << ETH_MACRFCR_RFE_Pos) /*!< 0x00000001 */
+#define ETH_MACRFCR_RFE                               ETH_MACRFCR_RFE_Msk      /* Receive Flow Control Enable */
+
+/* Bit definition for Ethernet MAC Interrupt Status Register */
+#define ETH_MACISR_RXSTSIS_Pos                        (14U)
+#define ETH_MACISR_RXSTSIS_Msk                        (0x1UL << ETH_MACISR_RXSTSIS_Pos) /*!< 0x00004000 */
+#define ETH_MACISR_RXSTSIS                            ETH_MACISR_RXSTSIS_Msk   /* Receive Status Interrupt */
+#define ETH_MACISR_TXSTSIS_Pos                        (13U)
+#define ETH_MACISR_TXSTSIS_Msk                        (0x1UL << ETH_MACISR_TXSTSIS_Pos) /*!< 0x00002000 */
+#define ETH_MACISR_TXSTSIS                            ETH_MACISR_TXSTSIS_Msk   /* Transmit Status Interrupt */
+#define ETH_MACISR_TSIS_Pos                           (12U)
+#define ETH_MACISR_TSIS_Msk                           (0x1UL << ETH_MACISR_TSIS_Pos) /*!< 0x00001000 */
+#define ETH_MACISR_TSIS                               ETH_MACISR_TSIS_Msk      /* Timestamp Interrupt Status */
+#define ETH_MACISR_MMCTXIS_Pos                        (10U)
+#define ETH_MACISR_MMCTXIS_Msk                        (0x1UL << ETH_MACISR_MMCTXIS_Pos) /*!< 0x00000400 */
+#define ETH_MACISR_MMCTXIS                            ETH_MACISR_MMCTXIS_Msk   /* MMC Transmit Interrupt Status */
+#define ETH_MACISR_MMCRXIS_Pos                        (9U)
+#define ETH_MACISR_MMCRXIS_Msk                        (0x1UL << ETH_MACISR_MMCRXIS_Pos) /*!< 0x00000200 */
+#define ETH_MACISR_MMCRXIS                            ETH_MACISR_MMCRXIS_Msk   /* MMC Receive Interrupt Status */
+#define ETH_MACISR_MMCIS_Pos                          (8U)
+#define ETH_MACISR_MMCIS_Msk                          (0x1UL << ETH_MACISR_MMCIS_Pos) /*!< 0x00000100 */
+#define ETH_MACISR_MMCIS                              ETH_MACISR_MMCIS_Msk     /* MMC Interrupt Status */
+#define ETH_MACISR_LPIIS_Pos                          (5U)
+#define ETH_MACISR_LPIIS_Msk                          (0x1UL << ETH_MACISR_LPIIS_Pos) /*!< 0x00000020 */
+#define ETH_MACISR_LPIIS                              ETH_MACISR_LPIIS_Msk     /* LPI Interrupt Status */
+#define ETH_MACISR_PMTIS_Pos                          (4U)
+#define ETH_MACISR_PMTIS_Msk                          (0x1UL << ETH_MACISR_PMTIS_Pos) /*!< 0x00000010 */
+#define ETH_MACISR_PMTIS                              ETH_MACISR_PMTIS_Msk     /* PMT Interrupt Status */
+#define ETH_MACISR_PHYIS_Pos                          (3U)
+#define ETH_MACISR_PHYIS_Msk                          (0x1UL << ETH_MACISR_PHYIS_Pos) /*!< 0x00000008 */
+#define ETH_MACISR_PHYIS                              ETH_MACISR_PHYIS_Msk     /* PHY Interrupt */
+
+/* Bit definition for Ethernet MAC Interrupt Enable Register */
+#define ETH_MACIER_RXSTSIE_Pos                        (14U)
+#define ETH_MACIER_RXSTSIE_Msk                        (0x1UL << ETH_MACIER_RXSTSIE_Pos) /*!< 0x00004000 */
+#define ETH_MACIER_RXSTSIE                            ETH_MACIER_RXSTSIE_Msk   /* Receive Status Interrupt Enable */
+#define ETH_MACIER_TXSTSIE_Pos                        (13U)
+#define ETH_MACIER_TXSTSIE_Msk                        (0x1UL << ETH_MACIER_TXSTSIE_Pos) /*!< 0x00002000 */
+#define ETH_MACIER_TXSTSIE                            ETH_MACIER_TXSTSIE_Msk   /* Transmit Status Interrupt Enable */
+#define ETH_MACIER_TSIE_Pos                           (12U)
+#define ETH_MACIER_TSIE_Msk                           (0x1UL << ETH_MACIER_TSIE_Pos) /*!< 0x00001000 */
+#define ETH_MACIER_TSIE                               ETH_MACIER_TSIE_Msk      /* Timestamp Interrupt Enable */
+#define ETH_MACIER_LPIIE_Pos                          (5U)
+#define ETH_MACIER_LPIIE_Msk                          (0x1UL << ETH_MACIER_LPIIE_Pos) /*!< 0x00000020 */
+#define ETH_MACIER_LPIIE                              ETH_MACIER_LPIIE_Msk     /* LPI Interrupt Enable */
+#define ETH_MACIER_PMTIE_Pos                          (4U)
+#define ETH_MACIER_PMTIE_Msk                          (0x1UL << ETH_MACIER_PMTIE_Pos) /*!< 0x00000010 */
+#define ETH_MACIER_PMTIE                              ETH_MACIER_PMTIE_Msk     /* PMT Interrupt Enable */
+#define ETH_MACIER_PHYIE_Pos                          (3U)
+#define ETH_MACIER_PHYIE_Msk                          (0x1UL << ETH_MACIER_PHYIE_Pos) /*!< 0x00000008 */
+#define ETH_MACIER_PHYIE                              ETH_MACIER_PHYIE_Msk     /* PHY Interrupt Enable */
+
+/* Bit definition for Ethernet MAC Rx Tx Status Register */
+#define ETH_MACRXTXSR_RWT_Pos                         (8U)
+#define ETH_MACRXTXSR_RWT_Msk                         (0x1UL << ETH_MACRXTXSR_RWT_Pos) /*!< 0x00000100 */
+#define ETH_MACRXTXSR_RWT                             ETH_MACRXTXSR_RWT_Msk    /* Receive Watchdog Timeout */
+#define ETH_MACRXTXSR_EXCOL_Pos                       (5U)
+#define ETH_MACRXTXSR_EXCOL_Msk                       (0x1UL << ETH_MACRXTXSR_EXCOL_Pos) /*!< 0x00000020 */
+#define ETH_MACRXTXSR_EXCOL                           ETH_MACRXTXSR_EXCOL_Msk  /* Excessive Collisions */
+#define ETH_MACRXTXSR_LCOL_Pos                        (4U)
+#define ETH_MACRXTXSR_LCOL_Msk                        (0x1UL << ETH_MACRXTXSR_LCOL_Pos) /*!< 0x00000010 */
+#define ETH_MACRXTXSR_LCOL                            ETH_MACRXTXSR_LCOL_Msk   /* Late Collision */
+#define ETH_MACRXTXSR_EXDEF_Pos                       (3U)
+#define ETH_MACRXTXSR_EXDEF_Msk                       (0x1UL << ETH_MACRXTXSR_EXDEF_Pos) /*!< 0x00000008 */
+#define ETH_MACRXTXSR_EXDEF                           ETH_MACRXTXSR_EXDEF_Msk  /* Excessive Deferral */
+#define ETH_MACRXTXSR_LCARR_Pos                       (2U)
+#define ETH_MACRXTXSR_LCARR_Msk                       (0x1UL << ETH_MACRXTXSR_LCARR_Pos) /*!< 0x00000004 */
+#define ETH_MACRXTXSR_LCARR                           ETH_MACRXTXSR_LCARR_Msk  /* Loss of Carrier */
+#define ETH_MACRXTXSR_NCARR_Pos                       (1U)
+#define ETH_MACRXTXSR_NCARR_Msk                       (0x1UL << ETH_MACRXTXSR_NCARR_Pos) /*!< 0x00000002 */
+#define ETH_MACRXTXSR_NCARR                           ETH_MACRXTXSR_NCARR_Msk  /* No Carrier */
+#define ETH_MACRXTXSR_TJT_Pos                         (0U)
+#define ETH_MACRXTXSR_TJT_Msk                         (0x1UL << ETH_MACRXTXSR_TJT_Pos) /*!< 0x00000001 */
+#define ETH_MACRXTXSR_TJT                             ETH_MACRXTXSR_TJT_Msk    /* Transmit Jabber Timeout */
+
+/* Bit definition for Ethernet MAC PMT Control Status Register */
+#define ETH_MACPCSR_RWKFILTRST_Pos                    (31U)
+#define ETH_MACPCSR_RWKFILTRST_Msk                    (0x1UL << ETH_MACPCSR_RWKFILTRST_Pos) /*!< 0x80000000 */
+#define ETH_MACPCSR_RWKFILTRST                        ETH_MACPCSR_RWKFILTRST_Msk /* Remote Wake-Up Packet Filter Register Pointer Reset */
+#define ETH_MACPCSR_RWKPTR_Pos                        (24U)
+#define ETH_MACPCSR_RWKPTR_Msk                        (0x1FUL << ETH_MACPCSR_RWKPTR_Pos) /*!< 0x1F000000 */
+#define ETH_MACPCSR_RWKPTR                            ETH_MACPCSR_RWKPTR_Msk   /* Remote Wake-up FIFO Pointer */
+#define ETH_MACPCSR_RWKPFE_Pos                        (10U)
+#define ETH_MACPCSR_RWKPFE_Msk                        (0x1UL << ETH_MACPCSR_RWKPFE_Pos) /*!< 0x00000400 */
+#define ETH_MACPCSR_RWKPFE                            ETH_MACPCSR_RWKPFE_Msk   /* Remote Wake-up Packet Forwarding Enable */
+#define ETH_MACPCSR_GLBLUCAST_Pos                     (9U)
+#define ETH_MACPCSR_GLBLUCAST_Msk                     (0x1UL << ETH_MACPCSR_GLBLUCAST_Pos) /*!< 0x00000200 */
+#define ETH_MACPCSR_GLBLUCAST                         ETH_MACPCSR_GLBLUCAST_Msk /* Global Unicast */
+#define ETH_MACPCSR_RWKPRCVD_Pos                      (6U)
+#define ETH_MACPCSR_RWKPRCVD_Msk                      (0x1UL << ETH_MACPCSR_RWKPRCVD_Pos) /*!< 0x00000040 */
+#define ETH_MACPCSR_RWKPRCVD                          ETH_MACPCSR_RWKPRCVD_Msk /* Remote Wake-Up Packet Received */
+#define ETH_MACPCSR_MGKPRCVD_Pos                      (5U)
+#define ETH_MACPCSR_MGKPRCVD_Msk                      (0x1UL << ETH_MACPCSR_MGKPRCVD_Pos) /*!< 0x00000020 */
+#define ETH_MACPCSR_MGKPRCVD                          ETH_MACPCSR_MGKPRCVD_Msk /* Magic Packet Received */
+#define ETH_MACPCSR_RWKPKTEN_Pos                      (2U)
+#define ETH_MACPCSR_RWKPKTEN_Msk                      (0x1UL << ETH_MACPCSR_RWKPKTEN_Pos) /*!< 0x00000004 */
+#define ETH_MACPCSR_RWKPKTEN                          ETH_MACPCSR_RWKPKTEN_Msk /* Remote Wake-Up Packet Enable */
+#define ETH_MACPCSR_MGKPKTEN_Pos                      (1U)
+#define ETH_MACPCSR_MGKPKTEN_Msk                      (0x1UL << ETH_MACPCSR_MGKPKTEN_Pos) /*!< 0x00000002 */
+#define ETH_MACPCSR_MGKPKTEN                          ETH_MACPCSR_MGKPKTEN_Msk /* Magic Packet Enable */
+#define ETH_MACPCSR_PWRDWN_Pos                        (0U)
+#define ETH_MACPCSR_PWRDWN_Msk                        (0x1UL << ETH_MACPCSR_PWRDWN_Pos) /*!< 0x00000001 */
+#define ETH_MACPCSR_PWRDWN                            ETH_MACPCSR_PWRDWN_Msk   /* Power Down */
+
+/* Bit definition for Ethernet MAC Remote Wake-Up Packet Filter Register */
+#define ETH_MACRWUPFR_D_Pos                           (0U)
+#define ETH_MACRWUPFR_D_Msk                           (0xFFFFFFFFUL << ETH_MACRWUPFR_D_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACRWUPFR_D                               ETH_MACRWUPFR_D_Msk      /* Wake-up Packet filter register data */
+
+/* Bit definition for Ethernet MAC LPI Control Status Register */
+#define ETH_MACLCSR_LPITCSE_Pos                       (21U)
+#define ETH_MACLCSR_LPITCSE_Msk                       (0x1UL << ETH_MACLCSR_LPITCSE_Pos) /*!< 0x00200000 */
+#define ETH_MACLCSR_LPITCSE                           ETH_MACLCSR_LPITCSE_Msk  /* LPI Tx Clock Stop Enable */
+#define ETH_MACLCSR_LPITE_Pos                         (20U)
+#define ETH_MACLCSR_LPITE_Msk                         (0x1UL << ETH_MACLCSR_LPITE_Pos) /*!< 0x00100000 */
+#define ETH_MACLCSR_LPITE                             ETH_MACLCSR_LPITE_Msk    /* LPI Timer Enable */
+#define ETH_MACLCSR_LPITXA_Pos                        (19U)
+#define ETH_MACLCSR_LPITXA_Msk                        (0x1UL << ETH_MACLCSR_LPITXA_Pos) /*!< 0x00080000 */
+#define ETH_MACLCSR_LPITXA                            ETH_MACLCSR_LPITXA_Msk   /* LPI Tx Automate */
+#define ETH_MACLCSR_PLS_Pos                           (17U)
+#define ETH_MACLCSR_PLS_Msk                           (0x1UL << ETH_MACLCSR_PLS_Pos) /*!< 0x00020000 */
+#define ETH_MACLCSR_PLS                               ETH_MACLCSR_PLS_Msk      /* PHY Link Status */
+#define ETH_MACLCSR_LPIEN_Pos                         (16U)
+#define ETH_MACLCSR_LPIEN_Msk                         (0x1UL << ETH_MACLCSR_LPIEN_Pos) /*!< 0x00010000 */
+#define ETH_MACLCSR_LPIEN                             ETH_MACLCSR_LPIEN_Msk    /* LPI Enable */
+#define ETH_MACLCSR_RLPIST_Pos                        (9U)
+#define ETH_MACLCSR_RLPIST_Msk                        (0x1UL << ETH_MACLCSR_RLPIST_Pos) /*!< 0x00000200 */
+#define ETH_MACLCSR_RLPIST                            ETH_MACLCSR_RLPIST_Msk   /* Receive LPI State */
+#define ETH_MACLCSR_TLPIST_Pos                        (8U)
+#define ETH_MACLCSR_TLPIST_Msk                        (0x1UL << ETH_MACLCSR_TLPIST_Pos) /*!< 0x00000100 */
+#define ETH_MACLCSR_TLPIST                            ETH_MACLCSR_TLPIST_Msk   /* Transmit LPI State */
+#define ETH_MACLCSR_RLPIEX_Pos                        (3U)
+#define ETH_MACLCSR_RLPIEX_Msk                        (0x1UL << ETH_MACLCSR_RLPIEX_Pos) /*!< 0x00000008 */
+#define ETH_MACLCSR_RLPIEX                            ETH_MACLCSR_RLPIEX_Msk   /* Receive LPI Exit */
+#define ETH_MACLCSR_RLPIEN_Pos                        (2U)
+#define ETH_MACLCSR_RLPIEN_Msk                        (0x1UL << ETH_MACLCSR_RLPIEN_Pos) /*!< 0x00000004 */
+#define ETH_MACLCSR_RLPIEN                            ETH_MACLCSR_RLPIEN_Msk   /* Receive LPI Entry */
+#define ETH_MACLCSR_TLPIEX_Pos                        (1U)
+#define ETH_MACLCSR_TLPIEX_Msk                        (0x1UL << ETH_MACLCSR_TLPIEX_Pos) /*!< 0x00000002 */
+#define ETH_MACLCSR_TLPIEX                            ETH_MACLCSR_TLPIEX_Msk   /* Transmit LPI Exit */
+#define ETH_MACLCSR_TLPIEN_Pos                        (0U)
+#define ETH_MACLCSR_TLPIEN_Msk                        (0x1UL << ETH_MACLCSR_TLPIEN_Pos) /*!< 0x00000001 */
+#define ETH_MACLCSR_TLPIEN                            ETH_MACLCSR_TLPIEN_Msk   /* Transmit LPI Entry */
+
+/* Bit definition for Ethernet MAC LPI Timers Control Register */
+#define ETH_MACLTCR_LST_Pos                           (16U)
+#define ETH_MACLTCR_LST_Msk                           (0x3FFUL << ETH_MACLTCR_LST_Pos) /*!< 0x03FF0000 */
+#define ETH_MACLTCR_LST                               ETH_MACLTCR_LST_Msk      /* LPI LS TIMER */
+#define ETH_MACLTCR_TWT_Pos                           (0U)
+#define ETH_MACLTCR_TWT_Msk                           (0xFFFFUL << ETH_MACLTCR_TWT_Pos) /*!< 0x0000FFFF */
+#define ETH_MACLTCR_TWT                               ETH_MACLTCR_TWT_Msk      /* LPI TW TIMER */
+
+/* Bit definition for Ethernet MAC LPI Entry Timer Register */
+#define ETH_MACLETR_LPIET_Pos                         (0U)
+#define ETH_MACLETR_LPIET_Msk                         (0xFFFFFUL << ETH_MACLETR_LPIET_Pos) /*!< 0x000FFFFF */
+#define ETH_MACLETR_LPIET                             ETH_MACLETR_LPIET_Msk    /* LPI Entry Timer */
+
+/* Bit definition for Ethernet MAC 1US Tic Counter Register */
+#define ETH_MAC1USTCR_TIC1USCNTR_Pos                  (0U)
+#define ETH_MAC1USTCR_TIC1USCNTR_Msk                  (0xFFFUL << ETH_MAC1USTCR_TIC1USCNTR_Pos) /*!< 0x00000FFF */
+#define ETH_MAC1USTCR_TIC1USCNTR                      ETH_MAC1USTCR_TIC1USCNTR_Msk /* 1US TIC Counter */
+
+/* Bit definition for Ethernet MAC Version Register */
+#define ETH_MACVR_USERVER_Pos                         (8U)
+#define ETH_MACVR_USERVER_Msk                         (0xFFUL << ETH_MACVR_USERVER_Pos) /*!< 0x0000FF00 */
+#define ETH_MACVR_USERVER                             ETH_MACVR_USERVER_Msk    /* User-defined Version */
+#define ETH_MACVR_SNPSVER_Pos                         (0U)
+#define ETH_MACVR_SNPSVER_Msk                         (0xFFUL << ETH_MACVR_SNPSVER_Pos) /*!< 0x000000FF */
+#define ETH_MACVR_SNPSVER                             ETH_MACVR_SNPSVER_Msk    /* Synopsys-defined Version */
+
+/* Bit definition for Ethernet MAC Debug Register */
+#define ETH_MACDR_TFCSTS_Pos                          (17U)
+#define ETH_MACDR_TFCSTS_Msk                          (0x3UL << ETH_MACDR_TFCSTS_Pos) /*!< 0x00060000 */
+#define ETH_MACDR_TFCSTS                              ETH_MACDR_TFCSTS_Msk     /* MAC Transmit Packet Controller Status */
+#define ETH_MACDR_TFCSTS_IDLE                         ((uint32_t)0x00000000)   /* Idle state */
+#define ETH_MACDR_TFCSTS_WAIT_Pos                     (17U)
+#define ETH_MACDR_TFCSTS_WAIT_Msk                     (0x1UL << ETH_MACDR_TFCSTS_WAIT_Pos) /*!< 0x00020000 */
+#define ETH_MACDR_TFCSTS_WAIT                         ETH_MACDR_TFCSTS_WAIT_Msk /* Waiting for status of the previous packet, IPG or backoff period to be over */
+#define ETH_MACDR_TFCSTS_GENERATEPCP_Pos              (18U)
+#define ETH_MACDR_TFCSTS_GENERATEPCP_Msk              (0x1UL << ETH_MACDR_TFCSTS_GENERATEPCP_Pos) /*!< 0x00040000 */
+#define ETH_MACDR_TFCSTS_GENERATEPCP                  ETH_MACDR_TFCSTS_GENERATEPCP_Msk /* Generating and transmitting a Pause control packet */
+#define ETH_MACDR_TFCSTS_TRASFERIP_Pos                (17U)
+#define ETH_MACDR_TFCSTS_TRASFERIP_Msk                (0x3UL << ETH_MACDR_TFCSTS_TRASFERIP_Pos) /*!< 0x00060000 */
+#define ETH_MACDR_TFCSTS_TRASFERIP                    ETH_MACDR_TFCSTS_TRASFERIP_Msk /* Transferring input packet for transmission */
+#define ETH_MACDR_TPESTS_Pos                          (16U)
+#define ETH_MACDR_TPESTS_Msk                          (0x1UL << ETH_MACDR_TPESTS_Pos) /*!< 0x00010000 */
+#define ETH_MACDR_TPESTS                              ETH_MACDR_TPESTS_Msk     /* MAC Receive Packet Controller FIFO Status */
+#define ETH_MACDR_RFCFCSTS_Pos                        (1U)
+#define ETH_MACDR_RFCFCSTS_Msk                        (0x3UL << ETH_MACDR_RFCFCSTS_Pos) /*!< 0x00000006 */
+#define ETH_MACDR_RFCFCSTS                            ETH_MACDR_RFCFCSTS_Msk   /* MAC MII Transmit Protocol Engine Status */
+#define ETH_MACDR_RPESTS_Pos                          (0U)
+#define ETH_MACDR_RPESTS_Msk                          (0x1UL << ETH_MACDR_RPESTS_Pos) /*!< 0x00000001 */
+#define ETH_MACDR_RPESTS                              ETH_MACDR_RPESTS_Msk     /* MAC MII Receive Protocol Engine Status */
+
+/* Bit definition for Ethernet MAC HW Feature0 Register */
+#define ETH_MACHWF0R_ACTPHYSEL_Pos                    (28U)
+#define ETH_MACHWF0R_ACTPHYSEL_Msk                    (0x7UL << ETH_MACHWF0R_ACTPHYSEL_Pos) /*!< 0x70000000 */
+#define ETH_MACHWF0R_ACTPHYSEL                        ETH_MACHWF0R_ACTPHYSEL_Msk /* Active PHY Selected */
+#define ETH_MACHWF0R_ACTPHYSEL_MII                    ((uint32_t)0x00000000)   /* MII */
+#define ETH_MACHWF0R_ACTPHYSEL_RMII_Pos               (30U)
+#define ETH_MACHWF0R_ACTPHYSEL_RMII_Msk               (0x1UL << ETH_MACHWF0R_ACTPHYSEL_RMII_Pos) /*!< 0x40000000 */
+#define ETH_MACHWF0R_ACTPHYSEL_RMII                   ETH_MACHWF0R_ACTPHYSEL_RMII_Msk /* RMII */
+#define ETH_MACHWF0R_ACTPHYSEL_REVMII_Pos             (28U)
+#define ETH_MACHWF0R_ACTPHYSEL_REVMII_Msk             (0x7UL << ETH_MACHWF0R_ACTPHYSEL_REVMII_Pos) /*!< 0x70000000 */
+#define ETH_MACHWF0R_ACTPHYSEL_REVMII                 ETH_MACHWF0R_ACTPHYSEL_REVMII_Msk /* RevMII */
+#define ETH_MACHWF0R_SAVLANINS_Pos                    (27U)
+#define ETH_MACHWF0R_SAVLANINS_Msk                    (0x1UL << ETH_MACHWF0R_SAVLANINS_Pos) /*!< 0x08000000 */
+#define ETH_MACHWF0R_SAVLANINS                        ETH_MACHWF0R_SAVLANINS_Msk /* Source Address or VLAN Insertion Enable */
+#define ETH_MACHWF0R_TSSTSSEL_Pos                     (25U)
+#define ETH_MACHWF0R_TSSTSSEL_Msk                     (0x3UL << ETH_MACHWF0R_TSSTSSEL_Pos) /*!< 0x06000000 */
+#define ETH_MACHWF0R_TSSTSSEL                         ETH_MACHWF0R_TSSTSSEL_Msk /* Timestamp System Time Source */
+#define ETH_MACHWF0R_TSSTSSEL_INTERNAL_Pos            (25U)
+#define ETH_MACHWF0R_TSSTSSEL_INTERNAL_Msk            (0x1UL << ETH_MACHWF0R_TSSTSSEL_INTERNAL_Pos) /*!< 0x02000000 */
+#define ETH_MACHWF0R_TSSTSSEL_INTERNAL                ETH_MACHWF0R_TSSTSSEL_INTERNAL_Msk /* Timestamp System Time Source: Internal */
+#define ETH_MACHWF0R_TSSTSSEL_EXTERNAL_Pos            (26U)
+#define ETH_MACHWF0R_TSSTSSEL_EXTERNAL_Msk            (0x1UL << ETH_MACHWF0R_TSSTSSEL_EXTERNAL_Pos) /*!< 0x04000000 */
+#define ETH_MACHWF0R_TSSTSSEL_EXTERNAL                ETH_MACHWF0R_TSSTSSEL_EXTERNAL_Msk /* Timestamp System Time Source: External */
+#define ETH_MACHWF0R_TSSTSSEL_BOTH_Pos                (25U)
+#define ETH_MACHWF0R_TSSTSSEL_BOTH_Msk                (0x3UL << ETH_MACHWF0R_TSSTSSEL_BOTH_Pos) /*!< 0x06000000 */
+#define ETH_MACHWF0R_TSSTSSEL_BOTH                    ETH_MACHWF0R_TSSTSSEL_BOTH_Msk /* Timestamp System Time Source: Internal & External */
+#define ETH_MACHWF0R_MACADR64SEL_Pos                  (24U)
+#define ETH_MACHWF0R_MACADR64SEL_Msk                  (0x1UL << ETH_MACHWF0R_MACADR64SEL_Pos) /*!< 0x01000000 */
+#define ETH_MACHWF0R_MACADR64SEL                      ETH_MACHWF0R_MACADR64SEL_Msk /* MAC Addresses 64-127 Selected */
+#define ETH_MACHWF0R_MACADR32SEL_Pos                  (23U)
+#define ETH_MACHWF0R_MACADR32SEL_Msk                  (0x1UL << ETH_MACHWF0R_MACADR32SEL_Pos) /*!< 0x00800000 */
+#define ETH_MACHWF0R_MACADR32SEL                      ETH_MACHWF0R_MACADR32SEL_Msk /* MAC Addresses 32-63 Selected */
+#define ETH_MACHWF0R_ADDMACADRSEL_Pos                 (18U)
+#define ETH_MACHWF0R_ADDMACADRSEL_Msk                 (0x1FUL << ETH_MACHWF0R_ADDMACADRSEL_Pos) /*!< 0x007C0000 */
+#define ETH_MACHWF0R_ADDMACADRSEL                     ETH_MACHWF0R_ADDMACADRSEL_Msk /* MAC Addresses 1- 31 Selected */
+#define ETH_MACHWF0R_RXCOESEL_Pos                     (16U)
+#define ETH_MACHWF0R_RXCOESEL_Msk                     (0x1UL << ETH_MACHWF0R_RXCOESEL_Pos) /*!< 0x00010000 */
+#define ETH_MACHWF0R_RXCOESEL                         ETH_MACHWF0R_RXCOESEL_Msk /* Receive Checksum Offload Enabled */
+#define ETH_MACHWF0R_TXCOESEL_Pos                     (14U)
+#define ETH_MACHWF0R_TXCOESEL_Msk                     (0x1UL << ETH_MACHWF0R_TXCOESEL_Pos) /*!< 0x00004000 */
+#define ETH_MACHWF0R_TXCOESEL                         ETH_MACHWF0R_TXCOESEL_Msk /* Transmit Checksum Offload Enabled */
+#define ETH_MACHWF0R_EEESEL_Pos                       (13U)
+#define ETH_MACHWF0R_EEESEL_Msk                       (0x1UL << ETH_MACHWF0R_EEESEL_Pos) /*!< 0x00002000 */
+#define ETH_MACHWF0R_EEESEL                           ETH_MACHWF0R_EEESEL_Msk  /* Energy Efficient Ethernet Enabled */
+#define ETH_MACHWF0R_TSSEL_Pos                        (12U)
+#define ETH_MACHWF0R_TSSEL_Msk                        (0x1UL << ETH_MACHWF0R_TSSEL_Pos) /*!< 0x00001000 */
+#define ETH_MACHWF0R_TSSEL                            ETH_MACHWF0R_TSSEL_Msk   /* IEEE 1588-2008 Timestamp Enabled */
+#define ETH_MACHWF0R_ARPOFFSEL_Pos                    (9U)
+#define ETH_MACHWF0R_ARPOFFSEL_Msk                    (0x1UL << ETH_MACHWF0R_ARPOFFSEL_Pos) /*!< 0x00000200 */
+#define ETH_MACHWF0R_ARPOFFSEL                        ETH_MACHWF0R_ARPOFFSEL_Msk /* ARP Offload Enabled */
+#define ETH_MACHWF0R_MMCSEL_Pos                       (8U)
+#define ETH_MACHWF0R_MMCSEL_Msk                       (0x1UL << ETH_MACHWF0R_MMCSEL_Pos) /*!< 0x00000100 */
+#define ETH_MACHWF0R_MMCSEL                           ETH_MACHWF0R_MMCSEL_Msk  /* RMON Module Enable */
+#define ETH_MACHWF0R_MGKSEL_Pos                       (7U)
+#define ETH_MACHWF0R_MGKSEL_Msk                       (0x1UL << ETH_MACHWF0R_MGKSEL_Pos) /*!< 0x00000080 */
+#define ETH_MACHWF0R_MGKSEL                           ETH_MACHWF0R_MGKSEL_Msk  /* PMT Magic Packet Enable */
+#define ETH_MACHWF0R_RWKSEL_Pos                       (6U)
+#define ETH_MACHWF0R_RWKSEL_Msk                       (0x1UL << ETH_MACHWF0R_RWKSEL_Pos) /*!< 0x00000040 */
+#define ETH_MACHWF0R_RWKSEL                           ETH_MACHWF0R_RWKSEL_Msk  /* PMT Remote Wake-up Packet Enable */
+#define ETH_MACHWF0R_SMASEL_Pos                       (5U)
+#define ETH_MACHWF0R_SMASEL_Msk                       (0x1UL << ETH_MACHWF0R_SMASEL_Pos) /*!< 0x00000020 */
+#define ETH_MACHWF0R_SMASEL                           ETH_MACHWF0R_SMASEL_Msk  /* SMA (MDIO) Interface */
+#define ETH_MACHWF0R_VLHASH_Pos                       (4U)
+#define ETH_MACHWF0R_VLHASH_Msk                       (0x1UL << ETH_MACHWF0R_VLHASH_Pos) /*!< 0x00000010 */
+#define ETH_MACHWF0R_VLHASH                           ETH_MACHWF0R_VLHASH_Msk  /* VLAN Hash Filter Selected */
+#define ETH_MACHWF0R_PCSSEL_Pos                       (3U)
+#define ETH_MACHWF0R_PCSSEL_Msk                       (0x1UL << ETH_MACHWF0R_PCSSEL_Pos) /*!< 0x00000008 */
+#define ETH_MACHWF0R_PCSSEL                           ETH_MACHWF0R_PCSSEL_Msk  /* PCS Registers (TBI, SGMII, or RTBI PHY interface) */
+#define ETH_MACHWF0R_HDSEL_Pos                        (2U)
+#define ETH_MACHWF0R_HDSEL_Msk                        (0x1UL << ETH_MACHWF0R_HDSEL_Pos) /*!< 0x00000004 */
+#define ETH_MACHWF0R_HDSEL                            ETH_MACHWF0R_HDSEL_Msk   /* Half-duplex Support */
+#define ETH_MACHWF0R_GMIISEL_Pos                      (1U)
+#define ETH_MACHWF0R_GMIISEL_Msk                      (0x1UL << ETH_MACHWF0R_GMIISEL_Pos) /*!< 0x00000002 */
+#define ETH_MACHWF0R_GMIISEL                          ETH_MACHWF0R_GMIISEL_Msk /* 1000 Mbps Support */
+#define ETH_MACHWF0R_MIISEL_Pos                       (0U)
+#define ETH_MACHWF0R_MIISEL_Msk                       (0x1UL << ETH_MACHWF0R_MIISEL_Pos) /*!< 0x00000001 */
+#define ETH_MACHWF0R_MIISEL                           ETH_MACHWF0R_MIISEL_Msk  /* 10 or 100 Mbps Support */
+
+/* Bit definition for Ethernet MAC HW Feature1 Register */
+#define ETH_MACHWF1R_L3L4FNUM_Pos                     (27U)
+#define ETH_MACHWF1R_L3L4FNUM_Msk                     (0xFUL << ETH_MACHWF1R_L3L4FNUM_Pos) /*!< 0x78000000 */
+#define ETH_MACHWF1R_L3L4FNUM                         ETH_MACHWF1R_L3L4FNUM_Msk /* Total number of L3 or L4 Filters */
+#define ETH_MACHWF1R_HASHTBLSZ_Pos                    (24U)
+#define ETH_MACHWF1R_HASHTBLSZ_Msk                    (0x3UL << ETH_MACHWF1R_HASHTBLSZ_Pos) /*!< 0x03000000 */
+#define ETH_MACHWF1R_HASHTBLSZ                        ETH_MACHWF1R_HASHTBLSZ_Msk /* Hash Table Size */
+#define ETH_MACHWF1R_AVSEL_Pos                        (20U)
+#define ETH_MACHWF1R_AVSEL_Msk                        (0x1UL << ETH_MACHWF1R_AVSEL_Pos) /*!< 0x00100000 */
+#define ETH_MACHWF1R_AVSEL                            ETH_MACHWF1R_AVSEL_Msk   /* AV Feature Enabled */
+#define ETH_MACHWF1R_DBGMEMA_Pos                      (19U)
+#define ETH_MACHWF1R_DBGMEMA_Msk                      (0x1UL << ETH_MACHWF1R_DBGMEMA_Pos) /*!< 0x00080000 */
+#define ETH_MACHWF1R_DBGMEMA                          ETH_MACHWF1R_DBGMEMA_Msk /* Debug Memory Interface Enabled */
+#define ETH_MACHWF1R_TSOEN_Pos                        (18U)
+#define ETH_MACHWF1R_TSOEN_Msk                        (0x1UL << ETH_MACHWF1R_TSOEN_Pos) /*!< 0x00040000 */
+#define ETH_MACHWF1R_TSOEN                            ETH_MACHWF1R_TSOEN_Msk   /* TCP Segmentation Offload Enable */
+#define ETH_MACHWF1R_SPHEN_Pos                        (17U)
+#define ETH_MACHWF1R_SPHEN_Msk                        (0x1UL << ETH_MACHWF1R_SPHEN_Pos) /*!< 0x00020000 */
+#define ETH_MACHWF1R_SPHEN                            ETH_MACHWF1R_SPHEN_Msk   /* Split Header Feature Enable */
+#define ETH_MACHWF1R_DCBEN_Pos                        (16U)
+#define ETH_MACHWF1R_DCBEN_Msk                        (0x1UL << ETH_MACHWF1R_DCBEN_Pos) /*!< 0x00010000 */
+#define ETH_MACHWF1R_DCBEN                            ETH_MACHWF1R_DCBEN_Msk   /* DCB Feature Enable */
+#define ETH_MACHWF1R_ADDR64_Pos                       (14U)
+#define ETH_MACHWF1R_ADDR64_Msk                       (0x3UL << ETH_MACHWF1R_ADDR64_Pos) /*!< 0x0000C000 */
+#define ETH_MACHWF1R_ADDR64                           ETH_MACHWF1R_ADDR64_Msk  /* Address Width */
+#define ETH_MACHWF1R_ADDR64_32                        (0x0UL << ETH_MACHWF1R_ADDR64_Pos) /*!< 0x00000000 */
+#define ETH_MACHWF1R_ADDR64_40                        (0x1UL << ETH_MACHWF1R_ADDR64_Pos) /*!< 0x00004000 */
+#define ETH_MACHWF1R_ADDR64_48                        (0x2UL << ETH_MACHWF1R_ADDR64_Pos) /*!< 0x00008000 */
+#define ETH_MACHWF1R_ADVTHWORD_Pos                    (13U)
+#define ETH_MACHWF1R_ADVTHWORD_Msk                    (0x1UL << ETH_MACHWF1R_ADVTHWORD_Pos) /*!< 0x00002000 */
+#define ETH_MACHWF1R_ADVTHWORD                        ETH_MACHWF1R_ADVTHWORD_Msk /* IEEE 1588 High Word Register Enable */
+#define ETH_MACHWF1R_PTOEN_Pos                        (12U)
+#define ETH_MACHWF1R_PTOEN_Msk                        (0x1UL << ETH_MACHWF1R_PTOEN_Pos) /*!< 0x00001000 */
+#define ETH_MACHWF1R_PTOEN                            ETH_MACHWF1R_PTOEN_Msk   /* PTP Offload Enable */
+#define ETH_MACHWF1R_OSTEN_Pos                        (11U)
+#define ETH_MACHWF1R_OSTEN_Msk                        (0x1UL << ETH_MACHWF1R_OSTEN_Pos) /*!< 0x00000800 */
+#define ETH_MACHWF1R_OSTEN                            ETH_MACHWF1R_OSTEN_Msk   /* One-Step Timestamping Enable */
+#define ETH_MACHWF1R_TXFIFOSIZE_Pos                   (6U)
+#define ETH_MACHWF1R_TXFIFOSIZE_Msk                   (0x1FUL << ETH_MACHWF1R_TXFIFOSIZE_Pos) /*!< 0x000007C0 */
+#define ETH_MACHWF1R_TXFIFOSIZE                       ETH_MACHWF1R_TXFIFOSIZE_Msk /* MTL Transmit FIFO Size */
+#define ETH_MACHWF1R_RXFIFOSIZE_Pos                   (0U)
+#define ETH_MACHWF1R_RXFIFOSIZE_Msk                   (0x1FUL << ETH_MACHWF1R_RXFIFOSIZE_Pos) /*!< 0x0000001F */
+#define ETH_MACHWF1R_RXFIFOSIZE                       ETH_MACHWF1R_RXFIFOSIZE_Msk /* MTL Receive FIFO Size */
+
+/* Bit definition for Ethernet MAC HW Feature2 Register */
+#define ETH_MACHWF2R_AUXSNAPNUM_Pos                   (28U)
+#define ETH_MACHWF2R_AUXSNAPNUM_Msk                   (0x7UL << ETH_MACHWF2R_AUXSNAPNUM_Pos) /*!< 0x70000000 */
+#define ETH_MACHWF2R_AUXSNAPNUM                       ETH_MACHWF2R_AUXSNAPNUM_Msk /* Number of Auxiliary Snapshot Inputs */
+#define ETH_MACHWF2R_PPSOUTNUM_Pos                    (24U)
+#define ETH_MACHWF2R_PPSOUTNUM_Msk                    (0x7UL << ETH_MACHWF2R_PPSOUTNUM_Pos) /*!< 0x07000000 */
+#define ETH_MACHWF2R_PPSOUTNUM                        ETH_MACHWF2R_PPSOUTNUM_Msk /*  Number of PPS Outputs */
+#define ETH_MACHWF2R_TXCHCNT_Pos                      (18U)
+#define ETH_MACHWF2R_TXCHCNT_Msk                      (0xFUL << ETH_MACHWF2R_TXCHCNT_Pos) /*!< 0x003C0000 */
+#define ETH_MACHWF2R_TXCHCNT                          ETH_MACHWF2R_TXCHCNT_Msk /* Number of DMA Transmit Channels */
+#define ETH_MACHWF2R_RXCHCNT_Pos                      (13U)
+#define ETH_MACHWF2R_RXCHCNT_Msk                      (0x7UL << ETH_MACHWF2R_RXCHCNT_Pos) /*!< 0x0000E000 */
+#define ETH_MACHWF2R_RXCHCNT                          ETH_MACHWF2R_RXCHCNT_Msk /* Number of DMA Receive Channels */
+#define ETH_MACHWF2R_TXQCNT_Pos                       (6U)
+#define ETH_MACHWF2R_TXQCNT_Msk                       (0xFUL << ETH_MACHWF2R_TXQCNT_Pos) /*!< 0x000003C0 */
+#define ETH_MACHWF2R_TXQCNT                           ETH_MACHWF2R_TXQCNT_Msk  /* Number of MTL Transmit Queues */
+#define ETH_MACHWF2R_RXQCNT_Pos                       (0U)
+#define ETH_MACHWF2R_RXQCNT_Msk                       (0xFUL << ETH_MACHWF2R_RXQCNT_Pos) /*!< 0x0000000F */
+#define ETH_MACHWF2R_RXQCNT                           ETH_MACHWF2R_RXQCNT_Msk  /* Number of MTL Receive Queues */
+
+/* Bit definition for Ethernet MAC MDIO Address Register */
+#define ETH_MACMDIOAR_PSE_Pos                         (27U)
+#define ETH_MACMDIOAR_PSE_Msk                         (0x1UL << ETH_MACMDIOAR_PSE_Pos) /*!< 0x08000000 */
+#define ETH_MACMDIOAR_PSE                             ETH_MACMDIOAR_PSE_Msk    /* Preamble Suppression Enable */
+#define ETH_MACMDIOAR_BTB_Pos                         (26U)
+#define ETH_MACMDIOAR_BTB_Msk                         (0x1UL << ETH_MACMDIOAR_BTB_Pos) /*!< 0x04000000 */
+#define ETH_MACMDIOAR_BTB                             ETH_MACMDIOAR_BTB_Msk    /* Back to Back transactions */
+#define ETH_MACMDIOAR_PA_Pos                          (21U)
+#define ETH_MACMDIOAR_PA_Msk                          (0x1FUL << ETH_MACMDIOAR_PA_Pos) /*!< 0x03E00000 */
+#define ETH_MACMDIOAR_PA                              ETH_MACMDIOAR_PA_Msk     /* Physical Layer Address */
+#define ETH_MACMDIOAR_RDA_Pos                         (16U)
+#define ETH_MACMDIOAR_RDA_Msk                         (0x1FUL << ETH_MACMDIOAR_RDA_Pos) /*!< 0x001F0000 */
+#define ETH_MACMDIOAR_RDA                             ETH_MACMDIOAR_RDA_Msk    /* Register/Device Address */
+#define ETH_MACMDIOAR_NTC_Pos                         (12U)
+#define ETH_MACMDIOAR_NTC_Msk                         (0x7UL << ETH_MACMDIOAR_NTC_Pos) /*!< 0x00007000 */
+#define ETH_MACMDIOAR_NTC                             ETH_MACMDIOAR_NTC_Msk    /* Number of Trailing Clocks */
+#define ETH_MACMDIOAR_CR_Pos                          (8U)
+#define ETH_MACMDIOAR_CR_Msk                          (0xFUL << ETH_MACMDIOAR_CR_Pos) /*!< 0x00000F00 */
+#define ETH_MACMDIOAR_CR                              ETH_MACMDIOAR_CR_Msk     /* CSR Clock Range */
+#define ETH_MACMDIOAR_CR_DIV42                        ((uint32_t)0x00000000)   /* CSR clock/42 */
+#define ETH_MACMDIOAR_CR_DIV62_Pos                    (8U)
+#define ETH_MACMDIOAR_CR_DIV62_Msk                    (0x1UL << ETH_MACMDIOAR_CR_DIV62_Pos) /*!< 0x00000100 */
+#define ETH_MACMDIOAR_CR_DIV62                        ETH_MACMDIOAR_CR_DIV62_Msk /* CSR clock/62 */
+#define ETH_MACMDIOAR_CR_DIV16_Pos                    (9U)
+#define ETH_MACMDIOAR_CR_DIV16_Msk                    (0x1UL << ETH_MACMDIOAR_CR_DIV16_Pos) /*!< 0x00000200 */
+#define ETH_MACMDIOAR_CR_DIV16                        ETH_MACMDIOAR_CR_DIV16_Msk /* CSR clock/16 */
+#define ETH_MACMDIOAR_CR_DIV26_Pos                    (8U)
+#define ETH_MACMDIOAR_CR_DIV26_Msk                    (0x3UL << ETH_MACMDIOAR_CR_DIV26_Pos) /*!< 0x00000300 */
+#define ETH_MACMDIOAR_CR_DIV26                        ETH_MACMDIOAR_CR_DIV26_Msk /* CSR clock/26 */
+#define ETH_MACMDIOAR_CR_DIV102_Pos                   (10U)
+#define ETH_MACMDIOAR_CR_DIV102_Msk                   (0x1UL << ETH_MACMDIOAR_CR_DIV102_Pos) /*!< 0x00000400 */
+#define ETH_MACMDIOAR_CR_DIV102                       ETH_MACMDIOAR_CR_DIV102_Msk /* CSR clock/102 */
+#define ETH_MACMDIOAR_CR_DIV124_Pos                   (8U)
+#define ETH_MACMDIOAR_CR_DIV124_Msk                   (0x5UL << ETH_MACMDIOAR_CR_DIV124_Pos) /*!< 0x00000500 */
+#define ETH_MACMDIOAR_CR_DIV124                       ETH_MACMDIOAR_CR_DIV124_Msk /* CSR clock/124 */
+#define ETH_MACMDIOAR_CR_DIV4AR_Pos                   (11U)
+#define ETH_MACMDIOAR_CR_DIV4AR_Msk                   (0x1UL << ETH_MACMDIOAR_CR_DIV4AR_Pos) /*!< 0x00000800 */
+#define ETH_MACMDIOAR_CR_DIV4AR                       ETH_MACMDIOAR_CR_DIV4AR_Msk /* CSR clock/4: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV6AR_Pos                   (8U)
+#define ETH_MACMDIOAR_CR_DIV6AR_Msk                   (0x9UL << ETH_MACMDIOAR_CR_DIV6AR_Pos) /*!< 0x00000900 */
+#define ETH_MACMDIOAR_CR_DIV6AR                       ETH_MACMDIOAR_CR_DIV6AR_Msk /* CSR clock/6: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV8AR_Pos                   (9U)
+#define ETH_MACMDIOAR_CR_DIV8AR_Msk                   (0x5UL << ETH_MACMDIOAR_CR_DIV8AR_Pos) /*!< 0x00000A00 */
+#define ETH_MACMDIOAR_CR_DIV8AR                       ETH_MACMDIOAR_CR_DIV8AR_Msk /* CSR clock/8: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV10AR_Pos                  (8U)
+#define ETH_MACMDIOAR_CR_DIV10AR_Msk                  (0xBUL << ETH_MACMDIOAR_CR_DIV10AR_Pos) /*!< 0x00000B00 */
+#define ETH_MACMDIOAR_CR_DIV10AR                      ETH_MACMDIOAR_CR_DIV10AR_Msk /* CSR clock/10: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV12AR_Pos                  (10U)
+#define ETH_MACMDIOAR_CR_DIV12AR_Msk                  (0x3UL << ETH_MACMDIOAR_CR_DIV12AR_Pos) /*!< 0x00000C00 */
+#define ETH_MACMDIOAR_CR_DIV12AR                      ETH_MACMDIOAR_CR_DIV12AR_Msk /* CSR clock/12: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV14AR_Pos                  (8U)
+#define ETH_MACMDIOAR_CR_DIV14AR_Msk                  (0xDUL << ETH_MACMDIOAR_CR_DIV14AR_Pos) /*!< 0x00000D00 */
+#define ETH_MACMDIOAR_CR_DIV14AR                      ETH_MACMDIOAR_CR_DIV14AR_Msk /* CSR clock/14: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV16AR_Pos                  (9U)
+#define ETH_MACMDIOAR_CR_DIV16AR_Msk                  (0x7UL << ETH_MACMDIOAR_CR_DIV16AR_Pos) /*!< 0x00000E00 */
+#define ETH_MACMDIOAR_CR_DIV16AR                      ETH_MACMDIOAR_CR_DIV16AR_Msk /* CSR clock/16: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV18AR_Pos                  (8U)
+#define ETH_MACMDIOAR_CR_DIV18AR_Msk                  (0xFUL << ETH_MACMDIOAR_CR_DIV18AR_Pos) /*!< 0x00000F00 */
+#define ETH_MACMDIOAR_CR_DIV18AR                      ETH_MACMDIOAR_CR_DIV18AR_Msk /* CSR clock/18: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_SKAP_Pos                        (4U)
+#define ETH_MACMDIOAR_SKAP_Msk                        (0x1UL << ETH_MACMDIOAR_SKAP_Pos) /*!< 0x00000010 */
+#define ETH_MACMDIOAR_SKAP                            ETH_MACMDIOAR_SKAP_Msk   /* Skip Address Packet */
+#define ETH_MACMDIOAR_MOC_Pos                         (2U)
+#define ETH_MACMDIOAR_MOC_Msk                         (0x3UL << ETH_MACMDIOAR_MOC_Pos) /*!< 0x0000000C */
+#define ETH_MACMDIOAR_MOC                             ETH_MACMDIOAR_MOC_Msk    /* MII Operation Command */
+#define ETH_MACMDIOAR_MOC_WR_Pos                      (2U)
+#define ETH_MACMDIOAR_MOC_WR_Msk                      (0x1UL << ETH_MACMDIOAR_MOC_WR_Pos) /*!< 0x00000004 */
+#define ETH_MACMDIOAR_MOC_WR                          ETH_MACMDIOAR_MOC_WR_Msk /* Write */
+#define ETH_MACMDIOAR_MOC_PRDIA_Pos                   (3U)
+#define ETH_MACMDIOAR_MOC_PRDIA_Msk                   (0x1UL << ETH_MACMDIOAR_MOC_PRDIA_Pos) /*!< 0x00000008 */
+#define ETH_MACMDIOAR_MOC_PRDIA                       ETH_MACMDIOAR_MOC_PRDIA_Msk /* Post Read Increment Address for Clause 45 PHY */
+#define ETH_MACMDIOAR_MOC_RD_Pos                      (2U)
+#define ETH_MACMDIOAR_MOC_RD_Msk                      (0x3UL << ETH_MACMDIOAR_MOC_RD_Pos) /*!< 0x0000000C */
+#define ETH_MACMDIOAR_MOC_RD                          ETH_MACMDIOAR_MOC_RD_Msk /* Read */
+#define ETH_MACMDIOAR_C45E_Pos                        (1U)
+#define ETH_MACMDIOAR_C45E_Msk                        (0x1UL << ETH_MACMDIOAR_C45E_Pos) /*!< 0x00000002 */
+#define ETH_MACMDIOAR_C45E                            ETH_MACMDIOAR_C45E_Msk   /* Clause 45 PHY Enable */
+#define ETH_MACMDIOAR_MB_Pos                          (0U)
+#define ETH_MACMDIOAR_MB_Msk                          (0x1UL << ETH_MACMDIOAR_MB_Pos) /*!< 0x00000001 */
+#define ETH_MACMDIOAR_MB                              ETH_MACMDIOAR_MB_Msk     /* MII Busy */
+
+/* Bit definition for Ethernet MAC MDIO Data Register */
+#define ETH_MACMDIODR_RA_Pos                          (16U)
+#define ETH_MACMDIODR_RA_Msk                          (0xFFFFUL << ETH_MACMDIODR_RA_Pos) /*!< 0xFFFF0000 */
+#define ETH_MACMDIODR_RA                              ETH_MACMDIODR_RA_Msk     /* Register Address */
+#define ETH_MACMDIODR_MD_Pos                          (0U)
+#define ETH_MACMDIODR_MD_Msk                          (0xFFFFUL << ETH_MACMDIODR_MD_Pos) /*!< 0x0000FFFF */
+#define ETH_MACMDIODR_MD                              ETH_MACMDIODR_MD_Msk     /* MII Data */
+
+/* Bit definition for Ethernet ARP Address Register */
+#define ETH_MACARPAR_ARPPA_Pos                         (0U)
+#define ETH_MACARPAR_ARPPA_Msk                         (0xFFFFFFFFUL << ETH_MACARPAR_ARPPA_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACARPAR_ARPPA                             ETH_MACARPAR_ARPPA_Msk     /* ARP Protocol Address */
+
+/* Bit definition for Ethernet MAC Address 0 High Register */
+#define ETH_MACA0HR_AE_Pos                            (31U)
+#define ETH_MACA0HR_AE_Msk                            (0x1UL << ETH_MACA0HR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACA0HR_AE                                ETH_MACA0HR_AE_Msk /* Address Enable*/
+#define ETH_MACA0HR_ADDRHI_Pos                        (0U)
+#define ETH_MACA0HR_ADDRHI_Msk                        (0xFFFFUL << ETH_MACA0HR_ADDRHI_Pos) /*!< 0x0000FFFF */
+#define ETH_MACA0HR_ADDRHI                            ETH_MACA0HR_ADDRHI_Msk   /* MAC Address 0*/
+
+/* Bit definition for Ethernet MAC Address 0 Low Register */
+#define ETH_MACA0LR_ADDRLO_Pos                        (0U)
+#define ETH_MACA0LR_ADDRLO_Msk                        (0xFFFFFFFFUL << ETH_MACA0LR_ADDRLO_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACA0LR_ADDRLO                            ETH_MACA0LR_ADDRLO_Msk   /* MAC Address 0*/
+
+/* Bit definition for Ethernet MAC Address 1 High Register */
+#define ETH_MACA1HR_AE_Pos                            (31U)
+#define ETH_MACA1HR_AE_Msk                            (0x1UL << ETH_MACA1HR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACA1HR_AE                                ETH_MACA1HR_AE_Msk /* Address Enable*/
+#define ETH_MACA1HR_SA_Pos                            (30U)
+#define ETH_MACA1HR_SA_Msk                            (0x1UL << ETH_MACA1HR_SA_Pos) /*!< 0x40000000 */
+#define ETH_MACA1HR_SA                                ETH_MACA1HR_SA_Msk /* Source Address */
+#define ETH_MACA1HR_MBC_Pos                           (24U)
+#define ETH_MACA1HR_MBC_Msk                           (0x3FUL << ETH_MACA1HR_MBC_Pos) /*!< 0x3F000000 */
+#define ETH_MACA1HR_MBC                               ETH_MACA1HR_MBC_Msk /* Mask Byte Control */
+#define ETH_MACA1HR_ADDRHI_Pos                        (0U)
+#define ETH_MACA1HR_ADDRHI_Msk                        (0xFFFFUL << ETH_MACA1HR_ADDRHI_Pos) /*!< 0x0000FFFF */
+#define ETH_MACA1HR_ADDRHI                            ETH_MACA1HR_ADDRHI_Msk   /* MAC Address 1*/
+
+/* Bit definition for Ethernet MAC Address 1 Low Register */
+#define ETH_MACA1LR_ADDRLO_Pos                        (0U)
+#define ETH_MACA1LR_ADDRLO_Msk                        (0xFFFFFFFFUL << ETH_MACA1LR_ADDRLO_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACA1LR_ADDRLO                            ETH_MACA1LR_ADDRLO_Msk   /* MAC Address 1*/
+
+/* Bit definition for Ethernet MAC Address 2 High Register */
+#define ETH_MACA2HR_AE_Pos                            (31U)
+#define ETH_MACA2HR_AE_Msk                            (0x1UL << ETH_MACA2HR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACA2HR_AE                                ETH_MACA2HR_AE_Msk /* Address Enable*/
+#define ETH_MACA2HR_SA_Pos                            (30U)
+#define ETH_MACA2HR_SA_Msk                            (0x1UL << ETH_MACA2HR_SA_Pos) /*!< 0x40000000 */
+#define ETH_MACA2HR_SA                                ETH_MACA2HR_SA_Msk /* Source Address */
+#define ETH_MACA2HR_MBC_Pos                           (24U)
+#define ETH_MACA2HR_MBC_Msk                           (0x3FUL << ETH_MACA2HR_MBC_Pos) /*!< 0x3F000000 */
+#define ETH_MACA2HR_MBC                               ETH_MACA2HR_MBC_Msk /* Mask Byte Control */
+#define ETH_MACA2HR_ADDRHI_Pos                        (0U)
+#define ETH_MACA2HR_ADDRHI_Msk                        (0xFFFFUL << ETH_MACA2HR_ADDRHI_Pos) /*!< 0x0000FFFF */
+#define ETH_MACA2HR_ADDRHI                            ETH_MACA2HR_ADDRHI_Msk   /* MAC Address 1*/
+
+/* Bit definition for Ethernet MAC Address 2 Low Register */
+#define ETH_MACA2LR_ADDRLO_Pos                        (0U)
+#define ETH_MACA2LR_ADDRLO_Msk                        (0xFFFFFFFFUL << ETH_MACA2LR_ADDRLO_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACA2LR_ADDRLO                            ETH_MACA2LR_ADDRLO_Msk   /* MAC Address 2*/
+
+/* Bit definition for Ethernet MAC Address 3 High Register */
+#define ETH_MACA3HR_AE_Pos                            (31U)
+#define ETH_MACA3HR_AE_Msk                            (0x1UL << ETH_MACA3HR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACA3HR_AE                                ETH_MACA3HR_AE_Msk /* Address Enable*/
+#define ETH_MACA3HR_SA_Pos                            (30U)
+#define ETH_MACA3HR_SA_Msk                            (0x1UL << ETH_MACA3HR_SA_Pos) /*!< 0x40000000 */
+#define ETH_MACA3HR_SA                                ETH_MACA3HR_SA_Msk /* Source Address */
+#define ETH_MACA3HR_MBC_Pos                           (24U)
+#define ETH_MACA3HR_MBC_Msk                           (0x3FUL << ETH_MACA3HR_MBC_Pos) /*!< 0x3F000000 */
+#define ETH_MACA3HR_MBC                               ETH_MACA3HR_MBC_Msk /* Mask Byte Control */
+#define ETH_MACA3HR_ADDRHI_Pos                        (0U)
+#define ETH_MACA3HR_ADDRHI_Msk                        (0xFFFFUL << ETH_MACA3HR_ADDRHI_Pos) /*!< 0x0000FFFF */
+#define ETH_MACA3HR_ADDRHI                            ETH_MACA3HR_ADDRHI_Msk   /* MAC Address 1*/
+
+/* Bit definition for Ethernet MAC Address 3 Low Register */
+#define ETH_MACA3LR_ADDRLO_Pos                        (0U)
+#define ETH_MACA3LR_ADDRLO_Msk                        (0xFFFFFFFFUL << ETH_MACA3LR_ADDRLO_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACA3LR_ADDRLO                            ETH_MACA3LR_ADDRLO_Msk   /* MAC Address 3*/
+
+/* Bit definition for Ethernet MAC Address High Register */
+#define ETH_MACAHR_AE_Pos                             (31U)
+#define ETH_MACAHR_AE_Msk                             (0x1UL << ETH_MACAHR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACAHR_AE                                 ETH_MACAHR_AE_Msk        /* Address enable */
+#define ETH_MACAHR_SA_Pos                             (30U)
+#define ETH_MACAHR_SA_Msk                             (0x1UL << ETH_MACAHR_SA_Pos) /*!< 0x40000000 */
+#define ETH_MACAHR_SA                                 ETH_MACAHR_SA_Msk        /* Source address */
+#define ETH_MACAHR_MBC_Pos                            (24U)
+#define ETH_MACAHR_MBC_Msk                            (0x3FUL << ETH_MACAHR_MBC_Pos) /*!< 0x3F000000 */
+#define ETH_MACAHR_MBC                                ETH_MACAHR_MBC_Msk       /* Mask byte control: bits to mask for comparison of the MAC Address bytes */
+#define ETH_MACAHR_MBC_HBITS15_8                      ((uint32_t)0x20000000)   /* Mask MAC Address high reg bits [15:8] */
+#define ETH_MACAHR_MBC_HBITS7_0                       ((uint32_t)0x10000000)   /* Mask MAC Address high reg bits [7:0] */
+#define ETH_MACAHR_MBC_LBITS31_24                     ((uint32_t)0x08000000)   /* Mask MAC Address low reg bits [31:24] */
+#define ETH_MACAHR_MBC_LBITS23_16                     ((uint32_t)0x04000000)   /* Mask MAC Address low reg bits [23:16] */
+#define ETH_MACAHR_MBC_LBITS15_8                      ((uint32_t)0x02000000)   /* Mask MAC Address low reg bits [15:8] */
+#define ETH_MACAHR_MBC_LBITS7_0                       ((uint32_t)0x01000000)   /* Mask MAC Address low reg bits [7:0] */
+#define ETH_MACAHR_MACAH_Pos                          (0U)
+#define ETH_MACAHR_MACAH_Msk                          (0xFFFFUL << ETH_MACAHR_MACAH_Pos) /*!< 0x0000FFFF */
+#define ETH_MACAHR_MACAH                              ETH_MACAHR_MACAH_Msk     /* MAC address high */
+
+/* Bit definition for Ethernet MAC Address Low Register */
+#define ETH_MACALR_MACAL_Pos                          (0U)
+#define ETH_MACALR_MACAL_Msk                          (0xFFFFFFFFUL << ETH_MACALR_MACAL_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACALR_MACAL                              ETH_MACALR_MACAL_Msk     /* MAC address low */
+
+/* Bit definition for Ethernet MMC Control Register */
+#define ETH_MMCCR_UCDBC_Pos                           (8U)
+#define ETH_MMCCR_UCDBC_Msk                           (0x1UL << ETH_MMCCR_UCDBC_Pos) /*!< 0x00000100 */
+#define ETH_MMCCR_UCDBC                               ETH_MMCCR_UCDBC_Msk  /* Update MMC Counters for Dropped Broadcast Packets */
+#define ETH_MMCCR_CNTPRSTLVL_Pos                      (5U)
+#define ETH_MMCCR_CNTPRSTLVL_Msk                      (0x1UL << ETH_MMCCR_CNTPRSTLVL_Pos) /*!< 0x00000020 */
+#define ETH_MMCCR_CNTPRSTLVL                          ETH_MMCCR_CNTPRSTLVL_Msk  /* Full-Half Preset */
+#define ETH_MMCCR_CNTPRST_Pos                         (4U)
+#define ETH_MMCCR_CNTPRST_Msk                         (0x1UL << ETH_MMCCR_CNTPRST_Pos) /*!< 0x00000010 */
+#define ETH_MMCCR_CNTPRST                             ETH_MMCCR_CNTPRST_Msk  /* Counters Reset */
+#define ETH_MMCCR_CNTFREEZ_Pos                        (3U)
+#define ETH_MMCCR_CNTFREEZ_Msk                        (0x1UL << ETH_MMCCR_CNTFREEZ_Pos) /*!< 0x00000008 */
+#define ETH_MMCCR_CNTFREEZ                            ETH_MMCCR_CNTFREEZ_Msk  /* MMC Counter Freeze */
+#define ETH_MMCCR_RSTONRD_Pos                         (2U)
+#define ETH_MMCCR_RSTONRD_Msk                         (0x1UL << ETH_MMCCR_RSTONRD_Pos) /*!< 0x00000004 */
+#define ETH_MMCCR_RSTONRD                             ETH_MMCCR_RSTONRD_Msk  /* Reset On Read */
+#define ETH_MMCCR_CNTSTOPRO_Pos                       (1U)
+#define ETH_MMCCR_CNTSTOPRO_Msk                       (0x1UL << ETH_MMCCR_CNTSTOPRO_Pos) /*!< 0x00000002 */
+#define ETH_MMCCR_CNTSTOPRO                           ETH_MMCCR_CNTSTOPRO_Msk  /* Counter Stop Rollover */
+#define ETH_MMCCR_CNTRST_Pos                          (0U)
+#define ETH_MMCCR_CNTRST_Msk                          (0x1UL << ETH_MMCCR_CNTRST_Pos) /*!< 0x00000001 */
+#define ETH_MMCCR_CNTRST                              ETH_MMCCR_CNTRST_Msk  /* Counters Reset */
+
+/* Bit definition for Ethernet MMC Rx Interrupt Register */
+#define ETH_MMCRIR_RXLPITRCIS_Pos                     (27U)
+#define ETH_MMCRIR_RXLPITRCIS_Msk                     (0x1UL << ETH_MMCRIR_RXLPITRCIS_Pos) /*!< 0x08000000 */
+#define ETH_MMCRIR_RXLPITRCIS                         ETH_MMCRIR_RXLPITRCIS_Msk  /* MMC Receive LPI transition counter interrupt status */
+#define ETH_MMCRIR_RXLPIUSCIS_Pos                     (26U)
+#define ETH_MMCRIR_RXLPIUSCIS_Msk                     (0x1UL << ETH_MMCRIR_RXLPIUSCIS_Pos) /*!< 0x04000000 */
+#define ETH_MMCRIR_RXLPIUSCIS                         ETH_MMCRIR_RXLPIUSCIS_Msk  /* MMC Receive LPI microsecond counter interrupt status */
+#define ETH_MMCRIR_RXUCGPIS_Pos                       (17U)
+#define ETH_MMCRIR_RXUCGPIS_Msk                       (0x1UL << ETH_MMCRIR_RXUCGPIS_Pos) /*!< 0x00020000 */
+#define ETH_MMCRIR_RXUCGPIS                           ETH_MMCRIR_RXUCGPIS_Msk  /* MMC Receive Unicast Good Packet Counter Interrupt Status */
+#define ETH_MMCRIR_RXALGNERPIS_Pos                    (6U)
+#define ETH_MMCRIR_RXALGNERPIS_Msk                    (0x1UL << ETH_MMCRIR_RXALGNERPIS_Pos) /*!< 0x00000040 */
+#define ETH_MMCRIR_RXALGNERPIS                        ETH_MMCRIR_RXALGNERPIS_Msk  /* MMC Receive Alignment Error Packet Counter Interrupt Status */
+#define ETH_MMCRIR_RXCRCERPIS_Pos                     (5U)
+#define ETH_MMCRIR_RXCRCERPIS_Msk                     (0x1UL << ETH_MMCRIR_RXCRCERPIS_Pos) /*!< 0x00000020 */
+#define ETH_MMCRIR_RXCRCERPIS                         ETH_MMCRIR_RXCRCERPIS_Msk  /* MMC Receive CRC Error Packet Counter Interrupt Status */
+
+/* Bit definition for Ethernet MMC Tx Interrupt Register */
+#define ETH_MMCTIR_TXLPITRCIS_Pos                     (27U)
+#define ETH_MMCTIR_TXLPITRCIS_Msk                     (0x1UL << ETH_MMCTIR_TXLPITRCIS_Pos) /*!< 0x08000000 */
+#define ETH_MMCTIR_TXLPITRCIS                         ETH_MMCTIR_TXLPITRCIS_Msk  /* MMC Transmit LPI transition counter interrupt status */
+#define ETH_MMCTIR_TXLPIUSCIS_Pos                     (26U)
+#define ETH_MMCTIR_TXLPIUSCIS_Msk                     (0x1UL << ETH_MMCTIR_TXLPIUSCIS_Pos) /*!< 0x04000000 */
+#define ETH_MMCTIR_TXLPIUSCIS                         ETH_MMCTIR_TXLPIUSCIS_Msk  /* MMC Transmit LPI microsecond counter interrupt status */
+#define ETH_MMCTIR_TXGPKTIS_Pos                       (21U)
+#define ETH_MMCTIR_TXGPKTIS_Msk                       (0x1UL << ETH_MMCTIR_TXGPKTIS_Pos) /*!< 0x00200000 */
+#define ETH_MMCTIR_TXGPKTIS                           ETH_MMCTIR_TXGPKTIS_Msk  /* MMC Transmit Good Packet Counter Interrupt Status */
+#define ETH_MMCTIR_TXMCOLGPIS_Pos                     (15U)
+#define ETH_MMCTIR_TXMCOLGPIS_Msk                     (0x1UL << ETH_MMCTIR_TXMCOLGPIS_Pos) /*!< 0x00008000 */
+#define ETH_MMCTIR_TXMCOLGPIS                         ETH_MMCTIR_TXMCOLGPIS_Msk  /* MMC Transmit Multiple Collision Good Packet Counter Interrupt Status */
+#define ETH_MMCTIR_TXSCOLGPIS_Pos                     (14U)
+#define ETH_MMCTIR_TXSCOLGPIS_Msk                     (0x1UL << ETH_MMCTIR_TXSCOLGPIS_Pos) /*!< 0x00004000 */
+#define ETH_MMCTIR_TXSCOLGPIS                         ETH_MMCTIR_TXSCOLGPIS_Msk  /* MMC Transmit Single Collision Good Packet Counter Interrupt Status */
+
+/* Bit definition for Ethernet MMC Rx interrupt Mask register */
+#define ETH_MMCRIMR_RXLPITRCIM_Pos                    (27U)
+#define ETH_MMCRIMR_RXLPITRCIM_Msk                    (0x1UL << ETH_MMCRIMR_RXLPITRCIM_Pos) /*!< 0x08000000 */
+#define ETH_MMCRIMR_RXLPITRCIM                        ETH_MMCRIMR_RXLPITRCIM_Msk  /* MMC Receive LPI transition counter interrupt Mask */
+#define ETH_MMCRIMR_RXLPIUSCIM_Pos                    (26U)
+#define ETH_MMCRIMR_RXLPIUSCIM_Msk                    (0x1UL << ETH_MMCRIMR_RXLPIUSCIM_Pos) /*!< 0x04000000 */
+#define ETH_MMCRIMR_RXLPIUSCIM                        ETH_MMCRIMR_RXLPIUSCIM_Msk  /* MMC Receive LPI microsecond counter interrupt Mask */
+#define ETH_MMCRIMR_RXUCGPIM_Pos                      (17U)
+#define ETH_MMCRIMR_RXUCGPIM_Msk                      (0x1UL << ETH_MMCRIMR_RXUCGPIM_Pos) /*!< 0x00020000 */
+#define ETH_MMCRIMR_RXUCGPIM                          ETH_MMCRIMR_RXUCGPIM_Msk  /* MMC Receive Unicast Good Packet Counter Interrupt Mask */
+#define ETH_MMCRIMR_RXALGNERPIM_Pos                   (6U)
+#define ETH_MMCRIMR_RXALGNERPIM_Msk                   (0x1UL << ETH_MMCRIMR_RXALGNERPIM_Pos) /*!< 0x00000040 */
+#define ETH_MMCRIMR_RXALGNERPIM                       ETH_MMCRIMR_RXALGNERPIM_Msk  /* MMC Receive Alignment Error Packet Counter Interrupt Mask */
+#define ETH_MMCRIMR_RXCRCERPIM_Pos                    (5U)
+#define ETH_MMCRIMR_RXCRCERPIM_Msk                    (0x1UL << ETH_MMCRIMR_RXCRCERPIM_Pos) /*!< 0x00000020 */
+#define ETH_MMCRIMR_RXCRCERPIM                        ETH_MMCRIMR_RXCRCERPIM_Msk  /* MMC Receive CRC Error Packet Counter Interrupt Mask */
+
+/* Bit definition for Ethernet MMC Tx Interrupt Mask Register */
+#define ETH_MMCTIMR_TXLPITRCIM_Pos                    (27U)
+#define ETH_MMCTIMR_TXLPITRCIM_Msk                    (0x1UL << ETH_MMCTIMR_TXLPITRCIM_Pos) /*!< 0x08000000 */
+#define ETH_MMCTIMR_TXLPITRCIM                        ETH_MMCTIMR_TXLPITRCIM_Msk  /* MMC Transmit LPI transition counter interrupt Mask*/
+#define ETH_MMCTIMR_TXLPIUSCIM_Pos                    (26U)
+#define ETH_MMCTIMR_TXLPIUSCIM_Msk                    (0x1UL << ETH_MMCTIMR_TXLPIUSCIM_Pos) /*!< 0x04000000 */
+#define ETH_MMCTIMR_TXLPIUSCIM                        ETH_MMCTIMR_TXLPIUSCIM_Msk  /* MMC Transmit LPI microsecond counter interrupt Mask*/
+#define ETH_MMCTIMR_TXGPKTIM_Pos                      (21U)
+#define ETH_MMCTIMR_TXGPKTIM_Msk                      (0x1UL << ETH_MMCTIMR_TXGPKTIM_Pos) /*!< 0x00200000 */
+#define ETH_MMCTIMR_TXGPKTIM                          ETH_MMCTIMR_TXGPKTIM_Msk  /* MMC Transmit Good Packet Counter Interrupt Mask*/
+#define ETH_MMCTIMR_TXMCOLGPIM_Pos                    (15U)
+#define ETH_MMCTIMR_TXMCOLGPIM_Msk                    (0x1UL << ETH_MMCTIMR_TXMCOLGPIM_Pos) /*!< 0x00008000 */
+#define ETH_MMCTIMR_TXMCOLGPIM                        ETH_MMCTIMR_TXMCOLGPIM_Msk  /* MMC Transmit Multiple Collision Good Packet Counter Interrupt Mask */
+#define ETH_MMCTIMR_TXSCOLGPIM_Pos                    (14U)
+#define ETH_MMCTIMR_TXSCOLGPIM_Msk                    (0x1UL << ETH_MMCTIMR_TXSCOLGPIM_Pos) /*!< 0x00004000 */
+#define ETH_MMCTIMR_TXSCOLGPIM                        ETH_MMCTIMR_TXSCOLGPIM_Msk  /* MMC Transmit Single Collision Good Packet Counter Interrupt Mask */
+
+/* Bit definition for Ethernet MMC Tx Single Collision Good Packets Register */
+#define ETH_MMCTSCGPR_TXSNGLCOLG_Pos                  (0U)
+#define ETH_MMCTSCGPR_TXSNGLCOLG_msk                  (0xFFFFFFFFUL <<  ETH_MMCTSCGPR_TXSNGLCOLG_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTSCGPR_TXSNGLCOLG                      ETH_MMCTSCGPR_TXSNGLCOLG_msk /* Tx Single Collision Good Packets */
+
+/* Bit definition for Ethernet MMC Tx Multiple Collision Good Packets Register */
+#define ETH_MMCTMCGPR_TXMULTCOLG_Pos                  (0U)
+#define ETH_MMCTMCGPR_TXMULTCOLG_msk                  (0xFFFFFFFFUL <<  ETH_MMCTMCGPR_TXMULTCOLG_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTMCGPR_TXMULTCOLG                      ETH_MMCTMCGPR_TXMULTCOLG_msk /* Tx Multiple Collision Good Packets */
+
+/* Bit definition for Ethernet MMC Tx Packet Count Good Register */
+#define ETH_MMCTPCGR_TXPKTG_Pos                       (0U)
+#define ETH_MMCTPCGR_TXPKTG_msk                       (0xFFFFFFFFUL <<  ETH_MMCTPCGR_TXPKTG_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTPCGR_TXPKTG                           ETH_MMCTPCGR_TXPKTG_msk /* Tx Packet Count Good */
+
+/* Bit definition for Ethernet MMC Rx CRC Error Packets Register */
+#define ETH_MMCRCRCEPR_RXCRCERR_Pos                   (0U)
+#define ETH_MMCRCRCEPR_RXCRCERR_msk                   (0xFFFFFFFFUL <<  ETH_MMCRCRCEPR_RXCRCERR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRCRCEPR_RXCRCERR                       ETH_MMCRCRCEPR_RXCRCERR_msk /* Rx CRC Error Packets */
+
+/* Bit definition for Ethernet MMC Rx alignment error packets register */
+#define ETH_MMCRAEPR_RXALGNERR_Pos                    (0U)
+#define ETH_MMCRAEPR_RXALGNERR_msk                    (0xFFFFFFFFUL <<  ETH_MMCRAEPR_RXALGNERR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRAEPR_RXALGNERR                        ETH_MMCRAEPR_RXALGNERR_msk /* Rx Alignment Error Packets */
+
+/* Bit definition for Ethernet MMC Rx Unicast Packets Good Register */
+#define ETH_MMCRUPGR_RXUCASTG_Pos                     (0U)
+#define ETH_MMCRUPGR_RXUCASTG_msk                     (0xFFFFFFFFUL <<  ETH_MMCRUPGR_RXUCASTG_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRUPGR_RXUCASTG                         ETH_MMCRUPGR_RXUCASTG_msk /* Rx Unicast Packets Good */
+
+/* Bit definition for Ethernet MMC Tx LPI Microsecond Timer Register */
+#define ETH_MMCTLPIMSTR_TXLPIUSC_Pos                  (0U)
+#define ETH_MMCTLPIMSTR_TXLPIUSC_msk                  (0xFFFFFFFFUL <<  ETH_MMCTLPIMSTR_TXLPIUSC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTLPIMSTR_TXLPIUSC                      ETH_MMCTLPIMSTR_TXLPIUSC_msk /* Tx LPI Microseconds Counter */
+
+/* Bit definition for Ethernet MMC Tx LPI Transition Counter Register */
+#define ETH_MMCTLPITCR_TXLPITRC_Pos                   (0U)
+#define ETH_MMCTLPITCR_TXLPITRC_msk                   (0xFFFFFFFFUL <<  ETH_MMCTLPITCR_TXLPITRC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTLPITCR_TXLPITRC                       ETH_MMCTLPITCR_TXLPITRC_msk /* Tx LPI Transition counter */
+
+/* Bit definition for Ethernet MMC Rx LPI Microsecond Counter Register */
+#define ETH_MMCRLPIMSTR_RXLPIUSC_Pos                  (0U)
+#define ETH_MMCRLPIMSTR_RXLPIUSC_msk                  (0xFFFFFFFFUL <<  ETH_MMCRLPIMSTR_RXLPIUSC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRLPIMSTR_RXLPIUSC                      ETH_MMCRLPIMSTR_RXLPIUSC_msk /* Rx LPI Microseconds Counter */
+
+/* Bit definition for Ethernet MMC Rx LPI Transition Counter Register */
+#define ETH_MMCRLPITCR_RXLPITRC_Pos                   (0U)
+#define ETH_MMCRLPITCR_RXLPITRC_msk                   (0xFFFFFFFFUL <<  ETH_MMCRLPITCR_RXLPITRC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRLPITCR_RXLPITRC                       ETH_MMCRLPITCR_RXLPITRC_msk /* Rx LPI Transition counter */
+
+/* Bit definition for Ethernet MAC L3 L4 Control Register */
+#define ETH_MACL3L4CR_L4DPIM_Pos                      (21U)
+#define ETH_MACL3L4CR_L4DPIM_Msk                      (0x1UL << ETH_MACL3L4CR_L4DPIM_Pos) /*!< 0x00200000 */
+#define ETH_MACL3L4CR_L4DPIM                          ETH_MACL3L4CR_L4DPIM_Msk /* Layer 4 Destination Port Inverse Match Enable */
+#define ETH_MACL3L4CR_L4DPM_Pos                       (20U)
+#define ETH_MACL3L4CR_L4DPM_Msk                       (0x1UL << ETH_MACL3L4CR_L4DPM_Pos) /*!< 0x00100000 */
+#define ETH_MACL3L4CR_L4DPM                           ETH_MACL3L4CR_L4DPM_Msk  /* Layer 4 Destination Port Match Enable */
+#define ETH_MACL3L4CR_L4SPIM_Pos                      (19U)
+#define ETH_MACL3L4CR_L4SPIM_Msk                      (0x1UL << ETH_MACL3L4CR_L4SPIM_Pos) /*!< 0x00080000 */
+#define ETH_MACL3L4CR_L4SPIM                          ETH_MACL3L4CR_L4SPIM_Msk /* Layer 4 Source Port Inverse Match Enable */
+#define ETH_MACL3L4CR_L4SPM_Pos                       (18U)
+#define ETH_MACL3L4CR_L4SPM_Msk                       (0x1UL << ETH_MACL3L4CR_L4SPM_Pos) /*!< 0x00040000 */
+#define ETH_MACL3L4CR_L4SPM                           ETH_MACL3L4CR_L4SPM_Msk  /* Layer 4 Source Port Match Enable */
+#define ETH_MACL3L4CR_L4PEN_Pos                       (16U)
+#define ETH_MACL3L4CR_L4PEN_Msk                       (0x1UL << ETH_MACL3L4CR_L4PEN_Pos) /*!< 0x00010000 */
+#define ETH_MACL3L4CR_L4PEN                           ETH_MACL3L4CR_L4PEN_Msk  /* Layer 4 Protocol Enable */
+#define ETH_MACL3L4CR_L3HDBM_Pos                      (11U)
+#define ETH_MACL3L4CR_L3HDBM_Msk                      (0x1FUL << ETH_MACL3L4CR_L3HDBM_Pos) /*!< 0x0000F800 */
+#define ETH_MACL3L4CR_L3HDBM                          ETH_MACL3L4CR_L3HDBM_Msk /* Layer 3 IP DA Higher Bits Match */
+#define ETH_MACL3L4CR_L3HSBM_Pos                      (6U)
+#define ETH_MACL3L4CR_L3HSBM_Msk                      (0x1FUL << ETH_MACL3L4CR_L3HSBM_Pos) /*!< 0x000007C0 */
+#define ETH_MACL3L4CR_L3HSBM                          ETH_MACL3L4CR_L3HSBM_Msk /* Layer 3 IP SA Higher Bits Match */
+#define ETH_MACL3L4CR_L3DAIM_Pos                      (5U)
+#define ETH_MACL3L4CR_L3DAIM_Msk                      (0x1UL << ETH_MACL3L4CR_L3DAIM_Pos) /*!< 0x00000020 */
+#define ETH_MACL3L4CR_L3DAIM                          ETH_MACL3L4CR_L3DAIM_Msk /* Layer 3 IP DA Inverse Match Enable */
+#define ETH_MACL3L4CR_L3DAM_Pos                       (4U)
+#define ETH_MACL3L4CR_L3DAM_Msk                       (0x1UL << ETH_MACL3L4CR_L3DAM_Pos) /*!< 0x00000010 */
+#define ETH_MACL3L4CR_L3DAM                           ETH_MACL3L4CR_L3DAM_Msk  /* Layer 3 IP DA Match Enable */
+#define ETH_MACL3L4CR_L3SAIM_Pos                      (3U)
+#define ETH_MACL3L4CR_L3SAIM_Msk                      (0x1UL << ETH_MACL3L4CR_L3SAIM_Pos) /*!< 0x00000008 */
+#define ETH_MACL3L4CR_L3SAIM                          ETH_MACL3L4CR_L3SAIM_Msk /* Layer 3 IP SA Inverse Match Enable */
+#define ETH_MACL3L4CR_L3SAM_Pos                       (2U)
+#define ETH_MACL3L4CR_L3SAM_Msk                       (0x1UL << ETH_MACL3L4CR_L3SAM_Pos) /*!< 0x00000004 */
+#define ETH_MACL3L4CR_L3SAM                           ETH_MACL3L4CR_L3SAM_Msk  /* Layer 3 IP SA Match Enable*/
+#define ETH_MACL3L4CR_L3PEN_Pos                       (0U)
+#define ETH_MACL3L4CR_L3PEN_Msk                       (0x1UL << ETH_MACL3L4CR_L3PEN_Pos) /*!< 0x00000001 */
+#define ETH_MACL3L4CR_L3PEN                           ETH_MACL3L4CR_L3PEN_Msk  /* Layer 3 Protocol Enable */
+
+/* Bit definition for Ethernet MAC L4 Address Register */
+#define ETH_MACL4AR_L4DP_Pos                          (16U)
+#define ETH_MACL4AR_L4DP_Msk                          (0xFFFFUL << ETH_MACL4AR_L4DP_Pos) /*!< 0xFFFF0000 */
+#define ETH_MACL4AR_L4DP                              ETH_MACL4AR_L4DP_Msk     /* Layer 4 Destination Port Number Field */
+#define ETH_MACL4AR_L4SP_Pos                          (0U)
+#define ETH_MACL4AR_L4SP_Msk                          (0xFFFFUL << ETH_MACL4AR_L4SP_Pos) /*!< 0x0000FFFF */
+#define ETH_MACL4AR_L4SP                              ETH_MACL4AR_L4SP_Msk     /* Layer 4 Source Port Number Field */
+
+/* Bit definition for Ethernet MAC L3 Address0 Register */
+#define ETH_MACL3A0R_L3A0_Pos                         (0U)
+#define ETH_MACL3A0R_L3A0_Msk                         (0xFFFFFFFFUL << ETH_MACL3A0R_L3A0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACL3A0R_L3A0                             ETH_MACL3A0R_L3A0_Msk    /* Layer 3 Address 0 Field */
+
+/* Bit definition for Ethernet MAC L4 Address1 Register */
+#define ETH_MACL3A1R_L3A1_Pos                         (0U)
+#define ETH_MACL3A1R_L3A1_Msk                         (0xFFFFFFFFUL << ETH_MACL3A1R_L3A1_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACL3A1R_L3A1                             ETH_MACL3A1R_L3A1_Msk    /* Layer 3 Address 1 Field */
+
+/* Bit definition for Ethernet MAC L4 Address2 Register */
+#define ETH_MACL3A2R_L3A2_Pos                         (0U)
+#define ETH_MACL3A2R_L3A2_Msk                         (0xFFFFFFFFUL << ETH_MACL3A2R_L3A2_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACL3A2R_L3A2                             ETH_MACL3A2R_L3A2_Msk    /* Layer 3 Address 2 Field */
+
+/* Bit definition for Ethernet MAC L4 Address3 Register */
+#define ETH_MACL3A3R_L3A3_Pos                         (0U)
+#define ETH_MACL3A3R_L3A3_Msk                         (0xFFFFFFFFUL << ETH_MACL3A3R_L3A3_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACL3A3R_L3A3                             ETH_MACL3A3R_L3A3_Msk    /* Layer 3 Address 3 Field */
+
+/* Bit definition for Ethernet MAC Timestamp Control Register */
+#define ETH_MACTSCR_TXTSSTSM_Pos                      (24U)
+#define ETH_MACTSCR_TXTSSTSM_Msk                      (0x1UL << ETH_MACTSCR_TXTSSTSM_Pos) /*!< 0x01000000 */
+#define ETH_MACTSCR_TXTSSTSM                          ETH_MACTSCR_TXTSSTSM_Msk  /* Transmit Timestamp Status Mode */
+#define ETH_MACTSCR_CSC_Pos                           (19U)
+#define ETH_MACTSCR_CSC_Msk                           (0x1UL << ETH_MACTSCR_CSC_Pos) /*!< 0x00080000 */
+#define ETH_MACTSCR_CSC                               ETH_MACTSCR_CSC_Msk  /* Enable checksum correction during OST for PTP over UDP/IPv4 packets */
+#define ETH_MACTSCR_TSENMACADDR_Pos                   (18U)
+#define ETH_MACTSCR_TSENMACADDR_Msk                   (0x1UL << ETH_MACTSCR_TSENMACADDR_Pos) /*!< 0x00040000 */
+#define ETH_MACTSCR_TSENMACADDR                       ETH_MACTSCR_TSENMACADDR_Msk  /* Enable MAC Address for PTP Packet Filtering */
+#define ETH_MACTSCR_SNAPTYPSEL_Pos                    (16U)
+#define ETH_MACTSCR_SNAPTYPSEL_Msk                    (0x3UL << ETH_MACTSCR_SNAPTYPSEL_Pos) /*!< 0x00030000 */
+#define ETH_MACTSCR_SNAPTYPSEL                        ETH_MACTSCR_SNAPTYPSEL_Msk  /* Select PTP packets for Taking Snapshots */
+#define ETH_MACTSCR_TSMSTRENA_Pos                     (15U)
+#define ETH_MACTSCR_TSMSTRENA_Msk                     (0x1UL << ETH_MACTSCR_TSMSTRENA_Pos) /*!< 0x00008000 */
+#define ETH_MACTSCR_TSMSTRENA                         ETH_MACTSCR_TSMSTRENA_Msk  /* Enable Snapshot for Messages Relevant to Master */
+#define ETH_MACTSCR_TSEVNTENA_Pos                     (14U)
+#define ETH_MACTSCR_TSEVNTENA_Msk                     (0x1UL << ETH_MACTSCR_TSEVNTENA_Pos) /*!< 0x00004000 */
+#define ETH_MACTSCR_TSEVNTENA                         ETH_MACTSCR_TSEVNTENA_Msk  /* Enable Timestamp Snapshot for Event Messages */
+#define ETH_MACTSCR_TSIPV4ENA_Pos                     (13U)
+#define ETH_MACTSCR_TSIPV4ENA_Msk                     (0x1UL << ETH_MACTSCR_TSIPV4ENA_Pos) /*!< 0x00002000 */
+#define ETH_MACTSCR_TSIPV4ENA                         ETH_MACTSCR_TSIPV4ENA_Msk  /* Enable Processing of PTP Packets Sent over IPv4-UDP */
+#define ETH_MACTSCR_TSIPV6ENA_Pos                     (12U)
+#define ETH_MACTSCR_TSIPV6ENA_Msk                     (0x1UL << ETH_MACTSCR_TSIPV6ENA_Pos) /*!< 0x00001000 */
+#define ETH_MACTSCR_TSIPV6ENA                         ETH_MACTSCR_TSIPV6ENA_Msk  /* Enable Processing of PTP Packets Sent over IPv6-UDP */
+#define ETH_MACTSCR_TSIPENA_Pos                       (11U)
+#define ETH_MACTSCR_TSIPENA_Msk                       (0x1UL << ETH_MACTSCR_TSIPENA_Pos) /*!< 0x00000800 */
+#define ETH_MACTSCR_TSIPENA                           ETH_MACTSCR_TSIPENA_Msk  /* Enable Processing of PTP over Ethernet Packets */
+#define ETH_MACTSCR_TSVER2ENA_Pos                     (10U)
+#define ETH_MACTSCR_TSVER2ENA_Msk                     (0x1UL << ETH_MACTSCR_TSVER2ENA_Pos) /*!< 0x00000400 */
+#define ETH_MACTSCR_TSVER2ENA                         ETH_MACTSCR_TSVER2ENA_Msk  /* Enable PTP Packet Processing for Version 2 Format */
+#define ETH_MACTSCR_TSCTRLSSR_Pos                     (9U)
+#define ETH_MACTSCR_TSCTRLSSR_Msk                     (0x1UL << ETH_MACTSCR_TSCTRLSSR_Pos) /*!< 0x00000200 */
+#define ETH_MACTSCR_TSCTRLSSR                         ETH_MACTSCR_TSCTRLSSR_Msk  /* Timestamp Digital or Binary Rollover Control */
+#define ETH_MACTSCR_TSENALL_Pos                       (8U)
+#define ETH_MACTSCR_TSENALL_Msk                       (0x1UL << ETH_MACTSCR_TSENALL_Pos) /*!< 0x00000100 */
+#define ETH_MACTSCR_TSENALL                           ETH_MACTSCR_TSENALL_Msk  /* Enable Timestamp for All Packets */
+#define ETH_MACTSCR_TSADDREG_Pos                      (5U)
+#define ETH_MACTSCR_TSADDREG_Msk                      (0x1UL << ETH_MACTSCR_TSADDREG_Pos) /*!< 0x00000020 */
+#define ETH_MACTSCR_TSADDREG                          ETH_MACTSCR_TSADDREG_Msk  /* Update Addend Register */
+#define ETH_MACTSCR_TSUPDT_Pos                        (3U)
+#define ETH_MACTSCR_TSUPDT_Msk                        (0x1UL << ETH_MACTSCR_TSUPDT_Pos) /*!< 0x00000008 */
+#define ETH_MACTSCR_TSUPDT                            ETH_MACTSCR_TSUPDT_Msk  /* Update Timestamp */
+#define ETH_MACTSCR_TSINIT_Pos                        (2U)
+#define ETH_MACTSCR_TSINIT_Msk                        (0x1UL << ETH_MACTSCR_TSINIT_Pos) /*!< 0x00000004 */
+#define ETH_MACTSCR_TSINIT                             ETH_MACTSCR_TSINIT_Msk  /* Initialize Timestamp */
+#define ETH_MACTSCR_TSCFUPDT_Pos                      (1U)
+#define ETH_MACTSCR_TSCFUPDT_Msk                      (0x1UL << ETH_MACTSCR_TSCFUPDT_Pos) /*!< 0x00000002 */
+#define ETH_MACTSCR_TSCFUPDT                          ETH_MACTSCR_TSCFUPDT_Msk  /* Fine or Coarse Timestamp Update*/
+#define ETH_MACTSCR_TSENA_Pos                         (0U)
+#define ETH_MACTSCR_TSENA_Msk                         (0x1UL << ETH_MACTSCR_TSENA_Pos) /*!< 0x00000001 */
+#define ETH_MACTSCR_TSENA                             ETH_MACTSCR_TSENA_Msk  /* Enable Timestamp */
+
+/* Bit definition for Ethernet MAC Sub-second Increment Register */
+#define ETH_MACMACSSIR_SSINC_Pos                      (16U)
+#define ETH_MACMACSSIR_SSINC_Msk                      (0xFFUL << ETH_MACMACSSIR_SSINC_Pos) /*!< 0x0000FF00 */
+#define ETH_MACMACSSIR_SSINC                          ETH_MACMACSSIR_SSINC_Msk  /* Sub-second Increment Value */
+#define ETH_MACMACSSIR_SNSINC_Pos                     (8U)
+#define ETH_MACMACSSIR_SNSINC_Msk                     (0xFFUL << ETH_MACMACSSIR_SNSINC_Pos) /*!< 0x000000FF */
+#define ETH_MACMACSSIR_SNSINC                         ETH_MACMACSSIR_SNSINC_Msk  /* Sub-nanosecond Increment Value */
+
+/* Bit definition for Ethernet MAC System Time Seconds Register */
+#define ETH_MACSTSR_TSS_Pos                           (0U)
+#define ETH_MACSTSR_TSS_Msk                           (0xFFFFFFFFUL << ETH_MACSTSR_TSS_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACSTSR_TSS                               ETH_MACSTSR_TSS_Msk  /* Timestamp Second */
+
+/* Bit definition for Ethernet MAC System Time Nanoseconds Register */
+#define ETH_MACSTNR_TSSS_Pos                          (0U)
+#define ETH_MACSTNR_TSSS_Msk                          (0x7FFFFFFFUL << ETH_MACSTNR_TSSS_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACSTNR_TSSS                              ETH_MACSTNR_TSSS_Msk  /* Timestamp Sub-seconds */
+
+/* Bit definition for Ethernet MAC System Time Seconds Update Register */
+#define ETH_MACSTSUR_TSS_Pos                          (0U)
+#define ETH_MACSTSUR_TSS_Msk                          (0xFFFFFFFFUL << ETH_MACSTSUR_TSS_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACSTSUR_TSS                              ETH_MACSTSUR_TSS_Msk  /* Timestamp Seconds */
+
+/* Bit definition for Ethernet MAC System Time Nanoseconds Update Register */
+#define ETH_MACSTNUR_ADDSUB_Pos                       (31U)
+#define ETH_MACSTNUR_ADDSUB_Msk                       (0x1UL << ETH_MACSTNUR_ADDSUB_Pos) /*!< 0x80000000 */
+#define ETH_MACSTNUR_ADDSUB                           ETH_MACSTNUR_ADDSUB_Msk  /* Add or Subtract Time */
+#define ETH_MACSTNUR_TSSS_Pos                         (0U)
+#define ETH_MACSTNUR_TSSS_Msk                         (0x7FFFFFFFUL << ETH_MACSTNUR_TSSS_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACSTNUR_TSSS                             ETH_MACSTNUR_TSSS_Msk  /* Timestamp Sub-seconds */
+
+/* Bit definition for Ethernet MAC Timestamp Addend Register */
+#define ETH_MACTSAR_TSAR_Pos                          (0U)
+#define ETH_MACTSAR_TSAR_Msk                          (0xFFFFFFFFUL << ETH_MACTSAR_TSAR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSAR_TSAR                              ETH_MACTSAR_TSAR_Msk  /* Timestamp Addend Register */
+
+/* Bit definition for Ethernet MAC Timestamp Status Register */
+#define ETH_MACTSSR_ATSNS_Pos                         (25U)
+#define ETH_MACTSSR_ATSNS_Msk                         (0x1FUL << ETH_MACTSSR_ATSNS_Pos) /*!< 0x3E000000 */
+#define ETH_MACTSSR_ATSNS                             ETH_MACTSSR_ATSNS_Msk  /* Number of Auxiliary Timestamp Snapshots */
+#define ETH_MACTSSR_ATSSTM_Pos                        (24U)
+#define ETH_MACTSSR_ATSSTM_Msk                        (0x1UL << ETH_MACTSSR_ATSSTM_Pos) /*!< 0x01000000 */
+#define ETH_MACTSSR_ATSSTM                            ETH_MACTSSR_ATSSTM_Msk  /* Auxiliary Timestamp Snapshot Trigger Missed */
+#define ETH_MACTSSR_ATSSTN_Pos                        (16U)
+#define ETH_MACTSSR_ATSSTN_Msk                        (0xFUL << ETH_MACTSSR_ATSSTN_Pos) /*!< 0x000F0000 */
+#define ETH_MACTSSR_ATSSTN                            ETH_MACTSSR_ATSSTN_Msk  /* Auxiliary Timestamp Snapshot Trigger Identifier */
+#define ETH_MACTSSR_TXTSSIS_Pos                       (15U)
+#define ETH_MACTSSR_TXTSSIS_Msk                       (0x1UL << ETH_MACTSSR_TXTSSIS_Pos) /*!< 0x00008000 */
+#define ETH_MACTSSR_TXTSSIS                           ETH_MACTSSR_TXTSSIS_Msk  /* Tx Timestamp Status Interrupt Status */
+#define ETH_MACTSSR_TSTRGTERR0_Pos                    (3U)
+#define ETH_MACTSSR_TSTRGTERR0_Msk                    (0x1UL << ETH_MACTSSR_TSTRGTERR0_Pos) /*!< 0x00000008 */
+#define ETH_MACTSSR_TSTRGTERR0                        ETH_MACTSSR_TSTRGTERR0_Msk  /* Timestamp Target Time Error */
+#define ETH_MACTSSR_AUXTSTRIG_Pos                     (2U)
+#define ETH_MACTSSR_AUXTSTRIG_Msk                     (0x1UL << ETH_MACTSSR_AUXTSTRIG_Pos) /*!< 0x00000004 */
+#define ETH_MACTSSR_AUXTSTRIG                         ETH_MACTSSR_AUXTSTRIG_Msk  /* Auxiliary Timestamp Trigger Snapshot*/
+#define ETH_MACTSSR_TSTARGT0_Pos                      (1U)
+#define ETH_MACTSSR_TSTARGT0_Msk                      (0x1UL << ETH_MACTSSR_TSTARGT0_Pos) /*!< 0x00000002 */
+#define ETH_MACTSSR_TSTARGT0                          ETH_MACTSSR_TSTARGT0_Msk  /* Timestamp Target Time Reached */
+#define ETH_MACTSSR_TSSOVF_Pos                        (0U)
+#define ETH_MACTSSR_TSSOVF_Msk                        (0x1UL << ETH_MACTSSR_TSSOVF_Pos) /*!< 0x00000001 */
+#define ETH_MACTSSR_TSSOVF                            ETH_MACTSSR_TSSOVF_Msk  /* Timestamp Seconds Overflow */
+
+/* Bit definition for Ethernet MAC Tx Timestamp Status Nanoseconds Register */
+#define ETH_MACTTSSNR_TXTSSMIS_Pos                    (31U)
+#define ETH_MACTTSSNR_TXTSSMIS_Msk                    (0x1UL << ETH_MACTTSSNR_TXTSSMIS_Pos) /*!< 0x80000000 */
+#define ETH_MACTTSSNR_TXTSSMIS                        ETH_MACTTSSNR_TXTSSMIS_Msk  /* Transmit Timestamp Status Missed */
+#define ETH_MACTTSSNR_TXTSSLO_Pos                     (0U)
+#define ETH_MACTTSSNR_TXTSSLO_Msk                     (0x7FFFFFFFUL << ETH_MACTTSSNR_TXTSSLO_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACTTSSNR_TXTSSLO                         ETH_MACTTSSNR_TXTSSLO_Msk  /* Transmit Timestamp Status Low */
+
+/* Bit definition for Ethernet MAC Tx Timestamp Status Seconds Register */
+#define ETH_MACTTSSSR_TXTSSHI_Pos                     (0U)
+#define ETH_MACTTSSSR_TXTSSHI_Msk                     (0xFFFFFFFFUL << ETH_MACTTSSSR_TXTSSHI_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTTSSSR_TXTSSHI                         ETH_MACTTSSSR_TXTSSHI_Msk  /* Transmit Timestamp Status High */
+
+/* Bit definition for Ethernet MAC Auxiliary Control Register*/
+#define ETH_MACACR_ATSEN3_Pos                         (7U)
+#define ETH_MACACR_ATSEN3_Msk                         (0x1UL << ETH_MACACR_ATSEN3_Pos) /*!< 0x00000080 */
+#define ETH_MACACR_ATSEN3                             ETH_MACACR_ATSEN3_Msk  /* Auxiliary Snapshot 3 Enable */
+#define ETH_MACACR_ATSEN2_Pos                         (6U)
+#define ETH_MACACR_ATSEN2_Msk                         (0x1UL << ETH_MACACR_ATSEN2_Pos) /*!< 0x00000040 */
+#define ETH_MACACR_ATSEN2                             ETH_MACACR_ATSEN2_Msk  /* Auxiliary Snapshot 2 Enable */
+#define ETH_MACACR_ATSEN1_Pos                         (5U)
+#define ETH_MACACR_ATSEN1_Msk                         (0x1UL << ETH_MACACR_ATSEN1_Pos) /*!< 0x00000020 */
+#define ETH_MACACR_ATSEN1                             ETH_MACACR_ATSEN1_Msk  /* Auxiliary Snapshot 1 Enable */
+#define ETH_MACACR_ATSEN0_Pos                         (4U)
+#define ETH_MACACR_ATSEN0_Msk                         (0x1UL << ETH_MACACR_ATSEN0_Pos) /*!< 0x00000010 */
+#define ETH_MACACR_ATSEN0                             ETH_MACACR_ATSEN0_Msk  /* Auxiliary Snapshot 0 Enable */
+#define ETH_MACACR_ATSFC_Pos                          (0U)
+#define ETH_MACACR_ATSFC_Msk                          (0x1UL << ETH_MACACR_ATSFC_Pos) /*!< 0x00000001 */
+#define ETH_MACACR_ATSFC                              ETH_MACACR_ATSFC_Msk  /* Auxiliary Snapshot FIFO Clear */
+
+/* Bit definition for Ethernet MAC Auxiliary Timestamp Nanoseconds Register */
+#define ETH_MACATSNR_AUXTSLO_Pos                      (0U)
+#define ETH_MACATSNR_AUXTSLO_Msk                      (0x7FFFFFFFUL << ETH_MACATSNR_AUXTSLO_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACATSNR_AUXTSLO                          ETH_MACATSNR_AUXTSLO_Msk  /* Auxiliary Timestamp */
+
+/* Bit definition for Ethernet MAC Auxiliary Timestamp Seconds Register */
+#define ETH_MACATSSR_AUXTSHI_Pos                      (0U)
+#define ETH_MACATSSR_AUXTSHI_Msk                      (0xFFFFFFFFUL << ETH_MACATSSR_AUXTSHI_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACATSSR_AUXTSHI                          ETH_MACATSSR_AUXTSHI_Msk  /* Auxiliary Timestamp */
+
+/* Bit definition for Ethernet MAC Timestamp Ingress Asymmetric Correction Register */
+#define ETH_MACTSIACR_OSTIAC_Pos                      (0U)
+#define ETH_MACTSIACR_OSTIAC_Msk                      (0xFFFFFFFFUL << ETH_MACTSIACR_OSTIAC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSIACR_OSTIAC                          ETH_MACTSIACR_OSTIAC_Msk  /* One-Step Timestamp Ingress Asymmetry Correction */
+
+/* Bit definition for Ethernet MAC Timestamp Egress Asymmetric Correction Register */
+#define ETH_MACTSEACR_OSTEAC_Pos                      (0U)
+#define ETH_MACTSEACR_OSTEAC_Msk                      (0xFFFFFFFFUL << ETH_MACTSEACR_OSTEAC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSEACR_OSTEAC                          ETH_MACTSEACR_OSTEAC_Msk  /* One-Step Timestamp Egress Asymmetry Correction */
+
+/* Bit definition for Ethernet MAC Timestamp Ingress Correction Nanosecond Register */
+#define ETH_MACTSICNR_TSIC_Pos                        (0U)
+#define ETH_MACTSICNR_TSIC_Msk                        (0xFFFFFFFFUL << ETH_MACTSICNR_TSIC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSICNR_TSIC                            ETH_MACTSICNR_TSIC_Msk  /* Timestamp Ingress Correction */
+
+/* Bit definition for Ethernet MAC Timestamp Egress correction Nanosecond Register */
+#define ETH_MACTSECNR_TSEC_Pos                        (0U)
+#define ETH_MACTSECNR_TSEC_Msk                        (0xFFFFFFFFUL << ETH_MACTSECNR_TSEC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSECNR_TSEC                            ETH_MACTSECNR_TSEC_Msk  /* Timestamp Egress Correction */
+
+/* Bit definition for Ethernet MAC PPS Control Register */
+#define ETH_MACPPSCR_TRGTMODSEL0_Pos                  (5U)
+#define ETH_MACPPSCR_TRGTMODSEL0_Msk                  (0x3UL << ETH_MACPPSCR_TRGTMODSEL0_Pos) /*!< 0x00000060 */
+#define ETH_MACPPSCR_TRGTMODSEL0                      ETH_MACPPSCR_TRGTMODSEL0_Msk  /* Target Time Register Mode for PPS Output */
+#define ETH_MACPPSCR_PPSEN0_Pos                       (4U)
+#define ETH_MACPPSCR_PPSEN0_Msk                       (0x1UL << ETH_MACPPSCR_PPSEN0_Pos) /*!< 0x00000010 */
+#define ETH_MACPPSCR_PPSEN0                           ETH_MACPPSCR_PPSEN0_Msk  /* Flexible PPS Output Mode Enable */
+#define ETH_MACPPSCR_PPSCTRL_Pos                      (0U)
+#define ETH_MACPPSCR_PPSCTRL_Msk                      (0xFUL << ETH_MACPPSCR_PPSCTRL_Pos) /*!< 0x0000000F */
+#define ETH_MACPPSCR_PPSCTRL                          ETH_MACPPSCR_PPSCTRL_Msk  /* PPS Output Frequency Control */
+
+/* Bit definition for Ethernet MAC PPS Target Time Seconds Register */
+#define ETH_MACPPSTTSR_TSTRH0_Pos                     (0U)
+#define ETH_MACPPSTTSR_TSTRH0_Msk                     (0xFFFFFFFFUL << ETH_MACPPSTTSR_TSTRH0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACPPSTTSR_TSTRH0                         ETH_MACPPSTTSR_TSTRH0_Msk  /* PPS Target Time Seconds Register */
+
+/* Bit definition for Ethernet MAC PPS Target Time Nanoseconds Register */
+#define ETH_MACPPSTTNR_TRGTBUSY0_Pos                  (31U)
+#define ETH_MACPPSTTNR_TRGTBUSY0_Msk                  (0x1UL << ETH_MACPPSTTNR_TRGTBUSY0_Pos) /*!< 0x80000000 */
+#define ETH_MACPPSTTNR_TRGTBUSY0                      ETH_MACPPSTTNR_TRGTBUSY0_Msk  /* PPS Target Time Register Busy */
+#define ETH_MACPPSTTNR_TTSL0_Pos                      (0U)
+#define ETH_MACPPSTTNR_TTSL0_Msk                      (0x7FFFFFFFUL << ETH_MACPPSTTNR_TTSL0_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACPPSTTNR_TTSL0                          ETH_MACPPSTTNR_TTSL0_Msk  /* Target Time Low for PPS Register */
+
+/* Bit definition for Ethernet MAC PPS Interval Register */
+#define ETH_MACPPSIR_PPSINT0_Pos                      (0U)
+#define ETH_MACPPSIR_PPSINT0_Msk                      (0xFFFFFFFFUL << ETH_MACPPSIR_PPSINT0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACPPSIR_PPSINT0                          ETH_MACPPSIR_PPSINT0_Msk  /* PPS Output Signal Interval */
+
+/* Bit definition for Ethernet MAC PPS Width Register */
+#define ETH_MACPPSWR_PPSWIDTH0_Pos                    (0U)
+#define ETH_MACPPSWR_PPSWIDTH0_Msk                    (0xFFFFFFFFUL << ETH_MACPPSWR_PPSWIDTH0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACPPSWR_PPSWIDTH0                        ETH_MACPPSWR_PPSWIDTH0_Msk  /* PPS Output Signal Width */
+
+/* Bit definition for Ethernet MAC PTP Offload Control Register */
+#define ETH_MACPOCR_DN_Pos                            (8U)
+#define ETH_MACPOCR_DN_Msk                            (0xFFUL << ETH_MACPOCR_DN_Pos) /*!< 0x0000FF00 */
+#define ETH_MACPOCR_DN                                ETH_MACPOCR_DN_Msk  /* Domain Number */
+#define ETH_MACPOCR_DRRDIS_Pos                        (6U)
+#define ETH_MACPOCR_DRRDIS_Msk                        (0x1UL << ETH_MACPOCR_DRRDIS_Pos) /*!< 0x00000040 */
+#define ETH_MACPOCR_DRRDIS                            ETH_MACPOCR_DRRDIS_Msk  /* Disable PTO Delay Request/Response response generation */
+#define ETH_MACPOCR_APDREQTRIG_Pos                    (5U)
+#define ETH_MACPOCR_APDREQTRIG_Msk                    (0x1UL << ETH_MACPOCR_APDREQTRIG_Pos) /*!< 0x00000020 */
+#define ETH_MACPOCR_APDREQTRIG                        ETH_MACPOCR_APDREQTRIG_Msk  /* Automatic PTP Pdelay_Req message Trigger */
+#define ETH_MACPOCR_ASYNCTRIG_Pos                     (4U)
+#define ETH_MACPOCR_ASYNCTRIG_Msk                     (0x1UL << ETH_MACPOCR_ASYNCTRIG_Pos) /*!< 0x00000010 */
+#define ETH_MACPOCR_ASYNCTRIG                         ETH_MACPOCR_ASYNCTRIG_Msk  /* Automatic PTP SYNC message Trigger */
+#define ETH_MACPOCR_APDREQEN_Pos                      (2U)
+#define ETH_MACPOCR_APDREQEN_Msk                      (0x1UL << ETH_MACPOCR_APDREQEN_Pos) /*!< 0x00000004 */
+#define ETH_MACPOCR_APDREQEN                          ETH_MACPOCR_APDREQEN_Msk  /* Automatic PTP Pdelay_Req message Enable */
+#define ETH_MACPOCR_ASYNCEN_Pos                       (1U)
+#define ETH_MACPOCR_ASYNCEN_Msk                       (0x1UL << ETH_MACPOCR_ASYNCEN_Pos) /*!< 0x00000002 */
+#define ETH_MACPOCR_ASYNCEN                           ETH_MACPOCR_ASYNCEN_Msk  /* Automatic PTP SYNC message Enable */
+#define ETH_MACPOCR_PTOEN_Pos                         (0U)
+#define ETH_MACPOCR_PTOEN_Msk                         (0x1UL << ETH_MACPOCR_PTOEN_Pos) /*!< 0x00000001 */
+#define ETH_MACPOCR_PTOEN                             ETH_MACPOCR_PTOEN_Msk  /* PTP Offload Enable */
+
+/* Bit definition for Ethernet MAC PTP Source Port Identity 0 Register */
+#define ETH_MACSPI0R_SPI0_Pos                         (0U)
+#define ETH_MACSPI0R_SPI0_Msk                         (0xFFFFFFFFUL << ETH_MACSPI0R_SPI0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACSPI0R_SPI0                             ETH_MACSPI0R_SPI0_Msk  /* Source Port Identity 0 */
+
+/* Bit definition for Ethernet MAC PTP Source Port Identity 1 Register */
+#define ETH_MACSPI1R_SPI1_Pos                         (0U)
+#define ETH_MACSPI1R_SPI1_Msk                         (0xFFFFFFFFUL << ETH_MACSPI1R_SPI1_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACSPI1R_SPI1                             ETH_MACSPI1R_SPI1_Msk  /* Source Port Identity 1 */
+
+/* Bit definition for Ethernet MAC PTP Source Port Identity 2 Register */
+#define ETH_MACSPI2R_SPI2_Pos                         (0U)
+#define ETH_MACSPI2R_SPI2_Msk                         (0xFFFFUL << ETH_MACSPI2R_SPI2_Pos) /*!< 0x0000FFFF */
+#define ETH_MACSPI2R_SPI2                             ETH_MACSPI2R_SPI2_Msk  /* Source Port Identity 2 */
+
+/* Bit definition for Ethernet MAC Log Message Interval Register */
+#define ETH_MACLMIR_LMPDRI_Pos                        (24U)
+#define ETH_MACLMIR_LMPDRI_Msk                        (0xFFUL << ETH_MACLMIR_LMPDRI_Pos) /*!< 0xFF000000 */
+#define ETH_MACLMIR_LMPDRI                             ETH_MACLMIR_LMPDRI_Msk  /* Log Min Pdelay_Req Interval */
+#define ETH_MACLMIR_DRSYNCR_Pos                       (8U)
+#define ETH_MACLMIR_DRSYNCR_Msk                       (0x7UL << ETH_MACLMIR_DRSYNCR_Pos) /*!< 0x00000700 */
+#define ETH_MACLMIR_DRSYNCR                           ETH_MACLMIR_DRSYNCR_Msk  /* Delay_Req to SYNC Ratio */
+#define ETH_MACLMIR_LSI_Pos                           (0U)
+#define ETH_MACLMIR_LSI_Msk                           (0xFFUL << ETH_MACLMIR_LSI_Pos) /*!< 0x000000FF */
+#define ETH_MACLMIR_LSI                               ETH_MACLMIR_LSI_Msk  /* Log Sync Interval */
+
+/* Bit definition for Ethernet MTL Operation Mode Register */
+#define ETH_MTLOMR_CNTCLR_Pos                         (9U)
+#define ETH_MTLOMR_CNTCLR_Msk                         (0x1UL << ETH_MTLOMR_CNTCLR_Pos) /*!< 0x00000200 */
+#define ETH_MTLOMR_CNTCLR                             ETH_MTLOMR_CNTCLR_Msk    /* Counters Reset */
+#define ETH_MTLOMR_CNTPRST_Pos                        (8U)
+#define ETH_MTLOMR_CNTPRST_Msk                        (0x1UL << ETH_MTLOMR_CNTPRST_Pos) /*!< 0x00000100 */
+#define ETH_MTLOMR_CNTPRST                            ETH_MTLOMR_CNTPRST_Msk   /* Counters Preset */
+#define ETH_MTLOMR_DTXSTS_Pos                         (1U)
+#define ETH_MTLOMR_DTXSTS_Msk                         (0x1UL << ETH_MTLOMR_DTXSTS_Pos) /*!< 0x00000002 */
+#define ETH_MTLOMR_DTXSTS                             ETH_MTLOMR_DTXSTS_Msk  /* Drop Transmit Status */
+
+/* Bit definition for Ethernet MTL Interrupt Status Register */
+#define ETH_MTLISR_MACIS_Pos                          (16U)
+#define ETH_MTLISR_MACIS_Msk                          (0x1UL << ETH_MTLISR_MACIS_Pos) /*!< 0x00010000 */
+#define ETH_MTLISR_MACIS                              ETH_MTLISR_MACIS_Msk     /* MAC Interrupt Status */
+#define ETH_MTLISR_QIS_Pos                            (0U)
+#define ETH_MTLISR_QIS_Msk                            (0x1UL << ETH_MTLISR_QIS_Pos) /*!< 0x00000001 */
+#define ETH_MTLISR_QIS                                ETH_MTLISR_QIS_Msk       /* Queue Interrupt status */
+
+/* Bit definition for Ethernet MTL Tx Queue Operation Mode Register */
+#define ETH_MTLTQOMR_TTC_Pos                          (4U)
+#define ETH_MTLTQOMR_TTC_Msk                          (0x7UL << ETH_MTLTQOMR_TTC_Pos) /*!< 0x00000070 */
+#define ETH_MTLTQOMR_TTC                              ETH_MTLTQOMR_TTC_Msk     /* Transmit Threshold Control */
+#define ETH_MTLTQOMR_TTC_32BITS                       ((uint32_t)0x00000000)   /* 32 bits Threshold */
+#define ETH_MTLTQOMR_TTC_64BITS                       ((uint32_t)0x00000010)   /* 64  bits Threshold */
+#define ETH_MTLTQOMR_TTC_96BITS                       ((uint32_t)0x00000020)   /* 96 bits Threshold */
+#define ETH_MTLTQOMR_TTC_128BITS                      ((uint32_t)0x00000030)   /* 128 bits Threshold */
+#define ETH_MTLTQOMR_TTC_192BITS                      ((uint32_t)0x00000040)   /* 192 bits Threshold */
+#define ETH_MTLTQOMR_TTC_256BITS                      ((uint32_t)0x00000050)   /* 256 bits Threshold */
+#define ETH_MTLTQOMR_TTC_384BITS                      ((uint32_t)0x00000060)   /* 384 bits Threshold */
+#define ETH_MTLTQOMR_TTC_512BITS                      ((uint32_t)0x00000070)   /* 512 bits Threshold */
+#define ETH_MTLTQOMR_TSF_Pos                          (1U)
+#define ETH_MTLTQOMR_TSF_Msk                          (0x1UL << ETH_MTLTQOMR_TSF_Pos) /*!< 0x00000002 */
+#define ETH_MTLTQOMR_TSF                              ETH_MTLTQOMR_TSF_Msk     /* Transmit Store and Forward */
+#define ETH_MTLTQOMR_FTQ_Pos                          (0U)
+#define ETH_MTLTQOMR_FTQ_Msk                          (0x1UL << ETH_MTLTQOMR_FTQ_Pos) /*!< 0x00000001 */
+#define ETH_MTLTQOMR_FTQ                              ETH_MTLTQOMR_FTQ_Msk     /* Flush Transmit Queue */
+
+/* Bit definition for Ethernet MTL Tx Queue Underflow Register */
+#define ETH_MTLTQUR_UFCNTOVF_Pos                      (11U)
+#define ETH_MTLTQUR_UFCNTOVF_Msk                      (0x1UL << ETH_MTLTQUR_UFCNTOVF_Pos) /*!< 0x00000800 */
+#define ETH_MTLTQUR_UFCNTOVF                          ETH_MTLTQUR_UFCNTOVF_Msk /* Overflow Bit for Underflow Packet Counter */
+#define ETH_MTLTQUR_UFPKTCNT_Pos                      (0U)
+#define ETH_MTLTQUR_UFPKTCNT_Msk                      (0x7FFUL << ETH_MTLTQUR_UFPKTCNT_Pos) /*!< 0x000007FF */
+#define ETH_MTLTQUR_UFPKTCNT                          ETH_MTLTQUR_UFPKTCNT_Msk /* Underflow Packet Counter */
+
+/* Bit definition for Ethernet MTL Tx Queue Debug Register */
+#define ETH_MTLTQDR_STXSTSF_Pos                       (20U)
+#define ETH_MTLTQDR_STXSTSF_Msk                       (0x7UL << ETH_MTLTQDR_STXSTSF_Pos) /*!< 0x00700000 */
+#define ETH_MTLTQDR_STXSTSF                           ETH_MTLTQDR_STXSTSF_Msk  /* Number of Status Words in the Tx Status FIFO of Queue */
+#define ETH_MTLTQDR_PTXQ_Pos                          (16U)
+#define ETH_MTLTQDR_PTXQ_Msk                          (0x7UL << ETH_MTLTQDR_PTXQ_Pos) /*!< 0x00070000 */
+#define ETH_MTLTQDR_PTXQ                              ETH_MTLTQDR_PTXQ_Msk     /* Number of Packets in the Transmit Queue */
+#define ETH_MTLTQDR_TXSTSFSTS_Pos                     (5U)
+#define ETH_MTLTQDR_TXSTSFSTS_Msk                     (0x1UL << ETH_MTLTQDR_TXSTSFSTS_Pos) /*!< 0x00000020 */
+#define ETH_MTLTQDR_TXSTSFSTS                         ETH_MTLTQDR_TXSTSFSTS_Msk /* MTL Tx Status FIFO Full Status */
+#define ETH_MTLTQDR_TXQSTS_Pos                        (4U)
+#define ETH_MTLTQDR_TXQSTS_Msk                        (0x1UL << ETH_MTLTQDR_TXQSTS_Pos) /*!< 0x00000010 */
+#define ETH_MTLTQDR_TXQSTS                            ETH_MTLTQDR_TXQSTS_Msk   /* MTL Tx Queue Not Empty Status */
+#define ETH_MTLTQDR_TWCSTS_Pos                        (3U)
+#define ETH_MTLTQDR_TWCSTS_Msk                        (0x1UL << ETH_MTLTQDR_TWCSTS_Pos) /*!< 0x00000008 */
+#define ETH_MTLTQDR_TWCSTS                            ETH_MTLTQDR_TWCSTS_Msk   /* MTL Tx Queue Write Controller Status */
+#define ETH_MTLTQDR_TRCSTS_Pos                        (1U)
+#define ETH_MTLTQDR_TRCSTS_Msk                        (0x3UL << ETH_MTLTQDR_TRCSTS_Pos) /*!< 0x00000006 */
+#define ETH_MTLTQDR_TRCSTS                            ETH_MTLTQDR_TRCSTS_Msk  /* MTL Tx Queue Read Controller Status */
+#define ETH_MTLTQDR_TRCSTS_IDLE                       ((uint32_t)0x00000000)  /* Idle state */
+#define ETH_MTLTQDR_TRCSTS_READ                       ((uint32_t)0x00000002)  /* Read state (transferring data to the MAC transmitter) */
+#define ETH_MTLTQDR_TRCSTS_WAITING                    ((uint32_t)0x00000004)  /* Waiting for pending Tx Status from the MAC transmitter */
+#define ETH_MTLTQDR_TRCSTS_FLUSHING                   ((uint32_t)0x00000006)  /* Flushing the Tx queue because of the Packet Abort request from the MAC */
+#define ETH_MTLTQDR_TXQPAUSED_Pos                     (0U)
+#define ETH_MTLTQDR_TXQPAUSED_Msk                     (0x1UL << ETH_MTLTQDR_TXQPAUSED_Pos) /*!< 0x00000001 */
+#define ETH_MTLTQDR_TXQPAUSED                         ETH_MTLTQDR_TXQPAUSED_Msk /* Transmit Queue in Pause */
+
+/* Bit definition for Ethernet MTL Queue Interrupt Control Status Register */
+#define ETH_MTLQICSR_RXOIE_Pos                        (24U)
+#define ETH_MTLQICSR_RXOIE_Msk                        (0x1UL << ETH_MTLQICSR_RXOIE_Pos) /*!< 0x01000000 */
+#define ETH_MTLQICSR_RXOIE                            ETH_MTLQICSR_RXOIE_Msk   /* Receive Queue Overflow Interrupt Enable */
+#define ETH_MTLQICSR_RXOVFIS_Pos                      (16U)
+#define ETH_MTLQICSR_RXOVFIS_Msk                      (0x1UL << ETH_MTLQICSR_RXOVFIS_Pos) /*!< 0x00010000 */
+#define ETH_MTLQICSR_RXOVFIS                          ETH_MTLQICSR_RXOVFIS_Msk /* Receive Queue Overflow Interrupt Status */
+#define ETH_MTLQICSR_TXUIE_Pos                        (8U)
+#define ETH_MTLQICSR_TXUIE_Msk                        (0x1UL << ETH_MTLQICSR_TXUIE_Pos) /*!< 0x00000100 */
+#define ETH_MTLQICSR_TXUIE                            ETH_MTLQICSR_TXUIE_Msk   /* Transmit Queue Underflow Interrupt Enable */
+#define ETH_MTLQICSR_TXUNFIS_Pos                      (0U)
+#define ETH_MTLQICSR_TXUNFIS_Msk                      (0x1UL << ETH_MTLQICSR_TXUNFIS_Pos) /*!< 0x00000001 */
+#define ETH_MTLQICSR_TXUNFIS                          ETH_MTLQICSR_TXUNFIS_Msk /* Transmit Queue Underflow Interrupt Status */
+
+/* Bit definition for Ethernet MTL Rx Queue Operation Mode Register */
+#define ETH_MTLRQOMR_RQS_Pos                          (20U)
+#define ETH_MTLRQOMR_RQS_Msk                          (0x7UL << ETH_MTLRQOMR_RQS_Pos) /*!< 0x00700000 */
+#define ETH_MTLRQOMR_RQS                              ETH_MTLRQOMR_RQS_Msk /* Receive Queue Size */
+#define ETH_MTLRQOMR_RFD_Pos                          (14U)
+#define ETH_MTLRQOMR_RFD_Msk                          (0x7UL << ETH_MTLRQOMR_RFD_Pos) /*!< 0x0001C000 */
+#define ETH_MTLRQOMR_RFD                              ETH_MTLRQOMR_RFD_Msk /* Threshold for Deactivating Flow Control (in half-duplex and full-duplex modes) */
+#define ETH_MTLRQOMR_RFA_Pos                          (8U)
+#define ETH_MTLRQOMR_RFA_Msk                          (0x7UL << ETH_MTLRQOMR_RFA_Pos) /*!< 0x00000700 */
+#define ETH_MTLRQOMR_RFA                              ETH_MTLRQOMR_RFA_Msk /* Threshold for Activating Flow Control (in half-duplex and full-duplex */
+#define ETH_MTLRQOMR_EHFC_Pos                         (7U)
+#define ETH_MTLRQOMR_EHFC_Msk                         (0x1UL << ETH_MTLRQOMR_EHFC_Pos) /*!< 0x00000080 */
+#define ETH_MTLRQOMR_EHFC                             ETH_MTLRQOMR_EHFC_Msk /* DEnable Hardware Flow Control */
+#define ETH_MTLRQOMR_DISTCPEF_Pos                     (6U)
+#define ETH_MTLRQOMR_DISTCPEF_Msk                     (0x1UL << ETH_MTLRQOMR_DISTCPEF_Pos) /*!< 0x00000040 */
+#define ETH_MTLRQOMR_DISTCPEF                         ETH_MTLRQOMR_DISTCPEF_Msk /* Disable Dropping of TCP/IP Checksum Error Packets */
+#define ETH_MTLRQOMR_RSF_Pos                          (5U)
+#define ETH_MTLRQOMR_RSF_Msk                          (0x1UL << ETH_MTLRQOMR_RSF_Pos) /*!< 0x00000020 */
+#define ETH_MTLRQOMR_RSF                              ETH_MTLRQOMR_RSF_Msk     /* Receive Queue Store and Forward */
+#define ETH_MTLRQOMR_FEP_Pos                          (4U)
+#define ETH_MTLRQOMR_FEP_Msk                          (0x1UL << ETH_MTLRQOMR_FEP_Pos) /*!< 0x00000010 */
+#define ETH_MTLRQOMR_FEP                              ETH_MTLRQOMR_FEP_Msk     /* Forward Error Packets */
+#define ETH_MTLRQOMR_FUP_Pos                          (3U)
+#define ETH_MTLRQOMR_FUP_Msk                          (0x1UL << ETH_MTLRQOMR_FUP_Pos) /*!< 0x00000008 */
+#define ETH_MTLRQOMR_FUP                              ETH_MTLRQOMR_FUP_Msk     /* Forward Undersized Good Packets */
+#define ETH_MTLRQOMR_RTC_Pos                          (0U)
+#define ETH_MTLRQOMR_RTC_Msk                          (0x3UL << ETH_MTLRQOMR_RTC_Pos) /*!< 0x00000003 */
+#define ETH_MTLRQOMR_RTC                              ETH_MTLRQOMR_RTC_Msk     /* Receive Queue Threshold Control */
+#define ETH_MTLRQOMR_RTC_64BITS                       ((uint32_t)0x00000000)   /* 64 bits Threshold */
+#define ETH_MTLRQOMR_RTC_32BITS                       ((uint32_t)0x00000001)   /* 32 bits Threshold */
+#define ETH_MTLRQOMR_RTC_96BITS                       ((uint32_t)0x00000002)   /* 96 bits Threshold */
+#define ETH_MTLRQOMR_RTC_128BITS                      ((uint32_t)0x00000003)   /* 128 bits Threshold */
+
+/* Bit definition for Ethernet MTL Rx Queue Missed Packet Overflow Cnt Register */
+#define ETH_MTLRQMPOCR_MISCNTOVF_Pos                  (27U)
+#define ETH_MTLRQMPOCR_MISCNTOVF_Msk                  (0x1UL << ETH_MTLRQMPOCR_MISCNTOVF_Pos) /*!< 0x08000000 */
+#define ETH_MTLRQMPOCR_MISCNTOVF                      ETH_MTLRQMPOCR_MISCNTOVF_Msk /* Missed Packet Counter Overflow Bit */
+#define ETH_MTLRQMPOCR_MISPKTCNT_Pos                  (16U)
+#define ETH_MTLRQMPOCR_MISPKTCNT_Msk                  (0x7FFUL << ETH_MTLRQMPOCR_MISPKTCNT_Pos) /*!< 0x07FF0000 */
+#define ETH_MTLRQMPOCR_MISPKTCNT                      ETH_MTLRQMPOCR_MISPKTCNT_Msk /* Missed Packet Counter */
+#define ETH_MTLRQMPOCR_OVFCNTOVF_Pos                  (11U)
+#define ETH_MTLRQMPOCR_OVFCNTOVF_Msk                  (0x1UL << ETH_MTLRQMPOCR_OVFCNTOVF_Pos) /*!< 0x00000800 */
+#define ETH_MTLRQMPOCR_OVFCNTOVF                      ETH_MTLRQMPOCR_OVFCNTOVF_Msk /* Overflow Counter Overflow Bit */
+#define ETH_MTLRQMPOCR_OVFPKTCNT_Pos                  (0U)
+#define ETH_MTLRQMPOCR_OVFPKTCNT_Msk                  (0x7FFUL << ETH_MTLRQMPOCR_OVFPKTCNT_Pos) /*!< 0x000007FF */
+#define ETH_MTLRQMPOCR_OVFPKTCNT                      ETH_MTLRQMPOCR_OVFPKTCNT_Msk /* Overflow Packet Counter */
+
+/* Bit definition for Ethernet MTL Rx Queue Debug Register */
+#define ETH_MTLRQDR_PRXQ_Pos                          (16U)
+#define ETH_MTLRQDR_PRXQ_Msk                          (0x3FFFUL << ETH_MTLRQDR_PRXQ_Pos) /*!< 0x3FFF0000 */
+#define ETH_MTLRQDR_PRXQ                              ETH_MTLRQDR_PRXQ_Msk     /* Number of Packets in Receive Queue */
+#define ETH_MTLRQDR_RXQSTS_Pos                        (4U)
+#define ETH_MTLRQDR_RXQSTS_Msk                        (0x3UL << ETH_MTLRQDR_RXQSTS_Pos) /*!< 0x00000030 */
+#define ETH_MTLRQDR_RXQSTS                            ETH_MTLRQDR_RXQSTS_Msk   /* MTL Rx Queue Fill-Level Status */
+#define ETH_MTLRQDR_RXQSTS_EMPTY                      ((uint32_t)0x00000000)   /* Rx Queue empty */
+#define ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD_Pos         (4U)
+#define ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD_Msk         (0x1UL << ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD_Pos) /*!< 0x00000010 */
+#define ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD             ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD_Msk /* Rx Queue fill-level below flow-control deactivate threshold */
+#define ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD_Pos         (5U)
+#define ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD_Msk         (0x1UL << ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD_Pos) /*!< 0x00000020 */
+#define ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD             ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD_Msk /* Rx Queue fill-level above flow-control activate threshold */
+#define ETH_MTLRQDR_RXQSTS_FULL_Pos                   (4U)
+#define ETH_MTLRQDR_RXQSTS_FULL_Msk                   (0x3UL << ETH_MTLRQDR_RXQSTS_FULL_Pos) /*!< 0x00000030 */
+#define ETH_MTLRQDR_RXQSTS_FULL                       ETH_MTLRQDR_RXQSTS_FULL_Msk /* Rx Queue full */
+#define ETH_MTLRQDR_RRCSTS_Pos                        (1U)
+#define ETH_MTLRQDR_RRCSTS_Msk                        (0x3UL << ETH_MTLRQDR_RRCSTS_Pos) /*!< 0x00000006 */
+#define ETH_MTLRQDR_RRCSTS                            ETH_MTLRQDR_RRCSTS_Msk   /* MTL Rx Queue Read Controller State */
+#define ETH_MTLRQDR_RRCSTS_IDLE                       ((uint32_t)0x00000000)   /* Idle state */
+#define ETH_MTLRQDR_RRCSTS_READINGDATA_Pos            (1U)
+#define ETH_MTLRQDR_RRCSTS_READINGDATA_Msk            (0x1UL << ETH_MTLRQDR_RRCSTS_READINGDATA_Pos) /*!< 0x00000002 */
+#define ETH_MTLRQDR_RRCSTS_READINGDATA                ETH_MTLRQDR_RRCSTS_READINGDATA_Msk /* Reading packet data */
+#define ETH_MTLRQDR_RRCSTS_READINGSTATUS_Pos          (2U)
+#define ETH_MTLRQDR_RRCSTS_READINGSTATUS_Msk          (0x1UL << ETH_MTLRQDR_RRCSTS_READINGSTATUS_Pos) /*!< 0x00000004 */
+#define ETH_MTLRQDR_RRCSTS_READINGSTATUS              ETH_MTLRQDR_RRCSTS_READINGSTATUS_Msk /* Reading packet status (or timestamp) */
+#define ETH_MTLRQDR_RRCSTS_FLUSHING_Pos               (1U)
+#define ETH_MTLRQDR_RRCSTS_FLUSHING_Msk               (0x3UL << ETH_MTLRQDR_RRCSTS_FLUSHING_Pos) /*!< 0x00000006 */
+#define ETH_MTLRQDR_RRCSTS_FLUSHING                   ETH_MTLRQDR_RRCSTS_FLUSHING_Msk /* Flushing the packet data and status */
+#define ETH_MTLRQDR_RWCSTS_Pos                        (0U)
+#define ETH_MTLRQDR_RWCSTS_Msk                        (0x1UL << ETH_MTLRQDR_RWCSTS_Pos) /*!< 0x00000001 */
+#define ETH_MTLRQDR_RWCSTS                            ETH_MTLRQDR_RWCSTS_Msk   /* MTL Rx Queue Write Controller Active Status */
+
+/* Bit definition for Ethernet MTL Rx Queue Control Register */
+#define ETH_MTLRQCR_RQPA_Pos                          (3U)
+#define ETH_MTLRQCR_RQPA_Msk                          (0x1UL << ETH_MTLRQCR_RQPA_Pos) /*!< 0x00000008 */
+#define ETH_MTLRQCR_RQPA                              ETH_MTLRQCR_RQPA_Msk     /* Receive Queue Packet Arbitration */
+#define ETH_MTLRQCR_RQW_Pos                           (0U)
+#define ETH_MTLRQCR_RQW_Msk                           (0x7UL << ETH_MTLRQCR_RQW_Pos) /*!< 0x00000007 */
+#define ETH_MTLRQCR_RQW                               ETH_MTLRQCR_RQW_Msk      /* Receive Queue Weight */
+
+/* Bit definition for Ethernet DMA Mode Register */
+#define ETH_DMAMR_INTM_Pos                            (16U)
+#define ETH_DMAMR_INTM_Msk                            (0x3UL << ETH_DMAMR_INTM_Pos) /*!< 0x00030000 */
+#define ETH_DMAMR_INTM                                ETH_DMAMR_INTM_Msk       /* This field defines the interrupt mode */
+#define ETH_DMAMR_INTM_0                              (0x0UL << ETH_DMAMR_INTM_Pos) /*!< 0x00000000 */
+#define ETH_DMAMR_INTM_1                              (0x1UL << ETH_DMAMR_INTM_Pos) /*!< 0x00010000 */
+#define ETH_DMAMR_INTM_2                              (0x2UL << ETH_DMAMR_INTM_Pos) /*!< 0x00020000 */
+#define ETH_DMAMR_PR_Pos                              (12U)
+#define ETH_DMAMR_PR_Msk                              (0x7UL << ETH_DMAMR_PR_Pos) /*!< 0x00007000 */
+#define ETH_DMAMR_PR                                  ETH_DMAMR_PR_Msk         /* Priority Ratio */
+#define ETH_DMAMR_PR_1_1                              ((uint32_t)0x00000000)   /* The priority ratio is 1:1 */
+#define ETH_DMAMR_PR_2_1                              ((uint32_t)0x00001000)   /* The priority ratio is 2:1 */
+#define ETH_DMAMR_PR_3_1                              ((uint32_t)0x00002000)   /* The priority ratio is 3:1 */
+#define ETH_DMAMR_PR_4_1                              ((uint32_t)0x00003000)   /* The priority ratio is 4:1 */
+#define ETH_DMAMR_PR_5_1                              ((uint32_t)0x00004000)   /* The priority ratio is 5:1 */
+#define ETH_DMAMR_PR_6_1                              ((uint32_t)0x00005000)   /* The priority ratio is 6:1 */
+#define ETH_DMAMR_PR_7_1                              ((uint32_t)0x00006000)   /* The priority ratio is 7:1 */
+#define ETH_DMAMR_PR_8_1                              ((uint32_t)0x00007000)   /* The priority ratio is 8:1 */
+#define ETH_DMAMR_TXPR_Pos                            (11U)
+#define ETH_DMAMR_TXPR_Msk                            (0x1UL << ETH_DMAMR_TXPR_Pos) /*!< 0x00000800 */
+#define ETH_DMAMR_TXPR                                ETH_DMAMR_TXPR_Msk       /* Transmit Priority */
+#define ETH_DMAMR_DA_Pos                              (1U)
+#define ETH_DMAMR_DA_Msk                              (0x1UL << ETH_DMAMR_DA_Pos) /*!< 0x00000002 */
+#define ETH_DMAMR_DA                                  ETH_DMAMR_DA_Msk         /* DMA Tx or Rx Arbitration Scheme */
+#define ETH_DMAMR_SWR_Pos                             (0U)
+#define ETH_DMAMR_SWR_Msk                             (0x1UL << ETH_DMAMR_SWR_Pos) /*!< 0x00000001 */
+#define ETH_DMAMR_SWR                                 ETH_DMAMR_SWR_Msk        /* Software Reset */
+
+/* Bit definition for Ethernet DMA SysBus Mode Register */
+#define ETH_DMASBMR_RB_Pos                            (15U)
+#define ETH_DMASBMR_RB_Msk                            (0x1UL << ETH_DMASBMR_RB_Pos) /*!< 0x00008000 */
+#define ETH_DMASBMR_RB                                ETH_DMASBMR_RB_Msk       /* Rebuild INCRx Burst */
+#define ETH_DMASBMR_MB_Pos                            (14U)
+#define ETH_DMASBMR_MB_Msk                            (0x1UL << ETH_DMASBMR_MB_Pos) /*!< 0x00004000 */
+#define ETH_DMASBMR_MB                                ETH_DMASBMR_MB_Msk       /* Mixed Burst */
+#define ETH_DMASBMR_AAL_Pos                           (12U)
+#define ETH_DMASBMR_AAL_Msk                           (0x1UL << ETH_DMASBMR_AAL_Pos) /*!< 0x00001000 */
+#define ETH_DMASBMR_AAL                               ETH_DMASBMR_AAL_Msk      /* Address-Aligned Beats */
+#define ETH_DMASBMR_FB_Pos                            (0U)
+#define ETH_DMASBMR_FB_Msk                            (0x1UL << ETH_DMASBMR_FB_Pos) /*!< 0x00000001 */
+#define ETH_DMASBMR_FB                                ETH_DMASBMR_FB_Msk       /* Fixed Burst Length */
+
+/* Bit definition for Ethernet DMA Interrupt Status Register */
+#define ETH_DMAISR_MACIS_Pos                          (17U)
+#define ETH_DMAISR_MACIS_Msk                          (0x1UL << ETH_DMAISR_MACIS_Pos) /*!< 0x00020000 */
+#define ETH_DMAISR_MACIS                              ETH_DMAISR_MACIS_Msk     /* MAC Interrupt Status */
+#define ETH_DMAISR_MTLIS_Pos                          (16U)
+#define ETH_DMAISR_MTLIS_Msk                          (0x1UL << ETH_DMAISR_MTLIS_Pos) /*!< 0x00010000 */
+#define ETH_DMAISR_MTLIS                              ETH_DMAISR_MTLIS_Msk     /* MAC Interrupt Status */
+#define ETH_DMAISR_DMACIS_Pos                         (0U)
+#define ETH_DMAISR_DMACIS_Msk                         (0x1UL << ETH_DMAISR_DMACIS_Pos) /*!< 0x00000001 */
+#define ETH_DMAISR_DMACIS                             ETH_DMAISR_DMACIS_Msk    /* DMA Channel Interrupt Status */
+
+/* Bit definition for Ethernet DMA Debug Status Register */
+#define ETH_DMADSR_TPS_Pos                            (12U)
+#define ETH_DMADSR_TPS_Msk                            (0xFUL << ETH_DMADSR_TPS_Pos) /*!< 0x0000F000 */
+#define ETH_DMADSR_TPS                                ETH_DMADSR_TPS_Msk       /* DMA Channel Transmit Process State */
+#define ETH_DMADSR_TPS_STOPPED                        ((uint32_t)0x00000000)   /* Stopped (Reset or Stop Transmit Command issued) */
+#define ETH_DMADSR_TPS_FETCHING_Pos                   (12U)
+#define ETH_DMADSR_TPS_FETCHING_Msk                   (0x1UL << ETH_DMADSR_TPS_FETCHING_Pos) /*!< 0x00001000 */
+#define ETH_DMADSR_TPS_FETCHING                       ETH_DMADSR_TPS_FETCHING_Msk /* Running (Fetching Tx Transfer Descriptor) */
+#define ETH_DMADSR_TPS_WAITING_Pos                    (13U)
+#define ETH_DMADSR_TPS_WAITING_Msk                    (0x1UL << ETH_DMADSR_TPS_WAITING_Pos) /*!< 0x00002000 */
+#define ETH_DMADSR_TPS_WAITING                        ETH_DMADSR_TPS_WAITING_Msk /* Running (Waiting for status) */
+#define ETH_DMADSR_TPS_READING_Pos                    (12U)
+#define ETH_DMADSR_TPS_READING_Msk                    (0x3UL << ETH_DMADSR_TPS_READING_Pos) /*!< 0x00003000 */
+#define ETH_DMADSR_TPS_READING                        ETH_DMADSR_TPS_READING_Msk /* Running (Reading Data from system memory buffer and queuing it to the Tx buffer (Tx FIFO)) */
+#define ETH_DMADSR_TPS_TIMESTAMP_WR_Pos               (14U)
+#define ETH_DMADSR_TPS_TIMESTAMP_WR_Msk               (0x1UL << ETH_DMADSR_TPS_TIMESTAMP_WR_Pos) /*!< 0x00004000 */
+#define ETH_DMADSR_TPS_TIMESTAMP_WR                   ETH_DMADSR_TPS_TIMESTAMP_WR_Msk /* Timestamp write state */
+#define ETH_DMADSR_TPS_SUSPENDED_Pos                  (13U)
+#define ETH_DMADSR_TPS_SUSPENDED_Msk                  (0x3UL << ETH_DMADSR_TPS_SUSPENDED_Pos) /*!< 0x00006000 */
+#define ETH_DMADSR_TPS_SUSPENDED                      ETH_DMADSR_TPS_SUSPENDED_Msk /* Suspended (Tx Descriptor Unavailable or Tx Buffer Underflow) */
+#define ETH_DMADSR_TPS_CLOSING_Pos                    (12U)
+#define ETH_DMADSR_TPS_CLOSING_Msk                    (0x7UL << ETH_DMADSR_TPS_CLOSING_Pos) /*!< 0x00007000 */
+#define ETH_DMADSR_TPS_CLOSING                        ETH_DMADSR_TPS_CLOSING_Msk /* Running (Closing Tx Descriptor) */
+#define ETH_DMADSR_RPS_Pos                            (8U)
+#define ETH_DMADSR_RPS_Msk                            (0xFUL << ETH_DMADSR_RPS_Pos) /*!< 0x00000F00 */
+#define ETH_DMADSR_RPS                                ETH_DMADSR_RPS_Msk       /* DMA Channel Receive Process State */
+#define ETH_DMADSR_RPS_STOPPED                        ((uint32_t)0x00000000)   /* Stopped (Reset or Stop Receive Command issued) */
+#define ETH_DMADSR_RPS_FETCHING_Pos                   (12U)
+#define ETH_DMADSR_RPS_FETCHING_Msk                   (0x1UL << ETH_DMADSR_RPS_FETCHING_Pos) /*!< 0x00001000 */
+#define ETH_DMADSR_RPS_FETCHING                       ETH_DMADSR_RPS_FETCHING_Msk /* Running (Fetching Rx Transfer Descriptor) */
+#define ETH_DMADSR_RPS_WAITING_Pos                    (12U)
+#define ETH_DMADSR_RPS_WAITING_Msk                    (0x3UL << ETH_DMADSR_RPS_WAITING_Pos) /*!< 0x00003000 */
+#define ETH_DMADSR_RPS_WAITING                        ETH_DMADSR_RPS_WAITING_Msk /* Running (Waiting for status) */
+#define ETH_DMADSR_RPS_SUSPENDED_Pos                  (14U)
+#define ETH_DMADSR_RPS_SUSPENDED_Msk                  (0x1UL << ETH_DMADSR_RPS_SUSPENDED_Pos) /*!< 0x00004000 */
+#define ETH_DMADSR_RPS_SUSPENDED                      ETH_DMADSR_RPS_SUSPENDED_Msk /* Suspended (Rx Descriptor Unavailable) */
+#define ETH_DMADSR_RPS_CLOSING_Pos                    (12U)
+#define ETH_DMADSR_RPS_CLOSING_Msk                    (0x5UL << ETH_DMADSR_RPS_CLOSING_Pos) /*!< 0x00005000 */
+#define ETH_DMADSR_RPS_CLOSING                        ETH_DMADSR_RPS_CLOSING_Msk /* Running (Closing the Rx Descriptor) */
+#define ETH_DMADSR_RPS_TIMESTAMP_WR_Pos               (13U)
+#define ETH_DMADSR_RPS_TIMESTAMP_WR_Msk               (0x3UL << ETH_DMADSR_RPS_TIMESTAMP_WR_Pos) /*!< 0x00006000 */
+#define ETH_DMADSR_RPS_TIMESTAMP_WR                   ETH_DMADSR_RPS_TIMESTAMP_WR_Msk /* Timestamp write state */
+#define ETH_DMADSR_RPS_TRANSFERRING_Pos               (12U)
+#define ETH_DMADSR_RPS_TRANSFERRING_Msk               (0x7UL << ETH_DMADSR_RPS_TRANSFERRING_Pos) /*!< 0x00007000 */
+#define ETH_DMADSR_RPS_TRANSFERRING                   ETH_DMADSR_RPS_TRANSFERRING_Msk /* Running (Transferring the received packet data from the Rx buffer to the system memory) */
+
+/* Bit definition for Ethernet DMA Channel Control Register */
+#define ETH_DMACCR_DSL_Pos                            (18U)
+#define ETH_DMACCR_DSL_Msk                            (0x7UL << ETH_DMACCR_DSL_Pos) /*!< 0x001C0000 */
+#define ETH_DMACCR_DSL                                ETH_DMACCR_DSL_Msk       /* Descriptor Skip Length */
+#define ETH_DMACCR_DSL_0BIT                           ((uint32_t)0x00000000)
+#define ETH_DMACCR_DSL_32BIT                          ((uint32_t)0x00040000)
+#define ETH_DMACCR_DSL_64BIT                          ((uint32_t)0x00080000)
+#define ETH_DMACCR_DSL_128BIT                         ((uint32_t)0x00100000)
+#define ETH_DMACCR_8PBL                               ((uint32_t)0x00010000)   /* 8xPBL mode */
+#define ETH_DMACCR_MSS_Pos                            (0U)
+#define ETH_DMACCR_MSS_Msk                            (0x3FFFUL << ETH_DMACCR_MSS_Pos) /*!< 0x00003FFF */
+#define ETH_DMACCR_MSS                                ETH_DMACCR_MSS_Msk       /* Maximum Segment Size */
+
+/* Bit definition for Ethernet DMA Channel Tx Control Register */
+#define ETH_DMACTCR_TPBL_Pos                          (16U)
+#define ETH_DMACTCR_TPBL_Msk                          (0x3FUL << ETH_DMACTCR_TPBL_Pos) /*!< 0x003F0000 */
+#define ETH_DMACTCR_TPBL                              ETH_DMACTCR_TPBL_Msk     /* Transmit Programmable Burst Length */
+#define ETH_DMACTCR_TPBL_1PBL                         ((uint32_t)0x00010000)   /* Transmit Programmable Burst Length 1 */
+#define ETH_DMACTCR_TPBL_2PBL                         ((uint32_t)0x00020000)   /* Transmit Programmable Burst Length 2 */
+#define ETH_DMACTCR_TPBL_4PBL                         ((uint32_t)0x00040000)   /* Transmit Programmable Burst Length 4 */
+#define ETH_DMACTCR_TPBL_8PBL                         ((uint32_t)0x00080000)   /* Transmit Programmable Burst Length 8 */
+#define ETH_DMACTCR_TPBL_16PBL                        ((uint32_t)0x00100000)   /* Transmit Programmable Burst Length 16 */
+#define ETH_DMACTCR_TPBL_32PBL                        ((uint32_t)0x00200000)   /* Transmit Programmable Burst Length 32 */
+#define ETH_DMACTCR_TSE_Pos                           (12U)
+#define ETH_DMACTCR_TSE_Msk                           (0x1UL << ETH_DMACTCR_TSE_Pos) /*!< 0x00001000 */
+#define ETH_DMACTCR_TSE                               ETH_DMACTCR_TSE_Msk      /* TCP Segmentation Enabled */
+#define ETH_DMACTCR_OSP_Pos                           (4U)
+#define ETH_DMACTCR_OSP_Msk                           (0x1UL << ETH_DMACTCR_OSP_Pos) /*!< 0x00000010 */
+#define ETH_DMACTCR_OSP                               ETH_DMACTCR_OSP_Msk      /* Operate on Second Packet */
+#define ETH_DMACTCR_ST_Pos                            (0U)
+#define ETH_DMACTCR_ST_Msk                            (0x1UL << ETH_DMACTCR_ST_Pos) /*!< 0x00000001 */
+#define ETH_DMACTCR_ST                                ETH_DMACTCR_ST_Msk       /* Start or Stop Transmission Command */
+
+/* Bit definition for Ethernet DMA Channel Rx Control Register */
+#define ETH_DMACRCR_RPF_Pos                           (31U)
+#define ETH_DMACRCR_RPF_Msk                           (0x1UL << ETH_DMACRCR_RPF_Pos) /*!< 0x80000000 */
+#define ETH_DMACRCR_RPF                               ETH_DMACRCR_RPF_Msk      /* Rx Packet Flush */
+#define ETH_DMACRCR_RPBL_Pos                          (16U)
+#define ETH_DMACRCR_RPBL_Msk                          (0x3FUL << ETH_DMACRCR_RPBL_Pos) /*!< 0x003F0000 */
+#define ETH_DMACRCR_RPBL                              ETH_DMACRCR_RPBL_Msk     /* Receive Programmable Burst Length */
+#define ETH_DMACRCR_RPBL_1PBL                         ((uint32_t)0x00010000)   /* Receive Programmable Burst Length 1 */
+#define ETH_DMACRCR_RPBL_2PBL                         ((uint32_t)0x00020000)   /* Receive Programmable Burst Length 2 */
+#define ETH_DMACRCR_RPBL_4PBL                         ((uint32_t)0x00040000)   /* Receive Programmable Burst Length 4 */
+#define ETH_DMACRCR_RPBL_8PBL                         ((uint32_t)0x00080000)   /* Receive Programmable Burst Length 8 */
+#define ETH_DMACRCR_RPBL_16PBL                        ((uint32_t)0x00100000)   /* Receive Programmable Burst Length 16 */
+#define ETH_DMACRCR_RPBL_32PBL                        ((uint32_t)0x00200000)   /* Receive Programmable Burst Length 32 */
+#define ETH_DMACRCR_RBSZ_Pos                          (1U)
+#define ETH_DMACRCR_RBSZ_Msk                          (0x3FFFUL << ETH_DMACRCR_RBSZ_Pos) /*!< 0x00007FFE */
+#define ETH_DMACRCR_RBSZ                              ETH_DMACRCR_RBSZ_Msk     /* Receive Buffer size */
+#define ETH_DMACRCR_SR_Pos                            (0U)
+#define ETH_DMACRCR_SR_Msk                            (0x1UL << ETH_DMACRCR_SR_Pos) /*!< 0x00000001 */
+#define ETH_DMACRCR_SR                                ETH_DMACRCR_SR_Msk       /* Start or Stop Receive */
+
+/* Bit definition for Ethernet DMA CH Tx Desc List Address Register */
+#define ETH_DMACTDLAR_TDESLA_Pos                      (2U)
+#define ETH_DMACTDLAR_TDESLA_Msk                      (0x3FFFFFFFUL << ETH_DMACTDLAR_TDESLA_Pos) /*!< 0xFFFFFFFC */
+#define ETH_DMACTDLAR_TDESLA                          ETH_DMACTDLAR_TDESLA_Msk /* Start of Transmit List */
+
+/* Bit definition for Ethernet DMA CH Rx Desc List Address Register */
+#define ETH_DMACRDLAR_RDESLA_Pos                      (2U)
+#define ETH_DMACRDLAR_RDESLA_Msk                      (0x3FFFFFFFUL << ETH_DMACRDLAR_RDESLA_Pos) /*!< 0xFFFFFFFC */
+#define ETH_DMACRDLAR_RDESLA                          ETH_DMACRDLAR_RDESLA_Msk /* Start of Receive List */
+
+/* Bit definition for Ethernet DMA CH Tx Desc Tail Pointer Register */
+#define ETH_DMACTDTPR_TDT_Pos                         (2U)
+#define ETH_DMACTDTPR_TDT_Msk                         (0x3FFFFFFFUL << ETH_DMACTDTPR_TDT_Pos) /*!< 0xFFFFFFFC */
+#define ETH_DMACTDTPR_TDT                             ETH_DMACTDTPR_TDT_Msk    /* Transmit Descriptor Tail Pointer */
+
+/* Bit definition for Ethernet DMA CH Rx Desc Tail Pointer Register */
+#define ETH_DMACRDTPR_RDT_Pos                         (2U)
+#define ETH_DMACRDTPR_RDT_Msk                         (0x3FFFFFFFUL << ETH_DMACRDTPR_RDT_Pos) /*!< 0xFFFFFFFC */
+#define ETH_DMACRDTPR_RDT                             ETH_DMACRDTPR_RDT_Msk    /* Receive Descriptor Tail Pointer */
+
+/* Bit definition for Ethernet DMA CH Tx Desc Ring Length Register */
+#define ETH_DMACTDRLR_TDRL_Pos                        (0U)
+#define ETH_DMACTDRLR_TDRL_Msk                        (0x3FFUL << ETH_DMACTDRLR_TDRL_Pos) /*!< 0x000003FF */
+#define ETH_DMACTDRLR_TDRL                            ETH_DMACTDRLR_TDRL_Msk   /* Transmit Descriptor Ring Length */
+
+/* Bit definition for Ethernet DMA CH Rx Desc Ring Length Register */
+#define ETH_DMACRDRLR_RDRL_Pos                        (0U)
+#define ETH_DMACRDRLR_RDRL_Msk                        (0x3FFUL << ETH_DMACRDRLR_RDRL_Pos) /*!< 0x000003FF */
+#define ETH_DMACRDRLR_RDRL                            ETH_DMACRDRLR_RDRL_Msk   /* Receive Descriptor Ring Length */
+
+/* Bit definition for Ethernet DMA Channel Interrupt Enable Register */
+#define ETH_DMACIER_NIE_Pos                           (15U)
+#define ETH_DMACIER_NIE_Msk                           (0x1UL << ETH_DMACIER_NIE_Pos) /*!< 0x00008000 */
+#define ETH_DMACIER_NIE                               ETH_DMACIER_NIE_Msk      /* Normal Interrupt Summary Enable */
+#define ETH_DMACIER_AIE_Pos                           (14U)
+#define ETH_DMACIER_AIE_Msk                           (0x1UL << ETH_DMACIER_AIE_Pos) /*!< 0x00004000 */
+#define ETH_DMACIER_AIE                               ETH_DMACIER_AIE_Msk      /* Abnormal Interrupt Summary Enable */
+#define ETH_DMACIER_CDEE_Pos                          (13U)
+#define ETH_DMACIER_CDEE_Msk                          (0x1UL << ETH_DMACIER_CDEE_Pos) /*!< 0x00002000 */
+#define ETH_DMACIER_CDEE                              ETH_DMACIER_CDEE_Msk     /* Context Descriptor Error Enable */
+#define ETH_DMACIER_FBEE_Pos                          (12U)
+#define ETH_DMACIER_FBEE_Msk                          (0x1UL << ETH_DMACIER_FBEE_Pos) /*!< 0x00001000 */
+#define ETH_DMACIER_FBEE                              ETH_DMACIER_FBEE_Msk     /* Fatal Bus Error Enable */
+#define ETH_DMACIER_ERIE_Pos                          (11U)
+#define ETH_DMACIER_ERIE_Msk                          (0x1UL << ETH_DMACIER_ERIE_Pos) /*!< 0x00000800 */
+#define ETH_DMACIER_ERIE                              ETH_DMACIER_ERIE_Msk     /* Early Receive Interrupt Enable */
+#define ETH_DMACIER_ETIE_Pos                          (10U)
+#define ETH_DMACIER_ETIE_Msk                          (0x1UL << ETH_DMACIER_ETIE_Pos) /*!< 0x00000400 */
+#define ETH_DMACIER_ETIE                              ETH_DMACIER_ETIE_Msk     /* Early Transmit Interrupt Enable */
+#define ETH_DMACIER_RWTE_Pos                          (9U)
+#define ETH_DMACIER_RWTE_Msk                          (0x1UL << ETH_DMACIER_RWTE_Pos) /*!< 0x00000200 */
+#define ETH_DMACIER_RWTE                              ETH_DMACIER_RWTE_Msk     /* Receive Watchdog Timeout Enable */
+#define ETH_DMACIER_RSE_Pos                           (8U)
+#define ETH_DMACIER_RSE_Msk                           (0x1UL << ETH_DMACIER_RSE_Pos) /*!< 0x00000100 */
+#define ETH_DMACIER_RSE                               ETH_DMACIER_RSE_Msk      /* Receive Stopped Enable */
+#define ETH_DMACIER_RBUE_Pos                          (7U)
+#define ETH_DMACIER_RBUE_Msk                          (0x1UL << ETH_DMACIER_RBUE_Pos) /*!< 0x00000080 */
+#define ETH_DMACIER_RBUE                              ETH_DMACIER_RBUE_Msk     /* Receive Buffer Unavailable Enable */
+#define ETH_DMACIER_RIE_Pos                           (6U)
+#define ETH_DMACIER_RIE_Msk                           (0x1UL << ETH_DMACIER_RIE_Pos) /*!< 0x00000040 */
+#define ETH_DMACIER_RIE                               ETH_DMACIER_RIE_Msk      /* Receive Interrupt Enable */
+#define ETH_DMACIER_TBUE_Pos                          (2U)
+#define ETH_DMACIER_TBUE_Msk                          (0x1UL << ETH_DMACIER_TBUE_Pos) /*!< 0x00000004 */
+#define ETH_DMACIER_TBUE                              ETH_DMACIER_TBUE_Msk     /* Transmit Buffer Unavailable Enable */
+#define ETH_DMACIER_TXSE_Pos                          (1U)
+#define ETH_DMACIER_TXSE_Msk                          (0x1UL << ETH_DMACIER_TXSE_Pos) /*!< 0x00000002 */
+#define ETH_DMACIER_TXSE                              ETH_DMACIER_TXSE_Msk     /* Transmit Stopped Enable */
+#define ETH_DMACIER_TIE_Pos                           (0U)
+#define ETH_DMACIER_TIE_Msk                           (0x1UL << ETH_DMACIER_TIE_Pos) /*!< 0x00000001 */
+#define ETH_DMACIER_TIE                               ETH_DMACIER_TIE_Msk      /* Transmit Interrupt Enable */
+
+/* Bit definition for Ethernet DMA Channel Rx Interrupt Watchdog Timer Register */
+#define ETH_DMACRIWTR_RWT_Pos                         (0U)
+#define ETH_DMACRIWTR_RWT_Msk                         (0xFFUL << ETH_DMACRIWTR_RWT_Pos) /*!< 0x000000FF */
+#define ETH_DMACRIWTR_RWT                             ETH_DMACRIWTR_RWT_Msk    /* Receive Interrupt Watchdog Timer Count */
+
+/* Bit definition for Ethernet DMA Channel Current App Tx Desc Register */
+#define ETH_DMACCATDR_CURTDESAPTR_Pos                 (0U)
+#define ETH_DMACCATDR_CURTDESAPTR_Msk                 (0xFFFFFFFFUL << ETH_DMACCATDR_CURTDESAPTR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_DMACCATDR_CURTDESAPTR                     ETH_DMACCATDR_CURTDESAPTR_Msk /* Application Transmit Descriptor Address Pointer */
+
+/* Bit definition for Ethernet DMA Channel Current App Rx Desc Register */
+#define ETH_DMACCARDR_CURRDESAPTR_Pos                 (0U)
+#define ETH_DMACCARDR_CURRDESAPTR_Msk                 (0xFFFFFFFFUL << ETH_DMACCARDR_CURRDESAPTR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_DMACCARDR_CURRDESAPTR                     ETH_DMACCARDR_CURRDESAPTR_Msk /* Application Receive Descriptor Address Pointer */
+
+/* Bit definition for Ethernet DMA Channel Current App Tx Buffer Register */
+#define ETH_DMACCATBR_CURTBUFAPTR_Pos                 (0U)
+#define ETH_DMACCATBR_CURTBUFAPTR_Msk                 (0xFFFFFFFFUL << ETH_DMACCATBR_CURTBUFAPTR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_DMACCATBR_CURTBUFAPTR                     ETH_DMACCATBR_CURTBUFAPTR_Msk /* Application Transmit Buffer Address Pointer */
+
+/* Bit definition for Ethernet DMA Channel Current App Rx Buffer Register */
+#define ETH_DMACCARBR_CURRBUFAPTR_Pos                 (0U)
+#define ETH_DMACCARBR_CURRBUFAPTR_Msk                 (0xFFFFFFFFUL << ETH_DMACCARBR_CURRBUFAPTR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_DMACCARBR_CURRBUFAPTR                     ETH_DMACCARBR_CURRBUFAPTR_Msk /* Application Receive Buffer Address Pointer */
+
+/* Bit definition for Ethernet DMA Channel Status Register */
+#define ETH_DMACSR_REB_Pos                            (19U)
+#define ETH_DMACSR_REB_Msk                            (0x7UL << ETH_DMACSR_REB_Pos) /*!< 0x00380000 */
+#define ETH_DMACSR_REB                                ETH_DMACSR_REB_Msk       /* Rx DMA Error Bits */
+#define ETH_DMACSR_TEB_Pos                            (16U)
+#define ETH_DMACSR_TEB_Msk                            (0x7UL << ETH_DMACSR_TEB_Pos) /*!< 0x00070000 */
+#define ETH_DMACSR_TEB                                ETH_DMACSR_TEB_Msk       /* Tx DMA Error Bits */
+#define ETH_DMACSR_NIS_Pos                            (15U)
+#define ETH_DMACSR_NIS_Msk                            (0x1UL << ETH_DMACSR_NIS_Pos) /*!< 0x00008000 */
+#define ETH_DMACSR_NIS                                ETH_DMACSR_NIS_Msk       /* Normal Interrupt Summary */
+#define ETH_DMACSR_AIS_Pos                            (14U)
+#define ETH_DMACSR_AIS_Msk                            (0x1UL << ETH_DMACSR_AIS_Pos) /*!< 0x00004000 */
+#define ETH_DMACSR_AIS                                ETH_DMACSR_AIS_Msk       /* Abnormal Interrupt Summary */
+#define ETH_DMACSR_CDE_Pos                            (13U)
+#define ETH_DMACSR_CDE_Msk                            (0x1UL << ETH_DMACSR_CDE_Pos) /*!< 0x00002000 */
+#define ETH_DMACSR_CDE                                ETH_DMACSR_CDE_Msk       /* Context Descriptor Error */
+#define ETH_DMACSR_FBE_Pos                            (12U)
+#define ETH_DMACSR_FBE_Msk                            (0x1UL << ETH_DMACSR_FBE_Pos) /*!< 0x00001000 */
+#define ETH_DMACSR_FBE                                ETH_DMACSR_FBE_Msk       /* Fatal Bus Error */
+#define ETH_DMACSR_ERI_Pos                            (11U)
+#define ETH_DMACSR_ERI_Msk                            (0x1UL << ETH_DMACSR_ERI_Pos) /*!< 0x00000800 */
+#define ETH_DMACSR_ERI                                ETH_DMACSR_ERI_Msk       /* Early Receive Interrupt */
+#define ETH_DMACSR_ETI_Pos                            (10U)
+#define ETH_DMACSR_ETI_Msk                            (0x1UL << ETH_DMACSR_ETI_Pos) /*!< 0x00000400 */
+#define ETH_DMACSR_ETI                                ETH_DMACSR_ETI_Msk       /* Early Transmit Interrupt */
+#define ETH_DMACSR_RWT_Pos                            (9U)
+#define ETH_DMACSR_RWT_Msk                            (0x1UL << ETH_DMACSR_RWT_Pos) /*!< 0x00000200 */
+#define ETH_DMACSR_RWT                                ETH_DMACSR_RWT_Msk       /* Receive Watchdog Timeout */
+#define ETH_DMACSR_RPS_Pos                            (8U)
+#define ETH_DMACSR_RPS_Msk                            (0x1UL << ETH_DMACSR_RPS_Pos) /*!< 0x00000100 */
+#define ETH_DMACSR_RPS                                ETH_DMACSR_RPS_Msk       /* Receive Process Stopped */
+#define ETH_DMACSR_RBU_Pos                            (7U)
+#define ETH_DMACSR_RBU_Msk                            (0x1UL << ETH_DMACSR_RBU_Pos) /*!< 0x00000080 */
+#define ETH_DMACSR_RBU                                ETH_DMACSR_RBU_Msk       /* Receive Buffer Unavailable */
+#define ETH_DMACSR_RI_Pos                             (6U)
+#define ETH_DMACSR_RI_Msk                             (0x1UL << ETH_DMACSR_RI_Pos) /*!< 0x00000040 */
+#define ETH_DMACSR_RI                                 ETH_DMACSR_RI_Msk        /* Receive Interrupt */
+#define ETH_DMACSR_TBU_Pos                            (2U)
+#define ETH_DMACSR_TBU_Msk                            (0x1UL << ETH_DMACSR_TBU_Pos) /*!< 0x00000004 */
+#define ETH_DMACSR_TBU                                ETH_DMACSR_TBU_Msk       /* Transmit Buffer Unavailable */
+#define ETH_DMACSR_TPS_Pos                            (1U)
+#define ETH_DMACSR_TPS_Msk                            (0x1UL << ETH_DMACSR_TPS_Pos) /*!< 0x00000002 */
+#define ETH_DMACSR_TPS                                ETH_DMACSR_TPS_Msk       /* Transmit Process Stopped */
+#define ETH_DMACSR_TI_Pos                             (0U)
+#define ETH_DMACSR_TI_Msk                             (0x1UL << ETH_DMACSR_TI_Pos) /*!< 0x00000001 */
+#define ETH_DMACSR_TI                                 ETH_DMACSR_TI_Msk        /* Transmit Interrupt */
+
+/* Bit definition for Ethernet DMA Channel missed frame count register */
+#define ETH_DMACMFCR_MFCO_Pos                         (15U)
+#define ETH_DMACMFCR_MFCO_Msk                         (0x1UL << ETH_DMACMFCR_MFCO_Pos) /*!< 0x00008000 */
+#define ETH_DMACMFCR_MFCO                             ETH_DMACMFCR_MFCO_Msk    /* Overflow status of the MFC Counter */
+#define ETH_DMACMFCR_MFC_Pos                          (0U)
+#define ETH_DMACMFCR_MFC_Msk                          (0x7FFUL << ETH_DMACMFCR_MFC_Pos) /*!< 0x000007FF */
+#define ETH_DMACMFCR_MFC                              ETH_DMACMFCR_MFC_Msk     /* The number of packet counters dropped by the DMA */
+
+/******************************************************************************/
+/*                                                                            */
+/*                             DMA Controller                                 */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bits definition for DMA_SxCR register  *****************/
+#define DMA_SxCR_MBURST_Pos      (23U)
+#define DMA_SxCR_MBURST_Msk      (0x3UL << DMA_SxCR_MBURST_Pos)                /*!< 0x01800000 */
+#define DMA_SxCR_MBURST          DMA_SxCR_MBURST_Msk                           /*!< Memory burst transfer configuration */
+#define DMA_SxCR_MBURST_0        (0x1UL << DMA_SxCR_MBURST_Pos)                 /*!< 0x00800000 */
+#define DMA_SxCR_MBURST_1        (0x2UL << DMA_SxCR_MBURST_Pos)                 /*!< 0x01000000 */
+#define DMA_SxCR_PBURST_Pos      (21U)
+#define DMA_SxCR_PBURST_Msk      (0x3UL << DMA_SxCR_PBURST_Pos)                /*!< 0x00600000 */
+#define DMA_SxCR_PBURST          DMA_SxCR_PBURST_Msk                           /*!< Peripheral burst transfer configuration */
+#define DMA_SxCR_PBURST_0        (0x1UL << DMA_SxCR_PBURST_Pos)                 /*!< 0x00200000 */
+#define DMA_SxCR_PBURST_1        (0x2UL << DMA_SxCR_PBURST_Pos)                 /*!< 0x00400000 */
+#define DMA_SxCR_TRBUFF_Pos      (20U)
+#define DMA_SxCR_TRBUFF_Msk      (0x1UL << DMA_SxCR_TRBUFF_Pos)                 /*!< 0x00100000 */
+#define DMA_SxCR_TRBUFF          DMA_SxCR_TRBUFF_Msk                            /*!< bufferable transfers enabled/disable */
+#define DMA_SxCR_CT_Pos          (19U)
+#define DMA_SxCR_CT_Msk          (0x1UL << DMA_SxCR_CT_Pos)                    /*!< 0x00080000 */
+#define DMA_SxCR_CT              DMA_SxCR_CT_Msk                               /*!< Current target (only in double buffer mode) */
+#define DMA_SxCR_DBM_Pos         (18U)
+#define DMA_SxCR_DBM_Msk         (0x1UL << DMA_SxCR_DBM_Pos)                   /*!< 0x00040000 */
+#define DMA_SxCR_DBM             DMA_SxCR_DBM_Msk                              /*!< Double buffer mode */
+#define DMA_SxCR_PL_Pos          (16U)
+#define DMA_SxCR_PL_Msk          (0x3UL << DMA_SxCR_PL_Pos)                    /*!< 0x00030000 */
+#define DMA_SxCR_PL              DMA_SxCR_PL_Msk                               /*!< Priority level */
+#define DMA_SxCR_PL_0            (0x1UL << DMA_SxCR_PL_Pos)                     /*!< 0x00010000 */
+#define DMA_SxCR_PL_1            (0x2UL << DMA_SxCR_PL_Pos)                     /*!< 0x00020000 */
+#define DMA_SxCR_PINCOS_Pos      (15U)
+#define DMA_SxCR_PINCOS_Msk      (0x1UL << DMA_SxCR_PINCOS_Pos)                /*!< 0x00008000 */
+#define DMA_SxCR_PINCOS          DMA_SxCR_PINCOS_Msk                           /*!< Peripheral increment offset size */
+#define DMA_SxCR_MSIZE_Pos       (13U)
+#define DMA_SxCR_MSIZE_Msk       (0x3UL << DMA_SxCR_MSIZE_Pos)                 /*!< 0x00006000 */
+#define DMA_SxCR_MSIZE           DMA_SxCR_MSIZE_Msk                            /*!< Memory data size */
+#define DMA_SxCR_MSIZE_0         (0x1UL << DMA_SxCR_MSIZE_Pos)                  /*!< 0x00002000 */
+#define DMA_SxCR_MSIZE_1         (0x2UL << DMA_SxCR_MSIZE_Pos)                  /*!< 0x00004000 */
+#define DMA_SxCR_PSIZE_Pos       (11U)
+#define DMA_SxCR_PSIZE_Msk       (0x3UL << DMA_SxCR_PSIZE_Pos)                 /*!< 0x00001800 */
+#define DMA_SxCR_PSIZE           DMA_SxCR_PSIZE_Msk                            /*< Peripheral data size */
+#define DMA_SxCR_PSIZE_0         (0x1UL << DMA_SxCR_PSIZE_Pos)                  /*!< 0x00000800 */
+#define DMA_SxCR_PSIZE_1         (0x2UL << DMA_SxCR_PSIZE_Pos)                  /*!< 0x00001000 */
+#define DMA_SxCR_MINC_Pos        (10U)
+#define DMA_SxCR_MINC_Msk        (0x1UL << DMA_SxCR_MINC_Pos)                  /*!< 0x00000400 */
+#define DMA_SxCR_MINC            DMA_SxCR_MINC_Msk                             /*!< Memory increment mode */
+#define DMA_SxCR_PINC_Pos        (9U)
+#define DMA_SxCR_PINC_Msk        (0x1UL << DMA_SxCR_PINC_Pos)                  /*!< 0x00000200 */
+#define DMA_SxCR_PINC            DMA_SxCR_PINC_Msk                             /*!< Peripheral increment mode */
+#define DMA_SxCR_CIRC_Pos        (8U)
+#define DMA_SxCR_CIRC_Msk        (0x1UL << DMA_SxCR_CIRC_Pos)                  /*!< 0x00000100 */
+#define DMA_SxCR_CIRC            DMA_SxCR_CIRC_Msk                             /*!< Circular mode */
+#define DMA_SxCR_DIR_Pos         (6U)
+#define DMA_SxCR_DIR_Msk         (0x3UL << DMA_SxCR_DIR_Pos)                   /*!< 0x000000C0 */
+#define DMA_SxCR_DIR             DMA_SxCR_DIR_Msk                              /*!< Data transfer direction */
+#define DMA_SxCR_DIR_0           (0x1UL << DMA_SxCR_DIR_Pos)                    /*!< 0x00000040 */
+#define DMA_SxCR_DIR_1           (0x2UL << DMA_SxCR_DIR_Pos)                    /*!< 0x00000080 */
+#define DMA_SxCR_PFCTRL_Pos      (5U)
+#define DMA_SxCR_PFCTRL_Msk      (0x1UL << DMA_SxCR_PFCTRL_Pos)                /*!< 0x00000020 */
+#define DMA_SxCR_PFCTRL          DMA_SxCR_PFCTRL_Msk                           /*!< Peripheral flow controller */
+#define DMA_SxCR_TCIE_Pos        (4U)
+#define DMA_SxCR_TCIE_Msk        (0x1UL << DMA_SxCR_TCIE_Pos)                  /*!< 0x00000010 */
+#define DMA_SxCR_TCIE            DMA_SxCR_TCIE_Msk                             /*!< Transfer complete interrupt enable */
+#define DMA_SxCR_HTIE_Pos        (3U)
+#define DMA_SxCR_HTIE_Msk        (0x1UL << DMA_SxCR_HTIE_Pos)                  /*!< 0x00000008 */
+#define DMA_SxCR_HTIE            DMA_SxCR_HTIE_Msk                             /*!< Half transfer interrupt enable */
+#define DMA_SxCR_TEIE_Pos        (2U)
+#define DMA_SxCR_TEIE_Msk        (0x1UL << DMA_SxCR_TEIE_Pos)                  /*!< 0x00000004 */
+#define DMA_SxCR_TEIE            DMA_SxCR_TEIE_Msk                             /*!< Transfer error interrupt enable */
+#define DMA_SxCR_DMEIE_Pos       (1U)
+#define DMA_SxCR_DMEIE_Msk       (0x1UL << DMA_SxCR_DMEIE_Pos)                 /*!< 0x00000002 */
+#define DMA_SxCR_DMEIE           DMA_SxCR_DMEIE_Msk                            /*!< Direct mode error interrupt enable */
+#define DMA_SxCR_EN_Pos          (0U)
+#define DMA_SxCR_EN_Msk          (0x1UL << DMA_SxCR_EN_Pos)                    /*!< 0x00000001 */
+#define DMA_SxCR_EN              DMA_SxCR_EN_Msk                               /*!< Stream enable / flag stream ready when read low */
+
+/********************  Bits definition for DMA_SxCNDTR register  **************/
+#define DMA_SxNDT_Pos            (0U)
+#define DMA_SxNDT_Msk            (0xFFFFUL << DMA_SxNDT_Pos)                   /*!< 0x0000FFFF */
+#define DMA_SxNDT                DMA_SxNDT_Msk                                 /*!< Number of data items to transfer */
+#define DMA_SxNDT_0              (0x0001UL << DMA_SxNDT_Pos)                    /*!< 0x00000001 */
+#define DMA_SxNDT_1              (0x0002UL << DMA_SxNDT_Pos)                    /*!< 0x00000002 */
+#define DMA_SxNDT_2              (0x0004UL << DMA_SxNDT_Pos)                    /*!< 0x00000004 */
+#define DMA_SxNDT_3              (0x0008UL << DMA_SxNDT_Pos)                    /*!< 0x00000008 */
+#define DMA_SxNDT_4              (0x0010UL << DMA_SxNDT_Pos)                    /*!< 0x00000010 */
+#define DMA_SxNDT_5              (0x0020UL << DMA_SxNDT_Pos)                    /*!< 0x00000020 */
+#define DMA_SxNDT_6              (0x0040UL << DMA_SxNDT_Pos)                    /*!< 0x00000040 */
+#define DMA_SxNDT_7              (0x0080UL << DMA_SxNDT_Pos)                    /*!< 0x00000080 */
+#define DMA_SxNDT_8              (0x0100UL << DMA_SxNDT_Pos)                    /*!< 0x00000100 */
+#define DMA_SxNDT_9              (0x0200UL << DMA_SxNDT_Pos)                    /*!< 0x00000200 */
+#define DMA_SxNDT_10             (0x0400UL << DMA_SxNDT_Pos)                    /*!< 0x00000400 */
+#define DMA_SxNDT_11             (0x0800UL << DMA_SxNDT_Pos)                    /*!< 0x00000800 */
+#define DMA_SxNDT_12             (0x1000UL << DMA_SxNDT_Pos)                    /*!< 0x00001000 */
+#define DMA_SxNDT_13             (0x2000UL << DMA_SxNDT_Pos)                    /*!< 0x00002000 */
+#define DMA_SxNDT_14             (0x4000UL << DMA_SxNDT_Pos)                    /*!< 0x00004000 */
+#define DMA_SxNDT_15             (0x8000UL << DMA_SxNDT_Pos)                    /*!< 0x00008000 */
+
+/********************  Bits definition for DMA_SxFCR register  ****************/
+#define DMA_SxFCR_FEIE_Pos       (7U)
+#define DMA_SxFCR_FEIE_Msk       (0x1UL << DMA_SxFCR_FEIE_Pos)                 /*!< 0x00000080 */
+#define DMA_SxFCR_FEIE           DMA_SxFCR_FEIE_Msk                            /*!< FIFO error interrupt enable */
+#define DMA_SxFCR_FS_Pos         (3U)
+#define DMA_SxFCR_FS_Msk         (0x7UL << DMA_SxFCR_FS_Pos)                   /*!< 0x00000038 */
+#define DMA_SxFCR_FS             DMA_SxFCR_FS_Msk                              /*!< FIFO status */
+#define DMA_SxFCR_FS_0           (0x1UL << DMA_SxFCR_FS_Pos)                    /*!< 0x00000008 */
+#define DMA_SxFCR_FS_1           (0x2UL << DMA_SxFCR_FS_Pos)                    /*!< 0x00000010 */
+#define DMA_SxFCR_FS_2           (0x4UL << DMA_SxFCR_FS_Pos)                    /*!< 0x00000020 */
+#define DMA_SxFCR_DMDIS_Pos      (2U)
+#define DMA_SxFCR_DMDIS_Msk      (0x1UL << DMA_SxFCR_DMDIS_Pos)                /*!< 0x00000004 */
+#define DMA_SxFCR_DMDIS          DMA_SxFCR_DMDIS_Msk                           /*!< Direct mode disable */
+#define DMA_SxFCR_FTH_Pos        (0U)
+#define DMA_SxFCR_FTH_Msk        (0x3UL << DMA_SxFCR_FTH_Pos)                  /*!< 0x00000003 */
+#define DMA_SxFCR_FTH            DMA_SxFCR_FTH_Msk                             /*!< FIFO threshold selection */
+#define DMA_SxFCR_FTH_0          (0x1UL << DMA_SxFCR_FTH_Pos)                   /*!< 0x00000001 */
+#define DMA_SxFCR_FTH_1          (0x2UL << DMA_SxFCR_FTH_Pos)                   /*!< 0x00000002 */
+
+/********************  Bits definition for DMA_LISR register  *****************/
+#define DMA_LISR_TCIF3_Pos       (27U)
+#define DMA_LISR_TCIF3_Msk       (0x1UL << DMA_LISR_TCIF3_Pos)                 /*!< 0x08000000 */
+#define DMA_LISR_TCIF3           DMA_LISR_TCIF3_Msk                            /*!<  Stream 3 transfer complete interrupt flag */
+#define DMA_LISR_HTIF3_Pos       (26U)
+#define DMA_LISR_HTIF3_Msk       (0x1UL << DMA_LISR_HTIF3_Pos)                 /*!< 0x04000000 */
+#define DMA_LISR_HTIF3           DMA_LISR_HTIF3_Msk                            /*!<  Stream 3 half transfer interrupt flag */
+#define DMA_LISR_TEIF3_Pos       (25U)
+#define DMA_LISR_TEIF3_Msk       (0x1UL << DMA_LISR_TEIF3_Pos)                 /*!< 0x02000000 */
+#define DMA_LISR_TEIF3           DMA_LISR_TEIF3_Msk                            /*!<  Stream 3 transfer error interrupt flag */
+#define DMA_LISR_DMEIF3_Pos      (24U)
+#define DMA_LISR_DMEIF3_Msk      (0x1UL << DMA_LISR_DMEIF3_Pos)                /*!< 0x01000000 */
+#define DMA_LISR_DMEIF3          DMA_LISR_DMEIF3_Msk                           /*!<  Stream 3 direct mode error interrupt flag */
+#define DMA_LISR_FEIF3_Pos       (22U)
+#define DMA_LISR_FEIF3_Msk       (0x1UL << DMA_LISR_FEIF3_Pos)                 /*!< 0x00400000 */
+#define DMA_LISR_FEIF3           DMA_LISR_FEIF3_Msk                            /*!<  Stream 3 FIFO error interrupt flag */
+#define DMA_LISR_TCIF2_Pos       (21U)
+#define DMA_LISR_TCIF2_Msk       (0x1UL << DMA_LISR_TCIF2_Pos)                 /*!< 0x00200000 */
+#define DMA_LISR_TCIF2           DMA_LISR_TCIF2_Msk                            /*!<  Stream 2 transfer complete interrupt flag */
+#define DMA_LISR_HTIF2_Pos       (20U)
+#define DMA_LISR_HTIF2_Msk       (0x1UL << DMA_LISR_HTIF2_Pos)                 /*!< 0x00100000 */
+#define DMA_LISR_HTIF2           DMA_LISR_HTIF2_Msk                            /*!<  Stream 2 half transfer interrupt flag */
+#define DMA_LISR_TEIF2_Pos       (19U)
+#define DMA_LISR_TEIF2_Msk       (0x1UL << DMA_LISR_TEIF2_Pos)                 /*!< 0x00080000 */
+#define DMA_LISR_TEIF2           DMA_LISR_TEIF2_Msk                            /*!<  Stream 2 transfer error interrupt flag */
+#define DMA_LISR_DMEIF2_Pos      (18U)
+#define DMA_LISR_DMEIF2_Msk      (0x1UL << DMA_LISR_DMEIF2_Pos)                /*!< 0x00040000 */
+#define DMA_LISR_DMEIF2          DMA_LISR_DMEIF2_Msk                           /*!<  Stream 2 direct mode error interrupt flag */
+#define DMA_LISR_FEIF2_Pos       (16U)
+#define DMA_LISR_FEIF2_Msk       (0x1UL << DMA_LISR_FEIF2_Pos)                 /*!< 0x00010000 */
+#define DMA_LISR_FEIF2           DMA_LISR_FEIF2_Msk                            /*!<  Stream 2 FIFO error interrupt flag */
+#define DMA_LISR_TCIF1_Pos       (11U)
+#define DMA_LISR_TCIF1_Msk       (0x1UL << DMA_LISR_TCIF1_Pos)                 /*!< 0x00000800 */
+#define DMA_LISR_TCIF1           DMA_LISR_TCIF1_Msk                            /*!<  Stream 1 transfer complete interrupt flag */
+#define DMA_LISR_HTIF1_Pos       (10U)
+#define DMA_LISR_HTIF1_Msk       (0x1UL << DMA_LISR_HTIF1_Pos)                 /*!< 0x00000400 */
+#define DMA_LISR_HTIF1           DMA_LISR_HTIF1_Msk                            /*!<  Stream 1 half transfer interrupt flag */
+#define DMA_LISR_TEIF1_Pos       (9U)
+#define DMA_LISR_TEIF1_Msk       (0x1UL << DMA_LISR_TEIF1_Pos)                 /*!< 0x00000200 */
+#define DMA_LISR_TEIF1           DMA_LISR_TEIF1_Msk                            /*!<  Stream 1 transfer error interrupt flag */
+#define DMA_LISR_DMEIF1_Pos      (8U)
+#define DMA_LISR_DMEIF1_Msk      (0x1UL << DMA_LISR_DMEIF1_Pos)                /*!< 0x00000100 */
+#define DMA_LISR_DMEIF1          DMA_LISR_DMEIF1_Msk                           /*!<  Stream 1 direct mode error interrupt flag */
+#define DMA_LISR_FEIF1_Pos       (6U)
+#define DMA_LISR_FEIF1_Msk       (0x1UL << DMA_LISR_FEIF1_Pos)                 /*!< 0x00000040 */
+#define DMA_LISR_FEIF1           DMA_LISR_FEIF1_Msk                            /*!<  Stream 1 FIFO error interrupt flag */
+#define DMA_LISR_TCIF0_Pos       (5U)
+#define DMA_LISR_TCIF0_Msk       (0x1UL << DMA_LISR_TCIF0_Pos)                 /*!< 0x00000020 */
+#define DMA_LISR_TCIF0           DMA_LISR_TCIF0_Msk                            /*!<  Stream 0 transfer complete interrupt flag */
+#define DMA_LISR_HTIF0_Pos       (4U)
+#define DMA_LISR_HTIF0_Msk       (0x1UL << DMA_LISR_HTIF0_Pos)                 /*!< 0x00000010 */
+#define DMA_LISR_HTIF0           DMA_LISR_HTIF0_Msk                            /*!<  Stream 0 half transfer interrupt flag */
+#define DMA_LISR_TEIF0_Pos       (3U)
+#define DMA_LISR_TEIF0_Msk       (0x1UL << DMA_LISR_TEIF0_Pos)                 /*!< 0x00000008 */
+#define DMA_LISR_TEIF0           DMA_LISR_TEIF0_Msk                            /*!<  Stream 0 transfer error interrupt flag */
+#define DMA_LISR_DMEIF0_Pos      (2U)
+#define DMA_LISR_DMEIF0_Msk      (0x1UL << DMA_LISR_DMEIF0_Pos)                /*!< 0x00000004 */
+#define DMA_LISR_DMEIF0          DMA_LISR_DMEIF0_Msk                           /*!<  Stream 0 direct mode error interrupt flag */
+#define DMA_LISR_FEIF0_Pos       (0U)
+#define DMA_LISR_FEIF0_Msk       (0x1UL << DMA_LISR_FEIF0_Pos)                 /*!< 0x00000001 */
+#define DMA_LISR_FEIF0           DMA_LISR_FEIF0_Msk                            /*!<  Stream 0 FIFO error interrupt flag */
+
+/********************  Bits definition for DMA_HISR register  *****************/
+#define DMA_HISR_TCIF7_Pos       (27U)
+#define DMA_HISR_TCIF7_Msk       (0x1UL << DMA_HISR_TCIF7_Pos)                 /*!< 0x08000000 */
+#define DMA_HISR_TCIF7           DMA_HISR_TCIF7_Msk                            /*!<  Stream 7 transfer complete interrupt flag */
+#define DMA_HISR_HTIF7_Pos       (26U)
+#define DMA_HISR_HTIF7_Msk       (0x1UL << DMA_HISR_HTIF7_Pos)                 /*!< 0x04000000 */
+#define DMA_HISR_HTIF7           DMA_HISR_HTIF7_Msk                            /*!<  Stream 7 half transfer interrupt flag */
+#define DMA_HISR_TEIF7_Pos       (25U)
+#define DMA_HISR_TEIF7_Msk       (0x1UL << DMA_HISR_TEIF7_Pos)                 /*!< 0x02000000 */
+#define DMA_HISR_TEIF7           DMA_HISR_TEIF7_Msk                            /*!<  Stream 7 transfer error interrupt flag */
+#define DMA_HISR_DMEIF7_Pos      (24U)
+#define DMA_HISR_DMEIF7_Msk      (0x1UL << DMA_HISR_DMEIF7_Pos)                /*!< 0x01000000 */
+#define DMA_HISR_DMEIF7          DMA_HISR_DMEIF7_Msk                           /*!<  Stream 7 direct mode error interrupt flag */
+#define DMA_HISR_FEIF7_Pos       (22U)
+#define DMA_HISR_FEIF7_Msk       (0x1UL << DMA_HISR_FEIF7_Pos)                 /*!< 0x00400000 */
+#define DMA_HISR_FEIF7           DMA_HISR_FEIF7_Msk                            /*!<  Stream 7 FIFO error interrupt flag */
+#define DMA_HISR_TCIF6_Pos       (21U)
+#define DMA_HISR_TCIF6_Msk       (0x1UL << DMA_HISR_TCIF6_Pos)                 /*!< 0x00200000 */
+#define DMA_HISR_TCIF6           DMA_HISR_TCIF6_Msk                            /*!<  Stream 6 transfer complete interrupt flag */
+#define DMA_HISR_HTIF6_Pos       (20U)
+#define DMA_HISR_HTIF6_Msk       (0x1UL << DMA_HISR_HTIF6_Pos)                 /*!< 0x00100000 */
+#define DMA_HISR_HTIF6           DMA_HISR_HTIF6_Msk                            /*!<  Stream 6 half transfer interrupt flag */
+#define DMA_HISR_TEIF6_Pos       (19U)
+#define DMA_HISR_TEIF6_Msk       (0x1UL << DMA_HISR_TEIF6_Pos)                 /*!< 0x00080000 */
+#define DMA_HISR_TEIF6           DMA_HISR_TEIF6_Msk                            /*!<  Stream 6 transfer error interrupt flag */
+#define DMA_HISR_DMEIF6_Pos      (18U)
+#define DMA_HISR_DMEIF6_Msk      (0x1UL << DMA_HISR_DMEIF6_Pos)                /*!< 0x00040000 */
+#define DMA_HISR_DMEIF6          DMA_HISR_DMEIF6_Msk                           /*!<  Stream 6 direct mode error interrupt flag */
+#define DMA_HISR_FEIF6_Pos       (16U)
+#define DMA_HISR_FEIF6_Msk       (0x1UL << DMA_HISR_FEIF6_Pos)                 /*!< 0x00010000 */
+#define DMA_HISR_FEIF6           DMA_HISR_FEIF6_Msk                            /*!<  Stream 6 FIFO error interrupt flag */
+#define DMA_HISR_TCIF5_Pos       (11U)
+#define DMA_HISR_TCIF5_Msk       (0x1UL << DMA_HISR_TCIF5_Pos)                 /*!< 0x00000800 */
+#define DMA_HISR_TCIF5           DMA_HISR_TCIF5_Msk                            /*!<  Stream 5 transfer complete interrupt flag */
+#define DMA_HISR_HTIF5_Pos       (10U)
+#define DMA_HISR_HTIF5_Msk       (0x1UL << DMA_HISR_HTIF5_Pos)                 /*!< 0x00000400 */
+#define DMA_HISR_HTIF5           DMA_HISR_HTIF5_Msk                            /*!<  Stream 5 half transfer interrupt flag */
+#define DMA_HISR_TEIF5_Pos       (9U)
+#define DMA_HISR_TEIF5_Msk       (0x1UL << DMA_HISR_TEIF5_Pos)                 /*!< 0x00000200 */
+#define DMA_HISR_TEIF5           DMA_HISR_TEIF5_Msk                            /*!<  Stream 5 transfer error interrupt flag */
+#define DMA_HISR_DMEIF5_Pos      (8U)
+#define DMA_HISR_DMEIF5_Msk      (0x1UL << DMA_HISR_DMEIF5_Pos)                /*!< 0x00000100 */
+#define DMA_HISR_DMEIF5          DMA_HISR_DMEIF5_Msk                           /*!<  Stream 5 direct mode error interrupt flag */
+#define DMA_HISR_FEIF5_Pos       (6U)
+#define DMA_HISR_FEIF5_Msk       (0x1UL << DMA_HISR_FEIF5_Pos)                 /*!< 0x00000040 */
+#define DMA_HISR_FEIF5           DMA_HISR_FEIF5_Msk                            /*!<  Stream 5 FIFO error interrupt flag */
+#define DMA_HISR_TCIF4_Pos       (5U)
+#define DMA_HISR_TCIF4_Msk       (0x1UL << DMA_HISR_TCIF4_Pos)                 /*!< 0x00000020 */
+#define DMA_HISR_TCIF4           DMA_HISR_TCIF4_Msk                            /*!<  Stream 4 transfer complete interrupt flag */
+#define DMA_HISR_HTIF4_Pos       (4U)
+#define DMA_HISR_HTIF4_Msk       (0x1UL << DMA_HISR_HTIF4_Pos)                 /*!< 0x00000010 */
+#define DMA_HISR_HTIF4           DMA_HISR_HTIF4_Msk                            /*!<  Stream 4 half transfer interrupt flag */
+#define DMA_HISR_TEIF4_Pos       (3U)
+#define DMA_HISR_TEIF4_Msk       (0x1UL << DMA_HISR_TEIF4_Pos)                 /*!< 0x00000008 */
+#define DMA_HISR_TEIF4           DMA_HISR_TEIF4_Msk                            /*!<  Stream 4 transfer error interrupt flag */
+#define DMA_HISR_DMEIF4_Pos      (2U)
+#define DMA_HISR_DMEIF4_Msk      (0x1UL << DMA_HISR_DMEIF4_Pos)                /*!< 0x00000004 */
+#define DMA_HISR_DMEIF4          DMA_HISR_DMEIF4_Msk                           /*!<  Stream 4 direct mode error interrupt flag */
+#define DMA_HISR_FEIF4_Pos       (0U)
+#define DMA_HISR_FEIF4_Msk       (0x1UL << DMA_HISR_FEIF4_Pos)                 /*!< 0x00000001 */
+#define DMA_HISR_FEIF4           DMA_HISR_FEIF4_Msk                            /*!<  Stream 4 FIFO error interrupt flag */
+
+/********************  Bits definition for DMA_LIFCR register  ****************/
+#define DMA_LIFCR_CTCIF3_Pos     (27U)
+#define DMA_LIFCR_CTCIF3_Msk     (0x1UL << DMA_LIFCR_CTCIF3_Pos)               /*!< 0x08000000 */
+#define DMA_LIFCR_CTCIF3         DMA_LIFCR_CTCIF3_Msk                          /*!<  Stream 3 clear transfer complete interrupt flag */
+#define DMA_LIFCR_CHTIF3_Pos     (26U)
+#define DMA_LIFCR_CHTIF3_Msk     (0x1UL << DMA_LIFCR_CHTIF3_Pos)               /*!< 0x04000000 */
+#define DMA_LIFCR_CHTIF3         DMA_LIFCR_CHTIF3_Msk                          /*!<  Stream 3 clear half transfer interrupt flag */
+#define DMA_LIFCR_CTEIF3_Pos     (25U)
+#define DMA_LIFCR_CTEIF3_Msk     (0x1UL << DMA_LIFCR_CTEIF3_Pos)               /*!< 0x02000000 */
+#define DMA_LIFCR_CTEIF3         DMA_LIFCR_CTEIF3_Msk                          /*!<  Stream 3 clear transfer error interrupt flag */
+#define DMA_LIFCR_CDMEIF3_Pos    (24U)
+#define DMA_LIFCR_CDMEIF3_Msk    (0x1UL << DMA_LIFCR_CDMEIF3_Pos)              /*!< 0x01000000 */
+#define DMA_LIFCR_CDMEIF3        DMA_LIFCR_CDMEIF3_Msk                         /*!<  Stream 3 clear direct mode error interrupt flag */
+#define DMA_LIFCR_CFEIF3_Pos     (22U)
+#define DMA_LIFCR_CFEIF3_Msk     (0x1UL << DMA_LIFCR_CFEIF3_Pos)               /*!< 0x00400000 */
+#define DMA_LIFCR_CFEIF3         DMA_LIFCR_CFEIF3_Msk                          /*!<  Stream 3 clear FIFO error interrupt flag */
+#define DMA_LIFCR_CTCIF2_Pos     (21U)
+#define DMA_LIFCR_CTCIF2_Msk     (0x1UL << DMA_LIFCR_CTCIF2_Pos)               /*!< 0x00200000 */
+#define DMA_LIFCR_CTCIF2         DMA_LIFCR_CTCIF2_Msk                          /*!<  Stream 2 clear transfer complete interrupt flag */
+#define DMA_LIFCR_CHTIF2_Pos     (20U)
+#define DMA_LIFCR_CHTIF2_Msk     (0x1UL << DMA_LIFCR_CHTIF2_Pos)               /*!< 0x00100000 */
+#define DMA_LIFCR_CHTIF2         DMA_LIFCR_CHTIF2_Msk                          /*!<  Stream 2 clear half transfer interrupt flag */
+#define DMA_LIFCR_CTEIF2_Pos     (19U)
+#define DMA_LIFCR_CTEIF2_Msk     (0x1UL << DMA_LIFCR_CTEIF2_Pos)               /*!< 0x00080000 */
+#define DMA_LIFCR_CTEIF2         DMA_LIFCR_CTEIF2_Msk                          /*!<  Stream 2 clear transfer error interrupt flag */
+#define DMA_LIFCR_CDMEIF2_Pos    (18U)
+#define DMA_LIFCR_CDMEIF2_Msk    (0x1UL << DMA_LIFCR_CDMEIF2_Pos)              /*!< 0x00040000 */
+#define DMA_LIFCR_CDMEIF2        DMA_LIFCR_CDMEIF2_Msk                         /*!<  Stream 2 clear direct mode error interrupt flag */
+#define DMA_LIFCR_CFEIF2_Pos     (16U)
+#define DMA_LIFCR_CFEIF2_Msk     (0x1UL << DMA_LIFCR_CFEIF2_Pos)               /*!< 0x00010000 */
+#define DMA_LIFCR_CFEIF2         DMA_LIFCR_CFEIF2_Msk                          /*!<  Stream 2 clear FIFO error interrupt flag */
+#define DMA_LIFCR_CTCIF1_Pos     (11U)
+#define DMA_LIFCR_CTCIF1_Msk     (0x1UL << DMA_LIFCR_CTCIF1_Pos)               /*!< 0x00000800 */
+#define DMA_LIFCR_CTCIF1         DMA_LIFCR_CTCIF1_Msk                          /*!<  Stream 1 clear transfer complete interrupt flag */
+#define DMA_LIFCR_CHTIF1_Pos     (10U)
+#define DMA_LIFCR_CHTIF1_Msk     (0x1UL << DMA_LIFCR_CHTIF1_Pos)               /*!< 0x00000400 */
+#define DMA_LIFCR_CHTIF1         DMA_LIFCR_CHTIF1_Msk                          /*!<  Stream 1 clear half transfer interrupt flag */
+#define DMA_LIFCR_CTEIF1_Pos     (9U)
+#define DMA_LIFCR_CTEIF1_Msk     (0x1UL << DMA_LIFCR_CTEIF1_Pos)               /*!< 0x00000200 */
+#define DMA_LIFCR_CTEIF1         DMA_LIFCR_CTEIF1_Msk                          /*!<  Stream 1 clear transfer error interrupt flag */
+#define DMA_LIFCR_CDMEIF1_Pos    (8U)
+#define DMA_LIFCR_CDMEIF1_Msk    (0x1UL << DMA_LIFCR_CDMEIF1_Pos)              /*!< 0x00000100 */
+#define DMA_LIFCR_CDMEIF1        DMA_LIFCR_CDMEIF1_Msk                         /*!<  Stream 1 clear direct mode error interrupt flag */
+#define DMA_LIFCR_CFEIF1_Pos     (6U)
+#define DMA_LIFCR_CFEIF1_Msk     (0x1UL << DMA_LIFCR_CFEIF1_Pos)               /*!< 0x00000040 */
+#define DMA_LIFCR_CFEIF1         DMA_LIFCR_CFEIF1_Msk                          /*!<  Stream 1 clear FIFO error interrupt flag */
+#define DMA_LIFCR_CTCIF0_Pos     (5U)
+#define DMA_LIFCR_CTCIF0_Msk     (0x1UL << DMA_LIFCR_CTCIF0_Pos)               /*!< 0x00000020 */
+#define DMA_LIFCR_CTCIF0         DMA_LIFCR_CTCIF0_Msk                          /*!<  Stream 0 clear transfer complete interrupt flag */
+#define DMA_LIFCR_CHTIF0_Pos     (4U)
+#define DMA_LIFCR_CHTIF0_Msk     (0x1UL << DMA_LIFCR_CHTIF0_Pos)               /*!< 0x00000010 */
+#define DMA_LIFCR_CHTIF0         DMA_LIFCR_CHTIF0_Msk                          /*!<  Stream 0 clear half transfer interrupt flag */
+#define DMA_LIFCR_CTEIF0_Pos     (3U)
+#define DMA_LIFCR_CTEIF0_Msk     (0x1UL << DMA_LIFCR_CTEIF0_Pos)               /*!< 0x00000008 */
+#define DMA_LIFCR_CTEIF0         DMA_LIFCR_CTEIF0_Msk                          /*!<  Stream 0 clear transfer error interrupt flag */
+#define DMA_LIFCR_CDMEIF0_Pos    (2U)
+#define DMA_LIFCR_CDMEIF0_Msk    (0x1UL << DMA_LIFCR_CDMEIF0_Pos)              /*!< 0x00000004 */
+#define DMA_LIFCR_CDMEIF0        DMA_LIFCR_CDMEIF0_Msk                         /*!<  Stream 0 clear direct mode error interrupt flag */
+#define DMA_LIFCR_CFEIF0_Pos     (0U)
+#define DMA_LIFCR_CFEIF0_Msk     (0x1UL << DMA_LIFCR_CFEIF0_Pos)               /*!< 0x00000001 */
+#define DMA_LIFCR_CFEIF0         DMA_LIFCR_CFEIF0_Msk                          /*!<  Stream 0 clear FIFO error interrupt flag */
+
+/********************  Bits definition for DMA_HIFCR  register  ****************/
+#define DMA_HIFCR_CTCIF7_Pos     (27U)
+#define DMA_HIFCR_CTCIF7_Msk     (0x1UL << DMA_HIFCR_CTCIF7_Pos)               /*!< 0x08000000 */
+#define DMA_HIFCR_CTCIF7         DMA_HIFCR_CTCIF7_Msk                          /*!<  Stream 7 clear transfer complete interrupt flag */
+#define DMA_HIFCR_CHTIF7_Pos     (26U)
+#define DMA_HIFCR_CHTIF7_Msk     (0x1UL << DMA_HIFCR_CHTIF7_Pos)               /*!< 0x04000000 */
+#define DMA_HIFCR_CHTIF7         DMA_HIFCR_CHTIF7_Msk                          /*!<  Stream 7 clear half transfer interrupt flag */
+#define DMA_HIFCR_CTEIF7_Pos     (25U)
+#define DMA_HIFCR_CTEIF7_Msk     (0x1UL << DMA_HIFCR_CTEIF7_Pos)               /*!< 0x02000000 */
+#define DMA_HIFCR_CTEIF7         DMA_HIFCR_CTEIF7_Msk                          /*!<  Stream 7 clear transfer error interrupt flag */
+#define DMA_HIFCR_CDMEIF7_Pos    (24U)
+#define DMA_HIFCR_CDMEIF7_Msk    (0x1UL << DMA_HIFCR_CDMEIF7_Pos)              /*!< 0x01000000 */
+#define DMA_HIFCR_CDMEIF7        DMA_HIFCR_CDMEIF7_Msk                         /*!<  Stream 7 clear direct mode error interrupt flag */
+#define DMA_HIFCR_CFEIF7_Pos     (22U)
+#define DMA_HIFCR_CFEIF7_Msk     (0x1UL << DMA_HIFCR_CFEIF7_Pos)               /*!< 0x00400000 */
+#define DMA_HIFCR_CFEIF7         DMA_HIFCR_CFEIF7_Msk                          /*!<  Stream 7 clear FIFO error interrupt flag */
+#define DMA_HIFCR_CTCIF6_Pos     (21U)
+#define DMA_HIFCR_CTCIF6_Msk     (0x1UL << DMA_HIFCR_CTCIF6_Pos)               /*!< 0x00200000 */
+#define DMA_HIFCR_CTCIF6         DMA_HIFCR_CTCIF6_Msk                          /*!<  Stream 6 clear transfer complete interrupt flag */
+#define DMA_HIFCR_CHTIF6_Pos     (20U)
+#define DMA_HIFCR_CHTIF6_Msk     (0x1UL << DMA_HIFCR_CHTIF6_Pos)               /*!< 0x00100000 */
+#define DMA_HIFCR_CHTIF6         DMA_HIFCR_CHTIF6_Msk                          /*!<  Stream 6 clear half transfer interrupt flag */
+#define DMA_HIFCR_CTEIF6_Pos     (19U)
+#define DMA_HIFCR_CTEIF6_Msk     (0x1UL << DMA_HIFCR_CTEIF6_Pos)               /*!< 0x00080000 */
+#define DMA_HIFCR_CTEIF6         DMA_HIFCR_CTEIF6_Msk                          /*!<  Stream 6 clear transfer error interrupt flag */
+#define DMA_HIFCR_CDMEIF6_Pos    (18U)
+#define DMA_HIFCR_CDMEIF6_Msk    (0x1UL << DMA_HIFCR_CDMEIF6_Pos)              /*!< 0x00040000 */
+#define DMA_HIFCR_CDMEIF6        DMA_HIFCR_CDMEIF6_Msk                         /*!<  Stream 6 clear direct mode error interrupt flag */
+#define DMA_HIFCR_CFEIF6_Pos     (16U)
+#define DMA_HIFCR_CFEIF6_Msk     (0x1UL << DMA_HIFCR_CFEIF6_Pos)               /*!< 0x00010000 */
+#define DMA_HIFCR_CFEIF6         DMA_HIFCR_CFEIF6_Msk                          /*!<  Stream 6 clear FIFO error interrupt flag */
+#define DMA_HIFCR_CTCIF5_Pos     (11U)
+#define DMA_HIFCR_CTCIF5_Msk     (0x1UL << DMA_HIFCR_CTCIF5_Pos)               /*!< 0x00000800 */
+#define DMA_HIFCR_CTCIF5         DMA_HIFCR_CTCIF5_Msk                          /*!<  Stream 5 clear transfer complete interrupt flag */
+#define DMA_HIFCR_CHTIF5_Pos     (10U)
+#define DMA_HIFCR_CHTIF5_Msk     (0x1UL << DMA_HIFCR_CHTIF5_Pos)               /*!< 0x00000400 */
+#define DMA_HIFCR_CHTIF5         DMA_HIFCR_CHTIF5_Msk                          /*!<  Stream 5 clear half transfer interrupt flag */
+#define DMA_HIFCR_CTEIF5_Pos     (9U)
+#define DMA_HIFCR_CTEIF5_Msk     (0x1UL << DMA_HIFCR_CTEIF5_Pos)               /*!< 0x00000200 */
+#define DMA_HIFCR_CTEIF5         DMA_HIFCR_CTEIF5_Msk                          /*!<  Stream 5 clear transfer error interrupt flag */
+#define DMA_HIFCR_CDMEIF5_Pos    (8U)
+#define DMA_HIFCR_CDMEIF5_Msk    (0x1UL << DMA_HIFCR_CDMEIF5_Pos)              /*!< 0x00000100 */
+#define DMA_HIFCR_CDMEIF5        DMA_HIFCR_CDMEIF5_Msk                         /*!<  Stream 5 clear direct mode error interrupt flag */
+#define DMA_HIFCR_CFEIF5_Pos     (6U)
+#define DMA_HIFCR_CFEIF5_Msk     (0x1UL << DMA_HIFCR_CFEIF5_Pos)               /*!< 0x00000040 */
+#define DMA_HIFCR_CFEIF5         DMA_HIFCR_CFEIF5_Msk                          /*!<  Stream 5 clear FIFO error interrupt flag */
+#define DMA_HIFCR_CTCIF4_Pos     (5U)
+#define DMA_HIFCR_CTCIF4_Msk     (0x1UL << DMA_HIFCR_CTCIF4_Pos)               /*!< 0x00000020 */
+#define DMA_HIFCR_CTCIF4         DMA_HIFCR_CTCIF4_Msk                          /*!<  Stream 4 clear transfer complete interrupt flag */
+#define DMA_HIFCR_CHTIF4_Pos     (4U)
+#define DMA_HIFCR_CHTIF4_Msk     (0x1UL << DMA_HIFCR_CHTIF4_Pos)               /*!< 0x00000010 */
+#define DMA_HIFCR_CHTIF4         DMA_HIFCR_CHTIF4_Msk                          /*!<  Stream 4 clear half transfer interrupt flag */
+#define DMA_HIFCR_CTEIF4_Pos     (3U)
+#define DMA_HIFCR_CTEIF4_Msk     (0x1UL << DMA_HIFCR_CTEIF4_Pos)               /*!< 0x00000008 */
+#define DMA_HIFCR_CTEIF4         DMA_HIFCR_CTEIF4_Msk                          /*!<  Stream 4 clear transfer error interrupt flag */
+#define DMA_HIFCR_CDMEIF4_Pos    (2U)
+#define DMA_HIFCR_CDMEIF4_Msk    (0x1UL << DMA_HIFCR_CDMEIF4_Pos)              /*!< 0x00000004 */
+#define DMA_HIFCR_CDMEIF4        DMA_HIFCR_CDMEIF4_Msk                         /*!<  Stream 4 clear direct mode error interrupt flag */
+#define DMA_HIFCR_CFEIF4_Pos     (0U)
+#define DMA_HIFCR_CFEIF4_Msk     (0x1UL << DMA_HIFCR_CFEIF4_Pos)               /*!< 0x00000001 */
+#define DMA_HIFCR_CFEIF4         DMA_HIFCR_CFEIF4_Msk                          /*!<  Stream 4 clear FIFO error interrupt flag */
+
+/******************  Bit definition for DMA_SxPAR register  ********************/
+#define DMA_SxPAR_PA_Pos         (0U)
+#define DMA_SxPAR_PA_Msk         (0xFFFFFFFFUL << DMA_SxPAR_PA_Pos)            /*!< 0xFFFFFFFF */
+#define DMA_SxPAR_PA             DMA_SxPAR_PA_Msk                              /*!< Peripheral Address */
+
+/******************  Bit definition for DMA_SxM0AR register  ********************/
+#define DMA_SxM0AR_M0A_Pos       (0U)
+#define DMA_SxM0AR_M0A_Msk       (0xFFFFFFFFUL << DMA_SxM0AR_M0A_Pos)          /*!< 0xFFFFFFFF */
+#define DMA_SxM0AR_M0A           DMA_SxM0AR_M0A_Msk                            /*!< Memory 0 Address */
+
+/******************  Bit definition for DMA_SxM1AR register  ********************/
+#define DMA_SxM1AR_M1A_Pos       (0U)
+#define DMA_SxM1AR_M1A_Msk       (0xFFFFFFFFUL << DMA_SxM1AR_M1A_Pos)          /*!< 0xFFFFFFFF */
+#define DMA_SxM1AR_M1A           DMA_SxM1AR_M1A_Msk                            /*!< Memory 1 Address */
+
+/******************************************************************************/
+/*                                                                            */
+/*                             DMAMUX Controller                              */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bits definition for DMAMUX_CxCR register  **************/
+#define DMAMUX_CxCR_DMAREQ_ID_Pos      (0U)
+#define DMAMUX_CxCR_DMAREQ_ID_Msk      (0xFFUL << DMAMUX_CxCR_DMAREQ_ID_Pos)   /*!< 0x000000FF */
+#define DMAMUX_CxCR_DMAREQ_ID          DMAMUX_CxCR_DMAREQ_ID_Msk               /*!<  DMA request identification */
+#define DMAMUX_CxCR_DMAREQ_ID_0        (0x01UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000001 */
+#define DMAMUX_CxCR_DMAREQ_ID_1        (0x02UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000002 */
+#define DMAMUX_CxCR_DMAREQ_ID_2        (0x04UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000004 */
+#define DMAMUX_CxCR_DMAREQ_ID_3        (0x08UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000008 */
+#define DMAMUX_CxCR_DMAREQ_ID_4        (0x10UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000010 */
+#define DMAMUX_CxCR_DMAREQ_ID_5        (0x20UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000020 */
+#define DMAMUX_CxCR_DMAREQ_ID_6        (0x40UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000040 */
+#define DMAMUX_CxCR_DMAREQ_ID_7        (0x80UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000080 */
+#define DMAMUX_CxCR_SOIE_Pos           (8U)
+#define DMAMUX_CxCR_SOIE_Msk           (0x1UL << DMAMUX_CxCR_SOIE_Pos)         /*!< 0x00000100 */
+#define DMAMUX_CxCR_SOIE               DMAMUX_CxCR_SOIE_Msk                    /*!<  Synchronization overrun interrupt enable */
+#define DMAMUX_CxCR_EGE_Pos            (9U)
+#define DMAMUX_CxCR_EGE_Msk            (0x1UL << DMAMUX_CxCR_EGE_Pos)          /*!< 0x00000200 */
+#define DMAMUX_CxCR_EGE                DMAMUX_CxCR_EGE_Msk                     /*!<  Event generation enable */
+#define DMAMUX_CxCR_SE_Pos             (16U)
+#define DMAMUX_CxCR_SE_Msk             (0x1UL << DMAMUX_CxCR_SE_Pos)           /*!< 0x00010000 */
+#define DMAMUX_CxCR_SE                 DMAMUX_CxCR_SE_Msk                      /*!<  Synchronization enable */
+#define DMAMUX_CxCR_SPOL_Pos           (17U)
+#define DMAMUX_CxCR_SPOL_Msk           (0x3UL << DMAMUX_CxCR_SPOL_Pos)         /*!< 0x00060000 */
+#define DMAMUX_CxCR_SPOL               DMAMUX_CxCR_SPOL_Msk                    /*!<  Synchronization polarity */
+#define DMAMUX_CxCR_SPOL_0             (0x1UL << DMAMUX_CxCR_SPOL_Pos)          /*!< 0x00020000 */
+#define DMAMUX_CxCR_SPOL_1             (0x2UL << DMAMUX_CxCR_SPOL_Pos)          /*!< 0x00040000 */
+#define DMAMUX_CxCR_NBREQ_Pos          (19U)
+#define DMAMUX_CxCR_NBREQ_Msk          (0x1FUL << DMAMUX_CxCR_NBREQ_Pos)       /*!< 0x00F80000 */
+#define DMAMUX_CxCR_NBREQ              DMAMUX_CxCR_NBREQ_Msk                   /*!<  Number of DMA requests minus 1 to forward */
+#define DMAMUX_CxCR_NBREQ_0            (0x01UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00080000 */
+#define DMAMUX_CxCR_NBREQ_1            (0x02UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00100000 */
+#define DMAMUX_CxCR_NBREQ_2            (0x04UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00200000 */
+#define DMAMUX_CxCR_NBREQ_3            (0x08UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00400000 */
+#define DMAMUX_CxCR_NBREQ_4            (0x10UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00800000 */
+#define DMAMUX_CxCR_SYNC_ID_Pos        (24U)
+#define DMAMUX_CxCR_SYNC_ID_Msk        (0x1FUL << DMAMUX_CxCR_SYNC_ID_Pos)     /*!< 0x1F000000 */
+#define DMAMUX_CxCR_SYNC_ID            DMAMUX_CxCR_SYNC_ID_Msk                 /*!<  Synchronization identification */
+#define DMAMUX_CxCR_SYNC_ID_0          (0x01UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x01000000 */
+#define DMAMUX_CxCR_SYNC_ID_1          (0x02UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x02000000 */
+#define DMAMUX_CxCR_SYNC_ID_2          (0x04UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x04000000 */
+#define DMAMUX_CxCR_SYNC_ID_3          (0x08UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x08000000 */
+#define DMAMUX_CxCR_SYNC_ID_4          (0x10UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x10000000 */
+
+/********************  Bits definition for DMAMUX_CSR register  **************/
+#define DMAMUX_CSR_SOF0_Pos            (0U)
+#define DMAMUX_CSR_SOF0_Msk            (0x1UL << DMAMUX_CSR_SOF0_Pos)          /*!< 0x00000001 */
+#define DMAMUX_CSR_SOF0                DMAMUX_CSR_SOF0_Msk                     /*!< Channel 0 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF1_Pos            (1U)
+#define DMAMUX_CSR_SOF1_Msk            (0x1UL << DMAMUX_CSR_SOF1_Pos)          /*!< 0x00000002 */
+#define DMAMUX_CSR_SOF1                DMAMUX_CSR_SOF1_Msk                     /*!< Channel 1 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF2_Pos            (2U)
+#define DMAMUX_CSR_SOF2_Msk            (0x1UL << DMAMUX_CSR_SOF2_Pos)          /*!< 0x00000004 */
+#define DMAMUX_CSR_SOF2                DMAMUX_CSR_SOF2_Msk                     /*!< Channel 2 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF3_Pos            (3U)
+#define DMAMUX_CSR_SOF3_Msk            (0x1UL << DMAMUX_CSR_SOF3_Pos)          /*!< 0x00000008 */
+#define DMAMUX_CSR_SOF3                DMAMUX_CSR_SOF3_Msk                     /*!< Channel 3 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF4_Pos            (4U)
+#define DMAMUX_CSR_SOF4_Msk            (0x1UL << DMAMUX_CSR_SOF4_Pos)          /*!< 0x00000010 */
+#define DMAMUX_CSR_SOF4                DMAMUX_CSR_SOF4_Msk                     /*!< Channel 4 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF5_Pos            (5U)
+#define DMAMUX_CSR_SOF5_Msk            (0x1UL << DMAMUX_CSR_SOF5_Pos)          /*!< 0x00000020 */
+#define DMAMUX_CSR_SOF5                DMAMUX_CSR_SOF5_Msk                     /*!< Channel 5 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF6_Pos            (6U)
+#define DMAMUX_CSR_SOF6_Msk            (0x1UL << DMAMUX_CSR_SOF6_Pos)          /*!< 0x00000040 */
+#define DMAMUX_CSR_SOF6                DMAMUX_CSR_SOF6_Msk                     /*!< Channel 6 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF7_Pos            (7U)
+#define DMAMUX_CSR_SOF7_Msk            (0x1UL << DMAMUX_CSR_SOF7_Pos)          /*!< 0x00000080 */
+#define DMAMUX_CSR_SOF7                DMAMUX_CSR_SOF7_Msk                     /*!< Channel 7 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF8_Pos            (8U)
+#define DMAMUX_CSR_SOF8_Msk            (0x1UL << DMAMUX_CSR_SOF8_Pos)          /*!< 0x00000100 */
+#define DMAMUX_CSR_SOF8                DMAMUX_CSR_SOF8_Msk                     /*!< Channel 8 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF9_Pos            (9U)
+#define DMAMUX_CSR_SOF9_Msk            (0x1UL << DMAMUX_CSR_SOF9_Pos)          /*!< 0x00000200 */
+#define DMAMUX_CSR_SOF9                DMAMUX_CSR_SOF9_Msk                     /*!< Channel 9 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF10_Pos           (10U)
+#define DMAMUX_CSR_SOF10_Msk           (0x1UL << DMAMUX_CSR_SOF10_Pos)         /*!< 0x00000400 */
+#define DMAMUX_CSR_SOF10               DMAMUX_CSR_SOF10_Msk                    /*!< Channel 10 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF11_Pos           (11U)
+#define DMAMUX_CSR_SOF11_Msk           (0x1UL << DMAMUX_CSR_SOF11_Pos)         /*!< 0x00000800 */
+#define DMAMUX_CSR_SOF11               DMAMUX_CSR_SOF11_Msk                    /*!< Channel 11 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF12_Pos           (12U)
+#define DMAMUX_CSR_SOF12_Msk           (0x1UL << DMAMUX_CSR_SOF12_Pos)         /*!< 0x00001000 */
+#define DMAMUX_CSR_SOF12               DMAMUX_CSR_SOF12_Msk                    /*!< Channel 12 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF13_Pos           (13U)
+#define DMAMUX_CSR_SOF13_Msk           (0x1UL << DMAMUX_CSR_SOF13_Pos)         /*!< 0x00002000 */
+#define DMAMUX_CSR_SOF13               DMAMUX_CSR_SOF13_Msk                    /*!< Channel 13 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF14_Pos           (14U)
+#define DMAMUX_CSR_SOF14_Msk           (0x1UL << DMAMUX_CSR_SOF14_Pos)         /*!< 0x00004000 */
+#define DMAMUX_CSR_SOF14               DMAMUX_CSR_SOF14_Msk                    /*!< Channel 14 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF15_Pos           (15U)
+#define DMAMUX_CSR_SOF15_Msk           (0x1UL << DMAMUX_CSR_SOF15_Pos)         /*!< 0x00008000 */
+#define DMAMUX_CSR_SOF15               DMAMUX_CSR_SOF15_Msk                    /*!< Channel 15 Synchronization overrun event flag */
+
+/********************  Bits definition for DMAMUX_CFR register  **************/
+#define DMAMUX_CFR_CSOF0_Pos           (0U)
+#define DMAMUX_CFR_CSOF0_Msk           (0x1UL << DMAMUX_CFR_CSOF0_Pos)         /*!< 0x00000001 */
+#define DMAMUX_CFR_CSOF0               DMAMUX_CFR_CSOF0_Msk                    /*!< Channel 0 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF1_Pos           (1U)
+#define DMAMUX_CFR_CSOF1_Msk           (0x1UL << DMAMUX_CFR_CSOF1_Pos)         /*!< 0x00000002 */
+#define DMAMUX_CFR_CSOF1               DMAMUX_CFR_CSOF1_Msk                    /*!< Channel 1 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF2_Pos           (2U)
+#define DMAMUX_CFR_CSOF2_Msk           (0x1UL << DMAMUX_CFR_CSOF2_Pos)         /*!< 0x00000004 */
+#define DMAMUX_CFR_CSOF2               DMAMUX_CFR_CSOF2_Msk                    /*!< Channel 2 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF3_Pos           (3U)
+#define DMAMUX_CFR_CSOF3_Msk           (0x1UL << DMAMUX_CFR_CSOF3_Pos)         /*!< 0x00000008 */
+#define DMAMUX_CFR_CSOF3               DMAMUX_CFR_CSOF3_Msk                    /*!< Channel 3 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF4_Pos           (4U)
+#define DMAMUX_CFR_CSOF4_Msk           (0x1UL << DMAMUX_CFR_CSOF4_Pos)         /*!< 0x00000010 */
+#define DMAMUX_CFR_CSOF4               DMAMUX_CFR_CSOF4_Msk                    /*!< Channel 4 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF5_Pos           (5U)
+#define DMAMUX_CFR_CSOF5_Msk           (0x1UL << DMAMUX_CFR_CSOF5_Pos)         /*!< 0x00000020 */
+#define DMAMUX_CFR_CSOF5               DMAMUX_CFR_CSOF5_Msk                    /*!< Channel 5 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF6_Pos           (6U)
+#define DMAMUX_CFR_CSOF6_Msk           (0x1UL << DMAMUX_CFR_CSOF6_Pos)         /*!< 0x00000040 */
+#define DMAMUX_CFR_CSOF6               DMAMUX_CFR_CSOF6_Msk                    /*!< Channel 6 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF7_Pos           (7U)
+#define DMAMUX_CFR_CSOF7_Msk           (0x1UL << DMAMUX_CFR_CSOF7_Pos)         /*!< 0x00000080 */
+#define DMAMUX_CFR_CSOF7               DMAMUX_CFR_CSOF7_Msk                    /*!< Channel 7 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF8_Pos           (8U)
+#define DMAMUX_CFR_CSOF8_Msk           (0x1UL << DMAMUX_CFR_CSOF8_Pos)         /*!< 0x00000100 */
+#define DMAMUX_CFR_CSOF8               DMAMUX_CFR_CSOF8_Msk                    /*!< Channel 8 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF9_Pos           (9U)
+#define DMAMUX_CFR_CSOF9_Msk           (0x1UL << DMAMUX_CFR_CSOF9_Pos)         /*!< 0x00000200 */
+#define DMAMUX_CFR_CSOF9               DMAMUX_CFR_CSOF9_Msk                    /*!< Channel 9 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF10_Pos          (10U)
+#define DMAMUX_CFR_CSOF10_Msk          (0x1UL << DMAMUX_CFR_CSOF10_Pos)        /*!< 0x00000400 */
+#define DMAMUX_CFR_CSOF10              DMAMUX_CFR_CSOF10_Msk                   /*!< Channel 10 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF11_Pos          (11U)
+#define DMAMUX_CFR_CSOF11_Msk          (0x1UL << DMAMUX_CFR_CSOF11_Pos)        /*!< 0x00000800 */
+#define DMAMUX_CFR_CSOF11              DMAMUX_CFR_CSOF11_Msk                   /*!< Channel 11 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF12_Pos          (12U)
+#define DMAMUX_CFR_CSOF12_Msk          (0x1UL << DMAMUX_CFR_CSOF12_Pos)        /*!< 0x00001000 */
+#define DMAMUX_CFR_CSOF12              DMAMUX_CFR_CSOF12_Msk                   /*!< Channel 12 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF13_Pos          (13U)
+#define DMAMUX_CFR_CSOF13_Msk          (0x1UL << DMAMUX_CFR_CSOF13_Pos)        /*!< 0x00002000 */
+#define DMAMUX_CFR_CSOF13              DMAMUX_CFR_CSOF13_Msk                   /*!< Channel 13 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF14_Pos          (14U)
+#define DMAMUX_CFR_CSOF14_Msk          (0x1UL << DMAMUX_CFR_CSOF14_Pos)        /*!< 0x00004000 */
+#define DMAMUX_CFR_CSOF14              DMAMUX_CFR_CSOF14_Msk                   /*!< Channel 14 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF15_Pos          (15U)
+#define DMAMUX_CFR_CSOF15_Msk          (0x1UL << DMAMUX_CFR_CSOF15_Pos)        /*!< 0x00008000 */
+#define DMAMUX_CFR_CSOF15              DMAMUX_CFR_CSOF15_Msk                   /*!< Channel 15 Clear synchronization overrun event flag */
+
+/********************  Bits definition for DMAMUX_RGxCR register  ************/
+#define DMAMUX_RGxCR_SIG_ID_Pos        (0U)
+#define DMAMUX_RGxCR_SIG_ID_Msk        (0x1FUL << DMAMUX_RGxCR_SIG_ID_Pos)     /*!< 0x0000001F */
+#define DMAMUX_RGxCR_SIG_ID            DMAMUX_RGxCR_SIG_ID_Msk                 /*!< Signal identification */
+#define DMAMUX_RGxCR_SIG_ID_0          (0x01UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000001 */
+#define DMAMUX_RGxCR_SIG_ID_1          (0x02UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000002 */
+#define DMAMUX_RGxCR_SIG_ID_2          (0x04UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000004 */
+#define DMAMUX_RGxCR_SIG_ID_3          (0x08UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000008 */
+#define DMAMUX_RGxCR_SIG_ID_4          (0x10UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000010 */
+#define DMAMUX_RGxCR_OIE_Pos           (8U)
+#define DMAMUX_RGxCR_OIE_Msk           (0x1UL << DMAMUX_RGxCR_OIE_Pos)         /*!< 0x00000100 */
+#define DMAMUX_RGxCR_OIE               DMAMUX_RGxCR_OIE_Msk                    /*!< Trigger overrun interrupt enable */
+#define DMAMUX_RGxCR_GE_Pos            (16U)
+#define DMAMUX_RGxCR_GE_Msk            (0x1UL << DMAMUX_RGxCR_GE_Pos)          /*!< 0x00010000 */
+#define DMAMUX_RGxCR_GE                DMAMUX_RGxCR_GE_Msk                     /*!< DMA request generator enable */
+#define DMAMUX_RGxCR_GPOL_Pos          (17U)
+#define DMAMUX_RGxCR_GPOL_Msk          (0x3UL << DMAMUX_RGxCR_GPOL_Pos)        /*!< 0x00060000 */
+#define DMAMUX_RGxCR_GPOL              DMAMUX_RGxCR_GPOL_Msk                   /*!< DMA request generator trigger polarity */
+#define DMAMUX_RGxCR_GPOL_0            (0x1UL << DMAMUX_RGxCR_GPOL_Pos)         /*!< 0x00020000 */
+#define DMAMUX_RGxCR_GPOL_1            (0x2UL << DMAMUX_RGxCR_GPOL_Pos)         /*!< 0x00040000 */
+#define DMAMUX_RGxCR_GNBREQ_Pos        (19U)
+#define DMAMUX_RGxCR_GNBREQ_Msk        (0x1FUL << DMAMUX_RGxCR_GNBREQ_Pos)     /*!< 0x00F80000 */
+#define DMAMUX_RGxCR_GNBREQ            DMAMUX_RGxCR_GNBREQ_Msk                 /*!< Number of DMA requests to be generated */
+#define DMAMUX_RGxCR_GNBREQ_0          (0x01UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00080000 */
+#define DMAMUX_RGxCR_GNBREQ_1          (0x02UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00100000 */
+#define DMAMUX_RGxCR_GNBREQ_2          (0x04UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00200000 */
+#define DMAMUX_RGxCR_GNBREQ_3          (0x08UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00400000 */
+#define DMAMUX_RGxCR_GNBREQ_4          (0x10UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00800000 */
+
+/********************  Bits definition for DMAMUX_RGSR register  **************/
+#define DMAMUX_RGSR_OF0_Pos            (0U)
+#define DMAMUX_RGSR_OF0_Msk            (0x1UL << DMAMUX_RGSR_OF0_Pos)          /*!< 0x00000001 */
+#define DMAMUX_RGSR_OF0                DMAMUX_RGSR_OF0_Msk                     /*!< Request generator channel 0 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF1_Pos            (1U)
+#define DMAMUX_RGSR_OF1_Msk            (0x1UL << DMAMUX_RGSR_OF1_Pos)          /*!< 0x00000002 */
+#define DMAMUX_RGSR_OF1                DMAMUX_RGSR_OF1_Msk                     /*!< Request generator channel 1 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF2_Pos            (2U)
+#define DMAMUX_RGSR_OF2_Msk            (0x1UL << DMAMUX_RGSR_OF2_Pos)          /*!< 0x00000004 */
+#define DMAMUX_RGSR_OF2                DMAMUX_RGSR_OF2_Msk                     /*!< Request generator channel 2 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF3_Pos            (3U)
+#define DMAMUX_RGSR_OF3_Msk            (0x1UL << DMAMUX_RGSR_OF3_Pos)          /*!< 0x00000008 */
+#define DMAMUX_RGSR_OF3                DMAMUX_RGSR_OF3_Msk                     /*!< Request generator channel 3 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF4_Pos            (4U)
+#define DMAMUX_RGSR_OF4_Msk            (0x1UL << DMAMUX_RGSR_OF4_Pos)          /*!< 0x00000010 */
+#define DMAMUX_RGSR_OF4                DMAMUX_RGSR_OF4_Msk                     /*!< Request generator channel 4 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF5_Pos            (5U)
+#define DMAMUX_RGSR_OF5_Msk            (0x1UL << DMAMUX_RGSR_OF5_Pos)          /*!< 0x00000020 */
+#define DMAMUX_RGSR_OF5                DMAMUX_RGSR_OF5_Msk                     /*!< Request generator channel 5 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF6_Pos            (6U)
+#define DMAMUX_RGSR_OF6_Msk            (0x1UL << DMAMUX_RGSR_OF6_Pos)          /*!< 0x00000040 */
+#define DMAMUX_RGSR_OF6                DMAMUX_RGSR_OF6_Msk                     /*!< Request generator channel 6 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF7_Pos            (7U)
+#define DMAMUX_RGSR_OF7_Msk            (0x1UL << DMAMUX_RGSR_OF7_Pos)          /*!< 0x00000080 */
+#define DMAMUX_RGSR_OF7                DMAMUX_RGSR_OF7_Msk                     /*!< Request generator channel 7 Trigger overrun event flag */
+
+/********************  Bits definition for DMAMUX_RGCFR register  **************/
+#define DMAMUX_RGCFR_COF0_Pos          (0U)
+#define DMAMUX_RGCFR_COF0_Msk          (0x1UL << DMAMUX_RGCFR_COF0_Pos)        /*!< 0x00000001 */
+#define DMAMUX_RGCFR_COF0              DMAMUX_RGCFR_COF0_Msk                   /*!< Request generator channel 0 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF1_Pos          (1U)
+#define DMAMUX_RGCFR_COF1_Msk          (0x1UL << DMAMUX_RGCFR_COF1_Pos)        /*!< 0x00000002 */
+#define DMAMUX_RGCFR_COF1              DMAMUX_RGCFR_COF1_Msk                   /*!< Request generator channel 1 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF2_Pos          (2U)
+#define DMAMUX_RGCFR_COF2_Msk          (0x1UL << DMAMUX_RGCFR_COF2_Pos)        /*!< 0x00000004 */
+#define DMAMUX_RGCFR_COF2              DMAMUX_RGCFR_COF2_Msk                   /*!< Request generator channel 2 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF3_Pos          (3U)
+#define DMAMUX_RGCFR_COF3_Msk          (0x1UL << DMAMUX_RGCFR_COF3_Pos)        /*!< 0x00000008 */
+#define DMAMUX_RGCFR_COF3              DMAMUX_RGCFR_COF3_Msk                   /*!< Request generator channel 3 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF4_Pos          (4U)
+#define DMAMUX_RGCFR_COF4_Msk          (0x1UL << DMAMUX_RGCFR_COF4_Pos)        /*!< 0x00000010 */
+#define DMAMUX_RGCFR_COF4              DMAMUX_RGCFR_COF4_Msk                   /*!< Request generator channel 4 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF5_Pos          (5U)
+#define DMAMUX_RGCFR_COF5_Msk          (0x1UL << DMAMUX_RGCFR_COF5_Pos)        /*!< 0x00000020 */
+#define DMAMUX_RGCFR_COF5              DMAMUX_RGCFR_COF5_Msk                   /*!< Request generator channel 5 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF6_Pos          (6U)
+#define DMAMUX_RGCFR_COF6_Msk          (0x1UL << DMAMUX_RGCFR_COF6_Pos)        /*!< 0x00000040 */
+#define DMAMUX_RGCFR_COF6              DMAMUX_RGCFR_COF6_Msk                   /*!< Request generator channel 6 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF7_Pos          (7U)
+#define DMAMUX_RGCFR_COF7_Msk          (0x1UL << DMAMUX_RGCFR_COF7_Pos)        /*!< 0x00000080 */
+#define DMAMUX_RGCFR_COF7              DMAMUX_RGCFR_COF7_Msk                   /*!< Request generator channel 7 Clear trigger overrun event flag */
+
+/******************************************************************************/
+/*                                                                            */
+/*                         AHB Master DMA2D Controller (DMA2D)                */
+/*                                                                            */
+/******************************************************************************/
+
+/********************  Bit definition for DMA2D_CR register  ******************/
+
+#define DMA2D_CR_START_Pos         (0U)
+#define DMA2D_CR_START_Msk         (0x1UL << DMA2D_CR_START_Pos)               /*!< 0x00000001 */
+#define DMA2D_CR_START             DMA2D_CR_START_Msk                          /*!< Start transfer                          */
+#define DMA2D_CR_SUSP_Pos          (1U)
+#define DMA2D_CR_SUSP_Msk          (0x1UL << DMA2D_CR_SUSP_Pos)                /*!< 0x00000002 */
+#define DMA2D_CR_SUSP              DMA2D_CR_SUSP_Msk                           /*!< Suspend transfer                        */
+#define DMA2D_CR_ABORT_Pos         (2U)
+#define DMA2D_CR_ABORT_Msk         (0x1UL << DMA2D_CR_ABORT_Pos)               /*!< 0x00000004 */
+#define DMA2D_CR_ABORT             DMA2D_CR_ABORT_Msk                          /*!< Abort transfer                          */
+#define DMA2D_CR_LOM_Pos           (6U)
+#define DMA2D_CR_LOM_Msk           (0x1UL << DMA2D_CR_LOM_Pos)                 /*!< 0x00000040 */
+#define DMA2D_CR_LOM               DMA2D_CR_LOM_Msk                            /*!< Line Offset Mode                         */
+#define DMA2D_CR_TEIE_Pos          (8U)
+#define DMA2D_CR_TEIE_Msk          (0x1UL << DMA2D_CR_TEIE_Pos)                /*!< 0x00000100 */
+#define DMA2D_CR_TEIE              DMA2D_CR_TEIE_Msk                           /*!< Transfer Error Interrupt Enable         */
+#define DMA2D_CR_TCIE_Pos          (9U)
+#define DMA2D_CR_TCIE_Msk          (0x1UL << DMA2D_CR_TCIE_Pos)                /*!< 0x00000200 */
+#define DMA2D_CR_TCIE              DMA2D_CR_TCIE_Msk                           /*!< Transfer Complete Interrupt Enable      */
+#define DMA2D_CR_TWIE_Pos          (10U)
+#define DMA2D_CR_TWIE_Msk          (0x1UL << DMA2D_CR_TWIE_Pos)                /*!< 0x00000400 */
+#define DMA2D_CR_TWIE              DMA2D_CR_TWIE_Msk                           /*!< Transfer Watermark Interrupt Enable     */
+#define DMA2D_CR_CAEIE_Pos         (11U)
+#define DMA2D_CR_CAEIE_Msk         (0x1UL << DMA2D_CR_CAEIE_Pos)               /*!< 0x00000800 */
+#define DMA2D_CR_CAEIE             DMA2D_CR_CAEIE_Msk                          /*!< CLUT Access Error Interrupt Enable      */
+#define DMA2D_CR_CTCIE_Pos         (12U)
+#define DMA2D_CR_CTCIE_Msk         (0x1UL << DMA2D_CR_CTCIE_Pos)               /*!< 0x00001000 */
+#define DMA2D_CR_CTCIE             DMA2D_CR_CTCIE_Msk                          /*!< CLUT Transfer Complete Interrupt Enable */
+#define DMA2D_CR_CEIE_Pos          (13U)
+#define DMA2D_CR_CEIE_Msk          (0x1UL << DMA2D_CR_CEIE_Pos)                /*!< 0x00002000 */
+#define DMA2D_CR_CEIE              DMA2D_CR_CEIE_Msk                           /*!< Configuration Error Interrupt Enable    */
+#define DMA2D_CR_MODE_Pos          (16U)
+#define DMA2D_CR_MODE_Msk          (0x7UL << DMA2D_CR_MODE_Pos)                /*!< 0x00070000 */
+#define DMA2D_CR_MODE              DMA2D_CR_MODE_Msk                           /*!< DMA2D Mode[2:0]                         */
+#define DMA2D_CR_MODE_0            (0x1UL << DMA2D_CR_MODE_Pos)                 /*!< 0x00010000 */
+#define DMA2D_CR_MODE_1            (0x2UL << DMA2D_CR_MODE_Pos)                 /*!< 0x00020000 */
+#define DMA2D_CR_MODE_2            (0x4UL << DMA2D_CR_MODE_Pos)                 /*!< 0x00040000 */
+
+/********************  Bit definition for DMA2D_ISR register  *****************/
+
+#define DMA2D_ISR_TEIF_Pos         (0U)
+#define DMA2D_ISR_TEIF_Msk         (0x1UL << DMA2D_ISR_TEIF_Pos)               /*!< 0x00000001 */
+#define DMA2D_ISR_TEIF             DMA2D_ISR_TEIF_Msk                          /*!< Transfer Error Interrupt Flag         */
+#define DMA2D_ISR_TCIF_Pos         (1U)
+#define DMA2D_ISR_TCIF_Msk         (0x1UL << DMA2D_ISR_TCIF_Pos)               /*!< 0x00000002 */
+#define DMA2D_ISR_TCIF             DMA2D_ISR_TCIF_Msk                          /*!< Transfer Complete Interrupt Flag      */
+#define DMA2D_ISR_TWIF_Pos         (2U)
+#define DMA2D_ISR_TWIF_Msk         (0x1UL << DMA2D_ISR_TWIF_Pos)               /*!< 0x00000004 */
+#define DMA2D_ISR_TWIF             DMA2D_ISR_TWIF_Msk                          /*!< Transfer Watermark Interrupt Flag     */
+#define DMA2D_ISR_CAEIF_Pos        (3U)
+#define DMA2D_ISR_CAEIF_Msk        (0x1UL << DMA2D_ISR_CAEIF_Pos)              /*!< 0x00000008 */
+#define DMA2D_ISR_CAEIF            DMA2D_ISR_CAEIF_Msk                         /*!< CLUT Access Error Interrupt Flag      */
+#define DMA2D_ISR_CTCIF_Pos        (4U)
+#define DMA2D_ISR_CTCIF_Msk        (0x1UL << DMA2D_ISR_CTCIF_Pos)              /*!< 0x00000010 */
+#define DMA2D_ISR_CTCIF            DMA2D_ISR_CTCIF_Msk                         /*!< CLUT Transfer Complete Interrupt Flag */
+#define DMA2D_ISR_CEIF_Pos         (5U)
+#define DMA2D_ISR_CEIF_Msk         (0x1UL << DMA2D_ISR_CEIF_Pos)               /*!< 0x00000020 */
+#define DMA2D_ISR_CEIF             DMA2D_ISR_CEIF_Msk                          /*!< Configuration Error Interrupt Flag    */
+
+/********************  Bit definition for DMA2D_IFCR register  ****************/
+
+#define DMA2D_IFCR_CTEIF_Pos       (0U)
+#define DMA2D_IFCR_CTEIF_Msk       (0x1UL << DMA2D_IFCR_CTEIF_Pos)             /*!< 0x00000001 */
+#define DMA2D_IFCR_CTEIF           DMA2D_IFCR_CTEIF_Msk                        /*!< Clears Transfer Error Interrupt Flag         */
+#define DMA2D_IFCR_CTCIF_Pos       (1U)
+#define DMA2D_IFCR_CTCIF_Msk       (0x1UL << DMA2D_IFCR_CTCIF_Pos)             /*!< 0x00000002 */
+#define DMA2D_IFCR_CTCIF           DMA2D_IFCR_CTCIF_Msk                        /*!< Clears Transfer Complete Interrupt Flag      */
+#define DMA2D_IFCR_CTWIF_Pos       (2U)
+#define DMA2D_IFCR_CTWIF_Msk       (0x1UL << DMA2D_IFCR_CTWIF_Pos)             /*!< 0x00000004 */
+#define DMA2D_IFCR_CTWIF           DMA2D_IFCR_CTWIF_Msk                        /*!< Clears Transfer Watermark Interrupt Flag     */
+#define DMA2D_IFCR_CAECIF_Pos      (3U)
+#define DMA2D_IFCR_CAECIF_Msk      (0x1UL << DMA2D_IFCR_CAECIF_Pos)            /*!< 0x00000008 */
+#define DMA2D_IFCR_CAECIF          DMA2D_IFCR_CAECIF_Msk                       /*!< Clears CLUT Access Error Interrupt Flag      */
+#define DMA2D_IFCR_CCTCIF_Pos      (4U)
+#define DMA2D_IFCR_CCTCIF_Msk      (0x1UL << DMA2D_IFCR_CCTCIF_Pos)            /*!< 0x00000010 */
+#define DMA2D_IFCR_CCTCIF          DMA2D_IFCR_CCTCIF_Msk                       /*!< Clears CLUT Transfer Complete Interrupt Flag */
+#define DMA2D_IFCR_CCEIF_Pos       (5U)
+#define DMA2D_IFCR_CCEIF_Msk       (0x1UL << DMA2D_IFCR_CCEIF_Pos)             /*!< 0x00000020 */
+#define DMA2D_IFCR_CCEIF           DMA2D_IFCR_CCEIF_Msk                        /*!< Clears Configuration Error Interrupt Flag    */
+
+/********************  Bit definition for DMA2D_FGMAR register  ***************/
+
+#define DMA2D_FGMAR_MA_Pos         (0U)
+#define DMA2D_FGMAR_MA_Msk         (0xFFFFFFFFUL << DMA2D_FGMAR_MA_Pos)        /*!< 0xFFFFFFFF */
+#define DMA2D_FGMAR_MA             DMA2D_FGMAR_MA_Msk                          /*!< Foreground Memory Address */
+
+/********************  Bit definition for DMA2D_FGOR register  ****************/
+
+#define DMA2D_FGOR_LO_Pos          (0U)
+#define DMA2D_FGOR_LO_Msk          (0xFFFFUL << DMA2D_FGOR_LO_Pos)             /*!< 0x0000FFFF */
+#define DMA2D_FGOR_LO              DMA2D_FGOR_LO_Msk                           /*!< Line Offset */
+
+/********************  Bit definition for DMA2D_BGMAR register  ***************/
+
+#define DMA2D_BGMAR_MA_Pos         (0U)
+#define DMA2D_BGMAR_MA_Msk         (0xFFFFFFFFUL << DMA2D_BGMAR_MA_Pos)        /*!< 0xFFFFFFFF */
+#define DMA2D_BGMAR_MA             DMA2D_BGMAR_MA_Msk                          /*!< Background Memory Address */
+
+/********************  Bit definition for DMA2D_BGOR register  ****************/
+
+#define DMA2D_BGOR_LO_Pos          (0U)
+#define DMA2D_BGOR_LO_Msk          (0xFFFFUL << DMA2D_BGOR_LO_Pos)             /*!< 0x0000FFFF */
+#define DMA2D_BGOR_LO              DMA2D_BGOR_LO_Msk                           /*!< Line Offset */
+
+/********************  Bit definition for DMA2D_FGPFCCR register  *************/
+
+#define DMA2D_FGPFCCR_CM_Pos       (0U)
+#define DMA2D_FGPFCCR_CM_Msk       (0xFUL << DMA2D_FGPFCCR_CM_Pos)             /*!< 0x0000000F */
+#define DMA2D_FGPFCCR_CM           DMA2D_FGPFCCR_CM_Msk                        /*!< Input color mode CM[3:0] */
+#define DMA2D_FGPFCCR_CM_0         (0x1UL << DMA2D_FGPFCCR_CM_Pos)              /*!< 0x00000001 */
+#define DMA2D_FGPFCCR_CM_1         (0x2UL << DMA2D_FGPFCCR_CM_Pos)              /*!< 0x00000002 */
+#define DMA2D_FGPFCCR_CM_2         (0x4UL << DMA2D_FGPFCCR_CM_Pos)              /*!< 0x00000004 */
+#define DMA2D_FGPFCCR_CM_3         (0x8UL << DMA2D_FGPFCCR_CM_Pos)              /*!< 0x00000008 */
+#define DMA2D_FGPFCCR_CCM_Pos      (4U)
+#define DMA2D_FGPFCCR_CCM_Msk      (0x1UL << DMA2D_FGPFCCR_CCM_Pos)            /*!< 0x00000010 */
+#define DMA2D_FGPFCCR_CCM          DMA2D_FGPFCCR_CCM_Msk                       /*!< CLUT Color mode */
+#define DMA2D_FGPFCCR_START_Pos    (5U)
+#define DMA2D_FGPFCCR_START_Msk    (0x1UL << DMA2D_FGPFCCR_START_Pos)          /*!< 0x00000020 */
+#define DMA2D_FGPFCCR_START        DMA2D_FGPFCCR_START_Msk                     /*!< Start */
+#define DMA2D_FGPFCCR_CS_Pos       (8U)
+#define DMA2D_FGPFCCR_CS_Msk       (0xFFUL << DMA2D_FGPFCCR_CS_Pos)            /*!< 0x0000FF00 */
+#define DMA2D_FGPFCCR_CS           DMA2D_FGPFCCR_CS_Msk                        /*!< CLUT size */
+#define DMA2D_FGPFCCR_AM_Pos       (16U)
+#define DMA2D_FGPFCCR_AM_Msk       (0x3UL << DMA2D_FGPFCCR_AM_Pos)             /*!< 0x00030000 */
+#define DMA2D_FGPFCCR_AM           DMA2D_FGPFCCR_AM_Msk                        /*!< Alpha mode AM[1:0] */
+#define DMA2D_FGPFCCR_AM_0         (0x1UL << DMA2D_FGPFCCR_AM_Pos)              /*!< 0x00010000 */
+#define DMA2D_FGPFCCR_AM_1         (0x2UL << DMA2D_FGPFCCR_AM_Pos)              /*!< 0x00020000 */
+#define DMA2D_FGPFCCR_CSS_Pos      (18U)
+#define DMA2D_FGPFCCR_CSS_Msk      (0x3UL << DMA2D_FGPFCCR_CSS_Pos)            /*!< 0x000C0000 */
+#define DMA2D_FGPFCCR_CSS          DMA2D_FGPFCCR_CSS_Msk                       /* !< Chroma Sub-Sampling */
+#define DMA2D_FGPFCCR_CSS_0        (0x1UL << DMA2D_FGPFCCR_CSS_Pos)             /*!< 0x00040000 */
+#define DMA2D_FGPFCCR_CSS_1        (0x2UL << DMA2D_FGPFCCR_CSS_Pos)             /*!< 0x00080000 */
+#define DMA2D_FGPFCCR_AI_Pos       (20U)
+#define DMA2D_FGPFCCR_AI_Msk       (0x1UL << DMA2D_FGPFCCR_AI_Pos)             /*!< 0x00100000 */
+#define DMA2D_FGPFCCR_AI           DMA2D_FGPFCCR_AI_Msk                        /*!< Foreground Input Alpha Inverted */
+#define DMA2D_FGPFCCR_RBS_Pos      (21U)
+#define DMA2D_FGPFCCR_RBS_Msk      (0x1UL << DMA2D_FGPFCCR_RBS_Pos)            /*!< 0x00200000 */
+#define DMA2D_FGPFCCR_RBS          DMA2D_FGPFCCR_RBS_Msk                       /*!< Foreground Input Red Blue Swap */
+#define DMA2D_FGPFCCR_ALPHA_Pos    (24U)
+#define DMA2D_FGPFCCR_ALPHA_Msk    (0xFFUL << DMA2D_FGPFCCR_ALPHA_Pos)         /*!< 0xFF000000 */
+#define DMA2D_FGPFCCR_ALPHA        DMA2D_FGPFCCR_ALPHA_Msk                     /*!< Alpha value */
+
+/********************  Bit definition for DMA2D_FGCOLR register  **************/
+
+#define DMA2D_FGCOLR_BLUE_Pos      (0U)
+#define DMA2D_FGCOLR_BLUE_Msk      (0xFFUL << DMA2D_FGCOLR_BLUE_Pos)           /*!< 0x000000FF */
+#define DMA2D_FGCOLR_BLUE          DMA2D_FGCOLR_BLUE_Msk                       /*!< Foreground Blue Value */
+#define DMA2D_FGCOLR_GREEN_Pos     (8U)
+#define DMA2D_FGCOLR_GREEN_Msk     (0xFFUL << DMA2D_FGCOLR_GREEN_Pos)          /*!< 0x0000FF00 */
+#define DMA2D_FGCOLR_GREEN         DMA2D_FGCOLR_GREEN_Msk                      /*!< Foreground Green Value */
+#define DMA2D_FGCOLR_RED_Pos       (16U)
+#define DMA2D_FGCOLR_RED_Msk       (0xFFUL << DMA2D_FGCOLR_RED_Pos)            /*!< 0x00FF0000 */
+#define DMA2D_FGCOLR_RED           DMA2D_FGCOLR_RED_Msk                        /*!< Foreground Red Value */
+
+/********************  Bit definition for DMA2D_BGPFCCR register  *************/
+
+#define DMA2D_BGPFCCR_CM_Pos       (0U)
+#define DMA2D_BGPFCCR_CM_Msk       (0xFUL << DMA2D_BGPFCCR_CM_Pos)             /*!< 0x0000000F */
+#define DMA2D_BGPFCCR_CM           DMA2D_BGPFCCR_CM_Msk                        /*!< Input color mode CM[3:0] */
+#define DMA2D_BGPFCCR_CM_0         (0x1UL << DMA2D_BGPFCCR_CM_Pos)              /*!< 0x00000001 */
+#define DMA2D_BGPFCCR_CM_1         (0x2UL << DMA2D_BGPFCCR_CM_Pos)              /*!< 0x00000002 */
+#define DMA2D_BGPFCCR_CM_2         (0x4UL << DMA2D_BGPFCCR_CM_Pos)              /*!< 0x00000004 */
+#define DMA2D_BGPFCCR_CM_3         (0x8UL << DMA2D_BGPFCCR_CM_Pos)              /*!< 0x00000008 */
+#define DMA2D_BGPFCCR_CCM_Pos      (4U)
+#define DMA2D_BGPFCCR_CCM_Msk      (0x1UL << DMA2D_BGPFCCR_CCM_Pos)            /*!< 0x00000010 */
+#define DMA2D_BGPFCCR_CCM          DMA2D_BGPFCCR_CCM_Msk                       /*!< CLUT Color mode */
+#define DMA2D_BGPFCCR_START_Pos    (5U)
+#define DMA2D_BGPFCCR_START_Msk    (0x1UL << DMA2D_BGPFCCR_START_Pos)          /*!< 0x00000020 */
+#define DMA2D_BGPFCCR_START        DMA2D_BGPFCCR_START_Msk                     /*!< Start */
+#define DMA2D_BGPFCCR_CS_Pos       (8U)
+#define DMA2D_BGPFCCR_CS_Msk       (0xFFUL << DMA2D_BGPFCCR_CS_Pos)            /*!< 0x0000FF00 */
+#define DMA2D_BGPFCCR_CS           DMA2D_BGPFCCR_CS_Msk                        /*!< CLUT size */
+#define DMA2D_BGPFCCR_AM_Pos       (16U)
+#define DMA2D_BGPFCCR_AM_Msk       (0x3UL << DMA2D_BGPFCCR_AM_Pos)             /*!< 0x00030000 */
+#define DMA2D_BGPFCCR_AM           DMA2D_BGPFCCR_AM_Msk                        /*!< Alpha mode AM[1:0] */
+#define DMA2D_BGPFCCR_AM_0         (0x1UL << DMA2D_BGPFCCR_AM_Pos)              /*!< 0x00010000 */
+#define DMA2D_BGPFCCR_AM_1         (0x2UL << DMA2D_BGPFCCR_AM_Pos)              /*!< 0x00020000 */
+#define DMA2D_BGPFCCR_AI_Pos       (20U)
+#define DMA2D_BGPFCCR_AI_Msk       (0x1UL << DMA2D_BGPFCCR_AI_Pos)             /*!< 0x00100000 */
+#define DMA2D_BGPFCCR_AI           DMA2D_BGPFCCR_AI_Msk                        /*!< background Input Alpha Inverted */
+#define DMA2D_BGPFCCR_RBS_Pos      (21U)
+#define DMA2D_BGPFCCR_RBS_Msk      (0x1UL << DMA2D_BGPFCCR_RBS_Pos)            /*!< 0x00200000 */
+#define DMA2D_BGPFCCR_RBS          DMA2D_BGPFCCR_RBS_Msk                       /*!< Background Input Red Blue Swap */
+#define DMA2D_BGPFCCR_ALPHA_Pos    (24U)
+#define DMA2D_BGPFCCR_ALPHA_Msk    (0xFFUL << DMA2D_BGPFCCR_ALPHA_Pos)         /*!< 0xFF000000 */
+#define DMA2D_BGPFCCR_ALPHA        DMA2D_BGPFCCR_ALPHA_Msk                     /*!< background Input Alpha value */
+
+/********************  Bit definition for DMA2D_BGCOLR register  **************/
+
+#define DMA2D_BGCOLR_BLUE_Pos      (0U)
+#define DMA2D_BGCOLR_BLUE_Msk      (0xFFUL << DMA2D_BGCOLR_BLUE_Pos)           /*!< 0x000000FF */
+#define DMA2D_BGCOLR_BLUE          DMA2D_BGCOLR_BLUE_Msk                       /*!< Background Blue Value */
+#define DMA2D_BGCOLR_GREEN_Pos     (8U)
+#define DMA2D_BGCOLR_GREEN_Msk     (0xFFUL << DMA2D_BGCOLR_GREEN_Pos)          /*!< 0x0000FF00 */
+#define DMA2D_BGCOLR_GREEN         DMA2D_BGCOLR_GREEN_Msk                      /*!< Background Green Value */
+#define DMA2D_BGCOLR_RED_Pos       (16U)
+#define DMA2D_BGCOLR_RED_Msk       (0xFFUL << DMA2D_BGCOLR_RED_Pos)            /*!< 0x00FF0000 */
+#define DMA2D_BGCOLR_RED           DMA2D_BGCOLR_RED_Msk                        /*!< Background Red Value */
+
+/********************  Bit definition for DMA2D_FGCMAR register  **************/
+
+#define DMA2D_FGCMAR_MA_Pos        (0U)
+#define DMA2D_FGCMAR_MA_Msk        (0xFFFFFFFFUL << DMA2D_FGCMAR_MA_Pos)       /*!< 0xFFFFFFFF */
+#define DMA2D_FGCMAR_MA            DMA2D_FGCMAR_MA_Msk                         /*!< Foreground CLUT Memory Address */
+
+/********************  Bit definition for DMA2D_BGCMAR register  **************/
+
+#define DMA2D_BGCMAR_MA_Pos        (0U)
+#define DMA2D_BGCMAR_MA_Msk        (0xFFFFFFFFUL << DMA2D_BGCMAR_MA_Pos)       /*!< 0xFFFFFFFF */
+#define DMA2D_BGCMAR_MA            DMA2D_BGCMAR_MA_Msk                         /*!< Background CLUT Memory Address */
+
+/********************  Bit definition for DMA2D_OPFCCR register  **************/
+
+#define DMA2D_OPFCCR_CM_Pos        (0U)
+#define DMA2D_OPFCCR_CM_Msk        (0x7UL << DMA2D_OPFCCR_CM_Pos)              /*!< 0x00000007 */
+#define DMA2D_OPFCCR_CM            DMA2D_OPFCCR_CM_Msk                         /*!< Output Color mode CM[2:0] */
+#define DMA2D_OPFCCR_CM_0          (0x1UL << DMA2D_OPFCCR_CM_Pos)              /*!< 0x00000001 */
+#define DMA2D_OPFCCR_CM_1          (0x2UL << DMA2D_OPFCCR_CM_Pos)              /*!< 0x00000002 */
+#define DMA2D_OPFCCR_CM_2          (0x4UL << DMA2D_OPFCCR_CM_Pos)              /*!< 0x00000004 */
+#define DMA2D_OPFCCR_SB_Pos        (8U)
+#define DMA2D_OPFCCR_SB_Msk        (0x1UL << DMA2D_OPFCCR_SB_Pos)              /*!< 0x00000100 */
+#define DMA2D_OPFCCR_SB            DMA2D_OPFCCR_SB_Msk                         /*!< Swap Bytes */
+#define DMA2D_OPFCCR_AI_Pos        (20U)
+#define DMA2D_OPFCCR_AI_Msk        (0x1UL << DMA2D_OPFCCR_AI_Pos)              /*!< 0x00100000 */
+#define DMA2D_OPFCCR_AI            DMA2D_OPFCCR_AI_Msk                         /*!< Output Alpha Inverted */
+#define DMA2D_OPFCCR_RBS_Pos       (21U)
+#define DMA2D_OPFCCR_RBS_Msk       (0x1UL << DMA2D_OPFCCR_RBS_Pos)             /*!< 0x00200000 */
+#define DMA2D_OPFCCR_RBS           DMA2D_OPFCCR_RBS_Msk                        /*!< Output Red Blue Swap */
+
+/********************  Bit definition for DMA2D_OCOLR register  ***************/
+
+/*!<Mode_ARGB8888/RGB888 */
+
+#define DMA2D_OCOLR_BLUE_1_Pos     (0U)
+#define DMA2D_OCOLR_BLUE_1_Msk     (0xFFUL <<DMA2D_OCOLR_BLUE_1_Pos)            /*0x000000FFU*/
+#define DMA2D_OCOLR_BLUE_1         DMA2D_OCOLR_BLUE_1_Msk                      /*!< Output BLUE Value */
+#define DMA2D_OCOLR_GREEN_1_Pos    (8U)
+#define DMA2D_OCOLR_GREEN_1_Msk    (0xFFUL<<DMA2D_OCOLR_GREEN_1_Pos)            /*0x0000FF00U)*/
+#define DMA2D_OCOLR_GREEN_1        DMA2D_OCOLR_GREEN_1_Msk                     /*!< Output GREEN Value  */
+#define DMA2D_OCOLR_RED_1_Pos      (16U)
+#define DMA2D_OCOLR_RED_1_Msk      (0xFFUL << DMA2D_OCOLR_RED_1_Pos)            /*0x00FF0000U */
+#define DMA2D_OCOLR_RED_1          DMA2D_OCOLR_RED_1_Msk                       /*!< Output Red Value */
+#define DMA2D_OCOLR_ALPHA_1_Pos    (24U)
+#define DMA2D_OCOLR_ALPHA_1_Msk    (0xFFUL << DMA2D_OCOLR_ALPHA_1_Pos)          /*0xFF000000U*/
+#define DMA2D_OCOLR_ALPHA_1        DMA2D_OCOLR_ALPHA_1_Msk                     /*!< Output Alpha Channel Value */
+
+/*!<Mode_RGB565 */
+#define DMA2D_OCOLR_BLUE_2_Pos     (0U)
+#define DMA2D_OCOLR_BLUE_2_Msk     (0x1FUL <<DMA2D_OCOLR_BLUE_2_Pos)            /*0x0000001FU*/
+#define DMA2D_OCOLR_BLUE_2         DMA2D_OCOLR_BLUE_2_Msk                      /*!< Output BLUE Value */
+#define DMA2D_OCOLR_GREEN_2_Pos    (5U)
+#define DMA2D_OCOLR_GREEN_2_Msk    (0x7EUL << DMA2D_OCOLR_GREEN_2_Pos)          /* 0x000007E0U */
+#define DMA2D_OCOLR_GREEN_2        DMA2D_OCOLR_GREEN_2_Msk                     /*!< Output GREEN Value  */
+#define DMA2D_OCOLR_RED_2_Pos      (11U)
+#define DMA2D_OCOLR_RED_2_Msk      (0xF8UL<<DMA2D_OCOLR_RED_2_Pos)              /*0x0000F800U*/
+#define DMA2D_OCOLR_RED_2          DMA2D_OCOLR_RED_2_Msk                       /*!< Output Red Value */
+
+/*!<Mode_ARGB1555 */
+#define DMA2D_OCOLR_BLUE_3_Pos     (0U)
+#define DMA2D_OCOLR_BLUE_3_Msk     (0x1FUL << DMA2D_OCOLR_BLUE_3_Pos)           /*0x0000001FU*/
+#define DMA2D_OCOLR_BLUE_3         DMA2D_OCOLR_BLUE_3_Msk                      /*!< Output BLUE Value */
+#define DMA2D_OCOLR_GREEN_3_Pos    (5U)
+#define DMA2D_OCOLR_GREEN_3_Msk    (0x3EUL << DMA2D_OCOLR_GREEN_3_Pos)          /*0x000003E0U*/
+#define DMA2D_OCOLR_GREEN_3        DMA2D_OCOLR_GREEN_3_Msk                     /*!< Output GREEN Value  */
+#define DMA2D_OCOLR_RED_3_Pos      (10U)
+#define DMA2D_OCOLR_RED_3_Msk      (0x7CUL << DMA2D_OCOLR_RED_3_Pos)            /* 0x00007C00U*/
+#define DMA2D_OCOLR_RED_3          DMA2D_OCOLR_RED_3_Msk                       /*!< Output Red Value */
+#define DMA2D_OCOLR_ALPHA_3_Pos    (15U)
+#define DMA2D_OCOLR_ALPHA_3_Msk    (0x1UL << DMA2D_OCOLR_ALPHA_3_Pos)           /*0x00008000U*/
+#define DMA2D_OCOLR_ALPHA_3        DMA2D_OCOLR_ALPHA_3_Msk                     /*!< Output Alpha Channel Value */
+
+/*!<Mode_ARGB4444 */
+#define DMA2D_OCOLR_BLUE_4_Pos     (0U)
+#define DMA2D_OCOLR_BLUE_4_Msk     (0xFUL << DMA2D_OCOLR_BLUE_4_Pos)            /*0x0000000FU*/
+#define DMA2D_OCOLR_BLUE_4         DMA2D_OCOLR_BLUE_4_Msk                      /*!< Output BLUE Value */
+#define DMA2D_OCOLR_GREEN_4_Pos    (4U)
+#define DMA2D_OCOLR_GREEN_4_Msk    (0xFUL << DMA2D_OCOLR_GREEN_4_Pos)           /*0x000000F0U*/
+#define DMA2D_OCOLR_GREEN_4        DMA2D_OCOLR_GREEN_4_Msk                     /*!< Output GREEN Value  */
+#define DMA2D_OCOLR_RED_4_Pos      (8U)
+#define DMA2D_OCOLR_RED_4_Msk      (0xFUL << DMA2D_OCOLR_RED_4_Pos)             /*0x00000F00U*/
+#define DMA2D_OCOLR_RED_4          DMA2D_OCOLR_RED_4_Msk                       /*!< Output Red Value */
+#define DMA2D_OCOLR_ALPHA_4_Pos    (12U)
+#define DMA2D_OCOLR_ALPHA_4_Msk    (0xFUL << DMA2D_OCOLR_ALPHA_4_Pos)            /*0x0000F000U*/
+#define DMA2D_OCOLR_ALPHA_4        DMA2D_OCOLR_ALPHA_4_Msk                     /*!< Output Alpha Channel Value */
+
+/********************  Bit definition for DMA2D_OMAR register  ****************/
+
+#define DMA2D_OMAR_MA_Pos          (0U)
+#define DMA2D_OMAR_MA_Msk          (0xFFFFFFFFUL << DMA2D_OMAR_MA_Pos)         /*!< 0xFFFFFFFF */
+#define DMA2D_OMAR_MA              DMA2D_OMAR_MA_Msk                           /*!< Output Memory Address */
+
+/********************  Bit definition for DMA2D_OOR register  *****************/
+
+#define DMA2D_OOR_LO_Pos           (0U)
+#define DMA2D_OOR_LO_Msk           (0xFFFFUL << DMA2D_OOR_LO_Pos)              /*!< 0x0000FFFF */
+#define DMA2D_OOR_LO               DMA2D_OOR_LO_Msk                            /*!< Output Line Offset */
+
+/********************  Bit definition for DMA2D_NLR register  *****************/
+
+#define DMA2D_NLR_NL_Pos           (0U)
+#define DMA2D_NLR_NL_Msk           (0xFFFFUL << DMA2D_NLR_NL_Pos)              /*!< 0x0000FFFF */
+#define DMA2D_NLR_NL               DMA2D_NLR_NL_Msk                            /*!< Number of Lines */
+#define DMA2D_NLR_PL_Pos           (16U)
+#define DMA2D_NLR_PL_Msk           (0x3FFFUL << DMA2D_NLR_PL_Pos)              /*!< 0x3FFF0000 */
+#define DMA2D_NLR_PL               DMA2D_NLR_PL_Msk                            /*!< Pixel per Lines */
+
+/********************  Bit definition for DMA2D_LWR register  *****************/
+
+#define DMA2D_LWR_LW_Pos           (0U)
+#define DMA2D_LWR_LW_Msk           (0xFFFFUL << DMA2D_LWR_LW_Pos)              /*!< 0x0000FFFF */
+#define DMA2D_LWR_LW               DMA2D_LWR_LW_Msk                            /*!< Line Watermark */
+
+/********************  Bit definition for DMA2D_AMTCR register  ***************/
+
+#define DMA2D_AMTCR_EN_Pos         (0U)
+#define DMA2D_AMTCR_EN_Msk         (0x1UL << DMA2D_AMTCR_EN_Pos)               /*!< 0x00000001 */
+#define DMA2D_AMTCR_EN             DMA2D_AMTCR_EN_Msk                          /*!< Enable */
+#define DMA2D_AMTCR_DT_Pos         (8U)
+#define DMA2D_AMTCR_DT_Msk         (0xFFUL << DMA2D_AMTCR_DT_Pos)              /*!< 0x0000FF00 */
+#define DMA2D_AMTCR_DT             DMA2D_AMTCR_DT_Msk                          /*!< Dead Time */
+
+
+/********************  Bit definition for DMA2D_FGCLUT register  **************/
+
+/********************  Bit definition for DMA2D_BGCLUT register  **************/
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                    External Interrupt/Event Controller                     */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for EXTI_RTSR1 register  *******************/
+#define EXTI_RTSR1_TR_Pos          (0U)
+#define EXTI_RTSR1_TR_Msk          (0x3FFFFFUL << EXTI_RTSR1_TR_Pos)           /*!< 0x003FFFFF */
+#define EXTI_RTSR1_TR              EXTI_RTSR1_TR_Msk                           /*!< Rising trigger event configuration bit */
+#define EXTI_RTSR1_TR0_Pos         (0U)
+#define EXTI_RTSR1_TR0_Msk         (0x1UL << EXTI_RTSR1_TR0_Pos)               /*!< 0x00000001 */
+#define EXTI_RTSR1_TR0             EXTI_RTSR1_TR0_Msk                          /*!< Rising trigger event configuration bit of line 0 */
+#define EXTI_RTSR1_TR1_Pos         (1U)
+#define EXTI_RTSR1_TR1_Msk         (0x1UL << EXTI_RTSR1_TR1_Pos)               /*!< 0x00000002 */
+#define EXTI_RTSR1_TR1             EXTI_RTSR1_TR1_Msk                          /*!< Rising trigger event configuration bit of line 1 */
+#define EXTI_RTSR1_TR2_Pos         (2U)
+#define EXTI_RTSR1_TR2_Msk         (0x1UL << EXTI_RTSR1_TR2_Pos)               /*!< 0x00000004 */
+#define EXTI_RTSR1_TR2             EXTI_RTSR1_TR2_Msk                          /*!< Rising trigger event configuration bit of line 2 */
+#define EXTI_RTSR1_TR3_Pos         (3U)
+#define EXTI_RTSR1_TR3_Msk         (0x1UL << EXTI_RTSR1_TR3_Pos)               /*!< 0x00000008 */
+#define EXTI_RTSR1_TR3             EXTI_RTSR1_TR3_Msk                          /*!< Rising trigger event configuration bit of line 3 */
+#define EXTI_RTSR1_TR4_Pos         (4U)
+#define EXTI_RTSR1_TR4_Msk         (0x1UL << EXTI_RTSR1_TR4_Pos)               /*!< 0x00000010 */
+#define EXTI_RTSR1_TR4             EXTI_RTSR1_TR4_Msk                          /*!< Rising trigger event configuration bit of line 4 */
+#define EXTI_RTSR1_TR5_Pos         (5U)
+#define EXTI_RTSR1_TR5_Msk         (0x1UL << EXTI_RTSR1_TR5_Pos)               /*!< 0x00000020 */
+#define EXTI_RTSR1_TR5             EXTI_RTSR1_TR5_Msk                          /*!< Rising trigger event configuration bit of line 5 */
+#define EXTI_RTSR1_TR6_Pos         (6U)
+#define EXTI_RTSR1_TR6_Msk         (0x1UL << EXTI_RTSR1_TR6_Pos)               /*!< 0x00000040 */
+#define EXTI_RTSR1_TR6             EXTI_RTSR1_TR6_Msk                          /*!< Rising trigger event configuration bit of line 6 */
+#define EXTI_RTSR1_TR7_Pos         (7U)
+#define EXTI_RTSR1_TR7_Msk         (0x1UL << EXTI_RTSR1_TR7_Pos)               /*!< 0x00000080 */
+#define EXTI_RTSR1_TR7             EXTI_RTSR1_TR7_Msk                          /*!< Rising trigger event configuration bit of line 7 */
+#define EXTI_RTSR1_TR8_Pos         (8U)
+#define EXTI_RTSR1_TR8_Msk         (0x1UL << EXTI_RTSR1_TR8_Pos)               /*!< 0x00000100 */
+#define EXTI_RTSR1_TR8             EXTI_RTSR1_TR8_Msk                          /*!< Rising trigger event configuration bit of line 8 */
+#define EXTI_RTSR1_TR9_Pos         (9U)
+#define EXTI_RTSR1_TR9_Msk         (0x1UL << EXTI_RTSR1_TR9_Pos)               /*!< 0x00000200 */
+#define EXTI_RTSR1_TR9             EXTI_RTSR1_TR9_Msk                          /*!< Rising trigger event configuration bit of line 9 */
+#define EXTI_RTSR1_TR10_Pos        (10U)
+#define EXTI_RTSR1_TR10_Msk        (0x1UL << EXTI_RTSR1_TR10_Pos)              /*!< 0x00000400 */
+#define EXTI_RTSR1_TR10            EXTI_RTSR1_TR10_Msk                         /*!< Rising trigger event configuration bit of line 10 */
+#define EXTI_RTSR1_TR11_Pos        (11U)
+#define EXTI_RTSR1_TR11_Msk        (0x1UL << EXTI_RTSR1_TR11_Pos)              /*!< 0x00000800 */
+#define EXTI_RTSR1_TR11            EXTI_RTSR1_TR11_Msk                         /*!< Rising trigger event configuration bit of line 11 */
+#define EXTI_RTSR1_TR12_Pos        (12U)
+#define EXTI_RTSR1_TR12_Msk        (0x1UL << EXTI_RTSR1_TR12_Pos)              /*!< 0x00001000 */
+#define EXTI_RTSR1_TR12            EXTI_RTSR1_TR12_Msk                         /*!< Rising trigger event configuration bit of line 12 */
+#define EXTI_RTSR1_TR13_Pos        (13U)
+#define EXTI_RTSR1_TR13_Msk        (0x1UL << EXTI_RTSR1_TR13_Pos)              /*!< 0x00002000 */
+#define EXTI_RTSR1_TR13            EXTI_RTSR1_TR13_Msk                         /*!< Rising trigger event configuration bit of line 13 */
+#define EXTI_RTSR1_TR14_Pos        (14U)
+#define EXTI_RTSR1_TR14_Msk        (0x1UL << EXTI_RTSR1_TR14_Pos)              /*!< 0x00004000 */
+#define EXTI_RTSR1_TR14            EXTI_RTSR1_TR14_Msk                         /*!< Rising trigger event configuration bit of line 14 */
+#define EXTI_RTSR1_TR15_Pos        (15U)
+#define EXTI_RTSR1_TR15_Msk        (0x1UL << EXTI_RTSR1_TR15_Pos)              /*!< 0x00008000 */
+#define EXTI_RTSR1_TR15            EXTI_RTSR1_TR15_Msk                         /*!< Rising trigger event configuration bit of line 15 */
+#define EXTI_RTSR1_TR16_Pos        (16U)
+#define EXTI_RTSR1_TR16_Msk        (0x1UL << EXTI_RTSR1_TR16_Pos)              /*!< 0x00010000 */
+#define EXTI_RTSR1_TR16            EXTI_RTSR1_TR16_Msk                         /*!< Rising trigger event configuration bit of line 16 */
+#define EXTI_RTSR1_TR17_Pos        (17U)
+#define EXTI_RTSR1_TR17_Msk        (0x1UL << EXTI_RTSR1_TR17_Pos)              /*!< 0x00020000 */
+#define EXTI_RTSR1_TR17            EXTI_RTSR1_TR17_Msk                         /*!< Rising trigger event configuration bit of line 17 */
+#define EXTI_RTSR1_TR18_Pos        (18U)
+#define EXTI_RTSR1_TR18_Msk        (0x1UL << EXTI_RTSR1_TR18_Pos)              /*!< 0x00040000 */
+#define EXTI_RTSR1_TR18            EXTI_RTSR1_TR18_Msk                         /*!< Rising trigger event configuration bit of line 18 */
+#define EXTI_RTSR1_TR19_Pos        (19U)
+#define EXTI_RTSR1_TR19_Msk        (0x1UL << EXTI_RTSR1_TR19_Pos)              /*!< 0x00080000 */
+#define EXTI_RTSR1_TR19            EXTI_RTSR1_TR19_Msk                         /*!< Rising trigger event configuration bit of line 19 */
+#define EXTI_RTSR1_TR20_Pos        (20U)
+#define EXTI_RTSR1_TR20_Msk        (0x1UL << EXTI_RTSR1_TR20_Pos)              /*!< 0x00100000 */
+#define EXTI_RTSR1_TR20            EXTI_RTSR1_TR20_Msk                         /*!< Rising trigger event configuration bit of line 20 */
+#define EXTI_RTSR1_TR21_Pos        (21U)
+#define EXTI_RTSR1_TR21_Msk        (0x1UL << EXTI_RTSR1_TR21_Pos)              /*!< 0x00200000 */
+#define EXTI_RTSR1_TR21            EXTI_RTSR1_TR21_Msk                         /*!< Rising trigger event configuration bit of line 21 */
+
+/******************  Bit definition for EXTI_FTSR1 register  *******************/
+#define EXTI_FTSR1_TR_Pos          (0U)
+#define EXTI_FTSR1_TR_Msk          (0x3FFFFFUL << EXTI_FTSR1_TR_Pos)           /*!< 0x003FFFFF */
+#define EXTI_FTSR1_TR              EXTI_FTSR1_TR_Msk                           /*!< Falling trigger event configuration bit */
+#define EXTI_FTSR1_TR0_Pos         (0U)
+#define EXTI_FTSR1_TR0_Msk         (0x1UL << EXTI_FTSR1_TR0_Pos)               /*!< 0x00000001 */
+#define EXTI_FTSR1_TR0             EXTI_FTSR1_TR0_Msk                          /*!< Falling trigger event configuration bit of line 0 */
+#define EXTI_FTSR1_TR1_Pos         (1U)
+#define EXTI_FTSR1_TR1_Msk         (0x1UL << EXTI_FTSR1_TR1_Pos)               /*!< 0x00000002 */
+#define EXTI_FTSR1_TR1             EXTI_FTSR1_TR1_Msk                          /*!< Falling trigger event configuration bit of line 1 */
+#define EXTI_FTSR1_TR2_Pos         (2U)
+#define EXTI_FTSR1_TR2_Msk         (0x1UL << EXTI_FTSR1_TR2_Pos)               /*!< 0x00000004 */
+#define EXTI_FTSR1_TR2             EXTI_FTSR1_TR2_Msk                          /*!< Falling trigger event configuration bit of line 2 */
+#define EXTI_FTSR1_TR3_Pos         (3U)
+#define EXTI_FTSR1_TR3_Msk         (0x1UL << EXTI_FTSR1_TR3_Pos)               /*!< 0x00000008 */
+#define EXTI_FTSR1_TR3             EXTI_FTSR1_TR3_Msk                          /*!< Falling trigger event configuration bit of line 3 */
+#define EXTI_FTSR1_TR4_Pos         (4U)
+#define EXTI_FTSR1_TR4_Msk         (0x1UL << EXTI_FTSR1_TR4_Pos)               /*!< 0x00000010 */
+#define EXTI_FTSR1_TR4             EXTI_FTSR1_TR4_Msk                          /*!< Falling trigger event configuration bit of line 4 */
+#define EXTI_FTSR1_TR5_Pos         (5U)
+#define EXTI_FTSR1_TR5_Msk         (0x1UL << EXTI_FTSR1_TR5_Pos)               /*!< 0x00000020 */
+#define EXTI_FTSR1_TR5             EXTI_FTSR1_TR5_Msk                          /*!< Falling trigger event configuration bit of line 5 */
+#define EXTI_FTSR1_TR6_Pos         (6U)
+#define EXTI_FTSR1_TR6_Msk         (0x1UL << EXTI_FTSR1_TR6_Pos)               /*!< 0x00000040 */
+#define EXTI_FTSR1_TR6             EXTI_FTSR1_TR6_Msk                          /*!< Falling trigger event configuration bit of line 6 */
+#define EXTI_FTSR1_TR7_Pos         (7U)
+#define EXTI_FTSR1_TR7_Msk         (0x1UL << EXTI_FTSR1_TR7_Pos)               /*!< 0x00000080 */
+#define EXTI_FTSR1_TR7             EXTI_FTSR1_TR7_Msk                          /*!< Falling trigger event configuration bit of line 7 */
+#define EXTI_FTSR1_TR8_Pos         (8U)
+#define EXTI_FTSR1_TR8_Msk         (0x1UL << EXTI_FTSR1_TR8_Pos)               /*!< 0x00000100 */
+#define EXTI_FTSR1_TR8             EXTI_FTSR1_TR8_Msk                          /*!< Falling trigger event configuration bit of line 8 */
+#define EXTI_FTSR1_TR9_Pos         (9U)
+#define EXTI_FTSR1_TR9_Msk         (0x1UL << EXTI_FTSR1_TR9_Pos)               /*!< 0x00000200 */
+#define EXTI_FTSR1_TR9             EXTI_FTSR1_TR9_Msk                          /*!< Falling trigger event configuration bit of line 9 */
+#define EXTI_FTSR1_TR10_Pos        (10U)
+#define EXTI_FTSR1_TR10_Msk        (0x1UL << EXTI_FTSR1_TR10_Pos)              /*!< 0x00000400 */
+#define EXTI_FTSR1_TR10            EXTI_FTSR1_TR10_Msk                         /*!< Falling trigger event configuration bit of line 10 */
+#define EXTI_FTSR1_TR11_Pos        (11U)
+#define EXTI_FTSR1_TR11_Msk        (0x1UL << EXTI_FTSR1_TR11_Pos)              /*!< 0x00000800 */
+#define EXTI_FTSR1_TR11            EXTI_FTSR1_TR11_Msk                         /*!< Falling trigger event configuration bit of line 11 */
+#define EXTI_FTSR1_TR12_Pos        (12U)
+#define EXTI_FTSR1_TR12_Msk        (0x1UL << EXTI_FTSR1_TR12_Pos)              /*!< 0x00001000 */
+#define EXTI_FTSR1_TR12            EXTI_FTSR1_TR12_Msk                         /*!< Falling trigger event configuration bit of line 12 */
+#define EXTI_FTSR1_TR13_Pos        (13U)
+#define EXTI_FTSR1_TR13_Msk        (0x1UL << EXTI_FTSR1_TR13_Pos)              /*!< 0x00002000 */
+#define EXTI_FTSR1_TR13            EXTI_FTSR1_TR13_Msk                         /*!< Falling trigger event configuration bit of line 13 */
+#define EXTI_FTSR1_TR14_Pos        (14U)
+#define EXTI_FTSR1_TR14_Msk        (0x1UL << EXTI_FTSR1_TR14_Pos)              /*!< 0x00004000 */
+#define EXTI_FTSR1_TR14            EXTI_FTSR1_TR14_Msk                         /*!< Falling trigger event configuration bit of line 14 */
+#define EXTI_FTSR1_TR15_Pos        (15U)
+#define EXTI_FTSR1_TR15_Msk        (0x1UL << EXTI_FTSR1_TR15_Pos)              /*!< 0x00008000 */
+#define EXTI_FTSR1_TR15            EXTI_FTSR1_TR15_Msk                         /*!< Falling trigger event configuration bit of line 15 */
+#define EXTI_FTSR1_TR16_Pos        (16U)
+#define EXTI_FTSR1_TR16_Msk        (0x1UL << EXTI_FTSR1_TR16_Pos)              /*!< 0x00010000 */
+#define EXTI_FTSR1_TR16            EXTI_FTSR1_TR16_Msk                         /*!< Falling trigger event configuration bit of line 16 */
+#define EXTI_FTSR1_TR17_Pos        (17U)
+#define EXTI_FTSR1_TR17_Msk        (0x1UL << EXTI_FTSR1_TR17_Pos)              /*!< 0x00020000 */
+#define EXTI_FTSR1_TR17            EXTI_FTSR1_TR17_Msk                         /*!< Falling trigger event configuration bit of line 17 */
+#define EXTI_FTSR1_TR18_Pos        (18U)
+#define EXTI_FTSR1_TR18_Msk        (0x1UL << EXTI_FTSR1_TR18_Pos)              /*!< 0x00040000 */
+#define EXTI_FTSR1_TR18            EXTI_FTSR1_TR18_Msk                         /*!< Falling trigger event configuration bit of line 18 */
+#define EXTI_FTSR1_TR19_Pos        (19U)
+#define EXTI_FTSR1_TR19_Msk        (0x1UL << EXTI_FTSR1_TR19_Pos)              /*!< 0x00080000 */
+#define EXTI_FTSR1_TR19            EXTI_FTSR1_TR19_Msk                         /*!< Falling trigger event configuration bit of line 19 */
+#define EXTI_FTSR1_TR20_Pos        (20U)
+#define EXTI_FTSR1_TR20_Msk        (0x1UL << EXTI_FTSR1_TR20_Pos)              /*!< 0x00100000 */
+#define EXTI_FTSR1_TR20            EXTI_FTSR1_TR20_Msk                         /*!< Falling trigger event configuration bit of line 20 */
+#define EXTI_FTSR1_TR21_Pos        (21U)
+#define EXTI_FTSR1_TR21_Msk        (0x1UL << EXTI_FTSR1_TR21_Pos)              /*!< 0x00200000 */
+#define EXTI_FTSR1_TR21            EXTI_FTSR1_TR21_Msk                         /*!< Falling trigger event configuration bit of line 21 */
+
+/******************  Bit definition for EXTI_SWIER1 register  ******************/
+#define EXTI_SWIER1_SWIER0_Pos     (0U)
+#define EXTI_SWIER1_SWIER0_Msk     (0x1UL << EXTI_SWIER1_SWIER0_Pos)           /*!< 0x00000001 */
+#define EXTI_SWIER1_SWIER0         EXTI_SWIER1_SWIER0_Msk                      /*!< Software Interrupt on line 0 */
+#define EXTI_SWIER1_SWIER1_Pos     (1U)
+#define EXTI_SWIER1_SWIER1_Msk     (0x1UL << EXTI_SWIER1_SWIER1_Pos)           /*!< 0x00000002 */
+#define EXTI_SWIER1_SWIER1         EXTI_SWIER1_SWIER1_Msk                      /*!< Software Interrupt on line 1 */
+#define EXTI_SWIER1_SWIER2_Pos     (2U)
+#define EXTI_SWIER1_SWIER2_Msk     (0x1UL << EXTI_SWIER1_SWIER2_Pos)           /*!< 0x00000004 */
+#define EXTI_SWIER1_SWIER2         EXTI_SWIER1_SWIER2_Msk                      /*!< Software Interrupt on line 2 */
+#define EXTI_SWIER1_SWIER3_Pos     (3U)
+#define EXTI_SWIER1_SWIER3_Msk     (0x1UL << EXTI_SWIER1_SWIER3_Pos)           /*!< 0x00000008 */
+#define EXTI_SWIER1_SWIER3         EXTI_SWIER1_SWIER3_Msk                      /*!< Software Interrupt on line 3 */
+#define EXTI_SWIER1_SWIER4_Pos     (4U)
+#define EXTI_SWIER1_SWIER4_Msk     (0x1UL << EXTI_SWIER1_SWIER4_Pos)           /*!< 0x00000010 */
+#define EXTI_SWIER1_SWIER4         EXTI_SWIER1_SWIER4_Msk                      /*!< Software Interrupt on line 4 */
+#define EXTI_SWIER1_SWIER5_Pos     (5U)
+#define EXTI_SWIER1_SWIER5_Msk     (0x1UL << EXTI_SWIER1_SWIER5_Pos)           /*!< 0x00000020 */
+#define EXTI_SWIER1_SWIER5         EXTI_SWIER1_SWIER5_Msk                      /*!< Software Interrupt on line 5 */
+#define EXTI_SWIER1_SWIER6_Pos     (6U)
+#define EXTI_SWIER1_SWIER6_Msk     (0x1UL << EXTI_SWIER1_SWIER6_Pos)           /*!< 0x00000040 */
+#define EXTI_SWIER1_SWIER6         EXTI_SWIER1_SWIER6_Msk                      /*!< Software Interrupt on line 6 */
+#define EXTI_SWIER1_SWIER7_Pos     (7U)
+#define EXTI_SWIER1_SWIER7_Msk     (0x1UL << EXTI_SWIER1_SWIER7_Pos)           /*!< 0x00000080 */
+#define EXTI_SWIER1_SWIER7         EXTI_SWIER1_SWIER7_Msk                      /*!< Software Interrupt on line 7 */
+#define EXTI_SWIER1_SWIER8_Pos     (8U)
+#define EXTI_SWIER1_SWIER8_Msk     (0x1UL << EXTI_SWIER1_SWIER8_Pos)           /*!< 0x00000100 */
+#define EXTI_SWIER1_SWIER8         EXTI_SWIER1_SWIER8_Msk                      /*!< Software Interrupt on line 8 */
+#define EXTI_SWIER1_SWIER9_Pos     (9U)
+#define EXTI_SWIER1_SWIER9_Msk     (0x1UL << EXTI_SWIER1_SWIER9_Pos)           /*!< 0x00000200 */
+#define EXTI_SWIER1_SWIER9         EXTI_SWIER1_SWIER9_Msk                      /*!< Software Interrupt on line 9 */
+#define EXTI_SWIER1_SWIER10_Pos    (10U)
+#define EXTI_SWIER1_SWIER10_Msk    (0x1UL << EXTI_SWIER1_SWIER10_Pos)          /*!< 0x00000400 */
+#define EXTI_SWIER1_SWIER10        EXTI_SWIER1_SWIER10_Msk                     /*!< Software Interrupt on line 10 */
+#define EXTI_SWIER1_SWIER11_Pos    (11U)
+#define EXTI_SWIER1_SWIER11_Msk    (0x1UL << EXTI_SWIER1_SWIER11_Pos)          /*!< 0x00000800 */
+#define EXTI_SWIER1_SWIER11        EXTI_SWIER1_SWIER11_Msk                     /*!< Software Interrupt on line 11 */
+#define EXTI_SWIER1_SWIER12_Pos    (12U)
+#define EXTI_SWIER1_SWIER12_Msk    (0x1UL << EXTI_SWIER1_SWIER12_Pos)          /*!< 0x00001000 */
+#define EXTI_SWIER1_SWIER12        EXTI_SWIER1_SWIER12_Msk                     /*!< Software Interrupt on line 12 */
+#define EXTI_SWIER1_SWIER13_Pos    (13U)
+#define EXTI_SWIER1_SWIER13_Msk    (0x1UL << EXTI_SWIER1_SWIER13_Pos)          /*!< 0x00002000 */
+#define EXTI_SWIER1_SWIER13        EXTI_SWIER1_SWIER13_Msk                     /*!< Software Interrupt on line 13 */
+#define EXTI_SWIER1_SWIER14_Pos    (14U)
+#define EXTI_SWIER1_SWIER14_Msk    (0x1UL << EXTI_SWIER1_SWIER14_Pos)          /*!< 0x00004000 */
+#define EXTI_SWIER1_SWIER14        EXTI_SWIER1_SWIER14_Msk                     /*!< Software Interrupt on line 14 */
+#define EXTI_SWIER1_SWIER15_Pos    (15U)
+#define EXTI_SWIER1_SWIER15_Msk    (0x1UL << EXTI_SWIER1_SWIER15_Pos)          /*!< 0x00008000 */
+#define EXTI_SWIER1_SWIER15        EXTI_SWIER1_SWIER15_Msk                     /*!< Software Interrupt on line 15 */
+#define EXTI_SWIER1_SWIER16_Pos    (16U)
+#define EXTI_SWIER1_SWIER16_Msk    (0x1UL << EXTI_SWIER1_SWIER16_Pos)          /*!< 0x00010000 */
+#define EXTI_SWIER1_SWIER16        EXTI_SWIER1_SWIER16_Msk                     /*!< Software Interrupt on line 16 */
+#define EXTI_SWIER1_SWIER17_Pos    (17U)
+#define EXTI_SWIER1_SWIER17_Msk    (0x1UL << EXTI_SWIER1_SWIER17_Pos)          /*!< 0x00020000 */
+#define EXTI_SWIER1_SWIER17        EXTI_SWIER1_SWIER17_Msk                     /*!< Software Interrupt on line 17 */
+#define EXTI_SWIER1_SWIER18_Pos    (18U)
+#define EXTI_SWIER1_SWIER18_Msk    (0x1UL << EXTI_SWIER1_SWIER18_Pos)          /*!< 0x00040000 */
+#define EXTI_SWIER1_SWIER18        EXTI_SWIER1_SWIER18_Msk                     /*!< Software Interrupt on line 18 */
+#define EXTI_SWIER1_SWIER19_Pos    (19U)
+#define EXTI_SWIER1_SWIER19_Msk    (0x1UL << EXTI_SWIER1_SWIER19_Pos)          /*!< 0x00080000 */
+#define EXTI_SWIER1_SWIER19        EXTI_SWIER1_SWIER19_Msk                     /*!< Software Interrupt on line 19 */
+#define EXTI_SWIER1_SWIER20_Pos    (20U)
+#define EXTI_SWIER1_SWIER20_Msk    (0x1UL << EXTI_SWIER1_SWIER20_Pos)          /*!< 0x00100000 */
+#define EXTI_SWIER1_SWIER20        EXTI_SWIER1_SWIER20_Msk                     /*!< Software Interrupt on line 20 */
+#define EXTI_SWIER1_SWIER21_Pos    (21U)
+#define EXTI_SWIER1_SWIER21_Msk    (0x1UL << EXTI_SWIER1_SWIER21_Pos)          /*!< 0x00200000 */
+#define EXTI_SWIER1_SWIER21        EXTI_SWIER1_SWIER21_Msk                     /*!< Software Interrupt on line 21 */
+
+/******************  Bit definition for EXTI_D3PMR1 register  ******************/
+#define EXTI_D3PMR1_MR0_Pos        (0U)
+#define EXTI_D3PMR1_MR0_Msk        (0x1UL << EXTI_D3PMR1_MR0_Pos)              /*!< 0x00000001 */
+#define EXTI_D3PMR1_MR0            EXTI_D3PMR1_MR0_Msk                         /*!< Pending Mask Event for line 0  */
+#define EXTI_D3PMR1_MR1_Pos        (1U)
+#define EXTI_D3PMR1_MR1_Msk        (0x1UL << EXTI_D3PMR1_MR1_Pos)              /*!< 0x00000002 */
+#define EXTI_D3PMR1_MR1            EXTI_D3PMR1_MR1_Msk                         /*!< Pending Mask Event for line 1  */
+#define EXTI_D3PMR1_MR2_Pos        (2U)
+#define EXTI_D3PMR1_MR2_Msk        (0x1UL << EXTI_D3PMR1_MR2_Pos)              /*!< 0x00000004 */
+#define EXTI_D3PMR1_MR2            EXTI_D3PMR1_MR2_Msk                         /*!< Pending Mask Event for line 2  */
+#define EXTI_D3PMR1_MR3_Pos        (3U)
+#define EXTI_D3PMR1_MR3_Msk        (0x1UL << EXTI_D3PMR1_MR3_Pos)              /*!< 0x00000008 */
+#define EXTI_D3PMR1_MR3            EXTI_D3PMR1_MR3_Msk                         /*!< Pending Mask Event for line 3  */
+#define EXTI_D3PMR1_MR4_Pos        (4U)
+#define EXTI_D3PMR1_MR4_Msk        (0x1UL << EXTI_D3PMR1_MR4_Pos)              /*!< 0x00000010 */
+#define EXTI_D3PMR1_MR4            EXTI_D3PMR1_MR4_Msk                         /*!< Pending Mask Event for line 4  */
+#define EXTI_D3PMR1_MR5_Pos        (5U)
+#define EXTI_D3PMR1_MR5_Msk        (0x1UL << EXTI_D3PMR1_MR5_Pos)              /*!< 0x00000020 */
+#define EXTI_D3PMR1_MR5            EXTI_D3PMR1_MR5_Msk                         /*!< Pending Mask Event for line 5  */
+#define EXTI_D3PMR1_MR6_Pos        (6U)
+#define EXTI_D3PMR1_MR6_Msk        (0x1UL << EXTI_D3PMR1_MR6_Pos)              /*!< 0x00000040 */
+#define EXTI_D3PMR1_MR6            EXTI_D3PMR1_MR6_Msk                         /*!< Pending Mask Event for line 6  */
+#define EXTI_D3PMR1_MR7_Pos        (7U)
+#define EXTI_D3PMR1_MR7_Msk        (0x1UL << EXTI_D3PMR1_MR7_Pos)              /*!< 0x00000080 */
+#define EXTI_D3PMR1_MR7            EXTI_D3PMR1_MR7_Msk                         /*!< Pending Mask Event for line 7  */
+#define EXTI_D3PMR1_MR8_Pos        (8U)
+#define EXTI_D3PMR1_MR8_Msk        (0x1UL << EXTI_D3PMR1_MR8_Pos)              /*!< 0x00000100 */
+#define EXTI_D3PMR1_MR8            EXTI_D3PMR1_MR8_Msk                         /*!< Pending Mask Event for line 8  */
+#define EXTI_D3PMR1_MR9_Pos        (9U)
+#define EXTI_D3PMR1_MR9_Msk        (0x1UL << EXTI_D3PMR1_MR9_Pos)              /*!< 0x00000200 */
+#define EXTI_D3PMR1_MR9            EXTI_D3PMR1_MR9_Msk                         /*!< Pending Mask Event for line 9  */
+#define EXTI_D3PMR1_MR10_Pos       (10U)
+#define EXTI_D3PMR1_MR10_Msk       (0x1UL << EXTI_D3PMR1_MR10_Pos)             /*!< 0x00000400 */
+#define EXTI_D3PMR1_MR10           EXTI_D3PMR1_MR10_Msk                        /*!< Pending Mask Event for line 10 */
+#define EXTI_D3PMR1_MR11_Pos       (11U)
+#define EXTI_D3PMR1_MR11_Msk       (0x1UL << EXTI_D3PMR1_MR11_Pos)             /*!< 0x00000800 */
+#define EXTI_D3PMR1_MR11           EXTI_D3PMR1_MR11_Msk                        /*!< Pending Mask Event for line 11 */
+#define EXTI_D3PMR1_MR12_Pos       (12U)
+#define EXTI_D3PMR1_MR12_Msk       (0x1UL << EXTI_D3PMR1_MR12_Pos)             /*!< 0x00001000 */
+#define EXTI_D3PMR1_MR12           EXTI_D3PMR1_MR12_Msk                        /*!< Pending Mask Event for line 12 */
+#define EXTI_D3PMR1_MR13_Pos       (13U)
+#define EXTI_D3PMR1_MR13_Msk       (0x1UL << EXTI_D3PMR1_MR13_Pos)             /*!< 0x00002000 */
+#define EXTI_D3PMR1_MR13           EXTI_D3PMR1_MR13_Msk                        /*!< Pending Mask Event for line 13 */
+#define EXTI_D3PMR1_MR14_Pos       (14U)
+#define EXTI_D3PMR1_MR14_Msk       (0x1UL << EXTI_D3PMR1_MR14_Pos)             /*!< 0x00004000 */
+#define EXTI_D3PMR1_MR14           EXTI_D3PMR1_MR14_Msk                        /*!< Pending Mask Event for line 14 */
+#define EXTI_D3PMR1_MR15_Pos       (15U)
+#define EXTI_D3PMR1_MR15_Msk       (0x1UL << EXTI_D3PMR1_MR15_Pos)             /*!< 0x00008000 */
+#define EXTI_D3PMR1_MR15           EXTI_D3PMR1_MR15_Msk                        /*!< Pending Mask Event for line 15 */
+#define EXTI_D3PMR1_MR19_Pos       (19U)
+#define EXTI_D3PMR1_MR19_Msk       (0x1UL << EXTI_D3PMR1_MR19_Pos)             /*!< 0x00080000 */
+#define EXTI_D3PMR1_MR19           EXTI_D3PMR1_MR19_Msk                        /*!< Pending Mask Event for line 19 */
+#define EXTI_D3PMR1_MR20_Pos       (20U)
+#define EXTI_D3PMR1_MR20_Msk       (0x1UL << EXTI_D3PMR1_MR20_Pos)             /*!< 0x00100000 */
+#define EXTI_D3PMR1_MR20           EXTI_D3PMR1_MR20_Msk                        /*!< Pending Mask Event for line 20 */
+#define EXTI_D3PMR1_MR21_Pos       (21U)
+#define EXTI_D3PMR1_MR21_Msk       (0x1UL << EXTI_D3PMR1_MR21_Pos)             /*!< 0x00200000 */
+#define EXTI_D3PMR1_MR21           EXTI_D3PMR1_MR21_Msk                        /*!< Pending Mask Event for line 21 */
+#define EXTI_D3PMR1_MR25_Pos       (24U)
+#define EXTI_D3PMR1_MR25_Msk       (0x1UL << EXTI_D3PMR1_MR25_Pos)             /*!< 0x01000000 */
+#define EXTI_D3PMR1_MR25           EXTI_D3PMR1_MR25_Msk                        /*!< Pending Mask Event for line 25 */
+
+/*******************  Bit definition for EXTI_D3PCR1L register  ****************/
+#define EXTI_D3PCR1L_PCS0_Pos       (0U)
+#define EXTI_D3PCR1L_PCS0_Msk       (0x3UL << EXTI_D3PCR1L_PCS0_Pos)           /*!< 0x00000003 */
+#define EXTI_D3PCR1L_PCS0           EXTI_D3PCR1L_PCS0_Msk                      /*!< D3 Pending request clear input signal selection on line 0 */
+#define EXTI_D3PCR1L_PCS1_Pos       (2U)
+#define EXTI_D3PCR1L_PCS1_Msk       (0x3UL << EXTI_D3PCR1L_PCS1_Pos)           /*!< 0x000000C0 */
+#define EXTI_D3PCR1L_PCS1           EXTI_D3PCR1L_PCS1_Msk                      /*!< D3 Pending request clear input signal selection on line 1 */
+#define EXTI_D3PCR1L_PCS2_Pos       (4U)
+#define EXTI_D3PCR1L_PCS2_Msk       (0x3UL << EXTI_D3PCR1L_PCS2_Pos)           /*!< 0x00000030 */
+#define EXTI_D3PCR1L_PCS2           EXTI_D3PCR1L_PCS2_Msk                      /*!< D3 Pending request clear input signal selection on line 2 */
+#define EXTI_D3PCR1L_PCS3_Pos       (6U)
+#define EXTI_D3PCR1L_PCS3_Msk       (0x3UL << EXTI_D3PCR1L_PCS3_Pos)           /*!< 0x000000C0 */
+#define EXTI_D3PCR1L_PCS3           EXTI_D3PCR1L_PCS3_Msk                      /*!< D3 Pending request clear input signal selection on line 3 */
+#define EXTI_D3PCR1L_PCS4_Pos       (8U)
+#define EXTI_D3PCR1L_PCS4_Msk       (0x3UL << EXTI_D3PCR1L_PCS4_Pos)           /*!< 0x00000300 */
+#define EXTI_D3PCR1L_PCS4           EXTI_D3PCR1L_PCS4_Msk                      /*!< D3 Pending request clear input signal selection on line 4 */
+#define EXTI_D3PCR1L_PCS5_Pos       (10U)
+#define EXTI_D3PCR1L_PCS5_Msk       (0x3UL << EXTI_D3PCR1L_PCS5_Pos)           /*!< 0x00000C00 */
+#define EXTI_D3PCR1L_PCS5           EXTI_D3PCR1L_PCS5_Msk                      /*!< D3 Pending request clear input signal selection on line 5 */
+#define EXTI_D3PCR1L_PCS6_Pos       (12U)
+#define EXTI_D3PCR1L_PCS6_Msk       (0x3UL << EXTI_D3PCR1L_PCS6_Pos)           /*!< 0x00003000 */
+#define EXTI_D3PCR1L_PCS6           EXTI_D3PCR1L_PCS6_Msk                      /*!< D3 Pending request clear input signal selection on line 6 */
+#define EXTI_D3PCR1L_PCS7_Pos       (14U)
+#define EXTI_D3PCR1L_PCS7_Msk       (0x3UL << EXTI_D3PCR1L_PCS7_Pos)           /*!< 0x0000C000 */
+#define EXTI_D3PCR1L_PCS7           EXTI_D3PCR1L_PCS7_Msk                      /*!< D3 Pending request clear input signal selection on line 7 */
+#define EXTI_D3PCR1L_PCS8_Pos       (16U)
+#define EXTI_D3PCR1L_PCS8_Msk       (0x3UL << EXTI_D3PCR1L_PCS8_Pos)           /*!< 0x00030000 */
+#define EXTI_D3PCR1L_PCS8           EXTI_D3PCR1L_PCS8_Msk                      /*!< D3 Pending request clear input signal selection on line 8 */
+#define EXTI_D3PCR1L_PCS9_Pos       (18U)
+#define EXTI_D3PCR1L_PCS9_Msk       (0x3UL << EXTI_D3PCR1L_PCS9_Pos)           /*!< 0x000C0000 */
+#define EXTI_D3PCR1L_PCS9           EXTI_D3PCR1L_PCS9_Msk                      /*!< D3 Pending request clear input signal selection on line 9 */
+#define EXTI_D3PCR1L_PCS10_Pos      (20U)
+#define EXTI_D3PCR1L_PCS10_Msk      (0x3UL << EXTI_D3PCR1L_PCS10_Pos)          /*!< 0x00300000 */
+#define EXTI_D3PCR1L_PCS10          EXTI_D3PCR1L_PCS10_Msk                     /*!< D3 Pending request clear input signal selection on line 10*/
+#define EXTI_D3PCR1L_PCS11_Pos      (22U)
+#define EXTI_D3PCR1L_PCS11_Msk      (0x3UL << EXTI_D3PCR1L_PCS11_Pos)          /*!< 0x00C00000 */
+#define EXTI_D3PCR1L_PCS11          EXTI_D3PCR1L_PCS11_Msk                     /*!< D3 Pending request clear input signal selection on line 11*/
+#define EXTI_D3PCR1L_PCS12_Pos      (24U)
+#define EXTI_D3PCR1L_PCS12_Msk      (0x3UL << EXTI_D3PCR1L_PCS12_Pos)          /*!< 0x03000000 */
+#define EXTI_D3PCR1L_PCS12          EXTI_D3PCR1L_PCS12_Msk                     /*!< D3 Pending request clear input signal selection on line 12*/
+#define EXTI_D3PCR1L_PCS13_Pos      (26U)
+#define EXTI_D3PCR1L_PCS13_Msk      (0x3UL << EXTI_D3PCR1L_PCS13_Pos)          /*!< 0x0C000000 */
+#define EXTI_D3PCR1L_PCS13          EXTI_D3PCR1L_PCS13_Msk                     /*!< D3 Pending request clear input signal selection on line 13*/
+#define EXTI_D3PCR1L_PCS14_Pos      (28U)
+#define EXTI_D3PCR1L_PCS14_Msk      (0x3UL << EXTI_D3PCR1L_PCS14_Pos)          /*!< 0x30000000 */
+#define EXTI_D3PCR1L_PCS14          EXTI_D3PCR1L_PCS14_Msk                     /*!< D3 Pending request clear input signal selection on line 14*/
+#define EXTI_D3PCR1L_PCS15_Pos      (30U)
+#define EXTI_D3PCR1L_PCS15_Msk      (0x3UL << EXTI_D3PCR1L_PCS15_Pos)          /*!< 0xC0000000 */
+#define EXTI_D3PCR1L_PCS15          EXTI_D3PCR1L_PCS15_Msk                     /*!< D3 Pending request clear input signal selection on line 15*/
+
+/*******************  Bit definition for EXTI_D3PCR1H register  ****************/
+#define EXTI_D3PCR1H_PCS19_Pos       (6U)
+#define EXTI_D3PCR1H_PCS19_Msk       (0x3UL << EXTI_D3PCR1H_PCS19_Pos)         /*!< 0x000000C0 */
+#define EXTI_D3PCR1H_PCS19           EXTI_D3PCR1H_PCS19_Msk                    /*!< D3 Pending request clear input signal selection on line 19 */
+#define EXTI_D3PCR1H_PCS20_Pos       (8U)
+#define EXTI_D3PCR1H_PCS20_Msk       (0x3UL << EXTI_D3PCR1H_PCS20_Pos)         /*!< 0x00000300 */
+#define EXTI_D3PCR1H_PCS20           EXTI_D3PCR1H_PCS20_Msk                    /*!< D3 Pending request clear input signal selection on line 20 */
+#define EXTI_D3PCR1H_PCS21_Pos       (10U)
+#define EXTI_D3PCR1H_PCS21_Msk       (0x3UL << EXTI_D3PCR1H_PCS21_Pos)         /*!< 0x00000C00 */
+#define EXTI_D3PCR1H_PCS21           EXTI_D3PCR1H_PCS21_Msk                    /*!< D3 Pending request clear input signal selection on line 21 */
+#define EXTI_D3PCR1H_PCS25_Pos       (18U)
+#define EXTI_D3PCR1H_PCS25_Msk       (0x3UL << EXTI_D3PCR1H_PCS25_Pos)         /*!< 0x000C0000 */
+#define EXTI_D3PCR1H_PCS25           EXTI_D3PCR1H_PCS25_Msk                    /*!< D3 Pending request clear input signal selection on line 25 */
+
+/******************  Bit definition for EXTI_RTSR2 register  *******************/
+#define EXTI_RTSR2_TR_Pos          (17U)
+#define EXTI_RTSR2_TR_Msk          (0x5UL << EXTI_RTSR2_TR_Pos)                /*!< 0x000A0000 */
+#define EXTI_RTSR2_TR              EXTI_RTSR2_TR_Msk                           /*!< Rising trigger event configuration bit */
+#define EXTI_RTSR2_TR49_Pos        (17U)
+#define EXTI_RTSR2_TR49_Msk        (0x1UL << EXTI_RTSR2_TR49_Pos)              /*!< 0x00020000 */
+#define EXTI_RTSR2_TR49            EXTI_RTSR2_TR49_Msk                         /*!< Rising trigger event configuration bit of line 49 */
+#define EXTI_RTSR2_TR51_Pos        (19U)
+#define EXTI_RTSR2_TR51_Msk        (0x1UL << EXTI_RTSR2_TR51_Pos)              /*!< 0x00080000 */
+#define EXTI_RTSR2_TR51            EXTI_RTSR2_TR51_Msk                         /*!< Rising trigger event configuration bit of line 51 */
+
+/******************  Bit definition for EXTI_FTSR2 register  *******************/
+#define EXTI_FTSR2_TR_Pos          (17U)
+#define EXTI_FTSR2_TR_Msk          (0x5UL << EXTI_FTSR2_TR_Pos)                /*!< 0x000A0000 */
+#define EXTI_FTSR2_TR              EXTI_FTSR2_TR_Msk                           /*!< Falling trigger event configuration bit */
+#define EXTI_FTSR2_TR49_Pos        (17U)
+#define EXTI_FTSR2_TR49_Msk        (0x1UL << EXTI_FTSR2_TR49_Pos)              /*!< 0x00020000 */
+#define EXTI_FTSR2_TR49            EXTI_FTSR2_TR49_Msk                         /*!< Falling trigger event configuration bit of line 49 */
+#define EXTI_FTSR2_TR51_Pos        (19U)
+#define EXTI_FTSR2_TR51_Msk        (0x1UL << EXTI_FTSR2_TR51_Pos)              /*!< 0x00080000 */
+#define EXTI_FTSR2_TR51            EXTI_FTSR2_TR51_Msk                         /*!< Falling trigger event configuration bit of line 51 */
+
+/******************  Bit definition for EXTI_SWIER2 register  ******************/
+#define EXTI_SWIER2_SWIER49_Pos    (17U)
+#define EXTI_SWIER2_SWIER49_Msk    (0x1UL << EXTI_SWIER2_SWIER49_Pos)          /*!< 0x00020000 */
+#define EXTI_SWIER2_SWIER49        EXTI_SWIER2_SWIER49_Msk                     /*!< Software Interrupt on line 49 */
+#define EXTI_SWIER2_SWIER51_Pos    (19U)
+#define EXTI_SWIER2_SWIER51_Msk    (0x1UL << EXTI_SWIER2_SWIER51_Pos)          /*!< 0x00080000 */
+#define EXTI_SWIER2_SWIER51        EXTI_SWIER2_SWIER51_Msk                     /*!< Software Interrupt on line 51 */
+
+/******************  Bit definition for EXTI_D3PMR2 register  ******************/
+#define EXTI_D3PMR2_MR34_Pos       (2U)
+#define EXTI_D3PMR2_MR34_Msk       (0x1UL << EXTI_D3PMR2_MR34_Pos)             /*!< 0x00000004 */
+#define EXTI_D3PMR2_MR34           EXTI_D3PMR2_MR34_Msk                        /*!< Pending Mask Event for line 34  */
+#define EXTI_D3PMR2_MR35_Pos       (3U)
+#define EXTI_D3PMR2_MR35_Msk       (0x1UL << EXTI_D3PMR2_MR35_Pos)             /*!< 0x00000008 */
+#define EXTI_D3PMR2_MR35           EXTI_D3PMR2_MR35_Msk                        /*!< Pending Mask Event for line 35  */
+#define EXTI_D3PMR2_MR41_Pos       (9U)
+#define EXTI_D3PMR2_MR41_Msk       (0x1UL << EXTI_D3PMR2_MR41_Pos)             /*!< 0x00000200 */
+#define EXTI_D3PMR2_MR41           EXTI_D3PMR2_MR41_Msk                        /*!< Pending Mask Event for line 41  */
+#define EXTI_D3PMR2_MR48_Pos       (16U)
+#define EXTI_D3PMR2_MR48_Msk       (0x1UL << EXTI_D3PMR2_MR48_Pos)             /*!< 0x00010000 */
+#define EXTI_D3PMR2_MR48           EXTI_D3PMR2_MR48_Msk                        /*!< Pending Mask Event for line 48  */
+#define EXTI_D3PMR2_MR49_Pos       (17U)
+#define EXTI_D3PMR2_MR49_Msk       (0x1UL << EXTI_D3PMR2_MR49_Pos)             /*!< 0x00020000 */
+#define EXTI_D3PMR2_MR49           EXTI_D3PMR2_MR49_Msk                        /*!< Pending Mask Event for line 49  */
+#define EXTI_D3PMR2_MR50_Pos       (18U)
+#define EXTI_D3PMR2_MR50_Msk       (0x1UL << EXTI_D3PMR2_MR50_Pos)             /*!< 0x00040000 */
+#define EXTI_D3PMR2_MR50           EXTI_D3PMR2_MR50_Msk                        /*!< Pending Mask Event for line 50  */
+#define EXTI_D3PMR2_MR51_Pos       (19U)
+#define EXTI_D3PMR2_MR51_Msk       (0x1UL << EXTI_D3PMR2_MR51_Pos)             /*!< 0x00080000 */
+#define EXTI_D3PMR2_MR51           EXTI_D3PMR2_MR51_Msk                        /*!< Pending Mask Event for line 51  */
+#define EXTI_D3PMR2_MR52_Pos       (20U)
+#define EXTI_D3PMR2_MR52_Msk       (0x1UL << EXTI_D3PMR2_MR52_Pos)             /*!< 0x00100000 */
+#define EXTI_D3PMR2_MR52           EXTI_D3PMR2_MR52_Msk                        /*!< Pending Mask Event for line 52  */
+#define EXTI_D3PMR2_MR53_Pos       (21U)
+#define EXTI_D3PMR2_MR53_Msk       (0x1UL << EXTI_D3PMR2_MR53_Pos)             /*!< 0x00200000 */
+#define EXTI_D3PMR2_MR53           EXTI_D3PMR2_MR53_Msk                        /*!< Pending Mask Event for line 53  */
+/*******************  Bit definition for EXTI_D3PCR2L register  ****************/
+#define EXTI_D3PCR2L_PCS34_Pos       (4U)
+#define EXTI_D3PCR2L_PCS34_Msk       (0x3UL << EXTI_D3PCR2L_PCS34_Pos)         /*!< 0x00000030 */
+#define EXTI_D3PCR2L_PCS34           EXTI_D3PCR2L_PCS34_Msk                    /*!< D3 Pending request clear input signal selection on line 34 */
+#define EXTI_D3PCR2L_PCS35_Pos       (6U)
+#define EXTI_D3PCR2L_PCS35_Msk       (0x3UL << EXTI_D3PCR2L_PCS35_Pos)         /*!< 0x000000C0 */
+#define EXTI_D3PCR2L_PCS35           EXTI_D3PCR2L_PCS35_Msk                    /*!< D3 Pending request clear input signal selection on line 35 */
+#define EXTI_D3PCR2L_PCS41_Pos       (18U)
+#define EXTI_D3PCR2L_PCS41_Msk       (0x3UL << EXTI_D3PCR2L_PCS41_Pos)         /*!< 0x000C0000 */
+#define EXTI_D3PCR2L_PCS41           EXTI_D3PCR2L_PCS41_Msk                    /*!< D3 Pending request clear input signal selection on line 41 */
+
+
+/*******************  Bit definition for EXTI_D3PCR2H register  ****************/
+#define EXTI_D3PCR2H_PCS48_Pos       (0U)
+#define EXTI_D3PCR2H_PCS48_Msk       (0x3UL << EXTI_D3PCR2H_PCS48_Pos)         /*!< 0x00000003 */
+#define EXTI_D3PCR2H_PCS48           EXTI_D3PCR2H_PCS48_Msk                    /*!< D3 Pending request clear input signal selection on line 48 */
+#define EXTI_D3PCR2H_PCS49_Pos       (2U)
+#define EXTI_D3PCR2H_PCS49_Msk       (0x3UL << EXTI_D3PCR2H_PCS49_Pos)         /*!< 0x0000000C */
+#define EXTI_D3PCR2H_PCS49           EXTI_D3PCR2H_PCS49_Msk                    /*!< D3 Pending request clear input signal selection on line 49 */
+#define EXTI_D3PCR2H_PCS50_Pos       (4U)
+#define EXTI_D3PCR2H_PCS50_Msk       (0x3UL << EXTI_D3PCR2H_PCS50_Pos)         /*!< 0x00000030 */
+#define EXTI_D3PCR2H_PCS50           EXTI_D3PCR2H_PCS50_Msk                    /*!< D3 Pending request clear input signal selection on line 50 */
+#define EXTI_D3PCR2H_PCS51_Pos       (6U)
+#define EXTI_D3PCR2H_PCS51_Msk       (0x3UL << EXTI_D3PCR2H_PCS51_Pos)         /*!< 0x000000C0 */
+#define EXTI_D3PCR2H_PCS51           EXTI_D3PCR2H_PCS51_Msk                    /*!< D3 Pending request clear input signal selection on line 51 */
+#define EXTI_D3PCR2H_PCS52_Pos       (8U)
+#define EXTI_D3PCR2H_PCS52_Msk       (0x3UL << EXTI_D3PCR2H_PCS52_Pos)         /*!< 0x00000300 */
+#define EXTI_D3PCR2H_PCS52           EXTI_D3PCR2H_PCS52_Msk                    /*!< D3 Pending request clear input signal selection on line 52 */
+#define EXTI_D3PCR2H_PCS53_Pos       (10U)
+#define EXTI_D3PCR2H_PCS53_Msk       (0x3UL << EXTI_D3PCR2H_PCS53_Pos)         /*!< 0x00000C00 */
+#define EXTI_D3PCR2H_PCS53           EXTI_D3PCR2H_PCS53_Msk                    /*!< D3 Pending request clear input signal selection on line 53 */
+/******************  Bit definition for EXTI_RTSR3 register  *******************/
+#define EXTI_RTSR3_TR_Pos          (21U)
+#define EXTI_RTSR3_TR_Msk          (0x3UL << EXTI_RTSR3_TR_Pos)                /*!< 0x00600000 */
+#define EXTI_RTSR3_TR              EXTI_RTSR3_TR_Msk                           /*!< Rising trigger event configuration bit */
+#define EXTI_RTSR3_TR85_Pos        (21U)
+#define EXTI_RTSR3_TR85_Msk        (0x1UL << EXTI_RTSR3_TR85_Pos)              /*!< 0x00200000 */
+#define EXTI_RTSR3_TR85            EXTI_RTSR3_TR85_Msk                         /*!< Rising trigger event configuration bit of line 85 */
+#define EXTI_RTSR3_TR86_Pos        (22U)
+#define EXTI_RTSR3_TR86_Msk        (0x1UL << EXTI_RTSR3_TR86_Pos)              /*!< 0x00400000 */
+#define EXTI_RTSR3_TR86            EXTI_RTSR3_TR86_Msk                         /*!< Rising trigger event configuration bit of line 86 */
+
+/******************  Bit definition for EXTI_FTSR3 register  *******************/
+#define EXTI_FTSR3_TR_Pos          (21U)
+#define EXTI_FTSR3_TR_Msk          (0x3UL << EXTI_FTSR3_TR_Pos)               /*!< 0x00600000 */
+#define EXTI_FTSR3_TR              EXTI_FTSR3_TR_Msk                           /*!< Falling trigger event configuration bit */
+#define EXTI_FTSR3_TR85_Pos        (21U)
+#define EXTI_FTSR3_TR85_Msk        (0x1UL << EXTI_FTSR3_TR85_Pos)              /*!< 0x00200000 */
+#define EXTI_FTSR3_TR85            EXTI_FTSR3_TR85_Msk                         /*!< Falling trigger event configuration bit of line 85 */
+#define EXTI_FTSR3_TR86_Pos        (22U)
+#define EXTI_FTSR3_TR86_Msk        (0x1UL << EXTI_FTSR3_TR86_Pos)              /*!< 0x00400000 */
+#define EXTI_FTSR3_TR86            EXTI_FTSR3_TR86_Msk                         /*!< Falling trigger event configuration bit of line 86 */
+
+/******************  Bit definition for EXTI_SWIER3 register  ******************/
+#define EXTI_SWIER3_SWI_Pos        (21U)
+#define EXTI_SWIER3_SWI_Msk        (0x3UL << EXTI_SWIER3_SWI_Pos)             /*!< 0x00600000 */
+#define EXTI_SWIER3_SWI            EXTI_SWIER3_SWI_Msk                         /*!< Software Interrupt event bit */
+#define EXTI_SWIER3_SWIER85_Pos    (21U)
+#define EXTI_SWIER3_SWIER85_Msk    (0x1UL << EXTI_SWIER3_SWIER85_Pos)          /*!< 0x00200000 */
+#define EXTI_SWIER3_SWIER85        EXTI_SWIER3_SWIER85_Msk                     /*!< Software Interrupt on line 85 */
+#define EXTI_SWIER3_SWIER86_Pos    (22U)
+#define EXTI_SWIER3_SWIER86_Msk    (0x1UL << EXTI_SWIER3_SWIER86_Pos)          /*!< 0x00400000 */
+#define EXTI_SWIER3_SWIER86        EXTI_SWIER3_SWIER86_Msk                     /*!< Software Interrupt on line 86 */
+
+/******************  Bit definition for EXTI_D3PMR3 register  ******************/
+#define EXTI_D3PMR3_MR88_Pos       (24U)
+#define EXTI_D3PMR3_MR88_Msk       (0x1UL << EXTI_D3PMR3_MR88_Pos)             /*!< 0x01000000 */
+#define EXTI_D3PMR3_MR88           EXTI_D3PMR3_MR88_Msk                        /*!< Pending Mask Event for line 88  */
+
+/*******************  Bit definition for EXTI_D3PCR3H register  ****************/
+#define EXTI_D3PCR3H_PCS88_Pos       (16U)
+#define EXTI_D3PCR3H_PCS88_Msk       (0x3UL << EXTI_D3PCR3H_PCS88_Pos)         /*!< 0x00030000 */
+#define EXTI_D3PCR3H_PCS88           EXTI_D3PCR3H_PCS88_Msk                    /*!< D3 Pending request clear input signal selection on line 88 */
+
+/*******************  Bit definition for EXTI_IMR1 register  *******************/
+#define EXTI_IMR1_IM_Pos           (0U)
+#define EXTI_IMR1_IM_Msk           (0xFFFFFFFFUL << EXTI_IMR1_IM_Pos)          /*!< 0xFFFFFFFF */
+#define EXTI_IMR1_IM               EXTI_IMR1_IM_Msk                            /*!< Interrupt Mask */
+#define EXTI_IMR1_IM0_Pos          (0U)
+#define EXTI_IMR1_IM0_Msk          (0x1UL << EXTI_IMR1_IM0_Pos)                /*!< 0x00000001 */
+#define EXTI_IMR1_IM0              EXTI_IMR1_IM0_Msk                           /*!< Interrupt Mask on line 0 */
+#define EXTI_IMR1_IM1_Pos          (1U)
+#define EXTI_IMR1_IM1_Msk          (0x1UL << EXTI_IMR1_IM1_Pos)                /*!< 0x00000002 */
+#define EXTI_IMR1_IM1              EXTI_IMR1_IM1_Msk                           /*!< Interrupt Mask on line 1 */
+#define EXTI_IMR1_IM2_Pos          (2U)
+#define EXTI_IMR1_IM2_Msk          (0x1UL << EXTI_IMR1_IM2_Pos)                /*!< 0x00000004 */
+#define EXTI_IMR1_IM2              EXTI_IMR1_IM2_Msk                           /*!< Interrupt Mask on line 2 */
+#define EXTI_IMR1_IM3_Pos          (3U)
+#define EXTI_IMR1_IM3_Msk          (0x1UL << EXTI_IMR1_IM3_Pos)                /*!< 0x00000008 */
+#define EXTI_IMR1_IM3              EXTI_IMR1_IM3_Msk                           /*!< Interrupt Mask on line 3 */
+#define EXTI_IMR1_IM4_Pos          (4U)
+#define EXTI_IMR1_IM4_Msk          (0x1UL << EXTI_IMR1_IM4_Pos)                /*!< 0x00000010 */
+#define EXTI_IMR1_IM4              EXTI_IMR1_IM4_Msk                           /*!< Interrupt Mask on line 4 */
+#define EXTI_IMR1_IM5_Pos          (5U)
+#define EXTI_IMR1_IM5_Msk          (0x1UL << EXTI_IMR1_IM5_Pos)                /*!< 0x00000020 */
+#define EXTI_IMR1_IM5              EXTI_IMR1_IM5_Msk                           /*!< Interrupt Mask on line 5 */
+#define EXTI_IMR1_IM6_Pos          (6U)
+#define EXTI_IMR1_IM6_Msk          (0x1UL << EXTI_IMR1_IM6_Pos)                /*!< 0x00000040 */
+#define EXTI_IMR1_IM6              EXTI_IMR1_IM6_Msk                           /*!< Interrupt Mask on line 6 */
+#define EXTI_IMR1_IM7_Pos          (7U)
+#define EXTI_IMR1_IM7_Msk          (0x1UL << EXTI_IMR1_IM7_Pos)                /*!< 0x00000080 */
+#define EXTI_IMR1_IM7              EXTI_IMR1_IM7_Msk                           /*!< Interrupt Mask on line 7 */
+#define EXTI_IMR1_IM8_Pos          (8U)
+#define EXTI_IMR1_IM8_Msk          (0x1UL << EXTI_IMR1_IM8_Pos)                /*!< 0x00000100 */
+#define EXTI_IMR1_IM8              EXTI_IMR1_IM8_Msk                           /*!< Interrupt Mask on line 8 */
+#define EXTI_IMR1_IM9_Pos          (9U)
+#define EXTI_IMR1_IM9_Msk          (0x1UL << EXTI_IMR1_IM9_Pos)                /*!< 0x00000200 */
+#define EXTI_IMR1_IM9              EXTI_IMR1_IM9_Msk                           /*!< Interrupt Mask on line 9 */
+#define EXTI_IMR1_IM10_Pos         (10U)
+#define EXTI_IMR1_IM10_Msk         (0x1UL << EXTI_IMR1_IM10_Pos)               /*!< 0x00000400 */
+#define EXTI_IMR1_IM10             EXTI_IMR1_IM10_Msk                          /*!< Interrupt Mask on line 10 */
+#define EXTI_IMR1_IM11_Pos         (11U)
+#define EXTI_IMR1_IM11_Msk         (0x1UL << EXTI_IMR1_IM11_Pos)               /*!< 0x00000800 */
+#define EXTI_IMR1_IM11             EXTI_IMR1_IM11_Msk                          /*!< Interrupt Mask on line 11 */
+#define EXTI_IMR1_IM12_Pos         (12U)
+#define EXTI_IMR1_IM12_Msk         (0x1UL << EXTI_IMR1_IM12_Pos)               /*!< 0x00001000 */
+#define EXTI_IMR1_IM12             EXTI_IMR1_IM12_Msk                          /*!< Interrupt Mask on line 12 */
+#define EXTI_IMR1_IM13_Pos         (13U)
+#define EXTI_IMR1_IM13_Msk         (0x1UL << EXTI_IMR1_IM13_Pos)               /*!< 0x00002000 */
+#define EXTI_IMR1_IM13             EXTI_IMR1_IM13_Msk                          /*!< Interrupt Mask on line 13 */
+#define EXTI_IMR1_IM14_Pos         (14U)
+#define EXTI_IMR1_IM14_Msk         (0x1UL << EXTI_IMR1_IM14_Pos)               /*!< 0x00004000 */
+#define EXTI_IMR1_IM14             EXTI_IMR1_IM14_Msk                          /*!< Interrupt Mask on line 14 */
+#define EXTI_IMR1_IM15_Pos         (15U)
+#define EXTI_IMR1_IM15_Msk         (0x1UL << EXTI_IMR1_IM15_Pos)               /*!< 0x00008000 */
+#define EXTI_IMR1_IM15             EXTI_IMR1_IM15_Msk                          /*!< Interrupt Mask on line 15 */
+#define EXTI_IMR1_IM16_Pos         (16U)
+#define EXTI_IMR1_IM16_Msk         (0x1UL << EXTI_IMR1_IM16_Pos)               /*!< 0x00010000 */
+#define EXTI_IMR1_IM16             EXTI_IMR1_IM16_Msk                          /*!< Interrupt Mask on line 16 */
+#define EXTI_IMR1_IM17_Pos         (17U)
+#define EXTI_IMR1_IM17_Msk         (0x1UL << EXTI_IMR1_IM17_Pos)               /*!< 0x00020000 */
+#define EXTI_IMR1_IM17             EXTI_IMR1_IM17_Msk                          /*!< Interrupt Mask on line 17 */
+#define EXTI_IMR1_IM18_Pos         (18U)
+#define EXTI_IMR1_IM18_Msk         (0x1UL << EXTI_IMR1_IM18_Pos)               /*!< 0x00040000 */
+#define EXTI_IMR1_IM18             EXTI_IMR1_IM18_Msk                          /*!< Interrupt Mask on line 18 */
+#define EXTI_IMR1_IM19_Pos         (19U)
+#define EXTI_IMR1_IM19_Msk         (0x1UL << EXTI_IMR1_IM19_Pos)               /*!< 0x00080000 */
+#define EXTI_IMR1_IM19             EXTI_IMR1_IM19_Msk                          /*!< Interrupt Mask on line 19 */
+#define EXTI_IMR1_IM20_Pos         (20U)
+#define EXTI_IMR1_IM20_Msk         (0x1UL << EXTI_IMR1_IM20_Pos)               /*!< 0x00100000 */
+#define EXTI_IMR1_IM20             EXTI_IMR1_IM20_Msk                          /*!< Interrupt Mask on line 20 */
+#define EXTI_IMR1_IM21_Pos         (21U)
+#define EXTI_IMR1_IM21_Msk         (0x1UL << EXTI_IMR1_IM21_Pos)               /*!< 0x00200000 */
+#define EXTI_IMR1_IM21             EXTI_IMR1_IM21_Msk                          /*!< Interrupt Mask on line 21 */
+#define EXTI_IMR1_IM22_Pos         (22U)
+#define EXTI_IMR1_IM22_Msk         (0x1UL << EXTI_IMR1_IM22_Pos)               /*!< 0x00400000 */
+#define EXTI_IMR1_IM22             EXTI_IMR1_IM22_Msk                          /*!< Interrupt Mask on line 22 */
+#define EXTI_IMR1_IM23_Pos         (23U)
+#define EXTI_IMR1_IM23_Msk         (0x1UL << EXTI_IMR1_IM23_Pos)               /*!< 0x00800000 */
+#define EXTI_IMR1_IM23             EXTI_IMR1_IM23_Msk                          /*!< Interrupt Mask on line 23 */
+#define EXTI_IMR1_IM24_Pos         (24U)
+#define EXTI_IMR1_IM24_Msk         (0x1UL << EXTI_IMR1_IM24_Pos)               /*!< 0x01000000 */
+#define EXTI_IMR1_IM24             EXTI_IMR1_IM24_Msk                          /*!< Interrupt Mask on line 24 */
+#define EXTI_IMR1_IM25_Pos         (25U)
+#define EXTI_IMR1_IM25_Msk         (0x1UL << EXTI_IMR1_IM25_Pos)               /*!< 0x02000000 */
+#define EXTI_IMR1_IM25             EXTI_IMR1_IM25_Msk                          /*!< Interrupt Mask on line 25 */
+#define EXTI_IMR1_IM26_Pos         (26U)
+#define EXTI_IMR1_IM26_Msk         (0x1UL << EXTI_IMR1_IM26_Pos)               /*!< 0x04000000 */
+#define EXTI_IMR1_IM26             EXTI_IMR1_IM26_Msk                          /*!< Interrupt Mask on line 26 */
+#define EXTI_IMR1_IM27_Pos         (27U)
+#define EXTI_IMR1_IM27_Msk         (0x1UL << EXTI_IMR1_IM27_Pos)               /*!< 0x08000000 */
+#define EXTI_IMR1_IM27             EXTI_IMR1_IM27_Msk                          /*!< Interrupt Mask on line 27 */
+#define EXTI_IMR1_IM28_Pos         (28U)
+#define EXTI_IMR1_IM28_Msk         (0x1UL << EXTI_IMR1_IM28_Pos)               /*!< 0x10000000 */
+#define EXTI_IMR1_IM28             EXTI_IMR1_IM28_Msk                          /*!< Interrupt Mask on line 28 */
+#define EXTI_IMR1_IM29_Pos         (29U)
+#define EXTI_IMR1_IM29_Msk         (0x1UL << EXTI_IMR1_IM29_Pos)               /*!< 0x20000000 */
+#define EXTI_IMR1_IM29             EXTI_IMR1_IM29_Msk                          /*!< Interrupt Mask on line 29 */
+#define EXTI_IMR1_IM30_Pos         (30U)
+#define EXTI_IMR1_IM30_Msk         (0x1UL << EXTI_IMR1_IM30_Pos)               /*!< 0x40000000 */
+#define EXTI_IMR1_IM30             EXTI_IMR1_IM30_Msk                          /*!< Interrupt Mask on line 30 */
+#define EXTI_IMR1_IM31_Pos         (31U)
+#define EXTI_IMR1_IM31_Msk         (0x1UL << EXTI_IMR1_IM31_Pos)               /*!< 0x80000000 */
+#define EXTI_IMR1_IM31             EXTI_IMR1_IM31_Msk                          /*!< Interrupt Mask on line 31 */
+
+/*******************  Bit definition for EXTI_EMR1 register  *******************/
+#define EXTI_EMR1_EM_Pos           (0U)
+#define EXTI_EMR1_EM_Msk           (0xFFFFFFFFUL << EXTI_EMR1_EM_Pos)          /*!< 0xFFFFFFFF */
+#define EXTI_EMR1_EM               EXTI_EMR1_EM_Msk                            /*!< Event Mask */
+#define EXTI_EMR1_EM0_Pos          (0U)
+#define EXTI_EMR1_EM0_Msk          (0x1UL << EXTI_EMR1_EM0_Pos)                /*!< 0x00000001 */
+#define EXTI_EMR1_EM0              EXTI_EMR1_EM0_Msk                           /*!< Event Mask on line 0 */
+#define EXTI_EMR1_EM1_Pos          (1U)
+#define EXTI_EMR1_EM1_Msk          (0x1UL << EXTI_EMR1_EM1_Pos)                /*!< 0x00000002 */
+#define EXTI_EMR1_EM1              EXTI_EMR1_EM1_Msk                           /*!< Event Mask on line 1 */
+#define EXTI_EMR1_EM2_Pos          (2U)
+#define EXTI_EMR1_EM2_Msk          (0x1UL << EXTI_EMR1_EM2_Pos)                /*!< 0x00000004 */
+#define EXTI_EMR1_EM2              EXTI_EMR1_EM2_Msk                           /*!< Event Mask on line 2 */
+#define EXTI_EMR1_EM3_Pos          (3U)
+#define EXTI_EMR1_EM3_Msk          (0x1UL << EXTI_EMR1_EM3_Pos)                /*!< 0x00000008 */
+#define EXTI_EMR1_EM3              EXTI_EMR1_EM3_Msk                           /*!< Event Mask on line 3 */
+#define EXTI_EMR1_EM4_Pos          (4U)
+#define EXTI_EMR1_EM4_Msk          (0x1UL << EXTI_EMR1_EM4_Pos)                /*!< 0x00000010 */
+#define EXTI_EMR1_EM4              EXTI_EMR1_EM4_Msk                           /*!< Event Mask on line 4 */
+#define EXTI_EMR1_EM5_Pos          (5U)
+#define EXTI_EMR1_EM5_Msk          (0x1UL << EXTI_EMR1_EM5_Pos)                /*!< 0x00000020 */
+#define EXTI_EMR1_EM5              EXTI_EMR1_EM5_Msk                           /*!< Event Mask on line 5 */
+#define EXTI_EMR1_EM6_Pos          (6U)
+#define EXTI_EMR1_EM6_Msk          (0x1UL << EXTI_EMR1_EM6_Pos)                /*!< 0x00000040 */
+#define EXTI_EMR1_EM6              EXTI_EMR1_EM6_Msk                           /*!< Event Mask on line 6 */
+#define EXTI_EMR1_EM7_Pos          (7U)
+#define EXTI_EMR1_EM7_Msk          (0x1UL << EXTI_EMR1_EM7_Pos)                /*!< 0x00000080 */
+#define EXTI_EMR1_EM7              EXTI_EMR1_EM7_Msk                           /*!< Event Mask on line 7 */
+#define EXTI_EMR1_EM8_Pos          (8U)
+#define EXTI_EMR1_EM8_Msk          (0x1UL << EXTI_EMR1_EM8_Pos)                /*!< 0x00000100 */
+#define EXTI_EMR1_EM8              EXTI_EMR1_EM8_Msk                           /*!< Event Mask on line 8 */
+#define EXTI_EMR1_EM9_Pos          (9U)
+#define EXTI_EMR1_EM9_Msk          (0x1UL << EXTI_EMR1_EM9_Pos)                /*!< 0x00000200 */
+#define EXTI_EMR1_EM9              EXTI_EMR1_EM9_Msk                           /*!< Event Mask on line 9 */
+#define EXTI_EMR1_EM10_Pos         (10U)
+#define EXTI_EMR1_EM10_Msk         (0x1UL << EXTI_EMR1_EM10_Pos)               /*!< 0x00000400 */
+#define EXTI_EMR1_EM10             EXTI_EMR1_EM10_Msk                          /*!< Event Mask on line 10 */
+#define EXTI_EMR1_EM11_Pos         (11U)
+#define EXTI_EMR1_EM11_Msk         (0x1UL << EXTI_EMR1_EM11_Pos)               /*!< 0x00000800 */
+#define EXTI_EMR1_EM11             EXTI_EMR1_EM11_Msk                          /*!< Event Mask on line 11 */
+#define EXTI_EMR1_EM12_Pos         (12U)
+#define EXTI_EMR1_EM12_Msk         (0x1UL << EXTI_EMR1_EM12_Pos)               /*!< 0x00001000 */
+#define EXTI_EMR1_EM12             EXTI_EMR1_EM12_Msk                          /*!< Event Mask on line 12 */
+#define EXTI_EMR1_EM13_Pos         (13U)
+#define EXTI_EMR1_EM13_Msk         (0x1UL << EXTI_EMR1_EM13_Pos)               /*!< 0x00002000 */
+#define EXTI_EMR1_EM13             EXTI_EMR1_EM13_Msk                          /*!< Event Mask on line 13 */
+#define EXTI_EMR1_EM14_Pos         (14U)
+#define EXTI_EMR1_EM14_Msk         (0x1UL << EXTI_EMR1_EM14_Pos)               /*!< 0x00004000 */
+#define EXTI_EMR1_EM14             EXTI_EMR1_EM14_Msk                          /*!< Event Mask on line 14 */
+#define EXTI_EMR1_EM15_Pos         (15U)
+#define EXTI_EMR1_EM15_Msk         (0x1UL << EXTI_EMR1_EM15_Pos)               /*!< 0x00008000 */
+#define EXTI_EMR1_EM15             EXTI_EMR1_EM15_Msk                          /*!< Event Mask on line 15 */
+#define EXTI_EMR1_EM16_Pos         (16U)
+#define EXTI_EMR1_EM16_Msk         (0x1UL << EXTI_EMR1_EM16_Pos)               /*!< 0x00010000 */
+#define EXTI_EMR1_EM16             EXTI_EMR1_EM16_Msk                          /*!< Event Mask on line 16 */
+#define EXTI_EMR1_EM17_Pos         (17U)
+#define EXTI_EMR1_EM17_Msk         (0x1UL << EXTI_EMR1_EM17_Pos)               /*!< 0x00020000 */
+#define EXTI_EMR1_EM17             EXTI_EMR1_EM17_Msk                          /*!< Event Mask on line 17 */
+#define EXTI_EMR1_EM18_Pos         (18U)
+#define EXTI_EMR1_EM18_Msk         (0x1UL << EXTI_EMR1_EM18_Pos)               /*!< 0x00040000 */
+#define EXTI_EMR1_EM18             EXTI_EMR1_EM18_Msk                          /*!< Event Mask on line 18 */
+#define EXTI_EMR1_EM20_Pos         (20U)
+#define EXTI_EMR1_EM20_Msk         (0x1UL << EXTI_EMR1_EM20_Pos)               /*!< 0x00100000 */
+#define EXTI_EMR1_EM20             EXTI_EMR1_EM20_Msk                          /*!< Event Mask on line 20 */
+#define EXTI_EMR1_EM21_Pos         (21U)
+#define EXTI_EMR1_EM21_Msk         (0x1UL << EXTI_EMR1_EM21_Pos)               /*!< 0x00200000 */
+#define EXTI_EMR1_EM21             EXTI_EMR1_EM21_Msk                          /*!< Event Mask on line 21 */
+#define EXTI_EMR1_EM22_Pos         (22U)
+#define EXTI_EMR1_EM22_Msk         (0x1UL << EXTI_EMR1_EM22_Pos)               /*!< 0x00400000 */
+#define EXTI_EMR1_EM22             EXTI_EMR1_EM22_Msk                          /*!< Event Mask on line 22 */
+#define EXTI_EMR1_EM23_Pos         (23U)
+#define EXTI_EMR1_EM23_Msk         (0x1UL << EXTI_EMR1_EM23_Pos)               /*!< 0x00800000 */
+#define EXTI_EMR1_EM23             EXTI_EMR1_EM23_Msk                          /*!< Event Mask on line 23 */
+#define EXTI_EMR1_EM24_Pos         (24U)
+#define EXTI_EMR1_EM24_Msk         (0x1UL << EXTI_EMR1_EM24_Pos)               /*!< 0x01000000 */
+#define EXTI_EMR1_EM24             EXTI_EMR1_EM24_Msk                          /*!< Event Mask on line 24 */
+#define EXTI_EMR1_EM25_Pos         (25U)
+#define EXTI_EMR1_EM25_Msk         (0x1UL << EXTI_EMR1_EM25_Pos)               /*!< 0x02000000 */
+#define EXTI_EMR1_EM25             EXTI_EMR1_EM25_Msk                          /*!< Event Mask on line 25 */
+#define EXTI_EMR1_EM26_Pos         (26U)
+#define EXTI_EMR1_EM26_Msk         (0x1UL << EXTI_EMR1_EM26_Pos)               /*!< 0x04000000 */
+#define EXTI_EMR1_EM26             EXTI_EMR1_EM26_Msk                          /*!< Event Mask on line 26 */
+#define EXTI_EMR1_EM27_Pos         (27U)
+#define EXTI_EMR1_EM27_Msk         (0x1UL << EXTI_EMR1_EM27_Pos)               /*!< 0x08000000 */
+#define EXTI_EMR1_EM27             EXTI_EMR1_EM27_Msk                          /*!< Event Mask on line 27 */
+#define EXTI_EMR1_EM28_Pos         (28U)
+#define EXTI_EMR1_EM28_Msk         (0x1UL << EXTI_EMR1_EM28_Pos)               /*!< 0x10000000 */
+#define EXTI_EMR1_EM28             EXTI_EMR1_EM28_Msk                          /*!< Event Mask on line 28 */
+#define EXTI_EMR1_EM29_Pos         (29U)
+#define EXTI_EMR1_EM29_Msk         (0x1UL << EXTI_EMR1_EM29_Pos)               /*!< 0x20000000 */
+#define EXTI_EMR1_EM29             EXTI_EMR1_EM29_Msk                          /*!< Event Mask on line 29 */
+#define EXTI_EMR1_EM30_Pos         (30U)
+#define EXTI_EMR1_EM30_Msk         (0x1UL << EXTI_EMR1_EM30_Pos)               /*!< 0x40000000 */
+#define EXTI_EMR1_EM30             EXTI_EMR1_EM30_Msk                          /*!< Event Mask on line 30 */
+#define EXTI_EMR1_EM31_Pos         (31U)
+#define EXTI_EMR1_EM31_Msk         (0x1UL << EXTI_EMR1_EM31_Pos)               /*!< 0x80000000 */
+#define EXTI_EMR1_EM31             EXTI_EMR1_EM31_Msk                          /*!< Event Mask on line 31 */
+
+/*******************  Bit definition for EXTI_PR1 register  ********************/
+#define EXTI_PR1_PR_Pos            (0U)
+#define EXTI_PR1_PR_Msk            (0x3FFFFFUL << EXTI_PR1_PR_Pos)             /*!< 0x003FFFFF */
+#define EXTI_PR1_PR                EXTI_PR1_PR_Msk                             /*!< Pending bit */
+#define EXTI_PR1_PR0_Pos           (0U)
+#define EXTI_PR1_PR0_Msk           (0x1UL << EXTI_PR1_PR0_Pos)                 /*!< 0x00000001 */
+#define EXTI_PR1_PR0               EXTI_PR1_PR0_Msk                            /*!< Pending bit for line 0 */
+#define EXTI_PR1_PR1_Pos           (1U)
+#define EXTI_PR1_PR1_Msk           (0x1UL << EXTI_PR1_PR1_Pos)                 /*!< 0x00000002 */
+#define EXTI_PR1_PR1               EXTI_PR1_PR1_Msk                            /*!< Pending bit for line 1 */
+#define EXTI_PR1_PR2_Pos           (2U)
+#define EXTI_PR1_PR2_Msk           (0x1UL << EXTI_PR1_PR2_Pos)                 /*!< 0x00000004 */
+#define EXTI_PR1_PR2               EXTI_PR1_PR2_Msk                            /*!< Pending bit for line 2 */
+#define EXTI_PR1_PR3_Pos           (3U)
+#define EXTI_PR1_PR3_Msk           (0x1UL << EXTI_PR1_PR3_Pos)                 /*!< 0x00000008 */
+#define EXTI_PR1_PR3               EXTI_PR1_PR3_Msk                            /*!< Pending bit for line 3 */
+#define EXTI_PR1_PR4_Pos           (4U)
+#define EXTI_PR1_PR4_Msk           (0x1UL << EXTI_PR1_PR4_Pos)                 /*!< 0x00000010 */
+#define EXTI_PR1_PR4               EXTI_PR1_PR4_Msk                            /*!< Pending bit for line 4 */
+#define EXTI_PR1_PR5_Pos           (5U)
+#define EXTI_PR1_PR5_Msk           (0x1UL << EXTI_PR1_PR5_Pos)                 /*!< 0x00000020 */
+#define EXTI_PR1_PR5               EXTI_PR1_PR5_Msk                            /*!< Pending bit for line 5 */
+#define EXTI_PR1_PR6_Pos           (6U)
+#define EXTI_PR1_PR6_Msk           (0x1UL << EXTI_PR1_PR6_Pos)                 /*!< 0x00000040 */
+#define EXTI_PR1_PR6               EXTI_PR1_PR6_Msk                            /*!< Pending bit for line 6 */
+#define EXTI_PR1_PR7_Pos           (7U)
+#define EXTI_PR1_PR7_Msk           (0x1UL << EXTI_PR1_PR7_Pos)                 /*!< 0x00000080 */
+#define EXTI_PR1_PR7               EXTI_PR1_PR7_Msk                            /*!< Pending bit for line 7 */
+#define EXTI_PR1_PR8_Pos           (8U)
+#define EXTI_PR1_PR8_Msk           (0x1UL << EXTI_PR1_PR8_Pos)                 /*!< 0x00000100 */
+#define EXTI_PR1_PR8               EXTI_PR1_PR8_Msk                            /*!< Pending bit for line 8 */
+#define EXTI_PR1_PR9_Pos           (9U)
+#define EXTI_PR1_PR9_Msk           (0x1UL << EXTI_PR1_PR9_Pos)                 /*!< 0x00000200 */
+#define EXTI_PR1_PR9               EXTI_PR1_PR9_Msk                            /*!< Pending bit for line 9 */
+#define EXTI_PR1_PR10_Pos          (10U)
+#define EXTI_PR1_PR10_Msk          (0x1UL << EXTI_PR1_PR10_Pos)                /*!< 0x00000400 */
+#define EXTI_PR1_PR10              EXTI_PR1_PR10_Msk                           /*!< Pending bit for line 10 */
+#define EXTI_PR1_PR11_Pos          (11U)
+#define EXTI_PR1_PR11_Msk          (0x1UL << EXTI_PR1_PR11_Pos)                /*!< 0x00000800 */
+#define EXTI_PR1_PR11              EXTI_PR1_PR11_Msk                           /*!< Pending bit for line 11 */
+#define EXTI_PR1_PR12_Pos          (12U)
+#define EXTI_PR1_PR12_Msk          (0x1UL << EXTI_PR1_PR12_Pos)                /*!< 0x00001000 */
+#define EXTI_PR1_PR12              EXTI_PR1_PR12_Msk                           /*!< Pending bit for line 12 */
+#define EXTI_PR1_PR13_Pos          (13U)
+#define EXTI_PR1_PR13_Msk          (0x1UL << EXTI_PR1_PR13_Pos)                /*!< 0x00002000 */
+#define EXTI_PR1_PR13              EXTI_PR1_PR13_Msk                           /*!< Pending bit for line 13 */
+#define EXTI_PR1_PR14_Pos          (14U)
+#define EXTI_PR1_PR14_Msk          (0x1UL << EXTI_PR1_PR14_Pos)                /*!< 0x00004000 */
+#define EXTI_PR1_PR14              EXTI_PR1_PR14_Msk                           /*!< Pending bit for line 14 */
+#define EXTI_PR1_PR15_Pos          (15U)
+#define EXTI_PR1_PR15_Msk          (0x1UL << EXTI_PR1_PR15_Pos)                /*!< 0x00008000 */
+#define EXTI_PR1_PR15              EXTI_PR1_PR15_Msk                           /*!< Pending bit for line 15 */
+#define EXTI_PR1_PR16_Pos          (16U)
+#define EXTI_PR1_PR16_Msk          (0x1UL << EXTI_PR1_PR16_Pos)                /*!< 0x00010000 */
+#define EXTI_PR1_PR16              EXTI_PR1_PR16_Msk                           /*!< Pending bit for line 16 */
+#define EXTI_PR1_PR17_Pos          (17U)
+#define EXTI_PR1_PR17_Msk          (0x1UL << EXTI_PR1_PR17_Pos)                /*!< 0x00020000 */
+#define EXTI_PR1_PR17              EXTI_PR1_PR17_Msk                           /*!< Pending bit for line 17 */
+#define EXTI_PR1_PR18_Pos          (18U)
+#define EXTI_PR1_PR18_Msk          (0x1UL << EXTI_PR1_PR18_Pos)                /*!< 0x00040000 */
+#define EXTI_PR1_PR18              EXTI_PR1_PR18_Msk                           /*!< Pending bit for line 18 */
+#define EXTI_PR1_PR19_Pos          (19U)
+#define EXTI_PR1_PR19_Msk          (0x1UL << EXTI_PR1_PR19_Pos)                /*!< 0x00080000 */
+#define EXTI_PR1_PR19              EXTI_PR1_PR19_Msk                           /*!< Pending bit for line 19 */
+#define EXTI_PR1_PR20_Pos          (20U)
+#define EXTI_PR1_PR20_Msk          (0x1UL << EXTI_PR1_PR20_Pos)                /*!< 0x00100000 */
+#define EXTI_PR1_PR20              EXTI_PR1_PR20_Msk                           /*!< Pending bit for line 20 */
+#define EXTI_PR1_PR21_Pos          (21U)
+#define EXTI_PR1_PR21_Msk          (0x1UL << EXTI_PR1_PR21_Pos)                /*!< 0x00200000 */
+#define EXTI_PR1_PR21              EXTI_PR1_PR21_Msk                           /*!< Pending bit for line 21 */
+
+/*******************  Bit definition for EXTI_IMR2 register  *******************/
+#define EXTI_IMR2_IM_Pos           (0U)
+#define EXTI_IMR2_IM_Msk           (0xFFFFDFFFUL << EXTI_IMR2_IM_Pos)          /*!< 0xFFFFDFFF */
+#define EXTI_IMR2_IM               EXTI_IMR2_IM_Msk                            /*!< Interrupt Mask */
+#define EXTI_IMR2_IM32_Pos         (0U)
+#define EXTI_IMR2_IM32_Msk         (0x1UL << EXTI_IMR2_IM32_Pos)               /*!< 0x00000001 */
+#define EXTI_IMR2_IM32             EXTI_IMR2_IM32_Msk                          /*!< Interrupt Mask on line 32 */
+#define EXTI_IMR2_IM33_Pos         (1U)
+#define EXTI_IMR2_IM33_Msk         (0x1UL << EXTI_IMR2_IM33_Pos)               /*!< 0x00000002 */
+#define EXTI_IMR2_IM33             EXTI_IMR2_IM33_Msk                          /*!< Interrupt Mask on line 33 */
+#define EXTI_IMR2_IM34_Pos         (2U)
+#define EXTI_IMR2_IM34_Msk         (0x1UL << EXTI_IMR2_IM34_Pos)               /*!< 0x00000004 */
+#define EXTI_IMR2_IM34             EXTI_IMR2_IM34_Msk                          /*!< Interrupt Mask on line 34 */
+#define EXTI_IMR2_IM35_Pos         (3U)
+#define EXTI_IMR2_IM35_Msk         (0x1UL << EXTI_IMR2_IM35_Pos)               /*!< 0x00000008 */
+#define EXTI_IMR2_IM35             EXTI_IMR2_IM35_Msk                          /*!< Interrupt Mask on line 35 */
+#define EXTI_IMR2_IM36_Pos         (4U)
+#define EXTI_IMR2_IM36_Msk         (0x1UL << EXTI_IMR2_IM36_Pos)               /*!< 0x00000010 */
+#define EXTI_IMR2_IM36             EXTI_IMR2_IM36_Msk                          /*!< Interrupt Mask on line 36 */
+#define EXTI_IMR2_IM37_Pos         (5U)
+#define EXTI_IMR2_IM37_Msk         (0x1UL << EXTI_IMR2_IM37_Pos)               /*!< 0x00000020 */
+#define EXTI_IMR2_IM37             EXTI_IMR2_IM37_Msk                          /*!< Interrupt Mask on line 37 */
+#define EXTI_IMR2_IM38_Pos         (6U)
+#define EXTI_IMR2_IM38_Msk         (0x1UL << EXTI_IMR2_IM38_Pos)               /*!< 0x00000040 */
+#define EXTI_IMR2_IM38             EXTI_IMR2_IM38_Msk                          /*!< Interrupt Mask on line 38 */
+#define EXTI_IMR2_IM39_Pos         (7U)
+#define EXTI_IMR2_IM39_Msk         (0x1UL << EXTI_IMR2_IM39_Pos)               /*!< 0x00000080 */
+#define EXTI_IMR2_IM39             EXTI_IMR2_IM39_Msk                          /*!< Interrupt Mask on line 39 */
+#define EXTI_IMR2_IM40_Pos         (8U)
+#define EXTI_IMR2_IM40_Msk         (0x1UL << EXTI_IMR2_IM40_Pos)               /*!< 0x00000100 */
+#define EXTI_IMR2_IM40             EXTI_IMR2_IM40_Msk                          /*!< Interrupt Mask on line 40 */
+#define EXTI_IMR2_IM41_Pos         (9U)
+#define EXTI_IMR2_IM41_Msk         (0x1UL << EXTI_IMR2_IM41_Pos)               /*!< 0x00000200 */
+#define EXTI_IMR2_IM41             EXTI_IMR2_IM41_Msk                          /*!< Interrupt Mask on line 41 */
+#define EXTI_IMR2_IM42_Pos         (10U)
+#define EXTI_IMR2_IM42_Msk         (0x1UL << EXTI_IMR2_IM42_Pos)               /*!< 0x00000400 */
+#define EXTI_IMR2_IM42             EXTI_IMR2_IM42_Msk                          /*!< Interrupt Mask on line 42 */
+#define EXTI_IMR2_IM43_Pos         (11U)
+#define EXTI_IMR2_IM43_Msk         (0x1UL << EXTI_IMR2_IM43_Pos)               /*!< 0x00000800 */
+#define EXTI_IMR2_IM43             EXTI_IMR2_IM43_Msk                          /*!< Interrupt Mask on line 43 */
+#define EXTI_IMR2_IM47_Pos         (15U)
+#define EXTI_IMR2_IM47_Msk         (0x1UL << EXTI_IMR2_IM47_Pos)               /*!< 0x00008000 */
+#define EXTI_IMR2_IM47             EXTI_IMR2_IM47_Msk                          /*!< Interrupt Mask on line 47 */
+#define EXTI_IMR2_IM48_Pos         (16U)
+#define EXTI_IMR2_IM48_Msk         (0x1UL << EXTI_IMR2_IM48_Pos)               /*!< 0x00010000 */
+#define EXTI_IMR2_IM48             EXTI_IMR2_IM48_Msk                          /*!< Interrupt Mask on line 48 */
+#define EXTI_IMR2_IM49_Pos         (17U)
+#define EXTI_IMR2_IM49_Msk         (0x1UL << EXTI_IMR2_IM49_Pos)               /*!< 0x00020000 */
+#define EXTI_IMR2_IM49             EXTI_IMR2_IM49_Msk                          /*!< Interrupt Mask on line 49 */
+#define EXTI_IMR2_IM50_Pos         (18U)
+#define EXTI_IMR2_IM50_Msk         (0x1UL << EXTI_IMR2_IM50_Pos)               /*!< 0x00040000 */
+#define EXTI_IMR2_IM50             EXTI_IMR2_IM50_Msk                          /*!< Interrupt Mask on line 50 */
+#define EXTI_IMR2_IM51_Pos         (19U)
+#define EXTI_IMR2_IM51_Msk         (0x1UL << EXTI_IMR2_IM51_Pos)               /*!< 0x00080000 */
+#define EXTI_IMR2_IM51             EXTI_IMR2_IM51_Msk                          /*!< Interrupt Mask on line 51 */
+#define EXTI_IMR2_IM52_Pos         (20U)
+#define EXTI_IMR2_IM52_Msk         (0x1UL << EXTI_IMR2_IM52_Pos)               /*!< 0x00100000 */
+#define EXTI_IMR2_IM52             EXTI_IMR2_IM52_Msk                          /*!< Interrupt Mask on line 52 */
+#define EXTI_IMR2_IM53_Pos         (21U)
+#define EXTI_IMR2_IM53_Msk         (0x1UL << EXTI_IMR2_IM53_Pos)               /*!< 0x00200000 */
+#define EXTI_IMR2_IM53             EXTI_IMR2_IM53_Msk                          /*!< Interrupt Mask on line 53 */
+#define EXTI_IMR2_IM54_Pos         (22U)
+#define EXTI_IMR2_IM54_Msk         (0x1UL << EXTI_IMR2_IM54_Pos)               /*!< 0x00400000 */
+#define EXTI_IMR2_IM54             EXTI_IMR2_IM54_Msk                          /*!< Interrupt Mask on line 54 */
+#define EXTI_IMR2_IM55_Pos         (23U)
+#define EXTI_IMR2_IM55_Msk         (0x1UL << EXTI_IMR2_IM55_Pos)               /*!< 0x00800000 */
+#define EXTI_IMR2_IM55             EXTI_IMR2_IM55_Msk                          /*!< Interrupt Mask on line 55 */
+#define EXTI_IMR2_IM56_Pos         (24U)
+#define EXTI_IMR2_IM56_Msk         (0x1UL << EXTI_IMR2_IM56_Pos)               /*!< 0x01000000 */
+#define EXTI_IMR2_IM56             EXTI_IMR2_IM56_Msk                          /*!< Interrupt Mask on line 56 */
+#define EXTI_IMR2_IM58_Pos         (26U)
+#define EXTI_IMR2_IM58_Msk         (0x1UL << EXTI_IMR2_IM58_Pos)               /*!< 0x04000000 */
+#define EXTI_IMR2_IM58             EXTI_IMR2_IM58_Msk                          /*!< Interrupt Mask on line 58 */
+#define EXTI_IMR2_IM60_Pos         (28U)
+#define EXTI_IMR2_IM60_Msk         (0x1UL << EXTI_IMR2_IM60_Pos)               /*!< 0x10000000 */
+#define EXTI_IMR2_IM60             EXTI_IMR2_IM60_Msk                          /*!< Interrupt Mask on line 60 */
+#define EXTI_IMR2_IM61_Pos         (29U)
+#define EXTI_IMR2_IM61_Msk         (0x1UL << EXTI_IMR2_IM61_Pos)               /*!< 0x20000000 */
+#define EXTI_IMR2_IM61             EXTI_IMR2_IM61_Msk                          /*!< Interrupt Mask on line 61 */
+#define EXTI_IMR2_IM62_Pos         (30U)
+#define EXTI_IMR2_IM62_Msk         (0x1UL << EXTI_IMR2_IM62_Pos)               /*!< 0x40000000 */
+#define EXTI_IMR2_IM62             EXTI_IMR2_IM62_Msk                          /*!< Interrupt Mask on line 62 */
+#define EXTI_IMR2_IM63_Pos         (31U)
+#define EXTI_IMR2_IM63_Msk         (0x1UL << EXTI_IMR2_IM63_Pos)               /*!< 0x80000000 */
+#define EXTI_IMR2_IM63             EXTI_IMR2_IM63_Msk                          /*!< Interrupt Mask on line 63 */
+
+/*******************  Bit definition for EXTI_EMR2 register  *******************/
+#define EXTI_EMR2_EM_Pos           (0U)
+#define EXTI_EMR2_EM_Msk           (0xFFFFDFFFUL << EXTI_EMR2_EM_Pos)          /*!< 0xFFFFDFFF */
+#define EXTI_EMR2_EM               EXTI_EMR2_EM_Msk                            /*!< Event Mask */
+#define EXTI_EMR2_EM32_Pos         (0U)
+#define EXTI_EMR2_EM32_Msk         (0x1UL << EXTI_EMR2_EM32_Pos)               /*!< 0x00000001 */
+#define EXTI_EMR2_EM32             EXTI_EMR2_EM32_Msk                          /*!< Event Mask on line 32*/
+#define EXTI_EMR2_EM33_Pos         (1U)
+#define EXTI_EMR2_EM33_Msk         (0x1UL << EXTI_EMR2_EM33_Pos)               /*!< 0x00000002 */
+#define EXTI_EMR2_EM33             EXTI_EMR2_EM33_Msk                          /*!< Event Mask on line 33*/
+#define EXTI_EMR2_EM34_Pos         (2U)
+#define EXTI_EMR2_EM34_Msk         (0x1UL << EXTI_EMR2_EM34_Pos)               /*!< 0x00000004 */
+#define EXTI_EMR2_EM34             EXTI_EMR2_EM34_Msk                          /*!< Event Mask on line 34*/
+#define EXTI_EMR2_EM35_Pos         (3U)
+#define EXTI_EMR2_EM35_Msk         (0x1UL << EXTI_EMR2_EM35_Pos)               /*!< 0x00000008 */
+#define EXTI_EMR2_EM35             EXTI_EMR2_EM35_Msk                          /*!< Event Mask on line 35*/
+#define EXTI_EMR2_EM36_Pos         (4U)
+#define EXTI_EMR2_EM36_Msk         (0x1UL << EXTI_EMR2_EM36_Pos)               /*!< 0x00000010 */
+#define EXTI_EMR2_EM36             EXTI_EMR2_EM36_Msk                          /*!< Event Mask on line 36*/
+#define EXTI_EMR2_EM37_Pos         (5U)
+#define EXTI_EMR2_EM37_Msk         (0x1UL << EXTI_EMR2_EM37_Pos)               /*!< 0x00000020 */
+#define EXTI_EMR2_EM37             EXTI_EMR2_EM37_Msk                          /*!< Event Mask on line 37*/
+#define EXTI_EMR2_EM38_Pos         (6U)
+#define EXTI_EMR2_EM38_Msk         (0x1UL << EXTI_EMR2_EM38_Pos)               /*!< 0x00000040 */
+#define EXTI_EMR2_EM38             EXTI_EMR2_EM38_Msk                          /*!< Event Mask on line 38*/
+#define EXTI_EMR2_EM39_Pos         (7U)
+#define EXTI_EMR2_EM39_Msk         (0x1UL << EXTI_EMR2_EM39_Pos)               /*!< 0x00000080 */
+#define EXTI_EMR2_EM39             EXTI_EMR2_EM39_Msk                          /*!< Event Mask on line 39*/
+#define EXTI_EMR2_EM40_Pos         (8U)
+#define EXTI_EMR2_EM40_Msk         (0x1UL << EXTI_EMR2_EM40_Pos)               /*!< 0x00000100 */
+#define EXTI_EMR2_EM40             EXTI_EMR2_EM40_Msk                          /*!< Event Mask on line 40*/
+#define EXTI_EMR2_EM41_Pos         (9U)
+#define EXTI_EMR2_EM41_Msk         (0x1UL << EXTI_EMR2_EM41_Pos)               /*!< 0x00000200 */
+#define EXTI_EMR2_EM41             EXTI_EMR2_EM41_Msk                          /*!< Event Mask on line 41*/
+#define EXTI_EMR2_EM42_Pos         (10U)
+#define EXTI_EMR2_EM42_Msk         (0x1UL << EXTI_EMR2_EM42_Pos)               /*!< 0x00000400 */
+#define EXTI_EMR2_EM42             EXTI_EMR2_EM42_Msk                          /*!< Event Mask on line 42 */
+#define EXTI_EMR2_EM43_Pos         (11U)
+#define EXTI_EMR2_EM43_Msk         (0x1UL << EXTI_EMR2_EM43_Pos)               /*!< 0x00000800 */
+#define EXTI_EMR2_EM43             EXTI_EMR2_EM43_Msk                          /*!< Event Mask on line 43 */
+#define EXTI_EMR2_EM47_Pos         (15U)
+#define EXTI_EMR2_EM47_Msk         (0x1UL << EXTI_EMR2_EM47_Pos)               /*!< 0x00008000 */
+#define EXTI_EMR2_EM47             EXTI_EMR2_EM47_Msk                          /*!< Event Mask on line 47 */
+#define EXTI_EMR2_EM48_Pos         (16U)
+#define EXTI_EMR2_EM48_Msk         (0x1UL << EXTI_EMR2_EM48_Pos)               /*!< 0x00010000 */
+#define EXTI_EMR2_EM48             EXTI_EMR2_EM48_Msk                          /*!< Event Mask on line 48 */
+#define EXTI_EMR2_EM49_Pos         (17U)
+#define EXTI_EMR2_EM49_Msk         (0x1UL << EXTI_EMR2_EM49_Pos)               /*!< 0x00020000 */
+#define EXTI_EMR2_EM49             EXTI_EMR2_EM49_Msk                          /*!< Event Mask on line 49 */
+#define EXTI_EMR2_EM50_Pos         (18U)
+#define EXTI_EMR2_EM50_Msk         (0x1UL << EXTI_EMR2_EM50_Pos)               /*!< 0x00040000 */
+#define EXTI_EMR2_EM50             EXTI_EMR2_EM50_Msk                          /*!< Event Mask on line 50 */
+#define EXTI_EMR2_EM51_Pos         (19U)
+#define EXTI_EMR2_EM51_Msk         (0x1UL << EXTI_EMR2_EM51_Pos)               /*!< 0x00080000 */
+#define EXTI_EMR2_EM51             EXTI_EMR2_EM51_Msk                          /*!< Event Mask on line 51 */
+#define EXTI_EMR2_EM52_Pos         (20U)
+#define EXTI_EMR2_EM52_Msk         (0x1UL << EXTI_EMR2_EM52_Pos)               /*!< 0x00100000 */
+#define EXTI_EMR2_EM52             EXTI_EMR2_EM52_Msk                          /*!< Event Mask on line 52 */
+#define EXTI_EMR2_EM53_Pos         (21U)
+#define EXTI_EMR2_EM53_Msk         (0x1UL << EXTI_EMR2_EM53_Pos)               /*!< 0x00200000 */
+#define EXTI_EMR2_EM53             EXTI_EMR2_EM53_Msk                          /*!< Event Mask on line 53 */
+#define EXTI_EMR2_EM54_Pos         (22U)
+#define EXTI_EMR2_EM54_Msk         (0x1UL << EXTI_EMR2_EM54_Pos)               /*!< 0x00400000 */
+#define EXTI_EMR2_EM54             EXTI_EMR2_EM54_Msk                          /*!< Event Mask on line 54 */
+#define EXTI_EMR2_EM55_Pos         (23U)
+#define EXTI_EMR2_EM55_Msk         (0x1UL << EXTI_EMR2_EM55_Pos)               /*!< 0x00800000 */
+#define EXTI_EMR2_EM55             EXTI_EMR2_EM55_Msk                          /*!< Event Mask on line 55 */
+#define EXTI_EMR2_EM56_Pos         (24U)
+#define EXTI_EMR2_EM56_Msk         (0x1UL << EXTI_EMR2_EM56_Pos)               /*!< 0x01000000 */
+#define EXTI_EMR2_EM56             EXTI_EMR2_EM56_Msk                          /*!< Event Mask on line 56 */
+#define EXTI_EMR2_EM58_Pos         (26U)
+#define EXTI_EMR2_EM58_Msk         (0x1UL << EXTI_EMR2_EM58_Pos)               /*!< 0x04000000 */
+#define EXTI_EMR2_EM58             EXTI_EMR2_EM58_Msk                          /*!< Event Mask on line 58 */
+#define EXTI_EMR2_EM60_Pos         (28U)
+#define EXTI_EMR2_EM60_Msk         (0x1UL << EXTI_EMR2_EM60_Pos)               /*!< 0x10000000 */
+#define EXTI_EMR2_EM60             EXTI_EMR2_EM60_Msk                          /*!< Event Mask on line 60 */
+#define EXTI_EMR2_EM61_Pos         (29U)
+#define EXTI_EMR2_EM61_Msk         (0x1UL << EXTI_EMR2_EM61_Pos)               /*!< 0x20000000 */
+#define EXTI_EMR2_EM61             EXTI_EMR2_EM61_Msk                          /*!< Event Mask on line 61 */
+#define EXTI_EMR2_EM62_Pos         (30U)
+#define EXTI_EMR2_EM62_Msk         (0x1UL << EXTI_EMR2_EM62_Pos)               /*!< 0x40000000 */
+#define EXTI_EMR2_EM62             EXTI_EMR2_EM62_Msk                          /*!< Event Mask on line 62 */
+#define EXTI_EMR2_EM63_Pos         (31U)
+#define EXTI_EMR2_EM63_Msk         (0x1UL << EXTI_EMR2_EM63_Pos)               /*!< 0x80000000 */
+#define EXTI_EMR2_EM63             EXTI_EMR2_EM63_Msk                          /*!< Event Mask on line 63 */
+
+/*******************  Bit definition for EXTI_PR2 register  ********************/
+#define EXTI_PR2_PR_Pos            (17U)
+#define EXTI_PR2_PR_Msk            (0x5UL << EXTI_PR2_PR_Pos)                  /*!< 0x000A0000 */
+#define EXTI_PR2_PR                EXTI_PR2_PR_Msk                             /*!< Pending bit */
+#define EXTI_PR2_PR49_Pos          (17U)
+#define EXTI_PR2_PR49_Msk          (0x1UL << EXTI_PR2_PR49_Pos)                /*!< 0x00020000 */
+#define EXTI_PR2_PR49              EXTI_PR2_PR49_Msk                           /*!< Pending bit for line 49 */
+#define EXTI_PR2_PR51_Pos          (19U)
+#define EXTI_PR2_PR51_Msk          (0x1UL << EXTI_PR2_PR51_Pos)                /*!< 0x00080000 */
+#define EXTI_PR2_PR51              EXTI_PR2_PR51_Msk                           /*!< Pending bit for line 51 */
+
+/*******************  Bit definition for EXTI_IMR3 register  *******************/
+#define EXTI_IMR3_IM_Pos           (0U)
+#define EXTI_IMR3_IM_Msk           (0x0FE17FFFUL << EXTI_IMR3_IM_Pos)          /*!< 0x0FE17FFF */
+#define EXTI_IMR3_IM               EXTI_IMR3_IM_Msk                            /*!< Interrupt Mask            */
+#define EXTI_IMR3_IM64_Pos         (0U)
+#define EXTI_IMR3_IM64_Msk         (0x1UL << EXTI_IMR3_IM64_Pos)               /*!< 0x00000001 */
+#define EXTI_IMR3_IM64             EXTI_IMR3_IM64_Msk                          /*!< Interrupt Mask on line 64 */
+#define EXTI_IMR3_IM65_Pos         (1U)
+#define EXTI_IMR3_IM65_Msk         (0x1UL << EXTI_IMR3_IM65_Pos)               /*!< 0x00000002 */
+#define EXTI_IMR3_IM65             EXTI_IMR3_IM65_Msk                          /*!< Interrupt Mask on line 65 */
+#define EXTI_IMR3_IM66_Pos         (2U)
+#define EXTI_IMR3_IM66_Msk         (0x1UL << EXTI_IMR3_IM66_Pos)               /*!< 0x00000004 */
+#define EXTI_IMR3_IM66             EXTI_IMR3_IM66_Msk                          /*!< Interrupt Mask on line 66 */
+#define EXTI_IMR3_IM67_Pos         (3U)
+#define EXTI_IMR3_IM67_Msk         (0x1UL << EXTI_IMR3_IM67_Pos)               /*!< 0x00000008 */
+#define EXTI_IMR3_IM67             EXTI_IMR3_IM67_Msk                          /*!< Interrupt Mask on line 67 */
+#define EXTI_IMR3_IM68_Pos         (4U)
+#define EXTI_IMR3_IM68_Msk         (0x1UL << EXTI_IMR3_IM68_Pos)               /*!< 0x00000010 */
+#define EXTI_IMR3_IM68             EXTI_IMR3_IM68_Msk                          /*!< Interrupt Mask on line 68 */
+#define EXTI_IMR3_IM69_Pos         (5U)
+#define EXTI_IMR3_IM69_Msk         (0x1UL << EXTI_IMR3_IM69_Pos)               /*!< 0x00000020 */
+#define EXTI_IMR3_IM69             EXTI_IMR3_IM69_Msk                          /*!< Interrupt Mask on line 69 */
+#define EXTI_IMR3_IM70_Pos         (6U)
+#define EXTI_IMR3_IM70_Msk         (0x1UL << EXTI_IMR3_IM70_Pos)               /*!< 0x00000040 */
+#define EXTI_IMR3_IM70             EXTI_IMR3_IM70_Msk                          /*!< Interrupt Mask on line 70 */
+#define EXTI_IMR3_IM71_Pos         (7U)
+#define EXTI_IMR3_IM71_Msk         (0x1UL << EXTI_IMR3_IM71_Pos)               /*!< 0x00000080 */
+#define EXTI_IMR3_IM71             EXTI_IMR3_IM71_Msk                          /*!< Interrupt Mask on line 71 */
+#define EXTI_IMR3_IM72_Pos         (8U)
+#define EXTI_IMR3_IM72_Msk         (0x1UL << EXTI_IMR3_IM72_Pos)               /*!< 0x00000100 */
+#define EXTI_IMR3_IM72             EXTI_IMR3_IM72_Msk                          /*!< Interrupt Mask on line 72 */
+#define EXTI_IMR3_IM73_Pos         (9U)
+#define EXTI_IMR3_IM73_Msk         (0x1UL << EXTI_IMR3_IM73_Pos)               /*!< 0x00000200 */
+#define EXTI_IMR3_IM73             EXTI_IMR3_IM73_Msk                          /*!< Interrupt Mask on line 73 */
+#define EXTI_IMR3_IM74_Pos         (10U)
+#define EXTI_IMR3_IM74_Msk         (0x1UL << EXTI_IMR3_IM74_Pos)               /*!< 0x00000400 */
+#define EXTI_IMR3_IM74             EXTI_IMR3_IM74_Msk                          /*!< Interrupt Mask on line 74 */
+#define EXTI_IMR3_IM75_Pos         (11U)
+#define EXTI_IMR3_IM75_Msk         (0x1UL << EXTI_IMR3_IM75_Pos)               /*!< 0x00000800 */
+#define EXTI_IMR3_IM75             EXTI_IMR3_IM75_Msk                          /*!< Interrupt Mask on line 75 */
+#define EXTI_IMR3_IM76_Pos         (12U)
+#define EXTI_IMR3_IM76_Msk         (0x1UL << EXTI_IMR3_IM76_Pos)               /*!< 0x00001000 */
+#define EXTI_IMR3_IM76             EXTI_IMR3_IM76_Msk                          /*!< Interrupt Mask on line 76 */
+#define EXTI_IMR3_IM77_Pos         (13U)
+#define EXTI_IMR3_IM77_Msk         (0x1UL << EXTI_IMR3_IM77_Pos)               /*!< 0x00002000 */
+#define EXTI_IMR3_IM77             EXTI_IMR3_IM77_Msk                          /*!< Interrupt Mask on line 77 */
+#define EXTI_IMR3_IM78_Pos         (14U)
+#define EXTI_IMR3_IM78_Msk         (0x1UL << EXTI_IMR3_IM78_Pos)               /*!< 0x00004000 */
+#define EXTI_IMR3_IM78             EXTI_IMR3_IM78_Msk                          /*!< Interrupt Mask on line 78 */
+#define EXTI_IMR3_IM80_Pos         (16U)
+#define EXTI_IMR3_IM80_Msk         (0x1UL << EXTI_IMR3_IM80_Pos)               /*!< 0x00010000 */
+#define EXTI_IMR3_IM80             EXTI_IMR3_IM80_Msk                          /*!< Interrupt Mask on line 80 */
+#define EXTI_IMR3_IM85_Pos         (21U)
+#define EXTI_IMR3_IM85_Msk         (0x1UL << EXTI_IMR3_IM85_Pos)               /*!< 0x00200000 */
+#define EXTI_IMR3_IM85             EXTI_IMR3_IM85_Msk                          /*!< Interrupt Mask on line 85 */
+#define EXTI_IMR3_IM86_Pos         (22U)
+#define EXTI_IMR3_IM86_Msk         (0x1UL << EXTI_IMR3_IM86_Pos)               /*!< 0x00400000 */
+#define EXTI_IMR3_IM86             EXTI_IMR3_IM86_Msk                          /*!< Interrupt Mask on line 86 */
+#define EXTI_IMR3_IM87_Pos         (23U)
+#define EXTI_IMR3_IM87_Msk         (0x1UL << EXTI_IMR3_IM87_Pos)               /*!< 0x00800000 */
+#define EXTI_IMR3_IM87             EXTI_IMR3_IM87_Msk                          /*!< Interrupt Mask on line 87 */
+
+
+#define EXTI_IMR3_IM88_Pos         (24U)
+#define EXTI_IMR3_IM88_Msk         (0x1UL << EXTI_IMR3_IM88_Pos)               /*!< 0x01000000 */
+#define EXTI_IMR3_IM88             EXTI_IMR3_IM88_Msk                          /*!< Interrupt Mask on line 88 */
+
+#define EXTI_IMR3_IM89_Pos         (25U)
+#define EXTI_IMR3_IM89_Msk         (0x1UL << EXTI_IMR3_IM89_Pos)               /*!< 0x0200000 */
+#define EXTI_IMR3_IM89             EXTI_IMR3_IM89_Msk                          /*!< Interrupt Mask on line 89 */
+#define EXTI_IMR3_IM90_Pos         (26U)
+#define EXTI_IMR3_IM90_Msk         (0x1UL << EXTI_IMR3_IM90_Pos)               /*!< 0x0400000 */
+#define EXTI_IMR3_IM90             EXTI_IMR3_IM90_Msk                          /*!< Interrupt Mask on line 90 */
+#define EXTI_IMR3_IM91_Pos         (27U)
+#define EXTI_IMR3_IM91_Msk         (0x1UL << EXTI_IMR3_IM91_Pos)               /*!< 0x0800000 */
+#define EXTI_IMR3_IM91             EXTI_IMR3_IM91_Msk                          /*!< Interrupt Mask on line 91 */
+
+/*******************  Bit definition for EXTI_EMR3 register  *******************/
+#define EXTI_EMR3_EM_Pos           (0U)
+#define EXTI_EMR3_EM_Msk           (0x0FE17FFFUL << EXTI_EMR3_EM_Pos)          /*!< 0x0FE17FFF */
+#define EXTI_EMR3_EM               EXTI_EMR3_EM_Msk                            /*!< Interrupt Mask            */
+#define EXTI_EMR3_EM64_Pos         (0U)
+#define EXTI_EMR3_EM64_Msk         (0x1UL << EXTI_EMR3_EM64_Pos)               /*!< 0x00000001 */
+#define EXTI_EMR3_EM64             EXTI_EMR3_EM64_Msk                          /*!< Event Mask on line 64*/
+#define EXTI_EMR3_EM65_Pos         (1U)
+#define EXTI_EMR3_EM65_Msk         (0x1UL << EXTI_EMR3_EM65_Pos)               /*!< 0x00000002 */
+#define EXTI_EMR3_EM65             EXTI_EMR3_EM65_Msk                          /*!< Event Mask on line 65*/
+#define EXTI_EMR3_EM66_Pos         (2U)
+#define EXTI_EMR3_EM66_Msk         (0x1UL << EXTI_EMR3_EM66_Pos)               /*!< 0x00000004 */
+#define EXTI_EMR3_EM66             EXTI_EMR3_EM66_Msk                          /*!< Event Mask on line 66*/
+#define EXTI_EMR3_EM67_Pos         (3U)
+#define EXTI_EMR3_EM67_Msk         (0x1UL << EXTI_EMR3_EM67_Pos)               /*!< 0x00000008 */
+#define EXTI_EMR3_EM67             EXTI_EMR3_EM67_Msk                          /*!< Event Mask on line 67*/
+#define EXTI_EMR3_EM68_Pos         (4U)
+#define EXTI_EMR3_EM68_Msk         (0x1UL << EXTI_EMR3_EM68_Pos)               /*!< 0x00000010 */
+#define EXTI_EMR3_EM68             EXTI_EMR3_EM68_Msk                          /*!< Event Mask on line 68*/
+#define EXTI_EMR3_EM69_Pos         (5U)
+#define EXTI_EMR3_EM69_Msk         (0x1UL << EXTI_EMR3_EM69_Pos)               /*!< 0x00000020 */
+#define EXTI_EMR3_EM69             EXTI_EMR3_EM69_Msk                          /*!< Event Mask on line 69*/
+#define EXTI_EMR3_EM70_Pos         (6U)
+#define EXTI_EMR3_EM70_Msk         (0x1UL << EXTI_EMR3_EM70_Pos)               /*!< 0x00000040 */
+#define EXTI_EMR3_EM70             EXTI_EMR3_EM70_Msk                          /*!< Event Mask on line 70*/
+#define EXTI_EMR3_EM71_Pos         (7U)
+#define EXTI_EMR3_EM71_Msk         (0x1UL << EXTI_EMR3_EM71_Pos)               /*!< 0x00000080 */
+#define EXTI_EMR3_EM71             EXTI_EMR3_EM71_Msk                          /*!< Event Mask on line 71*/
+#define EXTI_EMR3_EM72_Pos         (8U)
+#define EXTI_EMR3_EM72_Msk         (0x1UL << EXTI_EMR3_EM72_Pos)               /*!< 0x00000100 */
+#define EXTI_EMR3_EM72             EXTI_EMR3_EM72_Msk                          /*!< Event Mask on line 72*/
+#define EXTI_EMR3_EM73_Pos         (9U)
+#define EXTI_EMR3_EM73_Msk         (0x1UL << EXTI_EMR3_EM73_Pos)               /*!< 0x00000200 */
+#define EXTI_EMR3_EM73             EXTI_EMR3_EM73_Msk                          /*!< Event Mask on line 73*/
+#define EXTI_EMR3_EM74_Pos         (10U)
+#define EXTI_EMR3_EM74_Msk         (0x1UL << EXTI_EMR3_EM74_Pos)               /*!< 0x00000400 */
+#define EXTI_EMR3_EM74             EXTI_EMR3_EM74_Msk                          /*!< Event Mask on line 74 */
+#define EXTI_EMR3_EM75_Pos         (11U)
+#define EXTI_EMR3_EM75_Msk         (0x1UL << EXTI_EMR3_EM75_Pos)               /*!< 0x00000800 */
+#define EXTI_EMR3_EM75             EXTI_EMR3_EM75_Msk                          /*!< Event Mask on line 75 */
+#define EXTI_EMR3_EM76_Pos         (12U)
+#define EXTI_EMR3_EM76_Msk         (0x1UL << EXTI_EMR3_EM76_Pos)               /*!< 0x00001000 */
+#define EXTI_EMR3_EM76             EXTI_EMR3_EM76_Msk                          /*!< Event Mask on line 76 */
+#define EXTI_EMR3_EM77_Pos         (13U)
+#define EXTI_EMR3_EM77_Msk         (0x1UL << EXTI_EMR3_EM77_Pos)               /*!< 0x00002000 */
+#define EXTI_EMR3_EM77             EXTI_EMR3_EM77_Msk                          /*!< Event Mask on line 77 */
+#define EXTI_EMR3_EM78_Pos         (14U)
+#define EXTI_EMR3_EM78_Msk         (0x1UL << EXTI_EMR3_EM78_Pos)               /*!< 0x00004000 */
+#define EXTI_EMR3_EM78             EXTI_EMR3_EM78_Msk                          /*!< Event Mask on line 78 */
+#define EXTI_EMR3_EM80_Pos         (16U)
+#define EXTI_EMR3_EM80_Msk         (0x1UL << EXTI_EMR3_EM80_Pos)               /*!< 0x00010000 */
+#define EXTI_EMR3_EM80             EXTI_EMR3_EM80_Msk                          /*!< Event Mask on line 80 */
+#define EXTI_EMR3_EM85_Pos         (21U)
+#define EXTI_EMR3_EM85_Msk         (0x1UL << EXTI_EMR3_EM85_Pos)               /*!< 0x00200000 */
+#define EXTI_EMR3_EM85             EXTI_EMR3_EM85_Msk                          /*!< Event Mask on line 85 */
+#define EXTI_EMR3_EM86_Pos         (22U)
+#define EXTI_EMR3_EM86_Msk         (0x1UL << EXTI_EMR3_EM86_Pos)               /*!< 0x00400000 */
+#define EXTI_EMR3_EM86             EXTI_EMR3_EM86_Msk                          /*!< Event Mask on line 86 */
+#define EXTI_EMR3_EM87_Pos         (23U)
+#define EXTI_EMR3_EM87_Msk         (0x1UL << EXTI_EMR3_EM87_Pos)               /*!< 0x00800000 */
+#define EXTI_EMR3_EM87             EXTI_EMR3_EM87_Msk                          /*!< Event Mask on line 87 */
+
+#define EXTI_EMR3_EM88_Pos         (24U)
+#define EXTI_EMR3_EM88_Msk         (0x1UL << EXTI_EMR3_EM88_Pos)               /*!< 0x01000000 */
+#define EXTI_EMR3_EM88             EXTI_EMR3_EM88_Msk                          /*!< Event Mask on line 88 */
+
+#define EXTI_EMR3_EM89_Pos         (25U)
+#define EXTI_EMR3_EM89_Msk         (0x1UL << EXTI_EMR3_EM89_Pos)               /*!< 0x0200000 */
+#define EXTI_EMR3_EM89             EXTI_EMR3_EM89_Msk                          /*!< Interrupt Mask on line 89 */
+#define EXTI_EMR3_EM90_Pos         (26U)
+#define EXTI_EMR3_EM90_Msk         (0x1UL << EXTI_EMR3_EM90_Pos)               /*!< 0x0400000 */
+#define EXTI_EMR3_EM90             EXTI_EMR3_EM90_Msk                          /*!< Interrupt Mask on line 90 */
+#define EXTI_EMR3_EM91_Pos         (27U)
+#define EXTI_EMR3_EM91_Msk         (0x1UL << EXTI_EMR3_EM91_Pos)               /*!< 0x0800000 */
+#define EXTI_EMR3_EM91             EXTI_EMR3_EM91_Msk                          /*!< Interrupt Mask on line 91 */
+
+/*******************  Bit definition for EXTI_PR3 register  ********************/
+#define EXTI_PR3_PR_Pos            (20U)
+#define EXTI_PR3_PR_Msk            (0x7UL << EXTI_PR3_PR_Pos)                  /*!< 0x00700000 */
+#define EXTI_PR3_PR                EXTI_PR3_PR_Msk                             /*!< Pending bit             */
+#define EXTI_PR3_PR84_Pos          (20U)
+#define EXTI_PR3_PR84_Msk          (0x1UL << EXTI_PR3_PR84_Pos)                /*!< 0x00100000 */
+#define EXTI_PR3_PR84              EXTI_PR3_PR84_Msk                           /*!< Pending bit for line 84 */
+#define EXTI_PR3_PR85_Pos          (21U)
+#define EXTI_PR3_PR85_Msk          (0x1UL << EXTI_PR3_PR85_Pos)                /*!< 0x00200000 */
+#define EXTI_PR3_PR85              EXTI_PR3_PR85_Msk                           /*!< Pending bit for line 85 */
+#define EXTI_PR3_PR86_Pos          (22U)
+#define EXTI_PR3_PR86_Msk          (0x1UL << EXTI_PR3_PR86_Pos)                /*!< 0x00400000 */
+#define EXTI_PR3_PR86              EXTI_PR3_PR86_Msk                           /*!< Pending bit for line 86 */
+/******************************************************************************/
+/*                                                                            */
+/*                                    FLASH                                   */
+/*                                                                            */
+/******************************************************************************/
+/*
+* @brief FLASH Global Defines
+*/
+#define FLASH_SIZE_DATA_REGISTER             0x1FF1E880U
+#define FLASH_SECTOR_TOTAL                   8U                    /* 8 sectors */
+#define FLASH_SIZE                           ((((*((uint16_t *)FLASH_SIZE_DATA_REGISTER)) == 0xFFFFU)) ? 0x100000U : \
+                                             ((((*((uint16_t *)FLASH_SIZE_DATA_REGISTER)) == 0x0000U)) ? 0x100000U : \
+                                             (((uint32_t)(*((uint16_t *)FLASH_SIZE_DATA_REGISTER)) & (0x0FFFU)) << 10U)))  /* 1 MB   */
+#define FLASH_BANK_SIZE                      FLASH_SIZE            /* 1 MB   */
+#define FLASH_SECTOR_SIZE                    0x00020000UL          /* 128 KB   */
+#define FLASH_LATENCY_DEFAULT                FLASH_ACR_LATENCY_7WS /* FLASH Seven Latency cycles */
+#define FLASH_NB_32BITWORD_IN_FLASHWORD      8U                    /* 256 bits */
+
+/*******************  Bits definition for FLASH_ACR register  **********************/
+#define FLASH_ACR_LATENCY_Pos                (0U)
+#define FLASH_ACR_LATENCY_Msk                (0xFUL << FLASH_ACR_LATENCY_Pos)  /*!< 0x0000000F */
+#define FLASH_ACR_LATENCY                    FLASH_ACR_LATENCY_Msk             /*!< Read Latency */
+#define FLASH_ACR_LATENCY_0WS                (0x00000000UL)
+#define FLASH_ACR_LATENCY_1WS                (0x00000001UL)
+#define FLASH_ACR_LATENCY_2WS                (0x00000002UL)
+#define FLASH_ACR_LATENCY_3WS                (0x00000003UL)
+#define FLASH_ACR_LATENCY_4WS                (0x00000004UL)
+#define FLASH_ACR_LATENCY_5WS                (0x00000005UL)
+#define FLASH_ACR_LATENCY_6WS                (0x00000006UL)
+#define FLASH_ACR_LATENCY_7WS                (0x00000007UL)
+#define FLASH_ACR_LATENCY_8WS                (0x00000008UL)
+#define FLASH_ACR_LATENCY_9WS                (0x00000009UL)
+#define FLASH_ACR_LATENCY_10WS               (0x0000000AUL)
+#define FLASH_ACR_LATENCY_11WS               (0x0000000BUL)
+#define FLASH_ACR_LATENCY_12WS               (0x0000000CUL)
+#define FLASH_ACR_LATENCY_13WS               (0x0000000DUL)
+#define FLASH_ACR_LATENCY_14WS               (0x0000000EUL)
+#define FLASH_ACR_LATENCY_15WS               (0x0000000FUL)
+#define FLASH_ACR_WRHIGHFREQ_Pos             (4U)
+#define FLASH_ACR_WRHIGHFREQ_Msk             (0x3UL << FLASH_ACR_WRHIGHFREQ_Pos)  /*!< 0x00000030 */
+#define FLASH_ACR_WRHIGHFREQ                 FLASH_ACR_WRHIGHFREQ_Msk             /*!< Flash signal delay */
+#define FLASH_ACR_WRHIGHFREQ_0               (0x1UL << FLASH_ACR_WRHIGHFREQ_Pos)  /*!< 0x00000010 */
+#define FLASH_ACR_WRHIGHFREQ_1               (0x2UL << FLASH_ACR_WRHIGHFREQ_Pos)  /*!< 0x00000020 */
+
+/*******************  Bits definition for FLASH_CR register  ***********************/
+#define FLASH_CR_LOCK_Pos                    (0U)
+#define FLASH_CR_LOCK_Msk                    (0x1UL << FLASH_CR_LOCK_Pos)      /*!< 0x00000001 */
+#define FLASH_CR_LOCK                        FLASH_CR_LOCK_Msk                 /*!< Configuration lock bit */
+#define FLASH_CR_PG_Pos                      (1U)
+#define FLASH_CR_PG_Msk                      (0x1UL << FLASH_CR_PG_Pos)        /*!< 0x00000002 */
+#define FLASH_CR_PG                          FLASH_CR_PG_Msk                   /*!< Internal buffer control bit */
+#define FLASH_CR_SER_Pos                     (2U)
+#define FLASH_CR_SER_Msk                     (0x1UL << FLASH_CR_SER_Pos)       /*!< 0x00000004 */
+#define FLASH_CR_SER                         FLASH_CR_SER_Msk                  /*!< Sector erase request */
+#define FLASH_CR_BER_Pos                     (3U)
+#define FLASH_CR_BER_Msk                     (0x1UL << FLASH_CR_BER_Pos)       /*!< 0x00000008 */
+#define FLASH_CR_BER                         FLASH_CR_BER_Msk                  /*!< Bank erase request */
+#define FLASH_CR_PSIZE_Pos                   (4U)
+#define FLASH_CR_PSIZE_Msk                   (0x3UL << FLASH_CR_PSIZE_Pos)     /*!< 0x00000030 */
+#define FLASH_CR_PSIZE                       FLASH_CR_PSIZE_Msk                /*!< Program size */
+#define FLASH_CR_PSIZE_0                     (0x1UL << FLASH_CR_PSIZE_Pos)     /*!< 0x00000010 */
+#define FLASH_CR_PSIZE_1                     (0x2UL << FLASH_CR_PSIZE_Pos)     /*!< 0x00000020 */
+#define FLASH_CR_FW_Pos                      (6U)
+#define FLASH_CR_FW_Msk                      (0x1UL << FLASH_CR_FW_Pos)        /*!< 0x00000040 */
+#define FLASH_CR_FW                          FLASH_CR_FW_Msk                   /*!< Write forcing control bit */
+#define FLASH_CR_START_Pos                   (7U)
+#define FLASH_CR_START_Msk                   (0x1UL << FLASH_CR_START_Pos)     /*!< 0x00000080 */
+#define FLASH_CR_START                       FLASH_CR_START_Msk                /*!< Erase start control bit */
+#define FLASH_CR_SNB_Pos                     (8U)
+#define FLASH_CR_SNB_Msk                     (0x7UL << FLASH_CR_SNB_Pos)       /*!< 0x00000700 */
+#define FLASH_CR_SNB                         FLASH_CR_SNB_Msk                  /*!< Sector erase selection number */
+#define FLASH_CR_SNB_0                       (0x1UL << FLASH_CR_SNB_Pos)       /*!< 0x00000100 */
+#define FLASH_CR_SNB_1                       (0x2UL << FLASH_CR_SNB_Pos)       /*!< 0x00000200 */
+#define FLASH_CR_SNB_2                       (0x4UL << FLASH_CR_SNB_Pos)       /*!< 0x00000400 */
+#define FLASH_CR_CRC_EN_Pos                  (15U)
+#define FLASH_CR_CRC_EN_Msk                  (0x1UL << FLASH_CR_CRC_EN_Pos)    /*!< 0x00008000 */
+#define FLASH_CR_CRC_EN                      FLASH_CR_CRC_EN_Msk               /*!< CRC control bit */
+#define FLASH_CR_EOPIE_Pos                   (16U)
+#define FLASH_CR_EOPIE_Msk                   (0x1UL << FLASH_CR_EOPIE_Pos)     /*!< 0x00010000 */
+#define FLASH_CR_EOPIE                       FLASH_CR_EOPIE_Msk                /*!< End-of-program interrupt control bit */
+#define FLASH_CR_WRPERRIE_Pos                (17U)
+#define FLASH_CR_WRPERRIE_Msk                (0x1UL << FLASH_CR_WRPERRIE_Pos)  /*!< 0x00020000 */
+#define FLASH_CR_WRPERRIE                    FLASH_CR_WRPERRIE_Msk             /*!< Write protection error interrupt enable bit */
+#define FLASH_CR_PGSERRIE_Pos                (18U)
+#define FLASH_CR_PGSERRIE_Msk                (0x1UL << FLASH_CR_PGSERRIE_Pos)  /*!< 0x00040000 */
+#define FLASH_CR_PGSERRIE                    FLASH_CR_PGSERRIE_Msk             /*!< Programming sequence error interrupt enable bit */
+#define FLASH_CR_STRBERRIE_Pos               (19U)
+#define FLASH_CR_STRBERRIE_Msk               (0x1UL << FLASH_CR_STRBERRIE_Pos) /*!< 0x00080000 */
+#define FLASH_CR_STRBERRIE                   FLASH_CR_STRBERRIE_Msk            /*!< Strobe error interrupt enable bit */
+#define FLASH_CR_INCERRIE_Pos                (21U)
+#define FLASH_CR_INCERRIE_Msk                (0x1UL << FLASH_CR_INCERRIE_Pos)  /*!< 0x00200000 */
+#define FLASH_CR_INCERRIE                    FLASH_CR_INCERRIE_Msk             /*!< Inconsistency error interrupt enable bit */
+#define FLASH_CR_OPERRIE_Pos                 (22U)
+#define FLASH_CR_OPERRIE_Msk                 (0x1UL << FLASH_CR_OPERRIE_Pos)   /*!< 0x00400000 */
+#define FLASH_CR_OPERRIE                     FLASH_CR_OPERRIE_Msk              /*!< Write/erase error interrupt enable bit */
+#define FLASH_CR_RDPERRIE_Pos                (23U)
+#define FLASH_CR_RDPERRIE_Msk                (0x1UL << FLASH_CR_RDPERRIE_Pos)  /*!< 0x00800000 */
+#define FLASH_CR_RDPERRIE                    FLASH_CR_RDPERRIE_Msk             /*!< Read protection error interrupt enable bit */
+#define FLASH_CR_RDSERRIE_Pos                (24U)
+#define FLASH_CR_RDSERRIE_Msk                (0x1UL << FLASH_CR_RDSERRIE_Pos)  /*!< 0x01000000 */
+#define FLASH_CR_RDSERRIE                    FLASH_CR_RDSERRIE_Msk             /*!< Secure error interrupt enable bit */
+#define FLASH_CR_SNECCERRIE_Pos              (25U)
+#define FLASH_CR_SNECCERRIE_Msk              (0x1UL << FLASH_CR_SNECCERRIE_Pos) /*!< 0x02000000 */
+#define FLASH_CR_SNECCERRIE                  FLASH_CR_SNECCERRIE_Msk            /*!< ECC single correction error interrupt enable bit */
+#define FLASH_CR_DBECCERRIE_Pos              (26U)
+#define FLASH_CR_DBECCERRIE_Msk              (0x1UL << FLASH_CR_DBECCERRIE_Pos) /*!< 0x04000000 */
+#define FLASH_CR_DBECCERRIE                  FLASH_CR_DBECCERRIE_Msk            /*!< ECC double detection error interrupt enable bit */
+#define FLASH_CR_CRCENDIE_Pos                (27U)
+#define FLASH_CR_CRCENDIE_Msk                (0x1UL << FLASH_CR_CRCENDIE_Pos)  /*!< 0x08000000 */
+#define FLASH_CR_CRCENDIE                    FLASH_CR_CRCENDIE_Msk             /*!< CRC end of calculation interrupt enable bit */
+#define FLASH_CR_CRCRDERRIE_Pos              (28U)
+#define FLASH_CR_CRCRDERRIE_Msk              (0x1UL << FLASH_CR_CRCRDERRIE_Pos) /*!< 0x10000000 */
+#define FLASH_CR_CRCRDERRIE                  FLASH_CR_CRCRDERRIE_Msk            /*!< CRC read error interrupt enable bit */
+
+/*******************  Bits definition for FLASH_SR register  ***********************/
+#define FLASH_SR_BSY_Pos                     (0U)
+#define FLASH_SR_BSY_Msk                     (0x1UL << FLASH_SR_BSY_Pos)       /*!< 0x00000001 */
+#define FLASH_SR_BSY                         FLASH_SR_BSY_Msk                  /*!< Busy flag */
+#define FLASH_SR_WBNE_Pos                    (1U)
+#define FLASH_SR_WBNE_Msk                    (0x1UL << FLASH_SR_WBNE_Pos)      /*!< 0x00000002 */
+#define FLASH_SR_WBNE                        FLASH_SR_WBNE_Msk                 /*!< Write buffer not empty flag */
+#define FLASH_SR_QW_Pos                      (2U)
+#define FLASH_SR_QW_Msk                      (0x1UL << FLASH_SR_QW_Pos)        /*!< 0x00000004 */
+#define FLASH_SR_QW                          FLASH_SR_QW_Msk                   /*!< Wait queue flag */
+#define FLASH_SR_CRC_BUSY_Pos                (3U)
+#define FLASH_SR_CRC_BUSY_Msk                (0x1UL << FLASH_SR_CRC_BUSY_Pos)  /*!< 0x00000008 */
+#define FLASH_SR_CRC_BUSY                    FLASH_SR_CRC_BUSY_Msk             /*!< CRC busy flag */
+#define FLASH_SR_EOP_Pos                     (16U)
+#define FLASH_SR_EOP_Msk                     (0x1UL << FLASH_SR_EOP_Pos)       /*!< 0x00010000 */
+#define FLASH_SR_EOP                         FLASH_SR_EOP_Msk                  /*!< End-of-program flag */
+#define FLASH_SR_WRPERR_Pos                  (17U)
+#define FLASH_SR_WRPERR_Msk                  (0x1UL << FLASH_SR_WRPERR_Pos)    /*!< 0x00020000 */
+#define FLASH_SR_WRPERR                      FLASH_SR_WRPERR_Msk               /*!< Write protection error flag */
+#define FLASH_SR_PGSERR_Pos                  (18U)
+#define FLASH_SR_PGSERR_Msk                  (0x1UL << FLASH_SR_PGSERR_Pos)    /*!< 0x00040000 */
+#define FLASH_SR_PGSERR                      FLASH_SR_PGSERR_Msk               /*!< Programming sequence error flag */
+#define FLASH_SR_STRBERR_Pos                 (19U)
+#define FLASH_SR_STRBERR_Msk                 (0x1UL << FLASH_SR_STRBERR_Pos)   /*!< 0x00080000 */
+#define FLASH_SR_STRBERR                     FLASH_SR_STRBERR_Msk              /*!< Strobe error flag */
+#define FLASH_SR_INCERR_Pos                  (21U)
+#define FLASH_SR_INCERR_Msk                  (0x1UL << FLASH_SR_INCERR_Pos)    /*!< 0x00200000 */
+#define FLASH_SR_INCERR                      FLASH_SR_INCERR_Msk               /*!< Inconsistency error flag */
+#define FLASH_SR_OPERR_Pos                   (22U)
+#define FLASH_SR_OPERR_Msk                   (0x1UL << FLASH_SR_OPERR_Pos)     /*!< 0x00400000 */
+#define FLASH_SR_OPERR                       FLASH_SR_OPERR_Msk                /*!< Write/erase error flag */
+#define FLASH_SR_RDPERR_Pos                  (23U)
+#define FLASH_SR_RDPERR_Msk                  (0x1UL << FLASH_SR_RDPERR_Pos)    /*!< 0x00800000 */
+#define FLASH_SR_RDPERR                      FLASH_SR_RDPERR_Msk               /*!< Read protection error flag */
+#define FLASH_SR_RDSERR_Pos                  (24U)
+#define FLASH_SR_RDSERR_Msk                  (0x1UL << FLASH_SR_RDSERR_Pos)    /*!< 0x01000000 */
+#define FLASH_SR_RDSERR                      FLASH_SR_RDSERR_Msk               /*!< Secure error flag */
+#define FLASH_SR_SNECCERR_Pos                (25U)
+#define FLASH_SR_SNECCERR_Msk                (0x1UL << FLASH_SR_SNECCERR_Pos)  /*!< 0x02000000 */
+#define FLASH_SR_SNECCERR                    FLASH_SR_SNECCERR_Msk             /*!< Single correction error flag */
+#define FLASH_SR_DBECCERR_Pos                (26U)
+#define FLASH_SR_DBECCERR_Msk                (0x1UL << FLASH_SR_DBECCERR_Pos)  /*!< 0x04000000 */
+#define FLASH_SR_DBECCERR                    FLASH_SR_DBECCERR_Msk             /*!< ECC double detection error flag */
+#define FLASH_SR_CRCEND_Pos                  (27U)
+#define FLASH_SR_CRCEND_Msk                  (0x1UL << FLASH_SR_CRCEND_Pos)    /*!< 0x08000000 */
+#define FLASH_SR_CRCEND                      FLASH_SR_CRCEND_Msk               /*!< CRC end of calculation flag */
+#define FLASH_SR_CRCRDERR_Pos                (28U)
+#define FLASH_SR_CRCRDERR_Msk                (0x1UL << FLASH_SR_CRCRDERR_Pos)  /*!< 0x10000000 */
+#define FLASH_SR_CRCRDERR                    FLASH_SR_CRCRDERR_Msk             /*!< CRC read error flag */
+
+/*******************  Bits definition for FLASH_CCR register  *******************/
+#define FLASH_CCR_CLR_EOP_Pos                (16U)
+#define FLASH_CCR_CLR_EOP_Msk                (0x1UL << FLASH_CCR_CLR_EOP_Pos)  /*!< 0x00010000 */
+#define FLASH_CCR_CLR_EOP                    FLASH_CCR_CLR_EOP_Msk             /*!< EOP flag clear bit */
+#define FLASH_CCR_CLR_WRPERR_Pos             (17U)
+#define FLASH_CCR_CLR_WRPERR_Msk             (0x1UL << FLASH_CCR_CLR_WRPERR_Pos) /*!< 0x00020000 */
+#define FLASH_CCR_CLR_WRPERR                 FLASH_CCR_CLR_WRPERR_Msk            /*!< WRPERR flag clear bit */
+#define FLASH_CCR_CLR_PGSERR_Pos             (18U)
+#define FLASH_CCR_CLR_PGSERR_Msk             (0x1UL << FLASH_CCR_CLR_PGSERR_Pos) /*!< 0x00040000 */
+#define FLASH_CCR_CLR_PGSERR                 FLASH_CCR_CLR_PGSERR_Msk            /*!< PGSERR flag clear bit */
+#define FLASH_CCR_CLR_STRBERR_Pos            (19U)
+#define FLASH_CCR_CLR_STRBERR_Msk            (0x1UL << FLASH_CCR_CLR_STRBERR_Pos) /*!< 0x00080000 */
+#define FLASH_CCR_CLR_STRBERR                FLASH_CCR_CLR_STRBERR_Msk            /*!< STRBERR flag clear bit */
+#define FLASH_CCR_CLR_INCERR_Pos             (21U)
+#define FLASH_CCR_CLR_INCERR_Msk             (0x1UL << FLASH_CCR_CLR_INCERR_Pos) /*!< 0x00200000 */
+#define FLASH_CCR_CLR_INCERR                 FLASH_CCR_CLR_INCERR_Msk            /*!< INCERR flag clear bit */
+#define FLASH_CCR_CLR_OPERR_Pos              (22U)
+#define FLASH_CCR_CLR_OPERR_Msk              (0x1UL << FLASH_CCR_CLR_OPERR_Pos) /*!< 0x00400000 */
+#define FLASH_CCR_CLR_OPERR                  FLASH_CCR_CLR_OPERR_Msk            /*!< OPERR flag clear bit */
+#define FLASH_CCR_CLR_RDPERR_Pos             (23U)
+#define FLASH_CCR_CLR_RDPERR_Msk             (0x1UL << FLASH_CCR_CLR_RDPERR_Pos) /*!< 0x00800000 */
+#define FLASH_CCR_CLR_RDPERR                 FLASH_CCR_CLR_RDPERR_Msk            /*!< RDPERR flag clear bit */
+#define FLASH_CCR_CLR_RDSERR_Pos             (24U)
+#define FLASH_CCR_CLR_RDSERR_Msk             (0x1UL << FLASH_CCR_CLR_RDSERR_Pos) /*!< 0x01000000 */
+#define FLASH_CCR_CLR_RDSERR                 FLASH_CCR_CLR_RDSERR_Msk            /*!< RDSERR flag clear bit */
+#define FLASH_CCR_CLR_SNECCERR_Pos           (25U)
+#define FLASH_CCR_CLR_SNECCERR_Msk           (0x1UL << FLASH_CCR_CLR_SNECCERR_Pos) /*!< 0x02000000 */
+#define FLASH_CCR_CLR_SNECCERR               FLASH_CCR_CLR_SNECCERR_Msk            /*!< SNECCERR flag clear bit */
+#define FLASH_CCR_CLR_DBECCERR_Pos           (26U)
+#define FLASH_CCR_CLR_DBECCERR_Msk           (0x1UL << FLASH_CCR_CLR_DBECCERR_Pos) /*!< 0x04000000 */
+#define FLASH_CCR_CLR_DBECCERR               FLASH_CCR_CLR_DBECCERR_Msk            /*!< DBECCERR flag clear bit */
+#define FLASH_CCR_CLR_CRCEND_Pos             (27U)
+#define FLASH_CCR_CLR_CRCEND_Msk             (0x1UL << FLASH_CCR_CLR_CRCEND_Pos) /*!< 0x08000000 */
+#define FLASH_CCR_CLR_CRCEND                 FLASH_CCR_CLR_CRCEND_Msk            /*!< CRCEND flag clear bit */
+#define FLASH_CCR_CLR_CRCRDERR_Pos           (28U)
+#define FLASH_CCR_CLR_CRCRDERR_Msk           (0x1UL << FLASH_CCR_CLR_CRCRDERR_Pos) /*!< 0x10000000 */
+#define FLASH_CCR_CLR_CRCRDERR               FLASH_CCR_CLR_CRCRDERR_Msk            /*!< CRCRDERR flag clear bit */
+
+/*******************  Bits definition for FLASH_OPTCR register  *******************/
+#define FLASH_OPTCR_OPTLOCK_Pos              (0U)
+#define FLASH_OPTCR_OPTLOCK_Msk              (0x1UL << FLASH_OPTCR_OPTLOCK_Pos)  /*!< 0x00000001 */
+#define FLASH_OPTCR_OPTLOCK                  FLASH_OPTCR_OPTLOCK_Msk             /*!< FLASH_OPTCR lock option configuration bit */
+#define FLASH_OPTCR_OPTSTART_Pos             (1U)
+#define FLASH_OPTCR_OPTSTART_Msk             (0x1UL << FLASH_OPTCR_OPTSTART_Pos) /*!< 0x00000002 */
+#define FLASH_OPTCR_OPTSTART                 FLASH_OPTCR_OPTSTART_Msk            /*!< Option byte start change option configuration bit */
+#define FLASH_OPTCR_OPTCHANGEERRIE_Pos       (30U)
+#define FLASH_OPTCR_OPTCHANGEERRIE_Msk       (0x1UL << FLASH_OPTCR_OPTCHANGEERRIE_Pos) /*!< 0x40000000 */
+#define FLASH_OPTCR_OPTCHANGEERRIE           FLASH_OPTCR_OPTCHANGEERRIE_Msk            /*!< Option byte change error interrupt enable bit */
+
+/*******************  Bits definition for FLASH_OPTSR register  ***************/
+#define FLASH_OPTSR_OPT_BUSY_Pos             (0U)
+#define FLASH_OPTSR_OPT_BUSY_Msk             (0x1UL << FLASH_OPTSR_OPT_BUSY_Pos) /*!< 0x00000001 */
+#define FLASH_OPTSR_OPT_BUSY                 FLASH_OPTSR_OPT_BUSY_Msk            /*!< Option byte change ongoing flag */
+#define FLASH_OPTSR_BOR_LEV_Pos              (2U)
+#define FLASH_OPTSR_BOR_LEV_Msk              (0x3UL << FLASH_OPTSR_BOR_LEV_Pos) /*!< 0x0000000C */
+#define FLASH_OPTSR_BOR_LEV                  FLASH_OPTSR_BOR_LEV_Msk            /*!< Brownout level option status bit */
+#define FLASH_OPTSR_BOR_LEV_0                (0x1UL << FLASH_OPTSR_BOR_LEV_Pos) /*!< 0x00000004 */
+#define FLASH_OPTSR_BOR_LEV_1                (0x2UL << FLASH_OPTSR_BOR_LEV_Pos) /*!< 0x00000008 */
+#define FLASH_OPTSR_IWDG1_SW_Pos             (4U)
+#define FLASH_OPTSR_IWDG1_SW_Msk             (0x1UL << FLASH_OPTSR_IWDG1_SW_Pos) /*!< 0x00000010 */
+#define FLASH_OPTSR_IWDG1_SW                 FLASH_OPTSR_IWDG1_SW_Msk            /*!< IWDG1 control mode option status bit */
+#define FLASH_OPTSR_NRST_STOP_D1_Pos         (6U)
+#define FLASH_OPTSR_NRST_STOP_D1_Msk         (0x1UL << FLASH_OPTSR_NRST_STOP_D1_Pos) /*!< 0x00000040 */
+#define FLASH_OPTSR_NRST_STOP_D1             FLASH_OPTSR_NRST_STOP_D1_Msk            /*!< D1 domain DStop entry reset option status bit */
+#define FLASH_OPTSR_NRST_STBY_D1_Pos         (7U)
+#define FLASH_OPTSR_NRST_STBY_D1_Msk         (0x1UL << FLASH_OPTSR_NRST_STBY_D1_Pos) /*!< 0x00000080 */
+#define FLASH_OPTSR_NRST_STBY_D1             FLASH_OPTSR_NRST_STBY_D1_Msk            /*!< D1 domain DStandby entry reset option status bit */
+#define FLASH_OPTSR_RDP_Pos                  (8U)
+#define FLASH_OPTSR_RDP_Msk                  (0xFFUL << FLASH_OPTSR_RDP_Pos)   /*!< 0x0000FF00 */
+#define FLASH_OPTSR_RDP                      FLASH_OPTSR_RDP_Msk               /*!< Readout protection level option status byte */
+#define FLASH_OPTSR_FZ_IWDG_STOP_Pos         (17U)
+#define FLASH_OPTSR_FZ_IWDG_STOP_Msk         (0x1UL << FLASH_OPTSR_FZ_IWDG_STOP_Pos) /*!< 0x00020000 */
+#define FLASH_OPTSR_FZ_IWDG_STOP             FLASH_OPTSR_FZ_IWDG_STOP_Msk            /*!< IWDG Stop mode freeze option status bit */
+#define FLASH_OPTSR_FZ_IWDG_SDBY_Pos         (18U)
+#define FLASH_OPTSR_FZ_IWDG_SDBY_Msk         (0x1UL << FLASH_OPTSR_FZ_IWDG_SDBY_Pos) /*!< 0x00040000 */
+#define FLASH_OPTSR_FZ_IWDG_SDBY             FLASH_OPTSR_FZ_IWDG_SDBY_Msk            /*!< IWDG Standby mode freeze option status bit */
+#define FLASH_OPTSR_ST_RAM_SIZE_Pos          (19U)
+#define FLASH_OPTSR_ST_RAM_SIZE_Msk          (0x3UL << FLASH_OPTSR_ST_RAM_SIZE_Pos) /*!< 0x00180000 */
+#define FLASH_OPTSR_ST_RAM_SIZE              FLASH_OPTSR_ST_RAM_SIZE_Msk            /*!< ST RAM size option status */
+#define FLASH_OPTSR_ST_RAM_SIZE_0            (0x1UL << FLASH_OPTSR_ST_RAM_SIZE_Pos) /*!< 0x00080000 */
+#define FLASH_OPTSR_ST_RAM_SIZE_1            (0x2UL << FLASH_OPTSR_ST_RAM_SIZE_Pos) /*!< 0x00100000 */
+#define FLASH_OPTSR_SECURITY_Pos             (21U)
+#define FLASH_OPTSR_SECURITY_Msk             (0x1UL << FLASH_OPTSR_SECURITY_Pos) /*!< 0x00200000 */
+#define FLASH_OPTSR_SECURITY                 FLASH_OPTSR_SECURITY_Msk            /*!< Security enable option status bit */
+#define FLASH_OPTSR_NRST_STOP_D2_Pos         (24U)
+#define FLASH_OPTSR_NRST_STOP_D2_Msk         (0x1UL << FLASH_OPTSR_NRST_STOP_D2_Pos) /*!< 0x01000000 */
+#define FLASH_OPTSR_NRST_STOP_D2             FLASH_OPTSR_NRST_STOP_D2_Msk            /*!< D2 domain DStop entry reset option status bit */
+#define FLASH_OPTSR_NRST_STBY_D2_Pos         (25U)
+#define FLASH_OPTSR_NRST_STBY_D2_Msk         (0x1UL << FLASH_OPTSR_NRST_STBY_D2_Pos) /*!< 0x02000000 */
+#define FLASH_OPTSR_NRST_STBY_D2             FLASH_OPTSR_NRST_STBY_D2_Msk            /*!< D2 domain DStandby entry reset option status bit */
+#define FLASH_OPTSR_IO_HSLV_Pos              (29U)
+#define FLASH_OPTSR_IO_HSLV_Msk              (0x1UL << FLASH_OPTSR_IO_HSLV_Pos) /*!< 0x20000000 */
+#define FLASH_OPTSR_IO_HSLV                  FLASH_OPTSR_IO_HSLV_Msk            /*!< I/O high-speed at low-voltage status bit */
+#define FLASH_OPTSR_OPTCHANGEERR_Pos         (30U)
+#define FLASH_OPTSR_OPTCHANGEERR_Msk         (0x1UL << FLASH_OPTSR_OPTCHANGEERR_Pos) /*!< 0x40000000 */
+#define FLASH_OPTSR_OPTCHANGEERR             FLASH_OPTSR_OPTCHANGEERR_Msk            /*!< Option byte change error flag */
+
+/*******************  Bits definition for FLASH_OPTCCR register  *******************/
+#define FLASH_OPTCCR_CLR_OPTCHANGEERR_Pos    (30U)
+#define FLASH_OPTCCR_CLR_OPTCHANGEERR_Msk    (0x1UL << FLASH_OPTCCR_CLR_OPTCHANGEERR_Pos) /*!< 0x40000000 */
+#define FLASH_OPTCCR_CLR_OPTCHANGEERR        FLASH_OPTCCR_CLR_OPTCHANGEERR_Msk            /*!< OPTCHANGEERR reset bit */
+
+/*******************  Bits definition for FLASH_PRAR register  *********************/
+#define FLASH_PRAR_PROT_AREA_START_Pos       (0U)
+#define FLASH_PRAR_PROT_AREA_START_Msk       (0xFFFUL << FLASH_PRAR_PROT_AREA_START_Pos) /*!< 0x00000FFF */
+#define FLASH_PRAR_PROT_AREA_START           FLASH_PRAR_PROT_AREA_START_Msk              /*!< PCROP area start status bits */
+#define FLASH_PRAR_PROT_AREA_END_Pos         (16U)
+#define FLASH_PRAR_PROT_AREA_END_Msk         (0xFFFUL << FLASH_PRAR_PROT_AREA_END_Pos) /*!< 0x0FFF0000 */
+#define FLASH_PRAR_PROT_AREA_END             FLASH_PRAR_PROT_AREA_END_Msk              /*!< PCROP area end status bits */
+#define FLASH_PRAR_DMEP_Pos                  (31U)
+#define FLASH_PRAR_DMEP_Msk                  (0x1UL << FLASH_PRAR_DMEP_Pos)    /*!< 0x80000000 */
+#define FLASH_PRAR_DMEP                      FLASH_PRAR_DMEP_Msk               /*!< PCROP protected erase enable option status bit */
+
+/*******************  Bits definition for FLASH_SCAR register  *********************/
+#define FLASH_SCAR_SEC_AREA_START_Pos        (0U)
+#define FLASH_SCAR_SEC_AREA_START_Msk        (0xFFFUL << FLASH_SCAR_SEC_AREA_START_Pos) /*!< 0x00000FFF */
+#define FLASH_SCAR_SEC_AREA_START            FLASH_SCAR_SEC_AREA_START_Msk              /*!< Secure-only area start status bits */
+#define FLASH_SCAR_SEC_AREA_END_Pos          (16U)
+#define FLASH_SCAR_SEC_AREA_END_Msk          (0xFFFUL << FLASH_SCAR_SEC_AREA_END_Pos) /*!< 0x0FFF0000 */
+#define FLASH_SCAR_SEC_AREA_END              FLASH_SCAR_SEC_AREA_END_Msk              /*!< Secure-only area end status bits */
+#define FLASH_SCAR_DMES_Pos                  (31U)
+#define FLASH_SCAR_DMES_Msk                  (0x1UL << FLASH_SCAR_DMES_Pos)    /*!< 0x80000000 */
+#define FLASH_SCAR_DMES                      FLASH_SCAR_DMES_Msk               /*!< Secure access protected erase enable option status bit */
+
+/*******************  Bits definition for FLASH_WPSN register  *********************/
+#define FLASH_WPSN_WRPSN_Pos                 (0U)
+#define FLASH_WPSN_WRPSN_Msk                 (0xFFUL << FLASH_WPSN_WRPSN_Pos)  /*!< 0x000000FF */
+#define FLASH_WPSN_WRPSN                     FLASH_WPSN_WRPSN_Msk              /*!< Sector write protection option status byte */
+
+/*******************  Bits definition for FLASH_BOOT_CUR register  ****************/
+#define FLASH_BOOT_ADD0_Pos                  (0U)
+#define FLASH_BOOT_ADD0_Msk                  (0xFFFFUL << FLASH_BOOT_ADD0_Pos) /*!< 0x0000FFFF */
+#define FLASH_BOOT_ADD0                      FLASH_BOOT_ADD0_Msk               /*!< Arm Cortex-M7 boot address 0 */
+#define FLASH_BOOT_ADD1_Pos                  (16U)
+#define FLASH_BOOT_ADD1_Msk                  (0xFFFFUL << FLASH_BOOT_ADD1_Pos) /*!< 0xFFFF0000 */
+#define FLASH_BOOT_ADD1                      FLASH_BOOT_ADD1_Msk               /*!< Arm Cortex-M7 boot address 1 */
+
+
+/*******************  Bits definition for FLASH_CRCCR register  ********************/
+#define FLASH_CRCCR_CRC_SECT_Pos             (0U)
+#define FLASH_CRCCR_CRC_SECT_Msk             (0x7UL << FLASH_CRCCR_CRC_SECT_Pos) /*!< 0x00000007 */
+#define FLASH_CRCCR_CRC_SECT                 FLASH_CRCCR_CRC_SECT_Msk            /*!< CRC sector number */
+#define FLASH_CRCCR_CRC_BY_SECT_Pos          (8U)
+#define FLASH_CRCCR_CRC_BY_SECT_Msk          (0x1UL << FLASH_CRCCR_CRC_BY_SECT_Pos) /*!< 0x00000100 */
+#define FLASH_CRCCR_CRC_BY_SECT              FLASH_CRCCR_CRC_BY_SECT_Msk            /*!< CRC sector mode select bit */
+#define FLASH_CRCCR_ADD_SECT_Pos             (9U)
+#define FLASH_CRCCR_ADD_SECT_Msk             (0x1UL << FLASH_CRCCR_ADD_SECT_Pos) /*!< 0x00000200 */
+#define FLASH_CRCCR_ADD_SECT                 FLASH_CRCCR_ADD_SECT_Msk            /*!< CRC sector select bit */
+#define FLASH_CRCCR_CLEAN_SECT_Pos           (10U)
+#define FLASH_CRCCR_CLEAN_SECT_Msk           (0x1UL << FLASH_CRCCR_CLEAN_SECT_Pos) /*!< 0x00000400 */
+#define FLASH_CRCCR_CLEAN_SECT               FLASH_CRCCR_CLEAN_SECT_Msk            /*!< CRC sector list clear bit */
+#define FLASH_CRCCR_START_CRC_Pos            (16U)
+#define FLASH_CRCCR_START_CRC_Msk            (0x1UL << FLASH_CRCCR_START_CRC_Pos) /*!< 0x00010000 */
+#define FLASH_CRCCR_START_CRC                FLASH_CRCCR_START_CRC_Msk            /*!< CRC start bit */
+#define FLASH_CRCCR_CLEAN_CRC_Pos            (17U)
+#define FLASH_CRCCR_CLEAN_CRC_Msk            (0x1UL << FLASH_CRCCR_CLEAN_CRC_Pos) /*!< 0x00020000 */
+#define FLASH_CRCCR_CLEAN_CRC                FLASH_CRCCR_CLEAN_CRC_Msk            /*!< CRC clear bit */
+#define FLASH_CRCCR_CRC_BURST_Pos            (20U)
+#define FLASH_CRCCR_CRC_BURST_Msk            (0x3UL << FLASH_CRCCR_CRC_BURST_Pos) /*!< 0x00300000 */
+#define FLASH_CRCCR_CRC_BURST                FLASH_CRCCR_CRC_BURST_Msk            /*!< CRC burst size */
+#define FLASH_CRCCR_CRC_BURST_0              (0x1UL << FLASH_CRCCR_CRC_BURST_Pos) /*!< 0x00100000 */
+#define FLASH_CRCCR_CRC_BURST_1              (0x2UL << FLASH_CRCCR_CRC_BURST_Pos) /*!< 0x00200000 */
+#define FLASH_CRCCR_ALL_BANK_Pos             (22U)
+#define FLASH_CRCCR_ALL_BANK_Msk             (0x1UL << FLASH_CRCCR_ALL_BANK_Pos) /*!< 0x00400000 */
+#define FLASH_CRCCR_ALL_BANK                 FLASH_CRCCR_ALL_BANK_Msk            /*!< CRC select bit */
+
+/*******************  Bits definition for FLASH_CRCSADD register  ****************/
+#define FLASH_CRCSADD_CRC_START_ADDR_Pos     (0U)
+#define FLASH_CRCSADD_CRC_START_ADDR_Msk     (0xFFFFFFFFUL << FLASH_CRCSADD_CRC_START_ADDR_Pos) /*!< 0xFFFFFFFF */
+#define FLASH_CRCSADD_CRC_START_ADDR         FLASH_CRCSADD_CRC_START_ADDR_Msk                   /*!< CRC start address */
+
+/*******************  Bits definition for FLASH_CRCEADD register  ****************/
+#define FLASH_CRCEADD_CRC_END_ADDR_Pos       (0U)
+#define FLASH_CRCEADD_CRC_END_ADDR_Msk       (0xFFFFFFFFUL << FLASH_CRCEADD_CRC_END_ADDR_Pos) /*!< 0xFFFFFFFF */
+#define FLASH_CRCEADD_CRC_END_ADDR           FLASH_CRCEADD_CRC_END_ADDR_Msk                   /*!< CRC end address */
+
+/*******************  Bits definition for FLASH_CRCDATA register  ***************/
+#define FLASH_CRCDATA_CRC_DATA_Pos           (0U)
+#define FLASH_CRCDATA_CRC_DATA_Msk           (0xFFFFFFFFUL << FLASH_CRCDATA_CRC_DATA_Pos) /*!< 0xFFFFFFFF */
+#define FLASH_CRCDATA_CRC_DATA               FLASH_CRCDATA_CRC_DATA_Msk                   /*!< CRC result */
+
+/*******************  Bits definition for FLASH_ECC_FA register  *******************/
+#define FLASH_ECC_FA_FAIL_ECC_ADDR_Pos       (0U)
+#define FLASH_ECC_FA_FAIL_ECC_ADDR_Msk       (0x7FFFUL << FLASH_ECC_FA_FAIL_ECC_ADDR_Pos) /*!< 0x00007FFF */
+#define FLASH_ECC_FA_FAIL_ECC_ADDR           FLASH_ECC_FA_FAIL_ECC_ADDR_Msk               /*!< ECC error address */
+
+/*******************  Bits definition for FLASH_OPTSR2 register  *******************/
+#define FLASH_OPTSR2_TCM_AXI_SHARED_Pos      (0U)
+#define FLASH_OPTSR2_TCM_AXI_SHARED_Msk      (0x3UL << FLASH_OPTSR2_TCM_AXI_SHARED_Pos) /*!< 0x00000003 */
+#define FLASH_OPTSR2_TCM_AXI_SHARED          FLASH_OPTSR2_TCM_AXI_SHARED_Msk            /*!< TCM RAM shared */
+#define FLASH_OPTSR2_TCM_AXI_SHARED_0        (0x1UL << FLASH_OPTSR2_TCM_AXI_SHARED_Pos) /*!< 0x00000001 */
+#define FLASH_OPTSR2_TCM_AXI_SHARED_1        (0x2UL << FLASH_OPTSR2_TCM_AXI_SHARED_Pos) /*!< 0x00000002 */
+#define FLASH_OPTSR2_CPUFREQ_BOOST_Pos       (2U)
+#define FLASH_OPTSR2_CPUFREQ_BOOST_Msk       (0x1UL << FLASH_OPTSR2_CPUFREQ_BOOST_Pos) /*!< 0x00000004 */
+#define FLASH_OPTSR2_CPUFREQ_BOOST           FLASH_OPTSR2_CPUFREQ_BOOST_Msk            /*!< CPU frequency boost */
+
+/******************************************************************************/
+/*                                                                            */
+/*                Filter Mathematical ACcelerator unit (FMAC)                 */
+/*                                                                            */
+/******************************************************************************/
+/*****************  Bit definition for FMAC_X1BUFCFG register  ****************/
+#define FMAC_X1BUFCFG_X1_BASE_Pos     (0U)
+#define FMAC_X1BUFCFG_X1_BASE_Msk     (0xFFUL << FMAC_X1BUFCFG_X1_BASE_Pos)    /*!< 0x000000FF */
+#define FMAC_X1BUFCFG_X1_BASE         FMAC_X1BUFCFG_X1_BASE_Msk                /*!< Base address of X1 buffer */
+#define FMAC_X1BUFCFG_X1_BUF_SIZE_Pos (8U)
+#define FMAC_X1BUFCFG_X1_BUF_SIZE_Msk (0xFFUL << FMAC_X1BUFCFG_X1_BUF_SIZE_Pos)/*!< 0x0000FF00 */
+#define FMAC_X1BUFCFG_X1_BUF_SIZE     FMAC_X1BUFCFG_X1_BUF_SIZE_Msk            /*!< Allocated size of X1 buffer in 16-bit words */
+#define FMAC_X1BUFCFG_FULL_WM_Pos     (24U)
+#define FMAC_X1BUFCFG_FULL_WM_Msk     (0x3UL  << FMAC_X1BUFCFG_FULL_WM_Pos)    /*!< 0x03000000 */
+#define FMAC_X1BUFCFG_FULL_WM         FMAC_X1BUFCFG_FULL_WM_Msk                /*!< Watermark for buffer full flag */
+/*****************  Bit definition for FMAC_X2BUFCFG register  ****************/
+#define FMAC_X2BUFCFG_X2_BASE_Pos     (0U)
+#define FMAC_X2BUFCFG_X2_BASE_Msk     (0xFFUL << FMAC_X2BUFCFG_X2_BASE_Pos)    /*!< 0x000000FF */
+#define FMAC_X2BUFCFG_X2_BASE         FMAC_X2BUFCFG_X2_BASE_Msk                /*!< Base address of X2 buffer */
+#define FMAC_X2BUFCFG_X2_BUF_SIZE_Pos (8U)
+#define FMAC_X2BUFCFG_X2_BUF_SIZE_Msk (0xFFUL << FMAC_X2BUFCFG_X2_BUF_SIZE_Pos)/*!< 0x0000FF00 */
+#define FMAC_X2BUFCFG_X2_BUF_SIZE     FMAC_X2BUFCFG_X2_BUF_SIZE_Msk            /*!< Size of X2 buffer in 16-bit words */
+/*****************  Bit definition for FMAC_YBUFCFG register  *****************/
+#define FMAC_YBUFCFG_Y_BASE_Pos       (0U)
+#define FMAC_YBUFCFG_Y_BASE_Msk       (0xFFUL << FMAC_YBUFCFG_Y_BASE_Pos)      /*!< 0x000000FF */
+#define FMAC_YBUFCFG_Y_BASE           FMAC_YBUFCFG_Y_BASE_Msk                  /*!< Base address of Y buffer */
+#define FMAC_YBUFCFG_Y_BUF_SIZE_Pos   (8U)
+#define FMAC_YBUFCFG_Y_BUF_SIZE_Msk   (0xFFUL << FMAC_YBUFCFG_Y_BUF_SIZE_Pos)  /*!< 0x0000FF00 */
+#define FMAC_YBUFCFG_Y_BUF_SIZE       FMAC_YBUFCFG_Y_BUF_SIZE_Msk              /*!< Size of Y buffer in 16-bit words */
+#define FMAC_YBUFCFG_EMPTY_WM_Pos     (24U)
+#define FMAC_YBUFCFG_EMPTY_WM_Msk     (0x3UL  << FMAC_YBUFCFG_EMPTY_WM_Pos)    /*!< 0x03000000 */
+#define FMAC_YBUFCFG_EMPTY_WM         FMAC_YBUFCFG_EMPTY_WM_Msk                /*!< Watermark for buffer empty flag */
+/******************  Bit definition for FMAC_PARAM register  ******************/
+#define FMAC_PARAM_P_Pos              (0U)
+#define FMAC_PARAM_P_Msk              (0xFFUL << FMAC_PARAM_P_Pos)             /*!< 0x000000FF */
+#define FMAC_PARAM_P                  FMAC_PARAM_P_Msk                         /*!< Input parameter P */
+#define FMAC_PARAM_Q_Pos              (8U)
+#define FMAC_PARAM_Q_Msk              (0xFFUL << FMAC_PARAM_Q_Pos)             /*!< 0x0000FF00 */
+#define FMAC_PARAM_Q                  FMAC_PARAM_Q_Msk                         /*!< Input parameter Q */
+#define FMAC_PARAM_R_Pos              (16U)
+#define FMAC_PARAM_R_Msk              (0xFFUL << FMAC_PARAM_R_Pos)             /*!< 0x00FF0000 */
+#define FMAC_PARAM_R                  FMAC_PARAM_R_Msk                         /*!< Input parameter R */
+#define FMAC_PARAM_FUNC_Pos           (24U)
+#define FMAC_PARAM_FUNC_Msk           (0x7FUL << FMAC_PARAM_FUNC_Pos)          /*!< 0x7F000000 */
+#define FMAC_PARAM_FUNC               FMAC_PARAM_FUNC_Msk                      /*!< Function */
+#define FMAC_PARAM_FUNC_0             (0x1UL  << FMAC_PARAM_FUNC_Pos)          /*!< 0x01000000 */
+#define FMAC_PARAM_FUNC_1             (0x2UL  << FMAC_PARAM_FUNC_Pos)          /*!< 0x02000000 */
+#define FMAC_PARAM_FUNC_2             (0x4UL  << FMAC_PARAM_FUNC_Pos)          /*!< 0x04000000 */
+#define FMAC_PARAM_FUNC_3             (0x8UL  << FMAC_PARAM_FUNC_Pos)          /*!< 0x08000000 */
+#define FMAC_PARAM_FUNC_4             (0x10UL << FMAC_PARAM_FUNC_Pos)          /*!< 0x10000000 */
+#define FMAC_PARAM_FUNC_5             (0x20UL << FMAC_PARAM_FUNC_Pos)          /*!< 0x20000000 */
+#define FMAC_PARAM_FUNC_6             (0x40UL << FMAC_PARAM_FUNC_Pos)          /*!< 0x40000000 */
+#define FMAC_PARAM_START_Pos          (31U)
+#define FMAC_PARAM_START_Msk          (0x1UL  << FMAC_PARAM_START_Pos)         /*!< 0x80000000 */
+#define FMAC_PARAM_START              FMAC_PARAM_START_Msk                     /*!< Enable execution */
+/********************  Bit definition for FMAC_CR register  *******************/
+#define FMAC_CR_RIEN_Pos              (0U)
+#define FMAC_CR_RIEN_Msk              (0x1UL  << FMAC_CR_RIEN_Pos)             /*!< 0x00000001 */
+#define FMAC_CR_RIEN                  FMAC_CR_RIEN_Msk                         /*!< Enable read interrupt */
+#define FMAC_CR_WIEN_Pos              (1U)
+#define FMAC_CR_WIEN_Msk              (0x1UL  << FMAC_CR_WIEN_Pos)             /*!< 0x00000002 */
+#define FMAC_CR_WIEN                  FMAC_CR_WIEN_Msk                         /*!< Enable write interrupt */
+#define FMAC_CR_OVFLIEN_Pos           (2U)
+#define FMAC_CR_OVFLIEN_Msk           (0x1UL  << FMAC_CR_OVFLIEN_Pos)          /*!< 0x00000004 */
+#define FMAC_CR_OVFLIEN               FMAC_CR_OVFLIEN_Msk                      /*!< Enable overflow error interrupts */
+#define FMAC_CR_UNFLIEN_Pos           (3U)
+#define FMAC_CR_UNFLIEN_Msk           (0x1UL  << FMAC_CR_UNFLIEN_Pos)          /*!< 0x00000008 */
+#define FMAC_CR_UNFLIEN               FMAC_CR_UNFLIEN_Msk                      /*!< Enable underflow error interrupts */
+#define FMAC_CR_SATIEN_Pos            (4U)
+#define FMAC_CR_SATIEN_Msk            (0x1UL  << FMAC_CR_SATIEN_Pos)           /*!< 0x00000010 */
+#define FMAC_CR_SATIEN                FMAC_CR_SATIEN_Msk                       /*!< Enable saturation error interrupts */
+#define FMAC_CR_DMAREN_Pos            (8U)
+#define FMAC_CR_DMAREN_Msk            (0x1UL  << FMAC_CR_DMAREN_Pos)           /*!< 0x00000100 */
+#define FMAC_CR_DMAREN                FMAC_CR_DMAREN_Msk                       /*!< Enable DMA read channel requests */
+#define FMAC_CR_DMAWEN_Pos            (9U)
+#define FMAC_CR_DMAWEN_Msk            (0x1UL  << FMAC_CR_DMAWEN_Pos)           /*!< 0x00000200 */
+#define FMAC_CR_DMAWEN                FMAC_CR_DMAWEN_Msk                       /*!< Enable DMA write channel requests */
+#define FMAC_CR_CLIPEN_Pos            (15U)
+#define FMAC_CR_CLIPEN_Msk            (0x1UL  << FMAC_CR_CLIPEN_Pos)           /*!< 0x00008000 */
+#define FMAC_CR_CLIPEN                FMAC_CR_CLIPEN_Msk                       /*!< Enable clipping */
+#define FMAC_CR_RESET_Pos             (16U)
+#define FMAC_CR_RESET_Msk             (0x1UL  << FMAC_CR_RESET_Pos)            /*!< 0x00010000 */
+#define FMAC_CR_RESET                 FMAC_CR_RESET_Msk                        /*!< Reset filter mathematical accelerator unit */
+/*******************  Bit definition for FMAC_SR register  ********************/
+#define FMAC_SR_YEMPTY_Pos            (0U)
+#define FMAC_SR_YEMPTY_Msk            (0x1UL  << FMAC_SR_YEMPTY_Pos)           /*!< 0x00000001 */
+#define FMAC_SR_YEMPTY                FMAC_SR_YEMPTY_Msk                       /*!< Y buffer empty flag */
+#define FMAC_SR_X1FULL_Pos            (1U)
+#define FMAC_SR_X1FULL_Msk            (0x1UL  << FMAC_SR_X1FULL_Pos)           /*!< 0x00000002 */
+#define FMAC_SR_X1FULL                FMAC_SR_X1FULL_Msk                       /*!< X1 buffer full flag */
+#define FMAC_SR_OVFL_Pos              (8U)
+#define FMAC_SR_OVFL_Msk              (0x1UL  << FMAC_SR_OVFL_Pos)             /*!< 0x00000100 */
+#define FMAC_SR_OVFL                  FMAC_SR_OVFL_Msk                         /*!< Overflow error flag */
+#define FMAC_SR_UNFL_Pos              (9U)
+#define FMAC_SR_UNFL_Msk              (0x1UL  << FMAC_SR_UNFL_Pos)             /*!< 0x00000200 */
+#define FMAC_SR_UNFL                  FMAC_SR_UNFL_Msk                         /*!< Underflow error flag */
+#define FMAC_SR_SAT_Pos               (10U)
+#define FMAC_SR_SAT_Msk               (0x1UL  << FMAC_SR_SAT_Pos)              /*!< 0x00000400 */
+#define FMAC_SR_SAT                   FMAC_SR_SAT_Msk                          /*!< Saturation error flag */
+/******************  Bit definition for FMAC_WDATA register  ******************/
+#define FMAC_WDATA_WDATA_Pos          (0U)
+#define FMAC_WDATA_WDATA_Msk          (0xFFFFUL << FMAC_WDATA_WDATA_Pos)       /*!< 0x0000FFFF */
+#define FMAC_WDATA_WDATA              FMAC_WDATA_WDATA_Msk                     /*!< Write data */
+/******************  Bit definition for FMACX_RDATA register  *****************/
+#define FMAC_RDATA_RDATA_Pos          (0U)
+#define FMAC_RDATA_RDATA_Msk          (0xFFFFUL << FMAC_RDATA_RDATA_Pos)       /*!< 0x0000FFFF */
+#define FMAC_RDATA_RDATA              FMAC_RDATA_RDATA_Msk                     /*!< Read data */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          Flexible Memory Controller                        */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for FMC_BCR1 register  *******************/
+#define FMC_BCR1_CCLKEN_Pos        (20U)
+#define FMC_BCR1_CCLKEN_Msk        (0x1UL << FMC_BCR1_CCLKEN_Pos)              /*!< 0x00100000 */
+#define FMC_BCR1_CCLKEN            FMC_BCR1_CCLKEN_Msk                         /*!<Continuous clock enable     */
+#define FMC_BCR1_WFDIS_Pos         (21U)
+#define FMC_BCR1_WFDIS_Msk         (0x1UL << FMC_BCR1_WFDIS_Pos)               /*!< 0x00200000 */
+#define FMC_BCR1_WFDIS             FMC_BCR1_WFDIS_Msk                          /*!<Write FIFO Disable         */
+
+#define FMC_BCR1_BMAP_Pos          (24U)
+#define FMC_BCR1_BMAP_Msk          (0x3UL << FMC_BCR1_BMAP_Pos)                /*!< 0x03000000 */
+#define FMC_BCR1_BMAP              FMC_BCR1_BMAP_Msk                           /*!<BMAP[1:0] FMC bank mapping */
+#define FMC_BCR1_BMAP_0            (0x1UL << FMC_BCR1_BMAP_Pos)                 /*!< 0x01000000 */
+#define FMC_BCR1_BMAP_1            (0x2UL << FMC_BCR1_BMAP_Pos)                 /*!< 0x02000000 */
+
+#define FMC_BCR1_FMCEN_Pos         (31U)
+#define FMC_BCR1_FMCEN_Msk         (0x1UL << FMC_BCR1_FMCEN_Pos)               /*!< 0x80000000 */
+#define FMC_BCR1_FMCEN             FMC_BCR1_FMCEN_Msk                          /*!<FMC controller Enable */
+/******************  Bit definition for FMC_BCRx registers (x=1..4)  *********/
+#define FMC_BCRx_MBKEN_Pos         (0U)
+#define FMC_BCRx_MBKEN_Msk         (0x1UL << FMC_BCRx_MBKEN_Pos)               /*!< 0x00000001 */
+#define FMC_BCRx_MBKEN             FMC_BCRx_MBKEN_Msk                          /*!<Memory bank enable bit                 */
+#define FMC_BCRx_MUXEN_Pos         (1U)
+#define FMC_BCRx_MUXEN_Msk         (0x1UL << FMC_BCRx_MUXEN_Pos)               /*!< 0x00000002 */
+#define FMC_BCRx_MUXEN             FMC_BCRx_MUXEN_Msk                          /*!<Address/data multiplexing enable bit   */
+
+#define FMC_BCRx_MTYP_Pos          (2U)
+#define FMC_BCRx_MTYP_Msk          (0x3UL << FMC_BCRx_MTYP_Pos)                /*!< 0x0000000C */
+#define FMC_BCRx_MTYP              FMC_BCRx_MTYP_Msk                           /*!<MTYP[1:0] bits (Memory type)           */
+#define FMC_BCRx_MTYP_0            (0x1UL << FMC_BCRx_MTYP_Pos)                 /*!< 0x00000004 */
+#define FMC_BCRx_MTYP_1            (0x2UL << FMC_BCRx_MTYP_Pos)                 /*!< 0x00000008 */
+
+#define FMC_BCRx_MWID_Pos          (4U)
+#define FMC_BCRx_MWID_Msk          (0x3UL << FMC_BCRx_MWID_Pos)                /*!< 0x00000030 */
+#define FMC_BCRx_MWID              FMC_BCRx_MWID_Msk                           /*!<MWID[1:0] bits (Memory data bus width) */
+#define FMC_BCRx_MWID_0            (0x1UL << FMC_BCRx_MWID_Pos)                 /*!< 0x00000010 */
+#define FMC_BCRx_MWID_1            (0x2UL << FMC_BCRx_MWID_Pos)                 /*!< 0x00000020 */
+
+#define FMC_BCRx_FACCEN_Pos        (6U)
+#define FMC_BCRx_FACCEN_Msk        (0x1UL << FMC_BCRx_FACCEN_Pos)              /*!< 0x00000040 */
+#define FMC_BCRx_FACCEN            FMC_BCRx_FACCEN_Msk                         /*!<Flash access enable        */
+#define FMC_BCRx_BURSTEN_Pos       (8U)
+#define FMC_BCRx_BURSTEN_Msk       (0x1UL << FMC_BCRx_BURSTEN_Pos)             /*!< 0x00000100 */
+#define FMC_BCRx_BURSTEN           FMC_BCRx_BURSTEN_Msk                        /*!<Burst enable bit           */
+#define FMC_BCRx_WAITPOL_Pos       (9U)
+#define FMC_BCRx_WAITPOL_Msk       (0x1UL << FMC_BCRx_WAITPOL_Pos)             /*!< 0x00000200 */
+#define FMC_BCRx_WAITPOL           FMC_BCRx_WAITPOL_Msk                        /*!<Wait signal polarity bit   */
+#define FMC_BCRx_WAITCFG_Pos       (11U)
+#define FMC_BCRx_WAITCFG_Msk       (0x1UL << FMC_BCRx_WAITCFG_Pos)             /*!< 0x00000800 */
+#define FMC_BCRx_WAITCFG           FMC_BCRx_WAITCFG_Msk                        /*!<Wait timing configuration  */
+#define FMC_BCRx_WREN_Pos          (12U)
+#define FMC_BCRx_WREN_Msk          (0x1UL << FMC_BCRx_WREN_Pos)                /*!< 0x00001000 */
+#define FMC_BCRx_WREN              FMC_BCRx_WREN_Msk                           /*!<Write enable bit           */
+#define FMC_BCRx_WAITEN_Pos        (13U)
+#define FMC_BCRx_WAITEN_Msk        (0x1UL << FMC_BCRx_WAITEN_Pos)              /*!< 0x00002000 */
+#define FMC_BCRx_WAITEN            FMC_BCRx_WAITEN_Msk                         /*!<Wait enable bit            */
+#define FMC_BCRx_EXTMOD_Pos        (14U)
+#define FMC_BCRx_EXTMOD_Msk        (0x1UL << FMC_BCRx_EXTMOD_Pos)              /*!< 0x00004000 */
+#define FMC_BCRx_EXTMOD            FMC_BCRx_EXTMOD_Msk                         /*!<Extended mode enable       */
+#define FMC_BCRx_ASYNCWAIT_Pos     (15U)
+#define FMC_BCRx_ASYNCWAIT_Msk     (0x1UL << FMC_BCRx_ASYNCWAIT_Pos)           /*!< 0x00008000 */
+#define FMC_BCRx_ASYNCWAIT         FMC_BCRx_ASYNCWAIT_Msk                      /*!<Asynchronous wait          */
+
+#define FMC_BCRx_CPSIZE_Pos        (16U)
+#define FMC_BCRx_CPSIZE_Msk        (0x7UL << FMC_BCRx_CPSIZE_Pos)              /*!< 0x00070000 */
+#define FMC_BCRx_CPSIZE            FMC_BCRx_CPSIZE_Msk                         /*!<PSIZE[2:0] bits CRAM Page Size */
+#define FMC_BCRx_CPSIZE_0          (0x1UL << FMC_BCRx_CPSIZE_Pos)               /*!< 0x00010000 */
+#define FMC_BCRx_CPSIZE_1          (0x2UL << FMC_BCRx_CPSIZE_Pos)               /*!< 0x00020000 */
+#define FMC_BCRx_CPSIZE_2          (0x4UL << FMC_BCRx_CPSIZE_Pos)               /*!< 0x00040000 */
+
+#define FMC_BCRx_CBURSTRW_Pos      (19U)
+#define FMC_BCRx_CBURSTRW_Msk      (0x1UL << FMC_BCRx_CBURSTRW_Pos)            /*!< 0x00080000 */
+#define FMC_BCRx_CBURSTRW          FMC_BCRx_CBURSTRW_Msk                       /*!<Write burst enable         */
+
+/******************  Bit definition for FMC_BTRx registers (x=1..4)  *********/
+#define FMC_BTRx_ADDSET_Pos        (0U)
+#define FMC_BTRx_ADDSET_Msk        (0xFUL << FMC_BTRx_ADDSET_Pos)              /*!< 0x0000000F */
+#define FMC_BTRx_ADDSET            FMC_BTRx_ADDSET_Msk                         /*!<ADDSET[3:0] bits (Address setup phase duration) */
+#define FMC_BTRx_ADDSET_0          (0x1UL << FMC_BTRx_ADDSET_Pos)               /*!< 0x00000001 */
+#define FMC_BTRx_ADDSET_1          (0x2UL << FMC_BTRx_ADDSET_Pos)               /*!< 0x00000002 */
+#define FMC_BTRx_ADDSET_2          (0x4UL << FMC_BTRx_ADDSET_Pos)               /*!< 0x00000004 */
+#define FMC_BTRx_ADDSET_3          (0x8UL << FMC_BTRx_ADDSET_Pos)               /*!< 0x00000008 */
+
+#define FMC_BTRx_ADDHLD_Pos        (4U)
+#define FMC_BTRx_ADDHLD_Msk        (0xFUL << FMC_BTRx_ADDHLD_Pos)              /*!< 0x000000F0 */
+#define FMC_BTRx_ADDHLD            FMC_BTRx_ADDHLD_Msk                         /*!<ADDHLD[3:0] bits (Address-hold phase duration)  */
+#define FMC_BTRx_ADDHLD_0          (0x1UL << FMC_BTRx_ADDHLD_Pos)               /*!< 0x00000010 */
+#define FMC_BTRx_ADDHLD_1          (0x2UL << FMC_BTRx_ADDHLD_Pos)               /*!< 0x00000020 */
+#define FMC_BTRx_ADDHLD_2          (0x4UL << FMC_BTRx_ADDHLD_Pos)               /*!< 0x00000040 */
+#define FMC_BTRx_ADDHLD_3          (0x8UL << FMC_BTRx_ADDHLD_Pos)               /*!< 0x00000080 */
+
+#define FMC_BTRx_DATAST_Pos        (8U)
+#define FMC_BTRx_DATAST_Msk        (0xFFUL << FMC_BTRx_DATAST_Pos)             /*!< 0x0000FF00 */
+#define FMC_BTRx_DATAST            FMC_BTRx_DATAST_Msk                         /*!<DATAST [3:0] bits (Data-phase duration) */
+#define FMC_BTRx_DATAST_0          (0x01UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00000100 */
+#define FMC_BTRx_DATAST_1          (0x02UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00000200 */
+#define FMC_BTRx_DATAST_2          (0x04UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00000400 */
+#define FMC_BTRx_DATAST_3          (0x08UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00000800 */
+#define FMC_BTRx_DATAST_4          (0x10UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00001000 */
+#define FMC_BTRx_DATAST_5          (0x20UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00002000 */
+#define FMC_BTRx_DATAST_6          (0x40UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00004000 */
+#define FMC_BTRx_DATAST_7          (0x80UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00008000 */
+
+#define FMC_BTRx_BUSTURN_Pos       (16U)
+#define FMC_BTRx_BUSTURN_Msk       (0xFUL << FMC_BTRx_BUSTURN_Pos)             /*!< 0x000F0000 */
+#define FMC_BTRx_BUSTURN           FMC_BTRx_BUSTURN_Msk                        /*!<BUSTURN[3:0] bits (Bus turnaround phase duration) */
+#define FMC_BTRx_BUSTURN_0         (0x1UL << FMC_BTRx_BUSTURN_Pos)              /*!< 0x00010000 */
+#define FMC_BTRx_BUSTURN_1         (0x2UL << FMC_BTRx_BUSTURN_Pos)              /*!< 0x00020000 */
+#define FMC_BTRx_BUSTURN_2         (0x4UL << FMC_BTRx_BUSTURN_Pos)              /*!< 0x00040000 */
+#define FMC_BTRx_BUSTURN_3         (0x8UL << FMC_BTRx_BUSTURN_Pos)              /*!< 0x00080000 */
+
+#define FMC_BTRx_CLKDIV_Pos        (20U)
+#define FMC_BTRx_CLKDIV_Msk        (0xFUL << FMC_BTRx_CLKDIV_Pos)              /*!< 0x00F00000 */
+#define FMC_BTRx_CLKDIV            FMC_BTRx_CLKDIV_Msk                         /*!<CLKDIV[3:0] bits (Clock divide ratio) */
+#define FMC_BTRx_CLKDIV_0          (0x1UL << FMC_BTRx_CLKDIV_Pos)               /*!< 0x00100000 */
+#define FMC_BTRx_CLKDIV_1          (0x2UL << FMC_BTRx_CLKDIV_Pos)               /*!< 0x00200000 */
+#define FMC_BTRx_CLKDIV_2          (0x4UL << FMC_BTRx_CLKDIV_Pos)               /*!< 0x00400000 */
+#define FMC_BTRx_CLKDIV_3          (0x8UL << FMC_BTRx_CLKDIV_Pos)               /*!< 0x00800000 */
+
+#define FMC_BTRx_DATLAT_Pos        (24U)
+#define FMC_BTRx_DATLAT_Msk        (0xFUL << FMC_BTRx_DATLAT_Pos)              /*!< 0x0F000000 */
+#define FMC_BTRx_DATLAT            FMC_BTRx_DATLAT_Msk                         /*!<DATLA[3:0] bits (Data latency) */
+#define FMC_BTRx_DATLAT_0          (0x1UL << FMC_BTRx_DATLAT_Pos)               /*!< 0x01000000 */
+#define FMC_BTRx_DATLAT_1          (0x2UL << FMC_BTRx_DATLAT_Pos)               /*!< 0x02000000 */
+#define FMC_BTRx_DATLAT_2          (0x4UL << FMC_BTRx_DATLAT_Pos)               /*!< 0x04000000 */
+#define FMC_BTRx_DATLAT_3          (0x8UL << FMC_BTRx_DATLAT_Pos)               /*!< 0x08000000 */
+
+#define FMC_BTRx_ACCMOD_Pos        (28U)
+#define FMC_BTRx_ACCMOD_Msk        (0x3UL << FMC_BTRx_ACCMOD_Pos)              /*!< 0x30000000 */
+#define FMC_BTRx_ACCMOD            FMC_BTRx_ACCMOD_Msk                         /*!<ACCMOD[1:0] bits (Access mode) */
+#define FMC_BTRx_ACCMOD_0          (0x1UL << FMC_BTRx_ACCMOD_Pos)               /*!< 0x10000000 */
+#define FMC_BTRx_ACCMOD_1          (0x2UL << FMC_BTRx_ACCMOD_Pos)               /*!< 0x20000000 */
+
+/******************  Bit definition for FMC_BWTRx registers (x=1..4)  *********/
+#define FMC_BWTRx_ADDSET_Pos       (0U)
+#define FMC_BWTRx_ADDSET_Msk       (0xFUL << FMC_BWTRx_ADDSET_Pos)             /*!< 0x0000000F */
+#define FMC_BWTRx_ADDSET           FMC_BWTRx_ADDSET_Msk                        /*!<ADDSET[3:0] bits (Address setup phase duration) */
+#define FMC_BWTRx_ADDSET_0         (0x1UL << FMC_BWTRx_ADDSET_Pos)              /*!< 0x00000001 */
+#define FMC_BWTRx_ADDSET_1         (0x2UL << FMC_BWTRx_ADDSET_Pos)              /*!< 0x00000002 */
+#define FMC_BWTRx_ADDSET_2         (0x4UL << FMC_BWTRx_ADDSET_Pos)              /*!< 0x00000004 */
+#define FMC_BWTRx_ADDSET_3         (0x8UL << FMC_BWTRx_ADDSET_Pos)              /*!< 0x00000008 */
+
+#define FMC_BWTRx_ADDHLD_Pos       (4U)
+#define FMC_BWTRx_ADDHLD_Msk       (0xFUL << FMC_BWTRx_ADDHLD_Pos)             /*!< 0x000000F0 */
+#define FMC_BWTRx_ADDHLD           FMC_BWTRx_ADDHLD_Msk                        /*!<ADDHLD[3:0] bits (Address-hold phase duration) */
+#define FMC_BWTRx_ADDHLD_0         (0x1UL << FMC_BWTRx_ADDHLD_Pos)              /*!< 0x00000010 */
+#define FMC_BWTRx_ADDHLD_1         (0x2UL << FMC_BWTRx_ADDHLD_Pos)              /*!< 0x00000020 */
+#define FMC_BWTRx_ADDHLD_2         (0x4UL << FMC_BWTRx_ADDHLD_Pos)              /*!< 0x00000040 */
+#define FMC_BWTRx_ADDHLD_3         (0x8UL << FMC_BWTRx_ADDHLD_Pos)              /*!< 0x00000080 */
+
+#define FMC_BWTRx_DATAST_Pos       (8U)
+#define FMC_BWTRx_DATAST_Msk       (0xFFUL << FMC_BWTRx_DATAST_Pos)            /*!< 0x0000FF00 */
+#define FMC_BWTRx_DATAST           FMC_BWTRx_DATAST_Msk                        /*!<DATAST [3:0] bits (Data-phase duration) */
+#define FMC_BWTRx_DATAST_0         (0x01UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00000100 */
+#define FMC_BWTRx_DATAST_1         (0x02UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00000200 */
+#define FMC_BWTRx_DATAST_2         (0x04UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00000400 */
+#define FMC_BWTRx_DATAST_3         (0x08UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00000800 */
+#define FMC_BWTRx_DATAST_4         (0x10UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00001000 */
+#define FMC_BWTRx_DATAST_5         (0x20UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00002000 */
+#define FMC_BWTRx_DATAST_6         (0x40UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00004000 */
+#define FMC_BWTRx_DATAST_7         (0x80UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00008000 */
+
+#define FMC_BWTRx_BUSTURN_Pos      (16U)
+#define FMC_BWTRx_BUSTURN_Msk      (0xFUL << FMC_BWTRx_BUSTURN_Pos)            /*!< 0x000F0000 */
+#define FMC_BWTRx_BUSTURN          FMC_BWTRx_BUSTURN_Msk                       /*!<BUSTURN[3:0] bits (Bus turnaround phase duration) */
+#define FMC_BWTRx_BUSTURN_0        (0x1UL << FMC_BWTRx_BUSTURN_Pos)             /*!< 0x00010000 */
+#define FMC_BWTRx_BUSTURN_1        (0x2UL << FMC_BWTRx_BUSTURN_Pos)             /*!< 0x00020000 */
+#define FMC_BWTRx_BUSTURN_2        (0x4UL << FMC_BWTRx_BUSTURN_Pos)             /*!< 0x00040000 */
+#define FMC_BWTRx_BUSTURN_3        (0x8UL << FMC_BWTRx_BUSTURN_Pos)             /*!< 0x00080000 */
+
+#define FMC_BWTRx_ACCMOD_Pos       (28U)
+#define FMC_BWTRx_ACCMOD_Msk       (0x3UL << FMC_BWTRx_ACCMOD_Pos)             /*!< 0x30000000 */
+#define FMC_BWTRx_ACCMOD           FMC_BWTRx_ACCMOD_Msk                        /*!<ACCMOD[1:0] bits (Access mode) */
+#define FMC_BWTRx_ACCMOD_0         (0x1UL << FMC_BWTRx_ACCMOD_Pos)              /*!< 0x10000000 */
+#define FMC_BWTRx_ACCMOD_1         (0x2UL << FMC_BWTRx_ACCMOD_Pos)              /*!< 0x20000000 */
+
+/******************  Bit definition for FMC_PCR register  *******************/
+#define FMC_PCR_PWAITEN_Pos        (1U)
+#define FMC_PCR_PWAITEN_Msk        (0x1UL << FMC_PCR_PWAITEN_Pos)              /*!< 0x00000002 */
+#define FMC_PCR_PWAITEN            FMC_PCR_PWAITEN_Msk                         /*!<Wait feature enable bit                   */
+#define FMC_PCR_PBKEN_Pos          (2U)
+#define FMC_PCR_PBKEN_Msk          (0x1UL << FMC_PCR_PBKEN_Pos)                /*!< 0x00000004 */
+#define FMC_PCR_PBKEN              FMC_PCR_PBKEN_Msk                           /*!<NAND Flash memory bank enable bit */
+
+#define FMC_PCR_PWID_Pos           (4U)
+#define FMC_PCR_PWID_Msk           (0x3UL << FMC_PCR_PWID_Pos)                 /*!< 0x00000030 */
+#define FMC_PCR_PWID               FMC_PCR_PWID_Msk                            /*!<PWID[1:0] bits (NAND Flash databus width) */
+#define FMC_PCR_PWID_0             (0x1UL << FMC_PCR_PWID_Pos)                  /*!< 0x00000010 */
+#define FMC_PCR_PWID_1             (0x2UL << FMC_PCR_PWID_Pos)                  /*!< 0x00000020 */
+
+#define FMC_PCR_ECCEN_Pos          (6U)
+#define FMC_PCR_ECCEN_Msk          (0x1UL << FMC_PCR_ECCEN_Pos)                /*!< 0x00000040 */
+#define FMC_PCR_ECCEN              FMC_PCR_ECCEN_Msk                           /*!<ECC computation logic enable bit          */
+
+#define FMC_PCR_TCLR_Pos           (9U)
+#define FMC_PCR_TCLR_Msk           (0xFUL << FMC_PCR_TCLR_Pos)                 /*!< 0x00001E00 */
+#define FMC_PCR_TCLR               FMC_PCR_TCLR_Msk                            /*!<TCLR[3:0] bits (CLE to RE delay)          */
+#define FMC_PCR_TCLR_0             (0x1UL << FMC_PCR_TCLR_Pos)                  /*!< 0x00000200 */
+#define FMC_PCR_TCLR_1             (0x2UL << FMC_PCR_TCLR_Pos)                  /*!< 0x00000400 */
+#define FMC_PCR_TCLR_2             (0x4UL << FMC_PCR_TCLR_Pos)                  /*!< 0x00000800 */
+#define FMC_PCR_TCLR_3             (0x8UL << FMC_PCR_TCLR_Pos)                  /*!< 0x00001000 */
+
+#define FMC_PCR_TAR_Pos            (13U)
+#define FMC_PCR_TAR_Msk            (0xFUL << FMC_PCR_TAR_Pos)                  /*!< 0x0001E000 */
+#define FMC_PCR_TAR                FMC_PCR_TAR_Msk                             /*!<TAR[3:0] bits (ALE to RE delay)           */
+#define FMC_PCR_TAR_0              (0x1UL << FMC_PCR_TAR_Pos)                   /*!< 0x00002000 */
+#define FMC_PCR_TAR_1              (0x2UL << FMC_PCR_TAR_Pos)                   /*!< 0x00004000 */
+#define FMC_PCR_TAR_2              (0x4UL << FMC_PCR_TAR_Pos)                   /*!< 0x00008000 */
+#define FMC_PCR_TAR_3              (0x8UL << FMC_PCR_TAR_Pos)                   /*!< 0x00010000 */
+
+#define FMC_PCR_ECCPS_Pos          (17U)
+#define FMC_PCR_ECCPS_Msk          (0x7UL << FMC_PCR_ECCPS_Pos)                /*!< 0x000E0000 */
+#define FMC_PCR_ECCPS              FMC_PCR_ECCPS_Msk                           /*!<ECCPS[1:0] bits (ECC page size)           */
+#define FMC_PCR_ECCPS_0            (0x1UL << FMC_PCR_ECCPS_Pos)                 /*!< 0x00020000 */
+#define FMC_PCR_ECCPS_1            (0x2UL << FMC_PCR_ECCPS_Pos)                 /*!< 0x00040000 */
+#define FMC_PCR_ECCPS_2            (0x4UL << FMC_PCR_ECCPS_Pos)                 /*!< 0x00080000 */
+
+/*******************  Bit definition for FMC_SR register  *******************/
+#define FMC_SR_IRS_Pos             (0U)
+#define FMC_SR_IRS_Msk             (0x1UL << FMC_SR_IRS_Pos)                   /*!< 0x00000001 */
+#define FMC_SR_IRS                 FMC_SR_IRS_Msk                              /*!<Interrupt Rising Edge status                */
+#define FMC_SR_ILS_Pos             (1U)
+#define FMC_SR_ILS_Msk             (0x1UL << FMC_SR_ILS_Pos)                   /*!< 0x00000002 */
+#define FMC_SR_ILS                 FMC_SR_ILS_Msk                              /*!<Interrupt Level status                      */
+#define FMC_SR_IFS_Pos             (2U)
+#define FMC_SR_IFS_Msk             (0x1UL << FMC_SR_IFS_Pos)                   /*!< 0x00000004 */
+#define FMC_SR_IFS                 FMC_SR_IFS_Msk                              /*!<Interrupt Falling Edge status               */
+#define FMC_SR_IREN_Pos            (3U)
+#define FMC_SR_IREN_Msk            (0x1UL << FMC_SR_IREN_Pos)                  /*!< 0x00000008 */
+#define FMC_SR_IREN                FMC_SR_IREN_Msk                             /*!<Interrupt Rising Edge detection Enable bit  */
+#define FMC_SR_ILEN_Pos            (4U)
+#define FMC_SR_ILEN_Msk            (0x1UL << FMC_SR_ILEN_Pos)                  /*!< 0x00000010 */
+#define FMC_SR_ILEN                FMC_SR_ILEN_Msk                             /*!<Interrupt Level detection Enable bit        */
+#define FMC_SR_IFEN_Pos            (5U)
+#define FMC_SR_IFEN_Msk            (0x1UL << FMC_SR_IFEN_Pos)                  /*!< 0x00000020 */
+#define FMC_SR_IFEN                FMC_SR_IFEN_Msk                             /*!<Interrupt Falling Edge detection Enable bit */
+#define FMC_SR_FEMPT_Pos           (6U)
+#define FMC_SR_FEMPT_Msk           (0x1UL << FMC_SR_FEMPT_Pos)                 /*!< 0x00000040 */
+#define FMC_SR_FEMPT               FMC_SR_FEMPT_Msk                            /*!<FIFO empty                                  */
+
+/******************  Bit definition for FMC_PMEM register  ******************/
+#define FMC_PMEM_MEMSET_Pos       (0U)
+#define FMC_PMEM_MEMSET_Msk       (0xFFUL << FMC_PMEM_MEMSET_Pos)            /*!< 0x000000FF */
+#define FMC_PMEM_MEMSET           FMC_PMEM_MEMSET_Msk                        /*!<MEMSET[7:0] bits (Common memory setup time) */
+#define FMC_PMEM_MEMSET_0         (0x01UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000001 */
+#define FMC_PMEM_MEMSET_1         (0x02UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000002 */
+#define FMC_PMEM_MEMSET_2         (0x04UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000004 */
+#define FMC_PMEM_MEMSET_3         (0x08UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000008 */
+#define FMC_PMEM_MEMSET_4         (0x10UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000010 */
+#define FMC_PMEM_MEMSET_5         (0x20UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000020 */
+#define FMC_PMEM_MEMSET_6         (0x40UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000040 */
+#define FMC_PMEM_MEMSET_7         (0x80UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000080 */
+
+#define FMC_PMEM_MEMWAIT_Pos      (8U)
+#define FMC_PMEM_MEMWAIT_Msk      (0xFFUL << FMC_PMEM_MEMWAIT_Pos)           /*!< 0x0000FF00 */
+#define FMC_PMEM_MEMWAIT          FMC_PMEM_MEMWAIT_Msk                       /*!<MEMWAIT[7:0] bits (Common memory wait time) */
+#define FMC_PMEM_MEMWAIT_0        (0x01UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00000100 */
+#define FMC_PMEM_MEMWAIT_1        (0x02UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00000200 */
+#define FMC_PMEM_MEMWAIT_2        (0x04UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00000400 */
+#define FMC_PMEM_MEMWAIT_3        (0x08UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00000800 */
+#define FMC_PMEM_MEMWAIT_4        (0x10UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00001000 */
+#define FMC_PMEM_MEMWAIT_5        (0x20UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00002000 */
+#define FMC_PMEM_MEMWAIT_6        (0x40UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00004000 */
+#define FMC_PMEM_MEMWAIT_7        (0x80UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00008000 */
+
+#define FMC_PMEM_MEMHOLD_Pos      (16U)
+#define FMC_PMEM_MEMHOLD_Msk      (0xFFUL << FMC_PMEM_MEMHOLD_Pos)           /*!< 0x00FF0000 */
+#define FMC_PMEM_MEMHOLD          FMC_PMEM_MEMHOLD_Msk                       /*!<MEMHOLD[7:0] bits (Common memory hold time) */
+#define FMC_PMEM_MEMHOLD_0        (0x01UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00010000 */
+#define FMC_PMEM_MEMHOLD_1        (0x02UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00020000 */
+#define FMC_PMEM_MEMHOLD_2        (0x04UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00040000 */
+#define FMC_PMEM_MEMHOLD_3        (0x08UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00080000 */
+#define FMC_PMEM_MEMHOLD_4        (0x10UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00100000 */
+#define FMC_PMEM_MEMHOLD_5        (0x20UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00200000 */
+#define FMC_PMEM_MEMHOLD_6        (0x40UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00400000 */
+#define FMC_PMEM_MEMHOLD_7        (0x80UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00800000 */
+
+#define FMC_PMEM_MEMHIZ_Pos       (24U)
+#define FMC_PMEM_MEMHIZ_Msk       (0xFFUL << FMC_PMEM_MEMHIZ_Pos)            /*!< 0xFF000000 */
+#define FMC_PMEM_MEMHIZ           FMC_PMEM_MEMHIZ_Msk                        /*!<MEMHIZ[7:0] bits (Common memory databus HiZ time) */
+#define FMC_PMEM_MEMHIZ_0         (0x01UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x01000000 */
+#define FMC_PMEM_MEMHIZ_1         (0x02UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x02000000 */
+#define FMC_PMEM_MEMHIZ_2         (0x04UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x04000000 */
+#define FMC_PMEM_MEMHIZ_3         (0x08UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x08000000 */
+#define FMC_PMEM_MEMHIZ_4         (0x10UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x10000000 */
+#define FMC_PMEM_MEMHIZ_5         (0x20UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x20000000 */
+#define FMC_PMEM_MEMHIZ_6         (0x40UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x40000000 */
+#define FMC_PMEM_MEMHIZ_7         (0x80UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x80000000 */
+
+/******************  Bit definition for FMC_PATT register  ******************/
+#define FMC_PATT_ATTSET_Pos       (0U)
+#define FMC_PATT_ATTSET_Msk       (0xFFUL << FMC_PATT_ATTSET_Pos)            /*!< 0x000000FF */
+#define FMC_PATT_ATTSET           FMC_PATT_ATTSET_Msk                        /*!<ATTSET[7:0] bits (Attribute memory setup time) */
+#define FMC_PATT_ATTSET_0         (0x01UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000001 */
+#define FMC_PATT_ATTSET_1         (0x02UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000002 */
+#define FMC_PATT_ATTSET_2         (0x04UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000004 */
+#define FMC_PATT_ATTSET_3         (0x08UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000008 */
+#define FMC_PATT_ATTSET_4         (0x10UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000010 */
+#define FMC_PATT_ATTSET_5         (0x20UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000020 */
+#define FMC_PATT_ATTSET_6         (0x40UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000040 */
+#define FMC_PATT_ATTSET_7         (0x80UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000080 */
+
+#define FMC_PATT_ATTWAIT_Pos      (8U)
+#define FMC_PATT_ATTWAIT_Msk      (0xFFUL << FMC_PATT_ATTWAIT_Pos)           /*!< 0x0000FF00 */
+#define FMC_PATT_ATTWAIT          FMC_PATT_ATTWAIT_Msk                       /*!<ATTWAIT[7:0] bits (Attribute memory wait time) */
+#define FMC_PATT_ATTWAIT_0        (0x01UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00000100 */
+#define FMC_PATT_ATTWAIT_1        (0x02UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00000200 */
+#define FMC_PATT_ATTWAIT_2        (0x04UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00000400 */
+#define FMC_PATT_ATTWAIT_3        (0x08UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00000800 */
+#define FMC_PATT_ATTWAIT_4        (0x10UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00001000 */
+#define FMC_PATT_ATTWAIT_5        (0x20UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00002000 */
+#define FMC_PATT_ATTWAIT_6        (0x40UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00004000 */
+#define FMC_PATT_ATTWAIT_7        (0x80UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00008000 */
+
+#define FMC_PATT_ATTHOLD_Pos      (16U)
+#define FMC_PATT_ATTHOLD_Msk      (0xFFUL << FMC_PATT_ATTHOLD_Pos)           /*!< 0x00FF0000 */
+#define FMC_PATT_ATTHOLD          FMC_PATT_ATTHOLD_Msk                       /*!<ATTHOLD[7:0] bits (Attribute memory hold time) */
+#define FMC_PATT_ATTHOLD_0        (0x01UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00010000 */
+#define FMC_PATT_ATTHOLD_1        (0x02UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00020000 */
+#define FMC_PATT_ATTHOLD_2        (0x04UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00040000 */
+#define FMC_PATT_ATTHOLD_3        (0x08UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00080000 */
+#define FMC_PATT_ATTHOLD_4        (0x10UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00100000 */
+#define FMC_PATT_ATTHOLD_5        (0x20UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00200000 */
+#define FMC_PATT_ATTHOLD_6        (0x40UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00400000 */
+#define FMC_PATT_ATTHOLD_7        (0x80UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00800000 */
+
+#define FMC_PATT_ATTHIZ_Pos       (24U)
+#define FMC_PATT_ATTHIZ_Msk       (0xFFUL << FMC_PATT_ATTHIZ_Pos)            /*!< 0xFF000000 */
+#define FMC_PATT_ATTHIZ           FMC_PATT_ATTHIZ_Msk                        /*!<ATTHIZ[7:0] bits (Attribute memory databus HiZ time) */
+#define FMC_PATT_ATTHIZ_0         (0x01UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x01000000 */
+#define FMC_PATT_ATTHIZ_1         (0x02UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x02000000 */
+#define FMC_PATT_ATTHIZ_2         (0x04UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x04000000 */
+#define FMC_PATT_ATTHIZ_3         (0x08UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x08000000 */
+#define FMC_PATT_ATTHIZ_4         (0x10UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x10000000 */
+#define FMC_PATT_ATTHIZ_5         (0x20UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x20000000 */
+#define FMC_PATT_ATTHIZ_6         (0x40UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x40000000 */
+#define FMC_PATT_ATTHIZ_7         (0x80UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x80000000 */
+
+/******************  Bit definition for FMC_ECCR3 register  ******************/
+#define FMC_ECCR3_ECC3_Pos         (0U)
+#define FMC_ECCR3_ECC3_Msk         (0xFFFFFFFFUL << FMC_ECCR3_ECC3_Pos)        /*!< 0xFFFFFFFF */
+#define FMC_ECCR3_ECC3             FMC_ECCR3_ECC3_Msk                          /*!<ECC result */
+
+/******************  Bit definition for FMC_SDCRx registers (x=1..4)  *********/
+#define FMC_SDCRx_NC_Pos           (0U)
+#define FMC_SDCRx_NC_Msk           (0x3UL << FMC_SDCRx_NC_Pos)                 /*!< 0x00000003 */
+#define FMC_SDCRx_NC               FMC_SDCRx_NC_Msk                            /*!<NC[1:0] bits (Number of column bits) */
+#define FMC_SDCRx_NC_0             (0x1UL << FMC_SDCRx_NC_Pos)                  /*!< 0x00000001 */
+#define FMC_SDCRx_NC_1             (0x2UL << FMC_SDCRx_NC_Pos)                  /*!< 0x00000002 */
+
+#define FMC_SDCRx_NR_Pos           (2U)
+#define FMC_SDCRx_NR_Msk           (0x3UL << FMC_SDCRx_NR_Pos)                 /*!< 0x0000000C */
+#define FMC_SDCRx_NR               FMC_SDCRx_NR_Msk                            /*!<NR[1:0] bits (Number of row bits) */
+#define FMC_SDCRx_NR_0             (0x1UL << FMC_SDCRx_NR_Pos)                  /*!< 0x00000004 */
+#define FMC_SDCRx_NR_1             (0x2UL << FMC_SDCRx_NR_Pos)                  /*!< 0x00000008 */
+
+#define FMC_SDCRx_MWID_Pos         (4U)
+#define FMC_SDCRx_MWID_Msk         (0x3UL << FMC_SDCRx_MWID_Pos)               /*!< 0x00000030 */
+#define FMC_SDCRx_MWID             FMC_SDCRx_MWID_Msk                          /*!<NR[1:0] bits (Number of row bits) */
+#define FMC_SDCRx_MWID_0           (0x1UL << FMC_SDCRx_MWID_Pos)                /*!< 0x00000010 */
+#define FMC_SDCRx_MWID_1           (0x2UL << FMC_SDCRx_MWID_Pos)                /*!< 0x00000020 */
+
+#define FMC_SDCRx_NB_Pos           (6U)
+#define FMC_SDCRx_NB_Msk           (0x1UL << FMC_SDCRx_NB_Pos)                 /*!< 0x00000040 */
+#define FMC_SDCRx_NB               FMC_SDCRx_NB_Msk                            /*!<Number of internal bank */
+
+#define FMC_SDCRx_CAS_Pos          (7U)
+#define FMC_SDCRx_CAS_Msk          (0x3UL << FMC_SDCRx_CAS_Pos)                /*!< 0x00000180 */
+#define FMC_SDCRx_CAS              FMC_SDCRx_CAS_Msk                           /*!<CAS[1:0] bits (CAS latency) */
+#define FMC_SDCRx_CAS_0            (0x1UL << FMC_SDCRx_CAS_Pos)                 /*!< 0x00000080 */
+#define FMC_SDCRx_CAS_1            (0x2UL << FMC_SDCRx_CAS_Pos)                 /*!< 0x00000100 */
+
+#define FMC_SDCRx_WP_Pos           (9U)
+#define FMC_SDCRx_WP_Msk           (0x1UL << FMC_SDCRx_WP_Pos)                 /*!< 0x00000200 */
+#define FMC_SDCRx_WP               FMC_SDCRx_WP_Msk                            /*!<Write protection */
+
+#define FMC_SDCRx_SDCLK_Pos        (10U)
+#define FMC_SDCRx_SDCLK_Msk        (0x3UL << FMC_SDCRx_SDCLK_Pos)              /*!< 0x00000C00 */
+#define FMC_SDCRx_SDCLK            FMC_SDCRx_SDCLK_Msk                         /*!<SDRAM clock configuration */
+#define FMC_SDCRx_SDCLK_0          (0x1UL << FMC_SDCRx_SDCLK_Pos)               /*!< 0x00000400 */
+#define FMC_SDCRx_SDCLK_1          (0x2UL << FMC_SDCRx_SDCLK_Pos)               /*!< 0x00000800 */
+
+#define FMC_SDCRx_RBURST_Pos       (12U)
+#define FMC_SDCRx_RBURST_Msk       (0x1UL << FMC_SDCRx_RBURST_Pos)             /*!< 0x00001000 */
+#define FMC_SDCRx_RBURST           FMC_SDCRx_RBURST_Msk                        /*!<Read burst */
+
+#define FMC_SDCRx_RPIPE_Pos        (13U)
+#define FMC_SDCRx_RPIPE_Msk        (0x3UL << FMC_SDCRx_RPIPE_Pos)              /*!< 0x00006000 */
+#define FMC_SDCRx_RPIPE            FMC_SDCRx_RPIPE_Msk                         /*!<Write protection */
+#define FMC_SDCRx_RPIPE_0          (0x1UL << FMC_SDCRx_RPIPE_Pos)               /*!< 0x00002000 */
+#define FMC_SDCRx_RPIPE_1          (0x2UL << FMC_SDCRx_RPIPE_Pos)               /*!< 0x00004000 */
+
+/******************  Bit definition for FMC_SDTRx(1,2) register  ******************/
+#define FMC_SDTRx_TMRD_Pos         (0U)
+#define FMC_SDTRx_TMRD_Msk         (0xFUL << FMC_SDTRx_TMRD_Pos)               /*!< 0x0000000F */
+#define FMC_SDTRx_TMRD             FMC_SDTRx_TMRD_Msk                          /*!<TMRD[3:0] bits (Load mode register to active) */
+#define FMC_SDTRx_TMRD_0           (0x1UL << FMC_SDTRx_TMRD_Pos)                /*!< 0x00000001 */
+#define FMC_SDTRx_TMRD_1           (0x2UL << FMC_SDTRx_TMRD_Pos)                /*!< 0x00000002 */
+#define FMC_SDTRx_TMRD_2           (0x4UL << FMC_SDTRx_TMRD_Pos)                /*!< 0x00000004 */
+#define FMC_SDTRx_TMRD_3           (0x8UL << FMC_SDTRx_TMRD_Pos)                /*!< 0x00000008 */
+
+#define FMC_SDTRx_TXSR_Pos         (4U)
+#define FMC_SDTRx_TXSR_Msk         (0xFUL << FMC_SDTRx_TXSR_Pos)               /*!< 0x000000F0 */
+#define FMC_SDTRx_TXSR             FMC_SDTRx_TXSR_Msk                          /*!<TXSR[3:0] bits (Exit self refresh) */
+#define FMC_SDTRx_TXSR_0           (0x1UL << FMC_SDTRx_TXSR_Pos)                /*!< 0x00000010 */
+#define FMC_SDTRx_TXSR_1           (0x2UL << FMC_SDTRx_TXSR_Pos)                /*!< 0x00000020 */
+#define FMC_SDTRx_TXSR_2           (0x4UL << FMC_SDTRx_TXSR_Pos)                /*!< 0x00000040 */
+#define FMC_SDTRx_TXSR_3           (0x8UL << FMC_SDTRx_TXSR_Pos)                /*!< 0x00000080 */
+
+#define FMC_SDTRx_TRAS_Pos         (8U)
+#define FMC_SDTRx_TRAS_Msk         (0xFUL << FMC_SDTRx_TRAS_Pos)               /*!< 0x00000F00 */
+#define FMC_SDTRx_TRAS             FMC_SDTRx_TRAS_Msk                          /*!<TRAS[3:0] bits (Self refresh time) */
+#define FMC_SDTRx_TRAS_0           (0x1UL << FMC_SDTRx_TRAS_Pos)                /*!< 0x00000100 */
+#define FMC_SDTRx_TRAS_1           (0x2UL << FMC_SDTRx_TRAS_Pos)                /*!< 0x00000200 */
+#define FMC_SDTRx_TRAS_2           (0x4UL << FMC_SDTRx_TRAS_Pos)                /*!< 0x00000400 */
+#define FMC_SDTRx_TRAS_3           (0x8UL << FMC_SDTRx_TRAS_Pos)                /*!< 0x00000800 */
+
+#define FMC_SDTRx_TRC_Pos          (12U)
+#define FMC_SDTRx_TRC_Msk          (0xFUL << FMC_SDTRx_TRC_Pos)                /*!< 0x0000F000 */
+#define FMC_SDTRx_TRC              FMC_SDTRx_TRC_Msk                           /*!<TRC[2:0] bits (Row cycle delay) */
+#define FMC_SDTRx_TRC_0            (0x1UL << FMC_SDTRx_TRC_Pos)                 /*!< 0x00001000 */
+#define FMC_SDTRx_TRC_1            (0x2UL << FMC_SDTRx_TRC_Pos)                 /*!< 0x00002000 */
+#define FMC_SDTRx_TRC_2            (0x4UL << FMC_SDTRx_TRC_Pos)                 /*!< 0x00004000 */
+
+#define FMC_SDTRx_TWR_Pos          (16U)
+#define FMC_SDTRx_TWR_Msk          (0xFUL << FMC_SDTRx_TWR_Pos)                /*!< 0x000F0000 */
+#define FMC_SDTRx_TWR              FMC_SDTRx_TWR_Msk                           /*!<TRC[2:0] bits (Write recovery delay) */
+#define FMC_SDTRx_TWR_0            (0x1UL << FMC_SDTRx_TWR_Pos)                 /*!< 0x00010000 */
+#define FMC_SDTRx_TWR_1            (0x2UL << FMC_SDTRx_TWR_Pos)                 /*!< 0x00020000 */
+#define FMC_SDTRx_TWR_2            (0x4UL << FMC_SDTRx_TWR_Pos)                 /*!< 0x00040000 */
+
+#define FMC_SDTRx_TRP_Pos          (20U)
+#define FMC_SDTRx_TRP_Msk          (0xFUL << FMC_SDTRx_TRP_Pos)                /*!< 0x00F00000 */
+#define FMC_SDTRx_TRP              FMC_SDTRx_TRP_Msk                           /*!<TRP[2:0] bits (Row precharge delay) */
+#define FMC_SDTRx_TRP_0            (0x1UL << FMC_SDTRx_TRP_Pos)                 /*!< 0x00100000 */
+#define FMC_SDTRx_TRP_1            (0x2UL << FMC_SDTRx_TRP_Pos)                 /*!< 0x00200000 */
+#define FMC_SDTRx_TRP_2            (0x4UL << FMC_SDTRx_TRP_Pos)                 /*!< 0x00400000 */
+
+#define FMC_SDTRx_TRCD_Pos         (24U)
+#define FMC_SDTRx_TRCD_Msk         (0xFUL << FMC_SDTRx_TRCD_Pos)               /*!< 0x0F000000 */
+#define FMC_SDTRx_TRCD             FMC_SDTRx_TRCD_Msk                          /*!<TRP[2:0] bits (Row to column delay) */
+#define FMC_SDTRx_TRCD_0           (0x1UL << FMC_SDTRx_TRCD_Pos)                /*!< 0x01000000 */
+#define FMC_SDTRx_TRCD_1           (0x2UL << FMC_SDTRx_TRCD_Pos)                /*!< 0x02000000 */
+#define FMC_SDTRx_TRCD_2           (0x4UL << FMC_SDTRx_TRCD_Pos)                /*!< 0x04000000 */
+
+/******************  Bit definition for FMC_SDCMR register  ******************/
+#define FMC_SDCMR_MODE_Pos         (0U)
+#define FMC_SDCMR_MODE_Msk         (0x7UL << FMC_SDCMR_MODE_Pos)               /*!< 0x00000007 */
+#define FMC_SDCMR_MODE             FMC_SDCMR_MODE_Msk                          /*!<MODE[2:0] bits (Command mode) */
+#define FMC_SDCMR_MODE_0           (0x1UL << FMC_SDCMR_MODE_Pos)                /*!< 0x00000001 */
+#define FMC_SDCMR_MODE_1           (0x2UL << FMC_SDCMR_MODE_Pos)                /*!< 0x00000002 */
+#define FMC_SDCMR_MODE_2           (0x3UL << FMC_SDCMR_MODE_Pos)                /*!< 0x00000003 */
+
+#define FMC_SDCMR_CTB2_Pos         (3U)
+#define FMC_SDCMR_CTB2_Msk         (0x1UL << FMC_SDCMR_CTB2_Pos)               /*!< 0x00000008 */
+#define FMC_SDCMR_CTB2             FMC_SDCMR_CTB2_Msk                          /*!<Command target 2 */
+
+#define FMC_SDCMR_CTB1_Pos         (4U)
+#define FMC_SDCMR_CTB1_Msk         (0x1UL << FMC_SDCMR_CTB1_Pos)               /*!< 0x00000010 */
+#define FMC_SDCMR_CTB1             FMC_SDCMR_CTB1_Msk                          /*!<Command target 1 */
+
+#define FMC_SDCMR_NRFS_Pos         (5U)
+#define FMC_SDCMR_NRFS_Msk         (0xFUL << FMC_SDCMR_NRFS_Pos)               /*!< 0x000001E0 */
+#define FMC_SDCMR_NRFS             FMC_SDCMR_NRFS_Msk                          /*!<NRFS[3:0] bits (Number of auto-refresh) */
+#define FMC_SDCMR_NRFS_0           (0x1UL << FMC_SDCMR_NRFS_Pos)                /*!< 0x00000020 */
+#define FMC_SDCMR_NRFS_1           (0x2UL << FMC_SDCMR_NRFS_Pos)                /*!< 0x00000040 */
+#define FMC_SDCMR_NRFS_2           (0x4UL << FMC_SDCMR_NRFS_Pos)                /*!< 0x00000080 */
+#define FMC_SDCMR_NRFS_3           (0x8UL << FMC_SDCMR_NRFS_Pos)                /*!< 0x00000100 */
+
+#define FMC_SDCMR_MRD_Pos          (9U)
+#define FMC_SDCMR_MRD_Msk          (0x1FFFUL << FMC_SDCMR_MRD_Pos)             /*!< 0x003FFE00 */
+#define FMC_SDCMR_MRD              FMC_SDCMR_MRD_Msk                           /*!<MRD[12:0] bits (Mode register definition) */
+
+/******************  Bit definition for FMC_SDRTR register  ******************/
+#define FMC_SDRTR_CRE_Pos          (0U)
+#define FMC_SDRTR_CRE_Msk          (0x1UL << FMC_SDRTR_CRE_Pos)                /*!< 0x00000001 */
+#define FMC_SDRTR_CRE              FMC_SDRTR_CRE_Msk                           /*!<Clear refresh error flag */
+
+#define FMC_SDRTR_COUNT_Pos        (1U)
+#define FMC_SDRTR_COUNT_Msk        (0x1FFFUL << FMC_SDRTR_COUNT_Pos)           /*!< 0x00003FFE */
+#define FMC_SDRTR_COUNT            FMC_SDRTR_COUNT_Msk                         /*!<COUNT[12:0] bits (Refresh timer count) */
+
+#define FMC_SDRTR_REIE_Pos         (14U)
+#define FMC_SDRTR_REIE_Msk         (0x1UL << FMC_SDRTR_REIE_Pos)               /*!< 0x00004000 */
+#define FMC_SDRTR_REIE             FMC_SDRTR_REIE_Msk                          /*!<RES interrupt enable */
+
+/******************  Bit definition for FMC_SDSR register  ******************/
+#define FMC_SDSR_RE_Pos            (0U)
+#define FMC_SDSR_RE_Msk            (0x1UL << FMC_SDSR_RE_Pos)                  /*!< 0x00000001 */
+#define FMC_SDSR_RE                FMC_SDSR_RE_Msk                             /*!<Refresh error flag */
+
+#define FMC_SDSR_MODES1_Pos        (1U)
+#define FMC_SDSR_MODES1_Msk        (0x3UL << FMC_SDSR_MODES1_Pos)              /*!< 0x00000006 */
+#define FMC_SDSR_MODES1            FMC_SDSR_MODES1_Msk                         /*!<MODES1[1:0]bits (Status mode for bank 1) */
+#define FMC_SDSR_MODES1_0          (0x1UL << FMC_SDSR_MODES1_Pos)               /*!< 0x00000002 */
+#define FMC_SDSR_MODES1_1          (0x2UL << FMC_SDSR_MODES1_Pos)               /*!< 0x00000004 */
+
+#define FMC_SDSR_MODES2_Pos        (3U)
+#define FMC_SDSR_MODES2_Msk        (0x3UL << FMC_SDSR_MODES2_Pos)              /*!< 0x00000018 */
+#define FMC_SDSR_MODES2            FMC_SDSR_MODES2_Msk                         /*!<MODES2[1:0]bits (Status mode for bank 2) */
+#define FMC_SDSR_MODES2_0          (0x1UL << FMC_SDSR_MODES2_Pos)               /*!< 0x00000008 */
+#define FMC_SDSR_MODES2_1          (0x2UL << FMC_SDSR_MODES2_Pos)               /*!< 0x00000010 */
+
+/******************************************************************************/
+/*                                                                            */
+/*                            General Purpose I/O                             */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bits definition for GPIO_MODER register  *****************/
+#define GPIO_MODER_MODE0_Pos           (0U)
+#define GPIO_MODER_MODE0_Msk           (0x3UL << GPIO_MODER_MODE0_Pos)         /*!< 0x00000003 */
+#define GPIO_MODER_MODE0               GPIO_MODER_MODE0_Msk
+#define GPIO_MODER_MODE0_0             (0x1UL << GPIO_MODER_MODE0_Pos)          /*!< 0x00000001 */
+#define GPIO_MODER_MODE0_1             (0x2UL << GPIO_MODER_MODE0_Pos)          /*!< 0x00000002 */
+
+#define GPIO_MODER_MODE1_Pos           (2U)
+#define GPIO_MODER_MODE1_Msk           (0x3UL << GPIO_MODER_MODE1_Pos)         /*!< 0x0000000C */
+#define GPIO_MODER_MODE1               GPIO_MODER_MODE1_Msk
+#define GPIO_MODER_MODE1_0             (0x1UL << GPIO_MODER_MODE1_Pos)          /*!< 0x00000004 */
+#define GPIO_MODER_MODE1_1             (0x2UL << GPIO_MODER_MODE1_Pos)          /*!< 0x00000008 */
+
+#define GPIO_MODER_MODE2_Pos           (4U)
+#define GPIO_MODER_MODE2_Msk           (0x3UL << GPIO_MODER_MODE2_Pos)         /*!< 0x00000030 */
+#define GPIO_MODER_MODE2               GPIO_MODER_MODE2_Msk
+#define GPIO_MODER_MODE2_0             (0x1UL << GPIO_MODER_MODE2_Pos)          /*!< 0x00000010 */
+#define GPIO_MODER_MODE2_1             (0x2UL << GPIO_MODER_MODE2_Pos)          /*!< 0x00000020 */
+
+#define GPIO_MODER_MODE3_Pos           (6U)
+#define GPIO_MODER_MODE3_Msk           (0x3UL << GPIO_MODER_MODE3_Pos)         /*!< 0x000000C0 */
+#define GPIO_MODER_MODE3               GPIO_MODER_MODE3_Msk
+#define GPIO_MODER_MODE3_0             (0x1UL << GPIO_MODER_MODE3_Pos)          /*!< 0x00000040 */
+#define GPIO_MODER_MODE3_1             (0x2UL << GPIO_MODER_MODE3_Pos)          /*!< 0x00000080 */
+
+#define GPIO_MODER_MODE4_Pos           (8U)
+#define GPIO_MODER_MODE4_Msk           (0x3UL << GPIO_MODER_MODE4_Pos)         /*!< 0x00000300 */
+#define GPIO_MODER_MODE4               GPIO_MODER_MODE4_Msk
+#define GPIO_MODER_MODE4_0             (0x1UL << GPIO_MODER_MODE4_Pos)          /*!< 0x00000100 */
+#define GPIO_MODER_MODE4_1             (0x2UL << GPIO_MODER_MODE4_Pos)          /*!< 0x00000200 */
+
+#define GPIO_MODER_MODE5_Pos           (10U)
+#define GPIO_MODER_MODE5_Msk           (0x3UL << GPIO_MODER_MODE5_Pos)         /*!< 0x00000C00 */
+#define GPIO_MODER_MODE5               GPIO_MODER_MODE5_Msk
+#define GPIO_MODER_MODE5_0             (0x1UL << GPIO_MODER_MODE5_Pos)          /*!< 0x00000400 */
+#define GPIO_MODER_MODE5_1             (0x2UL << GPIO_MODER_MODE5_Pos)          /*!< 0x00000800 */
+
+#define GPIO_MODER_MODE6_Pos           (12U)
+#define GPIO_MODER_MODE6_Msk           (0x3UL << GPIO_MODER_MODE6_Pos)         /*!< 0x00003000 */
+#define GPIO_MODER_MODE6               GPIO_MODER_MODE6_Msk
+#define GPIO_MODER_MODE6_0             (0x1UL << GPIO_MODER_MODE6_Pos)          /*!< 0x00001000 */
+#define GPIO_MODER_MODE6_1             (0x2UL << GPIO_MODER_MODE6_Pos)          /*!< 0x00002000 */
+
+#define GPIO_MODER_MODE7_Pos           (14U)
+#define GPIO_MODER_MODE7_Msk           (0x3UL << GPIO_MODER_MODE7_Pos)         /*!< 0x0000C000 */
+#define GPIO_MODER_MODE7               GPIO_MODER_MODE7_Msk
+#define GPIO_MODER_MODE7_0             (0x1UL << GPIO_MODER_MODE7_Pos)          /*!< 0x00004000 */
+#define GPIO_MODER_MODE7_1             (0x2UL << GPIO_MODER_MODE7_Pos)          /*!< 0x00008000 */
+
+#define GPIO_MODER_MODE8_Pos           (16U)
+#define GPIO_MODER_MODE8_Msk           (0x3UL << GPIO_MODER_MODE8_Pos)         /*!< 0x00030000 */
+#define GPIO_MODER_MODE8               GPIO_MODER_MODE8_Msk
+#define GPIO_MODER_MODE8_0             (0x1UL << GPIO_MODER_MODE8_Pos)          /*!< 0x00010000 */
+#define GPIO_MODER_MODE8_1             (0x2UL << GPIO_MODER_MODE8_Pos)          /*!< 0x00020000 */
+
+#define GPIO_MODER_MODE9_Pos           (18U)
+#define GPIO_MODER_MODE9_Msk           (0x3UL << GPIO_MODER_MODE9_Pos)         /*!< 0x000C0000 */
+#define GPIO_MODER_MODE9               GPIO_MODER_MODE9_Msk
+#define GPIO_MODER_MODE9_0             (0x1UL << GPIO_MODER_MODE9_Pos)          /*!< 0x00040000 */
+#define GPIO_MODER_MODE9_1             (0x2UL << GPIO_MODER_MODE9_Pos)          /*!< 0x00080000 */
+
+#define GPIO_MODER_MODE10_Pos          (20U)
+#define GPIO_MODER_MODE10_Msk          (0x3UL << GPIO_MODER_MODE10_Pos)        /*!< 0x00300000 */
+#define GPIO_MODER_MODE10              GPIO_MODER_MODE10_Msk
+#define GPIO_MODER_MODE10_0            (0x1UL << GPIO_MODER_MODE10_Pos)         /*!< 0x00100000 */
+#define GPIO_MODER_MODE10_1            (0x2UL << GPIO_MODER_MODE10_Pos)         /*!< 0x00200000 */
+
+#define GPIO_MODER_MODE11_Pos          (22U)
+#define GPIO_MODER_MODE11_Msk          (0x3UL << GPIO_MODER_MODE11_Pos)        /*!< 0x00C00000 */
+#define GPIO_MODER_MODE11              GPIO_MODER_MODE11_Msk
+#define GPIO_MODER_MODE11_0            (0x1UL << GPIO_MODER_MODE11_Pos)         /*!< 0x00400000 */
+#define GPIO_MODER_MODE11_1            (0x2UL << GPIO_MODER_MODE11_Pos)         /*!< 0x00800000 */
+
+#define GPIO_MODER_MODE12_Pos          (24U)
+#define GPIO_MODER_MODE12_Msk          (0x3UL << GPIO_MODER_MODE12_Pos)        /*!< 0x03000000 */
+#define GPIO_MODER_MODE12              GPIO_MODER_MODE12_Msk
+#define GPIO_MODER_MODE12_0            (0x1UL << GPIO_MODER_MODE12_Pos)         /*!< 0x01000000 */
+#define GPIO_MODER_MODE12_1            (0x2UL << GPIO_MODER_MODE12_Pos)         /*!< 0x02000000 */
+
+#define GPIO_MODER_MODE13_Pos          (26U)
+#define GPIO_MODER_MODE13_Msk          (0x3UL << GPIO_MODER_MODE13_Pos)        /*!< 0x0C000000 */
+#define GPIO_MODER_MODE13              GPIO_MODER_MODE13_Msk
+#define GPIO_MODER_MODE13_0            (0x1UL << GPIO_MODER_MODE13_Pos)         /*!< 0x04000000 */
+#define GPIO_MODER_MODE13_1            (0x2UL << GPIO_MODER_MODE13_Pos)         /*!< 0x08000000 */
+
+#define GPIO_MODER_MODE14_Pos          (28U)
+#define GPIO_MODER_MODE14_Msk          (0x3UL << GPIO_MODER_MODE14_Pos)        /*!< 0x30000000 */
+#define GPIO_MODER_MODE14              GPIO_MODER_MODE14_Msk
+#define GPIO_MODER_MODE14_0            (0x1UL << GPIO_MODER_MODE14_Pos)         /*!< 0x10000000 */
+#define GPIO_MODER_MODE14_1            (0x2UL << GPIO_MODER_MODE14_Pos)         /*!< 0x20000000 */
+
+#define GPIO_MODER_MODE15_Pos          (30U)
+#define GPIO_MODER_MODE15_Msk          (0x3UL << GPIO_MODER_MODE15_Pos)        /*!< 0xC0000000 */
+#define GPIO_MODER_MODE15              GPIO_MODER_MODE15_Msk
+#define GPIO_MODER_MODE15_0            (0x1UL << GPIO_MODER_MODE15_Pos)         /*!< 0x40000000 */
+#define GPIO_MODER_MODE15_1            (0x2UL << GPIO_MODER_MODE15_Pos)         /*!< 0x80000000 */
+
+/******************  Bits definition for GPIO_OTYPER register  ****************/
+#define GPIO_OTYPER_OT0_Pos            (0U)
+#define GPIO_OTYPER_OT0_Msk            (0x1UL << GPIO_OTYPER_OT0_Pos)          /*!< 0x00000001 */
+#define GPIO_OTYPER_OT0                GPIO_OTYPER_OT0_Msk
+#define GPIO_OTYPER_OT1_Pos            (1U)
+#define GPIO_OTYPER_OT1_Msk            (0x1UL << GPIO_OTYPER_OT1_Pos)          /*!< 0x00000002 */
+#define GPIO_OTYPER_OT1                GPIO_OTYPER_OT1_Msk
+#define GPIO_OTYPER_OT2_Pos            (2U)
+#define GPIO_OTYPER_OT2_Msk            (0x1UL << GPIO_OTYPER_OT2_Pos)          /*!< 0x00000004 */
+#define GPIO_OTYPER_OT2                GPIO_OTYPER_OT2_Msk
+#define GPIO_OTYPER_OT3_Pos            (3U)
+#define GPIO_OTYPER_OT3_Msk            (0x1UL << GPIO_OTYPER_OT3_Pos)          /*!< 0x00000008 */
+#define GPIO_OTYPER_OT3                GPIO_OTYPER_OT3_Msk
+#define GPIO_OTYPER_OT4_Pos            (4U)
+#define GPIO_OTYPER_OT4_Msk            (0x1UL << GPIO_OTYPER_OT4_Pos)          /*!< 0x00000010 */
+#define GPIO_OTYPER_OT4                GPIO_OTYPER_OT4_Msk
+#define GPIO_OTYPER_OT5_Pos            (5U)
+#define GPIO_OTYPER_OT5_Msk            (0x1UL << GPIO_OTYPER_OT5_Pos)          /*!< 0x00000020 */
+#define GPIO_OTYPER_OT5                GPIO_OTYPER_OT5_Msk
+#define GPIO_OTYPER_OT6_Pos            (6U)
+#define GPIO_OTYPER_OT6_Msk            (0x1UL << GPIO_OTYPER_OT6_Pos)          /*!< 0x00000040 */
+#define GPIO_OTYPER_OT6                GPIO_OTYPER_OT6_Msk
+#define GPIO_OTYPER_OT7_Pos            (7U)
+#define GPIO_OTYPER_OT7_Msk            (0x1UL << GPIO_OTYPER_OT7_Pos)          /*!< 0x00000080 */
+#define GPIO_OTYPER_OT7                GPIO_OTYPER_OT7_Msk
+#define GPIO_OTYPER_OT8_Pos            (8U)
+#define GPIO_OTYPER_OT8_Msk            (0x1UL << GPIO_OTYPER_OT8_Pos)          /*!< 0x00000100 */
+#define GPIO_OTYPER_OT8                GPIO_OTYPER_OT8_Msk
+#define GPIO_OTYPER_OT9_Pos            (9U)
+#define GPIO_OTYPER_OT9_Msk            (0x1UL << GPIO_OTYPER_OT9_Pos)          /*!< 0x00000200 */
+#define GPIO_OTYPER_OT9                GPIO_OTYPER_OT9_Msk
+#define GPIO_OTYPER_OT10_Pos           (10U)
+#define GPIO_OTYPER_OT10_Msk           (0x1UL << GPIO_OTYPER_OT10_Pos)         /*!< 0x00000400 */
+#define GPIO_OTYPER_OT10               GPIO_OTYPER_OT10_Msk
+#define GPIO_OTYPER_OT11_Pos           (11U)
+#define GPIO_OTYPER_OT11_Msk           (0x1UL << GPIO_OTYPER_OT11_Pos)         /*!< 0x00000800 */
+#define GPIO_OTYPER_OT11               GPIO_OTYPER_OT11_Msk
+#define GPIO_OTYPER_OT12_Pos           (12U)
+#define GPIO_OTYPER_OT12_Msk           (0x1UL << GPIO_OTYPER_OT12_Pos)         /*!< 0x00001000 */
+#define GPIO_OTYPER_OT12               GPIO_OTYPER_OT12_Msk
+#define GPIO_OTYPER_OT13_Pos           (13U)
+#define GPIO_OTYPER_OT13_Msk           (0x1UL << GPIO_OTYPER_OT13_Pos)         /*!< 0x00002000 */
+#define GPIO_OTYPER_OT13               GPIO_OTYPER_OT13_Msk
+#define GPIO_OTYPER_OT14_Pos           (14U)
+#define GPIO_OTYPER_OT14_Msk           (0x1UL << GPIO_OTYPER_OT14_Pos)         /*!< 0x00004000 */
+#define GPIO_OTYPER_OT14               GPIO_OTYPER_OT14_Msk
+#define GPIO_OTYPER_OT15_Pos           (15U)
+#define GPIO_OTYPER_OT15_Msk           (0x1UL << GPIO_OTYPER_OT15_Pos)         /*!< 0x00008000 */
+#define GPIO_OTYPER_OT15               GPIO_OTYPER_OT15_Msk
+
+/******************  Bits definition for GPIO_OSPEEDR register  ***************/
+#define GPIO_OSPEEDR_OSPEED0_Pos       (0U)
+#define GPIO_OSPEEDR_OSPEED0_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED0_Pos)     /*!< 0x00000003 */
+#define GPIO_OSPEEDR_OSPEED0           GPIO_OSPEEDR_OSPEED0_Msk
+#define GPIO_OSPEEDR_OSPEED0_0         (0x1UL << GPIO_OSPEEDR_OSPEED0_Pos)      /*!< 0x00000001 */
+#define GPIO_OSPEEDR_OSPEED0_1         (0x2UL << GPIO_OSPEEDR_OSPEED0_Pos)      /*!< 0x00000002 */
+
+#define GPIO_OSPEEDR_OSPEED1_Pos       (2U)
+#define GPIO_OSPEEDR_OSPEED1_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED1_Pos)     /*!< 0x0000000C */
+#define GPIO_OSPEEDR_OSPEED1           GPIO_OSPEEDR_OSPEED1_Msk
+#define GPIO_OSPEEDR_OSPEED1_0         (0x1UL << GPIO_OSPEEDR_OSPEED1_Pos)      /*!< 0x00000004 */
+#define GPIO_OSPEEDR_OSPEED1_1         (0x2UL << GPIO_OSPEEDR_OSPEED1_Pos)      /*!< 0x00000008 */
+
+#define GPIO_OSPEEDR_OSPEED2_Pos       (4U)
+#define GPIO_OSPEEDR_OSPEED2_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED2_Pos)     /*!< 0x00000030 */
+#define GPIO_OSPEEDR_OSPEED2           GPIO_OSPEEDR_OSPEED2_Msk
+#define GPIO_OSPEEDR_OSPEED2_0         (0x1UL << GPIO_OSPEEDR_OSPEED2_Pos)      /*!< 0x00000010 */
+#define GPIO_OSPEEDR_OSPEED2_1         (0x2UL << GPIO_OSPEEDR_OSPEED2_Pos)      /*!< 0x00000020 */
+
+#define GPIO_OSPEEDR_OSPEED3_Pos       (6U)
+#define GPIO_OSPEEDR_OSPEED3_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED3_Pos)     /*!< 0x000000C0 */
+#define GPIO_OSPEEDR_OSPEED3           GPIO_OSPEEDR_OSPEED3_Msk
+#define GPIO_OSPEEDR_OSPEED3_0         (0x1UL << GPIO_OSPEEDR_OSPEED3_Pos)      /*!< 0x00000040 */
+#define GPIO_OSPEEDR_OSPEED3_1         (0x2UL << GPIO_OSPEEDR_OSPEED3_Pos)      /*!< 0x00000080 */
+
+#define GPIO_OSPEEDR_OSPEED4_Pos       (8U)
+#define GPIO_OSPEEDR_OSPEED4_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED4_Pos)     /*!< 0x00000300 */
+#define GPIO_OSPEEDR_OSPEED4           GPIO_OSPEEDR_OSPEED4_Msk
+#define GPIO_OSPEEDR_OSPEED4_0         (0x1UL << GPIO_OSPEEDR_OSPEED4_Pos)      /*!< 0x00000100 */
+#define GPIO_OSPEEDR_OSPEED4_1         (0x2UL << GPIO_OSPEEDR_OSPEED4_Pos)      /*!< 0x00000200 */
+
+#define GPIO_OSPEEDR_OSPEED5_Pos       (10U)
+#define GPIO_OSPEEDR_OSPEED5_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED5_Pos)     /*!< 0x00000C00 */
+#define GPIO_OSPEEDR_OSPEED5           GPIO_OSPEEDR_OSPEED5_Msk
+#define GPIO_OSPEEDR_OSPEED5_0         (0x1UL << GPIO_OSPEEDR_OSPEED5_Pos)      /*!< 0x00000400 */
+#define GPIO_OSPEEDR_OSPEED5_1         (0x2UL << GPIO_OSPEEDR_OSPEED5_Pos)      /*!< 0x00000800 */
+
+#define GPIO_OSPEEDR_OSPEED6_Pos       (12U)
+#define GPIO_OSPEEDR_OSPEED6_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED6_Pos)     /*!< 0x00003000 */
+#define GPIO_OSPEEDR_OSPEED6           GPIO_OSPEEDR_OSPEED6_Msk
+#define GPIO_OSPEEDR_OSPEED6_0         (0x1UL << GPIO_OSPEEDR_OSPEED6_Pos)      /*!< 0x00001000 */
+#define GPIO_OSPEEDR_OSPEED6_1         (0x2UL << GPIO_OSPEEDR_OSPEED6_Pos)      /*!< 0x00002000 */
+
+#define GPIO_OSPEEDR_OSPEED7_Pos       (14U)
+#define GPIO_OSPEEDR_OSPEED7_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED7_Pos)     /*!< 0x0000C000 */
+#define GPIO_OSPEEDR_OSPEED7           GPIO_OSPEEDR_OSPEED7_Msk
+#define GPIO_OSPEEDR_OSPEED7_0         (0x1UL << GPIO_OSPEEDR_OSPEED7_Pos)      /*!< 0x00004000 */
+#define GPIO_OSPEEDR_OSPEED7_1         (0x2UL << GPIO_OSPEEDR_OSPEED7_Pos)      /*!< 0x00008000 */
+
+#define GPIO_OSPEEDR_OSPEED8_Pos       (16U)
+#define GPIO_OSPEEDR_OSPEED8_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED8_Pos)     /*!< 0x00030000 */
+#define GPIO_OSPEEDR_OSPEED8           GPIO_OSPEEDR_OSPEED8_Msk
+#define GPIO_OSPEEDR_OSPEED8_0         (0x1UL << GPIO_OSPEEDR_OSPEED8_Pos)      /*!< 0x00010000 */
+#define GPIO_OSPEEDR_OSPEED8_1         (0x2UL << GPIO_OSPEEDR_OSPEED8_Pos)      /*!< 0x00020000 */
+
+#define GPIO_OSPEEDR_OSPEED9_Pos       (18U)
+#define GPIO_OSPEEDR_OSPEED9_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED9_Pos)     /*!< 0x000C0000 */
+#define GPIO_OSPEEDR_OSPEED9           GPIO_OSPEEDR_OSPEED9_Msk
+#define GPIO_OSPEEDR_OSPEED9_0         (0x1UL << GPIO_OSPEEDR_OSPEED9_Pos)      /*!< 0x00040000 */
+#define GPIO_OSPEEDR_OSPEED9_1         (0x2UL << GPIO_OSPEEDR_OSPEED9_Pos)      /*!< 0x00080000 */
+
+#define GPIO_OSPEEDR_OSPEED10_Pos      (20U)
+#define GPIO_OSPEEDR_OSPEED10_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED10_Pos)    /*!< 0x00300000 */
+#define GPIO_OSPEEDR_OSPEED10          GPIO_OSPEEDR_OSPEED10_Msk
+#define GPIO_OSPEEDR_OSPEED10_0        (0x1UL << GPIO_OSPEEDR_OSPEED10_Pos)     /*!< 0x00100000 */
+#define GPIO_OSPEEDR_OSPEED10_1        (0x2UL << GPIO_OSPEEDR_OSPEED10_Pos)     /*!< 0x00200000 */
+
+#define GPIO_OSPEEDR_OSPEED11_Pos      (22U)
+#define GPIO_OSPEEDR_OSPEED11_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED11_Pos)    /*!< 0x00C00000 */
+#define GPIO_OSPEEDR_OSPEED11          GPIO_OSPEEDR_OSPEED11_Msk
+#define GPIO_OSPEEDR_OSPEED11_0        (0x1UL << GPIO_OSPEEDR_OSPEED11_Pos)     /*!< 0x00400000 */
+#define GPIO_OSPEEDR_OSPEED11_1        (0x2UL << GPIO_OSPEEDR_OSPEED11_Pos)     /*!< 0x00800000 */
+
+#define GPIO_OSPEEDR_OSPEED12_Pos      (24U)
+#define GPIO_OSPEEDR_OSPEED12_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED12_Pos)    /*!< 0x03000000 */
+#define GPIO_OSPEEDR_OSPEED12          GPIO_OSPEEDR_OSPEED12_Msk
+#define GPIO_OSPEEDR_OSPEED12_0        (0x1UL << GPIO_OSPEEDR_OSPEED12_Pos)     /*!< 0x01000000 */
+#define GPIO_OSPEEDR_OSPEED12_1        (0x2UL << GPIO_OSPEEDR_OSPEED12_Pos)     /*!< 0x02000000 */
+
+#define GPIO_OSPEEDR_OSPEED13_Pos      (26U)
+#define GPIO_OSPEEDR_OSPEED13_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED13_Pos)    /*!< 0x0C000000 */
+#define GPIO_OSPEEDR_OSPEED13          GPIO_OSPEEDR_OSPEED13_Msk
+#define GPIO_OSPEEDR_OSPEED13_0        (0x1UL << GPIO_OSPEEDR_OSPEED13_Pos)     /*!< 0x04000000 */
+#define GPIO_OSPEEDR_OSPEED13_1        (0x2UL << GPIO_OSPEEDR_OSPEED13_Pos)     /*!< 0x08000000 */
+
+#define GPIO_OSPEEDR_OSPEED14_Pos      (28U)
+#define GPIO_OSPEEDR_OSPEED14_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED14_Pos)    /*!< 0x30000000 */
+#define GPIO_OSPEEDR_OSPEED14          GPIO_OSPEEDR_OSPEED14_Msk
+#define GPIO_OSPEEDR_OSPEED14_0        (0x1UL << GPIO_OSPEEDR_OSPEED14_Pos)     /*!< 0x10000000 */
+#define GPIO_OSPEEDR_OSPEED14_1        (0x2UL << GPIO_OSPEEDR_OSPEED14_Pos)     /*!< 0x20000000 */
+
+#define GPIO_OSPEEDR_OSPEED15_Pos      (30U)
+#define GPIO_OSPEEDR_OSPEED15_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED15_Pos)    /*!< 0xC0000000 */
+#define GPIO_OSPEEDR_OSPEED15          GPIO_OSPEEDR_OSPEED15_Msk
+#define GPIO_OSPEEDR_OSPEED15_0        (0x1UL << GPIO_OSPEEDR_OSPEED15_Pos)     /*!< 0x40000000 */
+#define GPIO_OSPEEDR_OSPEED15_1        (0x2UL << GPIO_OSPEEDR_OSPEED15_Pos)     /*!< 0x80000000 */
+
+/******************  Bits definition for GPIO_PUPDR register  *****************/
+#define GPIO_PUPDR_PUPD0_Pos           (0U)
+#define GPIO_PUPDR_PUPD0_Msk           (0x3UL << GPIO_PUPDR_PUPD0_Pos)         /*!< 0x00000003 */
+#define GPIO_PUPDR_PUPD0               GPIO_PUPDR_PUPD0_Msk
+#define GPIO_PUPDR_PUPD0_0             (0x1UL << GPIO_PUPDR_PUPD0_Pos)          /*!< 0x00000001 */
+#define GPIO_PUPDR_PUPD0_1             (0x2UL << GPIO_PUPDR_PUPD0_Pos)          /*!< 0x00000002 */
+
+#define GPIO_PUPDR_PUPD1_Pos           (2U)
+#define GPIO_PUPDR_PUPD1_Msk           (0x3UL << GPIO_PUPDR_PUPD1_Pos)         /*!< 0x0000000C */
+#define GPIO_PUPDR_PUPD1               GPIO_PUPDR_PUPD1_Msk
+#define GPIO_PUPDR_PUPD1_0             (0x1UL << GPIO_PUPDR_PUPD1_Pos)          /*!< 0x00000004 */
+#define GPIO_PUPDR_PUPD1_1             (0x2UL << GPIO_PUPDR_PUPD1_Pos)          /*!< 0x00000008 */
+
+#define GPIO_PUPDR_PUPD2_Pos           (4U)
+#define GPIO_PUPDR_PUPD2_Msk           (0x3UL << GPIO_PUPDR_PUPD2_Pos)         /*!< 0x00000030 */
+#define GPIO_PUPDR_PUPD2               GPIO_PUPDR_PUPD2_Msk
+#define GPIO_PUPDR_PUPD2_0             (0x1UL << GPIO_PUPDR_PUPD2_Pos)          /*!< 0x00000010 */
+#define GPIO_PUPDR_PUPD2_1             (0x2UL << GPIO_PUPDR_PUPD2_Pos)          /*!< 0x00000020 */
+
+#define GPIO_PUPDR_PUPD3_Pos           (6U)
+#define GPIO_PUPDR_PUPD3_Msk           (0x3UL << GPIO_PUPDR_PUPD3_Pos)         /*!< 0x000000C0 */
+#define GPIO_PUPDR_PUPD3               GPIO_PUPDR_PUPD3_Msk
+#define GPIO_PUPDR_PUPD3_0             (0x1UL << GPIO_PUPDR_PUPD3_Pos)          /*!< 0x00000040 */
+#define GPIO_PUPDR_PUPD3_1             (0x2UL << GPIO_PUPDR_PUPD3_Pos)          /*!< 0x00000080 */
+
+#define GPIO_PUPDR_PUPD4_Pos           (8U)
+#define GPIO_PUPDR_PUPD4_Msk           (0x3UL << GPIO_PUPDR_PUPD4_Pos)         /*!< 0x00000300 */
+#define GPIO_PUPDR_PUPD4               GPIO_PUPDR_PUPD4_Msk
+#define GPIO_PUPDR_PUPD4_0             (0x1UL << GPIO_PUPDR_PUPD4_Pos)          /*!< 0x00000100 */
+#define GPIO_PUPDR_PUPD4_1             (0x2UL << GPIO_PUPDR_PUPD4_Pos)          /*!< 0x00000200 */
+
+#define GPIO_PUPDR_PUPD5_Pos           (10U)
+#define GPIO_PUPDR_PUPD5_Msk           (0x3UL << GPIO_PUPDR_PUPD5_Pos)         /*!< 0x00000C00 */
+#define GPIO_PUPDR_PUPD5               GPIO_PUPDR_PUPD5_Msk
+#define GPIO_PUPDR_PUPD5_0             (0x1UL << GPIO_PUPDR_PUPD5_Pos)          /*!< 0x00000400 */
+#define GPIO_PUPDR_PUPD5_1             (0x2UL << GPIO_PUPDR_PUPD5_Pos)          /*!< 0x00000800 */
+
+#define GPIO_PUPDR_PUPD6_Pos           (12U)
+#define GPIO_PUPDR_PUPD6_Msk           (0x3UL << GPIO_PUPDR_PUPD6_Pos)         /*!< 0x00003000 */
+#define GPIO_PUPDR_PUPD6               GPIO_PUPDR_PUPD6_Msk
+#define GPIO_PUPDR_PUPD6_0             (0x1UL << GPIO_PUPDR_PUPD6_Pos)          /*!< 0x00001000 */
+#define GPIO_PUPDR_PUPD6_1             (0x2UL << GPIO_PUPDR_PUPD6_Pos)          /*!< 0x00002000 */
+
+#define GPIO_PUPDR_PUPD7_Pos           (14U)
+#define GPIO_PUPDR_PUPD7_Msk           (0x3UL << GPIO_PUPDR_PUPD7_Pos)         /*!< 0x0000C000 */
+#define GPIO_PUPDR_PUPD7               GPIO_PUPDR_PUPD7_Msk
+#define GPIO_PUPDR_PUPD7_0             (0x1UL << GPIO_PUPDR_PUPD7_Pos)          /*!< 0x00004000 */
+#define GPIO_PUPDR_PUPD7_1             (0x2UL << GPIO_PUPDR_PUPD7_Pos)          /*!< 0x00008000 */
+
+#define GPIO_PUPDR_PUPD8_Pos           (16U)
+#define GPIO_PUPDR_PUPD8_Msk           (0x3UL << GPIO_PUPDR_PUPD8_Pos)         /*!< 0x00030000 */
+#define GPIO_PUPDR_PUPD8               GPIO_PUPDR_PUPD8_Msk
+#define GPIO_PUPDR_PUPD8_0             (0x1UL << GPIO_PUPDR_PUPD8_Pos)          /*!< 0x00010000 */
+#define GPIO_PUPDR_PUPD8_1             (0x2UL << GPIO_PUPDR_PUPD8_Pos)          /*!< 0x00020000 */
+
+#define GPIO_PUPDR_PUPD9_Pos           (18U)
+#define GPIO_PUPDR_PUPD9_Msk           (0x3UL << GPIO_PUPDR_PUPD9_Pos)         /*!< 0x000C0000 */
+#define GPIO_PUPDR_PUPD9               GPIO_PUPDR_PUPD9_Msk
+#define GPIO_PUPDR_PUPD9_0             (0x1UL << GPIO_PUPDR_PUPD9_Pos)          /*!< 0x00040000 */
+#define GPIO_PUPDR_PUPD9_1             (0x2UL << GPIO_PUPDR_PUPD9_Pos)          /*!< 0x00080000 */
+
+#define GPIO_PUPDR_PUPD10_Pos          (20U)
+#define GPIO_PUPDR_PUPD10_Msk          (0x3UL << GPIO_PUPDR_PUPD10_Pos)        /*!< 0x00300000 */
+#define GPIO_PUPDR_PUPD10              GPIO_PUPDR_PUPD10_Msk
+#define GPIO_PUPDR_PUPD10_0            (0x1UL << GPIO_PUPDR_PUPD10_Pos)         /*!< 0x00100000 */
+#define GPIO_PUPDR_PUPD10_1            (0x2UL << GPIO_PUPDR_PUPD10_Pos)         /*!< 0x00200000 */
+
+#define GPIO_PUPDR_PUPD11_Pos          (22U)
+#define GPIO_PUPDR_PUPD11_Msk          (0x3UL << GPIO_PUPDR_PUPD11_Pos)        /*!< 0x00C00000 */
+#define GPIO_PUPDR_PUPD11              GPIO_PUPDR_PUPD11_Msk
+#define GPIO_PUPDR_PUPD11_0            (0x1UL << GPIO_PUPDR_PUPD11_Pos)         /*!< 0x00400000 */
+#define GPIO_PUPDR_PUPD11_1            (0x2UL << GPIO_PUPDR_PUPD11_Pos)         /*!< 0x00800000 */
+
+#define GPIO_PUPDR_PUPD12_Pos          (24U)
+#define GPIO_PUPDR_PUPD12_Msk          (0x3UL << GPIO_PUPDR_PUPD12_Pos)        /*!< 0x03000000 */
+#define GPIO_PUPDR_PUPD12              GPIO_PUPDR_PUPD12_Msk
+#define GPIO_PUPDR_PUPD12_0            (0x1UL << GPIO_PUPDR_PUPD12_Pos)         /*!< 0x01000000 */
+#define GPIO_PUPDR_PUPD12_1            (0x2UL << GPIO_PUPDR_PUPD12_Pos)         /*!< 0x02000000 */
+
+#define GPIO_PUPDR_PUPD13_Pos          (26U)
+#define GPIO_PUPDR_PUPD13_Msk          (0x3UL << GPIO_PUPDR_PUPD13_Pos)        /*!< 0x0C000000 */
+#define GPIO_PUPDR_PUPD13              GPIO_PUPDR_PUPD13_Msk
+#define GPIO_PUPDR_PUPD13_0            (0x1UL << GPIO_PUPDR_PUPD13_Pos)         /*!< 0x04000000 */
+#define GPIO_PUPDR_PUPD13_1            (0x2UL << GPIO_PUPDR_PUPD13_Pos)         /*!< 0x08000000 */
+
+#define GPIO_PUPDR_PUPD14_Pos          (28U)
+#define GPIO_PUPDR_PUPD14_Msk          (0x3UL << GPIO_PUPDR_PUPD14_Pos)        /*!< 0x30000000 */
+#define GPIO_PUPDR_PUPD14              GPIO_PUPDR_PUPD14_Msk
+#define GPIO_PUPDR_PUPD14_0            (0x1UL << GPIO_PUPDR_PUPD14_Pos)         /*!< 0x10000000 */
+#define GPIO_PUPDR_PUPD14_1            (0x2UL << GPIO_PUPDR_PUPD14_Pos)         /*!< 0x20000000 */
+
+#define GPIO_PUPDR_PUPD15_Pos          (30U)
+#define GPIO_PUPDR_PUPD15_Msk          (0x3UL << GPIO_PUPDR_PUPD15_Pos)        /*!< 0xC0000000 */
+#define GPIO_PUPDR_PUPD15              GPIO_PUPDR_PUPD15_Msk
+#define GPIO_PUPDR_PUPD15_0            (0x1UL << GPIO_PUPDR_PUPD15_Pos)         /*!< 0x40000000 */
+#define GPIO_PUPDR_PUPD15_1            (0x2UL << GPIO_PUPDR_PUPD15_Pos)         /*!< 0x80000000 */
+
+/******************  Bits definition for GPIO_IDR register  *******************/
+#define GPIO_IDR_ID0_Pos               (0U)
+#define GPIO_IDR_ID0_Msk               (0x1UL << GPIO_IDR_ID0_Pos)             /*!< 0x00000001 */
+#define GPIO_IDR_ID0                   GPIO_IDR_ID0_Msk
+#define GPIO_IDR_ID1_Pos               (1U)
+#define GPIO_IDR_ID1_Msk               (0x1UL << GPIO_IDR_ID1_Pos)             /*!< 0x00000002 */
+#define GPIO_IDR_ID1                   GPIO_IDR_ID1_Msk
+#define GPIO_IDR_ID2_Pos               (2U)
+#define GPIO_IDR_ID2_Msk               (0x1UL << GPIO_IDR_ID2_Pos)             /*!< 0x00000004 */
+#define GPIO_IDR_ID2                   GPIO_IDR_ID2_Msk
+#define GPIO_IDR_ID3_Pos               (3U)
+#define GPIO_IDR_ID3_Msk               (0x1UL << GPIO_IDR_ID3_Pos)             /*!< 0x00000008 */
+#define GPIO_IDR_ID3                   GPIO_IDR_ID3_Msk
+#define GPIO_IDR_ID4_Pos               (4U)
+#define GPIO_IDR_ID4_Msk               (0x1UL << GPIO_IDR_ID4_Pos)             /*!< 0x00000010 */
+#define GPIO_IDR_ID4                   GPIO_IDR_ID4_Msk
+#define GPIO_IDR_ID5_Pos               (5U)
+#define GPIO_IDR_ID5_Msk               (0x1UL << GPIO_IDR_ID5_Pos)             /*!< 0x00000020 */
+#define GPIO_IDR_ID5                   GPIO_IDR_ID5_Msk
+#define GPIO_IDR_ID6_Pos               (6U)
+#define GPIO_IDR_ID6_Msk               (0x1UL << GPIO_IDR_ID6_Pos)             /*!< 0x00000040 */
+#define GPIO_IDR_ID6                   GPIO_IDR_ID6_Msk
+#define GPIO_IDR_ID7_Pos               (7U)
+#define GPIO_IDR_ID7_Msk               (0x1UL << GPIO_IDR_ID7_Pos)             /*!< 0x00000080 */
+#define GPIO_IDR_ID7                   GPIO_IDR_ID7_Msk
+#define GPIO_IDR_ID8_Pos               (8U)
+#define GPIO_IDR_ID8_Msk               (0x1UL << GPIO_IDR_ID8_Pos)             /*!< 0x00000100 */
+#define GPIO_IDR_ID8                   GPIO_IDR_ID8_Msk
+#define GPIO_IDR_ID9_Pos               (9U)
+#define GPIO_IDR_ID9_Msk               (0x1UL << GPIO_IDR_ID9_Pos)             /*!< 0x00000200 */
+#define GPIO_IDR_ID9                   GPIO_IDR_ID9_Msk
+#define GPIO_IDR_ID10_Pos              (10U)
+#define GPIO_IDR_ID10_Msk              (0x1UL << GPIO_IDR_ID10_Pos)            /*!< 0x00000400 */
+#define GPIO_IDR_ID10                  GPIO_IDR_ID10_Msk
+#define GPIO_IDR_ID11_Pos              (11U)
+#define GPIO_IDR_ID11_Msk              (0x1UL << GPIO_IDR_ID11_Pos)            /*!< 0x00000800 */
+#define GPIO_IDR_ID11                  GPIO_IDR_ID11_Msk
+#define GPIO_IDR_ID12_Pos              (12U)
+#define GPIO_IDR_ID12_Msk              (0x1UL << GPIO_IDR_ID12_Pos)            /*!< 0x00001000 */
+#define GPIO_IDR_ID12                  GPIO_IDR_ID12_Msk
+#define GPIO_IDR_ID13_Pos              (13U)
+#define GPIO_IDR_ID13_Msk              (0x1UL << GPIO_IDR_ID13_Pos)            /*!< 0x00002000 */
+#define GPIO_IDR_ID13                  GPIO_IDR_ID13_Msk
+#define GPIO_IDR_ID14_Pos              (14U)
+#define GPIO_IDR_ID14_Msk              (0x1UL << GPIO_IDR_ID14_Pos)            /*!< 0x00004000 */
+#define GPIO_IDR_ID14                  GPIO_IDR_ID14_Msk
+#define GPIO_IDR_ID15_Pos              (15U)
+#define GPIO_IDR_ID15_Msk              (0x1UL << GPIO_IDR_ID15_Pos)            /*!< 0x00008000 */
+#define GPIO_IDR_ID15                  GPIO_IDR_ID15_Msk
+
+/******************  Bits definition for GPIO_ODR register  *******************/
+#define GPIO_ODR_OD0_Pos               (0U)
+#define GPIO_ODR_OD0_Msk               (0x1UL << GPIO_ODR_OD0_Pos)             /*!< 0x00000001 */
+#define GPIO_ODR_OD0                   GPIO_ODR_OD0_Msk
+#define GPIO_ODR_OD1_Pos               (1U)
+#define GPIO_ODR_OD1_Msk               (0x1UL << GPIO_ODR_OD1_Pos)             /*!< 0x00000002 */
+#define GPIO_ODR_OD1                   GPIO_ODR_OD1_Msk
+#define GPIO_ODR_OD2_Pos               (2U)
+#define GPIO_ODR_OD2_Msk               (0x1UL << GPIO_ODR_OD2_Pos)             /*!< 0x00000004 */
+#define GPIO_ODR_OD2                   GPIO_ODR_OD2_Msk
+#define GPIO_ODR_OD3_Pos               (3U)
+#define GPIO_ODR_OD3_Msk               (0x1UL << GPIO_ODR_OD3_Pos)             /*!< 0x00000008 */
+#define GPIO_ODR_OD3                   GPIO_ODR_OD3_Msk
+#define GPIO_ODR_OD4_Pos               (4U)
+#define GPIO_ODR_OD4_Msk               (0x1UL << GPIO_ODR_OD4_Pos)             /*!< 0x00000010 */
+#define GPIO_ODR_OD4                   GPIO_ODR_OD4_Msk
+#define GPIO_ODR_OD5_Pos               (5U)
+#define GPIO_ODR_OD5_Msk               (0x1UL << GPIO_ODR_OD5_Pos)             /*!< 0x00000020 */
+#define GPIO_ODR_OD5                   GPIO_ODR_OD5_Msk
+#define GPIO_ODR_OD6_Pos               (6U)
+#define GPIO_ODR_OD6_Msk               (0x1UL << GPIO_ODR_OD6_Pos)             /*!< 0x00000040 */
+#define GPIO_ODR_OD6                   GPIO_ODR_OD6_Msk
+#define GPIO_ODR_OD7_Pos               (7U)
+#define GPIO_ODR_OD7_Msk               (0x1UL << GPIO_ODR_OD7_Pos)             /*!< 0x00000080 */
+#define GPIO_ODR_OD7                   GPIO_ODR_OD7_Msk
+#define GPIO_ODR_OD8_Pos               (8U)
+#define GPIO_ODR_OD8_Msk               (0x1UL << GPIO_ODR_OD8_Pos)             /*!< 0x00000100 */
+#define GPIO_ODR_OD8                   GPIO_ODR_OD8_Msk
+#define GPIO_ODR_OD9_Pos               (9U)
+#define GPIO_ODR_OD9_Msk               (0x1UL << GPIO_ODR_OD9_Pos)             /*!< 0x00000200 */
+#define GPIO_ODR_OD9                   GPIO_ODR_OD9_Msk
+#define GPIO_ODR_OD10_Pos              (10U)
+#define GPIO_ODR_OD10_Msk              (0x1UL << GPIO_ODR_OD10_Pos)            /*!< 0x00000400 */
+#define GPIO_ODR_OD10                  GPIO_ODR_OD10_Msk
+#define GPIO_ODR_OD11_Pos              (11U)
+#define GPIO_ODR_OD11_Msk              (0x1UL << GPIO_ODR_OD11_Pos)            /*!< 0x00000800 */
+#define GPIO_ODR_OD11                  GPIO_ODR_OD11_Msk
+#define GPIO_ODR_OD12_Pos              (12U)
+#define GPIO_ODR_OD12_Msk              (0x1UL << GPIO_ODR_OD12_Pos)            /*!< 0x00001000 */
+#define GPIO_ODR_OD12                  GPIO_ODR_OD12_Msk
+#define GPIO_ODR_OD13_Pos              (13U)
+#define GPIO_ODR_OD13_Msk              (0x1UL << GPIO_ODR_OD13_Pos)            /*!< 0x00002000 */
+#define GPIO_ODR_OD13                  GPIO_ODR_OD13_Msk
+#define GPIO_ODR_OD14_Pos              (14U)
+#define GPIO_ODR_OD14_Msk              (0x1UL << GPIO_ODR_OD14_Pos)            /*!< 0x00004000 */
+#define GPIO_ODR_OD14                  GPIO_ODR_OD14_Msk
+#define GPIO_ODR_OD15_Pos              (15U)
+#define GPIO_ODR_OD15_Msk              (0x1UL << GPIO_ODR_OD15_Pos)            /*!< 0x00008000 */
+#define GPIO_ODR_OD15                  GPIO_ODR_OD15_Msk
+
+/******************  Bits definition for GPIO_BSRR register  ******************/
+#define GPIO_BSRR_BS0_Pos              (0U)
+#define GPIO_BSRR_BS0_Msk              (0x1UL << GPIO_BSRR_BS0_Pos)            /*!< 0x00000001 */
+#define GPIO_BSRR_BS0                  GPIO_BSRR_BS0_Msk
+#define GPIO_BSRR_BS1_Pos              (1U)
+#define GPIO_BSRR_BS1_Msk              (0x1UL << GPIO_BSRR_BS1_Pos)            /*!< 0x00000002 */
+#define GPIO_BSRR_BS1                  GPIO_BSRR_BS1_Msk
+#define GPIO_BSRR_BS2_Pos              (2U)
+#define GPIO_BSRR_BS2_Msk              (0x1UL << GPIO_BSRR_BS2_Pos)            /*!< 0x00000004 */
+#define GPIO_BSRR_BS2                  GPIO_BSRR_BS2_Msk
+#define GPIO_BSRR_BS3_Pos              (3U)
+#define GPIO_BSRR_BS3_Msk              (0x1UL << GPIO_BSRR_BS3_Pos)            /*!< 0x00000008 */
+#define GPIO_BSRR_BS3                  GPIO_BSRR_BS3_Msk
+#define GPIO_BSRR_BS4_Pos              (4U)
+#define GPIO_BSRR_BS4_Msk              (0x1UL << GPIO_BSRR_BS4_Pos)            /*!< 0x00000010 */
+#define GPIO_BSRR_BS4                  GPIO_BSRR_BS4_Msk
+#define GPIO_BSRR_BS5_Pos              (5U)
+#define GPIO_BSRR_BS5_Msk              (0x1UL << GPIO_BSRR_BS5_Pos)            /*!< 0x00000020 */
+#define GPIO_BSRR_BS5                  GPIO_BSRR_BS5_Msk
+#define GPIO_BSRR_BS6_Pos              (6U)
+#define GPIO_BSRR_BS6_Msk              (0x1UL << GPIO_BSRR_BS6_Pos)            /*!< 0x00000040 */
+#define GPIO_BSRR_BS6                  GPIO_BSRR_BS6_Msk
+#define GPIO_BSRR_BS7_Pos              (7U)
+#define GPIO_BSRR_BS7_Msk              (0x1UL << GPIO_BSRR_BS7_Pos)            /*!< 0x00000080 */
+#define GPIO_BSRR_BS7                  GPIO_BSRR_BS7_Msk
+#define GPIO_BSRR_BS8_Pos              (8U)
+#define GPIO_BSRR_BS8_Msk              (0x1UL << GPIO_BSRR_BS8_Pos)            /*!< 0x00000100 */
+#define GPIO_BSRR_BS8                  GPIO_BSRR_BS8_Msk
+#define GPIO_BSRR_BS9_Pos              (9U)
+#define GPIO_BSRR_BS9_Msk              (0x1UL << GPIO_BSRR_BS9_Pos)            /*!< 0x00000200 */
+#define GPIO_BSRR_BS9                  GPIO_BSRR_BS9_Msk
+#define GPIO_BSRR_BS10_Pos             (10U)
+#define GPIO_BSRR_BS10_Msk             (0x1UL << GPIO_BSRR_BS10_Pos)           /*!< 0x00000400 */
+#define GPIO_BSRR_BS10                 GPIO_BSRR_BS10_Msk
+#define GPIO_BSRR_BS11_Pos             (11U)
+#define GPIO_BSRR_BS11_Msk             (0x1UL << GPIO_BSRR_BS11_Pos)           /*!< 0x00000800 */
+#define GPIO_BSRR_BS11                 GPIO_BSRR_BS11_Msk
+#define GPIO_BSRR_BS12_Pos             (12U)
+#define GPIO_BSRR_BS12_Msk             (0x1UL << GPIO_BSRR_BS12_Pos)           /*!< 0x00001000 */
+#define GPIO_BSRR_BS12                 GPIO_BSRR_BS12_Msk
+#define GPIO_BSRR_BS13_Pos             (13U)
+#define GPIO_BSRR_BS13_Msk             (0x1UL << GPIO_BSRR_BS13_Pos)           /*!< 0x00002000 */
+#define GPIO_BSRR_BS13                 GPIO_BSRR_BS13_Msk
+#define GPIO_BSRR_BS14_Pos             (14U)
+#define GPIO_BSRR_BS14_Msk             (0x1UL << GPIO_BSRR_BS14_Pos)           /*!< 0x00004000 */
+#define GPIO_BSRR_BS14                 GPIO_BSRR_BS14_Msk
+#define GPIO_BSRR_BS15_Pos             (15U)
+#define GPIO_BSRR_BS15_Msk             (0x1UL << GPIO_BSRR_BS15_Pos)           /*!< 0x00008000 */
+#define GPIO_BSRR_BS15                 GPIO_BSRR_BS15_Msk
+#define GPIO_BSRR_BR0_Pos              (16U)
+#define GPIO_BSRR_BR0_Msk              (0x1UL << GPIO_BSRR_BR0_Pos)            /*!< 0x00010000 */
+#define GPIO_BSRR_BR0                  GPIO_BSRR_BR0_Msk
+#define GPIO_BSRR_BR1_Pos              (17U)
+#define GPIO_BSRR_BR1_Msk              (0x1UL << GPIO_BSRR_BR1_Pos)            /*!< 0x00020000 */
+#define GPIO_BSRR_BR1                  GPIO_BSRR_BR1_Msk
+#define GPIO_BSRR_BR2_Pos              (18U)
+#define GPIO_BSRR_BR2_Msk              (0x1UL << GPIO_BSRR_BR2_Pos)            /*!< 0x00040000 */
+#define GPIO_BSRR_BR2                  GPIO_BSRR_BR2_Msk
+#define GPIO_BSRR_BR3_Pos              (19U)
+#define GPIO_BSRR_BR3_Msk              (0x1UL << GPIO_BSRR_BR3_Pos)            /*!< 0x00080000 */
+#define GPIO_BSRR_BR3                  GPIO_BSRR_BR3_Msk
+#define GPIO_BSRR_BR4_Pos              (20U)
+#define GPIO_BSRR_BR4_Msk              (0x1UL << GPIO_BSRR_BR4_Pos)            /*!< 0x00100000 */
+#define GPIO_BSRR_BR4                  GPIO_BSRR_BR4_Msk
+#define GPIO_BSRR_BR5_Pos              (21U)
+#define GPIO_BSRR_BR5_Msk              (0x1UL << GPIO_BSRR_BR5_Pos)            /*!< 0x00200000 */
+#define GPIO_BSRR_BR5                  GPIO_BSRR_BR5_Msk
+#define GPIO_BSRR_BR6_Pos              (22U)
+#define GPIO_BSRR_BR6_Msk              (0x1UL << GPIO_BSRR_BR6_Pos)            /*!< 0x00400000 */
+#define GPIO_BSRR_BR6                  GPIO_BSRR_BR6_Msk
+#define GPIO_BSRR_BR7_Pos              (23U)
+#define GPIO_BSRR_BR7_Msk              (0x1UL << GPIO_BSRR_BR7_Pos)            /*!< 0x00800000 */
+#define GPIO_BSRR_BR7                  GPIO_BSRR_BR7_Msk
+#define GPIO_BSRR_BR8_Pos              (24U)
+#define GPIO_BSRR_BR8_Msk              (0x1UL << GPIO_BSRR_BR8_Pos)            /*!< 0x01000000 */
+#define GPIO_BSRR_BR8                  GPIO_BSRR_BR8_Msk
+#define GPIO_BSRR_BR9_Pos              (25U)
+#define GPIO_BSRR_BR9_Msk              (0x1UL << GPIO_BSRR_BR9_Pos)            /*!< 0x02000000 */
+#define GPIO_BSRR_BR9                  GPIO_BSRR_BR9_Msk
+#define GPIO_BSRR_BR10_Pos             (26U)
+#define GPIO_BSRR_BR10_Msk             (0x1UL << GPIO_BSRR_BR10_Pos)           /*!< 0x04000000 */
+#define GPIO_BSRR_BR10                 GPIO_BSRR_BR10_Msk
+#define GPIO_BSRR_BR11_Pos             (27U)
+#define GPIO_BSRR_BR11_Msk             (0x1UL << GPIO_BSRR_BR11_Pos)           /*!< 0x08000000 */
+#define GPIO_BSRR_BR11                 GPIO_BSRR_BR11_Msk
+#define GPIO_BSRR_BR12_Pos             (28U)
+#define GPIO_BSRR_BR12_Msk             (0x1UL << GPIO_BSRR_BR12_Pos)           /*!< 0x10000000 */
+#define GPIO_BSRR_BR12                 GPIO_BSRR_BR12_Msk
+#define GPIO_BSRR_BR13_Pos             (29U)
+#define GPIO_BSRR_BR13_Msk             (0x1UL << GPIO_BSRR_BR13_Pos)           /*!< 0x20000000 */
+#define GPIO_BSRR_BR13                 GPIO_BSRR_BR13_Msk
+#define GPIO_BSRR_BR14_Pos             (30U)
+#define GPIO_BSRR_BR14_Msk             (0x1UL << GPIO_BSRR_BR14_Pos)           /*!< 0x40000000 */
+#define GPIO_BSRR_BR14                 GPIO_BSRR_BR14_Msk
+#define GPIO_BSRR_BR15_Pos             (31U)
+#define GPIO_BSRR_BR15_Msk             (0x1UL << GPIO_BSRR_BR15_Pos)           /*!< 0x80000000 */
+#define GPIO_BSRR_BR15                 GPIO_BSRR_BR15_Msk
+
+/****************** Bit definition for GPIO_LCKR register *********************/
+#define GPIO_LCKR_LCK0_Pos             (0U)
+#define GPIO_LCKR_LCK0_Msk             (0x1UL << GPIO_LCKR_LCK0_Pos)           /*!< 0x00000001 */
+#define GPIO_LCKR_LCK0                 GPIO_LCKR_LCK0_Msk
+#define GPIO_LCKR_LCK1_Pos             (1U)
+#define GPIO_LCKR_LCK1_Msk             (0x1UL << GPIO_LCKR_LCK1_Pos)           /*!< 0x00000002 */
+#define GPIO_LCKR_LCK1                 GPIO_LCKR_LCK1_Msk
+#define GPIO_LCKR_LCK2_Pos             (2U)
+#define GPIO_LCKR_LCK2_Msk             (0x1UL << GPIO_LCKR_LCK2_Pos)           /*!< 0x00000004 */
+#define GPIO_LCKR_LCK2                 GPIO_LCKR_LCK2_Msk
+#define GPIO_LCKR_LCK3_Pos             (3U)
+#define GPIO_LCKR_LCK3_Msk             (0x1UL << GPIO_LCKR_LCK3_Pos)           /*!< 0x00000008 */
+#define GPIO_LCKR_LCK3                 GPIO_LCKR_LCK3_Msk
+#define GPIO_LCKR_LCK4_Pos             (4U)
+#define GPIO_LCKR_LCK4_Msk             (0x1UL << GPIO_LCKR_LCK4_Pos)           /*!< 0x00000010 */
+#define GPIO_LCKR_LCK4                 GPIO_LCKR_LCK4_Msk
+#define GPIO_LCKR_LCK5_Pos             (5U)
+#define GPIO_LCKR_LCK5_Msk             (0x1UL << GPIO_LCKR_LCK5_Pos)           /*!< 0x00000020 */
+#define GPIO_LCKR_LCK5                 GPIO_LCKR_LCK5_Msk
+#define GPIO_LCKR_LCK6_Pos             (6U)
+#define GPIO_LCKR_LCK6_Msk             (0x1UL << GPIO_LCKR_LCK6_Pos)           /*!< 0x00000040 */
+#define GPIO_LCKR_LCK6                 GPIO_LCKR_LCK6_Msk
+#define GPIO_LCKR_LCK7_Pos             (7U)
+#define GPIO_LCKR_LCK7_Msk             (0x1UL << GPIO_LCKR_LCK7_Pos)           /*!< 0x00000080 */
+#define GPIO_LCKR_LCK7                 GPIO_LCKR_LCK7_Msk
+#define GPIO_LCKR_LCK8_Pos             (8U)
+#define GPIO_LCKR_LCK8_Msk             (0x1UL << GPIO_LCKR_LCK8_Pos)           /*!< 0x00000100 */
+#define GPIO_LCKR_LCK8                 GPIO_LCKR_LCK8_Msk
+#define GPIO_LCKR_LCK9_Pos             (9U)
+#define GPIO_LCKR_LCK9_Msk             (0x1UL << GPIO_LCKR_LCK9_Pos)           /*!< 0x00000200 */
+#define GPIO_LCKR_LCK9                 GPIO_LCKR_LCK9_Msk
+#define GPIO_LCKR_LCK10_Pos            (10U)
+#define GPIO_LCKR_LCK10_Msk            (0x1UL << GPIO_LCKR_LCK10_Pos)          /*!< 0x00000400 */
+#define GPIO_LCKR_LCK10                GPIO_LCKR_LCK10_Msk
+#define GPIO_LCKR_LCK11_Pos            (11U)
+#define GPIO_LCKR_LCK11_Msk            (0x1UL << GPIO_LCKR_LCK11_Pos)          /*!< 0x00000800 */
+#define GPIO_LCKR_LCK11                GPIO_LCKR_LCK11_Msk
+#define GPIO_LCKR_LCK12_Pos            (12U)
+#define GPIO_LCKR_LCK12_Msk            (0x1UL << GPIO_LCKR_LCK12_Pos)          /*!< 0x00001000 */
+#define GPIO_LCKR_LCK12                GPIO_LCKR_LCK12_Msk
+#define GPIO_LCKR_LCK13_Pos            (13U)
+#define GPIO_LCKR_LCK13_Msk            (0x1UL << GPIO_LCKR_LCK13_Pos)          /*!< 0x00002000 */
+#define GPIO_LCKR_LCK13                GPIO_LCKR_LCK13_Msk
+#define GPIO_LCKR_LCK14_Pos            (14U)
+#define GPIO_LCKR_LCK14_Msk            (0x1UL << GPIO_LCKR_LCK14_Pos)          /*!< 0x00004000 */
+#define GPIO_LCKR_LCK14                GPIO_LCKR_LCK14_Msk
+#define GPIO_LCKR_LCK15_Pos            (15U)
+#define GPIO_LCKR_LCK15_Msk            (0x1UL << GPIO_LCKR_LCK15_Pos)          /*!< 0x00008000 */
+#define GPIO_LCKR_LCK15                GPIO_LCKR_LCK15_Msk
+#define GPIO_LCKR_LCKK_Pos             (16U)
+#define GPIO_LCKR_LCKK_Msk             (0x1UL << GPIO_LCKR_LCKK_Pos)           /*!< 0x00010000 */
+#define GPIO_LCKR_LCKK                 GPIO_LCKR_LCKK_Msk
+
+/****************** Bit definition for GPIO_AFRL register  ********************/
+#define GPIO_AFRL_AFSEL0_Pos           (0U)
+#define GPIO_AFRL_AFSEL0_Msk           (0xFUL << GPIO_AFRL_AFSEL0_Pos)         /*!< 0x0000000F */
+#define GPIO_AFRL_AFSEL0               GPIO_AFRL_AFSEL0_Msk
+#define GPIO_AFRL_AFSEL0_0             (0x1UL << GPIO_AFRL_AFSEL0_Pos)          /*!< 0x00000001 */
+#define GPIO_AFRL_AFSEL0_1             (0x2UL << GPIO_AFRL_AFSEL0_Pos)          /*!< 0x00000002 */
+#define GPIO_AFRL_AFSEL0_2             (0x4UL << GPIO_AFRL_AFSEL0_Pos)          /*!< 0x00000004 */
+#define GPIO_AFRL_AFSEL0_3             (0x8UL << GPIO_AFRL_AFSEL0_Pos)          /*!< 0x00000008 */
+#define GPIO_AFRL_AFSEL1_Pos           (4U)
+#define GPIO_AFRL_AFSEL1_Msk           (0xFUL << GPIO_AFRL_AFSEL1_Pos)         /*!< 0x000000F0 */
+#define GPIO_AFRL_AFSEL1               GPIO_AFRL_AFSEL1_Msk
+#define GPIO_AFRL_AFSEL1_0             (0x1UL << GPIO_AFRL_AFSEL1_Pos)          /*!< 0x00000010 */
+#define GPIO_AFRL_AFSEL1_1             (0x2UL << GPIO_AFRL_AFSEL1_Pos)          /*!< 0x00000020 */
+#define GPIO_AFRL_AFSEL1_2             (0x4UL << GPIO_AFRL_AFSEL1_Pos)          /*!< 0x00000040 */
+#define GPIO_AFRL_AFSEL1_3             (0x8UL << GPIO_AFRL_AFSEL1_Pos)          /*!< 0x00000080 */
+#define GPIO_AFRL_AFSEL2_Pos           (8U)
+#define GPIO_AFRL_AFSEL2_Msk           (0xFUL << GPIO_AFRL_AFSEL2_Pos)         /*!< 0x00000F00 */
+#define GPIO_AFRL_AFSEL2               GPIO_AFRL_AFSEL2_Msk
+#define GPIO_AFRL_AFSEL2_0             (0x1UL << GPIO_AFRL_AFSEL2_Pos)          /*!< 0x00000100 */
+#define GPIO_AFRL_AFSEL2_1             (0x2UL << GPIO_AFRL_AFSEL2_Pos)          /*!< 0x00000200 */
+#define GPIO_AFRL_AFSEL2_2             (0x4UL << GPIO_AFRL_AFSEL2_Pos)          /*!< 0x00000400 */
+#define GPIO_AFRL_AFSEL2_3             (0x8UL << GPIO_AFRL_AFSEL2_Pos)          /*!< 0x00000800 */
+#define GPIO_AFRL_AFSEL3_Pos           (12U)
+#define GPIO_AFRL_AFSEL3_Msk           (0xFUL << GPIO_AFRL_AFSEL3_Pos)         /*!< 0x0000F000 */
+#define GPIO_AFRL_AFSEL3               GPIO_AFRL_AFSEL3_Msk
+#define GPIO_AFRL_AFSEL3_0             (0x1UL << GPIO_AFRL_AFSEL3_Pos)          /*!< 0x00001000 */
+#define GPIO_AFRL_AFSEL3_1             (0x2UL << GPIO_AFRL_AFSEL3_Pos)          /*!< 0x00002000 */
+#define GPIO_AFRL_AFSEL3_2             (0x4UL << GPIO_AFRL_AFSEL3_Pos)          /*!< 0x00004000 */
+#define GPIO_AFRL_AFSEL3_3             (0x8UL << GPIO_AFRL_AFSEL3_Pos)          /*!< 0x00008000 */
+#define GPIO_AFRL_AFSEL4_Pos           (16U)
+#define GPIO_AFRL_AFSEL4_Msk           (0xFUL << GPIO_AFRL_AFSEL4_Pos)         /*!< 0x000F0000 */
+#define GPIO_AFRL_AFSEL4               GPIO_AFRL_AFSEL4_Msk
+#define GPIO_AFRL_AFSEL4_0             (0x1UL << GPIO_AFRL_AFSEL4_Pos)          /*!< 0x00010000 */
+#define GPIO_AFRL_AFSEL4_1             (0x2UL << GPIO_AFRL_AFSEL4_Pos)          /*!< 0x00020000 */
+#define GPIO_AFRL_AFSEL4_2             (0x4UL << GPIO_AFRL_AFSEL4_Pos)          /*!< 0x00040000 */
+#define GPIO_AFRL_AFSEL4_3             (0x8UL << GPIO_AFRL_AFSEL4_Pos)          /*!< 0x00080000 */
+#define GPIO_AFRL_AFSEL5_Pos           (20U)
+#define GPIO_AFRL_AFSEL5_Msk           (0xFUL << GPIO_AFRL_AFSEL5_Pos)         /*!< 0x00F00000 */
+#define GPIO_AFRL_AFSEL5               GPIO_AFRL_AFSEL5_Msk
+#define GPIO_AFRL_AFSEL5_0             (0x1UL << GPIO_AFRL_AFSEL5_Pos)          /*!< 0x00100000 */
+#define GPIO_AFRL_AFSEL5_1             (0x2UL << GPIO_AFRL_AFSEL5_Pos)          /*!< 0x00200000 */
+#define GPIO_AFRL_AFSEL5_2             (0x4UL << GPIO_AFRL_AFSEL5_Pos)          /*!< 0x00400000 */
+#define GPIO_AFRL_AFSEL5_3             (0x8UL << GPIO_AFRL_AFSEL5_Pos)          /*!< 0x00800000 */
+#define GPIO_AFRL_AFSEL6_Pos           (24U)
+#define GPIO_AFRL_AFSEL6_Msk           (0xFUL << GPIO_AFRL_AFSEL6_Pos)         /*!< 0x0F000000 */
+#define GPIO_AFRL_AFSEL6               GPIO_AFRL_AFSEL6_Msk
+#define GPIO_AFRL_AFSEL6_0             (0x1UL << GPIO_AFRL_AFSEL6_Pos)          /*!< 0x01000000 */
+#define GPIO_AFRL_AFSEL6_1             (0x2UL << GPIO_AFRL_AFSEL6_Pos)          /*!< 0x02000000 */
+#define GPIO_AFRL_AFSEL6_2             (0x4UL << GPIO_AFRL_AFSEL6_Pos)          /*!< 0x04000000 */
+#define GPIO_AFRL_AFSEL6_3             (0x8UL << GPIO_AFRL_AFSEL6_Pos)          /*!< 0x08000000 */
+#define GPIO_AFRL_AFSEL7_Pos           (28U)
+#define GPIO_AFRL_AFSEL7_Msk           (0xFUL << GPIO_AFRL_AFSEL7_Pos)         /*!< 0xF0000000 */
+#define GPIO_AFRL_AFSEL7               GPIO_AFRL_AFSEL7_Msk
+#define GPIO_AFRL_AFSEL7_0             (0x1UL << GPIO_AFRL_AFSEL7_Pos)          /*!< 0x10000000 */
+#define GPIO_AFRL_AFSEL7_1             (0x2UL << GPIO_AFRL_AFSEL7_Pos)          /*!< 0x20000000 */
+#define GPIO_AFRL_AFSEL7_2             (0x4UL << GPIO_AFRL_AFSEL7_Pos)          /*!< 0x40000000 */
+#define GPIO_AFRL_AFSEL7_3             (0x8UL << GPIO_AFRL_AFSEL7_Pos)          /*!< 0x80000000 */
+
+/* Legacy defines */
+#define GPIO_AFRL_AFRL0                      GPIO_AFRL_AFSEL0
+#define GPIO_AFRL_AFRL1                      GPIO_AFRL_AFSEL1
+#define GPIO_AFRL_AFRL2                      GPIO_AFRL_AFSEL2
+#define GPIO_AFRL_AFRL3                      GPIO_AFRL_AFSEL3
+#define GPIO_AFRL_AFRL4                      GPIO_AFRL_AFSEL4
+#define GPIO_AFRL_AFRL5                      GPIO_AFRL_AFSEL5
+#define GPIO_AFRL_AFRL6                      GPIO_AFRL_AFSEL6
+#define GPIO_AFRL_AFRL7                      GPIO_AFRL_AFSEL7
+
+/****************** Bit definition for GPIO_AFRH register  ********************/
+#define GPIO_AFRH_AFSEL8_Pos           (0U)
+#define GPIO_AFRH_AFSEL8_Msk           (0xFUL << GPIO_AFRH_AFSEL8_Pos)         /*!< 0x0000000F */
+#define GPIO_AFRH_AFSEL8               GPIO_AFRH_AFSEL8_Msk
+#define GPIO_AFRH_AFSEL8_0             (0x1UL << GPIO_AFRH_AFSEL8_Pos)          /*!< 0x00000001 */
+#define GPIO_AFRH_AFSEL8_1             (0x2UL << GPIO_AFRH_AFSEL8_Pos)          /*!< 0x00000002 */
+#define GPIO_AFRH_AFSEL8_2             (0x4UL << GPIO_AFRH_AFSEL8_Pos)          /*!< 0x00000004 */
+#define GPIO_AFRH_AFSEL8_3             (0x8UL << GPIO_AFRH_AFSEL8_Pos)          /*!< 0x00000008 */
+#define GPIO_AFRH_AFSEL9_Pos           (4U)
+#define GPIO_AFRH_AFSEL9_Msk           (0xFUL << GPIO_AFRH_AFSEL9_Pos)         /*!< 0x000000F0 */
+#define GPIO_AFRH_AFSEL9               GPIO_AFRH_AFSEL9_Msk
+#define GPIO_AFRH_AFSEL9_0             (0x1UL << GPIO_AFRH_AFSEL9_Pos)          /*!< 0x00000010 */
+#define GPIO_AFRH_AFSEL9_1             (0x2UL << GPIO_AFRH_AFSEL9_Pos)          /*!< 0x00000020 */
+#define GPIO_AFRH_AFSEL9_2             (0x4UL << GPIO_AFRH_AFSEL9_Pos)          /*!< 0x00000040 */
+#define GPIO_AFRH_AFSEL9_3             (0x8UL << GPIO_AFRH_AFSEL9_Pos)          /*!< 0x00000080 */
+#define GPIO_AFRH_AFSEL10_Pos          (8U)
+#define GPIO_AFRH_AFSEL10_Msk          (0xFUL << GPIO_AFRH_AFSEL10_Pos)        /*!< 0x00000F00 */
+#define GPIO_AFRH_AFSEL10              GPIO_AFRH_AFSEL10_Msk
+#define GPIO_AFRH_AFSEL10_0            (0x1UL << GPIO_AFRH_AFSEL10_Pos)         /*!< 0x00000100 */
+#define GPIO_AFRH_AFSEL10_1            (0x2UL << GPIO_AFRH_AFSEL10_Pos)         /*!< 0x00000200 */
+#define GPIO_AFRH_AFSEL10_2            (0x4UL << GPIO_AFRH_AFSEL10_Pos)         /*!< 0x00000400 */
+#define GPIO_AFRH_AFSEL10_3            (0x8UL << GPIO_AFRH_AFSEL10_Pos)         /*!< 0x00000800 */
+#define GPIO_AFRH_AFSEL11_Pos          (12U)
+#define GPIO_AFRH_AFSEL11_Msk          (0xFUL << GPIO_AFRH_AFSEL11_Pos)        /*!< 0x0000F000 */
+#define GPIO_AFRH_AFSEL11              GPIO_AFRH_AFSEL11_Msk
+#define GPIO_AFRH_AFSEL11_0            (0x1UL << GPIO_AFRH_AFSEL11_Pos)         /*!< 0x00001000 */
+#define GPIO_AFRH_AFSEL11_1            (0x2UL << GPIO_AFRH_AFSEL11_Pos)         /*!< 0x00002000 */
+#define GPIO_AFRH_AFSEL11_2            (0x4UL << GPIO_AFRH_AFSEL11_Pos)         /*!< 0x00004000 */
+#define GPIO_AFRH_AFSEL11_3            (0x8UL << GPIO_AFRH_AFSEL11_Pos)         /*!< 0x00008000 */
+#define GPIO_AFRH_AFSEL12_Pos          (16U)
+#define GPIO_AFRH_AFSEL12_Msk          (0xFUL << GPIO_AFRH_AFSEL12_Pos)        /*!< 0x000F0000 */
+#define GPIO_AFRH_AFSEL12              GPIO_AFRH_AFSEL12_Msk
+#define GPIO_AFRH_AFSEL12_0            (0x1UL << GPIO_AFRH_AFSEL12_Pos)         /*!< 0x00010000 */
+#define GPIO_AFRH_AFSEL12_1            (0x2UL << GPIO_AFRH_AFSEL12_Pos)         /*!< 0x00020000 */
+#define GPIO_AFRH_AFSEL12_2            (0x4UL << GPIO_AFRH_AFSEL12_Pos)         /*!< 0x00040000 */
+#define GPIO_AFRH_AFSEL12_3            (0x8UL << GPIO_AFRH_AFSEL12_Pos)         /*!< 0x00080000 */
+#define GPIO_AFRH_AFSEL13_Pos          (20U)
+#define GPIO_AFRH_AFSEL13_Msk          (0xFUL << GPIO_AFRH_AFSEL13_Pos)        /*!< 0x00F00000 */
+#define GPIO_AFRH_AFSEL13              GPIO_AFRH_AFSEL13_Msk
+#define GPIO_AFRH_AFSEL13_0            (0x1UL << GPIO_AFRH_AFSEL13_Pos)         /*!< 0x00100000 */
+#define GPIO_AFRH_AFSEL13_1            (0x2UL << GPIO_AFRH_AFSEL13_Pos)         /*!< 0x00200000 */
+#define GPIO_AFRH_AFSEL13_2            (0x4UL << GPIO_AFRH_AFSEL13_Pos)         /*!< 0x00400000 */
+#define GPIO_AFRH_AFSEL13_3            (0x8UL << GPIO_AFRH_AFSEL13_Pos)         /*!< 0x00800000 */
+#define GPIO_AFRH_AFSEL14_Pos          (24U)
+#define GPIO_AFRH_AFSEL14_Msk          (0xFUL << GPIO_AFRH_AFSEL14_Pos)        /*!< 0x0F000000 */
+#define GPIO_AFRH_AFSEL14              GPIO_AFRH_AFSEL14_Msk
+#define GPIO_AFRH_AFSEL14_0            (0x1UL << GPIO_AFRH_AFSEL14_Pos)         /*!< 0x01000000 */
+#define GPIO_AFRH_AFSEL14_1            (0x2UL << GPIO_AFRH_AFSEL14_Pos)         /*!< 0x02000000 */
+#define GPIO_AFRH_AFSEL14_2            (0x4UL << GPIO_AFRH_AFSEL14_Pos)         /*!< 0x04000000 */
+#define GPIO_AFRH_AFSEL14_3            (0x8UL << GPIO_AFRH_AFSEL14_Pos)         /*!< 0x08000000 */
+#define GPIO_AFRH_AFSEL15_Pos          (28U)
+#define GPIO_AFRH_AFSEL15_Msk          (0xFUL << GPIO_AFRH_AFSEL15_Pos)        /*!< 0xF0000000 */
+#define GPIO_AFRH_AFSEL15              GPIO_AFRH_AFSEL15_Msk
+#define GPIO_AFRH_AFSEL15_0            (0x1UL << GPIO_AFRH_AFSEL15_Pos)         /*!< 0x10000000 */
+#define GPIO_AFRH_AFSEL15_1            (0x2UL << GPIO_AFRH_AFSEL15_Pos)         /*!< 0x20000000 */
+#define GPIO_AFRH_AFSEL15_2            (0x4UL << GPIO_AFRH_AFSEL15_Pos)         /*!< 0x40000000 */
+#define GPIO_AFRH_AFSEL15_3            (0x8UL << GPIO_AFRH_AFSEL15_Pos)         /*!< 0x80000000 */
+
+/* Legacy defines */
+#define GPIO_AFRH_AFRH0                      GPIO_AFRH_AFSEL8
+#define GPIO_AFRH_AFRH1                      GPIO_AFRH_AFSEL9
+#define GPIO_AFRH_AFRH2                      GPIO_AFRH_AFSEL10
+#define GPIO_AFRH_AFRH3                      GPIO_AFRH_AFSEL11
+#define GPIO_AFRH_AFRH4                      GPIO_AFRH_AFSEL12
+#define GPIO_AFRH_AFRH5                      GPIO_AFRH_AFSEL13
+#define GPIO_AFRH_AFRH6                      GPIO_AFRH_AFSEL14
+#define GPIO_AFRH_AFRH7                      GPIO_AFRH_AFSEL15
+
+/******************************************************************************/
+/*                                                                            */
+/*                        HSEM HW Semaphore                                   */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for HSEM_R register  ********************/
+#define HSEM_R_PROCID_Pos         (0U)
+#define HSEM_R_PROCID_Msk         (0xFFUL << HSEM_R_PROCID_Pos)                /*!< 0x000000FF */
+#define HSEM_R_PROCID             HSEM_R_PROCID_Msk                            /*!<Semaphore ProcessID */
+#define HSEM_R_COREID_Pos         (8U)
+#define HSEM_R_COREID_Msk         (0xFFUL << HSEM_R_COREID_Pos)                /*!< 0x0000FF00 */
+#define HSEM_R_COREID             HSEM_R_COREID_Msk                            /*!<Semaphore CoreID.   */
+#define HSEM_R_LOCK_Pos           (31U)
+#define HSEM_R_LOCK_Msk           (0x1UL << HSEM_R_LOCK_Pos)                   /*!< 0x80000000 */
+#define HSEM_R_LOCK               HSEM_R_LOCK_Msk                              /*!<Lock indication.    */
+
+/********************  Bit definition for HSEM_RLR register  ******************/
+#define HSEM_RLR_PROCID_Pos       (0U)
+#define HSEM_RLR_PROCID_Msk       (0xFFUL << HSEM_RLR_PROCID_Pos)              /*!< 0x000000FF */
+#define HSEM_RLR_PROCID           HSEM_RLR_PROCID_Msk                          /*!<Semaphore ProcessID */
+#define HSEM_RLR_COREID_Pos       (8U)
+#define HSEM_RLR_COREID_Msk       (0xFFUL << HSEM_RLR_COREID_Pos)              /*!< 0x0000FF00 */
+#define HSEM_RLR_COREID           HSEM_RLR_COREID_Msk                          /*!<Semaphore CoreID.   */
+#define HSEM_RLR_LOCK_Pos         (31U)
+#define HSEM_RLR_LOCK_Msk         (0x1UL << HSEM_RLR_LOCK_Pos)                 /*!< 0x80000000 */
+#define HSEM_RLR_LOCK             HSEM_RLR_LOCK_Msk                            /*!<Lock indication.    */
+
+/********************  Bit definition for HSEM_C1IER register  *****************/
+#define HSEM_C1IER_ISE0_Pos       (0U)
+#define HSEM_C1IER_ISE0_Msk       (0x1UL << HSEM_C1IER_ISE0_Pos)               /*!< 0x00000001 */
+#define HSEM_C1IER_ISE0           HSEM_C1IER_ISE0_Msk                          /*!<semaphore 0 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE1_Pos       (1U)
+#define HSEM_C1IER_ISE1_Msk       (0x1UL << HSEM_C1IER_ISE1_Pos)               /*!< 0x00000002 */
+#define HSEM_C1IER_ISE1           HSEM_C1IER_ISE1_Msk                          /*!<semaphore 1 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE2_Pos       (2U)
+#define HSEM_C1IER_ISE2_Msk       (0x1UL << HSEM_C1IER_ISE2_Pos)               /*!< 0x00000004 */
+#define HSEM_C1IER_ISE2           HSEM_C1IER_ISE2_Msk                          /*!<semaphore 2 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE3_Pos       (3U)
+#define HSEM_C1IER_ISE3_Msk       (0x1UL << HSEM_C1IER_ISE3_Pos)               /*!< 0x00000008 */
+#define HSEM_C1IER_ISE3           HSEM_C1IER_ISE3_Msk                          /*!<semaphore 3 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE4_Pos       (4U)
+#define HSEM_C1IER_ISE4_Msk       (0x1UL << HSEM_C1IER_ISE4_Pos)               /*!< 0x00000010 */
+#define HSEM_C1IER_ISE4           HSEM_C1IER_ISE4_Msk                          /*!<semaphore 4 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE5_Pos       (5U)
+#define HSEM_C1IER_ISE5_Msk       (0x1UL << HSEM_C1IER_ISE5_Pos)               /*!< 0x00000020 */
+#define HSEM_C1IER_ISE5           HSEM_C1IER_ISE5_Msk                          /*!<semaphore 5 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE6_Pos       (6U)
+#define HSEM_C1IER_ISE6_Msk       (0x1UL << HSEM_C1IER_ISE6_Pos)               /*!< 0x00000040 */
+#define HSEM_C1IER_ISE6           HSEM_C1IER_ISE6_Msk                          /*!<semaphore 6 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE7_Pos       (7U)
+#define HSEM_C1IER_ISE7_Msk       (0x1UL << HSEM_C1IER_ISE7_Pos)               /*!< 0x00000080 */
+#define HSEM_C1IER_ISE7           HSEM_C1IER_ISE7_Msk                          /*!<semaphore 7 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE8_Pos       (8U)
+#define HSEM_C1IER_ISE8_Msk       (0x1UL << HSEM_C1IER_ISE8_Pos)               /*!< 0x00000100 */
+#define HSEM_C1IER_ISE8           HSEM_C1IER_ISE8_Msk                          /*!<semaphore 8 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE9_Pos       (9U)
+#define HSEM_C1IER_ISE9_Msk       (0x1UL << HSEM_C1IER_ISE9_Pos)               /*!< 0x00000200 */
+#define HSEM_C1IER_ISE9           HSEM_C1IER_ISE9_Msk                          /*!<semaphore 9 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE10_Pos      (10U)
+#define HSEM_C1IER_ISE10_Msk      (0x1UL << HSEM_C1IER_ISE10_Pos)              /*!< 0x00000400 */
+#define HSEM_C1IER_ISE10          HSEM_C1IER_ISE10_Msk                         /*!<semaphore 10 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE11_Pos      (11U)
+#define HSEM_C1IER_ISE11_Msk      (0x1UL << HSEM_C1IER_ISE11_Pos)              /*!< 0x00000800 */
+#define HSEM_C1IER_ISE11          HSEM_C1IER_ISE11_Msk                         /*!<semaphore 11 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE12_Pos      (12U)
+#define HSEM_C1IER_ISE12_Msk      (0x1UL << HSEM_C1IER_ISE12_Pos)              /*!< 0x00001000 */
+#define HSEM_C1IER_ISE12          HSEM_C1IER_ISE12_Msk                         /*!<semaphore 12 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE13_Pos      (13U)
+#define HSEM_C1IER_ISE13_Msk      (0x1UL << HSEM_C1IER_ISE13_Pos)              /*!< 0x00002000 */
+#define HSEM_C1IER_ISE13          HSEM_C1IER_ISE13_Msk                         /*!<semaphore 13 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE14_Pos      (14U)
+#define HSEM_C1IER_ISE14_Msk      (0x1UL << HSEM_C1IER_ISE14_Pos)              /*!< 0x00004000 */
+#define HSEM_C1IER_ISE14          HSEM_C1IER_ISE14_Msk                         /*!<semaphore 14 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE15_Pos      (15U)
+#define HSEM_C1IER_ISE15_Msk      (0x1UL << HSEM_C1IER_ISE15_Pos)              /*!< 0x00008000 */
+#define HSEM_C1IER_ISE15          HSEM_C1IER_ISE15_Msk                         /*!<semaphore 15 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE16_Pos      (16U)
+#define HSEM_C1IER_ISE16_Msk      (0x1UL << HSEM_C1IER_ISE16_Pos)              /*!< 0x00010000 */
+#define HSEM_C1IER_ISE16          HSEM_C1IER_ISE16_Msk                         /*!<semaphore 16 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE17_Pos      (17U)
+#define HSEM_C1IER_ISE17_Msk      (0x1UL << HSEM_C1IER_ISE17_Pos)              /*!< 0x00020000 */
+#define HSEM_C1IER_ISE17          HSEM_C1IER_ISE17_Msk                         /*!<semaphore 17 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE18_Pos      (18U)
+#define HSEM_C1IER_ISE18_Msk      (0x1UL << HSEM_C1IER_ISE18_Pos)              /*!< 0x00040000 */
+#define HSEM_C1IER_ISE18          HSEM_C1IER_ISE18_Msk                         /*!<semaphore 18 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE19_Pos      (19U)
+#define HSEM_C1IER_ISE19_Msk      (0x1UL << HSEM_C1IER_ISE19_Pos)              /*!< 0x00080000 */
+#define HSEM_C1IER_ISE19          HSEM_C1IER_ISE19_Msk                         /*!<semaphore 19 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE20_Pos      (20U)
+#define HSEM_C1IER_ISE20_Msk      (0x1UL << HSEM_C1IER_ISE20_Pos)              /*!< 0x00100000 */
+#define HSEM_C1IER_ISE20          HSEM_C1IER_ISE20_Msk                         /*!<semaphore 20 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE21_Pos      (21U)
+#define HSEM_C1IER_ISE21_Msk      (0x1UL << HSEM_C1IER_ISE21_Pos)              /*!< 0x00200000 */
+#define HSEM_C1IER_ISE21          HSEM_C1IER_ISE21_Msk                         /*!<semaphore 21 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE22_Pos      (22U)
+#define HSEM_C1IER_ISE22_Msk      (0x1UL << HSEM_C1IER_ISE22_Pos)              /*!< 0x00400000 */
+#define HSEM_C1IER_ISE22          HSEM_C1IER_ISE22_Msk                         /*!<semaphore 22 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE23_Pos      (23U)
+#define HSEM_C1IER_ISE23_Msk      (0x1UL << HSEM_C1IER_ISE23_Pos)              /*!< 0x00800000 */
+#define HSEM_C1IER_ISE23          HSEM_C1IER_ISE23_Msk                         /*!<semaphore 23 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE24_Pos      (24U)
+#define HSEM_C1IER_ISE24_Msk      (0x1UL << HSEM_C1IER_ISE24_Pos)              /*!< 0x01000000 */
+#define HSEM_C1IER_ISE24          HSEM_C1IER_ISE24_Msk                         /*!<semaphore 24 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE25_Pos      (25U)
+#define HSEM_C1IER_ISE25_Msk      (0x1UL << HSEM_C1IER_ISE25_Pos)              /*!< 0x02000000 */
+#define HSEM_C1IER_ISE25          HSEM_C1IER_ISE25_Msk                         /*!<semaphore 25 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE26_Pos      (26U)
+#define HSEM_C1IER_ISE26_Msk      (0x1UL << HSEM_C1IER_ISE26_Pos)              /*!< 0x04000000 */
+#define HSEM_C1IER_ISE26          HSEM_C1IER_ISE26_Msk                         /*!<semaphore 26 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE27_Pos      (27U)
+#define HSEM_C1IER_ISE27_Msk      (0x1UL << HSEM_C1IER_ISE27_Pos)              /*!< 0x08000000 */
+#define HSEM_C1IER_ISE27          HSEM_C1IER_ISE27_Msk                         /*!<semaphore 27 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE28_Pos      (28U)
+#define HSEM_C1IER_ISE28_Msk      (0x1UL << HSEM_C1IER_ISE28_Pos)              /*!< 0x10000000 */
+#define HSEM_C1IER_ISE28          HSEM_C1IER_ISE28_Msk                         /*!<semaphore 28 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE29_Pos      (29U)
+#define HSEM_C1IER_ISE29_Msk      (0x1UL << HSEM_C1IER_ISE29_Pos)              /*!< 0x20000000 */
+#define HSEM_C1IER_ISE29          HSEM_C1IER_ISE29_Msk                         /*!<semaphore 29 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE30_Pos      (30U)
+#define HSEM_C1IER_ISE30_Msk      (0x1UL << HSEM_C1IER_ISE30_Pos)              /*!< 0x40000000 */
+#define HSEM_C1IER_ISE30          HSEM_C1IER_ISE30_Msk                         /*!<semaphore 30 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE31_Pos      (31U)
+#define HSEM_C1IER_ISE31_Msk      (0x1UL << HSEM_C1IER_ISE31_Pos)              /*!< 0x80000000 */
+#define HSEM_C1IER_ISE31          HSEM_C1IER_ISE31_Msk                         /*!<semaphore 31 interrupt 0 enable bit. */
+
+/********************  Bit definition for HSEM_C1ICR register  *****************/
+#define HSEM_C1ICR_ISC0_Pos       (0U)
+#define HSEM_C1ICR_ISC0_Msk       (0x1UL << HSEM_C1ICR_ISC0_Pos)               /*!< 0x00000001 */
+#define HSEM_C1ICR_ISC0           HSEM_C1ICR_ISC0_Msk                          /*!<semaphore 0 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC1_Pos       (1U)
+#define HSEM_C1ICR_ISC1_Msk       (0x1UL << HSEM_C1ICR_ISC1_Pos)               /*!< 0x00000002 */
+#define HSEM_C1ICR_ISC1           HSEM_C1ICR_ISC1_Msk                          /*!<semaphore 1 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC2_Pos       (2U)
+#define HSEM_C1ICR_ISC2_Msk       (0x1UL << HSEM_C1ICR_ISC2_Pos)               /*!< 0x00000004 */
+#define HSEM_C1ICR_ISC2           HSEM_C1ICR_ISC2_Msk                          /*!<semaphore 2 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC3_Pos       (3U)
+#define HSEM_C1ICR_ISC3_Msk       (0x1UL << HSEM_C1ICR_ISC3_Pos)               /*!< 0x00000008 */
+#define HSEM_C1ICR_ISC3           HSEM_C1ICR_ISC3_Msk                          /*!<semaphore 3 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC4_Pos       (4U)
+#define HSEM_C1ICR_ISC4_Msk       (0x1UL << HSEM_C1ICR_ISC4_Pos)               /*!< 0x00000010 */
+#define HSEM_C1ICR_ISC4           HSEM_C1ICR_ISC4_Msk                          /*!<semaphore 4 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC5_Pos       (5U)
+#define HSEM_C1ICR_ISC5_Msk       (0x1UL << HSEM_C1ICR_ISC5_Pos)               /*!< 0x00000020 */
+#define HSEM_C1ICR_ISC5           HSEM_C1ICR_ISC5_Msk                          /*!<semaphore 5 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC6_Pos       (6U)
+#define HSEM_C1ICR_ISC6_Msk       (0x1UL << HSEM_C1ICR_ISC6_Pos)               /*!< 0x00000040 */
+#define HSEM_C1ICR_ISC6           HSEM_C1ICR_ISC6_Msk                          /*!<semaphore 6 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC7_Pos       (7U)
+#define HSEM_C1ICR_ISC7_Msk       (0x1UL << HSEM_C1ICR_ISC7_Pos)               /*!< 0x00000080 */
+#define HSEM_C1ICR_ISC7           HSEM_C1ICR_ISC7_Msk                          /*!<semaphore 7 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC8_Pos       (8U)
+#define HSEM_C1ICR_ISC8_Msk       (0x1UL << HSEM_C1ICR_ISC8_Pos)               /*!< 0x00000100 */
+#define HSEM_C1ICR_ISC8           HSEM_C1ICR_ISC8_Msk                          /*!<semaphore 8 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC9_Pos       (9U)
+#define HSEM_C1ICR_ISC9_Msk       (0x1UL << HSEM_C1ICR_ISC9_Pos)               /*!< 0x00000200 */
+#define HSEM_C1ICR_ISC9           HSEM_C1ICR_ISC9_Msk                          /*!<semaphore 9 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC10_Pos      (10U)
+#define HSEM_C1ICR_ISC10_Msk      (0x1UL << HSEM_C1ICR_ISC10_Pos)              /*!< 0x00000400 */
+#define HSEM_C1ICR_ISC10          HSEM_C1ICR_ISC10_Msk                         /*!<semaphore 10 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC11_Pos      (11U)
+#define HSEM_C1ICR_ISC11_Msk      (0x1UL << HSEM_C1ICR_ISC11_Pos)              /*!< 0x00000800 */
+#define HSEM_C1ICR_ISC11          HSEM_C1ICR_ISC11_Msk                         /*!<semaphore 11 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC12_Pos      (12U)
+#define HSEM_C1ICR_ISC12_Msk      (0x1UL << HSEM_C1ICR_ISC12_Pos)              /*!< 0x00001000 */
+#define HSEM_C1ICR_ISC12          HSEM_C1ICR_ISC12_Msk                         /*!<semaphore 12 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC13_Pos      (13U)
+#define HSEM_C1ICR_ISC13_Msk      (0x1UL << HSEM_C1ICR_ISC13_Pos)              /*!< 0x00002000 */
+#define HSEM_C1ICR_ISC13          HSEM_C1ICR_ISC13_Msk                         /*!<semaphore 13 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC14_Pos      (14U)
+#define HSEM_C1ICR_ISC14_Msk      (0x1UL << HSEM_C1ICR_ISC14_Pos)              /*!< 0x00004000 */
+#define HSEM_C1ICR_ISC14          HSEM_C1ICR_ISC14_Msk                         /*!<semaphore 14 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC15_Pos      (15U)
+#define HSEM_C1ICR_ISC15_Msk      (0x1UL << HSEM_C1ICR_ISC15_Pos)              /*!< 0x00008000 */
+#define HSEM_C1ICR_ISC15          HSEM_C1ICR_ISC15_Msk                         /*!<semaphore 15 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC16_Pos      (16U)
+#define HSEM_C1ICR_ISC16_Msk      (0x1UL << HSEM_C1ICR_ISC16_Pos)              /*!< 0x00010000 */
+#define HSEM_C1ICR_ISC16          HSEM_C1ICR_ISC16_Msk                         /*!<semaphore 16 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC17_Pos      (17U)
+#define HSEM_C1ICR_ISC17_Msk      (0x1UL << HSEM_C1ICR_ISC17_Pos)              /*!< 0x00020000 */
+#define HSEM_C1ICR_ISC17          HSEM_C1ICR_ISC17_Msk                         /*!<semaphore 17 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC18_Pos      (18U)
+#define HSEM_C1ICR_ISC18_Msk      (0x1UL << HSEM_C1ICR_ISC18_Pos)              /*!< 0x00040000 */
+#define HSEM_C1ICR_ISC18          HSEM_C1ICR_ISC18_Msk                         /*!<semaphore 18 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC19_Pos      (19U)
+#define HSEM_C1ICR_ISC19_Msk      (0x1UL << HSEM_C1ICR_ISC19_Pos)              /*!< 0x00080000 */
+#define HSEM_C1ICR_ISC19          HSEM_C1ICR_ISC19_Msk                         /*!<semaphore 19 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC20_Pos      (20U)
+#define HSEM_C1ICR_ISC20_Msk      (0x1UL << HSEM_C1ICR_ISC20_Pos)              /*!< 0x00100000 */
+#define HSEM_C1ICR_ISC20          HSEM_C1ICR_ISC20_Msk                         /*!<semaphore 20 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC21_Pos      (21U)
+#define HSEM_C1ICR_ISC21_Msk      (0x1UL << HSEM_C1ICR_ISC21_Pos)              /*!< 0x00200000 */
+#define HSEM_C1ICR_ISC21          HSEM_C1ICR_ISC21_Msk                         /*!<semaphore 21 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC22_Pos      (22U)
+#define HSEM_C1ICR_ISC22_Msk      (0x1UL << HSEM_C1ICR_ISC22_Pos)              /*!< 0x00400000 */
+#define HSEM_C1ICR_ISC22          HSEM_C1ICR_ISC22_Msk                         /*!<semaphore 22 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC23_Pos      (23U)
+#define HSEM_C1ICR_ISC23_Msk      (0x1UL << HSEM_C1ICR_ISC23_Pos)              /*!< 0x00800000 */
+#define HSEM_C1ICR_ISC23          HSEM_C1ICR_ISC23_Msk                         /*!<semaphore 23 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC24_Pos      (24U)
+#define HSEM_C1ICR_ISC24_Msk      (0x1UL << HSEM_C1ICR_ISC24_Pos)              /*!< 0x01000000 */
+#define HSEM_C1ICR_ISC24          HSEM_C1ICR_ISC24_Msk                         /*!<semaphore 24 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC25_Pos      (25U)
+#define HSEM_C1ICR_ISC25_Msk      (0x1UL << HSEM_C1ICR_ISC25_Pos)              /*!< 0x02000000 */
+#define HSEM_C1ICR_ISC25          HSEM_C1ICR_ISC25_Msk                         /*!<semaphore 25 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC26_Pos      (26U)
+#define HSEM_C1ICR_ISC26_Msk      (0x1UL << HSEM_C1ICR_ISC26_Pos)              /*!< 0x04000000 */
+#define HSEM_C1ICR_ISC26          HSEM_C1ICR_ISC26_Msk                         /*!<semaphore 26 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC27_Pos      (27U)
+#define HSEM_C1ICR_ISC27_Msk      (0x1UL << HSEM_C1ICR_ISC27_Pos)              /*!< 0x08000000 */
+#define HSEM_C1ICR_ISC27          HSEM_C1ICR_ISC27_Msk                         /*!<semaphore 27 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC28_Pos      (28U)
+#define HSEM_C1ICR_ISC28_Msk      (0x1UL << HSEM_C1ICR_ISC28_Pos)              /*!< 0x10000000 */
+#define HSEM_C1ICR_ISC28          HSEM_C1ICR_ISC28_Msk                         /*!<semaphore 28 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC29_Pos      (29U)
+#define HSEM_C1ICR_ISC29_Msk      (0x1UL << HSEM_C1ICR_ISC29_Pos)              /*!< 0x20000000 */
+#define HSEM_C1ICR_ISC29          HSEM_C1ICR_ISC29_Msk                         /*!<semaphore 29 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC30_Pos      (30U)
+#define HSEM_C1ICR_ISC30_Msk      (0x1UL << HSEM_C1ICR_ISC30_Pos)              /*!< 0x40000000 */
+#define HSEM_C1ICR_ISC30          HSEM_C1ICR_ISC30_Msk                         /*!<semaphore 30 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC31_Pos      (31U)
+#define HSEM_C1ICR_ISC31_Msk      (0x1UL << HSEM_C1ICR_ISC31_Pos)              /*!< 0x80000000 */
+#define HSEM_C1ICR_ISC31          HSEM_C1ICR_ISC31_Msk                         /*!<semaphore 31 interrupt 0 clear bit. */
+
+/********************  Bit definition for HSEM_C1ISR register  *****************/
+#define HSEM_C1ISR_ISF0_Pos       (0U)
+#define HSEM_C1ISR_ISF0_Msk       (0x1UL << HSEM_C1ISR_ISF0_Pos)               /*!< 0x00000001 */
+#define HSEM_C1ISR_ISF0           HSEM_C1ISR_ISF0_Msk                          /*!<semaphore 0 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF1_Pos       (1U)
+#define HSEM_C1ISR_ISF1_Msk       (0x1UL << HSEM_C1ISR_ISF1_Pos)               /*!< 0x00000002 */
+#define HSEM_C1ISR_ISF1           HSEM_C1ISR_ISF1_Msk                          /*!<semaphore 1 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF2_Pos       (2U)
+#define HSEM_C1ISR_ISF2_Msk       (0x1UL << HSEM_C1ISR_ISF2_Pos)               /*!< 0x00000004 */
+#define HSEM_C1ISR_ISF2           HSEM_C1ISR_ISF2_Msk                          /*!<semaphore 2 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF3_Pos       (3U)
+#define HSEM_C1ISR_ISF3_Msk       (0x1UL << HSEM_C1ISR_ISF3_Pos)               /*!< 0x00000008 */
+#define HSEM_C1ISR_ISF3           HSEM_C1ISR_ISF3_Msk                          /*!<semaphore 3 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF4_Pos       (4U)
+#define HSEM_C1ISR_ISF4_Msk       (0x1UL << HSEM_C1ISR_ISF4_Pos)               /*!< 0x00000010 */
+#define HSEM_C1ISR_ISF4           HSEM_C1ISR_ISF4_Msk                          /*!<semaphore 4 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF5_Pos       (5U)
+#define HSEM_C1ISR_ISF5_Msk       (0x1UL << HSEM_C1ISR_ISF5_Pos)               /*!< 0x00000020 */
+#define HSEM_C1ISR_ISF5           HSEM_C1ISR_ISF5_Msk                          /*!<semaphore 5 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF6_Pos       (6U)
+#define HSEM_C1ISR_ISF6_Msk       (0x1UL << HSEM_C1ISR_ISF6_Pos)               /*!< 0x00000040 */
+#define HSEM_C1ISR_ISF6           HSEM_C1ISR_ISF6_Msk                          /*!<semaphore 6 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF7_Pos       (7U)
+#define HSEM_C1ISR_ISF7_Msk       (0x1UL << HSEM_C1ISR_ISF7_Pos)               /*!< 0x00000080 */
+#define HSEM_C1ISR_ISF7           HSEM_C1ISR_ISF7_Msk                          /*!<semaphore 7 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF8_Pos       (8U)
+#define HSEM_C1ISR_ISF8_Msk       (0x1UL << HSEM_C1ISR_ISF8_Pos)               /*!< 0x00000100 */
+#define HSEM_C1ISR_ISF8           HSEM_C1ISR_ISF8_Msk                          /*!<semaphore 8 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF9_Pos       (9U)
+#define HSEM_C1ISR_ISF9_Msk       (0x1UL << HSEM_C1ISR_ISF9_Pos)               /*!< 0x00000200 */
+#define HSEM_C1ISR_ISF9           HSEM_C1ISR_ISF9_Msk                          /*!<semaphore 9 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF10_Pos      (10U)
+#define HSEM_C1ISR_ISF10_Msk      (0x1UL << HSEM_C1ISR_ISF10_Pos)              /*!< 0x00000400 */
+#define HSEM_C1ISR_ISF10          HSEM_C1ISR_ISF10_Msk                         /*!<semaphore 10 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF11_Pos      (11U)
+#define HSEM_C1ISR_ISF11_Msk      (0x1UL << HSEM_C1ISR_ISF11_Pos)              /*!< 0x00000800 */
+#define HSEM_C1ISR_ISF11          HSEM_C1ISR_ISF11_Msk                         /*!<semaphore 11 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF12_Pos      (12U)
+#define HSEM_C1ISR_ISF12_Msk      (0x1UL << HSEM_C1ISR_ISF12_Pos)              /*!< 0x00001000 */
+#define HSEM_C1ISR_ISF12          HSEM_C1ISR_ISF12_Msk                         /*!<semaphore 12 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF13_Pos      (13U)
+#define HSEM_C1ISR_ISF13_Msk      (0x1UL << HSEM_C1ISR_ISF13_Pos)              /*!< 0x00002000 */
+#define HSEM_C1ISR_ISF13          HSEM_C1ISR_ISF13_Msk                         /*!<semaphore 13 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF14_Pos      (14U)
+#define HSEM_C1ISR_ISF14_Msk      (0x1UL << HSEM_C1ISR_ISF14_Pos)              /*!< 0x00004000 */
+#define HSEM_C1ISR_ISF14          HSEM_C1ISR_ISF14_Msk                         /*!<semaphore 14 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF15_Pos      (15U)
+#define HSEM_C1ISR_ISF15_Msk      (0x1UL << HSEM_C1ISR_ISF15_Pos)              /*!< 0x00008000 */
+#define HSEM_C1ISR_ISF15          HSEM_C1ISR_ISF15_Msk                         /*!<semaphore 15 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF16_Pos      (16U)
+#define HSEM_C1ISR_ISF16_Msk      (0x1UL << HSEM_C1ISR_ISF16_Pos)              /*!< 0x00010000 */
+#define HSEM_C1ISR_ISF16          HSEM_C1ISR_ISF16_Msk                         /*!<semaphore 16 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF17_Pos      (17U)
+#define HSEM_C1ISR_ISF17_Msk      (0x1UL << HSEM_C1ISR_ISF17_Pos)              /*!< 0x00020000 */
+#define HSEM_C1ISR_ISF17          HSEM_C1ISR_ISF17_Msk                         /*!<semaphore 17 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF18_Pos      (18U)
+#define HSEM_C1ISR_ISF18_Msk      (0x1UL << HSEM_C1ISR_ISF18_Pos)              /*!< 0x00040000 */
+#define HSEM_C1ISR_ISF18          HSEM_C1ISR_ISF18_Msk                         /*!<semaphore 18 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF19_Pos      (19U)
+#define HSEM_C1ISR_ISF19_Msk      (0x1UL << HSEM_C1ISR_ISF19_Pos)              /*!< 0x00080000 */
+#define HSEM_C1ISR_ISF19          HSEM_C1ISR_ISF19_Msk                         /*!<semaphore 19 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF20_Pos      (20U)
+#define HSEM_C1ISR_ISF20_Msk      (0x1UL << HSEM_C1ISR_ISF20_Pos)              /*!< 0x00100000 */
+#define HSEM_C1ISR_ISF20          HSEM_C1ISR_ISF20_Msk                         /*!<semaphore 20 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF21_Pos      (21U)
+#define HSEM_C1ISR_ISF21_Msk      (0x1UL << HSEM_C1ISR_ISF21_Pos)              /*!< 0x00200000 */
+#define HSEM_C1ISR_ISF21          HSEM_C1ISR_ISF21_Msk                         /*!<semaphore 21 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF22_Pos      (22U)
+#define HSEM_C1ISR_ISF22_Msk      (0x1UL << HSEM_C1ISR_ISF22_Pos)              /*!< 0x00400000 */
+#define HSEM_C1ISR_ISF22          HSEM_C1ISR_ISF22_Msk                         /*!<semaphore 22 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF23_Pos      (23U)
+#define HSEM_C1ISR_ISF23_Msk      (0x1UL << HSEM_C1ISR_ISF23_Pos)              /*!< 0x00800000 */
+#define HSEM_C1ISR_ISF23          HSEM_C1ISR_ISF23_Msk                         /*!<semaphore 23 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF24_Pos      (24U)
+#define HSEM_C1ISR_ISF24_Msk      (0x1UL << HSEM_C1ISR_ISF24_Pos)              /*!< 0x01000000 */
+#define HSEM_C1ISR_ISF24          HSEM_C1ISR_ISF24_Msk                         /*!<semaphore 24 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF25_Pos      (25U)
+#define HSEM_C1ISR_ISF25_Msk      (0x1UL << HSEM_C1ISR_ISF25_Pos)              /*!< 0x02000000 */
+#define HSEM_C1ISR_ISF25          HSEM_C1ISR_ISF25_Msk                         /*!<semaphore 25 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF26_Pos      (26U)
+#define HSEM_C1ISR_ISF26_Msk      (0x1UL << HSEM_C1ISR_ISF26_Pos)              /*!< 0x04000000 */
+#define HSEM_C1ISR_ISF26          HSEM_C1ISR_ISF26_Msk                         /*!<semaphore 26 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF27_Pos      (27U)
+#define HSEM_C1ISR_ISF27_Msk      (0x1UL << HSEM_C1ISR_ISF27_Pos)              /*!< 0x08000000 */
+#define HSEM_C1ISR_ISF27          HSEM_C1ISR_ISF27_Msk                         /*!<semaphore 27 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF28_Pos      (28U)
+#define HSEM_C1ISR_ISF28_Msk      (0x1UL << HSEM_C1ISR_ISF28_Pos)              /*!< 0x10000000 */
+#define HSEM_C1ISR_ISF28          HSEM_C1ISR_ISF28_Msk                         /*!<semaphore 28 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF29_Pos      (29U)
+#define HSEM_C1ISR_ISF29_Msk      (0x1UL << HSEM_C1ISR_ISF29_Pos)              /*!< 0x20000000 */
+#define HSEM_C1ISR_ISF29          HSEM_C1ISR_ISF29_Msk                         /*!<semaphore 29 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF30_Pos      (30U)
+#define HSEM_C1ISR_ISF30_Msk      (0x1UL << HSEM_C1ISR_ISF30_Pos)              /*!< 0x40000000 */
+#define HSEM_C1ISR_ISF30          HSEM_C1ISR_ISF30_Msk                         /*!<semaphore 30 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF31_Pos      (31U)
+#define HSEM_C1ISR_ISF31_Msk      (0x1UL << HSEM_C1ISR_ISF31_Pos)              /*!< 0x80000000 */
+#define HSEM_C1ISR_ISF31          HSEM_C1ISR_ISF31_Msk                         /*!<semaphore 31 interrupt 0 status bit. */
+
+/********************  Bit definition for HSEM_C1MISR register  *****************/
+#define HSEM_C1MISR_MISF0_Pos     (0U)
+#define HSEM_C1MISR_MISF0_Msk     (0x1UL << HSEM_C1MISR_MISF0_Pos)             /*!< 0x00000001 */
+#define HSEM_C1MISR_MISF0         HSEM_C1MISR_MISF0_Msk                        /*!<semaphore 0 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF1_Pos     (1U)
+#define HSEM_C1MISR_MISF1_Msk     (0x1UL << HSEM_C1MISR_MISF1_Pos)             /*!< 0x00000002 */
+#define HSEM_C1MISR_MISF1         HSEM_C1MISR_MISF1_Msk                        /*!<semaphore 1 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF2_Pos     (2U)
+#define HSEM_C1MISR_MISF2_Msk     (0x1UL << HSEM_C1MISR_MISF2_Pos)             /*!< 0x00000004 */
+#define HSEM_C1MISR_MISF2         HSEM_C1MISR_MISF2_Msk                        /*!<semaphore 2 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF3_Pos     (3U)
+#define HSEM_C1MISR_MISF3_Msk     (0x1UL << HSEM_C1MISR_MISF3_Pos)             /*!< 0x00000008 */
+#define HSEM_C1MISR_MISF3         HSEM_C1MISR_MISF3_Msk                        /*!<semaphore 3 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF4_Pos     (4U)
+#define HSEM_C1MISR_MISF4_Msk     (0x1UL << HSEM_C1MISR_MISF4_Pos)             /*!< 0x00000010 */
+#define HSEM_C1MISR_MISF4         HSEM_C1MISR_MISF4_Msk                        /*!<semaphore 4 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF5_Pos     (5U)
+#define HSEM_C1MISR_MISF5_Msk     (0x1UL << HSEM_C1MISR_MISF5_Pos)             /*!< 0x00000020 */
+#define HSEM_C1MISR_MISF5         HSEM_C1MISR_MISF5_Msk                        /*!<semaphore 5 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF6_Pos     (6U)
+#define HSEM_C1MISR_MISF6_Msk     (0x1UL << HSEM_C1MISR_MISF6_Pos)             /*!< 0x00000040 */
+#define HSEM_C1MISR_MISF6         HSEM_C1MISR_MISF6_Msk                        /*!<semaphore 6 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF7_Pos     (7U)
+#define HSEM_C1MISR_MISF7_Msk     (0x1UL << HSEM_C1MISR_MISF7_Pos)             /*!< 0x00000080 */
+#define HSEM_C1MISR_MISF7         HSEM_C1MISR_MISF7_Msk                        /*!<semaphore 7 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF8_Pos     (8U)
+#define HSEM_C1MISR_MISF8_Msk     (0x1UL << HSEM_C1MISR_MISF8_Pos)             /*!< 0x00000100 */
+#define HSEM_C1MISR_MISF8         HSEM_C1MISR_MISF8_Msk                        /*!<semaphore 8 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF9_Pos     (9U)
+#define HSEM_C1MISR_MISF9_Msk     (0x1UL << HSEM_C1MISR_MISF9_Pos)             /*!< 0x00000200 */
+#define HSEM_C1MISR_MISF9         HSEM_C1MISR_MISF9_Msk                        /*!<semaphore 9 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF10_Pos    (10U)
+#define HSEM_C1MISR_MISF10_Msk    (0x1UL << HSEM_C1MISR_MISF10_Pos)            /*!< 0x00000400 */
+#define HSEM_C1MISR_MISF10        HSEM_C1MISR_MISF10_Msk                       /*!<semaphore 10 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF11_Pos    (11U)
+#define HSEM_C1MISR_MISF11_Msk    (0x1UL << HSEM_C1MISR_MISF11_Pos)            /*!< 0x00000800 */
+#define HSEM_C1MISR_MISF11        HSEM_C1MISR_MISF11_Msk                       /*!<semaphore 11 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF12_Pos    (12U)
+#define HSEM_C1MISR_MISF12_Msk    (0x1UL << HSEM_C1MISR_MISF12_Pos)            /*!< 0x00001000 */
+#define HSEM_C1MISR_MISF12        HSEM_C1MISR_MISF12_Msk                       /*!<semaphore 12 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF13_Pos    (13U)
+#define HSEM_C1MISR_MISF13_Msk    (0x1UL << HSEM_C1MISR_MISF13_Pos)            /*!< 0x00002000 */
+#define HSEM_C1MISR_MISF13        HSEM_C1MISR_MISF13_Msk                       /*!<semaphore 13 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF14_Pos    (14U)
+#define HSEM_C1MISR_MISF14_Msk    (0x1UL << HSEM_C1MISR_MISF14_Pos)            /*!< 0x00004000 */
+#define HSEM_C1MISR_MISF14        HSEM_C1MISR_MISF14_Msk                       /*!<semaphore 14 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF15_Pos    (15U)
+#define HSEM_C1MISR_MISF15_Msk    (0x1UL << HSEM_C1MISR_MISF15_Pos)            /*!< 0x00008000 */
+#define HSEM_C1MISR_MISF15        HSEM_C1MISR_MISF15_Msk                       /*!<semaphore 15 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF16_Pos    (16U)
+#define HSEM_C1MISR_MISF16_Msk    (0x1UL << HSEM_C1MISR_MISF16_Pos)            /*!< 0x00010000 */
+#define HSEM_C1MISR_MISF16        HSEM_C1MISR_MISF16_Msk                       /*!<semaphore 16 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF17_Pos    (17U)
+#define HSEM_C1MISR_MISF17_Msk    (0x1UL << HSEM_C1MISR_MISF17_Pos)            /*!< 0x00020000 */
+#define HSEM_C1MISR_MISF17        HSEM_C1MISR_MISF17_Msk                       /*!<semaphore 17 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF18_Pos    (18U)
+#define HSEM_C1MISR_MISF18_Msk    (0x1UL << HSEM_C1MISR_MISF18_Pos)            /*!< 0x00040000 */
+#define HSEM_C1MISR_MISF18        HSEM_C1MISR_MISF18_Msk                       /*!<semaphore 18 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF19_Pos    (19U)
+#define HSEM_C1MISR_MISF19_Msk    (0x1UL << HSEM_C1MISR_MISF19_Pos)            /*!< 0x00080000 */
+#define HSEM_C1MISR_MISF19        HSEM_C1MISR_MISF19_Msk                       /*!<semaphore 19 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF20_Pos    (20U)
+#define HSEM_C1MISR_MISF20_Msk    (0x1UL << HSEM_C1MISR_MISF20_Pos)            /*!< 0x00100000 */
+#define HSEM_C1MISR_MISF20        HSEM_C1MISR_MISF20_Msk                       /*!<semaphore 20 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF21_Pos    (21U)
+#define HSEM_C1MISR_MISF21_Msk    (0x1UL << HSEM_C1MISR_MISF21_Pos)            /*!< 0x00200000 */
+#define HSEM_C1MISR_MISF21        HSEM_C1MISR_MISF21_Msk                       /*!<semaphore 21 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF22_Pos    (22U)
+#define HSEM_C1MISR_MISF22_Msk    (0x1UL << HSEM_C1MISR_MISF22_Pos)            /*!< 0x00400000 */
+#define HSEM_C1MISR_MISF22        HSEM_C1MISR_MISF22_Msk                       /*!<semaphore 22 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF23_Pos    (23U)
+#define HSEM_C1MISR_MISF23_Msk    (0x1UL << HSEM_C1MISR_MISF23_Pos)            /*!< 0x00800000 */
+#define HSEM_C1MISR_MISF23        HSEM_C1MISR_MISF23_Msk                       /*!<semaphore 23 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF24_Pos    (24U)
+#define HSEM_C1MISR_MISF24_Msk    (0x1UL << HSEM_C1MISR_MISF24_Pos)            /*!< 0x01000000 */
+#define HSEM_C1MISR_MISF24        HSEM_C1MISR_MISF24_Msk                       /*!<semaphore 24 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF25_Pos    (25U)
+#define HSEM_C1MISR_MISF25_Msk    (0x1UL << HSEM_C1MISR_MISF25_Pos)            /*!< 0x02000000 */
+#define HSEM_C1MISR_MISF25        HSEM_C1MISR_MISF25_Msk                       /*!<semaphore 25 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF26_Pos    (26U)
+#define HSEM_C1MISR_MISF26_Msk    (0x1UL << HSEM_C1MISR_MISF26_Pos)            /*!< 0x04000000 */
+#define HSEM_C1MISR_MISF26        HSEM_C1MISR_MISF26_Msk                       /*!<semaphore 26 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF27_Pos    (27U)
+#define HSEM_C1MISR_MISF27_Msk    (0x1UL << HSEM_C1MISR_MISF27_Pos)            /*!< 0x08000000 */
+#define HSEM_C1MISR_MISF27        HSEM_C1MISR_MISF27_Msk                       /*!<semaphore 27 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF28_Pos    (28U)
+#define HSEM_C1MISR_MISF28_Msk    (0x1UL << HSEM_C1MISR_MISF28_Pos)            /*!< 0x10000000 */
+#define HSEM_C1MISR_MISF28        HSEM_C1MISR_MISF28_Msk                       /*!<semaphore 28 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF29_Pos    (29U)
+#define HSEM_C1MISR_MISF29_Msk    (0x1UL << HSEM_C1MISR_MISF29_Pos)            /*!< 0x20000000 */
+#define HSEM_C1MISR_MISF29        HSEM_C1MISR_MISF29_Msk                       /*!<semaphore 29 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF30_Pos    (30U)
+#define HSEM_C1MISR_MISF30_Msk    (0x1UL << HSEM_C1MISR_MISF30_Pos)            /*!< 0x40000000 */
+#define HSEM_C1MISR_MISF30        HSEM_C1MISR_MISF30_Msk                       /*!<semaphore 30 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF31_Pos    (31U)
+#define HSEM_C1MISR_MISF31_Msk    (0x1UL << HSEM_C1MISR_MISF31_Pos)            /*!< 0x80000000 */
+#define HSEM_C1MISR_MISF31        HSEM_C1MISR_MISF31_Msk                       /*!<semaphore 31 interrupt 0 masked status bit. */
+
+/********************  Bit definition for HSEM_CR register  *****************/
+#define HSEM_CR_COREID_Pos        (8U)
+#define HSEM_CR_COREID_Msk        (0xFFUL << HSEM_CR_COREID_Pos)               /*!< 0x0000FF00 */
+#define HSEM_CR_COREID            HSEM_CR_COREID_Msk                           /*!<CoreID of semaphores to be cleared. */
+#define HSEM_CR_KEY_Pos           (16U)
+#define HSEM_CR_KEY_Msk           (0xFFFFUL << HSEM_CR_KEY_Pos)                /*!< 0xFFFF0000 */
+#define HSEM_CR_KEY               HSEM_CR_KEY_Msk                              /*!<semaphores clear key. */
+
+/********************  Bit definition for HSEM_KEYR register  *****************/
+#define HSEM_KEYR_KEY_Pos         (16U)
+#define HSEM_KEYR_KEY_Msk         (0xFFFFUL << HSEM_KEYR_KEY_Pos)              /*!< 0xFFFF0000 */
+#define HSEM_KEYR_KEY             HSEM_KEYR_KEY_Msk                            /*!<semaphores clear key. */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    HASH                                    */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bits definition for HASH_CR register  ********************/
+#define HASH_CR_INIT_Pos          (2U)
+#define HASH_CR_INIT_Msk          (0x1UL << HASH_CR_INIT_Pos)                  /*!< 0x00000004 */
+#define HASH_CR_INIT              HASH_CR_INIT_Msk
+#define HASH_CR_DMAE_Pos          (3U)
+#define HASH_CR_DMAE_Msk          (0x1UL << HASH_CR_DMAE_Pos)                  /*!< 0x00000008 */
+#define HASH_CR_DMAE              HASH_CR_DMAE_Msk
+#define HASH_CR_DATATYPE_Pos      (4U)
+#define HASH_CR_DATATYPE_Msk      (0x3UL << HASH_CR_DATATYPE_Pos)              /*!< 0x00000030 */
+#define HASH_CR_DATATYPE          HASH_CR_DATATYPE_Msk
+#define HASH_CR_DATATYPE_0        (0x1UL << HASH_CR_DATATYPE_Pos)               /*!< 0x00000010 */
+#define HASH_CR_DATATYPE_1        (0x2UL << HASH_CR_DATATYPE_Pos)               /*!< 0x00000020 */
+#define HASH_CR_MODE_Pos          (6U)
+#define HASH_CR_MODE_Msk          (0x1UL << HASH_CR_MODE_Pos)                  /*!< 0x00000040 */
+#define HASH_CR_MODE              HASH_CR_MODE_Msk
+#define HASH_CR_ALGO_Pos          (7U)
+#define HASH_CR_ALGO_Msk          (0x801UL << HASH_CR_ALGO_Pos)                /*!< 0x00040080 */
+#define HASH_CR_ALGO              HASH_CR_ALGO_Msk
+#define HASH_CR_ALGO_0            (0x001UL << HASH_CR_ALGO_Pos)                 /*!< 0x00000080 */
+#define HASH_CR_ALGO_1            (0x800UL << HASH_CR_ALGO_Pos)                 /*!< 0x00040000 */
+#define HASH_CR_NBW_Pos           (8U)
+#define HASH_CR_NBW_Msk           (0xFUL << HASH_CR_NBW_Pos)                   /*!< 0x00000F00 */
+#define HASH_CR_NBW               HASH_CR_NBW_Msk
+#define HASH_CR_NBW_0             (0x1UL << HASH_CR_NBW_Pos)                    /*!< 0x00000100 */
+#define HASH_CR_NBW_1             (0x2UL << HASH_CR_NBW_Pos)                    /*!< 0x00000200 */
+#define HASH_CR_NBW_2             (0x4UL << HASH_CR_NBW_Pos)                    /*!< 0x00000400 */
+#define HASH_CR_NBW_3             (0x8UL << HASH_CR_NBW_Pos)                    /*!< 0x00000800 */
+#define HASH_CR_DINNE_Pos         (12U)
+#define HASH_CR_DINNE_Msk         (0x1UL << HASH_CR_DINNE_Pos)                 /*!< 0x00001000 */
+#define HASH_CR_DINNE             HASH_CR_DINNE_Msk
+#define HASH_CR_MDMAT_Pos         (13U)
+#define HASH_CR_MDMAT_Msk         (0x1UL << HASH_CR_MDMAT_Pos)                 /*!< 0x00002000 */
+#define HASH_CR_MDMAT             HASH_CR_MDMAT_Msk
+#define HASH_CR_LKEY_Pos          (16U)
+#define HASH_CR_LKEY_Msk          (0x1UL << HASH_CR_LKEY_Pos)                  /*!< 0x00010000 */
+#define HASH_CR_LKEY              HASH_CR_LKEY_Msk
+
+/******************  Bits definition for HASH_STR register  *******************/
+#define HASH_STR_NBLW_Pos         (0U)
+#define HASH_STR_NBLW_Msk         (0x1FUL << HASH_STR_NBLW_Pos)                /*!< 0x0000001F */
+#define HASH_STR_NBLW             HASH_STR_NBLW_Msk
+#define HASH_STR_NBLW_0           (0x01UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000001 */
+#define HASH_STR_NBLW_1           (0x02UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000002 */
+#define HASH_STR_NBLW_2           (0x04UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000004 */
+#define HASH_STR_NBLW_3           (0x08UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000008 */
+#define HASH_STR_NBLW_4           (0x10UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000010 */
+#define HASH_STR_DCAL_Pos         (8U)
+#define HASH_STR_DCAL_Msk         (0x1UL << HASH_STR_DCAL_Pos)                 /*!< 0x00000100 */
+#define HASH_STR_DCAL             HASH_STR_DCAL_Msk
+
+/******************  Bits definition for HASH_IMR register  *******************/
+#define HASH_IMR_DINIE_Pos        (0U)
+#define HASH_IMR_DINIE_Msk        (0x1UL << HASH_IMR_DINIE_Pos)                /*!< 0x00000001 */
+#define HASH_IMR_DINIE            HASH_IMR_DINIE_Msk
+#define HASH_IMR_DCIE_Pos         (1U)
+#define HASH_IMR_DCIE_Msk         (0x1UL << HASH_IMR_DCIE_Pos)                 /*!< 0x00000002 */
+#define HASH_IMR_DCIE             HASH_IMR_DCIE_Msk
+
+/******************  Bits definition for HASH_SR register  ********************/
+#define HASH_SR_DINIS_Pos         (0U)
+#define HASH_SR_DINIS_Msk         (0x1UL << HASH_SR_DINIS_Pos)                 /*!< 0x00000001 */
+#define HASH_SR_DINIS             HASH_SR_DINIS_Msk
+#define HASH_SR_DCIS_Pos          (1U)
+#define HASH_SR_DCIS_Msk          (0x1UL << HASH_SR_DCIS_Pos)                  /*!< 0x00000002 */
+#define HASH_SR_DCIS              HASH_SR_DCIS_Msk
+#define HASH_SR_DMAS_Pos          (2U)
+#define HASH_SR_DMAS_Msk          (0x1UL << HASH_SR_DMAS_Pos)                  /*!< 0x00000004 */
+#define HASH_SR_DMAS              HASH_SR_DMAS_Msk
+#define HASH_SR_BUSY_Pos          (3U)
+#define HASH_SR_BUSY_Msk          (0x1UL << HASH_SR_BUSY_Pos)                  /*!< 0x00000008 */
+#define HASH_SR_BUSY              HASH_SR_BUSY_Msk
+/******************************************************************************/
+/*                                                                            */
+/*                      Inter-integrated Circuit Interface (I2C)              */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for I2C_CR1 register  *******************/
+#define I2C_CR1_PE_Pos               (0U)
+#define I2C_CR1_PE_Msk               (0x1UL << I2C_CR1_PE_Pos)                 /*!< 0x00000001 */
+#define I2C_CR1_PE                   I2C_CR1_PE_Msk                            /*!< Peripheral enable */
+#define I2C_CR1_TXIE_Pos             (1U)
+#define I2C_CR1_TXIE_Msk             (0x1UL << I2C_CR1_TXIE_Pos)               /*!< 0x00000002 */
+#define I2C_CR1_TXIE                 I2C_CR1_TXIE_Msk                          /*!< TX interrupt enable */
+#define I2C_CR1_RXIE_Pos             (2U)
+#define I2C_CR1_RXIE_Msk             (0x1UL << I2C_CR1_RXIE_Pos)               /*!< 0x00000004 */
+#define I2C_CR1_RXIE                 I2C_CR1_RXIE_Msk                          /*!< RX interrupt enable */
+#define I2C_CR1_ADDRIE_Pos           (3U)
+#define I2C_CR1_ADDRIE_Msk           (0x1UL << I2C_CR1_ADDRIE_Pos)             /*!< 0x00000008 */
+#define I2C_CR1_ADDRIE               I2C_CR1_ADDRIE_Msk                        /*!< Address match interrupt enable */
+#define I2C_CR1_NACKIE_Pos           (4U)
+#define I2C_CR1_NACKIE_Msk           (0x1UL << I2C_CR1_NACKIE_Pos)             /*!< 0x00000010 */
+#define I2C_CR1_NACKIE               I2C_CR1_NACKIE_Msk                        /*!< NACK received interrupt enable */
+#define I2C_CR1_STOPIE_Pos           (5U)
+#define I2C_CR1_STOPIE_Msk           (0x1UL << I2C_CR1_STOPIE_Pos)             /*!< 0x00000020 */
+#define I2C_CR1_STOPIE               I2C_CR1_STOPIE_Msk                        /*!< STOP detection interrupt enable */
+#define I2C_CR1_TCIE_Pos             (6U)
+#define I2C_CR1_TCIE_Msk             (0x1UL << I2C_CR1_TCIE_Pos)               /*!< 0x00000040 */
+#define I2C_CR1_TCIE                 I2C_CR1_TCIE_Msk                          /*!< Transfer complete interrupt enable */
+#define I2C_CR1_ERRIE_Pos            (7U)
+#define I2C_CR1_ERRIE_Msk            (0x1UL << I2C_CR1_ERRIE_Pos)              /*!< 0x00000080 */
+#define I2C_CR1_ERRIE                I2C_CR1_ERRIE_Msk                         /*!< Errors interrupt enable */
+#define I2C_CR1_DNF_Pos              (8U)
+#define I2C_CR1_DNF_Msk              (0xFUL << I2C_CR1_DNF_Pos)                /*!< 0x00000F00 */
+#define I2C_CR1_DNF                  I2C_CR1_DNF_Msk                           /*!< Digital noise filter */
+#define I2C_CR1_ANFOFF_Pos           (12U)
+#define I2C_CR1_ANFOFF_Msk           (0x1UL << I2C_CR1_ANFOFF_Pos)             /*!< 0x00001000 */
+#define I2C_CR1_ANFOFF               I2C_CR1_ANFOFF_Msk                        /*!< Analog noise filter OFF */
+#define I2C_CR1_TXDMAEN_Pos          (14U)
+#define I2C_CR1_TXDMAEN_Msk          (0x1UL << I2C_CR1_TXDMAEN_Pos)            /*!< 0x00004000 */
+#define I2C_CR1_TXDMAEN              I2C_CR1_TXDMAEN_Msk                       /*!< DMA transmission requests enable */
+#define I2C_CR1_RXDMAEN_Pos          (15U)
+#define I2C_CR1_RXDMAEN_Msk          (0x1UL << I2C_CR1_RXDMAEN_Pos)            /*!< 0x00008000 */
+#define I2C_CR1_RXDMAEN              I2C_CR1_RXDMAEN_Msk                       /*!< DMA reception requests enable */
+#define I2C_CR1_SBC_Pos              (16U)
+#define I2C_CR1_SBC_Msk              (0x1UL << I2C_CR1_SBC_Pos)                /*!< 0x00010000 */
+#define I2C_CR1_SBC                  I2C_CR1_SBC_Msk                           /*!< Slave byte control */
+#define I2C_CR1_NOSTRETCH_Pos        (17U)
+#define I2C_CR1_NOSTRETCH_Msk        (0x1UL << I2C_CR1_NOSTRETCH_Pos)          /*!< 0x00020000 */
+#define I2C_CR1_NOSTRETCH            I2C_CR1_NOSTRETCH_Msk                     /*!< Clock stretching disable */
+#define I2C_CR1_WUPEN_Pos            (18U)
+#define I2C_CR1_WUPEN_Msk            (0x1UL << I2C_CR1_WUPEN_Pos)              /*!< 0x00040000 */
+#define I2C_CR1_WUPEN                I2C_CR1_WUPEN_Msk                         /*!< Wakeup from STOP enable */
+#define I2C_CR1_GCEN_Pos             (19U)
+#define I2C_CR1_GCEN_Msk             (0x1UL << I2C_CR1_GCEN_Pos)               /*!< 0x00080000 */
+#define I2C_CR1_GCEN                 I2C_CR1_GCEN_Msk                          /*!< General call enable */
+#define I2C_CR1_SMBHEN_Pos           (20U)
+#define I2C_CR1_SMBHEN_Msk           (0x1UL << I2C_CR1_SMBHEN_Pos)             /*!< 0x00100000 */
+#define I2C_CR1_SMBHEN               I2C_CR1_SMBHEN_Msk                        /*!< SMBus host address enable */
+#define I2C_CR1_SMBDEN_Pos           (21U)
+#define I2C_CR1_SMBDEN_Msk           (0x1UL << I2C_CR1_SMBDEN_Pos)             /*!< 0x00200000 */
+#define I2C_CR1_SMBDEN               I2C_CR1_SMBDEN_Msk                        /*!< SMBus device default address enable */
+#define I2C_CR1_ALERTEN_Pos          (22U)
+#define I2C_CR1_ALERTEN_Msk          (0x1UL << I2C_CR1_ALERTEN_Pos)            /*!< 0x00400000 */
+#define I2C_CR1_ALERTEN              I2C_CR1_ALERTEN_Msk                       /*!< SMBus alert enable */
+#define I2C_CR1_PECEN_Pos            (23U)
+#define I2C_CR1_PECEN_Msk            (0x1UL << I2C_CR1_PECEN_Pos)              /*!< 0x00800000 */
+#define I2C_CR1_PECEN                I2C_CR1_PECEN_Msk                         /*!< PEC enable */
+
+/******************  Bit definition for I2C_CR2 register  ********************/
+#define I2C_CR2_SADD_Pos             (0U)
+#define I2C_CR2_SADD_Msk             (0x3FFUL << I2C_CR2_SADD_Pos)             /*!< 0x000003FF */
+#define I2C_CR2_SADD                 I2C_CR2_SADD_Msk                          /*!< Slave address (master mode) */
+#define I2C_CR2_RD_WRN_Pos           (10U)
+#define I2C_CR2_RD_WRN_Msk           (0x1UL << I2C_CR2_RD_WRN_Pos)             /*!< 0x00000400 */
+#define I2C_CR2_RD_WRN               I2C_CR2_RD_WRN_Msk                        /*!< Transfer direction (master mode) */
+#define I2C_CR2_ADD10_Pos            (11U)
+#define I2C_CR2_ADD10_Msk            (0x1UL << I2C_CR2_ADD10_Pos)              /*!< 0x00000800 */
+#define I2C_CR2_ADD10                I2C_CR2_ADD10_Msk                         /*!< 10-bit addressing mode (master mode) */
+#define I2C_CR2_HEAD10R_Pos          (12U)
+#define I2C_CR2_HEAD10R_Msk          (0x1UL << I2C_CR2_HEAD10R_Pos)            /*!< 0x00001000 */
+#define I2C_CR2_HEAD10R              I2C_CR2_HEAD10R_Msk                       /*!< 10-bit address header only read direction (master mode) */
+#define I2C_CR2_START_Pos            (13U)
+#define I2C_CR2_START_Msk            (0x1UL << I2C_CR2_START_Pos)              /*!< 0x00002000 */
+#define I2C_CR2_START                I2C_CR2_START_Msk                         /*!< START generation */
+#define I2C_CR2_STOP_Pos             (14U)
+#define I2C_CR2_STOP_Msk             (0x1UL << I2C_CR2_STOP_Pos)               /*!< 0x00004000 */
+#define I2C_CR2_STOP                 I2C_CR2_STOP_Msk                          /*!< STOP generation (master mode) */
+#define I2C_CR2_NACK_Pos             (15U)
+#define I2C_CR2_NACK_Msk             (0x1UL << I2C_CR2_NACK_Pos)               /*!< 0x00008000 */
+#define I2C_CR2_NACK                 I2C_CR2_NACK_Msk                          /*!< NACK generation (slave mode) */
+#define I2C_CR2_NBYTES_Pos           (16U)
+#define I2C_CR2_NBYTES_Msk           (0xFFUL << I2C_CR2_NBYTES_Pos)            /*!< 0x00FF0000 */
+#define I2C_CR2_NBYTES               I2C_CR2_NBYTES_Msk                        /*!< Number of bytes */
+#define I2C_CR2_RELOAD_Pos           (24U)
+#define I2C_CR2_RELOAD_Msk           (0x1UL << I2C_CR2_RELOAD_Pos)             /*!< 0x01000000 */
+#define I2C_CR2_RELOAD               I2C_CR2_RELOAD_Msk                        /*!< NBYTES reload mode */
+#define I2C_CR2_AUTOEND_Pos          (25U)
+#define I2C_CR2_AUTOEND_Msk          (0x1UL << I2C_CR2_AUTOEND_Pos)            /*!< 0x02000000 */
+#define I2C_CR2_AUTOEND              I2C_CR2_AUTOEND_Msk                       /*!< Automatic end mode (master mode) */
+#define I2C_CR2_PECBYTE_Pos          (26U)
+#define I2C_CR2_PECBYTE_Msk          (0x1UL << I2C_CR2_PECBYTE_Pos)            /*!< 0x04000000 */
+#define I2C_CR2_PECBYTE              I2C_CR2_PECBYTE_Msk                       /*!< Packet error checking byte */
+
+/*******************  Bit definition for I2C_OAR1 register  ******************/
+#define I2C_OAR1_OA1_Pos             (0U)
+#define I2C_OAR1_OA1_Msk             (0x3FFUL << I2C_OAR1_OA1_Pos)             /*!< 0x000003FF */
+#define I2C_OAR1_OA1                 I2C_OAR1_OA1_Msk                          /*!< Interface own address 1 */
+#define I2C_OAR1_OA1MODE_Pos         (10U)
+#define I2C_OAR1_OA1MODE_Msk         (0x1UL << I2C_OAR1_OA1MODE_Pos)           /*!< 0x00000400 */
+#define I2C_OAR1_OA1MODE             I2C_OAR1_OA1MODE_Msk                      /*!< Own address 1 10-bit mode */
+#define I2C_OAR1_OA1EN_Pos           (15U)
+#define I2C_OAR1_OA1EN_Msk           (0x1UL << I2C_OAR1_OA1EN_Pos)             /*!< 0x00008000 */
+#define I2C_OAR1_OA1EN               I2C_OAR1_OA1EN_Msk                        /*!< Own address 1 enable */
+
+/*******************  Bit definition for I2C_OAR2 register  ******************/
+#define I2C_OAR2_OA2_Pos             (1U)
+#define I2C_OAR2_OA2_Msk             (0x7FUL << I2C_OAR2_OA2_Pos)              /*!< 0x000000FE */
+#define I2C_OAR2_OA2                 I2C_OAR2_OA2_Msk                          /*!< Interface own address 2 */
+#define I2C_OAR2_OA2MSK_Pos          (8U)
+#define I2C_OAR2_OA2MSK_Msk          (0x7UL << I2C_OAR2_OA2MSK_Pos)            /*!< 0x00000700 */
+#define I2C_OAR2_OA2MSK              I2C_OAR2_OA2MSK_Msk                       /*!< Own address 2 masks */
+#define I2C_OAR2_OA2NOMASK           0x00000000UL                              /*!< No mask */
+#define I2C_OAR2_OA2MASK01_Pos       (8U)
+#define I2C_OAR2_OA2MASK01_Msk       (0x1UL << I2C_OAR2_OA2MASK01_Pos)         /*!< 0x00000100 */
+#define I2C_OAR2_OA2MASK01           I2C_OAR2_OA2MASK01_Msk                    /*!< OA2[1] is masked, Only OA2[7:2] are compared */
+#define I2C_OAR2_OA2MASK02_Pos       (9U)
+#define I2C_OAR2_OA2MASK02_Msk       (0x1UL << I2C_OAR2_OA2MASK02_Pos)         /*!< 0x00000200 */
+#define I2C_OAR2_OA2MASK02           I2C_OAR2_OA2MASK02_Msk                    /*!< OA2[2:1] is masked, Only OA2[7:3] are compared */
+#define I2C_OAR2_OA2MASK03_Pos       (8U)
+#define I2C_OAR2_OA2MASK03_Msk       (0x3UL << I2C_OAR2_OA2MASK03_Pos)         /*!< 0x00000300 */
+#define I2C_OAR2_OA2MASK03           I2C_OAR2_OA2MASK03_Msk                    /*!< OA2[3:1] is masked, Only OA2[7:4] are compared */
+#define I2C_OAR2_OA2MASK04_Pos       (10U)
+#define I2C_OAR2_OA2MASK04_Msk       (0x1UL << I2C_OAR2_OA2MASK04_Pos)         /*!< 0x00000400 */
+#define I2C_OAR2_OA2MASK04           I2C_OAR2_OA2MASK04_Msk                    /*!< OA2[4:1] is masked, Only OA2[7:5] are compared */
+#define I2C_OAR2_OA2MASK05_Pos       (8U)
+#define I2C_OAR2_OA2MASK05_Msk       (0x5UL << I2C_OAR2_OA2MASK05_Pos)         /*!< 0x00000500 */
+#define I2C_OAR2_OA2MASK05           I2C_OAR2_OA2MASK05_Msk                    /*!< OA2[5:1] is masked, Only OA2[7:6] are compared */
+#define I2C_OAR2_OA2MASK06_Pos       (9U)
+#define I2C_OAR2_OA2MASK06_Msk       (0x3UL << I2C_OAR2_OA2MASK06_Pos)         /*!< 0x00000600 */
+#define I2C_OAR2_OA2MASK06           I2C_OAR2_OA2MASK06_Msk                    /*!< OA2[6:1] is masked, Only OA2[7] are compared */
+#define I2C_OAR2_OA2MASK07_Pos       (8U)
+#define I2C_OAR2_OA2MASK07_Msk       (0x7UL << I2C_OAR2_OA2MASK07_Pos)         /*!< 0x00000700 */
+#define I2C_OAR2_OA2MASK07           I2C_OAR2_OA2MASK07_Msk                    /*!< OA2[7:1] is masked, No comparison is done */
+#define I2C_OAR2_OA2EN_Pos           (15U)
+#define I2C_OAR2_OA2EN_Msk           (0x1UL << I2C_OAR2_OA2EN_Pos)             /*!< 0x00008000 */
+#define I2C_OAR2_OA2EN               I2C_OAR2_OA2EN_Msk                        /*!< Own address 2 enable */
+
+/*******************  Bit definition for I2C_TIMINGR register *******************/
+#define I2C_TIMINGR_SCLL_Pos         (0U)
+#define I2C_TIMINGR_SCLL_Msk         (0xFFUL << I2C_TIMINGR_SCLL_Pos)          /*!< 0x000000FF */
+#define I2C_TIMINGR_SCLL             I2C_TIMINGR_SCLL_Msk                      /*!< SCL low period (master mode) */
+#define I2C_TIMINGR_SCLH_Pos         (8U)
+#define I2C_TIMINGR_SCLH_Msk         (0xFFUL << I2C_TIMINGR_SCLH_Pos)          /*!< 0x0000FF00 */
+#define I2C_TIMINGR_SCLH             I2C_TIMINGR_SCLH_Msk                      /*!< SCL high period (master mode) */
+#define I2C_TIMINGR_SDADEL_Pos       (16U)
+#define I2C_TIMINGR_SDADEL_Msk       (0xFUL << I2C_TIMINGR_SDADEL_Pos)         /*!< 0x000F0000 */
+#define I2C_TIMINGR_SDADEL           I2C_TIMINGR_SDADEL_Msk                    /*!< Data hold time */
+#define I2C_TIMINGR_SCLDEL_Pos       (20U)
+#define I2C_TIMINGR_SCLDEL_Msk       (0xFUL << I2C_TIMINGR_SCLDEL_Pos)         /*!< 0x00F00000 */
+#define I2C_TIMINGR_SCLDEL           I2C_TIMINGR_SCLDEL_Msk                    /*!< Data setup time */
+#define I2C_TIMINGR_PRESC_Pos        (28U)
+#define I2C_TIMINGR_PRESC_Msk        (0xFUL << I2C_TIMINGR_PRESC_Pos)          /*!< 0xF0000000 */
+#define I2C_TIMINGR_PRESC            I2C_TIMINGR_PRESC_Msk                     /*!< Timings prescaler */
+
+/******************* Bit definition for I2C_TIMEOUTR register *******************/
+#define I2C_TIMEOUTR_TIMEOUTA_Pos    (0U)
+#define I2C_TIMEOUTR_TIMEOUTA_Msk    (0xFFFUL << I2C_TIMEOUTR_TIMEOUTA_Pos)    /*!< 0x00000FFF */
+#define I2C_TIMEOUTR_TIMEOUTA        I2C_TIMEOUTR_TIMEOUTA_Msk                 /*!< Bus timeout A */
+#define I2C_TIMEOUTR_TIDLE_Pos       (12U)
+#define I2C_TIMEOUTR_TIDLE_Msk       (0x1UL << I2C_TIMEOUTR_TIDLE_Pos)         /*!< 0x00001000 */
+#define I2C_TIMEOUTR_TIDLE           I2C_TIMEOUTR_TIDLE_Msk                    /*!< Idle clock timeout detection */
+#define I2C_TIMEOUTR_TIMOUTEN_Pos    (15U)
+#define I2C_TIMEOUTR_TIMOUTEN_Msk    (0x1UL << I2C_TIMEOUTR_TIMOUTEN_Pos)      /*!< 0x00008000 */
+#define I2C_TIMEOUTR_TIMOUTEN        I2C_TIMEOUTR_TIMOUTEN_Msk                 /*!< Clock timeout enable */
+#define I2C_TIMEOUTR_TIMEOUTB_Pos    (16U)
+#define I2C_TIMEOUTR_TIMEOUTB_Msk    (0xFFFUL << I2C_TIMEOUTR_TIMEOUTB_Pos)    /*!< 0x0FFF0000 */
+#define I2C_TIMEOUTR_TIMEOUTB        I2C_TIMEOUTR_TIMEOUTB_Msk                 /*!< Bus timeout B*/
+#define I2C_TIMEOUTR_TEXTEN_Pos      (31U)
+#define I2C_TIMEOUTR_TEXTEN_Msk      (0x1UL << I2C_TIMEOUTR_TEXTEN_Pos)        /*!< 0x80000000 */
+#define I2C_TIMEOUTR_TEXTEN          I2C_TIMEOUTR_TEXTEN_Msk                   /*!< Extended clock timeout enable */
+
+/******************  Bit definition for I2C_ISR register  *********************/
+#define I2C_ISR_TXE_Pos              (0U)
+#define I2C_ISR_TXE_Msk              (0x1UL << I2C_ISR_TXE_Pos)                /*!< 0x00000001 */
+#define I2C_ISR_TXE                  I2C_ISR_TXE_Msk                           /*!< Transmit data register empty */
+#define I2C_ISR_TXIS_Pos             (1U)
+#define I2C_ISR_TXIS_Msk             (0x1UL << I2C_ISR_TXIS_Pos)               /*!< 0x00000002 */
+#define I2C_ISR_TXIS                 I2C_ISR_TXIS_Msk                          /*!< Transmit interrupt status */
+#define I2C_ISR_RXNE_Pos             (2U)
+#define I2C_ISR_RXNE_Msk             (0x1UL << I2C_ISR_RXNE_Pos)               /*!< 0x00000004 */
+#define I2C_ISR_RXNE                 I2C_ISR_RXNE_Msk                          /*!< Receive data register not empty */
+#define I2C_ISR_ADDR_Pos             (3U)
+#define I2C_ISR_ADDR_Msk             (0x1UL << I2C_ISR_ADDR_Pos)               /*!< 0x00000008 */
+#define I2C_ISR_ADDR                 I2C_ISR_ADDR_Msk                          /*!< Address matched (slave mode)*/
+#define I2C_ISR_NACKF_Pos            (4U)
+#define I2C_ISR_NACKF_Msk            (0x1UL << I2C_ISR_NACKF_Pos)              /*!< 0x00000010 */
+#define I2C_ISR_NACKF                I2C_ISR_NACKF_Msk                         /*!< NACK received flag */
+#define I2C_ISR_STOPF_Pos            (5U)
+#define I2C_ISR_STOPF_Msk            (0x1UL << I2C_ISR_STOPF_Pos)              /*!< 0x00000020 */
+#define I2C_ISR_STOPF                I2C_ISR_STOPF_Msk                         /*!< STOP detection flag */
+#define I2C_ISR_TC_Pos               (6U)
+#define I2C_ISR_TC_Msk               (0x1UL << I2C_ISR_TC_Pos)                 /*!< 0x00000040 */
+#define I2C_ISR_TC                   I2C_ISR_TC_Msk                            /*!< Transfer complete (master mode) */
+#define I2C_ISR_TCR_Pos              (7U)
+#define I2C_ISR_TCR_Msk              (0x1UL << I2C_ISR_TCR_Pos)                /*!< 0x00000080 */
+#define I2C_ISR_TCR                  I2C_ISR_TCR_Msk                           /*!< Transfer complete reload */
+#define I2C_ISR_BERR_Pos             (8U)
+#define I2C_ISR_BERR_Msk             (0x1UL << I2C_ISR_BERR_Pos)               /*!< 0x00000100 */
+#define I2C_ISR_BERR                 I2C_ISR_BERR_Msk                          /*!< Bus error */
+#define I2C_ISR_ARLO_Pos             (9U)
+#define I2C_ISR_ARLO_Msk             (0x1UL << I2C_ISR_ARLO_Pos)               /*!< 0x00000200 */
+#define I2C_ISR_ARLO                 I2C_ISR_ARLO_Msk                          /*!< Arbitration lost */
+#define I2C_ISR_OVR_Pos              (10U)
+#define I2C_ISR_OVR_Msk              (0x1UL << I2C_ISR_OVR_Pos)                /*!< 0x00000400 */
+#define I2C_ISR_OVR                  I2C_ISR_OVR_Msk                           /*!< Overrun/Underrun */
+#define I2C_ISR_PECERR_Pos           (11U)
+#define I2C_ISR_PECERR_Msk           (0x1UL << I2C_ISR_PECERR_Pos)             /*!< 0x00000800 */
+#define I2C_ISR_PECERR               I2C_ISR_PECERR_Msk                        /*!< PEC error in reception */
+#define I2C_ISR_TIMEOUT_Pos          (12U)
+#define I2C_ISR_TIMEOUT_Msk          (0x1UL << I2C_ISR_TIMEOUT_Pos)            /*!< 0x00001000 */
+#define I2C_ISR_TIMEOUT              I2C_ISR_TIMEOUT_Msk                       /*!< Timeout or Tlow detection flag */
+#define I2C_ISR_ALERT_Pos            (13U)
+#define I2C_ISR_ALERT_Msk            (0x1UL << I2C_ISR_ALERT_Pos)              /*!< 0x00002000 */
+#define I2C_ISR_ALERT                I2C_ISR_ALERT_Msk                         /*!< SMBus alert */
+#define I2C_ISR_BUSY_Pos             (15U)
+#define I2C_ISR_BUSY_Msk             (0x1UL << I2C_ISR_BUSY_Pos)               /*!< 0x00008000 */
+#define I2C_ISR_BUSY                 I2C_ISR_BUSY_Msk                          /*!< Bus busy */
+#define I2C_ISR_DIR_Pos              (16U)
+#define I2C_ISR_DIR_Msk              (0x1UL << I2C_ISR_DIR_Pos)                /*!< 0x00010000 */
+#define I2C_ISR_DIR                  I2C_ISR_DIR_Msk                           /*!< Transfer direction (slave mode) */
+#define I2C_ISR_ADDCODE_Pos          (17U)
+#define I2C_ISR_ADDCODE_Msk          (0x7FUL << I2C_ISR_ADDCODE_Pos)           /*!< 0x00FE0000 */
+#define I2C_ISR_ADDCODE              I2C_ISR_ADDCODE_Msk                       /*!< Address match code (slave mode) */
+
+/******************  Bit definition for I2C_ICR register  *********************/
+#define I2C_ICR_ADDRCF_Pos           (3U)
+#define I2C_ICR_ADDRCF_Msk           (0x1UL << I2C_ICR_ADDRCF_Pos)             /*!< 0x00000008 */
+#define I2C_ICR_ADDRCF               I2C_ICR_ADDRCF_Msk                        /*!< Address matched clear flag */
+#define I2C_ICR_NACKCF_Pos           (4U)
+#define I2C_ICR_NACKCF_Msk           (0x1UL << I2C_ICR_NACKCF_Pos)             /*!< 0x00000010 */
+#define I2C_ICR_NACKCF               I2C_ICR_NACKCF_Msk                        /*!< NACK clear flag */
+#define I2C_ICR_STOPCF_Pos           (5U)
+#define I2C_ICR_STOPCF_Msk           (0x1UL << I2C_ICR_STOPCF_Pos)             /*!< 0x00000020 */
+#define I2C_ICR_STOPCF               I2C_ICR_STOPCF_Msk                        /*!< STOP detection clear flag */
+#define I2C_ICR_BERRCF_Pos           (8U)
+#define I2C_ICR_BERRCF_Msk           (0x1UL << I2C_ICR_BERRCF_Pos)             /*!< 0x00000100 */
+#define I2C_ICR_BERRCF               I2C_ICR_BERRCF_Msk                        /*!< Bus error clear flag */
+#define I2C_ICR_ARLOCF_Pos           (9U)
+#define I2C_ICR_ARLOCF_Msk           (0x1UL << I2C_ICR_ARLOCF_Pos)             /*!< 0x00000200 */
+#define I2C_ICR_ARLOCF               I2C_ICR_ARLOCF_Msk                        /*!< Arbitration lost clear flag */
+#define I2C_ICR_OVRCF_Pos            (10U)
+#define I2C_ICR_OVRCF_Msk            (0x1UL << I2C_ICR_OVRCF_Pos)              /*!< 0x00000400 */
+#define I2C_ICR_OVRCF                I2C_ICR_OVRCF_Msk                         /*!< Overrun/Underrun clear flag */
+#define I2C_ICR_PECCF_Pos            (11U)
+#define I2C_ICR_PECCF_Msk            (0x1UL << I2C_ICR_PECCF_Pos)              /*!< 0x00000800 */
+#define I2C_ICR_PECCF                I2C_ICR_PECCF_Msk                         /*!< PAC error clear flag */
+#define I2C_ICR_TIMOUTCF_Pos         (12U)
+#define I2C_ICR_TIMOUTCF_Msk         (0x1UL << I2C_ICR_TIMOUTCF_Pos)           /*!< 0x00001000 */
+#define I2C_ICR_TIMOUTCF             I2C_ICR_TIMOUTCF_Msk                      /*!< Timeout clear flag */
+#define I2C_ICR_ALERTCF_Pos          (13U)
+#define I2C_ICR_ALERTCF_Msk          (0x1UL << I2C_ICR_ALERTCF_Pos)            /*!< 0x00002000 */
+#define I2C_ICR_ALERTCF              I2C_ICR_ALERTCF_Msk                       /*!< Alert clear flag */
+
+/******************  Bit definition for I2C_PECR register  *********************/
+#define I2C_PECR_PEC_Pos             (0U)
+#define I2C_PECR_PEC_Msk             (0xFFUL << I2C_PECR_PEC_Pos)              /*!< 0x000000FF */
+#define I2C_PECR_PEC                 I2C_PECR_PEC_Msk                          /*!< PEC register */
+
+/******************  Bit definition for I2C_RXDR register  *********************/
+#define I2C_RXDR_RXDATA_Pos          (0U)
+#define I2C_RXDR_RXDATA_Msk          (0xFFUL << I2C_RXDR_RXDATA_Pos)           /*!< 0x000000FF */
+#define I2C_RXDR_RXDATA              I2C_RXDR_RXDATA_Msk                       /*!< 8-bit receive data */
+
+/******************  Bit definition for I2C_TXDR register  *********************/
+#define I2C_TXDR_TXDATA_Pos          (0U)
+#define I2C_TXDR_TXDATA_Msk          (0xFFUL << I2C_TXDR_TXDATA_Pos)           /*!< 0x000000FF */
+#define I2C_TXDR_TXDATA              I2C_TXDR_TXDATA_Msk                       /*!< 8-bit transmit data */
+
+/******************************************************************************/
+/*                                                                            */
+/*                           Independent WATCHDOG                             */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for IWDG_KR register  ********************/
+#define IWDG_KR_KEY_Pos      (0U)
+#define IWDG_KR_KEY_Msk      (0xFFFFUL << IWDG_KR_KEY_Pos)                     /*!< 0x0000FFFF */
+#define IWDG_KR_KEY          IWDG_KR_KEY_Msk                                   /*!<Key value (write only, read 0000h)  */
+
+/*******************  Bit definition for IWDG_PR register  ********************/
+#define IWDG_PR_PR_Pos       (0U)
+#define IWDG_PR_PR_Msk       (0x7UL << IWDG_PR_PR_Pos)                         /*!< 0x00000007 */
+#define IWDG_PR_PR           IWDG_PR_PR_Msk                                    /*!<PR[2:0] (Prescaler divider)         */
+#define IWDG_PR_PR_0         (0x1UL << IWDG_PR_PR_Pos)                          /*!< 0x00000001 */
+#define IWDG_PR_PR_1         (0x2UL << IWDG_PR_PR_Pos)                          /*!< 0x00000002 */
+#define IWDG_PR_PR_2         (0x4UL << IWDG_PR_PR_Pos)                          /*!< 0x00000004 */
+
+/*******************  Bit definition for IWDG_RLR register  *******************/
+#define IWDG_RLR_RL_Pos      (0U)
+#define IWDG_RLR_RL_Msk      (0xFFFUL << IWDG_RLR_RL_Pos)                      /*!< 0x00000FFF */
+#define IWDG_RLR_RL          IWDG_RLR_RL_Msk                                   /*!<Watchdog counter reload value        */
+
+/*******************  Bit definition for IWDG_SR register  ********************/
+#define IWDG_SR_PVU_Pos      (0U)
+#define IWDG_SR_PVU_Msk      (0x1UL << IWDG_SR_PVU_Pos)                        /*!< 0x00000001 */
+#define IWDG_SR_PVU          IWDG_SR_PVU_Msk                                   /*!< Watchdog prescaler value update */
+#define IWDG_SR_RVU_Pos      (1U)
+#define IWDG_SR_RVU_Msk      (0x1UL << IWDG_SR_RVU_Pos)                        /*!< 0x00000002 */
+#define IWDG_SR_RVU          IWDG_SR_RVU_Msk                                   /*!< Watchdog counter reload value update */
+#define IWDG_SR_WVU_Pos      (2U)
+#define IWDG_SR_WVU_Msk      (0x1UL << IWDG_SR_WVU_Pos)                        /*!< 0x00000004 */
+#define IWDG_SR_WVU          IWDG_SR_WVU_Msk                                   /*!< Watchdog counter window value update */
+
+/*******************  Bit definition for IWDG_KR register  ********************/
+#define IWDG_WINR_WIN_Pos    (0U)
+#define IWDG_WINR_WIN_Msk    (0xFFFUL << IWDG_WINR_WIN_Pos)                    /*!< 0x00000FFF */
+#define IWDG_WINR_WIN        IWDG_WINR_WIN_Msk                                 /*!< Watchdog counter window value */
+
+/******************************************************************************/
+/*                                                                            */
+/*                      LCD-TFT Display Controller (LTDC)                     */
+/*                                                                            */
+/******************************************************************************/
+
+/********************  Bit definition for LTDC_SSCR register  *****************/
+
+#define LTDC_SSCR_VSH_Pos            (0U)
+#define LTDC_SSCR_VSH_Msk            (0x7FFUL << LTDC_SSCR_VSH_Pos)            /*!< 0x000007FF */
+#define LTDC_SSCR_VSH                LTDC_SSCR_VSH_Msk                         /*!< Vertical Synchronization Height  */
+#define LTDC_SSCR_HSW_Pos            (16U)
+#define LTDC_SSCR_HSW_Msk            (0xFFFUL << LTDC_SSCR_HSW_Pos)            /*!< 0x0FFF0000 */
+#define LTDC_SSCR_HSW                LTDC_SSCR_HSW_Msk                         /*!< Horizontal Synchronization Width */
+
+/********************  Bit definition for LTDC_BPCR register  *****************/
+
+#define LTDC_BPCR_AVBP_Pos           (0U)
+#define LTDC_BPCR_AVBP_Msk           (0x7FFUL << LTDC_BPCR_AVBP_Pos)           /*!< 0x000007FF */
+#define LTDC_BPCR_AVBP               LTDC_BPCR_AVBP_Msk                        /*!< Accumulated Vertical Back Porch   */
+#define LTDC_BPCR_AHBP_Pos           (16U)
+#define LTDC_BPCR_AHBP_Msk           (0xFFFUL << LTDC_BPCR_AHBP_Pos)           /*!< 0x0FFF0000 */
+#define LTDC_BPCR_AHBP               LTDC_BPCR_AHBP_Msk                        /*!< Accumulated Horizontal Back Porch */
+
+/********************  Bit definition for LTDC_AWCR register  *****************/
+
+#define LTDC_AWCR_AAH_Pos            (0U)
+#define LTDC_AWCR_AAH_Msk            (0x7FFUL << LTDC_AWCR_AAH_Pos)            /*!< 0x000007FF */
+#define LTDC_AWCR_AAH                LTDC_AWCR_AAH_Msk                         /*!< Accumulated Active height */
+#define LTDC_AWCR_AAW_Pos            (16U)
+#define LTDC_AWCR_AAW_Msk            (0xFFFUL << LTDC_AWCR_AAW_Pos)            /*!< 0x0FFF0000 */
+#define LTDC_AWCR_AAW                LTDC_AWCR_AAW_Msk                         /*!< Accumulated Active Width */
+
+/********************  Bit definition for LTDC_TWCR register  *****************/
+
+#define LTDC_TWCR_TOTALH_Pos         (0U)
+#define LTDC_TWCR_TOTALH_Msk         (0x7FFUL << LTDC_TWCR_TOTALH_Pos)         /*!< 0x000007FF */
+#define LTDC_TWCR_TOTALH             LTDC_TWCR_TOTALH_Msk                      /*!< Total height */
+#define LTDC_TWCR_TOTALW_Pos         (16U)
+#define LTDC_TWCR_TOTALW_Msk         (0xFFFUL << LTDC_TWCR_TOTALW_Pos)         /*!< 0x0FFF0000 */
+#define LTDC_TWCR_TOTALW             LTDC_TWCR_TOTALW_Msk                      /*!< Total Width */
+
+/********************  Bit definition for LTDC_GCR register  ******************/
+
+#define LTDC_GCR_LTDCEN_Pos          (0U)
+#define LTDC_GCR_LTDCEN_Msk          (0x1UL << LTDC_GCR_LTDCEN_Pos)            /*!< 0x00000001 */
+#define LTDC_GCR_LTDCEN              LTDC_GCR_LTDCEN_Msk                       /*!< LCD-TFT controller enable bit       */
+#define LTDC_GCR_DBW_Pos             (4U)
+#define LTDC_GCR_DBW_Msk             (0x7UL << LTDC_GCR_DBW_Pos)               /*!< 0x00000070 */
+#define LTDC_GCR_DBW                 LTDC_GCR_DBW_Msk                          /*!< Dither Blue Width                   */
+#define LTDC_GCR_DGW_Pos             (8U)
+#define LTDC_GCR_DGW_Msk             (0x7UL << LTDC_GCR_DGW_Pos)               /*!< 0x00000700 */
+#define LTDC_GCR_DGW                 LTDC_GCR_DGW_Msk                          /*!< Dither Green Width                  */
+#define LTDC_GCR_DRW_Pos             (12U)
+#define LTDC_GCR_DRW_Msk             (0x7UL << LTDC_GCR_DRW_Pos)               /*!< 0x00007000 */
+#define LTDC_GCR_DRW                 LTDC_GCR_DRW_Msk                          /*!< Dither Red Width                    */
+#define LTDC_GCR_DEN_Pos             (16U)
+#define LTDC_GCR_DEN_Msk             (0x1UL << LTDC_GCR_DEN_Pos)               /*!< 0x00010000 */
+#define LTDC_GCR_DEN                 LTDC_GCR_DEN_Msk                          /*!< Dither Enable                       */
+#define LTDC_GCR_PCPOL_Pos           (28U)
+#define LTDC_GCR_PCPOL_Msk           (0x1UL << LTDC_GCR_PCPOL_Pos)             /*!< 0x10000000 */
+#define LTDC_GCR_PCPOL               LTDC_GCR_PCPOL_Msk                        /*!< Pixel Clock Polarity                */
+#define LTDC_GCR_DEPOL_Pos           (29U)
+#define LTDC_GCR_DEPOL_Msk           (0x1UL << LTDC_GCR_DEPOL_Pos)             /*!< 0x20000000 */
+#define LTDC_GCR_DEPOL               LTDC_GCR_DEPOL_Msk                        /*!< Data Enable Polarity                */
+#define LTDC_GCR_VSPOL_Pos           (30U)
+#define LTDC_GCR_VSPOL_Msk           (0x1UL << LTDC_GCR_VSPOL_Pos)             /*!< 0x40000000 */
+#define LTDC_GCR_VSPOL               LTDC_GCR_VSPOL_Msk                        /*!< Vertical Synchronization Polarity   */
+#define LTDC_GCR_HSPOL_Pos           (31U)
+#define LTDC_GCR_HSPOL_Msk           (0x1UL << LTDC_GCR_HSPOL_Pos)             /*!< 0x80000000 */
+#define LTDC_GCR_HSPOL               LTDC_GCR_HSPOL_Msk                        /*!< Horizontal Synchronization Polarity */
+
+
+/********************  Bit definition for LTDC_SRCR register  *****************/
+
+#define LTDC_SRCR_IMR_Pos            (0U)
+#define LTDC_SRCR_IMR_Msk            (0x1UL << LTDC_SRCR_IMR_Pos)              /*!< 0x00000001 */
+#define LTDC_SRCR_IMR                LTDC_SRCR_IMR_Msk                         /*!< Immediate Reload         */
+#define LTDC_SRCR_VBR_Pos            (1U)
+#define LTDC_SRCR_VBR_Msk            (0x1UL << LTDC_SRCR_VBR_Pos)              /*!< 0x00000002 */
+#define LTDC_SRCR_VBR                LTDC_SRCR_VBR_Msk                         /*!< Vertical Blanking Reload */
+
+/********************  Bit definition for LTDC_BCCR register  *****************/
+
+#define LTDC_BCCR_BCBLUE_Pos         (0U)
+#define LTDC_BCCR_BCBLUE_Msk         (0xFFUL << LTDC_BCCR_BCBLUE_Pos)          /*!< 0x000000FF */
+#define LTDC_BCCR_BCBLUE             LTDC_BCCR_BCBLUE_Msk                      /*!< Background Blue value  */
+#define LTDC_BCCR_BCGREEN_Pos        (8U)
+#define LTDC_BCCR_BCGREEN_Msk        (0xFFUL << LTDC_BCCR_BCGREEN_Pos)         /*!< 0x0000FF00 */
+#define LTDC_BCCR_BCGREEN            LTDC_BCCR_BCGREEN_Msk                     /*!< Background Green value */
+#define LTDC_BCCR_BCRED_Pos          (16U)
+#define LTDC_BCCR_BCRED_Msk          (0xFFUL << LTDC_BCCR_BCRED_Pos)           /*!< 0x00FF0000 */
+#define LTDC_BCCR_BCRED              LTDC_BCCR_BCRED_Msk                       /*!< Background Red value   */
+
+/********************  Bit definition for LTDC_IER register  ******************/
+
+#define LTDC_IER_LIE_Pos             (0U)
+#define LTDC_IER_LIE_Msk             (0x1UL << LTDC_IER_LIE_Pos)               /*!< 0x00000001 */
+#define LTDC_IER_LIE                 LTDC_IER_LIE_Msk                          /*!< Line Interrupt Enable            */
+#define LTDC_IER_FUIE_Pos            (1U)
+#define LTDC_IER_FUIE_Msk            (0x1UL << LTDC_IER_FUIE_Pos)              /*!< 0x00000002 */
+#define LTDC_IER_FUIE                LTDC_IER_FUIE_Msk                         /*!< FIFO Underrun Interrupt Enable   */
+#define LTDC_IER_TERRIE_Pos          (2U)
+#define LTDC_IER_TERRIE_Msk          (0x1UL << LTDC_IER_TERRIE_Pos)            /*!< 0x00000004 */
+#define LTDC_IER_TERRIE              LTDC_IER_TERRIE_Msk                       /*!< Transfer Error Interrupt Enable  */
+#define LTDC_IER_RRIE_Pos            (3U)
+#define LTDC_IER_RRIE_Msk            (0x1UL << LTDC_IER_RRIE_Pos)              /*!< 0x00000008 */
+#define LTDC_IER_RRIE                LTDC_IER_RRIE_Msk                         /*!< Register Reload interrupt enable */
+
+/********************  Bit definition for LTDC_ISR register  ******************/
+
+#define LTDC_ISR_LIF_Pos             (0U)
+#define LTDC_ISR_LIF_Msk             (0x1UL << LTDC_ISR_LIF_Pos)               /*!< 0x00000001 */
+#define LTDC_ISR_LIF                 LTDC_ISR_LIF_Msk                          /*!< Line Interrupt Flag */
+#define LTDC_ISR_FUIF_Pos            (1U)
+#define LTDC_ISR_FUIF_Msk            (0x1UL << LTDC_ISR_FUIF_Pos)              /*!< 0x00000002 */
+#define LTDC_ISR_FUIF                LTDC_ISR_FUIF_Msk                         /*!< FIFO Underrun Interrupt Flag */
+#define LTDC_ISR_TERRIF_Pos          (2U)
+#define LTDC_ISR_TERRIF_Msk          (0x1UL << LTDC_ISR_TERRIF_Pos)            /*!< 0x00000004 */
+#define LTDC_ISR_TERRIF              LTDC_ISR_TERRIF_Msk                       /*!< Transfer Error Interrupt Flag */
+#define LTDC_ISR_RRIF_Pos            (3U)
+#define LTDC_ISR_RRIF_Msk            (0x1UL << LTDC_ISR_RRIF_Pos)              /*!< 0x00000008 */
+#define LTDC_ISR_RRIF                LTDC_ISR_RRIF_Msk                         /*!< Register Reload interrupt Flag */
+
+/********************  Bit definition for LTDC_ICR register  ******************/
+
+#define LTDC_ICR_CLIF_Pos            (0U)
+#define LTDC_ICR_CLIF_Msk            (0x1UL << LTDC_ICR_CLIF_Pos)              /*!< 0x00000001 */
+#define LTDC_ICR_CLIF                LTDC_ICR_CLIF_Msk                         /*!< Clears the Line Interrupt Flag */
+#define LTDC_ICR_CFUIF_Pos           (1U)
+#define LTDC_ICR_CFUIF_Msk           (0x1UL << LTDC_ICR_CFUIF_Pos)             /*!< 0x00000002 */
+#define LTDC_ICR_CFUIF               LTDC_ICR_CFUIF_Msk                        /*!< Clears the FIFO Underrun Interrupt Flag */
+#define LTDC_ICR_CTERRIF_Pos         (2U)
+#define LTDC_ICR_CTERRIF_Msk         (0x1UL << LTDC_ICR_CTERRIF_Pos)           /*!< 0x00000004 */
+#define LTDC_ICR_CTERRIF             LTDC_ICR_CTERRIF_Msk                      /*!< Clears the Transfer Error Interrupt Flag */
+#define LTDC_ICR_CRRIF_Pos           (3U)
+#define LTDC_ICR_CRRIF_Msk           (0x1UL << LTDC_ICR_CRRIF_Pos)             /*!< 0x00000008 */
+#define LTDC_ICR_CRRIF               LTDC_ICR_CRRIF_Msk                        /*!< Clears Register Reload interrupt Flag */
+
+/********************  Bit definition for LTDC_LIPCR register  ****************/
+
+#define LTDC_LIPCR_LIPOS_Pos         (0U)
+#define LTDC_LIPCR_LIPOS_Msk         (0x7FFUL << LTDC_LIPCR_LIPOS_Pos)         /*!< 0x000007FF */
+#define LTDC_LIPCR_LIPOS             LTDC_LIPCR_LIPOS_Msk                      /*!< Line Interrupt Position */
+
+/********************  Bit definition for LTDC_CPSR register  *****************/
+
+#define LTDC_CPSR_CYPOS_Pos          (0U)
+#define LTDC_CPSR_CYPOS_Msk          (0xFFFFUL << LTDC_CPSR_CYPOS_Pos)         /*!< 0x0000FFFF */
+#define LTDC_CPSR_CYPOS              LTDC_CPSR_CYPOS_Msk                       /*!< Current Y Position */
+#define LTDC_CPSR_CXPOS_Pos          (16U)
+#define LTDC_CPSR_CXPOS_Msk          (0xFFFFUL << LTDC_CPSR_CXPOS_Pos)         /*!< 0xFFFF0000 */
+#define LTDC_CPSR_CXPOS              LTDC_CPSR_CXPOS_Msk                       /*!< Current X Position */
+
+/********************  Bit definition for LTDC_CDSR register  *****************/
+
+#define LTDC_CDSR_VDES_Pos           (0U)
+#define LTDC_CDSR_VDES_Msk           (0x1UL << LTDC_CDSR_VDES_Pos)             /*!< 0x00000001 */
+#define LTDC_CDSR_VDES               LTDC_CDSR_VDES_Msk                        /*!< Vertical Data Enable Status       */
+#define LTDC_CDSR_HDES_Pos           (1U)
+#define LTDC_CDSR_HDES_Msk           (0x1UL << LTDC_CDSR_HDES_Pos)             /*!< 0x00000002 */
+#define LTDC_CDSR_HDES               LTDC_CDSR_HDES_Msk                        /*!< Horizontal Data Enable Status     */
+#define LTDC_CDSR_VSYNCS_Pos         (2U)
+#define LTDC_CDSR_VSYNCS_Msk         (0x1UL << LTDC_CDSR_VSYNCS_Pos)           /*!< 0x00000004 */
+#define LTDC_CDSR_VSYNCS             LTDC_CDSR_VSYNCS_Msk                      /*!< Vertical Synchronization Status   */
+#define LTDC_CDSR_HSYNCS_Pos         (3U)
+#define LTDC_CDSR_HSYNCS_Msk         (0x1UL << LTDC_CDSR_HSYNCS_Pos)           /*!< 0x00000008 */
+#define LTDC_CDSR_HSYNCS             LTDC_CDSR_HSYNCS_Msk                      /*!< Horizontal Synchronization Status */
+
+/********************  Bit definition for LTDC_LxCR register  *****************/
+
+#define LTDC_LxCR_LEN_Pos            (0U)
+#define LTDC_LxCR_LEN_Msk            (0x1UL << LTDC_LxCR_LEN_Pos)              /*!< 0x00000001 */
+#define LTDC_LxCR_LEN                LTDC_LxCR_LEN_Msk                         /*!< Layer Enable              */
+#define LTDC_LxCR_COLKEN_Pos         (1U)
+#define LTDC_LxCR_COLKEN_Msk         (0x1UL << LTDC_LxCR_COLKEN_Pos)           /*!< 0x00000002 */
+#define LTDC_LxCR_COLKEN             LTDC_LxCR_COLKEN_Msk                      /*!< Color Keying Enable       */
+#define LTDC_LxCR_CLUTEN_Pos         (4U)
+#define LTDC_LxCR_CLUTEN_Msk         (0x1UL << LTDC_LxCR_CLUTEN_Pos)           /*!< 0x00000010 */
+#define LTDC_LxCR_CLUTEN             LTDC_LxCR_CLUTEN_Msk                      /*!< Color Lockup Table Enable */
+
+/********************  Bit definition for LTDC_LxWHPCR register  **************/
+
+#define LTDC_LxWHPCR_WHSTPOS_Pos     (0U)
+#define LTDC_LxWHPCR_WHSTPOS_Msk     (0xFFFUL << LTDC_LxWHPCR_WHSTPOS_Pos)     /*!< 0x00000FFF */
+#define LTDC_LxWHPCR_WHSTPOS         LTDC_LxWHPCR_WHSTPOS_Msk                  /*!< Window Horizontal Start Position */
+#define LTDC_LxWHPCR_WHSPPOS_Pos     (16U)
+#define LTDC_LxWHPCR_WHSPPOS_Msk     (0xFFFFUL << LTDC_LxWHPCR_WHSPPOS_Pos)    /*!< 0xFFFF0000 */
+#define LTDC_LxWHPCR_WHSPPOS         LTDC_LxWHPCR_WHSPPOS_Msk                  /*!< Window Horizontal Stop Position  */
+
+/********************  Bit definition for LTDC_LxWVPCR register  **************/
+
+#define LTDC_LxWVPCR_WVSTPOS_Pos     (0U)
+#define LTDC_LxWVPCR_WVSTPOS_Msk     (0xFFFUL << LTDC_LxWVPCR_WVSTPOS_Pos)     /*!< 0x00000FFF */
+#define LTDC_LxWVPCR_WVSTPOS         LTDC_LxWVPCR_WVSTPOS_Msk                  /*!< Window Vertical Start Position */
+#define LTDC_LxWVPCR_WVSPPOS_Pos     (16U)
+#define LTDC_LxWVPCR_WVSPPOS_Msk     (0xFFFFUL << LTDC_LxWVPCR_WVSPPOS_Pos)    /*!< 0xFFFF0000 */
+#define LTDC_LxWVPCR_WVSPPOS         LTDC_LxWVPCR_WVSPPOS_Msk                  /*!< Window Vertical Stop Position  */
+
+/********************  Bit definition for LTDC_LxCKCR register  ***************/
+
+#define LTDC_LxCKCR_CKBLUE_Pos       (0U)
+#define LTDC_LxCKCR_CKBLUE_Msk       (0xFFUL << LTDC_LxCKCR_CKBLUE_Pos)        /*!< 0x000000FF */
+#define LTDC_LxCKCR_CKBLUE           LTDC_LxCKCR_CKBLUE_Msk                    /*!< Color Key Blue value  */
+#define LTDC_LxCKCR_CKGREEN_Pos      (8U)
+#define LTDC_LxCKCR_CKGREEN_Msk      (0xFFUL << LTDC_LxCKCR_CKGREEN_Pos)       /*!< 0x0000FF00 */
+#define LTDC_LxCKCR_CKGREEN          LTDC_LxCKCR_CKGREEN_Msk                   /*!< Color Key Green value */
+#define LTDC_LxCKCR_CKRED_Pos        (16U)
+#define LTDC_LxCKCR_CKRED_Msk        (0xFFUL << LTDC_LxCKCR_CKRED_Pos)         /*!< 0x00FF0000 */
+#define LTDC_LxCKCR_CKRED            LTDC_LxCKCR_CKRED_Msk                     /*!< Color Key Red value   */
+
+/********************  Bit definition for LTDC_LxPFCR register  ***************/
+
+#define LTDC_LxPFCR_PF_Pos           (0U)
+#define LTDC_LxPFCR_PF_Msk           (0x7UL << LTDC_LxPFCR_PF_Pos)             /*!< 0x00000007 */
+#define LTDC_LxPFCR_PF               LTDC_LxPFCR_PF_Msk                        /*!< Pixel Format */
+
+/********************  Bit definition for LTDC_LxCACR register  ***************/
+
+#define LTDC_LxCACR_CONSTA_Pos       (0U)
+#define LTDC_LxCACR_CONSTA_Msk       (0xFFUL << LTDC_LxCACR_CONSTA_Pos)        /*!< 0x000000FF */
+#define LTDC_LxCACR_CONSTA           LTDC_LxCACR_CONSTA_Msk                    /*!< Constant Alpha */
+
+/********************  Bit definition for LTDC_LxDCCR register  ***************/
+
+#define LTDC_LxDCCR_DCBLUE_Pos       (0U)
+#define LTDC_LxDCCR_DCBLUE_Msk       (0xFFUL << LTDC_LxDCCR_DCBLUE_Pos)        /*!< 0x000000FF */
+#define LTDC_LxDCCR_DCBLUE           LTDC_LxDCCR_DCBLUE_Msk                    /*!< Default Color Blue  */
+#define LTDC_LxDCCR_DCGREEN_Pos      (8U)
+#define LTDC_LxDCCR_DCGREEN_Msk      (0xFFUL << LTDC_LxDCCR_DCGREEN_Pos)       /*!< 0x0000FF00 */
+#define LTDC_LxDCCR_DCGREEN          LTDC_LxDCCR_DCGREEN_Msk                   /*!< Default Color Green */
+#define LTDC_LxDCCR_DCRED_Pos        (16U)
+#define LTDC_LxDCCR_DCRED_Msk        (0xFFUL << LTDC_LxDCCR_DCRED_Pos)         /*!< 0x00FF0000 */
+#define LTDC_LxDCCR_DCRED            LTDC_LxDCCR_DCRED_Msk                     /*!< Default Color Red   */
+#define LTDC_LxDCCR_DCALPHA_Pos      (24U)
+#define LTDC_LxDCCR_DCALPHA_Msk      (0xFFUL << LTDC_LxDCCR_DCALPHA_Pos)       /*!< 0xFF000000 */
+#define LTDC_LxDCCR_DCALPHA          LTDC_LxDCCR_DCALPHA_Msk                   /*!< Default Color Alpha */
+
+/********************  Bit definition for LTDC_LxBFCR register  ***************/
+
+#define LTDC_LxBFCR_BF2_Pos          (0U)
+#define LTDC_LxBFCR_BF2_Msk          (0x7UL << LTDC_LxBFCR_BF2_Pos)            /*!< 0x00000007 */
+#define LTDC_LxBFCR_BF2              LTDC_LxBFCR_BF2_Msk                       /*!< Blending Factor 2 */
+#define LTDC_LxBFCR_BF1_Pos          (8U)
+#define LTDC_LxBFCR_BF1_Msk          (0x7UL << LTDC_LxBFCR_BF1_Pos)            /*!< 0x00000700 */
+#define LTDC_LxBFCR_BF1              LTDC_LxBFCR_BF1_Msk                       /*!< Blending Factor 1 */
+
+/********************  Bit definition for LTDC_LxCFBAR register  **************/
+
+#define LTDC_LxCFBAR_CFBADD_Pos      (0U)
+#define LTDC_LxCFBAR_CFBADD_Msk      (0xFFFFFFFFUL << LTDC_LxCFBAR_CFBADD_Pos) /*!< 0xFFFFFFFF */
+#define LTDC_LxCFBAR_CFBADD          LTDC_LxCFBAR_CFBADD_Msk                   /*!< Color Frame Buffer Start Address */
+
+/********************  Bit definition for LTDC_LxCFBLR register  **************/
+
+#define LTDC_LxCFBLR_CFBLL_Pos       (0U)
+#define LTDC_LxCFBLR_CFBLL_Msk       (0x1FFFUL << LTDC_LxCFBLR_CFBLL_Pos)      /*!< 0x00001FFF */
+#define LTDC_LxCFBLR_CFBLL           LTDC_LxCFBLR_CFBLL_Msk                    /*!< Color Frame Buffer Line Length    */
+#define LTDC_LxCFBLR_CFBP_Pos        (16U)
+#define LTDC_LxCFBLR_CFBP_Msk        (0x1FFFUL << LTDC_LxCFBLR_CFBP_Pos)       /*!< 0x1FFF0000 */
+#define LTDC_LxCFBLR_CFBP            LTDC_LxCFBLR_CFBP_Msk                     /*!< Color Frame Buffer Pitch in bytes */
+
+/********************  Bit definition for LTDC_LxCFBLNR register  *************/
+
+#define LTDC_LxCFBLNR_CFBLNBR_Pos    (0U)
+#define LTDC_LxCFBLNR_CFBLNBR_Msk    (0x7FFUL << LTDC_LxCFBLNR_CFBLNBR_Pos)    /*!< 0x000007FF */
+#define LTDC_LxCFBLNR_CFBLNBR        LTDC_LxCFBLNR_CFBLNBR_Msk                 /*!< Frame Buffer Line Number */
+
+/********************  Bit definition for LTDC_LxCLUTWR register  *************/
+
+#define LTDC_LxCLUTWR_BLUE_Pos       (0U)
+#define LTDC_LxCLUTWR_BLUE_Msk       (0xFFUL << LTDC_LxCLUTWR_BLUE_Pos)        /*!< 0x000000FF */
+#define LTDC_LxCLUTWR_BLUE           LTDC_LxCLUTWR_BLUE_Msk                    /*!< Blue value   */
+#define LTDC_LxCLUTWR_GREEN_Pos      (8U)
+#define LTDC_LxCLUTWR_GREEN_Msk      (0xFFUL << LTDC_LxCLUTWR_GREEN_Pos)       /*!< 0x0000FF00 */
+#define LTDC_LxCLUTWR_GREEN          LTDC_LxCLUTWR_GREEN_Msk                   /*!< Green value  */
+#define LTDC_LxCLUTWR_RED_Pos        (16U)
+#define LTDC_LxCLUTWR_RED_Msk        (0xFFUL << LTDC_LxCLUTWR_RED_Pos)         /*!< 0x00FF0000 */
+#define LTDC_LxCLUTWR_RED            LTDC_LxCLUTWR_RED_Msk                     /*!< Red value    */
+#define LTDC_LxCLUTWR_CLUTADD_Pos    (24U)
+#define LTDC_LxCLUTWR_CLUTADD_Msk    (0xFFUL << LTDC_LxCLUTWR_CLUTADD_Pos)     /*!< 0xFF000000 */
+#define LTDC_LxCLUTWR_CLUTADD        LTDC_LxCLUTWR_CLUTADD_Msk                 /*!< CLUT address */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                     MDMA                                   */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for MDMA_GISR0 register  ****************/
+#define MDMA_GISR0_GIF0_Pos       (0U)
+#define MDMA_GISR0_GIF0_Msk       (0x1UL << MDMA_GISR0_GIF0_Pos)               /*!< 0x00000001 */
+#define MDMA_GISR0_GIF0           MDMA_GISR0_GIF0_Msk                          /*!< Channel 0 global interrupt flag */
+#define MDMA_GISR0_GIF1_Pos       (1U)
+#define MDMA_GISR0_GIF1_Msk       (0x1UL << MDMA_GISR0_GIF1_Pos)               /*!< 0x00000002 */
+#define MDMA_GISR0_GIF1           MDMA_GISR0_GIF1_Msk                          /*!< Channel 1 global interrupt flag */
+#define MDMA_GISR0_GIF2_Pos       (2U)
+#define MDMA_GISR0_GIF2_Msk       (0x1UL << MDMA_GISR0_GIF2_Pos)               /*!< 0x00000004 */
+#define MDMA_GISR0_GIF2           MDMA_GISR0_GIF2_Msk                          /*!< Channel 2 global interrupt flag */
+#define MDMA_GISR0_GIF3_Pos       (3U)
+#define MDMA_GISR0_GIF3_Msk       (0x1UL << MDMA_GISR0_GIF3_Pos)               /*!< 0x00000008 */
+#define MDMA_GISR0_GIF3           MDMA_GISR0_GIF3_Msk                          /*!< Channel 3 global interrupt flag */
+#define MDMA_GISR0_GIF4_Pos       (4U)
+#define MDMA_GISR0_GIF4_Msk       (0x1UL << MDMA_GISR0_GIF4_Pos)               /*!< 0x00000010 */
+#define MDMA_GISR0_GIF4           MDMA_GISR0_GIF4_Msk                          /*!< Channel 4 global interrupt flag */
+#define MDMA_GISR0_GIF5_Pos       (5U)
+#define MDMA_GISR0_GIF5_Msk       (0x1UL << MDMA_GISR0_GIF5_Pos)               /*!< 0x00000020 */
+#define MDMA_GISR0_GIF5           MDMA_GISR0_GIF5_Msk                          /*!< Channel 5 global interrupt flag */
+#define MDMA_GISR0_GIF6_Pos       (6U)
+#define MDMA_GISR0_GIF6_Msk       (0x1UL << MDMA_GISR0_GIF6_Pos)               /*!< 0x00000040 */
+#define MDMA_GISR0_GIF6           MDMA_GISR0_GIF6_Msk                          /*!< Channel 6 global interrupt flag */
+#define MDMA_GISR0_GIF7_Pos       (7U)
+#define MDMA_GISR0_GIF7_Msk       (0x1UL << MDMA_GISR0_GIF7_Pos)               /*!< 0x00000080 */
+#define MDMA_GISR0_GIF7           MDMA_GISR0_GIF7_Msk                          /*!< Channel 7 global interrupt flag */
+#define MDMA_GISR0_GIF8_Pos       (8U)
+#define MDMA_GISR0_GIF8_Msk       (0x1UL << MDMA_GISR0_GIF8_Pos)               /*!< 0x00000100 */
+#define MDMA_GISR0_GIF8           MDMA_GISR0_GIF8_Msk                          /*!< Channel 8 global interrupt flag */
+#define MDMA_GISR0_GIF9_Pos       (9U)
+#define MDMA_GISR0_GIF9_Msk       (0x1UL << MDMA_GISR0_GIF9_Pos)               /*!< 0x00000200 */
+#define MDMA_GISR0_GIF9           MDMA_GISR0_GIF9_Msk                          /*!< Channel 9 global interrupt flag */
+#define MDMA_GISR0_GIF10_Pos      (10U)
+#define MDMA_GISR0_GIF10_Msk      (0x1UL << MDMA_GISR0_GIF10_Pos)              /*!< 0x00000400 */
+#define MDMA_GISR0_GIF10          MDMA_GISR0_GIF10_Msk                         /*!< Channel 10 global interrupt flag */
+#define MDMA_GISR0_GIF11_Pos      (11U)
+#define MDMA_GISR0_GIF11_Msk      (0x1UL << MDMA_GISR0_GIF11_Pos)              /*!< 0x00000800 */
+#define MDMA_GISR0_GIF11          MDMA_GISR0_GIF11_Msk                         /*!< Channel 11 global interrupt flag */
+#define MDMA_GISR0_GIF12_Pos      (12U)
+#define MDMA_GISR0_GIF12_Msk      (0x1UL << MDMA_GISR0_GIF12_Pos)              /*!< 0x00001000 */
+#define MDMA_GISR0_GIF12          MDMA_GISR0_GIF12_Msk                         /*!< Channel 12 global interrupt flag */
+#define MDMA_GISR0_GIF13_Pos      (13U)
+#define MDMA_GISR0_GIF13_Msk      (0x1UL << MDMA_GISR0_GIF13_Pos)              /*!< 0x00002000 */
+#define MDMA_GISR0_GIF13          MDMA_GISR0_GIF13_Msk                         /*!< Channel 13 global interrupt flag */
+#define MDMA_GISR0_GIF14_Pos      (14U)
+#define MDMA_GISR0_GIF14_Msk      (0x1UL << MDMA_GISR0_GIF14_Pos)              /*!< 0x00004000 */
+#define MDMA_GISR0_GIF14          MDMA_GISR0_GIF14_Msk                         /*!< Channel 14 global interrupt flag */
+#define MDMA_GISR0_GIF15_Pos      (15U)
+#define MDMA_GISR0_GIF15_Msk      (0x1UL << MDMA_GISR0_GIF15_Pos)              /*!< 0x00008000 */
+#define MDMA_GISR0_GIF15          MDMA_GISR0_GIF15_Msk                         /*!< Channel 15 global interrupt flag */
+
+/********************  Bit definition for MDMA_CxISR register  ****************/
+#define MDMA_CISR_TEIF_Pos        (0U)
+#define MDMA_CISR_TEIF_Msk        (0x1UL << MDMA_CISR_TEIF_Pos)                /*!< 0x00000001 */
+#define MDMA_CISR_TEIF            MDMA_CISR_TEIF_Msk                           /*!< Channel x transfer error interrupt flag */
+#define MDMA_CISR_CTCIF_Pos       (1U)
+#define MDMA_CISR_CTCIF_Msk       (0x1UL << MDMA_CISR_CTCIF_Pos)               /*!< 0x00000002 */
+#define MDMA_CISR_CTCIF           MDMA_CISR_CTCIF_Msk                          /*!< Channel x Channel Transfer Complete interrupt flag */
+#define MDMA_CISR_BRTIF_Pos       (2U)
+#define MDMA_CISR_BRTIF_Msk       (0x1UL << MDMA_CISR_BRTIF_Pos)               /*!< 0x00000004 */
+#define MDMA_CISR_BRTIF           MDMA_CISR_BRTIF_Msk                          /*!< Channel x block repeat transfer complete interrupt flag */
+#define MDMA_CISR_BTIF_Pos        (3U)
+#define MDMA_CISR_BTIF_Msk        (0x1UL << MDMA_CISR_BTIF_Pos)                /*!< 0x00000008 */
+#define MDMA_CISR_BTIF            MDMA_CISR_BTIF_Msk                           /*!< Channel x block transfer complete interrupt flag */
+#define MDMA_CISR_TCIF_Pos        (4U)
+#define MDMA_CISR_TCIF_Msk        (0x1UL << MDMA_CISR_TCIF_Pos)                /*!< 0x00000010 */
+#define MDMA_CISR_TCIF            MDMA_CISR_TCIF_Msk                           /*!< Channel x buffer transfer complete interrupt flag */
+#define MDMA_CISR_CRQA_Pos        (16U)
+#define MDMA_CISR_CRQA_Msk        (0x1UL << MDMA_CISR_CRQA_Pos)                /*!< 0x00010000 */
+#define MDMA_CISR_CRQA            MDMA_CISR_CRQA_Msk                           /*!< Channel x request Active flag */
+
+/********************  Bit definition for MDMA_CxIFCR register  ****************/
+#define MDMA_CIFCR_CTEIF_Pos      (0U)
+#define MDMA_CIFCR_CTEIF_Msk      (0x1UL << MDMA_CIFCR_CTEIF_Pos)              /*!< 0x00000001 */
+#define MDMA_CIFCR_CTEIF          MDMA_CIFCR_CTEIF_Msk                         /*!< Channel x clear transfer error interrupt flag */
+#define MDMA_CIFCR_CCTCIF_Pos     (1U)
+#define MDMA_CIFCR_CCTCIF_Msk     (0x1UL << MDMA_CIFCR_CCTCIF_Pos)             /*!< 0x00000002 */
+#define MDMA_CIFCR_CCTCIF         MDMA_CIFCR_CCTCIF_Msk                        /*!< Clear Channel transfer complete interrupt flag for channel x */
+#define MDMA_CIFCR_CBRTIF_Pos     (2U)
+#define MDMA_CIFCR_CBRTIF_Msk     (0x1UL << MDMA_CIFCR_CBRTIF_Pos)             /*!< 0x00000004 */
+#define MDMA_CIFCR_CBRTIF         MDMA_CIFCR_CBRTIF_Msk                        /*!< Channel x clear block repeat transfer complete interrupt flag */
+#define MDMA_CIFCR_CBTIF_Pos      (3U)
+#define MDMA_CIFCR_CBTIF_Msk      (0x1UL << MDMA_CIFCR_CBTIF_Pos)              /*!< 0x00000008 */
+#define MDMA_CIFCR_CBTIF          MDMA_CIFCR_CBTIF_Msk                         /*!< Channel x Clear block transfer complete interrupt flag */
+#define MDMA_CIFCR_CLTCIF_Pos     (4U)
+#define MDMA_CIFCR_CLTCIF_Msk     (0x1UL << MDMA_CIFCR_CLTCIF_Pos)             /*!< 0x00000010 */
+#define MDMA_CIFCR_CLTCIF         MDMA_CIFCR_CLTCIF_Msk                        /*!< CLear Transfer buffer Complete Interrupt Flag for channel */
+
+/********************  Bit definition for MDMA_CxESR register  ****************/
+#define MDMA_CESR_TEA_Pos         (0U)
+#define MDMA_CESR_TEA_Msk         (0x7FUL << MDMA_CESR_TEA_Pos)                /*!< 0x0000007F */
+#define MDMA_CESR_TEA             MDMA_CESR_TEA_Msk                            /*!< Transfer Error Address */
+#define MDMA_CESR_TED_Pos         (7U)
+#define MDMA_CESR_TED_Msk         (0x1UL << MDMA_CESR_TED_Pos)                 /*!< 0x00000080 */
+#define MDMA_CESR_TED             MDMA_CESR_TED_Msk                            /*!< Transfer Error Direction */
+#define MDMA_CESR_TELD_Pos        (8U)
+#define MDMA_CESR_TELD_Msk        (0x1UL << MDMA_CESR_TELD_Pos)                /*!< 0x00000100 */
+#define MDMA_CESR_TELD            MDMA_CESR_TELD_Msk                           /*!< Transfer Error Link Data */
+#define MDMA_CESR_TEMD_Pos        (9U)
+#define MDMA_CESR_TEMD_Msk        (0x1UL << MDMA_CESR_TEMD_Pos)                /*!< 0x00000200 */
+#define MDMA_CESR_TEMD            MDMA_CESR_TEMD_Msk                           /*!< Transfer Error Mask Data */
+#define MDMA_CESR_ASE_Pos         (10U)
+#define MDMA_CESR_ASE_Msk         (0x1UL << MDMA_CESR_ASE_Pos)                 /*!< 0x00000400 */
+#define MDMA_CESR_ASE             MDMA_CESR_ASE_Msk                            /*!< Address/Size Error       */
+#define MDMA_CESR_BSE_Pos         (11U)
+#define MDMA_CESR_BSE_Msk         (0x1UL << MDMA_CESR_BSE_Pos)                 /*!< 0x00000800 */
+#define MDMA_CESR_BSE             MDMA_CESR_BSE_Msk                            /*!< Block Size Error         */
+
+/********************  Bit definition for MDMA_CxCR register  ****************/
+#define MDMA_CCR_EN_Pos           (0U)
+#define MDMA_CCR_EN_Msk           (0x1UL << MDMA_CCR_EN_Pos)                   /*!< 0x00000001 */
+#define MDMA_CCR_EN               MDMA_CCR_EN_Msk                              /*!< Channel enable / flag channel ready when read low */
+#define MDMA_CCR_TEIE_Pos         (1U)
+#define MDMA_CCR_TEIE_Msk         (0x1UL << MDMA_CCR_TEIE_Pos)                 /*!< 0x00000002 */
+#define MDMA_CCR_TEIE             MDMA_CCR_TEIE_Msk                            /*!< Transfer error interrupt enable */
+#define MDMA_CCR_CTCIE_Pos        (2U)
+#define MDMA_CCR_CTCIE_Msk        (0x1UL << MDMA_CCR_CTCIE_Pos)                /*!< 0x00000004 */
+#define MDMA_CCR_CTCIE            MDMA_CCR_CTCIE_Msk                           /*!< Channel Transfer Complete interrupt enable */
+#define MDMA_CCR_BRTIE_Pos        (3U)
+#define MDMA_CCR_BRTIE_Msk        (0x1UL << MDMA_CCR_BRTIE_Pos)                /*!< 0x00000008 */
+#define MDMA_CCR_BRTIE            MDMA_CCR_BRTIE_Msk                           /*!< Block Repeat transfer interrupt enable */
+#define MDMA_CCR_BTIE_Pos         (4U)
+#define MDMA_CCR_BTIE_Msk         (0x1UL << MDMA_CCR_BTIE_Pos)                 /*!< 0x00000010 */
+#define MDMA_CCR_BTIE             MDMA_CCR_BTIE_Msk                            /*!< Block Transfer interrupt enable */
+#define MDMA_CCR_TCIE_Pos         (5U)
+#define MDMA_CCR_TCIE_Msk         (0x1UL << MDMA_CCR_TCIE_Pos)                 /*!< 0x00000020 */
+#define MDMA_CCR_TCIE             MDMA_CCR_TCIE_Msk                            /*!< buffer Transfer Complete interrupt enable */
+#define MDMA_CCR_PL_Pos           (6U)
+#define MDMA_CCR_PL_Msk           (0x3UL << MDMA_CCR_PL_Pos)                   /*!< 0x000000C0 */
+#define MDMA_CCR_PL               MDMA_CCR_PL_Msk                              /*!< Priority level */
+#define MDMA_CCR_PL_0             (0x1UL << MDMA_CCR_PL_Pos)                    /*!< 0x00000040 */
+#define MDMA_CCR_PL_1             (0x2UL << MDMA_CCR_PL_Pos)                    /*!< 0x00000080 */
+#define MDMA_CCR_BEX_Pos          (12U)
+#define MDMA_CCR_BEX_Msk          (0x1UL << MDMA_CCR_BEX_Pos)                  /*!< 0x00001000 */
+#define MDMA_CCR_BEX              MDMA_CCR_BEX_Msk                             /*!< Byte Endianness eXchange */
+#define MDMA_CCR_HEX_Pos          (13U)
+#define MDMA_CCR_HEX_Msk          (0x1UL << MDMA_CCR_HEX_Pos)                  /*!< 0x00002000 */
+#define MDMA_CCR_HEX              MDMA_CCR_HEX_Msk                             /*!< Half word Endianness eXchange */
+#define MDMA_CCR_WEX_Pos          (14U)
+#define MDMA_CCR_WEX_Msk          (0x1UL << MDMA_CCR_WEX_Pos)                  /*!< 0x00004000 */
+#define MDMA_CCR_WEX              MDMA_CCR_WEX_Msk                             /*!< Word Endianness eXchange */
+#define MDMA_CCR_SWRQ_Pos         (16U)
+#define MDMA_CCR_SWRQ_Msk         (0x1UL << MDMA_CCR_SWRQ_Pos)                 /*!< 0x00010000 */
+#define MDMA_CCR_SWRQ             MDMA_CCR_SWRQ_Msk                            /*!< SW ReQuest */
+
+/********************  Bit definition for MDMA_CxTCR register  ****************/
+#define MDMA_CTCR_SINC_Pos        (0U)
+#define MDMA_CTCR_SINC_Msk        (0x3UL << MDMA_CTCR_SINC_Pos)                /*!< 0x00000003 */
+#define MDMA_CTCR_SINC            MDMA_CTCR_SINC_Msk                           /*!< Source increment mode */
+#define MDMA_CTCR_SINC_0          (0x1UL << MDMA_CTCR_SINC_Pos)                 /*!< 0x00000001 */
+#define MDMA_CTCR_SINC_1          (0x2UL << MDMA_CTCR_SINC_Pos)                 /*!< 0x00000002 */
+#define MDMA_CTCR_DINC_Pos        (2U)
+#define MDMA_CTCR_DINC_Msk        (0x3UL << MDMA_CTCR_DINC_Pos)                /*!< 0x0000000C */
+#define MDMA_CTCR_DINC            MDMA_CTCR_DINC_Msk                           /*!< Source increment mode */
+#define MDMA_CTCR_DINC_0          (0x1UL << MDMA_CTCR_DINC_Pos)                 /*!< 0x00000004 */
+#define MDMA_CTCR_DINC_1          (0x2UL << MDMA_CTCR_DINC_Pos)                 /*!< 0x00000008 */
+#define MDMA_CTCR_SSIZE_Pos       (4U)
+#define MDMA_CTCR_SSIZE_Msk       (0x3UL << MDMA_CTCR_SSIZE_Pos)               /*!< 0x00000030 */
+#define MDMA_CTCR_SSIZE           MDMA_CTCR_SSIZE_Msk                          /*!< Source data size */
+#define MDMA_CTCR_SSIZE_0         (0x1UL << MDMA_CTCR_SSIZE_Pos)                /*!< 0x00000010 */
+#define MDMA_CTCR_SSIZE_1         (0x2UL << MDMA_CTCR_SSIZE_Pos)                /*!< 0x00000020 */
+#define MDMA_CTCR_DSIZE_Pos       (6U)
+#define MDMA_CTCR_DSIZE_Msk       (0x3UL << MDMA_CTCR_DSIZE_Pos)               /*!< 0x000000C0 */
+#define MDMA_CTCR_DSIZE           MDMA_CTCR_DSIZE_Msk                          /*!< Destination data size */
+#define MDMA_CTCR_DSIZE_0         (0x1UL << MDMA_CTCR_DSIZE_Pos)                /*!< 0x00000040 */
+#define MDMA_CTCR_DSIZE_1         (0x2UL << MDMA_CTCR_DSIZE_Pos)                /*!< 0x00000080 */
+#define MDMA_CTCR_SINCOS_Pos      (8U)
+#define MDMA_CTCR_SINCOS_Msk      (0x3UL << MDMA_CTCR_SINCOS_Pos)              /*!< 0x00000300 */
+#define MDMA_CTCR_SINCOS          MDMA_CTCR_SINCOS_Msk                         /*!< Source increment offset size */
+#define MDMA_CTCR_SINCOS_0        (0x1UL << MDMA_CTCR_SINCOS_Pos)               /*!< 0x00000100 */
+#define MDMA_CTCR_SINCOS_1        (0x2UL << MDMA_CTCR_SINCOS_Pos)               /*!< 0x00000200 */
+#define MDMA_CTCR_DINCOS_Pos      (10U)
+#define MDMA_CTCR_DINCOS_Msk      (0x3UL << MDMA_CTCR_DINCOS_Pos)              /*!< 0x00000C00 */
+#define MDMA_CTCR_DINCOS          MDMA_CTCR_DINCOS_Msk                         /*!< Destination increment offset size */
+#define MDMA_CTCR_DINCOS_0        (0x1UL << MDMA_CTCR_DINCOS_Pos)               /*!< 0x00000400 */
+#define MDMA_CTCR_DINCOS_1        (0x2UL << MDMA_CTCR_DINCOS_Pos)               /*!< 0x00000800 */
+#define MDMA_CTCR_SBURST_Pos      (12U)
+#define MDMA_CTCR_SBURST_Msk      (0x7UL << MDMA_CTCR_SBURST_Pos)              /*!< 0x00007000 */
+#define MDMA_CTCR_SBURST          MDMA_CTCR_SBURST_Msk                         /*!< Source burst transfer configuration */
+#define MDMA_CTCR_SBURST_0        (0x1UL << MDMA_CTCR_SBURST_Pos)               /*!< 0x00001000 */
+#define MDMA_CTCR_SBURST_1        (0x2UL << MDMA_CTCR_SBURST_Pos)               /*!< 0x00002000 */
+#define MDMA_CTCR_SBURST_2        (0x4UL << MDMA_CTCR_SBURST_Pos)               /*!< 0x00004000 */
+#define MDMA_CTCR_DBURST_Pos      (15U)
+#define MDMA_CTCR_DBURST_Msk      (0x7UL << MDMA_CTCR_DBURST_Pos)              /*!< 0x00038000 */
+#define MDMA_CTCR_DBURST          MDMA_CTCR_DBURST_Msk                         /*!< Destination burst transfer configuration */
+#define MDMA_CTCR_DBURST_0        (0x1UL << MDMA_CTCR_DBURST_Pos)               /*!< 0x00008000 */
+#define MDMA_CTCR_DBURST_1        (0x2UL << MDMA_CTCR_DBURST_Pos)               /*!< 0x00010000 */
+#define MDMA_CTCR_DBURST_2        (0x4UL << MDMA_CTCR_DBURST_Pos)               /*!< 0x00020000 */
+#define MDMA_CTCR_TLEN_Pos        (18U)
+#define MDMA_CTCR_TLEN_Msk        (0x7FUL << MDMA_CTCR_TLEN_Pos)               /*!< 0x01FC0000 */
+#define MDMA_CTCR_TLEN            MDMA_CTCR_TLEN_Msk                           /*!< buffer Transfer Length (number of bytes - 1) */
+#define MDMA_CTCR_PKE_Pos         (25U)
+#define MDMA_CTCR_PKE_Msk         (0x1UL << MDMA_CTCR_PKE_Pos)                 /*!< 0x02000000 */
+#define MDMA_CTCR_PKE             MDMA_CTCR_PKE_Msk                            /*!< PacK Enable */
+#define MDMA_CTCR_PAM_Pos         (26U)
+#define MDMA_CTCR_PAM_Msk         (0x3UL << MDMA_CTCR_PAM_Pos)                 /*!< 0x0C000000 */
+#define MDMA_CTCR_PAM             MDMA_CTCR_PAM_Msk                            /*!< Padding/Alignment Mode */
+#define MDMA_CTCR_PAM_0           (0x1UL << MDMA_CTCR_PAM_Pos)                  /*!< 0x4000000 */
+#define MDMA_CTCR_PAM_1           (0x2UL << MDMA_CTCR_PAM_Pos)                  /*!< 0x8000000 */
+#define MDMA_CTCR_TRGM_Pos        (28U)
+#define MDMA_CTCR_TRGM_Msk        (0x3UL << MDMA_CTCR_TRGM_Pos)                /*!< 0x30000000 */
+#define MDMA_CTCR_TRGM            MDMA_CTCR_TRGM_Msk                           /*!< Trigger Mode */
+#define MDMA_CTCR_TRGM_0          (0x1UL << MDMA_CTCR_TRGM_Pos)                 /*!< 0x10000000 */
+#define MDMA_CTCR_TRGM_1          (0x2UL << MDMA_CTCR_TRGM_Pos)                 /*!< 0x20000000 */
+#define MDMA_CTCR_SWRM_Pos        (30U)
+#define MDMA_CTCR_SWRM_Msk        (0x1UL << MDMA_CTCR_SWRM_Pos)                /*!< 0x40000000 */
+#define MDMA_CTCR_SWRM            MDMA_CTCR_SWRM_Msk                           /*!< SW Request Mode */
+#define MDMA_CTCR_BWM_Pos         (31U)
+#define MDMA_CTCR_BWM_Msk         (0x1UL << MDMA_CTCR_BWM_Pos)                 /*!< 0x80000000 */
+#define MDMA_CTCR_BWM             MDMA_CTCR_BWM_Msk                            /*!< Bufferable Write Mode */
+
+/********************  Bit definition for MDMA_CxBNDTR register  ****************/
+#define MDMA_CBNDTR_BNDT_Pos      (0U)
+#define MDMA_CBNDTR_BNDT_Msk      (0x1FFFFUL << MDMA_CBNDTR_BNDT_Pos)          /*!< 0x0001FFFF */
+#define MDMA_CBNDTR_BNDT          MDMA_CBNDTR_BNDT_Msk                         /*!< Block Number of data bytes to transfer */
+#define MDMA_CBNDTR_BRSUM_Pos     (18U)
+#define MDMA_CBNDTR_BRSUM_Msk     (0x1UL << MDMA_CBNDTR_BRSUM_Pos)             /*!< 0x00040000 */
+#define MDMA_CBNDTR_BRSUM         MDMA_CBNDTR_BRSUM_Msk                        /*!< Block Repeat Source address Update Mode */
+#define MDMA_CBNDTR_BRDUM_Pos     (19U)
+#define MDMA_CBNDTR_BRDUM_Msk     (0x1UL << MDMA_CBNDTR_BRDUM_Pos)             /*!< 0x00080000 */
+#define MDMA_CBNDTR_BRDUM         MDMA_CBNDTR_BRDUM_Msk                        /*!< Block Repeat Destination address Update Mode */
+#define MDMA_CBNDTR_BRC_Pos       (20U)
+#define MDMA_CBNDTR_BRC_Msk       (0xFFFUL << MDMA_CBNDTR_BRC_Pos)             /*!< 0xFFF00000 */
+#define MDMA_CBNDTR_BRC           MDMA_CBNDTR_BRC_Msk                          /*!< Block Repeat Count */
+
+/********************  Bit definition for MDMA_CxSAR register  ****************/
+#define MDMA_CSAR_SAR_Pos         (0U)
+#define MDMA_CSAR_SAR_Msk         (0xFFFFFFFFUL << MDMA_CSAR_SAR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CSAR_SAR             MDMA_CSAR_SAR_Msk                            /*!< Source address */
+
+/********************  Bit definition for MDMA_CxDAR register  ****************/
+#define MDMA_CDAR_DAR_Pos         (0U)
+#define MDMA_CDAR_DAR_Msk         (0xFFFFFFFFUL << MDMA_CDAR_DAR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CDAR_DAR             MDMA_CDAR_DAR_Msk                            /*!< Destination address */
+
+/********************  Bit definition for MDMA_CxBRUR  ************************/
+#define MDMA_CBRUR_SUV_Pos        (0U)
+#define MDMA_CBRUR_SUV_Msk        (0xFFFFUL << MDMA_CBRUR_SUV_Pos)             /*!< 0x0000FFFF */
+#define MDMA_CBRUR_SUV            MDMA_CBRUR_SUV_Msk                           /*!< Source address Update Value */
+#define MDMA_CBRUR_DUV_Pos        (16U)
+#define MDMA_CBRUR_DUV_Msk        (0xFFFFUL << MDMA_CBRUR_DUV_Pos)             /*!< 0xFFFF0000 */
+#define MDMA_CBRUR_DUV            MDMA_CBRUR_DUV_Msk                           /*!< Destination address Update Value */
+
+/********************  Bit definition for MDMA_CxLAR  *************************/
+#define MDMA_CLAR_LAR_Pos         (0U)
+#define MDMA_CLAR_LAR_Msk         (0xFFFFFFFFUL << MDMA_CLAR_LAR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CLAR_LAR             MDMA_CLAR_LAR_Msk                            /*!< Link Address Register */
+
+/********************  Bit definition for MDMA_CxTBR)  ************************/
+#define MDMA_CTBR_TSEL_Pos        (0U)
+#define MDMA_CTBR_TSEL_Msk        (0xFFUL << MDMA_CTBR_TSEL_Pos)               /*!< 0x000000FF */
+#define MDMA_CTBR_TSEL            MDMA_CTBR_TSEL_Msk                           /*!< Trigger SELection */
+#define MDMA_CTBR_SBUS_Pos        (16U)
+#define MDMA_CTBR_SBUS_Msk        (0x1UL << MDMA_CTBR_SBUS_Pos)                /*!< 0x00010000 */
+#define MDMA_CTBR_SBUS            MDMA_CTBR_SBUS_Msk                           /*!< Source BUS select */
+#define MDMA_CTBR_DBUS_Pos        (17U)
+#define MDMA_CTBR_DBUS_Msk        (0x1UL << MDMA_CTBR_DBUS_Pos)                /*!< 0x00020000 */
+#define MDMA_CTBR_DBUS            MDMA_CTBR_DBUS_Msk                           /*!< Destination BUS select */
+
+/********************  Bit definition for MDMA_CxMAR)  ************************/
+#define MDMA_CMAR_MAR_Pos         (0U)
+#define MDMA_CMAR_MAR_Msk         (0xFFFFFFFFUL << MDMA_CMAR_MAR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CMAR_MAR             MDMA_CMAR_MAR_Msk                            /*!< Mask address */
+
+/********************  Bit definition for MDMA_CxMDR)  ************************/
+#define MDMA_CMDR_MDR_Pos         (0U)
+#define MDMA_CMDR_MDR_Msk         (0xFFFFFFFFUL << MDMA_CMDR_MDR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CMDR_MDR             MDMA_CMDR_MDR_Msk                            /*!< Mask Data */
+
+/******************************************************************************/
+/*                                                                            */
+/*                         Operational Amplifier (OPAMP)                      */
+/*                                                                            */
+/******************************************************************************/
+/*********************  Bit definition for OPAMPx_CSR register  ***************/
+#define OPAMP_CSR_OPAMPxEN_Pos           (0U)
+#define OPAMP_CSR_OPAMPxEN_Msk           (0x1UL << OPAMP_CSR_OPAMPxEN_Pos)     /*!< 0x00000001 */
+#define OPAMP_CSR_OPAMPxEN               OPAMP_CSR_OPAMPxEN_Msk                /*!< OPAMP enable */
+#define OPAMP_CSR_FORCEVP_Pos            (1U)
+#define OPAMP_CSR_FORCEVP_Msk            (0x1UL << OPAMP_CSR_FORCEVP_Pos)      /*!< 0x00000002 */
+#define OPAMP_CSR_FORCEVP                OPAMP_CSR_FORCEVP_Msk                 /*!< Force internal reference on VP */
+
+#define OPAMP_CSR_VPSEL_Pos              (2U)
+#define OPAMP_CSR_VPSEL_Msk              (0x3UL << OPAMP_CSR_VPSEL_Pos)        /*!< 0x0000000C */
+#define OPAMP_CSR_VPSEL                  OPAMP_CSR_VPSEL_Msk                   /*!< Non inverted input selection */
+#define OPAMP_CSR_VPSEL_0                (0x1UL << OPAMP_CSR_VPSEL_Pos)         /*!< 0x00000004 */
+#define OPAMP_CSR_VPSEL_1                (0x2UL << OPAMP_CSR_VPSEL_Pos)         /*!< 0x00000008 */
+
+#define OPAMP_CSR_VMSEL_Pos              (5U)
+#define OPAMP_CSR_VMSEL_Msk              (0x3UL << OPAMP_CSR_VMSEL_Pos)        /*!< 0x00000060 */
+#define OPAMP_CSR_VMSEL                  OPAMP_CSR_VMSEL_Msk                   /*!< Inverting input selection */
+#define OPAMP_CSR_VMSEL_0                (0x1UL << OPAMP_CSR_VMSEL_Pos)         /*!< 0x00000020 */
+#define OPAMP_CSR_VMSEL_1                (0x2UL << OPAMP_CSR_VMSEL_Pos)         /*!< 0x00000040 */
+
+#define OPAMP_CSR_OPAHSM_Pos             (8U)
+#define OPAMP_CSR_OPAHSM_Msk             (0x1UL << OPAMP_CSR_OPAHSM_Pos)       /*!< 0x00000100 */
+#define OPAMP_CSR_OPAHSM                 OPAMP_CSR_OPAHSM_Msk                  /*!< Operational amplifier high speed mode */
+#define OPAMP_CSR_CALON_Pos              (11U)
+#define OPAMP_CSR_CALON_Msk              (0x1UL << OPAMP_CSR_CALON_Pos)        /*!< 0x00000800 */
+#define OPAMP_CSR_CALON                  OPAMP_CSR_CALON_Msk                   /*!< Calibration mode enable */
+
+#define OPAMP_CSR_CALSEL_Pos             (12U)
+#define OPAMP_CSR_CALSEL_Msk             (0x3UL << OPAMP_CSR_CALSEL_Pos)       /*!< 0x00003000 */
+#define OPAMP_CSR_CALSEL                 OPAMP_CSR_CALSEL_Msk                  /*!< Calibration selection */
+#define OPAMP_CSR_CALSEL_0               (0x1UL << OPAMP_CSR_CALSEL_Pos)        /*!< 0x00001000 */
+#define OPAMP_CSR_CALSEL_1               (0x2UL << OPAMP_CSR_CALSEL_Pos)        /*!< 0x00002000 */
+
+#define OPAMP_CSR_PGGAIN_Pos             (14U)
+#define OPAMP_CSR_PGGAIN_Msk             (0xFUL << OPAMP_CSR_PGGAIN_Pos)       /*!< 0x0003C000 */
+#define OPAMP_CSR_PGGAIN                 OPAMP_CSR_PGGAIN_Msk                  /*!< Operational amplifier Programmable amplifier gain value */
+#define OPAMP_CSR_PGGAIN_0               (0x1UL << OPAMP_CSR_PGGAIN_Pos)        /*!< 0x00004000 */
+#define OPAMP_CSR_PGGAIN_1               (0x2UL << OPAMP_CSR_PGGAIN_Pos)        /*!< 0x00008000 */
+#define OPAMP_CSR_PGGAIN_2               (0x4UL << OPAMP_CSR_PGGAIN_Pos)        /*!< 0x00010000 */
+#define OPAMP_CSR_PGGAIN_3               (0x8UL << OPAMP_CSR_PGGAIN_Pos)        /*!< 0x00020000 */
+
+#define OPAMP_CSR_USERTRIM_Pos           (18U)
+#define OPAMP_CSR_USERTRIM_Msk           (0x1UL << OPAMP_CSR_USERTRIM_Pos)     /*!< 0x00040000 */
+#define OPAMP_CSR_USERTRIM               OPAMP_CSR_USERTRIM_Msk                /*!< User trimming enable */
+#define OPAMP_CSR_TSTREF_Pos             (29U)
+#define OPAMP_CSR_TSTREF_Msk             (0x1UL << OPAMP_CSR_TSTREF_Pos)       /*!< 0x20000000 */
+#define OPAMP_CSR_TSTREF                 OPAMP_CSR_TSTREF_Msk                  /*!< OpAmp calibration reference voltage output control */
+#define OPAMP_CSR_CALOUT_Pos             (30U)
+#define OPAMP_CSR_CALOUT_Msk             (0x1UL << OPAMP_CSR_CALOUT_Pos)       /*!< 0x40000000 */
+#define OPAMP_CSR_CALOUT                 OPAMP_CSR_CALOUT_Msk                  /*!< Operational amplifier calibration output */
+
+/*********************  Bit definition for OPAMP1_CSR register  ***************/
+#define OPAMP1_CSR_OPAEN_Pos              (0U)
+#define OPAMP1_CSR_OPAEN_Msk              (0x1UL << OPAMP1_CSR_OPAEN_Pos)      /*!< 0x00000001 */
+#define OPAMP1_CSR_OPAEN                  OPAMP1_CSR_OPAEN_Msk                 /*!< Operational amplifier1 Enable */
+#define OPAMP1_CSR_FORCEVP_Pos            (1U)
+#define OPAMP1_CSR_FORCEVP_Msk            (0x1UL << OPAMP1_CSR_FORCEVP_Pos)    /*!< 0x00000002 */
+#define OPAMP1_CSR_FORCEVP                OPAMP1_CSR_FORCEVP_Msk               /*!< Force internal reference on VP */
+
+#define OPAMP1_CSR_VPSEL_Pos              (2U)
+#define OPAMP1_CSR_VPSEL_Msk              (0x3UL << OPAMP1_CSR_VPSEL_Pos)      /*!< 0x0000000C */
+#define OPAMP1_CSR_VPSEL                  OPAMP1_CSR_VPSEL_Msk                 /*!< Non inverted input selection */
+#define OPAMP1_CSR_VPSEL_0                (0x1UL << OPAMP1_CSR_VPSEL_Pos)       /*!< 0x00000004 */
+#define OPAMP1_CSR_VPSEL_1                (0x2UL << OPAMP1_CSR_VPSEL_Pos)       /*!< 0x00000008 */
+
+#define OPAMP1_CSR_VMSEL_Pos              (5U)
+#define OPAMP1_CSR_VMSEL_Msk              (0x3UL << OPAMP1_CSR_VMSEL_Pos)      /*!< 0x00000060 */
+#define OPAMP1_CSR_VMSEL                  OPAMP1_CSR_VMSEL_Msk                 /*!< Inverting input selection */
+#define OPAMP1_CSR_VMSEL_0                (0x1UL << OPAMP1_CSR_VMSEL_Pos)       /*!< 0x00000020 */
+#define OPAMP1_CSR_VMSEL_1                (0x2UL << OPAMP1_CSR_VMSEL_Pos)       /*!< 0x00000040 */
+
+#define OPAMP1_CSR_OPAHSM_Pos             (8U)
+#define OPAMP1_CSR_OPAHSM_Msk             (0x1UL << OPAMP1_CSR_OPAHSM_Pos)     /*!< 0x00000100 */
+#define OPAMP1_CSR_OPAHSM                 OPAMP1_CSR_OPAHSM_Msk                /*!< Operational amplifier1 high speed mode */
+#define OPAMP1_CSR_CALON_Pos              (11U)
+#define OPAMP1_CSR_CALON_Msk              (0x1UL << OPAMP1_CSR_CALON_Pos)      /*!< 0x00000800 */
+#define OPAMP1_CSR_CALON                  OPAMP1_CSR_CALON_Msk                 /*!< Calibration mode enable */
+
+#define OPAMP1_CSR_CALSEL_Pos             (12U)
+#define OPAMP1_CSR_CALSEL_Msk             (0x3UL << OPAMP1_CSR_CALSEL_Pos)     /*!< 0x00003000 */
+#define OPAMP1_CSR_CALSEL                 OPAMP1_CSR_CALSEL_Msk                /*!< Calibration selection */
+#define OPAMP1_CSR_CALSEL_0               (0x1UL << OPAMP1_CSR_CALSEL_Pos)      /*!< 0x00001000 */
+#define OPAMP1_CSR_CALSEL_1               (0x2UL << OPAMP1_CSR_CALSEL_Pos)      /*!< 0x00002000 */
+
+#define OPAMP1_CSR_PGGAIN_Pos             (14U)
+#define OPAMP1_CSR_PGGAIN_Msk             (0xFUL << OPAMP1_CSR_PGGAIN_Pos)     /*!< 0x0003C000 */
+#define OPAMP1_CSR_PGGAIN                 OPAMP1_CSR_PGGAIN_Msk                /*!< Operational amplifier1 Programmable amplifier gain value */
+#define OPAMP1_CSR_PGGAIN_0               (0x1UL << OPAMP1_CSR_PGGAIN_Pos)      /*!< 0x00004000 */
+#define OPAMP1_CSR_PGGAIN_1               (0x2UL << OPAMP1_CSR_PGGAIN_Pos)      /*!< 0x00008000 */
+#define OPAMP1_CSR_PGGAIN_2               (0x4UL << OPAMP1_CSR_PGGAIN_Pos)      /*!< 0x00010000 */
+#define OPAMP1_CSR_PGGAIN_3               (0x8UL << OPAMP1_CSR_PGGAIN_Pos)      /*!< 0x00020000 */
+
+#define OPAMP1_CSR_USERTRIM_Pos           (18U)
+#define OPAMP1_CSR_USERTRIM_Msk           (0x1UL << OPAMP1_CSR_USERTRIM_Pos)   /*!< 0x00040000 */
+#define OPAMP1_CSR_USERTRIM               OPAMP1_CSR_USERTRIM_Msk              /*!< User trimming enable */
+#define OPAMP1_CSR_TSTREF_Pos             (29U)
+#define OPAMP1_CSR_TSTREF_Msk             (0x1UL << OPAMP1_CSR_TSTREF_Pos)     /*!< 0x20000000 */
+#define OPAMP1_CSR_TSTREF                 OPAMP1_CSR_TSTREF_Msk                /*!< OpAmp calibration reference voltage output control */
+#define OPAMP1_CSR_CALOUT_Pos             (30U)
+#define OPAMP1_CSR_CALOUT_Msk             (0x1UL << OPAMP1_CSR_CALOUT_Pos)     /*!< 0x40000000 */
+#define OPAMP1_CSR_CALOUT                 OPAMP1_CSR_CALOUT_Msk                /*!< Operational amplifier1 calibration output */
+
+/*********************  Bit definition for OPAMP2_CSR register  ***************/
+#define OPAMP2_CSR_OPAEN_Pos              (0U)
+#define OPAMP2_CSR_OPAEN_Msk              (0x1UL << OPAMP2_CSR_OPAEN_Pos)      /*!< 0x00000001 */
+#define OPAMP2_CSR_OPAEN                  OPAMP2_CSR_OPAEN_Msk                 /*!< Operational amplifier2 Enable */
+#define OPAMP2_CSR_FORCEVP_Pos            (1U)
+#define OPAMP2_CSR_FORCEVP_Msk            (0x1UL << OPAMP2_CSR_FORCEVP_Pos)    /*!< 0x00000002 */
+#define OPAMP2_CSR_FORCEVP                OPAMP2_CSR_FORCEVP_Msk               /*!< Force internal reference on VP */
+
+#define OPAMP2_CSR_VPSEL_Pos              (2U)
+#define OPAMP2_CSR_VPSEL_Msk              (0x3UL << OPAMP2_CSR_VPSEL_Pos)      /*!< 0x0000000C */
+#define OPAMP2_CSR_VPSEL                  OPAMP2_CSR_VPSEL_Msk                 /*!< Non inverted input selection */
+#define OPAMP2_CSR_VPSEL_0                (0x1UL << OPAMP2_CSR_VPSEL_Pos)       /*!< 0x00000004 */
+#define OPAMP2_CSR_VPSEL_1                (0x2UL << OPAMP2_CSR_VPSEL_Pos)       /*!< 0x00000008 */
+
+#define OPAMP2_CSR_VMSEL_Pos              (5U)
+#define OPAMP2_CSR_VMSEL_Msk              (0x3UL << OPAMP2_CSR_VMSEL_Pos)      /*!< 0x00000060 */
+#define OPAMP2_CSR_VMSEL                  OPAMP2_CSR_VMSEL_Msk                 /*!< Inverting input selection */
+#define OPAMP2_CSR_VMSEL_0                (0x1UL << OPAMP2_CSR_VMSEL_Pos)       /*!< 0x00000020 */
+#define OPAMP2_CSR_VMSEL_1                (0x2UL << OPAMP2_CSR_VMSEL_Pos)       /*!< 0x00000040 */
+
+#define OPAMP2_CSR_OPAHSM_Pos             (8U)
+#define OPAMP2_CSR_OPAHSM_Msk             (0x1UL << OPAMP2_CSR_OPAHSM_Pos)     /*!< 0x00000100 */
+#define OPAMP2_CSR_OPAHSM                 OPAMP2_CSR_OPAHSM_Msk                /*!< Operational amplifier2 high speed mode */
+#define OPAMP2_CSR_CALON_Pos              (11U)
+#define OPAMP2_CSR_CALON_Msk              (0x1UL << OPAMP2_CSR_CALON_Pos)      /*!< 0x00000800 */
+#define OPAMP2_CSR_CALON                  OPAMP2_CSR_CALON_Msk                 /*!< Calibration mode enable */
+
+#define OPAMP2_CSR_CALSEL_Pos             (12U)
+#define OPAMP2_CSR_CALSEL_Msk             (0x3UL << OPAMP2_CSR_CALSEL_Pos)     /*!< 0x00003000 */
+#define OPAMP2_CSR_CALSEL                 OPAMP2_CSR_CALSEL_Msk                /*!< Calibration selection */
+#define OPAMP2_CSR_CALSEL_0               (0x1UL << OPAMP2_CSR_CALSEL_Pos)      /*!< 0x00001000 */
+#define OPAMP2_CSR_CALSEL_1               (0x2UL << OPAMP2_CSR_CALSEL_Pos)      /*!< 0x00002000 */
+
+#define OPAMP2_CSR_PGGAIN_Pos             (14U)
+#define OPAMP2_CSR_PGGAIN_Msk             (0xFUL << OPAMP2_CSR_PGGAIN_Pos)     /*!< 0x0003C000 */
+#define OPAMP2_CSR_PGGAIN                 OPAMP2_CSR_PGGAIN_Msk                /*!< Operational amplifier2 Programmable amplifier gain value */
+#define OPAMP2_CSR_PGGAIN_0               (0x1UL << OPAMP2_CSR_PGGAIN_Pos)      /*!< 0x00004000 */
+#define OPAMP2_CSR_PGGAIN_1               (0x2UL << OPAMP2_CSR_PGGAIN_Pos)      /*!< 0x00008000 */
+#define OPAMP2_CSR_PGGAIN_2               (0x4UL << OPAMP2_CSR_PGGAIN_Pos)      /*!< 0x00010000 */
+#define OPAMP2_CSR_PGGAIN_3               (0x8UL << OPAMP2_CSR_PGGAIN_Pos)      /*!< 0x00020000 */
+
+#define OPAMP2_CSR_USERTRIM_Pos           (18U)
+#define OPAMP2_CSR_USERTRIM_Msk           (0x1UL << OPAMP2_CSR_USERTRIM_Pos)   /*!< 0x00040000 */
+#define OPAMP2_CSR_USERTRIM               OPAMP2_CSR_USERTRIM_Msk              /*!< User trimming enable */
+#define OPAMP2_CSR_TSTREF_Pos             (29U)
+#define OPAMP2_CSR_TSTREF_Msk             (0x1UL << OPAMP2_CSR_TSTREF_Pos)     /*!< 0x20000000 */
+#define OPAMP2_CSR_TSTREF                 OPAMP2_CSR_TSTREF_Msk                /*!< OpAmp calibration reference voltage output control */
+#define OPAMP2_CSR_CALOUT_Pos             (30U)
+#define OPAMP2_CSR_CALOUT_Msk             (0x1UL << OPAMP2_CSR_CALOUT_Pos)     /*!< 0x40000000 */
+#define OPAMP2_CSR_CALOUT                 OPAMP2_CSR_CALOUT_Msk                /*!< Operational amplifier2 calibration output */
+
+/*******************  Bit definition for OPAMP_OTR register  ******************/
+#define OPAMP_OTR_TRIMOFFSETN_Pos        (0U)
+#define OPAMP_OTR_TRIMOFFSETN_Msk        (0x1FUL << OPAMP_OTR_TRIMOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP_OTR_TRIMOFFSETN            OPAMP_OTR_TRIMOFFSETN_Msk             /*!< Trim for NMOS differential pairs */
+#define OPAMP_OTR_TRIMOFFSETP_Pos        (8U)
+#define OPAMP_OTR_TRIMOFFSETP_Msk        (0x1FUL << OPAMP_OTR_TRIMOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP_OTR_TRIMOFFSETP            OPAMP_OTR_TRIMOFFSETP_Msk             /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP1_OTR register  ******************/
+#define OPAMP1_OTR_TRIMOFFSETN_Pos        (0U)
+#define OPAMP1_OTR_TRIMOFFSETN_Msk        (0x1FUL << OPAMP1_OTR_TRIMOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP1_OTR_TRIMOFFSETN            OPAMP1_OTR_TRIMOFFSETN_Msk           /*!< Trim for NMOS differential pairs */
+#define OPAMP1_OTR_TRIMOFFSETP_Pos        (8U)
+#define OPAMP1_OTR_TRIMOFFSETP_Msk        (0x1FUL << OPAMP1_OTR_TRIMOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP1_OTR_TRIMOFFSETP            OPAMP1_OTR_TRIMOFFSETP_Msk           /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP2_OTR register  ******************/
+#define OPAMP2_OTR_TRIMOFFSETN_Pos        (0U)
+#define OPAMP2_OTR_TRIMOFFSETN_Msk        (0x1FUL << OPAMP2_OTR_TRIMOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP2_OTR_TRIMOFFSETN            OPAMP2_OTR_TRIMOFFSETN_Msk           /*!< Trim for NMOS differential pairs */
+#define OPAMP2_OTR_TRIMOFFSETP_Pos        (8U)
+#define OPAMP2_OTR_TRIMOFFSETP_Msk        (0x1FUL << OPAMP2_OTR_TRIMOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP2_OTR_TRIMOFFSETP            OPAMP2_OTR_TRIMOFFSETP_Msk           /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP_HSOTR register  ****************/
+#define OPAMP_HSOTR_TRIMHSOFFSETN_Pos    (0U)
+#define OPAMP_HSOTR_TRIMHSOFFSETN_Msk    (0x1FUL << OPAMP_HSOTR_TRIMHSOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP_HSOTR_TRIMHSOFFSETN        OPAMP_HSOTR_TRIMHSOFFSETN_Msk         /*!< Trim for NMOS differential pairs */
+#define OPAMP_HSOTR_TRIMHSOFFSETP_Pos    (8U)
+#define OPAMP_HSOTR_TRIMHSOFFSETP_Msk    (0x1FUL << OPAMP_HSOTR_TRIMHSOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP_HSOTR_TRIMHSOFFSETP        OPAMP_HSOTR_TRIMHSOFFSETP_Msk         /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP1_HSOTR register  ****************/
+#define OPAMP1_HSOTR_TRIMHSOFFSETN_Pos    (0U)
+#define OPAMP1_HSOTR_TRIMHSOFFSETN_Msk    (0x1FUL << OPAMP1_HSOTR_TRIMHSOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP1_HSOTR_TRIMHSOFFSETN        OPAMP1_HSOTR_TRIMHSOFFSETN_Msk       /*!< Trim for NMOS differential pairs */
+#define OPAMP1_HSOTR_TRIMHSOFFSETP_Pos    (8U)
+#define OPAMP1_HSOTR_TRIMHSOFFSETP_Msk    (0x1FUL << OPAMP1_HSOTR_TRIMHSOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP1_HSOTR_TRIMHSOFFSETP        OPAMP1_HSOTR_TRIMHSOFFSETP_Msk       /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP2_HSOTR register  ****************/
+#define OPAMP2_HSOTR_TRIMHSOFFSETN_Pos    (0U)
+#define OPAMP2_HSOTR_TRIMHSOFFSETN_Msk    (0x1FUL << OPAMP2_HSOTR_TRIMHSOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP2_HSOTR_TRIMHSOFFSETN        OPAMP2_HSOTR_TRIMHSOFFSETN_Msk       /*!< Trim for NMOS differential pairs */
+#define OPAMP2_HSOTR_TRIMHSOFFSETP_Pos    (8U)
+#define OPAMP2_HSOTR_TRIMHSOFFSETP_Msk    (0x1FUL << OPAMP2_HSOTR_TRIMHSOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP2_HSOTR_TRIMHSOFFSETP        OPAMP2_HSOTR_TRIMHSOFFSETP_Msk       /*!< Trim for PMOS differential pairs */
+
+/******************************************************************************/
+/*                                                                            */
+/*                Parallel Synchronous Slave Interface (PSSI )                */
+/*                                                                            */
+/******************************************************************************/
+
+/********************  Bit definition for PSSI_CR register  *******************/
+#define PSSI_CR_OUTEN_Pos               (31U)
+#define PSSI_CR_OUTEN_Msk               (0x1UL << PSSI_CR_OUTEN_Pos)           /*!< 0x80000000 */
+#define PSSI_CR_OUTEN                   PSSI_CR_OUTEN_Msk                      /*!< Data direction selection */
+#define PSSI_CR_DMAEN_Pos               (30U)
+#define PSSI_CR_DMAEN_Msk               (0x1UL << PSSI_CR_DMAEN_Pos)           /*!< 0x40000000 */
+#define PSSI_CR_DMAEN                   PSSI_CR_DMAEN_Msk                      /*!< DMA enable */
+#define PSSI_CR_DERDYCFG_Pos            (18U)
+#define PSSI_CR_DERDYCFG_Msk            (0x7UL << PSSI_CR_DERDYCFG_Pos)        /*!< 0x001C0000 */
+#define PSSI_CR_DERDYCFG                PSSI_CR_DERDYCFG_Msk                   /*!< Data enable and ready configuration */
+#define PSSI_CR_ENABLE_Pos              (14U)
+#define PSSI_CR_ENABLE_Msk              (0x1UL << PSSI_CR_ENABLE_Pos)          /*!< 0x00004000 */
+#define PSSI_CR_ENABLE                  PSSI_CR_ENABLE_Msk                     /*!< PSSI enable */
+#define PSSI_CR_EDM_Pos                 (10U)
+#define PSSI_CR_EDM_Msk                 (0x3UL << PSSI_CR_EDM_Pos)             /*!< 0x00000C00 */
+#define PSSI_CR_EDM                     PSSI_CR_EDM_Msk                        /*!< Extended data mode */
+#define PSSI_CR_RDYPOL_Pos              (8U)
+#define PSSI_CR_RDYPOL_Msk              (0x1UL << PSSI_CR_RDYPOL_Pos)          /*!< 0x00000C00 */
+#define PSSI_CR_RDYPOL                  PSSI_CR_RDYPOL_Msk                     /*!< Ready polarity */
+#define PSSI_CR_DEPOL_Pos               (6U)
+#define PSSI_CR_DEPOL_Msk               (0x1UL << PSSI_CR_DEPOL_Pos)           /*!< 0x00000C00 */
+#define PSSI_CR_DEPOL                   PSSI_CR_DEPOL_Msk                      /*!<  Data enable polarity */
+#define PSSI_CR_CKPOL_Pos               (5U)
+#define PSSI_CR_CKPOL_Msk               (0x1UL << PSSI_CR_CKPOL_Pos)           /*!< 0x00000C00 */
+#define PSSI_CR_CKPOL                   PSSI_CR_CKPOL_Msk                      /*!< Parallel data clock polarity */
+/********************  Bit definition for PSSI_SR register  *******************/
+#define PSSI_SR_RTT1B_Pos               (3U)
+#define PSSI_SR_RTT1B_Msk               (0x1UL << PSSI_SR_RTT1B_Pos)           /*!< 0x00000008 */
+#define PSSI_SR_RTT1B                   PSSI_SR_RTT1B_Msk                      /*!< Ready to transfer one byte */
+#define PSSI_SR_RTT4B_Pos               (2U)
+#define PSSI_SR_RTT4B_Msk               (0x1UL << PSSI_SR_RTT4B_Pos)           /*!< 0x00000004 */
+#define PSSI_SR_RTT4B                   PSSI_SR_RTT4B_Msk                      /*!< Ready to transfer four bytes */
+/********************  Bit definition for PSSI_RIS register  *******************/
+#define PSSI_RIS_OVR_RIS_Pos            (1U)
+#define PSSI_RIS_OVR_RIS_Msk            (0x1UL << PSSI_RIS_OVR_RIS_Pos)        /*!< 0x00000002 */
+#define PSSI_RIS_OVR_RIS                PSSI_RIS_OVR_RIS_Msk                   /*!< Data buffer overrun/underrun raw interrupt status */
+/********************  Bit definition for PSSI_IER register  *******************/
+#define PSSI_IER_OVR_IE_Pos             (1U)
+#define PSSI_IER_OVR_IE_Msk             (0x1UL << PSSI_IER_OVR_IE_Pos)         /*!< 0x00000002 */
+#define PSSI_IER_OVR_IE                 PSSI_IER_OVR_IE_Msk                    /*!< Data buffer overrun/underrun interrupt enable */
+/********************  Bit definition for PSSI_MIS register  *******************/
+#define PSSI_MIS_OVR_MIS_Pos            (1U)
+#define PSSI_MIS_OVR_MIS_Msk            (0x1UL << PSSI_MIS_OVR_MIS_Pos)        /*!< 0x00000002 */
+#define PSSI_MIS_OVR_MIS                PSSI_MIS_OVR_MIS_Msk                   /*!< Data buffer overrun/underrun masked interrupt status */
+/********************  Bit definition for PSSI_ICR register  *******************/
+#define PSSI_ICR_OVR_ISC_Pos            (1U)
+#define PSSI_ICR_OVR_ISC_Msk            (0x1UL << PSSI_ICR_OVR_ISC_Pos)        /*!< 0x00000002 */
+#define PSSI_ICR_OVR_ISC                PSSI_ICR_OVR_ISC_Msk                   /*!< Data buffer overrun/underrun interrupt status clear */
+/********************  Bit definition for PSSI_DR register  *******************/
+#define PSSI_DR_DR_Pos                  (0U)
+#define PSSI_DR_DR_Msk                  (0xFFFFFFFFUL << PSSI_DR_DR_Pos)       /*!< 0xFFFFFFF */
+#define PSSI_DR_DR                      PSSI_DR_DR_Msk                         /*!< Data register  */
+
+/******************************************************************************/
+/*                                                                            */
+/*                              On The Fly Decryption                         */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for OTFDEC_CR register  ******************/
+#define OTFDEC_CR_ENC_Pos                      (0U)
+#define OTFDEC_CR_ENC_Msk                      (0x1UL << OTFDEC_CR_ENC_Pos)                  /*!< 0x00000001 */
+#define OTFDEC_CR_ENC                          OTFDEC_CR_ENC_Msk                             /*!< Encryption mode bit */
+
+/******************  Bit definition for OTFDEC_PRIVCFGR register  ************/
+#define OTFDEC_PRIVCFGR_PRIV_Pos               (0U)
+#define OTFDEC_PRIVCFGR_PRIV_Msk               (0x1UL << OTFDEC_PRIVCFGR_PRIV_Pos)           /*!< 0x00000001 */
+#define OTFDEC_PRIVCFGR_PRIV                   OTFDEC_PRIVCFGR_PRIV_Msk                      /*!< Privileged access protection */
+
+/******************  Bit definition for OTFDEC_REG_CONFIGR register  *********/
+#define OTFDEC_REG_CONFIGR_REG_EN_Pos          (0U)
+#define OTFDEC_REG_CONFIGR_REG_EN_Msk          (0x1UL << OTFDEC_REG_CONFIGR_REG_EN_Pos)      /*!< 0x00000001 */
+#define OTFDEC_REG_CONFIGR_REG_EN              OTFDEC_REG_CONFIGR_REG_EN_Msk                 /*!< Region on-the-fly decryption enable */
+
+#define OTFDEC_REG_CONFIGR_CONFIGLOCK_Pos      (1U)
+#define OTFDEC_REG_CONFIGR_CONFIGLOCK_Msk      (0x1UL << OTFDEC_REG_CONFIGR_CONFIGLOCK_Pos)  /*!< 0x00000002 */
+#define OTFDEC_REG_CONFIGR_CONFIGLOCK          OTFDEC_REG_CONFIGR_CONFIGLOCK_Msk             /*!< Region config lock */
+
+#define OTFDEC_REG_CONFIGR_KEYLOCK_Pos         (2U)
+#define OTFDEC_REG_CONFIGR_KEYLOCK_Msk         (0x1UL << OTFDEC_REG_CONFIGR_KEYLOCK_Pos)     /*!< 0x00000004 */
+#define OTFDEC_REG_CONFIGR_KEYLOCK             OTFDEC_REG_CONFIGR_KEYLOCK_Msk                /*!< Region key lock */
+
+#define OTFDEC_REG_CONFIGR_MODE_Pos            (4U)
+#define OTFDEC_REG_CONFIGR_MODE_Msk            (0x3UL << OTFDEC_REG_CONFIGR_MODE_Pos)        /*!< 0x00000030 */
+#define OTFDEC_REG_CONFIGR_MODE                OTFDEC_REG_CONFIGR_MODE_Msk                   /*!< Region operating mode */
+#define OTFDEC_REG_CONFIGR_MODE_0              (0x1UL << OTFDEC_REG_CONFIGR_MODE_Pos)        /*!< 0x00000010 */
+#define OTFDEC_REG_CONFIGR_MODE_1              (0x2UL << OTFDEC_REG_CONFIGR_MODE_Pos)        /*!< 0x00000020 */
+
+#define OTFDEC_REG_CONFIGR_KEYCRC_Pos          (8U)
+#define OTFDEC_REG_CONFIGR_KEYCRC_Msk          (0xFFUL << OTFDEC_REG_CONFIGR_KEYCRC_Pos)     /*!< 0x0000FF00 */
+#define OTFDEC_REG_CONFIGR_KEYCRC              OTFDEC_REG_CONFIGR_KEYCRC_Msk                 /*!< Region key 8-bit CRC */
+
+#define OTFDEC_REG_CONFIGR_VERSION_Pos         (16U)
+#define OTFDEC_REG_CONFIGR_VERSION_Msk         (0xFFFFUL << OTFDEC_REG_CONFIGR_VERSION_Pos)  /*!< 0xFFFF0000 */
+#define OTFDEC_REG_CONFIGR_VERSION             OTFDEC_REG_CONFIGR_VERSION_Msk                /*!< Region firmware version */
+
+/******************  Bit definition for OTFDEC_REG_START_ADDR register  ******/
+#define OTFDEC_REG_START_ADDR_Pos              (0U)
+#define OTFDEC_REG_START_ADDR_Msk              (0xFFFFFFFFUL << OTFDEC_REG_START_ADDR_Pos)   /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_START_ADDR                  OTFDEC_REG_START_ADDR_Msk                     /*!< Region AHB start address */
+
+/******************  Bit definition for OTFDEC_REG_END_ADDR register  ********/
+#define OTFDEC_REG_END_ADDR_Pos                (0U)
+#define OTFDEC_REG_END_ADDR_Msk                (0xFFFFFFFFUL << OTFDEC_REG_END_ADDR_Pos)     /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_END_ADDR                    OTFDEC_REG_END_ADDR_Msk                       /*!< Region AHB end address */
+
+/******************  Bit definition for OTFDEC_REG_NONCER0 register  *********/
+#define OTFDEC_REG_NONCER0_Pos                 (0U)
+#define OTFDEC_REG_NONCER0_Msk                 (0xFFFFFFFFUL << OTFDEC_REG_NONCER0_Pos)      /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_NONCER0                     OTFDEC_REG_NONCER0_Msk                        /*!< Region Nonce Register (LSB nonce[31:0]) */
+
+/******************  Bit definition for OTFDEC_REG_NONCER1 register  *********/
+#define OTFDEC_REG_NONCER1_Pos                 (0U)
+#define OTFDEC_REG_NONCER1_Msk                 (0xFFFFFFFFUL << OTFDEC_REG_NONCER1_Pos)      /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_NONCER1                     OTFDEC_REG_NONCER1_Msk                        /*!< Region Nonce Register (MSB nonce[63:32]) */
+
+/******************  Bit definition for OTFDEC_REG_KEYR0 register  ***********/
+#define OTFDEC_REG_KEYR0_Pos                   (0U)
+#define OTFDEC_REG_KEYR0_Msk                   (0xFFFFFFFFUL << OTFDEC_REG_KEYR0_Pos)        /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_KEYR0                       OTFDEC_REG_KEYR0_Msk                          /*!< Region Key Register (LSB key[31:0]) */
+
+/******************  Bit definition for OTFDEC_REG_KEYR1 register  ***********/
+#define OTFDEC_REG_KEYR1_Pos                   (0U)
+#define OTFDEC_REG_KEYR1_Msk                   (0xFFFFFFFFUL << OTFDEC_REG_KEYR1_Pos)        /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_KEYR1                       OTFDEC_REG_KEYR1_Msk                          /*!< Region Key Register (key[63:32]) */
+
+/******************  Bit definition for OTFDEC_REG_KEYR2 register  ***********/
+#define OTFDEC_REG_KEYR2_Pos                   (0U)
+#define OTFDEC_REG_KEYR2_Msk                   (0xFFFFFFFFUL << OTFDEC_REG_KEYR2_Pos)        /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_KEYR2                       OTFDEC_REG_KEYR2_Msk                          /*!< Region Key Register (key[95:64]) */
+
+/******************  Bit definition for OTFDEC_REG_KEYR3 register  ***********/
+#define OTFDEC_REG_KEYR3_Pos                   (0U)
+#define OTFDEC_REG_KEYR3_Msk                   (0xFFFFFFFFUL << OTFDEC_REG_KEYR3_Pos)        /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_KEYR3                       OTFDEC_REG_KEYR3_Msk                          /*!< Region Key Register (key[127:96]) */
+
+/******************  Bit definition for OTFDEC_ISR register  *****************/
+#define OTFDEC_ISR_SEIF_Pos                    (0U)
+#define OTFDEC_ISR_SEIF_Msk                    (0x1UL << OTFDEC_ISR_SEIF_Pos)                /*!< 0x00000001 */
+#define OTFDEC_ISR_SEIF                        OTFDEC_ISR_SEIF_Msk                           /*!< Security Error Interrupt Flag status bit before enable (mask) */
+
+#define OTFDEC_ISR_XONEIF_Pos                  (1U)
+#define OTFDEC_ISR_XONEIF_Msk                  (0x1UL << OTFDEC_ISR_XONEIF_Pos)              /*!< 0x00000002 */
+#define OTFDEC_ISR_XONEIF                      OTFDEC_ISR_XONEIF_Msk                         /*!< Execute-only Error Interrupt Flag status bit before enable (mask) */
+
+#define OTFDEC_ISR_KEIF_Pos                    (2U)
+#define OTFDEC_ISR_KEIF_Msk                    (0x1UL << OTFDEC_ISR_KEIF_Pos)                /*!< 0x00000004 */
+#define OTFDEC_ISR_KEIF                        OTFDEC_ISR_KEIF_Msk                           /*!< Key Error Interrupt Flag status bit before enable (mask) */
+
+/******************  Bit definition  for OTFDEC_ICR register  *****************/
+#define OTFDEC_ICR_SEIF_Pos                    (0U)
+#define OTFDEC_ICR_SEIF_Msk                    (0x1UL << OTFDEC_ICR_SEIF_Pos)                /*!< 0x00000001 */
+#define OTFDEC_ICR_SEIF                        OTFDEC_ICR_SEIF_Msk                           /*!< Security Error Interrupt Flag clear bit */
+
+#define OTFDEC_ICR_XONEIF_Pos                  (1U)
+#define OTFDEC_ICR_XONEIF_Msk                  (0x1UL << OTFDEC_ICR_XONEIF_Pos)              /*!< 0x00000002 */
+#define OTFDEC_ICR_XONEIF                      OTFDEC_ICR_XONEIF_Msk                         /*!< Execute-only Error Interrupt Flag clear bit */
+
+#define OTFDEC_ICR_KEIF_Pos                    (2U)
+#define OTFDEC_ICR_KEIF_Msk                    (0x1UL << OTFDEC_ICR_KEIF_Pos)                /*!< 0x00000004 */
+#define OTFDEC_ICR_KEIF                        OTFDEC_ICR_KEIF_Msk                           /*!< Key Error Interrupt Flag clear bit */
+
+/******************  Bit definition for OTFDEC_IER register  *****************/
+#define OTFDEC_IER_SEIE_Pos                    (0U)
+#define OTFDEC_IER_SEIE_Msk                    (0x1UL << OTFDEC_IER_SEIE_Pos)                /*!< 0x00000001 */
+#define OTFDEC_IER_SEIE                        OTFDEC_IER_SEIE_Msk                           /*!< Security Error Interrupt Enable bit */
+
+#define OTFDEC_IER_XONEIE_Pos                  (1U)
+#define OTFDEC_IER_XONEIE_Msk                  (0x1UL << OTFDEC_IER_XONEIE_Pos)              /*!< 0x00000002 */
+#define OTFDEC_IER_XONEIE                      OTFDEC_IER_XONEIE_Msk                         /*!< Execute-only Error Interrupt Enable bit */
+
+#define OTFDEC_IER_KEIE_Pos                    (2U)
+#define OTFDEC_IER_KEIE_Msk                    (0x1UL << OTFDEC_IER_KEIE_Pos)                /*!< 0x00000004 */
+#define OTFDEC_IER_KEIE                        OTFDEC_IER_KEIE_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                             Power Control                                  */
+/*                                                                            */
+/******************************************************************************/
+/*************************  NUMBER OF POWER DOMAINS  **************************/
+#define POWER_DOMAINS_NUMBER           3U                                      /*!< 3 Domains */
+
+/********************  Bit definition for PWR_CR1 register  *******************/
+#define PWR_CR1_ALS_Pos                (17U)
+#define PWR_CR1_ALS_Msk                (0x3UL << PWR_CR1_ALS_Pos)              /*!< 0x00060000 */
+#define PWR_CR1_ALS                    PWR_CR1_ALS_Msk                         /*!< Analog Voltage Detector level selection */
+#define PWR_CR1_ALS_0                  (0x1UL << PWR_CR1_ALS_Pos)              /*!< 0x00020000 */
+#define PWR_CR1_ALS_1                  (0x2UL << PWR_CR1_ALS_Pos)              /*!< 0x00040000 */
+#define PWR_CR1_AVDEN_Pos              (16U)
+#define PWR_CR1_AVDEN_Msk              (0x1UL << PWR_CR1_AVDEN_Pos)            /*!< 0x00010000 */
+#define PWR_CR1_AVDEN                  PWR_CR1_AVDEN_Msk                       /*!< Analog Voltage Detector Enable */
+#define PWR_CR1_SVOS_Pos               (14U)
+#define PWR_CR1_SVOS_Msk               (0x3UL << PWR_CR1_SVOS_Pos)             /*!< 0x0000C000 */
+#define PWR_CR1_SVOS                   PWR_CR1_SVOS_Msk                        /*!< System STOP mode Voltage Scaling selection */
+#define PWR_CR1_SVOS_0                 (0x1UL << PWR_CR1_SVOS_Pos)             /*!< 0x00004000 */
+#define PWR_CR1_SVOS_1                 (0x2UL << PWR_CR1_SVOS_Pos)             /*!< 0x00008000 */
+#define PWR_CR1_FLPS_Pos               (9U)
+#define PWR_CR1_FLPS_Msk               (0x1UL << PWR_CR1_FLPS_Pos)             /*!< 0x00000200 */
+#define PWR_CR1_FLPS                   PWR_CR1_FLPS_Msk                        /*!< Flash low power mode in DSTOP */
+#define PWR_CR1_DBP_Pos                (8U)
+#define PWR_CR1_DBP_Msk                (0x1UL << PWR_CR1_DBP_Pos)              /*!< 0x00000100 */
+#define PWR_CR1_DBP                    PWR_CR1_DBP_Msk                         /*!< Disable Back-up domain Protection */
+#define PWR_CR1_PLS_Pos                (5U)
+#define PWR_CR1_PLS_Msk                (0x7UL << PWR_CR1_PLS_Pos)              /*!< 0x000000E0 */
+#define PWR_CR1_PLS                    PWR_CR1_PLS_Msk                         /*!< Programmable Voltage Detector level selection */
+#define PWR_CR1_PLS_0                  (0x1UL << PWR_CR1_PLS_Pos)              /*!< 0x00000020 */
+#define PWR_CR1_PLS_1                  (0x2UL << PWR_CR1_PLS_Pos)              /*!< 0x00000040 */
+#define PWR_CR1_PLS_2                  (0x4UL << PWR_CR1_PLS_Pos)              /*!< 0x00000080 */
+#define PWR_CR1_PVDEN_Pos              (4U)
+#define PWR_CR1_PVDEN_Msk              (0x1UL << PWR_CR1_PVDEN_Pos)            /*!< 0x00000010 */
+#define PWR_CR1_PVDEN                  PWR_CR1_PVDEN_Msk                       /*!< Programmable Voltage detector enable */
+#define PWR_CR1_LPDS_Pos               (0U)
+#define PWR_CR1_LPDS_Msk               (0x1UL << PWR_CR1_LPDS_Pos)             /*!< 0x00000001 */
+#define PWR_CR1_LPDS                   PWR_CR1_LPDS_Msk                        /*!< Low Power Deepsleep with SVOS3 */
+
+/*!< PVD level configuration */
+#define PWR_CR1_PLS_LEV0               (0UL)                                   /*!< PVD level 0 */
+#define PWR_CR1_PLS_LEV1_Pos           (5U)
+#define PWR_CR1_PLS_LEV1_Msk           (0x1UL << PWR_CR1_PLS_LEV1_Pos)         /*!< 0x00000020 */
+#define PWR_CR1_PLS_LEV1               PWR_CR1_PLS_LEV1_Msk                    /*!< PVD level 1 */
+#define PWR_CR1_PLS_LEV2_Pos           (6U)
+#define PWR_CR1_PLS_LEV2_Msk           (0x1UL << PWR_CR1_PLS_LEV2_Pos)         /*!< 0x00000040 */
+#define PWR_CR1_PLS_LEV2               PWR_CR1_PLS_LEV2_Msk                    /*!< PVD level 2 */
+#define PWR_CR1_PLS_LEV3_Pos           (5U)
+#define PWR_CR1_PLS_LEV3_Msk           (0x3UL << PWR_CR1_PLS_LEV3_Pos)         /*!< 0x00000060 */
+#define PWR_CR1_PLS_LEV3               PWR_CR1_PLS_LEV3_Msk                    /*!< PVD level 3 */
+#define PWR_CR1_PLS_LEV4_Pos           (7U)
+#define PWR_CR1_PLS_LEV4_Msk           (0x1UL << PWR_CR1_PLS_LEV4_Pos)         /*!< 0x00000080 */
+#define PWR_CR1_PLS_LEV4               PWR_CR1_PLS_LEV4_Msk                    /*!< PVD level 4 */
+#define PWR_CR1_PLS_LEV5_Pos           (5U)
+#define PWR_CR1_PLS_LEV5_Msk           (0x5UL << PWR_CR1_PLS_LEV5_Pos)         /*!< 0x000000A0 */
+#define PWR_CR1_PLS_LEV5               PWR_CR1_PLS_LEV5_Msk                    /*!< PVD level 5 */
+#define PWR_CR1_PLS_LEV6_Pos           (6U)
+#define PWR_CR1_PLS_LEV6_Msk           (0x3UL << PWR_CR1_PLS_LEV6_Pos)         /*!< 0x000000C0 */
+#define PWR_CR1_PLS_LEV6               PWR_CR1_PLS_LEV6_Msk                    /*!< PVD level 6 */
+#define PWR_CR1_PLS_LEV7_Pos           (5U)
+#define PWR_CR1_PLS_LEV7_Msk           (0x7UL << PWR_CR1_PLS_LEV7_Pos)         /*!< 0x000000E0 */
+#define PWR_CR1_PLS_LEV7               PWR_CR1_PLS_LEV7_Msk                    /*!< PVD level 7 */
+
+/*!< AVD level configuration */
+#define PWR_CR1_ALS_LEV0               (0UL)                                   /*!< AVD level 0 */
+#define PWR_CR1_ALS_LEV1_Pos           (17U)
+#define PWR_CR1_ALS_LEV1_Msk           (0x1UL << PWR_CR1_ALS_LEV1_Pos)         /*!< 0x00020000 */
+#define PWR_CR1_ALS_LEV1               PWR_CR1_ALS_LEV1_Msk                    /*!< AVD level 1 */
+#define PWR_CR1_ALS_LEV2_Pos           (18U)
+#define PWR_CR1_ALS_LEV2_Msk           (0x1UL << PWR_CR1_ALS_LEV2_Pos)         /*!< 0x00040000 */
+#define PWR_CR1_ALS_LEV2               PWR_CR1_ALS_LEV2_Msk                    /*!< AVD level 2 */
+#define PWR_CR1_ALS_LEV3_Pos           (17U)
+#define PWR_CR1_ALS_LEV3_Msk           (0x3UL << PWR_CR1_ALS_LEV3_Pos)         /*!< 0x00060000 */
+#define PWR_CR1_ALS_LEV3               PWR_CR1_ALS_LEV3_Msk                    /*!< AVD level 3 */
+
+/********************  Bit definition for PWR_CSR1 register  ******************/
+#define PWR_CSR1_AVDO_Pos              (16U)
+#define PWR_CSR1_AVDO_Msk              (0x1UL << PWR_CSR1_AVDO_Pos)            /*!< 0x00010000 */
+#define PWR_CSR1_AVDO                  PWR_CSR1_AVDO_Msk                       /*!< Analog Voltage Detect Output */
+#define PWR_CSR1_ACTVOS_Pos            (14U)
+#define PWR_CSR1_ACTVOS_Msk            (0x3UL << PWR_CSR1_ACTVOS_Pos)          /*!< 0x0000C000 */
+#define PWR_CSR1_ACTVOS                PWR_CSR1_ACTVOS_Msk                     /*!< Current actual used VOS for VDD11 Voltage Scaling */
+#define PWR_CSR1_ACTVOS_0              (0x1UL << PWR_CSR1_ACTVOS_Pos)          /*!< 0x00004000 */
+#define PWR_CSR1_ACTVOS_1              (0x2UL << PWR_CSR1_ACTVOS_Pos)          /*!< 0x00008000 */
+#define PWR_CSR1_ACTVOSRDY_Pos         (13U)
+#define PWR_CSR1_ACTVOSRDY_Msk         (0x1UL << PWR_CSR1_ACTVOSRDY_Pos)       /*!< 0x00002000 */
+#define PWR_CSR1_ACTVOSRDY             PWR_CSR1_ACTVOSRDY_Msk                  /*!< Ready bit for current actual used VOS for VDD11 Voltage Scaling  */
+#define PWR_CSR1_PVDO_Pos              (4U)
+#define PWR_CSR1_PVDO_Msk              (0x1UL << PWR_CSR1_PVDO_Pos)            /*!< 0x00000010 */
+#define PWR_CSR1_PVDO                  PWR_CSR1_PVDO_Msk                       /*!< Programmable Voltage Detect Output */
+
+/********************  Bit definition for PWR_CR2 register  *******************/
+#define PWR_CR2_TEMPH_Pos              (23U)
+#define PWR_CR2_TEMPH_Msk              (0x1UL << PWR_CR2_TEMPH_Pos)            /*!< 0x00800000 */
+#define PWR_CR2_TEMPH                  PWR_CR2_TEMPH_Msk                       /*!< Monitored temperature level above high threshold */
+#define PWR_CR2_TEMPL_Pos              (22U)
+#define PWR_CR2_TEMPL_Msk              (0x1UL << PWR_CR2_TEMPL_Pos)            /*!< 0x00400000 */
+#define PWR_CR2_TEMPL                  PWR_CR2_TEMPL_Msk                       /*!< Monitored temperature level above low threshold */
+#define PWR_CR2_VBATH_Pos              (21U)
+#define PWR_CR2_VBATH_Msk              (0x1UL << PWR_CR2_VBATH_Pos)            /*!< 0x00200000 */
+#define PWR_CR2_VBATH                  PWR_CR2_VBATH_Msk                       /*!< Monitored VBAT level above high threshold */
+#define PWR_CR2_VBATL_Pos              (20U)
+#define PWR_CR2_VBATL_Msk              (0x1UL << PWR_CR2_VBATL_Pos)            /*!< 0x00100000 */
+#define PWR_CR2_VBATL                  PWR_CR2_VBATL_Msk                       /*!< Monitored VBAT level above low threshold */
+#define PWR_CR2_BRRDY_Pos              (16U)
+#define PWR_CR2_BRRDY_Msk              (0x1UL << PWR_CR2_BRRDY_Pos)            /*!< 0x00010000 */
+#define PWR_CR2_BRRDY                  PWR_CR2_BRRDY_Msk                       /*!< Backup regulator ready */
+#define PWR_CR2_MONEN_Pos              (4U)
+#define PWR_CR2_MONEN_Msk              (0x1UL << PWR_CR2_MONEN_Pos)            /*!< 0x00000010 */
+#define PWR_CR2_MONEN                  PWR_CR2_MONEN_Msk                       /*!< VBAT and temperature monitoring enable */
+#define PWR_CR2_BREN_Pos               (0U)
+#define PWR_CR2_BREN_Msk               (0x1UL << PWR_CR2_BREN_Pos)             /*!< 0x00000001 */
+#define PWR_CR2_BREN                   PWR_CR2_BREN_Msk                        /*!< Backup regulator enable */
+
+/********************  Bit definition for PWR_CR3 register  *******************/
+#define PWR_CR3_USB33RDY_Pos           (26U)
+#define PWR_CR3_USB33RDY_Msk           (0x1UL << PWR_CR3_USB33RDY_Pos)         /*!< 0x04000000 */
+#define PWR_CR3_USB33RDY               PWR_CR3_USB33RDY_Msk                    /*!< USB supply ready */
+#define PWR_CR3_USBREGEN_Pos           (25U)
+#define PWR_CR3_USBREGEN_Msk           (0x1UL << PWR_CR3_USBREGEN_Pos)         /*!< 0x02000000 */
+#define PWR_CR3_USBREGEN               PWR_CR3_USBREGEN_Msk                    /*!< USB regulator enable */
+#define PWR_CR3_USB33DEN_Pos           (24U)
+#define PWR_CR3_USB33DEN_Msk           (0x1UL << PWR_CR3_USB33DEN_Pos)         /*!< 0x01000000 */
+#define PWR_CR3_USB33DEN               PWR_CR3_USB33DEN_Msk                    /*!< VDD33_USB voltage level detector enable */
+#define PWR_CR3_SMPSEXTRDY_Pos         (16U)
+#define PWR_CR3_SMPSEXTRDY_Msk         (0x1UL << PWR_CR3_SMPSEXTRDY_Pos)       /*!< 0x00010000 */
+#define PWR_CR3_SMPSEXTRDY             PWR_CR3_SMPSEXTRDY_Msk                  /*!< SMPS External supply ready */
+#define PWR_CR3_VBRS_Pos               (9U)
+#define PWR_CR3_VBRS_Msk               (0x1UL << PWR_CR3_VBRS_Pos)             /*!< 0x00000200 */
+#define PWR_CR3_VBRS                   PWR_CR3_VBRS_Msk                        /*!< VBAT charging resistor selection */
+#define PWR_CR3_VBE_Pos                (8U)
+#define PWR_CR3_VBE_Msk                (0x1UL << PWR_CR3_VBE_Pos)              /*!< 0x00000100 */
+#define PWR_CR3_VBE                    PWR_CR3_VBE_Msk                         /*!< VBAT charging enable */
+#define PWR_CR3_SMPSLEVEL_Pos          (4U)
+#define PWR_CR3_SMPSLEVEL_Msk          (0x3UL << PWR_CR3_SMPSLEVEL_Pos)        /*!< 0x00000030 */
+#define PWR_CR3_SMPSLEVEL              PWR_CR3_SMPSLEVEL_Msk                   /*!< SMPS output Voltage */
+#define PWR_CR3_SMPSLEVEL_0            (0x1UL << PWR_CR3_SMPSLEVEL_Pos)        /*!< 0x00000010 */
+#define PWR_CR3_SMPSLEVEL_1            (0x2UL << PWR_CR3_SMPSLEVEL_Pos)        /*!< 0x00000020 */
+#define PWR_CR3_SMPSEXTHP_Pos          (3U)
+#define PWR_CR3_SMPSEXTHP_Msk          (0x1UL << PWR_CR3_SMPSEXTHP_Pos)        /*!< 0x00000008 */
+#define PWR_CR3_SMPSEXTHP              PWR_CR3_SMPSEXTHP_Msk                   /*!< SMPS forced ON and in High Power MR mode */
+#define PWR_CR3_SMPSEN_Pos             (2U)
+#define PWR_CR3_SMPSEN_Msk             (0x1UL << PWR_CR3_SMPSEN_Pos)           /*!< 0x00000004 */
+#define PWR_CR3_SMPSEN                 PWR_CR3_SMPSEN_Msk                      /*!< SMPS Enable */
+#define PWR_CR3_LDOEN_Pos              (1U)
+#define PWR_CR3_LDOEN_Msk              (0x1UL << PWR_CR3_LDOEN_Pos)            /*!< 0x00000002 */
+#define PWR_CR3_LDOEN                  PWR_CR3_LDOEN_Msk                       /*!< Low Drop Output regulator enable */
+#define PWR_CR3_BYPASS_Pos             (0U)
+#define PWR_CR3_BYPASS_Msk             (0x1UL << PWR_CR3_BYPASS_Pos)           /*!< 0x00000001 */
+#define PWR_CR3_BYPASS                 PWR_CR3_BYPASS_Msk                      /*!< Power Management Unit bypass */
+
+/********************  Bit definition for PWR_CPUCR register  *****************/
+#define PWR_CPUCR_RUN_D3_Pos           (11U)
+#define PWR_CPUCR_RUN_D3_Msk           (0x1UL << PWR_CPUCR_RUN_D3_Pos)         /*!< 0x00000800 */
+#define PWR_CPUCR_RUN_D3               PWR_CPUCR_RUN_D3_Msk                    /*!< Keep system D3 domain in RUN mode regardless of the CPU sub-systems modes */
+#define PWR_CPUCR_CSSF_Pos             (9U)
+#define PWR_CPUCR_CSSF_Msk             (0x1UL << PWR_CPUCR_CSSF_Pos)           /*!< 0x00000200 */
+#define PWR_CPUCR_CSSF                 PWR_CPUCR_CSSF_Msk                      /*!< Clear D1 domain CPU1 STANDBY, STOP and HOLD flags */
+#define PWR_CPUCR_SBF_D2_Pos           (8U)
+#define PWR_CPUCR_SBF_D2_Msk           (0x1UL << PWR_CPUCR_SBF_D2_Pos)         /*!< 0x00000100 */
+#define PWR_CPUCR_SBF_D2               PWR_CPUCR_SBF_D2_Msk                    /*!< D2 domain DSTANDBY Flag */
+#define PWR_CPUCR_SBF_D1_Pos           (7U)
+#define PWR_CPUCR_SBF_D1_Msk           (0x1UL << PWR_CPUCR_SBF_D1_Pos)         /*!< 0x00000080 */
+#define PWR_CPUCR_SBF_D1               PWR_CPUCR_SBF_D1_Msk                    /*!< D1 domain DSTANDBY Flag */
+#define PWR_CPUCR_SBF_Pos              (6U)
+#define PWR_CPUCR_SBF_Msk              (0x1UL << PWR_CPUCR_SBF_Pos)            /*!< 0x00000040 */
+#define PWR_CPUCR_SBF                  PWR_CPUCR_SBF_Msk                       /*!< System STANDBY Flag */
+#define PWR_CPUCR_STOPF_Pos            (5U)
+#define PWR_CPUCR_STOPF_Msk            (0x1UL << PWR_CPUCR_STOPF_Pos)          /*!< 0x00000020 */
+#define PWR_CPUCR_STOPF                PWR_CPUCR_STOPF_Msk                     /*!< STOP Flag */
+#define PWR_CPUCR_PDDS_D3_Pos          (2U)
+#define PWR_CPUCR_PDDS_D3_Msk          (0x1UL << PWR_CPUCR_PDDS_D3_Pos)        /*!< 0x00000004 */
+#define PWR_CPUCR_PDDS_D3              PWR_CPUCR_PDDS_D3_Msk                   /*!< System D3 domain Power Down Deepsleep */
+#define PWR_CPUCR_PDDS_D2_Pos          (1U)
+#define PWR_CPUCR_PDDS_D2_Msk          (0x1UL << PWR_CPUCR_PDDS_D2_Pos)        /*!< 0x00000002 */
+#define PWR_CPUCR_PDDS_D2              PWR_CPUCR_PDDS_D2_Msk                   /*!< D2 domain Power Down Deepsleep */
+#define PWR_CPUCR_PDDS_D1_Pos          (0U)
+#define PWR_CPUCR_PDDS_D1_Msk          (0x1UL << PWR_CPUCR_PDDS_D1_Pos)        /*!< 0x00000001 */
+#define PWR_CPUCR_PDDS_D1              PWR_CPUCR_PDDS_D1_Msk                   /*!< D1 domain Power Down Deepsleep selection */
+
+
+/********************  Bit definition for PWR_D3CR register  ******************/
+#define PWR_D3CR_VOS_Pos               (14U)
+#define PWR_D3CR_VOS_Msk               (0x3UL << PWR_D3CR_VOS_Pos)             /*!< 0x0000C000 */
+#define PWR_D3CR_VOS                   PWR_D3CR_VOS_Msk                        /*!< Voltage Scaling selection according performance */
+#define PWR_D3CR_VOS_0                 (0x1UL << PWR_D3CR_VOS_Pos)             /*!< 0x00004000 */
+#define PWR_D3CR_VOS_1                 (0x2UL << PWR_D3CR_VOS_Pos)             /*!< 0x00008000 */
+#define PWR_D3CR_VOSRDY_Pos            (13U)
+#define PWR_D3CR_VOSRDY_Msk            (0x1UL << PWR_D3CR_VOSRDY_Pos)          /*!< 0x00002000 */
+#define PWR_D3CR_VOSRDY                PWR_D3CR_VOSRDY_Msk                     /*!< VOS Ready bit for VDD11 Voltage Scaling output selection */
+
+/******************  Bit definition for PWR_WKUPCR register  ******************/
+#define PWR_WKUPCR_WKUPC6_Pos          (5U)
+#define PWR_WKUPCR_WKUPC6_Msk          (0x1UL << PWR_WKUPCR_WKUPC6_Pos)        /*!< 0x00000020 */
+#define PWR_WKUPCR_WKUPC6              PWR_WKUPCR_WKUPC6_Msk                   /*!< Clear Wakeup Pin Flag 6 */
+#define PWR_WKUPCR_WKUPC4_Pos          (3U)
+#define PWR_WKUPCR_WKUPC4_Msk          (0x1UL << PWR_WKUPCR_WKUPC4_Pos)        /*!< 0x00000008 */
+#define PWR_WKUPCR_WKUPC4              PWR_WKUPCR_WKUPC4_Msk                   /*!< Clear Wakeup Pin Flag 4 */
+#define PWR_WKUPCR_WKUPC2_Pos          (1U)
+#define PWR_WKUPCR_WKUPC2_Msk          (0x1UL << PWR_WKUPCR_WKUPC2_Pos)        /*!< 0x00000002 */
+#define PWR_WKUPCR_WKUPC2              PWR_WKUPCR_WKUPC2_Msk                   /*!< Clear Wakeup Pin Flag 2 */
+#define PWR_WKUPCR_WKUPC1_Pos          (0U)
+#define PWR_WKUPCR_WKUPC1_Msk          (0x1UL << PWR_WKUPCR_WKUPC1_Pos)        /*!< 0x00000001 */
+#define PWR_WKUPCR_WKUPC1              PWR_WKUPCR_WKUPC1_Msk                   /*!< Clear Wakeup Pin Flag 1 */
+
+/********************  Bit definition for PWR_WKUPFR register  ****************/
+#define PWR_WKUPFR_WKUPF6_Pos          (5U)
+#define PWR_WKUPFR_WKUPF6_Msk          (0x1UL << PWR_WKUPFR_WKUPF6_Pos)        /*!< 0x00000020 */
+#define PWR_WKUPFR_WKUPF6              PWR_WKUPFR_WKUPF6_Msk                   /*!< Wakeup Pin Flag 6 */
+#define PWR_WKUPFR_WKUPF4_Pos          (3U)
+#define PWR_WKUPFR_WKUPF4_Msk          (0x1UL << PWR_WKUPFR_WKUPF4_Pos)        /*!< 0x00000008 */
+#define PWR_WKUPFR_WKUPF4              PWR_WKUPFR_WKUPF4_Msk                   /*!< Wakeup Pin Flag 4 */
+#define PWR_WKUPFR_WKUPF2_Pos          (1U)
+#define PWR_WKUPFR_WKUPF2_Msk          (0x1UL << PWR_WKUPFR_WKUPF2_Pos)        /*!< 0x00000002 */
+#define PWR_WKUPFR_WKUPF2              PWR_WKUPFR_WKUPF2_Msk                   /*!< Wakeup Pin Flag 2 */
+#define PWR_WKUPFR_WKUPF1_Pos          (0U)
+#define PWR_WKUPFR_WKUPF1_Msk          (0x1UL << PWR_WKUPFR_WKUPF1_Pos)        /*!< 0x00000001 */
+#define PWR_WKUPFR_WKUPF1              PWR_WKUPFR_WKUPF1_Msk                   /*!< Wakeup Pin Flag 1 */
+
+/******************  Bit definition for PWR_WKUPEPR register  *****************/
+#define PWR_WKUPEPR_WKUPPUPD6_Pos      (26U)
+#define PWR_WKUPEPR_WKUPPUPD6_Msk      (0x3UL << PWR_WKUPEPR_WKUPPUPD6_Pos)    /*!< 0x0C000000 */
+#define PWR_WKUPEPR_WKUPPUPD6          PWR_WKUPEPR_WKUPPUPD6_Msk               /*!< Wakeup Pin pull configuration for WKUP6 */
+#define PWR_WKUPEPR_WKUPPUPD6_0        (0x1UL << PWR_WKUPEPR_WKUPPUPD6_Pos)    /*!< 0x04000000 */
+#define PWR_WKUPEPR_WKUPPUPD6_1        (0x2UL << PWR_WKUPEPR_WKUPPUPD6_Pos)    /*!< 0x08000000 */
+#define PWR_WKUPEPR_WKUPPUPD4_Pos      (22U)
+#define PWR_WKUPEPR_WKUPPUPD4_Msk      (0x3UL << PWR_WKUPEPR_WKUPPUPD4_Pos)    /*!< 0x00C00000 */
+#define PWR_WKUPEPR_WKUPPUPD4          PWR_WKUPEPR_WKUPPUPD4_Msk               /*!< Wakeup Pin pull configuration for WKUP4 */
+#define PWR_WKUPEPR_WKUPPUPD4_0        (0x1UL << PWR_WKUPEPR_WKUPPUPD4_Pos)    /*!< 0x00400000 */
+#define PWR_WKUPEPR_WKUPPUPD4_1        (0x2UL << PWR_WKUPEPR_WKUPPUPD4_Pos)    /*!< 0x00800000 */
+#define PWR_WKUPEPR_WKUPPUPD2_Pos      (18U)
+#define PWR_WKUPEPR_WKUPPUPD2_Msk      (0x3UL << PWR_WKUPEPR_WKUPPUPD2_Pos)    /*!< 0x000C0000 */
+#define PWR_WKUPEPR_WKUPPUPD2          PWR_WKUPEPR_WKUPPUPD2_Msk               /*!< Wakeup Pin pull configuration for WKUP2 */
+#define PWR_WKUPEPR_WKUPPUPD2_0        (0x1UL << PWR_WKUPEPR_WKUPPUPD2_Pos)    /*!< 0x00040000 */
+#define PWR_WKUPEPR_WKUPPUPD2_1        (0x2UL << PWR_WKUPEPR_WKUPPUPD2_Pos)    /*!< 0x00080000 */
+#define PWR_WKUPEPR_WKUPPUPD1_Pos      (16U)
+#define PWR_WKUPEPR_WKUPPUPD1_Msk      (0x3UL << PWR_WKUPEPR_WKUPPUPD1_Pos)    /*!< 0x00030000 */
+#define PWR_WKUPEPR_WKUPPUPD1          PWR_WKUPEPR_WKUPPUPD1_Msk               /*!< Wakeup Pin pull configuration for WKUP1 */
+#define PWR_WKUPEPR_WKUPPUPD1_0        (0x1UL << PWR_WKUPEPR_WKUPPUPD1_Pos)    /*!< 0x00010000 */
+#define PWR_WKUPEPR_WKUPPUPD1_1        (0x2UL << PWR_WKUPEPR_WKUPPUPD1_Pos)    /*!< 0x00020000 */
+#define PWR_WKUPEPR_WKUPP6_Pos         (13U)
+#define PWR_WKUPEPR_WKUPP6_Msk         (0x1UL << PWR_WKUPEPR_WKUPP6_Pos)       /*!< 0x00002000 */
+#define PWR_WKUPEPR_WKUPP6             PWR_WKUPEPR_WKUPP6_Msk                  /*!< Wakeup Pin Polarity for WKUP6 */
+#define PWR_WKUPEPR_WKUPP4_Pos         (11U)
+#define PWR_WKUPEPR_WKUPP4_Msk         (0x1UL << PWR_WKUPEPR_WKUPP4_Pos)       /*!< 0x00000800 */
+#define PWR_WKUPEPR_WKUPP4             PWR_WKUPEPR_WKUPP4_Msk                  /*!< Wakeup Pin Polarity for WKUP4 */
+#define PWR_WKUPEPR_WKUPP2_Pos         (9U)
+#define PWR_WKUPEPR_WKUPP2_Msk         (0x1UL << PWR_WKUPEPR_WKUPP2_Pos)       /*!< 0x00000200 */
+#define PWR_WKUPEPR_WKUPP2             PWR_WKUPEPR_WKUPP2_Msk                  /*!< Wakeup Pin Polarity for WKUP2 */
+#define PWR_WKUPEPR_WKUPP1_Pos         (8U)
+#define PWR_WKUPEPR_WKUPP1_Msk         (0x1UL << PWR_WKUPEPR_WKUPP1_Pos)       /*!< 0x00000100 */
+#define PWR_WKUPEPR_WKUPP1             PWR_WKUPEPR_WKUPP1_Msk                  /*!< Wakeup Pin Polarity for WKUP1 */
+#define PWR_WKUPEPR_WKUPEN6_Pos        (5U)
+#define PWR_WKUPEPR_WKUPEN6_Msk        (0x1UL << PWR_WKUPEPR_WKUPEN6_Pos)      /*!< 0x00000020 */
+#define PWR_WKUPEPR_WKUPEN6            PWR_WKUPEPR_WKUPEN6_Msk                 /*!< Enable Wakeup Pin WKUP6 */
+#define PWR_WKUPEPR_WKUPEN4_Pos        (3U)
+#define PWR_WKUPEPR_WKUPEN4_Msk        (0x1UL << PWR_WKUPEPR_WKUPEN4_Pos)      /*!< 0x00000008 */
+#define PWR_WKUPEPR_WKUPEN4            PWR_WKUPEPR_WKUPEN4_Msk                 /*!< Enable Wakeup Pin WKUP4 */
+#define PWR_WKUPEPR_WKUPEN2_Pos        (1U)
+#define PWR_WKUPEPR_WKUPEN2_Msk        (0x1UL << PWR_WKUPEPR_WKUPEN2_Pos)      /*!< 0x00000002 */
+#define PWR_WKUPEPR_WKUPEN2            PWR_WKUPEPR_WKUPEN2_Msk                 /*!< Enable Wakeup Pin WKUP2 */
+#define PWR_WKUPEPR_WKUPEN1_Pos        (0U)
+#define PWR_WKUPEPR_WKUPEN1_Msk        (0x1UL << PWR_WKUPEPR_WKUPEN1_Pos)      /*!< 0x00000001 */
+#define PWR_WKUPEPR_WKUPEN1            PWR_WKUPEPR_WKUPEN1_Msk                 /*!< Enable Wakeup Pin WKUP1 */
+#define PWR_WKUPEPR_WKUPEN_Pos         (0U)
+#define PWR_WKUPEPR_WKUPEN_Msk         (0x3FUL << PWR_WKUPEPR_WKUPEN_Pos)      /*!< 0x0000003F */
+#define PWR_WKUPEPR_WKUPEN             PWR_WKUPEPR_WKUPEN_Msk                  /*!< Enable all Wakeup Pin */
+
+/******************************************************************************/
+/*                                                                            */
+/*                         Reset and Clock Control                            */
+/*                                                                            */
+/******************************************************************************/
+/*******************************  RCC VERSION  ********************************/
+#define RCC_VER_3_0
+
+/********************  Bit definition for RCC_CR register  ********************/
+#define RCC_CR_HSION_Pos                       (0U)
+#define RCC_CR_HSION_Msk                       (0x1UL << RCC_CR_HSION_Pos)     /*!< 0x00000001 */
+#define RCC_CR_HSION                           RCC_CR_HSION_Msk                /*!< Internal High Speed clock enable */
+#define RCC_CR_HSIKERON_Pos                    (1U)
+#define RCC_CR_HSIKERON_Msk                    (0x1UL << RCC_CR_HSIKERON_Pos)  /*!< 0x00000002 */
+#define RCC_CR_HSIKERON                        RCC_CR_HSIKERON_Msk             /*!< Internal High Speed clock enable for some IPs Kernel */
+#define RCC_CR_HSIRDY_Pos                      (2U)
+#define RCC_CR_HSIRDY_Msk                      (0x1UL << RCC_CR_HSIRDY_Pos)    /*!< 0x00000004 */
+#define RCC_CR_HSIRDY                          RCC_CR_HSIRDY_Msk               /*!< Internal High Speed clock ready flag */
+#define RCC_CR_HSIDIV_Pos                      (3U)
+#define RCC_CR_HSIDIV_Msk                      (0x3UL << RCC_CR_HSIDIV_Pos)    /*!< 0x00000018 */
+#define RCC_CR_HSIDIV                          RCC_CR_HSIDIV_Msk               /*!< Internal High Speed clock divider selection */
+#define RCC_CR_HSIDIV_1                        (0x0UL << RCC_CR_HSIDIV_Pos)     /*!< 0x00000000 */
+#define RCC_CR_HSIDIV_2                        (0x1UL << RCC_CR_HSIDIV_Pos)     /*!< 0x00000008 */
+#define RCC_CR_HSIDIV_4                        (0x2UL << RCC_CR_HSIDIV_Pos)     /*!< 0x00000010 */
+#define RCC_CR_HSIDIV_8                        (0x3UL << RCC_CR_HSIDIV_Pos)     /*!< 0x00000018 */
+
+#define RCC_CR_HSIDIVF_Pos                     (5U)
+#define RCC_CR_HSIDIVF_Msk                     (0x1UL << RCC_CR_HSIDIVF_Pos)   /*!< 0x00000020 */
+#define RCC_CR_HSIDIVF                         RCC_CR_HSIDIVF_Msk              /*!< HSI Divider flag */
+#define RCC_CR_CSION_Pos                       (7U)
+#define RCC_CR_CSION_Msk                       (0x1UL << RCC_CR_CSION_Pos)     /*!< 0x00000080 */
+#define RCC_CR_CSION                           RCC_CR_CSION_Msk                /*!< The Internal RC 4MHz oscillator clock enable */
+#define RCC_CR_CSIRDY_Pos                      (8U)
+#define RCC_CR_CSIRDY_Msk                      (0x1UL << RCC_CR_CSIRDY_Pos)    /*!< 0x00000100 */
+#define RCC_CR_CSIRDY                          RCC_CR_CSIRDY_Msk               /*!< The Internal RC 4MHz oscillator clock ready */
+#define RCC_CR_CSIKERON_Pos                    (9U)
+#define RCC_CR_CSIKERON_Msk                    (0x1UL << RCC_CR_CSIKERON_Pos)  /*!< 0x00000200 */
+#define RCC_CR_CSIKERON                        RCC_CR_CSIKERON_Msk             /*!< Internal RC 4MHz oscillator clock enable for some IPs Kernel */
+#define RCC_CR_HSI48ON_Pos                     (12U)
+#define RCC_CR_HSI48ON_Msk                     (0x1UL << RCC_CR_HSI48ON_Pos)   /*!< 0x00001000 */
+#define RCC_CR_HSI48ON                         RCC_CR_HSI48ON_Msk              /*!< HSI48 clock enable clock enable  */
+#define RCC_CR_HSI48RDY_Pos                    (13U)
+#define RCC_CR_HSI48RDY_Msk                    (0x1UL << RCC_CR_HSI48RDY_Pos)  /*!< 0x00002000 */
+#define RCC_CR_HSI48RDY                        RCC_CR_HSI48RDY_Msk             /*!< HSI48 clock ready */
+
+#define RCC_CR_D1CKRDY_Pos                     (14U)
+#define RCC_CR_D1CKRDY_Msk                     (0x1UL << RCC_CR_D1CKRDY_Pos)   /*!< 0x00004000 */
+#define RCC_CR_D1CKRDY                         RCC_CR_D1CKRDY_Msk              /*!< D1 domain clocks ready flag  */
+#define RCC_CR_D2CKRDY_Pos                     (15U)
+#define RCC_CR_D2CKRDY_Msk                     (0x1UL << RCC_CR_D2CKRDY_Pos)   /*!< 0x00008000 */
+#define RCC_CR_D2CKRDY                         RCC_CR_D2CKRDY_Msk              /*!< D2 domain clocks ready flag */
+
+#define RCC_CR_HSEON_Pos                       (16U)
+#define RCC_CR_HSEON_Msk                       (0x1UL << RCC_CR_HSEON_Pos)     /*!< 0x00010000 */
+#define RCC_CR_HSEON                           RCC_CR_HSEON_Msk                /*!< External High Speed clock enable */
+#define RCC_CR_HSERDY_Pos                      (17U)
+#define RCC_CR_HSERDY_Msk                      (0x1UL << RCC_CR_HSERDY_Pos)    /*!< 0x00020000 */
+#define RCC_CR_HSERDY                          RCC_CR_HSERDY_Msk               /*!< External High Speed clock ready */
+#define RCC_CR_HSEBYP_Pos                      (18U)
+#define RCC_CR_HSEBYP_Msk                      (0x1UL << RCC_CR_HSEBYP_Pos)    /*!< 0x00040000 */
+#define RCC_CR_HSEBYP                          RCC_CR_HSEBYP_Msk               /*!< External High Speed clock Bypass */
+#define RCC_CR_CSSHSEON_Pos                    (19U)
+#define RCC_CR_CSSHSEON_Msk                    (0x1UL << RCC_CR_CSSHSEON_Pos)  /*!< 0x00080000 */
+#define RCC_CR_CSSHSEON                        RCC_CR_CSSHSEON_Msk             /*!< HSE Clock security System enable */
+
+
+#define RCC_CR_PLL1ON_Pos                      (24U)
+#define RCC_CR_PLL1ON_Msk                      (0x1UL << RCC_CR_PLL1ON_Pos)    /*!< 0x01000000 */
+#define RCC_CR_PLL1ON                          RCC_CR_PLL1ON_Msk               /*!< System PLL1 clock enable */
+#define RCC_CR_PLL1RDY_Pos                     (25U)
+#define RCC_CR_PLL1RDY_Msk                     (0x1UL << RCC_CR_PLL1RDY_Pos)   /*!< 0x02000000 */
+#define RCC_CR_PLL1RDY                         RCC_CR_PLL1RDY_Msk              /*!< System PLL1 clock ready */
+#define RCC_CR_PLL2ON_Pos                      (26U)
+#define RCC_CR_PLL2ON_Msk                      (0x1UL << RCC_CR_PLL2ON_Pos)    /*!< 0x04000000 */
+#define RCC_CR_PLL2ON                          RCC_CR_PLL2ON_Msk               /*!< System PLL2 clock enable */
+#define RCC_CR_PLL2RDY_Pos                     (27U)
+#define RCC_CR_PLL2RDY_Msk                     (0x1UL << RCC_CR_PLL2RDY_Pos)   /*!< 0x08000000 */
+#define RCC_CR_PLL2RDY                         RCC_CR_PLL2RDY_Msk              /*!< System PLL2 clock ready */
+#define RCC_CR_PLL3ON_Pos                      (28U)
+#define RCC_CR_PLL3ON_Msk                      (0x1UL << RCC_CR_PLL3ON_Pos)    /*!< 0x10000000 */
+#define RCC_CR_PLL3ON                          RCC_CR_PLL3ON_Msk               /*!< System PLL3 clock enable */
+#define RCC_CR_PLL3RDY_Pos                     (29U)
+#define RCC_CR_PLL3RDY_Msk                     (0x1UL << RCC_CR_PLL3RDY_Pos)   /*!< 0x20000000 */
+#define RCC_CR_PLL3RDY                         RCC_CR_PLL3RDY_Msk              /*!< System PLL3 clock ready */
+
+/*Legacy */
+#define RCC_CR_PLLON_Pos                       (24U)
+#define RCC_CR_PLLON_Msk                       (0x1UL << RCC_CR_PLLON_Pos)     /*!< 0x01000000 */
+#define RCC_CR_PLLON                           RCC_CR_PLLON_Msk                /*!< System PLL clock enable */
+#define RCC_CR_PLLRDY_Pos                      (25U)
+#define RCC_CR_PLLRDY_Msk                      (0x1UL << RCC_CR_PLLRDY_Pos)    /*!< 0x02000000 */
+#define RCC_CR_PLLRDY                          RCC_CR_PLLRDY_Msk               /*!< System PLL clock ready */
+
+/********************  Bit definition for RCC_HSICFGR register  ***************/
+/*!< HSICAL configuration */
+#define RCC_HSICFGR_HSICAL_Pos                 (0U)
+#define RCC_HSICFGR_HSICAL_Msk                 (0xFFFUL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000FFF */
+#define RCC_HSICFGR_HSICAL                     RCC_HSICFGR_HSICAL_Msk          /*!< HSICAL[11:0] bits */
+#define RCC_HSICFGR_HSICAL_0                   (0x001UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000001 */
+#define RCC_HSICFGR_HSICAL_1                   (0x002UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000002 */
+#define RCC_HSICFGR_HSICAL_2                   (0x004UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000004 */
+#define RCC_HSICFGR_HSICAL_3                   (0x008UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000008 */
+#define RCC_HSICFGR_HSICAL_4                   (0x010UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000010 */
+#define RCC_HSICFGR_HSICAL_5                   (0x020UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000020 */
+#define RCC_HSICFGR_HSICAL_6                   (0x040UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000040 */
+#define RCC_HSICFGR_HSICAL_7                   (0x080UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000080 */
+#define RCC_HSICFGR_HSICAL_8                   (0x100UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000100 */
+#define RCC_HSICFGR_HSICAL_9                   (0x200UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000200 */
+#define RCC_HSICFGR_HSICAL_10                  (0x400UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000400 */
+#define RCC_HSICFGR_HSICAL_11                  (0x800UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000800 */
+
+/*!< HSITRIM configuration */
+#define RCC_HSICFGR_HSITRIM_Pos                (24U)
+#define RCC_HSICFGR_HSITRIM_Msk                (0x7FUL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x7F000000 */
+#define RCC_HSICFGR_HSITRIM                    RCC_HSICFGR_HSITRIM_Msk         /*!< HSITRIM[6:0] bits */
+#define RCC_HSICFGR_HSITRIM_0                  (0x01UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x01000000 */
+#define RCC_HSICFGR_HSITRIM_1                  (0x02UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x02000000 */
+#define RCC_HSICFGR_HSITRIM_2                  (0x04UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x04000000 */
+#define RCC_HSICFGR_HSITRIM_3                  (0x08UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x08000000 */
+#define RCC_HSICFGR_HSITRIM_4                  (0x10UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x10000000 */
+#define RCC_HSICFGR_HSITRIM_5                  (0x20UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x20000000 */
+#define RCC_HSICFGR_HSITRIM_6                  (0x40UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x40000000 */
+
+
+/********************  Bit definition for RCC_CRRCR register  *****************/
+
+/*!< HSI48CAL configuration */
+#define RCC_CRRCR_HSI48CAL_Pos                 (0U)
+#define RCC_CRRCR_HSI48CAL_Msk                 (0x3FFUL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x000003FF */
+#define RCC_CRRCR_HSI48CAL                     RCC_CRRCR_HSI48CAL_Msk          /*!< HSI48CAL[9:0] bits */
+#define RCC_CRRCR_HSI48CAL_0                   (0x001UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000001 */
+#define RCC_CRRCR_HSI48CAL_1                   (0x002UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000002 */
+#define RCC_CRRCR_HSI48CAL_2                   (0x004UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000004 */
+#define RCC_CRRCR_HSI48CAL_3                   (0x008UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000008 */
+#define RCC_CRRCR_HSI48CAL_4                   (0x010UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000010 */
+#define RCC_CRRCR_HSI48CAL_5                   (0x020UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000020 */
+#define RCC_CRRCR_HSI48CAL_6                   (0x040UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000040 */
+#define RCC_CRRCR_HSI48CAL_7                   (0x080UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000080 */
+#define RCC_CRRCR_HSI48CAL_8                   (0x100UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000100 */
+#define RCC_CRRCR_HSI48CAL_9                   (0x200UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000200 */
+
+
+/********************  Bit definition for RCC_CSICFGR register  *****************/
+/*!< CSICAL configuration */
+#define RCC_CSICFGR_CSICAL_Pos                 (0U)
+#define RCC_CSICFGR_CSICAL_Msk                 (0xFFUL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x000000FF */
+#define RCC_CSICFGR_CSICAL                     RCC_CSICFGR_CSICAL_Msk          /*!< CSICAL[7:0] bits */
+#define RCC_CSICFGR_CSICAL_0                   (0x01UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000001 */
+#define RCC_CSICFGR_CSICAL_1                   (0x02UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000002 */
+#define RCC_CSICFGR_CSICAL_2                   (0x04UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000004 */
+#define RCC_CSICFGR_CSICAL_3                   (0x08UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000008 */
+#define RCC_CSICFGR_CSICAL_4                   (0x10UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000010 */
+#define RCC_CSICFGR_CSICAL_5                   (0x20UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000020 */
+#define RCC_CSICFGR_CSICAL_6                   (0x40UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000040 */
+#define RCC_CSICFGR_CSICAL_7                   (0x80UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000080 */
+
+/*!< CSITRIM configuration */
+#define RCC_CSICFGR_CSITRIM_Pos                (24U)
+#define RCC_CSICFGR_CSITRIM_Msk                (0x3FUL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x3F000000 */
+#define RCC_CSICFGR_CSITRIM                    RCC_CSICFGR_CSITRIM_Msk         /*!< CSITRIM[5:0] bits */
+#define RCC_CSICFGR_CSITRIM_0                  (0x01UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x01000000 */
+#define RCC_CSICFGR_CSITRIM_1                  (0x02UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x02000000 */
+#define RCC_CSICFGR_CSITRIM_2                  (0x04UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x04000000 */
+#define RCC_CSICFGR_CSITRIM_3                  (0x08UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x08000000 */
+#define RCC_CSICFGR_CSITRIM_4                  (0x10UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x10000000 */
+#define RCC_CSICFGR_CSITRIM_5                  (0x20UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x20000000 */
+
+/********************  Bit definition for RCC_CFGR register  ******************/
+/*!< SW configuration */
+#define RCC_CFGR_SW_Pos                        (0U)
+#define RCC_CFGR_SW_Msk                        (0x7UL << RCC_CFGR_SW_Pos)           /*!< 0x00000007 */
+#define RCC_CFGR_SW                            RCC_CFGR_SW_Msk                     /*!< SW[2:0] bits (System clock Switch) */
+#define RCC_CFGR_SW_0                          (0x1UL << RCC_CFGR_SW_Pos)           /*!< 0x00000001 */
+#define RCC_CFGR_SW_1                          (0x2UL << RCC_CFGR_SW_Pos)           /*!< 0x00000002 */
+#define RCC_CFGR_SW_2                          (0x4UL << RCC_CFGR_SW_Pos)           /*!< 0x00000004 */
+
+#define RCC_CFGR_SW_HSI                        (0x00000000UL)                       /*!< HSI selection as system clock */
+#define RCC_CFGR_SW_CSI                        (0x00000001UL)                       /*!< CSI selection as system clock */
+#define RCC_CFGR_SW_HSE                        (0x00000002UL)                       /*!< HSE selection as system clock */
+#define RCC_CFGR_SW_PLL1                       (0x00000003UL)                       /*!< PLL1 selection as system clock */
+
+/*!< SWS configuration */
+#define RCC_CFGR_SWS_Pos                       (3U)
+#define RCC_CFGR_SWS_Msk                       (0x7UL << RCC_CFGR_SWS_Pos)          /*!< 0x00000038 */
+#define RCC_CFGR_SWS                           RCC_CFGR_SWS_Msk                    /*!< SWS[2:0] bits (System Clock Switch Status) */
+#define RCC_CFGR_SWS_0                         (0x1UL << RCC_CFGR_SWS_Pos)          /*!< 0x00000008 */
+#define RCC_CFGR_SWS_1                         (0x2UL << RCC_CFGR_SWS_Pos)          /*!< 0x00000010 */
+#define RCC_CFGR_SWS_2                         (0x4UL << RCC_CFGR_SWS_Pos)          /*!< 0x00000020 */
+
+#define RCC_CFGR_SWS_HSI                       (0x00000000UL)                       /*!< HSI used as system clock */
+#define RCC_CFGR_SWS_CSI                       (0x00000008UL)                       /*!< CSI used as system clock */
+#define RCC_CFGR_SWS_HSE                       (0x00000010UL)                       /*!< HSE used as system clock */
+#define RCC_CFGR_SWS_PLL1                      (0x00000018UL)                       /*!< PLL1 used as system clock */
+
+#define RCC_CFGR_STOPWUCK_Pos                  (6U)
+#define RCC_CFGR_STOPWUCK_Msk                  (0x1UL << RCC_CFGR_STOPWUCK_Pos)     /*!< 0x00000040 */
+#define RCC_CFGR_STOPWUCK                      RCC_CFGR_STOPWUCK_Msk                /*!< Wake Up from stop and CSS backup clock selection */
+
+#define RCC_CFGR_STOPKERWUCK_Pos               (7U)
+#define RCC_CFGR_STOPKERWUCK_Msk               (0x1UL << RCC_CFGR_STOPKERWUCK_Pos)  /*!< 0x00000080 */
+#define RCC_CFGR_STOPKERWUCK                   RCC_CFGR_STOPKERWUCK_Msk             /*!< Kernel Clock Selection after a Wake Up from STOP */
+
+/*!< RTCPRE configuration */
+#define RCC_CFGR_RTCPRE_Pos                    (8U)
+#define RCC_CFGR_RTCPRE_Msk                    (0x3FUL << RCC_CFGR_RTCPRE_Pos)
+#define RCC_CFGR_RTCPRE                        RCC_CFGR_RTCPRE_Msk                  /*!< 0x00003F00 */
+#define RCC_CFGR_RTCPRE_0                      (0x1UL << RCC_CFGR_RTCPRE_Pos)        /*!< 0x00000100 */
+#define RCC_CFGR_RTCPRE_1                      (0x2UL << RCC_CFGR_RTCPRE_Pos)        /*!< 0x00000200 */
+#define RCC_CFGR_RTCPRE_2                      (0x4UL << RCC_CFGR_RTCPRE_Pos)        /*!< 0x00000400 */
+#define RCC_CFGR_RTCPRE_3                      (0x8UL << RCC_CFGR_RTCPRE_Pos)        /*!< 0x00000800 */
+#define RCC_CFGR_RTCPRE_4                      (0x10UL << RCC_CFGR_RTCPRE_Pos)       /*!< 0x00001000 */
+#define RCC_CFGR_RTCPRE_5                      (0x20UL << RCC_CFGR_RTCPRE_Pos)       /*!< 0x00002000 */
+
+
+/*!< TIMPRE configuration */
+#define RCC_CFGR_TIMPRE_Pos                    (15U)
+#define RCC_CFGR_TIMPRE_Msk                    (0x1UL << RCC_CFGR_TIMPRE_Pos)
+#define RCC_CFGR_TIMPRE                        RCC_CFGR_TIMPRE_Msk                  /*!< 0x00008000 */
+
+/*!< MCO1 configuration */
+#define RCC_CFGR_MCO1_Pos                      (22U)
+#define RCC_CFGR_MCO1_Msk                      (0x7UL << RCC_CFGR_MCO1_Pos)
+#define RCC_CFGR_MCO1                          RCC_CFGR_MCO1_Msk                       /*!< 0x01C00000 */
+#define RCC_CFGR_MCO1_0                        (0x1UL <<  RCC_CFGR_MCO1_Pos)            /*!< 0x00400000 */
+#define RCC_CFGR_MCO1_1                        (0x2UL <<  RCC_CFGR_MCO1_Pos)            /*!< 0x00800000 */
+#define RCC_CFGR_MCO1_2                        (0x4UL <<  RCC_CFGR_MCO1_Pos)            /*!< 0x01000000 */
+
+#define RCC_CFGR_MCO1PRE_Pos                   (18U)
+#define RCC_CFGR_MCO1PRE_Msk                   (0xFUL << RCC_CFGR_MCO1PRE_Pos)
+#define RCC_CFGR_MCO1PRE                       RCC_CFGR_MCO1PRE_Msk                    /*!< 0x003C0000 */
+#define RCC_CFGR_MCO1PRE_0                     (0x1UL << RCC_CFGR_MCO1PRE_Pos)          /*!< 0x00040000 */
+#define RCC_CFGR_MCO1PRE_1                     (0x2UL << RCC_CFGR_MCO1PRE_Pos)          /*!< 0x00080000 */
+#define RCC_CFGR_MCO1PRE_2                     (0x4UL << RCC_CFGR_MCO1PRE_Pos)          /*!< 0x00100000 */
+#define RCC_CFGR_MCO1PRE_3                     (0x8UL << RCC_CFGR_MCO1PRE_Pos)          /*!< 0x00200000 */
+
+#define RCC_CFGR_MCO2PRE_Pos                   (25U)
+#define RCC_CFGR_MCO2PRE_Msk                   (0xFUL << RCC_CFGR_MCO2PRE_Pos)
+#define RCC_CFGR_MCO2PRE                       RCC_CFGR_MCO2PRE_Msk                    /*!< 0x1E000000 */
+#define RCC_CFGR_MCO2PRE_0                     (0x1UL << RCC_CFGR_MCO2PRE_Pos)          /*!< 0x02000000 */
+#define RCC_CFGR_MCO2PRE_1                     (0x2UL << RCC_CFGR_MCO2PRE_Pos)          /*!< 0x04000000 */
+#define RCC_CFGR_MCO2PRE_2                     (0x4UL << RCC_CFGR_MCO2PRE_Pos)          /*!< 0x08000000 */
+#define RCC_CFGR_MCO2PRE_3                     (0x8UL << RCC_CFGR_MCO2PRE_Pos)          /*!< 0x10000000 */
+
+#define RCC_CFGR_MCO2_Pos                      (29U)
+#define RCC_CFGR_MCO2_Msk                      (0x7UL << RCC_CFGR_MCO2_Pos)
+#define RCC_CFGR_MCO2                          RCC_CFGR_MCO2_Msk                       /*!< 0xE0000000 */
+#define RCC_CFGR_MCO2_0                        (0x1UL << RCC_CFGR_MCO2_Pos)             /*!< 0x20000000 */
+#define RCC_CFGR_MCO2_1                        (0x2UL << RCC_CFGR_MCO2_Pos)             /*!< 0x40000000 */
+#define RCC_CFGR_MCO2_2                        (0x4UL << RCC_CFGR_MCO2_Pos)             /*!< 0x80000000 */
+
+/********************  Bit definition for RCC_D1CFGR register  ******************/
+/*!< D1HPRE configuration */
+#define RCC_D1CFGR_HPRE_Pos                    (0U)
+#define RCC_D1CFGR_HPRE_Msk                    (0xFUL << RCC_D1CFGR_HPRE_Pos)  /*!< 0x0000000F */
+#define RCC_D1CFGR_HPRE                        RCC_D1CFGR_HPRE_Msk             /*!< HPRE[3:0] bits (AHB3 prescaler) */
+#define RCC_D1CFGR_HPRE_0                      (0x1UL << RCC_D1CFGR_HPRE_Pos)   /*!< 0x00000001 */
+#define RCC_D1CFGR_HPRE_1                      (0x2UL << RCC_D1CFGR_HPRE_Pos)   /*!< 0x00000002 */
+#define RCC_D1CFGR_HPRE_2                      (0x4UL << RCC_D1CFGR_HPRE_Pos)   /*!< 0x00000004 */
+#define RCC_D1CFGR_HPRE_3                      (0x8UL << RCC_D1CFGR_HPRE_Pos)   /*!< 0x00000008 */
+
+
+#define RCC_D1CFGR_HPRE_DIV1                   ((uint32_t)0x00000000)          /*!< AHB3 Clock not divided */
+#define RCC_D1CFGR_HPRE_DIV2_Pos               (3U)
+#define RCC_D1CFGR_HPRE_DIV2_Msk               (0x1UL << RCC_D1CFGR_HPRE_DIV2_Pos) /*!< 0x00000008 */
+#define RCC_D1CFGR_HPRE_DIV2                   RCC_D1CFGR_HPRE_DIV2_Msk        /*!< AHB3 Clock divided by 2 */
+#define RCC_D1CFGR_HPRE_DIV4_Pos               (0U)
+#define RCC_D1CFGR_HPRE_DIV4_Msk               (0x9UL << RCC_D1CFGR_HPRE_DIV4_Pos) /*!< 0x00000009 */
+#define RCC_D1CFGR_HPRE_DIV4                   RCC_D1CFGR_HPRE_DIV4_Msk        /*!< AHB3 Clock divided by 4 */
+#define RCC_D1CFGR_HPRE_DIV8_Pos               (1U)
+#define RCC_D1CFGR_HPRE_DIV8_Msk               (0x5UL << RCC_D1CFGR_HPRE_DIV8_Pos) /*!< 0x0000000A */
+#define RCC_D1CFGR_HPRE_DIV8                   RCC_D1CFGR_HPRE_DIV8_Msk        /*!< AHB3 Clock divided by 8 */
+#define RCC_D1CFGR_HPRE_DIV16_Pos              (0U)
+#define RCC_D1CFGR_HPRE_DIV16_Msk              (0xBUL << RCC_D1CFGR_HPRE_DIV16_Pos) /*!< 0x0000000B */
+#define RCC_D1CFGR_HPRE_DIV16                  RCC_D1CFGR_HPRE_DIV16_Msk       /*!< AHB3 Clock divided by 16 */
+#define RCC_D1CFGR_HPRE_DIV64_Pos              (2U)
+#define RCC_D1CFGR_HPRE_DIV64_Msk              (0x3UL << RCC_D1CFGR_HPRE_DIV64_Pos) /*!< 0x0000000C */
+#define RCC_D1CFGR_HPRE_DIV64                  RCC_D1CFGR_HPRE_DIV64_Msk       /*!< AHB3 Clock divided by 64 */
+#define RCC_D1CFGR_HPRE_DIV128_Pos             (0U)
+#define RCC_D1CFGR_HPRE_DIV128_Msk             (0xDUL << RCC_D1CFGR_HPRE_DIV128_Pos) /*!< 0x0000000D */
+#define RCC_D1CFGR_HPRE_DIV128                 RCC_D1CFGR_HPRE_DIV128_Msk      /*!< AHB3 Clock divided by 128 */
+#define RCC_D1CFGR_HPRE_DIV256_Pos             (1U)
+#define RCC_D1CFGR_HPRE_DIV256_Msk             (0x7UL << RCC_D1CFGR_HPRE_DIV256_Pos) /*!< 0x0000000E */
+#define RCC_D1CFGR_HPRE_DIV256                 RCC_D1CFGR_HPRE_DIV256_Msk      /*!< AHB3 Clock divided by 256 */
+#define RCC_D1CFGR_HPRE_DIV512_Pos             (0U)
+#define RCC_D1CFGR_HPRE_DIV512_Msk             (0xFUL << RCC_D1CFGR_HPRE_DIV512_Pos) /*!< 0x0000000F */
+#define RCC_D1CFGR_HPRE_DIV512                 RCC_D1CFGR_HPRE_DIV512_Msk      /*!< AHB3 Clock divided by 512 */
+
+/*!< D1PPRE configuration */
+#define RCC_D1CFGR_D1PPRE_Pos                  (4U)
+#define RCC_D1CFGR_D1PPRE_Msk                  (0x7UL << RCC_D1CFGR_D1PPRE_Pos) /*!< 0x00000070 */
+#define RCC_D1CFGR_D1PPRE                      RCC_D1CFGR_D1PPRE_Msk           /*!< D1PRE[2:0] bits (APB3 prescaler) */
+#define RCC_D1CFGR_D1PPRE_0                    (0x1UL << RCC_D1CFGR_D1PPRE_Pos) /*!< 0x00000010 */
+#define RCC_D1CFGR_D1PPRE_1                    (0x2UL << RCC_D1CFGR_D1PPRE_Pos) /*!< 0x00000020 */
+#define RCC_D1CFGR_D1PPRE_2                    (0x4UL << RCC_D1CFGR_D1PPRE_Pos) /*!< 0x00000040 */
+
+#define RCC_D1CFGR_D1PPRE_DIV1                 ((uint32_t)0x00000000)          /*!< APB3 clock not divided */
+#define RCC_D1CFGR_D1PPRE_DIV2_Pos             (6U)
+#define RCC_D1CFGR_D1PPRE_DIV2_Msk             (0x1UL << RCC_D1CFGR_D1PPRE_DIV2_Pos) /*!< 0x00000040 */
+#define RCC_D1CFGR_D1PPRE_DIV2                 RCC_D1CFGR_D1PPRE_DIV2_Msk      /*!< APB3 clock divided by 2 */
+#define RCC_D1CFGR_D1PPRE_DIV4_Pos             (4U)
+#define RCC_D1CFGR_D1PPRE_DIV4_Msk             (0x5UL << RCC_D1CFGR_D1PPRE_DIV4_Pos) /*!< 0x00000050 */
+#define RCC_D1CFGR_D1PPRE_DIV4                 RCC_D1CFGR_D1PPRE_DIV4_Msk      /*!< APB3 clock divided by 4 */
+#define RCC_D1CFGR_D1PPRE_DIV8_Pos             (5U)
+#define RCC_D1CFGR_D1PPRE_DIV8_Msk             (0x3UL << RCC_D1CFGR_D1PPRE_DIV8_Pos) /*!< 0x00000060 */
+#define RCC_D1CFGR_D1PPRE_DIV8                 RCC_D1CFGR_D1PPRE_DIV8_Msk      /*!< APB3 clock divided by 8 */
+#define RCC_D1CFGR_D1PPRE_DIV16_Pos            (4U)
+#define RCC_D1CFGR_D1PPRE_DIV16_Msk            (0x7UL << RCC_D1CFGR_D1PPRE_DIV16_Pos) /*!< 0x00000070 */
+#define RCC_D1CFGR_D1PPRE_DIV16                RCC_D1CFGR_D1PPRE_DIV16_Msk     /*!< APB3 clock divided by 16 */
+
+#define RCC_D1CFGR_D1CPRE_Pos                  (8U)
+#define RCC_D1CFGR_D1CPRE_Msk                  (0xFUL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000F00 */
+#define RCC_D1CFGR_D1CPRE                      RCC_D1CFGR_D1CPRE_Msk           /*!< D1CPRE[2:0] bits (Domain 1 Core prescaler) */
+#define RCC_D1CFGR_D1CPRE_0                    (0x1UL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000100 */
+#define RCC_D1CFGR_D1CPRE_1                    (0x2UL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000200 */
+#define RCC_D1CFGR_D1CPRE_2                    (0x4UL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000400 */
+#define RCC_D1CFGR_D1CPRE_3                    (0x8UL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000800 */
+
+#define RCC_D1CFGR_D1CPRE_DIV1                 ((uint32_t)0x00000000)          /*!< Domain 1 Core clock not divided */
+#define RCC_D1CFGR_D1CPRE_DIV2_Pos             (11U)
+#define RCC_D1CFGR_D1CPRE_DIV2_Msk             (0x1UL << RCC_D1CFGR_D1CPRE_DIV2_Pos) /*!< 0x00000800 */
+#define RCC_D1CFGR_D1CPRE_DIV2                 RCC_D1CFGR_D1CPRE_DIV2_Msk      /*!< Domain 1 Core clock divided by 2 */
+#define RCC_D1CFGR_D1CPRE_DIV4_Pos             (8U)
+#define RCC_D1CFGR_D1CPRE_DIV4_Msk             (0x9UL << RCC_D1CFGR_D1CPRE_DIV4_Pos) /*!< 0x00000900 */
+#define RCC_D1CFGR_D1CPRE_DIV4                 RCC_D1CFGR_D1CPRE_DIV4_Msk      /*!< Domain 1 Core clock divided by 4 */
+#define RCC_D1CFGR_D1CPRE_DIV8_Pos             (9U)
+#define RCC_D1CFGR_D1CPRE_DIV8_Msk             (0x5UL << RCC_D1CFGR_D1CPRE_DIV8_Pos) /*!< 0x00000A00 */
+#define RCC_D1CFGR_D1CPRE_DIV8                 RCC_D1CFGR_D1CPRE_DIV8_Msk      /*!< Domain 1 Core clock divided by 8 */
+#define RCC_D1CFGR_D1CPRE_DIV16_Pos            (8U)
+#define RCC_D1CFGR_D1CPRE_DIV16_Msk            (0xBUL << RCC_D1CFGR_D1CPRE_DIV16_Pos) /*!< 0x00000B00 */
+#define RCC_D1CFGR_D1CPRE_DIV16                RCC_D1CFGR_D1CPRE_DIV16_Msk     /*!< Domain 1 Core clock divided by 16 */
+#define RCC_D1CFGR_D1CPRE_DIV64_Pos            (10U)
+#define RCC_D1CFGR_D1CPRE_DIV64_Msk            (0x3UL << RCC_D1CFGR_D1CPRE_DIV64_Pos) /*!< 0x00000C00 */
+#define RCC_D1CFGR_D1CPRE_DIV64                RCC_D1CFGR_D1CPRE_DIV64_Msk     /*!< Domain 1 Core clock divided by 64 */
+#define RCC_D1CFGR_D1CPRE_DIV128_Pos           (8U)
+#define RCC_D1CFGR_D1CPRE_DIV128_Msk           (0xDUL << RCC_D1CFGR_D1CPRE_DIV128_Pos) /*!< 0x00000D00 */
+#define RCC_D1CFGR_D1CPRE_DIV128               RCC_D1CFGR_D1CPRE_DIV128_Msk    /*!< Domain 1 Core clock divided by 128 */
+#define RCC_D1CFGR_D1CPRE_DIV256_Pos           (9U)
+#define RCC_D1CFGR_D1CPRE_DIV256_Msk           (0x7UL << RCC_D1CFGR_D1CPRE_DIV256_Pos) /*!< 0x00000E00 */
+#define RCC_D1CFGR_D1CPRE_DIV256               RCC_D1CFGR_D1CPRE_DIV256_Msk    /*!< Domain 1 Core clock divided by 256 */
+#define RCC_D1CFGR_D1CPRE_DIV512_Pos           (8U)
+#define RCC_D1CFGR_D1CPRE_DIV512_Msk           (0xFUL << RCC_D1CFGR_D1CPRE_DIV512_Pos) /*!< 0x00000F00 */
+#define RCC_D1CFGR_D1CPRE_DIV512               RCC_D1CFGR_D1CPRE_DIV512_Msk    /*!< Domain 1 Core clock divided by 512 */
+
+/********************  Bit definition for RCC_D2CFGR register  ******************/
+/*!< D2PPRE1 configuration */
+#define RCC_D2CFGR_D2PPRE1_Pos                 (4U)
+#define RCC_D2CFGR_D2PPRE1_Msk                 (0x7UL << RCC_D2CFGR_D2PPRE1_Pos) /*!< 0x00000070 */
+#define RCC_D2CFGR_D2PPRE1                     RCC_D2CFGR_D2PPRE1_Msk          /*!< D1PPRE1[2:0] bits (APB1 prescaler) */
+#define RCC_D2CFGR_D2PPRE1_0                   (0x1UL << RCC_D2CFGR_D2PPRE1_Pos) /*!< 0x00000010 */
+#define RCC_D2CFGR_D2PPRE1_1                   (0x2UL << RCC_D2CFGR_D2PPRE1_Pos) /*!< 0x00000020 */
+#define RCC_D2CFGR_D2PPRE1_2                   (0x4UL << RCC_D2CFGR_D2PPRE1_Pos) /*!< 0x00000040 */
+
+#define RCC_D2CFGR_D2PPRE1_DIV1                ((uint32_t)0x00000000)          /*!< APB1 clock not divided */
+#define RCC_D2CFGR_D2PPRE1_DIV2_Pos            (6U)
+#define RCC_D2CFGR_D2PPRE1_DIV2_Msk            (0x1UL << RCC_D2CFGR_D2PPRE1_DIV2_Pos) /*!< 0x00000040 */
+#define RCC_D2CFGR_D2PPRE1_DIV2                RCC_D2CFGR_D2PPRE1_DIV2_Msk     /*!< APB1 clock divided by 2 */
+#define RCC_D2CFGR_D2PPRE1_DIV4_Pos            (4U)
+#define RCC_D2CFGR_D2PPRE1_DIV4_Msk            (0x5UL << RCC_D2CFGR_D2PPRE1_DIV4_Pos) /*!< 0x00000050 */
+#define RCC_D2CFGR_D2PPRE1_DIV4                RCC_D2CFGR_D2PPRE1_DIV4_Msk     /*!< APB1 clock divided by 4 */
+#define RCC_D2CFGR_D2PPRE1_DIV8_Pos            (5U)
+#define RCC_D2CFGR_D2PPRE1_DIV8_Msk            (0x3UL << RCC_D2CFGR_D2PPRE1_DIV8_Pos) /*!< 0x00000060 */
+#define RCC_D2CFGR_D2PPRE1_DIV8                RCC_D2CFGR_D2PPRE1_DIV8_Msk     /*!< APB1 clock divided by 8 */
+#define RCC_D2CFGR_D2PPRE1_DIV16_Pos           (4U)
+#define RCC_D2CFGR_D2PPRE1_DIV16_Msk           (0x7UL << RCC_D2CFGR_D2PPRE1_DIV16_Pos) /*!< 0x00000070 */
+#define RCC_D2CFGR_D2PPRE1_DIV16               RCC_D2CFGR_D2PPRE1_DIV16_Msk    /*!< APB1 clock divided by 16 */
+
+/*!< D2PPRE2 configuration */
+#define RCC_D2CFGR_D2PPRE2_Pos                 (8U)
+#define RCC_D2CFGR_D2PPRE2_Msk                 (0x7UL << RCC_D2CFGR_D2PPRE2_Pos) /*!< 0x00000700 */
+#define RCC_D2CFGR_D2PPRE2                     RCC_D2CFGR_D2PPRE2_Msk          /*!< D2PPRE2[2:0] bits (APB2 prescaler) */
+#define RCC_D2CFGR_D2PPRE2_0                   (0x1UL << RCC_D2CFGR_D2PPRE2_Pos) /*!< 0x00000100 */
+#define RCC_D2CFGR_D2PPRE2_1                   (0x2UL << RCC_D2CFGR_D2PPRE2_Pos) /*!< 0x00000200 */
+#define RCC_D2CFGR_D2PPRE2_2                   (0x4UL << RCC_D2CFGR_D2PPRE2_Pos) /*!< 0x00000400 */
+
+#define RCC_D2CFGR_D2PPRE2_DIV1                ((uint32_t)0x00000000)          /*!< APB2 clock not divided */
+#define RCC_D2CFGR_D2PPRE2_DIV2_Pos            (10U)
+#define RCC_D2CFGR_D2PPRE2_DIV2_Msk            (0x1UL << RCC_D2CFGR_D2PPRE2_DIV2_Pos) /*!< 0x00000400 */
+#define RCC_D2CFGR_D2PPRE2_DIV2                RCC_D2CFGR_D2PPRE2_DIV2_Msk     /*!< APB2 clock divided by 2 */
+#define RCC_D2CFGR_D2PPRE2_DIV4_Pos            (8U)
+#define RCC_D2CFGR_D2PPRE2_DIV4_Msk            (0x5UL << RCC_D2CFGR_D2PPRE2_DIV4_Pos) /*!< 0x00000500 */
+#define RCC_D2CFGR_D2PPRE2_DIV4                RCC_D2CFGR_D2PPRE2_DIV4_Msk     /*!< APB2 clock divided by 4 */
+#define RCC_D2CFGR_D2PPRE2_DIV8_Pos            (9U)
+#define RCC_D2CFGR_D2PPRE2_DIV8_Msk            (0x3UL << RCC_D2CFGR_D2PPRE2_DIV8_Pos) /*!< 0x00000600 */
+#define RCC_D2CFGR_D2PPRE2_DIV8                RCC_D2CFGR_D2PPRE2_DIV8_Msk     /*!< APB2 clock divided by 8 */
+#define RCC_D2CFGR_D2PPRE2_DIV16_Pos           (8U)
+#define RCC_D2CFGR_D2PPRE2_DIV16_Msk           (0x7UL << RCC_D2CFGR_D2PPRE2_DIV16_Pos) /*!< 0x00000700 */
+#define RCC_D2CFGR_D2PPRE2_DIV16               RCC_D2CFGR_D2PPRE2_DIV16_Msk    /*!< APB2 clock divided by 16 */
+
+/********************  Bit definition for RCC_D3CFGR register  ******************/
+/*!< D3PPRE configuration */
+#define RCC_D3CFGR_D3PPRE_Pos                  (4U)
+#define RCC_D3CFGR_D3PPRE_Msk                  (0x7UL << RCC_D3CFGR_D3PPRE_Pos) /*!< 0x00000070 */
+#define RCC_D3CFGR_D3PPRE                      RCC_D3CFGR_D3PPRE_Msk           /*!< D3PPRE1[2:0] bits (APB4 prescaler) */
+#define RCC_D3CFGR_D3PPRE_0                    (0x1UL << RCC_D3CFGR_D3PPRE_Pos) /*!< 0x00000010 */
+#define RCC_D3CFGR_D3PPRE_1                    (0x2UL << RCC_D3CFGR_D3PPRE_Pos) /*!< 0x00000020 */
+#define RCC_D3CFGR_D3PPRE_2                    (0x4UL << RCC_D3CFGR_D3PPRE_Pos) /*!< 0x00000040 */
+
+#define RCC_D3CFGR_D3PPRE_DIV1                 ((uint32_t)0x00000000)          /*!< APB4 clock not divided */
+#define RCC_D3CFGR_D3PPRE_DIV2_Pos             (6U)
+#define RCC_D3CFGR_D3PPRE_DIV2_Msk             (0x1UL << RCC_D3CFGR_D3PPRE_DIV2_Pos) /*!< 0x00000040 */
+#define RCC_D3CFGR_D3PPRE_DIV2                 RCC_D3CFGR_D3PPRE_DIV2_Msk      /*!< APB4 clock divided by 2 */
+#define RCC_D3CFGR_D3PPRE_DIV4_Pos             (4U)
+#define RCC_D3CFGR_D3PPRE_DIV4_Msk             (0x5UL << RCC_D3CFGR_D3PPRE_DIV4_Pos) /*!< 0x00000050 */
+#define RCC_D3CFGR_D3PPRE_DIV4                 RCC_D3CFGR_D3PPRE_DIV4_Msk      /*!< APB4 clock divided by 4 */
+#define RCC_D3CFGR_D3PPRE_DIV8_Pos             (5U)
+#define RCC_D3CFGR_D3PPRE_DIV8_Msk             (0x3UL << RCC_D3CFGR_D3PPRE_DIV8_Pos) /*!< 0x00000060 */
+#define RCC_D3CFGR_D3PPRE_DIV8                 RCC_D3CFGR_D3PPRE_DIV8_Msk      /*!< APB4 clock divided by 8 */
+#define RCC_D3CFGR_D3PPRE_DIV16_Pos            (4U)
+#define RCC_D3CFGR_D3PPRE_DIV16_Msk            (0x7UL << RCC_D3CFGR_D3PPRE_DIV16_Pos) /*!< 0x00000070 */
+#define RCC_D3CFGR_D3PPRE_DIV16                RCC_D3CFGR_D3PPRE_DIV16_Msk     /*!< APB4 clock divided by 16 */
+
+/********************  Bit definition for RCC_PLLCKSELR register  *************/
+
+#define RCC_PLLCKSELR_PLLSRC_Pos               (0U)
+#define RCC_PLLCKSELR_PLLSRC_Msk               (0x3UL << RCC_PLLCKSELR_PLLSRC_Pos) /*!< 0x00000003 */
+#define RCC_PLLCKSELR_PLLSRC                   RCC_PLLCKSELR_PLLSRC_Msk
+
+#define RCC_PLLCKSELR_PLLSRC_HSI               ((uint32_t)0x00000000)          /*!< HSI source clock selected */
+#define RCC_PLLCKSELR_PLLSRC_CSI_Pos           (0U)
+#define RCC_PLLCKSELR_PLLSRC_CSI_Msk           (0x1UL << RCC_PLLCKSELR_PLLSRC_CSI_Pos) /*!< 0x00000001 */
+#define RCC_PLLCKSELR_PLLSRC_CSI               RCC_PLLCKSELR_PLLSRC_CSI_Msk    /*!< CSI source clock selected */
+#define RCC_PLLCKSELR_PLLSRC_HSE_Pos           (1U)
+#define RCC_PLLCKSELR_PLLSRC_HSE_Msk           (0x1UL << RCC_PLLCKSELR_PLLSRC_HSE_Pos) /*!< 0x00000002 */
+#define RCC_PLLCKSELR_PLLSRC_HSE               RCC_PLLCKSELR_PLLSRC_HSE_Msk    /*!< HSE source clock selected */
+#define RCC_PLLCKSELR_PLLSRC_NONE_Pos          (0U)
+#define RCC_PLLCKSELR_PLLSRC_NONE_Msk          (0x3UL << RCC_PLLCKSELR_PLLSRC_NONE_Pos) /*!< 0x00000003 */
+#define RCC_PLLCKSELR_PLLSRC_NONE              RCC_PLLCKSELR_PLLSRC_NONE_Msk   /*!< No source clock selected  */
+
+#define RCC_PLLCKSELR_DIVM1_Pos                (4U)
+#define RCC_PLLCKSELR_DIVM1_Msk                (0x3FUL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x000003F0 */
+#define RCC_PLLCKSELR_DIVM1                    RCC_PLLCKSELR_DIVM1_Msk
+#define RCC_PLLCKSELR_DIVM1_0                  (0x01UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000010 */
+#define RCC_PLLCKSELR_DIVM1_1                  (0x02UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000020 */
+#define RCC_PLLCKSELR_DIVM1_2                  (0x04UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000040 */
+#define RCC_PLLCKSELR_DIVM1_3                  (0x08UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000080 */
+#define RCC_PLLCKSELR_DIVM1_4                  (0x10UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000100 */
+#define RCC_PLLCKSELR_DIVM1_5                  (0x20UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000200 */
+
+#define RCC_PLLCKSELR_DIVM2_Pos                (12U)
+#define RCC_PLLCKSELR_DIVM2_Msk                (0x3FUL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x0003F000 */
+#define RCC_PLLCKSELR_DIVM2                    RCC_PLLCKSELR_DIVM2_Msk
+#define RCC_PLLCKSELR_DIVM2_0                  (0x01UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00001000 */
+#define RCC_PLLCKSELR_DIVM2_1                  (0x02UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00002000 */
+#define RCC_PLLCKSELR_DIVM2_2                  (0x04UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00004000 */
+#define RCC_PLLCKSELR_DIVM2_3                  (0x08UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00008000 */
+#define RCC_PLLCKSELR_DIVM2_4                  (0x10UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00010000 */
+#define RCC_PLLCKSELR_DIVM2_5                  (0x20UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00020000 */
+
+#define RCC_PLLCKSELR_DIVM3_Pos                (20U)
+#define RCC_PLLCKSELR_DIVM3_Msk                (0x3FUL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x03F00000 */
+#define RCC_PLLCKSELR_DIVM3                    RCC_PLLCKSELR_DIVM3_Msk
+#define RCC_PLLCKSELR_DIVM3_0                  (0x01UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x00100000 */
+#define RCC_PLLCKSELR_DIVM3_1                  (0x02UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x00200000 */
+#define RCC_PLLCKSELR_DIVM3_2                  (0x04UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x00400000 */
+#define RCC_PLLCKSELR_DIVM3_3                  (0x08UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x00800000 */
+#define RCC_PLLCKSELR_DIVM3_4                  (0x10UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x01000000 */
+#define RCC_PLLCKSELR_DIVM3_5                  (0x20UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x02000000 */
+
+/********************  Bit definition for RCC_PLLCFGR register  ***************/
+
+#define RCC_PLLCFGR_PLL1FRACEN_Pos             (0U)
+#define RCC_PLLCFGR_PLL1FRACEN_Msk             (0x1UL << RCC_PLLCFGR_PLL1FRACEN_Pos) /*!< 0x00000001 */
+#define RCC_PLLCFGR_PLL1FRACEN                 RCC_PLLCFGR_PLL1FRACEN_Msk
+#define RCC_PLLCFGR_PLL1VCOSEL_Pos             (1U)
+#define RCC_PLLCFGR_PLL1VCOSEL_Msk             (0x1UL << RCC_PLLCFGR_PLL1VCOSEL_Pos) /*!< 0x00000002 */
+#define RCC_PLLCFGR_PLL1VCOSEL                 RCC_PLLCFGR_PLL1VCOSEL_Msk
+#define RCC_PLLCFGR_PLL1RGE_Pos                (2U)
+#define RCC_PLLCFGR_PLL1RGE_Msk                (0x3UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x0000000C */
+#define RCC_PLLCFGR_PLL1RGE                    RCC_PLLCFGR_PLL1RGE_Msk
+#define RCC_PLLCFGR_PLL1RGE_0                  (0x0UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x00000000 */
+#define RCC_PLLCFGR_PLL1RGE_1                  (0x1UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x00000004 */
+#define RCC_PLLCFGR_PLL1RGE_2                  (0x2UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x00000008 */
+#define RCC_PLLCFGR_PLL1RGE_3                  (0x3UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x0000000C */
+
+#define RCC_PLLCFGR_PLL2FRACEN_Pos             (4U)
+#define RCC_PLLCFGR_PLL2FRACEN_Msk             (0x1UL << RCC_PLLCFGR_PLL2FRACEN_Pos) /*!< 0x00000010 */
+#define RCC_PLLCFGR_PLL2FRACEN                 RCC_PLLCFGR_PLL2FRACEN_Msk
+#define RCC_PLLCFGR_PLL2VCOSEL_Pos             (5U)
+#define RCC_PLLCFGR_PLL2VCOSEL_Msk             (0x1UL << RCC_PLLCFGR_PLL2VCOSEL_Pos) /*!< 0x00000020 */
+#define RCC_PLLCFGR_PLL2VCOSEL                 RCC_PLLCFGR_PLL2VCOSEL_Msk
+#define RCC_PLLCFGR_PLL2RGE_Pos                (6U)
+#define RCC_PLLCFGR_PLL2RGE_Msk                (0x3UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x000000C0 */
+#define RCC_PLLCFGR_PLL2RGE                    RCC_PLLCFGR_PLL2RGE_Msk
+#define RCC_PLLCFGR_PLL2RGE_0                  (0x0UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x00000000 */
+#define RCC_PLLCFGR_PLL2RGE_1                  (0x1UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x00000040 */
+#define RCC_PLLCFGR_PLL2RGE_2                  (0x2UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x00000080 */
+#define RCC_PLLCFGR_PLL2RGE_3                  (0x3UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x000000C0 */
+
+#define RCC_PLLCFGR_PLL3FRACEN_Pos             (8U)
+#define RCC_PLLCFGR_PLL3FRACEN_Msk             (0x1UL << RCC_PLLCFGR_PLL3FRACEN_Pos) /*!< 0x00000100 */
+#define RCC_PLLCFGR_PLL3FRACEN                 RCC_PLLCFGR_PLL3FRACEN_Msk
+#define RCC_PLLCFGR_PLL3VCOSEL_Pos             (9U)
+#define RCC_PLLCFGR_PLL3VCOSEL_Msk             (0x1UL << RCC_PLLCFGR_PLL3VCOSEL_Pos) /*!< 0x00000200 */
+#define RCC_PLLCFGR_PLL3VCOSEL                 RCC_PLLCFGR_PLL3VCOSEL_Msk
+#define RCC_PLLCFGR_PLL3RGE_Pos                (10U)
+#define RCC_PLLCFGR_PLL3RGE_Msk                (0x3UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000C00 */
+#define RCC_PLLCFGR_PLL3RGE                    RCC_PLLCFGR_PLL3RGE_Msk
+#define RCC_PLLCFGR_PLL3RGE_0                  (0x0UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000000 */
+#define RCC_PLLCFGR_PLL3RGE_1                  (0x1UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000400 */
+#define RCC_PLLCFGR_PLL3RGE_2                  (0x2UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000800 */
+#define RCC_PLLCFGR_PLL3RGE_3                  (0x3UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000C00 */
+
+#define RCC_PLLCFGR_DIVP1EN_Pos                (16U)
+#define RCC_PLLCFGR_DIVP1EN_Msk                (0x1UL << RCC_PLLCFGR_DIVP1EN_Pos) /*!< 0x00010000 */
+#define RCC_PLLCFGR_DIVP1EN                    RCC_PLLCFGR_DIVP1EN_Msk
+#define RCC_PLLCFGR_DIVQ1EN_Pos                (17U)
+#define RCC_PLLCFGR_DIVQ1EN_Msk                (0x1UL << RCC_PLLCFGR_DIVQ1EN_Pos) /*!< 0x00020000 */
+#define RCC_PLLCFGR_DIVQ1EN                    RCC_PLLCFGR_DIVQ1EN_Msk
+#define RCC_PLLCFGR_DIVR1EN_Pos                (18U)
+#define RCC_PLLCFGR_DIVR1EN_Msk                (0x1UL << RCC_PLLCFGR_DIVR1EN_Pos) /*!< 0x00040000 */
+#define RCC_PLLCFGR_DIVR1EN                    RCC_PLLCFGR_DIVR1EN_Msk
+
+#define RCC_PLLCFGR_DIVP2EN_Pos                (19U)
+#define RCC_PLLCFGR_DIVP2EN_Msk                (0x1UL << RCC_PLLCFGR_DIVP2EN_Pos) /*!< 0x00080000 */
+#define RCC_PLLCFGR_DIVP2EN                    RCC_PLLCFGR_DIVP2EN_Msk
+#define RCC_PLLCFGR_DIVQ2EN_Pos                (20U)
+#define RCC_PLLCFGR_DIVQ2EN_Msk                (0x1UL << RCC_PLLCFGR_DIVQ2EN_Pos) /*!< 0x00100000 */
+#define RCC_PLLCFGR_DIVQ2EN                    RCC_PLLCFGR_DIVQ2EN_Msk
+#define RCC_PLLCFGR_DIVR2EN_Pos                (21U)
+#define RCC_PLLCFGR_DIVR2EN_Msk                (0x1UL << RCC_PLLCFGR_DIVR2EN_Pos) /*!< 0x00200000 */
+#define RCC_PLLCFGR_DIVR2EN                    RCC_PLLCFGR_DIVR2EN_Msk
+
+#define RCC_PLLCFGR_DIVP3EN_Pos                (22U)
+#define RCC_PLLCFGR_DIVP3EN_Msk                (0x1UL << RCC_PLLCFGR_DIVP3EN_Pos) /*!< 0x00400000 */
+#define RCC_PLLCFGR_DIVP3EN                    RCC_PLLCFGR_DIVP3EN_Msk
+#define RCC_PLLCFGR_DIVQ3EN_Pos                (23U)
+#define RCC_PLLCFGR_DIVQ3EN_Msk                (0x1UL << RCC_PLLCFGR_DIVQ3EN_Pos) /*!< 0x00800000 */
+#define RCC_PLLCFGR_DIVQ3EN                    RCC_PLLCFGR_DIVQ3EN_Msk
+#define RCC_PLLCFGR_DIVR3EN_Pos                (24U)
+#define RCC_PLLCFGR_DIVR3EN_Msk                (0x1UL << RCC_PLLCFGR_DIVR3EN_Pos) /*!< 0x01000000 */
+#define RCC_PLLCFGR_DIVR3EN                    RCC_PLLCFGR_DIVR3EN_Msk
+
+
+/********************  Bit definition for RCC_PLL1DIVR register  ***************/
+#define RCC_PLL1DIVR_N1_Pos                    (0U)
+#define RCC_PLL1DIVR_N1_Msk                    (0x1FFUL << RCC_PLL1DIVR_N1_Pos) /*!< 0x000001FF */
+#define RCC_PLL1DIVR_N1                        RCC_PLL1DIVR_N1_Msk
+#define RCC_PLL1DIVR_P1_Pos                    (9U)
+#define RCC_PLL1DIVR_P1_Msk                    (0x7FUL << RCC_PLL1DIVR_P1_Pos) /*!< 0x0000FE00 */
+#define RCC_PLL1DIVR_P1                        RCC_PLL1DIVR_P1_Msk
+#define RCC_PLL1DIVR_Q1_Pos                    (16U)
+#define RCC_PLL1DIVR_Q1_Msk                    (0x7FUL << RCC_PLL1DIVR_Q1_Pos) /*!< 0x007F0000 */
+#define RCC_PLL1DIVR_Q1                        RCC_PLL1DIVR_Q1_Msk
+#define RCC_PLL1DIVR_R1_Pos                    (24U)
+#define RCC_PLL1DIVR_R1_Msk                    (0x7FUL << RCC_PLL1DIVR_R1_Pos) /*!< 0x7F000000 */
+#define RCC_PLL1DIVR_R1                        RCC_PLL1DIVR_R1_Msk
+
+/********************  Bit definition for RCC_PLL1FRACR register  ***************/
+#define RCC_PLL1FRACR_FRACN1_Pos               (3U)
+#define RCC_PLL1FRACR_FRACN1_Msk               (0x1FFFUL << RCC_PLL1FRACR_FRACN1_Pos) /*!< 0x0000FFF8 */
+#define RCC_PLL1FRACR_FRACN1                   RCC_PLL1FRACR_FRACN1_Msk
+
+/********************  Bit definition for RCC_PLL2DIVR register  ***************/
+#define RCC_PLL2DIVR_N2_Pos                    (0U)
+#define RCC_PLL2DIVR_N2_Msk                    (0x1FFUL << RCC_PLL2DIVR_N2_Pos) /*!< 0x000001FF */
+#define RCC_PLL2DIVR_N2                        RCC_PLL2DIVR_N2_Msk
+#define RCC_PLL2DIVR_P2_Pos                    (9U)
+#define RCC_PLL2DIVR_P2_Msk                    (0x7FUL << RCC_PLL2DIVR_P2_Pos) /*!< 0x0000FE00 */
+#define RCC_PLL2DIVR_P2                        RCC_PLL2DIVR_P2_Msk
+#define RCC_PLL2DIVR_Q2_Pos                    (16U)
+#define RCC_PLL2DIVR_Q2_Msk                    (0x7FUL << RCC_PLL2DIVR_Q2_Pos) /*!< 0x007F0000 */
+#define RCC_PLL2DIVR_Q2                        RCC_PLL2DIVR_Q2_Msk
+#define RCC_PLL2DIVR_R2_Pos                    (24U)
+#define RCC_PLL2DIVR_R2_Msk                    (0x7FUL << RCC_PLL2DIVR_R2_Pos) /*!< 0x7F000000 */
+#define RCC_PLL2DIVR_R2                        RCC_PLL2DIVR_R2_Msk
+
+/********************  Bit definition for RCC_PLL2FRACR register  ***************/
+#define RCC_PLL2FRACR_FRACN2_Pos               (3U)
+#define RCC_PLL2FRACR_FRACN2_Msk               (0x1FFFUL << RCC_PLL2FRACR_FRACN2_Pos) /*!< 0x0000FFF8 */
+#define RCC_PLL2FRACR_FRACN2                   RCC_PLL2FRACR_FRACN2_Msk
+
+/********************  Bit definition for RCC_PLL3DIVR register  ***************/
+#define RCC_PLL3DIVR_N3_Pos                    (0U)
+#define RCC_PLL3DIVR_N3_Msk                    (0x1FFUL << RCC_PLL3DIVR_N3_Pos) /*!< 0x000001FF */
+#define RCC_PLL3DIVR_N3                        RCC_PLL3DIVR_N3_Msk
+#define RCC_PLL3DIVR_P3_Pos                    (9U)
+#define RCC_PLL3DIVR_P3_Msk                    (0x7FUL << RCC_PLL3DIVR_P3_Pos) /*!< 0x0000FE00 */
+#define RCC_PLL3DIVR_P3                        RCC_PLL3DIVR_P3_Msk
+#define RCC_PLL3DIVR_Q3_Pos                    (16U)
+#define RCC_PLL3DIVR_Q3_Msk                    (0x7FUL << RCC_PLL3DIVR_Q3_Pos) /*!< 0x007F0000 */
+#define RCC_PLL3DIVR_Q3                        RCC_PLL3DIVR_Q3_Msk
+#define RCC_PLL3DIVR_R3_Pos                    (24U)
+#define RCC_PLL3DIVR_R3_Msk                    (0x7FUL << RCC_PLL3DIVR_R3_Pos) /*!< 0x7F000000 */
+#define RCC_PLL3DIVR_R3                        RCC_PLL3DIVR_R3_Msk
+
+/********************  Bit definition for RCC_PLL3FRACR register  ***************/
+#define RCC_PLL3FRACR_FRACN3_Pos               (3U)
+#define RCC_PLL3FRACR_FRACN3_Msk               (0x1FFFUL << RCC_PLL3FRACR_FRACN3_Pos) /*!< 0x0000FFF8 */
+#define RCC_PLL3FRACR_FRACN3                   RCC_PLL3FRACR_FRACN3_Msk
+
+/********************  Bit definition for RCC_D1CCIPR register  ***************/
+#define RCC_D1CCIPR_FMCSEL_Pos                 (0U)
+#define RCC_D1CCIPR_FMCSEL_Msk                 (0x3UL << RCC_D1CCIPR_FMCSEL_Pos) /*!< 0x00000003 */
+#define RCC_D1CCIPR_FMCSEL                     RCC_D1CCIPR_FMCSEL_Msk
+#define RCC_D1CCIPR_FMCSEL_0                   (0x1UL << RCC_D1CCIPR_FMCSEL_Pos) /*!< 0x00000001 */
+#define RCC_D1CCIPR_FMCSEL_1                   (0x2UL << RCC_D1CCIPR_FMCSEL_Pos) /*!< 0x00000002 */
+#define RCC_D1CCIPR_OCTOSPISEL_Pos             (4U)
+#define RCC_D1CCIPR_OCTOSPISEL_Msk             (0x3UL << RCC_D1CCIPR_OCTOSPISEL_Pos) /*!< 0x00000030 */
+#define RCC_D1CCIPR_OCTOSPISEL                 RCC_D1CCIPR_OCTOSPISEL_Msk
+#define RCC_D1CCIPR_OCTOSPISEL_0               (0x1UL << RCC_D1CCIPR_OCTOSPISEL_Pos) /*!< 0x00000010 */
+#define RCC_D1CCIPR_OCTOSPISEL_1               (0x2UL << RCC_D1CCIPR_OCTOSPISEL_Pos) /*!< 0x00000020 */
+#define RCC_D1CCIPR_SDMMCSEL_Pos               (16U)
+#define RCC_D1CCIPR_SDMMCSEL_Msk               (0x1UL << RCC_D1CCIPR_SDMMCSEL_Pos) /*!< 0x00010000 */
+#define RCC_D1CCIPR_SDMMCSEL                   RCC_D1CCIPR_SDMMCSEL_Msk
+#define RCC_D1CCIPR_CKPERSEL_Pos               (28U)
+#define RCC_D1CCIPR_CKPERSEL_Msk               (0x3UL << RCC_D1CCIPR_CKPERSEL_Pos) /*!< 0x30000000 */
+#define RCC_D1CCIPR_CKPERSEL                   RCC_D1CCIPR_CKPERSEL_Msk
+#define RCC_D1CCIPR_CKPERSEL_0                 (0x1UL << RCC_D1CCIPR_CKPERSEL_Pos) /*!< 0x10000000 */
+#define RCC_D1CCIPR_CKPERSEL_1                 (0x2UL << RCC_D1CCIPR_CKPERSEL_Pos) /*!< 0x20000000 */
+
+/********************  Bit definition for RCC_D2CCIP1R register  ***************/
+#define RCC_D2CCIP1R_SAI1SEL_Pos               (0U)
+#define RCC_D2CCIP1R_SAI1SEL_Msk               (0x7UL << RCC_D2CCIP1R_SAI1SEL_Pos) /*!< 0x00000007 */
+#define RCC_D2CCIP1R_SAI1SEL                   RCC_D2CCIP1R_SAI1SEL_Msk
+#define RCC_D2CCIP1R_SAI1SEL_0                 (0x1UL << RCC_D2CCIP1R_SAI1SEL_Pos) /*!< 0x00000001 */
+#define RCC_D2CCIP1R_SAI1SEL_1                 (0x2UL << RCC_D2CCIP1R_SAI1SEL_Pos) /*!< 0x00000002 */
+#define RCC_D2CCIP1R_SAI1SEL_2                 (0x4UL << RCC_D2CCIP1R_SAI1SEL_Pos) /*!< 0x00000004 */
+
+
+#define RCC_D2CCIP1R_SPI123SEL_Pos             (12U)
+#define RCC_D2CCIP1R_SPI123SEL_Msk             (0x7UL << RCC_D2CCIP1R_SPI123SEL_Pos) /*!< 0x00007000 */
+#define RCC_D2CCIP1R_SPI123SEL                 RCC_D2CCIP1R_SPI123SEL_Msk
+#define RCC_D2CCIP1R_SPI123SEL_0               (0x1UL << RCC_D2CCIP1R_SPI123SEL_Pos) /*!< 0x00001000 */
+#define RCC_D2CCIP1R_SPI123SEL_1               (0x2UL << RCC_D2CCIP1R_SPI123SEL_Pos) /*!< 0x00002000 */
+#define RCC_D2CCIP1R_SPI123SEL_2               (0x4UL << RCC_D2CCIP1R_SPI123SEL_Pos) /*!< 0x00004000 */
+
+#define RCC_D2CCIP1R_SPI45SEL_Pos              (16U)
+#define RCC_D2CCIP1R_SPI45SEL_Msk              (0x7UL << RCC_D2CCIP1R_SPI45SEL_Pos) /*!< 0x00070000 */
+#define RCC_D2CCIP1R_SPI45SEL                  RCC_D2CCIP1R_SPI45SEL_Msk
+#define RCC_D2CCIP1R_SPI45SEL_0                (0x1UL << RCC_D2CCIP1R_SPI45SEL_Pos) /*!< 0x00010000 */
+#define RCC_D2CCIP1R_SPI45SEL_1                (0x2UL << RCC_D2CCIP1R_SPI45SEL_Pos) /*!< 0x00020000 */
+#define RCC_D2CCIP1R_SPI45SEL_2                (0x4UL << RCC_D2CCIP1R_SPI45SEL_Pos) /*!< 0x00040000 */
+
+#define RCC_D2CCIP1R_SPDIFSEL_Pos              (20U)
+#define RCC_D2CCIP1R_SPDIFSEL_Msk              (0x3UL << RCC_D2CCIP1R_SPDIFSEL_Pos) /*!< 0x00300000 */
+#define RCC_D2CCIP1R_SPDIFSEL                  RCC_D2CCIP1R_SPDIFSEL_Msk
+#define RCC_D2CCIP1R_SPDIFSEL_0                (0x1UL << RCC_D2CCIP1R_SPDIFSEL_Pos) /*!< 0x00100000 */
+#define RCC_D2CCIP1R_SPDIFSEL_1                (0x2UL << RCC_D2CCIP1R_SPDIFSEL_Pos) /*!< 0x00200000 */
+
+#define RCC_D2CCIP1R_DFSDM1SEL_Pos             (24U)
+#define RCC_D2CCIP1R_DFSDM1SEL_Msk             (0x1UL << RCC_D2CCIP1R_DFSDM1SEL_Pos) /*!< 0x01000000 */
+#define RCC_D2CCIP1R_DFSDM1SEL                 RCC_D2CCIP1R_DFSDM1SEL_Msk
+
+#define RCC_D2CCIP1R_FDCANSEL_Pos              (28U)
+#define RCC_D2CCIP1R_FDCANSEL_Msk              (0x3UL << RCC_D2CCIP1R_FDCANSEL_Pos) /*!< 0x30000000 */
+#define RCC_D2CCIP1R_FDCANSEL                  RCC_D2CCIP1R_FDCANSEL_Msk
+#define RCC_D2CCIP1R_FDCANSEL_0                (0x1UL << RCC_D2CCIP1R_FDCANSEL_Pos) /*!< 0x10000000 */
+#define RCC_D2CCIP1R_FDCANSEL_1                (0x2UL << RCC_D2CCIP1R_FDCANSEL_Pos) /*!< 0x20000000 */
+
+#define RCC_D2CCIP1R_SWPSEL_Pos                (31U)
+#define RCC_D2CCIP1R_SWPSEL_Msk                (0x1UL << RCC_D2CCIP1R_SWPSEL_Pos) /*!< 0x80000000 */
+#define RCC_D2CCIP1R_SWPSEL                    RCC_D2CCIP1R_SWPSEL_Msk
+
+/********************  Bit definition for RCC_D2CCIP2R register  ***************/
+#define RCC_D2CCIP2R_USART16910SEL_Pos         (3U)
+#define RCC_D2CCIP2R_USART16910SEL_Msk         (0x7UL << RCC_D2CCIP2R_USART16910SEL_Pos) /*!< 0x00000038 */
+#define RCC_D2CCIP2R_USART16910SEL             RCC_D2CCIP2R_USART16910SEL_Msk
+#define RCC_D2CCIP2R_USART16910SEL_0           (0x1UL << RCC_D2CCIP2R_USART16910SEL_Pos) /*!< 0x00000008 */
+#define RCC_D2CCIP2R_USART16910SEL_1           (0x2UL << RCC_D2CCIP2R_USART16910SEL_Pos) /*!< 0x00000010 */
+#define RCC_D2CCIP2R_USART16910SEL_2           (0x4UL << RCC_D2CCIP2R_USART16910SEL_Pos) /*!< 0x00000020 */
+
+#define RCC_D2CCIP2R_USART28SEL_Pos            (0U)
+#define RCC_D2CCIP2R_USART28SEL_Msk            (0x7UL << RCC_D2CCIP2R_USART28SEL_Pos) /*!< 0x00000007 */
+#define RCC_D2CCIP2R_USART28SEL                RCC_D2CCIP2R_USART28SEL_Msk
+#define RCC_D2CCIP2R_USART28SEL_0              (0x1UL << RCC_D2CCIP2R_USART28SEL_Pos) /*!< 0x00000001 */
+#define RCC_D2CCIP2R_USART28SEL_1              (0x2UL << RCC_D2CCIP2R_USART28SEL_Pos) /*!< 0x00000002 */
+#define RCC_D2CCIP2R_USART28SEL_2              (0x4UL << RCC_D2CCIP2R_USART28SEL_Pos) /*!< 0x00000004 */
+
+#define RCC_D2CCIP2R_RNGSEL_Pos                (8U)
+#define RCC_D2CCIP2R_RNGSEL_Msk                (0x3UL << RCC_D2CCIP2R_RNGSEL_Pos) /*!< 0x00000300 */
+#define RCC_D2CCIP2R_RNGSEL                    RCC_D2CCIP2R_RNGSEL_Msk
+#define RCC_D2CCIP2R_RNGSEL_0                  (0x1UL << RCC_D2CCIP2R_RNGSEL_Pos) /*!< 0x00000100 */
+#define RCC_D2CCIP2R_RNGSEL_1                  (0x2UL << RCC_D2CCIP2R_RNGSEL_Pos) /*!< 0x00000200 */
+
+#define RCC_D2CCIP2R_I2C1235SEL_Pos            (12U)
+#define RCC_D2CCIP2R_I2C1235SEL_Msk            (0x3UL << RCC_D2CCIP2R_I2C1235SEL_Pos) /*!< 0x00003000 */
+#define RCC_D2CCIP2R_I2C1235SEL                RCC_D2CCIP2R_I2C1235SEL_Msk
+#define RCC_D2CCIP2R_I2C1235SEL_0              (0x1UL << RCC_D2CCIP2R_I2C1235SEL_Pos) /*!< 0x00001000 */
+#define RCC_D2CCIP2R_I2C1235SEL_1              (0x2UL << RCC_D2CCIP2R_I2C1235SEL_Pos) /*!< 0x00002000 */
+
+#define RCC_D2CCIP2R_USBSEL_Pos                (20U)
+#define RCC_D2CCIP2R_USBSEL_Msk                (0x3UL << RCC_D2CCIP2R_USBSEL_Pos) /*!< 0x00300000 */
+#define RCC_D2CCIP2R_USBSEL                    RCC_D2CCIP2R_USBSEL_Msk
+#define RCC_D2CCIP2R_USBSEL_0                  (0x1UL << RCC_D2CCIP2R_USBSEL_Pos) /*!< 0x00100000 */
+#define RCC_D2CCIP2R_USBSEL_1                  (0x2UL << RCC_D2CCIP2R_USBSEL_Pos) /*!< 0x00200000 */
+
+#define RCC_D2CCIP2R_CECSEL_Pos                (22U)
+#define RCC_D2CCIP2R_CECSEL_Msk                (0x3UL << RCC_D2CCIP2R_CECSEL_Pos) /*!< 0x00C00000 */
+#define RCC_D2CCIP2R_CECSEL                    RCC_D2CCIP2R_CECSEL_Msk
+#define RCC_D2CCIP2R_CECSEL_0                  (0x1UL << RCC_D2CCIP2R_CECSEL_Pos) /*!< 0x00400000 */
+#define RCC_D2CCIP2R_CECSEL_1                  (0x2UL << RCC_D2CCIP2R_CECSEL_Pos) /*!< 0x00800000 */
+
+#define RCC_D2CCIP2R_LPTIM1SEL_Pos             (28U)
+#define RCC_D2CCIP2R_LPTIM1SEL_Msk             (0x7UL << RCC_D2CCIP2R_LPTIM1SEL_Pos) /*!< 0x70000000 */
+#define RCC_D2CCIP2R_LPTIM1SEL                 RCC_D2CCIP2R_LPTIM1SEL_Msk
+#define RCC_D2CCIP2R_LPTIM1SEL_0               (0x1UL << RCC_D2CCIP2R_LPTIM1SEL_Pos) /*!< 0x10000000 */
+#define RCC_D2CCIP2R_LPTIM1SEL_1               (0x2UL << RCC_D2CCIP2R_LPTIM1SEL_Pos) /*!< 0x20000000 */
+#define RCC_D2CCIP2R_LPTIM1SEL_2               (0x4UL << RCC_D2CCIP2R_LPTIM1SEL_Pos) /*!< 0x40000000 */
+
+/********************  Bit definition for RCC_D3CCIPR register  ***************/
+#define RCC_D3CCIPR_LPUART1SEL_Pos             (0U)
+#define RCC_D3CCIPR_LPUART1SEL_Msk             (0x7UL << RCC_D3CCIPR_LPUART1SEL_Pos) /*!< 0x00000007 */
+#define RCC_D3CCIPR_LPUART1SEL                 RCC_D3CCIPR_LPUART1SEL_Msk
+#define RCC_D3CCIPR_LPUART1SEL_0               (0x1UL << RCC_D3CCIPR_LPUART1SEL_Pos) /*!< 0x00000001 */
+#define RCC_D3CCIPR_LPUART1SEL_1               (0x2UL << RCC_D3CCIPR_LPUART1SEL_Pos) /*!< 0x00000002 */
+#define RCC_D3CCIPR_LPUART1SEL_2               (0x4UL << RCC_D3CCIPR_LPUART1SEL_Pos) /*!< 0x00000004 */
+
+#define RCC_D3CCIPR_I2C4SEL_Pos                (8U)
+#define RCC_D3CCIPR_I2C4SEL_Msk                (0x3UL << RCC_D3CCIPR_I2C4SEL_Pos) /*!< 0x00000300 */
+#define RCC_D3CCIPR_I2C4SEL                    RCC_D3CCIPR_I2C4SEL_Msk
+#define RCC_D3CCIPR_I2C4SEL_0                  (0x1UL << RCC_D3CCIPR_I2C4SEL_Pos) /*!< 0x00000100 */
+#define RCC_D3CCIPR_I2C4SEL_1                  (0x2UL << RCC_D3CCIPR_I2C4SEL_Pos) /*!< 0x00000200 */
+
+#define RCC_D3CCIPR_LPTIM2SEL_Pos              (10U)
+#define RCC_D3CCIPR_LPTIM2SEL_Msk              (0x7UL << RCC_D3CCIPR_LPTIM2SEL_Pos) /*!< 0x00001C00 */
+#define RCC_D3CCIPR_LPTIM2SEL                  RCC_D3CCIPR_LPTIM2SEL_Msk
+#define RCC_D3CCIPR_LPTIM2SEL_0                (0x1UL << RCC_D3CCIPR_LPTIM2SEL_Pos) /*!< 0x00000400 */
+#define RCC_D3CCIPR_LPTIM2SEL_1                (0x2UL << RCC_D3CCIPR_LPTIM2SEL_Pos) /*!< 0x00000800 */
+#define RCC_D3CCIPR_LPTIM2SEL_2                (0x4UL << RCC_D3CCIPR_LPTIM2SEL_Pos) /*!< 0x00001000 */
+
+#define RCC_D3CCIPR_LPTIM345SEL_Pos            (13U)
+#define RCC_D3CCIPR_LPTIM345SEL_Msk            (0x7UL << RCC_D3CCIPR_LPTIM345SEL_Pos) /*!< 0x0000E000 */
+#define RCC_D3CCIPR_LPTIM345SEL                RCC_D3CCIPR_LPTIM345SEL_Msk
+#define RCC_D3CCIPR_LPTIM345SEL_0              (0x1UL << RCC_D3CCIPR_LPTIM345SEL_Pos) /*!< 0x00002000 */
+#define RCC_D3CCIPR_LPTIM345SEL_1              (0x2UL << RCC_D3CCIPR_LPTIM345SEL_Pos) /*!< 0x00004000 */
+#define RCC_D3CCIPR_LPTIM345SEL_2              (0x4UL << RCC_D3CCIPR_LPTIM345SEL_Pos) /*!< 0x00008000 */
+
+#define RCC_D3CCIPR_SAI4ASEL_Pos               (21U)
+#define RCC_D3CCIPR_SAI4ASEL_Msk               (0x7UL << RCC_D3CCIPR_SAI4ASEL_Pos) /*!< 0x00E00000 */
+#define RCC_D3CCIPR_SAI4ASEL                   RCC_D3CCIPR_SAI4ASEL_Msk
+#define RCC_D3CCIPR_SAI4ASEL_0                 (0x1UL << RCC_D3CCIPR_SAI4ASEL_Pos) /*!< 0x00200000 */
+#define RCC_D3CCIPR_SAI4ASEL_1                 (0x2UL << RCC_D3CCIPR_SAI4ASEL_Pos) /*!< 0x00400000 */
+#define RCC_D3CCIPR_SAI4ASEL_2                 (0x4UL << RCC_D3CCIPR_SAI4ASEL_Pos) /*!< 0x00800000 */
+
+#define RCC_D3CCIPR_SAI4BSEL_Pos               (24U)
+#define RCC_D3CCIPR_SAI4BSEL_Msk               (0x7UL << RCC_D3CCIPR_SAI4BSEL_Pos) /*!< 0x07000000 */
+#define RCC_D3CCIPR_SAI4BSEL                   RCC_D3CCIPR_SAI4BSEL_Msk
+#define RCC_D3CCIPR_SAI4BSEL_0                 (0x1UL << RCC_D3CCIPR_SAI4BSEL_Pos) /*!< 0x01000000 */
+#define RCC_D3CCIPR_SAI4BSEL_1                 (0x2UL << RCC_D3CCIPR_SAI4BSEL_Pos) /*!< 0x02000000 */
+#define RCC_D3CCIPR_SAI4BSEL_2                 (0x4UL << RCC_D3CCIPR_SAI4BSEL_Pos) /*!< 0x04000000 */
+
+#define RCC_D3CCIPR_ADCSEL_Pos                 (16U)
+#define RCC_D3CCIPR_ADCSEL_Msk                 (0x3UL << RCC_D3CCIPR_ADCSEL_Pos) /*!< 0x00030000 */
+#define RCC_D3CCIPR_ADCSEL                     RCC_D3CCIPR_ADCSEL_Msk
+#define RCC_D3CCIPR_ADCSEL_0                   (0x1UL << RCC_D3CCIPR_ADCSEL_Pos) /*!< 0x00010000 */
+#define RCC_D3CCIPR_ADCSEL_1                   (0x2UL << RCC_D3CCIPR_ADCSEL_Pos) /*!< 0x00020000 */
+
+#define RCC_D3CCIPR_SPI6SEL_Pos                (28U)
+#define RCC_D3CCIPR_SPI6SEL_Msk                (0x7UL << RCC_D3CCIPR_SPI6SEL_Pos) /*!< 0x70000000 */
+#define RCC_D3CCIPR_SPI6SEL                    RCC_D3CCIPR_SPI6SEL_Msk
+#define RCC_D3CCIPR_SPI6SEL_0                  (0x1UL << RCC_D3CCIPR_SPI6SEL_Pos) /*!< 0x10000000 */
+#define RCC_D3CCIPR_SPI6SEL_1                  (0x2UL << RCC_D3CCIPR_SPI6SEL_Pos) /*!< 0x20000000 */
+#define RCC_D3CCIPR_SPI6SEL_2                  (0x4UL << RCC_D3CCIPR_SPI6SEL_Pos) /*!< 0x40000000 */
+/********************  Bit definition for RCC_CIER register  ******************/
+#define RCC_CIER_LSIRDYIE_Pos                  (0U)
+#define RCC_CIER_LSIRDYIE_Msk                  (0x1UL << RCC_CIER_LSIRDYIE_Pos) /*!< 0x00000001 */
+#define RCC_CIER_LSIRDYIE                      RCC_CIER_LSIRDYIE_Msk
+#define RCC_CIER_LSERDYIE_Pos                  (1U)
+#define RCC_CIER_LSERDYIE_Msk                  (0x1UL << RCC_CIER_LSERDYIE_Pos) /*!< 0x00000002 */
+#define RCC_CIER_LSERDYIE                      RCC_CIER_LSERDYIE_Msk
+#define RCC_CIER_HSIRDYIE_Pos                  (2U)
+#define RCC_CIER_HSIRDYIE_Msk                  (0x1UL << RCC_CIER_HSIRDYIE_Pos) /*!< 0x00000004 */
+#define RCC_CIER_HSIRDYIE                      RCC_CIER_HSIRDYIE_Msk
+#define RCC_CIER_HSERDYIE_Pos                  (3U)
+#define RCC_CIER_HSERDYIE_Msk                  (0x1UL << RCC_CIER_HSERDYIE_Pos) /*!< 0x00000008 */
+#define RCC_CIER_HSERDYIE                      RCC_CIER_HSERDYIE_Msk
+#define RCC_CIER_CSIRDYIE_Pos                  (4U)
+#define RCC_CIER_CSIRDYIE_Msk                  (0x1UL << RCC_CIER_CSIRDYIE_Pos) /*!< 0x00000010 */
+#define RCC_CIER_CSIRDYIE                      RCC_CIER_CSIRDYIE_Msk
+#define RCC_CIER_HSI48RDYIE_Pos                (5U)
+#define RCC_CIER_HSI48RDYIE_Msk                (0x1UL << RCC_CIER_HSI48RDYIE_Pos) /*!< 0x00000020 */
+#define RCC_CIER_HSI48RDYIE                    RCC_CIER_HSI48RDYIE_Msk
+#define RCC_CIER_PLL1RDYIE_Pos                 (6U)
+#define RCC_CIER_PLL1RDYIE_Msk                 (0x1UL << RCC_CIER_PLL1RDYIE_Pos) /*!< 0x00000040 */
+#define RCC_CIER_PLL1RDYIE                     RCC_CIER_PLL1RDYIE_Msk
+#define RCC_CIER_PLL2RDYIE_Pos                 (7U)
+#define RCC_CIER_PLL2RDYIE_Msk                 (0x1UL << RCC_CIER_PLL2RDYIE_Pos) /*!< 0x00000080 */
+#define RCC_CIER_PLL2RDYIE                     RCC_CIER_PLL2RDYIE_Msk
+#define RCC_CIER_PLL3RDYIE_Pos                 (8U)
+#define RCC_CIER_PLL3RDYIE_Msk                 (0x1UL << RCC_CIER_PLL3RDYIE_Pos) /*!< 0x00000100 */
+#define RCC_CIER_PLL3RDYIE                     RCC_CIER_PLL3RDYIE_Msk
+#define RCC_CIER_LSECSSIE_Pos                  (9U)
+#define RCC_CIER_LSECSSIE_Msk                  (0x1UL << RCC_CIER_LSECSSIE_Pos) /*!< 0x00000200 */
+#define RCC_CIER_LSECSSIE                      RCC_CIER_LSECSSIE_Msk
+
+/********************  Bit definition for RCC_CIFR register  ******************/
+#define RCC_CIFR_LSIRDYF_Pos                   (0U)
+#define RCC_CIFR_LSIRDYF_Msk                   (0x1UL << RCC_CIFR_LSIRDYF_Pos) /*!< 0x00000001 */
+#define RCC_CIFR_LSIRDYF                       RCC_CIFR_LSIRDYF_Msk
+#define RCC_CIFR_LSERDYF_Pos                   (1U)
+#define RCC_CIFR_LSERDYF_Msk                   (0x1UL << RCC_CIFR_LSERDYF_Pos) /*!< 0x00000002 */
+#define RCC_CIFR_LSERDYF                       RCC_CIFR_LSERDYF_Msk
+#define RCC_CIFR_HSIRDYF_Pos                   (2U)
+#define RCC_CIFR_HSIRDYF_Msk                   (0x1UL << RCC_CIFR_HSIRDYF_Pos) /*!< 0x00000004 */
+#define RCC_CIFR_HSIRDYF                       RCC_CIFR_HSIRDYF_Msk
+#define RCC_CIFR_HSERDYF_Pos                   (3U)
+#define RCC_CIFR_HSERDYF_Msk                   (0x1UL << RCC_CIFR_HSERDYF_Pos) /*!< 0x00000008 */
+#define RCC_CIFR_HSERDYF                       RCC_CIFR_HSERDYF_Msk
+#define RCC_CIFR_CSIRDYF_Pos                   (4U)
+#define RCC_CIFR_CSIRDYF_Msk                   (0x1UL << RCC_CIFR_CSIRDYF_Pos) /*!< 0x00000010 */
+#define RCC_CIFR_CSIRDYF                       RCC_CIFR_CSIRDYF_Msk
+#define RCC_CIFR_HSI48RDYF_Pos                 (5U)
+#define RCC_CIFR_HSI48RDYF_Msk                 (0x1UL << RCC_CIFR_HSI48RDYF_Pos) /*!< 0x00000020 */
+#define RCC_CIFR_HSI48RDYF                     RCC_CIFR_HSI48RDYF_Msk
+#define RCC_CIFR_PLLRDYF_Pos                   (6U)
+#define RCC_CIFR_PLLRDYF_Msk                   (0x1UL << RCC_CIFR_PLLRDYF_Pos) /*!< 0x00000040 */
+#define RCC_CIFR_PLLRDYF                       RCC_CIFR_PLLRDYF_Msk
+#define RCC_CIFR_PLL2RDYF_Pos                  (7U)
+#define RCC_CIFR_PLL2RDYF_Msk                  (0x1UL << RCC_CIFR_PLL2RDYF_Pos) /*!< 0x00000080 */
+#define RCC_CIFR_PLL2RDYF                      RCC_CIFR_PLL2RDYF_Msk
+#define RCC_CIFR_PLL3RDYF_Pos                  (8U)
+#define RCC_CIFR_PLL3RDYF_Msk                  (0x1UL << RCC_CIFR_PLL3RDYF_Pos) /*!< 0x00000100 */
+#define RCC_CIFR_PLL3RDYF                      RCC_CIFR_PLL3RDYF_Msk
+#define RCC_CIFR_LSECSSF_Pos                   (9U)
+#define RCC_CIFR_LSECSSF_Msk                   (0x1UL << RCC_CIFR_LSECSSF_Pos) /*!< 0x00000200 */
+#define RCC_CIFR_LSECSSF                       RCC_CIFR_LSECSSF_Msk
+#define RCC_CIFR_HSECSSF_Pos                   (10U)
+#define RCC_CIFR_HSECSSF_Msk                   (0x1UL << RCC_CIFR_HSECSSF_Pos) /*!< 0x00000400 */
+#define RCC_CIFR_HSECSSF                       RCC_CIFR_HSECSSF_Msk
+
+/********************  Bit definition for RCC_CICR register  ******************/
+#define RCC_CICR_LSIRDYC_Pos                   (0U)
+#define RCC_CICR_LSIRDYC_Msk                   (0x1UL << RCC_CICR_LSIRDYC_Pos) /*!< 0x00000001 */
+#define RCC_CICR_LSIRDYC                       RCC_CICR_LSIRDYC_Msk
+#define RCC_CICR_LSERDYC_Pos                   (1U)
+#define RCC_CICR_LSERDYC_Msk                   (0x1UL << RCC_CICR_LSERDYC_Pos) /*!< 0x00000002 */
+#define RCC_CICR_LSERDYC                       RCC_CICR_LSERDYC_Msk
+#define RCC_CICR_HSIRDYC_Pos                   (2U)
+#define RCC_CICR_HSIRDYC_Msk                   (0x1UL << RCC_CICR_HSIRDYC_Pos) /*!< 0x00000004 */
+#define RCC_CICR_HSIRDYC                       RCC_CICR_HSIRDYC_Msk
+#define RCC_CICR_HSERDYC_Pos                   (3U)
+#define RCC_CICR_HSERDYC_Msk                   (0x1UL << RCC_CICR_HSERDYC_Pos) /*!< 0x00000008 */
+#define RCC_CICR_HSERDYC                       RCC_CICR_HSERDYC_Msk
+#define RCC_CICR_CSIRDYC_Pos                   (4U)
+#define RCC_CICR_CSIRDYC_Msk                   (0x1UL << RCC_CICR_CSIRDYC_Pos) /*!< 0x00000010 */
+#define RCC_CICR_CSIRDYC                       RCC_CICR_CSIRDYC_Msk
+#define RCC_CICR_HSI48RDYC_Pos                 (5U)
+#define RCC_CICR_HSI48RDYC_Msk                 (0x1UL << RCC_CICR_HSI48RDYC_Pos) /*!< 0x00000020 */
+#define RCC_CICR_HSI48RDYC                     RCC_CICR_HSI48RDYC_Msk
+#define RCC_CICR_PLLRDYC_Pos                   (6U)
+#define RCC_CICR_PLLRDYC_Msk                   (0x1UL << RCC_CICR_PLLRDYC_Pos) /*!< 0x00000040 */
+#define RCC_CICR_PLLRDYC                       RCC_CICR_PLLRDYC_Msk
+#define RCC_CICR_PLL2RDYC_Pos                  (7U)
+#define RCC_CICR_PLL2RDYC_Msk                  (0x1UL << RCC_CICR_PLL2RDYC_Pos) /*!< 0x00000080 */
+#define RCC_CICR_PLL2RDYC                      RCC_CICR_PLL2RDYC_Msk
+#define RCC_CICR_PLL3RDYC_Pos                  (8U)
+#define RCC_CICR_PLL3RDYC_Msk                  (0x1UL << RCC_CICR_PLL3RDYC_Pos) /*!< 0x00000100 */
+#define RCC_CICR_PLL3RDYC                      RCC_CICR_PLL3RDYC_Msk
+#define RCC_CICR_LSECSSC_Pos                   (9U)
+#define RCC_CICR_LSECSSC_Msk                   (0x1UL << RCC_CICR_LSECSSC_Pos) /*!< 0x00000200 */
+#define RCC_CICR_LSECSSC                       RCC_CICR_LSECSSC_Msk
+#define RCC_CICR_HSECSSC_Pos                   (10U)
+#define RCC_CICR_HSECSSC_Msk                   (0x1UL << RCC_CICR_HSECSSC_Pos) /*!< 0x00000400 */
+#define RCC_CICR_HSECSSC                       RCC_CICR_HSECSSC_Msk
+
+/********************  Bit definition for RCC_BDCR register  ******************/
+#define RCC_BDCR_LSEON_Pos                     (0U)
+#define RCC_BDCR_LSEON_Msk                     (0x1UL << RCC_BDCR_LSEON_Pos)   /*!< 0x00000001 */
+#define RCC_BDCR_LSEON                         RCC_BDCR_LSEON_Msk
+#define RCC_BDCR_LSERDY_Pos                    (1U)
+#define RCC_BDCR_LSERDY_Msk                    (0x1UL << RCC_BDCR_LSERDY_Pos)  /*!< 0x00000002 */
+#define RCC_BDCR_LSERDY                        RCC_BDCR_LSERDY_Msk
+#define RCC_BDCR_LSEBYP_Pos                    (2U)
+#define RCC_BDCR_LSEBYP_Msk                    (0x1UL << RCC_BDCR_LSEBYP_Pos)  /*!< 0x00000004 */
+#define RCC_BDCR_LSEBYP                        RCC_BDCR_LSEBYP_Msk
+
+#define RCC_BDCR_LSEDRV_Pos                    (3U)
+#define RCC_BDCR_LSEDRV_Msk                    (0x3UL << RCC_BDCR_LSEDRV_Pos)  /*!< 0x00000018 */
+#define RCC_BDCR_LSEDRV                        RCC_BDCR_LSEDRV_Msk
+#define RCC_BDCR_LSEDRV_0                      (0x1UL << RCC_BDCR_LSEDRV_Pos)   /*!< 0x00000008 */
+#define RCC_BDCR_LSEDRV_1                      (0x2UL << RCC_BDCR_LSEDRV_Pos)   /*!< 0x00000010 */
+
+#define RCC_BDCR_LSECSSON_Pos                  (5U)
+#define RCC_BDCR_LSECSSON_Msk                  (0x1UL << RCC_BDCR_LSECSSON_Pos) /*!< 0x00000020 */
+#define RCC_BDCR_LSECSSON                      RCC_BDCR_LSECSSON_Msk
+#define RCC_BDCR_LSECSSD_Pos                   (6U)
+#define RCC_BDCR_LSECSSD_Msk                   (0x1UL << RCC_BDCR_LSECSSD_Pos) /*!< 0x00000040 */
+#define RCC_BDCR_LSECSSD                       RCC_BDCR_LSECSSD_Msk
+
+#define RCC_BDCR_RTCSEL_Pos                    (8U)
+#define RCC_BDCR_RTCSEL_Msk                    (0x3UL << RCC_BDCR_RTCSEL_Pos)  /*!< 0x00000300 */
+#define RCC_BDCR_RTCSEL                        RCC_BDCR_RTCSEL_Msk
+#define RCC_BDCR_RTCSEL_0                      (0x1UL << RCC_BDCR_RTCSEL_Pos)   /*!< 0x00000100 */
+#define RCC_BDCR_RTCSEL_1                      (0x2UL << RCC_BDCR_RTCSEL_Pos)   /*!< 0x00000200 */
+
+#define RCC_BDCR_RTCEN_Pos                     (15U)
+#define RCC_BDCR_RTCEN_Msk                     (0x1UL << RCC_BDCR_RTCEN_Pos)   /*!< 0x00008000 */
+#define RCC_BDCR_RTCEN                         RCC_BDCR_RTCEN_Msk
+#define RCC_BDCR_VSWRST_Pos                    (16U)
+#define RCC_BDCR_VSWRST_Msk                    (0x1UL << RCC_BDCR_VSWRST_Pos)   /*!< 0x00010000 */
+#define RCC_BDCR_VSWRST                        RCC_BDCR_VSWRST_Msk
+/* Legacy define */
+#define RCC_BDCR_BDRST_Pos                     RCC_BDCR_VSWRST_Pos
+#define RCC_BDCR_BDRST_Msk                     RCC_BDCR_VSWRST_Msk
+#define RCC_BDCR_BDRST                         RCC_BDCR_VSWRST
+/********************  Bit definition for RCC_CSR register  *******************/
+#define RCC_CSR_LSION_Pos                      (0U)
+#define RCC_CSR_LSION_Msk                      (0x1UL << RCC_CSR_LSION_Pos)    /*!< 0x00000001 */
+#define RCC_CSR_LSION                          RCC_CSR_LSION_Msk
+#define RCC_CSR_LSIRDY_Pos                     (1U)
+#define RCC_CSR_LSIRDY_Msk                     (0x1UL << RCC_CSR_LSIRDY_Pos)   /*!< 0x00000002 */
+#define RCC_CSR_LSIRDY                         RCC_CSR_LSIRDY_Msk
+
+
+/********************  Bit definition for RCC_AHB3ENR register  **************/
+#define RCC_AHB3ENR_MDMAEN_Pos                 (0U)
+#define RCC_AHB3ENR_MDMAEN_Msk                 (0x1UL << RCC_AHB3ENR_MDMAEN_Pos)       /*!< 0x00000001 */
+#define RCC_AHB3ENR_MDMAEN                     RCC_AHB3ENR_MDMAEN_Msk
+#define RCC_AHB3ENR_DMA2DEN_Pos                (4U)
+#define RCC_AHB3ENR_DMA2DEN_Msk                (0x1UL << RCC_AHB3ENR_DMA2DEN_Pos)      /*!< 0x00000010 */
+#define RCC_AHB3ENR_DMA2DEN                    RCC_AHB3ENR_DMA2DEN_Msk
+#define RCC_AHB3ENR_FMCEN_Pos                  (12U)
+#define RCC_AHB3ENR_FMCEN_Msk                  (0x1UL << RCC_AHB3ENR_FMCEN_Pos)        /*!< 0x00001000 */
+#define RCC_AHB3ENR_FMCEN                      RCC_AHB3ENR_FMCEN_Msk
+#define RCC_AHB3ENR_OSPI1EN_Pos                (14U)
+#define RCC_AHB3ENR_OSPI1EN_Msk                (0x1UL << RCC_AHB3ENR_OSPI1EN_Pos)      /*!< 0x00004000 */
+#define RCC_AHB3ENR_OSPI1EN                    RCC_AHB3ENR_OSPI1EN_Msk
+#define RCC_AHB3ENR_SDMMC1EN_Pos               (16U)
+#define RCC_AHB3ENR_SDMMC1EN_Msk               (0x1UL << RCC_AHB3ENR_SDMMC1EN_Pos)     /*!< 0x00010000 */
+#define RCC_AHB3ENR_SDMMC1EN                   RCC_AHB3ENR_SDMMC1EN_Msk
+#define RCC_AHB3ENR_OSPI2EN_Pos                (19U)
+#define RCC_AHB3ENR_OSPI2EN_Msk                (0x1UL << RCC_AHB3ENR_OSPI2EN_Pos)      /*!< 0x00040000 */
+#define RCC_AHB3ENR_OSPI2EN                    RCC_AHB3ENR_OSPI2EN_Msk
+#define RCC_AHB3ENR_IOMNGREN_Pos               (21U)
+#define RCC_AHB3ENR_IOMNGREN_Msk               (0x1UL << RCC_AHB3ENR_IOMNGREN_Pos)     /*!< 0x00100000 */
+#define RCC_AHB3ENR_IOMNGREN                   RCC_AHB3ENR_IOMNGREN_Msk
+#define RCC_AHB3ENR_OTFDEC1EN_Pos              (22U)
+#define RCC_AHB3ENR_OTFDEC1EN_Msk              (0x1UL << RCC_AHB3ENR_OTFDEC1EN_Pos)    /*!< 0x00200000 */
+#define RCC_AHB3ENR_OTFDEC1EN                  RCC_AHB3ENR_OTFDEC1EN_Msk
+#define RCC_AHB3ENR_OTFDEC2EN_Pos              (23U)
+#define RCC_AHB3ENR_OTFDEC2EN_Msk              (0x1UL << RCC_AHB3ENR_OTFDEC2EN_Pos)    /*!< 0x00400000 */
+#define RCC_AHB3ENR_OTFDEC2EN                  RCC_AHB3ENR_OTFDEC2EN_Msk
+
+/********************  Bit definition for RCC_AHB1ENR register  ***************/
+#define RCC_AHB1ENR_DMA1EN_Pos                 (0U)
+#define RCC_AHB1ENR_DMA1EN_Msk                 (0x1UL << RCC_AHB1ENR_DMA1EN_Pos)          /*!< 0x00000001 */
+#define RCC_AHB1ENR_DMA1EN                     RCC_AHB1ENR_DMA1EN_Msk
+#define RCC_AHB1ENR_DMA2EN_Pos                 (1U)
+#define RCC_AHB1ENR_DMA2EN_Msk                 (0x1UL << RCC_AHB1ENR_DMA2EN_Pos)          /*!< 0x00000002 */
+#define RCC_AHB1ENR_DMA2EN                     RCC_AHB1ENR_DMA2EN_Msk
+#define RCC_AHB1ENR_ADC12EN_Pos                (5U)
+#define RCC_AHB1ENR_ADC12EN_Msk                (0x1UL << RCC_AHB1ENR_ADC12EN_Pos)         /*!< 0x00000020 */
+#define RCC_AHB1ENR_ADC12EN                    RCC_AHB1ENR_ADC12EN_Msk
+#define RCC_AHB1ENR_ETH1MACEN_Pos              (15U)
+#define RCC_AHB1ENR_ETH1MACEN_Msk              (0x1UL << RCC_AHB1ENR_ETH1MACEN_Pos)       /*!< 0x00008000 */
+#define RCC_AHB1ENR_ETH1MACEN                  RCC_AHB1ENR_ETH1MACEN_Msk
+#define RCC_AHB1ENR_ETH1TXEN_Pos               (16U)
+#define RCC_AHB1ENR_ETH1TXEN_Msk               (0x1UL << RCC_AHB1ENR_ETH1TXEN_Pos)        /*!< 0x00010000 */
+#define RCC_AHB1ENR_ETH1TXEN                   RCC_AHB1ENR_ETH1TXEN_Msk
+#define RCC_AHB1ENR_ETH1RXEN_Pos               (17U)
+#define RCC_AHB1ENR_ETH1RXEN_Msk               (0x1UL << RCC_AHB1ENR_ETH1RXEN_Pos)        /*!< 0x00020000 */
+#define RCC_AHB1ENR_ETH1RXEN                   RCC_AHB1ENR_ETH1RXEN_Msk
+#define RCC_AHB1ENR_USB1OTGHSEN_Pos            (25U)
+#define RCC_AHB1ENR_USB1OTGHSEN_Msk            (0x1UL << RCC_AHB1ENR_USB1OTGHSEN_Pos)     /*!< 0x02000000 */
+#define RCC_AHB1ENR_USB1OTGHSEN                RCC_AHB1ENR_USB1OTGHSEN_Msk
+#define RCC_AHB1ENR_USB1OTGHSULPIEN_Pos        (26U)
+#define RCC_AHB1ENR_USB1OTGHSULPIEN_Msk        (0x1UL << RCC_AHB1ENR_USB1OTGHSULPIEN_Pos) /*!< 0x04000000 */
+#define RCC_AHB1ENR_USB1OTGHSULPIEN            RCC_AHB1ENR_USB1OTGHSULPIEN_Msk
+
+/********************  Bit definition for RCC_AHB2ENR register  ***************/
+#define RCC_AHB2ENR_DCMI_PSSIEN_Pos            (0U)
+#define RCC_AHB2ENR_DCMI_PSSIEN_Msk            (0x1UL << RCC_AHB2ENR_DCMI_PSSIEN_Pos)     /*!< 0x00000001 */
+#define RCC_AHB2ENR_DCMI_PSSIEN                RCC_AHB2ENR_DCMI_PSSIEN_Msk
+#define RCC_AHB2ENR_CRYPEN_Pos                 (4U)
+#define RCC_AHB2ENR_CRYPEN_Msk                 (0x1UL << RCC_AHB2ENR_CRYPEN_Pos)          /*!< 0x00000010 */
+#define RCC_AHB2ENR_CRYPEN                     RCC_AHB2ENR_CRYPEN_Msk
+#define RCC_AHB2ENR_HASHEN_Pos                 (5U)
+#define RCC_AHB2ENR_HASHEN_Msk                 (0x1UL << RCC_AHB2ENR_HASHEN_Pos)          /*!< 0x00000020 */
+#define RCC_AHB2ENR_HASHEN                     RCC_AHB2ENR_HASHEN_Msk
+#define RCC_AHB2ENR_RNGEN_Pos                  (6U)
+#define RCC_AHB2ENR_RNGEN_Msk                  (0x1UL << RCC_AHB2ENR_RNGEN_Pos)           /*!< 0x00000040 */
+#define RCC_AHB2ENR_RNGEN                      RCC_AHB2ENR_RNGEN_Msk
+#define RCC_AHB2ENR_SDMMC2EN_Pos               (9U)
+#define RCC_AHB2ENR_SDMMC2EN_Msk               (0x1UL << RCC_AHB2ENR_SDMMC2EN_Pos)        /*!< 0x00000200 */
+#define RCC_AHB2ENR_SDMMC2EN                   RCC_AHB2ENR_SDMMC2EN_Msk
+#define RCC_AHB2ENR_FMACEN_Pos                 (16U)
+#define RCC_AHB2ENR_FMACEN_Msk                 (0x1UL << RCC_AHB2ENR_FMACEN_Pos)          /*!< 0x00010000 */
+#define RCC_AHB2ENR_FMACEN                     RCC_AHB2ENR_FMACEN_Msk
+#define RCC_AHB2ENR_CORDICEN_Pos               (17U)
+#define RCC_AHB2ENR_CORDICEN_Msk               (0x1UL << RCC_AHB2ENR_CORDICEN_Pos)        /*!< 0x00020000 */
+#define RCC_AHB2ENR_CORDICEN                   RCC_AHB2ENR_CORDICEN_Msk
+#define RCC_AHB2ENR_SRAM1EN_Pos                (29U)
+#define RCC_AHB2ENR_SRAM1EN_Msk                (0x1UL << RCC_AHB2ENR_SRAM1EN_Pos)       /*!< 0x20000000 */
+#define RCC_AHB2ENR_SRAM1EN                    RCC_AHB2ENR_SRAM1EN_Msk
+#define RCC_AHB2ENR_SRAM2EN_Pos                (30U)
+#define RCC_AHB2ENR_SRAM2EN_Msk                (0x1UL << RCC_AHB2ENR_SRAM2EN_Pos)       /*!< 0x40000000 */
+#define RCC_AHB2ENR_SRAM2EN                    RCC_AHB2ENR_SRAM2EN_Msk
+
+/* Legacy define */
+#define RCC_AHB2ENR_DCMIEN_Pos                 RCC_AHB2ENR_DCMI_PSSIEN_Pos
+#define RCC_AHB2ENR_DCMIEN_Msk                 RCC_AHB2ENR_DCMI_PSSIEN_Msk
+#define RCC_AHB2ENR_DCMIEN                     RCC_AHB2ENR_DCMI_PSSIEN
+/* Legacy define */
+#define RCC_AHB2ENR_D2SRAM1EN_Pos              RCC_AHB2ENR_SRAM1EN_Pos
+#define RCC_AHB2ENR_D2SRAM1EN_Msk              RCC_AHB2ENR_SRAM1EN_Msk
+#define RCC_AHB2ENR_D2SRAM1EN                  RCC_AHB2ENR_SRAM1EN
+#define RCC_AHB2ENR_D2SRAM2EN_Pos              RCC_AHB2ENR_SRAM2EN_Pos
+#define RCC_AHB2ENR_D2SRAM2EN_Msk              RCC_AHB2ENR_SRAM2EN_Msk
+#define RCC_AHB2ENR_D2SRAM2EN                  RCC_AHB2ENR_SRAM2EN
+
+/********************  Bit definition for RCC_AHB4ENR register  ******************/
+#define RCC_AHB4ENR_GPIOAEN_Pos                (0U)
+#define RCC_AHB4ENR_GPIOAEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOAEN_Pos)         /*!< 0x00000001 */
+#define RCC_AHB4ENR_GPIOAEN                    RCC_AHB4ENR_GPIOAEN_Msk
+#define RCC_AHB4ENR_GPIOBEN_Pos                (1U)
+#define RCC_AHB4ENR_GPIOBEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOBEN_Pos)         /*!< 0x00000002 */
+#define RCC_AHB4ENR_GPIOBEN                    RCC_AHB4ENR_GPIOBEN_Msk
+#define RCC_AHB4ENR_GPIOCEN_Pos                (2U)
+#define RCC_AHB4ENR_GPIOCEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOCEN_Pos)         /*!< 0x00000004 */
+#define RCC_AHB4ENR_GPIOCEN                    RCC_AHB4ENR_GPIOCEN_Msk
+#define RCC_AHB4ENR_GPIODEN_Pos                (3U)
+#define RCC_AHB4ENR_GPIODEN_Msk                (0x1UL << RCC_AHB4ENR_GPIODEN_Pos)         /*!< 0x00000008 */
+#define RCC_AHB4ENR_GPIODEN                    RCC_AHB4ENR_GPIODEN_Msk
+#define RCC_AHB4ENR_GPIOEEN_Pos                (4U)
+#define RCC_AHB4ENR_GPIOEEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOEEN_Pos)         /*!< 0x00000010 */
+#define RCC_AHB4ENR_GPIOEEN                    RCC_AHB4ENR_GPIOEEN_Msk
+#define RCC_AHB4ENR_GPIOFEN_Pos                (5U)
+#define RCC_AHB4ENR_GPIOFEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOFEN_Pos)         /*!< 0x00000020 */
+#define RCC_AHB4ENR_GPIOFEN                    RCC_AHB4ENR_GPIOFEN_Msk
+#define RCC_AHB4ENR_GPIOGEN_Pos                (6U)
+#define RCC_AHB4ENR_GPIOGEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOGEN_Pos)         /*!< 0x00000040 */
+#define RCC_AHB4ENR_GPIOGEN                    RCC_AHB4ENR_GPIOGEN_Msk
+#define RCC_AHB4ENR_GPIOHEN_Pos                (7U)
+#define RCC_AHB4ENR_GPIOHEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOHEN_Pos)         /*!< 0x00000080 */
+#define RCC_AHB4ENR_GPIOHEN                    RCC_AHB4ENR_GPIOHEN_Msk
+#define RCC_AHB4ENR_GPIOJEN_Pos                (9U)
+#define RCC_AHB4ENR_GPIOJEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOJEN_Pos)         /*!< 0x00000200 */
+#define RCC_AHB4ENR_GPIOJEN                    RCC_AHB4ENR_GPIOJEN_Msk
+#define RCC_AHB4ENR_GPIOKEN_Pos                (10U)
+#define RCC_AHB4ENR_GPIOKEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOKEN_Pos)         /*!< 0x00000400 */
+#define RCC_AHB4ENR_GPIOKEN                    RCC_AHB4ENR_GPIOKEN_Msk
+#define RCC_AHB4ENR_CRCEN_Pos                  (19U)
+#define RCC_AHB4ENR_CRCEN_Msk                  (0x1UL << RCC_AHB4ENR_CRCEN_Pos)           /*!< 0x00080000 */
+#define RCC_AHB4ENR_CRCEN                      RCC_AHB4ENR_CRCEN_Msk
+#define RCC_AHB4ENR_BDMAEN_Pos                 (21U)
+#define RCC_AHB4ENR_BDMAEN_Msk                 (0x1UL << RCC_AHB4ENR_BDMAEN_Pos)          /*!< 0x00200000 */
+#define RCC_AHB4ENR_BDMAEN                     RCC_AHB4ENR_BDMAEN_Msk
+#define RCC_AHB4ENR_ADC3EN_Pos                 (24U)
+#define RCC_AHB4ENR_ADC3EN_Msk                 (0x1UL << RCC_AHB4ENR_ADC3EN_Pos)          /*!< 0x01000000 */
+#define RCC_AHB4ENR_ADC3EN                     RCC_AHB4ENR_ADC3EN_Msk
+#define RCC_AHB4ENR_HSEMEN_Pos                 (25U)
+#define RCC_AHB4ENR_HSEMEN_Msk                 (0x1UL << RCC_AHB4ENR_HSEMEN_Pos)          /*!< 0x02000000 */
+#define RCC_AHB4ENR_HSEMEN                     RCC_AHB4ENR_HSEMEN_Msk
+#define RCC_AHB4ENR_BKPRAMEN_Pos               (28U)
+#define RCC_AHB4ENR_BKPRAMEN_Msk               (0x1UL << RCC_AHB4ENR_BKPRAMEN_Pos)        /*!< 0x10000000 */
+#define RCC_AHB4ENR_BKPRAMEN                   RCC_AHB4ENR_BKPRAMEN_Msk
+
+/********************  Bit definition for RCC_APB3ENR register  ******************/
+#define RCC_APB3ENR_LTDCEN_Pos                 (3U)
+#define RCC_APB3ENR_LTDCEN_Msk                 (0x1UL << RCC_APB3ENR_LTDCEN_Pos) /*!< 0x00000008 */
+#define RCC_APB3ENR_LTDCEN                     RCC_APB3ENR_LTDCEN_Msk
+#define RCC_APB3ENR_WWDG1EN_Pos                (6U)
+#define RCC_APB3ENR_WWDG1EN_Msk                (0x1UL << RCC_APB3ENR_WWDG1EN_Pos) /*!< 0x00000040 */
+#define RCC_APB3ENR_WWDG1EN                    RCC_APB3ENR_WWDG1EN_Msk
+
+/********************  Bit definition for RCC_APB1LENR register  ******************/
+
+#define RCC_APB1LENR_TIM2EN_Pos                (0U)
+#define RCC_APB1LENR_TIM2EN_Msk                (0x1UL << RCC_APB1LENR_TIM2EN_Pos) /*!< 0x00000001 */
+#define RCC_APB1LENR_TIM2EN                    RCC_APB1LENR_TIM2EN_Msk
+#define RCC_APB1LENR_TIM3EN_Pos                (1U)
+#define RCC_APB1LENR_TIM3EN_Msk                (0x1UL << RCC_APB1LENR_TIM3EN_Pos) /*!< 0x00000002 */
+#define RCC_APB1LENR_TIM3EN                    RCC_APB1LENR_TIM3EN_Msk
+#define RCC_APB1LENR_TIM4EN_Pos                (2U)
+#define RCC_APB1LENR_TIM4EN_Msk                (0x1UL << RCC_APB1LENR_TIM4EN_Pos) /*!< 0x00000004 */
+#define RCC_APB1LENR_TIM4EN                    RCC_APB1LENR_TIM4EN_Msk
+#define RCC_APB1LENR_TIM5EN_Pos                (3U)
+#define RCC_APB1LENR_TIM5EN_Msk                (0x1UL << RCC_APB1LENR_TIM5EN_Pos) /*!< 0x00000008 */
+#define RCC_APB1LENR_TIM5EN                    RCC_APB1LENR_TIM5EN_Msk
+#define RCC_APB1LENR_TIM6EN_Pos                (4U)
+#define RCC_APB1LENR_TIM6EN_Msk                (0x1UL << RCC_APB1LENR_TIM6EN_Pos) /*!< 0x00000010 */
+#define RCC_APB1LENR_TIM6EN                    RCC_APB1LENR_TIM6EN_Msk
+#define RCC_APB1LENR_TIM7EN_Pos                (5U)
+#define RCC_APB1LENR_TIM7EN_Msk                (0x1UL << RCC_APB1LENR_TIM7EN_Pos) /*!< 0x00000020 */
+#define RCC_APB1LENR_TIM7EN                    RCC_APB1LENR_TIM7EN_Msk
+#define RCC_APB1LENR_TIM12EN_Pos               (6U)
+#define RCC_APB1LENR_TIM12EN_Msk               (0x1UL << RCC_APB1LENR_TIM12EN_Pos) /*!< 0x00000040 */
+#define RCC_APB1LENR_TIM12EN                   RCC_APB1LENR_TIM12EN_Msk
+#define RCC_APB1LENR_TIM13EN_Pos               (7U)
+#define RCC_APB1LENR_TIM13EN_Msk               (0x1UL << RCC_APB1LENR_TIM13EN_Pos) /*!< 0x00000080 */
+#define RCC_APB1LENR_TIM13EN                   RCC_APB1LENR_TIM13EN_Msk
+#define RCC_APB1LENR_TIM14EN_Pos               (8U)
+#define RCC_APB1LENR_TIM14EN_Msk               (0x1UL << RCC_APB1LENR_TIM14EN_Pos) /*!< 0x00000100 */
+#define RCC_APB1LENR_TIM14EN                   RCC_APB1LENR_TIM14EN_Msk
+#define RCC_APB1LENR_LPTIM1EN_Pos              (9U)
+#define RCC_APB1LENR_LPTIM1EN_Msk              (0x1UL << RCC_APB1LENR_LPTIM1EN_Pos) /*!< 0x00000200 */
+#define RCC_APB1LENR_LPTIM1EN                  RCC_APB1LENR_LPTIM1EN_Msk
+
+
+#define RCC_APB1LENR_SPI2EN_Pos                (14U)
+#define RCC_APB1LENR_SPI2EN_Msk                (0x1UL << RCC_APB1LENR_SPI2EN_Pos) /*!< 0x00004000 */
+#define RCC_APB1LENR_SPI2EN                    RCC_APB1LENR_SPI2EN_Msk
+#define RCC_APB1LENR_SPI3EN_Pos                (15U)
+#define RCC_APB1LENR_SPI3EN_Msk                (0x1UL << RCC_APB1LENR_SPI3EN_Pos) /*!< 0x00008000 */
+#define RCC_APB1LENR_SPI3EN                    RCC_APB1LENR_SPI3EN_Msk
+#define RCC_APB1LENR_SPDIFRXEN_Pos             (16U)
+#define RCC_APB1LENR_SPDIFRXEN_Msk             (0x1UL << RCC_APB1LENR_SPDIFRXEN_Pos) /*!< 0x00010000 */
+#define RCC_APB1LENR_SPDIFRXEN                 RCC_APB1LENR_SPDIFRXEN_Msk
+#define RCC_APB1LENR_USART2EN_Pos              (17U)
+#define RCC_APB1LENR_USART2EN_Msk              (0x1UL << RCC_APB1LENR_USART2EN_Pos) /*!< 0x00020000 */
+#define RCC_APB1LENR_USART2EN                  RCC_APB1LENR_USART2EN_Msk
+#define RCC_APB1LENR_USART3EN_Pos              (18U)
+#define RCC_APB1LENR_USART3EN_Msk              (0x1UL << RCC_APB1LENR_USART3EN_Pos) /*!< 0x00040000 */
+#define RCC_APB1LENR_USART3EN                  RCC_APB1LENR_USART3EN_Msk
+#define RCC_APB1LENR_UART4EN_Pos               (19U)
+#define RCC_APB1LENR_UART4EN_Msk               (0x1UL << RCC_APB1LENR_UART4EN_Pos) /*!< 0x00080000 */
+#define RCC_APB1LENR_UART4EN                   RCC_APB1LENR_UART4EN_Msk
+#define RCC_APB1LENR_UART5EN_Pos               (20U)
+#define RCC_APB1LENR_UART5EN_Msk               (0x1UL << RCC_APB1LENR_UART5EN_Pos) /*!< 0x00100000 */
+#define RCC_APB1LENR_UART5EN                   RCC_APB1LENR_UART5EN_Msk
+#define RCC_APB1LENR_I2C1EN_Pos                (21U)
+#define RCC_APB1LENR_I2C1EN_Msk                (0x1UL << RCC_APB1LENR_I2C1EN_Pos) /*!< 0x00200000 */
+#define RCC_APB1LENR_I2C1EN                    RCC_APB1LENR_I2C1EN_Msk
+#define RCC_APB1LENR_I2C2EN_Pos                (22U)
+#define RCC_APB1LENR_I2C2EN_Msk                (0x1UL << RCC_APB1LENR_I2C2EN_Pos) /*!< 0x00400000 */
+#define RCC_APB1LENR_I2C2EN                    RCC_APB1LENR_I2C2EN_Msk
+#define RCC_APB1LENR_I2C3EN_Pos                (23U)
+#define RCC_APB1LENR_I2C3EN_Msk                (0x1UL << RCC_APB1LENR_I2C3EN_Pos) /*!< 0x00800000 */
+#define RCC_APB1LENR_I2C3EN                    RCC_APB1LENR_I2C3EN_Msk
+#define RCC_APB1LENR_I2C5EN_Pos                (25U)
+#define RCC_APB1LENR_I2C5EN_Msk                (0x1UL << RCC_APB1LENR_I2C5EN_Pos) /*!< 0x02000000 */
+#define RCC_APB1LENR_I2C5EN                    RCC_APB1LENR_I2C5EN_Msk
+#define RCC_APB1LENR_CECEN_Pos                 (27U)
+#define RCC_APB1LENR_CECEN_Msk                 (0x1UL << RCC_APB1LENR_CECEN_Pos) /*!< 0x08000000 */
+#define RCC_APB1LENR_CECEN                     RCC_APB1LENR_CECEN_Msk
+#define RCC_APB1LENR_DAC12EN_Pos               (29U)
+#define RCC_APB1LENR_DAC12EN_Msk               (0x1UL << RCC_APB1LENR_DAC12EN_Pos) /*!< 0x20000000 */
+#define RCC_APB1LENR_DAC12EN                   RCC_APB1LENR_DAC12EN_Msk
+#define RCC_APB1LENR_UART7EN_Pos               (30U)
+#define RCC_APB1LENR_UART7EN_Msk               (0x1UL << RCC_APB1LENR_UART7EN_Pos) /*!< 0x40000000 */
+#define RCC_APB1LENR_UART7EN                   RCC_APB1LENR_UART7EN_Msk
+#define RCC_APB1LENR_UART8EN_Pos               (31U)
+#define RCC_APB1LENR_UART8EN_Msk               (0x1UL << RCC_APB1LENR_UART8EN_Pos) /*!< 0x80000000 */
+#define RCC_APB1LENR_UART8EN                   RCC_APB1LENR_UART8EN_Msk
+
+/* Legacy define */
+#define RCC_APB1LENR_HDMICECEN_Pos             RCC_APB1LENR_CECEN_Pos
+#define RCC_APB1LENR_HDMICECEN_Msk             RCC_APB1LENR_CECEN_Msk
+#define RCC_APB1LENR_HDMICECEN                 RCC_APB1LENR_CECEN
+/********************  Bit definition for RCC_APB1HENR register  ******************/
+#define RCC_APB1HENR_CRSEN_Pos                 (1U)
+#define RCC_APB1HENR_CRSEN_Msk                 (0x1UL << RCC_APB1HENR_CRSEN_Pos) /*!< 0x00000002 */
+#define RCC_APB1HENR_CRSEN                     RCC_APB1HENR_CRSEN_Msk
+#define RCC_APB1HENR_SWPMIEN_Pos               (2U)
+#define RCC_APB1HENR_SWPMIEN_Msk               (0x1UL << RCC_APB1HENR_SWPMIEN_Pos) /*!< 0x00000004 */
+#define RCC_APB1HENR_SWPMIEN                   RCC_APB1HENR_SWPMIEN_Msk
+#define RCC_APB1HENR_OPAMPEN_Pos               (4U)
+#define RCC_APB1HENR_OPAMPEN_Msk               (0x1UL << RCC_APB1HENR_OPAMPEN_Pos) /*!< 0x00000010 */
+#define RCC_APB1HENR_OPAMPEN                   RCC_APB1HENR_OPAMPEN_Msk
+#define RCC_APB1HENR_MDIOSEN_Pos               (5U)
+#define RCC_APB1HENR_MDIOSEN_Msk               (0x1UL << RCC_APB1HENR_MDIOSEN_Pos) /*!< 0x00000020 */
+#define RCC_APB1HENR_MDIOSEN                   RCC_APB1HENR_MDIOSEN_Msk
+#define RCC_APB1HENR_FDCANEN_Pos               (8U)
+#define RCC_APB1HENR_FDCANEN_Msk               (0x1UL << RCC_APB1HENR_FDCANEN_Pos) /*!< 0x00000100 */
+#define RCC_APB1HENR_FDCANEN                   RCC_APB1HENR_FDCANEN_Msk
+#define RCC_APB1HENR_TIM23EN_Pos               (24U)
+#define RCC_APB1HENR_TIM23EN_Msk               (0x1UL << RCC_APB1HENR_TIM23EN_Pos) /*!< 0x01000000 */
+#define RCC_APB1HENR_TIM23EN                   RCC_APB1HENR_TIM23EN_Msk
+#define RCC_APB1HENR_TIM24EN_Pos               (25U)
+#define RCC_APB1HENR_TIM24EN_Msk               (0x1UL << RCC_APB1HENR_TIM24EN_Pos) /*!< 0x02000000 */
+#define RCC_APB1HENR_TIM24EN                   RCC_APB1HENR_TIM24EN_Msk
+
+/********************  Bit definition for RCC_APB2ENR register  ******************/
+#define RCC_APB2ENR_TIM1EN_Pos                 (0U)
+#define RCC_APB2ENR_TIM1EN_Msk                 (0x1UL << RCC_APB2ENR_TIM1EN_Pos) /*!< 0x00000001 */
+#define RCC_APB2ENR_TIM1EN                     RCC_APB2ENR_TIM1EN_Msk
+#define RCC_APB2ENR_TIM8EN_Pos                 (1U)
+#define RCC_APB2ENR_TIM8EN_Msk                 (0x1UL << RCC_APB2ENR_TIM8EN_Pos) /*!< 0x00000002 */
+#define RCC_APB2ENR_TIM8EN                     RCC_APB2ENR_TIM8EN_Msk
+#define RCC_APB2ENR_USART1EN_Pos               (4U)
+#define RCC_APB2ENR_USART1EN_Msk               (0x1UL << RCC_APB2ENR_USART1EN_Pos) /*!< 0x00000010 */
+#define RCC_APB2ENR_USART1EN                   RCC_APB2ENR_USART1EN_Msk
+#define RCC_APB2ENR_USART6EN_Pos               (5U)
+#define RCC_APB2ENR_USART6EN_Msk               (0x1UL << RCC_APB2ENR_USART6EN_Pos) /*!< 0x00000020 */
+#define RCC_APB2ENR_USART6EN                   RCC_APB2ENR_USART6EN_Msk
+#define RCC_APB2ENR_UART9EN_Pos                (6U)
+#define RCC_APB2ENR_UART9EN_Msk                (0x1UL << RCC_APB2ENR_UART9EN_Pos) /*!< 0x00000040 */
+#define RCC_APB2ENR_UART9EN                    RCC_APB2ENR_UART9EN_Msk
+#define RCC_APB2ENR_USART10EN_Pos              (7U)
+#define RCC_APB2ENR_USART10EN_Msk              (0x1UL << RCC_APB2ENR_USART10EN_Pos) /*!< 0x00000080 */
+#define RCC_APB2ENR_USART10EN                   RCC_APB2ENR_USART10EN_Msk
+#define RCC_APB2ENR_SPI1EN_Pos                 (12U)
+#define RCC_APB2ENR_SPI1EN_Msk                 (0x1UL << RCC_APB2ENR_SPI1EN_Pos) /*!< 0x00001000 */
+#define RCC_APB2ENR_SPI1EN                     RCC_APB2ENR_SPI1EN_Msk
+#define RCC_APB2ENR_SPI4EN_Pos                 (13U)
+#define RCC_APB2ENR_SPI4EN_Msk                 (0x1UL << RCC_APB2ENR_SPI4EN_Pos) /*!< 0x00002000 */
+#define RCC_APB2ENR_SPI4EN                     RCC_APB2ENR_SPI4EN_Msk
+#define RCC_APB2ENR_TIM15EN_Pos                (16U)
+#define RCC_APB2ENR_TIM15EN_Msk                (0x1UL << RCC_APB2ENR_TIM15EN_Pos) /*!< 0x00010000 */
+#define RCC_APB2ENR_TIM15EN                    RCC_APB2ENR_TIM15EN_Msk
+#define RCC_APB2ENR_TIM16EN_Pos                (17U)
+#define RCC_APB2ENR_TIM16EN_Msk                (0x1UL << RCC_APB2ENR_TIM16EN_Pos) /*!< 0x00020000 */
+#define RCC_APB2ENR_TIM16EN                    RCC_APB2ENR_TIM16EN_Msk
+#define RCC_APB2ENR_TIM17EN_Pos                (18U)
+#define RCC_APB2ENR_TIM17EN_Msk                (0x1UL << RCC_APB2ENR_TIM17EN_Pos) /*!< 0x00040000 */
+#define RCC_APB2ENR_TIM17EN                    RCC_APB2ENR_TIM17EN_Msk
+#define RCC_APB2ENR_SPI5EN_Pos                 (20U)
+#define RCC_APB2ENR_SPI5EN_Msk                 (0x1UL << RCC_APB2ENR_SPI5EN_Pos) /*!< 0x00100000 */
+#define RCC_APB2ENR_SPI5EN                     RCC_APB2ENR_SPI5EN_Msk
+#define RCC_APB2ENR_SAI1EN_Pos                 (22U)
+#define RCC_APB2ENR_SAI1EN_Msk                 (0x1UL << RCC_APB2ENR_SAI1EN_Pos) /*!< 0x00400000 */
+#define RCC_APB2ENR_SAI1EN                     RCC_APB2ENR_SAI1EN_Msk
+#define RCC_APB2ENR_DFSDM1EN_Pos               (30U)
+#define RCC_APB2ENR_DFSDM1EN_Msk               (0x1UL << RCC_APB2ENR_DFSDM1EN_Pos) /*!< 0x40000000 */
+#define RCC_APB2ENR_DFSDM1EN                   RCC_APB2ENR_DFSDM1EN_Msk
+
+/********************  Bit definition for RCC_APB4ENR register  ******************/
+#define RCC_APB4ENR_SYSCFGEN_Pos               (1U)
+#define RCC_APB4ENR_SYSCFGEN_Msk               (0x1UL << RCC_APB4ENR_SYSCFGEN_Pos) /*!< 0x00000002 */
+#define RCC_APB4ENR_SYSCFGEN                   RCC_APB4ENR_SYSCFGEN_Msk
+#define RCC_APB4ENR_LPUART1EN_Pos              (3U)
+#define RCC_APB4ENR_LPUART1EN_Msk              (0x1UL << RCC_APB4ENR_LPUART1EN_Pos) /*!< 0x00000008 */
+#define RCC_APB4ENR_LPUART1EN                  RCC_APB4ENR_LPUART1EN_Msk
+#define RCC_APB4ENR_SPI6EN_Pos                 (5U)
+#define RCC_APB4ENR_SPI6EN_Msk                 (0x1UL << RCC_APB4ENR_SPI6EN_Pos) /*!< 0x00000020 */
+#define RCC_APB4ENR_SPI6EN                     RCC_APB4ENR_SPI6EN_Msk
+#define RCC_APB4ENR_I2C4EN_Pos                 (7U)
+#define RCC_APB4ENR_I2C4EN_Msk                 (0x1UL << RCC_APB4ENR_I2C4EN_Pos) /*!< 0x00000080 */
+#define RCC_APB4ENR_I2C4EN                     RCC_APB4ENR_I2C4EN_Msk
+#define RCC_APB4ENR_LPTIM2EN_Pos               (9U)
+#define RCC_APB4ENR_LPTIM2EN_Msk               (0x1UL << RCC_APB4ENR_LPTIM2EN_Pos) /*!< 0x00000200 */
+#define RCC_APB4ENR_LPTIM2EN                   RCC_APB4ENR_LPTIM2EN_Msk
+#define RCC_APB4ENR_LPTIM3EN_Pos               (10U)
+#define RCC_APB4ENR_LPTIM3EN_Msk               (0x1UL << RCC_APB4ENR_LPTIM3EN_Pos) /*!< 0x00000400 */
+#define RCC_APB4ENR_LPTIM3EN                   RCC_APB4ENR_LPTIM3EN_Msk
+#define RCC_APB4ENR_LPTIM4EN_Pos               (11U)
+#define RCC_APB4ENR_LPTIM4EN_Msk               (0x1UL << RCC_APB4ENR_LPTIM4EN_Pos) /*!< 0x00000800 */
+#define RCC_APB4ENR_LPTIM4EN                   RCC_APB4ENR_LPTIM4EN_Msk
+#define RCC_APB4ENR_LPTIM5EN_Pos               (12U)
+#define RCC_APB4ENR_LPTIM5EN_Msk               (0x1UL << RCC_APB4ENR_LPTIM5EN_Pos) /*!< 0x00001000 */
+#define RCC_APB4ENR_LPTIM5EN                   RCC_APB4ENR_LPTIM5EN_Msk
+#define RCC_APB4ENR_COMP12EN_Pos               (14U)
+#define RCC_APB4ENR_COMP12EN_Msk               (0x1UL << RCC_APB4ENR_COMP12EN_Pos) /*!< 0x00004000 */
+#define RCC_APB4ENR_COMP12EN                   RCC_APB4ENR_COMP12EN_Msk
+#define RCC_APB4ENR_VREFEN_Pos                 (15U)
+#define RCC_APB4ENR_VREFEN_Msk                 (0x1UL << RCC_APB4ENR_VREFEN_Pos) /*!< 0x00008000 */
+#define RCC_APB4ENR_VREFEN                     RCC_APB4ENR_VREFEN_Msk
+#define RCC_APB4ENR_RTCAPBEN_Pos               (16U)
+#define RCC_APB4ENR_RTCAPBEN_Msk               (0x1UL << RCC_APB4ENR_RTCAPBEN_Pos) /*!< 0x00010000 */
+#define RCC_APB4ENR_RTCAPBEN                   RCC_APB4ENR_RTCAPBEN_Msk
+#define RCC_APB4ENR_SAI4EN_Pos                 (21U)
+#define RCC_APB4ENR_SAI4EN_Msk                 (0x1UL << RCC_APB4ENR_SAI4EN_Pos) /*!< 0x00200000 */
+#define RCC_APB4ENR_SAI4EN                     RCC_APB4ENR_SAI4EN_Msk
+
+#define RCC_APB4ENR_DTSEN_Pos                  (26U)
+#define RCC_APB4ENR_DTSEN_Msk                  (0x1UL << RCC_APB4ENR_DTSEN_Pos) /*!< 0x04000000 */
+#define RCC_APB4ENR_DTSEN                      RCC_APB4ENR_DTSEN_Msk
+
+/********************  Bit definition for RCC_AHB3RSTR register  ***************/
+#define RCC_AHB3RSTR_MDMARST_Pos               (0U)
+#define RCC_AHB3RSTR_MDMARST_Msk               (0x1UL << RCC_AHB3RSTR_MDMARST_Pos)      /*!< 0x00000001 */
+#define RCC_AHB3RSTR_MDMARST                   RCC_AHB3RSTR_MDMARST_Msk
+#define RCC_AHB3RSTR_DMA2DRST_Pos              (4U)
+#define RCC_AHB3RSTR_DMA2DRST_Msk              (0x1UL << RCC_AHB3RSTR_DMA2DRST_Pos)     /*!< 0x00000010 */
+#define RCC_AHB3RSTR_DMA2DRST                  RCC_AHB3RSTR_DMA2DRST_Msk
+#define RCC_AHB3RSTR_FMCRST_Pos                (12U)
+#define RCC_AHB3RSTR_FMCRST_Msk                (0x1UL << RCC_AHB3RSTR_FMCRST_Pos)      /*!< 0x00001000 */
+#define RCC_AHB3RSTR_FMCRST                    RCC_AHB3RSTR_FMCRST_Msk
+#define RCC_AHB3RSTR_OSPI1RST_Pos              (14U)
+#define RCC_AHB3RSTR_OSPI1RST_Msk              (0x1UL << RCC_AHB3RSTR_OSPI1RST_Pos)    /*!< 0x00004000 */
+#define RCC_AHB3RSTR_OSPI1RST                   RCC_AHB3RSTR_OSPI1RST_Msk
+#define RCC_AHB3RSTR_SDMMC1RST_Pos             (16U)
+#define RCC_AHB3RSTR_SDMMC1RST_Msk             (0x1UL << RCC_AHB3RSTR_SDMMC1RST_Pos)   /*!< 0x00010000 */
+#define RCC_AHB3RSTR_SDMMC1RST                 RCC_AHB3RSTR_SDMMC1RST_Msk
+#define RCC_AHB3RSTR_OSPI2RST_Pos              (19U)
+#define RCC_AHB3RSTR_OSPI2RST_Msk              (0x1UL << RCC_AHB3RSTR_OSPI2RST_Pos)    /*!< 0x00008000 */
+#define RCC_AHB3RSTR_OSPI2RST                  RCC_AHB3RSTR_OSPI2RST_Msk
+#define RCC_AHB3RSTR_IOMNGRRST_Pos             (21U)
+#define RCC_AHB3RSTR_IOMNGRRST_Msk             (0x1UL << RCC_AHB3RSTR_IOMNGRRST_Pos)   /*!< 0x00020000 */
+#define RCC_AHB3RSTR_IOMNGRRST                 RCC_AHB3RSTR_IOMNGRRST_Msk
+#define RCC_AHB3RSTR_OTFDEC1RST_Pos            (22U)
+#define RCC_AHB3RSTR_OTFDEC1RST_Msk            (0x1UL << RCC_AHB3RSTR_OTFDEC1RST_Pos)  /*!< 0x00040000 */
+#define RCC_AHB3RSTR_OTFDEC1RST                RCC_AHB3RSTR_OTFDEC1RST_Msk
+#define RCC_AHB3RSTR_OTFDEC2RST_Pos            (23U)
+#define RCC_AHB3RSTR_OTFDEC2RST_Msk            (0x1UL << RCC_AHB3RSTR_OTFDEC2RST_Pos)  /*!< 0x00080000 */
+#define RCC_AHB3RSTR_OTFDEC2RST                RCC_AHB3RSTR_OTFDEC2RST_Msk
+#define RCC_AHB3RSTR_CPURST_Pos                (31U)
+#define RCC_AHB3RSTR_CPURST_Msk                (0x1UL << RCC_AHB3RSTR_CPURST_Pos)      /*!< 0x80000000 */
+#define RCC_AHB3RSTR_CPURST                    RCC_AHB3RSTR_CPURST_Msk
+
+
+/********************  Bit definition for RCC_AHB1RSTR register  ***************/
+#define RCC_AHB1RSTR_DMA1RST_Pos               (0U)
+#define RCC_AHB1RSTR_DMA1RST_Msk               (0x1UL << RCC_AHB1RSTR_DMA1RST_Pos)      /*!< 0x00000001 */
+#define RCC_AHB1RSTR_DMA1RST                   RCC_AHB1RSTR_DMA1RST_Msk
+#define RCC_AHB1RSTR_DMA2RST_Pos               (1U)
+#define RCC_AHB1RSTR_DMA2RST_Msk               (0x1UL << RCC_AHB1RSTR_DMA2RST_Pos)      /*!< 0x00000002 */
+#define RCC_AHB1RSTR_DMA2RST                   RCC_AHB1RSTR_DMA2RST_Msk
+#define RCC_AHB1RSTR_ADC12RST_Pos              (5U)
+#define RCC_AHB1RSTR_ADC12RST_Msk              (0x1UL << RCC_AHB1RSTR_ADC12RST_Pos)     /*!< 0x00000020 */
+#define RCC_AHB1RSTR_ADC12RST                  RCC_AHB1RSTR_ADC12RST_Msk
+#define RCC_AHB1RSTR_ETH1MACRST_Pos            (15U)
+#define RCC_AHB1RSTR_ETH1MACRST_Msk            (0x1UL << RCC_AHB1RSTR_ETH1MACRST_Pos)   /*!< 0x00008000 */
+#define RCC_AHB1RSTR_ETH1MACRST                RCC_AHB1RSTR_ETH1MACRST_Msk
+#define RCC_AHB1RSTR_USB1OTGHSRST_Pos          (25U)
+#define RCC_AHB1RSTR_USB1OTGHSRST_Msk          (0x1UL << RCC_AHB1RSTR_USB1OTGHSRST_Pos) /*!< 0x02000000 */
+#define RCC_AHB1RSTR_USB1OTGHSRST              RCC_AHB1RSTR_USB1OTGHSRST_Msk
+
+/********************  Bit definition for RCC_AHB2RSTR register  ***************/
+#define RCC_AHB2RSTR_DCMI_PSSIRST_Pos          (0U)
+#define RCC_AHB2RSTR_DCMI_PSSIRST_Msk          (0x1UL << RCC_AHB2RSTR_DCMI_PSSIRST_Pos)  /*!< 0x00000001 */
+#define RCC_AHB2RSTR_DCMI_PSSIRST              RCC_AHB2RSTR_DCMI_PSSIRST_Msk
+#define RCC_AHB2RSTR_CRYPRST_Pos               (4U)
+#define RCC_AHB2RSTR_CRYPRST_Msk               (0x1UL << RCC_AHB2RSTR_CRYPRST_Pos)       /*!< 0x00000010 */
+#define RCC_AHB2RSTR_CRYPRST                   RCC_AHB2RSTR_CRYPRST_Msk
+#define RCC_AHB2RSTR_HASHRST_Pos               (5U)
+#define RCC_AHB2RSTR_HASHRST_Msk               (0x1UL << RCC_AHB2RSTR_HASHRST_Pos)       /*!< 0x00000020 */
+#define RCC_AHB2RSTR_HASHRST                   RCC_AHB2RSTR_HASHRST_Msk
+#define RCC_AHB2RSTR_RNGRST_Pos                (6U)
+#define RCC_AHB2RSTR_RNGRST_Msk                (0x1UL << RCC_AHB2RSTR_RNGRST_Pos)        /*!< 0x00000040 */
+#define RCC_AHB2RSTR_RNGRST                    RCC_AHB2RSTR_RNGRST_Msk
+#define RCC_AHB2RSTR_SDMMC2RST_Pos             (9U)
+#define RCC_AHB2RSTR_SDMMC2RST_Msk             (0x1UL << RCC_AHB2RSTR_SDMMC2RST_Pos)     /*!< 0x00000200 */
+#define RCC_AHB2RSTR_SDMMC2RST                 RCC_AHB2RSTR_SDMMC2RST_Msk
+#define RCC_AHB2RSTR_FMACRST_Pos               (16U)
+#define RCC_AHB2RSTR_FMACRST_Msk               (0x1UL << RCC_AHB2RSTR_FMACRST_Pos)       /*!< 0x00010000 */
+#define RCC_AHB2RSTR_FMACRST                   RCC_AHB2RSTR_FMACRST_Msk
+#define RCC_AHB2RSTR_CORDICRST_Pos             (17U)
+#define RCC_AHB2RSTR_CORDICRST_Msk             (0x1UL << RCC_AHB2RSTR_CORDICRST_Pos)     /*!< 0x00020000 */
+#define RCC_AHB2RSTR_CORDICRST                 RCC_AHB2RSTR_CORDICRST_Msk
+
+/* Legacy define */
+#define RCC_AHB2RSTR_DCMIRST_Pos               RCC_AHB2RSTR_DCMI_PSSIRST_Pos
+#define RCC_AHB2RSTR_DCMIRST_Msk               RCC_AHB2RSTR_DCMI_PSSIRST_Msk
+#define RCC_AHB2RSTR_DCMIRST                   RCC_AHB2RSTR_DCMI_PSSIRST
+/********************  Bit definition for RCC_AHB4RSTR register  ******************/
+#define RCC_AHB4RSTR_GPIOARST_Pos              (0U)
+#define RCC_AHB4RSTR_GPIOARST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOARST_Pos)      /*!< 0x00000001 */
+#define RCC_AHB4RSTR_GPIOARST                  RCC_AHB4RSTR_GPIOARST_Msk
+#define RCC_AHB4RSTR_GPIOBRST_Pos              (1U)
+#define RCC_AHB4RSTR_GPIOBRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOBRST_Pos)      /*!< 0x00000002 */
+#define RCC_AHB4RSTR_GPIOBRST                  RCC_AHB4RSTR_GPIOBRST_Msk
+#define RCC_AHB4RSTR_GPIOCRST_Pos              (2U)
+#define RCC_AHB4RSTR_GPIOCRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOCRST_Pos)      /*!< 0x00000004 */
+#define RCC_AHB4RSTR_GPIOCRST                  RCC_AHB4RSTR_GPIOCRST_Msk
+#define RCC_AHB4RSTR_GPIODRST_Pos              (3U)
+#define RCC_AHB4RSTR_GPIODRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIODRST_Pos)      /*!< 0x00000008 */
+#define RCC_AHB4RSTR_GPIODRST                  RCC_AHB4RSTR_GPIODRST_Msk
+#define RCC_AHB4RSTR_GPIOERST_Pos              (4U)
+#define RCC_AHB4RSTR_GPIOERST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOERST_Pos)      /*!< 0x00000010 */
+#define RCC_AHB4RSTR_GPIOERST                  RCC_AHB4RSTR_GPIOERST_Msk
+#define RCC_AHB4RSTR_GPIOFRST_Pos              (5U)
+#define RCC_AHB4RSTR_GPIOFRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOFRST_Pos)       /*!< 0x00000020 */
+#define RCC_AHB4RSTR_GPIOFRST                  RCC_AHB4RSTR_GPIOFRST_Msk
+#define RCC_AHB4RSTR_GPIOGRST_Pos              (6U)
+#define RCC_AHB4RSTR_GPIOGRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOGRST_Pos)       /*!< 0x00000040 */
+#define RCC_AHB4RSTR_GPIOGRST                  RCC_AHB4RSTR_GPIOGRST_Msk
+#define RCC_AHB4RSTR_GPIOHRST_Pos              (7U)
+#define RCC_AHB4RSTR_GPIOHRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOHRST_Pos)       /*!< 0x00000080 */
+#define RCC_AHB4RSTR_GPIOHRST                  RCC_AHB4RSTR_GPIOHRST_Msk
+#define RCC_AHB4RSTR_GPIOJRST_Pos              (9U)
+#define RCC_AHB4RSTR_GPIOJRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOJRST_Pos)       /*!< 0x00000200 */
+#define RCC_AHB4RSTR_GPIOJRST                  RCC_AHB4RSTR_GPIOJRST_Msk
+#define RCC_AHB4RSTR_GPIOKRST_Pos              (10U)
+#define RCC_AHB4RSTR_GPIOKRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOKRST_Pos)       /*!< 0x00000400 */
+#define RCC_AHB4RSTR_GPIOKRST                  RCC_AHB4RSTR_GPIOKRST_Msk
+#define RCC_AHB4RSTR_CRCRST_Pos                (19U)
+#define RCC_AHB4RSTR_CRCRST_Msk                (0x1UL << RCC_AHB4RSTR_CRCRST_Pos)         /*!< 0x00080000 */
+#define RCC_AHB4RSTR_CRCRST                    RCC_AHB4RSTR_CRCRST_Msk
+#define RCC_AHB4RSTR_BDMARST_Pos               (21U)
+#define RCC_AHB4RSTR_BDMARST_Msk               (0x1UL << RCC_AHB4RSTR_BDMARST_Pos)        /*!< 0x00200000 */
+#define RCC_AHB4RSTR_BDMARST                   RCC_AHB4RSTR_BDMARST_Msk
+#define RCC_AHB4RSTR_ADC3RST_Pos               (24U)
+#define RCC_AHB4RSTR_ADC3RST_Msk               (0x1UL << RCC_AHB4RSTR_ADC3RST_Pos)        /*!< 0x01000000 */
+#define RCC_AHB4RSTR_ADC3RST                   RCC_AHB4RSTR_ADC3RST_Msk
+#define RCC_AHB4RSTR_HSEMRST_Pos               (25U)
+#define RCC_AHB4RSTR_HSEMRST_Msk               (0x1UL << RCC_AHB4RSTR_HSEMRST_Pos)        /*!< 0x02000000 */
+#define RCC_AHB4RSTR_HSEMRST                   RCC_AHB4RSTR_HSEMRST_Msk
+
+
+/********************  Bit definition for RCC_APB3RSTR register  ******************/
+#define RCC_APB3RSTR_LTDCRST_Pos               (3U)
+#define RCC_APB3RSTR_LTDCRST_Msk               (0x1UL << RCC_APB3RSTR_LTDCRST_Pos) /*!< 0x00000008 */
+#define RCC_APB3RSTR_LTDCRST                   RCC_APB3RSTR_LTDCRST_Msk
+
+/********************  Bit definition for RCC_APB1LRSTR register  ******************/
+
+#define RCC_APB1LRSTR_TIM2RST_Pos              (0U)
+#define RCC_APB1LRSTR_TIM2RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM2RST_Pos) /*!< 0x00000001 */
+#define RCC_APB1LRSTR_TIM2RST                  RCC_APB1LRSTR_TIM2RST_Msk
+#define RCC_APB1LRSTR_TIM3RST_Pos              (1U)
+#define RCC_APB1LRSTR_TIM3RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM3RST_Pos) /*!< 0x00000002 */
+#define RCC_APB1LRSTR_TIM3RST                  RCC_APB1LRSTR_TIM3RST_Msk
+#define RCC_APB1LRSTR_TIM4RST_Pos              (2U)
+#define RCC_APB1LRSTR_TIM4RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM4RST_Pos) /*!< 0x00000004 */
+#define RCC_APB1LRSTR_TIM4RST                  RCC_APB1LRSTR_TIM4RST_Msk
+#define RCC_APB1LRSTR_TIM5RST_Pos              (3U)
+#define RCC_APB1LRSTR_TIM5RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM5RST_Pos) /*!< 0x00000008 */
+#define RCC_APB1LRSTR_TIM5RST                  RCC_APB1LRSTR_TIM5RST_Msk
+#define RCC_APB1LRSTR_TIM6RST_Pos              (4U)
+#define RCC_APB1LRSTR_TIM6RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM6RST_Pos) /*!< 0x00000010 */
+#define RCC_APB1LRSTR_TIM6RST                  RCC_APB1LRSTR_TIM6RST_Msk
+#define RCC_APB1LRSTR_TIM7RST_Pos              (5U)
+#define RCC_APB1LRSTR_TIM7RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM7RST_Pos) /*!< 0x00000020 */
+#define RCC_APB1LRSTR_TIM7RST                  RCC_APB1LRSTR_TIM7RST_Msk
+#define RCC_APB1LRSTR_TIM12RST_Pos             (6U)
+#define RCC_APB1LRSTR_TIM12RST_Msk             (0x1UL << RCC_APB1LRSTR_TIM12RST_Pos) /*!< 0x00000040 */
+#define RCC_APB1LRSTR_TIM12RST                 RCC_APB1LRSTR_TIM12RST_Msk
+#define RCC_APB1LRSTR_TIM13RST_Pos             (7U)
+#define RCC_APB1LRSTR_TIM13RST_Msk             (0x1UL << RCC_APB1LRSTR_TIM13RST_Pos) /*!< 0x00000080 */
+#define RCC_APB1LRSTR_TIM13RST                 RCC_APB1LRSTR_TIM13RST_Msk
+#define RCC_APB1LRSTR_TIM14RST_Pos             (8U)
+#define RCC_APB1LRSTR_TIM14RST_Msk             (0x1UL << RCC_APB1LRSTR_TIM14RST_Pos) /*!< 0x00000100 */
+#define RCC_APB1LRSTR_TIM14RST                 RCC_APB1LRSTR_TIM14RST_Msk
+#define RCC_APB1LRSTR_LPTIM1RST_Pos            (9U)
+#define RCC_APB1LRSTR_LPTIM1RST_Msk            (0x1UL << RCC_APB1LRSTR_LPTIM1RST_Pos) /*!< 0x00000200 */
+#define RCC_APB1LRSTR_LPTIM1RST                RCC_APB1LRSTR_LPTIM1RST_Msk
+#define RCC_APB1LRSTR_SPI2RST_Pos              (14U)
+#define RCC_APB1LRSTR_SPI2RST_Msk              (0x1UL << RCC_APB1LRSTR_SPI2RST_Pos) /*!< 0x00004000 */
+#define RCC_APB1LRSTR_SPI2RST                  RCC_APB1LRSTR_SPI2RST_Msk
+#define RCC_APB1LRSTR_SPI3RST_Pos              (15U)
+#define RCC_APB1LRSTR_SPI3RST_Msk              (0x1UL << RCC_APB1LRSTR_SPI3RST_Pos) /*!< 0x00008000 */
+#define RCC_APB1LRSTR_SPI3RST                  RCC_APB1LRSTR_SPI3RST_Msk
+#define RCC_APB1LRSTR_SPDIFRXRST_Pos           (16U)
+#define RCC_APB1LRSTR_SPDIFRXRST_Msk           (0x1UL << RCC_APB1LRSTR_SPDIFRXRST_Pos) /*!< 0x00010000 */
+#define RCC_APB1LRSTR_SPDIFRXRST               RCC_APB1LRSTR_SPDIFRXRST_Msk
+#define RCC_APB1LRSTR_USART2RST_Pos            (17U)
+#define RCC_APB1LRSTR_USART2RST_Msk            (0x1UL << RCC_APB1LRSTR_USART2RST_Pos) /*!< 0x00020000 */
+#define RCC_APB1LRSTR_USART2RST                RCC_APB1LRSTR_USART2RST_Msk
+#define RCC_APB1LRSTR_USART3RST_Pos            (18U)
+#define RCC_APB1LRSTR_USART3RST_Msk            (0x1UL << RCC_APB1LRSTR_USART3RST_Pos) /*!< 0x00040000 */
+#define RCC_APB1LRSTR_USART3RST                RCC_APB1LRSTR_USART3RST_Msk
+#define RCC_APB1LRSTR_UART4RST_Pos             (19U)
+#define RCC_APB1LRSTR_UART4RST_Msk             (0x1UL << RCC_APB1LRSTR_UART4RST_Pos) /*!< 0x00080000 */
+#define RCC_APB1LRSTR_UART4RST                 RCC_APB1LRSTR_UART4RST_Msk
+#define RCC_APB1LRSTR_UART5RST_Pos             (20U)
+#define RCC_APB1LRSTR_UART5RST_Msk             (0x1UL << RCC_APB1LRSTR_UART5RST_Pos) /*!< 0x00100000 */
+#define RCC_APB1LRSTR_UART5RST                 RCC_APB1LRSTR_UART5RST_Msk
+#define RCC_APB1LRSTR_I2C1RST_Pos              (21U)
+#define RCC_APB1LRSTR_I2C1RST_Msk              (0x1UL << RCC_APB1LRSTR_I2C1RST_Pos) /*!< 0x00200000 */
+#define RCC_APB1LRSTR_I2C1RST                  RCC_APB1LRSTR_I2C1RST_Msk
+#define RCC_APB1LRSTR_I2C2RST_Pos              (22U)
+#define RCC_APB1LRSTR_I2C2RST_Msk              (0x1UL << RCC_APB1LRSTR_I2C2RST_Pos) /*!< 0x00400000 */
+#define RCC_APB1LRSTR_I2C2RST                  RCC_APB1LRSTR_I2C2RST_Msk
+#define RCC_APB1LRSTR_I2C3RST_Pos              (23U)
+#define RCC_APB1LRSTR_I2C3RST_Msk              (0x1UL << RCC_APB1LRSTR_I2C3RST_Pos) /*!< 0x00800000 */
+#define RCC_APB1LRSTR_I2C3RST                  RCC_APB1LRSTR_I2C3RST_Msk
+#define RCC_APB1LRSTR_I2C5RST_Pos              (25U)
+#define RCC_APB1LRSTR_I2C5RST_Msk              (0x1UL << RCC_APB1LRSTR_I2C5RST_Pos) /*!< 0x02000000 */
+#define RCC_APB1LRSTR_I2C5RST                  RCC_APB1LRSTR_I2C5RST_Msk
+#define RCC_APB1LRSTR_CECRST_Pos               (27U)
+#define RCC_APB1LRSTR_CECRST_Msk               (0x1UL << RCC_APB1LRSTR_CECRST_Pos) /*!< 0x08000000 */
+#define RCC_APB1LRSTR_CECRST                   RCC_APB1LRSTR_CECRST_Msk
+#define RCC_APB1LRSTR_DAC12RST_Pos             (29U)
+#define RCC_APB1LRSTR_DAC12RST_Msk             (0x1UL << RCC_APB1LRSTR_DAC12RST_Pos) /*!< 0x20000000 */
+#define RCC_APB1LRSTR_DAC12RST                 RCC_APB1LRSTR_DAC12RST_Msk
+#define RCC_APB1LRSTR_UART7RST_Pos             (30U)
+#define RCC_APB1LRSTR_UART7RST_Msk             (0x1UL << RCC_APB1LRSTR_UART7RST_Pos) /*!< 0x40000000 */
+#define RCC_APB1LRSTR_UART7RST                 RCC_APB1LRSTR_UART7RST_Msk
+#define RCC_APB1LRSTR_UART8RST_Pos             (31U)
+#define RCC_APB1LRSTR_UART8RST_Msk             (0x1UL << RCC_APB1LRSTR_UART8RST_Pos) /*!< 0x80000000 */
+#define RCC_APB1LRSTR_UART8RST                 RCC_APB1LRSTR_UART8RST_Msk
+
+/* Legacy define */
+#define RCC_APB1LRSTR_HDMICECRST_Pos           RCC_APB1LRSTR_CECRST_Pos
+#define RCC_APB1LRSTR_HDMICECRST_Msk           RCC_APB1LRSTR_CECRST_Msk
+#define RCC_APB1LRSTR_HDMICECRST               RCC_APB1LRSTR_CECRST
+/********************  Bit definition for RCC_APB1HRSTR register  ******************/
+#define RCC_APB1HRSTR_CRSRST_Pos               (1U)
+#define RCC_APB1HRSTR_CRSRST_Msk               (0x1UL << RCC_APB1HRSTR_CRSRST_Pos) /*!< 0x00000002 */
+#define RCC_APB1HRSTR_CRSRST                   RCC_APB1HRSTR_CRSRST_Msk
+#define RCC_APB1HRSTR_SWPMIRST_Pos             (2U)
+#define RCC_APB1HRSTR_SWPMIRST_Msk             (0x1UL << RCC_APB1HRSTR_SWPMIRST_Pos) /*!< 0x00000004 */
+#define RCC_APB1HRSTR_SWPMIRST                 RCC_APB1HRSTR_SWPMIRST_Msk
+#define RCC_APB1HRSTR_OPAMPRST_Pos             (4U)
+#define RCC_APB1HRSTR_OPAMPRST_Msk             (0x1UL << RCC_APB1HRSTR_OPAMPRST_Pos) /*!< 0x00000010 */
+#define RCC_APB1HRSTR_OPAMPRST                 RCC_APB1HRSTR_OPAMPRST_Msk
+#define RCC_APB1HRSTR_MDIOSRST_Pos             (5U)
+#define RCC_APB1HRSTR_MDIOSRST_Msk             (0x1UL << RCC_APB1HRSTR_MDIOSRST_Pos) /*!< 0x00000020 */
+#define RCC_APB1HRSTR_MDIOSRST                 RCC_APB1HRSTR_MDIOSRST_Msk
+#define RCC_APB1HRSTR_FDCANRST_Pos             (8U)
+#define RCC_APB1HRSTR_FDCANRST_Msk             (0x1UL << RCC_APB1HRSTR_FDCANRST_Pos) /*!< 0x00000100 */
+#define RCC_APB1HRSTR_FDCANRST                 RCC_APB1HRSTR_FDCANRST_Msk
+#define RCC_APB1HRSTR_TIM23RST_Pos             (24U)
+#define RCC_APB1HRSTR_TIM23RST_Msk             (0x1UL << RCC_APB1HRSTR_TIM23RST_Pos) /*!< 0x01000000 */
+#define RCC_APB1HRSTR_TIM23RST                 RCC_APB1HRSTR_TIM23RST_Msk
+#define RCC_APB1HRSTR_TIM24RST_Pos             (25U)
+#define RCC_APB1HRSTR_TIM24RST_Msk             (0x1UL << RCC_APB1HRSTR_TIM24RST_Pos) /*!< 0x02000000 */
+#define RCC_APB1HRSTR_TIM24RST                 RCC_APB1HRSTR_TIM24RST_Msk
+
+/********************  Bit definition for RCC_APB2RSTR register  ******************/
+#define RCC_APB2RSTR_TIM1RST_Pos               (0U)
+#define RCC_APB2RSTR_TIM1RST_Msk               (0x1UL << RCC_APB2RSTR_TIM1RST_Pos) /*!< 0x00000001 */
+#define RCC_APB2RSTR_TIM1RST                   RCC_APB2RSTR_TIM1RST_Msk
+#define RCC_APB2RSTR_TIM8RST_Pos               (1U)
+#define RCC_APB2RSTR_TIM8RST_Msk               (0x1UL << RCC_APB2RSTR_TIM8RST_Pos) /*!< 0x00000002 */
+#define RCC_APB2RSTR_TIM8RST                   RCC_APB2RSTR_TIM8RST_Msk
+#define RCC_APB2RSTR_USART1RST_Pos             (4U)
+#define RCC_APB2RSTR_USART1RST_Msk             (0x1UL << RCC_APB2RSTR_USART1RST_Pos) /*!< 0x00000010 */
+#define RCC_APB2RSTR_USART1RST                 RCC_APB2RSTR_USART1RST_Msk
+#define RCC_APB2RSTR_USART6RST_Pos             (5U)
+#define RCC_APB2RSTR_USART6RST_Msk             (0x1UL << RCC_APB2RSTR_USART6RST_Pos) /*!< 0x00000020 */
+#define RCC_APB2RSTR_USART6RST                 RCC_APB2RSTR_USART6RST_Msk
+#define RCC_APB2RSTR_UART9RST_Pos              (6U)
+#define RCC_APB2RSTR_UART9RST_Msk              (0x1UL << RCC_APB2RSTR_UART9RST_Pos) /*!< 0x00000040 */
+#define RCC_APB2RSTR_UART9RST                  RCC_APB2RSTR_UART9RST_Msk
+#define RCC_APB2RSTR_USART10RST_Pos            (7U)
+#define RCC_APB2RSTR_USART10RST_Msk            (0x1UL << RCC_APB2RSTR_USART10RST_Pos) /*!< 0x00000080 */
+#define RCC_APB2RSTR_USART10RST                RCC_APB2RSTR_USART10RST_Msk
+#define RCC_APB2RSTR_SPI1RST_Pos               (12U)
+#define RCC_APB2RSTR_SPI1RST_Msk               (0x1UL << RCC_APB2RSTR_SPI1RST_Pos) /*!< 0x00001000 */
+#define RCC_APB2RSTR_SPI1RST                   RCC_APB2RSTR_SPI1RST_Msk
+#define RCC_APB2RSTR_SPI4RST_Pos               (13U)
+#define RCC_APB2RSTR_SPI4RST_Msk               (0x1UL << RCC_APB2RSTR_SPI4RST_Pos) /*!< 0x00002000 */
+#define RCC_APB2RSTR_SPI4RST                   RCC_APB2RSTR_SPI4RST_Msk
+#define RCC_APB2RSTR_TIM15RST_Pos              (16U)
+#define RCC_APB2RSTR_TIM15RST_Msk              (0x1UL << RCC_APB2RSTR_TIM15RST_Pos) /*!< 0x00010000 */
+#define RCC_APB2RSTR_TIM15RST                  RCC_APB2RSTR_TIM15RST_Msk
+#define RCC_APB2RSTR_TIM16RST_Pos              (17U)
+#define RCC_APB2RSTR_TIM16RST_Msk              (0x1UL << RCC_APB2RSTR_TIM16RST_Pos) /*!< 0x00020000 */
+#define RCC_APB2RSTR_TIM16RST                  RCC_APB2RSTR_TIM16RST_Msk
+#define RCC_APB2RSTR_TIM17RST_Pos              (18U)
+#define RCC_APB2RSTR_TIM17RST_Msk              (0x1UL << RCC_APB2RSTR_TIM17RST_Pos) /*!< 0x00040000 */
+#define RCC_APB2RSTR_TIM17RST                  RCC_APB2RSTR_TIM17RST_Msk
+#define RCC_APB2RSTR_SPI5RST_Pos               (20U)
+#define RCC_APB2RSTR_SPI5RST_Msk               (0x1UL << RCC_APB2RSTR_SPI5RST_Pos) /*!< 0x00100000 */
+#define RCC_APB2RSTR_SPI5RST                   RCC_APB2RSTR_SPI5RST_Msk
+#define RCC_APB2RSTR_SAI1RST_Pos               (22U)
+#define RCC_APB2RSTR_SAI1RST_Msk               (0x1UL << RCC_APB2RSTR_SAI1RST_Pos) /*!< 0x00400000 */
+#define RCC_APB2RSTR_SAI1RST                   RCC_APB2RSTR_SAI1RST_Msk
+#define RCC_APB2RSTR_DFSDM1RST_Pos             (30U)
+#define RCC_APB2RSTR_DFSDM1RST_Msk             (0x1UL << RCC_APB2RSTR_DFSDM1RST_Pos) /*!< 0x10000000 */
+#define RCC_APB2RSTR_DFSDM1RST                 RCC_APB2RSTR_DFSDM1RST_Msk
+
+/********************  Bit definition for RCC_APB4RSTR register  ******************/
+#define RCC_APB4RSTR_SYSCFGRST_Pos             (1U)
+#define RCC_APB4RSTR_SYSCFGRST_Msk             (0x1UL << RCC_APB4RSTR_SYSCFGRST_Pos) /*!< 0x00000002 */
+#define RCC_APB4RSTR_SYSCFGRST                 RCC_APB4RSTR_SYSCFGRST_Msk
+#define RCC_APB4RSTR_LPUART1RST_Pos            (3U)
+#define RCC_APB4RSTR_LPUART1RST_Msk            (0x1UL << RCC_APB4RSTR_LPUART1RST_Pos) /*!< 0x00000008 */
+#define RCC_APB4RSTR_LPUART1RST                RCC_APB4RSTR_LPUART1RST_Msk
+#define RCC_APB4RSTR_SPI6RST_Pos               (5U)
+#define RCC_APB4RSTR_SPI6RST_Msk               (0x1UL << RCC_APB4RSTR_SPI6RST_Pos) /*!< 0x00000020 */
+#define RCC_APB4RSTR_SPI6RST                   RCC_APB4RSTR_SPI6RST_Msk
+#define RCC_APB4RSTR_I2C4RST_Pos               (7U)
+#define RCC_APB4RSTR_I2C4RST_Msk               (0x1UL << RCC_APB4RSTR_I2C4RST_Pos) /*!< 0x00000080 */
+#define RCC_APB4RSTR_I2C4RST                   RCC_APB4RSTR_I2C4RST_Msk
+#define RCC_APB4RSTR_LPTIM2RST_Pos             (9U)
+#define RCC_APB4RSTR_LPTIM2RST_Msk             (0x1UL << RCC_APB4RSTR_LPTIM2RST_Pos) /*!< 0x00000200 */
+#define RCC_APB4RSTR_LPTIM2RST                 RCC_APB4RSTR_LPTIM2RST_Msk
+#define RCC_APB4RSTR_LPTIM3RST_Pos             (10U)
+#define RCC_APB4RSTR_LPTIM3RST_Msk             (0x1UL << RCC_APB4RSTR_LPTIM3RST_Pos) /*!< 0x00000400 */
+#define RCC_APB4RSTR_LPTIM3RST                 RCC_APB4RSTR_LPTIM3RST_Msk
+#define RCC_APB4RSTR_LPTIM4RST_Pos             (11U)
+#define RCC_APB4RSTR_LPTIM4RST_Msk             (0x1UL << RCC_APB4RSTR_LPTIM4RST_Pos) /*!< 0x00000800 */
+#define RCC_APB4RSTR_LPTIM4RST                 RCC_APB4RSTR_LPTIM4RST_Msk
+#define RCC_APB4RSTR_LPTIM5RST_Pos             (12U)
+#define RCC_APB4RSTR_LPTIM5RST_Msk             (0x1UL << RCC_APB4RSTR_LPTIM5RST_Pos) /*!< 0x00001000 */
+#define RCC_APB4RSTR_LPTIM5RST                 RCC_APB4RSTR_LPTIM5RST_Msk
+#define RCC_APB4RSTR_COMP12RST_Pos             (14U)
+#define RCC_APB4RSTR_COMP12RST_Msk             (0x1UL << RCC_APB4RSTR_COMP12RST_Pos) /*!< 0x00004000 */
+#define RCC_APB4RSTR_COMP12RST                 RCC_APB4RSTR_COMP12RST_Msk
+#define RCC_APB4RSTR_VREFRST_Pos               (15U)
+#define RCC_APB4RSTR_VREFRST_Msk               (0x1UL << RCC_APB4RSTR_VREFRST_Pos) /*!< 0x00008000 */
+#define RCC_APB4RSTR_VREFRST                   RCC_APB4RSTR_VREFRST_Msk
+#define RCC_APB4RSTR_SAI4RST_Pos               (21U)
+#define RCC_APB4RSTR_SAI4RST_Msk               (0x1UL << RCC_APB4RSTR_SAI4RST_Pos) /*!< 0x00200000 */
+#define RCC_APB4RSTR_SAI4RST                   RCC_APB4RSTR_SAI4RST_Msk
+
+#define RCC_APB4RSTR_DTSRST_Pos                (26U)
+#define RCC_APB4RSTR_DTSRST_Msk                (0x1UL << RCC_APB4RSTR_DTSRST_Pos) /*!< 0x04000000 */
+#define RCC_APB4RSTR_DTSRST                    RCC_APB4RSTR_DTSRST_Msk
+
+/********************  Bit definition for RCC_GCR register  ********************/
+#define RCC_GCR_WW1RSC_Pos                     (0U)
+#define RCC_GCR_WW1RSC_Msk                     (0x1UL << RCC_GCR_WW1RSC_Pos)   /*!< 0x00000001 */
+#define RCC_GCR_WW1RSC                         RCC_GCR_WW1RSC_Msk
+
+/********************  Bit definition for RCC_D3AMR register  ********************/
+#define RCC_D3AMR_BDMAAMEN_Pos                 (0U)
+#define RCC_D3AMR_BDMAAMEN_Msk                 (0x1UL << RCC_D3AMR_BDMAAMEN_Pos) /*!< 0x00000001 */
+#define RCC_D3AMR_BDMAAMEN                     RCC_D3AMR_BDMAAMEN_Msk
+#define RCC_D3AMR_LPUART1AMEN_Pos              (3U)
+#define RCC_D3AMR_LPUART1AMEN_Msk              (0x1UL << RCC_D3AMR_LPUART1AMEN_Pos) /*!< 0x00000008 */
+#define RCC_D3AMR_LPUART1AMEN                  RCC_D3AMR_LPUART1AMEN_Msk
+#define RCC_D3AMR_SPI6AMEN_Pos                 (5U)
+#define RCC_D3AMR_SPI6AMEN_Msk                 (0x1UL << RCC_D3AMR_SPI6AMEN_Pos) /*!< 0x00000020 */
+#define RCC_D3AMR_SPI6AMEN                     RCC_D3AMR_SPI6AMEN_Msk
+#define RCC_D3AMR_I2C4AMEN_Pos                 (7U)
+#define RCC_D3AMR_I2C4AMEN_Msk                 (0x1UL << RCC_D3AMR_I2C4AMEN_Pos) /*!< 0x00000080 */
+#define RCC_D3AMR_I2C4AMEN                     RCC_D3AMR_I2C4AMEN_Msk
+#define RCC_D3AMR_LPTIM2AMEN_Pos               (9U)
+#define RCC_D3AMR_LPTIM2AMEN_Msk               (0x1UL << RCC_D3AMR_LPTIM2AMEN_Pos) /*!< 0x00000200 */
+#define RCC_D3AMR_LPTIM2AMEN                   RCC_D3AMR_LPTIM2AMEN_Msk
+#define RCC_D3AMR_LPTIM3AMEN_Pos               (10U)
+#define RCC_D3AMR_LPTIM3AMEN_Msk               (0x1UL << RCC_D3AMR_LPTIM3AMEN_Pos) /*!< 0x00000400 */
+#define RCC_D3AMR_LPTIM3AMEN                   RCC_D3AMR_LPTIM3AMEN_Msk
+#define RCC_D3AMR_LPTIM4AMEN_Pos               (11U)
+#define RCC_D3AMR_LPTIM4AMEN_Msk               (0x1UL << RCC_D3AMR_LPTIM4AMEN_Pos) /*!< 0x00000800 */
+#define RCC_D3AMR_LPTIM4AMEN                   RCC_D3AMR_LPTIM4AMEN_Msk
+#define RCC_D3AMR_LPTIM5AMEN_Pos               (12U)
+#define RCC_D3AMR_LPTIM5AMEN_Msk               (0x1UL << RCC_D3AMR_LPTIM5AMEN_Pos) /*!< 0x00001000 */
+#define RCC_D3AMR_LPTIM5AMEN                   RCC_D3AMR_LPTIM5AMEN_Msk
+#define RCC_D3AMR_COMP12AMEN_Pos               (14U)
+#define RCC_D3AMR_COMP12AMEN_Msk               (0x1UL << RCC_D3AMR_COMP12AMEN_Pos) /*!< 0x00004000 */
+#define RCC_D3AMR_COMP12AMEN                   RCC_D3AMR_COMP12AMEN_Msk
+#define RCC_D3AMR_VREFAMEN_Pos                 (15U)
+#define RCC_D3AMR_VREFAMEN_Msk                 (0x1UL << RCC_D3AMR_VREFAMEN_Pos) /*!< 0x00008000 */
+#define RCC_D3AMR_VREFAMEN                     RCC_D3AMR_VREFAMEN_Msk
+#define RCC_D3AMR_RTCAMEN_Pos                  (16U)
+#define RCC_D3AMR_RTCAMEN_Msk                  (0x1UL << RCC_D3AMR_RTCAMEN_Pos) /*!< 0x00010000 */
+#define RCC_D3AMR_RTCAMEN                      RCC_D3AMR_RTCAMEN_Msk
+#define RCC_D3AMR_CRCAMEN_Pos                  (19U)
+#define RCC_D3AMR_CRCAMEN_Msk                  (0x1UL << RCC_D3AMR_CRCAMEN_Pos) /*!< 0x00080000 */
+#define RCC_D3AMR_CRCAMEN                      RCC_D3AMR_CRCAMEN_Msk
+#define RCC_D3AMR_SAI4AMEN_Pos                 (21U)
+#define RCC_D3AMR_SAI4AMEN_Msk                 (0x1UL << RCC_D3AMR_SAI4AMEN_Pos) /*!< 0x00200000 */
+#define RCC_D3AMR_SAI4AMEN                     RCC_D3AMR_SAI4AMEN_Msk
+#define RCC_D3AMR_ADC3AMEN_Pos                 (24U)
+#define RCC_D3AMR_ADC3AMEN_Msk                 (0x1UL << RCC_D3AMR_ADC3AMEN_Pos) /*!< 0x01000000 */
+#define RCC_D3AMR_ADC3AMEN                     RCC_D3AMR_ADC3AMEN_Msk
+
+#define RCC_D3AMR_DTSAMEN_Pos                  (26U)
+#define RCC_D3AMR_DTSAMEN_Msk                  (0x1UL << RCC_D3AMR_DTSAMEN_Pos) /*!< 0x04000000 */
+#define RCC_D3AMR_DTSAMEN                      RCC_D3AMR_DTSAMEN_Msk
+
+#define RCC_D3AMR_BKPRAMAMEN_Pos               (28U)
+#define RCC_D3AMR_BKPRAMAMEN_Msk               (0x1UL << RCC_D3AMR_BKPRAMAMEN_Pos) /*!< 0x10000000 */
+#define RCC_D3AMR_BKPRAMAMEN                   RCC_D3AMR_BKPRAMAMEN_Msk
+#define RCC_D3AMR_SRAM4AMEN_Pos                (29U)
+#define RCC_D3AMR_SRAM4AMEN_Msk                (0x1UL << RCC_D3AMR_SRAM4AMEN_Pos) /*!< 0x20000000 */
+#define RCC_D3AMR_SRAM4AMEN                    RCC_D3AMR_SRAM4AMEN_Msk
+/********************  Bit definition for RCC_AHB3LPENR register  **************/
+#define RCC_AHB3LPENR_MDMALPEN_Pos             (0U)
+#define RCC_AHB3LPENR_MDMALPEN_Msk             (0x1UL << RCC_AHB3LPENR_MDMALPEN_Pos)         /*!< 0x00000001 */
+#define RCC_AHB3LPENR_MDMALPEN                 RCC_AHB3LPENR_MDMALPEN_Msk
+#define RCC_AHB3LPENR_DMA2DLPEN_Pos            (4U)
+#define RCC_AHB3LPENR_DMA2DLPEN_Msk            (0x1UL << RCC_AHB3LPENR_DMA2DLPEN_Pos)        /*!< 0x00000010 */
+#define RCC_AHB3LPENR_DMA2DLPEN                RCC_AHB3LPENR_DMA2DLPEN_Msk
+#define RCC_AHB3LPENR_FLASHLPEN_Pos            (8U)
+#define RCC_AHB3LPENR_FLASHLPEN_Msk            (0x1UL << RCC_AHB3LPENR_FLASHLPEN_Pos)        /*!< 0x00000100 */
+#define RCC_AHB3LPENR_FLASHLPEN                RCC_AHB3LPENR_FLASHLPEN_Msk
+#define RCC_AHB3LPENR_FMCLPEN_Pos              (12U)
+#define RCC_AHB3LPENR_FMCLPEN_Msk              (0x1UL << RCC_AHB3LPENR_FMCLPEN_Pos)          /*!< 0x00001000 */
+#define RCC_AHB3LPENR_FMCLPEN                  RCC_AHB3LPENR_FMCLPEN_Msk
+#define RCC_AHB3LPENR_OSPI1LPEN_Pos            (14U)
+#define RCC_AHB3LPENR_OSPI1LPEN_Msk            (0x1UL << RCC_AHB3LPENR_OSPI1LPEN_Pos)        /*!< 0x00004000 */
+#define RCC_AHB3LPENR_OSPI1LPEN                RCC_AHB3LPENR_OSPI1LPEN_Msk
+#define RCC_AHB3LPENR_SDMMC1LPEN_Pos           (16U)
+#define RCC_AHB3LPENR_SDMMC1LPEN_Msk           (0x1UL << RCC_AHB3LPENR_SDMMC1LPEN_Pos)       /*!< 0x00010000 */
+#define RCC_AHB3LPENR_SDMMC1LPEN               RCC_AHB3LPENR_SDMMC1LPEN_Msk
+#define RCC_AHB3LPENR_OSPI2LPEN_Pos            (19U)
+#define RCC_AHB3LPENR_OSPI2LPEN_Msk            (0x1UL << RCC_AHB3LPENR_OSPI2LPEN_Pos)        /*!< 0x00080000 */
+#define RCC_AHB3LPENR_OSPI2LPEN                RCC_AHB3LPENR_OSPI2LPEN_Msk
+#define RCC_AHB3LPENR_IOMNGRLPEN_Pos           (21U)
+#define RCC_AHB3LPENR_IOMNGRLPEN_Msk           (0x1UL << RCC_AHB3LPENR_IOMNGRLPEN_Pos)       /*!< 0x00200000 */
+#define RCC_AHB3LPENR_IOMNGRLPEN               RCC_AHB3LPENR_IOMNGRLPEN_Msk
+#define RCC_AHB3LPENR_OTFDEC1LPEN_Pos          (22U)
+#define RCC_AHB3LPENR_OTFDEC1LPEN_Msk          (0x1UL << RCC_AHB3LPENR_OTFDEC1LPEN_Pos)      /*!< 0x00400000 */
+#define RCC_AHB3LPENR_OTFDEC1LPEN              RCC_AHB3LPENR_OTFDEC1LPEN_Msk
+#define RCC_AHB3LPENR_OTFDEC2LPEN_Pos          (23U)
+#define RCC_AHB3LPENR_OTFDEC2LPEN_Msk          (0x1UL << RCC_AHB3LPENR_OTFDEC2LPEN_Pos)      /*!< 0x00800000 */
+#define RCC_AHB3LPENR_OTFDEC2LPEN              RCC_AHB3LPENR_OTFDEC2LPEN_Msk
+#define RCC_AHB3LPENR_DTCM1LPEN_Pos            (28U)
+#define RCC_AHB3LPENR_DTCM1LPEN_Msk            (0x1UL << RCC_AHB3LPENR_DTCM1LPEN_Pos)        /*!< 0x10000000 */
+#define RCC_AHB3LPENR_DTCM1LPEN                RCC_AHB3LPENR_DTCM1LPEN_Msk
+#define RCC_AHB3LPENR_DTCM2LPEN_Pos            (29U)
+#define RCC_AHB3LPENR_DTCM2LPEN_Msk            (0x1UL << RCC_AHB3LPENR_DTCM2LPEN_Pos)        /*!< 0x20000000 */
+#define RCC_AHB3LPENR_DTCM2LPEN                RCC_AHB3LPENR_DTCM2LPEN_Msk
+#define RCC_AHB3LPENR_ITCMLPEN_Pos             (30U)
+#define RCC_AHB3LPENR_ITCMLPEN_Msk             (0x1UL << RCC_AHB3LPENR_ITCMLPEN_Pos)         /*!< 0x40000000 */
+#define RCC_AHB3LPENR_ITCMLPEN                 RCC_AHB3LPENR_ITCMLPEN_Msk
+#define RCC_AHB3LPENR_AXISRAMLPEN_Pos          (31U)
+#define RCC_AHB3LPENR_AXISRAMLPEN_Msk          (0x1UL << RCC_AHB3LPENR_AXISRAMLPEN_Pos)      /*!< 0x80000000 */
+#define RCC_AHB3LPENR_AXISRAMLPEN              RCC_AHB3LPENR_AXISRAMLPEN_Msk
+
+
+/********************  Bit definition for RCC_AHB1LPENR register  ***************/
+#define RCC_AHB1LPENR_DMA1LPEN_Pos             (0U)
+#define RCC_AHB1LPENR_DMA1LPEN_Msk             (0x1UL << RCC_AHB1LPENR_DMA1LPEN_Pos) /*!< 0x00000001 */
+#define RCC_AHB1LPENR_DMA1LPEN                 RCC_AHB1LPENR_DMA1LPEN_Msk
+#define RCC_AHB1LPENR_DMA2LPEN_Pos             (1U)
+#define RCC_AHB1LPENR_DMA2LPEN_Msk             (0x1UL << RCC_AHB1LPENR_DMA2LPEN_Pos) /*!< 0x00000002 */
+#define RCC_AHB1LPENR_DMA2LPEN                 RCC_AHB1LPENR_DMA2LPEN_Msk
+#define RCC_AHB1LPENR_ADC12LPEN_Pos            (5U)
+#define RCC_AHB1LPENR_ADC12LPEN_Msk            (0x1UL << RCC_AHB1LPENR_ADC12LPEN_Pos) /*!< 0x00000020 */
+#define RCC_AHB1LPENR_ADC12LPEN                RCC_AHB1LPENR_ADC12LPEN_Msk
+#define RCC_AHB1LPENR_ETH1MACLPEN_Pos          (15U)
+#define RCC_AHB1LPENR_ETH1MACLPEN_Msk          (0x1UL << RCC_AHB1LPENR_ETH1MACLPEN_Pos) /*!< 0x00008000 */
+#define RCC_AHB1LPENR_ETH1MACLPEN              RCC_AHB1LPENR_ETH1MACLPEN_Msk
+#define RCC_AHB1LPENR_ETH1TXLPEN_Pos           (16U)
+#define RCC_AHB1LPENR_ETH1TXLPEN_Msk           (0x1UL << RCC_AHB1LPENR_ETH1TXLPEN_Pos) /*!< 0x00010000 */
+#define RCC_AHB1LPENR_ETH1TXLPEN               RCC_AHB1LPENR_ETH1TXLPEN_Msk
+#define RCC_AHB1LPENR_ETH1RXLPEN_Pos           (17U)
+#define RCC_AHB1LPENR_ETH1RXLPEN_Msk           (0x1UL << RCC_AHB1LPENR_ETH1RXLPEN_Pos) /*!< 0x00020000 */
+#define RCC_AHB1LPENR_ETH1RXLPEN               RCC_AHB1LPENR_ETH1RXLPEN_Msk
+#define RCC_AHB1LPENR_USB1OTGHSLPEN_Pos        (25U)
+#define RCC_AHB1LPENR_USB1OTGHSLPEN_Msk        (0x1UL << RCC_AHB1LPENR_USB1OTGHSLPEN_Pos) /*!< 0x02000000 */
+#define RCC_AHB1LPENR_USB1OTGHSLPEN            RCC_AHB1LPENR_USB1OTGHSLPEN_Msk
+#define RCC_AHB1LPENR_USB1OTGHSULPILPEN_Pos    (26U)
+#define RCC_AHB1LPENR_USB1OTGHSULPILPEN_Msk    (0x1UL << RCC_AHB1LPENR_USB1OTGHSULPILPEN_Pos) /*!< 0x04000000 */
+#define RCC_AHB1LPENR_USB1OTGHSULPILPEN        RCC_AHB1LPENR_USB1OTGHSULPILPEN_Msk
+
+/********************  Bit definition for RCC_AHB2LPENR register  ***************/
+#define RCC_AHB2LPENR_DCMI_PSSILPEN_Pos        (0U)
+#define RCC_AHB2LPENR_DCMI_PSSILPEN_Msk        (0x1UL << RCC_AHB2LPENR_DCMI_PSSILPEN_Pos) /*!< 0x00000001 */
+#define RCC_AHB2LPENR_DCMI_PSSILPEN            RCC_AHB2LPENR_DCMI_PSSILPEN_Msk
+#define RCC_AHB2LPENR_CRYPLPEN_Pos             (4U)
+#define RCC_AHB2LPENR_CRYPLPEN_Msk             (0x1UL << RCC_AHB2LPENR_CRYPLPEN_Pos) /*!< 0x00000010 */
+#define RCC_AHB2LPENR_CRYPLPEN                 RCC_AHB2LPENR_CRYPLPEN_Msk
+#define RCC_AHB2LPENR_HASHLPEN_Pos             (5U)
+#define RCC_AHB2LPENR_HASHLPEN_Msk             (0x1UL << RCC_AHB2LPENR_HASHLPEN_Pos) /*!< 0x00000020 */
+#define RCC_AHB2LPENR_HASHLPEN                 RCC_AHB2LPENR_HASHLPEN_Msk
+#define RCC_AHB2LPENR_RNGLPEN_Pos              (6U)
+#define RCC_AHB2LPENR_RNGLPEN_Msk              (0x1UL << RCC_AHB2LPENR_RNGLPEN_Pos) /*!< 0x00000040 */
+#define RCC_AHB2LPENR_RNGLPEN                  RCC_AHB2LPENR_RNGLPEN_Msk
+#define RCC_AHB2LPENR_SDMMC2LPEN_Pos           (9U)
+#define RCC_AHB2LPENR_SDMMC2LPEN_Msk           (0x1UL << RCC_AHB2LPENR_SDMMC2LPEN_Pos) /*!< 0x00000200 */
+#define RCC_AHB2LPENR_SDMMC2LPEN               RCC_AHB2LPENR_SDMMC2LPEN_Msk
+#define RCC_AHB2LPENR_FMACLPEN_Pos             (16U)
+#define RCC_AHB2LPENR_FMACLPEN_Msk             (0x1UL << RCC_AHB2LPENR_FMACLPEN_Pos)     /*!< 0x00010000 */
+#define RCC_AHB2LPENR_FMACLPEN                 RCC_AHB2LPENR_FMACLPEN_Msk
+#define RCC_AHB2LPENR_CORDICLPEN_Pos           (17U)
+#define RCC_AHB2LPENR_CORDICLPEN_Msk           (0x1UL << RCC_AHB2LPENR_CORDICLPEN_Pos)   /*!< 0x00020000 */
+#define RCC_AHB2LPENR_CORDICLPEN               RCC_AHB2LPENR_CORDICLPEN_Msk
+#define RCC_AHB2LPENR_SRAM1LPEN_Pos          (29U)
+#define RCC_AHB2LPENR_SRAM1LPEN_Msk          (0x1UL << RCC_AHB2LPENR_SRAM1LPEN_Pos) /*!< 0x20000000 */
+#define RCC_AHB2LPENR_SRAM1LPEN              RCC_AHB2LPENR_SRAM1LPEN_Msk
+#define RCC_AHB2LPENR_SRAM2LPEN_Pos          (30U)
+#define RCC_AHB2LPENR_SRAM2LPEN_Msk          (0x1UL << RCC_AHB2LPENR_SRAM2LPEN_Pos) /*!< 0x40000000 */
+#define RCC_AHB2LPENR_SRAM2LPEN              RCC_AHB2LPENR_SRAM2LPEN_Msk
+
+/* Legacy define */
+#define RCC_AHB2LPENR_DCMILPEN_Pos             RCC_AHB2LPENR_DCMI_PSSILPEN_Pos
+#define RCC_AHB2LPENR_DCMILPEN_Msk             RCC_AHB2LPENR_DCMI_PSSILPEN_Msk
+#define RCC_AHB2LPENR_DCMILPEN                 RCC_AHB2LPENR_DCMI_PSSILPEN
+#define RCC_AHB2LPENR_D2SRAM1LPEN_Pos          RCC_AHB2LPENR_SRAM1LPEN_Pos
+#define RCC_AHB2LPENR_D2SRAM1LPEN_Msk          RCC_AHB2LPENR_SRAM1LPEN_Msk
+#define RCC_AHB2LPENR_D2SRAM1LPEN              RCC_AHB2LPENR_SRAM1LPEN
+#define RCC_AHB2LPENR_D2SRAM2LPEN_Pos          RCC_AHB2LPENR_SRAM2LPEN_Pos
+#define RCC_AHB2LPENR_D2SRAM2LPEN_Msk          RCC_AHB2LPENR_SRAM2LPEN_Msk
+#define RCC_AHB2LPENR_D2SRAM2LPEN              RCC_AHB2LPENR_SRAM2LPEN
+
+/********************  Bit definition for RCC_AHB4LPENR register  ******************/
+#define RCC_AHB4LPENR_GPIOALPEN_Pos            (0U)
+#define RCC_AHB4LPENR_GPIOALPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOALPEN_Pos) /*!< 0x00000001 */
+#define RCC_AHB4LPENR_GPIOALPEN                RCC_AHB4LPENR_GPIOALPEN_Msk
+#define RCC_AHB4LPENR_GPIOBLPEN_Pos            (1U)
+#define RCC_AHB4LPENR_GPIOBLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOBLPEN_Pos) /*!< 0x00000002 */
+#define RCC_AHB4LPENR_GPIOBLPEN                RCC_AHB4LPENR_GPIOBLPEN_Msk
+#define RCC_AHB4LPENR_GPIOCLPEN_Pos            (2U)
+#define RCC_AHB4LPENR_GPIOCLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOCLPEN_Pos) /*!< 0x00000004 */
+#define RCC_AHB4LPENR_GPIOCLPEN                RCC_AHB4LPENR_GPIOCLPEN_Msk
+#define RCC_AHB4LPENR_GPIODLPEN_Pos            (3U)
+#define RCC_AHB4LPENR_GPIODLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIODLPEN_Pos) /*!< 0x00000008 */
+#define RCC_AHB4LPENR_GPIODLPEN                RCC_AHB4LPENR_GPIODLPEN_Msk
+#define RCC_AHB4LPENR_GPIOELPEN_Pos            (4U)
+#define RCC_AHB4LPENR_GPIOELPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOELPEN_Pos) /*!< 0x00000010 */
+#define RCC_AHB4LPENR_GPIOELPEN                RCC_AHB4LPENR_GPIOELPEN_Msk
+#define RCC_AHB4LPENR_GPIOFLPEN_Pos            (5U)
+#define RCC_AHB4LPENR_GPIOFLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOFLPEN_Pos) /*!< 0x00000020 */
+#define RCC_AHB4LPENR_GPIOFLPEN                RCC_AHB4LPENR_GPIOFLPEN_Msk
+#define RCC_AHB4LPENR_GPIOGLPEN_Pos            (6U)
+#define RCC_AHB4LPENR_GPIOGLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOGLPEN_Pos) /*!< 0x00000040 */
+#define RCC_AHB4LPENR_GPIOGLPEN                RCC_AHB4LPENR_GPIOGLPEN_Msk
+#define RCC_AHB4LPENR_GPIOHLPEN_Pos            (7U)
+#define RCC_AHB4LPENR_GPIOHLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOHLPEN_Pos) /*!< 0x00000080 */
+#define RCC_AHB4LPENR_GPIOHLPEN                RCC_AHB4LPENR_GPIOHLPEN_Msk
+#define RCC_AHB4LPENR_GPIOJLPEN_Pos            (9U)
+#define RCC_AHB4LPENR_GPIOJLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOJLPEN_Pos) /*!< 0x00000200 */
+#define RCC_AHB4LPENR_GPIOJLPEN                RCC_AHB4LPENR_GPIOJLPEN_Msk
+#define RCC_AHB4LPENR_GPIOKLPEN_Pos            (10U)
+#define RCC_AHB4LPENR_GPIOKLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOKLPEN_Pos) /*!< 0x00000400 */
+#define RCC_AHB4LPENR_GPIOKLPEN                RCC_AHB4LPENR_GPIOKLPEN_Msk
+#define RCC_AHB4LPENR_CRCLPEN_Pos              (19U)
+#define RCC_AHB4LPENR_CRCLPEN_Msk              (0x1UL << RCC_AHB4LPENR_CRCLPEN_Pos) /*!< 0x00080000 */
+#define RCC_AHB4LPENR_CRCLPEN                  RCC_AHB4LPENR_CRCLPEN_Msk
+#define RCC_AHB4LPENR_BDMALPEN_Pos             (21U)
+#define RCC_AHB4LPENR_BDMALPEN_Msk             (0x1UL << RCC_AHB4LPENR_BDMALPEN_Pos) /*!< 0x00200000 */
+#define RCC_AHB4LPENR_BDMALPEN                 RCC_AHB4LPENR_BDMALPEN_Msk
+#define RCC_AHB4LPENR_ADC3LPEN_Pos             (24U)
+#define RCC_AHB4LPENR_ADC3LPEN_Msk             (0x1UL << RCC_AHB4LPENR_ADC3LPEN_Pos) /*!< 0x01000000 */
+#define RCC_AHB4LPENR_ADC3LPEN                 RCC_AHB4LPENR_ADC3LPEN_Msk
+#define RCC_AHB4LPENR_BKPRAMLPEN_Pos           (28U)
+#define RCC_AHB4LPENR_BKPRAMLPEN_Msk           (0x1UL << RCC_AHB4LPENR_BKPRAMLPEN_Pos) /*!< 0x10000000 */
+#define RCC_AHB4LPENR_BKPRAMLPEN               RCC_AHB4LPENR_BKPRAMLPEN_Msk
+#define RCC_AHB4LPENR_SRAM4LPEN_Pos            (29U)
+#define RCC_AHB4LPENR_SRAM4LPEN_Msk            (0x1UL << RCC_AHB4LPENR_SRAM4LPEN_Pos) /*!< 0x20000000 */
+#define RCC_AHB4LPENR_SRAM4LPEN                RCC_AHB4LPENR_SRAM4LPEN_Msk
+
+/* Legacy define */
+#define RCC_AHB4LPENR_D3SRAM1LPEN_Pos          RCC_AHB4LPENR_SRAM4LPEN_Pos
+#define RCC_AHB4LPENR_D3SRAM1LPEN_Msk          RCC_AHB4LPENR_SRAM4LPEN_Msk
+#define RCC_AHB4LPENR_D3SRAM1LPEN              RCC_AHB4LPENR_SRAM4LPEN
+/********************  Bit definition for RCC_APB3LPENR register  ******************/
+#define RCC_APB3LPENR_LTDCLPEN_Pos             (3U)
+#define RCC_APB3LPENR_LTDCLPEN_Msk             (0x1UL << RCC_APB3LPENR_LTDCLPEN_Pos) /*!< 0x00000008 */
+#define RCC_APB3LPENR_LTDCLPEN                 RCC_APB3LPENR_LTDCLPEN_Msk
+#define RCC_APB3LPENR_WWDG1LPEN_Pos            (6U)
+#define RCC_APB3LPENR_WWDG1LPEN_Msk            (0x1UL << RCC_APB3LPENR_WWDG1LPEN_Pos) /*!< 0x00000040 */
+#define RCC_APB3LPENR_WWDG1LPEN                RCC_APB3LPENR_WWDG1LPEN_Msk
+
+/********************  Bit definition for RCC_APB1LLPENR register  ******************/
+
+#define RCC_APB1LLPENR_TIM2LPEN_Pos            (0U)
+#define RCC_APB1LLPENR_TIM2LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM2LPEN_Pos) /*!< 0x00000001 */
+#define RCC_APB1LLPENR_TIM2LPEN                RCC_APB1LLPENR_TIM2LPEN_Msk
+#define RCC_APB1LLPENR_TIM3LPEN_Pos            (1U)
+#define RCC_APB1LLPENR_TIM3LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM3LPEN_Pos) /*!< 0x00000002 */
+#define RCC_APB1LLPENR_TIM3LPEN                RCC_APB1LLPENR_TIM3LPEN_Msk
+#define RCC_APB1LLPENR_TIM4LPEN_Pos            (2U)
+#define RCC_APB1LLPENR_TIM4LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM4LPEN_Pos) /*!< 0x00000004 */
+#define RCC_APB1LLPENR_TIM4LPEN                RCC_APB1LLPENR_TIM4LPEN_Msk
+#define RCC_APB1LLPENR_TIM5LPEN_Pos            (3U)
+#define RCC_APB1LLPENR_TIM5LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM5LPEN_Pos) /*!< 0x00000008 */
+#define RCC_APB1LLPENR_TIM5LPEN                RCC_APB1LLPENR_TIM5LPEN_Msk
+#define RCC_APB1LLPENR_TIM6LPEN_Pos            (4U)
+#define RCC_APB1LLPENR_TIM6LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM6LPEN_Pos) /*!< 0x00000010 */
+#define RCC_APB1LLPENR_TIM6LPEN                RCC_APB1LLPENR_TIM6LPEN_Msk
+#define RCC_APB1LLPENR_TIM7LPEN_Pos            (5U)
+#define RCC_APB1LLPENR_TIM7LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM7LPEN_Pos) /*!< 0x00000020 */
+#define RCC_APB1LLPENR_TIM7LPEN                RCC_APB1LLPENR_TIM7LPEN_Msk
+#define RCC_APB1LLPENR_TIM12LPEN_Pos           (6U)
+#define RCC_APB1LLPENR_TIM12LPEN_Msk           (0x1UL << RCC_APB1LLPENR_TIM12LPEN_Pos) /*!< 0x00000040 */
+#define RCC_APB1LLPENR_TIM12LPEN               RCC_APB1LLPENR_TIM12LPEN_Msk
+#define RCC_APB1LLPENR_TIM13LPEN_Pos           (7U)
+#define RCC_APB1LLPENR_TIM13LPEN_Msk           (0x1UL << RCC_APB1LLPENR_TIM13LPEN_Pos) /*!< 0x00000080 */
+#define RCC_APB1LLPENR_TIM13LPEN               RCC_APB1LLPENR_TIM13LPEN_Msk
+#define RCC_APB1LLPENR_TIM14LPEN_Pos           (8U)
+#define RCC_APB1LLPENR_TIM14LPEN_Msk           (0x1UL << RCC_APB1LLPENR_TIM14LPEN_Pos) /*!< 0x00000100 */
+#define RCC_APB1LLPENR_TIM14LPEN               RCC_APB1LLPENR_TIM14LPEN_Msk
+#define RCC_APB1LLPENR_LPTIM1LPEN_Pos          (9U)
+#define RCC_APB1LLPENR_LPTIM1LPEN_Msk          (0x1UL << RCC_APB1LLPENR_LPTIM1LPEN_Pos) /*!< 0x00000200 */
+#define RCC_APB1LLPENR_LPTIM1LPEN              RCC_APB1LLPENR_LPTIM1LPEN_Msk
+
+
+#define RCC_APB1LLPENR_SPI2LPEN_Pos            (14U)
+#define RCC_APB1LLPENR_SPI2LPEN_Msk            (0x1UL << RCC_APB1LLPENR_SPI2LPEN_Pos) /*!< 0x00004000 */
+#define RCC_APB1LLPENR_SPI2LPEN                RCC_APB1LLPENR_SPI2LPEN_Msk
+#define RCC_APB1LLPENR_SPI3LPEN_Pos            (15U)
+#define RCC_APB1LLPENR_SPI3LPEN_Msk            (0x1UL << RCC_APB1LLPENR_SPI3LPEN_Pos) /*!< 0x00008000 */
+#define RCC_APB1LLPENR_SPI3LPEN                RCC_APB1LLPENR_SPI3LPEN_Msk
+#define RCC_APB1LLPENR_SPDIFRXLPEN_Pos         (16U)
+#define RCC_APB1LLPENR_SPDIFRXLPEN_Msk         (0x1UL << RCC_APB1LLPENR_SPDIFRXLPEN_Pos) /*!< 0x00010000 */
+#define RCC_APB1LLPENR_SPDIFRXLPEN             RCC_APB1LLPENR_SPDIFRXLPEN_Msk
+#define RCC_APB1LLPENR_USART2LPEN_Pos          (17U)
+#define RCC_APB1LLPENR_USART2LPEN_Msk          (0x1UL << RCC_APB1LLPENR_USART2LPEN_Pos) /*!< 0x00020000 */
+#define RCC_APB1LLPENR_USART2LPEN              RCC_APB1LLPENR_USART2LPEN_Msk
+#define RCC_APB1LLPENR_USART3LPEN_Pos          (18U)
+#define RCC_APB1LLPENR_USART3LPEN_Msk          (0x1UL << RCC_APB1LLPENR_USART3LPEN_Pos) /*!< 0x00040000 */
+#define RCC_APB1LLPENR_USART3LPEN              RCC_APB1LLPENR_USART3LPEN_Msk
+#define RCC_APB1LLPENR_UART4LPEN_Pos           (19U)
+#define RCC_APB1LLPENR_UART4LPEN_Msk           (0x1UL << RCC_APB1LLPENR_UART4LPEN_Pos) /*!< 0x00080000 */
+#define RCC_APB1LLPENR_UART4LPEN               RCC_APB1LLPENR_UART4LPEN_Msk
+#define RCC_APB1LLPENR_UART5LPEN_Pos           (20U)
+#define RCC_APB1LLPENR_UART5LPEN_Msk           (0x1UL << RCC_APB1LLPENR_UART5LPEN_Pos) /*!< 0x00100000 */
+#define RCC_APB1LLPENR_UART5LPEN               RCC_APB1LLPENR_UART5LPEN_Msk
+#define RCC_APB1LLPENR_I2C1LPEN_Pos            (21U)
+#define RCC_APB1LLPENR_I2C1LPEN_Msk            (0x1UL << RCC_APB1LLPENR_I2C1LPEN_Pos) /*!< 0x00200000 */
+#define RCC_APB1LLPENR_I2C1LPEN                RCC_APB1LLPENR_I2C1LPEN_Msk
+#define RCC_APB1LLPENR_I2C2LPEN_Pos            (22U)
+#define RCC_APB1LLPENR_I2C2LPEN_Msk            (0x1UL << RCC_APB1LLPENR_I2C2LPEN_Pos) /*!< 0x00400000 */
+#define RCC_APB1LLPENR_I2C2LPEN                RCC_APB1LLPENR_I2C2LPEN_Msk
+#define RCC_APB1LLPENR_I2C3LPEN_Pos            (23U)
+#define RCC_APB1LLPENR_I2C3LPEN_Msk            (0x1UL << RCC_APB1LLPENR_I2C3LPEN_Pos) /*!< 0x00800000 */
+#define RCC_APB1LLPENR_I2C3LPEN                RCC_APB1LLPENR_I2C3LPEN_Msk
+#define RCC_APB1LLPENR_I2C5LPEN_Pos            (25U)
+#define RCC_APB1LLPENR_I2C5LPEN_Msk            (0x1UL << RCC_APB1LLPENR_I2C5LPEN_Pos) /*!< 0x02000000 */
+#define RCC_APB1LLPENR_I2C5LPEN                RCC_APB1LLPENR_I2C5LPEN_Msk
+#define RCC_APB1LLPENR_CECLPEN_Pos             (27U)
+#define RCC_APB1LLPENR_CECLPEN_Msk             (0x1UL << RCC_APB1LLPENR_CECLPEN_Pos) /*!< 0x08000000 */
+#define RCC_APB1LLPENR_CECLPEN                 RCC_APB1LLPENR_CECLPEN_Msk
+#define RCC_APB1LLPENR_DAC12LPEN_Pos           (29U)
+#define RCC_APB1LLPENR_DAC12LPEN_Msk           (0x1UL << RCC_APB1LLPENR_DAC12LPEN_Pos) /*!< 0x20000000 */
+#define RCC_APB1LLPENR_DAC12LPEN               RCC_APB1LLPENR_DAC12LPEN_Msk
+#define RCC_APB1LLPENR_UART7LPEN_Pos           (30U)
+#define RCC_APB1LLPENR_UART7LPEN_Msk           (0x1UL << RCC_APB1LLPENR_UART7LPEN_Pos) /*!< 0x40000000 */
+#define RCC_APB1LLPENR_UART7LPEN               RCC_APB1LLPENR_UART7LPEN_Msk
+#define RCC_APB1LLPENR_UART8LPEN_Pos           (31U)
+#define RCC_APB1LLPENR_UART8LPEN_Msk           (0x1UL << RCC_APB1LLPENR_UART8LPEN_Pos) /*!< 0x80000000 */
+#define RCC_APB1LLPENR_UART8LPEN               RCC_APB1LLPENR_UART8LPEN_Msk
+
+/* Legacy define */
+#define RCC_APB1LLPENR_HDMICECEN_Pos           RCC_APB1LLPENR_CECLPEN_Pos
+#define RCC_APB1LLPENR_HDMICECEN_Msk           RCC_APB1LLPENR_CECLPEN_Msk
+#define RCC_APB1LLPENR_HDMICECEN               RCC_APB1LLPENR_CECLPEN
+/********************  Bit definition for RCC_APB1HLPENR register  ******************/
+#define RCC_APB1HLPENR_CRSLPEN_Pos             (1U)
+#define RCC_APB1HLPENR_CRSLPEN_Msk             (0x1UL << RCC_APB1HLPENR_CRSLPEN_Pos) /*!< 0x00000002 */
+#define RCC_APB1HLPENR_CRSLPEN                 RCC_APB1HLPENR_CRSLPEN_Msk
+#define RCC_APB1HLPENR_SWPMILPEN_Pos           (2U)
+#define RCC_APB1HLPENR_SWPMILPEN_Msk           (0x1UL << RCC_APB1HLPENR_SWPMILPEN_Pos) /*!< 0x00000004 */
+#define RCC_APB1HLPENR_SWPMILPEN               RCC_APB1HLPENR_SWPMILPEN_Msk
+#define RCC_APB1HLPENR_OPAMPLPEN_Pos           (4U)
+#define RCC_APB1HLPENR_OPAMPLPEN_Msk           (0x1UL << RCC_APB1HLPENR_OPAMPLPEN_Pos) /*!< 0x00000010 */
+#define RCC_APB1HLPENR_OPAMPLPEN               RCC_APB1HLPENR_OPAMPLPEN_Msk
+#define RCC_APB1HLPENR_MDIOSLPEN_Pos           (5U)
+#define RCC_APB1HLPENR_MDIOSLPEN_Msk           (0x1UL << RCC_APB1HLPENR_MDIOSLPEN_Pos) /*!< 0x00000020 */
+#define RCC_APB1HLPENR_MDIOSLPEN               RCC_APB1HLPENR_MDIOSLPEN_Msk
+#define RCC_APB1HLPENR_FDCANLPEN_Pos           (8U)
+#define RCC_APB1HLPENR_FDCANLPEN_Msk           (0x1UL << RCC_APB1HLPENR_FDCANLPEN_Pos) /*!< 0x00000100 */
+#define RCC_APB1HLPENR_FDCANLPEN               RCC_APB1HLPENR_FDCANLPEN_Msk
+#define RCC_APB1HLPENR_TIM23LPEN_Pos           (24U)
+#define RCC_APB1HLPENR_TIM23LPEN_Msk           (0x1UL << RCC_APB1HLPENR_TIM23LPEN_Pos)   /*!< 0x01000000 */
+#define RCC_APB1HLPENR_TIM23LPEN                RCC_APB1HLPENR_TIM23LPEN_Msk
+#define RCC_APB1HLPENR_TIM24LPEN_Pos           (25U)
+#define RCC_APB1HLPENR_TIM24LPEN_Msk           (0x1UL << RCC_APB1HLPENR_TIM24LPEN_Pos)   /*!< 0x02000000 */
+#define RCC_APB1HLPENR_TIM24LPEN                RCC_APB1HLPENR_TIM24LPEN_Msk
+
+/********************  Bit definition for RCC_APB2LPENR register  ******************/
+#define RCC_APB2LPENR_TIM1LPEN_Pos             (0U)
+#define RCC_APB2LPENR_TIM1LPEN_Msk             (0x1UL << RCC_APB2LPENR_TIM1LPEN_Pos) /*!< 0x00000001 */
+#define RCC_APB2LPENR_TIM1LPEN                 RCC_APB2LPENR_TIM1LPEN_Msk
+#define RCC_APB2LPENR_TIM8LPEN_Pos             (1U)
+#define RCC_APB2LPENR_TIM8LPEN_Msk             (0x1UL << RCC_APB2LPENR_TIM8LPEN_Pos) /*!< 0x00000002 */
+#define RCC_APB2LPENR_TIM8LPEN                 RCC_APB2LPENR_TIM8LPEN_Msk
+#define RCC_APB2LPENR_USART1LPEN_Pos           (4U)
+#define RCC_APB2LPENR_USART1LPEN_Msk           (0x1UL << RCC_APB2LPENR_USART1LPEN_Pos) /*!< 0x00000010 */
+#define RCC_APB2LPENR_USART1LPEN               RCC_APB2LPENR_USART1LPEN_Msk
+#define RCC_APB2LPENR_USART6LPEN_Pos           (5U)
+#define RCC_APB2LPENR_USART6LPEN_Msk           (0x1UL << RCC_APB2LPENR_USART6LPEN_Pos) /*!< 0x00000020 */
+#define RCC_APB2LPENR_USART6LPEN               RCC_APB2LPENR_USART6LPEN_Msk
+#define RCC_APB2LPENR_UART9LPEN_Pos            (6U)
+#define RCC_APB2LPENR_UART9LPEN_Msk            (0x1UL << RCC_APB2LPENR_UART9LPEN_Pos) /*!< 0x00000040 */
+#define RCC_APB2LPENR_UART9LPEN                 RCC_APB2LPENR_UART9LPEN_Msk
+#define RCC_APB2LPENR_USART10LPEN_Pos          (7U)
+#define RCC_APB2LPENR_USART10LPEN_Msk          (0x1UL << RCC_APB2LPENR_USART10LPEN_Pos) /*!< 0x00000080 */
+#define RCC_APB2LPENR_USART10LPEN               RCC_APB2LPENR_USART10LPEN_Msk
+#define RCC_APB2LPENR_SPI1LPEN_Pos             (12U)
+#define RCC_APB2LPENR_SPI1LPEN_Msk             (0x1UL << RCC_APB2LPENR_SPI1LPEN_Pos) /*!< 0x00001000 */
+#define RCC_APB2LPENR_SPI1LPEN                 RCC_APB2LPENR_SPI1LPEN_Msk
+#define RCC_APB2LPENR_SPI4LPEN_Pos             (13U)
+#define RCC_APB2LPENR_SPI4LPEN_Msk             (0x1UL << RCC_APB2LPENR_SPI4LPEN_Pos) /*!< 0x00002000 */
+#define RCC_APB2LPENR_SPI4LPEN                 RCC_APB2LPENR_SPI4LPEN_Msk
+#define RCC_APB2LPENR_TIM15LPEN_Pos            (16U)
+#define RCC_APB2LPENR_TIM15LPEN_Msk            (0x1UL << RCC_APB2LPENR_TIM15LPEN_Pos) /*!< 0x00010000 */
+#define RCC_APB2LPENR_TIM15LPEN                RCC_APB2LPENR_TIM15LPEN_Msk
+#define RCC_APB2LPENR_TIM16LPEN_Pos            (17U)
+#define RCC_APB2LPENR_TIM16LPEN_Msk            (0x1UL << RCC_APB2LPENR_TIM16LPEN_Pos) /*!< 0x00020000 */
+#define RCC_APB2LPENR_TIM16LPEN                RCC_APB2LPENR_TIM16LPEN_Msk
+#define RCC_APB2LPENR_TIM17LPEN_Pos            (18U)
+#define RCC_APB2LPENR_TIM17LPEN_Msk            (0x1UL << RCC_APB2LPENR_TIM17LPEN_Pos) /*!< 0x00040000 */
+#define RCC_APB2LPENR_TIM17LPEN                RCC_APB2LPENR_TIM17LPEN_Msk
+#define RCC_APB2LPENR_SPI5LPEN_Pos             (20U)
+#define RCC_APB2LPENR_SPI5LPEN_Msk             (0x1UL << RCC_APB2LPENR_SPI5LPEN_Pos) /*!< 0x00100000 */
+#define RCC_APB2LPENR_SPI5LPEN                 RCC_APB2LPENR_SPI5LPEN_Msk
+#define RCC_APB2LPENR_SAI1LPEN_Pos             (22U)
+#define RCC_APB2LPENR_SAI1LPEN_Msk             (0x1UL << RCC_APB2LPENR_SAI1LPEN_Pos) /*!< 0x00400000 */
+#define RCC_APB2LPENR_SAI1LPEN                 RCC_APB2LPENR_SAI1LPEN_Msk
+#define RCC_APB2LPENR_DFSDM1LPEN_Pos           (30U)
+#define RCC_APB2LPENR_DFSDM1LPEN_Msk           (0x1UL << RCC_APB2LPENR_DFSDM1LPEN_Pos) /*!< 0x40000000 */
+#define RCC_APB2LPENR_DFSDM1LPEN               RCC_APB2LPENR_DFSDM1LPEN_Msk
+
+/********************  Bit definition for RCC_APB4LPENR register  ******************/
+#define RCC_APB4LPENR_SYSCFGLPEN_Pos           (1U)
+#define RCC_APB4LPENR_SYSCFGLPEN_Msk           (0x1UL << RCC_APB4LPENR_SYSCFGLPEN_Pos) /*!< 0x00000002 */
+#define RCC_APB4LPENR_SYSCFGLPEN               RCC_APB4LPENR_SYSCFGLPEN_Msk
+#define RCC_APB4LPENR_LPUART1LPEN_Pos          (3U)
+#define RCC_APB4LPENR_LPUART1LPEN_Msk          (0x1UL << RCC_APB4LPENR_LPUART1LPEN_Pos) /*!< 0x00000008 */
+#define RCC_APB4LPENR_LPUART1LPEN              RCC_APB4LPENR_LPUART1LPEN_Msk
+#define RCC_APB4LPENR_SPI6LPEN_Pos             (5U)
+#define RCC_APB4LPENR_SPI6LPEN_Msk             (0x1UL << RCC_APB4LPENR_SPI6LPEN_Pos) /*!< 0x00000020 */
+#define RCC_APB4LPENR_SPI6LPEN                 RCC_APB4LPENR_SPI6LPEN_Msk
+#define RCC_APB4LPENR_I2C4LPEN_Pos             (7U)
+#define RCC_APB4LPENR_I2C4LPEN_Msk             (0x1UL << RCC_APB4LPENR_I2C4LPEN_Pos) /*!< 0x00000080 */
+#define RCC_APB4LPENR_I2C4LPEN                 RCC_APB4LPENR_I2C4LPEN_Msk
+#define RCC_APB4LPENR_LPTIM2LPEN_Pos           (9U)
+#define RCC_APB4LPENR_LPTIM2LPEN_Msk           (0x1UL << RCC_APB4LPENR_LPTIM2LPEN_Pos) /*!< 0x00000200 */
+#define RCC_APB4LPENR_LPTIM2LPEN               RCC_APB4LPENR_LPTIM2LPEN_Msk
+#define RCC_APB4LPENR_LPTIM3LPEN_Pos           (10U)
+#define RCC_APB4LPENR_LPTIM3LPEN_Msk           (0x1UL << RCC_APB4LPENR_LPTIM3LPEN_Pos) /*!< 0x00000400 */
+#define RCC_APB4LPENR_LPTIM3LPEN               RCC_APB4LPENR_LPTIM3LPEN_Msk
+#define RCC_APB4LPENR_LPTIM4LPEN_Pos           (11U)
+#define RCC_APB4LPENR_LPTIM4LPEN_Msk           (0x1UL << RCC_APB4LPENR_LPTIM4LPEN_Pos) /*!< 0x00000800 */
+#define RCC_APB4LPENR_LPTIM4LPEN               RCC_APB4LPENR_LPTIM4LPEN_Msk
+#define RCC_APB4LPENR_LPTIM5LPEN_Pos           (12U)
+#define RCC_APB4LPENR_LPTIM5LPEN_Msk           (0x1UL << RCC_APB4LPENR_LPTIM5LPEN_Pos) /*!< 0x00001000 */
+#define RCC_APB4LPENR_LPTIM5LPEN               RCC_APB4LPENR_LPTIM5LPEN_Msk
+#define RCC_APB4LPENR_COMP12LPEN_Pos           (14U)
+#define RCC_APB4LPENR_COMP12LPEN_Msk           (0x1UL << RCC_APB4LPENR_COMP12LPEN_Pos) /*!< 0x00004000 */
+#define RCC_APB4LPENR_COMP12LPEN               RCC_APB4LPENR_COMP12LPEN_Msk
+#define RCC_APB4LPENR_VREFLPEN_Pos             (15U)
+#define RCC_APB4LPENR_VREFLPEN_Msk             (0x1UL << RCC_APB4LPENR_VREFLPEN_Pos) /*!< 0x00008000 */
+#define RCC_APB4LPENR_VREFLPEN                 RCC_APB4LPENR_VREFLPEN_Msk
+#define RCC_APB4LPENR_RTCAPBLPEN_Pos           (16U)
+#define RCC_APB4LPENR_RTCAPBLPEN_Msk           (0x1UL << RCC_APB4LPENR_RTCAPBLPEN_Pos) /*!< 0x00010000 */
+#define RCC_APB4LPENR_RTCAPBLPEN               RCC_APB4LPENR_RTCAPBLPEN_Msk
+#define RCC_APB4LPENR_SAI4LPEN_Pos             (21U)
+#define RCC_APB4LPENR_SAI4LPEN_Msk             (0x1UL << RCC_APB4LPENR_SAI4LPEN_Pos) /*!< 0x00200000 */
+#define RCC_APB4LPENR_SAI4LPEN                 RCC_APB4LPENR_SAI4LPEN_Msk
+
+#define RCC_APB4LPENR_DTSLPEN_Pos              (26U)
+#define RCC_APB4LPENR_DTSLPEN_Msk              (0x1UL << RCC_APB4LPENR_DTSLPEN_Pos) /*!< 0x04000000 */
+#define RCC_APB4LPENR_DTSLPEN                  RCC_APB4LPENR_DTSLPEN_Msk
+
+/********************  Bit definition for RCC_RSR register  *******************/
+#define RCC_RSR_RMVF_Pos                       (16U)
+#define RCC_RSR_RMVF_Msk                       (0x1UL << RCC_RSR_RMVF_Pos)     /*!< 0x00010000 */
+#define RCC_RSR_RMVF                           RCC_RSR_RMVF_Msk
+#define RCC_RSR_CPURSTF_Pos                    (17U)
+#define RCC_RSR_CPURSTF_Msk                    (0x1UL << RCC_RSR_CPURSTF_Pos)  /*!< 0x00020000 */
+#define RCC_RSR_CPURSTF                        RCC_RSR_CPURSTF_Msk
+#define RCC_RSR_D1RSTF_Pos                     (19U)
+#define RCC_RSR_D1RSTF_Msk                     (0x1UL << RCC_RSR_D1RSTF_Pos)   /*!< 0x00080000 */
+#define RCC_RSR_D1RSTF                         RCC_RSR_D1RSTF_Msk
+#define RCC_RSR_D2RSTF_Pos                     (20U)
+#define RCC_RSR_D2RSTF_Msk                     (0x1UL << RCC_RSR_D2RSTF_Pos)   /*!< 0x00100000 */
+#define RCC_RSR_D2RSTF                         RCC_RSR_D2RSTF_Msk
+#define RCC_RSR_BORRSTF_Pos                    (21U)
+#define RCC_RSR_BORRSTF_Msk                    (0x1UL << RCC_RSR_BORRSTF_Pos)  /*!< 0x00200000 */
+#define RCC_RSR_BORRSTF                        RCC_RSR_BORRSTF_Msk
+#define RCC_RSR_PINRSTF_Pos                    (22U)
+#define RCC_RSR_PINRSTF_Msk                    (0x1UL << RCC_RSR_PINRSTF_Pos)  /*!< 0x00400000 */
+#define RCC_RSR_PINRSTF                        RCC_RSR_PINRSTF_Msk
+#define RCC_RSR_PORRSTF_Pos                    (23U)
+#define RCC_RSR_PORRSTF_Msk                    (0x1UL << RCC_RSR_PORRSTF_Pos)  /*!< 0x00800000 */
+#define RCC_RSR_PORRSTF                        RCC_RSR_PORRSTF_Msk
+#define RCC_RSR_SFTRSTF_Pos                    (24U)
+#define RCC_RSR_SFTRSTF_Msk                    (0x1UL << RCC_RSR_SFTRSTF_Pos)  /*!< 0x01000000 */
+#define RCC_RSR_SFTRSTF                        RCC_RSR_SFTRSTF_Msk
+#define RCC_RSR_IWDG1RSTF_Pos                  (26U)
+#define RCC_RSR_IWDG1RSTF_Msk                  (0x1UL << RCC_RSR_IWDG1RSTF_Pos) /*!< 0x04000000 */
+#define RCC_RSR_IWDG1RSTF                      RCC_RSR_IWDG1RSTF_Msk
+#define RCC_RSR_WWDG1RSTF_Pos                  (28U)
+#define RCC_RSR_WWDG1RSTF_Msk                  (0x1UL << RCC_RSR_WWDG1RSTF_Pos) /*!< 0x10000000 */
+#define RCC_RSR_WWDG1RSTF                      RCC_RSR_WWDG1RSTF_Msk
+
+#define RCC_RSR_LPWRRSTF_Pos                   (30U)
+#define RCC_RSR_LPWRRSTF_Msk                   (0x1UL << RCC_RSR_LPWRRSTF_Pos) /*!< 0x40000000 */
+#define RCC_RSR_LPWRRSTF                       RCC_RSR_LPWRRSTF_Msk
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    RNG                                     */
+/*                                                                            */
+/******************************************************************************/
+/***************************    RNG VER  **************************************/
+#define RNG_VER_3_2
+/********************  Bits definition for RNG_CR register  *******************/
+#define RNG_CR_RNGEN_Pos    (2U)
+#define RNG_CR_RNGEN_Msk    (0x1UL << RNG_CR_RNGEN_Pos)                        /*!< 0x00000004 */
+#define RNG_CR_RNGEN        RNG_CR_RNGEN_Msk
+#define RNG_CR_IE_Pos       (3U)
+#define RNG_CR_IE_Msk       (0x1UL << RNG_CR_IE_Pos)                           /*!< 0x00000008 */
+#define RNG_CR_IE           RNG_CR_IE_Msk
+#define RNG_CR_CED_Pos      (5U)
+#define RNG_CR_CED_Msk      (0x1UL << RNG_CR_CED_Pos)                          /*!< 0x00000020 */
+#define RNG_CR_CED          RNG_CR_CED_Msk
+#define RNG_CR_RNG_CONFIG3_Pos      (8U)
+#define RNG_CR_RNG_CONFIG3_Msk      (0xFUL << RNG_CR_RNG_CONFIG3_Pos)          /*!< 0x00000F00 */
+#define RNG_CR_RNG_CONFIG3          RNG_CR_RNG_CONFIG3_Msk
+#define RNG_CR_NISTC_Pos            (12U)
+#define RNG_CR_NISTC_Msk            (0x1UL << RNG_CR_NISTC_Pos)                /*!< 0x00001000 */
+#define RNG_CR_NISTC                RNG_CR_NISTC_Msk
+#define RNG_CR_RNG_CONFIG2_Pos      (13U)
+#define RNG_CR_RNG_CONFIG2_Msk      (0x7UL << RNG_CR_RNG_CONFIG2_Pos)          /*!< 0x0000E000 */
+#define RNG_CR_RNG_CONFIG2          RNG_CR_RNG_CONFIG2_Msk
+#define RNG_CR_CLKDIV_Pos           (16U)
+#define RNG_CR_CLKDIV_Msk           (0xFUL << RNG_CR_CLKDIV_Pos)               /*!< 0x000F0000 */
+#define RNG_CR_CLKDIV               RNG_CR_CLKDIV_Msk
+#define RNG_CR_CLKDIV_0             (0x1U << RNG_CR_CLKDIV_Pos)                /*!< 0x00010000 */
+#define RNG_CR_CLKDIV_1             (0x2U << RNG_CR_CLKDIV_Pos)                /*!< 0x00020000 */
+#define RNG_CR_CLKDIV_2             (0x4U << RNG_CR_CLKDIV_Pos)                /*!< 0x00040000 */
+#define RNG_CR_CLKDIV_3             (0x8U << RNG_CR_CLKDIV_Pos)                /*!< 0x00080000 */
+#define RNG_CR_RNG_CONFIG1_Pos      (20U)
+#define RNG_CR_RNG_CONFIG1_Msk      (0x3FUL << RNG_CR_RNG_CONFIG1_Pos)         /*!< 0x03F00000 */
+#define RNG_CR_RNG_CONFIG1          RNG_CR_RNG_CONFIG1_Msk
+#define RNG_CR_CONDRST_Pos         (30U)
+#define RNG_CR_CONDRST_Msk         (0x1UL << RNG_CR_CONDRST_Pos)                  /*!< 0x40000000 */
+#define RNG_CR_CONDRST             RNG_CR_CONDRST_Msk
+#define RNG_CR_CONFIGLOCK_Pos      (31U)
+#define RNG_CR_CONFIGLOCK_Msk      (0x1UL << RNG_CR_CONFIGLOCK_Pos)            /*!< 0x80000000 */
+#define RNG_CR_CONFIGLOCK          RNG_CR_CONFIGLOCK_Msk
+
+/********************  Bits definition for RNG_SR register  *******************/
+#define RNG_SR_DRDY_Pos     (0U)
+#define RNG_SR_DRDY_Msk     (0x1UL << RNG_SR_DRDY_Pos)                         /*!< 0x00000001 */
+#define RNG_SR_DRDY         RNG_SR_DRDY_Msk
+#define RNG_SR_CECS_Pos     (1U)
+#define RNG_SR_CECS_Msk     (0x1UL << RNG_SR_CECS_Pos)                         /*!< 0x00000002 */
+#define RNG_SR_CECS         RNG_SR_CECS_Msk
+#define RNG_SR_SECS_Pos     (2U)
+#define RNG_SR_SECS_Msk     (0x1UL << RNG_SR_SECS_Pos)                         /*!< 0x00000004 */
+#define RNG_SR_SECS         RNG_SR_SECS_Msk
+#define RNG_SR_CEIS_Pos     (5U)
+#define RNG_SR_CEIS_Msk     (0x1UL << RNG_SR_CEIS_Pos)                         /*!< 0x00000020 */
+#define RNG_SR_CEIS         RNG_SR_CEIS_Msk
+#define RNG_SR_SEIS_Pos     (6U)
+#define RNG_SR_SEIS_Msk     (0x1UL << RNG_SR_SEIS_Pos)                         /*!< 0x00000040 */
+#define RNG_SR_SEIS         RNG_SR_SEIS_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                           Real-Time Clock (RTC)                            */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bits definition for RTC_TR register  *******************/
+#define RTC_TR_PM_Pos                  (22U)
+#define RTC_TR_PM_Msk                  (0x1UL << RTC_TR_PM_Pos)                /*!< 0x00400000 */
+#define RTC_TR_PM                      RTC_TR_PM_Msk
+#define RTC_TR_HT_Pos                  (20U)
+#define RTC_TR_HT_Msk                  (0x3UL << RTC_TR_HT_Pos)                /*!< 0x00300000 */
+#define RTC_TR_HT                      RTC_TR_HT_Msk
+#define RTC_TR_HT_0                    (0x1UL << RTC_TR_HT_Pos)                 /*!< 0x00100000 */
+#define RTC_TR_HT_1                    (0x2UL << RTC_TR_HT_Pos)                 /*!< 0x00200000 */
+#define RTC_TR_HU_Pos                  (16U)
+#define RTC_TR_HU_Msk                  (0xFUL << RTC_TR_HU_Pos)                /*!< 0x000F0000 */
+#define RTC_TR_HU                      RTC_TR_HU_Msk
+#define RTC_TR_HU_0                    (0x1UL << RTC_TR_HU_Pos)                 /*!< 0x00010000 */
+#define RTC_TR_HU_1                    (0x2UL << RTC_TR_HU_Pos)                 /*!< 0x00020000 */
+#define RTC_TR_HU_2                    (0x4UL << RTC_TR_HU_Pos)                 /*!< 0x00040000 */
+#define RTC_TR_HU_3                    (0x8UL << RTC_TR_HU_Pos)                 /*!< 0x00080000 */
+#define RTC_TR_MNT_Pos                 (12U)
+#define RTC_TR_MNT_Msk                 (0x7UL << RTC_TR_MNT_Pos)               /*!< 0x00007000 */
+#define RTC_TR_MNT                     RTC_TR_MNT_Msk
+#define RTC_TR_MNT_0                   (0x1UL << RTC_TR_MNT_Pos)                /*!< 0x00001000 */
+#define RTC_TR_MNT_1                   (0x2UL << RTC_TR_MNT_Pos)                /*!< 0x00002000 */
+#define RTC_TR_MNT_2                   (0x4UL << RTC_TR_MNT_Pos)                /*!< 0x00004000 */
+#define RTC_TR_MNU_Pos                 (8U)
+#define RTC_TR_MNU_Msk                 (0xFUL << RTC_TR_MNU_Pos)               /*!< 0x00000F00 */
+#define RTC_TR_MNU                     RTC_TR_MNU_Msk
+#define RTC_TR_MNU_0                   (0x1UL << RTC_TR_MNU_Pos)                /*!< 0x00000100 */
+#define RTC_TR_MNU_1                   (0x2UL << RTC_TR_MNU_Pos)                /*!< 0x00000200 */
+#define RTC_TR_MNU_2                   (0x4UL << RTC_TR_MNU_Pos)                /*!< 0x00000400 */
+#define RTC_TR_MNU_3                   (0x8UL << RTC_TR_MNU_Pos)                /*!< 0x00000800 */
+#define RTC_TR_ST_Pos                  (4U)
+#define RTC_TR_ST_Msk                  (0x7UL << RTC_TR_ST_Pos)                /*!< 0x00000070 */
+#define RTC_TR_ST                      RTC_TR_ST_Msk
+#define RTC_TR_ST_0                    (0x1UL << RTC_TR_ST_Pos)                 /*!< 0x00000010 */
+#define RTC_TR_ST_1                    (0x2UL << RTC_TR_ST_Pos)                 /*!< 0x00000020 */
+#define RTC_TR_ST_2                    (0x4UL << RTC_TR_ST_Pos)                 /*!< 0x00000040 */
+#define RTC_TR_SU_Pos                  (0U)
+#define RTC_TR_SU_Msk                  (0xFUL << RTC_TR_SU_Pos)                /*!< 0x0000000F */
+#define RTC_TR_SU                      RTC_TR_SU_Msk
+#define RTC_TR_SU_0                    (0x1UL << RTC_TR_SU_Pos)                 /*!< 0x00000001 */
+#define RTC_TR_SU_1                    (0x2UL << RTC_TR_SU_Pos)                 /*!< 0x00000002 */
+#define RTC_TR_SU_2                    (0x4UL << RTC_TR_SU_Pos)                 /*!< 0x00000004 */
+#define RTC_TR_SU_3                    (0x8UL << RTC_TR_SU_Pos)                 /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_DR register  *******************/
+#define RTC_DR_YT_Pos                  (20U)
+#define RTC_DR_YT_Msk                  (0xFUL << RTC_DR_YT_Pos)                /*!< 0x00F00000 */
+#define RTC_DR_YT                      RTC_DR_YT_Msk
+#define RTC_DR_YT_0                    (0x1UL << RTC_DR_YT_Pos)                 /*!< 0x00100000 */
+#define RTC_DR_YT_1                    (0x2UL << RTC_DR_YT_Pos)                 /*!< 0x00200000 */
+#define RTC_DR_YT_2                    (0x4UL << RTC_DR_YT_Pos)                 /*!< 0x00400000 */
+#define RTC_DR_YT_3                    (0x8UL << RTC_DR_YT_Pos)                 /*!< 0x00800000 */
+#define RTC_DR_YU_Pos                  (16U)
+#define RTC_DR_YU_Msk                  (0xFUL << RTC_DR_YU_Pos)                /*!< 0x000F0000 */
+#define RTC_DR_YU                      RTC_DR_YU_Msk
+#define RTC_DR_YU_0                    (0x1UL << RTC_DR_YU_Pos)                 /*!< 0x00010000 */
+#define RTC_DR_YU_1                    (0x2UL << RTC_DR_YU_Pos)                 /*!< 0x00020000 */
+#define RTC_DR_YU_2                    (0x4UL << RTC_DR_YU_Pos)                 /*!< 0x00040000 */
+#define RTC_DR_YU_3                    (0x8UL << RTC_DR_YU_Pos)                 /*!< 0x00080000 */
+#define RTC_DR_WDU_Pos                 (13U)
+#define RTC_DR_WDU_Msk                 (0x7UL << RTC_DR_WDU_Pos)               /*!< 0x0000E000 */
+#define RTC_DR_WDU                     RTC_DR_WDU_Msk
+#define RTC_DR_WDU_0                   (0x1UL << RTC_DR_WDU_Pos)                /*!< 0x00002000 */
+#define RTC_DR_WDU_1                   (0x2UL << RTC_DR_WDU_Pos)                /*!< 0x00004000 */
+#define RTC_DR_WDU_2                   (0x4UL << RTC_DR_WDU_Pos)                /*!< 0x00008000 */
+#define RTC_DR_MT_Pos                  (12U)
+#define RTC_DR_MT_Msk                  (0x1UL << RTC_DR_MT_Pos)                /*!< 0x00001000 */
+#define RTC_DR_MT                      RTC_DR_MT_Msk
+#define RTC_DR_MU_Pos                  (8U)
+#define RTC_DR_MU_Msk                  (0xFUL << RTC_DR_MU_Pos)                /*!< 0x00000F00 */
+#define RTC_DR_MU                      RTC_DR_MU_Msk
+#define RTC_DR_MU_0                    (0x1UL << RTC_DR_MU_Pos)                 /*!< 0x00000100 */
+#define RTC_DR_MU_1                    (0x2UL << RTC_DR_MU_Pos)                 /*!< 0x00000200 */
+#define RTC_DR_MU_2                    (0x4UL << RTC_DR_MU_Pos)                 /*!< 0x00000400 */
+#define RTC_DR_MU_3                    (0x8UL << RTC_DR_MU_Pos)                 /*!< 0x00000800 */
+#define RTC_DR_DT_Pos                  (4U)
+#define RTC_DR_DT_Msk                  (0x3UL << RTC_DR_DT_Pos)                /*!< 0x00000030 */
+#define RTC_DR_DT                      RTC_DR_DT_Msk
+#define RTC_DR_DT_0                    (0x1UL << RTC_DR_DT_Pos)                 /*!< 0x00000010 */
+#define RTC_DR_DT_1                    (0x2UL << RTC_DR_DT_Pos)                 /*!< 0x00000020 */
+#define RTC_DR_DU_Pos                  (0U)
+#define RTC_DR_DU_Msk                  (0xFUL << RTC_DR_DU_Pos)                /*!< 0x0000000F */
+#define RTC_DR_DU                      RTC_DR_DU_Msk
+#define RTC_DR_DU_0                    (0x1UL << RTC_DR_DU_Pos)                 /*!< 0x00000001 */
+#define RTC_DR_DU_1                    (0x2UL << RTC_DR_DU_Pos)                 /*!< 0x00000002 */
+#define RTC_DR_DU_2                    (0x4UL << RTC_DR_DU_Pos)                 /*!< 0x00000004 */
+#define RTC_DR_DU_3                    (0x8UL << RTC_DR_DU_Pos)                 /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_CR register  *******************/
+#define RTC_CR_ITSE_Pos                (24U)
+#define RTC_CR_ITSE_Msk                (0x1UL << RTC_CR_ITSE_Pos)              /*!< 0x01000000 */
+#define RTC_CR_ITSE                    RTC_CR_ITSE_Msk
+#define RTC_CR_COE_Pos                 (23U)
+#define RTC_CR_COE_Msk                 (0x1UL << RTC_CR_COE_Pos)               /*!< 0x00800000 */
+#define RTC_CR_COE                     RTC_CR_COE_Msk
+#define RTC_CR_OSEL_Pos                (21U)
+#define RTC_CR_OSEL_Msk                (0x3UL << RTC_CR_OSEL_Pos)              /*!< 0x00600000 */
+#define RTC_CR_OSEL                    RTC_CR_OSEL_Msk
+#define RTC_CR_OSEL_0                  (0x1UL << RTC_CR_OSEL_Pos)               /*!< 0x00200000 */
+#define RTC_CR_OSEL_1                  (0x2UL << RTC_CR_OSEL_Pos)               /*!< 0x00400000 */
+#define RTC_CR_POL_Pos                 (20U)
+#define RTC_CR_POL_Msk                 (0x1UL << RTC_CR_POL_Pos)               /*!< 0x00100000 */
+#define RTC_CR_POL                     RTC_CR_POL_Msk
+#define RTC_CR_COSEL_Pos               (19U)
+#define RTC_CR_COSEL_Msk               (0x1UL << RTC_CR_COSEL_Pos)             /*!< 0x00080000 */
+#define RTC_CR_COSEL                   RTC_CR_COSEL_Msk
+#define RTC_CR_BKP_Pos                 (18U)
+#define RTC_CR_BKP_Msk                 (0x1UL << RTC_CR_BKP_Pos)               /*!< 0x00040000 */
+#define RTC_CR_BKP                     RTC_CR_BKP_Msk
+#define RTC_CR_SUB1H_Pos               (17U)
+#define RTC_CR_SUB1H_Msk               (0x1UL << RTC_CR_SUB1H_Pos)             /*!< 0x00020000 */
+#define RTC_CR_SUB1H                   RTC_CR_SUB1H_Msk
+#define RTC_CR_ADD1H_Pos               (16U)
+#define RTC_CR_ADD1H_Msk               (0x1UL << RTC_CR_ADD1H_Pos)             /*!< 0x00010000 */
+#define RTC_CR_ADD1H                   RTC_CR_ADD1H_Msk
+#define RTC_CR_TSIE_Pos                (15U)
+#define RTC_CR_TSIE_Msk                (0x1UL << RTC_CR_TSIE_Pos)              /*!< 0x00008000 */
+#define RTC_CR_TSIE                    RTC_CR_TSIE_Msk
+#define RTC_CR_WUTIE_Pos               (14U)
+#define RTC_CR_WUTIE_Msk               (0x1UL << RTC_CR_WUTIE_Pos)             /*!< 0x00004000 */
+#define RTC_CR_WUTIE                   RTC_CR_WUTIE_Msk
+#define RTC_CR_ALRBIE_Pos              (13U)
+#define RTC_CR_ALRBIE_Msk              (0x1UL << RTC_CR_ALRBIE_Pos)            /*!< 0x00002000 */
+#define RTC_CR_ALRBIE                  RTC_CR_ALRBIE_Msk
+#define RTC_CR_ALRAIE_Pos              (12U)
+#define RTC_CR_ALRAIE_Msk              (0x1UL << RTC_CR_ALRAIE_Pos)            /*!< 0x00001000 */
+#define RTC_CR_ALRAIE                  RTC_CR_ALRAIE_Msk
+#define RTC_CR_TSE_Pos                 (11U)
+#define RTC_CR_TSE_Msk                 (0x1UL << RTC_CR_TSE_Pos)               /*!< 0x00000800 */
+#define RTC_CR_TSE                     RTC_CR_TSE_Msk
+#define RTC_CR_WUTE_Pos                (10U)
+#define RTC_CR_WUTE_Msk                (0x1UL << RTC_CR_WUTE_Pos)              /*!< 0x00000400 */
+#define RTC_CR_WUTE                    RTC_CR_WUTE_Msk
+#define RTC_CR_ALRBE_Pos               (9U)
+#define RTC_CR_ALRBE_Msk               (0x1UL << RTC_CR_ALRBE_Pos)             /*!< 0x00000200 */
+#define RTC_CR_ALRBE                   RTC_CR_ALRBE_Msk
+#define RTC_CR_ALRAE_Pos               (8U)
+#define RTC_CR_ALRAE_Msk               (0x1UL << RTC_CR_ALRAE_Pos)             /*!< 0x00000100 */
+#define RTC_CR_ALRAE                   RTC_CR_ALRAE_Msk
+#define RTC_CR_FMT_Pos                 (6U)
+#define RTC_CR_FMT_Msk                 (0x1UL << RTC_CR_FMT_Pos)               /*!< 0x00000040 */
+#define RTC_CR_FMT                     RTC_CR_FMT_Msk
+#define RTC_CR_BYPSHAD_Pos             (5U)
+#define RTC_CR_BYPSHAD_Msk             (0x1UL << RTC_CR_BYPSHAD_Pos)           /*!< 0x00000020 */
+#define RTC_CR_BYPSHAD                 RTC_CR_BYPSHAD_Msk
+#define RTC_CR_REFCKON_Pos             (4U)
+#define RTC_CR_REFCKON_Msk             (0x1UL << RTC_CR_REFCKON_Pos)           /*!< 0x00000010 */
+#define RTC_CR_REFCKON                 RTC_CR_REFCKON_Msk
+#define RTC_CR_TSEDGE_Pos              (3U)
+#define RTC_CR_TSEDGE_Msk              (0x1UL << RTC_CR_TSEDGE_Pos)            /*!< 0x00000008 */
+#define RTC_CR_TSEDGE                  RTC_CR_TSEDGE_Msk
+#define RTC_CR_WUCKSEL_Pos             (0U)
+#define RTC_CR_WUCKSEL_Msk             (0x7UL << RTC_CR_WUCKSEL_Pos)           /*!< 0x00000007 */
+#define RTC_CR_WUCKSEL                 RTC_CR_WUCKSEL_Msk
+#define RTC_CR_WUCKSEL_0               (0x1UL << RTC_CR_WUCKSEL_Pos)            /*!< 0x00000001 */
+#define RTC_CR_WUCKSEL_1               (0x2UL << RTC_CR_WUCKSEL_Pos)            /*!< 0x00000002 */
+#define RTC_CR_WUCKSEL_2               (0x4UL << RTC_CR_WUCKSEL_Pos)            /*!< 0x00000004 */
+
+/********************  Bits definition for RTC_ISR register  ******************/
+#define RTC_ISR_ITSF_Pos               (17U)
+#define RTC_ISR_ITSF_Msk               (0x1UL << RTC_ISR_ITSF_Pos)             /*!< 0x00020000 */
+#define RTC_ISR_ITSF                   RTC_ISR_ITSF_Msk
+#define RTC_ISR_RECALPF_Pos            (16U)
+#define RTC_ISR_RECALPF_Msk            (0x1UL << RTC_ISR_RECALPF_Pos)          /*!< 0x00010000 */
+#define RTC_ISR_RECALPF                RTC_ISR_RECALPF_Msk
+#define RTC_ISR_TAMP3F_Pos             (15U)
+#define RTC_ISR_TAMP3F_Msk             (0x1UL << RTC_ISR_TAMP3F_Pos)           /*!< 0x00008000 */
+#define RTC_ISR_TAMP3F                 RTC_ISR_TAMP3F_Msk
+#define RTC_ISR_TAMP2F_Pos             (14U)
+#define RTC_ISR_TAMP2F_Msk             (0x1UL << RTC_ISR_TAMP2F_Pos)           /*!< 0x00004000 */
+#define RTC_ISR_TAMP2F                 RTC_ISR_TAMP2F_Msk
+#define RTC_ISR_TAMP1F_Pos             (13U)
+#define RTC_ISR_TAMP1F_Msk             (0x1UL << RTC_ISR_TAMP1F_Pos)           /*!< 0x00002000 */
+#define RTC_ISR_TAMP1F                 RTC_ISR_TAMP1F_Msk
+#define RTC_ISR_TSOVF_Pos              (12U)
+#define RTC_ISR_TSOVF_Msk              (0x1UL << RTC_ISR_TSOVF_Pos)            /*!< 0x00001000 */
+#define RTC_ISR_TSOVF                  RTC_ISR_TSOVF_Msk
+#define RTC_ISR_TSF_Pos                (11U)
+#define RTC_ISR_TSF_Msk                (0x1UL << RTC_ISR_TSF_Pos)              /*!< 0x00000800 */
+#define RTC_ISR_TSF                    RTC_ISR_TSF_Msk
+#define RTC_ISR_WUTF_Pos               (10U)
+#define RTC_ISR_WUTF_Msk               (0x1UL << RTC_ISR_WUTF_Pos)             /*!< 0x00000400 */
+#define RTC_ISR_WUTF                   RTC_ISR_WUTF_Msk
+#define RTC_ISR_ALRBF_Pos              (9U)
+#define RTC_ISR_ALRBF_Msk              (0x1UL << RTC_ISR_ALRBF_Pos)            /*!< 0x00000200 */
+#define RTC_ISR_ALRBF                  RTC_ISR_ALRBF_Msk
+#define RTC_ISR_ALRAF_Pos              (8U)
+#define RTC_ISR_ALRAF_Msk              (0x1UL << RTC_ISR_ALRAF_Pos)            /*!< 0x00000100 */
+#define RTC_ISR_ALRAF                  RTC_ISR_ALRAF_Msk
+#define RTC_ISR_INIT_Pos               (7U)
+#define RTC_ISR_INIT_Msk               (0x1UL << RTC_ISR_INIT_Pos)             /*!< 0x00000080 */
+#define RTC_ISR_INIT                   RTC_ISR_INIT_Msk
+#define RTC_ISR_INITF_Pos              (6U)
+#define RTC_ISR_INITF_Msk              (0x1UL << RTC_ISR_INITF_Pos)            /*!< 0x00000040 */
+#define RTC_ISR_INITF                  RTC_ISR_INITF_Msk
+#define RTC_ISR_RSF_Pos                (5U)
+#define RTC_ISR_RSF_Msk                (0x1UL << RTC_ISR_RSF_Pos)              /*!< 0x00000020 */
+#define RTC_ISR_RSF                    RTC_ISR_RSF_Msk
+#define RTC_ISR_INITS_Pos              (4U)
+#define RTC_ISR_INITS_Msk              (0x1UL << RTC_ISR_INITS_Pos)            /*!< 0x00000010 */
+#define RTC_ISR_INITS                  RTC_ISR_INITS_Msk
+#define RTC_ISR_SHPF_Pos               (3U)
+#define RTC_ISR_SHPF_Msk               (0x1UL << RTC_ISR_SHPF_Pos)             /*!< 0x00000008 */
+#define RTC_ISR_SHPF                   RTC_ISR_SHPF_Msk
+#define RTC_ISR_WUTWF_Pos              (2U)
+#define RTC_ISR_WUTWF_Msk              (0x1UL << RTC_ISR_WUTWF_Pos)            /*!< 0x00000004 */
+#define RTC_ISR_WUTWF                  RTC_ISR_WUTWF_Msk
+#define RTC_ISR_ALRBWF_Pos             (1U)
+#define RTC_ISR_ALRBWF_Msk             (0x1UL << RTC_ISR_ALRBWF_Pos)           /*!< 0x00000002 */
+#define RTC_ISR_ALRBWF                 RTC_ISR_ALRBWF_Msk
+#define RTC_ISR_ALRAWF_Pos             (0U)
+#define RTC_ISR_ALRAWF_Msk             (0x1UL << RTC_ISR_ALRAWF_Pos)           /*!< 0x00000001 */
+#define RTC_ISR_ALRAWF                 RTC_ISR_ALRAWF_Msk
+
+/********************  Bits definition for RTC_PRER register  *****************/
+#define RTC_PRER_PREDIV_A_Pos          (16U)
+#define RTC_PRER_PREDIV_A_Msk          (0x7FUL << RTC_PRER_PREDIV_A_Pos)       /*!< 0x007F0000 */
+#define RTC_PRER_PREDIV_A              RTC_PRER_PREDIV_A_Msk
+#define RTC_PRER_PREDIV_S_Pos          (0U)
+#define RTC_PRER_PREDIV_S_Msk          (0x7FFFUL << RTC_PRER_PREDIV_S_Pos)     /*!< 0x00007FFF */
+#define RTC_PRER_PREDIV_S              RTC_PRER_PREDIV_S_Msk
+
+/********************  Bits definition for RTC_WUTR register  *****************/
+#define RTC_WUTR_WUT_Pos               (0U)
+#define RTC_WUTR_WUT_Msk               (0xFFFFUL << RTC_WUTR_WUT_Pos)          /*!< 0x0000FFFF */
+#define RTC_WUTR_WUT                   RTC_WUTR_WUT_Msk
+
+/********************  Bits definition for RTC_ALRMAR register  ***************/
+#define RTC_ALRMAR_MSK4_Pos            (31U)
+#define RTC_ALRMAR_MSK4_Msk            (0x1UL << RTC_ALRMAR_MSK4_Pos)          /*!< 0x80000000 */
+#define RTC_ALRMAR_MSK4                RTC_ALRMAR_MSK4_Msk
+#define RTC_ALRMAR_WDSEL_Pos           (30U)
+#define RTC_ALRMAR_WDSEL_Msk           (0x1UL << RTC_ALRMAR_WDSEL_Pos)         /*!< 0x40000000 */
+#define RTC_ALRMAR_WDSEL               RTC_ALRMAR_WDSEL_Msk
+#define RTC_ALRMAR_DT_Pos              (28U)
+#define RTC_ALRMAR_DT_Msk              (0x3UL << RTC_ALRMAR_DT_Pos)            /*!< 0x30000000 */
+#define RTC_ALRMAR_DT                  RTC_ALRMAR_DT_Msk
+#define RTC_ALRMAR_DT_0                (0x1UL << RTC_ALRMAR_DT_Pos)             /*!< 0x10000000 */
+#define RTC_ALRMAR_DT_1                (0x2UL << RTC_ALRMAR_DT_Pos)             /*!< 0x20000000 */
+#define RTC_ALRMAR_DU_Pos              (24U)
+#define RTC_ALRMAR_DU_Msk              (0xFUL << RTC_ALRMAR_DU_Pos)            /*!< 0x0F000000 */
+#define RTC_ALRMAR_DU                  RTC_ALRMAR_DU_Msk
+#define RTC_ALRMAR_DU_0                (0x1UL << RTC_ALRMAR_DU_Pos)             /*!< 0x01000000 */
+#define RTC_ALRMAR_DU_1                (0x2UL << RTC_ALRMAR_DU_Pos)             /*!< 0x02000000 */
+#define RTC_ALRMAR_DU_2                (0x4UL << RTC_ALRMAR_DU_Pos)             /*!< 0x04000000 */
+#define RTC_ALRMAR_DU_3                (0x8UL << RTC_ALRMAR_DU_Pos)             /*!< 0x08000000 */
+#define RTC_ALRMAR_MSK3_Pos            (23U)
+#define RTC_ALRMAR_MSK3_Msk            (0x1UL << RTC_ALRMAR_MSK3_Pos)          /*!< 0x00800000 */
+#define RTC_ALRMAR_MSK3                RTC_ALRMAR_MSK3_Msk
+#define RTC_ALRMAR_PM_Pos              (22U)
+#define RTC_ALRMAR_PM_Msk              (0x1UL << RTC_ALRMAR_PM_Pos)            /*!< 0x00400000 */
+#define RTC_ALRMAR_PM                  RTC_ALRMAR_PM_Msk
+#define RTC_ALRMAR_HT_Pos              (20U)
+#define RTC_ALRMAR_HT_Msk              (0x3UL << RTC_ALRMAR_HT_Pos)            /*!< 0x00300000 */
+#define RTC_ALRMAR_HT                  RTC_ALRMAR_HT_Msk
+#define RTC_ALRMAR_HT_0                (0x1UL << RTC_ALRMAR_HT_Pos)             /*!< 0x00100000 */
+#define RTC_ALRMAR_HT_1                (0x2UL << RTC_ALRMAR_HT_Pos)             /*!< 0x00200000 */
+#define RTC_ALRMAR_HU_Pos              (16U)
+#define RTC_ALRMAR_HU_Msk              (0xFUL << RTC_ALRMAR_HU_Pos)            /*!< 0x000F0000 */
+#define RTC_ALRMAR_HU                  RTC_ALRMAR_HU_Msk
+#define RTC_ALRMAR_HU_0                (0x1UL << RTC_ALRMAR_HU_Pos)             /*!< 0x00010000 */
+#define RTC_ALRMAR_HU_1                (0x2UL << RTC_ALRMAR_HU_Pos)             /*!< 0x00020000 */
+#define RTC_ALRMAR_HU_2                (0x4UL << RTC_ALRMAR_HU_Pos)             /*!< 0x00040000 */
+#define RTC_ALRMAR_HU_3                (0x8UL << RTC_ALRMAR_HU_Pos)             /*!< 0x00080000 */
+#define RTC_ALRMAR_MSK2_Pos            (15U)
+#define RTC_ALRMAR_MSK2_Msk            (0x1UL << RTC_ALRMAR_MSK2_Pos)          /*!< 0x00008000 */
+#define RTC_ALRMAR_MSK2                RTC_ALRMAR_MSK2_Msk
+#define RTC_ALRMAR_MNT_Pos             (12U)
+#define RTC_ALRMAR_MNT_Msk             (0x7UL << RTC_ALRMAR_MNT_Pos)           /*!< 0x00007000 */
+#define RTC_ALRMAR_MNT                 RTC_ALRMAR_MNT_Msk
+#define RTC_ALRMAR_MNT_0               (0x1UL << RTC_ALRMAR_MNT_Pos)            /*!< 0x00001000 */
+#define RTC_ALRMAR_MNT_1               (0x2UL << RTC_ALRMAR_MNT_Pos)            /*!< 0x00002000 */
+#define RTC_ALRMAR_MNT_2               (0x4UL << RTC_ALRMAR_MNT_Pos)            /*!< 0x00004000 */
+#define RTC_ALRMAR_MNU_Pos             (8U)
+#define RTC_ALRMAR_MNU_Msk             (0xFUL << RTC_ALRMAR_MNU_Pos)           /*!< 0x00000F00 */
+#define RTC_ALRMAR_MNU                 RTC_ALRMAR_MNU_Msk
+#define RTC_ALRMAR_MNU_0               (0x1UL << RTC_ALRMAR_MNU_Pos)            /*!< 0x00000100 */
+#define RTC_ALRMAR_MNU_1               (0x2UL << RTC_ALRMAR_MNU_Pos)            /*!< 0x00000200 */
+#define RTC_ALRMAR_MNU_2               (0x4UL << RTC_ALRMAR_MNU_Pos)            /*!< 0x00000400 */
+#define RTC_ALRMAR_MNU_3               (0x8UL << RTC_ALRMAR_MNU_Pos)            /*!< 0x00000800 */
+#define RTC_ALRMAR_MSK1_Pos            (7U)
+#define RTC_ALRMAR_MSK1_Msk            (0x1UL << RTC_ALRMAR_MSK1_Pos)          /*!< 0x00000080 */
+#define RTC_ALRMAR_MSK1                RTC_ALRMAR_MSK1_Msk
+#define RTC_ALRMAR_ST_Pos              (4U)
+#define RTC_ALRMAR_ST_Msk              (0x7UL << RTC_ALRMAR_ST_Pos)            /*!< 0x00000070 */
+#define RTC_ALRMAR_ST                  RTC_ALRMAR_ST_Msk
+#define RTC_ALRMAR_ST_0                (0x1UL << RTC_ALRMAR_ST_Pos)             /*!< 0x00000010 */
+#define RTC_ALRMAR_ST_1                (0x2UL << RTC_ALRMAR_ST_Pos)             /*!< 0x00000020 */
+#define RTC_ALRMAR_ST_2                (0x4UL << RTC_ALRMAR_ST_Pos)             /*!< 0x00000040 */
+#define RTC_ALRMAR_SU_Pos              (0U)
+#define RTC_ALRMAR_SU_Msk              (0xFUL << RTC_ALRMAR_SU_Pos)            /*!< 0x0000000F */
+#define RTC_ALRMAR_SU                  RTC_ALRMAR_SU_Msk
+#define RTC_ALRMAR_SU_0                (0x1UL << RTC_ALRMAR_SU_Pos)             /*!< 0x00000001 */
+#define RTC_ALRMAR_SU_1                (0x2UL << RTC_ALRMAR_SU_Pos)             /*!< 0x00000002 */
+#define RTC_ALRMAR_SU_2                (0x4UL << RTC_ALRMAR_SU_Pos)             /*!< 0x00000004 */
+#define RTC_ALRMAR_SU_3                (0x8UL << RTC_ALRMAR_SU_Pos)             /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_ALRMBR register  ***************/
+#define RTC_ALRMBR_MSK4_Pos            (31U)
+#define RTC_ALRMBR_MSK4_Msk            (0x1UL << RTC_ALRMBR_MSK4_Pos)          /*!< 0x80000000 */
+#define RTC_ALRMBR_MSK4                RTC_ALRMBR_MSK4_Msk
+#define RTC_ALRMBR_WDSEL_Pos           (30U)
+#define RTC_ALRMBR_WDSEL_Msk           (0x1UL << RTC_ALRMBR_WDSEL_Pos)         /*!< 0x40000000 */
+#define RTC_ALRMBR_WDSEL               RTC_ALRMBR_WDSEL_Msk
+#define RTC_ALRMBR_DT_Pos              (28U)
+#define RTC_ALRMBR_DT_Msk              (0x3UL << RTC_ALRMBR_DT_Pos)            /*!< 0x30000000 */
+#define RTC_ALRMBR_DT                  RTC_ALRMBR_DT_Msk
+#define RTC_ALRMBR_DT_0                (0x1UL << RTC_ALRMBR_DT_Pos)             /*!< 0x10000000 */
+#define RTC_ALRMBR_DT_1                (0x2UL << RTC_ALRMBR_DT_Pos)             /*!< 0x20000000 */
+#define RTC_ALRMBR_DU_Pos              (24U)
+#define RTC_ALRMBR_DU_Msk              (0xFUL << RTC_ALRMBR_DU_Pos)            /*!< 0x0F000000 */
+#define RTC_ALRMBR_DU                  RTC_ALRMBR_DU_Msk
+#define RTC_ALRMBR_DU_0                (0x1UL << RTC_ALRMBR_DU_Pos)             /*!< 0x01000000 */
+#define RTC_ALRMBR_DU_1                (0x2UL << RTC_ALRMBR_DU_Pos)             /*!< 0x02000000 */
+#define RTC_ALRMBR_DU_2                (0x4UL << RTC_ALRMBR_DU_Pos)             /*!< 0x04000000 */
+#define RTC_ALRMBR_DU_3                (0x8UL << RTC_ALRMBR_DU_Pos)             /*!< 0x08000000 */
+#define RTC_ALRMBR_MSK3_Pos            (23U)
+#define RTC_ALRMBR_MSK3_Msk            (0x1UL << RTC_ALRMBR_MSK3_Pos)          /*!< 0x00800000 */
+#define RTC_ALRMBR_MSK3                RTC_ALRMBR_MSK3_Msk
+#define RTC_ALRMBR_PM_Pos              (22U)
+#define RTC_ALRMBR_PM_Msk              (0x1UL << RTC_ALRMBR_PM_Pos)            /*!< 0x00400000 */
+#define RTC_ALRMBR_PM                  RTC_ALRMBR_PM_Msk
+#define RTC_ALRMBR_HT_Pos              (20U)
+#define RTC_ALRMBR_HT_Msk              (0x3UL << RTC_ALRMBR_HT_Pos)            /*!< 0x00300000 */
+#define RTC_ALRMBR_HT                  RTC_ALRMBR_HT_Msk
+#define RTC_ALRMBR_HT_0                (0x1UL << RTC_ALRMBR_HT_Pos)             /*!< 0x00100000 */
+#define RTC_ALRMBR_HT_1                (0x2UL << RTC_ALRMBR_HT_Pos)             /*!< 0x00200000 */
+#define RTC_ALRMBR_HU_Pos              (16U)
+#define RTC_ALRMBR_HU_Msk              (0xFUL << RTC_ALRMBR_HU_Pos)            /*!< 0x000F0000 */
+#define RTC_ALRMBR_HU                  RTC_ALRMBR_HU_Msk
+#define RTC_ALRMBR_HU_0                (0x1UL << RTC_ALRMBR_HU_Pos)             /*!< 0x00010000 */
+#define RTC_ALRMBR_HU_1                (0x2UL << RTC_ALRMBR_HU_Pos)             /*!< 0x00020000 */
+#define RTC_ALRMBR_HU_2                (0x4UL << RTC_ALRMBR_HU_Pos)             /*!< 0x00040000 */
+#define RTC_ALRMBR_HU_3                (0x8UL << RTC_ALRMBR_HU_Pos)             /*!< 0x00080000 */
+#define RTC_ALRMBR_MSK2_Pos            (15U)
+#define RTC_ALRMBR_MSK2_Msk            (0x1UL << RTC_ALRMBR_MSK2_Pos)          /*!< 0x00008000 */
+#define RTC_ALRMBR_MSK2                RTC_ALRMBR_MSK2_Msk
+#define RTC_ALRMBR_MNT_Pos             (12U)
+#define RTC_ALRMBR_MNT_Msk             (0x7UL << RTC_ALRMBR_MNT_Pos)           /*!< 0x00007000 */
+#define RTC_ALRMBR_MNT                 RTC_ALRMBR_MNT_Msk
+#define RTC_ALRMBR_MNT_0               (0x1UL << RTC_ALRMBR_MNT_Pos)            /*!< 0x00001000 */
+#define RTC_ALRMBR_MNT_1               (0x2UL << RTC_ALRMBR_MNT_Pos)            /*!< 0x00002000 */
+#define RTC_ALRMBR_MNT_2               (0x4UL << RTC_ALRMBR_MNT_Pos)            /*!< 0x00004000 */
+#define RTC_ALRMBR_MNU_Pos             (8U)
+#define RTC_ALRMBR_MNU_Msk             (0xFUL << RTC_ALRMBR_MNU_Pos)           /*!< 0x00000F00 */
+#define RTC_ALRMBR_MNU                 RTC_ALRMBR_MNU_Msk
+#define RTC_ALRMBR_MNU_0               (0x1UL << RTC_ALRMBR_MNU_Pos)            /*!< 0x00000100 */
+#define RTC_ALRMBR_MNU_1               (0x2UL << RTC_ALRMBR_MNU_Pos)            /*!< 0x00000200 */
+#define RTC_ALRMBR_MNU_2               (0x4UL << RTC_ALRMBR_MNU_Pos)            /*!< 0x00000400 */
+#define RTC_ALRMBR_MNU_3               (0x8UL << RTC_ALRMBR_MNU_Pos)            /*!< 0x00000800 */
+#define RTC_ALRMBR_MSK1_Pos            (7U)
+#define RTC_ALRMBR_MSK1_Msk            (0x1UL << RTC_ALRMBR_MSK1_Pos)          /*!< 0x00000080 */
+#define RTC_ALRMBR_MSK1                RTC_ALRMBR_MSK1_Msk
+#define RTC_ALRMBR_ST_Pos              (4U)
+#define RTC_ALRMBR_ST_Msk              (0x7UL << RTC_ALRMBR_ST_Pos)            /*!< 0x00000070 */
+#define RTC_ALRMBR_ST                  RTC_ALRMBR_ST_Msk
+#define RTC_ALRMBR_ST_0                (0x1UL << RTC_ALRMBR_ST_Pos)             /*!< 0x00000010 */
+#define RTC_ALRMBR_ST_1                (0x2UL << RTC_ALRMBR_ST_Pos)             /*!< 0x00000020 */
+#define RTC_ALRMBR_ST_2                (0x4UL << RTC_ALRMBR_ST_Pos)             /*!< 0x00000040 */
+#define RTC_ALRMBR_SU_Pos              (0U)
+#define RTC_ALRMBR_SU_Msk              (0xFUL << RTC_ALRMBR_SU_Pos)            /*!< 0x0000000F */
+#define RTC_ALRMBR_SU                  RTC_ALRMBR_SU_Msk
+#define RTC_ALRMBR_SU_0                (0x1UL << RTC_ALRMBR_SU_Pos)             /*!< 0x00000001 */
+#define RTC_ALRMBR_SU_1                (0x2UL << RTC_ALRMBR_SU_Pos)             /*!< 0x00000002 */
+#define RTC_ALRMBR_SU_2                (0x4UL << RTC_ALRMBR_SU_Pos)             /*!< 0x00000004 */
+#define RTC_ALRMBR_SU_3                (0x8UL << RTC_ALRMBR_SU_Pos)             /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_WPR register  ******************/
+#define RTC_WPR_KEY_Pos                (0U)
+#define RTC_WPR_KEY_Msk                (0xFFUL << RTC_WPR_KEY_Pos)             /*!< 0x000000FF */
+#define RTC_WPR_KEY                    RTC_WPR_KEY_Msk
+
+/********************  Bits definition for RTC_SSR register  ******************/
+#define RTC_SSR_SS_Pos                 (0U)
+#define RTC_SSR_SS_Msk                 (0xFFFFUL << RTC_SSR_SS_Pos)            /*!< 0x0000FFFF */
+#define RTC_SSR_SS                     RTC_SSR_SS_Msk
+
+/********************  Bits definition for RTC_SHIFTR register  ***************/
+#define RTC_SHIFTR_SUBFS_Pos           (0U)
+#define RTC_SHIFTR_SUBFS_Msk           (0x7FFFUL << RTC_SHIFTR_SUBFS_Pos)      /*!< 0x00007FFF */
+#define RTC_SHIFTR_SUBFS               RTC_SHIFTR_SUBFS_Msk
+#define RTC_SHIFTR_ADD1S_Pos           (31U)
+#define RTC_SHIFTR_ADD1S_Msk           (0x1UL << RTC_SHIFTR_ADD1S_Pos)         /*!< 0x80000000 */
+#define RTC_SHIFTR_ADD1S               RTC_SHIFTR_ADD1S_Msk
+
+/********************  Bits definition for RTC_TSTR register  *****************/
+#define RTC_TSTR_PM_Pos                (22U)
+#define RTC_TSTR_PM_Msk                (0x1UL << RTC_TSTR_PM_Pos)              /*!< 0x00400000 */
+#define RTC_TSTR_PM                    RTC_TSTR_PM_Msk
+#define RTC_TSTR_HT_Pos                (20U)
+#define RTC_TSTR_HT_Msk                (0x3UL << RTC_TSTR_HT_Pos)              /*!< 0x00300000 */
+#define RTC_TSTR_HT                    RTC_TSTR_HT_Msk
+#define RTC_TSTR_HT_0                  (0x1UL << RTC_TSTR_HT_Pos)               /*!< 0x00100000 */
+#define RTC_TSTR_HT_1                  (0x2UL << RTC_TSTR_HT_Pos)               /*!< 0x00200000 */
+#define RTC_TSTR_HU_Pos                (16U)
+#define RTC_TSTR_HU_Msk                (0xFUL << RTC_TSTR_HU_Pos)              /*!< 0x000F0000 */
+#define RTC_TSTR_HU                    RTC_TSTR_HU_Msk
+#define RTC_TSTR_HU_0                  (0x1UL << RTC_TSTR_HU_Pos)               /*!< 0x00010000 */
+#define RTC_TSTR_HU_1                  (0x2UL << RTC_TSTR_HU_Pos)               /*!< 0x00020000 */
+#define RTC_TSTR_HU_2                  (0x4UL << RTC_TSTR_HU_Pos)               /*!< 0x00040000 */
+#define RTC_TSTR_HU_3                  (0x8UL << RTC_TSTR_HU_Pos)               /*!< 0x00080000 */
+#define RTC_TSTR_MNT_Pos               (12U)
+#define RTC_TSTR_MNT_Msk               (0x7UL << RTC_TSTR_MNT_Pos)             /*!< 0x00007000 */
+#define RTC_TSTR_MNT                   RTC_TSTR_MNT_Msk
+#define RTC_TSTR_MNT_0                 (0x1UL << RTC_TSTR_MNT_Pos)              /*!< 0x00001000 */
+#define RTC_TSTR_MNT_1                 (0x2UL << RTC_TSTR_MNT_Pos)              /*!< 0x00002000 */
+#define RTC_TSTR_MNT_2                 (0x4UL << RTC_TSTR_MNT_Pos)              /*!< 0x00004000 */
+#define RTC_TSTR_MNU_Pos               (8U)
+#define RTC_TSTR_MNU_Msk               (0xFUL << RTC_TSTR_MNU_Pos)             /*!< 0x00000F00 */
+#define RTC_TSTR_MNU                   RTC_TSTR_MNU_Msk
+#define RTC_TSTR_MNU_0                 (0x1UL << RTC_TSTR_MNU_Pos)              /*!< 0x00000100 */
+#define RTC_TSTR_MNU_1                 (0x2UL << RTC_TSTR_MNU_Pos)              /*!< 0x00000200 */
+#define RTC_TSTR_MNU_2                 (0x4UL << RTC_TSTR_MNU_Pos)              /*!< 0x00000400 */
+#define RTC_TSTR_MNU_3                 (0x8UL << RTC_TSTR_MNU_Pos)              /*!< 0x00000800 */
+#define RTC_TSTR_ST_Pos                (4U)
+#define RTC_TSTR_ST_Msk                (0x7UL << RTC_TSTR_ST_Pos)              /*!< 0x00000070 */
+#define RTC_TSTR_ST                    RTC_TSTR_ST_Msk
+#define RTC_TSTR_ST_0                  (0x1UL << RTC_TSTR_ST_Pos)               /*!< 0x00000010 */
+#define RTC_TSTR_ST_1                  (0x2UL << RTC_TSTR_ST_Pos)               /*!< 0x00000020 */
+#define RTC_TSTR_ST_2                  (0x4UL << RTC_TSTR_ST_Pos)               /*!< 0x00000040 */
+#define RTC_TSTR_SU_Pos                (0U)
+#define RTC_TSTR_SU_Msk                (0xFUL << RTC_TSTR_SU_Pos)              /*!< 0x0000000F */
+#define RTC_TSTR_SU                    RTC_TSTR_SU_Msk
+#define RTC_TSTR_SU_0                  (0x1UL << RTC_TSTR_SU_Pos)               /*!< 0x00000001 */
+#define RTC_TSTR_SU_1                  (0x2UL << RTC_TSTR_SU_Pos)               /*!< 0x00000002 */
+#define RTC_TSTR_SU_2                  (0x4UL << RTC_TSTR_SU_Pos)               /*!< 0x00000004 */
+#define RTC_TSTR_SU_3                  (0x8UL << RTC_TSTR_SU_Pos)               /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_TSDR register  *****************/
+#define RTC_TSDR_WDU_Pos               (13U)
+#define RTC_TSDR_WDU_Msk               (0x7UL << RTC_TSDR_WDU_Pos)             /*!< 0x0000E000 */
+#define RTC_TSDR_WDU                   RTC_TSDR_WDU_Msk
+#define RTC_TSDR_WDU_0                 (0x1UL << RTC_TSDR_WDU_Pos)              /*!< 0x00002000 */
+#define RTC_TSDR_WDU_1                 (0x2UL << RTC_TSDR_WDU_Pos)              /*!< 0x00004000 */
+#define RTC_TSDR_WDU_2                 (0x4UL << RTC_TSDR_WDU_Pos)              /*!< 0x00008000 */
+#define RTC_TSDR_MT_Pos                (12U)
+#define RTC_TSDR_MT_Msk                (0x1UL << RTC_TSDR_MT_Pos)              /*!< 0x00001000 */
+#define RTC_TSDR_MT                    RTC_TSDR_MT_Msk
+#define RTC_TSDR_MU_Pos                (8U)
+#define RTC_TSDR_MU_Msk                (0xFUL << RTC_TSDR_MU_Pos)              /*!< 0x00000F00 */
+#define RTC_TSDR_MU                    RTC_TSDR_MU_Msk
+#define RTC_TSDR_MU_0                  (0x1UL << RTC_TSDR_MU_Pos)               /*!< 0x00000100 */
+#define RTC_TSDR_MU_1                  (0x2UL << RTC_TSDR_MU_Pos)               /*!< 0x00000200 */
+#define RTC_TSDR_MU_2                  (0x4UL << RTC_TSDR_MU_Pos)               /*!< 0x00000400 */
+#define RTC_TSDR_MU_3                  (0x8UL << RTC_TSDR_MU_Pos)               /*!< 0x00000800 */
+#define RTC_TSDR_DT_Pos                (4U)
+#define RTC_TSDR_DT_Msk                (0x3UL << RTC_TSDR_DT_Pos)              /*!< 0x00000030 */
+#define RTC_TSDR_DT                    RTC_TSDR_DT_Msk
+#define RTC_TSDR_DT_0                  (0x1UL << RTC_TSDR_DT_Pos)               /*!< 0x00000010 */
+#define RTC_TSDR_DT_1                  (0x2UL << RTC_TSDR_DT_Pos)               /*!< 0x00000020 */
+#define RTC_TSDR_DU_Pos                (0U)
+#define RTC_TSDR_DU_Msk                (0xFUL << RTC_TSDR_DU_Pos)              /*!< 0x0000000F */
+#define RTC_TSDR_DU                    RTC_TSDR_DU_Msk
+#define RTC_TSDR_DU_0                  (0x1UL << RTC_TSDR_DU_Pos)               /*!< 0x00000001 */
+#define RTC_TSDR_DU_1                  (0x2UL << RTC_TSDR_DU_Pos)               /*!< 0x00000002 */
+#define RTC_TSDR_DU_2                  (0x4UL << RTC_TSDR_DU_Pos)               /*!< 0x00000004 */
+#define RTC_TSDR_DU_3                  (0x8UL << RTC_TSDR_DU_Pos)               /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_TSSSR register  ****************/
+#define RTC_TSSSR_SS_Pos               (0U)
+#define RTC_TSSSR_SS_Msk               (0xFFFFUL << RTC_TSSSR_SS_Pos)          /*!< 0x0000FFFF */
+#define RTC_TSSSR_SS                   RTC_TSSSR_SS_Msk
+
+/********************  Bits definition for RTC_CALR register  *****************/
+#define RTC_CALR_CALP_Pos              (15U)
+#define RTC_CALR_CALP_Msk              (0x1UL << RTC_CALR_CALP_Pos)            /*!< 0x00008000 */
+#define RTC_CALR_CALP                  RTC_CALR_CALP_Msk
+#define RTC_CALR_CALW8_Pos             (14U)
+#define RTC_CALR_CALW8_Msk             (0x1UL << RTC_CALR_CALW8_Pos)           /*!< 0x00004000 */
+#define RTC_CALR_CALW8                 RTC_CALR_CALW8_Msk
+#define RTC_CALR_CALW16_Pos            (13U)
+#define RTC_CALR_CALW16_Msk            (0x1UL << RTC_CALR_CALW16_Pos)          /*!< 0x00002000 */
+#define RTC_CALR_CALW16                RTC_CALR_CALW16_Msk
+#define RTC_CALR_CALM_Pos              (0U)
+#define RTC_CALR_CALM_Msk              (0x1FFUL << RTC_CALR_CALM_Pos)          /*!< 0x000001FF */
+#define RTC_CALR_CALM                  RTC_CALR_CALM_Msk
+#define RTC_CALR_CALM_0                (0x001UL << RTC_CALR_CALM_Pos)           /*!< 0x00000001 */
+#define RTC_CALR_CALM_1                (0x002UL << RTC_CALR_CALM_Pos)           /*!< 0x00000002 */
+#define RTC_CALR_CALM_2                (0x004UL << RTC_CALR_CALM_Pos)           /*!< 0x00000004 */
+#define RTC_CALR_CALM_3                (0x008UL << RTC_CALR_CALM_Pos)           /*!< 0x00000008 */
+#define RTC_CALR_CALM_4                (0x010UL << RTC_CALR_CALM_Pos)           /*!< 0x00000010 */
+#define RTC_CALR_CALM_5                (0x020UL << RTC_CALR_CALM_Pos)           /*!< 0x00000020 */
+#define RTC_CALR_CALM_6                (0x040UL << RTC_CALR_CALM_Pos)           /*!< 0x00000040 */
+#define RTC_CALR_CALM_7                (0x080UL << RTC_CALR_CALM_Pos)           /*!< 0x00000080 */
+#define RTC_CALR_CALM_8                (0x100UL << RTC_CALR_CALM_Pos)           /*!< 0x00000100 */
+
+/********************  Bits definition for RTC_TAMPCR register  ***************/
+#define RTC_TAMPCR_TAMP3MF_Pos         (24U)
+#define RTC_TAMPCR_TAMP3MF_Msk         (0x1UL << RTC_TAMPCR_TAMP3MF_Pos)       /*!< 0x01000000 */
+#define RTC_TAMPCR_TAMP3MF             RTC_TAMPCR_TAMP3MF_Msk
+#define RTC_TAMPCR_TAMP3NOERASE_Pos    (23U)
+#define RTC_TAMPCR_TAMP3NOERASE_Msk    (0x1UL << RTC_TAMPCR_TAMP3NOERASE_Pos)  /*!< 0x00800000 */
+#define RTC_TAMPCR_TAMP3NOERASE        RTC_TAMPCR_TAMP3NOERASE_Msk
+#define RTC_TAMPCR_TAMP3IE_Pos         (22U)
+#define RTC_TAMPCR_TAMP3IE_Msk         (0x1UL << RTC_TAMPCR_TAMP3IE_Pos)       /*!< 0x00400000 */
+#define RTC_TAMPCR_TAMP3IE             RTC_TAMPCR_TAMP3IE_Msk
+#define RTC_TAMPCR_TAMP2MF_Pos         (21U)
+#define RTC_TAMPCR_TAMP2MF_Msk         (0x1UL << RTC_TAMPCR_TAMP2MF_Pos)       /*!< 0x00200000 */
+#define RTC_TAMPCR_TAMP2MF             RTC_TAMPCR_TAMP2MF_Msk
+#define RTC_TAMPCR_TAMP2NOERASE_Pos    (20U)
+#define RTC_TAMPCR_TAMP2NOERASE_Msk    (0x1UL << RTC_TAMPCR_TAMP2NOERASE_Pos)  /*!< 0x00100000 */
+#define RTC_TAMPCR_TAMP2NOERASE        RTC_TAMPCR_TAMP2NOERASE_Msk
+#define RTC_TAMPCR_TAMP2IE_Pos         (19U)
+#define RTC_TAMPCR_TAMP2IE_Msk         (0x1UL << RTC_TAMPCR_TAMP2IE_Pos)       /*!< 0x00080000 */
+#define RTC_TAMPCR_TAMP2IE             RTC_TAMPCR_TAMP2IE_Msk
+#define RTC_TAMPCR_TAMP1MF_Pos         (18U)
+#define RTC_TAMPCR_TAMP1MF_Msk         (0x1UL << RTC_TAMPCR_TAMP1MF_Pos)       /*!< 0x00040000 */
+#define RTC_TAMPCR_TAMP1MF             RTC_TAMPCR_TAMP1MF_Msk
+#define RTC_TAMPCR_TAMP1NOERASE_Pos    (17U)
+#define RTC_TAMPCR_TAMP1NOERASE_Msk    (0x1UL << RTC_TAMPCR_TAMP1NOERASE_Pos)  /*!< 0x00020000 */
+#define RTC_TAMPCR_TAMP1NOERASE        RTC_TAMPCR_TAMP1NOERASE_Msk
+#define RTC_TAMPCR_TAMP1IE_Pos         (16U)
+#define RTC_TAMPCR_TAMP1IE_Msk         (0x1UL << RTC_TAMPCR_TAMP1IE_Pos)       /*!< 0x00010000 */
+#define RTC_TAMPCR_TAMP1IE             RTC_TAMPCR_TAMP1IE_Msk
+#define RTC_TAMPCR_TAMPPUDIS_Pos       (15U)
+#define RTC_TAMPCR_TAMPPUDIS_Msk       (0x1UL << RTC_TAMPCR_TAMPPUDIS_Pos)     /*!< 0x00008000 */
+#define RTC_TAMPCR_TAMPPUDIS           RTC_TAMPCR_TAMPPUDIS_Msk
+#define RTC_TAMPCR_TAMPPRCH_Pos        (13U)
+#define RTC_TAMPCR_TAMPPRCH_Msk        (0x3UL << RTC_TAMPCR_TAMPPRCH_Pos)      /*!< 0x00006000 */
+#define RTC_TAMPCR_TAMPPRCH            RTC_TAMPCR_TAMPPRCH_Msk
+#define RTC_TAMPCR_TAMPPRCH_0          (0x1UL << RTC_TAMPCR_TAMPPRCH_Pos)       /*!< 0x00002000 */
+#define RTC_TAMPCR_TAMPPRCH_1          (0x2UL << RTC_TAMPCR_TAMPPRCH_Pos)       /*!< 0x00004000 */
+#define RTC_TAMPCR_TAMPFLT_Pos         (11U)
+#define RTC_TAMPCR_TAMPFLT_Msk         (0x3UL << RTC_TAMPCR_TAMPFLT_Pos)       /*!< 0x00001800 */
+#define RTC_TAMPCR_TAMPFLT             RTC_TAMPCR_TAMPFLT_Msk
+#define RTC_TAMPCR_TAMPFLT_0           (0x1UL << RTC_TAMPCR_TAMPFLT_Pos)        /*!< 0x00000800 */
+#define RTC_TAMPCR_TAMPFLT_1           (0x2UL << RTC_TAMPCR_TAMPFLT_Pos)        /*!< 0x00001000 */
+#define RTC_TAMPCR_TAMPFREQ_Pos        (8U)
+#define RTC_TAMPCR_TAMPFREQ_Msk        (0x7UL << RTC_TAMPCR_TAMPFREQ_Pos)      /*!< 0x00000700 */
+#define RTC_TAMPCR_TAMPFREQ            RTC_TAMPCR_TAMPFREQ_Msk
+#define RTC_TAMPCR_TAMPFREQ_0          (0x1UL << RTC_TAMPCR_TAMPFREQ_Pos)       /*!< 0x00000100 */
+#define RTC_TAMPCR_TAMPFREQ_1          (0x2UL << RTC_TAMPCR_TAMPFREQ_Pos)       /*!< 0x00000200 */
+#define RTC_TAMPCR_TAMPFREQ_2          (0x4UL << RTC_TAMPCR_TAMPFREQ_Pos)       /*!< 0x00000400 */
+#define RTC_TAMPCR_TAMPTS_Pos          (7U)
+#define RTC_TAMPCR_TAMPTS_Msk          (0x1UL << RTC_TAMPCR_TAMPTS_Pos)        /*!< 0x00000080 */
+#define RTC_TAMPCR_TAMPTS              RTC_TAMPCR_TAMPTS_Msk
+#define RTC_TAMPCR_TAMP3TRG_Pos        (6U)
+#define RTC_TAMPCR_TAMP3TRG_Msk        (0x1UL << RTC_TAMPCR_TAMP3TRG_Pos)      /*!< 0x00000040 */
+#define RTC_TAMPCR_TAMP3TRG            RTC_TAMPCR_TAMP3TRG_Msk
+#define RTC_TAMPCR_TAMP3E_Pos          (5U)
+#define RTC_TAMPCR_TAMP3E_Msk          (0x1UL << RTC_TAMPCR_TAMP3E_Pos)        /*!< 0x00000020 */
+#define RTC_TAMPCR_TAMP3E              RTC_TAMPCR_TAMP3E_Msk
+#define RTC_TAMPCR_TAMP2TRG_Pos        (4U)
+#define RTC_TAMPCR_TAMP2TRG_Msk        (0x1UL << RTC_TAMPCR_TAMP2TRG_Pos)      /*!< 0x00000010 */
+#define RTC_TAMPCR_TAMP2TRG            RTC_TAMPCR_TAMP2TRG_Msk
+#define RTC_TAMPCR_TAMP2E_Pos          (3U)
+#define RTC_TAMPCR_TAMP2E_Msk          (0x1UL << RTC_TAMPCR_TAMP2E_Pos)        /*!< 0x00000008 */
+#define RTC_TAMPCR_TAMP2E              RTC_TAMPCR_TAMP2E_Msk
+#define RTC_TAMPCR_TAMPIE_Pos          (2U)
+#define RTC_TAMPCR_TAMPIE_Msk          (0x1UL << RTC_TAMPCR_TAMPIE_Pos)        /*!< 0x00000004 */
+#define RTC_TAMPCR_TAMPIE              RTC_TAMPCR_TAMPIE_Msk
+#define RTC_TAMPCR_TAMP1TRG_Pos        (1U)
+#define RTC_TAMPCR_TAMP1TRG_Msk        (0x1UL << RTC_TAMPCR_TAMP1TRG_Pos)      /*!< 0x00000002 */
+#define RTC_TAMPCR_TAMP1TRG            RTC_TAMPCR_TAMP1TRG_Msk
+#define RTC_TAMPCR_TAMP1E_Pos          (0U)
+#define RTC_TAMPCR_TAMP1E_Msk          (0x1UL << RTC_TAMPCR_TAMP1E_Pos)        /*!< 0x00000001 */
+#define RTC_TAMPCR_TAMP1E              RTC_TAMPCR_TAMP1E_Msk
+
+/********************  Bits definition for RTC_ALRMASSR register  *************/
+#define RTC_ALRMASSR_MASKSS_Pos        (24U)
+#define RTC_ALRMASSR_MASKSS_Msk        (0xFUL << RTC_ALRMASSR_MASKSS_Pos)      /*!< 0x0F000000 */
+#define RTC_ALRMASSR_MASKSS            RTC_ALRMASSR_MASKSS_Msk
+#define RTC_ALRMASSR_MASKSS_0          (0x1UL << RTC_ALRMASSR_MASKSS_Pos)       /*!< 0x01000000 */
+#define RTC_ALRMASSR_MASKSS_1          (0x2UL << RTC_ALRMASSR_MASKSS_Pos)       /*!< 0x02000000 */
+#define RTC_ALRMASSR_MASKSS_2          (0x4UL << RTC_ALRMASSR_MASKSS_Pos)       /*!< 0x04000000 */
+#define RTC_ALRMASSR_MASKSS_3          (0x8UL << RTC_ALRMASSR_MASKSS_Pos)       /*!< 0x08000000 */
+#define RTC_ALRMASSR_SS_Pos            (0U)
+#define RTC_ALRMASSR_SS_Msk            (0x7FFFUL << RTC_ALRMASSR_SS_Pos)       /*!< 0x00007FFF */
+#define RTC_ALRMASSR_SS                RTC_ALRMASSR_SS_Msk
+
+/********************  Bits definition for RTC_ALRMBSSR register  *************/
+#define RTC_ALRMBSSR_MASKSS_Pos        (24U)
+#define RTC_ALRMBSSR_MASKSS_Msk        (0xFUL << RTC_ALRMBSSR_MASKSS_Pos)      /*!< 0x0F000000 */
+#define RTC_ALRMBSSR_MASKSS            RTC_ALRMBSSR_MASKSS_Msk
+#define RTC_ALRMBSSR_MASKSS_0          (0x1UL << RTC_ALRMBSSR_MASKSS_Pos)       /*!< 0x01000000 */
+#define RTC_ALRMBSSR_MASKSS_1          (0x2UL << RTC_ALRMBSSR_MASKSS_Pos)       /*!< 0x02000000 */
+#define RTC_ALRMBSSR_MASKSS_2          (0x4UL << RTC_ALRMBSSR_MASKSS_Pos)       /*!< 0x04000000 */
+#define RTC_ALRMBSSR_MASKSS_3          (0x8UL << RTC_ALRMBSSR_MASKSS_Pos)       /*!< 0x08000000 */
+#define RTC_ALRMBSSR_SS_Pos            (0U)
+#define RTC_ALRMBSSR_SS_Msk            (0x7FFFUL << RTC_ALRMBSSR_SS_Pos)       /*!< 0x00007FFF */
+#define RTC_ALRMBSSR_SS                RTC_ALRMBSSR_SS_Msk
+
+/********************  Bits definition for RTC_OR register  *******************/
+#define RTC_OR_OUT_RMP_Pos             (1U)
+#define RTC_OR_OUT_RMP_Msk             (0x1UL << RTC_OR_OUT_RMP_Pos)           /*!< 0x00000002 */
+#define RTC_OR_OUT_RMP                 RTC_OR_OUT_RMP_Msk
+#define RTC_OR_ALARMOUTTYPE_Pos        (0U)
+#define RTC_OR_ALARMOUTTYPE_Msk        (0x1UL << RTC_OR_ALARMOUTTYPE_Pos)      /*!< 0x00000001 */
+#define RTC_OR_ALARMOUTTYPE            RTC_OR_ALARMOUTTYPE_Msk
+
+/********************  Bits definition for RTC_BKP0R register  ****************/
+#define RTC_BKP0R_Pos                  (0U)
+#define RTC_BKP0R_Msk                  (0xFFFFFFFFUL << RTC_BKP0R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP0R                      RTC_BKP0R_Msk
+
+/********************  Bits definition for RTC_BKP1R register  ****************/
+#define RTC_BKP1R_Pos                  (0U)
+#define RTC_BKP1R_Msk                  (0xFFFFFFFFUL << RTC_BKP1R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP1R                      RTC_BKP1R_Msk
+
+/********************  Bits definition for RTC_BKP2R register  ****************/
+#define RTC_BKP2R_Pos                  (0U)
+#define RTC_BKP2R_Msk                  (0xFFFFFFFFUL << RTC_BKP2R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP2R                      RTC_BKP2R_Msk
+
+/********************  Bits definition for RTC_BKP3R register  ****************/
+#define RTC_BKP3R_Pos                  (0U)
+#define RTC_BKP3R_Msk                  (0xFFFFFFFFUL << RTC_BKP3R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP3R                      RTC_BKP3R_Msk
+
+/********************  Bits definition for RTC_BKP4R register  ****************/
+#define RTC_BKP4R_Pos                  (0U)
+#define RTC_BKP4R_Msk                  (0xFFFFFFFFUL << RTC_BKP4R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP4R                      RTC_BKP4R_Msk
+
+/********************  Bits definition for RTC_BKP5R register  ****************/
+#define RTC_BKP5R_Pos                  (0U)
+#define RTC_BKP5R_Msk                  (0xFFFFFFFFUL << RTC_BKP5R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP5R                      RTC_BKP5R_Msk
+
+/********************  Bits definition for RTC_BKP6R register  ****************/
+#define RTC_BKP6R_Pos                  (0U)
+#define RTC_BKP6R_Msk                  (0xFFFFFFFFUL << RTC_BKP6R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP6R                      RTC_BKP6R_Msk
+
+/********************  Bits definition for RTC_BKP7R register  ****************/
+#define RTC_BKP7R_Pos                  (0U)
+#define RTC_BKP7R_Msk                  (0xFFFFFFFFUL << RTC_BKP7R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP7R                      RTC_BKP7R_Msk
+
+/********************  Bits definition for RTC_BKP8R register  ****************/
+#define RTC_BKP8R_Pos                  (0U)
+#define RTC_BKP8R_Msk                  (0xFFFFFFFFUL << RTC_BKP8R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP8R                      RTC_BKP8R_Msk
+
+/********************  Bits definition for RTC_BKP9R register  ****************/
+#define RTC_BKP9R_Pos                  (0U)
+#define RTC_BKP9R_Msk                  (0xFFFFFFFFUL << RTC_BKP9R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP9R                      RTC_BKP9R_Msk
+
+/********************  Bits definition for RTC_BKP10R register  ***************/
+#define RTC_BKP10R_Pos                 (0U)
+#define RTC_BKP10R_Msk                 (0xFFFFFFFFUL << RTC_BKP10R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP10R                     RTC_BKP10R_Msk
+
+/********************  Bits definition for RTC_BKP11R register  ***************/
+#define RTC_BKP11R_Pos                 (0U)
+#define RTC_BKP11R_Msk                 (0xFFFFFFFFUL << RTC_BKP11R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP11R                     RTC_BKP11R_Msk
+
+/********************  Bits definition for RTC_BKP12R register  ***************/
+#define RTC_BKP12R_Pos                 (0U)
+#define RTC_BKP12R_Msk                 (0xFFFFFFFFUL << RTC_BKP12R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP12R                     RTC_BKP12R_Msk
+
+/********************  Bits definition for RTC_BKP13R register  ***************/
+#define RTC_BKP13R_Pos                 (0U)
+#define RTC_BKP13R_Msk                 (0xFFFFFFFFUL << RTC_BKP13R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP13R                     RTC_BKP13R_Msk
+
+/********************  Bits definition for RTC_BKP14R register  ***************/
+#define RTC_BKP14R_Pos                 (0U)
+#define RTC_BKP14R_Msk                 (0xFFFFFFFFUL << RTC_BKP14R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP14R                     RTC_BKP14R_Msk
+
+/********************  Bits definition for RTC_BKP15R register  ***************/
+#define RTC_BKP15R_Pos                 (0U)
+#define RTC_BKP15R_Msk                 (0xFFFFFFFFUL << RTC_BKP15R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP15R                     RTC_BKP15R_Msk
+
+/********************  Bits definition for RTC_BKP16R register  ***************/
+#define RTC_BKP16R_Pos                 (0U)
+#define RTC_BKP16R_Msk                 (0xFFFFFFFFUL << RTC_BKP16R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP16R                     RTC_BKP16R_Msk
+
+/********************  Bits definition for RTC_BKP17R register  ***************/
+#define RTC_BKP17R_Pos                 (0U)
+#define RTC_BKP17R_Msk                 (0xFFFFFFFFUL << RTC_BKP17R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP17R                     RTC_BKP17R_Msk
+
+/********************  Bits definition for RTC_BKP18R register  ***************/
+#define RTC_BKP18R_Pos                 (0U)
+#define RTC_BKP18R_Msk                 (0xFFFFFFFFUL << RTC_BKP18R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP18R                     RTC_BKP18R_Msk
+
+/********************  Bits definition for RTC_BKP19R register  ***************/
+#define RTC_BKP19R_Pos                 (0U)
+#define RTC_BKP19R_Msk                 (0xFFFFFFFFUL << RTC_BKP19R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP19R                     RTC_BKP19R_Msk
+
+/********************  Bits definition for RTC_BKP20R register  ***************/
+#define RTC_BKP20R_Pos                 (0U)
+#define RTC_BKP20R_Msk                 (0xFFFFFFFFUL << RTC_BKP20R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP20R                     RTC_BKP20R_Msk
+
+/********************  Bits definition for RTC_BKP21R register  ***************/
+#define RTC_BKP21R_Pos                 (0U)
+#define RTC_BKP21R_Msk                 (0xFFFFFFFFUL << RTC_BKP21R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP21R                     RTC_BKP21R_Msk
+
+/********************  Bits definition for RTC_BKP22R register  ***************/
+#define RTC_BKP22R_Pos                 (0U)
+#define RTC_BKP22R_Msk                 (0xFFFFFFFFUL << RTC_BKP22R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP22R                     RTC_BKP22R_Msk
+
+/********************  Bits definition for RTC_BKP23R register  ***************/
+#define RTC_BKP23R_Pos                 (0U)
+#define RTC_BKP23R_Msk                 (0xFFFFFFFFUL << RTC_BKP23R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP23R                     RTC_BKP23R_Msk
+
+/********************  Bits definition for RTC_BKP24R register  ***************/
+#define RTC_BKP24R_Pos                 (0U)
+#define RTC_BKP24R_Msk                 (0xFFFFFFFFUL << RTC_BKP24R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP24R                     RTC_BKP24R_Msk
+
+/********************  Bits definition for RTC_BKP25R register  ***************/
+#define RTC_BKP25R_Pos                 (0U)
+#define RTC_BKP25R_Msk                 (0xFFFFFFFFUL << RTC_BKP25R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP25R                     RTC_BKP25R_Msk
+
+/********************  Bits definition for RTC_BKP26R register  ***************/
+#define RTC_BKP26R_Pos                 (0U)
+#define RTC_BKP26R_Msk                 (0xFFFFFFFFUL << RTC_BKP26R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP26R                     RTC_BKP26R_Msk
+
+/********************  Bits definition for RTC_BKP27R register  ***************/
+#define RTC_BKP27R_Pos                 (0U)
+#define RTC_BKP27R_Msk                 (0xFFFFFFFFUL << RTC_BKP27R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP27R                     RTC_BKP27R_Msk
+
+/********************  Bits definition for RTC_BKP28R register  ***************/
+#define RTC_BKP28R_Pos                 (0U)
+#define RTC_BKP28R_Msk                 (0xFFFFFFFFUL << RTC_BKP28R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP28R                     RTC_BKP28R_Msk
+
+/********************  Bits definition for RTC_BKP29R register  ***************/
+#define RTC_BKP29R_Pos                 (0U)
+#define RTC_BKP29R_Msk                 (0xFFFFFFFFUL << RTC_BKP29R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP29R                     RTC_BKP29R_Msk
+
+/********************  Bits definition for RTC_BKP30R register  ***************/
+#define RTC_BKP30R_Pos                 (0U)
+#define RTC_BKP30R_Msk                 (0xFFFFFFFFUL << RTC_BKP30R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP30R                     RTC_BKP30R_Msk
+
+/********************  Bits definition for RTC_BKP31R register  ***************/
+#define RTC_BKP31R_Pos                 (0U)
+#define RTC_BKP31R_Msk                 (0xFFFFFFFFUL << RTC_BKP31R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP31R                     RTC_BKP31R_Msk
+
+/******************** Number of backup registers ******************************/
+#define RTC_BKP_NUMBER_Pos             (5U)
+#define RTC_BKP_NUMBER_Msk             (0x1UL << RTC_BKP_NUMBER_Pos)           /*!< 0x00000020 */
+#define RTC_BKP_NUMBER                 RTC_BKP_NUMBER_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                              SPDIF-RX Interface                            */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for SPDIF_CR register  ******************/
+#define SPDIFRX_CR_SPDIFEN_Pos      (0U)
+#define SPDIFRX_CR_SPDIFEN_Msk      (0x3UL << SPDIFRX_CR_SPDIFEN_Pos)          /*!< 0x00000003 */
+#define SPDIFRX_CR_SPDIFEN          SPDIFRX_CR_SPDIFEN_Msk                     /*!<Peripheral Block Enable                      */
+#define SPDIFRX_CR_RXDMAEN_Pos      (2U)
+#define SPDIFRX_CR_RXDMAEN_Msk      (0x1UL << SPDIFRX_CR_RXDMAEN_Pos)          /*!< 0x00000004 */
+#define SPDIFRX_CR_RXDMAEN          SPDIFRX_CR_RXDMAEN_Msk                     /*!<Receiver DMA Enable for data flow            */
+#define SPDIFRX_CR_RXSTEO_Pos       (3U)
+#define SPDIFRX_CR_RXSTEO_Msk       (0x1UL << SPDIFRX_CR_RXSTEO_Pos)           /*!< 0x00000008 */
+#define SPDIFRX_CR_RXSTEO           SPDIFRX_CR_RXSTEO_Msk                      /*!<Stereo Mode                                  */
+#define SPDIFRX_CR_DRFMT_Pos        (4U)
+#define SPDIFRX_CR_DRFMT_Msk        (0x3UL << SPDIFRX_CR_DRFMT_Pos)            /*!< 0x00000030 */
+#define SPDIFRX_CR_DRFMT            SPDIFRX_CR_DRFMT_Msk                       /*!<RX Data format                               */
+#define SPDIFRX_CR_PMSK_Pos         (6U)
+#define SPDIFRX_CR_PMSK_Msk         (0x1UL << SPDIFRX_CR_PMSK_Pos)             /*!< 0x00000040 */
+#define SPDIFRX_CR_PMSK             SPDIFRX_CR_PMSK_Msk                        /*!<Mask Parity error bit                        */
+#define SPDIFRX_CR_VMSK_Pos         (7U)
+#define SPDIFRX_CR_VMSK_Msk         (0x1UL << SPDIFRX_CR_VMSK_Pos)             /*!< 0x00000080 */
+#define SPDIFRX_CR_VMSK             SPDIFRX_CR_VMSK_Msk                        /*!<Mask of Validity bit                         */
+#define SPDIFRX_CR_CUMSK_Pos        (8U)
+#define SPDIFRX_CR_CUMSK_Msk        (0x1UL << SPDIFRX_CR_CUMSK_Pos)            /*!< 0x00000100 */
+#define SPDIFRX_CR_CUMSK            SPDIFRX_CR_CUMSK_Msk                       /*!<Mask of channel status and user bits         */
+#define SPDIFRX_CR_PTMSK_Pos        (9U)
+#define SPDIFRX_CR_PTMSK_Msk        (0x1UL << SPDIFRX_CR_PTMSK_Pos)            /*!< 0x00000200 */
+#define SPDIFRX_CR_PTMSK            SPDIFRX_CR_PTMSK_Msk                       /*!<Mask of Preamble Type bits                   */
+#define SPDIFRX_CR_CBDMAEN_Pos      (10U)
+#define SPDIFRX_CR_CBDMAEN_Msk      (0x1UL << SPDIFRX_CR_CBDMAEN_Pos)          /*!< 0x00000400 */
+#define SPDIFRX_CR_CBDMAEN          SPDIFRX_CR_CBDMAEN_Msk                     /*!<Control Buffer DMA ENable for control flow   */
+#define SPDIFRX_CR_CHSEL_Pos        (11U)
+#define SPDIFRX_CR_CHSEL_Msk        (0x1UL << SPDIFRX_CR_CHSEL_Pos)            /*!< 0x00000800 */
+#define SPDIFRX_CR_CHSEL            SPDIFRX_CR_CHSEL_Msk                       /*!<Channel Selection                            */
+#define SPDIFRX_CR_NBTR_Pos         (12U)
+#define SPDIFRX_CR_NBTR_Msk         (0x3UL << SPDIFRX_CR_NBTR_Pos)             /*!< 0x00003000 */
+#define SPDIFRX_CR_NBTR             SPDIFRX_CR_NBTR_Msk                        /*!<Maximum allowed re-tries during synchronization phase */
+#define SPDIFRX_CR_WFA_Pos          (14U)
+#define SPDIFRX_CR_WFA_Msk          (0x1UL << SPDIFRX_CR_WFA_Pos)              /*!< 0x00004000 */
+#define SPDIFRX_CR_WFA              SPDIFRX_CR_WFA_Msk                         /*!<Wait For Activity     */
+#define SPDIFRX_CR_INSEL_Pos        (16U)
+#define SPDIFRX_CR_INSEL_Msk        (0x7UL << SPDIFRX_CR_INSEL_Pos)            /*!< 0x00070000 */
+#define SPDIFRX_CR_INSEL            SPDIFRX_CR_INSEL_Msk                       /*!<SPDIF input selection */
+#define SPDIFRX_CR_CKSEN_Pos        (20U)
+#define SPDIFRX_CR_CKSEN_Msk        (0x1UL << SPDIFRX_CR_CKSEN_Pos)            /*!< 0x00100000 */
+#define SPDIFRX_CR_CKSEN            SPDIFRX_CR_CKSEN_Msk                       /*!<Symbol Clock Enable */
+#define SPDIFRX_CR_CKSBKPEN_Pos     (21U)
+#define SPDIFRX_CR_CKSBKPEN_Msk     (0x1UL << SPDIFRX_CR_CKSBKPEN_Pos)         /*!< 0x00200000 */
+#define SPDIFRX_CR_CKSBKPEN         SPDIFRX_CR_CKSBKPEN_Msk                    /*!<Backup Symbol Clock Enable */
+
+/*******************  Bit definition for SPDIFRX_IMR register  *******************/
+#define SPDIFRX_IMR_RXNEIE_Pos      (0U)
+#define SPDIFRX_IMR_RXNEIE_Msk      (0x1UL << SPDIFRX_IMR_RXNEIE_Pos)          /*!< 0x00000001 */
+#define SPDIFRX_IMR_RXNEIE          SPDIFRX_IMR_RXNEIE_Msk                     /*!<RXNE interrupt enable                              */
+#define SPDIFRX_IMR_CSRNEIE_Pos     (1U)
+#define SPDIFRX_IMR_CSRNEIE_Msk     (0x1UL << SPDIFRX_IMR_CSRNEIE_Pos)         /*!< 0x00000002 */
+#define SPDIFRX_IMR_CSRNEIE         SPDIFRX_IMR_CSRNEIE_Msk                    /*!<Control Buffer Ready Interrupt Enable              */
+#define SPDIFRX_IMR_PERRIE_Pos      (2U)
+#define SPDIFRX_IMR_PERRIE_Msk      (0x1UL << SPDIFRX_IMR_PERRIE_Pos)          /*!< 0x00000004 */
+#define SPDIFRX_IMR_PERRIE          SPDIFRX_IMR_PERRIE_Msk                     /*!<Parity error interrupt enable                      */
+#define SPDIFRX_IMR_OVRIE_Pos       (3U)
+#define SPDIFRX_IMR_OVRIE_Msk       (0x1UL << SPDIFRX_IMR_OVRIE_Pos)           /*!< 0x00000008 */
+#define SPDIFRX_IMR_OVRIE           SPDIFRX_IMR_OVRIE_Msk                      /*!<Overrun error Interrupt Enable                     */
+#define SPDIFRX_IMR_SBLKIE_Pos      (4U)
+#define SPDIFRX_IMR_SBLKIE_Msk      (0x1UL << SPDIFRX_IMR_SBLKIE_Pos)          /*!< 0x00000010 */
+#define SPDIFRX_IMR_SBLKIE          SPDIFRX_IMR_SBLKIE_Msk                     /*!<Synchronization Block Detected Interrupt Enable    */
+#define SPDIFRX_IMR_SYNCDIE_Pos     (5U)
+#define SPDIFRX_IMR_SYNCDIE_Msk     (0x1UL << SPDIFRX_IMR_SYNCDIE_Pos)         /*!< 0x00000020 */
+#define SPDIFRX_IMR_SYNCDIE         SPDIFRX_IMR_SYNCDIE_Msk                    /*!<Synchronization Done                               */
+#define SPDIFRX_IMR_IFEIE_Pos       (6U)
+#define SPDIFRX_IMR_IFEIE_Msk       (0x1UL << SPDIFRX_IMR_IFEIE_Pos)           /*!< 0x00000040 */
+#define SPDIFRX_IMR_IFEIE           SPDIFRX_IMR_IFEIE_Msk                      /*!<Serial Interface Error Interrupt Enable            */
+
+/*******************  Bit definition for SPDIFRX_SR register  *******************/
+#define SPDIFRX_SR_RXNE_Pos         (0U)
+#define SPDIFRX_SR_RXNE_Msk         (0x1UL << SPDIFRX_SR_RXNE_Pos)             /*!< 0x00000001 */
+#define SPDIFRX_SR_RXNE             SPDIFRX_SR_RXNE_Msk                        /*!<Read data register not empty                          */
+#define SPDIFRX_SR_CSRNE_Pos        (1U)
+#define SPDIFRX_SR_CSRNE_Msk        (0x1UL << SPDIFRX_SR_CSRNE_Pos)            /*!< 0x00000002 */
+#define SPDIFRX_SR_CSRNE            SPDIFRX_SR_CSRNE_Msk                       /*!<The Control Buffer register is not empty              */
+#define SPDIFRX_SR_PERR_Pos         (2U)
+#define SPDIFRX_SR_PERR_Msk         (0x1UL << SPDIFRX_SR_PERR_Pos)             /*!< 0x00000004 */
+#define SPDIFRX_SR_PERR             SPDIFRX_SR_PERR_Msk                        /*!<Parity error                                          */
+#define SPDIFRX_SR_OVR_Pos          (3U)
+#define SPDIFRX_SR_OVR_Msk          (0x1UL << SPDIFRX_SR_OVR_Pos)              /*!< 0x00000008 */
+#define SPDIFRX_SR_OVR              SPDIFRX_SR_OVR_Msk                         /*!<Overrun error                                         */
+#define SPDIFRX_SR_SBD_Pos          (4U)
+#define SPDIFRX_SR_SBD_Msk          (0x1UL << SPDIFRX_SR_SBD_Pos)              /*!< 0x00000010 */
+#define SPDIFRX_SR_SBD              SPDIFRX_SR_SBD_Msk                         /*!<Synchronization Block Detected                        */
+#define SPDIFRX_SR_SYNCD_Pos        (5U)
+#define SPDIFRX_SR_SYNCD_Msk        (0x1UL << SPDIFRX_SR_SYNCD_Pos)            /*!< 0x00000020 */
+#define SPDIFRX_SR_SYNCD            SPDIFRX_SR_SYNCD_Msk                       /*!<Synchronization Done                                  */
+#define SPDIFRX_SR_FERR_Pos         (6U)
+#define SPDIFRX_SR_FERR_Msk         (0x1UL << SPDIFRX_SR_FERR_Pos)             /*!< 0x00000040 */
+#define SPDIFRX_SR_FERR             SPDIFRX_SR_FERR_Msk                        /*!<Framing error                                         */
+#define SPDIFRX_SR_SERR_Pos         (7U)
+#define SPDIFRX_SR_SERR_Msk         (0x1UL << SPDIFRX_SR_SERR_Pos)             /*!< 0x00000080 */
+#define SPDIFRX_SR_SERR             SPDIFRX_SR_SERR_Msk                        /*!<Synchronization error                                 */
+#define SPDIFRX_SR_TERR_Pos         (8U)
+#define SPDIFRX_SR_TERR_Msk         (0x1UL << SPDIFRX_SR_TERR_Pos)             /*!< 0x00000100 */
+#define SPDIFRX_SR_TERR             SPDIFRX_SR_TERR_Msk                        /*!<Time-out error                                        */
+#define SPDIFRX_SR_WIDTH5_Pos       (16U)
+#define SPDIFRX_SR_WIDTH5_Msk       (0x7FFFUL << SPDIFRX_SR_WIDTH5_Pos)        /*!< 0x7FFF0000 */
+#define SPDIFRX_SR_WIDTH5           SPDIFRX_SR_WIDTH5_Msk                      /*!<Duration of 5 symbols counted with spdif_clk          */
+
+/*******************  Bit definition for SPDIFRX_IFCR register  *******************/
+#define SPDIFRX_IFCR_PERRCF_Pos     (2U)
+#define SPDIFRX_IFCR_PERRCF_Msk     (0x1UL << SPDIFRX_IFCR_PERRCF_Pos)         /*!< 0x00000004 */
+#define SPDIFRX_IFCR_PERRCF         SPDIFRX_IFCR_PERRCF_Msk                    /*!<Clears the Parity error flag                         */
+#define SPDIFRX_IFCR_OVRCF_Pos      (3U)
+#define SPDIFRX_IFCR_OVRCF_Msk      (0x1UL << SPDIFRX_IFCR_OVRCF_Pos)          /*!< 0x00000008 */
+#define SPDIFRX_IFCR_OVRCF          SPDIFRX_IFCR_OVRCF_Msk                     /*!<Clears the Overrun error flag                        */
+#define SPDIFRX_IFCR_SBDCF_Pos      (4U)
+#define SPDIFRX_IFCR_SBDCF_Msk      (0x1UL << SPDIFRX_IFCR_SBDCF_Pos)          /*!< 0x00000010 */
+#define SPDIFRX_IFCR_SBDCF          SPDIFRX_IFCR_SBDCF_Msk                     /*!<Clears the Synchronization Block Detected flag       */
+#define SPDIFRX_IFCR_SYNCDCF_Pos    (5U)
+#define SPDIFRX_IFCR_SYNCDCF_Msk    (0x1UL << SPDIFRX_IFCR_SYNCDCF_Pos)        /*!< 0x00000020 */
+#define SPDIFRX_IFCR_SYNCDCF        SPDIFRX_IFCR_SYNCDCF_Msk                   /*!<Clears the Synchronization Done flag                 */
+
+/*******************  Bit definition for SPDIFRX_DR register  (DRFMT = 0b00 case) *******************/
+#define SPDIFRX_DR0_DR_Pos          (0U)
+#define SPDIFRX_DR0_DR_Msk          (0xFFFFFFUL << SPDIFRX_DR0_DR_Pos)         /*!< 0x00FFFFFF */
+#define SPDIFRX_DR0_DR              SPDIFRX_DR0_DR_Msk                         /*!<Data value            */
+#define SPDIFRX_DR0_PE_Pos          (24U)
+#define SPDIFRX_DR0_PE_Msk          (0x1UL << SPDIFRX_DR0_PE_Pos)              /*!< 0x01000000 */
+#define SPDIFRX_DR0_PE              SPDIFRX_DR0_PE_Msk                         /*!<Parity Error bit      */
+#define SPDIFRX_DR0_V_Pos           (25U)
+#define SPDIFRX_DR0_V_Msk           (0x1UL << SPDIFRX_DR0_V_Pos)               /*!< 0x02000000 */
+#define SPDIFRX_DR0_V               SPDIFRX_DR0_V_Msk                          /*!<Validity bit          */
+#define SPDIFRX_DR0_U_Pos           (26U)
+#define SPDIFRX_DR0_U_Msk           (0x1UL << SPDIFRX_DR0_U_Pos)               /*!< 0x04000000 */
+#define SPDIFRX_DR0_U               SPDIFRX_DR0_U_Msk                          /*!<User bit              */
+#define SPDIFRX_DR0_C_Pos           (27U)
+#define SPDIFRX_DR0_C_Msk           (0x1UL << SPDIFRX_DR0_C_Pos)               /*!< 0x08000000 */
+#define SPDIFRX_DR0_C               SPDIFRX_DR0_C_Msk                          /*!<Channel Status bit    */
+#define SPDIFRX_DR0_PT_Pos          (28U)
+#define SPDIFRX_DR0_PT_Msk          (0x3UL << SPDIFRX_DR0_PT_Pos)              /*!< 0x30000000 */
+#define SPDIFRX_DR0_PT              SPDIFRX_DR0_PT_Msk                         /*!<Preamble Type         */
+
+/*******************  Bit definition for SPDIFRX_DR register  (DRFMT = 0b01 case) *******************/
+#define SPDIFRX_DR1_DR_Pos          (8U)
+#define SPDIFRX_DR1_DR_Msk          (0xFFFFFFUL << SPDIFRX_DR1_DR_Pos)         /*!< 0xFFFFFF00 */
+#define SPDIFRX_DR1_DR              SPDIFRX_DR1_DR_Msk                         /*!<Data value            */
+#define SPDIFRX_DR1_PT_Pos          (4U)
+#define SPDIFRX_DR1_PT_Msk          (0x3UL << SPDIFRX_DR1_PT_Pos)              /*!< 0x00000030 */
+#define SPDIFRX_DR1_PT              SPDIFRX_DR1_PT_Msk                         /*!<Preamble Type         */
+#define SPDIFRX_DR1_C_Pos           (3U)
+#define SPDIFRX_DR1_C_Msk           (0x1UL << SPDIFRX_DR1_C_Pos)               /*!< 0x00000008 */
+#define SPDIFRX_DR1_C               SPDIFRX_DR1_C_Msk                          /*!<Channel Status bit    */
+#define SPDIFRX_DR1_U_Pos           (2U)
+#define SPDIFRX_DR1_U_Msk           (0x1UL << SPDIFRX_DR1_U_Pos)               /*!< 0x00000004 */
+#define SPDIFRX_DR1_U               SPDIFRX_DR1_U_Msk                          /*!<User bit              */
+#define SPDIFRX_DR1_V_Pos           (1U)
+#define SPDIFRX_DR1_V_Msk           (0x1UL << SPDIFRX_DR1_V_Pos)               /*!< 0x00000002 */
+#define SPDIFRX_DR1_V               SPDIFRX_DR1_V_Msk                          /*!<Validity bit          */
+#define SPDIFRX_DR1_PE_Pos          (0U)
+#define SPDIFRX_DR1_PE_Msk          (0x1UL << SPDIFRX_DR1_PE_Pos)              /*!< 0x00000001 */
+#define SPDIFRX_DR1_PE              SPDIFRX_DR1_PE_Msk                         /*!<Parity Error bit      */
+
+/*******************  Bit definition for SPDIFRX_DR register  (DRFMT = 0b10 case) *******************/
+#define SPDIFRX_DR1_DRNL1_Pos       (16U)
+#define SPDIFRX_DR1_DRNL1_Msk       (0xFFFFUL << SPDIFRX_DR1_DRNL1_Pos)        /*!< 0xFFFF0000 */
+#define SPDIFRX_DR1_DRNL1           SPDIFRX_DR1_DRNL1_Msk                      /*!<Data value Channel B      */
+#define SPDIFRX_DR1_DRNL2_Pos       (0U)
+#define SPDIFRX_DR1_DRNL2_Msk       (0xFFFFUL << SPDIFRX_DR1_DRNL2_Pos)        /*!< 0x0000FFFF */
+#define SPDIFRX_DR1_DRNL2           SPDIFRX_DR1_DRNL2_Msk                      /*!<Data value Channel A      */
+
+/*******************  Bit definition for SPDIFRX_CSR register   *******************/
+#define SPDIFRX_CSR_USR_Pos         (0U)
+#define SPDIFRX_CSR_USR_Msk         (0xFFFFUL << SPDIFRX_CSR_USR_Pos)          /*!< 0x0000FFFF */
+#define SPDIFRX_CSR_USR             SPDIFRX_CSR_USR_Msk                        /*!<User data information           */
+#define SPDIFRX_CSR_CS_Pos          (16U)
+#define SPDIFRX_CSR_CS_Msk          (0xFFUL << SPDIFRX_CSR_CS_Pos)             /*!< 0x00FF0000 */
+#define SPDIFRX_CSR_CS              SPDIFRX_CSR_CS_Msk                         /*!<Channel A status information    */
+#define SPDIFRX_CSR_SOB_Pos         (24U)
+#define SPDIFRX_CSR_SOB_Msk         (0x1UL << SPDIFRX_CSR_SOB_Pos)             /*!< 0x01000000 */
+#define SPDIFRX_CSR_SOB             SPDIFRX_CSR_SOB_Msk                        /*!<Start Of Block                  */
+
+/*******************  Bit definition for SPDIFRX_DIR register    *******************/
+#define SPDIFRX_DIR_THI_Pos         (0U)
+#define SPDIFRX_DIR_THI_Msk         (0x1FFFUL << SPDIFRX_DIR_THI_Pos)          /*!< 0x00001FFF */
+#define SPDIFRX_DIR_THI             SPDIFRX_DIR_THI_Msk                        /*!<Threshold LOW      */
+#define SPDIFRX_DIR_TLO_Pos         (16U)
+#define SPDIFRX_DIR_TLO_Msk         (0x1FFFUL << SPDIFRX_DIR_TLO_Pos)          /*!< 0x1FFF0000 */
+#define SPDIFRX_DIR_TLO             SPDIFRX_DIR_TLO_Msk                        /*!<Threshold HIGH     */
+
+/*******************  Bit definition for SPDIFRX_VERR register    *******************/
+#define SPDIFRX_VERR_MINREV_Pos     (0U)
+#define SPDIFRX_VERR_MINREV_Msk     (0xFUL << SPDIFRX_VERR_MINREV_Pos)         /*!< 0x0000000F */
+#define SPDIFRX_VERR_MINREV         SPDIFRX_VERR_MINREV_Msk                    /*!<SPDIFRX Minor revision     */
+#define SPDIFRX_VERR_MAJREV_Pos     (4U)
+#define SPDIFRX_VERR_MAJREV_Msk     (0xFUL << SPDIFRX_VERR_MAJREV_Pos)         /*!< 0x000000F0 */
+#define SPDIFRX_VERR_MAJREV         SPDIFRX_VERR_MAJREV_Msk                    /*!<SPDIFRX Major revision     */
+
+/*******************  Bit definition for SPDIFRX_IDR register    *******************/
+#define SPDIFRX_IDR_ID_Pos          (0U)
+#define SPDIFRX_IDR_ID_Msk          (0xFFFFFFFFUL << SPDIFRX_IDR_ID_Pos)       /*!< 0xFFFFFFFF */
+#define SPDIFRX_IDR_ID              SPDIFRX_IDR_ID_Msk                         /*!<SPDIFRX identifier     */
+
+/*******************  Bit definition for SPDIFRX_SIDR register    *******************/
+#define SPDIFRX_SIDR_SID_Pos        (0U)
+#define SPDIFRX_SIDR_SID_Msk        (0xFFFFFFFFUL << SPDIFRX_SIDR_SID_Pos)     /*!< 0xFFFFFFFF */
+#define SPDIFRX_SIDR_SID            SPDIFRX_SIDR_SID_Msk                       /*!<Size of the memory region allocated to SPDIFRX registers */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          Serial Audio Interface                            */
+/*                                                                            */
+/******************************************************************************/
+/*******************************  SAI VERSION  ********************************/
+#define SAI_VER_V2_1
+
+/********************  Bit definition for SAI_GCR register  *******************/
+#define SAI_GCR_SYNCIN_Pos         (0U)
+#define SAI_GCR_SYNCIN_Msk         (0x3UL << SAI_GCR_SYNCIN_Pos)               /*!< 0x00000003 */
+#define SAI_GCR_SYNCIN             SAI_GCR_SYNCIN_Msk                          /*!<SYNCIN[1:0] bits (Synchronization Inputs)   */
+#define SAI_GCR_SYNCIN_0           (0x1UL << SAI_GCR_SYNCIN_Pos)                /*!< 0x00000001 */
+#define SAI_GCR_SYNCIN_1           (0x2UL << SAI_GCR_SYNCIN_Pos)                /*!< 0x00000002 */
+
+#define SAI_GCR_SYNCOUT_Pos        (4U)
+#define SAI_GCR_SYNCOUT_Msk        (0x3UL << SAI_GCR_SYNCOUT_Pos)              /*!< 0x00000030 */
+#define SAI_GCR_SYNCOUT            SAI_GCR_SYNCOUT_Msk                         /*!<SYNCOUT[1:0] bits (Synchronization Outputs) */
+#define SAI_GCR_SYNCOUT_0          (0x1UL << SAI_GCR_SYNCOUT_Pos)               /*!< 0x00000010 */
+#define SAI_GCR_SYNCOUT_1          (0x2UL << SAI_GCR_SYNCOUT_Pos)               /*!< 0x00000020 */
+
+/*******************  Bit definition for SAI_xCR1 register  *******************/
+#define SAI_xCR1_MODE_Pos          (0U)
+#define SAI_xCR1_MODE_Msk          (0x3UL << SAI_xCR1_MODE_Pos)                /*!< 0x00000003 */
+#define SAI_xCR1_MODE              SAI_xCR1_MODE_Msk                           /*!<MODE[1:0] bits (Audio Block Mode)           */
+#define SAI_xCR1_MODE_0            (0x1UL << SAI_xCR1_MODE_Pos)                 /*!< 0x00000001 */
+#define SAI_xCR1_MODE_1            (0x2UL << SAI_xCR1_MODE_Pos)                 /*!< 0x00000002 */
+
+#define SAI_xCR1_PRTCFG_Pos        (2U)
+#define SAI_xCR1_PRTCFG_Msk        (0x3UL << SAI_xCR1_PRTCFG_Pos)              /*!< 0x0000000C */
+#define SAI_xCR1_PRTCFG            SAI_xCR1_PRTCFG_Msk                         /*!<PRTCFG[1:0] bits (Protocol Configuration)   */
+#define SAI_xCR1_PRTCFG_0          (0x1UL << SAI_xCR1_PRTCFG_Pos)               /*!< 0x00000004 */
+#define SAI_xCR1_PRTCFG_1          (0x2UL << SAI_xCR1_PRTCFG_Pos)               /*!< 0x00000008 */
+
+#define SAI_xCR1_DS_Pos            (5U)
+#define SAI_xCR1_DS_Msk            (0x7UL << SAI_xCR1_DS_Pos)                  /*!< 0x000000E0 */
+#define SAI_xCR1_DS                SAI_xCR1_DS_Msk                             /*!<DS[1:0] bits (Data Size) */
+#define SAI_xCR1_DS_0              (0x1UL << SAI_xCR1_DS_Pos)                   /*!< 0x00000020 */
+#define SAI_xCR1_DS_1              (0x2UL << SAI_xCR1_DS_Pos)                   /*!< 0x00000040 */
+#define SAI_xCR1_DS_2              (0x4UL << SAI_xCR1_DS_Pos)                   /*!< 0x00000080 */
+
+#define SAI_xCR1_LSBFIRST_Pos      (8U)
+#define SAI_xCR1_LSBFIRST_Msk      (0x1UL << SAI_xCR1_LSBFIRST_Pos)            /*!< 0x00000100 */
+#define SAI_xCR1_LSBFIRST          SAI_xCR1_LSBFIRST_Msk                       /*!<LSB First Configuration  */
+#define SAI_xCR1_CKSTR_Pos         (9U)
+#define SAI_xCR1_CKSTR_Msk         (0x1UL << SAI_xCR1_CKSTR_Pos)               /*!< 0x00000200 */
+#define SAI_xCR1_CKSTR             SAI_xCR1_CKSTR_Msk                          /*!<ClocK STRobing edge      */
+
+#define SAI_xCR1_SYNCEN_Pos        (10U)
+#define SAI_xCR1_SYNCEN_Msk        (0x3UL << SAI_xCR1_SYNCEN_Pos)              /*!< 0x00000C00 */
+#define SAI_xCR1_SYNCEN            SAI_xCR1_SYNCEN_Msk                         /*!<SYNCEN[1:0](SYNChronization ENable) */
+#define SAI_xCR1_SYNCEN_0          (0x1UL << SAI_xCR1_SYNCEN_Pos)               /*!< 0x00000400 */
+#define SAI_xCR1_SYNCEN_1          (0x2UL << SAI_xCR1_SYNCEN_Pos)               /*!< 0x00000800 */
+
+#define SAI_xCR1_MONO_Pos          (12U)
+#define SAI_xCR1_MONO_Msk          (0x1UL << SAI_xCR1_MONO_Pos)                /*!< 0x00001000 */
+#define SAI_xCR1_MONO              SAI_xCR1_MONO_Msk                           /*!<Mono mode                  */
+#define SAI_xCR1_OUTDRIV_Pos       (13U)
+#define SAI_xCR1_OUTDRIV_Msk       (0x1UL << SAI_xCR1_OUTDRIV_Pos)             /*!< 0x00002000 */
+#define SAI_xCR1_OUTDRIV           SAI_xCR1_OUTDRIV_Msk                        /*!<Output Drive               */
+#define SAI_xCR1_SAIEN_Pos         (16U)
+#define SAI_xCR1_SAIEN_Msk         (0x1UL << SAI_xCR1_SAIEN_Pos)               /*!< 0x00010000 */
+#define SAI_xCR1_SAIEN             SAI_xCR1_SAIEN_Msk                          /*!<Audio Block enable         */
+#define SAI_xCR1_DMAEN_Pos         (17U)
+#define SAI_xCR1_DMAEN_Msk         (0x1UL << SAI_xCR1_DMAEN_Pos)               /*!< 0x00020000 */
+#define SAI_xCR1_DMAEN             SAI_xCR1_DMAEN_Msk                          /*!<DMA enable                 */
+#define SAI_xCR1_NODIV_Pos         (19U)
+#define SAI_xCR1_NODIV_Msk         (0x1UL << SAI_xCR1_NODIV_Pos)               /*!< 0x00080000 */
+#define SAI_xCR1_NODIV             SAI_xCR1_NODIV_Msk                          /*!<No Divider Configuration   */
+
+#define SAI_xCR1_MCKDIV_Pos        (20U)
+#define SAI_xCR1_MCKDIV_Msk        (0x3FUL << SAI_xCR1_MCKDIV_Pos)             /*!< 0x03F00000 */
+#define SAI_xCR1_MCKDIV            SAI_xCR1_MCKDIV_Msk                         /*!<MCKDIV[5:0] (Master ClocK Divider)  */
+#define SAI_xCR1_MCKDIV_0          (0x01UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x00100000 */
+#define SAI_xCR1_MCKDIV_1          (0x02UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x00200000 */
+#define SAI_xCR1_MCKDIV_2          (0x04UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x00400000 */
+#define SAI_xCR1_MCKDIV_3          (0x08UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x00800000 */
+#define SAI_xCR1_MCKDIV_4          (0x10UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x01000000 */
+#define SAI_xCR1_MCKDIV_5          (0x20UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x02000000 */
+
+#define SAI_xCR1_MCKEN_Pos         (27U)
+#define SAI_xCR1_MCKEN_Msk         (0x1UL << SAI_xCR1_MCKEN_Pos)               /*!< 0x08000000 */
+#define SAI_xCR1_MCKEN             SAI_xCR1_MCKEN_Msk                          /*!<Master ClocK enable */
+
+#define SAI_xCR1_OSR_Pos           (26U)
+#define SAI_xCR1_OSR_Msk           (0x1UL << SAI_xCR1_OSR_Pos)                 /*!< 0x04000000 */
+#define SAI_xCR1_OSR               SAI_xCR1_OSR_Msk                            /*!<OverSampling Ratio for master clock  */
+
+/* Legacy define */
+#define  SAI_xCR1_NOMCK               SAI_xCR1_NODIV
+
+/*******************  Bit definition for SAI_xCR2 register  *******************/
+#define SAI_xCR2_FTH_Pos           (0U)
+#define SAI_xCR2_FTH_Msk           (0x7UL << SAI_xCR2_FTH_Pos)                 /*!< 0x00000007 */
+#define SAI_xCR2_FTH               SAI_xCR2_FTH_Msk                            /*!<FTH[2:0](Fifo THreshold)  */
+#define SAI_xCR2_FTH_0             (0x1UL << SAI_xCR2_FTH_Pos)                  /*!< 0x00000001 */
+#define SAI_xCR2_FTH_1             (0x2UL << SAI_xCR2_FTH_Pos)                  /*!< 0x00000002 */
+#define SAI_xCR2_FTH_2             (0x4UL << SAI_xCR2_FTH_Pos)                  /*!< 0x00000004 */
+
+#define SAI_xCR2_FFLUSH_Pos        (3U)
+#define SAI_xCR2_FFLUSH_Msk        (0x1UL << SAI_xCR2_FFLUSH_Pos)              /*!< 0x00000008 */
+#define SAI_xCR2_FFLUSH            SAI_xCR2_FFLUSH_Msk                         /*!<Fifo FLUSH                       */
+#define SAI_xCR2_TRIS_Pos          (4U)
+#define SAI_xCR2_TRIS_Msk          (0x1UL << SAI_xCR2_TRIS_Pos)                /*!< 0x00000010 */
+#define SAI_xCR2_TRIS              SAI_xCR2_TRIS_Msk                           /*!<TRIState Management on data line */
+#define SAI_xCR2_MUTE_Pos          (5U)
+#define SAI_xCR2_MUTE_Msk          (0x1UL << SAI_xCR2_MUTE_Pos)                /*!< 0x00000020 */
+#define SAI_xCR2_MUTE              SAI_xCR2_MUTE_Msk                           /*!<Mute mode                        */
+#define SAI_xCR2_MUTEVAL_Pos       (6U)
+#define SAI_xCR2_MUTEVAL_Msk       (0x1UL << SAI_xCR2_MUTEVAL_Pos)             /*!< 0x00000040 */
+#define SAI_xCR2_MUTEVAL           SAI_xCR2_MUTEVAL_Msk                        /*!<Muate value                      */
+
+#define SAI_xCR2_MUTECNT_Pos       (7U)
+#define SAI_xCR2_MUTECNT_Msk       (0x3FUL << SAI_xCR2_MUTECNT_Pos)            /*!< 0x00001F80 */
+#define SAI_xCR2_MUTECNT           SAI_xCR2_MUTECNT_Msk                        /*!<MUTECNT[5:0] (MUTE counter) */
+#define SAI_xCR2_MUTECNT_0         (0x01UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000080 */
+#define SAI_xCR2_MUTECNT_1         (0x02UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000100 */
+#define SAI_xCR2_MUTECNT_2         (0x04UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000200 */
+#define SAI_xCR2_MUTECNT_3         (0x08UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000400 */
+#define SAI_xCR2_MUTECNT_4         (0x10UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000800 */
+#define SAI_xCR2_MUTECNT_5         (0x20UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00001000 */
+
+#define SAI_xCR2_CPL_Pos           (13U)
+#define SAI_xCR2_CPL_Msk           (0x1UL << SAI_xCR2_CPL_Pos)                 /*!< 0x00002000 */
+#define SAI_xCR2_CPL               SAI_xCR2_CPL_Msk                            /*!< Complement Bit             */
+
+#define SAI_xCR2_COMP_Pos          (14U)
+#define SAI_xCR2_COMP_Msk          (0x3UL << SAI_xCR2_COMP_Pos)                /*!< 0x0000C000 */
+#define SAI_xCR2_COMP              SAI_xCR2_COMP_Msk                           /*!<COMP[1:0] (Companding mode) */
+#define SAI_xCR2_COMP_0            (0x1UL << SAI_xCR2_COMP_Pos)                 /*!< 0x00004000 */
+#define SAI_xCR2_COMP_1            (0x2UL << SAI_xCR2_COMP_Pos)                 /*!< 0x00008000 */
+
+/******************  Bit definition for SAI_xFRCR register  *******************/
+#define SAI_xFRCR_FRL_Pos          (0U)
+#define SAI_xFRCR_FRL_Msk          (0xFFUL << SAI_xFRCR_FRL_Pos)               /*!< 0x000000FF */
+#define SAI_xFRCR_FRL              SAI_xFRCR_FRL_Msk                           /*!<FRL[7:0](FRame Length)  */
+#define SAI_xFRCR_FRL_0            (0x01UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000001 */
+#define SAI_xFRCR_FRL_1            (0x02UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000002 */
+#define SAI_xFRCR_FRL_2            (0x04UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000004 */
+#define SAI_xFRCR_FRL_3            (0x08UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000008 */
+#define SAI_xFRCR_FRL_4            (0x10UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000010 */
+#define SAI_xFRCR_FRL_5            (0x20UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000020 */
+#define SAI_xFRCR_FRL_6            (0x40UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000040 */
+#define SAI_xFRCR_FRL_7            (0x80UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000080 */
+
+#define SAI_xFRCR_FSALL_Pos        (8U)
+#define SAI_xFRCR_FSALL_Msk        (0x7FUL << SAI_xFRCR_FSALL_Pos)             /*!< 0x00007F00 */
+#define SAI_xFRCR_FSALL            SAI_xFRCR_FSALL_Msk                         /*!<FSALL[6:0] (Frame Synchronization Active Level Length)  */
+#define SAI_xFRCR_FSALL_0          (0x01UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00000100 */
+#define SAI_xFRCR_FSALL_1          (0x02UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00000200 */
+#define SAI_xFRCR_FSALL_2          (0x04UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00000400 */
+#define SAI_xFRCR_FSALL_3          (0x08UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00000800 */
+#define SAI_xFRCR_FSALL_4          (0x10UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00001000 */
+#define SAI_xFRCR_FSALL_5          (0x20UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00002000 */
+#define SAI_xFRCR_FSALL_6          (0x40UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00004000 */
+
+#define SAI_xFRCR_FSDEF_Pos        (16U)
+#define SAI_xFRCR_FSDEF_Msk        (0x1UL << SAI_xFRCR_FSDEF_Pos)              /*!< 0x00010000 */
+#define SAI_xFRCR_FSDEF            SAI_xFRCR_FSDEF_Msk                         /*!<Frame Synchronization Definition  */
+#define SAI_xFRCR_FSPOL_Pos        (17U)
+#define SAI_xFRCR_FSPOL_Msk        (0x1UL << SAI_xFRCR_FSPOL_Pos)              /*!< 0x00020000 */
+#define SAI_xFRCR_FSPOL            SAI_xFRCR_FSPOL_Msk                         /*!<Frame Synchronization POLarity    */
+#define SAI_xFRCR_FSOFF_Pos        (18U)
+#define SAI_xFRCR_FSOFF_Msk        (0x1UL << SAI_xFRCR_FSOFF_Pos)              /*!< 0x00040000 */
+#define SAI_xFRCR_FSOFF            SAI_xFRCR_FSOFF_Msk                         /*!<Frame Synchronization OFFset      */
+
+/* Legacy define */
+#define  SAI_xFRCR_FSPO                      SAI_xFRCR_FSPOL
+
+/******************  Bit definition for SAI_xSLOTR register  *******************/
+#define SAI_xSLOTR_FBOFF_Pos       (0U)
+#define SAI_xSLOTR_FBOFF_Msk       (0x1FUL << SAI_xSLOTR_FBOFF_Pos)            /*!< 0x0000001F */
+#define SAI_xSLOTR_FBOFF           SAI_xSLOTR_FBOFF_Msk                        /*!<FBOFF[4:0](First Bit Offset)  */
+#define SAI_xSLOTR_FBOFF_0         (0x01UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000001 */
+#define SAI_xSLOTR_FBOFF_1         (0x02UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000002 */
+#define SAI_xSLOTR_FBOFF_2         (0x04UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000004 */
+#define SAI_xSLOTR_FBOFF_3         (0x08UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000008 */
+#define SAI_xSLOTR_FBOFF_4         (0x10UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000010 */
+
+#define SAI_xSLOTR_SLOTSZ_Pos      (6U)
+#define SAI_xSLOTR_SLOTSZ_Msk      (0x3UL << SAI_xSLOTR_SLOTSZ_Pos)            /*!< 0x000000C0 */
+#define SAI_xSLOTR_SLOTSZ          SAI_xSLOTR_SLOTSZ_Msk                       /*!<SLOTSZ[1:0] (Slot size)  */
+#define SAI_xSLOTR_SLOTSZ_0        (0x1UL << SAI_xSLOTR_SLOTSZ_Pos)             /*!< 0x00000040 */
+#define SAI_xSLOTR_SLOTSZ_1        (0x2UL << SAI_xSLOTR_SLOTSZ_Pos)             /*!< 0x00000080 */
+
+#define SAI_xSLOTR_NBSLOT_Pos      (8U)
+#define SAI_xSLOTR_NBSLOT_Msk      (0xFUL << SAI_xSLOTR_NBSLOT_Pos)            /*!< 0x00000F00 */
+#define SAI_xSLOTR_NBSLOT          SAI_xSLOTR_NBSLOT_Msk                       /*!<NBSLOT[3:0] (Number of Slot in audio Frame)  */
+#define SAI_xSLOTR_NBSLOT_0        (0x1UL << SAI_xSLOTR_NBSLOT_Pos)             /*!< 0x00000100 */
+#define SAI_xSLOTR_NBSLOT_1        (0x2UL << SAI_xSLOTR_NBSLOT_Pos)             /*!< 0x00000200 */
+#define SAI_xSLOTR_NBSLOT_2        (0x4UL << SAI_xSLOTR_NBSLOT_Pos)             /*!< 0x00000400 */
+#define SAI_xSLOTR_NBSLOT_3        (0x8UL << SAI_xSLOTR_NBSLOT_Pos)             /*!< 0x00000800 */
+
+#define SAI_xSLOTR_SLOTEN_Pos      (16U)
+#define SAI_xSLOTR_SLOTEN_Msk      (0xFFFFUL << SAI_xSLOTR_SLOTEN_Pos)         /*!< 0xFFFF0000 */
+#define SAI_xSLOTR_SLOTEN          SAI_xSLOTR_SLOTEN_Msk                       /*!<SLOTEN[15:0] (Slot Enable)  */
+
+/*******************  Bit definition for SAI_xIMR register  *******************/
+#define SAI_xIMR_OVRUDRIE_Pos      (0U)
+#define SAI_xIMR_OVRUDRIE_Msk      (0x1UL << SAI_xIMR_OVRUDRIE_Pos)            /*!< 0x00000001 */
+#define SAI_xIMR_OVRUDRIE          SAI_xIMR_OVRUDRIE_Msk                       /*!<Overrun underrun interrupt enable                              */
+#define SAI_xIMR_MUTEDETIE_Pos     (1U)
+#define SAI_xIMR_MUTEDETIE_Msk     (0x1UL << SAI_xIMR_MUTEDETIE_Pos)           /*!< 0x00000002 */
+#define SAI_xIMR_MUTEDETIE         SAI_xIMR_MUTEDETIE_Msk                      /*!<Mute detection interrupt enable                                */
+#define SAI_xIMR_WCKCFGIE_Pos      (2U)
+#define SAI_xIMR_WCKCFGIE_Msk      (0x1UL << SAI_xIMR_WCKCFGIE_Pos)            /*!< 0x00000004 */
+#define SAI_xIMR_WCKCFGIE          SAI_xIMR_WCKCFGIE_Msk                       /*!<Wrong Clock Configuration interrupt enable                     */
+#define SAI_xIMR_FREQIE_Pos        (3U)
+#define SAI_xIMR_FREQIE_Msk        (0x1UL << SAI_xIMR_FREQIE_Pos)              /*!< 0x00000008 */
+#define SAI_xIMR_FREQIE            SAI_xIMR_FREQIE_Msk                         /*!<FIFO request interrupt enable                                  */
+#define SAI_xIMR_CNRDYIE_Pos       (4U)
+#define SAI_xIMR_CNRDYIE_Msk       (0x1UL << SAI_xIMR_CNRDYIE_Pos)             /*!< 0x00000010 */
+#define SAI_xIMR_CNRDYIE           SAI_xIMR_CNRDYIE_Msk                        /*!<Codec not ready interrupt enable                               */
+#define SAI_xIMR_AFSDETIE_Pos      (5U)
+#define SAI_xIMR_AFSDETIE_Msk      (0x1UL << SAI_xIMR_AFSDETIE_Pos)            /*!< 0x00000020 */
+#define SAI_xIMR_AFSDETIE          SAI_xIMR_AFSDETIE_Msk                       /*!<Anticipated frame synchronization detection interrupt enable   */
+#define SAI_xIMR_LFSDETIE_Pos      (6U)
+#define SAI_xIMR_LFSDETIE_Msk      (0x1UL << SAI_xIMR_LFSDETIE_Pos)            /*!< 0x00000040 */
+#define SAI_xIMR_LFSDETIE          SAI_xIMR_LFSDETIE_Msk                       /*!<Late frame synchronization detection interrupt enable          */
+
+/********************  Bit definition for SAI_xSR register  *******************/
+#define SAI_xSR_OVRUDR_Pos         (0U)
+#define SAI_xSR_OVRUDR_Msk         (0x1UL << SAI_xSR_OVRUDR_Pos)               /*!< 0x00000001 */
+#define SAI_xSR_OVRUDR             SAI_xSR_OVRUDR_Msk                          /*!<Overrun underrun                               */
+#define SAI_xSR_MUTEDET_Pos        (1U)
+#define SAI_xSR_MUTEDET_Msk        (0x1UL << SAI_xSR_MUTEDET_Pos)              /*!< 0x00000002 */
+#define SAI_xSR_MUTEDET            SAI_xSR_MUTEDET_Msk                         /*!<Mute detection                                 */
+#define SAI_xSR_WCKCFG_Pos         (2U)
+#define SAI_xSR_WCKCFG_Msk         (0x1UL << SAI_xSR_WCKCFG_Pos)               /*!< 0x00000004 */
+#define SAI_xSR_WCKCFG             SAI_xSR_WCKCFG_Msk                          /*!<Wrong Clock Configuration                      */
+#define SAI_xSR_FREQ_Pos           (3U)
+#define SAI_xSR_FREQ_Msk           (0x1UL << SAI_xSR_FREQ_Pos)                 /*!< 0x00000008 */
+#define SAI_xSR_FREQ               SAI_xSR_FREQ_Msk                            /*!<FIFO request                                   */
+#define SAI_xSR_CNRDY_Pos          (4U)
+#define SAI_xSR_CNRDY_Msk          (0x1UL << SAI_xSR_CNRDY_Pos)                /*!< 0x00000010 */
+#define SAI_xSR_CNRDY              SAI_xSR_CNRDY_Msk                           /*!<Codec not ready                                */
+#define SAI_xSR_AFSDET_Pos         (5U)
+#define SAI_xSR_AFSDET_Msk         (0x1UL << SAI_xSR_AFSDET_Pos)               /*!< 0x00000020 */
+#define SAI_xSR_AFSDET             SAI_xSR_AFSDET_Msk                          /*!<Anticipated frame synchronization detection    */
+#define SAI_xSR_LFSDET_Pos         (6U)
+#define SAI_xSR_LFSDET_Msk         (0x1UL << SAI_xSR_LFSDET_Pos)               /*!< 0x00000040 */
+#define SAI_xSR_LFSDET             SAI_xSR_LFSDET_Msk                          /*!<Late frame synchronization detection           */
+
+#define SAI_xSR_FLVL_Pos           (16U)
+#define SAI_xSR_FLVL_Msk           (0x7UL << SAI_xSR_FLVL_Pos)                 /*!< 0x00070000 */
+#define SAI_xSR_FLVL               SAI_xSR_FLVL_Msk                            /*!<FLVL[2:0] (FIFO Level Threshold)               */
+#define SAI_xSR_FLVL_0             (0x1UL << SAI_xSR_FLVL_Pos)                  /*!< 0x00010000 */
+#define SAI_xSR_FLVL_1             (0x2UL << SAI_xSR_FLVL_Pos)                  /*!< 0x00020000 */
+#define SAI_xSR_FLVL_2             (0x4UL << SAI_xSR_FLVL_Pos)                  /*!< 0x00040000 */
+
+/******************  Bit definition for SAI_xCLRFR register  ******************/
+#define SAI_xCLRFR_COVRUDR_Pos     (0U)
+#define SAI_xCLRFR_COVRUDR_Msk     (0x1UL << SAI_xCLRFR_COVRUDR_Pos)           /*!< 0x00000001 */
+#define SAI_xCLRFR_COVRUDR         SAI_xCLRFR_COVRUDR_Msk                      /*!<Clear Overrun underrun                               */
+#define SAI_xCLRFR_CMUTEDET_Pos    (1U)
+#define SAI_xCLRFR_CMUTEDET_Msk    (0x1UL << SAI_xCLRFR_CMUTEDET_Pos)          /*!< 0x00000002 */
+#define SAI_xCLRFR_CMUTEDET        SAI_xCLRFR_CMUTEDET_Msk                     /*!<Clear Mute detection                                 */
+#define SAI_xCLRFR_CWCKCFG_Pos     (2U)
+#define SAI_xCLRFR_CWCKCFG_Msk     (0x1UL << SAI_xCLRFR_CWCKCFG_Pos)           /*!< 0x00000004 */
+#define SAI_xCLRFR_CWCKCFG         SAI_xCLRFR_CWCKCFG_Msk                      /*!<Clear Wrong Clock Configuration                      */
+#define SAI_xCLRFR_CFREQ_Pos       (3U)
+#define SAI_xCLRFR_CFREQ_Msk       (0x1UL << SAI_xCLRFR_CFREQ_Pos)             /*!< 0x00000008 */
+#define SAI_xCLRFR_CFREQ           SAI_xCLRFR_CFREQ_Msk                        /*!<Clear FIFO request                                   */
+#define SAI_xCLRFR_CCNRDY_Pos      (4U)
+#define SAI_xCLRFR_CCNRDY_Msk      (0x1UL << SAI_xCLRFR_CCNRDY_Pos)            /*!< 0x00000010 */
+#define SAI_xCLRFR_CCNRDY          SAI_xCLRFR_CCNRDY_Msk                       /*!<Clear Codec not ready                                */
+#define SAI_xCLRFR_CAFSDET_Pos     (5U)
+#define SAI_xCLRFR_CAFSDET_Msk     (0x1UL << SAI_xCLRFR_CAFSDET_Pos)           /*!< 0x00000020 */
+#define SAI_xCLRFR_CAFSDET         SAI_xCLRFR_CAFSDET_Msk                      /*!<Clear Anticipated frame synchronization detection    */
+#define SAI_xCLRFR_CLFSDET_Pos     (6U)
+#define SAI_xCLRFR_CLFSDET_Msk     (0x1UL << SAI_xCLRFR_CLFSDET_Pos)           /*!< 0x00000040 */
+#define SAI_xCLRFR_CLFSDET         SAI_xCLRFR_CLFSDET_Msk                      /*!<Clear Late frame synchronization detection           */
+
+/******************  Bit definition for SAI_xDR register  *********************/
+#define SAI_xDR_DATA_Pos           (0U)
+#define SAI_xDR_DATA_Msk           (0xFFFFFFFFUL << SAI_xDR_DATA_Pos)          /*!< 0xFFFFFFFF */
+#define SAI_xDR_DATA               SAI_xDR_DATA_Msk
+
+/*******************  Bit definition for SAI_PDMCR register  ******************/
+#define SAI_PDMCR_PDMEN_Pos        (0U)
+#define SAI_PDMCR_PDMEN_Msk        (0x1UL << SAI_PDMCR_PDMEN_Pos)              /*!< 0x00000001 */
+#define SAI_PDMCR_PDMEN            SAI_PDMCR_PDMEN_Msk                         /*!<PDM Enable                                          */
+
+#define SAI_PDMCR_MICNBR_Pos       (4U)
+#define SAI_PDMCR_MICNBR_Msk       (0x3UL << SAI_PDMCR_MICNBR_Pos)             /*!< 0x00000030 */
+#define SAI_PDMCR_MICNBR           SAI_PDMCR_MICNBR_Msk                        /*!<Number of microphones                               */
+#define SAI_PDMCR_MICNBR_0         (0x1UL << SAI_PDMCR_MICNBR_Pos)              /*!< 0x00000010 */
+#define SAI_PDMCR_MICNBR_1         (0x2UL << SAI_PDMCR_MICNBR_Pos)              /*!< 0x00000020 */
+
+#define SAI_PDMCR_CKEN1_Pos        (8U)
+#define SAI_PDMCR_CKEN1_Msk        (0x1UL << SAI_PDMCR_CKEN1_Pos)              /*!< 0x00000100 */
+#define SAI_PDMCR_CKEN1            SAI_PDMCR_CKEN1_Msk                         /*!<Clock enable of bitstream clock number 1            */
+#define SAI_PDMCR_CKEN2_Pos        (9U)
+#define SAI_PDMCR_CKEN2_Msk        (0x1UL << SAI_PDMCR_CKEN2_Pos)              /*!< 0x00000200 */
+#define SAI_PDMCR_CKEN2            SAI_PDMCR_CKEN2_Msk                         /*!<Clock enable of bitstream clock number 2            */
+#define SAI_PDMCR_CKEN3_Pos        (10U)
+#define SAI_PDMCR_CKEN3_Msk        (0x1UL << SAI_PDMCR_CKEN3_Pos)              /*!< 0x00000400 */
+#define SAI_PDMCR_CKEN3            SAI_PDMCR_CKEN3_Msk                         /*!<Clock enable of bitstream clock number 3            */
+#define SAI_PDMCR_CKEN4_Pos        (11U)
+#define SAI_PDMCR_CKEN4_Msk        (0x1UL << SAI_PDMCR_CKEN4_Pos)              /*!< 0x00000800 */
+#define SAI_PDMCR_CKEN4            SAI_PDMCR_CKEN4_Msk                         /*!<Clock enable of bitstream clock number 4            */
+
+/******************  Bit definition for SAI_PDMDLY register  ******************/
+#define SAI_PDMDLY_DLYM1L_Pos      (0U)
+#define SAI_PDMDLY_DLYM1L_Msk      (0x7UL << SAI_PDMDLY_DLYM1L_Pos)            /*!< 0x00000007 */
+#define SAI_PDMDLY_DLYM1L          SAI_PDMDLY_DLYM1L_Msk                       /*!<DLYM1L[2:0] (Delay line adjust for left microphone of pair 1) */
+#define SAI_PDMDLY_DLYM1L_0        (0x1UL << SAI_PDMDLY_DLYM1L_Pos)             /*!< 0x00000001 */
+#define SAI_PDMDLY_DLYM1L_1        (0x2UL << SAI_PDMDLY_DLYM1L_Pos)             /*!< 0x00000002 */
+#define SAI_PDMDLY_DLYM1L_2        (0x4UL << SAI_PDMDLY_DLYM1L_Pos)             /*!< 0x00000004 */
+
+#define SAI_PDMDLY_DLYM1R_Pos      (4U)
+#define SAI_PDMDLY_DLYM1R_Msk      (0x7UL << SAI_PDMDLY_DLYM1R_Pos)            /*!< 0x00000070 */
+#define SAI_PDMDLY_DLYM1R          SAI_PDMDLY_DLYM1R_Msk                       /*!<DLYM1R[2:0] (Delay line adjust for right microphone of pair 1) */
+#define SAI_PDMDLY_DLYM1R_0        (0x1UL << SAI_PDMDLY_DLYM1R_Pos)             /*!< 0x00000010 */
+#define SAI_PDMDLY_DLYM1R_1        (0x2UL << SAI_PDMDLY_DLYM1R_Pos)             /*!< 0x00000020 */
+#define SAI_PDMDLY_DLYM1R_2        (0x4UL << SAI_PDMDLY_DLYM1R_Pos)             /*!< 0x00000040 */
+
+#define SAI_PDMDLY_DLYM2L_Pos      (8U)
+#define SAI_PDMDLY_DLYM2L_Msk      (0x7UL << SAI_PDMDLY_DLYM2L_Pos)            /*!< 0x00000700 */
+#define SAI_PDMDLY_DLYM2L          SAI_PDMDLY_DLYM2L_Msk                       /*!<DLYM2L[2:0] (Delay line adjust for left microphone of pair 2) */
+#define SAI_PDMDLY_DLYM2L_0        (0x1UL << SAI_PDMDLY_DLYM2L_Pos)             /*!< 0x00000100 */
+#define SAI_PDMDLY_DLYM2L_1        (0x2UL << SAI_PDMDLY_DLYM2L_Pos)             /*!< 0x00000200 */
+#define SAI_PDMDLY_DLYM2L_2        (0x4UL << SAI_PDMDLY_DLYM2L_Pos)             /*!< 0x00000400 */
+
+#define SAI_PDMDLY_DLYM2R_Pos      (12U)
+#define SAI_PDMDLY_DLYM2R_Msk      (0x7UL << SAI_PDMDLY_DLYM2R_Pos)            /*!< 0x00007000 */
+#define SAI_PDMDLY_DLYM2R          SAI_PDMDLY_DLYM2R_Msk                       /*!<DLYM2R[2:0] (Delay line adjust for right microphone of pair 2)*/
+#define SAI_PDMDLY_DLYM2R_0        (0x1UL << SAI_PDMDLY_DLYM2R_Pos)             /*!< 0x00001000 */
+#define SAI_PDMDLY_DLYM2R_1        (0x2UL << SAI_PDMDLY_DLYM2R_Pos)             /*!< 0x00002000 */
+#define SAI_PDMDLY_DLYM2R_2        (0x4UL << SAI_PDMDLY_DLYM2R_Pos)             /*!< 0x00004000 */
+
+#define SAI_PDMDLY_DLYM3L_Pos      (16U)
+#define SAI_PDMDLY_DLYM3L_Msk      (0x7UL << SAI_PDMDLY_DLYM3L_Pos)            /*!< 0x00070000 */
+#define SAI_PDMDLY_DLYM3L          SAI_PDMDLY_DLYM3L_Msk                       /*!<DLYM3L[2:0] (Delay line adjust for left microphone of pair 3)*/
+#define SAI_PDMDLY_DLYM3L_0        (0x1UL << SAI_PDMDLY_DLYM3L_Pos)             /*!< 0x00010000 */
+#define SAI_PDMDLY_DLYM3L_1        (0x2UL << SAI_PDMDLY_DLYM3L_Pos)             /*!< 0x00020000 */
+#define SAI_PDMDLY_DLYM3L_2        (0x4UL << SAI_PDMDLY_DLYM3L_Pos)             /*!< 0x00040000 */
+
+#define SAI_PDMDLY_DLYM3R_Pos      (20U)
+#define SAI_PDMDLY_DLYM3R_Msk      (0x7UL << SAI_PDMDLY_DLYM3R_Pos)            /*!< 0x00700000 */
+#define SAI_PDMDLY_DLYM3R          SAI_PDMDLY_DLYM3R_Msk                       /*!<DLYM3R[2:0] (Delay line adjust for right microphone of pair 3)*/
+#define SAI_PDMDLY_DLYM3R_0        (0x1UL << SAI_PDMDLY_DLYM3R_Pos)             /*!< 0x00100000 */
+#define SAI_PDMDLY_DLYM3R_1        (0x2UL << SAI_PDMDLY_DLYM3R_Pos)             /*!< 0x00200000 */
+#define SAI_PDMDLY_DLYM3R_2        (0x4UL << SAI_PDMDLY_DLYM3R_Pos)             /*!< 0x00400000 */
+
+#define SAI_PDMDLY_DLYM4L_Pos      (24U)
+#define SAI_PDMDLY_DLYM4L_Msk      (0x7UL << SAI_PDMDLY_DLYM4L_Pos)            /*!< 0x07000000 */
+#define SAI_PDMDLY_DLYM4L          SAI_PDMDLY_DLYM4L_Msk                       /*!<DLYM4L[2:0] (Delay line adjust for left microphone of pair 4)*/
+#define SAI_PDMDLY_DLYM4L_0        (0x1UL << SAI_PDMDLY_DLYM4L_Pos)             /*!< 0x01000000 */
+#define SAI_PDMDLY_DLYM4L_1        (0x2UL << SAI_PDMDLY_DLYM4L_Pos)             /*!< 0x02000000 */
+#define SAI_PDMDLY_DLYM4L_2        (0x4UL << SAI_PDMDLY_DLYM4L_Pos)             /*!< 0x04000000 */
+
+#define SAI_PDMDLY_DLYM4R_Pos      (28U)
+#define SAI_PDMDLY_DLYM4R_Msk      (0x7UL << SAI_PDMDLY_DLYM4R_Pos)            /*!< 0x70000000 */
+#define SAI_PDMDLY_DLYM4R          SAI_PDMDLY_DLYM4R_Msk                       /*!<DLYM4R[2:0] (Delay line adjust for right microphone of pair 4)*/
+#define SAI_PDMDLY_DLYM4R_0        (0x1UL << SAI_PDMDLY_DLYM4R_Pos)             /*!< 0x10000000 */
+#define SAI_PDMDLY_DLYM4R_1        (0x2UL << SAI_PDMDLY_DLYM4R_Pos)             /*!< 0x20000000 */
+#define SAI_PDMDLY_DLYM4R_2        (0x4UL << SAI_PDMDLY_DLYM4R_Pos)             /*!< 0x40000000 */
+
+/******************************************************************************/
+/*                                                                            */
+/*                           SDMMC Interface                                  */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for SDMMC_POWER register  ******************/
+#define SDMMC_POWER_PWRCTRL_Pos          (0U)
+#define SDMMC_POWER_PWRCTRL_Msk          (0x3UL << SDMMC_POWER_PWRCTRL_Pos)    /*!< 0x00000003 */
+#define SDMMC_POWER_PWRCTRL              SDMMC_POWER_PWRCTRL_Msk               /*!<PWRCTRL[1:0] bits (Power supply control bits) */
+#define SDMMC_POWER_PWRCTRL_0            (0x1UL << SDMMC_POWER_PWRCTRL_Pos)     /*!< 0x00000001 */
+#define SDMMC_POWER_PWRCTRL_1            (0x2UL << SDMMC_POWER_PWRCTRL_Pos)     /*!< 0x00000002 */
+#define SDMMC_POWER_VSWITCH_Pos          (2U)
+#define SDMMC_POWER_VSWITCH_Msk          (0x1UL << SDMMC_POWER_VSWITCH_Pos)    /*!< 0x00000004 */
+#define SDMMC_POWER_VSWITCH              SDMMC_POWER_VSWITCH_Msk               /*!<Voltage switch sequence start */
+#define SDMMC_POWER_VSWITCHEN_Pos        (3U)
+#define SDMMC_POWER_VSWITCHEN_Msk        (0x1UL << SDMMC_POWER_VSWITCHEN_Pos)  /*!< 0x00000008 */
+#define SDMMC_POWER_VSWITCHEN            SDMMC_POWER_VSWITCHEN_Msk             /*!<Voltage switch procedure enable */
+#define SDMMC_POWER_DIRPOL_Pos           (4U)
+#define SDMMC_POWER_DIRPOL_Msk           (0x1UL << SDMMC_POWER_DIRPOL_Pos)     /*!< 0x00000010 */
+#define SDMMC_POWER_DIRPOL               SDMMC_POWER_DIRPOL_Msk                /*!<Data and Command direction signals polarity selection */
+
+/******************  Bit definition for SDMMC_CLKCR register  ******************/
+#define SDMMC_CLKCR_CLKDIV_Pos           (0U)
+#define SDMMC_CLKCR_CLKDIV_Msk           (0x3FFUL << SDMMC_CLKCR_CLKDIV_Pos)   /*!< 0x000003FF */
+#define SDMMC_CLKCR_CLKDIV               SDMMC_CLKCR_CLKDIV_Msk                /*!<Clock divide factor             */
+#define SDMMC_CLKCR_PWRSAV_Pos           (12U)
+#define SDMMC_CLKCR_PWRSAV_Msk           (0x1UL << SDMMC_CLKCR_PWRSAV_Pos)     /*!< 0x00001000 */
+#define SDMMC_CLKCR_PWRSAV               SDMMC_CLKCR_PWRSAV_Msk                /*!<Power saving configuration bit  */
+
+#define SDMMC_CLKCR_WIDBUS_Pos           (14U)
+#define SDMMC_CLKCR_WIDBUS_Msk           (0x3UL << SDMMC_CLKCR_WIDBUS_Pos)     /*!< 0x0000C000 */
+#define SDMMC_CLKCR_WIDBUS               SDMMC_CLKCR_WIDBUS_Msk                /*!<WIDBUS[1:0] bits (Wide bus mode enable bit) */
+#define SDMMC_CLKCR_WIDBUS_0             (0x1UL << SDMMC_CLKCR_WIDBUS_Pos)      /*!< 0x00004000 */
+#define SDMMC_CLKCR_WIDBUS_1             (0x2UL << SDMMC_CLKCR_WIDBUS_Pos)      /*!< 0x00008000 */
+
+#define SDMMC_CLKCR_NEGEDGE_Pos          (16U)
+#define SDMMC_CLKCR_NEGEDGE_Msk          (0x1UL << SDMMC_CLKCR_NEGEDGE_Pos)    /*!< 0x00010000 */
+#define SDMMC_CLKCR_NEGEDGE              SDMMC_CLKCR_NEGEDGE_Msk               /*!<SDMMC_CK dephasing selection bit */
+#define SDMMC_CLKCR_HWFC_EN_Pos          (17U)
+#define SDMMC_CLKCR_HWFC_EN_Msk          (0x1UL << SDMMC_CLKCR_HWFC_EN_Pos)    /*!< 0x00020000 */
+#define SDMMC_CLKCR_HWFC_EN              SDMMC_CLKCR_HWFC_EN_Msk               /*!<HW Flow Control enable           */
+#define SDMMC_CLKCR_DDR_Pos              (18U)
+#define SDMMC_CLKCR_DDR_Msk              (0x1UL << SDMMC_CLKCR_DDR_Pos)        /*!< 0x00040000 */
+#define SDMMC_CLKCR_DDR                  SDMMC_CLKCR_DDR_Msk                   /*!<Data rate signaling selection    */
+#define SDMMC_CLKCR_BUSSPEED_Pos         (19U)
+#define SDMMC_CLKCR_BUSSPEED_Msk         (0x1UL << SDMMC_CLKCR_BUSSPEED_Pos)   /*!< 0x00080000 */
+#define SDMMC_CLKCR_BUSSPEED             SDMMC_CLKCR_BUSSPEED_Msk              /*!<Bus speed mode selection         */
+#define SDMMC_CLKCR_SELCLKRX_Pos         (20U)
+#define SDMMC_CLKCR_SELCLKRX_Msk         (0x3UL << SDMMC_CLKCR_SELCLKRX_Pos)   /*!< 0x00300000 */
+#define SDMMC_CLKCR_SELCLKRX             SDMMC_CLKCR_SELCLKRX_Msk              /*!<SELCLKRX[1:0] bits (Receive clock selection) */
+#define SDMMC_CLKCR_SELCLKRX_0           (0x1UL << SDMMC_CLKCR_SELCLKRX_Pos)    /*!< 0x00100000 */
+#define SDMMC_CLKCR_SELCLKRX_1           (0x2UL << SDMMC_CLKCR_SELCLKRX_Pos)    /*!< 0x00200000 */
+
+/*******************  Bit definition for SDMMC_ARG register  *******************/
+#define SDMMC_ARG_CMDARG_Pos             (0U)
+#define SDMMC_ARG_CMDARG_Msk             (0xFFFFFFFFUL << SDMMC_ARG_CMDARG_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_ARG_CMDARG                 SDMMC_ARG_CMDARG_Msk                  /*!<Command argument */
+
+/*******************  Bit definition for SDMMC_CMD register  *******************/
+#define SDMMC_CMD_CMDINDEX_Pos           (0U)
+#define SDMMC_CMD_CMDINDEX_Msk           (0x3FUL << SDMMC_CMD_CMDINDEX_Pos)    /*!< 0x0000003F */
+#define SDMMC_CMD_CMDINDEX               SDMMC_CMD_CMDINDEX_Msk                /*!<Command Index                               */
+#define SDMMC_CMD_CMDTRANS_Pos           (6U)
+#define SDMMC_CMD_CMDTRANS_Msk           (0x1UL << SDMMC_CMD_CMDTRANS_Pos)     /*!< 0x00000040 */
+#define SDMMC_CMD_CMDTRANS               SDMMC_CMD_CMDTRANS_Msk                /*!<CPSM Treats command as a Data Transfer      */
+#define SDMMC_CMD_CMDSTOP_Pos            (7U)
+#define SDMMC_CMD_CMDSTOP_Msk            (0x1UL << SDMMC_CMD_CMDSTOP_Pos)      /*!< 0x00000080 */
+#define SDMMC_CMD_CMDSTOP                SDMMC_CMD_CMDSTOP_Msk                 /*!<CPSM Treats command as a Stop               */
+
+#define SDMMC_CMD_WAITRESP_Pos           (8U)
+#define SDMMC_CMD_WAITRESP_Msk           (0x3UL << SDMMC_CMD_WAITRESP_Pos)     /*!< 0x00000300 */
+#define SDMMC_CMD_WAITRESP               SDMMC_CMD_WAITRESP_Msk                /*!<WAITRESP[1:0] bits (Wait for response bits) */
+#define SDMMC_CMD_WAITRESP_0             (0x1UL << SDMMC_CMD_WAITRESP_Pos)      /*!< 0x00000100 */
+#define SDMMC_CMD_WAITRESP_1             (0x2UL << SDMMC_CMD_WAITRESP_Pos)      /*!< 0x00000200 */
+
+#define SDMMC_CMD_WAITINT_Pos            (10U)
+#define SDMMC_CMD_WAITINT_Msk            (0x1UL << SDMMC_CMD_WAITINT_Pos)      /*!< 0x00000400 */
+#define SDMMC_CMD_WAITINT                SDMMC_CMD_WAITINT_Msk                 /*!<CPSM Waits for Interrupt Request                               */
+#define SDMMC_CMD_WAITPEND_Pos           (11U)
+#define SDMMC_CMD_WAITPEND_Msk           (0x1UL << SDMMC_CMD_WAITPEND_Pos)     /*!< 0x00000800 */
+#define SDMMC_CMD_WAITPEND               SDMMC_CMD_WAITPEND_Msk                /*!<CPSM Waits for ends of data transfer (CmdPend internal signal) */
+#define SDMMC_CMD_CPSMEN_Pos             (12U)
+#define SDMMC_CMD_CPSMEN_Msk             (0x1UL << SDMMC_CMD_CPSMEN_Pos)       /*!< 0x00001000 */
+#define SDMMC_CMD_CPSMEN                 SDMMC_CMD_CPSMEN_Msk                  /*!<Command path state machine (CPSM) Enable bit                   */
+#define SDMMC_CMD_DTHOLD_Pos             (13U)
+#define SDMMC_CMD_DTHOLD_Msk             (0x1UL << SDMMC_CMD_DTHOLD_Pos)       /*!< 0x00002000 */
+#define SDMMC_CMD_DTHOLD                 SDMMC_CMD_DTHOLD_Msk                  /*!<Hold new data block transmission and reception in the DPSM     */
+#define SDMMC_CMD_BOOTMODE_Pos           (14U)
+#define SDMMC_CMD_BOOTMODE_Msk           (0x1UL << SDMMC_CMD_BOOTMODE_Pos)     /*!< 0x00004000 */
+#define SDMMC_CMD_BOOTMODE               SDMMC_CMD_BOOTMODE_Msk                /*!<Boot mode                                                      */
+#define SDMMC_CMD_BOOTEN_Pos             (15U)
+#define SDMMC_CMD_BOOTEN_Msk             (0x1UL << SDMMC_CMD_BOOTEN_Pos)       /*!< 0x00008000 */
+#define SDMMC_CMD_BOOTEN                 SDMMC_CMD_BOOTEN_Msk                  /*!<Enable Boot mode procedure                                     */
+#define SDMMC_CMD_CMDSUSPEND_Pos         (16U)
+#define SDMMC_CMD_CMDSUSPEND_Msk         (0x1UL << SDMMC_CMD_CMDSUSPEND_Pos)   /*!< 0x00010000 */
+#define SDMMC_CMD_CMDSUSPEND             SDMMC_CMD_CMDSUSPEND_Msk              /*!<CPSM Treats command as a Suspend or Resume command             */
+
+/*****************  Bit definition for SDMMC_RESPCMD register  *****************/
+#define SDMMC_RESPCMD_RESPCMD_Pos        (0U)
+#define SDMMC_RESPCMD_RESPCMD_Msk        (0x3FUL << SDMMC_RESPCMD_RESPCMD_Pos) /*!< 0x0000003F */
+#define SDMMC_RESPCMD_RESPCMD            SDMMC_RESPCMD_RESPCMD_Msk             /*!<Response command index */
+
+/******************  Bit definition for SDMMC_RESP0 register  ******************/
+#define SDMMC_RESP0_CARDSTATUS0_Pos      (0U)
+#define SDMMC_RESP0_CARDSTATUS0_Msk      (0xFFFFFFFFUL << SDMMC_RESP0_CARDSTATUS0_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP0_CARDSTATUS0          SDMMC_RESP0_CARDSTATUS0_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_RESP1 register  ******************/
+#define SDMMC_RESP1_CARDSTATUS1_Pos      (0U)
+#define SDMMC_RESP1_CARDSTATUS1_Msk      (0xFFFFFFFFUL << SDMMC_RESP1_CARDSTATUS1_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP1_CARDSTATUS1          SDMMC_RESP1_CARDSTATUS1_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_RESP2 register  ******************/
+#define SDMMC_RESP2_CARDSTATUS2_Pos      (0U)
+#define SDMMC_RESP2_CARDSTATUS2_Msk      (0xFFFFFFFFUL << SDMMC_RESP2_CARDSTATUS2_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP2_CARDSTATUS2          SDMMC_RESP2_CARDSTATUS2_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_RESP3 register  ******************/
+#define SDMMC_RESP3_CARDSTATUS3_Pos      (0U)
+#define SDMMC_RESP3_CARDSTATUS3_Msk      (0xFFFFFFFFUL << SDMMC_RESP3_CARDSTATUS3_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP3_CARDSTATUS3          SDMMC_RESP3_CARDSTATUS3_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_RESP4 register  ******************/
+#define SDMMC_RESP4_CARDSTATUS4_Pos      (0U)
+#define SDMMC_RESP4_CARDSTATUS4_Msk      (0xFFFFFFFFUL << SDMMC_RESP4_CARDSTATUS4_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP4_CARDSTATUS4          SDMMC_RESP4_CARDSTATUS4_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_DTIMER register  *****************/
+#define SDMMC_DTIMER_DATATIME_Pos        (0U)
+#define SDMMC_DTIMER_DATATIME_Msk        (0xFFFFFFFFUL << SDMMC_DTIMER_DATATIME_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_DTIMER_DATATIME            SDMMC_DTIMER_DATATIME_Msk             /*!<Data timeout period. */
+
+/******************  Bit definition for SDMMC_DLEN register  *******************/
+#define SDMMC_DLEN_DATALENGTH_Pos        (0U)
+#define SDMMC_DLEN_DATALENGTH_Msk        (0x1FFFFFFUL << SDMMC_DLEN_DATALENGTH_Pos) /*!< 0x01FFFFFF */
+#define SDMMC_DLEN_DATALENGTH            SDMMC_DLEN_DATALENGTH_Msk             /*!<Data length value    */
+
+/******************  Bit definition for SDMMC_DCTRL register  ******************/
+#define SDMMC_DCTRL_DTEN_Pos             (0U)
+#define SDMMC_DCTRL_DTEN_Msk             (0x1UL << SDMMC_DCTRL_DTEN_Pos)       /*!< 0x00000001 */
+#define SDMMC_DCTRL_DTEN                 SDMMC_DCTRL_DTEN_Msk                  /*!<Data transfer enabled bit                */
+#define SDMMC_DCTRL_DTDIR_Pos            (1U)
+#define SDMMC_DCTRL_DTDIR_Msk            (0x1UL << SDMMC_DCTRL_DTDIR_Pos)      /*!< 0x00000002 */
+#define SDMMC_DCTRL_DTDIR                SDMMC_DCTRL_DTDIR_Msk                 /*!<Data transfer direction selection        */
+#define SDMMC_DCTRL_DTMODE_Pos           (2U)
+#define SDMMC_DCTRL_DTMODE_Msk           (0x3UL << SDMMC_DCTRL_DTMODE_Pos)     /*!< 0x0000000C */
+#define SDMMC_DCTRL_DTMODE               SDMMC_DCTRL_DTMODE_Msk                /*!<DTMODE[1:0] Data transfer mode selection */
+#define SDMMC_DCTRL_DTMODE_0             (0x1UL << SDMMC_DCTRL_DTMODE_Pos)      /*!< 0x00000004 */
+#define SDMMC_DCTRL_DTMODE_1             (0x2UL << SDMMC_DCTRL_DTMODE_Pos)      /*!< 0x00000008 */
+
+#define SDMMC_DCTRL_DBLOCKSIZE_Pos       (4U)
+#define SDMMC_DCTRL_DBLOCKSIZE_Msk       (0xFUL << SDMMC_DCTRL_DBLOCKSIZE_Pos) /*!< 0x000000F0 */
+#define SDMMC_DCTRL_DBLOCKSIZE           SDMMC_DCTRL_DBLOCKSIZE_Msk            /*!<DBLOCKSIZE[3:0] bits (Data block size) */
+#define SDMMC_DCTRL_DBLOCKSIZE_0         (0x1UL << SDMMC_DCTRL_DBLOCKSIZE_Pos)  /*!< 0x00000010 */
+#define SDMMC_DCTRL_DBLOCKSIZE_1         (0x2UL << SDMMC_DCTRL_DBLOCKSIZE_Pos)  /*!< 0x00000020 */
+#define SDMMC_DCTRL_DBLOCKSIZE_2         (0x4UL << SDMMC_DCTRL_DBLOCKSIZE_Pos)  /*!< 0x00000040 */
+#define SDMMC_DCTRL_DBLOCKSIZE_3         (0x8UL << SDMMC_DCTRL_DBLOCKSIZE_Pos)  /*!< 0x00000080 */
+
+#define SDMMC_DCTRL_RWSTART_Pos          (8U)
+#define SDMMC_DCTRL_RWSTART_Msk          (0x1UL << SDMMC_DCTRL_RWSTART_Pos)    /*!< 0x00000100 */
+#define SDMMC_DCTRL_RWSTART              SDMMC_DCTRL_RWSTART_Msk               /*!<Read wait start                                 */
+#define SDMMC_DCTRL_RWSTOP_Pos           (9U)
+#define SDMMC_DCTRL_RWSTOP_Msk           (0x1UL << SDMMC_DCTRL_RWSTOP_Pos)     /*!< 0x00000200 */
+#define SDMMC_DCTRL_RWSTOP               SDMMC_DCTRL_RWSTOP_Msk                /*!<Read wait stop                                  */
+#define SDMMC_DCTRL_RWMOD_Pos            (10U)
+#define SDMMC_DCTRL_RWMOD_Msk            (0x1UL << SDMMC_DCTRL_RWMOD_Pos)      /*!< 0x00000400 */
+#define SDMMC_DCTRL_RWMOD                SDMMC_DCTRL_RWMOD_Msk                 /*!<Read wait mode                                  */
+#define SDMMC_DCTRL_SDIOEN_Pos           (11U)
+#define SDMMC_DCTRL_SDIOEN_Msk           (0x1UL << SDMMC_DCTRL_SDIOEN_Pos)     /*!< 0x00000800 */
+#define SDMMC_DCTRL_SDIOEN               SDMMC_DCTRL_SDIOEN_Msk                /*!<SD I/O enable functions                         */
+#define SDMMC_DCTRL_BOOTACKEN_Pos        (12U)
+#define SDMMC_DCTRL_BOOTACKEN_Msk        (0x1UL << SDMMC_DCTRL_BOOTACKEN_Pos)  /*!< 0x00001000 */
+#define SDMMC_DCTRL_BOOTACKEN            SDMMC_DCTRL_BOOTACKEN_Msk             /*!<Enable the reception of the Boot Acknowledgment */
+#define SDMMC_DCTRL_FIFORST_Pos          (13U)
+#define SDMMC_DCTRL_FIFORST_Msk          (0x1UL << SDMMC_DCTRL_FIFORST_Pos)    /*!< 0x00002000 */
+#define SDMMC_DCTRL_FIFORST              SDMMC_DCTRL_FIFORST_Msk               /*!<FIFO reset                                      */
+
+/******************  Bit definition for SDMMC_DCOUNT register  *****************/
+#define SDMMC_DCOUNT_DATACOUNT_Pos       (0U)
+#define SDMMC_DCOUNT_DATACOUNT_Msk       (0x1FFFFFFUL << SDMMC_DCOUNT_DATACOUNT_Pos) /*!< 0x01FFFFFF */
+#define SDMMC_DCOUNT_DATACOUNT           SDMMC_DCOUNT_DATACOUNT_Msk            /*!<Data count value */
+
+/******************  Bit definition for SDMMC_STA register  ********************/
+#define SDMMC_STA_CCRCFAIL_Pos           (0U)
+#define SDMMC_STA_CCRCFAIL_Msk           (0x1UL << SDMMC_STA_CCRCFAIL_Pos)     /*!< 0x00000001 */
+#define SDMMC_STA_CCRCFAIL               SDMMC_STA_CCRCFAIL_Msk                /*!<Command response received (CRC check failed)  */
+#define SDMMC_STA_DCRCFAIL_Pos           (1U)
+#define SDMMC_STA_DCRCFAIL_Msk           (0x1UL << SDMMC_STA_DCRCFAIL_Pos)     /*!< 0x00000002 */
+#define SDMMC_STA_DCRCFAIL               SDMMC_STA_DCRCFAIL_Msk                /*!<Data block sent/received (CRC check failed)   */
+#define SDMMC_STA_CTIMEOUT_Pos           (2U)
+#define SDMMC_STA_CTIMEOUT_Msk           (0x1UL << SDMMC_STA_CTIMEOUT_Pos)     /*!< 0x00000004 */
+#define SDMMC_STA_CTIMEOUT               SDMMC_STA_CTIMEOUT_Msk                /*!<Command response timeout                      */
+#define SDMMC_STA_DTIMEOUT_Pos           (3U)
+#define SDMMC_STA_DTIMEOUT_Msk           (0x1UL << SDMMC_STA_DTIMEOUT_Pos)     /*!< 0x00000008 */
+#define SDMMC_STA_DTIMEOUT               SDMMC_STA_DTIMEOUT_Msk                /*!<Data timeout                                  */
+#define SDMMC_STA_TXUNDERR_Pos           (4U)
+#define SDMMC_STA_TXUNDERR_Msk           (0x1UL << SDMMC_STA_TXUNDERR_Pos)     /*!< 0x00000010 */
+#define SDMMC_STA_TXUNDERR               SDMMC_STA_TXUNDERR_Msk                /*!<Transmit FIFO underrun error                  */
+#define SDMMC_STA_RXOVERR_Pos            (5U)
+#define SDMMC_STA_RXOVERR_Msk            (0x1UL << SDMMC_STA_RXOVERR_Pos)      /*!< 0x00000020 */
+#define SDMMC_STA_RXOVERR                SDMMC_STA_RXOVERR_Msk                 /*!<Received FIFO overrun error                   */
+#define SDMMC_STA_CMDREND_Pos            (6U)
+#define SDMMC_STA_CMDREND_Msk            (0x1UL << SDMMC_STA_CMDREND_Pos)      /*!< 0x00000040 */
+#define SDMMC_STA_CMDREND                SDMMC_STA_CMDREND_Msk                 /*!<Command response received (CRC check passed)  */
+#define SDMMC_STA_CMDSENT_Pos            (7U)
+#define SDMMC_STA_CMDSENT_Msk            (0x1UL << SDMMC_STA_CMDSENT_Pos)      /*!< 0x00000080 */
+#define SDMMC_STA_CMDSENT                SDMMC_STA_CMDSENT_Msk                 /*!<Command sent (no response required)           */
+#define SDMMC_STA_DATAEND_Pos            (8U)
+#define SDMMC_STA_DATAEND_Msk            (0x1UL << SDMMC_STA_DATAEND_Pos)      /*!< 0x00000100 */
+#define SDMMC_STA_DATAEND                SDMMC_STA_DATAEND_Msk                 /*!<Data end (data counter, SDIDCOUNT, is zero)   */
+#define SDMMC_STA_DHOLD_Pos              (9U)
+#define SDMMC_STA_DHOLD_Msk              (0x1UL << SDMMC_STA_DHOLD_Pos)        /*!< 0x00000200 */
+#define SDMMC_STA_DHOLD                  SDMMC_STA_DHOLD_Msk                   /*!<Data transfer Hold                                                      */
+#define SDMMC_STA_DBCKEND_Pos            (10U)
+#define SDMMC_STA_DBCKEND_Msk            (0x1UL << SDMMC_STA_DBCKEND_Pos)      /*!< 0x00000400 */
+#define SDMMC_STA_DBCKEND                SDMMC_STA_DBCKEND_Msk                 /*!<Data block sent/received (CRC check passed)   */
+#define SDMMC_STA_DABORT_Pos             (11U)
+#define SDMMC_STA_DABORT_Msk             (0x1UL << SDMMC_STA_DABORT_Pos)       /*!< 0x00000800 */
+#define SDMMC_STA_DABORT                 SDMMC_STA_DABORT_Msk                  /*!<Data transfer aborted by CMD12                                          */
+#define SDMMC_STA_DPSMACT_Pos            (12U)
+#define SDMMC_STA_DPSMACT_Msk            (0x1UL << SDMMC_STA_DPSMACT_Pos)      /*!< 0x00001000 */
+#define SDMMC_STA_DPSMACT                SDMMC_STA_DPSMACT_Msk                 /*!<Data path state machine active                                       */
+#define SDMMC_STA_CPSMACT_Pos            (13U)
+#define SDMMC_STA_CPSMACT_Msk            (0x1UL << SDMMC_STA_CPSMACT_Pos)      /*!< 0x00002000 */
+#define SDMMC_STA_CPSMACT                SDMMC_STA_CPSMACT_Msk                 /*!<Command path state machine active                                          */
+#define SDMMC_STA_TXFIFOHE_Pos           (14U)
+#define SDMMC_STA_TXFIFOHE_Msk           (0x1UL << SDMMC_STA_TXFIFOHE_Pos)     /*!< 0x00004000 */
+#define SDMMC_STA_TXFIFOHE               SDMMC_STA_TXFIFOHE_Msk                /*!<Transmit FIFO Half Empty: at least 8 words can be written into the FIFO */
+#define SDMMC_STA_RXFIFOHF_Pos           (15U)
+#define SDMMC_STA_RXFIFOHF_Msk           (0x1UL << SDMMC_STA_RXFIFOHF_Pos)     /*!< 0x00008000 */
+#define SDMMC_STA_RXFIFOHF               SDMMC_STA_RXFIFOHF_Msk                /*!<Receive FIFO Half Full: there are at least 8 words in the FIFO */
+#define SDMMC_STA_TXFIFOF_Pos            (16U)
+#define SDMMC_STA_TXFIFOF_Msk            (0x1UL << SDMMC_STA_TXFIFOF_Pos)      /*!< 0x00010000 */
+#define SDMMC_STA_TXFIFOF                SDMMC_STA_TXFIFOF_Msk                 /*!<Transmit FIFO full                            */
+#define SDMMC_STA_RXFIFOF_Pos            (17U)
+#define SDMMC_STA_RXFIFOF_Msk            (0x1UL << SDMMC_STA_RXFIFOF_Pos)      /*!< 0x00020000 */
+#define SDMMC_STA_RXFIFOF                SDMMC_STA_RXFIFOF_Msk                 /*!<Receive FIFO full                             */
+#define SDMMC_STA_TXFIFOE_Pos            (18U)
+#define SDMMC_STA_TXFIFOE_Msk            (0x1UL << SDMMC_STA_TXFIFOE_Pos)      /*!< 0x00040000 */
+#define SDMMC_STA_TXFIFOE                SDMMC_STA_TXFIFOE_Msk                 /*!<Transmit FIFO empty                           */
+#define SDMMC_STA_RXFIFOE_Pos            (19U)
+#define SDMMC_STA_RXFIFOE_Msk            (0x1UL << SDMMC_STA_RXFIFOE_Pos)      /*!< 0x00080000 */
+#define SDMMC_STA_RXFIFOE                SDMMC_STA_RXFIFOE_Msk                 /*!<Receive FIFO empty                            */
+#define SDMMC_STA_BUSYD0_Pos             (20U)
+#define SDMMC_STA_BUSYD0_Msk             (0x1UL << SDMMC_STA_BUSYD0_Pos)       /*!< 0x00100000 */
+#define SDMMC_STA_BUSYD0                 SDMMC_STA_BUSYD0_Msk                  /*!<Inverted value of SDMMC_D0 line (Busy)                                  */
+#define SDMMC_STA_BUSYD0END_Pos          (21U)
+#define SDMMC_STA_BUSYD0END_Msk          (0x1UL << SDMMC_STA_BUSYD0END_Pos)    /*!< 0x00200000 */
+#define SDMMC_STA_BUSYD0END              SDMMC_STA_BUSYD0END_Msk               /*!<End of SDMMC_D0 Busy following a CMD response detected                  */
+#define SDMMC_STA_SDIOIT_Pos             (22U)
+#define SDMMC_STA_SDIOIT_Msk             (0x1UL << SDMMC_STA_SDIOIT_Pos)       /*!< 0x00400000 */
+#define SDMMC_STA_SDIOIT                 SDMMC_STA_SDIOIT_Msk                  /*!<SDIO interrupt received                                                 */
+#define SDMMC_STA_ACKFAIL_Pos            (23U)
+#define SDMMC_STA_ACKFAIL_Msk            (0x1UL << SDMMC_STA_ACKFAIL_Pos)      /*!< 0x00800000 */
+#define SDMMC_STA_ACKFAIL                SDMMC_STA_ACKFAIL_Msk                 /*!<Boot Acknowledgment received (BootAck check fail)                       */
+#define SDMMC_STA_ACKTIMEOUT_Pos         (24U)
+#define SDMMC_STA_ACKTIMEOUT_Msk         (0x1UL << SDMMC_STA_ACKTIMEOUT_Pos)   /*!< 0x01000000 */
+#define SDMMC_STA_ACKTIMEOUT             SDMMC_STA_ACKTIMEOUT_Msk              /*!<Boot Acknowledgment timeout                                             */
+#define SDMMC_STA_VSWEND_Pos             (25U)
+#define SDMMC_STA_VSWEND_Msk             (0x1UL << SDMMC_STA_VSWEND_Pos)       /*!< 0x02000000 */
+#define SDMMC_STA_VSWEND                 SDMMC_STA_VSWEND_Msk                  /*!<Voltage switch critical timing section completion                       */
+#define SDMMC_STA_CKSTOP_Pos             (26U)
+#define SDMMC_STA_CKSTOP_Msk             (0x1UL << SDMMC_STA_CKSTOP_Pos)       /*!< 0x04000000 */
+#define SDMMC_STA_CKSTOP                 SDMMC_STA_CKSTOP_Msk                  /*!<SDMMC_CK stopped in Voltage switch procedure                            */
+#define SDMMC_STA_IDMATE_Pos             (27U)
+#define SDMMC_STA_IDMATE_Msk             (0x1UL << SDMMC_STA_IDMATE_Pos)       /*!< 0x08000000 */
+#define SDMMC_STA_IDMATE                 SDMMC_STA_IDMATE_Msk                  /*!<IDMA transfer error                                                     */
+#define SDMMC_STA_IDMABTC_Pos            (28U)
+#define SDMMC_STA_IDMABTC_Msk            (0x1UL << SDMMC_STA_IDMABTC_Pos)      /*!< 0x10000000 */
+#define SDMMC_STA_IDMABTC                SDMMC_STA_IDMABTC_Msk                 /*!<IDMA buffer transfer complete                                           */
+
+/*******************  Bit definition for SDMMC_ICR register  *******************/
+#define SDMMC_ICR_CCRCFAILC_Pos          (0U)
+#define SDMMC_ICR_CCRCFAILC_Msk          (0x1UL << SDMMC_ICR_CCRCFAILC_Pos)    /*!< 0x00000001 */
+#define SDMMC_ICR_CCRCFAILC              SDMMC_ICR_CCRCFAILC_Msk               /*!<CCRCFAIL flag clear bit */
+#define SDMMC_ICR_DCRCFAILC_Pos          (1U)
+#define SDMMC_ICR_DCRCFAILC_Msk          (0x1UL << SDMMC_ICR_DCRCFAILC_Pos)    /*!< 0x00000002 */
+#define SDMMC_ICR_DCRCFAILC              SDMMC_ICR_DCRCFAILC_Msk               /*!<DCRCFAIL flag clear bit */
+#define SDMMC_ICR_CTIMEOUTC_Pos          (2U)
+#define SDMMC_ICR_CTIMEOUTC_Msk          (0x1UL << SDMMC_ICR_CTIMEOUTC_Pos)    /*!< 0x00000004 */
+#define SDMMC_ICR_CTIMEOUTC              SDMMC_ICR_CTIMEOUTC_Msk               /*!<CTIMEOUT flag clear bit */
+#define SDMMC_ICR_DTIMEOUTC_Pos          (3U)
+#define SDMMC_ICR_DTIMEOUTC_Msk          (0x1UL << SDMMC_ICR_DTIMEOUTC_Pos)    /*!< 0x00000008 */
+#define SDMMC_ICR_DTIMEOUTC              SDMMC_ICR_DTIMEOUTC_Msk               /*!<DTIMEOUT flag clear bit */
+#define SDMMC_ICR_TXUNDERRC_Pos          (4U)
+#define SDMMC_ICR_TXUNDERRC_Msk          (0x1UL << SDMMC_ICR_TXUNDERRC_Pos)    /*!< 0x00000010 */
+#define SDMMC_ICR_TXUNDERRC              SDMMC_ICR_TXUNDERRC_Msk               /*!<TXUNDERR flag clear bit */
+#define SDMMC_ICR_RXOVERRC_Pos           (5U)
+#define SDMMC_ICR_RXOVERRC_Msk           (0x1UL << SDMMC_ICR_RXOVERRC_Pos)     /*!< 0x00000020 */
+#define SDMMC_ICR_RXOVERRC               SDMMC_ICR_RXOVERRC_Msk                /*!<RXOVERR flag clear bit  */
+#define SDMMC_ICR_CMDRENDC_Pos           (6U)
+#define SDMMC_ICR_CMDRENDC_Msk           (0x1UL << SDMMC_ICR_CMDRENDC_Pos)     /*!< 0x00000040 */
+#define SDMMC_ICR_CMDRENDC               SDMMC_ICR_CMDRENDC_Msk                /*!<CMDREND flag clear bit  */
+#define SDMMC_ICR_CMDSENTC_Pos           (7U)
+#define SDMMC_ICR_CMDSENTC_Msk           (0x1UL << SDMMC_ICR_CMDSENTC_Pos)     /*!< 0x00000080 */
+#define SDMMC_ICR_CMDSENTC               SDMMC_ICR_CMDSENTC_Msk                /*!<CMDSENT flag clear bit  */
+#define SDMMC_ICR_DATAENDC_Pos           (8U)
+#define SDMMC_ICR_DATAENDC_Msk           (0x1UL << SDMMC_ICR_DATAENDC_Pos)     /*!< 0x00000100 */
+#define SDMMC_ICR_DATAENDC               SDMMC_ICR_DATAENDC_Msk                /*!<DATAEND flag clear bit  */
+#define SDMMC_ICR_DHOLDC_Pos             (9U)
+#define SDMMC_ICR_DHOLDC_Msk             (0x1UL << SDMMC_ICR_DHOLDC_Pos)       /*!< 0x00000200 */
+#define SDMMC_ICR_DHOLDC                 SDMMC_ICR_DHOLDC_Msk                  /*!<DHOLD flag clear bit       */
+#define SDMMC_ICR_DBCKENDC_Pos           (10U)
+#define SDMMC_ICR_DBCKENDC_Msk           (0x1UL << SDMMC_ICR_DBCKENDC_Pos)     /*!< 0x00000400 */
+#define SDMMC_ICR_DBCKENDC               SDMMC_ICR_DBCKENDC_Msk                /*!<DBCKEND flag clear bit  */
+#define SDMMC_ICR_DABORTC_Pos            (11U)
+#define SDMMC_ICR_DABORTC_Msk            (0x1UL << SDMMC_ICR_DABORTC_Pos)      /*!< 0x00000800 */
+#define SDMMC_ICR_DABORTC                SDMMC_ICR_DABORTC_Msk                 /*!<DABORTC flag clear bit     */
+#define SDMMC_ICR_BUSYD0ENDC_Pos         (21U)
+#define SDMMC_ICR_BUSYD0ENDC_Msk         (0x1UL << SDMMC_ICR_BUSYD0ENDC_Pos)   /*!< 0x00200000 */
+#define SDMMC_ICR_BUSYD0ENDC             SDMMC_ICR_BUSYD0ENDC_Msk              /*!<BUSYD0ENDC flag clear bit  */
+#define SDMMC_ICR_SDIOITC_Pos            (22U)
+#define SDMMC_ICR_SDIOITC_Msk            (0x1UL << SDMMC_ICR_SDIOITC_Pos)      /*!< 0x00400000 */
+#define SDMMC_ICR_SDIOITC                SDMMC_ICR_SDIOITC_Msk                 /*!<SDIOIT flag clear bit      */
+#define SDMMC_ICR_ACKFAILC_Pos           (23U)
+#define SDMMC_ICR_ACKFAILC_Msk           (0x1UL << SDMMC_ICR_ACKFAILC_Pos)     /*!< 0x00800000 */
+#define SDMMC_ICR_ACKFAILC               SDMMC_ICR_ACKFAILC_Msk                /*!<ACKFAILC flag clear bit    */
+#define SDMMC_ICR_ACKTIMEOUTC_Pos        (24U)
+#define SDMMC_ICR_ACKTIMEOUTC_Msk        (0x1UL << SDMMC_ICR_ACKTIMEOUTC_Pos)  /*!< 0x01000000 */
+#define SDMMC_ICR_ACKTIMEOUTC            SDMMC_ICR_ACKTIMEOUTC_Msk             /*!<ACKTIMEOUTC flag clear bit */
+#define SDMMC_ICR_VSWENDC_Pos            (25U)
+#define SDMMC_ICR_VSWENDC_Msk            (0x1UL << SDMMC_ICR_VSWENDC_Pos)      /*!< 0x02000000 */
+#define SDMMC_ICR_VSWENDC                SDMMC_ICR_VSWENDC_Msk                 /*!<VSWENDC flag clear bit     */
+#define SDMMC_ICR_CKSTOPC_Pos            (26U)
+#define SDMMC_ICR_CKSTOPC_Msk            (0x1UL << SDMMC_ICR_CKSTOPC_Pos)      /*!< 0x04000000 */
+#define SDMMC_ICR_CKSTOPC                SDMMC_ICR_CKSTOPC_Msk                 /*!<CKSTOPC flag clear bit     */
+#define SDMMC_ICR_IDMATEC_Pos            (27U)
+#define SDMMC_ICR_IDMATEC_Msk            (0x1UL << SDMMC_ICR_IDMATEC_Pos)      /*!< 0x08000000 */
+#define SDMMC_ICR_IDMATEC                SDMMC_ICR_IDMATEC_Msk                 /*!<IDMATEC flag clear bit     */
+#define SDMMC_ICR_IDMABTCC_Pos           (28U)
+#define SDMMC_ICR_IDMABTCC_Msk           (0x1UL << SDMMC_ICR_IDMABTCC_Pos)     /*!< 0x10000000 */
+#define SDMMC_ICR_IDMABTCC               SDMMC_ICR_IDMABTCC_Msk                /*!<IDMABTCC flag clear bit    */
+
+/******************  Bit definition for SDMMC_MASK register  *******************/
+#define SDMMC_MASK_CCRCFAILIE_Pos        (0U)
+#define SDMMC_MASK_CCRCFAILIE_Msk        (0x1UL << SDMMC_MASK_CCRCFAILIE_Pos)  /*!< 0x00000001 */
+#define SDMMC_MASK_CCRCFAILIE            SDMMC_MASK_CCRCFAILIE_Msk             /*!<Command CRC Fail Interrupt Enable          */
+#define SDMMC_MASK_DCRCFAILIE_Pos        (1U)
+#define SDMMC_MASK_DCRCFAILIE_Msk        (0x1UL << SDMMC_MASK_DCRCFAILIE_Pos)  /*!< 0x00000002 */
+#define SDMMC_MASK_DCRCFAILIE            SDMMC_MASK_DCRCFAILIE_Msk             /*!<Data CRC Fail Interrupt Enable             */
+#define SDMMC_MASK_CTIMEOUTIE_Pos        (2U)
+#define SDMMC_MASK_CTIMEOUTIE_Msk        (0x1UL << SDMMC_MASK_CTIMEOUTIE_Pos)  /*!< 0x00000004 */
+#define SDMMC_MASK_CTIMEOUTIE            SDMMC_MASK_CTIMEOUTIE_Msk             /*!<Command TimeOut Interrupt Enable           */
+#define SDMMC_MASK_DTIMEOUTIE_Pos        (3U)
+#define SDMMC_MASK_DTIMEOUTIE_Msk        (0x1UL << SDMMC_MASK_DTIMEOUTIE_Pos)  /*!< 0x00000008 */
+#define SDMMC_MASK_DTIMEOUTIE            SDMMC_MASK_DTIMEOUTIE_Msk             /*!<Data TimeOut Interrupt Enable              */
+#define SDMMC_MASK_TXUNDERRIE_Pos        (4U)
+#define SDMMC_MASK_TXUNDERRIE_Msk        (0x1UL << SDMMC_MASK_TXUNDERRIE_Pos)  /*!< 0x00000010 */
+#define SDMMC_MASK_TXUNDERRIE            SDMMC_MASK_TXUNDERRIE_Msk             /*!<Tx FIFO UnderRun Error Interrupt Enable    */
+#define SDMMC_MASK_RXOVERRIE_Pos         (5U)
+#define SDMMC_MASK_RXOVERRIE_Msk         (0x1UL << SDMMC_MASK_RXOVERRIE_Pos)   /*!< 0x00000020 */
+#define SDMMC_MASK_RXOVERRIE             SDMMC_MASK_RXOVERRIE_Msk              /*!<Rx FIFO OverRun Error Interrupt Enable     */
+#define SDMMC_MASK_CMDRENDIE_Pos         (6U)
+#define SDMMC_MASK_CMDRENDIE_Msk         (0x1UL << SDMMC_MASK_CMDRENDIE_Pos)   /*!< 0x00000040 */
+#define SDMMC_MASK_CMDRENDIE             SDMMC_MASK_CMDRENDIE_Msk              /*!<Command Response Received Interrupt Enable */
+#define SDMMC_MASK_CMDSENTIE_Pos         (7U)
+#define SDMMC_MASK_CMDSENTIE_Msk         (0x1UL << SDMMC_MASK_CMDSENTIE_Pos)   /*!< 0x00000080 */
+#define SDMMC_MASK_CMDSENTIE             SDMMC_MASK_CMDSENTIE_Msk              /*!<Command Sent Interrupt Enable              */
+#define SDMMC_MASK_DATAENDIE_Pos         (8U)
+#define SDMMC_MASK_DATAENDIE_Msk         (0x1UL << SDMMC_MASK_DATAENDIE_Pos)   /*!< 0x00000100 */
+#define SDMMC_MASK_DATAENDIE             SDMMC_MASK_DATAENDIE_Msk              /*!<Data End Interrupt Enable                  */
+#define SDMMC_MASK_DHOLDIE_Pos           (9U)
+#define SDMMC_MASK_DHOLDIE_Msk           (0x1UL << SDMMC_MASK_DHOLDIE_Pos)     /*!< 0x00000200 */
+#define SDMMC_MASK_DHOLDIE               SDMMC_MASK_DHOLDIE_Msk                /*!<Data Hold Interrupt Enable                 */
+#define SDMMC_MASK_DBCKENDIE_Pos         (10U)
+#define SDMMC_MASK_DBCKENDIE_Msk         (0x1UL << SDMMC_MASK_DBCKENDIE_Pos)   /*!< 0x00000400 */
+#define SDMMC_MASK_DBCKENDIE             SDMMC_MASK_DBCKENDIE_Msk              /*!<Data Block End Interrupt Enable            */
+#define SDMMC_MASK_DABORTIE_Pos          (11U)
+#define SDMMC_MASK_DABORTIE_Msk          (0x1UL << SDMMC_MASK_DABORTIE_Pos)    /*!< 0x00000800 */
+#define SDMMC_MASK_DABORTIE              SDMMC_MASK_DABORTIE_Msk               /*!<Data transfer aborted interrupt enable     */
+
+#define SDMMC_MASK_TXFIFOHEIE_Pos        (14U)
+#define SDMMC_MASK_TXFIFOHEIE_Msk        (0x1UL << SDMMC_MASK_TXFIFOHEIE_Pos)  /*!< 0x00004000 */
+#define SDMMC_MASK_TXFIFOHEIE            SDMMC_MASK_TXFIFOHEIE_Msk             /*!<Tx FIFO Half Empty interrupt Enable        */
+#define SDMMC_MASK_RXFIFOHFIE_Pos        (15U)
+#define SDMMC_MASK_RXFIFOHFIE_Msk        (0x1UL << SDMMC_MASK_RXFIFOHFIE_Pos)  /*!< 0x00008000 */
+#define SDMMC_MASK_RXFIFOHFIE            SDMMC_MASK_RXFIFOHFIE_Msk             /*!<Rx FIFO Half Full interrupt Enable         */
+
+#define SDMMC_MASK_RXFIFOFIE_Pos         (17U)
+#define SDMMC_MASK_RXFIFOFIE_Msk         (0x1UL << SDMMC_MASK_RXFIFOFIE_Pos)   /*!< 0x00020000 */
+#define SDMMC_MASK_RXFIFOFIE             SDMMC_MASK_RXFIFOFIE_Msk              /*!<Rx FIFO Full interrupt Enable              */
+#define SDMMC_MASK_TXFIFOEIE_Pos         (18U)
+#define SDMMC_MASK_TXFIFOEIE_Msk         (0x1UL << SDMMC_MASK_TXFIFOEIE_Pos)   /*!< 0x00040000 */
+#define SDMMC_MASK_TXFIFOEIE             SDMMC_MASK_TXFIFOEIE_Msk              /*!<Tx FIFO Empty interrupt Enable             */
+
+#define SDMMC_MASK_BUSYD0ENDIE_Pos       (21U)
+#define SDMMC_MASK_BUSYD0ENDIE_Msk       (0x1UL << SDMMC_MASK_BUSYD0ENDIE_Pos) /*!< 0x00200000 */
+#define SDMMC_MASK_BUSYD0ENDIE           SDMMC_MASK_BUSYD0ENDIE_Msk            /*!<BUSYD0ENDIE interrupt Enable */
+#define SDMMC_MASK_SDIOITIE_Pos           (22U)
+#define SDMMC_MASK_SDIOITIE_Msk           (0x1UL << SDMMC_MASK_SDIOITIE_Pos)     /*!< 0x00400000 */
+#define SDMMC_MASK_SDIOITIE               SDMMC_MASK_SDIOITIE_Msk                /*!<SDMMC Mode Interrupt Received interrupt Enable */
+#define SDMMC_MASK_ACKFAILIE_Pos         (23U)
+#define SDMMC_MASK_ACKFAILIE_Msk         (0x1UL << SDMMC_MASK_ACKFAILIE_Pos)   /*!< 0x00800000 */
+#define SDMMC_MASK_ACKFAILIE             SDMMC_MASK_ACKFAILIE_Msk              /*!<Acknowledgment Fail Interrupt Enable */
+#define SDMMC_MASK_ACKTIMEOUTIE_Pos      (24U)
+#define SDMMC_MASK_ACKTIMEOUTIE_Msk      (0x1UL << SDMMC_MASK_ACKTIMEOUTIE_Pos) /*!< 0x01000000 */
+#define SDMMC_MASK_ACKTIMEOUTIE          SDMMC_MASK_ACKTIMEOUTIE_Msk           /*!<Acknowledgment timeout Interrupt Enable */
+#define SDMMC_MASK_VSWENDIE_Pos          (25U)
+#define SDMMC_MASK_VSWENDIE_Msk          (0x1UL << SDMMC_MASK_VSWENDIE_Pos)    /*!< 0x02000000 */
+#define SDMMC_MASK_VSWENDIE              SDMMC_MASK_VSWENDIE_Msk               /*!<Voltage switch critical timing section completion Interrupt Enable */
+#define SDMMC_MASK_CKSTOPIE_Pos          (26U)
+#define SDMMC_MASK_CKSTOPIE_Msk          (0x1UL << SDMMC_MASK_CKSTOPIE_Pos)    /*!< 0x04000000 */
+#define SDMMC_MASK_CKSTOPIE              SDMMC_MASK_CKSTOPIE_Msk               /*!<Voltage Switch clock stopped Interrupt Enable */
+#define SDMMC_MASK_IDMABTCIE_Pos         (28U)
+#define SDMMC_MASK_IDMABTCIE_Msk         (0x1UL << SDMMC_MASK_IDMABTCIE_Pos)   /*!< 0x10000000 */
+#define SDMMC_MASK_IDMABTCIE             SDMMC_MASK_IDMABTCIE_Msk              /*!<IDMA buffer transfer complete Interrupt Enable */
+
+/*****************  Bit definition for SDMMC_ACKTIME register  *****************/
+#define SDMMC_ACKTIME_ACKTIME_Pos        (0U)
+#define SDMMC_ACKTIME_ACKTIME_Msk        (0x1FFFFFFUL << SDMMC_ACKTIME_ACKTIME_Pos) /*!< 0x01FFFFFF */
+#define SDMMC_ACKTIME_ACKTIME            SDMMC_ACKTIME_ACKTIME_Msk             /*!<Boot acknowledgment timeout period */
+
+/******************  Bit definition for SDMMC_FIFO register  *******************/
+#define SDMMC_FIFO_FIFODATA_Pos          (0U)
+#define SDMMC_FIFO_FIFODATA_Msk          (0xFFFFFFFFUL << SDMMC_FIFO_FIFODATA_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_FIFO_FIFODATA              SDMMC_FIFO_FIFODATA_Msk               /*!<Receive and transmit FIFO data */
+
+/******************  Bit definition for SDMMC_IDMACTRL register ****************/
+#define SDMMC_IDMA_IDMAEN_Pos            (0U)
+#define SDMMC_IDMA_IDMAEN_Msk            (0x1UL << SDMMC_IDMA_IDMAEN_Pos)      /*!< 0x00000001 */
+#define SDMMC_IDMA_IDMAEN                SDMMC_IDMA_IDMAEN_Msk                 /*!< Enable the internal DMA of the SDMMC peripheral */
+#define SDMMC_IDMA_IDMABMODE_Pos         (1U)
+#define SDMMC_IDMA_IDMABMODE_Msk         (0x1UL << SDMMC_IDMA_IDMABMODE_Pos)   /*!< 0x00000002 */
+#define SDMMC_IDMA_IDMABMODE             SDMMC_IDMA_IDMABMODE_Msk              /*!< Enable double buffer mode for IDMA */
+#define SDMMC_IDMA_IDMABACT_Pos          (2U)
+#define SDMMC_IDMA_IDMABACT_Msk          (0x1UL << SDMMC_IDMA_IDMABACT_Pos)    /*!< 0x00000004 */
+#define SDMMC_IDMA_IDMABACT              SDMMC_IDMA_IDMABACT_Msk               /*!< Uses buffer 1 when double buffer mode is selected */
+
+/*****************  Bit definition for SDMMC_IDMABSIZE register  ***************/
+#define SDMMC_IDMABSIZE_IDMABNDT_Pos     (5U)
+#define SDMMC_IDMABSIZE_IDMABNDT_Msk     (0xFFUL << SDMMC_IDMABSIZE_IDMABNDT_Pos) /*!< 0x00001FE0 */
+#define SDMMC_IDMABSIZE_IDMABNDT         SDMMC_IDMABSIZE_IDMABNDT_Msk          /*!< Number of transfers per buffer */
+
+/*****************  Bit definition for SDMMC_IDMABASE0 register  ***************/
+#define SDMMC_IDMABASE0_IDMABASE0        ((uint32_t)0xFFFFFFFF)                /*!< Buffer 0 memory base address */
+
+/*****************  Bit definition for SDMMC_IDMABASE1 register  ***************/
+#define SDMMC_IDMABASE1_IDMABASE1        ((uint32_t)0xFFFFFFFF)                /*!< Buffer 1 memory base address */
+
+/******************************************************************************/
+/*                                                                            */
+/*                        Delay Block Interface (DLYB)                        */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for DLYB_CR register  ********************/
+#define DLYB_CR_DEN_Pos         (0U)
+#define DLYB_CR_DEN_Msk         (0x1UL << DLYB_CR_DEN_Pos)                     /*!< 0x00000001 */
+#define DLYB_CR_DEN             DLYB_CR_DEN_Msk                                /*!<Delay Block enable */
+#define DLYB_CR_SEN_Pos         (1U)
+#define DLYB_CR_SEN_Msk         (0x1UL << DLYB_CR_SEN_Pos)                     /*!< 0x00000002 */
+#define DLYB_CR_SEN             DLYB_CR_SEN_Msk                                /*!<Sampler length enable */
+
+
+/*******************  Bit definition for DLYB_CFGR register  ********************/
+#define DLYB_CFGR_SEL_Pos       (0U)
+#define DLYB_CFGR_SEL_Msk       (0xFUL << DLYB_CFGR_SEL_Pos)                   /*!< 0x0000000F */
+#define DLYB_CFGR_SEL           DLYB_CFGR_SEL_Msk                              /*!<Select the phase for the Output clock[3:0] */
+#define DLYB_CFGR_SEL_0         (0x1UL << DLYB_CFGR_SEL_Pos)                    /*!< 0x00000001 */
+#define DLYB_CFGR_SEL_1         (0x2UL << DLYB_CFGR_SEL_Pos)                    /*!< 0x00000002 */
+#define DLYB_CFGR_SEL_2         (0x3UL << DLYB_CFGR_SEL_Pos)                    /*!< 0x00000003 */
+#define DLYB_CFGR_SEL_3         (0x8UL << DLYB_CFGR_SEL_Pos)                    /*!< 0x00000008 */
+
+#define DLYB_CFGR_UNIT_Pos      (8U)
+#define DLYB_CFGR_UNIT_Msk      (0x7FUL << DLYB_CFGR_UNIT_Pos)                 /*!< 0x00007F00 */
+#define DLYB_CFGR_UNIT          DLYB_CFGR_UNIT_Msk                             /*!<Delay Defines the delay of a Unit delay cell[6:0] */
+#define DLYB_CFGR_UNIT_0        (0x01UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00000100 */
+#define DLYB_CFGR_UNIT_1        (0x02UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00000200 */
+#define DLYB_CFGR_UNIT_2        (0x04UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00000400 */
+#define DLYB_CFGR_UNIT_3        (0x08UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00000800 */
+#define DLYB_CFGR_UNIT_4        (0x10UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00001000 */
+#define DLYB_CFGR_UNIT_5        (0x20UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00002000 */
+#define DLYB_CFGR_UNIT_6        (0x40UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00004000 */
+
+#define DLYB_CFGR_LNG_Pos       (16U)
+#define DLYB_CFGR_LNG_Msk       (0xFFFUL << DLYB_CFGR_LNG_Pos)                 /*!< 0x0FFF0000 */
+#define DLYB_CFGR_LNG           DLYB_CFGR_LNG_Msk                              /*!<Delay line length value[11:0] */
+#define DLYB_CFGR_LNG_0         (0x001UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00010000 */
+#define DLYB_CFGR_LNG_1         (0x002UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00020000 */
+#define DLYB_CFGR_LNG_2         (0x004UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00040000 */
+#define DLYB_CFGR_LNG_3         (0x008UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00080000 */
+#define DLYB_CFGR_LNG_4         (0x010UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00100000 */
+#define DLYB_CFGR_LNG_5         (0x020UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00200000 */
+#define DLYB_CFGR_LNG_6         (0x040UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00400000 */
+#define DLYB_CFGR_LNG_7         (0x080UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00800000 */
+#define DLYB_CFGR_LNG_8         (0x100UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x01000000 */
+#define DLYB_CFGR_LNG_9         (0x200UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x02000000 */
+#define DLYB_CFGR_LNG_10        (0x400UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x04000000 */
+#define DLYB_CFGR_LNG_11        (0x800UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x08000000 */
+
+#define DLYB_CFGR_LNGF_Pos      (31U)
+#define DLYB_CFGR_LNGF_Msk      (0x1UL << DLYB_CFGR_LNGF_Pos)                  /*!< 0x80000000 */
+#define DLYB_CFGR_LNGF          DLYB_CFGR_LNGF_Msk                             /*!<Length valid flag */
+
+/******************************************************************************/
+/*                                                                            */
+/*                   Serial Peripheral Interface (SPI/I2S)                    */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for SPI_CR1 register  ********************/
+#define SPI_CR1_SPE_Pos             (0U)
+#define SPI_CR1_SPE_Msk             (0x1UL << SPI_CR1_SPE_Pos)                 /*!< 0x00000001 */
+#define SPI_CR1_SPE                 SPI_CR1_SPE_Msk                            /*!<Serial Peripheral Enable                         */
+#define SPI_CR1_MASRX_Pos           (8U)
+#define SPI_CR1_MASRX_Msk           (0x1UL << SPI_CR1_MASRX_Pos)               /*!< 0x00000100 */
+#define SPI_CR1_MASRX               SPI_CR1_MASRX_Msk                          /*!<Master automatic SUSP in Receive mode            */
+#define SPI_CR1_CSTART_Pos          (9U)
+#define SPI_CR1_CSTART_Msk          (0x1UL << SPI_CR1_CSTART_Pos)              /*!< 0x00000200 */
+#define SPI_CR1_CSTART              SPI_CR1_CSTART_Msk                         /*!<Master transfer start                            */
+#define SPI_CR1_CSUSP_Pos           (10U)
+#define SPI_CR1_CSUSP_Msk           (0x1UL << SPI_CR1_CSUSP_Pos)               /*!< 0x00000400 */
+#define SPI_CR1_CSUSP               SPI_CR1_CSUSP_Msk                          /*!<Master SUSPend request                           */
+#define SPI_CR1_HDDIR_Pos           (11U)
+#define SPI_CR1_HDDIR_Msk           (0x1UL << SPI_CR1_HDDIR_Pos)               /*!< 0x00000800 */
+#define SPI_CR1_HDDIR               SPI_CR1_HDDIR_Msk                          /*!<Rx/Tx direction at Half-duplex mode              */
+#define SPI_CR1_SSI_Pos             (12U)
+#define SPI_CR1_SSI_Msk             (0x1UL << SPI_CR1_SSI_Pos)                 /*!< 0x00001000 */
+#define SPI_CR1_SSI                 SPI_CR1_SSI_Msk                            /*!<Internal SS signal input level                   */
+#define SPI_CR1_CRC33_17_Pos        (13U)
+#define SPI_CR1_CRC33_17_Msk        (0x1UL << SPI_CR1_CRC33_17_Pos)            /*!< 0x00002000 */
+#define SPI_CR1_CRC33_17             SPI_CR1_CRC33_17_Msk                      /*!<32-bit CRC polynomial configuration              */
+#define SPI_CR1_RCRCINI_Pos         (14U)
+#define SPI_CR1_RCRCINI_Msk         (0x1UL << SPI_CR1_RCRCINI_Pos)             /*!< 0x00004000 */
+#define SPI_CR1_RCRCINI             SPI_CR1_RCRCINI_Msk                        /*!<CRC init pattern control for receiver            */
+#define SPI_CR1_TCRCINI_Pos         (15U)
+#define SPI_CR1_TCRCINI_Msk         (0x1UL << SPI_CR1_TCRCINI_Pos)             /*!< 0x00008000 */
+#define SPI_CR1_TCRCINI             SPI_CR1_TCRCINI_Msk                        /*!<CRC init pattern control for transmitter         */
+#define SPI_CR1_IOLOCK_Pos          (16U)
+#define SPI_CR1_IOLOCK_Msk          (0x1UL << SPI_CR1_IOLOCK_Pos)              /*!< 0x00010000 */
+#define SPI_CR1_IOLOCK              SPI_CR1_IOLOCK_Msk                         /*!<Locking the AF configuration of associated IOs   */
+
+/*******************  Bit definition for SPI_CR2 register  ********************/
+#define SPI_CR2_TSER_Pos            (16U)
+#define SPI_CR2_TSER_Msk            (0xFFFFUL << SPI_CR2_TSER_Pos)             /*!< 0xFFFF0000 */
+#define SPI_CR2_TSER                SPI_CR2_TSER_Msk                           /*!<Number of data transfer extension                */
+#define SPI_CR2_TSIZE_Pos           (0U)
+#define SPI_CR2_TSIZE_Msk           (0xFFFFUL << SPI_CR2_TSIZE_Pos)            /*!< 0x0000FFFF */
+#define SPI_CR2_TSIZE               SPI_CR2_TSIZE_Msk                          /*!<Number of data at current transfer               */
+
+/*******************  Bit definition for SPI_CFG1 register  ********************/
+#define SPI_CFG1_DSIZE_Pos          (0U)
+#define SPI_CFG1_DSIZE_Msk          (0x1FUL << SPI_CFG1_DSIZE_Pos)             /*!< 0x0000001F */
+#define SPI_CFG1_DSIZE              SPI_CFG1_DSIZE_Msk                         /*!<DSIZE[4:0]: Bits number in single SPI data frame */
+#define SPI_CFG1_DSIZE_0            (0x01UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000001 */
+#define SPI_CFG1_DSIZE_1            (0x02UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000002 */
+#define SPI_CFG1_DSIZE_2            (0x04UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000004 */
+#define SPI_CFG1_DSIZE_3            (0x08UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000008 */
+#define SPI_CFG1_DSIZE_4            (0x10UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000010 */
+
+#define SPI_CFG1_FTHLV_Pos          (5U)
+#define SPI_CFG1_FTHLV_Msk          (0xFUL << SPI_CFG1_FTHLV_Pos)              /*!< 0x000001E0 */
+#define SPI_CFG1_FTHLV              SPI_CFG1_FTHLV_Msk                         /*!<FTHVL [3:0]: FIFO threshold level*/
+#define SPI_CFG1_FTHLV_0            (0x1UL << SPI_CFG1_FTHLV_Pos)               /*!< 0x00000020 */
+#define SPI_CFG1_FTHLV_1            (0x2UL << SPI_CFG1_FTHLV_Pos)               /*!< 0x00000040 */
+#define SPI_CFG1_FTHLV_2            (0x4UL << SPI_CFG1_FTHLV_Pos)               /*!< 0x00000080 */
+#define SPI_CFG1_FTHLV_3            (0x8UL << SPI_CFG1_FTHLV_Pos)               /*!< 0x00000100 */
+
+#define SPI_CFG1_UDRCFG_Pos         (9U)
+#define SPI_CFG1_UDRCFG_Msk         (0x3UL << SPI_CFG1_UDRCFG_Pos)             /*!< 0x00000600 */
+#define SPI_CFG1_UDRCFG             SPI_CFG1_UDRCFG_Msk                        /*!<UDRCFG[1:0]: Behavior of transmitter at underrun */
+#define SPI_CFG1_UDRCFG_0           (0x1UL << SPI_CFG1_UDRCFG_Pos)              /*!< 0x00000200 */
+#define SPI_CFG1_UDRCFG_1           (0x2UL << SPI_CFG1_UDRCFG_Pos)              /*!< 0x00000400 */
+
+
+#define SPI_CFG1_UDRDET_Pos         (11U)
+#define SPI_CFG1_UDRDET_Msk         (0x3UL << SPI_CFG1_UDRDET_Pos)             /*!< 0x00001800 */
+#define SPI_CFG1_UDRDET             SPI_CFG1_UDRDET_Msk                        /*!<UDRDET[1:0]: Detection of underrun condition     */
+#define SPI_CFG1_UDRDET_0           (0x1UL << SPI_CFG1_UDRDET_Pos)              /*!< 0x00000800 */
+#define SPI_CFG1_UDRDET_1           (0x2UL << SPI_CFG1_UDRDET_Pos)              /*!< 0x00001000 */
+
+#define SPI_CFG1_RXDMAEN_Pos        (14U)
+#define SPI_CFG1_RXDMAEN_Msk        (0x1UL << SPI_CFG1_RXDMAEN_Pos)            /*!< 0x00004000 */
+#define SPI_CFG1_RXDMAEN            SPI_CFG1_RXDMAEN_Msk                       /*!<Rx DMA stream enable                */
+#define SPI_CFG1_TXDMAEN_Pos        (15U)
+#define SPI_CFG1_TXDMAEN_Msk        (0x1UL << SPI_CFG1_TXDMAEN_Pos)            /*!< 0x00008000 */
+#define SPI_CFG1_TXDMAEN            SPI_CFG1_TXDMAEN_Msk                       /*!<Tx DMA stream enable                */
+
+#define SPI_CFG1_CRCSIZE_Pos        (16U)
+#define SPI_CFG1_CRCSIZE_Msk        (0x1FUL << SPI_CFG1_CRCSIZE_Pos)           /*!< 0x001F0000 */
+#define SPI_CFG1_CRCSIZE            SPI_CFG1_CRCSIZE_Msk                       /*!<CRCSIZE [4:0]: Length of CRC frame*/
+#define SPI_CFG1_CRCSIZE_0          (0x01UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00010000 */
+#define SPI_CFG1_CRCSIZE_1          (0x02UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00020000 */
+#define SPI_CFG1_CRCSIZE_2          (0x04UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00040000 */
+#define SPI_CFG1_CRCSIZE_3          (0x08UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00080000 */
+#define SPI_CFG1_CRCSIZE_4          (0x10UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00100000 */
+
+#define SPI_CFG1_CRCEN_Pos          (22U)
+#define SPI_CFG1_CRCEN_Msk          (0x1UL << SPI_CFG1_CRCEN_Pos)              /*!< 0x00400000 */
+#define SPI_CFG1_CRCEN              SPI_CFG1_CRCEN_Msk                         /*!<Hardware CRC computation enable */
+
+#define SPI_CFG1_MBR_Pos            (28U)
+#define SPI_CFG1_MBR_Msk            (0x7UL << SPI_CFG1_MBR_Pos)                /*!< 0x70000000 */
+#define SPI_CFG1_MBR                SPI_CFG1_MBR_Msk                           /*!<Master baud rate                */
+#define SPI_CFG1_MBR_0              (0x1UL << SPI_CFG1_MBR_Pos)                 /*!< 0x10000000 */
+#define SPI_CFG1_MBR_1              (0x2UL << SPI_CFG1_MBR_Pos)                 /*!< 0x20000000 */
+#define SPI_CFG1_MBR_2              (0x4UL << SPI_CFG1_MBR_Pos)                 /*!< 0x40000000 */
+
+/*******************  Bit definition for SPI_CFG2 register  ********************/
+#define SPI_CFG2_MSSI_Pos           (0U)
+#define SPI_CFG2_MSSI_Msk           (0xFUL << SPI_CFG2_MSSI_Pos)               /*!< 0x0000000F */
+#define SPI_CFG2_MSSI               SPI_CFG2_MSSI_Msk                          /*!<Master SS Idleness */
+#define SPI_CFG2_MSSI_0             (0x1UL << SPI_CFG2_MSSI_Pos)                /*!< 0x00000001 */
+#define SPI_CFG2_MSSI_1             (0x2UL << SPI_CFG2_MSSI_Pos)                /*!< 0x00000002 */
+#define SPI_CFG2_MSSI_2             (0x4UL << SPI_CFG2_MSSI_Pos)                /*!< 0x00000004 */
+#define SPI_CFG2_MSSI_3             (0x8UL << SPI_CFG2_MSSI_Pos)                /*!< 0x00000008 */
+
+#define SPI_CFG2_MIDI_Pos           (4U)
+#define SPI_CFG2_MIDI_Msk           (0xFUL << SPI_CFG2_MIDI_Pos)               /*!< 0x000000F0 */
+#define SPI_CFG2_MIDI               SPI_CFG2_MIDI_Msk                          /*!<Master Inter-Data Idleness */
+#define SPI_CFG2_MIDI_0             (0x1UL << SPI_CFG2_MIDI_Pos)                /*!< 0x00000010 */
+#define SPI_CFG2_MIDI_1             (0x2UL << SPI_CFG2_MIDI_Pos)                /*!< 0x00000020 */
+#define SPI_CFG2_MIDI_2             (0x4UL << SPI_CFG2_MIDI_Pos)                /*!< 0x00000040 */
+#define SPI_CFG2_MIDI_3             (0x8UL << SPI_CFG2_MIDI_Pos)                /*!< 0x00000080 */
+
+#define SPI_CFG2_IOSWP_Pos          (15U)
+#define SPI_CFG2_IOSWP_Msk          (0x1UL << SPI_CFG2_IOSWP_Pos)              /*!< 0x00008000 */
+#define SPI_CFG2_IOSWP              SPI_CFG2_IOSWP_Msk                         /*!<Swap functionality of MISO and MOSI pins */
+
+#define SPI_CFG2_COMM_Pos           (17U)
+#define SPI_CFG2_COMM_Msk           (0x3UL << SPI_CFG2_COMM_Pos)               /*!< 0x00060000 */
+#define SPI_CFG2_COMM               SPI_CFG2_COMM_Msk                          /*!<COMM [1:0]: SPI Communication Mode*/
+#define SPI_CFG2_COMM_0             (0x1UL << SPI_CFG2_COMM_Pos)                /*!< 0x00020000 */
+#define SPI_CFG2_COMM_1             (0x2UL << SPI_CFG2_COMM_Pos)                /*!< 0x00040000 */
+
+#define SPI_CFG2_SP_Pos             (19U)
+#define SPI_CFG2_SP_Msk             (0x7UL << SPI_CFG2_SP_Pos)                 /*!< 0x00380000 */
+#define SPI_CFG2_SP                 SPI_CFG2_SP_Msk                            /*!<SP[2:0]: Serial Protocol */
+#define SPI_CFG2_SP_0               (0x1UL << SPI_CFG2_SP_Pos)                  /*!< 0x00080000 */
+#define SPI_CFG2_SP_1               (0x2UL << SPI_CFG2_SP_Pos)                  /*!< 0x00100000 */
+#define SPI_CFG2_SP_2               (0x4UL << SPI_CFG2_SP_Pos)                  /*!< 0x00200000 */
+
+#define SPI_CFG2_MASTER_Pos         (22U)
+#define SPI_CFG2_MASTER_Msk         (0x1UL << SPI_CFG2_MASTER_Pos)             /*!< 0x00400000 */
+#define SPI_CFG2_MASTER             SPI_CFG2_MASTER_Msk                        /*!<SPI Master           */
+#define SPI_CFG2_LSBFRST_Pos        (23U)
+#define SPI_CFG2_LSBFRST_Msk        (0x1UL << SPI_CFG2_LSBFRST_Pos)            /*!< 0x00800000 */
+#define SPI_CFG2_LSBFRST            SPI_CFG2_LSBFRST_Msk                       /*!<Data frame format               */
+#define SPI_CFG2_CPHA_Pos           (24U)
+#define SPI_CFG2_CPHA_Msk           (0x1UL << SPI_CFG2_CPHA_Pos)               /*!< 0x01000000 */
+#define SPI_CFG2_CPHA               SPI_CFG2_CPHA_Msk                          /*!<Clock Phase      */
+#define SPI_CFG2_CPOL_Pos           (25U)
+#define SPI_CFG2_CPOL_Msk           (0x1UL << SPI_CFG2_CPOL_Pos)               /*!< 0x02000000 */
+#define SPI_CFG2_CPOL               SPI_CFG2_CPOL_Msk                          /*!<Clock Polarity   */
+#define SPI_CFG2_SSM_Pos            (26U)
+#define SPI_CFG2_SSM_Msk            (0x1UL << SPI_CFG2_SSM_Pos)                /*!< 0x04000000 */
+#define SPI_CFG2_SSM                SPI_CFG2_SSM_Msk                           /*!<Software slave management */
+
+#define SPI_CFG2_SSIOP_Pos          (28U)
+#define SPI_CFG2_SSIOP_Msk          (0x1UL << SPI_CFG2_SSIOP_Pos)              /*!< 0x10000000 */
+#define SPI_CFG2_SSIOP              SPI_CFG2_SSIOP_Msk                         /*!<SS input/output polarity */
+#define SPI_CFG2_SSOE_Pos           (29U)
+#define SPI_CFG2_SSOE_Msk           (0x1UL << SPI_CFG2_SSOE_Pos)               /*!< 0x20000000 */
+#define SPI_CFG2_SSOE               SPI_CFG2_SSOE_Msk                          /*!<SS output enable */
+#define SPI_CFG2_SSOM_Pos           (30U)
+#define SPI_CFG2_SSOM_Msk           (0x1UL << SPI_CFG2_SSOM_Pos)               /*!< 0x40000000 */
+#define SPI_CFG2_SSOM               SPI_CFG2_SSOM_Msk                          /*!<SS output management in master mode */
+
+#define SPI_CFG2_AFCNTR_Pos         (31U)
+#define SPI_CFG2_AFCNTR_Msk         (0x1UL << SPI_CFG2_AFCNTR_Pos)             /*!< 0x80000000 */
+#define SPI_CFG2_AFCNTR             SPI_CFG2_AFCNTR_Msk                        /*!<Alternate function GPIOs control */
+
+/*******************  Bit definition for SPI_IER register  ********************/
+#define SPI_IER_RXPIE_Pos           (0U)
+#define SPI_IER_RXPIE_Msk           (0x1UL << SPI_IER_RXPIE_Pos)               /*!< 0x00000001 */
+#define SPI_IER_RXPIE               SPI_IER_RXPIE_Msk                          /*!<RXP Interrupt Enable            */
+#define SPI_IER_TXPIE_Pos           (1U)
+#define SPI_IER_TXPIE_Msk           (0x1UL << SPI_IER_TXPIE_Pos)               /*!< 0x00000002 */
+#define SPI_IER_TXPIE               SPI_IER_TXPIE_Msk                          /*!<TXP interrupt enable            */
+#define SPI_IER_DXPIE_Pos           (2U)
+#define SPI_IER_DXPIE_Msk           (0x1UL << SPI_IER_DXPIE_Pos)               /*!< 0x00000004 */
+#define SPI_IER_DXPIE               SPI_IER_DXPIE_Msk                          /*!<DXP interrupt enable            */
+#define SPI_IER_EOTIE_Pos           (3U)
+#define SPI_IER_EOTIE_Msk           (0x1UL << SPI_IER_EOTIE_Pos)               /*!< 0x00000008 */
+#define SPI_IER_EOTIE               SPI_IER_EOTIE_Msk                          /*!<EOT/SUSP/TXC interrupt enable   */
+#define SPI_IER_TXTFIE_Pos          (4U)
+#define SPI_IER_TXTFIE_Msk          (0x1UL << SPI_IER_TXTFIE_Pos)              /*!< 0x00000010 */
+#define SPI_IER_TXTFIE              SPI_IER_TXTFIE_Msk                         /*!<TXTF interrupt enable           */
+#define SPI_IER_UDRIE_Pos           (5U)
+#define SPI_IER_UDRIE_Msk           (0x1UL << SPI_IER_UDRIE_Pos)               /*!< 0x00000020 */
+#define SPI_IER_UDRIE               SPI_IER_UDRIE_Msk                          /*!<UDR interrupt enable            */
+#define SPI_IER_OVRIE_Pos           (6U)
+#define SPI_IER_OVRIE_Msk           (0x1UL << SPI_IER_OVRIE_Pos)               /*!< 0x00000040 */
+#define SPI_IER_OVRIE               SPI_IER_OVRIE_Msk                          /*!<OVR interrupt enable            */
+#define SPI_IER_CRCEIE_Pos          (7U)
+#define SPI_IER_CRCEIE_Msk          (0x1UL << SPI_IER_CRCEIE_Pos)               /*!< 0x00000080 */
+#define SPI_IER_CRCEIE              SPI_IER_CRCEIE_Msk                          /*!<CRCE interrupt enable           */
+#define SPI_IER_TIFREIE_Pos         (8U)
+#define SPI_IER_TIFREIE_Msk         (0x1UL << SPI_IER_TIFREIE_Pos)             /*!< 0x00000100 */
+#define SPI_IER_TIFREIE             SPI_IER_TIFREIE_Msk                        /*!<TI Frame Error interrupt enable */
+#define SPI_IER_MODFIE_Pos          (9U)
+#define SPI_IER_MODFIE_Msk          (0x1UL << SPI_IER_MODFIE_Pos)              /*!< 0x00000200 */
+#define SPI_IER_MODFIE              SPI_IER_MODFIE_Msk                         /*!<MODF interrupt enable           */
+#define SPI_IER_TSERFIE_Pos         (10U)
+#define SPI_IER_TSERFIE_Msk         (0x1UL << SPI_IER_TSERFIE_Pos)              /*!< 0x00000400 */
+#define SPI_IER_TSERFIE             SPI_IER_TSERFIE_Msk                        /*!<TSERF interrupt enable          */
+
+/*******************  Bit definition for SPI_SR register  ********************/
+#define SPI_SR_RXP_Pos              (0U)
+#define SPI_SR_RXP_Msk              (0x1UL << SPI_SR_RXP_Pos)                  /*!< 0x00000001 */
+#define SPI_SR_RXP                  SPI_SR_RXP_Msk                             /*!<Rx-Packet available             */
+#define SPI_SR_TXP_Pos              (1U)
+#define SPI_SR_TXP_Msk              (0x1UL << SPI_SR_TXP_Pos)                  /*!< 0x00000002 */
+#define SPI_SR_TXP                  SPI_SR_TXP_Msk                             /*!<Tx-Packet space available       */
+#define SPI_SR_DXP_Pos              (2U)
+#define SPI_SR_DXP_Msk              (0x1UL << SPI_SR_DXP_Pos)                  /*!< 0x00000004 */
+#define SPI_SR_DXP                  SPI_SR_DXP_Msk                             /*!<Duplex Packet available         */
+#define SPI_SR_EOT_Pos              (3U)
+#define SPI_SR_EOT_Msk              (0x1UL << SPI_SR_EOT_Pos)                  /*!< 0x00000008 */
+#define SPI_SR_EOT                  SPI_SR_EOT_Msk                             /*!<Duplex Packet available         */
+#define SPI_SR_TXTF_Pos             (4U)
+#define SPI_SR_TXTF_Msk             (0x1UL << SPI_SR_TXTF_Pos)                 /*!< 0x00000010 */
+#define SPI_SR_TXTF                 SPI_SR_TXTF_Msk                            /*!<Transmission Transfer Filled    */
+#define SPI_SR_UDR_Pos              (5U)
+#define SPI_SR_UDR_Msk              (0x1UL << SPI_SR_UDR_Pos)                  /*!< 0x00000020 */
+#define SPI_SR_UDR                  SPI_SR_UDR_Msk                             /*!<UDR at Slave transmission       */
+#define SPI_SR_OVR_Pos              (6U)
+#define SPI_SR_OVR_Msk              (0x1UL << SPI_SR_OVR_Pos)                  /*!< 0x00000040 */
+#define SPI_SR_OVR                  SPI_SR_OVR_Msk                             /*!<Rx-Packet available             */
+#define SPI_SR_CRCE_Pos             (7U)
+#define SPI_SR_CRCE_Msk             (0x1UL << SPI_SR_CRCE_Pos)                 /*!< 0x00000080 */
+#define SPI_SR_CRCE                 SPI_SR_CRCE_Msk                            /*!<CRC Error Detected              */
+#define SPI_SR_TIFRE_Pos            (8U)
+#define SPI_SR_TIFRE_Msk            (0x1UL << SPI_SR_TIFRE_Pos)                /*!< 0x00000100 */
+#define SPI_SR_TIFRE                SPI_SR_TIFRE_Msk                           /*!<TI frame format error Detected  */
+#define SPI_SR_MODF_Pos             (9U)
+#define SPI_SR_MODF_Msk             (0x1UL << SPI_SR_MODF_Pos)                 /*!< 0x00000200 */
+#define SPI_SR_MODF                 SPI_SR_MODF_Msk                            /*!<Mode Fault Detected             */
+#define SPI_SR_TSERF_Pos            (10U)
+#define SPI_SR_TSERF_Msk            (0x1UL << SPI_SR_TSERF_Pos)                /*!< 0x00000400 */
+#define SPI_SR_TSERF                SPI_SR_TSERF_Msk                           /*!<Number of SPI data to be transacted reloaded     */
+#define SPI_SR_SUSP_Pos             (11U)
+#define SPI_SR_SUSP_Msk             (0x1UL << SPI_SR_SUSP_Pos)                 /*!< 0x00000800 */
+#define SPI_SR_SUSP                 SPI_SR_SUSP_Msk                            /*!<SUSP is set by hardware  */
+#define SPI_SR_TXC_Pos              (12U)
+#define SPI_SR_TXC_Msk              (0x1UL << SPI_SR_TXC_Pos)                  /*!< 0x00001000 */
+#define SPI_SR_TXC                  SPI_SR_TXC_Msk                             /*!<TxFIFO transmission complete */
+#define SPI_SR_RXPLVL_Pos           (13U)
+#define SPI_SR_RXPLVL_Msk           (0x3UL << SPI_SR_RXPLVL_Pos)               /*!< 0x00006000 */
+#define SPI_SR_RXPLVL               SPI_SR_RXPLVL_Msk                          /*!<RxFIFO Packing Level                             */
+#define SPI_SR_RXPLVL_0             (0x1UL << SPI_SR_RXPLVL_Pos)                /*!< 0x00002000 */
+#define SPI_SR_RXPLVL_1             (0x2UL << SPI_SR_RXPLVL_Pos)                /*!< 0x00004000 */
+#define SPI_SR_RXWNE_Pos            (15U)
+#define SPI_SR_RXWNE_Msk            (0x1UL << SPI_SR_RXWNE_Pos)                /*!< 0x00008000 */
+#define SPI_SR_RXWNE                SPI_SR_RXWNE_Msk                           /*!<Rx FIFO Word Not Empty                           */
+#define SPI_SR_CTSIZE_Pos           (16U)
+#define SPI_SR_CTSIZE_Msk           (0xFFFFUL << SPI_SR_CTSIZE_Pos)            /*!< 0xFFFF0000 */
+#define SPI_SR_CTSIZE               SPI_SR_CTSIZE_Msk                          /*!<Number of data frames remaining in TSIZE         */
+
+/*******************  Bit definition for SPI_IFCR register  ********************/
+#define SPI_IFCR_EOTC_Pos           (3U)
+#define SPI_IFCR_EOTC_Msk           (0x1UL << SPI_IFCR_EOTC_Pos)               /*!< 0x00000008 */
+#define SPI_IFCR_EOTC               SPI_IFCR_EOTC_Msk                          /*!<End Of Transfer flag clear              */
+#define SPI_IFCR_TXTFC_Pos          (4U)
+#define SPI_IFCR_TXTFC_Msk          (0x1UL << SPI_IFCR_TXTFC_Pos)              /*!< 0x00000010 */
+#define SPI_IFCR_TXTFC              SPI_IFCR_TXTFC_Msk                         /*!<Transmission Transfer Filled flag clear */
+#define SPI_IFCR_UDRC_Pos           (5U)
+#define SPI_IFCR_UDRC_Msk           (0x1UL << SPI_IFCR_UDRC_Pos)               /*!< 0x00000020 */
+#define SPI_IFCR_UDRC               SPI_IFCR_UDRC_Msk                          /*!<Underrun flag clear                     */
+#define SPI_IFCR_OVRC_Pos           (6U)
+#define SPI_IFCR_OVRC_Msk           (0x1UL << SPI_IFCR_OVRC_Pos)               /*!< 0x00000040 */
+#define SPI_IFCR_OVRC               SPI_IFCR_OVRC_Msk                          /*!<Overrun flag clear                      */
+#define SPI_IFCR_CRCEC_Pos          (7U)
+#define SPI_IFCR_CRCEC_Msk          (0x1UL << SPI_IFCR_CRCEC_Pos)              /*!< 0x00000080 */
+#define SPI_IFCR_CRCEC              SPI_IFCR_CRCEC_Msk                         /*!<CRC Error flag clear                    */
+#define SPI_IFCR_TIFREC_Pos         (8U)
+#define SPI_IFCR_TIFREC_Msk         (0x1UL << SPI_IFCR_TIFREC_Pos)             /*!< 0x00000100 */
+#define SPI_IFCR_TIFREC             SPI_IFCR_TIFREC_Msk                        /*!<TI frame format error flag clear        */
+#define SPI_IFCR_MODFC_Pos          (9U)
+#define SPI_IFCR_MODFC_Msk          (0x1UL << SPI_IFCR_MODFC_Pos)              /*!< 0x00000200 */
+#define SPI_IFCR_MODFC              SPI_IFCR_MODFC_Msk                         /*!<Mode Fault flag clear                   */
+#define SPI_IFCR_TSERFC_Pos         (10U)
+#define SPI_IFCR_TSERFC_Msk         (0x1UL << SPI_IFCR_TSERFC_Pos)             /*!< 0x00000400 */
+#define SPI_IFCR_TSERFC             SPI_IFCR_TSERFC_Msk                        /*!<TSERFC flag clear                       */
+#define SPI_IFCR_SUSPC_Pos          (11U)
+#define SPI_IFCR_SUSPC_Msk          (0x1UL << SPI_IFCR_SUSPC_Pos)              /*!< 0x00000800 */
+#define SPI_IFCR_SUSPC              SPI_IFCR_SUSPC_Msk                         /*!<SUSPend flag clear                      */
+
+/*******************  Bit definition for SPI_TXDR register  ********************/
+#define SPI_TXDR_TXDR_Pos           (0U)
+#define SPI_TXDR_TXDR_Msk           (0xFFFFFFFFUL << SPI_TXDR_TXDR_Pos)        /*!< 0xFFFFFFFF */
+#define SPI_TXDR_TXDR               SPI_TXDR_TXDR_Msk                          /* Transmit Data Register */
+
+/*******************  Bit definition for SPI_RXDR register  ********************/
+#define SPI_RXDR_RXDR_Pos           (0U)
+#define SPI_RXDR_RXDR_Msk           (0xFFFFFFFFUL << SPI_RXDR_RXDR_Pos)        /*!< 0xFFFFFFFF */
+#define SPI_RXDR_RXDR               SPI_RXDR_RXDR_Msk                          /* Receive Data Register  */
+
+/*******************  Bit definition for SPI_CRCPOLY register  ********************/
+#define SPI_CRCPOLY_CRCPOLY_Pos     (0U)
+#define SPI_CRCPOLY_CRCPOLY_Msk     (0xFFFFFFFFUL << SPI_CRCPOLY_CRCPOLY_Pos)  /*!< 0xFFFFFFFF */
+#define SPI_CRCPOLY_CRCPOLY         SPI_CRCPOLY_CRCPOLY_Msk                    /* CRC Polynomial register  */
+
+/*******************  Bit definition for SPI_TXCRC register  ********************/
+#define SPI_TXCRC_TXCRC_Pos         (0U)
+#define SPI_TXCRC_TXCRC_Msk         (0xFFFFFFFFUL << SPI_TXCRC_TXCRC_Pos)      /*!< 0xFFFFFFFF */
+#define SPI_TXCRC_TXCRC             SPI_TXCRC_TXCRC_Msk                        /* CRCRegister for transmitter */
+
+/*******************  Bit definition for SPI_RXCRC register  ********************/
+#define SPI_RXCRC_RXCRC_Pos         (0U)
+#define SPI_RXCRC_RXCRC_Msk         (0xFFFFFFFFUL << SPI_RXCRC_RXCRC_Pos)      /*!< 0xFFFFFFFF */
+#define SPI_RXCRC_RXCRC             SPI_RXCRC_RXCRC_Msk                        /* CRCRegister for receiver */
+
+/*******************  Bit definition for SPI_UDRDR register  ********************/
+#define SPI_UDRDR_UDRDR_Pos         (0U)
+#define SPI_UDRDR_UDRDR_Msk         (0xFFFFFFFFUL << SPI_UDRDR_UDRDR_Pos)      /*!< 0xFFFFFFFF */
+#define SPI_UDRDR_UDRDR             SPI_UDRDR_UDRDR_Msk                        /* Data at slave underrun condition */
+
+/******************  Bit definition for SPI_I2SCFGR register  *****************/
+#define SPI_I2SCFGR_I2SMOD_Pos      (0U)
+#define SPI_I2SCFGR_I2SMOD_Msk      (0x1UL << SPI_I2SCFGR_I2SMOD_Pos)          /*!< 0x00000001 */
+#define SPI_I2SCFGR_I2SMOD          SPI_I2SCFGR_I2SMOD_Msk                     /*!<I2S mode selection */
+#define SPI_I2SCFGR_I2SCFG_Pos      (1U)
+#define SPI_I2SCFGR_I2SCFG_Msk      (0x7UL << SPI_I2SCFGR_I2SCFG_Pos)          /*!< 0x0000000E */
+#define SPI_I2SCFGR_I2SCFG          SPI_I2SCFGR_I2SCFG_Msk                     /*!<I2SCFG[2:0] I2S configuration mode                */
+#define SPI_I2SCFGR_I2SCFG_0        (0x1UL << SPI_I2SCFGR_I2SCFG_Pos)           /*!< 0x00000002 */
+#define SPI_I2SCFGR_I2SCFG_1        (0x2UL << SPI_I2SCFGR_I2SCFG_Pos)           /*!< 0x00000004 */
+#define SPI_I2SCFGR_I2SCFG_2        (0x4UL << SPI_I2SCFGR_I2SCFG_Pos)           /*!< 0x00000008 */
+#define SPI_I2SCFGR_I2SSTD_Pos      (4U)
+#define SPI_I2SCFGR_I2SSTD_Msk      (0x3UL << SPI_I2SCFGR_I2SSTD_Pos)          /*!< 0x00000030 */
+#define SPI_I2SCFGR_I2SSTD          SPI_I2SCFGR_I2SSTD_Msk                     /*!<I2SSTD[1:0] I2S standard selection                */
+#define SPI_I2SCFGR_I2SSTD_0        (0x1UL << SPI_I2SCFGR_I2SSTD_Pos)           /*!< 0x00000010 */
+#define SPI_I2SCFGR_I2SSTD_1        (0x2UL << SPI_I2SCFGR_I2SSTD_Pos)           /*!< 0x00000020 */
+#define SPI_I2SCFGR_PCMSYNC_Pos     (7U)
+#define SPI_I2SCFGR_PCMSYNC_Msk     (0x1UL << SPI_I2SCFGR_PCMSYNC_Pos)         /*!< 0x00000080 */
+#define SPI_I2SCFGR_PCMSYNC         SPI_I2SCFGR_PCMSYNC_Msk                    /*!<PCM frame synchronization                         */
+#define SPI_I2SCFGR_DATLEN_Pos      (8U)
+#define SPI_I2SCFGR_DATLEN_Msk      (0x3UL << SPI_I2SCFGR_DATLEN_Pos)          /*!< 0x00000300 */
+#define SPI_I2SCFGR_DATLEN          SPI_I2SCFGR_DATLEN_Msk                     /*!<DATLEN[1:0] Data length to be transferred         */
+#define SPI_I2SCFGR_DATLEN_0        (0x1UL << SPI_I2SCFGR_DATLEN_Pos)           /*!< 0x00000100 */
+#define SPI_I2SCFGR_DATLEN_1        (0x2UL << SPI_I2SCFGR_DATLEN_Pos)           /*!< 0x00000200 */
+#define SPI_I2SCFGR_CHLEN_Pos       (10U)
+#define SPI_I2SCFGR_CHLEN_Msk       (0x1UL << SPI_I2SCFGR_CHLEN_Pos)           /*!< 0x00000400 */
+#define SPI_I2SCFGR_CHLEN           SPI_I2SCFGR_CHLEN_Msk                      /*!<Channel length (number of bits per audio channel) */
+#define SPI_I2SCFGR_CKPOL_Pos       (11U)
+#define SPI_I2SCFGR_CKPOL_Msk       (0x1UL << SPI_I2SCFGR_CKPOL_Pos)           /*!< 0x00000800 */
+#define SPI_I2SCFGR_CKPOL           SPI_I2SCFGR_CKPOL_Msk                      /*!<Steady state clock polarity                       */
+#define SPI_I2SCFGR_FIXCH_Pos       (12U)
+#define SPI_I2SCFGR_FIXCH_Msk       (0x1UL << SPI_I2SCFGR_FIXCH_Pos)           /*!< 0x00001000 */
+#define SPI_I2SCFGR_FIXCH           SPI_I2SCFGR_FIXCH_Msk                      /*!<Fixed channel length in SLAVE                     */
+#define SPI_I2SCFGR_WSINV_Pos       (13U)
+#define SPI_I2SCFGR_WSINV_Msk       (0x1UL << SPI_I2SCFGR_WSINV_Pos)           /*!< 0x00002000 */
+#define SPI_I2SCFGR_WSINV           SPI_I2SCFGR_WSINV_Msk                      /*!<Word select inversion                             */
+#define SPI_I2SCFGR_DATFMT_Pos      (14U)
+#define SPI_I2SCFGR_DATFMT_Msk      (0x1UL << SPI_I2SCFGR_DATFMT_Pos)          /*!< 0x00004000 */
+#define SPI_I2SCFGR_DATFMT          SPI_I2SCFGR_DATFMT_Msk                     /*!<Data format                                       */
+#define SPI_I2SCFGR_I2SDIV_Pos      (16U)
+#define SPI_I2SCFGR_I2SDIV_Msk      (0xFFUL << SPI_I2SCFGR_I2SDIV_Pos)         /*!< 0x00FF0000 */
+#define SPI_I2SCFGR_I2SDIV          SPI_I2SCFGR_I2SDIV_Msk                     /*!<I2S Linear prescaler */
+#define SPI_I2SCFGR_ODD_Pos         (24U)
+#define SPI_I2SCFGR_ODD_Msk         (0x1UL << SPI_I2SCFGR_ODD_Pos)             /*!< 0x01000000 */
+#define SPI_I2SCFGR_ODD             SPI_I2SCFGR_ODD_Msk                        /*!<Odd factor for the prescaler */
+#define SPI_I2SCFGR_MCKOE_Pos       (25U)
+#define SPI_I2SCFGR_MCKOE_Msk       (0x1UL << SPI_I2SCFGR_MCKOE_Pos)           /*!< 0x02000000 */
+#define SPI_I2SCFGR_MCKOE           SPI_I2SCFGR_MCKOE_Msk                      /*!<Master Clock Output Enable */
+
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                 SYSCFG                                     */
+/*                                                                            */
+/******************************************************************************/
+
+/******************  Bit definition for SYSCFG_PMCR register  ******************/
+#define SYSCFG_PMCR_I2C1_FMP_Pos        (0U)
+#define SYSCFG_PMCR_I2C1_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C1_FMP_Pos)    /*!< 0x00000001 */
+#define SYSCFG_PMCR_I2C1_FMP            SYSCFG_PMCR_I2C1_FMP_Msk               /*!< I2C1 Fast mode plus */
+#define SYSCFG_PMCR_I2C2_FMP_Pos        (1U)
+#define SYSCFG_PMCR_I2C2_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C2_FMP_Pos)    /*!< 0x00000002 */
+#define SYSCFG_PMCR_I2C2_FMP            SYSCFG_PMCR_I2C2_FMP_Msk               /*!< I2C2 Fast mode plus */
+#define SYSCFG_PMCR_I2C3_FMP_Pos        (2U)
+#define SYSCFG_PMCR_I2C3_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C3_FMP_Pos)    /*!< 0x00000004 */
+#define SYSCFG_PMCR_I2C3_FMP            SYSCFG_PMCR_I2C3_FMP_Msk               /*!< I2C3 Fast mode plus */
+#define SYSCFG_PMCR_I2C4_FMP_Pos        (3U)
+#define SYSCFG_PMCR_I2C4_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C4_FMP_Pos)    /*!< 0x00000008 */
+#define SYSCFG_PMCR_I2C4_FMP            SYSCFG_PMCR_I2C4_FMP_Msk               /*!< I2C4 Fast mode plus */
+#define SYSCFG_PMCR_I2C_PB6_FMP_Pos     (4U)
+#define SYSCFG_PMCR_I2C_PB6_FMP_Msk     (0x1UL << SYSCFG_PMCR_I2C_PB6_FMP_Pos) /*!< 0x00000010 */
+#define SYSCFG_PMCR_I2C_PB6_FMP         SYSCFG_PMCR_I2C_PB6_FMP_Msk            /*!< I2C PB6 Fast mode plus */
+#define SYSCFG_PMCR_I2C_PB7_FMP_Pos     (5U)
+#define SYSCFG_PMCR_I2C_PB7_FMP_Msk     (0x1UL << SYSCFG_PMCR_I2C_PB7_FMP_Pos) /*!< 0x00000020 */
+#define SYSCFG_PMCR_I2C_PB7_FMP         SYSCFG_PMCR_I2C_PB7_FMP_Msk            /*!< I2C PB7 Fast mode plus */
+#define SYSCFG_PMCR_I2C_PB8_FMP_Pos     (6U)
+#define SYSCFG_PMCR_I2C_PB8_FMP_Msk     (0x1UL << SYSCFG_PMCR_I2C_PB8_FMP_Pos) /*!< 0x00000040 */
+#define SYSCFG_PMCR_I2C_PB8_FMP         SYSCFG_PMCR_I2C_PB8_FMP_Msk            /*!< I2C PB8 Fast mode plus */
+#define SYSCFG_PMCR_I2C_PB9_FMP_Pos     (7U)
+#define SYSCFG_PMCR_I2C_PB9_FMP_Msk     (0x1UL << SYSCFG_PMCR_I2C_PB9_FMP_Pos) /*!< 0x00000080 */
+#define SYSCFG_PMCR_I2C_PB9_FMP         SYSCFG_PMCR_I2C_PB9_FMP_Msk            /*!< I2C PB9 Fast mode plus */
+#define SYSCFG_PMCR_BOOSTEN_Pos         (8U)
+#define SYSCFG_PMCR_BOOSTEN_Msk         (0x1UL << SYSCFG_PMCR_BOOSTEN_Pos)     /*!< 0x00000100 */
+#define SYSCFG_PMCR_BOOSTEN             SYSCFG_PMCR_BOOSTEN_Msk                /*!< I/O analog switch voltage booster enable */
+
+#define SYSCFG_PMCR_BOOSTVDDSEL_Pos     (9U)
+#define SYSCFG_PMCR_BOOSTVDDSEL_Msk     (0x1UL << SYSCFG_PMCR_BOOSTVDDSEL_Pos) /*!< 0x00000200 */
+#define SYSCFG_PMCR_BOOSTVDDSEL         SYSCFG_PMCR_BOOSTVDDSEL_Msk            /*!< Analog switch supply source selection : VDD/VDDA */
+
+#define SYSCFG_PMCR_I2C5_FMP_Pos        (10U)
+#define SYSCFG_PMCR_I2C5_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C5_FMP_Pos)    /*!< 0x00000400 */
+#define SYSCFG_PMCR_I2C5_FMP            SYSCFG_PMCR_I2C5_FMP_Msk               /*!< I2C5 Fast mode plus */
+
+#define SYSCFG_PMCR_EPIS_SEL_Pos        (21U)
+#define SYSCFG_PMCR_EPIS_SEL_Msk        (0x7UL << SYSCFG_PMCR_EPIS_SEL_Pos)    /*!< 0x00E00000 */
+#define SYSCFG_PMCR_EPIS_SEL            SYSCFG_PMCR_EPIS_SEL_Msk               /*!< Ethernet PHY Interface Selection */
+#define SYSCFG_PMCR_EPIS_SEL_0          (0x1UL << SYSCFG_PMCR_EPIS_SEL_Pos)    /*!< 0x00200000 */
+#define SYSCFG_PMCR_EPIS_SEL_1          (0x2UL << SYSCFG_PMCR_EPIS_SEL_Pos)    /*!< 0x00400000 */
+#define SYSCFG_PMCR_EPIS_SEL_2          (0x4UL << SYSCFG_PMCR_EPIS_SEL_Pos)    /*!< 0x00800000 */
+#define SYSCFG_PMCR_PA0SO_Pos           (24U)
+#define SYSCFG_PMCR_PA0SO_Msk           (0x1UL << SYSCFG_PMCR_PA0SO_Pos)       /*!< 0x01000000 */
+#define SYSCFG_PMCR_PA0SO               SYSCFG_PMCR_PA0SO_Msk                  /*!< PA0 Switch Open */
+#define SYSCFG_PMCR_PA1SO_Pos           (25U)
+#define SYSCFG_PMCR_PA1SO_Msk           (0x1UL << SYSCFG_PMCR_PA1SO_Pos)       /*!< 0x02000000 */
+#define SYSCFG_PMCR_PA1SO               SYSCFG_PMCR_PA1SO_Msk                  /*!< PA1 Switch Open */
+#define SYSCFG_PMCR_PC2SO_Pos           (26U)
+#define SYSCFG_PMCR_PC2SO_Msk           (0x1UL << SYSCFG_PMCR_PC2SO_Pos)       /*!< 0x04000000 */
+#define SYSCFG_PMCR_PC2SO               SYSCFG_PMCR_PC2SO_Msk                  /*!< PC2 Switch Open */
+#define SYSCFG_PMCR_PC3SO_Pos           (27U)
+#define SYSCFG_PMCR_PC3SO_Msk           (0x1UL << SYSCFG_PMCR_PC3SO_Pos)       /*!< 0x08000000 */
+#define SYSCFG_PMCR_PC3SO               SYSCFG_PMCR_PC3SO_Msk                  /*!< PC3 Switch Open */
+
+/*****************  Bit definition for SYSCFG_EXTICR1 register  ***************/
+#define SYSCFG_EXTICR1_EXTI0_Pos        (0U)
+#define SYSCFG_EXTICR1_EXTI0_Msk        (0xFUL << SYSCFG_EXTICR1_EXTI0_Pos)    /*!< 0x0000000F */
+#define SYSCFG_EXTICR1_EXTI0            SYSCFG_EXTICR1_EXTI0_Msk               /*!<EXTI 0 configuration */
+#define SYSCFG_EXTICR1_EXTI1_Pos        (4U)
+#define SYSCFG_EXTICR1_EXTI1_Msk        (0xFUL << SYSCFG_EXTICR1_EXTI1_Pos)    /*!< 0x000000F0 */
+#define SYSCFG_EXTICR1_EXTI1            SYSCFG_EXTICR1_EXTI1_Msk               /*!<EXTI 1 configuration */
+#define SYSCFG_EXTICR1_EXTI2_Pos        (8U)
+#define SYSCFG_EXTICR1_EXTI2_Msk        (0xFUL << SYSCFG_EXTICR1_EXTI2_Pos)    /*!< 0x00000F00 */
+#define SYSCFG_EXTICR1_EXTI2            SYSCFG_EXTICR1_EXTI2_Msk               /*!<EXTI 2 configuration */
+#define SYSCFG_EXTICR1_EXTI3_Pos        (12U)
+#define SYSCFG_EXTICR1_EXTI3_Msk        (0xFUL << SYSCFG_EXTICR1_EXTI3_Pos)    /*!< 0x0000F000 */
+#define SYSCFG_EXTICR1_EXTI3            SYSCFG_EXTICR1_EXTI3_Msk               /*!<EXTI 3 configuration */
+/**
+  * @brief   EXTI0 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI0_PA         ((uint32_t)0x00000000)                 /*!<PA[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PB         ((uint32_t)0x00000001)                 /*!<PB[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PC         ((uint32_t)0x00000002)                 /*!<PC[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PD         ((uint32_t)0x00000003)                 /*!<PD[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PE         ((uint32_t)0x00000004)                 /*!<PE[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PF         ((uint32_t)0x00000005)                 /*!<PF[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PG         ((uint32_t)0x00000006)                 /*!<PG[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PH         ((uint32_t)0x00000007)                 /*!<PH[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PJ         ((uint32_t)0x00000009)                 /*!<PJ[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PK         ((uint32_t)0x0000000A)                 /*!<PK[0] pin */
+
+/**
+  * @brief   EXTI1 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI1_PA         ((uint32_t)0x00000000)                 /*!<PA[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PB         ((uint32_t)0x00000010)                 /*!<PB[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PC         ((uint32_t)0x00000020)                 /*!<PC[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PD         ((uint32_t)0x00000030)                 /*!<PD[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PE         ((uint32_t)0x00000040)                 /*!<PE[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PF         ((uint32_t)0x00000050)                 /*!<PF[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PG         ((uint32_t)0x00000060)                 /*!<PG[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PH         ((uint32_t)0x00000070)                 /*!<PH[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PJ         ((uint32_t)0x00000090)                 /*!<PJ[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PK         ((uint32_t)0x000000A0)                 /*!<PK[1] pin */
+/**
+  * @brief   EXTI2 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI2_PA         ((uint32_t)0x00000000)                 /*!<PA[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PB         ((uint32_t)0x00000100)                 /*!<PB[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PC         ((uint32_t)0x00000200)                 /*!<PC[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PD         ((uint32_t)0x00000300)                 /*!<PD[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PE         ((uint32_t)0x00000400)                 /*!<PE[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PF         ((uint32_t)0x00000500)                 /*!<PF[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PG         ((uint32_t)0x00000600)                 /*!<PG[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PH         ((uint32_t)0x00000700)                 /*!<PH[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PJ         ((uint32_t)0x00000900)                 /*!<PJ[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PK         ((uint32_t)0x00000A00)                 /*!<PK[2] pin */
+
+/**
+  * @brief   EXTI3 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI3_PA         ((uint32_t)0x00000000)                 /*!<PA[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PB         ((uint32_t)0x00001000)                 /*!<PB[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PC         ((uint32_t)0x00002000)                 /*!<PC[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PD         ((uint32_t)0x00003000)                 /*!<PD[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PE         ((uint32_t)0x00004000)                 /*!<PE[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PF         ((uint32_t)0x00005000)                 /*!<PF[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PG         ((uint32_t)0x00006000)                 /*!<PG[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PH         ((uint32_t)0x00007000)                 /*!<PH[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PJ         ((uint32_t)0x00009000)                 /*!<PJ[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PK         ((uint32_t)0x0000A000)                 /*!<PK[3] pin */
+
+/*****************  Bit definition for SYSCFG_EXTICR2 register  ***************/
+#define SYSCFG_EXTICR2_EXTI4_Pos        (0U)
+#define SYSCFG_EXTICR2_EXTI4_Msk        (0xFUL << SYSCFG_EXTICR2_EXTI4_Pos)    /*!< 0x0000000F */
+#define SYSCFG_EXTICR2_EXTI4            SYSCFG_EXTICR2_EXTI4_Msk               /*!<EXTI 4 configuration */
+#define SYSCFG_EXTICR2_EXTI5_Pos        (4U)
+#define SYSCFG_EXTICR2_EXTI5_Msk        (0xFUL << SYSCFG_EXTICR2_EXTI5_Pos)    /*!< 0x000000F0 */
+#define SYSCFG_EXTICR2_EXTI5            SYSCFG_EXTICR2_EXTI5_Msk               /*!<EXTI 5 configuration */
+#define SYSCFG_EXTICR2_EXTI6_Pos        (8U)
+#define SYSCFG_EXTICR2_EXTI6_Msk        (0xFUL << SYSCFG_EXTICR2_EXTI6_Pos)    /*!< 0x00000F00 */
+#define SYSCFG_EXTICR2_EXTI6            SYSCFG_EXTICR2_EXTI6_Msk               /*!<EXTI 6 configuration */
+#define SYSCFG_EXTICR2_EXTI7_Pos        (12U)
+#define SYSCFG_EXTICR2_EXTI7_Msk        (0xFUL << SYSCFG_EXTICR2_EXTI7_Pos)    /*!< 0x0000F000 */
+#define SYSCFG_EXTICR2_EXTI7            SYSCFG_EXTICR2_EXTI7_Msk               /*!<EXTI 7 configuration */
+/**
+  * @brief   EXTI4 configuration
+  */
+#define SYSCFG_EXTICR2_EXTI4_PA         ((uint32_t)0x00000000)                 /*!<PA[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PB         ((uint32_t)0x00000001)                 /*!<PB[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PC         ((uint32_t)0x00000002)                 /*!<PC[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PD         ((uint32_t)0x00000003)                 /*!<PD[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PE         ((uint32_t)0x00000004)                 /*!<PE[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PF         ((uint32_t)0x00000005)                 /*!<PF[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PG         ((uint32_t)0x00000006)                 /*!<PG[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PH         ((uint32_t)0x00000007)                 /*!<PH[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PJ         ((uint32_t)0x00000009)                 /*!<PJ[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PK         ((uint32_t)0x0000000A)                 /*!<PK[4] pin */
+/**
+  * @brief   EXTI5 configuration
+  */
+#define SYSCFG_EXTICR2_EXTI5_PA         ((uint32_t)0x00000000)                 /*!<PA[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PB         ((uint32_t)0x00000010)                 /*!<PB[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PC         ((uint32_t)0x00000020)                 /*!<PC[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PD         ((uint32_t)0x00000030)                 /*!<PD[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PE         ((uint32_t)0x00000040)                 /*!<PE[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PF         ((uint32_t)0x00000050)                 /*!<PF[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PG         ((uint32_t)0x00000060)                 /*!<PG[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PH         ((uint32_t)0x00000070)                 /*!<PH[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PJ         ((uint32_t)0x00000090)                 /*!<PJ[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PK         ((uint32_t)0x000000A0)                 /*!<PK[5] pin */
+/**
+  * @brief   EXTI6 configuration
+  */
+#define SYSCFG_EXTICR2_EXTI6_PA         ((uint32_t)0x00000000)                 /*!<PA[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PB         ((uint32_t)0x00000100)                 /*!<PB[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PC         ((uint32_t)0x00000200)                 /*!<PC[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PD         ((uint32_t)0x00000300)                 /*!<PD[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PE         ((uint32_t)0x00000400)                 /*!<PE[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PF         ((uint32_t)0x00000500)                 /*!<PF[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PG         ((uint32_t)0x00000600)                 /*!<PG[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PH         ((uint32_t)0x00000700)                 /*!<PH[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PJ         ((uint32_t)0x00000900)                 /*!<PJ[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PK         ((uint32_t)0x00000A00)                 /*!<PK[6] pin */
+
+/**
+  * @brief   EXTI7 configuration
+  */
+#define SYSCFG_EXTICR2_EXTI7_PA         ((uint32_t)0x00000000)                 /*!<PA[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PB         ((uint32_t)0x00001000)                 /*!<PB[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PC         ((uint32_t)0x00002000)                 /*!<PC[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PD         ((uint32_t)0x00003000)                 /*!<PD[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PE         ((uint32_t)0x00004000)                 /*!<PE[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PF         ((uint32_t)0x00005000)                 /*!<PF[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PG         ((uint32_t)0x00006000)                 /*!<PG[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PH         ((uint32_t)0x00007000)                 /*!<PH[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PJ         ((uint32_t)0x00009000)                 /*!<PJ[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PK         ((uint32_t)0x0000A000)                 /*!<PK[7] pin */
+
+/*****************  Bit definition for SYSCFG_EXTICR3 register  ***************/
+#define SYSCFG_EXTICR3_EXTI8_Pos        (0U)
+#define SYSCFG_EXTICR3_EXTI8_Msk        (0xFUL << SYSCFG_EXTICR3_EXTI8_Pos)    /*!< 0x0000000F */
+#define SYSCFG_EXTICR3_EXTI8            SYSCFG_EXTICR3_EXTI8_Msk               /*!<EXTI 8 configuration */
+#define SYSCFG_EXTICR3_EXTI9_Pos        (4U)
+#define SYSCFG_EXTICR3_EXTI9_Msk        (0xFUL << SYSCFG_EXTICR3_EXTI9_Pos)    /*!< 0x000000F0 */
+#define SYSCFG_EXTICR3_EXTI9            SYSCFG_EXTICR3_EXTI9_Msk               /*!<EXTI 9 configuration */
+#define SYSCFG_EXTICR3_EXTI10_Pos       (8U)
+#define SYSCFG_EXTICR3_EXTI10_Msk       (0xFUL << SYSCFG_EXTICR3_EXTI10_Pos)   /*!< 0x00000F00 */
+#define SYSCFG_EXTICR3_EXTI10           SYSCFG_EXTICR3_EXTI10_Msk              /*!<EXTI 10 configuration */
+#define SYSCFG_EXTICR3_EXTI11_Pos       (12U)
+#define SYSCFG_EXTICR3_EXTI11_Msk       (0xFUL << SYSCFG_EXTICR3_EXTI11_Pos)   /*!< 0x0000F000 */
+#define SYSCFG_EXTICR3_EXTI11           SYSCFG_EXTICR3_EXTI11_Msk              /*!<EXTI 11 configuration */
+
+/**
+  * @brief   EXTI8 configuration
+  */
+#define SYSCFG_EXTICR3_EXTI8_PA         ((uint32_t)0x00000000)                 /*!<PA[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PB         ((uint32_t)0x00000001)                 /*!<PB[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PC         ((uint32_t)0x00000002)                 /*!<PC[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PD         ((uint32_t)0x00000003)                 /*!<PD[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PE         ((uint32_t)0x00000004)                 /*!<PE[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PF         ((uint32_t)0x00000005)                 /*!<PF[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PG         ((uint32_t)0x00000006)                 /*!<PG[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PH         ((uint32_t)0x00000007)                 /*!<PH[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PJ         ((uint32_t)0x00000009)                 /*!<PJ[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PK         ((uint32_t)0x0000000A)                 /*!<PK[8] pin */
+
+/**
+  * @brief   EXTI9 configuration
+  */
+#define SYSCFG_EXTICR3_EXTI9_PA         ((uint32_t)0x00000000)                 /*!<PA[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PB         ((uint32_t)0x00000010)                 /*!<PB[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PC         ((uint32_t)0x00000020)                 /*!<PC[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PD         ((uint32_t)0x00000030)                 /*!<PD[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PE         ((uint32_t)0x00000040)                 /*!<PE[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PF         ((uint32_t)0x00000050)                 /*!<PF[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PG         ((uint32_t)0x00000060)                 /*!<PG[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PH         ((uint32_t)0x00000070)                 /*!<PH[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PJ         ((uint32_t)0x00000090)                 /*!<PJ[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PK         ((uint32_t)0x000000A0)                 /*!<PK[9] pin */
+
+/**
+  * @brief   EXTI10 configuration
+  */
+#define SYSCFG_EXTICR3_EXTI10_PA        ((uint32_t)0x00000000)                 /*!<PA[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PB        ((uint32_t)0x00000100)                 /*!<PB[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PC        ((uint32_t)0x00000200)                 /*!<PC[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PD        ((uint32_t)0x00000300)                 /*!<PD[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PE        ((uint32_t)0x00000400)                 /*!<PE[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PF        ((uint32_t)0x00000500)                 /*!<PF[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PG        ((uint32_t)0x00000600)                 /*!<PG[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PH        ((uint32_t)0x00000700)                 /*!<PH[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PJ        ((uint32_t)0x00000900)                 /*!<PJ[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PK        ((uint32_t)0x00000A00)                 /*!<PK[10] pin */
+
+/**
+  * @brief   EXTI11 configuration
+  */
+#define SYSCFG_EXTICR3_EXTI11_PA        ((uint32_t)0x00000000)                 /*!<PA[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PB        ((uint32_t)0x00001000)                 /*!<PB[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PC        ((uint32_t)0x00002000)                 /*!<PC[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PD        ((uint32_t)0x00003000)                 /*!<PD[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PE        ((uint32_t)0x00004000)                 /*!<PE[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PF        ((uint32_t)0x00005000)                 /*!<PF[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PG        ((uint32_t)0x00006000)                 /*!<PG[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PH        ((uint32_t)0x00007000)                 /*!<PH[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PJ        ((uint32_t)0x00009000)                 /*!<PJ[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PK        ((uint32_t)0x0000A000)                 /*!<PK[11] pin */
+
+/*****************  Bit definition for SYSCFG_EXTICR4 register  ***************/
+#define SYSCFG_EXTICR4_EXTI12_Pos       (0U)
+#define SYSCFG_EXTICR4_EXTI12_Msk       (0xFUL << SYSCFG_EXTICR4_EXTI12_Pos)   /*!< 0x0000000F */
+#define SYSCFG_EXTICR4_EXTI12           SYSCFG_EXTICR4_EXTI12_Msk              /*!<EXTI 12 configuration */
+#define SYSCFG_EXTICR4_EXTI13_Pos       (4U)
+#define SYSCFG_EXTICR4_EXTI13_Msk       (0xFUL << SYSCFG_EXTICR4_EXTI13_Pos)   /*!< 0x000000F0 */
+#define SYSCFG_EXTICR4_EXTI13           SYSCFG_EXTICR4_EXTI13_Msk              /*!<EXTI 13 configuration */
+#define SYSCFG_EXTICR4_EXTI14_Pos       (8U)
+#define SYSCFG_EXTICR4_EXTI14_Msk       (0xFUL << SYSCFG_EXTICR4_EXTI14_Pos)   /*!< 0x00000F00 */
+#define SYSCFG_EXTICR4_EXTI14           SYSCFG_EXTICR4_EXTI14_Msk              /*!<EXTI 14 configuration */
+#define SYSCFG_EXTICR4_EXTI15_Pos       (12U)
+#define SYSCFG_EXTICR4_EXTI15_Msk       (0xFUL << SYSCFG_EXTICR4_EXTI15_Pos)   /*!< 0x0000F000 */
+#define SYSCFG_EXTICR4_EXTI15           SYSCFG_EXTICR4_EXTI15_Msk              /*!<EXTI 15 configuration */
+/**
+  * @brief   EXTI12 configuration
+  */
+#define SYSCFG_EXTICR4_EXTI12_PA        ((uint32_t)0x00000000)                 /*!<PA[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PB        ((uint32_t)0x00000001)                 /*!<PB[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PC        ((uint32_t)0x00000002)                 /*!<PC[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PD        ((uint32_t)0x00000003)                 /*!<PD[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PE        ((uint32_t)0x00000004)                 /*!<PE[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PF        ((uint32_t)0x00000005)                 /*!<PF[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PG        ((uint32_t)0x00000006)                 /*!<PG[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PH        ((uint32_t)0x00000007)                 /*!<PH[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PJ        ((uint32_t)0x00000009)                 /*!<PJ[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PK        ((uint32_t)0x0000000A)                 /*!<PK[12] pin */
+/**
+  * @brief   EXTI13 configuration
+  */
+#define SYSCFG_EXTICR4_EXTI13_PA        ((uint32_t)0x00000000)                 /*!<PA[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PB        ((uint32_t)0x00000010)                 /*!<PB[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PC        ((uint32_t)0x00000020)                 /*!<PC[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PD        ((uint32_t)0x00000030)                 /*!<PD[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PE        ((uint32_t)0x00000040)                 /*!<PE[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PF        ((uint32_t)0x00000050)                 /*!<PF[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PG        ((uint32_t)0x00000060)                 /*!<PG[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PH        ((uint32_t)0x00000070)                 /*!<PH[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PJ        ((uint32_t)0x00000090)                 /*!<PJ[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PK        ((uint32_t)0x000000A0)                 /*!<PK[13] pin */
+/**
+  * @brief   EXTI14 configuration
+  */
+#define SYSCFG_EXTICR4_EXTI14_PA        ((uint32_t)0x00000000)                 /*!<PA[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PB        ((uint32_t)0x00000100)                 /*!<PB[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PC        ((uint32_t)0x00000200)                 /*!<PC[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PD        ((uint32_t)0x00000300)                 /*!<PD[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PE        ((uint32_t)0x00000400)                 /*!<PE[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PF        ((uint32_t)0x00000500)                 /*!<PF[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PG        ((uint32_t)0x00000600)                 /*!<PG[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PH        ((uint32_t)0x00000700)                 /*!<PH[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PJ        ((uint32_t)0x00000900)                 /*!<PJ[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PK        ((uint32_t)0x00000A00)                 /*!<PK[14] pin */
+/**
+  * @brief   EXTI15 configuration
+  */
+#define SYSCFG_EXTICR4_EXTI15_PA        ((uint32_t)0x00000000)                 /*!<PA[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PB        ((uint32_t)0x00001000)                 /*!<PB[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PC        ((uint32_t)0x00002000)                 /*!<PC[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PD        ((uint32_t)0x00003000)                 /*!<PD[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PE        ((uint32_t)0x00004000)                 /*!<PE[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PF        ((uint32_t)0x00005000)                 /*!<PF[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PG        ((uint32_t)0x00006000)                 /*!<PG[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PH        ((uint32_t)0x00007000)                 /*!<PH[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PJ        ((uint32_t)0x00009000)                 /*!<PJ[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PK        ((uint32_t)0x0000A000)                 /*!<PK[15] pin */
+
+/******************  Bit definition for SYSCFG_CFGR register  ******************/
+#define SYSCFG_CFGR_PVDL_Pos            (2U)
+#define SYSCFG_CFGR_PVDL_Msk            (0x1UL << SYSCFG_CFGR_PVDL_Pos)        /*!< 0x00000004 */
+#define SYSCFG_CFGR_PVDL                SYSCFG_CFGR_PVDL_Msk                   /*!<PVD lock enable bit */
+#define SYSCFG_CFGR_FLASHL_Pos          (3U)
+#define SYSCFG_CFGR_FLASHL_Msk          (0x1UL << SYSCFG_CFGR_FLASHL_Pos)      /*!< 0x00000008 */
+#define SYSCFG_CFGR_FLASHL              SYSCFG_CFGR_FLASHL_Msk                 /*!<FLASH double ECC error lock bit */
+#define SYSCFG_CFGR_CM7L_Pos            (6U)
+#define SYSCFG_CFGR_CM7L_Msk            (0x1UL << SYSCFG_CFGR_CM7L_Pos)        /*!< 0x00000040 */
+#define SYSCFG_CFGR_CM7L                SYSCFG_CFGR_CM7L_Msk                   /*!<Cortex-M7 LOCKUP (Hardfault) output enable bit */
+#define SYSCFG_CFGR_BKRAML_Pos          (7U)
+#define SYSCFG_CFGR_BKRAML_Msk          (0x1UL << SYSCFG_CFGR_BKRAML_Pos)      /*!< 0x00000080 */
+#define SYSCFG_CFGR_BKRAML              SYSCFG_CFGR_BKRAML_Msk                 /*!<Backup SRAM double ECC error lock bit */
+#define SYSCFG_CFGR_SRAM4L_Pos          (9U)
+#define SYSCFG_CFGR_SRAM4L_Msk          (0x1UL << SYSCFG_CFGR_SRAM4L_Pos)      /*!< 0x00000200 */
+#define SYSCFG_CFGR_SRAM4L              SYSCFG_CFGR_SRAM4L_Msk                 /*!<SRAM4 double ECC error lock bit */
+#define SYSCFG_CFGR_SRAM2L_Pos          (11U)
+#define SYSCFG_CFGR_SRAM2L_Msk          (0x1UL << SYSCFG_CFGR_SRAM2L_Pos)      /*!< 0x00000800 */
+#define SYSCFG_CFGR_SRAM2L              SYSCFG_CFGR_SRAM2L_Msk                 /*!<SRAM2 double ECC error lock bit */
+#define SYSCFG_CFGR_SRAM1L_Pos          (12U)
+#define SYSCFG_CFGR_SRAM1L_Msk          (0x1UL << SYSCFG_CFGR_SRAM1L_Pos)      /*!< 0x00001000 */
+#define SYSCFG_CFGR_SRAM1L              SYSCFG_CFGR_SRAM1L_Msk                 /*!<SRAM1 double ECC error lock bit */
+#define SYSCFG_CFGR_DTCML_Pos           (13U)
+#define SYSCFG_CFGR_DTCML_Msk           (0x1UL << SYSCFG_CFGR_DTCML_Pos)       /*!< 0x00002000 */
+#define SYSCFG_CFGR_DTCML               SYSCFG_CFGR_DTCML_Msk                  /*!<DTCM double ECC error lock bit */
+#define SYSCFG_CFGR_ITCML_Pos           (14U)
+#define SYSCFG_CFGR_ITCML_Msk           (0x1UL << SYSCFG_CFGR_ITCML_Pos)       /*!< 0x00004000 */
+#define SYSCFG_CFGR_ITCML               SYSCFG_CFGR_ITCML_Msk                  /*!<ITCM double ECC error lock bit */
+#define SYSCFG_CFGR_AXISRAML_Pos        (15U)
+#define SYSCFG_CFGR_AXISRAML_Msk        (0x1UL << SYSCFG_CFGR_AXISRAML_Pos)    /*!< 0x00008000 */
+#define SYSCFG_CFGR_AXISRAML            SYSCFG_CFGR_AXISRAML_Msk               /*!<AXISRAM double ECC error lock bit */
+
+/******************  Bit definition for SYSCFG_CCCSR register  ******************/
+#define SYSCFG_CCCSR_EN_Pos             (0U)
+#define SYSCFG_CCCSR_EN_Msk             (0x1UL << SYSCFG_CCCSR_EN_Pos)         /*!< 0x00000001 */
+#define SYSCFG_CCCSR_EN                 SYSCFG_CCCSR_EN_Msk                    /*!< I/O compensation cell enable */
+#define SYSCFG_CCCSR_CS_Pos             (1U)
+#define SYSCFG_CCCSR_CS_Msk             (0x1UL << SYSCFG_CCCSR_CS_Pos)         /*!< 0x00000002 */
+#define SYSCFG_CCCSR_CS                 SYSCFG_CCCSR_CS_Msk                    /*!< I/O compensation cell code selection */
+#define SYSCFG_CCCSR_READY_Pos          (8U)
+#define SYSCFG_CCCSR_READY_Msk          (0x1UL << SYSCFG_CCCSR_READY_Pos)      /*!< 0x00000100 */
+#define SYSCFG_CCCSR_READY              SYSCFG_CCCSR_READY_Msk                 /*!< I/O compensation cell ready flag */
+#define SYSCFG_CCCSR_HSLV_Pos           (16U)
+#define SYSCFG_CCCSR_HSLV_Msk           (0x1UL << SYSCFG_CCCSR_HSLV_Pos)       /*!< 0x00010000 */
+#define SYSCFG_CCCSR_HSLV               SYSCFG_CCCSR_HSLV_Msk                  /*!< High-speed at low-voltage */
+
+/******************  Bit definition for SYSCFG_CCVR register  *******************/
+#define SYSCFG_CCVR_NCV_Pos             (0U)
+#define SYSCFG_CCVR_NCV_Msk             (0xFUL << SYSCFG_CCVR_NCV_Pos)         /*!< 0x0000000F */
+#define SYSCFG_CCVR_NCV                 SYSCFG_CCVR_NCV_Msk                    /*!< NMOS compensation value */
+#define SYSCFG_CCVR_PCV_Pos             (4U)
+#define SYSCFG_CCVR_PCV_Msk             (0xFUL << SYSCFG_CCVR_PCV_Pos)         /*!< 0x000000F0 */
+#define SYSCFG_CCVR_PCV                 SYSCFG_CCVR_PCV_Msk                    /*!< PMOS compensation value */
+
+/******************  Bit definition for SYSCFG_CCCR register  *******************/
+#define SYSCFG_CCCR_NCC_Pos             (0U)
+#define SYSCFG_CCCR_NCC_Msk             (0xFUL << SYSCFG_CCCR_NCC_Pos)         /*!< 0x0000000F */
+#define SYSCFG_CCCR_NCC                 SYSCFG_CCCR_NCC_Msk                    /*!< NMOS compensation code */
+#define SYSCFG_CCCR_PCC_Pos             (4U)
+#define SYSCFG_CCCR_PCC_Msk             (0xFUL << SYSCFG_CCCR_PCC_Pos)         /*!< 0x000000F0 */
+#define SYSCFG_CCCR_PCC                 SYSCFG_CCCR_PCC_Msk                    /*!< PMOS compensation code */
+/******************  Bit definition for SYSCFG_ADC2ALT register  *******************/
+#define SYSCFG_ADC2ALT_ADC2_ROUT0_Pos   (0U)
+#define SYSCFG_ADC2ALT_ADC2_ROUT0_Msk   (0x1UL << SYSCFG_ADC2ALT_ADC2_ROUT0_Pos) /*!< 0x00000001 */
+#define SYSCFG_ADC2ALT_ADC2_ROUT0       SYSCFG_ADC2ALT_ADC2_ROUT0_Msk            /*!< VBAT/4 connected to ADC2 V_INP[16] */
+#define SYSCFG_ADC2ALT_ADC2_ROUT1_Pos   (1U)
+#define SYSCFG_ADC2ALT_ADC2_ROUT1_Msk   (0x1UL << SYSCFG_ADC2ALT_ADC2_ROUT1_Pos) /*!< 0x00000002 */
+#define SYSCFG_ADC2ALT_ADC2_ROUT1       SYSCFG_ADC2ALT_ADC2_ROUT1_Msk            /*!< Internal reference voltage (V_REFINT) connected to ADC2 V_INP[17] */
+
+/******************  Bit definition for SYSCFG_PKGR register  *******************/
+#define SYSCFG_PKGR_PKG_Pos             (0U)
+#define SYSCFG_PKGR_PKG_Msk             (0xFUL << SYSCFG_PKGR_PKG_Pos)         /*!< 0x0000000F */
+#define SYSCFG_PKGR_PKG                 SYSCFG_PKGR_PKG_Msk                    /*!< Package type */
+
+/******************  Bit definition for SYSCFG_UR0 register  *******************/
+#define SYSCFG_UR0_RDP_Pos              (16U)
+#define SYSCFG_UR0_RDP_Msk              (0xFFUL << SYSCFG_UR0_RDP_Pos)         /*!< 0x00FF0000 */
+#define SYSCFG_UR0_RDP                  SYSCFG_UR0_RDP_Msk                     /*!< Readout protection */
+
+/******************  Bit definition for SYSCFG_UR2 register  *******************/
+#define SYSCFG_UR2_BORH_Pos             (0U)
+#define SYSCFG_UR2_BORH_Msk             (0x3UL << SYSCFG_UR2_BORH_Pos)         /*!< 0x00000003 */
+#define SYSCFG_UR2_BORH                 SYSCFG_UR2_BORH_Msk                    /*!< Brown Out Reset High level */
+#define SYSCFG_UR2_BORH_0               (0x1UL << SYSCFG_UR2_BORH_Pos)         /*!< 0x00000001 */
+#define SYSCFG_UR2_BORH_1               (0x2UL << SYSCFG_UR2_BORH_Pos)         /*!< 0x00000002 */
+#define SYSCFG_UR2_BOOT_ADD0_Pos        (16U)
+#define SYSCFG_UR2_BOOT_ADD0_Msk        (0xFFFFUL << SYSCFG_UR2_BOOT_ADD0_Pos) /*!< 0xFFFF0000 */
+#define SYSCFG_UR2_BOOT_ADD0            SYSCFG_UR2_BOOT_ADD0_Msk               /*!< Core Boot Address 0 */
+/******************  Bit definition for SYSCFG_UR3 register  *******************/
+#define SYSCFG_UR3_BOOT_ADD1_Pos        (0U)
+#define SYSCFG_UR3_BOOT_ADD1_Msk        (0xFFFFUL << SYSCFG_UR3_BOOT_ADD1_Pos) /*!< 0x0000FFFF */
+#define SYSCFG_UR3_BOOT_ADD1            SYSCFG_UR3_BOOT_ADD1_Msk               /*!< Core Boot Address 1 */
+
+  /******************  Bit definition for SYSCFG_UR4 register  *******************/
+
+#define SYSCFG_UR4_MEPAD_BANK1_Pos      (16U)
+#define SYSCFG_UR4_MEPAD_BANK1_Msk      (0x1UL << SYSCFG_UR4_MEPAD_BANK1_Pos)  /*!< 0x00010000 */
+#define SYSCFG_UR4_MEPAD_BANK1          SYSCFG_UR4_MEPAD_BANK1_Msk             /*!< Mass Erase Protected Area Disabled for bank 1 */
+
+/******************  Bit definition for SYSCFG_UR5 register  *******************/
+#define SYSCFG_UR5_MESAD_BANK1_Pos      (0U)
+#define SYSCFG_UR5_MESAD_BANK1_Msk      (0x1UL << SYSCFG_UR5_MESAD_BANK1_Pos)  /*!< 0x00000001 */
+#define SYSCFG_UR5_MESAD_BANK1          SYSCFG_UR5_MESAD_BANK1_Msk             /*!< Mass erase secured area disabled for bank 1 */
+#define SYSCFG_UR5_WRPN_BANK1_Pos       (16U)
+#define SYSCFG_UR5_WRPN_BANK1_Msk       (0xFFUL << SYSCFG_UR5_WRPN_BANK1_Pos)  /*!< 0x00FF0000 */
+#define SYSCFG_UR5_WRPN_BANK1           SYSCFG_UR5_WRPN_BANK1_Msk              /*!< Write protection for flash bank 1 */
+
+/******************  Bit definition for SYSCFG_UR6 register  *******************/
+#define SYSCFG_UR6_PABEG_BANK1_Pos      (0U)
+#define SYSCFG_UR6_PABEG_BANK1_Msk      (0xFFFUL << SYSCFG_UR6_PABEG_BANK1_Pos) /*!< 0x00000FFF */
+#define SYSCFG_UR6_PABEG_BANK1          SYSCFG_UR6_PABEG_BANK1_Msk             /*!< Protected area start address for bank 1 */
+#define SYSCFG_UR6_PAEND_BANK1_Pos      (16U)
+#define SYSCFG_UR6_PAEND_BANK1_Msk      (0xFFFUL << SYSCFG_UR6_PAEND_BANK1_Pos) /*!< 0x0FFF0000 */
+#define SYSCFG_UR6_PAEND_BANK1          SYSCFG_UR6_PAEND_BANK1_Msk             /*!< Protected area end address for bank 1 */
+
+/******************  Bit definition for SYSCFG_UR7 register  *******************/
+#define SYSCFG_UR7_SABEG_BANK1_Pos      (0U)
+#define SYSCFG_UR7_SABEG_BANK1_Msk      (0xFFFUL << SYSCFG_UR7_SABEG_BANK1_Pos) /*!< 0x00000FFF */
+#define SYSCFG_UR7_SABEG_BANK1          SYSCFG_UR7_SABEG_BANK1_Msk             /*!< Secured area start address for bank 1 */
+#define SYSCFG_UR7_SAEND_BANK1_Pos      (16U)
+#define SYSCFG_UR7_SAEND_BANK1_Msk      (0xFFFUL << SYSCFG_UR7_SAEND_BANK1_Pos) /*!< 0x0FFF0000 */
+#define SYSCFG_UR7_SAEND_BANK1          SYSCFG_UR7_SAEND_BANK1_Msk             /*!< Secured area end address for bank 1 */
+
+
+/******************  Bit definition for SYSCFG_UR11 register  *******************/
+#define SYSCFG_UR11_IWDG1M_Pos          (16U)
+#define SYSCFG_UR11_IWDG1M_Msk          (0x1UL << SYSCFG_UR11_IWDG1M_Pos)      /*!< 0x00010000 */
+#define SYSCFG_UR11_IWDG1M              SYSCFG_UR11_IWDG1M_Msk                 /*!< Independent Watchdog 1 mode (SW or HW) */
+
+/******************  Bit definition for SYSCFG_UR12 register  *******************/
+
+#define SYSCFG_UR12_SECURE_Pos          (16U)
+#define SYSCFG_UR12_SECURE_Msk          (0x1UL << SYSCFG_UR12_SECURE_Pos)      /*!< 0x00010000 */
+#define SYSCFG_UR12_SECURE              SYSCFG_UR12_SECURE_Msk                 /*!< Secure mode status */
+
+/******************  Bit definition for SYSCFG_UR13 register  *******************/
+#define SYSCFG_UR13_SDRS_Pos            (0U)
+#define SYSCFG_UR13_SDRS_Msk            (0x3UL << SYSCFG_UR13_SDRS_Pos)        /*!< 0x00000003 */
+#define SYSCFG_UR13_SDRS                SYSCFG_UR13_SDRS_Msk                   /*!< Secured DTCM RAM Size */
+#define SYSCFG_UR13_D1SBRST_Pos         (16U)
+#define SYSCFG_UR13_D1SBRST_Msk         (0x1UL << SYSCFG_UR13_D1SBRST_Pos)     /*!< 0x00010000 */
+#define SYSCFG_UR13_D1SBRST             SYSCFG_UR13_D1SBRST_Msk                /*!< D1 Standby reset */
+
+/******************  Bit definition for SYSCFG_UR14 register  *******************/
+#define SYSCFG_UR14_D1STPRST_Pos        (0U)
+#define SYSCFG_UR14_D1STPRST_Msk        (0x1UL << SYSCFG_UR14_D1STPRST_Pos)    /*!< 0x00000001 */
+#define SYSCFG_UR14_D1STPRST            SYSCFG_UR14_D1STPRST_Msk               /*!< D1 Stop Reset */
+
+/******************  Bit definition for SYSCFG_UR15 register  *******************/
+#define SYSCFG_UR15_FZIWDGSTB_Pos       (16U)
+#define SYSCFG_UR15_FZIWDGSTB_Msk       (0x1UL << SYSCFG_UR15_FZIWDGSTB_Pos)   /*!< 0x00010000 */
+#define SYSCFG_UR15_FZIWDGSTB           SYSCFG_UR15_FZIWDGSTB_Msk              /*!< Freeze independent watchdogs in Standby mode */
+
+/******************  Bit definition for SYSCFG_UR16 register  *******************/
+#define SYSCFG_UR16_FZIWDGSTP_Pos       (0U)
+#define SYSCFG_UR16_FZIWDGSTP_Msk       (0x1UL << SYSCFG_UR16_FZIWDGSTP_Pos)   /*!< 0x00000001 */
+#define SYSCFG_UR16_FZIWDGSTP           SYSCFG_UR16_FZIWDGSTP_Msk              /*!< Freeze independent watchdogs in Stop mode */
+#define SYSCFG_UR16_PKP_Pos             (16U)
+#define SYSCFG_UR16_PKP_Msk             (0x1UL << SYSCFG_UR16_PKP_Pos)         /*!< 0x00010000 */
+#define SYSCFG_UR16_PKP                 SYSCFG_UR16_PKP_Msk                    /*!< Private key programmed */
+
+/******************  Bit definition for SYSCFG_UR17 register  *******************/
+#define SYSCFG_UR17_IOHSLV_Pos          (0U)
+#define SYSCFG_UR17_IOHSLV_Msk          (0x1UL << SYSCFG_UR17_IOHSLV_Pos)      /*!< 0x00000001 */
+#define SYSCFG_UR17_IOHSLV              SYSCFG_UR17_IOHSLV_Msk                 /*!< I/O high speed / low voltage */
+#define SYSCFG_UR17_TCM_AXI_CFG_Pos     (16U)
+#define SYSCFG_UR17_TCM_AXI_CFG_Msk     (0x3UL << SYSCFG_UR17_TCM_AXI_CFG_Pos) /*!< 0x00030000 */
+#define SYSCFG_UR17_TCM_AXI_CFG         SYSCFG_UR17_TCM_AXI_CFG_Msk            /*!< ITCM-RAM / AXI-SRAM size */
+
+/******************  Bit definition for SYSCFG_UR18 register  *******************/
+#define SYSCFG_UR18_CPU_FREQ_BOOST_Pos  (0U)
+#define SYSCFG_UR18_CPU_FREQ_BOOST_Msk  (0x1UL << SYSCFG_UR18_CPU_FREQ_BOOST_Pos)  /*!< 0x00000001 */
+#define SYSCFG_UR18_CPU_FREQ_BOOST       SYSCFG_UR18_CPU_FREQ_BOOST_Msk            /*!< CPU maximum frequency boost enable */
+
+/******************************************************************************/
+/*                                                                            */
+/*                    Digital Temperature Sensor (DTS)                        */
+/*                                                                            */
+/******************************************************************************/
+
+/******************  Bit definition for DTS_CFGR1 register  ******************/
+#define DTS_CFGR1_TS1_EN_Pos               (0U)
+#define DTS_CFGR1_TS1_EN_Msk               (0x1UL << DTS_CFGR1_TS1_EN_Pos) /*!< 0x00000001 */
+#define DTS_CFGR1_TS1_EN                   DTS_CFGR1_TS1_EN_Msk        /*!< DTS Enable */
+#define DTS_CFGR1_TS1_START_Pos            (4U)
+#define DTS_CFGR1_TS1_START_Msk            (0x1UL << DTS_CFGR1_TS1_START_Pos) /*!< 0x00000010 */
+#define DTS_CFGR1_TS1_START                DTS_CFGR1_TS1_START_Msk     /*!< Proceed to a frequency measurement on DTS */
+#define DTS_CFGR1_TS1_INTRIG_SEL_Pos       (8U)
+#define DTS_CFGR1_TS1_INTRIG_SEL_Msk       (0xFUL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000F00 */
+#define DTS_CFGR1_TS1_INTRIG_SEL           DTS_CFGR1_TS1_INTRIG_SEL_Msk /*!< Input triggers selection bits [3:0] for DTS */
+#define DTS_CFGR1_TS1_INTRIG_SEL_0         (0x1UL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000100 */
+#define DTS_CFGR1_TS1_INTRIG_SEL_1         (0x2UL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000200 */
+#define DTS_CFGR1_TS1_INTRIG_SEL_2         (0x4UL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000400 */
+#define DTS_CFGR1_TS1_INTRIG_SEL_3         (0x8UL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000800 */
+#define DTS_CFGR1_TS1_SMP_TIME_Pos         (16U)
+#define DTS_CFGR1_TS1_SMP_TIME_Msk         (0xFUL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x000F0000 */
+#define DTS_CFGR1_TS1_SMP_TIME             DTS_CFGR1_TS1_SMP_TIME_Msk  /*!< Sample time [3:0] for DTS */
+#define DTS_CFGR1_TS1_SMP_TIME_0           (0x1UL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x00010000 */
+#define DTS_CFGR1_TS1_SMP_TIME_1           (0x2UL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x00020000 */
+#define DTS_CFGR1_TS1_SMP_TIME_2           (0x4UL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x00040000 */
+#define DTS_CFGR1_TS1_SMP_TIME_3           (0x8UL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x00080000 */
+#define DTS_CFGR1_REFCLK_SEL_Pos           (20U)
+#define DTS_CFGR1_REFCLK_SEL_Msk           (0x1UL << DTS_CFGR1_REFCLK_SEL_Pos) /*!< 0x00100000 */
+#define DTS_CFGR1_REFCLK_SEL               DTS_CFGR1_REFCLK_SEL_Msk    /*!< Reference Clock Selection */
+#define DTS_CFGR1_Q_MEAS_OPT_Pos           (21U)
+#define DTS_CFGR1_Q_MEAS_OPT_Msk           (0x1UL << DTS_CFGR1_Q_MEAS_OPT_Pos) /*!< 0x00200000 */
+#define DTS_CFGR1_Q_MEAS_OPT               DTS_CFGR1_Q_MEAS_OPT_Msk    /*!< Quick measure option bit  */
+#define DTS_CFGR1_HSREF_CLK_DIV_Pos        (24U)
+#define DTS_CFGR1_HSREF_CLK_DIV_Msk        (0x7FUL << DTS_CFGR1_HSREF_CLK_DIV_Pos) /*!< 0x7F000000 */
+#define DTS_CFGR1_HSREF_CLK_DIV            DTS_CFGR1_HSREF_CLK_DIV_Msk /*!< High Speed Clock Divider Ratio [6:0]*/
+
+/******************  Bit definition for DTS_T0VALR1 register  ******************/
+#define DTS_T0VALR1_TS1_FMT0_Pos           (0U)
+#define DTS_T0VALR1_TS1_FMT0_Msk           (0xFFFFUL << DTS_T0VALR1_TS1_FMT0_Pos) /*!< 0x0000FFFF */
+#define DTS_T0VALR1_TS1_FMT0               DTS_T0VALR1_TS1_FMT0_Msk    /*!< Engineering value of the measured frequency at T0 for DTS */
+#define DTS_T0VALR1_TS1_T0_Pos             (16U)
+#define DTS_T0VALR1_TS1_T0_Msk             (0x3UL << DTS_T0VALR1_TS1_T0_Pos) /*!< 0x00030000 */
+#define DTS_T0VALR1_TS1_T0                 DTS_T0VALR1_TS1_T0_Msk      /*!< Engineering value of the DTSerature T0 for DTS */
+
+/******************  Bit definition for DTS_RAMPVALR register  ******************/
+#define DTS_RAMPVALR_TS1_RAMP_COEFF_Pos    (0U)
+#define DTS_RAMPVALR_TS1_RAMP_COEFF_Msk    (0xFFFFUL << DTS_RAMPVALR_TS1_RAMP_COEFF_Pos) /*!< 0x0000FFFF */
+#define DTS_RAMPVALR_TS1_RAMP_COEFF        DTS_RAMPVALR_TS1_RAMP_COEFF_Msk /*!< Engineering value of the ramp coefficient for DTS */
+
+/******************  Bit definition for DTS_ITR1 register      ******************/
+#define DTS_ITR1_TS1_LITTHD_Pos            (0U)
+#define DTS_ITR1_TS1_LITTHD_Msk            (0xFFFFUL << DTS_ITR1_TS1_LITTHD_Pos) /*!< 0x0000FFFF */
+#define DTS_ITR1_TS1_LITTHD                DTS_ITR1_TS1_LITTHD_Msk     /*!< Low interrupt threshold[15:0] for DTS */
+#define DTS_ITR1_TS1_HITTHD_Pos            (16U)
+#define DTS_ITR1_TS1_HITTHD_Msk            (0xFFFFUL << DTS_ITR1_TS1_HITTHD_Pos) /*!< 0xFFFF0000 */
+#define DTS_ITR1_TS1_HITTHD                DTS_ITR1_TS1_HITTHD_Msk     /*!< High interrupt threshold[15:0] for DTS */
+
+/******************  Bit definition for DTS_DR register        ******************/
+#define DTS_DR_TS1_MFREQ_Pos               (0U)
+#define DTS_DR_TS1_MFREQ_Msk               (0xFFFFUL << DTS_DR_TS1_MFREQ_Pos) /*!< 0x0000FFFF */
+#define DTS_DR_TS1_MFREQ                   DTS_DR_TS1_MFREQ_Msk        /*!< Measured Frequency[15:0] for DTS */
+
+/******************  Bit definition for DTS_SR register        ******************/
+#define DTS_SR_TS1_ITEF_Pos                (0U)
+#define DTS_SR_TS1_ITEF_Msk                (0x1UL << DTS_SR_TS1_ITEF_Pos) /*!< 0x00000001 */
+#define DTS_SR_TS1_ITEF                    DTS_SR_TS1_ITEF_Msk         /*!< Interrupt flag for end of measure for DTS */
+#define DTS_SR_TS1_ITLF_Pos                (1U)
+#define DTS_SR_TS1_ITLF_Msk                (0x1UL << DTS_SR_TS1_ITLF_Pos) /*!< 0x00000002 */
+#define DTS_SR_TS1_ITLF                    DTS_SR_TS1_ITLF_Msk         /*!< Interrupt flag for low threshold for DTS  */
+#define DTS_SR_TS1_ITHF_Pos                (2U)
+#define DTS_SR_TS1_ITHF_Msk                (0x1UL << DTS_SR_TS1_ITHF_Pos) /*!< 0x00000004 */
+#define DTS_SR_TS1_ITHF                    DTS_SR_TS1_ITHF_Msk         /*!< Interrupt flag for high threshold for DTS */
+#define DTS_SR_TS1_AITEF_Pos               (4U)
+#define DTS_SR_TS1_AITEF_Msk               (0x1UL << DTS_SR_TS1_AITEF_Pos) /*!< 0x00000010 */
+#define DTS_SR_TS1_AITEF                   DTS_SR_TS1_AITEF_Msk        /*!< Asynchronous interrupt flag for end of measure for DTS */
+#define DTS_SR_TS1_AITLF_Pos               (5U)
+#define DTS_SR_TS1_AITLF_Msk               (0x1UL << DTS_SR_TS1_AITLF_Pos) /*!< 0x00000020 */
+#define DTS_SR_TS1_AITLF                   DTS_SR_TS1_AITLF_Msk        /*!< Asynchronous interrupt flag for low threshold for DTS  */
+#define DTS_SR_TS1_AITHF_Pos               (6U)
+#define DTS_SR_TS1_AITHF_Msk               (0x1UL << DTS_SR_TS1_AITHF_Pos) /*!< 0x00000040 */
+#define DTS_SR_TS1_AITHF                   DTS_SR_TS1_AITHF_Msk        /*!< Asynchronous interrupt flag for high threshold for DTS */
+#define DTS_SR_TS1_RDY_Pos                 (15U)
+#define DTS_SR_TS1_RDY_Msk                 (0x1UL << DTS_SR_TS1_RDY_Pos) /*!< 0x00008000 */
+#define DTS_SR_TS1_RDY                     DTS_SR_TS1_RDY_Msk          /*!< DTS ready flag */
+
+/******************  Bit definition for DTS_ITENR register      ******************/
+#define DTS_ITENR_TS1_ITEEN_Pos            (0U)
+#define DTS_ITENR_TS1_ITEEN_Msk            (0x1UL << DTS_ITENR_TS1_ITEEN_Pos) /*!< 0x00000001 */
+#define DTS_ITENR_TS1_ITEEN                DTS_ITENR_TS1_ITEEN_Msk     /*!< Enable interrupt flag for end of measure for DTS */
+#define DTS_ITENR_TS1_ITLEN_Pos            (1U)
+#define DTS_ITENR_TS1_ITLEN_Msk            (0x1UL << DTS_ITENR_TS1_ITLEN_Pos) /*!< 0x00000002 */
+#define DTS_ITENR_TS1_ITLEN                DTS_ITENR_TS1_ITLEN_Msk     /*!< Enable interrupt flag for low threshold for DTS  */
+#define DTS_ITENR_TS1_ITHEN_Pos            (2U)
+#define DTS_ITENR_TS1_ITHEN_Msk            (0x1UL << DTS_ITENR_TS1_ITHEN_Pos) /*!< 0x00000004 */
+#define DTS_ITENR_TS1_ITHEN                DTS_ITENR_TS1_ITHEN_Msk     /*!< Enable interrupt flag for high threshold for DTS */
+#define DTS_ITENR_TS1_AITEEN_Pos           (4U)
+#define DTS_ITENR_TS1_AITEEN_Msk           (0x1UL << DTS_ITENR_TS1_AITEEN_Pos) /*!< 0x00000010 */
+#define DTS_ITENR_TS1_AITEEN               DTS_ITENR_TS1_AITEEN_Msk    /*!< Enable asynchronous interrupt flag for end of measure for DTS */
+#define DTS_ITENR_TS1_AITLEN_Pos           (5U)
+#define DTS_ITENR_TS1_AITLEN_Msk           (0x1UL << DTS_ITENR_TS1_AITLEN_Pos) /*!< 0x00000020 */
+#define DTS_ITENR_TS1_AITLEN               DTS_ITENR_TS1_AITLEN_Msk    /*!< Enable Asynchronous interrupt flag for low threshold for DTS  */
+#define DTS_ITENR_TS1_AITHEN_Pos           (6U)
+#define DTS_ITENR_TS1_AITHEN_Msk           (0x1UL << DTS_ITENR_TS1_AITHEN_Pos) /*!< 0x00000040 */
+#define DTS_ITENR_TS1_AITHEN               DTS_ITENR_TS1_AITHEN_Msk    /*!< Enable asynchronous interrupt flag for high threshold for DTS */
+
+/******************  Bit definition for DTS_ICIFR register      ******************/
+#define DTS_ICIFR_TS1_CITEF_Pos            (0U)
+#define DTS_ICIFR_TS1_CITEF_Msk            (0x1UL << DTS_ICIFR_TS1_CITEF_Pos) /*!< 0x00000001 */
+#define DTS_ICIFR_TS1_CITEF                DTS_ICIFR_TS1_CITEF_Msk     /*!< Clear the IT flag for End Of Measure for DTS */
+#define DTS_ICIFR_TS1_CITLF_Pos            (1U)
+#define DTS_ICIFR_TS1_CITLF_Msk            (0x1UL << DTS_ICIFR_TS1_CITLF_Pos) /*!< 0x00000002 */
+#define DTS_ICIFR_TS1_CITLF                DTS_ICIFR_TS1_CITLF_Msk     /*!< Clear the IT flag for low threshold for DTS  */
+#define DTS_ICIFR_TS1_CITHF_Pos            (2U)
+#define DTS_ICIFR_TS1_CITHF_Msk            (0x1UL << DTS_ICIFR_TS1_CITHF_Pos) /*!< 0x00000004 */
+#define DTS_ICIFR_TS1_CITHF                DTS_ICIFR_TS1_CITHF_Msk     /*!< Clear the IT flag for high threshold on DTS  */
+#define DTS_ICIFR_TS1_CAITEF_Pos           (4U)
+#define DTS_ICIFR_TS1_CAITEF_Msk           (0x1UL << DTS_ICIFR_TS1_CAITEF_Pos) /*!< 0x00000010 */
+#define DTS_ICIFR_TS1_CAITEF               DTS_ICIFR_TS1_CAITEF_Msk    /*!< Clear the asynchronous IT flag for End Of Measure for DTS */
+#define DTS_ICIFR_TS1_CAITLF_Pos           (5U)
+#define DTS_ICIFR_TS1_CAITLF_Msk           (0x1UL << DTS_ICIFR_TS1_CAITLF_Pos) /*!< 0x00000020 */
+#define DTS_ICIFR_TS1_CAITLF               DTS_ICIFR_TS1_CAITLF_Msk    /*!< Clear the asynchronous IT flag for low threshold for DTS  */
+#define DTS_ICIFR_TS1_CAITHF_Pos           (6U)
+#define DTS_ICIFR_TS1_CAITHF_Msk           (0x1UL << DTS_ICIFR_TS1_CAITHF_Pos) /*!< 0x00000040 */
+#define DTS_ICIFR_TS1_CAITHF               DTS_ICIFR_TS1_CAITHF_Msk    /*!< Clear the asynchronous IT flag for high threshold on DTS  */
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    TIM                                     */
+/*                                                                            */
+/******************************************************************************/
+#define TIM_BREAK_INPUT_SUPPORT             /*!<TIM Break input feature */
+
+/*******************  Bit definition for TIM_CR1 register  ********************/
+#define TIM_CR1_CEN_Pos           (0U)
+#define TIM_CR1_CEN_Msk           (0x1UL << TIM_CR1_CEN_Pos)                   /*!< 0x00000001 */
+#define TIM_CR1_CEN               TIM_CR1_CEN_Msk                              /*!<Counter enable */
+#define TIM_CR1_UDIS_Pos          (1U)
+#define TIM_CR1_UDIS_Msk          (0x1UL << TIM_CR1_UDIS_Pos)                  /*!< 0x00000002 */
+#define TIM_CR1_UDIS              TIM_CR1_UDIS_Msk                             /*!<Update disable */
+#define TIM_CR1_URS_Pos           (2U)
+#define TIM_CR1_URS_Msk           (0x1UL << TIM_CR1_URS_Pos)                   /*!< 0x00000004 */
+#define TIM_CR1_URS               TIM_CR1_URS_Msk                              /*!<Update request source */
+#define TIM_CR1_OPM_Pos           (3U)
+#define TIM_CR1_OPM_Msk           (0x1UL << TIM_CR1_OPM_Pos)                   /*!< 0x00000008 */
+#define TIM_CR1_OPM               TIM_CR1_OPM_Msk                              /*!<One pulse mode */
+#define TIM_CR1_DIR_Pos           (4U)
+#define TIM_CR1_DIR_Msk           (0x1UL << TIM_CR1_DIR_Pos)                   /*!< 0x00000010 */
+#define TIM_CR1_DIR               TIM_CR1_DIR_Msk                              /*!<Direction */
+
+#define TIM_CR1_CMS_Pos           (5U)
+#define TIM_CR1_CMS_Msk           (0x3UL << TIM_CR1_CMS_Pos)                   /*!< 0x00000060 */
+#define TIM_CR1_CMS               TIM_CR1_CMS_Msk                              /*!<CMS[1:0] bits (Center-aligned mode selection) */
+#define TIM_CR1_CMS_0             (0x1UL << TIM_CR1_CMS_Pos)                    /*!< 0x00000020 */
+#define TIM_CR1_CMS_1             (0x2UL << TIM_CR1_CMS_Pos)                    /*!< 0x00000040 */
+
+#define TIM_CR1_ARPE_Pos          (7U)
+#define TIM_CR1_ARPE_Msk          (0x1UL << TIM_CR1_ARPE_Pos)                  /*!< 0x00000080 */
+#define TIM_CR1_ARPE              TIM_CR1_ARPE_Msk                             /*!<Auto-reload preload enable */
+
+#define TIM_CR1_CKD_Pos           (8U)
+#define TIM_CR1_CKD_Msk           (0x3UL << TIM_CR1_CKD_Pos)                   /*!< 0x00000300 */
+#define TIM_CR1_CKD               TIM_CR1_CKD_Msk                              /*!<CKD[1:0] bits (clock division) */
+#define TIM_CR1_CKD_0             (0x1UL << TIM_CR1_CKD_Pos)                    /*!< 0x00000100 */
+#define TIM_CR1_CKD_1             (0x2UL << TIM_CR1_CKD_Pos)                    /*!< 0x00000200 */
+
+#define TIM_CR1_UIFREMAP_Pos      (11U)
+#define TIM_CR1_UIFREMAP_Msk      (0x1UL << TIM_CR1_UIFREMAP_Pos)              /*!< 0x00000800 */
+#define TIM_CR1_UIFREMAP          TIM_CR1_UIFREMAP_Msk                         /*!<Update interrupt flag remap */
+
+/*******************  Bit definition for TIM_CR2 register  ********************/
+#define TIM_CR2_CCPC_Pos          (0U)
+#define TIM_CR2_CCPC_Msk          (0x1UL << TIM_CR2_CCPC_Pos)                  /*!< 0x00000001 */
+#define TIM_CR2_CCPC              TIM_CR2_CCPC_Msk                             /*!<Capture/Compare Preloaded Control */
+#define TIM_CR2_CCUS_Pos          (2U)
+#define TIM_CR2_CCUS_Msk          (0x1UL << TIM_CR2_CCUS_Pos)                  /*!< 0x00000004 */
+#define TIM_CR2_CCUS              TIM_CR2_CCUS_Msk                             /*!<Capture/Compare Control Update Selection */
+#define TIM_CR2_CCDS_Pos          (3U)
+#define TIM_CR2_CCDS_Msk          (0x1UL << TIM_CR2_CCDS_Pos)                  /*!< 0x00000008 */
+#define TIM_CR2_CCDS              TIM_CR2_CCDS_Msk                             /*!<Capture/Compare DMA Selection */
+
+#define TIM_CR2_MMS_Pos           (4U)
+#define TIM_CR2_MMS_Msk           (0x7UL << TIM_CR2_MMS_Pos)                   /*!< 0x00000070 */
+#define TIM_CR2_MMS               TIM_CR2_MMS_Msk                              /*!<MMS[2:0] bits (Master Mode Selection) */
+#define TIM_CR2_MMS_0             (0x1UL << TIM_CR2_MMS_Pos)                    /*!< 0x00000010 */
+#define TIM_CR2_MMS_1             (0x2UL << TIM_CR2_MMS_Pos)                    /*!< 0x00000020 */
+#define TIM_CR2_MMS_2             (0x4UL << TIM_CR2_MMS_Pos)                    /*!< 0x00000040 */
+
+#define TIM_CR2_TI1S_Pos          (7U)
+#define TIM_CR2_TI1S_Msk          (0x1UL << TIM_CR2_TI1S_Pos)                  /*!< 0x00000080 */
+#define TIM_CR2_TI1S              TIM_CR2_TI1S_Msk                             /*!<TI1 Selection */
+#define TIM_CR2_OIS1_Pos          (8U)
+#define TIM_CR2_OIS1_Msk          (0x1UL << TIM_CR2_OIS1_Pos)                  /*!< 0x00000100 */
+#define TIM_CR2_OIS1              TIM_CR2_OIS1_Msk                             /*!<Output Idle state 1 (OC1 output) */
+#define TIM_CR2_OIS1N_Pos         (9U)
+#define TIM_CR2_OIS1N_Msk         (0x1UL << TIM_CR2_OIS1N_Pos)                 /*!< 0x00000200 */
+#define TIM_CR2_OIS1N             TIM_CR2_OIS1N_Msk                            /*!<Output Idle state 1 (OC1N output) */
+#define TIM_CR2_OIS2_Pos          (10U)
+#define TIM_CR2_OIS2_Msk          (0x1UL << TIM_CR2_OIS2_Pos)                  /*!< 0x00000400 */
+#define TIM_CR2_OIS2              TIM_CR2_OIS2_Msk                             /*!<Output Idle state 2 (OC2 output) */
+#define TIM_CR2_OIS2N_Pos         (11U)
+#define TIM_CR2_OIS2N_Msk         (0x1UL << TIM_CR2_OIS2N_Pos)                 /*!< 0x00000800 */
+#define TIM_CR2_OIS2N             TIM_CR2_OIS2N_Msk                            /*!<Output Idle state 2 (OC2N output) */
+#define TIM_CR2_OIS3_Pos          (12U)
+#define TIM_CR2_OIS3_Msk          (0x1UL << TIM_CR2_OIS3_Pos)                  /*!< 0x00001000 */
+#define TIM_CR2_OIS3              TIM_CR2_OIS3_Msk                             /*!<Output Idle state 3 (OC3 output) */
+#define TIM_CR2_OIS3N_Pos         (13U)
+#define TIM_CR2_OIS3N_Msk         (0x1UL << TIM_CR2_OIS3N_Pos)                 /*!< 0x00002000 */
+#define TIM_CR2_OIS3N             TIM_CR2_OIS3N_Msk                            /*!<Output Idle state 3 (OC3N output) */
+#define TIM_CR2_OIS4_Pos          (14U)
+#define TIM_CR2_OIS4_Msk          (0x1UL << TIM_CR2_OIS4_Pos)                  /*!< 0x00004000 */
+#define TIM_CR2_OIS4              TIM_CR2_OIS4_Msk                             /*!<Output Idle state 4 (OC4 output) */
+#define TIM_CR2_OIS5_Pos          (16U)
+#define TIM_CR2_OIS5_Msk          (0x1UL << TIM_CR2_OIS5_Pos)                  /*!< 0x00010000 */
+#define TIM_CR2_OIS5              TIM_CR2_OIS5_Msk                             /*!<Output Idle state 4 (OC4 output) */
+#define TIM_CR2_OIS6_Pos          (17U)
+#define TIM_CR2_OIS6_Msk          (0x1UL << TIM_CR2_OIS6_Pos)                  /*!< 0x00020000 */
+#define TIM_CR2_OIS6              TIM_CR2_OIS6_Msk                             /*!<Output Idle state 4 (OC4 output) */
+
+#define TIM_CR2_MMS2_Pos          (20U)
+#define TIM_CR2_MMS2_Msk          (0xFUL << TIM_CR2_MMS2_Pos)                  /*!< 0x00F00000 */
+#define TIM_CR2_MMS2              TIM_CR2_MMS2_Msk                             /*!<MMS[2:0] bits (Master Mode Selection) */
+#define TIM_CR2_MMS2_0            (0x1UL << TIM_CR2_MMS2_Pos)                   /*!< 0x00100000 */
+#define TIM_CR2_MMS2_1            (0x2UL << TIM_CR2_MMS2_Pos)                   /*!< 0x00200000 */
+#define TIM_CR2_MMS2_2            (0x4UL << TIM_CR2_MMS2_Pos)                   /*!< 0x00400000 */
+#define TIM_CR2_MMS2_3            (0x8UL << TIM_CR2_MMS2_Pos)                   /*!< 0x00800000 */
+
+/*******************  Bit definition for TIM_SMCR register  *******************/
+#define TIM_SMCR_SMS_Pos          (0U)
+#define TIM_SMCR_SMS_Msk          (0x10007UL << TIM_SMCR_SMS_Pos)              /*!< 0x00010007 */
+#define TIM_SMCR_SMS              TIM_SMCR_SMS_Msk                             /*!<SMS[2:0] bits (Slave mode selection) */
+#define TIM_SMCR_SMS_0            (0x00001UL << TIM_SMCR_SMS_Pos)               /*!< 0x00000001 */
+#define TIM_SMCR_SMS_1            (0x00002UL << TIM_SMCR_SMS_Pos)               /*!< 0x00000002 */
+#define TIM_SMCR_SMS_2            (0x00004UL << TIM_SMCR_SMS_Pos)               /*!< 0x00000004 */
+#define TIM_SMCR_SMS_3            (0x10000UL << TIM_SMCR_SMS_Pos)               /*!< 0x00010000 */
+
+#define TIM_SMCR_TS_Pos           (4U)
+#define TIM_SMCR_TS_Msk           (0x30007UL << TIM_SMCR_TS_Pos)               /*!< 0x00300070 */
+#define TIM_SMCR_TS               TIM_SMCR_TS_Msk                              /*!<TS[4:0] bits (Trigger selection) */
+#define TIM_SMCR_TS_0             (0x00001UL << TIM_SMCR_TS_Pos)                /*!< 0x00000010 */
+#define TIM_SMCR_TS_1             (0x00002UL << TIM_SMCR_TS_Pos)                /*!< 0x00000020 */
+#define TIM_SMCR_TS_2             (0x00004UL << TIM_SMCR_TS_Pos)                /*!< 0x00000040 */
+#define TIM_SMCR_TS_3             (0x10000UL << TIM_SMCR_TS_Pos)                /*!< 0x00100000 */
+#define TIM_SMCR_TS_4             (0x20000UL << TIM_SMCR_TS_Pos)                /*!< 0x00200000 */
+
+#define TIM_SMCR_MSM_Pos          (7U)
+#define TIM_SMCR_MSM_Msk          (0x1UL << TIM_SMCR_MSM_Pos)                  /*!< 0x00000080 */
+#define TIM_SMCR_MSM              TIM_SMCR_MSM_Msk                             /*!<Master/slave mode */
+
+#define TIM_SMCR_ETF_Pos          (8U)
+#define TIM_SMCR_ETF_Msk          (0xFUL << TIM_SMCR_ETF_Pos)                  /*!< 0x00000F00 */
+#define TIM_SMCR_ETF              TIM_SMCR_ETF_Msk                             /*!<ETF[3:0] bits (External trigger filter) */
+#define TIM_SMCR_ETF_0            (0x1UL << TIM_SMCR_ETF_Pos)                   /*!< 0x00000100 */
+#define TIM_SMCR_ETF_1            (0x2UL << TIM_SMCR_ETF_Pos)                   /*!< 0x00000200 */
+#define TIM_SMCR_ETF_2            (0x4UL << TIM_SMCR_ETF_Pos)                   /*!< 0x00000400 */
+#define TIM_SMCR_ETF_3            (0x8UL << TIM_SMCR_ETF_Pos)                   /*!< 0x00000800 */
+
+#define TIM_SMCR_ETPS_Pos         (12U)
+#define TIM_SMCR_ETPS_Msk         (0x3UL << TIM_SMCR_ETPS_Pos)                 /*!< 0x00003000 */
+#define TIM_SMCR_ETPS             TIM_SMCR_ETPS_Msk                            /*!<ETPS[1:0] bits (External trigger prescaler) */
+#define TIM_SMCR_ETPS_0           (0x1UL << TIM_SMCR_ETPS_Pos)                  /*!< 0x00001000 */
+#define TIM_SMCR_ETPS_1           (0x2UL << TIM_SMCR_ETPS_Pos)                  /*!< 0x00002000 */
+
+#define TIM_SMCR_ECE_Pos          (14U)
+#define TIM_SMCR_ECE_Msk          (0x1UL << TIM_SMCR_ECE_Pos)                  /*!< 0x00004000 */
+#define TIM_SMCR_ECE              TIM_SMCR_ECE_Msk                             /*!<External clock enable */
+#define TIM_SMCR_ETP_Pos          (15U)
+#define TIM_SMCR_ETP_Msk          (0x1UL << TIM_SMCR_ETP_Pos)                  /*!< 0x00008000 */
+#define TIM_SMCR_ETP              TIM_SMCR_ETP_Msk                             /*!<External trigger polarity */
+
+/*******************  Bit definition for TIM_DIER register  *******************/
+#define TIM_DIER_UIE_Pos          (0U)
+#define TIM_DIER_UIE_Msk          (0x1UL << TIM_DIER_UIE_Pos)                  /*!< 0x00000001 */
+#define TIM_DIER_UIE              TIM_DIER_UIE_Msk                             /*!<Update interrupt enable */
+#define TIM_DIER_CC1IE_Pos        (1U)
+#define TIM_DIER_CC1IE_Msk        (0x1UL << TIM_DIER_CC1IE_Pos)                /*!< 0x00000002 */
+#define TIM_DIER_CC1IE            TIM_DIER_CC1IE_Msk                           /*!<Capture/Compare 1 interrupt enable */
+#define TIM_DIER_CC2IE_Pos        (2U)
+#define TIM_DIER_CC2IE_Msk        (0x1UL << TIM_DIER_CC2IE_Pos)                /*!< 0x00000004 */
+#define TIM_DIER_CC2IE            TIM_DIER_CC2IE_Msk                           /*!<Capture/Compare 2 interrupt enable */
+#define TIM_DIER_CC3IE_Pos        (3U)
+#define TIM_DIER_CC3IE_Msk        (0x1UL << TIM_DIER_CC3IE_Pos)                /*!< 0x00000008 */
+#define TIM_DIER_CC3IE            TIM_DIER_CC3IE_Msk                           /*!<Capture/Compare 3 interrupt enable */
+#define TIM_DIER_CC4IE_Pos        (4U)
+#define TIM_DIER_CC4IE_Msk        (0x1UL << TIM_DIER_CC4IE_Pos)                /*!< 0x00000010 */
+#define TIM_DIER_CC4IE            TIM_DIER_CC4IE_Msk                           /*!<Capture/Compare 4 interrupt enable */
+#define TIM_DIER_COMIE_Pos        (5U)
+#define TIM_DIER_COMIE_Msk        (0x1UL << TIM_DIER_COMIE_Pos)                /*!< 0x00000020 */
+#define TIM_DIER_COMIE            TIM_DIER_COMIE_Msk                           /*!<COM interrupt enable */
+#define TIM_DIER_TIE_Pos          (6U)
+#define TIM_DIER_TIE_Msk          (0x1UL << TIM_DIER_TIE_Pos)                  /*!< 0x00000040 */
+#define TIM_DIER_TIE              TIM_DIER_TIE_Msk                             /*!<Trigger interrupt enable */
+#define TIM_DIER_BIE_Pos          (7U)
+#define TIM_DIER_BIE_Msk          (0x1UL << TIM_DIER_BIE_Pos)                  /*!< 0x00000080 */
+#define TIM_DIER_BIE              TIM_DIER_BIE_Msk                             /*!<Break interrupt enable */
+#define TIM_DIER_UDE_Pos          (8U)
+#define TIM_DIER_UDE_Msk          (0x1UL << TIM_DIER_UDE_Pos)                  /*!< 0x00000100 */
+#define TIM_DIER_UDE              TIM_DIER_UDE_Msk                             /*!<Update DMA request enable */
+#define TIM_DIER_CC1DE_Pos        (9U)
+#define TIM_DIER_CC1DE_Msk        (0x1UL << TIM_DIER_CC1DE_Pos)                /*!< 0x00000200 */
+#define TIM_DIER_CC1DE            TIM_DIER_CC1DE_Msk                           /*!<Capture/Compare 1 DMA request enable */
+#define TIM_DIER_CC2DE_Pos        (10U)
+#define TIM_DIER_CC2DE_Msk        (0x1UL << TIM_DIER_CC2DE_Pos)                /*!< 0x00000400 */
+#define TIM_DIER_CC2DE            TIM_DIER_CC2DE_Msk                           /*!<Capture/Compare 2 DMA request enable */
+#define TIM_DIER_CC3DE_Pos        (11U)
+#define TIM_DIER_CC3DE_Msk        (0x1UL << TIM_DIER_CC3DE_Pos)                /*!< 0x00000800 */
+#define TIM_DIER_CC3DE            TIM_DIER_CC3DE_Msk                           /*!<Capture/Compare 3 DMA request enable */
+#define TIM_DIER_CC4DE_Pos        (12U)
+#define TIM_DIER_CC4DE_Msk        (0x1UL << TIM_DIER_CC4DE_Pos)                /*!< 0x00001000 */
+#define TIM_DIER_CC4DE            TIM_DIER_CC4DE_Msk                           /*!<Capture/Compare 4 DMA request enable */
+#define TIM_DIER_COMDE_Pos        (13U)
+#define TIM_DIER_COMDE_Msk        (0x1UL << TIM_DIER_COMDE_Pos)                /*!< 0x00002000 */
+#define TIM_DIER_COMDE            TIM_DIER_COMDE_Msk                           /*!<COM DMA request enable */
+#define TIM_DIER_TDE_Pos          (14U)
+#define TIM_DIER_TDE_Msk          (0x1UL << TIM_DIER_TDE_Pos)                  /*!< 0x00004000 */
+#define TIM_DIER_TDE              TIM_DIER_TDE_Msk                             /*!<Trigger DMA request enable */
+
+/********************  Bit definition for TIM_SR register  ********************/
+#define TIM_SR_UIF_Pos            (0U)
+#define TIM_SR_UIF_Msk            (0x1UL << TIM_SR_UIF_Pos)                    /*!< 0x00000001 */
+#define TIM_SR_UIF                TIM_SR_UIF_Msk                               /*!<Update interrupt Flag */
+#define TIM_SR_CC1IF_Pos          (1U)
+#define TIM_SR_CC1IF_Msk          (0x1UL << TIM_SR_CC1IF_Pos)                  /*!< 0x00000002 */
+#define TIM_SR_CC1IF              TIM_SR_CC1IF_Msk                             /*!<Capture/Compare 1 interrupt Flag */
+#define TIM_SR_CC2IF_Pos          (2U)
+#define TIM_SR_CC2IF_Msk          (0x1UL << TIM_SR_CC2IF_Pos)                  /*!< 0x00000004 */
+#define TIM_SR_CC2IF              TIM_SR_CC2IF_Msk                             /*!<Capture/Compare 2 interrupt Flag */
+#define TIM_SR_CC3IF_Pos          (3U)
+#define TIM_SR_CC3IF_Msk          (0x1UL << TIM_SR_CC3IF_Pos)                  /*!< 0x00000008 */
+#define TIM_SR_CC3IF              TIM_SR_CC3IF_Msk                             /*!<Capture/Compare 3 interrupt Flag */
+#define TIM_SR_CC4IF_Pos          (4U)
+#define TIM_SR_CC4IF_Msk          (0x1UL << TIM_SR_CC4IF_Pos)                  /*!< 0x00000010 */
+#define TIM_SR_CC4IF              TIM_SR_CC4IF_Msk                             /*!<Capture/Compare 4 interrupt Flag */
+#define TIM_SR_COMIF_Pos          (5U)
+#define TIM_SR_COMIF_Msk          (0x1UL << TIM_SR_COMIF_Pos)                  /*!< 0x00000020 */
+#define TIM_SR_COMIF              TIM_SR_COMIF_Msk                             /*!<COM interrupt Flag */
+#define TIM_SR_TIF_Pos            (6U)
+#define TIM_SR_TIF_Msk            (0x1UL << TIM_SR_TIF_Pos)                    /*!< 0x00000040 */
+#define TIM_SR_TIF                TIM_SR_TIF_Msk                               /*!<Trigger interrupt Flag */
+#define TIM_SR_BIF_Pos            (7U)
+#define TIM_SR_BIF_Msk            (0x1UL << TIM_SR_BIF_Pos)                    /*!< 0x00000080 */
+#define TIM_SR_BIF                TIM_SR_BIF_Msk                               /*!<Break interrupt Flag */
+#define TIM_SR_B2IF_Pos           (8U)
+#define TIM_SR_B2IF_Msk           (0x1UL << TIM_SR_B2IF_Pos)                   /*!< 0x00000100 */
+#define TIM_SR_B2IF               TIM_SR_B2IF_Msk                              /*!<Break2 interrupt Flag */
+#define TIM_SR_CC1OF_Pos          (9U)
+#define TIM_SR_CC1OF_Msk          (0x1UL << TIM_SR_CC1OF_Pos)                  /*!< 0x00000200 */
+#define TIM_SR_CC1OF              TIM_SR_CC1OF_Msk                             /*!<Capture/Compare 1 Overcapture Flag */
+#define TIM_SR_CC2OF_Pos          (10U)
+#define TIM_SR_CC2OF_Msk          (0x1UL << TIM_SR_CC2OF_Pos)                  /*!< 0x00000400 */
+#define TIM_SR_CC2OF              TIM_SR_CC2OF_Msk                             /*!<Capture/Compare 2 Overcapture Flag */
+#define TIM_SR_CC3OF_Pos          (11U)
+#define TIM_SR_CC3OF_Msk          (0x1UL << TIM_SR_CC3OF_Pos)                  /*!< 0x00000800 */
+#define TIM_SR_CC3OF              TIM_SR_CC3OF_Msk                             /*!<Capture/Compare 3 Overcapture Flag */
+#define TIM_SR_CC4OF_Pos          (12U)
+#define TIM_SR_CC4OF_Msk          (0x1UL << TIM_SR_CC4OF_Pos)                  /*!< 0x00001000 */
+#define TIM_SR_CC4OF              TIM_SR_CC4OF_Msk                             /*!<Capture/Compare 4 Overcapture Flag */
+#define TIM_SR_CC5IF_Pos          (16U)
+#define TIM_SR_CC5IF_Msk          (0x1UL << TIM_SR_CC5IF_Pos)                  /*!< 0x00010000 */
+#define TIM_SR_CC5IF              TIM_SR_CC5IF_Msk                             /*!<Capture/Compare 5 interrupt Flag */
+#define TIM_SR_CC6IF_Pos          (17U)
+#define TIM_SR_CC6IF_Msk          (0x1UL << TIM_SR_CC6IF_Pos)                  /*!< 0x00020000 */
+#define TIM_SR_CC6IF              TIM_SR_CC6IF_Msk                             /*!<Capture/Compare 6 interrupt Flag */
+#define TIM_SR_SBIF_Pos           (13U)
+#define TIM_SR_SBIF_Msk           (0x1UL << TIM_SR_SBIF_Pos)                   /*!< 0x00002000 */
+#define TIM_SR_SBIF               TIM_SR_SBIF_Msk                              /*!< System Break Flag */
+
+/*******************  Bit definition for TIM_EGR register  ********************/
+#define TIM_EGR_UG_Pos            (0U)
+#define TIM_EGR_UG_Msk            (0x1UL << TIM_EGR_UG_Pos)                    /*!< 0x00000001 */
+#define TIM_EGR_UG                TIM_EGR_UG_Msk                               /*!<Update Generation */
+#define TIM_EGR_CC1G_Pos          (1U)
+#define TIM_EGR_CC1G_Msk          (0x1UL << TIM_EGR_CC1G_Pos)                  /*!< 0x00000002 */
+#define TIM_EGR_CC1G              TIM_EGR_CC1G_Msk                             /*!<Capture/Compare 1 Generation */
+#define TIM_EGR_CC2G_Pos          (2U)
+#define TIM_EGR_CC2G_Msk          (0x1UL << TIM_EGR_CC2G_Pos)                  /*!< 0x00000004 */
+#define TIM_EGR_CC2G              TIM_EGR_CC2G_Msk                             /*!<Capture/Compare 2 Generation */
+#define TIM_EGR_CC3G_Pos          (3U)
+#define TIM_EGR_CC3G_Msk          (0x1UL << TIM_EGR_CC3G_Pos)                  /*!< 0x00000008 */
+#define TIM_EGR_CC3G              TIM_EGR_CC3G_Msk                             /*!<Capture/Compare 3 Generation */
+#define TIM_EGR_CC4G_Pos          (4U)
+#define TIM_EGR_CC4G_Msk          (0x1UL << TIM_EGR_CC4G_Pos)                  /*!< 0x00000010 */
+#define TIM_EGR_CC4G              TIM_EGR_CC4G_Msk                             /*!<Capture/Compare 4 Generation */
+#define TIM_EGR_COMG_Pos          (5U)
+#define TIM_EGR_COMG_Msk          (0x1UL << TIM_EGR_COMG_Pos)                  /*!< 0x00000020 */
+#define TIM_EGR_COMG              TIM_EGR_COMG_Msk                             /*!<Capture/Compare Control Update Generation */
+#define TIM_EGR_TG_Pos            (6U)
+#define TIM_EGR_TG_Msk            (0x1UL << TIM_EGR_TG_Pos)                    /*!< 0x00000040 */
+#define TIM_EGR_TG                TIM_EGR_TG_Msk                               /*!<Trigger Generation */
+#define TIM_EGR_BG_Pos            (7U)
+#define TIM_EGR_BG_Msk            (0x1UL << TIM_EGR_BG_Pos)                    /*!< 0x00000080 */
+#define TIM_EGR_BG                TIM_EGR_BG_Msk                               /*!<Break Generation */
+#define TIM_EGR_B2G_Pos           (8U)
+#define TIM_EGR_B2G_Msk           (0x1UL << TIM_EGR_B2G_Pos)                   /*!< 0x00000100 */
+#define TIM_EGR_B2G               TIM_EGR_B2G_Msk                              /*!<Break Generation */
+
+
+/******************  Bit definition for TIM_CCMR1 register  *******************/
+#define TIM_CCMR1_CC1S_Pos        (0U)
+#define TIM_CCMR1_CC1S_Msk        (0x3UL << TIM_CCMR1_CC1S_Pos)                /*!< 0x00000003 */
+#define TIM_CCMR1_CC1S            TIM_CCMR1_CC1S_Msk                           /*!<CC1S[1:0] bits (Capture/Compare 1 Selection) */
+#define TIM_CCMR1_CC1S_0          (0x1UL << TIM_CCMR1_CC1S_Pos)                 /*!< 0x00000001 */
+#define TIM_CCMR1_CC1S_1          (0x2UL << TIM_CCMR1_CC1S_Pos)                 /*!< 0x00000002 */
+
+#define TIM_CCMR1_OC1FE_Pos       (2U)
+#define TIM_CCMR1_OC1FE_Msk       (0x1UL << TIM_CCMR1_OC1FE_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR1_OC1FE           TIM_CCMR1_OC1FE_Msk                          /*!<Output Compare 1 Fast enable */
+#define TIM_CCMR1_OC1PE_Pos       (3U)
+#define TIM_CCMR1_OC1PE_Msk       (0x1UL << TIM_CCMR1_OC1PE_Pos)               /*!< 0x00000008 */
+#define TIM_CCMR1_OC1PE           TIM_CCMR1_OC1PE_Msk                          /*!<Output Compare 1 Preload enable */
+
+#define TIM_CCMR1_OC1M_Pos        (4U)
+#define TIM_CCMR1_OC1M_Msk        (0x1007UL << TIM_CCMR1_OC1M_Pos)             /*!< 0x00010070 */
+#define TIM_CCMR1_OC1M            TIM_CCMR1_OC1M_Msk                           /*!<OC1M[2:0] bits (Output Compare 1 Mode) */
+#define TIM_CCMR1_OC1M_0          (0x0001UL << TIM_CCMR1_OC1M_Pos)              /*!< 0x00000010 */
+#define TIM_CCMR1_OC1M_1          (0x0002UL << TIM_CCMR1_OC1M_Pos)              /*!< 0x00000020 */
+#define TIM_CCMR1_OC1M_2          (0x0004UL << TIM_CCMR1_OC1M_Pos)              /*!< 0x00000040 */
+#define TIM_CCMR1_OC1M_3          (0x1000UL << TIM_CCMR1_OC1M_Pos)              /*!< 0x00010000 */
+
+#define TIM_CCMR1_OC1CE_Pos       (7U)
+#define TIM_CCMR1_OC1CE_Msk       (0x1UL << TIM_CCMR1_OC1CE_Pos)               /*!< 0x00000080 */
+#define TIM_CCMR1_OC1CE           TIM_CCMR1_OC1CE_Msk                          /*!<Output Compare 1Clear Enable */
+
+#define TIM_CCMR1_CC2S_Pos        (8U)
+#define TIM_CCMR1_CC2S_Msk        (0x3UL << TIM_CCMR1_CC2S_Pos)                /*!< 0x00000300 */
+#define TIM_CCMR1_CC2S            TIM_CCMR1_CC2S_Msk                           /*!<CC2S[1:0] bits (Capture/Compare 2 Selection) */
+#define TIM_CCMR1_CC2S_0          (0x1UL << TIM_CCMR1_CC2S_Pos)                 /*!< 0x00000100 */
+#define TIM_CCMR1_CC2S_1          (0x2UL << TIM_CCMR1_CC2S_Pos)                 /*!< 0x00000200 */
+
+#define TIM_CCMR1_OC2FE_Pos       (10U)
+#define TIM_CCMR1_OC2FE_Msk       (0x1UL << TIM_CCMR1_OC2FE_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR1_OC2FE           TIM_CCMR1_OC2FE_Msk                          /*!<Output Compare 2 Fast enable */
+#define TIM_CCMR1_OC2PE_Pos       (11U)
+#define TIM_CCMR1_OC2PE_Msk       (0x1UL << TIM_CCMR1_OC2PE_Pos)               /*!< 0x00000800 */
+#define TIM_CCMR1_OC2PE           TIM_CCMR1_OC2PE_Msk                          /*!<Output Compare 2 Preload enable */
+
+#define TIM_CCMR1_OC2M_Pos        (12U)
+#define TIM_CCMR1_OC2M_Msk        (0x1007UL << TIM_CCMR1_OC2M_Pos)             /*!< 0x01007000 */
+#define TIM_CCMR1_OC2M            TIM_CCMR1_OC2M_Msk                           /*!<OC2M[2:0] bits (Output Compare 2 Mode) */
+#define TIM_CCMR1_OC2M_0          (0x0001UL << TIM_CCMR1_OC2M_Pos)              /*!< 0x00001000 */
+#define TIM_CCMR1_OC2M_1          (0x0002UL << TIM_CCMR1_OC2M_Pos)              /*!< 0x00002000 */
+#define TIM_CCMR1_OC2M_2          (0x0004UL << TIM_CCMR1_OC2M_Pos)              /*!< 0x00004000 */
+#define TIM_CCMR1_OC2M_3          (0x1000UL << TIM_CCMR1_OC2M_Pos)              /*!< 0x01000000 */
+
+#define TIM_CCMR1_OC2CE_Pos       (15U)
+#define TIM_CCMR1_OC2CE_Msk       (0x1UL << TIM_CCMR1_OC2CE_Pos)               /*!< 0x00008000 */
+#define TIM_CCMR1_OC2CE           TIM_CCMR1_OC2CE_Msk                          /*!<Output Compare 2 Clear Enable */
+
+/*----------------------------------------------------------------------------*/
+
+#define TIM_CCMR1_IC1PSC_Pos      (2U)
+#define TIM_CCMR1_IC1PSC_Msk      (0x3UL << TIM_CCMR1_IC1PSC_Pos)              /*!< 0x0000000C */
+#define TIM_CCMR1_IC1PSC          TIM_CCMR1_IC1PSC_Msk                         /*!<IC1PSC[1:0] bits (Input Capture 1 Prescaler) */
+#define TIM_CCMR1_IC1PSC_0        (0x1UL << TIM_CCMR1_IC1PSC_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR1_IC1PSC_1        (0x2UL << TIM_CCMR1_IC1PSC_Pos)               /*!< 0x00000008 */
+
+#define TIM_CCMR1_IC1F_Pos        (4U)
+#define TIM_CCMR1_IC1F_Msk        (0xFUL << TIM_CCMR1_IC1F_Pos)                /*!< 0x000000F0 */
+#define TIM_CCMR1_IC1F            TIM_CCMR1_IC1F_Msk                           /*!<IC1F[3:0] bits (Input Capture 1 Filter) */
+#define TIM_CCMR1_IC1F_0          (0x1UL << TIM_CCMR1_IC1F_Pos)                 /*!< 0x00000010 */
+#define TIM_CCMR1_IC1F_1          (0x2UL << TIM_CCMR1_IC1F_Pos)                 /*!< 0x00000020 */
+#define TIM_CCMR1_IC1F_2          (0x4UL << TIM_CCMR1_IC1F_Pos)                 /*!< 0x00000040 */
+#define TIM_CCMR1_IC1F_3          (0x8UL << TIM_CCMR1_IC1F_Pos)                 /*!< 0x00000080 */
+
+#define TIM_CCMR1_IC2PSC_Pos      (10U)
+#define TIM_CCMR1_IC2PSC_Msk      (0x3UL << TIM_CCMR1_IC2PSC_Pos)              /*!< 0x00000C00 */
+#define TIM_CCMR1_IC2PSC          TIM_CCMR1_IC2PSC_Msk                         /*!<IC2PSC[1:0] bits (Input Capture 2 Prescaler) */
+#define TIM_CCMR1_IC2PSC_0        (0x1UL << TIM_CCMR1_IC2PSC_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR1_IC2PSC_1        (0x2UL << TIM_CCMR1_IC2PSC_Pos)               /*!< 0x00000800 */
+
+#define TIM_CCMR1_IC2F_Pos        (12U)
+#define TIM_CCMR1_IC2F_Msk        (0xFUL << TIM_CCMR1_IC2F_Pos)                /*!< 0x0000F000 */
+#define TIM_CCMR1_IC2F            TIM_CCMR1_IC2F_Msk                           /*!<IC2F[3:0] bits (Input Capture 2 Filter) */
+#define TIM_CCMR1_IC2F_0          (0x1UL << TIM_CCMR1_IC2F_Pos)                 /*!< 0x00001000 */
+#define TIM_CCMR1_IC2F_1          (0x2UL << TIM_CCMR1_IC2F_Pos)                 /*!< 0x00002000 */
+#define TIM_CCMR1_IC2F_2          (0x4UL << TIM_CCMR1_IC2F_Pos)                 /*!< 0x00004000 */
+#define TIM_CCMR1_IC2F_3          (0x8UL << TIM_CCMR1_IC2F_Pos)                 /*!< 0x00008000 */
+
+/******************  Bit definition for TIM_CCMR2 register  *******************/
+#define TIM_CCMR2_CC3S_Pos        (0U)
+#define TIM_CCMR2_CC3S_Msk        (0x3UL << TIM_CCMR2_CC3S_Pos)                /*!< 0x00000003 */
+#define TIM_CCMR2_CC3S            TIM_CCMR2_CC3S_Msk                           /*!<CC3S[1:0] bits (Capture/Compare 3 Selection) */
+#define TIM_CCMR2_CC3S_0          (0x1UL << TIM_CCMR2_CC3S_Pos)                 /*!< 0x00000001 */
+#define TIM_CCMR2_CC3S_1          (0x2UL << TIM_CCMR2_CC3S_Pos)                 /*!< 0x00000002 */
+
+#define TIM_CCMR2_OC3FE_Pos       (2U)
+#define TIM_CCMR2_OC3FE_Msk       (0x1UL << TIM_CCMR2_OC3FE_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR2_OC3FE           TIM_CCMR2_OC3FE_Msk                          /*!<Output Compare 3 Fast enable */
+#define TIM_CCMR2_OC3PE_Pos       (3U)
+#define TIM_CCMR2_OC3PE_Msk       (0x1UL << TIM_CCMR2_OC3PE_Pos)               /*!< 0x00000008 */
+#define TIM_CCMR2_OC3PE           TIM_CCMR2_OC3PE_Msk                          /*!<Output Compare 3 Preload enable */
+
+#define TIM_CCMR2_OC3M_Pos        (4U)
+#define TIM_CCMR2_OC3M_Msk        (0x7UL << TIM_CCMR2_OC3M_Pos)                /*!< 0x00000070 */
+#define TIM_CCMR2_OC3M            TIM_CCMR2_OC3M_Msk                           /*!<OC3M[2:0] bits (Output Compare 3 Mode) */
+#define TIM_CCMR2_OC3M_0          (0x1UL << TIM_CCMR2_OC3M_Pos)                 /*!< 0x00000010 */
+#define TIM_CCMR2_OC3M_1          (0x2UL << TIM_CCMR2_OC3M_Pos)                 /*!< 0x00000020 */
+#define TIM_CCMR2_OC3M_2          (0x4UL << TIM_CCMR2_OC3M_Pos)                 /*!< 0x00000040 */
+#define TIM_CCMR2_OC3M_3          (0x1000UL << TIM_CCMR2_OC3M_Pos)              /*!< 0x00010000 */
+
+#define TIM_CCMR2_OC3CE_Pos       (7U)
+#define TIM_CCMR2_OC3CE_Msk       (0x1UL << TIM_CCMR2_OC3CE_Pos)               /*!< 0x00000080 */
+#define TIM_CCMR2_OC3CE           TIM_CCMR2_OC3CE_Msk                          /*!<Output Compare 3 Clear Enable */
+
+#define TIM_CCMR2_CC4S_Pos        (8U)
+#define TIM_CCMR2_CC4S_Msk        (0x3UL << TIM_CCMR2_CC4S_Pos)                /*!< 0x00000300 */
+#define TIM_CCMR2_CC4S            TIM_CCMR2_CC4S_Msk                           /*!<CC4S[1:0] bits (Capture/Compare 4 Selection) */
+#define TIM_CCMR2_CC4S_0          (0x1UL << TIM_CCMR2_CC4S_Pos)                 /*!< 0x00000100 */
+#define TIM_CCMR2_CC4S_1          (0x2UL << TIM_CCMR2_CC4S_Pos)                 /*!< 0x00000200 */
+
+#define TIM_CCMR2_OC4FE_Pos       (10U)
+#define TIM_CCMR2_OC4FE_Msk       (0x1UL << TIM_CCMR2_OC4FE_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR2_OC4FE           TIM_CCMR2_OC4FE_Msk                          /*!<Output Compare 4 Fast enable */
+#define TIM_CCMR2_OC4PE_Pos       (11U)
+#define TIM_CCMR2_OC4PE_Msk       (0x1UL << TIM_CCMR2_OC4PE_Pos)               /*!< 0x00000800 */
+#define TIM_CCMR2_OC4PE           TIM_CCMR2_OC4PE_Msk                          /*!<Output Compare 4 Preload enable */
+
+#define TIM_CCMR2_OC4M_Pos        (12U)
+#define TIM_CCMR2_OC4M_Msk        (0x7UL << TIM_CCMR2_OC4M_Pos)                /*!< 0x00007000 */
+#define TIM_CCMR2_OC4M            TIM_CCMR2_OC4M_Msk                           /*!<OC4M[2:0] bits (Output Compare 4 Mode) */
+#define TIM_CCMR2_OC4M_0          (0x1UL << TIM_CCMR2_OC4M_Pos)                 /*!< 0x00001000 */
+#define TIM_CCMR2_OC4M_1          (0x2UL << TIM_CCMR2_OC4M_Pos)                 /*!< 0x00002000 */
+#define TIM_CCMR2_OC4M_2          (0x4UL << TIM_CCMR2_OC4M_Pos)                 /*!< 0x00004000 */
+#define TIM_CCMR2_OC4M_3          (0x100UL << TIM_CCMR2_OC4M_Pos)               /*!< 0x00100000 */
+
+#define TIM_CCMR2_OC4CE_Pos       (15U)
+#define TIM_CCMR2_OC4CE_Msk       (0x1UL << TIM_CCMR2_OC4CE_Pos)               /*!< 0x00008000 */
+#define TIM_CCMR2_OC4CE           TIM_CCMR2_OC4CE_Msk                          /*!<Output Compare 4 Clear Enable */
+
+/*----------------------------------------------------------------------------*/
+
+#define TIM_CCMR2_IC3PSC_Pos      (2U)
+#define TIM_CCMR2_IC3PSC_Msk      (0x3UL << TIM_CCMR2_IC3PSC_Pos)              /*!< 0x0000000C */
+#define TIM_CCMR2_IC3PSC          TIM_CCMR2_IC3PSC_Msk                         /*!<IC3PSC[1:0] bits (Input Capture 3 Prescaler) */
+#define TIM_CCMR2_IC3PSC_0        (0x1UL << TIM_CCMR2_IC3PSC_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR2_IC3PSC_1        (0x2UL << TIM_CCMR2_IC3PSC_Pos)               /*!< 0x00000008 */
+
+#define TIM_CCMR2_IC3F_Pos        (4U)
+#define TIM_CCMR2_IC3F_Msk        (0xFUL << TIM_CCMR2_IC3F_Pos)                /*!< 0x000000F0 */
+#define TIM_CCMR2_IC3F            TIM_CCMR2_IC3F_Msk                           /*!<IC3F[3:0] bits (Input Capture 3 Filter) */
+#define TIM_CCMR2_IC3F_0          (0x1UL << TIM_CCMR2_IC3F_Pos)                 /*!< 0x00000010 */
+#define TIM_CCMR2_IC3F_1          (0x2UL << TIM_CCMR2_IC3F_Pos)                 /*!< 0x00000020 */
+#define TIM_CCMR2_IC3F_2          (0x4UL << TIM_CCMR2_IC3F_Pos)                 /*!< 0x00000040 */
+#define TIM_CCMR2_IC3F_3          (0x8UL << TIM_CCMR2_IC3F_Pos)                 /*!< 0x00000080 */
+
+#define TIM_CCMR2_IC4PSC_Pos      (10U)
+#define TIM_CCMR2_IC4PSC_Msk      (0x3UL << TIM_CCMR2_IC4PSC_Pos)              /*!< 0x00000C00 */
+#define TIM_CCMR2_IC4PSC          TIM_CCMR2_IC4PSC_Msk                         /*!<IC4PSC[1:0] bits (Input Capture 4 Prescaler) */
+#define TIM_CCMR2_IC4PSC_0        (0x1UL << TIM_CCMR2_IC4PSC_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR2_IC4PSC_1        (0x2UL << TIM_CCMR2_IC4PSC_Pos)               /*!< 0x00000800 */
+
+#define TIM_CCMR2_IC4F_Pos        (12U)
+#define TIM_CCMR2_IC4F_Msk        (0xFUL << TIM_CCMR2_IC4F_Pos)                /*!< 0x0000F000 */
+#define TIM_CCMR2_IC4F            TIM_CCMR2_IC4F_Msk                           /*!<IC4F[3:0] bits (Input Capture 4 Filter) */
+#define TIM_CCMR2_IC4F_0          (0x1UL << TIM_CCMR2_IC4F_Pos)                 /*!< 0x00001000 */
+#define TIM_CCMR2_IC4F_1          (0x2UL << TIM_CCMR2_IC4F_Pos)                 /*!< 0x00002000 */
+#define TIM_CCMR2_IC4F_2          (0x4UL << TIM_CCMR2_IC4F_Pos)                 /*!< 0x00004000 */
+#define TIM_CCMR2_IC4F_3          (0x8UL << TIM_CCMR2_IC4F_Pos)                 /*!< 0x00008000 */
+
+/*******************  Bit definition for TIM_CCER register  *******************/
+#define TIM_CCER_CC1E_Pos         (0U)
+#define TIM_CCER_CC1E_Msk         (0x1UL << TIM_CCER_CC1E_Pos)                 /*!< 0x00000001 */
+#define TIM_CCER_CC1E             TIM_CCER_CC1E_Msk                            /*!<Capture/Compare 1 output enable */
+#define TIM_CCER_CC1P_Pos         (1U)
+#define TIM_CCER_CC1P_Msk         (0x1UL << TIM_CCER_CC1P_Pos)                 /*!< 0x00000002 */
+#define TIM_CCER_CC1P             TIM_CCER_CC1P_Msk                            /*!<Capture/Compare 1 output Polarity */
+#define TIM_CCER_CC1NE_Pos        (2U)
+#define TIM_CCER_CC1NE_Msk        (0x1UL << TIM_CCER_CC1NE_Pos)                /*!< 0x00000004 */
+#define TIM_CCER_CC1NE            TIM_CCER_CC1NE_Msk                           /*!<Capture/Compare 1 Complementary output enable */
+#define TIM_CCER_CC1NP_Pos        (3U)
+#define TIM_CCER_CC1NP_Msk        (0x1UL << TIM_CCER_CC1NP_Pos)                /*!< 0x00000008 */
+#define TIM_CCER_CC1NP            TIM_CCER_CC1NP_Msk                           /*!<Capture/Compare 1 Complementary output Polarity */
+#define TIM_CCER_CC2E_Pos         (4U)
+#define TIM_CCER_CC2E_Msk         (0x1UL << TIM_CCER_CC2E_Pos)                 /*!< 0x00000010 */
+#define TIM_CCER_CC2E             TIM_CCER_CC2E_Msk                            /*!<Capture/Compare 2 output enable */
+#define TIM_CCER_CC2P_Pos         (5U)
+#define TIM_CCER_CC2P_Msk         (0x1UL << TIM_CCER_CC2P_Pos)                 /*!< 0x00000020 */
+#define TIM_CCER_CC2P             TIM_CCER_CC2P_Msk                            /*!<Capture/Compare 2 output Polarity */
+#define TIM_CCER_CC2NE_Pos        (6U)
+#define TIM_CCER_CC2NE_Msk        (0x1UL << TIM_CCER_CC2NE_Pos)                /*!< 0x00000040 */
+#define TIM_CCER_CC2NE            TIM_CCER_CC2NE_Msk                           /*!<Capture/Compare 2 Complementary output enable */
+#define TIM_CCER_CC2NP_Pos        (7U)
+#define TIM_CCER_CC2NP_Msk        (0x1UL << TIM_CCER_CC2NP_Pos)                /*!< 0x00000080 */
+#define TIM_CCER_CC2NP            TIM_CCER_CC2NP_Msk                           /*!<Capture/Compare 2 Complementary output Polarity */
+#define TIM_CCER_CC3E_Pos         (8U)
+#define TIM_CCER_CC3E_Msk         (0x1UL << TIM_CCER_CC3E_Pos)                 /*!< 0x00000100 */
+#define TIM_CCER_CC3E             TIM_CCER_CC3E_Msk                            /*!<Capture/Compare 3 output enable */
+#define TIM_CCER_CC3P_Pos         (9U)
+#define TIM_CCER_CC3P_Msk         (0x1UL << TIM_CCER_CC3P_Pos)                 /*!< 0x00000200 */
+#define TIM_CCER_CC3P             TIM_CCER_CC3P_Msk                            /*!<Capture/Compare 3 output Polarity */
+#define TIM_CCER_CC3NE_Pos        (10U)
+#define TIM_CCER_CC3NE_Msk        (0x1UL << TIM_CCER_CC3NE_Pos)                /*!< 0x00000400 */
+#define TIM_CCER_CC3NE            TIM_CCER_CC3NE_Msk                           /*!<Capture/Compare 3 Complementary output enable */
+#define TIM_CCER_CC3NP_Pos        (11U)
+#define TIM_CCER_CC3NP_Msk        (0x1UL << TIM_CCER_CC3NP_Pos)                /*!< 0x00000800 */
+#define TIM_CCER_CC3NP            TIM_CCER_CC3NP_Msk                           /*!<Capture/Compare 3 Complementary output Polarity */
+#define TIM_CCER_CC4E_Pos         (12U)
+#define TIM_CCER_CC4E_Msk         (0x1UL << TIM_CCER_CC4E_Pos)                 /*!< 0x00001000 */
+#define TIM_CCER_CC4E             TIM_CCER_CC4E_Msk                            /*!<Capture/Compare 4 output enable */
+#define TIM_CCER_CC4P_Pos         (13U)
+#define TIM_CCER_CC4P_Msk         (0x1UL << TIM_CCER_CC4P_Pos)                 /*!< 0x00002000 */
+#define TIM_CCER_CC4P             TIM_CCER_CC4P_Msk                            /*!<Capture/Compare 4 output Polarity */
+#define TIM_CCER_CC4NP_Pos        (15U)
+#define TIM_CCER_CC4NP_Msk        (0x1UL << TIM_CCER_CC4NP_Pos)                /*!< 0x00008000 */
+#define TIM_CCER_CC4NP            TIM_CCER_CC4NP_Msk                           /*!<Capture/Compare 4 Complementary output Polarity */
+#define TIM_CCER_CC5E_Pos         (16U)
+#define TIM_CCER_CC5E_Msk         (0x1UL << TIM_CCER_CC5E_Pos)                 /*!< 0x00010000 */
+#define TIM_CCER_CC5E             TIM_CCER_CC5E_Msk                            /*!<Capture/Compare 5 output enable */
+#define TIM_CCER_CC5P_Pos         (17U)
+#define TIM_CCER_CC5P_Msk         (0x1UL << TIM_CCER_CC5P_Pos)                 /*!< 0x00020000 */
+#define TIM_CCER_CC5P             TIM_CCER_CC5P_Msk                            /*!<Capture/Compare 5 output Polarity */
+#define TIM_CCER_CC6E_Pos         (20U)
+#define TIM_CCER_CC6E_Msk         (0x1UL << TIM_CCER_CC6E_Pos)                 /*!< 0x00100000 */
+#define TIM_CCER_CC6E             TIM_CCER_CC6E_Msk                            /*!<Capture/Compare 6 output enable */
+#define TIM_CCER_CC6P_Pos         (21U)
+#define TIM_CCER_CC6P_Msk         (0x1UL << TIM_CCER_CC6P_Pos)                 /*!< 0x00200000 */
+#define TIM_CCER_CC6P             TIM_CCER_CC6P_Msk                            /*!<Capture/Compare 6 output Polarity */
+/*******************  Bit definition for TIM_CNT register  ********************/
+#define TIM_CNT_CNT_Pos           (0U)
+#define TIM_CNT_CNT_Msk           (0xFFFFFFFFUL << TIM_CNT_CNT_Pos)            /*!< 0xFFFFFFFF */
+#define TIM_CNT_CNT               TIM_CNT_CNT_Msk                              /*!<Counter Value */
+#define TIM_CNT_UIFCPY_Pos        (31U)
+#define TIM_CNT_UIFCPY_Msk        (0x1UL << TIM_CNT_UIFCPY_Pos)                /*!< 0x80000000 */
+#define TIM_CNT_UIFCPY            TIM_CNT_UIFCPY_Msk                           /*!<Update interrupt flag copy */
+/*******************  Bit definition for TIM_PSC register  ********************/
+#define TIM_PSC_PSC_Pos           (0U)
+#define TIM_PSC_PSC_Msk           (0xFFFFUL << TIM_PSC_PSC_Pos)                /*!< 0x0000FFFF */
+#define TIM_PSC_PSC               TIM_PSC_PSC_Msk                              /*!<Prescaler Value */
+
+/*******************  Bit definition for TIM_ARR register  ********************/
+#define TIM_ARR_ARR_Pos           (0U)
+#define TIM_ARR_ARR_Msk           (0xFFFFFFFFUL << TIM_ARR_ARR_Pos)            /*!< 0xFFFFFFFF */
+#define TIM_ARR_ARR               TIM_ARR_ARR_Msk                              /*!<actual auto-reload Value */
+
+/*******************  Bit definition for TIM_RCR register  ********************/
+#define TIM_RCR_REP_Pos           (0U)
+#define TIM_RCR_REP_Msk           (0xFFUL << TIM_RCR_REP_Pos)                  /*!< 0x000000FF */
+#define TIM_RCR_REP               TIM_RCR_REP_Msk                              /*!<Repetition Counter Value */
+
+/*******************  Bit definition for TIM_CCR1 register  *******************/
+#define TIM_CCR1_CCR1_Pos         (0U)
+#define TIM_CCR1_CCR1_Msk         (0xFFFFUL << TIM_CCR1_CCR1_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR1_CCR1             TIM_CCR1_CCR1_Msk                            /*!<Capture/Compare 1 Value */
+
+/*******************  Bit definition for TIM_CCR2 register  *******************/
+#define TIM_CCR2_CCR2_Pos         (0U)
+#define TIM_CCR2_CCR2_Msk         (0xFFFFUL << TIM_CCR2_CCR2_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR2_CCR2             TIM_CCR2_CCR2_Msk                            /*!<Capture/Compare 2 Value */
+
+/*******************  Bit definition for TIM_CCR3 register  *******************/
+#define TIM_CCR3_CCR3_Pos         (0U)
+#define TIM_CCR3_CCR3_Msk         (0xFFFFUL << TIM_CCR3_CCR3_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR3_CCR3             TIM_CCR3_CCR3_Msk                            /*!<Capture/Compare 3 Value */
+
+/*******************  Bit definition for TIM_CCR4 register  *******************/
+#define TIM_CCR4_CCR4_Pos         (0U)
+#define TIM_CCR4_CCR4_Msk         (0xFFFFUL << TIM_CCR4_CCR4_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR4_CCR4             TIM_CCR4_CCR4_Msk                            /*!<Capture/Compare 4 Value */
+
+/*******************  Bit definition for TIM_CCR5 register  *******************/
+#define TIM_CCR5_CCR5_Pos         (0U)
+#define TIM_CCR5_CCR5_Msk         (0xFFFFFFFFUL << TIM_CCR5_CCR5_Pos)          /*!< 0xFFFFFFFF */
+#define TIM_CCR5_CCR5             TIM_CCR5_CCR5_Msk                            /*!<Capture/Compare 5 Value */
+#define TIM_CCR5_GC5C1_Pos        (29U)
+#define TIM_CCR5_GC5C1_Msk        (0x1UL << TIM_CCR5_GC5C1_Pos)                /*!< 0x20000000 */
+#define TIM_CCR5_GC5C1            TIM_CCR5_GC5C1_Msk                           /*!<Group Channel 5 and Channel 1 */
+#define TIM_CCR5_GC5C2_Pos        (30U)
+#define TIM_CCR5_GC5C2_Msk        (0x1UL << TIM_CCR5_GC5C2_Pos)                /*!< 0x40000000 */
+#define TIM_CCR5_GC5C2            TIM_CCR5_GC5C2_Msk                           /*!<Group Channel 5 and Channel 2 */
+#define TIM_CCR5_GC5C3_Pos        (31U)
+#define TIM_CCR5_GC5C3_Msk        (0x1UL << TIM_CCR5_GC5C3_Pos)                /*!< 0x80000000 */
+#define TIM_CCR5_GC5C3            TIM_CCR5_GC5C3_Msk                           /*!<Group Channel 5 and Channel 3 */
+
+/*******************  Bit definition for TIM_CCR6 register  *******************/
+#define TIM_CCR6_CCR6_Pos         (0U)
+#define TIM_CCR6_CCR6_Msk         (0xFFFFUL << TIM_CCR6_CCR6_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR6_CCR6             TIM_CCR6_CCR6_Msk                            /*!<Capture/Compare 6 Value */
+
+/*******************  Bit definition for TIM_BDTR register  *******************/
+#define TIM_BDTR_DTG_Pos          (0U)
+#define TIM_BDTR_DTG_Msk          (0xFFUL << TIM_BDTR_DTG_Pos)                 /*!< 0x000000FF */
+#define TIM_BDTR_DTG              TIM_BDTR_DTG_Msk                             /*!<DTG[0:7] bits (Dead-Time Generator set-up) */
+#define TIM_BDTR_DTG_0            (0x01UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000001 */
+#define TIM_BDTR_DTG_1            (0x02UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000002 */
+#define TIM_BDTR_DTG_2            (0x04UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000004 */
+#define TIM_BDTR_DTG_3            (0x08UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000008 */
+#define TIM_BDTR_DTG_4            (0x10UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000010 */
+#define TIM_BDTR_DTG_5            (0x20UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000020 */
+#define TIM_BDTR_DTG_6            (0x40UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000040 */
+#define TIM_BDTR_DTG_7            (0x80UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000080 */
+
+#define TIM_BDTR_LOCK_Pos         (8U)
+#define TIM_BDTR_LOCK_Msk         (0x3UL << TIM_BDTR_LOCK_Pos)                 /*!< 0x00000300 */
+#define TIM_BDTR_LOCK             TIM_BDTR_LOCK_Msk                            /*!<LOCK[1:0] bits (Lock Configuration) */
+#define TIM_BDTR_LOCK_0           (0x1UL << TIM_BDTR_LOCK_Pos)                  /*!< 0x00000100 */
+#define TIM_BDTR_LOCK_1           (0x2UL << TIM_BDTR_LOCK_Pos)                  /*!< 0x00000200 */
+
+#define TIM_BDTR_OSSI_Pos         (10U)
+#define TIM_BDTR_OSSI_Msk         (0x1UL << TIM_BDTR_OSSI_Pos)                 /*!< 0x00000400 */
+#define TIM_BDTR_OSSI             TIM_BDTR_OSSI_Msk                            /*!<Off-State Selection for Idle mode */
+#define TIM_BDTR_OSSR_Pos         (11U)
+#define TIM_BDTR_OSSR_Msk         (0x1UL << TIM_BDTR_OSSR_Pos)                 /*!< 0x00000800 */
+#define TIM_BDTR_OSSR             TIM_BDTR_OSSR_Msk                            /*!<Off-State Selection for Run mode */
+#define TIM_BDTR_BKE_Pos          (12U)
+#define TIM_BDTR_BKE_Msk          (0x1UL << TIM_BDTR_BKE_Pos)                  /*!< 0x00001000 */
+#define TIM_BDTR_BKE              TIM_BDTR_BKE_Msk                             /*!<Break enable for Break1 */
+#define TIM_BDTR_BKP_Pos          (13U)
+#define TIM_BDTR_BKP_Msk          (0x1UL << TIM_BDTR_BKP_Pos)                  /*!< 0x00002000 */
+#define TIM_BDTR_BKP              TIM_BDTR_BKP_Msk                             /*!<Break Polarity for Break1 */
+#define TIM_BDTR_AOE_Pos          (14U)
+#define TIM_BDTR_AOE_Msk          (0x1UL << TIM_BDTR_AOE_Pos)                  /*!< 0x00004000 */
+#define TIM_BDTR_AOE              TIM_BDTR_AOE_Msk                             /*!<Automatic Output enable */
+#define TIM_BDTR_MOE_Pos          (15U)
+#define TIM_BDTR_MOE_Msk          (0x1UL << TIM_BDTR_MOE_Pos)                  /*!< 0x00008000 */
+#define TIM_BDTR_MOE              TIM_BDTR_MOE_Msk                             /*!<Main Output enable */
+
+#define TIM_BDTR_BKF_Pos          (16U)
+#define TIM_BDTR_BKF_Msk          (0xFUL << TIM_BDTR_BKF_Pos)                  /*!< 0x000F0000 */
+#define TIM_BDTR_BKF              TIM_BDTR_BKF_Msk                             /*!<Break Filter for Break1 */
+#define TIM_BDTR_BK2F_Pos         (20U)
+#define TIM_BDTR_BK2F_Msk         (0xFUL << TIM_BDTR_BK2F_Pos)                 /*!< 0x00F00000 */
+#define TIM_BDTR_BK2F             TIM_BDTR_BK2F_Msk                            /*!<Break Filter for Break2 */
+
+#define TIM_BDTR_BK2E_Pos         (24U)
+#define TIM_BDTR_BK2E_Msk         (0x1UL << TIM_BDTR_BK2E_Pos)                 /*!< 0x01000000 */
+#define TIM_BDTR_BK2E             TIM_BDTR_BK2E_Msk                            /*!<Break enable for Break2 */
+#define TIM_BDTR_BK2P_Pos         (25U)
+#define TIM_BDTR_BK2P_Msk         (0x1UL << TIM_BDTR_BK2P_Pos)                 /*!< 0x02000000 */
+#define TIM_BDTR_BK2P             TIM_BDTR_BK2P_Msk                            /*!<Break Polarity for Break2 */
+
+/*******************  Bit definition for TIM_DCR register  ********************/
+#define TIM_DCR_DBA_Pos           (0U)
+#define TIM_DCR_DBA_Msk           (0x1FUL << TIM_DCR_DBA_Pos)                  /*!< 0x0000001F */
+#define TIM_DCR_DBA               TIM_DCR_DBA_Msk                              /*!<DBA[4:0] bits (DMA Base Address) */
+#define TIM_DCR_DBA_0             (0x01UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000001 */
+#define TIM_DCR_DBA_1             (0x02UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000002 */
+#define TIM_DCR_DBA_2             (0x04UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000004 */
+#define TIM_DCR_DBA_3             (0x08UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000008 */
+#define TIM_DCR_DBA_4             (0x10UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000010 */
+
+#define TIM_DCR_DBL_Pos           (8U)
+#define TIM_DCR_DBL_Msk           (0x1FUL << TIM_DCR_DBL_Pos)                  /*!< 0x00001F00 */
+#define TIM_DCR_DBL               TIM_DCR_DBL_Msk                              /*!<DBL[4:0] bits (DMA Burst Length) */
+#define TIM_DCR_DBL_0             (0x01UL << TIM_DCR_DBL_Pos)                   /*!< 0x00000100 */
+#define TIM_DCR_DBL_1             (0x02UL << TIM_DCR_DBL_Pos)                   /*!< 0x00000200 */
+#define TIM_DCR_DBL_2             (0x04UL << TIM_DCR_DBL_Pos)                   /*!< 0x00000400 */
+#define TIM_DCR_DBL_3             (0x08UL << TIM_DCR_DBL_Pos)                   /*!< 0x00000800 */
+#define TIM_DCR_DBL_4             (0x10UL << TIM_DCR_DBL_Pos)                   /*!< 0x00001000 */
+
+/*******************  Bit definition for TIM_DMAR register  *******************/
+#define TIM_DMAR_DMAB_Pos         (0U)
+#define TIM_DMAR_DMAB_Msk         (0xFFFFUL << TIM_DMAR_DMAB_Pos)              /*!< 0x0000FFFF */
+#define TIM_DMAR_DMAB             TIM_DMAR_DMAB_Msk                            /*!<DMA register for burst accesses */
+
+/******************  Bit definition for TIM_CCMR3 register  *******************/
+#define TIM_CCMR3_OC5FE_Pos       (2U)
+#define TIM_CCMR3_OC5FE_Msk       (0x1UL << TIM_CCMR3_OC5FE_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR3_OC5FE           TIM_CCMR3_OC5FE_Msk                          /*!<Output Compare 5 Fast enable */
+#define TIM_CCMR3_OC5PE_Pos       (3U)
+#define TIM_CCMR3_OC5PE_Msk       (0x1UL << TIM_CCMR3_OC5PE_Pos)               /*!< 0x00000008 */
+#define TIM_CCMR3_OC5PE           TIM_CCMR3_OC5PE_Msk                          /*!<Output Compare 5 Preload enable */
+
+#define TIM_CCMR3_OC5M_Pos        (4U)
+#define TIM_CCMR3_OC5M_Msk        (0x7UL << TIM_CCMR3_OC5M_Pos)                /*!< 0x00000070 */
+#define TIM_CCMR3_OC5M            TIM_CCMR3_OC5M_Msk                           /*!<OC5M[2:0] bits (Output Compare 5 Mode) */
+#define TIM_CCMR3_OC5M_0          (0x1UL << TIM_CCMR3_OC5M_Pos)                 /*!< 0x00000010 */
+#define TIM_CCMR3_OC5M_1          (0x2UL << TIM_CCMR3_OC5M_Pos)                 /*!< 0x00000020 */
+#define TIM_CCMR3_OC5M_2          (0x4UL << TIM_CCMR3_OC5M_Pos)                 /*!< 0x00000040 */
+#define TIM_CCMR3_OC5M_3          (0x1000UL << TIM_CCMR3_OC5M_Pos)              /*!< 0x00010000 */
+
+#define TIM_CCMR3_OC5CE_Pos       (7U)
+#define TIM_CCMR3_OC5CE_Msk       (0x1UL << TIM_CCMR3_OC5CE_Pos)               /*!< 0x00000080 */
+#define TIM_CCMR3_OC5CE           TIM_CCMR3_OC5CE_Msk                          /*!<Output Compare 5 Clear Enable */
+
+#define TIM_CCMR3_OC6FE_Pos       (10U)
+#define TIM_CCMR3_OC6FE_Msk       (0x1UL << TIM_CCMR3_OC6FE_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR3_OC6FE           TIM_CCMR3_OC6FE_Msk                          /*!<Output Compare 4 Fast enable */
+#define TIM_CCMR3_OC6PE_Pos       (11U)
+#define TIM_CCMR3_OC6PE_Msk       (0x1UL << TIM_CCMR3_OC6PE_Pos)               /*!< 0x00000800 */
+#define TIM_CCMR3_OC6PE           TIM_CCMR3_OC6PE_Msk                          /*!<Output Compare 4 Preload enable */
+
+#define TIM_CCMR3_OC6M_Pos        (12U)
+#define TIM_CCMR3_OC6M_Msk        (0x7UL << TIM_CCMR3_OC6M_Pos)                /*!< 0x00007000 */
+#define TIM_CCMR3_OC6M            TIM_CCMR3_OC6M_Msk                           /*!<OC4M[2:0] bits (Output Compare 4 Mode) */
+#define TIM_CCMR3_OC6M_0          (0x1UL << TIM_CCMR3_OC6M_Pos)                 /*!< 0x00001000 */
+#define TIM_CCMR3_OC6M_1          (0x2UL << TIM_CCMR3_OC6M_Pos)                 /*!< 0x00002000 */
+#define TIM_CCMR3_OC6M_2          (0x4UL << TIM_CCMR3_OC6M_Pos)                 /*!< 0x00004000 */
+#define TIM_CCMR3_OC6M_3          (0x100UL << TIM_CCMR3_OC6M_Pos)               /*!< 0x00100000 */
+
+#define TIM_CCMR3_OC6CE_Pos       (15U)
+#define TIM_CCMR3_OC6CE_Msk       (0x1UL << TIM_CCMR3_OC6CE_Pos)               /*!< 0x00008000 */
+#define TIM_CCMR3_OC6CE           TIM_CCMR3_OC6CE_Msk                          /*!<Output Compare 4 Clear Enable */
+/*******************  Bit definition for TIM1_AF1 register  *********************/
+#define TIM1_AF1_BKINE_Pos        (0U)
+#define TIM1_AF1_BKINE_Msk        (0x1UL << TIM1_AF1_BKINE_Pos)                /*!< 0x00000001 */
+#define TIM1_AF1_BKINE            TIM1_AF1_BKINE_Msk                           /*!<BKINE Break input enable bit */
+#define TIM1_AF1_BKCMP1E_Pos      (1U)
+#define TIM1_AF1_BKCMP1E_Msk      (0x1UL << TIM1_AF1_BKCMP1E_Pos)              /*!< 0x00000002 */
+#define TIM1_AF1_BKCMP1E          TIM1_AF1_BKCMP1E_Msk                         /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM1_AF1_BKCMP2E_Pos      (2U)
+#define TIM1_AF1_BKCMP2E_Msk      (0x1UL << TIM1_AF1_BKCMP2E_Pos)              /*!< 0x00000004 */
+#define TIM1_AF1_BKCMP2E          TIM1_AF1_BKCMP2E_Msk                         /*!<BKCMP1E Break Compare2 Enable bit */
+#define TIM1_AF1_BKDF1BK0E_Pos    (8U)
+#define TIM1_AF1_BKDF1BK0E_Msk    (0x1UL << TIM1_AF1_BKDF1BK0E_Pos)            /*!< 0x00000100 */
+#define TIM1_AF1_BKDF1BK0E        TIM1_AF1_BKDF1BK0E_Msk                       /*!<BKDF1BK0E Break input DFSDM Break 0 */
+#define TIM1_AF1_BKINP_Pos        (9U)
+#define TIM1_AF1_BKINP_Msk        (0x1UL << TIM1_AF1_BKINP_Pos)                /*!< 0x00000200 */
+#define TIM1_AF1_BKINP            TIM1_AF1_BKINP_Msk                           /*!<BRKINP Break input polarity */
+#define TIM1_AF1_BKCMP1P_Pos      (10U)
+#define TIM1_AF1_BKCMP1P_Msk      (0x1UL << TIM1_AF1_BKCMP1P_Pos)              /*!< 0x00000400 */
+#define TIM1_AF1_BKCMP1P          TIM1_AF1_BKCMP1P_Msk                         /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM1_AF1_BKCMP2P_Pos      (11U)
+#define TIM1_AF1_BKCMP2P_Msk      (0x1UL << TIM1_AF1_BKCMP2P_Pos)              /*!< 0x00000800 */
+#define TIM1_AF1_BKCMP2P          TIM1_AF1_BKCMP2P_Msk                         /*!<BKCMP2P Break COMP2 input polarity */
+
+#define TIM1_AF1_ETRSEL_Pos       (14U)
+#define TIM1_AF1_ETRSEL_Msk       (0xFUL << TIM1_AF1_ETRSEL_Pos)               /*!< 0x0003C000 */
+#define TIM1_AF1_ETRSEL           TIM1_AF1_ETRSEL_Msk                          /*!<ETRSEL[3:0] bits (TIM1 ETRSEL) */
+#define TIM1_AF1_ETRSEL_0         (0x1UL << TIM1_AF1_ETRSEL_Pos)                /*!< 0x00004000 */
+#define TIM1_AF1_ETRSEL_1         (0x2UL << TIM1_AF1_ETRSEL_Pos)                /*!< 0x00008000 */
+#define TIM1_AF1_ETRSEL_2         (0x4UL << TIM1_AF1_ETRSEL_Pos)                /*!< 0x00010000 */
+#define TIM1_AF1_ETRSEL_3         (0x8UL << TIM1_AF1_ETRSEL_Pos)                /*!< 0x00020000 */
+
+/*******************  Bit definition for TIM1_AF2 register  *********************/
+#define TIM1_AF2_BK2INE_Pos       (0U)
+#define TIM1_AF2_BK2INE_Msk       (0x1UL << TIM1_AF2_BK2INE_Pos)               /*!< 0x00000001 */
+#define TIM1_AF2_BK2INE           TIM1_AF2_BK2INE_Msk                          /*!<BK2INE Break input 2 enable bit */
+#define TIM1_AF2_BK2CMP1E_Pos     (1U)
+#define TIM1_AF2_BK2CMP1E_Msk     (0x1UL << TIM1_AF2_BK2CMP1E_Pos)             /*!< 0x00000002 */
+#define TIM1_AF2_BK2CMP1E         TIM1_AF2_BK2CMP1E_Msk                        /*!<BK2CMP1E Break2 Compare1 Enable bit */
+#define TIM1_AF2_BK2CMP2E_Pos     (2U)
+#define TIM1_AF2_BK2CMP2E_Msk     (0x1UL << TIM1_AF2_BK2CMP2E_Pos)             /*!< 0x00000004 */
+#define TIM1_AF2_BK2CMP2E         TIM1_AF2_BK2CMP2E_Msk                        /*!<BK2CMP1E Break2 Compare2 Enable bit  */
+#define TIM1_AF2_BK2DFBK1E_Pos    (8U)
+#define TIM1_AF2_BK2DFBK1E_Msk    (0x1UL << TIM1_AF2_BK2DFBK1E_Pos)            /*!< 0x00000100 */
+#define TIM1_AF2_BK2DFBK1E        TIM1_AF2_BK2DFBK1E_Msk                       /*!<BK2DFBK1E Break input2 DFSDM Break 1 */
+#define TIM1_AF2_BK2INP_Pos       (9U)
+#define TIM1_AF2_BK2INP_Msk       (0x1UL << TIM1_AF2_BK2INP_Pos)               /*!< 0x00000200 */
+#define TIM1_AF2_BK2INP           TIM1_AF2_BK2INP_Msk                          /*!<BRKINP Break2 input polarity */
+#define TIM1_AF2_BK2CMP1P_Pos     (10U)
+#define TIM1_AF2_BK2CMP1P_Msk     (0x1UL << TIM1_AF2_BK2CMP1P_Pos)             /*!< 0x00000400 */
+#define TIM1_AF2_BK2CMP1P         TIM1_AF2_BK2CMP1P_Msk                        /*!<BKCMP1P Break2 COMP1 input polarity */
+#define TIM1_AF2_BK2CMP2P_Pos     (11U)
+#define TIM1_AF2_BK2CMP2P_Msk     (0x1UL << TIM1_AF2_BK2CMP2P_Pos)             /*!< 0x00000800 */
+#define TIM1_AF2_BK2CMP2P         TIM1_AF2_BK2CMP2P_Msk                        /*!<BKCMP2P Break2 COMP2 input polarity */
+
+/*******************  Bit definition for TIM_TISEL register  *********************/
+#define TIM_TISEL_TI1SEL_Pos      (0U)
+#define TIM_TISEL_TI1SEL_Msk      (0xFUL << TIM_TISEL_TI1SEL_Pos)              /*!< 0x0000000F */
+#define TIM_TISEL_TI1SEL          TIM_TISEL_TI1SEL_Msk                         /*!<TI1SEL[3:0] bits (TIM TI1 SEL)*/
+#define TIM_TISEL_TI1SEL_0        (0x1UL << TIM_TISEL_TI1SEL_Pos)               /*!< 0x00000001 */
+#define TIM_TISEL_TI1SEL_1        (0x2UL << TIM_TISEL_TI1SEL_Pos)               /*!< 0x00000002 */
+#define TIM_TISEL_TI1SEL_2        (0x4UL << TIM_TISEL_TI1SEL_Pos)               /*!< 0x00000004 */
+#define TIM_TISEL_TI1SEL_3        (0x8UL << TIM_TISEL_TI1SEL_Pos)               /*!< 0x00000008 */
+
+#define TIM_TISEL_TI2SEL_Pos      (8U)
+#define TIM_TISEL_TI2SEL_Msk      (0xFUL << TIM_TISEL_TI2SEL_Pos)              /*!< 0x00000F00 */
+#define TIM_TISEL_TI2SEL          TIM_TISEL_TI2SEL_Msk                         /*!<TI2SEL[3:0] bits (TIM TI2 SEL)*/
+#define TIM_TISEL_TI2SEL_0        (0x1UL << TIM_TISEL_TI2SEL_Pos)               /*!< 0x00000100 */
+#define TIM_TISEL_TI2SEL_1        (0x2UL << TIM_TISEL_TI2SEL_Pos)               /*!< 0x00000200 */
+#define TIM_TISEL_TI2SEL_2        (0x4UL << TIM_TISEL_TI2SEL_Pos)               /*!< 0x00000400 */
+#define TIM_TISEL_TI2SEL_3        (0x8UL << TIM_TISEL_TI2SEL_Pos)               /*!< 0x00000800 */
+
+#define TIM_TISEL_TI3SEL_Pos      (16U)
+#define TIM_TISEL_TI3SEL_Msk      (0xFUL << TIM_TISEL_TI3SEL_Pos)              /*!< 0x000F0000 */
+#define TIM_TISEL_TI3SEL          TIM_TISEL_TI3SEL_Msk                         /*!<TI3SEL[3:0] bits (TIM TI3 SEL)*/
+#define TIM_TISEL_TI3SEL_0        (0x1UL << TIM_TISEL_TI3SEL_Pos)               /*!< 0x00010000 */
+#define TIM_TISEL_TI3SEL_1        (0x2UL << TIM_TISEL_TI3SEL_Pos)               /*!< 0x00020000 */
+#define TIM_TISEL_TI3SEL_2        (0x4UL << TIM_TISEL_TI3SEL_Pos)               /*!< 0x00040000 */
+#define TIM_TISEL_TI3SEL_3        (0x8UL << TIM_TISEL_TI3SEL_Pos)               /*!< 0x00080000 */
+
+#define TIM_TISEL_TI4SEL_Pos      (24U)
+#define TIM_TISEL_TI4SEL_Msk      (0xFUL << TIM_TISEL_TI4SEL_Pos)              /*!< 0x0F000000 */
+#define TIM_TISEL_TI4SEL          TIM_TISEL_TI4SEL_Msk                         /*!<TI4SEL[3:0] bits (TIM TI4 SEL)*/
+#define TIM_TISEL_TI4SEL_0        (0x1UL << TIM_TISEL_TI4SEL_Pos)               /*!< 0x01000000 */
+#define TIM_TISEL_TI4SEL_1        (0x2UL << TIM_TISEL_TI4SEL_Pos)               /*!< 0x02000000 */
+#define TIM_TISEL_TI4SEL_2        (0x4UL << TIM_TISEL_TI4SEL_Pos)               /*!< 0x04000000 */
+#define TIM_TISEL_TI4SEL_3        (0x8UL << TIM_TISEL_TI4SEL_Pos)               /*!< 0x08000000 */
+
+/*******************  Bit definition for TIM8_AF1 register  *********************/
+#define TIM8_AF1_BKINE_Pos        (0U)
+#define TIM8_AF1_BKINE_Msk        (0x1UL << TIM8_AF1_BKINE_Pos)                /*!< 0x00000001 */
+#define TIM8_AF1_BKINE            TIM8_AF1_BKINE_Msk                           /*!<BKINE Break input enable bit */
+#define TIM8_AF1_BKCMP1E_Pos      (1U)
+#define TIM8_AF1_BKCMP1E_Msk      (0x1UL << TIM8_AF1_BKCMP1E_Pos)              /*!< 0x00000002 */
+#define TIM8_AF1_BKCMP1E          TIM8_AF1_BKCMP1E_Msk                         /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM8_AF1_BKCMP2E_Pos      (2U)
+#define TIM8_AF1_BKCMP2E_Msk      (0x1UL << TIM8_AF1_BKCMP2E_Pos)              /*!< 0x00000004 */
+#define TIM8_AF1_BKCMP2E          TIM8_AF1_BKCMP2E_Msk                         /*!<BKCMP1E Break Compare2 Enable bit  */
+#define TIM8_AF1_BKDFBK2E_Pos     (8U)
+#define TIM8_AF1_BKDFBK2E_Msk     (0x1UL << TIM8_AF1_BKDFBK2E_Pos)             /*!< 0x00000100 */
+#define TIM8_AF1_BKDFBK2E         TIM8_AF1_BKDFBK2E_Msk                        /*!<BKDFBK2E Break input DFSDM Break 2 */
+#define TIM8_AF1_BKINP_Pos        (9U)
+#define TIM8_AF1_BKINP_Msk        (0x1UL << TIM8_AF1_BKINP_Pos)                /*!< 0x00000200 */
+#define TIM8_AF1_BKINP            TIM8_AF1_BKINP_Msk                           /*!<BRKINP Break input polarity */
+#define TIM8_AF1_BKCMP1P_Pos      (10U)
+#define TIM8_AF1_BKCMP1P_Msk      (0x1UL << TIM8_AF1_BKCMP1P_Pos)              /*!< 0x00000400 */
+#define TIM8_AF1_BKCMP1P          TIM8_AF1_BKCMP1P_Msk                         /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM8_AF1_BKCMP2P_Pos      (11U)
+#define TIM8_AF1_BKCMP2P_Msk      (0x1UL << TIM8_AF1_BKCMP2P_Pos)              /*!< 0x00000800 */
+#define TIM8_AF1_BKCMP2P          TIM8_AF1_BKCMP2P_Msk                         /*!<BKCMP2P Break COMP2 input polarity */
+
+#define TIM8_AF1_ETRSEL_Pos       (14U)
+#define TIM8_AF1_ETRSEL_Msk       (0xFUL << TIM8_AF1_ETRSEL_Pos)               /*!< 0x0003C000 */
+#define TIM8_AF1_ETRSEL           TIM8_AF1_ETRSEL_Msk                          /*!<ETRSEL[3:0] bits (TIM8 ETRSEL) */
+#define TIM8_AF1_ETRSEL_0         (0x1UL << TIM8_AF1_ETRSEL_Pos)                /*!< 0x00004000 */
+#define TIM8_AF1_ETRSEL_1         (0x2UL << TIM8_AF1_ETRSEL_Pos)                /*!< 0x00008000 */
+#define TIM8_AF1_ETRSEL_2         (0x4UL << TIM8_AF1_ETRSEL_Pos)                /*!< 0x00010000 */
+#define TIM8_AF1_ETRSEL_3         (0x8UL << TIM8_AF1_ETRSEL_Pos)                /*!< 0x00020000 */
+/*******************  Bit definition for TIM8_AF2 register  *********************/
+#define TIM8_AF2_BK2INE_Pos       (0U)
+#define TIM8_AF2_BK2INE_Msk       (0x1UL << TIM8_AF2_BK2INE_Pos)               /*!< 0x00000001 */
+#define TIM8_AF2_BK2INE           TIM8_AF2_BK2INE_Msk                          /*!<BK2INE Break input 2 enable bit */
+#define TIM8_AF2_BK2CMP1E_Pos     (1U)
+#define TIM8_AF2_BK2CMP1E_Msk     (0x1UL << TIM8_AF2_BK2CMP1E_Pos)             /*!< 0x00000002 */
+#define TIM8_AF2_BK2CMP1E         TIM8_AF2_BK2CMP1E_Msk                        /*!<BK2CMP1E Break2 Compare1 Enable bit */
+#define TIM8_AF2_BK2CMP2E_Pos     (2U)
+#define TIM8_AF2_BK2CMP2E_Msk     (0x1UL << TIM8_AF2_BK2CMP2E_Pos)             /*!< 0x00000004 */
+#define TIM8_AF2_BK2CMP2E         TIM8_AF2_BK2CMP2E_Msk                        /*!<BK2CMP1E Break2 Compare2 Enable bit  */
+#define TIM8_AF2_BK2DFBK3E_Pos    (8U)
+#define TIM8_AF2_BK2DFBK3E_Msk    (0x1UL << TIM8_AF2_BK2DFBK3E_Pos)            /*!< 0x00000100 */
+#define TIM8_AF2_BK2DFBK3E        TIM8_AF2_BK2DFBK3E_Msk                       /*!<BK2DFBK1E Break input2 DFSDM Break 3 */
+#define TIM8_AF2_BK2INP_Pos       (9U)
+#define TIM8_AF2_BK2INP_Msk       (0x1UL << TIM8_AF2_BK2INP_Pos)               /*!< 0x00000200 */
+#define TIM8_AF2_BK2INP           TIM8_AF2_BK2INP_Msk                          /*!<BRKINP Break2 input polarity */
+#define TIM8_AF2_BK2CMP1P_Pos     (10U)
+#define TIM8_AF2_BK2CMP1P_Msk     (0x1UL << TIM8_AF2_BK2CMP1P_Pos)             /*!< 0x00000400 */
+#define TIM8_AF2_BK2CMP1P         TIM8_AF2_BK2CMP1P_Msk                        /*!<BKCMP1P Break2 COMP1 input polarity */
+#define TIM8_AF2_BK2CMP2P_Pos     (11U)
+#define TIM8_AF2_BK2CMP2P_Msk     (0x1UL << TIM8_AF2_BK2CMP2P_Pos)             /*!< 0x00000800 */
+#define TIM8_AF2_BK2CMP2P         TIM8_AF2_BK2CMP2P_Msk                        /*!<BKCMP2P Break2 COMP2 input polarity */
+
+/*******************  Bit definition for TIM2_AF1 register  *********************/
+#define TIM2_AF1_ETRSEL_Pos      (14U)
+#define TIM2_AF1_ETRSEL_Msk      (0xFUL << TIM2_AF1_ETRSEL_Pos)                /*!< 0x0003C000 */
+#define TIM2_AF1_ETRSEL          TIM2_AF1_ETRSEL_Msk                           /*!<ETRSEL[3:0] bits (TIM2 ETRSEL) */
+#define TIM2_AF1_ETRSEL_0        (0x1UL << TIM2_AF1_ETRSEL_Pos)                 /*!< 0x00004000 */
+#define TIM2_AF1_ETRSEL_1        (0x2UL << TIM2_AF1_ETRSEL_Pos)                 /*!< 0x00008000 */
+#define TIM2_AF1_ETRSEL_2        (0x4UL << TIM2_AF1_ETRSEL_Pos)                 /*!< 0x00010000 */
+#define TIM2_AF1_ETRSEL_3        (0x8UL << TIM2_AF1_ETRSEL_Pos)                 /*!< 0x00020000 */
+
+/*******************  Bit definition for TIM3_AF1 register  *********************/
+#define TIM3_AF1_ETRSEL_Pos      (14U)
+#define TIM3_AF1_ETRSEL_Msk      (0xFUL << TIM3_AF1_ETRSEL_Pos)                /*!< 0x0003C000 */
+#define TIM3_AF1_ETRSEL          TIM3_AF1_ETRSEL_Msk                           /*!<ETRSEL[3:0] bits (TIM3 ETRSEL) */
+#define TIM3_AF1_ETRSEL_0        (0x1UL << TIM3_AF1_ETRSEL_Pos)                 /*!< 0x00004000 */
+#define TIM3_AF1_ETRSEL_1        (0x2UL << TIM3_AF1_ETRSEL_Pos)                 /*!< 0x00008000 */
+#define TIM3_AF1_ETRSEL_2        (0x4UL << TIM3_AF1_ETRSEL_Pos)                 /*!< 0x00010000 */
+#define TIM3_AF1_ETRSEL_3        (0x8UL << TIM3_AF1_ETRSEL_Pos)                 /*!< 0x00020000 */
+
+/*******************  Bit definition for TIM5_AF1 register  *********************/
+#define TIM5_AF1_ETRSEL_Pos      (14U)
+#define TIM5_AF1_ETRSEL_Msk      (0xFUL << TIM5_AF1_ETRSEL_Pos)                /*!< 0x0003C000 */
+#define TIM5_AF1_ETRSEL          TIM5_AF1_ETRSEL_Msk                           /*!<ETRSEL[3:0] bits (TIM5 ETRSEL) */
+#define TIM5_AF1_ETRSEL_0        (0x1UL << TIM5_AF1_ETRSEL_Pos)                 /*!< 0x00004000 */
+#define TIM5_AF1_ETRSEL_1        (0x2UL << TIM5_AF1_ETRSEL_Pos)                 /*!< 0x00008000 */
+#define TIM5_AF1_ETRSEL_2        (0x4UL << TIM5_AF1_ETRSEL_Pos)                 /*!< 0x00010000 */
+#define TIM5_AF1_ETRSEL_3        (0x8UL << TIM5_AF1_ETRSEL_Pos)                 /*!< 0x00020000 */
+
+/*******************  Bit definition for TIM15_AF1 register  *********************/
+#define TIM15_AF1_BKINE_Pos        (0U)
+#define TIM15_AF1_BKINE_Msk        (0x1UL << TIM15_AF1_BKINE_Pos)              /*!< 0x00000001 */
+#define TIM15_AF1_BKINE            TIM15_AF1_BKINE_Msk                         /*!<BKINE Break input enable bit */
+#define TIM15_AF1_BKCMP1E_Pos      (1U)
+#define TIM15_AF1_BKCMP1E_Msk      (0x1UL << TIM15_AF1_BKCMP1E_Pos)            /*!< 0x00000002 */
+#define TIM15_AF1_BKCMP1E          TIM15_AF1_BKCMP1E_Msk                       /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM15_AF1_BKCMP2E_Pos      (2U)
+#define TIM15_AF1_BKCMP2E_Msk      (0x1UL << TIM15_AF1_BKCMP2E_Pos)            /*!< 0x00000004 */
+#define TIM15_AF1_BKCMP2E          TIM15_AF1_BKCMP2E_Msk                       /*!<BKCMP1E Break Compare2 Enable bit  */
+#define TIM15_AF1_BKDF1BK2E_Pos    (8U)
+#define TIM15_AF1_BKDF1BK2E_Msk    (0x1UL << TIM15_AF1_BKDF1BK2E_Pos)          /*!< 0x00000100 */
+#define TIM15_AF1_BKDF1BK2E        TIM15_AF1_BKDF1BK2E_Msk                     /*!<BRK dfsdm1_break[0] enable */
+#define TIM15_AF1_BKINP_Pos        (9U)
+#define TIM15_AF1_BKINP_Msk        (0x1UL << TIM15_AF1_BKINP_Pos)              /*!< 0x00000200 */
+#define TIM15_AF1_BKINP            TIM15_AF1_BKINP_Msk                         /*!<BRKINP Break input polarity */
+#define TIM15_AF1_BKCMP1P_Pos      (10U)
+#define TIM15_AF1_BKCMP1P_Msk      (0x1UL << TIM15_AF1_BKCMP1P_Pos)            /*!< 0x00000400 */
+#define TIM15_AF1_BKCMP1P          TIM15_AF1_BKCMP1P_Msk                       /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM15_AF1_BKCMP2P_Pos      (11U)
+#define TIM15_AF1_BKCMP2P_Msk      (0x1UL << TIM15_AF1_BKCMP2P_Pos)            /*!< 0x00000800 */
+#define TIM15_AF1_BKCMP2P          TIM15_AF1_BKCMP2P_Msk                       /*!<BKCMP2P Break COMP2 input polarity */
+
+/*******************  Bit definition for TIM16_ register  *********************/
+#define TIM16_AF1_BKINE_Pos        (0U)
+#define TIM16_AF1_BKINE_Msk        (0x1UL << TIM16_AF1_BKINE_Pos)              /*!< 0x00000001 */
+#define TIM16_AF1_BKINE            TIM16_AF1_BKINE_Msk                         /*!<BKINE Break input enable bit */
+#define TIM16_AF1_BKCMP1E_Pos      (1U)
+#define TIM16_AF1_BKCMP1E_Msk      (0x1UL << TIM16_AF1_BKCMP1E_Pos)            /*!< 0x00000002 */
+#define TIM16_AF1_BKCMP1E          TIM16_AF1_BKCMP1E_Msk                       /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM16_AF1_BKCMP2E_Pos      (2U)
+#define TIM16_AF1_BKCMP2E_Msk      (0x1UL << TIM16_AF1_BKCMP2E_Pos)            /*!< 0x00000004 */
+#define TIM16_AF1_BKCMP2E          TIM16_AF1_BKCMP2E_Msk                       /*!<BKCMP1E Break Compare2 Enable bit  */
+#define TIM16_AF1_BKDF1BK2E_Pos    (8U)
+#define TIM16_AF1_BKDF1BK2E_Msk    (0x1UL << TIM16_AF1_BKDF1BK2E_Pos)          /*!< 0x00000100 */
+#define TIM16_AF1_BKDF1BK2E        TIM16_AF1_BKDF1BK2E_Msk                     /*!<BRK dfsdm1_break[1] enable */
+#define TIM16_AF1_BKINP_Pos        (9U)
+#define TIM16_AF1_BKINP_Msk        (0x1UL << TIM16_AF1_BKINP_Pos)              /*!< 0x00000200 */
+#define TIM16_AF1_BKINP            TIM16_AF1_BKINP_Msk                         /*!<BRKINP Break input polarity */
+#define TIM16_AF1_BKCMP1P_Pos      (10U)
+#define TIM16_AF1_BKCMP1P_Msk      (0x1UL << TIM16_AF1_BKCMP1P_Pos)            /*!< 0x00000400 */
+#define TIM16_AF1_BKCMP1P          TIM16_AF1_BKCMP1P_Msk                       /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM16_AF1_BKCMP2P_Pos      (11U)
+#define TIM16_AF1_BKCMP2P_Msk      (0x1UL << TIM16_AF1_BKCMP2P_Pos)            /*!< 0x00000800 */
+#define TIM16_AF1_BKCMP2P          TIM16_AF1_BKCMP2P_Msk                       /*!<BKCMP2P Break COMP2 input polarity */
+
+/*******************  Bit definition for TIM17_AF1 register  *********************/
+#define TIM17_AF1_BKINE_Pos        (0U)
+#define TIM17_AF1_BKINE_Msk        (0x1UL << TIM17_AF1_BKINE_Pos)              /*!< 0x00000001 */
+#define TIM17_AF1_BKINE            TIM17_AF1_BKINE_Msk                         /*!<BKINE Break input enable bit */
+#define TIM17_AF1_BKCMP1E_Pos      (1U)
+#define TIM17_AF1_BKCMP1E_Msk      (0x1UL << TIM17_AF1_BKCMP1E_Pos)            /*!< 0x00000002 */
+#define TIM17_AF1_BKCMP1E          TIM17_AF1_BKCMP1E_Msk                       /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM17_AF1_BKCMP2E_Pos      (2U)
+#define TIM17_AF1_BKCMP2E_Msk      (0x1UL << TIM17_AF1_BKCMP2E_Pos)            /*!< 0x00000004 */
+#define TIM17_AF1_BKCMP2E          TIM17_AF1_BKCMP2E_Msk                       /*!<BKCMP1E Break Compare2 Enable bit  */
+#define TIM17_AF1_BKDF1BK2E_Pos    (8U)
+#define TIM17_AF1_BKDF1BK2E_Msk    (0x1UL << TIM17_AF1_BKDF1BK2E_Pos)          /*!< 0x00000100 */
+#define TIM17_AF1_BKDF1BK2E        TIM17_AF1_BKDF1BK2E_Msk                     /*!<BRK dfsdm1_break[2] enable */
+#define TIM17_AF1_BKINP_Pos        (9U)
+#define TIM17_AF1_BKINP_Msk        (0x1UL << TIM17_AF1_BKINP_Pos)              /*!< 0x00000200 */
+#define TIM17_AF1_BKINP            TIM17_AF1_BKINP_Msk                         /*!<BRKINP Break input polarity */
+#define TIM17_AF1_BKCMP1P_Pos      (10U)
+#define TIM17_AF1_BKCMP1P_Msk      (0x1UL << TIM17_AF1_BKCMP1P_Pos)            /*!< 0x00000400 */
+#define TIM17_AF1_BKCMP1P          TIM17_AF1_BKCMP1P_Msk                       /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM17_AF1_BKCMP2P_Pos      (11U)
+#define TIM17_AF1_BKCMP2P_Msk      (0x1UL << TIM17_AF1_BKCMP2P_Pos)            /*!< 0x00000800 */
+#define TIM17_AF1_BKCMP2P          TIM17_AF1_BKCMP2P_Msk                       /*!<BKCMP2P Break COMP2 input polarity */
+
+/******************************************************************************/
+/*                                                                            */
+/*                         Low Power Timer (LPTTIM)                           */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for LPTIM_ISR register  *******************/
+#define LPTIM_ISR_CMPM_Pos          (0U)
+#define LPTIM_ISR_CMPM_Msk          (0x1UL << LPTIM_ISR_CMPM_Pos)              /*!< 0x00000001 */
+#define LPTIM_ISR_CMPM              LPTIM_ISR_CMPM_Msk                         /*!< Compare match */
+#define LPTIM_ISR_ARRM_Pos          (1U)
+#define LPTIM_ISR_ARRM_Msk          (0x1UL << LPTIM_ISR_ARRM_Pos)              /*!< 0x00000002 */
+#define LPTIM_ISR_ARRM              LPTIM_ISR_ARRM_Msk                         /*!< Autoreload match */
+#define LPTIM_ISR_EXTTRIG_Pos       (2U)
+#define LPTIM_ISR_EXTTRIG_Msk       (0x1UL << LPTIM_ISR_EXTTRIG_Pos)           /*!< 0x00000004 */
+#define LPTIM_ISR_EXTTRIG           LPTIM_ISR_EXTTRIG_Msk                      /*!< External trigger edge event */
+#define LPTIM_ISR_CMPOK_Pos         (3U)
+#define LPTIM_ISR_CMPOK_Msk         (0x1UL << LPTIM_ISR_CMPOK_Pos)             /*!< 0x00000008 */
+#define LPTIM_ISR_CMPOK             LPTIM_ISR_CMPOK_Msk                        /*!< Compare register update OK */
+#define LPTIM_ISR_ARROK_Pos         (4U)
+#define LPTIM_ISR_ARROK_Msk         (0x1UL << LPTIM_ISR_ARROK_Pos)             /*!< 0x00000010 */
+#define LPTIM_ISR_ARROK             LPTIM_ISR_ARROK_Msk                        /*!< Autoreload register update OK */
+#define LPTIM_ISR_UP_Pos            (5U)
+#define LPTIM_ISR_UP_Msk            (0x1UL << LPTIM_ISR_UP_Pos)                /*!< 0x00000020 */
+#define LPTIM_ISR_UP                LPTIM_ISR_UP_Msk                           /*!< Counter direction change down to up */
+#define LPTIM_ISR_DOWN_Pos          (6U)
+#define LPTIM_ISR_DOWN_Msk          (0x1UL << LPTIM_ISR_DOWN_Pos)              /*!< 0x00000040 */
+#define LPTIM_ISR_DOWN              LPTIM_ISR_DOWN_Msk                         /*!< Counter direction change up to down */
+
+/******************  Bit definition for LPTIM_ICR register  *******************/
+#define LPTIM_ICR_CMPMCF_Pos        (0U)
+#define LPTIM_ICR_CMPMCF_Msk        (0x1UL << LPTIM_ICR_CMPMCF_Pos)            /*!< 0x00000001 */
+#define LPTIM_ICR_CMPMCF            LPTIM_ICR_CMPMCF_Msk                       /*!< Compare match Clear Flag */
+#define LPTIM_ICR_ARRMCF_Pos        (1U)
+#define LPTIM_ICR_ARRMCF_Msk        (0x1UL << LPTIM_ICR_ARRMCF_Pos)            /*!< 0x00000002 */
+#define LPTIM_ICR_ARRMCF            LPTIM_ICR_ARRMCF_Msk                       /*!< Autoreload match Clear Flag */
+#define LPTIM_ICR_EXTTRIGCF_Pos     (2U)
+#define LPTIM_ICR_EXTTRIGCF_Msk     (0x1UL << LPTIM_ICR_EXTTRIGCF_Pos)         /*!< 0x00000004 */
+#define LPTIM_ICR_EXTTRIGCF         LPTIM_ICR_EXTTRIGCF_Msk                    /*!< External trigger edge event Clear Flag */
+#define LPTIM_ICR_CMPOKCF_Pos       (3U)
+#define LPTIM_ICR_CMPOKCF_Msk       (0x1UL << LPTIM_ICR_CMPOKCF_Pos)           /*!< 0x00000008 */
+#define LPTIM_ICR_CMPOKCF           LPTIM_ICR_CMPOKCF_Msk                      /*!< Compare register update OK Clear Flag */
+#define LPTIM_ICR_ARROKCF_Pos       (4U)
+#define LPTIM_ICR_ARROKCF_Msk       (0x1UL << LPTIM_ICR_ARROKCF_Pos)           /*!< 0x00000010 */
+#define LPTIM_ICR_ARROKCF           LPTIM_ICR_ARROKCF_Msk                      /*!< Autoreload register update OK Clear Flag */
+#define LPTIM_ICR_UPCF_Pos          (5U)
+#define LPTIM_ICR_UPCF_Msk          (0x1UL << LPTIM_ICR_UPCF_Pos)              /*!< 0x00000020 */
+#define LPTIM_ICR_UPCF              LPTIM_ICR_UPCF_Msk                         /*!< Counter direction change down to up Clear Flag */
+#define LPTIM_ICR_DOWNCF_Pos        (6U)
+#define LPTIM_ICR_DOWNCF_Msk        (0x1UL << LPTIM_ICR_DOWNCF_Pos)            /*!< 0x00000040 */
+#define LPTIM_ICR_DOWNCF            LPTIM_ICR_DOWNCF_Msk                       /*!< Counter direction change up to down Clear Flag */
+
+/******************  Bit definition for LPTIM_IER register ********************/
+#define LPTIM_IER_CMPMIE_Pos        (0U)
+#define LPTIM_IER_CMPMIE_Msk        (0x1UL << LPTIM_IER_CMPMIE_Pos)            /*!< 0x00000001 */
+#define LPTIM_IER_CMPMIE            LPTIM_IER_CMPMIE_Msk                       /*!< Compare match Interrupt Enable */
+#define LPTIM_IER_ARRMIE_Pos        (1U)
+#define LPTIM_IER_ARRMIE_Msk        (0x1UL << LPTIM_IER_ARRMIE_Pos)            /*!< 0x00000002 */
+#define LPTIM_IER_ARRMIE            LPTIM_IER_ARRMIE_Msk                       /*!< Autoreload match Interrupt Enable */
+#define LPTIM_IER_EXTTRIGIE_Pos     (2U)
+#define LPTIM_IER_EXTTRIGIE_Msk     (0x1UL << LPTIM_IER_EXTTRIGIE_Pos)         /*!< 0x00000004 */
+#define LPTIM_IER_EXTTRIGIE         LPTIM_IER_EXTTRIGIE_Msk                    /*!< External trigger edge event Interrupt Enable */
+#define LPTIM_IER_CMPOKIE_Pos       (3U)
+#define LPTIM_IER_CMPOKIE_Msk       (0x1UL << LPTIM_IER_CMPOKIE_Pos)           /*!< 0x00000008 */
+#define LPTIM_IER_CMPOKIE           LPTIM_IER_CMPOKIE_Msk                      /*!< Compare register update OK Interrupt Enable */
+#define LPTIM_IER_ARROKIE_Pos       (4U)
+#define LPTIM_IER_ARROKIE_Msk       (0x1UL << LPTIM_IER_ARROKIE_Pos)           /*!< 0x00000010 */
+#define LPTIM_IER_ARROKIE           LPTIM_IER_ARROKIE_Msk                      /*!< Autoreload register update OK Interrupt Enable */
+#define LPTIM_IER_UPIE_Pos          (5U)
+#define LPTIM_IER_UPIE_Msk          (0x1UL << LPTIM_IER_UPIE_Pos)              /*!< 0x00000020 */
+#define LPTIM_IER_UPIE              LPTIM_IER_UPIE_Msk                         /*!< Counter direction change down to up Interrupt Enable */
+#define LPTIM_IER_DOWNIE_Pos        (6U)
+#define LPTIM_IER_DOWNIE_Msk        (0x1UL << LPTIM_IER_DOWNIE_Pos)            /*!< 0x00000040 */
+#define LPTIM_IER_DOWNIE            LPTIM_IER_DOWNIE_Msk                       /*!< Counter direction change up to down Interrupt Enable */
+
+/******************  Bit definition for LPTIM_CFGR register *******************/
+#define LPTIM_CFGR_CKSEL_Pos        (0U)
+#define LPTIM_CFGR_CKSEL_Msk        (0x1UL << LPTIM_CFGR_CKSEL_Pos)            /*!< 0x00000001 */
+#define LPTIM_CFGR_CKSEL            LPTIM_CFGR_CKSEL_Msk                       /*!< Clock selector */
+
+#define LPTIM_CFGR_CKPOL_Pos        (1U)
+#define LPTIM_CFGR_CKPOL_Msk        (0x3UL << LPTIM_CFGR_CKPOL_Pos)            /*!< 0x00000006 */
+#define LPTIM_CFGR_CKPOL            LPTIM_CFGR_CKPOL_Msk                       /*!< CKPOL[1:0] bits (Clock polarity) */
+#define LPTIM_CFGR_CKPOL_0          (0x1UL << LPTIM_CFGR_CKPOL_Pos)             /*!< 0x00000002 */
+#define LPTIM_CFGR_CKPOL_1          (0x2UL << LPTIM_CFGR_CKPOL_Pos)             /*!< 0x00000004 */
+
+#define LPTIM_CFGR_CKFLT_Pos        (3U)
+#define LPTIM_CFGR_CKFLT_Msk        (0x3UL << LPTIM_CFGR_CKFLT_Pos)            /*!< 0x00000018 */
+#define LPTIM_CFGR_CKFLT            LPTIM_CFGR_CKFLT_Msk                       /*!< CKFLT[1:0] bits (Configurable digital filter for external clock) */
+#define LPTIM_CFGR_CKFLT_0          (0x1UL << LPTIM_CFGR_CKFLT_Pos)             /*!< 0x00000008 */
+#define LPTIM_CFGR_CKFLT_1          (0x2UL << LPTIM_CFGR_CKFLT_Pos)             /*!< 0x00000010 */
+
+#define LPTIM_CFGR_TRGFLT_Pos       (6U)
+#define LPTIM_CFGR_TRGFLT_Msk       (0x3UL << LPTIM_CFGR_TRGFLT_Pos)           /*!< 0x000000C0 */
+#define LPTIM_CFGR_TRGFLT           LPTIM_CFGR_TRGFLT_Msk                      /*!< TRGFLT[1:0] bits (Configurable digital filter for trigger) */
+#define LPTIM_CFGR_TRGFLT_0         (0x1UL << LPTIM_CFGR_TRGFLT_Pos)            /*!< 0x00000040 */
+#define LPTIM_CFGR_TRGFLT_1         (0x2UL << LPTIM_CFGR_TRGFLT_Pos)            /*!< 0x00000080 */
+
+#define LPTIM_CFGR_PRESC_Pos        (9U)
+#define LPTIM_CFGR_PRESC_Msk        (0x7UL << LPTIM_CFGR_PRESC_Pos)            /*!< 0x00000E00 */
+#define LPTIM_CFGR_PRESC            LPTIM_CFGR_PRESC_Msk                       /*!< PRESC[2:0] bits (Clock prescaler) */
+#define LPTIM_CFGR_PRESC_0          (0x1UL << LPTIM_CFGR_PRESC_Pos)             /*!< 0x00000200 */
+#define LPTIM_CFGR_PRESC_1          (0x2UL << LPTIM_CFGR_PRESC_Pos)             /*!< 0x00000400 */
+#define LPTIM_CFGR_PRESC_2          (0x4UL << LPTIM_CFGR_PRESC_Pos)             /*!< 0x00000800 */
+
+#define LPTIM_CFGR_TRIGSEL_Pos      (13U)
+#define LPTIM_CFGR_TRIGSEL_Msk      (0x7UL << LPTIM_CFGR_TRIGSEL_Pos)          /*!< 0x0000E000 */
+#define LPTIM_CFGR_TRIGSEL          LPTIM_CFGR_TRIGSEL_Msk                     /*!< TRIGSEL[2:0]] bits (Trigger selector) */
+#define LPTIM_CFGR_TRIGSEL_0        (0x1UL << LPTIM_CFGR_TRIGSEL_Pos)           /*!< 0x00002000 */
+#define LPTIM_CFGR_TRIGSEL_1        (0x2UL << LPTIM_CFGR_TRIGSEL_Pos)           /*!< 0x00004000 */
+#define LPTIM_CFGR_TRIGSEL_2        (0x4UL << LPTIM_CFGR_TRIGSEL_Pos)           /*!< 0x00008000 */
+
+#define LPTIM_CFGR_TRIGEN_Pos       (17U)
+#define LPTIM_CFGR_TRIGEN_Msk       (0x3UL << LPTIM_CFGR_TRIGEN_Pos)           /*!< 0x00060000 */
+#define LPTIM_CFGR_TRIGEN           LPTIM_CFGR_TRIGEN_Msk                      /*!< TRIGEN[1:0] bits (Trigger enable and polarity) */
+#define LPTIM_CFGR_TRIGEN_0         (0x1UL << LPTIM_CFGR_TRIGEN_Pos)            /*!< 0x00020000 */
+#define LPTIM_CFGR_TRIGEN_1         (0x2UL << LPTIM_CFGR_TRIGEN_Pos)            /*!< 0x00040000 */
+
+#define LPTIM_CFGR_TIMOUT_Pos       (19U)
+#define LPTIM_CFGR_TIMOUT_Msk       (0x1UL << LPTIM_CFGR_TIMOUT_Pos)           /*!< 0x00080000 */
+#define LPTIM_CFGR_TIMOUT           LPTIM_CFGR_TIMOUT_Msk                      /*!< Timout enable */
+#define LPTIM_CFGR_WAVE_Pos         (20U)
+#define LPTIM_CFGR_WAVE_Msk         (0x1UL << LPTIM_CFGR_WAVE_Pos)             /*!< 0x00100000 */
+#define LPTIM_CFGR_WAVE             LPTIM_CFGR_WAVE_Msk                        /*!< Waveform shape */
+#define LPTIM_CFGR_WAVPOL_Pos       (21U)
+#define LPTIM_CFGR_WAVPOL_Msk       (0x1UL << LPTIM_CFGR_WAVPOL_Pos)           /*!< 0x00200000 */
+#define LPTIM_CFGR_WAVPOL           LPTIM_CFGR_WAVPOL_Msk                      /*!< Waveform shape polarity */
+#define LPTIM_CFGR_PRELOAD_Pos      (22U)
+#define LPTIM_CFGR_PRELOAD_Msk      (0x1UL << LPTIM_CFGR_PRELOAD_Pos)          /*!< 0x00400000 */
+#define LPTIM_CFGR_PRELOAD          LPTIM_CFGR_PRELOAD_Msk                     /*!< Reg update mode */
+#define LPTIM_CFGR_COUNTMODE_Pos    (23U)
+#define LPTIM_CFGR_COUNTMODE_Msk    (0x1UL << LPTIM_CFGR_COUNTMODE_Pos)        /*!< 0x00800000 */
+#define LPTIM_CFGR_COUNTMODE        LPTIM_CFGR_COUNTMODE_Msk                   /*!< Counter mode enable */
+#define LPTIM_CFGR_ENC_Pos          (24U)
+#define LPTIM_CFGR_ENC_Msk          (0x1UL << LPTIM_CFGR_ENC_Pos)              /*!< 0x01000000 */
+#define LPTIM_CFGR_ENC              LPTIM_CFGR_ENC_Msk                         /*!< Encoder mode enable */
+
+/******************  Bit definition for LPTIM_CR register  ********************/
+#define LPTIM_CR_ENABLE_Pos         (0U)
+#define LPTIM_CR_ENABLE_Msk         (0x1UL << LPTIM_CR_ENABLE_Pos)             /*!< 0x00000001 */
+#define LPTIM_CR_ENABLE             LPTIM_CR_ENABLE_Msk                        /*!< LPTIMer enable */
+#define LPTIM_CR_SNGSTRT_Pos        (1U)
+#define LPTIM_CR_SNGSTRT_Msk        (0x40001UL << LPTIM_CR_SNGSTRT_Pos)        /*!< 0x00080002 */
+#define LPTIM_CR_SNGSTRT            LPTIM_CR_SNGSTRT_Msk                       /*!< Timer start in single mode */
+#define LPTIM_CR_CNTSTRT_Pos        (2U)
+#define LPTIM_CR_CNTSTRT_Msk        (0x1UL << LPTIM_CR_CNTSTRT_Pos)            /*!< 0x00000004 */
+#define LPTIM_CR_CNTSTRT            LPTIM_CR_CNTSTRT_Msk                       /*!< Timer start in continuous mode */
+#define LPTIM_CR_COUNTRST_Pos       (3U)
+#define LPTIM_CR_COUNTRST_Msk       (0x1UL << LPTIM_CR_COUNTRST_Pos)           /*!< 0x00000008 */
+#define LPTIM_CR_COUNTRST           LPTIM_CR_COUNTRST_Msk                      /*!< Timer Counter reset in synchronous mode*/
+#define LPTIM_CR_RSTARE_Pos         (4U)
+#define LPTIM_CR_RSTARE_Msk         (0x1UL << LPTIM_CR_RSTARE_Pos)             /*!< 0x00000010 */
+#define LPTIM_CR_RSTARE             LPTIM_CR_RSTARE_Msk                        /*!< Timer Counter reset after read enable (asynchronously)*/
+
+
+/******************  Bit definition for LPTIM_CMP register  *******************/
+#define LPTIM_CMP_CMP_Pos           (0U)
+#define LPTIM_CMP_CMP_Msk           (0xFFFFUL << LPTIM_CMP_CMP_Pos)            /*!< 0x0000FFFF */
+#define LPTIM_CMP_CMP               LPTIM_CMP_CMP_Msk                          /*!< Compare register */
+
+/******************  Bit definition for LPTIM_ARR register  *******************/
+#define LPTIM_ARR_ARR_Pos           (0U)
+#define LPTIM_ARR_ARR_Msk           (0xFFFFUL << LPTIM_ARR_ARR_Pos)            /*!< 0x0000FFFF */
+#define LPTIM_ARR_ARR               LPTIM_ARR_ARR_Msk                          /*!< Auto reload register */
+
+/******************  Bit definition for LPTIM_CNT register  *******************/
+#define LPTIM_CNT_CNT_Pos           (0U)
+#define LPTIM_CNT_CNT_Msk           (0xFFFFUL << LPTIM_CNT_CNT_Pos)            /*!< 0x0000FFFF */
+#define LPTIM_CNT_CNT               LPTIM_CNT_CNT_Msk                          /*!< Counter register */
+
+/******************  Bit definition for LPTIM_CFGR2 register  *****************/
+#define LPTIM_CFGR2_IN1SEL_Pos      (0U)
+#define LPTIM_CFGR2_IN1SEL_Msk      (0x3UL << LPTIM_CFGR2_IN1SEL_Pos)          /*!< 0x00000003 */
+#define LPTIM_CFGR2_IN1SEL          LPTIM_CFGR2_IN1SEL_Msk                     /*!< IN1SEL[1:0] bits (Remap selection) */
+#define LPTIM_CFGR2_IN1SEL_0        (0x1UL << LPTIM_CFGR2_IN1SEL_Pos)           /*!< 0x00000001 */
+#define LPTIM_CFGR2_IN1SEL_1        (0x2UL << LPTIM_CFGR2_IN1SEL_Pos)           /*!< 0x00000002 */
+#define LPTIM_CFGR2_IN2SEL_Pos      (4U)
+#define LPTIM_CFGR2_IN2SEL_Msk      (0x3UL << LPTIM_CFGR2_IN2SEL_Pos)          /*!< 0x00000030 */
+#define LPTIM_CFGR2_IN2SEL          LPTIM_CFGR2_IN2SEL_Msk                     /*!< IN2SEL[5:4] bits (Remap selection) */
+#define LPTIM_CFGR2_IN2SEL_0        (0x1UL << LPTIM_CFGR2_IN2SEL_Pos)           /*!< 0x00000010 */
+#define LPTIM_CFGR2_IN2SEL_1        (0x2UL << LPTIM_CFGR2_IN2SEL_Pos)           /*!< 0x00000020 */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    OCTOSPI                                 */
+/*                                                                            */
+/******************************************************************************/
+/*****************  Bit definition for OCTOSPI_CR register  *******************/
+#define OCTOSPI_CR_EN_Pos              (0U)
+#define OCTOSPI_CR_EN_Msk              (0x1UL << OCTOSPI_CR_EN_Pos)             /*!< 0x00000001 */
+#define OCTOSPI_CR_EN                  OCTOSPI_CR_EN_Msk                       /*!< Enable */
+#define OCTOSPI_CR_ABORT_Pos           (1U)
+#define OCTOSPI_CR_ABORT_Msk           (0x1UL << OCTOSPI_CR_ABORT_Pos)          /*!< 0x00000002 */
+#define OCTOSPI_CR_ABORT               OCTOSPI_CR_ABORT_Msk                    /*!< Abort request */
+#define OCTOSPI_CR_DMAEN_Pos           (2U)
+#define OCTOSPI_CR_DMAEN_Msk           (0x1UL << OCTOSPI_CR_DMAEN_Pos)          /*!< 0x00000004 */
+#define OCTOSPI_CR_DMAEN               OCTOSPI_CR_DMAEN_Msk                    /*!< DMA Enable */
+#define OCTOSPI_CR_TCEN_Pos            (3U)
+#define OCTOSPI_CR_TCEN_Msk            (0x1UL << OCTOSPI_CR_TCEN_Pos)           /*!< 0x00000008 */
+#define OCTOSPI_CR_TCEN                OCTOSPI_CR_TCEN_Msk                     /*!< Timeout Counter Enable */
+#define OCTOSPI_CR_DQM_Pos             (6U)
+#define OCTOSPI_CR_DQM_Msk             (0x1UL << OCTOSPI_CR_DQM_Pos)            /*!< 0x00000040 */
+#define OCTOSPI_CR_DQM                 OCTOSPI_CR_DQM_Msk                      /*!< Dual-Quad Mode */
+#define OCTOSPI_CR_FSEL_Pos            (7U)
+#define OCTOSPI_CR_FSEL_Msk            (0x1UL << OCTOSPI_CR_FSEL_Pos)           /*!< 0x00000080 */
+#define OCTOSPI_CR_FSEL                OCTOSPI_CR_FSEL_Msk                     /*!< Flash Select */
+#define OCTOSPI_CR_FTHRES_Pos          (8U)
+#define OCTOSPI_CR_FTHRES_Msk          (0x1FUL << OCTOSPI_CR_FTHRES_Pos)        /*!< 0x00001F00 */
+#define OCTOSPI_CR_FTHRES              OCTOSPI_CR_FTHRES_Msk                   /*!< FIFO Threshold Level */
+#define OCTOSPI_CR_TEIE_Pos            (16U)
+#define OCTOSPI_CR_TEIE_Msk            (0x1UL << OCTOSPI_CR_TEIE_Pos)           /*!< 0x00010000 */
+#define OCTOSPI_CR_TEIE                OCTOSPI_CR_TEIE_Msk                     /*!< Transfer Error Interrupt Enable */
+#define OCTOSPI_CR_TCIE_Pos            (17U)
+#define OCTOSPI_CR_TCIE_Msk            (0x1UL << OCTOSPI_CR_TCIE_Pos)           /*!< 0x00020000 */
+#define OCTOSPI_CR_TCIE                OCTOSPI_CR_TCIE_Msk                     /*!< Transfer Complete Interrupt Enable */
+#define OCTOSPI_CR_FTIE_Pos            (18U)
+#define OCTOSPI_CR_FTIE_Msk            (0x1UL << OCTOSPI_CR_FTIE_Pos)           /*!< 0x00040000 */
+#define OCTOSPI_CR_FTIE                OCTOSPI_CR_FTIE_Msk                     /*!< FIFO Threshold Interrupt Enable */
+#define OCTOSPI_CR_SMIE_Pos            (19U)
+#define OCTOSPI_CR_SMIE_Msk            (0x1UL << OCTOSPI_CR_SMIE_Pos)           /*!< 0x00080000 */
+#define OCTOSPI_CR_SMIE                OCTOSPI_CR_SMIE_Msk                     /*!< Status Match Interrupt Enable */
+#define OCTOSPI_CR_TOIE_Pos            (20U)
+#define OCTOSPI_CR_TOIE_Msk            (0x1UL << OCTOSPI_CR_TOIE_Pos)           /*!< 0x00100000 */
+#define OCTOSPI_CR_TOIE                OCTOSPI_CR_TOIE_Msk                     /*!< TimeOut Interrupt Enable */
+#define OCTOSPI_CR_APMS_Pos            (22U)
+#define OCTOSPI_CR_APMS_Msk            (0x1UL << OCTOSPI_CR_APMS_Pos)           /*!< 0x00400000 */
+#define OCTOSPI_CR_APMS                OCTOSPI_CR_APMS_Msk                     /*!< Automatic Poll Mode Stop */
+#define OCTOSPI_CR_PMM_Pos             (23U)
+#define OCTOSPI_CR_PMM_Msk             (0x1UL << OCTOSPI_CR_PMM_Pos)            /*!< 0x00800000 */
+#define OCTOSPI_CR_PMM                 OCTOSPI_CR_PMM_Msk                      /*!< Polling Match Mode */
+#define OCTOSPI_CR_FMODE_Pos           (28U)
+#define OCTOSPI_CR_FMODE_Msk           (0x3UL << OCTOSPI_CR_FMODE_Pos)          /*!< 0x30000000 */
+#define OCTOSPI_CR_FMODE               OCTOSPI_CR_FMODE_Msk                    /*!< Functional Mode */
+#define OCTOSPI_CR_FMODE_0             (0x1UL << OCTOSPI_CR_FMODE_Pos)          /*!< 0x10000000 */
+#define OCTOSPI_CR_FMODE_1             (0x2UL << OCTOSPI_CR_FMODE_Pos)          /*!< 0x20000000 */
+
+/****************  Bit definition for OCTOSPI_DCR1 register  ******************/
+#define OCTOSPI_DCR1_CKMODE_Pos        (0U)
+#define OCTOSPI_DCR1_CKMODE_Msk        (0x1UL << OCTOSPI_DCR1_CKMODE_Pos)       /*!< 0x00000001 */
+#define OCTOSPI_DCR1_CKMODE            OCTOSPI_DCR1_CKMODE_Msk                 /*!< Mode 0 / Mode 3 */
+#define OCTOSPI_DCR1_FRCK_Pos          (1U)
+#define OCTOSPI_DCR1_FRCK_Msk          (0x1UL << OCTOSPI_DCR1_FRCK_Pos)         /*!< 0x00000002 */
+#define OCTOSPI_DCR1_FRCK              OCTOSPI_DCR1_FRCK_Msk                   /*!< Free Running Clock */
+#define OCTOSPI_DCR1_DLYBYP_Pos        (3U)
+#define OCTOSPI_DCR1_DLYBYP_Msk        (0x1UL << OCTOSPI_DCR1_DLYBYP_Pos)       /*!< 0x00000008 */
+#define OCTOSPI_DCR1_DLYBYP            OCTOSPI_DCR1_DLYBYP_Msk                 /*!< Delay Block */
+#define OCTOSPI_DCR1_CKCSHT_Pos        (4U)
+#define OCTOSPI_DCR1_CKCSHT_Msk        (0x7UL << OCTOSPI_DCR1_CKCSHT_Pos)       /*!< 0x00000070 */
+#define OCTOSPI_DCR1_CKCSHT            OCTOSPI_DCR1_CKCSHT_Msk                 /*!< Clocked Chip Select High Time */
+#define OCTOSPI_DCR1_CSHT_Pos          (8U)
+#define OCTOSPI_DCR1_CSHT_Msk          (0x7UL << OCTOSPI_DCR1_CSHT_Pos)         /*!< 0x00000700 */
+#define OCTOSPI_DCR1_CSHT              OCTOSPI_DCR1_CSHT_Msk                   /*!< Chip Select High Time */
+#define OCTOSPI_DCR1_DEVSIZE_Pos       (16U)
+#define OCTOSPI_DCR1_DEVSIZE_Msk       (0x1FUL << OCTOSPI_DCR1_DEVSIZE_Pos)     /*!< 0x001F0000 */
+#define OCTOSPI_DCR1_DEVSIZE           OCTOSPI_DCR1_DEVSIZE_Msk                /*!< Device Size */
+#define OCTOSPI_DCR1_MTYP_Pos          (24U)
+#define OCTOSPI_DCR1_MTYP_Msk          (0x7UL << OCTOSPI_DCR1_MTYP_Pos)         /*!< 0x07000000 */
+#define OCTOSPI_DCR1_MTYP              OCTOSPI_DCR1_MTYP_Msk                   /*!< Memory Type */
+#define OCTOSPI_DCR1_MTYP_0            (0x1UL << OCTOSPI_DCR1_MTYP_Pos)         /*!< 0x01000000 */
+#define OCTOSPI_DCR1_MTYP_1            (0x2UL << OCTOSPI_DCR1_MTYP_Pos)         /*!< 0x02000000 */
+#define OCTOSPI_DCR1_MTYP_2            (0x4UL << OCTOSPI_DCR1_MTYP_Pos)         /*!< 0x04000000 */
+
+/****************  Bit definition for OCTOSPI_DCR2 register  ******************/
+#define OCTOSPI_DCR2_PRESCALER_Pos     (0U)
+#define OCTOSPI_DCR2_PRESCALER_Msk     (0xFFUL << OCTOSPI_DCR2_PRESCALER_Pos)   /*!< 0x000000FF */
+#define OCTOSPI_DCR2_PRESCALER         OCTOSPI_DCR2_PRESCALER_Msk              /*!< Clock prescaler */
+#define OCTOSPI_DCR2_WRAPSIZE_Pos      (16U)
+#define OCTOSPI_DCR2_WRAPSIZE_Msk      (0x7UL << OCTOSPI_DCR2_WRAPSIZE_Pos)     /*!< 0x00070000 */
+#define OCTOSPI_DCR2_WRAPSIZE          OCTOSPI_DCR2_WRAPSIZE_Msk               /*!< Wrap Size */
+#define OCTOSPI_DCR2_WRAPSIZE_0        (0x1UL << OCTOSPI_DCR2_WRAPSIZE_Pos)     /*!< 0x00010000 */
+#define OCTOSPI_DCR2_WRAPSIZE_1        (0x2UL << OCTOSPI_DCR2_WRAPSIZE_Pos)     /*!< 0x00020000 */
+#define OCTOSPI_DCR2_WRAPSIZE_2        (0x4UL << OCTOSPI_DCR2_WRAPSIZE_Pos)     /*!< 0x00040000 */
+
+/****************  Bit definition for OCTOSPI_DCR3 register  ******************/
+#define OCTOSPI_DCR3_MAXTRAN_Pos       (0U)
+#define OCTOSPI_DCR3_MAXTRAN_Msk       (0xFFUL << OCTOSPI_DCR3_MAXTRAN_Pos)     /*!< 0x000000FF */
+#define OCTOSPI_DCR3_MAXTRAN           OCTOSPI_DCR3_MAXTRAN_Msk                /*!< Maximum Transfer */
+#define OCTOSPI_DCR3_CSBOUND_Pos       (16U)
+#define OCTOSPI_DCR3_CSBOUND_Msk       (0x1FUL << OCTOSPI_DCR3_CSBOUND_Pos)     /*!< 0x001F0000 */
+#define OCTOSPI_DCR3_CSBOUND           OCTOSPI_DCR3_CSBOUND_Msk                /*!< CS Boundary */
+
+/****************  Bit definition for OCTOSPI_DCR4 register  ******************/
+#define OCTOSPI_DCR4_REFRESH_Pos       (0U)
+#define OCTOSPI_DCR4_REFRESH_Msk       (0xFFFFFFFFUL << OCTOSPI_DCR4_REFRESH_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_DCR4_REFRESH           OCTOSPI_DCR4_REFRESH_Msk                /*!< Refresh rate */
+
+/*****************  Bit definition for OCTOSPI_SR register  *******************/
+#define OCTOSPI_SR_TEF_Pos             (0U)
+#define OCTOSPI_SR_TEF_Msk             (0x1UL << OCTOSPI_SR_TEF_Pos)            /*!< 0x00000001 */
+#define OCTOSPI_SR_TEF                 OCTOSPI_SR_TEF_Msk                      /*!< Transfer Error Flag */
+#define OCTOSPI_SR_TCF_Pos             (1U)
+#define OCTOSPI_SR_TCF_Msk             (0x1UL << OCTOSPI_SR_TCF_Pos)            /*!< 0x00000002 */
+#define OCTOSPI_SR_TCF                 OCTOSPI_SR_TCF_Msk                      /*!< Transfer Complete Flag */
+#define OCTOSPI_SR_FTF_Pos             (2U)
+#define OCTOSPI_SR_FTF_Msk             (0x1UL << OCTOSPI_SR_FTF_Pos)            /*!< 0x00000004 */
+#define OCTOSPI_SR_FTF                 OCTOSPI_SR_FTF_Msk                      /*!< FIFO Threshold Flag */
+#define OCTOSPI_SR_SMF_Pos             (3U)
+#define OCTOSPI_SR_SMF_Msk             (0x1UL << OCTOSPI_SR_SMF_Pos)            /*!< 0x00000008 */
+#define OCTOSPI_SR_SMF                 OCTOSPI_SR_SMF_Msk                      /*!< Status Match Flag */
+#define OCTOSPI_SR_TOF_Pos             (4U)
+#define OCTOSPI_SR_TOF_Msk             (0x1UL << OCTOSPI_SR_TOF_Pos)            /*!< 0x00000010 */
+#define OCTOSPI_SR_TOF                 OCTOSPI_SR_TOF_Msk                      /*!< Timeout Flag */
+#define OCTOSPI_SR_BUSY_Pos            (5U)
+#define OCTOSPI_SR_BUSY_Msk            (0x1UL << OCTOSPI_SR_BUSY_Pos)           /*!< 0x00000020 */
+#define OCTOSPI_SR_BUSY                OCTOSPI_SR_BUSY_Msk                     /*!< Busy */
+#define OCTOSPI_SR_FLEVEL_Pos          (8U)
+#define OCTOSPI_SR_FLEVEL_Msk          (0x3FUL << OCTOSPI_SR_FLEVEL_Pos)        /*!< 0x00003F00 */
+#define OCTOSPI_SR_FLEVEL              OCTOSPI_SR_FLEVEL_Msk                   /*!< FIFO Level */
+
+/****************  Bit definition for OCTOSPI_FCR register  *******************/
+#define OCTOSPI_FCR_CTEF_Pos           (0U)
+#define OCTOSPI_FCR_CTEF_Msk           (0x1UL << OCTOSPI_FCR_CTEF_Pos)          /*!< 0x00000001 */
+#define OCTOSPI_FCR_CTEF               OCTOSPI_FCR_CTEF_Msk                    /*!< Clear Transfer Error Flag */
+#define OCTOSPI_FCR_CTCF_Pos           (1U)
+#define OCTOSPI_FCR_CTCF_Msk           (0x1UL << OCTOSPI_FCR_CTCF_Pos)          /*!< 0x00000002 */
+#define OCTOSPI_FCR_CTCF               OCTOSPI_FCR_CTCF_Msk                    /*!< Clear Transfer Complete Flag */
+#define OCTOSPI_FCR_CSMF_Pos           (3U)
+#define OCTOSPI_FCR_CSMF_Msk           (0x1UL << OCTOSPI_FCR_CSMF_Pos)          /*!< 0x00000008 */
+#define OCTOSPI_FCR_CSMF               OCTOSPI_FCR_CSMF_Msk                    /*!< Clear Status Match Flag */
+#define OCTOSPI_FCR_CTOF_Pos           (4U)
+#define OCTOSPI_FCR_CTOF_Msk           (0x1UL << OCTOSPI_FCR_CTOF_Pos)          /*!< 0x00000010 */
+#define OCTOSPI_FCR_CTOF               OCTOSPI_FCR_CTOF_Msk                    /*!< Clear Timeout Flag */
+
+/****************  Bit definition for OCTOSPI_DLR register  *******************/
+#define OCTOSPI_DLR_DL_Pos             (0U)
+#define OCTOSPI_DLR_DL_Msk             (0xFFFFFFFFUL << OCTOSPI_DLR_DL_Pos)     /*!< 0xFFFFFFFF */
+#define OCTOSPI_DLR_DL                 OCTOSPI_DLR_DL_Msk                      /*!< Data Length */
+
+/*****************  Bit definition for OCTOSPI_AR register  *******************/
+#define OCTOSPI_AR_ADDRESS_Pos         (0U)
+#define OCTOSPI_AR_ADDRESS_Msk         (0xFFFFFFFFUL << OCTOSPI_AR_ADDRESS_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_AR_ADDRESS             OCTOSPI_AR_ADDRESS_Msk                  /*!< Address */
+
+/*****************  Bit definition for OCTOSPI_DR register  *******************/
+#define OCTOSPI_DR_DATA_Pos            (0U)
+#define OCTOSPI_DR_DATA_Msk            (0xFFFFFFFFUL << OCTOSPI_DR_DATA_Pos)    /*!< 0xFFFFFFFF */
+#define OCTOSPI_DR_DATA                OCTOSPI_DR_DATA_Msk                     /*!< Data */
+
+/***************  Bit definition for OCTOSPI_PSMKR register  ******************/
+#define OCTOSPI_PSMKR_MASK_Pos         (0U)
+#define OCTOSPI_PSMKR_MASK_Msk         (0xFFFFFFFFUL << OCTOSPI_PSMKR_MASK_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_PSMKR_MASK             OCTOSPI_PSMKR_MASK_Msk                  /*!< Status mask */
+
+/***************  Bit definition for OCTOSPI_PSMAR register  ******************/
+#define OCTOSPI_PSMAR_MATCH_Pos        (0U)
+#define OCTOSPI_PSMAR_MATCH_Msk        (0xFFFFFFFFUL << OCTOSPI_PSMAR_MATCH_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_PSMAR_MATCH            OCTOSPI_PSMAR_MATCH_Msk                 /*!< Status match */
+
+/****************  Bit definition for OCTOSPI_PIR register  *******************/
+#define OCTOSPI_PIR_INTERVAL_Pos       (0U)
+#define OCTOSPI_PIR_INTERVAL_Msk       (0xFFFFUL << OCTOSPI_PIR_INTERVAL_Pos)   /*!< 0x0000FFFF */
+#define OCTOSPI_PIR_INTERVAL           OCTOSPI_PIR_INTERVAL_Msk                /*!< Polling Interval */
+
+/****************  Bit definition for OCTOSPI_CCR register  *******************/
+#define OCTOSPI_CCR_IMODE_Pos          (0U)
+#define OCTOSPI_CCR_IMODE_Msk          (0x7UL << OCTOSPI_CCR_IMODE_Pos)         /*!< 0x00000007 */
+#define OCTOSPI_CCR_IMODE              OCTOSPI_CCR_IMODE_Msk                   /*!< Instruction Mode */
+#define OCTOSPI_CCR_IMODE_0            (0x1UL << OCTOSPI_CCR_IMODE_Pos)         /*!< 0x00000001 */
+#define OCTOSPI_CCR_IMODE_1            (0x2UL << OCTOSPI_CCR_IMODE_Pos)         /*!< 0x00000002 */
+#define OCTOSPI_CCR_IMODE_2            (0x4UL << OCTOSPI_CCR_IMODE_Pos)         /*!< 0x00000004 */
+#define OCTOSPI_CCR_IDTR_Pos           (3U)
+#define OCTOSPI_CCR_IDTR_Msk           (0x1UL << OCTOSPI_CCR_IDTR_Pos)          /*!< 0x00000008 */
+#define OCTOSPI_CCR_IDTR               OCTOSPI_CCR_IDTR_Msk                    /*!< Instruction Double Transfer Rate */
+#define OCTOSPI_CCR_ISIZE_Pos          (4U)
+#define OCTOSPI_CCR_ISIZE_Msk          (0x3UL << OCTOSPI_CCR_ISIZE_Pos)         /*!< 0x00000030 */
+#define OCTOSPI_CCR_ISIZE              OCTOSPI_CCR_ISIZE_Msk                   /*!< Instruction Size */
+#define OCTOSPI_CCR_ISIZE_0            (0x1UL << OCTOSPI_CCR_ISIZE_Pos)         /*!< 0x00000010 */
+#define OCTOSPI_CCR_ISIZE_1            (0x2UL << OCTOSPI_CCR_ISIZE_Pos)         /*!< 0x00000020 */
+#define OCTOSPI_CCR_ADMODE_Pos         (8U)
+#define OCTOSPI_CCR_ADMODE_Msk         (0x7UL << OCTOSPI_CCR_ADMODE_Pos)        /*!< 0x00000700 */
+#define OCTOSPI_CCR_ADMODE             OCTOSPI_CCR_ADMODE_Msk                  /*!< Address Mode */
+#define OCTOSPI_CCR_ADMODE_0           (0x1UL << OCTOSPI_CCR_ADMODE_Pos)        /*!< 0x00000100 */
+#define OCTOSPI_CCR_ADMODE_1           (0x2UL << OCTOSPI_CCR_ADMODE_Pos)        /*!< 0x00000200 */
+#define OCTOSPI_CCR_ADMODE_2           (0x4UL << OCTOSPI_CCR_ADMODE_Pos)        /*!< 0x00000400 */
+#define OCTOSPI_CCR_ADDTR_Pos          (11U)
+#define OCTOSPI_CCR_ADDTR_Msk          (0x1UL << OCTOSPI_CCR_ADDTR_Pos)         /*!< 0x00000800 */
+#define OCTOSPI_CCR_ADDTR              OCTOSPI_CCR_ADDTR_Msk                   /*!< Address Double Transfer Rate */
+#define OCTOSPI_CCR_ADSIZE_Pos         (12U)
+#define OCTOSPI_CCR_ADSIZE_Msk         (0x3UL << OCTOSPI_CCR_ADSIZE_Pos)        /*!< 0x00003000 */
+#define OCTOSPI_CCR_ADSIZE             OCTOSPI_CCR_ADSIZE_Msk                  /*!< Address Size */
+#define OCTOSPI_CCR_ADSIZE_0           (0x1UL << OCTOSPI_CCR_ADSIZE_Pos)        /*!< 0x00001000 */
+#define OCTOSPI_CCR_ADSIZE_1           (0x2UL << OCTOSPI_CCR_ADSIZE_Pos)        /*!< 0x00002000 */
+#define OCTOSPI_CCR_ABMODE_Pos         (16U)
+#define OCTOSPI_CCR_ABMODE_Msk         (0x7UL << OCTOSPI_CCR_ABMODE_Pos)        /*!< 0x00070000 */
+#define OCTOSPI_CCR_ABMODE             OCTOSPI_CCR_ABMODE_Msk                  /*!< Alternate Bytes Mode */
+#define OCTOSPI_CCR_ABMODE_0           (0x1UL << OCTOSPI_CCR_ABMODE_Pos)        /*!< 0x00010000 */
+#define OCTOSPI_CCR_ABMODE_1           (0x2UL << OCTOSPI_CCR_ABMODE_Pos)        /*!< 0x00020000 */
+#define OCTOSPI_CCR_ABMODE_2           (0x4UL << OCTOSPI_CCR_ABMODE_Pos)        /*!< 0x00040000 */
+#define OCTOSPI_CCR_ABDTR_Pos          (19U)
+#define OCTOSPI_CCR_ABDTR_Msk          (0x1UL << OCTOSPI_CCR_ABDTR_Pos)         /*!< 0x00080000 */
+#define OCTOSPI_CCR_ABDTR              OCTOSPI_CCR_ABDTR_Msk                   /*!< Alternate Bytes Double Transfer Rate */
+#define OCTOSPI_CCR_ABSIZE_Pos         (20U)
+#define OCTOSPI_CCR_ABSIZE_Msk         (0x3UL << OCTOSPI_CCR_ABSIZE_Pos)        /*!< 0x00300000 */
+#define OCTOSPI_CCR_ABSIZE             OCTOSPI_CCR_ABSIZE_Msk                  /*!< Alternate Bytes Size */
+#define OCTOSPI_CCR_ABSIZE_0           (0x1UL << OCTOSPI_CCR_ABSIZE_Pos)        /*!< 0x00100000 */
+#define OCTOSPI_CCR_ABSIZE_1           (0x2UL << OCTOSPI_CCR_ABSIZE_Pos)        /*!< 0x00200000 */
+#define OCTOSPI_CCR_DMODE_Pos          (24U)
+#define OCTOSPI_CCR_DMODE_Msk          (0x7UL << OCTOSPI_CCR_DMODE_Pos)         /*!< 0x07000000 */
+#define OCTOSPI_CCR_DMODE              OCTOSPI_CCR_DMODE_Msk                   /*!< Data Mode */
+#define OCTOSPI_CCR_DMODE_0            (0x1UL << OCTOSPI_CCR_DMODE_Pos)         /*!< 0x01000000 */
+#define OCTOSPI_CCR_DMODE_1            (0x2UL << OCTOSPI_CCR_DMODE_Pos)         /*!< 0x02000000 */
+#define OCTOSPI_CCR_DMODE_2            (0x4UL << OCTOSPI_CCR_DMODE_Pos)         /*!< 0x04000000 */
+#define OCTOSPI_CCR_DDTR_Pos           (27U)
+#define OCTOSPI_CCR_DDTR_Msk           (0x1UL << OCTOSPI_CCR_DDTR_Pos)          /*!< 0x08000000 */
+#define OCTOSPI_CCR_DDTR               OCTOSPI_CCR_DDTR_Msk                    /*!< Data Double Transfer Rate */
+#define OCTOSPI_CCR_DQSE_Pos           (29U)
+#define OCTOSPI_CCR_DQSE_Msk           (0x1UL << OCTOSPI_CCR_DQSE_Pos)          /*!< 0x20000000 */
+#define OCTOSPI_CCR_DQSE               OCTOSPI_CCR_DQSE_Msk                    /*!< DQS Enable */
+#define OCTOSPI_CCR_SIOO_Pos           (31U)
+#define OCTOSPI_CCR_SIOO_Msk           (0x1UL << OCTOSPI_CCR_SIOO_Pos)          /*!< 0x80000000 */
+#define OCTOSPI_CCR_SIOO               OCTOSPI_CCR_SIOO_Msk                    /*!< Send Instruction Only Once Mode */
+
+/****************  Bit definition for OCTOSPI_TCR register  *******************/
+#define OCTOSPI_TCR_DCYC_Pos           (0U)
+#define OCTOSPI_TCR_DCYC_Msk           (0x1FUL << OCTOSPI_TCR_DCYC_Pos)         /*!< 0x0000001F */
+#define OCTOSPI_TCR_DCYC               OCTOSPI_TCR_DCYC_Msk                    /*!< Number of Dummy Cycles */
+#define OCTOSPI_TCR_DHQC_Pos           (28U)
+#define OCTOSPI_TCR_DHQC_Msk           (0x1UL << OCTOSPI_TCR_DHQC_Pos)          /*!< 0x10000000 */
+#define OCTOSPI_TCR_DHQC               OCTOSPI_TCR_DHQC_Msk                    /*!< Delay Hold Quarter Cycle */
+#define OCTOSPI_TCR_SSHIFT_Pos         (30U)
+#define OCTOSPI_TCR_SSHIFT_Msk         (0x1UL << OCTOSPI_TCR_SSHIFT_Pos)        /*!< 0x40000000 */
+#define OCTOSPI_TCR_SSHIFT             OCTOSPI_TCR_SSHIFT_Msk                  /*!< Sample Shift */
+
+/*****************  Bit definition for OCTOSPI_IR register  *******************/
+#define OCTOSPI_IR_INSTRUCTION_Pos     (0U)
+#define OCTOSPI_IR_INSTRUCTION_Msk     (0xFFFFFFFFUL << OCTOSPI_IR_INSTRUCTION_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_IR_INSTRUCTION         OCTOSPI_IR_INSTRUCTION_Msk              /*!< Instruction */
+
+/****************  Bit definition for OCTOSPI_ABR register  *******************/
+#define OCTOSPI_ABR_ALTERNATE_Pos      (0U)
+#define OCTOSPI_ABR_ALTERNATE_Msk      (0xFFFFFFFFUL << OCTOSPI_ABR_ALTERNATE_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_ABR_ALTERNATE          OCTOSPI_ABR_ALTERNATE_Msk               /*!< Alternate Bytes */
+
+/****************  Bit definition for OCTOSPI_LPTR register  ******************/
+#define OCTOSPI_LPTR_TIMEOUT_Pos       (0U)
+#define OCTOSPI_LPTR_TIMEOUT_Msk       (0xFFFFUL << OCTOSPI_LPTR_TIMEOUT_Pos)   /*!< 0x0000FFFF */
+#define OCTOSPI_LPTR_TIMEOUT           OCTOSPI_LPTR_TIMEOUT_Msk                /*!< Timeout period */
+
+/****************  Bit definition for OCTOSPI_WPCCR register  *******************/
+#define OCTOSPI_WPCCR_IMODE_Pos        (0U)
+#define OCTOSPI_WPCCR_IMODE_Msk        (0x7UL << OCTOSPI_WPCCR_IMODE_Pos)       /*!< 0x00000007 */
+#define OCTOSPI_WPCCR_IMODE            OCTOSPI_WPCCR_IMODE_Msk                 /*!< Instruction Mode */
+#define OCTOSPI_WPCCR_IMODE_0          (0x1UL << OCTOSPI_WPCCR_IMODE_Pos)       /*!< 0x00000001 */
+#define OCTOSPI_WPCCR_IMODE_1          (0x2UL << OCTOSPI_WPCCR_IMODE_Pos)       /*!< 0x00000002 */
+#define OCTOSPI_WPCCR_IMODE_2          (0x4UL << OCTOSPI_WPCCR_IMODE_Pos)       /*!< 0x00000004 */
+#define OCTOSPI_WPCCR_IDTR_Pos         (3U)
+#define OCTOSPI_WPCCR_IDTR_Msk         (0x1UL << OCTOSPI_WPCCR_IDTR_Pos)        /*!< 0x00000008 */
+#define OCTOSPI_WPCCR_IDTR             OCTOSPI_WPCCR_IDTR_Msk                  /*!< Instruction Double Transfer Rate */
+#define OCTOSPI_WPCCR_ISIZE_Pos        (4U)
+#define OCTOSPI_WPCCR_ISIZE_Msk        (0x3UL << OCTOSPI_WPCCR_ISIZE_Pos)       /*!< 0x00000030 */
+#define OCTOSPI_WPCCR_ISIZE            OCTOSPI_WPCCR_ISIZE_Msk                 /*!< Instruction Size */
+#define OCTOSPI_WPCCR_ISIZE_0          (0x1UL << OCTOSPI_WPCCR_ISIZE_Pos)       /*!< 0x00000010 */
+#define OCTOSPI_WPCCR_ISIZE_1          (0x2UL << OCTOSPI_WPCCR_ISIZE_Pos)       /*!< 0x00000020 */
+#define OCTOSPI_WPCCR_ADMODE_Pos       (8U)
+#define OCTOSPI_WPCCR_ADMODE_Msk       (0x7UL << OCTOSPI_WPCCR_ADMODE_Pos)      /*!< 0x00000700 */
+#define OCTOSPI_WPCCR_ADMODE           OCTOSPI_WPCCR_ADMODE_Msk                /*!< Address Mode */
+#define OCTOSPI_WPCCR_ADMODE_0         (0x1UL << OCTOSPI_WPCCR_ADMODE_Pos)      /*!< 0x00000100 */
+#define OCTOSPI_WPCCR_ADMODE_1         (0x2UL << OCTOSPI_WPCCR_ADMODE_Pos)      /*!< 0x00000200 */
+#define OCTOSPI_WPCCR_ADMODE_2         (0x4UL << OCTOSPI_WPCCR_ADMODE_Pos)      /*!< 0x00000400 */
+#define OCTOSPI_WPCCR_ADDTR_Pos        (11U)
+#define OCTOSPI_WPCCR_ADDTR_Msk        (0x1UL << OCTOSPI_WPCCR_ADDTR_Pos)       /*!< 0x00000800 */
+#define OCTOSPI_WPCCR_ADDTR            OCTOSPI_WPCCR_ADDTR_Msk                 /*!< Address Double Transfer Rate */
+#define OCTOSPI_WPCCR_ADSIZE_Pos       (12U)
+#define OCTOSPI_WPCCR_ADSIZE_Msk       (0x3UL << OCTOSPI_WPCCR_ADSIZE_Pos)      /*!< 0x00003000 */
+#define OCTOSPI_WPCCR_ADSIZE           OCTOSPI_WPCCR_ADSIZE_Msk                /*!< Address Size */
+#define OCTOSPI_WPCCR_ADSIZE_0         (0x1UL << OCTOSPI_WPCCR_ADSIZE_Pos)      /*!< 0x00001000 */
+#define OCTOSPI_WPCCR_ADSIZE_1         (0x2UL << OCTOSPI_WPCCR_ADSIZE_Pos)      /*!< 0x00002000 */
+#define OCTOSPI_WPCCR_ABMODE_Pos       (16U)
+#define OCTOSPI_WPCCR_ABMODE_Msk       (0x7UL << OCTOSPI_WPCCR_ABMODE_Pos)      /*!< 0x00070000 */
+#define OCTOSPI_WPCCR_ABMODE           OCTOSPI_WPCCR_ABMODE_Msk                /*!< Alternate Bytes Mode */
+#define OCTOSPI_WPCCR_ABMODE_0         (0x1UL << OCTOSPI_WPCCR_ABMODE_Pos)      /*!< 0x00010000 */
+#define OCTOSPI_WPCCR_ABMODE_1         (0x2UL << OCTOSPI_WPCCR_ABMODE_Pos)      /*!< 0x00020000 */
+#define OCTOSPI_WPCCR_ABMODE_2         (0x4UL << OCTOSPI_WPCCR_ABMODE_Pos)      /*!< 0x00040000 */
+#define OCTOSPI_WPCCR_ABDTR_Pos        (19U)
+#define OCTOSPI_WPCCR_ABDTR_Msk        (0x1UL << OCTOSPI_WPCCR_ABDTR_Pos)       /*!< 0x00080000 */
+#define OCTOSPI_WPCCR_ABDTR            OCTOSPI_WPCCR_ABDTR_Msk                 /*!< Alternate Bytes Double Transfer Rate */
+#define OCTOSPI_WPCCR_ABSIZE_Pos       (20U)
+#define OCTOSPI_WPCCR_ABSIZE_Msk       (0x3UL << OCTOSPI_WPCCR_ABSIZE_Pos)      /*!< 0x00300000 */
+#define OCTOSPI_WPCCR_ABSIZE           OCTOSPI_WPCCR_ABSIZE_Msk                /*!< Alternate Bytes Size */
+#define OCTOSPI_WPCCR_ABSIZE_0         (0x1UL << OCTOSPI_WPCCR_ABSIZE_Pos)      /*!< 0x00100000 */
+#define OCTOSPI_WPCCR_ABSIZE_1         (0x2UL << OCTOSPI_WPCCR_ABSIZE_Pos)      /*!< 0x00200000 */
+#define OCTOSPI_WPCCR_DMODE_Pos        (24U)
+#define OCTOSPI_WPCCR_DMODE_Msk        (0x7UL << OCTOSPI_WPCCR_DMODE_Pos)       /*!< 0x07000000 */
+#define OCTOSPI_WPCCR_DMODE            OCTOSPI_WPCCR_DMODE_Msk                 /*!< Data Mode */
+#define OCTOSPI_WPCCR_DMODE_0          (0x1UL << OCTOSPI_WPCCR_DMODE_Pos)       /*!< 0x01000000 */
+#define OCTOSPI_WPCCR_DMODE_1          (0x2UL << OCTOSPI_WPCCR_DMODE_Pos)       /*!< 0x02000000 */
+#define OCTOSPI_WPCCR_DMODE_2          (0x4UL << OCTOSPI_WPCCR_DMODE_Pos)       /*!< 0x04000000 */
+#define OCTOSPI_WPCCR_DDTR_Pos         (27U)
+#define OCTOSPI_WPCCR_DDTR_Msk         (0x1UL << OCTOSPI_WPCCR_DDTR_Pos)        /*!< 0x08000000 */
+#define OCTOSPI_WPCCR_DDTR             OCTOSPI_WPCCR_DDTR_Msk                  /*!< Data Double Transfer Rate */
+#define OCTOSPI_WPCCR_DQSE_Pos         (29U)
+#define OCTOSPI_WPCCR_DQSE_Msk         (0x1UL << OCTOSPI_WPCCR_DQSE_Pos)        /*!< 0x20000000 */
+#define OCTOSPI_WPCCR_DQSE             OCTOSPI_WPCCR_DQSE_Msk                  /*!< DQS Enable */
+#define OCTOSPI_WPCCR_SIOO_Pos         (31U)
+#define OCTOSPI_WPCCR_SIOO_Msk         (0x1UL << OCTOSPI_WPCCR_SIOO_Pos)        /*!< 0x80000000 */
+#define OCTOSPI_WPCCR_SIOO             OCTOSPI_WPCCR_SIOO_Msk                  /*!< Send Instruction Only Once Mode */
+
+/****************  Bit definition for OCTOSPI_WPTCR register  *******************/
+#define OCTOSPI_WPTCR_DCYC_Pos         (0U)
+#define OCTOSPI_WPTCR_DCYC_Msk         (0x1FUL << OCTOSPI_WPTCR_DCYC_Pos)       /*!< 0x0000001F */
+#define OCTOSPI_WPTCR_DCYC             OCTOSPI_WPTCR_DCYC_Msk                  /*!< Number of Dummy Cycles */
+#define OCTOSPI_WPTCR_DHQC_Pos         (28U)
+#define OCTOSPI_WPTCR_DHQC_Msk         (0x1UL << OCTOSPI_WPTCR_DHQC_Pos)        /*!< 0x10000000 */
+#define OCTOSPI_WPTCR_DHQC             OCTOSPI_WPTCR_DHQC_Msk                  /*!< Delay Hold Quarter Cycle */
+#define OCTOSPI_WPTCR_SSHIFT_Pos       (30U)
+#define OCTOSPI_WPTCR_SSHIFT_Msk       (0x1UL << OCTOSPI_WPTCR_SSHIFT_Pos)      /*!< 0x40000000 */
+#define OCTOSPI_WPTCR_SSHIFT           OCTOSPI_WPTCR_SSHIFT_Msk                /*!< Sample Shift */
+
+/*****************  Bit definition for OCTOSPI_WPIR register  *******************/
+#define OCTOSPI_WPIR_INSTRUCTION_Pos   (0U)
+#define OCTOSPI_WPIR_INSTRUCTION_Msk   (0xFFFFFFFFUL << OCTOSPI_WPIR_INSTRUCTION_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_WPIR_INSTRUCTION       OCTOSPI_WPIR_INSTRUCTION_Msk            /*!< Instruction */
+
+/****************  Bit definition for OCTOSPI_WPABR register  *******************/
+#define OCTOSPI_WPABR_ALTERNATE_Pos    (0U)
+#define OCTOSPI_WPABR_ALTERNATE_Msk    (0xFFFFFFFFUL << OCTOSPI_WPABR_ALTERNATE_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_WPABR_ALTERNATE        OCTOSPI_WPABR_ALTERNATE_Msk             /*!< Alternate Bytes */
+
+/****************  Bit definition for OCTOSPI_WCCR register  ******************/
+#define OCTOSPI_WCCR_IMODE_Pos         (0U)
+#define OCTOSPI_WCCR_IMODE_Msk         (0x7UL << OCTOSPI_WCCR_IMODE_Pos)        /*!< 0x00000007 */
+#define OCTOSPI_WCCR_IMODE             OCTOSPI_WCCR_IMODE_Msk                  /*!< Instruction Mode */
+#define OCTOSPI_WCCR_IMODE_0           (0x1UL << OCTOSPI_WCCR_IMODE_Pos)        /*!< 0x00000001 */
+#define OCTOSPI_WCCR_IMODE_1           (0x2UL << OCTOSPI_WCCR_IMODE_Pos)        /*!< 0x00000002 */
+#define OCTOSPI_WCCR_IMODE_2           (0x4UL << OCTOSPI_WCCR_IMODE_Pos)        /*!< 0x00000004 */
+#define OCTOSPI_WCCR_IDTR_Pos          (3U)
+#define OCTOSPI_WCCR_IDTR_Msk          (0x1UL << OCTOSPI_WCCR_IDTR_Pos)         /*!< 0x00000008 */
+#define OCTOSPI_WCCR_IDTR              OCTOSPI_WCCR_IDTR_Msk                   /*!< Instruction Double Transfer Rate */
+#define OCTOSPI_WCCR_ISIZE_Pos         (4U)
+#define OCTOSPI_WCCR_ISIZE_Msk         (0x3UL << OCTOSPI_WCCR_ISIZE_Pos)        /*!< 0x00000030 */
+#define OCTOSPI_WCCR_ISIZE             OCTOSPI_WCCR_ISIZE_Msk                  /*!< Instruction Size */
+#define OCTOSPI_WCCR_ISIZE_0           (0x1UL << OCTOSPI_WCCR_ISIZE_Pos)        /*!< 0x00000010 */
+#define OCTOSPI_WCCR_ISIZE_1           (0x2UL << OCTOSPI_WCCR_ISIZE_Pos)        /*!< 0x00000020 */
+#define OCTOSPI_WCCR_ADMODE_Pos        (8U)
+#define OCTOSPI_WCCR_ADMODE_Msk        (0x7UL << OCTOSPI_WCCR_ADMODE_Pos)       /*!< 0x00000700 */
+#define OCTOSPI_WCCR_ADMODE            OCTOSPI_WCCR_ADMODE_Msk                 /*!< Address Mode */
+#define OCTOSPI_WCCR_ADMODE_0          (0x1UL << OCTOSPI_WCCR_ADMODE_Pos)       /*!< 0x00000100 */
+#define OCTOSPI_WCCR_ADMODE_1          (0x2UL << OCTOSPI_WCCR_ADMODE_Pos)       /*!< 0x00000200 */
+#define OCTOSPI_WCCR_ADMODE_2          (0x4UL << OCTOSPI_WCCR_ADMODE_Pos)       /*!< 0x00000400 */
+#define OCTOSPI_WCCR_ADDTR_Pos         (11U)
+#define OCTOSPI_WCCR_ADDTR_Msk         (0x1UL << OCTOSPI_WCCR_ADDTR_Pos)        /*!< 0x00000800 */
+#define OCTOSPI_WCCR_ADDTR             OCTOSPI_WCCR_ADDTR_Msk                  /*!< Address Double Transfer Rate */
+#define OCTOSPI_WCCR_ADSIZE_Pos        (12U)
+#define OCTOSPI_WCCR_ADSIZE_Msk        (0x3UL << OCTOSPI_WCCR_ADSIZE_Pos)       /*!< 0x00003000 */
+#define OCTOSPI_WCCR_ADSIZE            OCTOSPI_WCCR_ADSIZE_Msk                 /*!< Address Size */
+#define OCTOSPI_WCCR_ADSIZE_0          (0x1UL << OCTOSPI_WCCR_ADSIZE_Pos)       /*!< 0x00001000 */
+#define OCTOSPI_WCCR_ADSIZE_1          (0x2UL << OCTOSPI_WCCR_ADSIZE_Pos)       /*!< 0x00002000 */
+#define OCTOSPI_WCCR_ABMODE_Pos        (16U)
+#define OCTOSPI_WCCR_ABMODE_Msk        (0x7UL << OCTOSPI_WCCR_ABMODE_Pos)       /*!< 0x00070000 */
+#define OCTOSPI_WCCR_ABMODE            OCTOSPI_WCCR_ABMODE_Msk                 /*!< Alternate Bytes Mode */
+#define OCTOSPI_WCCR_ABMODE_0          (0x1UL << OCTOSPI_WCCR_ABMODE_Pos)       /*!< 0x00010000 */
+#define OCTOSPI_WCCR_ABMODE_1          (0x2UL << OCTOSPI_WCCR_ABMODE_Pos)       /*!< 0x00020000 */
+#define OCTOSPI_WCCR_ABMODE_2          (0x4UL << OCTOSPI_WCCR_ABMODE_Pos)       /*!< 0x00040000 */
+#define OCTOSPI_WCCR_ABDTR_Pos         (19U)
+#define OCTOSPI_WCCR_ABDTR_Msk         (0x1UL << OCTOSPI_WCCR_ABDTR_Pos)        /*!< 0x00080000 */
+#define OCTOSPI_WCCR_ABDTR             OCTOSPI_WCCR_ABDTR_Msk                  /*!< Alternate Bytes Double Transfer Rate */
+#define OCTOSPI_WCCR_ABSIZE_Pos        (20U)
+#define OCTOSPI_WCCR_ABSIZE_Msk        (0x3UL << OCTOSPI_WCCR_ABSIZE_Pos)       /*!< 0x00300000 */
+#define OCTOSPI_WCCR_ABSIZE            OCTOSPI_WCCR_ABSIZE_Msk                 /*!< Alternate Bytes Size */
+#define OCTOSPI_WCCR_ABSIZE_0          (0x1UL << OCTOSPI_WCCR_ABSIZE_Pos)       /*!< 0x00100000 */
+#define OCTOSPI_WCCR_ABSIZE_1          (0x2UL << OCTOSPI_WCCR_ABSIZE_Pos)       /*!< 0x00200000 */
+#define OCTOSPI_WCCR_DMODE_Pos         (24U)
+#define OCTOSPI_WCCR_DMODE_Msk         (0x7UL << OCTOSPI_WCCR_DMODE_Pos)        /*!< 0x07000000 */
+#define OCTOSPI_WCCR_DMODE             OCTOSPI_WCCR_DMODE_Msk                  /*!< Data Mode */
+#define OCTOSPI_WCCR_DMODE_0           (0x1UL << OCTOSPI_WCCR_DMODE_Pos)        /*!< 0x01000000 */
+#define OCTOSPI_WCCR_DMODE_1           (0x2UL << OCTOSPI_WCCR_DMODE_Pos)        /*!< 0x02000000 */
+#define OCTOSPI_WCCR_DMODE_2           (0x4UL << OCTOSPI_WCCR_DMODE_Pos)        /*!< 0x04000000 */
+#define OCTOSPI_WCCR_DDTR_Pos          (27U)
+#define OCTOSPI_WCCR_DDTR_Msk          (0x1UL << OCTOSPI_WCCR_DDTR_Pos)         /*!< 0x08000000 */
+#define OCTOSPI_WCCR_DDTR              OCTOSPI_WCCR_DDTR_Msk                   /*!< Data Double Transfer Rate */
+#define OCTOSPI_WCCR_DQSE_Pos          (29U)
+#define OCTOSPI_WCCR_DQSE_Msk          (0x1UL << OCTOSPI_WCCR_DQSE_Pos)         /*!< 0x20000000 */
+#define OCTOSPI_WCCR_DQSE              OCTOSPI_WCCR_DQSE_Msk                   /*!< DQS Enable */
+#define OCTOSPI_WCCR_SIOO_Pos          (31U)
+#define OCTOSPI_WCCR_SIOO_Msk          (0x1UL << OCTOSPI_WCCR_SIOO_Pos)         /*!< 0x80000000 */
+#define OCTOSPI_WCCR_SIOO              OCTOSPI_WCCR_SIOO_Msk                   /*!< Send Instruction Only Once Mode */
+
+/****************  Bit definition for OCTOSPI_WTCR register  ******************/
+#define OCTOSPI_WTCR_DCYC_Pos          (0U)
+#define OCTOSPI_WTCR_DCYC_Msk          (0x1FUL << OCTOSPI_WTCR_DCYC_Pos)        /*!< 0x0000001F */
+#define OCTOSPI_WTCR_DCYC              OCTOSPI_WTCR_DCYC_Msk                   /*!< Number of Dummy Cycles */
+
+/****************  Bit definition for OCTOSPI_WIR register  *******************/
+#define OCTOSPI_WIR_INSTRUCTION_Pos    (0U)
+#define OCTOSPI_WIR_INSTRUCTION_Msk    (0xFFFFFFFFUL << OCTOSPI_WIR_INSTRUCTION_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_WIR_INSTRUCTION        OCTOSPI_WIR_INSTRUCTION_Msk             /*!< Instruction */
+
+/****************  Bit definition for OCTOSPI_WABR register  ******************/
+#define OCTOSPI_WABR_ALTERNATE_Pos     (0U)
+#define OCTOSPI_WABR_ALTERNATE_Msk     (0xFFFFFFFFUL << OCTOSPI_WABR_ALTERNATE_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_WABR_ALTERNATE         OCTOSPI_WABR_ALTERNATE_Msk              /*!< Alternate Bytes */
+
+/****************  Bit definition for OCTOSPI_HLCR register  ******************/
+#define OCTOSPI_HLCR_LM_Pos            (0U)
+#define OCTOSPI_HLCR_LM_Msk            (0x1UL << OCTOSPI_HLCR_LM_Pos)           /*!< 0x00000001 */
+#define OCTOSPI_HLCR_LM                OCTOSPI_HLCR_LM_Msk                     /*!< Latency Mode */
+#define OCTOSPI_HLCR_WZL_Pos           (1U)
+#define OCTOSPI_HLCR_WZL_Msk           (0x1UL << OCTOSPI_HLCR_WZL_Pos)          /*!< 0x00000002 */
+#define OCTOSPI_HLCR_WZL               OCTOSPI_HLCR_WZL_Msk                    /*!< Write Zero Latency */
+#define OCTOSPI_HLCR_TACC_Pos          (8U)
+#define OCTOSPI_HLCR_TACC_Msk          (0xFFUL << OCTOSPI_HLCR_TACC_Pos)        /*!< 0x0000FF00 */
+#define OCTOSPI_HLCR_TACC              OCTOSPI_HLCR_TACC_Msk                   /*!< Access Time */
+#define OCTOSPI_HLCR_TRWR_Pos          (16U)
+#define OCTOSPI_HLCR_TRWR_Msk          (0xFFUL << OCTOSPI_HLCR_TRWR_Pos)        /*!< 0x00FF0000 */
+#define OCTOSPI_HLCR_TRWR              OCTOSPI_HLCR_TRWR_Msk                   /*!< Read Write Recovery Time */
+
+/****************  Bit definition for OCTOSPI_VER register  *******************/
+#define OCTOSPI_VER_VER_Pos            (0U)
+#define OCTOSPI_VER_VER_Msk            (0xFFUL << OCTOSPI_VER_VER_Pos)          /*!< 0x000000FF */
+#define OCTOSPI_VER_VER                OCTOSPI_VER_VER_Msk                     /*!< Version */
+
+/*****************  Bit definition for OCTOSPI_ID register  *******************/
+#define OCTOSPI_ID_ID_Pos              (0U)
+#define OCTOSPI_ID_ID_Msk              (0xFFFFFFFFUL << OCTOSPI_ID_ID_Pos)      /*!< 0xFFFFFFFF */
+#define OCTOSPI_ID_ID                  OCTOSPI_ID_ID_Msk                       /*!< Identification */
+
+/****************  Bit definition for OCTOSPI_MID register  *******************/
+#define OCTOSPI_MID_MID_Pos            (0U)
+#define OCTOSPI_MID_MID_Msk            (0xFFFFFFFFUL << OCTOSPI_MID_MID_Pos)    /*!< 0xFFFFFFFF */
+#define OCTOSPI_MID_MID                OCTOSPI_MID_MID_Msk                     /*!< Magic ID */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                  OCTOSPIM                                  */
+/*                                                                            */
+/******************************************************************************/
+
+/***************  Bit definition for OCTOSPIM_CR register  ********************/
+#define OCTOSPIM_CR_MUXEN_Pos          (0U)
+#define OCTOSPIM_CR_MUXEN_Msk          (0x1UL << OCTOSPIM_CR_MUXEN_Pos)        /*!< 0x00000001 */
+#define OCTOSPIM_CR_MUXEN              OCTOSPIM_CR_MUXEN_Msk                   /*!< Multiplexed mode enable */
+#define OCTOSPIM_CR_REQ2ACK_TIME_Pos   (16U)
+#define OCTOSPIM_CR_REQ2ACK_TIME_Msk   (0xFFUL << OCTOSPIM_CR_REQ2ACK_TIME_Pos)/*!< 0x00FF0000 */
+#define OCTOSPIM_CR_REQ2ACK_TIME       OCTOSPIM_CR_REQ2ACK_TIME_Msk            /*!< REQ to ACK time */
+
+/***************  Bit definition for OCTOSPIM_PCR register  *******************/
+#define OCTOSPIM_PCR_CLKEN_Pos         (0U)
+#define OCTOSPIM_PCR_CLKEN_Msk         (0x1UL << OCTOSPIM_PCR_CLKEN_Pos)        /*!< 0x00000001 */
+#define OCTOSPIM_PCR_CLKEN             OCTOSPIM_PCR_CLKEN_Msk                   /*!< CLK/CLKn Enable for Port n */
+#define OCTOSPIM_PCR_CLKSRC_Pos        (1U)
+#define OCTOSPIM_PCR_CLKSRC_Msk        (0x1UL << OCTOSPIM_PCR_CLKSRC_Pos)       /*!< 0x00000002 */
+#define OCTOSPIM_PCR_CLKSRC            OCTOSPIM_PCR_CLKSRC_Msk                  /*!< CLK/CLKn Source for Port n */
+#define OCTOSPIM_PCR_DQSEN_Pos         (4U)
+#define OCTOSPIM_PCR_DQSEN_Msk         (0x1UL << OCTOSPIM_PCR_DQSEN_Pos)        /*!< 0x00000010 */
+#define OCTOSPIM_PCR_DQSEN             OCTOSPIM_PCR_DQSEN_Msk                   /*!< DQS Enable for Port n */
+#define OCTOSPIM_PCR_DQSSRC_Pos        (5U)
+#define OCTOSPIM_PCR_DQSSRC_Msk        (0x1UL << OCTOSPIM_PCR_DQSSRC_Pos)       /*!< 0x00000020 */
+#define OCTOSPIM_PCR_DQSSRC            OCTOSPIM_PCR_DQSSRC_Msk                  /*!< DQS Source for Port n */
+#define OCTOSPIM_PCR_NCSEN_Pos         (8U)
+#define OCTOSPIM_PCR_NCSEN_Msk         (0x1UL << OCTOSPIM_PCR_NCSEN_Pos)        /*!< 0x00000100 */
+#define OCTOSPIM_PCR_NCSEN             OCTOSPIM_PCR_NCSEN_Msk                   /*!< nCS Enable for Port n */
+#define OCTOSPIM_PCR_NCSSRC_Pos        (9U)
+#define OCTOSPIM_PCR_NCSSRC_Msk        (0x1UL << OCTOSPIM_PCR_NCSSRC_Pos)       /*!< 0x00000200 */
+#define OCTOSPIM_PCR_NCSSRC            OCTOSPIM_PCR_NCSSRC_Msk                  /*!< nCS Source for Port n */
+#define OCTOSPIM_PCR_IOLEN_Pos         (16U)
+#define OCTOSPIM_PCR_IOLEN_Msk         (0x1UL << OCTOSPIM_PCR_IOLEN_Pos)        /*!< 0x00010000 */
+#define OCTOSPIM_PCR_IOLEN             OCTOSPIM_PCR_IOLEN_Msk                   /*!< IO[3:0] Enable for Port n */
+#define OCTOSPIM_PCR_IOLSRC_Pos        (17U)
+#define OCTOSPIM_PCR_IOLSRC_Msk        (0x3UL << OCTOSPIM_PCR_IOLSRC_Pos)       /*!< 0x00060000 */
+#define OCTOSPIM_PCR_IOLSRC            OCTOSPIM_PCR_IOLSRC_Msk                  /*!< IO[3:0] Source for Port n */
+#define OCTOSPIM_PCR_IOLSRC_0          (0x1UL << OCTOSPIM_PCR_IOLSRC_Pos)       /*!< 0x00020000 */
+#define OCTOSPIM_PCR_IOLSRC_1          (0x2UL << OCTOSPIM_PCR_IOLSRC_Pos)       /*!< 0x00040000 */
+#define OCTOSPIM_PCR_IOHEN_Pos         (24U)
+#define OCTOSPIM_PCR_IOHEN_Msk         (0x1UL << OCTOSPIM_PCR_IOHEN_Pos)        /*!< 0x01000000 */
+#define OCTOSPIM_PCR_IOHEN             OCTOSPIM_PCR_IOHEN_Msk                   /*!< IO[7:4] Enable for Port n */
+#define OCTOSPIM_PCR_IOHSRC_Pos        (25U)
+#define OCTOSPIM_PCR_IOHSRC_Msk        (0x3UL << OCTOSPIM_PCR_IOHSRC_Pos)       /*!< 0x06000000 */
+#define OCTOSPIM_PCR_IOHSRC            OCTOSPIM_PCR_IOHSRC_Msk                  /*!< IO[7:4] Source for Port n */
+#define OCTOSPIM_PCR_IOHSRC_0          (0x1UL << OCTOSPIM_PCR_IOHSRC_Pos)       /*!< 0x02000000 */
+#define OCTOSPIM_PCR_IOHSRC_1          (0x2UL << OCTOSPIM_PCR_IOHSRC_Pos)       /*!< 0x04000000 */
+/******************************************************************************/
+/*                                                                            */
+/*                      Analog Comparators (COMP)                             */
+/*                                                                            */
+/******************************************************************************/
+
+/*******************  Bit definition for COMP_SR register  ********************/
+#define COMP_SR_C1VAL_Pos            (0U)
+#define COMP_SR_C1VAL_Msk            (0x1UL << COMP_SR_C1VAL_Pos)              /*!< 0x00000001 */
+#define COMP_SR_C1VAL                COMP_SR_C1VAL_Msk
+#define COMP_SR_C2VAL_Pos            (1U)
+#define COMP_SR_C2VAL_Msk            (0x1UL << COMP_SR_C2VAL_Pos)              /*!< 0x00000002 */
+#define COMP_SR_C2VAL                COMP_SR_C2VAL_Msk
+#define COMP_SR_C1IF_Pos             (16U)
+#define COMP_SR_C1IF_Msk             (0x1UL << COMP_SR_C1IF_Pos)               /*!< 0x00010000 */
+#define COMP_SR_C1IF                 COMP_SR_C1IF_Msk
+#define COMP_SR_C2IF_Pos             (17U)
+#define COMP_SR_C2IF_Msk             (0x1UL << COMP_SR_C2IF_Pos)               /*!< 0x00020000 */
+#define COMP_SR_C2IF                 COMP_SR_C2IF_Msk
+/*******************  Bit definition for COMP_ICFR register  ********************/
+#define COMP_ICFR_C1IF_Pos           (16U)
+#define COMP_ICFR_C1IF_Msk           (0x1UL << COMP_ICFR_C1IF_Pos)             /*!< 0x00010000 */
+#define COMP_ICFR_C1IF               COMP_ICFR_C1IF_Msk
+#define COMP_ICFR_C2IF_Pos           (17U)
+#define COMP_ICFR_C2IF_Msk           (0x1UL << COMP_ICFR_C2IF_Pos)             /*!< 0x00020000 */
+#define COMP_ICFR_C2IF               COMP_ICFR_C2IF_Msk
+/*******************  Bit definition for COMP_OR register  ********************/
+#define COMP_OR_AFOPA6_Pos           (0U)
+#define COMP_OR_AFOPA6_Msk           (0x1UL << COMP_OR_AFOPA6_Pos)             /*!< 0x00000001 */
+#define COMP_OR_AFOPA6               COMP_OR_AFOPA6_Msk
+#define COMP_OR_AFOPA8_Pos           (1U)
+#define COMP_OR_AFOPA8_Msk           (0x1UL << COMP_OR_AFOPA8_Pos)             /*!< 0x00000002 */
+#define COMP_OR_AFOPA8               COMP_OR_AFOPA8_Msk
+#define COMP_OR_AFOPB12_Pos          (2U)
+#define COMP_OR_AFOPB12_Msk          (0x1UL << COMP_OR_AFOPB12_Pos)            /*!< 0x00000004 */
+#define COMP_OR_AFOPB12              COMP_OR_AFOPB12_Msk
+#define COMP_OR_AFOPE6_Pos           (3U)
+#define COMP_OR_AFOPE6_Msk           (0x1UL << COMP_OR_AFOPE6_Pos)             /*!< 0x00000008 */
+#define COMP_OR_AFOPE6               COMP_OR_AFOPE6_Msk
+#define COMP_OR_AFOPE15_Pos          (4U)
+#define COMP_OR_AFOPE15_Msk          (0x1UL << COMP_OR_AFOPE15_Pos)            /*!< 0x00000010 */
+#define COMP_OR_AFOPE15              COMP_OR_AFOPE15_Msk
+#define COMP_OR_AFOPG2_Pos           (5U)
+#define COMP_OR_AFOPG2_Msk           (0x1UL << COMP_OR_AFOPG2_Pos)             /*!< 0x00000020 */
+#define COMP_OR_AFOPG2               COMP_OR_AFOPG2_Msk
+#define COMP_OR_AFOPG3_Pos           (6U)
+#define COMP_OR_AFOPG3_Msk           (0x1UL << COMP_OR_AFOPG3_Pos)             /*!< 0x00000040 */
+#define COMP_OR_AFOPG3               COMP_OR_AFOPG3_Msk
+#define COMP_OR_AFOPG4_Pos           (7U)
+#define COMP_OR_AFOPG4_Msk           (0x1UL << COMP_OR_AFOPG4_Pos)             /*!< 0x00000080 */
+#define COMP_OR_AFOPG4               COMP_OR_AFOPG4_Msk
+#define COMP_OR_AFOPI1_Pos           (8U)
+#define COMP_OR_AFOPI1_Msk           (0x1UL << COMP_OR_AFOPI1_Pos)             /*!< 0x00000100 */
+#define COMP_OR_AFOPI1               COMP_OR_AFOPI1_Msk
+#define COMP_OR_AFOPI4_Pos           (9U)
+#define COMP_OR_AFOPI4_Msk           (0x1UL << COMP_OR_AFOPI4_Pos)             /*!< 0x00000200 */
+#define COMP_OR_AFOPI4               COMP_OR_AFOPI4_Msk
+#define COMP_OR_AFOPK2_Pos           (10U)
+#define COMP_OR_AFOPK2_Msk           (0x1UL << COMP_OR_AFOPK2_Pos)             /*!< 0x00000400 */
+#define COMP_OR_AFOPK2               COMP_OR_AFOPK2_Msk
+
+/*!< ******************  Bit definition for COMP_CFGRx register  ********************/
+#define COMP_CFGRx_EN_Pos            (0U)
+#define COMP_CFGRx_EN_Msk            (0x1UL << COMP_CFGRx_EN_Pos)              /*!< 0x00000001 */
+#define COMP_CFGRx_EN                COMP_CFGRx_EN_Msk                         /*!< COMPx enable bit                     */
+#define COMP_CFGRx_BRGEN_Pos         (1U)
+#define COMP_CFGRx_BRGEN_Msk         (0x1UL << COMP_CFGRx_BRGEN_Pos)           /*!< 0x00000002 */
+#define COMP_CFGRx_BRGEN             COMP_CFGRx_BRGEN_Msk                      /*!< COMPx Scaler bridge enable           */
+#define COMP_CFGRx_SCALEN_Pos        (2U)
+#define COMP_CFGRx_SCALEN_Msk        (0x1UL << COMP_CFGRx_SCALEN_Pos)          /*!< 0x00000004 */
+#define COMP_CFGRx_SCALEN            COMP_CFGRx_SCALEN_Msk                     /*!< COMPx Voltage scaler enable bit      */
+#define COMP_CFGRx_POLARITY_Pos      (3U)
+#define COMP_CFGRx_POLARITY_Msk      (0x1UL << COMP_CFGRx_POLARITY_Pos)        /*!< 0x00000008 */
+#define COMP_CFGRx_POLARITY          COMP_CFGRx_POLARITY_Msk                   /*!< COMPx  polarity selection bit        */
+#define COMP_CFGRx_WINMODE_Pos       (4U)
+#define COMP_CFGRx_WINMODE_Msk       (0x1UL << COMP_CFGRx_WINMODE_Pos)         /*!< 0x00000010 */
+#define COMP_CFGRx_WINMODE           COMP_CFGRx_WINMODE_Msk                    /*!< COMPx Windows mode selection bit     */
+#define COMP_CFGRx_ITEN_Pos          (6U)
+#define COMP_CFGRx_ITEN_Msk          (0x1UL << COMP_CFGRx_ITEN_Pos)            /*!< 0x00000040 */
+#define COMP_CFGRx_ITEN              COMP_CFGRx_ITEN_Msk                       /*!< COMPx  interrupt enable              */
+#define COMP_CFGRx_HYST_Pos          (8U)
+#define COMP_CFGRx_HYST_Msk          (0x3UL << COMP_CFGRx_HYST_Pos)            /*!< 0x00000300 */
+#define COMP_CFGRx_HYST              COMP_CFGRx_HYST_Msk                       /*!< COMPx  hysteresis selection bits     */
+#define COMP_CFGRx_HYST_0            (0x1UL << COMP_CFGRx_HYST_Pos)             /*!< 0x00000100 */
+#define COMP_CFGRx_HYST_1            (0x2UL << COMP_CFGRx_HYST_Pos)             /*!< 0x00000200 */
+#define COMP_CFGRx_PWRMODE_Pos       (12U)
+#define COMP_CFGRx_PWRMODE_Msk       (0x3UL << COMP_CFGRx_PWRMODE_Pos)         /*!< 0x00003000 */
+#define COMP_CFGRx_PWRMODE           COMP_CFGRx_PWRMODE_Msk                    /*!< COMPx Power Mode of the comparator   */
+#define COMP_CFGRx_PWRMODE_0         (0x1UL << COMP_CFGRx_PWRMODE_Pos)          /*!< 0x00001000 */
+#define COMP_CFGRx_PWRMODE_1         (0x2UL << COMP_CFGRx_PWRMODE_Pos)          /*!< 0x00002000 */
+#define COMP_CFGRx_INMSEL_Pos        (16U)
+#define COMP_CFGRx_INMSEL_Msk        (0x7UL << COMP_CFGRx_INMSEL_Pos)          /*!< 0x00070000 */
+#define COMP_CFGRx_INMSEL            COMP_CFGRx_INMSEL_Msk                     /*!< COMPx  input minus selection bit  */
+#define COMP_CFGRx_INMSEL_0          (0x1UL << COMP_CFGRx_INMSEL_Pos)           /*!< 0x00010000 */
+#define COMP_CFGRx_INMSEL_1          (0x2UL << COMP_CFGRx_INMSEL_Pos)           /*!< 0x00020000 */
+#define COMP_CFGRx_INMSEL_2          (0x4UL << COMP_CFGRx_INMSEL_Pos)           /*!< 0x00040000 */
+#define COMP_CFGRx_INPSEL_Pos        (20U)
+#define COMP_CFGRx_INPSEL_Msk        (0x1UL << COMP_CFGRx_INPSEL_Pos)          /*!< 0x00100000 */
+#define COMP_CFGRx_INPSEL            COMP_CFGRx_INPSEL_Msk                     /*!< COMPx  input plus selection bit       */
+#define COMP_CFGRx_BLANKING_Pos      (24U)
+#define COMP_CFGRx_BLANKING_Msk      (0xFUL << COMP_CFGRx_BLANKING_Pos)        /*!< 0x0F000000 */
+#define COMP_CFGRx_BLANKING          COMP_CFGRx_BLANKING_Msk                   /*!< COMPx  blanking source selection bits */
+#define COMP_CFGRx_BLANKING_0        (0x1UL << COMP_CFGRx_BLANKING_Pos)         /*!< 0x01000000 */
+#define COMP_CFGRx_BLANKING_1        (0x2UL << COMP_CFGRx_BLANKING_Pos)         /*!< 0x02000000 */
+#define COMP_CFGRx_BLANKING_2        (0x4UL << COMP_CFGRx_BLANKING_Pos)         /*!< 0x04000000 */
+#define COMP_CFGRx_LOCK_Pos          (31U)
+#define COMP_CFGRx_LOCK_Msk          (0x1UL << COMP_CFGRx_LOCK_Pos)            /*!< 0x80000000 */
+#define COMP_CFGRx_LOCK              COMP_CFGRx_LOCK_Msk                       /*!< COMPx Lock Bit                        */
+
+
+/******************************************************************************/
+/*                                                                            */
+/*      Universal Synchronous Asynchronous Receiver Transmitter (USART)       */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for USART_CR1 register  *******************/
+#define USART_CR1_UE_Pos                (0U)
+#define USART_CR1_UE_Msk                (0x1UL << USART_CR1_UE_Pos)            /*!< 0x00000001 */
+#define USART_CR1_UE                    USART_CR1_UE_Msk                       /*!< USART Enable */
+#define USART_CR1_UESM_Pos              (1U)
+#define USART_CR1_UESM_Msk              (0x1UL << USART_CR1_UESM_Pos)          /*!< 0x00000002 */
+#define USART_CR1_UESM                  USART_CR1_UESM_Msk                     /*!< USART Enable in STOP Mode */
+#define USART_CR1_RE_Pos                (2U)
+#define USART_CR1_RE_Msk                (0x1UL << USART_CR1_RE_Pos)            /*!< 0x00000004 */
+#define USART_CR1_RE                    USART_CR1_RE_Msk                       /*!< Receiver Enable */
+#define USART_CR1_TE_Pos                (3U)
+#define USART_CR1_TE_Msk                (0x1UL << USART_CR1_TE_Pos)            /*!< 0x00000008 */
+#define USART_CR1_TE                    USART_CR1_TE_Msk                       /*!< Transmitter Enable */
+#define USART_CR1_IDLEIE_Pos            (4U)
+#define USART_CR1_IDLEIE_Msk            (0x1UL << USART_CR1_IDLEIE_Pos)        /*!< 0x00000010 */
+#define USART_CR1_IDLEIE                USART_CR1_IDLEIE_Msk                   /*!< IDLE Interrupt Enable */
+#define USART_CR1_RXNEIE_RXFNEIE_Pos    (5U)
+#define USART_CR1_RXNEIE_RXFNEIE_Msk    (0x1UL << USART_CR1_RXNEIE_RXFNEIE_Pos) /*!< 0x00000020 */
+#define USART_CR1_RXNEIE_RXFNEIE        USART_CR1_RXNEIE_RXFNEIE_Msk           /*!< RXNE and RX FIFO Not Empty Interrupt Enable */
+#define USART_CR1_TCIE_Pos              (6U)
+#define USART_CR1_TCIE_Msk              (0x1UL << USART_CR1_TCIE_Pos)          /*!< 0x00000040 */
+#define USART_CR1_TCIE                  USART_CR1_TCIE_Msk                     /*!< Transmission Complete Interrupt Enable */
+#define USART_CR1_TXEIE_TXFNFIE_Pos     (7U)
+#define USART_CR1_TXEIE_TXFNFIE_Msk     (0x1UL << USART_CR1_TXEIE_TXFNFIE_Pos) /*!< 0x00000080 */
+#define USART_CR1_TXEIE_TXFNFIE         USART_CR1_TXEIE_TXFNFIE_Msk            /*!< TXE and TX FIFO Not Full Interrupt Enable */
+#define USART_CR1_PEIE_Pos              (8U)
+#define USART_CR1_PEIE_Msk              (0x1UL << USART_CR1_PEIE_Pos)          /*!< 0x00000100 */
+#define USART_CR1_PEIE                  USART_CR1_PEIE_Msk                     /*!< PE Interrupt Enable */
+#define USART_CR1_PS_Pos                (9U)
+#define USART_CR1_PS_Msk                (0x1UL << USART_CR1_PS_Pos)            /*!< 0x00000200 */
+#define USART_CR1_PS                    USART_CR1_PS_Msk                       /*!< Parity Selection */
+#define USART_CR1_PCE_Pos               (10U)
+#define USART_CR1_PCE_Msk               (0x1UL << USART_CR1_PCE_Pos)           /*!< 0x00000400 */
+#define USART_CR1_PCE                   USART_CR1_PCE_Msk                      /*!< Parity Control Enable */
+#define USART_CR1_WAKE_Pos              (11U)
+#define USART_CR1_WAKE_Msk              (0x1UL << USART_CR1_WAKE_Pos)          /*!< 0x00000800 */
+#define USART_CR1_WAKE                  USART_CR1_WAKE_Msk                     /*!< Receiver Wakeup method */
+#define USART_CR1_M_Pos                 (12U)
+#define USART_CR1_M_Msk                 (0x10001UL << USART_CR1_M_Pos)         /*!< 0x10001000 */
+#define USART_CR1_M                     USART_CR1_M_Msk                        /*!< Word length */
+#define USART_CR1_M0_Pos                (12U)
+#define USART_CR1_M0_Msk                (0x1UL << USART_CR1_M0_Pos)            /*!< 0x00001000 */
+#define USART_CR1_M0                    USART_CR1_M0_Msk                       /*!< Word length - Bit 0 */
+#define USART_CR1_MME_Pos               (13U)
+#define USART_CR1_MME_Msk               (0x1UL << USART_CR1_MME_Pos)           /*!< 0x00002000 */
+#define USART_CR1_MME                   USART_CR1_MME_Msk                      /*!< Mute Mode Enable */
+#define USART_CR1_CMIE_Pos              (14U)
+#define USART_CR1_CMIE_Msk              (0x1UL << USART_CR1_CMIE_Pos)          /*!< 0x00004000 */
+#define USART_CR1_CMIE                  USART_CR1_CMIE_Msk                     /*!< Character match interrupt enable */
+#define USART_CR1_OVER8_Pos             (15U)
+#define USART_CR1_OVER8_Msk             (0x1UL << USART_CR1_OVER8_Pos)         /*!< 0x00008000 */
+#define USART_CR1_OVER8                 USART_CR1_OVER8_Msk                    /*!< Oversampling by 8-bit or 16-bit mode */
+#define USART_CR1_DEDT_Pos              (16U)
+#define USART_CR1_DEDT_Msk              (0x1FUL << USART_CR1_DEDT_Pos)         /*!< 0x001F0000 */
+#define USART_CR1_DEDT                  USART_CR1_DEDT_Msk                     /*!< DEDT[4:0] bits (Driver Enable Deassertion Time) */
+#define USART_CR1_DEDT_0                (0x01UL << USART_CR1_DEDT_Pos)          /*!< 0x00010000 */
+#define USART_CR1_DEDT_1                (0x02UL << USART_CR1_DEDT_Pos)          /*!< 0x00020000 */
+#define USART_CR1_DEDT_2                (0x04UL << USART_CR1_DEDT_Pos)          /*!< 0x00040000 */
+#define USART_CR1_DEDT_3                (0x08UL << USART_CR1_DEDT_Pos)          /*!< 0x00080000 */
+#define USART_CR1_DEDT_4                (0x10UL << USART_CR1_DEDT_Pos)          /*!< 0x00100000 */
+#define USART_CR1_DEAT_Pos              (21U)
+#define USART_CR1_DEAT_Msk              (0x1FUL << USART_CR1_DEAT_Pos)         /*!< 0x03E00000 */
+#define USART_CR1_DEAT                  USART_CR1_DEAT_Msk                     /*!< DEAT[4:0] bits (Driver Enable Assertion Time) */
+#define USART_CR1_DEAT_0                (0x01UL << USART_CR1_DEAT_Pos)          /*!< 0x00200000 */
+#define USART_CR1_DEAT_1                (0x02UL << USART_CR1_DEAT_Pos)          /*!< 0x00400000 */
+#define USART_CR1_DEAT_2                (0x04UL << USART_CR1_DEAT_Pos)          /*!< 0x00800000 */
+#define USART_CR1_DEAT_3                (0x08UL << USART_CR1_DEAT_Pos)          /*!< 0x01000000 */
+#define USART_CR1_DEAT_4                (0x10UL << USART_CR1_DEAT_Pos)          /*!< 0x02000000 */
+#define USART_CR1_RTOIE_Pos             (26U)
+#define USART_CR1_RTOIE_Msk             (0x1UL << USART_CR1_RTOIE_Pos)         /*!< 0x04000000 */
+#define USART_CR1_RTOIE                 USART_CR1_RTOIE_Msk                    /*!< Receive Time Out interrupt enable */
+#define USART_CR1_EOBIE_Pos             (27U)
+#define USART_CR1_EOBIE_Msk             (0x1UL << USART_CR1_EOBIE_Pos)         /*!< 0x08000000 */
+#define USART_CR1_EOBIE                 USART_CR1_EOBIE_Msk                    /*!< End of Block interrupt enable */
+#define USART_CR1_M1_Pos                (28U)
+#define USART_CR1_M1_Msk                (0x1UL << USART_CR1_M1_Pos)            /*!< 0x10000000 */
+#define USART_CR1_M1                    USART_CR1_M1_Msk                       /*!< Word length - Bit 1 */
+#define USART_CR1_FIFOEN_Pos            (29U)
+#define USART_CR1_FIFOEN_Msk            (0x1UL << USART_CR1_FIFOEN_Pos)        /*!< 0x20000000 */
+#define USART_CR1_FIFOEN                USART_CR1_FIFOEN_Msk                   /*!< FIFO mode enable */
+#define USART_CR1_TXFEIE_Pos            (30U)
+#define USART_CR1_TXFEIE_Msk            (0x1UL << USART_CR1_TXFEIE_Pos)        /*!< 0x40000000 */
+#define USART_CR1_TXFEIE                USART_CR1_TXFEIE_Msk                   /*!< TXFIFO empty interrupt enable */
+#define USART_CR1_RXFFIE_Pos            (31U)
+#define USART_CR1_RXFFIE_Msk            (0x1UL << USART_CR1_RXFFIE_Pos)        /*!< 0x80000000 */
+#define USART_CR1_RXFFIE                USART_CR1_RXFFIE_Msk                   /*!< RXFIFO Full interrupt enable */
+
+/* Legacy define */
+#define  USART_CR1_RXNEIE  USART_CR1_RXNEIE_RXFNEIE
+#define  USART_CR1_TXEIE   USART_CR1_TXEIE_TXFNFIE
+
+/******************  Bit definition for USART_CR2 register  *******************/
+#define USART_CR2_SLVEN_Pos             (0U)
+#define USART_CR2_SLVEN_Msk             (0x1UL << USART_CR2_SLVEN_Pos)         /*!< 0x00000001 */
+#define USART_CR2_SLVEN                 USART_CR2_SLVEN_Msk                    /*!< Synchronous Slave mode Enable */
+#define USART_CR2_DIS_NSS_Pos           (3U)
+#define USART_CR2_DIS_NSS_Msk           (0x1UL << USART_CR2_DIS_NSS_Pos)       /*!< 0x00000008 */
+#define USART_CR2_DIS_NSS               USART_CR2_DIS_NSS_Msk                  /*!< Negative Slave Select (NSS) pin management */
+#define USART_CR2_ADDM7_Pos             (4U)
+#define USART_CR2_ADDM7_Msk             (0x1UL << USART_CR2_ADDM7_Pos)         /*!< 0x00000010 */
+#define USART_CR2_ADDM7                 USART_CR2_ADDM7_Msk                    /*!< 7-bit or 4-bit Address Detection */
+#define USART_CR2_LBDL_Pos              (5U)
+#define USART_CR2_LBDL_Msk              (0x1UL << USART_CR2_LBDL_Pos)          /*!< 0x00000020 */
+#define USART_CR2_LBDL                  USART_CR2_LBDL_Msk                     /*!< LIN Break Detection Length */
+#define USART_CR2_LBDIE_Pos             (6U)
+#define USART_CR2_LBDIE_Msk             (0x1UL << USART_CR2_LBDIE_Pos)         /*!< 0x00000040 */
+#define USART_CR2_LBDIE                 USART_CR2_LBDIE_Msk                    /*!< LIN Break Detection Interrupt Enable */
+#define USART_CR2_LBCL_Pos              (8U)
+#define USART_CR2_LBCL_Msk              (0x1UL << USART_CR2_LBCL_Pos)          /*!< 0x00000100 */
+#define USART_CR2_LBCL                  USART_CR2_LBCL_Msk                     /*!< Last Bit Clock pulse */
+#define USART_CR2_CPHA_Pos              (9U)
+#define USART_CR2_CPHA_Msk              (0x1UL << USART_CR2_CPHA_Pos)          /*!< 0x00000200 */
+#define USART_CR2_CPHA                  USART_CR2_CPHA_Msk                     /*!< Clock Phase */
+#define USART_CR2_CPOL_Pos              (10U)
+#define USART_CR2_CPOL_Msk              (0x1UL << USART_CR2_CPOL_Pos)          /*!< 0x00000400 */
+#define USART_CR2_CPOL                  USART_CR2_CPOL_Msk                     /*!< Clock Polarity */
+#define USART_CR2_CLKEN_Pos             (11U)
+#define USART_CR2_CLKEN_Msk             (0x1UL << USART_CR2_CLKEN_Pos)         /*!< 0x00000800 */
+#define USART_CR2_CLKEN                 USART_CR2_CLKEN_Msk                    /*!< Clock Enable */
+#define USART_CR2_STOP_Pos              (12U)
+#define USART_CR2_STOP_Msk              (0x3UL << USART_CR2_STOP_Pos)          /*!< 0x00003000 */
+#define USART_CR2_STOP                  USART_CR2_STOP_Msk                     /*!< STOP[1:0] bits (STOP bits) */
+#define USART_CR2_STOP_0                (0x1UL << USART_CR2_STOP_Pos)           /*!< 0x00001000 */
+#define USART_CR2_STOP_1                (0x2UL << USART_CR2_STOP_Pos)           /*!< 0x00002000 */
+#define USART_CR2_LINEN_Pos             (14U)
+#define USART_CR2_LINEN_Msk             (0x1UL << USART_CR2_LINEN_Pos)         /*!< 0x00004000 */
+#define USART_CR2_LINEN                 USART_CR2_LINEN_Msk                    /*!< LIN mode enable */
+#define USART_CR2_SWAP_Pos              (15U)
+#define USART_CR2_SWAP_Msk              (0x1UL << USART_CR2_SWAP_Pos)          /*!< 0x00008000 */
+#define USART_CR2_SWAP                  USART_CR2_SWAP_Msk                     /*!< SWAP TX/RX pins */
+#define USART_CR2_RXINV_Pos             (16U)
+#define USART_CR2_RXINV_Msk             (0x1UL << USART_CR2_RXINV_Pos)         /*!< 0x00010000 */
+#define USART_CR2_RXINV                 USART_CR2_RXINV_Msk                    /*!< RX pin active level inversion */
+#define USART_CR2_TXINV_Pos             (17U)
+#define USART_CR2_TXINV_Msk             (0x1UL << USART_CR2_TXINV_Pos)         /*!< 0x00020000 */
+#define USART_CR2_TXINV                 USART_CR2_TXINV_Msk                    /*!< TX pin active level inversion */
+#define USART_CR2_DATAINV_Pos           (18U)
+#define USART_CR2_DATAINV_Msk           (0x1UL << USART_CR2_DATAINV_Pos)       /*!< 0x00040000 */
+#define USART_CR2_DATAINV               USART_CR2_DATAINV_Msk                  /*!< Binary data inversion */
+#define USART_CR2_MSBFIRST_Pos          (19U)
+#define USART_CR2_MSBFIRST_Msk          (0x1UL << USART_CR2_MSBFIRST_Pos)      /*!< 0x00080000 */
+#define USART_CR2_MSBFIRST              USART_CR2_MSBFIRST_Msk                 /*!< Most Significant Bit First */
+#define USART_CR2_ABREN_Pos             (20U)
+#define USART_CR2_ABREN_Msk             (0x1UL << USART_CR2_ABREN_Pos)         /*!< 0x00100000 */
+#define USART_CR2_ABREN                 USART_CR2_ABREN_Msk                    /*!< Auto Baud-Rate Enable*/
+#define USART_CR2_ABRMODE_Pos           (21U)
+#define USART_CR2_ABRMODE_Msk           (0x3UL << USART_CR2_ABRMODE_Pos)       /*!< 0x00600000 */
+#define USART_CR2_ABRMODE               USART_CR2_ABRMODE_Msk                  /*!< ABRMOD[1:0] bits (Auto Baud-Rate Mode) */
+#define USART_CR2_ABRMODE_0             (0x1UL << USART_CR2_ABRMODE_Pos)        /*!< 0x00200000 */
+#define USART_CR2_ABRMODE_1             (0x2UL << USART_CR2_ABRMODE_Pos)        /*!< 0x00400000 */
+#define USART_CR2_RTOEN_Pos             (23U)
+#define USART_CR2_RTOEN_Msk             (0x1UL << USART_CR2_RTOEN_Pos)         /*!< 0x00800000 */
+#define USART_CR2_RTOEN                 USART_CR2_RTOEN_Msk                    /*!< Receiver Time-Out enable */
+#define USART_CR2_ADD_Pos               (24U)
+#define USART_CR2_ADD_Msk               (0xFFUL << USART_CR2_ADD_Pos)          /*!< 0xFF000000 */
+#define USART_CR2_ADD                   USART_CR2_ADD_Msk                      /*!< Address of the USART node */
+
+/******************  Bit definition for USART_CR3 register  *******************/
+#define USART_CR3_EIE_Pos               (0U)
+#define USART_CR3_EIE_Msk               (0x1UL << USART_CR3_EIE_Pos)           /*!< 0x00000001 */
+#define USART_CR3_EIE                   USART_CR3_EIE_Msk                      /*!< Error Interrupt Enable */
+#define USART_CR3_IREN_Pos              (1U)
+#define USART_CR3_IREN_Msk              (0x1UL << USART_CR3_IREN_Pos)          /*!< 0x00000002 */
+#define USART_CR3_IREN                  USART_CR3_IREN_Msk                     /*!< IrDA mode Enable */
+#define USART_CR3_IRLP_Pos              (2U)
+#define USART_CR3_IRLP_Msk              (0x1UL << USART_CR3_IRLP_Pos)          /*!< 0x00000004 */
+#define USART_CR3_IRLP                  USART_CR3_IRLP_Msk                     /*!< IrDA Low-Power */
+#define USART_CR3_HDSEL_Pos             (3U)
+#define USART_CR3_HDSEL_Msk             (0x1UL << USART_CR3_HDSEL_Pos)         /*!< 0x00000008 */
+#define USART_CR3_HDSEL                 USART_CR3_HDSEL_Msk                    /*!< Half-Duplex Selection */
+#define USART_CR3_NACK_Pos              (4U)
+#define USART_CR3_NACK_Msk              (0x1UL << USART_CR3_NACK_Pos)          /*!< 0x00000010 */
+#define USART_CR3_NACK                  USART_CR3_NACK_Msk                     /*!< SmartCard NACK enable */
+#define USART_CR3_SCEN_Pos              (5U)
+#define USART_CR3_SCEN_Msk              (0x1UL << USART_CR3_SCEN_Pos)          /*!< 0x00000020 */
+#define USART_CR3_SCEN                  USART_CR3_SCEN_Msk                     /*!< SmartCard mode enable */
+#define USART_CR3_DMAR_Pos              (6U)
+#define USART_CR3_DMAR_Msk              (0x1UL << USART_CR3_DMAR_Pos)          /*!< 0x00000040 */
+#define USART_CR3_DMAR                  USART_CR3_DMAR_Msk                     /*!< DMA Enable Receiver */
+#define USART_CR3_DMAT_Pos              (7U)
+#define USART_CR3_DMAT_Msk              (0x1UL << USART_CR3_DMAT_Pos)          /*!< 0x00000080 */
+#define USART_CR3_DMAT                  USART_CR3_DMAT_Msk                     /*!< DMA Enable Transmitter */
+#define USART_CR3_RTSE_Pos              (8U)
+#define USART_CR3_RTSE_Msk              (0x1UL << USART_CR3_RTSE_Pos)          /*!< 0x00000100 */
+#define USART_CR3_RTSE                  USART_CR3_RTSE_Msk                     /*!< RTS Enable */
+#define USART_CR3_CTSE_Pos              (9U)
+#define USART_CR3_CTSE_Msk              (0x1UL << USART_CR3_CTSE_Pos)          /*!< 0x00000200 */
+#define USART_CR3_CTSE                  USART_CR3_CTSE_Msk                     /*!< CTS Enable */
+#define USART_CR3_CTSIE_Pos             (10U)
+#define USART_CR3_CTSIE_Msk             (0x1UL << USART_CR3_CTSIE_Pos)         /*!< 0x00000400 */
+#define USART_CR3_CTSIE                 USART_CR3_CTSIE_Msk                    /*!< CTS Interrupt Enable */
+#define USART_CR3_ONEBIT_Pos            (11U)
+#define USART_CR3_ONEBIT_Msk            (0x1UL << USART_CR3_ONEBIT_Pos)        /*!< 0x00000800 */
+#define USART_CR3_ONEBIT                USART_CR3_ONEBIT_Msk                   /*!< One sample bit method enable */
+#define USART_CR3_OVRDIS_Pos            (12U)
+#define USART_CR3_OVRDIS_Msk            (0x1UL << USART_CR3_OVRDIS_Pos)        /*!< 0x00001000 */
+#define USART_CR3_OVRDIS                USART_CR3_OVRDIS_Msk                   /*!< Overrun Disable */
+#define USART_CR3_DDRE_Pos              (13U)
+#define USART_CR3_DDRE_Msk              (0x1UL << USART_CR3_DDRE_Pos)          /*!< 0x00002000 */
+#define USART_CR3_DDRE                  USART_CR3_DDRE_Msk                     /*!< DMA Disable on Reception Error */
+#define USART_CR3_DEM_Pos               (14U)
+#define USART_CR3_DEM_Msk               (0x1UL << USART_CR3_DEM_Pos)           /*!< 0x00004000 */
+#define USART_CR3_DEM                   USART_CR3_DEM_Msk                      /*!< Driver Enable Mode */
+#define USART_CR3_DEP_Pos               (15U)
+#define USART_CR3_DEP_Msk               (0x1UL << USART_CR3_DEP_Pos)           /*!< 0x00008000 */
+#define USART_CR3_DEP                   USART_CR3_DEP_Msk                      /*!< Driver Enable Polarity Selection */
+#define USART_CR3_SCARCNT_Pos           (17U)
+#define USART_CR3_SCARCNT_Msk           (0x7UL << USART_CR3_SCARCNT_Pos)       /*!< 0x000E0000 */
+#define USART_CR3_SCARCNT               USART_CR3_SCARCNT_Msk                  /*!< SCARCNT[2:0] bits (SmartCard Auto-Retry Count) */
+#define USART_CR3_SCARCNT_0             (0x1UL << USART_CR3_SCARCNT_Pos)        /*!< 0x00020000 */
+#define USART_CR3_SCARCNT_1             (0x2UL << USART_CR3_SCARCNT_Pos)        /*!< 0x00040000 */
+#define USART_CR3_SCARCNT_2             (0x4UL << USART_CR3_SCARCNT_Pos)        /*!< 0x00080000 */
+#define USART_CR3_WUS_Pos               (20U)
+#define USART_CR3_WUS_Msk               (0x3UL << USART_CR3_WUS_Pos)           /*!< 0x00300000 */
+#define USART_CR3_WUS                   USART_CR3_WUS_Msk                      /*!< WUS[1:0] bits (Wake UP Interrupt Flag Selection) */
+#define USART_CR3_WUS_0                 (0x1UL << USART_CR3_WUS_Pos)            /*!< 0x00100000 */
+#define USART_CR3_WUS_1                 (0x2UL << USART_CR3_WUS_Pos)            /*!< 0x00200000 */
+#define USART_CR3_WUFIE_Pos             (22U)
+#define USART_CR3_WUFIE_Msk             (0x1UL << USART_CR3_WUFIE_Pos)         /*!< 0x00400000 */
+#define USART_CR3_WUFIE                 USART_CR3_WUFIE_Msk                    /*!< Wake Up Interrupt Enable */
+#define USART_CR3_TXFTIE_Pos            (23U)
+#define USART_CR3_TXFTIE_Msk            (0x1UL << USART_CR3_TXFTIE_Pos)        /*!< 0x00800000 */
+#define USART_CR3_TXFTIE                USART_CR3_TXFTIE_Msk                   /*!< TXFIFO threshold interrupt enable */
+#define USART_CR3_TCBGTIE_Pos           (24U)
+#define USART_CR3_TCBGTIE_Msk           (0x1UL << USART_CR3_TCBGTIE_Pos)       /*!< 0x01000000 */
+#define USART_CR3_TCBGTIE               USART_CR3_TCBGTIE_Msk                  /*!< Transmission Complete before guard time, interrupt enable */
+#define USART_CR3_RXFTCFG_Pos           (25U)
+#define USART_CR3_RXFTCFG_Msk           (0x7UL << USART_CR3_RXFTCFG_Pos)       /*!< 0x0E000000 */
+#define USART_CR3_RXFTCFG               USART_CR3_RXFTCFG_Msk                  /*!< RXFTCFG [2:0]Receive FIFO threshold configuration */
+#define USART_CR3_RXFTCFG_0             (0x1UL << USART_CR3_RXFTCFG_Pos)        /*!< 0x02000000 */
+#define USART_CR3_RXFTCFG_1             (0x2UL << USART_CR3_RXFTCFG_Pos)        /*!< 0x04000000 */
+#define USART_CR3_RXFTCFG_2             (0x4UL << USART_CR3_RXFTCFG_Pos)        /*!< 0x08000000 */
+#define USART_CR3_RXFTIE_Pos            (28U)
+#define USART_CR3_RXFTIE_Msk            (0x1UL << USART_CR3_RXFTIE_Pos)        /*!< 0x10000000 */
+#define USART_CR3_RXFTIE                USART_CR3_RXFTIE_Msk                   /*!< RXFIFO threshold interrupt enable */
+#define USART_CR3_TXFTCFG_Pos           (29U)
+#define USART_CR3_TXFTCFG_Msk           (0x7UL << USART_CR3_TXFTCFG_Pos)       /*!< 0xE0000000 */
+#define USART_CR3_TXFTCFG               USART_CR3_TXFTCFG_Msk                  /*!< TXFIFO [2:0] threshold configuration */
+#define USART_CR3_TXFTCFG_0             (0x1UL << USART_CR3_TXFTCFG_Pos)        /*!< 0x20000000 */
+#define USART_CR3_TXFTCFG_1             (0x2UL << USART_CR3_TXFTCFG_Pos)        /*!< 0x40000000 */
+#define USART_CR3_TXFTCFG_2             (0x4UL << USART_CR3_TXFTCFG_Pos)        /*!< 0x80000000 */
+
+/******************  Bit definition for USART_BRR register  *******************/
+#define USART_BRR_DIV_FRACTION_Pos      (0U)
+#define USART_BRR_DIV_FRACTION_Msk      (0xFUL << USART_BRR_DIV_FRACTION_Pos)  /*!< 0x0000000F */
+#define USART_BRR_DIV_FRACTION          USART_BRR_DIV_FRACTION_Msk             /*!< Fraction of USARTDIV */
+#define USART_BRR_DIV_MANTISSA_Pos      (4U)
+#define USART_BRR_DIV_MANTISSA_Msk      (0xFFFUL << USART_BRR_DIV_MANTISSA_Pos) /*!< 0x0000FFF0 */
+#define USART_BRR_DIV_MANTISSA          USART_BRR_DIV_MANTISSA_Msk             /*!< Mantissa of USARTDIV */
+
+/******************  Bit definition for USART_GTPR register  ******************/
+#define USART_GTPR_PSC_Pos              (0U)
+#define USART_GTPR_PSC_Msk              (0xFFUL << USART_GTPR_PSC_Pos)         /*!< 0x000000FF */
+#define USART_GTPR_PSC                  USART_GTPR_PSC_Msk                     /*!< PSC[7:0] bits (Prescaler value) */
+#define USART_GTPR_GT_Pos               (8U)
+#define USART_GTPR_GT_Msk               (0xFFUL << USART_GTPR_GT_Pos)          /*!< 0x0000FF00 */
+#define USART_GTPR_GT                   USART_GTPR_GT_Msk                      /*!< GT[7:0] bits (Guard time value) */
+
+/*******************  Bit definition for USART_RTOR register  *****************/
+#define USART_RTOR_RTO_Pos              (0U)
+#define USART_RTOR_RTO_Msk              (0xFFFFFFUL << USART_RTOR_RTO_Pos)     /*!< 0x00FFFFFF */
+#define USART_RTOR_RTO                  USART_RTOR_RTO_Msk                     /*!< Receiver Time Out Value */
+#define USART_RTOR_BLEN_Pos             (24U)
+#define USART_RTOR_BLEN_Msk             (0xFFUL << USART_RTOR_BLEN_Pos)        /*!< 0xFF000000 */
+#define USART_RTOR_BLEN                 USART_RTOR_BLEN_Msk                    /*!< Block Length */
+
+/*******************  Bit definition for USART_RQR register  ******************/
+#define USART_RQR_ABRRQ_Pos             (0U)
+#define USART_RQR_ABRRQ_Msk             (0x1UL << USART_RQR_ABRRQ_Pos)         /*!< 0x00000001 */
+#define USART_RQR_ABRRQ                 USART_RQR_ABRRQ_Msk                    /*!< Auto-Baud Rate Request */
+#define USART_RQR_SBKRQ_Pos             (1U)
+#define USART_RQR_SBKRQ_Msk             (0x1UL << USART_RQR_SBKRQ_Pos)         /*!< 0x00000002 */
+#define USART_RQR_SBKRQ                 USART_RQR_SBKRQ_Msk                    /*!< Send Break Request */
+#define USART_RQR_MMRQ_Pos              (2U)
+#define USART_RQR_MMRQ_Msk              (0x1UL << USART_RQR_MMRQ_Pos)          /*!< 0x00000004 */
+#define USART_RQR_MMRQ                  USART_RQR_MMRQ_Msk                     /*!< Mute Mode Request */
+#define USART_RQR_RXFRQ_Pos             (3U)
+#define USART_RQR_RXFRQ_Msk             (0x1UL << USART_RQR_RXFRQ_Pos)         /*!< 0x00000008 */
+#define USART_RQR_RXFRQ                 USART_RQR_RXFRQ_Msk                    /*!< Receive Data flush Request */
+#define USART_RQR_TXFRQ_Pos             (4U)
+#define USART_RQR_TXFRQ_Msk             (0x1UL << USART_RQR_TXFRQ_Pos)         /*!< 0x00000010 */
+#define USART_RQR_TXFRQ                 USART_RQR_TXFRQ_Msk                    /*!< Transmit data flush Request */
+
+/*******************  Bit definition for USART_ISR register  ******************/
+#define USART_ISR_PE_Pos                (0U)
+#define USART_ISR_PE_Msk                (0x1UL << USART_ISR_PE_Pos)            /*!< 0x00000001 */
+#define USART_ISR_PE                    USART_ISR_PE_Msk                       /*!< Parity Error */
+#define USART_ISR_FE_Pos                (1U)
+#define USART_ISR_FE_Msk                (0x1UL << USART_ISR_FE_Pos)            /*!< 0x00000002 */
+#define USART_ISR_FE                    USART_ISR_FE_Msk                       /*!< Framing Error */
+#define USART_ISR_NE_Pos                (2U)
+#define USART_ISR_NE_Msk                (0x1UL << USART_ISR_NE_Pos)            /*!< 0x00000004 */
+#define USART_ISR_NE                    USART_ISR_NE_Msk                       /*!< Noise detected Flag */
+#define USART_ISR_ORE_Pos               (3U)
+#define USART_ISR_ORE_Msk               (0x1UL << USART_ISR_ORE_Pos)           /*!< 0x00000008 */
+#define USART_ISR_ORE                   USART_ISR_ORE_Msk                      /*!< OverRun Error */
+#define USART_ISR_IDLE_Pos              (4U)
+#define USART_ISR_IDLE_Msk              (0x1UL << USART_ISR_IDLE_Pos)          /*!< 0x00000010 */
+#define USART_ISR_IDLE                  USART_ISR_IDLE_Msk                     /*!< IDLE line detected */
+#define USART_ISR_RXNE_RXFNE_Pos        (5U)
+#define USART_ISR_RXNE_RXFNE_Msk        (0x1UL << USART_ISR_RXNE_RXFNE_Pos)    /*!< 0x00000020 */
+#define USART_ISR_RXNE_RXFNE            USART_ISR_RXNE_RXFNE_Msk               /*!< Read Data Register or RX FIFO Not Empty */
+#define USART_ISR_TC_Pos                (6U)
+#define USART_ISR_TC_Msk                (0x1UL << USART_ISR_TC_Pos)            /*!< 0x00000040 */
+#define USART_ISR_TC                    USART_ISR_TC_Msk                       /*!< Transmission Complete */
+#define USART_ISR_TXE_TXFNF_Pos         (7U)
+#define USART_ISR_TXE_TXFNF_Msk         (0x1UL << USART_ISR_TXE_TXFNF_Pos)     /*!< 0x00000080 */
+#define USART_ISR_TXE_TXFNF             USART_ISR_TXE_TXFNF_Msk                /*!< Transmit Data Register Empty or TX FIFO Not Full Flag */
+#define USART_ISR_LBDF_Pos              (8U)
+#define USART_ISR_LBDF_Msk              (0x1UL << USART_ISR_LBDF_Pos)          /*!< 0x00000100 */
+#define USART_ISR_LBDF                  USART_ISR_LBDF_Msk                     /*!< LIN Break Detection Flag */
+#define USART_ISR_CTSIF_Pos             (9U)
+#define USART_ISR_CTSIF_Msk             (0x1UL << USART_ISR_CTSIF_Pos)         /*!< 0x00000200 */
+#define USART_ISR_CTSIF                 USART_ISR_CTSIF_Msk                    /*!< CTS interrupt flag */
+#define USART_ISR_CTS_Pos               (10U)
+#define USART_ISR_CTS_Msk               (0x1UL << USART_ISR_CTS_Pos)           /*!< 0x00000400 */
+#define USART_ISR_CTS                   USART_ISR_CTS_Msk                      /*!< CTS flag */
+#define USART_ISR_RTOF_Pos              (11U)
+#define USART_ISR_RTOF_Msk              (0x1UL << USART_ISR_RTOF_Pos)          /*!< 0x00000800 */
+#define USART_ISR_RTOF                  USART_ISR_RTOF_Msk                     /*!< Receiver Time Out */
+#define USART_ISR_EOBF_Pos              (12U)
+#define USART_ISR_EOBF_Msk              (0x1UL << USART_ISR_EOBF_Pos)          /*!< 0x00001000 */
+#define USART_ISR_EOBF                  USART_ISR_EOBF_Msk                     /*!< End Of Block Flag */
+#define USART_ISR_UDR_Pos               (13U)
+#define USART_ISR_UDR_Msk               (0x1UL << USART_ISR_UDR_Pos)           /*!< 0x00002000 */
+#define USART_ISR_UDR                   USART_ISR_UDR_Msk                      /*!< SPI slave underrun error flag */
+#define USART_ISR_ABRE_Pos              (14U)
+#define USART_ISR_ABRE_Msk              (0x1UL << USART_ISR_ABRE_Pos)          /*!< 0x00004000 */
+#define USART_ISR_ABRE                  USART_ISR_ABRE_Msk                     /*!< Auto-Baud Rate Error */
+#define USART_ISR_ABRF_Pos              (15U)
+#define USART_ISR_ABRF_Msk              (0x1UL << USART_ISR_ABRF_Pos)          /*!< 0x00008000 */
+#define USART_ISR_ABRF                  USART_ISR_ABRF_Msk                     /*!< Auto-Baud Rate Flag */
+#define USART_ISR_BUSY_Pos              (16U)
+#define USART_ISR_BUSY_Msk              (0x1UL << USART_ISR_BUSY_Pos)          /*!< 0x00010000 */
+#define USART_ISR_BUSY                  USART_ISR_BUSY_Msk                     /*!< Busy Flag */
+#define USART_ISR_CMF_Pos               (17U)
+#define USART_ISR_CMF_Msk               (0x1UL << USART_ISR_CMF_Pos)           /*!< 0x00020000 */
+#define USART_ISR_CMF                   USART_ISR_CMF_Msk                      /*!< Character Match Flag */
+#define USART_ISR_SBKF_Pos              (18U)
+#define USART_ISR_SBKF_Msk              (0x1UL << USART_ISR_SBKF_Pos)          /*!< 0x00040000 */
+#define USART_ISR_SBKF                  USART_ISR_SBKF_Msk                     /*!< Send Break Flag */
+#define USART_ISR_RWU_Pos               (19U)
+#define USART_ISR_RWU_Msk               (0x1UL << USART_ISR_RWU_Pos)           /*!< 0x00080000 */
+#define USART_ISR_RWU                   USART_ISR_RWU_Msk                      /*!< Receive Wake Up from mute mode Flag */
+#define USART_ISR_WUF_Pos               (20U)
+#define USART_ISR_WUF_Msk               (0x1UL << USART_ISR_WUF_Pos)           /*!< 0x00100000 */
+#define USART_ISR_WUF                   USART_ISR_WUF_Msk                      /*!< Wake Up from stop mode Flag */
+#define USART_ISR_TEACK_Pos             (21U)
+#define USART_ISR_TEACK_Msk             (0x1UL << USART_ISR_TEACK_Pos)         /*!< 0x00200000 */
+#define USART_ISR_TEACK                 USART_ISR_TEACK_Msk                    /*!< Transmit Enable Acknowledge Flag */
+#define USART_ISR_REACK_Pos             (22U)
+#define USART_ISR_REACK_Msk             (0x1UL << USART_ISR_REACK_Pos)         /*!< 0x00400000 */
+#define USART_ISR_REACK                 USART_ISR_REACK_Msk                    /*!< Receive Enable Acknowledge Flag */
+#define USART_ISR_TXFE_Pos              (23U)
+#define USART_ISR_TXFE_Msk              (0x1UL << USART_ISR_TXFE_Pos)          /*!< 0x00800000 */
+#define USART_ISR_TXFE                  USART_ISR_TXFE_Msk                     /*!< TXFIFO Empty */
+#define USART_ISR_RXFF_Pos              (24U)
+#define USART_ISR_RXFF_Msk              (0x1UL << USART_ISR_RXFF_Pos)          /*!< 0x01000000 */
+#define USART_ISR_RXFF                  USART_ISR_RXFF_Msk                     /*!< RXFIFO Full Flag */
+#define USART_ISR_TCBGT_Pos             (25U)
+#define USART_ISR_TCBGT_Msk             (0x1UL << USART_ISR_TCBGT_Pos)         /*!< 0x02000000 */
+#define USART_ISR_TCBGT                 USART_ISR_TCBGT_Msk                    /*!< Transmission complete before guard time Flag */
+#define USART_ISR_RXFT_Pos              (26U)
+#define USART_ISR_RXFT_Msk              (0x1UL << USART_ISR_RXFT_Pos)          /*!< 0x04000000 */
+#define USART_ISR_RXFT                  USART_ISR_RXFT_Msk                     /*!< RXFIFO threshold Flag */
+#define USART_ISR_TXFT_Pos              (27U)
+#define USART_ISR_TXFT_Msk              (0x1UL << USART_ISR_TXFT_Pos)          /*!< 0x08000000 */
+#define USART_ISR_TXFT                  USART_ISR_TXFT_Msk                     /*!< TXFIFO threshold Flag */
+
+/*******************  Bit definition for USART_ICR register  ******************/
+#define USART_ICR_PECF_Pos              (0U)
+#define USART_ICR_PECF_Msk              (0x1UL << USART_ICR_PECF_Pos)          /*!< 0x00000001 */
+#define USART_ICR_PECF                  USART_ICR_PECF_Msk                     /*!< Parity Error Clear Flag */
+#define USART_ICR_FECF_Pos              (1U)
+#define USART_ICR_FECF_Msk              (0x1UL << USART_ICR_FECF_Pos)          /*!< 0x00000002 */
+#define USART_ICR_FECF                  USART_ICR_FECF_Msk                     /*!< Framing Error Clear Flag */
+#define USART_ICR_NECF_Pos              (2U)
+#define USART_ICR_NECF_Msk              (0x1UL << USART_ICR_NECF_Pos)          /*!< 0x00000004 */
+#define USART_ICR_NECF                  USART_ICR_NECF_Msk                     /*!< Noise detected Clear Flag */
+#define USART_ICR_ORECF_Pos             (3U)
+#define USART_ICR_ORECF_Msk             (0x1UL << USART_ICR_ORECF_Pos)         /*!< 0x00000008 */
+#define USART_ICR_ORECF                 USART_ICR_ORECF_Msk                    /*!< OverRun Error Clear Flag */
+#define USART_ICR_IDLECF_Pos            (4U)
+#define USART_ICR_IDLECF_Msk            (0x1UL << USART_ICR_IDLECF_Pos)        /*!< 0x00000010 */
+#define USART_ICR_IDLECF                USART_ICR_IDLECF_Msk                   /*!< IDLE line detected Clear Flag */
+#define USART_ICR_TXFECF_Pos            (5U)
+#define USART_ICR_TXFECF_Msk            (0x1UL << USART_ICR_TXFECF_Pos)        /*!< 0x00000020 */
+#define USART_ICR_TXFECF                USART_ICR_TXFECF_Msk                   /*!< TXFIFO empty clear flag */
+#define USART_ICR_TCCF_Pos              (6U)
+#define USART_ICR_TCCF_Msk              (0x1UL << USART_ICR_TCCF_Pos)          /*!< 0x00000040 */
+#define USART_ICR_TCCF                  USART_ICR_TCCF_Msk                     /*!< Transmission Complete Clear Flag */
+#define USART_ICR_TCBGTCF_Pos           (7U)
+#define USART_ICR_TCBGTCF_Msk           (0x1UL << USART_ICR_TCBGTCF_Pos)       /*!< 0x00000080 */
+#define USART_ICR_TCBGTCF               USART_ICR_TCBGTCF_Msk                  /*!< Transmission complete before guard time Clear Flag */
+#define USART_ICR_LBDCF_Pos             (8U)
+#define USART_ICR_LBDCF_Msk             (0x1UL << USART_ICR_LBDCF_Pos)         /*!< 0x00000100 */
+#define USART_ICR_LBDCF                 USART_ICR_LBDCF_Msk                    /*!< LIN Break Detection Clear Flag */
+#define USART_ICR_CTSCF_Pos             (9U)
+#define USART_ICR_CTSCF_Msk             (0x1UL << USART_ICR_CTSCF_Pos)         /*!< 0x00000200 */
+#define USART_ICR_CTSCF                 USART_ICR_CTSCF_Msk                    /*!< CTS Interrupt Clear Flag */
+#define USART_ICR_RTOCF_Pos             (11U)
+#define USART_ICR_RTOCF_Msk             (0x1UL << USART_ICR_RTOCF_Pos)         /*!< 0x00000800 */
+#define USART_ICR_RTOCF                 USART_ICR_RTOCF_Msk                    /*!< Receiver Time Out Clear Flag */
+#define USART_ICR_EOBCF_Pos             (12U)
+#define USART_ICR_EOBCF_Msk             (0x1UL << USART_ICR_EOBCF_Pos)         /*!< 0x00001000 */
+#define USART_ICR_EOBCF                 USART_ICR_EOBCF_Msk                    /*!< End Of Block Clear Flag */
+#define USART_ICR_UDRCF_Pos             (13U)
+#define USART_ICR_UDRCF_Msk             (0x1UL << USART_ICR_UDRCF_Pos)         /*!< 0x00002000 */
+#define USART_ICR_UDRCF                 USART_ICR_UDRCF_Msk                    /*!< SPI slave underrun clear flag */
+#define USART_ICR_CMCF_Pos              (17U)
+#define USART_ICR_CMCF_Msk              (0x1UL << USART_ICR_CMCF_Pos)          /*!< 0x00020000 */
+#define USART_ICR_CMCF                  USART_ICR_CMCF_Msk                     /*!< Character Match Clear Flag */
+#define USART_ICR_WUCF_Pos              (20U)
+#define USART_ICR_WUCF_Msk              (0x1UL << USART_ICR_WUCF_Pos)          /*!< 0x00100000 */
+#define USART_ICR_WUCF                  USART_ICR_WUCF_Msk                     /*!< Wake Up from stop mode Clear Flag */
+
+/*******************  Bit definition for USART_RDR register  ******************/
+#define USART_RDR_RDR_Pos               (0U)
+#define USART_RDR_RDR_Msk               (0x1FFUL << USART_RDR_RDR_Pos)         /*!< 0x000001FF */
+#define USART_RDR_RDR                   USART_RDR_RDR_Msk                      /*!< RDR[8:0] bits (Receive Data value) */
+
+/*******************  Bit definition for USART_TDR register  ******************/
+#define USART_TDR_TDR_Pos               (0U)
+#define USART_TDR_TDR_Msk               (0x1FFUL << USART_TDR_TDR_Pos)         /*!< 0x000001FF */
+#define USART_TDR_TDR                   USART_TDR_TDR_Msk                      /*!< TDR[8:0] bits (Transmit Data value) */
+
+/*******************  Bit definition for USART_PRESC register  ******************/
+#define USART_PRESC_PRESCALER_Pos       (0U)
+#define USART_PRESC_PRESCALER_Msk       (0xFUL << USART_PRESC_PRESCALER_Pos)   /*!< 0x0000000F */
+#define USART_PRESC_PRESCALER           USART_PRESC_PRESCALER_Msk              /*!< PRESCALER[3:0] bits (Clock prescaler) */
+#define USART_PRESC_PRESCALER_0         (0x1UL << USART_PRESC_PRESCALER_Pos)    /*!< 0x00000001 */
+#define USART_PRESC_PRESCALER_1         (0x2UL << USART_PRESC_PRESCALER_Pos)    /*!< 0x00000002 */
+#define USART_PRESC_PRESCALER_2         (0x4UL << USART_PRESC_PRESCALER_Pos)    /*!< 0x00000004 */
+#define USART_PRESC_PRESCALER_3         (0x8UL << USART_PRESC_PRESCALER_Pos)    /*!< 0x00000008 */
+
+/******************************************************************************/
+/*                                                                            */
+/*           Single Wire Protocol Master Interface (SWPMI)                    */
+/*                                                                            */
+/******************************************************************************/
+
+/*******************  Bit definition for SWPMI_CR register   ********************/
+#define SWPMI_CR_RXDMA_Pos       (0U)
+#define SWPMI_CR_RXDMA_Msk       (0x1UL << SWPMI_CR_RXDMA_Pos)                 /*!< 0x00000001 */
+#define SWPMI_CR_RXDMA           SWPMI_CR_RXDMA_Msk                            /*!<Reception DMA enable                                 */
+#define SWPMI_CR_TXDMA_Pos       (1U)
+#define SWPMI_CR_TXDMA_Msk       (0x1UL << SWPMI_CR_TXDMA_Pos)                 /*!< 0x00000002 */
+#define SWPMI_CR_TXDMA           SWPMI_CR_TXDMA_Msk                            /*!<Transmission DMA enable                              */
+#define SWPMI_CR_RXMODE_Pos      (2U)
+#define SWPMI_CR_RXMODE_Msk      (0x1UL << SWPMI_CR_RXMODE_Pos)                /*!< 0x00000004 */
+#define SWPMI_CR_RXMODE          SWPMI_CR_RXMODE_Msk                           /*!<Reception buffering mode                             */
+#define SWPMI_CR_TXMODE_Pos      (3U)
+#define SWPMI_CR_TXMODE_Msk      (0x1UL << SWPMI_CR_TXMODE_Pos)                /*!< 0x00000008 */
+#define SWPMI_CR_TXMODE          SWPMI_CR_TXMODE_Msk                           /*!<Transmission buffering mode                          */
+#define SWPMI_CR_LPBK_Pos        (4U)
+#define SWPMI_CR_LPBK_Msk        (0x1UL << SWPMI_CR_LPBK_Pos)                  /*!< 0x00000010 */
+#define SWPMI_CR_LPBK            SWPMI_CR_LPBK_Msk                             /*!<Loopback mode enable                                 */
+#define SWPMI_CR_SWPACT_Pos      (5U)
+#define SWPMI_CR_SWPACT_Msk      (0x1UL << SWPMI_CR_SWPACT_Pos)                /*!< 0x00000020 */
+#define SWPMI_CR_SWPACT          SWPMI_CR_SWPACT_Msk                           /*!<Single wire protocol master interface activate       */
+#define SWPMI_CR_DEACT_Pos       (10U)
+#define SWPMI_CR_DEACT_Msk       (0x1UL << SWPMI_CR_DEACT_Pos)                 /*!< 0x00000400 */
+#define SWPMI_CR_DEACT           SWPMI_CR_DEACT_Msk                            /*!<Single wire protocol master interface deactivate     */
+#define SWPMI_CR_SWPEN_Pos       (11U)
+#define SWPMI_CR_SWPEN_Msk       (0x1UL << SWPMI_CR_SWPEN_Pos)                 /*!< 0x00000800 */
+#define SWPMI_CR_SWPEN           SWPMI_CR_SWPEN_Msk                            /*!<Single wire protocol master transceiver enable       */
+
+/*******************  Bit definition for SWPMI_BRR register  ********************/
+#define SWPMI_BRR_BR_Pos         (0U)
+#define SWPMI_BRR_BR_Msk         (0xFFUL << SWPMI_BRR_BR_Pos)                  /*!< 0x000000FF */
+#define SWPMI_BRR_BR             SWPMI_BRR_BR_Msk                              /*!<BR[7:0] bits (Bitrate prescaler) */
+
+/*******************  Bit definition for SWPMI_ISR register  ********************/
+#define SWPMI_ISR_RXBFF_Pos      (0U)
+#define SWPMI_ISR_RXBFF_Msk      (0x1UL << SWPMI_ISR_RXBFF_Pos)                /*!< 0x00000001 */
+#define SWPMI_ISR_RXBFF          SWPMI_ISR_RXBFF_Msk                           /*!<Receive buffer full flag        */
+#define SWPMI_ISR_TXBEF_Pos      (1U)
+#define SWPMI_ISR_TXBEF_Msk      (0x1UL << SWPMI_ISR_TXBEF_Pos)                /*!< 0x00000002 */
+#define SWPMI_ISR_TXBEF          SWPMI_ISR_TXBEF_Msk                           /*!<Transmit buffer empty flag      */
+#define SWPMI_ISR_RXBERF_Pos     (2U)
+#define SWPMI_ISR_RXBERF_Msk     (0x1UL << SWPMI_ISR_RXBERF_Pos)               /*!< 0x00000004 */
+#define SWPMI_ISR_RXBERF         SWPMI_ISR_RXBERF_Msk                          /*!<Receive CRC error flag          */
+#define SWPMI_ISR_RXOVRF_Pos     (3U)
+#define SWPMI_ISR_RXOVRF_Msk     (0x1UL << SWPMI_ISR_RXOVRF_Pos)               /*!< 0x00000008 */
+#define SWPMI_ISR_RXOVRF         SWPMI_ISR_RXOVRF_Msk                          /*!<Receive overrun error flag      */
+#define SWPMI_ISR_TXUNRF_Pos     (4U)
+#define SWPMI_ISR_TXUNRF_Msk     (0x1UL << SWPMI_ISR_TXUNRF_Pos)               /*!< 0x00000010 */
+#define SWPMI_ISR_TXUNRF         SWPMI_ISR_TXUNRF_Msk                          /*!<Transmit underrun error flag    */
+#define SWPMI_ISR_RXNE_Pos       (5U)
+#define SWPMI_ISR_RXNE_Msk       (0x1UL << SWPMI_ISR_RXNE_Pos)                 /*!< 0x00000020 */
+#define SWPMI_ISR_RXNE           SWPMI_ISR_RXNE_Msk                            /*!<Receive data register not empty */
+#define SWPMI_ISR_TXE_Pos        (6U)
+#define SWPMI_ISR_TXE_Msk        (0x1UL << SWPMI_ISR_TXE_Pos)                  /*!< 0x00000040 */
+#define SWPMI_ISR_TXE            SWPMI_ISR_TXE_Msk                             /*!<Transmit data register empty    */
+#define SWPMI_ISR_TCF_Pos        (7U)
+#define SWPMI_ISR_TCF_Msk        (0x1UL << SWPMI_ISR_TCF_Pos)                  /*!< 0x00000080 */
+#define SWPMI_ISR_TCF            SWPMI_ISR_TCF_Msk                             /*!<Transfer complete flag          */
+#define SWPMI_ISR_SRF_Pos        (8U)
+#define SWPMI_ISR_SRF_Msk        (0x1UL << SWPMI_ISR_SRF_Pos)                  /*!< 0x00000100 */
+#define SWPMI_ISR_SRF            SWPMI_ISR_SRF_Msk                             /*!<Slave resume flag               */
+#define SWPMI_ISR_SUSP_Pos       (9U)
+#define SWPMI_ISR_SUSP_Msk       (0x1UL << SWPMI_ISR_SUSP_Pos)                 /*!< 0x00000200 */
+#define SWPMI_ISR_SUSP           SWPMI_ISR_SUSP_Msk                            /*!<SUSPEND flag                    */
+#define SWPMI_ISR_DEACTF_Pos     (10U)
+#define SWPMI_ISR_DEACTF_Msk     (0x1UL << SWPMI_ISR_DEACTF_Pos)               /*!< 0x00000400 */
+#define SWPMI_ISR_DEACTF         SWPMI_ISR_DEACTF_Msk                          /*!<DEACTIVATED flag                */
+#define SWPMI_ISR_RDYF_Pos       (11U)
+#define SWPMI_ISR_RDYF_Msk       (0x1UL << SWPMI_ISR_RDYF_Pos)                 /*!< 0x00000800 */
+#define SWPMI_ISR_RDYF           SWPMI_ISR_RDYF_Msk                            /*!<Transceiver ready flag          */
+
+/*******************  Bit definition for SWPMI_ICR register  ********************/
+#define SWPMI_ICR_CRXBFF_Pos     (0U)
+#define SWPMI_ICR_CRXBFF_Msk     (0x1UL << SWPMI_ICR_CRXBFF_Pos)               /*!< 0x00000001 */
+#define SWPMI_ICR_CRXBFF         SWPMI_ICR_CRXBFF_Msk                          /*!<Clear receive buffer full flag       */
+#define SWPMI_ICR_CTXBEF_Pos     (1U)
+#define SWPMI_ICR_CTXBEF_Msk     (0x1UL << SWPMI_ICR_CTXBEF_Pos)               /*!< 0x00000002 */
+#define SWPMI_ICR_CTXBEF         SWPMI_ICR_CTXBEF_Msk                          /*!<Clear transmit buffer empty flag     */
+#define SWPMI_ICR_CRXBERF_Pos    (2U)
+#define SWPMI_ICR_CRXBERF_Msk    (0x1UL << SWPMI_ICR_CRXBERF_Pos)              /*!< 0x00000004 */
+#define SWPMI_ICR_CRXBERF        SWPMI_ICR_CRXBERF_Msk                         /*!<Clear receive CRC error flag         */
+#define SWPMI_ICR_CRXOVRF_Pos    (3U)
+#define SWPMI_ICR_CRXOVRF_Msk    (0x1UL << SWPMI_ICR_CRXOVRF_Pos)              /*!< 0x00000008 */
+#define SWPMI_ICR_CRXOVRF        SWPMI_ICR_CRXOVRF_Msk                         /*!<Clear receive overrun error flag     */
+#define SWPMI_ICR_CTXUNRF_Pos    (4U)
+#define SWPMI_ICR_CTXUNRF_Msk    (0x1UL << SWPMI_ICR_CTXUNRF_Pos)              /*!< 0x00000010 */
+#define SWPMI_ICR_CTXUNRF        SWPMI_ICR_CTXUNRF_Msk                         /*!<Clear transmit underrun error flag   */
+#define SWPMI_ICR_CTCF_Pos       (7U)
+#define SWPMI_ICR_CTCF_Msk       (0x1UL << SWPMI_ICR_CTCF_Pos)                 /*!< 0x00000080 */
+#define SWPMI_ICR_CTCF           SWPMI_ICR_CTCF_Msk                            /*!<Clear transfer complete flag         */
+#define SWPMI_ICR_CSRF_Pos       (8U)
+#define SWPMI_ICR_CSRF_Msk       (0x1UL << SWPMI_ICR_CSRF_Pos)                 /*!< 0x00000100 */
+#define SWPMI_ICR_CSRF           SWPMI_ICR_CSRF_Msk                            /*!<Clear slave resume flag              */
+#define SWPMI_ICR_CRDYF_Pos      (11U)
+#define SWPMI_ICR_CRDYF_Msk      (0x1UL << SWPMI_ICR_CRDYF_Pos)                /*!< 0x00000800 */
+#define SWPMI_ICR_CRDYF          SWPMI_ICR_CRDYF_Msk                           /*!<Clear transceiver ready flag         */
+
+/*******************  Bit definition for SWPMI_IER register  ********************/
+#define SWPMI_IER_RXBFIE_Pos     (0U)
+#define SWPMI_IER_RXBFIE_Msk     (0x1UL << SWPMI_IER_RXBFIE_Pos)               /*!< 0x00000001 */
+#define SWPMI_IER_RXBFIE         SWPMI_IER_RXBFIE_Msk                          /*!<Receive buffer full interrupt enable        */
+#define SWPMI_IER_TXBEIE_Pos     (1U)
+#define SWPMI_IER_TXBEIE_Msk     (0x1UL << SWPMI_IER_TXBEIE_Pos)               /*!< 0x00000002 */
+#define SWPMI_IER_TXBEIE         SWPMI_IER_TXBEIE_Msk                          /*!<Transmit buffer empty interrupt enable      */
+#define SWPMI_IER_RXBERIE_Pos    (2U)
+#define SWPMI_IER_RXBERIE_Msk    (0x1UL << SWPMI_IER_RXBERIE_Pos)              /*!< 0x00000004 */
+#define SWPMI_IER_RXBERIE        SWPMI_IER_RXBERIE_Msk                         /*!<Receive CRC error interrupt enable          */
+#define SWPMI_IER_RXOVRIE_Pos    (3U)
+#define SWPMI_IER_RXOVRIE_Msk    (0x1UL << SWPMI_IER_RXOVRIE_Pos)              /*!< 0x00000008 */
+#define SWPMI_IER_RXOVRIE        SWPMI_IER_RXOVRIE_Msk                         /*!<Receive overrun error interrupt enable      */
+#define SWPMI_IER_TXUNRIE_Pos    (4U)
+#define SWPMI_IER_TXUNRIE_Msk    (0x1UL << SWPMI_IER_TXUNRIE_Pos)              /*!< 0x00000010 */
+#define SWPMI_IER_TXUNRIE        SWPMI_IER_TXUNRIE_Msk                         /*!<Transmit underrun error interrupt enable    */
+#define SWPMI_IER_RIE_Pos        (5U)
+#define SWPMI_IER_RIE_Msk        (0x1UL << SWPMI_IER_RIE_Pos)                  /*!< 0x00000020 */
+#define SWPMI_IER_RIE            SWPMI_IER_RIE_Msk                             /*!<Receive interrupt enable                    */
+#define SWPMI_IER_TIE_Pos        (6U)
+#define SWPMI_IER_TIE_Msk        (0x1UL << SWPMI_IER_TIE_Pos)                  /*!< 0x00000040 */
+#define SWPMI_IER_TIE            SWPMI_IER_TIE_Msk                             /*!<Transmit interrupt enable                   */
+#define SWPMI_IER_TCIE_Pos       (7U)
+#define SWPMI_IER_TCIE_Msk       (0x1UL << SWPMI_IER_TCIE_Pos)                 /*!< 0x00000080 */
+#define SWPMI_IER_TCIE           SWPMI_IER_TCIE_Msk                            /*!<Transmit complete interrupt enable          */
+#define SWPMI_IER_SRIE_Pos       (8U)
+#define SWPMI_IER_SRIE_Msk       (0x1UL << SWPMI_IER_SRIE_Pos)                 /*!< 0x00000100 */
+#define SWPMI_IER_SRIE           SWPMI_IER_SRIE_Msk                            /*!<Slave resume interrupt enable               */
+#define SWPMI_IER_RDYIE_Pos      (11U)
+#define SWPMI_IER_RDYIE_Msk      (0x1UL << SWPMI_IER_RDYIE_Pos)                /*!< 0x00000800 */
+#define SWPMI_IER_RDYIE          SWPMI_IER_RDYIE_Msk                           /*!<Transceiver ready interrupt enable          */
+
+/*******************  Bit definition for SWPMI_RFL register  ********************/
+#define SWPMI_RFL_RFL_Pos        (0U)
+#define SWPMI_RFL_RFL_Msk        (0x1FUL << SWPMI_RFL_RFL_Pos)                 /*!< 0x0000001F */
+#define SWPMI_RFL_RFL            SWPMI_RFL_RFL_Msk                             /*!<RFL[4:0] bits (Receive Frame length) */
+#define SWPMI_RFL_RFL_0_1        ((uint32_t)0x00000003)                        /*!<RFL[1:0] bits (number of relevant bytes for the last SWPMI_RDR register read.) */
+
+/*******************  Bit definition for SWPMI_TDR register  ********************/
+#define SWPMI_TDR_TD_Pos         (0U)
+#define SWPMI_TDR_TD_Msk         (0xFFFFFFFFUL << SWPMI_TDR_TD_Pos)            /*!< 0xFFFFFFFF */
+#define SWPMI_TDR_TD             SWPMI_TDR_TD_Msk                              /*!<Transmit Data Register         */
+
+/*******************  Bit definition for SWPMI_RDR register  ********************/
+#define SWPMI_RDR_RD_Pos         (0U)
+#define SWPMI_RDR_RD_Msk         (0xFFFFFFFFUL << SWPMI_RDR_RD_Pos)            /*!< 0xFFFFFFFF */
+#define SWPMI_RDR_RD             SWPMI_RDR_RD_Msk                              /*!<Receive Data Register           */
+
+
+/*******************  Bit definition for SWPMI_OR register  ********************/
+#define SWPMI_OR_TBYP_Pos        (0U)
+#define SWPMI_OR_TBYP_Msk        (0x1UL << SWPMI_OR_TBYP_Pos)                  /*!< 0x00000001 */
+#define SWPMI_OR_TBYP            SWPMI_OR_TBYP_Msk                             /*!<SWP Transceiver Bypass */
+#define SWPMI_OR_CLASS_Pos       (1U)
+#define SWPMI_OR_CLASS_Msk       (0x1UL << SWPMI_OR_CLASS_Pos)                 /*!< 0x00000002 */
+#define SWPMI_OR_CLASS           SWPMI_OR_CLASS_Msk                            /*!<SWP CLASS selection */
+
+/******************************************************************************/
+/*                                                                            */
+/*                            Window WATCHDOG                                 */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for WWDG_CR register  ********************/
+#define WWDG_CR_T_Pos           (0U)
+#define WWDG_CR_T_Msk           (0x7FUL << WWDG_CR_T_Pos)                      /*!< 0x0000007F */
+#define WWDG_CR_T               WWDG_CR_T_Msk                                  /*!<T[6:0] bits (7-Bit counter (MSB to LSB)) */
+#define WWDG_CR_T_0             (0x01UL << WWDG_CR_T_Pos)                       /*!< 0x00000001 */
+#define WWDG_CR_T_1             (0x02UL << WWDG_CR_T_Pos)                       /*!< 0x00000002 */
+#define WWDG_CR_T_2             (0x04UL << WWDG_CR_T_Pos)                       /*!< 0x00000004 */
+#define WWDG_CR_T_3             (0x08UL << WWDG_CR_T_Pos)                       /*!< 0x00000008 */
+#define WWDG_CR_T_4             (0x10UL << WWDG_CR_T_Pos)                       /*!< 0x00000010 */
+#define WWDG_CR_T_5             (0x20UL << WWDG_CR_T_Pos)                       /*!< 0x00000020 */
+#define WWDG_CR_T_6             (0x40UL << WWDG_CR_T_Pos)                       /*!< 0x00000040 */
+
+#define WWDG_CR_WDGA_Pos        (7U)
+#define WWDG_CR_WDGA_Msk        (0x1UL << WWDG_CR_WDGA_Pos)                    /*!< 0x00000080 */
+#define WWDG_CR_WDGA            WWDG_CR_WDGA_Msk                               /*!<Activation bit */
+
+/*******************  Bit definition for WWDG_CFR register  *******************/
+#define WWDG_CFR_W_Pos          (0U)
+#define WWDG_CFR_W_Msk          (0x7FUL << WWDG_CFR_W_Pos)                     /*!< 0x0000007F */
+#define WWDG_CFR_W              WWDG_CFR_W_Msk                                 /*!<W[6:0] bits (7-bit window value) */
+#define WWDG_CFR_W_0            (0x01UL << WWDG_CFR_W_Pos)                      /*!< 0x00000001 */
+#define WWDG_CFR_W_1            (0x02UL << WWDG_CFR_W_Pos)                      /*!< 0x00000002 */
+#define WWDG_CFR_W_2            (0x04UL << WWDG_CFR_W_Pos)                      /*!< 0x00000004 */
+#define WWDG_CFR_W_3            (0x08UL << WWDG_CFR_W_Pos)                      /*!< 0x00000008 */
+#define WWDG_CFR_W_4            (0x10UL << WWDG_CFR_W_Pos)                      /*!< 0x00000010 */
+#define WWDG_CFR_W_5            (0x20UL << WWDG_CFR_W_Pos)                      /*!< 0x00000020 */
+#define WWDG_CFR_W_6            (0x40UL << WWDG_CFR_W_Pos)                      /*!< 0x00000040 */
+
+#define WWDG_CFR_EWI_Pos        (9U)
+#define WWDG_CFR_EWI_Msk        (0x1UL << WWDG_CFR_EWI_Pos)                    /*!< 0x00000200 */
+#define WWDG_CFR_EWI            WWDG_CFR_EWI_Msk                               /*!<Early Wakeup Interrupt */
+
+#define WWDG_CFR_WDGTB_Pos      (11U)
+#define WWDG_CFR_WDGTB_Msk      (0x7UL << WWDG_CFR_WDGTB_Pos)                  /*!< 0x00003800 */
+#define WWDG_CFR_WDGTB          WWDG_CFR_WDGTB_Msk                             /*!<WDGTB[2:0] bits (Timer Base) */
+#define WWDG_CFR_WDGTB_0        (0x1UL << WWDG_CFR_WDGTB_Pos)                   /*!< 0x00000800 */
+#define WWDG_CFR_WDGTB_1        (0x2UL << WWDG_CFR_WDGTB_Pos)                   /*!< 0x00001000 */
+#define WWDG_CFR_WDGTB_2        (0x4UL << WWDG_CFR_WDGTB_Pos)                   /*!< 0x00002000 */
+
+/*******************  Bit definition for WWDG_SR register  ********************/
+#define WWDG_SR_EWIF_Pos        (0U)
+#define WWDG_SR_EWIF_Msk        (0x1UL << WWDG_SR_EWIF_Pos)                    /*!< 0x00000001 */
+#define WWDG_SR_EWIF            WWDG_SR_EWIF_Msk                               /*!<Early Wakeup Interrupt Flag */
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                DBG                                         */
+/*                                                                            */
+/******************************************************************************/
+/*********************************  DEVICE ID  ********************************/
+#define STM32H7_DEV_ID           0x483UL
+
+/********************  Bit definition for DBGMCU_IDCODE register  *************/
+#define DBGMCU_IDCODE_DEV_ID_Pos          (0U)
+#define DBGMCU_IDCODE_DEV_ID_Msk          (0xFFFUL << DBGMCU_IDCODE_DEV_ID_Pos) /*!< 0x00000FFF */
+#define DBGMCU_IDCODE_DEV_ID              DBGMCU_IDCODE_DEV_ID_Msk
+#define DBGMCU_IDCODE_REV_ID_Pos          (16U)
+#define DBGMCU_IDCODE_REV_ID_Msk          (0xFFFFUL << DBGMCU_IDCODE_REV_ID_Pos) /*!< 0xFFFF0000 */
+#define DBGMCU_IDCODE_REV_ID              DBGMCU_IDCODE_REV_ID_Msk
+
+/********************  Bit definition for DBGMCU_CR register  *****************/
+#define DBGMCU_CR_DBG_SLEEPD1_Pos         (0U)
+#define DBGMCU_CR_DBG_SLEEPD1_Msk         (0x1UL << DBGMCU_CR_DBG_SLEEPD1_Pos) /*!< 0x00000001 */
+#define DBGMCU_CR_DBG_SLEEPD1             DBGMCU_CR_DBG_SLEEPD1_Msk
+#define DBGMCU_CR_DBG_STOPD1_Pos          (1U)
+#define DBGMCU_CR_DBG_STOPD1_Msk          (0x1UL << DBGMCU_CR_DBG_STOPD1_Pos)  /*!< 0x00000002 */
+#define DBGMCU_CR_DBG_STOPD1              DBGMCU_CR_DBG_STOPD1_Msk
+#define DBGMCU_CR_DBG_STANDBYD1_Pos       (2U)
+#define DBGMCU_CR_DBG_STANDBYD1_Msk       (0x1UL << DBGMCU_CR_DBG_STANDBYD1_Pos) /*!< 0x00000004 */
+#define DBGMCU_CR_DBG_STANDBYD1           DBGMCU_CR_DBG_STANDBYD1_Msk
+#define DBGMCU_CR_DBG_STOPD3_Pos          (7U)
+#define DBGMCU_CR_DBG_STOPD3_Msk          (0x1UL << DBGMCU_CR_DBG_STOPD3_Pos)  /*!< 0x00000080 */
+#define DBGMCU_CR_DBG_STOPD3              DBGMCU_CR_DBG_STOPD3_Msk
+#define DBGMCU_CR_DBG_STANDBYD3_Pos       (8U)
+#define DBGMCU_CR_DBG_STANDBYD3_Msk       (0x1UL << DBGMCU_CR_DBG_STANDBYD3_Pos) /*!< 0x00000100 */
+#define DBGMCU_CR_DBG_STANDBYD3           DBGMCU_CR_DBG_STANDBYD3_Msk
+#define DBGMCU_CR_DBG_TRACECKEN_Pos       (20U)
+#define DBGMCU_CR_DBG_TRACECKEN_Msk       (0x1UL << DBGMCU_CR_DBG_TRACECKEN_Pos) /*!< 0x00100000 */
+#define DBGMCU_CR_DBG_TRACECKEN           DBGMCU_CR_DBG_TRACECKEN_Msk
+#define DBGMCU_CR_DBG_CKD1EN_Pos          (21U)
+#define DBGMCU_CR_DBG_CKD1EN_Msk          (0x1UL << DBGMCU_CR_DBG_CKD1EN_Pos)  /*!< 0x00200000 */
+#define DBGMCU_CR_DBG_CKD1EN              DBGMCU_CR_DBG_CKD1EN_Msk
+#define DBGMCU_CR_DBG_CKD3EN_Pos          (22U)
+#define DBGMCU_CR_DBG_CKD3EN_Msk          (0x1UL << DBGMCU_CR_DBG_CKD3EN_Pos)  /*!< 0x00400000 */
+#define DBGMCU_CR_DBG_CKD3EN              DBGMCU_CR_DBG_CKD3EN_Msk
+#define DBGMCU_CR_DBG_TRGOEN_Pos          (28U)
+#define DBGMCU_CR_DBG_TRGOEN_Msk          (0x1UL << DBGMCU_CR_DBG_TRGOEN_Pos)  /*!< 0x10000000 */
+#define DBGMCU_CR_DBG_TRGOEN              DBGMCU_CR_DBG_TRGOEN_Msk
+
+/********************  Bit definition for APB3FZ1 register  ************/
+#define DBGMCU_APB3FZ1_DBG_WWDG1_Pos      (6U)
+#define DBGMCU_APB3FZ1_DBG_WWDG1_Msk      (0x1UL << DBGMCU_APB3FZ1_DBG_WWDG1_Pos) /*!< 0x00000040 */
+#define DBGMCU_APB3FZ1_DBG_WWDG1          DBGMCU_APB3FZ1_DBG_WWDG1_Msk
+/********************  Bit definition for APB1LFZ1 register  ************/
+#define DBGMCU_APB1LFZ1_DBG_TIM2_Pos      (0U)
+#define DBGMCU_APB1LFZ1_DBG_TIM2_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM2_Pos) /*!< 0x00000001 */
+#define DBGMCU_APB1LFZ1_DBG_TIM2          DBGMCU_APB1LFZ1_DBG_TIM2_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM3_Pos      (1U)
+#define DBGMCU_APB1LFZ1_DBG_TIM3_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM3_Pos) /*!< 0x00000002 */
+#define DBGMCU_APB1LFZ1_DBG_TIM3          DBGMCU_APB1LFZ1_DBG_TIM3_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM4_Pos      (2U)
+#define DBGMCU_APB1LFZ1_DBG_TIM4_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM4_Pos) /*!< 0x00000004 */
+#define DBGMCU_APB1LFZ1_DBG_TIM4          DBGMCU_APB1LFZ1_DBG_TIM4_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM5_Pos      (3U)
+#define DBGMCU_APB1LFZ1_DBG_TIM5_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM5_Pos) /*!< 0x00000008 */
+#define DBGMCU_APB1LFZ1_DBG_TIM5          DBGMCU_APB1LFZ1_DBG_TIM5_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM6_Pos      (4U)
+#define DBGMCU_APB1LFZ1_DBG_TIM6_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM6_Pos) /*!< 0x00000010 */
+#define DBGMCU_APB1LFZ1_DBG_TIM6          DBGMCU_APB1LFZ1_DBG_TIM6_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM7_Pos      (5U)
+#define DBGMCU_APB1LFZ1_DBG_TIM7_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM7_Pos) /*!< 0x00000020 */
+#define DBGMCU_APB1LFZ1_DBG_TIM7          DBGMCU_APB1LFZ1_DBG_TIM7_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM12_Pos     (6U)
+#define DBGMCU_APB1LFZ1_DBG_TIM12_Msk     (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM12_Pos) /*!< 0x00000040 */
+#define DBGMCU_APB1LFZ1_DBG_TIM12         DBGMCU_APB1LFZ1_DBG_TIM12_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM13_Pos     (7U)
+#define DBGMCU_APB1LFZ1_DBG_TIM13_Msk     (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM13_Pos) /*!< 0x00000080 */
+#define DBGMCU_APB1LFZ1_DBG_TIM13         DBGMCU_APB1LFZ1_DBG_TIM13_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM14_Pos     (8U)
+#define DBGMCU_APB1LFZ1_DBG_TIM14_Msk     (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM14_Pos) /*!< 0x00000100 */
+#define DBGMCU_APB1LFZ1_DBG_TIM14         DBGMCU_APB1LFZ1_DBG_TIM14_Msk
+#define DBGMCU_APB1LFZ1_DBG_LPTIM1_Pos    (9U)
+#define DBGMCU_APB1LFZ1_DBG_LPTIM1_Msk    (0x1UL << DBGMCU_APB1LFZ1_DBG_LPTIM1_Pos) /*!< 0x00000200 */
+#define DBGMCU_APB1LFZ1_DBG_LPTIM1        DBGMCU_APB1LFZ1_DBG_LPTIM1_Msk
+#define DBGMCU_APB1LFZ1_DBG_I2C1_Pos      (21U)
+#define DBGMCU_APB1LFZ1_DBG_I2C1_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_I2C1_Pos) /*!< 0x00200000 */
+#define DBGMCU_APB1LFZ1_DBG_I2C1          DBGMCU_APB1LFZ1_DBG_I2C1_Msk
+#define DBGMCU_APB1LFZ1_DBG_I2C2_Pos      (22U)
+#define DBGMCU_APB1LFZ1_DBG_I2C2_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_I2C2_Pos) /*!< 0x00400000 */
+#define DBGMCU_APB1LFZ1_DBG_I2C2          DBGMCU_APB1LFZ1_DBG_I2C2_Msk
+#define DBGMCU_APB1LFZ1_DBG_I2C3_Pos      (23U)
+#define DBGMCU_APB1LFZ1_DBG_I2C3_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_I2C3_Pos) /*!< 0x00800000 */
+#define DBGMCU_APB1LFZ1_DBG_I2C3          DBGMCU_APB1LFZ1_DBG_I2C3_Msk
+#define DBGMCU_APB1LFZ1_DBG_I2C5_Pos      (25U)
+#define DBGMCU_APB1LFZ1_DBG_I2C5_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_I2C5_Pos) /*!< 0x02000000 */
+#define DBGMCU_APB1LFZ1_DBG_I2C5          DBGMCU_APB1LFZ1_DBG_I2C5_Msk
+
+/********************  Bit definition for APB1HFZ1 register  ************/
+#define DBGMCU_APB1HFZ1_DBG_TIM23_Pos     (24U)
+#define DBGMCU_APB1HFZ1_DBG_TIM23_Msk     (0x1UL << DBGMCU_APB1HFZ1_DBG_TIM23_Pos) /*!< 0x01000000 */
+#define DBGMCU_APB1HFZ1_DBG_TIM23          DBGMCU_APB1HFZ1_DBG_TIM23_Msk
+#define DBGMCU_APB1HFZ1_DBG_TIM24_Pos     (24U)
+#define DBGMCU_APB1HFZ1_DBG_TIM24_Msk     (0x1UL << DBGMCU_APB1HFZ1_DBG_TIM24_Pos) /*!< 0x02000000 */
+#define DBGMCU_APB1HFZ1_DBG_TIM24          DBGMCU_APB1HFZ1_DBG_TIM24_Msk
+/********************  Bit definition for APB2FZ1 register  ************/
+#define DBGMCU_APB2FZ1_DBG_TIM1_Pos       (0U)
+#define DBGMCU_APB2FZ1_DBG_TIM1_Msk       (0x1UL << DBGMCU_APB2FZ1_DBG_TIM1_Pos) /*!< 0x00000001 */
+#define DBGMCU_APB2FZ1_DBG_TIM1           DBGMCU_APB2FZ1_DBG_TIM1_Msk
+#define DBGMCU_APB2FZ1_DBG_TIM8_Pos       (1U)
+#define DBGMCU_APB2FZ1_DBG_TIM8_Msk       (0x1UL << DBGMCU_APB2FZ1_DBG_TIM8_Pos) /*!< 0x00000002 */
+#define DBGMCU_APB2FZ1_DBG_TIM8           DBGMCU_APB2FZ1_DBG_TIM8_Msk
+#define DBGMCU_APB2FZ1_DBG_TIM15_Pos      (16U)
+#define DBGMCU_APB2FZ1_DBG_TIM15_Msk      (0x1UL << DBGMCU_APB2FZ1_DBG_TIM15_Pos) /*!< 0x00010000 */
+#define DBGMCU_APB2FZ1_DBG_TIM15          DBGMCU_APB2FZ1_DBG_TIM15_Msk
+#define DBGMCU_APB2FZ1_DBG_TIM16_Pos      (17U)
+#define DBGMCU_APB2FZ1_DBG_TIM16_Msk      (0x1UL << DBGMCU_APB2FZ1_DBG_TIM16_Pos) /*!< 0x00020000 */
+#define DBGMCU_APB2FZ1_DBG_TIM16          DBGMCU_APB2FZ1_DBG_TIM16_Msk
+#define DBGMCU_APB2FZ1_DBG_TIM17_Pos      (18U)
+#define DBGMCU_APB2FZ1_DBG_TIM17_Msk      (0x1UL << DBGMCU_APB2FZ1_DBG_TIM17_Pos) /*!< 0x00040000 */
+#define DBGMCU_APB2FZ1_DBG_TIM17          DBGMCU_APB2FZ1_DBG_TIM17_Msk
+/********************  Bit definition for APB4FZ1 register  ************/
+#define DBGMCU_APB4FZ1_DBG_I2C4_Pos       (7U)
+#define DBGMCU_APB4FZ1_DBG_I2C4_Msk       (0x1UL << DBGMCU_APB4FZ1_DBG_I2C4_Pos) /*!< 0x00000080 */
+#define DBGMCU_APB4FZ1_DBG_I2C4           DBGMCU_APB4FZ1_DBG_I2C4_Msk
+#define DBGMCU_APB4FZ1_DBG_LPTIM2_Pos     (9U)
+#define DBGMCU_APB4FZ1_DBG_LPTIM2_Msk     (0x1UL << DBGMCU_APB4FZ1_DBG_LPTIM2_Pos) /*!< 0x00000200 */
+#define DBGMCU_APB4FZ1_DBG_LPTIM2         DBGMCU_APB4FZ1_DBG_LPTIM2_Msk
+#define DBGMCU_APB4FZ1_DBG_LPTIM3_Pos     (10U)
+#define DBGMCU_APB4FZ1_DBG_LPTIM3_Msk     (0x1UL << DBGMCU_APB4FZ1_DBG_LPTIM3_Pos) /*!< 0x00000400 */
+#define DBGMCU_APB4FZ1_DBG_LPTIM3         DBGMCU_APB4FZ1_DBG_LPTIM3_Msk
+#define DBGMCU_APB4FZ1_DBG_LPTIM4_Pos     (11U)
+#define DBGMCU_APB4FZ1_DBG_LPTIM4_Msk     (0x1UL << DBGMCU_APB4FZ1_DBG_LPTIM4_Pos) /*!< 0x00000800 */
+#define DBGMCU_APB4FZ1_DBG_LPTIM4         DBGMCU_APB4FZ1_DBG_LPTIM4_Msk
+#define DBGMCU_APB4FZ1_DBG_LPTIM5_Pos     (12U)
+#define DBGMCU_APB4FZ1_DBG_LPTIM5_Msk     (0x1UL << DBGMCU_APB4FZ1_DBG_LPTIM5_Pos) /*!< 0x00001000 */
+#define DBGMCU_APB4FZ1_DBG_LPTIM5         DBGMCU_APB4FZ1_DBG_LPTIM5_Msk
+#define DBGMCU_APB4FZ1_DBG_RTC_Pos        (16U)
+#define DBGMCU_APB4FZ1_DBG_RTC_Msk        (0x1UL << DBGMCU_APB4FZ1_DBG_RTC_Pos) /*!< 0x00010000 */
+#define DBGMCU_APB4FZ1_DBG_RTC            DBGMCU_APB4FZ1_DBG_RTC_Msk
+#define DBGMCU_APB4FZ1_DBG_IWDG1_Pos      (18U)
+#define DBGMCU_APB4FZ1_DBG_IWDG1_Msk      (0x1UL << DBGMCU_APB4FZ1_DBG_IWDG1_Pos) /*!< 0x00040000 */
+#define DBGMCU_APB4FZ1_DBG_IWDG1          DBGMCU_APB4FZ1_DBG_IWDG1_Msk
+/********************  Bit definition for DBGMCU_PIDR4 register  ************/
+#define DBGMCU_PIDR4_JEP106CON_Pos        (0U)
+#define DBGMCU_PIDR4_JEP106CON_Msk        (0xFUL << DBGMCU_PIDR4_JEP106CON_Pos) /*!< 0x0000000F */
+#define DBGMCU_PIDR4_JEP106CON            DBGMCU_PIDR4_JEP106CON_Msk
+#define DBGMCU_PIDR4_4KCOUNT_Pos          (4U)
+#define DBGMCU_PIDR4_4KCOUNT_Msk          (0xFUL << DBGMCU_PIDR4_4KCOUNT_Pos)   /*!< 0x000000F0 */
+#define DBGMCU_PIDR4_4KCOUNT              DBGMCU_PIDR4_4KCOUNT_Msk
+/********************  Bit definition for DBGMCU_PIDR0 register  ************/
+#define DBGMCU_PIDR0_PARTNUM_Pos        (0U)
+#define DBGMCU_PIDR0_PARTNUM_Msk        (0xFFUL << DBGMCU_PIDR0_PARTNUM_Pos) /*!< 0x000000FF */
+#define DBGMCU_PIDR0_PARTNUM            DBGMCU_PIDR0_PARTNUM_Msk
+/********************  Bit definition for DBGMCU_PIDR1 register  ************/
+#define DBGMCU_PIDR1_PARTNUM_Pos        (0U)
+#define DBGMCU_PIDR1_PARTNUM_Msk        (0xFUL << DBGMCU_PIDR1_PARTNUM_Pos)  /*!< 0x0000000F */
+#define DBGMCU_PIDR1_PARTNUM            DBGMCU_PIDR1_PARTNUM_Msk
+#define DBGMCU_PIDR1_JEP106ID_Pos       (4U)
+#define DBGMCU_PIDR1_JEP106ID_Msk       (0xFUL << DBGMCU_PIDR1_JEP106ID_Pos) /*!< 0x000000F0 */
+#define DBGMCU_PIDR1_JEP106ID           DBGMCU_PIDR1_JEP106ID_Msk
+/********************  Bit definition for DBGMCU_PIDR2 register  ************/
+#define DBGMCU_PIDR2_JEP106ID_Pos        (0U)
+#define DBGMCU_PIDR2_JEP106ID_Msk        (0x7UL << DBGMCU_PIDR2_JEP106ID_Pos)  /*!< 0x00000007 */
+#define DBGMCU_PIDR2_JEP106ID            DBGMCU_PIDR2_JEP106ID_Msk
+#define DBGMCU_PIDR2_JEDEC_Pos           (3U)
+#define DBGMCU_PIDR2_JEDEC_Msk           (0x1UL << DBGMCU_PIDR2_JEDEC_Pos)  /*!< 0x00000008 */
+#define DBGMCU_PIDR2_JEDEC               DBGMCU_PIDR2_JEDEC_Msk
+#define DBGMCU_PIDR2_REVISION_Pos        (4U)
+#define DBGMCU_PIDR2_REVISION_Msk        (0xFUL << DBGMCU_PIDR2_REVISION_Pos) /*!< 0x000000F0 */
+#define DBGMCU_PIDR2_REVISION            DBGMCU_PIDR2_REVISION_Msk
+/********************  Bit definition for DBGMCU_PIDR3 register  ************/
+#define DBGMCU_PIDR3_CMOD_Pos            (0U)
+#define DBGMCU_PIDR3_CMOD_Msk            (0xFUL << DBGMCU_PIDR3_CMOD_Pos)  /*!< 0x0000000F */
+#define DBGMCU_PIDR3_CMOD                DBGMCU_PIDR3_CMOD_Msk
+#define DBGMCU_PIDR3_REVAND_Pos          (4U)
+#define DBGMCU_PIDR3_REVAND_Msk          (0xFUL << DBGMCU_PIDR3_REVAND_Pos) /*!< 0x000000F0 */
+#define DBGMCU_PIDR3_REVAND              DBGMCU_PIDR3_REVAND_Msk
+/********************  Bit definition for DBGMCU_CIDR0 register  ************/
+#define DBGMCU_CIR0_PREAMBLE_Pos         (0U)
+#define DBGMCU_CIR0_PREAMBLE_Msk         (0xFFUL << DBGMCU_CIR0_PREAMBLE_Pos) /*!< 0x000000FF */
+#define DBGMCU_CIR0_PREAMBLE             DBGMCU_CIR0_PREAMBLE_Msk
+/********************  Bit definition for DBGMCU_CIDR1 register  ************/
+#define DBGMCU_CIR1_PREAMBLE_Pos         (0U)
+#define DBGMCU_CIR1_PREAMBLE_Msk         (0xFUL << DBGMCU_CIR1_PREAMBLE_Pos)  /*!< 0x0000000F */
+#define DBGMCU_CIR1_PREAMBLE             DBGMCU_CIR1_PREAMBLE_Msk
+#define DBGMCU_CIR1_CLASS_Pos            (4U)
+#define DBGMCU_CIR1_CLASS_Msk            (0xFUL << DBGMCU_CIR1_CLASS_Pos) /*!< 0x000000F0 */
+#define DBGMCU_CIR1_CLASS                DBGMCU_CIR1_CLASS_Msk
+/********************  Bit definition for DBGMCU_CIDR2 register  ************/
+#define DBGMCU_CIR2_PREAMBLE_Pos         (0U)
+#define DBGMCU_CIR2_PREAMBLE_Msk         (0xFFUL << DBGMCU_CIR2_PREAMBLE_Pos) /*!< 0x000000FF */
+#define DBGMCU_CIR2_PREAMBLE             DBGMCU_CIR2_PREAMBLE_Msk
+/********************  Bit definition for DBGMCU_CIDR3 register  ************/
+#define DBGMCU_CIR3_PREAMBLE_Pos         (0U)
+#define DBGMCU_CIR3_PREAMBLE_Msk         (0xFFUL << DBGMCU_CIR3_PREAMBLE_Pos) /*!< 0x000000FF */
+#define DBGMCU_CIR3_PREAMBLE             DBGMCU_CIR3_PREAMBLE_Msk
+/******************************************************************************/
+/*                                                                            */
+/*                             RAM ECC monitoring                             */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for RAMECC_IER register  ******************/
+#define RAMECC_IER_GECCDEBWIE_Pos         (3U)
+#define RAMECC_IER_GECCDEBWIE_Msk         (0x1UL << RAMECC_IER_GECCDEBWIE_Pos)  /*!< 0x00000008 */
+#define RAMECC_IER_GECCDEBWIE             RAMECC_IER_GECCDEBWIE_Msk             /*!< Global ECC double error on byte write (BW) interrupt enable */
+#define RAMECC_IER_GECCDEIE_Pos           (2U)
+#define RAMECC_IER_GECCDEIE_Msk           (0x1UL << RAMECC_IER_GECCDEIE_Pos)    /*!< 0x00000004 */
+#define RAMECC_IER_GECCDEIE               RAMECC_IER_GECCDEIE_Msk               /*!< Global ECC double error interrupt enable */
+#define RAMECC_IER_GECCSEIE_Pos           (1U)
+#define RAMECC_IER_GECCSEIE_Msk           (0x1UL << RAMECC_IER_GECCSEIE_Pos)    /*!< 0x00000002 */
+#define RAMECC_IER_GECCSEIE               RAMECC_IER_GECCSEIE_Msk               /*!< Global ECC single error interrupt enable */
+#define RAMECC_IER_GIE_Pos                (0U)
+#define RAMECC_IER_GIE_Msk                (0x1UL << RAMECC_IER_GIE_Pos)         /*!< 0x00000001 */
+#define RAMECC_IER_GIE                    RAMECC_IER_GIE_Msk                    /*!< Global interrupt enable */
+
+/*******************  Bit definition for RAMECC_CR register  ******************/
+#define RAMECC_CR_ECCELEN_Pos             (5U)
+#define RAMECC_CR_ECCELEN_Msk             (0x1UL << RAMECC_CR_ECCELEN_Pos)      /*!< 0x00000020 */
+#define RAMECC_CR_ECCELEN                 RAMECC_CR_ECCELEN_Msk                 /*!< ECC error latching enable */
+#define RAMECC_CR_ECCDEBWIE_Pos           (4U)
+#define RAMECC_CR_ECCDEBWIE_Msk           (0x1UL << RAMECC_CR_ECCDEBWIE_Pos)    /*!< 0x00000010 */
+#define RAMECC_CR_ECCDEBWIE               RAMECC_CR_ECCDEBWIE_Msk               /*!< ECC double error on byte write (BW) interrupt enable */
+#define RAMECC_CR_ECCDEIE_Pos             (3U)
+#define RAMECC_CR_ECCDEIE_Msk             (0x1UL << RAMECC_CR_ECCDEIE_Pos)      /*!< 0x00000008 */
+#define RAMECC_CR_ECCDEIE                 RAMECC_CR_ECCDEIE_Msk                 /*!< ECC double error interrupt enable */
+#define RAMECC_CR_ECCSEIE_Pos             (2U)
+#define RAMECC_CR_ECCSEIE_Msk             (0x1UL << RAMECC_CR_ECCSEIE_Pos)      /*!< 0x00000004 */
+#define RAMECC_CR_ECCSEIE                 RAMECC_CR_ECCSEIE_Msk                 /*!< ECC single error interrupt enable */
+
+/*******************  Bit definition for RAMECC_SR register  ******************/
+#define RAMECC_SR_DEBWDF_Pos             (2U)
+#define RAMECC_SR_DEBWDF_Msk             (0x1UL << RAMECC_SR_DEBWDF_Pos)        /*!< 0x00000004 */
+#define RAMECC_SR_DEBWDF                 RAMECC_SR_DEBWDF_Msk                   /*!< ECC double error on byte write (BW) detected flag */
+#define RAMECC_SR_DEDF_Pos               (1U)
+#define RAMECC_SR_DEDF_Msk               (0x1UL << RAMECC_SR_DEDF_Pos)          /*!< 0x00000002 */
+#define RAMECC_SR_DEDF                   RAMECC_SR_DEDF_Msk                     /*!< ECC double error detected flag */
+#define RAMECC_SR_SEDCF_Pos              (0U)
+#define RAMECC_SR_SEDCF_Msk              (0x1UL << RAMECC_SR_SEDCF_Pos)         /*!< 0x00000001 */
+#define RAMECC_SR_SEDCF                  RAMECC_SR_SEDCF_Msk                    /*!< ECC single error detected and corrected flag */
+
+/******************  Bit definition for RAMECC_FAR register  ******************/
+#define RAMECC_FAR_FADD_Pos              (0U)
+#define RAMECC_FAR_FADD_Msk              (0xFFFFFFFFUL << RAMECC_FAR_FADD_Pos)  /*!< 0xFFFFFFFF */
+#define RAMECC_FAR_FADD                  RAMECC_FAR_FADD_Msk                    /*!< ECC error failing address */
+
+/******************  Bit definition for RAMECC_FDRL register  *****************/
+#define RAMECC_FAR_FDATAL_Pos            (0U)
+#define RAMECC_FAR_FDATAL_Msk            (0xFFFFFFFFUL << RAMECC_FAR_FDATAL_Pos)/*!< 0xFFFFFFFF */
+#define RAMECC_FAR_FDATAL                RAMECC_FAR_FDATAL_Msk                  /*!< ECC error failing address */
+
+/******************  Bit definition for RAMECC_FDRH register  *****************/
+#define RAMECC_FAR_FDATAH_Pos            (0U)
+#define RAMECC_FAR_FDATAH_Msk            (0xFFFFFFFFUL << RAMECC_FAR_FDATAH_Pos)/*!< 0xFFFFFFFF */
+#define RAMECC_FAR_FDATAH                RAMECC_FAR_FDATAH_Msk                  /* Failing data high (64-bit memory) */
+
+/*****************  Bit definition for RAMECC_FECR register  ******************/
+#define RAMECC_FECR_FEC_Pos              (0U)
+#define RAMECC_FECR_FEC_Msk              (0xFFFFFFFFUL << RAMECC_FECR_FEC_Pos)  /*!< 0xFFFFFFFF */
+#define RAMECC_FECR_FEC                  RAMECC_FECR_FEC_Msk                    /*!< Failing error code */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                MDIOS                                        */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for MDIOS_CR register  *******************/
+#define MDIOS_CR_EN_Pos                (0U)
+#define MDIOS_CR_EN_Msk                (0x1UL << MDIOS_CR_EN_Pos)              /*!< 0x00000001 */
+#define MDIOS_CR_EN                    MDIOS_CR_EN_Msk                         /*!<  MDIOS slave peripheral enable */
+#define MDIOS_CR_WRIE_Pos              (1U)
+#define MDIOS_CR_WRIE_Msk              (0x1UL << MDIOS_CR_WRIE_Pos)            /*!< 0x00000002 */
+#define MDIOS_CR_WRIE                  MDIOS_CR_WRIE_Msk                       /*!<  MDIOS slave register write interrupt enable. */
+#define MDIOS_CR_RDIE_Pos              (2U)
+#define MDIOS_CR_RDIE_Msk              (0x1UL << MDIOS_CR_RDIE_Pos)            /*!< 0x00000004 */
+#define MDIOS_CR_RDIE                  MDIOS_CR_RDIE_Msk                       /*!<  MDIOS slave register read interrupt enable. */
+#define MDIOS_CR_EIE_Pos               (3U)
+#define MDIOS_CR_EIE_Msk               (0x1UL << MDIOS_CR_EIE_Pos)             /*!< 0x00000008 */
+#define MDIOS_CR_EIE                   MDIOS_CR_EIE_Msk                        /*!<  MDIOS slave register error interrupt enable. */
+#define MDIOS_CR_DPC_Pos               (7U)
+#define MDIOS_CR_DPC_Msk               (0x1UL << MDIOS_CR_DPC_Pos)             /*!< 0x00000080 */
+#define MDIOS_CR_DPC                   MDIOS_CR_DPC_Msk                        /*!<  MDIOS slave disable preamble check. */
+#define MDIOS_CR_PORT_ADDRESS_Pos      (8U)
+#define MDIOS_CR_PORT_ADDRESS_Msk      (0x1FUL << MDIOS_CR_PORT_ADDRESS_Pos)   /*!< 0x00001F00 */
+#define MDIOS_CR_PORT_ADDRESS          MDIOS_CR_PORT_ADDRESS_Msk               /*!<  MDIOS slave port address mask. */
+#define MDIOS_CR_PORT_ADDRESS_0        (0x01UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00000100 */
+#define MDIOS_CR_PORT_ADDRESS_1        (0x02UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00000200 */
+#define MDIOS_CR_PORT_ADDRESS_2        (0x04UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00000400 */
+#define MDIOS_CR_PORT_ADDRESS_3        (0x08UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00000800 */
+#define MDIOS_CR_PORT_ADDRESS_4        (0x10UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00001000 */
+
+/********************  Bit definition for MDIOS_SR register  *******************/
+#define MDIOS_SR_PERF_Pos              (0U)
+#define MDIOS_SR_PERF_Msk              (0x1UL << MDIOS_SR_PERF_Pos)            /*!< 0x00000001 */
+#define MDIOS_SR_PERF                  MDIOS_SR_PERF_Msk                       /*!<  MDIOS slave turnaround error flag*/
+#define MDIOS_SR_SERF_Pos              (1U)
+#define MDIOS_SR_SERF_Msk              (0x1UL << MDIOS_SR_SERF_Pos)            /*!< 0x00000002 */
+#define MDIOS_SR_SERF                  MDIOS_SR_SERF_Msk                       /*!<  MDIOS slave start error flag */
+#define MDIOS_SR_TERF_Pos              (2U)
+#define MDIOS_SR_TERF_Msk              (0x1UL << MDIOS_SR_TERF_Pos)            /*!< 0x00000004 */
+#define MDIOS_SR_TERF                  MDIOS_SR_TERF_Msk                       /*!<  MDIOS slave preamble error flag */
+
+/********************  Bit definition for MDIOS_CLRFR register  *******************/
+#define MDIOS_SR_CPERF_Pos             (0U)
+#define MDIOS_SR_CPERF_Msk             (0x1UL << MDIOS_SR_CPERF_Pos)           /*!< 0x00000001 */
+#define MDIOS_SR_CPERF                 MDIOS_SR_CPERF_Msk                      /*!<  MDIOS slave Clear the turnaround error flag */
+#define MDIOS_SR_CSERF_Pos             (1U)
+#define MDIOS_SR_CSERF_Msk             (0x1UL << MDIOS_SR_CSERF_Pos)           /*!< 0x00000002 */
+#define MDIOS_SR_CSERF                 MDIOS_SR_CSERF_Msk                      /*!<  MDIOS slave Clear the start error flag */
+#define MDIOS_SR_CTERF_Pos             (2U)
+#define MDIOS_SR_CTERF_Msk             (0x1UL << MDIOS_SR_CTERF_Pos)           /*!< 0x00000004 */
+#define MDIOS_SR_CTERF                 MDIOS_SR_CTERF_Msk                      /*!<  MDIOS slave Clear the preamble error flag */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                       USB_OTG                              */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition forUSB_OTG_GOTGCTL register  ********************/
+#define USB_OTG_GOTGCTL_SRQSCS_Pos               (0U)
+#define USB_OTG_GOTGCTL_SRQSCS_Msk               (0x1UL << USB_OTG_GOTGCTL_SRQSCS_Pos) /*!< 0x00000001 */
+#define USB_OTG_GOTGCTL_SRQSCS                   USB_OTG_GOTGCTL_SRQSCS_Msk    /*!< Session request success */
+#define USB_OTG_GOTGCTL_SRQ_Pos                  (1U)
+#define USB_OTG_GOTGCTL_SRQ_Msk                  (0x1UL << USB_OTG_GOTGCTL_SRQ_Pos) /*!< 0x00000002 */
+#define USB_OTG_GOTGCTL_SRQ                      USB_OTG_GOTGCTL_SRQ_Msk       /*!< Session request */
+#define USB_OTG_GOTGCTL_VBVALOEN_Pos             (2U)
+#define USB_OTG_GOTGCTL_VBVALOEN_Msk             (0x1UL << USB_OTG_GOTGCTL_VBVALOEN_Pos) /*!< 0x00000004 */
+#define USB_OTG_GOTGCTL_VBVALOEN                 USB_OTG_GOTGCTL_VBVALOEN_Msk  /*!< VBUS valid override enable */
+#define USB_OTG_GOTGCTL_VBVALOVAL_Pos            (3U)
+#define USB_OTG_GOTGCTL_VBVALOVAL_Msk            (0x1UL << USB_OTG_GOTGCTL_VBVALOVAL_Pos) /*!< 0x00000008 */
+#define USB_OTG_GOTGCTL_VBVALOVAL                USB_OTG_GOTGCTL_VBVALOVAL_Msk /*!< VBUS valid override value */
+#define USB_OTG_GOTGCTL_AVALOEN_Pos              (4U)
+#define USB_OTG_GOTGCTL_AVALOEN_Msk              (0x1UL << USB_OTG_GOTGCTL_AVALOEN_Pos) /*!< 0x00000010 */
+#define USB_OTG_GOTGCTL_AVALOEN                  USB_OTG_GOTGCTL_AVALOEN_Msk   /*!< A-peripheral session valid override enable */
+#define USB_OTG_GOTGCTL_AVALOVAL_Pos             (5U)
+#define USB_OTG_GOTGCTL_AVALOVAL_Msk             (0x1UL << USB_OTG_GOTGCTL_AVALOVAL_Pos) /*!< 0x00000020 */
+#define USB_OTG_GOTGCTL_AVALOVAL                 USB_OTG_GOTGCTL_AVALOVAL_Msk  /*!< A-peripheral session valid override value */
+#define USB_OTG_GOTGCTL_BVALOEN_Pos              (6U)
+#define USB_OTG_GOTGCTL_BVALOEN_Msk              (0x1UL << USB_OTG_GOTGCTL_BVALOEN_Pos) /*!< 0x00000040 */
+#define USB_OTG_GOTGCTL_BVALOEN                  USB_OTG_GOTGCTL_BVALOEN_Msk   /*!< B-peripheral session valid override enable */
+#define USB_OTG_GOTGCTL_BVALOVAL_Pos             (7U)
+#define USB_OTG_GOTGCTL_BVALOVAL_Msk             (0x1UL << USB_OTG_GOTGCTL_BVALOVAL_Pos) /*!< 0x00000080 */
+#define USB_OTG_GOTGCTL_BVALOVAL                 USB_OTG_GOTGCTL_BVALOVAL_Msk  /*!< B-peripheral session valid override value  */
+#define USB_OTG_GOTGCTL_HNGSCS_Pos               (8U)
+#define USB_OTG_GOTGCTL_HNGSCS_Msk               (0x1UL << USB_OTG_GOTGCTL_HNGSCS_Pos) /*!< 0x00000100 */
+#define USB_OTG_GOTGCTL_HNGSCS                   USB_OTG_GOTGCTL_HNGSCS_Msk    /*!< Host set HNP enable */
+#define USB_OTG_GOTGCTL_HNPRQ_Pos                (9U)
+#define USB_OTG_GOTGCTL_HNPRQ_Msk                (0x1UL << USB_OTG_GOTGCTL_HNPRQ_Pos) /*!< 0x00000200 */
+#define USB_OTG_GOTGCTL_HNPRQ                    USB_OTG_GOTGCTL_HNPRQ_Msk     /*!< HNP request */
+#define USB_OTG_GOTGCTL_HSHNPEN_Pos              (10U)
+#define USB_OTG_GOTGCTL_HSHNPEN_Msk              (0x1UL << USB_OTG_GOTGCTL_HSHNPEN_Pos) /*!< 0x00000400 */
+#define USB_OTG_GOTGCTL_HSHNPEN                  USB_OTG_GOTGCTL_HSHNPEN_Msk   /*!< Host set HNP enable */
+#define USB_OTG_GOTGCTL_DHNPEN_Pos               (11U)
+#define USB_OTG_GOTGCTL_DHNPEN_Msk               (0x1UL << USB_OTG_GOTGCTL_DHNPEN_Pos) /*!< 0x00000800 */
+#define USB_OTG_GOTGCTL_DHNPEN                   USB_OTG_GOTGCTL_DHNPEN_Msk    /*!< Device HNP enabled */
+#define USB_OTG_GOTGCTL_EHEN_Pos                 (12U)
+#define USB_OTG_GOTGCTL_EHEN_Msk                 (0x1UL << USB_OTG_GOTGCTL_EHEN_Pos) /*!< 0x00001000 */
+#define USB_OTG_GOTGCTL_EHEN                     USB_OTG_GOTGCTL_EHEN_Msk      /*!< Embedded host enable */
+#define USB_OTG_GOTGCTL_CIDSTS_Pos               (16U)
+#define USB_OTG_GOTGCTL_CIDSTS_Msk               (0x1UL << USB_OTG_GOTGCTL_CIDSTS_Pos) /*!< 0x00010000 */
+#define USB_OTG_GOTGCTL_CIDSTS                   USB_OTG_GOTGCTL_CIDSTS_Msk    /*!< Connector ID status */
+#define USB_OTG_GOTGCTL_DBCT_Pos                 (17U)
+#define USB_OTG_GOTGCTL_DBCT_Msk                 (0x1UL << USB_OTG_GOTGCTL_DBCT_Pos) /*!< 0x00020000 */
+#define USB_OTG_GOTGCTL_DBCT                     USB_OTG_GOTGCTL_DBCT_Msk      /*!< Long/short debounce time */
+#define USB_OTG_GOTGCTL_ASVLD_Pos                (18U)
+#define USB_OTG_GOTGCTL_ASVLD_Msk                (0x1UL << USB_OTG_GOTGCTL_ASVLD_Pos) /*!< 0x00040000 */
+#define USB_OTG_GOTGCTL_ASVLD                    USB_OTG_GOTGCTL_ASVLD_Msk     /*!< A-session valid  */
+#define USB_OTG_GOTGCTL_BSESVLD_Pos              (19U)
+#define USB_OTG_GOTGCTL_BSESVLD_Msk              (0x1UL << USB_OTG_GOTGCTL_BSESVLD_Pos) /*!< 0x00080000 */
+#define USB_OTG_GOTGCTL_BSESVLD                  USB_OTG_GOTGCTL_BSESVLD_Msk   /*!< B-session valid */
+#define USB_OTG_GOTGCTL_OTGVER_Pos               (20U)
+#define USB_OTG_GOTGCTL_OTGVER_Msk               (0x1UL << USB_OTG_GOTGCTL_OTGVER_Pos) /*!< 0x00100000 */
+#define USB_OTG_GOTGCTL_OTGVER                   USB_OTG_GOTGCTL_OTGVER_Msk    /*!< OTG version  */
+
+/********************  Bit definition forUSB_OTG_HCFG register  ********************/
+
+#define USB_OTG_HCFG_FSLSPCS_Pos                 (0U)
+#define USB_OTG_HCFG_FSLSPCS_Msk                 (0x3UL << USB_OTG_HCFG_FSLSPCS_Pos) /*!< 0x00000003 */
+#define USB_OTG_HCFG_FSLSPCS                     USB_OTG_HCFG_FSLSPCS_Msk      /*!< FS/LS PHY clock select  */
+#define USB_OTG_HCFG_FSLSPCS_0                   (0x1UL << USB_OTG_HCFG_FSLSPCS_Pos) /*!< 0x00000001 */
+#define USB_OTG_HCFG_FSLSPCS_1                   (0x2UL << USB_OTG_HCFG_FSLSPCS_Pos) /*!< 0x00000002 */
+#define USB_OTG_HCFG_FSLSS_Pos                   (2U)
+#define USB_OTG_HCFG_FSLSS_Msk                   (0x1UL << USB_OTG_HCFG_FSLSS_Pos) /*!< 0x00000004 */
+#define USB_OTG_HCFG_FSLSS                       USB_OTG_HCFG_FSLSS_Msk        /*!< FS- and LS-only support */
+
+/********************  Bit definition forUSB_OTG_DCFG register  ********************/
+
+#define USB_OTG_DCFG_DSPD_Pos                    (0U)
+#define USB_OTG_DCFG_DSPD_Msk                    (0x3UL << USB_OTG_DCFG_DSPD_Pos) /*!< 0x00000003 */
+#define USB_OTG_DCFG_DSPD                        USB_OTG_DCFG_DSPD_Msk         /*!< Device speed */
+#define USB_OTG_DCFG_DSPD_0                      (0x1UL << USB_OTG_DCFG_DSPD_Pos) /*!< 0x00000001 */
+#define USB_OTG_DCFG_DSPD_1                      (0x2UL << USB_OTG_DCFG_DSPD_Pos) /*!< 0x00000002 */
+#define USB_OTG_DCFG_NZLSOHSK_Pos                (2U)
+#define USB_OTG_DCFG_NZLSOHSK_Msk                (0x1UL << USB_OTG_DCFG_NZLSOHSK_Pos) /*!< 0x00000004 */
+#define USB_OTG_DCFG_NZLSOHSK                    USB_OTG_DCFG_NZLSOHSK_Msk     /*!< Nonzero-length status OUT handshake */
+
+#define USB_OTG_DCFG_DAD_Pos                     (4U)
+#define USB_OTG_DCFG_DAD_Msk                     (0x7FUL << USB_OTG_DCFG_DAD_Pos) /*!< 0x000007F0 */
+#define USB_OTG_DCFG_DAD                         USB_OTG_DCFG_DAD_Msk          /*!< Device address */
+#define USB_OTG_DCFG_DAD_0                       (0x01UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000010 */
+#define USB_OTG_DCFG_DAD_1                       (0x02UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000020 */
+#define USB_OTG_DCFG_DAD_2                       (0x04UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000040 */
+#define USB_OTG_DCFG_DAD_3                       (0x08UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000080 */
+#define USB_OTG_DCFG_DAD_4                       (0x10UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000100 */
+#define USB_OTG_DCFG_DAD_5                       (0x20UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000200 */
+#define USB_OTG_DCFG_DAD_6                       (0x40UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000400 */
+
+#define USB_OTG_DCFG_PFIVL_Pos                   (11U)
+#define USB_OTG_DCFG_PFIVL_Msk                   (0x3UL << USB_OTG_DCFG_PFIVL_Pos) /*!< 0x00001800 */
+#define USB_OTG_DCFG_PFIVL                       USB_OTG_DCFG_PFIVL_Msk        /*!< Periodic (micro)frame interval */
+#define USB_OTG_DCFG_PFIVL_0                     (0x1UL << USB_OTG_DCFG_PFIVL_Pos) /*!< 0x00000800 */
+#define USB_OTG_DCFG_PFIVL_1                     (0x2UL << USB_OTG_DCFG_PFIVL_Pos) /*!< 0x00001000 */
+
+#define USB_OTG_DCFG_PERSCHIVL_Pos               (24U)
+#define USB_OTG_DCFG_PERSCHIVL_Msk               (0x3UL << USB_OTG_DCFG_PERSCHIVL_Pos) /*!< 0x03000000 */
+#define USB_OTG_DCFG_PERSCHIVL                   USB_OTG_DCFG_PERSCHIVL_Msk    /*!< Periodic scheduling interval */
+#define USB_OTG_DCFG_PERSCHIVL_0                 (0x1UL << USB_OTG_DCFG_PERSCHIVL_Pos) /*!< 0x01000000 */
+#define USB_OTG_DCFG_PERSCHIVL_1                 (0x2UL << USB_OTG_DCFG_PERSCHIVL_Pos) /*!< 0x02000000 */
+
+/********************  Bit definition forUSB_OTG_PCGCR register  ********************/
+#define USB_OTG_PCGCR_STPPCLK_Pos                (0U)
+#define USB_OTG_PCGCR_STPPCLK_Msk                (0x1UL << USB_OTG_PCGCR_STPPCLK_Pos) /*!< 0x00000001 */
+#define USB_OTG_PCGCR_STPPCLK                    USB_OTG_PCGCR_STPPCLK_Msk     /*!< Stop PHY clock */
+#define USB_OTG_PCGCR_GATEHCLK_Pos               (1U)
+#define USB_OTG_PCGCR_GATEHCLK_Msk               (0x1UL << USB_OTG_PCGCR_GATEHCLK_Pos) /*!< 0x00000002 */
+#define USB_OTG_PCGCR_GATEHCLK                   USB_OTG_PCGCR_GATEHCLK_Msk    /*!< Gate HCLK */
+#define USB_OTG_PCGCR_PHYSUSP_Pos                (4U)
+#define USB_OTG_PCGCR_PHYSUSP_Msk                (0x1UL << USB_OTG_PCGCR_PHYSUSP_Pos) /*!< 0x00000010 */
+#define USB_OTG_PCGCR_PHYSUSP                    USB_OTG_PCGCR_PHYSUSP_Msk     /*!< PHY suspended */
+
+/********************  Bit definition forUSB_OTG_GOTGINT register  ********************/
+#define USB_OTG_GOTGINT_SEDET_Pos                (2U)
+#define USB_OTG_GOTGINT_SEDET_Msk                (0x1UL << USB_OTG_GOTGINT_SEDET_Pos) /*!< 0x00000004 */
+#define USB_OTG_GOTGINT_SEDET                    USB_OTG_GOTGINT_SEDET_Msk     /*!< Session end detected                   */
+#define USB_OTG_GOTGINT_SRSSCHG_Pos              (8U)
+#define USB_OTG_GOTGINT_SRSSCHG_Msk              (0x1UL << USB_OTG_GOTGINT_SRSSCHG_Pos) /*!< 0x00000100 */
+#define USB_OTG_GOTGINT_SRSSCHG                  USB_OTG_GOTGINT_SRSSCHG_Msk   /*!< Session request success status change  */
+#define USB_OTG_GOTGINT_HNSSCHG_Pos              (9U)
+#define USB_OTG_GOTGINT_HNSSCHG_Msk              (0x1UL << USB_OTG_GOTGINT_HNSSCHG_Pos) /*!< 0x00000200 */
+#define USB_OTG_GOTGINT_HNSSCHG                  USB_OTG_GOTGINT_HNSSCHG_Msk   /*!< Host negotiation success status change */
+#define USB_OTG_GOTGINT_HNGDET_Pos               (17U)
+#define USB_OTG_GOTGINT_HNGDET_Msk               (0x1UL << USB_OTG_GOTGINT_HNGDET_Pos) /*!< 0x00020000 */
+#define USB_OTG_GOTGINT_HNGDET                   USB_OTG_GOTGINT_HNGDET_Msk    /*!< Host negotiation detected              */
+#define USB_OTG_GOTGINT_ADTOCHG_Pos              (18U)
+#define USB_OTG_GOTGINT_ADTOCHG_Msk              (0x1UL << USB_OTG_GOTGINT_ADTOCHG_Pos) /*!< 0x00040000 */
+#define USB_OTG_GOTGINT_ADTOCHG                  USB_OTG_GOTGINT_ADTOCHG_Msk   /*!< A-device timeout change                */
+#define USB_OTG_GOTGINT_DBCDNE_Pos               (19U)
+#define USB_OTG_GOTGINT_DBCDNE_Msk               (0x1UL << USB_OTG_GOTGINT_DBCDNE_Pos) /*!< 0x00080000 */
+#define USB_OTG_GOTGINT_DBCDNE                   USB_OTG_GOTGINT_DBCDNE_Msk    /*!< Debounce done                          */
+
+/********************  Bit definition forUSB_OTG_DCTL register  ********************/
+#define USB_OTG_DCTL_RWUSIG_Pos                  (0U)
+#define USB_OTG_DCTL_RWUSIG_Msk                  (0x1UL << USB_OTG_DCTL_RWUSIG_Pos) /*!< 0x00000001 */
+#define USB_OTG_DCTL_RWUSIG                      USB_OTG_DCTL_RWUSIG_Msk       /*!< Remote wakeup signaling */
+#define USB_OTG_DCTL_SDIS_Pos                    (1U)
+#define USB_OTG_DCTL_SDIS_Msk                    (0x1UL << USB_OTG_DCTL_SDIS_Pos) /*!< 0x00000002 */
+#define USB_OTG_DCTL_SDIS                        USB_OTG_DCTL_SDIS_Msk         /*!< Soft disconnect         */
+#define USB_OTG_DCTL_GINSTS_Pos                  (2U)
+#define USB_OTG_DCTL_GINSTS_Msk                  (0x1UL << USB_OTG_DCTL_GINSTS_Pos) /*!< 0x00000004 */
+#define USB_OTG_DCTL_GINSTS                      USB_OTG_DCTL_GINSTS_Msk       /*!< Global IN NAK status    */
+#define USB_OTG_DCTL_GONSTS_Pos                  (3U)
+#define USB_OTG_DCTL_GONSTS_Msk                  (0x1UL << USB_OTG_DCTL_GONSTS_Pos) /*!< 0x00000008 */
+#define USB_OTG_DCTL_GONSTS                      USB_OTG_DCTL_GONSTS_Msk       /*!< Global OUT NAK status   */
+
+#define USB_OTG_DCTL_TCTL_Pos                    (4U)
+#define USB_OTG_DCTL_TCTL_Msk                    (0x7UL << USB_OTG_DCTL_TCTL_Pos) /*!< 0x00000070 */
+#define USB_OTG_DCTL_TCTL                        USB_OTG_DCTL_TCTL_Msk         /*!< Test control */
+#define USB_OTG_DCTL_TCTL_0                      (0x1UL << USB_OTG_DCTL_TCTL_Pos) /*!< 0x00000010 */
+#define USB_OTG_DCTL_TCTL_1                      (0x2UL << USB_OTG_DCTL_TCTL_Pos) /*!< 0x00000020 */
+#define USB_OTG_DCTL_TCTL_2                      (0x4UL << USB_OTG_DCTL_TCTL_Pos) /*!< 0x00000040 */
+#define USB_OTG_DCTL_SGINAK_Pos                  (7U)
+#define USB_OTG_DCTL_SGINAK_Msk                  (0x1UL << USB_OTG_DCTL_SGINAK_Pos) /*!< 0x00000080 */
+#define USB_OTG_DCTL_SGINAK                      USB_OTG_DCTL_SGINAK_Msk       /*!< Set global IN NAK         */
+#define USB_OTG_DCTL_CGINAK_Pos                  (8U)
+#define USB_OTG_DCTL_CGINAK_Msk                  (0x1UL << USB_OTG_DCTL_CGINAK_Pos) /*!< 0x00000100 */
+#define USB_OTG_DCTL_CGINAK                      USB_OTG_DCTL_CGINAK_Msk       /*!< Clear global IN NAK       */
+#define USB_OTG_DCTL_SGONAK_Pos                  (9U)
+#define USB_OTG_DCTL_SGONAK_Msk                  (0x1UL << USB_OTG_DCTL_SGONAK_Pos) /*!< 0x00000200 */
+#define USB_OTG_DCTL_SGONAK                      USB_OTG_DCTL_SGONAK_Msk       /*!< Set global OUT NAK        */
+#define USB_OTG_DCTL_CGONAK_Pos                  (10U)
+#define USB_OTG_DCTL_CGONAK_Msk                  (0x1UL << USB_OTG_DCTL_CGONAK_Pos) /*!< 0x00000400 */
+#define USB_OTG_DCTL_CGONAK                      USB_OTG_DCTL_CGONAK_Msk       /*!< Clear global OUT NAK      */
+#define USB_OTG_DCTL_POPRGDNE_Pos                (11U)
+#define USB_OTG_DCTL_POPRGDNE_Msk                (0x1UL << USB_OTG_DCTL_POPRGDNE_Pos) /*!< 0x00000800 */
+#define USB_OTG_DCTL_POPRGDNE                    USB_OTG_DCTL_POPRGDNE_Msk     /*!< Power-on programming done */
+
+/********************  Bit definition forUSB_OTG_HFIR register  ********************/
+#define USB_OTG_HFIR_FRIVL_Pos                   (0U)
+#define USB_OTG_HFIR_FRIVL_Msk                   (0xFFFFUL << USB_OTG_HFIR_FRIVL_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HFIR_FRIVL                       USB_OTG_HFIR_FRIVL_Msk        /*!< Frame interval */
+
+/********************  Bit definition forUSB_OTG_HFNUM register  ********************/
+#define USB_OTG_HFNUM_FRNUM_Pos                  (0U)
+#define USB_OTG_HFNUM_FRNUM_Msk                  (0xFFFFUL << USB_OTG_HFNUM_FRNUM_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HFNUM_FRNUM                      USB_OTG_HFNUM_FRNUM_Msk       /*!< Frame number         */
+#define USB_OTG_HFNUM_FTREM_Pos                  (16U)
+#define USB_OTG_HFNUM_FTREM_Msk                  (0xFFFFUL << USB_OTG_HFNUM_FTREM_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_HFNUM_FTREM                      USB_OTG_HFNUM_FTREM_Msk       /*!< Frame time remaining */
+
+/********************  Bit definition forUSB_OTG_DSTS register  ********************/
+#define USB_OTG_DSTS_SUSPSTS_Pos                 (0U)
+#define USB_OTG_DSTS_SUSPSTS_Msk                 (0x1UL << USB_OTG_DSTS_SUSPSTS_Pos) /*!< 0x00000001 */
+#define USB_OTG_DSTS_SUSPSTS                     USB_OTG_DSTS_SUSPSTS_Msk      /*!< Suspend status   */
+
+#define USB_OTG_DSTS_ENUMSPD_Pos                 (1U)
+#define USB_OTG_DSTS_ENUMSPD_Msk                 (0x3UL << USB_OTG_DSTS_ENUMSPD_Pos) /*!< 0x00000006 */
+#define USB_OTG_DSTS_ENUMSPD                     USB_OTG_DSTS_ENUMSPD_Msk      /*!< Enumerated speed */
+#define USB_OTG_DSTS_ENUMSPD_0                   (0x1UL << USB_OTG_DSTS_ENUMSPD_Pos) /*!< 0x00000002 */
+#define USB_OTG_DSTS_ENUMSPD_1                   (0x2UL << USB_OTG_DSTS_ENUMSPD_Pos) /*!< 0x00000004 */
+#define USB_OTG_DSTS_EERR_Pos                    (3U)
+#define USB_OTG_DSTS_EERR_Msk                    (0x1UL << USB_OTG_DSTS_EERR_Pos) /*!< 0x00000008 */
+#define USB_OTG_DSTS_EERR                        USB_OTG_DSTS_EERR_Msk         /*!< Erratic error     */
+#define USB_OTG_DSTS_FNSOF_Pos                   (8U)
+#define USB_OTG_DSTS_FNSOF_Msk                   (0x3FFFUL << USB_OTG_DSTS_FNSOF_Pos) /*!< 0x003FFF00 */
+#define USB_OTG_DSTS_FNSOF                       USB_OTG_DSTS_FNSOF_Msk        /*!< Frame number of the received SOF */
+
+/********************  Bit definition forUSB_OTG_GAHBCFG register  ********************/
+#define USB_OTG_GAHBCFG_GINT_Pos                 (0U)
+#define USB_OTG_GAHBCFG_GINT_Msk                 (0x1UL << USB_OTG_GAHBCFG_GINT_Pos) /*!< 0x00000001 */
+#define USB_OTG_GAHBCFG_GINT                     USB_OTG_GAHBCFG_GINT_Msk      /*!< Global interrupt mask */
+
+#define USB_OTG_GAHBCFG_HBSTLEN_Pos              (1U)
+#define USB_OTG_GAHBCFG_HBSTLEN_Msk              (0xFUL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< 0x0000001E */
+#define USB_OTG_GAHBCFG_HBSTLEN                  USB_OTG_GAHBCFG_HBSTLEN_Msk   /*!< Burst length/type */
+#define USB_OTG_GAHBCFG_HBSTLEN_0                (0x0UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< Single */
+#define USB_OTG_GAHBCFG_HBSTLEN_1                (0x1UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< INCR */
+#define USB_OTG_GAHBCFG_HBSTLEN_2                (0x3UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< INCR4 */
+#define USB_OTG_GAHBCFG_HBSTLEN_3                (0x5UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< INCR8 */
+#define USB_OTG_GAHBCFG_HBSTLEN_4                (0x7UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< INCR16 */
+#define USB_OTG_GAHBCFG_DMAEN_Pos                (5U)
+#define USB_OTG_GAHBCFG_DMAEN_Msk                (0x1UL << USB_OTG_GAHBCFG_DMAEN_Pos) /*!< 0x00000020 */
+#define USB_OTG_GAHBCFG_DMAEN                    USB_OTG_GAHBCFG_DMAEN_Msk     /*!< DMA enable */
+#define USB_OTG_GAHBCFG_TXFELVL_Pos              (7U)
+#define USB_OTG_GAHBCFG_TXFELVL_Msk              (0x1UL << USB_OTG_GAHBCFG_TXFELVL_Pos) /*!< 0x00000080 */
+#define USB_OTG_GAHBCFG_TXFELVL                  USB_OTG_GAHBCFG_TXFELVL_Msk   /*!< TxFIFO empty level */
+#define USB_OTG_GAHBCFG_PTXFELVL_Pos             (8U)
+#define USB_OTG_GAHBCFG_PTXFELVL_Msk             (0x1UL << USB_OTG_GAHBCFG_PTXFELVL_Pos) /*!< 0x00000100 */
+#define USB_OTG_GAHBCFG_PTXFELVL                 USB_OTG_GAHBCFG_PTXFELVL_Msk  /*!< Periodic TxFIFO empty level */
+
+/********************  Bit definition forUSB_OTG_GUSBCFG register  ********************/
+
+#define USB_OTG_GUSBCFG_TOCAL_Pos                (0U)
+#define USB_OTG_GUSBCFG_TOCAL_Msk                (0x7UL << USB_OTG_GUSBCFG_TOCAL_Pos) /*!< 0x00000007 */
+#define USB_OTG_GUSBCFG_TOCAL                    USB_OTG_GUSBCFG_TOCAL_Msk     /*!< FS timeout calibration */
+#define USB_OTG_GUSBCFG_TOCAL_0                  (0x1UL << USB_OTG_GUSBCFG_TOCAL_Pos) /*!< 0x00000001 */
+#define USB_OTG_GUSBCFG_TOCAL_1                  (0x2UL << USB_OTG_GUSBCFG_TOCAL_Pos) /*!< 0x00000002 */
+#define USB_OTG_GUSBCFG_TOCAL_2                  (0x4UL << USB_OTG_GUSBCFG_TOCAL_Pos) /*!< 0x00000004 */
+#define USB_OTG_GUSBCFG_PHYSEL_Pos               (6U)
+#define USB_OTG_GUSBCFG_PHYSEL_Msk               (0x1UL << USB_OTG_GUSBCFG_PHYSEL_Pos) /*!< 0x00000040 */
+#define USB_OTG_GUSBCFG_PHYSEL                   USB_OTG_GUSBCFG_PHYSEL_Msk    /*!< USB 2.0 high-speed ULPI PHY or USB 1.1 full-speed serial transceiver select */
+#define USB_OTG_GUSBCFG_SRPCAP_Pos               (8U)
+#define USB_OTG_GUSBCFG_SRPCAP_Msk               (0x1UL << USB_OTG_GUSBCFG_SRPCAP_Pos) /*!< 0x00000100 */
+#define USB_OTG_GUSBCFG_SRPCAP                   USB_OTG_GUSBCFG_SRPCAP_Msk    /*!< SRP-capable */
+#define USB_OTG_GUSBCFG_HNPCAP_Pos               (9U)
+#define USB_OTG_GUSBCFG_HNPCAP_Msk               (0x1UL << USB_OTG_GUSBCFG_HNPCAP_Pos) /*!< 0x00000200 */
+#define USB_OTG_GUSBCFG_HNPCAP                   USB_OTG_GUSBCFG_HNPCAP_Msk    /*!< HNP-capable */
+
+#define USB_OTG_GUSBCFG_TRDT_Pos                 (10U)
+#define USB_OTG_GUSBCFG_TRDT_Msk                 (0xFUL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00003C00 */
+#define USB_OTG_GUSBCFG_TRDT                     USB_OTG_GUSBCFG_TRDT_Msk      /*!< USB turnaround time */
+#define USB_OTG_GUSBCFG_TRDT_0                   (0x1UL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00000400 */
+#define USB_OTG_GUSBCFG_TRDT_1                   (0x2UL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00000800 */
+#define USB_OTG_GUSBCFG_TRDT_2                   (0x4UL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00001000 */
+#define USB_OTG_GUSBCFG_TRDT_3                   (0x8UL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00002000 */
+#define USB_OTG_GUSBCFG_PHYLPCS_Pos              (15U)
+#define USB_OTG_GUSBCFG_PHYLPCS_Msk              (0x1UL << USB_OTG_GUSBCFG_PHYLPCS_Pos) /*!< 0x00008000 */
+#define USB_OTG_GUSBCFG_PHYLPCS                  USB_OTG_GUSBCFG_PHYLPCS_Msk   /*!< PHY Low-power clock select */
+#define USB_OTG_GUSBCFG_ULPIFSLS_Pos             (17U)
+#define USB_OTG_GUSBCFG_ULPIFSLS_Msk             (0x1UL << USB_OTG_GUSBCFG_ULPIFSLS_Pos) /*!< 0x00020000 */
+#define USB_OTG_GUSBCFG_ULPIFSLS                 USB_OTG_GUSBCFG_ULPIFSLS_Msk  /*!< ULPI FS/LS select               */
+#define USB_OTG_GUSBCFG_ULPIAR_Pos               (18U)
+#define USB_OTG_GUSBCFG_ULPIAR_Msk               (0x1UL << USB_OTG_GUSBCFG_ULPIAR_Pos) /*!< 0x00040000 */
+#define USB_OTG_GUSBCFG_ULPIAR                   USB_OTG_GUSBCFG_ULPIAR_Msk    /*!< ULPI Auto-resume                */
+#define USB_OTG_GUSBCFG_ULPICSM_Pos              (19U)
+#define USB_OTG_GUSBCFG_ULPICSM_Msk              (0x1UL << USB_OTG_GUSBCFG_ULPICSM_Pos) /*!< 0x00080000 */
+#define USB_OTG_GUSBCFG_ULPICSM                  USB_OTG_GUSBCFG_ULPICSM_Msk   /*!< ULPI Clock SuspendM             */
+#define USB_OTG_GUSBCFG_ULPIEVBUSD_Pos           (20U)
+#define USB_OTG_GUSBCFG_ULPIEVBUSD_Msk           (0x1UL << USB_OTG_GUSBCFG_ULPIEVBUSD_Pos) /*!< 0x00100000 */
+#define USB_OTG_GUSBCFG_ULPIEVBUSD               USB_OTG_GUSBCFG_ULPIEVBUSD_Msk /*!< ULPI External VBUS Drive        */
+#define USB_OTG_GUSBCFG_ULPIEVBUSI_Pos           (21U)
+#define USB_OTG_GUSBCFG_ULPIEVBUSI_Msk           (0x1UL << USB_OTG_GUSBCFG_ULPIEVBUSI_Pos) /*!< 0x00200000 */
+#define USB_OTG_GUSBCFG_ULPIEVBUSI               USB_OTG_GUSBCFG_ULPIEVBUSI_Msk /*!< ULPI external VBUS indicator    */
+#define USB_OTG_GUSBCFG_TSDPS_Pos                (22U)
+#define USB_OTG_GUSBCFG_TSDPS_Msk                (0x1UL << USB_OTG_GUSBCFG_TSDPS_Pos) /*!< 0x00400000 */
+#define USB_OTG_GUSBCFG_TSDPS                    USB_OTG_GUSBCFG_TSDPS_Msk     /*!< TermSel DLine pulsing selection */
+#define USB_OTG_GUSBCFG_PCCI_Pos                 (23U)
+#define USB_OTG_GUSBCFG_PCCI_Msk                 (0x1UL << USB_OTG_GUSBCFG_PCCI_Pos) /*!< 0x00800000 */
+#define USB_OTG_GUSBCFG_PCCI                     USB_OTG_GUSBCFG_PCCI_Msk      /*!< Indicator complement            */
+#define USB_OTG_GUSBCFG_PTCI_Pos                 (24U)
+#define USB_OTG_GUSBCFG_PTCI_Msk                 (0x1UL << USB_OTG_GUSBCFG_PTCI_Pos) /*!< 0x01000000 */
+#define USB_OTG_GUSBCFG_PTCI                     USB_OTG_GUSBCFG_PTCI_Msk      /*!< Indicator pass through          */
+#define USB_OTG_GUSBCFG_ULPIIPD_Pos              (25U)
+#define USB_OTG_GUSBCFG_ULPIIPD_Msk              (0x1UL << USB_OTG_GUSBCFG_ULPIIPD_Pos) /*!< 0x02000000 */
+#define USB_OTG_GUSBCFG_ULPIIPD                  USB_OTG_GUSBCFG_ULPIIPD_Msk   /*!< ULPI interface protect disable  */
+#define USB_OTG_GUSBCFG_FHMOD_Pos                (29U)
+#define USB_OTG_GUSBCFG_FHMOD_Msk                (0x1UL << USB_OTG_GUSBCFG_FHMOD_Pos) /*!< 0x20000000 */
+#define USB_OTG_GUSBCFG_FHMOD                    USB_OTG_GUSBCFG_FHMOD_Msk     /*!< Forced host mode                */
+#define USB_OTG_GUSBCFG_FDMOD_Pos                (30U)
+#define USB_OTG_GUSBCFG_FDMOD_Msk                (0x1UL << USB_OTG_GUSBCFG_FDMOD_Pos) /*!< 0x40000000 */
+#define USB_OTG_GUSBCFG_FDMOD                    USB_OTG_GUSBCFG_FDMOD_Msk     /*!< Forced peripheral mode          */
+#define USB_OTG_GUSBCFG_CTXPKT_Pos               (31U)
+#define USB_OTG_GUSBCFG_CTXPKT_Msk               (0x1UL << USB_OTG_GUSBCFG_CTXPKT_Pos) /*!< 0x80000000 */
+#define USB_OTG_GUSBCFG_CTXPKT                   USB_OTG_GUSBCFG_CTXPKT_Msk    /*!< Corrupt Tx packet               */
+
+/********************  Bit definition forUSB_OTG_GRSTCTL register  ********************/
+#define USB_OTG_GRSTCTL_CSRST_Pos                (0U)
+#define USB_OTG_GRSTCTL_CSRST_Msk                (0x1UL << USB_OTG_GRSTCTL_CSRST_Pos) /*!< 0x00000001 */
+#define USB_OTG_GRSTCTL_CSRST                    USB_OTG_GRSTCTL_CSRST_Msk     /*!< Core soft reset          */
+#define USB_OTG_GRSTCTL_HSRST_Pos                (1U)
+#define USB_OTG_GRSTCTL_HSRST_Msk                (0x1UL << USB_OTG_GRSTCTL_HSRST_Pos) /*!< 0x00000002 */
+#define USB_OTG_GRSTCTL_HSRST                    USB_OTG_GRSTCTL_HSRST_Msk     /*!< HCLK soft reset          */
+#define USB_OTG_GRSTCTL_FCRST_Pos                (2U)
+#define USB_OTG_GRSTCTL_FCRST_Msk                (0x1UL << USB_OTG_GRSTCTL_FCRST_Pos) /*!< 0x00000004 */
+#define USB_OTG_GRSTCTL_FCRST                    USB_OTG_GRSTCTL_FCRST_Msk     /*!< Host frame counter reset */
+#define USB_OTG_GRSTCTL_RXFFLSH_Pos              (4U)
+#define USB_OTG_GRSTCTL_RXFFLSH_Msk              (0x1UL << USB_OTG_GRSTCTL_RXFFLSH_Pos) /*!< 0x00000010 */
+#define USB_OTG_GRSTCTL_RXFFLSH                  USB_OTG_GRSTCTL_RXFFLSH_Msk   /*!< RxFIFO flush             */
+#define USB_OTG_GRSTCTL_TXFFLSH_Pos              (5U)
+#define USB_OTG_GRSTCTL_TXFFLSH_Msk              (0x1UL << USB_OTG_GRSTCTL_TXFFLSH_Pos) /*!< 0x00000020 */
+#define USB_OTG_GRSTCTL_TXFFLSH                  USB_OTG_GRSTCTL_TXFFLSH_Msk   /*!< TxFIFO flush             */
+
+#define USB_OTG_GRSTCTL_TXFNUM_Pos               (6U)
+#define USB_OTG_GRSTCTL_TXFNUM_Msk               (0x1FUL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x000007C0 */
+#define USB_OTG_GRSTCTL_TXFNUM                   USB_OTG_GRSTCTL_TXFNUM_Msk    /*!< TxFIFO number */
+#define USB_OTG_GRSTCTL_TXFNUM_0                 (0x01UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000040 */
+#define USB_OTG_GRSTCTL_TXFNUM_1                 (0x02UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000080 */
+#define USB_OTG_GRSTCTL_TXFNUM_2                 (0x04UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000100 */
+#define USB_OTG_GRSTCTL_TXFNUM_3                 (0x08UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000200 */
+#define USB_OTG_GRSTCTL_TXFNUM_4                 (0x10UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000400 */
+#define USB_OTG_GRSTCTL_DMAREQ_Pos               (30U)
+#define USB_OTG_GRSTCTL_DMAREQ_Msk               (0x1UL << USB_OTG_GRSTCTL_DMAREQ_Pos) /*!< 0x40000000 */
+#define USB_OTG_GRSTCTL_DMAREQ                   USB_OTG_GRSTCTL_DMAREQ_Msk    /*!< DMA request signal */
+#define USB_OTG_GRSTCTL_AHBIDL_Pos               (31U)
+#define USB_OTG_GRSTCTL_AHBIDL_Msk               (0x1UL << USB_OTG_GRSTCTL_AHBIDL_Pos) /*!< 0x80000000 */
+#define USB_OTG_GRSTCTL_AHBIDL                   USB_OTG_GRSTCTL_AHBIDL_Msk    /*!< AHB master idle */
+
+/********************  Bit definition forUSB_OTG_DIEPMSK register  ********************/
+#define USB_OTG_DIEPMSK_XFRCM_Pos                (0U)
+#define USB_OTG_DIEPMSK_XFRCM_Msk                (0x1UL << USB_OTG_DIEPMSK_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_DIEPMSK_XFRCM                    USB_OTG_DIEPMSK_XFRCM_Msk     /*!< Transfer completed interrupt mask                 */
+#define USB_OTG_DIEPMSK_EPDM_Pos                 (1U)
+#define USB_OTG_DIEPMSK_EPDM_Msk                 (0x1UL << USB_OTG_DIEPMSK_EPDM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DIEPMSK_EPDM                     USB_OTG_DIEPMSK_EPDM_Msk      /*!< Endpoint disabled interrupt mask                  */
+#define USB_OTG_DIEPMSK_TOM_Pos                  (3U)
+#define USB_OTG_DIEPMSK_TOM_Msk                  (0x1UL << USB_OTG_DIEPMSK_TOM_Pos) /*!< 0x00000008 */
+#define USB_OTG_DIEPMSK_TOM                      USB_OTG_DIEPMSK_TOM_Msk       /*!< Timeout condition mask (nonisochronous endpoints) */
+#define USB_OTG_DIEPMSK_ITTXFEMSK_Pos            (4U)
+#define USB_OTG_DIEPMSK_ITTXFEMSK_Msk            (0x1UL << USB_OTG_DIEPMSK_ITTXFEMSK_Pos) /*!< 0x00000010 */
+#define USB_OTG_DIEPMSK_ITTXFEMSK                USB_OTG_DIEPMSK_ITTXFEMSK_Msk /*!< IN token received when TxFIFO empty mask          */
+#define USB_OTG_DIEPMSK_INEPNMM_Pos              (5U)
+#define USB_OTG_DIEPMSK_INEPNMM_Msk              (0x1UL << USB_OTG_DIEPMSK_INEPNMM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DIEPMSK_INEPNMM                  USB_OTG_DIEPMSK_INEPNMM_Msk   /*!< IN token received with EP mismatch mask           */
+#define USB_OTG_DIEPMSK_INEPNEM_Pos              (6U)
+#define USB_OTG_DIEPMSK_INEPNEM_Msk              (0x1UL << USB_OTG_DIEPMSK_INEPNEM_Pos) /*!< 0x00000040 */
+#define USB_OTG_DIEPMSK_INEPNEM                  USB_OTG_DIEPMSK_INEPNEM_Msk   /*!< IN endpoint NAK effective mask                    */
+#define USB_OTG_DIEPMSK_TXFURM_Pos               (8U)
+#define USB_OTG_DIEPMSK_TXFURM_Msk               (0x1UL << USB_OTG_DIEPMSK_TXFURM_Pos) /*!< 0x00000100 */
+#define USB_OTG_DIEPMSK_TXFURM                   USB_OTG_DIEPMSK_TXFURM_Msk    /*!< FIFO underrun mask                                */
+#define USB_OTG_DIEPMSK_BIM_Pos                  (9U)
+#define USB_OTG_DIEPMSK_BIM_Msk                  (0x1UL << USB_OTG_DIEPMSK_BIM_Pos) /*!< 0x00000200 */
+#define USB_OTG_DIEPMSK_BIM                      USB_OTG_DIEPMSK_BIM_Msk       /*!< BNA interrupt mask                                */
+
+/********************  Bit definition forUSB_OTG_HPTXSTS register  ********************/
+#define USB_OTG_HPTXSTS_PTXFSAVL_Pos             (0U)
+#define USB_OTG_HPTXSTS_PTXFSAVL_Msk             (0xFFFFUL << USB_OTG_HPTXSTS_PTXFSAVL_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HPTXSTS_PTXFSAVL                 USB_OTG_HPTXSTS_PTXFSAVL_Msk  /*!< Periodic transmit data FIFO space available     */
+
+#define USB_OTG_HPTXSTS_PTXQSAV_Pos              (16U)
+#define USB_OTG_HPTXSTS_PTXQSAV_Msk              (0xFFUL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00FF0000 */
+#define USB_OTG_HPTXSTS_PTXQSAV                  USB_OTG_HPTXSTS_PTXQSAV_Msk   /*!< Periodic transmit request queue space available */
+#define USB_OTG_HPTXSTS_PTXQSAV_0                (0x01UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00010000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_1                (0x02UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00020000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_2                (0x04UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00040000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_3                (0x08UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00080000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_4                (0x10UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00100000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_5                (0x20UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00200000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_6                (0x40UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00400000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_7                (0x80UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00800000 */
+
+#define USB_OTG_HPTXSTS_PTXQTOP_Pos              (24U)
+#define USB_OTG_HPTXSTS_PTXQTOP_Msk              (0xFFUL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0xFF000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP                  USB_OTG_HPTXSTS_PTXQTOP_Msk   /*!< Top of the periodic transmit request queue */
+#define USB_OTG_HPTXSTS_PTXQTOP_0                (0x01UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x01000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_1                (0x02UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x02000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_2                (0x04UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x04000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_3                (0x08UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x08000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_4                (0x10UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x10000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_5                (0x20UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x20000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_6                (0x40UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x40000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_7                (0x80UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x80000000 */
+
+/********************  Bit definition forUSB_OTG_HAINT register  ********************/
+#define USB_OTG_HAINT_HAINT_Pos                  (0U)
+#define USB_OTG_HAINT_HAINT_Msk                  (0xFFFFUL << USB_OTG_HAINT_HAINT_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HAINT_HAINT                      USB_OTG_HAINT_HAINT_Msk       /*!< Channel interrupts */
+
+/********************  Bit definition forUSB_OTG_DOEPMSK register  ********************/
+#define USB_OTG_DOEPMSK_XFRCM_Pos                (0U)
+#define USB_OTG_DOEPMSK_XFRCM_Msk                (0x1UL << USB_OTG_DOEPMSK_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_DOEPMSK_XFRCM                    USB_OTG_DOEPMSK_XFRCM_Msk     /*!< Transfer completed interrupt mask */
+#define USB_OTG_DOEPMSK_EPDM_Pos                 (1U)
+#define USB_OTG_DOEPMSK_EPDM_Msk                 (0x1UL << USB_OTG_DOEPMSK_EPDM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DOEPMSK_EPDM                     USB_OTG_DOEPMSK_EPDM_Msk      /*!< Endpoint disabled interrupt mask               */
+#define USB_OTG_DOEPMSK_AHBERRM_Pos              (2U)
+#define USB_OTG_DOEPMSK_AHBERRM_Msk              (0x1UL << USB_OTG_DOEPMSK_AHBERRM_Pos) /*!< 0x00000004 */
+#define USB_OTG_DOEPMSK_AHBERRM                  USB_OTG_DOEPMSK_AHBERRM_Msk      /*!< OUT transaction AHB Error interrupt mask               */
+#define USB_OTG_DOEPMSK_STUPM_Pos                (3U)
+#define USB_OTG_DOEPMSK_STUPM_Msk                (0x1UL << USB_OTG_DOEPMSK_STUPM_Pos) /*!< 0x00000008 */
+#define USB_OTG_DOEPMSK_STUPM                    USB_OTG_DOEPMSK_STUPM_Msk     /*!< SETUP phase done mask                          */
+#define USB_OTG_DOEPMSK_OTEPDM_Pos               (4U)
+#define USB_OTG_DOEPMSK_OTEPDM_Msk               (0x1UL << USB_OTG_DOEPMSK_OTEPDM_Pos) /*!< 0x00000010 */
+#define USB_OTG_DOEPMSK_OTEPDM                   USB_OTG_DOEPMSK_OTEPDM_Msk    /*!< OUT token received when endpoint disabled mask */
+#define USB_OTG_DOEPMSK_OTEPSPRM_Pos             (5U)
+#define USB_OTG_DOEPMSK_OTEPSPRM_Msk             (0x1UL << USB_OTG_DOEPMSK_OTEPSPRM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DOEPMSK_OTEPSPRM                 USB_OTG_DOEPMSK_OTEPSPRM_Msk  /*!< Status Phase Received mask                     */
+#define USB_OTG_DOEPMSK_B2BSTUP_Pos              (6U)
+#define USB_OTG_DOEPMSK_B2BSTUP_Msk              (0x1UL << USB_OTG_DOEPMSK_B2BSTUP_Pos) /*!< 0x00000040 */
+#define USB_OTG_DOEPMSK_B2BSTUP                  USB_OTG_DOEPMSK_B2BSTUP_Msk   /*!< Back-to-back SETUP packets received mask       */
+#define USB_OTG_DOEPMSK_OPEM_Pos                 (8U)
+#define USB_OTG_DOEPMSK_OPEM_Msk                 (0x1UL << USB_OTG_DOEPMSK_OPEM_Pos) /*!< 0x00000100 */
+#define USB_OTG_DOEPMSK_OPEM                     USB_OTG_DOEPMSK_OPEM_Msk      /*!< OUT packet error mask                          */
+#define USB_OTG_DOEPMSK_BOIM_Pos                 (9U)
+#define USB_OTG_DOEPMSK_BOIM_Msk                 (0x1UL << USB_OTG_DOEPMSK_BOIM_Pos) /*!< 0x00000200 */
+#define USB_OTG_DOEPMSK_BOIM                     USB_OTG_DOEPMSK_BOIM_Msk      /*!< BNA interrupt mask                             */
+#define USB_OTG_DOEPMSK_BERRM_Pos                (12U)
+#define USB_OTG_DOEPMSK_BERRM_Msk                (0x1UL << USB_OTG_DOEPMSK_BERRM_Pos) /*!< 0x00001000 */
+#define USB_OTG_DOEPMSK_BERRM                    USB_OTG_DOEPMSK_BERRM_Msk      /*!< Babble error interrupt mask               */
+#define USB_OTG_DOEPMSK_NAKM_Pos                 (13U)
+#define USB_OTG_DOEPMSK_NAKM_Msk                 (0x1UL << USB_OTG_DOEPMSK_NAKM_Pos) /*!< 0x00002000 */
+#define USB_OTG_DOEPMSK_NAKM                     USB_OTG_DOEPMSK_NAKM_Msk      /*!< OUT Packet NAK interrupt mask               */
+#define USB_OTG_DOEPMSK_NYETM_Pos                (14U)
+#define USB_OTG_DOEPMSK_NYETM_Msk                (0x1UL << USB_OTG_DOEPMSK_NYETM_Pos) /*!< 0x00004000 */
+#define USB_OTG_DOEPMSK_NYETM                    USB_OTG_DOEPMSK_NYETM_Msk      /*!< NYET interrupt mask                */
+
+/********************  Bit definition forUSB_OTG_GINTSTS register  ********************/
+#define USB_OTG_GINTSTS_CMOD_Pos                 (0U)
+#define USB_OTG_GINTSTS_CMOD_Msk                 (0x1UL << USB_OTG_GINTSTS_CMOD_Pos) /*!< 0x00000001 */
+#define USB_OTG_GINTSTS_CMOD                     USB_OTG_GINTSTS_CMOD_Msk      /*!< Current mode of operation                      */
+#define USB_OTG_GINTSTS_MMIS_Pos                 (1U)
+#define USB_OTG_GINTSTS_MMIS_Msk                 (0x1UL << USB_OTG_GINTSTS_MMIS_Pos) /*!< 0x00000002 */
+#define USB_OTG_GINTSTS_MMIS                     USB_OTG_GINTSTS_MMIS_Msk      /*!< Mode mismatch interrupt                        */
+#define USB_OTG_GINTSTS_OTGINT_Pos               (2U)
+#define USB_OTG_GINTSTS_OTGINT_Msk               (0x1UL << USB_OTG_GINTSTS_OTGINT_Pos) /*!< 0x00000004 */
+#define USB_OTG_GINTSTS_OTGINT                   USB_OTG_GINTSTS_OTGINT_Msk    /*!< OTG interrupt                                  */
+#define USB_OTG_GINTSTS_SOF_Pos                  (3U)
+#define USB_OTG_GINTSTS_SOF_Msk                  (0x1UL << USB_OTG_GINTSTS_SOF_Pos) /*!< 0x00000008 */
+#define USB_OTG_GINTSTS_SOF                      USB_OTG_GINTSTS_SOF_Msk       /*!< Start of frame                                 */
+#define USB_OTG_GINTSTS_RXFLVL_Pos               (4U)
+#define USB_OTG_GINTSTS_RXFLVL_Msk               (0x1UL << USB_OTG_GINTSTS_RXFLVL_Pos) /*!< 0x00000010 */
+#define USB_OTG_GINTSTS_RXFLVL                   USB_OTG_GINTSTS_RXFLVL_Msk    /*!< RxFIFO nonempty                                */
+#define USB_OTG_GINTSTS_NPTXFE_Pos               (5U)
+#define USB_OTG_GINTSTS_NPTXFE_Msk               (0x1UL << USB_OTG_GINTSTS_NPTXFE_Pos) /*!< 0x00000020 */
+#define USB_OTG_GINTSTS_NPTXFE                   USB_OTG_GINTSTS_NPTXFE_Msk    /*!< Nonperiodic TxFIFO empty                       */
+#define USB_OTG_GINTSTS_GINAKEFF_Pos             (6U)
+#define USB_OTG_GINTSTS_GINAKEFF_Msk             (0x1UL << USB_OTG_GINTSTS_GINAKEFF_Pos) /*!< 0x00000040 */
+#define USB_OTG_GINTSTS_GINAKEFF                 USB_OTG_GINTSTS_GINAKEFF_Msk  /*!< Global IN nonperiodic NAK effective            */
+#define USB_OTG_GINTSTS_BOUTNAKEFF_Pos           (7U)
+#define USB_OTG_GINTSTS_BOUTNAKEFF_Msk           (0x1UL << USB_OTG_GINTSTS_BOUTNAKEFF_Pos) /*!< 0x00000080 */
+#define USB_OTG_GINTSTS_BOUTNAKEFF               USB_OTG_GINTSTS_BOUTNAKEFF_Msk /*!< Global OUT NAK effective                       */
+#define USB_OTG_GINTSTS_ESUSP_Pos                (10U)
+#define USB_OTG_GINTSTS_ESUSP_Msk                (0x1UL << USB_OTG_GINTSTS_ESUSP_Pos) /*!< 0x00000400 */
+#define USB_OTG_GINTSTS_ESUSP                    USB_OTG_GINTSTS_ESUSP_Msk     /*!< Early suspend                                  */
+#define USB_OTG_GINTSTS_USBSUSP_Pos              (11U)
+#define USB_OTG_GINTSTS_USBSUSP_Msk              (0x1UL << USB_OTG_GINTSTS_USBSUSP_Pos) /*!< 0x00000800 */
+#define USB_OTG_GINTSTS_USBSUSP                  USB_OTG_GINTSTS_USBSUSP_Msk   /*!< USB suspend                                    */
+#define USB_OTG_GINTSTS_USBRST_Pos               (12U)
+#define USB_OTG_GINTSTS_USBRST_Msk               (0x1UL << USB_OTG_GINTSTS_USBRST_Pos) /*!< 0x00001000 */
+#define USB_OTG_GINTSTS_USBRST                   USB_OTG_GINTSTS_USBRST_Msk    /*!< USB reset                                      */
+#define USB_OTG_GINTSTS_ENUMDNE_Pos              (13U)
+#define USB_OTG_GINTSTS_ENUMDNE_Msk              (0x1UL << USB_OTG_GINTSTS_ENUMDNE_Pos) /*!< 0x00002000 */
+#define USB_OTG_GINTSTS_ENUMDNE                  USB_OTG_GINTSTS_ENUMDNE_Msk   /*!< Enumeration done                               */
+#define USB_OTG_GINTSTS_ISOODRP_Pos              (14U)
+#define USB_OTG_GINTSTS_ISOODRP_Msk              (0x1UL << USB_OTG_GINTSTS_ISOODRP_Pos) /*!< 0x00004000 */
+#define USB_OTG_GINTSTS_ISOODRP                  USB_OTG_GINTSTS_ISOODRP_Msk   /*!< Isochronous OUT packet dropped interrupt       */
+#define USB_OTG_GINTSTS_EOPF_Pos                 (15U)
+#define USB_OTG_GINTSTS_EOPF_Msk                 (0x1UL << USB_OTG_GINTSTS_EOPF_Pos) /*!< 0x00008000 */
+#define USB_OTG_GINTSTS_EOPF                     USB_OTG_GINTSTS_EOPF_Msk      /*!< End of periodic frame interrupt                */
+#define USB_OTG_GINTSTS_IEPINT_Pos               (18U)
+#define USB_OTG_GINTSTS_IEPINT_Msk               (0x1UL << USB_OTG_GINTSTS_IEPINT_Pos) /*!< 0x00040000 */
+#define USB_OTG_GINTSTS_IEPINT                   USB_OTG_GINTSTS_IEPINT_Msk    /*!< IN endpoint interrupt                          */
+#define USB_OTG_GINTSTS_OEPINT_Pos               (19U)
+#define USB_OTG_GINTSTS_OEPINT_Msk               (0x1UL << USB_OTG_GINTSTS_OEPINT_Pos) /*!< 0x00080000 */
+#define USB_OTG_GINTSTS_OEPINT                   USB_OTG_GINTSTS_OEPINT_Msk    /*!< OUT endpoint interrupt                         */
+#define USB_OTG_GINTSTS_IISOIXFR_Pos             (20U)
+#define USB_OTG_GINTSTS_IISOIXFR_Msk             (0x1UL << USB_OTG_GINTSTS_IISOIXFR_Pos) /*!< 0x00100000 */
+#define USB_OTG_GINTSTS_IISOIXFR                 USB_OTG_GINTSTS_IISOIXFR_Msk  /*!< Incomplete isochronous IN transfer             */
+#define USB_OTG_GINTSTS_PXFR_INCOMPISOOUT_Pos    (21U)
+#define USB_OTG_GINTSTS_PXFR_INCOMPISOOUT_Msk    (0x1UL << USB_OTG_GINTSTS_PXFR_INCOMPISOOUT_Pos) /*!< 0x00200000 */
+#define USB_OTG_GINTSTS_PXFR_INCOMPISOOUT        USB_OTG_GINTSTS_PXFR_INCOMPISOOUT_Msk /*!< Incomplete periodic transfer                   */
+#define USB_OTG_GINTSTS_DATAFSUSP_Pos            (22U)
+#define USB_OTG_GINTSTS_DATAFSUSP_Msk            (0x1UL << USB_OTG_GINTSTS_DATAFSUSP_Pos) /*!< 0x00400000 */
+#define USB_OTG_GINTSTS_DATAFSUSP                USB_OTG_GINTSTS_DATAFSUSP_Msk /*!< Data fetch suspended                           */
+#define USB_OTG_GINTSTS_RSTDET_Pos               (23U)
+#define USB_OTG_GINTSTS_RSTDET_Msk               (0x1UL << USB_OTG_GINTSTS_RSTDET_Pos) /*!< 0x00800000 */
+#define USB_OTG_GINTSTS_RSTDET                   USB_OTG_GINTSTS_RSTDET_Msk    /*!< Reset detected interrupt                       */
+#define USB_OTG_GINTSTS_HPRTINT_Pos              (24U)
+#define USB_OTG_GINTSTS_HPRTINT_Msk              (0x1UL << USB_OTG_GINTSTS_HPRTINT_Pos) /*!< 0x01000000 */
+#define USB_OTG_GINTSTS_HPRTINT                  USB_OTG_GINTSTS_HPRTINT_Msk   /*!< Host port interrupt                            */
+#define USB_OTG_GINTSTS_HCINT_Pos                (25U)
+#define USB_OTG_GINTSTS_HCINT_Msk                (0x1UL << USB_OTG_GINTSTS_HCINT_Pos) /*!< 0x02000000 */
+#define USB_OTG_GINTSTS_HCINT                    USB_OTG_GINTSTS_HCINT_Msk     /*!< Host channels interrupt                        */
+#define USB_OTG_GINTSTS_PTXFE_Pos                (26U)
+#define USB_OTG_GINTSTS_PTXFE_Msk                (0x1UL << USB_OTG_GINTSTS_PTXFE_Pos) /*!< 0x04000000 */
+#define USB_OTG_GINTSTS_PTXFE                    USB_OTG_GINTSTS_PTXFE_Msk     /*!< Periodic TxFIFO empty                          */
+#define USB_OTG_GINTSTS_LPMINT_Pos               (27U)
+#define USB_OTG_GINTSTS_LPMINT_Msk               (0x1UL << USB_OTG_GINTSTS_LPMINT_Pos) /*!< 0x08000000 */
+#define USB_OTG_GINTSTS_LPMINT                   USB_OTG_GINTSTS_LPMINT_Msk    /*!< LPM interrupt                                  */
+#define USB_OTG_GINTSTS_CIDSCHG_Pos              (28U)
+#define USB_OTG_GINTSTS_CIDSCHG_Msk              (0x1UL << USB_OTG_GINTSTS_CIDSCHG_Pos) /*!< 0x10000000 */
+#define USB_OTG_GINTSTS_CIDSCHG                  USB_OTG_GINTSTS_CIDSCHG_Msk   /*!< Connector ID status change                     */
+#define USB_OTG_GINTSTS_DISCINT_Pos              (29U)
+#define USB_OTG_GINTSTS_DISCINT_Msk              (0x1UL << USB_OTG_GINTSTS_DISCINT_Pos) /*!< 0x20000000 */
+#define USB_OTG_GINTSTS_DISCINT                  USB_OTG_GINTSTS_DISCINT_Msk   /*!< Disconnect detected interrupt                  */
+#define USB_OTG_GINTSTS_SRQINT_Pos               (30U)
+#define USB_OTG_GINTSTS_SRQINT_Msk               (0x1UL << USB_OTG_GINTSTS_SRQINT_Pos) /*!< 0x40000000 */
+#define USB_OTG_GINTSTS_SRQINT                   USB_OTG_GINTSTS_SRQINT_Msk    /*!< Session request/new session detected interrupt */
+#define USB_OTG_GINTSTS_WKUINT_Pos               (31U)
+#define USB_OTG_GINTSTS_WKUINT_Msk               (0x1UL << USB_OTG_GINTSTS_WKUINT_Pos) /*!< 0x80000000 */
+#define USB_OTG_GINTSTS_WKUINT                   USB_OTG_GINTSTS_WKUINT_Msk    /*!< Resume/remote wakeup detected interrupt        */
+
+/********************  Bit definition forUSB_OTG_GINTMSK register  ********************/
+#define USB_OTG_GINTMSK_MMISM_Pos                (1U)
+#define USB_OTG_GINTMSK_MMISM_Msk                (0x1UL << USB_OTG_GINTMSK_MMISM_Pos) /*!< 0x00000002 */
+#define USB_OTG_GINTMSK_MMISM                    USB_OTG_GINTMSK_MMISM_Msk     /*!< Mode mismatch interrupt mask                        */
+#define USB_OTG_GINTMSK_OTGINT_Pos               (2U)
+#define USB_OTG_GINTMSK_OTGINT_Msk               (0x1UL << USB_OTG_GINTMSK_OTGINT_Pos) /*!< 0x00000004 */
+#define USB_OTG_GINTMSK_OTGINT                   USB_OTG_GINTMSK_OTGINT_Msk    /*!< OTG interrupt mask                                  */
+#define USB_OTG_GINTMSK_SOFM_Pos                 (3U)
+#define USB_OTG_GINTMSK_SOFM_Msk                 (0x1UL << USB_OTG_GINTMSK_SOFM_Pos) /*!< 0x00000008 */
+#define USB_OTG_GINTMSK_SOFM                     USB_OTG_GINTMSK_SOFM_Msk      /*!< Start of frame mask                                 */
+#define USB_OTG_GINTMSK_RXFLVLM_Pos              (4U)
+#define USB_OTG_GINTMSK_RXFLVLM_Msk              (0x1UL << USB_OTG_GINTMSK_RXFLVLM_Pos) /*!< 0x00000010 */
+#define USB_OTG_GINTMSK_RXFLVLM                  USB_OTG_GINTMSK_RXFLVLM_Msk   /*!< Receive FIFO nonempty mask                          */
+#define USB_OTG_GINTMSK_NPTXFEM_Pos              (5U)
+#define USB_OTG_GINTMSK_NPTXFEM_Msk              (0x1UL << USB_OTG_GINTMSK_NPTXFEM_Pos) /*!< 0x00000020 */
+#define USB_OTG_GINTMSK_NPTXFEM                  USB_OTG_GINTMSK_NPTXFEM_Msk   /*!< Nonperiodic TxFIFO empty mask                       */
+#define USB_OTG_GINTMSK_GINAKEFFM_Pos            (6U)
+#define USB_OTG_GINTMSK_GINAKEFFM_Msk            (0x1UL << USB_OTG_GINTMSK_GINAKEFFM_Pos) /*!< 0x00000040 */
+#define USB_OTG_GINTMSK_GINAKEFFM                USB_OTG_GINTMSK_GINAKEFFM_Msk /*!< Global nonperiodic IN NAK effective mask            */
+#define USB_OTG_GINTMSK_GONAKEFFM_Pos            (7U)
+#define USB_OTG_GINTMSK_GONAKEFFM_Msk            (0x1UL << USB_OTG_GINTMSK_GONAKEFFM_Pos) /*!< 0x00000080 */
+#define USB_OTG_GINTMSK_GONAKEFFM                USB_OTG_GINTMSK_GONAKEFFM_Msk /*!< Global OUT NAK effective mask                       */
+#define USB_OTG_GINTMSK_ESUSPM_Pos               (10U)
+#define USB_OTG_GINTMSK_ESUSPM_Msk               (0x1UL << USB_OTG_GINTMSK_ESUSPM_Pos) /*!< 0x00000400 */
+#define USB_OTG_GINTMSK_ESUSPM                   USB_OTG_GINTMSK_ESUSPM_Msk    /*!< Early suspend mask                                  */
+#define USB_OTG_GINTMSK_USBSUSPM_Pos             (11U)
+#define USB_OTG_GINTMSK_USBSUSPM_Msk             (0x1UL << USB_OTG_GINTMSK_USBSUSPM_Pos) /*!< 0x00000800 */
+#define USB_OTG_GINTMSK_USBSUSPM                 USB_OTG_GINTMSK_USBSUSPM_Msk  /*!< USB suspend mask                                    */
+#define USB_OTG_GINTMSK_USBRST_Pos               (12U)
+#define USB_OTG_GINTMSK_USBRST_Msk               (0x1UL << USB_OTG_GINTMSK_USBRST_Pos) /*!< 0x00001000 */
+#define USB_OTG_GINTMSK_USBRST                   USB_OTG_GINTMSK_USBRST_Msk    /*!< USB reset mask                                      */
+#define USB_OTG_GINTMSK_ENUMDNEM_Pos             (13U)
+#define USB_OTG_GINTMSK_ENUMDNEM_Msk             (0x1UL << USB_OTG_GINTMSK_ENUMDNEM_Pos) /*!< 0x00002000 */
+#define USB_OTG_GINTMSK_ENUMDNEM                 USB_OTG_GINTMSK_ENUMDNEM_Msk  /*!< Enumeration done mask                               */
+#define USB_OTG_GINTMSK_ISOODRPM_Pos             (14U)
+#define USB_OTG_GINTMSK_ISOODRPM_Msk             (0x1UL << USB_OTG_GINTMSK_ISOODRPM_Pos) /*!< 0x00004000 */
+#define USB_OTG_GINTMSK_ISOODRPM                 USB_OTG_GINTMSK_ISOODRPM_Msk  /*!< Isochronous OUT packet dropped interrupt mask       */
+#define USB_OTG_GINTMSK_EOPFM_Pos                (15U)
+#define USB_OTG_GINTMSK_EOPFM_Msk                (0x1UL << USB_OTG_GINTMSK_EOPFM_Pos) /*!< 0x00008000 */
+#define USB_OTG_GINTMSK_EOPFM                    USB_OTG_GINTMSK_EOPFM_Msk     /*!< End of periodic frame interrupt mask                */
+#define USB_OTG_GINTMSK_EPMISM_Pos               (17U)
+#define USB_OTG_GINTMSK_EPMISM_Msk               (0x1UL << USB_OTG_GINTMSK_EPMISM_Pos) /*!< 0x00020000 */
+#define USB_OTG_GINTMSK_EPMISM                   USB_OTG_GINTMSK_EPMISM_Msk    /*!< Endpoint mismatch interrupt mask                    */
+#define USB_OTG_GINTMSK_IEPINT_Pos               (18U)
+#define USB_OTG_GINTMSK_IEPINT_Msk               (0x1UL << USB_OTG_GINTMSK_IEPINT_Pos) /*!< 0x00040000 */
+#define USB_OTG_GINTMSK_IEPINT                   USB_OTG_GINTMSK_IEPINT_Msk    /*!< IN endpoints interrupt mask                         */
+#define USB_OTG_GINTMSK_OEPINT_Pos               (19U)
+#define USB_OTG_GINTMSK_OEPINT_Msk               (0x1UL << USB_OTG_GINTMSK_OEPINT_Pos) /*!< 0x00080000 */
+#define USB_OTG_GINTMSK_OEPINT                   USB_OTG_GINTMSK_OEPINT_Msk    /*!< OUT endpoints interrupt mask                        */
+#define USB_OTG_GINTMSK_IISOIXFRM_Pos            (20U)
+#define USB_OTG_GINTMSK_IISOIXFRM_Msk            (0x1UL << USB_OTG_GINTMSK_IISOIXFRM_Pos) /*!< 0x00100000 */
+#define USB_OTG_GINTMSK_IISOIXFRM                USB_OTG_GINTMSK_IISOIXFRM_Msk /*!< Incomplete isochronous IN transfer mask             */
+#define USB_OTG_GINTMSK_PXFRM_IISOOXFRM_Pos      (21U)
+#define USB_OTG_GINTMSK_PXFRM_IISOOXFRM_Msk      (0x1UL << USB_OTG_GINTMSK_PXFRM_IISOOXFRM_Pos) /*!< 0x00200000 */
+#define USB_OTG_GINTMSK_PXFRM_IISOOXFRM          USB_OTG_GINTMSK_PXFRM_IISOOXFRM_Msk /*!< Incomplete periodic transfer mask                   */
+#define USB_OTG_GINTMSK_FSUSPM_Pos               (22U)
+#define USB_OTG_GINTMSK_FSUSPM_Msk               (0x1UL << USB_OTG_GINTMSK_FSUSPM_Pos) /*!< 0x00400000 */
+#define USB_OTG_GINTMSK_FSUSPM                   USB_OTG_GINTMSK_FSUSPM_Msk    /*!< Data fetch suspended mask                           */
+#define USB_OTG_GINTMSK_RSTDEM_Pos               (23U)
+#define USB_OTG_GINTMSK_RSTDEM_Msk               (0x1UL << USB_OTG_GINTMSK_RSTDEM_Pos) /*!< 0x00800000 */
+#define USB_OTG_GINTMSK_RSTDEM                   USB_OTG_GINTMSK_RSTDEM_Msk    /*!< Reset detected interrupt mask                      */
+#define USB_OTG_GINTMSK_PRTIM_Pos                (24U)
+#define USB_OTG_GINTMSK_PRTIM_Msk                (0x1UL << USB_OTG_GINTMSK_PRTIM_Pos) /*!< 0x01000000 */
+#define USB_OTG_GINTMSK_PRTIM                    USB_OTG_GINTMSK_PRTIM_Msk     /*!< Host port interrupt mask                            */
+#define USB_OTG_GINTMSK_HCIM_Pos                 (25U)
+#define USB_OTG_GINTMSK_HCIM_Msk                 (0x1UL << USB_OTG_GINTMSK_HCIM_Pos) /*!< 0x02000000 */
+#define USB_OTG_GINTMSK_HCIM                     USB_OTG_GINTMSK_HCIM_Msk      /*!< Host channels interrupt mask                        */
+#define USB_OTG_GINTMSK_PTXFEM_Pos               (26U)
+#define USB_OTG_GINTMSK_PTXFEM_Msk               (0x1UL << USB_OTG_GINTMSK_PTXFEM_Pos) /*!< 0x04000000 */
+#define USB_OTG_GINTMSK_PTXFEM                   USB_OTG_GINTMSK_PTXFEM_Msk    /*!< Periodic TxFIFO empty mask                          */
+#define USB_OTG_GINTMSK_LPMINTM_Pos              (27U)
+#define USB_OTG_GINTMSK_LPMINTM_Msk              (0x1UL << USB_OTG_GINTMSK_LPMINTM_Pos) /*!< 0x08000000 */
+#define USB_OTG_GINTMSK_LPMINTM                  USB_OTG_GINTMSK_LPMINTM_Msk   /*!< LPM interrupt Mask                                  */
+#define USB_OTG_GINTMSK_CIDSCHGM_Pos             (28U)
+#define USB_OTG_GINTMSK_CIDSCHGM_Msk             (0x1UL << USB_OTG_GINTMSK_CIDSCHGM_Pos) /*!< 0x10000000 */
+#define USB_OTG_GINTMSK_CIDSCHGM                 USB_OTG_GINTMSK_CIDSCHGM_Msk  /*!< Connector ID status change mask                     */
+#define USB_OTG_GINTMSK_DISCINT_Pos              (29U)
+#define USB_OTG_GINTMSK_DISCINT_Msk              (0x1UL << USB_OTG_GINTMSK_DISCINT_Pos) /*!< 0x20000000 */
+#define USB_OTG_GINTMSK_DISCINT                  USB_OTG_GINTMSK_DISCINT_Msk   /*!< Disconnect detected interrupt mask                  */
+#define USB_OTG_GINTMSK_SRQIM_Pos                (30U)
+#define USB_OTG_GINTMSK_SRQIM_Msk                (0x1UL << USB_OTG_GINTMSK_SRQIM_Pos) /*!< 0x40000000 */
+#define USB_OTG_GINTMSK_SRQIM                    USB_OTG_GINTMSK_SRQIM_Msk     /*!< Session request/new session detected interrupt mask */
+#define USB_OTG_GINTMSK_WUIM_Pos                 (31U)
+#define USB_OTG_GINTMSK_WUIM_Msk                 (0x1UL << USB_OTG_GINTMSK_WUIM_Pos) /*!< 0x80000000 */
+#define USB_OTG_GINTMSK_WUIM                     USB_OTG_GINTMSK_WUIM_Msk      /*!< Resume/remote wakeup detected interrupt mask        */
+
+/********************  Bit definition forUSB_OTG_DAINT register  ********************/
+#define USB_OTG_DAINT_IEPINT_Pos                 (0U)
+#define USB_OTG_DAINT_IEPINT_Msk                 (0xFFFFUL << USB_OTG_DAINT_IEPINT_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DAINT_IEPINT                     USB_OTG_DAINT_IEPINT_Msk      /*!< IN endpoint interrupt bits  */
+#define USB_OTG_DAINT_OEPINT_Pos                 (16U)
+#define USB_OTG_DAINT_OEPINT_Msk                 (0xFFFFUL << USB_OTG_DAINT_OEPINT_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_DAINT_OEPINT                     USB_OTG_DAINT_OEPINT_Msk      /*!< OUT endpoint interrupt bits */
+
+/********************  Bit definition forUSB_OTG_HAINTMSK register  ********************/
+#define USB_OTG_HAINTMSK_HAINTM_Pos              (0U)
+#define USB_OTG_HAINTMSK_HAINTM_Msk              (0xFFFFUL << USB_OTG_HAINTMSK_HAINTM_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HAINTMSK_HAINTM                  USB_OTG_HAINTMSK_HAINTM_Msk   /*!< Channel interrupt mask */
+
+/********************  Bit definition for USB_OTG_GRXSTSP register  ********************/
+#define USB_OTG_GRXSTSP_EPNUM_Pos                (0U)
+#define USB_OTG_GRXSTSP_EPNUM_Msk                (0xFUL << USB_OTG_GRXSTSP_EPNUM_Pos) /*!< 0x0000000F */
+#define USB_OTG_GRXSTSP_EPNUM                    USB_OTG_GRXSTSP_EPNUM_Msk     /*!< IN EP interrupt mask bits  */
+#define USB_OTG_GRXSTSP_BCNT_Pos                 (4U)
+#define USB_OTG_GRXSTSP_BCNT_Msk                 (0x7FFUL << USB_OTG_GRXSTSP_BCNT_Pos) /*!< 0x00007FF0 */
+#define USB_OTG_GRXSTSP_BCNT                     USB_OTG_GRXSTSP_BCNT_Msk      /*!< OUT EP interrupt mask bits */
+#define USB_OTG_GRXSTSP_DPID_Pos                 (15U)
+#define USB_OTG_GRXSTSP_DPID_Msk                 (0x3UL << USB_OTG_GRXSTSP_DPID_Pos) /*!< 0x00018000 */
+#define USB_OTG_GRXSTSP_DPID                     USB_OTG_GRXSTSP_DPID_Msk      /*!< OUT EP interrupt mask bits */
+#define USB_OTG_GRXSTSP_PKTSTS_Pos               (17U)
+#define USB_OTG_GRXSTSP_PKTSTS_Msk               (0xFUL << USB_OTG_GRXSTSP_PKTSTS_Pos) /*!< 0x001E0000 */
+#define USB_OTG_GRXSTSP_PKTSTS                   USB_OTG_GRXSTSP_PKTSTS_Msk    /*!< OUT EP interrupt mask bits */
+
+/********************  Bit definition forUSB_OTG_DAINTMSK register  ********************/
+#define USB_OTG_DAINTMSK_IEPM_Pos                (0U)
+#define USB_OTG_DAINTMSK_IEPM_Msk                (0xFFFFUL << USB_OTG_DAINTMSK_IEPM_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DAINTMSK_IEPM                    USB_OTG_DAINTMSK_IEPM_Msk     /*!< IN EP interrupt mask bits */
+#define USB_OTG_DAINTMSK_OEPM_Pos                (16U)
+#define USB_OTG_DAINTMSK_OEPM_Msk                (0xFFFFUL << USB_OTG_DAINTMSK_OEPM_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_DAINTMSK_OEPM                    USB_OTG_DAINTMSK_OEPM_Msk     /*!< OUT EP interrupt mask bits */
+
+/********************  Bit definition for OTG register  ********************/
+
+#define USB_OTG_CHNUM_Pos                        (0U)
+#define USB_OTG_CHNUM_Msk                        (0xFUL << USB_OTG_CHNUM_Pos)  /*!< 0x0000000F */
+#define USB_OTG_CHNUM                            USB_OTG_CHNUM_Msk             /*!< Channel number */
+#define USB_OTG_CHNUM_0                          (0x1UL << USB_OTG_CHNUM_Pos)   /*!< 0x00000001 */
+#define USB_OTG_CHNUM_1                          (0x2UL << USB_OTG_CHNUM_Pos)   /*!< 0x00000002 */
+#define USB_OTG_CHNUM_2                          (0x4UL << USB_OTG_CHNUM_Pos)   /*!< 0x00000004 */
+#define USB_OTG_CHNUM_3                          (0x8UL << USB_OTG_CHNUM_Pos)   /*!< 0x00000008 */
+#define USB_OTG_BCNT_Pos                         (4U)
+#define USB_OTG_BCNT_Msk                         (0x7FFUL << USB_OTG_BCNT_Pos) /*!< 0x00007FF0 */
+#define USB_OTG_BCNT                             USB_OTG_BCNT_Msk              /*!< Byte count */
+
+#define USB_OTG_DPID_Pos                         (15U)
+#define USB_OTG_DPID_Msk                         (0x3UL << USB_OTG_DPID_Pos)   /*!< 0x00018000 */
+#define USB_OTG_DPID                             USB_OTG_DPID_Msk              /*!< Data PID */
+#define USB_OTG_DPID_0                           (0x1UL << USB_OTG_DPID_Pos)    /*!< 0x00008000 */
+#define USB_OTG_DPID_1                           (0x2UL << USB_OTG_DPID_Pos)    /*!< 0x00010000 */
+
+#define USB_OTG_PKTSTS_Pos                       (17U)
+#define USB_OTG_PKTSTS_Msk                       (0xFUL << USB_OTG_PKTSTS_Pos) /*!< 0x001E0000 */
+#define USB_OTG_PKTSTS                           USB_OTG_PKTSTS_Msk            /*!< Packet status */
+#define USB_OTG_PKTSTS_0                         (0x1UL << USB_OTG_PKTSTS_Pos)  /*!< 0x00020000 */
+#define USB_OTG_PKTSTS_1                         (0x2UL << USB_OTG_PKTSTS_Pos)  /*!< 0x00040000 */
+#define USB_OTG_PKTSTS_2                         (0x4UL << USB_OTG_PKTSTS_Pos)  /*!< 0x00080000 */
+#define USB_OTG_PKTSTS_3                         (0x8UL << USB_OTG_PKTSTS_Pos)  /*!< 0x00100000 */
+
+#define USB_OTG_EPNUM_Pos                        (0U)
+#define USB_OTG_EPNUM_Msk                        (0xFUL << USB_OTG_EPNUM_Pos)  /*!< 0x0000000F */
+#define USB_OTG_EPNUM                            USB_OTG_EPNUM_Msk             /*!< Endpoint number */
+#define USB_OTG_EPNUM_0                          (0x1UL << USB_OTG_EPNUM_Pos)   /*!< 0x00000001 */
+#define USB_OTG_EPNUM_1                          (0x2UL << USB_OTG_EPNUM_Pos)   /*!< 0x00000002 */
+#define USB_OTG_EPNUM_2                          (0x4UL << USB_OTG_EPNUM_Pos)   /*!< 0x00000004 */
+#define USB_OTG_EPNUM_3                          (0x8UL << USB_OTG_EPNUM_Pos)   /*!< 0x00000008 */
+
+#define USB_OTG_FRMNUM_Pos                       (21U)
+#define USB_OTG_FRMNUM_Msk                       (0xFUL << USB_OTG_FRMNUM_Pos) /*!< 0x01E00000 */
+#define USB_OTG_FRMNUM                           USB_OTG_FRMNUM_Msk            /*!< Frame number */
+#define USB_OTG_FRMNUM_0                         (0x1UL << USB_OTG_FRMNUM_Pos)  /*!< 0x00200000 */
+#define USB_OTG_FRMNUM_1                         (0x2UL << USB_OTG_FRMNUM_Pos)  /*!< 0x00400000 */
+#define USB_OTG_FRMNUM_2                         (0x4UL << USB_OTG_FRMNUM_Pos)  /*!< 0x00800000 */
+#define USB_OTG_FRMNUM_3                         (0x8UL << USB_OTG_FRMNUM_Pos)  /*!< 0x01000000 */
+
+/********************  Bit definition forUSB_OTG_GRXFSIZ register  ********************/
+#define USB_OTG_GRXFSIZ_RXFD_Pos                 (0U)
+#define USB_OTG_GRXFSIZ_RXFD_Msk                 (0xFFFFUL << USB_OTG_GRXFSIZ_RXFD_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_GRXFSIZ_RXFD                     USB_OTG_GRXFSIZ_RXFD_Msk      /*!< RxFIFO depth */
+
+/********************  Bit definition forUSB_OTG_DVBUSDIS register  ********************/
+#define USB_OTG_DVBUSDIS_VBUSDT_Pos              (0U)
+#define USB_OTG_DVBUSDIS_VBUSDT_Msk              (0xFFFFUL << USB_OTG_DVBUSDIS_VBUSDT_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DVBUSDIS_VBUSDT                  USB_OTG_DVBUSDIS_VBUSDT_Msk   /*!< Device VBUS discharge time */
+
+/********************  Bit definition for OTG register  ********************/
+#define USB_OTG_NPTXFSA_Pos                      (0U)
+#define USB_OTG_NPTXFSA_Msk                      (0xFFFFUL << USB_OTG_NPTXFSA_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_NPTXFSA                          USB_OTG_NPTXFSA_Msk           /*!< Nonperiodic transmit RAM start address */
+#define USB_OTG_NPTXFD_Pos                       (16U)
+#define USB_OTG_NPTXFD_Msk                       (0xFFFFUL << USB_OTG_NPTXFD_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_NPTXFD                           USB_OTG_NPTXFD_Msk            /*!< Nonperiodic TxFIFO depth               */
+#define USB_OTG_TX0FSA_Pos                       (0U)
+#define USB_OTG_TX0FSA_Msk                       (0xFFFFUL << USB_OTG_TX0FSA_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_TX0FSA                           USB_OTG_TX0FSA_Msk            /*!< Endpoint 0 transmit RAM start address  */
+#define USB_OTG_TX0FD_Pos                        (16U)
+#define USB_OTG_TX0FD_Msk                        (0xFFFFUL << USB_OTG_TX0FD_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_TX0FD                            USB_OTG_TX0FD_Msk             /*!< Endpoint 0 TxFIFO depth                */
+
+/********************  Bit definition forUSB_OTG_DVBUSPULSE register  ********************/
+#define USB_OTG_DVBUSPULSE_DVBUSP_Pos            (0U)
+#define USB_OTG_DVBUSPULSE_DVBUSP_Msk            (0xFFFUL << USB_OTG_DVBUSPULSE_DVBUSP_Pos) /*!< 0x00000FFF */
+#define USB_OTG_DVBUSPULSE_DVBUSP                USB_OTG_DVBUSPULSE_DVBUSP_Msk /*!< Device VBUS pulsing time */
+
+/********************  Bit definition forUSB_OTG_GNPTXSTS register  ********************/
+#define USB_OTG_GNPTXSTS_NPTXFSAV_Pos            (0U)
+#define USB_OTG_GNPTXSTS_NPTXFSAV_Msk            (0xFFFFUL << USB_OTG_GNPTXSTS_NPTXFSAV_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_GNPTXSTS_NPTXFSAV                USB_OTG_GNPTXSTS_NPTXFSAV_Msk /*!< Nonperiodic TxFIFO space available */
+
+#define USB_OTG_GNPTXSTS_NPTQXSAV_Pos            (16U)
+#define USB_OTG_GNPTXSTS_NPTQXSAV_Msk            (0xFFUL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00FF0000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV                USB_OTG_GNPTXSTS_NPTQXSAV_Msk /*!< Nonperiodic transmit request queue space available */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_0              (0x01UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00010000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_1              (0x02UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00020000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_2              (0x04UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00040000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_3              (0x08UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00080000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_4              (0x10UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00100000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_5              (0x20UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00200000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_6              (0x40UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00400000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_7              (0x80UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00800000 */
+
+#define USB_OTG_GNPTXSTS_NPTXQTOP_Pos            (24U)
+#define USB_OTG_GNPTXSTS_NPTXQTOP_Msk            (0x7FUL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x7F000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP                USB_OTG_GNPTXSTS_NPTXQTOP_Msk /*!< Top of the nonperiodic transmit request queue */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_0              (0x01UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x01000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_1              (0x02UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x02000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_2              (0x04UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x04000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_3              (0x08UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x08000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_4              (0x10UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x10000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_5              (0x20UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x20000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_6              (0x40UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x40000000 */
+
+/********************  Bit definition forUSB_OTG_DTHRCTL register  ********************/
+#define USB_OTG_DTHRCTL_NONISOTHREN_Pos          (0U)
+#define USB_OTG_DTHRCTL_NONISOTHREN_Msk          (0x1UL << USB_OTG_DTHRCTL_NONISOTHREN_Pos) /*!< 0x00000001 */
+#define USB_OTG_DTHRCTL_NONISOTHREN              USB_OTG_DTHRCTL_NONISOTHREN_Msk /*!< Nonisochronous IN endpoints threshold enable */
+#define USB_OTG_DTHRCTL_ISOTHREN_Pos             (1U)
+#define USB_OTG_DTHRCTL_ISOTHREN_Msk             (0x1UL << USB_OTG_DTHRCTL_ISOTHREN_Pos) /*!< 0x00000002 */
+#define USB_OTG_DTHRCTL_ISOTHREN                 USB_OTG_DTHRCTL_ISOTHREN_Msk  /*!< ISO IN endpoint threshold enable */
+
+#define USB_OTG_DTHRCTL_TXTHRLEN_Pos             (2U)
+#define USB_OTG_DTHRCTL_TXTHRLEN_Msk             (0x1FFUL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x000007FC */
+#define USB_OTG_DTHRCTL_TXTHRLEN                 USB_OTG_DTHRCTL_TXTHRLEN_Msk  /*!< Transmit threshold length */
+#define USB_OTG_DTHRCTL_TXTHRLEN_0               (0x001UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000004 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_1               (0x002UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000008 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_2               (0x004UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000010 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_3               (0x008UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000020 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_4               (0x010UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000040 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_5               (0x020UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000080 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_6               (0x040UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000100 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_7               (0x080UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000200 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_8               (0x100UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000400 */
+#define USB_OTG_DTHRCTL_RXTHREN_Pos              (16U)
+#define USB_OTG_DTHRCTL_RXTHREN_Msk              (0x1UL << USB_OTG_DTHRCTL_RXTHREN_Pos) /*!< 0x00010000 */
+#define USB_OTG_DTHRCTL_RXTHREN                  USB_OTG_DTHRCTL_RXTHREN_Msk   /*!< Receive threshold enable */
+
+#define USB_OTG_DTHRCTL_RXTHRLEN_Pos             (17U)
+#define USB_OTG_DTHRCTL_RXTHRLEN_Msk             (0x1FFUL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x03FE0000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN                 USB_OTG_DTHRCTL_RXTHRLEN_Msk  /*!< Receive threshold length */
+#define USB_OTG_DTHRCTL_RXTHRLEN_0               (0x001UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00020000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_1               (0x002UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00040000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_2               (0x004UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00080000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_3               (0x008UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00100000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_4               (0x010UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00200000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_5               (0x020UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00400000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_6               (0x040UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00800000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_7               (0x080UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x01000000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_8               (0x100UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x02000000 */
+#define USB_OTG_DTHRCTL_ARPEN_Pos                (27U)
+#define USB_OTG_DTHRCTL_ARPEN_Msk                (0x1UL << USB_OTG_DTHRCTL_ARPEN_Pos) /*!< 0x08000000 */
+#define USB_OTG_DTHRCTL_ARPEN                    USB_OTG_DTHRCTL_ARPEN_Msk     /*!< Arbiter parking enable */
+
+/********************  Bit definition forUSB_OTG_DIEPEMPMSK register  ********************/
+#define USB_OTG_DIEPEMPMSK_INEPTXFEM_Pos         (0U)
+#define USB_OTG_DIEPEMPMSK_INEPTXFEM_Msk         (0xFFFFUL << USB_OTG_DIEPEMPMSK_INEPTXFEM_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DIEPEMPMSK_INEPTXFEM             USB_OTG_DIEPEMPMSK_INEPTXFEM_Msk /*!< IN EP Tx FIFO empty interrupt mask bits */
+
+/********************  Bit definition forUSB_OTG_DEACHINT register  ********************/
+#define USB_OTG_DEACHINT_IEP1INT_Pos             (1U)
+#define USB_OTG_DEACHINT_IEP1INT_Msk             (0x1UL << USB_OTG_DEACHINT_IEP1INT_Pos) /*!< 0x00000002 */
+#define USB_OTG_DEACHINT_IEP1INT                 USB_OTG_DEACHINT_IEP1INT_Msk  /*!< IN endpoint 1interrupt bit   */
+#define USB_OTG_DEACHINT_OEP1INT_Pos             (17U)
+#define USB_OTG_DEACHINT_OEP1INT_Msk             (0x1UL << USB_OTG_DEACHINT_OEP1INT_Pos) /*!< 0x00020000 */
+#define USB_OTG_DEACHINT_OEP1INT                 USB_OTG_DEACHINT_OEP1INT_Msk  /*!< OUT endpoint 1 interrupt bit */
+
+/********************  Bit definition forUSB_OTG_GCCFG register  ********************/
+#define USB_OTG_GCCFG_DCDET_Pos                  (0U)
+#define USB_OTG_GCCFG_DCDET_Msk                  (0x1UL << USB_OTG_GCCFG_DCDET_Pos) /*!< 0x00000001 */
+#define USB_OTG_GCCFG_DCDET                      USB_OTG_GCCFG_DCDET_Msk       /*!< Data contact detection (DCD) status */
+#define USB_OTG_GCCFG_PDET_Pos                   (1U)
+#define USB_OTG_GCCFG_PDET_Msk                   (0x1UL << USB_OTG_GCCFG_PDET_Pos) /*!< 0x00000002 */
+#define USB_OTG_GCCFG_PDET                       USB_OTG_GCCFG_PDET_Msk        /*!< Primary detection (PD) status */
+#define USB_OTG_GCCFG_SDET_Pos                   (2U)
+#define USB_OTG_GCCFG_SDET_Msk                   (0x1UL << USB_OTG_GCCFG_SDET_Pos) /*!< 0x00000004 */
+#define USB_OTG_GCCFG_SDET                       USB_OTG_GCCFG_SDET_Msk        /*!< Secondary detection (SD) status */
+#define USB_OTG_GCCFG_PS2DET_Pos                 (3U)
+#define USB_OTG_GCCFG_PS2DET_Msk                 (0x1UL << USB_OTG_GCCFG_PS2DET_Pos) /*!< 0x00000008 */
+#define USB_OTG_GCCFG_PS2DET                     USB_OTG_GCCFG_PS2DET_Msk      /*!< DM pull-up detection status */
+#define USB_OTG_GCCFG_PWRDWN_Pos                 (16U)
+#define USB_OTG_GCCFG_PWRDWN_Msk                 (0x1UL << USB_OTG_GCCFG_PWRDWN_Pos) /*!< 0x00010000 */
+#define USB_OTG_GCCFG_PWRDWN                     USB_OTG_GCCFG_PWRDWN_Msk      /*!< Power down */
+#define USB_OTG_GCCFG_BCDEN_Pos                  (17U)
+#define USB_OTG_GCCFG_BCDEN_Msk                  (0x1UL << USB_OTG_GCCFG_BCDEN_Pos) /*!< 0x00020000 */
+#define USB_OTG_GCCFG_BCDEN                      USB_OTG_GCCFG_BCDEN_Msk       /*!< Battery charging detector (BCD) enable */
+#define USB_OTG_GCCFG_DCDEN_Pos                  (18U)
+#define USB_OTG_GCCFG_DCDEN_Msk                  (0x1UL << USB_OTG_GCCFG_DCDEN_Pos) /*!< 0x00040000 */
+#define USB_OTG_GCCFG_DCDEN                      USB_OTG_GCCFG_DCDEN_Msk       /*!< Data contact detection (DCD) mode enable*/
+#define USB_OTG_GCCFG_PDEN_Pos                   (19U)
+#define USB_OTG_GCCFG_PDEN_Msk                   (0x1UL << USB_OTG_GCCFG_PDEN_Pos) /*!< 0x00080000 */
+#define USB_OTG_GCCFG_PDEN                       USB_OTG_GCCFG_PDEN_Msk        /*!< Primary detection (PD) mode enable*/
+#define USB_OTG_GCCFG_SDEN_Pos                   (20U)
+#define USB_OTG_GCCFG_SDEN_Msk                   (0x1UL << USB_OTG_GCCFG_SDEN_Pos) /*!< 0x00100000 */
+#define USB_OTG_GCCFG_SDEN                       USB_OTG_GCCFG_SDEN_Msk        /*!< Secondary detection (SD) mode enable */
+#define USB_OTG_GCCFG_VBDEN_Pos                  (21U)
+#define USB_OTG_GCCFG_VBDEN_Msk                  (0x1UL << USB_OTG_GCCFG_VBDEN_Pos) /*!< 0x00200000 */
+#define USB_OTG_GCCFG_VBDEN                      USB_OTG_GCCFG_VBDEN_Msk       /*!< Secondary detection (SD) mode enable */
+
+/********************  Bit definition forUSB_OTG_GPWRDN) register  ********************/
+#define USB_OTG_GPWRDN_ADPMEN_Pos                (0U)
+#define USB_OTG_GPWRDN_ADPMEN_Msk                (0x1UL << USB_OTG_GPWRDN_ADPMEN_Pos) /*!< 0x00000001 */
+#define USB_OTG_GPWRDN_ADPMEN                    USB_OTG_GPWRDN_ADPMEN_Msk     /*!< ADP module enable */
+#define USB_OTG_GPWRDN_ADPIF_Pos                 (23U)
+#define USB_OTG_GPWRDN_ADPIF_Msk                 (0x1UL << USB_OTG_GPWRDN_ADPIF_Pos) /*!< 0x00800000 */
+#define USB_OTG_GPWRDN_ADPIF                     USB_OTG_GPWRDN_ADPIF_Msk      /*!< ADP Interrupt flag */
+
+/********************  Bit definition forUSB_OTG_DEACHINTMSK register  ********************/
+#define USB_OTG_DEACHINTMSK_IEP1INTM_Pos         (1U)
+#define USB_OTG_DEACHINTMSK_IEP1INTM_Msk         (0x1UL << USB_OTG_DEACHINTMSK_IEP1INTM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DEACHINTMSK_IEP1INTM             USB_OTG_DEACHINTMSK_IEP1INTM_Msk /*!< IN Endpoint 1 interrupt mask bit  */
+#define USB_OTG_DEACHINTMSK_OEP1INTM_Pos         (17U)
+#define USB_OTG_DEACHINTMSK_OEP1INTM_Msk         (0x1UL << USB_OTG_DEACHINTMSK_OEP1INTM_Pos) /*!< 0x00020000 */
+#define USB_OTG_DEACHINTMSK_OEP1INTM             USB_OTG_DEACHINTMSK_OEP1INTM_Msk /*!< OUT Endpoint 1 interrupt mask bit */
+
+/********************  Bit definition forUSB_OTG_CID register  ********************/
+#define USB_OTG_CID_PRODUCT_ID_Pos               (0U)
+#define USB_OTG_CID_PRODUCT_ID_Msk               (0xFFFFFFFFUL << USB_OTG_CID_PRODUCT_ID_Pos) /*!< 0xFFFFFFFF */
+#define USB_OTG_CID_PRODUCT_ID                   USB_OTG_CID_PRODUCT_ID_Msk    /*!< Product ID field */
+
+/********************  Bit definition for USB_OTG_GLPMCFG register  ********************/
+#define USB_OTG_GLPMCFG_LPMEN_Pos                (0U)
+#define USB_OTG_GLPMCFG_LPMEN_Msk                (0x1UL << USB_OTG_GLPMCFG_LPMEN_Pos) /*!< 0x00000001 */
+#define USB_OTG_GLPMCFG_LPMEN                    USB_OTG_GLPMCFG_LPMEN_Msk     /*!< LPM support enable                                     */
+#define USB_OTG_GLPMCFG_LPMACK_Pos               (1U)
+#define USB_OTG_GLPMCFG_LPMACK_Msk               (0x1UL << USB_OTG_GLPMCFG_LPMACK_Pos) /*!< 0x00000002 */
+#define USB_OTG_GLPMCFG_LPMACK                   USB_OTG_GLPMCFG_LPMACK_Msk    /*!< LPM Token acknowledge enable                           */
+#define USB_OTG_GLPMCFG_BESL_Pos                 (2U)
+#define USB_OTG_GLPMCFG_BESL_Msk                 (0xFUL << USB_OTG_GLPMCFG_BESL_Pos) /*!< 0x0000003C */
+#define USB_OTG_GLPMCFG_BESL                     USB_OTG_GLPMCFG_BESL_Msk      /*!< BESL value received with last ACKed LPM Token          */
+#define USB_OTG_GLPMCFG_REMWAKE_Pos              (6U)
+#define USB_OTG_GLPMCFG_REMWAKE_Msk              (0x1UL << USB_OTG_GLPMCFG_REMWAKE_Pos) /*!< 0x00000040 */
+#define USB_OTG_GLPMCFG_REMWAKE                  USB_OTG_GLPMCFG_REMWAKE_Msk   /*!< bRemoteWake value received with last ACKed LPM Token   */
+#define USB_OTG_GLPMCFG_L1SSEN_Pos               (7U)
+#define USB_OTG_GLPMCFG_L1SSEN_Msk               (0x1UL << USB_OTG_GLPMCFG_L1SSEN_Pos) /*!< 0x00000080 */
+#define USB_OTG_GLPMCFG_L1SSEN                   USB_OTG_GLPMCFG_L1SSEN_Msk    /*!< L1 shallow sleep enable                                */
+#define USB_OTG_GLPMCFG_BESLTHRS_Pos             (8U)
+#define USB_OTG_GLPMCFG_BESLTHRS_Msk             (0xFUL << USB_OTG_GLPMCFG_BESLTHRS_Pos) /*!< 0x00000F00 */
+#define USB_OTG_GLPMCFG_BESLTHRS                 USB_OTG_GLPMCFG_BESLTHRS_Msk  /*!< BESL threshold                                         */
+#define USB_OTG_GLPMCFG_L1DSEN_Pos               (12U)
+#define USB_OTG_GLPMCFG_L1DSEN_Msk               (0x1UL << USB_OTG_GLPMCFG_L1DSEN_Pos) /*!< 0x00001000 */
+#define USB_OTG_GLPMCFG_L1DSEN                   USB_OTG_GLPMCFG_L1DSEN_Msk    /*!< L1 deep sleep enable                                   */
+#define USB_OTG_GLPMCFG_LPMRSP_Pos               (13U)
+#define USB_OTG_GLPMCFG_LPMRSP_Msk               (0x3UL << USB_OTG_GLPMCFG_LPMRSP_Pos) /*!< 0x00006000 */
+#define USB_OTG_GLPMCFG_LPMRSP                   USB_OTG_GLPMCFG_LPMRSP_Msk    /*!< LPM response                                           */
+#define USB_OTG_GLPMCFG_SLPSTS_Pos               (15U)
+#define USB_OTG_GLPMCFG_SLPSTS_Msk               (0x1UL << USB_OTG_GLPMCFG_SLPSTS_Pos) /*!< 0x00008000 */
+#define USB_OTG_GLPMCFG_SLPSTS                   USB_OTG_GLPMCFG_SLPSTS_Msk    /*!< Port sleep status                                      */
+#define USB_OTG_GLPMCFG_L1RSMOK_Pos              (16U)
+#define USB_OTG_GLPMCFG_L1RSMOK_Msk              (0x1UL << USB_OTG_GLPMCFG_L1RSMOK_Pos) /*!< 0x00010000 */
+#define USB_OTG_GLPMCFG_L1RSMOK                  USB_OTG_GLPMCFG_L1RSMOK_Msk   /*!< Sleep State Resume OK                                  */
+#define USB_OTG_GLPMCFG_LPMCHIDX_Pos             (17U)
+#define USB_OTG_GLPMCFG_LPMCHIDX_Msk             (0xFUL << USB_OTG_GLPMCFG_LPMCHIDX_Pos) /*!< 0x001E0000 */
+#define USB_OTG_GLPMCFG_LPMCHIDX                 USB_OTG_GLPMCFG_LPMCHIDX_Msk  /*!< LPM Channel Index                                      */
+#define USB_OTG_GLPMCFG_LPMRCNT_Pos              (21U)
+#define USB_OTG_GLPMCFG_LPMRCNT_Msk              (0x7UL << USB_OTG_GLPMCFG_LPMRCNT_Pos) /*!< 0x00E00000 */
+#define USB_OTG_GLPMCFG_LPMRCNT                  USB_OTG_GLPMCFG_LPMRCNT_Msk   /*!< LPM retry count                                        */
+#define USB_OTG_GLPMCFG_SNDLPM_Pos               (24U)
+#define USB_OTG_GLPMCFG_SNDLPM_Msk               (0x1UL << USB_OTG_GLPMCFG_SNDLPM_Pos) /*!< 0x01000000 */
+#define USB_OTG_GLPMCFG_SNDLPM                   USB_OTG_GLPMCFG_SNDLPM_Msk    /*!< Send LPM transaction                                   */
+#define USB_OTG_GLPMCFG_LPMRCNTSTS_Pos           (25U)
+#define USB_OTG_GLPMCFG_LPMRCNTSTS_Msk           (0x7UL << USB_OTG_GLPMCFG_LPMRCNTSTS_Pos) /*!< 0x0E000000 */
+#define USB_OTG_GLPMCFG_LPMRCNTSTS               USB_OTG_GLPMCFG_LPMRCNTSTS_Msk /*!< LPM retry count status                                 */
+#define USB_OTG_GLPMCFG_ENBESL_Pos               (28U)
+#define USB_OTG_GLPMCFG_ENBESL_Msk               (0x1UL << USB_OTG_GLPMCFG_ENBESL_Pos) /*!< 0x10000000 */
+#define USB_OTG_GLPMCFG_ENBESL                   USB_OTG_GLPMCFG_ENBESL_Msk    /*!< Enable best effort service latency                     */
+
+/********************  Bit definition forUSB_OTG_DIEPEACHMSK1 register  ********************/
+#define USB_OTG_DIEPEACHMSK1_XFRCM_Pos           (0U)
+#define USB_OTG_DIEPEACHMSK1_XFRCM_Msk           (0x1UL << USB_OTG_DIEPEACHMSK1_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_DIEPEACHMSK1_XFRCM               USB_OTG_DIEPEACHMSK1_XFRCM_Msk /*!< Transfer completed interrupt mask                 */
+#define USB_OTG_DIEPEACHMSK1_EPDM_Pos            (1U)
+#define USB_OTG_DIEPEACHMSK1_EPDM_Msk            (0x1UL << USB_OTG_DIEPEACHMSK1_EPDM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DIEPEACHMSK1_EPDM                USB_OTG_DIEPEACHMSK1_EPDM_Msk /*!< Endpoint disabled interrupt mask                  */
+#define USB_OTG_DIEPEACHMSK1_TOM_Pos             (3U)
+#define USB_OTG_DIEPEACHMSK1_TOM_Msk             (0x1UL << USB_OTG_DIEPEACHMSK1_TOM_Pos) /*!< 0x00000008 */
+#define USB_OTG_DIEPEACHMSK1_TOM                 USB_OTG_DIEPEACHMSK1_TOM_Msk  /*!< Timeout condition mask (nonisochronous endpoints) */
+#define USB_OTG_DIEPEACHMSK1_ITTXFEMSK_Pos       (4U)
+#define USB_OTG_DIEPEACHMSK1_ITTXFEMSK_Msk       (0x1UL << USB_OTG_DIEPEACHMSK1_ITTXFEMSK_Pos) /*!< 0x00000010 */
+#define USB_OTG_DIEPEACHMSK1_ITTXFEMSK           USB_OTG_DIEPEACHMSK1_ITTXFEMSK_Msk /*!< IN token received when TxFIFO empty mask          */
+#define USB_OTG_DIEPEACHMSK1_INEPNMM_Pos         (5U)
+#define USB_OTG_DIEPEACHMSK1_INEPNMM_Msk         (0x1UL << USB_OTG_DIEPEACHMSK1_INEPNMM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DIEPEACHMSK1_INEPNMM             USB_OTG_DIEPEACHMSK1_INEPNMM_Msk /*!< IN token received with EP mismatch mask           */
+#define USB_OTG_DIEPEACHMSK1_INEPNEM_Pos         (6U)
+#define USB_OTG_DIEPEACHMSK1_INEPNEM_Msk         (0x1UL << USB_OTG_DIEPEACHMSK1_INEPNEM_Pos) /*!< 0x00000040 */
+#define USB_OTG_DIEPEACHMSK1_INEPNEM             USB_OTG_DIEPEACHMSK1_INEPNEM_Msk /*!< IN endpoint NAK effective mask                    */
+#define USB_OTG_DIEPEACHMSK1_TXFURM_Pos          (8U)
+#define USB_OTG_DIEPEACHMSK1_TXFURM_Msk          (0x1UL << USB_OTG_DIEPEACHMSK1_TXFURM_Pos) /*!< 0x00000100 */
+#define USB_OTG_DIEPEACHMSK1_TXFURM              USB_OTG_DIEPEACHMSK1_TXFURM_Msk /*!< FIFO underrun mask */
+#define USB_OTG_DIEPEACHMSK1_BIM_Pos             (9U)
+#define USB_OTG_DIEPEACHMSK1_BIM_Msk             (0x1UL << USB_OTG_DIEPEACHMSK1_BIM_Pos) /*!< 0x00000200 */
+#define USB_OTG_DIEPEACHMSK1_BIM                 USB_OTG_DIEPEACHMSK1_BIM_Msk  /*!< BNA interrupt mask */
+#define USB_OTG_DIEPEACHMSK1_NAKM_Pos            (13U)
+#define USB_OTG_DIEPEACHMSK1_NAKM_Msk            (0x1UL << USB_OTG_DIEPEACHMSK1_NAKM_Pos) /*!< 0x00002000 */
+#define USB_OTG_DIEPEACHMSK1_NAKM                USB_OTG_DIEPEACHMSK1_NAKM_Msk /*!< NAK interrupt mask */
+
+/********************  Bit definition forUSB_OTG_HPRT register  ********************/
+#define USB_OTG_HPRT_PCSTS_Pos                   (0U)
+#define USB_OTG_HPRT_PCSTS_Msk                   (0x1UL << USB_OTG_HPRT_PCSTS_Pos) /*!< 0x00000001 */
+#define USB_OTG_HPRT_PCSTS                       USB_OTG_HPRT_PCSTS_Msk        /*!< Port connect status        */
+#define USB_OTG_HPRT_PCDET_Pos                   (1U)
+#define USB_OTG_HPRT_PCDET_Msk                   (0x1UL << USB_OTG_HPRT_PCDET_Pos) /*!< 0x00000002 */
+#define USB_OTG_HPRT_PCDET                       USB_OTG_HPRT_PCDET_Msk        /*!< Port connect detected      */
+#define USB_OTG_HPRT_PENA_Pos                    (2U)
+#define USB_OTG_HPRT_PENA_Msk                    (0x1UL << USB_OTG_HPRT_PENA_Pos) /*!< 0x00000004 */
+#define USB_OTG_HPRT_PENA                        USB_OTG_HPRT_PENA_Msk         /*!< Port enable                */
+#define USB_OTG_HPRT_PENCHNG_Pos                 (3U)
+#define USB_OTG_HPRT_PENCHNG_Msk                 (0x1UL << USB_OTG_HPRT_PENCHNG_Pos) /*!< 0x00000008 */
+#define USB_OTG_HPRT_PENCHNG                     USB_OTG_HPRT_PENCHNG_Msk      /*!< Port enable/disable change */
+#define USB_OTG_HPRT_POCA_Pos                    (4U)
+#define USB_OTG_HPRT_POCA_Msk                    (0x1UL << USB_OTG_HPRT_POCA_Pos) /*!< 0x00000010 */
+#define USB_OTG_HPRT_POCA                        USB_OTG_HPRT_POCA_Msk         /*!< Port overcurrent active    */
+#define USB_OTG_HPRT_POCCHNG_Pos                 (5U)
+#define USB_OTG_HPRT_POCCHNG_Msk                 (0x1UL << USB_OTG_HPRT_POCCHNG_Pos) /*!< 0x00000020 */
+#define USB_OTG_HPRT_POCCHNG                     USB_OTG_HPRT_POCCHNG_Msk      /*!< Port overcurrent change    */
+#define USB_OTG_HPRT_PRES_Pos                    (6U)
+#define USB_OTG_HPRT_PRES_Msk                    (0x1UL << USB_OTG_HPRT_PRES_Pos) /*!< 0x00000040 */
+#define USB_OTG_HPRT_PRES                        USB_OTG_HPRT_PRES_Msk         /*!< Port resume   */
+#define USB_OTG_HPRT_PSUSP_Pos                   (7U)
+#define USB_OTG_HPRT_PSUSP_Msk                   (0x1UL << USB_OTG_HPRT_PSUSP_Pos) /*!< 0x00000080 */
+#define USB_OTG_HPRT_PSUSP                       USB_OTG_HPRT_PSUSP_Msk        /*!< Port suspend  */
+#define USB_OTG_HPRT_PRST_Pos                    (8U)
+#define USB_OTG_HPRT_PRST_Msk                    (0x1UL << USB_OTG_HPRT_PRST_Pos) /*!< 0x00000100 */
+#define USB_OTG_HPRT_PRST                        USB_OTG_HPRT_PRST_Msk         /*!< Port reset    */
+
+#define USB_OTG_HPRT_PLSTS_Pos                   (10U)
+#define USB_OTG_HPRT_PLSTS_Msk                   (0x3UL << USB_OTG_HPRT_PLSTS_Pos) /*!< 0x00000C00 */
+#define USB_OTG_HPRT_PLSTS                       USB_OTG_HPRT_PLSTS_Msk        /*!< Port line status */
+#define USB_OTG_HPRT_PLSTS_0                     (0x1UL << USB_OTG_HPRT_PLSTS_Pos) /*!< 0x00000400 */
+#define USB_OTG_HPRT_PLSTS_1                     (0x2UL << USB_OTG_HPRT_PLSTS_Pos) /*!< 0x00000800 */
+#define USB_OTG_HPRT_PPWR_Pos                    (12U)
+#define USB_OTG_HPRT_PPWR_Msk                    (0x1UL << USB_OTG_HPRT_PPWR_Pos) /*!< 0x00001000 */
+#define USB_OTG_HPRT_PPWR                        USB_OTG_HPRT_PPWR_Msk         /*!< Port power */
+
+#define USB_OTG_HPRT_PTCTL_Pos                   (13U)
+#define USB_OTG_HPRT_PTCTL_Msk                   (0xFUL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x0001E000 */
+#define USB_OTG_HPRT_PTCTL                       USB_OTG_HPRT_PTCTL_Msk        /*!< Port test control */
+#define USB_OTG_HPRT_PTCTL_0                     (0x1UL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x00002000 */
+#define USB_OTG_HPRT_PTCTL_1                     (0x2UL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x00004000 */
+#define USB_OTG_HPRT_PTCTL_2                     (0x4UL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x00008000 */
+#define USB_OTG_HPRT_PTCTL_3                     (0x8UL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x00010000 */
+
+#define USB_OTG_HPRT_PSPD_Pos                    (17U)
+#define USB_OTG_HPRT_PSPD_Msk                    (0x3UL << USB_OTG_HPRT_PSPD_Pos) /*!< 0x00060000 */
+#define USB_OTG_HPRT_PSPD                        USB_OTG_HPRT_PSPD_Msk         /*!< Port speed */
+#define USB_OTG_HPRT_PSPD_0                      (0x1UL << USB_OTG_HPRT_PSPD_Pos) /*!< 0x00020000 */
+#define USB_OTG_HPRT_PSPD_1                      (0x2UL << USB_OTG_HPRT_PSPD_Pos) /*!< 0x00040000 */
+
+/********************  Bit definition forUSB_OTG_DOEPEACHMSK1 register  ********************/
+#define USB_OTG_DOEPEACHMSK1_XFRCM_Pos           (0U)
+#define USB_OTG_DOEPEACHMSK1_XFRCM_Msk           (0x1UL << USB_OTG_DOEPEACHMSK1_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_DOEPEACHMSK1_XFRCM               USB_OTG_DOEPEACHMSK1_XFRCM_Msk /*!< Transfer completed interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_EPDM_Pos            (1U)
+#define USB_OTG_DOEPEACHMSK1_EPDM_Msk            (0x1UL << USB_OTG_DOEPEACHMSK1_EPDM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DOEPEACHMSK1_EPDM                USB_OTG_DOEPEACHMSK1_EPDM_Msk /*!< Endpoint disabled interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_TOM_Pos             (3U)
+#define USB_OTG_DOEPEACHMSK1_TOM_Msk             (0x1UL << USB_OTG_DOEPEACHMSK1_TOM_Pos) /*!< 0x00000008 */
+#define USB_OTG_DOEPEACHMSK1_TOM                 USB_OTG_DOEPEACHMSK1_TOM_Msk  /*!< Timeout condition mask */
+#define USB_OTG_DOEPEACHMSK1_ITTXFEMSK_Pos       (4U)
+#define USB_OTG_DOEPEACHMSK1_ITTXFEMSK_Msk       (0x1UL << USB_OTG_DOEPEACHMSK1_ITTXFEMSK_Pos) /*!< 0x00000010 */
+#define USB_OTG_DOEPEACHMSK1_ITTXFEMSK           USB_OTG_DOEPEACHMSK1_ITTXFEMSK_Msk /*!< IN token received when TxFIFO empty mask */
+#define USB_OTG_DOEPEACHMSK1_INEPNMM_Pos         (5U)
+#define USB_OTG_DOEPEACHMSK1_INEPNMM_Msk         (0x1UL << USB_OTG_DOEPEACHMSK1_INEPNMM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DOEPEACHMSK1_INEPNMM             USB_OTG_DOEPEACHMSK1_INEPNMM_Msk /*!< IN token received with EP mismatch mask */
+#define USB_OTG_DOEPEACHMSK1_INEPNEM_Pos         (6U)
+#define USB_OTG_DOEPEACHMSK1_INEPNEM_Msk         (0x1UL << USB_OTG_DOEPEACHMSK1_INEPNEM_Pos) /*!< 0x00000040 */
+#define USB_OTG_DOEPEACHMSK1_INEPNEM             USB_OTG_DOEPEACHMSK1_INEPNEM_Msk /*!< IN endpoint NAK effective mask */
+#define USB_OTG_DOEPEACHMSK1_TXFURM_Pos          (8U)
+#define USB_OTG_DOEPEACHMSK1_TXFURM_Msk          (0x1UL << USB_OTG_DOEPEACHMSK1_TXFURM_Pos) /*!< 0x00000100 */
+#define USB_OTG_DOEPEACHMSK1_TXFURM              USB_OTG_DOEPEACHMSK1_TXFURM_Msk /*!< OUT packet error mask */
+#define USB_OTG_DOEPEACHMSK1_BIM_Pos             (9U)
+#define USB_OTG_DOEPEACHMSK1_BIM_Msk             (0x1UL << USB_OTG_DOEPEACHMSK1_BIM_Pos) /*!< 0x00000200 */
+#define USB_OTG_DOEPEACHMSK1_BIM                 USB_OTG_DOEPEACHMSK1_BIM_Msk  /*!< BNA interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_BERRM_Pos           (12U)
+#define USB_OTG_DOEPEACHMSK1_BERRM_Msk           (0x1UL << USB_OTG_DOEPEACHMSK1_BERRM_Pos) /*!< 0x00001000 */
+#define USB_OTG_DOEPEACHMSK1_BERRM               USB_OTG_DOEPEACHMSK1_BERRM_Msk /*!< Bubble error interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_NAKM_Pos            (13U)
+#define USB_OTG_DOEPEACHMSK1_NAKM_Msk            (0x1UL << USB_OTG_DOEPEACHMSK1_NAKM_Pos) /*!< 0x00002000 */
+#define USB_OTG_DOEPEACHMSK1_NAKM                USB_OTG_DOEPEACHMSK1_NAKM_Msk /*!< NAK interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_NYETM_Pos           (14U)
+#define USB_OTG_DOEPEACHMSK1_NYETM_Msk           (0x1UL << USB_OTG_DOEPEACHMSK1_NYETM_Pos) /*!< 0x00004000 */
+#define USB_OTG_DOEPEACHMSK1_NYETM               USB_OTG_DOEPEACHMSK1_NYETM_Msk /*!< NYET interrupt mask */
+
+/********************  Bit definition forUSB_OTG_HPTXFSIZ register  ********************/
+#define USB_OTG_HPTXFSIZ_PTXSA_Pos               (0U)
+#define USB_OTG_HPTXFSIZ_PTXSA_Msk               (0xFFFFUL << USB_OTG_HPTXFSIZ_PTXSA_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HPTXFSIZ_PTXSA                   USB_OTG_HPTXFSIZ_PTXSA_Msk    /*!< Host periodic TxFIFO start address */
+#define USB_OTG_HPTXFSIZ_PTXFD_Pos               (16U)
+#define USB_OTG_HPTXFSIZ_PTXFD_Msk               (0xFFFFUL << USB_OTG_HPTXFSIZ_PTXFD_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_HPTXFSIZ_PTXFD                   USB_OTG_HPTXFSIZ_PTXFD_Msk    /*!< Host periodic TxFIFO depth */
+
+/********************  Bit definition forUSB_OTG_DIEPCTL register  ********************/
+#define USB_OTG_DIEPCTL_MPSIZ_Pos                (0U)
+#define USB_OTG_DIEPCTL_MPSIZ_Msk                (0x7FFUL << USB_OTG_DIEPCTL_MPSIZ_Pos) /*!< 0x000007FF */
+#define USB_OTG_DIEPCTL_MPSIZ                    USB_OTG_DIEPCTL_MPSIZ_Msk     /*!< Maximum packet size */
+#define USB_OTG_DIEPCTL_USBAEP_Pos               (15U)
+#define USB_OTG_DIEPCTL_USBAEP_Msk               (0x1UL << USB_OTG_DIEPCTL_USBAEP_Pos) /*!< 0x00008000 */
+#define USB_OTG_DIEPCTL_USBAEP                   USB_OTG_DIEPCTL_USBAEP_Msk    /*!< USB active endpoint */
+#define USB_OTG_DIEPCTL_EONUM_DPID_Pos           (16U)
+#define USB_OTG_DIEPCTL_EONUM_DPID_Msk           (0x1UL << USB_OTG_DIEPCTL_EONUM_DPID_Pos) /*!< 0x00010000 */
+#define USB_OTG_DIEPCTL_EONUM_DPID               USB_OTG_DIEPCTL_EONUM_DPID_Msk /*!< Even/odd frame */
+#define USB_OTG_DIEPCTL_NAKSTS_Pos               (17U)
+#define USB_OTG_DIEPCTL_NAKSTS_Msk               (0x1UL << USB_OTG_DIEPCTL_NAKSTS_Pos) /*!< 0x00020000 */
+#define USB_OTG_DIEPCTL_NAKSTS                   USB_OTG_DIEPCTL_NAKSTS_Msk    /*!< NAK status */
+
+#define USB_OTG_DIEPCTL_EPTYP_Pos                (18U)
+#define USB_OTG_DIEPCTL_EPTYP_Msk                (0x3UL << USB_OTG_DIEPCTL_EPTYP_Pos) /*!< 0x000C0000 */
+#define USB_OTG_DIEPCTL_EPTYP                    USB_OTG_DIEPCTL_EPTYP_Msk     /*!< Endpoint type */
+#define USB_OTG_DIEPCTL_EPTYP_0                  (0x1UL << USB_OTG_DIEPCTL_EPTYP_Pos) /*!< 0x00040000 */
+#define USB_OTG_DIEPCTL_EPTYP_1                  (0x2UL << USB_OTG_DIEPCTL_EPTYP_Pos) /*!< 0x00080000 */
+#define USB_OTG_DIEPCTL_STALL_Pos                (21U)
+#define USB_OTG_DIEPCTL_STALL_Msk                (0x1UL << USB_OTG_DIEPCTL_STALL_Pos) /*!< 0x00200000 */
+#define USB_OTG_DIEPCTL_STALL                    USB_OTG_DIEPCTL_STALL_Msk     /*!< STALL handshake */
+
+#define USB_OTG_DIEPCTL_TXFNUM_Pos               (22U)
+#define USB_OTG_DIEPCTL_TXFNUM_Msk               (0xFUL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x03C00000 */
+#define USB_OTG_DIEPCTL_TXFNUM                   USB_OTG_DIEPCTL_TXFNUM_Msk    /*!< TxFIFO number */
+#define USB_OTG_DIEPCTL_TXFNUM_0                 (0x1UL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x00400000 */
+#define USB_OTG_DIEPCTL_TXFNUM_1                 (0x2UL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x00800000 */
+#define USB_OTG_DIEPCTL_TXFNUM_2                 (0x4UL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x01000000 */
+#define USB_OTG_DIEPCTL_TXFNUM_3                 (0x8UL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x02000000 */
+#define USB_OTG_DIEPCTL_CNAK_Pos                 (26U)
+#define USB_OTG_DIEPCTL_CNAK_Msk                 (0x1UL << USB_OTG_DIEPCTL_CNAK_Pos) /*!< 0x04000000 */
+#define USB_OTG_DIEPCTL_CNAK                     USB_OTG_DIEPCTL_CNAK_Msk      /*!< Clear NAK */
+#define USB_OTG_DIEPCTL_SNAK_Pos                 (27U)
+#define USB_OTG_DIEPCTL_SNAK_Msk                 (0x1UL << USB_OTG_DIEPCTL_SNAK_Pos) /*!< 0x08000000 */
+#define USB_OTG_DIEPCTL_SNAK                     USB_OTG_DIEPCTL_SNAK_Msk      /*!< Set NAK */
+#define USB_OTG_DIEPCTL_SD0PID_SEVNFRM_Pos       (28U)
+#define USB_OTG_DIEPCTL_SD0PID_SEVNFRM_Msk       (0x1UL << USB_OTG_DIEPCTL_SD0PID_SEVNFRM_Pos) /*!< 0x10000000 */
+#define USB_OTG_DIEPCTL_SD0PID_SEVNFRM           USB_OTG_DIEPCTL_SD0PID_SEVNFRM_Msk /*!< Set DATA0 PID */
+#define USB_OTG_DIEPCTL_SODDFRM_Pos              (29U)
+#define USB_OTG_DIEPCTL_SODDFRM_Msk              (0x1UL << USB_OTG_DIEPCTL_SODDFRM_Pos) /*!< 0x20000000 */
+#define USB_OTG_DIEPCTL_SODDFRM                  USB_OTG_DIEPCTL_SODDFRM_Msk   /*!< Set odd frame */
+#define USB_OTG_DIEPCTL_EPDIS_Pos                (30U)
+#define USB_OTG_DIEPCTL_EPDIS_Msk                (0x1UL << USB_OTG_DIEPCTL_EPDIS_Pos) /*!< 0x40000000 */
+#define USB_OTG_DIEPCTL_EPDIS                    USB_OTG_DIEPCTL_EPDIS_Msk     /*!< Endpoint disable */
+#define USB_OTG_DIEPCTL_EPENA_Pos                (31U)
+#define USB_OTG_DIEPCTL_EPENA_Msk                (0x1UL << USB_OTG_DIEPCTL_EPENA_Pos) /*!< 0x80000000 */
+#define USB_OTG_DIEPCTL_EPENA                    USB_OTG_DIEPCTL_EPENA_Msk     /*!< Endpoint enable */
+
+/********************  Bit definition forUSB_OTG_HCCHAR register  ********************/
+#define USB_OTG_HCCHAR_MPSIZ_Pos                 (0U)
+#define USB_OTG_HCCHAR_MPSIZ_Msk                 (0x7FFUL << USB_OTG_HCCHAR_MPSIZ_Pos) /*!< 0x000007FF */
+#define USB_OTG_HCCHAR_MPSIZ                     USB_OTG_HCCHAR_MPSIZ_Msk      /*!< Maximum packet size */
+
+#define USB_OTG_HCCHAR_EPNUM_Pos                 (11U)
+#define USB_OTG_HCCHAR_EPNUM_Msk                 (0xFUL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00007800 */
+#define USB_OTG_HCCHAR_EPNUM                     USB_OTG_HCCHAR_EPNUM_Msk      /*!< Endpoint number */
+#define USB_OTG_HCCHAR_EPNUM_0                   (0x1UL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00000800 */
+#define USB_OTG_HCCHAR_EPNUM_1                   (0x2UL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00001000 */
+#define USB_OTG_HCCHAR_EPNUM_2                   (0x4UL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00002000 */
+#define USB_OTG_HCCHAR_EPNUM_3                   (0x8UL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00004000 */
+#define USB_OTG_HCCHAR_EPDIR_Pos                 (15U)
+#define USB_OTG_HCCHAR_EPDIR_Msk                 (0x1UL << USB_OTG_HCCHAR_EPDIR_Pos) /*!< 0x00008000 */
+#define USB_OTG_HCCHAR_EPDIR                     USB_OTG_HCCHAR_EPDIR_Msk      /*!< Endpoint direction */
+#define USB_OTG_HCCHAR_LSDEV_Pos                 (17U)
+#define USB_OTG_HCCHAR_LSDEV_Msk                 (0x1UL << USB_OTG_HCCHAR_LSDEV_Pos) /*!< 0x00020000 */
+#define USB_OTG_HCCHAR_LSDEV                     USB_OTG_HCCHAR_LSDEV_Msk      /*!< Low-speed device */
+
+#define USB_OTG_HCCHAR_EPTYP_Pos                 (18U)
+#define USB_OTG_HCCHAR_EPTYP_Msk                 (0x3UL << USB_OTG_HCCHAR_EPTYP_Pos) /*!< 0x000C0000 */
+#define USB_OTG_HCCHAR_EPTYP                     USB_OTG_HCCHAR_EPTYP_Msk      /*!< Endpoint type */
+#define USB_OTG_HCCHAR_EPTYP_0                   (0x1UL << USB_OTG_HCCHAR_EPTYP_Pos) /*!< 0x00040000 */
+#define USB_OTG_HCCHAR_EPTYP_1                   (0x2UL << USB_OTG_HCCHAR_EPTYP_Pos) /*!< 0x00080000 */
+
+#define USB_OTG_HCCHAR_MC_Pos                    (20U)
+#define USB_OTG_HCCHAR_MC_Msk                    (0x3UL << USB_OTG_HCCHAR_MC_Pos) /*!< 0x00300000 */
+#define USB_OTG_HCCHAR_MC                        USB_OTG_HCCHAR_MC_Msk         /*!< Multi Count (MC) / Error Count (EC) */
+#define USB_OTG_HCCHAR_MC_0                      (0x1UL << USB_OTG_HCCHAR_MC_Pos) /*!< 0x00100000 */
+#define USB_OTG_HCCHAR_MC_1                      (0x2UL << USB_OTG_HCCHAR_MC_Pos) /*!< 0x00200000 */
+
+#define USB_OTG_HCCHAR_DAD_Pos                   (22U)
+#define USB_OTG_HCCHAR_DAD_Msk                   (0x7FUL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x1FC00000 */
+#define USB_OTG_HCCHAR_DAD                       USB_OTG_HCCHAR_DAD_Msk        /*!< Device address */
+#define USB_OTG_HCCHAR_DAD_0                     (0x01UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x00400000 */
+#define USB_OTG_HCCHAR_DAD_1                     (0x02UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x00800000 */
+#define USB_OTG_HCCHAR_DAD_2                     (0x04UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x01000000 */
+#define USB_OTG_HCCHAR_DAD_3                     (0x08UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x02000000 */
+#define USB_OTG_HCCHAR_DAD_4                     (0x10UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x04000000 */
+#define USB_OTG_HCCHAR_DAD_5                     (0x20UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x08000000 */
+#define USB_OTG_HCCHAR_DAD_6                     (0x40UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x10000000 */
+#define USB_OTG_HCCHAR_ODDFRM_Pos                (29U)
+#define USB_OTG_HCCHAR_ODDFRM_Msk                (0x1UL << USB_OTG_HCCHAR_ODDFRM_Pos) /*!< 0x20000000 */
+#define USB_OTG_HCCHAR_ODDFRM                    USB_OTG_HCCHAR_ODDFRM_Msk     /*!< Odd frame */
+#define USB_OTG_HCCHAR_CHDIS_Pos                 (30U)
+#define USB_OTG_HCCHAR_CHDIS_Msk                 (0x1UL << USB_OTG_HCCHAR_CHDIS_Pos) /*!< 0x40000000 */
+#define USB_OTG_HCCHAR_CHDIS                     USB_OTG_HCCHAR_CHDIS_Msk      /*!< Channel disable */
+#define USB_OTG_HCCHAR_CHENA_Pos                 (31U)
+#define USB_OTG_HCCHAR_CHENA_Msk                 (0x1UL << USB_OTG_HCCHAR_CHENA_Pos) /*!< 0x80000000 */
+#define USB_OTG_HCCHAR_CHENA                     USB_OTG_HCCHAR_CHENA_Msk      /*!< Channel enable */
+
+/********************  Bit definition forUSB_OTG_HCSPLT register  ********************/
+
+#define USB_OTG_HCSPLT_PRTADDR_Pos               (0U)
+#define USB_OTG_HCSPLT_PRTADDR_Msk               (0x7FUL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x0000007F */
+#define USB_OTG_HCSPLT_PRTADDR                   USB_OTG_HCSPLT_PRTADDR_Msk    /*!< Port address */
+#define USB_OTG_HCSPLT_PRTADDR_0                 (0x01UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000001 */
+#define USB_OTG_HCSPLT_PRTADDR_1                 (0x02UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000002 */
+#define USB_OTG_HCSPLT_PRTADDR_2                 (0x04UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000004 */
+#define USB_OTG_HCSPLT_PRTADDR_3                 (0x08UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000008 */
+#define USB_OTG_HCSPLT_PRTADDR_4                 (0x10UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000010 */
+#define USB_OTG_HCSPLT_PRTADDR_5                 (0x20UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000020 */
+#define USB_OTG_HCSPLT_PRTADDR_6                 (0x40UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000040 */
+
+#define USB_OTG_HCSPLT_HUBADDR_Pos               (7U)
+#define USB_OTG_HCSPLT_HUBADDR_Msk               (0x7FUL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00003F80 */
+#define USB_OTG_HCSPLT_HUBADDR                   USB_OTG_HCSPLT_HUBADDR_Msk    /*!< Hub address */
+#define USB_OTG_HCSPLT_HUBADDR_0                 (0x01UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000080 */
+#define USB_OTG_HCSPLT_HUBADDR_1                 (0x02UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000100 */
+#define USB_OTG_HCSPLT_HUBADDR_2                 (0x04UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000200 */
+#define USB_OTG_HCSPLT_HUBADDR_3                 (0x08UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000400 */
+#define USB_OTG_HCSPLT_HUBADDR_4                 (0x10UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000800 */
+#define USB_OTG_HCSPLT_HUBADDR_5                 (0x20UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00001000 */
+#define USB_OTG_HCSPLT_HUBADDR_6                 (0x40UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00002000 */
+
+#define USB_OTG_HCSPLT_XACTPOS_Pos               (14U)
+#define USB_OTG_HCSPLT_XACTPOS_Msk               (0x3UL << USB_OTG_HCSPLT_XACTPOS_Pos) /*!< 0x0000C000 */
+#define USB_OTG_HCSPLT_XACTPOS                   USB_OTG_HCSPLT_XACTPOS_Msk    /*!< XACTPOS */
+#define USB_OTG_HCSPLT_XACTPOS_0                 (0x1UL << USB_OTG_HCSPLT_XACTPOS_Pos) /*!< 0x00004000 */
+#define USB_OTG_HCSPLT_XACTPOS_1                 (0x2UL << USB_OTG_HCSPLT_XACTPOS_Pos) /*!< 0x00008000 */
+#define USB_OTG_HCSPLT_COMPLSPLT_Pos             (16U)
+#define USB_OTG_HCSPLT_COMPLSPLT_Msk             (0x1UL << USB_OTG_HCSPLT_COMPLSPLT_Pos) /*!< 0x00010000 */
+#define USB_OTG_HCSPLT_COMPLSPLT                 USB_OTG_HCSPLT_COMPLSPLT_Msk  /*!< Do complete split */
+#define USB_OTG_HCSPLT_SPLITEN_Pos               (31U)
+#define USB_OTG_HCSPLT_SPLITEN_Msk               (0x1UL << USB_OTG_HCSPLT_SPLITEN_Pos) /*!< 0x80000000 */
+#define USB_OTG_HCSPLT_SPLITEN                   USB_OTG_HCSPLT_SPLITEN_Msk    /*!< Split enable */
+
+/********************  Bit definition forUSB_OTG_HCINT register  ********************/
+#define USB_OTG_HCINT_XFRC_Pos                   (0U)
+#define USB_OTG_HCINT_XFRC_Msk                   (0x1UL << USB_OTG_HCINT_XFRC_Pos) /*!< 0x00000001 */
+#define USB_OTG_HCINT_XFRC                       USB_OTG_HCINT_XFRC_Msk        /*!< Transfer completed */
+#define USB_OTG_HCINT_CHH_Pos                    (1U)
+#define USB_OTG_HCINT_CHH_Msk                    (0x1UL << USB_OTG_HCINT_CHH_Pos) /*!< 0x00000002 */
+#define USB_OTG_HCINT_CHH                        USB_OTG_HCINT_CHH_Msk         /*!< Channel halted */
+#define USB_OTG_HCINT_AHBERR_Pos                 (2U)
+#define USB_OTG_HCINT_AHBERR_Msk                 (0x1UL << USB_OTG_HCINT_AHBERR_Pos) /*!< 0x00000004 */
+#define USB_OTG_HCINT_AHBERR                     USB_OTG_HCINT_AHBERR_Msk      /*!< AHB error */
+#define USB_OTG_HCINT_STALL_Pos                  (3U)
+#define USB_OTG_HCINT_STALL_Msk                  (0x1UL << USB_OTG_HCINT_STALL_Pos) /*!< 0x00000008 */
+#define USB_OTG_HCINT_STALL                      USB_OTG_HCINT_STALL_Msk       /*!< STALL response received interrupt */
+#define USB_OTG_HCINT_NAK_Pos                    (4U)
+#define USB_OTG_HCINT_NAK_Msk                    (0x1UL << USB_OTG_HCINT_NAK_Pos) /*!< 0x00000010 */
+#define USB_OTG_HCINT_NAK                        USB_OTG_HCINT_NAK_Msk         /*!< NAK response received interrupt */
+#define USB_OTG_HCINT_ACK_Pos                    (5U)
+#define USB_OTG_HCINT_ACK_Msk                    (0x1UL << USB_OTG_HCINT_ACK_Pos) /*!< 0x00000020 */
+#define USB_OTG_HCINT_ACK                        USB_OTG_HCINT_ACK_Msk         /*!< ACK response received/transmitted interrupt */
+#define USB_OTG_HCINT_NYET_Pos                   (6U)
+#define USB_OTG_HCINT_NYET_Msk                   (0x1UL << USB_OTG_HCINT_NYET_Pos) /*!< 0x00000040 */
+#define USB_OTG_HCINT_NYET                       USB_OTG_HCINT_NYET_Msk        /*!< Response received interrupt */
+#define USB_OTG_HCINT_TXERR_Pos                  (7U)
+#define USB_OTG_HCINT_TXERR_Msk                  (0x1UL << USB_OTG_HCINT_TXERR_Pos) /*!< 0x00000080 */
+#define USB_OTG_HCINT_TXERR                      USB_OTG_HCINT_TXERR_Msk       /*!< Transaction error */
+#define USB_OTG_HCINT_BBERR_Pos                  (8U)
+#define USB_OTG_HCINT_BBERR_Msk                  (0x1UL << USB_OTG_HCINT_BBERR_Pos) /*!< 0x00000100 */
+#define USB_OTG_HCINT_BBERR                      USB_OTG_HCINT_BBERR_Msk       /*!< Babble error */
+#define USB_OTG_HCINT_FRMOR_Pos                  (9U)
+#define USB_OTG_HCINT_FRMOR_Msk                  (0x1UL << USB_OTG_HCINT_FRMOR_Pos) /*!< 0x00000200 */
+#define USB_OTG_HCINT_FRMOR                      USB_OTG_HCINT_FRMOR_Msk       /*!< Frame overrun */
+#define USB_OTG_HCINT_DTERR_Pos                  (10U)
+#define USB_OTG_HCINT_DTERR_Msk                  (0x1UL << USB_OTG_HCINT_DTERR_Pos) /*!< 0x00000400 */
+#define USB_OTG_HCINT_DTERR                      USB_OTG_HCINT_DTERR_Msk       /*!< Data toggle error */
+
+/********************  Bit definition forUSB_OTG_DIEPINT register  ********************/
+#define USB_OTG_DIEPINT_XFRC_Pos                 (0U)
+#define USB_OTG_DIEPINT_XFRC_Msk                 (0x1UL << USB_OTG_DIEPINT_XFRC_Pos) /*!< 0x00000001 */
+#define USB_OTG_DIEPINT_XFRC                     USB_OTG_DIEPINT_XFRC_Msk      /*!< Transfer completed interrupt */
+#define USB_OTG_DIEPINT_EPDISD_Pos               (1U)
+#define USB_OTG_DIEPINT_EPDISD_Msk               (0x1UL << USB_OTG_DIEPINT_EPDISD_Pos) /*!< 0x00000002 */
+#define USB_OTG_DIEPINT_EPDISD                   USB_OTG_DIEPINT_EPDISD_Msk    /*!< Endpoint disabled interrupt */
+#define USB_OTG_DIEPINT_AHBERR_Pos               (2U)
+#define USB_OTG_DIEPINT_AHBERR_Msk               (0x1UL << USB_OTG_DIEPINT_AHBERR_Pos) /*!< 0x00000004 */
+#define USB_OTG_DIEPINT_AHBERR                   USB_OTG_DIEPINT_AHBERR_Msk   /*!< AHB Error (AHBErr) during an IN transaction */
+#define USB_OTG_DIEPINT_TOC_Pos                  (3U)
+#define USB_OTG_DIEPINT_TOC_Msk                  (0x1UL << USB_OTG_DIEPINT_TOC_Pos) /*!< 0x00000008 */
+#define USB_OTG_DIEPINT_TOC                      USB_OTG_DIEPINT_TOC_Msk       /*!< Timeout condition */
+#define USB_OTG_DIEPINT_ITTXFE_Pos               (4U)
+#define USB_OTG_DIEPINT_ITTXFE_Msk               (0x1UL << USB_OTG_DIEPINT_ITTXFE_Pos) /*!< 0x00000010 */
+#define USB_OTG_DIEPINT_ITTXFE                   USB_OTG_DIEPINT_ITTXFE_Msk    /*!< IN token received when TxFIFO is empty */
+#define USB_OTG_DIEPINT_INEPNM_Pos               (5U)
+#define USB_OTG_DIEPINT_INEPNM_Msk               (0x1UL << USB_OTG_DIEPINT_INEPNM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DIEPINT_INEPNM                   USB_OTG_DIEPINT_INEPNM_Msk   /*!< IN token received with EP mismatch */
+#define USB_OTG_DIEPINT_INEPNE_Pos               (6U)
+#define USB_OTG_DIEPINT_INEPNE_Msk               (0x1UL << USB_OTG_DIEPINT_INEPNE_Pos) /*!< 0x00000040 */
+#define USB_OTG_DIEPINT_INEPNE                   USB_OTG_DIEPINT_INEPNE_Msk    /*!< IN endpoint NAK effective */
+#define USB_OTG_DIEPINT_TXFE_Pos                 (7U)
+#define USB_OTG_DIEPINT_TXFE_Msk                 (0x1UL << USB_OTG_DIEPINT_TXFE_Pos) /*!< 0x00000080 */
+#define USB_OTG_DIEPINT_TXFE                     USB_OTG_DIEPINT_TXFE_Msk      /*!< Transmit FIFO empty */
+#define USB_OTG_DIEPINT_TXFIFOUDRN_Pos           (8U)
+#define USB_OTG_DIEPINT_TXFIFOUDRN_Msk           (0x1UL << USB_OTG_DIEPINT_TXFIFOUDRN_Pos) /*!< 0x00000100 */
+#define USB_OTG_DIEPINT_TXFIFOUDRN               USB_OTG_DIEPINT_TXFIFOUDRN_Msk /*!< Transmit Fifo Underrun */
+#define USB_OTG_DIEPINT_BNA_Pos                  (9U)
+#define USB_OTG_DIEPINT_BNA_Msk                  (0x1UL << USB_OTG_DIEPINT_BNA_Pos) /*!< 0x00000200 */
+#define USB_OTG_DIEPINT_BNA                      USB_OTG_DIEPINT_BNA_Msk       /*!< Buffer not available interrupt */
+#define USB_OTG_DIEPINT_PKTDRPSTS_Pos            (11U)
+#define USB_OTG_DIEPINT_PKTDRPSTS_Msk            (0x1UL << USB_OTG_DIEPINT_PKTDRPSTS_Pos) /*!< 0x00000800 */
+#define USB_OTG_DIEPINT_PKTDRPSTS                USB_OTG_DIEPINT_PKTDRPSTS_Msk /*!< Packet dropped status */
+#define USB_OTG_DIEPINT_BERR_Pos                 (12U)
+#define USB_OTG_DIEPINT_BERR_Msk                 (0x1UL << USB_OTG_DIEPINT_BERR_Pos) /*!< 0x00001000 */
+#define USB_OTG_DIEPINT_BERR                     USB_OTG_DIEPINT_BERR_Msk      /*!< Babble error interrupt */
+#define USB_OTG_DIEPINT_NAK_Pos                  (13U)
+#define USB_OTG_DIEPINT_NAK_Msk                  (0x1UL << USB_OTG_DIEPINT_NAK_Pos) /*!< 0x00002000 */
+#define USB_OTG_DIEPINT_NAK                      USB_OTG_DIEPINT_NAK_Msk       /*!< NAK interrupt */
+
+/********************  Bit definition forUSB_OTG_HCINTMSK register  ********************/
+#define USB_OTG_HCINTMSK_XFRCM_Pos               (0U)
+#define USB_OTG_HCINTMSK_XFRCM_Msk               (0x1UL << USB_OTG_HCINTMSK_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_HCINTMSK_XFRCM                   USB_OTG_HCINTMSK_XFRCM_Msk    /*!< Transfer completed mask */
+#define USB_OTG_HCINTMSK_CHHM_Pos                (1U)
+#define USB_OTG_HCINTMSK_CHHM_Msk                (0x1UL << USB_OTG_HCINTMSK_CHHM_Pos) /*!< 0x00000002 */
+#define USB_OTG_HCINTMSK_CHHM                    USB_OTG_HCINTMSK_CHHM_Msk     /*!< Channel halted mask */
+#define USB_OTG_HCINTMSK_AHBERR_Pos              (2U)
+#define USB_OTG_HCINTMSK_AHBERR_Msk              (0x1UL << USB_OTG_HCINTMSK_AHBERR_Pos) /*!< 0x00000004 */
+#define USB_OTG_HCINTMSK_AHBERR                  USB_OTG_HCINTMSK_AHBERR_Msk   /*!< AHB error */
+#define USB_OTG_HCINTMSK_STALLM_Pos              (3U)
+#define USB_OTG_HCINTMSK_STALLM_Msk              (0x1UL << USB_OTG_HCINTMSK_STALLM_Pos) /*!< 0x00000008 */
+#define USB_OTG_HCINTMSK_STALLM                  USB_OTG_HCINTMSK_STALLM_Msk   /*!< STALL response received interrupt mask */
+#define USB_OTG_HCINTMSK_NAKM_Pos                (4U)
+#define USB_OTG_HCINTMSK_NAKM_Msk                (0x1UL << USB_OTG_HCINTMSK_NAKM_Pos) /*!< 0x00000010 */
+#define USB_OTG_HCINTMSK_NAKM                    USB_OTG_HCINTMSK_NAKM_Msk     /*!< NAK response received interrupt mask */
+#define USB_OTG_HCINTMSK_ACKM_Pos                (5U)
+#define USB_OTG_HCINTMSK_ACKM_Msk                (0x1UL << USB_OTG_HCINTMSK_ACKM_Pos) /*!< 0x00000020 */
+#define USB_OTG_HCINTMSK_ACKM                    USB_OTG_HCINTMSK_ACKM_Msk     /*!< ACK response received/transmitted interrupt mask */
+#define USB_OTG_HCINTMSK_NYET_Pos                (6U)
+#define USB_OTG_HCINTMSK_NYET_Msk                (0x1UL << USB_OTG_HCINTMSK_NYET_Pos) /*!< 0x00000040 */
+#define USB_OTG_HCINTMSK_NYET                    USB_OTG_HCINTMSK_NYET_Msk     /*!< response received interrupt mask */
+#define USB_OTG_HCINTMSK_TXERRM_Pos              (7U)
+#define USB_OTG_HCINTMSK_TXERRM_Msk              (0x1UL << USB_OTG_HCINTMSK_TXERRM_Pos) /*!< 0x00000080 */
+#define USB_OTG_HCINTMSK_TXERRM                  USB_OTG_HCINTMSK_TXERRM_Msk   /*!< Transaction error mask */
+#define USB_OTG_HCINTMSK_BBERRM_Pos              (8U)
+#define USB_OTG_HCINTMSK_BBERRM_Msk              (0x1UL << USB_OTG_HCINTMSK_BBERRM_Pos) /*!< 0x00000100 */
+#define USB_OTG_HCINTMSK_BBERRM                  USB_OTG_HCINTMSK_BBERRM_Msk   /*!< Babble error mask */
+#define USB_OTG_HCINTMSK_FRMORM_Pos              (9U)
+#define USB_OTG_HCINTMSK_FRMORM_Msk              (0x1UL << USB_OTG_HCINTMSK_FRMORM_Pos) /*!< 0x00000200 */
+#define USB_OTG_HCINTMSK_FRMORM                  USB_OTG_HCINTMSK_FRMORM_Msk   /*!< Frame overrun mask */
+#define USB_OTG_HCINTMSK_DTERRM_Pos              (10U)
+#define USB_OTG_HCINTMSK_DTERRM_Msk              (0x1UL << USB_OTG_HCINTMSK_DTERRM_Pos) /*!< 0x00000400 */
+#define USB_OTG_HCINTMSK_DTERRM                  USB_OTG_HCINTMSK_DTERRM_Msk   /*!< Data toggle error mask */
+
+/********************  Bit definition for USB_OTG_DIEPTSIZ register  ********************/
+
+#define USB_OTG_DIEPTSIZ_XFRSIZ_Pos              (0U)
+#define USB_OTG_DIEPTSIZ_XFRSIZ_Msk              (0x7FFFFUL << USB_OTG_DIEPTSIZ_XFRSIZ_Pos) /*!< 0x0007FFFF */
+#define USB_OTG_DIEPTSIZ_XFRSIZ                  USB_OTG_DIEPTSIZ_XFRSIZ_Msk   /*!< Transfer size */
+#define USB_OTG_DIEPTSIZ_PKTCNT_Pos              (19U)
+#define USB_OTG_DIEPTSIZ_PKTCNT_Msk              (0x3FFUL << USB_OTG_DIEPTSIZ_PKTCNT_Pos) /*!< 0x1FF80000 */
+#define USB_OTG_DIEPTSIZ_PKTCNT                  USB_OTG_DIEPTSIZ_PKTCNT_Msk   /*!< Packet count */
+#define USB_OTG_DIEPTSIZ_MULCNT_Pos              (29U)
+#define USB_OTG_DIEPTSIZ_MULCNT_Msk              (0x3UL << USB_OTG_DIEPTSIZ_MULCNT_Pos) /*!< 0x60000000 */
+#define USB_OTG_DIEPTSIZ_MULCNT                  USB_OTG_DIEPTSIZ_MULCNT_Msk   /*!< Packet count */
+/********************  Bit definition forUSB_OTG_HCTSIZ register  ********************/
+#define USB_OTG_HCTSIZ_XFRSIZ_Pos                (0U)
+#define USB_OTG_HCTSIZ_XFRSIZ_Msk                (0x7FFFFUL << USB_OTG_HCTSIZ_XFRSIZ_Pos) /*!< 0x0007FFFF */
+#define USB_OTG_HCTSIZ_XFRSIZ                    USB_OTG_HCTSIZ_XFRSIZ_Msk     /*!< Transfer size */
+#define USB_OTG_HCTSIZ_PKTCNT_Pos                (19U)
+#define USB_OTG_HCTSIZ_PKTCNT_Msk                (0x3FFUL << USB_OTG_HCTSIZ_PKTCNT_Pos) /*!< 0x1FF80000 */
+#define USB_OTG_HCTSIZ_PKTCNT                    USB_OTG_HCTSIZ_PKTCNT_Msk     /*!< Packet count */
+#define USB_OTG_HCTSIZ_DOPING_Pos                (31U)
+#define USB_OTG_HCTSIZ_DOPING_Msk                (0x1UL << USB_OTG_HCTSIZ_DOPING_Pos) /*!< 0x80000000 */
+#define USB_OTG_HCTSIZ_DOPING                    USB_OTG_HCTSIZ_DOPING_Msk     /*!< Do PING */
+#define USB_OTG_HCTSIZ_DPID_Pos                  (29U)
+#define USB_OTG_HCTSIZ_DPID_Msk                  (0x3UL << USB_OTG_HCTSIZ_DPID_Pos) /*!< 0x60000000 */
+#define USB_OTG_HCTSIZ_DPID                      USB_OTG_HCTSIZ_DPID_Msk       /*!< Data PID */
+#define USB_OTG_HCTSIZ_DPID_0                    (0x1UL << USB_OTG_HCTSIZ_DPID_Pos) /*!< 0x20000000 */
+#define USB_OTG_HCTSIZ_DPID_1                    (0x2UL << USB_OTG_HCTSIZ_DPID_Pos) /*!< 0x40000000 */
+
+/********************  Bit definition forUSB_OTG_DIEPDMA register  ********************/
+#define USB_OTG_DIEPDMA_DMAADDR_Pos              (0U)
+#define USB_OTG_DIEPDMA_DMAADDR_Msk              (0xFFFFFFFFUL << USB_OTG_DIEPDMA_DMAADDR_Pos) /*!< 0xFFFFFFFF */
+#define USB_OTG_DIEPDMA_DMAADDR                  USB_OTG_DIEPDMA_DMAADDR_Msk   /*!< DMA address */
+
+/********************  Bit definition forUSB_OTG_HCDMA register  ********************/
+#define USB_OTG_HCDMA_DMAADDR_Pos                (0U)
+#define USB_OTG_HCDMA_DMAADDR_Msk                (0xFFFFFFFFUL << USB_OTG_HCDMA_DMAADDR_Pos) /*!< 0xFFFFFFFF */
+#define USB_OTG_HCDMA_DMAADDR                    USB_OTG_HCDMA_DMAADDR_Msk     /*!< DMA address */
+
+/********************  Bit definition forUSB_OTG_DTXFSTS register  ********************/
+#define USB_OTG_DTXFSTS_INEPTFSAV_Pos            (0U)
+#define USB_OTG_DTXFSTS_INEPTFSAV_Msk            (0xFFFFUL << USB_OTG_DTXFSTS_INEPTFSAV_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DTXFSTS_INEPTFSAV                USB_OTG_DTXFSTS_INEPTFSAV_Msk /*!< IN endpoint TxFIFO space available */
+
+/********************  Bit definition forUSB_OTG_DIEPTXF register  ********************/
+#define USB_OTG_DIEPTXF_INEPTXSA_Pos             (0U)
+#define USB_OTG_DIEPTXF_INEPTXSA_Msk             (0xFFFFUL << USB_OTG_DIEPTXF_INEPTXSA_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DIEPTXF_INEPTXSA                 USB_OTG_DIEPTXF_INEPTXSA_Msk  /*!< IN endpoint FIFOx transmit RAM start address */
+#define USB_OTG_DIEPTXF_INEPTXFD_Pos             (16U)
+#define USB_OTG_DIEPTXF_INEPTXFD_Msk             (0xFFFFUL << USB_OTG_DIEPTXF_INEPTXFD_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_DIEPTXF_INEPTXFD                 USB_OTG_DIEPTXF_INEPTXFD_Msk  /*!< IN endpoint TxFIFO depth */
+
+/********************  Bit definition forUSB_OTG_DOEPCTL register  ********************/
+
+#define USB_OTG_DOEPCTL_MPSIZ_Pos                (0U)
+#define USB_OTG_DOEPCTL_MPSIZ_Msk                (0x7FFUL << USB_OTG_DOEPCTL_MPSIZ_Pos) /*!< 0x000007FF */
+#define USB_OTG_DOEPCTL_MPSIZ                    USB_OTG_DOEPCTL_MPSIZ_Msk     /*!< Maximum packet size */          /*!<Bit 1 */
+#define USB_OTG_DOEPCTL_USBAEP_Pos               (15U)
+#define USB_OTG_DOEPCTL_USBAEP_Msk               (0x1UL << USB_OTG_DOEPCTL_USBAEP_Pos) /*!< 0x00008000 */
+#define USB_OTG_DOEPCTL_USBAEP                   USB_OTG_DOEPCTL_USBAEP_Msk    /*!< USB active endpoint */
+#define USB_OTG_DOEPCTL_NAKSTS_Pos               (17U)
+#define USB_OTG_DOEPCTL_NAKSTS_Msk               (0x1UL << USB_OTG_DOEPCTL_NAKSTS_Pos) /*!< 0x00020000 */
+#define USB_OTG_DOEPCTL_NAKSTS                   USB_OTG_DOEPCTL_NAKSTS_Msk    /*!< NAK status */
+#define USB_OTG_DOEPCTL_SD0PID_SEVNFRM_Pos       (28U)
+#define USB_OTG_DOEPCTL_SD0PID_SEVNFRM_Msk       (0x1UL << USB_OTG_DOEPCTL_SD0PID_SEVNFRM_Pos) /*!< 0x10000000 */
+#define USB_OTG_DOEPCTL_SD0PID_SEVNFRM           USB_OTG_DOEPCTL_SD0PID_SEVNFRM_Msk /*!< Set DATA0 PID */
+#define USB_OTG_DOEPCTL_SODDFRM_Pos              (29U)
+#define USB_OTG_DOEPCTL_SODDFRM_Msk              (0x1UL << USB_OTG_DOEPCTL_SODDFRM_Pos) /*!< 0x20000000 */
+#define USB_OTG_DOEPCTL_SODDFRM                  USB_OTG_DOEPCTL_SODDFRM_Msk   /*!< Set odd frame */
+#define USB_OTG_DOEPCTL_EPTYP_Pos                (18U)
+#define USB_OTG_DOEPCTL_EPTYP_Msk                (0x3UL << USB_OTG_DOEPCTL_EPTYP_Pos) /*!< 0x000C0000 */
+#define USB_OTG_DOEPCTL_EPTYP                    USB_OTG_DOEPCTL_EPTYP_Msk     /*!< Endpoint type */
+#define USB_OTG_DOEPCTL_EPTYP_0                  (0x1UL << USB_OTG_DOEPCTL_EPTYP_Pos) /*!< 0x00040000 */
+#define USB_OTG_DOEPCTL_EPTYP_1                  (0x2UL << USB_OTG_DOEPCTL_EPTYP_Pos) /*!< 0x00080000 */
+#define USB_OTG_DOEPCTL_SNPM_Pos                 (20U)
+#define USB_OTG_DOEPCTL_SNPM_Msk                 (0x1UL << USB_OTG_DOEPCTL_SNPM_Pos) /*!< 0x00100000 */
+#define USB_OTG_DOEPCTL_SNPM                     USB_OTG_DOEPCTL_SNPM_Msk      /*!< Snoop mode */
+#define USB_OTG_DOEPCTL_STALL_Pos                (21U)
+#define USB_OTG_DOEPCTL_STALL_Msk                (0x1UL << USB_OTG_DOEPCTL_STALL_Pos) /*!< 0x00200000 */
+#define USB_OTG_DOEPCTL_STALL                    USB_OTG_DOEPCTL_STALL_Msk     /*!< STALL handshake */
+#define USB_OTG_DOEPCTL_CNAK_Pos                 (26U)
+#define USB_OTG_DOEPCTL_CNAK_Msk                 (0x1UL << USB_OTG_DOEPCTL_CNAK_Pos) /*!< 0x04000000 */
+#define USB_OTG_DOEPCTL_CNAK                     USB_OTG_DOEPCTL_CNAK_Msk      /*!< Clear NAK */
+#define USB_OTG_DOEPCTL_SNAK_Pos                 (27U)
+#define USB_OTG_DOEPCTL_SNAK_Msk                 (0x1UL << USB_OTG_DOEPCTL_SNAK_Pos) /*!< 0x08000000 */
+#define USB_OTG_DOEPCTL_SNAK                     USB_OTG_DOEPCTL_SNAK_Msk      /*!< Set NAK */
+#define USB_OTG_DOEPCTL_EPDIS_Pos                (30U)
+#define USB_OTG_DOEPCTL_EPDIS_Msk                (0x1UL << USB_OTG_DOEPCTL_EPDIS_Pos) /*!< 0x40000000 */
+#define USB_OTG_DOEPCTL_EPDIS                    USB_OTG_DOEPCTL_EPDIS_Msk     /*!< Endpoint disable */
+#define USB_OTG_DOEPCTL_EPENA_Pos                (31U)
+#define USB_OTG_DOEPCTL_EPENA_Msk                (0x1UL << USB_OTG_DOEPCTL_EPENA_Pos) /*!< 0x80000000 */
+#define USB_OTG_DOEPCTL_EPENA                    USB_OTG_DOEPCTL_EPENA_Msk     /*!< Endpoint enable */
+
+/********************  Bit definition forUSB_OTG_DOEPINT register  ********************/
+#define USB_OTG_DOEPINT_XFRC_Pos                 (0U)
+#define USB_OTG_DOEPINT_XFRC_Msk                 (0x1UL << USB_OTG_DOEPINT_XFRC_Pos) /*!< 0x00000001 */
+#define USB_OTG_DOEPINT_XFRC                     USB_OTG_DOEPINT_XFRC_Msk      /*!< Transfer completed interrupt */
+#define USB_OTG_DOEPINT_EPDISD_Pos               (1U)
+#define USB_OTG_DOEPINT_EPDISD_Msk               (0x1UL << USB_OTG_DOEPINT_EPDISD_Pos) /*!< 0x00000002 */
+#define USB_OTG_DOEPINT_EPDISD                   USB_OTG_DOEPINT_EPDISD_Msk    /*!< Endpoint disabled interrupt */
+#define USB_OTG_DOEPINT_AHBERR_Pos               (2U)
+#define USB_OTG_DOEPINT_AHBERR_Msk               (0x1UL << USB_OTG_DOEPINT_AHBERR_Pos) /*!< 0x00000004 */
+#define USB_OTG_DOEPINT_AHBERR                   USB_OTG_DOEPINT_AHBERR_Msk   /*!< AHB Error (AHBErr) during an OUT transaction */
+#define USB_OTG_DOEPINT_STUP_Pos                 (3U)
+#define USB_OTG_DOEPINT_STUP_Msk                 (0x1UL << USB_OTG_DOEPINT_STUP_Pos) /*!< 0x00000008 */
+#define USB_OTG_DOEPINT_STUP                     USB_OTG_DOEPINT_STUP_Msk      /*!< SETUP phase done */
+#define USB_OTG_DOEPINT_OTEPDIS_Pos              (4U)
+#define USB_OTG_DOEPINT_OTEPDIS_Msk              (0x1UL << USB_OTG_DOEPINT_OTEPDIS_Pos) /*!< 0x00000010 */
+#define USB_OTG_DOEPINT_OTEPDIS                  USB_OTG_DOEPINT_OTEPDIS_Msk   /*!< OUT token received when endpoint disabled */
+#define USB_OTG_DOEPINT_OTEPSPR_Pos              (5U)
+#define USB_OTG_DOEPINT_OTEPSPR_Msk              (0x1UL << USB_OTG_DOEPINT_OTEPSPR_Pos) /*!< 0x00000020 */
+#define USB_OTG_DOEPINT_OTEPSPR                  USB_OTG_DOEPINT_OTEPSPR_Msk   /*!< OUT Status Phase Received interrupt */
+#define USB_OTG_DOEPINT_B2BSTUP_Pos              (6U)
+#define USB_OTG_DOEPINT_B2BSTUP_Msk              (0x1UL << USB_OTG_DOEPINT_B2BSTUP_Pos) /*!< 0x00000040 */
+#define USB_OTG_DOEPINT_B2BSTUP                  USB_OTG_DOEPINT_B2BSTUP_Msk   /*!< Back-to-back SETUP packets received */
+#define USB_OTG_DOEPINT_OUTPKTERR_Pos            (8U)
+#define USB_OTG_DOEPINT_OUTPKTERR_Msk            (0x1UL << USB_OTG_DOEPINT_OUTPKTERR_Pos) /*!< 0x00000100 */
+#define USB_OTG_DOEPINT_OUTPKTERR                USB_OTG_DOEPINT_OUTPKTERR_Msk   /*!< OUT packet error */
+#define USB_OTG_DOEPINT_BNA_Pos                  (9U)
+#define USB_OTG_DOEPINT_BNA_Msk                  (0x1UL << USB_OTG_DOEPINT_BNA_Pos) /*!< 0x00000200 */
+#define USB_OTG_DOEPINT_BNA                      USB_OTG_DOEPINT_BNA_Msk   /*!< Buffer not available interrupt */
+#define USB_OTG_DOEPINT_BERR_Pos                 (12U)
+#define USB_OTG_DOEPINT_BERR_Msk                 (0x1UL << USB_OTG_DOEPINT_BERR_Pos) /*!< 0x00001000 */
+#define USB_OTG_DOEPINT_BERR                      USB_OTG_DOEPINT_BERR_Msk   /*!< Babble error interrupt */
+#define USB_OTG_DOEPINT_NAK_Pos                  (13U)
+#define USB_OTG_DOEPINT_NAK_Msk                  (0x1UL << USB_OTG_DOEPINT_NAK_Pos) /*!< 0x00002000 */
+#define USB_OTG_DOEPINT_NAK                      USB_OTG_DOEPINT_NAK_Msk   /*!< NAK Packet is transmitted by the device */
+#define USB_OTG_DOEPINT_NYET_Pos                 (14U)
+#define USB_OTG_DOEPINT_NYET_Msk                 (0x1UL << USB_OTG_DOEPINT_NYET_Pos) /*!< 0x00004000 */
+#define USB_OTG_DOEPINT_NYET                     USB_OTG_DOEPINT_NYET_Msk      /*!< NYET interrupt */
+#define USB_OTG_DOEPINT_STPKTRX_Pos              (15U)
+#define USB_OTG_DOEPINT_STPKTRX_Msk              (0x1UL << USB_OTG_DOEPINT_STPKTRX_Pos) /*!< 0x00008000 */
+#define USB_OTG_DOEPINT_STPKTRX                  USB_OTG_DOEPINT_STPKTRX_Msk   /*!< Setup Packet Received */
+
+/********************  Bit definition forUSB_OTG_DOEPTSIZ register  ********************/
+
+#define USB_OTG_DOEPTSIZ_XFRSIZ_Pos              (0U)
+#define USB_OTG_DOEPTSIZ_XFRSIZ_Msk              (0x7FFFFUL << USB_OTG_DOEPTSIZ_XFRSIZ_Pos) /*!< 0x0007FFFF */
+#define USB_OTG_DOEPTSIZ_XFRSIZ                  USB_OTG_DOEPTSIZ_XFRSIZ_Msk   /*!< Transfer size */
+#define USB_OTG_DOEPTSIZ_PKTCNT_Pos              (19U)
+#define USB_OTG_DOEPTSIZ_PKTCNT_Msk              (0x3FFUL << USB_OTG_DOEPTSIZ_PKTCNT_Pos) /*!< 0x1FF80000 */
+#define USB_OTG_DOEPTSIZ_PKTCNT                  USB_OTG_DOEPTSIZ_PKTCNT_Msk   /*!< Packet count */
+
+#define USB_OTG_DOEPTSIZ_STUPCNT_Pos             (29U)
+#define USB_OTG_DOEPTSIZ_STUPCNT_Msk             (0x3UL << USB_OTG_DOEPTSIZ_STUPCNT_Pos) /*!< 0x60000000 */
+#define USB_OTG_DOEPTSIZ_STUPCNT                 USB_OTG_DOEPTSIZ_STUPCNT_Msk  /*!< SETUP packet count */
+#define USB_OTG_DOEPTSIZ_STUPCNT_0               (0x1UL << USB_OTG_DOEPTSIZ_STUPCNT_Pos) /*!< 0x20000000 */
+#define USB_OTG_DOEPTSIZ_STUPCNT_1               (0x2UL << USB_OTG_DOEPTSIZ_STUPCNT_Pos) /*!< 0x40000000 */
+
+/********************  Bit definition for PCGCCTL register  ********************/
+#define USB_OTG_PCGCCTL_STOPCLK_Pos              (0U)
+#define USB_OTG_PCGCCTL_STOPCLK_Msk              (0x1UL << USB_OTG_PCGCCTL_STOPCLK_Pos) /*!< 0x00000001 */
+#define USB_OTG_PCGCCTL_STOPCLK                  USB_OTG_PCGCCTL_STOPCLK_Msk   /*!< SETUP packet count */
+#define USB_OTG_PCGCCTL_GATECLK_Pos              (1U)
+#define USB_OTG_PCGCCTL_GATECLK_Msk              (0x1UL << USB_OTG_PCGCCTL_GATECLK_Pos) /*!< 0x00000002 */
+#define USB_OTG_PCGCCTL_GATECLK                  USB_OTG_PCGCCTL_GATECLK_Msk   /*!<Bit 0 */
+#define USB_OTG_PCGCCTL_PHYSUSP_Pos              (4U)
+#define USB_OTG_PCGCCTL_PHYSUSP_Msk              (0x1UL << USB_OTG_PCGCCTL_PHYSUSP_Pos) /*!< 0x00000010 */
+#define USB_OTG_PCGCCTL_PHYSUSP                  USB_OTG_PCGCCTL_PHYSUSP_Msk   /*!<Bit 1 */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup Exported_macros
+  * @{
+  */
+
+/******************************* ADC Instances ********************************/
+#define IS_ADC_ALL_INSTANCE(INSTANCE) (((INSTANCE) == ADC1) || \
+                                       ((INSTANCE) == ADC2) || \
+                                       ((INSTANCE) == ADC3))
+
+#define IS_ADC_MULTIMODE_MASTER_INSTANCE(INSTANCE) ((INSTANCE) == ADC1)
+
+#define IS_ADC_COMMON_INSTANCE(INSTANCE) (((INSTANCE) == ADC12_COMMON) ||\
+                                          ((INSTANCE) == ADC3_COMMON))
+
+/******************************* CORDIC Instances *****************************/
+#define IS_CORDIC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == CORDIC)
+
+/******************************** FMAC Instances ******************************/
+#define IS_FMAC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == FMAC)
+
+/******************************** COMP Instances ******************************/
+#define IS_COMP_ALL_INSTANCE(INSTANCE) (((INSTANCE) == COMP1) || \
+                                       ((INSTANCE) == COMP2))
+
+#define IS_COMP_COMMON_INSTANCE(INSTANCE) ((INSTANCE) == COMP12_COMMON)
+/******************** COMP Instances with window mode capability **************/
+#define IS_COMP_WINDOWMODE_INSTANCE(INSTANCE) ((INSTANCE) == COMP2)
+
+/******************************** DTS Instances ******************************/
+#define IS_DTS_ALL_INSTANCE(INSTANCE) ((INSTANCE) == DTS)
+
+/******************************* CRC Instances ********************************/
+#define IS_CRC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == CRC)
+
+/******************************* DAC Instances ********************************/
+#define IS_DAC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == DAC1)
+/******************************* DCMI Instances *******************************/
+#define IS_DCMI_ALL_INSTANCE(__INSTANCE__) ((__INSTANCE__) == DCMI)
+
+/******************************* DELAYBLOCK Instances *******************************/
+#define IS_DLYB_ALL_INSTANCE(INSTANCE)  (((INSTANCE) == DLYB_SDMMC1) || \
+                                         ((INSTANCE) == DLYB_SDMMC2) || \
+                                         ((INSTANCE) == DLYB_OCTOSPI1) || \
+                                         ((INSTANCE) == DLYB_OCTOSPI2) )
+/****************************** DFSDM Instances *******************************/
+#define IS_DFSDM_FILTER_ALL_INSTANCE(INSTANCE) (((INSTANCE) == DFSDM1_Filter0) || \
+                                               ((INSTANCE) == DFSDM1_Filter1) || \
+                                               ((INSTANCE) == DFSDM1_Filter2) || \
+                                               ((INSTANCE) == DFSDM1_Filter3))
+
+#define IS_DFSDM_CHANNEL_ALL_INSTANCE(INSTANCE) (((INSTANCE) == DFSDM1_Channel0) || \
+                                                 ((INSTANCE) == DFSDM1_Channel1) || \
+                                                 ((INSTANCE) == DFSDM1_Channel2) || \
+                                                 ((INSTANCE) == DFSDM1_Channel3) || \
+                                                 ((INSTANCE) == DFSDM1_Channel4) || \
+                                                 ((INSTANCE) == DFSDM1_Channel5) || \
+                                                 ((INSTANCE) == DFSDM1_Channel6) || \
+                                                 ((INSTANCE) == DFSDM1_Channel7))
+/****************************** RAMECC Instances ******************************/
+#define IS_RAMECC_MONITOR_ALL_INSTANCE(INSTANCE) (((INSTANCE) == RAMECC1_Monitor1)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor2)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor3)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor4)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor5)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor6)   || \
+                                                  ((INSTANCE) == RAMECC2_Monitor1)   || \
+                                                  ((INSTANCE) == RAMECC2_Monitor2)   || \
+                                                  ((INSTANCE) == RAMECC2_Monitor3)   || \
+                                                  ((INSTANCE) == RAMECC3_Monitor1)   || \
+                                                  ((INSTANCE) == RAMECC3_Monitor2))
+
+/******************************** DMA Instances *******************************/
+#define IS_DMA_ALL_INSTANCE(INSTANCE) (((INSTANCE) == DMA1_Stream0)   || \
+                                       ((INSTANCE) == DMA1_Stream1)   || \
+                                       ((INSTANCE) == DMA1_Stream2)   || \
+                                       ((INSTANCE) == DMA1_Stream3)   || \
+                                       ((INSTANCE) == DMA1_Stream4)   || \
+                                       ((INSTANCE) == DMA1_Stream5)   || \
+                                       ((INSTANCE) == DMA1_Stream6)   || \
+                                       ((INSTANCE) == DMA1_Stream7)   || \
+                                       ((INSTANCE) == DMA2_Stream0)   || \
+                                       ((INSTANCE) == DMA2_Stream1)   || \
+                                       ((INSTANCE) == DMA2_Stream2)   || \
+                                       ((INSTANCE) == DMA2_Stream3)   || \
+                                       ((INSTANCE) == DMA2_Stream4)   || \
+                                       ((INSTANCE) == DMA2_Stream5)   || \
+                                       ((INSTANCE) == DMA2_Stream6)   || \
+                                       ((INSTANCE) == DMA2_Stream7)   || \
+                                       ((INSTANCE) == BDMA_Channel0) || \
+                                       ((INSTANCE) == BDMA_Channel1) || \
+                                       ((INSTANCE) == BDMA_Channel2) || \
+                                       ((INSTANCE) == BDMA_Channel3) || \
+                                       ((INSTANCE) == BDMA_Channel4) || \
+                                       ((INSTANCE) == BDMA_Channel5) || \
+                                       ((INSTANCE) == BDMA_Channel6) || \
+                                       ((INSTANCE) == BDMA_Channel7))
+
+/****************************** BDMA CHANNEL Instances ***************************/
+#define IS_BDMA_CHANNEL_INSTANCE(INSTANCE) (((INSTANCE) == BDMA_Channel0) || \
+                                            ((INSTANCE) == BDMA_Channel1) || \
+                                            ((INSTANCE) == BDMA_Channel2) || \
+                                            ((INSTANCE) == BDMA_Channel3) || \
+                                            ((INSTANCE) == BDMA_Channel4) || \
+                                            ((INSTANCE) == BDMA_Channel5) || \
+                                            ((INSTANCE) == BDMA_Channel6) || \
+                                            ((INSTANCE) == BDMA_Channel7))
+
+/****************************** DMA DMAMUX ALL Instances ***************************/
+#define IS_DMA_DMAMUX_ALL_INSTANCE(INSTANCE)  (((INSTANCE) == DMA1_Stream0)    || \
+                                               ((INSTANCE) == DMA1_Stream1)    || \
+                                               ((INSTANCE) == DMA1_Stream2)    || \
+                                               ((INSTANCE) == DMA1_Stream3)    || \
+                                               ((INSTANCE) == DMA1_Stream4)    || \
+                                               ((INSTANCE) == DMA1_Stream5)    || \
+                                               ((INSTANCE) == DMA1_Stream6)    || \
+                                               ((INSTANCE) == DMA1_Stream7)    || \
+                                               ((INSTANCE) == DMA2_Stream0)    || \
+                                               ((INSTANCE) == DMA2_Stream1)    || \
+                                               ((INSTANCE) == DMA2_Stream2)    || \
+                                               ((INSTANCE) == DMA2_Stream3)    || \
+                                               ((INSTANCE) == DMA2_Stream4)    || \
+                                               ((INSTANCE) == DMA2_Stream5)    || \
+                                               ((INSTANCE) == DMA2_Stream6)    || \
+                                               ((INSTANCE) == DMA2_Stream7)    || \
+                                               ((INSTANCE) == BDMA_Channel0)   || \
+                                               ((INSTANCE) == BDMA_Channel1)   || \
+                                               ((INSTANCE) == BDMA_Channel2)   || \
+                                               ((INSTANCE) == BDMA_Channel3)   || \
+                                               ((INSTANCE) == BDMA_Channel4)   || \
+                                               ((INSTANCE) == BDMA_Channel5)   || \
+                                               ((INSTANCE) == BDMA_Channel6)   || \
+                                               ((INSTANCE) == BDMA_Channel7))
+
+/****************************** BDMA DMAMUX Instances ***************************/
+#define IS_BDMA_CHANNEL_DMAMUX_INSTANCE(INSTANCE)  (((INSTANCE) == BDMA_Channel0) || \
+                                                    ((INSTANCE) == BDMA_Channel1) || \
+                                                    ((INSTANCE) == BDMA_Channel2) || \
+                                                    ((INSTANCE) == BDMA_Channel3) || \
+                                                    ((INSTANCE) == BDMA_Channel4) || \
+                                                    ((INSTANCE) == BDMA_Channel5) || \
+                                                    ((INSTANCE) == BDMA_Channel6) || \
+                                                    ((INSTANCE) == BDMA_Channel7))
+
+/****************************** DMA STREAM Instances ***************************/
+#define IS_DMA_STREAM_INSTANCE(INSTANCE) (((INSTANCE) == DMA1_Stream0)   || \
+                                          ((INSTANCE) == DMA1_Stream1)   || \
+                                          ((INSTANCE) == DMA1_Stream2)   || \
+                                          ((INSTANCE) == DMA1_Stream3)   || \
+                                          ((INSTANCE) == DMA1_Stream4)   || \
+                                          ((INSTANCE) == DMA1_Stream5)   || \
+                                          ((INSTANCE) == DMA1_Stream6)   || \
+                                          ((INSTANCE) == DMA1_Stream7)   || \
+                                          ((INSTANCE) == DMA2_Stream0)   || \
+                                          ((INSTANCE) == DMA2_Stream1)   || \
+                                          ((INSTANCE) == DMA2_Stream2)   || \
+                                          ((INSTANCE) == DMA2_Stream3)   || \
+                                          ((INSTANCE) == DMA2_Stream4)   || \
+                                          ((INSTANCE) == DMA2_Stream5)   || \
+                                          ((INSTANCE) == DMA2_Stream6)   || \
+                                          ((INSTANCE) == DMA2_Stream7))
+
+/****************************** DMA DMAMUX Instances ***************************/
+#define IS_DMA_STREAM_DMAMUX_INSTANCE(INSTANCE)  (((INSTANCE) == DMA1_Stream0)   || \
+                                                  ((INSTANCE) == DMA1_Stream1)   || \
+                                                  ((INSTANCE) == DMA1_Stream2)   || \
+                                                  ((INSTANCE) == DMA1_Stream3)   || \
+                                                  ((INSTANCE) == DMA1_Stream4)   || \
+                                                  ((INSTANCE) == DMA1_Stream5)   || \
+                                                  ((INSTANCE) == DMA1_Stream6)   || \
+                                                  ((INSTANCE) == DMA1_Stream7)   || \
+                                                  ((INSTANCE) == DMA2_Stream0)   || \
+                                                  ((INSTANCE) == DMA2_Stream1)   || \
+                                                  ((INSTANCE) == DMA2_Stream2)   || \
+                                                  ((INSTANCE) == DMA2_Stream3)   || \
+                                                  ((INSTANCE) == DMA2_Stream4)   || \
+                                                  ((INSTANCE) == DMA2_Stream5)   || \
+                                                  ((INSTANCE) == DMA2_Stream6)   || \
+                                                  ((INSTANCE) == DMA2_Stream7))
+
+/******************************** DMA Request Generator Instances **************/
+#define IS_DMA_REQUEST_GEN_ALL_INSTANCE(INSTANCE) (((INSTANCE) == DMAMUX1_RequestGenerator0) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator1) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator2) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator3) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator4) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator5) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator6) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator7) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator0) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator1) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator2) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator3) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator4) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator5) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator6) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator7))
+
+/******************************* DMA2D Instances *******************************/
+#define IS_DMA2D_ALL_INSTANCE(__INSTANCE__) ((__INSTANCE__) == DMA2D)
+
+/******************************* OTFDEC Instances ******************************/
+#define IS_OTFDEC_ALL_INSTANCE(__INSTANCE__) (((__INSTANCE__) == OTFDEC1) || \
+                                              ((__INSTANCE__) == OTFDEC2))
+
+/****************************** PSSI Instance *********************************/
+#define IS_PSSI_ALL_INSTANCE(INSTANCE) ((INSTANCE) == PSSI)
+
+/******************************** MDMA Request Generator Instances **************/
+#define IS_MDMA_STREAM_ALL_INSTANCE(INSTANCE) (((INSTANCE) == MDMA_Channel0)  || \
+                                               ((INSTANCE) == MDMA_Channel1)  || \
+                                               ((INSTANCE) == MDMA_Channel2)  || \
+                                               ((INSTANCE) == MDMA_Channel3)  || \
+                                               ((INSTANCE) == MDMA_Channel4)  || \
+                                               ((INSTANCE) == MDMA_Channel5)  || \
+                                               ((INSTANCE) == MDMA_Channel6)  || \
+                                               ((INSTANCE) == MDMA_Channel7)  || \
+                                               ((INSTANCE) == MDMA_Channel8)  || \
+                                               ((INSTANCE) == MDMA_Channel9)  || \
+                                               ((INSTANCE) == MDMA_Channel10) || \
+                                               ((INSTANCE) == MDMA_Channel11) || \
+                                               ((INSTANCE) == MDMA_Channel12) || \
+                                               ((INSTANCE) == MDMA_Channel13) || \
+                                               ((INSTANCE) == MDMA_Channel14) || \
+                                               ((INSTANCE) == MDMA_Channel15))
+
+
+/******************************* FDCAN Instances ******************************/
+#define IS_FDCAN_ALL_INSTANCE(__INSTANCE__) (((__INSTANCE__) == FDCAN1) || \
+                                             ((__INSTANCE__) == FDCAN2) || \
+                                             ((__INSTANCE__) == FDCAN3))
+
+#define IS_FDCAN_TT_INSTANCE(__INSTANCE__) ((__INSTANCE__) == FDCAN1)
+
+/******************************* GPIO Instances *******************************/
+#define IS_GPIO_ALL_INSTANCE(INSTANCE) (((INSTANCE) == GPIOA) || \
+                                        ((INSTANCE) == GPIOB) || \
+                                        ((INSTANCE) == GPIOC) || \
+                                        ((INSTANCE) == GPIOD) || \
+                                        ((INSTANCE) == GPIOE) || \
+                                        ((INSTANCE) == GPIOF) || \
+                                        ((INSTANCE) == GPIOG) || \
+                                        ((INSTANCE) == GPIOH) || \
+                                        ((INSTANCE) == GPIOJ) || \
+                                        ((INSTANCE) == GPIOK))
+
+/******************************* GPIO AF Instances ****************************/
+#define IS_GPIO_AF_INSTANCE(INSTANCE)   IS_GPIO_ALL_INSTANCE(INSTANCE)
+
+/**************************** GPIO Lock Instances *****************************/
+/* On H7, all GPIO Bank support the Lock mechanism */
+#define IS_GPIO_LOCK_INSTANCE(INSTANCE) IS_GPIO_ALL_INSTANCE(INSTANCE)
+
+/******************************** HSEM Instances *******************************/
+#define IS_HSEM_ALL_INSTANCE(INSTANCE) ((INSTANCE) == HSEM)
+#define HSEM_CPU1_COREID         (0x00000003U) /* Semaphore Core CM7 ID */
+#define HSEM_CR_COREID_CPU1      (HSEM_CPU1_COREID << HSEM_CR_COREID_Pos)
+#define HSEM_CR_COREID_CURRENT   (HSEM_CPU1_COREID << HSEM_CR_COREID_Pos)
+
+#define HSEM_SEMID_MIN     (0U)       /* HSEM ID Min*/
+#define HSEM_SEMID_MAX     (31U)      /* HSEM ID Max */
+
+#define HSEM_PROCESSID_MIN (0U)       /* HSEM Process ID Min */
+#define HSEM_PROCESSID_MAX (255U)     /* HSEM Process ID Max */
+
+#define HSEM_CLEAR_KEY_MIN (0U)       /* HSEM clear Key Min value */
+#define HSEM_CLEAR_KEY_MAX (0xFFFFU)  /* HSEM clear Key Max value */
+
+/******************************** I2C Instances *******************************/
+#define IS_I2C_ALL_INSTANCE(INSTANCE) (((INSTANCE) == I2C1) || \
+                                       ((INSTANCE) == I2C2) || \
+                                       ((INSTANCE) == I2C3) || \
+                                       ((INSTANCE) == I2C4) || \
+                                       ((INSTANCE) == I2C5))
+
+/****************************** SMBUS Instances *******************************/
+#define IS_SMBUS_ALL_INSTANCE(INSTANCE) (((INSTANCE) == I2C1) || \
+                                         ((INSTANCE) == I2C2) || \
+                                         ((INSTANCE) == I2C3) || \
+                                         ((INSTANCE) == I2C4) || \
+                                         ((INSTANCE) == I2C5))
+
+/************** I2C Instances : wakeup capability from stop modes *************/
+#define IS_I2C_WAKEUP_FROMSTOP_INSTANCE(INSTANCE) IS_I2C_ALL_INSTANCE(INSTANCE)
+
+/******************************** I2S Instances *******************************/
+#define IS_I2S_ALL_INSTANCE(INSTANCE)   (((INSTANCE) == SPI1) || \
+                                         ((INSTANCE) == SPI2) || \
+                                         ((INSTANCE) == SPI3))
+
+/****************************** LTDC Instances ********************************/
+#define IS_LTDC_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == LTDC)
+
+/******************************* RNG Instances ********************************/
+#define IS_RNG_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == RNG)
+
+/****************************** RTC Instances *********************************/
+#define IS_RTC_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == RTC)
+
+/****************************** SDMMC Instances *********************************/
+#define IS_SDMMC_ALL_INSTANCE(_INSTANCE_) (((_INSTANCE_) == SDMMC1) || \
+                                           ((_INSTANCE_) == SDMMC2))
+
+/******************************** SPI Instances *******************************/
+#define IS_SPI_ALL_INSTANCE(INSTANCE) (((INSTANCE) == SPI1) || \
+                                       ((INSTANCE) == SPI2) || \
+                                       ((INSTANCE) == SPI3) || \
+                                       ((INSTANCE) == SPI4) || \
+                                       ((INSTANCE) == SPI5) || \
+                                       ((INSTANCE) == SPI6))
+
+#define IS_SPI_HIGHEND_INSTANCE(INSTANCE) (((INSTANCE) == SPI1) || \
+                                           ((INSTANCE) == SPI2) || \
+                                           ((INSTANCE) == SPI3))
+
+/******************************** SWPMI Instances *****************************/
+#define IS_SWPMI_INSTANCE(INSTANCE)  ((INSTANCE) == SWPMI1)
+
+/****************** LPTIM Instances : All supported instances *****************/
+#define IS_LPTIM_INSTANCE(INSTANCE)     (((INSTANCE) == LPTIM1) || \
+                                         ((INSTANCE) == LPTIM2) || \
+                                         ((INSTANCE) == LPTIM3) || \
+                                         ((INSTANCE) == LPTIM4) || \
+                                         ((INSTANCE) == LPTIM5))
+
+/****************** LPTIM Instances : supporting encoder interface **************/
+#define IS_LPTIM_ENCODER_INTERFACE_INSTANCE(INSTANCE)     (((INSTANCE) == LPTIM1) || \
+                                                           ((INSTANCE) == LPTIM2))
+
+/****************** TIM Instances : All supported instances *******************/
+#define IS_TIM_INSTANCE(INSTANCE)       (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM6)   || \
+                                         ((INSTANCE) == TIM7)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM12)  || \
+                                         ((INSTANCE) == TIM13)  || \
+                                         ((INSTANCE) == TIM14)  || \
+                                         ((INSTANCE) == TIM15)  || \
+                                         ((INSTANCE) == TIM16)  || \
+                                         ((INSTANCE) == TIM17)  || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************* TIM Instances : at least 1 capture/compare channel *************/
+#define IS_TIM_CC1_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM12)  || \
+                                         ((INSTANCE) == TIM13)  || \
+                                         ((INSTANCE) == TIM14)  || \
+                                         ((INSTANCE) == TIM15)  || \
+                                         ((INSTANCE) == TIM16)  || \
+                                         ((INSTANCE) == TIM17)  || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************ TIM Instances : at least 2 capture/compare channels *************/
+#define IS_TIM_CC2_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM12)  || \
+                                         ((INSTANCE) == TIM15)  || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************ TIM Instances : at least 3 capture/compare channels *************/
+#define IS_TIM_CC3_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************ TIM Instances : at least 4 capture/compare channels *************/
+#define IS_TIM_CC4_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************ TIM Instances : at least 5 capture/compare channels *************/
+#define IS_TIM_CC5_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM8))
+/************ TIM Instances : at least 6 capture/compare channels *************/
+#define IS_TIM_CC6_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM8))
+
+/******************** TIM Instances : Advanced-control timers *****************/
+#define IS_TIM_ADVANCED_INSTANCE(__INSTANCE__) (((__INSTANCE__) == TIM1) || \
+                                                ((__INSTANCE__) == TIM8))
+
+/******************** TIM Instances : Advanced-control timers *****************/
+
+/******************* TIM Instances : Timer input XOR function *****************/
+#define IS_TIM_XOR_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM15)  || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : DMA requests generation (UDE) *************/
+#define IS_TIM_DMA_INSTANCE(INSTANCE)     (((INSTANCE) == TIM1)   || \
+                                           ((INSTANCE) == TIM2)   || \
+                                           ((INSTANCE) == TIM3)   || \
+                                           ((INSTANCE) == TIM4)   || \
+                                           ((INSTANCE) == TIM5)   || \
+                                           ((INSTANCE) == TIM6)   || \
+                                           ((INSTANCE) == TIM7)   || \
+                                           ((INSTANCE) == TIM8)   || \
+                                           ((INSTANCE) == TIM15)  || \
+                                           ((INSTANCE) == TIM16)  || \
+                                           ((INSTANCE) == TIM17)  || \
+                                           ((INSTANCE) == TIM23)  || \
+                                           ((INSTANCE) == TIM24))
+
+/************ TIM Instances : DMA requests generation (CCxDE) *****************/
+#define IS_TIM_DMA_CC_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                            ((INSTANCE) == TIM2)   || \
+                                            ((INSTANCE) == TIM3)   || \
+                                            ((INSTANCE) == TIM4)   || \
+                                            ((INSTANCE) == TIM5)   || \
+                                            ((INSTANCE) == TIM8)   || \
+                                            ((INSTANCE) == TIM15)  || \
+                                            ((INSTANCE) == TIM16)  || \
+                                            ((INSTANCE) == TIM17)  || \
+                                            ((INSTANCE) == TIM23)  || \
+                                            ((INSTANCE) == TIM24))
+
+/************ TIM Instances : DMA requests generation (COMDE) *****************/
+#define IS_TIM_CCDMA_INSTANCE(INSTANCE)    (((INSTANCE) == TIM1)   || \
+                                            ((INSTANCE) == TIM2)   || \
+                                            ((INSTANCE) == TIM3)   || \
+                                            ((INSTANCE) == TIM4)   || \
+                                            ((INSTANCE) == TIM5)   || \
+                                            ((INSTANCE) == TIM8)   || \
+                                            ((INSTANCE) == TIM15))
+
+/******************** TIM Instances : DMA burst feature ***********************/
+#define IS_TIM_DMABURST_INSTANCE(INSTANCE) (((INSTANCE) == TIM1)   || \
+                                            ((INSTANCE) == TIM2)   || \
+                                            ((INSTANCE) == TIM3)   || \
+                                            ((INSTANCE) == TIM4)   || \
+                                            ((INSTANCE) == TIM5)   || \
+                                            ((INSTANCE) == TIM8))
+
+/*************** TIM Instances : external trigger reamp input available *******/
+#define IS_TIM_ETR_INSTANCE(INSTANCE)     (((INSTANCE) == TIM1)   || \
+                                           ((INSTANCE) == TIM2)   || \
+                                           ((INSTANCE) == TIM3)   || \
+                                           ((INSTANCE) == TIM4)   || \
+                                           ((INSTANCE) == TIM5)   || \
+                                           ((INSTANCE) == TIM8)   || \
+                                           ((INSTANCE) == TIM23)   || \
+                                           ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : remapping capability **********************/
+#define IS_TIM_REMAP_INSTANCE(INSTANCE) (((INSTANCE) == TIM1)  || \
+                                         ((INSTANCE) == TIM2)  || \
+                                         ((INSTANCE) == TIM3)  || \
+                                         ((INSTANCE) == TIM5)  || \
+                                         ((INSTANCE) == TIM8)  || \
+                                         ((INSTANCE) == TIM16) || \
+                                         ((INSTANCE) == TIM17) || \
+                                         ((INSTANCE) == TIM23) || \
+                                         ((INSTANCE) == TIM24))
+
+/*************** TIM Instances : external trigger reamp input available *******/
+#define IS_TIM_ETRSEL_INSTANCE(INSTANCE)     (((INSTANCE) == TIM1)  || \
+                                              ((INSTANCE) == TIM2)  || \
+                                              ((INSTANCE) == TIM3)  || \
+                                              ((INSTANCE) == TIM5)  || \
+                                              ((INSTANCE) == TIM8)  || \
+                                              ((INSTANCE) == TIM23) || \
+                                              ((INSTANCE) == TIM24)))
+
+/****** TIM Instances : master mode available (TIMx_CR2.MMS available )********/
+#define IS_TIM_MASTER_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                            ((INSTANCE) == TIM2)   || \
+                                            ((INSTANCE) == TIM3)   || \
+                                            ((INSTANCE) == TIM4)   || \
+                                            ((INSTANCE) == TIM5)   || \
+                                            ((INSTANCE) == TIM6)   || \
+                                            ((INSTANCE) == TIM7)   || \
+                                            ((INSTANCE) == TIM8)   || \
+                                            ((INSTANCE) == TIM12)  || \
+                                            ((INSTANCE) == TIM15)  || \
+                                            ((INSTANCE) == TIM23)  || \
+                                            ((INSTANCE) == TIM24))
+
+/****** TIM Instances : Salve mode available (TIMx_SMCR.TS available )*********/
+#define IS_TIM_SLAVE_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                           ((INSTANCE) == TIM2)   || \
+                                           ((INSTANCE) == TIM3)   || \
+                                           ((INSTANCE) == TIM4)   || \
+                                           ((INSTANCE) == TIM5)   || \
+                                           ((INSTANCE) == TIM8)   || \
+                                           ((INSTANCE) == TIM12)  || \
+                                           ((INSTANCE) == TIM15)  || \
+                                           ((INSTANCE) == TIM23)  || \
+                                           ((INSTANCE) == TIM24))
+
+/****** TIM Instances : TRGO2 available (TIMx_CR2.MMS2 available )*********/
+#define IS_TIM_TRGO2_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                           ((INSTANCE) == TIM8))
+
+/****** TIM Instances : TISEL available (TIMx_TISEL available )*********/
+#define IS_TIM_TISEL_INSTANCE(INSTANCE)  (((INSTANCE) == TIM1)   || \
+                                          ((INSTANCE) == TIM2)   || \
+                                          ((INSTANCE) == TIM3)   || \
+                                          ((INSTANCE) == TIM4)   || \
+                                          ((INSTANCE) == TIM5)   || \
+                                          ((INSTANCE) == TIM8)   || \
+                                          ((INSTANCE) == TIM15)  || \
+                                          ((INSTANCE) == TIM16)  || \
+                                          ((INSTANCE) == TIM17)  || \
+                                          ((INSTANCE) == TIM23)  || \
+                                          ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting commutation event *************/
+#define IS_TIM_COMMUTATION_EVENT_INSTANCE(INSTANCE) (((INSTANCE) == TIM1)    || \
+                                                     ((INSTANCE) == TIM8)    || \
+                                                     ((INSTANCE) == TIM15)   || \
+                                                     ((INSTANCE) == TIM16)   || \
+                                                     ((INSTANCE) == TIM17))
+
+/****************** TIM Instances : supporting encoder interface **************/
+#define IS_TIM_ENCODER_INTERFACE_INSTANCE(__INSTANCE__)  (((__INSTANCE__) == TIM1)  || \
+                                                      ((__INSTANCE__) == TIM2)      || \
+                                                      ((__INSTANCE__) == TIM3)      || \
+                                                      ((__INSTANCE__) == TIM4)      || \
+                                                      ((__INSTANCE__) == TIM5)      || \
+                                                      ((__INSTANCE__) == TIM8)      || \
+                                                      ((__INSTANCE__) == TIM23)      || \
+                                                      ((__INSTANCE__) == TIM24))
+
+/****** TIM Instances : TIM_CCR5_GC5C available (TIMx_CCR5.GC5C available )*********/
+#define IS_TIM_COMBINED3PHASEPWM_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                                       ((INSTANCE) == TIM8))
+/******************* TIM Instances : output(s) available **********************/
+#define IS_TIM_CCX_INSTANCE(INSTANCE, CHANNEL) \
+    ((((INSTANCE) == TIM1) &&                  \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4) ||          \
+      ((CHANNEL) == TIM_CHANNEL_5) ||          \
+      ((CHANNEL) == TIM_CHANNEL_6)))           \
+     ||                                        \
+     (((INSTANCE) == TIM2) &&                  \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+  ||                                           \
+      (((INSTANCE) == TIM3) &&                 \
+      (((CHANNEL) == TIM_CHANNEL_1)||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+  ||                                           \
+      (((INSTANCE) == TIM4) &&                 \
+      (((CHANNEL) == TIM_CHANNEL_1) ||         \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+  ||                                           \
+      (((INSTANCE) == TIM5) &&                 \
+      (((CHANNEL) == TIM_CHANNEL_1) ||         \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+  ||                                           \
+      (((INSTANCE) == TIM8) &&                 \
+      (((CHANNEL) == TIM_CHANNEL_1) ||         \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4) ||          \
+      ((CHANNEL) == TIM_CHANNEL_5) ||          \
+      ((CHANNEL) == TIM_CHANNEL_6)))           \
+  ||                                           \
+     (((INSTANCE) == TIM12) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2)))           \
+  ||                                           \
+     (((INSTANCE) == TIM13) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1)))           \
+  ||                                           \
+     (((INSTANCE) == TIM14) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1)))           \
+  ||                                           \
+     (((INSTANCE) == TIM15) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+     ((CHANNEL) == TIM_CHANNEL_2)))            \
+  ||                                           \
+     (((INSTANCE) == TIM16) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1)))           \
+  ||                                           \
+     (((INSTANCE) == TIM17) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1)))           \
+     ||                                        \
+     (((INSTANCE) == TIM23) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+     ||                                        \
+     (((INSTANCE) == TIM24) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4))))
+
+/****************** TIM Instances : supporting the break function *************/
+#define IS_TIM_BREAK_INSTANCE(INSTANCE)\
+      (((INSTANCE) == TIM1)    || \
+      ((INSTANCE) == TIM8)     || \
+       ((INSTANCE) == TIM15)   || \
+       ((INSTANCE) == TIM16)   || \
+       ((INSTANCE) == TIM17))
+
+/************** TIM Instances : supporting Break source selection *************/
+#define IS_TIM_BREAKSOURCE_INSTANCE(INSTANCE) (((INSTANCE) == TIM1)   || \
+                                               ((INSTANCE) == TIM8))
+
+/****************** TIM Instances : supporting complementary output(s) ********/
+#define IS_TIM_CCXN_INSTANCE(INSTANCE, CHANNEL) \
+   ((((INSTANCE) == TIM1) &&                    \
+     (((CHANNEL) == TIM_CHANNEL_1) ||           \
+      ((CHANNEL) == TIM_CHANNEL_2) ||           \
+      ((CHANNEL) == TIM_CHANNEL_3)))            \
+ ||                                             \
+      (((INSTANCE) == TIM8) &&                  \
+      (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||           \
+      ((CHANNEL) == TIM_CHANNEL_3)))            \
+    ||                                          \
+    (((INSTANCE) == TIM15) &&                   \
+      ((CHANNEL) == TIM_CHANNEL_1))             \
+    ||                                          \
+    (((INSTANCE) == TIM16) &&                   \
+     ((CHANNEL) == TIM_CHANNEL_1))              \
+    ||                                          \
+    (((INSTANCE) == TIM17) &&                   \
+     ((CHANNEL) == TIM_CHANNEL_1)))
+
+/****************** TIM Instances : supporting counting mode selection ********/
+#define IS_TIM_COUNTER_MODE_SELECT_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8))
+
+/****************** TIM Instances : supporting repetition counter *************/
+#define IS_TIM_REPETITION_COUNTER_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM15)   || \
+   ((INSTANCE) == TIM16)   || \
+   ((INSTANCE) == TIM17))
+
+/****************** TIM Instances : supporting synchronization ****************/
+#define IS_TIM_SYNCHRO_INSTANCE(__INSTANCE__)\
+    (((__INSTANCE__) == TIM1)    || \
+     ((__INSTANCE__) == TIM2)    || \
+     ((__INSTANCE__) == TIM3)    || \
+     ((__INSTANCE__) == TIM4)    || \
+     ((__INSTANCE__) == TIM5)    || \
+     ((__INSTANCE__) == TIM6)    || \
+     ((__INSTANCE__) == TIM8)    || \
+     ((__INSTANCE__) == TIM12)   || \
+     ((__INSTANCE__) == TIM15)   || \
+     ((__INSTANCE__) == TIM23)   || \
+     ((__INSTANCE__) == TIM24))
+
+/****************** TIM Instances : supporting clock division *****************/
+#define IS_TIM_CLOCK_DIVISION_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM15)   || \
+   ((INSTANCE) == TIM16)   || \
+   ((INSTANCE) == TIM17)   || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting external clock mode 1 for ETRF input */
+#define IS_TIM_CLOCKSOURCE_ETRMODE1_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting external clock mode 2 **********/
+#define IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(INSTANCE)\
+ (((INSTANCE) == TIM1)     || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting external clock mode 1 for TIX inputs*/
+#define IS_TIM_CLOCKSOURCE_TIX_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM15)   || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting internal trigger inputs(ITRX) *******/
+#define IS_TIM_CLOCKSOURCE_ITRX_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM15)   || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting OCxREF clear *******************/
+#define IS_TIM_OCXREF_CLEAR_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3))
+
+/****************** TIM Instances : TIM_32B_COUNTER ***************************/
+#define IS_TIM_32B_COUNTER_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : TIM_BKIN2 ***************************/
+#define IS_TIM_BKIN2_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM8))
+
+/****************** TIM Instances : supporting Hall sensor interface **********/
+#define IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(__INSTANCE__) (((__INSTANCE__) == TIM1)  || \
+                                                             ((__INSTANCE__) == TIM2)  || \
+                                                             ((__INSTANCE__) == TIM3)  || \
+                                                             ((__INSTANCE__) == TIM4)  || \
+                                                             ((__INSTANCE__) == TIM5)  || \
+                                                             ((__INSTANCE__) == TIM15) || \
+                                                             ((__INSTANCE__) == TIM8)  || \
+                                                             ((__INSTANCE__) == TIM23) || \
+                                                             ((__INSTANCE__) == TIM24))
+
+/******************** USART Instances : Synchronous mode **********************/
+#define IS_USART_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                     ((INSTANCE) == USART2) || \
+                                     ((INSTANCE) == USART3) || \
+                                     ((INSTANCE) == USART6) || \
+                                     ((INSTANCE) == USART10))
+
+/******************** USART Instances : SPI slave mode ************************/
+#define IS_UART_SPI_SLAVE_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                              ((INSTANCE) == USART2) || \
+                                              ((INSTANCE) == USART3) || \
+                                              ((INSTANCE) == USART6) || \
+                                              ((INSTANCE) == USART10))
+
+/******************** UART Instances : Asynchronous mode **********************/
+#define IS_UART_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                    ((INSTANCE) == USART2) || \
+                                    ((INSTANCE) == USART3) || \
+                                    ((INSTANCE) == UART4)  || \
+                                    ((INSTANCE) == UART5)  || \
+                                    ((INSTANCE) == USART6) || \
+                                    ((INSTANCE) == UART7)  || \
+                                    ((INSTANCE) == UART8)  || \
+                                    ((INSTANCE) == UART9)  || \
+                                    ((INSTANCE) == USART10))
+
+/******************** UART Instances : FIFO mode.******************************/
+#define IS_UART_FIFO_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                         ((INSTANCE) == USART2) || \
+                                         ((INSTANCE) == USART3) || \
+                                         ((INSTANCE) == UART4)  || \
+                                         ((INSTANCE) == UART5)  || \
+                                         ((INSTANCE) == USART6) || \
+                                         ((INSTANCE) == UART7)  || \
+                                         ((INSTANCE) == UART8)  || \
+                                         ((INSTANCE) == UART9)  || \
+                                         ((INSTANCE) == USART10)|| \
+                                         ((INSTANCE) == LPUART1))
+
+/****************** UART Instances : Auto Baud Rate detection *****************/
+#define IS_USART_AUTOBAUDRATE_DETECTION_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                                            ((INSTANCE) == USART2) || \
+                                                            ((INSTANCE) == USART3) || \
+                                                            ((INSTANCE) == UART4)  || \
+                                                            ((INSTANCE) == UART5)  || \
+                                                            ((INSTANCE) == USART6) || \
+                                                            ((INSTANCE) == UART7)  || \
+                                                            ((INSTANCE) == UART8)  || \
+                                                            ((INSTANCE) == UART9)  || \
+                                                            ((INSTANCE) == USART10))
+
+/*********************** UART Instances : Driver Enable ***********************/
+#define IS_UART_DRIVER_ENABLE_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                                  ((INSTANCE) == USART2) || \
+                                                  ((INSTANCE) == USART3) || \
+                                                  ((INSTANCE) == UART4)  || \
+                                                  ((INSTANCE) == UART5)  || \
+                                                  ((INSTANCE) == USART6) || \
+                                                  ((INSTANCE) == UART7)  || \
+                                                  ((INSTANCE) == UART8)  || \
+                                                  ((INSTANCE) == UART9)  || \
+                                                  ((INSTANCE) == USART10)|| \
+                                                  ((INSTANCE) == LPUART1))
+
+/********************* UART Instances : Half-Duplex mode **********************/
+#define IS_UART_HALFDUPLEX_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                               ((INSTANCE) == USART2) || \
+                                               ((INSTANCE) == USART3) || \
+                                               ((INSTANCE) == UART4)  || \
+                                               ((INSTANCE) == UART5)  || \
+                                               ((INSTANCE) == USART6) || \
+                                               ((INSTANCE) == UART7)  || \
+                                               ((INSTANCE) == UART8)  || \
+                                               ((INSTANCE) == UART9)  || \
+                                               ((INSTANCE) == USART10)|| \
+                                               ((INSTANCE) == LPUART1))
+
+/******************* UART Instances : Hardware Flow control *******************/
+#define IS_UART_HWFLOW_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                           ((INSTANCE) == USART2) || \
+                                           ((INSTANCE) == USART3) || \
+                                           ((INSTANCE) == UART4)  || \
+                                           ((INSTANCE) == UART5)  || \
+                                           ((INSTANCE) == USART6) || \
+                                           ((INSTANCE) == UART7)  || \
+                                           ((INSTANCE) == UART8)  || \
+                                           ((INSTANCE) == UART9)  || \
+                                           ((INSTANCE) == USART10)|| \
+                                           ((INSTANCE) == LPUART1))
+
+/************************* UART Instances : LIN mode **************************/
+#define IS_UART_LIN_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                        ((INSTANCE) == USART2) || \
+                                        ((INSTANCE) == USART3) || \
+                                        ((INSTANCE) == UART4)  || \
+                                        ((INSTANCE) == UART5)  || \
+                                        ((INSTANCE) == USART6) || \
+                                        ((INSTANCE) == UART7)  || \
+                                        ((INSTANCE) == UART8)  || \
+                                        ((INSTANCE) == UART9)  || \
+                                        ((INSTANCE) == USART10))
+
+/****************** UART Instances : Wake-up from Stop mode *******************/
+#define IS_UART_WAKEUP_FROMSTOP_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                                    ((INSTANCE) == USART2) || \
+                                                    ((INSTANCE) == USART3) || \
+                                                    ((INSTANCE) == UART4)  || \
+                                                    ((INSTANCE) == UART5)  || \
+                                                    ((INSTANCE) == USART6) || \
+                                                    ((INSTANCE) == UART7)  || \
+                                                    ((INSTANCE) == UART8)  || \
+                                                    ((INSTANCE) == UART9)  || \
+                                                    ((INSTANCE) == USART10)|| \
+                                                    ((INSTANCE) == LPUART1))
+
+/************************* UART Instances : IRDA mode *************************/
+#define IS_IRDA_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                    ((INSTANCE) == USART2) || \
+                                    ((INSTANCE) == USART3) || \
+                                    ((INSTANCE) == UART4)  || \
+                                    ((INSTANCE) == UART5)  || \
+                                    ((INSTANCE) == USART6) || \
+                                    ((INSTANCE) == UART7)  || \
+                                    ((INSTANCE) == UART8)  || \
+                                    ((INSTANCE) == UART9)  || \
+                                    ((INSTANCE) == USART10))
+
+/********************* USART Instances : Smard card mode **********************/
+#define IS_SMARTCARD_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                         ((INSTANCE) == USART2) || \
+                                         ((INSTANCE) == USART3) || \
+                                         ((INSTANCE) == USART6) ||\
+                                         ((INSTANCE) == USART10))
+
+/****************************** LPUART Instance *******************************/
+#define IS_LPUART_INSTANCE(INSTANCE) ((INSTANCE) == LPUART1)
+
+/****************************** IWDG Instances ********************************/
+#define IS_IWDG_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == IWDG1)
+/****************************** USB Instances ********************************/
+#define IS_USB_ALL_INSTANCE(INSTANCE) ((INSTANCE) == USB)
+
+/****************************** WWDG Instances ********************************/
+#define IS_WWDG_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == WWDG1)
+/****************************** MDIOS Instances ********************************/
+#define IS_MDIOS_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == MDIOS)
+
+/****************************** CEC Instances *********************************/
+#define IS_CEC_ALL_INSTANCE(__INSTANCE__) ((__INSTANCE__) == CEC)
+
+/****************************** SAI Instances ********************************/
+#define IS_SAI_ALL_INSTANCE(INSTANCE) (((INSTANCE) == SAI1_Block_A) || \
+                                       ((INSTANCE) == SAI1_Block_B) || \
+                                       ((INSTANCE) == SAI4_Block_A) || \
+                                       ((INSTANCE) == SAI4_Block_B))
+
+/****************************** SPDIFRX Instances ********************************/
+#define IS_SPDIFRX_ALL_INSTANCE(INSTANCE) ((INSTANCE) == SPDIFRX)
+
+/****************************** OPAMP Instances *******************************/
+#define IS_OPAMP_ALL_INSTANCE(INSTANCE) (((INSTANCE) == OPAMP1) || \
+                                         ((INSTANCE) == OPAMP2))
+
+#define IS_OPAMP_COMMON_INSTANCE(COMMON_INSTANCE) ((COMMON_INSTANCE) == OPAMP12_COMMON)
+
+/*********************** USB OTG PCD Instances ********************************/
+#define IS_PCD_ALL_INSTANCE(INSTANCE) ((INSTANCE) == USB_OTG_HS)
+
+/*********************** USB OTG HCD Instances ********************************/
+#define IS_HCD_ALL_INSTANCE(INSTANCE) ((INSTANCE) == USB_OTG_HS)
+
+/******************************************************************************/
+/*  For a painless codes migration between the STM32H7xx device product       */
+/*  lines, or with STM32F7xx devices the aliases defined below are put        */
+/*   in place to overcome the differences in the interrupt handlers and IRQn  */
+/*   definitions. No need to update developed interrupt code when moving      */
+/*  across product lines within the same STM32H7 Family                       */
+/******************************************************************************/
+
+/* Aliases for __IRQn */
+//#define  HASH_RNG_IRQn                  RNG_IRQn
+//#define  TIM1_BRK_TIM9_IRQn             TIM1_BRK_IRQn
+#define  TIM1_UP_TIM10_IRQn             TIM1_UP_IRQn
+//#define  TIM1_TRG_COM_TIM11_IRQn        TIM1_TRG_COM_IRQn
+//#define  PVD_IRQn                       PVD_AVD_IRQn
+
+
+/* Aliases for DCMI/PSSI __IRQn */
+#define  DCMI_IRQn                      DCMI_PSSI_IRQn
+
+/* Aliases for __IRQHandler */
+//#define  HASH_RNG_IRQHandler           RNG_IRQHandler
+//#define TIM1_BRK_TIM9_IRQHandler       TIM1_BRK_IRQHandler
+#define TIM1_UP_TIM9_IRQHandler        TIM1_UP_IRQHandler
+//#define TIM1_TRG_COM_TIM11_IRQHandler  TIM1_TRG_COM_IRQHandler
+//#define PVD_IRQHandler                 PVD_AVD_IRQHandler
+
+/* Aliases for COMP __IRQHandler */
+#define COMP_IRQHandler                COMP1_IRQHandler
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* STM32H735xx_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/panda/board/stm32h7/inc/stm32h735xx.h b/panda/board/stm32h7/inc/stm32h735xx.h
new file mode 100644
index 00000000000000..0631daac0d306f
--- /dev/null
+++ b/panda/board/stm32h7/inc/stm32h735xx.h
@@ -0,0 +1,24740 @@
+/**
+  ******************************************************************************
+  * @file    stm32h735xx.h
+  * @author  MCD Application Team
+  * @brief   CMSIS STM32H735xx Device Peripheral Access Layer Header File.
+  *
+  *          This file contains:
+  *           - Data structures and the address mapping for all peripherals
+  *           - Peripheral's registers declarations and bits definition
+  *           - Macros to access peripheral's registers hardware
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS_Device
+  * @{
+  */
+
+/** @addtogroup stm32h735xx
+  * @{
+  */
+
+#ifndef STM32H735xx_H
+#define STM32H735xx_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif /* __cplusplus */
+
+/** @addtogroup Peripheral_interrupt_number_definition
+  * @{
+  */
+
+/**
+ * @brief STM32H7XX Interrupt Number Definition, according to the selected device
+ *        in @ref Library_configuration_section
+ */
+typedef enum
+{
+/******  Cortex-M Processor Exceptions Numbers *****************************************************************/
+  NonMaskableInt_IRQn         = -14,    /*!< 2 Non Maskable Interrupt                                          */
+  HardFault_IRQn              = -13,    /*!< 4 Cortex-M Memory Management Interrupt                            */
+  MemoryManagement_IRQn       = -12,    /*!< 4 Cortex-M Memory Management Interrupt                            */
+  BusFault_IRQn               = -11,    /*!< 5 Cortex-M Bus Fault Interrupt                                    */
+  UsageFault_IRQn             = -10,    /*!< 6 Cortex-M Usage Fault Interrupt                                  */
+  SVCall_IRQn                 = -5,     /*!< 11 Cortex-M SV Call Interrupt                                     */
+  DebugMonitor_IRQn           = -4,     /*!< 12 Cortex-M Debug Monitor Interrupt                               */
+  PendSV_IRQn                 = -2,     /*!< 14 Cortex-M Pend SV Interrupt                                     */
+  SysTick_IRQn                = -1,     /*!< 15 Cortex-M System Tick Interrupt                                 */
+/******  STM32 specific Interrupt Numbers **********************************************************************/
+  WWDG_IRQn                   = 0,      /*!< Window WatchDog Interrupt ( wwdg1_it, wwdg2_it)                   */
+  PVD_AVD_IRQn                = 1,      /*!< PVD/AVD through EXTI Line detection Interrupt                     */
+  TAMP_STAMP_IRQn             = 2,      /*!< Tamper and TimeStamp interrupts through the EXTI line             */
+  RTC_WKUP_IRQn               = 3,      /*!< RTC Wakeup interrupt through the EXTI line                        */
+  FLASH_IRQn                  = 4,      /*!< FLASH global Interrupt                                            */
+  RCC_IRQn                    = 5,      /*!< RCC global Interrupt                                              */
+  EXTI0_IRQn                  = 6,      /*!< EXTI Line0 Interrupt                                              */
+  EXTI1_IRQn                  = 7,      /*!< EXTI Line1 Interrupt                                              */
+  EXTI2_IRQn                  = 8,      /*!< EXTI Line2 Interrupt                                              */
+  EXTI3_IRQn                  = 9,      /*!< EXTI Line3 Interrupt                                              */
+  EXTI4_IRQn                  = 10,     /*!< EXTI Line4 Interrupt                                              */
+  DMA1_Stream0_IRQn           = 11,     /*!< DMA1 Stream 0 global Interrupt                                    */
+  DMA1_Stream1_IRQn           = 12,     /*!< DMA1 Stream 1 global Interrupt                                    */
+  DMA1_Stream2_IRQn           = 13,     /*!< DMA1 Stream 2 global Interrupt                                    */
+  DMA1_Stream3_IRQn           = 14,     /*!< DMA1 Stream 3 global Interrupt                                    */
+  DMA1_Stream4_IRQn           = 15,     /*!< DMA1 Stream 4 global Interrupt                                    */
+  DMA1_Stream5_IRQn           = 16,     /*!< DMA1 Stream 5 global Interrupt                                    */
+  DMA1_Stream6_IRQn           = 17,     /*!< DMA1 Stream 6 global Interrupt                                    */
+  ADC_IRQn                    = 18,     /*!< ADC1 and  ADC2 global Interrupts                                  */
+  FDCAN1_IT0_IRQn             = 19,     /*!< FDCAN1 Interrupt line 0                                           */
+  FDCAN2_IT0_IRQn             = 20,     /*!< FDCAN2 Interrupt line 0                                           */
+  FDCAN1_IT1_IRQn             = 21,     /*!< FDCAN1 Interrupt line 1                                           */
+  FDCAN2_IT1_IRQn             = 22,     /*!< FDCAN2 Interrupt line 1                                           */
+  EXTI9_5_IRQn                = 23,     /*!< External Line[9:5] Interrupts                                     */
+  TIM1_BRK_IRQn               = 24,     /*!< TIM1 Break Interrupt                                              */
+  TIM1_UP_IRQn                = 25,     /*!< TIM1 Update Interrupt                                             */
+  TIM1_TRG_COM_IRQn           = 26,     /*!< TIM1 Trigger and Commutation Interrupt                            */
+  TIM1_CC_IRQn                = 27,     /*!< TIM1 Capture Compare Interrupt                                    */
+  TIM2_IRQn                   = 28,     /*!< TIM2 global Interrupt                                             */
+  TIM3_IRQn                   = 29,     /*!< TIM3 global Interrupt                                             */
+  TIM4_IRQn                   = 30,     /*!< TIM4 global Interrupt                                             */
+  I2C1_EV_IRQn                = 31,     /*!< I2C1 Event Interrupt                                              */
+  I2C1_ER_IRQn                = 32,     /*!< I2C1 Error Interrupt                                              */
+  I2C2_EV_IRQn                = 33,     /*!< I2C2 Event Interrupt                                              */
+  I2C2_ER_IRQn                = 34,     /*!< I2C2 Error Interrupt                                              */
+  SPI1_IRQn                   = 35,     /*!< SPI1 global Interrupt                                             */
+  SPI2_IRQn                   = 36,     /*!< SPI2 global Interrupt                                             */
+  USART1_IRQn                 = 37,     /*!< USART1 global Interrupt                                           */
+  USART2_IRQn                 = 38,     /*!< USART2 global Interrupt                                           */
+  USART3_IRQn                 = 39,     /*!< USART3 global Interrupt                                           */
+  EXTI15_10_IRQn              = 40,     /*!< External Line[15:10] Interrupts                                   */
+  RTC_Alarm_IRQn              = 41,     /*!< RTC Alarm (A and B) through EXTI Line Interrupt                   */
+  TIM8_BRK_TIM12_IRQn         = 43,     /*!< TIM8 Break Interrupt and TIM12 global interrupt                   */
+  TIM8_UP_TIM13_IRQn          = 44,     /*!< TIM8 Update Interrupt and TIM13 global interrupt                  */
+  TIM8_TRG_COM_TIM14_IRQn     = 45,     /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */
+  TIM8_CC_IRQn                = 46,     /*!< TIM8 Capture Compare Interrupt                                    */
+  DMA1_Stream7_IRQn           = 47,     /*!< DMA1 Stream7 Interrupt                                            */
+  FMC_IRQn                    = 48,     /*!< FMC global Interrupt                                              */
+  SDMMC1_IRQn                 = 49,     /*!< SDMMC1 global Interrupt                                           */
+  TIM5_IRQn                   = 50,     /*!< TIM5 global Interrupt                                             */
+  SPI3_IRQn                   = 51,     /*!< SPI3 global Interrupt                                             */
+  UART4_IRQn                  = 52,     /*!< UART4 global Interrupt                                            */
+  UART5_IRQn                  = 53,     /*!< UART5 global Interrupt                                            */
+  TIM6_DAC_IRQn               = 54,     /*!< TIM6 global and DAC1&2 underrun error  interrupts                 */
+  TIM7_IRQn                   = 55,     /*!< TIM7 global interrupt                                             */
+  DMA2_Stream0_IRQn           = 56,     /*!<   DMA2 Stream 0 global Interrupt                                  */
+  DMA2_Stream1_IRQn           = 57,     /*!<   DMA2 Stream 1 global Interrupt                                  */
+  DMA2_Stream2_IRQn           = 58,     /*!<   DMA2 Stream 2 global Interrupt                                  */
+  DMA2_Stream3_IRQn           = 59,     /*!<   DMA2 Stream 3 global Interrupt                                  */
+  DMA2_Stream4_IRQn           = 60,     /*!<   DMA2 Stream 4 global Interrupt                                  */
+  ETH_IRQn                    = 61,     /*!< Ethernet global Interrupt                                         */
+  ETH_WKUP_IRQn               = 62,     /*!< Ethernet Wakeup through EXTI line Interrupt                       */
+  FDCAN_CAL_IRQn              = 63,     /*!< FDCAN Calibration unit Interrupt                                  */
+  DMA2_Stream5_IRQn           = 68,     /*!< DMA2 Stream 5 global interrupt                                    */
+  DMA2_Stream6_IRQn           = 69,     /*!< DMA2 Stream 6 global interrupt                                    */
+  DMA2_Stream7_IRQn           = 70,     /*!< DMA2 Stream 7 global interrupt                                    */
+  USART6_IRQn                 = 71,     /*!< USART6 global interrupt                                           */
+  I2C3_EV_IRQn                = 72,     /*!< I2C3 event interrupt                                              */
+  I2C3_ER_IRQn                = 73,     /*!< I2C3 error interrupt                                              */
+  OTG_HS_EP1_OUT_IRQn         = 74,     /*!< USB OTG HS End Point 1 Out global interrupt                       */
+  OTG_HS_EP1_IN_IRQn          = 75,     /*!< USB OTG HS End Point 1 In global interrupt                        */
+  OTG_HS_WKUP_IRQn            = 76,     /*!< USB OTG HS Wakeup through EXTI interrupt                          */
+  OTG_HS_IRQn                 = 77,     /*!< USB OTG HS global interrupt                                       */
+  DCMI_PSSI_IRQn              = 78,     /*!< DCMI and PSSI global interrupt                                    */
+  CRYP_IRQn                   = 79,     /*!< CRYP crypto global interrupt                                      */
+  HASH_RNG_IRQn               = 80,     /*!< HASH and RNG global interrupt                                     */
+  FPU_IRQn                    = 81,     /*!< FPU global interrupt                                              */
+  UART7_IRQn                  = 82,     /*!< UART7 global interrupt                                            */
+  UART8_IRQn                  = 83,     /*!< UART8 global interrupt                                            */
+  SPI4_IRQn                   = 84,     /*!< SPI4 global Interrupt                                             */
+  SPI5_IRQn                   = 85,     /*!< SPI5 global Interrupt                                             */
+  SPI6_IRQn                   = 86,     /*!< SPI6 global Interrupt                                             */
+  SAI1_IRQn                   = 87,     /*!< SAI1 global Interrupt                                             */
+  LTDC_IRQn                   = 88,     /*!< LTDC global Interrupt                                             */
+  LTDC_ER_IRQn                = 89,     /*!< LTDC Error global Interrupt                                       */
+  DMA2D_IRQn                  = 90,     /*!< DMA2D global Interrupt                                            */
+  OCTOSPI1_IRQn               = 92,     /*!< OCTOSPI1 global interrupt                                         */
+  LPTIM1_IRQn                 = 93,     /*!< LP TIM1 interrupt                                                 */
+  CEC_IRQn                    = 94,     /*!< HDMI-CEC global Interrupt                                         */
+  I2C4_EV_IRQn                = 95,     /*!< I2C4 Event Interrupt                                              */
+  I2C4_ER_IRQn                = 96,     /*!< I2C4 Error Interrupt                                              */
+  SPDIF_RX_IRQn               = 97,     /*!< SPDIF-RX global Interrupt                                         */
+  DMAMUX1_OVR_IRQn            = 102,    /*!<DMAMUX1 Overrun interrupt                                          */
+  DFSDM1_FLT0_IRQn            = 110,    /*!<DFSDM Filter1 Interrupt                                            */
+  DFSDM1_FLT1_IRQn            = 111,    /*!<DFSDM Filter2 Interrupt                                            */
+  DFSDM1_FLT2_IRQn            = 112,    /*!<DFSDM Filter3 Interrupt                                            */
+  DFSDM1_FLT3_IRQn            = 113,    /*!<DFSDM Filter4 Interrupt                                            */
+  SWPMI1_IRQn                 = 115,    /*!< Serial Wire Interface 1 global interrupt                          */
+  TIM15_IRQn                  = 116,    /*!< TIM15 global Interrupt                                            */
+  TIM16_IRQn                  = 117,    /*!< TIM16 global Interrupt                                            */
+  TIM17_IRQn                  = 118,    /*!< TIM17 global Interrupt                                            */
+  MDIOS_WKUP_IRQn             = 119,    /*!< MDIOS Wakeup  Interrupt                                           */
+  MDIOS_IRQn                  = 120,    /*!< MDIOS global Interrupt                                            */
+  MDMA_IRQn                   = 122,    /*!< MDMA global Interrupt                                             */
+  SDMMC2_IRQn                 = 124,    /*!< SDMMC2 global Interrupt                                           */
+  HSEM1_IRQn                  = 125,    /*!< HSEM1 global Interrupt                                            */
+  ADC3_IRQn                   = 127,    /*!< ADC3 global Interrupt                                             */
+  DMAMUX2_OVR_IRQn            = 128,    /*!<DMAMUX2 Overrun interrupt                                          */
+  BDMA_Channel0_IRQn          = 129,    /*!< BDMA Channel 0 global Interrupt                                   */
+  BDMA_Channel1_IRQn          = 130,    /*!< BDMA Channel 1 global Interrupt                                   */
+  BDMA_Channel2_IRQn          = 131,    /*!< BDMA Channel 2 global Interrupt                                   */
+  BDMA_Channel3_IRQn          = 132,    /*!< BDMA Channel 3 global Interrupt                                   */
+  BDMA_Channel4_IRQn          = 133,    /*!< BDMA Channel 4 global Interrupt                                   */
+  BDMA_Channel5_IRQn          = 134,    /*!< BDMA Channel 5 global Interrupt                                   */
+  BDMA_Channel6_IRQn          = 135,    /*!< BDMA Channel 6 global Interrupt                                   */
+  BDMA_Channel7_IRQn          = 136,    /*!< BDMA Channel 7 global Interrupt                                   */
+  COMP_IRQn                   = 137 ,   /*!< COMP global Interrupt                                             */
+  LPTIM2_IRQn                 = 138,    /*!< LP TIM2 global interrupt                                          */
+  LPTIM3_IRQn                 = 139,    /*!< LP TIM3 global interrupt                                          */
+  LPTIM4_IRQn                 = 140,    /*!< LP TIM4 global interrupt                                          */
+  LPTIM5_IRQn                 = 141,    /*!< LP TIM5 global interrupt                                          */
+  LPUART1_IRQn                = 142,    /*!< LP UART1 interrupt                                                */
+  CRS_IRQn                    = 144,    /*!< Clock Recovery Global Interrupt                                   */
+  ECC_IRQn                    = 145,    /*!< ECC diagnostic Global Interrupt                                   */
+  SAI4_IRQn                   = 146,    /*!< SAI4 global interrupt                                             */
+  DTS_IRQn                    = 147,    /*!< Digital Temperature Sensor Global Interrupt                       */
+  WAKEUP_PIN_IRQn             = 149,    /*!< Interrupt for all 6 wake-up pins                                  */
+  OCTOSPI2_IRQn               = 150,    /*!< OctoSPI2 global interrupt                                         */
+  OTFDEC1_IRQn                = 151,    /*!< OTFDEC1 global interrupt                                          */
+  OTFDEC2_IRQn                = 152,    /*!< OTFDEC2 global interrupt                                          */
+  FMAC_IRQn                   = 153,    /*!< FMAC global interrupt                                             */
+  CORDIC_IRQn                 = 154,    /*!< CORDIC global interrupt                                           */
+  UART9_IRQn                  = 155,    /*!< UART9 global Interrupt                                            */
+  USART10_IRQn                = 156,    /*!< USART10 global interrupt                                          */
+  I2C5_EV_IRQn                = 157,    /*!< I2C5 event interrupt                                              */
+  I2C5_ER_IRQn                = 158,    /*!< I2C5 error interrupt                                              */
+  FDCAN3_IT0_IRQn             = 159,    /*!< FDCAN3 Interrupt line 0                                           */
+  FDCAN3_IT1_IRQn             = 160,    /*!< FDCAN3 Interrupt line 1                                           */
+  TIM23_IRQn                  = 161,    /*!< TIM23 global interrupt                                            */
+  TIM24_IRQn                  = 162,    /*!< TIM24 global interrupt                                            */
+} IRQn_Type;
+
+/**
+  * @}
+  */
+
+/** @addtogroup Configuration_section_for_CMSIS
+  * @{
+  */
+
+#define SMPS       /*!< Switched mode power supply feature */
+
+
+
+/**
+  * @brief Configuration of the Cortex-M7 Processor and Core Peripherals
+   */
+#define __CM7_REV               0x0100U   /*!< Cortex-M7 revision r1p0                       */
+#define __MPU_PRESENT             1       /*!< CM7 provides an MPU                           */
+#define __NVIC_PRIO_BITS          4       /*!< CM7 uses 4 Bits for the Priority Levels       */
+#define __Vendor_SysTickConfig    0       /*!< Set to 1 if different SysTick Config is used  */
+#define __FPU_PRESENT             1       /*!< FPU present                                   */
+#define __ICACHE_PRESENT          1       /*!< CM7 instruction cache present                 */
+#define __DCACHE_PRESENT          1       /*!< CM7 data cache present                        */
+#include "core_cm7.h"                     /*!< Cortex-M7 processor and core peripherals      */
+
+/**
+  * @}
+  */
+
+
+
+
+#include "system_stm32h7xx.h"
+#include <stdint.h>
+
+/** @addtogroup Peripheral_registers_structures
+  * @{
+  */
+
+/**
+  * @brief Analog to Digital Converter
+  */
+
+typedef struct
+{
+  __IO uint32_t ISR;              /*!< ADC Interrupt and Status Register,                          Address offset: 0x00 */
+  __IO uint32_t IER;              /*!< ADC Interrupt Enable Register,                              Address offset: 0x04 */
+  __IO uint32_t CR;               /*!< ADC control register,                                       Address offset: 0x08 */
+  __IO uint32_t CFGR;             /*!< ADC Configuration register,                                 Address offset: 0x0C */
+  __IO uint32_t CFGR2;            /*!< ADC Configuration register 2,                               Address offset: 0x10 */
+  __IO uint32_t SMPR1;            /*!< ADC sample time register 1,                                 Address offset: 0x14 */
+  __IO uint32_t SMPR2;            /*!< ADC sample time register 2,                                 Address offset: 0x18 */
+  __IO uint32_t PCSEL_RES0;       /*!< Rserved for ADC3, ADC1/2 pre-channel selection,             Address offset: 0x1C */
+  __IO uint32_t LTR1_TR1;         /*!< ADC watchdog Lower threshold register 1,                    Address offset: 0x20 */
+  __IO uint32_t HTR1_TR2;         /*!< ADC watchdog higher threshold register 1,                   Address offset: 0x24 */
+  __IO uint32_t RES1_TR3;         /*!< Rserved for ADC1/2, ADC3 threshold register,                Address offset: 0x28 */
+  uint32_t      RESERVED2;        /*!< Reserved, 0x02C                                                                  */
+  __IO uint32_t SQR1;             /*!< ADC regular sequence register 1,                            Address offset: 0x30 */
+  __IO uint32_t SQR2;             /*!< ADC regular sequence register 2,                            Address offset: 0x34 */
+  __IO uint32_t SQR3;             /*!< ADC regular sequence register 3,                            Address offset: 0x38 */
+  __IO uint32_t SQR4;             /*!< ADC regular sequence register 4,                            Address offset: 0x3C */
+  __IO uint32_t DR;               /*!< ADC regular data register,                                  Address offset: 0x40 */
+  uint32_t      RESERVED3;        /*!< Reserved, 0x044                                                                  */
+  uint32_t      RESERVED4;        /*!< Reserved, 0x048                                                                  */
+  __IO uint32_t JSQR;             /*!< ADC injected sequence register,                             Address offset: 0x4C */
+  uint32_t      RESERVED5[4];     /*!< Reserved, 0x050 - 0x05C                                                          */
+  __IO uint32_t OFR1;             /*!< ADC offset register 1,                                      Address offset: 0x60 */
+  __IO uint32_t OFR2;             /*!< ADC offset register 2,                                      Address offset: 0x64 */
+  __IO uint32_t OFR3;             /*!< ADC offset register 3,                                      Address offset: 0x68 */
+  __IO uint32_t OFR4;             /*!< ADC offset register 4,                                      Address offset: 0x6C */
+  uint32_t      RESERVED6[4];     /*!< Reserved, 0x070 - 0x07C                                                          */
+  __IO uint32_t JDR1;             /*!< ADC injected data register 1,                               Address offset: 0x80 */
+  __IO uint32_t JDR2;             /*!< ADC injected data register 2,                               Address offset: 0x84 */
+  __IO uint32_t JDR3;             /*!< ADC injected data register 3,                               Address offset: 0x88 */
+  __IO uint32_t JDR4;             /*!< ADC injected data register 4,                               Address offset: 0x8C */
+  uint32_t      RESERVED7[4];     /*!< Reserved, 0x090 - 0x09C                                                          */
+  __IO uint32_t AWD2CR;           /*!< ADC  Analog Watchdog 2 Configuration Register,              Address offset: 0xA0 */
+  __IO uint32_t AWD3CR;           /*!< ADC  Analog Watchdog 3 Configuration Register,              Address offset: 0xA4 */
+  uint32_t      RESERVED8;        /*!< Reserved, 0x0A8                                                                  */
+  uint32_t      RESERVED9;        /*!< Reserved, 0x0AC                                                                  */
+  __IO uint32_t LTR2_DIFSEL;      /*!< ADC watchdog Lower threshold register 2, Difsel for ADC3,   Address offset: 0xB0 */
+  __IO uint32_t HTR2_CALFACT;     /*!< ADC watchdog Higher threshold register 2, Calfact for ADC3, Address offset: 0xB4 */
+  __IO uint32_t LTR3_RES10;       /*!< ADC watchdog Lower threshold register 3, specific ADC1/2,   Address offset: 0xB8 */
+  __IO uint32_t HTR3_RES11;       /*!< ADC watchdog Higher threshold register 3, specific ADC1/2,  Address offset: 0xBC */
+  __IO uint32_t DIFSEL_RES12;     /*!< ADC Differential Mode Selection Register specific ADC1/2,   Address offset: 0xC0 */
+  __IO uint32_t CALFACT_RES13;    /*!< ADC Calibration Factors specific ADC1/2,                    Address offset: 0xC4 */
+  __IO uint32_t CALFACT2_RES14;   /*!< ADC Linearity Calibration Factors specific ADC1/2,          Address offset: 0xC8 */
+} ADC_TypeDef;
+
+
+typedef struct
+{
+__IO uint32_t CSR; /*!< ADC Common status register, Address offset: ADC1/3 base address + 0x300 */
+uint32_t RESERVED; /*!< Reserved, ADC1/3 base address + 0x304 */
+__IO uint32_t CCR; /*!< ADC common control register, Address offset: ADC1/3 base address + 0x308 */
+__IO uint32_t CDR; /*!< ADC common regular data register for dual Address offset: ADC1/3 base address + 0x30C */
+__IO uint32_t CDR2; /*!< ADC common regular data register for 32-bit dual mode Address offset: ADC1/3 base address + 0x310 */
+
+} ADC_Common_TypeDef;
+
+
+/**
+  * @brief VREFBUF
+  */
+
+typedef struct
+{
+  __IO uint32_t CSR;         /*!< VREFBUF control and status register,         Address offset: 0x00 */
+  __IO uint32_t CCR;         /*!< VREFBUF calibration and control register,    Address offset: 0x04 */
+} VREFBUF_TypeDef;
+
+
+/**
+  * @brief FD Controller Area Network
+  */
+
+typedef struct
+{
+  __IO uint32_t CREL;         /*!< FDCAN Core Release register,                                     Address offset: 0x000 */
+  __IO uint32_t ENDN;         /*!< FDCAN Endian register,                                           Address offset: 0x004 */
+  __IO uint32_t RESERVED1;    /*!< Reserved,                                                                        0x008 */
+  __IO uint32_t DBTP;         /*!< FDCAN Data Bit Timing & Prescaler register,                      Address offset: 0x00C */
+  __IO uint32_t TEST;         /*!< FDCAN Test register,                                             Address offset: 0x010 */
+  __IO uint32_t RWD;          /*!< FDCAN RAM Watchdog register,                                     Address offset: 0x014 */
+  __IO uint32_t CCCR;         /*!< FDCAN CC Control register,                                       Address offset: 0x018 */
+  __IO uint32_t NBTP;         /*!< FDCAN Nominal Bit Timing & Prescaler register,                   Address offset: 0x01C */
+  __IO uint32_t TSCC;         /*!< FDCAN Timestamp Counter Configuration register,                  Address offset: 0x020 */
+  __IO uint32_t TSCV;         /*!< FDCAN Timestamp Counter Value register,                          Address offset: 0x024 */
+  __IO uint32_t TOCC;         /*!< FDCAN Timeout Counter Configuration register,                    Address offset: 0x028 */
+  __IO uint32_t TOCV;         /*!< FDCAN Timeout Counter Value register,                            Address offset: 0x02C */
+  __IO uint32_t RESERVED2[4]; /*!< Reserved,                                                                0x030 - 0x03C */
+  __IO uint32_t ECR;          /*!< FDCAN Error Counter register,                                    Address offset: 0x040 */
+  __IO uint32_t PSR;          /*!< FDCAN Protocol Status register,                                  Address offset: 0x044 */
+  __IO uint32_t TDCR;         /*!< FDCAN Transmitter Delay Compensation register,                   Address offset: 0x048 */
+  __IO uint32_t RESERVED3;    /*!< Reserved,                                                                        0x04C */
+  __IO uint32_t IR;           /*!< FDCAN Interrupt register,                                        Address offset: 0x050 */
+  __IO uint32_t IE;           /*!< FDCAN Interrupt Enable register,                                 Address offset: 0x054 */
+  __IO uint32_t ILS;          /*!< FDCAN Interrupt Line Select register,                            Address offset: 0x058 */
+  __IO uint32_t ILE;          /*!< FDCAN Interrupt Line Enable register,                            Address offset: 0x05C */
+  __IO uint32_t RESERVED4[8]; /*!< Reserved,                                                                0x060 - 0x07C */
+  __IO uint32_t GFC;          /*!< FDCAN Global Filter Configuration register,                      Address offset: 0x080 */
+  __IO uint32_t SIDFC;        /*!< FDCAN Standard ID Filter Configuration register,                 Address offset: 0x084 */
+  __IO uint32_t XIDFC;        /*!< FDCAN Extended ID Filter Configuration register,                 Address offset: 0x088 */
+  __IO uint32_t RESERVED5;    /*!< Reserved,                                                                        0x08C */
+  __IO uint32_t XIDAM;        /*!< FDCAN Extended ID AND Mask register,                             Address offset: 0x090 */
+  __IO uint32_t HPMS;         /*!< FDCAN High Priority Message Status register,                     Address offset: 0x094 */
+  __IO uint32_t NDAT1;        /*!< FDCAN New Data 1 register,                                       Address offset: 0x098 */
+  __IO uint32_t NDAT2;        /*!< FDCAN New Data 2 register,                                       Address offset: 0x09C */
+  __IO uint32_t RXF0C;        /*!< FDCAN Rx FIFO 0 Configuration register,                          Address offset: 0x0A0 */
+  __IO uint32_t RXF0S;        /*!< FDCAN Rx FIFO 0 Status register,                                 Address offset: 0x0A4 */
+  __IO uint32_t RXF0A;        /*!< FDCAN Rx FIFO 0 Acknowledge register,                            Address offset: 0x0A8 */
+  __IO uint32_t RXBC;         /*!< FDCAN Rx Buffer Configuration register,                          Address offset: 0x0AC */
+  __IO uint32_t RXF1C;        /*!< FDCAN Rx FIFO 1 Configuration register,                          Address offset: 0x0B0 */
+  __IO uint32_t RXF1S;        /*!< FDCAN Rx FIFO 1 Status register,                                 Address offset: 0x0B4 */
+  __IO uint32_t RXF1A;        /*!< FDCAN Rx FIFO 1 Acknowledge register,                            Address offset: 0x0B8 */
+  __IO uint32_t RXESC;        /*!< FDCAN Rx Buffer/FIFO Element Size Configuration register,        Address offset: 0x0BC */
+  __IO uint32_t TXBC;         /*!< FDCAN Tx Buffer Configuration register,                          Address offset: 0x0C0 */
+  __IO uint32_t TXFQS;        /*!< FDCAN Tx FIFO/Queue Status register,                             Address offset: 0x0C4 */
+  __IO uint32_t TXESC;        /*!< FDCAN Tx Buffer Element Size Configuration register,             Address offset: 0x0C8 */
+  __IO uint32_t TXBRP;        /*!< FDCAN Tx Buffer Request Pending register,                        Address offset: 0x0CC */
+  __IO uint32_t TXBAR;        /*!< FDCAN Tx Buffer Add Request register,                            Address offset: 0x0D0 */
+  __IO uint32_t TXBCR;        /*!< FDCAN Tx Buffer Cancellation Request register,                   Address offset: 0x0D4 */
+  __IO uint32_t TXBTO;        /*!< FDCAN Tx Buffer Transmission Occurred register,                  Address offset: 0x0D8 */
+  __IO uint32_t TXBCF;        /*!< FDCAN Tx Buffer Cancellation Finished register,                  Address offset: 0x0DC */
+  __IO uint32_t TXBTIE;       /*!< FDCAN Tx Buffer Transmission Interrupt Enable register,          Address offset: 0x0E0 */
+  __IO uint32_t TXBCIE;       /*!< FDCAN Tx Buffer Cancellation Finished Interrupt Enable register, Address offset: 0x0E4 */
+  __IO uint32_t RESERVED6[2]; /*!< Reserved,                                                                0x0E8 - 0x0EC */
+  __IO uint32_t TXEFC;        /*!< FDCAN Tx Event FIFO Configuration register,                      Address offset: 0x0F0 */
+  __IO uint32_t TXEFS;        /*!< FDCAN Tx Event FIFO Status register,                             Address offset: 0x0F4 */
+  __IO uint32_t TXEFA;        /*!< FDCAN Tx Event FIFO Acknowledge register,                        Address offset: 0x0F8 */
+  __IO uint32_t RESERVED7;    /*!< Reserved,                                                                        0x0FC */
+} FDCAN_GlobalTypeDef;
+
+/**
+  * @brief TTFD Controller Area Network
+  */
+
+typedef struct
+{
+  __IO uint32_t TTTMC;          /*!< TT Trigger Memory Configuration register,    Address offset: 0x100 */
+  __IO uint32_t TTRMC;          /*!< TT Reference Message Configuration register, Address offset: 0x104 */
+  __IO uint32_t TTOCF;          /*!< TT Operation Configuration register,         Address offset: 0x108 */
+  __IO uint32_t TTMLM;          /*!< TT Matrix Limits register,                   Address offset: 0x10C */
+  __IO uint32_t TURCF;          /*!< TUR Configuration register,                  Address offset: 0x110 */
+  __IO uint32_t TTOCN;          /*!< TT Operation Control register,               Address offset: 0x114 */
+  __IO uint32_t TTGTP;          /*!< TT Global Time Preset register,              Address offset: 0x118 */
+  __IO uint32_t TTTMK;          /*!< TT Time Mark register,                       Address offset: 0x11C */
+  __IO uint32_t TTIR;           /*!< TT Interrupt register,                       Address offset: 0x120 */
+  __IO uint32_t TTIE;           /*!< TT Interrupt Enable register,                Address offset: 0x124 */
+  __IO uint32_t TTILS;          /*!< TT Interrupt Line Select register,           Address offset: 0x128 */
+  __IO uint32_t TTOST;          /*!< TT Operation Status register,                Address offset: 0x12C */
+  __IO uint32_t TURNA;          /*!< TT TUR Numerator Actual register,            Address offset: 0x130 */
+  __IO uint32_t TTLGT;          /*!< TT Local and Global Time register,           Address offset: 0x134 */
+  __IO uint32_t TTCTC;          /*!< TT Cycle Time and Count register,            Address offset: 0x138 */
+  __IO uint32_t TTCPT;          /*!< TT Capture Time register,                    Address offset: 0x13C */
+  __IO uint32_t TTCSM;          /*!< TT Cycle Sync Mark register,                 Address offset: 0x140 */
+  __IO uint32_t RESERVED1[111]; /*!< Reserved,                                            0x144 - 0x2FC */
+  __IO uint32_t TTTS;           /*!< TT Trigger Select register,                  Address offset: 0x300 */
+} TTCAN_TypeDef;
+
+/**
+  * @brief FD Controller Area Network
+  */
+
+typedef struct
+{
+  __IO uint32_t CREL;  /*!< Clock Calibration Unit Core Release register, Address offset: 0x00 */
+  __IO uint32_t CCFG;  /*!< Calibration Configuration register,           Address offset: 0x04 */
+  __IO uint32_t CSTAT; /*!< Calibration Status register,                  Address offset: 0x08 */
+  __IO uint32_t CWD;   /*!< Calibration Watchdog register,                Address offset: 0x0C */
+  __IO uint32_t IR;    /*!< CCU Interrupt register,                       Address offset: 0x10 */
+  __IO uint32_t IE;    /*!< CCU Interrupt Enable register,                Address offset: 0x14 */
+} FDCAN_ClockCalibrationUnit_TypeDef;
+
+
+/**
+  * @brief Consumer Electronics Control
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;           /*!< CEC control register,              Address offset:0x00 */
+  __IO uint32_t CFGR;         /*!< CEC configuration register,        Address offset:0x04 */
+  __IO uint32_t TXDR;         /*!< CEC Tx data register ,             Address offset:0x08 */
+  __IO uint32_t RXDR;         /*!< CEC Rx Data Register,              Address offset:0x0C */
+  __IO uint32_t ISR;          /*!< CEC Interrupt and Status Register, Address offset:0x10 */
+  __IO uint32_t IER;          /*!< CEC interrupt enable register,     Address offset:0x14 */
+}CEC_TypeDef;
+
+/**
+  * @brief COordincate Rotation DIgital Computer
+  */
+typedef struct
+{
+  __IO uint32_t CSR;          /*!< CORDIC control and status register,        Address offset: 0x00 */
+  __IO uint32_t WDATA;        /*!< CORDIC argument register,                  Address offset: 0x04 */
+  __IO uint32_t RDATA;        /*!< CORDIC result register,                    Address offset: 0x08 */
+} CORDIC_TypeDef;
+
+/**
+  * @brief CRC calculation unit
+  */
+
+typedef struct
+{
+  __IO uint32_t DR;          /*!< CRC Data register,                           Address offset: 0x00 */
+  __IO uint32_t IDR;         /*!< CRC Independent data register,               Address offset: 0x04 */
+  __IO uint32_t CR;          /*!< CRC Control register,                        Address offset: 0x08 */
+  uint32_t      RESERVED2;   /*!< Reserved,                                                    0x0C */
+  __IO uint32_t INIT;        /*!< Initial CRC value register,                  Address offset: 0x10 */
+  __IO uint32_t POL;         /*!< CRC polynomial register,                     Address offset: 0x14 */
+} CRC_TypeDef;
+
+
+/**
+  * @brief Clock Recovery System
+  */
+typedef struct
+{
+__IO uint32_t CR;            /*!< CRS ccontrol register,              Address offset: 0x00 */
+__IO uint32_t CFGR;          /*!< CRS configuration register,         Address offset: 0x04 */
+__IO uint32_t ISR;           /*!< CRS interrupt and status register,  Address offset: 0x08 */
+__IO uint32_t ICR;           /*!< CRS interrupt flag clear register,  Address offset: 0x0C */
+} CRS_TypeDef;
+
+
+/**
+  * @brief Digital to Analog Converter
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;       /*!< DAC control register,                                    Address offset: 0x00 */
+  __IO uint32_t SWTRIGR;  /*!< DAC software trigger register,                           Address offset: 0x04 */
+  __IO uint32_t DHR12R1;  /*!< DAC channel1 12-bit right-aligned data holding register, Address offset: 0x08 */
+  __IO uint32_t DHR12L1;  /*!< DAC channel1 12-bit left aligned data holding register,  Address offset: 0x0C */
+  __IO uint32_t DHR8R1;   /*!< DAC channel1 8-bit right aligned data holding register,  Address offset: 0x10 */
+  __IO uint32_t DHR12R2;  /*!< DAC channel2 12-bit right aligned data holding register, Address offset: 0x14 */
+  __IO uint32_t DHR12L2;  /*!< DAC channel2 12-bit left aligned data holding register,  Address offset: 0x18 */
+  __IO uint32_t DHR8R2;   /*!< DAC channel2 8-bit right-aligned data holding register,  Address offset: 0x1C */
+  __IO uint32_t DHR12RD;  /*!< Dual DAC 12-bit right-aligned data holding register,     Address offset: 0x20 */
+  __IO uint32_t DHR12LD;  /*!< DUAL DAC 12-bit left aligned data holding register,      Address offset: 0x24 */
+  __IO uint32_t DHR8RD;   /*!< DUAL DAC 8-bit right aligned data holding register,      Address offset: 0x28 */
+  __IO uint32_t DOR1;     /*!< DAC channel1 data output register,                       Address offset: 0x2C */
+  __IO uint32_t DOR2;     /*!< DAC channel2 data output register,                       Address offset: 0x30 */
+  __IO uint32_t SR;       /*!< DAC status register,                                     Address offset: 0x34 */
+  __IO uint32_t CCR;      /*!< DAC calibration control register,                        Address offset: 0x38 */
+  __IO uint32_t MCR;      /*!< DAC mode control register,                               Address offset: 0x3C */
+  __IO uint32_t SHSR1;    /*!< DAC Sample and Hold sample time register 1,              Address offset: 0x40 */
+  __IO uint32_t SHSR2;    /*!< DAC Sample and Hold sample time register 2,              Address offset: 0x44 */
+  __IO uint32_t SHHR;     /*!< DAC Sample and Hold hold time register,                  Address offset: 0x48 */
+  __IO uint32_t SHRR;     /*!< DAC Sample and Hold refresh time register,               Address offset: 0x4C */
+} DAC_TypeDef;
+
+/**
+  * @brief DFSDM module registers
+  */
+typedef struct
+{
+  __IO uint32_t FLTCR1;          /*!< DFSDM control register1,                          Address offset: 0x100 */
+  __IO uint32_t FLTCR2;          /*!< DFSDM control register2,                          Address offset: 0x104 */
+  __IO uint32_t FLTISR;          /*!< DFSDM interrupt and status register,              Address offset: 0x108 */
+  __IO uint32_t FLTICR;          /*!< DFSDM interrupt flag clear register,              Address offset: 0x10C */
+  __IO uint32_t FLTJCHGR;        /*!< DFSDM injected channel group selection register,  Address offset: 0x110 */
+  __IO uint32_t FLTFCR;          /*!< DFSDM filter control register,                    Address offset: 0x114 */
+  __IO uint32_t FLTJDATAR;       /*!< DFSDM data register for injected group,           Address offset: 0x118 */
+  __IO uint32_t FLTRDATAR;       /*!< DFSDM data register for regular group,            Address offset: 0x11C */
+  __IO uint32_t FLTAWHTR;        /*!< DFSDM analog watchdog high threshold register,    Address offset: 0x120 */
+  __IO uint32_t FLTAWLTR;        /*!< DFSDM analog watchdog low threshold register,     Address offset: 0x124 */
+  __IO uint32_t FLTAWSR;         /*!< DFSDM analog watchdog status register             Address offset: 0x128 */
+  __IO uint32_t FLTAWCFR;        /*!< DFSDM analog watchdog clear flag register         Address offset: 0x12C */
+  __IO uint32_t FLTEXMAX;        /*!< DFSDM extreme detector maximum register,          Address offset: 0x130 */
+  __IO uint32_t FLTEXMIN;        /*!< DFSDM extreme detector minimum register           Address offset: 0x134 */
+  __IO uint32_t FLTCNVTIMR;      /*!< DFSDM conversion timer,                           Address offset: 0x138 */
+} DFSDM_Filter_TypeDef;
+
+/**
+  * @brief DFSDM channel configuration registers
+  */
+typedef struct
+{
+  __IO uint32_t CHCFGR1;      /*!< DFSDM channel configuration register1,            Address offset: 0x00 */
+  __IO uint32_t CHCFGR2;      /*!< DFSDM channel configuration register2,            Address offset: 0x04 */
+  __IO uint32_t CHAWSCDR;     /*!< DFSDM channel analog watchdog and
+                                   short circuit detector register,                  Address offset: 0x08 */
+  __IO uint32_t CHWDATAR;     /*!< DFSDM channel watchdog filter data register,      Address offset: 0x0C */
+  __IO uint32_t CHDATINR;     /*!< DFSDM channel data input register,                Address offset: 0x10 */
+} DFSDM_Channel_TypeDef;
+
+/**
+  * @brief Debug MCU
+  */
+typedef struct
+{
+  __IO uint32_t IDCODE;        /*!< MCU device ID code,                     Address offset: 0x00 */
+  __IO uint32_t CR;            /*!< Debug MCU configuration register,       Address offset: 0x04 */
+  uint32_t RESERVED4[11];      /*!< Reserved,                             Address offset: 0x08 */
+  __IO uint32_t APB3FZ1;     /*!< Debug MCU APB3FZ1 freeze register,    Address offset: 0x34 */
+  uint32_t RESERVED5;          /*!< Reserved,                             Address offset: 0x38 */
+  __IO uint32_t APB1LFZ1;    /*!< Debug MCU APB1LFZ1 freeze register,   Address offset: 0x3C */
+  uint32_t RESERVED6;          /*!< Reserved,                             Address offset: 0x40 */
+  __IO uint32_t APB1HFZ1;    /*!< Debug MCU APB1LFZ1 freeze register,   Address offset: 0x44 */
+  uint32_t RESERVED7;          /*!< Reserved,                             Address offset: 0x48 */
+  __IO uint32_t APB2FZ1;     /*!< Debug MCU APB2FZ1 freeze register,    Address offset: 0x4C */
+  uint32_t RESERVED8;          /*!< Reserved,                             Address offset: 0x50 */
+  __IO uint32_t APB4FZ1;     /*!< Debug MCU APB4FZ1 freeze register,    Address offset: 0x54 */
+  __IO uint32_t RESERVED9[990]; /*!< Reserved,                         Address offset: 0x58-0xFCC */
+  __IO uint32_t PIDR4;       /*!< Debug MCU peripheral identity register 4,  Address offset: 0xFD0 */
+  __IO uint32_t RESERVED10[3];/*!< Reserved,                            Address offset: 0xFD4-0xFDC */
+  __IO uint32_t PIDR0;       /*!< Debug MCU peripheral identity register 0,  Address offset: 0xFE0 */
+  __IO uint32_t PIDR1;       /*!< Debug MCU peripheral identity register 1,  Address offset: 0xFE4 */
+  __IO uint32_t PIDR2;       /*!< Debug MCU peripheral identity register 2,  Address offset: 0xFE8 */
+  __IO uint32_t PIDR3;       /*!< Debug MCU peripheral identity register 3,  Address offset: 0xFEC */
+  __IO uint32_t CIDR0;       /*!< Debug MCU component identity register 0,   Address offset: 0xFF0 */
+  __IO uint32_t CIDR1;       /*!< Debug MCU component identity register 1,   Address offset: 0xFF4 */
+  __IO uint32_t CIDR2;       /*!< Debug MCU component identity register 2,   Address offset: 0xFF8 */
+  __IO uint32_t CIDR3;       /*!< Debug MCU component identity register 3,   Address offset: 0xFFC */
+}DBGMCU_TypeDef;
+/**
+  * @brief DCMI
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;       /*!< DCMI control register 1,                       Address offset: 0x00 */
+  __IO uint32_t SR;       /*!< DCMI status register,                          Address offset: 0x04 */
+  __IO uint32_t RISR;     /*!< DCMI raw interrupt status register,            Address offset: 0x08 */
+  __IO uint32_t IER;      /*!< DCMI interrupt enable register,                Address offset: 0x0C */
+  __IO uint32_t MISR;     /*!< DCMI masked interrupt status register,         Address offset: 0x10 */
+  __IO uint32_t ICR;      /*!< DCMI interrupt clear register,                 Address offset: 0x14 */
+  __IO uint32_t ESCR;     /*!< DCMI embedded synchronization code register,   Address offset: 0x18 */
+  __IO uint32_t ESUR;     /*!< DCMI embedded synchronization unmask register, Address offset: 0x1C */
+  __IO uint32_t CWSTRTR;  /*!< DCMI crop window start,                        Address offset: 0x20 */
+  __IO uint32_t CWSIZER;  /*!< DCMI crop window size,                         Address offset: 0x24 */
+  __IO uint32_t DR;       /*!< DCMI data register,                            Address offset: 0x28 */
+} DCMI_TypeDef;
+
+/**
+  * @brief PSSI
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;             /*!< PSSI control register 1,               Address offset: 0x000 */
+  __IO uint32_t SR;             /*!< PSSI status register,                  Address offset: 0x004 */
+  __IO uint32_t RIS;            /*!< PSSI raw interrupt status register,    Address offset: 0x008 */
+  __IO uint32_t IER;            /*!< PSSI interrupt enable register,        Address offset: 0x00C */
+  __IO uint32_t MIS;            /*!< PSSI masked interrupt status register, Address offset: 0x010 */
+  __IO uint32_t ICR;            /*!< PSSI interrupt clear register,         Address offset: 0x014 */
+  __IO uint32_t RESERVED1[4];   /*!< Reserved,                                      0x018 - 0x024 */
+  __IO uint32_t DR;             /*!< PSSI data register,                    Address offset: 0x028 */
+  __IO uint32_t RESERVED2[241]; /*!< Reserved,                                      0x02C - 0x3EC */
+  __IO uint32_t HWCFGR;         /*!< PSSI IP HW configuration register,     Address offset: 0x3F0 */
+  __IO uint32_t VERR;           /*!< PSSI IP version register,              Address offset: 0x3F4 */
+  __IO uint32_t IPIDR;          /*!< PSSI IP ID register,                   Address offset: 0x3F8 */
+  __IO uint32_t SIDR;           /*!< PSSI SIZE ID register,                 Address offset: 0x3FC */
+} PSSI_TypeDef;
+
+/**
+  * @brief DMA Controller
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;     /*!< DMA stream x configuration register      */
+  __IO uint32_t NDTR;   /*!< DMA stream x number of data register     */
+  __IO uint32_t PAR;    /*!< DMA stream x peripheral address register */
+  __IO uint32_t M0AR;   /*!< DMA stream x memory 0 address register   */
+  __IO uint32_t M1AR;   /*!< DMA stream x memory 1 address register   */
+  __IO uint32_t FCR;    /*!< DMA stream x FIFO control register       */
+} DMA_Stream_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t LISR;   /*!< DMA low interrupt status register,      Address offset: 0x00 */
+  __IO uint32_t HISR;   /*!< DMA high interrupt status register,     Address offset: 0x04 */
+  __IO uint32_t LIFCR;  /*!< DMA low interrupt flag clear register,  Address offset: 0x08 */
+  __IO uint32_t HIFCR;  /*!< DMA high interrupt flag clear register, Address offset: 0x0C */
+} DMA_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CCR;          /*!< DMA channel x configuration register          */
+  __IO uint32_t CNDTR;        /*!< DMA channel x number of data register         */
+  __IO uint32_t CPAR;         /*!< DMA channel x peripheral address register     */
+  __IO uint32_t CM0AR;        /*!< DMA channel x memory 0 address register       */
+  __IO uint32_t CM1AR;        /*!< DMA channel x memory 1 address register       */
+} BDMA_Channel_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t ISR;          /*!< DMA interrupt status register,               Address offset: 0x00 */
+  __IO uint32_t IFCR;         /*!< DMA interrupt flag clear register,           Address offset: 0x04 */
+} BDMA_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  CCR;        /*!< DMA Multiplexer Channel x Control Register   */
+}DMAMUX_Channel_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  CSR;      /*!< DMA Channel Status Register     */
+  __IO uint32_t  CFR;      /*!< DMA Channel Clear Flag Register */
+}DMAMUX_ChannelStatus_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  RGCR;        /*!< DMA Request Generator x Control Register   */
+}DMAMUX_RequestGen_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  RGSR;        /*!< DMA Request Generator Status Register       */
+  __IO uint32_t  RGCFR;       /*!< DMA Request Generator Clear Flag Register   */
+}DMAMUX_RequestGenStatus_TypeDef;
+
+/**
+  * @brief MDMA Controller
+  */
+typedef struct
+{
+  __IO uint32_t  GISR0;   /*!< MDMA Global Interrupt/Status Register 0,          Address offset: 0x00 */
+}MDMA_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t  CISR;      /*!< MDMA channel x interrupt/status register,             Address offset: 0x40 */
+  __IO uint32_t  CIFCR;     /*!< MDMA channel x interrupt flag clear register,         Address offset: 0x44 */
+  __IO uint32_t  CESR;      /*!< MDMA Channel x error status register,                 Address offset: 0x48 */
+  __IO uint32_t  CCR;       /*!< MDMA channel x control register,                      Address offset: 0x4C */
+  __IO uint32_t  CTCR;      /*!< MDMA channel x Transfer Configuration register,       Address offset: 0x50 */
+  __IO uint32_t  CBNDTR;    /*!< MDMA Channel x block number of data register,         Address offset: 0x54 */
+  __IO uint32_t  CSAR;      /*!< MDMA channel x source address register,               Address offset: 0x58 */
+  __IO uint32_t  CDAR;      /*!< MDMA channel x destination address register,          Address offset: 0x5C */
+  __IO uint32_t  CBRUR;     /*!< MDMA channel x Block Repeat address Update register,  Address offset: 0x60 */
+  __IO uint32_t  CLAR;      /*!< MDMA channel x Link Address register,                 Address offset: 0x64 */
+  __IO uint32_t  CTBR;      /*!< MDMA channel x Trigger and Bus selection Register,    Address offset: 0x68 */
+  uint32_t       RESERVED0; /*!< Reserved, 0x6C                                                             */
+  __IO uint32_t  CMAR;      /*!< MDMA channel x Mask address register,                 Address offset: 0x70 */
+  __IO uint32_t  CMDR;      /*!< MDMA channel x Mask Data register,                    Address offset: 0x74 */
+}MDMA_Channel_TypeDef;
+
+/**
+  * @brief DMA2D Controller
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;            /*!< DMA2D Control Register,                         Address offset: 0x00 */
+  __IO uint32_t ISR;           /*!< DMA2D Interrupt Status Register,                Address offset: 0x04 */
+  __IO uint32_t IFCR;          /*!< DMA2D Interrupt Flag Clear Register,            Address offset: 0x08 */
+  __IO uint32_t FGMAR;         /*!< DMA2D Foreground Memory Address Register,       Address offset: 0x0C */
+  __IO uint32_t FGOR;          /*!< DMA2D Foreground Offset Register,               Address offset: 0x10 */
+  __IO uint32_t BGMAR;         /*!< DMA2D Background Memory Address Register,       Address offset: 0x14 */
+  __IO uint32_t BGOR;          /*!< DMA2D Background Offset Register,               Address offset: 0x18 */
+  __IO uint32_t FGPFCCR;       /*!< DMA2D Foreground PFC Control Register,          Address offset: 0x1C */
+  __IO uint32_t FGCOLR;        /*!< DMA2D Foreground Color Register,                Address offset: 0x20 */
+  __IO uint32_t BGPFCCR;       /*!< DMA2D Background PFC Control Register,          Address offset: 0x24 */
+  __IO uint32_t BGCOLR;        /*!< DMA2D Background Color Register,                Address offset: 0x28 */
+  __IO uint32_t FGCMAR;        /*!< DMA2D Foreground CLUT Memory Address Register,  Address offset: 0x2C */
+  __IO uint32_t BGCMAR;        /*!< DMA2D Background CLUT Memory Address Register,  Address offset: 0x30 */
+  __IO uint32_t OPFCCR;        /*!< DMA2D Output PFC Control Register,              Address offset: 0x34 */
+  __IO uint32_t OCOLR;         /*!< DMA2D Output Color Register,                    Address offset: 0x38 */
+  __IO uint32_t OMAR;          /*!< DMA2D Output Memory Address Register,           Address offset: 0x3C */
+  __IO uint32_t OOR;           /*!< DMA2D Output Offset Register,                   Address offset: 0x40 */
+  __IO uint32_t NLR;           /*!< DMA2D Number of Line Register,                  Address offset: 0x44 */
+  __IO uint32_t LWR;           /*!< DMA2D Line Watermark Register,                  Address offset: 0x48 */
+  __IO uint32_t AMTCR;         /*!< DMA2D AHB Master Timer Configuration Register,  Address offset: 0x4C */
+  uint32_t      RESERVED[236]; /*!< Reserved, 0x50-0x3FF */
+  __IO uint32_t FGCLUT[256];   /*!< DMA2D Foreground CLUT,                          Address offset:400-7FF */
+  __IO uint32_t BGCLUT[256];   /*!< DMA2D Background CLUT,                          Address offset:800-BFF */
+} DMA2D_TypeDef;
+
+
+/**
+  * @brief Ethernet MAC
+  */
+typedef struct
+{
+  __IO uint32_t MACCR;
+  __IO uint32_t MACECR;
+  __IO uint32_t MACPFR;
+  __IO uint32_t MACWTR;
+  __IO uint32_t MACHT0R;
+  __IO uint32_t MACHT1R;
+  uint32_t      RESERVED1[14];
+  __IO uint32_t MACVTR;
+  uint32_t      RESERVED2;
+  __IO uint32_t MACVHTR;
+  uint32_t      RESERVED3;
+  __IO uint32_t MACVIR;
+  __IO uint32_t MACIVIR;
+  uint32_t      RESERVED4[2];
+  __IO uint32_t MACTFCR;
+  uint32_t      RESERVED5[7];
+  __IO uint32_t MACRFCR;
+  uint32_t      RESERVED6[7];
+  __IO uint32_t MACISR;
+  __IO uint32_t MACIER;
+  __IO uint32_t MACRXTXSR;
+  uint32_t      RESERVED7;
+  __IO uint32_t MACPCSR;
+  __IO uint32_t MACRWKPFR;
+  uint32_t      RESERVED8[2];
+  __IO uint32_t MACLCSR;
+  __IO uint32_t MACLTCR;
+  __IO uint32_t MACLETR;
+  __IO uint32_t MAC1USTCR;
+  uint32_t      RESERVED9[12];
+  __IO uint32_t MACVR;
+  __IO uint32_t MACDR;
+  uint32_t      RESERVED10;
+  __IO uint32_t MACHWF0R;
+  __IO uint32_t MACHWF1R;
+  __IO uint32_t MACHWF2R;
+  uint32_t      RESERVED11[54];
+  __IO uint32_t MACMDIOAR;
+  __IO uint32_t MACMDIODR;
+  uint32_t      RESERVED12[2];
+  __IO uint32_t MACARPAR;
+  uint32_t      RESERVED13[59];
+  __IO uint32_t MACA0HR;
+  __IO uint32_t MACA0LR;
+  __IO uint32_t MACA1HR;
+  __IO uint32_t MACA1LR;
+  __IO uint32_t MACA2HR;
+  __IO uint32_t MACA2LR;
+  __IO uint32_t MACA3HR;
+  __IO uint32_t MACA3LR;
+  uint32_t      RESERVED14[248];
+  __IO uint32_t MMCCR;
+  __IO uint32_t MMCRIR;
+  __IO uint32_t MMCTIR;
+  __IO uint32_t MMCRIMR;
+  __IO uint32_t MMCTIMR;
+  uint32_t      RESERVED15[14];
+  __IO uint32_t MMCTSCGPR;
+  __IO uint32_t MMCTMCGPR;
+  uint32_t      RESERVED16[5];
+  __IO uint32_t MMCTPCGR;
+  uint32_t      RESERVED17[10];
+  __IO uint32_t MMCRCRCEPR;
+  __IO uint32_t MMCRAEPR;
+  uint32_t      RESERVED18[10];
+  __IO uint32_t MMCRUPGR;
+  uint32_t      RESERVED19[9];
+  __IO uint32_t MMCTLPIMSTR;
+  __IO uint32_t MMCTLPITCR;
+  __IO uint32_t MMCRLPIMSTR;
+  __IO uint32_t MMCRLPITCR;
+  uint32_t      RESERVED20[65];
+  __IO uint32_t MACL3L4C0R;
+  __IO uint32_t MACL4A0R;
+  uint32_t      RESERVED21[2];
+  __IO uint32_t MACL3A0R0R;
+  __IO uint32_t MACL3A1R0R;
+  __IO uint32_t MACL3A2R0R;
+  __IO uint32_t MACL3A3R0R;
+  uint32_t      RESERVED22[4];
+  __IO uint32_t MACL3L4C1R;
+  __IO uint32_t MACL4A1R;
+  uint32_t      RESERVED23[2];
+  __IO uint32_t MACL3A0R1R;
+  __IO uint32_t MACL3A1R1R;
+  __IO uint32_t MACL3A2R1R;
+  __IO uint32_t MACL3A3R1R;
+  uint32_t      RESERVED24[108];
+  __IO uint32_t MACTSCR;
+  __IO uint32_t MACSSIR;
+  __IO uint32_t MACSTSR;
+  __IO uint32_t MACSTNR;
+  __IO uint32_t MACSTSUR;
+  __IO uint32_t MACSTNUR;
+  __IO uint32_t MACTSAR;
+  uint32_t      RESERVED25;
+  __IO uint32_t MACTSSR;
+  uint32_t      RESERVED26[3];
+  __IO uint32_t MACTTSSNR;
+  __IO uint32_t MACTTSSSR;
+  uint32_t      RESERVED27[2];
+  __IO uint32_t MACACR;
+  uint32_t      RESERVED28;
+  __IO uint32_t MACATSNR;
+  __IO uint32_t MACATSSR;
+  __IO uint32_t MACTSIACR;
+  __IO uint32_t MACTSEACR;
+  __IO uint32_t MACTSICNR;
+  __IO uint32_t MACTSECNR;
+  uint32_t      RESERVED29[4];
+  __IO uint32_t MACPPSCR;
+  uint32_t      RESERVED30[3];
+  __IO uint32_t MACPPSTTSR;
+  __IO uint32_t MACPPSTTNR;
+  __IO uint32_t MACPPSIR;
+  __IO uint32_t MACPPSWR;
+  uint32_t      RESERVED31[12];
+  __IO uint32_t MACPOCR;
+  __IO uint32_t MACSPI0R;
+  __IO uint32_t MACSPI1R;
+  __IO uint32_t MACSPI2R;
+  __IO uint32_t MACLMIR;
+  uint32_t      RESERVED32[11];
+  __IO uint32_t MTLOMR;
+  uint32_t      RESERVED33[7];
+  __IO uint32_t MTLISR;
+  uint32_t      RESERVED34[55];
+  __IO uint32_t MTLTQOMR;
+  __IO uint32_t MTLTQUR;
+  __IO uint32_t MTLTQDR;
+  uint32_t      RESERVED35[8];
+  __IO uint32_t MTLQICSR;
+  __IO uint32_t MTLRQOMR;
+  __IO uint32_t MTLRQMPOCR;
+  __IO uint32_t MTLRQDR;
+  uint32_t      RESERVED36[177];
+  __IO uint32_t DMAMR;
+  __IO uint32_t DMASBMR;
+  __IO uint32_t DMAISR;
+  __IO uint32_t DMADSR;
+  uint32_t      RESERVED37[60];
+  __IO uint32_t DMACCR;
+  __IO uint32_t DMACTCR;
+  __IO uint32_t DMACRCR;
+  uint32_t      RESERVED38[2];
+  __IO uint32_t DMACTDLAR;
+  uint32_t      RESERVED39;
+  __IO uint32_t DMACRDLAR;
+  __IO uint32_t DMACTDTPR;
+  uint32_t      RESERVED40;
+  __IO uint32_t DMACRDTPR;
+  __IO uint32_t DMACTDRLR;
+  __IO uint32_t DMACRDRLR;
+  __IO uint32_t DMACIER;
+  __IO uint32_t DMACRIWTR;
+__IO uint32_t DMACSFCSR;
+  uint32_t      RESERVED41;
+  __IO uint32_t DMACCATDR;
+  uint32_t      RESERVED42;
+  __IO uint32_t DMACCARDR;
+  uint32_t      RESERVED43;
+  __IO uint32_t DMACCATBR;
+  uint32_t      RESERVED44;
+  __IO uint32_t DMACCARBR;
+  __IO uint32_t DMACSR;
+uint32_t      RESERVED45[2];
+__IO uint32_t DMACMFCR;
+}ETH_TypeDef;
+/**
+  * @brief External Interrupt/Event Controller
+  */
+
+typedef struct
+{
+__IO uint32_t RTSR1;               /*!< EXTI Rising trigger selection register,          Address offset: 0x00 */
+__IO uint32_t FTSR1;               /*!< EXTI Falling trigger selection register,         Address offset: 0x04 */
+__IO uint32_t SWIER1;              /*!< EXTI Software interrupt event register,          Address offset: 0x08 */
+__IO uint32_t D3PMR1;              /*!< EXTI D3 Pending mask register, (same register as to SRDPMR1) Address offset: 0x0C */
+__IO uint32_t D3PCR1L;             /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR1L)     Address offset: 0x10 */
+__IO uint32_t D3PCR1H;             /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR1H)   Address offset: 0x14 */
+uint32_t      RESERVED1[2];        /*!< Reserved,                                        0x18 to 0x1C         */
+__IO uint32_t RTSR2;               /*!< EXTI Rising trigger selection register,          Address offset: 0x20 */
+__IO uint32_t FTSR2;               /*!< EXTI Falling trigger selection register,         Address offset: 0x24 */
+__IO uint32_t SWIER2;              /*!< EXTI Software interrupt event register,          Address offset: 0x28 */
+__IO uint32_t D3PMR2;              /*!< EXTI D3 Pending mask register, (same register as to SRDPMR2) Address offset: 0x2C */
+__IO uint32_t D3PCR2L;             /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR2L)  Address offset: 0x30 */
+__IO uint32_t D3PCR2H;             /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR2H) Address offset: 0x34 */
+uint32_t      RESERVED2[2];        /*!< Reserved,                                        0x38 to 0x3C         */
+__IO uint32_t RTSR3;               /*!< EXTI Rising trigger selection register,          Address offset: 0x40 */
+__IO uint32_t FTSR3;               /*!< EXTI Falling trigger selection register,         Address offset: 0x44 */
+__IO uint32_t SWIER3;              /*!< EXTI Software interrupt event register,          Address offset: 0x48 */
+__IO uint32_t D3PMR3;              /*!< EXTI D3 Pending mask register, (same register as to SRDPMR3) Address offset: 0x4C */
+__IO uint32_t D3PCR3L;             /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR3L) Address offset: 0x50 */
+__IO uint32_t D3PCR3H;             /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR3H) Address offset: 0x54 */
+uint32_t      RESERVED3[10];       /*!< Reserved,                                        0x58 to 0x7C         */
+__IO uint32_t IMR1;                /*!< EXTI Interrupt mask register,                    Address offset: 0x80 */
+__IO uint32_t EMR1;                /*!< EXTI Event mask register,                        Address offset: 0x84 */
+__IO uint32_t PR1;                 /*!< EXTI Pending register,                           Address offset: 0x88 */
+uint32_t      RESERVED4;           /*!< Reserved,                                        0x8C                 */
+__IO uint32_t IMR2;                /*!< EXTI Interrupt mask register,                    Address offset: 0x90 */
+__IO uint32_t EMR2;                /*!< EXTI Event mask register,                        Address offset: 0x94 */
+__IO uint32_t PR2;                 /*!< EXTI Pending register,                           Address offset: 0x98 */
+uint32_t      RESERVED5;           /*!< Reserved,                                        0x9C                 */
+__IO uint32_t IMR3;                /*!< EXTI Interrupt mask register,                    Address offset: 0xA0 */
+__IO uint32_t EMR3;                /*!< EXTI Event mask register,                        Address offset: 0xA4 */
+__IO uint32_t PR3;                 /*!< EXTI Pending register,                           Address offset: 0xA8 */
+}EXTI_TypeDef;
+
+/**
+  * @brief This structure registers corresponds to EXTI_Typdef CPU1/CPU2 registers subset (IMRx, EMRx and PRx), allowing to define EXTI_D1/EXTI_D2
+  *        with rapid/common access to these IMRx, EMRx, PRx registers for CPU1 and CPU2.
+  *        Note that EXTI_D1 and EXTI_D2 bases addresses are calculated to point to CPUx first register:
+  *           IMR1   in case of EXTI_D1 that is addressing CPU1 (Coretx-M7)
+  *           C2IMR1 in case of EXTI_D2 that is addressing CPU2 (Coretx-M4)
+  *        Note: EXTI_D2 and corresponding C2IMRx, C2EMRx and C2PRx registers are available for Dual Core devices only
+  */
+
+typedef struct
+{
+__IO uint32_t IMR1;                /*!< EXTI Interrupt mask register,                Address offset: 0x00 */
+__IO uint32_t EMR1;                /*!< EXTI Event mask register,                    Address offset: 0x04 */
+__IO uint32_t PR1;                 /*!< EXTI Pending register,                       Address offset: 0x08 */
+uint32_t      RESERVED1;           /*!< Reserved, 0x0C                                                    */
+__IO uint32_t IMR2;                /*!< EXTI Interrupt mask register,                Address offset: 0x10 */
+__IO uint32_t EMR2;                /*!< EXTI Event mask register,                    Address offset: 0x14 */
+__IO uint32_t PR2;                 /*!< EXTI Pending register,                       Address offset: 0x18 */
+uint32_t      RESERVED2;           /*!< Reserved, 0x1C                                                    */
+__IO uint32_t IMR3;                /*!< EXTI Interrupt mask register,                Address offset: 0x20 */
+__IO uint32_t EMR3;                /*!< EXTI Event mask register,                    Address offset: 0x24 */
+__IO uint32_t PR3;                 /*!< EXTI Pending register,                       Address offset: 0x28 */
+}EXTI_Core_TypeDef;
+
+
+/**
+  * @brief FLASH Registers
+  */
+
+typedef struct
+{
+  __IO uint32_t ACR;             /*!< FLASH access control register,                            Address offset: 0x00  */
+  __IO uint32_t KEYR1;           /*!< Flash Key Register for bank1,                             Address offset: 0x04  */
+  __IO uint32_t OPTKEYR;         /*!< Flash Option Key Register,                                Address offset: 0x08  */
+  __IO uint32_t CR1;             /*!< Flash Control Register for bank1,                         Address offset: 0x0C  */
+  __IO uint32_t SR1;             /*!< Flash Status Register for bank1,                          Address offset: 0x10  */
+  __IO uint32_t CCR1;            /*!< Flash Control Register for bank1,                         Address offset: 0x14  */
+  __IO uint32_t OPTCR;           /*!< Flash Option Control Register,                            Address offset: 0x18  */
+  __IO uint32_t OPTSR_CUR;       /*!< Flash Option Status Current Register,                     Address offset: 0x1C  */
+  __IO uint32_t OPTSR_PRG;       /*!< Flash Option Status to Program Register,                  Address offset: 0x20  */
+  __IO uint32_t OPTCCR;          /*!< Flash Option Clear Control Register,                      Address offset: 0x24  */
+  __IO uint32_t PRAR_CUR1;       /*!< Flash Current Protection Address Register for bank1,      Address offset: 0x28  */
+  __IO uint32_t PRAR_PRG1;       /*!< Flash Protection Address to Program Register for bank1,   Address offset: 0x2C  */
+  __IO uint32_t SCAR_CUR1;       /*!< Flash Current Secure Address Register for bank1,          Address offset: 0x30  */
+  __IO uint32_t SCAR_PRG1;       /*!< Flash Secure Address to Program Register for bank1,       Address offset: 0x34  */
+  __IO uint32_t WPSN_CUR1;       /*!< Flash Current Write Protection Register on bank1,         Address offset: 0x38  */
+  __IO uint32_t WPSN_PRG1;       /*!< Flash Write Protection to Program Register on bank1,      Address offset: 0x3C  */
+  __IO uint32_t BOOT_CUR;        /*!< Flash Current Boot Address for Pelican Core Register,     Address offset: 0x40  */
+  __IO uint32_t BOOT_PRG;        /*!< Flash Boot Address to Program for Pelican Core Register,  Address offset: 0x44  */
+  uint32_t      RESERVED0[2];    /*!< Reserved, 0x48 to 0x4C                                                          */
+  __IO uint32_t CRCCR1;          /*!< Flash CRC Control register For Bank1 Register ,           Address offset: 0x50  */
+  __IO uint32_t CRCSADD1;        /*!< Flash CRC Start Address Register for Bank1 ,              Address offset: 0x54  */
+  __IO uint32_t CRCEADD1;        /*!< Flash CRC End Address Register for Bank1 ,                Address offset: 0x58  */
+  __IO uint32_t CRCDATA;         /*!< Flash CRC Data Register for Bank1 ,                       Address offset: 0x5C  */
+  __IO uint32_t ECC_FA1;         /*!< Flash ECC Fail Address For Bank1 Register ,               Address offset: 0x60  */
+  uint32_t      RESERVED[3];     /*!< Reserved, 0x64 to 0x6C                                                          */
+  __IO uint32_t OPTSR2_CUR;      /*!< Flash Option Status Current Register 2,                   Address offset: 0x70  */
+  __IO uint32_t OPTSR2_PRG;      /*!< Flash Option Status to Program Register 2,                Address offset: 0x74  */
+} FLASH_TypeDef;
+
+/**
+  * @brief Filter and Mathematical ACcelerator
+  */
+typedef struct
+{
+  __IO uint32_t X1BUFCFG;        /*!< FMAC X1 Buffer Configuration register, Address offset: 0x00          */
+  __IO uint32_t X2BUFCFG;        /*!< FMAC X2 Buffer Configuration register, Address offset: 0x04          */
+  __IO uint32_t YBUFCFG;         /*!< FMAC Y Buffer Configuration register,  Address offset: 0x08          */
+  __IO uint32_t PARAM;           /*!< FMAC Parameter register,               Address offset: 0x0C          */
+  __IO uint32_t CR;              /*!< FMAC Control register,                 Address offset: 0x10          */
+  __IO uint32_t SR;              /*!< FMAC Status register,                  Address offset: 0x14          */
+  __IO uint32_t WDATA;           /*!< FMAC Write Data register,              Address offset: 0x18          */
+  __IO uint32_t RDATA;           /*!< FMAC Read Data register,               Address offset: 0x1C          */
+} FMAC_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller
+  */
+
+typedef struct
+{
+  __IO uint32_t BTCR[8];    /*!< NOR/PSRAM chip-select control register(BCR) and chip-select timing register(BTR), Address offset: 0x00-1C */
+} FMC_Bank1_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller Bank1E
+  */
+
+typedef struct
+{
+  __IO uint32_t BWTR[7];    /*!< NOR/PSRAM write timing registers, Address offset: 0x104-0x11C */
+} FMC_Bank1E_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller Bank2
+  */
+
+typedef struct
+{
+  __IO uint32_t PCR2;       /*!< NAND Flash control register 2,                       Address offset: 0x60 */
+  __IO uint32_t SR2;        /*!< NAND Flash FIFO status and interrupt register 2,     Address offset: 0x64 */
+  __IO uint32_t PMEM2;      /*!< NAND Flash Common memory space timing register 2,    Address offset: 0x68 */
+  __IO uint32_t PATT2;      /*!< NAND Flash Attribute memory space timing register 2, Address offset: 0x6C */
+  uint32_t      RESERVED0;  /*!< Reserved, 0x70                                                            */
+  __IO uint32_t ECCR2;      /*!< NAND Flash ECC result registers 2,                   Address offset: 0x74 */
+} FMC_Bank2_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller Bank3
+  */
+
+typedef struct
+{
+  __IO uint32_t PCR;       /*!< NAND Flash control register 3,                       Address offset: 0x80 */
+  __IO uint32_t SR;        /*!< NAND Flash FIFO status and interrupt register 3,     Address offset: 0x84 */
+  __IO uint32_t PMEM;      /*!< NAND Flash Common memory space timing register 3,    Address offset: 0x88 */
+  __IO uint32_t PATT;      /*!< NAND Flash Attribute memory space timing register 3, Address offset: 0x8C */
+  uint32_t      RESERVED;  /*!< Reserved, 0x90                                                            */
+  __IO uint32_t ECCR;      /*!< NAND Flash ECC result registers 3,                   Address offset: 0x94 */
+} FMC_Bank3_TypeDef;
+
+/**
+  * @brief Flexible Memory Controller Bank5 and 6
+  */
+
+
+typedef struct
+{
+  __IO uint32_t SDCR[2];        /*!< SDRAM Control registers ,      Address offset: 0x140-0x144  */
+  __IO uint32_t SDTR[2];        /*!< SDRAM Timing registers ,       Address offset: 0x148-0x14C  */
+  __IO uint32_t SDCMR;       /*!< SDRAM Command Mode register,    Address offset: 0x150  */
+  __IO uint32_t SDRTR;       /*!< SDRAM Refresh Timer register,   Address offset: 0x154  */
+  __IO uint32_t SDSR;        /*!< SDRAM Status register,          Address offset: 0x158  */
+} FMC_Bank5_6_TypeDef;
+
+/**
+  * @brief General Purpose I/O
+  */
+
+typedef struct
+{
+  __IO uint32_t MODER;    /*!< GPIO port mode register,               Address offset: 0x00      */
+  __IO uint32_t OTYPER;   /*!< GPIO port output type register,        Address offset: 0x04      */
+  __IO uint32_t OSPEEDR;  /*!< GPIO port output speed register,       Address offset: 0x08      */
+  __IO uint32_t PUPDR;    /*!< GPIO port pull-up/pull-down register,  Address offset: 0x0C      */
+  __IO uint32_t IDR;      /*!< GPIO port input data register,         Address offset: 0x10      */
+  __IO uint32_t ODR;      /*!< GPIO port output data register,        Address offset: 0x14      */
+  __IO uint32_t BSRR;     /*!< GPIO port bit set/reset,               Address offset: 0x18      */
+  __IO uint32_t LCKR;     /*!< GPIO port configuration lock register, Address offset: 0x1C      */
+  __IO uint32_t AFR[2];   /*!< GPIO alternate function registers,     Address offset: 0x20-0x24 */
+} GPIO_TypeDef;
+
+/**
+  * @brief Operational Amplifier (OPAMP)
+  */
+
+typedef struct
+{
+  __IO uint32_t CSR;          /*!< OPAMP control/status register,                      Address offset: 0x00 */
+  __IO uint32_t OTR;          /*!< OPAMP offset trimming register for normal mode,     Address offset: 0x04 */
+  __IO uint32_t HSOTR;        /*!< OPAMP offset trimming register for high speed mode, Address offset: 0x08 */
+} OPAMP_TypeDef;
+
+/**
+  * @brief System configuration controller
+  */
+
+typedef struct
+{
+ uint32_t RESERVED1;           /*!< Reserved,                                           Address offset: 0x00        */
+ __IO uint32_t PMCR;           /*!< SYSCFG peripheral mode configuration register,      Address offset: 0x04        */
+ __IO uint32_t EXTICR[4];      /*!< SYSCFG external interrupt configuration registers,  Address offset: 0x08-0x14   */
+ __IO uint32_t CFGR;           /*!< SYSCFG configuration registers,                     Address offset: 0x18        */
+ uint32_t RESERVED2;           /*!< Reserved,                                           Address offset: 0x1C        */
+ __IO uint32_t CCCSR;          /*!< SYSCFG compensation cell control/status register,   Address offset: 0x20        */
+ __IO uint32_t CCVR;           /*!< SYSCFG compensation cell value register,            Address offset: 0x24        */
+ __IO uint32_t CCCR;           /*!< SYSCFG compensation cell code register,             Address offset: 0x28        */
+ uint32_t     RESERVED3;       /*!< Reserved,                                           Address offset: 0x2C        */
+ __IO uint32_t ADC2ALT;        /*!< ADC2 internal input alternate connection register,  Address offset: 0x30        */
+ uint32_t     RESERVED4[60];   /*!< Reserved, 0x34-0x120                                                            */
+  __IO uint32_t PKGR;          /*!< SYSCFG package register,                            Address offset: 0x124       */
+  uint32_t     RESERVED5[118]; /*!< Reserved, 0x128-0x2FC                                                           */
+ __IO uint32_t UR0;            /*!< SYSCFG user register 0,                             Address offset: 0x300       */
+ __IO uint32_t UR1;            /*!< SYSCFG user register 1,                             Address offset: 0x304       */
+ __IO uint32_t UR2;            /*!< SYSCFG user register 2,                             Address offset: 0x308       */
+ __IO uint32_t UR3;            /*!< SYSCFG user register 3,                             Address offset: 0x30C       */
+ __IO uint32_t UR4;            /*!< SYSCFG user register 4,                             Address offset: 0x310       */
+ __IO uint32_t UR5;            /*!< SYSCFG user register 5,                             Address offset: 0x314       */
+ __IO uint32_t UR6;            /*!< SYSCFG user register 6,                             Address offset: 0x318       */
+ __IO uint32_t UR7;            /*!< SYSCFG user register 7,                             Address offset: 0x31C       */
+ uint32_t     RESERVED6[3];    /*!< Reserved,                                           Address offset: 0x320-0x328 */
+ __IO uint32_t UR11;           /*!< SYSCFG user register 11,                            Address offset: 0x32C       */
+ __IO uint32_t UR12;           /*!< SYSCFG user register 12,                            Address offset: 0x330       */
+ __IO uint32_t UR13;           /*!< SYSCFG user register 13,                            Address offset: 0x334       */
+ __IO uint32_t UR14;           /*!< SYSCFG user register 14,                            Address offset: 0x338       */
+ __IO uint32_t UR15;           /*!< SYSCFG user register 15,                            Address offset: 0x33C       */
+ __IO uint32_t UR16;           /*!< SYSCFG user register 16,                            Address offset: 0x340       */
+ __IO uint32_t UR17;           /*!< SYSCFG user register 17,                            Address offset: 0x344       */
+ __IO uint32_t UR18;           /*!< SYSCFG user register 18,                            Address offset: 0x348       */
+
+} SYSCFG_TypeDef;
+
+/**
+  * @brief Inter-integrated Circuit Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;      /*!< I2C Control register 1,            Address offset: 0x00 */
+  __IO uint32_t CR2;      /*!< I2C Control register 2,            Address offset: 0x04 */
+  __IO uint32_t OAR1;     /*!< I2C Own address 1 register,        Address offset: 0x08 */
+  __IO uint32_t OAR2;     /*!< I2C Own address 2 register,        Address offset: 0x0C */
+  __IO uint32_t TIMINGR;  /*!< I2C Timing register,               Address offset: 0x10 */
+  __IO uint32_t TIMEOUTR; /*!< I2C Timeout register,              Address offset: 0x14 */
+  __IO uint32_t ISR;      /*!< I2C Interrupt and status register, Address offset: 0x18 */
+  __IO uint32_t ICR;      /*!< I2C Interrupt clear register,      Address offset: 0x1C */
+  __IO uint32_t PECR;     /*!< I2C PEC register,                  Address offset: 0x20 */
+  __IO uint32_t RXDR;     /*!< I2C Receive data register,         Address offset: 0x24 */
+  __IO uint32_t TXDR;     /*!< I2C Transmit data register,        Address offset: 0x28 */
+} I2C_TypeDef;
+
+/**
+  * @brief Independent WATCHDOG
+  */
+
+typedef struct
+{
+  __IO uint32_t KR;   /*!< IWDG Key register,       Address offset: 0x00 */
+  __IO uint32_t PR;   /*!< IWDG Prescaler register, Address offset: 0x04 */
+  __IO uint32_t RLR;  /*!< IWDG Reload register,    Address offset: 0x08 */
+  __IO uint32_t SR;   /*!< IWDG Status register,    Address offset: 0x0C */
+  __IO uint32_t WINR; /*!< IWDG Window register,    Address offset: 0x10 */
+} IWDG_TypeDef;
+
+
+/**
+  * @brief LCD-TFT Display Controller
+  */
+
+typedef struct
+{
+  uint32_t      RESERVED0[2];  /*!< Reserved, 0x00-0x04                                                       */
+  __IO uint32_t SSCR;          /*!< LTDC Synchronization Size Configuration Register,    Address offset: 0x08 */
+  __IO uint32_t BPCR;          /*!< LTDC Back Porch Configuration Register,              Address offset: 0x0C */
+  __IO uint32_t AWCR;          /*!< LTDC Active Width Configuration Register,            Address offset: 0x10 */
+  __IO uint32_t TWCR;          /*!< LTDC Total Width Configuration Register,             Address offset: 0x14 */
+  __IO uint32_t GCR;           /*!< LTDC Global Control Register,                        Address offset: 0x18 */
+  uint32_t      RESERVED1[2];  /*!< Reserved, 0x1C-0x20                                                       */
+  __IO uint32_t SRCR;          /*!< LTDC Shadow Reload Configuration Register,           Address offset: 0x24 */
+  uint32_t      RESERVED2[1];  /*!< Reserved, 0x28                                                            */
+  __IO uint32_t BCCR;          /*!< LTDC Background Color Configuration Register,        Address offset: 0x2C */
+  uint32_t      RESERVED3[1];  /*!< Reserved, 0x30                                                            */
+  __IO uint32_t IER;           /*!< LTDC Interrupt Enable Register,                      Address offset: 0x34 */
+  __IO uint32_t ISR;           /*!< LTDC Interrupt Status Register,                      Address offset: 0x38 */
+  __IO uint32_t ICR;           /*!< LTDC Interrupt Clear Register,                       Address offset: 0x3C */
+  __IO uint32_t LIPCR;         /*!< LTDC Line Interrupt Position Configuration Register, Address offset: 0x40 */
+  __IO uint32_t CPSR;          /*!< LTDC Current Position Status Register,               Address offset: 0x44 */
+  __IO uint32_t CDSR;         /*!< LTDC Current Display Status Register,                 Address offset: 0x48 */
+} LTDC_TypeDef;
+
+/**
+  * @brief LCD-TFT Display layer x Controller
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;            /*!< LTDC Layerx Control Register                                  Address offset: 0x84 */
+  __IO uint32_t WHPCR;         /*!< LTDC Layerx Window Horizontal Position Configuration Register Address offset: 0x88 */
+  __IO uint32_t WVPCR;         /*!< LTDC Layerx Window Vertical Position Configuration Register   Address offset: 0x8C */
+  __IO uint32_t CKCR;          /*!< LTDC Layerx Color Keying Configuration Register               Address offset: 0x90 */
+  __IO uint32_t PFCR;          /*!< LTDC Layerx Pixel Format Configuration Register               Address offset: 0x94 */
+  __IO uint32_t CACR;          /*!< LTDC Layerx Constant Alpha Configuration Register             Address offset: 0x98 */
+  __IO uint32_t DCCR;          /*!< LTDC Layerx Default Color Configuration Register              Address offset: 0x9C */
+  __IO uint32_t BFCR;          /*!< LTDC Layerx Blending Factors Configuration Register           Address offset: 0xA0 */
+  uint32_t      RESERVED0[2];  /*!< Reserved */
+  __IO uint32_t CFBAR;         /*!< LTDC Layerx Color Frame Buffer Address Register               Address offset: 0xAC */
+  __IO uint32_t CFBLR;         /*!< LTDC Layerx Color Frame Buffer Length Register                Address offset: 0xB0 */
+  __IO uint32_t CFBLNR;        /*!< LTDC Layerx ColorFrame Buffer Line Number Register            Address offset: 0xB4 */
+  uint32_t      RESERVED1[3];  /*!< Reserved */
+  __IO uint32_t CLUTWR;         /*!< LTDC Layerx CLUT Write Register                               Address offset: 0x144 */
+
+} LTDC_Layer_TypeDef;
+
+/**
+  * @brief Power Control
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;       /*!< PWR power control register 1,            Address offset: 0x00 */
+  __IO uint32_t CSR1;      /*!< PWR power control status register 1,     Address offset: 0x04 */
+  __IO uint32_t CR2;       /*!< PWR power control register 2,            Address offset: 0x08 */
+  __IO uint32_t CR3;       /*!< PWR power control register 3,            Address offset: 0x0C */
+  __IO uint32_t CPUCR;     /*!< PWR CPU control register,                Address offset: 0x10 */
+       uint32_t RESERVED0; /*!< Reserved,                                Address offset: 0x14 */
+  __IO uint32_t D3CR;      /*!< PWR D3 domain control register,          Address offset: 0x18 */
+       uint32_t RESERVED1; /*!< Reserved,                                Address offset: 0x1C */
+  __IO uint32_t WKUPCR;    /*!< PWR wakeup clear register,               Address offset: 0x20 */
+  __IO uint32_t WKUPFR;    /*!< PWR wakeup flag register,                Address offset: 0x24 */
+  __IO uint32_t WKUPEPR;   /*!< PWR wakeup enable and polarity register, Address offset: 0x28 */
+} PWR_TypeDef;
+
+/**
+  * @brief Reset and Clock Control
+  */
+
+typedef struct
+{
+ __IO uint32_t CR;             /*!< RCC clock control register,                                              Address offset: 0x00  */
+ __IO uint32_t HSICFGR;        /*!< HSI Clock Calibration Register,                                          Address offset: 0x04  */
+ __IO uint32_t CRRCR;          /*!< Clock Recovery RC  Register,                                             Address offset: 0x08  */
+ __IO uint32_t CSICFGR;        /*!< CSI Clock Calibration Register,                                          Address offset: 0x0C  */
+ __IO uint32_t CFGR;           /*!< RCC clock configuration register,                                        Address offset: 0x10  */
+ uint32_t     RESERVED1;       /*!< Reserved,                                                                Address offset: 0x14  */
+ __IO uint32_t D1CFGR;         /*!< RCC Domain 1 configuration register,                                     Address offset: 0x18  */
+ __IO uint32_t D2CFGR;         /*!< RCC Domain 2 configuration register,                                     Address offset: 0x1C  */
+ __IO uint32_t D3CFGR;         /*!< RCC Domain 3 configuration register,                                     Address offset: 0x20  */
+ uint32_t     RESERVED2;       /*!< Reserved,                                                                Address offset: 0x24  */
+ __IO uint32_t PLLCKSELR;      /*!< RCC PLLs Clock Source Selection Register,                                Address offset: 0x28  */
+ __IO uint32_t PLLCFGR;        /*!< RCC PLLs  Configuration Register,                                        Address offset: 0x2C  */
+ __IO uint32_t PLL1DIVR;       /*!< RCC PLL1 Dividers Configuration Register,                                Address offset: 0x30  */
+ __IO uint32_t PLL1FRACR;      /*!< RCC PLL1 Fractional Divider Configuration Register,                      Address offset: 0x34  */
+ __IO uint32_t PLL2DIVR;       /*!< RCC PLL2 Dividers Configuration Register,                                Address offset: 0x38  */
+ __IO uint32_t PLL2FRACR;      /*!< RCC PLL2 Fractional Divider Configuration Register,                      Address offset: 0x3C  */
+ __IO uint32_t PLL3DIVR;       /*!< RCC PLL3 Dividers Configuration Register,                                Address offset: 0x40  */
+ __IO uint32_t PLL3FRACR;      /*!< RCC PLL3 Fractional Divider Configuration Register,                      Address offset: 0x44  */
+ uint32_t      RESERVED3;      /*!< Reserved,                                                                Address offset: 0x48  */
+ __IO uint32_t  D1CCIPR;       /*!< RCC Domain 1 Kernel Clock Configuration Register                         Address offset: 0x4C  */
+ __IO uint32_t  D2CCIP1R;      /*!< RCC Domain 2 Kernel Clock Configuration Register                         Address offset: 0x50  */
+ __IO uint32_t  D2CCIP2R;      /*!< RCC Domain 2 Kernel Clock Configuration Register                         Address offset: 0x54  */
+ __IO uint32_t  D3CCIPR;       /*!< RCC Domain 3 Kernel Clock Configuration Register                         Address offset: 0x58  */
+ uint32_t      RESERVED4;      /*!< Reserved,                                                                Address offset: 0x5C  */
+ __IO uint32_t  CIER;          /*!< RCC Clock Source Interrupt Enable Register                               Address offset: 0x60  */
+ __IO uint32_t  CIFR;          /*!< RCC Clock Source Interrupt Flag Register                                 Address offset: 0x64  */
+ __IO uint32_t  CICR;          /*!< RCC Clock Source Interrupt Clear Register                                Address offset: 0x68  */
+ uint32_t     RESERVED5;       /*!< Reserved,                                                                Address offset: 0x6C  */
+ __IO uint32_t  BDCR;          /*!< RCC Vswitch Backup Domain Control Register,                              Address offset: 0x70  */
+ __IO uint32_t  CSR;           /*!< RCC clock control & status register,                                     Address offset: 0x74  */
+ uint32_t     RESERVED6;       /*!< Reserved,                                                                Address offset: 0x78  */
+ __IO uint32_t AHB3RSTR;       /*!< RCC AHB3 peripheral reset register,                                      Address offset: 0x7C  */
+ __IO uint32_t AHB1RSTR;       /*!< RCC AHB1 peripheral reset register,                                      Address offset: 0x80  */
+ __IO uint32_t AHB2RSTR;       /*!< RCC AHB2 peripheral reset register,                                      Address offset: 0x84  */
+ __IO uint32_t AHB4RSTR;       /*!< RCC AHB4 peripheral reset register,                                      Address offset: 0x88  */
+ __IO uint32_t APB3RSTR;       /*!< RCC APB3 peripheral reset register,                                      Address offset: 0x8C  */
+ __IO uint32_t APB1LRSTR;      /*!< RCC APB1 peripheral reset Low Word register,                             Address offset: 0x90  */
+ __IO uint32_t APB1HRSTR;      /*!< RCC APB1 peripheral reset High Word register,                            Address offset: 0x94  */
+ __IO uint32_t APB2RSTR;       /*!< RCC APB2 peripheral reset register,                                      Address offset: 0x98  */
+ __IO uint32_t APB4RSTR;       /*!< RCC APB4 peripheral reset register,                                      Address offset: 0x9C  */
+ __IO uint32_t GCR;            /*!< RCC RCC Global Control  Register,                                        Address offset: 0xA0  */
+ uint32_t     RESERVED8;       /*!< Reserved,                                                                Address offset: 0xA4  */
+ __IO uint32_t D3AMR;          /*!< RCC Domain 3 Autonomous Mode Register,                                   Address offset: 0xA8  */
+ uint32_t     RESERVED11[9];    /*!< Reserved, 0xAC-0xCC                                                      Address offset: 0xAC  */
+ __IO uint32_t RSR;            /*!< RCC Reset status register,                                               Address offset: 0xD0  */
+ __IO uint32_t AHB3ENR;        /*!< RCC AHB3 peripheral clock  register,                                     Address offset: 0xD4  */
+ __IO uint32_t AHB1ENR;        /*!< RCC AHB1 peripheral clock  register,                                     Address offset: 0xD8  */
+ __IO uint32_t AHB2ENR;        /*!< RCC AHB2 peripheral clock  register,                                     Address offset: 0xDC  */
+ __IO uint32_t AHB4ENR;        /*!< RCC AHB4 peripheral clock  register,                                     Address offset: 0xE0  */
+ __IO uint32_t APB3ENR;        /*!< RCC APB3 peripheral clock  register,                                     Address offset: 0xE4  */
+ __IO uint32_t APB1LENR;       /*!< RCC APB1 peripheral clock  Low Word register,                            Address offset: 0xE8  */
+ __IO uint32_t APB1HENR;       /*!< RCC APB1 peripheral clock  High Word register,                           Address offset: 0xEC  */
+ __IO uint32_t APB2ENR;        /*!< RCC APB2 peripheral clock  register,                                     Address offset: 0xF0  */
+ __IO uint32_t APB4ENR;        /*!< RCC APB4 peripheral clock  register,                                     Address offset: 0xF4  */
+ uint32_t      RESERVED12;      /*!< Reserved,                                                                Address offset: 0xF8  */
+ __IO uint32_t AHB3LPENR;      /*!< RCC AHB3 peripheral sleep clock  register,                               Address offset: 0xFC  */
+ __IO uint32_t AHB1LPENR;      /*!< RCC AHB1 peripheral sleep clock  register,                               Address offset: 0x100 */
+ __IO uint32_t AHB2LPENR;      /*!< RCC AHB2 peripheral sleep clock  register,                               Address offset: 0x104 */
+ __IO uint32_t AHB4LPENR;      /*!< RCC AHB4 peripheral sleep clock  register,                               Address offset: 0x108 */
+ __IO uint32_t APB3LPENR;      /*!< RCC APB3 peripheral sleep clock  register,                               Address offset: 0x10C */
+ __IO uint32_t APB1LLPENR;     /*!< RCC APB1 peripheral sleep clock  Low Word register,                      Address offset: 0x110 */
+ __IO uint32_t APB1HLPENR;     /*!< RCC APB1 peripheral sleep clock  High Word register,                     Address offset: 0x114 */
+ __IO uint32_t APB2LPENR;      /*!< RCC APB2 peripheral sleep clock  register,                               Address offset: 0x118 */
+ __IO uint32_t APB4LPENR;      /*!< RCC APB4 peripheral sleep clock  register,                               Address offset: 0x11C */
+ uint32_t     RESERVED13[4];   /*!< Reserved, 0x120-0x12C                                                    Address offset: 0x120 */
+
+} RCC_TypeDef;
+
+
+/**
+  * @brief Real-Time Clock
+  */
+typedef struct
+{
+  __IO uint32_t TR;         /*!< RTC time register,                                         Address offset: 0x00 */
+  __IO uint32_t DR;         /*!< RTC date register,                                         Address offset: 0x04 */
+  __IO uint32_t CR;         /*!< RTC control register,                                      Address offset: 0x08 */
+  __IO uint32_t ISR;        /*!< RTC initialization and status register,                    Address offset: 0x0C */
+  __IO uint32_t PRER;       /*!< RTC prescaler register,                                    Address offset: 0x10 */
+  __IO uint32_t WUTR;       /*!< RTC wakeup timer register,                                 Address offset: 0x14 */
+       uint32_t RESERVED;   /*!< Reserved,                                                  Address offset: 0x18 */
+  __IO uint32_t ALRMAR;     /*!< RTC alarm A register,                                      Address offset: 0x1C */
+  __IO uint32_t ALRMBR;     /*!< RTC alarm B register,                                      Address offset: 0x20 */
+  __IO uint32_t WPR;        /*!< RTC write protection register,                             Address offset: 0x24 */
+  __IO uint32_t SSR;        /*!< RTC sub second register,                                   Address offset: 0x28 */
+  __IO uint32_t SHIFTR;     /*!< RTC shift control register,                                Address offset: 0x2C */
+  __IO uint32_t TSTR;       /*!< RTC time stamp time register,                              Address offset: 0x30 */
+  __IO uint32_t TSDR;       /*!< RTC time stamp date register,                              Address offset: 0x34 */
+  __IO uint32_t TSSSR;      /*!< RTC time-stamp sub second register,                        Address offset: 0x38 */
+  __IO uint32_t CALR;       /*!< RTC calibration register,                                  Address offset: 0x3C */
+  __IO uint32_t TAMPCR;     /*!< RTC tamper configuration register,                         Address offset: 0x40 */
+  __IO uint32_t ALRMASSR;   /*!< RTC alarm A sub second register,                           Address offset: 0x44 */
+  __IO uint32_t ALRMBSSR;   /*!< RTC alarm B sub second register,                           Address offset: 0x48 */
+  __IO uint32_t OR;         /*!< RTC option register,                                       Address offset: 0x4C */
+  __IO uint32_t BKP0R;      /*!< RTC backup register 0,                                     Address offset: 0x50 */
+  __IO uint32_t BKP1R;      /*!< RTC backup register 1,                                     Address offset: 0x54 */
+  __IO uint32_t BKP2R;      /*!< RTC backup register 2,                                     Address offset: 0x58 */
+  __IO uint32_t BKP3R;      /*!< RTC backup register 3,                                     Address offset: 0x5C */
+  __IO uint32_t BKP4R;      /*!< RTC backup register 4,                                     Address offset: 0x60 */
+  __IO uint32_t BKP5R;      /*!< RTC backup register 5,                                     Address offset: 0x64 */
+  __IO uint32_t BKP6R;      /*!< RTC backup register 6,                                     Address offset: 0x68 */
+  __IO uint32_t BKP7R;      /*!< RTC backup register 7,                                     Address offset: 0x6C */
+  __IO uint32_t BKP8R;      /*!< RTC backup register 8,                                     Address offset: 0x70 */
+  __IO uint32_t BKP9R;      /*!< RTC backup register 9,                                     Address offset: 0x74 */
+  __IO uint32_t BKP10R;     /*!< RTC backup register 10,                                    Address offset: 0x78 */
+  __IO uint32_t BKP11R;     /*!< RTC backup register 11,                                    Address offset: 0x7C */
+  __IO uint32_t BKP12R;     /*!< RTC backup register 12,                                    Address offset: 0x80 */
+  __IO uint32_t BKP13R;     /*!< RTC backup register 13,                                    Address offset: 0x84 */
+  __IO uint32_t BKP14R;     /*!< RTC backup register 14,                                    Address offset: 0x88 */
+  __IO uint32_t BKP15R;     /*!< RTC backup register 15,                                    Address offset: 0x8C */
+  __IO uint32_t BKP16R;     /*!< RTC backup register 16,                                    Address offset: 0x90 */
+  __IO uint32_t BKP17R;     /*!< RTC backup register 17,                                    Address offset: 0x94 */
+  __IO uint32_t BKP18R;     /*!< RTC backup register 18,                                    Address offset: 0x98 */
+  __IO uint32_t BKP19R;     /*!< RTC backup register 19,                                    Address offset: 0x9C */
+  __IO uint32_t BKP20R;     /*!< RTC backup register 20,                                    Address offset: 0xA0 */
+  __IO uint32_t BKP21R;     /*!< RTC backup register 21,                                    Address offset: 0xA4 */
+  __IO uint32_t BKP22R;     /*!< RTC backup register 22,                                    Address offset: 0xA8 */
+  __IO uint32_t BKP23R;     /*!< RTC backup register 23,                                    Address offset: 0xAC */
+  __IO uint32_t BKP24R;     /*!< RTC backup register 24,                                    Address offset: 0xB0 */
+  __IO uint32_t BKP25R;     /*!< RTC backup register 25,                                    Address offset: 0xB4 */
+  __IO uint32_t BKP26R;     /*!< RTC backup register 26,                                    Address offset: 0xB8 */
+  __IO uint32_t BKP27R;     /*!< RTC backup register 27,                                    Address offset: 0xBC */
+  __IO uint32_t BKP28R;     /*!< RTC backup register 28,                                    Address offset: 0xC0 */
+  __IO uint32_t BKP29R;     /*!< RTC backup register 29,                                    Address offset: 0xC4 */
+  __IO uint32_t BKP30R;     /*!< RTC backup register 30,                                    Address offset: 0xC8 */
+  __IO uint32_t BKP31R;     /*!< RTC backup register 31,                                    Address offset: 0xCC */
+} RTC_TypeDef;
+
+/**
+  * @brief Serial Audio Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t GCR;           /*!< SAI global configuration register, Address offset: 0x00 */
+  uint32_t      RESERVED0[16]; /*!< Reserved, 0x04 - 0x43                                   */
+  __IO uint32_t PDMCR;         /*!< SAI PDM control register,          Address offset: 0x44 */
+  __IO uint32_t PDMDLY;        /*!< SAI PDM delay register,            Address offset: 0x48 */
+} SAI_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CR1;      /*!< SAI block x configuration register 1,     Address offset: 0x04 */
+  __IO uint32_t CR2;      /*!< SAI block x configuration register 2,     Address offset: 0x08 */
+  __IO uint32_t FRCR;     /*!< SAI block x frame configuration register, Address offset: 0x0C */
+  __IO uint32_t SLOTR;    /*!< SAI block x slot register,                Address offset: 0x10 */
+  __IO uint32_t IMR;      /*!< SAI block x interrupt mask register,      Address offset: 0x14 */
+  __IO uint32_t SR;       /*!< SAI block x status register,              Address offset: 0x18 */
+  __IO uint32_t CLRFR;    /*!< SAI block x clear flag register,          Address offset: 0x1C */
+  __IO uint32_t DR;       /*!< SAI block x data register,                Address offset: 0x20 */
+} SAI_Block_TypeDef;
+
+/**
+  * @brief SPDIF-RX Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t   CR;           /*!< Control register,                   Address offset: 0x00 */
+  __IO uint32_t   IMR;          /*!< Interrupt mask register,            Address offset: 0x04 */
+  __IO uint32_t   SR;           /*!< Status register,                    Address offset: 0x08 */
+  __IO uint32_t   IFCR;         /*!< Interrupt Flag Clear register,      Address offset: 0x0C */
+  __IO uint32_t   DR;           /*!< Data input register,                Address offset: 0x10 */
+  __IO uint32_t   CSR;          /*!< Channel Status register,            Address offset: 0x14 */
+  __IO uint32_t   DIR;          /*!< Debug Information register,         Address offset: 0x18 */
+  uint32_t        RESERVED2;    /*!< Reserved,  0x1A                                          */
+} SPDIFRX_TypeDef;
+
+
+/**
+  * @brief Secure digital input/output Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t POWER;          /*!< SDMMC power control register,             Address offset: 0x00  */
+  __IO uint32_t CLKCR;          /*!< SDMMC clock control register,             Address offset: 0x04  */
+  __IO uint32_t ARG;            /*!< SDMMC argument register,                  Address offset: 0x08  */
+  __IO uint32_t CMD;            /*!< SDMMC command register,                   Address offset: 0x0C  */
+  __I uint32_t  RESPCMD;        /*!< SDMMC command response register,          Address offset: 0x10  */
+  __I uint32_t  RESP1;          /*!< SDMMC response 1 register,                Address offset: 0x14  */
+  __I uint32_t  RESP2;          /*!< SDMMC response 2 register,                Address offset: 0x18  */
+  __I uint32_t  RESP3;          /*!< SDMMC response 3 register,                Address offset: 0x1C  */
+  __I uint32_t  RESP4;          /*!< SDMMC response 4 register,                Address offset: 0x20  */
+  __IO uint32_t DTIMER;         /*!< SDMMC data timer register,                Address offset: 0x24  */
+  __IO uint32_t DLEN;           /*!< SDMMC data length register,               Address offset: 0x28  */
+  __IO uint32_t DCTRL;          /*!< SDMMC data control register,              Address offset: 0x2C  */
+  __I uint32_t  DCOUNT;         /*!< SDMMC data counter register,              Address offset: 0x30  */
+  __I uint32_t  STA;            /*!< SDMMC status register,                    Address offset: 0x34  */
+  __IO uint32_t ICR;            /*!< SDMMC interrupt clear register,           Address offset: 0x38  */
+  __IO uint32_t MASK;           /*!< SDMMC mask register,                      Address offset: 0x3C  */
+  __IO uint32_t ACKTIME;        /*!< SDMMC Acknowledgement timer register,     Address offset: 0x40  */
+  uint32_t      RESERVED0[3];   /*!< Reserved, 0x44 - 0x4C - 0x4C                                    */
+  __IO uint32_t IDMACTRL;       /*!< SDMMC DMA control register,               Address offset: 0x50  */
+  __IO uint32_t IDMABSIZE;      /*!< SDMMC DMA buffer size register,           Address offset: 0x54  */
+  __IO uint32_t IDMABASE0;      /*!< SDMMC DMA buffer 0 base address register, Address offset: 0x58  */
+  __IO uint32_t IDMABASE1;      /*!< SDMMC DMA buffer 1 base address register, Address offset: 0x5C  */
+  uint32_t      RESERVED1[8];   /*!< Reserved, 0x60-0x7C                                             */
+  __IO uint32_t FIFO;           /*!< SDMMC data FIFO register,                 Address offset: 0x80  */
+  uint32_t      RESERVED2[222]; /*!< Reserved, 0x84-0x3F8                                            */
+  __IO uint32_t IPVR;           /*!< SDMMC data FIFO register,                 Address offset: 0x3FC */
+} SDMMC_TypeDef;
+
+
+/**
+  * @brief Delay Block DLYB
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;          /*!< DELAY BLOCK control register,  Address offset: 0x00 */
+  __IO uint32_t CFGR;        /*!< DELAY BLOCK configuration register,  Address offset: 0x04 */
+} DLYB_TypeDef;
+
+/**
+  * @brief HW Semaphore HSEM
+  */
+
+typedef struct
+{
+  __IO uint32_t R[32];      /*!< 2-step write lock and read back registers,     Address offset: 00h-7Ch  */
+  __IO uint32_t RLR[32];    /*!< 1-step read lock registers,                    Address offset: 80h-FCh  */
+  __IO uint32_t C1IER;      /*!< HSEM Interrupt enable register ,             Address offset: 100h     */
+  __IO uint32_t C1ICR;      /*!< HSEM Interrupt clear register ,              Address offset: 104h     */
+  __IO uint32_t C1ISR;      /*!< HSEM Interrupt Status register ,             Address offset: 108h     */
+  __IO uint32_t C1MISR;     /*!< HSEM Interrupt Masked Status register ,      Address offset: 10Ch     */
+  uint32_t  Reserved[12];   /* Reserved                                       Address offset: 110h-13Ch  */
+  __IO uint32_t CR;         /*!< HSEM Semaphore clear register ,                Address offset: 140h      */
+  __IO uint32_t KEYR;       /*!< HSEM Semaphore clear key register ,            Address offset: 144h      */
+
+} HSEM_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t IER;        /*!< HSEM interrupt enable register ,                Address offset:   0h     */
+  __IO uint32_t ICR;        /*!< HSEM interrupt clear register ,                 Address offset:   4h     */
+  __IO uint32_t ISR;        /*!< HSEM interrupt status register ,                Address offset:   8h     */
+  __IO uint32_t MISR;       /*!< HSEM masked interrupt status register ,         Address offset:   Ch     */
+} HSEM_Common_TypeDef;
+
+/**
+  * @brief Serial Peripheral Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;           /*!< SPI/I2S Control register 1,                      Address offset: 0x00 */
+  __IO uint32_t CR2;           /*!< SPI Control register 2,                          Address offset: 0x04 */
+  __IO uint32_t CFG1;          /*!< SPI Configuration register 1,                    Address offset: 0x08 */
+  __IO uint32_t CFG2;          /*!< SPI Configuration register 2,                    Address offset: 0x0C */
+  __IO uint32_t IER;           /*!< SPI/I2S Interrupt Enable register,               Address offset: 0x10 */
+  __IO uint32_t SR;            /*!< SPI/I2S Status register,                         Address offset: 0x14 */
+  __IO uint32_t IFCR;          /*!< SPI/I2S Interrupt/Status flags clear register,   Address offset: 0x18 */
+  uint32_t      RESERVED0;     /*!< Reserved, 0x1C                                                        */
+  __IO uint32_t TXDR;          /*!< SPI/I2S Transmit data register,                  Address offset: 0x20 */
+  uint32_t      RESERVED1[3];  /*!< Reserved, 0x24-0x2C                                                   */
+  __IO uint32_t RXDR;          /*!< SPI/I2S Receive data register,                   Address offset: 0x30 */
+  uint32_t      RESERVED2[3];  /*!< Reserved, 0x34-0x3C                                                   */
+  __IO uint32_t CRCPOLY;       /*!< SPI CRC Polynomial register,                     Address offset: 0x40 */
+  __IO uint32_t TXCRC;         /*!< SPI Transmitter CRC register,                    Address offset: 0x44 */
+  __IO uint32_t RXCRC;         /*!< SPI Receiver CRC register,                       Address offset: 0x48 */
+  __IO uint32_t UDRDR;         /*!< SPI Underrun data register,                      Address offset: 0x4C */
+  __IO uint32_t I2SCFGR;       /*!< I2S Configuration register,                      Address offset: 0x50 */
+
+} SPI_TypeDef;
+
+/**
+  * @brief DTS
+  */
+typedef struct
+{
+  __IO uint32_t CFGR1;         /*!< DTS configuration register,                Address offset: 0x00 */
+  uint32_t RESERVED0;          /*!< Reserved,                                  Address offset: 0x04 */
+  __IO uint32_t T0VALR1;       /*!< DTS T0 Value register,                     Address offset: 0x08 */
+  uint32_t RESERVED1;          /*!< Reserved,                                  Address offset: 0x0C */
+  __IO uint32_t RAMPVALR;      /*!< DTS Ramp value register,                   Address offset: 0x10 */
+  __IO uint32_t ITR1;          /*!< DTS Interrupt threshold register,          Address offset: 0x14 */
+  uint32_t RESERVED2;          /*!< Reserved,                                  Address offset: 0x18 */
+  __IO uint32_t DR;            /*!< DTS data register,                         Address offset: 0x1C */
+  __IO uint32_t SR;            /*!< DTS status register                        Address offset: 0x20 */
+  __IO uint32_t ITENR;         /*!< DTS Interrupt enable register,             Address offset: 0x24 */
+  __IO uint32_t ICIFR;         /*!< DTS Clear Interrupt flag register,         Address offset: 0x28 */
+  __IO uint32_t OR;            /*!< DTS option register 1,                     Address offset: 0x2C */
+}
+DTS_TypeDef;
+
+/**
+  * @brief TIM
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;         /*!< TIM control register 1,                   Address offset: 0x00 */
+  __IO uint32_t CR2;         /*!< TIM control register 2,                   Address offset: 0x04 */
+  __IO uint32_t SMCR;        /*!< TIM slave mode control register,          Address offset: 0x08 */
+  __IO uint32_t DIER;        /*!< TIM DMA/interrupt enable register,        Address offset: 0x0C */
+  __IO uint32_t SR;          /*!< TIM status register,                      Address offset: 0x10 */
+  __IO uint32_t EGR;         /*!< TIM event generation register,            Address offset: 0x14 */
+  __IO uint32_t CCMR1;       /*!< TIM capture/compare mode register 1,      Address offset: 0x18 */
+  __IO uint32_t CCMR2;       /*!< TIM capture/compare mode register 2,      Address offset: 0x1C */
+  __IO uint32_t CCER;        /*!< TIM capture/compare enable register,      Address offset: 0x20 */
+  __IO uint32_t CNT;         /*!< TIM counter register,                     Address offset: 0x24 */
+  __IO uint32_t PSC;         /*!< TIM prescaler,                            Address offset: 0x28 */
+  __IO uint32_t ARR;         /*!< TIM auto-reload register,                 Address offset: 0x2C */
+  __IO uint32_t RCR;         /*!< TIM repetition counter register,          Address offset: 0x30 */
+  __IO uint32_t CCR1;        /*!< TIM capture/compare register 1,           Address offset: 0x34 */
+  __IO uint32_t CCR2;        /*!< TIM capture/compare register 2,           Address offset: 0x38 */
+  __IO uint32_t CCR3;        /*!< TIM capture/compare register 3,           Address offset: 0x3C */
+  __IO uint32_t CCR4;        /*!< TIM capture/compare register 4,           Address offset: 0x40 */
+  __IO uint32_t BDTR;        /*!< TIM break and dead-time register,         Address offset: 0x44 */
+  __IO uint32_t DCR;         /*!< TIM DMA control register,                 Address offset: 0x48 */
+  __IO uint32_t DMAR;        /*!< TIM DMA address for full transfer,        Address offset: 0x4C */
+  uint32_t      RESERVED1;   /*!< Reserved, 0x50                                                 */
+  __IO uint32_t CCMR3;       /*!< TIM capture/compare mode register 3,      Address offset: 0x54 */
+  __IO uint32_t CCR5;        /*!< TIM capture/compare register5,            Address offset: 0x58 */
+  __IO uint32_t CCR6;        /*!< TIM capture/compare register6,            Address offset: 0x5C */
+  __IO uint32_t AF1;         /*!< TIM alternate function option register 1, Address offset: 0x60 */
+  __IO uint32_t AF2;         /*!< TIM alternate function option register 2, Address offset: 0x64 */
+  __IO uint32_t TISEL;       /*!< TIM Input Selection register,             Address offset: 0x68 */
+} TIM_TypeDef;
+
+/**
+  * @brief LPTIMIMER
+  */
+typedef struct
+{
+  __IO uint32_t ISR;      /*!< LPTIM Interrupt and Status register,         Address offset: 0x00 */
+  __IO uint32_t ICR;      /*!< LPTIM Interrupt Clear register,              Address offset: 0x04 */
+  __IO uint32_t IER;      /*!< LPTIM Interrupt Enable register,             Address offset: 0x08 */
+  __IO uint32_t CFGR;     /*!< LPTIM Configuration register,                Address offset: 0x0C */
+  __IO uint32_t CR;       /*!< LPTIM Control register,                      Address offset: 0x10 */
+  __IO uint32_t CMP;      /*!< LPTIM Compare register,                      Address offset: 0x14 */
+  __IO uint32_t ARR;      /*!< LPTIM Autoreload register,                   Address offset: 0x18 */
+  __IO uint32_t CNT;      /*!< LPTIM Counter register,                      Address offset: 0x1C */
+  uint32_t  RESERVED1;    /*!< Reserved, 0x20                                                    */
+  __IO uint32_t CFGR2;    /*!< LPTIM Configuration register,                Address offset: 0x24 */
+} LPTIM_TypeDef;
+
+/**
+  * @brief Comparator
+  */
+typedef struct
+{
+  __IO uint32_t SR;        /*!< Comparator status register,                    Address offset: 0x00 */
+  __IO uint32_t ICFR;      /*!< Comparator interrupt clear flag register,       Address offset: 0x04 */
+  __IO uint32_t OR;        /*!< Comparator option register,                  Address offset: 0x08 */
+} COMPOPT_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CFGR;      /*!< Comparator configuration register  ,           Address offset: 0x00 */
+} COMP_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CFGR;       /*!< COMP control and status register, used for bits common to several COMP instances, Address offset: 0x00 */
+} COMP_Common_TypeDef;
+/**
+  * @brief Universal Synchronous Asynchronous Receiver Transmitter
+  */
+
+typedef struct
+{
+  __IO uint32_t CR1;    /*!< USART Control register 1,                 Address offset: 0x00 */
+  __IO uint32_t CR2;    /*!< USART Control register 2,                 Address offset: 0x04 */
+  __IO uint32_t CR3;    /*!< USART Control register 3,                 Address offset: 0x08 */
+  __IO uint32_t BRR;    /*!< USART Baud rate register,                 Address offset: 0x0C */
+  __IO uint32_t GTPR;   /*!< USART Guard time and prescaler register,  Address offset: 0x10 */
+  __IO uint32_t RTOR;   /*!< USART Receiver Time Out register,         Address offset: 0x14 */
+  __IO uint32_t RQR;    /*!< USART Request register,                   Address offset: 0x18 */
+  __IO uint32_t ISR;    /*!< USART Interrupt and status register,      Address offset: 0x1C */
+  __IO uint32_t ICR;    /*!< USART Interrupt flag Clear register,      Address offset: 0x20 */
+  __IO uint32_t RDR;    /*!< USART Receive Data register,              Address offset: 0x24 */
+  __IO uint32_t TDR;    /*!< USART Transmit Data register,             Address offset: 0x28 */
+  __IO uint32_t PRESC;  /*!< USART clock Prescaler register,           Address offset: 0x2C */
+} USART_TypeDef;
+
+/**
+  * @brief Single Wire Protocol Master Interface SPWMI
+  */
+typedef struct
+{
+  __IO uint32_t CR;          /*!< SWPMI Configuration/Control register,     Address offset: 0x00 */
+  __IO uint32_t BRR;         /*!< SWPMI bitrate register,                   Address offset: 0x04 */
+    uint32_t  RESERVED1;     /*!< Reserved, 0x08                                                 */
+  __IO uint32_t ISR;         /*!< SWPMI Interrupt and Status register,      Address offset: 0x0C */
+  __IO uint32_t ICR;         /*!< SWPMI Interrupt Flag Clear register,      Address offset: 0x10 */
+  __IO uint32_t IER;         /*!< SWPMI Interrupt Enable register,          Address offset: 0x14 */
+  __IO uint32_t RFL;         /*!< SWPMI Receive Frame Length register,      Address offset: 0x18 */
+  __IO uint32_t TDR;         /*!< SWPMI Transmit data register,             Address offset: 0x1C */
+  __IO uint32_t RDR;         /*!< SWPMI Receive data register,              Address offset: 0x20 */
+  __IO uint32_t OR;          /*!< SWPMI Option register,                    Address offset: 0x24 */
+} SWPMI_TypeDef;
+
+/**
+  * @brief Window WATCHDOG
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;   /*!< WWDG Control register,       Address offset: 0x00 */
+  __IO uint32_t CFR;  /*!< WWDG Configuration register, Address offset: 0x04 */
+  __IO uint32_t SR;   /*!< WWDG Status register,        Address offset: 0x08 */
+} WWDG_TypeDef;
+
+
+/**
+  * @brief RAM_ECC_Specific_Registers
+  */
+typedef struct
+{
+  __IO uint32_t CR;           /*!< RAMECC monitor configuration register          */
+  __IO uint32_t SR;           /*!< RAMECC monitor status register                 */
+  __IO uint32_t FAR;          /*!< RAMECC monitor failing address register        */
+  __IO uint32_t FDRL;         /*!< RAMECC monitor failing data low register       */
+  __IO uint32_t FDRH;         /*!< RAMECC monitor failing data high register      */
+  __IO uint32_t FECR;         /*!< RAMECC monitor failing ECC error code register */
+} RAMECC_MonitorTypeDef;
+
+typedef struct
+{
+  __IO uint32_t IER;          /*!< RAMECC interrupt enable register */
+} RAMECC_TypeDef;
+/**
+  * @}
+  */
+
+
+/**
+  * @brief Crypto Processor
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;         /*!< CRYP control register,                                    Address offset: 0x00 */
+  __IO uint32_t SR;         /*!< CRYP status register,                                     Address offset: 0x04 */
+  __IO uint32_t DIN;         /*!< CRYP data input register,                                Address offset: 0x08 */
+  __IO uint32_t DOUT;       /*!< CRYP data output register,                                Address offset: 0x0C */
+  __IO uint32_t DMACR;      /*!< CRYP DMA control register,                                Address offset: 0x10 */
+  __IO uint32_t IMSCR;      /*!< CRYP interrupt mask set/clear register,                   Address offset: 0x14 */
+  __IO uint32_t RISR;       /*!< CRYP raw interrupt status register,                       Address offset: 0x18 */
+  __IO uint32_t MISR;       /*!< CRYP masked interrupt status register,                    Address offset: 0x1C */
+  __IO uint32_t K0LR;       /*!< CRYP key left  register 0,                                Address offset: 0x20 */
+  __IO uint32_t K0RR;       /*!< CRYP key right register 0,                                Address offset: 0x24 */
+  __IO uint32_t K1LR;       /*!< CRYP key left  register 1,                                Address offset: 0x28 */
+  __IO uint32_t K1RR;       /*!< CRYP key right register 1,                                Address offset: 0x2C */
+  __IO uint32_t K2LR;       /*!< CRYP key left  register 2,                                Address offset: 0x30 */
+  __IO uint32_t K2RR;       /*!< CRYP key right register 2,                                Address offset: 0x34 */
+  __IO uint32_t K3LR;       /*!< CRYP key left  register 3,                                Address offset: 0x38 */
+  __IO uint32_t K3RR;       /*!< CRYP key right register 3,                                Address offset: 0x3C */
+  __IO uint32_t IV0LR;      /*!< CRYP initialization vector left-word  register 0,         Address offset: 0x40 */
+  __IO uint32_t IV0RR;      /*!< CRYP initialization vector right-word register 0,         Address offset: 0x44 */
+  __IO uint32_t IV1LR;      /*!< CRYP initialization vector left-word  register 1,         Address offset: 0x48 */
+  __IO uint32_t IV1RR;      /*!< CRYP initialization vector right-word register 1,         Address offset: 0x4C */
+  __IO uint32_t CSGCMCCM0R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 0,        Address offset: 0x50 */
+  __IO uint32_t CSGCMCCM1R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 1,        Address offset: 0x54 */
+  __IO uint32_t CSGCMCCM2R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 2,        Address offset: 0x58 */
+  __IO uint32_t CSGCMCCM3R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 3,        Address offset: 0x5C */
+  __IO uint32_t CSGCMCCM4R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 4,        Address offset: 0x60 */
+  __IO uint32_t CSGCMCCM5R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 5,        Address offset: 0x64 */
+  __IO uint32_t CSGCMCCM6R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 6,        Address offset: 0x68 */
+  __IO uint32_t CSGCMCCM7R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 7,        Address offset: 0x6C */
+  __IO uint32_t CSGCM0R;    /*!< CRYP GCM/GMAC context swap register 0,                    Address offset: 0x70 */
+  __IO uint32_t CSGCM1R;    /*!< CRYP GCM/GMAC context swap register 1,                    Address offset: 0x74 */
+  __IO uint32_t CSGCM2R;    /*!< CRYP GCM/GMAC context swap register 2,                    Address offset: 0x78 */
+  __IO uint32_t CSGCM3R;    /*!< CRYP GCM/GMAC context swap register 3,                    Address offset: 0x7C */
+  __IO uint32_t CSGCM4R;    /*!< CRYP GCM/GMAC context swap register 4,                    Address offset: 0x80 */
+  __IO uint32_t CSGCM5R;    /*!< CRYP GCM/GMAC context swap register 5,                    Address offset: 0x84 */
+  __IO uint32_t CSGCM6R;    /*!< CRYP GCM/GMAC context swap register 6,                    Address offset: 0x88 */
+  __IO uint32_t CSGCM7R;    /*!< CRYP GCM/GMAC context swap register 7,                    Address offset: 0x8C */
+} CRYP_TypeDef;
+
+/**
+  * @brief HASH
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;               /*!< HASH control register,          Address offset: 0x00        */
+  __IO uint32_t DIN;              /*!< HASH data input register,       Address offset: 0x04        */
+  __IO uint32_t STR;              /*!< HASH start register,            Address offset: 0x08        */
+  __IO uint32_t HR[5];            /*!< HASH digest registers,          Address offset: 0x0C-0x1C   */
+  __IO uint32_t IMR;              /*!< HASH interrupt enable register, Address offset: 0x20        */
+  __IO uint32_t SR;               /*!< HASH status register,           Address offset: 0x24        */
+       uint32_t RESERVED[52];     /*!< Reserved, 0x28-0xF4                                         */
+  __IO uint32_t CSR[54];          /*!< HASH context swap registers,    Address offset: 0x0F8-0x1CC */
+} HASH_TypeDef;
+
+/**
+  * @brief HASH_DIGEST
+  */
+
+typedef struct
+{
+  __IO uint32_t HR[8];     /*!< HASH digest registers,          Address offset: 0x310-0x32C */
+} HASH_DIGEST_TypeDef;
+
+
+/**
+  * @brief RNG
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;  /*!< RNG control register, Address offset: 0x00 */
+  __IO uint32_t SR;  /*!< RNG status register,  Address offset: 0x04 */
+  __IO uint32_t DR;  /*!< RNG data register,    Address offset: 0x08 */
+  uint32_t RESERVED;
+  __IO uint32_t HTCR;  /*!< RNG health test configuration register, Address offset: 0x10 */
+} RNG_TypeDef;
+
+/**
+  * @brief MDIOS
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;
+  __IO uint32_t WRFR;
+  __IO uint32_t CWRFR;
+  __IO uint32_t RDFR;
+  __IO uint32_t CRDFR;
+  __IO uint32_t SR;
+  __IO uint32_t CLRFR;
+  uint32_t RESERVED[57];
+  __IO uint32_t DINR0;
+  __IO uint32_t DINR1;
+  __IO uint32_t DINR2;
+  __IO uint32_t DINR3;
+  __IO uint32_t DINR4;
+  __IO uint32_t DINR5;
+  __IO uint32_t DINR6;
+  __IO uint32_t DINR7;
+  __IO uint32_t DINR8;
+  __IO uint32_t DINR9;
+  __IO uint32_t DINR10;
+  __IO uint32_t DINR11;
+  __IO uint32_t DINR12;
+  __IO uint32_t DINR13;
+  __IO uint32_t DINR14;
+  __IO uint32_t DINR15;
+  __IO uint32_t DINR16;
+  __IO uint32_t DINR17;
+  __IO uint32_t DINR18;
+  __IO uint32_t DINR19;
+  __IO uint32_t DINR20;
+  __IO uint32_t DINR21;
+  __IO uint32_t DINR22;
+  __IO uint32_t DINR23;
+  __IO uint32_t DINR24;
+  __IO uint32_t DINR25;
+  __IO uint32_t DINR26;
+  __IO uint32_t DINR27;
+  __IO uint32_t DINR28;
+  __IO uint32_t DINR29;
+  __IO uint32_t DINR30;
+  __IO uint32_t DINR31;
+  __IO uint32_t DOUTR0;
+  __IO uint32_t DOUTR1;
+  __IO uint32_t DOUTR2;
+  __IO uint32_t DOUTR3;
+  __IO uint32_t DOUTR4;
+  __IO uint32_t DOUTR5;
+  __IO uint32_t DOUTR6;
+  __IO uint32_t DOUTR7;
+  __IO uint32_t DOUTR8;
+  __IO uint32_t DOUTR9;
+  __IO uint32_t DOUTR10;
+  __IO uint32_t DOUTR11;
+  __IO uint32_t DOUTR12;
+  __IO uint32_t DOUTR13;
+  __IO uint32_t DOUTR14;
+  __IO uint32_t DOUTR15;
+  __IO uint32_t DOUTR16;
+  __IO uint32_t DOUTR17;
+  __IO uint32_t DOUTR18;
+  __IO uint32_t DOUTR19;
+  __IO uint32_t DOUTR20;
+  __IO uint32_t DOUTR21;
+  __IO uint32_t DOUTR22;
+  __IO uint32_t DOUTR23;
+  __IO uint32_t DOUTR24;
+  __IO uint32_t DOUTR25;
+  __IO uint32_t DOUTR26;
+  __IO uint32_t DOUTR27;
+  __IO uint32_t DOUTR28;
+  __IO uint32_t DOUTR29;
+  __IO uint32_t DOUTR30;
+  __IO uint32_t DOUTR31;
+} MDIOS_TypeDef;
+
+
+/**
+  * @brief USB_OTG_Core_Registers
+  */
+typedef struct
+{
+ __IO uint32_t GOTGCTL;               /*!< USB_OTG Control and Status Register          000h */
+  __IO uint32_t GOTGINT;              /*!< USB_OTG Interrupt Register                   004h */
+  __IO uint32_t GAHBCFG;              /*!< Core AHB Configuration Register              008h */
+  __IO uint32_t GUSBCFG;              /*!< Core USB Configuration Register              00Ch */
+  __IO uint32_t GRSTCTL;              /*!< Core Reset Register                          010h */
+  __IO uint32_t GINTSTS;              /*!< Core Interrupt Register                      014h */
+  __IO uint32_t GINTMSK;              /*!< Core Interrupt Mask Register                 018h */
+  __IO uint32_t GRXSTSR;              /*!< Receive Sts Q Read Register                  01Ch */
+  __IO uint32_t GRXSTSP;              /*!< Receive Sts Q Read & POP Register            020h */
+  __IO uint32_t GRXFSIZ;              /*!< Receive FIFO Size Register                   024h */
+  __IO uint32_t DIEPTXF0_HNPTXFSIZ;   /*!< EP0 / Non Periodic Tx FIFO Size Register     028h */
+  __IO uint32_t HNPTXSTS;             /*!< Non Periodic Tx FIFO/Queue Sts reg           02Ch */
+  uint32_t Reserved30[2];             /*!< Reserved                                     030h */
+  __IO uint32_t GCCFG;                /*!< General Purpose IO Register                  038h */
+  __IO uint32_t CID;                  /*!< User ID Register                             03Ch */
+  __IO uint32_t GSNPSID;              /* USB_OTG core ID                                040h*/
+  __IO uint32_t GHWCFG1;              /* User HW config1                                044h*/
+  __IO uint32_t GHWCFG2;              /* User HW config2                                048h*/
+  __IO uint32_t GHWCFG3;              /*!< User HW config3                              04Ch */
+  uint32_t  Reserved6;                /*!< Reserved                                     050h */
+  __IO uint32_t GLPMCFG;              /*!< LPM Register                                 054h */
+  __IO uint32_t GPWRDN;               /*!< Power Down Register                          058h */
+  __IO uint32_t GDFIFOCFG;            /*!< DFIFO Software Config Register               05Ch */
+   __IO uint32_t GADPCTL;             /*!< ADP Timer, Control and Status Register       60Ch */
+    uint32_t  Reserved43[39];         /*!< Reserved                                058h-0FFh */
+  __IO uint32_t HPTXFSIZ;             /*!< Host Periodic Tx FIFO Size Reg               100h */
+  __IO uint32_t DIEPTXF[0x0F];        /*!< dev Periodic Transmit FIFO */
+} USB_OTG_GlobalTypeDef;
+
+
+/**
+  * @brief USB_OTG_device_Registers
+  */
+typedef struct
+{
+  __IO uint32_t DCFG;            /*!< dev Configuration Register   800h */
+  __IO uint32_t DCTL;            /*!< dev Control Register         804h */
+  __IO uint32_t DSTS;            /*!< dev Status Register (RO)     808h */
+  uint32_t Reserved0C;           /*!< Reserved                     80Ch */
+  __IO uint32_t DIEPMSK;         /*!< dev IN Endpoint Mask         810h */
+  __IO uint32_t DOEPMSK;         /*!< dev OUT Endpoint Mask        814h */
+  __IO uint32_t DAINT;           /*!< dev All Endpoints Itr Reg    818h */
+  __IO uint32_t DAINTMSK;        /*!< dev All Endpoints Itr Mask   81Ch */
+  uint32_t  Reserved20;          /*!< Reserved                     820h */
+  uint32_t Reserved9;            /*!< Reserved                     824h */
+  __IO uint32_t DVBUSDIS;        /*!< dev VBUS discharge Register  828h */
+  __IO uint32_t DVBUSPULSE;      /*!< dev VBUS Pulse Register      82Ch */
+  __IO uint32_t DTHRCTL;         /*!< dev threshold                830h */
+  __IO uint32_t DIEPEMPMSK;      /*!< dev empty msk                834h */
+  __IO uint32_t DEACHINT;        /*!< dedicated EP interrupt       838h */
+  __IO uint32_t DEACHMSK;        /*!< dedicated EP msk             83Ch */
+  uint32_t Reserved40;           /*!< dedicated EP mask            840h */
+  __IO uint32_t DINEP1MSK;       /*!< dedicated EP mask            844h */
+  uint32_t  Reserved44[15];      /*!< Reserved                 844-87Ch */
+  __IO uint32_t DOUTEP1MSK;      /*!< dedicated EP msk             884h */
+} USB_OTG_DeviceTypeDef;
+
+
+/**
+  * @brief USB_OTG_IN_Endpoint-Specific_Register
+  */
+typedef struct
+{
+  __IO uint32_t DIEPCTL;           /*!< dev IN Endpoint Control Reg    900h + (ep_num * 20h) + 00h */
+  uint32_t Reserved04;             /*!< Reserved                       900h + (ep_num * 20h) + 04h */
+  __IO uint32_t DIEPINT;           /*!< dev IN Endpoint Itr Reg        900h + (ep_num * 20h) + 08h */
+  uint32_t Reserved0C;             /*!< Reserved                       900h + (ep_num * 20h) + 0Ch */
+  __IO uint32_t DIEPTSIZ;          /*!< IN Endpoint Txfer Size         900h + (ep_num * 20h) + 10h */
+  __IO uint32_t DIEPDMA;           /*!< IN Endpoint DMA Address Reg    900h + (ep_num * 20h) + 14h */
+  __IO uint32_t DTXFSTS;           /*!< IN Endpoint Tx FIFO Status Reg 900h + (ep_num * 20h) + 18h */
+  uint32_t Reserved18;             /*!< Reserved  900h+(ep_num*20h)+1Ch-900h+ (ep_num * 20h) + 1Ch */
+} USB_OTG_INEndpointTypeDef;
+
+
+/**
+  * @brief USB_OTG_OUT_Endpoint-Specific_Registers
+  */
+typedef struct
+{
+  __IO uint32_t DOEPCTL;       /*!< dev OUT Endpoint Control Reg           B00h + (ep_num * 20h) + 00h */
+  uint32_t Reserved04;         /*!< Reserved                               B00h + (ep_num * 20h) + 04h */
+  __IO uint32_t DOEPINT;       /*!< dev OUT Endpoint Itr Reg               B00h + (ep_num * 20h) + 08h */
+  uint32_t Reserved0C;         /*!< Reserved                               B00h + (ep_num * 20h) + 0Ch */
+  __IO uint32_t DOEPTSIZ;      /*!< dev OUT Endpoint Txfer Size            B00h + (ep_num * 20h) + 10h */
+  __IO uint32_t DOEPDMA;       /*!< dev OUT Endpoint DMA Address           B00h + (ep_num * 20h) + 14h */
+  uint32_t Reserved18[2];      /*!< Reserved B00h + (ep_num * 20h) + 18h - B00h + (ep_num * 20h) + 1Ch */
+} USB_OTG_OUTEndpointTypeDef;
+
+
+/**
+  * @brief USB_OTG_Host_Mode_Register_Structures
+  */
+typedef struct
+{
+  __IO uint32_t HCFG;             /*!< Host Configuration Register          400h */
+  __IO uint32_t HFIR;             /*!< Host Frame Interval Register         404h */
+  __IO uint32_t HFNUM;            /*!< Host Frame Nbr/Frame Remaining       408h */
+  uint32_t Reserved40C;           /*!< Reserved                             40Ch */
+  __IO uint32_t HPTXSTS;          /*!< Host Periodic Tx FIFO/ Queue Status  410h */
+  __IO uint32_t HAINT;            /*!< Host All Channels Interrupt Register 414h */
+  __IO uint32_t HAINTMSK;         /*!< Host All Channels Interrupt Mask     418h */
+} USB_OTG_HostTypeDef;
+
+/**
+  * @brief USB_OTG_Host_Channel_Specific_Registers
+  */
+typedef struct
+{
+  __IO uint32_t HCCHAR;           /*!< Host Channel Characteristics Register    500h */
+  __IO uint32_t HCSPLT;           /*!< Host Channel Split Control Register      504h */
+  __IO uint32_t HCINT;            /*!< Host Channel Interrupt Register          508h */
+  __IO uint32_t HCINTMSK;         /*!< Host Channel Interrupt Mask Register     50Ch */
+  __IO uint32_t HCTSIZ;           /*!< Host Channel Transfer Size Register      510h */
+  __IO uint32_t HCDMA;            /*!< Host Channel DMA Address Register        514h */
+  uint32_t Reserved[2];           /*!< Reserved                                      */
+} USB_OTG_HostChannelTypeDef;
+/**
+  * @}
+  */
+
+/**
+  * @brief OCTO Serial Peripheral Interface
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;          /*!< OCTOSPI Control register,                           Address offset: 0x000 */
+  uint32_t RESERVED;         /*!< Reserved,                                           Address offset: 0x004 */
+  __IO uint32_t DCR1;        /*!< OCTOSPI Device Configuration register 1,            Address offset: 0x008 */
+  __IO uint32_t DCR2;        /*!< OCTOSPI Device Configuration register 2,            Address offset: 0x00C */
+  __IO uint32_t DCR3;        /*!< OCTOSPI Device Configuration register 3,            Address offset: 0x010 */
+  __IO uint32_t DCR4;        /*!< OCTOSPI Device Configuration register 4,            Address offset: 0x014 */
+  uint32_t RESERVED1[2];     /*!< Reserved,                                           Address offset: 0x018-0x01C */
+  __IO uint32_t SR;          /*!< OCTOSPI Status register,                            Address offset: 0x020 */
+  __IO uint32_t FCR;         /*!< OCTOSPI Flag Clear register,                        Address offset: 0x024 */
+  uint32_t RESERVED2[6];     /*!< Reserved,                                           Address offset: 0x028-0x03C */
+  __IO uint32_t DLR;         /*!< OCTOSPI Data Length register,                       Address offset: 0x040 */
+  uint32_t RESERVED3;        /*!< Reserved,                                           Address offset: 0x044 */
+  __IO uint32_t AR;          /*!< OCTOSPI Address register,                           Address offset: 0x048 */
+  uint32_t RESERVED4;        /*!< Reserved,                                           Address offset: 0x04C */
+  __IO uint32_t DR;          /*!< OCTOSPI Data register,                              Address offset: 0x050 */
+  uint32_t RESERVED5[11];    /*!< Reserved,                                           Address offset: 0x054-0x07C */
+  __IO uint32_t PSMKR;       /*!< OCTOSPI Polling Status Mask register,               Address offset: 0x080 */
+  uint32_t RESERVED6;        /*!< Reserved,                                           Address offset: 0x084 */
+  __IO uint32_t PSMAR;       /*!< OCTOSPI Polling Status Match register,              Address offset: 0x088 */
+  uint32_t RESERVED7;        /*!< Reserved,                                           Address offset: 0x08C */
+  __IO uint32_t PIR;         /*!< OCTOSPI Polling Interval register,                  Address offset: 0x090 */
+  uint32_t RESERVED8[27];    /*!< Reserved,                                           Address offset: 0x094-0x0FC */
+  __IO uint32_t CCR;         /*!< OCTOSPI Communication Configuration register,       Address offset: 0x100 */
+  uint32_t RESERVED9;        /*!< Reserved,                                           Address offset: 0x104 */
+  __IO uint32_t TCR;         /*!< OCTOSPI Timing Configuration register,              Address offset: 0x108 */
+  uint32_t RESERVED10;       /*!< Reserved,                                           Address offset: 0x10C */
+  __IO uint32_t IR;          /*!< OCTOSPI Instruction register,                       Address offset: 0x110 */
+  uint32_t RESERVED11[3];    /*!< Reserved,                                           Address offset: 0x114-0x11C */
+  __IO uint32_t ABR;         /*!< OCTOSPI Alternate Bytes register,                   Address offset: 0x120 */
+  uint32_t RESERVED12[3];    /*!< Reserved,                                           Address offset: 0x124-0x12C */
+  __IO uint32_t LPTR;        /*!< OCTOSPI Low Power Timeout register,                 Address offset: 0x130 */
+  uint32_t RESERVED13[3];    /*!< Reserved,                                           Address offset: 0x134-0x13C */
+  __IO uint32_t WPCCR;       /*!< OCTOSPI Wrap Communication Configuration register,  Address offset: 0x140 */
+  uint32_t RESERVED14;       /*!< Reserved,                                           Address offset: 0x144 */
+  __IO uint32_t WPTCR;       /*!< OCTOSPI Wrap Timing Configuration register,         Address offset: 0x148 */
+  uint32_t RESERVED15;       /*!< Reserved,                                           Address offset: 0x14C */
+  __IO uint32_t WPIR;        /*!< OCTOSPI Wrap Instruction register,                  Address offset: 0x150 */
+  uint32_t RESERVED16[3];    /*!< Reserved,                                           Address offset: 0x154-0x15C */
+  __IO uint32_t WPABR;       /*!< OCTOSPI Wrap Alternate Bytes register,              Address offset: 0x160 */
+  uint32_t RESERVED17[7];    /*!< Reserved,                                           Address offset: 0x164-0x17C */
+  __IO uint32_t WCCR;        /*!< OCTOSPI Write Communication Configuration register, Address offset: 0x180 */
+  uint32_t RESERVED18;       /*!< Reserved,                                           Address offset: 0x184 */
+  __IO uint32_t WTCR;        /*!< OCTOSPI Write Timing Configuration register,        Address offset: 0x188 */
+  uint32_t RESERVED19;       /*!< Reserved,                                           Address offset: 0x18C */
+  __IO uint32_t WIR;         /*!< OCTOSPI Write Instruction register,                 Address offset: 0x190 */
+  uint32_t RESERVED20[3];    /*!< Reserved,                                           Address offset: 0x194-0x19C */
+  __IO uint32_t WABR;        /*!< OCTOSPI Write Alternate Bytes register,             Address offset: 0x1A0 */
+  uint32_t RESERVED21[23];   /*!< Reserved,                                           Address offset: 0x1A4-0x1FC */
+  __IO uint32_t HLCR;        /*!< OCTOSPI Hyperbus Latency Configuration register,    Address offset: 0x200 */
+  uint32_t RESERVED22[122];  /*!< Reserved,                                           Address offset: 0x204-0x3EC */
+  __IO uint32_t HWCFGR;      /*!< OCTOSPI HW Configuration register,                  Address offset: 0x3F0 */
+  __IO uint32_t VER;         /*!< OCTOSPI Version register,                           Address offset: 0x3F4 */
+  __IO uint32_t ID;          /*!< OCTOSPI Identification register,                    Address offset: 0x3F8 */
+  __IO uint32_t MID;         /*!< OCTOPSI HW Magic ID register,                       Address offset: 0x3FC */
+} OCTOSPI_TypeDef;
+
+/**
+  * @}
+  */
+/**
+  * @brief OCTO Serial Peripheral Interface IO Manager
+  */
+
+typedef struct
+{
+  __IO uint32_t CR;          /*!< OCTOSPI IO Manager Control register,                 Address offset: 0x00 */
+  __IO uint32_t PCR[3];      /*!< OCTOSPI IO Manager Port[1:3] Configuration register, Address offset: 0x04-0x20 */
+} OCTOSPIM_TypeDef;
+
+/**
+  * @}
+  */
+
+/**
+  * @brief OTFD register
+  */
+typedef struct
+{
+  __IO uint32_t REG_CONFIGR;
+  __IO uint32_t REG_START_ADDR;
+  __IO uint32_t REG_END_ADDR;
+  __IO uint32_t REG_NONCER0;
+  __IO uint32_t REG_NONCER1;
+  __IO uint32_t REG_KEYR0;
+  __IO uint32_t REG_KEYR1;
+  __IO uint32_t REG_KEYR2;
+  __IO uint32_t REG_KEYR3;
+} OTFDEC_Region_TypeDef;
+
+typedef struct
+{
+  __IO uint32_t CR;
+  uint32_t RESERVED1[191];
+  __IO uint32_t ISR;
+  __IO uint32_t ICR;
+  __IO uint32_t IER;
+  uint32_t RESERVED2[56];
+  __IO uint32_t HWCFGR2;
+  __IO uint32_t HWCFGR1;
+  __IO uint32_t VERR;
+  __IO uint32_t IPIDR;
+  __IO uint32_t SIDR;
+} OTFDEC_TypeDef;
+/**
+  * @}
+  */
+
+/**
+  * @brief Global Programmer View
+  */
+
+typedef struct
+{
+  uint32_t      RESERVED0[2036];     /*!< Reserved,                                                                           Address offset: 0x00-0x1FCC     */
+  __IO uint32_t AXI_PERIPH_ID_4;     /*!< AXI interconnect - peripheral ID4 register,                                         Address offset: 0x1FD0          */
+  uint32_t      AXI_PERIPH_ID_5;     /*!< Reserved,                                                                           Address offset: 0x1FD4          */
+  uint32_t      AXI_PERIPH_ID_6;     /*!< Reserved,                                                                           Address offset: 0x1FD8          */
+  uint32_t      AXI_PERIPH_ID_7;     /*!< Reserved,                                                                           Address offset: 0x1FDC          */
+  __IO uint32_t AXI_PERIPH_ID_0;     /*!< AXI interconnect - peripheral ID0 register,                                         Address offset: 0x1FE0          */
+  __IO uint32_t AXI_PERIPH_ID_1;     /*!< AXI interconnect - peripheral ID1 register,                                         Address offset: 0x1FE4          */
+  __IO uint32_t AXI_PERIPH_ID_2;     /*!< AXI interconnect - peripheral ID2 register,                                         Address offset: 0x1FE8          */
+  __IO uint32_t AXI_PERIPH_ID_3;     /*!< AXI interconnect - peripheral ID3 register,                                         Address offset: 0x1FEC          */
+  __IO uint32_t AXI_COMP_ID_0;       /*!< AXI interconnect - component ID0 register,                                          Address offset: 0x1FF0          */
+  __IO uint32_t AXI_COMP_ID_1;       /*!< AXI interconnect - component ID1 register,                                          Address offset: 0x1FF4          */
+  __IO uint32_t AXI_COMP_ID_2;       /*!< AXI interconnect - component ID2 register,                                          Address offset: 0x1FF8          */
+  __IO uint32_t AXI_COMP_ID_3;       /*!< AXI interconnect - component ID3 register,                                          Address offset: 0x1FFC          */
+  uint32_t      RESERVED1[2];        /*!< Reserved,                                                                           Address offset: 0x2000-0x2004   */
+  __IO uint32_t AXI_TARG1_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 1 bus matrix issuing functionality register,           Address offset: 0x2008          */
+  uint32_t      RESERVED2[6];        /*!< Reserved,                                                                           Address offset: 0x200C-0x2020   */
+  __IO uint32_t AXI_TARG1_FN_MOD2;   /*!< AXI interconnect - TARG 1 bus matrix functionality 2 register,                      Address offset: 0x2024          */
+  uint32_t      RESERVED3;           /*!< Reserved,                                                                           Address offset: 0x2028          */
+  __IO uint32_t AXI_TARG1_FN_MOD_LB; /*!< AXI interconnect - TARG 1 long burst functionality modification register,           Address offset: 0x202C          */
+  uint32_t      RESERVED4[54];       /*!< Reserved,                                                                           Address offset: 0x2030-0x2104   */
+  __IO uint32_t AXI_TARG1_FN_MOD;    /*!< AXI interconnect - TARG 1 issuing functionality modification register,              Address offset: 0x2108          */
+  uint32_t      RESERVED5[959];      /*!< Reserved,                                                                           Address offset: 0x210C-0x3004   */
+  __IO uint32_t AXI_TARG2_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 2 bus matrix issuing functionality register,           Address offset: 0x3008          */
+  uint32_t      RESERVED6[6];        /*!< Reserved,                                                                           Address offset: 0x300C-0x3020   */
+  __IO uint32_t AXI_TARG2_FN_MOD2;   /*!< AXI interconnect - TARG 2 bus matrix functionality 2 register,                      Address offset: 0x3024          */
+  uint32_t      RESERVED7;           /*!< Reserved,                                                                           Address offset: 0x3028          */
+  __IO uint32_t AXI_TARG2_FN_MOD_LB; /*!< AXI interconnect - TARG 2 long burst functionality modification register,           Address offset: 0x302C          */
+  uint32_t      RESERVED8[54];       /*!< Reserved,                                                                           Address offset: 0x3030-0x3104   */
+  __IO uint32_t AXI_TARG2_FN_MOD;    /*!< AXI interconnect - TARG 2 issuing functionality modification register,              Address offset: 0x3108          */
+  uint32_t      RESERVED9[959];      /*!< Reserved,                                                                           Address offset: 0x310C-0x4004   */
+  __IO uint32_t AXI_TARG3_FN_MOD_ISS_BM;   /*!< AXI interconnect - TARG 3 bus matrix issuing functionality register,          Address offset: 0x4008          */
+  uint32_t      RESERVED10[1023];    /*!< Reserved,                                                                           Address offset: 0x400C-0x5004   */
+  __IO uint32_t AXI_TARG4_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 4 bus matrix issuing functionality register,           Address offset: 0x5008          */
+  uint32_t      RESERVED11[1023];    /*!< Reserved,                                                                           Address offset: 0x500C-0x6004   */
+  __IO uint32_t AXI_TARG5_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 5 bus matrix issuing functionality register,           Address offset: 0x6008          */
+  uint32_t      RESERVED12[1023];    /*!< Reserved,                                                                           Address offset: 0x600C-0x7004   */
+  __IO uint32_t AXI_TARG6_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 6 bus matrix issuing functionality register,           Address offset: 0x7008          */
+  uint32_t      RESERVED13[1023];    /*!< Reserved,                                                                           Address offset: 0x700C-0x8004   */
+  __IO uint32_t AXI_TARG7_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 7 bus matrix issuing functionality register,           Address offset: 0x8008          */
+  uint32_t      RESERVED14[6];       /*!< Reserved,                                                                           Address offset: 0x800C-0x8020   */
+  __IO uint32_t AXI_TARG7_FN_MOD2;   /*!< AXI interconnect - TARG 7 bus matrix functionality 2 register,                      Address offset: 0x8024          */
+  uint32_t      RESERVED15;          /*!< Reserved,                                                                           Address offset: 0x8028          */
+  __IO uint32_t AXI_TARG7_FN_MOD_LB; /*!< AXI interconnect - TARG 7 long burst functionality modification register,           Address offset: 0x802C          */
+  uint32_t      RESERVED16[54];      /*!< Reserved,                                                                           Address offset: 0x8030-0x8104   */
+  __IO uint32_t AXI_TARG7_FN_MOD;    /*!< AXI interconnect - TARG 7 issuing functionality modification register,              Address offset: 0x8108          */
+  uint32_t      RESERVED17[959];     /*!< Reserved,                                                                           Address offset: 0x810C-0x9004   */
+  __IO uint32_t AXI_TARG8_FN_MOD_ISS_BM;  /*!< AXI interconnect - TARG 8 bus matrix issuing functionality register,           Address offset: 0x9008          */
+  uint32_t      RESERVED117[6];      /*!< Reserved,                                                                           Address offset: 0x900C-0x9020   */
+  __IO uint32_t AXI_TARG8_FN_MOD2;   /*!< AXI interconnect - TARG 8 bus matrix functionality 2 register,                      Address offset: 0x9024          */
+  uint32_t      RESERVED118[56];     /*!< Reserved,                                                                           Address offset: 0x9028-0x9104   */
+  __IO uint32_t AXI_TARG8_FN_MOD;    /*!< AXI interconnect - TARG 8 issuing functionality modification register,              Address offset: 0x9108          */
+  uint32_t      RESERVED119[58310];  /*!< Reserved,                                                                           Address offset: 0x910C-0x42020  */
+  __IO uint32_t AXI_INI1_FN_MOD2;    /*!< AXI interconnect - INI 1 functionality modification 2 register,                     Address offset: 0x42024         */
+  __IO uint32_t AXI_INI1_FN_MOD_AHB; /*!< AXI interconnect - INI 1 AHB functionality modification register,                   Address offset: 0x42028         */
+  uint32_t      RESERVED18[53];      /*!< Reserved,                                                                           Address offset: 0x4202C-0x420FC */
+  __IO uint32_t AXI_INI1_READ_QOS;   /*!< AXI interconnect - INI 1 read QoS register,                                         Address offset: 0x42100         */
+  __IO uint32_t AXI_INI1_WRITE_QOS;  /*!< AXI interconnect - INI 1 write QoS register,                                        Address offset: 0x42104         */
+  __IO uint32_t AXI_INI1_FN_MOD;     /*!< AXI interconnect - INI 1 issuing functionality modification register,               Address offset: 0x42108         */
+  uint32_t      RESERVED19[1021];    /*!< Reserved,                                                                           Address offset: 0x4210C-0x430FC */
+  __IO uint32_t AXI_INI2_READ_QOS;   /*!< AXI interconnect - INI 2 read QoS register,                                         Address offset: 0x43100         */
+  __IO uint32_t AXI_INI2_WRITE_QOS;  /*!< AXI interconnect - INI 2 write QoS register,                                        Address offset: 0x43104         */
+  __IO uint32_t AXI_INI2_FN_MOD;     /*!< AXI interconnect - INI 2 issuing functionality modification register,               Address offset: 0x43108         */
+  uint32_t      RESERVED20[966];     /*!< Reserved,                                                                           Address offset: 0x4310C-0x44020 */
+  __IO uint32_t AXI_INI3_FN_MOD2;    /*!< AXI interconnect - INI 3 functionality modification 2 register,                     Address offset: 0x44024         */
+  __IO uint32_t AXI_INI3_FN_MOD_AHB; /*!< AXI interconnect - INI 3 AHB functionality modification register,                   Address offset: 0x44028         */
+  uint32_t      RESERVED21[53];      /*!< Reserved,                                                                           Address offset: 0x4402C-0x440FC */
+  __IO uint32_t AXI_INI3_READ_QOS;   /*!< AXI interconnect - INI 3 read QoS register,                                         Address offset: 0x44100         */
+  __IO uint32_t AXI_INI3_WRITE_QOS;  /*!< AXI interconnect - INI 3 write QoS register,                                        Address offset: 0x44104         */
+  __IO uint32_t AXI_INI3_FN_MOD;     /*!< AXI interconnect - INI 3 issuing functionality modification register,               Address offset: 0x44108         */
+  uint32_t      RESERVED22[1021];    /*!< Reserved,                                                                           Address offset: 0x4410C-0x450FC */
+  __IO uint32_t AXI_INI4_READ_QOS;   /*!< AXI interconnect - INI 4 read QoS register,                                         Address offset: 0x45100         */
+  __IO uint32_t AXI_INI4_WRITE_QOS;  /*!< AXI interconnect - INI 4 write QoS register,                                        Address offset: 0x45104         */
+  __IO uint32_t AXI_INI4_FN_MOD;     /*!< AXI interconnect - INI 4 issuing functionality modification register,               Address offset: 0x45108         */
+  uint32_t      RESERVED23[1021];    /*!< Reserved,                                                                           Address offset: 0x4510C-0x460FC */
+  __IO uint32_t AXI_INI5_READ_QOS;   /*!< AXI interconnect - INI 5 read QoS register,                                         Address offset: 0x46100         */
+  __IO uint32_t AXI_INI5_WRITE_QOS;  /*!< AXI interconnect - INI 5 write QoS register,                                        Address offset: 0x46104         */
+  __IO uint32_t AXI_INI5_FN_MOD;     /*!< AXI interconnect - INI 5 issuing functionality modification register,               Address offset: 0x46108         */
+  uint32_t      RESERVED24[1021];    /*!< Reserved,                                                                           Address offset: 0x4610C-0x470FC */
+  __IO uint32_t AXI_INI6_READ_QOS;   /*!< AXI interconnect - INI 6 read QoS register,                                         Address offset: 0x47100         */
+  __IO uint32_t AXI_INI6_WRITE_QOS;  /*!< AXI interconnect - INI 6 write QoS register,                                        Address offset: 0x47104         */
+  __IO uint32_t AXI_INI6_FN_MOD;     /*!< AXI interconnect - INI 6 issuing functionality modification register,               Address offset: 0x47108         */
+
+} GPV_TypeDef;
+
+/** @addtogroup Peripheral_memory_map
+  * @{
+  */
+#define D1_ITCMRAM_BASE           (0x00000000UL) /*!< Base address of : 64KB RAM reserved for CPU execution/instruction accessible over ITCM  */
+#define D1_ITCMICP_BASE           (0x00100000UL) /*!< Base address of : (up to 128KB) embedded Test FLASH memory accessible over ITCM         */
+#define D1_DTCMRAM_BASE           (0x20000000UL) /*!< Base address of : 128KB system data RAM accessible over DTCM                            */
+#define D1_AXIFLASH_BASE          (0x08000000UL) /*!< Base address of : (up to 1 MB) embedded FLASH memory accessible over AXI                */
+#define D1_AXIICP_BASE            (0x1FF00000UL) /*!< Base address of : (up to 128KB) embedded Test FLASH memory accessible over AXI          */
+#define D1_AXISRAM1_BASE           (0x24000000UL) /*!< Base address of : (up to 128KB) system data RAM1 accessible over over AXI                */
+#define D1_AXISRAM2_BASE           (0x24020000UL) /*!< Base address of : (up to 192KB) system data RAM2 accessible over over AXI to be shared with ITCM (64K granularity)  */
+#define D1_AXISRAM_BASE            D1_AXISRAM1_BASE /*!< Base address of : (up to 320KB) system data RAM1/2 accessible over over AXI             */
+
+#define D2_AHBSRAM1_BASE          (0x30000000UL)   /*!< Base address of : (up to 16KB) system data RAM accessible over over AXI->AHB Bridge    */
+#define D2_AHBSRAM2_BASE          (0x30004000UL)   /*!< Base address of : (up to 16KB) system data RAM accessible over over AXI->AHB Bridge    */
+#define D2_AHBSRAM_BASE           D2_AHBSRAM1_BASE /*!< Base address of : (up to 32KB) system data RAM1/2 accessible over over AXI->AHB Bridge */
+
+#define D3_BKPSRAM_BASE           (0x38800000UL) /*!< Base address of : Backup SRAM(4 KB) over AXI->AHB Bridge                                */
+#define D3_SRAM_BASE              (0x38000000UL) /*!< Base address of : Backup SRAM(16 KB) over AXI->AHB Bridge                               */
+
+#define PERIPH_BASE               (0x40000000UL) /*!< Base address of : AHB/APB Peripherals                                                   */
+#define OCTOSPI1_BASE             (0x90000000UL) /*!< Base address of : OCTOSPI1 memories  accessible over AXI                                 */
+#define OCTOSPI2_BASE             (0x70000000UL) /*!< Base address of : OCTOSPI2 memories  accessible over AXI                                 */
+
+#define FLASH_BANK1_BASE          (0x08000000UL) /*!< Base address of : (up to 1 MB) Flash Bank1 accessible over AXI                          */
+#define FLASH_END                 (0x080FFFFFUL) /*!< FLASH end address                                                                       */
+
+
+/* Legacy define */
+#define FLASH_BASE                FLASH_BANK1_BASE
+
+/*!< Device electronic signature memory map */
+#define UID_BASE                  (0x1FF1E800UL)            /*!< Unique device ID register base address */
+#define FLASHSIZE_BASE            (0x1FF1E880UL)            /*!< FLASH Size register base address */
+
+
+/*!< Peripheral memory map */
+#define D2_APB1PERIPH_BASE        PERIPH_BASE
+#define D2_APB2PERIPH_BASE       (PERIPH_BASE + 0x00010000UL)
+#define D2_AHB1PERIPH_BASE       (PERIPH_BASE + 0x00020000UL)
+#define D2_AHB2PERIPH_BASE       (PERIPH_BASE + 0x08020000UL)
+
+#define D1_APB1PERIPH_BASE       (PERIPH_BASE + 0x10000000UL)
+#define D1_AHB1PERIPH_BASE       (PERIPH_BASE + 0x12000000UL)
+
+#define D3_APB1PERIPH_BASE       (PERIPH_BASE + 0x18000000UL)
+#define D3_AHB1PERIPH_BASE       (PERIPH_BASE + 0x18020000UL)
+
+/*!< Legacy Peripheral memory map */
+#define APB1PERIPH_BASE        PERIPH_BASE
+#define APB2PERIPH_BASE       (PERIPH_BASE + 0x00010000UL)
+#define AHB1PERIPH_BASE       (PERIPH_BASE + 0x00020000UL)
+#define AHB2PERIPH_BASE       (PERIPH_BASE + 0x08000000UL)
+
+
+/*!< D1_AHB1PERIPH peripherals */
+
+#define MDMA_BASE             (D1_AHB1PERIPH_BASE + 0x0000UL)
+#define DMA2D_BASE            (D1_AHB1PERIPH_BASE + 0x1000UL)
+#define FLASH_R_BASE          (D1_AHB1PERIPH_BASE + 0x2000UL)
+#define FMC_R_BASE            (D1_AHB1PERIPH_BASE + 0x4000UL)
+#define OCTOSPI1_R_BASE       (D1_AHB1PERIPH_BASE + 0x5000UL)
+#define DLYB_OCTOSPI1_BASE    (D1_AHB1PERIPH_BASE + 0x6000UL)
+#define SDMMC1_BASE           (D1_AHB1PERIPH_BASE + 0x7000UL)
+#define DLYB_SDMMC1_BASE      (D1_AHB1PERIPH_BASE + 0x8000UL)
+#define RAMECC1_BASE          (D1_AHB1PERIPH_BASE + 0x9000UL)
+#define OCTOSPI2_R_BASE       (D1_AHB1PERIPH_BASE + 0xA000UL)
+#define DLYB_OCTOSPI2_BASE    (D1_AHB1PERIPH_BASE + 0xB000UL)
+#define OCTOSPIM_BASE         (D1_AHB1PERIPH_BASE + 0xB400UL)
+
+#define OTFDEC1_BASE          (D1_AHB1PERIPH_BASE + 0xB800UL)
+#define OTFDEC1_REGION1_BASE  (OTFDEC1_BASE + 0x20UL)
+#define OTFDEC1_REGION2_BASE  (OTFDEC1_BASE + 0x50UL)
+#define OTFDEC1_REGION3_BASE  (OTFDEC1_BASE + 0x80UL)
+#define OTFDEC1_REGION4_BASE  (OTFDEC1_BASE + 0xB0UL)
+#define OTFDEC2_BASE          (D1_AHB1PERIPH_BASE + 0xBC00UL)
+#define OTFDEC2_REGION1_BASE  (OTFDEC2_BASE + 0x20UL)
+#define OTFDEC2_REGION2_BASE  (OTFDEC2_BASE + 0x50UL)
+#define OTFDEC2_REGION3_BASE  (OTFDEC2_BASE + 0x80UL)
+#define OTFDEC2_REGION4_BASE  (OTFDEC2_BASE + 0xB0UL)
+
+/*!< D2_AHB1PERIPH peripherals */
+
+#define DMA1_BASE               (D2_AHB1PERIPH_BASE + 0x0000UL)
+#define DMA2_BASE               (D2_AHB1PERIPH_BASE + 0x0400UL)
+#define DMAMUX1_BASE            (D2_AHB1PERIPH_BASE + 0x0800UL)
+#define ADC1_BASE               (D2_AHB1PERIPH_BASE + 0x2000UL)
+#define ADC2_BASE               (D2_AHB1PERIPH_BASE + 0x2100UL)
+#define ADC12_COMMON_BASE       (D2_AHB1PERIPH_BASE + 0x2300UL)
+#define ETH_BASE                (D2_AHB1PERIPH_BASE + 0x8000UL)
+#define ETH_MAC_BASE            (ETH_BASE)
+
+/*!< USB registers base address */
+#define USB1_OTG_HS_PERIPH_BASE              (0x40040000UL)
+#define USB_OTG_GLOBAL_BASE                  (0x000UL)
+#define USB_OTG_DEVICE_BASE                  (0x800UL)
+#define USB_OTG_IN_ENDPOINT_BASE             (0x900UL)
+#define USB_OTG_OUT_ENDPOINT_BASE            (0xB00UL)
+#define USB_OTG_EP_REG_SIZE                  (0x20UL)
+#define USB_OTG_HOST_BASE                    (0x400UL)
+#define USB_OTG_HOST_PORT_BASE               (0x440UL)
+#define USB_OTG_HOST_CHANNEL_BASE            (0x500UL)
+#define USB_OTG_HOST_CHANNEL_SIZE            (0x20UL)
+#define USB_OTG_PCGCCTL_BASE                 (0xE00UL)
+#define USB_OTG_FIFO_BASE                    (0x1000UL)
+#define USB_OTG_FIFO_SIZE                    (0x1000UL)
+
+/*!< D2_AHB2PERIPH peripherals */
+
+#define DCMI_BASE              (D2_AHB2PERIPH_BASE + 0x0000UL)
+#define PSSI_BASE              (D2_AHB2PERIPH_BASE + 0x0400UL)
+#define CRYP_BASE              (D2_AHB2PERIPH_BASE + 0x1000UL)
+#define HASH_BASE              (D2_AHB2PERIPH_BASE + 0x1400UL)
+#define HASH_DIGEST_BASE       (D2_AHB2PERIPH_BASE + 0x1710UL)
+#define RNG_BASE               (D2_AHB2PERIPH_BASE + 0x1800UL)
+#define SDMMC2_BASE            (D2_AHB2PERIPH_BASE + 0x2400UL)
+#define DLYB_SDMMC2_BASE       (D2_AHB2PERIPH_BASE + 0x2800UL)
+#define RAMECC2_BASE           (D2_AHB2PERIPH_BASE + 0x3000UL)
+#define FMAC_BASE              (D2_AHB2PERIPH_BASE + 0x4000UL)
+#define CORDIC_BASE            (D2_AHB2PERIPH_BASE + 0x4400UL)
+
+/*!< D3_AHB1PERIPH peripherals */
+#define GPIOA_BASE            (D3_AHB1PERIPH_BASE + 0x0000UL)
+#define GPIOB_BASE            (D3_AHB1PERIPH_BASE + 0x0400UL)
+#define GPIOC_BASE            (D3_AHB1PERIPH_BASE + 0x0800UL)
+#define GPIOD_BASE            (D3_AHB1PERIPH_BASE + 0x0C00UL)
+#define GPIOE_BASE            (D3_AHB1PERIPH_BASE + 0x1000UL)
+#define GPIOF_BASE            (D3_AHB1PERIPH_BASE + 0x1400UL)
+#define GPIOG_BASE            (D3_AHB1PERIPH_BASE + 0x1800UL)
+#define GPIOH_BASE            (D3_AHB1PERIPH_BASE + 0x1C00UL)
+#define GPIOJ_BASE            (D3_AHB1PERIPH_BASE + 0x2400UL)
+#define GPIOK_BASE            (D3_AHB1PERIPH_BASE + 0x2800UL)
+#define RCC_BASE              (D3_AHB1PERIPH_BASE + 0x4400UL)
+#define PWR_BASE              (D3_AHB1PERIPH_BASE + 0x4800UL)
+#define CRC_BASE              (D3_AHB1PERIPH_BASE + 0x4C00UL)
+#define BDMA_BASE             (D3_AHB1PERIPH_BASE + 0x5400UL)
+#define DMAMUX2_BASE          (D3_AHB1PERIPH_BASE + 0x5800UL)
+#define ADC3_BASE             (D3_AHB1PERIPH_BASE + 0x6000UL)
+#define ADC3_COMMON_BASE      (D3_AHB1PERIPH_BASE + 0x6300UL)
+#define HSEM_BASE             (D3_AHB1PERIPH_BASE + 0x6400UL)
+#define RAMECC3_BASE          (D3_AHB1PERIPH_BASE + 0x7000UL)
+
+/*!< D1_APB1PERIPH peripherals */
+#define LTDC_BASE             (D1_APB1PERIPH_BASE + 0x1000UL)
+#define LTDC_Layer1_BASE      (LTDC_BASE + 0x84UL)
+#define LTDC_Layer2_BASE      (LTDC_BASE + 0x104UL)
+#define WWDG1_BASE            (D1_APB1PERIPH_BASE + 0x3000UL)
+
+/*!< D2_APB1PERIPH peripherals */
+#define TIM2_BASE             (D2_APB1PERIPH_BASE + 0x0000UL)
+#define TIM3_BASE             (D2_APB1PERIPH_BASE + 0x0400UL)
+#define TIM4_BASE             (D2_APB1PERIPH_BASE + 0x0800UL)
+#define TIM5_BASE             (D2_APB1PERIPH_BASE + 0x0C00UL)
+#define TIM6_BASE             (D2_APB1PERIPH_BASE + 0x1000UL)
+#define TIM7_BASE             (D2_APB1PERIPH_BASE + 0x1400UL)
+#define TIM12_BASE            (D2_APB1PERIPH_BASE + 0x1800UL)
+#define TIM13_BASE            (D2_APB1PERIPH_BASE + 0x1C00UL)
+#define TIM14_BASE            (D2_APB1PERIPH_BASE + 0x2000UL)
+#define LPTIM1_BASE           (D2_APB1PERIPH_BASE + 0x2400UL)
+
+
+#define SPI2_BASE             (D2_APB1PERIPH_BASE + 0x3800UL)
+#define SPI3_BASE             (D2_APB1PERIPH_BASE + 0x3C00UL)
+#define SPDIFRX_BASE          (D2_APB1PERIPH_BASE + 0x4000UL)
+#define USART2_BASE           (D2_APB1PERIPH_BASE + 0x4400UL)
+#define USART3_BASE           (D2_APB1PERIPH_BASE + 0x4800UL)
+#define UART4_BASE            (D2_APB1PERIPH_BASE + 0x4C00UL)
+#define UART5_BASE            (D2_APB1PERIPH_BASE + 0x5000UL)
+#define I2C1_BASE             (D2_APB1PERIPH_BASE + 0x5400UL)
+#define I2C2_BASE             (D2_APB1PERIPH_BASE + 0x5800UL)
+#define I2C3_BASE             (D2_APB1PERIPH_BASE + 0x5C00UL)
+#define I2C5_BASE             (D2_APB1PERIPH_BASE + 0x6400UL)
+#define CEC_BASE              (D2_APB1PERIPH_BASE + 0x6C00UL)
+#define DAC1_BASE             (D2_APB1PERIPH_BASE + 0x7400UL)
+#define UART7_BASE            (D2_APB1PERIPH_BASE + 0x7800UL)
+#define UART8_BASE            (D2_APB1PERIPH_BASE + 0x7C00UL)
+#define CRS_BASE              (D2_APB1PERIPH_BASE + 0x8400UL)
+#define SWPMI1_BASE           (D2_APB1PERIPH_BASE + 0x8800UL)
+#define OPAMP_BASE            (D2_APB1PERIPH_BASE + 0x9000UL)
+#define OPAMP1_BASE           (D2_APB1PERIPH_BASE + 0x9000UL)
+#define OPAMP2_BASE           (D2_APB1PERIPH_BASE + 0x9010UL)
+#define MDIOS_BASE            (D2_APB1PERIPH_BASE + 0x9400UL)
+#define FDCAN1_BASE           (D2_APB1PERIPH_BASE + 0xA000UL)
+#define FDCAN2_BASE           (D2_APB1PERIPH_BASE + 0xA400UL)
+#define FDCAN_CCU_BASE        (D2_APB1PERIPH_BASE + 0xA800UL)
+#define SRAMCAN_BASE          (D2_APB1PERIPH_BASE + 0xAC00UL)
+#define FDCAN3_BASE           (D2_APB1PERIPH_BASE + 0xD400UL)
+#define TIM23_BASE            (D2_APB1PERIPH_BASE + 0xE000UL)
+#define TIM24_BASE            (D2_APB1PERIPH_BASE + 0xE400UL)
+
+/*!< D2_APB2PERIPH peripherals */
+
+#define TIM1_BASE             (D2_APB2PERIPH_BASE + 0x0000UL)
+#define TIM8_BASE             (D2_APB2PERIPH_BASE + 0x0400UL)
+#define USART1_BASE           (D2_APB2PERIPH_BASE + 0x1000UL)
+#define USART6_BASE           (D2_APB2PERIPH_BASE + 0x1400UL)
+#define UART9_BASE            (D2_APB2PERIPH_BASE + 0x1800UL)
+#define USART10_BASE          (D2_APB2PERIPH_BASE + 0x1C00UL)
+#define SPI1_BASE             (D2_APB2PERIPH_BASE + 0x3000UL)
+#define SPI4_BASE             (D2_APB2PERIPH_BASE + 0x3400UL)
+#define TIM15_BASE            (D2_APB2PERIPH_BASE + 0x4000UL)
+#define TIM16_BASE            (D2_APB2PERIPH_BASE + 0x4400UL)
+#define TIM17_BASE            (D2_APB2PERIPH_BASE + 0x4800UL)
+#define SPI5_BASE             (D2_APB2PERIPH_BASE + 0x5000UL)
+#define SAI1_BASE             (D2_APB2PERIPH_BASE + 0x5800UL)
+#define SAI1_Block_A_BASE     (SAI1_BASE + 0x004UL)
+#define SAI1_Block_B_BASE     (SAI1_BASE + 0x024UL)
+#define DFSDM1_BASE           (D2_APB2PERIPH_BASE + 0x7800UL)
+#define DFSDM1_Channel0_BASE  (DFSDM1_BASE + 0x00UL)
+#define DFSDM1_Channel1_BASE  (DFSDM1_BASE + 0x20UL)
+#define DFSDM1_Channel2_BASE  (DFSDM1_BASE + 0x40UL)
+#define DFSDM1_Channel3_BASE  (DFSDM1_BASE + 0x60UL)
+#define DFSDM1_Channel4_BASE  (DFSDM1_BASE + 0x80UL)
+#define DFSDM1_Channel5_BASE  (DFSDM1_BASE + 0xA0UL)
+#define DFSDM1_Channel6_BASE  (DFSDM1_BASE + 0xC0UL)
+#define DFSDM1_Channel7_BASE  (DFSDM1_BASE + 0xE0UL)
+#define DFSDM1_Filter0_BASE   (DFSDM1_BASE + 0x100UL)
+#define DFSDM1_Filter1_BASE   (DFSDM1_BASE + 0x180UL)
+#define DFSDM1_Filter2_BASE   (DFSDM1_BASE + 0x200UL)
+#define DFSDM1_Filter3_BASE   (DFSDM1_BASE + 0x280UL)
+
+
+/*!< D3_APB1PERIPH peripherals */
+#define EXTI_BASE             (D3_APB1PERIPH_BASE + 0x0000UL)
+#define EXTI_D1_BASE          (EXTI_BASE + 0x0080UL)
+#define EXTI_D2_BASE          (EXTI_BASE + 0x00C0UL)
+#define SYSCFG_BASE           (D3_APB1PERIPH_BASE + 0x0400UL)
+#define LPUART1_BASE          (D3_APB1PERIPH_BASE + 0x0C00UL)
+#define SPI6_BASE             (D3_APB1PERIPH_BASE + 0x1400UL)
+#define I2C4_BASE             (D3_APB1PERIPH_BASE + 0x1C00UL)
+#define LPTIM2_BASE           (D3_APB1PERIPH_BASE + 0x2400UL)
+#define LPTIM3_BASE           (D3_APB1PERIPH_BASE + 0x2800UL)
+#define LPTIM4_BASE           (D3_APB1PERIPH_BASE + 0x2C00UL)
+#define LPTIM5_BASE           (D3_APB1PERIPH_BASE + 0x3000UL)
+#define COMP12_BASE           (D3_APB1PERIPH_BASE + 0x3800UL)
+#define COMP1_BASE            (COMP12_BASE + 0x0CUL)
+#define COMP2_BASE            (COMP12_BASE + 0x10UL)
+#define VREFBUF_BASE          (D3_APB1PERIPH_BASE + 0x3C00UL)
+#define RTC_BASE              (D3_APB1PERIPH_BASE + 0x4000UL)
+#define IWDG1_BASE            (D3_APB1PERIPH_BASE + 0x4800UL)
+
+
+#define SAI4_BASE             (D3_APB1PERIPH_BASE + 0x5400UL)
+#define SAI4_Block_A_BASE     (SAI4_BASE + 0x004UL)
+#define SAI4_Block_B_BASE     (SAI4_BASE + 0x024UL)
+
+#define DTS_BASE              (D3_APB1PERIPH_BASE + 0x6800UL)
+
+
+
+#define BDMA_Channel0_BASE    (BDMA_BASE + 0x0008UL)
+#define BDMA_Channel1_BASE    (BDMA_BASE + 0x001CUL)
+#define BDMA_Channel2_BASE    (BDMA_BASE + 0x0030UL)
+#define BDMA_Channel3_BASE    (BDMA_BASE + 0x0044UL)
+#define BDMA_Channel4_BASE    (BDMA_BASE + 0x0058UL)
+#define BDMA_Channel5_BASE    (BDMA_BASE + 0x006CUL)
+#define BDMA_Channel6_BASE    (BDMA_BASE + 0x0080UL)
+#define BDMA_Channel7_BASE    (BDMA_BASE + 0x0094UL)
+
+#define DMAMUX2_Channel0_BASE    (DMAMUX2_BASE)
+#define DMAMUX2_Channel1_BASE    (DMAMUX2_BASE + 0x0004UL)
+#define DMAMUX2_Channel2_BASE    (DMAMUX2_BASE + 0x0008UL)
+#define DMAMUX2_Channel3_BASE    (DMAMUX2_BASE + 0x000CUL)
+#define DMAMUX2_Channel4_BASE    (DMAMUX2_BASE + 0x0010UL)
+#define DMAMUX2_Channel5_BASE    (DMAMUX2_BASE + 0x0014UL)
+#define DMAMUX2_Channel6_BASE    (DMAMUX2_BASE + 0x0018UL)
+#define DMAMUX2_Channel7_BASE    (DMAMUX2_BASE + 0x001CUL)
+
+#define DMAMUX2_RequestGenerator0_BASE  (DMAMUX2_BASE + 0x0100UL)
+#define DMAMUX2_RequestGenerator1_BASE  (DMAMUX2_BASE + 0x0104UL)
+#define DMAMUX2_RequestGenerator2_BASE  (DMAMUX2_BASE + 0x0108UL)
+#define DMAMUX2_RequestGenerator3_BASE  (DMAMUX2_BASE + 0x010CUL)
+#define DMAMUX2_RequestGenerator4_BASE  (DMAMUX2_BASE + 0x0110UL)
+#define DMAMUX2_RequestGenerator5_BASE  (DMAMUX2_BASE + 0x0114UL)
+#define DMAMUX2_RequestGenerator6_BASE  (DMAMUX2_BASE + 0x0118UL)
+#define DMAMUX2_RequestGenerator7_BASE  (DMAMUX2_BASE + 0x011CUL)
+
+#define DMAMUX2_ChannelStatus_BASE      (DMAMUX2_BASE + 0x0080UL)
+#define DMAMUX2_RequestGenStatus_BASE   (DMAMUX2_BASE + 0x0140UL)
+
+#define DMA1_Stream0_BASE     (DMA1_BASE + 0x010UL)
+#define DMA1_Stream1_BASE     (DMA1_BASE + 0x028UL)
+#define DMA1_Stream2_BASE     (DMA1_BASE + 0x040UL)
+#define DMA1_Stream3_BASE     (DMA1_BASE + 0x058UL)
+#define DMA1_Stream4_BASE     (DMA1_BASE + 0x070UL)
+#define DMA1_Stream5_BASE     (DMA1_BASE + 0x088UL)
+#define DMA1_Stream6_BASE     (DMA1_BASE + 0x0A0UL)
+#define DMA1_Stream7_BASE     (DMA1_BASE + 0x0B8UL)
+
+#define DMA2_Stream0_BASE     (DMA2_BASE + 0x010UL)
+#define DMA2_Stream1_BASE     (DMA2_BASE + 0x028UL)
+#define DMA2_Stream2_BASE     (DMA2_BASE + 0x040UL)
+#define DMA2_Stream3_BASE     (DMA2_BASE + 0x058UL)
+#define DMA2_Stream4_BASE     (DMA2_BASE + 0x070UL)
+#define DMA2_Stream5_BASE     (DMA2_BASE + 0x088UL)
+#define DMA2_Stream6_BASE     (DMA2_BASE + 0x0A0UL)
+#define DMA2_Stream7_BASE     (DMA2_BASE + 0x0B8UL)
+
+#define DMAMUX1_Channel0_BASE    (DMAMUX1_BASE)
+#define DMAMUX1_Channel1_BASE    (DMAMUX1_BASE + 0x0004UL)
+#define DMAMUX1_Channel2_BASE    (DMAMUX1_BASE + 0x0008UL)
+#define DMAMUX1_Channel3_BASE    (DMAMUX1_BASE + 0x000CUL)
+#define DMAMUX1_Channel4_BASE    (DMAMUX1_BASE + 0x0010UL)
+#define DMAMUX1_Channel5_BASE    (DMAMUX1_BASE + 0x0014UL)
+#define DMAMUX1_Channel6_BASE    (DMAMUX1_BASE + 0x0018UL)
+#define DMAMUX1_Channel7_BASE    (DMAMUX1_BASE + 0x001CUL)
+#define DMAMUX1_Channel8_BASE    (DMAMUX1_BASE + 0x0020UL)
+#define DMAMUX1_Channel9_BASE    (DMAMUX1_BASE + 0x0024UL)
+#define DMAMUX1_Channel10_BASE   (DMAMUX1_BASE + 0x0028UL)
+#define DMAMUX1_Channel11_BASE   (DMAMUX1_BASE + 0x002CUL)
+#define DMAMUX1_Channel12_BASE   (DMAMUX1_BASE + 0x0030UL)
+#define DMAMUX1_Channel13_BASE   (DMAMUX1_BASE + 0x0034UL)
+#define DMAMUX1_Channel14_BASE   (DMAMUX1_BASE + 0x0038UL)
+#define DMAMUX1_Channel15_BASE   (DMAMUX1_BASE + 0x003CUL)
+
+#define DMAMUX1_RequestGenerator0_BASE  (DMAMUX1_BASE + 0x0100UL)
+#define DMAMUX1_RequestGenerator1_BASE  (DMAMUX1_BASE + 0x0104UL)
+#define DMAMUX1_RequestGenerator2_BASE  (DMAMUX1_BASE + 0x0108UL)
+#define DMAMUX1_RequestGenerator3_BASE  (DMAMUX1_BASE + 0x010CUL)
+#define DMAMUX1_RequestGenerator4_BASE  (DMAMUX1_BASE + 0x0110UL)
+#define DMAMUX1_RequestGenerator5_BASE  (DMAMUX1_BASE + 0x0114UL)
+#define DMAMUX1_RequestGenerator6_BASE  (DMAMUX1_BASE + 0x0118UL)
+#define DMAMUX1_RequestGenerator7_BASE  (DMAMUX1_BASE + 0x011CUL)
+
+#define DMAMUX1_ChannelStatus_BASE      (DMAMUX1_BASE + 0x0080UL)
+#define DMAMUX1_RequestGenStatus_BASE   (DMAMUX1_BASE + 0x0140UL)
+
+/*!< FMC Banks registers base  address */
+#define FMC_Bank1_R_BASE      (FMC_R_BASE + 0x0000UL)
+#define FMC_Bank1E_R_BASE     (FMC_R_BASE + 0x0104UL)
+#define FMC_Bank2_R_BASE      (FMC_R_BASE + 0x0060UL)
+#define FMC_Bank3_R_BASE      (FMC_R_BASE + 0x0080UL)
+#define FMC_Bank5_6_R_BASE    (FMC_R_BASE + 0x0140UL)
+
+/* Debug MCU registers base address */
+#define DBGMCU_BASE           (0x5C001000UL)
+
+#define MDMA_Channel0_BASE    (MDMA_BASE + 0x00000040UL)
+#define MDMA_Channel1_BASE    (MDMA_BASE + 0x00000080UL)
+#define MDMA_Channel2_BASE    (MDMA_BASE + 0x000000C0UL)
+#define MDMA_Channel3_BASE    (MDMA_BASE + 0x00000100UL)
+#define MDMA_Channel4_BASE    (MDMA_BASE + 0x00000140UL)
+#define MDMA_Channel5_BASE    (MDMA_BASE + 0x00000180UL)
+#define MDMA_Channel6_BASE    (MDMA_BASE + 0x000001C0UL)
+#define MDMA_Channel7_BASE    (MDMA_BASE + 0x00000200UL)
+#define MDMA_Channel8_BASE    (MDMA_BASE + 0x00000240UL)
+#define MDMA_Channel9_BASE    (MDMA_BASE + 0x00000280UL)
+#define MDMA_Channel10_BASE   (MDMA_BASE + 0x000002C0UL)
+#define MDMA_Channel11_BASE   (MDMA_BASE + 0x00000300UL)
+#define MDMA_Channel12_BASE   (MDMA_BASE + 0x00000340UL)
+#define MDMA_Channel13_BASE   (MDMA_BASE + 0x00000380UL)
+#define MDMA_Channel14_BASE   (MDMA_BASE + 0x000003C0UL)
+#define MDMA_Channel15_BASE   (MDMA_BASE + 0x00000400UL)
+
+#define RAMECC1_Monitor1_BASE (RAMECC1_BASE + 0x20UL)
+#define RAMECC1_Monitor2_BASE (RAMECC1_BASE + 0x40UL)
+#define RAMECC1_Monitor3_BASE (RAMECC1_BASE + 0x60UL)
+#define RAMECC1_Monitor4_BASE (RAMECC1_BASE + 0x80UL)
+#define RAMECC1_Monitor5_BASE (RAMECC1_BASE + 0xA0UL)
+#define RAMECC1_Monitor6_BASE (RAMECC1_BASE + 0xC0UL)
+
+#define RAMECC2_Monitor1_BASE (RAMECC2_BASE + 0x20UL)
+#define RAMECC2_Monitor2_BASE (RAMECC2_BASE + 0x40UL)
+#define RAMECC2_Monitor3_BASE (RAMECC2_BASE + 0x60UL)
+
+#define RAMECC3_Monitor1_BASE (RAMECC3_BASE + 0x20UL)
+#define RAMECC3_Monitor2_BASE (RAMECC3_BASE + 0x40UL)
+
+
+
+#define GPV_BASE       (PERIPH_BASE + 0x11000000UL)   /*!<  GPV_BASE       (PERIPH_BASE + 0x11000000UL)                    */
+
+/**
+  * @}
+  */
+
+/** @addtogroup Peripheral_declaration
+  * @{
+  */
+#define TIM2                ((TIM_TypeDef *) TIM2_BASE)
+#define TIM3                ((TIM_TypeDef *) TIM3_BASE)
+#define TIM4                ((TIM_TypeDef *) TIM4_BASE)
+#define TIM5                ((TIM_TypeDef *) TIM5_BASE)
+#define TIM6                ((TIM_TypeDef *) TIM6_BASE)
+#define TIM7                ((TIM_TypeDef *) TIM7_BASE)
+#define TIM13               ((TIM_TypeDef *) TIM13_BASE)
+#define TIM14               ((TIM_TypeDef *) TIM14_BASE)
+#define VREFBUF             ((VREFBUF_TypeDef *) VREFBUF_BASE)
+#define RTC                 ((RTC_TypeDef *) RTC_BASE)
+#define WWDG1               ((WWDG_TypeDef *) WWDG1_BASE)
+
+
+#define IWDG1               ((IWDG_TypeDef *) IWDG1_BASE)
+#define SPI2                ((SPI_TypeDef *) SPI2_BASE)
+#define SPI3                ((SPI_TypeDef *) SPI3_BASE)
+#define SPI4                ((SPI_TypeDef *) SPI4_BASE)
+#define SPI5                ((SPI_TypeDef *) SPI5_BASE)
+#define SPI6                ((SPI_TypeDef *) SPI6_BASE)
+#define USART2              ((USART_TypeDef *) USART2_BASE)
+#define USART3              ((USART_TypeDef *) USART3_BASE)
+#define USART6              ((USART_TypeDef *) USART6_BASE)
+#define USART10             ((USART_TypeDef *) USART10_BASE)
+#define UART7               ((USART_TypeDef *) UART7_BASE)
+#define UART8               ((USART_TypeDef *) UART8_BASE)
+#define UART9               ((USART_TypeDef *) UART9_BASE)
+#define CRS                 ((CRS_TypeDef *) CRS_BASE)
+#define UART4               ((USART_TypeDef *) UART4_BASE)
+#define UART5               ((USART_TypeDef *) UART5_BASE)
+#define I2C1                ((I2C_TypeDef *) I2C1_BASE)
+#define I2C2                ((I2C_TypeDef *) I2C2_BASE)
+#define I2C3                ((I2C_TypeDef *) I2C3_BASE)
+#define I2C4                ((I2C_TypeDef *) I2C4_BASE)
+#define I2C5                ((I2C_TypeDef *) I2C5_BASE)
+#define FDCAN1              ((FDCAN_GlobalTypeDef *) FDCAN1_BASE)
+#define FDCAN2              ((FDCAN_GlobalTypeDef *) FDCAN2_BASE)
+#define FDCAN_CCU           ((FDCAN_ClockCalibrationUnit_TypeDef *) FDCAN_CCU_BASE)
+#define FDCAN3              ((FDCAN_GlobalTypeDef *) FDCAN3_BASE)
+#define TIM23               ((TIM_TypeDef *) TIM23_BASE)
+#define TIM24               ((TIM_TypeDef *) TIM24_BASE)
+#define CEC                 ((CEC_TypeDef *) CEC_BASE)
+#define LPTIM1              ((LPTIM_TypeDef *) LPTIM1_BASE)
+#define PWR                 ((PWR_TypeDef *) PWR_BASE)
+#define DAC1                ((DAC_TypeDef *) DAC1_BASE)
+#define LPUART1             ((USART_TypeDef *) LPUART1_BASE)
+#define SWPMI1              ((SWPMI_TypeDef *) SWPMI1_BASE)
+#define LPTIM2              ((LPTIM_TypeDef *) LPTIM2_BASE)
+#define LPTIM3              ((LPTIM_TypeDef *) LPTIM3_BASE)
+#define DTS                 ((DTS_TypeDef *) DTS_BASE)
+#define LPTIM4              ((LPTIM_TypeDef *) LPTIM4_BASE)
+#define LPTIM5              ((LPTIM_TypeDef *) LPTIM5_BASE)
+
+#define SYSCFG              ((SYSCFG_TypeDef *) SYSCFG_BASE)
+#define COMP12              ((COMPOPT_TypeDef *) COMP12_BASE)
+#define COMP1               ((COMP_TypeDef *) COMP1_BASE)
+#define COMP2               ((COMP_TypeDef *) COMP2_BASE)
+#define COMP12_COMMON       ((COMP_Common_TypeDef *) COMP2_BASE)
+#define OPAMP               ((OPAMP_TypeDef *) OPAMP_BASE)
+#define OPAMP1              ((OPAMP_TypeDef *) OPAMP1_BASE)
+#define OPAMP2              ((OPAMP_TypeDef *) OPAMP2_BASE)
+
+
+#define EXTI                ((EXTI_TypeDef *) EXTI_BASE)
+#define EXTI_D1             ((EXTI_Core_TypeDef *) EXTI_D1_BASE)
+#define EXTI_D2             ((EXTI_Core_TypeDef *) EXTI_D2_BASE)
+#define TIM1                ((TIM_TypeDef *) TIM1_BASE)
+#define SPI1                ((SPI_TypeDef *) SPI1_BASE)
+#define TIM8                ((TIM_TypeDef *) TIM8_BASE)
+#define USART1              ((USART_TypeDef *) USART1_BASE)
+#define TIM12               ((TIM_TypeDef *) TIM12_BASE)
+#define TIM15               ((TIM_TypeDef *) TIM15_BASE)
+#define TIM16               ((TIM_TypeDef *) TIM16_BASE)
+#define TIM17               ((TIM_TypeDef *) TIM17_BASE)
+#define SAI1                ((SAI_TypeDef *) SAI1_BASE)
+#define SAI1_Block_A        ((SAI_Block_TypeDef *)SAI1_Block_A_BASE)
+#define SAI1_Block_B        ((SAI_Block_TypeDef *)SAI1_Block_B_BASE)
+#define SAI4                ((SAI_TypeDef *) SAI4_BASE)
+#define SAI4_Block_A        ((SAI_Block_TypeDef *)SAI4_Block_A_BASE)
+#define SAI4_Block_B        ((SAI_Block_TypeDef *)SAI4_Block_B_BASE)
+
+#define SPDIFRX             ((SPDIFRX_TypeDef *) SPDIFRX_BASE)
+#define DFSDM1_Channel0     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel0_BASE)
+#define DFSDM1_Channel1     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel1_BASE)
+#define DFSDM1_Channel2     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel2_BASE)
+#define DFSDM1_Channel3     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel3_BASE)
+#define DFSDM1_Channel4     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel4_BASE)
+#define DFSDM1_Channel5     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel5_BASE)
+#define DFSDM1_Channel6     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel6_BASE)
+#define DFSDM1_Channel7     ((DFSDM_Channel_TypeDef *) DFSDM1_Channel7_BASE)
+#define DFSDM1_Filter0      ((DFSDM_Filter_TypeDef *) DFSDM1_Filter0_BASE)
+#define DFSDM1_Filter1      ((DFSDM_Filter_TypeDef *) DFSDM1_Filter1_BASE)
+#define DFSDM1_Filter2      ((DFSDM_Filter_TypeDef *) DFSDM1_Filter2_BASE)
+#define DFSDM1_Filter3      ((DFSDM_Filter_TypeDef *) DFSDM1_Filter3_BASE)
+#define DMA2D               ((DMA2D_TypeDef *) DMA2D_BASE)
+#define DCMI                ((DCMI_TypeDef *) DCMI_BASE)
+#define PSSI                ((PSSI_TypeDef *) PSSI_BASE)
+#define RCC                 ((RCC_TypeDef *) RCC_BASE)
+#define FLASH               ((FLASH_TypeDef *) FLASH_R_BASE)
+#define CRC                 ((CRC_TypeDef *) CRC_BASE)
+
+#define GPIOA               ((GPIO_TypeDef *) GPIOA_BASE)
+#define GPIOB               ((GPIO_TypeDef *) GPIOB_BASE)
+#define GPIOC               ((GPIO_TypeDef *) GPIOC_BASE)
+#define GPIOD               ((GPIO_TypeDef *) GPIOD_BASE)
+#define GPIOE               ((GPIO_TypeDef *) GPIOE_BASE)
+#define GPIOF               ((GPIO_TypeDef *) GPIOF_BASE)
+#define GPIOG               ((GPIO_TypeDef *) GPIOG_BASE)
+#define GPIOH               ((GPIO_TypeDef *) GPIOH_BASE)
+#define GPIOJ               ((GPIO_TypeDef *) GPIOJ_BASE)
+#define GPIOK               ((GPIO_TypeDef *) GPIOK_BASE)
+
+#define ADC1                ((ADC_TypeDef *) ADC1_BASE)
+#define ADC2                ((ADC_TypeDef *) ADC2_BASE)
+#define ADC3                ((ADC_TypeDef *) ADC3_BASE)
+#define ADC3_COMMON         ((ADC_Common_TypeDef *) ADC3_COMMON_BASE)
+#define ADC12_COMMON        ((ADC_Common_TypeDef *) ADC12_COMMON_BASE)
+
+#define CRYP                ((CRYP_TypeDef *) CRYP_BASE)
+#define HASH                ((HASH_TypeDef *) HASH_BASE)
+#define HASH_DIGEST         ((HASH_DIGEST_TypeDef *) HASH_DIGEST_BASE)
+#define RNG                 ((RNG_TypeDef *) RNG_BASE)
+#define SDMMC2              ((SDMMC_TypeDef *) SDMMC2_BASE)
+#define DLYB_SDMMC2         ((DLYB_TypeDef *) DLYB_SDMMC2_BASE)
+#define FMAC                ((FMAC_TypeDef *) FMAC_BASE)
+#define CORDIC              ((CORDIC_TypeDef *) CORDIC_BASE)
+
+#define BDMA                ((BDMA_TypeDef *) BDMA_BASE)
+#define BDMA_Channel0       ((BDMA_Channel_TypeDef *) BDMA_Channel0_BASE)
+#define BDMA_Channel1       ((BDMA_Channel_TypeDef *) BDMA_Channel1_BASE)
+#define BDMA_Channel2       ((BDMA_Channel_TypeDef *) BDMA_Channel2_BASE)
+#define BDMA_Channel3       ((BDMA_Channel_TypeDef *) BDMA_Channel3_BASE)
+#define BDMA_Channel4       ((BDMA_Channel_TypeDef *) BDMA_Channel4_BASE)
+#define BDMA_Channel5       ((BDMA_Channel_TypeDef *) BDMA_Channel5_BASE)
+#define BDMA_Channel6       ((BDMA_Channel_TypeDef *) BDMA_Channel6_BASE)
+#define BDMA_Channel7       ((BDMA_Channel_TypeDef *) BDMA_Channel7_BASE)
+
+#define RAMECC1              ((RAMECC_TypeDef *)RAMECC1_BASE)
+#define RAMECC1_Monitor1     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor1_BASE)
+#define RAMECC1_Monitor2     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor2_BASE)
+#define RAMECC1_Monitor3     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor3_BASE)
+#define RAMECC1_Monitor4     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor4_BASE)
+#define RAMECC1_Monitor5     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor5_BASE)
+#define RAMECC1_Monitor6     ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor6_BASE)
+
+#define RAMECC2              ((RAMECC_TypeDef *)RAMECC2_BASE)
+#define RAMECC2_Monitor1     ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor1_BASE)
+#define RAMECC2_Monitor2     ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor2_BASE)
+#define RAMECC2_Monitor3     ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor3_BASE)
+
+#define RAMECC3              ((RAMECC_TypeDef *)RAMECC3_BASE)
+#define RAMECC3_Monitor1     ((RAMECC_MonitorTypeDef *)RAMECC3_Monitor1_BASE)
+#define RAMECC3_Monitor2     ((RAMECC_MonitorTypeDef *)RAMECC3_Monitor2_BASE)
+
+#define DMAMUX2                ((DMAMUX_Channel_TypeDef *) DMAMUX2_BASE)
+#define DMAMUX2_Channel0       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel0_BASE)
+#define DMAMUX2_Channel1       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel1_BASE)
+#define DMAMUX2_Channel2       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel2_BASE)
+#define DMAMUX2_Channel3       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel3_BASE)
+#define DMAMUX2_Channel4       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel4_BASE)
+#define DMAMUX2_Channel5       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel5_BASE)
+#define DMAMUX2_Channel6       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel6_BASE)
+#define DMAMUX2_Channel7       ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel7_BASE)
+
+
+#define DMAMUX2_RequestGenerator0  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator0_BASE)
+#define DMAMUX2_RequestGenerator1  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator1_BASE)
+#define DMAMUX2_RequestGenerator2  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator2_BASE)
+#define DMAMUX2_RequestGenerator3  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator3_BASE)
+#define DMAMUX2_RequestGenerator4  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator4_BASE)
+#define DMAMUX2_RequestGenerator5  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator5_BASE)
+#define DMAMUX2_RequestGenerator6  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator6_BASE)
+#define DMAMUX2_RequestGenerator7  ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator7_BASE)
+
+#define DMAMUX2_ChannelStatus      ((DMAMUX_ChannelStatus_TypeDef *) DMAMUX2_ChannelStatus_BASE)
+#define DMAMUX2_RequestGenStatus   ((DMAMUX_RequestGenStatus_TypeDef *) DMAMUX2_RequestGenStatus_BASE)
+
+#define DMA2                ((DMA_TypeDef *) DMA2_BASE)
+#define DMA2_Stream0        ((DMA_Stream_TypeDef *) DMA2_Stream0_BASE)
+#define DMA2_Stream1        ((DMA_Stream_TypeDef *) DMA2_Stream1_BASE)
+#define DMA2_Stream2        ((DMA_Stream_TypeDef *) DMA2_Stream2_BASE)
+#define DMA2_Stream3        ((DMA_Stream_TypeDef *) DMA2_Stream3_BASE)
+#define DMA2_Stream4        ((DMA_Stream_TypeDef *) DMA2_Stream4_BASE)
+#define DMA2_Stream5        ((DMA_Stream_TypeDef *) DMA2_Stream5_BASE)
+#define DMA2_Stream6        ((DMA_Stream_TypeDef *) DMA2_Stream6_BASE)
+#define DMA2_Stream7        ((DMA_Stream_TypeDef *) DMA2_Stream7_BASE)
+
+#define DMA1                ((DMA_TypeDef *) DMA1_BASE)
+#define DMA1_Stream0        ((DMA_Stream_TypeDef *) DMA1_Stream0_BASE)
+#define DMA1_Stream1        ((DMA_Stream_TypeDef *) DMA1_Stream1_BASE)
+#define DMA1_Stream2        ((DMA_Stream_TypeDef *) DMA1_Stream2_BASE)
+#define DMA1_Stream3        ((DMA_Stream_TypeDef *) DMA1_Stream3_BASE)
+#define DMA1_Stream4        ((DMA_Stream_TypeDef *) DMA1_Stream4_BASE)
+#define DMA1_Stream5        ((DMA_Stream_TypeDef *) DMA1_Stream5_BASE)
+#define DMA1_Stream6        ((DMA_Stream_TypeDef *) DMA1_Stream6_BASE)
+#define DMA1_Stream7        ((DMA_Stream_TypeDef *) DMA1_Stream7_BASE)
+
+
+#define DMAMUX1              ((DMAMUX_Channel_TypeDef *) DMAMUX1_BASE)
+#define DMAMUX1_Channel0     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel0_BASE)
+#define DMAMUX1_Channel1     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel1_BASE)
+#define DMAMUX1_Channel2     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel2_BASE)
+#define DMAMUX1_Channel3     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel3_BASE)
+#define DMAMUX1_Channel4     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel4_BASE)
+#define DMAMUX1_Channel5     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel5_BASE)
+#define DMAMUX1_Channel6     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel6_BASE)
+#define DMAMUX1_Channel7     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel7_BASE)
+#define DMAMUX1_Channel8     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel8_BASE)
+#define DMAMUX1_Channel9     ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel9_BASE)
+#define DMAMUX1_Channel10    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel10_BASE)
+#define DMAMUX1_Channel11    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel11_BASE)
+#define DMAMUX1_Channel12    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel12_BASE)
+#define DMAMUX1_Channel13    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel13_BASE)
+#define DMAMUX1_Channel14    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel14_BASE)
+#define DMAMUX1_Channel15    ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel15_BASE)
+
+#define DMAMUX1_RequestGenerator0  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator0_BASE)
+#define DMAMUX1_RequestGenerator1  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator1_BASE)
+#define DMAMUX1_RequestGenerator2  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator2_BASE)
+#define DMAMUX1_RequestGenerator3  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator3_BASE)
+#define DMAMUX1_RequestGenerator4  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator4_BASE)
+#define DMAMUX1_RequestGenerator5  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator5_BASE)
+#define DMAMUX1_RequestGenerator6  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator6_BASE)
+#define DMAMUX1_RequestGenerator7  ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator7_BASE)
+
+#define DMAMUX1_ChannelStatus      ((DMAMUX_ChannelStatus_TypeDef *)    DMAMUX1_ChannelStatus_BASE)
+#define DMAMUX1_RequestGenStatus   ((DMAMUX_RequestGenStatus_TypeDef *) DMAMUX1_RequestGenStatus_BASE)
+
+
+#define FMC_Bank1_R           ((FMC_Bank1_TypeDef *) FMC_Bank1_R_BASE)
+#define FMC_Bank1E_R          ((FMC_Bank1E_TypeDef *) FMC_Bank1E_R_BASE)
+#define FMC_Bank2_R           ((FMC_Bank2_TypeDef *) FMC_Bank2_R_BASE)
+#define FMC_Bank3_R           ((FMC_Bank3_TypeDef *) FMC_Bank3_R_BASE)
+#define FMC_Bank5_6_R         ((FMC_Bank5_6_TypeDef *) FMC_Bank5_6_R_BASE)
+
+#define OCTOSPI1            ((OCTOSPI_TypeDef *) OCTOSPI1_R_BASE)
+#define DLYB_OCTOSPI1       ((DLYB_TypeDef *) DLYB_OCTOSPI1_BASE)
+#define OCTOSPI2            ((OCTOSPI_TypeDef *) OCTOSPI2_R_BASE)
+#define DLYB_OCTOSPI2       ((DLYB_TypeDef *) DLYB_OCTOSPI2_BASE)
+#define OCTOSPIM            ((OCTOSPIM_TypeDef *) OCTOSPIM_BASE)
+
+#define OTFDEC1               ((OTFDEC_TypeDef *) OTFDEC1_BASE)
+#define OTFDEC1_REGION1       ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION1_BASE)
+#define OTFDEC1_REGION2       ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION2_BASE)
+#define OTFDEC1_REGION3       ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION3_BASE)
+#define OTFDEC1_REGION4       ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION4_BASE)
+
+#define OTFDEC2               ((OTFDEC_TypeDef *) OTFDEC2_BASE)
+#define OTFDEC2_REGION1       ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION1_BASE)
+#define OTFDEC2_REGION2       ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION2_BASE)
+#define OTFDEC2_REGION3       ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION3_BASE)
+#define OTFDEC2_REGION4       ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION4_BASE)
+
+#define SDMMC1                ((SDMMC_TypeDef *) SDMMC1_BASE)
+#define DLYB_SDMMC1           ((DLYB_TypeDef *) DLYB_SDMMC1_BASE)
+
+#define DBGMCU              ((DBGMCU_TypeDef *) DBGMCU_BASE)
+
+#define HSEM                ((HSEM_TypeDef *) HSEM_BASE)
+#define HSEM_COMMON         ((HSEM_Common_TypeDef *) (HSEM_BASE + 0x100UL))
+
+#define LTDC                ((LTDC_TypeDef *)LTDC_BASE)
+#define LTDC_Layer1         ((LTDC_Layer_TypeDef *)LTDC_Layer1_BASE)
+#define LTDC_Layer2         ((LTDC_Layer_TypeDef *)LTDC_Layer2_BASE)
+
+#define MDIOS               ((MDIOS_TypeDef *) MDIOS_BASE)
+
+#define ETH                 ((ETH_TypeDef *)ETH_BASE)
+#define MDMA                ((MDMA_TypeDef *)MDMA_BASE)
+#define MDMA_Channel0       ((MDMA_Channel_TypeDef *)MDMA_Channel0_BASE)
+#define MDMA_Channel1       ((MDMA_Channel_TypeDef *)MDMA_Channel1_BASE)
+#define MDMA_Channel2       ((MDMA_Channel_TypeDef *)MDMA_Channel2_BASE)
+#define MDMA_Channel3       ((MDMA_Channel_TypeDef *)MDMA_Channel3_BASE)
+#define MDMA_Channel4       ((MDMA_Channel_TypeDef *)MDMA_Channel4_BASE)
+#define MDMA_Channel5       ((MDMA_Channel_TypeDef *)MDMA_Channel5_BASE)
+#define MDMA_Channel6       ((MDMA_Channel_TypeDef *)MDMA_Channel6_BASE)
+#define MDMA_Channel7       ((MDMA_Channel_TypeDef *)MDMA_Channel7_BASE)
+#define MDMA_Channel8       ((MDMA_Channel_TypeDef *)MDMA_Channel8_BASE)
+#define MDMA_Channel9       ((MDMA_Channel_TypeDef *)MDMA_Channel9_BASE)
+#define MDMA_Channel10      ((MDMA_Channel_TypeDef *)MDMA_Channel10_BASE)
+#define MDMA_Channel11      ((MDMA_Channel_TypeDef *)MDMA_Channel11_BASE)
+#define MDMA_Channel12      ((MDMA_Channel_TypeDef *)MDMA_Channel12_BASE)
+#define MDMA_Channel13      ((MDMA_Channel_TypeDef *)MDMA_Channel13_BASE)
+#define MDMA_Channel14      ((MDMA_Channel_TypeDef *)MDMA_Channel14_BASE)
+#define MDMA_Channel15      ((MDMA_Channel_TypeDef *)MDMA_Channel15_BASE)
+
+
+#define USB1_OTG_HS         ((USB_OTG_GlobalTypeDef *) USB1_OTG_HS_PERIPH_BASE)
+
+/* Legacy defines */
+#define USB_OTG_HS                   USB1_OTG_HS
+#define USB_OTG_HS_PERIPH_BASE       USB1_OTG_HS_PERIPH_BASE
+
+#define GPV                ((GPV_TypeDef *) GPV_BASE)
+
+/**
+  * @}
+  */
+
+/** @addtogroup Exported_constants
+  * @{
+  */
+
+  /** @addtogroup Peripheral_Registers_Bits_Definition
+  * @{
+  */
+
+/******************************************************************************/
+/*                         Peripheral Registers_Bits_Definition               */
+/******************************************************************************/
+
+/******************************************************************************/
+/*                                                                            */
+/*                        Analog to Digital Converter                         */
+/*                                                                            */
+/******************************************************************************/
+/*******************************  ADC VERSION  ********************************/
+#define ADC_VER_V5_V90
+/********************  Bit definition for ADC_ISR register  ********************/
+#define ADC_ISR_ADRDY_Pos                 (0U)
+#define ADC_ISR_ADRDY_Msk                 (0x1UL << ADC_ISR_ADRDY_Pos)         /*!< 0x00000001 */
+#define ADC_ISR_ADRDY                     ADC_ISR_ADRDY_Msk                    /*!< ADC Ready (ADRDY) flag  */
+#define ADC_ISR_EOSMP_Pos                 (1U)
+#define ADC_ISR_EOSMP_Msk                 (0x1UL << ADC_ISR_EOSMP_Pos)         /*!< 0x00000002 */
+#define ADC_ISR_EOSMP                     ADC_ISR_EOSMP_Msk                    /*!< ADC End of Sampling flag */
+#define ADC_ISR_EOC_Pos                   (2U)
+#define ADC_ISR_EOC_Msk                   (0x1UL << ADC_ISR_EOC_Pos)           /*!< 0x00000004 */
+#define ADC_ISR_EOC                       ADC_ISR_EOC_Msk                      /*!< ADC End of Regular Conversion flag */
+#define ADC_ISR_EOS_Pos                   (3U)
+#define ADC_ISR_EOS_Msk                   (0x1UL << ADC_ISR_EOS_Pos)           /*!< 0x00000008 */
+#define ADC_ISR_EOS                       ADC_ISR_EOS_Msk                      /*!< ADC End of Regular sequence of Conversions flag */
+#define ADC_ISR_OVR_Pos                   (4U)
+#define ADC_ISR_OVR_Msk                   (0x1UL << ADC_ISR_OVR_Pos)           /*!< 0x00000010 */
+#define ADC_ISR_OVR                       ADC_ISR_OVR_Msk                      /*!< ADC overrun flag */
+#define ADC_ISR_JEOC_Pos                  (5U)
+#define ADC_ISR_JEOC_Msk                  (0x1UL << ADC_ISR_JEOC_Pos)          /*!< 0x00000020 */
+#define ADC_ISR_JEOC                      ADC_ISR_JEOC_Msk                     /*!< ADC End of Injected Conversion flag */
+#define ADC_ISR_JEOS_Pos                  (6U)
+#define ADC_ISR_JEOS_Msk                  (0x1UL << ADC_ISR_JEOS_Pos)          /*!< 0x00000040 */
+#define ADC_ISR_JEOS                      ADC_ISR_JEOS_Msk                     /*!< ADC End of Injected sequence of Conversions flag */
+#define ADC_ISR_AWD1_Pos                  (7U)
+#define ADC_ISR_AWD1_Msk                  (0x1UL << ADC_ISR_AWD1_Pos)          /*!< 0x00000080 */
+#define ADC_ISR_AWD1                      ADC_ISR_AWD1_Msk                     /*!< ADC Analog watchdog 1 flag */
+#define ADC_ISR_AWD2_Pos                  (8U)
+#define ADC_ISR_AWD2_Msk                  (0x1UL << ADC_ISR_AWD2_Pos)          /*!< 0x00000100 */
+#define ADC_ISR_AWD2                      ADC_ISR_AWD2_Msk                     /*!< ADC Analog watchdog 2 flag */
+#define ADC_ISR_AWD3_Pos                  (9U)
+#define ADC_ISR_AWD3_Msk                  (0x1UL << ADC_ISR_AWD3_Pos)          /*!< 0x00000200 */
+#define ADC_ISR_AWD3                      ADC_ISR_AWD3_Msk                     /*!< ADC Analog watchdog 3 flag */
+#define ADC_ISR_JQOVF_Pos                 (10U)
+#define ADC_ISR_JQOVF_Msk                 (0x1UL << ADC_ISR_JQOVF_Pos)         /*!< 0x00000400 */
+#define ADC_ISR_JQOVF                     ADC_ISR_JQOVF_Msk                    /*!< ADC Injected Context Queue Overflow flag */
+#define ADC_ISR_LDORDY_Pos                 (12U)
+#define ADC_ISR_LDORDY_Msk                 (0x1UL << ADC_ISR_LDORDY_Pos)         /*!< 0x00001000 */
+#define ADC_ISR_LDORDY                     ADC_ISR_LDORDY_Msk                    /*!< ADC LDO Ready (LDORDY) flag  */
+
+/********************  Bit definition for ADC_IER register  ********************/
+#define ADC_IER_ADRDYIE_Pos               (0U)
+#define ADC_IER_ADRDYIE_Msk               (0x1UL << ADC_IER_ADRDYIE_Pos)       /*!< 0x00000001 */
+#define ADC_IER_ADRDYIE                   ADC_IER_ADRDYIE_Msk                  /*!< ADC Ready (ADRDY) interrupt source */
+#define ADC_IER_EOSMPIE_Pos               (1U)
+#define ADC_IER_EOSMPIE_Msk               (0x1UL << ADC_IER_EOSMPIE_Pos)       /*!< 0x00000002 */
+#define ADC_IER_EOSMPIE                   ADC_IER_EOSMPIE_Msk                  /*!< ADC End of Sampling interrupt source */
+#define ADC_IER_EOCIE_Pos                 (2U)
+#define ADC_IER_EOCIE_Msk                 (0x1UL << ADC_IER_EOCIE_Pos)         /*!< 0x00000004 */
+#define ADC_IER_EOCIE                     ADC_IER_EOCIE_Msk                    /*!< ADC End of Regular Conversion interrupt source */
+#define ADC_IER_EOSIE_Pos                 (3U)
+#define ADC_IER_EOSIE_Msk                 (0x1UL << ADC_IER_EOSIE_Pos)         /*!< 0x00000008 */
+#define ADC_IER_EOSIE                     ADC_IER_EOSIE_Msk                    /*!< ADC End of Regular sequence of Conversions interrupt source */
+#define ADC_IER_OVRIE_Pos                 (4U)
+#define ADC_IER_OVRIE_Msk                 (0x1UL << ADC_IER_OVRIE_Pos)         /*!< 0x00000010 */
+#define ADC_IER_OVRIE                     ADC_IER_OVRIE_Msk                    /*!< ADC overrun interrupt source */
+#define ADC_IER_JEOCIE_Pos                (5U)
+#define ADC_IER_JEOCIE_Msk                (0x1UL << ADC_IER_JEOCIE_Pos)        /*!< 0x00000020 */
+#define ADC_IER_JEOCIE                    ADC_IER_JEOCIE_Msk                   /*!< ADC End of Injected Conversion interrupt source */
+#define ADC_IER_JEOSIE_Pos                (6U)
+#define ADC_IER_JEOSIE_Msk                (0x1UL << ADC_IER_JEOSIE_Pos)        /*!< 0x00000040 */
+#define ADC_IER_JEOSIE                    ADC_IER_JEOSIE_Msk                   /*!< ADC End of Injected sequence of Conversions interrupt source */
+#define ADC_IER_AWD1IE_Pos                (7U)
+#define ADC_IER_AWD1IE_Msk                (0x1UL << ADC_IER_AWD1IE_Pos)        /*!< 0x00000080 */
+#define ADC_IER_AWD1IE                    ADC_IER_AWD1IE_Msk                   /*!< ADC Analog watchdog 1 interrupt source */
+#define ADC_IER_AWD2IE_Pos                (8U)
+#define ADC_IER_AWD2IE_Msk                (0x1UL << ADC_IER_AWD2IE_Pos)        /*!< 0x00000100 */
+#define ADC_IER_AWD2IE                    ADC_IER_AWD2IE_Msk                   /*!< ADC Analog watchdog 2 interrupt source */
+#define ADC_IER_AWD3IE_Pos                (9U)
+#define ADC_IER_AWD3IE_Msk                (0x1UL << ADC_IER_AWD3IE_Pos)        /*!< 0x00000200 */
+#define ADC_IER_AWD3IE                    ADC_IER_AWD3IE_Msk                   /*!< ADC Analog watchdog 3 interrupt source */
+#define ADC_IER_JQOVFIE_Pos               (10U)
+#define ADC_IER_JQOVFIE_Msk               (0x1UL << ADC_IER_JQOVFIE_Pos)       /*!< 0x00000400 */
+#define ADC_IER_JQOVFIE                   ADC_IER_JQOVFIE_Msk                  /*!< ADC Injected Context Queue Overflow interrupt source */
+
+/********************  Bit definition for ADC_CR register  ********************/
+#define ADC_CR_ADEN_Pos                   (0U)
+#define ADC_CR_ADEN_Msk                   (0x1UL << ADC_CR_ADEN_Pos)           /*!< 0x00000001 */
+#define ADC_CR_ADEN                       ADC_CR_ADEN_Msk                      /*!< ADC Enable control */
+#define ADC_CR_ADDIS_Pos                  (1U)
+#define ADC_CR_ADDIS_Msk                  (0x1UL << ADC_CR_ADDIS_Pos)          /*!< 0x00000002 */
+#define ADC_CR_ADDIS                      ADC_CR_ADDIS_Msk                     /*!< ADC Disable command */
+#define ADC_CR_ADSTART_Pos                (2U)
+#define ADC_CR_ADSTART_Msk                (0x1UL << ADC_CR_ADSTART_Pos)        /*!< 0x00000004 */
+#define ADC_CR_ADSTART                    ADC_CR_ADSTART_Msk                   /*!< ADC Start of Regular conversion */
+#define ADC_CR_JADSTART_Pos               (3U)
+#define ADC_CR_JADSTART_Msk               (0x1UL << ADC_CR_JADSTART_Pos)       /*!< 0x00000008 */
+#define ADC_CR_JADSTART                   ADC_CR_JADSTART_Msk                  /*!< ADC Start of injected conversion */
+#define ADC_CR_ADSTP_Pos                  (4U)
+#define ADC_CR_ADSTP_Msk                  (0x1UL << ADC_CR_ADSTP_Pos)          /*!< 0x00000010 */
+#define ADC_CR_ADSTP                      ADC_CR_ADSTP_Msk                     /*!< ADC Stop of Regular conversion */
+#define ADC_CR_JADSTP_Pos                 (5U)
+#define ADC_CR_JADSTP_Msk                 (0x1UL << ADC_CR_JADSTP_Pos)         /*!< 0x00000020 */
+#define ADC_CR_JADSTP                     ADC_CR_JADSTP_Msk                    /*!< ADC Stop of injected conversion */
+#define ADC_CR_BOOST_Pos                  (8U)
+#define ADC_CR_BOOST_Msk                  (0x3UL << ADC_CR_BOOST_Pos)          /*!< 0x00000300 */
+#define ADC_CR_BOOST                      ADC_CR_BOOST_Msk                     /*!< ADC Boost Mode configuration */
+#define ADC_CR_BOOST_0                    (0x1UL << ADC_CR_BOOST_Pos)           /*!< 0x00000100 */
+#define ADC_CR_BOOST_1                    (0x2UL << ADC_CR_BOOST_Pos)           /*!< 0x00000200 */
+#define ADC_CR_ADCALLIN_Pos               (16U)
+#define ADC_CR_ADCALLIN_Msk               (0x1UL << ADC_CR_ADCALLIN_Pos)       /*!< 0x00010000 */
+#define ADC_CR_ADCALLIN                   ADC_CR_ADCALLIN_Msk                  /*!< ADC Linearity calibration */
+#define ADC_CR_LINCALRDYW1_Pos            (22U)
+#define ADC_CR_LINCALRDYW1_Msk            (0x1UL << ADC_CR_LINCALRDYW1_Pos)    /*!< 0x00400000 */
+#define ADC_CR_LINCALRDYW1                ADC_CR_LINCALRDYW1_Msk               /*!< ADC Linearity calibration ready Word 1 */
+#define ADC_CR_LINCALRDYW2_Pos            (23U)
+#define ADC_CR_LINCALRDYW2_Msk            (0x1UL << ADC_CR_LINCALRDYW2_Pos)    /*!< 0x00800000 */
+#define ADC_CR_LINCALRDYW2                ADC_CR_LINCALRDYW2_Msk               /*!< ADC Linearity calibration ready Word 2 */
+#define ADC_CR_LINCALRDYW3_Pos            (24U)
+#define ADC_CR_LINCALRDYW3_Msk            (0x1UL << ADC_CR_LINCALRDYW3_Pos)    /*!< 0x01000000 */
+#define ADC_CR_LINCALRDYW3                ADC_CR_LINCALRDYW3_Msk               /*!< ADC Linearity calibration ready Word 3 */
+#define ADC_CR_LINCALRDYW4_Pos            (25U)
+#define ADC_CR_LINCALRDYW4_Msk            (0x1UL << ADC_CR_LINCALRDYW4_Pos)    /*!< 0x02000000 */
+#define ADC_CR_LINCALRDYW4                ADC_CR_LINCALRDYW4_Msk               /*!< ADC Linearity calibration ready Word 4 */
+#define ADC_CR_LINCALRDYW5_Pos            (26U)
+#define ADC_CR_LINCALRDYW5_Msk            (0x1UL << ADC_CR_LINCALRDYW5_Pos)    /*!< 0x04000000 */
+#define ADC_CR_LINCALRDYW5                ADC_CR_LINCALRDYW5_Msk               /*!< ADC Linearity calibration ready Word 5 */
+#define ADC_CR_LINCALRDYW6_Pos            (27U)
+#define ADC_CR_LINCALRDYW6_Msk            (0x1UL << ADC_CR_LINCALRDYW6_Pos)    /*!< 0x08000000 */
+#define ADC_CR_LINCALRDYW6                ADC_CR_LINCALRDYW6_Msk               /*!< ADC Linearity calibration ready Word 6 */
+#define ADC_CR_ADVREGEN_Pos               (28U)
+#define ADC_CR_ADVREGEN_Msk               (0x1UL << ADC_CR_ADVREGEN_Pos)       /*!< 0x10000000 */
+#define ADC_CR_ADVREGEN                   ADC_CR_ADVREGEN_Msk                  /*!< ADC Voltage regulator Enable */
+#define ADC_CR_DEEPPWD_Pos                (29U)
+#define ADC_CR_DEEPPWD_Msk                (0x1UL << ADC_CR_DEEPPWD_Pos)        /*!< 0x20000000 */
+#define ADC_CR_DEEPPWD                    ADC_CR_DEEPPWD_Msk                   /*!< ADC Deep power down Enable */
+#define ADC_CR_ADCALDIF_Pos               (30U)
+#define ADC_CR_ADCALDIF_Msk               (0x1UL << ADC_CR_ADCALDIF_Pos)       /*!< 0x40000000 */
+#define ADC_CR_ADCALDIF                   ADC_CR_ADCALDIF_Msk                  /*!< ADC Differential Mode for calibration */
+#define ADC_CR_ADCAL_Pos                  (31U)
+#define ADC_CR_ADCAL_Msk                  (0x1UL << ADC_CR_ADCAL_Pos)          /*!< 0x80000000 */
+#define ADC_CR_ADCAL                      ADC_CR_ADCAL_Msk                     /*!< ADC Calibration */
+
+/********************  Bit definition for ADC_CFGR register  ********************/
+#define ADC_CFGR_DMNGT_Pos                (0U)
+#define ADC_CFGR_DMNGT_Msk                (0x3UL << ADC_CFGR_DMNGT_Pos)        /*!< 0x00000003 */
+#define ADC_CFGR_DMNGT                    ADC_CFGR_DMNGT_Msk                   /*!< ADC Data Management configuration */
+#define ADC_CFGR_DMNGT_0                  (0x1UL << ADC_CFGR_DMNGT_Pos)         /*!< 0x00000001 */
+#define ADC_CFGR_DMNGT_1                  (0x2UL << ADC_CFGR_DMNGT_Pos)         /*!< 0x00000002 */
+
+#define ADC_CFGR_RES_Pos                  (2U)
+#define ADC_CFGR_RES_Msk                  (0x7UL << ADC_CFGR_RES_Pos)          /*!< 0x0000001C */
+#define ADC_CFGR_RES                      ADC_CFGR_RES_Msk                     /*!< ADC Data resolution */
+#define ADC_CFGR_RES_0                    (0x1UL << ADC_CFGR_RES_Pos)           /*!< 0x00000004 */
+#define ADC_CFGR_RES_1                    (0x2UL << ADC_CFGR_RES_Pos)           /*!< 0x00000008 */
+#define ADC_CFGR_RES_2                    (0x4UL << ADC_CFGR_RES_Pos)           /*!< 0x00000010 */
+
+#define ADC_CFGR_EXTSEL_Pos               (5U)
+#define ADC_CFGR_EXTSEL_Msk               (0x1FUL << ADC_CFGR_EXTSEL_Pos)      /*!< 0x000003E0 */
+#define ADC_CFGR_EXTSEL                   ADC_CFGR_EXTSEL_Msk                  /*!< ADC External trigger selection for regular group */
+#define ADC_CFGR_EXTSEL_0                 (0x01UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000020 */
+#define ADC_CFGR_EXTSEL_1                 (0x02UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000040 */
+#define ADC_CFGR_EXTSEL_2                 (0x04UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000080 */
+#define ADC_CFGR_EXTSEL_3                 (0x08UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000100 */
+#define ADC_CFGR_EXTSEL_4                 (0x10UL << ADC_CFGR_EXTSEL_Pos)       /*!< 0x00000200 */
+
+#define ADC_CFGR_EXTEN_Pos                (10U)
+#define ADC_CFGR_EXTEN_Msk                (0x3UL << ADC_CFGR_EXTEN_Pos)        /*!< 0x00000C00 */
+#define ADC_CFGR_EXTEN                    ADC_CFGR_EXTEN_Msk                   /*!< ADC External trigger enable and polarity selection for regular channels */
+#define ADC_CFGR_EXTEN_0                  (0x1UL << ADC_CFGR_EXTEN_Pos)         /*!< 0x00000400 */
+#define ADC_CFGR_EXTEN_1                  (0x2UL << ADC_CFGR_EXTEN_Pos)         /*!< 0x00000800 */
+
+#define ADC_CFGR_OVRMOD_Pos               (12U)
+#define ADC_CFGR_OVRMOD_Msk               (0x1UL << ADC_CFGR_OVRMOD_Pos)       /*!< 0x00001000 */
+#define ADC_CFGR_OVRMOD                   ADC_CFGR_OVRMOD_Msk                  /*!< ADC overrun mode */
+#define ADC_CFGR_CONT_Pos                 (13U)
+#define ADC_CFGR_CONT_Msk                 (0x1UL << ADC_CFGR_CONT_Pos)         /*!< 0x00002000 */
+#define ADC_CFGR_CONT                     ADC_CFGR_CONT_Msk                    /*!< ADC Single/continuous conversion mode for regular conversion */
+#define ADC_CFGR_AUTDLY_Pos               (14U)
+#define ADC_CFGR_AUTDLY_Msk               (0x1UL << ADC_CFGR_AUTDLY_Pos)       /*!< 0x00004000 */
+#define ADC_CFGR_AUTDLY                   ADC_CFGR_AUTDLY_Msk                  /*!< ADC Delayed conversion mode */
+
+#define ADC_CFGR_DISCEN_Pos               (16U)
+#define ADC_CFGR_DISCEN_Msk               (0x1UL << ADC_CFGR_DISCEN_Pos)       /*!< 0x00010000 */
+#define ADC_CFGR_DISCEN                   ADC_CFGR_DISCEN_Msk                  /*!< ADC Discontinuous mode for regular channels */
+
+#define ADC_CFGR_DISCNUM_Pos              (17U)
+#define ADC_CFGR_DISCNUM_Msk              (0x7UL << ADC_CFGR_DISCNUM_Pos)      /*!< 0x000E0000 */
+#define ADC_CFGR_DISCNUM                  ADC_CFGR_DISCNUM_Msk                 /*!< ADC Discontinuous mode channel count */
+#define ADC_CFGR_DISCNUM_0                (0x1UL << ADC_CFGR_DISCNUM_Pos)       /*!< 0x00020000 */
+#define ADC_CFGR_DISCNUM_1                (0x2UL << ADC_CFGR_DISCNUM_Pos)       /*!< 0x00040000 */
+#define ADC_CFGR_DISCNUM_2                (0x4UL << ADC_CFGR_DISCNUM_Pos)       /*!< 0x00080000 */
+
+#define ADC_CFGR_JDISCEN_Pos              (20U)
+#define ADC_CFGR_JDISCEN_Msk              (0x1UL << ADC_CFGR_JDISCEN_Pos)      /*!< 0x00100000 */
+#define ADC_CFGR_JDISCEN                  ADC_CFGR_JDISCEN_Msk                 /*!< ADC Discontinuous mode on injected channels */
+#define ADC_CFGR_JQM_Pos                  (21U)
+#define ADC_CFGR_JQM_Msk                  (0x1UL << ADC_CFGR_JQM_Pos)          /*!< 0x00200000 */
+#define ADC_CFGR_JQM                      ADC_CFGR_JQM_Msk                     /*!< ADC JSQR Queue mode */
+#define ADC_CFGR_AWD1SGL_Pos              (22U)
+#define ADC_CFGR_AWD1SGL_Msk              (0x1UL << ADC_CFGR_AWD1SGL_Pos)      /*!< 0x00400000 */
+#define ADC_CFGR_AWD1SGL                  ADC_CFGR_AWD1SGL_Msk                 /*!< Enable the watchdog 1 on a single channel or on all channels */
+#define ADC_CFGR_AWD1EN_Pos               (23U)
+#define ADC_CFGR_AWD1EN_Msk               (0x1UL << ADC_CFGR_AWD1EN_Pos)       /*!< 0x00800000 */
+#define ADC_CFGR_AWD1EN                   ADC_CFGR_AWD1EN_Msk                  /*!< ADC Analog watchdog 1 enable on regular Channels */
+#define ADC_CFGR_JAWD1EN_Pos              (24U)
+#define ADC_CFGR_JAWD1EN_Msk              (0x1UL << ADC_CFGR_JAWD1EN_Pos)      /*!< 0x01000000 */
+#define ADC_CFGR_JAWD1EN                  ADC_CFGR_JAWD1EN_Msk                 /*!< ADC Analog watchdog 1 enable on injected Channels */
+#define ADC_CFGR_JAUTO_Pos                (25U)
+#define ADC_CFGR_JAUTO_Msk                (0x1UL << ADC_CFGR_JAUTO_Pos)        /*!< 0x02000000 */
+#define ADC_CFGR_JAUTO                    ADC_CFGR_JAUTO_Msk                   /*!< ADC Automatic injected group conversion */
+
+#define ADC_CFGR_AWD1CH_Pos               (26U)
+#define ADC_CFGR_AWD1CH_Msk               (0x1FUL << ADC_CFGR_AWD1CH_Pos)      /*!< 0x7C000000 */
+#define ADC_CFGR_AWD1CH                   ADC_CFGR_AWD1CH_Msk                  /*!< ADC Analog watchdog 1 Channel selection */
+#define ADC_CFGR_AWD1CH_0                 (0x01UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x04000000 */
+#define ADC_CFGR_AWD1CH_1                 (0x02UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x08000000 */
+#define ADC_CFGR_AWD1CH_2                 (0x04UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x10000000 */
+#define ADC_CFGR_AWD1CH_3                 (0x08UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x20000000 */
+#define ADC_CFGR_AWD1CH_4                 (0x10UL << ADC_CFGR_AWD1CH_Pos)       /*!< 0x40000000 */
+
+#define ADC_CFGR_JQDIS_Pos                (31U)
+#define ADC_CFGR_JQDIS_Msk                (0x1UL << ADC_CFGR_JQDIS_Pos)        /*!< 0x80000000 */
+#define ADC_CFGR_JQDIS                    ADC_CFGR_JQDIS_Msk                   /*!< ADC Injected queue disable */
+
+#define ADC3_CFGR_DMAEN_Pos             (0U)
+#define ADC3_CFGR_DMAEN_Msk             (0x1UL << ADC3_CFGR_DMAEN_Pos)           /*!< 0x00000001 */
+#define ADC3_CFGR_DMAEN                 ADC3_CFGR_DMAEN_Msk                      /*!< ADC DMA transfer enable */
+#define ADC3_CFGR_DMACFG_Pos            (1U)
+#define ADC3_CFGR_DMACFG_Msk            (0x1UL << ADC3_CFGR_DMACFG_Pos)          /*!< 0x00000002 */
+#define ADC3_CFGR_DMACFG                ADC3_CFGR_DMACFG_Msk                     /*!< ADC DMA transfer configuration */
+
+#define ADC3_CFGR_RES_Pos               (3U)
+#define ADC3_CFGR_RES_Msk               (0x3UL << ADC3_CFGR_RES_Pos)             /*!< 0x00000018 */
+#define ADC3_CFGR_RES                   ADC3_CFGR_RES_Msk                        /*!< ADC data resolution */
+#define ADC3_CFGR_RES_0                 (0x1UL << ADC3_CFGR_RES_Pos)             /*!< 0x00000008 */
+#define ADC3_CFGR_RES_1                 (0x2UL << ADC3_CFGR_RES_Pos)             /*!< 0x00000010 */
+
+#define ADC3_CFGR_ALIGN_Pos             (15U)
+#define ADC3_CFGR_ALIGN_Msk             (0x1UL << ADC3_CFGR_ALIGN_Pos)           /*!< 0x00008000 */
+#define ADC3_CFGR_ALIGN                 ADC3_CFGR_ALIGN_Msk                      /*!< ADC data alignment */
+/********************  Bit definition for ADC_CFGR2 register  ********************/
+#define ADC_CFGR2_ROVSE_Pos               (0U)
+#define ADC_CFGR2_ROVSE_Msk               (0x1UL << ADC_CFGR2_ROVSE_Pos)       /*!< 0x00000001 */
+#define ADC_CFGR2_ROVSE                   ADC_CFGR2_ROVSE_Msk                  /*!< ADC Regular group oversampler enable */
+#define ADC_CFGR2_JOVSE_Pos               (1U)
+#define ADC_CFGR2_JOVSE_Msk               (0x1UL << ADC_CFGR2_JOVSE_Pos)       /*!< 0x00000002 */
+#define ADC_CFGR2_JOVSE                   ADC_CFGR2_JOVSE_Msk                  /*!< ADC Injected group oversampler enable */
+
+#define ADC_CFGR2_OVSS_Pos                (5U)
+#define ADC_CFGR2_OVSS_Msk                (0xFUL << ADC_CFGR2_OVSS_Pos)        /*!< 0x000001E0 */
+#define ADC_CFGR2_OVSS                    ADC_CFGR2_OVSS_Msk                   /*!< ADC Regular Oversampling shift */
+#define ADC_CFGR2_OVSS_0                  (0x1UL << ADC_CFGR2_OVSS_Pos)         /*!< 0x00000020 */
+#define ADC_CFGR2_OVSS_1                  (0x2UL << ADC_CFGR2_OVSS_Pos)         /*!< 0x00000040 */
+#define ADC_CFGR2_OVSS_2                  (0x4UL << ADC_CFGR2_OVSS_Pos)         /*!< 0x00000080 */
+#define ADC_CFGR2_OVSS_3                  (0x8UL << ADC_CFGR2_OVSS_Pos)         /*!< 0x00000100 */
+
+#define ADC_CFGR2_TROVS_Pos               (9U)
+#define ADC_CFGR2_TROVS_Msk               (0x1UL << ADC_CFGR2_TROVS_Pos)       /*!< 0x00000200 */
+#define ADC_CFGR2_TROVS                   ADC_CFGR2_TROVS_Msk                  /*!< ADC Triggered regular Oversampling */
+#define ADC_CFGR2_ROVSM_Pos               (10U)
+#define ADC_CFGR2_ROVSM_Msk               (0x1UL << ADC_CFGR2_ROVSM_Pos)       /*!< 0x00000400 */
+#define ADC_CFGR2_ROVSM                   ADC_CFGR2_ROVSM_Msk                  /*!< ADC Regular oversampling mode */
+
+#define ADC_CFGR2_RSHIFT1_Pos             (11U)
+#define ADC_CFGR2_RSHIFT1_Msk             (0x1UL << ADC_CFGR2_RSHIFT1_Pos)     /*!< 0x00000800 */
+#define ADC_CFGR2_RSHIFT1                 ADC_CFGR2_RSHIFT1_Msk                /*!< ADC Right-shift data after Offset 1 correction */
+#define ADC_CFGR2_RSHIFT2_Pos             (12U)
+#define ADC_CFGR2_RSHIFT2_Msk             (0x1UL << ADC_CFGR2_RSHIFT2_Pos)     /*!< 0x00001000 */
+#define ADC_CFGR2_RSHIFT2                 ADC_CFGR2_RSHIFT2_Msk                /*!< ADC Right-shift data after Offset 2 correction */
+#define ADC_CFGR2_RSHIFT3_Pos             (13U)
+#define ADC_CFGR2_RSHIFT3_Msk             (0x1UL << ADC_CFGR2_RSHIFT3_Pos)     /*!< 0x00002000 */
+#define ADC_CFGR2_RSHIFT3                 ADC_CFGR2_RSHIFT3_Msk                /*!< ADC Right-shift data after Offset 3 correction */
+#define ADC_CFGR2_RSHIFT4_Pos             (14U)
+#define ADC_CFGR2_RSHIFT4_Msk             (0x1UL << ADC_CFGR2_RSHIFT4_Pos)     /*!< 0x00004000 */
+#define ADC_CFGR2_RSHIFT4                 ADC_CFGR2_RSHIFT4_Msk                /*!< ADC Right-shift data after Offset 4 correction */
+
+#define ADC_CFGR2_OVSR_Pos                (16U)
+#define ADC_CFGR2_OVSR_Msk                (0x3FFUL << ADC_CFGR2_OVSR_Pos)      /*!< 0x03FF0000 */
+#define ADC_CFGR2_OVSR                    ADC_CFGR2_OVSR_Msk                   /*!< ADC oversampling Ratio */
+#define ADC_CFGR2_OVSR_0                  (0x001UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00010000 */
+#define ADC_CFGR2_OVSR_1                  (0x002UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00020000 */
+#define ADC_CFGR2_OVSR_2                  (0x004UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00040000 */
+#define ADC_CFGR2_OVSR_3                  (0x008UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00080000 */
+#define ADC_CFGR2_OVSR_4                  (0x010UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00100000 */
+#define ADC_CFGR2_OVSR_5                  (0x020UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00200000 */
+#define ADC_CFGR2_OVSR_6                  (0x040UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00400000 */
+#define ADC_CFGR2_OVSR_7                  (0x080UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x00800000 */
+#define ADC_CFGR2_OVSR_8                  (0x100UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x01000000 */
+#define ADC_CFGR2_OVSR_9                  (0x200UL << ADC_CFGR2_OVSR_Pos)       /*!< 0x02000000 */
+
+#define ADC_CFGR2_LSHIFT_Pos              (28U)
+#define ADC_CFGR2_LSHIFT_Msk              (0xFUL << ADC_CFGR2_LSHIFT_Pos)      /*!< 0xF0000000 */
+#define ADC_CFGR2_LSHIFT                  ADC_CFGR2_LSHIFT_Msk                 /*!< ADC Left shift factor */
+#define ADC_CFGR2_LSHIFT_0                (0x1UL << ADC_CFGR2_LSHIFT_Pos)       /*!< 0x10000000 */
+#define ADC_CFGR2_LSHIFT_1                (0x2UL << ADC_CFGR2_LSHIFT_Pos)       /*!< 0x20000000 */
+#define ADC_CFGR2_LSHIFT_2                (0x4UL << ADC_CFGR2_LSHIFT_Pos)       /*!< 0x40000000 */
+#define ADC_CFGR2_LSHIFT_3                (0x8UL << ADC_CFGR2_LSHIFT_Pos)       /*!< 0x80000000 */
+
+#define ADC3_CFGR2_OVSR_Pos             (2U)
+#define ADC3_CFGR2_OVSR_Msk             (0x7UL << ADC3_CFGR2_OVSR_Pos)           /*!< 0x0000001C */
+#define ADC3_CFGR2_OVSR                 ADC3_CFGR2_OVSR_Msk                      /*!< ADC oversampling ratio */
+#define ADC3_CFGR2_OVSR_0               (0x1UL << ADC3_CFGR2_OVSR_Pos)           /*!< 0x00000004 */
+#define ADC3_CFGR2_OVSR_1               (0x2UL << ADC3_CFGR2_OVSR_Pos)           /*!< 0x00000008 */
+#define ADC3_CFGR2_OVSR_2               (0x4UL << ADC3_CFGR2_OVSR_Pos)           /*!< 0x00000010 */
+
+#define ADC3_CFGR2_SWTRIG_Pos           (25U)
+#define ADC3_CFGR2_SWTRIG_Msk           (0x1UL << ADC3_CFGR2_SWTRIG_Pos)         /*!< 0x02000000 */
+#define ADC3_CFGR2_SWTRIG               ADC3_CFGR2_SWTRIG_Msk                    /*!< ADC Software Trigger Bit for Sample time control trigger mode */
+#define ADC3_CFGR2_BULB_Pos             (26U)
+#define ADC3_CFGR2_BULB_Msk             (0x1UL << ADC3_CFGR2_BULB_Pos)           /*!< 0x04000000 */
+#define ADC3_CFGR2_BULB                 ADC3_CFGR2_BULB_Msk                      /*!< ADC Bulb sampling mode */
+#define ADC3_CFGR2_SMPTRIG_Pos          (27U)
+#define ADC3_CFGR2_SMPTRIG_Msk          (0x1UL << ADC3_CFGR2_SMPTRIG_Pos)        /*!< 0x08000000 */
+#define ADC3_CFGR2_SMPTRIG              ADC3_CFGR2_SMPTRIG_Msk                   /*!< ADC Sample Time Control Trigger mode */
+/********************  Bit definition for ADC_SMPR1 register  ********************/
+#define ADC_SMPR1_SMP0_Pos                (0U)
+#define ADC_SMPR1_SMP0_Msk                (0x7UL << ADC_SMPR1_SMP0_Pos)        /*!< 0x00000007 */
+#define ADC_SMPR1_SMP0                    ADC_SMPR1_SMP0_Msk                   /*!< ADC Channel 0 Sampling time selection  */
+#define ADC_SMPR1_SMP0_0                  (0x1UL << ADC_SMPR1_SMP0_Pos)         /*!< 0x00000001 */
+#define ADC_SMPR1_SMP0_1                  (0x2UL << ADC_SMPR1_SMP0_Pos)         /*!< 0x00000002 */
+#define ADC_SMPR1_SMP0_2                  (0x4UL << ADC_SMPR1_SMP0_Pos)         /*!< 0x00000004 */
+
+#define ADC_SMPR1_SMP1_Pos                (3U)
+#define ADC_SMPR1_SMP1_Msk                (0x7UL << ADC_SMPR1_SMP1_Pos)        /*!< 0x00000038 */
+#define ADC_SMPR1_SMP1                    ADC_SMPR1_SMP1_Msk                   /*!< ADC Channel 1 Sampling time selection  */
+#define ADC_SMPR1_SMP1_0                  (0x1UL << ADC_SMPR1_SMP1_Pos)         /*!< 0x00000008 */
+#define ADC_SMPR1_SMP1_1                  (0x2UL << ADC_SMPR1_SMP1_Pos)         /*!< 0x00000010 */
+#define ADC_SMPR1_SMP1_2                  (0x4UL << ADC_SMPR1_SMP1_Pos)         /*!< 0x00000020 */
+
+#define ADC_SMPR1_SMP2_Pos                (6U)
+#define ADC_SMPR1_SMP2_Msk                (0x7UL << ADC_SMPR1_SMP2_Pos)        /*!< 0x000001C0 */
+#define ADC_SMPR1_SMP2                    ADC_SMPR1_SMP2_Msk                   /*!< ADC Channel 2 Sampling time selection  */
+#define ADC_SMPR1_SMP2_0                  (0x1UL << ADC_SMPR1_SMP2_Pos)         /*!< 0x00000040 */
+#define ADC_SMPR1_SMP2_1                  (0x2UL << ADC_SMPR1_SMP2_Pos)         /*!< 0x00000080 */
+#define ADC_SMPR1_SMP2_2                  (0x4UL << ADC_SMPR1_SMP2_Pos)         /*!< 0x00000100 */
+
+#define ADC_SMPR1_SMP3_Pos                (9U)
+#define ADC_SMPR1_SMP3_Msk                (0x7UL << ADC_SMPR1_SMP3_Pos)        /*!< 0x00000E00 */
+#define ADC_SMPR1_SMP3                    ADC_SMPR1_SMP3_Msk                   /*!< ADC Channel 3 Sampling time selection  */
+#define ADC_SMPR1_SMP3_0                  (0x1UL << ADC_SMPR1_SMP3_Pos)         /*!< 0x00000200 */
+#define ADC_SMPR1_SMP3_1                  (0x2UL << ADC_SMPR1_SMP3_Pos)         /*!< 0x00000400 */
+#define ADC_SMPR1_SMP3_2                  (0x4UL << ADC_SMPR1_SMP3_Pos)         /*!< 0x00000800 */
+
+#define ADC_SMPR1_SMP4_Pos                (12U)
+#define ADC_SMPR1_SMP4_Msk                (0x7UL << ADC_SMPR1_SMP4_Pos)        /*!< 0x00007000 */
+#define ADC_SMPR1_SMP4                    ADC_SMPR1_SMP4_Msk                   /*!< ADC Channel 4 Sampling time selection  */
+#define ADC_SMPR1_SMP4_0                  (0x1UL << ADC_SMPR1_SMP4_Pos)         /*!< 0x00001000 */
+#define ADC_SMPR1_SMP4_1                  (0x2UL << ADC_SMPR1_SMP4_Pos)         /*!< 0x00002000 */
+#define ADC_SMPR1_SMP4_2                  (0x4UL << ADC_SMPR1_SMP4_Pos)         /*!< 0x00004000 */
+
+#define ADC_SMPR1_SMP5_Pos                (15U)
+#define ADC_SMPR1_SMP5_Msk                (0x7UL << ADC_SMPR1_SMP5_Pos)        /*!< 0x00038000 */
+#define ADC_SMPR1_SMP5                    ADC_SMPR1_SMP5_Msk                   /*!< ADC Channel 5 Sampling time selection  */
+#define ADC_SMPR1_SMP5_0                  (0x1UL << ADC_SMPR1_SMP5_Pos)         /*!< 0x00008000 */
+#define ADC_SMPR1_SMP5_1                  (0x2UL << ADC_SMPR1_SMP5_Pos)         /*!< 0x00010000 */
+#define ADC_SMPR1_SMP5_2                  (0x4UL << ADC_SMPR1_SMP5_Pos)         /*!< 0x00020000 */
+
+#define ADC_SMPR1_SMP6_Pos                (18U)
+#define ADC_SMPR1_SMP6_Msk                (0x7UL << ADC_SMPR1_SMP6_Pos)        /*!< 0x001C0000 */
+#define ADC_SMPR1_SMP6                    ADC_SMPR1_SMP6_Msk                   /*!< ADC Channel 6 Sampling time selection  */
+#define ADC_SMPR1_SMP6_0                  (0x1UL << ADC_SMPR1_SMP6_Pos)         /*!< 0x00040000 */
+#define ADC_SMPR1_SMP6_1                  (0x2UL << ADC_SMPR1_SMP6_Pos)         /*!< 0x00080000 */
+#define ADC_SMPR1_SMP6_2                  (0x4UL << ADC_SMPR1_SMP6_Pos)         /*!< 0x00100000 */
+
+#define ADC_SMPR1_SMP7_Pos                (21U)
+#define ADC_SMPR1_SMP7_Msk                (0x7UL << ADC_SMPR1_SMP7_Pos)        /*!< 0x00E00000 */
+#define ADC_SMPR1_SMP7                    ADC_SMPR1_SMP7_Msk                   /*!< ADC Channel 7 Sampling time selection  */
+#define ADC_SMPR1_SMP7_0                  (0x1UL << ADC_SMPR1_SMP7_Pos)         /*!< 0x00200000 */
+#define ADC_SMPR1_SMP7_1                  (0x2UL << ADC_SMPR1_SMP7_Pos)         /*!< 0x00400000 */
+#define ADC_SMPR1_SMP7_2                  (0x4UL << ADC_SMPR1_SMP7_Pos)         /*!< 0x00800000 */
+
+#define ADC_SMPR1_SMP8_Pos                (24U)
+#define ADC_SMPR1_SMP8_Msk                (0x7UL << ADC_SMPR1_SMP8_Pos)        /*!< 0x07000000 */
+#define ADC_SMPR1_SMP8                    ADC_SMPR1_SMP8_Msk                   /*!< ADC Channel 8 Sampling time selection  */
+#define ADC_SMPR1_SMP8_0                  (0x1UL << ADC_SMPR1_SMP8_Pos)         /*!< 0x01000000 */
+#define ADC_SMPR1_SMP8_1                  (0x2UL << ADC_SMPR1_SMP8_Pos)         /*!< 0x02000000 */
+#define ADC_SMPR1_SMP8_2                  (0x4UL << ADC_SMPR1_SMP8_Pos)         /*!< 0x04000000 */
+
+#define ADC_SMPR1_SMP9_Pos                (27U)
+#define ADC_SMPR1_SMP9_Msk                (0x7UL << ADC_SMPR1_SMP9_Pos)        /*!< 0x38000000 */
+#define ADC_SMPR1_SMP9                    ADC_SMPR1_SMP9_Msk                   /*!< ADC Channel 9 Sampling time selection  */
+#define ADC_SMPR1_SMP9_0                  (0x1UL << ADC_SMPR1_SMP9_Pos)         /*!< 0x08000000 */
+#define ADC_SMPR1_SMP9_1                  (0x2UL << ADC_SMPR1_SMP9_Pos)         /*!< 0x10000000 */
+#define ADC_SMPR1_SMP9_2                  (0x4UL << ADC_SMPR1_SMP9_Pos)         /*!< 0x20000000 */
+
+/********************  Bit definition for ADC_SMPR2 register  ********************/
+#define ADC_SMPR2_SMP10_Pos               (0U)
+#define ADC_SMPR2_SMP10_Msk               (0x7UL << ADC_SMPR2_SMP10_Pos)       /*!< 0x00000007 */
+#define ADC_SMPR2_SMP10                   ADC_SMPR2_SMP10_Msk                  /*!< ADC Channel 10 Sampling time selection  */
+#define ADC_SMPR2_SMP10_0                 (0x1UL << ADC_SMPR2_SMP10_Pos)        /*!< 0x00000001 */
+#define ADC_SMPR2_SMP10_1                 (0x2UL << ADC_SMPR2_SMP10_Pos)        /*!< 0x00000002 */
+#define ADC_SMPR2_SMP10_2                 (0x4UL << ADC_SMPR2_SMP10_Pos)        /*!< 0x00000004 */
+
+#define ADC_SMPR2_SMP11_Pos               (3U)
+#define ADC_SMPR2_SMP11_Msk               (0x7UL << ADC_SMPR2_SMP11_Pos)       /*!< 0x00000038 */
+#define ADC_SMPR2_SMP11                   ADC_SMPR2_SMP11_Msk                  /*!< ADC Channel 11 Sampling time selection  */
+#define ADC_SMPR2_SMP11_0                 (0x1UL << ADC_SMPR2_SMP11_Pos)        /*!< 0x00000008 */
+#define ADC_SMPR2_SMP11_1                 (0x2UL << ADC_SMPR2_SMP11_Pos)        /*!< 0x00000010 */
+#define ADC_SMPR2_SMP11_2                 (0x4UL << ADC_SMPR2_SMP11_Pos)        /*!< 0x00000020 */
+
+#define ADC_SMPR2_SMP12_Pos               (6U)
+#define ADC_SMPR2_SMP12_Msk               (0x7UL << ADC_SMPR2_SMP12_Pos)       /*!< 0x000001C0 */
+#define ADC_SMPR2_SMP12                   ADC_SMPR2_SMP12_Msk                  /*!< ADC Channel 12 Sampling time selection  */
+#define ADC_SMPR2_SMP12_0                 (0x1UL << ADC_SMPR2_SMP12_Pos)        /*!< 0x00000040 */
+#define ADC_SMPR2_SMP12_1                 (0x2UL << ADC_SMPR2_SMP12_Pos)        /*!< 0x00000080 */
+#define ADC_SMPR2_SMP12_2                 (0x4UL << ADC_SMPR2_SMP12_Pos)        /*!< 0x00000100 */
+
+#define ADC_SMPR2_SMP13_Pos               (9U)
+#define ADC_SMPR2_SMP13_Msk               (0x7UL << ADC_SMPR2_SMP13_Pos)       /*!< 0x00000E00 */
+#define ADC_SMPR2_SMP13                   ADC_SMPR2_SMP13_Msk                  /*!< ADC Channel 13 Sampling time selection  */
+#define ADC_SMPR2_SMP13_0                 (0x1UL << ADC_SMPR2_SMP13_Pos)        /*!< 0x00000200 */
+#define ADC_SMPR2_SMP13_1                 (0x2UL << ADC_SMPR2_SMP13_Pos)        /*!< 0x00000400 */
+#define ADC_SMPR2_SMP13_2                 (0x4UL << ADC_SMPR2_SMP13_Pos)        /*!< 0x00000800 */
+
+#define ADC_SMPR2_SMP14_Pos               (12U)
+#define ADC_SMPR2_SMP14_Msk               (0x7UL << ADC_SMPR2_SMP14_Pos)       /*!< 0x00007000 */
+#define ADC_SMPR2_SMP14                   ADC_SMPR2_SMP14_Msk                  /*!< ADC Channel 14 Sampling time selection  */
+#define ADC_SMPR2_SMP14_0                 (0x1UL << ADC_SMPR2_SMP14_Pos)        /*!< 0x00001000 */
+#define ADC_SMPR2_SMP14_1                 (0x2UL << ADC_SMPR2_SMP14_Pos)        /*!< 0x00002000 */
+#define ADC_SMPR2_SMP14_2                 (0x4UL << ADC_SMPR2_SMP14_Pos)        /*!< 0x00004000 */
+
+#define ADC_SMPR2_SMP15_Pos               (15U)
+#define ADC_SMPR2_SMP15_Msk               (0x7UL << ADC_SMPR2_SMP15_Pos)       /*!< 0x00038000 */
+#define ADC_SMPR2_SMP15                   ADC_SMPR2_SMP15_Msk                  /*!< ADC Channel 15 Sampling time selection  */
+#define ADC_SMPR2_SMP15_0                 (0x1UL << ADC_SMPR2_SMP15_Pos)        /*!< 0x00008000 */
+#define ADC_SMPR2_SMP15_1                 (0x2UL << ADC_SMPR2_SMP15_Pos)        /*!< 0x00010000 */
+#define ADC_SMPR2_SMP15_2                 (0x4UL << ADC_SMPR2_SMP15_Pos)        /*!< 0x00020000 */
+
+#define ADC_SMPR2_SMP16_Pos               (18U)
+#define ADC_SMPR2_SMP16_Msk               (0x7UL << ADC_SMPR2_SMP16_Pos)       /*!< 0x001C0000 */
+#define ADC_SMPR2_SMP16                   ADC_SMPR2_SMP16_Msk                  /*!< ADC Channel 16 Sampling time selection  */
+#define ADC_SMPR2_SMP16_0                 (0x1UL << ADC_SMPR2_SMP16_Pos)        /*!< 0x00040000 */
+#define ADC_SMPR2_SMP16_1                 (0x2UL << ADC_SMPR2_SMP16_Pos)        /*!< 0x00080000 */
+#define ADC_SMPR2_SMP16_2                 (0x4UL << ADC_SMPR2_SMP16_Pos)        /*!< 0x00100000 */
+
+#define ADC_SMPR2_SMP17_Pos               (21U)
+#define ADC_SMPR2_SMP17_Msk               (0x7UL << ADC_SMPR2_SMP17_Pos)       /*!< 0x00E00000 */
+#define ADC_SMPR2_SMP17                   ADC_SMPR2_SMP17_Msk                  /*!< ADC Channel 17 Sampling time selection  */
+#define ADC_SMPR2_SMP17_0                 (0x1UL << ADC_SMPR2_SMP17_Pos)        /*!< 0x00200000 */
+#define ADC_SMPR2_SMP17_1                 (0x2UL << ADC_SMPR2_SMP17_Pos)        /*!< 0x00400000 */
+#define ADC_SMPR2_SMP17_2                 (0x4UL << ADC_SMPR2_SMP17_Pos)        /*!< 0x00800000 */
+
+#define ADC_SMPR2_SMP18_Pos               (24U)
+#define ADC_SMPR2_SMP18_Msk               (0x7UL << ADC_SMPR2_SMP18_Pos)       /*!< 0x07000000 */
+#define ADC_SMPR2_SMP18                   ADC_SMPR2_SMP18_Msk                  /*!< ADC Channel 18 Sampling time selection  */
+#define ADC_SMPR2_SMP18_0                 (0x1UL << ADC_SMPR2_SMP18_Pos)        /*!< 0x01000000 */
+#define ADC_SMPR2_SMP18_1                 (0x2UL << ADC_SMPR2_SMP18_Pos)        /*!< 0x02000000 */
+#define ADC_SMPR2_SMP18_2                 (0x4UL << ADC_SMPR2_SMP18_Pos)        /*!< 0x04000000 */
+
+#define ADC_SMPR2_SMP19_Pos               (27U)
+#define ADC_SMPR2_SMP19_Msk               (0x7UL << ADC_SMPR2_SMP19_Pos)       /*!< 0x38000000 */
+#define ADC_SMPR2_SMP19                   ADC_SMPR2_SMP19_Msk                  /*!< ADC Channel 19 Sampling time selection  */
+#define ADC_SMPR2_SMP19_0                 (0x1UL << ADC_SMPR2_SMP19_Pos)        /*!< 0x08000000 */
+#define ADC_SMPR2_SMP19_1                 (0x2UL << ADC_SMPR2_SMP19_Pos)        /*!< 0x10000000 */
+#define ADC_SMPR2_SMP19_2                 (0x4UL << ADC_SMPR2_SMP19_Pos)        /*!< 0x20000000 */
+
+/********************  Bit definition for ADC_PCSEL register  ********************/
+#define ADC_PCSEL_PCSEL_Pos               (0U)
+#define ADC_PCSEL_PCSEL_Msk               (0xFFFFFUL << ADC_PCSEL_PCSEL_Pos)   /*!< 0x000FFFFF */
+#define ADC_PCSEL_PCSEL                   ADC_PCSEL_PCSEL_Msk                  /*!< ADC pre channel selection */
+#define ADC_PCSEL_PCSEL_0                 (0x00001UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000001 */
+#define ADC_PCSEL_PCSEL_1                 (0x00002UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000002 */
+#define ADC_PCSEL_PCSEL_2                 (0x00004UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000004 */
+#define ADC_PCSEL_PCSEL_3                 (0x00008UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000008 */
+#define ADC_PCSEL_PCSEL_4                 (0x00010UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000010 */
+#define ADC_PCSEL_PCSEL_5                 (0x00020UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000020 */
+#define ADC_PCSEL_PCSEL_6                 (0x00040UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000040 */
+#define ADC_PCSEL_PCSEL_7                 (0x00080UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000080 */
+#define ADC_PCSEL_PCSEL_8                 (0x00100UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000100 */
+#define ADC_PCSEL_PCSEL_9                 (0x00200UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000200 */
+#define ADC_PCSEL_PCSEL_10                (0x00400UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000400 */
+#define ADC_PCSEL_PCSEL_11                (0x00800UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00000800 */
+#define ADC_PCSEL_PCSEL_12                (0x01000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00001000 */
+#define ADC_PCSEL_PCSEL_13                (0x02000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00002000 */
+#define ADC_PCSEL_PCSEL_14                (0x04000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00004000 */
+#define ADC_PCSEL_PCSEL_15                (0x08000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00008000 */
+#define ADC_PCSEL_PCSEL_16                (0x10000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00010000 */
+#define ADC_PCSEL_PCSEL_17                (0x20000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00020000 */
+#define ADC_PCSEL_PCSEL_18                (0x40000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00040000 */
+#define ADC_PCSEL_PCSEL_19                (0x80000UL << ADC_PCSEL_PCSEL_Pos)    /*!< 0x00080000 */
+
+/*****************  Bit definition for ADC_LTR1, 2, 3 registers *****************/
+#define ADC_LTR_LT_Pos                    (0U)
+#define ADC_LTR_LT_Msk                    (0x3FFFFFFUL << ADC_LTR_LT_Pos)      /*!< 0x03FFFFFF */
+#define ADC_LTR_LT                        ADC_LTR_LT_Msk                       /*!< ADC Analog watchdog 1, 2 and 3 lower threshold */
+
+/*****************  Bit definition for ADC_HTR1, 2, 3 registers  ****************/
+#define ADC_HTR_HT_Pos                    (0U)
+#define ADC_HTR_HT_Msk                    (0x3FFFFFFUL << ADC_HTR_HT_Pos)      /*!< 0x03FFFFFF */
+#define ADC_HTR_HT                        ADC_HTR_HT_Msk                       /*!< ADC Analog watchdog 1,2 and 3 higher threshold */
+
+/********************  Bit definition for ADC3_TR1 register  *******************/
+#define ADC3_TR1_LT1_Pos                (0U)
+#define ADC3_TR1_LT1_Msk                (0xFFFUL << ADC3_TR1_LT1_Pos)            /*!< 0x00000FFF */
+#define ADC3_TR1_LT1                    ADC3_TR1_LT1_Msk                         /*!< ADC analog watchdog 1 threshold low */
+
+#define ADC3_TR1_AWDFILT_Pos            (12U)
+#define ADC3_TR1_AWDFILT_Msk            (0x7UL << ADC3_TR1_AWDFILT_Pos)          /*!< 0x00007000 */
+#define ADC3_TR1_AWDFILT                ADC3_TR1_AWDFILT_Msk                     /*!< ADC analog watchdog filtering parameter  */
+#define ADC3_TR1_AWDFILT_0              (0x1UL << ADC3_TR1_AWDFILT_Pos)          /*!< 0x00001000 */
+#define ADC3_TR1_AWDFILT_1              (0x2UL << ADC3_TR1_AWDFILT_Pos)          /*!< 0x00002000 */
+#define ADC3_TR1_AWDFILT_2              (0x4UL << ADC3_TR1_AWDFILT_Pos)          /*!< 0x00004000 */
+
+#define ADC3_TR1_HT1_Pos                (16U)
+#define ADC3_TR1_HT1_Msk                (0xFFFUL << ADC3_TR1_HT1_Pos)            /*!< 0x0FFF0000 */
+#define ADC3_TR1_HT1                    ADC3_TR1_HT1_Msk                         /*!< ADC analog watchdog 1 threshold high */
+
+/********************  Bit definition for ADC3_TR2 register  *******************/
+#define ADC3_TR2_LT2_Pos                (0U)
+#define ADC3_TR2_LT2_Msk                (0xFFUL << ADC3_TR2_LT2_Pos)             /*!< 0x000000FF */
+#define ADC3_TR2_LT2                    ADC3_TR2_LT2_Msk                         /*!< ADC analog watchdog 2 threshold low */
+
+#define ADC3_TR2_HT2_Pos                (16U)
+#define ADC3_TR2_HT2_Msk                (0xFFUL << ADC3_TR2_HT2_Pos)             /*!< 0x00FF0000 */
+#define ADC3_TR2_HT2                    ADC3_TR2_HT2_Msk                         /*!< ADC analog watchdog 2 threshold high */
+
+/********************  Bit definition for ADC3_TR3 register  *******************/
+#define ADC3_TR3_LT3_Pos                (0U)
+#define ADC3_TR3_LT3_Msk                (0xFFUL << ADC3_TR3_LT3_Pos)             /*!< 0x000000FF */
+#define ADC3_TR3_LT3                    ADC3_TR3_LT3_Msk                         /*!< ADC analog watchdog 3 threshold low */
+
+#define ADC3_TR3_HT3_Pos                (16U)
+#define ADC3_TR3_HT3_Msk                (0xFFUL << ADC3_TR3_HT3_Pos)             /*!< 0x00FF0000 */
+#define ADC3_TR3_HT3                    ADC3_TR3_HT3_Msk                         /*!< ADC analog watchdog 3 threshold high */
+
+/********************  Bit definition for ADC_SQR1 register  ********************/
+#define ADC_SQR1_L_Pos                    (0U)
+#define ADC_SQR1_L_Msk                    (0xFUL << ADC_SQR1_L_Pos)            /*!< 0x0000000F */
+#define ADC_SQR1_L                        ADC_SQR1_L_Msk                       /*!< ADC regular channel sequence length */
+#define ADC_SQR1_L_0                      (0x1UL << ADC_SQR1_L_Pos)             /*!< 0x00000001 */
+#define ADC_SQR1_L_1                      (0x2UL << ADC_SQR1_L_Pos)             /*!< 0x00000002 */
+#define ADC_SQR1_L_2                      (0x4UL << ADC_SQR1_L_Pos)             /*!< 0x00000004 */
+#define ADC_SQR1_L_3                      (0x8UL << ADC_SQR1_L_Pos)             /*!< 0x00000008 */
+
+#define ADC_SQR1_SQ1_Pos                  (6U)
+#define ADC_SQR1_SQ1_Msk                  (0x1FUL << ADC_SQR1_SQ1_Pos)         /*!< 0x000007C0 */
+#define ADC_SQR1_SQ1                      ADC_SQR1_SQ1_Msk                     /*!< ADC 1st conversion in regular sequence */
+#define ADC_SQR1_SQ1_0                    (0x01UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000040 */
+#define ADC_SQR1_SQ1_1                    (0x02UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000080 */
+#define ADC_SQR1_SQ1_2                    (0x04UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000100 */
+#define ADC_SQR1_SQ1_3                    (0x08UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000200 */
+#define ADC_SQR1_SQ1_4                    (0x10UL << ADC_SQR1_SQ1_Pos)          /*!< 0x00000400 */
+
+#define ADC_SQR1_SQ2_Pos                  (12U)
+#define ADC_SQR1_SQ2_Msk                  (0x1FUL << ADC_SQR1_SQ2_Pos)         /*!< 0x0001F000 */
+#define ADC_SQR1_SQ2                      ADC_SQR1_SQ2_Msk                     /*!< ADC 2nd conversion in regular sequence */
+#define ADC_SQR1_SQ2_0                    (0x01UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00001000 */
+#define ADC_SQR1_SQ2_1                    (0x02UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00002000 */
+#define ADC_SQR1_SQ2_2                    (0x04UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00004000 */
+#define ADC_SQR1_SQ2_3                    (0x08UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00008000 */
+#define ADC_SQR1_SQ2_4                    (0x10UL << ADC_SQR1_SQ2_Pos)          /*!< 0x00010000 */
+
+#define ADC_SQR1_SQ3_Pos                  (18U)
+#define ADC_SQR1_SQ3_Msk                  (0x1FUL << ADC_SQR1_SQ3_Pos)         /*!< 0x007C0000 */
+#define ADC_SQR1_SQ3                      ADC_SQR1_SQ3_Msk                     /*!< ADC 3rd conversion in regular sequence */
+#define ADC_SQR1_SQ3_0                    (0x01UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00040000 */
+#define ADC_SQR1_SQ3_1                    (0x02UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00080000 */
+#define ADC_SQR1_SQ3_2                    (0x04UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00100000 */
+#define ADC_SQR1_SQ3_3                    (0x08UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00200000 */
+#define ADC_SQR1_SQ3_4                    (0x10UL << ADC_SQR1_SQ3_Pos)          /*!< 0x00400000 */
+
+#define ADC_SQR1_SQ4_Pos                  (24U)
+#define ADC_SQR1_SQ4_Msk                  (0x1FUL << ADC_SQR1_SQ4_Pos)         /*!< 0x1F000000 */
+#define ADC_SQR1_SQ4                      ADC_SQR1_SQ4_Msk                     /*!< ADC 4th conversion in regular sequence */
+#define ADC_SQR1_SQ4_0                    (0x01UL << ADC_SQR1_SQ4_Pos)          /*!< 0x01000000 */
+#define ADC_SQR1_SQ4_1                    (0x02UL << ADC_SQR1_SQ4_Pos)          /*!< 0x02000000 */
+#define ADC_SQR1_SQ4_2                    (0x04UL << ADC_SQR1_SQ4_Pos)          /*!< 0x04000000 */
+#define ADC_SQR1_SQ4_3                    (0x08UL << ADC_SQR1_SQ4_Pos)          /*!< 0x08000000 */
+#define ADC_SQR1_SQ4_4                    (0x10UL << ADC_SQR1_SQ4_Pos)          /*!< 0x10000000 */
+
+/********************  Bit definition for ADC_SQR2 register  ********************/
+#define ADC_SQR2_SQ5_Pos                  (0U)
+#define ADC_SQR2_SQ5_Msk                  (0x1FUL << ADC_SQR2_SQ5_Pos)         /*!< 0x0000001F */
+#define ADC_SQR2_SQ5                      ADC_SQR2_SQ5_Msk                     /*!< ADC 5th conversion in regular sequence */
+#define ADC_SQR2_SQ5_0                    (0x01UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000001 */
+#define ADC_SQR2_SQ5_1                    (0x02UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000002 */
+#define ADC_SQR2_SQ5_2                    (0x04UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000004 */
+#define ADC_SQR2_SQ5_3                    (0x08UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000008 */
+#define ADC_SQR2_SQ5_4                    (0x10UL << ADC_SQR2_SQ5_Pos)          /*!< 0x00000010 */
+
+#define ADC_SQR2_SQ6_Pos                  (6U)
+#define ADC_SQR2_SQ6_Msk                  (0x1FUL << ADC_SQR2_SQ6_Pos)         /*!< 0x000007C0 */
+#define ADC_SQR2_SQ6                      ADC_SQR2_SQ6_Msk                     /*!< ADC 6th conversion in regular sequence */
+#define ADC_SQR2_SQ6_0                    (0x01UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000040 */
+#define ADC_SQR2_SQ6_1                    (0x02UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000080 */
+#define ADC_SQR2_SQ6_2                    (0x04UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000100 */
+#define ADC_SQR2_SQ6_3                    (0x08UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000200 */
+#define ADC_SQR2_SQ6_4                    (0x10UL << ADC_SQR2_SQ6_Pos)          /*!< 0x00000400 */
+
+#define ADC_SQR2_SQ7_Pos                  (12U)
+#define ADC_SQR2_SQ7_Msk                  (0x1FUL << ADC_SQR2_SQ7_Pos)         /*!< 0x0001F000 */
+#define ADC_SQR2_SQ7                      ADC_SQR2_SQ7_Msk                     /*!< ADC 7th conversion in regular sequence */
+#define ADC_SQR2_SQ7_0                    (0x01UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00001000 */
+#define ADC_SQR2_SQ7_1                    (0x02UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00002000 */
+#define ADC_SQR2_SQ7_2                    (0x04UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00004000 */
+#define ADC_SQR2_SQ7_3                    (0x08UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00008000 */
+#define ADC_SQR2_SQ7_4                    (0x10UL << ADC_SQR2_SQ7_Pos)          /*!< 0x00010000 */
+
+#define ADC_SQR2_SQ8_Pos                  (18U)
+#define ADC_SQR2_SQ8_Msk                  (0x1FUL << ADC_SQR2_SQ8_Pos)         /*!< 0x007C0000 */
+#define ADC_SQR2_SQ8                      ADC_SQR2_SQ8_Msk                     /*!< ADC 8th conversion in regular sequence */
+#define ADC_SQR2_SQ8_0                    (0x01UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00040000 */
+#define ADC_SQR2_SQ8_1                    (0x02UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00080000 */
+#define ADC_SQR2_SQ8_2                    (0x04UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00100000 */
+#define ADC_SQR2_SQ8_3                    (0x08UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00200000 */
+#define ADC_SQR2_SQ8_4                    (0x10UL << ADC_SQR2_SQ8_Pos)          /*!< 0x00400000 */
+
+#define ADC_SQR2_SQ9_Pos                  (24U)
+#define ADC_SQR2_SQ9_Msk                  (0x1FUL << ADC_SQR2_SQ9_Pos)         /*!< 0x1F000000 */
+#define ADC_SQR2_SQ9                      ADC_SQR2_SQ9_Msk                     /*!< ADC 9th conversion in regular sequence */
+#define ADC_SQR2_SQ9_0                    (0x01UL << ADC_SQR2_SQ9_Pos)          /*!< 0x01000000 */
+#define ADC_SQR2_SQ9_1                    (0x02UL << ADC_SQR2_SQ9_Pos)          /*!< 0x02000000 */
+#define ADC_SQR2_SQ9_2                    (0x04UL << ADC_SQR2_SQ9_Pos)          /*!< 0x04000000 */
+#define ADC_SQR2_SQ9_3                    (0x08UL << ADC_SQR2_SQ9_Pos)          /*!< 0x08000000 */
+#define ADC_SQR2_SQ9_4                    (0x10UL << ADC_SQR2_SQ9_Pos)          /*!< 0x10000000 */
+
+/********************  Bit definition for ADC_SQR3 register  ********************/
+#define ADC_SQR3_SQ10_Pos                 (0U)
+#define ADC_SQR3_SQ10_Msk                 (0x1FUL << ADC_SQR3_SQ10_Pos)        /*!< 0x0000001F */
+#define ADC_SQR3_SQ10                     ADC_SQR3_SQ10_Msk                    /*!< ADC 10th conversion in regular sequence */
+#define ADC_SQR3_SQ10_0                   (0x01UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000001 */
+#define ADC_SQR3_SQ10_1                   (0x02UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000002 */
+#define ADC_SQR3_SQ10_2                   (0x04UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000004 */
+#define ADC_SQR3_SQ10_3                   (0x08UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000008 */
+#define ADC_SQR3_SQ10_4                   (0x10UL << ADC_SQR3_SQ10_Pos)         /*!< 0x00000010 */
+
+#define ADC_SQR3_SQ11_Pos                 (6U)
+#define ADC_SQR3_SQ11_Msk                 (0x1FUL << ADC_SQR3_SQ11_Pos)        /*!< 0x000007C0 */
+#define ADC_SQR3_SQ11                     ADC_SQR3_SQ11_Msk                    /*!< ADC 11th conversion in regular sequence */
+#define ADC_SQR3_SQ11_0                   (0x01UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000040 */
+#define ADC_SQR3_SQ11_1                   (0x02UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000080 */
+#define ADC_SQR3_SQ11_2                   (0x04UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000100 */
+#define ADC_SQR3_SQ11_3                   (0x08UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000200 */
+#define ADC_SQR3_SQ11_4                   (0x10UL << ADC_SQR3_SQ11_Pos)         /*!< 0x00000400 */
+
+#define ADC_SQR3_SQ12_Pos                 (12U)
+#define ADC_SQR3_SQ12_Msk                 (0x1FUL << ADC_SQR3_SQ12_Pos)        /*!< 0x0001F000 */
+#define ADC_SQR3_SQ12                     ADC_SQR3_SQ12_Msk                    /*!< ADC 12th conversion in regular sequence */
+#define ADC_SQR3_SQ12_0                   (0x01UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00001000 */
+#define ADC_SQR3_SQ12_1                   (0x02UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00002000 */
+#define ADC_SQR3_SQ12_2                   (0x04UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00004000 */
+#define ADC_SQR3_SQ12_3                   (0x08UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00008000 */
+#define ADC_SQR3_SQ12_4                   (0x10UL << ADC_SQR3_SQ12_Pos)         /*!< 0x00010000 */
+
+#define ADC_SQR3_SQ13_Pos                 (18U)
+#define ADC_SQR3_SQ13_Msk                 (0x1FUL << ADC_SQR3_SQ13_Pos)        /*!< 0x007C0000 */
+#define ADC_SQR3_SQ13                     ADC_SQR3_SQ13_Msk                    /*!< ADC 13th conversion in regular sequence */
+#define ADC_SQR3_SQ13_0                   (0x01UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00040000 */
+#define ADC_SQR3_SQ13_1                   (0x02UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00080000 */
+#define ADC_SQR3_SQ13_2                   (0x04UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00100000 */
+#define ADC_SQR3_SQ13_3                   (0x08UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00200000 */
+#define ADC_SQR3_SQ13_4                   (0x10UL << ADC_SQR3_SQ13_Pos)         /*!< 0x00400000 */
+
+#define ADC_SQR3_SQ14_Pos                 (24U)
+#define ADC_SQR3_SQ14_Msk                 (0x1FUL << ADC_SQR3_SQ14_Pos)        /*!< 0x1F000000 */
+#define ADC_SQR3_SQ14                     ADC_SQR3_SQ14_Msk                    /*!< ADC 14th conversion in regular sequence */
+#define ADC_SQR3_SQ14_0                   (0x01UL << ADC_SQR3_SQ14_Pos)         /*!< 0x01000000 */
+#define ADC_SQR3_SQ14_1                   (0x02UL << ADC_SQR3_SQ14_Pos)         /*!< 0x02000000 */
+#define ADC_SQR3_SQ14_2                   (0x04UL << ADC_SQR3_SQ14_Pos)         /*!< 0x04000000 */
+#define ADC_SQR3_SQ14_3                   (0x08UL << ADC_SQR3_SQ14_Pos)         /*!< 0x08000000 */
+#define ADC_SQR3_SQ14_4                   (0x10UL << ADC_SQR3_SQ14_Pos)         /*!< 0x10000000 */
+
+/********************  Bit definition for ADC_SQR4 register  ********************/
+#define ADC_SQR4_SQ15_Pos                 (0U)
+#define ADC_SQR4_SQ15_Msk                 (0x1FUL << ADC_SQR4_SQ15_Pos)        /*!< 0x0000001F */
+#define ADC_SQR4_SQ15                     ADC_SQR4_SQ15_Msk                    /*!< ADC 15th conversion in regular sequence */
+#define ADC_SQR4_SQ15_0                   (0x01UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000001 */
+#define ADC_SQR4_SQ15_1                   (0x02UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000002 */
+#define ADC_SQR4_SQ15_2                   (0x04UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000004 */
+#define ADC_SQR4_SQ15_3                   (0x08UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000008 */
+#define ADC_SQR4_SQ15_4                   (0x10UL << ADC_SQR4_SQ15_Pos)         /*!< 0x00000010 */
+
+#define ADC_SQR4_SQ16_Pos                 (6U)
+#define ADC_SQR4_SQ16_Msk                 (0x1FUL << ADC_SQR4_SQ16_Pos)        /*!< 0x000007C0 */
+#define ADC_SQR4_SQ16                     ADC_SQR4_SQ16_Msk                    /*!< ADC 16th conversion in regular sequence */
+#define ADC_SQR4_SQ16_0                   (0x01UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000040 */
+#define ADC_SQR4_SQ16_1                   (0x02UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000080 */
+#define ADC_SQR4_SQ16_2                   (0x04UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000100 */
+#define ADC_SQR4_SQ16_3                   (0x08UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000200 */
+#define ADC_SQR4_SQ16_4                   (0x10UL << ADC_SQR4_SQ16_Pos)         /*!< 0x00000400 */
+/********************  Bit definition for ADC_DR register  ********************/
+#define ADC_DR_RDATA_Pos                  (0U)
+#define ADC_DR_RDATA_Msk                  (0xFFFFFFFFUL << ADC_DR_RDATA_Pos)   /*!< 0xFFFFFFFF */
+#define ADC_DR_RDATA                      ADC_DR_RDATA_Msk                     /*!< ADC regular Data converted */
+
+/********************  Bit definition for ADC_JSQR register  ********************/
+#define ADC_JSQR_JL_Pos                   (0U)
+#define ADC_JSQR_JL_Msk                   (0x3UL << ADC_JSQR_JL_Pos)           /*!< 0x00000003 */
+#define ADC_JSQR_JL                       ADC_JSQR_JL_Msk                      /*!< ADC injected channel sequence length */
+#define ADC_JSQR_JL_0                     (0x1UL << ADC_JSQR_JL_Pos)           /*!< 0x00000001 */
+#define ADC_JSQR_JL_1                     (0x2UL << ADC_JSQR_JL_Pos)           /*!< 0x00000002 */
+
+#define ADC_JSQR_JEXTSEL_Pos              (2U)
+#define ADC_JSQR_JEXTSEL_Msk              (0x1FUL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x0000007C */
+#define ADC_JSQR_JEXTSEL                  ADC_JSQR_JEXTSEL_Msk                 /*!< ADC external trigger selection for injected group */
+#define ADC_JSQR_JEXTSEL_0                (0x01UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000004 */
+#define ADC_JSQR_JEXTSEL_1                (0x02UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000008 */
+#define ADC_JSQR_JEXTSEL_2                (0x04UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000010 */
+#define ADC_JSQR_JEXTSEL_3                (0x08UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000020 */
+#define ADC_JSQR_JEXTSEL_4                (0x10UL << ADC_JSQR_JEXTSEL_Pos)     /*!< 0x00000040 */
+
+#define ADC_JSQR_JEXTEN_Pos               (7U)
+#define ADC_JSQR_JEXTEN_Msk               (0x3UL << ADC_JSQR_JEXTEN_Pos)       /*!< 0x00000180 */
+#define ADC_JSQR_JEXTEN                   ADC_JSQR_JEXTEN_Msk                  /*!< ADC external trigger enable and polarity selection for injected channels */
+#define ADC_JSQR_JEXTEN_0                 (0x1UL << ADC_JSQR_JEXTEN_Pos)       /*!< 0x00000080 */
+#define ADC_JSQR_JEXTEN_1                 (0x2UL << ADC_JSQR_JEXTEN_Pos)       /*!< 0x00000100 */
+
+#define ADC_JSQR_JSQ1_Pos                 (9U)
+#define ADC_JSQR_JSQ1_Msk                 (0x1FUL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00003E00 */
+#define ADC_JSQR_JSQ1                     ADC_JSQR_JSQ1_Msk                    /*!< ADC 1st conversion in injected sequence */
+#define ADC_JSQR_JSQ1_0                   (0x01UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00000200 */
+#define ADC_JSQR_JSQ1_1                   (0x02UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00000400 */
+#define ADC_JSQR_JSQ1_2                   (0x04UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00000800 */
+#define ADC_JSQR_JSQ1_3                   (0x08UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00001000 */
+#define ADC_JSQR_JSQ1_4                   (0x10UL << ADC_JSQR_JSQ1_Pos)        /*!< 0x00002000 */
+
+#define ADC_JSQR_JSQ2_Pos                 (15U)
+#define ADC_JSQR_JSQ2_Msk                 (0x1FUL << ADC_JSQR_JSQ2_Pos)        /*!< 0x000F8000 */
+#define ADC_JSQR_JSQ2                     ADC_JSQR_JSQ2_Msk                    /*!< ADC 2nd conversion in injected sequence */
+#define ADC_JSQR_JSQ2_0                   (0x01UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00008000 */
+#define ADC_JSQR_JSQ2_1                   (0x02UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00010000 */
+#define ADC_JSQR_JSQ2_2                   (0x04UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00020000 */
+#define ADC_JSQR_JSQ2_3                   (0x08UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00040000 */
+#define ADC_JSQR_JSQ2_4                   (0x10UL << ADC_JSQR_JSQ2_Pos)        /*!< 0x00080000 */
+
+#define ADC_JSQR_JSQ3_Pos                 (21U)
+#define ADC_JSQR_JSQ3_Msk                 (0x1FUL << ADC_JSQR_JSQ3_Pos)        /*!< 0x03E00000 */
+#define ADC_JSQR_JSQ3                     ADC_JSQR_JSQ3_Msk                    /*!< ADC 3rd conversion in injected sequence */
+#define ADC_JSQR_JSQ3_0                   (0x01UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x00200000 */
+#define ADC_JSQR_JSQ3_1                   (0x02UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x00400000 */
+#define ADC_JSQR_JSQ3_2                   (0x04UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x00800000 */
+#define ADC_JSQR_JSQ3_3                   (0x08UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x01000000 */
+#define ADC_JSQR_JSQ3_4                   (0x10UL << ADC_JSQR_JSQ3_Pos)        /*!< 0x02000000 */
+
+#define ADC_JSQR_JSQ4_Pos                 (27U)
+#define ADC_JSQR_JSQ4_Msk                 (0x1FUL << ADC_JSQR_JSQ4_Pos)        /*!< 0xF8000000 */
+#define ADC_JSQR_JSQ4                     ADC_JSQR_JSQ4_Msk                    /*!< ADC 4th conversion in injected sequence */
+#define ADC_JSQR_JSQ4_0                   (0x01UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x08000000 */
+#define ADC_JSQR_JSQ4_1                   (0x02UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x10000000 */
+#define ADC_JSQR_JSQ4_2                   (0x04UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x20000000 */
+#define ADC_JSQR_JSQ4_3                   (0x08UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x40000000 */
+#define ADC_JSQR_JSQ4_4                   (0x10UL << ADC_JSQR_JSQ4_Pos)        /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_OFR1 register  ********************/
+#define ADC_OFR1_OFFSET1_Pos              (0U)
+#define ADC_OFR1_OFFSET1_Msk              (0x3FFFFFFUL << ADC_OFR1_OFFSET1_Pos) /*!< 0x03FFFFFF */
+#define ADC_OFR1_OFFSET1                  ADC_OFR1_OFFSET1_Msk                  /*!< ADC data offset 1 for channel programmed into bits OFFSET1_CH[4:0] */
+#define ADC_OFR1_OFFSET1_0                (0x0000001UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000001 */
+#define ADC_OFR1_OFFSET1_1                (0x0000002UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000002 */
+#define ADC_OFR1_OFFSET1_2                (0x0000004UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000004 */
+#define ADC_OFR1_OFFSET1_3                (0x0000008UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000008 */
+#define ADC_OFR1_OFFSET1_4                (0x0000010UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000010 */
+#define ADC_OFR1_OFFSET1_5                (0x0000020UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000020 */
+#define ADC_OFR1_OFFSET1_6                (0x0000040UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000040 */
+#define ADC_OFR1_OFFSET1_7                (0x0000080UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000080 */
+#define ADC_OFR1_OFFSET1_8                (0x0000100UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000100 */
+#define ADC_OFR1_OFFSET1_9                (0x0000200UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000200 */
+#define ADC_OFR1_OFFSET1_10               (0x0000400UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000400 */
+#define ADC_OFR1_OFFSET1_11               (0x0000800UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000800 */
+#define ADC_OFR1_OFFSET1_12               (0x0001000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00001000 */
+#define ADC_OFR1_OFFSET1_13               (0x0002000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00002000 */
+#define ADC_OFR1_OFFSET1_14               (0x0004000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00004000 */
+#define ADC_OFR1_OFFSET1_15               (0x0008000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00008000 */
+#define ADC_OFR1_OFFSET1_16               (0x0010000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00010000 */
+#define ADC_OFR1_OFFSET1_17               (0x0020000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00020000 */
+#define ADC_OFR1_OFFSET1_18               (0x0040000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00040000 */
+#define ADC_OFR1_OFFSET1_19               (0x0080000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00080000 */
+#define ADC_OFR1_OFFSET1_20               (0x0100000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00100000 */
+#define ADC_OFR1_OFFSET1_21               (0x0200000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00200000 */
+#define ADC_OFR1_OFFSET1_22               (0x0400000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00400000 */
+#define ADC_OFR1_OFFSET1_23               (0x0800000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00800000 */
+#define ADC_OFR1_OFFSET1_24               (0x1000000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x01000000 */
+#define ADC_OFR1_OFFSET1_25               (0x2000000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x02000000 */
+
+#define ADC_OFR1_OFFSET1_CH_Pos           (26U)
+#define ADC_OFR1_OFFSET1_CH_Msk           (0x1FUL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x7C000000 */
+#define ADC_OFR1_OFFSET1_CH               ADC_OFR1_OFFSET1_CH_Msk               /*!< ADC Channel selection for the data offset 1 */
+#define ADC_OFR1_OFFSET1_CH_0             (0x01UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x04000000 */
+#define ADC_OFR1_OFFSET1_CH_1             (0x02UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x08000000 */
+#define ADC_OFR1_OFFSET1_CH_2             (0x04UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x10000000 */
+#define ADC_OFR1_OFFSET1_CH_3             (0x08UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x20000000 */
+#define ADC_OFR1_OFFSET1_CH_4             (0x10UL << ADC_OFR1_OFFSET1_CH_Pos)   /*!< 0x40000000 */
+
+#define ADC_OFR1_SSATE_Pos                (31U)
+#define ADC_OFR1_SSATE_Msk                (0x1UL << ADC_OFR1_SSATE_Pos)         /*!< 0x80000000 */
+#define ADC_OFR1_SSATE                    ADC_OFR1_SSATE_Msk                    /*!< ADC Signed saturation Enable */
+
+#define ADC3_OFR1_OFFSET1_Pos              (0U)
+#define ADC3_OFR1_OFFSET1_Msk              (0xFFFUL << ADC3_OFR1_OFFSET1_Pos)   /*!< 0x00000FFF */
+#define ADC3_OFR1_OFFSET1                  ADC3_OFR1_OFFSET1_Msk                /*!< ADC data offset 1 for channel programmed into bits OFFSET1_CH[4:0] */
+
+#define ADC3_OFR1_OFFSETPOS_Pos         (24U)
+#define ADC3_OFR1_OFFSETPOS_Msk         (0x1UL << ADC3_OFR1_OFFSETPOS_Pos)      /*!< 0x01000000 */
+#define ADC3_OFR1_OFFSETPOS             ADC3_OFR1_OFFSETPOS_Msk                 /*!< ADC offset number 1 positive */
+#define ADC3_OFR1_SATEN_Pos             (25U)
+#define ADC3_OFR1_SATEN_Msk             (0x1UL << ADC3_OFR1_SATEN_Pos)          /*!< 0x02000000 */
+#define ADC3_OFR1_SATEN                 ADC3_OFR1_SATEN_Msk                     /*!< ADC offset number 1 saturation enable */
+
+#define ADC3_OFR1_OFFSET1_EN_Pos        (31U)
+#define ADC3_OFR1_OFFSET1_EN_Msk        (0x1UL << ADC3_OFR1_OFFSET1_EN_Pos)     /*!< 0x80000000 */
+#define ADC3_OFR1_OFFSET1_EN            ADC3_OFR1_OFFSET1_EN_Msk                /*!< ADC offset number 1 enable */
+
+/********************  Bit definition for ADC_OFR2 register  ********************/
+#define ADC_OFR2_OFFSET2_Pos              (0U)
+#define ADC_OFR2_OFFSET2_Msk              (0x3FFFFFFUL << ADC_OFR2_OFFSET2_Pos) /*!< 0x03FFFFFF */
+#define ADC_OFR2_OFFSET2                  ADC_OFR2_OFFSET2_Msk                  /*!< ADC data offset 2 for channel programmed into bits OFFSET2_CH[4:0] */
+#define ADC_OFR2_OFFSET2_0                (0x0000001UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000001 */
+#define ADC_OFR2_OFFSET2_1                (0x0000002UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000002 */
+#define ADC_OFR2_OFFSET2_2                (0x0000004UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000004 */
+#define ADC_OFR2_OFFSET2_3                (0x0000008UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000008 */
+#define ADC_OFR2_OFFSET2_4                (0x0000010UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000010 */
+#define ADC_OFR2_OFFSET2_5                (0x0000020UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000020 */
+#define ADC_OFR2_OFFSET2_6                (0x0000040UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000040 */
+#define ADC_OFR2_OFFSET2_7                (0x0000080UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000080 */
+#define ADC_OFR2_OFFSET2_8                (0x0000100UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000100 */
+#define ADC_OFR2_OFFSET2_9                (0x0000200UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000200 */
+#define ADC_OFR2_OFFSET2_10               (0x0000400UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000400 */
+#define ADC_OFR2_OFFSET2_11               (0x0000800UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000800 */
+#define ADC_OFR2_OFFSET2_12               (0x0001000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00001000 */
+#define ADC_OFR2_OFFSET2_13               (0x0002000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00002000 */
+#define ADC_OFR2_OFFSET2_14               (0x0004000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00004000 */
+#define ADC_OFR2_OFFSET2_15               (0x0008000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00008000 */
+#define ADC_OFR2_OFFSET2_16               (0x0010000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00010000 */
+#define ADC_OFR2_OFFSET2_17               (0x0020000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00020000 */
+#define ADC_OFR2_OFFSET2_18               (0x0040000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00040000 */
+#define ADC_OFR2_OFFSET2_19               (0x0080000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00080000 */
+#define ADC_OFR2_OFFSET2_20               (0x0100000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00100000 */
+#define ADC_OFR2_OFFSET2_21               (0x0200000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00200000 */
+#define ADC_OFR2_OFFSET2_22               (0x0400000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00400000 */
+#define ADC_OFR2_OFFSET2_23               (0x0800000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00800000 */
+#define ADC_OFR2_OFFSET2_24               (0x1000000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x01000000 */
+#define ADC_OFR2_OFFSET2_25               (0x2000000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x02000000 */
+
+#define ADC_OFR2_OFFSET2_CH_Pos           (26U)
+#define ADC_OFR2_OFFSET2_CH_Msk           (0x1FUL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x7C000000 */
+#define ADC_OFR2_OFFSET2_CH               ADC_OFR2_OFFSET2_CH_Msk               /*!< ADC Channel selection for the data offset 2 */
+#define ADC_OFR2_OFFSET2_CH_0             (0x01UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x04000000 */
+#define ADC_OFR2_OFFSET2_CH_1             (0x02UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x08000000 */
+#define ADC_OFR2_OFFSET2_CH_2             (0x04UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x10000000 */
+#define ADC_OFR2_OFFSET2_CH_3             (0x08UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x20000000 */
+#define ADC_OFR2_OFFSET2_CH_4             (0x10UL << ADC_OFR2_OFFSET2_CH_Pos)   /*!< 0x40000000 */
+
+#define ADC_OFR2_SSATE_Pos                (31U)
+#define ADC_OFR2_SSATE_Msk                (0x1UL << ADC_OFR2_SSATE_Pos)         /*!< 0x80000000 */
+#define ADC_OFR2_SSATE                    ADC_OFR2_SSATE_Msk                    /*!< ADC Signed saturation Enable */
+
+#define ADC3_OFR2_OFFSET2_Pos              (0U)
+#define ADC3_OFR2_OFFSET2_Msk              (0xFFFUL << ADC3_OFR2_OFFSET2_Pos)   /*!< 0x00000FFF */
+#define ADC3_OFR2_OFFSET2                  ADC3_OFR2_OFFSET2_Msk                /*!< ADC data offset 2 for channel programmed into bits OFFSET1_CH[4:0] */
+
+#define ADC3_OFR2_OFFSETPOS_Pos         (24U)
+#define ADC3_OFR2_OFFSETPOS_Msk         (0x1UL << ADC3_OFR2_OFFSETPOS_Pos)      /*!< 0x01000000 */
+#define ADC3_OFR2_OFFSETPOS             ADC3_OFR2_OFFSETPOS_Msk                 /*!< ADC offset number 2 positive */
+#define ADC3_OFR2_SATEN_Pos             (25U)
+#define ADC3_OFR2_SATEN_Msk             (0x1UL << ADC3_OFR2_SATEN_Pos)          /*!< 0x02000000 */
+#define ADC3_OFR2_SATEN                 ADC3_OFR2_SATEN_Msk                     /*!< ADC offset number 2 saturation enable */
+
+#define ADC3_OFR2_OFFSET2_EN_Pos        (31U)
+#define ADC3_OFR2_OFFSET2_EN_Msk        (0x1UL << ADC3_OFR2_OFFSET2_EN_Pos)     /*!< 0x80000000 */
+#define ADC3_OFR2_OFFSET2_EN            ADC3_OFR2_OFFSET2_EN_Msk                /*!< ADC offset number 2 enable */
+
+/********************  Bit definition for ADC_OFR3 register  ********************/
+#define ADC_OFR3_OFFSET3_Pos              (0U)
+#define ADC_OFR3_OFFSET3_Msk              (0x3FFFFFFUL << ADC_OFR3_OFFSET3_Pos) /*!< 0x03FFFFFF */
+#define ADC_OFR3_OFFSET3                  ADC_OFR3_OFFSET3_Msk                  /*!< ADC data offset 3 for channel programmed into bits OFFSET3_CH[4:0] */
+#define ADC_OFR3_OFFSET3_0                (0x0000001UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000001 */
+#define ADC_OFR3_OFFSET3_1                (0x0000002UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000002 */
+#define ADC_OFR3_OFFSET3_2                (0x0000004UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000004 */
+#define ADC_OFR3_OFFSET3_3                (0x0000008UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000008 */
+#define ADC_OFR3_OFFSET3_4                (0x0000010UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000010 */
+#define ADC_OFR3_OFFSET3_5                (0x0000020UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000020 */
+#define ADC_OFR3_OFFSET3_6                (0x0000040UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000040 */
+#define ADC_OFR3_OFFSET3_7                (0x0000080UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000080 */
+#define ADC_OFR3_OFFSET3_8                (0x0000100UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000100 */
+#define ADC_OFR3_OFFSET3_9                (0x0000200UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000200 */
+#define ADC_OFR3_OFFSET3_10               (0x0000400UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000400 */
+#define ADC_OFR3_OFFSET3_11               (0x0000800UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000800 */
+#define ADC_OFR3_OFFSET3_12               (0x0001000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00001000 */
+#define ADC_OFR3_OFFSET3_13               (0x0002000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00002000 */
+#define ADC_OFR3_OFFSET3_14               (0x0004000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00004000 */
+#define ADC_OFR3_OFFSET3_15               (0x0008000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00008000 */
+#define ADC_OFR3_OFFSET3_16               (0x0010000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00010000 */
+#define ADC_OFR3_OFFSET3_17               (0x0020000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00020000 */
+#define ADC_OFR3_OFFSET3_18               (0x0040000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00040000 */
+#define ADC_OFR3_OFFSET3_19               (0x0080000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00080000 */
+#define ADC_OFR3_OFFSET3_20               (0x0100000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00100000 */
+#define ADC_OFR3_OFFSET3_21               (0x0200000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00200000 */
+#define ADC_OFR3_OFFSET3_22               (0x0400000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00400000 */
+#define ADC_OFR3_OFFSET3_23               (0x0800000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00800000 */
+#define ADC_OFR3_OFFSET3_24               (0x1000000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x01000000 */
+#define ADC_OFR3_OFFSET3_25               (0x2000000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x02000000 */
+
+#define ADC_OFR3_OFFSET3_CH_Pos           (26U)
+#define ADC_OFR3_OFFSET3_CH_Msk           (0x1FUL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x7C000000 */
+#define ADC_OFR3_OFFSET3_CH               ADC_OFR3_OFFSET3_CH_Msk               /*!< ADC Channel selection for the data offset 3 */
+#define ADC_OFR3_OFFSET3_CH_0             (0x01UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x04000000 */
+#define ADC_OFR3_OFFSET3_CH_1             (0x02UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x08000000 */
+#define ADC_OFR3_OFFSET3_CH_2             (0x04UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x10000000 */
+#define ADC_OFR3_OFFSET3_CH_3             (0x08UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x20000000 */
+#define ADC_OFR3_OFFSET3_CH_4             (0x10UL << ADC_OFR3_OFFSET3_CH_Pos)   /*!< 0x40000000 */
+
+#define ADC_OFR3_SSATE_Pos                (31U)
+#define ADC_OFR3_SSATE_Msk                (0x1UL << ADC_OFR3_SSATE_Pos)         /*!< 0x80000000 */
+#define ADC_OFR3_SSATE                    ADC_OFR3_SSATE_Msk                    /*!< ADC Signed saturation Enable */
+
+#define ADC3_OFR3_OFFSET3_Pos              (0U)
+#define ADC3_OFR3_OFFSET3_Msk              (0xFFFUL << ADC3_OFR3_OFFSET3_Pos)   /*!< 0x00000FFF */
+#define ADC3_OFR3_OFFSET3                  ADC3_OFR3_OFFSET3_Msk                /*!< ADC data offset 3 for channel programmed into bits OFFSET1_CH[4:0] */
+
+#define ADC3_OFR3_OFFSETPOS_Pos         (24U)
+#define ADC3_OFR3_OFFSETPOS_Msk         (0x1UL << ADC3_OFR3_OFFSETPOS_Pos)      /*!< 0x01000000 */
+#define ADC3_OFR3_OFFSETPOS             ADC3_OFR3_OFFSETPOS_Msk                 /*!< ADC offset number 3 positive */
+#define ADC3_OFR3_SATEN_Pos             (25U)
+#define ADC3_OFR3_SATEN_Msk             (0x1UL << ADC3_OFR3_SATEN_Pos)          /*!< 0x02000000 */
+#define ADC3_OFR3_SATEN                 ADC3_OFR3_SATEN_Msk                     /*!< ADC offset number 3 saturation enable */
+
+#define ADC3_OFR3_OFFSET3_EN_Pos        (31U)
+#define ADC3_OFR3_OFFSET3_EN_Msk        (0x1UL << ADC3_OFR3_OFFSET3_EN_Pos)     /*!< 0x80000000 */
+#define ADC3_OFR3_OFFSET3_EN            ADC3_OFR3_OFFSET3_EN_Msk                /*!< ADC offset number 3 enable */
+
+/********************  Bit definition for ADC_OFR4 register  ********************/
+#define ADC_OFR4_OFFSET4_Pos              (0U)
+#define ADC_OFR4_OFFSET4_Msk              (0x3FFFFFFUL << ADC_OFR4_OFFSET4_Pos) /*!< 0x03FFFFFF */
+#define ADC_OFR4_OFFSET4                  ADC_OFR4_OFFSET4_Msk                  /*!< ADC data offset 4 for channel programmed into bits OFFSET4_CH[4:0] */
+#define ADC_OFR4_OFFSET4_0                (0x0000001UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000001 */
+#define ADC_OFR4_OFFSET4_1                (0x0000002UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000002 */
+#define ADC_OFR4_OFFSET4_2                (0x0000004UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000004 */
+#define ADC_OFR4_OFFSET4_3                (0x0000008UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000008 */
+#define ADC_OFR4_OFFSET4_4                (0x0000010UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000010 */
+#define ADC_OFR4_OFFSET4_5                (0x0000020UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000020 */
+#define ADC_OFR4_OFFSET4_6                (0x0000040UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000040 */
+#define ADC_OFR4_OFFSET4_7                (0x0000080UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000080 */
+#define ADC_OFR4_OFFSET4_8                (0x0000100UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000100 */
+#define ADC_OFR4_OFFSET4_9                (0x0000200UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000200 */
+#define ADC_OFR4_OFFSET4_10               (0x0000400UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000400 */
+#define ADC_OFR4_OFFSET4_11               (0x0000800UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000800 */
+#define ADC_OFR4_OFFSET4_12               (0x0001000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00001000 */
+#define ADC_OFR4_OFFSET4_13               (0x0002000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00002000 */
+#define ADC_OFR4_OFFSET4_14               (0x0004000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00004000 */
+#define ADC_OFR4_OFFSET4_15               (0x0008000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00008000 */
+#define ADC_OFR4_OFFSET4_16               (0x0010000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00010000 */
+#define ADC_OFR4_OFFSET4_17               (0x0020000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00020000 */
+#define ADC_OFR4_OFFSET4_18               (0x0040000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00040000 */
+#define ADC_OFR4_OFFSET4_19               (0x0080000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00080000 */
+#define ADC_OFR4_OFFSET4_20               (0x0100000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00100000 */
+#define ADC_OFR4_OFFSET4_21               (0x0200000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00200000 */
+#define ADC_OFR4_OFFSET4_22               (0x0400000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00400000 */
+#define ADC_OFR4_OFFSET4_23               (0x0800000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00800000 */
+#define ADC_OFR4_OFFSET4_24               (0x1000000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x01000000 */
+#define ADC_OFR4_OFFSET4_25               (0x2000000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x02000000 */
+
+#define ADC_OFR4_OFFSET4_CH_Pos           (26U)
+#define ADC_OFR4_OFFSET4_CH_Msk           (0x1FUL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x7C000000 */
+#define ADC_OFR4_OFFSET4_CH               ADC_OFR4_OFFSET4_CH_Msk               /*!< ADC Channel selection for the data offset 4 */
+#define ADC_OFR4_OFFSET4_CH_0             (0x01UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x04000000 */
+#define ADC_OFR4_OFFSET4_CH_1             (0x02UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x08000000 */
+#define ADC_OFR4_OFFSET4_CH_2             (0x04UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x10000000 */
+#define ADC_OFR4_OFFSET4_CH_3             (0x08UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x20000000 */
+#define ADC_OFR4_OFFSET4_CH_4             (0x10UL << ADC_OFR4_OFFSET4_CH_Pos)   /*!< 0x40000000 */
+
+#define ADC_OFR4_SSATE_Pos                (31U)
+#define ADC_OFR4_SSATE_Msk                (0x1UL << ADC_OFR4_SSATE_Pos)         /*!< 0x80000000 */
+#define ADC_OFR4_SSATE                    ADC_OFR4_SSATE_Msk                    /*!< ADC Signed saturation Enable */
+
+#define ADC3_OFR4_OFFSET4_Pos              (0U)
+#define ADC3_OFR4_OFFSET4_Msk              (0xFFFUL << ADC3_OFR4_OFFSET4_Pos)   /*!< 0x00000FFF */
+#define ADC3_OFR4_OFFSET4                  ADC3_OFR4_OFFSET4_Msk                /*!< ADC data offset 4 for channel programmed into bits OFFSET1_CH[4:0] */
+
+#define ADC3_OFR4_OFFSETPOS_Pos         (24U)
+#define ADC3_OFR4_OFFSETPOS_Msk         (0x1UL << ADC3_OFR4_OFFSETPOS_Pos)      /*!< 0x01000000 */
+#define ADC3_OFR4_OFFSETPOS             ADC3_OFR4_OFFSETPOS_Msk                 /*!< ADC offset number 4 positive */
+#define ADC3_OFR4_SATEN_Pos             (25U)
+#define ADC3_OFR4_SATEN_Msk             (0x1UL << ADC3_OFR4_SATEN_Pos)          /*!< 0x02000000 */
+#define ADC3_OFR4_SATEN                 ADC3_OFR4_SATEN_Msk                     /*!< ADC offset number 4 saturation enable */
+
+#define ADC3_OFR4_OFFSET4_EN_Pos        (31U)
+#define ADC3_OFR4_OFFSET4_EN_Msk        (0x1UL << ADC3_OFR4_OFFSET4_EN_Pos)     /*!< 0x80000000 */
+#define ADC3_OFR4_OFFSET4_EN            ADC3_OFR4_OFFSET4_EN_Msk                /*!< ADC offset number 4 enable */
+
+/********************  Bit definition for ADC_JDR1 register  ********************/
+#define ADC_JDR1_JDATA_Pos                (0U)
+#define ADC_JDR1_JDATA_Msk                (0xFFFFFFFFUL << ADC_JDR1_JDATA_Pos)  /*!< 0xFFFFFFFF */
+#define ADC_JDR1_JDATA                    ADC_JDR1_JDATA_Msk                    /*!< ADC Injected DATA */
+#define ADC_JDR1_JDATA_0                  (0x00000001UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000001 */
+#define ADC_JDR1_JDATA_1                  (0x00000002UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000002 */
+#define ADC_JDR1_JDATA_2                  (0x00000004UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000004 */
+#define ADC_JDR1_JDATA_3                  (0x00000008UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000008 */
+#define ADC_JDR1_JDATA_4                  (0x00000010UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000010 */
+#define ADC_JDR1_JDATA_5                  (0x00000020UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000020 */
+#define ADC_JDR1_JDATA_6                  (0x00000040UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000040 */
+#define ADC_JDR1_JDATA_7                  (0x00000080UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000080 */
+#define ADC_JDR1_JDATA_8                  (0x00000100UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000100 */
+#define ADC_JDR1_JDATA_9                  (0x00000200UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000200 */
+#define ADC_JDR1_JDATA_10                 (0x00000400UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000400 */
+#define ADC_JDR1_JDATA_11                 (0x00000800UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00000800 */
+#define ADC_JDR1_JDATA_12                 (0x00001000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00001000 */
+#define ADC_JDR1_JDATA_13                 (0x00002000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00002000 */
+#define ADC_JDR1_JDATA_14                 (0x00004000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00004000 */
+#define ADC_JDR1_JDATA_15                 (0x00008000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00008000 */
+#define ADC_JDR1_JDATA_16                 (0x00010000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00010000 */
+#define ADC_JDR1_JDATA_17                 (0x00020000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00020000 */
+#define ADC_JDR1_JDATA_18                 (0x00040000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00040000 */
+#define ADC_JDR1_JDATA_19                 (0x00080000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00080000 */
+#define ADC_JDR1_JDATA_20                 (0x00100000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00100000 */
+#define ADC_JDR1_JDATA_21                 (0x00200000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00200000 */
+#define ADC_JDR1_JDATA_22                 (0x00400000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00400000 */
+#define ADC_JDR1_JDATA_23                 (0x00800000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x00800000 */
+#define ADC_JDR1_JDATA_24                 (0x01000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x01000000 */
+#define ADC_JDR1_JDATA_25                 (0x02000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x02000000 */
+#define ADC_JDR1_JDATA_26                 (0x04000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x04000000 */
+#define ADC_JDR1_JDATA_27                 (0x08000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x08000000 */
+#define ADC_JDR1_JDATA_28                 (0x10000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x10000000 */
+#define ADC_JDR1_JDATA_29                 (0x20000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x20000000 */
+#define ADC_JDR1_JDATA_30                 (0x40000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x40000000 */
+#define ADC_JDR1_JDATA_31                 (0x80000000UL << ADC_JDR1_JDATA_Pos)  /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_JDR2 register  ********************/
+#define ADC_JDR2_JDATA_Pos                (0U)
+#define ADC_JDR2_JDATA_Msk                (0xFFFFFFFFUL << ADC_JDR2_JDATA_Pos)  /*!< 0xFFFFFFFF */
+#define ADC_JDR2_JDATA                    ADC_JDR2_JDATA_Msk                    /*!< ADC Injected DATA */
+#define ADC_JDR2_JDATA_0                  (0x00000001UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000001 */
+#define ADC_JDR2_JDATA_1                  (0x00000002UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000002 */
+#define ADC_JDR2_JDATA_2                  (0x00000004UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000004 */
+#define ADC_JDR2_JDATA_3                  (0x00000008UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000008 */
+#define ADC_JDR2_JDATA_4                  (0x00000010UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000010 */
+#define ADC_JDR2_JDATA_5                  (0x00000020UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000020 */
+#define ADC_JDR2_JDATA_6                  (0x00000040UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000040 */
+#define ADC_JDR2_JDATA_7                  (0x00000080UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000080 */
+#define ADC_JDR2_JDATA_8                  (0x00000100UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000100 */
+#define ADC_JDR2_JDATA_9                  (0x00000200UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000200 */
+#define ADC_JDR2_JDATA_10                 (0x00000400UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000400 */
+#define ADC_JDR2_JDATA_11                 (0x00000800UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00000800 */
+#define ADC_JDR2_JDATA_12                 (0x00001000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00001000 */
+#define ADC_JDR2_JDATA_13                 (0x00002000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00002000 */
+#define ADC_JDR2_JDATA_14                 (0x00004000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00004000 */
+#define ADC_JDR2_JDATA_15                 (0x00008000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00008000 */
+#define ADC_JDR2_JDATA_16                 (0x00010000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00010000 */
+#define ADC_JDR2_JDATA_17                 (0x00020000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00020000 */
+#define ADC_JDR2_JDATA_18                 (0x00040000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00040000 */
+#define ADC_JDR2_JDATA_19                 (0x00080000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00080000 */
+#define ADC_JDR2_JDATA_20                 (0x00100000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00100000 */
+#define ADC_JDR2_JDATA_21                 (0x00200000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00200000 */
+#define ADC_JDR2_JDATA_22                 (0x00400000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00400000 */
+#define ADC_JDR2_JDATA_23                 (0x00800000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x00800000 */
+#define ADC_JDR2_JDATA_24                 (0x01000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x01000000 */
+#define ADC_JDR2_JDATA_25                 (0x02000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x02000000 */
+#define ADC_JDR2_JDATA_26                 (0x04000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x04000000 */
+#define ADC_JDR2_JDATA_27                 (0x08000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x08000000 */
+#define ADC_JDR2_JDATA_28                 (0x10000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x10000000 */
+#define ADC_JDR2_JDATA_29                 (0x20000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x20000000 */
+#define ADC_JDR2_JDATA_30                 (0x40000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x40000000 */
+#define ADC_JDR2_JDATA_31                 (0x80000000UL << ADC_JDR2_JDATA_Pos)  /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_JDR3 register  ********************/
+#define ADC_JDR3_JDATA_Pos                (0U)
+#define ADC_JDR3_JDATA_Msk                (0xFFFFFFFFUL << ADC_JDR3_JDATA_Pos)  /*!< 0xFFFFFFFF */
+#define ADC_JDR3_JDATA                    ADC_JDR3_JDATA_Msk                    /*!< ADC Injected DATA */
+#define ADC_JDR3_JDATA_0                  (0x00000001UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000001 */
+#define ADC_JDR3_JDATA_1                  (0x00000002UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000002 */
+#define ADC_JDR3_JDATA_2                  (0x00000004UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000004 */
+#define ADC_JDR3_JDATA_3                  (0x00000008UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000008 */
+#define ADC_JDR3_JDATA_4                  (0x00000010UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000010 */
+#define ADC_JDR3_JDATA_5                  (0x00000020UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000020 */
+#define ADC_JDR3_JDATA_6                  (0x00000040UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000040 */
+#define ADC_JDR3_JDATA_7                  (0x00000080UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000080 */
+#define ADC_JDR3_JDATA_8                  (0x00000100UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000100 */
+#define ADC_JDR3_JDATA_9                  (0x00000200UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000200 */
+#define ADC_JDR3_JDATA_10                 (0x00000400UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000400 */
+#define ADC_JDR3_JDATA_11                 (0x00000800UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00000800 */
+#define ADC_JDR3_JDATA_12                 (0x00001000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00001000 */
+#define ADC_JDR3_JDATA_13                 (0x00002000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00002000 */
+#define ADC_JDR3_JDATA_14                 (0x00004000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00004000 */
+#define ADC_JDR3_JDATA_15                 (0x00008000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00008000 */
+#define ADC_JDR3_JDATA_16                 (0x00010000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00010000 */
+#define ADC_JDR3_JDATA_17                 (0x00020000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00020000 */
+#define ADC_JDR3_JDATA_18                 (0x00040000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00040000 */
+#define ADC_JDR3_JDATA_19                 (0x00080000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00080000 */
+#define ADC_JDR3_JDATA_20                 (0x00100000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00100000 */
+#define ADC_JDR3_JDATA_21                 (0x00200000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00200000 */
+#define ADC_JDR3_JDATA_22                 (0x00400000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00400000 */
+#define ADC_JDR3_JDATA_23                 (0x00800000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x00800000 */
+#define ADC_JDR3_JDATA_24                 (0x01000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x01000000 */
+#define ADC_JDR3_JDATA_25                 (0x02000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x02000000 */
+#define ADC_JDR3_JDATA_26                 (0x04000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x04000000 */
+#define ADC_JDR3_JDATA_27                 (0x08000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x08000000 */
+#define ADC_JDR3_JDATA_28                 (0x10000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x10000000 */
+#define ADC_JDR3_JDATA_29                 (0x20000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x20000000 */
+#define ADC_JDR3_JDATA_30                 (0x40000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x40000000 */
+#define ADC_JDR3_JDATA_31                 (0x80000000UL << ADC_JDR3_JDATA_Pos)  /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_JDR4 register  ********************/
+#define ADC_JDR4_JDATA_Pos                (0U)
+#define ADC_JDR4_JDATA_Msk                (0xFFFFFFFFUL << ADC_JDR4_JDATA_Pos)  /*!< 0xFFFFFFFF */
+#define ADC_JDR4_JDATA                    ADC_JDR4_JDATA_Msk                    /*!< ADC Injected DATA */
+#define ADC_JDR4_JDATA_0                  (0x00000001UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000001 */
+#define ADC_JDR4_JDATA_1                  (0x00000002UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000002 */
+#define ADC_JDR4_JDATA_2                  (0x00000004UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000004 */
+#define ADC_JDR4_JDATA_3                  (0x00000008UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000008 */
+#define ADC_JDR4_JDATA_4                  (0x00000010UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000010 */
+#define ADC_JDR4_JDATA_5                  (0x00000020UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000020 */
+#define ADC_JDR4_JDATA_6                  (0x00000040UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000040 */
+#define ADC_JDR4_JDATA_7                  (0x00000080UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000080 */
+#define ADC_JDR4_JDATA_8                  (0x00000100UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000100 */
+#define ADC_JDR4_JDATA_9                  (0x00000200UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000200 */
+#define ADC_JDR4_JDATA_10                 (0x00000400UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000400 */
+#define ADC_JDR4_JDATA_11                 (0x00000800UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00000800 */
+#define ADC_JDR4_JDATA_12                 (0x00001000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00001000 */
+#define ADC_JDR4_JDATA_13                 (0x00002000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00002000 */
+#define ADC_JDR4_JDATA_14                 (0x00004000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00004000 */
+#define ADC_JDR4_JDATA_15                 (0x00008000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00008000 */
+#define ADC_JDR4_JDATA_16                 (0x00010000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00010000 */
+#define ADC_JDR4_JDATA_17                 (0x00020000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00020000 */
+#define ADC_JDR4_JDATA_18                 (0x00040000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00040000 */
+#define ADC_JDR4_JDATA_19                 (0x00080000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00080000 */
+#define ADC_JDR4_JDATA_20                 (0x00100000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00100000 */
+#define ADC_JDR4_JDATA_21                 (0x00200000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00200000 */
+#define ADC_JDR4_JDATA_22                 (0x00400000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00400000 */
+#define ADC_JDR4_JDATA_23                 (0x00800000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x00800000 */
+#define ADC_JDR4_JDATA_24                 (0x01000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x01000000 */
+#define ADC_JDR4_JDATA_25                 (0x02000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x02000000 */
+#define ADC_JDR4_JDATA_26                 (0x04000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x04000000 */
+#define ADC_JDR4_JDATA_27                 (0x08000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x08000000 */
+#define ADC_JDR4_JDATA_28                 (0x10000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x10000000 */
+#define ADC_JDR4_JDATA_29                 (0x20000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x20000000 */
+#define ADC_JDR4_JDATA_30                 (0x40000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x40000000 */
+#define ADC_JDR4_JDATA_31                 (0x80000000UL << ADC_JDR4_JDATA_Pos)  /*!< 0x80000000 */
+
+/********************  Bit definition for ADC_AWD2CR register  ********************/
+#define ADC_AWD2CR_AWD2CH_Pos             (0U)
+#define ADC_AWD2CR_AWD2CH_Msk             (0xFFFFFUL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x000FFFFF */
+#define ADC_AWD2CR_AWD2CH                 ADC_AWD2CR_AWD2CH_Msk                 /*!< ADC Analog watchdog 2 channel selection */
+#define ADC_AWD2CR_AWD2CH_0               (0x00001UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000001 */
+#define ADC_AWD2CR_AWD2CH_1               (0x00002UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000002 */
+#define ADC_AWD2CR_AWD2CH_2               (0x00004UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000004 */
+#define ADC_AWD2CR_AWD2CH_3               (0x00008UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000008 */
+#define ADC_AWD2CR_AWD2CH_4               (0x00010UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000010 */
+#define ADC_AWD2CR_AWD2CH_5               (0x00020UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000020 */
+#define ADC_AWD2CR_AWD2CH_6               (0x00040UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000040 */
+#define ADC_AWD2CR_AWD2CH_7               (0x00080UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000080 */
+#define ADC_AWD2CR_AWD2CH_8               (0x00100UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000100 */
+#define ADC_AWD2CR_AWD2CH_9               (0x00200UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000200 */
+#define ADC_AWD2CR_AWD2CH_10              (0x00400UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000400 */
+#define ADC_AWD2CR_AWD2CH_11              (0x00800UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00000800 */
+#define ADC_AWD2CR_AWD2CH_12              (0x01000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00001000 */
+#define ADC_AWD2CR_AWD2CH_13              (0x02000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00002000 */
+#define ADC_AWD2CR_AWD2CH_14              (0x04000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00004000 */
+#define ADC_AWD2CR_AWD2CH_15              (0x08000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00008000 */
+#define ADC_AWD2CR_AWD2CH_16              (0x10000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00010000 */
+#define ADC_AWD2CR_AWD2CH_17              (0x20000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00020000 */
+#define ADC_AWD2CR_AWD2CH_18              (0x40000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00040000 */
+#define ADC_AWD2CR_AWD2CH_19              (0x80000UL << ADC_AWD2CR_AWD2CH_Pos)  /*!< 0x00080000 */
+
+/********************  Bit definition for ADC_AWD3CR register  ********************/
+#define ADC_AWD3CR_AWD3CH_Pos             (0U)
+#define ADC_AWD3CR_AWD3CH_Msk             (0xFFFFFUL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x000FFFFF */
+#define ADC_AWD3CR_AWD3CH                 ADC_AWD3CR_AWD3CH_Msk                 /*!< ADC Analog watchdog 2 channel selection */
+#define ADC_AWD3CR_AWD3CH_0               (0x00001UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000001 */
+#define ADC_AWD3CR_AWD3CH_1               (0x00002UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000002 */
+#define ADC_AWD3CR_AWD3CH_2               (0x00004UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000004 */
+#define ADC_AWD3CR_AWD3CH_3               (0x00008UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000008 */
+#define ADC_AWD3CR_AWD3CH_4               (0x00010UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000010 */
+#define ADC_AWD3CR_AWD3CH_5               (0x00020UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000020 */
+#define ADC_AWD3CR_AWD3CH_6               (0x00040UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000040 */
+#define ADC_AWD3CR_AWD3CH_7               (0x00080UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000080 */
+#define ADC_AWD3CR_AWD3CH_8               (0x00100UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000100 */
+#define ADC_AWD3CR_AWD3CH_9               (0x00200UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000200 */
+#define ADC_AWD3CR_AWD3CH_10              (0x00400UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000400 */
+#define ADC_AWD3CR_AWD3CH_11              (0x00800UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00000800 */
+#define ADC_AWD3CR_AWD3CH_12              (0x01000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00001000 */
+#define ADC_AWD3CR_AWD3CH_13              (0x02000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00002000 */
+#define ADC_AWD3CR_AWD3CH_14              (0x04000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00004000 */
+#define ADC_AWD3CR_AWD3CH_15              (0x08000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00008000 */
+#define ADC_AWD3CR_AWD3CH_16              (0x10000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00010000 */
+#define ADC_AWD3CR_AWD3CH_17              (0x20000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00020000 */
+#define ADC_AWD3CR_AWD3CH_18              (0x40000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00040000 */
+#define ADC_AWD3CR_AWD3CH_19              (0x80000UL << ADC_AWD3CR_AWD3CH_Pos)  /*!< 0x00080000 */
+
+/********************  Bit definition for ADC_DIFSEL register  ********************/
+#define ADC_DIFSEL_DIFSEL_Pos             (0U)
+#define ADC_DIFSEL_DIFSEL_Msk             (0xFFFFFUL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x000FFFFF */
+#define ADC_DIFSEL_DIFSEL                 ADC_DIFSEL_DIFSEL_Msk                 /*!< ADC differential modes for channels 1 to 18 */
+#define ADC_DIFSEL_DIFSEL_0               (0x00001UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000001 */
+#define ADC_DIFSEL_DIFSEL_1               (0x00002UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000002 */
+#define ADC_DIFSEL_DIFSEL_2               (0x00004UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000004 */
+#define ADC_DIFSEL_DIFSEL_3               (0x00008UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000008 */
+#define ADC_DIFSEL_DIFSEL_4               (0x00010UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000010 */
+#define ADC_DIFSEL_DIFSEL_5               (0x00020UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000020 */
+#define ADC_DIFSEL_DIFSEL_6               (0x00040UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000040 */
+#define ADC_DIFSEL_DIFSEL_7               (0x00080UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000080 */
+#define ADC_DIFSEL_DIFSEL_8               (0x00100UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000100 */
+#define ADC_DIFSEL_DIFSEL_9               (0x00200UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000200 */
+#define ADC_DIFSEL_DIFSEL_10              (0x00400UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000400 */
+#define ADC_DIFSEL_DIFSEL_11              (0x00800UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00000800 */
+#define ADC_DIFSEL_DIFSEL_12              (0x01000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00001000 */
+#define ADC_DIFSEL_DIFSEL_13              (0x02000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00002000 */
+#define ADC_DIFSEL_DIFSEL_14              (0x04000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00004000 */
+#define ADC_DIFSEL_DIFSEL_15              (0x08000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00008000 */
+#define ADC_DIFSEL_DIFSEL_16              (0x10000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00010000 */
+#define ADC_DIFSEL_DIFSEL_17              (0x20000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00020000 */
+#define ADC_DIFSEL_DIFSEL_18              (0x40000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00040000 */
+#define ADC_DIFSEL_DIFSEL_19              (0x80000UL << ADC_DIFSEL_DIFSEL_Pos)  /*!< 0x00080000 */
+
+/********************  Bit definition for ADC_CALFACT register  ********************/
+#define ADC_CALFACT_CALFACT_S_Pos         (0U)
+#define ADC_CALFACT_CALFACT_S_Msk         (0x7FFUL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x000007FF */
+#define ADC_CALFACT_CALFACT_S             ADC_CALFACT_CALFACT_S_Msk              /*!< ADC calibration factors in single-ended mode */
+#define ADC_CALFACT_CALFACT_S_0           (0x001UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000001 */
+#define ADC_CALFACT_CALFACT_S_1           (0x002UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000002 */
+#define ADC_CALFACT_CALFACT_S_2           (0x004UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000004 */
+#define ADC_CALFACT_CALFACT_S_3           (0x008UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000008 */
+#define ADC_CALFACT_CALFACT_S_4           (0x010UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000010 */
+#define ADC_CALFACT_CALFACT_S_5           (0x020UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000020 */
+#define ADC_CALFACT_CALFACT_S_6           (0x040UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000040 */
+#define ADC_CALFACT_CALFACT_S_7           (0x080UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000080 */
+#define ADC_CALFACT_CALFACT_S_8           (0x100UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000100 */
+#define ADC_CALFACT_CALFACT_S_9           (0x200UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000200 */
+#define ADC_CALFACT_CALFACT_S_10          (0x400UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000400 */
+#define ADC_CALFACT_CALFACT_D_Pos         (16U)
+#define ADC_CALFACT_CALFACT_D_Msk         (0x7FFUL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x07FF0000 */
+#define ADC_CALFACT_CALFACT_D             ADC_CALFACT_CALFACT_D_Msk              /*!< ADC calibration factors in differential mode */
+#define ADC_CALFACT_CALFACT_D_0           (0x001UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00010000 */
+#define ADC_CALFACT_CALFACT_D_1           (0x002UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00020000 */
+#define ADC_CALFACT_CALFACT_D_2           (0x004UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00040000 */
+#define ADC_CALFACT_CALFACT_D_3           (0x008UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00080000 */
+#define ADC_CALFACT_CALFACT_D_4           (0x010UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00100000 */
+#define ADC_CALFACT_CALFACT_D_5           (0x020UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00200000 */
+#define ADC_CALFACT_CALFACT_D_6           (0x040UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00400000 */
+#define ADC_CALFACT_CALFACT_D_7           (0x080UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00800000 */
+#define ADC_CALFACT_CALFACT_D_8           (0x100UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x01000000 */
+#define ADC_CALFACT_CALFACT_D_9           (0x200UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x02000000 */
+#define ADC_CALFACT_CALFACT_D_10          (0x400UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x04000000 */
+
+/********************  Bit definition for ADC_CALFACT2 register  ********************/
+#define ADC_CALFACT2_LINCALFACT_Pos       (0U)
+#define ADC_CALFACT2_LINCALFACT_Msk       (0x3FFFFFFFUL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x3FFFFFFF */
+#define ADC_CALFACT2_LINCALFACT           ADC_CALFACT2_LINCALFACT_Msk                   /*!< ADC Linearity calibration factors */
+#define ADC_CALFACT2_LINCALFACT_0         (0x00000001UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000001 */
+#define ADC_CALFACT2_LINCALFACT_1         (0x00000002UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000002 */
+#define ADC_CALFACT2_LINCALFACT_2         (0x00000004UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000004 */
+#define ADC_CALFACT2_LINCALFACT_3         (0x00000008UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000008 */
+#define ADC_CALFACT2_LINCALFACT_4         (0x00000010UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000010 */
+#define ADC_CALFACT2_LINCALFACT_5         (0x00000020UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000020 */
+#define ADC_CALFACT2_LINCALFACT_6         (0x00000040UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000040 */
+#define ADC_CALFACT2_LINCALFACT_7         (0x00000080UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000080 */
+#define ADC_CALFACT2_LINCALFACT_8         (0x00000100UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000100 */
+#define ADC_CALFACT2_LINCALFACT_9         (0x00000200UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000200 */
+#define ADC_CALFACT2_LINCALFACT_10        (0x00000400UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000400 */
+#define ADC_CALFACT2_LINCALFACT_11        (0x00000800UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000800 */
+#define ADC_CALFACT2_LINCALFACT_12        (0x00001000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00001000 */
+#define ADC_CALFACT2_LINCALFACT_13        (0x00002000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00002000 */
+#define ADC_CALFACT2_LINCALFACT_14        (0x00004000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00004000 */
+#define ADC_CALFACT2_LINCALFACT_15        (0x00008000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00008000 */
+#define ADC_CALFACT2_LINCALFACT_16        (0x00010000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00010000 */
+#define ADC_CALFACT2_LINCALFACT_17        (0x00020000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00020000 */
+#define ADC_CALFACT2_LINCALFACT_18        (0x00040000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00040000 */
+#define ADC_CALFACT2_LINCALFACT_19        (0x00080000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00080000 */
+#define ADC_CALFACT2_LINCALFACT_20        (0x00100000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00100000 */
+#define ADC_CALFACT2_LINCALFACT_21        (0x00200000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00200000 */
+#define ADC_CALFACT2_LINCALFACT_22        (0x00400000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00400000 */
+#define ADC_CALFACT2_LINCALFACT_23        (0x00800000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00800000 */
+#define ADC_CALFACT2_LINCALFACT_24        (0x01000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x01000000 */
+#define ADC_CALFACT2_LINCALFACT_25        (0x02000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x02000000 */
+#define ADC_CALFACT2_LINCALFACT_26        (0x04000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x04000000 */
+#define ADC_CALFACT2_LINCALFACT_27        (0x08000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x08000000 */
+#define ADC_CALFACT2_LINCALFACT_28        (0x10000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x10000000 */
+#define ADC_CALFACT2_LINCALFACT_29        (0x20000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x20000000 */
+
+/*************************  ADC Common registers  *****************************/
+/********************  Bit definition for ADC_CSR register  ********************/
+#define ADC_CSR_ADRDY_MST_Pos             (0U)
+#define ADC_CSR_ADRDY_MST_Msk             (0x1UL << ADC_CSR_ADRDY_MST_Pos)     /*!< 0x00000001 */
+#define ADC_CSR_ADRDY_MST                 ADC_CSR_ADRDY_MST_Msk                /*!< Master ADC ready */
+#define ADC_CSR_EOSMP_MST_Pos             (1U)
+#define ADC_CSR_EOSMP_MST_Msk             (0x1UL << ADC_CSR_EOSMP_MST_Pos)     /*!< 0x00000002 */
+#define ADC_CSR_EOSMP_MST                 ADC_CSR_EOSMP_MST_Msk                /*!< End of sampling phase flag of the master ADC */
+#define ADC_CSR_EOC_MST_Pos               (2U)
+#define ADC_CSR_EOC_MST_Msk               (0x1UL << ADC_CSR_EOC_MST_Pos)       /*!< 0x00000004 */
+#define ADC_CSR_EOC_MST                   ADC_CSR_EOC_MST_Msk                  /*!< End of regular conversion of the master ADC */
+#define ADC_CSR_EOS_MST_Pos               (3U)
+#define ADC_CSR_EOS_MST_Msk               (0x1UL << ADC_CSR_EOS_MST_Pos)       /*!< 0x00000008 */
+#define ADC_CSR_EOS_MST                   ADC_CSR_EOS_MST_Msk                  /*!< End of regular sequence flag of the master ADC */
+#define ADC_CSR_OVR_MST_Pos               (4U)
+#define ADC_CSR_OVR_MST_Msk               (0x1UL << ADC_CSR_OVR_MST_Pos)       /*!< 0x00000010 */
+#define ADC_CSR_OVR_MST                   ADC_CSR_OVR_MST_Msk                  /*!< Overrun flag of the master ADC */
+#define ADC_CSR_JEOC_MST_Pos              (5U)
+#define ADC_CSR_JEOC_MST_Msk              (0x1UL << ADC_CSR_JEOC_MST_Pos)      /*!< 0x00000020 */
+#define ADC_CSR_JEOC_MST                  ADC_CSR_JEOC_MST_Msk                 /*!< End of injected conversion of the master ADC */
+#define ADC_CSR_JEOS_MST_Pos              (6U)
+#define ADC_CSR_JEOS_MST_Msk              (0x1UL << ADC_CSR_JEOS_MST_Pos)      /*!< 0x00000040 */
+#define ADC_CSR_JEOS_MST                  ADC_CSR_JEOS_MST_Msk                 /*!< End of injected sequence flag of the master ADC */
+#define ADC_CSR_AWD1_MST_Pos              (7U)
+#define ADC_CSR_AWD1_MST_Msk              (0x1UL << ADC_CSR_AWD1_MST_Pos)      /*!< 0x00000080 */
+#define ADC_CSR_AWD1_MST                  ADC_CSR_AWD1_MST_Msk                 /*!< Analog watchdog 1 flag of the master ADC */
+#define ADC_CSR_AWD2_MST_Pos              (8U)
+#define ADC_CSR_AWD2_MST_Msk              (0x1UL << ADC_CSR_AWD2_MST_Pos)      /*!< 0x00000100 */
+#define ADC_CSR_AWD2_MST                  ADC_CSR_AWD2_MST_Msk                 /*!< Analog watchdog 2 flag of the master ADC */
+#define ADC_CSR_AWD3_MST_Pos              (9U)
+#define ADC_CSR_AWD3_MST_Msk              (0x1UL << ADC_CSR_AWD3_MST_Pos)      /*!< 0x00000200 */
+#define ADC_CSR_AWD3_MST                  ADC_CSR_AWD3_MST_Msk                 /*!< Analog watchdog 3 flag of the master ADC */
+#define ADC_CSR_JQOVF_MST_Pos             (10U)
+#define ADC_CSR_JQOVF_MST_Msk             (0x1UL << ADC_CSR_JQOVF_MST_Pos)     /*!< 0x00000400 */
+#define ADC_CSR_JQOVF_MST                 ADC_CSR_JQOVF_MST_Msk                /*!< Injected context queue overflow flag of the master ADC */
+#define ADC_CSR_ADRDY_SLV_Pos             (16U)
+#define ADC_CSR_ADRDY_SLV_Msk             (0x1UL << ADC_CSR_ADRDY_SLV_Pos)     /*!< 0x00010000 */
+#define ADC_CSR_ADRDY_SLV                 ADC_CSR_ADRDY_SLV_Msk                /*!< Slave ADC ready */
+#define ADC_CSR_EOSMP_SLV_Pos             (17U)
+#define ADC_CSR_EOSMP_SLV_Msk             (0x1UL << ADC_CSR_EOSMP_SLV_Pos)     /*!< 0x00020000 */
+#define ADC_CSR_EOSMP_SLV                 ADC_CSR_EOSMP_SLV_Msk                /*!< End of sampling phase flag of the slave ADC */
+#define ADC_CSR_EOC_SLV_Pos               (18U)
+#define ADC_CSR_EOC_SLV_Msk               (0x1UL << ADC_CSR_EOC_SLV_Pos)       /*!< 0x00040000 */
+#define ADC_CSR_EOC_SLV                   ADC_CSR_EOC_SLV_Msk                  /*!< End of regular conversion of the slave ADC */
+#define ADC_CSR_EOS_SLV_Pos               (19U)
+#define ADC_CSR_EOS_SLV_Msk               (0x1UL << ADC_CSR_EOS_SLV_Pos)       /*!< 0x00080000 */
+#define ADC_CSR_EOS_SLV                   ADC_CSR_EOS_SLV_Msk                  /*!< End of regular sequence flag of the slave ADC */
+#define ADC_CSR_OVR_SLV_Pos               (20U)
+#define ADC_CSR_OVR_SLV_Msk               (0x1UL << ADC_CSR_OVR_SLV_Pos)       /*!< 0x00100000 */
+#define ADC_CSR_OVR_SLV                   ADC_CSR_OVR_SLV_Msk                  /*!< Overrun flag of the slave ADC */
+#define ADC_CSR_JEOC_SLV_Pos              (21U)
+#define ADC_CSR_JEOC_SLV_Msk              (0x1UL << ADC_CSR_JEOC_SLV_Pos)      /*!< 0x00200000 */
+#define ADC_CSR_JEOC_SLV                  ADC_CSR_JEOC_SLV_Msk                 /*!< End of injected conversion of the slave ADC */
+#define ADC_CSR_JEOS_SLV_Pos              (22U)
+#define ADC_CSR_JEOS_SLV_Msk              (0x1UL << ADC_CSR_JEOS_SLV_Pos)      /*!< 0x00400000 */
+#define ADC_CSR_JEOS_SLV                  ADC_CSR_JEOS_SLV_Msk                 /*!< End of injected sequence flag of the slave ADC */
+#define ADC_CSR_AWD1_SLV_Pos              (23U)
+#define ADC_CSR_AWD1_SLV_Msk              (0x1UL << ADC_CSR_AWD1_SLV_Pos)      /*!< 0x00800000 */
+#define ADC_CSR_AWD1_SLV                  ADC_CSR_AWD1_SLV_Msk                 /*!< Analog watchdog 1 flag of the slave ADC */
+#define ADC_CSR_AWD2_SLV_Pos              (24U)
+#define ADC_CSR_AWD2_SLV_Msk              (0x1UL << ADC_CSR_AWD2_SLV_Pos)      /*!< 0x01000000 */
+#define ADC_CSR_AWD2_SLV                  ADC_CSR_AWD2_SLV_Msk                 /*!< Analog watchdog 2 flag of the slave ADC */
+#define ADC_CSR_AWD3_SLV_Pos              (25U)
+#define ADC_CSR_AWD3_SLV_Msk              (0x1UL << ADC_CSR_AWD3_SLV_Pos)      /*!< 0x02000000 */
+#define ADC_CSR_AWD3_SLV                  ADC_CSR_AWD3_SLV_Msk                 /*!< Analog watchdog 3 flag of the slave ADC */
+#define ADC_CSR_JQOVF_SLV_Pos             (26U)
+#define ADC_CSR_JQOVF_SLV_Msk             (0x1UL << ADC_CSR_JQOVF_SLV_Pos)     /*!< 0x04000000 */
+#define ADC_CSR_JQOVF_SLV                 ADC_CSR_JQOVF_SLV_Msk                /*!< Injected context queue overflow flag of the slave ADC */
+
+/********************  Bit definition for ADC_CCR register  ********************/
+#define ADC_CCR_DUAL_Pos                  (0U)
+#define ADC_CCR_DUAL_Msk                  (0x1FUL << ADC_CCR_DUAL_Pos)          /*!< 0x0000001F */
+#define ADC_CCR_DUAL                      ADC_CCR_DUAL_Msk                      /*!< Dual ADC mode selection */
+#define ADC_CCR_DUAL_0                    (0x01UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000001 */
+#define ADC_CCR_DUAL_1                    (0x02UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000002 */
+#define ADC_CCR_DUAL_2                    (0x04UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000004 */
+#define ADC_CCR_DUAL_3                    (0x08UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000008 */
+#define ADC_CCR_DUAL_4                    (0x10UL << ADC_CCR_DUAL_Pos)          /*!< 0x00000010 */
+
+#define ADC_CCR_DELAY_Pos                 (8U)
+#define ADC_CCR_DELAY_Msk                 (0xFUL << ADC_CCR_DELAY_Pos)          /*!< 0x00000F00 */
+#define ADC_CCR_DELAY                     ADC_CCR_DELAY_Msk                     /*!< Delay between 2 sampling phases */
+#define ADC_CCR_DELAY_0                   (0x1UL << ADC_CCR_DELAY_Pos)          /*!< 0x00000100 */
+#define ADC_CCR_DELAY_1                   (0x2UL << ADC_CCR_DELAY_Pos)          /*!< 0x00000200 */
+#define ADC_CCR_DELAY_2                   (0x4UL << ADC_CCR_DELAY_Pos)          /*!< 0x00000400 */
+#define ADC_CCR_DELAY_3                   (0x8UL << ADC_CCR_DELAY_Pos)          /*!< 0x00000800 */
+
+
+#define ADC_CCR_DAMDF_Pos                 (14U)
+#define ADC_CCR_DAMDF_Msk                 (0x3UL << ADC_CCR_DAMDF_Pos)          /*!< 0x0000C000 */
+#define ADC_CCR_DAMDF                     ADC_CCR_DAMDF_Msk                     /*!< Dual ADC mode Data format */
+#define ADC_CCR_DAMDF_0                   (0x1UL << ADC_CCR_DAMDF_Pos)          /*!< 0x00004000 */
+#define ADC_CCR_DAMDF_1                   (0x2UL << ADC_CCR_DAMDF_Pos)          /*!< 0x00008000 */
+
+#define ADC_CCR_CKMODE_Pos                (16U)
+#define ADC_CCR_CKMODE_Msk                (0x3UL << ADC_CCR_CKMODE_Pos)         /*!< 0x00030000 */
+#define ADC_CCR_CKMODE                    ADC_CCR_CKMODE_Msk                    /*!< ADC clock mode */
+#define ADC_CCR_CKMODE_0                  (0x1UL << ADC_CCR_CKMODE_Pos)         /*!< 0x00010000 */
+#define ADC_CCR_CKMODE_1                  (0x2UL << ADC_CCR_CKMODE_Pos)         /*!< 0x00020000 */
+
+#define ADC_CCR_PRESC_Pos                 (18U)
+#define ADC_CCR_PRESC_Msk                 (0xFUL << ADC_CCR_PRESC_Pos)          /*!< 0x003C0000 */
+#define ADC_CCR_PRESC                     ADC_CCR_PRESC_Msk                     /*!< ADC prescaler */
+#define ADC_CCR_PRESC_0                   (0x1UL << ADC_CCR_PRESC_Pos)          /*!< 0x00040000 */
+#define ADC_CCR_PRESC_1                   (0x2UL << ADC_CCR_PRESC_Pos)          /*!< 0x00080000 */
+#define ADC_CCR_PRESC_2                   (0x4UL << ADC_CCR_PRESC_Pos)          /*!< 0x00100000 */
+#define ADC_CCR_PRESC_3                   (0x8UL << ADC_CCR_PRESC_Pos)          /*!< 0x00200000 */
+
+#define ADC_CCR_VREFEN_Pos                (22U)
+#define ADC_CCR_VREFEN_Msk                (0x1UL << ADC_CCR_VREFEN_Pos)         /*!< 0x00400000 */
+#define ADC_CCR_VREFEN                    ADC_CCR_VREFEN_Msk                    /*!< VREFINT enable */
+#define ADC_CCR_TSEN_Pos                  (23U)
+#define ADC_CCR_TSEN_Msk                  (0x1UL << ADC_CCR_TSEN_Pos)           /*!< 0x00800000 */
+#define ADC_CCR_TSEN                      ADC_CCR_TSEN_Msk                      /*!< Temperature sensor enable */
+#define ADC_CCR_VBATEN_Pos                (24U)
+#define ADC_CCR_VBATEN_Msk                (0x1UL << ADC_CCR_VBATEN_Pos)         /*!< 0x01000000 */
+#define ADC_CCR_VBATEN                    ADC_CCR_VBATEN_Msk                    /*!< VBAT enable */
+
+/********************  Bit definition for ADC_CDR register  *******************/
+#define ADC_CDR_RDATA_MST_Pos             (0U)
+#define ADC_CDR_RDATA_MST_Msk             (0xFFFFUL << ADC_CDR_RDATA_MST_Pos)   /*!< 0x0000FFFF */
+#define ADC_CDR_RDATA_MST                 ADC_CDR_RDATA_MST_Msk                 /*!< ADC multimode master group regular conversion data */
+
+#define ADC_CDR_RDATA_SLV_Pos             (16U)
+#define ADC_CDR_RDATA_SLV_Msk             (0xFFFFUL << ADC_CDR_RDATA_SLV_Pos)   /*!< 0xFFFF0000 */
+#define ADC_CDR_RDATA_SLV                 ADC_CDR_RDATA_SLV_Msk                 /*!< ADC multimode slave group regular conversion data */
+
+/********************  Bit definition for ADC_CDR2 register  ******************/
+#define ADC_CDR2_RDATA_ALT_Pos            (0U)
+#define ADC_CDR2_RDATA_ALT_Msk            (0xFFFFFFFFUL << ADC_CDR2_RDATA_ALT_Pos) /*!< 0xFFFFFFFF */
+#define ADC_CDR2_RDATA_ALT                ADC_CDR2_RDATA_ALT_Msk                   /*!< Regular data of the master/slave alternated ADCs */
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                   VREFBUF                                  */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for VREFBUF_CSR register  ****************/
+#define VREFBUF_CSR_ENVR_Pos        (0U)
+#define VREFBUF_CSR_ENVR_Msk        (0x1UL << VREFBUF_CSR_ENVR_Pos)            /*!< 0x00000001 */
+#define VREFBUF_CSR_ENVR            VREFBUF_CSR_ENVR_Msk                       /*!<Voltage reference buffer enable */
+#define VREFBUF_CSR_HIZ_Pos         (1U)
+#define VREFBUF_CSR_HIZ_Msk         (0x1UL << VREFBUF_CSR_HIZ_Pos)             /*!< 0x00000002 */
+#define VREFBUF_CSR_HIZ             VREFBUF_CSR_HIZ_Msk                        /*!<High impedance mode             */
+#define VREFBUF_CSR_VRR_Pos         (3U)
+#define VREFBUF_CSR_VRR_Msk         (0x1UL << VREFBUF_CSR_VRR_Pos)             /*!< 0x00000008 */
+#define VREFBUF_CSR_VRR             VREFBUF_CSR_VRR_Msk                        /*!<Voltage reference buffer ready  */
+#define VREFBUF_CSR_VRS_Pos         (4U)
+#define VREFBUF_CSR_VRS_Msk         (0x7UL << VREFBUF_CSR_VRS_Pos)             /*!< 0x00000070 */
+#define VREFBUF_CSR_VRS             VREFBUF_CSR_VRS_Msk                        /*!<Voltage reference scale         */
+
+#define VREFBUF_CSR_VRS_OUT1        ((uint32_t)0x00000000)                     /*!<Voltage reference VREF_OUT1     */
+#define VREFBUF_CSR_VRS_OUT2_Pos    (4U)
+#define VREFBUF_CSR_VRS_OUT2_Msk    (0x1UL << VREFBUF_CSR_VRS_OUT2_Pos)        /*!< 0x00000010 */
+#define VREFBUF_CSR_VRS_OUT2        VREFBUF_CSR_VRS_OUT2_Msk                   /*!<Voltage reference VREF_OUT2     */
+#define VREFBUF_CSR_VRS_OUT3_Pos    (5U)
+#define VREFBUF_CSR_VRS_OUT3_Msk    (0x1UL << VREFBUF_CSR_VRS_OUT3_Pos)        /*!< 0x00000020 */
+#define VREFBUF_CSR_VRS_OUT3        VREFBUF_CSR_VRS_OUT3_Msk                   /*!<Voltage reference VREF_OUT3     */
+#define VREFBUF_CSR_VRS_OUT4_Pos    (4U)
+#define VREFBUF_CSR_VRS_OUT4_Msk    (0x3UL << VREFBUF_CSR_VRS_OUT4_Pos)        /*!< 0x00000030 */
+#define VREFBUF_CSR_VRS_OUT4        VREFBUF_CSR_VRS_OUT4_Msk                   /*!<Voltage reference VREF_OUT4     */
+
+/*******************  Bit definition for VREFBUF_CCR register  ****************/
+#define VREFBUF_CCR_TRIM_Pos        (0U)
+#define VREFBUF_CCR_TRIM_Msk        (0x3FUL << VREFBUF_CCR_TRIM_Pos)           /*!< 0x0000003F */
+#define VREFBUF_CCR_TRIM            VREFBUF_CCR_TRIM_Msk                       /*!<TRIM[5:0] bits (Trimming code)  */
+
+/******************************************************************************/
+/*                                                                            */
+/*                 Flexible Datarate Controller Area Network                  */
+/*                                                                            */
+/******************************************************************************/
+/*!<FDCAN control and status registers */
+/*****************  Bit definition for FDCAN_CREL register  *******************/
+#define FDCAN_CREL_DAY_Pos        (0U)
+#define FDCAN_CREL_DAY_Msk        (0xFFUL << FDCAN_CREL_DAY_Pos)               /*!< 0x000000FF */
+#define FDCAN_CREL_DAY            FDCAN_CREL_DAY_Msk                           /*!<Timestamp Day                           */
+#define FDCAN_CREL_MON_Pos        (8U)
+#define FDCAN_CREL_MON_Msk        (0xFFUL << FDCAN_CREL_MON_Pos)               /*!< 0x0000FF00 */
+#define FDCAN_CREL_MON            FDCAN_CREL_MON_Msk                           /*!<Timestamp Month                         */
+#define FDCAN_CREL_YEAR_Pos       (16U)
+#define FDCAN_CREL_YEAR_Msk       (0xFUL << FDCAN_CREL_YEAR_Pos)               /*!< 0x000F0000 */
+#define FDCAN_CREL_YEAR           FDCAN_CREL_YEAR_Msk                          /*!<Timestamp Year                          */
+#define FDCAN_CREL_SUBSTEP_Pos    (20U)
+#define FDCAN_CREL_SUBSTEP_Msk    (0xFUL << FDCAN_CREL_SUBSTEP_Pos)            /*!< 0x00F00000 */
+#define FDCAN_CREL_SUBSTEP        FDCAN_CREL_SUBSTEP_Msk                       /*!<Sub-step of Core release                */
+#define FDCAN_CREL_STEP_Pos       (24U)
+#define FDCAN_CREL_STEP_Msk       (0xFUL << FDCAN_CREL_STEP_Pos)               /*!< 0x0F000000 */
+#define FDCAN_CREL_STEP           FDCAN_CREL_STEP_Msk                          /*!<Step of Core release                    */
+#define FDCAN_CREL_REL_Pos        (28U)
+#define FDCAN_CREL_REL_Msk        (0xFUL << FDCAN_CREL_REL_Pos)                /*!< 0xF0000000 */
+#define FDCAN_CREL_REL            FDCAN_CREL_REL_Msk                           /*!<Core release                            */
+
+/*****************  Bit definition for FDCAN_ENDN register  *******************/
+#define FDCAN_ENDN_ETV_Pos        (0U)
+#define FDCAN_ENDN_ETV_Msk        (0xFFFFFFFFUL << FDCAN_ENDN_ETV_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_ENDN_ETV            FDCAN_ENDN_ETV_Msk                           /*!<Endianness Test Value                   */
+
+/*****************  Bit definition for FDCAN_DBTP register  *******************/
+#define FDCAN_DBTP_DSJW_Pos       (0U)
+#define FDCAN_DBTP_DSJW_Msk       (0xFUL << FDCAN_DBTP_DSJW_Pos)               /*!< 0x0000000F */
+#define FDCAN_DBTP_DSJW           FDCAN_DBTP_DSJW_Msk                          /*!<Synchronization Jump Width              */
+#define FDCAN_DBTP_DTSEG2_Pos     (4U)
+#define FDCAN_DBTP_DTSEG2_Msk     (0xFUL << FDCAN_DBTP_DTSEG2_Pos)             /*!< 0x000000F0 */
+#define FDCAN_DBTP_DTSEG2         FDCAN_DBTP_DTSEG2_Msk                        /*!<Data time segment after sample point    */
+#define FDCAN_DBTP_DTSEG1_Pos     (8U)
+#define FDCAN_DBTP_DTSEG1_Msk     (0x1FUL << FDCAN_DBTP_DTSEG1_Pos)            /*!< 0x00001F00 */
+#define FDCAN_DBTP_DTSEG1         FDCAN_DBTP_DTSEG1_Msk                        /*!<Data time segment before sample point   */
+#define FDCAN_DBTP_DBRP_Pos       (16U)
+#define FDCAN_DBTP_DBRP_Msk       (0x1FUL << FDCAN_DBTP_DBRP_Pos)              /*!< 0x001F0000 */
+#define FDCAN_DBTP_DBRP           FDCAN_DBTP_DBRP_Msk                          /*!<Data BIt Rate Prescaler                 */
+#define FDCAN_DBTP_TDC_Pos        (23U)
+#define FDCAN_DBTP_TDC_Msk        (0x1UL << FDCAN_DBTP_TDC_Pos)                /*!< 0x00800000 */
+#define FDCAN_DBTP_TDC            FDCAN_DBTP_TDC_Msk                           /*!<Transceiver Delay Compensation          */
+
+/*****************  Bit definition for FDCAN_TEST register  *******************/
+#define FDCAN_TEST_LBCK_Pos       (4U)
+#define FDCAN_TEST_LBCK_Msk       (0x1UL << FDCAN_TEST_LBCK_Pos)               /*!< 0x00000010 */
+#define FDCAN_TEST_LBCK           FDCAN_TEST_LBCK_Msk                          /*!<Loop Back mode                           */
+#define FDCAN_TEST_TX_Pos         (5U)
+#define FDCAN_TEST_TX_Msk         (0x3UL << FDCAN_TEST_TX_Pos)                 /*!< 0x00000060 */
+#define FDCAN_TEST_TX             FDCAN_TEST_TX_Msk                            /*!<Control of Transmit Pin                  */
+#define FDCAN_TEST_RX_Pos         (7U)
+#define FDCAN_TEST_RX_Msk         (0x1UL << FDCAN_TEST_RX_Pos)                 /*!< 0x00000080 */
+#define FDCAN_TEST_RX             FDCAN_TEST_RX_Msk                            /*!<Receive Pin                              */
+
+/*****************  Bit definition for FDCAN_RWD register  ********************/
+#define FDCAN_RWD_WDC_Pos         (0U)
+#define FDCAN_RWD_WDC_Msk         (0xFFUL << FDCAN_RWD_WDC_Pos)                /*!< 0x000000FF */
+#define FDCAN_RWD_WDC             FDCAN_RWD_WDC_Msk                            /*!<Watchdog configuration                   */
+#define FDCAN_RWD_WDV_Pos         (8U)
+#define FDCAN_RWD_WDV_Msk         (0xFFUL << FDCAN_RWD_WDV_Pos)                /*!< 0x0000FF00 */
+#define FDCAN_RWD_WDV             FDCAN_RWD_WDV_Msk                            /*!<Watchdog value                           */
+
+/*****************  Bit definition for FDCAN_CCCR register  ********************/
+#define FDCAN_CCCR_INIT_Pos       (0U)
+#define FDCAN_CCCR_INIT_Msk       (0x1UL << FDCAN_CCCR_INIT_Pos)               /*!< 0x00000001 */
+#define FDCAN_CCCR_INIT           FDCAN_CCCR_INIT_Msk                          /*!<Initialization                           */
+#define FDCAN_CCCR_CCE_Pos        (1U)
+#define FDCAN_CCCR_CCE_Msk        (0x1UL << FDCAN_CCCR_CCE_Pos)                /*!< 0x00000002 */
+#define FDCAN_CCCR_CCE            FDCAN_CCCR_CCE_Msk                           /*!<Configuration Change Enable              */
+#define FDCAN_CCCR_ASM_Pos        (2U)
+#define FDCAN_CCCR_ASM_Msk        (0x1UL << FDCAN_CCCR_ASM_Pos)                /*!< 0x00000004 */
+#define FDCAN_CCCR_ASM            FDCAN_CCCR_ASM_Msk                           /*!<ASM Restricted Operation Mode            */
+#define FDCAN_CCCR_CSA_Pos        (3U)
+#define FDCAN_CCCR_CSA_Msk        (0x1UL << FDCAN_CCCR_CSA_Pos)                /*!< 0x00000008 */
+#define FDCAN_CCCR_CSA            FDCAN_CCCR_CSA_Msk                           /*!<Clock Stop Acknowledge                   */
+#define FDCAN_CCCR_CSR_Pos        (4U)
+#define FDCAN_CCCR_CSR_Msk        (0x1UL << FDCAN_CCCR_CSR_Pos)                /*!< 0x00000010 */
+#define FDCAN_CCCR_CSR            FDCAN_CCCR_CSR_Msk                           /*!<Clock Stop Request                       */
+#define FDCAN_CCCR_MON_Pos        (5U)
+#define FDCAN_CCCR_MON_Msk        (0x1UL << FDCAN_CCCR_MON_Pos)                /*!< 0x00000020 */
+#define FDCAN_CCCR_MON            FDCAN_CCCR_MON_Msk                           /*!<Bus Monitoring Mode                      */
+#define FDCAN_CCCR_DAR_Pos        (6U)
+#define FDCAN_CCCR_DAR_Msk        (0x1UL << FDCAN_CCCR_DAR_Pos)                /*!< 0x00000040 */
+#define FDCAN_CCCR_DAR            FDCAN_CCCR_DAR_Msk                           /*!<Disable Automatic Retransmission         */
+#define FDCAN_CCCR_TEST_Pos       (7U)
+#define FDCAN_CCCR_TEST_Msk       (0x1UL << FDCAN_CCCR_TEST_Pos)               /*!< 0x00000080 */
+#define FDCAN_CCCR_TEST           FDCAN_CCCR_TEST_Msk                          /*!<Test Mode Enable                         */
+#define FDCAN_CCCR_FDOE_Pos       (8U)
+#define FDCAN_CCCR_FDOE_Msk       (0x1UL << FDCAN_CCCR_FDOE_Pos)               /*!< 0x00000100 */
+#define FDCAN_CCCR_FDOE           FDCAN_CCCR_FDOE_Msk                          /*!<FD Operation Enable                      */
+#define FDCAN_CCCR_BRSE_Pos       (9U)
+#define FDCAN_CCCR_BRSE_Msk       (0x1UL << FDCAN_CCCR_BRSE_Pos)               /*!< 0x00000200 */
+#define FDCAN_CCCR_BRSE           FDCAN_CCCR_BRSE_Msk                          /*!<FDCAN Bit Rate Switching                 */
+#define FDCAN_CCCR_PXHD_Pos       (12U)
+#define FDCAN_CCCR_PXHD_Msk       (0x1UL << FDCAN_CCCR_PXHD_Pos)               /*!< 0x00001000 */
+#define FDCAN_CCCR_PXHD           FDCAN_CCCR_PXHD_Msk                          /*!<Protocol Exception Handling Disable      */
+#define FDCAN_CCCR_EFBI_Pos       (13U)
+#define FDCAN_CCCR_EFBI_Msk       (0x1UL << FDCAN_CCCR_EFBI_Pos)               /*!< 0x00002000 */
+#define FDCAN_CCCR_EFBI           FDCAN_CCCR_EFBI_Msk                          /*!<Edge Filtering during Bus Integration    */
+#define FDCAN_CCCR_TXP_Pos        (14U)
+#define FDCAN_CCCR_TXP_Msk        (0x1UL << FDCAN_CCCR_TXP_Pos)                /*!< 0x00004000 */
+#define FDCAN_CCCR_TXP            FDCAN_CCCR_TXP_Msk                           /*!<Two CAN bit times Pause                  */
+#define FDCAN_CCCR_NISO_Pos       (15U)
+#define FDCAN_CCCR_NISO_Msk       (0x1UL << FDCAN_CCCR_NISO_Pos)               /*!< 0x00008000 */
+#define FDCAN_CCCR_NISO           FDCAN_CCCR_NISO_Msk                          /*!<Non ISO Operation                        */
+
+/*****************  Bit definition for FDCAN_NBTP register  ********************/
+#define FDCAN_NBTP_NTSEG2_Pos     (0U)
+#define FDCAN_NBTP_NTSEG2_Msk     (0x7FUL << FDCAN_NBTP_NTSEG2_Pos)            /*!< 0x0000007F */
+#define FDCAN_NBTP_NTSEG2         FDCAN_NBTP_NTSEG2_Msk                        /*!<Nominal Time segment after sample point  */
+#define FDCAN_NBTP_NTSEG1_Pos     (8U)
+#define FDCAN_NBTP_NTSEG1_Msk     (0xFFUL << FDCAN_NBTP_NTSEG1_Pos)            /*!< 0x0000FF00 */
+#define FDCAN_NBTP_NTSEG1         FDCAN_NBTP_NTSEG1_Msk                        /*!<Nominal Time segment before sample point */
+#define FDCAN_NBTP_NBRP_Pos       (16U)
+#define FDCAN_NBTP_NBRP_Msk       (0x1FFUL << FDCAN_NBTP_NBRP_Pos)             /*!< 0x01FF0000 */
+#define FDCAN_NBTP_NBRP           FDCAN_NBTP_NBRP_Msk                          /*!<Bit Rate Prescaler                       */
+#define FDCAN_NBTP_NSJW_Pos       (25U)
+#define FDCAN_NBTP_NSJW_Msk       (0x7FUL << FDCAN_NBTP_NSJW_Pos)              /*!< 0xFE000000 */
+#define FDCAN_NBTP_NSJW           FDCAN_NBTP_NSJW_Msk                          /*!<Nominal (Re)Synchronization Jump Width   */
+
+/*****************  Bit definition for FDCAN_TSCC register  ********************/
+#define FDCAN_TSCC_TSS_Pos        (0U)
+#define FDCAN_TSCC_TSS_Msk        (0x3UL << FDCAN_TSCC_TSS_Pos)                /*!< 0x00000003 */
+#define FDCAN_TSCC_TSS            FDCAN_TSCC_TSS_Msk                           /*!<Timestamp Select                         */
+#define FDCAN_TSCC_TCP_Pos        (16U)
+#define FDCAN_TSCC_TCP_Msk        (0xFUL << FDCAN_TSCC_TCP_Pos)                /*!< 0x000F0000 */
+#define FDCAN_TSCC_TCP            FDCAN_TSCC_TCP_Msk                           /*!<Timestamp Counter Prescaler              */
+
+/*****************  Bit definition for FDCAN_TSCV register  ********************/
+#define FDCAN_TSCV_TSC_Pos        (0U)
+#define FDCAN_TSCV_TSC_Msk        (0xFFFFUL << FDCAN_TSCV_TSC_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TSCV_TSC            FDCAN_TSCV_TSC_Msk                           /*!<Timestamp Counter                        */
+
+/*****************  Bit definition for FDCAN_TOCC register  ********************/
+#define FDCAN_TOCC_ETOC_Pos       (0U)
+#define FDCAN_TOCC_ETOC_Msk       (0x1UL << FDCAN_TOCC_ETOC_Pos)               /*!< 0x00000001 */
+#define FDCAN_TOCC_ETOC           FDCAN_TOCC_ETOC_Msk                          /*!<Enable Timeout Counter                   */
+#define FDCAN_TOCC_TOS_Pos        (1U)
+#define FDCAN_TOCC_TOS_Msk        (0x3UL << FDCAN_TOCC_TOS_Pos)                /*!< 0x00000006 */
+#define FDCAN_TOCC_TOS            FDCAN_TOCC_TOS_Msk                           /*!<Timeout Select                           */
+#define FDCAN_TOCC_TOP_Pos        (16U)
+#define FDCAN_TOCC_TOP_Msk        (0xFFFFUL << FDCAN_TOCC_TOP_Pos)             /*!< 0xFFFF0000 */
+#define FDCAN_TOCC_TOP            FDCAN_TOCC_TOP_Msk                           /*!<Timeout Period                           */
+
+/*****************  Bit definition for FDCAN_TOCV register  ********************/
+#define FDCAN_TOCV_TOC_Pos        (0U)
+#define FDCAN_TOCV_TOC_Msk        (0xFFFFUL << FDCAN_TOCV_TOC_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TOCV_TOC            FDCAN_TOCV_TOC_Msk                           /*!<Timeout Counter                          */
+
+/*****************  Bit definition for FDCAN_ECR register  *********************/
+#define FDCAN_ECR_TEC_Pos         (0U)
+#define FDCAN_ECR_TEC_Msk         (0xFFUL << FDCAN_ECR_TEC_Pos)                 /*!< 0x000000FF */
+#define FDCAN_ECR_TEC             FDCAN_ECR_TEC_Msk                            /*!<Transmit Error Counter                   */
+#define FDCAN_ECR_REC_Pos         (8U)
+#define FDCAN_ECR_REC_Msk         (0x7FUL << FDCAN_ECR_REC_Pos)                /*!< 0x00007F00 */
+#define FDCAN_ECR_REC             FDCAN_ECR_REC_Msk                            /*!<Receive Error Counter                    */
+#define FDCAN_ECR_RP_Pos          (15U)
+#define FDCAN_ECR_RP_Msk          (0x1UL << FDCAN_ECR_RP_Pos)                  /*!< 0x00008000 */
+#define FDCAN_ECR_RP              FDCAN_ECR_RP_Msk                             /*!<Receive Error Passive                    */
+#define FDCAN_ECR_CEL_Pos         (16U)
+#define FDCAN_ECR_CEL_Msk         (0xFFUL << FDCAN_ECR_CEL_Pos)                /*!< 0x00FF0000 */
+#define FDCAN_ECR_CEL             FDCAN_ECR_CEL_Msk                            /*!<CAN Error Logging                        */
+
+/*****************  Bit definition for FDCAN_PSR register  *********************/
+#define FDCAN_PSR_LEC_Pos         (0U)
+#define FDCAN_PSR_LEC_Msk         (0x7UL << FDCAN_PSR_LEC_Pos)                 /*!< 0x00000007 */
+#define FDCAN_PSR_LEC             FDCAN_PSR_LEC_Msk                            /*!<Last Error Code                          */
+#define FDCAN_PSR_ACT_Pos         (3U)
+#define FDCAN_PSR_ACT_Msk         (0x3UL << FDCAN_PSR_ACT_Pos)                 /*!< 0x00000018 */
+#define FDCAN_PSR_ACT             FDCAN_PSR_ACT_Msk                            /*!<Activity                                 */
+#define FDCAN_PSR_EP_Pos          (5U)
+#define FDCAN_PSR_EP_Msk          (0x1UL << FDCAN_PSR_EP_Pos)                  /*!< 0x00000020 */
+#define FDCAN_PSR_EP              FDCAN_PSR_EP_Msk                             /*!<Error Passive                            */
+#define FDCAN_PSR_EW_Pos          (6U)
+#define FDCAN_PSR_EW_Msk          (0x1UL << FDCAN_PSR_EW_Pos)                  /*!< 0x00000040 */
+#define FDCAN_PSR_EW              FDCAN_PSR_EW_Msk                             /*!<Warning Status                           */
+#define FDCAN_PSR_BO_Pos          (7U)
+#define FDCAN_PSR_BO_Msk          (0x1UL << FDCAN_PSR_BO_Pos)                  /*!< 0x00000080 */
+#define FDCAN_PSR_BO              FDCAN_PSR_BO_Msk                             /*!<Bus_Off Status                           */
+#define FDCAN_PSR_DLEC_Pos        (8U)
+#define FDCAN_PSR_DLEC_Msk        (0x7UL << FDCAN_PSR_DLEC_Pos)                /*!< 0x00000700 */
+#define FDCAN_PSR_DLEC            FDCAN_PSR_DLEC_Msk                           /*!<Data Last Error Code                     */
+#define FDCAN_PSR_RESI_Pos        (11U)
+#define FDCAN_PSR_RESI_Msk        (0x1UL << FDCAN_PSR_RESI_Pos)                /*!< 0x00000800 */
+#define FDCAN_PSR_RESI            FDCAN_PSR_RESI_Msk                           /*!<ESI flag of last received FDCAN Message  */
+#define FDCAN_PSR_RBRS_Pos        (12U)
+#define FDCAN_PSR_RBRS_Msk        (0x1UL << FDCAN_PSR_RBRS_Pos)                /*!< 0x00001000 */
+#define FDCAN_PSR_RBRS            FDCAN_PSR_RBRS_Msk                           /*!<BRS flag of last received FDCAN Message  */
+#define FDCAN_PSR_REDL_Pos        (13U)
+#define FDCAN_PSR_REDL_Msk        (0x1UL << FDCAN_PSR_REDL_Pos)                /*!< 0x00002000 */
+#define FDCAN_PSR_REDL            FDCAN_PSR_REDL_Msk                           /*!<Received FDCAN Message                   */
+#define FDCAN_PSR_PXE_Pos         (14U)
+#define FDCAN_PSR_PXE_Msk         (0x1UL << FDCAN_PSR_PXE_Pos)                 /*!< 0x00004000 */
+#define FDCAN_PSR_PXE             FDCAN_PSR_PXE_Msk                            /*!<Protocol Exception Event                 */
+#define FDCAN_PSR_TDCV_Pos        (16U)
+#define FDCAN_PSR_TDCV_Msk        (0x7FUL << FDCAN_PSR_TDCV_Pos)               /*!< 0x007F0000 */
+#define FDCAN_PSR_TDCV            FDCAN_PSR_TDCV_Msk                           /*!<Transmitter Delay Compensation Value     */
+
+/*****************  Bit definition for FDCAN_TDCR register  ********************/
+#define FDCAN_TDCR_TDCF_Pos       (0U)
+#define FDCAN_TDCR_TDCF_Msk       (0x7FUL << FDCAN_TDCR_TDCF_Pos)              /*!< 0x0000007F */
+#define FDCAN_TDCR_TDCF           FDCAN_TDCR_TDCF_Msk                          /*!<Transmitter Delay Compensation Filter    */
+#define FDCAN_TDCR_TDCO_Pos       (8U)
+#define FDCAN_TDCR_TDCO_Msk       (0x7FUL << FDCAN_TDCR_TDCO_Pos)              /*!< 0x00007F00 */
+#define FDCAN_TDCR_TDCO           FDCAN_TDCR_TDCO_Msk                          /*!<Transmitter Delay Compensation Offset    */
+
+/*****************  Bit definition for FDCAN_IR register  **********************/
+#define FDCAN_IR_RF0N_Pos         (0U)
+#define FDCAN_IR_RF0N_Msk         (0x1UL << FDCAN_IR_RF0N_Pos)                 /*!< 0x00000001 */
+#define FDCAN_IR_RF0N             FDCAN_IR_RF0N_Msk                            /*!<Rx FIFO 0 New Message                    */
+#define FDCAN_IR_RF0W_Pos         (1U)
+#define FDCAN_IR_RF0W_Msk         (0x1UL << FDCAN_IR_RF0W_Pos)                 /*!< 0x00000002 */
+#define FDCAN_IR_RF0W             FDCAN_IR_RF0W_Msk                            /*!<Rx FIFO 0 Watermark Reached              */
+#define FDCAN_IR_RF0F_Pos         (2U)
+#define FDCAN_IR_RF0F_Msk         (0x1UL << FDCAN_IR_RF0F_Pos)                 /*!< 0x00000004 */
+#define FDCAN_IR_RF0F             FDCAN_IR_RF0F_Msk                            /*!<Rx FIFO 0 Full                           */
+#define FDCAN_IR_RF0L_Pos         (3U)
+#define FDCAN_IR_RF0L_Msk         (0x1UL << FDCAN_IR_RF0L_Pos)                 /*!< 0x00000008 */
+#define FDCAN_IR_RF0L             FDCAN_IR_RF0L_Msk                            /*!<Rx FIFO 0 Message Lost                   */
+#define FDCAN_IR_RF1N_Pos         (4U)
+#define FDCAN_IR_RF1N_Msk         (0x1UL << FDCAN_IR_RF1N_Pos)                 /*!< 0x00000010 */
+#define FDCAN_IR_RF1N             FDCAN_IR_RF1N_Msk                            /*!<Rx FIFO 1 New Message                    */
+#define FDCAN_IR_RF1W_Pos         (5U)
+#define FDCAN_IR_RF1W_Msk         (0x1UL << FDCAN_IR_RF1W_Pos)                 /*!< 0x00000020 */
+#define FDCAN_IR_RF1W             FDCAN_IR_RF1W_Msk                            /*!<Rx FIFO 1 Watermark Reached              */
+#define FDCAN_IR_RF1F_Pos         (6U)
+#define FDCAN_IR_RF1F_Msk         (0x1UL << FDCAN_IR_RF1F_Pos)                 /*!< 0x00000040 */
+#define FDCAN_IR_RF1F             FDCAN_IR_RF1F_Msk                            /*!<Rx FIFO 1 Full                           */
+#define FDCAN_IR_RF1L_Pos         (7U)
+#define FDCAN_IR_RF1L_Msk         (0x1UL << FDCAN_IR_RF1L_Pos)                 /*!< 0x00000080 */
+#define FDCAN_IR_RF1L             FDCAN_IR_RF1L_Msk                            /*!<Rx FIFO 1 Message Lost                   */
+#define FDCAN_IR_HPM_Pos          (8U)
+#define FDCAN_IR_HPM_Msk          (0x1UL << FDCAN_IR_HPM_Pos)                  /*!< 0x00000100 */
+#define FDCAN_IR_HPM              FDCAN_IR_HPM_Msk                             /*!<High Priority Message                    */
+#define FDCAN_IR_TC_Pos           (9U)
+#define FDCAN_IR_TC_Msk           (0x1UL << FDCAN_IR_TC_Pos)                   /*!< 0x00000200 */
+#define FDCAN_IR_TC               FDCAN_IR_TC_Msk                              /*!<Transmission Completed                   */
+#define FDCAN_IR_TCF_Pos          (10U)
+#define FDCAN_IR_TCF_Msk          (0x1UL << FDCAN_IR_TCF_Pos)                  /*!< 0x00000400 */
+#define FDCAN_IR_TCF              FDCAN_IR_TCF_Msk                             /*!<Transmission Cancellation Finished       */
+#define FDCAN_IR_TFE_Pos          (11U)
+#define FDCAN_IR_TFE_Msk          (0x1UL << FDCAN_IR_TFE_Pos)                  /*!< 0x00000800 */
+#define FDCAN_IR_TFE              FDCAN_IR_TFE_Msk                             /*!<Tx FIFO Empty                            */
+#define FDCAN_IR_TEFN_Pos         (12U)
+#define FDCAN_IR_TEFN_Msk         (0x1UL << FDCAN_IR_TEFN_Pos)                 /*!< 0x00001000 */
+#define FDCAN_IR_TEFN             FDCAN_IR_TEFN_Msk                            /*!<Tx Event FIFO New Entry                  */
+#define FDCAN_IR_TEFW_Pos         (13U)
+#define FDCAN_IR_TEFW_Msk         (0x1UL << FDCAN_IR_TEFW_Pos)                 /*!< 0x00002000 */
+#define FDCAN_IR_TEFW             FDCAN_IR_TEFW_Msk                            /*!<Tx Event FIFO Watermark Reached          */
+#define FDCAN_IR_TEFF_Pos         (14U)
+#define FDCAN_IR_TEFF_Msk         (0x1UL << FDCAN_IR_TEFF_Pos)                 /*!< 0x00004000 */
+#define FDCAN_IR_TEFF             FDCAN_IR_TEFF_Msk                            /*!<Tx Event FIFO Full                       */
+#define FDCAN_IR_TEFL_Pos         (15U)
+#define FDCAN_IR_TEFL_Msk         (0x1UL << FDCAN_IR_TEFL_Pos)                 /*!< 0x00008000 */
+#define FDCAN_IR_TEFL             FDCAN_IR_TEFL_Msk                            /*!<Tx Event FIFO Element Lost               */
+#define FDCAN_IR_TSW_Pos          (16U)
+#define FDCAN_IR_TSW_Msk          (0x1UL << FDCAN_IR_TSW_Pos)                  /*!< 0x00010000 */
+#define FDCAN_IR_TSW              FDCAN_IR_TSW_Msk                             /*!<Timestamp Wraparound                     */
+#define FDCAN_IR_MRAF_Pos         (17U)
+#define FDCAN_IR_MRAF_Msk         (0x1UL << FDCAN_IR_MRAF_Pos)                 /*!< 0x00020000 */
+#define FDCAN_IR_MRAF             FDCAN_IR_MRAF_Msk                            /*!<Message RAM Access Failure               */
+#define FDCAN_IR_TOO_Pos          (18U)
+#define FDCAN_IR_TOO_Msk          (0x1UL << FDCAN_IR_TOO_Pos)                  /*!< 0x00040000 */
+#define FDCAN_IR_TOO              FDCAN_IR_TOO_Msk                             /*!<Timeout Occurred                         */
+#define FDCAN_IR_DRX_Pos          (19U)
+#define FDCAN_IR_DRX_Msk          (0x1UL << FDCAN_IR_DRX_Pos)                  /*!< 0x00080000 */
+#define FDCAN_IR_DRX              FDCAN_IR_DRX_Msk                             /*!<Message stored to Dedicated Rx Buffer    */
+#define FDCAN_IR_ELO_Pos          (22U)
+#define FDCAN_IR_ELO_Msk          (0x1UL << FDCAN_IR_ELO_Pos)                  /*!< 0x00400000 */
+#define FDCAN_IR_ELO              FDCAN_IR_ELO_Msk                             /*!<Error Logging Overflow                   */
+#define FDCAN_IR_EP_Pos           (23U)
+#define FDCAN_IR_EP_Msk           (0x1UL << FDCAN_IR_EP_Pos)                   /*!< 0x00800000 */
+#define FDCAN_IR_EP               FDCAN_IR_EP_Msk                              /*!<Error Passive                            */
+#define FDCAN_IR_EW_Pos           (24U)
+#define FDCAN_IR_EW_Msk           (0x1UL << FDCAN_IR_EW_Pos)                   /*!< 0x01000000 */
+#define FDCAN_IR_EW               FDCAN_IR_EW_Msk                              /*!<Warning Status                           */
+#define FDCAN_IR_BO_Pos           (25U)
+#define FDCAN_IR_BO_Msk           (0x1UL << FDCAN_IR_BO_Pos)                   /*!< 0x02000000 */
+#define FDCAN_IR_BO               FDCAN_IR_BO_Msk                              /*!<Bus_Off Status                           */
+#define FDCAN_IR_WDI_Pos          (26U)
+#define FDCAN_IR_WDI_Msk          (0x1UL << FDCAN_IR_WDI_Pos)                  /*!< 0x04000000 */
+#define FDCAN_IR_WDI              FDCAN_IR_WDI_Msk                             /*!<Watchdog Interrupt                       */
+#define FDCAN_IR_PEA_Pos          (27U)
+#define FDCAN_IR_PEA_Msk          (0x1UL << FDCAN_IR_PEA_Pos)                  /*!< 0x08000000 */
+#define FDCAN_IR_PEA              FDCAN_IR_PEA_Msk                             /*!<Protocol Error in Arbitration Phase      */
+#define FDCAN_IR_PED_Pos          (28U)
+#define FDCAN_IR_PED_Msk          (0x1UL << FDCAN_IR_PED_Pos)                  /*!< 0x10000000 */
+#define FDCAN_IR_PED              FDCAN_IR_PED_Msk                             /*!<Protocol Error in Data Phase             */
+#define FDCAN_IR_ARA_Pos          (29U)
+#define FDCAN_IR_ARA_Msk          (0x1UL << FDCAN_IR_ARA_Pos)                  /*!< 0x20000000 */
+#define FDCAN_IR_ARA              FDCAN_IR_ARA_Msk                             /*!<Access to Reserved Address               */
+
+/*****************  Bit definition for FDCAN_IE register  **********************/
+#define FDCAN_IE_RF0NE_Pos        (0U)
+#define FDCAN_IE_RF0NE_Msk        (0x1UL << FDCAN_IE_RF0NE_Pos)                /*!< 0x00000001 */
+#define FDCAN_IE_RF0NE            FDCAN_IE_RF0NE_Msk                           /*!<Rx FIFO 0 New Message Enable                 */
+#define FDCAN_IE_RF0WE_Pos        (1U)
+#define FDCAN_IE_RF0WE_Msk        (0x1UL << FDCAN_IE_RF0WE_Pos)                /*!< 0x00000002 */
+#define FDCAN_IE_RF0WE            FDCAN_IE_RF0WE_Msk                           /*!<Rx FIFO 0 Watermark Reached Enable           */
+#define FDCAN_IE_RF0FE_Pos        (2U)
+#define FDCAN_IE_RF0FE_Msk        (0x1UL << FDCAN_IE_RF0FE_Pos)                /*!< 0x00000004 */
+#define FDCAN_IE_RF0FE            FDCAN_IE_RF0FE_Msk                           /*!<Rx FIFO 0 Full Enable                        */
+#define FDCAN_IE_RF0LE_Pos        (3U)
+#define FDCAN_IE_RF0LE_Msk        (0x1UL << FDCAN_IE_RF0LE_Pos)                /*!< 0x00000008 */
+#define FDCAN_IE_RF0LE            FDCAN_IE_RF0LE_Msk                           /*!<Rx FIFO 0 Message Lost Enable                */
+#define FDCAN_IE_RF1NE_Pos        (4U)
+#define FDCAN_IE_RF1NE_Msk        (0x1UL << FDCAN_IE_RF1NE_Pos)                /*!< 0x00000010 */
+#define FDCAN_IE_RF1NE            FDCAN_IE_RF1NE_Msk                           /*!<Rx FIFO 1 New Message Enable                 */
+#define FDCAN_IE_RF1WE_Pos        (5U)
+#define FDCAN_IE_RF1WE_Msk        (0x1UL << FDCAN_IE_RF1WE_Pos)                /*!< 0x00000020 */
+#define FDCAN_IE_RF1WE            FDCAN_IE_RF1WE_Msk                           /*!<Rx FIFO 1 Watermark Reached Enable           */
+#define FDCAN_IE_RF1FE_Pos        (6U)
+#define FDCAN_IE_RF1FE_Msk        (0x1UL << FDCAN_IE_RF1FE_Pos)                /*!< 0x00000040 */
+#define FDCAN_IE_RF1FE            FDCAN_IE_RF1FE_Msk                           /*!<Rx FIFO 1 Full Enable                        */
+#define FDCAN_IE_RF1LE_Pos        (7U)
+#define FDCAN_IE_RF1LE_Msk        (0x1UL << FDCAN_IE_RF1LE_Pos)                /*!< 0x00000080 */
+#define FDCAN_IE_RF1LE            FDCAN_IE_RF1LE_Msk                           /*!<Rx FIFO 1 Message Lost Enable                */
+#define FDCAN_IE_HPME_Pos         (8U)
+#define FDCAN_IE_HPME_Msk         (0x1UL << FDCAN_IE_HPME_Pos)                 /*!< 0x00000100 */
+#define FDCAN_IE_HPME             FDCAN_IE_HPME_Msk                            /*!<High Priority Message Enable                 */
+#define FDCAN_IE_TCE_Pos          (9U)
+#define FDCAN_IE_TCE_Msk          (0x1UL << FDCAN_IE_TCE_Pos)                  /*!< 0x00000200 */
+#define FDCAN_IE_TCE              FDCAN_IE_TCE_Msk                             /*!<Transmission Completed Enable                */
+#define FDCAN_IE_TCFE_Pos         (10U)
+#define FDCAN_IE_TCFE_Msk         (0x1UL << FDCAN_IE_TCFE_Pos)                 /*!< 0x00000400 */
+#define FDCAN_IE_TCFE             FDCAN_IE_TCFE_Msk                            /*!<Transmission Cancellation Finished Enable    */
+#define FDCAN_IE_TFEE_Pos         (11U)
+#define FDCAN_IE_TFEE_Msk         (0x1UL << FDCAN_IE_TFEE_Pos)                 /*!< 0x00000800 */
+#define FDCAN_IE_TFEE             FDCAN_IE_TFEE_Msk                            /*!<Tx FIFO Empty Enable                         */
+#define FDCAN_IE_TEFNE_Pos        (12U)
+#define FDCAN_IE_TEFNE_Msk        (0x1UL << FDCAN_IE_TEFNE_Pos)                /*!< 0x00001000 */
+#define FDCAN_IE_TEFNE            FDCAN_IE_TEFNE_Msk                           /*!<Tx Event FIFO New Entry Enable               */
+#define FDCAN_IE_TEFWE_Pos        (13U)
+#define FDCAN_IE_TEFWE_Msk        (0x1UL << FDCAN_IE_TEFWE_Pos)                /*!< 0x00002000 */
+#define FDCAN_IE_TEFWE            FDCAN_IE_TEFWE_Msk                           /*!<Tx Event FIFO Watermark Reached Enable       */
+#define FDCAN_IE_TEFFE_Pos        (14U)
+#define FDCAN_IE_TEFFE_Msk        (0x1UL << FDCAN_IE_TEFFE_Pos)                /*!< 0x00004000 */
+#define FDCAN_IE_TEFFE            FDCAN_IE_TEFFE_Msk                           /*!<Tx Event FIFO Full Enable                    */
+#define FDCAN_IE_TEFLE_Pos        (15U)
+#define FDCAN_IE_TEFLE_Msk        (0x1UL << FDCAN_IE_TEFLE_Pos)                /*!< 0x00008000 */
+#define FDCAN_IE_TEFLE            FDCAN_IE_TEFLE_Msk                           /*!<Tx Event FIFO Element Lost Enable            */
+#define FDCAN_IE_TSWE_Pos         (16U)
+#define FDCAN_IE_TSWE_Msk         (0x1UL << FDCAN_IE_TSWE_Pos)                 /*!< 0x00010000 */
+#define FDCAN_IE_TSWE             FDCAN_IE_TSWE_Msk                            /*!<Timestamp Wraparound Enable                  */
+#define FDCAN_IE_MRAFE_Pos        (17U)
+#define FDCAN_IE_MRAFE_Msk        (0x1UL << FDCAN_IE_MRAFE_Pos)                /*!< 0x00020000 */
+#define FDCAN_IE_MRAFE            FDCAN_IE_MRAFE_Msk                           /*!<Message RAM Access Failure Enable            */
+#define FDCAN_IE_TOOE_Pos         (18U)
+#define FDCAN_IE_TOOE_Msk         (0x1UL << FDCAN_IE_TOOE_Pos)                 /*!< 0x00040000 */
+#define FDCAN_IE_TOOE             FDCAN_IE_TOOE_Msk                            /*!<Timeout Occurred Enable                      */
+#define FDCAN_IE_DRXE_Pos         (19U)
+#define FDCAN_IE_DRXE_Msk         (0x1UL << FDCAN_IE_DRXE_Pos)                 /*!< 0x00080000 */
+#define FDCAN_IE_DRXE             FDCAN_IE_DRXE_Msk                            /*!<Message stored to Dedicated Rx Buffer Enable */
+#define FDCAN_IE_BECE_Pos         (20U)
+#define FDCAN_IE_BECE_Msk         (0x1UL << FDCAN_IE_BECE_Pos)                 /*!< 0x00100000 */
+#define FDCAN_IE_BECE             FDCAN_IE_BECE_Msk                            /*!<Bit Error Corrected Interrupt Enable         */
+#define FDCAN_IE_BEUE_Pos         (21U)
+#define FDCAN_IE_BEUE_Msk         (0x1UL << FDCAN_IE_BEUE_Pos)                 /*!< 0x00200000 */
+#define FDCAN_IE_BEUE             FDCAN_IE_BEUE_Msk                            /*!<Bit Error Uncorrected Interrupt Enable       */
+#define FDCAN_IE_ELOE_Pos         (22U)
+#define FDCAN_IE_ELOE_Msk         (0x1UL << FDCAN_IE_ELOE_Pos)                 /*!< 0x00400000 */
+#define FDCAN_IE_ELOE             FDCAN_IE_ELOE_Msk                            /*!<Error Logging Overflow Enable                */
+#define FDCAN_IE_EPE_Pos          (23U)
+#define FDCAN_IE_EPE_Msk          (0x1UL << FDCAN_IE_EPE_Pos)                  /*!< 0x00800000 */
+#define FDCAN_IE_EPE              FDCAN_IE_EPE_Msk                             /*!<Error Passive Enable                         */
+#define FDCAN_IE_EWE_Pos          (24U)
+#define FDCAN_IE_EWE_Msk          (0x1UL << FDCAN_IE_EWE_Pos)                  /*!< 0x01000000 */
+#define FDCAN_IE_EWE              FDCAN_IE_EWE_Msk                             /*!<Warning Status Enable                        */
+#define FDCAN_IE_BOE_Pos          (25U)
+#define FDCAN_IE_BOE_Msk          (0x1UL << FDCAN_IE_BOE_Pos)                  /*!< 0x02000000 */
+#define FDCAN_IE_BOE              FDCAN_IE_BOE_Msk                             /*!<Bus_Off Status Enable                        */
+#define FDCAN_IE_WDIE_Pos         (26U)
+#define FDCAN_IE_WDIE_Msk         (0x1UL << FDCAN_IE_WDIE_Pos)                 /*!< 0x04000000 */
+#define FDCAN_IE_WDIE             FDCAN_IE_WDIE_Msk                            /*!<Watchdog Interrupt Enable                    */
+#define FDCAN_IE_PEAE_Pos         (27U)
+#define FDCAN_IE_PEAE_Msk         (0x1UL << FDCAN_IE_PEAE_Pos)                 /*!< 0x08000000 */
+#define FDCAN_IE_PEAE             FDCAN_IE_PEAE_Msk                            /*!<Protocol Error in Arbitration Phase Enable   */
+#define FDCAN_IE_PEDE_Pos         (28U)
+#define FDCAN_IE_PEDE_Msk         (0x1UL << FDCAN_IE_PEDE_Pos)                 /*!< 0x10000000 */
+#define FDCAN_IE_PEDE             FDCAN_IE_PEDE_Msk                            /*!<Protocol Error in Data Phase Enable          */
+#define FDCAN_IE_ARAE_Pos         (29U)
+#define FDCAN_IE_ARAE_Msk         (0x1UL << FDCAN_IE_ARAE_Pos)                 /*!< 0x20000000 */
+#define FDCAN_IE_ARAE             FDCAN_IE_ARAE_Msk                            /*!<Access to Reserved Address Enable            */
+
+/*****************  Bit definition for FDCAN_ILS register  **********************/
+#define FDCAN_ILS_RF0NL_Pos       (0U)
+#define FDCAN_ILS_RF0NL_Msk       (0x1UL << FDCAN_ILS_RF0NL_Pos)               /*!< 0x00000001 */
+#define FDCAN_ILS_RF0NL           FDCAN_ILS_RF0NL_Msk                          /*!<Rx FIFO 0 New Message Line                  */
+#define FDCAN_ILS_RF0WL_Pos       (1U)
+#define FDCAN_ILS_RF0WL_Msk       (0x1UL << FDCAN_ILS_RF0WL_Pos)               /*!< 0x00000002 */
+#define FDCAN_ILS_RF0WL           FDCAN_ILS_RF0WL_Msk                          /*!<Rx FIFO 0 Watermark Reached Line            */
+#define FDCAN_ILS_RF0FL_Pos       (2U)
+#define FDCAN_ILS_RF0FL_Msk       (0x1UL << FDCAN_ILS_RF0FL_Pos)               /*!< 0x00000004 */
+#define FDCAN_ILS_RF0FL           FDCAN_ILS_RF0FL_Msk                          /*!<Rx FIFO 0 Full Line                         */
+#define FDCAN_ILS_RF0LL_Pos       (3U)
+#define FDCAN_ILS_RF0LL_Msk       (0x1UL << FDCAN_ILS_RF0LL_Pos)               /*!< 0x00000008 */
+#define FDCAN_ILS_RF0LL           FDCAN_ILS_RF0LL_Msk                          /*!<Rx FIFO 0 Message Lost Line                 */
+#define FDCAN_ILS_RF1NL_Pos       (4U)
+#define FDCAN_ILS_RF1NL_Msk       (0x1UL << FDCAN_ILS_RF1NL_Pos)               /*!< 0x00000010 */
+#define FDCAN_ILS_RF1NL           FDCAN_ILS_RF1NL_Msk                          /*!<Rx FIFO 1 New Message Line                  */
+#define FDCAN_ILS_RF1WL_Pos       (5U)
+#define FDCAN_ILS_RF1WL_Msk       (0x1UL << FDCAN_ILS_RF1WL_Pos)               /*!< 0x00000020 */
+#define FDCAN_ILS_RF1WL           FDCAN_ILS_RF1WL_Msk                          /*!<Rx FIFO 1 Watermark Reached Line            */
+#define FDCAN_ILS_RF1FL_Pos       (6U)
+#define FDCAN_ILS_RF1FL_Msk       (0x1UL << FDCAN_ILS_RF1FL_Pos)               /*!< 0x00000040 */
+#define FDCAN_ILS_RF1FL           FDCAN_ILS_RF1FL_Msk                          /*!<Rx FIFO 1 Full Line                         */
+#define FDCAN_ILS_RF1LL_Pos       (7U)
+#define FDCAN_ILS_RF1LL_Msk       (0x1UL << FDCAN_ILS_RF1LL_Pos)               /*!< 0x00000080 */
+#define FDCAN_ILS_RF1LL           FDCAN_ILS_RF1LL_Msk                          /*!<Rx FIFO 1 Message Lost Line                 */
+#define FDCAN_ILS_HPML_Pos        (8U)
+#define FDCAN_ILS_HPML_Msk        (0x1UL << FDCAN_ILS_HPML_Pos)                /*!< 0x00000100 */
+#define FDCAN_ILS_HPML            FDCAN_ILS_HPML_Msk                           /*!<High Priority Message Line                  */
+#define FDCAN_ILS_TCL_Pos         (9U)
+#define FDCAN_ILS_TCL_Msk         (0x1UL << FDCAN_ILS_TCL_Pos)                 /*!< 0x00000200 */
+#define FDCAN_ILS_TCL             FDCAN_ILS_TCL_Msk                            /*!<Transmission Completed Line                 */
+#define FDCAN_ILS_TCFL_Pos        (10U)
+#define FDCAN_ILS_TCFL_Msk        (0x1UL << FDCAN_ILS_TCFL_Pos)                /*!< 0x00000400 */
+#define FDCAN_ILS_TCFL            FDCAN_ILS_TCFL_Msk                           /*!<Transmission Cancellation Finished Line     */
+#define FDCAN_ILS_TFEL_Pos        (11U)
+#define FDCAN_ILS_TFEL_Msk        (0x1UL << FDCAN_ILS_TFEL_Pos)                /*!< 0x00000800 */
+#define FDCAN_ILS_TFEL            FDCAN_ILS_TFEL_Msk                           /*!<Tx FIFO Empty Line                          */
+#define FDCAN_ILS_TEFNL_Pos       (12U)
+#define FDCAN_ILS_TEFNL_Msk       (0x1UL << FDCAN_ILS_TEFNL_Pos)               /*!< 0x00001000 */
+#define FDCAN_ILS_TEFNL           FDCAN_ILS_TEFNL_Msk                          /*!<Tx Event FIFO New Entry Line                */
+#define FDCAN_ILS_TEFWL_Pos       (13U)
+#define FDCAN_ILS_TEFWL_Msk       (0x1UL << FDCAN_ILS_TEFWL_Pos)               /*!< 0x00002000 */
+#define FDCAN_ILS_TEFWL           FDCAN_ILS_TEFWL_Msk                          /*!<Tx Event FIFO Watermark Reached Line        */
+#define FDCAN_ILS_TEFFL_Pos       (14U)
+#define FDCAN_ILS_TEFFL_Msk       (0x1UL << FDCAN_ILS_TEFFL_Pos)               /*!< 0x00004000 */
+#define FDCAN_ILS_TEFFL           FDCAN_ILS_TEFFL_Msk                          /*!<Tx Event FIFO Full Line                     */
+#define FDCAN_ILS_TEFLL_Pos       (15U)
+#define FDCAN_ILS_TEFLL_Msk       (0x1UL << FDCAN_ILS_TEFLL_Pos)               /*!< 0x00008000 */
+#define FDCAN_ILS_TEFLL           FDCAN_ILS_TEFLL_Msk                          /*!<Tx Event FIFO Element Lost Line             */
+#define FDCAN_ILS_TSWL_Pos        (16U)
+#define FDCAN_ILS_TSWL_Msk        (0x1UL << FDCAN_ILS_TSWL_Pos)                /*!< 0x00010000 */
+#define FDCAN_ILS_TSWL            FDCAN_ILS_TSWL_Msk                           /*!<Timestamp Wraparound Line                   */
+#define FDCAN_ILS_MRAFE_Pos       (17U)
+#define FDCAN_ILS_MRAFE_Msk       (0x1UL << FDCAN_ILS_MRAFE_Pos)               /*!< 0x00020000 */
+#define FDCAN_ILS_MRAFE           FDCAN_ILS_MRAFE_Msk                          /*!<Message RAM Access Failure Line             */
+#define FDCAN_ILS_TOOE_Pos        (18U)
+#define FDCAN_ILS_TOOE_Msk        (0x1UL << FDCAN_ILS_TOOE_Pos)                /*!< 0x00040000 */
+#define FDCAN_ILS_TOOE            FDCAN_ILS_TOOE_Msk                           /*!<Timeout Occurred Line                       */
+#define FDCAN_ILS_DRXE_Pos        (19U)
+#define FDCAN_ILS_DRXE_Msk        (0x1UL << FDCAN_ILS_DRXE_Pos)                /*!< 0x00080000 */
+#define FDCAN_ILS_DRXE            FDCAN_ILS_DRXE_Msk                           /*!<Message stored to Dedicated Rx Buffer Line  */
+#define FDCAN_ILS_BECE_Pos        (20U)
+#define FDCAN_ILS_BECE_Msk        (0x1UL << FDCAN_ILS_BECE_Pos)                /*!< 0x00100000 */
+#define FDCAN_ILS_BECE            FDCAN_ILS_BECE_Msk                           /*!<Bit Error Corrected Interrupt Line          */
+#define FDCAN_ILS_BEUE_Pos        (21U)
+#define FDCAN_ILS_BEUE_Msk        (0x1UL << FDCAN_ILS_BEUE_Pos)                /*!< 0x00200000 */
+#define FDCAN_ILS_BEUE            FDCAN_ILS_BEUE_Msk                           /*!<Bit Error Uncorrected Interrupt Line        */
+#define FDCAN_ILS_ELOE_Pos        (22U)
+#define FDCAN_ILS_ELOE_Msk        (0x1UL << FDCAN_ILS_ELOE_Pos)                /*!< 0x00400000 */
+#define FDCAN_ILS_ELOE            FDCAN_ILS_ELOE_Msk                           /*!<Error Logging Overflow Line                 */
+#define FDCAN_ILS_EPE_Pos         (23U)
+#define FDCAN_ILS_EPE_Msk         (0x1UL << FDCAN_ILS_EPE_Pos)                 /*!< 0x00800000 */
+#define FDCAN_ILS_EPE             FDCAN_ILS_EPE_Msk                            /*!<Error Passive Line                          */
+#define FDCAN_ILS_EWE_Pos         (24U)
+#define FDCAN_ILS_EWE_Msk         (0x1UL << FDCAN_ILS_EWE_Pos)                 /*!< 0x01000000 */
+#define FDCAN_ILS_EWE             FDCAN_ILS_EWE_Msk                            /*!<Warning Status Line                         */
+#define FDCAN_ILS_BOE_Pos         (25U)
+#define FDCAN_ILS_BOE_Msk         (0x1UL << FDCAN_ILS_BOE_Pos)                 /*!< 0x02000000 */
+#define FDCAN_ILS_BOE             FDCAN_ILS_BOE_Msk                            /*!<Bus_Off Status Line                         */
+#define FDCAN_ILS_WDIE_Pos        (26U)
+#define FDCAN_ILS_WDIE_Msk        (0x1UL << FDCAN_ILS_WDIE_Pos)                /*!< 0x04000000 */
+#define FDCAN_ILS_WDIE            FDCAN_ILS_WDIE_Msk                           /*!<Watchdog Interrupt Line                     */
+#define FDCAN_ILS_PEAE_Pos        (27U)
+#define FDCAN_ILS_PEAE_Msk        (0x1UL << FDCAN_ILS_PEAE_Pos)                /*!< 0x08000000 */
+#define FDCAN_ILS_PEAE            FDCAN_ILS_PEAE_Msk                           /*!<Protocol Error in Arbitration Phase Line    */
+#define FDCAN_ILS_PEDE_Pos        (28U)
+#define FDCAN_ILS_PEDE_Msk        (0x1UL << FDCAN_ILS_PEDE_Pos)                /*!< 0x10000000 */
+#define FDCAN_ILS_PEDE            FDCAN_ILS_PEDE_Msk                           /*!<Protocol Error in Data Phase Line           */
+#define FDCAN_ILS_ARAE_Pos        (29U)
+#define FDCAN_ILS_ARAE_Msk        (0x1UL << FDCAN_ILS_ARAE_Pos)                /*!< 0x20000000 */
+#define FDCAN_ILS_ARAE            FDCAN_ILS_ARAE_Msk                           /*!<Access to Reserved Address Line             */
+
+/*****************  Bit definition for FDCAN_ILE register  **********************/
+#define FDCAN_ILE_EINT0_Pos       (0U)
+#define FDCAN_ILE_EINT0_Msk       (0x1UL << FDCAN_ILE_EINT0_Pos)               /*!< 0x00000001 */
+#define FDCAN_ILE_EINT0           FDCAN_ILE_EINT0_Msk                          /*!<Enable Interrupt Line 0                   */
+#define FDCAN_ILE_EINT1_Pos       (1U)
+#define FDCAN_ILE_EINT1_Msk       (0x1UL << FDCAN_ILE_EINT1_Pos)               /*!< 0x00000002 */
+#define FDCAN_ILE_EINT1           FDCAN_ILE_EINT1_Msk                          /*!<Enable Interrupt Line 1                   */
+
+/*****************  Bit definition for FDCAN_GFC register  **********************/
+#define FDCAN_GFC_RRFE_Pos        (0U)
+#define FDCAN_GFC_RRFE_Msk        (0x1UL << FDCAN_GFC_RRFE_Pos)                /*!< 0x00000001 */
+#define FDCAN_GFC_RRFE            FDCAN_GFC_RRFE_Msk                           /*!<Reject Remote Frames Extended             */
+#define FDCAN_GFC_RRFS_Pos        (1U)
+#define FDCAN_GFC_RRFS_Msk        (0x1UL << FDCAN_GFC_RRFS_Pos)                /*!< 0x00000002 */
+#define FDCAN_GFC_RRFS            FDCAN_GFC_RRFS_Msk                           /*!<Reject Remote Frames Standard             */
+#define FDCAN_GFC_ANFE_Pos        (2U)
+#define FDCAN_GFC_ANFE_Msk        (0x3UL << FDCAN_GFC_ANFE_Pos)                /*!< 0x0000000C */
+#define FDCAN_GFC_ANFE            FDCAN_GFC_ANFE_Msk                           /*!<Accept Non-matching Frames Extended       */
+#define FDCAN_GFC_ANFS_Pos        (4U)
+#define FDCAN_GFC_ANFS_Msk        (0x3UL << FDCAN_GFC_ANFS_Pos)                /*!< 0x00000030 */
+#define FDCAN_GFC_ANFS            FDCAN_GFC_ANFS_Msk                           /*!<Accept Non-matching Frames Standard       */
+
+/*****************  Bit definition for FDCAN_SIDFC register  ********************/
+#define FDCAN_SIDFC_FLSSA_Pos     (2U)
+#define FDCAN_SIDFC_FLSSA_Msk     (0x3FFFUL << FDCAN_SIDFC_FLSSA_Pos)          /*!< 0x0000FFFC */
+#define FDCAN_SIDFC_FLSSA         FDCAN_SIDFC_FLSSA_Msk                        /*!<Filter List Standard Start Address        */
+#define FDCAN_SIDFC_LSS_Pos       (16U)
+#define FDCAN_SIDFC_LSS_Msk       (0xFFUL << FDCAN_SIDFC_LSS_Pos)              /*!< 0x00FF0000 */
+#define FDCAN_SIDFC_LSS           FDCAN_SIDFC_LSS_Msk                          /*!<List Size Standard                        */
+
+/*****************  Bit definition for FDCAN_XIDFC register  ********************/
+#define FDCAN_XIDFC_FLESA_Pos     (2U)
+#define FDCAN_XIDFC_FLESA_Msk     (0x3FFFUL << FDCAN_XIDFC_FLESA_Pos)          /*!< 0x0000FFFC */
+#define FDCAN_XIDFC_FLESA         FDCAN_XIDFC_FLESA_Msk                        /*!<Filter List Standard Start Address        */
+#define FDCAN_XIDFC_LSE_Pos       (16U)
+#define FDCAN_XIDFC_LSE_Msk       (0x7FUL << FDCAN_XIDFC_LSE_Pos)              /*!< 0x007F0000 */
+#define FDCAN_XIDFC_LSE           FDCAN_XIDFC_LSE_Msk                          /*!<List Size Extended                        */
+
+/*****************  Bit definition for FDCAN_XIDAM register  ********************/
+#define FDCAN_XIDAM_EIDM_Pos      (0U)
+#define FDCAN_XIDAM_EIDM_Msk      (0x1FFFFFFFUL << FDCAN_XIDAM_EIDM_Pos)       /*!< 0x1FFFFFFF */
+#define FDCAN_XIDAM_EIDM          FDCAN_XIDAM_EIDM_Msk                         /*!<Extended ID Mask                          */
+
+/*****************  Bit definition for FDCAN_HPMS register  *********************/
+#define FDCAN_HPMS_BIDX_Pos       (0U)
+#define FDCAN_HPMS_BIDX_Msk       (0x3FUL << FDCAN_HPMS_BIDX_Pos)              /*!< 0x0000003F */
+#define FDCAN_HPMS_BIDX           FDCAN_HPMS_BIDX_Msk                          /*!<Buffer Index                              */
+#define FDCAN_HPMS_MSI_Pos        (6U)
+#define FDCAN_HPMS_MSI_Msk        (0x3UL << FDCAN_HPMS_MSI_Pos)                /*!< 0x000000C0 */
+#define FDCAN_HPMS_MSI            FDCAN_HPMS_MSI_Msk                           /*!<Message Storage Indicator                 */
+#define FDCAN_HPMS_FIDX_Pos       (8U)
+#define FDCAN_HPMS_FIDX_Msk       (0x7FUL << FDCAN_HPMS_FIDX_Pos)              /*!< 0x00007F00 */
+#define FDCAN_HPMS_FIDX           FDCAN_HPMS_FIDX_Msk                          /*!<Filter Index                              */
+#define FDCAN_HPMS_FLST_Pos       (15U)
+#define FDCAN_HPMS_FLST_Msk       (0x1UL << FDCAN_HPMS_FLST_Pos)               /*!< 0x00008000 */
+#define FDCAN_HPMS_FLST           FDCAN_HPMS_FLST_Msk                          /*!<Filter List                               */
+
+/*****************  Bit definition for FDCAN_NDAT1 register  ********************/
+#define FDCAN_NDAT1_ND0_Pos       (0U)
+#define FDCAN_NDAT1_ND0_Msk       (0x1UL << FDCAN_NDAT1_ND0_Pos)               /*!< 0x00000001 */
+#define FDCAN_NDAT1_ND0           FDCAN_NDAT1_ND0_Msk                          /*!<New Data flag of Rx Buffer 0              */
+#define FDCAN_NDAT1_ND1_Pos       (1U)
+#define FDCAN_NDAT1_ND1_Msk       (0x1UL << FDCAN_NDAT1_ND1_Pos)               /*!< 0x00000002 */
+#define FDCAN_NDAT1_ND1           FDCAN_NDAT1_ND1_Msk                          /*!<New Data flag of Rx Buffer 1              */
+#define FDCAN_NDAT1_ND2_Pos       (2U)
+#define FDCAN_NDAT1_ND2_Msk       (0x1UL << FDCAN_NDAT1_ND2_Pos)               /*!< 0x00000004 */
+#define FDCAN_NDAT1_ND2           FDCAN_NDAT1_ND2_Msk                          /*!<New Data flag of Rx Buffer 2              */
+#define FDCAN_NDAT1_ND3_Pos       (3U)
+#define FDCAN_NDAT1_ND3_Msk       (0x1UL << FDCAN_NDAT1_ND3_Pos)               /*!< 0x00000008 */
+#define FDCAN_NDAT1_ND3           FDCAN_NDAT1_ND3_Msk                          /*!<New Data flag of Rx Buffer 3              */
+#define FDCAN_NDAT1_ND4_Pos       (4U)
+#define FDCAN_NDAT1_ND4_Msk       (0x1UL << FDCAN_NDAT1_ND4_Pos)               /*!< 0x00000010 */
+#define FDCAN_NDAT1_ND4           FDCAN_NDAT1_ND4_Msk                          /*!<New Data flag of Rx Buffer 4              */
+#define FDCAN_NDAT1_ND5_Pos       (5U)
+#define FDCAN_NDAT1_ND5_Msk       (0x1UL << FDCAN_NDAT1_ND5_Pos)               /*!< 0x00000020 */
+#define FDCAN_NDAT1_ND5           FDCAN_NDAT1_ND5_Msk                          /*!<New Data flag of Rx Buffer 5              */
+#define FDCAN_NDAT1_ND6_Pos       (6U)
+#define FDCAN_NDAT1_ND6_Msk       (0x1UL << FDCAN_NDAT1_ND6_Pos)               /*!< 0x00000040 */
+#define FDCAN_NDAT1_ND6           FDCAN_NDAT1_ND6_Msk                          /*!<New Data flag of Rx Buffer 6              */
+#define FDCAN_NDAT1_ND7_Pos       (7U)
+#define FDCAN_NDAT1_ND7_Msk       (0x1UL << FDCAN_NDAT1_ND7_Pos)               /*!< 0x00000080 */
+#define FDCAN_NDAT1_ND7           FDCAN_NDAT1_ND7_Msk                          /*!<New Data flag of Rx Buffer 7              */
+#define FDCAN_NDAT1_ND8_Pos       (8U)
+#define FDCAN_NDAT1_ND8_Msk       (0x1UL << FDCAN_NDAT1_ND8_Pos)               /*!< 0x00000100 */
+#define FDCAN_NDAT1_ND8           FDCAN_NDAT1_ND8_Msk                          /*!<New Data flag of Rx Buffer 8              */
+#define FDCAN_NDAT1_ND9_Pos       (9U)
+#define FDCAN_NDAT1_ND9_Msk       (0x1UL << FDCAN_NDAT1_ND9_Pos)               /*!< 0x00000200 */
+#define FDCAN_NDAT1_ND9           FDCAN_NDAT1_ND9_Msk                          /*!<New Data flag of Rx Buffer 9              */
+#define FDCAN_NDAT1_ND10_Pos      (10U)
+#define FDCAN_NDAT1_ND10_Msk      (0x1UL << FDCAN_NDAT1_ND10_Pos)              /*!< 0x00000400 */
+#define FDCAN_NDAT1_ND10          FDCAN_NDAT1_ND10_Msk                         /*!<New Data flag of Rx Buffer 10             */
+#define FDCAN_NDAT1_ND11_Pos      (11U)
+#define FDCAN_NDAT1_ND11_Msk      (0x1UL << FDCAN_NDAT1_ND11_Pos)              /*!< 0x00000800 */
+#define FDCAN_NDAT1_ND11          FDCAN_NDAT1_ND11_Msk                         /*!<New Data flag of Rx Buffer 11             */
+#define FDCAN_NDAT1_ND12_Pos      (12U)
+#define FDCAN_NDAT1_ND12_Msk      (0x1UL << FDCAN_NDAT1_ND12_Pos)              /*!< 0x00001000 */
+#define FDCAN_NDAT1_ND12          FDCAN_NDAT1_ND12_Msk                         /*!<New Data flag of Rx Buffer 12             */
+#define FDCAN_NDAT1_ND13_Pos      (13U)
+#define FDCAN_NDAT1_ND13_Msk      (0x1UL << FDCAN_NDAT1_ND13_Pos)              /*!< 0x00002000 */
+#define FDCAN_NDAT1_ND13          FDCAN_NDAT1_ND13_Msk                         /*!<New Data flag of Rx Buffer 13             */
+#define FDCAN_NDAT1_ND14_Pos      (14U)
+#define FDCAN_NDAT1_ND14_Msk      (0x1UL << FDCAN_NDAT1_ND14_Pos)              /*!< 0x00004000 */
+#define FDCAN_NDAT1_ND14          FDCAN_NDAT1_ND14_Msk                         /*!<New Data flag of Rx Buffer 14             */
+#define FDCAN_NDAT1_ND15_Pos      (15U)
+#define FDCAN_NDAT1_ND15_Msk      (0x1UL << FDCAN_NDAT1_ND15_Pos)              /*!< 0x00008000 */
+#define FDCAN_NDAT1_ND15          FDCAN_NDAT1_ND15_Msk                         /*!<New Data flag of Rx Buffer 15             */
+#define FDCAN_NDAT1_ND16_Pos      (16U)
+#define FDCAN_NDAT1_ND16_Msk      (0x1UL << FDCAN_NDAT1_ND16_Pos)              /*!< 0x00010000 */
+#define FDCAN_NDAT1_ND16          FDCAN_NDAT1_ND16_Msk                         /*!<New Data flag of Rx Buffer 16             */
+#define FDCAN_NDAT1_ND17_Pos      (17U)
+#define FDCAN_NDAT1_ND17_Msk      (0x1UL << FDCAN_NDAT1_ND17_Pos)              /*!< 0x00020000 */
+#define FDCAN_NDAT1_ND17          FDCAN_NDAT1_ND17_Msk                         /*!<New Data flag of Rx Buffer 17             */
+#define FDCAN_NDAT1_ND18_Pos      (18U)
+#define FDCAN_NDAT1_ND18_Msk      (0x1UL << FDCAN_NDAT1_ND18_Pos)              /*!< 0x00040000 */
+#define FDCAN_NDAT1_ND18          FDCAN_NDAT1_ND18_Msk                         /*!<New Data flag of Rx Buffer 18             */
+#define FDCAN_NDAT1_ND19_Pos      (19U)
+#define FDCAN_NDAT1_ND19_Msk      (0x1UL << FDCAN_NDAT1_ND19_Pos)              /*!< 0x00080000 */
+#define FDCAN_NDAT1_ND19          FDCAN_NDAT1_ND19_Msk                         /*!<New Data flag of Rx Buffer 19             */
+#define FDCAN_NDAT1_ND20_Pos      (20U)
+#define FDCAN_NDAT1_ND20_Msk      (0x1UL << FDCAN_NDAT1_ND20_Pos)              /*!< 0x00100000 */
+#define FDCAN_NDAT1_ND20          FDCAN_NDAT1_ND20_Msk                         /*!<New Data flag of Rx Buffer 20             */
+#define FDCAN_NDAT1_ND21_Pos      (21U)
+#define FDCAN_NDAT1_ND21_Msk      (0x1UL << FDCAN_NDAT1_ND21_Pos)              /*!< 0x00200000 */
+#define FDCAN_NDAT1_ND21          FDCAN_NDAT1_ND21_Msk                         /*!<New Data flag of Rx Buffer 21             */
+#define FDCAN_NDAT1_ND22_Pos      (22U)
+#define FDCAN_NDAT1_ND22_Msk      (0x1UL << FDCAN_NDAT1_ND22_Pos)              /*!< 0x00400000 */
+#define FDCAN_NDAT1_ND22          FDCAN_NDAT1_ND22_Msk                         /*!<New Data flag of Rx Buffer 22             */
+#define FDCAN_NDAT1_ND23_Pos      (23U)
+#define FDCAN_NDAT1_ND23_Msk      (0x1UL << FDCAN_NDAT1_ND23_Pos)              /*!< 0x00800000 */
+#define FDCAN_NDAT1_ND23          FDCAN_NDAT1_ND23_Msk                         /*!<New Data flag of Rx Buffer 23             */
+#define FDCAN_NDAT1_ND24_Pos      (24U)
+#define FDCAN_NDAT1_ND24_Msk      (0x1UL << FDCAN_NDAT1_ND24_Pos)              /*!< 0x01000000 */
+#define FDCAN_NDAT1_ND24          FDCAN_NDAT1_ND24_Msk                         /*!<New Data flag of Rx Buffer 24             */
+#define FDCAN_NDAT1_ND25_Pos      (25U)
+#define FDCAN_NDAT1_ND25_Msk      (0x1UL << FDCAN_NDAT1_ND25_Pos)              /*!< 0x02000000 */
+#define FDCAN_NDAT1_ND25          FDCAN_NDAT1_ND25_Msk                         /*!<New Data flag of Rx Buffer 25             */
+#define FDCAN_NDAT1_ND26_Pos      (26U)
+#define FDCAN_NDAT1_ND26_Msk      (0x1UL << FDCAN_NDAT1_ND26_Pos)              /*!< 0x04000000 */
+#define FDCAN_NDAT1_ND26          FDCAN_NDAT1_ND26_Msk                         /*!<New Data flag of Rx Buffer 26             */
+#define FDCAN_NDAT1_ND27_Pos      (27U)
+#define FDCAN_NDAT1_ND27_Msk      (0x1UL << FDCAN_NDAT1_ND27_Pos)              /*!< 0x08000000 */
+#define FDCAN_NDAT1_ND27          FDCAN_NDAT1_ND27_Msk                         /*!<New Data flag of Rx Buffer 27             */
+#define FDCAN_NDAT1_ND28_Pos      (28U)
+#define FDCAN_NDAT1_ND28_Msk      (0x1UL << FDCAN_NDAT1_ND28_Pos)              /*!< 0x10000000 */
+#define FDCAN_NDAT1_ND28          FDCAN_NDAT1_ND28_Msk                         /*!<New Data flag of Rx Buffer 28             */
+#define FDCAN_NDAT1_ND29_Pos      (29U)
+#define FDCAN_NDAT1_ND29_Msk      (0x1UL << FDCAN_NDAT1_ND29_Pos)              /*!< 0x20000000 */
+#define FDCAN_NDAT1_ND29          FDCAN_NDAT1_ND29_Msk                         /*!<New Data flag of Rx Buffer 29             */
+#define FDCAN_NDAT1_ND30_Pos      (30U)
+#define FDCAN_NDAT1_ND30_Msk      (0x1UL << FDCAN_NDAT1_ND30_Pos)              /*!< 0x40000000 */
+#define FDCAN_NDAT1_ND30          FDCAN_NDAT1_ND30_Msk                         /*!<New Data flag of Rx Buffer 30             */
+#define FDCAN_NDAT1_ND31_Pos      (31U)
+#define FDCAN_NDAT1_ND31_Msk      (0x1UL << FDCAN_NDAT1_ND31_Pos)              /*!< 0x80000000 */
+#define FDCAN_NDAT1_ND31          FDCAN_NDAT1_ND31_Msk                         /*!<New Data flag of Rx Buffer 31             */
+
+/*****************  Bit definition for FDCAN_NDAT2 register  ********************/
+#define FDCAN_NDAT2_ND32_Pos      (0U)
+#define FDCAN_NDAT2_ND32_Msk      (0x1UL << FDCAN_NDAT2_ND32_Pos)              /*!< 0x00000001 */
+#define FDCAN_NDAT2_ND32          FDCAN_NDAT2_ND32_Msk                         /*!<New Data flag of Rx Buffer 32             */
+#define FDCAN_NDAT2_ND33_Pos      (1U)
+#define FDCAN_NDAT2_ND33_Msk      (0x1UL << FDCAN_NDAT2_ND33_Pos)              /*!< 0x00000002 */
+#define FDCAN_NDAT2_ND33          FDCAN_NDAT2_ND33_Msk                         /*!<New Data flag of Rx Buffer 33             */
+#define FDCAN_NDAT2_ND34_Pos      (2U)
+#define FDCAN_NDAT2_ND34_Msk      (0x1UL << FDCAN_NDAT2_ND34_Pos)              /*!< 0x00000004 */
+#define FDCAN_NDAT2_ND34          FDCAN_NDAT2_ND34_Msk                         /*!<New Data flag of Rx Buffer 34             */
+#define FDCAN_NDAT2_ND35_Pos      (3U)
+#define FDCAN_NDAT2_ND35_Msk      (0x1UL << FDCAN_NDAT2_ND35_Pos)              /*!< 0x00000008 */
+#define FDCAN_NDAT2_ND35          FDCAN_NDAT2_ND35_Msk                         /*!<New Data flag of Rx Buffer 35             */
+#define FDCAN_NDAT2_ND36_Pos      (4U)
+#define FDCAN_NDAT2_ND36_Msk      (0x1UL << FDCAN_NDAT2_ND36_Pos)              /*!< 0x00000010 */
+#define FDCAN_NDAT2_ND36          FDCAN_NDAT2_ND36_Msk                         /*!<New Data flag of Rx Buffer 36             */
+#define FDCAN_NDAT2_ND37_Pos      (5U)
+#define FDCAN_NDAT2_ND37_Msk      (0x1UL << FDCAN_NDAT2_ND37_Pos)              /*!< 0x00000020 */
+#define FDCAN_NDAT2_ND37          FDCAN_NDAT2_ND37_Msk                         /*!<New Data flag of Rx Buffer 37             */
+#define FDCAN_NDAT2_ND38_Pos      (6U)
+#define FDCAN_NDAT2_ND38_Msk      (0x1UL << FDCAN_NDAT2_ND38_Pos)              /*!< 0x00000040 */
+#define FDCAN_NDAT2_ND38          FDCAN_NDAT2_ND38_Msk                         /*!<New Data flag of Rx Buffer 38             */
+#define FDCAN_NDAT2_ND39_Pos      (7U)
+#define FDCAN_NDAT2_ND39_Msk      (0x1UL << FDCAN_NDAT2_ND39_Pos)              /*!< 0x00000080 */
+#define FDCAN_NDAT2_ND39          FDCAN_NDAT2_ND39_Msk                         /*!<New Data flag of Rx Buffer 39             */
+#define FDCAN_NDAT2_ND40_Pos      (8U)
+#define FDCAN_NDAT2_ND40_Msk      (0x1UL << FDCAN_NDAT2_ND40_Pos)              /*!< 0x00000100 */
+#define FDCAN_NDAT2_ND40          FDCAN_NDAT2_ND40_Msk                         /*!<New Data flag of Rx Buffer 40             */
+#define FDCAN_NDAT2_ND41_Pos      (9U)
+#define FDCAN_NDAT2_ND41_Msk      (0x1UL << FDCAN_NDAT2_ND41_Pos)              /*!< 0x00000200 */
+#define FDCAN_NDAT2_ND41          FDCAN_NDAT2_ND41_Msk                         /*!<New Data flag of Rx Buffer 41             */
+#define FDCAN_NDAT2_ND42_Pos      (10U)
+#define FDCAN_NDAT2_ND42_Msk      (0x1UL << FDCAN_NDAT2_ND42_Pos)              /*!< 0x00000400 */
+#define FDCAN_NDAT2_ND42          FDCAN_NDAT2_ND42_Msk                         /*!<New Data flag of Rx Buffer 42             */
+#define FDCAN_NDAT2_ND43_Pos      (11U)
+#define FDCAN_NDAT2_ND43_Msk      (0x1UL << FDCAN_NDAT2_ND43_Pos)              /*!< 0x00000800 */
+#define FDCAN_NDAT2_ND43          FDCAN_NDAT2_ND43_Msk                         /*!<New Data flag of Rx Buffer 43             */
+#define FDCAN_NDAT2_ND44_Pos      (12U)
+#define FDCAN_NDAT2_ND44_Msk      (0x1UL << FDCAN_NDAT2_ND44_Pos)              /*!< 0x00001000 */
+#define FDCAN_NDAT2_ND44          FDCAN_NDAT2_ND44_Msk                         /*!<New Data flag of Rx Buffer 44             */
+#define FDCAN_NDAT2_ND45_Pos      (13U)
+#define FDCAN_NDAT2_ND45_Msk      (0x1UL << FDCAN_NDAT2_ND45_Pos)              /*!< 0x00002000 */
+#define FDCAN_NDAT2_ND45          FDCAN_NDAT2_ND45_Msk                         /*!<New Data flag of Rx Buffer 45             */
+#define FDCAN_NDAT2_ND46_Pos      (14U)
+#define FDCAN_NDAT2_ND46_Msk      (0x1UL << FDCAN_NDAT2_ND46_Pos)              /*!< 0x00004000 */
+#define FDCAN_NDAT2_ND46          FDCAN_NDAT2_ND46_Msk                         /*!<New Data flag of Rx Buffer 46             */
+#define FDCAN_NDAT2_ND47_Pos      (15U)
+#define FDCAN_NDAT2_ND47_Msk      (0x1UL << FDCAN_NDAT2_ND47_Pos)              /*!< 0x00008000 */
+#define FDCAN_NDAT2_ND47          FDCAN_NDAT2_ND47_Msk                         /*!<New Data flag of Rx Buffer 47             */
+#define FDCAN_NDAT2_ND48_Pos      (16U)
+#define FDCAN_NDAT2_ND48_Msk      (0x1UL << FDCAN_NDAT2_ND48_Pos)              /*!< 0x00010000 */
+#define FDCAN_NDAT2_ND48          FDCAN_NDAT2_ND48_Msk                         /*!<New Data flag of Rx Buffer 48             */
+#define FDCAN_NDAT2_ND49_Pos      (17U)
+#define FDCAN_NDAT2_ND49_Msk      (0x1UL << FDCAN_NDAT2_ND49_Pos)              /*!< 0x00020000 */
+#define FDCAN_NDAT2_ND49          FDCAN_NDAT2_ND49_Msk                         /*!<New Data flag of Rx Buffer 49             */
+#define FDCAN_NDAT2_ND50_Pos      (18U)
+#define FDCAN_NDAT2_ND50_Msk      (0x1UL << FDCAN_NDAT2_ND50_Pos)              /*!< 0x00040000 */
+#define FDCAN_NDAT2_ND50          FDCAN_NDAT2_ND50_Msk                         /*!<New Data flag of Rx Buffer 50             */
+#define FDCAN_NDAT2_ND51_Pos      (19U)
+#define FDCAN_NDAT2_ND51_Msk      (0x1UL << FDCAN_NDAT2_ND51_Pos)              /*!< 0x00080000 */
+#define FDCAN_NDAT2_ND51          FDCAN_NDAT2_ND51_Msk                         /*!<New Data flag of Rx Buffer 51             */
+#define FDCAN_NDAT2_ND52_Pos      (20U)
+#define FDCAN_NDAT2_ND52_Msk      (0x1UL << FDCAN_NDAT2_ND52_Pos)              /*!< 0x00100000 */
+#define FDCAN_NDAT2_ND52          FDCAN_NDAT2_ND52_Msk                         /*!<New Data flag of Rx Buffer 52             */
+#define FDCAN_NDAT2_ND53_Pos      (21U)
+#define FDCAN_NDAT2_ND53_Msk      (0x1UL << FDCAN_NDAT2_ND53_Pos)              /*!< 0x00200000 */
+#define FDCAN_NDAT2_ND53          FDCAN_NDAT2_ND53_Msk                         /*!<New Data flag of Rx Buffer 53             */
+#define FDCAN_NDAT2_ND54_Pos      (22U)
+#define FDCAN_NDAT2_ND54_Msk      (0x1UL << FDCAN_NDAT2_ND54_Pos)              /*!< 0x00400000 */
+#define FDCAN_NDAT2_ND54          FDCAN_NDAT2_ND54_Msk                         /*!<New Data flag of Rx Buffer 54             */
+#define FDCAN_NDAT2_ND55_Pos      (23U)
+#define FDCAN_NDAT2_ND55_Msk      (0x1UL << FDCAN_NDAT2_ND55_Pos)              /*!< 0x00800000 */
+#define FDCAN_NDAT2_ND55          FDCAN_NDAT2_ND55_Msk                         /*!<New Data flag of Rx Buffer 55             */
+#define FDCAN_NDAT2_ND56_Pos      (24U)
+#define FDCAN_NDAT2_ND56_Msk      (0x1UL << FDCAN_NDAT2_ND56_Pos)              /*!< 0x01000000 */
+#define FDCAN_NDAT2_ND56          FDCAN_NDAT2_ND56_Msk                         /*!<New Data flag of Rx Buffer 56             */
+#define FDCAN_NDAT2_ND57_Pos      (25U)
+#define FDCAN_NDAT2_ND57_Msk      (0x1UL << FDCAN_NDAT2_ND57_Pos)              /*!< 0x02000000 */
+#define FDCAN_NDAT2_ND57          FDCAN_NDAT2_ND57_Msk                         /*!<New Data flag of Rx Buffer 57             */
+#define FDCAN_NDAT2_ND58_Pos      (26U)
+#define FDCAN_NDAT2_ND58_Msk      (0x1UL << FDCAN_NDAT2_ND58_Pos)              /*!< 0x04000000 */
+#define FDCAN_NDAT2_ND58          FDCAN_NDAT2_ND58_Msk                         /*!<New Data flag of Rx Buffer 58             */
+#define FDCAN_NDAT2_ND59_Pos      (27U)
+#define FDCAN_NDAT2_ND59_Msk      (0x1UL << FDCAN_NDAT2_ND59_Pos)              /*!< 0x08000000 */
+#define FDCAN_NDAT2_ND59          FDCAN_NDAT2_ND59_Msk                         /*!<New Data flag of Rx Buffer 59             */
+#define FDCAN_NDAT2_ND60_Pos      (28U)
+#define FDCAN_NDAT2_ND60_Msk      (0x1UL << FDCAN_NDAT2_ND60_Pos)              /*!< 0x10000000 */
+#define FDCAN_NDAT2_ND60          FDCAN_NDAT2_ND60_Msk                         /*!<New Data flag of Rx Buffer 60             */
+#define FDCAN_NDAT2_ND61_Pos      (29U)
+#define FDCAN_NDAT2_ND61_Msk      (0x1UL << FDCAN_NDAT2_ND61_Pos)              /*!< 0x20000000 */
+#define FDCAN_NDAT2_ND61          FDCAN_NDAT2_ND61_Msk                         /*!<New Data flag of Rx Buffer 61             */
+#define FDCAN_NDAT2_ND62_Pos      (30U)
+#define FDCAN_NDAT2_ND62_Msk      (0x1UL << FDCAN_NDAT2_ND62_Pos)              /*!< 0x40000000 */
+#define FDCAN_NDAT2_ND62          FDCAN_NDAT2_ND62_Msk                         /*!<New Data flag of Rx Buffer 62             */
+#define FDCAN_NDAT2_ND63_Pos      (31U)
+#define FDCAN_NDAT2_ND63_Msk      (0x1UL << FDCAN_NDAT2_ND63_Pos)              /*!< 0x80000000 */
+#define FDCAN_NDAT2_ND63          FDCAN_NDAT2_ND63_Msk                         /*!<New Data flag of Rx Buffer 63             */
+
+/*****************  Bit definition for FDCAN_RXF0C register  ********************/
+#define FDCAN_RXF0C_F0SA_Pos      (2U)
+#define FDCAN_RXF0C_F0SA_Msk      (0x3FFFUL << FDCAN_RXF0C_F0SA_Pos)           /*!< 0x0000FFFC */
+#define FDCAN_RXF0C_F0SA          FDCAN_RXF0C_F0SA_Msk                         /*!<Rx FIFO 0 Start Address                   */
+#define FDCAN_RXF0C_F0S_Pos       (16U)
+#define FDCAN_RXF0C_F0S_Msk       (0x7FUL << FDCAN_RXF0C_F0S_Pos)              /*!< 0x007F0000 */
+#define FDCAN_RXF0C_F0S           FDCAN_RXF0C_F0S_Msk                          /*!<Number of Rx FIFO 0 elements              */
+#define FDCAN_RXF0C_F0WM_Pos      (24U)
+#define FDCAN_RXF0C_F0WM_Msk      (0x7FUL << FDCAN_RXF0C_F0WM_Pos)             /*!< 0x7F000000 */
+#define FDCAN_RXF0C_F0WM          FDCAN_RXF0C_F0WM_Msk                         /*!<FIFO 0 Watermark                          */
+#define FDCAN_RXF0C_F0OM_Pos      (31U)
+#define FDCAN_RXF0C_F0OM_Msk      (0x1UL << FDCAN_RXF0C_F0OM_Pos)              /*!< 0x80000000 */
+#define FDCAN_RXF0C_F0OM          FDCAN_RXF0C_F0OM_Msk                         /*!<FIFO 0 Operation Mode                     */
+
+/*****************  Bit definition for FDCAN_RXF0S register  ********************/
+#define FDCAN_RXF0S_F0FL_Pos      (0U)
+#define FDCAN_RXF0S_F0FL_Msk      (0x7FUL << FDCAN_RXF0S_F0FL_Pos)             /*!< 0x0000007F */
+#define FDCAN_RXF0S_F0FL          FDCAN_RXF0S_F0FL_Msk                         /*!<Rx FIFO 0 Fill Level                      */
+#define FDCAN_RXF0S_F0GI_Pos      (8U)
+#define FDCAN_RXF0S_F0GI_Msk      (0x3FUL << FDCAN_RXF0S_F0GI_Pos)             /*!< 0x00003F00 */
+#define FDCAN_RXF0S_F0GI          FDCAN_RXF0S_F0GI_Msk                         /*!<Rx FIFO 0 Get Index                       */
+#define FDCAN_RXF0S_F0PI_Pos      (16U)
+#define FDCAN_RXF0S_F0PI_Msk      (0x3FUL << FDCAN_RXF0S_F0PI_Pos)             /*!< 0x003F0000 */
+#define FDCAN_RXF0S_F0PI          FDCAN_RXF0S_F0PI_Msk                         /*!<Rx FIFO 0 Put Index                       */
+#define FDCAN_RXF0S_F0F_Pos       (24U)
+#define FDCAN_RXF0S_F0F_Msk       (0x1UL << FDCAN_RXF0S_F0F_Pos)               /*!< 0x01000000 */
+#define FDCAN_RXF0S_F0F           FDCAN_RXF0S_F0F_Msk                          /*!<Rx FIFO 0 Full                            */
+#define FDCAN_RXF0S_RF0L_Pos      (25U)
+#define FDCAN_RXF0S_RF0L_Msk      (0x1UL << FDCAN_RXF0S_RF0L_Pos)              /*!< 0x02000000 */
+#define FDCAN_RXF0S_RF0L          FDCAN_RXF0S_RF0L_Msk                         /*!<Rx FIFO 0 Message Lost                    */
+
+/*****************  Bit definition for FDCAN_RXF0A register  ********************/
+#define FDCAN_RXF0A_F0AI_Pos      (0U)
+#define FDCAN_RXF0A_F0AI_Msk      (0x3FUL << FDCAN_RXF0A_F0AI_Pos)             /*!< 0x0000003F */
+#define FDCAN_RXF0A_F0AI          FDCAN_RXF0A_F0AI_Msk                         /*!<Rx FIFO 0 Acknowledge Index               */
+
+/*****************  Bit definition for FDCAN_RXBC register  ********************/
+#define FDCAN_RXBC_RBSA_Pos       (2U)
+#define FDCAN_RXBC_RBSA_Msk       (0x3FFFUL << FDCAN_RXBC_RBSA_Pos)            /*!< 0x0000FFFC */
+#define FDCAN_RXBC_RBSA           FDCAN_RXBC_RBSA_Msk                          /*!<Rx Buffer Start Address                   */
+
+/*****************  Bit definition for FDCAN_RXF1C register  ********************/
+#define FDCAN_RXF1C_F1SA_Pos      (2U)
+#define FDCAN_RXF1C_F1SA_Msk      (0x3FFFUL << FDCAN_RXF1C_F1SA_Pos)           /*!< 0x0000FFFC */
+#define FDCAN_RXF1C_F1SA          FDCAN_RXF1C_F1SA_Msk                         /*!<Rx FIFO 1 Start Address                   */
+#define FDCAN_RXF1C_F1S_Pos       (16U)
+#define FDCAN_RXF1C_F1S_Msk       (0x7FUL << FDCAN_RXF1C_F1S_Pos)              /*!< 0x007F0000 */
+#define FDCAN_RXF1C_F1S           FDCAN_RXF1C_F1S_Msk                          /*!<Number of Rx FIFO 1 elements              */
+#define FDCAN_RXF1C_F1WM_Pos      (24U)
+#define FDCAN_RXF1C_F1WM_Msk      (0x7FUL << FDCAN_RXF1C_F1WM_Pos)             /*!< 0x7F000000 */
+#define FDCAN_RXF1C_F1WM          FDCAN_RXF1C_F1WM_Msk                         /*!<Rx FIFO 1 Watermark                       */
+#define FDCAN_RXF1C_F1OM_Pos      (31U)
+#define FDCAN_RXF1C_F1OM_Msk      (0x1UL << FDCAN_RXF1C_F1OM_Pos)              /*!< 0x80000000 */
+#define FDCAN_RXF1C_F1OM          FDCAN_RXF1C_F1OM_Msk                         /*!<FIFO 1 Operation Mode                     */
+
+/*****************  Bit definition for FDCAN_RXF1S register  ********************/
+#define FDCAN_RXF1S_F1FL_Pos      (0U)
+#define FDCAN_RXF1S_F1FL_Msk      (0x7FUL << FDCAN_RXF1S_F1FL_Pos)             /*!< 0x0000007F */
+#define FDCAN_RXF1S_F1FL          FDCAN_RXF1S_F1FL_Msk                         /*!<Rx FIFO 1 Fill Level                      */
+#define FDCAN_RXF1S_F1GI_Pos      (8U)
+#define FDCAN_RXF1S_F1GI_Msk      (0x3FUL << FDCAN_RXF1S_F1GI_Pos)             /*!< 0x00003F00 */
+#define FDCAN_RXF1S_F1GI          FDCAN_RXF1S_F1GI_Msk                         /*!<Rx FIFO 1 Get Index                       */
+#define FDCAN_RXF1S_F1PI_Pos      (16U)
+#define FDCAN_RXF1S_F1PI_Msk      (0x3FUL << FDCAN_RXF1S_F1PI_Pos)             /*!< 0x003F0000 */
+#define FDCAN_RXF1S_F1PI          FDCAN_RXF1S_F1PI_Msk                         /*!<Rx FIFO 1 Put Index                       */
+#define FDCAN_RXF1S_F1F_Pos       (24U)
+#define FDCAN_RXF1S_F1F_Msk       (0x1UL << FDCAN_RXF1S_F1F_Pos)               /*!< 0x01000000 */
+#define FDCAN_RXF1S_F1F           FDCAN_RXF1S_F1F_Msk                          /*!<Rx FIFO 1 Full                            */
+#define FDCAN_RXF1S_RF1L_Pos      (25U)
+#define FDCAN_RXF1S_RF1L_Msk      (0x1UL << FDCAN_RXF1S_RF1L_Pos)              /*!< 0x02000000 */
+#define FDCAN_RXF1S_RF1L          FDCAN_RXF1S_RF1L_Msk                         /*!<Rx FIFO 1 Message Lost                    */
+
+/*****************  Bit definition for FDCAN_RXF1A register  ********************/
+#define FDCAN_RXF1A_F1AI_Pos      (0U)
+#define FDCAN_RXF1A_F1AI_Msk      (0x3FUL << FDCAN_RXF1A_F1AI_Pos)             /*!< 0x0000003F */
+#define FDCAN_RXF1A_F1AI          FDCAN_RXF1A_F1AI_Msk                         /*!<Rx FIFO 1 Acknowledge Index               */
+
+/*****************  Bit definition for FDCAN_RXESC register  ********************/
+#define FDCAN_RXESC_F0DS_Pos      (0U)
+#define FDCAN_RXESC_F0DS_Msk      (0x7UL << FDCAN_RXESC_F0DS_Pos)              /*!< 0x00000007 */
+#define FDCAN_RXESC_F0DS          FDCAN_RXESC_F0DS_Msk                         /*!<Rx FIFO 1 Data Field Size                 */
+#define FDCAN_RXESC_F1DS_Pos      (4U)
+#define FDCAN_RXESC_F1DS_Msk      (0x7UL << FDCAN_RXESC_F1DS_Pos)              /*!< 0x00000070 */
+#define FDCAN_RXESC_F1DS          FDCAN_RXESC_F1DS_Msk                         /*!<Rx FIFO 0 Data Field Size                 */
+#define FDCAN_RXESC_RBDS_Pos      (8U)
+#define FDCAN_RXESC_RBDS_Msk      (0x7UL << FDCAN_RXESC_RBDS_Pos)              /*!< 0x00000700 */
+#define FDCAN_RXESC_RBDS          FDCAN_RXESC_RBDS_Msk                         /*!<Rx Buffer Data Field Size                 */
+
+/*****************  Bit definition for FDCAN_TXBC register  *********************/
+#define FDCAN_TXBC_TBSA_Pos       (2U)
+#define FDCAN_TXBC_TBSA_Msk       (0x3FFFUL << FDCAN_TXBC_TBSA_Pos)            /*!< 0x0000FFFC */
+#define FDCAN_TXBC_TBSA           FDCAN_TXBC_TBSA_Msk                          /*!<Tx Buffers Start Address                  */
+#define FDCAN_TXBC_NDTB_Pos       (16U)
+#define FDCAN_TXBC_NDTB_Msk       (0x3FUL << FDCAN_TXBC_NDTB_Pos)              /*!< 0x003F0000 */
+#define FDCAN_TXBC_NDTB           FDCAN_TXBC_NDTB_Msk                          /*!<Number of Dedicated Transmit Buffers      */
+#define FDCAN_TXBC_TFQS_Pos       (24U)
+#define FDCAN_TXBC_TFQS_Msk       (0x3FUL << FDCAN_TXBC_TFQS_Pos)              /*!< 0x3F000000 */
+#define FDCAN_TXBC_TFQS           FDCAN_TXBC_TFQS_Msk                          /*!<Transmit FIFO/Queue Size                  */
+#define FDCAN_TXBC_TFQM_Pos       (30U)
+#define FDCAN_TXBC_TFQM_Msk       (0x1UL << FDCAN_TXBC_TFQM_Pos)               /*!< 0x40000000 */
+#define FDCAN_TXBC_TFQM           FDCAN_TXBC_TFQM_Msk                          /*!<Tx FIFO/Queue Mode                        */
+
+/*****************  Bit definition for FDCAN_TXFQS register  *********************/
+#define FDCAN_TXFQS_TFFL_Pos      (0U)
+#define FDCAN_TXFQS_TFFL_Msk      (0x3FUL << FDCAN_TXFQS_TFFL_Pos)             /*!< 0x0000003F */
+#define FDCAN_TXFQS_TFFL          FDCAN_TXFQS_TFFL_Msk                         /*!<Tx FIFO Free Level                        */
+#define FDCAN_TXFQS_TFGI_Pos      (8U)
+#define FDCAN_TXFQS_TFGI_Msk      (0x1FUL << FDCAN_TXFQS_TFGI_Pos)             /*!< 0x00001F00 */
+#define FDCAN_TXFQS_TFGI          FDCAN_TXFQS_TFGI_Msk                         /*!<Tx FIFO Get Index                         */
+#define FDCAN_TXFQS_TFQPI_Pos     (16U)
+#define FDCAN_TXFQS_TFQPI_Msk     (0x1FUL << FDCAN_TXFQS_TFQPI_Pos)            /*!< 0x001F0000 */
+#define FDCAN_TXFQS_TFQPI         FDCAN_TXFQS_TFQPI_Msk                        /*!<Tx FIFO/Queue Put Index                   */
+#define FDCAN_TXFQS_TFQF_Pos      (21U)
+#define FDCAN_TXFQS_TFQF_Msk      (0x1UL << FDCAN_TXFQS_TFQF_Pos)              /*!< 0x00200000 */
+#define FDCAN_TXFQS_TFQF          FDCAN_TXFQS_TFQF_Msk                         /*!<Tx FIFO/Queue Full                        */
+
+/*****************  Bit definition for FDCAN_TXESC register  *********************/
+#define FDCAN_TXESC_TBDS_Pos      (0U)
+#define FDCAN_TXESC_TBDS_Msk      (0x7UL << FDCAN_TXESC_TBDS_Pos)              /*!< 0x00000007 */
+#define FDCAN_TXESC_TBDS          FDCAN_TXESC_TBDS_Msk                         /*!<Tx Buffer Data Field Size                 */
+
+/*****************  Bit definition for FDCAN_TXBRP register  *********************/
+#define FDCAN_TXBRP_TRP_Pos       (0U)
+#define FDCAN_TXBRP_TRP_Msk       (0xFFFFFFFFUL << FDCAN_TXBRP_TRP_Pos)        /*!< 0xFFFFFFFF */
+#define FDCAN_TXBRP_TRP           FDCAN_TXBRP_TRP_Msk                          /*!<Transmission Request Pending              */
+
+/*****************  Bit definition for FDCAN_TXBAR register  *********************/
+#define FDCAN_TXBAR_AR_Pos        (0U)
+#define FDCAN_TXBAR_AR_Msk        (0xFFFFFFFFUL << FDCAN_TXBAR_AR_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_TXBAR_AR            FDCAN_TXBAR_AR_Msk                           /*!<Add Request                               */
+
+/*****************  Bit definition for FDCAN_TXBCR register  *********************/
+#define FDCAN_TXBCR_CR_Pos        (0U)
+#define FDCAN_TXBCR_CR_Msk        (0xFFFFFFFFUL << FDCAN_TXBCR_CR_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_TXBCR_CR            FDCAN_TXBCR_CR_Msk                           /*!<Cancellation Request                      */
+
+/*****************  Bit definition for FDCAN_TXBTO register  *********************/
+#define FDCAN_TXBTO_TO_Pos        (0U)
+#define FDCAN_TXBTO_TO_Msk        (0xFFFFFFFFUL << FDCAN_TXBTO_TO_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_TXBTO_TO            FDCAN_TXBTO_TO_Msk                           /*!<Transmission Occurred                     */
+
+/*****************  Bit definition for FDCAN_TXBCF register  *********************/
+#define FDCAN_TXBCF_CF_Pos        (0U)
+#define FDCAN_TXBCF_CF_Msk        (0xFFFFFFFFUL << FDCAN_TXBCF_CF_Pos)         /*!< 0xFFFFFFFF */
+#define FDCAN_TXBCF_CF            FDCAN_TXBCF_CF_Msk                           /*!<Cancellation Finished                     */
+
+/*****************  Bit definition for FDCAN_TXBTIE register  ********************/
+#define FDCAN_TXBTIE_TIE_Pos      (0U)
+#define FDCAN_TXBTIE_TIE_Msk      (0xFFFFFFFFUL << FDCAN_TXBTIE_TIE_Pos)       /*!< 0xFFFFFFFF */
+#define FDCAN_TXBTIE_TIE          FDCAN_TXBTIE_TIE_Msk                         /*!<Transmission Interrupt Enable             */
+
+/*****************  Bit definition for FDCAN_ TXBCIE register  *******************/
+#define FDCAN_TXBCIE_CFIE_Pos     (0U)
+#define FDCAN_TXBCIE_CFIE_Msk     (0xFFFFFFFFUL << FDCAN_TXBCIE_CFIE_Pos)      /*!< 0xFFFFFFFF */
+#define FDCAN_TXBCIE_CFIE         FDCAN_TXBCIE_CFIE_Msk                        /*!<Cancellation Finished Interrupt Enable    */
+
+/*****************  Bit definition for FDCAN_TXEFC register  *********************/
+#define FDCAN_TXEFC_EFSA_Pos      (2U)
+#define FDCAN_TXEFC_EFSA_Msk      (0x3FFFUL << FDCAN_TXEFC_EFSA_Pos)           /*!< 0x0000FFFC */
+#define FDCAN_TXEFC_EFSA          FDCAN_TXEFC_EFSA_Msk                         /*!<Event FIFO Start Address                  */
+#define FDCAN_TXEFC_EFS_Pos       (16U)
+#define FDCAN_TXEFC_EFS_Msk       (0x3FUL << FDCAN_TXEFC_EFS_Pos)              /*!< 0x003F0000 */
+#define FDCAN_TXEFC_EFS           FDCAN_TXEFC_EFS_Msk                          /*!<Event FIFO Size                           */
+#define FDCAN_TXEFC_EFWM_Pos      (24U)
+#define FDCAN_TXEFC_EFWM_Msk      (0x3FUL << FDCAN_TXEFC_EFWM_Pos)             /*!< 0x3F000000 */
+#define FDCAN_TXEFC_EFWM          FDCAN_TXEFC_EFWM_Msk                         /*!<Event FIFO Watermark                      */
+
+/*****************  Bit definition for FDCAN_TXEFS register  *********************/
+#define FDCAN_TXEFS_EFFL_Pos      (0U)
+#define FDCAN_TXEFS_EFFL_Msk      (0x3FUL << FDCAN_TXEFS_EFFL_Pos)             /*!< 0x0000003F */
+#define FDCAN_TXEFS_EFFL          FDCAN_TXEFS_EFFL_Msk                         /*!<Event FIFO Fill Level                     */
+#define FDCAN_TXEFS_EFGI_Pos      (8U)
+#define FDCAN_TXEFS_EFGI_Msk      (0x1FUL << FDCAN_TXEFS_EFGI_Pos)             /*!< 0x00001F00 */
+#define FDCAN_TXEFS_EFGI          FDCAN_TXEFS_EFGI_Msk                         /*!<Event FIFO Get Index                      */
+#define FDCAN_TXEFS_EFPI_Pos      (16U)
+#define FDCAN_TXEFS_EFPI_Msk      (0x1FUL << FDCAN_TXEFS_EFPI_Pos)             /*!< 0x001F0000 */
+#define FDCAN_TXEFS_EFPI          FDCAN_TXEFS_EFPI_Msk                         /*!<Event FIFO Put Index                      */
+#define FDCAN_TXEFS_EFF_Pos       (24U)
+#define FDCAN_TXEFS_EFF_Msk       (0x1UL << FDCAN_TXEFS_EFF_Pos)               /*!< 0x01000000 */
+#define FDCAN_TXEFS_EFF           FDCAN_TXEFS_EFF_Msk                          /*!<Event FIFO Full                           */
+#define FDCAN_TXEFS_TEFL_Pos      (25U)
+#define FDCAN_TXEFS_TEFL_Msk      (0x1UL << FDCAN_TXEFS_TEFL_Pos)              /*!< 0x02000000 */
+#define FDCAN_TXEFS_TEFL          FDCAN_TXEFS_TEFL_Msk                         /*!<Tx Event FIFO Element Lost                */
+
+/*****************  Bit definition for FDCAN_TXEFA register  *********************/
+#define FDCAN_TXEFA_EFAI_Pos      (0U)
+#define FDCAN_TXEFA_EFAI_Msk      (0x1FUL << FDCAN_TXEFA_EFAI_Pos)             /*!< 0x0000001F */
+#define FDCAN_TXEFA_EFAI          FDCAN_TXEFA_EFAI_Msk                         /*!<Event FIFO Acknowledge Index              */
+
+/*****************  Bit definition for FDCAN_TTTMC register  *********************/
+#define FDCAN_TTTMC_TMSA_Pos      (2U)
+#define FDCAN_TTTMC_TMSA_Msk      (0x3FFFUL << FDCAN_TTTMC_TMSA_Pos)           /*!< 0x0000FFFC */
+#define FDCAN_TTTMC_TMSA          FDCAN_TTTMC_TMSA_Msk                         /*!<Trigger Memory Start Address              */
+#define FDCAN_TTTMC_TME_Pos       (16U)
+#define FDCAN_TTTMC_TME_Msk       (0x7FUL << FDCAN_TTTMC_TME_Pos)              /*!< 0x007F0000 */
+#define FDCAN_TTTMC_TME           FDCAN_TTTMC_TME_Msk                          /*!<Trigger Memory Elements                   */
+
+/*****************  Bit definition for FDCAN_TTRMC register  *********************/
+#define FDCAN_TTRMC_RID_Pos       (0U)
+#define FDCAN_TTRMC_RID_Msk       (0x1FFFFFFFUL << FDCAN_TTRMC_RID_Pos)        /*!< 0x1FFFFFFF */
+#define FDCAN_TTRMC_RID           FDCAN_TTRMC_RID_Msk                          /*!<Reference Identifier                      */
+#define FDCAN_TTRMC_XTD_Pos       (30U)
+#define FDCAN_TTRMC_XTD_Msk       (0x1UL << FDCAN_TTRMC_XTD_Pos)               /*!< 0x40000000 */
+#define FDCAN_TTRMC_XTD           FDCAN_TTRMC_XTD_Msk                          /*!< Extended Identifier                      */
+#define FDCAN_TTRMC_RMPS_Pos      (31U)
+#define FDCAN_TTRMC_RMPS_Msk      (0x1UL << FDCAN_TTRMC_RMPS_Pos)              /*!< 0x80000000 */
+#define FDCAN_TTRMC_RMPS          FDCAN_TTRMC_RMPS_Msk                         /*!<Reference Message Payload Select          */
+
+/*****************  Bit definition for FDCAN_TTOCF register  *********************/
+#define FDCAN_TTOCF_OM_Pos        (0U)
+#define FDCAN_TTOCF_OM_Msk        (0x3UL << FDCAN_TTOCF_OM_Pos)                /*!< 0x00000003 */
+#define FDCAN_TTOCF_OM            FDCAN_TTOCF_OM_Msk                           /*!<Operation Mode                            */
+#define FDCAN_TTOCF_GEN_Pos       (3U)
+#define FDCAN_TTOCF_GEN_Msk       (0x1UL << FDCAN_TTOCF_GEN_Pos)               /*!< 0x00000008 */
+#define FDCAN_TTOCF_GEN           FDCAN_TTOCF_GEN_Msk                          /*!<Gap Enable                                */
+#define FDCAN_TTOCF_TM_Pos        (4U)
+#define FDCAN_TTOCF_TM_Msk        (0x1UL << FDCAN_TTOCF_TM_Pos)                /*!< 0x00000010 */
+#define FDCAN_TTOCF_TM            FDCAN_TTOCF_TM_Msk                           /*!<Time Master                               */
+#define FDCAN_TTOCF_LDSDL_Pos     (5U)
+#define FDCAN_TTOCF_LDSDL_Msk     (0x7UL << FDCAN_TTOCF_LDSDL_Pos)             /*!< 0x000000E0 */
+#define FDCAN_TTOCF_LDSDL         FDCAN_TTOCF_LDSDL_Msk                        /*!<LD of Synchronization Deviation Limit     */
+#define FDCAN_TTOCF_IRTO_Pos      (8U)
+#define FDCAN_TTOCF_IRTO_Msk      (0x7FUL << FDCAN_TTOCF_IRTO_Pos)             /*!< 0x00007F00 */
+#define FDCAN_TTOCF_IRTO          FDCAN_TTOCF_IRTO_Msk                         /*!<Initial Reference Trigger Offset          */
+#define FDCAN_TTOCF_EECS_Pos      (15U)
+#define FDCAN_TTOCF_EECS_Msk      (0x1UL << FDCAN_TTOCF_EECS_Pos)              /*!< 0x00008000 */
+#define FDCAN_TTOCF_EECS          FDCAN_TTOCF_EECS_Msk                         /*!<Enable External Clock Synchronization     */
+#define FDCAN_TTOCF_AWL_Pos       (16U)
+#define FDCAN_TTOCF_AWL_Msk       (0xFFUL << FDCAN_TTOCF_AWL_Pos)              /*!< 0x00FF0000 */
+#define FDCAN_TTOCF_AWL           FDCAN_TTOCF_AWL_Msk                          /*!<Application Watchdog Limit                */
+#define FDCAN_TTOCF_EGTF_Pos      (24U)
+#define FDCAN_TTOCF_EGTF_Msk      (0x1UL << FDCAN_TTOCF_EGTF_Pos)              /*!< 0x01000000 */
+#define FDCAN_TTOCF_EGTF          FDCAN_TTOCF_EGTF_Msk                         /*!<Enable Global Time Filtering              */
+#define FDCAN_TTOCF_ECC_Pos       (25U)
+#define FDCAN_TTOCF_ECC_Msk       (0x1UL << FDCAN_TTOCF_ECC_Pos)               /*!< 0x02000000 */
+#define FDCAN_TTOCF_ECC           FDCAN_TTOCF_ECC_Msk                          /*!<Enable Clock Calibration                  */
+#define FDCAN_TTOCF_EVTP_Pos      (26U)
+#define FDCAN_TTOCF_EVTP_Msk      (0x1UL << FDCAN_TTOCF_EVTP_Pos)              /*!< 0x04000000 */
+#define FDCAN_TTOCF_EVTP          FDCAN_TTOCF_EVTP_Msk                         /*!<Event Trigger Polarity                    */
+
+/*****************  Bit definition for FDCAN_TTMLM register  *********************/
+#define FDCAN_TTMLM_CCM_Pos       (0U)
+#define FDCAN_TTMLM_CCM_Msk       (0x3FUL << FDCAN_TTMLM_CCM_Pos)              /*!< 0x0000003F */
+#define FDCAN_TTMLM_CCM           FDCAN_TTMLM_CCM_Msk                          /*!<Cycle Count Max                           */
+#define FDCAN_TTMLM_CSS_Pos       (6U)
+#define FDCAN_TTMLM_CSS_Msk       (0x3UL << FDCAN_TTMLM_CSS_Pos)               /*!< 0x000000C0 */
+#define FDCAN_TTMLM_CSS           FDCAN_TTMLM_CSS_Msk                          /*!<Cycle Start Synchronization               */
+#define FDCAN_TTMLM_TXEW_Pos      (8U)
+#define FDCAN_TTMLM_TXEW_Msk      (0xFUL << FDCAN_TTMLM_TXEW_Pos)              /*!< 0x00000F00 */
+#define FDCAN_TTMLM_TXEW          FDCAN_TTMLM_TXEW_Msk                         /*!<Tx Enable Window                          */
+#define FDCAN_TTMLM_ENTT_Pos      (16U)
+#define FDCAN_TTMLM_ENTT_Msk      (0xFFFUL << FDCAN_TTMLM_ENTT_Pos)            /*!< 0x0FFF0000 */
+#define FDCAN_TTMLM_ENTT          FDCAN_TTMLM_ENTT_Msk                         /*!<Expected Number of Tx Triggers            */
+
+/*****************  Bit definition for FDCAN_TURCF register  *********************/
+#define FDCAN_TURCF_NCL_Pos       (0U)
+#define FDCAN_TURCF_NCL_Msk       (0xFFFFUL << FDCAN_TURCF_NCL_Pos)            /*!< 0x0000FFFF */
+#define FDCAN_TURCF_NCL           FDCAN_TURCF_NCL_Msk                          /*!<Numerator Configuration Low               */
+#define FDCAN_TURCF_DC_Pos        (16U)
+#define FDCAN_TURCF_DC_Msk        (0x3FFFUL << FDCAN_TURCF_DC_Pos)             /*!< 0x3FFF0000 */
+#define FDCAN_TURCF_DC            FDCAN_TURCF_DC_Msk                           /*!<Denominator Configuration                 */
+#define FDCAN_TURCF_ELT_Pos       (31U)
+#define FDCAN_TURCF_ELT_Msk       (0x1UL << FDCAN_TURCF_ELT_Pos)               /*!< 0x80000000 */
+#define FDCAN_TURCF_ELT           FDCAN_TURCF_ELT_Msk                          /*!<Enable Local Time                         */
+
+/*****************  Bit definition for FDCAN_TTOCN register  ********************/
+#define FDCAN_TTOCN_SGT_Pos       (0U)
+#define FDCAN_TTOCN_SGT_Msk       (0x1UL << FDCAN_TTOCN_SGT_Pos)               /*!< 0x00000001 */
+#define FDCAN_TTOCN_SGT           FDCAN_TTOCN_SGT_Msk                          /*!<Set Global time                           */
+#define FDCAN_TTOCN_ECS_Pos       (1U)
+#define FDCAN_TTOCN_ECS_Msk       (0x1UL << FDCAN_TTOCN_ECS_Pos)               /*!< 0x00000002 */
+#define FDCAN_TTOCN_ECS           FDCAN_TTOCN_ECS_Msk                          /*!<External Clock Synchronization            */
+#define FDCAN_TTOCN_SWP_Pos       (2U)
+#define FDCAN_TTOCN_SWP_Msk       (0x1UL << FDCAN_TTOCN_SWP_Pos)               /*!< 0x00000004 */
+#define FDCAN_TTOCN_SWP           FDCAN_TTOCN_SWP_Msk                          /*!<Stop Watch Polarity                       */
+#define FDCAN_TTOCN_SWS_Pos       (3U)
+#define FDCAN_TTOCN_SWS_Msk       (0x3UL << FDCAN_TTOCN_SWS_Pos)               /*!< 0x00000018 */
+#define FDCAN_TTOCN_SWS           FDCAN_TTOCN_SWS_Msk                          /*!<Stop Watch Source                         */
+#define FDCAN_TTOCN_RTIE_Pos      (5U)
+#define FDCAN_TTOCN_RTIE_Msk      (0x1UL << FDCAN_TTOCN_RTIE_Pos)              /*!< 0x00000020 */
+#define FDCAN_TTOCN_RTIE          FDCAN_TTOCN_RTIE_Msk                         /*!<Register Time Mark Interrupt Pulse Enable */
+#define FDCAN_TTOCN_TMC_Pos       (6U)
+#define FDCAN_TTOCN_TMC_Msk       (0x3UL << FDCAN_TTOCN_TMC_Pos)               /*!< 0x000000C0 */
+#define FDCAN_TTOCN_TMC           FDCAN_TTOCN_TMC_Msk                          /*!<Register Time Mark Compare                */
+#define FDCAN_TTOCN_TTIE_Pos      (8U)
+#define FDCAN_TTOCN_TTIE_Msk      (0x1UL << FDCAN_TTOCN_TTIE_Pos)              /*!< 0x00000100 */
+#define FDCAN_TTOCN_TTIE          FDCAN_TTOCN_TTIE_Msk                         /*!<Trigger Time Mark Interrupt Pulse Enable  */
+#define FDCAN_TTOCN_GCS_Pos       (9U)
+#define FDCAN_TTOCN_GCS_Msk       (0x1UL << FDCAN_TTOCN_GCS_Pos)               /*!< 0x00000200 */
+#define FDCAN_TTOCN_GCS           FDCAN_TTOCN_GCS_Msk                          /*!<Gap Control Select                        */
+#define FDCAN_TTOCN_FGP_Pos       (10U)
+#define FDCAN_TTOCN_FGP_Msk       (0x1UL << FDCAN_TTOCN_FGP_Pos)               /*!< 0x00000400 */
+#define FDCAN_TTOCN_FGP           FDCAN_TTOCN_FGP_Msk                          /*!<Finish Gap                                */
+#define FDCAN_TTOCN_TMG_Pos       (11U)
+#define FDCAN_TTOCN_TMG_Msk       (0x1UL << FDCAN_TTOCN_TMG_Pos)               /*!< 0x00000800 */
+#define FDCAN_TTOCN_TMG           FDCAN_TTOCN_TMG_Msk                          /*!<Time Mark Gap                             */
+#define FDCAN_TTOCN_NIG_Pos       (12U)
+#define FDCAN_TTOCN_NIG_Msk       (0x1UL << FDCAN_TTOCN_NIG_Pos)               /*!< 0x00001000 */
+#define FDCAN_TTOCN_NIG           FDCAN_TTOCN_NIG_Msk                          /*!<Next is Gap                               */
+#define FDCAN_TTOCN_ESCN_Pos      (13U)
+#define FDCAN_TTOCN_ESCN_Msk      (0x1UL << FDCAN_TTOCN_ESCN_Pos)              /*!< 0x00002000 */
+#define FDCAN_TTOCN_ESCN          FDCAN_TTOCN_ESCN_Msk                         /*!<External Synchronization Control          */
+#define FDCAN_TTOCN_LCKC_Pos      (15U)
+#define FDCAN_TTOCN_LCKC_Msk      (0x1UL << FDCAN_TTOCN_LCKC_Pos)              /*!< 0x00008000 */
+#define FDCAN_TTOCN_LCKC          FDCAN_TTOCN_LCKC_Msk                         /*!<TT Operation Control Register Locked      */
+
+/*****************  Bit definition for FDCAN_TTGTP register  ********************/
+#define FDCAN_TTGTP_TP_Pos        (0U)
+#define FDCAN_TTGTP_TP_Msk        (0xFFFFUL << FDCAN_TTGTP_TP_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TTGTP_TP            FDCAN_TTGTP_TP_Msk                           /*!<Time Preset                               */
+#define FDCAN_TTGTP_CTP_Pos       (16U)
+#define FDCAN_TTGTP_CTP_Msk       (0xFFFFUL << FDCAN_TTGTP_CTP_Pos)            /*!< 0xFFFF0000 */
+#define FDCAN_TTGTP_CTP           FDCAN_TTGTP_CTP_Msk                          /*!<Cycle Time Target Phase                   */
+
+/*****************  Bit definition for FDCAN_TTTMK register  ********************/
+#define FDCAN_TTTMK_TM_Pos        (0U)
+#define FDCAN_TTTMK_TM_Msk        (0xFFFFUL << FDCAN_TTTMK_TM_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TTTMK_TM            FDCAN_TTTMK_TM_Msk                           /*!<Time Mark                                 */
+#define FDCAN_TTTMK_TICC_Pos      (16U)
+#define FDCAN_TTTMK_TICC_Msk      (0x7FUL << FDCAN_TTTMK_TICC_Pos)             /*!< 0x007F0000 */
+#define FDCAN_TTTMK_TICC          FDCAN_TTTMK_TICC_Msk                         /*!<Time Mark Cycle Code                      */
+#define FDCAN_TTTMK_LCKM_Pos      (31U)
+#define FDCAN_TTTMK_LCKM_Msk      (0x1UL << FDCAN_TTTMK_LCKM_Pos)              /*!< 0x80000000 */
+#define FDCAN_TTTMK_LCKM          FDCAN_TTTMK_LCKM_Msk                         /*!<TT Time Mark Register Locked              */
+
+/*****************  Bit definition for FDCAN_TTIR register  ********************/
+#define FDCAN_TTIR_SBC_Pos        (0U)
+#define FDCAN_TTIR_SBC_Msk        (0x1UL << FDCAN_TTIR_SBC_Pos)                /*!< 0x00000001 */
+#define FDCAN_TTIR_SBC            FDCAN_TTIR_SBC_Msk                           /*!<Start of Basic Cycle                      */
+#define FDCAN_TTIR_SMC_Pos        (1U)
+#define FDCAN_TTIR_SMC_Msk        (0x1UL << FDCAN_TTIR_SMC_Pos)                /*!< 0x00000002 */
+#define FDCAN_TTIR_SMC            FDCAN_TTIR_SMC_Msk                           /*!<Start of Matrix Cycle                     */
+#define FDCAN_TTIR_CSM_Pos        (2U)
+#define FDCAN_TTIR_CSM_Msk        (0x1UL << FDCAN_TTIR_CSM_Pos)                /*!< 0x00000004 */
+#define FDCAN_TTIR_CSM            FDCAN_TTIR_CSM_Msk                           /*!<Change of Synchronization Mode            */
+#define FDCAN_TTIR_SOG_Pos        (3U)
+#define FDCAN_TTIR_SOG_Msk        (0x1UL << FDCAN_TTIR_SOG_Pos)                /*!< 0x00000008 */
+#define FDCAN_TTIR_SOG            FDCAN_TTIR_SOG_Msk                           /*!<Start of Gap                              */
+#define FDCAN_TTIR_RTMI_Pos       (4U)
+#define FDCAN_TTIR_RTMI_Msk       (0x1UL << FDCAN_TTIR_RTMI_Pos)               /*!< 0x00000010 */
+#define FDCAN_TTIR_RTMI           FDCAN_TTIR_RTMI_Msk                          /*!<Register Time Mark Interrupt              */
+#define FDCAN_TTIR_TTMI_Pos       (5U)
+#define FDCAN_TTIR_TTMI_Msk       (0x1UL << FDCAN_TTIR_TTMI_Pos)               /*!< 0x00000020 */
+#define FDCAN_TTIR_TTMI           FDCAN_TTIR_TTMI_Msk                          /*!<Trigger Time Mark Event Internal          */
+#define FDCAN_TTIR_SWE_Pos        (6U)
+#define FDCAN_TTIR_SWE_Msk        (0x1UL << FDCAN_TTIR_SWE_Pos)                /*!< 0x00000040 */
+#define FDCAN_TTIR_SWE            FDCAN_TTIR_SWE_Msk                           /*!<Stop Watch Event                          */
+#define FDCAN_TTIR_GTW_Pos        (7U)
+#define FDCAN_TTIR_GTW_Msk        (0x1UL << FDCAN_TTIR_GTW_Pos)                /*!< 0x00000080 */
+#define FDCAN_TTIR_GTW            FDCAN_TTIR_GTW_Msk                           /*!<Global Time Wrap                          */
+#define FDCAN_TTIR_GTD_Pos        (8U)
+#define FDCAN_TTIR_GTD_Msk        (0x1UL << FDCAN_TTIR_GTD_Pos)                /*!< 0x00000100 */
+#define FDCAN_TTIR_GTD            FDCAN_TTIR_GTD_Msk                           /*!<Global Time Discontinuity                 */
+#define FDCAN_TTIR_GTE_Pos        (9U)
+#define FDCAN_TTIR_GTE_Msk        (0x1UL << FDCAN_TTIR_GTE_Pos)                /*!< 0x00000200 */
+#define FDCAN_TTIR_GTE            FDCAN_TTIR_GTE_Msk                           /*!<Global Time Error                         */
+#define FDCAN_TTIR_TXU_Pos        (10U)
+#define FDCAN_TTIR_TXU_Msk        (0x1UL << FDCAN_TTIR_TXU_Pos)                /*!< 0x00000400 */
+#define FDCAN_TTIR_TXU            FDCAN_TTIR_TXU_Msk                           /*!<Tx Count Underflow                        */
+#define FDCAN_TTIR_TXO_Pos        (11U)
+#define FDCAN_TTIR_TXO_Msk        (0x1UL << FDCAN_TTIR_TXO_Pos)                /*!< 0x00000800 */
+#define FDCAN_TTIR_TXO            FDCAN_TTIR_TXO_Msk                           /*!<Tx Count Overflow                         */
+#define FDCAN_TTIR_SE1_Pos        (12U)
+#define FDCAN_TTIR_SE1_Msk        (0x1UL << FDCAN_TTIR_SE1_Pos)                /*!< 0x00001000 */
+#define FDCAN_TTIR_SE1            FDCAN_TTIR_SE1_Msk                           /*!<Scheduling Error 1                        */
+#define FDCAN_TTIR_SE2_Pos        (13U)
+#define FDCAN_TTIR_SE2_Msk        (0x1UL << FDCAN_TTIR_SE2_Pos)                /*!< 0x00002000 */
+#define FDCAN_TTIR_SE2            FDCAN_TTIR_SE2_Msk                           /*!<Scheduling Error 2                        */
+#define FDCAN_TTIR_ELC_Pos        (14U)
+#define FDCAN_TTIR_ELC_Msk        (0x1UL << FDCAN_TTIR_ELC_Pos)                /*!< 0x00004000 */
+#define FDCAN_TTIR_ELC            FDCAN_TTIR_ELC_Msk                           /*!<Error Level Changed                       */
+#define FDCAN_TTIR_IWT_Pos        (15U)
+#define FDCAN_TTIR_IWT_Msk        (0x1UL << FDCAN_TTIR_IWT_Pos)                /*!< 0x00008000 */
+#define FDCAN_TTIR_IWT            FDCAN_TTIR_IWT_Msk                           /*!<Initialization Watch Trigger              */
+#define FDCAN_TTIR_WT_Pos         (16U)
+#define FDCAN_TTIR_WT_Msk         (0x1UL << FDCAN_TTIR_WT_Pos)                 /*!< 0x00010000 */
+#define FDCAN_TTIR_WT             FDCAN_TTIR_WT_Msk                            /*!<Watch Trigger                             */
+#define FDCAN_TTIR_AW_Pos         (17U)
+#define FDCAN_TTIR_AW_Msk         (0x1UL << FDCAN_TTIR_AW_Pos)                 /*!< 0x00020000 */
+#define FDCAN_TTIR_AW             FDCAN_TTIR_AW_Msk                            /*!<Application Watchdog                      */
+#define FDCAN_TTIR_CER_Pos        (18U)
+#define FDCAN_TTIR_CER_Msk        (0x1UL << FDCAN_TTIR_CER_Pos)                /*!< 0x00040000 */
+#define FDCAN_TTIR_CER            FDCAN_TTIR_CER_Msk                           /*!<Configuration Error                       */
+
+/*****************  Bit definition for FDCAN_TTIE register  ********************/
+#define FDCAN_TTIE_SBCE_Pos       (0U)
+#define FDCAN_TTIE_SBCE_Msk       (0x1UL << FDCAN_TTIE_SBCE_Pos)               /*!< 0x00000001 */
+#define FDCAN_TTIE_SBCE           FDCAN_TTIE_SBCE_Msk                          /*!<Start of Basic Cycle Interrupt Enable             */
+#define FDCAN_TTIE_SMCE_Pos       (1U)
+#define FDCAN_TTIE_SMCE_Msk       (0x1UL << FDCAN_TTIE_SMCE_Pos)               /*!< 0x00000002 */
+#define FDCAN_TTIE_SMCE           FDCAN_TTIE_SMCE_Msk                          /*!<Start of Matrix Cycle Interrupt Enable            */
+#define FDCAN_TTIE_CSME_Pos       (2U)
+#define FDCAN_TTIE_CSME_Msk       (0x1UL << FDCAN_TTIE_CSME_Pos)               /*!< 0x00000004 */
+#define FDCAN_TTIE_CSME           FDCAN_TTIE_CSME_Msk                          /*!<Change of Synchronization Mode Interrupt Enable   */
+#define FDCAN_TTIE_SOGE_Pos       (3U)
+#define FDCAN_TTIE_SOGE_Msk       (0x1UL << FDCAN_TTIE_SOGE_Pos)               /*!< 0x00000008 */
+#define FDCAN_TTIE_SOGE           FDCAN_TTIE_SOGE_Msk                          /*!<Start of Gap Interrupt Enable                     */
+#define FDCAN_TTIE_RTMIE_Pos      (4U)
+#define FDCAN_TTIE_RTMIE_Msk      (0x1UL << FDCAN_TTIE_RTMIE_Pos)              /*!< 0x00000010 */
+#define FDCAN_TTIE_RTMIE          FDCAN_TTIE_RTMIE_Msk                         /*!<Register Time Mark Interrupt Interrupt Enable     */
+#define FDCAN_TTIE_TTMIE_Pos      (5U)
+#define FDCAN_TTIE_TTMIE_Msk      (0x1UL << FDCAN_TTIE_TTMIE_Pos)              /*!< 0x00000020 */
+#define FDCAN_TTIE_TTMIE          FDCAN_TTIE_TTMIE_Msk                         /*!<Trigger Time Mark Event Internal Interrupt Enable */
+#define FDCAN_TTIE_SWEE_Pos       (6U)
+#define FDCAN_TTIE_SWEE_Msk       (0x1UL << FDCAN_TTIE_SWEE_Pos)               /*!< 0x00000040 */
+#define FDCAN_TTIE_SWEE           FDCAN_TTIE_SWEE_Msk                          /*!<Stop Watch Event Interrupt Enable                 */
+#define FDCAN_TTIE_GTWE_Pos       (7U)
+#define FDCAN_TTIE_GTWE_Msk       (0x1UL << FDCAN_TTIE_GTWE_Pos)               /*!< 0x00000080 */
+#define FDCAN_TTIE_GTWE           FDCAN_TTIE_GTWE_Msk                          /*!<Global Time Wrap Interrupt Enable                 */
+#define FDCAN_TTIE_GTDE_Pos       (8U)
+#define FDCAN_TTIE_GTDE_Msk       (0x1UL << FDCAN_TTIE_GTDE_Pos)               /*!< 0x00000100 */
+#define FDCAN_TTIE_GTDE           FDCAN_TTIE_GTDE_Msk                          /*!<Global Time Discontinuity Interrupt Enable        */
+#define FDCAN_TTIE_GTEE_Pos       (9U)
+#define FDCAN_TTIE_GTEE_Msk       (0x1UL << FDCAN_TTIE_GTEE_Pos)               /*!< 0x00000200 */
+#define FDCAN_TTIE_GTEE           FDCAN_TTIE_GTEE_Msk                          /*!<Global Time Error Interrupt Enable                */
+#define FDCAN_TTIE_TXUE_Pos       (10U)
+#define FDCAN_TTIE_TXUE_Msk       (0x1UL << FDCAN_TTIE_TXUE_Pos)               /*!< 0x00000400 */
+#define FDCAN_TTIE_TXUE           FDCAN_TTIE_TXUE_Msk                          /*!<Tx Count Underflow Interrupt Enable               */
+#define FDCAN_TTIE_TXOE_Pos       (11U)
+#define FDCAN_TTIE_TXOE_Msk       (0x1UL << FDCAN_TTIE_TXOE_Pos)               /*!< 0x00000800 */
+#define FDCAN_TTIE_TXOE           FDCAN_TTIE_TXOE_Msk                          /*!<Tx Count Overflow Interrupt Enable                */
+#define FDCAN_TTIE_SE1E_Pos       (12U)
+#define FDCAN_TTIE_SE1E_Msk       (0x1UL << FDCAN_TTIE_SE1E_Pos)               /*!< 0x00001000 */
+#define FDCAN_TTIE_SE1E           FDCAN_TTIE_SE1E_Msk                          /*!<Scheduling Error 1 Interrupt Enable               */
+#define FDCAN_TTIE_SE2E_Pos       (13U)
+#define FDCAN_TTIE_SE2E_Msk       (0x1UL << FDCAN_TTIE_SE2E_Pos)               /*!< 0x00002000 */
+#define FDCAN_TTIE_SE2E           FDCAN_TTIE_SE2E_Msk                          /*!<Scheduling Error 2 Interrupt Enable               */
+#define FDCAN_TTIE_ELCE_Pos       (14U)
+#define FDCAN_TTIE_ELCE_Msk       (0x1UL << FDCAN_TTIE_ELCE_Pos)               /*!< 0x00004000 */
+#define FDCAN_TTIE_ELCE           FDCAN_TTIE_ELCE_Msk                          /*!<Error Level Changed Interrupt Enable              */
+#define FDCAN_TTIE_IWTE_Pos       (15U)
+#define FDCAN_TTIE_IWTE_Msk       (0x1UL << FDCAN_TTIE_IWTE_Pos)               /*!< 0x00008000 */
+#define FDCAN_TTIE_IWTE           FDCAN_TTIE_IWTE_Msk                          /*!<Initialization Watch Trigger Interrupt Enable     */
+#define FDCAN_TTIE_WTE_Pos        (16U)
+#define FDCAN_TTIE_WTE_Msk        (0x1UL << FDCAN_TTIE_WTE_Pos)                /*!< 0x00010000 */
+#define FDCAN_TTIE_WTE            FDCAN_TTIE_WTE_Msk                           /*!<Watch Trigger Interrupt Enable                    */
+#define FDCAN_TTIE_AWE_Pos        (17U)
+#define FDCAN_TTIE_AWE_Msk        (0x1UL << FDCAN_TTIE_AWE_Pos)                /*!< 0x00020000 */
+#define FDCAN_TTIE_AWE            FDCAN_TTIE_AWE_Msk                           /*!<Application Watchdog Interrupt Enable             */
+#define FDCAN_TTIE_CERE_Pos       (18U)
+#define FDCAN_TTIE_CERE_Msk       (0x1UL << FDCAN_TTIE_CERE_Pos)               /*!< 0x00040000 */
+#define FDCAN_TTIE_CERE           FDCAN_TTIE_CERE_Msk                          /*!<Configuration Error Interrupt Enable              */
+
+/*****************  Bit definition for FDCAN_TTILS register  ********************/
+#define FDCAN_TTILS_SBCS_Pos      (0U)
+#define FDCAN_TTILS_SBCS_Msk      (0x1UL << FDCAN_TTILS_SBCS_Pos)              /*!< 0x00000001 */
+#define FDCAN_TTILS_SBCS          FDCAN_TTILS_SBCS_Msk                         /*!<Start of Basic Cycle Interrupt Line               */
+#define FDCAN_TTILS_SMCS_Pos      (1U)
+#define FDCAN_TTILS_SMCS_Msk      (0x1UL << FDCAN_TTILS_SMCS_Pos)              /*!< 0x00000002 */
+#define FDCAN_TTILS_SMCS          FDCAN_TTILS_SMCS_Msk                         /*!<Start of Matrix Cycle Interrupt Line              */
+#define FDCAN_TTILS_CSMS_Pos      (2U)
+#define FDCAN_TTILS_CSMS_Msk      (0x1UL << FDCAN_TTILS_CSMS_Pos)              /*!< 0x00000004 */
+#define FDCAN_TTILS_CSMS          FDCAN_TTILS_CSMS_Msk                         /*!<Change of Synchronization Mode Interrupt Line     */
+#define FDCAN_TTILS_SOGS_Pos      (3U)
+#define FDCAN_TTILS_SOGS_Msk      (0x1UL << FDCAN_TTILS_SOGS_Pos)              /*!< 0x00000008 */
+#define FDCAN_TTILS_SOGS          FDCAN_TTILS_SOGS_Msk                         /*!<Start of Gap Interrupt Line                       */
+#define FDCAN_TTILS_RTMIS_Pos     (4U)
+#define FDCAN_TTILS_RTMIS_Msk     (0x1UL << FDCAN_TTILS_RTMIS_Pos)             /*!< 0x00000010 */
+#define FDCAN_TTILS_RTMIS         FDCAN_TTILS_RTMIS_Msk                        /*!<Register Time Mark Interrupt Interrupt Line       */
+#define FDCAN_TTILS_TTMIS_Pos     (5U)
+#define FDCAN_TTILS_TTMIS_Msk     (0x1UL << FDCAN_TTILS_TTMIS_Pos)             /*!< 0x00000020 */
+#define FDCAN_TTILS_TTMIS         FDCAN_TTILS_TTMIS_Msk                        /*!<Trigger Time Mark Event Internal Interrupt Line   */
+#define FDCAN_TTILS_SWES_Pos      (6U)
+#define FDCAN_TTILS_SWES_Msk      (0x1UL << FDCAN_TTILS_SWES_Pos)              /*!< 0x00000040 */
+#define FDCAN_TTILS_SWES          FDCAN_TTILS_SWES_Msk                         /*!<Stop Watch Event Interrupt Line                   */
+#define FDCAN_TTILS_GTWS_Pos      (7U)
+#define FDCAN_TTILS_GTWS_Msk      (0x1UL << FDCAN_TTILS_GTWS_Pos)              /*!< 0x00000080 */
+#define FDCAN_TTILS_GTWS          FDCAN_TTILS_GTWS_Msk                         /*!<Global Time Wrap Interrupt Line                   */
+#define FDCAN_TTILS_GTDS_Pos      (8U)
+#define FDCAN_TTILS_GTDS_Msk      (0x1UL << FDCAN_TTILS_GTDS_Pos)              /*!< 0x00000100 */
+#define FDCAN_TTILS_GTDS          FDCAN_TTILS_GTDS_Msk                         /*!<Global Time Discontinuity Interrupt Line          */
+#define FDCAN_TTILS_GTES_Pos      (9U)
+#define FDCAN_TTILS_GTES_Msk      (0x1UL << FDCAN_TTILS_GTES_Pos)              /*!< 0x00000200 */
+#define FDCAN_TTILS_GTES          FDCAN_TTILS_GTES_Msk                         /*!<Global Time Error Interrupt Line                  */
+#define FDCAN_TTILS_TXUS_Pos      (10U)
+#define FDCAN_TTILS_TXUS_Msk      (0x1UL << FDCAN_TTILS_TXUS_Pos)              /*!< 0x00000400 */
+#define FDCAN_TTILS_TXUS          FDCAN_TTILS_TXUS_Msk                         /*!<Tx Count Underflow Interrupt Line                 */
+#define FDCAN_TTILS_TXOS_Pos      (11U)
+#define FDCAN_TTILS_TXOS_Msk      (0x1UL << FDCAN_TTILS_TXOS_Pos)              /*!< 0x00000800 */
+#define FDCAN_TTILS_TXOS          FDCAN_TTILS_TXOS_Msk                         /*!<Tx Count Overflow Interrupt Line                  */
+#define FDCAN_TTILS_SE1S_Pos      (12U)
+#define FDCAN_TTILS_SE1S_Msk      (0x1UL << FDCAN_TTILS_SE1S_Pos)              /*!< 0x00001000 */
+#define FDCAN_TTILS_SE1S          FDCAN_TTILS_SE1S_Msk                         /*!<Scheduling Error 1 Interrupt Line                 */
+#define FDCAN_TTILS_SE2S_Pos      (13U)
+#define FDCAN_TTILS_SE2S_Msk      (0x1UL << FDCAN_TTILS_SE2S_Pos)              /*!< 0x00002000 */
+#define FDCAN_TTILS_SE2S          FDCAN_TTILS_SE2S_Msk                         /*!<Scheduling Error 2 Interrupt Line                 */
+#define FDCAN_TTILS_ELCS_Pos      (14U)
+#define FDCAN_TTILS_ELCS_Msk      (0x1UL << FDCAN_TTILS_ELCS_Pos)              /*!< 0x00004000 */
+#define FDCAN_TTILS_ELCS          FDCAN_TTILS_ELCS_Msk                         /*!<Error Level Changed Interrupt Line                */
+#define FDCAN_TTILS_IWTS_Pos      (15U)
+#define FDCAN_TTILS_IWTS_Msk      (0x1UL << FDCAN_TTILS_IWTS_Pos)              /*!< 0x00008000 */
+#define FDCAN_TTILS_IWTS          FDCAN_TTILS_IWTS_Msk                         /*!<Initialization Watch Trigger Interrupt Line       */
+#define FDCAN_TTILS_WTS_Pos       (16U)
+#define FDCAN_TTILS_WTS_Msk       (0x1UL << FDCAN_TTILS_WTS_Pos)               /*!< 0x00010000 */
+#define FDCAN_TTILS_WTS           FDCAN_TTILS_WTS_Msk                          /*!<Watch Trigger Interrupt Line                      */
+#define FDCAN_TTILS_AWS_Pos       (17U)
+#define FDCAN_TTILS_AWS_Msk       (0x1UL << FDCAN_TTILS_AWS_Pos)               /*!< 0x00020000 */
+#define FDCAN_TTILS_AWS           FDCAN_TTILS_AWS_Msk                          /*!<Application Watchdog Interrupt Line               */
+#define FDCAN_TTILS_CERS_Pos      (18U)
+#define FDCAN_TTILS_CERS_Msk      (0x1UL << FDCAN_TTILS_CERS_Pos)              /*!< 0x00040000 */
+#define FDCAN_TTILS_CERS          FDCAN_TTILS_CERS_Msk                         /*!<Configuration Error Interrupt Line                */
+
+/*****************  Bit definition for FDCAN_TTOST register  ********************/
+#define FDCAN_TTOST_EL_Pos        (0U)
+#define FDCAN_TTOST_EL_Msk        (0x3UL << FDCAN_TTOST_EL_Pos)                /*!< 0x00000003 */
+#define FDCAN_TTOST_EL            FDCAN_TTOST_EL_Msk                           /*!<Error Level                              */
+#define FDCAN_TTOST_MS_Pos        (2U)
+#define FDCAN_TTOST_MS_Msk        (0x3UL << FDCAN_TTOST_MS_Pos)                /*!< 0x0000000C */
+#define FDCAN_TTOST_MS            FDCAN_TTOST_MS_Msk                           /*!<Master State                             */
+#define FDCAN_TTOST_SYS_Pos       (4U)
+#define FDCAN_TTOST_SYS_Msk       (0x3UL << FDCAN_TTOST_SYS_Pos)               /*!< 0x00000030 */
+#define FDCAN_TTOST_SYS           FDCAN_TTOST_SYS_Msk                          /*!<Synchronization State                    */
+#define FDCAN_TTOST_QGTP_Pos      (6U)
+#define FDCAN_TTOST_QGTP_Msk      (0x1UL << FDCAN_TTOST_QGTP_Pos)              /*!< 0x00000040 */
+#define FDCAN_TTOST_QGTP          FDCAN_TTOST_QGTP_Msk                         /*!<Quality of Global Time Phase             */
+#define FDCAN_TTOST_QCS_Pos       (7U)
+#define FDCAN_TTOST_QCS_Msk       (0x1UL << FDCAN_TTOST_QCS_Pos)               /*!< 0x00000080 */
+#define FDCAN_TTOST_QCS           FDCAN_TTOST_QCS_Msk                          /*!<Quality of Clock Speed                   */
+#define FDCAN_TTOST_RTO_Pos       (8U)
+#define FDCAN_TTOST_RTO_Msk       (0xFFUL << FDCAN_TTOST_RTO_Pos)              /*!< 0x0000FF00 */
+#define FDCAN_TTOST_RTO           FDCAN_TTOST_RTO_Msk                          /*!<Reference Trigger Offset                 */
+#define FDCAN_TTOST_WGTD_Pos      (22U)
+#define FDCAN_TTOST_WGTD_Msk      (0x1UL << FDCAN_TTOST_WGTD_Pos)              /*!< 0x00400000 */
+#define FDCAN_TTOST_WGTD          FDCAN_TTOST_WGTD_Msk                         /*!<Wait for Global Time Discontinuity       */
+#define FDCAN_TTOST_GFI_Pos       (23U)
+#define FDCAN_TTOST_GFI_Msk       (0x1UL << FDCAN_TTOST_GFI_Pos)               /*!< 0x00800000 */
+#define FDCAN_TTOST_GFI           FDCAN_TTOST_GFI_Msk                          /*!<Gap Finished Indicator                   */
+#define FDCAN_TTOST_TMP_Pos       (24U)
+#define FDCAN_TTOST_TMP_Msk       (0x7UL << FDCAN_TTOST_TMP_Pos)               /*!< 0x07000000 */
+#define FDCAN_TTOST_TMP           FDCAN_TTOST_TMP_Msk                          /*!<Time Master Priority                     */
+#define FDCAN_TTOST_GSI_Pos       (27U)
+#define FDCAN_TTOST_GSI_Msk       (0x1UL << FDCAN_TTOST_GSI_Pos)               /*!< 0x08000000 */
+#define FDCAN_TTOST_GSI           FDCAN_TTOST_GSI_Msk                          /*!<Gap Started Indicator                    */
+#define FDCAN_TTOST_WFE_Pos       (28U)
+#define FDCAN_TTOST_WFE_Msk       (0x1UL << FDCAN_TTOST_WFE_Pos)               /*!< 0x10000000 */
+#define FDCAN_TTOST_WFE           FDCAN_TTOST_WFE_Msk                          /*!<Wait for Event                           */
+#define FDCAN_TTOST_AWE_Pos       (29U)
+#define FDCAN_TTOST_AWE_Msk       (0x1UL << FDCAN_TTOST_AWE_Pos)               /*!< 0x20000000 */
+#define FDCAN_TTOST_AWE           FDCAN_TTOST_AWE_Msk                          /*!<Application Watchdog Event               */
+#define FDCAN_TTOST_WECS_Pos      (30U)
+#define FDCAN_TTOST_WECS_Msk      (0x1UL << FDCAN_TTOST_WECS_Pos)              /*!< 0x40000000 */
+#define FDCAN_TTOST_WECS          FDCAN_TTOST_WECS_Msk                         /*!<Wait for External Clock Synchronization  */
+#define FDCAN_TTOST_SPL_Pos       (31U)
+#define FDCAN_TTOST_SPL_Msk       (0x1UL << FDCAN_TTOST_SPL_Pos)               /*!< 0x80000000 */
+#define FDCAN_TTOST_SPL           FDCAN_TTOST_SPL_Msk                          /*!<Schedule Phase Lock                      */
+
+/*****************  Bit definition for FDCAN_TURNA register  ********************/
+#define FDCAN_TURNA_NAV_Pos       (0U)
+#define FDCAN_TURNA_NAV_Msk       (0x3FFFFUL << FDCAN_TURNA_NAV_Pos)           /*!< 0x0003FFFF */
+#define FDCAN_TURNA_NAV           FDCAN_TURNA_NAV_Msk                          /*!<Numerator Actual Value                   */
+
+/*****************  Bit definition for FDCAN_TTLGT register  ********************/
+#define FDCAN_TTLGT_LT_Pos        (0U)
+#define FDCAN_TTLGT_LT_Msk        (0xFFFFUL << FDCAN_TTLGT_LT_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TTLGT_LT            FDCAN_TTLGT_LT_Msk                           /*!<Local Time                               */
+#define FDCAN_TTLGT_GT_Pos        (16U)
+#define FDCAN_TTLGT_GT_Msk        (0xFFFFUL << FDCAN_TTLGT_GT_Pos)             /*!< 0xFFFF0000 */
+#define FDCAN_TTLGT_GT            FDCAN_TTLGT_GT_Msk                           /*!<Global Time                              */
+
+/*****************  Bit definition for FDCAN_TTCTC register  ********************/
+#define FDCAN_TTCTC_CT_Pos        (0U)
+#define FDCAN_TTCTC_CT_Msk        (0xFFFFUL << FDCAN_TTCTC_CT_Pos)             /*!< 0x0000FFFF */
+#define FDCAN_TTCTC_CT            FDCAN_TTCTC_CT_Msk                           /*!<Cycle Time                               */
+#define FDCAN_TTCTC_CC_Pos        (16U)
+#define FDCAN_TTCTC_CC_Msk        (0x3FUL << FDCAN_TTCTC_CC_Pos)               /*!< 0x003F0000 */
+#define FDCAN_TTCTC_CC            FDCAN_TTCTC_CC_Msk                           /*!<Cycle Count                              */
+
+/*****************  Bit definition for FDCAN_TTCPT register  ********************/
+#define FDCAN_TTCPT_CCV_Pos       (0U)
+#define FDCAN_TTCPT_CCV_Msk       (0x3FUL << FDCAN_TTCPT_CCV_Pos)              /*!< 0x0000003F */
+#define FDCAN_TTCPT_CCV           FDCAN_TTCPT_CCV_Msk                          /*!<Cycle Count Value                        */
+#define FDCAN_TTCPT_SWV_Pos       (16U)
+#define FDCAN_TTCPT_SWV_Msk       (0xFFFFUL << FDCAN_TTCPT_SWV_Pos)            /*!< 0xFFFF0000 */
+#define FDCAN_TTCPT_SWV           FDCAN_TTCPT_SWV_Msk                          /*!<Stop Watch Value                         */
+
+/*****************  Bit definition for FDCAN_TTCSM register  ********************/
+#define FDCAN_TTCSM_CSM_Pos       (0U)
+#define FDCAN_TTCSM_CSM_Msk       (0xFFFFUL << FDCAN_TTCSM_CSM_Pos)            /*!< 0x0000FFFF */
+#define FDCAN_TTCSM_CSM           FDCAN_TTCSM_CSM_Msk                          /*!<Cycle Sync Mark                          */
+
+/*****************  Bit definition for FDCAN_TTTS register  *********************/
+#define FDCAN_TTTS_SWTSEL_Pos     (0U)
+#define FDCAN_TTTS_SWTSEL_Msk     (0x3UL << FDCAN_TTTS_SWTSEL_Pos)             /*!< 0x00000003 */
+#define FDCAN_TTTS_SWTSEL         FDCAN_TTTS_SWTSEL_Msk                        /*!<Stop watch trigger input selection       */
+#define FDCAN_TTTS_EVTSEL_Pos     (4U)
+#define FDCAN_TTTS_EVTSEL_Msk     (0x3UL << FDCAN_TTTS_EVTSEL_Pos)             /*!< 0x00000030 */
+#define FDCAN_TTTS_EVTSEL         FDCAN_TTTS_EVTSEL_Msk                        /*!<Event trigger input selection            */
+
+/********************************************************************************/
+/*                                                                              */
+/*                      FDCANCCU (Clock Calibration unit)                       */
+/*                                                                              */
+/********************************************************************************/
+
+/*****************  Bit definition for FDCANCCU_CREL register  ******************/
+#define FDCANCCU_CREL_DAY_Pos        (0U)
+#define FDCANCCU_CREL_DAY_Msk        (0xFFUL << FDCANCCU_CREL_DAY_Pos)         /*!< 0x000000FF */
+#define FDCANCCU_CREL_DAY            FDCANCCU_CREL_DAY_Msk                     /*!<Timestamp Day                           */
+#define FDCANCCU_CREL_MON_Pos        (8U)
+#define FDCANCCU_CREL_MON_Msk        (0xFFUL << FDCANCCU_CREL_MON_Pos)         /*!< 0x0000FF00 */
+#define FDCANCCU_CREL_MON            FDCANCCU_CREL_MON_Msk                     /*!<Timestamp Month                         */
+#define FDCANCCU_CREL_YEAR_Pos       (16U)
+#define FDCANCCU_CREL_YEAR_Msk       (0xFUL << FDCANCCU_CREL_YEAR_Pos)         /*!< 0x000F0000 */
+#define FDCANCCU_CREL_YEAR           FDCANCCU_CREL_YEAR_Msk                    /*!<Timestamp Year                          */
+#define FDCANCCU_CREL_SUBSTEP_Pos    (20U)
+#define FDCANCCU_CREL_SUBSTEP_Msk    (0xFUL << FDCANCCU_CREL_SUBSTEP_Pos)      /*!< 0x00F00000 */
+#define FDCANCCU_CREL_SUBSTEP        FDCANCCU_CREL_SUBSTEP_Msk                 /*!<Sub-step of Core release                */
+#define FDCANCCU_CREL_STEP_Pos       (24U)
+#define FDCANCCU_CREL_STEP_Msk       (0xFUL << FDCANCCU_CREL_STEP_Pos)         /*!< 0x0F000000 */
+#define FDCANCCU_CREL_STEP           FDCANCCU_CREL_STEP_Msk                    /*!<Step of Core release                    */
+#define FDCANCCU_CREL_REL_Pos        (28U)
+#define FDCANCCU_CREL_REL_Msk        (0xFUL << FDCANCCU_CREL_REL_Pos)          /*!< 0xF0000000 */
+#define FDCANCCU_CREL_REL            FDCANCCU_CREL_REL_Msk                     /*!<Core release                            */
+
+/*****************  Bit definition for FDCANCCU_CCFG register  ******************/
+#define FDCANCCU_CCFG_TQBT_Pos       (0U)
+#define FDCANCCU_CCFG_TQBT_Msk       (0x1FUL << FDCANCCU_CCFG_TQBT_Pos)        /*!< 0x0000001F */
+#define FDCANCCU_CCFG_TQBT           FDCANCCU_CCFG_TQBT_Msk                    /*!<Time Quanta per Bit Time                */
+#define FDCANCCU_CCFG_BCC_Pos        (6U)
+#define FDCANCCU_CCFG_BCC_Msk        (0x1UL << FDCANCCU_CCFG_BCC_Pos)          /*!< 0x00000040 */
+#define FDCANCCU_CCFG_BCC            FDCANCCU_CCFG_BCC_Msk                     /*!<Bypass Clock Calibration                */
+#define FDCANCCU_CCFG_CFL_Pos        (7U)
+#define FDCANCCU_CCFG_CFL_Msk        (0x1UL << FDCANCCU_CCFG_CFL_Pos)          /*!< 0x00000080 */
+#define FDCANCCU_CCFG_CFL            FDCANCCU_CCFG_CFL_Msk                     /*!<Calibration Field Length                */
+#define FDCANCCU_CCFG_OCPM_Pos       (8U)
+#define FDCANCCU_CCFG_OCPM_Msk       (0xFFUL << FDCANCCU_CCFG_OCPM_Pos)        /*!< 0x0000FF00 */
+#define FDCANCCU_CCFG_OCPM           FDCANCCU_CCFG_OCPM_Msk                    /*!<Oscillator Clock Periods Minimum        */
+#define FDCANCCU_CCFG_CDIV_Pos       (16U)
+#define FDCANCCU_CCFG_CDIV_Msk       (0xFUL << FDCANCCU_CCFG_CDIV_Pos)         /*!< 0x000F0000 */
+#define FDCANCCU_CCFG_CDIV           FDCANCCU_CCFG_CDIV_Msk                    /*!<Clock Divider                           */
+#define FDCANCCU_CCFG_SWR_Pos        (31U)
+#define FDCANCCU_CCFG_SWR_Msk        (0x1UL << FDCANCCU_CCFG_SWR_Pos)          /*!< 0x80000000 */
+#define FDCANCCU_CCFG_SWR            FDCANCCU_CCFG_SWR_Msk                     /*!<Software Reset                          */
+
+/*****************  Bit definition for FDCANCCU_CSTAT register  *****************/
+#define FDCANCCU_CSTAT_OCPC_Pos      (0U)
+#define FDCANCCU_CSTAT_OCPC_Msk      (0x3FFFFUL << FDCANCCU_CSTAT_OCPC_Pos)    /*!< 0x0003FFFF */
+#define FDCANCCU_CSTAT_OCPC          FDCANCCU_CSTAT_OCPC_Msk                   /*!<Oscillator Clock Period Counter        */
+#define FDCANCCU_CSTAT_TQC_Pos       (18U)
+#define FDCANCCU_CSTAT_TQC_Msk       (0x7FFUL << FDCANCCU_CSTAT_TQC_Pos)       /*!< 0x1FFC0000 */
+#define FDCANCCU_CSTAT_TQC           FDCANCCU_CSTAT_TQC_Msk                    /*!<Time Quanta Counter                    */
+#define FDCANCCU_CSTAT_CALS_Pos      (30U)
+#define FDCANCCU_CSTAT_CALS_Msk      (0x3UL << FDCANCCU_CSTAT_CALS_Pos)        /*!< 0xC0000000 */
+#define FDCANCCU_CSTAT_CALS          FDCANCCU_CSTAT_CALS_Msk                   /*!<Calibration State                      */
+
+/******************  Bit definition for FDCANCCU_CWD register  ******************/
+#define FDCANCCU_CWD_WDC_Pos         (0U)
+#define FDCANCCU_CWD_WDC_Msk         (0xFFFFUL << FDCANCCU_CWD_WDC_Pos)        /*!< 0x0000FFFF */
+#define FDCANCCU_CWD_WDC             FDCANCCU_CWD_WDC_Msk                      /*!<Watchdog Configuration                 */
+#define FDCANCCU_CWD_WDV_Pos         (16U)
+#define FDCANCCU_CWD_WDV_Msk         (0xFFFFUL << FDCANCCU_CWD_WDV_Pos)        /*!< 0xFFFF0000 */
+#define FDCANCCU_CWD_WDV             FDCANCCU_CWD_WDV_Msk                      /*!<Watchdog Value                         */
+
+/******************  Bit definition for FDCANCCU_IR register  *******************/
+#define FDCANCCU_IR_CWE_Pos          (0U)
+#define FDCANCCU_IR_CWE_Msk          (0x1UL << FDCANCCU_IR_CWE_Pos)            /*!< 0x00000001 */
+#define FDCANCCU_IR_CWE              FDCANCCU_IR_CWE_Msk                       /*!<Calibration Watchdog Event             */
+#define FDCANCCU_IR_CSC_Pos          (1U)
+#define FDCANCCU_IR_CSC_Msk          (0x1UL << FDCANCCU_IR_CSC_Pos)            /*!< 0x00000002 */
+#define FDCANCCU_IR_CSC              FDCANCCU_IR_CSC_Msk                       /*!<Calibration State Changed              */
+
+/******************  Bit definition for FDCANCCU_IE register  *******************/
+#define FDCANCCU_IE_CWEE_Pos         (0U)
+#define FDCANCCU_IE_CWEE_Msk         (0x1UL << FDCANCCU_IE_CWEE_Pos)           /*!< 0x00000001 */
+#define FDCANCCU_IE_CWEE             FDCANCCU_IE_CWEE_Msk                      /*!<Calibration Watchdog Event Enable      */
+#define FDCANCCU_IE_CSCE_Pos         (1U)
+#define FDCANCCU_IE_CSCE_Msk         (0x1UL << FDCANCCU_IE_CSCE_Pos)           /*!< 0x00000002 */
+#define FDCANCCU_IE_CSCE             FDCANCCU_IE_CSCE_Msk                      /*!<Calibration State Changed Enable       */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          HDMI-CEC (CEC)                                    */
+/*                                                                            */
+/******************************************************************************/
+
+/*******************  Bit definition for CEC_CR register  *********************/
+#define CEC_CR_CECEN_Pos         (0U)
+#define CEC_CR_CECEN_Msk         (0x1UL << CEC_CR_CECEN_Pos)                   /*!< 0x00000001 */
+#define CEC_CR_CECEN             CEC_CR_CECEN_Msk                              /*!< CEC Enable                                */
+#define CEC_CR_TXSOM_Pos         (1U)
+#define CEC_CR_TXSOM_Msk         (0x1UL << CEC_CR_TXSOM_Pos)                   /*!< 0x00000002 */
+#define CEC_CR_TXSOM             CEC_CR_TXSOM_Msk                              /*!< CEC Tx Start Of Message                   */
+#define CEC_CR_TXEOM_Pos         (2U)
+#define CEC_CR_TXEOM_Msk         (0x1UL << CEC_CR_TXEOM_Pos)                   /*!< 0x00000004 */
+#define CEC_CR_TXEOM             CEC_CR_TXEOM_Msk                              /*!< CEC Tx End Of Message                     */
+
+/*******************  Bit definition for CEC_CFGR register  *******************/
+#define CEC_CFGR_SFT_Pos         (0U)
+#define CEC_CFGR_SFT_Msk         (0x7UL << CEC_CFGR_SFT_Pos)                   /*!< 0x00000007 */
+#define CEC_CFGR_SFT             CEC_CFGR_SFT_Msk                              /*!< CEC Signal Free Time                      */
+#define CEC_CFGR_RXTOL_Pos       (3U)
+#define CEC_CFGR_RXTOL_Msk       (0x1UL << CEC_CFGR_RXTOL_Pos)                 /*!< 0x00000008 */
+#define CEC_CFGR_RXTOL           CEC_CFGR_RXTOL_Msk                            /*!< CEC Tolerance                             */
+#define CEC_CFGR_BRESTP_Pos      (4U)
+#define CEC_CFGR_BRESTP_Msk      (0x1UL << CEC_CFGR_BRESTP_Pos)                /*!< 0x00000010 */
+#define CEC_CFGR_BRESTP          CEC_CFGR_BRESTP_Msk                           /*!< CEC Rx Stop                               */
+#define CEC_CFGR_BREGEN_Pos      (5U)
+#define CEC_CFGR_BREGEN_Msk      (0x1UL << CEC_CFGR_BREGEN_Pos)                /*!< 0x00000020 */
+#define CEC_CFGR_BREGEN          CEC_CFGR_BREGEN_Msk                           /*!< CEC Bit Rising Error generation           */
+#define CEC_CFGR_LBPEGEN_Pos     (6U)
+#define CEC_CFGR_LBPEGEN_Msk     (0x1UL << CEC_CFGR_LBPEGEN_Pos)               /*!< 0x00000040 */
+#define CEC_CFGR_LBPEGEN         CEC_CFGR_LBPEGEN_Msk                          /*!< CEC Long Bit Period Error generation      */
+#define CEC_CFGR_SFTOPT_Pos      (8U)
+#define CEC_CFGR_SFTOPT_Msk      (0x1UL << CEC_CFGR_SFTOPT_Pos)                /*!< 0x00000100 */
+#define CEC_CFGR_SFTOPT          CEC_CFGR_SFTOPT_Msk                           /*!< CEC Signal Free Time optional             */
+#define CEC_CFGR_BRDNOGEN_Pos    (7U)
+#define CEC_CFGR_BRDNOGEN_Msk    (0x1UL << CEC_CFGR_BRDNOGEN_Pos)              /*!< 0x00000080 */
+#define CEC_CFGR_BRDNOGEN        CEC_CFGR_BRDNOGEN_Msk                         /*!< CEC Broadcast No error generation         */
+#define CEC_CFGR_OAR_Pos         (16U)
+#define CEC_CFGR_OAR_Msk         (0x7FFFUL << CEC_CFGR_OAR_Pos)                /*!< 0x7FFF0000 */
+#define CEC_CFGR_OAR             CEC_CFGR_OAR_Msk                              /*!< CEC Own Address                           */
+#define CEC_CFGR_LSTN_Pos        (31U)
+#define CEC_CFGR_LSTN_Msk        (0x1UL << CEC_CFGR_LSTN_Pos)                  /*!< 0x80000000 */
+#define CEC_CFGR_LSTN            CEC_CFGR_LSTN_Msk                             /*!< CEC Listen mode                           */
+
+/*******************  Bit definition for CEC_TXDR register  *******************/
+#define CEC_TXDR_TXD_Pos         (0U)
+#define CEC_TXDR_TXD_Msk         (0xFFUL << CEC_TXDR_TXD_Pos)                  /*!< 0x000000FF */
+#define CEC_TXDR_TXD             CEC_TXDR_TXD_Msk                              /*!< CEC Tx Data                               */
+
+/*******************  Bit definition for CEC_RXDR register  *******************/
+#define CEC_RXDR_RXD_Pos         (0U)
+#define CEC_RXDR_RXD_Msk         (0xFFUL << CEC_RXDR_RXD_Pos)                  /*!< 0x000000FF */
+#define CEC_RXDR_RXD             CEC_RXDR_RXD_Msk                              /*!< CEC Rx Data                               */
+
+/*******************  Bit definition for CEC_ISR register  ********************/
+#define CEC_ISR_RXBR_Pos         (0U)
+#define CEC_ISR_RXBR_Msk         (0x1UL << CEC_ISR_RXBR_Pos)                   /*!< 0x00000001 */
+#define CEC_ISR_RXBR             CEC_ISR_RXBR_Msk                              /*!< CEC Rx-Byte Received                      */
+#define CEC_ISR_RXEND_Pos        (1U)
+#define CEC_ISR_RXEND_Msk        (0x1UL << CEC_ISR_RXEND_Pos)                  /*!< 0x00000002 */
+#define CEC_ISR_RXEND            CEC_ISR_RXEND_Msk                             /*!< CEC End Of Reception                      */
+#define CEC_ISR_RXOVR_Pos        (2U)
+#define CEC_ISR_RXOVR_Msk        (0x1UL << CEC_ISR_RXOVR_Pos)                  /*!< 0x00000004 */
+#define CEC_ISR_RXOVR            CEC_ISR_RXOVR_Msk                             /*!< CEC Rx-Overrun                            */
+#define CEC_ISR_BRE_Pos          (3U)
+#define CEC_ISR_BRE_Msk          (0x1UL << CEC_ISR_BRE_Pos)                    /*!< 0x00000008 */
+#define CEC_ISR_BRE              CEC_ISR_BRE_Msk                               /*!< CEC Rx Bit Rising Error                   */
+#define CEC_ISR_SBPE_Pos         (4U)
+#define CEC_ISR_SBPE_Msk         (0x1UL << CEC_ISR_SBPE_Pos)                   /*!< 0x00000010 */
+#define CEC_ISR_SBPE             CEC_ISR_SBPE_Msk                              /*!< CEC Rx Short Bit period Error             */
+#define CEC_ISR_LBPE_Pos         (5U)
+#define CEC_ISR_LBPE_Msk         (0x1UL << CEC_ISR_LBPE_Pos)                   /*!< 0x00000020 */
+#define CEC_ISR_LBPE             CEC_ISR_LBPE_Msk                              /*!< CEC Rx Long Bit period Error              */
+#define CEC_ISR_RXACKE_Pos       (6U)
+#define CEC_ISR_RXACKE_Msk       (0x1UL << CEC_ISR_RXACKE_Pos)                 /*!< 0x00000040 */
+#define CEC_ISR_RXACKE           CEC_ISR_RXACKE_Msk                            /*!< CEC Rx Missing Acknowledge                */
+#define CEC_ISR_ARBLST_Pos       (7U)
+#define CEC_ISR_ARBLST_Msk       (0x1UL << CEC_ISR_ARBLST_Pos)                 /*!< 0x00000080 */
+#define CEC_ISR_ARBLST           CEC_ISR_ARBLST_Msk                            /*!< CEC Arbitration Lost                      */
+#define CEC_ISR_TXBR_Pos         (8U)
+#define CEC_ISR_TXBR_Msk         (0x1UL << CEC_ISR_TXBR_Pos)                   /*!< 0x00000100 */
+#define CEC_ISR_TXBR             CEC_ISR_TXBR_Msk                              /*!< CEC Tx Byte Request                       */
+#define CEC_ISR_TXEND_Pos        (9U)
+#define CEC_ISR_TXEND_Msk        (0x1UL << CEC_ISR_TXEND_Pos)                  /*!< 0x00000200 */
+#define CEC_ISR_TXEND            CEC_ISR_TXEND_Msk                             /*!< CEC End of Transmission                   */
+#define CEC_ISR_TXUDR_Pos        (10U)
+#define CEC_ISR_TXUDR_Msk        (0x1UL << CEC_ISR_TXUDR_Pos)                  /*!< 0x00000400 */
+#define CEC_ISR_TXUDR            CEC_ISR_TXUDR_Msk                             /*!< CEC Tx-Buffer Underrun                    */
+#define CEC_ISR_TXERR_Pos        (11U)
+#define CEC_ISR_TXERR_Msk        (0x1UL << CEC_ISR_TXERR_Pos)                  /*!< 0x00000800 */
+#define CEC_ISR_TXERR            CEC_ISR_TXERR_Msk                             /*!< CEC Tx-Error                              */
+#define CEC_ISR_TXACKE_Pos       (12U)
+#define CEC_ISR_TXACKE_Msk       (0x1UL << CEC_ISR_TXACKE_Pos)                 /*!< 0x00001000 */
+#define CEC_ISR_TXACKE           CEC_ISR_TXACKE_Msk                            /*!< CEC Tx Missing Acknowledge                */
+
+/*******************  Bit definition for CEC_IER register  ********************/
+#define CEC_IER_RXBRIE_Pos       (0U)
+#define CEC_IER_RXBRIE_Msk       (0x1UL << CEC_IER_RXBRIE_Pos)                 /*!< 0x00000001 */
+#define CEC_IER_RXBRIE           CEC_IER_RXBRIE_Msk                            /*!< CEC Rx-Byte Received IT Enable            */
+#define CEC_IER_RXENDIE_Pos      (1U)
+#define CEC_IER_RXENDIE_Msk      (0x1UL << CEC_IER_RXENDIE_Pos)                /*!< 0x00000002 */
+#define CEC_IER_RXENDIE          CEC_IER_RXENDIE_Msk                           /*!< CEC End Of Reception IT Enable            */
+#define CEC_IER_RXOVRIE_Pos      (2U)
+#define CEC_IER_RXOVRIE_Msk      (0x1UL << CEC_IER_RXOVRIE_Pos)                /*!< 0x00000004 */
+#define CEC_IER_RXOVRIE          CEC_IER_RXOVRIE_Msk                           /*!< CEC Rx-Overrun IT Enable                  */
+#define CEC_IER_BREIE_Pos        (3U)
+#define CEC_IER_BREIE_Msk        (0x1UL << CEC_IER_BREIE_Pos)                  /*!< 0x00000008 */
+#define CEC_IER_BREIE            CEC_IER_BREIE_Msk                             /*!< CEC Rx Bit Rising Error IT Enable         */
+#define CEC_IER_SBPEIE_Pos       (4U)
+#define CEC_IER_SBPEIE_Msk       (0x1UL << CEC_IER_SBPEIE_Pos)                 /*!< 0x00000010 */
+#define CEC_IER_SBPEIE           CEC_IER_SBPEIE_Msk                            /*!< CEC Rx Short Bit period Error IT Enable   */
+#define CEC_IER_LBPEIE_Pos       (5U)
+#define CEC_IER_LBPEIE_Msk       (0x1UL << CEC_IER_LBPEIE_Pos)                 /*!< 0x00000020 */
+#define CEC_IER_LBPEIE           CEC_IER_LBPEIE_Msk                            /*!< CEC Rx Long Bit period Error IT Enable    */
+#define CEC_IER_RXACKEIE_Pos     (6U)
+#define CEC_IER_RXACKEIE_Msk     (0x1UL << CEC_IER_RXACKEIE_Pos)               /*!< 0x00000040 */
+#define CEC_IER_RXACKEIE         CEC_IER_RXACKEIE_Msk                          /*!< CEC Rx Missing Acknowledge IT Enable      */
+#define CEC_IER_ARBLSTIE_Pos     (7U)
+#define CEC_IER_ARBLSTIE_Msk     (0x1UL << CEC_IER_ARBLSTIE_Pos)               /*!< 0x00000080 */
+#define CEC_IER_ARBLSTIE         CEC_IER_ARBLSTIE_Msk                          /*!< CEC Arbitration Lost IT Enable            */
+#define CEC_IER_TXBRIE_Pos       (8U)
+#define CEC_IER_TXBRIE_Msk       (0x1UL << CEC_IER_TXBRIE_Pos)                 /*!< 0x00000100 */
+#define CEC_IER_TXBRIE           CEC_IER_TXBRIE_Msk                            /*!< CEC Tx Byte Request  IT Enable            */
+#define CEC_IER_TXENDIE_Pos      (9U)
+#define CEC_IER_TXENDIE_Msk      (0x1UL << CEC_IER_TXENDIE_Pos)                /*!< 0x00000200 */
+#define CEC_IER_TXENDIE          CEC_IER_TXENDIE_Msk                           /*!< CEC End of Transmission IT Enable         */
+#define CEC_IER_TXUDRIE_Pos      (10U)
+#define CEC_IER_TXUDRIE_Msk      (0x1UL << CEC_IER_TXUDRIE_Pos)                /*!< 0x00000400 */
+#define CEC_IER_TXUDRIE          CEC_IER_TXUDRIE_Msk                           /*!< CEC Tx-Buffer Underrun IT Enable          */
+#define CEC_IER_TXERRIE_Pos      (11U)
+#define CEC_IER_TXERRIE_Msk      (0x1UL << CEC_IER_TXERRIE_Pos)                /*!< 0x00000800 */
+#define CEC_IER_TXERRIE          CEC_IER_TXERRIE_Msk                           /*!< CEC Tx-Error IT Enable                    */
+#define CEC_IER_TXACKEIE_Pos     (12U)
+#define CEC_IER_TXACKEIE_Msk     (0x1UL << CEC_IER_TXACKEIE_Pos)               /*!< 0x00001000 */
+#define CEC_IER_TXACKEIE         CEC_IER_TXACKEIE_Msk                          /*!< CEC Tx Missing Acknowledge IT Enable      */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          CORDIC calculation unit                           */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for CORDIC_CSR register  *****************/
+#define CORDIC_CSR_FUNC_Pos      (0U)
+#define CORDIC_CSR_FUNC_Msk      (0xFUL << CORDIC_CSR_FUNC_Pos)                /*!< 0x0000000F */
+#define CORDIC_CSR_FUNC          CORDIC_CSR_FUNC_Msk                           /*!< Function */
+#define CORDIC_CSR_FUNC_0        (0x1UL << CORDIC_CSR_FUNC_Pos)                /*!< 0x00000001 */
+#define CORDIC_CSR_FUNC_1        (0x2UL << CORDIC_CSR_FUNC_Pos)                /*!< 0x00000002 */
+#define CORDIC_CSR_FUNC_2        (0x4UL << CORDIC_CSR_FUNC_Pos)                /*!< 0x00000004 */
+#define CORDIC_CSR_FUNC_3        (0x8UL << CORDIC_CSR_FUNC_Pos)                /*!< 0x00000008 */
+#define CORDIC_CSR_PRECISION_Pos (4U)
+#define CORDIC_CSR_PRECISION_Msk (0xFUL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x000000F0 */
+#define CORDIC_CSR_PRECISION     CORDIC_CSR_PRECISION_Msk                      /*!< Precision */
+#define CORDIC_CSR_PRECISION_0   (0x1UL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x00000010 */
+#define CORDIC_CSR_PRECISION_1   (0x2UL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x00000020 */
+#define CORDIC_CSR_PRECISION_2   (0x4UL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x00000040 */
+#define CORDIC_CSR_PRECISION_3   (0x8UL << CORDIC_CSR_PRECISION_Pos)           /*!< 0x00000080 */
+#define CORDIC_CSR_SCALE_Pos     (8U)
+#define CORDIC_CSR_SCALE_Msk     (0x7UL << CORDIC_CSR_SCALE_Pos)               /*!< 0x00000700 */
+#define CORDIC_CSR_SCALE         CORDIC_CSR_SCALE_Msk                          /*!< Scaling factor */
+#define CORDIC_CSR_SCALE_0       (0x1UL << CORDIC_CSR_SCALE_Pos)               /*!< 0x00000100 */
+#define CORDIC_CSR_SCALE_1       (0x2UL << CORDIC_CSR_SCALE_Pos)               /*!< 0x00000200 */
+#define CORDIC_CSR_SCALE_2       (0x4UL << CORDIC_CSR_SCALE_Pos)               /*!< 0x00000400 */
+#define CORDIC_CSR_IEN_Pos       (16U)
+#define CORDIC_CSR_IEN_Msk       (0x1UL << CORDIC_CSR_IEN_Pos)                 /*!< 0x00010000 */
+#define CORDIC_CSR_IEN           CORDIC_CSR_IEN_Msk                            /*!< Interrupt Enable */
+#define CORDIC_CSR_DMAREN_Pos    (17U)
+#define CORDIC_CSR_DMAREN_Msk    (0x1UL << CORDIC_CSR_DMAREN_Pos)              /*!< 0x00020000 */
+#define CORDIC_CSR_DMAREN        CORDIC_CSR_DMAREN_Msk                         /*!< DMA Read channel Enable */
+#define CORDIC_CSR_DMAWEN_Pos    (18U)
+#define CORDIC_CSR_DMAWEN_Msk    (0x1UL << CORDIC_CSR_DMAWEN_Pos)              /*!< 0x00040000 */
+#define CORDIC_CSR_DMAWEN        CORDIC_CSR_DMAWEN_Msk                         /*!< DMA Write channel Enable */
+#define CORDIC_CSR_NRES_Pos      (19U)
+#define CORDIC_CSR_NRES_Msk      (0x1UL << CORDIC_CSR_NRES_Pos)                /*!< 0x00080000 */
+#define CORDIC_CSR_NRES          CORDIC_CSR_NRES_Msk                           /*!< Number of results in WDATA register */
+#define CORDIC_CSR_NARGS_Pos     (20U)
+#define CORDIC_CSR_NARGS_Msk     (0x1UL << CORDIC_CSR_NARGS_Pos)               /*!< 0x00100000 */
+#define CORDIC_CSR_NARGS         CORDIC_CSR_NARGS_Msk                          /*!< Number of arguments in RDATA register */
+#define CORDIC_CSR_RESSIZE_Pos   (21U)
+#define CORDIC_CSR_RESSIZE_Msk   (0x1UL << CORDIC_CSR_RESSIZE_Pos)             /*!< 0x00200000 */
+#define CORDIC_CSR_RESSIZE       CORDIC_CSR_RESSIZE_Msk                        /*!< Width of output data */
+#define CORDIC_CSR_ARGSIZE_Pos   (22U)
+#define CORDIC_CSR_ARGSIZE_Msk   (0x1UL << CORDIC_CSR_ARGSIZE_Pos)             /*!< 0x00400000 */
+#define CORDIC_CSR_ARGSIZE       CORDIC_CSR_ARGSIZE_Msk                        /*!< Width of input data */
+#define CORDIC_CSR_RRDY_Pos      (31U)
+#define CORDIC_CSR_RRDY_Msk      (0x1UL << CORDIC_CSR_RRDY_Pos)                /*!< 0x80000000 */
+#define CORDIC_CSR_RRDY          CORDIC_CSR_RRDY_Msk                           /*!< Result Ready Flag */
+
+/*******************  Bit definition for CORDIC_WDATA register  ***************/
+#define CORDIC_WDATA_ARG_Pos     (0U)
+#define CORDIC_WDATA_ARG_Msk     (0xFFFFFFFFUL << CORDIC_WDATA_ARG_Pos)        /*!< 0xFFFFFFFF */
+#define CORDIC_WDATA_ARG         CORDIC_WDATA_ARG_Msk                          /*!< Input Argument */
+
+/*******************  Bit definition for CORDIC_RDATA register  ***************/
+#define CORDIC_RDATA_RES_Pos     (0U)
+#define CORDIC_RDATA_RES_Msk     (0xFFFFFFFFUL << CORDIC_RDATA_RES_Pos)        /*!< 0xFFFFFFFF */
+#define CORDIC_RDATA_RES         CORDIC_RDATA_RES_Msk                          /*!< Output Result */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          CRC calculation unit                              */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for CRC_DR register  *********************/
+#define CRC_DR_DR_Pos            (0U)
+#define CRC_DR_DR_Msk            (0xFFFFFFFFUL << CRC_DR_DR_Pos)               /*!< 0xFFFFFFFF */
+#define CRC_DR_DR                CRC_DR_DR_Msk                                 /*!< Data register bits */
+
+/*******************  Bit definition for CRC_IDR register  ********************/
+#define CRC_IDR_IDR_Pos          (0U)
+#define CRC_IDR_IDR_Msk          (0xFFFFFFFFUL << CRC_IDR_IDR_Pos)             /*!< 0xFFFFFFFF */
+#define CRC_IDR_IDR              CRC_IDR_IDR_Msk                               /*!< General-purpose 32-bit data register bits */
+
+/********************  Bit definition for CRC_CR register  ********************/
+#define CRC_CR_RESET_Pos         (0U)
+#define CRC_CR_RESET_Msk         (0x1UL << CRC_CR_RESET_Pos)                   /*!< 0x00000001 */
+#define CRC_CR_RESET             CRC_CR_RESET_Msk                              /*!< RESET the CRC computation unit bit */
+#define CRC_CR_POLYSIZE_Pos      (3U)
+#define CRC_CR_POLYSIZE_Msk      (0x3UL << CRC_CR_POLYSIZE_Pos)                /*!< 0x00000018 */
+#define CRC_CR_POLYSIZE          CRC_CR_POLYSIZE_Msk                           /*!< Polynomial size bits */
+#define CRC_CR_POLYSIZE_0        (0x1UL << CRC_CR_POLYSIZE_Pos)                 /*!< 0x00000008 */
+#define CRC_CR_POLYSIZE_1        (0x2UL << CRC_CR_POLYSIZE_Pos)                 /*!< 0x00000010 */
+#define CRC_CR_REV_IN_Pos        (5U)
+#define CRC_CR_REV_IN_Msk        (0x3UL << CRC_CR_REV_IN_Pos)                  /*!< 0x00000060 */
+#define CRC_CR_REV_IN            CRC_CR_REV_IN_Msk                             /*!< REV_IN Reverse Input Data bits */
+#define CRC_CR_REV_IN_0          (0x1UL << CRC_CR_REV_IN_Pos)                   /*!< 0x00000020 */
+#define CRC_CR_REV_IN_1          (0x2UL << CRC_CR_REV_IN_Pos)                   /*!< 0x00000040 */
+#define CRC_CR_REV_OUT_Pos       (7U)
+#define CRC_CR_REV_OUT_Msk       (0x1UL << CRC_CR_REV_OUT_Pos)                 /*!< 0x00000080 */
+#define CRC_CR_REV_OUT           CRC_CR_REV_OUT_Msk                            /*!< REV_OUT Reverse Output Data bits */
+
+/*******************  Bit definition for CRC_INIT register  *******************/
+#define CRC_INIT_INIT_Pos        (0U)
+#define CRC_INIT_INIT_Msk        (0xFFFFFFFFUL << CRC_INIT_INIT_Pos)           /*!< 0xFFFFFFFF */
+#define CRC_INIT_INIT            CRC_INIT_INIT_Msk                             /*!< Initial CRC value bits */
+
+/*******************  Bit definition for CRC_POL register  ********************/
+#define CRC_POL_POL_Pos          (0U)
+#define CRC_POL_POL_Msk          (0xFFFFFFFFUL << CRC_POL_POL_Pos)             /*!< 0xFFFFFFFF */
+#define CRC_POL_POL              CRC_POL_POL_Msk                               /*!< Coefficients of the polynomial */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          CRS Clock Recovery System                         */
+/******************************************************************************/
+
+/*******************  Bit definition for CRS_CR register  *********************/
+#define CRS_CR_SYNCOKIE_Pos       (0U)
+#define CRS_CR_SYNCOKIE_Msk       (0x1UL << CRS_CR_SYNCOKIE_Pos)               /*!< 0x00000001 */
+#define CRS_CR_SYNCOKIE           CRS_CR_SYNCOKIE_Msk                          /*!< SYNC event OK interrupt enable */
+#define CRS_CR_SYNCWARNIE_Pos     (1U)
+#define CRS_CR_SYNCWARNIE_Msk     (0x1UL << CRS_CR_SYNCWARNIE_Pos)             /*!< 0x00000002 */
+#define CRS_CR_SYNCWARNIE         CRS_CR_SYNCWARNIE_Msk                        /*!< SYNC warning interrupt enable */
+#define CRS_CR_ERRIE_Pos          (2U)
+#define CRS_CR_ERRIE_Msk          (0x1UL << CRS_CR_ERRIE_Pos)                  /*!< 0x00000004 */
+#define CRS_CR_ERRIE              CRS_CR_ERRIE_Msk                             /*!< SYNC error or trimming error interrupt enable */
+#define CRS_CR_ESYNCIE_Pos        (3U)
+#define CRS_CR_ESYNCIE_Msk        (0x1UL << CRS_CR_ESYNCIE_Pos)                /*!< 0x00000008 */
+#define CRS_CR_ESYNCIE            CRS_CR_ESYNCIE_Msk                           /*!< Expected SYNC interrupt enable */
+#define CRS_CR_CEN_Pos            (5U)
+#define CRS_CR_CEN_Msk            (0x1UL << CRS_CR_CEN_Pos)                    /*!< 0x00000020 */
+#define CRS_CR_CEN                CRS_CR_CEN_Msk                               /*!< Frequency error counter enable */
+#define CRS_CR_AUTOTRIMEN_Pos     (6U)
+#define CRS_CR_AUTOTRIMEN_Msk     (0x1UL << CRS_CR_AUTOTRIMEN_Pos)             /*!< 0x00000040 */
+#define CRS_CR_AUTOTRIMEN         CRS_CR_AUTOTRIMEN_Msk                        /*!< Automatic trimming enable */
+#define CRS_CR_SWSYNC_Pos         (7U)
+#define CRS_CR_SWSYNC_Msk         (0x1UL << CRS_CR_SWSYNC_Pos)                 /*!< 0x00000080 */
+#define CRS_CR_SWSYNC             CRS_CR_SWSYNC_Msk                            /*!< Generate software SYNC event */
+#define CRS_CR_TRIM_Pos           (8U)
+#define CRS_CR_TRIM_Msk           (0x3FUL << CRS_CR_TRIM_Pos)                  /*!< 0x00003F00 */
+#define CRS_CR_TRIM               CRS_CR_TRIM_Msk                              /*!< HSI48 oscillator smooth trimming */
+
+/*******************  Bit definition for CRS_CFGR register  *********************/
+#define CRS_CFGR_RELOAD_Pos       (0U)
+#define CRS_CFGR_RELOAD_Msk       (0xFFFFUL << CRS_CFGR_RELOAD_Pos)            /*!< 0x0000FFFF */
+#define CRS_CFGR_RELOAD           CRS_CFGR_RELOAD_Msk                          /*!< Counter reload value */
+#define CRS_CFGR_FELIM_Pos        (16U)
+#define CRS_CFGR_FELIM_Msk        (0xFFUL << CRS_CFGR_FELIM_Pos)               /*!< 0x00FF0000 */
+#define CRS_CFGR_FELIM            CRS_CFGR_FELIM_Msk                           /*!< Frequency error limit */
+
+#define CRS_CFGR_SYNCDIV_Pos      (24U)
+#define CRS_CFGR_SYNCDIV_Msk      (0x7UL << CRS_CFGR_SYNCDIV_Pos)              /*!< 0x07000000 */
+#define CRS_CFGR_SYNCDIV          CRS_CFGR_SYNCDIV_Msk                         /*!< SYNC divider */
+#define CRS_CFGR_SYNCDIV_0        (0x1UL << CRS_CFGR_SYNCDIV_Pos)               /*!< 0x01000000 */
+#define CRS_CFGR_SYNCDIV_1        (0x2UL << CRS_CFGR_SYNCDIV_Pos)               /*!< 0x02000000 */
+#define CRS_CFGR_SYNCDIV_2        (0x4UL << CRS_CFGR_SYNCDIV_Pos)               /*!< 0x04000000 */
+
+#define CRS_CFGR_SYNCSRC_Pos      (28U)
+#define CRS_CFGR_SYNCSRC_Msk      (0x3UL << CRS_CFGR_SYNCSRC_Pos)              /*!< 0x30000000 */
+#define CRS_CFGR_SYNCSRC          CRS_CFGR_SYNCSRC_Msk                         /*!< SYNC signal source selection */
+#define CRS_CFGR_SYNCSRC_0        (0x1UL << CRS_CFGR_SYNCSRC_Pos)               /*!< 0x10000000 */
+#define CRS_CFGR_SYNCSRC_1        (0x2UL << CRS_CFGR_SYNCSRC_Pos)               /*!< 0x20000000 */
+
+#define CRS_CFGR_SYNCPOL_Pos      (31U)
+#define CRS_CFGR_SYNCPOL_Msk      (0x1UL << CRS_CFGR_SYNCPOL_Pos)              /*!< 0x80000000 */
+#define CRS_CFGR_SYNCPOL          CRS_CFGR_SYNCPOL_Msk                         /*!< SYNC polarity selection */
+
+/*******************  Bit definition for CRS_ISR register  *********************/
+#define CRS_ISR_SYNCOKF_Pos       (0U)
+#define CRS_ISR_SYNCOKF_Msk       (0x1UL << CRS_ISR_SYNCOKF_Pos)               /*!< 0x00000001 */
+#define CRS_ISR_SYNCOKF           CRS_ISR_SYNCOKF_Msk                          /*!< SYNC event OK flag */
+#define CRS_ISR_SYNCWARNF_Pos     (1U)
+#define CRS_ISR_SYNCWARNF_Msk     (0x1UL << CRS_ISR_SYNCWARNF_Pos)             /*!< 0x00000002 */
+#define CRS_ISR_SYNCWARNF         CRS_ISR_SYNCWARNF_Msk                        /*!< SYNC warning flag */
+#define CRS_ISR_ERRF_Pos          (2U)
+#define CRS_ISR_ERRF_Msk          (0x1UL << CRS_ISR_ERRF_Pos)                  /*!< 0x00000004 */
+#define CRS_ISR_ERRF              CRS_ISR_ERRF_Msk                             /*!< Error flag */
+#define CRS_ISR_ESYNCF_Pos        (3U)
+#define CRS_ISR_ESYNCF_Msk        (0x1UL << CRS_ISR_ESYNCF_Pos)                /*!< 0x00000008 */
+#define CRS_ISR_ESYNCF            CRS_ISR_ESYNCF_Msk                           /*!< Expected SYNC flag */
+#define CRS_ISR_SYNCERR_Pos       (8U)
+#define CRS_ISR_SYNCERR_Msk       (0x1UL << CRS_ISR_SYNCERR_Pos)               /*!< 0x00000100 */
+#define CRS_ISR_SYNCERR           CRS_ISR_SYNCERR_Msk                          /*!< SYNC error */
+#define CRS_ISR_SYNCMISS_Pos      (9U)
+#define CRS_ISR_SYNCMISS_Msk      (0x1UL << CRS_ISR_SYNCMISS_Pos)              /*!< 0x00000200 */
+#define CRS_ISR_SYNCMISS          CRS_ISR_SYNCMISS_Msk                         /*!< SYNC missed */
+#define CRS_ISR_TRIMOVF_Pos       (10U)
+#define CRS_ISR_TRIMOVF_Msk       (0x1UL << CRS_ISR_TRIMOVF_Pos)               /*!< 0x00000400 */
+#define CRS_ISR_TRIMOVF           CRS_ISR_TRIMOVF_Msk                          /*!< Trimming overflow or underflow */
+#define CRS_ISR_FEDIR_Pos         (15U)
+#define CRS_ISR_FEDIR_Msk         (0x1UL << CRS_ISR_FEDIR_Pos)                 /*!< 0x00008000 */
+#define CRS_ISR_FEDIR             CRS_ISR_FEDIR_Msk                            /*!< Frequency error direction */
+#define CRS_ISR_FECAP_Pos         (16U)
+#define CRS_ISR_FECAP_Msk         (0xFFFFUL << CRS_ISR_FECAP_Pos)              /*!< 0xFFFF0000 */
+#define CRS_ISR_FECAP             CRS_ISR_FECAP_Msk                            /*!< Frequency error capture */
+
+/*******************  Bit definition for CRS_ICR register  *********************/
+#define CRS_ICR_SYNCOKC_Pos       (0U)
+#define CRS_ICR_SYNCOKC_Msk       (0x1UL << CRS_ICR_SYNCOKC_Pos)               /*!< 0x00000001 */
+#define CRS_ICR_SYNCOKC           CRS_ICR_SYNCOKC_Msk                          /*!< SYNC event OK clear flag */
+#define CRS_ICR_SYNCWARNC_Pos     (1U)
+#define CRS_ICR_SYNCWARNC_Msk     (0x1UL << CRS_ICR_SYNCWARNC_Pos)             /*!< 0x00000002 */
+#define CRS_ICR_SYNCWARNC         CRS_ICR_SYNCWARNC_Msk                        /*!< SYNC warning clear flag */
+#define CRS_ICR_ERRC_Pos          (2U)
+#define CRS_ICR_ERRC_Msk          (0x1UL << CRS_ICR_ERRC_Pos)                  /*!< 0x00000004 */
+#define CRS_ICR_ERRC              CRS_ICR_ERRC_Msk                             /*!< Error clear flag */
+#define CRS_ICR_ESYNCC_Pos        (3U)
+#define CRS_ICR_ESYNCC_Msk        (0x1UL << CRS_ICR_ESYNCC_Pos)                /*!< 0x00000008 */
+#define CRS_ICR_ESYNCC            CRS_ICR_ESYNCC_Msk                           /*!< Expected SYNC clear flag */
+
+/******************************************************************************/
+/*                                                                            */
+/*                            Crypto Processor                                */
+/*                                                                            */
+/******************************************************************************/
+/********************************  CRYP VER  **********************************/
+#define  CRYP_VER_2_2
+/******************* Bits definition for CRYP_CR register  ********************/
+#define CRYP_CR_ALGODIR_Pos              (2U)
+#define CRYP_CR_ALGODIR_Msk              (0x1UL << CRYP_CR_ALGODIR_Pos)        /*!< 0x00000004 */
+#define CRYP_CR_ALGODIR                  CRYP_CR_ALGODIR_Msk
+
+#define CRYP_CR_ALGOMODE_Pos             (3U)
+#define CRYP_CR_ALGOMODE_Msk             (0x10007UL << CRYP_CR_ALGOMODE_Pos)   /*!< 0x00080038 */
+#define CRYP_CR_ALGOMODE                 CRYP_CR_ALGOMODE_Msk
+#define CRYP_CR_ALGOMODE_0               (0x00001UL << CRYP_CR_ALGOMODE_Pos)    /*!< 0x00000008 */
+#define CRYP_CR_ALGOMODE_1               (0x00002UL << CRYP_CR_ALGOMODE_Pos)    /*!< 0x00000010 */
+#define CRYP_CR_ALGOMODE_2               (0x00004UL << CRYP_CR_ALGOMODE_Pos)    /*!< 0x00000020 */
+#define CRYP_CR_ALGOMODE_TDES_ECB        ((uint32_t)0x00000000)
+#define CRYP_CR_ALGOMODE_TDES_CBC_Pos    (3U)
+#define CRYP_CR_ALGOMODE_TDES_CBC_Msk    (0x1UL << CRYP_CR_ALGOMODE_TDES_CBC_Pos) /*!< 0x00000008 */
+#define CRYP_CR_ALGOMODE_TDES_CBC        CRYP_CR_ALGOMODE_TDES_CBC_Msk
+#define CRYP_CR_ALGOMODE_DES_ECB_Pos     (4U)
+#define CRYP_CR_ALGOMODE_DES_ECB_Msk     (0x1UL << CRYP_CR_ALGOMODE_DES_ECB_Pos) /*!< 0x00000010 */
+#define CRYP_CR_ALGOMODE_DES_ECB         CRYP_CR_ALGOMODE_DES_ECB_Msk
+#define CRYP_CR_ALGOMODE_DES_CBC_Pos     (3U)
+#define CRYP_CR_ALGOMODE_DES_CBC_Msk     (0x3UL << CRYP_CR_ALGOMODE_DES_CBC_Pos) /*!< 0x00000018 */
+#define CRYP_CR_ALGOMODE_DES_CBC         CRYP_CR_ALGOMODE_DES_CBC_Msk
+#define CRYP_CR_ALGOMODE_AES_ECB_Pos     (5U)
+#define CRYP_CR_ALGOMODE_AES_ECB_Msk     (0x1UL << CRYP_CR_ALGOMODE_AES_ECB_Pos) /*!< 0x00000020 */
+#define CRYP_CR_ALGOMODE_AES_ECB         CRYP_CR_ALGOMODE_AES_ECB_Msk
+#define CRYP_CR_ALGOMODE_AES_CBC_Pos     (3U)
+#define CRYP_CR_ALGOMODE_AES_CBC_Msk     (0x5UL << CRYP_CR_ALGOMODE_AES_CBC_Pos) /*!< 0x00000028 */
+#define CRYP_CR_ALGOMODE_AES_CBC         CRYP_CR_ALGOMODE_AES_CBC_Msk
+#define CRYP_CR_ALGOMODE_AES_CTR_Pos     (4U)
+#define CRYP_CR_ALGOMODE_AES_CTR_Msk     (0x3UL << CRYP_CR_ALGOMODE_AES_CTR_Pos) /*!< 0x00000030 */
+#define CRYP_CR_ALGOMODE_AES_CTR         CRYP_CR_ALGOMODE_AES_CTR_Msk
+#define CRYP_CR_ALGOMODE_AES_KEY_Pos     (3U)
+#define CRYP_CR_ALGOMODE_AES_KEY_Msk     (0x7UL << CRYP_CR_ALGOMODE_AES_KEY_Pos) /*!< 0x00000038 */
+#define CRYP_CR_ALGOMODE_AES_KEY         CRYP_CR_ALGOMODE_AES_KEY_Msk
+#define CRYP_CR_ALGOMODE_AES_GCM_Pos     (19U)
+#define CRYP_CR_ALGOMODE_AES_GCM_Msk     (0x1UL << CRYP_CR_ALGOMODE_AES_GCM_Pos) /*!< 0x00080000 */
+#define CRYP_CR_ALGOMODE_AES_GCM         CRYP_CR_ALGOMODE_AES_GCM_Msk
+#define CRYP_CR_ALGOMODE_AES_CCM_Pos     (3U)
+#define CRYP_CR_ALGOMODE_AES_CCM_Msk     (0x10001UL << CRYP_CR_ALGOMODE_AES_CCM_Pos) /*!< 0x00080008 */
+#define CRYP_CR_ALGOMODE_AES_CCM         CRYP_CR_ALGOMODE_AES_CCM_Msk
+
+#define CRYP_CR_DATATYPE_Pos             (6U)
+#define CRYP_CR_DATATYPE_Msk             (0x3UL << CRYP_CR_DATATYPE_Pos)       /*!< 0x000000C0 */
+#define CRYP_CR_DATATYPE                 CRYP_CR_DATATYPE_Msk
+#define CRYP_CR_DATATYPE_0               (0x1UL << CRYP_CR_DATATYPE_Pos)        /*!< 0x00000040 */
+#define CRYP_CR_DATATYPE_1               (0x2UL << CRYP_CR_DATATYPE_Pos)        /*!< 0x00000080 */
+#define CRYP_CR_KEYSIZE_Pos              (8U)
+#define CRYP_CR_KEYSIZE_Msk              (0x3UL << CRYP_CR_KEYSIZE_Pos)        /*!< 0x00000300 */
+#define CRYP_CR_KEYSIZE                  CRYP_CR_KEYSIZE_Msk
+#define CRYP_CR_KEYSIZE_0                (0x1UL << CRYP_CR_KEYSIZE_Pos)         /*!< 0x00000100 */
+#define CRYP_CR_KEYSIZE_1                (0x2UL << CRYP_CR_KEYSIZE_Pos)         /*!< 0x00000200 */
+#define CRYP_CR_FFLUSH_Pos               (14U)
+#define CRYP_CR_FFLUSH_Msk               (0x1UL << CRYP_CR_FFLUSH_Pos)         /*!< 0x00004000 */
+#define CRYP_CR_FFLUSH                   CRYP_CR_FFLUSH_Msk
+#define CRYP_CR_CRYPEN_Pos               (15U)
+#define CRYP_CR_CRYPEN_Msk               (0x1UL << CRYP_CR_CRYPEN_Pos)         /*!< 0x00008000 */
+#define CRYP_CR_CRYPEN                   CRYP_CR_CRYPEN_Msk
+
+#define CRYP_CR_GCM_CCMPH_Pos            (16U)
+#define CRYP_CR_GCM_CCMPH_Msk            (0x3UL << CRYP_CR_GCM_CCMPH_Pos)      /*!< 0x00030000 */
+#define CRYP_CR_GCM_CCMPH                CRYP_CR_GCM_CCMPH_Msk
+#define CRYP_CR_GCM_CCMPH_0              (0x1UL << CRYP_CR_GCM_CCMPH_Pos)       /*!< 0x00010000 */
+#define CRYP_CR_GCM_CCMPH_1              (0x2UL << CRYP_CR_GCM_CCMPH_Pos)       /*!< 0x00020000 */
+#define CRYP_CR_ALGOMODE_3               ((uint32_t)0x00080000)
+#define CRYP_CR_NPBLB_Pos                (20U)
+#define CRYP_CR_NPBLB_Msk                (0xFUL << CRYP_CR_NPBLB_Pos)          /*!< 0x00F00000 */
+#define CRYP_CR_NPBLB                    CRYP_CR_NPBLB_Msk
+
+/****************** Bits definition for CRYP_SR register  *********************/
+#define CRYP_SR_IFEM_Pos                 (0U)
+#define CRYP_SR_IFEM_Msk                 (0x1UL << CRYP_SR_IFEM_Pos)           /*!< 0x00000001 */
+#define CRYP_SR_IFEM                     CRYP_SR_IFEM_Msk
+#define CRYP_SR_IFNF_Pos                 (1U)
+#define CRYP_SR_IFNF_Msk                 (0x1UL << CRYP_SR_IFNF_Pos)           /*!< 0x00000002 */
+#define CRYP_SR_IFNF                     CRYP_SR_IFNF_Msk
+#define CRYP_SR_OFNE_Pos                 (2U)
+#define CRYP_SR_OFNE_Msk                 (0x1UL << CRYP_SR_OFNE_Pos)           /*!< 0x00000004 */
+#define CRYP_SR_OFNE                     CRYP_SR_OFNE_Msk
+#define CRYP_SR_OFFU_Pos                 (3U)
+#define CRYP_SR_OFFU_Msk                 (0x1UL << CRYP_SR_OFFU_Pos)           /*!< 0x00000008 */
+#define CRYP_SR_OFFU                     CRYP_SR_OFFU_Msk
+#define CRYP_SR_BUSY_Pos                 (4U)
+#define CRYP_SR_BUSY_Msk                 (0x1UL << CRYP_SR_BUSY_Pos)           /*!< 0x00000010 */
+#define CRYP_SR_BUSY                     CRYP_SR_BUSY_Msk
+/****************** Bits definition for CRYP_DMACR register  ******************/
+#define CRYP_DMACR_DIEN_Pos              (0U)
+#define CRYP_DMACR_DIEN_Msk              (0x1UL << CRYP_DMACR_DIEN_Pos)        /*!< 0x00000001 */
+#define CRYP_DMACR_DIEN                  CRYP_DMACR_DIEN_Msk
+#define CRYP_DMACR_DOEN_Pos              (1U)
+#define CRYP_DMACR_DOEN_Msk              (0x1UL << CRYP_DMACR_DOEN_Pos)        /*!< 0x00000002 */
+#define CRYP_DMACR_DOEN                  CRYP_DMACR_DOEN_Msk
+/*****************  Bits definition for CRYP_IMSCR register  ******************/
+#define CRYP_IMSCR_INIM_Pos              (0U)
+#define CRYP_IMSCR_INIM_Msk              (0x1UL << CRYP_IMSCR_INIM_Pos)        /*!< 0x00000001 */
+#define CRYP_IMSCR_INIM                  CRYP_IMSCR_INIM_Msk
+#define CRYP_IMSCR_OUTIM_Pos             (1U)
+#define CRYP_IMSCR_OUTIM_Msk             (0x1UL << CRYP_IMSCR_OUTIM_Pos)       /*!< 0x00000002 */
+#define CRYP_IMSCR_OUTIM                 CRYP_IMSCR_OUTIM_Msk
+/****************** Bits definition for CRYP_RISR register  *******************/
+#define CRYP_RISR_INRIS_Pos              (0U)
+#define CRYP_RISR_INRIS_Msk              (0x1UL << CRYP_RISR_INRIS_Pos)        /*!< 0x00000001 */
+#define CRYP_RISR_INRIS                  CRYP_RISR_INRIS_Msk
+#define CRYP_RISR_OUTRIS_Pos             (1U)
+#define CRYP_RISR_OUTRIS_Msk             (0x1UL << CRYP_RISR_OUTRIS_Pos)       /*!< 0x00000002 */
+#define CRYP_RISR_OUTRIS                 CRYP_RISR_OUTRIS_Msk
+/****************** Bits definition for CRYP_MISR register  *******************/
+#define CRYP_MISR_INMIS_Pos              (0U)
+#define CRYP_MISR_INMIS_Msk              (0x1UL << CRYP_MISR_INMIS_Pos)        /*!< 0x00000001 */
+#define CRYP_MISR_INMIS                  CRYP_MISR_INMIS_Msk
+#define CRYP_MISR_OUTMIS_Pos             (1U)
+#define CRYP_MISR_OUTMIS_Msk             (0x1UL << CRYP_MISR_OUTMIS_Pos)       /*!< 0x00000002 */
+#define CRYP_MISR_OUTMIS                 CRYP_MISR_OUTMIS_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                      Digital to Analog Converter                           */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for DAC_CR register  ********************/
+#define DAC_CR_EN1_Pos              (0U)
+#define DAC_CR_EN1_Msk              (0x1UL << DAC_CR_EN1_Pos)                  /*!< 0x00000001 */
+#define DAC_CR_EN1                  DAC_CR_EN1_Msk                             /*!<DAC channel1 enable */
+#define DAC_CR_TEN1_Pos             (1U)
+#define DAC_CR_TEN1_Msk             (0x1UL << DAC_CR_TEN1_Pos)                 /*!< 0x00000002 */
+#define DAC_CR_TEN1                 DAC_CR_TEN1_Msk                            /*!<DAC channel1 Trigger enable */
+
+#define DAC_CR_TSEL1_Pos            (2U)
+#define DAC_CR_TSEL1_Msk            (0xFUL << DAC_CR_TSEL1_Pos)                /*!< 0x0000003C */
+#define DAC_CR_TSEL1                DAC_CR_TSEL1_Msk                           /*!<TSEL1[2:0] (DAC channel1 Trigger selection) */
+#define DAC_CR_TSEL1_0              (0x1UL << DAC_CR_TSEL1_Pos)                 /*!< 0x00000004 */
+#define DAC_CR_TSEL1_1              (0x2UL << DAC_CR_TSEL1_Pos)                 /*!< 0x00000008 */
+#define DAC_CR_TSEL1_2              (0x4UL << DAC_CR_TSEL1_Pos)                 /*!< 0x00000010 */
+#define DAC_CR_TSEL1_3              (0x8UL << DAC_CR_TSEL1_Pos)                 /*!< 0x00000020 */
+
+
+#define DAC_CR_WAVE1_Pos            (6U)
+#define DAC_CR_WAVE1_Msk            (0x3UL << DAC_CR_WAVE1_Pos)                /*!< 0x000000C0 */
+#define DAC_CR_WAVE1                DAC_CR_WAVE1_Msk                           /*!<WAVE1[1:0] (DAC channel1 noise/triangle wave generation enable) */
+#define DAC_CR_WAVE1_0              (0x1UL << DAC_CR_WAVE1_Pos)                 /*!< 0x00000040 */
+#define DAC_CR_WAVE1_1              (0x2UL << DAC_CR_WAVE1_Pos)                 /*!< 0x00000080 */
+
+#define DAC_CR_MAMP1_Pos            (8U)
+#define DAC_CR_MAMP1_Msk            (0xFUL << DAC_CR_MAMP1_Pos)                /*!< 0x00000F00 */
+#define DAC_CR_MAMP1                DAC_CR_MAMP1_Msk                           /*!<MAMP1[3:0] (DAC channel1 Mask/Amplitude selector) */
+#define DAC_CR_MAMP1_0              (0x1UL << DAC_CR_MAMP1_Pos)                 /*!< 0x00000100 */
+#define DAC_CR_MAMP1_1              (0x2UL << DAC_CR_MAMP1_Pos)                 /*!< 0x00000200 */
+#define DAC_CR_MAMP1_2              (0x4UL << DAC_CR_MAMP1_Pos)                 /*!< 0x00000400 */
+#define DAC_CR_MAMP1_3              (0x8UL << DAC_CR_MAMP1_Pos)                 /*!< 0x00000800 */
+
+#define DAC_CR_DMAEN1_Pos           (12U)
+#define DAC_CR_DMAEN1_Msk           (0x1UL << DAC_CR_DMAEN1_Pos)               /*!< 0x00001000 */
+#define DAC_CR_DMAEN1               DAC_CR_DMAEN1_Msk                          /*!<DAC channel1 DMA enable */
+#define DAC_CR_DMAUDRIE1_Pos        (13U)
+#define DAC_CR_DMAUDRIE1_Msk        (0x1UL << DAC_CR_DMAUDRIE1_Pos)            /*!< 0x00002000 */
+#define DAC_CR_DMAUDRIE1            DAC_CR_DMAUDRIE1_Msk                       /*!<DAC channel 1 DMA underrun interrupt enable  >*/
+#define DAC_CR_CEN1_Pos             (14U)
+#define DAC_CR_CEN1_Msk             (0x1UL << DAC_CR_CEN1_Pos)                 /*!< 0x00004000 */
+#define DAC_CR_CEN1                 DAC_CR_CEN1_Msk                            /*!<DAC channel 1 calibration enable >*/
+
+#define DAC_CR_EN2_Pos              (16U)
+#define DAC_CR_EN2_Msk              (0x1UL << DAC_CR_EN2_Pos)                  /*!< 0x00010000 */
+#define DAC_CR_EN2                  DAC_CR_EN2_Msk                             /*!<DAC channel2 enable */
+#define DAC_CR_TEN2_Pos             (17U)
+#define DAC_CR_TEN2_Msk             (0x1UL << DAC_CR_TEN2_Pos)                 /*!< 0x00020000 */
+#define DAC_CR_TEN2                 DAC_CR_TEN2_Msk                            /*!<DAC channel2 Trigger enable */
+
+#define DAC_CR_TSEL2_Pos            (18U)
+#define DAC_CR_TSEL2_Msk            (0xFUL << DAC_CR_TSEL2_Pos)                /*!< 0x003C0000 */
+#define DAC_CR_TSEL2                DAC_CR_TSEL2_Msk                           /*!<TSEL2[2:0] (DAC channel2 Trigger selection) */
+#define DAC_CR_TSEL2_0              (0x1UL << DAC_CR_TSEL2_Pos)                 /*!< 0x00040000 */
+#define DAC_CR_TSEL2_1              (0x2UL << DAC_CR_TSEL2_Pos)                 /*!< 0x00080000 */
+#define DAC_CR_TSEL2_2              (0x4UL << DAC_CR_TSEL2_Pos)                 /*!< 0x00100000 */
+#define DAC_CR_TSEL2_3              (0x8UL << DAC_CR_TSEL2_Pos)                 /*!< 0x00200000 */
+
+
+#define DAC_CR_WAVE2_Pos            (22U)
+#define DAC_CR_WAVE2_Msk            (0x3UL << DAC_CR_WAVE2_Pos)                /*!< 0x00C00000 */
+#define DAC_CR_WAVE2                DAC_CR_WAVE2_Msk                           /*!<WAVE2[1:0] (DAC channel2 noise/triangle wave generation enable) */
+#define DAC_CR_WAVE2_0              (0x1UL << DAC_CR_WAVE2_Pos)                 /*!< 0x00400000 */
+#define DAC_CR_WAVE2_1              (0x2UL << DAC_CR_WAVE2_Pos)                 /*!< 0x00800000 */
+
+#define DAC_CR_MAMP2_Pos            (24U)
+#define DAC_CR_MAMP2_Msk            (0xFUL << DAC_CR_MAMP2_Pos)                /*!< 0x0F000000 */
+#define DAC_CR_MAMP2                DAC_CR_MAMP2_Msk                           /*!<MAMP2[3:0] (DAC channel2 Mask/Amplitude selector) */
+#define DAC_CR_MAMP2_0              (0x1UL << DAC_CR_MAMP2_Pos)                 /*!< 0x01000000 */
+#define DAC_CR_MAMP2_1              (0x2UL << DAC_CR_MAMP2_Pos)                 /*!< 0x02000000 */
+#define DAC_CR_MAMP2_2              (0x4UL << DAC_CR_MAMP2_Pos)                 /*!< 0x04000000 */
+#define DAC_CR_MAMP2_3              (0x8UL << DAC_CR_MAMP2_Pos)                 /*!< 0x08000000 */
+
+#define DAC_CR_DMAEN2_Pos           (28U)
+#define DAC_CR_DMAEN2_Msk           (0x1UL << DAC_CR_DMAEN2_Pos)               /*!< 0x10000000 */
+#define DAC_CR_DMAEN2               DAC_CR_DMAEN2_Msk                          /*!<DAC channel2 DMA enabled */
+#define DAC_CR_DMAUDRIE2_Pos        (29U)
+#define DAC_CR_DMAUDRIE2_Msk        (0x1UL << DAC_CR_DMAUDRIE2_Pos)            /*!< 0x20000000 */
+#define DAC_CR_DMAUDRIE2            DAC_CR_DMAUDRIE2_Msk                       /*!<DAC channel2 DMA underrun interrupt enable  >*/
+#define DAC_CR_CEN2_Pos             (30U)
+#define DAC_CR_CEN2_Msk             (0x1UL << DAC_CR_CEN2_Pos)                 /*!< 0x40000000 */
+#define DAC_CR_CEN2                 DAC_CR_CEN2_Msk                            /*!<DAC channel2 calibration enable >*/
+
+/*****************  Bit definition for DAC_SWTRIGR register  ******************/
+#define DAC_SWTRIGR_SWTRIG1_Pos     (0U)
+#define DAC_SWTRIGR_SWTRIG1_Msk     (0x1UL << DAC_SWTRIGR_SWTRIG1_Pos)         /*!< 0x00000001 */
+#define DAC_SWTRIGR_SWTRIG1         DAC_SWTRIGR_SWTRIG1_Msk                    /*!<DAC channel1 software trigger */
+#define DAC_SWTRIGR_SWTRIG2_Pos     (1U)
+#define DAC_SWTRIGR_SWTRIG2_Msk     (0x1UL << DAC_SWTRIGR_SWTRIG2_Pos)         /*!< 0x00000002 */
+#define DAC_SWTRIGR_SWTRIG2         DAC_SWTRIGR_SWTRIG2_Msk                    /*!<DAC channel2 software trigger */
+
+/*****************  Bit definition for DAC_DHR12R1 register  ******************/
+#define DAC_DHR12R1_DACC1DHR_Pos    (0U)
+#define DAC_DHR12R1_DACC1DHR_Msk    (0xFFFUL << DAC_DHR12R1_DACC1DHR_Pos)      /*!< 0x00000FFF */
+#define DAC_DHR12R1_DACC1DHR        DAC_DHR12R1_DACC1DHR_Msk                   /*!<DAC channel1 12-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12L1 register  ******************/
+#define DAC_DHR12L1_DACC1DHR_Pos    (4U)
+#define DAC_DHR12L1_DACC1DHR_Msk    (0xFFFUL << DAC_DHR12L1_DACC1DHR_Pos)      /*!< 0x0000FFF0 */
+#define DAC_DHR12L1_DACC1DHR        DAC_DHR12L1_DACC1DHR_Msk                   /*!<DAC channel1 12-bit Left aligned data */
+
+/******************  Bit definition for DAC_DHR8R1 register  ******************/
+#define DAC_DHR8R1_DACC1DHR_Pos     (0U)
+#define DAC_DHR8R1_DACC1DHR_Msk     (0xFFUL << DAC_DHR8R1_DACC1DHR_Pos)        /*!< 0x000000FF */
+#define DAC_DHR8R1_DACC1DHR         DAC_DHR8R1_DACC1DHR_Msk                    /*!<DAC channel1 8-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12R2 register  ******************/
+#define DAC_DHR12R2_DACC2DHR_Pos    (0U)
+#define DAC_DHR12R2_DACC2DHR_Msk    (0xFFFUL << DAC_DHR12R2_DACC2DHR_Pos)      /*!< 0x00000FFF */
+#define DAC_DHR12R2_DACC2DHR        DAC_DHR12R2_DACC2DHR_Msk                   /*!<DAC channel2 12-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12L2 register  ******************/
+#define DAC_DHR12L2_DACC2DHR_Pos    (4U)
+#define DAC_DHR12L2_DACC2DHR_Msk    (0xFFFUL << DAC_DHR12L2_DACC2DHR_Pos)      /*!< 0x0000FFF0 */
+#define DAC_DHR12L2_DACC2DHR        DAC_DHR12L2_DACC2DHR_Msk                   /*!<DAC channel2 12-bit Left aligned data */
+
+/******************  Bit definition for DAC_DHR8R2 register  ******************/
+#define DAC_DHR8R2_DACC2DHR_Pos     (0U)
+#define DAC_DHR8R2_DACC2DHR_Msk     (0xFFUL << DAC_DHR8R2_DACC2DHR_Pos)        /*!< 0x000000FF */
+#define DAC_DHR8R2_DACC2DHR         DAC_DHR8R2_DACC2DHR_Msk                    /*!<DAC channel2 8-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12RD register  ******************/
+#define DAC_DHR12RD_DACC1DHR_Pos    (0U)
+#define DAC_DHR12RD_DACC1DHR_Msk    (0xFFFUL << DAC_DHR12RD_DACC1DHR_Pos)      /*!< 0x00000FFF */
+#define DAC_DHR12RD_DACC1DHR        DAC_DHR12RD_DACC1DHR_Msk                   /*!<DAC channel1 12-bit Right aligned data */
+#define DAC_DHR12RD_DACC2DHR_Pos    (16U)
+#define DAC_DHR12RD_DACC2DHR_Msk    (0xFFFUL << DAC_DHR12RD_DACC2DHR_Pos)      /*!< 0x0FFF0000 */
+#define DAC_DHR12RD_DACC2DHR        DAC_DHR12RD_DACC2DHR_Msk                   /*!<DAC channel2 12-bit Right aligned data */
+
+/*****************  Bit definition for DAC_DHR12LD register  ******************/
+#define DAC_DHR12LD_DACC1DHR_Pos    (4U)
+#define DAC_DHR12LD_DACC1DHR_Msk    (0xFFFUL << DAC_DHR12LD_DACC1DHR_Pos)      /*!< 0x0000FFF0 */
+#define DAC_DHR12LD_DACC1DHR        DAC_DHR12LD_DACC1DHR_Msk                   /*!<DAC channel1 12-bit Left aligned data */
+#define DAC_DHR12LD_DACC2DHR_Pos    (20U)
+#define DAC_DHR12LD_DACC2DHR_Msk    (0xFFFUL << DAC_DHR12LD_DACC2DHR_Pos)      /*!< 0xFFF00000 */
+#define DAC_DHR12LD_DACC2DHR        DAC_DHR12LD_DACC2DHR_Msk                   /*!<DAC channel2 12-bit Left aligned data */
+
+/******************  Bit definition for DAC_DHR8RD register  ******************/
+#define DAC_DHR8RD_DACC1DHR_Pos     (0U)
+#define DAC_DHR8RD_DACC1DHR_Msk     (0xFFUL << DAC_DHR8RD_DACC1DHR_Pos)        /*!< 0x000000FF */
+#define DAC_DHR8RD_DACC1DHR         DAC_DHR8RD_DACC1DHR_Msk                    /*!<DAC channel1 8-bit Right aligned data */
+#define DAC_DHR8RD_DACC2DHR_Pos     (8U)
+#define DAC_DHR8RD_DACC2DHR_Msk     (0xFFUL << DAC_DHR8RD_DACC2DHR_Pos)        /*!< 0x0000FF00 */
+#define DAC_DHR8RD_DACC2DHR         DAC_DHR8RD_DACC2DHR_Msk                    /*!<DAC channel2 8-bit Right aligned data */
+
+/*******************  Bit definition for DAC_DOR1 register  *******************/
+#define DAC_DOR1_DACC1DOR_Pos       (0U)
+#define DAC_DOR1_DACC1DOR_Msk       (0xFFFUL << DAC_DOR1_DACC1DOR_Pos)         /*!< 0x00000FFF */
+#define DAC_DOR1_DACC1DOR           DAC_DOR1_DACC1DOR_Msk                      /*!<DAC channel1 data output */
+
+/*******************  Bit definition for DAC_DOR2 register  *******************/
+#define DAC_DOR2_DACC2DOR_Pos       (0U)
+#define DAC_DOR2_DACC2DOR_Msk       (0xFFFUL << DAC_DOR2_DACC2DOR_Pos)         /*!< 0x00000FFF */
+#define DAC_DOR2_DACC2DOR           DAC_DOR2_DACC2DOR_Msk                      /*!<DAC channel2 data output */
+
+/********************  Bit definition for DAC_SR register  ********************/
+#define DAC_SR_DMAUDR1_Pos          (13U)
+#define DAC_SR_DMAUDR1_Msk          (0x1UL << DAC_SR_DMAUDR1_Pos)              /*!< 0x00002000 */
+#define DAC_SR_DMAUDR1              DAC_SR_DMAUDR1_Msk                         /*!<DAC channel1 DMA underrun flag */
+#define DAC_SR_CAL_FLAG1_Pos        (14U)
+#define DAC_SR_CAL_FLAG1_Msk        (0x1UL << DAC_SR_CAL_FLAG1_Pos)            /*!< 0x00004000 */
+#define DAC_SR_CAL_FLAG1            DAC_SR_CAL_FLAG1_Msk                       /*!<DAC channel1 calibration offset status */
+#define DAC_SR_BWST1_Pos            (15U)
+#define DAC_SR_BWST1_Msk            (0x4001UL << DAC_SR_BWST1_Pos)             /*!< 0x20008000 */
+#define DAC_SR_BWST1                DAC_SR_BWST1_Msk                           /*!<DAC channel1 busy writing sample time flag */
+
+#define DAC_SR_DMAUDR2_Pos          (29U)
+#define DAC_SR_DMAUDR2_Msk          (0x1UL << DAC_SR_DMAUDR2_Pos)              /*!< 0x20000000 */
+#define DAC_SR_DMAUDR2              DAC_SR_DMAUDR2_Msk                         /*!<DAC channel2 DMA underrun flag */
+#define DAC_SR_CAL_FLAG2_Pos        (30U)
+#define DAC_SR_CAL_FLAG2_Msk        (0x1UL << DAC_SR_CAL_FLAG2_Pos)            /*!< 0x40000000 */
+#define DAC_SR_CAL_FLAG2            DAC_SR_CAL_FLAG2_Msk                       /*!<DAC channel2 calibration offset status */
+#define DAC_SR_BWST2_Pos            (31U)
+#define DAC_SR_BWST2_Msk            (0x1UL << DAC_SR_BWST2_Pos)                /*!< 0x80000000 */
+#define DAC_SR_BWST2                DAC_SR_BWST2_Msk                           /*!<DAC channel2 busy writing sample time flag */
+
+/*******************  Bit definition for DAC_CCR register  ********************/
+#define DAC_CCR_OTRIM1_Pos          (0U)
+#define DAC_CCR_OTRIM1_Msk          (0x1FUL << DAC_CCR_OTRIM1_Pos)             /*!< 0x0000001F */
+#define DAC_CCR_OTRIM1              DAC_CCR_OTRIM1_Msk                         /*!<DAC channel1 offset trimming value */
+#define DAC_CCR_OTRIM2_Pos          (16U)
+#define DAC_CCR_OTRIM2_Msk          (0x1FUL << DAC_CCR_OTRIM2_Pos)             /*!< 0x001F0000 */
+#define DAC_CCR_OTRIM2              DAC_CCR_OTRIM2_Msk                         /*!<DAC channel2 offset trimming value */
+
+/*******************  Bit definition for DAC_MCR register  *******************/
+#define DAC_MCR_MODE1_Pos           (0U)
+#define DAC_MCR_MODE1_Msk           (0x7UL << DAC_MCR_MODE1_Pos)               /*!< 0x00000007 */
+#define DAC_MCR_MODE1               DAC_MCR_MODE1_Msk                          /*!<MODE1[2:0] (DAC channel1 mode) */
+#define DAC_MCR_MODE1_0             (0x1UL << DAC_MCR_MODE1_Pos)                /*!< 0x00000001 */
+#define DAC_MCR_MODE1_1             (0x2UL << DAC_MCR_MODE1_Pos)                /*!< 0x00000002 */
+#define DAC_MCR_MODE1_2             (0x4UL << DAC_MCR_MODE1_Pos)                /*!< 0x00000004 */
+
+#define DAC_MCR_MODE2_Pos           (16U)
+#define DAC_MCR_MODE2_Msk           (0x7UL << DAC_MCR_MODE2_Pos)               /*!< 0x00070000 */
+#define DAC_MCR_MODE2               DAC_MCR_MODE2_Msk                          /*!<MODE2[2:0] (DAC channel2 mode) */
+#define DAC_MCR_MODE2_0             (0x1UL << DAC_MCR_MODE2_Pos)                /*!< 0x00010000 */
+#define DAC_MCR_MODE2_1             (0x2UL << DAC_MCR_MODE2_Pos)                /*!< 0x00020000 */
+#define DAC_MCR_MODE2_2             (0x4UL << DAC_MCR_MODE2_Pos)                /*!< 0x00040000 */
+
+/******************  Bit definition for DAC_SHSR1 register  ******************/
+#define DAC_SHSR1_TSAMPLE1_Pos      (0U)
+#define DAC_SHSR1_TSAMPLE1_Msk      (0x3FFUL << DAC_SHSR1_TSAMPLE1_Pos)        /*!< 0x000003FF */
+#define DAC_SHSR1_TSAMPLE1          DAC_SHSR1_TSAMPLE1_Msk                     /*!<DAC channel1 sample time */
+
+/******************  Bit definition for DAC_SHSR2 register  ******************/
+#define DAC_SHSR2_TSAMPLE2_Pos      (0U)
+#define DAC_SHSR2_TSAMPLE2_Msk      (0x3FFUL << DAC_SHSR2_TSAMPLE2_Pos)        /*!< 0x000003FF */
+#define DAC_SHSR2_TSAMPLE2          DAC_SHSR2_TSAMPLE2_Msk                     /*!<DAC channel2 sample time */
+
+/******************  Bit definition for DAC_SHHR register  ******************/
+#define DAC_SHHR_THOLD1_Pos         (0U)
+#define DAC_SHHR_THOLD1_Msk         (0x3FFUL << DAC_SHHR_THOLD1_Pos)           /*!< 0x000003FF */
+#define DAC_SHHR_THOLD1             DAC_SHHR_THOLD1_Msk                        /*!<DAC channel1 hold time */
+#define DAC_SHHR_THOLD2_Pos         (16U)
+#define DAC_SHHR_THOLD2_Msk         (0x3FFUL << DAC_SHHR_THOLD2_Pos)           /*!< 0x03FF0000 */
+#define DAC_SHHR_THOLD2             DAC_SHHR_THOLD2_Msk                        /*!<DAC channel2 hold time */
+
+/******************  Bit definition for DAC_SHRR register  ******************/
+#define DAC_SHRR_TREFRESH1_Pos      (0U)
+#define DAC_SHRR_TREFRESH1_Msk      (0xFFUL << DAC_SHRR_TREFRESH1_Pos)         /*!< 0x000000FF */
+#define DAC_SHRR_TREFRESH1          DAC_SHRR_TREFRESH1_Msk                     /*!<DAC channel1 refresh time */
+#define DAC_SHRR_TREFRESH2_Pos      (16U)
+#define DAC_SHRR_TREFRESH2_Msk      (0xFFUL << DAC_SHRR_TREFRESH2_Pos)         /*!< 0x00FF0000 */
+#define DAC_SHRR_TREFRESH2          DAC_SHRR_TREFRESH2_Msk                     /*!<DAC channel2 refresh time */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    DCMI                                    */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bits definition for DCMI_CR register  ******************/
+#define DCMI_CR_CAPTURE_Pos        (0U)
+#define DCMI_CR_CAPTURE_Msk        (0x1UL << DCMI_CR_CAPTURE_Pos)              /*!< 0x00000001 */
+#define DCMI_CR_CAPTURE            DCMI_CR_CAPTURE_Msk
+#define DCMI_CR_CM_Pos             (1U)
+#define DCMI_CR_CM_Msk             (0x1UL << DCMI_CR_CM_Pos)                   /*!< 0x00000002 */
+#define DCMI_CR_CM                 DCMI_CR_CM_Msk
+#define DCMI_CR_CROP_Pos           (2U)
+#define DCMI_CR_CROP_Msk           (0x1UL << DCMI_CR_CROP_Pos)                 /*!< 0x00000004 */
+#define DCMI_CR_CROP               DCMI_CR_CROP_Msk
+#define DCMI_CR_JPEG_Pos           (3U)
+#define DCMI_CR_JPEG_Msk           (0x1UL << DCMI_CR_JPEG_Pos)                 /*!< 0x00000008 */
+#define DCMI_CR_JPEG               DCMI_CR_JPEG_Msk
+#define DCMI_CR_ESS_Pos            (4U)
+#define DCMI_CR_ESS_Msk            (0x1UL << DCMI_CR_ESS_Pos)                  /*!< 0x00000010 */
+#define DCMI_CR_ESS                DCMI_CR_ESS_Msk
+#define DCMI_CR_PCKPOL_Pos         (5U)
+#define DCMI_CR_PCKPOL_Msk         (0x1UL << DCMI_CR_PCKPOL_Pos)               /*!< 0x00000020 */
+#define DCMI_CR_PCKPOL             DCMI_CR_PCKPOL_Msk
+#define DCMI_CR_HSPOL_Pos          (6U)
+#define DCMI_CR_HSPOL_Msk          (0x1UL << DCMI_CR_HSPOL_Pos)                /*!< 0x00000040 */
+#define DCMI_CR_HSPOL              DCMI_CR_HSPOL_Msk
+#define DCMI_CR_VSPOL_Pos          (7U)
+#define DCMI_CR_VSPOL_Msk          (0x1UL << DCMI_CR_VSPOL_Pos)                /*!< 0x00000080 */
+#define DCMI_CR_VSPOL              DCMI_CR_VSPOL_Msk
+#define DCMI_CR_FCRC_0             ((uint32_t)0x00000100U)
+#define DCMI_CR_FCRC_1             ((uint32_t)0x00000200U)
+#define DCMI_CR_EDM_0              ((uint32_t)0x00000400U)
+#define DCMI_CR_EDM_1              ((uint32_t)0x00000800U)
+#define DCMI_CR_CRE_Pos            (12U)
+#define DCMI_CR_CRE_Msk            (0x1UL << DCMI_CR_CRE_Pos)                  /*!< 0x00001000 */
+#define DCMI_CR_CRE                DCMI_CR_CRE_Msk
+#define DCMI_CR_ENABLE_Pos         (14U)
+#define DCMI_CR_ENABLE_Msk         (0x1UL << DCMI_CR_ENABLE_Pos)               /*!< 0x00004000 */
+#define DCMI_CR_ENABLE             DCMI_CR_ENABLE_Msk
+#define DCMI_CR_BSM_Pos            (16U)
+#define DCMI_CR_BSM_Msk            (0x3UL << DCMI_CR_BSM_Pos)                  /*!< 0x00030000 */
+#define DCMI_CR_BSM                DCMI_CR_BSM_Msk
+#define DCMI_CR_BSM_0              (0x1UL << DCMI_CR_BSM_Pos)                   /*!< 0x00010000 */
+#define DCMI_CR_BSM_1              (0x2UL << DCMI_CR_BSM_Pos)                   /*!< 0x00020000 */
+#define DCMI_CR_OEBS_Pos           (18U)
+#define DCMI_CR_OEBS_Msk           (0x1UL << DCMI_CR_OEBS_Pos)                 /*!< 0x00040000 */
+#define DCMI_CR_OEBS               DCMI_CR_OEBS_Msk
+#define DCMI_CR_LSM_Pos            (19U)
+#define DCMI_CR_LSM_Msk            (0x1UL << DCMI_CR_LSM_Pos)                  /*!< 0x00080000 */
+#define DCMI_CR_LSM                DCMI_CR_LSM_Msk
+#define DCMI_CR_OELS_Pos           (20U)
+#define DCMI_CR_OELS_Msk           (0x1UL << DCMI_CR_OELS_Pos)                 /*!< 0x00100000 */
+#define DCMI_CR_OELS               DCMI_CR_OELS_Msk
+
+/********************  Bits definition for DCMI_SR register  ******************/
+#define DCMI_SR_HSYNC_Pos          (0U)
+#define DCMI_SR_HSYNC_Msk          (0x1UL << DCMI_SR_HSYNC_Pos)                /*!< 0x00000001 */
+#define DCMI_SR_HSYNC              DCMI_SR_HSYNC_Msk
+#define DCMI_SR_VSYNC_Pos          (1U)
+#define DCMI_SR_VSYNC_Msk          (0x1UL << DCMI_SR_VSYNC_Pos)                /*!< 0x00000002 */
+#define DCMI_SR_VSYNC              DCMI_SR_VSYNC_Msk
+#define DCMI_SR_FNE_Pos            (2U)
+#define DCMI_SR_FNE_Msk            (0x1UL << DCMI_SR_FNE_Pos)                  /*!< 0x00000004 */
+#define DCMI_SR_FNE                DCMI_SR_FNE_Msk
+
+/********************  Bits definition for DCMI_RIS register   ****************/
+#define DCMI_RIS_FRAME_RIS_Pos     (0U)
+#define DCMI_RIS_FRAME_RIS_Msk     (0x1UL << DCMI_RIS_FRAME_RIS_Pos)           /*!< 0x00000001 */
+#define DCMI_RIS_FRAME_RIS         DCMI_RIS_FRAME_RIS_Msk
+#define DCMI_RIS_OVR_RIS_Pos       (1U)
+#define DCMI_RIS_OVR_RIS_Msk       (0x1UL << DCMI_RIS_OVR_RIS_Pos)             /*!< 0x00000002 */
+#define DCMI_RIS_OVR_RIS           DCMI_RIS_OVR_RIS_Msk
+#define DCMI_RIS_ERR_RIS_Pos       (2U)
+#define DCMI_RIS_ERR_RIS_Msk       (0x1UL << DCMI_RIS_ERR_RIS_Pos)             /*!< 0x00000004 */
+#define DCMI_RIS_ERR_RIS           DCMI_RIS_ERR_RIS_Msk
+#define DCMI_RIS_VSYNC_RIS_Pos     (3U)
+#define DCMI_RIS_VSYNC_RIS_Msk     (0x1UL << DCMI_RIS_VSYNC_RIS_Pos)           /*!< 0x00000008 */
+#define DCMI_RIS_VSYNC_RIS         DCMI_RIS_VSYNC_RIS_Msk
+#define DCMI_RIS_LINE_RIS_Pos      (4U)
+#define DCMI_RIS_LINE_RIS_Msk      (0x1UL << DCMI_RIS_LINE_RIS_Pos)            /*!< 0x00000010 */
+#define DCMI_RIS_LINE_RIS          DCMI_RIS_LINE_RIS_Msk
+
+/********************  Bits definition for DCMI_IER register  *****************/
+#define DCMI_IER_FRAME_IE_Pos      (0U)
+#define DCMI_IER_FRAME_IE_Msk      (0x1UL << DCMI_IER_FRAME_IE_Pos)            /*!< 0x00000001 */
+#define DCMI_IER_FRAME_IE          DCMI_IER_FRAME_IE_Msk
+#define DCMI_IER_OVR_IE_Pos        (1U)
+#define DCMI_IER_OVR_IE_Msk        (0x1UL << DCMI_IER_OVR_IE_Pos)              /*!< 0x00000002 */
+#define DCMI_IER_OVR_IE            DCMI_IER_OVR_IE_Msk
+#define DCMI_IER_ERR_IE_Pos        (2U)
+#define DCMI_IER_ERR_IE_Msk        (0x1UL << DCMI_IER_ERR_IE_Pos)              /*!< 0x00000004 */
+#define DCMI_IER_ERR_IE            DCMI_IER_ERR_IE_Msk
+#define DCMI_IER_VSYNC_IE_Pos      (3U)
+#define DCMI_IER_VSYNC_IE_Msk      (0x1UL << DCMI_IER_VSYNC_IE_Pos)            /*!< 0x00000008 */
+#define DCMI_IER_VSYNC_IE          DCMI_IER_VSYNC_IE_Msk
+#define DCMI_IER_LINE_IE_Pos       (4U)
+#define DCMI_IER_LINE_IE_Msk       (0x1UL << DCMI_IER_LINE_IE_Pos)             /*!< 0x00000010 */
+#define DCMI_IER_LINE_IE           DCMI_IER_LINE_IE_Msk
+
+
+/********************  Bits definition for DCMI_MIS register  *****************/
+#define DCMI_MIS_FRAME_MIS_Pos     (0U)
+#define DCMI_MIS_FRAME_MIS_Msk     (0x1UL << DCMI_MIS_FRAME_MIS_Pos)           /*!< 0x00000001 */
+#define DCMI_MIS_FRAME_MIS         DCMI_MIS_FRAME_MIS_Msk
+#define DCMI_MIS_OVR_MIS_Pos       (1U)
+#define DCMI_MIS_OVR_MIS_Msk       (0x1UL << DCMI_MIS_OVR_MIS_Pos)             /*!< 0x00000002 */
+#define DCMI_MIS_OVR_MIS           DCMI_MIS_OVR_MIS_Msk
+#define DCMI_MIS_ERR_MIS_Pos       (2U)
+#define DCMI_MIS_ERR_MIS_Msk       (0x1UL << DCMI_MIS_ERR_MIS_Pos)             /*!< 0x00000004 */
+#define DCMI_MIS_ERR_MIS           DCMI_MIS_ERR_MIS_Msk
+#define DCMI_MIS_VSYNC_MIS_Pos     (3U)
+#define DCMI_MIS_VSYNC_MIS_Msk     (0x1UL << DCMI_MIS_VSYNC_MIS_Pos)           /*!< 0x00000008 */
+#define DCMI_MIS_VSYNC_MIS         DCMI_MIS_VSYNC_MIS_Msk
+#define DCMI_MIS_LINE_MIS_Pos      (4U)
+#define DCMI_MIS_LINE_MIS_Msk      (0x1UL << DCMI_MIS_LINE_MIS_Pos)            /*!< 0x00000010 */
+#define DCMI_MIS_LINE_MIS          DCMI_MIS_LINE_MIS_Msk
+
+
+/********************  Bits definition for DCMI_ICR register  *****************/
+#define DCMI_ICR_FRAME_ISC_Pos     (0U)
+#define DCMI_ICR_FRAME_ISC_Msk     (0x1UL << DCMI_ICR_FRAME_ISC_Pos)           /*!< 0x00000001 */
+#define DCMI_ICR_FRAME_ISC         DCMI_ICR_FRAME_ISC_Msk
+#define DCMI_ICR_OVR_ISC_Pos       (1U)
+#define DCMI_ICR_OVR_ISC_Msk       (0x1UL << DCMI_ICR_OVR_ISC_Pos)             /*!< 0x00000002 */
+#define DCMI_ICR_OVR_ISC           DCMI_ICR_OVR_ISC_Msk
+#define DCMI_ICR_ERR_ISC_Pos       (2U)
+#define DCMI_ICR_ERR_ISC_Msk       (0x1UL << DCMI_ICR_ERR_ISC_Pos)             /*!< 0x00000004 */
+#define DCMI_ICR_ERR_ISC           DCMI_ICR_ERR_ISC_Msk
+#define DCMI_ICR_VSYNC_ISC_Pos     (3U)
+#define DCMI_ICR_VSYNC_ISC_Msk     (0x1UL << DCMI_ICR_VSYNC_ISC_Pos)           /*!< 0x00000008 */
+#define DCMI_ICR_VSYNC_ISC         DCMI_ICR_VSYNC_ISC_Msk
+#define DCMI_ICR_LINE_ISC_Pos      (4U)
+#define DCMI_ICR_LINE_ISC_Msk      (0x1UL << DCMI_ICR_LINE_ISC_Pos)            /*!< 0x00000010 */
+#define DCMI_ICR_LINE_ISC          DCMI_ICR_LINE_ISC_Msk
+
+
+/********************  Bits definition for DCMI_ESCR register  ******************/
+#define DCMI_ESCR_FSC_Pos          (0U)
+#define DCMI_ESCR_FSC_Msk          (0xFFUL << DCMI_ESCR_FSC_Pos)               /*!< 0x000000FF */
+#define DCMI_ESCR_FSC              DCMI_ESCR_FSC_Msk
+#define DCMI_ESCR_LSC_Pos          (8U)
+#define DCMI_ESCR_LSC_Msk          (0xFFUL << DCMI_ESCR_LSC_Pos)               /*!< 0x0000FF00 */
+#define DCMI_ESCR_LSC              DCMI_ESCR_LSC_Msk
+#define DCMI_ESCR_LEC_Pos          (16U)
+#define DCMI_ESCR_LEC_Msk          (0xFFUL << DCMI_ESCR_LEC_Pos)               /*!< 0x00FF0000 */
+#define DCMI_ESCR_LEC              DCMI_ESCR_LEC_Msk
+#define DCMI_ESCR_FEC_Pos          (24U)
+#define DCMI_ESCR_FEC_Msk          (0xFFUL << DCMI_ESCR_FEC_Pos)               /*!< 0xFF000000 */
+#define DCMI_ESCR_FEC              DCMI_ESCR_FEC_Msk
+
+/********************  Bits definition for DCMI_ESUR register  ******************/
+#define DCMI_ESUR_FSU_Pos          (0U)
+#define DCMI_ESUR_FSU_Msk          (0xFFUL << DCMI_ESUR_FSU_Pos)               /*!< 0x000000FF */
+#define DCMI_ESUR_FSU              DCMI_ESUR_FSU_Msk
+#define DCMI_ESUR_LSU_Pos          (8U)
+#define DCMI_ESUR_LSU_Msk          (0xFFUL << DCMI_ESUR_LSU_Pos)               /*!< 0x0000FF00 */
+#define DCMI_ESUR_LSU              DCMI_ESUR_LSU_Msk
+#define DCMI_ESUR_LEU_Pos          (16U)
+#define DCMI_ESUR_LEU_Msk          (0xFFUL << DCMI_ESUR_LEU_Pos)               /*!< 0x00FF0000 */
+#define DCMI_ESUR_LEU              DCMI_ESUR_LEU_Msk
+#define DCMI_ESUR_FEU_Pos          (24U)
+#define DCMI_ESUR_FEU_Msk          (0xFFUL << DCMI_ESUR_FEU_Pos)               /*!< 0xFF000000 */
+#define DCMI_ESUR_FEU              DCMI_ESUR_FEU_Msk
+
+/********************  Bits definition for DCMI_CWSTRT register  ******************/
+#define DCMI_CWSTRT_HOFFCNT_Pos    (0U)
+#define DCMI_CWSTRT_HOFFCNT_Msk    (0x3FFFUL << DCMI_CWSTRT_HOFFCNT_Pos)       /*!< 0x00003FFF */
+#define DCMI_CWSTRT_HOFFCNT        DCMI_CWSTRT_HOFFCNT_Msk
+#define DCMI_CWSTRT_VST_Pos        (16U)
+#define DCMI_CWSTRT_VST_Msk        (0x1FFFUL << DCMI_CWSTRT_VST_Pos)           /*!< 0x1FFF0000 */
+#define DCMI_CWSTRT_VST            DCMI_CWSTRT_VST_Msk
+
+/********************  Bits definition for DCMI_CWSIZE register  ******************/
+#define DCMI_CWSIZE_CAPCNT_Pos     (0U)
+#define DCMI_CWSIZE_CAPCNT_Msk     (0x3FFFUL << DCMI_CWSIZE_CAPCNT_Pos)        /*!< 0x00003FFF */
+#define DCMI_CWSIZE_CAPCNT         DCMI_CWSIZE_CAPCNT_Msk
+#define DCMI_CWSIZE_VLINE_Pos      (16U)
+#define DCMI_CWSIZE_VLINE_Msk      (0x3FFFUL << DCMI_CWSIZE_VLINE_Pos)         /*!< 0x3FFF0000 */
+#define DCMI_CWSIZE_VLINE          DCMI_CWSIZE_VLINE_Msk
+
+/********************  Bits definition for DCMI_DR register  ******************/
+#define DCMI_DR_BYTE0_Pos          (0U)
+#define DCMI_DR_BYTE0_Msk          (0xFFUL << DCMI_DR_BYTE0_Pos)               /*!< 0x000000FF */
+#define DCMI_DR_BYTE0              DCMI_DR_BYTE0_Msk
+#define DCMI_DR_BYTE1_Pos          (8U)
+#define DCMI_DR_BYTE1_Msk          (0xFFUL << DCMI_DR_BYTE1_Pos)               /*!< 0x0000FF00 */
+#define DCMI_DR_BYTE1              DCMI_DR_BYTE1_Msk
+#define DCMI_DR_BYTE2_Pos          (16U)
+#define DCMI_DR_BYTE2_Msk          (0xFFUL << DCMI_DR_BYTE2_Pos)               /*!< 0x00FF0000 */
+#define DCMI_DR_BYTE2              DCMI_DR_BYTE2_Msk
+#define DCMI_DR_BYTE3_Pos          (24U)
+#define DCMI_DR_BYTE3_Msk          (0xFFUL << DCMI_DR_BYTE3_Pos)               /*!< 0xFF000000 */
+#define DCMI_DR_BYTE3              DCMI_DR_BYTE3_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                 Digital Filter for Sigma Delta Modulators                  */
+/*                                                                            */
+/******************************************************************************/
+
+/****************   DFSDM channel configuration registers  ********************/
+
+/***************  Bit definition for DFSDM_CHCFGR1 register  ******************/
+#define DFSDM_CHCFGR1_DFSDMEN_Pos       (31U)
+#define DFSDM_CHCFGR1_DFSDMEN_Msk       (0x1UL << DFSDM_CHCFGR1_DFSDMEN_Pos)   /*!< 0x80000000 */
+#define DFSDM_CHCFGR1_DFSDMEN           DFSDM_CHCFGR1_DFSDMEN_Msk              /*!< Global enable for DFSDM interface */
+#define DFSDM_CHCFGR1_CKOUTSRC_Pos      (30U)
+#define DFSDM_CHCFGR1_CKOUTSRC_Msk      (0x1UL << DFSDM_CHCFGR1_CKOUTSRC_Pos)  /*!< 0x40000000 */
+#define DFSDM_CHCFGR1_CKOUTSRC          DFSDM_CHCFGR1_CKOUTSRC_Msk             /*!< Output serial clock source selection */
+#define DFSDM_CHCFGR1_CKOUTDIV_Pos      (16U)
+#define DFSDM_CHCFGR1_CKOUTDIV_Msk      (0xFFUL << DFSDM_CHCFGR1_CKOUTDIV_Pos) /*!< 0x00FF0000 */
+#define DFSDM_CHCFGR1_CKOUTDIV          DFSDM_CHCFGR1_CKOUTDIV_Msk             /*!< CKOUTDIV[7:0] output serial clock divider */
+#define DFSDM_CHCFGR1_DATPACK_Pos       (14U)
+#define DFSDM_CHCFGR1_DATPACK_Msk       (0x3UL << DFSDM_CHCFGR1_DATPACK_Pos)   /*!< 0x0000C000 */
+#define DFSDM_CHCFGR1_DATPACK           DFSDM_CHCFGR1_DATPACK_Msk              /*!< DATPACK[1:0] Data packing mode */
+#define DFSDM_CHCFGR1_DATPACK_1         (0x2UL << DFSDM_CHCFGR1_DATPACK_Pos)    /*!< 0x00008000 */
+#define DFSDM_CHCFGR1_DATPACK_0         (0x1UL << DFSDM_CHCFGR1_DATPACK_Pos)    /*!< 0x00004000 */
+#define DFSDM_CHCFGR1_DATMPX_Pos        (12U)
+#define DFSDM_CHCFGR1_DATMPX_Msk        (0x3UL << DFSDM_CHCFGR1_DATMPX_Pos)    /*!< 0x00003000 */
+#define DFSDM_CHCFGR1_DATMPX            DFSDM_CHCFGR1_DATMPX_Msk               /*!< DATMPX[1:0] Input data multiplexer for channel y */
+#define DFSDM_CHCFGR1_DATMPX_1          (0x2UL << DFSDM_CHCFGR1_DATMPX_Pos)     /*!< 0x00002000 */
+#define DFSDM_CHCFGR1_DATMPX_0          (0x1UL << DFSDM_CHCFGR1_DATMPX_Pos)     /*!< 0x00001000 */
+#define DFSDM_CHCFGR1_CHINSEL_Pos       (8U)
+#define DFSDM_CHCFGR1_CHINSEL_Msk       (0x1UL << DFSDM_CHCFGR1_CHINSEL_Pos)   /*!< 0x00000100 */
+#define DFSDM_CHCFGR1_CHINSEL           DFSDM_CHCFGR1_CHINSEL_Msk              /*!< Serial inputs selection for channel y */
+#define DFSDM_CHCFGR1_CHEN_Pos          (7U)
+#define DFSDM_CHCFGR1_CHEN_Msk          (0x1UL << DFSDM_CHCFGR1_CHEN_Pos)      /*!< 0x00000080 */
+#define DFSDM_CHCFGR1_CHEN              DFSDM_CHCFGR1_CHEN_Msk                 /*!< Channel y enable */
+#define DFSDM_CHCFGR1_CKABEN_Pos        (6U)
+#define DFSDM_CHCFGR1_CKABEN_Msk        (0x1UL << DFSDM_CHCFGR1_CKABEN_Pos)    /*!< 0x00000040 */
+#define DFSDM_CHCFGR1_CKABEN            DFSDM_CHCFGR1_CKABEN_Msk               /*!< Clock absence detector enable on channel y */
+#define DFSDM_CHCFGR1_SCDEN_Pos         (5U)
+#define DFSDM_CHCFGR1_SCDEN_Msk         (0x1UL << DFSDM_CHCFGR1_SCDEN_Pos)     /*!< 0x00000020 */
+#define DFSDM_CHCFGR1_SCDEN             DFSDM_CHCFGR1_SCDEN_Msk                /*!< Short circuit detector enable on channel y */
+#define DFSDM_CHCFGR1_SPICKSEL_Pos      (2U)
+#define DFSDM_CHCFGR1_SPICKSEL_Msk      (0x3UL << DFSDM_CHCFGR1_SPICKSEL_Pos)  /*!< 0x0000000C */
+#define DFSDM_CHCFGR1_SPICKSEL          DFSDM_CHCFGR1_SPICKSEL_Msk             /*!< SPICKSEL[1:0] SPI clock select for channel y */
+#define DFSDM_CHCFGR1_SPICKSEL_1        (0x2UL << DFSDM_CHCFGR1_SPICKSEL_Pos)   /*!< 0x00000008 */
+#define DFSDM_CHCFGR1_SPICKSEL_0        (0x1UL << DFSDM_CHCFGR1_SPICKSEL_Pos)   /*!< 0x00000004 */
+#define DFSDM_CHCFGR1_SITP_Pos          (0U)
+#define DFSDM_CHCFGR1_SITP_Msk          (0x3UL << DFSDM_CHCFGR1_SITP_Pos)      /*!< 0x00000003 */
+#define DFSDM_CHCFGR1_SITP              DFSDM_CHCFGR1_SITP_Msk                 /*!< SITP[1:0] Serial interface type for channel y */
+#define DFSDM_CHCFGR1_SITP_1            (0x2UL << DFSDM_CHCFGR1_SITP_Pos)       /*!< 0x00000002 */
+#define DFSDM_CHCFGR1_SITP_0            (0x1UL << DFSDM_CHCFGR1_SITP_Pos)       /*!< 0x00000001 */
+
+/***************  Bit definition for DFSDM_CHCFGR2 register  ******************/
+#define DFSDM_CHCFGR2_OFFSET_Pos        (8U)
+#define DFSDM_CHCFGR2_OFFSET_Msk        (0xFFFFFFUL << DFSDM_CHCFGR2_OFFSET_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_CHCFGR2_OFFSET            DFSDM_CHCFGR2_OFFSET_Msk               /*!< OFFSET[23:0] 24-bit calibration offset for channel y */
+#define DFSDM_CHCFGR2_DTRBS_Pos         (3U)
+#define DFSDM_CHCFGR2_DTRBS_Msk         (0x1FUL << DFSDM_CHCFGR2_DTRBS_Pos)    /*!< 0x000000F8 */
+#define DFSDM_CHCFGR2_DTRBS             DFSDM_CHCFGR2_DTRBS_Msk                /*!< DTRBS[4:0] Data right bit-shift for channel y */
+
+/******************  Bit definition for DFSDM_CHAWSCDR register *****************/
+#define DFSDM_CHAWSCDR_AWFORD_Pos       (22U)
+#define DFSDM_CHAWSCDR_AWFORD_Msk       (0x3UL << DFSDM_CHAWSCDR_AWFORD_Pos)   /*!< 0x00C00000 */
+#define DFSDM_CHAWSCDR_AWFORD           DFSDM_CHAWSCDR_AWFORD_Msk              /*!< AWFORD[1:0] Analog watchdog Sinc filter order on channel y */
+#define DFSDM_CHAWSCDR_AWFORD_1         (0x2UL << DFSDM_CHAWSCDR_AWFORD_Pos)    /*!< 0x00800000 */
+#define DFSDM_CHAWSCDR_AWFORD_0         (0x1UL << DFSDM_CHAWSCDR_AWFORD_Pos)    /*!< 0x00400000 */
+#define DFSDM_CHAWSCDR_AWFOSR_Pos       (16U)
+#define DFSDM_CHAWSCDR_AWFOSR_Msk       (0x1FUL << DFSDM_CHAWSCDR_AWFOSR_Pos)  /*!< 0x001F0000 */
+#define DFSDM_CHAWSCDR_AWFOSR           DFSDM_CHAWSCDR_AWFOSR_Msk              /*!< AWFOSR[4:0] Analog watchdog filter oversampling ratio on channel y */
+#define DFSDM_CHAWSCDR_BKSCD_Pos        (12U)
+#define DFSDM_CHAWSCDR_BKSCD_Msk        (0xFUL << DFSDM_CHAWSCDR_BKSCD_Pos)    /*!< 0x0000F000 */
+#define DFSDM_CHAWSCDR_BKSCD            DFSDM_CHAWSCDR_BKSCD_Msk               /*!< BKSCD[3:0] Break signal assignment for short circuit detector on channel y */
+#define DFSDM_CHAWSCDR_SCDT_Pos         (0U)
+#define DFSDM_CHAWSCDR_SCDT_Msk         (0xFFUL << DFSDM_CHAWSCDR_SCDT_Pos)    /*!< 0x000000FF */
+#define DFSDM_CHAWSCDR_SCDT             DFSDM_CHAWSCDR_SCDT_Msk                /*!< SCDT[7:0] Short circuit detector threshold for channel y */
+
+/****************  Bit definition for DFSDM_CHWDATR register *******************/
+#define DFSDM_CHWDATR_WDATA_Pos         (0U)
+#define DFSDM_CHWDATR_WDATA_Msk         (0xFFFFUL << DFSDM_CHWDATR_WDATA_Pos)  /*!< 0x0000FFFF */
+#define DFSDM_CHWDATR_WDATA             DFSDM_CHWDATR_WDATA_Msk                /*!< WDATA[15:0] Input channel y watchdog data */
+
+/****************  Bit definition for DFSDM_CHDATINR register *****************/
+#define DFSDM_CHDATINR_INDAT0_Pos       (0U)
+#define DFSDM_CHDATINR_INDAT0_Msk       (0xFFFFUL << DFSDM_CHDATINR_INDAT0_Pos) /*!< 0x0000FFFF */
+#define DFSDM_CHDATINR_INDAT0           DFSDM_CHDATINR_INDAT0_Msk              /*!< INDAT0[31:16] Input data for channel y or channel (y+1) */
+#define DFSDM_CHDATINR_INDAT1_Pos       (16U)
+#define DFSDM_CHDATINR_INDAT1_Msk       (0xFFFFUL << DFSDM_CHDATINR_INDAT1_Pos) /*!< 0xFFFF0000 */
+#define DFSDM_CHDATINR_INDAT1           DFSDM_CHDATINR_INDAT1_Msk              /*!< INDAT0[15:0] Input data for channel y */
+
+/************************   DFSDM module registers  ****************************/
+
+/********************  Bit definition for DFSDM_FLTCR1 register *******************/
+#define DFSDM_FLTCR1_AWFSEL_Pos         (30U)
+#define DFSDM_FLTCR1_AWFSEL_Msk         (0x1UL << DFSDM_FLTCR1_AWFSEL_Pos)     /*!< 0x40000000 */
+#define DFSDM_FLTCR1_AWFSEL             DFSDM_FLTCR1_AWFSEL_Msk                /*!< Analog watchdog fast mode select */
+#define DFSDM_FLTCR1_FAST_Pos           (29U)
+#define DFSDM_FLTCR1_FAST_Msk           (0x1UL << DFSDM_FLTCR1_FAST_Pos)       /*!< 0x20000000 */
+#define DFSDM_FLTCR1_FAST               DFSDM_FLTCR1_FAST_Msk                  /*!< Fast conversion mode selection */
+#define DFSDM_FLTCR1_RCH_Pos            (24U)
+#define DFSDM_FLTCR1_RCH_Msk            (0x7UL << DFSDM_FLTCR1_RCH_Pos)        /*!< 0x07000000 */
+#define DFSDM_FLTCR1_RCH                DFSDM_FLTCR1_RCH_Msk                   /*!< RCH[2:0] Regular channel selection */
+#define DFSDM_FLTCR1_RDMAEN_Pos         (21U)
+#define DFSDM_FLTCR1_RDMAEN_Msk         (0x1UL << DFSDM_FLTCR1_RDMAEN_Pos)     /*!< 0x00200000 */
+#define DFSDM_FLTCR1_RDMAEN             DFSDM_FLTCR1_RDMAEN_Msk                /*!< DMA channel enabled to read data for the regular conversion */
+#define DFSDM_FLTCR1_RSYNC_Pos          (19U)
+#define DFSDM_FLTCR1_RSYNC_Msk          (0x1UL << DFSDM_FLTCR1_RSYNC_Pos)      /*!< 0x00080000 */
+#define DFSDM_FLTCR1_RSYNC              DFSDM_FLTCR1_RSYNC_Msk                 /*!< Launch regular conversion synchronously with DFSDMx */
+#define DFSDM_FLTCR1_RCONT_Pos          (18U)
+#define DFSDM_FLTCR1_RCONT_Msk          (0x1UL << DFSDM_FLTCR1_RCONT_Pos)      /*!< 0x00040000 */
+#define DFSDM_FLTCR1_RCONT              DFSDM_FLTCR1_RCONT_Msk                 /*!< Continuous mode selection for regular conversions */
+#define DFSDM_FLTCR1_RSWSTART_Pos       (17U)
+#define DFSDM_FLTCR1_RSWSTART_Msk       (0x1UL << DFSDM_FLTCR1_RSWSTART_Pos)   /*!< 0x00020000 */
+#define DFSDM_FLTCR1_RSWSTART           DFSDM_FLTCR1_RSWSTART_Msk              /*!< Software start of a conversion on the regular channel */
+#define DFSDM_FLTCR1_JEXTEN_Pos         (13U)
+#define DFSDM_FLTCR1_JEXTEN_Msk         (0x3UL << DFSDM_FLTCR1_JEXTEN_Pos)     /*!< 0x00006000 */
+#define DFSDM_FLTCR1_JEXTEN             DFSDM_FLTCR1_JEXTEN_Msk                /*!< JEXTEN[1:0] Trigger enable and trigger edge selection for injected conversions */
+#define DFSDM_FLTCR1_JEXTEN_1           (0x2UL << DFSDM_FLTCR1_JEXTEN_Pos)      /*!< 0x00004000 */
+#define DFSDM_FLTCR1_JEXTEN_0           (0x1UL << DFSDM_FLTCR1_JEXTEN_Pos)      /*!< 0x00002000 */
+#define DFSDM_FLTCR1_JEXTSEL_Pos        (8U)
+#define DFSDM_FLTCR1_JEXTSEL_Msk        (0x1FUL << DFSDM_FLTCR1_JEXTSEL_Pos)   /*!< 0x00001F00 */
+#define DFSDM_FLTCR1_JEXTSEL            DFSDM_FLTCR1_JEXTSEL_Msk               /*!< JEXTSEL[4:0]Trigger signal selection for launching injected conversions */
+#define DFSDM_FLTCR1_JEXTSEL_0          (0x01UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00000100 */
+#define DFSDM_FLTCR1_JEXTSEL_1          (0x02UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00000200 */
+#define DFSDM_FLTCR1_JEXTSEL_2          (0x04UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00000400 */
+#define DFSDM_FLTCR1_JEXTSEL_3          (0x08UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00000800 */
+#define DFSDM_FLTCR1_JEXTSEL_4          (0x10UL << DFSDM_FLTCR1_JEXTSEL_Pos)    /*!< 0x00001000 */
+
+#define DFSDM_FLTCR1_JDMAEN_Pos         (5U)
+#define DFSDM_FLTCR1_JDMAEN_Msk         (0x1UL << DFSDM_FLTCR1_JDMAEN_Pos)     /*!< 0x00000020 */
+#define DFSDM_FLTCR1_JDMAEN             DFSDM_FLTCR1_JDMAEN_Msk                /*!< DMA channel enabled to read data for the injected channel group */
+#define DFSDM_FLTCR1_JSCAN_Pos          (4U)
+#define DFSDM_FLTCR1_JSCAN_Msk          (0x1UL << DFSDM_FLTCR1_JSCAN_Pos)      /*!< 0x00000010 */
+#define DFSDM_FLTCR1_JSCAN              DFSDM_FLTCR1_JSCAN_Msk                 /*!< Scanning conversion in continuous mode selection for injected conversions */
+#define DFSDM_FLTCR1_JSYNC_Pos          (3U)
+#define DFSDM_FLTCR1_JSYNC_Msk          (0x1UL << DFSDM_FLTCR1_JSYNC_Pos)      /*!< 0x00000008 */
+#define DFSDM_FLTCR1_JSYNC              DFSDM_FLTCR1_JSYNC_Msk                 /*!< Launch an injected conversion synchronously with DFSDMx JSWSTART trigger  */
+#define DFSDM_FLTCR1_JSWSTART_Pos       (1U)
+#define DFSDM_FLTCR1_JSWSTART_Msk       (0x1UL << DFSDM_FLTCR1_JSWSTART_Pos)   /*!< 0x00000002 */
+#define DFSDM_FLTCR1_JSWSTART           DFSDM_FLTCR1_JSWSTART_Msk              /*!< Start the conversion of the injected group of channels */
+#define DFSDM_FLTCR1_DFEN_Pos           (0U)
+#define DFSDM_FLTCR1_DFEN_Msk           (0x1UL << DFSDM_FLTCR1_DFEN_Pos)       /*!< 0x00000001 */
+#define DFSDM_FLTCR1_DFEN               DFSDM_FLTCR1_DFEN_Msk                  /*!< DFSDM enable */
+
+/********************  Bit definition for DFSDM_FLTCR2 register *******************/
+#define DFSDM_FLTCR2_AWDCH_Pos          (16U)
+#define DFSDM_FLTCR2_AWDCH_Msk          (0xFFUL << DFSDM_FLTCR2_AWDCH_Pos)     /*!< 0x00FF0000 */
+#define DFSDM_FLTCR2_AWDCH              DFSDM_FLTCR2_AWDCH_Msk                 /*!< AWDCH[7:0] Analog watchdog channel selection */
+#define DFSDM_FLTCR2_EXCH_Pos           (8U)
+#define DFSDM_FLTCR2_EXCH_Msk           (0xFFUL << DFSDM_FLTCR2_EXCH_Pos)      /*!< 0x0000FF00 */
+#define DFSDM_FLTCR2_EXCH               DFSDM_FLTCR2_EXCH_Msk                  /*!< EXCH[7:0] Extreme detector channel selection */
+#define DFSDM_FLTCR2_CKABIE_Pos         (6U)
+#define DFSDM_FLTCR2_CKABIE_Msk         (0x1UL << DFSDM_FLTCR2_CKABIE_Pos)     /*!< 0x00000040 */
+#define DFSDM_FLTCR2_CKABIE             DFSDM_FLTCR2_CKABIE_Msk                /*!< Clock absence interrupt enable */
+#define DFSDM_FLTCR2_SCDIE_Pos          (5U)
+#define DFSDM_FLTCR2_SCDIE_Msk          (0x1UL << DFSDM_FLTCR2_SCDIE_Pos)      /*!< 0x00000020 */
+#define DFSDM_FLTCR2_SCDIE              DFSDM_FLTCR2_SCDIE_Msk                 /*!< Short circuit detector interrupt enable */
+#define DFSDM_FLTCR2_AWDIE_Pos          (4U)
+#define DFSDM_FLTCR2_AWDIE_Msk          (0x1UL << DFSDM_FLTCR2_AWDIE_Pos)      /*!< 0x00000010 */
+#define DFSDM_FLTCR2_AWDIE              DFSDM_FLTCR2_AWDIE_Msk                 /*!< Analog watchdog interrupt enable */
+#define DFSDM_FLTCR2_ROVRIE_Pos         (3U)
+#define DFSDM_FLTCR2_ROVRIE_Msk         (0x1UL << DFSDM_FLTCR2_ROVRIE_Pos)     /*!< 0x00000008 */
+#define DFSDM_FLTCR2_ROVRIE             DFSDM_FLTCR2_ROVRIE_Msk                /*!< Regular data overrun interrupt enable */
+#define DFSDM_FLTCR2_JOVRIE_Pos         (2U)
+#define DFSDM_FLTCR2_JOVRIE_Msk         (0x1UL << DFSDM_FLTCR2_JOVRIE_Pos)     /*!< 0x00000004 */
+#define DFSDM_FLTCR2_JOVRIE             DFSDM_FLTCR2_JOVRIE_Msk                /*!< Injected data overrun interrupt enable */
+#define DFSDM_FLTCR2_REOCIE_Pos         (1U)
+#define DFSDM_FLTCR2_REOCIE_Msk         (0x1UL << DFSDM_FLTCR2_REOCIE_Pos)     /*!< 0x00000002 */
+#define DFSDM_FLTCR2_REOCIE             DFSDM_FLTCR2_REOCIE_Msk                /*!< Regular end of conversion interrupt enable */
+#define DFSDM_FLTCR2_JEOCIE_Pos         (0U)
+#define DFSDM_FLTCR2_JEOCIE_Msk         (0x1UL << DFSDM_FLTCR2_JEOCIE_Pos)     /*!< 0x00000001 */
+#define DFSDM_FLTCR2_JEOCIE             DFSDM_FLTCR2_JEOCIE_Msk                /*!< Injected end of conversion interrupt enable */
+
+/********************  Bit definition for DFSDM_FLTISR register *******************/
+#define DFSDM_FLTISR_SCDF_Pos           (24U)
+#define DFSDM_FLTISR_SCDF_Msk           (0xFFUL << DFSDM_FLTISR_SCDF_Pos)      /*!< 0xFF000000 */
+#define DFSDM_FLTISR_SCDF               DFSDM_FLTISR_SCDF_Msk                  /*!< SCDF[7:0] Short circuit detector flag */
+#define DFSDM_FLTISR_CKABF_Pos          (16U)
+#define DFSDM_FLTISR_CKABF_Msk          (0xFFUL << DFSDM_FLTISR_CKABF_Pos)     /*!< 0x00FF0000 */
+#define DFSDM_FLTISR_CKABF              DFSDM_FLTISR_CKABF_Msk                 /*!< CKABF[7:0] Clock absence flag */
+#define DFSDM_FLTISR_RCIP_Pos           (14U)
+#define DFSDM_FLTISR_RCIP_Msk           (0x1UL << DFSDM_FLTISR_RCIP_Pos)       /*!< 0x00004000 */
+#define DFSDM_FLTISR_RCIP               DFSDM_FLTISR_RCIP_Msk                  /*!< Regular conversion in progress status */
+#define DFSDM_FLTISR_JCIP_Pos           (13U)
+#define DFSDM_FLTISR_JCIP_Msk           (0x1UL << DFSDM_FLTISR_JCIP_Pos)       /*!< 0x00002000 */
+#define DFSDM_FLTISR_JCIP               DFSDM_FLTISR_JCIP_Msk                  /*!< Injected conversion in progress status */
+#define DFSDM_FLTISR_AWDF_Pos           (4U)
+#define DFSDM_FLTISR_AWDF_Msk           (0x1UL << DFSDM_FLTISR_AWDF_Pos)       /*!< 0x00000010 */
+#define DFSDM_FLTISR_AWDF               DFSDM_FLTISR_AWDF_Msk                  /*!< Analog watchdog */
+#define DFSDM_FLTISR_ROVRF_Pos          (3U)
+#define DFSDM_FLTISR_ROVRF_Msk          (0x1UL << DFSDM_FLTISR_ROVRF_Pos)      /*!< 0x00000008 */
+#define DFSDM_FLTISR_ROVRF              DFSDM_FLTISR_ROVRF_Msk                 /*!< Regular conversion overrun flag */
+#define DFSDM_FLTISR_JOVRF_Pos          (2U)
+#define DFSDM_FLTISR_JOVRF_Msk          (0x1UL << DFSDM_FLTISR_JOVRF_Pos)      /*!< 0x00000004 */
+#define DFSDM_FLTISR_JOVRF              DFSDM_FLTISR_JOVRF_Msk                 /*!< Injected conversion overrun flag */
+#define DFSDM_FLTISR_REOCF_Pos          (1U)
+#define DFSDM_FLTISR_REOCF_Msk          (0x1UL << DFSDM_FLTISR_REOCF_Pos)      /*!< 0x00000002 */
+#define DFSDM_FLTISR_REOCF              DFSDM_FLTISR_REOCF_Msk                 /*!< End of regular conversion flag */
+#define DFSDM_FLTISR_JEOCF_Pos          (0U)
+#define DFSDM_FLTISR_JEOCF_Msk          (0x1UL << DFSDM_FLTISR_JEOCF_Pos)      /*!< 0x00000001 */
+#define DFSDM_FLTISR_JEOCF              DFSDM_FLTISR_JEOCF_Msk                 /*!< End of injected conversion flag */
+
+/********************  Bit definition for DFSDM_FLTICR register *******************/
+#define DFSDM_FLTICR_CLRSCDF_Pos        (24U)
+#define DFSDM_FLTICR_CLRSCDF_Msk        (0xFFUL << DFSDM_FLTICR_CLRSCDF_Pos)   /*!< 0xFF000000 */
+#define DFSDM_FLTICR_CLRSCDF            DFSDM_FLTICR_CLRSCDF_Msk               /*!< CLRSCSDF[7:0] Clear the short circuit detector flag */
+#define DFSDM_FLTICR_CLRCKABF_Pos       (16U)
+#define DFSDM_FLTICR_CLRCKABF_Msk       (0xFFUL << DFSDM_FLTICR_CLRCKABF_Pos)  /*!< 0x00FF0000 */
+#define DFSDM_FLTICR_CLRCKABF           DFSDM_FLTICR_CLRCKABF_Msk              /*!< CLRCKABF[7:0] Clear the clock absence flag */
+#define DFSDM_FLTICR_CLRROVRF_Pos       (3U)
+#define DFSDM_FLTICR_CLRROVRF_Msk       (0x1UL << DFSDM_FLTICR_CLRROVRF_Pos)   /*!< 0x00000008 */
+#define DFSDM_FLTICR_CLRROVRF           DFSDM_FLTICR_CLRROVRF_Msk              /*!< Clear the regular conversion overrun flag */
+#define DFSDM_FLTICR_CLRJOVRF_Pos       (2U)
+#define DFSDM_FLTICR_CLRJOVRF_Msk       (0x1UL << DFSDM_FLTICR_CLRJOVRF_Pos)   /*!< 0x00000004 */
+#define DFSDM_FLTICR_CLRJOVRF           DFSDM_FLTICR_CLRJOVRF_Msk              /*!< Clear the injected conversion overrun flag */
+
+/*******************  Bit definition for DFSDM_FLTJCHGR register ******************/
+#define DFSDM_FLTJCHGR_JCHG_Pos         (0U)
+#define DFSDM_FLTJCHGR_JCHG_Msk         (0xFFUL << DFSDM_FLTJCHGR_JCHG_Pos)    /*!< 0x000000FF */
+#define DFSDM_FLTJCHGR_JCHG             DFSDM_FLTJCHGR_JCHG_Msk                /*!< JCHG[7:0] Injected channel group selection */
+
+/********************  Bit definition for DFSDM_FLTFCR register *******************/
+#define DFSDM_FLTFCR_FORD_Pos           (29U)
+#define DFSDM_FLTFCR_FORD_Msk           (0x7UL << DFSDM_FLTFCR_FORD_Pos)       /*!< 0xE0000000 */
+#define DFSDM_FLTFCR_FORD               DFSDM_FLTFCR_FORD_Msk                  /*!< FORD[2:0] Sinc filter order */
+#define DFSDM_FLTFCR_FORD_2             (0x4UL << DFSDM_FLTFCR_FORD_Pos)        /*!< 0x80000000 */
+#define DFSDM_FLTFCR_FORD_1             (0x2UL << DFSDM_FLTFCR_FORD_Pos)        /*!< 0x40000000 */
+#define DFSDM_FLTFCR_FORD_0             (0x1UL << DFSDM_FLTFCR_FORD_Pos)        /*!< 0x20000000 */
+#define DFSDM_FLTFCR_FOSR_Pos           (16U)
+#define DFSDM_FLTFCR_FOSR_Msk           (0x3FFUL << DFSDM_FLTFCR_FOSR_Pos)     /*!< 0x03FF0000 */
+#define DFSDM_FLTFCR_FOSR               DFSDM_FLTFCR_FOSR_Msk                  /*!< FOSR[9:0] Sinc filter oversampling ratio (decimation rate) */
+#define DFSDM_FLTFCR_IOSR_Pos           (0U)
+#define DFSDM_FLTFCR_IOSR_Msk           (0xFFUL << DFSDM_FLTFCR_IOSR_Pos)      /*!< 0x000000FF */
+#define DFSDM_FLTFCR_IOSR               DFSDM_FLTFCR_IOSR_Msk                  /*!< IOSR[7:0] Integrator oversampling ratio (averaging length) */
+
+/******************  Bit definition for DFSDM_FLTJDATAR register *****************/
+#define DFSDM_FLTJDATAR_JDATA_Pos       (8U)
+#define DFSDM_FLTJDATAR_JDATA_Msk       (0xFFFFFFUL << DFSDM_FLTJDATAR_JDATA_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTJDATAR_JDATA           DFSDM_FLTJDATAR_JDATA_Msk              /*!< JDATA[23:0] Injected group conversion data */
+#define DFSDM_FLTJDATAR_JDATACH_Pos     (0U)
+#define DFSDM_FLTJDATAR_JDATACH_Msk     (0x7UL << DFSDM_FLTJDATAR_JDATACH_Pos) /*!< 0x00000007 */
+#define DFSDM_FLTJDATAR_JDATACH         DFSDM_FLTJDATAR_JDATACH_Msk            /*!< JDATACH[2:0] Injected channel most recently converted */
+
+/******************  Bit definition for DFSDM_FLTRDATAR register *****************/
+#define DFSDM_FLTRDATAR_RDATA_Pos       (8U)
+#define DFSDM_FLTRDATAR_RDATA_Msk       (0xFFFFFFUL << DFSDM_FLTRDATAR_RDATA_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTRDATAR_RDATA           DFSDM_FLTRDATAR_RDATA_Msk              /*!< RDATA[23:0] Regular channel conversion data */
+#define DFSDM_FLTRDATAR_RPEND_Pos       (4U)
+#define DFSDM_FLTRDATAR_RPEND_Msk       (0x1UL << DFSDM_FLTRDATAR_RPEND_Pos)   /*!< 0x00000010 */
+#define DFSDM_FLTRDATAR_RPEND           DFSDM_FLTRDATAR_RPEND_Msk              /*!< RPEND Regular channel pending data */
+#define DFSDM_FLTRDATAR_RDATACH_Pos     (0U)
+#define DFSDM_FLTRDATAR_RDATACH_Msk     (0x7UL << DFSDM_FLTRDATAR_RDATACH_Pos) /*!< 0x00000007 */
+#define DFSDM_FLTRDATAR_RDATACH         DFSDM_FLTRDATAR_RDATACH_Msk            /*!< RDATACH[2:0] Regular channel most recently converted */
+
+/******************  Bit definition for DFSDM_FLTAWHTR register ******************/
+#define DFSDM_FLTAWHTR_AWHT_Pos         (8U)
+#define DFSDM_FLTAWHTR_AWHT_Msk         (0xFFFFFFUL << DFSDM_FLTAWHTR_AWHT_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTAWHTR_AWHT             DFSDM_FLTAWHTR_AWHT_Msk                /*!< AWHT[23:0] Analog watchdog high threshold */
+#define DFSDM_FLTAWHTR_BKAWH_Pos        (0U)
+#define DFSDM_FLTAWHTR_BKAWH_Msk        (0xFUL << DFSDM_FLTAWHTR_BKAWH_Pos)    /*!< 0x0000000F */
+#define DFSDM_FLTAWHTR_BKAWH            DFSDM_FLTAWHTR_BKAWH_Msk               /*!< BKAWH[3:0] Break signal assignment to analog watchdog high threshold event */
+
+/******************  Bit definition for DFSDM_FLTAWLTR register ******************/
+#define DFSDM_FLTAWLTR_AWLT_Pos         (8U)
+#define DFSDM_FLTAWLTR_AWLT_Msk         (0xFFFFFFUL << DFSDM_FLTAWLTR_AWLT_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTAWLTR_AWLT             DFSDM_FLTAWLTR_AWLT_Msk                /*!< AWHT[23:0] Analog watchdog low threshold */
+#define DFSDM_FLTAWLTR_BKAWL_Pos        (0U)
+#define DFSDM_FLTAWLTR_BKAWL_Msk        (0xFUL << DFSDM_FLTAWLTR_BKAWL_Pos)    /*!< 0x0000000F */
+#define DFSDM_FLTAWLTR_BKAWL            DFSDM_FLTAWLTR_BKAWL_Msk               /*!< BKAWL[3:0] Break signal assignment to analog watchdog low threshold event */
+
+/******************  Bit definition for DFSDM_FLTAWSR register ******************/
+#define DFSDM_FLTAWSR_AWHTF_Pos         (8U)
+#define DFSDM_FLTAWSR_AWHTF_Msk         (0xFFUL << DFSDM_FLTAWSR_AWHTF_Pos)    /*!< 0x0000FF00 */
+#define DFSDM_FLTAWSR_AWHTF             DFSDM_FLTAWSR_AWHTF_Msk                /*!< AWHTF[15:8] Analog watchdog high threshold error on given channels */
+#define DFSDM_FLTAWSR_AWLTF_Pos         (0U)
+#define DFSDM_FLTAWSR_AWLTF_Msk         (0xFFUL << DFSDM_FLTAWSR_AWLTF_Pos)    /*!< 0x000000FF */
+#define DFSDM_FLTAWSR_AWLTF             DFSDM_FLTAWSR_AWLTF_Msk                /*!< AWLTF[7:0] Analog watchdog low threshold error on given channels */
+
+/******************  Bit definition for DFSDM_FLTAWCFR) register *****************/
+#define DFSDM_FLTAWCFR_CLRAWHTF_Pos     (8U)
+#define DFSDM_FLTAWCFR_CLRAWHTF_Msk     (0xFFUL << DFSDM_FLTAWCFR_CLRAWHTF_Pos) /*!< 0x0000FF00 */
+#define DFSDM_FLTAWCFR_CLRAWHTF         DFSDM_FLTAWCFR_CLRAWHTF_Msk            /*!< CLRAWHTF[15:8] Clear the Analog watchdog high threshold flag */
+#define DFSDM_FLTAWCFR_CLRAWLTF_Pos     (0U)
+#define DFSDM_FLTAWCFR_CLRAWLTF_Msk     (0xFFUL << DFSDM_FLTAWCFR_CLRAWLTF_Pos) /*!< 0x000000FF */
+#define DFSDM_FLTAWCFR_CLRAWLTF         DFSDM_FLTAWCFR_CLRAWLTF_Msk            /*!< CLRAWLTF[7:0] Clear the Analog watchdog low threshold flag */
+
+/******************  Bit definition for DFSDM_FLTEXMAX register ******************/
+#define DFSDM_FLTEXMAX_EXMAX_Pos        (8U)
+#define DFSDM_FLTEXMAX_EXMAX_Msk        (0xFFFFFFUL << DFSDM_FLTEXMAX_EXMAX_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTEXMAX_EXMAX            DFSDM_FLTEXMAX_EXMAX_Msk               /*!< EXMAX[23:0] Extreme detector maximum value */
+#define DFSDM_FLTEXMAX_EXMAXCH_Pos      (0U)
+#define DFSDM_FLTEXMAX_EXMAXCH_Msk      (0x7UL << DFSDM_FLTEXMAX_EXMAXCH_Pos)  /*!< 0x00000007 */
+#define DFSDM_FLTEXMAX_EXMAXCH          DFSDM_FLTEXMAX_EXMAXCH_Msk             /*!< EXMAXCH[2:0] Extreme detector maximum data channel */
+
+/******************  Bit definition for DFSDM_FLTEXMIN register ******************/
+#define DFSDM_FLTEXMIN_EXMIN_Pos        (8U)
+#define DFSDM_FLTEXMIN_EXMIN_Msk        (0xFFFFFFUL << DFSDM_FLTEXMIN_EXMIN_Pos) /*!< 0xFFFFFF00 */
+#define DFSDM_FLTEXMIN_EXMIN            DFSDM_FLTEXMIN_EXMIN_Msk               /*!< EXMIN[23:0] Extreme detector minimum value */
+#define DFSDM_FLTEXMIN_EXMINCH_Pos      (0U)
+#define DFSDM_FLTEXMIN_EXMINCH_Msk      (0x7UL << DFSDM_FLTEXMIN_EXMINCH_Pos)  /*!< 0x00000007 */
+#define DFSDM_FLTEXMIN_EXMINCH          DFSDM_FLTEXMIN_EXMINCH_Msk             /*!< EXMINCH[2:0] Extreme detector minimum data channel */
+
+/******************  Bit definition for DFSDM_FLTCNVTIMR register ******************/
+#define DFSDM_FLTCNVTIMR_CNVCNT_Pos     (4U)
+#define DFSDM_FLTCNVTIMR_CNVCNT_Msk     (0xFFFFFFFUL << DFSDM_FLTCNVTIMR_CNVCNT_Pos) /*!< 0xFFFFFFF0 */
+#define DFSDM_FLTCNVTIMR_CNVCNT         DFSDM_FLTCNVTIMR_CNVCNT_Msk            /*!< CNVCNT[27:0]: 28-bit timer counting conversion time */
+
+/******************************************************************************/
+/*                                                                            */
+/*                           BDMA Controller                                  */
+/*                                                                            */
+/******************************************************************************/
+
+/*******************  Bit definition for BDMA_ISR register  ********************/
+#define BDMA_ISR_GIF0_Pos       (0U)
+#define BDMA_ISR_GIF0_Msk       (0x1UL << BDMA_ISR_GIF0_Pos)                   /*!< 0x00000001 */
+#define BDMA_ISR_GIF0           BDMA_ISR_GIF0_Msk                              /*!< Channel 0 Global interrupt flag */
+#define BDMA_ISR_TCIF0_Pos      (1U)
+#define BDMA_ISR_TCIF0_Msk      (0x1UL << BDMA_ISR_TCIF0_Pos)                  /*!< 0x00000002 */
+#define BDMA_ISR_TCIF0          BDMA_ISR_TCIF0_Msk                             /*!< Channel 0 Transfer Complete flag */
+#define BDMA_ISR_HTIF0_Pos      (2U)
+#define BDMA_ISR_HTIF0_Msk      (0x1UL << BDMA_ISR_HTIF0_Pos)                  /*!< 0x00000004 */
+#define BDMA_ISR_HTIF0          BDMA_ISR_HTIF0_Msk                             /*!< Channel 0 Half Transfer flag */
+#define BDMA_ISR_TEIF0_Pos      (3U)
+#define BDMA_ISR_TEIF0_Msk      (0x1UL << BDMA_ISR_TEIF0_Pos)                  /*!< 0x00000008 */
+#define BDMA_ISR_TEIF0          BDMA_ISR_TEIF0_Msk                             /*!< Channel 0 Transfer Error flag */
+#define BDMA_ISR_GIF1_Pos       (4U)
+#define BDMA_ISR_GIF1_Msk       (0x1UL << BDMA_ISR_GIF1_Pos)                   /*!< 0x00000010 */
+#define BDMA_ISR_GIF1           BDMA_ISR_GIF1_Msk                              /*!< Channel 1 Global interrupt flag */
+#define BDMA_ISR_TCIF1_Pos      (5U)
+#define BDMA_ISR_TCIF1_Msk      (0x1UL << BDMA_ISR_TCIF1_Pos)                  /*!< 0x00000020 */
+#define BDMA_ISR_TCIF1          BDMA_ISR_TCIF1_Msk                             /*!< Channel 1 Transfer Complete flag */
+#define BDMA_ISR_HTIF1_Pos      (6U)
+#define BDMA_ISR_HTIF1_Msk      (0x1UL << BDMA_ISR_HTIF1_Pos)                  /*!< 0x00000040 */
+#define BDMA_ISR_HTIF1          BDMA_ISR_HTIF1_Msk                             /*!< Channel 1 Half Transfer flag */
+#define BDMA_ISR_TEIF1_Pos      (7U)
+#define BDMA_ISR_TEIF1_Msk      (0x1UL << BDMA_ISR_TEIF1_Pos)                  /*!< 0x00000080 */
+#define BDMA_ISR_TEIF1          BDMA_ISR_TEIF1_Msk                             /*!< Channel 1 Transfer Error flag */
+#define BDMA_ISR_GIF2_Pos       (8U)
+#define BDMA_ISR_GIF2_Msk       (0x1UL << BDMA_ISR_GIF2_Pos)                   /*!< 0x00000100 */
+#define BDMA_ISR_GIF2           BDMA_ISR_GIF2_Msk                              /*!< Channel 2 Global interrupt flag */
+#define BDMA_ISR_TCIF2_Pos      (9U)
+#define BDMA_ISR_TCIF2_Msk      (0x1UL << BDMA_ISR_TCIF2_Pos)                  /*!< 0x00000200 */
+#define BDMA_ISR_TCIF2          BDMA_ISR_TCIF2_Msk                             /*!< Channel 2 Transfer Complete flag */
+#define BDMA_ISR_HTIF2_Pos      (10U)
+#define BDMA_ISR_HTIF2_Msk      (0x1UL << BDMA_ISR_HTIF2_Pos)                  /*!< 0x00000400 */
+#define BDMA_ISR_HTIF2          BDMA_ISR_HTIF2_Msk                             /*!< Channel 2 Half Transfer flag */
+#define BDMA_ISR_TEIF2_Pos      (11U)
+#define BDMA_ISR_TEIF2_Msk      (0x1UL << BDMA_ISR_TEIF2_Pos)                  /*!< 0x00000800 */
+#define BDMA_ISR_TEIF2          BDMA_ISR_TEIF2_Msk                             /*!< Channel 2 Transfer Error flag */
+#define BDMA_ISR_GIF3_Pos       (12U)
+#define BDMA_ISR_GIF3_Msk       (0x1UL << BDMA_ISR_GIF3_Pos)                   /*!< 0x00001000 */
+#define BDMA_ISR_GIF3           BDMA_ISR_GIF3_Msk                              /*!< Channel 3 Global interrupt flag */
+#define BDMA_ISR_TCIF3_Pos      (13U)
+#define BDMA_ISR_TCIF3_Msk      (0x1UL << BDMA_ISR_TCIF3_Pos)                  /*!< 0x00002000 */
+#define BDMA_ISR_TCIF3          BDMA_ISR_TCIF3_Msk                             /*!< Channel 3 Transfer Complete flag */
+#define BDMA_ISR_HTIF3_Pos      (14U)
+#define BDMA_ISR_HTIF3_Msk      (0x1UL << BDMA_ISR_HTIF3_Pos)                  /*!< 0x00004000 */
+#define BDMA_ISR_HTIF3          BDMA_ISR_HTIF3_Msk                             /*!< Channel 3 Half Transfer flag */
+#define BDMA_ISR_TEIF3_Pos      (15U)
+#define BDMA_ISR_TEIF3_Msk      (0x1UL << BDMA_ISR_TEIF3_Pos)                  /*!< 0x00008000 */
+#define BDMA_ISR_TEIF3          BDMA_ISR_TEIF3_Msk                             /*!< Channel 3 Transfer Error flag */
+#define BDMA_ISR_GIF4_Pos       (16U)
+#define BDMA_ISR_GIF4_Msk       (0x1UL << BDMA_ISR_GIF4_Pos)                   /*!< 0x00010000 */
+#define BDMA_ISR_GIF4           BDMA_ISR_GIF4_Msk                              /*!< Channel 4 Global interrupt flag */
+#define BDMA_ISR_TCIF4_Pos      (17U)
+#define BDMA_ISR_TCIF4_Msk      (0x1UL << BDMA_ISR_TCIF4_Pos)                  /*!< 0x00020000 */
+#define BDMA_ISR_TCIF4          BDMA_ISR_TCIF4_Msk                             /*!< Channel 4 Transfer Complete flag */
+#define BDMA_ISR_HTIF4_Pos      (18U)
+#define BDMA_ISR_HTIF4_Msk      (0x1UL << BDMA_ISR_HTIF4_Pos)                  /*!< 0x00040000 */
+#define BDMA_ISR_HTIF4          BDMA_ISR_HTIF4_Msk                             /*!< Channel 4 Half Transfer flag */
+#define BDMA_ISR_TEIF4_Pos      (19U)
+#define BDMA_ISR_TEIF4_Msk      (0x1UL << BDMA_ISR_TEIF4_Pos)                  /*!< 0x00080000 */
+#define BDMA_ISR_TEIF4          BDMA_ISR_TEIF4_Msk                             /*!< Channel 4 Transfer Error flag */
+#define BDMA_ISR_GIF5_Pos       (20U)
+#define BDMA_ISR_GIF5_Msk       (0x1UL << BDMA_ISR_GIF5_Pos)                   /*!< 0x00100000 */
+#define BDMA_ISR_GIF5           BDMA_ISR_GIF5_Msk                              /*!< Channel 5 Global interrupt flag */
+#define BDMA_ISR_TCIF5_Pos      (21U)
+#define BDMA_ISR_TCIF5_Msk      (0x1UL << BDMA_ISR_TCIF5_Pos)                  /*!< 0x00200000 */
+#define BDMA_ISR_TCIF5          BDMA_ISR_TCIF5_Msk                             /*!< Channel 5 Transfer Complete flag */
+#define BDMA_ISR_HTIF5_Pos      (22U)
+#define BDMA_ISR_HTIF5_Msk      (0x1UL << BDMA_ISR_HTIF5_Pos)                  /*!< 0x00400000 */
+#define BDMA_ISR_HTIF5          BDMA_ISR_HTIF5_Msk                             /*!< Channel 5 Half Transfer flag */
+#define BDMA_ISR_TEIF5_Pos      (23U)
+#define BDMA_ISR_TEIF5_Msk      (0x1UL << BDMA_ISR_TEIF5_Pos)                  /*!< 0x00800000 */
+#define BDMA_ISR_TEIF5          BDMA_ISR_TEIF5_Msk                             /*!< Channel 5 Transfer Error flag */
+#define BDMA_ISR_GIF6_Pos       (24U)
+#define BDMA_ISR_GIF6_Msk       (0x1UL << BDMA_ISR_GIF6_Pos)                   /*!< 0x01000000 */
+#define BDMA_ISR_GIF6           BDMA_ISR_GIF6_Msk                              /*!< Channel 6 Global interrupt flag */
+#define BDMA_ISR_TCIF6_Pos      (25U)
+#define BDMA_ISR_TCIF6_Msk      (0x1UL << BDMA_ISR_TCIF6_Pos)                  /*!< 0x02000000 */
+#define BDMA_ISR_TCIF6          BDMA_ISR_TCIF6_Msk                             /*!< Channel 6 Transfer Complete flag */
+#define BDMA_ISR_HTIF6_Pos      (26U)
+#define BDMA_ISR_HTIF6_Msk      (0x1UL << BDMA_ISR_HTIF6_Pos)                  /*!< 0x04000000 */
+#define BDMA_ISR_HTIF6          BDMA_ISR_HTIF6_Msk                             /*!< Channel 6 Half Transfer flag */
+#define BDMA_ISR_TEIF6_Pos      (27U)
+#define BDMA_ISR_TEIF6_Msk      (0x1UL << BDMA_ISR_TEIF6_Pos)                  /*!< 0x08000000 */
+#define BDMA_ISR_TEIF6          BDMA_ISR_TEIF6_Msk                             /*!< Channel 6 Transfer Error flag */
+#define BDMA_ISR_GIF7_Pos       (28U)
+#define BDMA_ISR_GIF7_Msk       (0x1UL << BDMA_ISR_GIF7_Pos)                   /*!< 0x10000000 */
+#define BDMA_ISR_GIF7           BDMA_ISR_GIF7_Msk                              /*!< Channel 7 Global interrupt flag */
+#define BDMA_ISR_TCIF7_Pos      (29U)
+#define BDMA_ISR_TCIF7_Msk      (0x1UL << BDMA_ISR_TCIF7_Pos)                  /*!< 0x20000000 */
+#define BDMA_ISR_TCIF7          BDMA_ISR_TCIF7_Msk                             /*!< Channel 7 Transfer Complete flag */
+#define BDMA_ISR_HTIF7_Pos      (30U)
+#define BDMA_ISR_HTIF7_Msk      (0x1UL << BDMA_ISR_HTIF7_Pos)                  /*!< 0x40000000 */
+#define BDMA_ISR_HTIF7          BDMA_ISR_HTIF7_Msk                             /*!< Channel 7 Half Transfer flag */
+#define BDMA_ISR_TEIF7_Pos      (31U)
+#define BDMA_ISR_TEIF7_Msk      (0x1UL << BDMA_ISR_TEIF7_Pos)                  /*!< 0x80000000 */
+#define BDMA_ISR_TEIF7          BDMA_ISR_TEIF7_Msk                             /*!< Channel 7 Transfer Error flag */
+
+/*******************  Bit definition for BDMA_IFCR register  *******************/
+#define BDMA_IFCR_CGIF0_Pos     (0U)
+#define BDMA_IFCR_CGIF0_Msk     (0x1UL << BDMA_IFCR_CGIF0_Pos)                 /*!< 0x00000001 */
+#define BDMA_IFCR_CGIF0         BDMA_IFCR_CGIF0_Msk                            /*!< Channel 0 Global interrupt clearr */
+#define BDMA_IFCR_CTCIF0_Pos    (1U)
+#define BDMA_IFCR_CTCIF0_Msk    (0x1UL << BDMA_IFCR_CTCIF0_Pos)                /*!< 0x00000002 */
+#define BDMA_IFCR_CTCIF0        BDMA_IFCR_CTCIF0_Msk                           /*!< Channel 0 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF0_Pos    (2U)
+#define BDMA_IFCR_CHTIF0_Msk    (0x1UL << BDMA_IFCR_CHTIF0_Pos)                /*!< 0x00000004 */
+#define BDMA_IFCR_CHTIF0        BDMA_IFCR_CHTIF0_Msk                           /*!< Channel 0 Half Transfer clear */
+#define BDMA_IFCR_CTEIF0_Pos    (3U)
+#define BDMA_IFCR_CTEIF0_Msk    (0x1UL << BDMA_IFCR_CTEIF0_Pos)                /*!< 0x00000008 */
+#define BDMA_IFCR_CTEIF0        BDMA_IFCR_CTEIF0_Msk                           /*!< Channel 0 Transfer Error clear */
+#define BDMA_IFCR_CGIF1_Pos     (4U)
+#define BDMA_IFCR_CGIF1_Msk     (0x1UL << BDMA_IFCR_CGIF1_Pos)                 /*!< 0x00000010 */
+#define BDMA_IFCR_CGIF1         BDMA_IFCR_CGIF1_Msk                            /*!< Channel 1 Global interrupt clear */
+#define BDMA_IFCR_CTCIF1_Pos    (5U)
+#define BDMA_IFCR_CTCIF1_Msk    (0x1UL << BDMA_IFCR_CTCIF1_Pos)                /*!< 0x00000020 */
+#define BDMA_IFCR_CTCIF1        BDMA_IFCR_CTCIF1_Msk                           /*!< Channel 1 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF1_Pos    (6U)
+#define BDMA_IFCR_CHTIF1_Msk    (0x1UL << BDMA_IFCR_CHTIF1_Pos)                /*!< 0x00000040 */
+#define BDMA_IFCR_CHTIF1        BDMA_IFCR_CHTIF1_Msk                           /*!< Channel 1 Half Transfer clear */
+#define BDMA_IFCR_CTEIF1_Pos    (7U)
+#define BDMA_IFCR_CTEIF1_Msk    (0x1UL << BDMA_IFCR_CTEIF1_Pos)                /*!< 0x00000080 */
+#define BDMA_IFCR_CTEIF1        BDMA_IFCR_CTEIF1_Msk                           /*!< Channel 1 Transfer Error clear */
+#define BDMA_IFCR_CGIF2_Pos     (8U)
+#define BDMA_IFCR_CGIF2_Msk     (0x1UL << BDMA_IFCR_CGIF2_Pos)                 /*!< 0x00000100 */
+#define BDMA_IFCR_CGIF2         BDMA_IFCR_CGIF2_Msk                            /*!< Channel 2 Global interrupt clear */
+#define BDMA_IFCR_CTCIF2_Pos    (9U)
+#define BDMA_IFCR_CTCIF2_Msk    (0x1UL << BDMA_IFCR_CTCIF2_Pos)                /*!< 0x00000200 */
+#define BDMA_IFCR_CTCIF2        BDMA_IFCR_CTCIF2_Msk                           /*!< Channel 2 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF2_Pos    (10U)
+#define BDMA_IFCR_CHTIF2_Msk    (0x1UL << BDMA_IFCR_CHTIF2_Pos)                /*!< 0x00000400 */
+#define BDMA_IFCR_CHTIF2        BDMA_IFCR_CHTIF2_Msk                           /*!< Channel 2 Half Transfer clear */
+#define BDMA_IFCR_CTEIF2_Pos    (11U)
+#define BDMA_IFCR_CTEIF2_Msk    (0x1UL << BDMA_IFCR_CTEIF2_Pos)                /*!< 0x00000800 */
+#define BDMA_IFCR_CTEIF2        BDMA_IFCR_CTEIF2_Msk                           /*!< Channel 2 Transfer Error clear */
+#define BDMA_IFCR_CGIF3_Pos     (12U)
+#define BDMA_IFCR_CGIF3_Msk     (0x1UL << BDMA_IFCR_CGIF3_Pos)                 /*!< 0x00001000 */
+#define BDMA_IFCR_CGIF3         BDMA_IFCR_CGIF3_Msk                            /*!< Channel 3 Global interrupt clear */
+#define BDMA_IFCR_CTCIF3_Pos    (13U)
+#define BDMA_IFCR_CTCIF3_Msk    (0x1UL << BDMA_IFCR_CTCIF3_Pos)                /*!< 0x00002000 */
+#define BDMA_IFCR_CTCIF3        BDMA_IFCR_CTCIF3_Msk                           /*!< Channel 3 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF3_Pos    (14U)
+#define BDMA_IFCR_CHTIF3_Msk    (0x1UL << BDMA_IFCR_CHTIF3_Pos)                /*!< 0x00004000 */
+#define BDMA_IFCR_CHTIF3        BDMA_IFCR_CHTIF3_Msk                           /*!< Channel 3 Half Transfer clear */
+#define BDMA_IFCR_CTEIF3_Pos    (15U)
+#define BDMA_IFCR_CTEIF3_Msk    (0x1UL << BDMA_IFCR_CTEIF3_Pos)                /*!< 0x00008000 */
+#define BDMA_IFCR_CTEIF3        BDMA_IFCR_CTEIF3_Msk                           /*!< Channel 3 Transfer Error clear */
+#define BDMA_IFCR_CGIF4_Pos     (16U)
+#define BDMA_IFCR_CGIF4_Msk     (0x1UL << BDMA_IFCR_CGIF4_Pos)                 /*!< 0x00010000 */
+#define BDMA_IFCR_CGIF4         BDMA_IFCR_CGIF4_Msk                            /*!< Channel 4 Global interrupt clear */
+#define BDMA_IFCR_CTCIF4_Pos    (17U)
+#define BDMA_IFCR_CTCIF4_Msk    (0x1UL << BDMA_IFCR_CTCIF4_Pos)                /*!< 0x00020000 */
+#define BDMA_IFCR_CTCIF4        BDMA_IFCR_CTCIF4_Msk                           /*!< Channel 4 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF4_Pos    (18U)
+#define BDMA_IFCR_CHTIF4_Msk    (0x1UL << BDMA_IFCR_CHTIF4_Pos)                /*!< 0x00040000 */
+#define BDMA_IFCR_CHTIF4        BDMA_IFCR_CHTIF4_Msk                           /*!< Channel 4 Half Transfer clear */
+#define BDMA_IFCR_CTEIF4_Pos    (19U)
+#define BDMA_IFCR_CTEIF4_Msk    (0x1UL << BDMA_IFCR_CTEIF4_Pos)                /*!< 0x00080000 */
+#define BDMA_IFCR_CTEIF4        BDMA_IFCR_CTEIF4_Msk                           /*!< Channel 4 Transfer Error clear */
+#define BDMA_IFCR_CGIF5_Pos     (20U)
+#define BDMA_IFCR_CGIF5_Msk     (0x1UL << BDMA_IFCR_CGIF5_Pos)                 /*!< 0x00100000 */
+#define BDMA_IFCR_CGIF5         BDMA_IFCR_CGIF5_Msk                            /*!< Channel 5 Global interrupt clear */
+#define BDMA_IFCR_CTCIF5_Pos    (21U)
+#define BDMA_IFCR_CTCIF5_Msk    (0x1UL << BDMA_IFCR_CTCIF5_Pos)                /*!< 0x00200000 */
+#define BDMA_IFCR_CTCIF5        BDMA_IFCR_CTCIF5_Msk                           /*!< Channel 5 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF5_Pos    (22U)
+#define BDMA_IFCR_CHTIF5_Msk    (0x1UL << BDMA_IFCR_CHTIF5_Pos)                /*!< 0x00400000 */
+#define BDMA_IFCR_CHTIF5        BDMA_IFCR_CHTIF5_Msk                           /*!< Channel 5 Half Transfer clear */
+#define BDMA_IFCR_CTEIF5_Pos    (23U)
+#define BDMA_IFCR_CTEIF5_Msk    (0x1UL << BDMA_IFCR_CTEIF5_Pos)                /*!< 0x00800000 */
+#define BDMA_IFCR_CTEIF5        BDMA_IFCR_CTEIF5_Msk                           /*!< Channel 5 Transfer Error clear */
+#define BDMA_IFCR_CGIF6_Pos     (24U)
+#define BDMA_IFCR_CGIF6_Msk     (0x1UL << BDMA_IFCR_CGIF6_Pos)                 /*!< 0x01000000 */
+#define BDMA_IFCR_CGIF6         BDMA_IFCR_CGIF6_Msk                            /*!< Channel 6 Global interrupt clear */
+#define BDMA_IFCR_CTCIF6_Pos    (25U)
+#define BDMA_IFCR_CTCIF6_Msk    (0x1UL << BDMA_IFCR_CTCIF6_Pos)                /*!< 0x02000000 */
+#define BDMA_IFCR_CTCIF6        BDMA_IFCR_CTCIF6_Msk                           /*!< Channel 6 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF6_Pos    (26U)
+#define BDMA_IFCR_CHTIF6_Msk    (0x1UL << BDMA_IFCR_CHTIF6_Pos)                /*!< 0x04000000 */
+#define BDMA_IFCR_CHTIF6        BDMA_IFCR_CHTIF6_Msk                           /*!< Channel 6 Half Transfer clear */
+#define BDMA_IFCR_CTEIF6_Pos    (27U)
+#define BDMA_IFCR_CTEIF6_Msk    (0x1UL << BDMA_IFCR_CTEIF6_Pos)                /*!< 0x08000000 */
+#define BDMA_IFCR_CTEIF6        BDMA_IFCR_CTEIF6_Msk                           /*!< Channel 6 Transfer Error clear */
+#define BDMA_IFCR_CGIF7_Pos     (28U)
+#define BDMA_IFCR_CGIF7_Msk     (0x1UL << BDMA_IFCR_CGIF7_Pos)                 /*!< 0x10000000 */
+#define BDMA_IFCR_CGIF7         BDMA_IFCR_CGIF7_Msk                            /*!< Channel 7 Global interrupt clear */
+#define BDMA_IFCR_CTCIF7_Pos    (29U)
+#define BDMA_IFCR_CTCIF7_Msk    (0x1UL << BDMA_IFCR_CTCIF7_Pos)                /*!< 0x20000000 */
+#define BDMA_IFCR_CTCIF7        BDMA_IFCR_CTCIF7_Msk                           /*!< Channel 7 Transfer Complete clear */
+#define BDMA_IFCR_CHTIF7_Pos    (30U)
+#define BDMA_IFCR_CHTIF7_Msk    (0x1UL << BDMA_IFCR_CHTIF7_Pos)                /*!< 0x40000000 */
+#define BDMA_IFCR_CHTIF7        BDMA_IFCR_CHTIF7_Msk                           /*!< Channel 7 Half Transfer clear */
+#define BDMA_IFCR_CTEIF7_Pos    (31U)
+#define BDMA_IFCR_CTEIF7_Msk    (0x1UL << BDMA_IFCR_CTEIF7_Pos)                /*!< 0x80000000 */
+#define BDMA_IFCR_CTEIF7        BDMA_IFCR_CTEIF7_Msk                           /*!< Channel 7 Transfer Error clear */
+
+/*******************  Bit definition for BDMA_CCR register  ********************/
+#define BDMA_CCR_EN_Pos         (0U)
+#define BDMA_CCR_EN_Msk         (0x1UL << BDMA_CCR_EN_Pos)                     /*!< 0x00000001 */
+#define BDMA_CCR_EN             BDMA_CCR_EN_Msk                                /*!< Channel enable                      */
+#define BDMA_CCR_TCIE_Pos       (1U)
+#define BDMA_CCR_TCIE_Msk       (0x1UL << BDMA_CCR_TCIE_Pos)                   /*!< 0x00000002 */
+#define BDMA_CCR_TCIE           BDMA_CCR_TCIE_Msk                              /*!< Transfer complete interrupt enable  */
+#define BDMA_CCR_HTIE_Pos       (2U)
+#define BDMA_CCR_HTIE_Msk       (0x1UL << BDMA_CCR_HTIE_Pos)                   /*!< 0x00000004 */
+#define BDMA_CCR_HTIE           BDMA_CCR_HTIE_Msk                              /*!< Half Transfer interrupt enable      */
+#define BDMA_CCR_TEIE_Pos       (3U)
+#define BDMA_CCR_TEIE_Msk       (0x1UL << BDMA_CCR_TEIE_Pos)                   /*!< 0x00000008 */
+#define BDMA_CCR_TEIE           BDMA_CCR_TEIE_Msk                              /*!< Transfer error interrupt enable     */
+#define BDMA_CCR_DIR_Pos        (4U)
+#define BDMA_CCR_DIR_Msk        (0x1UL << BDMA_CCR_DIR_Pos)                    /*!< 0x00000010 */
+#define BDMA_CCR_DIR            BDMA_CCR_DIR_Msk                               /*!< Data transfer direction             */
+#define BDMA_CCR_CIRC_Pos       (5U)
+#define BDMA_CCR_CIRC_Msk       (0x1UL << BDMA_CCR_CIRC_Pos)                   /*!< 0x00000020 */
+#define BDMA_CCR_CIRC           BDMA_CCR_CIRC_Msk                              /*!< Circular mode                       */
+#define BDMA_CCR_PINC_Pos       (6U)
+#define BDMA_CCR_PINC_Msk       (0x1UL << BDMA_CCR_PINC_Pos)                   /*!< 0x00000040 */
+#define BDMA_CCR_PINC           BDMA_CCR_PINC_Msk                              /*!< Peripheral increment mode           */
+#define BDMA_CCR_MINC_Pos       (7U)
+#define BDMA_CCR_MINC_Msk       (0x1UL << BDMA_CCR_MINC_Pos)                   /*!< 0x00000080 */
+#define BDMA_CCR_MINC           BDMA_CCR_MINC_Msk                              /*!< Memory increment mode               */
+
+#define BDMA_CCR_PSIZE_Pos      (8U)
+#define BDMA_CCR_PSIZE_Msk      (0x3UL << BDMA_CCR_PSIZE_Pos)                  /*!< 0x00000300 */
+#define BDMA_CCR_PSIZE          BDMA_CCR_PSIZE_Msk                             /*!< PSIZE[1:0] bits (Peripheral size)   */
+#define BDMA_CCR_PSIZE_0        (0x1UL << BDMA_CCR_PSIZE_Pos)                   /*!< 0x00000100 */
+#define BDMA_CCR_PSIZE_1        (0x2UL << BDMA_CCR_PSIZE_Pos)                   /*!< 0x00000200 */
+
+#define BDMA_CCR_MSIZE_Pos      (10U)
+#define BDMA_CCR_MSIZE_Msk      (0x3UL << BDMA_CCR_MSIZE_Pos)                  /*!< 0x00000C00 */
+#define BDMA_CCR_MSIZE          BDMA_CCR_MSIZE_Msk                             /*!< MSIZE[1:0] bits (Memory size)       */
+#define BDMA_CCR_MSIZE_0        (0x1UL << BDMA_CCR_MSIZE_Pos)                   /*!< 0x00000400 */
+#define BDMA_CCR_MSIZE_1        (0x2UL << BDMA_CCR_MSIZE_Pos)                   /*!< 0x00000800 */
+
+#define BDMA_CCR_PL_Pos         (12U)
+#define BDMA_CCR_PL_Msk         (0x3UL << BDMA_CCR_PL_Pos)                     /*!< 0x00003000 */
+#define BDMA_CCR_PL             BDMA_CCR_PL_Msk                                /*!< PL[1:0] bits(Channel Priority level)*/
+#define BDMA_CCR_PL_0           (0x1UL << BDMA_CCR_PL_Pos)                      /*!< 0x00001000 */
+#define BDMA_CCR_PL_1           (0x2UL << BDMA_CCR_PL_Pos)                      /*!< 0x00002000 */
+
+#define BDMA_CCR_MEM2MEM_Pos    (14U)
+#define BDMA_CCR_MEM2MEM_Msk    (0x1UL << BDMA_CCR_MEM2MEM_Pos)                /*!< 0x00004000 */
+#define BDMA_CCR_MEM2MEM        BDMA_CCR_MEM2MEM_Msk                           /*!< Memory to memory mode               */
+#define BDMA_CCR_DBM_Pos        (15U)
+#define BDMA_CCR_DBM_Msk        (0x1UL << BDMA_CCR_DBM_Pos)                    /*!< 0x0000A000 */
+#define BDMA_CCR_DBM            BDMA_CCR_DBM_Msk                               /*!< Memory to memory mode               */
+#define BDMA_CCR_CT_Pos         (16U)
+#define BDMA_CCR_CT_Msk         (0x1UL << BDMA_CCR_CT_Pos)                     /*!< 0x00010000 */
+#define BDMA_CCR_CT             BDMA_CCR_CT_Msk                                /*!< Memory to memory mode               */
+
+/******************  Bit definition for BDMA_CNDTR register  *******************/
+#define BDMA_CNDTR_NDT_Pos      (0U)
+#define BDMA_CNDTR_NDT_Msk      (0xFFFFUL << BDMA_CNDTR_NDT_Pos)               /*!< 0x0000FFFF */
+#define BDMA_CNDTR_NDT          BDMA_CNDTR_NDT_Msk                             /*!< Number of data to Transfer          */
+
+/******************  Bit definition for BDMA_CPAR register  ********************/
+#define BDMA_CPAR_PA_Pos        (0U)
+#define BDMA_CPAR_PA_Msk        (0xFFFFFFFFUL << BDMA_CPAR_PA_Pos)             /*!< 0xFFFFFFFF */
+#define BDMA_CPAR_PA            BDMA_CPAR_PA_Msk                               /*!< Peripheral Address                  */
+
+/******************  Bit definition for BDMA_CM0AR register  ********************/
+#define BDMA_CM0AR_MA_Pos        (0U)
+#define BDMA_CM0AR_MA_Msk        (0xFFFFFFFFUL << BDMA_CM0AR_MA_Pos)             /*!< 0xFFFFFFFF */
+#define BDMA_CM0AR_MA            BDMA_CM0AR_MA_Msk                               /*!< Memory Address                      */
+
+/******************  Bit definition for BDMA_CM1AR register  ********************/
+#define BDMA_CM1AR_MA_Pos        (0U)
+#define BDMA_CM1AR_MA_Msk        (0xFFFFFFFFUL << BDMA_CM1AR_MA_Pos)             /*!< 0xFFFFFFFF */
+#define BDMA_CM1AR_MA            BDMA_CM1AR_MA_Msk                               /*!< Memory Address                      */
+
+/******************************************************************************/
+/*                                                                            */
+/*                Ethernet MAC Registers bits definitions                     */
+/*                                                                            */
+/******************************************************************************/
+/* Bit definition for Ethernet MAC Configuration Register register */
+#define ETH_MACCR_ARP_Pos                             (31U)
+#define ETH_MACCR_ARP_Msk                             (0x1UL << ETH_MACCR_ARP_Pos) /*!< 0x80000000 */
+#define ETH_MACCR_ARP                                 ETH_MACCR_ARP_Msk        /* ARP Offload Enable */
+#define ETH_MACCR_SARC_Pos                            (28U)
+#define ETH_MACCR_SARC_Msk                            (0x7UL << ETH_MACCR_SARC_Pos) /*!< 0x70000000 */
+#define ETH_MACCR_SARC                                ETH_MACCR_SARC_Msk       /* Source Address Insertion or Replacement Control */
+#define ETH_MACCR_SARC_MTIATI                         ((uint32_t)0x00000000)   /* The mti_sa_ctrl_i and ati_sa_ctrl_i input signals control the SA field generation. */
+#define ETH_MACCR_SARC_INSADDR0_Pos                   (29U)
+#define ETH_MACCR_SARC_INSADDR0_Msk                   (0x1UL << ETH_MACCR_SARC_INSADDR0_Pos) /*!< 0x20000000 */
+#define ETH_MACCR_SARC_INSADDR0                       ETH_MACCR_SARC_INSADDR0_Msk /* Insert MAC Address0 in the SA field of all transmitted packets. */
+#define ETH_MACCR_SARC_INSADDR1_Pos                   (29U)
+#define ETH_MACCR_SARC_INSADDR1_Msk                   (0x3UL << ETH_MACCR_SARC_INSADDR1_Pos) /*!< 0x60000000 */
+#define ETH_MACCR_SARC_INSADDR1                       ETH_MACCR_SARC_INSADDR1_Msk /* Insert MAC Address1 in the SA field of all transmitted packets. */
+#define ETH_MACCR_SARC_REPADDR0_Pos                   (28U)
+#define ETH_MACCR_SARC_REPADDR0_Msk                   (0x3UL << ETH_MACCR_SARC_REPADDR0_Pos) /*!< 0x30000000 */
+#define ETH_MACCR_SARC_REPADDR0                       ETH_MACCR_SARC_REPADDR0_Msk /* Replace MAC Address0 in the SA field of all transmitted packets. */
+#define ETH_MACCR_SARC_REPADDR1_Pos                   (28U)
+#define ETH_MACCR_SARC_REPADDR1_Msk                   (0x7UL << ETH_MACCR_SARC_REPADDR1_Pos) /*!< 0x70000000 */
+#define ETH_MACCR_SARC_REPADDR1                       ETH_MACCR_SARC_REPADDR1_Msk /* Replace MAC Address1 in the SA field of all transmitted packets. */
+#define ETH_MACCR_IPC_Pos                             (27U)
+#define ETH_MACCR_IPC_Msk                             (0x1UL << ETH_MACCR_IPC_Pos) /*!< 0x08000000 */
+#define ETH_MACCR_IPC                                 ETH_MACCR_IPC_Msk        /* Checksum Offload */
+#define ETH_MACCR_IPG_Pos                             (24U)
+#define ETH_MACCR_IPG_Msk                             (0x7UL << ETH_MACCR_IPG_Pos) /*!< 0x07000000 */
+#define ETH_MACCR_IPG                                 ETH_MACCR_IPG_Msk        /* Inter-Packet Gap */
+#define ETH_MACCR_IPG_96BIT                           ((uint32_t)0x00000000)   /* Minimum IFG between Packets during transmission is 96Bit */
+#define ETH_MACCR_IPG_88BIT                           ((uint32_t)0x01000000)   /* Minimum IFG between Packets during transmission is 88Bit */
+#define ETH_MACCR_IPG_80BIT                           ((uint32_t)0x02000000)   /* Minimum IFG between Packets during transmission is 80Bit */
+#define ETH_MACCR_IPG_72BIT                           ((uint32_t)0x03000000)   /* Minimum IFG between Packets during transmission is 72Bit */
+#define ETH_MACCR_IPG_64BIT                           ((uint32_t)0x04000000)   /* Minimum IFG between Packets during transmission is 64Bit */
+#define ETH_MACCR_IPG_56BIT                           ((uint32_t)0x05000000)   /* Minimum IFG between Packets during transmission is 56Bit */
+#define ETH_MACCR_IPG_48BIT                           ((uint32_t)0x06000000)   /* Minimum IFG between Packets during transmission is 48Bit */
+#define ETH_MACCR_IPG_40BIT                           ((uint32_t)0x07000000)   /* Minimum IFG between Packets during transmission is 40Bit */
+#define ETH_MACCR_GPSLCE_Pos                          (23U)
+#define ETH_MACCR_GPSLCE_Msk                          (0x1UL << ETH_MACCR_GPSLCE_Pos) /*!< 0x00800000 */
+#define ETH_MACCR_GPSLCE                              ETH_MACCR_GPSLCE_Msk     /* Giant Packet Size Limit Control Enable */
+#define ETH_MACCR_S2KP_Pos                            (22U)
+#define ETH_MACCR_S2KP_Msk                            (0x1UL << ETH_MACCR_S2KP_Pos) /*!< 0x00400000 */
+#define ETH_MACCR_S2KP                                ETH_MACCR_S2KP_Msk       /* IEEE 802.3as Support for 2K Packets */
+#define ETH_MACCR_CST_Pos                             (21U)
+#define ETH_MACCR_CST_Msk                             (0x1UL << ETH_MACCR_CST_Pos) /*!< 0x00200000 */
+#define ETH_MACCR_CST                                 ETH_MACCR_CST_Msk        /* CRC stripping for Type packets */
+#define ETH_MACCR_ACS_Pos                             (20U)
+#define ETH_MACCR_ACS_Msk                             (0x1UL << ETH_MACCR_ACS_Pos) /*!< 0x00100000 */
+#define ETH_MACCR_ACS                                 ETH_MACCR_ACS_Msk        /* Automatic Pad or CRC Stripping */
+#define ETH_MACCR_WD_Pos                              (19U)
+#define ETH_MACCR_WD_Msk                              (0x1UL << ETH_MACCR_WD_Pos) /*!< 0x00080000 */
+#define ETH_MACCR_WD                                  ETH_MACCR_WD_Msk         /* Watchdog disable */
+#define ETH_MACCR_JD_Pos                              (17U)
+#define ETH_MACCR_JD_Msk                              (0x1UL << ETH_MACCR_JD_Pos) /*!< 0x00020000 */
+#define ETH_MACCR_JD                                  ETH_MACCR_JD_Msk         /* Jabber disable */
+#define ETH_MACCR_JE_Pos                              (16U)
+#define ETH_MACCR_JE_Msk                              (0x1UL << ETH_MACCR_JE_Pos) /*!< 0x00010000 */
+#define ETH_MACCR_JE                                  ETH_MACCR_JE_Msk         /* Jumbo Packet Enable */
+#define ETH_MACCR_FES_Pos                             (14U)
+#define ETH_MACCR_FES_Msk                             (0x1UL << ETH_MACCR_FES_Pos) /*!< 0x00004000 */
+#define ETH_MACCR_FES                                 ETH_MACCR_FES_Msk        /* Fast ethernet speed */
+#define ETH_MACCR_DM_Pos                              (13U)
+#define ETH_MACCR_DM_Msk                              (0x1UL << ETH_MACCR_DM_Pos) /*!< 0x00002000 */
+#define ETH_MACCR_DM                                  ETH_MACCR_DM_Msk         /* Duplex mode */
+#define ETH_MACCR_LM_Pos                              (12U)
+#define ETH_MACCR_LM_Msk                              (0x1UL << ETH_MACCR_LM_Pos) /*!< 0x00001000 */
+#define ETH_MACCR_LM                                  ETH_MACCR_LM_Msk         /* loopback mode */
+#define ETH_MACCR_ECRSFD_Pos                          (11U)
+#define ETH_MACCR_ECRSFD_Msk                          (0x1UL << ETH_MACCR_ECRSFD_Pos) /*!< 0x00000800 */
+#define ETH_MACCR_ECRSFD                              ETH_MACCR_ECRSFD_Msk     /* Enable Carrier Sense Before Transmission in Full-Duplex Mode */
+#define ETH_MACCR_DO_Pos                              (10U)
+#define ETH_MACCR_DO_Msk                              (0x1UL << ETH_MACCR_DO_Pos) /*!< 0x00000400 */
+#define ETH_MACCR_DO                                  ETH_MACCR_DO_Msk         /* Disable Receive own  */
+#define ETH_MACCR_DCRS_Pos                            (9U)
+#define ETH_MACCR_DCRS_Msk                            (0x1UL << ETH_MACCR_DCRS_Pos) /*!< 0x00000200 */
+#define ETH_MACCR_DCRS                                ETH_MACCR_DCRS_Msk       /* Disable Carrier Sense During Transmission */
+#define ETH_MACCR_DR_Pos                              (8U)
+#define ETH_MACCR_DR_Msk                              (0x1UL << ETH_MACCR_DR_Pos) /*!< 0x00000100 */
+#define ETH_MACCR_DR                                  ETH_MACCR_DR_Msk         /* Disable Retry */
+#define ETH_MACCR_BL_Pos                              (5U)
+#define ETH_MACCR_BL_Msk                              (0x3UL << ETH_MACCR_BL_Pos) /*!< 0x00000060 */
+#define ETH_MACCR_BL                                  ETH_MACCR_BL_Msk         /* Back-off limit mask */
+#define ETH_MACCR_BL_10                               (0x0UL << ETH_MACCR_BL_Pos) /*!< 0x00000000 */
+#define ETH_MACCR_BL_8                                (0x1UL << ETH_MACCR_BL_Pos) /*!< 0x00000020 */
+#define ETH_MACCR_BL_4                                (0x2UL << ETH_MACCR_BL_Pos) /*!< 0x00000040 */
+#define ETH_MACCR_BL_1                                (0x3UL << ETH_MACCR_BL_Pos) /*!< 0x00000060 */
+#define ETH_MACCR_DC_Pos                              (4U)
+#define ETH_MACCR_DC_Msk                              (0x1UL << ETH_MACCR_DC_Pos) /*!< 0x00000010 */
+#define ETH_MACCR_DC                                  ETH_MACCR_DC_Msk         /* Defferal check */
+#define ETH_MACCR_PRELEN_Pos                          (2U)
+#define ETH_MACCR_PRELEN_Msk                          (0x3UL << ETH_MACCR_PRELEN_Pos) /*!< 0x0000000C */
+#define ETH_MACCR_PRELEN                              ETH_MACCR_PRELEN_Msk     /* Preamble Length for Transmit packets */
+#define ETH_MACCR_PRELEN_7                            (0x0UL << ETH_MACCR_PRELEN_Pos) /*!< 0x00000000 */
+#define ETH_MACCR_PRELEN_5                            (0x1UL << ETH_MACCR_PRELEN_Pos) /*!< 0x00000004 */
+#define ETH_MACCR_PRELEN_3                            (0x2UL << ETH_MACCR_PRELEN_Pos) /*!< 0x00000008 */
+#define ETH_MACCR_TE_Pos                              (1U)
+#define ETH_MACCR_TE_Msk                              (0x1UL << ETH_MACCR_TE_Pos) /*!< 0x00000002 */
+#define ETH_MACCR_TE                                  ETH_MACCR_TE_Msk         /* Transmitter enable */
+#define ETH_MACCR_RE_Pos                              (0U)
+#define ETH_MACCR_RE_Msk                              (0x1UL << ETH_MACCR_RE_Pos) /*!< 0x00000001 */
+#define ETH_MACCR_RE                                  ETH_MACCR_RE_Msk         /* Receiver enable */
+
+/* Bit definition for Ethernet MAC Extended Configuration Register register */
+#define ETH_MACECR_EIPG_Pos                           (25U)
+#define ETH_MACECR_EIPG_Msk                           (0x1FUL << ETH_MACECR_EIPG_Pos) /*!< 0x3E000000 */
+#define ETH_MACECR_EIPG                               ETH_MACECR_EIPG_Msk      /* Extended Inter-Packet Gap */
+#define ETH_MACECR_EIPGEN_Pos                         (24U)
+#define ETH_MACECR_EIPGEN_Msk                         (0x1UL << ETH_MACECR_EIPGEN_Pos) /*!< 0x01000000 */
+#define ETH_MACECR_EIPGEN                             ETH_MACECR_EIPGEN_Msk    /* Extended Inter-Packet Gap Enable */
+#define ETH_MACECR_USP_Pos                            (18U)
+#define ETH_MACECR_USP_Msk                            (0x1UL << ETH_MACECR_USP_Pos) /*!< 0x00040000 */
+#define ETH_MACECR_USP                                ETH_MACECR_USP_Msk       /* Unicast Slow Protocol Packet Detect */
+#define ETH_MACECR_SPEN_Pos                           (17U)
+#define ETH_MACECR_SPEN_Msk                           (0x1UL << ETH_MACECR_SPEN_Pos) /*!< 0x00020000 */
+#define ETH_MACECR_SPEN                               ETH_MACECR_SPEN_Msk      /* Slow Protocol Detection Enable */
+#define ETH_MACECR_DCRCC_Pos                          (16U)
+#define ETH_MACECR_DCRCC_Msk                          (0x1UL << ETH_MACECR_DCRCC_Pos) /*!< 0x00010000 */
+#define ETH_MACECR_DCRCC                              ETH_MACECR_DCRCC_Msk     /* Disable CRC Checking for Received Packets */
+#define ETH_MACECR_GPSL_Pos                           (0U)
+#define ETH_MACECR_GPSL_Msk                           (0x3FFFUL << ETH_MACECR_GPSL_Pos) /*!< 0x00003FFF */
+#define ETH_MACECR_GPSL                               ETH_MACECR_GPSL_Msk      /* Giant Packet Size Limit */
+
+/* Bit definition for Ethernet MAC Packet Filter Register */
+#define ETH_MACPFR_RA_Pos                             (31U)
+#define ETH_MACPFR_RA_Msk                             (0x1UL << ETH_MACPFR_RA_Pos) /*!< 0x80000000 */
+#define ETH_MACPFR_RA                                 ETH_MACPFR_RA_Msk        /* Receive all */
+#define ETH_MACPFR_DNTU_Pos                           (21U)
+#define ETH_MACPFR_DNTU_Msk                           (0x1UL << ETH_MACPFR_DNTU_Pos) /*!< 0x00200000 */
+#define ETH_MACPFR_DNTU                               ETH_MACPFR_DNTU_Msk      /* Drop Non-TCP/UDP over IP Packets */
+#define ETH_MACPFR_IPFE_Pos                           (20U)
+#define ETH_MACPFR_IPFE_Msk                           (0x1UL << ETH_MACPFR_IPFE_Pos) /*!< 0x00100000 */
+#define ETH_MACPFR_IPFE                               ETH_MACPFR_IPFE_Msk      /* Layer 3 and Layer 4 Filter Enable */
+#define ETH_MACPFR_VTFE_Pos                           (16U)
+#define ETH_MACPFR_VTFE_Msk                           (0x1UL << ETH_MACPFR_VTFE_Pos) /*!< 0x00010000 */
+#define ETH_MACPFR_VTFE                               ETH_MACPFR_VTFE_Msk      /* VLAN Tag Filter Enable */
+#define ETH_MACPFR_HPF_Pos                            (10U)
+#define ETH_MACPFR_HPF_Msk                            (0x1UL << ETH_MACPFR_HPF_Pos) /*!< 0x00000400 */
+#define ETH_MACPFR_HPF                                ETH_MACPFR_HPF_Msk       /* Hash or perfect filter */
+#define ETH_MACPFR_SAF_Pos                            (9U)
+#define ETH_MACPFR_SAF_Msk                            (0x1UL << ETH_MACPFR_SAF_Pos) /*!< 0x00000200 */
+#define ETH_MACPFR_SAF                                ETH_MACPFR_SAF_Msk       /* Source address filter enable */
+#define ETH_MACPFR_SAIF_Pos                           (8U)
+#define ETH_MACPFR_SAIF_Msk                           (0x1UL << ETH_MACPFR_SAIF_Pos) /*!< 0x00000100 */
+#define ETH_MACPFR_SAIF                               ETH_MACPFR_SAIF_Msk      /* SA inverse filtering */
+#define ETH_MACPFR_PCF_Pos                            (6U)
+#define ETH_MACPFR_PCF_Msk                            (0x3UL << ETH_MACPFR_PCF_Pos) /*!< 0x000000C0 */
+#define ETH_MACPFR_PCF                                ETH_MACPFR_PCF_Msk       /* Pass control frames: 4 cases */
+#define ETH_MACPFR_PCF_BLOCKALL                       ((uint32_t)0x00000000)   /* MAC filters all control frames from reaching the application */
+#define ETH_MACPFR_PCF_FORWARDALLEXCEPTPA_Pos         (6U)
+#define ETH_MACPFR_PCF_FORWARDALLEXCEPTPA_Msk         (0x1UL << ETH_MACPFR_PCF_FORWARDALLEXCEPTPA_Pos) /*!< 0x00000040 */
+#define ETH_MACPFR_PCF_FORWARDALLEXCEPTPA             ETH_MACPFR_PCF_FORWARDALLEXCEPTPA_Msk /* MAC forwards all control frames except Pause packets to application even if they fail the Address Filter */
+#define ETH_MACPFR_PCF_FORWARDALL_Pos                 (7U)
+#define ETH_MACPFR_PCF_FORWARDALL_Msk                 (0x1UL << ETH_MACPFR_PCF_FORWARDALL_Pos) /*!< 0x00000080 */
+#define ETH_MACPFR_PCF_FORWARDALL                     ETH_MACPFR_PCF_FORWARDALL_Msk /* MAC forwards all control frames to application even if they fail the Address Filter */
+#define ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER_Pos    (6U)
+#define ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER_Msk    (0x3UL << ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER_Pos) /*!< 0x000000C0 */
+#define ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER        ETH_MACPFR_PCF_FORWARDPASSEDADDRFILTER_Msk /* MAC forwards control frames that pass the Address Filter. */
+#define ETH_MACPFR_DBF_Pos                            (5U)
+#define ETH_MACPFR_DBF_Msk                            (0x1UL << ETH_MACPFR_DBF_Pos) /*!< 0x00000020 */
+#define ETH_MACPFR_DBF                                ETH_MACPFR_DBF_Msk       /* Disable Broadcast Packets */
+#define ETH_MACPFR_PM_Pos                             (4U)
+#define ETH_MACPFR_PM_Msk                             (0x1UL << ETH_MACPFR_PM_Pos) /*!< 0x00000010 */
+#define ETH_MACPFR_PM                                 ETH_MACPFR_PM_Msk        /* Pass all mutlicast */
+#define ETH_MACPFR_DAIF_Pos                           (3U)
+#define ETH_MACPFR_DAIF_Msk                           (0x1UL << ETH_MACPFR_DAIF_Pos) /*!< 0x00000008 */
+#define ETH_MACPFR_DAIF                               ETH_MACPFR_DAIF_Msk      /* DA Inverse filtering */
+#define ETH_MACPFR_HMC_Pos                            (2U)
+#define ETH_MACPFR_HMC_Msk                            (0x1UL << ETH_MACPFR_HMC_Pos) /*!< 0x00000004 */
+#define ETH_MACPFR_HMC                                ETH_MACPFR_HMC_Msk       /* Hash multicast */
+#define ETH_MACPFR_HUC_Pos                            (1U)
+#define ETH_MACPFR_HUC_Msk                            (0x1UL << ETH_MACPFR_HUC_Pos) /*!< 0x00000002 */
+#define ETH_MACPFR_HUC                                ETH_MACPFR_HUC_Msk       /* Hash unicast */
+#define ETH_MACPFR_PR_Pos                             (0U)
+#define ETH_MACPFR_PR_Msk                             (0x1UL << ETH_MACPFR_PR_Pos) /*!< 0x00000001 */
+#define ETH_MACPFR_PR                                 ETH_MACPFR_PR_Msk        /* Promiscuous mode */
+
+/* Bit definition for Ethernet MAC Watchdog Timeout Register */
+#define ETH_MACWTR_PWE_Pos                            (8U)
+#define ETH_MACWTR_PWE_Msk                            (0x1UL << ETH_MACWTR_PWE_Pos) /*!< 0x00000100 */
+#define ETH_MACWTR_PWE                                ETH_MACWTR_PWE_Msk       /* Programmable Watchdog Enable */
+#define ETH_MACWTR_WTO_Pos                            (0U)
+#define ETH_MACWTR_WTO_Msk                            (0xFUL << ETH_MACWTR_WTO_Pos) /*!< 0x0000000F */
+#define ETH_MACWTR_WTO                                ETH_MACWTR_WTO_Msk       /* Watchdog Timeout */
+#define ETH_MACWTR_WTO_2KB                            ((uint32_t)0x00000000)   /* Maximum received packet length 2KB*/
+#define ETH_MACWTR_WTO_3KB                            ((uint32_t)0x00000001)   /* Maximum received packet length 3KB */
+#define ETH_MACWTR_WTO_4KB                            ((uint32_t)0x00000002)   /* Maximum received packet length 4KB */
+#define ETH_MACWTR_WTO_5KB                            ((uint32_t)0x00000003)   /* Maximum received packet length 5KB */
+#define ETH_MACWTR_WTO_6KB                            ((uint32_t)0x00000004)   /* Maximum received packet length 6KB */
+#define ETH_MACWTR_WTO_7KB                            ((uint32_t)0x00000005)   /* Maximum received packet length 7KB */
+#define ETH_MACWTR_WTO_8KB                            ((uint32_t)0x00000006)   /* Maximum received packet length 8KB */
+#define ETH_MACWTR_WTO_9KB                            ((uint32_t)0x00000007)   /* Maximum received packet length 9KB */
+#define ETH_MACWTR_WTO_10KB                           ((uint32_t)0x00000008)   /* Maximum received packet length 10KB */
+#define ETH_MACWTR_WTO_11KB                           ((uint32_t)0x00000009)   /* Maximum received packet length 11KB */
+#define ETH_MACWTR_WTO_12KB                           ((uint32_t)0x0000000A)   /* Maximum received packet length 12KB */
+#define ETH_MACWTR_WTO_13KB                           ((uint32_t)0x0000000B)   /* Maximum received packet length 13KB */
+#define ETH_MACWTR_WTO_14KB                           ((uint32_t)0x0000000C)   /* Maximum received packet length 14KB */
+#define ETH_MACWTR_WTO_15KB                           ((uint32_t)0x0000000D)   /* Maximum received packet length 15KB */
+#define ETH_MACWTR_WTO_16KB                           ((uint32_t)0x0000000E)   /* Maximum received packet length 16KB */
+
+/* Bit definition for Ethernet MAC Hash Table High Register */
+#define ETH_MACHTHR_HTH_Pos                           (0U)
+#define ETH_MACHTHR_HTH_Msk                           (0xFFFFFFFFUL << ETH_MACHTHR_HTH_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACHTHR_HTH                               ETH_MACHTHR_HTH_Msk      /* Hash table high */
+
+/* Bit definition for Ethernet MAC Hash Table Low Register */
+#define ETH_MACHTLR_HTL_Pos                           (0U)
+#define ETH_MACHTLR_HTL_Msk                           (0xFFFFFFFFUL << ETH_MACHTLR_HTL_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACHTLR_HTL                               ETH_MACHTLR_HTL_Msk      /* Hash table low */
+
+/* Bit definition for Ethernet MAC VLAN Tag Register */
+#define ETH_MACVTR_EIVLRXS_Pos                        (31U)
+#define ETH_MACVTR_EIVLRXS_Msk                        (0x1UL << ETH_MACVTR_EIVLRXS_Pos) /*!< 0x80000000 */
+#define ETH_MACVTR_EIVLRXS                            ETH_MACVTR_EIVLRXS_Msk   /* Enable Inner VLAN Tag in Rx Status */
+#define ETH_MACVTR_EIVLS_Pos                          (28U)
+#define ETH_MACVTR_EIVLS_Msk                          (0x3UL << ETH_MACVTR_EIVLS_Pos) /*!< 0x30000000 */
+#define ETH_MACVTR_EIVLS                              ETH_MACVTR_EIVLS_Msk     /* Enable Inner VLAN Tag Stripping on Receive */
+#define ETH_MACVTR_EIVLS_DONOTSTRIP                   ((uint32_t)0x00000000)   /* Do not strip */
+#define ETH_MACVTR_EIVLS_STRIPIFPASS_Pos              (28U)
+#define ETH_MACVTR_EIVLS_STRIPIFPASS_Msk              (0x1UL << ETH_MACVTR_EIVLS_STRIPIFPASS_Pos) /*!< 0x10000000 */
+#define ETH_MACVTR_EIVLS_STRIPIFPASS                  ETH_MACVTR_EIVLS_STRIPIFPASS_Msk /* Strip if VLAN filter passes */
+#define ETH_MACVTR_EIVLS_STRIPIFFAILS_Pos             (29U)
+#define ETH_MACVTR_EIVLS_STRIPIFFAILS_Msk             (0x1UL << ETH_MACVTR_EIVLS_STRIPIFFAILS_Pos) /*!< 0x20000000 */
+#define ETH_MACVTR_EIVLS_STRIPIFFAILS                 ETH_MACVTR_EIVLS_STRIPIFFAILS_Msk /* Strip if VLAN filter fails */
+#define ETH_MACVTR_EIVLS_ALWAYSSTRIP_Pos              (28U)
+#define ETH_MACVTR_EIVLS_ALWAYSSTRIP_Msk              (0x3UL << ETH_MACVTR_EIVLS_ALWAYSSTRIP_Pos) /*!< 0x30000000 */
+#define ETH_MACVTR_EIVLS_ALWAYSSTRIP                  ETH_MACVTR_EIVLS_ALWAYSSTRIP_Msk /* Always strip */
+#define ETH_MACVTR_ERIVLT_Pos                         (27U)
+#define ETH_MACVTR_ERIVLT_Msk                         (0x1UL << ETH_MACVTR_ERIVLT_Pos) /*!< 0x08000000 */
+#define ETH_MACVTR_ERIVLT                             ETH_MACVTR_ERIVLT_Msk    /* Enable Inner VLAN Tag */
+#define ETH_MACVTR_EDVLP_Pos                          (26U)
+#define ETH_MACVTR_EDVLP_Msk                          (0x1UL << ETH_MACVTR_EDVLP_Pos) /*!< 0x04000000 */
+#define ETH_MACVTR_EDVLP                              ETH_MACVTR_EDVLP_Msk     /* Enable Double VLAN Processing */
+#define ETH_MACVTR_VTHM_Pos                           (25U)
+#define ETH_MACVTR_VTHM_Msk                           (0x1UL << ETH_MACVTR_VTHM_Pos) /*!< 0x02000000 */
+#define ETH_MACVTR_VTHM                               ETH_MACVTR_VTHM_Msk      /* VLAN Tag Hash Table Match Enable */
+#define ETH_MACVTR_EVLRXS_Pos                         (24U)
+#define ETH_MACVTR_EVLRXS_Msk                         (0x1UL << ETH_MACVTR_EVLRXS_Pos) /*!< 0x01000000 */
+#define ETH_MACVTR_EVLRXS                             ETH_MACVTR_EVLRXS_Msk    /* Enable VLAN Tag in Rx status */
+#define ETH_MACVTR_EVLS_Pos                           (21U)
+#define ETH_MACVTR_EVLS_Msk                           (0x3UL << ETH_MACVTR_EVLS_Pos) /*!< 0x00600000 */
+#define ETH_MACVTR_EVLS                               ETH_MACVTR_EVLS_Msk      /* Enable VLAN Tag Stripping on Receive */
+#define ETH_MACVTR_EVLS_DONOTSTRIP                    ((uint32_t)0x00000000)   /* Do not strip */
+#define ETH_MACVTR_EVLS_STRIPIFPASS_Pos               (21U)
+#define ETH_MACVTR_EVLS_STRIPIFPASS_Msk               (0x1UL << ETH_MACVTR_EVLS_STRIPIFPASS_Pos) /*!< 0x00200000 */
+#define ETH_MACVTR_EVLS_STRIPIFPASS                   ETH_MACVTR_EVLS_STRIPIFPASS_Msk /* Strip if VLAN filter passes */
+#define ETH_MACVTR_EVLS_STRIPIFFAILS_Pos              (22U)
+#define ETH_MACVTR_EVLS_STRIPIFFAILS_Msk              (0x1UL << ETH_MACVTR_EVLS_STRIPIFFAILS_Pos) /*!< 0x00400000 */
+#define ETH_MACVTR_EVLS_STRIPIFFAILS                  ETH_MACVTR_EVLS_STRIPIFFAILS_Msk /* Strip if VLAN filter fails */
+#define ETH_MACVTR_EVLS_ALWAYSSTRIP_Pos               (21U)
+#define ETH_MACVTR_EVLS_ALWAYSSTRIP_Msk               (0x3UL << ETH_MACVTR_EVLS_ALWAYSSTRIP_Pos) /*!< 0x00600000 */
+#define ETH_MACVTR_EVLS_ALWAYSSTRIP                   ETH_MACVTR_EVLS_ALWAYSSTRIP_Msk /* Always strip */
+#define ETH_MACVTR_DOVLTC_Pos                         (20U)
+#define ETH_MACVTR_DOVLTC_Msk                         (0x1UL << ETH_MACVTR_DOVLTC_Pos) /*!< 0x00100000 */
+#define ETH_MACVTR_DOVLTC                             ETH_MACVTR_DOVLTC_Msk    /* Disable VLAN Type Check */
+#define ETH_MACVTR_ERSVLM_Pos                         (19U)
+#define ETH_MACVTR_ERSVLM_Msk                         (0x1UL << ETH_MACVTR_ERSVLM_Pos) /*!< 0x00080000 */
+#define ETH_MACVTR_ERSVLM                             ETH_MACVTR_ERSVLM_Msk    /* Enable Receive S-VLAN Match */
+#define ETH_MACVTR_ESVL_Pos                           (18U)
+#define ETH_MACVTR_ESVL_Msk                           (0x1UL << ETH_MACVTR_ESVL_Pos) /*!< 0x00040000 */
+#define ETH_MACVTR_ESVL                               ETH_MACVTR_ESVL_Msk      /* Enable S-VLAN */
+#define ETH_MACVTR_VTIM_Pos                           (17U)
+#define ETH_MACVTR_VTIM_Msk                           (0x1UL << ETH_MACVTR_VTIM_Pos) /*!< 0x00020000 */
+#define ETH_MACVTR_VTIM                               ETH_MACVTR_VTIM_Msk      /* VLAN Tag Inverse Match Enable */
+#define ETH_MACVTR_ETV_Pos                            (16U)
+#define ETH_MACVTR_ETV_Msk                            (0x1UL << ETH_MACVTR_ETV_Pos) /*!< 0x00010000 */
+#define ETH_MACVTR_ETV                                ETH_MACVTR_ETV_Msk       /* Enable 12-Bit VLAN Tag Comparison */
+#define ETH_MACVTR_VL_Pos                             (0U)
+#define ETH_MACVTR_VL_Msk                             (0xFFFFUL << ETH_MACVTR_VL_Pos) /*!< 0x0000FFFF */
+#define ETH_MACVTR_VL                                 ETH_MACVTR_VL_Msk        /* VLAN Tag Identifier for Receive Packets */
+#define ETH_MACVTR_VL_UP_Pos                          (13U)
+#define ETH_MACVTR_VL_UP_Msk                          (0x7UL << ETH_MACVTR_VL_UP_Pos) /*!< 0x0000E000 */
+#define ETH_MACVTR_VL_UP                              ETH_MACVTR_VL_UP_Msk     /* User Priority */
+#define ETH_MACVTR_VL_CFIDEI_Pos                      (12U)
+#define ETH_MACVTR_VL_CFIDEI_Msk                      (0x1UL << ETH_MACVTR_VL_CFIDEI_Pos) /*!< 0x00001000 */
+#define ETH_MACVTR_VL_CFIDEI                          ETH_MACVTR_VL_CFIDEI_Msk /* Canonical Format Indicator or Drop Eligible Indicator */
+#define ETH_MACVTR_VL_VID_Pos                         (0U)
+#define ETH_MACVTR_VL_VID_Msk                         (0xFFFUL << ETH_MACVTR_VL_VID_Pos) /*!< 0x00000FFF */
+#define ETH_MACVTR_VL_VID                             ETH_MACVTR_VL_VID_Msk    /* VLAN Identifier field of VLAN tag */
+
+/* Bit definition for Ethernet MAC VLAN Hash Table Register */
+#define ETH_MACVHTR_VLHT_Pos                          (0U)
+#define ETH_MACVHTR_VLHT_Msk                          (0xFFFFUL << ETH_MACVHTR_VLHT_Pos) /*!< 0x0000FFFF */
+#define ETH_MACVHTR_VLHT                              ETH_MACVHTR_VLHT_Msk     /* VLAN Hash Table */
+
+/* Bit definition for Ethernet MAC VLAN Incl Register */
+#define ETH_MACVIR_VLTI_Pos                           (20U)
+#define ETH_MACVIR_VLTI_Msk                           (0x1UL << ETH_MACVIR_VLTI_Pos) /*!< 0x00100000 */
+#define ETH_MACVIR_VLTI                               ETH_MACVIR_VLTI_Msk      /* VLAN Tag Input */
+#define ETH_MACVIR_CSVL_Pos                           (19U)
+#define ETH_MACVIR_CSVL_Msk                           (0x1UL << ETH_MACVIR_CSVL_Pos) /*!< 0x00080000 */
+#define ETH_MACVIR_CSVL                               ETH_MACVIR_CSVL_Msk      /* C-VLAN or S-VLAN */
+#define ETH_MACVIR_VLP_Pos                            (18U)
+#define ETH_MACVIR_VLP_Msk                            (0x1UL << ETH_MACVIR_VLP_Pos) /*!< 0x00040000 */
+#define ETH_MACVIR_VLP                                ETH_MACVIR_VLP_Msk       /* VLAN Priority Control */
+#define ETH_MACVIR_VLC_Pos                            (16U)
+#define ETH_MACVIR_VLC_Msk                            (0x3UL << ETH_MACVIR_VLC_Pos) /*!< 0x00030000 */
+#define ETH_MACVIR_VLC                                ETH_MACVIR_VLC_Msk       /* VLAN Tag Control in Transmit Packets */
+#define ETH_MACVIR_VLC_NOVLANTAG                      ((uint32_t)0x00000000)   /* No VLAN tag deletion, insertion, or replacement */
+#define ETH_MACVIR_VLC_VLANTAGDELETE_Pos              (16U)
+#define ETH_MACVIR_VLC_VLANTAGDELETE_Msk              (0x1UL << ETH_MACVIR_VLC_VLANTAGDELETE_Pos) /*!< 0x00010000 */
+#define ETH_MACVIR_VLC_VLANTAGDELETE                  ETH_MACVIR_VLC_VLANTAGDELETE_Msk /* VLAN tag deletion */
+#define ETH_MACVIR_VLC_VLANTAGINSERT_Pos              (17U)
+#define ETH_MACVIR_VLC_VLANTAGINSERT_Msk              (0x1UL << ETH_MACVIR_VLC_VLANTAGINSERT_Pos) /*!< 0x00020000 */
+#define ETH_MACVIR_VLC_VLANTAGINSERT                  ETH_MACVIR_VLC_VLANTAGINSERT_Msk /* VLAN tag insertion */
+#define ETH_MACVIR_VLC_VLANTAGREPLACE_Pos             (16U)
+#define ETH_MACVIR_VLC_VLANTAGREPLACE_Msk             (0x3UL << ETH_MACVIR_VLC_VLANTAGREPLACE_Pos) /*!< 0x00030000 */
+#define ETH_MACVIR_VLC_VLANTAGREPLACE                 ETH_MACVIR_VLC_VLANTAGREPLACE_Msk /* VLAN tag replacement */
+#define ETH_MACVIR_VLT_Pos                            (0U)
+#define ETH_MACVIR_VLT_Msk                            (0xFFFFUL << ETH_MACVIR_VLT_Pos) /*!< 0x0000FFFF */
+#define ETH_MACVIR_VLT                                ETH_MACVIR_VLT_Msk       /* VLAN Tag for Transmit Packets */
+#define ETH_MACVIR_VLT_UP_Pos                         (13U)
+#define ETH_MACVIR_VLT_UP_Msk                         (0x7UL << ETH_MACVIR_VLT_UP_Pos) /*!< 0x0000E000 */
+#define ETH_MACVIR_VLT_UP                             ETH_MACVIR_VLT_UP_Msk    /* User Priority */
+#define ETH_MACVIR_VLT_CFIDEI_Pos                     (12U)
+#define ETH_MACVIR_VLT_CFIDEI_Msk                     (0x1UL << ETH_MACVIR_VLT_CFIDEI_Pos) /*!< 0x00001000 */
+#define ETH_MACVIR_VLT_CFIDEI                         ETH_MACVIR_VLT_CFIDEI_Msk /* Canonical Format Indicator or Drop Eligible Indicator */
+#define ETH_MACVIR_VLT_VID_Pos                        (0U)
+#define ETH_MACVIR_VLT_VID_Msk                        (0xFFFUL << ETH_MACVIR_VLT_VID_Pos) /*!< 0x00000FFF */
+#define ETH_MACVIR_VLT_VID                            ETH_MACVIR_VLT_VID_Msk   /* VLAN Identifier field of VLAN tag */
+
+/* Bit definition for Ethernet MAC Inner_VLAN Incl Register */
+#define ETH_MACIVIR_VLTI_Pos                          (20U)
+#define ETH_MACIVIR_VLTI_Msk                          (0x1UL << ETH_MACIVIR_VLTI_Pos) /*!< 0x00100000 */
+#define ETH_MACIVIR_VLTI                              ETH_MACIVIR_VLTI_Msk     /* VLAN Tag Input */
+#define ETH_MACIVIR_CSVL_Pos                          (19U)
+#define ETH_MACIVIR_CSVL_Msk                          (0x1UL << ETH_MACIVIR_CSVL_Pos) /*!< 0x00080000 */
+#define ETH_MACIVIR_CSVL                              ETH_MACIVIR_CSVL_Msk     /* C-VLAN or S-VLAN */
+#define ETH_MACIVIR_VLP_Pos                           (18U)
+#define ETH_MACIVIR_VLP_Msk                           (0x1UL << ETH_MACIVIR_VLP_Pos) /*!< 0x00040000 */
+#define ETH_MACIVIR_VLP                               ETH_MACIVIR_VLP_Msk      /* VLAN Priority Control */
+#define ETH_MACIVIR_VLC_Pos                           (16U)
+#define ETH_MACIVIR_VLC_Msk                           (0x3UL << ETH_MACIVIR_VLC_Pos) /*!< 0x00030000 */
+#define ETH_MACIVIR_VLC                               ETH_MACIVIR_VLC_Msk      /* VLAN Tag Control in Transmit Packets */
+#define ETH_MACIVIR_VLC_NOVLANTAG                     ((uint32_t)0x00000000)   /* No VLAN tag deletion, insertion, or replacement */
+#define ETH_MACIVIR_VLC_VLANTAGDELETE_Pos             (16U)
+#define ETH_MACIVIR_VLC_VLANTAGDELETE_Msk             (0x1UL << ETH_MACIVIR_VLC_VLANTAGDELETE_Pos) /*!< 0x00010000 */
+#define ETH_MACIVIR_VLC_VLANTAGDELETE                 ETH_MACIVIR_VLC_VLANTAGDELETE_Msk /* VLAN tag deletion */
+#define ETH_MACIVIR_VLC_VLANTAGINSERT_Pos             (17U)
+#define ETH_MACIVIR_VLC_VLANTAGINSERT_Msk             (0x1UL << ETH_MACIVIR_VLC_VLANTAGINSERT_Pos) /*!< 0x00020000 */
+#define ETH_MACIVIR_VLC_VLANTAGINSERT                 ETH_MACIVIR_VLC_VLANTAGINSERT_Msk /* VLAN tag insertion */
+#define ETH_MACIVIR_VLC_VLANTAGREPLACE_Pos            (16U)
+#define ETH_MACIVIR_VLC_VLANTAGREPLACE_Msk            (0x3UL << ETH_MACIVIR_VLC_VLANTAGREPLACE_Pos) /*!< 0x00030000 */
+#define ETH_MACIVIR_VLC_VLANTAGREPLACE                ETH_MACIVIR_VLC_VLANTAGREPLACE_Msk /* VLAN tag replacement */
+#define ETH_MACIVIR_VLT_Pos                           (0U)
+#define ETH_MACIVIR_VLT_Msk                           (0xFFFFUL << ETH_MACIVIR_VLT_Pos) /*!< 0x0000FFFF */
+#define ETH_MACIVIR_VLT                               ETH_MACIVIR_VLT_Msk      /* VLAN Tag for Transmit Packets */
+#define ETH_MACIVIR_VLT_UP_Pos                        (13U)
+#define ETH_MACIVIR_VLT_UP_Msk                        (0x7UL << ETH_MACIVIR_VLT_UP_Pos) /*!< 0x0000E000 */
+#define ETH_MACIVIR_VLT_UP                            ETH_MACIVIR_VLT_UP_Msk   /* User Priority */
+#define ETH_MACIVIR_VLT_CFIDEI_Pos                    (12U)
+#define ETH_MACIVIR_VLT_CFIDEI_Msk                    (0x1UL << ETH_MACIVIR_VLT_CFIDEI_Pos) /*!< 0x00001000 */
+#define ETH_MACIVIR_VLT_CFIDEI                        ETH_MACIVIR_VLT_CFIDEI_Msk /* Canonical Format Indicator or Drop Eligible Indicator */
+#define ETH_MACIVIR_VLT_VID_Pos                       (0U)
+#define ETH_MACIVIR_VLT_VID_Msk                       (0xFFFUL << ETH_MACIVIR_VLT_VID_Pos) /*!< 0x00000FFF */
+#define ETH_MACIVIR_VLT_VID                           ETH_MACIVIR_VLT_VID_Msk  /* VLAN Identifier field of VLAN tag */
+
+/* Bit definition for Ethernet MAC Tx Flow Ctrl Register */
+#define ETH_MACTFCR_PT_Pos                            (16U)
+#define ETH_MACTFCR_PT_Msk                            (0xFFFFUL << ETH_MACTFCR_PT_Pos) /*!< 0xFFFF0000 */
+#define ETH_MACTFCR_PT                                ETH_MACTFCR_PT_Msk       /* Pause Time */
+#define ETH_MACTFCR_DZPQ_Pos                          (7U)
+#define ETH_MACTFCR_DZPQ_Msk                          (0x1UL << ETH_MACTFCR_DZPQ_Pos) /*!< 0x00000080 */
+#define ETH_MACTFCR_DZPQ                              ETH_MACTFCR_DZPQ_Msk     /* Disable Zero-Quanta Pause */
+#define ETH_MACTFCR_PLT_Pos                           (4U)
+#define ETH_MACTFCR_PLT_Msk                           (0x7UL << ETH_MACTFCR_PLT_Pos) /*!< 0x00000070 */
+#define ETH_MACTFCR_PLT                               ETH_MACTFCR_PLT_Msk      /* Pause Low Threshold */
+#define ETH_MACTFCR_PLT_MINUS4                        ((uint32_t)0x00000000)   /* Pause time minus 4 slot times */
+#define ETH_MACTFCR_PLT_MINUS28_Pos                   (4U)
+#define ETH_MACTFCR_PLT_MINUS28_Msk                   (0x1UL << ETH_MACTFCR_PLT_MINUS28_Pos) /*!< 0x00000010 */
+#define ETH_MACTFCR_PLT_MINUS28                       ETH_MACTFCR_PLT_MINUS28_Msk /* Pause time minus 28 slot times */
+#define ETH_MACTFCR_PLT_MINUS36_Pos                   (5U)
+#define ETH_MACTFCR_PLT_MINUS36_Msk                   (0x1UL << ETH_MACTFCR_PLT_MINUS36_Pos) /*!< 0x00000020 */
+#define ETH_MACTFCR_PLT_MINUS36                       ETH_MACTFCR_PLT_MINUS36_Msk /* Pause time minus 36 slot times */
+#define ETH_MACTFCR_PLT_MINUS144_Pos                  (4U)
+#define ETH_MACTFCR_PLT_MINUS144_Msk                  (0x3UL << ETH_MACTFCR_PLT_MINUS144_Pos) /*!< 0x00000030 */
+#define ETH_MACTFCR_PLT_MINUS144                      ETH_MACTFCR_PLT_MINUS144_Msk /* Pause time minus 144 slot times */
+#define ETH_MACTFCR_PLT_MINUS256_Pos                  (6U)
+#define ETH_MACTFCR_PLT_MINUS256_Msk                  (0x1UL << ETH_MACTFCR_PLT_MINUS256_Pos) /*!< 0x00000040 */
+#define ETH_MACTFCR_PLT_MINUS256                      ETH_MACTFCR_PLT_MINUS256_Msk /* Pause time minus 256 slot times */
+#define ETH_MACTFCR_PLT_MINUS512_Pos                  (4U)
+#define ETH_MACTFCR_PLT_MINUS512_Msk                  (0x5UL << ETH_MACTFCR_PLT_MINUS512_Pos) /*!< 0x00000050 */
+#define ETH_MACTFCR_PLT_MINUS512                      ETH_MACTFCR_PLT_MINUS512_Msk /* Pause time minus 512 slot times */
+#define ETH_MACTFCR_TFE_Pos                           (1U)
+#define ETH_MACTFCR_TFE_Msk                           (0x1UL << ETH_MACTFCR_TFE_Pos) /*!< 0x00000002 */
+#define ETH_MACTFCR_TFE                               ETH_MACTFCR_TFE_Msk      /* Transmit Flow Control Enable */
+#define ETH_MACTFCR_FCB_Pos                           (0U)
+#define ETH_MACTFCR_FCB_Msk                           (0x1UL << ETH_MACTFCR_FCB_Pos) /*!< 0x00000001 */
+#define ETH_MACTFCR_FCB                               ETH_MACTFCR_FCB_Msk      /* Flow Control Busy or Backpressure Activate */
+
+/* Bit definition for Ethernet MAC Rx Flow Ctrl Register */
+#define ETH_MACRFCR_UP_Pos                            (1U)
+#define ETH_MACRFCR_UP_Msk                            (0x1UL << ETH_MACRFCR_UP_Pos) /*!< 0x00000002 */
+#define ETH_MACRFCR_UP                                ETH_MACRFCR_UP_Msk       /* Unicast Pause Packet Detect */
+#define ETH_MACRFCR_RFE_Pos                           (0U)
+#define ETH_MACRFCR_RFE_Msk                           (0x1UL << ETH_MACRFCR_RFE_Pos) /*!< 0x00000001 */
+#define ETH_MACRFCR_RFE                               ETH_MACRFCR_RFE_Msk      /* Receive Flow Control Enable */
+
+/* Bit definition for Ethernet MAC Interrupt Status Register */
+#define ETH_MACISR_RXSTSIS_Pos                        (14U)
+#define ETH_MACISR_RXSTSIS_Msk                        (0x1UL << ETH_MACISR_RXSTSIS_Pos) /*!< 0x00004000 */
+#define ETH_MACISR_RXSTSIS                            ETH_MACISR_RXSTSIS_Msk   /* Receive Status Interrupt */
+#define ETH_MACISR_TXSTSIS_Pos                        (13U)
+#define ETH_MACISR_TXSTSIS_Msk                        (0x1UL << ETH_MACISR_TXSTSIS_Pos) /*!< 0x00002000 */
+#define ETH_MACISR_TXSTSIS                            ETH_MACISR_TXSTSIS_Msk   /* Transmit Status Interrupt */
+#define ETH_MACISR_TSIS_Pos                           (12U)
+#define ETH_MACISR_TSIS_Msk                           (0x1UL << ETH_MACISR_TSIS_Pos) /*!< 0x00001000 */
+#define ETH_MACISR_TSIS                               ETH_MACISR_TSIS_Msk      /* Timestamp Interrupt Status */
+#define ETH_MACISR_MMCTXIS_Pos                        (10U)
+#define ETH_MACISR_MMCTXIS_Msk                        (0x1UL << ETH_MACISR_MMCTXIS_Pos) /*!< 0x00000400 */
+#define ETH_MACISR_MMCTXIS                            ETH_MACISR_MMCTXIS_Msk   /* MMC Transmit Interrupt Status */
+#define ETH_MACISR_MMCRXIS_Pos                        (9U)
+#define ETH_MACISR_MMCRXIS_Msk                        (0x1UL << ETH_MACISR_MMCRXIS_Pos) /*!< 0x00000200 */
+#define ETH_MACISR_MMCRXIS                            ETH_MACISR_MMCRXIS_Msk   /* MMC Receive Interrupt Status */
+#define ETH_MACISR_MMCIS_Pos                          (8U)
+#define ETH_MACISR_MMCIS_Msk                          (0x1UL << ETH_MACISR_MMCIS_Pos) /*!< 0x00000100 */
+#define ETH_MACISR_MMCIS                              ETH_MACISR_MMCIS_Msk     /* MMC Interrupt Status */
+#define ETH_MACISR_LPIIS_Pos                          (5U)
+#define ETH_MACISR_LPIIS_Msk                          (0x1UL << ETH_MACISR_LPIIS_Pos) /*!< 0x00000020 */
+#define ETH_MACISR_LPIIS                              ETH_MACISR_LPIIS_Msk     /* LPI Interrupt Status */
+#define ETH_MACISR_PMTIS_Pos                          (4U)
+#define ETH_MACISR_PMTIS_Msk                          (0x1UL << ETH_MACISR_PMTIS_Pos) /*!< 0x00000010 */
+#define ETH_MACISR_PMTIS                              ETH_MACISR_PMTIS_Msk     /* PMT Interrupt Status */
+#define ETH_MACISR_PHYIS_Pos                          (3U)
+#define ETH_MACISR_PHYIS_Msk                          (0x1UL << ETH_MACISR_PHYIS_Pos) /*!< 0x00000008 */
+#define ETH_MACISR_PHYIS                              ETH_MACISR_PHYIS_Msk     /* PHY Interrupt */
+
+/* Bit definition for Ethernet MAC Interrupt Enable Register */
+#define ETH_MACIER_RXSTSIE_Pos                        (14U)
+#define ETH_MACIER_RXSTSIE_Msk                        (0x1UL << ETH_MACIER_RXSTSIE_Pos) /*!< 0x00004000 */
+#define ETH_MACIER_RXSTSIE                            ETH_MACIER_RXSTSIE_Msk   /* Receive Status Interrupt Enable */
+#define ETH_MACIER_TXSTSIE_Pos                        (13U)
+#define ETH_MACIER_TXSTSIE_Msk                        (0x1UL << ETH_MACIER_TXSTSIE_Pos) /*!< 0x00002000 */
+#define ETH_MACIER_TXSTSIE                            ETH_MACIER_TXSTSIE_Msk   /* Transmit Status Interrupt Enable */
+#define ETH_MACIER_TSIE_Pos                           (12U)
+#define ETH_MACIER_TSIE_Msk                           (0x1UL << ETH_MACIER_TSIE_Pos) /*!< 0x00001000 */
+#define ETH_MACIER_TSIE                               ETH_MACIER_TSIE_Msk      /* Timestamp Interrupt Enable */
+#define ETH_MACIER_LPIIE_Pos                          (5U)
+#define ETH_MACIER_LPIIE_Msk                          (0x1UL << ETH_MACIER_LPIIE_Pos) /*!< 0x00000020 */
+#define ETH_MACIER_LPIIE                              ETH_MACIER_LPIIE_Msk     /* LPI Interrupt Enable */
+#define ETH_MACIER_PMTIE_Pos                          (4U)
+#define ETH_MACIER_PMTIE_Msk                          (0x1UL << ETH_MACIER_PMTIE_Pos) /*!< 0x00000010 */
+#define ETH_MACIER_PMTIE                              ETH_MACIER_PMTIE_Msk     /* PMT Interrupt Enable */
+#define ETH_MACIER_PHYIE_Pos                          (3U)
+#define ETH_MACIER_PHYIE_Msk                          (0x1UL << ETH_MACIER_PHYIE_Pos) /*!< 0x00000008 */
+#define ETH_MACIER_PHYIE                              ETH_MACIER_PHYIE_Msk     /* PHY Interrupt Enable */
+
+/* Bit definition for Ethernet MAC Rx Tx Status Register */
+#define ETH_MACRXTXSR_RWT_Pos                         (8U)
+#define ETH_MACRXTXSR_RWT_Msk                         (0x1UL << ETH_MACRXTXSR_RWT_Pos) /*!< 0x00000100 */
+#define ETH_MACRXTXSR_RWT                             ETH_MACRXTXSR_RWT_Msk    /* Receive Watchdog Timeout */
+#define ETH_MACRXTXSR_EXCOL_Pos                       (5U)
+#define ETH_MACRXTXSR_EXCOL_Msk                       (0x1UL << ETH_MACRXTXSR_EXCOL_Pos) /*!< 0x00000020 */
+#define ETH_MACRXTXSR_EXCOL                           ETH_MACRXTXSR_EXCOL_Msk  /* Excessive Collisions */
+#define ETH_MACRXTXSR_LCOL_Pos                        (4U)
+#define ETH_MACRXTXSR_LCOL_Msk                        (0x1UL << ETH_MACRXTXSR_LCOL_Pos) /*!< 0x00000010 */
+#define ETH_MACRXTXSR_LCOL                            ETH_MACRXTXSR_LCOL_Msk   /* Late Collision */
+#define ETH_MACRXTXSR_EXDEF_Pos                       (3U)
+#define ETH_MACRXTXSR_EXDEF_Msk                       (0x1UL << ETH_MACRXTXSR_EXDEF_Pos) /*!< 0x00000008 */
+#define ETH_MACRXTXSR_EXDEF                           ETH_MACRXTXSR_EXDEF_Msk  /* Excessive Deferral */
+#define ETH_MACRXTXSR_LCARR_Pos                       (2U)
+#define ETH_MACRXTXSR_LCARR_Msk                       (0x1UL << ETH_MACRXTXSR_LCARR_Pos) /*!< 0x00000004 */
+#define ETH_MACRXTXSR_LCARR                           ETH_MACRXTXSR_LCARR_Msk  /* Loss of Carrier */
+#define ETH_MACRXTXSR_NCARR_Pos                       (1U)
+#define ETH_MACRXTXSR_NCARR_Msk                       (0x1UL << ETH_MACRXTXSR_NCARR_Pos) /*!< 0x00000002 */
+#define ETH_MACRXTXSR_NCARR                           ETH_MACRXTXSR_NCARR_Msk  /* No Carrier */
+#define ETH_MACRXTXSR_TJT_Pos                         (0U)
+#define ETH_MACRXTXSR_TJT_Msk                         (0x1UL << ETH_MACRXTXSR_TJT_Pos) /*!< 0x00000001 */
+#define ETH_MACRXTXSR_TJT                             ETH_MACRXTXSR_TJT_Msk    /* Transmit Jabber Timeout */
+
+/* Bit definition for Ethernet MAC PMT Control Status Register */
+#define ETH_MACPCSR_RWKFILTRST_Pos                    (31U)
+#define ETH_MACPCSR_RWKFILTRST_Msk                    (0x1UL << ETH_MACPCSR_RWKFILTRST_Pos) /*!< 0x80000000 */
+#define ETH_MACPCSR_RWKFILTRST                        ETH_MACPCSR_RWKFILTRST_Msk /* Remote Wake-Up Packet Filter Register Pointer Reset */
+#define ETH_MACPCSR_RWKPTR_Pos                        (24U)
+#define ETH_MACPCSR_RWKPTR_Msk                        (0x1FUL << ETH_MACPCSR_RWKPTR_Pos) /*!< 0x1F000000 */
+#define ETH_MACPCSR_RWKPTR                            ETH_MACPCSR_RWKPTR_Msk   /* Remote Wake-up FIFO Pointer */
+#define ETH_MACPCSR_RWKPFE_Pos                        (10U)
+#define ETH_MACPCSR_RWKPFE_Msk                        (0x1UL << ETH_MACPCSR_RWKPFE_Pos) /*!< 0x00000400 */
+#define ETH_MACPCSR_RWKPFE                            ETH_MACPCSR_RWKPFE_Msk   /* Remote Wake-up Packet Forwarding Enable */
+#define ETH_MACPCSR_GLBLUCAST_Pos                     (9U)
+#define ETH_MACPCSR_GLBLUCAST_Msk                     (0x1UL << ETH_MACPCSR_GLBLUCAST_Pos) /*!< 0x00000200 */
+#define ETH_MACPCSR_GLBLUCAST                         ETH_MACPCSR_GLBLUCAST_Msk /* Global Unicast */
+#define ETH_MACPCSR_RWKPRCVD_Pos                      (6U)
+#define ETH_MACPCSR_RWKPRCVD_Msk                      (0x1UL << ETH_MACPCSR_RWKPRCVD_Pos) /*!< 0x00000040 */
+#define ETH_MACPCSR_RWKPRCVD                          ETH_MACPCSR_RWKPRCVD_Msk /* Remote Wake-Up Packet Received */
+#define ETH_MACPCSR_MGKPRCVD_Pos                      (5U)
+#define ETH_MACPCSR_MGKPRCVD_Msk                      (0x1UL << ETH_MACPCSR_MGKPRCVD_Pos) /*!< 0x00000020 */
+#define ETH_MACPCSR_MGKPRCVD                          ETH_MACPCSR_MGKPRCVD_Msk /* Magic Packet Received */
+#define ETH_MACPCSR_RWKPKTEN_Pos                      (2U)
+#define ETH_MACPCSR_RWKPKTEN_Msk                      (0x1UL << ETH_MACPCSR_RWKPKTEN_Pos) /*!< 0x00000004 */
+#define ETH_MACPCSR_RWKPKTEN                          ETH_MACPCSR_RWKPKTEN_Msk /* Remote Wake-Up Packet Enable */
+#define ETH_MACPCSR_MGKPKTEN_Pos                      (1U)
+#define ETH_MACPCSR_MGKPKTEN_Msk                      (0x1UL << ETH_MACPCSR_MGKPKTEN_Pos) /*!< 0x00000002 */
+#define ETH_MACPCSR_MGKPKTEN                          ETH_MACPCSR_MGKPKTEN_Msk /* Magic Packet Enable */
+#define ETH_MACPCSR_PWRDWN_Pos                        (0U)
+#define ETH_MACPCSR_PWRDWN_Msk                        (0x1UL << ETH_MACPCSR_PWRDWN_Pos) /*!< 0x00000001 */
+#define ETH_MACPCSR_PWRDWN                            ETH_MACPCSR_PWRDWN_Msk   /* Power Down */
+
+/* Bit definition for Ethernet MAC Remote Wake-Up Packet Filter Register */
+#define ETH_MACRWUPFR_D_Pos                           (0U)
+#define ETH_MACRWUPFR_D_Msk                           (0xFFFFFFFFUL << ETH_MACRWUPFR_D_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACRWUPFR_D                               ETH_MACRWUPFR_D_Msk      /* Wake-up Packet filter register data */
+
+/* Bit definition for Ethernet MAC LPI Control Status Register */
+#define ETH_MACLCSR_LPITCSE_Pos                       (21U)
+#define ETH_MACLCSR_LPITCSE_Msk                       (0x1UL << ETH_MACLCSR_LPITCSE_Pos) /*!< 0x00200000 */
+#define ETH_MACLCSR_LPITCSE                           ETH_MACLCSR_LPITCSE_Msk  /* LPI Tx Clock Stop Enable */
+#define ETH_MACLCSR_LPITE_Pos                         (20U)
+#define ETH_MACLCSR_LPITE_Msk                         (0x1UL << ETH_MACLCSR_LPITE_Pos) /*!< 0x00100000 */
+#define ETH_MACLCSR_LPITE                             ETH_MACLCSR_LPITE_Msk    /* LPI Timer Enable */
+#define ETH_MACLCSR_LPITXA_Pos                        (19U)
+#define ETH_MACLCSR_LPITXA_Msk                        (0x1UL << ETH_MACLCSR_LPITXA_Pos) /*!< 0x00080000 */
+#define ETH_MACLCSR_LPITXA                            ETH_MACLCSR_LPITXA_Msk   /* LPI Tx Automate */
+#define ETH_MACLCSR_PLS_Pos                           (17U)
+#define ETH_MACLCSR_PLS_Msk                           (0x1UL << ETH_MACLCSR_PLS_Pos) /*!< 0x00020000 */
+#define ETH_MACLCSR_PLS                               ETH_MACLCSR_PLS_Msk      /* PHY Link Status */
+#define ETH_MACLCSR_LPIEN_Pos                         (16U)
+#define ETH_MACLCSR_LPIEN_Msk                         (0x1UL << ETH_MACLCSR_LPIEN_Pos) /*!< 0x00010000 */
+#define ETH_MACLCSR_LPIEN                             ETH_MACLCSR_LPIEN_Msk    /* LPI Enable */
+#define ETH_MACLCSR_RLPIST_Pos                        (9U)
+#define ETH_MACLCSR_RLPIST_Msk                        (0x1UL << ETH_MACLCSR_RLPIST_Pos) /*!< 0x00000200 */
+#define ETH_MACLCSR_RLPIST                            ETH_MACLCSR_RLPIST_Msk   /* Receive LPI State */
+#define ETH_MACLCSR_TLPIST_Pos                        (8U)
+#define ETH_MACLCSR_TLPIST_Msk                        (0x1UL << ETH_MACLCSR_TLPIST_Pos) /*!< 0x00000100 */
+#define ETH_MACLCSR_TLPIST                            ETH_MACLCSR_TLPIST_Msk   /* Transmit LPI State */
+#define ETH_MACLCSR_RLPIEX_Pos                        (3U)
+#define ETH_MACLCSR_RLPIEX_Msk                        (0x1UL << ETH_MACLCSR_RLPIEX_Pos) /*!< 0x00000008 */
+#define ETH_MACLCSR_RLPIEX                            ETH_MACLCSR_RLPIEX_Msk   /* Receive LPI Exit */
+#define ETH_MACLCSR_RLPIEN_Pos                        (2U)
+#define ETH_MACLCSR_RLPIEN_Msk                        (0x1UL << ETH_MACLCSR_RLPIEN_Pos) /*!< 0x00000004 */
+#define ETH_MACLCSR_RLPIEN                            ETH_MACLCSR_RLPIEN_Msk   /* Receive LPI Entry */
+#define ETH_MACLCSR_TLPIEX_Pos                        (1U)
+#define ETH_MACLCSR_TLPIEX_Msk                        (0x1UL << ETH_MACLCSR_TLPIEX_Pos) /*!< 0x00000002 */
+#define ETH_MACLCSR_TLPIEX                            ETH_MACLCSR_TLPIEX_Msk   /* Transmit LPI Exit */
+#define ETH_MACLCSR_TLPIEN_Pos                        (0U)
+#define ETH_MACLCSR_TLPIEN_Msk                        (0x1UL << ETH_MACLCSR_TLPIEN_Pos) /*!< 0x00000001 */
+#define ETH_MACLCSR_TLPIEN                            ETH_MACLCSR_TLPIEN_Msk   /* Transmit LPI Entry */
+
+/* Bit definition for Ethernet MAC LPI Timers Control Register */
+#define ETH_MACLTCR_LST_Pos                           (16U)
+#define ETH_MACLTCR_LST_Msk                           (0x3FFUL << ETH_MACLTCR_LST_Pos) /*!< 0x03FF0000 */
+#define ETH_MACLTCR_LST                               ETH_MACLTCR_LST_Msk      /* LPI LS TIMER */
+#define ETH_MACLTCR_TWT_Pos                           (0U)
+#define ETH_MACLTCR_TWT_Msk                           (0xFFFFUL << ETH_MACLTCR_TWT_Pos) /*!< 0x0000FFFF */
+#define ETH_MACLTCR_TWT                               ETH_MACLTCR_TWT_Msk      /* LPI TW TIMER */
+
+/* Bit definition for Ethernet MAC LPI Entry Timer Register */
+#define ETH_MACLETR_LPIET_Pos                         (0U)
+#define ETH_MACLETR_LPIET_Msk                         (0xFFFFFUL << ETH_MACLETR_LPIET_Pos) /*!< 0x000FFFFF */
+#define ETH_MACLETR_LPIET                             ETH_MACLETR_LPIET_Msk    /* LPI Entry Timer */
+
+/* Bit definition for Ethernet MAC 1US Tic Counter Register */
+#define ETH_MAC1USTCR_TIC1USCNTR_Pos                  (0U)
+#define ETH_MAC1USTCR_TIC1USCNTR_Msk                  (0xFFFUL << ETH_MAC1USTCR_TIC1USCNTR_Pos) /*!< 0x00000FFF */
+#define ETH_MAC1USTCR_TIC1USCNTR                      ETH_MAC1USTCR_TIC1USCNTR_Msk /* 1US TIC Counter */
+
+/* Bit definition for Ethernet MAC Version Register */
+#define ETH_MACVR_USERVER_Pos                         (8U)
+#define ETH_MACVR_USERVER_Msk                         (0xFFUL << ETH_MACVR_USERVER_Pos) /*!< 0x0000FF00 */
+#define ETH_MACVR_USERVER                             ETH_MACVR_USERVER_Msk    /* User-defined Version */
+#define ETH_MACVR_SNPSVER_Pos                         (0U)
+#define ETH_MACVR_SNPSVER_Msk                         (0xFFUL << ETH_MACVR_SNPSVER_Pos) /*!< 0x000000FF */
+#define ETH_MACVR_SNPSVER                             ETH_MACVR_SNPSVER_Msk    /* Synopsys-defined Version */
+
+/* Bit definition for Ethernet MAC Debug Register */
+#define ETH_MACDR_TFCSTS_Pos                          (17U)
+#define ETH_MACDR_TFCSTS_Msk                          (0x3UL << ETH_MACDR_TFCSTS_Pos) /*!< 0x00060000 */
+#define ETH_MACDR_TFCSTS                              ETH_MACDR_TFCSTS_Msk     /* MAC Transmit Packet Controller Status */
+#define ETH_MACDR_TFCSTS_IDLE                         ((uint32_t)0x00000000)   /* Idle state */
+#define ETH_MACDR_TFCSTS_WAIT_Pos                     (17U)
+#define ETH_MACDR_TFCSTS_WAIT_Msk                     (0x1UL << ETH_MACDR_TFCSTS_WAIT_Pos) /*!< 0x00020000 */
+#define ETH_MACDR_TFCSTS_WAIT                         ETH_MACDR_TFCSTS_WAIT_Msk /* Waiting for status of the previous packet, IPG or backoff period to be over */
+#define ETH_MACDR_TFCSTS_GENERATEPCP_Pos              (18U)
+#define ETH_MACDR_TFCSTS_GENERATEPCP_Msk              (0x1UL << ETH_MACDR_TFCSTS_GENERATEPCP_Pos) /*!< 0x00040000 */
+#define ETH_MACDR_TFCSTS_GENERATEPCP                  ETH_MACDR_TFCSTS_GENERATEPCP_Msk /* Generating and transmitting a Pause control packet */
+#define ETH_MACDR_TFCSTS_TRASFERIP_Pos                (17U)
+#define ETH_MACDR_TFCSTS_TRASFERIP_Msk                (0x3UL << ETH_MACDR_TFCSTS_TRASFERIP_Pos) /*!< 0x00060000 */
+#define ETH_MACDR_TFCSTS_TRASFERIP                    ETH_MACDR_TFCSTS_TRASFERIP_Msk /* Transferring input packet for transmission */
+#define ETH_MACDR_TPESTS_Pos                          (16U)
+#define ETH_MACDR_TPESTS_Msk                          (0x1UL << ETH_MACDR_TPESTS_Pos) /*!< 0x00010000 */
+#define ETH_MACDR_TPESTS                              ETH_MACDR_TPESTS_Msk     /* MAC Receive Packet Controller FIFO Status */
+#define ETH_MACDR_RFCFCSTS_Pos                        (1U)
+#define ETH_MACDR_RFCFCSTS_Msk                        (0x3UL << ETH_MACDR_RFCFCSTS_Pos) /*!< 0x00000006 */
+#define ETH_MACDR_RFCFCSTS                            ETH_MACDR_RFCFCSTS_Msk   /* MAC MII Transmit Protocol Engine Status */
+#define ETH_MACDR_RPESTS_Pos                          (0U)
+#define ETH_MACDR_RPESTS_Msk                          (0x1UL << ETH_MACDR_RPESTS_Pos) /*!< 0x00000001 */
+#define ETH_MACDR_RPESTS                              ETH_MACDR_RPESTS_Msk     /* MAC MII Receive Protocol Engine Status */
+
+/* Bit definition for Ethernet MAC HW Feature0 Register */
+#define ETH_MACHWF0R_ACTPHYSEL_Pos                    (28U)
+#define ETH_MACHWF0R_ACTPHYSEL_Msk                    (0x7UL << ETH_MACHWF0R_ACTPHYSEL_Pos) /*!< 0x70000000 */
+#define ETH_MACHWF0R_ACTPHYSEL                        ETH_MACHWF0R_ACTPHYSEL_Msk /* Active PHY Selected */
+#define ETH_MACHWF0R_ACTPHYSEL_MII                    ((uint32_t)0x00000000)   /* MII */
+#define ETH_MACHWF0R_ACTPHYSEL_RMII_Pos               (30U)
+#define ETH_MACHWF0R_ACTPHYSEL_RMII_Msk               (0x1UL << ETH_MACHWF0R_ACTPHYSEL_RMII_Pos) /*!< 0x40000000 */
+#define ETH_MACHWF0R_ACTPHYSEL_RMII                   ETH_MACHWF0R_ACTPHYSEL_RMII_Msk /* RMII */
+#define ETH_MACHWF0R_ACTPHYSEL_REVMII_Pos             (28U)
+#define ETH_MACHWF0R_ACTPHYSEL_REVMII_Msk             (0x7UL << ETH_MACHWF0R_ACTPHYSEL_REVMII_Pos) /*!< 0x70000000 */
+#define ETH_MACHWF0R_ACTPHYSEL_REVMII                 ETH_MACHWF0R_ACTPHYSEL_REVMII_Msk /* RevMII */
+#define ETH_MACHWF0R_SAVLANINS_Pos                    (27U)
+#define ETH_MACHWF0R_SAVLANINS_Msk                    (0x1UL << ETH_MACHWF0R_SAVLANINS_Pos) /*!< 0x08000000 */
+#define ETH_MACHWF0R_SAVLANINS                        ETH_MACHWF0R_SAVLANINS_Msk /* Source Address or VLAN Insertion Enable */
+#define ETH_MACHWF0R_TSSTSSEL_Pos                     (25U)
+#define ETH_MACHWF0R_TSSTSSEL_Msk                     (0x3UL << ETH_MACHWF0R_TSSTSSEL_Pos) /*!< 0x06000000 */
+#define ETH_MACHWF0R_TSSTSSEL                         ETH_MACHWF0R_TSSTSSEL_Msk /* Timestamp System Time Source */
+#define ETH_MACHWF0R_TSSTSSEL_INTERNAL_Pos            (25U)
+#define ETH_MACHWF0R_TSSTSSEL_INTERNAL_Msk            (0x1UL << ETH_MACHWF0R_TSSTSSEL_INTERNAL_Pos) /*!< 0x02000000 */
+#define ETH_MACHWF0R_TSSTSSEL_INTERNAL                ETH_MACHWF0R_TSSTSSEL_INTERNAL_Msk /* Timestamp System Time Source: Internal */
+#define ETH_MACHWF0R_TSSTSSEL_EXTERNAL_Pos            (26U)
+#define ETH_MACHWF0R_TSSTSSEL_EXTERNAL_Msk            (0x1UL << ETH_MACHWF0R_TSSTSSEL_EXTERNAL_Pos) /*!< 0x04000000 */
+#define ETH_MACHWF0R_TSSTSSEL_EXTERNAL                ETH_MACHWF0R_TSSTSSEL_EXTERNAL_Msk /* Timestamp System Time Source: External */
+#define ETH_MACHWF0R_TSSTSSEL_BOTH_Pos                (25U)
+#define ETH_MACHWF0R_TSSTSSEL_BOTH_Msk                (0x3UL << ETH_MACHWF0R_TSSTSSEL_BOTH_Pos) /*!< 0x06000000 */
+#define ETH_MACHWF0R_TSSTSSEL_BOTH                    ETH_MACHWF0R_TSSTSSEL_BOTH_Msk /* Timestamp System Time Source: Internal & External */
+#define ETH_MACHWF0R_MACADR64SEL_Pos                  (24U)
+#define ETH_MACHWF0R_MACADR64SEL_Msk                  (0x1UL << ETH_MACHWF0R_MACADR64SEL_Pos) /*!< 0x01000000 */
+#define ETH_MACHWF0R_MACADR64SEL                      ETH_MACHWF0R_MACADR64SEL_Msk /* MAC Addresses 64-127 Selected */
+#define ETH_MACHWF0R_MACADR32SEL_Pos                  (23U)
+#define ETH_MACHWF0R_MACADR32SEL_Msk                  (0x1UL << ETH_MACHWF0R_MACADR32SEL_Pos) /*!< 0x00800000 */
+#define ETH_MACHWF0R_MACADR32SEL                      ETH_MACHWF0R_MACADR32SEL_Msk /* MAC Addresses 32-63 Selected */
+#define ETH_MACHWF0R_ADDMACADRSEL_Pos                 (18U)
+#define ETH_MACHWF0R_ADDMACADRSEL_Msk                 (0x1FUL << ETH_MACHWF0R_ADDMACADRSEL_Pos) /*!< 0x007C0000 */
+#define ETH_MACHWF0R_ADDMACADRSEL                     ETH_MACHWF0R_ADDMACADRSEL_Msk /* MAC Addresses 1- 31 Selected */
+#define ETH_MACHWF0R_RXCOESEL_Pos                     (16U)
+#define ETH_MACHWF0R_RXCOESEL_Msk                     (0x1UL << ETH_MACHWF0R_RXCOESEL_Pos) /*!< 0x00010000 */
+#define ETH_MACHWF0R_RXCOESEL                         ETH_MACHWF0R_RXCOESEL_Msk /* Receive Checksum Offload Enabled */
+#define ETH_MACHWF0R_TXCOESEL_Pos                     (14U)
+#define ETH_MACHWF0R_TXCOESEL_Msk                     (0x1UL << ETH_MACHWF0R_TXCOESEL_Pos) /*!< 0x00004000 */
+#define ETH_MACHWF0R_TXCOESEL                         ETH_MACHWF0R_TXCOESEL_Msk /* Transmit Checksum Offload Enabled */
+#define ETH_MACHWF0R_EEESEL_Pos                       (13U)
+#define ETH_MACHWF0R_EEESEL_Msk                       (0x1UL << ETH_MACHWF0R_EEESEL_Pos) /*!< 0x00002000 */
+#define ETH_MACHWF0R_EEESEL                           ETH_MACHWF0R_EEESEL_Msk  /* Energy Efficient Ethernet Enabled */
+#define ETH_MACHWF0R_TSSEL_Pos                        (12U)
+#define ETH_MACHWF0R_TSSEL_Msk                        (0x1UL << ETH_MACHWF0R_TSSEL_Pos) /*!< 0x00001000 */
+#define ETH_MACHWF0R_TSSEL                            ETH_MACHWF0R_TSSEL_Msk   /* IEEE 1588-2008 Timestamp Enabled */
+#define ETH_MACHWF0R_ARPOFFSEL_Pos                    (9U)
+#define ETH_MACHWF0R_ARPOFFSEL_Msk                    (0x1UL << ETH_MACHWF0R_ARPOFFSEL_Pos) /*!< 0x00000200 */
+#define ETH_MACHWF0R_ARPOFFSEL                        ETH_MACHWF0R_ARPOFFSEL_Msk /* ARP Offload Enabled */
+#define ETH_MACHWF0R_MMCSEL_Pos                       (8U)
+#define ETH_MACHWF0R_MMCSEL_Msk                       (0x1UL << ETH_MACHWF0R_MMCSEL_Pos) /*!< 0x00000100 */
+#define ETH_MACHWF0R_MMCSEL                           ETH_MACHWF0R_MMCSEL_Msk  /* RMON Module Enable */
+#define ETH_MACHWF0R_MGKSEL_Pos                       (7U)
+#define ETH_MACHWF0R_MGKSEL_Msk                       (0x1UL << ETH_MACHWF0R_MGKSEL_Pos) /*!< 0x00000080 */
+#define ETH_MACHWF0R_MGKSEL                           ETH_MACHWF0R_MGKSEL_Msk  /* PMT Magic Packet Enable */
+#define ETH_MACHWF0R_RWKSEL_Pos                       (6U)
+#define ETH_MACHWF0R_RWKSEL_Msk                       (0x1UL << ETH_MACHWF0R_RWKSEL_Pos) /*!< 0x00000040 */
+#define ETH_MACHWF0R_RWKSEL                           ETH_MACHWF0R_RWKSEL_Msk  /* PMT Remote Wake-up Packet Enable */
+#define ETH_MACHWF0R_SMASEL_Pos                       (5U)
+#define ETH_MACHWF0R_SMASEL_Msk                       (0x1UL << ETH_MACHWF0R_SMASEL_Pos) /*!< 0x00000020 */
+#define ETH_MACHWF0R_SMASEL                           ETH_MACHWF0R_SMASEL_Msk  /* SMA (MDIO) Interface */
+#define ETH_MACHWF0R_VLHASH_Pos                       (4U)
+#define ETH_MACHWF0R_VLHASH_Msk                       (0x1UL << ETH_MACHWF0R_VLHASH_Pos) /*!< 0x00000010 */
+#define ETH_MACHWF0R_VLHASH                           ETH_MACHWF0R_VLHASH_Msk  /* VLAN Hash Filter Selected */
+#define ETH_MACHWF0R_PCSSEL_Pos                       (3U)
+#define ETH_MACHWF0R_PCSSEL_Msk                       (0x1UL << ETH_MACHWF0R_PCSSEL_Pos) /*!< 0x00000008 */
+#define ETH_MACHWF0R_PCSSEL                           ETH_MACHWF0R_PCSSEL_Msk  /* PCS Registers (TBI, SGMII, or RTBI PHY interface) */
+#define ETH_MACHWF0R_HDSEL_Pos                        (2U)
+#define ETH_MACHWF0R_HDSEL_Msk                        (0x1UL << ETH_MACHWF0R_HDSEL_Pos) /*!< 0x00000004 */
+#define ETH_MACHWF0R_HDSEL                            ETH_MACHWF0R_HDSEL_Msk   /* Half-duplex Support */
+#define ETH_MACHWF0R_GMIISEL_Pos                      (1U)
+#define ETH_MACHWF0R_GMIISEL_Msk                      (0x1UL << ETH_MACHWF0R_GMIISEL_Pos) /*!< 0x00000002 */
+#define ETH_MACHWF0R_GMIISEL                          ETH_MACHWF0R_GMIISEL_Msk /* 1000 Mbps Support */
+#define ETH_MACHWF0R_MIISEL_Pos                       (0U)
+#define ETH_MACHWF0R_MIISEL_Msk                       (0x1UL << ETH_MACHWF0R_MIISEL_Pos) /*!< 0x00000001 */
+#define ETH_MACHWF0R_MIISEL                           ETH_MACHWF0R_MIISEL_Msk  /* 10 or 100 Mbps Support */
+
+/* Bit definition for Ethernet MAC HW Feature1 Register */
+#define ETH_MACHWF1R_L3L4FNUM_Pos                     (27U)
+#define ETH_MACHWF1R_L3L4FNUM_Msk                     (0xFUL << ETH_MACHWF1R_L3L4FNUM_Pos) /*!< 0x78000000 */
+#define ETH_MACHWF1R_L3L4FNUM                         ETH_MACHWF1R_L3L4FNUM_Msk /* Total number of L3 or L4 Filters */
+#define ETH_MACHWF1R_HASHTBLSZ_Pos                    (24U)
+#define ETH_MACHWF1R_HASHTBLSZ_Msk                    (0x3UL << ETH_MACHWF1R_HASHTBLSZ_Pos) /*!< 0x03000000 */
+#define ETH_MACHWF1R_HASHTBLSZ                        ETH_MACHWF1R_HASHTBLSZ_Msk /* Hash Table Size */
+#define ETH_MACHWF1R_AVSEL_Pos                        (20U)
+#define ETH_MACHWF1R_AVSEL_Msk                        (0x1UL << ETH_MACHWF1R_AVSEL_Pos) /*!< 0x00100000 */
+#define ETH_MACHWF1R_AVSEL                            ETH_MACHWF1R_AVSEL_Msk   /* AV Feature Enabled */
+#define ETH_MACHWF1R_DBGMEMA_Pos                      (19U)
+#define ETH_MACHWF1R_DBGMEMA_Msk                      (0x1UL << ETH_MACHWF1R_DBGMEMA_Pos) /*!< 0x00080000 */
+#define ETH_MACHWF1R_DBGMEMA                          ETH_MACHWF1R_DBGMEMA_Msk /* Debug Memory Interface Enabled */
+#define ETH_MACHWF1R_TSOEN_Pos                        (18U)
+#define ETH_MACHWF1R_TSOEN_Msk                        (0x1UL << ETH_MACHWF1R_TSOEN_Pos) /*!< 0x00040000 */
+#define ETH_MACHWF1R_TSOEN                            ETH_MACHWF1R_TSOEN_Msk   /* TCP Segmentation Offload Enable */
+#define ETH_MACHWF1R_SPHEN_Pos                        (17U)
+#define ETH_MACHWF1R_SPHEN_Msk                        (0x1UL << ETH_MACHWF1R_SPHEN_Pos) /*!< 0x00020000 */
+#define ETH_MACHWF1R_SPHEN                            ETH_MACHWF1R_SPHEN_Msk   /* Split Header Feature Enable */
+#define ETH_MACHWF1R_DCBEN_Pos                        (16U)
+#define ETH_MACHWF1R_DCBEN_Msk                        (0x1UL << ETH_MACHWF1R_DCBEN_Pos) /*!< 0x00010000 */
+#define ETH_MACHWF1R_DCBEN                            ETH_MACHWF1R_DCBEN_Msk   /* DCB Feature Enable */
+#define ETH_MACHWF1R_ADDR64_Pos                       (14U)
+#define ETH_MACHWF1R_ADDR64_Msk                       (0x3UL << ETH_MACHWF1R_ADDR64_Pos) /*!< 0x0000C000 */
+#define ETH_MACHWF1R_ADDR64                           ETH_MACHWF1R_ADDR64_Msk  /* Address Width */
+#define ETH_MACHWF1R_ADDR64_32                        (0x0UL << ETH_MACHWF1R_ADDR64_Pos) /*!< 0x00000000 */
+#define ETH_MACHWF1R_ADDR64_40                        (0x1UL << ETH_MACHWF1R_ADDR64_Pos) /*!< 0x00004000 */
+#define ETH_MACHWF1R_ADDR64_48                        (0x2UL << ETH_MACHWF1R_ADDR64_Pos) /*!< 0x00008000 */
+#define ETH_MACHWF1R_ADVTHWORD_Pos                    (13U)
+#define ETH_MACHWF1R_ADVTHWORD_Msk                    (0x1UL << ETH_MACHWF1R_ADVTHWORD_Pos) /*!< 0x00002000 */
+#define ETH_MACHWF1R_ADVTHWORD                        ETH_MACHWF1R_ADVTHWORD_Msk /* IEEE 1588 High Word Register Enable */
+#define ETH_MACHWF1R_PTOEN_Pos                        (12U)
+#define ETH_MACHWF1R_PTOEN_Msk                        (0x1UL << ETH_MACHWF1R_PTOEN_Pos) /*!< 0x00001000 */
+#define ETH_MACHWF1R_PTOEN                            ETH_MACHWF1R_PTOEN_Msk   /* PTP Offload Enable */
+#define ETH_MACHWF1R_OSTEN_Pos                        (11U)
+#define ETH_MACHWF1R_OSTEN_Msk                        (0x1UL << ETH_MACHWF1R_OSTEN_Pos) /*!< 0x00000800 */
+#define ETH_MACHWF1R_OSTEN                            ETH_MACHWF1R_OSTEN_Msk   /* One-Step Timestamping Enable */
+#define ETH_MACHWF1R_TXFIFOSIZE_Pos                   (6U)
+#define ETH_MACHWF1R_TXFIFOSIZE_Msk                   (0x1FUL << ETH_MACHWF1R_TXFIFOSIZE_Pos) /*!< 0x000007C0 */
+#define ETH_MACHWF1R_TXFIFOSIZE                       ETH_MACHWF1R_TXFIFOSIZE_Msk /* MTL Transmit FIFO Size */
+#define ETH_MACHWF1R_RXFIFOSIZE_Pos                   (0U)
+#define ETH_MACHWF1R_RXFIFOSIZE_Msk                   (0x1FUL << ETH_MACHWF1R_RXFIFOSIZE_Pos) /*!< 0x0000001F */
+#define ETH_MACHWF1R_RXFIFOSIZE                       ETH_MACHWF1R_RXFIFOSIZE_Msk /* MTL Receive FIFO Size */
+
+/* Bit definition for Ethernet MAC HW Feature2 Register */
+#define ETH_MACHWF2R_AUXSNAPNUM_Pos                   (28U)
+#define ETH_MACHWF2R_AUXSNAPNUM_Msk                   (0x7UL << ETH_MACHWF2R_AUXSNAPNUM_Pos) /*!< 0x70000000 */
+#define ETH_MACHWF2R_AUXSNAPNUM                       ETH_MACHWF2R_AUXSNAPNUM_Msk /* Number of Auxiliary Snapshot Inputs */
+#define ETH_MACHWF2R_PPSOUTNUM_Pos                    (24U)
+#define ETH_MACHWF2R_PPSOUTNUM_Msk                    (0x7UL << ETH_MACHWF2R_PPSOUTNUM_Pos) /*!< 0x07000000 */
+#define ETH_MACHWF2R_PPSOUTNUM                        ETH_MACHWF2R_PPSOUTNUM_Msk /*  Number of PPS Outputs */
+#define ETH_MACHWF2R_TXCHCNT_Pos                      (18U)
+#define ETH_MACHWF2R_TXCHCNT_Msk                      (0xFUL << ETH_MACHWF2R_TXCHCNT_Pos) /*!< 0x003C0000 */
+#define ETH_MACHWF2R_TXCHCNT                          ETH_MACHWF2R_TXCHCNT_Msk /* Number of DMA Transmit Channels */
+#define ETH_MACHWF2R_RXCHCNT_Pos                      (13U)
+#define ETH_MACHWF2R_RXCHCNT_Msk                      (0x7UL << ETH_MACHWF2R_RXCHCNT_Pos) /*!< 0x0000E000 */
+#define ETH_MACHWF2R_RXCHCNT                          ETH_MACHWF2R_RXCHCNT_Msk /* Number of DMA Receive Channels */
+#define ETH_MACHWF2R_TXQCNT_Pos                       (6U)
+#define ETH_MACHWF2R_TXQCNT_Msk                       (0xFUL << ETH_MACHWF2R_TXQCNT_Pos) /*!< 0x000003C0 */
+#define ETH_MACHWF2R_TXQCNT                           ETH_MACHWF2R_TXQCNT_Msk  /* Number of MTL Transmit Queues */
+#define ETH_MACHWF2R_RXQCNT_Pos                       (0U)
+#define ETH_MACHWF2R_RXQCNT_Msk                       (0xFUL << ETH_MACHWF2R_RXQCNT_Pos) /*!< 0x0000000F */
+#define ETH_MACHWF2R_RXQCNT                           ETH_MACHWF2R_RXQCNT_Msk  /* Number of MTL Receive Queues */
+
+/* Bit definition for Ethernet MAC MDIO Address Register */
+#define ETH_MACMDIOAR_PSE_Pos                         (27U)
+#define ETH_MACMDIOAR_PSE_Msk                         (0x1UL << ETH_MACMDIOAR_PSE_Pos) /*!< 0x08000000 */
+#define ETH_MACMDIOAR_PSE                             ETH_MACMDIOAR_PSE_Msk    /* Preamble Suppression Enable */
+#define ETH_MACMDIOAR_BTB_Pos                         (26U)
+#define ETH_MACMDIOAR_BTB_Msk                         (0x1UL << ETH_MACMDIOAR_BTB_Pos) /*!< 0x04000000 */
+#define ETH_MACMDIOAR_BTB                             ETH_MACMDIOAR_BTB_Msk    /* Back to Back transactions */
+#define ETH_MACMDIOAR_PA_Pos                          (21U)
+#define ETH_MACMDIOAR_PA_Msk                          (0x1FUL << ETH_MACMDIOAR_PA_Pos) /*!< 0x03E00000 */
+#define ETH_MACMDIOAR_PA                              ETH_MACMDIOAR_PA_Msk     /* Physical Layer Address */
+#define ETH_MACMDIOAR_RDA_Pos                         (16U)
+#define ETH_MACMDIOAR_RDA_Msk                         (0x1FUL << ETH_MACMDIOAR_RDA_Pos) /*!< 0x001F0000 */
+#define ETH_MACMDIOAR_RDA                             ETH_MACMDIOAR_RDA_Msk    /* Register/Device Address */
+#define ETH_MACMDIOAR_NTC_Pos                         (12U)
+#define ETH_MACMDIOAR_NTC_Msk                         (0x7UL << ETH_MACMDIOAR_NTC_Pos) /*!< 0x00007000 */
+#define ETH_MACMDIOAR_NTC                             ETH_MACMDIOAR_NTC_Msk    /* Number of Trailing Clocks */
+#define ETH_MACMDIOAR_CR_Pos                          (8U)
+#define ETH_MACMDIOAR_CR_Msk                          (0xFUL << ETH_MACMDIOAR_CR_Pos) /*!< 0x00000F00 */
+#define ETH_MACMDIOAR_CR                              ETH_MACMDIOAR_CR_Msk     /* CSR Clock Range */
+#define ETH_MACMDIOAR_CR_DIV42                        ((uint32_t)0x00000000)   /* CSR clock/42 */
+#define ETH_MACMDIOAR_CR_DIV62_Pos                    (8U)
+#define ETH_MACMDIOAR_CR_DIV62_Msk                    (0x1UL << ETH_MACMDIOAR_CR_DIV62_Pos) /*!< 0x00000100 */
+#define ETH_MACMDIOAR_CR_DIV62                        ETH_MACMDIOAR_CR_DIV62_Msk /* CSR clock/62 */
+#define ETH_MACMDIOAR_CR_DIV16_Pos                    (9U)
+#define ETH_MACMDIOAR_CR_DIV16_Msk                    (0x1UL << ETH_MACMDIOAR_CR_DIV16_Pos) /*!< 0x00000200 */
+#define ETH_MACMDIOAR_CR_DIV16                        ETH_MACMDIOAR_CR_DIV16_Msk /* CSR clock/16 */
+#define ETH_MACMDIOAR_CR_DIV26_Pos                    (8U)
+#define ETH_MACMDIOAR_CR_DIV26_Msk                    (0x3UL << ETH_MACMDIOAR_CR_DIV26_Pos) /*!< 0x00000300 */
+#define ETH_MACMDIOAR_CR_DIV26                        ETH_MACMDIOAR_CR_DIV26_Msk /* CSR clock/26 */
+#define ETH_MACMDIOAR_CR_DIV102_Pos                   (10U)
+#define ETH_MACMDIOAR_CR_DIV102_Msk                   (0x1UL << ETH_MACMDIOAR_CR_DIV102_Pos) /*!< 0x00000400 */
+#define ETH_MACMDIOAR_CR_DIV102                       ETH_MACMDIOAR_CR_DIV102_Msk /* CSR clock/102 */
+#define ETH_MACMDIOAR_CR_DIV124_Pos                   (8U)
+#define ETH_MACMDIOAR_CR_DIV124_Msk                   (0x5UL << ETH_MACMDIOAR_CR_DIV124_Pos) /*!< 0x00000500 */
+#define ETH_MACMDIOAR_CR_DIV124                       ETH_MACMDIOAR_CR_DIV124_Msk /* CSR clock/124 */
+#define ETH_MACMDIOAR_CR_DIV4AR_Pos                   (11U)
+#define ETH_MACMDIOAR_CR_DIV4AR_Msk                   (0x1UL << ETH_MACMDIOAR_CR_DIV4AR_Pos) /*!< 0x00000800 */
+#define ETH_MACMDIOAR_CR_DIV4AR                       ETH_MACMDIOAR_CR_DIV4AR_Msk /* CSR clock/4: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV6AR_Pos                   (8U)
+#define ETH_MACMDIOAR_CR_DIV6AR_Msk                   (0x9UL << ETH_MACMDIOAR_CR_DIV6AR_Pos) /*!< 0x00000900 */
+#define ETH_MACMDIOAR_CR_DIV6AR                       ETH_MACMDIOAR_CR_DIV6AR_Msk /* CSR clock/6: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV8AR_Pos                   (9U)
+#define ETH_MACMDIOAR_CR_DIV8AR_Msk                   (0x5UL << ETH_MACMDIOAR_CR_DIV8AR_Pos) /*!< 0x00000A00 */
+#define ETH_MACMDIOAR_CR_DIV8AR                       ETH_MACMDIOAR_CR_DIV8AR_Msk /* CSR clock/8: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV10AR_Pos                  (8U)
+#define ETH_MACMDIOAR_CR_DIV10AR_Msk                  (0xBUL << ETH_MACMDIOAR_CR_DIV10AR_Pos) /*!< 0x00000B00 */
+#define ETH_MACMDIOAR_CR_DIV10AR                      ETH_MACMDIOAR_CR_DIV10AR_Msk /* CSR clock/10: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV12AR_Pos                  (10U)
+#define ETH_MACMDIOAR_CR_DIV12AR_Msk                  (0x3UL << ETH_MACMDIOAR_CR_DIV12AR_Pos) /*!< 0x00000C00 */
+#define ETH_MACMDIOAR_CR_DIV12AR                      ETH_MACMDIOAR_CR_DIV12AR_Msk /* CSR clock/12: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV14AR_Pos                  (8U)
+#define ETH_MACMDIOAR_CR_DIV14AR_Msk                  (0xDUL << ETH_MACMDIOAR_CR_DIV14AR_Pos) /*!< 0x00000D00 */
+#define ETH_MACMDIOAR_CR_DIV14AR                      ETH_MACMDIOAR_CR_DIV14AR_Msk /* CSR clock/14: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV16AR_Pos                  (9U)
+#define ETH_MACMDIOAR_CR_DIV16AR_Msk                  (0x7UL << ETH_MACMDIOAR_CR_DIV16AR_Pos) /*!< 0x00000E00 */
+#define ETH_MACMDIOAR_CR_DIV16AR                      ETH_MACMDIOAR_CR_DIV16AR_Msk /* CSR clock/16: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_CR_DIV18AR_Pos                  (8U)
+#define ETH_MACMDIOAR_CR_DIV18AR_Msk                  (0xFUL << ETH_MACMDIOAR_CR_DIV18AR_Pos) /*!< 0x00000F00 */
+#define ETH_MACMDIOAR_CR_DIV18AR                      ETH_MACMDIOAR_CR_DIV18AR_Msk /* CSR clock/18: MDC clock above range specified in IEEE */
+#define ETH_MACMDIOAR_SKAP_Pos                        (4U)
+#define ETH_MACMDIOAR_SKAP_Msk                        (0x1UL << ETH_MACMDIOAR_SKAP_Pos) /*!< 0x00000010 */
+#define ETH_MACMDIOAR_SKAP                            ETH_MACMDIOAR_SKAP_Msk   /* Skip Address Packet */
+#define ETH_MACMDIOAR_MOC_Pos                         (2U)
+#define ETH_MACMDIOAR_MOC_Msk                         (0x3UL << ETH_MACMDIOAR_MOC_Pos) /*!< 0x0000000C */
+#define ETH_MACMDIOAR_MOC                             ETH_MACMDIOAR_MOC_Msk    /* MII Operation Command */
+#define ETH_MACMDIOAR_MOC_WR_Pos                      (2U)
+#define ETH_MACMDIOAR_MOC_WR_Msk                      (0x1UL << ETH_MACMDIOAR_MOC_WR_Pos) /*!< 0x00000004 */
+#define ETH_MACMDIOAR_MOC_WR                          ETH_MACMDIOAR_MOC_WR_Msk /* Write */
+#define ETH_MACMDIOAR_MOC_PRDIA_Pos                   (3U)
+#define ETH_MACMDIOAR_MOC_PRDIA_Msk                   (0x1UL << ETH_MACMDIOAR_MOC_PRDIA_Pos) /*!< 0x00000008 */
+#define ETH_MACMDIOAR_MOC_PRDIA                       ETH_MACMDIOAR_MOC_PRDIA_Msk /* Post Read Increment Address for Clause 45 PHY */
+#define ETH_MACMDIOAR_MOC_RD_Pos                      (2U)
+#define ETH_MACMDIOAR_MOC_RD_Msk                      (0x3UL << ETH_MACMDIOAR_MOC_RD_Pos) /*!< 0x0000000C */
+#define ETH_MACMDIOAR_MOC_RD                          ETH_MACMDIOAR_MOC_RD_Msk /* Read */
+#define ETH_MACMDIOAR_C45E_Pos                        (1U)
+#define ETH_MACMDIOAR_C45E_Msk                        (0x1UL << ETH_MACMDIOAR_C45E_Pos) /*!< 0x00000002 */
+#define ETH_MACMDIOAR_C45E                            ETH_MACMDIOAR_C45E_Msk   /* Clause 45 PHY Enable */
+#define ETH_MACMDIOAR_MB_Pos                          (0U)
+#define ETH_MACMDIOAR_MB_Msk                          (0x1UL << ETH_MACMDIOAR_MB_Pos) /*!< 0x00000001 */
+#define ETH_MACMDIOAR_MB                              ETH_MACMDIOAR_MB_Msk     /* MII Busy */
+
+/* Bit definition for Ethernet MAC MDIO Data Register */
+#define ETH_MACMDIODR_RA_Pos                          (16U)
+#define ETH_MACMDIODR_RA_Msk                          (0xFFFFUL << ETH_MACMDIODR_RA_Pos) /*!< 0xFFFF0000 */
+#define ETH_MACMDIODR_RA                              ETH_MACMDIODR_RA_Msk     /* Register Address */
+#define ETH_MACMDIODR_MD_Pos                          (0U)
+#define ETH_MACMDIODR_MD_Msk                          (0xFFFFUL << ETH_MACMDIODR_MD_Pos) /*!< 0x0000FFFF */
+#define ETH_MACMDIODR_MD                              ETH_MACMDIODR_MD_Msk     /* MII Data */
+
+/* Bit definition for Ethernet ARP Address Register */
+#define ETH_MACARPAR_ARPPA_Pos                         (0U)
+#define ETH_MACARPAR_ARPPA_Msk                         (0xFFFFFFFFUL << ETH_MACARPAR_ARPPA_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACARPAR_ARPPA                             ETH_MACARPAR_ARPPA_Msk     /* ARP Protocol Address */
+
+/* Bit definition for Ethernet MAC Address 0 High Register */
+#define ETH_MACA0HR_AE_Pos                            (31U)
+#define ETH_MACA0HR_AE_Msk                            (0x1UL << ETH_MACA0HR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACA0HR_AE                                ETH_MACA0HR_AE_Msk /* Address Enable*/
+#define ETH_MACA0HR_ADDRHI_Pos                        (0U)
+#define ETH_MACA0HR_ADDRHI_Msk                        (0xFFFFUL << ETH_MACA0HR_ADDRHI_Pos) /*!< 0x0000FFFF */
+#define ETH_MACA0HR_ADDRHI                            ETH_MACA0HR_ADDRHI_Msk   /* MAC Address 0*/
+
+/* Bit definition for Ethernet MAC Address 0 Low Register */
+#define ETH_MACA0LR_ADDRLO_Pos                        (0U)
+#define ETH_MACA0LR_ADDRLO_Msk                        (0xFFFFFFFFUL << ETH_MACA0LR_ADDRLO_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACA0LR_ADDRLO                            ETH_MACA0LR_ADDRLO_Msk   /* MAC Address 0*/
+
+/* Bit definition for Ethernet MAC Address 1 High Register */
+#define ETH_MACA1HR_AE_Pos                            (31U)
+#define ETH_MACA1HR_AE_Msk                            (0x1UL << ETH_MACA1HR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACA1HR_AE                                ETH_MACA1HR_AE_Msk /* Address Enable*/
+#define ETH_MACA1HR_SA_Pos                            (30U)
+#define ETH_MACA1HR_SA_Msk                            (0x1UL << ETH_MACA1HR_SA_Pos) /*!< 0x40000000 */
+#define ETH_MACA1HR_SA                                ETH_MACA1HR_SA_Msk /* Source Address */
+#define ETH_MACA1HR_MBC_Pos                           (24U)
+#define ETH_MACA1HR_MBC_Msk                           (0x3FUL << ETH_MACA1HR_MBC_Pos) /*!< 0x3F000000 */
+#define ETH_MACA1HR_MBC                               ETH_MACA1HR_MBC_Msk /* Mask Byte Control */
+#define ETH_MACA1HR_ADDRHI_Pos                        (0U)
+#define ETH_MACA1HR_ADDRHI_Msk                        (0xFFFFUL << ETH_MACA1HR_ADDRHI_Pos) /*!< 0x0000FFFF */
+#define ETH_MACA1HR_ADDRHI                            ETH_MACA1HR_ADDRHI_Msk   /* MAC Address 1*/
+
+/* Bit definition for Ethernet MAC Address 1 Low Register */
+#define ETH_MACA1LR_ADDRLO_Pos                        (0U)
+#define ETH_MACA1LR_ADDRLO_Msk                        (0xFFFFFFFFUL << ETH_MACA1LR_ADDRLO_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACA1LR_ADDRLO                            ETH_MACA1LR_ADDRLO_Msk   /* MAC Address 1*/
+
+/* Bit definition for Ethernet MAC Address 2 High Register */
+#define ETH_MACA2HR_AE_Pos                            (31U)
+#define ETH_MACA2HR_AE_Msk                            (0x1UL << ETH_MACA2HR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACA2HR_AE                                ETH_MACA2HR_AE_Msk /* Address Enable*/
+#define ETH_MACA2HR_SA_Pos                            (30U)
+#define ETH_MACA2HR_SA_Msk                            (0x1UL << ETH_MACA2HR_SA_Pos) /*!< 0x40000000 */
+#define ETH_MACA2HR_SA                                ETH_MACA2HR_SA_Msk /* Source Address */
+#define ETH_MACA2HR_MBC_Pos                           (24U)
+#define ETH_MACA2HR_MBC_Msk                           (0x3FUL << ETH_MACA2HR_MBC_Pos) /*!< 0x3F000000 */
+#define ETH_MACA2HR_MBC                               ETH_MACA2HR_MBC_Msk /* Mask Byte Control */
+#define ETH_MACA2HR_ADDRHI_Pos                        (0U)
+#define ETH_MACA2HR_ADDRHI_Msk                        (0xFFFFUL << ETH_MACA2HR_ADDRHI_Pos) /*!< 0x0000FFFF */
+#define ETH_MACA2HR_ADDRHI                            ETH_MACA2HR_ADDRHI_Msk   /* MAC Address 1*/
+
+/* Bit definition for Ethernet MAC Address 2 Low Register */
+#define ETH_MACA2LR_ADDRLO_Pos                        (0U)
+#define ETH_MACA2LR_ADDRLO_Msk                        (0xFFFFFFFFUL << ETH_MACA2LR_ADDRLO_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACA2LR_ADDRLO                            ETH_MACA2LR_ADDRLO_Msk   /* MAC Address 2*/
+
+/* Bit definition for Ethernet MAC Address 3 High Register */
+#define ETH_MACA3HR_AE_Pos                            (31U)
+#define ETH_MACA3HR_AE_Msk                            (0x1UL << ETH_MACA3HR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACA3HR_AE                                ETH_MACA3HR_AE_Msk /* Address Enable*/
+#define ETH_MACA3HR_SA_Pos                            (30U)
+#define ETH_MACA3HR_SA_Msk                            (0x1UL << ETH_MACA3HR_SA_Pos) /*!< 0x40000000 */
+#define ETH_MACA3HR_SA                                ETH_MACA3HR_SA_Msk /* Source Address */
+#define ETH_MACA3HR_MBC_Pos                           (24U)
+#define ETH_MACA3HR_MBC_Msk                           (0x3FUL << ETH_MACA3HR_MBC_Pos) /*!< 0x3F000000 */
+#define ETH_MACA3HR_MBC                               ETH_MACA3HR_MBC_Msk /* Mask Byte Control */
+#define ETH_MACA3HR_ADDRHI_Pos                        (0U)
+#define ETH_MACA3HR_ADDRHI_Msk                        (0xFFFFUL << ETH_MACA3HR_ADDRHI_Pos) /*!< 0x0000FFFF */
+#define ETH_MACA3HR_ADDRHI                            ETH_MACA3HR_ADDRHI_Msk   /* MAC Address 1*/
+
+/* Bit definition for Ethernet MAC Address 3 Low Register */
+#define ETH_MACA3LR_ADDRLO_Pos                        (0U)
+#define ETH_MACA3LR_ADDRLO_Msk                        (0xFFFFFFFFUL << ETH_MACA3LR_ADDRLO_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACA3LR_ADDRLO                            ETH_MACA3LR_ADDRLO_Msk   /* MAC Address 3*/
+
+/* Bit definition for Ethernet MAC Address High Register */
+#define ETH_MACAHR_AE_Pos                             (31U)
+#define ETH_MACAHR_AE_Msk                             (0x1UL << ETH_MACAHR_AE_Pos) /*!< 0x80000000 */
+#define ETH_MACAHR_AE                                 ETH_MACAHR_AE_Msk        /* Address enable */
+#define ETH_MACAHR_SA_Pos                             (30U)
+#define ETH_MACAHR_SA_Msk                             (0x1UL << ETH_MACAHR_SA_Pos) /*!< 0x40000000 */
+#define ETH_MACAHR_SA                                 ETH_MACAHR_SA_Msk        /* Source address */
+#define ETH_MACAHR_MBC_Pos                            (24U)
+#define ETH_MACAHR_MBC_Msk                            (0x3FUL << ETH_MACAHR_MBC_Pos) /*!< 0x3F000000 */
+#define ETH_MACAHR_MBC                                ETH_MACAHR_MBC_Msk       /* Mask byte control: bits to mask for comparison of the MAC Address bytes */
+#define ETH_MACAHR_MBC_HBITS15_8                      ((uint32_t)0x20000000)   /* Mask MAC Address high reg bits [15:8] */
+#define ETH_MACAHR_MBC_HBITS7_0                       ((uint32_t)0x10000000)   /* Mask MAC Address high reg bits [7:0] */
+#define ETH_MACAHR_MBC_LBITS31_24                     ((uint32_t)0x08000000)   /* Mask MAC Address low reg bits [31:24] */
+#define ETH_MACAHR_MBC_LBITS23_16                     ((uint32_t)0x04000000)   /* Mask MAC Address low reg bits [23:16] */
+#define ETH_MACAHR_MBC_LBITS15_8                      ((uint32_t)0x02000000)   /* Mask MAC Address low reg bits [15:8] */
+#define ETH_MACAHR_MBC_LBITS7_0                       ((uint32_t)0x01000000)   /* Mask MAC Address low reg bits [7:0] */
+#define ETH_MACAHR_MACAH_Pos                          (0U)
+#define ETH_MACAHR_MACAH_Msk                          (0xFFFFUL << ETH_MACAHR_MACAH_Pos) /*!< 0x0000FFFF */
+#define ETH_MACAHR_MACAH                              ETH_MACAHR_MACAH_Msk     /* MAC address high */
+
+/* Bit definition for Ethernet MAC Address Low Register */
+#define ETH_MACALR_MACAL_Pos                          (0U)
+#define ETH_MACALR_MACAL_Msk                          (0xFFFFFFFFUL << ETH_MACALR_MACAL_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACALR_MACAL                              ETH_MACALR_MACAL_Msk     /* MAC address low */
+
+/* Bit definition for Ethernet MMC Control Register */
+#define ETH_MMCCR_UCDBC_Pos                           (8U)
+#define ETH_MMCCR_UCDBC_Msk                           (0x1UL << ETH_MMCCR_UCDBC_Pos) /*!< 0x00000100 */
+#define ETH_MMCCR_UCDBC                               ETH_MMCCR_UCDBC_Msk  /* Update MMC Counters for Dropped Broadcast Packets */
+#define ETH_MMCCR_CNTPRSTLVL_Pos                      (5U)
+#define ETH_MMCCR_CNTPRSTLVL_Msk                      (0x1UL << ETH_MMCCR_CNTPRSTLVL_Pos) /*!< 0x00000020 */
+#define ETH_MMCCR_CNTPRSTLVL                          ETH_MMCCR_CNTPRSTLVL_Msk  /* Full-Half Preset */
+#define ETH_MMCCR_CNTPRST_Pos                         (4U)
+#define ETH_MMCCR_CNTPRST_Msk                         (0x1UL << ETH_MMCCR_CNTPRST_Pos) /*!< 0x00000010 */
+#define ETH_MMCCR_CNTPRST                             ETH_MMCCR_CNTPRST_Msk  /* Counters Reset */
+#define ETH_MMCCR_CNTFREEZ_Pos                        (3U)
+#define ETH_MMCCR_CNTFREEZ_Msk                        (0x1UL << ETH_MMCCR_CNTFREEZ_Pos) /*!< 0x00000008 */
+#define ETH_MMCCR_CNTFREEZ                            ETH_MMCCR_CNTFREEZ_Msk  /* MMC Counter Freeze */
+#define ETH_MMCCR_RSTONRD_Pos                         (2U)
+#define ETH_MMCCR_RSTONRD_Msk                         (0x1UL << ETH_MMCCR_RSTONRD_Pos) /*!< 0x00000004 */
+#define ETH_MMCCR_RSTONRD                             ETH_MMCCR_RSTONRD_Msk  /* Reset On Read */
+#define ETH_MMCCR_CNTSTOPRO_Pos                       (1U)
+#define ETH_MMCCR_CNTSTOPRO_Msk                       (0x1UL << ETH_MMCCR_CNTSTOPRO_Pos) /*!< 0x00000002 */
+#define ETH_MMCCR_CNTSTOPRO                           ETH_MMCCR_CNTSTOPRO_Msk  /* Counter Stop Rollover */
+#define ETH_MMCCR_CNTRST_Pos                          (0U)
+#define ETH_MMCCR_CNTRST_Msk                          (0x1UL << ETH_MMCCR_CNTRST_Pos) /*!< 0x00000001 */
+#define ETH_MMCCR_CNTRST                              ETH_MMCCR_CNTRST_Msk  /* Counters Reset */
+
+/* Bit definition for Ethernet MMC Rx Interrupt Register */
+#define ETH_MMCRIR_RXLPITRCIS_Pos                     (27U)
+#define ETH_MMCRIR_RXLPITRCIS_Msk                     (0x1UL << ETH_MMCRIR_RXLPITRCIS_Pos) /*!< 0x08000000 */
+#define ETH_MMCRIR_RXLPITRCIS                         ETH_MMCRIR_RXLPITRCIS_Msk  /* MMC Receive LPI transition counter interrupt status */
+#define ETH_MMCRIR_RXLPIUSCIS_Pos                     (26U)
+#define ETH_MMCRIR_RXLPIUSCIS_Msk                     (0x1UL << ETH_MMCRIR_RXLPIUSCIS_Pos) /*!< 0x04000000 */
+#define ETH_MMCRIR_RXLPIUSCIS                         ETH_MMCRIR_RXLPIUSCIS_Msk  /* MMC Receive LPI microsecond counter interrupt status */
+#define ETH_MMCRIR_RXUCGPIS_Pos                       (17U)
+#define ETH_MMCRIR_RXUCGPIS_Msk                       (0x1UL << ETH_MMCRIR_RXUCGPIS_Pos) /*!< 0x00020000 */
+#define ETH_MMCRIR_RXUCGPIS                           ETH_MMCRIR_RXUCGPIS_Msk  /* MMC Receive Unicast Good Packet Counter Interrupt Status */
+#define ETH_MMCRIR_RXALGNERPIS_Pos                    (6U)
+#define ETH_MMCRIR_RXALGNERPIS_Msk                    (0x1UL << ETH_MMCRIR_RXALGNERPIS_Pos) /*!< 0x00000040 */
+#define ETH_MMCRIR_RXALGNERPIS                        ETH_MMCRIR_RXALGNERPIS_Msk  /* MMC Receive Alignment Error Packet Counter Interrupt Status */
+#define ETH_MMCRIR_RXCRCERPIS_Pos                     (5U)
+#define ETH_MMCRIR_RXCRCERPIS_Msk                     (0x1UL << ETH_MMCRIR_RXCRCERPIS_Pos) /*!< 0x00000020 */
+#define ETH_MMCRIR_RXCRCERPIS                         ETH_MMCRIR_RXCRCERPIS_Msk  /* MMC Receive CRC Error Packet Counter Interrupt Status */
+
+/* Bit definition for Ethernet MMC Tx Interrupt Register */
+#define ETH_MMCTIR_TXLPITRCIS_Pos                     (27U)
+#define ETH_MMCTIR_TXLPITRCIS_Msk                     (0x1UL << ETH_MMCTIR_TXLPITRCIS_Pos) /*!< 0x08000000 */
+#define ETH_MMCTIR_TXLPITRCIS                         ETH_MMCTIR_TXLPITRCIS_Msk  /* MMC Transmit LPI transition counter interrupt status */
+#define ETH_MMCTIR_TXLPIUSCIS_Pos                     (26U)
+#define ETH_MMCTIR_TXLPIUSCIS_Msk                     (0x1UL << ETH_MMCTIR_TXLPIUSCIS_Pos) /*!< 0x04000000 */
+#define ETH_MMCTIR_TXLPIUSCIS                         ETH_MMCTIR_TXLPIUSCIS_Msk  /* MMC Transmit LPI microsecond counter interrupt status */
+#define ETH_MMCTIR_TXGPKTIS_Pos                       (21U)
+#define ETH_MMCTIR_TXGPKTIS_Msk                       (0x1UL << ETH_MMCTIR_TXGPKTIS_Pos) /*!< 0x00200000 */
+#define ETH_MMCTIR_TXGPKTIS                           ETH_MMCTIR_TXGPKTIS_Msk  /* MMC Transmit Good Packet Counter Interrupt Status */
+#define ETH_MMCTIR_TXMCOLGPIS_Pos                     (15U)
+#define ETH_MMCTIR_TXMCOLGPIS_Msk                     (0x1UL << ETH_MMCTIR_TXMCOLGPIS_Pos) /*!< 0x00008000 */
+#define ETH_MMCTIR_TXMCOLGPIS                         ETH_MMCTIR_TXMCOLGPIS_Msk  /* MMC Transmit Multiple Collision Good Packet Counter Interrupt Status */
+#define ETH_MMCTIR_TXSCOLGPIS_Pos                     (14U)
+#define ETH_MMCTIR_TXSCOLGPIS_Msk                     (0x1UL << ETH_MMCTIR_TXSCOLGPIS_Pos) /*!< 0x00004000 */
+#define ETH_MMCTIR_TXSCOLGPIS                         ETH_MMCTIR_TXSCOLGPIS_Msk  /* MMC Transmit Single Collision Good Packet Counter Interrupt Status */
+
+/* Bit definition for Ethernet MMC Rx interrupt Mask register */
+#define ETH_MMCRIMR_RXLPITRCIM_Pos                    (27U)
+#define ETH_MMCRIMR_RXLPITRCIM_Msk                    (0x1UL << ETH_MMCRIMR_RXLPITRCIM_Pos) /*!< 0x08000000 */
+#define ETH_MMCRIMR_RXLPITRCIM                        ETH_MMCRIMR_RXLPITRCIM_Msk  /* MMC Receive LPI transition counter interrupt Mask */
+#define ETH_MMCRIMR_RXLPIUSCIM_Pos                    (26U)
+#define ETH_MMCRIMR_RXLPIUSCIM_Msk                    (0x1UL << ETH_MMCRIMR_RXLPIUSCIM_Pos) /*!< 0x04000000 */
+#define ETH_MMCRIMR_RXLPIUSCIM                        ETH_MMCRIMR_RXLPIUSCIM_Msk  /* MMC Receive LPI microsecond counter interrupt Mask */
+#define ETH_MMCRIMR_RXUCGPIM_Pos                      (17U)
+#define ETH_MMCRIMR_RXUCGPIM_Msk                      (0x1UL << ETH_MMCRIMR_RXUCGPIM_Pos) /*!< 0x00020000 */
+#define ETH_MMCRIMR_RXUCGPIM                          ETH_MMCRIMR_RXUCGPIM_Msk  /* MMC Receive Unicast Good Packet Counter Interrupt Mask */
+#define ETH_MMCRIMR_RXALGNERPIM_Pos                   (6U)
+#define ETH_MMCRIMR_RXALGNERPIM_Msk                   (0x1UL << ETH_MMCRIMR_RXALGNERPIM_Pos) /*!< 0x00000040 */
+#define ETH_MMCRIMR_RXALGNERPIM                       ETH_MMCRIMR_RXALGNERPIM_Msk  /* MMC Receive Alignment Error Packet Counter Interrupt Mask */
+#define ETH_MMCRIMR_RXCRCERPIM_Pos                    (5U)
+#define ETH_MMCRIMR_RXCRCERPIM_Msk                    (0x1UL << ETH_MMCRIMR_RXCRCERPIM_Pos) /*!< 0x00000020 */
+#define ETH_MMCRIMR_RXCRCERPIM                        ETH_MMCRIMR_RXCRCERPIM_Msk  /* MMC Receive CRC Error Packet Counter Interrupt Mask */
+
+/* Bit definition for Ethernet MMC Tx Interrupt Mask Register */
+#define ETH_MMCTIMR_TXLPITRCIM_Pos                    (27U)
+#define ETH_MMCTIMR_TXLPITRCIM_Msk                    (0x1UL << ETH_MMCTIMR_TXLPITRCIM_Pos) /*!< 0x08000000 */
+#define ETH_MMCTIMR_TXLPITRCIM                        ETH_MMCTIMR_TXLPITRCIM_Msk  /* MMC Transmit LPI transition counter interrupt Mask*/
+#define ETH_MMCTIMR_TXLPIUSCIM_Pos                    (26U)
+#define ETH_MMCTIMR_TXLPIUSCIM_Msk                    (0x1UL << ETH_MMCTIMR_TXLPIUSCIM_Pos) /*!< 0x04000000 */
+#define ETH_MMCTIMR_TXLPIUSCIM                        ETH_MMCTIMR_TXLPIUSCIM_Msk  /* MMC Transmit LPI microsecond counter interrupt Mask*/
+#define ETH_MMCTIMR_TXGPKTIM_Pos                      (21U)
+#define ETH_MMCTIMR_TXGPKTIM_Msk                      (0x1UL << ETH_MMCTIMR_TXGPKTIM_Pos) /*!< 0x00200000 */
+#define ETH_MMCTIMR_TXGPKTIM                          ETH_MMCTIMR_TXGPKTIM_Msk  /* MMC Transmit Good Packet Counter Interrupt Mask*/
+#define ETH_MMCTIMR_TXMCOLGPIM_Pos                    (15U)
+#define ETH_MMCTIMR_TXMCOLGPIM_Msk                    (0x1UL << ETH_MMCTIMR_TXMCOLGPIM_Pos) /*!< 0x00008000 */
+#define ETH_MMCTIMR_TXMCOLGPIM                        ETH_MMCTIMR_TXMCOLGPIM_Msk  /* MMC Transmit Multiple Collision Good Packet Counter Interrupt Mask */
+#define ETH_MMCTIMR_TXSCOLGPIM_Pos                    (14U)
+#define ETH_MMCTIMR_TXSCOLGPIM_Msk                    (0x1UL << ETH_MMCTIMR_TXSCOLGPIM_Pos) /*!< 0x00004000 */
+#define ETH_MMCTIMR_TXSCOLGPIM                        ETH_MMCTIMR_TXSCOLGPIM_Msk  /* MMC Transmit Single Collision Good Packet Counter Interrupt Mask */
+
+/* Bit definition for Ethernet MMC Tx Single Collision Good Packets Register */
+#define ETH_MMCTSCGPR_TXSNGLCOLG_Pos                  (0U)
+#define ETH_MMCTSCGPR_TXSNGLCOLG_msk                  (0xFFFFFFFFUL <<  ETH_MMCTSCGPR_TXSNGLCOLG_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTSCGPR_TXSNGLCOLG                      ETH_MMCTSCGPR_TXSNGLCOLG_msk /* Tx Single Collision Good Packets */
+
+/* Bit definition for Ethernet MMC Tx Multiple Collision Good Packets Register */
+#define ETH_MMCTMCGPR_TXMULTCOLG_Pos                  (0U)
+#define ETH_MMCTMCGPR_TXMULTCOLG_msk                  (0xFFFFFFFFUL <<  ETH_MMCTMCGPR_TXMULTCOLG_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTMCGPR_TXMULTCOLG                      ETH_MMCTMCGPR_TXMULTCOLG_msk /* Tx Multiple Collision Good Packets */
+
+/* Bit definition for Ethernet MMC Tx Packet Count Good Register */
+#define ETH_MMCTPCGR_TXPKTG_Pos                       (0U)
+#define ETH_MMCTPCGR_TXPKTG_msk                       (0xFFFFFFFFUL <<  ETH_MMCTPCGR_TXPKTG_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTPCGR_TXPKTG                           ETH_MMCTPCGR_TXPKTG_msk /* Tx Packet Count Good */
+
+/* Bit definition for Ethernet MMC Rx CRC Error Packets Register */
+#define ETH_MMCRCRCEPR_RXCRCERR_Pos                   (0U)
+#define ETH_MMCRCRCEPR_RXCRCERR_msk                   (0xFFFFFFFFUL <<  ETH_MMCRCRCEPR_RXCRCERR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRCRCEPR_RXCRCERR                       ETH_MMCRCRCEPR_RXCRCERR_msk /* Rx CRC Error Packets */
+
+/* Bit definition for Ethernet MMC Rx alignment error packets register */
+#define ETH_MMCRAEPR_RXALGNERR_Pos                    (0U)
+#define ETH_MMCRAEPR_RXALGNERR_msk                    (0xFFFFFFFFUL <<  ETH_MMCRAEPR_RXALGNERR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRAEPR_RXALGNERR                        ETH_MMCRAEPR_RXALGNERR_msk /* Rx Alignment Error Packets */
+
+/* Bit definition for Ethernet MMC Rx Unicast Packets Good Register */
+#define ETH_MMCRUPGR_RXUCASTG_Pos                     (0U)
+#define ETH_MMCRUPGR_RXUCASTG_msk                     (0xFFFFFFFFUL <<  ETH_MMCRUPGR_RXUCASTG_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRUPGR_RXUCASTG                         ETH_MMCRUPGR_RXUCASTG_msk /* Rx Unicast Packets Good */
+
+/* Bit definition for Ethernet MMC Tx LPI Microsecond Timer Register */
+#define ETH_MMCTLPIMSTR_TXLPIUSC_Pos                  (0U)
+#define ETH_MMCTLPIMSTR_TXLPIUSC_msk                  (0xFFFFFFFFUL <<  ETH_MMCTLPIMSTR_TXLPIUSC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTLPIMSTR_TXLPIUSC                      ETH_MMCTLPIMSTR_TXLPIUSC_msk /* Tx LPI Microseconds Counter */
+
+/* Bit definition for Ethernet MMC Tx LPI Transition Counter Register */
+#define ETH_MMCTLPITCR_TXLPITRC_Pos                   (0U)
+#define ETH_MMCTLPITCR_TXLPITRC_msk                   (0xFFFFFFFFUL <<  ETH_MMCTLPITCR_TXLPITRC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCTLPITCR_TXLPITRC                       ETH_MMCTLPITCR_TXLPITRC_msk /* Tx LPI Transition counter */
+
+/* Bit definition for Ethernet MMC Rx LPI Microsecond Counter Register */
+#define ETH_MMCRLPIMSTR_RXLPIUSC_Pos                  (0U)
+#define ETH_MMCRLPIMSTR_RXLPIUSC_msk                  (0xFFFFFFFFUL <<  ETH_MMCRLPIMSTR_RXLPIUSC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRLPIMSTR_RXLPIUSC                      ETH_MMCRLPIMSTR_RXLPIUSC_msk /* Rx LPI Microseconds Counter */
+
+/* Bit definition for Ethernet MMC Rx LPI Transition Counter Register */
+#define ETH_MMCRLPITCR_RXLPITRC_Pos                   (0U)
+#define ETH_MMCRLPITCR_RXLPITRC_msk                   (0xFFFFFFFFUL <<  ETH_MMCRLPITCR_RXLPITRC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MMCRLPITCR_RXLPITRC                       ETH_MMCRLPITCR_RXLPITRC_msk /* Rx LPI Transition counter */
+
+/* Bit definition for Ethernet MAC L3 L4 Control Register */
+#define ETH_MACL3L4CR_L4DPIM_Pos                      (21U)
+#define ETH_MACL3L4CR_L4DPIM_Msk                      (0x1UL << ETH_MACL3L4CR_L4DPIM_Pos) /*!< 0x00200000 */
+#define ETH_MACL3L4CR_L4DPIM                          ETH_MACL3L4CR_L4DPIM_Msk /* Layer 4 Destination Port Inverse Match Enable */
+#define ETH_MACL3L4CR_L4DPM_Pos                       (20U)
+#define ETH_MACL3L4CR_L4DPM_Msk                       (0x1UL << ETH_MACL3L4CR_L4DPM_Pos) /*!< 0x00100000 */
+#define ETH_MACL3L4CR_L4DPM                           ETH_MACL3L4CR_L4DPM_Msk  /* Layer 4 Destination Port Match Enable */
+#define ETH_MACL3L4CR_L4SPIM_Pos                      (19U)
+#define ETH_MACL3L4CR_L4SPIM_Msk                      (0x1UL << ETH_MACL3L4CR_L4SPIM_Pos) /*!< 0x00080000 */
+#define ETH_MACL3L4CR_L4SPIM                          ETH_MACL3L4CR_L4SPIM_Msk /* Layer 4 Source Port Inverse Match Enable */
+#define ETH_MACL3L4CR_L4SPM_Pos                       (18U)
+#define ETH_MACL3L4CR_L4SPM_Msk                       (0x1UL << ETH_MACL3L4CR_L4SPM_Pos) /*!< 0x00040000 */
+#define ETH_MACL3L4CR_L4SPM                           ETH_MACL3L4CR_L4SPM_Msk  /* Layer 4 Source Port Match Enable */
+#define ETH_MACL3L4CR_L4PEN_Pos                       (16U)
+#define ETH_MACL3L4CR_L4PEN_Msk                       (0x1UL << ETH_MACL3L4CR_L4PEN_Pos) /*!< 0x00010000 */
+#define ETH_MACL3L4CR_L4PEN                           ETH_MACL3L4CR_L4PEN_Msk  /* Layer 4 Protocol Enable */
+#define ETH_MACL3L4CR_L3HDBM_Pos                      (11U)
+#define ETH_MACL3L4CR_L3HDBM_Msk                      (0x1FUL << ETH_MACL3L4CR_L3HDBM_Pos) /*!< 0x0000F800 */
+#define ETH_MACL3L4CR_L3HDBM                          ETH_MACL3L4CR_L3HDBM_Msk /* Layer 3 IP DA Higher Bits Match */
+#define ETH_MACL3L4CR_L3HSBM_Pos                      (6U)
+#define ETH_MACL3L4CR_L3HSBM_Msk                      (0x1FUL << ETH_MACL3L4CR_L3HSBM_Pos) /*!< 0x000007C0 */
+#define ETH_MACL3L4CR_L3HSBM                          ETH_MACL3L4CR_L3HSBM_Msk /* Layer 3 IP SA Higher Bits Match */
+#define ETH_MACL3L4CR_L3DAIM_Pos                      (5U)
+#define ETH_MACL3L4CR_L3DAIM_Msk                      (0x1UL << ETH_MACL3L4CR_L3DAIM_Pos) /*!< 0x00000020 */
+#define ETH_MACL3L4CR_L3DAIM                          ETH_MACL3L4CR_L3DAIM_Msk /* Layer 3 IP DA Inverse Match Enable */
+#define ETH_MACL3L4CR_L3DAM_Pos                       (4U)
+#define ETH_MACL3L4CR_L3DAM_Msk                       (0x1UL << ETH_MACL3L4CR_L3DAM_Pos) /*!< 0x00000010 */
+#define ETH_MACL3L4CR_L3DAM                           ETH_MACL3L4CR_L3DAM_Msk  /* Layer 3 IP DA Match Enable */
+#define ETH_MACL3L4CR_L3SAIM_Pos                      (3U)
+#define ETH_MACL3L4CR_L3SAIM_Msk                      (0x1UL << ETH_MACL3L4CR_L3SAIM_Pos) /*!< 0x00000008 */
+#define ETH_MACL3L4CR_L3SAIM                          ETH_MACL3L4CR_L3SAIM_Msk /* Layer 3 IP SA Inverse Match Enable */
+#define ETH_MACL3L4CR_L3SAM_Pos                       (2U)
+#define ETH_MACL3L4CR_L3SAM_Msk                       (0x1UL << ETH_MACL3L4CR_L3SAM_Pos) /*!< 0x00000004 */
+#define ETH_MACL3L4CR_L3SAM                           ETH_MACL3L4CR_L3SAM_Msk  /* Layer 3 IP SA Match Enable*/
+#define ETH_MACL3L4CR_L3PEN_Pos                       (0U)
+#define ETH_MACL3L4CR_L3PEN_Msk                       (0x1UL << ETH_MACL3L4CR_L3PEN_Pos) /*!< 0x00000001 */
+#define ETH_MACL3L4CR_L3PEN                           ETH_MACL3L4CR_L3PEN_Msk  /* Layer 3 Protocol Enable */
+
+/* Bit definition for Ethernet MAC L4 Address Register */
+#define ETH_MACL4AR_L4DP_Pos                          (16U)
+#define ETH_MACL4AR_L4DP_Msk                          (0xFFFFUL << ETH_MACL4AR_L4DP_Pos) /*!< 0xFFFF0000 */
+#define ETH_MACL4AR_L4DP                              ETH_MACL4AR_L4DP_Msk     /* Layer 4 Destination Port Number Field */
+#define ETH_MACL4AR_L4SP_Pos                          (0U)
+#define ETH_MACL4AR_L4SP_Msk                          (0xFFFFUL << ETH_MACL4AR_L4SP_Pos) /*!< 0x0000FFFF */
+#define ETH_MACL4AR_L4SP                              ETH_MACL4AR_L4SP_Msk     /* Layer 4 Source Port Number Field */
+
+/* Bit definition for Ethernet MAC L3 Address0 Register */
+#define ETH_MACL3A0R_L3A0_Pos                         (0U)
+#define ETH_MACL3A0R_L3A0_Msk                         (0xFFFFFFFFUL << ETH_MACL3A0R_L3A0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACL3A0R_L3A0                             ETH_MACL3A0R_L3A0_Msk    /* Layer 3 Address 0 Field */
+
+/* Bit definition for Ethernet MAC L4 Address1 Register */
+#define ETH_MACL3A1R_L3A1_Pos                         (0U)
+#define ETH_MACL3A1R_L3A1_Msk                         (0xFFFFFFFFUL << ETH_MACL3A1R_L3A1_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACL3A1R_L3A1                             ETH_MACL3A1R_L3A1_Msk    /* Layer 3 Address 1 Field */
+
+/* Bit definition for Ethernet MAC L4 Address2 Register */
+#define ETH_MACL3A2R_L3A2_Pos                         (0U)
+#define ETH_MACL3A2R_L3A2_Msk                         (0xFFFFFFFFUL << ETH_MACL3A2R_L3A2_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACL3A2R_L3A2                             ETH_MACL3A2R_L3A2_Msk    /* Layer 3 Address 2 Field */
+
+/* Bit definition for Ethernet MAC L4 Address3 Register */
+#define ETH_MACL3A3R_L3A3_Pos                         (0U)
+#define ETH_MACL3A3R_L3A3_Msk                         (0xFFFFFFFFUL << ETH_MACL3A3R_L3A3_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACL3A3R_L3A3                             ETH_MACL3A3R_L3A3_Msk    /* Layer 3 Address 3 Field */
+
+/* Bit definition for Ethernet MAC Timestamp Control Register */
+#define ETH_MACTSCR_TXTSSTSM_Pos                      (24U)
+#define ETH_MACTSCR_TXTSSTSM_Msk                      (0x1UL << ETH_MACTSCR_TXTSSTSM_Pos) /*!< 0x01000000 */
+#define ETH_MACTSCR_TXTSSTSM                          ETH_MACTSCR_TXTSSTSM_Msk  /* Transmit Timestamp Status Mode */
+#define ETH_MACTSCR_CSC_Pos                           (19U)
+#define ETH_MACTSCR_CSC_Msk                           (0x1UL << ETH_MACTSCR_CSC_Pos) /*!< 0x00080000 */
+#define ETH_MACTSCR_CSC                               ETH_MACTSCR_CSC_Msk  /* Enable checksum correction during OST for PTP over UDP/IPv4 packets */
+#define ETH_MACTSCR_TSENMACADDR_Pos                   (18U)
+#define ETH_MACTSCR_TSENMACADDR_Msk                   (0x1UL << ETH_MACTSCR_TSENMACADDR_Pos) /*!< 0x00040000 */
+#define ETH_MACTSCR_TSENMACADDR                       ETH_MACTSCR_TSENMACADDR_Msk  /* Enable MAC Address for PTP Packet Filtering */
+#define ETH_MACTSCR_SNAPTYPSEL_Pos                    (16U)
+#define ETH_MACTSCR_SNAPTYPSEL_Msk                    (0x3UL << ETH_MACTSCR_SNAPTYPSEL_Pos) /*!< 0x00030000 */
+#define ETH_MACTSCR_SNAPTYPSEL                        ETH_MACTSCR_SNAPTYPSEL_Msk  /* Select PTP packets for Taking Snapshots */
+#define ETH_MACTSCR_TSMSTRENA_Pos                     (15U)
+#define ETH_MACTSCR_TSMSTRENA_Msk                     (0x1UL << ETH_MACTSCR_TSMSTRENA_Pos) /*!< 0x00008000 */
+#define ETH_MACTSCR_TSMSTRENA                         ETH_MACTSCR_TSMSTRENA_Msk  /* Enable Snapshot for Messages Relevant to Master */
+#define ETH_MACTSCR_TSEVNTENA_Pos                     (14U)
+#define ETH_MACTSCR_TSEVNTENA_Msk                     (0x1UL << ETH_MACTSCR_TSEVNTENA_Pos) /*!< 0x00004000 */
+#define ETH_MACTSCR_TSEVNTENA                         ETH_MACTSCR_TSEVNTENA_Msk  /* Enable Timestamp Snapshot for Event Messages */
+#define ETH_MACTSCR_TSIPV4ENA_Pos                     (13U)
+#define ETH_MACTSCR_TSIPV4ENA_Msk                     (0x1UL << ETH_MACTSCR_TSIPV4ENA_Pos) /*!< 0x00002000 */
+#define ETH_MACTSCR_TSIPV4ENA                         ETH_MACTSCR_TSIPV4ENA_Msk  /* Enable Processing of PTP Packets Sent over IPv4-UDP */
+#define ETH_MACTSCR_TSIPV6ENA_Pos                     (12U)
+#define ETH_MACTSCR_TSIPV6ENA_Msk                     (0x1UL << ETH_MACTSCR_TSIPV6ENA_Pos) /*!< 0x00001000 */
+#define ETH_MACTSCR_TSIPV6ENA                         ETH_MACTSCR_TSIPV6ENA_Msk  /* Enable Processing of PTP Packets Sent over IPv6-UDP */
+#define ETH_MACTSCR_TSIPENA_Pos                       (11U)
+#define ETH_MACTSCR_TSIPENA_Msk                       (0x1UL << ETH_MACTSCR_TSIPENA_Pos) /*!< 0x00000800 */
+#define ETH_MACTSCR_TSIPENA                           ETH_MACTSCR_TSIPENA_Msk  /* Enable Processing of PTP over Ethernet Packets */
+#define ETH_MACTSCR_TSVER2ENA_Pos                     (10U)
+#define ETH_MACTSCR_TSVER2ENA_Msk                     (0x1UL << ETH_MACTSCR_TSVER2ENA_Pos) /*!< 0x00000400 */
+#define ETH_MACTSCR_TSVER2ENA                         ETH_MACTSCR_TSVER2ENA_Msk  /* Enable PTP Packet Processing for Version 2 Format */
+#define ETH_MACTSCR_TSCTRLSSR_Pos                     (9U)
+#define ETH_MACTSCR_TSCTRLSSR_Msk                     (0x1UL << ETH_MACTSCR_TSCTRLSSR_Pos) /*!< 0x00000200 */
+#define ETH_MACTSCR_TSCTRLSSR                         ETH_MACTSCR_TSCTRLSSR_Msk  /* Timestamp Digital or Binary Rollover Control */
+#define ETH_MACTSCR_TSENALL_Pos                       (8U)
+#define ETH_MACTSCR_TSENALL_Msk                       (0x1UL << ETH_MACTSCR_TSENALL_Pos) /*!< 0x00000100 */
+#define ETH_MACTSCR_TSENALL                           ETH_MACTSCR_TSENALL_Msk  /* Enable Timestamp for All Packets */
+#define ETH_MACTSCR_TSADDREG_Pos                      (5U)
+#define ETH_MACTSCR_TSADDREG_Msk                      (0x1UL << ETH_MACTSCR_TSADDREG_Pos) /*!< 0x00000020 */
+#define ETH_MACTSCR_TSADDREG                          ETH_MACTSCR_TSADDREG_Msk  /* Update Addend Register */
+#define ETH_MACTSCR_TSUPDT_Pos                        (3U)
+#define ETH_MACTSCR_TSUPDT_Msk                        (0x1UL << ETH_MACTSCR_TSUPDT_Pos) /*!< 0x00000008 */
+#define ETH_MACTSCR_TSUPDT                            ETH_MACTSCR_TSUPDT_Msk  /* Update Timestamp */
+#define ETH_MACTSCR_TSINIT_Pos                        (2U)
+#define ETH_MACTSCR_TSINIT_Msk                        (0x1UL << ETH_MACTSCR_TSINIT_Pos) /*!< 0x00000004 */
+#define ETH_MACTSCR_TSINIT                             ETH_MACTSCR_TSINIT_Msk  /* Initialize Timestamp */
+#define ETH_MACTSCR_TSCFUPDT_Pos                      (1U)
+#define ETH_MACTSCR_TSCFUPDT_Msk                      (0x1UL << ETH_MACTSCR_TSCFUPDT_Pos) /*!< 0x00000002 */
+#define ETH_MACTSCR_TSCFUPDT                          ETH_MACTSCR_TSCFUPDT_Msk  /* Fine or Coarse Timestamp Update*/
+#define ETH_MACTSCR_TSENA_Pos                         (0U)
+#define ETH_MACTSCR_TSENA_Msk                         (0x1UL << ETH_MACTSCR_TSENA_Pos) /*!< 0x00000001 */
+#define ETH_MACTSCR_TSENA                             ETH_MACTSCR_TSENA_Msk  /* Enable Timestamp */
+
+/* Bit definition for Ethernet MAC Sub-second Increment Register */
+#define ETH_MACMACSSIR_SSINC_Pos                      (16U)
+#define ETH_MACMACSSIR_SSINC_Msk                      (0xFFUL << ETH_MACMACSSIR_SSINC_Pos) /*!< 0x0000FF00 */
+#define ETH_MACMACSSIR_SSINC                          ETH_MACMACSSIR_SSINC_Msk  /* Sub-second Increment Value */
+#define ETH_MACMACSSIR_SNSINC_Pos                     (8U)
+#define ETH_MACMACSSIR_SNSINC_Msk                     (0xFFUL << ETH_MACMACSSIR_SNSINC_Pos) /*!< 0x000000FF */
+#define ETH_MACMACSSIR_SNSINC                         ETH_MACMACSSIR_SNSINC_Msk  /* Sub-nanosecond Increment Value */
+
+/* Bit definition for Ethernet MAC System Time Seconds Register */
+#define ETH_MACSTSR_TSS_Pos                           (0U)
+#define ETH_MACSTSR_TSS_Msk                           (0xFFFFFFFFUL << ETH_MACSTSR_TSS_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACSTSR_TSS                               ETH_MACSTSR_TSS_Msk  /* Timestamp Second */
+
+/* Bit definition for Ethernet MAC System Time Nanoseconds Register */
+#define ETH_MACSTNR_TSSS_Pos                          (0U)
+#define ETH_MACSTNR_TSSS_Msk                          (0x7FFFFFFFUL << ETH_MACSTNR_TSSS_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACSTNR_TSSS                              ETH_MACSTNR_TSSS_Msk  /* Timestamp Sub-seconds */
+
+/* Bit definition for Ethernet MAC System Time Seconds Update Register */
+#define ETH_MACSTSUR_TSS_Pos                          (0U)
+#define ETH_MACSTSUR_TSS_Msk                          (0xFFFFFFFFUL << ETH_MACSTSUR_TSS_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACSTSUR_TSS                              ETH_MACSTSUR_TSS_Msk  /* Timestamp Seconds */
+
+/* Bit definition for Ethernet MAC System Time Nanoseconds Update Register */
+#define ETH_MACSTNUR_ADDSUB_Pos                       (31U)
+#define ETH_MACSTNUR_ADDSUB_Msk                       (0x1UL << ETH_MACSTNUR_ADDSUB_Pos) /*!< 0x80000000 */
+#define ETH_MACSTNUR_ADDSUB                           ETH_MACSTNUR_ADDSUB_Msk  /* Add or Subtract Time */
+#define ETH_MACSTNUR_TSSS_Pos                         (0U)
+#define ETH_MACSTNUR_TSSS_Msk                         (0x7FFFFFFFUL << ETH_MACSTNUR_TSSS_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACSTNUR_TSSS                             ETH_MACSTNUR_TSSS_Msk  /* Timestamp Sub-seconds */
+
+/* Bit definition for Ethernet MAC Timestamp Addend Register */
+#define ETH_MACTSAR_TSAR_Pos                          (0U)
+#define ETH_MACTSAR_TSAR_Msk                          (0xFFFFFFFFUL << ETH_MACTSAR_TSAR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSAR_TSAR                              ETH_MACTSAR_TSAR_Msk  /* Timestamp Addend Register */
+
+/* Bit definition for Ethernet MAC Timestamp Status Register */
+#define ETH_MACTSSR_ATSNS_Pos                         (25U)
+#define ETH_MACTSSR_ATSNS_Msk                         (0x1FUL << ETH_MACTSSR_ATSNS_Pos) /*!< 0x3E000000 */
+#define ETH_MACTSSR_ATSNS                             ETH_MACTSSR_ATSNS_Msk  /* Number of Auxiliary Timestamp Snapshots */
+#define ETH_MACTSSR_ATSSTM_Pos                        (24U)
+#define ETH_MACTSSR_ATSSTM_Msk                        (0x1UL << ETH_MACTSSR_ATSSTM_Pos) /*!< 0x01000000 */
+#define ETH_MACTSSR_ATSSTM                            ETH_MACTSSR_ATSSTM_Msk  /* Auxiliary Timestamp Snapshot Trigger Missed */
+#define ETH_MACTSSR_ATSSTN_Pos                        (16U)
+#define ETH_MACTSSR_ATSSTN_Msk                        (0xFUL << ETH_MACTSSR_ATSSTN_Pos) /*!< 0x000F0000 */
+#define ETH_MACTSSR_ATSSTN                            ETH_MACTSSR_ATSSTN_Msk  /* Auxiliary Timestamp Snapshot Trigger Identifier */
+#define ETH_MACTSSR_TXTSSIS_Pos                       (15U)
+#define ETH_MACTSSR_TXTSSIS_Msk                       (0x1UL << ETH_MACTSSR_TXTSSIS_Pos) /*!< 0x00008000 */
+#define ETH_MACTSSR_TXTSSIS                           ETH_MACTSSR_TXTSSIS_Msk  /* Tx Timestamp Status Interrupt Status */
+#define ETH_MACTSSR_TSTRGTERR0_Pos                    (3U)
+#define ETH_MACTSSR_TSTRGTERR0_Msk                    (0x1UL << ETH_MACTSSR_TSTRGTERR0_Pos) /*!< 0x00000008 */
+#define ETH_MACTSSR_TSTRGTERR0                        ETH_MACTSSR_TSTRGTERR0_Msk  /* Timestamp Target Time Error */
+#define ETH_MACTSSR_AUXTSTRIG_Pos                     (2U)
+#define ETH_MACTSSR_AUXTSTRIG_Msk                     (0x1UL << ETH_MACTSSR_AUXTSTRIG_Pos) /*!< 0x00000004 */
+#define ETH_MACTSSR_AUXTSTRIG                         ETH_MACTSSR_AUXTSTRIG_Msk  /* Auxiliary Timestamp Trigger Snapshot*/
+#define ETH_MACTSSR_TSTARGT0_Pos                      (1U)
+#define ETH_MACTSSR_TSTARGT0_Msk                      (0x1UL << ETH_MACTSSR_TSTARGT0_Pos) /*!< 0x00000002 */
+#define ETH_MACTSSR_TSTARGT0                          ETH_MACTSSR_TSTARGT0_Msk  /* Timestamp Target Time Reached */
+#define ETH_MACTSSR_TSSOVF_Pos                        (0U)
+#define ETH_MACTSSR_TSSOVF_Msk                        (0x1UL << ETH_MACTSSR_TSSOVF_Pos) /*!< 0x00000001 */
+#define ETH_MACTSSR_TSSOVF                            ETH_MACTSSR_TSSOVF_Msk  /* Timestamp Seconds Overflow */
+
+/* Bit definition for Ethernet MAC Tx Timestamp Status Nanoseconds Register */
+#define ETH_MACTTSSNR_TXTSSMIS_Pos                    (31U)
+#define ETH_MACTTSSNR_TXTSSMIS_Msk                    (0x1UL << ETH_MACTTSSNR_TXTSSMIS_Pos) /*!< 0x80000000 */
+#define ETH_MACTTSSNR_TXTSSMIS                        ETH_MACTTSSNR_TXTSSMIS_Msk  /* Transmit Timestamp Status Missed */
+#define ETH_MACTTSSNR_TXTSSLO_Pos                     (0U)
+#define ETH_MACTTSSNR_TXTSSLO_Msk                     (0x7FFFFFFFUL << ETH_MACTTSSNR_TXTSSLO_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACTTSSNR_TXTSSLO                         ETH_MACTTSSNR_TXTSSLO_Msk  /* Transmit Timestamp Status Low */
+
+/* Bit definition for Ethernet MAC Tx Timestamp Status Seconds Register */
+#define ETH_MACTTSSSR_TXTSSHI_Pos                     (0U)
+#define ETH_MACTTSSSR_TXTSSHI_Msk                     (0xFFFFFFFFUL << ETH_MACTTSSSR_TXTSSHI_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTTSSSR_TXTSSHI                         ETH_MACTTSSSR_TXTSSHI_Msk  /* Transmit Timestamp Status High */
+
+/* Bit definition for Ethernet MAC Auxiliary Control Register*/
+#define ETH_MACACR_ATSEN3_Pos                         (7U)
+#define ETH_MACACR_ATSEN3_Msk                         (0x1UL << ETH_MACACR_ATSEN3_Pos) /*!< 0x00000080 */
+#define ETH_MACACR_ATSEN3                             ETH_MACACR_ATSEN3_Msk  /* Auxiliary Snapshot 3 Enable */
+#define ETH_MACACR_ATSEN2_Pos                         (6U)
+#define ETH_MACACR_ATSEN2_Msk                         (0x1UL << ETH_MACACR_ATSEN2_Pos) /*!< 0x00000040 */
+#define ETH_MACACR_ATSEN2                             ETH_MACACR_ATSEN2_Msk  /* Auxiliary Snapshot 2 Enable */
+#define ETH_MACACR_ATSEN1_Pos                         (5U)
+#define ETH_MACACR_ATSEN1_Msk                         (0x1UL << ETH_MACACR_ATSEN1_Pos) /*!< 0x00000020 */
+#define ETH_MACACR_ATSEN1                             ETH_MACACR_ATSEN1_Msk  /* Auxiliary Snapshot 1 Enable */
+#define ETH_MACACR_ATSEN0_Pos                         (4U)
+#define ETH_MACACR_ATSEN0_Msk                         (0x1UL << ETH_MACACR_ATSEN0_Pos) /*!< 0x00000010 */
+#define ETH_MACACR_ATSEN0                             ETH_MACACR_ATSEN0_Msk  /* Auxiliary Snapshot 0 Enable */
+#define ETH_MACACR_ATSFC_Pos                          (0U)
+#define ETH_MACACR_ATSFC_Msk                          (0x1UL << ETH_MACACR_ATSFC_Pos) /*!< 0x00000001 */
+#define ETH_MACACR_ATSFC                              ETH_MACACR_ATSFC_Msk  /* Auxiliary Snapshot FIFO Clear */
+
+/* Bit definition for Ethernet MAC Auxiliary Timestamp Nanoseconds Register */
+#define ETH_MACATSNR_AUXTSLO_Pos                      (0U)
+#define ETH_MACATSNR_AUXTSLO_Msk                      (0x7FFFFFFFUL << ETH_MACATSNR_AUXTSLO_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACATSNR_AUXTSLO                          ETH_MACATSNR_AUXTSLO_Msk  /* Auxiliary Timestamp */
+
+/* Bit definition for Ethernet MAC Auxiliary Timestamp Seconds Register */
+#define ETH_MACATSSR_AUXTSHI_Pos                      (0U)
+#define ETH_MACATSSR_AUXTSHI_Msk                      (0xFFFFFFFFUL << ETH_MACATSSR_AUXTSHI_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACATSSR_AUXTSHI                          ETH_MACATSSR_AUXTSHI_Msk  /* Auxiliary Timestamp */
+
+/* Bit definition for Ethernet MAC Timestamp Ingress Asymmetric Correction Register */
+#define ETH_MACTSIACR_OSTIAC_Pos                      (0U)
+#define ETH_MACTSIACR_OSTIAC_Msk                      (0xFFFFFFFFUL << ETH_MACTSIACR_OSTIAC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSIACR_OSTIAC                          ETH_MACTSIACR_OSTIAC_Msk  /* One-Step Timestamp Ingress Asymmetry Correction */
+
+/* Bit definition for Ethernet MAC Timestamp Egress Asymmetric Correction Register */
+#define ETH_MACTSEACR_OSTEAC_Pos                      (0U)
+#define ETH_MACTSEACR_OSTEAC_Msk                      (0xFFFFFFFFUL << ETH_MACTSEACR_OSTEAC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSEACR_OSTEAC                          ETH_MACTSEACR_OSTEAC_Msk  /* One-Step Timestamp Egress Asymmetry Correction */
+
+/* Bit definition for Ethernet MAC Timestamp Ingress Correction Nanosecond Register */
+#define ETH_MACTSICNR_TSIC_Pos                        (0U)
+#define ETH_MACTSICNR_TSIC_Msk                        (0xFFFFFFFFUL << ETH_MACTSICNR_TSIC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSICNR_TSIC                            ETH_MACTSICNR_TSIC_Msk  /* Timestamp Ingress Correction */
+
+/* Bit definition for Ethernet MAC Timestamp Egress correction Nanosecond Register */
+#define ETH_MACTSECNR_TSEC_Pos                        (0U)
+#define ETH_MACTSECNR_TSEC_Msk                        (0xFFFFFFFFUL << ETH_MACTSECNR_TSEC_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACTSECNR_TSEC                            ETH_MACTSECNR_TSEC_Msk  /* Timestamp Egress Correction */
+
+/* Bit definition for Ethernet MAC PPS Control Register */
+#define ETH_MACPPSCR_TRGTMODSEL0_Pos                  (5U)
+#define ETH_MACPPSCR_TRGTMODSEL0_Msk                  (0x3UL << ETH_MACPPSCR_TRGTMODSEL0_Pos) /*!< 0x00000060 */
+#define ETH_MACPPSCR_TRGTMODSEL0                      ETH_MACPPSCR_TRGTMODSEL0_Msk  /* Target Time Register Mode for PPS Output */
+#define ETH_MACPPSCR_PPSEN0_Pos                       (4U)
+#define ETH_MACPPSCR_PPSEN0_Msk                       (0x1UL << ETH_MACPPSCR_PPSEN0_Pos) /*!< 0x00000010 */
+#define ETH_MACPPSCR_PPSEN0                           ETH_MACPPSCR_PPSEN0_Msk  /* Flexible PPS Output Mode Enable */
+#define ETH_MACPPSCR_PPSCTRL_Pos                      (0U)
+#define ETH_MACPPSCR_PPSCTRL_Msk                      (0xFUL << ETH_MACPPSCR_PPSCTRL_Pos) /*!< 0x0000000F */
+#define ETH_MACPPSCR_PPSCTRL                          ETH_MACPPSCR_PPSCTRL_Msk  /* PPS Output Frequency Control */
+
+/* Bit definition for Ethernet MAC PPS Target Time Seconds Register */
+#define ETH_MACPPSTTSR_TSTRH0_Pos                     (0U)
+#define ETH_MACPPSTTSR_TSTRH0_Msk                     (0xFFFFFFFFUL << ETH_MACPPSTTSR_TSTRH0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACPPSTTSR_TSTRH0                         ETH_MACPPSTTSR_TSTRH0_Msk  /* PPS Target Time Seconds Register */
+
+/* Bit definition for Ethernet MAC PPS Target Time Nanoseconds Register */
+#define ETH_MACPPSTTNR_TRGTBUSY0_Pos                  (31U)
+#define ETH_MACPPSTTNR_TRGTBUSY0_Msk                  (0x1UL << ETH_MACPPSTTNR_TRGTBUSY0_Pos) /*!< 0x80000000 */
+#define ETH_MACPPSTTNR_TRGTBUSY0                      ETH_MACPPSTTNR_TRGTBUSY0_Msk  /* PPS Target Time Register Busy */
+#define ETH_MACPPSTTNR_TTSL0_Pos                      (0U)
+#define ETH_MACPPSTTNR_TTSL0_Msk                      (0x7FFFFFFFUL << ETH_MACPPSTTNR_TTSL0_Pos) /*!< 0x7FFFFFFF */
+#define ETH_MACPPSTTNR_TTSL0                          ETH_MACPPSTTNR_TTSL0_Msk  /* Target Time Low for PPS Register */
+
+/* Bit definition for Ethernet MAC PPS Interval Register */
+#define ETH_MACPPSIR_PPSINT0_Pos                      (0U)
+#define ETH_MACPPSIR_PPSINT0_Msk                      (0xFFFFFFFFUL << ETH_MACPPSIR_PPSINT0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACPPSIR_PPSINT0                          ETH_MACPPSIR_PPSINT0_Msk  /* PPS Output Signal Interval */
+
+/* Bit definition for Ethernet MAC PPS Width Register */
+#define ETH_MACPPSWR_PPSWIDTH0_Pos                    (0U)
+#define ETH_MACPPSWR_PPSWIDTH0_Msk                    (0xFFFFFFFFUL << ETH_MACPPSWR_PPSWIDTH0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACPPSWR_PPSWIDTH0                        ETH_MACPPSWR_PPSWIDTH0_Msk  /* PPS Output Signal Width */
+
+/* Bit definition for Ethernet MAC PTP Offload Control Register */
+#define ETH_MACPOCR_DN_Pos                            (8U)
+#define ETH_MACPOCR_DN_Msk                            (0xFFUL << ETH_MACPOCR_DN_Pos) /*!< 0x0000FF00 */
+#define ETH_MACPOCR_DN                                ETH_MACPOCR_DN_Msk  /* Domain Number */
+#define ETH_MACPOCR_DRRDIS_Pos                        (6U)
+#define ETH_MACPOCR_DRRDIS_Msk                        (0x1UL << ETH_MACPOCR_DRRDIS_Pos) /*!< 0x00000040 */
+#define ETH_MACPOCR_DRRDIS                            ETH_MACPOCR_DRRDIS_Msk  /* Disable PTO Delay Request/Response response generation */
+#define ETH_MACPOCR_APDREQTRIG_Pos                    (5U)
+#define ETH_MACPOCR_APDREQTRIG_Msk                    (0x1UL << ETH_MACPOCR_APDREQTRIG_Pos) /*!< 0x00000020 */
+#define ETH_MACPOCR_APDREQTRIG                        ETH_MACPOCR_APDREQTRIG_Msk  /* Automatic PTP Pdelay_Req message Trigger */
+#define ETH_MACPOCR_ASYNCTRIG_Pos                     (4U)
+#define ETH_MACPOCR_ASYNCTRIG_Msk                     (0x1UL << ETH_MACPOCR_ASYNCTRIG_Pos) /*!< 0x00000010 */
+#define ETH_MACPOCR_ASYNCTRIG                         ETH_MACPOCR_ASYNCTRIG_Msk  /* Automatic PTP SYNC message Trigger */
+#define ETH_MACPOCR_APDREQEN_Pos                      (2U)
+#define ETH_MACPOCR_APDREQEN_Msk                      (0x1UL << ETH_MACPOCR_APDREQEN_Pos) /*!< 0x00000004 */
+#define ETH_MACPOCR_APDREQEN                          ETH_MACPOCR_APDREQEN_Msk  /* Automatic PTP Pdelay_Req message Enable */
+#define ETH_MACPOCR_ASYNCEN_Pos                       (1U)
+#define ETH_MACPOCR_ASYNCEN_Msk                       (0x1UL << ETH_MACPOCR_ASYNCEN_Pos) /*!< 0x00000002 */
+#define ETH_MACPOCR_ASYNCEN                           ETH_MACPOCR_ASYNCEN_Msk  /* Automatic PTP SYNC message Enable */
+#define ETH_MACPOCR_PTOEN_Pos                         (0U)
+#define ETH_MACPOCR_PTOEN_Msk                         (0x1UL << ETH_MACPOCR_PTOEN_Pos) /*!< 0x00000001 */
+#define ETH_MACPOCR_PTOEN                             ETH_MACPOCR_PTOEN_Msk  /* PTP Offload Enable */
+
+/* Bit definition for Ethernet MAC PTP Source Port Identity 0 Register */
+#define ETH_MACSPI0R_SPI0_Pos                         (0U)
+#define ETH_MACSPI0R_SPI0_Msk                         (0xFFFFFFFFUL << ETH_MACSPI0R_SPI0_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACSPI0R_SPI0                             ETH_MACSPI0R_SPI0_Msk  /* Source Port Identity 0 */
+
+/* Bit definition for Ethernet MAC PTP Source Port Identity 1 Register */
+#define ETH_MACSPI1R_SPI1_Pos                         (0U)
+#define ETH_MACSPI1R_SPI1_Msk                         (0xFFFFFFFFUL << ETH_MACSPI1R_SPI1_Pos) /*!< 0xFFFFFFFF */
+#define ETH_MACSPI1R_SPI1                             ETH_MACSPI1R_SPI1_Msk  /* Source Port Identity 1 */
+
+/* Bit definition for Ethernet MAC PTP Source Port Identity 2 Register */
+#define ETH_MACSPI2R_SPI2_Pos                         (0U)
+#define ETH_MACSPI2R_SPI2_Msk                         (0xFFFFUL << ETH_MACSPI2R_SPI2_Pos) /*!< 0x0000FFFF */
+#define ETH_MACSPI2R_SPI2                             ETH_MACSPI2R_SPI2_Msk  /* Source Port Identity 2 */
+
+/* Bit definition for Ethernet MAC Log Message Interval Register */
+#define ETH_MACLMIR_LMPDRI_Pos                        (24U)
+#define ETH_MACLMIR_LMPDRI_Msk                        (0xFFUL << ETH_MACLMIR_LMPDRI_Pos) /*!< 0xFF000000 */
+#define ETH_MACLMIR_LMPDRI                             ETH_MACLMIR_LMPDRI_Msk  /* Log Min Pdelay_Req Interval */
+#define ETH_MACLMIR_DRSYNCR_Pos                       (8U)
+#define ETH_MACLMIR_DRSYNCR_Msk                       (0x7UL << ETH_MACLMIR_DRSYNCR_Pos) /*!< 0x00000700 */
+#define ETH_MACLMIR_DRSYNCR                           ETH_MACLMIR_DRSYNCR_Msk  /* Delay_Req to SYNC Ratio */
+#define ETH_MACLMIR_LSI_Pos                           (0U)
+#define ETH_MACLMIR_LSI_Msk                           (0xFFUL << ETH_MACLMIR_LSI_Pos) /*!< 0x000000FF */
+#define ETH_MACLMIR_LSI                               ETH_MACLMIR_LSI_Msk  /* Log Sync Interval */
+
+/* Bit definition for Ethernet MTL Operation Mode Register */
+#define ETH_MTLOMR_CNTCLR_Pos                         (9U)
+#define ETH_MTLOMR_CNTCLR_Msk                         (0x1UL << ETH_MTLOMR_CNTCLR_Pos) /*!< 0x00000200 */
+#define ETH_MTLOMR_CNTCLR                             ETH_MTLOMR_CNTCLR_Msk    /* Counters Reset */
+#define ETH_MTLOMR_CNTPRST_Pos                        (8U)
+#define ETH_MTLOMR_CNTPRST_Msk                        (0x1UL << ETH_MTLOMR_CNTPRST_Pos) /*!< 0x00000100 */
+#define ETH_MTLOMR_CNTPRST                            ETH_MTLOMR_CNTPRST_Msk   /* Counters Preset */
+#define ETH_MTLOMR_DTXSTS_Pos                         (1U)
+#define ETH_MTLOMR_DTXSTS_Msk                         (0x1UL << ETH_MTLOMR_DTXSTS_Pos) /*!< 0x00000002 */
+#define ETH_MTLOMR_DTXSTS                             ETH_MTLOMR_DTXSTS_Msk  /* Drop Transmit Status */
+
+/* Bit definition for Ethernet MTL Interrupt Status Register */
+#define ETH_MTLISR_MACIS_Pos                          (16U)
+#define ETH_MTLISR_MACIS_Msk                          (0x1UL << ETH_MTLISR_MACIS_Pos) /*!< 0x00010000 */
+#define ETH_MTLISR_MACIS                              ETH_MTLISR_MACIS_Msk     /* MAC Interrupt Status */
+#define ETH_MTLISR_QIS_Pos                            (0U)
+#define ETH_MTLISR_QIS_Msk                            (0x1UL << ETH_MTLISR_QIS_Pos) /*!< 0x00000001 */
+#define ETH_MTLISR_QIS                                ETH_MTLISR_QIS_Msk       /* Queue Interrupt status */
+
+/* Bit definition for Ethernet MTL Tx Queue Operation Mode Register */
+#define ETH_MTLTQOMR_TTC_Pos                          (4U)
+#define ETH_MTLTQOMR_TTC_Msk                          (0x7UL << ETH_MTLTQOMR_TTC_Pos) /*!< 0x00000070 */
+#define ETH_MTLTQOMR_TTC                              ETH_MTLTQOMR_TTC_Msk     /* Transmit Threshold Control */
+#define ETH_MTLTQOMR_TTC_32BITS                       ((uint32_t)0x00000000)   /* 32 bits Threshold */
+#define ETH_MTLTQOMR_TTC_64BITS                       ((uint32_t)0x00000010)   /* 64  bits Threshold */
+#define ETH_MTLTQOMR_TTC_96BITS                       ((uint32_t)0x00000020)   /* 96 bits Threshold */
+#define ETH_MTLTQOMR_TTC_128BITS                      ((uint32_t)0x00000030)   /* 128 bits Threshold */
+#define ETH_MTLTQOMR_TTC_192BITS                      ((uint32_t)0x00000040)   /* 192 bits Threshold */
+#define ETH_MTLTQOMR_TTC_256BITS                      ((uint32_t)0x00000050)   /* 256 bits Threshold */
+#define ETH_MTLTQOMR_TTC_384BITS                      ((uint32_t)0x00000060)   /* 384 bits Threshold */
+#define ETH_MTLTQOMR_TTC_512BITS                      ((uint32_t)0x00000070)   /* 512 bits Threshold */
+#define ETH_MTLTQOMR_TSF_Pos                          (1U)
+#define ETH_MTLTQOMR_TSF_Msk                          (0x1UL << ETH_MTLTQOMR_TSF_Pos) /*!< 0x00000002 */
+#define ETH_MTLTQOMR_TSF                              ETH_MTLTQOMR_TSF_Msk     /* Transmit Store and Forward */
+#define ETH_MTLTQOMR_FTQ_Pos                          (0U)
+#define ETH_MTLTQOMR_FTQ_Msk                          (0x1UL << ETH_MTLTQOMR_FTQ_Pos) /*!< 0x00000001 */
+#define ETH_MTLTQOMR_FTQ                              ETH_MTLTQOMR_FTQ_Msk     /* Flush Transmit Queue */
+
+/* Bit definition for Ethernet MTL Tx Queue Underflow Register */
+#define ETH_MTLTQUR_UFCNTOVF_Pos                      (11U)
+#define ETH_MTLTQUR_UFCNTOVF_Msk                      (0x1UL << ETH_MTLTQUR_UFCNTOVF_Pos) /*!< 0x00000800 */
+#define ETH_MTLTQUR_UFCNTOVF                          ETH_MTLTQUR_UFCNTOVF_Msk /* Overflow Bit for Underflow Packet Counter */
+#define ETH_MTLTQUR_UFPKTCNT_Pos                      (0U)
+#define ETH_MTLTQUR_UFPKTCNT_Msk                      (0x7FFUL << ETH_MTLTQUR_UFPKTCNT_Pos) /*!< 0x000007FF */
+#define ETH_MTLTQUR_UFPKTCNT                          ETH_MTLTQUR_UFPKTCNT_Msk /* Underflow Packet Counter */
+
+/* Bit definition for Ethernet MTL Tx Queue Debug Register */
+#define ETH_MTLTQDR_STXSTSF_Pos                       (20U)
+#define ETH_MTLTQDR_STXSTSF_Msk                       (0x7UL << ETH_MTLTQDR_STXSTSF_Pos) /*!< 0x00700000 */
+#define ETH_MTLTQDR_STXSTSF                           ETH_MTLTQDR_STXSTSF_Msk  /* Number of Status Words in the Tx Status FIFO of Queue */
+#define ETH_MTLTQDR_PTXQ_Pos                          (16U)
+#define ETH_MTLTQDR_PTXQ_Msk                          (0x7UL << ETH_MTLTQDR_PTXQ_Pos) /*!< 0x00070000 */
+#define ETH_MTLTQDR_PTXQ                              ETH_MTLTQDR_PTXQ_Msk     /* Number of Packets in the Transmit Queue */
+#define ETH_MTLTQDR_TXSTSFSTS_Pos                     (5U)
+#define ETH_MTLTQDR_TXSTSFSTS_Msk                     (0x1UL << ETH_MTLTQDR_TXSTSFSTS_Pos) /*!< 0x00000020 */
+#define ETH_MTLTQDR_TXSTSFSTS                         ETH_MTLTQDR_TXSTSFSTS_Msk /* MTL Tx Status FIFO Full Status */
+#define ETH_MTLTQDR_TXQSTS_Pos                        (4U)
+#define ETH_MTLTQDR_TXQSTS_Msk                        (0x1UL << ETH_MTLTQDR_TXQSTS_Pos) /*!< 0x00000010 */
+#define ETH_MTLTQDR_TXQSTS                            ETH_MTLTQDR_TXQSTS_Msk   /* MTL Tx Queue Not Empty Status */
+#define ETH_MTLTQDR_TWCSTS_Pos                        (3U)
+#define ETH_MTLTQDR_TWCSTS_Msk                        (0x1UL << ETH_MTLTQDR_TWCSTS_Pos) /*!< 0x00000008 */
+#define ETH_MTLTQDR_TWCSTS                            ETH_MTLTQDR_TWCSTS_Msk   /* MTL Tx Queue Write Controller Status */
+#define ETH_MTLTQDR_TRCSTS_Pos                        (1U)
+#define ETH_MTLTQDR_TRCSTS_Msk                        (0x3UL << ETH_MTLTQDR_TRCSTS_Pos) /*!< 0x00000006 */
+#define ETH_MTLTQDR_TRCSTS                            ETH_MTLTQDR_TRCSTS_Msk  /* MTL Tx Queue Read Controller Status */
+#define ETH_MTLTQDR_TRCSTS_IDLE                       ((uint32_t)0x00000000)  /* Idle state */
+#define ETH_MTLTQDR_TRCSTS_READ                       ((uint32_t)0x00000002)  /* Read state (transferring data to the MAC transmitter) */
+#define ETH_MTLTQDR_TRCSTS_WAITING                    ((uint32_t)0x00000004)  /* Waiting for pending Tx Status from the MAC transmitter */
+#define ETH_MTLTQDR_TRCSTS_FLUSHING                   ((uint32_t)0x00000006)  /* Flushing the Tx queue because of the Packet Abort request from the MAC */
+#define ETH_MTLTQDR_TXQPAUSED_Pos                     (0U)
+#define ETH_MTLTQDR_TXQPAUSED_Msk                     (0x1UL << ETH_MTLTQDR_TXQPAUSED_Pos) /*!< 0x00000001 */
+#define ETH_MTLTQDR_TXQPAUSED                         ETH_MTLTQDR_TXQPAUSED_Msk /* Transmit Queue in Pause */
+
+/* Bit definition for Ethernet MTL Queue Interrupt Control Status Register */
+#define ETH_MTLQICSR_RXOIE_Pos                        (24U)
+#define ETH_MTLQICSR_RXOIE_Msk                        (0x1UL << ETH_MTLQICSR_RXOIE_Pos) /*!< 0x01000000 */
+#define ETH_MTLQICSR_RXOIE                            ETH_MTLQICSR_RXOIE_Msk   /* Receive Queue Overflow Interrupt Enable */
+#define ETH_MTLQICSR_RXOVFIS_Pos                      (16U)
+#define ETH_MTLQICSR_RXOVFIS_Msk                      (0x1UL << ETH_MTLQICSR_RXOVFIS_Pos) /*!< 0x00010000 */
+#define ETH_MTLQICSR_RXOVFIS                          ETH_MTLQICSR_RXOVFIS_Msk /* Receive Queue Overflow Interrupt Status */
+#define ETH_MTLQICSR_TXUIE_Pos                        (8U)
+#define ETH_MTLQICSR_TXUIE_Msk                        (0x1UL << ETH_MTLQICSR_TXUIE_Pos) /*!< 0x00000100 */
+#define ETH_MTLQICSR_TXUIE                            ETH_MTLQICSR_TXUIE_Msk   /* Transmit Queue Underflow Interrupt Enable */
+#define ETH_MTLQICSR_TXUNFIS_Pos                      (0U)
+#define ETH_MTLQICSR_TXUNFIS_Msk                      (0x1UL << ETH_MTLQICSR_TXUNFIS_Pos) /*!< 0x00000001 */
+#define ETH_MTLQICSR_TXUNFIS                          ETH_MTLQICSR_TXUNFIS_Msk /* Transmit Queue Underflow Interrupt Status */
+
+/* Bit definition for Ethernet MTL Rx Queue Operation Mode Register */
+#define ETH_MTLRQOMR_RQS_Pos                          (20U)
+#define ETH_MTLRQOMR_RQS_Msk                          (0x7UL << ETH_MTLRQOMR_RQS_Pos) /*!< 0x00700000 */
+#define ETH_MTLRQOMR_RQS                              ETH_MTLRQOMR_RQS_Msk /* Receive Queue Size */
+#define ETH_MTLRQOMR_RFD_Pos                          (14U)
+#define ETH_MTLRQOMR_RFD_Msk                          (0x7UL << ETH_MTLRQOMR_RFD_Pos) /*!< 0x0001C000 */
+#define ETH_MTLRQOMR_RFD                              ETH_MTLRQOMR_RFD_Msk /* Threshold for Deactivating Flow Control (in half-duplex and full-duplex modes) */
+#define ETH_MTLRQOMR_RFA_Pos                          (8U)
+#define ETH_MTLRQOMR_RFA_Msk                          (0x7UL << ETH_MTLRQOMR_RFA_Pos) /*!< 0x00000700 */
+#define ETH_MTLRQOMR_RFA                              ETH_MTLRQOMR_RFA_Msk /* Threshold for Activating Flow Control (in half-duplex and full-duplex */
+#define ETH_MTLRQOMR_EHFC_Pos                         (7U)
+#define ETH_MTLRQOMR_EHFC_Msk                         (0x1UL << ETH_MTLRQOMR_EHFC_Pos) /*!< 0x00000080 */
+#define ETH_MTLRQOMR_EHFC                             ETH_MTLRQOMR_EHFC_Msk /* DEnable Hardware Flow Control */
+#define ETH_MTLRQOMR_DISTCPEF_Pos                     (6U)
+#define ETH_MTLRQOMR_DISTCPEF_Msk                     (0x1UL << ETH_MTLRQOMR_DISTCPEF_Pos) /*!< 0x00000040 */
+#define ETH_MTLRQOMR_DISTCPEF                         ETH_MTLRQOMR_DISTCPEF_Msk /* Disable Dropping of TCP/IP Checksum Error Packets */
+#define ETH_MTLRQOMR_RSF_Pos                          (5U)
+#define ETH_MTLRQOMR_RSF_Msk                          (0x1UL << ETH_MTLRQOMR_RSF_Pos) /*!< 0x00000020 */
+#define ETH_MTLRQOMR_RSF                              ETH_MTLRQOMR_RSF_Msk     /* Receive Queue Store and Forward */
+#define ETH_MTLRQOMR_FEP_Pos                          (4U)
+#define ETH_MTLRQOMR_FEP_Msk                          (0x1UL << ETH_MTLRQOMR_FEP_Pos) /*!< 0x00000010 */
+#define ETH_MTLRQOMR_FEP                              ETH_MTLRQOMR_FEP_Msk     /* Forward Error Packets */
+#define ETH_MTLRQOMR_FUP_Pos                          (3U)
+#define ETH_MTLRQOMR_FUP_Msk                          (0x1UL << ETH_MTLRQOMR_FUP_Pos) /*!< 0x00000008 */
+#define ETH_MTLRQOMR_FUP                              ETH_MTLRQOMR_FUP_Msk     /* Forward Undersized Good Packets */
+#define ETH_MTLRQOMR_RTC_Pos                          (0U)
+#define ETH_MTLRQOMR_RTC_Msk                          (0x3UL << ETH_MTLRQOMR_RTC_Pos) /*!< 0x00000003 */
+#define ETH_MTLRQOMR_RTC                              ETH_MTLRQOMR_RTC_Msk     /* Receive Queue Threshold Control */
+#define ETH_MTLRQOMR_RTC_64BITS                       ((uint32_t)0x00000000)   /* 64 bits Threshold */
+#define ETH_MTLRQOMR_RTC_32BITS                       ((uint32_t)0x00000001)   /* 32 bits Threshold */
+#define ETH_MTLRQOMR_RTC_96BITS                       ((uint32_t)0x00000002)   /* 96 bits Threshold */
+#define ETH_MTLRQOMR_RTC_128BITS                      ((uint32_t)0x00000003)   /* 128 bits Threshold */
+
+/* Bit definition for Ethernet MTL Rx Queue Missed Packet Overflow Cnt Register */
+#define ETH_MTLRQMPOCR_MISCNTOVF_Pos                  (27U)
+#define ETH_MTLRQMPOCR_MISCNTOVF_Msk                  (0x1UL << ETH_MTLRQMPOCR_MISCNTOVF_Pos) /*!< 0x08000000 */
+#define ETH_MTLRQMPOCR_MISCNTOVF                      ETH_MTLRQMPOCR_MISCNTOVF_Msk /* Missed Packet Counter Overflow Bit */
+#define ETH_MTLRQMPOCR_MISPKTCNT_Pos                  (16U)
+#define ETH_MTLRQMPOCR_MISPKTCNT_Msk                  (0x7FFUL << ETH_MTLRQMPOCR_MISPKTCNT_Pos) /*!< 0x07FF0000 */
+#define ETH_MTLRQMPOCR_MISPKTCNT                      ETH_MTLRQMPOCR_MISPKTCNT_Msk /* Missed Packet Counter */
+#define ETH_MTLRQMPOCR_OVFCNTOVF_Pos                  (11U)
+#define ETH_MTLRQMPOCR_OVFCNTOVF_Msk                  (0x1UL << ETH_MTLRQMPOCR_OVFCNTOVF_Pos) /*!< 0x00000800 */
+#define ETH_MTLRQMPOCR_OVFCNTOVF                      ETH_MTLRQMPOCR_OVFCNTOVF_Msk /* Overflow Counter Overflow Bit */
+#define ETH_MTLRQMPOCR_OVFPKTCNT_Pos                  (0U)
+#define ETH_MTLRQMPOCR_OVFPKTCNT_Msk                  (0x7FFUL << ETH_MTLRQMPOCR_OVFPKTCNT_Pos) /*!< 0x000007FF */
+#define ETH_MTLRQMPOCR_OVFPKTCNT                      ETH_MTLRQMPOCR_OVFPKTCNT_Msk /* Overflow Packet Counter */
+
+/* Bit definition for Ethernet MTL Rx Queue Debug Register */
+#define ETH_MTLRQDR_PRXQ_Pos                          (16U)
+#define ETH_MTLRQDR_PRXQ_Msk                          (0x3FFFUL << ETH_MTLRQDR_PRXQ_Pos) /*!< 0x3FFF0000 */
+#define ETH_MTLRQDR_PRXQ                              ETH_MTLRQDR_PRXQ_Msk     /* Number of Packets in Receive Queue */
+#define ETH_MTLRQDR_RXQSTS_Pos                        (4U)
+#define ETH_MTLRQDR_RXQSTS_Msk                        (0x3UL << ETH_MTLRQDR_RXQSTS_Pos) /*!< 0x00000030 */
+#define ETH_MTLRQDR_RXQSTS                            ETH_MTLRQDR_RXQSTS_Msk   /* MTL Rx Queue Fill-Level Status */
+#define ETH_MTLRQDR_RXQSTS_EMPTY                      ((uint32_t)0x00000000)   /* Rx Queue empty */
+#define ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD_Pos         (4U)
+#define ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD_Msk         (0x1UL << ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD_Pos) /*!< 0x00000010 */
+#define ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD             ETH_MTLRQDR_RXQSTS_BELOWTHRESHOLD_Msk /* Rx Queue fill-level below flow-control deactivate threshold */
+#define ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD_Pos         (5U)
+#define ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD_Msk         (0x1UL << ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD_Pos) /*!< 0x00000020 */
+#define ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD             ETH_MTLRQDR_RXQSTS_ABOVETHRESHOLD_Msk /* Rx Queue fill-level above flow-control activate threshold */
+#define ETH_MTLRQDR_RXQSTS_FULL_Pos                   (4U)
+#define ETH_MTLRQDR_RXQSTS_FULL_Msk                   (0x3UL << ETH_MTLRQDR_RXQSTS_FULL_Pos) /*!< 0x00000030 */
+#define ETH_MTLRQDR_RXQSTS_FULL                       ETH_MTLRQDR_RXQSTS_FULL_Msk /* Rx Queue full */
+#define ETH_MTLRQDR_RRCSTS_Pos                        (1U)
+#define ETH_MTLRQDR_RRCSTS_Msk                        (0x3UL << ETH_MTLRQDR_RRCSTS_Pos) /*!< 0x00000006 */
+#define ETH_MTLRQDR_RRCSTS                            ETH_MTLRQDR_RRCSTS_Msk   /* MTL Rx Queue Read Controller State */
+#define ETH_MTLRQDR_RRCSTS_IDLE                       ((uint32_t)0x00000000)   /* Idle state */
+#define ETH_MTLRQDR_RRCSTS_READINGDATA_Pos            (1U)
+#define ETH_MTLRQDR_RRCSTS_READINGDATA_Msk            (0x1UL << ETH_MTLRQDR_RRCSTS_READINGDATA_Pos) /*!< 0x00000002 */
+#define ETH_MTLRQDR_RRCSTS_READINGDATA                ETH_MTLRQDR_RRCSTS_READINGDATA_Msk /* Reading packet data */
+#define ETH_MTLRQDR_RRCSTS_READINGSTATUS_Pos          (2U)
+#define ETH_MTLRQDR_RRCSTS_READINGSTATUS_Msk          (0x1UL << ETH_MTLRQDR_RRCSTS_READINGSTATUS_Pos) /*!< 0x00000004 */
+#define ETH_MTLRQDR_RRCSTS_READINGSTATUS              ETH_MTLRQDR_RRCSTS_READINGSTATUS_Msk /* Reading packet status (or timestamp) */
+#define ETH_MTLRQDR_RRCSTS_FLUSHING_Pos               (1U)
+#define ETH_MTLRQDR_RRCSTS_FLUSHING_Msk               (0x3UL << ETH_MTLRQDR_RRCSTS_FLUSHING_Pos) /*!< 0x00000006 */
+#define ETH_MTLRQDR_RRCSTS_FLUSHING                   ETH_MTLRQDR_RRCSTS_FLUSHING_Msk /* Flushing the packet data and status */
+#define ETH_MTLRQDR_RWCSTS_Pos                        (0U)
+#define ETH_MTLRQDR_RWCSTS_Msk                        (0x1UL << ETH_MTLRQDR_RWCSTS_Pos) /*!< 0x00000001 */
+#define ETH_MTLRQDR_RWCSTS                            ETH_MTLRQDR_RWCSTS_Msk   /* MTL Rx Queue Write Controller Active Status */
+
+/* Bit definition for Ethernet MTL Rx Queue Control Register */
+#define ETH_MTLRQCR_RQPA_Pos                          (3U)
+#define ETH_MTLRQCR_RQPA_Msk                          (0x1UL << ETH_MTLRQCR_RQPA_Pos) /*!< 0x00000008 */
+#define ETH_MTLRQCR_RQPA                              ETH_MTLRQCR_RQPA_Msk     /* Receive Queue Packet Arbitration */
+#define ETH_MTLRQCR_RQW_Pos                           (0U)
+#define ETH_MTLRQCR_RQW_Msk                           (0x7UL << ETH_MTLRQCR_RQW_Pos) /*!< 0x00000007 */
+#define ETH_MTLRQCR_RQW                               ETH_MTLRQCR_RQW_Msk      /* Receive Queue Weight */
+
+/* Bit definition for Ethernet DMA Mode Register */
+#define ETH_DMAMR_INTM_Pos                            (16U)
+#define ETH_DMAMR_INTM_Msk                            (0x3UL << ETH_DMAMR_INTM_Pos) /*!< 0x00030000 */
+#define ETH_DMAMR_INTM                                ETH_DMAMR_INTM_Msk       /* This field defines the interrupt mode */
+#define ETH_DMAMR_INTM_0                              (0x0UL << ETH_DMAMR_INTM_Pos) /*!< 0x00000000 */
+#define ETH_DMAMR_INTM_1                              (0x1UL << ETH_DMAMR_INTM_Pos) /*!< 0x00010000 */
+#define ETH_DMAMR_INTM_2                              (0x2UL << ETH_DMAMR_INTM_Pos) /*!< 0x00020000 */
+#define ETH_DMAMR_PR_Pos                              (12U)
+#define ETH_DMAMR_PR_Msk                              (0x7UL << ETH_DMAMR_PR_Pos) /*!< 0x00007000 */
+#define ETH_DMAMR_PR                                  ETH_DMAMR_PR_Msk         /* Priority Ratio */
+#define ETH_DMAMR_PR_1_1                              ((uint32_t)0x00000000)   /* The priority ratio is 1:1 */
+#define ETH_DMAMR_PR_2_1                              ((uint32_t)0x00001000)   /* The priority ratio is 2:1 */
+#define ETH_DMAMR_PR_3_1                              ((uint32_t)0x00002000)   /* The priority ratio is 3:1 */
+#define ETH_DMAMR_PR_4_1                              ((uint32_t)0x00003000)   /* The priority ratio is 4:1 */
+#define ETH_DMAMR_PR_5_1                              ((uint32_t)0x00004000)   /* The priority ratio is 5:1 */
+#define ETH_DMAMR_PR_6_1                              ((uint32_t)0x00005000)   /* The priority ratio is 6:1 */
+#define ETH_DMAMR_PR_7_1                              ((uint32_t)0x00006000)   /* The priority ratio is 7:1 */
+#define ETH_DMAMR_PR_8_1                              ((uint32_t)0x00007000)   /* The priority ratio is 8:1 */
+#define ETH_DMAMR_TXPR_Pos                            (11U)
+#define ETH_DMAMR_TXPR_Msk                            (0x1UL << ETH_DMAMR_TXPR_Pos) /*!< 0x00000800 */
+#define ETH_DMAMR_TXPR                                ETH_DMAMR_TXPR_Msk       /* Transmit Priority */
+#define ETH_DMAMR_DA_Pos                              (1U)
+#define ETH_DMAMR_DA_Msk                              (0x1UL << ETH_DMAMR_DA_Pos) /*!< 0x00000002 */
+#define ETH_DMAMR_DA                                  ETH_DMAMR_DA_Msk         /* DMA Tx or Rx Arbitration Scheme */
+#define ETH_DMAMR_SWR_Pos                             (0U)
+#define ETH_DMAMR_SWR_Msk                             (0x1UL << ETH_DMAMR_SWR_Pos) /*!< 0x00000001 */
+#define ETH_DMAMR_SWR                                 ETH_DMAMR_SWR_Msk        /* Software Reset */
+
+/* Bit definition for Ethernet DMA SysBus Mode Register */
+#define ETH_DMASBMR_RB_Pos                            (15U)
+#define ETH_DMASBMR_RB_Msk                            (0x1UL << ETH_DMASBMR_RB_Pos) /*!< 0x00008000 */
+#define ETH_DMASBMR_RB                                ETH_DMASBMR_RB_Msk       /* Rebuild INCRx Burst */
+#define ETH_DMASBMR_MB_Pos                            (14U)
+#define ETH_DMASBMR_MB_Msk                            (0x1UL << ETH_DMASBMR_MB_Pos) /*!< 0x00004000 */
+#define ETH_DMASBMR_MB                                ETH_DMASBMR_MB_Msk       /* Mixed Burst */
+#define ETH_DMASBMR_AAL_Pos                           (12U)
+#define ETH_DMASBMR_AAL_Msk                           (0x1UL << ETH_DMASBMR_AAL_Pos) /*!< 0x00001000 */
+#define ETH_DMASBMR_AAL                               ETH_DMASBMR_AAL_Msk      /* Address-Aligned Beats */
+#define ETH_DMASBMR_FB_Pos                            (0U)
+#define ETH_DMASBMR_FB_Msk                            (0x1UL << ETH_DMASBMR_FB_Pos) /*!< 0x00000001 */
+#define ETH_DMASBMR_FB                                ETH_DMASBMR_FB_Msk       /* Fixed Burst Length */
+
+/* Bit definition for Ethernet DMA Interrupt Status Register */
+#define ETH_DMAISR_MACIS_Pos                          (17U)
+#define ETH_DMAISR_MACIS_Msk                          (0x1UL << ETH_DMAISR_MACIS_Pos) /*!< 0x00020000 */
+#define ETH_DMAISR_MACIS                              ETH_DMAISR_MACIS_Msk     /* MAC Interrupt Status */
+#define ETH_DMAISR_MTLIS_Pos                          (16U)
+#define ETH_DMAISR_MTLIS_Msk                          (0x1UL << ETH_DMAISR_MTLIS_Pos) /*!< 0x00010000 */
+#define ETH_DMAISR_MTLIS                              ETH_DMAISR_MTLIS_Msk     /* MAC Interrupt Status */
+#define ETH_DMAISR_DMACIS_Pos                         (0U)
+#define ETH_DMAISR_DMACIS_Msk                         (0x1UL << ETH_DMAISR_DMACIS_Pos) /*!< 0x00000001 */
+#define ETH_DMAISR_DMACIS                             ETH_DMAISR_DMACIS_Msk    /* DMA Channel Interrupt Status */
+
+/* Bit definition for Ethernet DMA Debug Status Register */
+#define ETH_DMADSR_TPS_Pos                            (12U)
+#define ETH_DMADSR_TPS_Msk                            (0xFUL << ETH_DMADSR_TPS_Pos) /*!< 0x0000F000 */
+#define ETH_DMADSR_TPS                                ETH_DMADSR_TPS_Msk       /* DMA Channel Transmit Process State */
+#define ETH_DMADSR_TPS_STOPPED                        ((uint32_t)0x00000000)   /* Stopped (Reset or Stop Transmit Command issued) */
+#define ETH_DMADSR_TPS_FETCHING_Pos                   (12U)
+#define ETH_DMADSR_TPS_FETCHING_Msk                   (0x1UL << ETH_DMADSR_TPS_FETCHING_Pos) /*!< 0x00001000 */
+#define ETH_DMADSR_TPS_FETCHING                       ETH_DMADSR_TPS_FETCHING_Msk /* Running (Fetching Tx Transfer Descriptor) */
+#define ETH_DMADSR_TPS_WAITING_Pos                    (13U)
+#define ETH_DMADSR_TPS_WAITING_Msk                    (0x1UL << ETH_DMADSR_TPS_WAITING_Pos) /*!< 0x00002000 */
+#define ETH_DMADSR_TPS_WAITING                        ETH_DMADSR_TPS_WAITING_Msk /* Running (Waiting for status) */
+#define ETH_DMADSR_TPS_READING_Pos                    (12U)
+#define ETH_DMADSR_TPS_READING_Msk                    (0x3UL << ETH_DMADSR_TPS_READING_Pos) /*!< 0x00003000 */
+#define ETH_DMADSR_TPS_READING                        ETH_DMADSR_TPS_READING_Msk /* Running (Reading Data from system memory buffer and queuing it to the Tx buffer (Tx FIFO)) */
+#define ETH_DMADSR_TPS_TIMESTAMP_WR_Pos               (14U)
+#define ETH_DMADSR_TPS_TIMESTAMP_WR_Msk               (0x1UL << ETH_DMADSR_TPS_TIMESTAMP_WR_Pos) /*!< 0x00004000 */
+#define ETH_DMADSR_TPS_TIMESTAMP_WR                   ETH_DMADSR_TPS_TIMESTAMP_WR_Msk /* Timestamp write state */
+#define ETH_DMADSR_TPS_SUSPENDED_Pos                  (13U)
+#define ETH_DMADSR_TPS_SUSPENDED_Msk                  (0x3UL << ETH_DMADSR_TPS_SUSPENDED_Pos) /*!< 0x00006000 */
+#define ETH_DMADSR_TPS_SUSPENDED                      ETH_DMADSR_TPS_SUSPENDED_Msk /* Suspended (Tx Descriptor Unavailable or Tx Buffer Underflow) */
+#define ETH_DMADSR_TPS_CLOSING_Pos                    (12U)
+#define ETH_DMADSR_TPS_CLOSING_Msk                    (0x7UL << ETH_DMADSR_TPS_CLOSING_Pos) /*!< 0x00007000 */
+#define ETH_DMADSR_TPS_CLOSING                        ETH_DMADSR_TPS_CLOSING_Msk /* Running (Closing Tx Descriptor) */
+#define ETH_DMADSR_RPS_Pos                            (8U)
+#define ETH_DMADSR_RPS_Msk                            (0xFUL << ETH_DMADSR_RPS_Pos) /*!< 0x00000F00 */
+#define ETH_DMADSR_RPS                                ETH_DMADSR_RPS_Msk       /* DMA Channel Receive Process State */
+#define ETH_DMADSR_RPS_STOPPED                        ((uint32_t)0x00000000)   /* Stopped (Reset or Stop Receive Command issued) */
+#define ETH_DMADSR_RPS_FETCHING_Pos                   (12U)
+#define ETH_DMADSR_RPS_FETCHING_Msk                   (0x1UL << ETH_DMADSR_RPS_FETCHING_Pos) /*!< 0x00001000 */
+#define ETH_DMADSR_RPS_FETCHING                       ETH_DMADSR_RPS_FETCHING_Msk /* Running (Fetching Rx Transfer Descriptor) */
+#define ETH_DMADSR_RPS_WAITING_Pos                    (12U)
+#define ETH_DMADSR_RPS_WAITING_Msk                    (0x3UL << ETH_DMADSR_RPS_WAITING_Pos) /*!< 0x00003000 */
+#define ETH_DMADSR_RPS_WAITING                        ETH_DMADSR_RPS_WAITING_Msk /* Running (Waiting for status) */
+#define ETH_DMADSR_RPS_SUSPENDED_Pos                  (14U)
+#define ETH_DMADSR_RPS_SUSPENDED_Msk                  (0x1UL << ETH_DMADSR_RPS_SUSPENDED_Pos) /*!< 0x00004000 */
+#define ETH_DMADSR_RPS_SUSPENDED                      ETH_DMADSR_RPS_SUSPENDED_Msk /* Suspended (Rx Descriptor Unavailable) */
+#define ETH_DMADSR_RPS_CLOSING_Pos                    (12U)
+#define ETH_DMADSR_RPS_CLOSING_Msk                    (0x5UL << ETH_DMADSR_RPS_CLOSING_Pos) /*!< 0x00005000 */
+#define ETH_DMADSR_RPS_CLOSING                        ETH_DMADSR_RPS_CLOSING_Msk /* Running (Closing the Rx Descriptor) */
+#define ETH_DMADSR_RPS_TIMESTAMP_WR_Pos               (13U)
+#define ETH_DMADSR_RPS_TIMESTAMP_WR_Msk               (0x3UL << ETH_DMADSR_RPS_TIMESTAMP_WR_Pos) /*!< 0x00006000 */
+#define ETH_DMADSR_RPS_TIMESTAMP_WR                   ETH_DMADSR_RPS_TIMESTAMP_WR_Msk /* Timestamp write state */
+#define ETH_DMADSR_RPS_TRANSFERRING_Pos               (12U)
+#define ETH_DMADSR_RPS_TRANSFERRING_Msk               (0x7UL << ETH_DMADSR_RPS_TRANSFERRING_Pos) /*!< 0x00007000 */
+#define ETH_DMADSR_RPS_TRANSFERRING                   ETH_DMADSR_RPS_TRANSFERRING_Msk /* Running (Transferring the received packet data from the Rx buffer to the system memory) */
+
+/* Bit definition for Ethernet DMA Channel Control Register */
+#define ETH_DMACCR_DSL_Pos                            (18U)
+#define ETH_DMACCR_DSL_Msk                            (0x7UL << ETH_DMACCR_DSL_Pos) /*!< 0x001C0000 */
+#define ETH_DMACCR_DSL                                ETH_DMACCR_DSL_Msk       /* Descriptor Skip Length */
+#define ETH_DMACCR_DSL_0BIT                           ((uint32_t)0x00000000)
+#define ETH_DMACCR_DSL_32BIT                          ((uint32_t)0x00040000)
+#define ETH_DMACCR_DSL_64BIT                          ((uint32_t)0x00080000)
+#define ETH_DMACCR_DSL_128BIT                         ((uint32_t)0x00100000)
+#define ETH_DMACCR_8PBL                               ((uint32_t)0x00010000)   /* 8xPBL mode */
+#define ETH_DMACCR_MSS_Pos                            (0U)
+#define ETH_DMACCR_MSS_Msk                            (0x3FFFUL << ETH_DMACCR_MSS_Pos) /*!< 0x00003FFF */
+#define ETH_DMACCR_MSS                                ETH_DMACCR_MSS_Msk       /* Maximum Segment Size */
+
+/* Bit definition for Ethernet DMA Channel Tx Control Register */
+#define ETH_DMACTCR_TPBL_Pos                          (16U)
+#define ETH_DMACTCR_TPBL_Msk                          (0x3FUL << ETH_DMACTCR_TPBL_Pos) /*!< 0x003F0000 */
+#define ETH_DMACTCR_TPBL                              ETH_DMACTCR_TPBL_Msk     /* Transmit Programmable Burst Length */
+#define ETH_DMACTCR_TPBL_1PBL                         ((uint32_t)0x00010000)   /* Transmit Programmable Burst Length 1 */
+#define ETH_DMACTCR_TPBL_2PBL                         ((uint32_t)0x00020000)   /* Transmit Programmable Burst Length 2 */
+#define ETH_DMACTCR_TPBL_4PBL                         ((uint32_t)0x00040000)   /* Transmit Programmable Burst Length 4 */
+#define ETH_DMACTCR_TPBL_8PBL                         ((uint32_t)0x00080000)   /* Transmit Programmable Burst Length 8 */
+#define ETH_DMACTCR_TPBL_16PBL                        ((uint32_t)0x00100000)   /* Transmit Programmable Burst Length 16 */
+#define ETH_DMACTCR_TPBL_32PBL                        ((uint32_t)0x00200000)   /* Transmit Programmable Burst Length 32 */
+#define ETH_DMACTCR_TSE_Pos                           (12U)
+#define ETH_DMACTCR_TSE_Msk                           (0x1UL << ETH_DMACTCR_TSE_Pos) /*!< 0x00001000 */
+#define ETH_DMACTCR_TSE                               ETH_DMACTCR_TSE_Msk      /* TCP Segmentation Enabled */
+#define ETH_DMACTCR_OSP_Pos                           (4U)
+#define ETH_DMACTCR_OSP_Msk                           (0x1UL << ETH_DMACTCR_OSP_Pos) /*!< 0x00000010 */
+#define ETH_DMACTCR_OSP                               ETH_DMACTCR_OSP_Msk      /* Operate on Second Packet */
+#define ETH_DMACTCR_ST_Pos                            (0U)
+#define ETH_DMACTCR_ST_Msk                            (0x1UL << ETH_DMACTCR_ST_Pos) /*!< 0x00000001 */
+#define ETH_DMACTCR_ST                                ETH_DMACTCR_ST_Msk       /* Start or Stop Transmission Command */
+
+/* Bit definition for Ethernet DMA Channel Rx Control Register */
+#define ETH_DMACRCR_RPF_Pos                           (31U)
+#define ETH_DMACRCR_RPF_Msk                           (0x1UL << ETH_DMACRCR_RPF_Pos) /*!< 0x80000000 */
+#define ETH_DMACRCR_RPF                               ETH_DMACRCR_RPF_Msk      /* Rx Packet Flush */
+#define ETH_DMACRCR_RPBL_Pos                          (16U)
+#define ETH_DMACRCR_RPBL_Msk                          (0x3FUL << ETH_DMACRCR_RPBL_Pos) /*!< 0x003F0000 */
+#define ETH_DMACRCR_RPBL                              ETH_DMACRCR_RPBL_Msk     /* Receive Programmable Burst Length */
+#define ETH_DMACRCR_RPBL_1PBL                         ((uint32_t)0x00010000)   /* Receive Programmable Burst Length 1 */
+#define ETH_DMACRCR_RPBL_2PBL                         ((uint32_t)0x00020000)   /* Receive Programmable Burst Length 2 */
+#define ETH_DMACRCR_RPBL_4PBL                         ((uint32_t)0x00040000)   /* Receive Programmable Burst Length 4 */
+#define ETH_DMACRCR_RPBL_8PBL                         ((uint32_t)0x00080000)   /* Receive Programmable Burst Length 8 */
+#define ETH_DMACRCR_RPBL_16PBL                        ((uint32_t)0x00100000)   /* Receive Programmable Burst Length 16 */
+#define ETH_DMACRCR_RPBL_32PBL                        ((uint32_t)0x00200000)   /* Receive Programmable Burst Length 32 */
+#define ETH_DMACRCR_RBSZ_Pos                          (1U)
+#define ETH_DMACRCR_RBSZ_Msk                          (0x3FFFUL << ETH_DMACRCR_RBSZ_Pos) /*!< 0x00007FFE */
+#define ETH_DMACRCR_RBSZ                              ETH_DMACRCR_RBSZ_Msk     /* Receive Buffer size */
+#define ETH_DMACRCR_SR_Pos                            (0U)
+#define ETH_DMACRCR_SR_Msk                            (0x1UL << ETH_DMACRCR_SR_Pos) /*!< 0x00000001 */
+#define ETH_DMACRCR_SR                                ETH_DMACRCR_SR_Msk       /* Start or Stop Receive */
+
+/* Bit definition for Ethernet DMA CH Tx Desc List Address Register */
+#define ETH_DMACTDLAR_TDESLA_Pos                      (2U)
+#define ETH_DMACTDLAR_TDESLA_Msk                      (0x3FFFFFFFUL << ETH_DMACTDLAR_TDESLA_Pos) /*!< 0xFFFFFFFC */
+#define ETH_DMACTDLAR_TDESLA                          ETH_DMACTDLAR_TDESLA_Msk /* Start of Transmit List */
+
+/* Bit definition for Ethernet DMA CH Rx Desc List Address Register */
+#define ETH_DMACRDLAR_RDESLA_Pos                      (2U)
+#define ETH_DMACRDLAR_RDESLA_Msk                      (0x3FFFFFFFUL << ETH_DMACRDLAR_RDESLA_Pos) /*!< 0xFFFFFFFC */
+#define ETH_DMACRDLAR_RDESLA                          ETH_DMACRDLAR_RDESLA_Msk /* Start of Receive List */
+
+/* Bit definition for Ethernet DMA CH Tx Desc Tail Pointer Register */
+#define ETH_DMACTDTPR_TDT_Pos                         (2U)
+#define ETH_DMACTDTPR_TDT_Msk                         (0x3FFFFFFFUL << ETH_DMACTDTPR_TDT_Pos) /*!< 0xFFFFFFFC */
+#define ETH_DMACTDTPR_TDT                             ETH_DMACTDTPR_TDT_Msk    /* Transmit Descriptor Tail Pointer */
+
+/* Bit definition for Ethernet DMA CH Rx Desc Tail Pointer Register */
+#define ETH_DMACRDTPR_RDT_Pos                         (2U)
+#define ETH_DMACRDTPR_RDT_Msk                         (0x3FFFFFFFUL << ETH_DMACRDTPR_RDT_Pos) /*!< 0xFFFFFFFC */
+#define ETH_DMACRDTPR_RDT                             ETH_DMACRDTPR_RDT_Msk    /* Receive Descriptor Tail Pointer */
+
+/* Bit definition for Ethernet DMA CH Tx Desc Ring Length Register */
+#define ETH_DMACTDRLR_TDRL_Pos                        (0U)
+#define ETH_DMACTDRLR_TDRL_Msk                        (0x3FFUL << ETH_DMACTDRLR_TDRL_Pos) /*!< 0x000003FF */
+#define ETH_DMACTDRLR_TDRL                            ETH_DMACTDRLR_TDRL_Msk   /* Transmit Descriptor Ring Length */
+
+/* Bit definition for Ethernet DMA CH Rx Desc Ring Length Register */
+#define ETH_DMACRDRLR_RDRL_Pos                        (0U)
+#define ETH_DMACRDRLR_RDRL_Msk                        (0x3FFUL << ETH_DMACRDRLR_RDRL_Pos) /*!< 0x000003FF */
+#define ETH_DMACRDRLR_RDRL                            ETH_DMACRDRLR_RDRL_Msk   /* Receive Descriptor Ring Length */
+
+/* Bit definition for Ethernet DMA Channel Interrupt Enable Register */
+#define ETH_DMACIER_NIE_Pos                           (15U)
+#define ETH_DMACIER_NIE_Msk                           (0x1UL << ETH_DMACIER_NIE_Pos) /*!< 0x00008000 */
+#define ETH_DMACIER_NIE                               ETH_DMACIER_NIE_Msk      /* Normal Interrupt Summary Enable */
+#define ETH_DMACIER_AIE_Pos                           (14U)
+#define ETH_DMACIER_AIE_Msk                           (0x1UL << ETH_DMACIER_AIE_Pos) /*!< 0x00004000 */
+#define ETH_DMACIER_AIE                               ETH_DMACIER_AIE_Msk      /* Abnormal Interrupt Summary Enable */
+#define ETH_DMACIER_CDEE_Pos                          (13U)
+#define ETH_DMACIER_CDEE_Msk                          (0x1UL << ETH_DMACIER_CDEE_Pos) /*!< 0x00002000 */
+#define ETH_DMACIER_CDEE                              ETH_DMACIER_CDEE_Msk     /* Context Descriptor Error Enable */
+#define ETH_DMACIER_FBEE_Pos                          (12U)
+#define ETH_DMACIER_FBEE_Msk                          (0x1UL << ETH_DMACIER_FBEE_Pos) /*!< 0x00001000 */
+#define ETH_DMACIER_FBEE                              ETH_DMACIER_FBEE_Msk     /* Fatal Bus Error Enable */
+#define ETH_DMACIER_ERIE_Pos                          (11U)
+#define ETH_DMACIER_ERIE_Msk                          (0x1UL << ETH_DMACIER_ERIE_Pos) /*!< 0x00000800 */
+#define ETH_DMACIER_ERIE                              ETH_DMACIER_ERIE_Msk     /* Early Receive Interrupt Enable */
+#define ETH_DMACIER_ETIE_Pos                          (10U)
+#define ETH_DMACIER_ETIE_Msk                          (0x1UL << ETH_DMACIER_ETIE_Pos) /*!< 0x00000400 */
+#define ETH_DMACIER_ETIE                              ETH_DMACIER_ETIE_Msk     /* Early Transmit Interrupt Enable */
+#define ETH_DMACIER_RWTE_Pos                          (9U)
+#define ETH_DMACIER_RWTE_Msk                          (0x1UL << ETH_DMACIER_RWTE_Pos) /*!< 0x00000200 */
+#define ETH_DMACIER_RWTE                              ETH_DMACIER_RWTE_Msk     /* Receive Watchdog Timeout Enable */
+#define ETH_DMACIER_RSE_Pos                           (8U)
+#define ETH_DMACIER_RSE_Msk                           (0x1UL << ETH_DMACIER_RSE_Pos) /*!< 0x00000100 */
+#define ETH_DMACIER_RSE                               ETH_DMACIER_RSE_Msk      /* Receive Stopped Enable */
+#define ETH_DMACIER_RBUE_Pos                          (7U)
+#define ETH_DMACIER_RBUE_Msk                          (0x1UL << ETH_DMACIER_RBUE_Pos) /*!< 0x00000080 */
+#define ETH_DMACIER_RBUE                              ETH_DMACIER_RBUE_Msk     /* Receive Buffer Unavailable Enable */
+#define ETH_DMACIER_RIE_Pos                           (6U)
+#define ETH_DMACIER_RIE_Msk                           (0x1UL << ETH_DMACIER_RIE_Pos) /*!< 0x00000040 */
+#define ETH_DMACIER_RIE                               ETH_DMACIER_RIE_Msk      /* Receive Interrupt Enable */
+#define ETH_DMACIER_TBUE_Pos                          (2U)
+#define ETH_DMACIER_TBUE_Msk                          (0x1UL << ETH_DMACIER_TBUE_Pos) /*!< 0x00000004 */
+#define ETH_DMACIER_TBUE                              ETH_DMACIER_TBUE_Msk     /* Transmit Buffer Unavailable Enable */
+#define ETH_DMACIER_TXSE_Pos                          (1U)
+#define ETH_DMACIER_TXSE_Msk                          (0x1UL << ETH_DMACIER_TXSE_Pos) /*!< 0x00000002 */
+#define ETH_DMACIER_TXSE                              ETH_DMACIER_TXSE_Msk     /* Transmit Stopped Enable */
+#define ETH_DMACIER_TIE_Pos                           (0U)
+#define ETH_DMACIER_TIE_Msk                           (0x1UL << ETH_DMACIER_TIE_Pos) /*!< 0x00000001 */
+#define ETH_DMACIER_TIE                               ETH_DMACIER_TIE_Msk      /* Transmit Interrupt Enable */
+
+/* Bit definition for Ethernet DMA Channel Rx Interrupt Watchdog Timer Register */
+#define ETH_DMACRIWTR_RWT_Pos                         (0U)
+#define ETH_DMACRIWTR_RWT_Msk                         (0xFFUL << ETH_DMACRIWTR_RWT_Pos) /*!< 0x000000FF */
+#define ETH_DMACRIWTR_RWT                             ETH_DMACRIWTR_RWT_Msk    /* Receive Interrupt Watchdog Timer Count */
+
+/* Bit definition for Ethernet DMA Channel Current App Tx Desc Register */
+#define ETH_DMACCATDR_CURTDESAPTR_Pos                 (0U)
+#define ETH_DMACCATDR_CURTDESAPTR_Msk                 (0xFFFFFFFFUL << ETH_DMACCATDR_CURTDESAPTR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_DMACCATDR_CURTDESAPTR                     ETH_DMACCATDR_CURTDESAPTR_Msk /* Application Transmit Descriptor Address Pointer */
+
+/* Bit definition for Ethernet DMA Channel Current App Rx Desc Register */
+#define ETH_DMACCARDR_CURRDESAPTR_Pos                 (0U)
+#define ETH_DMACCARDR_CURRDESAPTR_Msk                 (0xFFFFFFFFUL << ETH_DMACCARDR_CURRDESAPTR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_DMACCARDR_CURRDESAPTR                     ETH_DMACCARDR_CURRDESAPTR_Msk /* Application Receive Descriptor Address Pointer */
+
+/* Bit definition for Ethernet DMA Channel Current App Tx Buffer Register */
+#define ETH_DMACCATBR_CURTBUFAPTR_Pos                 (0U)
+#define ETH_DMACCATBR_CURTBUFAPTR_Msk                 (0xFFFFFFFFUL << ETH_DMACCATBR_CURTBUFAPTR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_DMACCATBR_CURTBUFAPTR                     ETH_DMACCATBR_CURTBUFAPTR_Msk /* Application Transmit Buffer Address Pointer */
+
+/* Bit definition for Ethernet DMA Channel Current App Rx Buffer Register */
+#define ETH_DMACCARBR_CURRBUFAPTR_Pos                 (0U)
+#define ETH_DMACCARBR_CURRBUFAPTR_Msk                 (0xFFFFFFFFUL << ETH_DMACCARBR_CURRBUFAPTR_Pos) /*!< 0xFFFFFFFF */
+#define ETH_DMACCARBR_CURRBUFAPTR                     ETH_DMACCARBR_CURRBUFAPTR_Msk /* Application Receive Buffer Address Pointer */
+
+/* Bit definition for Ethernet DMA Channel Status Register */
+#define ETH_DMACSR_REB_Pos                            (19U)
+#define ETH_DMACSR_REB_Msk                            (0x7UL << ETH_DMACSR_REB_Pos) /*!< 0x00380000 */
+#define ETH_DMACSR_REB                                ETH_DMACSR_REB_Msk       /* Rx DMA Error Bits */
+#define ETH_DMACSR_TEB_Pos                            (16U)
+#define ETH_DMACSR_TEB_Msk                            (0x7UL << ETH_DMACSR_TEB_Pos) /*!< 0x00070000 */
+#define ETH_DMACSR_TEB                                ETH_DMACSR_TEB_Msk       /* Tx DMA Error Bits */
+#define ETH_DMACSR_NIS_Pos                            (15U)
+#define ETH_DMACSR_NIS_Msk                            (0x1UL << ETH_DMACSR_NIS_Pos) /*!< 0x00008000 */
+#define ETH_DMACSR_NIS                                ETH_DMACSR_NIS_Msk       /* Normal Interrupt Summary */
+#define ETH_DMACSR_AIS_Pos                            (14U)
+#define ETH_DMACSR_AIS_Msk                            (0x1UL << ETH_DMACSR_AIS_Pos) /*!< 0x00004000 */
+#define ETH_DMACSR_AIS                                ETH_DMACSR_AIS_Msk       /* Abnormal Interrupt Summary */
+#define ETH_DMACSR_CDE_Pos                            (13U)
+#define ETH_DMACSR_CDE_Msk                            (0x1UL << ETH_DMACSR_CDE_Pos) /*!< 0x00002000 */
+#define ETH_DMACSR_CDE                                ETH_DMACSR_CDE_Msk       /* Context Descriptor Error */
+#define ETH_DMACSR_FBE_Pos                            (12U)
+#define ETH_DMACSR_FBE_Msk                            (0x1UL << ETH_DMACSR_FBE_Pos) /*!< 0x00001000 */
+#define ETH_DMACSR_FBE                                ETH_DMACSR_FBE_Msk       /* Fatal Bus Error */
+#define ETH_DMACSR_ERI_Pos                            (11U)
+#define ETH_DMACSR_ERI_Msk                            (0x1UL << ETH_DMACSR_ERI_Pos) /*!< 0x00000800 */
+#define ETH_DMACSR_ERI                                ETH_DMACSR_ERI_Msk       /* Early Receive Interrupt */
+#define ETH_DMACSR_ETI_Pos                            (10U)
+#define ETH_DMACSR_ETI_Msk                            (0x1UL << ETH_DMACSR_ETI_Pos) /*!< 0x00000400 */
+#define ETH_DMACSR_ETI                                ETH_DMACSR_ETI_Msk       /* Early Transmit Interrupt */
+#define ETH_DMACSR_RWT_Pos                            (9U)
+#define ETH_DMACSR_RWT_Msk                            (0x1UL << ETH_DMACSR_RWT_Pos) /*!< 0x00000200 */
+#define ETH_DMACSR_RWT                                ETH_DMACSR_RWT_Msk       /* Receive Watchdog Timeout */
+#define ETH_DMACSR_RPS_Pos                            (8U)
+#define ETH_DMACSR_RPS_Msk                            (0x1UL << ETH_DMACSR_RPS_Pos) /*!< 0x00000100 */
+#define ETH_DMACSR_RPS                                ETH_DMACSR_RPS_Msk       /* Receive Process Stopped */
+#define ETH_DMACSR_RBU_Pos                            (7U)
+#define ETH_DMACSR_RBU_Msk                            (0x1UL << ETH_DMACSR_RBU_Pos) /*!< 0x00000080 */
+#define ETH_DMACSR_RBU                                ETH_DMACSR_RBU_Msk       /* Receive Buffer Unavailable */
+#define ETH_DMACSR_RI_Pos                             (6U)
+#define ETH_DMACSR_RI_Msk                             (0x1UL << ETH_DMACSR_RI_Pos) /*!< 0x00000040 */
+#define ETH_DMACSR_RI                                 ETH_DMACSR_RI_Msk        /* Receive Interrupt */
+#define ETH_DMACSR_TBU_Pos                            (2U)
+#define ETH_DMACSR_TBU_Msk                            (0x1UL << ETH_DMACSR_TBU_Pos) /*!< 0x00000004 */
+#define ETH_DMACSR_TBU                                ETH_DMACSR_TBU_Msk       /* Transmit Buffer Unavailable */
+#define ETH_DMACSR_TPS_Pos                            (1U)
+#define ETH_DMACSR_TPS_Msk                            (0x1UL << ETH_DMACSR_TPS_Pos) /*!< 0x00000002 */
+#define ETH_DMACSR_TPS                                ETH_DMACSR_TPS_Msk       /* Transmit Process Stopped */
+#define ETH_DMACSR_TI_Pos                             (0U)
+#define ETH_DMACSR_TI_Msk                             (0x1UL << ETH_DMACSR_TI_Pos) /*!< 0x00000001 */
+#define ETH_DMACSR_TI                                 ETH_DMACSR_TI_Msk        /* Transmit Interrupt */
+
+/* Bit definition for Ethernet DMA Channel missed frame count register */
+#define ETH_DMACMFCR_MFCO_Pos                         (15U)
+#define ETH_DMACMFCR_MFCO_Msk                         (0x1UL << ETH_DMACMFCR_MFCO_Pos) /*!< 0x00008000 */
+#define ETH_DMACMFCR_MFCO                             ETH_DMACMFCR_MFCO_Msk    /* Overflow status of the MFC Counter */
+#define ETH_DMACMFCR_MFC_Pos                          (0U)
+#define ETH_DMACMFCR_MFC_Msk                          (0x7FFUL << ETH_DMACMFCR_MFC_Pos) /*!< 0x000007FF */
+#define ETH_DMACMFCR_MFC                              ETH_DMACMFCR_MFC_Msk     /* The number of packet counters dropped by the DMA */
+
+/******************************************************************************/
+/*                                                                            */
+/*                             DMA Controller                                 */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bits definition for DMA_SxCR register  *****************/
+#define DMA_SxCR_MBURST_Pos      (23U)
+#define DMA_SxCR_MBURST_Msk      (0x3UL << DMA_SxCR_MBURST_Pos)                /*!< 0x01800000 */
+#define DMA_SxCR_MBURST          DMA_SxCR_MBURST_Msk                           /*!< Memory burst transfer configuration */
+#define DMA_SxCR_MBURST_0        (0x1UL << DMA_SxCR_MBURST_Pos)                 /*!< 0x00800000 */
+#define DMA_SxCR_MBURST_1        (0x2UL << DMA_SxCR_MBURST_Pos)                 /*!< 0x01000000 */
+#define DMA_SxCR_PBURST_Pos      (21U)
+#define DMA_SxCR_PBURST_Msk      (0x3UL << DMA_SxCR_PBURST_Pos)                /*!< 0x00600000 */
+#define DMA_SxCR_PBURST          DMA_SxCR_PBURST_Msk                           /*!< Peripheral burst transfer configuration */
+#define DMA_SxCR_PBURST_0        (0x1UL << DMA_SxCR_PBURST_Pos)                 /*!< 0x00200000 */
+#define DMA_SxCR_PBURST_1        (0x2UL << DMA_SxCR_PBURST_Pos)                 /*!< 0x00400000 */
+#define DMA_SxCR_TRBUFF_Pos      (20U)
+#define DMA_SxCR_TRBUFF_Msk      (0x1UL << DMA_SxCR_TRBUFF_Pos)                 /*!< 0x00100000 */
+#define DMA_SxCR_TRBUFF          DMA_SxCR_TRBUFF_Msk                            /*!< bufferable transfers enabled/disable */
+#define DMA_SxCR_CT_Pos          (19U)
+#define DMA_SxCR_CT_Msk          (0x1UL << DMA_SxCR_CT_Pos)                    /*!< 0x00080000 */
+#define DMA_SxCR_CT              DMA_SxCR_CT_Msk                               /*!< Current target (only in double buffer mode) */
+#define DMA_SxCR_DBM_Pos         (18U)
+#define DMA_SxCR_DBM_Msk         (0x1UL << DMA_SxCR_DBM_Pos)                   /*!< 0x00040000 */
+#define DMA_SxCR_DBM             DMA_SxCR_DBM_Msk                              /*!< Double buffer mode */
+#define DMA_SxCR_PL_Pos          (16U)
+#define DMA_SxCR_PL_Msk          (0x3UL << DMA_SxCR_PL_Pos)                    /*!< 0x00030000 */
+#define DMA_SxCR_PL              DMA_SxCR_PL_Msk                               /*!< Priority level */
+#define DMA_SxCR_PL_0            (0x1UL << DMA_SxCR_PL_Pos)                     /*!< 0x00010000 */
+#define DMA_SxCR_PL_1            (0x2UL << DMA_SxCR_PL_Pos)                     /*!< 0x00020000 */
+#define DMA_SxCR_PINCOS_Pos      (15U)
+#define DMA_SxCR_PINCOS_Msk      (0x1UL << DMA_SxCR_PINCOS_Pos)                /*!< 0x00008000 */
+#define DMA_SxCR_PINCOS          DMA_SxCR_PINCOS_Msk                           /*!< Peripheral increment offset size */
+#define DMA_SxCR_MSIZE_Pos       (13U)
+#define DMA_SxCR_MSIZE_Msk       (0x3UL << DMA_SxCR_MSIZE_Pos)                 /*!< 0x00006000 */
+#define DMA_SxCR_MSIZE           DMA_SxCR_MSIZE_Msk                            /*!< Memory data size */
+#define DMA_SxCR_MSIZE_0         (0x1UL << DMA_SxCR_MSIZE_Pos)                  /*!< 0x00002000 */
+#define DMA_SxCR_MSIZE_1         (0x2UL << DMA_SxCR_MSIZE_Pos)                  /*!< 0x00004000 */
+#define DMA_SxCR_PSIZE_Pos       (11U)
+#define DMA_SxCR_PSIZE_Msk       (0x3UL << DMA_SxCR_PSIZE_Pos)                 /*!< 0x00001800 */
+#define DMA_SxCR_PSIZE           DMA_SxCR_PSIZE_Msk                            /*< Peripheral data size */
+#define DMA_SxCR_PSIZE_0         (0x1UL << DMA_SxCR_PSIZE_Pos)                  /*!< 0x00000800 */
+#define DMA_SxCR_PSIZE_1         (0x2UL << DMA_SxCR_PSIZE_Pos)                  /*!< 0x00001000 */
+#define DMA_SxCR_MINC_Pos        (10U)
+#define DMA_SxCR_MINC_Msk        (0x1UL << DMA_SxCR_MINC_Pos)                  /*!< 0x00000400 */
+#define DMA_SxCR_MINC            DMA_SxCR_MINC_Msk                             /*!< Memory increment mode */
+#define DMA_SxCR_PINC_Pos        (9U)
+#define DMA_SxCR_PINC_Msk        (0x1UL << DMA_SxCR_PINC_Pos)                  /*!< 0x00000200 */
+#define DMA_SxCR_PINC            DMA_SxCR_PINC_Msk                             /*!< Peripheral increment mode */
+#define DMA_SxCR_CIRC_Pos        (8U)
+#define DMA_SxCR_CIRC_Msk        (0x1UL << DMA_SxCR_CIRC_Pos)                  /*!< 0x00000100 */
+#define DMA_SxCR_CIRC            DMA_SxCR_CIRC_Msk                             /*!< Circular mode */
+#define DMA_SxCR_DIR_Pos         (6U)
+#define DMA_SxCR_DIR_Msk         (0x3UL << DMA_SxCR_DIR_Pos)                   /*!< 0x000000C0 */
+#define DMA_SxCR_DIR             DMA_SxCR_DIR_Msk                              /*!< Data transfer direction */
+#define DMA_SxCR_DIR_0           (0x1UL << DMA_SxCR_DIR_Pos)                    /*!< 0x00000040 */
+#define DMA_SxCR_DIR_1           (0x2UL << DMA_SxCR_DIR_Pos)                    /*!< 0x00000080 */
+#define DMA_SxCR_PFCTRL_Pos      (5U)
+#define DMA_SxCR_PFCTRL_Msk      (0x1UL << DMA_SxCR_PFCTRL_Pos)                /*!< 0x00000020 */
+#define DMA_SxCR_PFCTRL          DMA_SxCR_PFCTRL_Msk                           /*!< Peripheral flow controller */
+#define DMA_SxCR_TCIE_Pos        (4U)
+#define DMA_SxCR_TCIE_Msk        (0x1UL << DMA_SxCR_TCIE_Pos)                  /*!< 0x00000010 */
+#define DMA_SxCR_TCIE            DMA_SxCR_TCIE_Msk                             /*!< Transfer complete interrupt enable */
+#define DMA_SxCR_HTIE_Pos        (3U)
+#define DMA_SxCR_HTIE_Msk        (0x1UL << DMA_SxCR_HTIE_Pos)                  /*!< 0x00000008 */
+#define DMA_SxCR_HTIE            DMA_SxCR_HTIE_Msk                             /*!< Half transfer interrupt enable */
+#define DMA_SxCR_TEIE_Pos        (2U)
+#define DMA_SxCR_TEIE_Msk        (0x1UL << DMA_SxCR_TEIE_Pos)                  /*!< 0x00000004 */
+#define DMA_SxCR_TEIE            DMA_SxCR_TEIE_Msk                             /*!< Transfer error interrupt enable */
+#define DMA_SxCR_DMEIE_Pos       (1U)
+#define DMA_SxCR_DMEIE_Msk       (0x1UL << DMA_SxCR_DMEIE_Pos)                 /*!< 0x00000002 */
+#define DMA_SxCR_DMEIE           DMA_SxCR_DMEIE_Msk                            /*!< Direct mode error interrupt enable */
+#define DMA_SxCR_EN_Pos          (0U)
+#define DMA_SxCR_EN_Msk          (0x1UL << DMA_SxCR_EN_Pos)                    /*!< 0x00000001 */
+#define DMA_SxCR_EN              DMA_SxCR_EN_Msk                               /*!< Stream enable / flag stream ready when read low */
+
+/********************  Bits definition for DMA_SxCNDTR register  **************/
+#define DMA_SxNDT_Pos            (0U)
+#define DMA_SxNDT_Msk            (0xFFFFUL << DMA_SxNDT_Pos)                   /*!< 0x0000FFFF */
+#define DMA_SxNDT                DMA_SxNDT_Msk                                 /*!< Number of data items to transfer */
+#define DMA_SxNDT_0              (0x0001UL << DMA_SxNDT_Pos)                    /*!< 0x00000001 */
+#define DMA_SxNDT_1              (0x0002UL << DMA_SxNDT_Pos)                    /*!< 0x00000002 */
+#define DMA_SxNDT_2              (0x0004UL << DMA_SxNDT_Pos)                    /*!< 0x00000004 */
+#define DMA_SxNDT_3              (0x0008UL << DMA_SxNDT_Pos)                    /*!< 0x00000008 */
+#define DMA_SxNDT_4              (0x0010UL << DMA_SxNDT_Pos)                    /*!< 0x00000010 */
+#define DMA_SxNDT_5              (0x0020UL << DMA_SxNDT_Pos)                    /*!< 0x00000020 */
+#define DMA_SxNDT_6              (0x0040UL << DMA_SxNDT_Pos)                    /*!< 0x00000040 */
+#define DMA_SxNDT_7              (0x0080UL << DMA_SxNDT_Pos)                    /*!< 0x00000080 */
+#define DMA_SxNDT_8              (0x0100UL << DMA_SxNDT_Pos)                    /*!< 0x00000100 */
+#define DMA_SxNDT_9              (0x0200UL << DMA_SxNDT_Pos)                    /*!< 0x00000200 */
+#define DMA_SxNDT_10             (0x0400UL << DMA_SxNDT_Pos)                    /*!< 0x00000400 */
+#define DMA_SxNDT_11             (0x0800UL << DMA_SxNDT_Pos)                    /*!< 0x00000800 */
+#define DMA_SxNDT_12             (0x1000UL << DMA_SxNDT_Pos)                    /*!< 0x00001000 */
+#define DMA_SxNDT_13             (0x2000UL << DMA_SxNDT_Pos)                    /*!< 0x00002000 */
+#define DMA_SxNDT_14             (0x4000UL << DMA_SxNDT_Pos)                    /*!< 0x00004000 */
+#define DMA_SxNDT_15             (0x8000UL << DMA_SxNDT_Pos)                    /*!< 0x00008000 */
+
+/********************  Bits definition for DMA_SxFCR register  ****************/
+#define DMA_SxFCR_FEIE_Pos       (7U)
+#define DMA_SxFCR_FEIE_Msk       (0x1UL << DMA_SxFCR_FEIE_Pos)                 /*!< 0x00000080 */
+#define DMA_SxFCR_FEIE           DMA_SxFCR_FEIE_Msk                            /*!< FIFO error interrupt enable */
+#define DMA_SxFCR_FS_Pos         (3U)
+#define DMA_SxFCR_FS_Msk         (0x7UL << DMA_SxFCR_FS_Pos)                   /*!< 0x00000038 */
+#define DMA_SxFCR_FS             DMA_SxFCR_FS_Msk                              /*!< FIFO status */
+#define DMA_SxFCR_FS_0           (0x1UL << DMA_SxFCR_FS_Pos)                    /*!< 0x00000008 */
+#define DMA_SxFCR_FS_1           (0x2UL << DMA_SxFCR_FS_Pos)                    /*!< 0x00000010 */
+#define DMA_SxFCR_FS_2           (0x4UL << DMA_SxFCR_FS_Pos)                    /*!< 0x00000020 */
+#define DMA_SxFCR_DMDIS_Pos      (2U)
+#define DMA_SxFCR_DMDIS_Msk      (0x1UL << DMA_SxFCR_DMDIS_Pos)                /*!< 0x00000004 */
+#define DMA_SxFCR_DMDIS          DMA_SxFCR_DMDIS_Msk                           /*!< Direct mode disable */
+#define DMA_SxFCR_FTH_Pos        (0U)
+#define DMA_SxFCR_FTH_Msk        (0x3UL << DMA_SxFCR_FTH_Pos)                  /*!< 0x00000003 */
+#define DMA_SxFCR_FTH            DMA_SxFCR_FTH_Msk                             /*!< FIFO threshold selection */
+#define DMA_SxFCR_FTH_0          (0x1UL << DMA_SxFCR_FTH_Pos)                   /*!< 0x00000001 */
+#define DMA_SxFCR_FTH_1          (0x2UL << DMA_SxFCR_FTH_Pos)                   /*!< 0x00000002 */
+
+/********************  Bits definition for DMA_LISR register  *****************/
+#define DMA_LISR_TCIF3_Pos       (27U)
+#define DMA_LISR_TCIF3_Msk       (0x1UL << DMA_LISR_TCIF3_Pos)                 /*!< 0x08000000 */
+#define DMA_LISR_TCIF3           DMA_LISR_TCIF3_Msk                            /*!<  Stream 3 transfer complete interrupt flag */
+#define DMA_LISR_HTIF3_Pos       (26U)
+#define DMA_LISR_HTIF3_Msk       (0x1UL << DMA_LISR_HTIF3_Pos)                 /*!< 0x04000000 */
+#define DMA_LISR_HTIF3           DMA_LISR_HTIF3_Msk                            /*!<  Stream 3 half transfer interrupt flag */
+#define DMA_LISR_TEIF3_Pos       (25U)
+#define DMA_LISR_TEIF3_Msk       (0x1UL << DMA_LISR_TEIF3_Pos)                 /*!< 0x02000000 */
+#define DMA_LISR_TEIF3           DMA_LISR_TEIF3_Msk                            /*!<  Stream 3 transfer error interrupt flag */
+#define DMA_LISR_DMEIF3_Pos      (24U)
+#define DMA_LISR_DMEIF3_Msk      (0x1UL << DMA_LISR_DMEIF3_Pos)                /*!< 0x01000000 */
+#define DMA_LISR_DMEIF3          DMA_LISR_DMEIF3_Msk                           /*!<  Stream 3 direct mode error interrupt flag */
+#define DMA_LISR_FEIF3_Pos       (22U)
+#define DMA_LISR_FEIF3_Msk       (0x1UL << DMA_LISR_FEIF3_Pos)                 /*!< 0x00400000 */
+#define DMA_LISR_FEIF3           DMA_LISR_FEIF3_Msk                            /*!<  Stream 3 FIFO error interrupt flag */
+#define DMA_LISR_TCIF2_Pos       (21U)
+#define DMA_LISR_TCIF2_Msk       (0x1UL << DMA_LISR_TCIF2_Pos)                 /*!< 0x00200000 */
+#define DMA_LISR_TCIF2           DMA_LISR_TCIF2_Msk                            /*!<  Stream 2 transfer complete interrupt flag */
+#define DMA_LISR_HTIF2_Pos       (20U)
+#define DMA_LISR_HTIF2_Msk       (0x1UL << DMA_LISR_HTIF2_Pos)                 /*!< 0x00100000 */
+#define DMA_LISR_HTIF2           DMA_LISR_HTIF2_Msk                            /*!<  Stream 2 half transfer interrupt flag */
+#define DMA_LISR_TEIF2_Pos       (19U)
+#define DMA_LISR_TEIF2_Msk       (0x1UL << DMA_LISR_TEIF2_Pos)                 /*!< 0x00080000 */
+#define DMA_LISR_TEIF2           DMA_LISR_TEIF2_Msk                            /*!<  Stream 2 transfer error interrupt flag */
+#define DMA_LISR_DMEIF2_Pos      (18U)
+#define DMA_LISR_DMEIF2_Msk      (0x1UL << DMA_LISR_DMEIF2_Pos)                /*!< 0x00040000 */
+#define DMA_LISR_DMEIF2          DMA_LISR_DMEIF2_Msk                           /*!<  Stream 2 direct mode error interrupt flag */
+#define DMA_LISR_FEIF2_Pos       (16U)
+#define DMA_LISR_FEIF2_Msk       (0x1UL << DMA_LISR_FEIF2_Pos)                 /*!< 0x00010000 */
+#define DMA_LISR_FEIF2           DMA_LISR_FEIF2_Msk                            /*!<  Stream 2 FIFO error interrupt flag */
+#define DMA_LISR_TCIF1_Pos       (11U)
+#define DMA_LISR_TCIF1_Msk       (0x1UL << DMA_LISR_TCIF1_Pos)                 /*!< 0x00000800 */
+#define DMA_LISR_TCIF1           DMA_LISR_TCIF1_Msk                            /*!<  Stream 1 transfer complete interrupt flag */
+#define DMA_LISR_HTIF1_Pos       (10U)
+#define DMA_LISR_HTIF1_Msk       (0x1UL << DMA_LISR_HTIF1_Pos)                 /*!< 0x00000400 */
+#define DMA_LISR_HTIF1           DMA_LISR_HTIF1_Msk                            /*!<  Stream 1 half transfer interrupt flag */
+#define DMA_LISR_TEIF1_Pos       (9U)
+#define DMA_LISR_TEIF1_Msk       (0x1UL << DMA_LISR_TEIF1_Pos)                 /*!< 0x00000200 */
+#define DMA_LISR_TEIF1           DMA_LISR_TEIF1_Msk                            /*!<  Stream 1 transfer error interrupt flag */
+#define DMA_LISR_DMEIF1_Pos      (8U)
+#define DMA_LISR_DMEIF1_Msk      (0x1UL << DMA_LISR_DMEIF1_Pos)                /*!< 0x00000100 */
+#define DMA_LISR_DMEIF1          DMA_LISR_DMEIF1_Msk                           /*!<  Stream 1 direct mode error interrupt flag */
+#define DMA_LISR_FEIF1_Pos       (6U)
+#define DMA_LISR_FEIF1_Msk       (0x1UL << DMA_LISR_FEIF1_Pos)                 /*!< 0x00000040 */
+#define DMA_LISR_FEIF1           DMA_LISR_FEIF1_Msk                            /*!<  Stream 1 FIFO error interrupt flag */
+#define DMA_LISR_TCIF0_Pos       (5U)
+#define DMA_LISR_TCIF0_Msk       (0x1UL << DMA_LISR_TCIF0_Pos)                 /*!< 0x00000020 */
+#define DMA_LISR_TCIF0           DMA_LISR_TCIF0_Msk                            /*!<  Stream 0 transfer complete interrupt flag */
+#define DMA_LISR_HTIF0_Pos       (4U)
+#define DMA_LISR_HTIF0_Msk       (0x1UL << DMA_LISR_HTIF0_Pos)                 /*!< 0x00000010 */
+#define DMA_LISR_HTIF0           DMA_LISR_HTIF0_Msk                            /*!<  Stream 0 half transfer interrupt flag */
+#define DMA_LISR_TEIF0_Pos       (3U)
+#define DMA_LISR_TEIF0_Msk       (0x1UL << DMA_LISR_TEIF0_Pos)                 /*!< 0x00000008 */
+#define DMA_LISR_TEIF0           DMA_LISR_TEIF0_Msk                            /*!<  Stream 0 transfer error interrupt flag */
+#define DMA_LISR_DMEIF0_Pos      (2U)
+#define DMA_LISR_DMEIF0_Msk      (0x1UL << DMA_LISR_DMEIF0_Pos)                /*!< 0x00000004 */
+#define DMA_LISR_DMEIF0          DMA_LISR_DMEIF0_Msk                           /*!<  Stream 0 direct mode error interrupt flag */
+#define DMA_LISR_FEIF0_Pos       (0U)
+#define DMA_LISR_FEIF0_Msk       (0x1UL << DMA_LISR_FEIF0_Pos)                 /*!< 0x00000001 */
+#define DMA_LISR_FEIF0           DMA_LISR_FEIF0_Msk                            /*!<  Stream 0 FIFO error interrupt flag */
+
+/********************  Bits definition for DMA_HISR register  *****************/
+#define DMA_HISR_TCIF7_Pos       (27U)
+#define DMA_HISR_TCIF7_Msk       (0x1UL << DMA_HISR_TCIF7_Pos)                 /*!< 0x08000000 */
+#define DMA_HISR_TCIF7           DMA_HISR_TCIF7_Msk                            /*!<  Stream 7 transfer complete interrupt flag */
+#define DMA_HISR_HTIF7_Pos       (26U)
+#define DMA_HISR_HTIF7_Msk       (0x1UL << DMA_HISR_HTIF7_Pos)                 /*!< 0x04000000 */
+#define DMA_HISR_HTIF7           DMA_HISR_HTIF7_Msk                            /*!<  Stream 7 half transfer interrupt flag */
+#define DMA_HISR_TEIF7_Pos       (25U)
+#define DMA_HISR_TEIF7_Msk       (0x1UL << DMA_HISR_TEIF7_Pos)                 /*!< 0x02000000 */
+#define DMA_HISR_TEIF7           DMA_HISR_TEIF7_Msk                            /*!<  Stream 7 transfer error interrupt flag */
+#define DMA_HISR_DMEIF7_Pos      (24U)
+#define DMA_HISR_DMEIF7_Msk      (0x1UL << DMA_HISR_DMEIF7_Pos)                /*!< 0x01000000 */
+#define DMA_HISR_DMEIF7          DMA_HISR_DMEIF7_Msk                           /*!<  Stream 7 direct mode error interrupt flag */
+#define DMA_HISR_FEIF7_Pos       (22U)
+#define DMA_HISR_FEIF7_Msk       (0x1UL << DMA_HISR_FEIF7_Pos)                 /*!< 0x00400000 */
+#define DMA_HISR_FEIF7           DMA_HISR_FEIF7_Msk                            /*!<  Stream 7 FIFO error interrupt flag */
+#define DMA_HISR_TCIF6_Pos       (21U)
+#define DMA_HISR_TCIF6_Msk       (0x1UL << DMA_HISR_TCIF6_Pos)                 /*!< 0x00200000 */
+#define DMA_HISR_TCIF6           DMA_HISR_TCIF6_Msk                            /*!<  Stream 6 transfer complete interrupt flag */
+#define DMA_HISR_HTIF6_Pos       (20U)
+#define DMA_HISR_HTIF6_Msk       (0x1UL << DMA_HISR_HTIF6_Pos)                 /*!< 0x00100000 */
+#define DMA_HISR_HTIF6           DMA_HISR_HTIF6_Msk                            /*!<  Stream 6 half transfer interrupt flag */
+#define DMA_HISR_TEIF6_Pos       (19U)
+#define DMA_HISR_TEIF6_Msk       (0x1UL << DMA_HISR_TEIF6_Pos)                 /*!< 0x00080000 */
+#define DMA_HISR_TEIF6           DMA_HISR_TEIF6_Msk                            /*!<  Stream 6 transfer error interrupt flag */
+#define DMA_HISR_DMEIF6_Pos      (18U)
+#define DMA_HISR_DMEIF6_Msk      (0x1UL << DMA_HISR_DMEIF6_Pos)                /*!< 0x00040000 */
+#define DMA_HISR_DMEIF6          DMA_HISR_DMEIF6_Msk                           /*!<  Stream 6 direct mode error interrupt flag */
+#define DMA_HISR_FEIF6_Pos       (16U)
+#define DMA_HISR_FEIF6_Msk       (0x1UL << DMA_HISR_FEIF6_Pos)                 /*!< 0x00010000 */
+#define DMA_HISR_FEIF6           DMA_HISR_FEIF6_Msk                            /*!<  Stream 6 FIFO error interrupt flag */
+#define DMA_HISR_TCIF5_Pos       (11U)
+#define DMA_HISR_TCIF5_Msk       (0x1UL << DMA_HISR_TCIF5_Pos)                 /*!< 0x00000800 */
+#define DMA_HISR_TCIF5           DMA_HISR_TCIF5_Msk                            /*!<  Stream 5 transfer complete interrupt flag */
+#define DMA_HISR_HTIF5_Pos       (10U)
+#define DMA_HISR_HTIF5_Msk       (0x1UL << DMA_HISR_HTIF5_Pos)                 /*!< 0x00000400 */
+#define DMA_HISR_HTIF5           DMA_HISR_HTIF5_Msk                            /*!<  Stream 5 half transfer interrupt flag */
+#define DMA_HISR_TEIF5_Pos       (9U)
+#define DMA_HISR_TEIF5_Msk       (0x1UL << DMA_HISR_TEIF5_Pos)                 /*!< 0x00000200 */
+#define DMA_HISR_TEIF5           DMA_HISR_TEIF5_Msk                            /*!<  Stream 5 transfer error interrupt flag */
+#define DMA_HISR_DMEIF5_Pos      (8U)
+#define DMA_HISR_DMEIF5_Msk      (0x1UL << DMA_HISR_DMEIF5_Pos)                /*!< 0x00000100 */
+#define DMA_HISR_DMEIF5          DMA_HISR_DMEIF5_Msk                           /*!<  Stream 5 direct mode error interrupt flag */
+#define DMA_HISR_FEIF5_Pos       (6U)
+#define DMA_HISR_FEIF5_Msk       (0x1UL << DMA_HISR_FEIF5_Pos)                 /*!< 0x00000040 */
+#define DMA_HISR_FEIF5           DMA_HISR_FEIF5_Msk                            /*!<  Stream 5 FIFO error interrupt flag */
+#define DMA_HISR_TCIF4_Pos       (5U)
+#define DMA_HISR_TCIF4_Msk       (0x1UL << DMA_HISR_TCIF4_Pos)                 /*!< 0x00000020 */
+#define DMA_HISR_TCIF4           DMA_HISR_TCIF4_Msk                            /*!<  Stream 4 transfer complete interrupt flag */
+#define DMA_HISR_HTIF4_Pos       (4U)
+#define DMA_HISR_HTIF4_Msk       (0x1UL << DMA_HISR_HTIF4_Pos)                 /*!< 0x00000010 */
+#define DMA_HISR_HTIF4           DMA_HISR_HTIF4_Msk                            /*!<  Stream 4 half transfer interrupt flag */
+#define DMA_HISR_TEIF4_Pos       (3U)
+#define DMA_HISR_TEIF4_Msk       (0x1UL << DMA_HISR_TEIF4_Pos)                 /*!< 0x00000008 */
+#define DMA_HISR_TEIF4           DMA_HISR_TEIF4_Msk                            /*!<  Stream 4 transfer error interrupt flag */
+#define DMA_HISR_DMEIF4_Pos      (2U)
+#define DMA_HISR_DMEIF4_Msk      (0x1UL << DMA_HISR_DMEIF4_Pos)                /*!< 0x00000004 */
+#define DMA_HISR_DMEIF4          DMA_HISR_DMEIF4_Msk                           /*!<  Stream 4 direct mode error interrupt flag */
+#define DMA_HISR_FEIF4_Pos       (0U)
+#define DMA_HISR_FEIF4_Msk       (0x1UL << DMA_HISR_FEIF4_Pos)                 /*!< 0x00000001 */
+#define DMA_HISR_FEIF4           DMA_HISR_FEIF4_Msk                            /*!<  Stream 4 FIFO error interrupt flag */
+
+/********************  Bits definition for DMA_LIFCR register  ****************/
+#define DMA_LIFCR_CTCIF3_Pos     (27U)
+#define DMA_LIFCR_CTCIF3_Msk     (0x1UL << DMA_LIFCR_CTCIF3_Pos)               /*!< 0x08000000 */
+#define DMA_LIFCR_CTCIF3         DMA_LIFCR_CTCIF3_Msk                          /*!<  Stream 3 clear transfer complete interrupt flag */
+#define DMA_LIFCR_CHTIF3_Pos     (26U)
+#define DMA_LIFCR_CHTIF3_Msk     (0x1UL << DMA_LIFCR_CHTIF3_Pos)               /*!< 0x04000000 */
+#define DMA_LIFCR_CHTIF3         DMA_LIFCR_CHTIF3_Msk                          /*!<  Stream 3 clear half transfer interrupt flag */
+#define DMA_LIFCR_CTEIF3_Pos     (25U)
+#define DMA_LIFCR_CTEIF3_Msk     (0x1UL << DMA_LIFCR_CTEIF3_Pos)               /*!< 0x02000000 */
+#define DMA_LIFCR_CTEIF3         DMA_LIFCR_CTEIF3_Msk                          /*!<  Stream 3 clear transfer error interrupt flag */
+#define DMA_LIFCR_CDMEIF3_Pos    (24U)
+#define DMA_LIFCR_CDMEIF3_Msk    (0x1UL << DMA_LIFCR_CDMEIF3_Pos)              /*!< 0x01000000 */
+#define DMA_LIFCR_CDMEIF3        DMA_LIFCR_CDMEIF3_Msk                         /*!<  Stream 3 clear direct mode error interrupt flag */
+#define DMA_LIFCR_CFEIF3_Pos     (22U)
+#define DMA_LIFCR_CFEIF3_Msk     (0x1UL << DMA_LIFCR_CFEIF3_Pos)               /*!< 0x00400000 */
+#define DMA_LIFCR_CFEIF3         DMA_LIFCR_CFEIF3_Msk                          /*!<  Stream 3 clear FIFO error interrupt flag */
+#define DMA_LIFCR_CTCIF2_Pos     (21U)
+#define DMA_LIFCR_CTCIF2_Msk     (0x1UL << DMA_LIFCR_CTCIF2_Pos)               /*!< 0x00200000 */
+#define DMA_LIFCR_CTCIF2         DMA_LIFCR_CTCIF2_Msk                          /*!<  Stream 2 clear transfer complete interrupt flag */
+#define DMA_LIFCR_CHTIF2_Pos     (20U)
+#define DMA_LIFCR_CHTIF2_Msk     (0x1UL << DMA_LIFCR_CHTIF2_Pos)               /*!< 0x00100000 */
+#define DMA_LIFCR_CHTIF2         DMA_LIFCR_CHTIF2_Msk                          /*!<  Stream 2 clear half transfer interrupt flag */
+#define DMA_LIFCR_CTEIF2_Pos     (19U)
+#define DMA_LIFCR_CTEIF2_Msk     (0x1UL << DMA_LIFCR_CTEIF2_Pos)               /*!< 0x00080000 */
+#define DMA_LIFCR_CTEIF2         DMA_LIFCR_CTEIF2_Msk                          /*!<  Stream 2 clear transfer error interrupt flag */
+#define DMA_LIFCR_CDMEIF2_Pos    (18U)
+#define DMA_LIFCR_CDMEIF2_Msk    (0x1UL << DMA_LIFCR_CDMEIF2_Pos)              /*!< 0x00040000 */
+#define DMA_LIFCR_CDMEIF2        DMA_LIFCR_CDMEIF2_Msk                         /*!<  Stream 2 clear direct mode error interrupt flag */
+#define DMA_LIFCR_CFEIF2_Pos     (16U)
+#define DMA_LIFCR_CFEIF2_Msk     (0x1UL << DMA_LIFCR_CFEIF2_Pos)               /*!< 0x00010000 */
+#define DMA_LIFCR_CFEIF2         DMA_LIFCR_CFEIF2_Msk                          /*!<  Stream 2 clear FIFO error interrupt flag */
+#define DMA_LIFCR_CTCIF1_Pos     (11U)
+#define DMA_LIFCR_CTCIF1_Msk     (0x1UL << DMA_LIFCR_CTCIF1_Pos)               /*!< 0x00000800 */
+#define DMA_LIFCR_CTCIF1         DMA_LIFCR_CTCIF1_Msk                          /*!<  Stream 1 clear transfer complete interrupt flag */
+#define DMA_LIFCR_CHTIF1_Pos     (10U)
+#define DMA_LIFCR_CHTIF1_Msk     (0x1UL << DMA_LIFCR_CHTIF1_Pos)               /*!< 0x00000400 */
+#define DMA_LIFCR_CHTIF1         DMA_LIFCR_CHTIF1_Msk                          /*!<  Stream 1 clear half transfer interrupt flag */
+#define DMA_LIFCR_CTEIF1_Pos     (9U)
+#define DMA_LIFCR_CTEIF1_Msk     (0x1UL << DMA_LIFCR_CTEIF1_Pos)               /*!< 0x00000200 */
+#define DMA_LIFCR_CTEIF1         DMA_LIFCR_CTEIF1_Msk                          /*!<  Stream 1 clear transfer error interrupt flag */
+#define DMA_LIFCR_CDMEIF1_Pos    (8U)
+#define DMA_LIFCR_CDMEIF1_Msk    (0x1UL << DMA_LIFCR_CDMEIF1_Pos)              /*!< 0x00000100 */
+#define DMA_LIFCR_CDMEIF1        DMA_LIFCR_CDMEIF1_Msk                         /*!<  Stream 1 clear direct mode error interrupt flag */
+#define DMA_LIFCR_CFEIF1_Pos     (6U)
+#define DMA_LIFCR_CFEIF1_Msk     (0x1UL << DMA_LIFCR_CFEIF1_Pos)               /*!< 0x00000040 */
+#define DMA_LIFCR_CFEIF1         DMA_LIFCR_CFEIF1_Msk                          /*!<  Stream 1 clear FIFO error interrupt flag */
+#define DMA_LIFCR_CTCIF0_Pos     (5U)
+#define DMA_LIFCR_CTCIF0_Msk     (0x1UL << DMA_LIFCR_CTCIF0_Pos)               /*!< 0x00000020 */
+#define DMA_LIFCR_CTCIF0         DMA_LIFCR_CTCIF0_Msk                          /*!<  Stream 0 clear transfer complete interrupt flag */
+#define DMA_LIFCR_CHTIF0_Pos     (4U)
+#define DMA_LIFCR_CHTIF0_Msk     (0x1UL << DMA_LIFCR_CHTIF0_Pos)               /*!< 0x00000010 */
+#define DMA_LIFCR_CHTIF0         DMA_LIFCR_CHTIF0_Msk                          /*!<  Stream 0 clear half transfer interrupt flag */
+#define DMA_LIFCR_CTEIF0_Pos     (3U)
+#define DMA_LIFCR_CTEIF0_Msk     (0x1UL << DMA_LIFCR_CTEIF0_Pos)               /*!< 0x00000008 */
+#define DMA_LIFCR_CTEIF0         DMA_LIFCR_CTEIF0_Msk                          /*!<  Stream 0 clear transfer error interrupt flag */
+#define DMA_LIFCR_CDMEIF0_Pos    (2U)
+#define DMA_LIFCR_CDMEIF0_Msk    (0x1UL << DMA_LIFCR_CDMEIF0_Pos)              /*!< 0x00000004 */
+#define DMA_LIFCR_CDMEIF0        DMA_LIFCR_CDMEIF0_Msk                         /*!<  Stream 0 clear direct mode error interrupt flag */
+#define DMA_LIFCR_CFEIF0_Pos     (0U)
+#define DMA_LIFCR_CFEIF0_Msk     (0x1UL << DMA_LIFCR_CFEIF0_Pos)               /*!< 0x00000001 */
+#define DMA_LIFCR_CFEIF0         DMA_LIFCR_CFEIF0_Msk                          /*!<  Stream 0 clear FIFO error interrupt flag */
+
+/********************  Bits definition for DMA_HIFCR  register  ****************/
+#define DMA_HIFCR_CTCIF7_Pos     (27U)
+#define DMA_HIFCR_CTCIF7_Msk     (0x1UL << DMA_HIFCR_CTCIF7_Pos)               /*!< 0x08000000 */
+#define DMA_HIFCR_CTCIF7         DMA_HIFCR_CTCIF7_Msk                          /*!<  Stream 7 clear transfer complete interrupt flag */
+#define DMA_HIFCR_CHTIF7_Pos     (26U)
+#define DMA_HIFCR_CHTIF7_Msk     (0x1UL << DMA_HIFCR_CHTIF7_Pos)               /*!< 0x04000000 */
+#define DMA_HIFCR_CHTIF7         DMA_HIFCR_CHTIF7_Msk                          /*!<  Stream 7 clear half transfer interrupt flag */
+#define DMA_HIFCR_CTEIF7_Pos     (25U)
+#define DMA_HIFCR_CTEIF7_Msk     (0x1UL << DMA_HIFCR_CTEIF7_Pos)               /*!< 0x02000000 */
+#define DMA_HIFCR_CTEIF7         DMA_HIFCR_CTEIF7_Msk                          /*!<  Stream 7 clear transfer error interrupt flag */
+#define DMA_HIFCR_CDMEIF7_Pos    (24U)
+#define DMA_HIFCR_CDMEIF7_Msk    (0x1UL << DMA_HIFCR_CDMEIF7_Pos)              /*!< 0x01000000 */
+#define DMA_HIFCR_CDMEIF7        DMA_HIFCR_CDMEIF7_Msk                         /*!<  Stream 7 clear direct mode error interrupt flag */
+#define DMA_HIFCR_CFEIF7_Pos     (22U)
+#define DMA_HIFCR_CFEIF7_Msk     (0x1UL << DMA_HIFCR_CFEIF7_Pos)               /*!< 0x00400000 */
+#define DMA_HIFCR_CFEIF7         DMA_HIFCR_CFEIF7_Msk                          /*!<  Stream 7 clear FIFO error interrupt flag */
+#define DMA_HIFCR_CTCIF6_Pos     (21U)
+#define DMA_HIFCR_CTCIF6_Msk     (0x1UL << DMA_HIFCR_CTCIF6_Pos)               /*!< 0x00200000 */
+#define DMA_HIFCR_CTCIF6         DMA_HIFCR_CTCIF6_Msk                          /*!<  Stream 6 clear transfer complete interrupt flag */
+#define DMA_HIFCR_CHTIF6_Pos     (20U)
+#define DMA_HIFCR_CHTIF6_Msk     (0x1UL << DMA_HIFCR_CHTIF6_Pos)               /*!< 0x00100000 */
+#define DMA_HIFCR_CHTIF6         DMA_HIFCR_CHTIF6_Msk                          /*!<  Stream 6 clear half transfer interrupt flag */
+#define DMA_HIFCR_CTEIF6_Pos     (19U)
+#define DMA_HIFCR_CTEIF6_Msk     (0x1UL << DMA_HIFCR_CTEIF6_Pos)               /*!< 0x00080000 */
+#define DMA_HIFCR_CTEIF6         DMA_HIFCR_CTEIF6_Msk                          /*!<  Stream 6 clear transfer error interrupt flag */
+#define DMA_HIFCR_CDMEIF6_Pos    (18U)
+#define DMA_HIFCR_CDMEIF6_Msk    (0x1UL << DMA_HIFCR_CDMEIF6_Pos)              /*!< 0x00040000 */
+#define DMA_HIFCR_CDMEIF6        DMA_HIFCR_CDMEIF6_Msk                         /*!<  Stream 6 clear direct mode error interrupt flag */
+#define DMA_HIFCR_CFEIF6_Pos     (16U)
+#define DMA_HIFCR_CFEIF6_Msk     (0x1UL << DMA_HIFCR_CFEIF6_Pos)               /*!< 0x00010000 */
+#define DMA_HIFCR_CFEIF6         DMA_HIFCR_CFEIF6_Msk                          /*!<  Stream 6 clear FIFO error interrupt flag */
+#define DMA_HIFCR_CTCIF5_Pos     (11U)
+#define DMA_HIFCR_CTCIF5_Msk     (0x1UL << DMA_HIFCR_CTCIF5_Pos)               /*!< 0x00000800 */
+#define DMA_HIFCR_CTCIF5         DMA_HIFCR_CTCIF5_Msk                          /*!<  Stream 5 clear transfer complete interrupt flag */
+#define DMA_HIFCR_CHTIF5_Pos     (10U)
+#define DMA_HIFCR_CHTIF5_Msk     (0x1UL << DMA_HIFCR_CHTIF5_Pos)               /*!< 0x00000400 */
+#define DMA_HIFCR_CHTIF5         DMA_HIFCR_CHTIF5_Msk                          /*!<  Stream 5 clear half transfer interrupt flag */
+#define DMA_HIFCR_CTEIF5_Pos     (9U)
+#define DMA_HIFCR_CTEIF5_Msk     (0x1UL << DMA_HIFCR_CTEIF5_Pos)               /*!< 0x00000200 */
+#define DMA_HIFCR_CTEIF5         DMA_HIFCR_CTEIF5_Msk                          /*!<  Stream 5 clear transfer error interrupt flag */
+#define DMA_HIFCR_CDMEIF5_Pos    (8U)
+#define DMA_HIFCR_CDMEIF5_Msk    (0x1UL << DMA_HIFCR_CDMEIF5_Pos)              /*!< 0x00000100 */
+#define DMA_HIFCR_CDMEIF5        DMA_HIFCR_CDMEIF5_Msk                         /*!<  Stream 5 clear direct mode error interrupt flag */
+#define DMA_HIFCR_CFEIF5_Pos     (6U)
+#define DMA_HIFCR_CFEIF5_Msk     (0x1UL << DMA_HIFCR_CFEIF5_Pos)               /*!< 0x00000040 */
+#define DMA_HIFCR_CFEIF5         DMA_HIFCR_CFEIF5_Msk                          /*!<  Stream 5 clear FIFO error interrupt flag */
+#define DMA_HIFCR_CTCIF4_Pos     (5U)
+#define DMA_HIFCR_CTCIF4_Msk     (0x1UL << DMA_HIFCR_CTCIF4_Pos)               /*!< 0x00000020 */
+#define DMA_HIFCR_CTCIF4         DMA_HIFCR_CTCIF4_Msk                          /*!<  Stream 4 clear transfer complete interrupt flag */
+#define DMA_HIFCR_CHTIF4_Pos     (4U)
+#define DMA_HIFCR_CHTIF4_Msk     (0x1UL << DMA_HIFCR_CHTIF4_Pos)               /*!< 0x00000010 */
+#define DMA_HIFCR_CHTIF4         DMA_HIFCR_CHTIF4_Msk                          /*!<  Stream 4 clear half transfer interrupt flag */
+#define DMA_HIFCR_CTEIF4_Pos     (3U)
+#define DMA_HIFCR_CTEIF4_Msk     (0x1UL << DMA_HIFCR_CTEIF4_Pos)               /*!< 0x00000008 */
+#define DMA_HIFCR_CTEIF4         DMA_HIFCR_CTEIF4_Msk                          /*!<  Stream 4 clear transfer error interrupt flag */
+#define DMA_HIFCR_CDMEIF4_Pos    (2U)
+#define DMA_HIFCR_CDMEIF4_Msk    (0x1UL << DMA_HIFCR_CDMEIF4_Pos)              /*!< 0x00000004 */
+#define DMA_HIFCR_CDMEIF4        DMA_HIFCR_CDMEIF4_Msk                         /*!<  Stream 4 clear direct mode error interrupt flag */
+#define DMA_HIFCR_CFEIF4_Pos     (0U)
+#define DMA_HIFCR_CFEIF4_Msk     (0x1UL << DMA_HIFCR_CFEIF4_Pos)               /*!< 0x00000001 */
+#define DMA_HIFCR_CFEIF4         DMA_HIFCR_CFEIF4_Msk                          /*!<  Stream 4 clear FIFO error interrupt flag */
+
+/******************  Bit definition for DMA_SxPAR register  ********************/
+#define DMA_SxPAR_PA_Pos         (0U)
+#define DMA_SxPAR_PA_Msk         (0xFFFFFFFFUL << DMA_SxPAR_PA_Pos)            /*!< 0xFFFFFFFF */
+#define DMA_SxPAR_PA             DMA_SxPAR_PA_Msk                              /*!< Peripheral Address */
+
+/******************  Bit definition for DMA_SxM0AR register  ********************/
+#define DMA_SxM0AR_M0A_Pos       (0U)
+#define DMA_SxM0AR_M0A_Msk       (0xFFFFFFFFUL << DMA_SxM0AR_M0A_Pos)          /*!< 0xFFFFFFFF */
+#define DMA_SxM0AR_M0A           DMA_SxM0AR_M0A_Msk                            /*!< Memory 0 Address */
+
+/******************  Bit definition for DMA_SxM1AR register  ********************/
+#define DMA_SxM1AR_M1A_Pos       (0U)
+#define DMA_SxM1AR_M1A_Msk       (0xFFFFFFFFUL << DMA_SxM1AR_M1A_Pos)          /*!< 0xFFFFFFFF */
+#define DMA_SxM1AR_M1A           DMA_SxM1AR_M1A_Msk                            /*!< Memory 1 Address */
+
+/******************************************************************************/
+/*                                                                            */
+/*                             DMAMUX Controller                              */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bits definition for DMAMUX_CxCR register  **************/
+#define DMAMUX_CxCR_DMAREQ_ID_Pos      (0U)
+#define DMAMUX_CxCR_DMAREQ_ID_Msk      (0xFFUL << DMAMUX_CxCR_DMAREQ_ID_Pos)   /*!< 0x000000FF */
+#define DMAMUX_CxCR_DMAREQ_ID          DMAMUX_CxCR_DMAREQ_ID_Msk               /*!<  DMA request identification */
+#define DMAMUX_CxCR_DMAREQ_ID_0        (0x01UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000001 */
+#define DMAMUX_CxCR_DMAREQ_ID_1        (0x02UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000002 */
+#define DMAMUX_CxCR_DMAREQ_ID_2        (0x04UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000004 */
+#define DMAMUX_CxCR_DMAREQ_ID_3        (0x08UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000008 */
+#define DMAMUX_CxCR_DMAREQ_ID_4        (0x10UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000010 */
+#define DMAMUX_CxCR_DMAREQ_ID_5        (0x20UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000020 */
+#define DMAMUX_CxCR_DMAREQ_ID_6        (0x40UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000040 */
+#define DMAMUX_CxCR_DMAREQ_ID_7        (0x80UL << DMAMUX_CxCR_DMAREQ_ID_Pos)    /*!< 0x00000080 */
+#define DMAMUX_CxCR_SOIE_Pos           (8U)
+#define DMAMUX_CxCR_SOIE_Msk           (0x1UL << DMAMUX_CxCR_SOIE_Pos)         /*!< 0x00000100 */
+#define DMAMUX_CxCR_SOIE               DMAMUX_CxCR_SOIE_Msk                    /*!<  Synchronization overrun interrupt enable */
+#define DMAMUX_CxCR_EGE_Pos            (9U)
+#define DMAMUX_CxCR_EGE_Msk            (0x1UL << DMAMUX_CxCR_EGE_Pos)          /*!< 0x00000200 */
+#define DMAMUX_CxCR_EGE                DMAMUX_CxCR_EGE_Msk                     /*!<  Event generation enable */
+#define DMAMUX_CxCR_SE_Pos             (16U)
+#define DMAMUX_CxCR_SE_Msk             (0x1UL << DMAMUX_CxCR_SE_Pos)           /*!< 0x00010000 */
+#define DMAMUX_CxCR_SE                 DMAMUX_CxCR_SE_Msk                      /*!<  Synchronization enable */
+#define DMAMUX_CxCR_SPOL_Pos           (17U)
+#define DMAMUX_CxCR_SPOL_Msk           (0x3UL << DMAMUX_CxCR_SPOL_Pos)         /*!< 0x00060000 */
+#define DMAMUX_CxCR_SPOL               DMAMUX_CxCR_SPOL_Msk                    /*!<  Synchronization polarity */
+#define DMAMUX_CxCR_SPOL_0             (0x1UL << DMAMUX_CxCR_SPOL_Pos)          /*!< 0x00020000 */
+#define DMAMUX_CxCR_SPOL_1             (0x2UL << DMAMUX_CxCR_SPOL_Pos)          /*!< 0x00040000 */
+#define DMAMUX_CxCR_NBREQ_Pos          (19U)
+#define DMAMUX_CxCR_NBREQ_Msk          (0x1FUL << DMAMUX_CxCR_NBREQ_Pos)       /*!< 0x00F80000 */
+#define DMAMUX_CxCR_NBREQ              DMAMUX_CxCR_NBREQ_Msk                   /*!<  Number of DMA requests minus 1 to forward */
+#define DMAMUX_CxCR_NBREQ_0            (0x01UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00080000 */
+#define DMAMUX_CxCR_NBREQ_1            (0x02UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00100000 */
+#define DMAMUX_CxCR_NBREQ_2            (0x04UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00200000 */
+#define DMAMUX_CxCR_NBREQ_3            (0x08UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00400000 */
+#define DMAMUX_CxCR_NBREQ_4            (0x10UL << DMAMUX_CxCR_NBREQ_Pos)        /*!< 0x00800000 */
+#define DMAMUX_CxCR_SYNC_ID_Pos        (24U)
+#define DMAMUX_CxCR_SYNC_ID_Msk        (0x1FUL << DMAMUX_CxCR_SYNC_ID_Pos)     /*!< 0x1F000000 */
+#define DMAMUX_CxCR_SYNC_ID            DMAMUX_CxCR_SYNC_ID_Msk                 /*!<  Synchronization identification */
+#define DMAMUX_CxCR_SYNC_ID_0          (0x01UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x01000000 */
+#define DMAMUX_CxCR_SYNC_ID_1          (0x02UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x02000000 */
+#define DMAMUX_CxCR_SYNC_ID_2          (0x04UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x04000000 */
+#define DMAMUX_CxCR_SYNC_ID_3          (0x08UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x08000000 */
+#define DMAMUX_CxCR_SYNC_ID_4          (0x10UL << DMAMUX_CxCR_SYNC_ID_Pos)      /*!< 0x10000000 */
+
+/********************  Bits definition for DMAMUX_CSR register  **************/
+#define DMAMUX_CSR_SOF0_Pos            (0U)
+#define DMAMUX_CSR_SOF0_Msk            (0x1UL << DMAMUX_CSR_SOF0_Pos)          /*!< 0x00000001 */
+#define DMAMUX_CSR_SOF0                DMAMUX_CSR_SOF0_Msk                     /*!< Channel 0 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF1_Pos            (1U)
+#define DMAMUX_CSR_SOF1_Msk            (0x1UL << DMAMUX_CSR_SOF1_Pos)          /*!< 0x00000002 */
+#define DMAMUX_CSR_SOF1                DMAMUX_CSR_SOF1_Msk                     /*!< Channel 1 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF2_Pos            (2U)
+#define DMAMUX_CSR_SOF2_Msk            (0x1UL << DMAMUX_CSR_SOF2_Pos)          /*!< 0x00000004 */
+#define DMAMUX_CSR_SOF2                DMAMUX_CSR_SOF2_Msk                     /*!< Channel 2 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF3_Pos            (3U)
+#define DMAMUX_CSR_SOF3_Msk            (0x1UL << DMAMUX_CSR_SOF3_Pos)          /*!< 0x00000008 */
+#define DMAMUX_CSR_SOF3                DMAMUX_CSR_SOF3_Msk                     /*!< Channel 3 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF4_Pos            (4U)
+#define DMAMUX_CSR_SOF4_Msk            (0x1UL << DMAMUX_CSR_SOF4_Pos)          /*!< 0x00000010 */
+#define DMAMUX_CSR_SOF4                DMAMUX_CSR_SOF4_Msk                     /*!< Channel 4 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF5_Pos            (5U)
+#define DMAMUX_CSR_SOF5_Msk            (0x1UL << DMAMUX_CSR_SOF5_Pos)          /*!< 0x00000020 */
+#define DMAMUX_CSR_SOF5                DMAMUX_CSR_SOF5_Msk                     /*!< Channel 5 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF6_Pos            (6U)
+#define DMAMUX_CSR_SOF6_Msk            (0x1UL << DMAMUX_CSR_SOF6_Pos)          /*!< 0x00000040 */
+#define DMAMUX_CSR_SOF6                DMAMUX_CSR_SOF6_Msk                     /*!< Channel 6 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF7_Pos            (7U)
+#define DMAMUX_CSR_SOF7_Msk            (0x1UL << DMAMUX_CSR_SOF7_Pos)          /*!< 0x00000080 */
+#define DMAMUX_CSR_SOF7                DMAMUX_CSR_SOF7_Msk                     /*!< Channel 7 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF8_Pos            (8U)
+#define DMAMUX_CSR_SOF8_Msk            (0x1UL << DMAMUX_CSR_SOF8_Pos)          /*!< 0x00000100 */
+#define DMAMUX_CSR_SOF8                DMAMUX_CSR_SOF8_Msk                     /*!< Channel 8 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF9_Pos            (9U)
+#define DMAMUX_CSR_SOF9_Msk            (0x1UL << DMAMUX_CSR_SOF9_Pos)          /*!< 0x00000200 */
+#define DMAMUX_CSR_SOF9                DMAMUX_CSR_SOF9_Msk                     /*!< Channel 9 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF10_Pos           (10U)
+#define DMAMUX_CSR_SOF10_Msk           (0x1UL << DMAMUX_CSR_SOF10_Pos)         /*!< 0x00000400 */
+#define DMAMUX_CSR_SOF10               DMAMUX_CSR_SOF10_Msk                    /*!< Channel 10 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF11_Pos           (11U)
+#define DMAMUX_CSR_SOF11_Msk           (0x1UL << DMAMUX_CSR_SOF11_Pos)         /*!< 0x00000800 */
+#define DMAMUX_CSR_SOF11               DMAMUX_CSR_SOF11_Msk                    /*!< Channel 11 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF12_Pos           (12U)
+#define DMAMUX_CSR_SOF12_Msk           (0x1UL << DMAMUX_CSR_SOF12_Pos)         /*!< 0x00001000 */
+#define DMAMUX_CSR_SOF12               DMAMUX_CSR_SOF12_Msk                    /*!< Channel 12 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF13_Pos           (13U)
+#define DMAMUX_CSR_SOF13_Msk           (0x1UL << DMAMUX_CSR_SOF13_Pos)         /*!< 0x00002000 */
+#define DMAMUX_CSR_SOF13               DMAMUX_CSR_SOF13_Msk                    /*!< Channel 13 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF14_Pos           (14U)
+#define DMAMUX_CSR_SOF14_Msk           (0x1UL << DMAMUX_CSR_SOF14_Pos)         /*!< 0x00004000 */
+#define DMAMUX_CSR_SOF14               DMAMUX_CSR_SOF14_Msk                    /*!< Channel 14 Synchronization overrun event flag */
+#define DMAMUX_CSR_SOF15_Pos           (15U)
+#define DMAMUX_CSR_SOF15_Msk           (0x1UL << DMAMUX_CSR_SOF15_Pos)         /*!< 0x00008000 */
+#define DMAMUX_CSR_SOF15               DMAMUX_CSR_SOF15_Msk                    /*!< Channel 15 Synchronization overrun event flag */
+
+/********************  Bits definition for DMAMUX_CFR register  **************/
+#define DMAMUX_CFR_CSOF0_Pos           (0U)
+#define DMAMUX_CFR_CSOF0_Msk           (0x1UL << DMAMUX_CFR_CSOF0_Pos)         /*!< 0x00000001 */
+#define DMAMUX_CFR_CSOF0               DMAMUX_CFR_CSOF0_Msk                    /*!< Channel 0 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF1_Pos           (1U)
+#define DMAMUX_CFR_CSOF1_Msk           (0x1UL << DMAMUX_CFR_CSOF1_Pos)         /*!< 0x00000002 */
+#define DMAMUX_CFR_CSOF1               DMAMUX_CFR_CSOF1_Msk                    /*!< Channel 1 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF2_Pos           (2U)
+#define DMAMUX_CFR_CSOF2_Msk           (0x1UL << DMAMUX_CFR_CSOF2_Pos)         /*!< 0x00000004 */
+#define DMAMUX_CFR_CSOF2               DMAMUX_CFR_CSOF2_Msk                    /*!< Channel 2 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF3_Pos           (3U)
+#define DMAMUX_CFR_CSOF3_Msk           (0x1UL << DMAMUX_CFR_CSOF3_Pos)         /*!< 0x00000008 */
+#define DMAMUX_CFR_CSOF3               DMAMUX_CFR_CSOF3_Msk                    /*!< Channel 3 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF4_Pos           (4U)
+#define DMAMUX_CFR_CSOF4_Msk           (0x1UL << DMAMUX_CFR_CSOF4_Pos)         /*!< 0x00000010 */
+#define DMAMUX_CFR_CSOF4               DMAMUX_CFR_CSOF4_Msk                    /*!< Channel 4 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF5_Pos           (5U)
+#define DMAMUX_CFR_CSOF5_Msk           (0x1UL << DMAMUX_CFR_CSOF5_Pos)         /*!< 0x00000020 */
+#define DMAMUX_CFR_CSOF5               DMAMUX_CFR_CSOF5_Msk                    /*!< Channel 5 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF6_Pos           (6U)
+#define DMAMUX_CFR_CSOF6_Msk           (0x1UL << DMAMUX_CFR_CSOF6_Pos)         /*!< 0x00000040 */
+#define DMAMUX_CFR_CSOF6               DMAMUX_CFR_CSOF6_Msk                    /*!< Channel 6 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF7_Pos           (7U)
+#define DMAMUX_CFR_CSOF7_Msk           (0x1UL << DMAMUX_CFR_CSOF7_Pos)         /*!< 0x00000080 */
+#define DMAMUX_CFR_CSOF7               DMAMUX_CFR_CSOF7_Msk                    /*!< Channel 7 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF8_Pos           (8U)
+#define DMAMUX_CFR_CSOF8_Msk           (0x1UL << DMAMUX_CFR_CSOF8_Pos)         /*!< 0x00000100 */
+#define DMAMUX_CFR_CSOF8               DMAMUX_CFR_CSOF8_Msk                    /*!< Channel 8 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF9_Pos           (9U)
+#define DMAMUX_CFR_CSOF9_Msk           (0x1UL << DMAMUX_CFR_CSOF9_Pos)         /*!< 0x00000200 */
+#define DMAMUX_CFR_CSOF9               DMAMUX_CFR_CSOF9_Msk                    /*!< Channel 9 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF10_Pos          (10U)
+#define DMAMUX_CFR_CSOF10_Msk          (0x1UL << DMAMUX_CFR_CSOF10_Pos)        /*!< 0x00000400 */
+#define DMAMUX_CFR_CSOF10              DMAMUX_CFR_CSOF10_Msk                   /*!< Channel 10 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF11_Pos          (11U)
+#define DMAMUX_CFR_CSOF11_Msk          (0x1UL << DMAMUX_CFR_CSOF11_Pos)        /*!< 0x00000800 */
+#define DMAMUX_CFR_CSOF11              DMAMUX_CFR_CSOF11_Msk                   /*!< Channel 11 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF12_Pos          (12U)
+#define DMAMUX_CFR_CSOF12_Msk          (0x1UL << DMAMUX_CFR_CSOF12_Pos)        /*!< 0x00001000 */
+#define DMAMUX_CFR_CSOF12              DMAMUX_CFR_CSOF12_Msk                   /*!< Channel 12 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF13_Pos          (13U)
+#define DMAMUX_CFR_CSOF13_Msk          (0x1UL << DMAMUX_CFR_CSOF13_Pos)        /*!< 0x00002000 */
+#define DMAMUX_CFR_CSOF13              DMAMUX_CFR_CSOF13_Msk                   /*!< Channel 13 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF14_Pos          (14U)
+#define DMAMUX_CFR_CSOF14_Msk          (0x1UL << DMAMUX_CFR_CSOF14_Pos)        /*!< 0x00004000 */
+#define DMAMUX_CFR_CSOF14              DMAMUX_CFR_CSOF14_Msk                   /*!< Channel 14 Clear synchronization overrun event flag */
+#define DMAMUX_CFR_CSOF15_Pos          (15U)
+#define DMAMUX_CFR_CSOF15_Msk          (0x1UL << DMAMUX_CFR_CSOF15_Pos)        /*!< 0x00008000 */
+#define DMAMUX_CFR_CSOF15              DMAMUX_CFR_CSOF15_Msk                   /*!< Channel 15 Clear synchronization overrun event flag */
+
+/********************  Bits definition for DMAMUX_RGxCR register  ************/
+#define DMAMUX_RGxCR_SIG_ID_Pos        (0U)
+#define DMAMUX_RGxCR_SIG_ID_Msk        (0x1FUL << DMAMUX_RGxCR_SIG_ID_Pos)     /*!< 0x0000001F */
+#define DMAMUX_RGxCR_SIG_ID            DMAMUX_RGxCR_SIG_ID_Msk                 /*!< Signal identification */
+#define DMAMUX_RGxCR_SIG_ID_0          (0x01UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000001 */
+#define DMAMUX_RGxCR_SIG_ID_1          (0x02UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000002 */
+#define DMAMUX_RGxCR_SIG_ID_2          (0x04UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000004 */
+#define DMAMUX_RGxCR_SIG_ID_3          (0x08UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000008 */
+#define DMAMUX_RGxCR_SIG_ID_4          (0x10UL << DMAMUX_RGxCR_SIG_ID_Pos)      /*!< 0x00000010 */
+#define DMAMUX_RGxCR_OIE_Pos           (8U)
+#define DMAMUX_RGxCR_OIE_Msk           (0x1UL << DMAMUX_RGxCR_OIE_Pos)         /*!< 0x00000100 */
+#define DMAMUX_RGxCR_OIE               DMAMUX_RGxCR_OIE_Msk                    /*!< Trigger overrun interrupt enable */
+#define DMAMUX_RGxCR_GE_Pos            (16U)
+#define DMAMUX_RGxCR_GE_Msk            (0x1UL << DMAMUX_RGxCR_GE_Pos)          /*!< 0x00010000 */
+#define DMAMUX_RGxCR_GE                DMAMUX_RGxCR_GE_Msk                     /*!< DMA request generator enable */
+#define DMAMUX_RGxCR_GPOL_Pos          (17U)
+#define DMAMUX_RGxCR_GPOL_Msk          (0x3UL << DMAMUX_RGxCR_GPOL_Pos)        /*!< 0x00060000 */
+#define DMAMUX_RGxCR_GPOL              DMAMUX_RGxCR_GPOL_Msk                   /*!< DMA request generator trigger polarity */
+#define DMAMUX_RGxCR_GPOL_0            (0x1UL << DMAMUX_RGxCR_GPOL_Pos)         /*!< 0x00020000 */
+#define DMAMUX_RGxCR_GPOL_1            (0x2UL << DMAMUX_RGxCR_GPOL_Pos)         /*!< 0x00040000 */
+#define DMAMUX_RGxCR_GNBREQ_Pos        (19U)
+#define DMAMUX_RGxCR_GNBREQ_Msk        (0x1FUL << DMAMUX_RGxCR_GNBREQ_Pos)     /*!< 0x00F80000 */
+#define DMAMUX_RGxCR_GNBREQ            DMAMUX_RGxCR_GNBREQ_Msk                 /*!< Number of DMA requests to be generated */
+#define DMAMUX_RGxCR_GNBREQ_0          (0x01UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00080000 */
+#define DMAMUX_RGxCR_GNBREQ_1          (0x02UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00100000 */
+#define DMAMUX_RGxCR_GNBREQ_2          (0x04UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00200000 */
+#define DMAMUX_RGxCR_GNBREQ_3          (0x08UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00400000 */
+#define DMAMUX_RGxCR_GNBREQ_4          (0x10UL << DMAMUX_RGxCR_GNBREQ_Pos)      /*!< 0x00800000 */
+
+/********************  Bits definition for DMAMUX_RGSR register  **************/
+#define DMAMUX_RGSR_OF0_Pos            (0U)
+#define DMAMUX_RGSR_OF0_Msk            (0x1UL << DMAMUX_RGSR_OF0_Pos)          /*!< 0x00000001 */
+#define DMAMUX_RGSR_OF0                DMAMUX_RGSR_OF0_Msk                     /*!< Request generator channel 0 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF1_Pos            (1U)
+#define DMAMUX_RGSR_OF1_Msk            (0x1UL << DMAMUX_RGSR_OF1_Pos)          /*!< 0x00000002 */
+#define DMAMUX_RGSR_OF1                DMAMUX_RGSR_OF1_Msk                     /*!< Request generator channel 1 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF2_Pos            (2U)
+#define DMAMUX_RGSR_OF2_Msk            (0x1UL << DMAMUX_RGSR_OF2_Pos)          /*!< 0x00000004 */
+#define DMAMUX_RGSR_OF2                DMAMUX_RGSR_OF2_Msk                     /*!< Request generator channel 2 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF3_Pos            (3U)
+#define DMAMUX_RGSR_OF3_Msk            (0x1UL << DMAMUX_RGSR_OF3_Pos)          /*!< 0x00000008 */
+#define DMAMUX_RGSR_OF3                DMAMUX_RGSR_OF3_Msk                     /*!< Request generator channel 3 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF4_Pos            (4U)
+#define DMAMUX_RGSR_OF4_Msk            (0x1UL << DMAMUX_RGSR_OF4_Pos)          /*!< 0x00000010 */
+#define DMAMUX_RGSR_OF4                DMAMUX_RGSR_OF4_Msk                     /*!< Request generator channel 4 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF5_Pos            (5U)
+#define DMAMUX_RGSR_OF5_Msk            (0x1UL << DMAMUX_RGSR_OF5_Pos)          /*!< 0x00000020 */
+#define DMAMUX_RGSR_OF5                DMAMUX_RGSR_OF5_Msk                     /*!< Request generator channel 5 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF6_Pos            (6U)
+#define DMAMUX_RGSR_OF6_Msk            (0x1UL << DMAMUX_RGSR_OF6_Pos)          /*!< 0x00000040 */
+#define DMAMUX_RGSR_OF6                DMAMUX_RGSR_OF6_Msk                     /*!< Request generator channel 6 Trigger overrun event flag */
+#define DMAMUX_RGSR_OF7_Pos            (7U)
+#define DMAMUX_RGSR_OF7_Msk            (0x1UL << DMAMUX_RGSR_OF7_Pos)          /*!< 0x00000080 */
+#define DMAMUX_RGSR_OF7                DMAMUX_RGSR_OF7_Msk                     /*!< Request generator channel 7 Trigger overrun event flag */
+
+/********************  Bits definition for DMAMUX_RGCFR register  **************/
+#define DMAMUX_RGCFR_COF0_Pos          (0U)
+#define DMAMUX_RGCFR_COF0_Msk          (0x1UL << DMAMUX_RGCFR_COF0_Pos)        /*!< 0x00000001 */
+#define DMAMUX_RGCFR_COF0              DMAMUX_RGCFR_COF0_Msk                   /*!< Request generator channel 0 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF1_Pos          (1U)
+#define DMAMUX_RGCFR_COF1_Msk          (0x1UL << DMAMUX_RGCFR_COF1_Pos)        /*!< 0x00000002 */
+#define DMAMUX_RGCFR_COF1              DMAMUX_RGCFR_COF1_Msk                   /*!< Request generator channel 1 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF2_Pos          (2U)
+#define DMAMUX_RGCFR_COF2_Msk          (0x1UL << DMAMUX_RGCFR_COF2_Pos)        /*!< 0x00000004 */
+#define DMAMUX_RGCFR_COF2              DMAMUX_RGCFR_COF2_Msk                   /*!< Request generator channel 2 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF3_Pos          (3U)
+#define DMAMUX_RGCFR_COF3_Msk          (0x1UL << DMAMUX_RGCFR_COF3_Pos)        /*!< 0x00000008 */
+#define DMAMUX_RGCFR_COF3              DMAMUX_RGCFR_COF3_Msk                   /*!< Request generator channel 3 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF4_Pos          (4U)
+#define DMAMUX_RGCFR_COF4_Msk          (0x1UL << DMAMUX_RGCFR_COF4_Pos)        /*!< 0x00000010 */
+#define DMAMUX_RGCFR_COF4              DMAMUX_RGCFR_COF4_Msk                   /*!< Request generator channel 4 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF5_Pos          (5U)
+#define DMAMUX_RGCFR_COF5_Msk          (0x1UL << DMAMUX_RGCFR_COF5_Pos)        /*!< 0x00000020 */
+#define DMAMUX_RGCFR_COF5              DMAMUX_RGCFR_COF5_Msk                   /*!< Request generator channel 5 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF6_Pos          (6U)
+#define DMAMUX_RGCFR_COF6_Msk          (0x1UL << DMAMUX_RGCFR_COF6_Pos)        /*!< 0x00000040 */
+#define DMAMUX_RGCFR_COF6              DMAMUX_RGCFR_COF6_Msk                   /*!< Request generator channel 6 Clear trigger overrun event flag */
+#define DMAMUX_RGCFR_COF7_Pos          (7U)
+#define DMAMUX_RGCFR_COF7_Msk          (0x1UL << DMAMUX_RGCFR_COF7_Pos)        /*!< 0x00000080 */
+#define DMAMUX_RGCFR_COF7              DMAMUX_RGCFR_COF7_Msk                   /*!< Request generator channel 7 Clear trigger overrun event flag */
+
+/******************************************************************************/
+/*                                                                            */
+/*                         AHB Master DMA2D Controller (DMA2D)                */
+/*                                                                            */
+/******************************************************************************/
+
+/********************  Bit definition for DMA2D_CR register  ******************/
+
+#define DMA2D_CR_START_Pos         (0U)
+#define DMA2D_CR_START_Msk         (0x1UL << DMA2D_CR_START_Pos)               /*!< 0x00000001 */
+#define DMA2D_CR_START             DMA2D_CR_START_Msk                          /*!< Start transfer                          */
+#define DMA2D_CR_SUSP_Pos          (1U)
+#define DMA2D_CR_SUSP_Msk          (0x1UL << DMA2D_CR_SUSP_Pos)                /*!< 0x00000002 */
+#define DMA2D_CR_SUSP              DMA2D_CR_SUSP_Msk                           /*!< Suspend transfer                        */
+#define DMA2D_CR_ABORT_Pos         (2U)
+#define DMA2D_CR_ABORT_Msk         (0x1UL << DMA2D_CR_ABORT_Pos)               /*!< 0x00000004 */
+#define DMA2D_CR_ABORT             DMA2D_CR_ABORT_Msk                          /*!< Abort transfer                          */
+#define DMA2D_CR_LOM_Pos           (6U)
+#define DMA2D_CR_LOM_Msk           (0x1UL << DMA2D_CR_LOM_Pos)                 /*!< 0x00000040 */
+#define DMA2D_CR_LOM               DMA2D_CR_LOM_Msk                            /*!< Line Offset Mode                         */
+#define DMA2D_CR_TEIE_Pos          (8U)
+#define DMA2D_CR_TEIE_Msk          (0x1UL << DMA2D_CR_TEIE_Pos)                /*!< 0x00000100 */
+#define DMA2D_CR_TEIE              DMA2D_CR_TEIE_Msk                           /*!< Transfer Error Interrupt Enable         */
+#define DMA2D_CR_TCIE_Pos          (9U)
+#define DMA2D_CR_TCIE_Msk          (0x1UL << DMA2D_CR_TCIE_Pos)                /*!< 0x00000200 */
+#define DMA2D_CR_TCIE              DMA2D_CR_TCIE_Msk                           /*!< Transfer Complete Interrupt Enable      */
+#define DMA2D_CR_TWIE_Pos          (10U)
+#define DMA2D_CR_TWIE_Msk          (0x1UL << DMA2D_CR_TWIE_Pos)                /*!< 0x00000400 */
+#define DMA2D_CR_TWIE              DMA2D_CR_TWIE_Msk                           /*!< Transfer Watermark Interrupt Enable     */
+#define DMA2D_CR_CAEIE_Pos         (11U)
+#define DMA2D_CR_CAEIE_Msk         (0x1UL << DMA2D_CR_CAEIE_Pos)               /*!< 0x00000800 */
+#define DMA2D_CR_CAEIE             DMA2D_CR_CAEIE_Msk                          /*!< CLUT Access Error Interrupt Enable      */
+#define DMA2D_CR_CTCIE_Pos         (12U)
+#define DMA2D_CR_CTCIE_Msk         (0x1UL << DMA2D_CR_CTCIE_Pos)               /*!< 0x00001000 */
+#define DMA2D_CR_CTCIE             DMA2D_CR_CTCIE_Msk                          /*!< CLUT Transfer Complete Interrupt Enable */
+#define DMA2D_CR_CEIE_Pos          (13U)
+#define DMA2D_CR_CEIE_Msk          (0x1UL << DMA2D_CR_CEIE_Pos)                /*!< 0x00002000 */
+#define DMA2D_CR_CEIE              DMA2D_CR_CEIE_Msk                           /*!< Configuration Error Interrupt Enable    */
+#define DMA2D_CR_MODE_Pos          (16U)
+#define DMA2D_CR_MODE_Msk          (0x7UL << DMA2D_CR_MODE_Pos)                /*!< 0x00070000 */
+#define DMA2D_CR_MODE              DMA2D_CR_MODE_Msk                           /*!< DMA2D Mode[2:0]                         */
+#define DMA2D_CR_MODE_0            (0x1UL << DMA2D_CR_MODE_Pos)                 /*!< 0x00010000 */
+#define DMA2D_CR_MODE_1            (0x2UL << DMA2D_CR_MODE_Pos)                 /*!< 0x00020000 */
+#define DMA2D_CR_MODE_2            (0x4UL << DMA2D_CR_MODE_Pos)                 /*!< 0x00040000 */
+
+/********************  Bit definition for DMA2D_ISR register  *****************/
+
+#define DMA2D_ISR_TEIF_Pos         (0U)
+#define DMA2D_ISR_TEIF_Msk         (0x1UL << DMA2D_ISR_TEIF_Pos)               /*!< 0x00000001 */
+#define DMA2D_ISR_TEIF             DMA2D_ISR_TEIF_Msk                          /*!< Transfer Error Interrupt Flag         */
+#define DMA2D_ISR_TCIF_Pos         (1U)
+#define DMA2D_ISR_TCIF_Msk         (0x1UL << DMA2D_ISR_TCIF_Pos)               /*!< 0x00000002 */
+#define DMA2D_ISR_TCIF             DMA2D_ISR_TCIF_Msk                          /*!< Transfer Complete Interrupt Flag      */
+#define DMA2D_ISR_TWIF_Pos         (2U)
+#define DMA2D_ISR_TWIF_Msk         (0x1UL << DMA2D_ISR_TWIF_Pos)               /*!< 0x00000004 */
+#define DMA2D_ISR_TWIF             DMA2D_ISR_TWIF_Msk                          /*!< Transfer Watermark Interrupt Flag     */
+#define DMA2D_ISR_CAEIF_Pos        (3U)
+#define DMA2D_ISR_CAEIF_Msk        (0x1UL << DMA2D_ISR_CAEIF_Pos)              /*!< 0x00000008 */
+#define DMA2D_ISR_CAEIF            DMA2D_ISR_CAEIF_Msk                         /*!< CLUT Access Error Interrupt Flag      */
+#define DMA2D_ISR_CTCIF_Pos        (4U)
+#define DMA2D_ISR_CTCIF_Msk        (0x1UL << DMA2D_ISR_CTCIF_Pos)              /*!< 0x00000010 */
+#define DMA2D_ISR_CTCIF            DMA2D_ISR_CTCIF_Msk                         /*!< CLUT Transfer Complete Interrupt Flag */
+#define DMA2D_ISR_CEIF_Pos         (5U)
+#define DMA2D_ISR_CEIF_Msk         (0x1UL << DMA2D_ISR_CEIF_Pos)               /*!< 0x00000020 */
+#define DMA2D_ISR_CEIF             DMA2D_ISR_CEIF_Msk                          /*!< Configuration Error Interrupt Flag    */
+
+/********************  Bit definition for DMA2D_IFCR register  ****************/
+
+#define DMA2D_IFCR_CTEIF_Pos       (0U)
+#define DMA2D_IFCR_CTEIF_Msk       (0x1UL << DMA2D_IFCR_CTEIF_Pos)             /*!< 0x00000001 */
+#define DMA2D_IFCR_CTEIF           DMA2D_IFCR_CTEIF_Msk                        /*!< Clears Transfer Error Interrupt Flag         */
+#define DMA2D_IFCR_CTCIF_Pos       (1U)
+#define DMA2D_IFCR_CTCIF_Msk       (0x1UL << DMA2D_IFCR_CTCIF_Pos)             /*!< 0x00000002 */
+#define DMA2D_IFCR_CTCIF           DMA2D_IFCR_CTCIF_Msk                        /*!< Clears Transfer Complete Interrupt Flag      */
+#define DMA2D_IFCR_CTWIF_Pos       (2U)
+#define DMA2D_IFCR_CTWIF_Msk       (0x1UL << DMA2D_IFCR_CTWIF_Pos)             /*!< 0x00000004 */
+#define DMA2D_IFCR_CTWIF           DMA2D_IFCR_CTWIF_Msk                        /*!< Clears Transfer Watermark Interrupt Flag     */
+#define DMA2D_IFCR_CAECIF_Pos      (3U)
+#define DMA2D_IFCR_CAECIF_Msk      (0x1UL << DMA2D_IFCR_CAECIF_Pos)            /*!< 0x00000008 */
+#define DMA2D_IFCR_CAECIF          DMA2D_IFCR_CAECIF_Msk                       /*!< Clears CLUT Access Error Interrupt Flag      */
+#define DMA2D_IFCR_CCTCIF_Pos      (4U)
+#define DMA2D_IFCR_CCTCIF_Msk      (0x1UL << DMA2D_IFCR_CCTCIF_Pos)            /*!< 0x00000010 */
+#define DMA2D_IFCR_CCTCIF          DMA2D_IFCR_CCTCIF_Msk                       /*!< Clears CLUT Transfer Complete Interrupt Flag */
+#define DMA2D_IFCR_CCEIF_Pos       (5U)
+#define DMA2D_IFCR_CCEIF_Msk       (0x1UL << DMA2D_IFCR_CCEIF_Pos)             /*!< 0x00000020 */
+#define DMA2D_IFCR_CCEIF           DMA2D_IFCR_CCEIF_Msk                        /*!< Clears Configuration Error Interrupt Flag    */
+
+/********************  Bit definition for DMA2D_FGMAR register  ***************/
+
+#define DMA2D_FGMAR_MA_Pos         (0U)
+#define DMA2D_FGMAR_MA_Msk         (0xFFFFFFFFUL << DMA2D_FGMAR_MA_Pos)        /*!< 0xFFFFFFFF */
+#define DMA2D_FGMAR_MA             DMA2D_FGMAR_MA_Msk                          /*!< Foreground Memory Address */
+
+/********************  Bit definition for DMA2D_FGOR register  ****************/
+
+#define DMA2D_FGOR_LO_Pos          (0U)
+#define DMA2D_FGOR_LO_Msk          (0xFFFFUL << DMA2D_FGOR_LO_Pos)             /*!< 0x0000FFFF */
+#define DMA2D_FGOR_LO              DMA2D_FGOR_LO_Msk                           /*!< Line Offset */
+
+/********************  Bit definition for DMA2D_BGMAR register  ***************/
+
+#define DMA2D_BGMAR_MA_Pos         (0U)
+#define DMA2D_BGMAR_MA_Msk         (0xFFFFFFFFUL << DMA2D_BGMAR_MA_Pos)        /*!< 0xFFFFFFFF */
+#define DMA2D_BGMAR_MA             DMA2D_BGMAR_MA_Msk                          /*!< Background Memory Address */
+
+/********************  Bit definition for DMA2D_BGOR register  ****************/
+
+#define DMA2D_BGOR_LO_Pos          (0U)
+#define DMA2D_BGOR_LO_Msk          (0xFFFFUL << DMA2D_BGOR_LO_Pos)             /*!< 0x0000FFFF */
+#define DMA2D_BGOR_LO              DMA2D_BGOR_LO_Msk                           /*!< Line Offset */
+
+/********************  Bit definition for DMA2D_FGPFCCR register  *************/
+
+#define DMA2D_FGPFCCR_CM_Pos       (0U)
+#define DMA2D_FGPFCCR_CM_Msk       (0xFUL << DMA2D_FGPFCCR_CM_Pos)             /*!< 0x0000000F */
+#define DMA2D_FGPFCCR_CM           DMA2D_FGPFCCR_CM_Msk                        /*!< Input color mode CM[3:0] */
+#define DMA2D_FGPFCCR_CM_0         (0x1UL << DMA2D_FGPFCCR_CM_Pos)              /*!< 0x00000001 */
+#define DMA2D_FGPFCCR_CM_1         (0x2UL << DMA2D_FGPFCCR_CM_Pos)              /*!< 0x00000002 */
+#define DMA2D_FGPFCCR_CM_2         (0x4UL << DMA2D_FGPFCCR_CM_Pos)              /*!< 0x00000004 */
+#define DMA2D_FGPFCCR_CM_3         (0x8UL << DMA2D_FGPFCCR_CM_Pos)              /*!< 0x00000008 */
+#define DMA2D_FGPFCCR_CCM_Pos      (4U)
+#define DMA2D_FGPFCCR_CCM_Msk      (0x1UL << DMA2D_FGPFCCR_CCM_Pos)            /*!< 0x00000010 */
+#define DMA2D_FGPFCCR_CCM          DMA2D_FGPFCCR_CCM_Msk                       /*!< CLUT Color mode */
+#define DMA2D_FGPFCCR_START_Pos    (5U)
+#define DMA2D_FGPFCCR_START_Msk    (0x1UL << DMA2D_FGPFCCR_START_Pos)          /*!< 0x00000020 */
+#define DMA2D_FGPFCCR_START        DMA2D_FGPFCCR_START_Msk                     /*!< Start */
+#define DMA2D_FGPFCCR_CS_Pos       (8U)
+#define DMA2D_FGPFCCR_CS_Msk       (0xFFUL << DMA2D_FGPFCCR_CS_Pos)            /*!< 0x0000FF00 */
+#define DMA2D_FGPFCCR_CS           DMA2D_FGPFCCR_CS_Msk                        /*!< CLUT size */
+#define DMA2D_FGPFCCR_AM_Pos       (16U)
+#define DMA2D_FGPFCCR_AM_Msk       (0x3UL << DMA2D_FGPFCCR_AM_Pos)             /*!< 0x00030000 */
+#define DMA2D_FGPFCCR_AM           DMA2D_FGPFCCR_AM_Msk                        /*!< Alpha mode AM[1:0] */
+#define DMA2D_FGPFCCR_AM_0         (0x1UL << DMA2D_FGPFCCR_AM_Pos)              /*!< 0x00010000 */
+#define DMA2D_FGPFCCR_AM_1         (0x2UL << DMA2D_FGPFCCR_AM_Pos)              /*!< 0x00020000 */
+#define DMA2D_FGPFCCR_CSS_Pos      (18U)
+#define DMA2D_FGPFCCR_CSS_Msk      (0x3UL << DMA2D_FGPFCCR_CSS_Pos)            /*!< 0x000C0000 */
+#define DMA2D_FGPFCCR_CSS          DMA2D_FGPFCCR_CSS_Msk                       /* !< Chroma Sub-Sampling */
+#define DMA2D_FGPFCCR_CSS_0        (0x1UL << DMA2D_FGPFCCR_CSS_Pos)             /*!< 0x00040000 */
+#define DMA2D_FGPFCCR_CSS_1        (0x2UL << DMA2D_FGPFCCR_CSS_Pos)             /*!< 0x00080000 */
+#define DMA2D_FGPFCCR_AI_Pos       (20U)
+#define DMA2D_FGPFCCR_AI_Msk       (0x1UL << DMA2D_FGPFCCR_AI_Pos)             /*!< 0x00100000 */
+#define DMA2D_FGPFCCR_AI           DMA2D_FGPFCCR_AI_Msk                        /*!< Foreground Input Alpha Inverted */
+#define DMA2D_FGPFCCR_RBS_Pos      (21U)
+#define DMA2D_FGPFCCR_RBS_Msk      (0x1UL << DMA2D_FGPFCCR_RBS_Pos)            /*!< 0x00200000 */
+#define DMA2D_FGPFCCR_RBS          DMA2D_FGPFCCR_RBS_Msk                       /*!< Foreground Input Red Blue Swap */
+#define DMA2D_FGPFCCR_ALPHA_Pos    (24U)
+#define DMA2D_FGPFCCR_ALPHA_Msk    (0xFFUL << DMA2D_FGPFCCR_ALPHA_Pos)         /*!< 0xFF000000 */
+#define DMA2D_FGPFCCR_ALPHA        DMA2D_FGPFCCR_ALPHA_Msk                     /*!< Alpha value */
+
+/********************  Bit definition for DMA2D_FGCOLR register  **************/
+
+#define DMA2D_FGCOLR_BLUE_Pos      (0U)
+#define DMA2D_FGCOLR_BLUE_Msk      (0xFFUL << DMA2D_FGCOLR_BLUE_Pos)           /*!< 0x000000FF */
+#define DMA2D_FGCOLR_BLUE          DMA2D_FGCOLR_BLUE_Msk                       /*!< Foreground Blue Value */
+#define DMA2D_FGCOLR_GREEN_Pos     (8U)
+#define DMA2D_FGCOLR_GREEN_Msk     (0xFFUL << DMA2D_FGCOLR_GREEN_Pos)          /*!< 0x0000FF00 */
+#define DMA2D_FGCOLR_GREEN         DMA2D_FGCOLR_GREEN_Msk                      /*!< Foreground Green Value */
+#define DMA2D_FGCOLR_RED_Pos       (16U)
+#define DMA2D_FGCOLR_RED_Msk       (0xFFUL << DMA2D_FGCOLR_RED_Pos)            /*!< 0x00FF0000 */
+#define DMA2D_FGCOLR_RED           DMA2D_FGCOLR_RED_Msk                        /*!< Foreground Red Value */
+
+/********************  Bit definition for DMA2D_BGPFCCR register  *************/
+
+#define DMA2D_BGPFCCR_CM_Pos       (0U)
+#define DMA2D_BGPFCCR_CM_Msk       (0xFUL << DMA2D_BGPFCCR_CM_Pos)             /*!< 0x0000000F */
+#define DMA2D_BGPFCCR_CM           DMA2D_BGPFCCR_CM_Msk                        /*!< Input color mode CM[3:0] */
+#define DMA2D_BGPFCCR_CM_0         (0x1UL << DMA2D_BGPFCCR_CM_Pos)              /*!< 0x00000001 */
+#define DMA2D_BGPFCCR_CM_1         (0x2UL << DMA2D_BGPFCCR_CM_Pos)              /*!< 0x00000002 */
+#define DMA2D_BGPFCCR_CM_2         (0x4UL << DMA2D_BGPFCCR_CM_Pos)              /*!< 0x00000004 */
+#define DMA2D_BGPFCCR_CM_3         (0x8UL << DMA2D_BGPFCCR_CM_Pos)              /*!< 0x00000008 */
+#define DMA2D_BGPFCCR_CCM_Pos      (4U)
+#define DMA2D_BGPFCCR_CCM_Msk      (0x1UL << DMA2D_BGPFCCR_CCM_Pos)            /*!< 0x00000010 */
+#define DMA2D_BGPFCCR_CCM          DMA2D_BGPFCCR_CCM_Msk                       /*!< CLUT Color mode */
+#define DMA2D_BGPFCCR_START_Pos    (5U)
+#define DMA2D_BGPFCCR_START_Msk    (0x1UL << DMA2D_BGPFCCR_START_Pos)          /*!< 0x00000020 */
+#define DMA2D_BGPFCCR_START        DMA2D_BGPFCCR_START_Msk                     /*!< Start */
+#define DMA2D_BGPFCCR_CS_Pos       (8U)
+#define DMA2D_BGPFCCR_CS_Msk       (0xFFUL << DMA2D_BGPFCCR_CS_Pos)            /*!< 0x0000FF00 */
+#define DMA2D_BGPFCCR_CS           DMA2D_BGPFCCR_CS_Msk                        /*!< CLUT size */
+#define DMA2D_BGPFCCR_AM_Pos       (16U)
+#define DMA2D_BGPFCCR_AM_Msk       (0x3UL << DMA2D_BGPFCCR_AM_Pos)             /*!< 0x00030000 */
+#define DMA2D_BGPFCCR_AM           DMA2D_BGPFCCR_AM_Msk                        /*!< Alpha mode AM[1:0] */
+#define DMA2D_BGPFCCR_AM_0         (0x1UL << DMA2D_BGPFCCR_AM_Pos)              /*!< 0x00010000 */
+#define DMA2D_BGPFCCR_AM_1         (0x2UL << DMA2D_BGPFCCR_AM_Pos)              /*!< 0x00020000 */
+#define DMA2D_BGPFCCR_AI_Pos       (20U)
+#define DMA2D_BGPFCCR_AI_Msk       (0x1UL << DMA2D_BGPFCCR_AI_Pos)             /*!< 0x00100000 */
+#define DMA2D_BGPFCCR_AI           DMA2D_BGPFCCR_AI_Msk                        /*!< background Input Alpha Inverted */
+#define DMA2D_BGPFCCR_RBS_Pos      (21U)
+#define DMA2D_BGPFCCR_RBS_Msk      (0x1UL << DMA2D_BGPFCCR_RBS_Pos)            /*!< 0x00200000 */
+#define DMA2D_BGPFCCR_RBS          DMA2D_BGPFCCR_RBS_Msk                       /*!< Background Input Red Blue Swap */
+#define DMA2D_BGPFCCR_ALPHA_Pos    (24U)
+#define DMA2D_BGPFCCR_ALPHA_Msk    (0xFFUL << DMA2D_BGPFCCR_ALPHA_Pos)         /*!< 0xFF000000 */
+#define DMA2D_BGPFCCR_ALPHA        DMA2D_BGPFCCR_ALPHA_Msk                     /*!< background Input Alpha value */
+
+/********************  Bit definition for DMA2D_BGCOLR register  **************/
+
+#define DMA2D_BGCOLR_BLUE_Pos      (0U)
+#define DMA2D_BGCOLR_BLUE_Msk      (0xFFUL << DMA2D_BGCOLR_BLUE_Pos)           /*!< 0x000000FF */
+#define DMA2D_BGCOLR_BLUE          DMA2D_BGCOLR_BLUE_Msk                       /*!< Background Blue Value */
+#define DMA2D_BGCOLR_GREEN_Pos     (8U)
+#define DMA2D_BGCOLR_GREEN_Msk     (0xFFUL << DMA2D_BGCOLR_GREEN_Pos)          /*!< 0x0000FF00 */
+#define DMA2D_BGCOLR_GREEN         DMA2D_BGCOLR_GREEN_Msk                      /*!< Background Green Value */
+#define DMA2D_BGCOLR_RED_Pos       (16U)
+#define DMA2D_BGCOLR_RED_Msk       (0xFFUL << DMA2D_BGCOLR_RED_Pos)            /*!< 0x00FF0000 */
+#define DMA2D_BGCOLR_RED           DMA2D_BGCOLR_RED_Msk                        /*!< Background Red Value */
+
+/********************  Bit definition for DMA2D_FGCMAR register  **************/
+
+#define DMA2D_FGCMAR_MA_Pos        (0U)
+#define DMA2D_FGCMAR_MA_Msk        (0xFFFFFFFFUL << DMA2D_FGCMAR_MA_Pos)       /*!< 0xFFFFFFFF */
+#define DMA2D_FGCMAR_MA            DMA2D_FGCMAR_MA_Msk                         /*!< Foreground CLUT Memory Address */
+
+/********************  Bit definition for DMA2D_BGCMAR register  **************/
+
+#define DMA2D_BGCMAR_MA_Pos        (0U)
+#define DMA2D_BGCMAR_MA_Msk        (0xFFFFFFFFUL << DMA2D_BGCMAR_MA_Pos)       /*!< 0xFFFFFFFF */
+#define DMA2D_BGCMAR_MA            DMA2D_BGCMAR_MA_Msk                         /*!< Background CLUT Memory Address */
+
+/********************  Bit definition for DMA2D_OPFCCR register  **************/
+
+#define DMA2D_OPFCCR_CM_Pos        (0U)
+#define DMA2D_OPFCCR_CM_Msk        (0x7UL << DMA2D_OPFCCR_CM_Pos)              /*!< 0x00000007 */
+#define DMA2D_OPFCCR_CM            DMA2D_OPFCCR_CM_Msk                         /*!< Output Color mode CM[2:0] */
+#define DMA2D_OPFCCR_CM_0          (0x1UL << DMA2D_OPFCCR_CM_Pos)              /*!< 0x00000001 */
+#define DMA2D_OPFCCR_CM_1          (0x2UL << DMA2D_OPFCCR_CM_Pos)              /*!< 0x00000002 */
+#define DMA2D_OPFCCR_CM_2          (0x4UL << DMA2D_OPFCCR_CM_Pos)              /*!< 0x00000004 */
+#define DMA2D_OPFCCR_SB_Pos        (8U)
+#define DMA2D_OPFCCR_SB_Msk        (0x1UL << DMA2D_OPFCCR_SB_Pos)              /*!< 0x00000100 */
+#define DMA2D_OPFCCR_SB            DMA2D_OPFCCR_SB_Msk                         /*!< Swap Bytes */
+#define DMA2D_OPFCCR_AI_Pos        (20U)
+#define DMA2D_OPFCCR_AI_Msk        (0x1UL << DMA2D_OPFCCR_AI_Pos)              /*!< 0x00100000 */
+#define DMA2D_OPFCCR_AI            DMA2D_OPFCCR_AI_Msk                         /*!< Output Alpha Inverted */
+#define DMA2D_OPFCCR_RBS_Pos       (21U)
+#define DMA2D_OPFCCR_RBS_Msk       (0x1UL << DMA2D_OPFCCR_RBS_Pos)             /*!< 0x00200000 */
+#define DMA2D_OPFCCR_RBS           DMA2D_OPFCCR_RBS_Msk                        /*!< Output Red Blue Swap */
+
+/********************  Bit definition for DMA2D_OCOLR register  ***************/
+
+/*!<Mode_ARGB8888/RGB888 */
+
+#define DMA2D_OCOLR_BLUE_1_Pos     (0U)
+#define DMA2D_OCOLR_BLUE_1_Msk     (0xFFUL <<DMA2D_OCOLR_BLUE_1_Pos)            /*0x000000FFU*/
+#define DMA2D_OCOLR_BLUE_1         DMA2D_OCOLR_BLUE_1_Msk                      /*!< Output BLUE Value */
+#define DMA2D_OCOLR_GREEN_1_Pos    (8U)
+#define DMA2D_OCOLR_GREEN_1_Msk    (0xFFUL<<DMA2D_OCOLR_GREEN_1_Pos)            /*0x0000FF00U)*/
+#define DMA2D_OCOLR_GREEN_1        DMA2D_OCOLR_GREEN_1_Msk                     /*!< Output GREEN Value  */
+#define DMA2D_OCOLR_RED_1_Pos      (16U)
+#define DMA2D_OCOLR_RED_1_Msk      (0xFFUL << DMA2D_OCOLR_RED_1_Pos)            /*0x00FF0000U */
+#define DMA2D_OCOLR_RED_1          DMA2D_OCOLR_RED_1_Msk                       /*!< Output Red Value */
+#define DMA2D_OCOLR_ALPHA_1_Pos    (24U)
+#define DMA2D_OCOLR_ALPHA_1_Msk    (0xFFUL << DMA2D_OCOLR_ALPHA_1_Pos)          /*0xFF000000U*/
+#define DMA2D_OCOLR_ALPHA_1        DMA2D_OCOLR_ALPHA_1_Msk                     /*!< Output Alpha Channel Value */
+
+/*!<Mode_RGB565 */
+#define DMA2D_OCOLR_BLUE_2_Pos     (0U)
+#define DMA2D_OCOLR_BLUE_2_Msk     (0x1FUL <<DMA2D_OCOLR_BLUE_2_Pos)            /*0x0000001FU*/
+#define DMA2D_OCOLR_BLUE_2         DMA2D_OCOLR_BLUE_2_Msk                      /*!< Output BLUE Value */
+#define DMA2D_OCOLR_GREEN_2_Pos    (5U)
+#define DMA2D_OCOLR_GREEN_2_Msk    (0x7EUL << DMA2D_OCOLR_GREEN_2_Pos)          /* 0x000007E0U */
+#define DMA2D_OCOLR_GREEN_2        DMA2D_OCOLR_GREEN_2_Msk                     /*!< Output GREEN Value  */
+#define DMA2D_OCOLR_RED_2_Pos      (11U)
+#define DMA2D_OCOLR_RED_2_Msk      (0xF8UL<<DMA2D_OCOLR_RED_2_Pos)              /*0x0000F800U*/
+#define DMA2D_OCOLR_RED_2          DMA2D_OCOLR_RED_2_Msk                       /*!< Output Red Value */
+
+/*!<Mode_ARGB1555 */
+#define DMA2D_OCOLR_BLUE_3_Pos     (0U)
+#define DMA2D_OCOLR_BLUE_3_Msk     (0x1FUL << DMA2D_OCOLR_BLUE_3_Pos)           /*0x0000001FU*/
+#define DMA2D_OCOLR_BLUE_3         DMA2D_OCOLR_BLUE_3_Msk                      /*!< Output BLUE Value */
+#define DMA2D_OCOLR_GREEN_3_Pos    (5U)
+#define DMA2D_OCOLR_GREEN_3_Msk    (0x3EUL << DMA2D_OCOLR_GREEN_3_Pos)          /*0x000003E0U*/
+#define DMA2D_OCOLR_GREEN_3        DMA2D_OCOLR_GREEN_3_Msk                     /*!< Output GREEN Value  */
+#define DMA2D_OCOLR_RED_3_Pos      (10U)
+#define DMA2D_OCOLR_RED_3_Msk      (0x7CUL << DMA2D_OCOLR_RED_3_Pos)            /* 0x00007C00U*/
+#define DMA2D_OCOLR_RED_3          DMA2D_OCOLR_RED_3_Msk                       /*!< Output Red Value */
+#define DMA2D_OCOLR_ALPHA_3_Pos    (15U)
+#define DMA2D_OCOLR_ALPHA_3_Msk    (0x1UL << DMA2D_OCOLR_ALPHA_3_Pos)           /*0x00008000U*/
+#define DMA2D_OCOLR_ALPHA_3        DMA2D_OCOLR_ALPHA_3_Msk                     /*!< Output Alpha Channel Value */
+
+/*!<Mode_ARGB4444 */
+#define DMA2D_OCOLR_BLUE_4_Pos     (0U)
+#define DMA2D_OCOLR_BLUE_4_Msk     (0xFUL << DMA2D_OCOLR_BLUE_4_Pos)            /*0x0000000FU*/
+#define DMA2D_OCOLR_BLUE_4         DMA2D_OCOLR_BLUE_4_Msk                      /*!< Output BLUE Value */
+#define DMA2D_OCOLR_GREEN_4_Pos    (4U)
+#define DMA2D_OCOLR_GREEN_4_Msk    (0xFUL << DMA2D_OCOLR_GREEN_4_Pos)           /*0x000000F0U*/
+#define DMA2D_OCOLR_GREEN_4        DMA2D_OCOLR_GREEN_4_Msk                     /*!< Output GREEN Value  */
+#define DMA2D_OCOLR_RED_4_Pos      (8U)
+#define DMA2D_OCOLR_RED_4_Msk      (0xFUL << DMA2D_OCOLR_RED_4_Pos)             /*0x00000F00U*/
+#define DMA2D_OCOLR_RED_4          DMA2D_OCOLR_RED_4_Msk                       /*!< Output Red Value */
+#define DMA2D_OCOLR_ALPHA_4_Pos    (12U)
+#define DMA2D_OCOLR_ALPHA_4_Msk    (0xFUL << DMA2D_OCOLR_ALPHA_4_Pos)            /*0x0000F000U*/
+#define DMA2D_OCOLR_ALPHA_4        DMA2D_OCOLR_ALPHA_4_Msk                     /*!< Output Alpha Channel Value */
+
+/********************  Bit definition for DMA2D_OMAR register  ****************/
+
+#define DMA2D_OMAR_MA_Pos          (0U)
+#define DMA2D_OMAR_MA_Msk          (0xFFFFFFFFUL << DMA2D_OMAR_MA_Pos)         /*!< 0xFFFFFFFF */
+#define DMA2D_OMAR_MA              DMA2D_OMAR_MA_Msk                           /*!< Output Memory Address */
+
+/********************  Bit definition for DMA2D_OOR register  *****************/
+
+#define DMA2D_OOR_LO_Pos           (0U)
+#define DMA2D_OOR_LO_Msk           (0xFFFFUL << DMA2D_OOR_LO_Pos)              /*!< 0x0000FFFF */
+#define DMA2D_OOR_LO               DMA2D_OOR_LO_Msk                            /*!< Output Line Offset */
+
+/********************  Bit definition for DMA2D_NLR register  *****************/
+
+#define DMA2D_NLR_NL_Pos           (0U)
+#define DMA2D_NLR_NL_Msk           (0xFFFFUL << DMA2D_NLR_NL_Pos)              /*!< 0x0000FFFF */
+#define DMA2D_NLR_NL               DMA2D_NLR_NL_Msk                            /*!< Number of Lines */
+#define DMA2D_NLR_PL_Pos           (16U)
+#define DMA2D_NLR_PL_Msk           (0x3FFFUL << DMA2D_NLR_PL_Pos)              /*!< 0x3FFF0000 */
+#define DMA2D_NLR_PL               DMA2D_NLR_PL_Msk                            /*!< Pixel per Lines */
+
+/********************  Bit definition for DMA2D_LWR register  *****************/
+
+#define DMA2D_LWR_LW_Pos           (0U)
+#define DMA2D_LWR_LW_Msk           (0xFFFFUL << DMA2D_LWR_LW_Pos)              /*!< 0x0000FFFF */
+#define DMA2D_LWR_LW               DMA2D_LWR_LW_Msk                            /*!< Line Watermark */
+
+/********************  Bit definition for DMA2D_AMTCR register  ***************/
+
+#define DMA2D_AMTCR_EN_Pos         (0U)
+#define DMA2D_AMTCR_EN_Msk         (0x1UL << DMA2D_AMTCR_EN_Pos)               /*!< 0x00000001 */
+#define DMA2D_AMTCR_EN             DMA2D_AMTCR_EN_Msk                          /*!< Enable */
+#define DMA2D_AMTCR_DT_Pos         (8U)
+#define DMA2D_AMTCR_DT_Msk         (0xFFUL << DMA2D_AMTCR_DT_Pos)              /*!< 0x0000FF00 */
+#define DMA2D_AMTCR_DT             DMA2D_AMTCR_DT_Msk                          /*!< Dead Time */
+
+
+/********************  Bit definition for DMA2D_FGCLUT register  **************/
+
+/********************  Bit definition for DMA2D_BGCLUT register  **************/
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                    External Interrupt/Event Controller                     */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for EXTI_RTSR1 register  *******************/
+#define EXTI_RTSR1_TR_Pos          (0U)
+#define EXTI_RTSR1_TR_Msk          (0x3FFFFFUL << EXTI_RTSR1_TR_Pos)           /*!< 0x003FFFFF */
+#define EXTI_RTSR1_TR              EXTI_RTSR1_TR_Msk                           /*!< Rising trigger event configuration bit */
+#define EXTI_RTSR1_TR0_Pos         (0U)
+#define EXTI_RTSR1_TR0_Msk         (0x1UL << EXTI_RTSR1_TR0_Pos)               /*!< 0x00000001 */
+#define EXTI_RTSR1_TR0             EXTI_RTSR1_TR0_Msk                          /*!< Rising trigger event configuration bit of line 0 */
+#define EXTI_RTSR1_TR1_Pos         (1U)
+#define EXTI_RTSR1_TR1_Msk         (0x1UL << EXTI_RTSR1_TR1_Pos)               /*!< 0x00000002 */
+#define EXTI_RTSR1_TR1             EXTI_RTSR1_TR1_Msk                          /*!< Rising trigger event configuration bit of line 1 */
+#define EXTI_RTSR1_TR2_Pos         (2U)
+#define EXTI_RTSR1_TR2_Msk         (0x1UL << EXTI_RTSR1_TR2_Pos)               /*!< 0x00000004 */
+#define EXTI_RTSR1_TR2             EXTI_RTSR1_TR2_Msk                          /*!< Rising trigger event configuration bit of line 2 */
+#define EXTI_RTSR1_TR3_Pos         (3U)
+#define EXTI_RTSR1_TR3_Msk         (0x1UL << EXTI_RTSR1_TR3_Pos)               /*!< 0x00000008 */
+#define EXTI_RTSR1_TR3             EXTI_RTSR1_TR3_Msk                          /*!< Rising trigger event configuration bit of line 3 */
+#define EXTI_RTSR1_TR4_Pos         (4U)
+#define EXTI_RTSR1_TR4_Msk         (0x1UL << EXTI_RTSR1_TR4_Pos)               /*!< 0x00000010 */
+#define EXTI_RTSR1_TR4             EXTI_RTSR1_TR4_Msk                          /*!< Rising trigger event configuration bit of line 4 */
+#define EXTI_RTSR1_TR5_Pos         (5U)
+#define EXTI_RTSR1_TR5_Msk         (0x1UL << EXTI_RTSR1_TR5_Pos)               /*!< 0x00000020 */
+#define EXTI_RTSR1_TR5             EXTI_RTSR1_TR5_Msk                          /*!< Rising trigger event configuration bit of line 5 */
+#define EXTI_RTSR1_TR6_Pos         (6U)
+#define EXTI_RTSR1_TR6_Msk         (0x1UL << EXTI_RTSR1_TR6_Pos)               /*!< 0x00000040 */
+#define EXTI_RTSR1_TR6             EXTI_RTSR1_TR6_Msk                          /*!< Rising trigger event configuration bit of line 6 */
+#define EXTI_RTSR1_TR7_Pos         (7U)
+#define EXTI_RTSR1_TR7_Msk         (0x1UL << EXTI_RTSR1_TR7_Pos)               /*!< 0x00000080 */
+#define EXTI_RTSR1_TR7             EXTI_RTSR1_TR7_Msk                          /*!< Rising trigger event configuration bit of line 7 */
+#define EXTI_RTSR1_TR8_Pos         (8U)
+#define EXTI_RTSR1_TR8_Msk         (0x1UL << EXTI_RTSR1_TR8_Pos)               /*!< 0x00000100 */
+#define EXTI_RTSR1_TR8             EXTI_RTSR1_TR8_Msk                          /*!< Rising trigger event configuration bit of line 8 */
+#define EXTI_RTSR1_TR9_Pos         (9U)
+#define EXTI_RTSR1_TR9_Msk         (0x1UL << EXTI_RTSR1_TR9_Pos)               /*!< 0x00000200 */
+#define EXTI_RTSR1_TR9             EXTI_RTSR1_TR9_Msk                          /*!< Rising trigger event configuration bit of line 9 */
+#define EXTI_RTSR1_TR10_Pos        (10U)
+#define EXTI_RTSR1_TR10_Msk        (0x1UL << EXTI_RTSR1_TR10_Pos)              /*!< 0x00000400 */
+#define EXTI_RTSR1_TR10            EXTI_RTSR1_TR10_Msk                         /*!< Rising trigger event configuration bit of line 10 */
+#define EXTI_RTSR1_TR11_Pos        (11U)
+#define EXTI_RTSR1_TR11_Msk        (0x1UL << EXTI_RTSR1_TR11_Pos)              /*!< 0x00000800 */
+#define EXTI_RTSR1_TR11            EXTI_RTSR1_TR11_Msk                         /*!< Rising trigger event configuration bit of line 11 */
+#define EXTI_RTSR1_TR12_Pos        (12U)
+#define EXTI_RTSR1_TR12_Msk        (0x1UL << EXTI_RTSR1_TR12_Pos)              /*!< 0x00001000 */
+#define EXTI_RTSR1_TR12            EXTI_RTSR1_TR12_Msk                         /*!< Rising trigger event configuration bit of line 12 */
+#define EXTI_RTSR1_TR13_Pos        (13U)
+#define EXTI_RTSR1_TR13_Msk        (0x1UL << EXTI_RTSR1_TR13_Pos)              /*!< 0x00002000 */
+#define EXTI_RTSR1_TR13            EXTI_RTSR1_TR13_Msk                         /*!< Rising trigger event configuration bit of line 13 */
+#define EXTI_RTSR1_TR14_Pos        (14U)
+#define EXTI_RTSR1_TR14_Msk        (0x1UL << EXTI_RTSR1_TR14_Pos)              /*!< 0x00004000 */
+#define EXTI_RTSR1_TR14            EXTI_RTSR1_TR14_Msk                         /*!< Rising trigger event configuration bit of line 14 */
+#define EXTI_RTSR1_TR15_Pos        (15U)
+#define EXTI_RTSR1_TR15_Msk        (0x1UL << EXTI_RTSR1_TR15_Pos)              /*!< 0x00008000 */
+#define EXTI_RTSR1_TR15            EXTI_RTSR1_TR15_Msk                         /*!< Rising trigger event configuration bit of line 15 */
+#define EXTI_RTSR1_TR16_Pos        (16U)
+#define EXTI_RTSR1_TR16_Msk        (0x1UL << EXTI_RTSR1_TR16_Pos)              /*!< 0x00010000 */
+#define EXTI_RTSR1_TR16            EXTI_RTSR1_TR16_Msk                         /*!< Rising trigger event configuration bit of line 16 */
+#define EXTI_RTSR1_TR17_Pos        (17U)
+#define EXTI_RTSR1_TR17_Msk        (0x1UL << EXTI_RTSR1_TR17_Pos)              /*!< 0x00020000 */
+#define EXTI_RTSR1_TR17            EXTI_RTSR1_TR17_Msk                         /*!< Rising trigger event configuration bit of line 17 */
+#define EXTI_RTSR1_TR18_Pos        (18U)
+#define EXTI_RTSR1_TR18_Msk        (0x1UL << EXTI_RTSR1_TR18_Pos)              /*!< 0x00040000 */
+#define EXTI_RTSR1_TR18            EXTI_RTSR1_TR18_Msk                         /*!< Rising trigger event configuration bit of line 18 */
+#define EXTI_RTSR1_TR19_Pos        (19U)
+#define EXTI_RTSR1_TR19_Msk        (0x1UL << EXTI_RTSR1_TR19_Pos)              /*!< 0x00080000 */
+#define EXTI_RTSR1_TR19            EXTI_RTSR1_TR19_Msk                         /*!< Rising trigger event configuration bit of line 19 */
+#define EXTI_RTSR1_TR20_Pos        (20U)
+#define EXTI_RTSR1_TR20_Msk        (0x1UL << EXTI_RTSR1_TR20_Pos)              /*!< 0x00100000 */
+#define EXTI_RTSR1_TR20            EXTI_RTSR1_TR20_Msk                         /*!< Rising trigger event configuration bit of line 20 */
+#define EXTI_RTSR1_TR21_Pos        (21U)
+#define EXTI_RTSR1_TR21_Msk        (0x1UL << EXTI_RTSR1_TR21_Pos)              /*!< 0x00200000 */
+#define EXTI_RTSR1_TR21            EXTI_RTSR1_TR21_Msk                         /*!< Rising trigger event configuration bit of line 21 */
+
+/******************  Bit definition for EXTI_FTSR1 register  *******************/
+#define EXTI_FTSR1_TR_Pos          (0U)
+#define EXTI_FTSR1_TR_Msk          (0x3FFFFFUL << EXTI_FTSR1_TR_Pos)           /*!< 0x003FFFFF */
+#define EXTI_FTSR1_TR              EXTI_FTSR1_TR_Msk                           /*!< Falling trigger event configuration bit */
+#define EXTI_FTSR1_TR0_Pos         (0U)
+#define EXTI_FTSR1_TR0_Msk         (0x1UL << EXTI_FTSR1_TR0_Pos)               /*!< 0x00000001 */
+#define EXTI_FTSR1_TR0             EXTI_FTSR1_TR0_Msk                          /*!< Falling trigger event configuration bit of line 0 */
+#define EXTI_FTSR1_TR1_Pos         (1U)
+#define EXTI_FTSR1_TR1_Msk         (0x1UL << EXTI_FTSR1_TR1_Pos)               /*!< 0x00000002 */
+#define EXTI_FTSR1_TR1             EXTI_FTSR1_TR1_Msk                          /*!< Falling trigger event configuration bit of line 1 */
+#define EXTI_FTSR1_TR2_Pos         (2U)
+#define EXTI_FTSR1_TR2_Msk         (0x1UL << EXTI_FTSR1_TR2_Pos)               /*!< 0x00000004 */
+#define EXTI_FTSR1_TR2             EXTI_FTSR1_TR2_Msk                          /*!< Falling trigger event configuration bit of line 2 */
+#define EXTI_FTSR1_TR3_Pos         (3U)
+#define EXTI_FTSR1_TR3_Msk         (0x1UL << EXTI_FTSR1_TR3_Pos)               /*!< 0x00000008 */
+#define EXTI_FTSR1_TR3             EXTI_FTSR1_TR3_Msk                          /*!< Falling trigger event configuration bit of line 3 */
+#define EXTI_FTSR1_TR4_Pos         (4U)
+#define EXTI_FTSR1_TR4_Msk         (0x1UL << EXTI_FTSR1_TR4_Pos)               /*!< 0x00000010 */
+#define EXTI_FTSR1_TR4             EXTI_FTSR1_TR4_Msk                          /*!< Falling trigger event configuration bit of line 4 */
+#define EXTI_FTSR1_TR5_Pos         (5U)
+#define EXTI_FTSR1_TR5_Msk         (0x1UL << EXTI_FTSR1_TR5_Pos)               /*!< 0x00000020 */
+#define EXTI_FTSR1_TR5             EXTI_FTSR1_TR5_Msk                          /*!< Falling trigger event configuration bit of line 5 */
+#define EXTI_FTSR1_TR6_Pos         (6U)
+#define EXTI_FTSR1_TR6_Msk         (0x1UL << EXTI_FTSR1_TR6_Pos)               /*!< 0x00000040 */
+#define EXTI_FTSR1_TR6             EXTI_FTSR1_TR6_Msk                          /*!< Falling trigger event configuration bit of line 6 */
+#define EXTI_FTSR1_TR7_Pos         (7U)
+#define EXTI_FTSR1_TR7_Msk         (0x1UL << EXTI_FTSR1_TR7_Pos)               /*!< 0x00000080 */
+#define EXTI_FTSR1_TR7             EXTI_FTSR1_TR7_Msk                          /*!< Falling trigger event configuration bit of line 7 */
+#define EXTI_FTSR1_TR8_Pos         (8U)
+#define EXTI_FTSR1_TR8_Msk         (0x1UL << EXTI_FTSR1_TR8_Pos)               /*!< 0x00000100 */
+#define EXTI_FTSR1_TR8             EXTI_FTSR1_TR8_Msk                          /*!< Falling trigger event configuration bit of line 8 */
+#define EXTI_FTSR1_TR9_Pos         (9U)
+#define EXTI_FTSR1_TR9_Msk         (0x1UL << EXTI_FTSR1_TR9_Pos)               /*!< 0x00000200 */
+#define EXTI_FTSR1_TR9             EXTI_FTSR1_TR9_Msk                          /*!< Falling trigger event configuration bit of line 9 */
+#define EXTI_FTSR1_TR10_Pos        (10U)
+#define EXTI_FTSR1_TR10_Msk        (0x1UL << EXTI_FTSR1_TR10_Pos)              /*!< 0x00000400 */
+#define EXTI_FTSR1_TR10            EXTI_FTSR1_TR10_Msk                         /*!< Falling trigger event configuration bit of line 10 */
+#define EXTI_FTSR1_TR11_Pos        (11U)
+#define EXTI_FTSR1_TR11_Msk        (0x1UL << EXTI_FTSR1_TR11_Pos)              /*!< 0x00000800 */
+#define EXTI_FTSR1_TR11            EXTI_FTSR1_TR11_Msk                         /*!< Falling trigger event configuration bit of line 11 */
+#define EXTI_FTSR1_TR12_Pos        (12U)
+#define EXTI_FTSR1_TR12_Msk        (0x1UL << EXTI_FTSR1_TR12_Pos)              /*!< 0x00001000 */
+#define EXTI_FTSR1_TR12            EXTI_FTSR1_TR12_Msk                         /*!< Falling trigger event configuration bit of line 12 */
+#define EXTI_FTSR1_TR13_Pos        (13U)
+#define EXTI_FTSR1_TR13_Msk        (0x1UL << EXTI_FTSR1_TR13_Pos)              /*!< 0x00002000 */
+#define EXTI_FTSR1_TR13            EXTI_FTSR1_TR13_Msk                         /*!< Falling trigger event configuration bit of line 13 */
+#define EXTI_FTSR1_TR14_Pos        (14U)
+#define EXTI_FTSR1_TR14_Msk        (0x1UL << EXTI_FTSR1_TR14_Pos)              /*!< 0x00004000 */
+#define EXTI_FTSR1_TR14            EXTI_FTSR1_TR14_Msk                         /*!< Falling trigger event configuration bit of line 14 */
+#define EXTI_FTSR1_TR15_Pos        (15U)
+#define EXTI_FTSR1_TR15_Msk        (0x1UL << EXTI_FTSR1_TR15_Pos)              /*!< 0x00008000 */
+#define EXTI_FTSR1_TR15            EXTI_FTSR1_TR15_Msk                         /*!< Falling trigger event configuration bit of line 15 */
+#define EXTI_FTSR1_TR16_Pos        (16U)
+#define EXTI_FTSR1_TR16_Msk        (0x1UL << EXTI_FTSR1_TR16_Pos)              /*!< 0x00010000 */
+#define EXTI_FTSR1_TR16            EXTI_FTSR1_TR16_Msk                         /*!< Falling trigger event configuration bit of line 16 */
+#define EXTI_FTSR1_TR17_Pos        (17U)
+#define EXTI_FTSR1_TR17_Msk        (0x1UL << EXTI_FTSR1_TR17_Pos)              /*!< 0x00020000 */
+#define EXTI_FTSR1_TR17            EXTI_FTSR1_TR17_Msk                         /*!< Falling trigger event configuration bit of line 17 */
+#define EXTI_FTSR1_TR18_Pos        (18U)
+#define EXTI_FTSR1_TR18_Msk        (0x1UL << EXTI_FTSR1_TR18_Pos)              /*!< 0x00040000 */
+#define EXTI_FTSR1_TR18            EXTI_FTSR1_TR18_Msk                         /*!< Falling trigger event configuration bit of line 18 */
+#define EXTI_FTSR1_TR19_Pos        (19U)
+#define EXTI_FTSR1_TR19_Msk        (0x1UL << EXTI_FTSR1_TR19_Pos)              /*!< 0x00080000 */
+#define EXTI_FTSR1_TR19            EXTI_FTSR1_TR19_Msk                         /*!< Falling trigger event configuration bit of line 19 */
+#define EXTI_FTSR1_TR20_Pos        (20U)
+#define EXTI_FTSR1_TR20_Msk        (0x1UL << EXTI_FTSR1_TR20_Pos)              /*!< 0x00100000 */
+#define EXTI_FTSR1_TR20            EXTI_FTSR1_TR20_Msk                         /*!< Falling trigger event configuration bit of line 20 */
+#define EXTI_FTSR1_TR21_Pos        (21U)
+#define EXTI_FTSR1_TR21_Msk        (0x1UL << EXTI_FTSR1_TR21_Pos)              /*!< 0x00200000 */
+#define EXTI_FTSR1_TR21            EXTI_FTSR1_TR21_Msk                         /*!< Falling trigger event configuration bit of line 21 */
+
+/******************  Bit definition for EXTI_SWIER1 register  ******************/
+#define EXTI_SWIER1_SWIER0_Pos     (0U)
+#define EXTI_SWIER1_SWIER0_Msk     (0x1UL << EXTI_SWIER1_SWIER0_Pos)           /*!< 0x00000001 */
+#define EXTI_SWIER1_SWIER0         EXTI_SWIER1_SWIER0_Msk                      /*!< Software Interrupt on line 0 */
+#define EXTI_SWIER1_SWIER1_Pos     (1U)
+#define EXTI_SWIER1_SWIER1_Msk     (0x1UL << EXTI_SWIER1_SWIER1_Pos)           /*!< 0x00000002 */
+#define EXTI_SWIER1_SWIER1         EXTI_SWIER1_SWIER1_Msk                      /*!< Software Interrupt on line 1 */
+#define EXTI_SWIER1_SWIER2_Pos     (2U)
+#define EXTI_SWIER1_SWIER2_Msk     (0x1UL << EXTI_SWIER1_SWIER2_Pos)           /*!< 0x00000004 */
+#define EXTI_SWIER1_SWIER2         EXTI_SWIER1_SWIER2_Msk                      /*!< Software Interrupt on line 2 */
+#define EXTI_SWIER1_SWIER3_Pos     (3U)
+#define EXTI_SWIER1_SWIER3_Msk     (0x1UL << EXTI_SWIER1_SWIER3_Pos)           /*!< 0x00000008 */
+#define EXTI_SWIER1_SWIER3         EXTI_SWIER1_SWIER3_Msk                      /*!< Software Interrupt on line 3 */
+#define EXTI_SWIER1_SWIER4_Pos     (4U)
+#define EXTI_SWIER1_SWIER4_Msk     (0x1UL << EXTI_SWIER1_SWIER4_Pos)           /*!< 0x00000010 */
+#define EXTI_SWIER1_SWIER4         EXTI_SWIER1_SWIER4_Msk                      /*!< Software Interrupt on line 4 */
+#define EXTI_SWIER1_SWIER5_Pos     (5U)
+#define EXTI_SWIER1_SWIER5_Msk     (0x1UL << EXTI_SWIER1_SWIER5_Pos)           /*!< 0x00000020 */
+#define EXTI_SWIER1_SWIER5         EXTI_SWIER1_SWIER5_Msk                      /*!< Software Interrupt on line 5 */
+#define EXTI_SWIER1_SWIER6_Pos     (6U)
+#define EXTI_SWIER1_SWIER6_Msk     (0x1UL << EXTI_SWIER1_SWIER6_Pos)           /*!< 0x00000040 */
+#define EXTI_SWIER1_SWIER6         EXTI_SWIER1_SWIER6_Msk                      /*!< Software Interrupt on line 6 */
+#define EXTI_SWIER1_SWIER7_Pos     (7U)
+#define EXTI_SWIER1_SWIER7_Msk     (0x1UL << EXTI_SWIER1_SWIER7_Pos)           /*!< 0x00000080 */
+#define EXTI_SWIER1_SWIER7         EXTI_SWIER1_SWIER7_Msk                      /*!< Software Interrupt on line 7 */
+#define EXTI_SWIER1_SWIER8_Pos     (8U)
+#define EXTI_SWIER1_SWIER8_Msk     (0x1UL << EXTI_SWIER1_SWIER8_Pos)           /*!< 0x00000100 */
+#define EXTI_SWIER1_SWIER8         EXTI_SWIER1_SWIER8_Msk                      /*!< Software Interrupt on line 8 */
+#define EXTI_SWIER1_SWIER9_Pos     (9U)
+#define EXTI_SWIER1_SWIER9_Msk     (0x1UL << EXTI_SWIER1_SWIER9_Pos)           /*!< 0x00000200 */
+#define EXTI_SWIER1_SWIER9         EXTI_SWIER1_SWIER9_Msk                      /*!< Software Interrupt on line 9 */
+#define EXTI_SWIER1_SWIER10_Pos    (10U)
+#define EXTI_SWIER1_SWIER10_Msk    (0x1UL << EXTI_SWIER1_SWIER10_Pos)          /*!< 0x00000400 */
+#define EXTI_SWIER1_SWIER10        EXTI_SWIER1_SWIER10_Msk                     /*!< Software Interrupt on line 10 */
+#define EXTI_SWIER1_SWIER11_Pos    (11U)
+#define EXTI_SWIER1_SWIER11_Msk    (0x1UL << EXTI_SWIER1_SWIER11_Pos)          /*!< 0x00000800 */
+#define EXTI_SWIER1_SWIER11        EXTI_SWIER1_SWIER11_Msk                     /*!< Software Interrupt on line 11 */
+#define EXTI_SWIER1_SWIER12_Pos    (12U)
+#define EXTI_SWIER1_SWIER12_Msk    (0x1UL << EXTI_SWIER1_SWIER12_Pos)          /*!< 0x00001000 */
+#define EXTI_SWIER1_SWIER12        EXTI_SWIER1_SWIER12_Msk                     /*!< Software Interrupt on line 12 */
+#define EXTI_SWIER1_SWIER13_Pos    (13U)
+#define EXTI_SWIER1_SWIER13_Msk    (0x1UL << EXTI_SWIER1_SWIER13_Pos)          /*!< 0x00002000 */
+#define EXTI_SWIER1_SWIER13        EXTI_SWIER1_SWIER13_Msk                     /*!< Software Interrupt on line 13 */
+#define EXTI_SWIER1_SWIER14_Pos    (14U)
+#define EXTI_SWIER1_SWIER14_Msk    (0x1UL << EXTI_SWIER1_SWIER14_Pos)          /*!< 0x00004000 */
+#define EXTI_SWIER1_SWIER14        EXTI_SWIER1_SWIER14_Msk                     /*!< Software Interrupt on line 14 */
+#define EXTI_SWIER1_SWIER15_Pos    (15U)
+#define EXTI_SWIER1_SWIER15_Msk    (0x1UL << EXTI_SWIER1_SWIER15_Pos)          /*!< 0x00008000 */
+#define EXTI_SWIER1_SWIER15        EXTI_SWIER1_SWIER15_Msk                     /*!< Software Interrupt on line 15 */
+#define EXTI_SWIER1_SWIER16_Pos    (16U)
+#define EXTI_SWIER1_SWIER16_Msk    (0x1UL << EXTI_SWIER1_SWIER16_Pos)          /*!< 0x00010000 */
+#define EXTI_SWIER1_SWIER16        EXTI_SWIER1_SWIER16_Msk                     /*!< Software Interrupt on line 16 */
+#define EXTI_SWIER1_SWIER17_Pos    (17U)
+#define EXTI_SWIER1_SWIER17_Msk    (0x1UL << EXTI_SWIER1_SWIER17_Pos)          /*!< 0x00020000 */
+#define EXTI_SWIER1_SWIER17        EXTI_SWIER1_SWIER17_Msk                     /*!< Software Interrupt on line 17 */
+#define EXTI_SWIER1_SWIER18_Pos    (18U)
+#define EXTI_SWIER1_SWIER18_Msk    (0x1UL << EXTI_SWIER1_SWIER18_Pos)          /*!< 0x00040000 */
+#define EXTI_SWIER1_SWIER18        EXTI_SWIER1_SWIER18_Msk                     /*!< Software Interrupt on line 18 */
+#define EXTI_SWIER1_SWIER19_Pos    (19U)
+#define EXTI_SWIER1_SWIER19_Msk    (0x1UL << EXTI_SWIER1_SWIER19_Pos)          /*!< 0x00080000 */
+#define EXTI_SWIER1_SWIER19        EXTI_SWIER1_SWIER19_Msk                     /*!< Software Interrupt on line 19 */
+#define EXTI_SWIER1_SWIER20_Pos    (20U)
+#define EXTI_SWIER1_SWIER20_Msk    (0x1UL << EXTI_SWIER1_SWIER20_Pos)          /*!< 0x00100000 */
+#define EXTI_SWIER1_SWIER20        EXTI_SWIER1_SWIER20_Msk                     /*!< Software Interrupt on line 20 */
+#define EXTI_SWIER1_SWIER21_Pos    (21U)
+#define EXTI_SWIER1_SWIER21_Msk    (0x1UL << EXTI_SWIER1_SWIER21_Pos)          /*!< 0x00200000 */
+#define EXTI_SWIER1_SWIER21        EXTI_SWIER1_SWIER21_Msk                     /*!< Software Interrupt on line 21 */
+
+/******************  Bit definition for EXTI_D3PMR1 register  ******************/
+#define EXTI_D3PMR1_MR0_Pos        (0U)
+#define EXTI_D3PMR1_MR0_Msk        (0x1UL << EXTI_D3PMR1_MR0_Pos)              /*!< 0x00000001 */
+#define EXTI_D3PMR1_MR0            EXTI_D3PMR1_MR0_Msk                         /*!< Pending Mask Event for line 0  */
+#define EXTI_D3PMR1_MR1_Pos        (1U)
+#define EXTI_D3PMR1_MR1_Msk        (0x1UL << EXTI_D3PMR1_MR1_Pos)              /*!< 0x00000002 */
+#define EXTI_D3PMR1_MR1            EXTI_D3PMR1_MR1_Msk                         /*!< Pending Mask Event for line 1  */
+#define EXTI_D3PMR1_MR2_Pos        (2U)
+#define EXTI_D3PMR1_MR2_Msk        (0x1UL << EXTI_D3PMR1_MR2_Pos)              /*!< 0x00000004 */
+#define EXTI_D3PMR1_MR2            EXTI_D3PMR1_MR2_Msk                         /*!< Pending Mask Event for line 2  */
+#define EXTI_D3PMR1_MR3_Pos        (3U)
+#define EXTI_D3PMR1_MR3_Msk        (0x1UL << EXTI_D3PMR1_MR3_Pos)              /*!< 0x00000008 */
+#define EXTI_D3PMR1_MR3            EXTI_D3PMR1_MR3_Msk                         /*!< Pending Mask Event for line 3  */
+#define EXTI_D3PMR1_MR4_Pos        (4U)
+#define EXTI_D3PMR1_MR4_Msk        (0x1UL << EXTI_D3PMR1_MR4_Pos)              /*!< 0x00000010 */
+#define EXTI_D3PMR1_MR4            EXTI_D3PMR1_MR4_Msk                         /*!< Pending Mask Event for line 4  */
+#define EXTI_D3PMR1_MR5_Pos        (5U)
+#define EXTI_D3PMR1_MR5_Msk        (0x1UL << EXTI_D3PMR1_MR5_Pos)              /*!< 0x00000020 */
+#define EXTI_D3PMR1_MR5            EXTI_D3PMR1_MR5_Msk                         /*!< Pending Mask Event for line 5  */
+#define EXTI_D3PMR1_MR6_Pos        (6U)
+#define EXTI_D3PMR1_MR6_Msk        (0x1UL << EXTI_D3PMR1_MR6_Pos)              /*!< 0x00000040 */
+#define EXTI_D3PMR1_MR6            EXTI_D3PMR1_MR6_Msk                         /*!< Pending Mask Event for line 6  */
+#define EXTI_D3PMR1_MR7_Pos        (7U)
+#define EXTI_D3PMR1_MR7_Msk        (0x1UL << EXTI_D3PMR1_MR7_Pos)              /*!< 0x00000080 */
+#define EXTI_D3PMR1_MR7            EXTI_D3PMR1_MR7_Msk                         /*!< Pending Mask Event for line 7  */
+#define EXTI_D3PMR1_MR8_Pos        (8U)
+#define EXTI_D3PMR1_MR8_Msk        (0x1UL << EXTI_D3PMR1_MR8_Pos)              /*!< 0x00000100 */
+#define EXTI_D3PMR1_MR8            EXTI_D3PMR1_MR8_Msk                         /*!< Pending Mask Event for line 8  */
+#define EXTI_D3PMR1_MR9_Pos        (9U)
+#define EXTI_D3PMR1_MR9_Msk        (0x1UL << EXTI_D3PMR1_MR9_Pos)              /*!< 0x00000200 */
+#define EXTI_D3PMR1_MR9            EXTI_D3PMR1_MR9_Msk                         /*!< Pending Mask Event for line 9  */
+#define EXTI_D3PMR1_MR10_Pos       (10U)
+#define EXTI_D3PMR1_MR10_Msk       (0x1UL << EXTI_D3PMR1_MR10_Pos)             /*!< 0x00000400 */
+#define EXTI_D3PMR1_MR10           EXTI_D3PMR1_MR10_Msk                        /*!< Pending Mask Event for line 10 */
+#define EXTI_D3PMR1_MR11_Pos       (11U)
+#define EXTI_D3PMR1_MR11_Msk       (0x1UL << EXTI_D3PMR1_MR11_Pos)             /*!< 0x00000800 */
+#define EXTI_D3PMR1_MR11           EXTI_D3PMR1_MR11_Msk                        /*!< Pending Mask Event for line 11 */
+#define EXTI_D3PMR1_MR12_Pos       (12U)
+#define EXTI_D3PMR1_MR12_Msk       (0x1UL << EXTI_D3PMR1_MR12_Pos)             /*!< 0x00001000 */
+#define EXTI_D3PMR1_MR12           EXTI_D3PMR1_MR12_Msk                        /*!< Pending Mask Event for line 12 */
+#define EXTI_D3PMR1_MR13_Pos       (13U)
+#define EXTI_D3PMR1_MR13_Msk       (0x1UL << EXTI_D3PMR1_MR13_Pos)             /*!< 0x00002000 */
+#define EXTI_D3PMR1_MR13           EXTI_D3PMR1_MR13_Msk                        /*!< Pending Mask Event for line 13 */
+#define EXTI_D3PMR1_MR14_Pos       (14U)
+#define EXTI_D3PMR1_MR14_Msk       (0x1UL << EXTI_D3PMR1_MR14_Pos)             /*!< 0x00004000 */
+#define EXTI_D3PMR1_MR14           EXTI_D3PMR1_MR14_Msk                        /*!< Pending Mask Event for line 14 */
+#define EXTI_D3PMR1_MR15_Pos       (15U)
+#define EXTI_D3PMR1_MR15_Msk       (0x1UL << EXTI_D3PMR1_MR15_Pos)             /*!< 0x00008000 */
+#define EXTI_D3PMR1_MR15           EXTI_D3PMR1_MR15_Msk                        /*!< Pending Mask Event for line 15 */
+#define EXTI_D3PMR1_MR19_Pos       (19U)
+#define EXTI_D3PMR1_MR19_Msk       (0x1UL << EXTI_D3PMR1_MR19_Pos)             /*!< 0x00080000 */
+#define EXTI_D3PMR1_MR19           EXTI_D3PMR1_MR19_Msk                        /*!< Pending Mask Event for line 19 */
+#define EXTI_D3PMR1_MR20_Pos       (20U)
+#define EXTI_D3PMR1_MR20_Msk       (0x1UL << EXTI_D3PMR1_MR20_Pos)             /*!< 0x00100000 */
+#define EXTI_D3PMR1_MR20           EXTI_D3PMR1_MR20_Msk                        /*!< Pending Mask Event for line 20 */
+#define EXTI_D3PMR1_MR21_Pos       (21U)
+#define EXTI_D3PMR1_MR21_Msk       (0x1UL << EXTI_D3PMR1_MR21_Pos)             /*!< 0x00200000 */
+#define EXTI_D3PMR1_MR21           EXTI_D3PMR1_MR21_Msk                        /*!< Pending Mask Event for line 21 */
+#define EXTI_D3PMR1_MR25_Pos       (24U)
+#define EXTI_D3PMR1_MR25_Msk       (0x1UL << EXTI_D3PMR1_MR25_Pos)             /*!< 0x01000000 */
+#define EXTI_D3PMR1_MR25           EXTI_D3PMR1_MR25_Msk                        /*!< Pending Mask Event for line 25 */
+
+/*******************  Bit definition for EXTI_D3PCR1L register  ****************/
+#define EXTI_D3PCR1L_PCS0_Pos       (0U)
+#define EXTI_D3PCR1L_PCS0_Msk       (0x3UL << EXTI_D3PCR1L_PCS0_Pos)           /*!< 0x00000003 */
+#define EXTI_D3PCR1L_PCS0           EXTI_D3PCR1L_PCS0_Msk                      /*!< D3 Pending request clear input signal selection on line 0 */
+#define EXTI_D3PCR1L_PCS1_Pos       (2U)
+#define EXTI_D3PCR1L_PCS1_Msk       (0x3UL << EXTI_D3PCR1L_PCS1_Pos)           /*!< 0x000000C0 */
+#define EXTI_D3PCR1L_PCS1           EXTI_D3PCR1L_PCS1_Msk                      /*!< D3 Pending request clear input signal selection on line 1 */
+#define EXTI_D3PCR1L_PCS2_Pos       (4U)
+#define EXTI_D3PCR1L_PCS2_Msk       (0x3UL << EXTI_D3PCR1L_PCS2_Pos)           /*!< 0x00000030 */
+#define EXTI_D3PCR1L_PCS2           EXTI_D3PCR1L_PCS2_Msk                      /*!< D3 Pending request clear input signal selection on line 2 */
+#define EXTI_D3PCR1L_PCS3_Pos       (6U)
+#define EXTI_D3PCR1L_PCS3_Msk       (0x3UL << EXTI_D3PCR1L_PCS3_Pos)           /*!< 0x000000C0 */
+#define EXTI_D3PCR1L_PCS3           EXTI_D3PCR1L_PCS3_Msk                      /*!< D3 Pending request clear input signal selection on line 3 */
+#define EXTI_D3PCR1L_PCS4_Pos       (8U)
+#define EXTI_D3PCR1L_PCS4_Msk       (0x3UL << EXTI_D3PCR1L_PCS4_Pos)           /*!< 0x00000300 */
+#define EXTI_D3PCR1L_PCS4           EXTI_D3PCR1L_PCS4_Msk                      /*!< D3 Pending request clear input signal selection on line 4 */
+#define EXTI_D3PCR1L_PCS5_Pos       (10U)
+#define EXTI_D3PCR1L_PCS5_Msk       (0x3UL << EXTI_D3PCR1L_PCS5_Pos)           /*!< 0x00000C00 */
+#define EXTI_D3PCR1L_PCS5           EXTI_D3PCR1L_PCS5_Msk                      /*!< D3 Pending request clear input signal selection on line 5 */
+#define EXTI_D3PCR1L_PCS6_Pos       (12U)
+#define EXTI_D3PCR1L_PCS6_Msk       (0x3UL << EXTI_D3PCR1L_PCS6_Pos)           /*!< 0x00003000 */
+#define EXTI_D3PCR1L_PCS6           EXTI_D3PCR1L_PCS6_Msk                      /*!< D3 Pending request clear input signal selection on line 6 */
+#define EXTI_D3PCR1L_PCS7_Pos       (14U)
+#define EXTI_D3PCR1L_PCS7_Msk       (0x3UL << EXTI_D3PCR1L_PCS7_Pos)           /*!< 0x0000C000 */
+#define EXTI_D3PCR1L_PCS7           EXTI_D3PCR1L_PCS7_Msk                      /*!< D3 Pending request clear input signal selection on line 7 */
+#define EXTI_D3PCR1L_PCS8_Pos       (16U)
+#define EXTI_D3PCR1L_PCS8_Msk       (0x3UL << EXTI_D3PCR1L_PCS8_Pos)           /*!< 0x00030000 */
+#define EXTI_D3PCR1L_PCS8           EXTI_D3PCR1L_PCS8_Msk                      /*!< D3 Pending request clear input signal selection on line 8 */
+#define EXTI_D3PCR1L_PCS9_Pos       (18U)
+#define EXTI_D3PCR1L_PCS9_Msk       (0x3UL << EXTI_D3PCR1L_PCS9_Pos)           /*!< 0x000C0000 */
+#define EXTI_D3PCR1L_PCS9           EXTI_D3PCR1L_PCS9_Msk                      /*!< D3 Pending request clear input signal selection on line 9 */
+#define EXTI_D3PCR1L_PCS10_Pos      (20U)
+#define EXTI_D3PCR1L_PCS10_Msk      (0x3UL << EXTI_D3PCR1L_PCS10_Pos)          /*!< 0x00300000 */
+#define EXTI_D3PCR1L_PCS10          EXTI_D3PCR1L_PCS10_Msk                     /*!< D3 Pending request clear input signal selection on line 10*/
+#define EXTI_D3PCR1L_PCS11_Pos      (22U)
+#define EXTI_D3PCR1L_PCS11_Msk      (0x3UL << EXTI_D3PCR1L_PCS11_Pos)          /*!< 0x00C00000 */
+#define EXTI_D3PCR1L_PCS11          EXTI_D3PCR1L_PCS11_Msk                     /*!< D3 Pending request clear input signal selection on line 11*/
+#define EXTI_D3PCR1L_PCS12_Pos      (24U)
+#define EXTI_D3PCR1L_PCS12_Msk      (0x3UL << EXTI_D3PCR1L_PCS12_Pos)          /*!< 0x03000000 */
+#define EXTI_D3PCR1L_PCS12          EXTI_D3PCR1L_PCS12_Msk                     /*!< D3 Pending request clear input signal selection on line 12*/
+#define EXTI_D3PCR1L_PCS13_Pos      (26U)
+#define EXTI_D3PCR1L_PCS13_Msk      (0x3UL << EXTI_D3PCR1L_PCS13_Pos)          /*!< 0x0C000000 */
+#define EXTI_D3PCR1L_PCS13          EXTI_D3PCR1L_PCS13_Msk                     /*!< D3 Pending request clear input signal selection on line 13*/
+#define EXTI_D3PCR1L_PCS14_Pos      (28U)
+#define EXTI_D3PCR1L_PCS14_Msk      (0x3UL << EXTI_D3PCR1L_PCS14_Pos)          /*!< 0x30000000 */
+#define EXTI_D3PCR1L_PCS14          EXTI_D3PCR1L_PCS14_Msk                     /*!< D3 Pending request clear input signal selection on line 14*/
+#define EXTI_D3PCR1L_PCS15_Pos      (30U)
+#define EXTI_D3PCR1L_PCS15_Msk      (0x3UL << EXTI_D3PCR1L_PCS15_Pos)          /*!< 0xC0000000 */
+#define EXTI_D3PCR1L_PCS15          EXTI_D3PCR1L_PCS15_Msk                     /*!< D3 Pending request clear input signal selection on line 15*/
+
+/*******************  Bit definition for EXTI_D3PCR1H register  ****************/
+#define EXTI_D3PCR1H_PCS19_Pos       (6U)
+#define EXTI_D3PCR1H_PCS19_Msk       (0x3UL << EXTI_D3PCR1H_PCS19_Pos)         /*!< 0x000000C0 */
+#define EXTI_D3PCR1H_PCS19           EXTI_D3PCR1H_PCS19_Msk                    /*!< D3 Pending request clear input signal selection on line 19 */
+#define EXTI_D3PCR1H_PCS20_Pos       (8U)
+#define EXTI_D3PCR1H_PCS20_Msk       (0x3UL << EXTI_D3PCR1H_PCS20_Pos)         /*!< 0x00000300 */
+#define EXTI_D3PCR1H_PCS20           EXTI_D3PCR1H_PCS20_Msk                    /*!< D3 Pending request clear input signal selection on line 20 */
+#define EXTI_D3PCR1H_PCS21_Pos       (10U)
+#define EXTI_D3PCR1H_PCS21_Msk       (0x3UL << EXTI_D3PCR1H_PCS21_Pos)         /*!< 0x00000C00 */
+#define EXTI_D3PCR1H_PCS21           EXTI_D3PCR1H_PCS21_Msk                    /*!< D3 Pending request clear input signal selection on line 21 */
+#define EXTI_D3PCR1H_PCS25_Pos       (18U)
+#define EXTI_D3PCR1H_PCS25_Msk       (0x3UL << EXTI_D3PCR1H_PCS25_Pos)         /*!< 0x000C0000 */
+#define EXTI_D3PCR1H_PCS25           EXTI_D3PCR1H_PCS25_Msk                    /*!< D3 Pending request clear input signal selection on line 25 */
+
+/******************  Bit definition for EXTI_RTSR2 register  *******************/
+#define EXTI_RTSR2_TR_Pos          (17U)
+#define EXTI_RTSR2_TR_Msk          (0x5UL << EXTI_RTSR2_TR_Pos)                /*!< 0x000A0000 */
+#define EXTI_RTSR2_TR              EXTI_RTSR2_TR_Msk                           /*!< Rising trigger event configuration bit */
+#define EXTI_RTSR2_TR49_Pos        (17U)
+#define EXTI_RTSR2_TR49_Msk        (0x1UL << EXTI_RTSR2_TR49_Pos)              /*!< 0x00020000 */
+#define EXTI_RTSR2_TR49            EXTI_RTSR2_TR49_Msk                         /*!< Rising trigger event configuration bit of line 49 */
+#define EXTI_RTSR2_TR51_Pos        (19U)
+#define EXTI_RTSR2_TR51_Msk        (0x1UL << EXTI_RTSR2_TR51_Pos)              /*!< 0x00080000 */
+#define EXTI_RTSR2_TR51            EXTI_RTSR2_TR51_Msk                         /*!< Rising trigger event configuration bit of line 51 */
+
+/******************  Bit definition for EXTI_FTSR2 register  *******************/
+#define EXTI_FTSR2_TR_Pos          (17U)
+#define EXTI_FTSR2_TR_Msk          (0x5UL << EXTI_FTSR2_TR_Pos)                /*!< 0x000A0000 */
+#define EXTI_FTSR2_TR              EXTI_FTSR2_TR_Msk                           /*!< Falling trigger event configuration bit */
+#define EXTI_FTSR2_TR49_Pos        (17U)
+#define EXTI_FTSR2_TR49_Msk        (0x1UL << EXTI_FTSR2_TR49_Pos)              /*!< 0x00020000 */
+#define EXTI_FTSR2_TR49            EXTI_FTSR2_TR49_Msk                         /*!< Falling trigger event configuration bit of line 49 */
+#define EXTI_FTSR2_TR51_Pos        (19U)
+#define EXTI_FTSR2_TR51_Msk        (0x1UL << EXTI_FTSR2_TR51_Pos)              /*!< 0x00080000 */
+#define EXTI_FTSR2_TR51            EXTI_FTSR2_TR51_Msk                         /*!< Falling trigger event configuration bit of line 51 */
+
+/******************  Bit definition for EXTI_SWIER2 register  ******************/
+#define EXTI_SWIER2_SWIER49_Pos    (17U)
+#define EXTI_SWIER2_SWIER49_Msk    (0x1UL << EXTI_SWIER2_SWIER49_Pos)          /*!< 0x00020000 */
+#define EXTI_SWIER2_SWIER49        EXTI_SWIER2_SWIER49_Msk                     /*!< Software Interrupt on line 49 */
+#define EXTI_SWIER2_SWIER51_Pos    (19U)
+#define EXTI_SWIER2_SWIER51_Msk    (0x1UL << EXTI_SWIER2_SWIER51_Pos)          /*!< 0x00080000 */
+#define EXTI_SWIER2_SWIER51        EXTI_SWIER2_SWIER51_Msk                     /*!< Software Interrupt on line 51 */
+
+/******************  Bit definition for EXTI_D3PMR2 register  ******************/
+#define EXTI_D3PMR2_MR34_Pos       (2U)
+#define EXTI_D3PMR2_MR34_Msk       (0x1UL << EXTI_D3PMR2_MR34_Pos)             /*!< 0x00000004 */
+#define EXTI_D3PMR2_MR34           EXTI_D3PMR2_MR34_Msk                        /*!< Pending Mask Event for line 34  */
+#define EXTI_D3PMR2_MR35_Pos       (3U)
+#define EXTI_D3PMR2_MR35_Msk       (0x1UL << EXTI_D3PMR2_MR35_Pos)             /*!< 0x00000008 */
+#define EXTI_D3PMR2_MR35           EXTI_D3PMR2_MR35_Msk                        /*!< Pending Mask Event for line 35  */
+#define EXTI_D3PMR2_MR41_Pos       (9U)
+#define EXTI_D3PMR2_MR41_Msk       (0x1UL << EXTI_D3PMR2_MR41_Pos)             /*!< 0x00000200 */
+#define EXTI_D3PMR2_MR41           EXTI_D3PMR2_MR41_Msk                        /*!< Pending Mask Event for line 41  */
+#define EXTI_D3PMR2_MR48_Pos       (16U)
+#define EXTI_D3PMR2_MR48_Msk       (0x1UL << EXTI_D3PMR2_MR48_Pos)             /*!< 0x00010000 */
+#define EXTI_D3PMR2_MR48           EXTI_D3PMR2_MR48_Msk                        /*!< Pending Mask Event for line 48  */
+#define EXTI_D3PMR2_MR49_Pos       (17U)
+#define EXTI_D3PMR2_MR49_Msk       (0x1UL << EXTI_D3PMR2_MR49_Pos)             /*!< 0x00020000 */
+#define EXTI_D3PMR2_MR49           EXTI_D3PMR2_MR49_Msk                        /*!< Pending Mask Event for line 49  */
+#define EXTI_D3PMR2_MR50_Pos       (18U)
+#define EXTI_D3PMR2_MR50_Msk       (0x1UL << EXTI_D3PMR2_MR50_Pos)             /*!< 0x00040000 */
+#define EXTI_D3PMR2_MR50           EXTI_D3PMR2_MR50_Msk                        /*!< Pending Mask Event for line 50  */
+#define EXTI_D3PMR2_MR51_Pos       (19U)
+#define EXTI_D3PMR2_MR51_Msk       (0x1UL << EXTI_D3PMR2_MR51_Pos)             /*!< 0x00080000 */
+#define EXTI_D3PMR2_MR51           EXTI_D3PMR2_MR51_Msk                        /*!< Pending Mask Event for line 51  */
+#define EXTI_D3PMR2_MR52_Pos       (20U)
+#define EXTI_D3PMR2_MR52_Msk       (0x1UL << EXTI_D3PMR2_MR52_Pos)             /*!< 0x00100000 */
+#define EXTI_D3PMR2_MR52           EXTI_D3PMR2_MR52_Msk                        /*!< Pending Mask Event for line 52  */
+#define EXTI_D3PMR2_MR53_Pos       (21U)
+#define EXTI_D3PMR2_MR53_Msk       (0x1UL << EXTI_D3PMR2_MR53_Pos)             /*!< 0x00200000 */
+#define EXTI_D3PMR2_MR53           EXTI_D3PMR2_MR53_Msk                        /*!< Pending Mask Event for line 53  */
+/*******************  Bit definition for EXTI_D3PCR2L register  ****************/
+#define EXTI_D3PCR2L_PCS34_Pos       (4U)
+#define EXTI_D3PCR2L_PCS34_Msk       (0x3UL << EXTI_D3PCR2L_PCS34_Pos)         /*!< 0x00000030 */
+#define EXTI_D3PCR2L_PCS34           EXTI_D3PCR2L_PCS34_Msk                    /*!< D3 Pending request clear input signal selection on line 34 */
+#define EXTI_D3PCR2L_PCS35_Pos       (6U)
+#define EXTI_D3PCR2L_PCS35_Msk       (0x3UL << EXTI_D3PCR2L_PCS35_Pos)         /*!< 0x000000C0 */
+#define EXTI_D3PCR2L_PCS35           EXTI_D3PCR2L_PCS35_Msk                    /*!< D3 Pending request clear input signal selection on line 35 */
+#define EXTI_D3PCR2L_PCS41_Pos       (18U)
+#define EXTI_D3PCR2L_PCS41_Msk       (0x3UL << EXTI_D3PCR2L_PCS41_Pos)         /*!< 0x000C0000 */
+#define EXTI_D3PCR2L_PCS41           EXTI_D3PCR2L_PCS41_Msk                    /*!< D3 Pending request clear input signal selection on line 41 */
+
+
+/*******************  Bit definition for EXTI_D3PCR2H register  ****************/
+#define EXTI_D3PCR2H_PCS48_Pos       (0U)
+#define EXTI_D3PCR2H_PCS48_Msk       (0x3UL << EXTI_D3PCR2H_PCS48_Pos)         /*!< 0x00000003 */
+#define EXTI_D3PCR2H_PCS48           EXTI_D3PCR2H_PCS48_Msk                    /*!< D3 Pending request clear input signal selection on line 48 */
+#define EXTI_D3PCR2H_PCS49_Pos       (2U)
+#define EXTI_D3PCR2H_PCS49_Msk       (0x3UL << EXTI_D3PCR2H_PCS49_Pos)         /*!< 0x0000000C */
+#define EXTI_D3PCR2H_PCS49           EXTI_D3PCR2H_PCS49_Msk                    /*!< D3 Pending request clear input signal selection on line 49 */
+#define EXTI_D3PCR2H_PCS50_Pos       (4U)
+#define EXTI_D3PCR2H_PCS50_Msk       (0x3UL << EXTI_D3PCR2H_PCS50_Pos)         /*!< 0x00000030 */
+#define EXTI_D3PCR2H_PCS50           EXTI_D3PCR2H_PCS50_Msk                    /*!< D3 Pending request clear input signal selection on line 50 */
+#define EXTI_D3PCR2H_PCS51_Pos       (6U)
+#define EXTI_D3PCR2H_PCS51_Msk       (0x3UL << EXTI_D3PCR2H_PCS51_Pos)         /*!< 0x000000C0 */
+#define EXTI_D3PCR2H_PCS51           EXTI_D3PCR2H_PCS51_Msk                    /*!< D3 Pending request clear input signal selection on line 51 */
+#define EXTI_D3PCR2H_PCS52_Pos       (8U)
+#define EXTI_D3PCR2H_PCS52_Msk       (0x3UL << EXTI_D3PCR2H_PCS52_Pos)         /*!< 0x00000300 */
+#define EXTI_D3PCR2H_PCS52           EXTI_D3PCR2H_PCS52_Msk                    /*!< D3 Pending request clear input signal selection on line 52 */
+#define EXTI_D3PCR2H_PCS53_Pos       (10U)
+#define EXTI_D3PCR2H_PCS53_Msk       (0x3UL << EXTI_D3PCR2H_PCS53_Pos)         /*!< 0x00000C00 */
+#define EXTI_D3PCR2H_PCS53           EXTI_D3PCR2H_PCS53_Msk                    /*!< D3 Pending request clear input signal selection on line 53 */
+/******************  Bit definition for EXTI_RTSR3 register  *******************/
+#define EXTI_RTSR3_TR_Pos          (21U)
+#define EXTI_RTSR3_TR_Msk          (0x3UL << EXTI_RTSR3_TR_Pos)                /*!< 0x00600000 */
+#define EXTI_RTSR3_TR              EXTI_RTSR3_TR_Msk                           /*!< Rising trigger event configuration bit */
+#define EXTI_RTSR3_TR85_Pos        (21U)
+#define EXTI_RTSR3_TR85_Msk        (0x1UL << EXTI_RTSR3_TR85_Pos)              /*!< 0x00200000 */
+#define EXTI_RTSR3_TR85            EXTI_RTSR3_TR85_Msk                         /*!< Rising trigger event configuration bit of line 85 */
+#define EXTI_RTSR3_TR86_Pos        (22U)
+#define EXTI_RTSR3_TR86_Msk        (0x1UL << EXTI_RTSR3_TR86_Pos)              /*!< 0x00400000 */
+#define EXTI_RTSR3_TR86            EXTI_RTSR3_TR86_Msk                         /*!< Rising trigger event configuration bit of line 86 */
+
+/******************  Bit definition for EXTI_FTSR3 register  *******************/
+#define EXTI_FTSR3_TR_Pos          (21U)
+#define EXTI_FTSR3_TR_Msk          (0x3UL << EXTI_FTSR3_TR_Pos)               /*!< 0x00600000 */
+#define EXTI_FTSR3_TR              EXTI_FTSR3_TR_Msk                           /*!< Falling trigger event configuration bit */
+#define EXTI_FTSR3_TR85_Pos        (21U)
+#define EXTI_FTSR3_TR85_Msk        (0x1UL << EXTI_FTSR3_TR85_Pos)              /*!< 0x00200000 */
+#define EXTI_FTSR3_TR85            EXTI_FTSR3_TR85_Msk                         /*!< Falling trigger event configuration bit of line 85 */
+#define EXTI_FTSR3_TR86_Pos        (22U)
+#define EXTI_FTSR3_TR86_Msk        (0x1UL << EXTI_FTSR3_TR86_Pos)              /*!< 0x00400000 */
+#define EXTI_FTSR3_TR86            EXTI_FTSR3_TR86_Msk                         /*!< Falling trigger event configuration bit of line 86 */
+
+/******************  Bit definition for EXTI_SWIER3 register  ******************/
+#define EXTI_SWIER3_SWI_Pos        (21U)
+#define EXTI_SWIER3_SWI_Msk        (0x3UL << EXTI_SWIER3_SWI_Pos)             /*!< 0x00600000 */
+#define EXTI_SWIER3_SWI            EXTI_SWIER3_SWI_Msk                         /*!< Software Interrupt event bit */
+#define EXTI_SWIER3_SWIER85_Pos    (21U)
+#define EXTI_SWIER3_SWIER85_Msk    (0x1UL << EXTI_SWIER3_SWIER85_Pos)          /*!< 0x00200000 */
+#define EXTI_SWIER3_SWIER85        EXTI_SWIER3_SWIER85_Msk                     /*!< Software Interrupt on line 85 */
+#define EXTI_SWIER3_SWIER86_Pos    (22U)
+#define EXTI_SWIER3_SWIER86_Msk    (0x1UL << EXTI_SWIER3_SWIER86_Pos)          /*!< 0x00400000 */
+#define EXTI_SWIER3_SWIER86        EXTI_SWIER3_SWIER86_Msk                     /*!< Software Interrupt on line 86 */
+
+/******************  Bit definition for EXTI_D3PMR3 register  ******************/
+#define EXTI_D3PMR3_MR88_Pos       (24U)
+#define EXTI_D3PMR3_MR88_Msk       (0x1UL << EXTI_D3PMR3_MR88_Pos)             /*!< 0x01000000 */
+#define EXTI_D3PMR3_MR88           EXTI_D3PMR3_MR88_Msk                        /*!< Pending Mask Event for line 88  */
+
+/*******************  Bit definition for EXTI_D3PCR3H register  ****************/
+#define EXTI_D3PCR3H_PCS88_Pos       (16U)
+#define EXTI_D3PCR3H_PCS88_Msk       (0x3UL << EXTI_D3PCR3H_PCS88_Pos)         /*!< 0x00030000 */
+#define EXTI_D3PCR3H_PCS88           EXTI_D3PCR3H_PCS88_Msk                    /*!< D3 Pending request clear input signal selection on line 88 */
+
+/*******************  Bit definition for EXTI_IMR1 register  *******************/
+#define EXTI_IMR1_IM_Pos           (0U)
+#define EXTI_IMR1_IM_Msk           (0xFFFFFFFFUL << EXTI_IMR1_IM_Pos)          /*!< 0xFFFFFFFF */
+#define EXTI_IMR1_IM               EXTI_IMR1_IM_Msk                            /*!< Interrupt Mask */
+#define EXTI_IMR1_IM0_Pos          (0U)
+#define EXTI_IMR1_IM0_Msk          (0x1UL << EXTI_IMR1_IM0_Pos)                /*!< 0x00000001 */
+#define EXTI_IMR1_IM0              EXTI_IMR1_IM0_Msk                           /*!< Interrupt Mask on line 0 */
+#define EXTI_IMR1_IM1_Pos          (1U)
+#define EXTI_IMR1_IM1_Msk          (0x1UL << EXTI_IMR1_IM1_Pos)                /*!< 0x00000002 */
+#define EXTI_IMR1_IM1              EXTI_IMR1_IM1_Msk                           /*!< Interrupt Mask on line 1 */
+#define EXTI_IMR1_IM2_Pos          (2U)
+#define EXTI_IMR1_IM2_Msk          (0x1UL << EXTI_IMR1_IM2_Pos)                /*!< 0x00000004 */
+#define EXTI_IMR1_IM2              EXTI_IMR1_IM2_Msk                           /*!< Interrupt Mask on line 2 */
+#define EXTI_IMR1_IM3_Pos          (3U)
+#define EXTI_IMR1_IM3_Msk          (0x1UL << EXTI_IMR1_IM3_Pos)                /*!< 0x00000008 */
+#define EXTI_IMR1_IM3              EXTI_IMR1_IM3_Msk                           /*!< Interrupt Mask on line 3 */
+#define EXTI_IMR1_IM4_Pos          (4U)
+#define EXTI_IMR1_IM4_Msk          (0x1UL << EXTI_IMR1_IM4_Pos)                /*!< 0x00000010 */
+#define EXTI_IMR1_IM4              EXTI_IMR1_IM4_Msk                           /*!< Interrupt Mask on line 4 */
+#define EXTI_IMR1_IM5_Pos          (5U)
+#define EXTI_IMR1_IM5_Msk          (0x1UL << EXTI_IMR1_IM5_Pos)                /*!< 0x00000020 */
+#define EXTI_IMR1_IM5              EXTI_IMR1_IM5_Msk                           /*!< Interrupt Mask on line 5 */
+#define EXTI_IMR1_IM6_Pos          (6U)
+#define EXTI_IMR1_IM6_Msk          (0x1UL << EXTI_IMR1_IM6_Pos)                /*!< 0x00000040 */
+#define EXTI_IMR1_IM6              EXTI_IMR1_IM6_Msk                           /*!< Interrupt Mask on line 6 */
+#define EXTI_IMR1_IM7_Pos          (7U)
+#define EXTI_IMR1_IM7_Msk          (0x1UL << EXTI_IMR1_IM7_Pos)                /*!< 0x00000080 */
+#define EXTI_IMR1_IM7              EXTI_IMR1_IM7_Msk                           /*!< Interrupt Mask on line 7 */
+#define EXTI_IMR1_IM8_Pos          (8U)
+#define EXTI_IMR1_IM8_Msk          (0x1UL << EXTI_IMR1_IM8_Pos)                /*!< 0x00000100 */
+#define EXTI_IMR1_IM8              EXTI_IMR1_IM8_Msk                           /*!< Interrupt Mask on line 8 */
+#define EXTI_IMR1_IM9_Pos          (9U)
+#define EXTI_IMR1_IM9_Msk          (0x1UL << EXTI_IMR1_IM9_Pos)                /*!< 0x00000200 */
+#define EXTI_IMR1_IM9              EXTI_IMR1_IM9_Msk                           /*!< Interrupt Mask on line 9 */
+#define EXTI_IMR1_IM10_Pos         (10U)
+#define EXTI_IMR1_IM10_Msk         (0x1UL << EXTI_IMR1_IM10_Pos)               /*!< 0x00000400 */
+#define EXTI_IMR1_IM10             EXTI_IMR1_IM10_Msk                          /*!< Interrupt Mask on line 10 */
+#define EXTI_IMR1_IM11_Pos         (11U)
+#define EXTI_IMR1_IM11_Msk         (0x1UL << EXTI_IMR1_IM11_Pos)               /*!< 0x00000800 */
+#define EXTI_IMR1_IM11             EXTI_IMR1_IM11_Msk                          /*!< Interrupt Mask on line 11 */
+#define EXTI_IMR1_IM12_Pos         (12U)
+#define EXTI_IMR1_IM12_Msk         (0x1UL << EXTI_IMR1_IM12_Pos)               /*!< 0x00001000 */
+#define EXTI_IMR1_IM12             EXTI_IMR1_IM12_Msk                          /*!< Interrupt Mask on line 12 */
+#define EXTI_IMR1_IM13_Pos         (13U)
+#define EXTI_IMR1_IM13_Msk         (0x1UL << EXTI_IMR1_IM13_Pos)               /*!< 0x00002000 */
+#define EXTI_IMR1_IM13             EXTI_IMR1_IM13_Msk                          /*!< Interrupt Mask on line 13 */
+#define EXTI_IMR1_IM14_Pos         (14U)
+#define EXTI_IMR1_IM14_Msk         (0x1UL << EXTI_IMR1_IM14_Pos)               /*!< 0x00004000 */
+#define EXTI_IMR1_IM14             EXTI_IMR1_IM14_Msk                          /*!< Interrupt Mask on line 14 */
+#define EXTI_IMR1_IM15_Pos         (15U)
+#define EXTI_IMR1_IM15_Msk         (0x1UL << EXTI_IMR1_IM15_Pos)               /*!< 0x00008000 */
+#define EXTI_IMR1_IM15             EXTI_IMR1_IM15_Msk                          /*!< Interrupt Mask on line 15 */
+#define EXTI_IMR1_IM16_Pos         (16U)
+#define EXTI_IMR1_IM16_Msk         (0x1UL << EXTI_IMR1_IM16_Pos)               /*!< 0x00010000 */
+#define EXTI_IMR1_IM16             EXTI_IMR1_IM16_Msk                          /*!< Interrupt Mask on line 16 */
+#define EXTI_IMR1_IM17_Pos         (17U)
+#define EXTI_IMR1_IM17_Msk         (0x1UL << EXTI_IMR1_IM17_Pos)               /*!< 0x00020000 */
+#define EXTI_IMR1_IM17             EXTI_IMR1_IM17_Msk                          /*!< Interrupt Mask on line 17 */
+#define EXTI_IMR1_IM18_Pos         (18U)
+#define EXTI_IMR1_IM18_Msk         (0x1UL << EXTI_IMR1_IM18_Pos)               /*!< 0x00040000 */
+#define EXTI_IMR1_IM18             EXTI_IMR1_IM18_Msk                          /*!< Interrupt Mask on line 18 */
+#define EXTI_IMR1_IM19_Pos         (19U)
+#define EXTI_IMR1_IM19_Msk         (0x1UL << EXTI_IMR1_IM19_Pos)               /*!< 0x00080000 */
+#define EXTI_IMR1_IM19             EXTI_IMR1_IM19_Msk                          /*!< Interrupt Mask on line 19 */
+#define EXTI_IMR1_IM20_Pos         (20U)
+#define EXTI_IMR1_IM20_Msk         (0x1UL << EXTI_IMR1_IM20_Pos)               /*!< 0x00100000 */
+#define EXTI_IMR1_IM20             EXTI_IMR1_IM20_Msk                          /*!< Interrupt Mask on line 20 */
+#define EXTI_IMR1_IM21_Pos         (21U)
+#define EXTI_IMR1_IM21_Msk         (0x1UL << EXTI_IMR1_IM21_Pos)               /*!< 0x00200000 */
+#define EXTI_IMR1_IM21             EXTI_IMR1_IM21_Msk                          /*!< Interrupt Mask on line 21 */
+#define EXTI_IMR1_IM22_Pos         (22U)
+#define EXTI_IMR1_IM22_Msk         (0x1UL << EXTI_IMR1_IM22_Pos)               /*!< 0x00400000 */
+#define EXTI_IMR1_IM22             EXTI_IMR1_IM22_Msk                          /*!< Interrupt Mask on line 22 */
+#define EXTI_IMR1_IM23_Pos         (23U)
+#define EXTI_IMR1_IM23_Msk         (0x1UL << EXTI_IMR1_IM23_Pos)               /*!< 0x00800000 */
+#define EXTI_IMR1_IM23             EXTI_IMR1_IM23_Msk                          /*!< Interrupt Mask on line 23 */
+#define EXTI_IMR1_IM24_Pos         (24U)
+#define EXTI_IMR1_IM24_Msk         (0x1UL << EXTI_IMR1_IM24_Pos)               /*!< 0x01000000 */
+#define EXTI_IMR1_IM24             EXTI_IMR1_IM24_Msk                          /*!< Interrupt Mask on line 24 */
+#define EXTI_IMR1_IM25_Pos         (25U)
+#define EXTI_IMR1_IM25_Msk         (0x1UL << EXTI_IMR1_IM25_Pos)               /*!< 0x02000000 */
+#define EXTI_IMR1_IM25             EXTI_IMR1_IM25_Msk                          /*!< Interrupt Mask on line 25 */
+#define EXTI_IMR1_IM26_Pos         (26U)
+#define EXTI_IMR1_IM26_Msk         (0x1UL << EXTI_IMR1_IM26_Pos)               /*!< 0x04000000 */
+#define EXTI_IMR1_IM26             EXTI_IMR1_IM26_Msk                          /*!< Interrupt Mask on line 26 */
+#define EXTI_IMR1_IM27_Pos         (27U)
+#define EXTI_IMR1_IM27_Msk         (0x1UL << EXTI_IMR1_IM27_Pos)               /*!< 0x08000000 */
+#define EXTI_IMR1_IM27             EXTI_IMR1_IM27_Msk                          /*!< Interrupt Mask on line 27 */
+#define EXTI_IMR1_IM28_Pos         (28U)
+#define EXTI_IMR1_IM28_Msk         (0x1UL << EXTI_IMR1_IM28_Pos)               /*!< 0x10000000 */
+#define EXTI_IMR1_IM28             EXTI_IMR1_IM28_Msk                          /*!< Interrupt Mask on line 28 */
+#define EXTI_IMR1_IM29_Pos         (29U)
+#define EXTI_IMR1_IM29_Msk         (0x1UL << EXTI_IMR1_IM29_Pos)               /*!< 0x20000000 */
+#define EXTI_IMR1_IM29             EXTI_IMR1_IM29_Msk                          /*!< Interrupt Mask on line 29 */
+#define EXTI_IMR1_IM30_Pos         (30U)
+#define EXTI_IMR1_IM30_Msk         (0x1UL << EXTI_IMR1_IM30_Pos)               /*!< 0x40000000 */
+#define EXTI_IMR1_IM30             EXTI_IMR1_IM30_Msk                          /*!< Interrupt Mask on line 30 */
+#define EXTI_IMR1_IM31_Pos         (31U)
+#define EXTI_IMR1_IM31_Msk         (0x1UL << EXTI_IMR1_IM31_Pos)               /*!< 0x80000000 */
+#define EXTI_IMR1_IM31             EXTI_IMR1_IM31_Msk                          /*!< Interrupt Mask on line 31 */
+
+/*******************  Bit definition for EXTI_EMR1 register  *******************/
+#define EXTI_EMR1_EM_Pos           (0U)
+#define EXTI_EMR1_EM_Msk           (0xFFFFFFFFUL << EXTI_EMR1_EM_Pos)          /*!< 0xFFFFFFFF */
+#define EXTI_EMR1_EM               EXTI_EMR1_EM_Msk                            /*!< Event Mask */
+#define EXTI_EMR1_EM0_Pos          (0U)
+#define EXTI_EMR1_EM0_Msk          (0x1UL << EXTI_EMR1_EM0_Pos)                /*!< 0x00000001 */
+#define EXTI_EMR1_EM0              EXTI_EMR1_EM0_Msk                           /*!< Event Mask on line 0 */
+#define EXTI_EMR1_EM1_Pos          (1U)
+#define EXTI_EMR1_EM1_Msk          (0x1UL << EXTI_EMR1_EM1_Pos)                /*!< 0x00000002 */
+#define EXTI_EMR1_EM1              EXTI_EMR1_EM1_Msk                           /*!< Event Mask on line 1 */
+#define EXTI_EMR1_EM2_Pos          (2U)
+#define EXTI_EMR1_EM2_Msk          (0x1UL << EXTI_EMR1_EM2_Pos)                /*!< 0x00000004 */
+#define EXTI_EMR1_EM2              EXTI_EMR1_EM2_Msk                           /*!< Event Mask on line 2 */
+#define EXTI_EMR1_EM3_Pos          (3U)
+#define EXTI_EMR1_EM3_Msk          (0x1UL << EXTI_EMR1_EM3_Pos)                /*!< 0x00000008 */
+#define EXTI_EMR1_EM3              EXTI_EMR1_EM3_Msk                           /*!< Event Mask on line 3 */
+#define EXTI_EMR1_EM4_Pos          (4U)
+#define EXTI_EMR1_EM4_Msk          (0x1UL << EXTI_EMR1_EM4_Pos)                /*!< 0x00000010 */
+#define EXTI_EMR1_EM4              EXTI_EMR1_EM4_Msk                           /*!< Event Mask on line 4 */
+#define EXTI_EMR1_EM5_Pos          (5U)
+#define EXTI_EMR1_EM5_Msk          (0x1UL << EXTI_EMR1_EM5_Pos)                /*!< 0x00000020 */
+#define EXTI_EMR1_EM5              EXTI_EMR1_EM5_Msk                           /*!< Event Mask on line 5 */
+#define EXTI_EMR1_EM6_Pos          (6U)
+#define EXTI_EMR1_EM6_Msk          (0x1UL << EXTI_EMR1_EM6_Pos)                /*!< 0x00000040 */
+#define EXTI_EMR1_EM6              EXTI_EMR1_EM6_Msk                           /*!< Event Mask on line 6 */
+#define EXTI_EMR1_EM7_Pos          (7U)
+#define EXTI_EMR1_EM7_Msk          (0x1UL << EXTI_EMR1_EM7_Pos)                /*!< 0x00000080 */
+#define EXTI_EMR1_EM7              EXTI_EMR1_EM7_Msk                           /*!< Event Mask on line 7 */
+#define EXTI_EMR1_EM8_Pos          (8U)
+#define EXTI_EMR1_EM8_Msk          (0x1UL << EXTI_EMR1_EM8_Pos)                /*!< 0x00000100 */
+#define EXTI_EMR1_EM8              EXTI_EMR1_EM8_Msk                           /*!< Event Mask on line 8 */
+#define EXTI_EMR1_EM9_Pos          (9U)
+#define EXTI_EMR1_EM9_Msk          (0x1UL << EXTI_EMR1_EM9_Pos)                /*!< 0x00000200 */
+#define EXTI_EMR1_EM9              EXTI_EMR1_EM9_Msk                           /*!< Event Mask on line 9 */
+#define EXTI_EMR1_EM10_Pos         (10U)
+#define EXTI_EMR1_EM10_Msk         (0x1UL << EXTI_EMR1_EM10_Pos)               /*!< 0x00000400 */
+#define EXTI_EMR1_EM10             EXTI_EMR1_EM10_Msk                          /*!< Event Mask on line 10 */
+#define EXTI_EMR1_EM11_Pos         (11U)
+#define EXTI_EMR1_EM11_Msk         (0x1UL << EXTI_EMR1_EM11_Pos)               /*!< 0x00000800 */
+#define EXTI_EMR1_EM11             EXTI_EMR1_EM11_Msk                          /*!< Event Mask on line 11 */
+#define EXTI_EMR1_EM12_Pos         (12U)
+#define EXTI_EMR1_EM12_Msk         (0x1UL << EXTI_EMR1_EM12_Pos)               /*!< 0x00001000 */
+#define EXTI_EMR1_EM12             EXTI_EMR1_EM12_Msk                          /*!< Event Mask on line 12 */
+#define EXTI_EMR1_EM13_Pos         (13U)
+#define EXTI_EMR1_EM13_Msk         (0x1UL << EXTI_EMR1_EM13_Pos)               /*!< 0x00002000 */
+#define EXTI_EMR1_EM13             EXTI_EMR1_EM13_Msk                          /*!< Event Mask on line 13 */
+#define EXTI_EMR1_EM14_Pos         (14U)
+#define EXTI_EMR1_EM14_Msk         (0x1UL << EXTI_EMR1_EM14_Pos)               /*!< 0x00004000 */
+#define EXTI_EMR1_EM14             EXTI_EMR1_EM14_Msk                          /*!< Event Mask on line 14 */
+#define EXTI_EMR1_EM15_Pos         (15U)
+#define EXTI_EMR1_EM15_Msk         (0x1UL << EXTI_EMR1_EM15_Pos)               /*!< 0x00008000 */
+#define EXTI_EMR1_EM15             EXTI_EMR1_EM15_Msk                          /*!< Event Mask on line 15 */
+#define EXTI_EMR1_EM16_Pos         (16U)
+#define EXTI_EMR1_EM16_Msk         (0x1UL << EXTI_EMR1_EM16_Pos)               /*!< 0x00010000 */
+#define EXTI_EMR1_EM16             EXTI_EMR1_EM16_Msk                          /*!< Event Mask on line 16 */
+#define EXTI_EMR1_EM17_Pos         (17U)
+#define EXTI_EMR1_EM17_Msk         (0x1UL << EXTI_EMR1_EM17_Pos)               /*!< 0x00020000 */
+#define EXTI_EMR1_EM17             EXTI_EMR1_EM17_Msk                          /*!< Event Mask on line 17 */
+#define EXTI_EMR1_EM18_Pos         (18U)
+#define EXTI_EMR1_EM18_Msk         (0x1UL << EXTI_EMR1_EM18_Pos)               /*!< 0x00040000 */
+#define EXTI_EMR1_EM18             EXTI_EMR1_EM18_Msk                          /*!< Event Mask on line 18 */
+#define EXTI_EMR1_EM20_Pos         (20U)
+#define EXTI_EMR1_EM20_Msk         (0x1UL << EXTI_EMR1_EM20_Pos)               /*!< 0x00100000 */
+#define EXTI_EMR1_EM20             EXTI_EMR1_EM20_Msk                          /*!< Event Mask on line 20 */
+#define EXTI_EMR1_EM21_Pos         (21U)
+#define EXTI_EMR1_EM21_Msk         (0x1UL << EXTI_EMR1_EM21_Pos)               /*!< 0x00200000 */
+#define EXTI_EMR1_EM21             EXTI_EMR1_EM21_Msk                          /*!< Event Mask on line 21 */
+#define EXTI_EMR1_EM22_Pos         (22U)
+#define EXTI_EMR1_EM22_Msk         (0x1UL << EXTI_EMR1_EM22_Pos)               /*!< 0x00400000 */
+#define EXTI_EMR1_EM22             EXTI_EMR1_EM22_Msk                          /*!< Event Mask on line 22 */
+#define EXTI_EMR1_EM23_Pos         (23U)
+#define EXTI_EMR1_EM23_Msk         (0x1UL << EXTI_EMR1_EM23_Pos)               /*!< 0x00800000 */
+#define EXTI_EMR1_EM23             EXTI_EMR1_EM23_Msk                          /*!< Event Mask on line 23 */
+#define EXTI_EMR1_EM24_Pos         (24U)
+#define EXTI_EMR1_EM24_Msk         (0x1UL << EXTI_EMR1_EM24_Pos)               /*!< 0x01000000 */
+#define EXTI_EMR1_EM24             EXTI_EMR1_EM24_Msk                          /*!< Event Mask on line 24 */
+#define EXTI_EMR1_EM25_Pos         (25U)
+#define EXTI_EMR1_EM25_Msk         (0x1UL << EXTI_EMR1_EM25_Pos)               /*!< 0x02000000 */
+#define EXTI_EMR1_EM25             EXTI_EMR1_EM25_Msk                          /*!< Event Mask on line 25 */
+#define EXTI_EMR1_EM26_Pos         (26U)
+#define EXTI_EMR1_EM26_Msk         (0x1UL << EXTI_EMR1_EM26_Pos)               /*!< 0x04000000 */
+#define EXTI_EMR1_EM26             EXTI_EMR1_EM26_Msk                          /*!< Event Mask on line 26 */
+#define EXTI_EMR1_EM27_Pos         (27U)
+#define EXTI_EMR1_EM27_Msk         (0x1UL << EXTI_EMR1_EM27_Pos)               /*!< 0x08000000 */
+#define EXTI_EMR1_EM27             EXTI_EMR1_EM27_Msk                          /*!< Event Mask on line 27 */
+#define EXTI_EMR1_EM28_Pos         (28U)
+#define EXTI_EMR1_EM28_Msk         (0x1UL << EXTI_EMR1_EM28_Pos)               /*!< 0x10000000 */
+#define EXTI_EMR1_EM28             EXTI_EMR1_EM28_Msk                          /*!< Event Mask on line 28 */
+#define EXTI_EMR1_EM29_Pos         (29U)
+#define EXTI_EMR1_EM29_Msk         (0x1UL << EXTI_EMR1_EM29_Pos)               /*!< 0x20000000 */
+#define EXTI_EMR1_EM29             EXTI_EMR1_EM29_Msk                          /*!< Event Mask on line 29 */
+#define EXTI_EMR1_EM30_Pos         (30U)
+#define EXTI_EMR1_EM30_Msk         (0x1UL << EXTI_EMR1_EM30_Pos)               /*!< 0x40000000 */
+#define EXTI_EMR1_EM30             EXTI_EMR1_EM30_Msk                          /*!< Event Mask on line 30 */
+#define EXTI_EMR1_EM31_Pos         (31U)
+#define EXTI_EMR1_EM31_Msk         (0x1UL << EXTI_EMR1_EM31_Pos)               /*!< 0x80000000 */
+#define EXTI_EMR1_EM31             EXTI_EMR1_EM31_Msk                          /*!< Event Mask on line 31 */
+
+/*******************  Bit definition for EXTI_PR1 register  ********************/
+#define EXTI_PR1_PR_Pos            (0U)
+#define EXTI_PR1_PR_Msk            (0x3FFFFFUL << EXTI_PR1_PR_Pos)             /*!< 0x003FFFFF */
+#define EXTI_PR1_PR                EXTI_PR1_PR_Msk                             /*!< Pending bit */
+#define EXTI_PR1_PR0_Pos           (0U)
+#define EXTI_PR1_PR0_Msk           (0x1UL << EXTI_PR1_PR0_Pos)                 /*!< 0x00000001 */
+#define EXTI_PR1_PR0               EXTI_PR1_PR0_Msk                            /*!< Pending bit for line 0 */
+#define EXTI_PR1_PR1_Pos           (1U)
+#define EXTI_PR1_PR1_Msk           (0x1UL << EXTI_PR1_PR1_Pos)                 /*!< 0x00000002 */
+#define EXTI_PR1_PR1               EXTI_PR1_PR1_Msk                            /*!< Pending bit for line 1 */
+#define EXTI_PR1_PR2_Pos           (2U)
+#define EXTI_PR1_PR2_Msk           (0x1UL << EXTI_PR1_PR2_Pos)                 /*!< 0x00000004 */
+#define EXTI_PR1_PR2               EXTI_PR1_PR2_Msk                            /*!< Pending bit for line 2 */
+#define EXTI_PR1_PR3_Pos           (3U)
+#define EXTI_PR1_PR3_Msk           (0x1UL << EXTI_PR1_PR3_Pos)                 /*!< 0x00000008 */
+#define EXTI_PR1_PR3               EXTI_PR1_PR3_Msk                            /*!< Pending bit for line 3 */
+#define EXTI_PR1_PR4_Pos           (4U)
+#define EXTI_PR1_PR4_Msk           (0x1UL << EXTI_PR1_PR4_Pos)                 /*!< 0x00000010 */
+#define EXTI_PR1_PR4               EXTI_PR1_PR4_Msk                            /*!< Pending bit for line 4 */
+#define EXTI_PR1_PR5_Pos           (5U)
+#define EXTI_PR1_PR5_Msk           (0x1UL << EXTI_PR1_PR5_Pos)                 /*!< 0x00000020 */
+#define EXTI_PR1_PR5               EXTI_PR1_PR5_Msk                            /*!< Pending bit for line 5 */
+#define EXTI_PR1_PR6_Pos           (6U)
+#define EXTI_PR1_PR6_Msk           (0x1UL << EXTI_PR1_PR6_Pos)                 /*!< 0x00000040 */
+#define EXTI_PR1_PR6               EXTI_PR1_PR6_Msk                            /*!< Pending bit for line 6 */
+#define EXTI_PR1_PR7_Pos           (7U)
+#define EXTI_PR1_PR7_Msk           (0x1UL << EXTI_PR1_PR7_Pos)                 /*!< 0x00000080 */
+#define EXTI_PR1_PR7               EXTI_PR1_PR7_Msk                            /*!< Pending bit for line 7 */
+#define EXTI_PR1_PR8_Pos           (8U)
+#define EXTI_PR1_PR8_Msk           (0x1UL << EXTI_PR1_PR8_Pos)                 /*!< 0x00000100 */
+#define EXTI_PR1_PR8               EXTI_PR1_PR8_Msk                            /*!< Pending bit for line 8 */
+#define EXTI_PR1_PR9_Pos           (9U)
+#define EXTI_PR1_PR9_Msk           (0x1UL << EXTI_PR1_PR9_Pos)                 /*!< 0x00000200 */
+#define EXTI_PR1_PR9               EXTI_PR1_PR9_Msk                            /*!< Pending bit for line 9 */
+#define EXTI_PR1_PR10_Pos          (10U)
+#define EXTI_PR1_PR10_Msk          (0x1UL << EXTI_PR1_PR10_Pos)                /*!< 0x00000400 */
+#define EXTI_PR1_PR10              EXTI_PR1_PR10_Msk                           /*!< Pending bit for line 10 */
+#define EXTI_PR1_PR11_Pos          (11U)
+#define EXTI_PR1_PR11_Msk          (0x1UL << EXTI_PR1_PR11_Pos)                /*!< 0x00000800 */
+#define EXTI_PR1_PR11              EXTI_PR1_PR11_Msk                           /*!< Pending bit for line 11 */
+#define EXTI_PR1_PR12_Pos          (12U)
+#define EXTI_PR1_PR12_Msk          (0x1UL << EXTI_PR1_PR12_Pos)                /*!< 0x00001000 */
+#define EXTI_PR1_PR12              EXTI_PR1_PR12_Msk                           /*!< Pending bit for line 12 */
+#define EXTI_PR1_PR13_Pos          (13U)
+#define EXTI_PR1_PR13_Msk          (0x1UL << EXTI_PR1_PR13_Pos)                /*!< 0x00002000 */
+#define EXTI_PR1_PR13              EXTI_PR1_PR13_Msk                           /*!< Pending bit for line 13 */
+#define EXTI_PR1_PR14_Pos          (14U)
+#define EXTI_PR1_PR14_Msk          (0x1UL << EXTI_PR1_PR14_Pos)                /*!< 0x00004000 */
+#define EXTI_PR1_PR14              EXTI_PR1_PR14_Msk                           /*!< Pending bit for line 14 */
+#define EXTI_PR1_PR15_Pos          (15U)
+#define EXTI_PR1_PR15_Msk          (0x1UL << EXTI_PR1_PR15_Pos)                /*!< 0x00008000 */
+#define EXTI_PR1_PR15              EXTI_PR1_PR15_Msk                           /*!< Pending bit for line 15 */
+#define EXTI_PR1_PR16_Pos          (16U)
+#define EXTI_PR1_PR16_Msk          (0x1UL << EXTI_PR1_PR16_Pos)                /*!< 0x00010000 */
+#define EXTI_PR1_PR16              EXTI_PR1_PR16_Msk                           /*!< Pending bit for line 16 */
+#define EXTI_PR1_PR17_Pos          (17U)
+#define EXTI_PR1_PR17_Msk          (0x1UL << EXTI_PR1_PR17_Pos)                /*!< 0x00020000 */
+#define EXTI_PR1_PR17              EXTI_PR1_PR17_Msk                           /*!< Pending bit for line 17 */
+#define EXTI_PR1_PR18_Pos          (18U)
+#define EXTI_PR1_PR18_Msk          (0x1UL << EXTI_PR1_PR18_Pos)                /*!< 0x00040000 */
+#define EXTI_PR1_PR18              EXTI_PR1_PR18_Msk                           /*!< Pending bit for line 18 */
+#define EXTI_PR1_PR19_Pos          (19U)
+#define EXTI_PR1_PR19_Msk          (0x1UL << EXTI_PR1_PR19_Pos)                /*!< 0x00080000 */
+#define EXTI_PR1_PR19              EXTI_PR1_PR19_Msk                           /*!< Pending bit for line 19 */
+#define EXTI_PR1_PR20_Pos          (20U)
+#define EXTI_PR1_PR20_Msk          (0x1UL << EXTI_PR1_PR20_Pos)                /*!< 0x00100000 */
+#define EXTI_PR1_PR20              EXTI_PR1_PR20_Msk                           /*!< Pending bit for line 20 */
+#define EXTI_PR1_PR21_Pos          (21U)
+#define EXTI_PR1_PR21_Msk          (0x1UL << EXTI_PR1_PR21_Pos)                /*!< 0x00200000 */
+#define EXTI_PR1_PR21              EXTI_PR1_PR21_Msk                           /*!< Pending bit for line 21 */
+
+/*******************  Bit definition for EXTI_IMR2 register  *******************/
+#define EXTI_IMR2_IM_Pos           (0U)
+#define EXTI_IMR2_IM_Msk           (0xFFFFDFFFUL << EXTI_IMR2_IM_Pos)          /*!< 0xFFFFDFFF */
+#define EXTI_IMR2_IM               EXTI_IMR2_IM_Msk                            /*!< Interrupt Mask */
+#define EXTI_IMR2_IM32_Pos         (0U)
+#define EXTI_IMR2_IM32_Msk         (0x1UL << EXTI_IMR2_IM32_Pos)               /*!< 0x00000001 */
+#define EXTI_IMR2_IM32             EXTI_IMR2_IM32_Msk                          /*!< Interrupt Mask on line 32 */
+#define EXTI_IMR2_IM33_Pos         (1U)
+#define EXTI_IMR2_IM33_Msk         (0x1UL << EXTI_IMR2_IM33_Pos)               /*!< 0x00000002 */
+#define EXTI_IMR2_IM33             EXTI_IMR2_IM33_Msk                          /*!< Interrupt Mask on line 33 */
+#define EXTI_IMR2_IM34_Pos         (2U)
+#define EXTI_IMR2_IM34_Msk         (0x1UL << EXTI_IMR2_IM34_Pos)               /*!< 0x00000004 */
+#define EXTI_IMR2_IM34             EXTI_IMR2_IM34_Msk                          /*!< Interrupt Mask on line 34 */
+#define EXTI_IMR2_IM35_Pos         (3U)
+#define EXTI_IMR2_IM35_Msk         (0x1UL << EXTI_IMR2_IM35_Pos)               /*!< 0x00000008 */
+#define EXTI_IMR2_IM35             EXTI_IMR2_IM35_Msk                          /*!< Interrupt Mask on line 35 */
+#define EXTI_IMR2_IM36_Pos         (4U)
+#define EXTI_IMR2_IM36_Msk         (0x1UL << EXTI_IMR2_IM36_Pos)               /*!< 0x00000010 */
+#define EXTI_IMR2_IM36             EXTI_IMR2_IM36_Msk                          /*!< Interrupt Mask on line 36 */
+#define EXTI_IMR2_IM37_Pos         (5U)
+#define EXTI_IMR2_IM37_Msk         (0x1UL << EXTI_IMR2_IM37_Pos)               /*!< 0x00000020 */
+#define EXTI_IMR2_IM37             EXTI_IMR2_IM37_Msk                          /*!< Interrupt Mask on line 37 */
+#define EXTI_IMR2_IM38_Pos         (6U)
+#define EXTI_IMR2_IM38_Msk         (0x1UL << EXTI_IMR2_IM38_Pos)               /*!< 0x00000040 */
+#define EXTI_IMR2_IM38             EXTI_IMR2_IM38_Msk                          /*!< Interrupt Mask on line 38 */
+#define EXTI_IMR2_IM39_Pos         (7U)
+#define EXTI_IMR2_IM39_Msk         (0x1UL << EXTI_IMR2_IM39_Pos)               /*!< 0x00000080 */
+#define EXTI_IMR2_IM39             EXTI_IMR2_IM39_Msk                          /*!< Interrupt Mask on line 39 */
+#define EXTI_IMR2_IM40_Pos         (8U)
+#define EXTI_IMR2_IM40_Msk         (0x1UL << EXTI_IMR2_IM40_Pos)               /*!< 0x00000100 */
+#define EXTI_IMR2_IM40             EXTI_IMR2_IM40_Msk                          /*!< Interrupt Mask on line 40 */
+#define EXTI_IMR2_IM41_Pos         (9U)
+#define EXTI_IMR2_IM41_Msk         (0x1UL << EXTI_IMR2_IM41_Pos)               /*!< 0x00000200 */
+#define EXTI_IMR2_IM41             EXTI_IMR2_IM41_Msk                          /*!< Interrupt Mask on line 41 */
+#define EXTI_IMR2_IM42_Pos         (10U)
+#define EXTI_IMR2_IM42_Msk         (0x1UL << EXTI_IMR2_IM42_Pos)               /*!< 0x00000400 */
+#define EXTI_IMR2_IM42             EXTI_IMR2_IM42_Msk                          /*!< Interrupt Mask on line 42 */
+#define EXTI_IMR2_IM43_Pos         (11U)
+#define EXTI_IMR2_IM43_Msk         (0x1UL << EXTI_IMR2_IM43_Pos)               /*!< 0x00000800 */
+#define EXTI_IMR2_IM43             EXTI_IMR2_IM43_Msk                          /*!< Interrupt Mask on line 43 */
+#define EXTI_IMR2_IM47_Pos         (15U)
+#define EXTI_IMR2_IM47_Msk         (0x1UL << EXTI_IMR2_IM47_Pos)               /*!< 0x00008000 */
+#define EXTI_IMR2_IM47             EXTI_IMR2_IM47_Msk                          /*!< Interrupt Mask on line 47 */
+#define EXTI_IMR2_IM48_Pos         (16U)
+#define EXTI_IMR2_IM48_Msk         (0x1UL << EXTI_IMR2_IM48_Pos)               /*!< 0x00010000 */
+#define EXTI_IMR2_IM48             EXTI_IMR2_IM48_Msk                          /*!< Interrupt Mask on line 48 */
+#define EXTI_IMR2_IM49_Pos         (17U)
+#define EXTI_IMR2_IM49_Msk         (0x1UL << EXTI_IMR2_IM49_Pos)               /*!< 0x00020000 */
+#define EXTI_IMR2_IM49             EXTI_IMR2_IM49_Msk                          /*!< Interrupt Mask on line 49 */
+#define EXTI_IMR2_IM50_Pos         (18U)
+#define EXTI_IMR2_IM50_Msk         (0x1UL << EXTI_IMR2_IM50_Pos)               /*!< 0x00040000 */
+#define EXTI_IMR2_IM50             EXTI_IMR2_IM50_Msk                          /*!< Interrupt Mask on line 50 */
+#define EXTI_IMR2_IM51_Pos         (19U)
+#define EXTI_IMR2_IM51_Msk         (0x1UL << EXTI_IMR2_IM51_Pos)               /*!< 0x00080000 */
+#define EXTI_IMR2_IM51             EXTI_IMR2_IM51_Msk                          /*!< Interrupt Mask on line 51 */
+#define EXTI_IMR2_IM52_Pos         (20U)
+#define EXTI_IMR2_IM52_Msk         (0x1UL << EXTI_IMR2_IM52_Pos)               /*!< 0x00100000 */
+#define EXTI_IMR2_IM52             EXTI_IMR2_IM52_Msk                          /*!< Interrupt Mask on line 52 */
+#define EXTI_IMR2_IM53_Pos         (21U)
+#define EXTI_IMR2_IM53_Msk         (0x1UL << EXTI_IMR2_IM53_Pos)               /*!< 0x00200000 */
+#define EXTI_IMR2_IM53             EXTI_IMR2_IM53_Msk                          /*!< Interrupt Mask on line 53 */
+#define EXTI_IMR2_IM54_Pos         (22U)
+#define EXTI_IMR2_IM54_Msk         (0x1UL << EXTI_IMR2_IM54_Pos)               /*!< 0x00400000 */
+#define EXTI_IMR2_IM54             EXTI_IMR2_IM54_Msk                          /*!< Interrupt Mask on line 54 */
+#define EXTI_IMR2_IM55_Pos         (23U)
+#define EXTI_IMR2_IM55_Msk         (0x1UL << EXTI_IMR2_IM55_Pos)               /*!< 0x00800000 */
+#define EXTI_IMR2_IM55             EXTI_IMR2_IM55_Msk                          /*!< Interrupt Mask on line 55 */
+#define EXTI_IMR2_IM56_Pos         (24U)
+#define EXTI_IMR2_IM56_Msk         (0x1UL << EXTI_IMR2_IM56_Pos)               /*!< 0x01000000 */
+#define EXTI_IMR2_IM56             EXTI_IMR2_IM56_Msk                          /*!< Interrupt Mask on line 56 */
+#define EXTI_IMR2_IM58_Pos         (26U)
+#define EXTI_IMR2_IM58_Msk         (0x1UL << EXTI_IMR2_IM58_Pos)               /*!< 0x04000000 */
+#define EXTI_IMR2_IM58             EXTI_IMR2_IM58_Msk                          /*!< Interrupt Mask on line 58 */
+#define EXTI_IMR2_IM60_Pos         (28U)
+#define EXTI_IMR2_IM60_Msk         (0x1UL << EXTI_IMR2_IM60_Pos)               /*!< 0x10000000 */
+#define EXTI_IMR2_IM60             EXTI_IMR2_IM60_Msk                          /*!< Interrupt Mask on line 60 */
+#define EXTI_IMR2_IM61_Pos         (29U)
+#define EXTI_IMR2_IM61_Msk         (0x1UL << EXTI_IMR2_IM61_Pos)               /*!< 0x20000000 */
+#define EXTI_IMR2_IM61             EXTI_IMR2_IM61_Msk                          /*!< Interrupt Mask on line 61 */
+#define EXTI_IMR2_IM62_Pos         (30U)
+#define EXTI_IMR2_IM62_Msk         (0x1UL << EXTI_IMR2_IM62_Pos)               /*!< 0x40000000 */
+#define EXTI_IMR2_IM62             EXTI_IMR2_IM62_Msk                          /*!< Interrupt Mask on line 62 */
+#define EXTI_IMR2_IM63_Pos         (31U)
+#define EXTI_IMR2_IM63_Msk         (0x1UL << EXTI_IMR2_IM63_Pos)               /*!< 0x80000000 */
+#define EXTI_IMR2_IM63             EXTI_IMR2_IM63_Msk                          /*!< Interrupt Mask on line 63 */
+
+/*******************  Bit definition for EXTI_EMR2 register  *******************/
+#define EXTI_EMR2_EM_Pos           (0U)
+#define EXTI_EMR2_EM_Msk           (0xFFFFDFFFUL << EXTI_EMR2_EM_Pos)          /*!< 0xFFFFDFFF */
+#define EXTI_EMR2_EM               EXTI_EMR2_EM_Msk                            /*!< Event Mask */
+#define EXTI_EMR2_EM32_Pos         (0U)
+#define EXTI_EMR2_EM32_Msk         (0x1UL << EXTI_EMR2_EM32_Pos)               /*!< 0x00000001 */
+#define EXTI_EMR2_EM32             EXTI_EMR2_EM32_Msk                          /*!< Event Mask on line 32*/
+#define EXTI_EMR2_EM33_Pos         (1U)
+#define EXTI_EMR2_EM33_Msk         (0x1UL << EXTI_EMR2_EM33_Pos)               /*!< 0x00000002 */
+#define EXTI_EMR2_EM33             EXTI_EMR2_EM33_Msk                          /*!< Event Mask on line 33*/
+#define EXTI_EMR2_EM34_Pos         (2U)
+#define EXTI_EMR2_EM34_Msk         (0x1UL << EXTI_EMR2_EM34_Pos)               /*!< 0x00000004 */
+#define EXTI_EMR2_EM34             EXTI_EMR2_EM34_Msk                          /*!< Event Mask on line 34*/
+#define EXTI_EMR2_EM35_Pos         (3U)
+#define EXTI_EMR2_EM35_Msk         (0x1UL << EXTI_EMR2_EM35_Pos)               /*!< 0x00000008 */
+#define EXTI_EMR2_EM35             EXTI_EMR2_EM35_Msk                          /*!< Event Mask on line 35*/
+#define EXTI_EMR2_EM36_Pos         (4U)
+#define EXTI_EMR2_EM36_Msk         (0x1UL << EXTI_EMR2_EM36_Pos)               /*!< 0x00000010 */
+#define EXTI_EMR2_EM36             EXTI_EMR2_EM36_Msk                          /*!< Event Mask on line 36*/
+#define EXTI_EMR2_EM37_Pos         (5U)
+#define EXTI_EMR2_EM37_Msk         (0x1UL << EXTI_EMR2_EM37_Pos)               /*!< 0x00000020 */
+#define EXTI_EMR2_EM37             EXTI_EMR2_EM37_Msk                          /*!< Event Mask on line 37*/
+#define EXTI_EMR2_EM38_Pos         (6U)
+#define EXTI_EMR2_EM38_Msk         (0x1UL << EXTI_EMR2_EM38_Pos)               /*!< 0x00000040 */
+#define EXTI_EMR2_EM38             EXTI_EMR2_EM38_Msk                          /*!< Event Mask on line 38*/
+#define EXTI_EMR2_EM39_Pos         (7U)
+#define EXTI_EMR2_EM39_Msk         (0x1UL << EXTI_EMR2_EM39_Pos)               /*!< 0x00000080 */
+#define EXTI_EMR2_EM39             EXTI_EMR2_EM39_Msk                          /*!< Event Mask on line 39*/
+#define EXTI_EMR2_EM40_Pos         (8U)
+#define EXTI_EMR2_EM40_Msk         (0x1UL << EXTI_EMR2_EM40_Pos)               /*!< 0x00000100 */
+#define EXTI_EMR2_EM40             EXTI_EMR2_EM40_Msk                          /*!< Event Mask on line 40*/
+#define EXTI_EMR2_EM41_Pos         (9U)
+#define EXTI_EMR2_EM41_Msk         (0x1UL << EXTI_EMR2_EM41_Pos)               /*!< 0x00000200 */
+#define EXTI_EMR2_EM41             EXTI_EMR2_EM41_Msk                          /*!< Event Mask on line 41*/
+#define EXTI_EMR2_EM42_Pos         (10U)
+#define EXTI_EMR2_EM42_Msk         (0x1UL << EXTI_EMR2_EM42_Pos)               /*!< 0x00000400 */
+#define EXTI_EMR2_EM42             EXTI_EMR2_EM42_Msk                          /*!< Event Mask on line 42 */
+#define EXTI_EMR2_EM43_Pos         (11U)
+#define EXTI_EMR2_EM43_Msk         (0x1UL << EXTI_EMR2_EM43_Pos)               /*!< 0x00000800 */
+#define EXTI_EMR2_EM43             EXTI_EMR2_EM43_Msk                          /*!< Event Mask on line 43 */
+#define EXTI_EMR2_EM47_Pos         (15U)
+#define EXTI_EMR2_EM47_Msk         (0x1UL << EXTI_EMR2_EM47_Pos)               /*!< 0x00008000 */
+#define EXTI_EMR2_EM47             EXTI_EMR2_EM47_Msk                          /*!< Event Mask on line 47 */
+#define EXTI_EMR2_EM48_Pos         (16U)
+#define EXTI_EMR2_EM48_Msk         (0x1UL << EXTI_EMR2_EM48_Pos)               /*!< 0x00010000 */
+#define EXTI_EMR2_EM48             EXTI_EMR2_EM48_Msk                          /*!< Event Mask on line 48 */
+#define EXTI_EMR2_EM49_Pos         (17U)
+#define EXTI_EMR2_EM49_Msk         (0x1UL << EXTI_EMR2_EM49_Pos)               /*!< 0x00020000 */
+#define EXTI_EMR2_EM49             EXTI_EMR2_EM49_Msk                          /*!< Event Mask on line 49 */
+#define EXTI_EMR2_EM50_Pos         (18U)
+#define EXTI_EMR2_EM50_Msk         (0x1UL << EXTI_EMR2_EM50_Pos)               /*!< 0x00040000 */
+#define EXTI_EMR2_EM50             EXTI_EMR2_EM50_Msk                          /*!< Event Mask on line 50 */
+#define EXTI_EMR2_EM51_Pos         (19U)
+#define EXTI_EMR2_EM51_Msk         (0x1UL << EXTI_EMR2_EM51_Pos)               /*!< 0x00080000 */
+#define EXTI_EMR2_EM51             EXTI_EMR2_EM51_Msk                          /*!< Event Mask on line 51 */
+#define EXTI_EMR2_EM52_Pos         (20U)
+#define EXTI_EMR2_EM52_Msk         (0x1UL << EXTI_EMR2_EM52_Pos)               /*!< 0x00100000 */
+#define EXTI_EMR2_EM52             EXTI_EMR2_EM52_Msk                          /*!< Event Mask on line 52 */
+#define EXTI_EMR2_EM53_Pos         (21U)
+#define EXTI_EMR2_EM53_Msk         (0x1UL << EXTI_EMR2_EM53_Pos)               /*!< 0x00200000 */
+#define EXTI_EMR2_EM53             EXTI_EMR2_EM53_Msk                          /*!< Event Mask on line 53 */
+#define EXTI_EMR2_EM54_Pos         (22U)
+#define EXTI_EMR2_EM54_Msk         (0x1UL << EXTI_EMR2_EM54_Pos)               /*!< 0x00400000 */
+#define EXTI_EMR2_EM54             EXTI_EMR2_EM54_Msk                          /*!< Event Mask on line 54 */
+#define EXTI_EMR2_EM55_Pos         (23U)
+#define EXTI_EMR2_EM55_Msk         (0x1UL << EXTI_EMR2_EM55_Pos)               /*!< 0x00800000 */
+#define EXTI_EMR2_EM55             EXTI_EMR2_EM55_Msk                          /*!< Event Mask on line 55 */
+#define EXTI_EMR2_EM56_Pos         (24U)
+#define EXTI_EMR2_EM56_Msk         (0x1UL << EXTI_EMR2_EM56_Pos)               /*!< 0x01000000 */
+#define EXTI_EMR2_EM56             EXTI_EMR2_EM56_Msk                          /*!< Event Mask on line 56 */
+#define EXTI_EMR2_EM58_Pos         (26U)
+#define EXTI_EMR2_EM58_Msk         (0x1UL << EXTI_EMR2_EM58_Pos)               /*!< 0x04000000 */
+#define EXTI_EMR2_EM58             EXTI_EMR2_EM58_Msk                          /*!< Event Mask on line 58 */
+#define EXTI_EMR2_EM60_Pos         (28U)
+#define EXTI_EMR2_EM60_Msk         (0x1UL << EXTI_EMR2_EM60_Pos)               /*!< 0x10000000 */
+#define EXTI_EMR2_EM60             EXTI_EMR2_EM60_Msk                          /*!< Event Mask on line 60 */
+#define EXTI_EMR2_EM61_Pos         (29U)
+#define EXTI_EMR2_EM61_Msk         (0x1UL << EXTI_EMR2_EM61_Pos)               /*!< 0x20000000 */
+#define EXTI_EMR2_EM61             EXTI_EMR2_EM61_Msk                          /*!< Event Mask on line 61 */
+#define EXTI_EMR2_EM62_Pos         (30U)
+#define EXTI_EMR2_EM62_Msk         (0x1UL << EXTI_EMR2_EM62_Pos)               /*!< 0x40000000 */
+#define EXTI_EMR2_EM62             EXTI_EMR2_EM62_Msk                          /*!< Event Mask on line 62 */
+#define EXTI_EMR2_EM63_Pos         (31U)
+#define EXTI_EMR2_EM63_Msk         (0x1UL << EXTI_EMR2_EM63_Pos)               /*!< 0x80000000 */
+#define EXTI_EMR2_EM63             EXTI_EMR2_EM63_Msk                          /*!< Event Mask on line 63 */
+
+/*******************  Bit definition for EXTI_PR2 register  ********************/
+#define EXTI_PR2_PR_Pos            (17U)
+#define EXTI_PR2_PR_Msk            (0x5UL << EXTI_PR2_PR_Pos)                  /*!< 0x000A0000 */
+#define EXTI_PR2_PR                EXTI_PR2_PR_Msk                             /*!< Pending bit */
+#define EXTI_PR2_PR49_Pos          (17U)
+#define EXTI_PR2_PR49_Msk          (0x1UL << EXTI_PR2_PR49_Pos)                /*!< 0x00020000 */
+#define EXTI_PR2_PR49              EXTI_PR2_PR49_Msk                           /*!< Pending bit for line 49 */
+#define EXTI_PR2_PR51_Pos          (19U)
+#define EXTI_PR2_PR51_Msk          (0x1UL << EXTI_PR2_PR51_Pos)                /*!< 0x00080000 */
+#define EXTI_PR2_PR51              EXTI_PR2_PR51_Msk                           /*!< Pending bit for line 51 */
+
+/*******************  Bit definition for EXTI_IMR3 register  *******************/
+#define EXTI_IMR3_IM_Pos           (0U)
+#define EXTI_IMR3_IM_Msk           (0x0FE17FFFUL << EXTI_IMR3_IM_Pos)          /*!< 0x0FE17FFF */
+#define EXTI_IMR3_IM               EXTI_IMR3_IM_Msk                            /*!< Interrupt Mask            */
+#define EXTI_IMR3_IM64_Pos         (0U)
+#define EXTI_IMR3_IM64_Msk         (0x1UL << EXTI_IMR3_IM64_Pos)               /*!< 0x00000001 */
+#define EXTI_IMR3_IM64             EXTI_IMR3_IM64_Msk                          /*!< Interrupt Mask on line 64 */
+#define EXTI_IMR3_IM65_Pos         (1U)
+#define EXTI_IMR3_IM65_Msk         (0x1UL << EXTI_IMR3_IM65_Pos)               /*!< 0x00000002 */
+#define EXTI_IMR3_IM65             EXTI_IMR3_IM65_Msk                          /*!< Interrupt Mask on line 65 */
+#define EXTI_IMR3_IM66_Pos         (2U)
+#define EXTI_IMR3_IM66_Msk         (0x1UL << EXTI_IMR3_IM66_Pos)               /*!< 0x00000004 */
+#define EXTI_IMR3_IM66             EXTI_IMR3_IM66_Msk                          /*!< Interrupt Mask on line 66 */
+#define EXTI_IMR3_IM67_Pos         (3U)
+#define EXTI_IMR3_IM67_Msk         (0x1UL << EXTI_IMR3_IM67_Pos)               /*!< 0x00000008 */
+#define EXTI_IMR3_IM67             EXTI_IMR3_IM67_Msk                          /*!< Interrupt Mask on line 67 */
+#define EXTI_IMR3_IM68_Pos         (4U)
+#define EXTI_IMR3_IM68_Msk         (0x1UL << EXTI_IMR3_IM68_Pos)               /*!< 0x00000010 */
+#define EXTI_IMR3_IM68             EXTI_IMR3_IM68_Msk                          /*!< Interrupt Mask on line 68 */
+#define EXTI_IMR3_IM69_Pos         (5U)
+#define EXTI_IMR3_IM69_Msk         (0x1UL << EXTI_IMR3_IM69_Pos)               /*!< 0x00000020 */
+#define EXTI_IMR3_IM69             EXTI_IMR3_IM69_Msk                          /*!< Interrupt Mask on line 69 */
+#define EXTI_IMR3_IM70_Pos         (6U)
+#define EXTI_IMR3_IM70_Msk         (0x1UL << EXTI_IMR3_IM70_Pos)               /*!< 0x00000040 */
+#define EXTI_IMR3_IM70             EXTI_IMR3_IM70_Msk                          /*!< Interrupt Mask on line 70 */
+#define EXTI_IMR3_IM71_Pos         (7U)
+#define EXTI_IMR3_IM71_Msk         (0x1UL << EXTI_IMR3_IM71_Pos)               /*!< 0x00000080 */
+#define EXTI_IMR3_IM71             EXTI_IMR3_IM71_Msk                          /*!< Interrupt Mask on line 71 */
+#define EXTI_IMR3_IM72_Pos         (8U)
+#define EXTI_IMR3_IM72_Msk         (0x1UL << EXTI_IMR3_IM72_Pos)               /*!< 0x00000100 */
+#define EXTI_IMR3_IM72             EXTI_IMR3_IM72_Msk                          /*!< Interrupt Mask on line 72 */
+#define EXTI_IMR3_IM73_Pos         (9U)
+#define EXTI_IMR3_IM73_Msk         (0x1UL << EXTI_IMR3_IM73_Pos)               /*!< 0x00000200 */
+#define EXTI_IMR3_IM73             EXTI_IMR3_IM73_Msk                          /*!< Interrupt Mask on line 73 */
+#define EXTI_IMR3_IM74_Pos         (10U)
+#define EXTI_IMR3_IM74_Msk         (0x1UL << EXTI_IMR3_IM74_Pos)               /*!< 0x00000400 */
+#define EXTI_IMR3_IM74             EXTI_IMR3_IM74_Msk                          /*!< Interrupt Mask on line 74 */
+#define EXTI_IMR3_IM75_Pos         (11U)
+#define EXTI_IMR3_IM75_Msk         (0x1UL << EXTI_IMR3_IM75_Pos)               /*!< 0x00000800 */
+#define EXTI_IMR3_IM75             EXTI_IMR3_IM75_Msk                          /*!< Interrupt Mask on line 75 */
+#define EXTI_IMR3_IM76_Pos         (12U)
+#define EXTI_IMR3_IM76_Msk         (0x1UL << EXTI_IMR3_IM76_Pos)               /*!< 0x00001000 */
+#define EXTI_IMR3_IM76             EXTI_IMR3_IM76_Msk                          /*!< Interrupt Mask on line 76 */
+#define EXTI_IMR3_IM77_Pos         (13U)
+#define EXTI_IMR3_IM77_Msk         (0x1UL << EXTI_IMR3_IM77_Pos)               /*!< 0x00002000 */
+#define EXTI_IMR3_IM77             EXTI_IMR3_IM77_Msk                          /*!< Interrupt Mask on line 77 */
+#define EXTI_IMR3_IM78_Pos         (14U)
+#define EXTI_IMR3_IM78_Msk         (0x1UL << EXTI_IMR3_IM78_Pos)               /*!< 0x00004000 */
+#define EXTI_IMR3_IM78             EXTI_IMR3_IM78_Msk                          /*!< Interrupt Mask on line 78 */
+#define EXTI_IMR3_IM80_Pos         (16U)
+#define EXTI_IMR3_IM80_Msk         (0x1UL << EXTI_IMR3_IM80_Pos)               /*!< 0x00010000 */
+#define EXTI_IMR3_IM80             EXTI_IMR3_IM80_Msk                          /*!< Interrupt Mask on line 80 */
+#define EXTI_IMR3_IM85_Pos         (21U)
+#define EXTI_IMR3_IM85_Msk         (0x1UL << EXTI_IMR3_IM85_Pos)               /*!< 0x00200000 */
+#define EXTI_IMR3_IM85             EXTI_IMR3_IM85_Msk                          /*!< Interrupt Mask on line 85 */
+#define EXTI_IMR3_IM86_Pos         (22U)
+#define EXTI_IMR3_IM86_Msk         (0x1UL << EXTI_IMR3_IM86_Pos)               /*!< 0x00400000 */
+#define EXTI_IMR3_IM86             EXTI_IMR3_IM86_Msk                          /*!< Interrupt Mask on line 86 */
+#define EXTI_IMR3_IM87_Pos         (23U)
+#define EXTI_IMR3_IM87_Msk         (0x1UL << EXTI_IMR3_IM87_Pos)               /*!< 0x00800000 */
+#define EXTI_IMR3_IM87             EXTI_IMR3_IM87_Msk                          /*!< Interrupt Mask on line 87 */
+
+
+#define EXTI_IMR3_IM88_Pos         (24U)
+#define EXTI_IMR3_IM88_Msk         (0x1UL << EXTI_IMR3_IM88_Pos)               /*!< 0x01000000 */
+#define EXTI_IMR3_IM88             EXTI_IMR3_IM88_Msk                          /*!< Interrupt Mask on line 88 */
+
+#define EXTI_IMR3_IM89_Pos         (25U)
+#define EXTI_IMR3_IM89_Msk         (0x1UL << EXTI_IMR3_IM89_Pos)               /*!< 0x0200000 */
+#define EXTI_IMR3_IM89             EXTI_IMR3_IM89_Msk                          /*!< Interrupt Mask on line 89 */
+#define EXTI_IMR3_IM90_Pos         (26U)
+#define EXTI_IMR3_IM90_Msk         (0x1UL << EXTI_IMR3_IM90_Pos)               /*!< 0x0400000 */
+#define EXTI_IMR3_IM90             EXTI_IMR3_IM90_Msk                          /*!< Interrupt Mask on line 90 */
+#define EXTI_IMR3_IM91_Pos         (27U)
+#define EXTI_IMR3_IM91_Msk         (0x1UL << EXTI_IMR3_IM91_Pos)               /*!< 0x0800000 */
+#define EXTI_IMR3_IM91             EXTI_IMR3_IM91_Msk                          /*!< Interrupt Mask on line 91 */
+
+/*******************  Bit definition for EXTI_EMR3 register  *******************/
+#define EXTI_EMR3_EM_Pos           (0U)
+#define EXTI_EMR3_EM_Msk           (0x0FE17FFFUL << EXTI_EMR3_EM_Pos)          /*!< 0x0FE17FFF */
+#define EXTI_EMR3_EM               EXTI_EMR3_EM_Msk                            /*!< Interrupt Mask            */
+#define EXTI_EMR3_EM64_Pos         (0U)
+#define EXTI_EMR3_EM64_Msk         (0x1UL << EXTI_EMR3_EM64_Pos)               /*!< 0x00000001 */
+#define EXTI_EMR3_EM64             EXTI_EMR3_EM64_Msk                          /*!< Event Mask on line 64*/
+#define EXTI_EMR3_EM65_Pos         (1U)
+#define EXTI_EMR3_EM65_Msk         (0x1UL << EXTI_EMR3_EM65_Pos)               /*!< 0x00000002 */
+#define EXTI_EMR3_EM65             EXTI_EMR3_EM65_Msk                          /*!< Event Mask on line 65*/
+#define EXTI_EMR3_EM66_Pos         (2U)
+#define EXTI_EMR3_EM66_Msk         (0x1UL << EXTI_EMR3_EM66_Pos)               /*!< 0x00000004 */
+#define EXTI_EMR3_EM66             EXTI_EMR3_EM66_Msk                          /*!< Event Mask on line 66*/
+#define EXTI_EMR3_EM67_Pos         (3U)
+#define EXTI_EMR3_EM67_Msk         (0x1UL << EXTI_EMR3_EM67_Pos)               /*!< 0x00000008 */
+#define EXTI_EMR3_EM67             EXTI_EMR3_EM67_Msk                          /*!< Event Mask on line 67*/
+#define EXTI_EMR3_EM68_Pos         (4U)
+#define EXTI_EMR3_EM68_Msk         (0x1UL << EXTI_EMR3_EM68_Pos)               /*!< 0x00000010 */
+#define EXTI_EMR3_EM68             EXTI_EMR3_EM68_Msk                          /*!< Event Mask on line 68*/
+#define EXTI_EMR3_EM69_Pos         (5U)
+#define EXTI_EMR3_EM69_Msk         (0x1UL << EXTI_EMR3_EM69_Pos)               /*!< 0x00000020 */
+#define EXTI_EMR3_EM69             EXTI_EMR3_EM69_Msk                          /*!< Event Mask on line 69*/
+#define EXTI_EMR3_EM70_Pos         (6U)
+#define EXTI_EMR3_EM70_Msk         (0x1UL << EXTI_EMR3_EM70_Pos)               /*!< 0x00000040 */
+#define EXTI_EMR3_EM70             EXTI_EMR3_EM70_Msk                          /*!< Event Mask on line 70*/
+#define EXTI_EMR3_EM71_Pos         (7U)
+#define EXTI_EMR3_EM71_Msk         (0x1UL << EXTI_EMR3_EM71_Pos)               /*!< 0x00000080 */
+#define EXTI_EMR3_EM71             EXTI_EMR3_EM71_Msk                          /*!< Event Mask on line 71*/
+#define EXTI_EMR3_EM72_Pos         (8U)
+#define EXTI_EMR3_EM72_Msk         (0x1UL << EXTI_EMR3_EM72_Pos)               /*!< 0x00000100 */
+#define EXTI_EMR3_EM72             EXTI_EMR3_EM72_Msk                          /*!< Event Mask on line 72*/
+#define EXTI_EMR3_EM73_Pos         (9U)
+#define EXTI_EMR3_EM73_Msk         (0x1UL << EXTI_EMR3_EM73_Pos)               /*!< 0x00000200 */
+#define EXTI_EMR3_EM73             EXTI_EMR3_EM73_Msk                          /*!< Event Mask on line 73*/
+#define EXTI_EMR3_EM74_Pos         (10U)
+#define EXTI_EMR3_EM74_Msk         (0x1UL << EXTI_EMR3_EM74_Pos)               /*!< 0x00000400 */
+#define EXTI_EMR3_EM74             EXTI_EMR3_EM74_Msk                          /*!< Event Mask on line 74 */
+#define EXTI_EMR3_EM75_Pos         (11U)
+#define EXTI_EMR3_EM75_Msk         (0x1UL << EXTI_EMR3_EM75_Pos)               /*!< 0x00000800 */
+#define EXTI_EMR3_EM75             EXTI_EMR3_EM75_Msk                          /*!< Event Mask on line 75 */
+#define EXTI_EMR3_EM76_Pos         (12U)
+#define EXTI_EMR3_EM76_Msk         (0x1UL << EXTI_EMR3_EM76_Pos)               /*!< 0x00001000 */
+#define EXTI_EMR3_EM76             EXTI_EMR3_EM76_Msk                          /*!< Event Mask on line 76 */
+#define EXTI_EMR3_EM77_Pos         (13U)
+#define EXTI_EMR3_EM77_Msk         (0x1UL << EXTI_EMR3_EM77_Pos)               /*!< 0x00002000 */
+#define EXTI_EMR3_EM77             EXTI_EMR3_EM77_Msk                          /*!< Event Mask on line 77 */
+#define EXTI_EMR3_EM78_Pos         (14U)
+#define EXTI_EMR3_EM78_Msk         (0x1UL << EXTI_EMR3_EM78_Pos)               /*!< 0x00004000 */
+#define EXTI_EMR3_EM78             EXTI_EMR3_EM78_Msk                          /*!< Event Mask on line 78 */
+#define EXTI_EMR3_EM80_Pos         (16U)
+#define EXTI_EMR3_EM80_Msk         (0x1UL << EXTI_EMR3_EM80_Pos)               /*!< 0x00010000 */
+#define EXTI_EMR3_EM80             EXTI_EMR3_EM80_Msk                          /*!< Event Mask on line 80 */
+#define EXTI_EMR3_EM85_Pos         (21U)
+#define EXTI_EMR3_EM85_Msk         (0x1UL << EXTI_EMR3_EM85_Pos)               /*!< 0x00200000 */
+#define EXTI_EMR3_EM85             EXTI_EMR3_EM85_Msk                          /*!< Event Mask on line 85 */
+#define EXTI_EMR3_EM86_Pos         (22U)
+#define EXTI_EMR3_EM86_Msk         (0x1UL << EXTI_EMR3_EM86_Pos)               /*!< 0x00400000 */
+#define EXTI_EMR3_EM86             EXTI_EMR3_EM86_Msk                          /*!< Event Mask on line 86 */
+#define EXTI_EMR3_EM87_Pos         (23U)
+#define EXTI_EMR3_EM87_Msk         (0x1UL << EXTI_EMR3_EM87_Pos)               /*!< 0x00800000 */
+#define EXTI_EMR3_EM87             EXTI_EMR3_EM87_Msk                          /*!< Event Mask on line 87 */
+
+#define EXTI_EMR3_EM88_Pos         (24U)
+#define EXTI_EMR3_EM88_Msk         (0x1UL << EXTI_EMR3_EM88_Pos)               /*!< 0x01000000 */
+#define EXTI_EMR3_EM88             EXTI_EMR3_EM88_Msk                          /*!< Event Mask on line 88 */
+
+#define EXTI_EMR3_EM89_Pos         (25U)
+#define EXTI_EMR3_EM89_Msk         (0x1UL << EXTI_EMR3_EM89_Pos)               /*!< 0x0200000 */
+#define EXTI_EMR3_EM89             EXTI_EMR3_EM89_Msk                          /*!< Interrupt Mask on line 89 */
+#define EXTI_EMR3_EM90_Pos         (26U)
+#define EXTI_EMR3_EM90_Msk         (0x1UL << EXTI_EMR3_EM90_Pos)               /*!< 0x0400000 */
+#define EXTI_EMR3_EM90             EXTI_EMR3_EM90_Msk                          /*!< Interrupt Mask on line 90 */
+#define EXTI_EMR3_EM91_Pos         (27U)
+#define EXTI_EMR3_EM91_Msk         (0x1UL << EXTI_EMR3_EM91_Pos)               /*!< 0x0800000 */
+#define EXTI_EMR3_EM91             EXTI_EMR3_EM91_Msk                          /*!< Interrupt Mask on line 91 */
+
+/*******************  Bit definition for EXTI_PR3 register  ********************/
+#define EXTI_PR3_PR_Pos            (20U)
+#define EXTI_PR3_PR_Msk            (0x7UL << EXTI_PR3_PR_Pos)                  /*!< 0x00700000 */
+#define EXTI_PR3_PR                EXTI_PR3_PR_Msk                             /*!< Pending bit             */
+#define EXTI_PR3_PR84_Pos          (20U)
+#define EXTI_PR3_PR84_Msk          (0x1UL << EXTI_PR3_PR84_Pos)                /*!< 0x00100000 */
+#define EXTI_PR3_PR84              EXTI_PR3_PR84_Msk                           /*!< Pending bit for line 84 */
+#define EXTI_PR3_PR85_Pos          (21U)
+#define EXTI_PR3_PR85_Msk          (0x1UL << EXTI_PR3_PR85_Pos)                /*!< 0x00200000 */
+#define EXTI_PR3_PR85              EXTI_PR3_PR85_Msk                           /*!< Pending bit for line 85 */
+#define EXTI_PR3_PR86_Pos          (22U)
+#define EXTI_PR3_PR86_Msk          (0x1UL << EXTI_PR3_PR86_Pos)                /*!< 0x00400000 */
+#define EXTI_PR3_PR86              EXTI_PR3_PR86_Msk                           /*!< Pending bit for line 86 */
+/******************************************************************************/
+/*                                                                            */
+/*                                    FLASH                                   */
+/*                                                                            */
+/******************************************************************************/
+/*
+* @brief FLASH Global Defines
+*/
+#define FLASH_SIZE_DATA_REGISTER             0x1FF1E880U
+#define FLASH_SECTOR_TOTAL                   8U                    /* 8 sectors */
+#define FLASH_SIZE                           ((((*((uint16_t *)FLASH_SIZE_DATA_REGISTER)) == 0xFFFFU)) ? 0x100000U : \
+                                             ((((*((uint16_t *)FLASH_SIZE_DATA_REGISTER)) == 0x0000U)) ? 0x100000U : \
+                                             (((uint32_t)(*((uint16_t *)FLASH_SIZE_DATA_REGISTER)) & (0x0FFFU)) << 10U)))  /* 1 MB   */
+#define FLASH_BANK_SIZE                      FLASH_SIZE            /* 1 MB   */
+#define FLASH_SECTOR_SIZE                    0x00020000UL          /* 128 KB   */
+#define FLASH_LATENCY_DEFAULT                FLASH_ACR_LATENCY_7WS /* FLASH Seven Latency cycles */
+#define FLASH_NB_32BITWORD_IN_FLASHWORD      8U                    /* 256 bits */
+
+/*******************  Bits definition for FLASH_ACR register  **********************/
+#define FLASH_ACR_LATENCY_Pos                (0U)
+#define FLASH_ACR_LATENCY_Msk                (0xFUL << FLASH_ACR_LATENCY_Pos)  /*!< 0x0000000F */
+#define FLASH_ACR_LATENCY                    FLASH_ACR_LATENCY_Msk             /*!< Read Latency */
+#define FLASH_ACR_LATENCY_0WS                (0x00000000UL)
+#define FLASH_ACR_LATENCY_1WS                (0x00000001UL)
+#define FLASH_ACR_LATENCY_2WS                (0x00000002UL)
+#define FLASH_ACR_LATENCY_3WS                (0x00000003UL)
+#define FLASH_ACR_LATENCY_4WS                (0x00000004UL)
+#define FLASH_ACR_LATENCY_5WS                (0x00000005UL)
+#define FLASH_ACR_LATENCY_6WS                (0x00000006UL)
+#define FLASH_ACR_LATENCY_7WS                (0x00000007UL)
+#define FLASH_ACR_LATENCY_8WS                (0x00000008UL)
+#define FLASH_ACR_LATENCY_9WS                (0x00000009UL)
+#define FLASH_ACR_LATENCY_10WS               (0x0000000AUL)
+#define FLASH_ACR_LATENCY_11WS               (0x0000000BUL)
+#define FLASH_ACR_LATENCY_12WS               (0x0000000CUL)
+#define FLASH_ACR_LATENCY_13WS               (0x0000000DUL)
+#define FLASH_ACR_LATENCY_14WS               (0x0000000EUL)
+#define FLASH_ACR_LATENCY_15WS               (0x0000000FUL)
+#define FLASH_ACR_WRHIGHFREQ_Pos             (4U)
+#define FLASH_ACR_WRHIGHFREQ_Msk             (0x3UL << FLASH_ACR_WRHIGHFREQ_Pos)  /*!< 0x00000030 */
+#define FLASH_ACR_WRHIGHFREQ                 FLASH_ACR_WRHIGHFREQ_Msk             /*!< Flash signal delay */
+#define FLASH_ACR_WRHIGHFREQ_0               (0x1UL << FLASH_ACR_WRHIGHFREQ_Pos)  /*!< 0x00000010 */
+#define FLASH_ACR_WRHIGHFREQ_1               (0x2UL << FLASH_ACR_WRHIGHFREQ_Pos)  /*!< 0x00000020 */
+
+/*******************  Bits definition for FLASH_CR register  ***********************/
+#define FLASH_CR_LOCK_Pos                    (0U)
+#define FLASH_CR_LOCK_Msk                    (0x1UL << FLASH_CR_LOCK_Pos)      /*!< 0x00000001 */
+#define FLASH_CR_LOCK                        FLASH_CR_LOCK_Msk                 /*!< Configuration lock bit */
+#define FLASH_CR_PG_Pos                      (1U)
+#define FLASH_CR_PG_Msk                      (0x1UL << FLASH_CR_PG_Pos)        /*!< 0x00000002 */
+#define FLASH_CR_PG                          FLASH_CR_PG_Msk                   /*!< Internal buffer control bit */
+#define FLASH_CR_SER_Pos                     (2U)
+#define FLASH_CR_SER_Msk                     (0x1UL << FLASH_CR_SER_Pos)       /*!< 0x00000004 */
+#define FLASH_CR_SER                         FLASH_CR_SER_Msk                  /*!< Sector erase request */
+#define FLASH_CR_BER_Pos                     (3U)
+#define FLASH_CR_BER_Msk                     (0x1UL << FLASH_CR_BER_Pos)       /*!< 0x00000008 */
+#define FLASH_CR_BER                         FLASH_CR_BER_Msk                  /*!< Bank erase request */
+#define FLASH_CR_PSIZE_Pos                   (4U)
+#define FLASH_CR_PSIZE_Msk                   (0x3UL << FLASH_CR_PSIZE_Pos)     /*!< 0x00000030 */
+#define FLASH_CR_PSIZE                       FLASH_CR_PSIZE_Msk                /*!< Program size */
+#define FLASH_CR_PSIZE_0                     (0x1UL << FLASH_CR_PSIZE_Pos)     /*!< 0x00000010 */
+#define FLASH_CR_PSIZE_1                     (0x2UL << FLASH_CR_PSIZE_Pos)     /*!< 0x00000020 */
+#define FLASH_CR_FW_Pos                      (6U)
+#define FLASH_CR_FW_Msk                      (0x1UL << FLASH_CR_FW_Pos)        /*!< 0x00000040 */
+#define FLASH_CR_FW                          FLASH_CR_FW_Msk                   /*!< Write forcing control bit */
+#define FLASH_CR_START_Pos                   (7U)
+#define FLASH_CR_START_Msk                   (0x1UL << FLASH_CR_START_Pos)     /*!< 0x00000080 */
+#define FLASH_CR_START                       FLASH_CR_START_Msk                /*!< Erase start control bit */
+#define FLASH_CR_SNB_Pos                     (8U)
+#define FLASH_CR_SNB_Msk                     (0x7UL << FLASH_CR_SNB_Pos)       /*!< 0x00000700 */
+#define FLASH_CR_SNB                         FLASH_CR_SNB_Msk                  /*!< Sector erase selection number */
+#define FLASH_CR_SNB_0                       (0x1UL << FLASH_CR_SNB_Pos)       /*!< 0x00000100 */
+#define FLASH_CR_SNB_1                       (0x2UL << FLASH_CR_SNB_Pos)       /*!< 0x00000200 */
+#define FLASH_CR_SNB_2                       (0x4UL << FLASH_CR_SNB_Pos)       /*!< 0x00000400 */
+#define FLASH_CR_CRC_EN_Pos                  (15U)
+#define FLASH_CR_CRC_EN_Msk                  (0x1UL << FLASH_CR_CRC_EN_Pos)    /*!< 0x00008000 */
+#define FLASH_CR_CRC_EN                      FLASH_CR_CRC_EN_Msk               /*!< CRC control bit */
+#define FLASH_CR_EOPIE_Pos                   (16U)
+#define FLASH_CR_EOPIE_Msk                   (0x1UL << FLASH_CR_EOPIE_Pos)     /*!< 0x00010000 */
+#define FLASH_CR_EOPIE                       FLASH_CR_EOPIE_Msk                /*!< End-of-program interrupt control bit */
+#define FLASH_CR_WRPERRIE_Pos                (17U)
+#define FLASH_CR_WRPERRIE_Msk                (0x1UL << FLASH_CR_WRPERRIE_Pos)  /*!< 0x00020000 */
+#define FLASH_CR_WRPERRIE                    FLASH_CR_WRPERRIE_Msk             /*!< Write protection error interrupt enable bit */
+#define FLASH_CR_PGSERRIE_Pos                (18U)
+#define FLASH_CR_PGSERRIE_Msk                (0x1UL << FLASH_CR_PGSERRIE_Pos)  /*!< 0x00040000 */
+#define FLASH_CR_PGSERRIE                    FLASH_CR_PGSERRIE_Msk             /*!< Programming sequence error interrupt enable bit */
+#define FLASH_CR_STRBERRIE_Pos               (19U)
+#define FLASH_CR_STRBERRIE_Msk               (0x1UL << FLASH_CR_STRBERRIE_Pos) /*!< 0x00080000 */
+#define FLASH_CR_STRBERRIE                   FLASH_CR_STRBERRIE_Msk            /*!< Strobe error interrupt enable bit */
+#define FLASH_CR_INCERRIE_Pos                (21U)
+#define FLASH_CR_INCERRIE_Msk                (0x1UL << FLASH_CR_INCERRIE_Pos)  /*!< 0x00200000 */
+#define FLASH_CR_INCERRIE                    FLASH_CR_INCERRIE_Msk             /*!< Inconsistency error interrupt enable bit */
+#define FLASH_CR_OPERRIE_Pos                 (22U)
+#define FLASH_CR_OPERRIE_Msk                 (0x1UL << FLASH_CR_OPERRIE_Pos)   /*!< 0x00400000 */
+#define FLASH_CR_OPERRIE                     FLASH_CR_OPERRIE_Msk              /*!< Write/erase error interrupt enable bit */
+#define FLASH_CR_RDPERRIE_Pos                (23U)
+#define FLASH_CR_RDPERRIE_Msk                (0x1UL << FLASH_CR_RDPERRIE_Pos)  /*!< 0x00800000 */
+#define FLASH_CR_RDPERRIE                    FLASH_CR_RDPERRIE_Msk             /*!< Read protection error interrupt enable bit */
+#define FLASH_CR_RDSERRIE_Pos                (24U)
+#define FLASH_CR_RDSERRIE_Msk                (0x1UL << FLASH_CR_RDSERRIE_Pos)  /*!< 0x01000000 */
+#define FLASH_CR_RDSERRIE                    FLASH_CR_RDSERRIE_Msk             /*!< Secure error interrupt enable bit */
+#define FLASH_CR_SNECCERRIE_Pos              (25U)
+#define FLASH_CR_SNECCERRIE_Msk              (0x1UL << FLASH_CR_SNECCERRIE_Pos) /*!< 0x02000000 */
+#define FLASH_CR_SNECCERRIE                  FLASH_CR_SNECCERRIE_Msk            /*!< ECC single correction error interrupt enable bit */
+#define FLASH_CR_DBECCERRIE_Pos              (26U)
+#define FLASH_CR_DBECCERRIE_Msk              (0x1UL << FLASH_CR_DBECCERRIE_Pos) /*!< 0x04000000 */
+#define FLASH_CR_DBECCERRIE                  FLASH_CR_DBECCERRIE_Msk            /*!< ECC double detection error interrupt enable bit */
+#define FLASH_CR_CRCENDIE_Pos                (27U)
+#define FLASH_CR_CRCENDIE_Msk                (0x1UL << FLASH_CR_CRCENDIE_Pos)  /*!< 0x08000000 */
+#define FLASH_CR_CRCENDIE                    FLASH_CR_CRCENDIE_Msk             /*!< CRC end of calculation interrupt enable bit */
+#define FLASH_CR_CRCRDERRIE_Pos              (28U)
+#define FLASH_CR_CRCRDERRIE_Msk              (0x1UL << FLASH_CR_CRCRDERRIE_Pos) /*!< 0x10000000 */
+#define FLASH_CR_CRCRDERRIE                  FLASH_CR_CRCRDERRIE_Msk            /*!< CRC read error interrupt enable bit */
+
+/*******************  Bits definition for FLASH_SR register  ***********************/
+#define FLASH_SR_BSY_Pos                     (0U)
+#define FLASH_SR_BSY_Msk                     (0x1UL << FLASH_SR_BSY_Pos)       /*!< 0x00000001 */
+#define FLASH_SR_BSY                         FLASH_SR_BSY_Msk                  /*!< Busy flag */
+#define FLASH_SR_WBNE_Pos                    (1U)
+#define FLASH_SR_WBNE_Msk                    (0x1UL << FLASH_SR_WBNE_Pos)      /*!< 0x00000002 */
+#define FLASH_SR_WBNE                        FLASH_SR_WBNE_Msk                 /*!< Write buffer not empty flag */
+#define FLASH_SR_QW_Pos                      (2U)
+#define FLASH_SR_QW_Msk                      (0x1UL << FLASH_SR_QW_Pos)        /*!< 0x00000004 */
+#define FLASH_SR_QW                          FLASH_SR_QW_Msk                   /*!< Wait queue flag */
+#define FLASH_SR_CRC_BUSY_Pos                (3U)
+#define FLASH_SR_CRC_BUSY_Msk                (0x1UL << FLASH_SR_CRC_BUSY_Pos)  /*!< 0x00000008 */
+#define FLASH_SR_CRC_BUSY                    FLASH_SR_CRC_BUSY_Msk             /*!< CRC busy flag */
+#define FLASH_SR_EOP_Pos                     (16U)
+#define FLASH_SR_EOP_Msk                     (0x1UL << FLASH_SR_EOP_Pos)       /*!< 0x00010000 */
+#define FLASH_SR_EOP                         FLASH_SR_EOP_Msk                  /*!< End-of-program flag */
+#define FLASH_SR_WRPERR_Pos                  (17U)
+#define FLASH_SR_WRPERR_Msk                  (0x1UL << FLASH_SR_WRPERR_Pos)    /*!< 0x00020000 */
+#define FLASH_SR_WRPERR                      FLASH_SR_WRPERR_Msk               /*!< Write protection error flag */
+#define FLASH_SR_PGSERR_Pos                  (18U)
+#define FLASH_SR_PGSERR_Msk                  (0x1UL << FLASH_SR_PGSERR_Pos)    /*!< 0x00040000 */
+#define FLASH_SR_PGSERR                      FLASH_SR_PGSERR_Msk               /*!< Programming sequence error flag */
+#define FLASH_SR_STRBERR_Pos                 (19U)
+#define FLASH_SR_STRBERR_Msk                 (0x1UL << FLASH_SR_STRBERR_Pos)   /*!< 0x00080000 */
+#define FLASH_SR_STRBERR                     FLASH_SR_STRBERR_Msk              /*!< Strobe error flag */
+#define FLASH_SR_INCERR_Pos                  (21U)
+#define FLASH_SR_INCERR_Msk                  (0x1UL << FLASH_SR_INCERR_Pos)    /*!< 0x00200000 */
+#define FLASH_SR_INCERR                      FLASH_SR_INCERR_Msk               /*!< Inconsistency error flag */
+#define FLASH_SR_OPERR_Pos                   (22U)
+#define FLASH_SR_OPERR_Msk                   (0x1UL << FLASH_SR_OPERR_Pos)     /*!< 0x00400000 */
+#define FLASH_SR_OPERR                       FLASH_SR_OPERR_Msk                /*!< Write/erase error flag */
+#define FLASH_SR_RDPERR_Pos                  (23U)
+#define FLASH_SR_RDPERR_Msk                  (0x1UL << FLASH_SR_RDPERR_Pos)    /*!< 0x00800000 */
+#define FLASH_SR_RDPERR                      FLASH_SR_RDPERR_Msk               /*!< Read protection error flag */
+#define FLASH_SR_RDSERR_Pos                  (24U)
+#define FLASH_SR_RDSERR_Msk                  (0x1UL << FLASH_SR_RDSERR_Pos)    /*!< 0x01000000 */
+#define FLASH_SR_RDSERR                      FLASH_SR_RDSERR_Msk               /*!< Secure error flag */
+#define FLASH_SR_SNECCERR_Pos                (25U)
+#define FLASH_SR_SNECCERR_Msk                (0x1UL << FLASH_SR_SNECCERR_Pos)  /*!< 0x02000000 */
+#define FLASH_SR_SNECCERR                    FLASH_SR_SNECCERR_Msk             /*!< Single correction error flag */
+#define FLASH_SR_DBECCERR_Pos                (26U)
+#define FLASH_SR_DBECCERR_Msk                (0x1UL << FLASH_SR_DBECCERR_Pos)  /*!< 0x04000000 */
+#define FLASH_SR_DBECCERR                    FLASH_SR_DBECCERR_Msk             /*!< ECC double detection error flag */
+#define FLASH_SR_CRCEND_Pos                  (27U)
+#define FLASH_SR_CRCEND_Msk                  (0x1UL << FLASH_SR_CRCEND_Pos)    /*!< 0x08000000 */
+#define FLASH_SR_CRCEND                      FLASH_SR_CRCEND_Msk               /*!< CRC end of calculation flag */
+#define FLASH_SR_CRCRDERR_Pos                (28U)
+#define FLASH_SR_CRCRDERR_Msk                (0x1UL << FLASH_SR_CRCRDERR_Pos)  /*!< 0x10000000 */
+#define FLASH_SR_CRCRDERR                    FLASH_SR_CRCRDERR_Msk             /*!< CRC read error flag */
+
+/*******************  Bits definition for FLASH_CCR register  *******************/
+#define FLASH_CCR_CLR_EOP_Pos                (16U)
+#define FLASH_CCR_CLR_EOP_Msk                (0x1UL << FLASH_CCR_CLR_EOP_Pos)  /*!< 0x00010000 */
+#define FLASH_CCR_CLR_EOP                    FLASH_CCR_CLR_EOP_Msk             /*!< EOP flag clear bit */
+#define FLASH_CCR_CLR_WRPERR_Pos             (17U)
+#define FLASH_CCR_CLR_WRPERR_Msk             (0x1UL << FLASH_CCR_CLR_WRPERR_Pos) /*!< 0x00020000 */
+#define FLASH_CCR_CLR_WRPERR                 FLASH_CCR_CLR_WRPERR_Msk            /*!< WRPERR flag clear bit */
+#define FLASH_CCR_CLR_PGSERR_Pos             (18U)
+#define FLASH_CCR_CLR_PGSERR_Msk             (0x1UL << FLASH_CCR_CLR_PGSERR_Pos) /*!< 0x00040000 */
+#define FLASH_CCR_CLR_PGSERR                 FLASH_CCR_CLR_PGSERR_Msk            /*!< PGSERR flag clear bit */
+#define FLASH_CCR_CLR_STRBERR_Pos            (19U)
+#define FLASH_CCR_CLR_STRBERR_Msk            (0x1UL << FLASH_CCR_CLR_STRBERR_Pos) /*!< 0x00080000 */
+#define FLASH_CCR_CLR_STRBERR                FLASH_CCR_CLR_STRBERR_Msk            /*!< STRBERR flag clear bit */
+#define FLASH_CCR_CLR_INCERR_Pos             (21U)
+#define FLASH_CCR_CLR_INCERR_Msk             (0x1UL << FLASH_CCR_CLR_INCERR_Pos) /*!< 0x00200000 */
+#define FLASH_CCR_CLR_INCERR                 FLASH_CCR_CLR_INCERR_Msk            /*!< INCERR flag clear bit */
+#define FLASH_CCR_CLR_OPERR_Pos              (22U)
+#define FLASH_CCR_CLR_OPERR_Msk              (0x1UL << FLASH_CCR_CLR_OPERR_Pos) /*!< 0x00400000 */
+#define FLASH_CCR_CLR_OPERR                  FLASH_CCR_CLR_OPERR_Msk            /*!< OPERR flag clear bit */
+#define FLASH_CCR_CLR_RDPERR_Pos             (23U)
+#define FLASH_CCR_CLR_RDPERR_Msk             (0x1UL << FLASH_CCR_CLR_RDPERR_Pos) /*!< 0x00800000 */
+#define FLASH_CCR_CLR_RDPERR                 FLASH_CCR_CLR_RDPERR_Msk            /*!< RDPERR flag clear bit */
+#define FLASH_CCR_CLR_RDSERR_Pos             (24U)
+#define FLASH_CCR_CLR_RDSERR_Msk             (0x1UL << FLASH_CCR_CLR_RDSERR_Pos) /*!< 0x01000000 */
+#define FLASH_CCR_CLR_RDSERR                 FLASH_CCR_CLR_RDSERR_Msk            /*!< RDSERR flag clear bit */
+#define FLASH_CCR_CLR_SNECCERR_Pos           (25U)
+#define FLASH_CCR_CLR_SNECCERR_Msk           (0x1UL << FLASH_CCR_CLR_SNECCERR_Pos) /*!< 0x02000000 */
+#define FLASH_CCR_CLR_SNECCERR               FLASH_CCR_CLR_SNECCERR_Msk            /*!< SNECCERR flag clear bit */
+#define FLASH_CCR_CLR_DBECCERR_Pos           (26U)
+#define FLASH_CCR_CLR_DBECCERR_Msk           (0x1UL << FLASH_CCR_CLR_DBECCERR_Pos) /*!< 0x04000000 */
+#define FLASH_CCR_CLR_DBECCERR               FLASH_CCR_CLR_DBECCERR_Msk            /*!< DBECCERR flag clear bit */
+#define FLASH_CCR_CLR_CRCEND_Pos             (27U)
+#define FLASH_CCR_CLR_CRCEND_Msk             (0x1UL << FLASH_CCR_CLR_CRCEND_Pos) /*!< 0x08000000 */
+#define FLASH_CCR_CLR_CRCEND                 FLASH_CCR_CLR_CRCEND_Msk            /*!< CRCEND flag clear bit */
+#define FLASH_CCR_CLR_CRCRDERR_Pos           (28U)
+#define FLASH_CCR_CLR_CRCRDERR_Msk           (0x1UL << FLASH_CCR_CLR_CRCRDERR_Pos) /*!< 0x10000000 */
+#define FLASH_CCR_CLR_CRCRDERR               FLASH_CCR_CLR_CRCRDERR_Msk            /*!< CRCRDERR flag clear bit */
+
+/*******************  Bits definition for FLASH_OPTCR register  *******************/
+#define FLASH_OPTCR_OPTLOCK_Pos              (0U)
+#define FLASH_OPTCR_OPTLOCK_Msk              (0x1UL << FLASH_OPTCR_OPTLOCK_Pos)  /*!< 0x00000001 */
+#define FLASH_OPTCR_OPTLOCK                  FLASH_OPTCR_OPTLOCK_Msk             /*!< FLASH_OPTCR lock option configuration bit */
+#define FLASH_OPTCR_OPTSTART_Pos             (1U)
+#define FLASH_OPTCR_OPTSTART_Msk             (0x1UL << FLASH_OPTCR_OPTSTART_Pos) /*!< 0x00000002 */
+#define FLASH_OPTCR_OPTSTART                 FLASH_OPTCR_OPTSTART_Msk            /*!< Option byte start change option configuration bit */
+#define FLASH_OPTCR_OPTCHANGEERRIE_Pos       (30U)
+#define FLASH_OPTCR_OPTCHANGEERRIE_Msk       (0x1UL << FLASH_OPTCR_OPTCHANGEERRIE_Pos) /*!< 0x40000000 */
+#define FLASH_OPTCR_OPTCHANGEERRIE           FLASH_OPTCR_OPTCHANGEERRIE_Msk            /*!< Option byte change error interrupt enable bit */
+
+/*******************  Bits definition for FLASH_OPTSR register  ***************/
+#define FLASH_OPTSR_OPT_BUSY_Pos             (0U)
+#define FLASH_OPTSR_OPT_BUSY_Msk             (0x1UL << FLASH_OPTSR_OPT_BUSY_Pos) /*!< 0x00000001 */
+#define FLASH_OPTSR_OPT_BUSY                 FLASH_OPTSR_OPT_BUSY_Msk            /*!< Option byte change ongoing flag */
+#define FLASH_OPTSR_BOR_LEV_Pos              (2U)
+#define FLASH_OPTSR_BOR_LEV_Msk              (0x3UL << FLASH_OPTSR_BOR_LEV_Pos) /*!< 0x0000000C */
+#define FLASH_OPTSR_BOR_LEV                  FLASH_OPTSR_BOR_LEV_Msk            /*!< Brownout level option status bit */
+#define FLASH_OPTSR_BOR_LEV_0                (0x1UL << FLASH_OPTSR_BOR_LEV_Pos) /*!< 0x00000004 */
+#define FLASH_OPTSR_BOR_LEV_1                (0x2UL << FLASH_OPTSR_BOR_LEV_Pos) /*!< 0x00000008 */
+#define FLASH_OPTSR_IWDG1_SW_Pos             (4U)
+#define FLASH_OPTSR_IWDG1_SW_Msk             (0x1UL << FLASH_OPTSR_IWDG1_SW_Pos) /*!< 0x00000010 */
+#define FLASH_OPTSR_IWDG1_SW                 FLASH_OPTSR_IWDG1_SW_Msk            /*!< IWDG1 control mode option status bit */
+#define FLASH_OPTSR_NRST_STOP_D1_Pos         (6U)
+#define FLASH_OPTSR_NRST_STOP_D1_Msk         (0x1UL << FLASH_OPTSR_NRST_STOP_D1_Pos) /*!< 0x00000040 */
+#define FLASH_OPTSR_NRST_STOP_D1             FLASH_OPTSR_NRST_STOP_D1_Msk            /*!< D1 domain DStop entry reset option status bit */
+#define FLASH_OPTSR_NRST_STBY_D1_Pos         (7U)
+#define FLASH_OPTSR_NRST_STBY_D1_Msk         (0x1UL << FLASH_OPTSR_NRST_STBY_D1_Pos) /*!< 0x00000080 */
+#define FLASH_OPTSR_NRST_STBY_D1             FLASH_OPTSR_NRST_STBY_D1_Msk            /*!< D1 domain DStandby entry reset option status bit */
+#define FLASH_OPTSR_RDP_Pos                  (8U)
+#define FLASH_OPTSR_RDP_Msk                  (0xFFUL << FLASH_OPTSR_RDP_Pos)   /*!< 0x0000FF00 */
+#define FLASH_OPTSR_RDP                      FLASH_OPTSR_RDP_Msk               /*!< Readout protection level option status byte */
+#define FLASH_OPTSR_FZ_IWDG_STOP_Pos         (17U)
+#define FLASH_OPTSR_FZ_IWDG_STOP_Msk         (0x1UL << FLASH_OPTSR_FZ_IWDG_STOP_Pos) /*!< 0x00020000 */
+#define FLASH_OPTSR_FZ_IWDG_STOP             FLASH_OPTSR_FZ_IWDG_STOP_Msk            /*!< IWDG Stop mode freeze option status bit */
+#define FLASH_OPTSR_FZ_IWDG_SDBY_Pos         (18U)
+#define FLASH_OPTSR_FZ_IWDG_SDBY_Msk         (0x1UL << FLASH_OPTSR_FZ_IWDG_SDBY_Pos) /*!< 0x00040000 */
+#define FLASH_OPTSR_FZ_IWDG_SDBY             FLASH_OPTSR_FZ_IWDG_SDBY_Msk            /*!< IWDG Standby mode freeze option status bit */
+#define FLASH_OPTSR_ST_RAM_SIZE_Pos          (19U)
+#define FLASH_OPTSR_ST_RAM_SIZE_Msk          (0x3UL << FLASH_OPTSR_ST_RAM_SIZE_Pos) /*!< 0x00180000 */
+#define FLASH_OPTSR_ST_RAM_SIZE              FLASH_OPTSR_ST_RAM_SIZE_Msk            /*!< ST RAM size option status */
+#define FLASH_OPTSR_ST_RAM_SIZE_0            (0x1UL << FLASH_OPTSR_ST_RAM_SIZE_Pos) /*!< 0x00080000 */
+#define FLASH_OPTSR_ST_RAM_SIZE_1            (0x2UL << FLASH_OPTSR_ST_RAM_SIZE_Pos) /*!< 0x00100000 */
+#define FLASH_OPTSR_SECURITY_Pos             (21U)
+#define FLASH_OPTSR_SECURITY_Msk             (0x1UL << FLASH_OPTSR_SECURITY_Pos) /*!< 0x00200000 */
+#define FLASH_OPTSR_SECURITY                 FLASH_OPTSR_SECURITY_Msk            /*!< Security enable option status bit */
+#define FLASH_OPTSR_NRST_STOP_D2_Pos         (24U)
+#define FLASH_OPTSR_NRST_STOP_D2_Msk         (0x1UL << FLASH_OPTSR_NRST_STOP_D2_Pos) /*!< 0x01000000 */
+#define FLASH_OPTSR_NRST_STOP_D2             FLASH_OPTSR_NRST_STOP_D2_Msk            /*!< D2 domain DStop entry reset option status bit */
+#define FLASH_OPTSR_NRST_STBY_D2_Pos         (25U)
+#define FLASH_OPTSR_NRST_STBY_D2_Msk         (0x1UL << FLASH_OPTSR_NRST_STBY_D2_Pos) /*!< 0x02000000 */
+#define FLASH_OPTSR_NRST_STBY_D2             FLASH_OPTSR_NRST_STBY_D2_Msk            /*!< D2 domain DStandby entry reset option status bit */
+#define FLASH_OPTSR_IO_HSLV_Pos              (29U)
+#define FLASH_OPTSR_IO_HSLV_Msk              (0x1UL << FLASH_OPTSR_IO_HSLV_Pos) /*!< 0x20000000 */
+#define FLASH_OPTSR_IO_HSLV                  FLASH_OPTSR_IO_HSLV_Msk            /*!< I/O high-speed at low-voltage status bit */
+#define FLASH_OPTSR_OPTCHANGEERR_Pos         (30U)
+#define FLASH_OPTSR_OPTCHANGEERR_Msk         (0x1UL << FLASH_OPTSR_OPTCHANGEERR_Pos) /*!< 0x40000000 */
+#define FLASH_OPTSR_OPTCHANGEERR             FLASH_OPTSR_OPTCHANGEERR_Msk            /*!< Option byte change error flag */
+
+/*******************  Bits definition for FLASH_OPTCCR register  *******************/
+#define FLASH_OPTCCR_CLR_OPTCHANGEERR_Pos    (30U)
+#define FLASH_OPTCCR_CLR_OPTCHANGEERR_Msk    (0x1UL << FLASH_OPTCCR_CLR_OPTCHANGEERR_Pos) /*!< 0x40000000 */
+#define FLASH_OPTCCR_CLR_OPTCHANGEERR        FLASH_OPTCCR_CLR_OPTCHANGEERR_Msk            /*!< OPTCHANGEERR reset bit */
+
+/*******************  Bits definition for FLASH_PRAR register  *********************/
+#define FLASH_PRAR_PROT_AREA_START_Pos       (0U)
+#define FLASH_PRAR_PROT_AREA_START_Msk       (0xFFFUL << FLASH_PRAR_PROT_AREA_START_Pos) /*!< 0x00000FFF */
+#define FLASH_PRAR_PROT_AREA_START           FLASH_PRAR_PROT_AREA_START_Msk              /*!< PCROP area start status bits */
+#define FLASH_PRAR_PROT_AREA_END_Pos         (16U)
+#define FLASH_PRAR_PROT_AREA_END_Msk         (0xFFFUL << FLASH_PRAR_PROT_AREA_END_Pos) /*!< 0x0FFF0000 */
+#define FLASH_PRAR_PROT_AREA_END             FLASH_PRAR_PROT_AREA_END_Msk              /*!< PCROP area end status bits */
+#define FLASH_PRAR_DMEP_Pos                  (31U)
+#define FLASH_PRAR_DMEP_Msk                  (0x1UL << FLASH_PRAR_DMEP_Pos)    /*!< 0x80000000 */
+#define FLASH_PRAR_DMEP                      FLASH_PRAR_DMEP_Msk               /*!< PCROP protected erase enable option status bit */
+
+/*******************  Bits definition for FLASH_SCAR register  *********************/
+#define FLASH_SCAR_SEC_AREA_START_Pos        (0U)
+#define FLASH_SCAR_SEC_AREA_START_Msk        (0xFFFUL << FLASH_SCAR_SEC_AREA_START_Pos) /*!< 0x00000FFF */
+#define FLASH_SCAR_SEC_AREA_START            FLASH_SCAR_SEC_AREA_START_Msk              /*!< Secure-only area start status bits */
+#define FLASH_SCAR_SEC_AREA_END_Pos          (16U)
+#define FLASH_SCAR_SEC_AREA_END_Msk          (0xFFFUL << FLASH_SCAR_SEC_AREA_END_Pos) /*!< 0x0FFF0000 */
+#define FLASH_SCAR_SEC_AREA_END              FLASH_SCAR_SEC_AREA_END_Msk              /*!< Secure-only area end status bits */
+#define FLASH_SCAR_DMES_Pos                  (31U)
+#define FLASH_SCAR_DMES_Msk                  (0x1UL << FLASH_SCAR_DMES_Pos)    /*!< 0x80000000 */
+#define FLASH_SCAR_DMES                      FLASH_SCAR_DMES_Msk               /*!< Secure access protected erase enable option status bit */
+
+/*******************  Bits definition for FLASH_WPSN register  *********************/
+#define FLASH_WPSN_WRPSN_Pos                 (0U)
+#define FLASH_WPSN_WRPSN_Msk                 (0xFFUL << FLASH_WPSN_WRPSN_Pos)  /*!< 0x000000FF */
+#define FLASH_WPSN_WRPSN                     FLASH_WPSN_WRPSN_Msk              /*!< Sector write protection option status byte */
+
+/*******************  Bits definition for FLASH_BOOT_CUR register  ****************/
+#define FLASH_BOOT_ADD0_Pos                  (0U)
+#define FLASH_BOOT_ADD0_Msk                  (0xFFFFUL << FLASH_BOOT_ADD0_Pos) /*!< 0x0000FFFF */
+#define FLASH_BOOT_ADD0                      FLASH_BOOT_ADD0_Msk               /*!< Arm Cortex-M7 boot address 0 */
+#define FLASH_BOOT_ADD1_Pos                  (16U)
+#define FLASH_BOOT_ADD1_Msk                  (0xFFFFUL << FLASH_BOOT_ADD1_Pos) /*!< 0xFFFF0000 */
+#define FLASH_BOOT_ADD1                      FLASH_BOOT_ADD1_Msk               /*!< Arm Cortex-M7 boot address 1 */
+
+
+/*******************  Bits definition for FLASH_CRCCR register  ********************/
+#define FLASH_CRCCR_CRC_SECT_Pos             (0U)
+#define FLASH_CRCCR_CRC_SECT_Msk             (0x7UL << FLASH_CRCCR_CRC_SECT_Pos) /*!< 0x00000007 */
+#define FLASH_CRCCR_CRC_SECT                 FLASH_CRCCR_CRC_SECT_Msk            /*!< CRC sector number */
+#define FLASH_CRCCR_CRC_BY_SECT_Pos          (8U)
+#define FLASH_CRCCR_CRC_BY_SECT_Msk          (0x1UL << FLASH_CRCCR_CRC_BY_SECT_Pos) /*!< 0x00000100 */
+#define FLASH_CRCCR_CRC_BY_SECT              FLASH_CRCCR_CRC_BY_SECT_Msk            /*!< CRC sector mode select bit */
+#define FLASH_CRCCR_ADD_SECT_Pos             (9U)
+#define FLASH_CRCCR_ADD_SECT_Msk             (0x1UL << FLASH_CRCCR_ADD_SECT_Pos) /*!< 0x00000200 */
+#define FLASH_CRCCR_ADD_SECT                 FLASH_CRCCR_ADD_SECT_Msk            /*!< CRC sector select bit */
+#define FLASH_CRCCR_CLEAN_SECT_Pos           (10U)
+#define FLASH_CRCCR_CLEAN_SECT_Msk           (0x1UL << FLASH_CRCCR_CLEAN_SECT_Pos) /*!< 0x00000400 */
+#define FLASH_CRCCR_CLEAN_SECT               FLASH_CRCCR_CLEAN_SECT_Msk            /*!< CRC sector list clear bit */
+#define FLASH_CRCCR_START_CRC_Pos            (16U)
+#define FLASH_CRCCR_START_CRC_Msk            (0x1UL << FLASH_CRCCR_START_CRC_Pos) /*!< 0x00010000 */
+#define FLASH_CRCCR_START_CRC                FLASH_CRCCR_START_CRC_Msk            /*!< CRC start bit */
+#define FLASH_CRCCR_CLEAN_CRC_Pos            (17U)
+#define FLASH_CRCCR_CLEAN_CRC_Msk            (0x1UL << FLASH_CRCCR_CLEAN_CRC_Pos) /*!< 0x00020000 */
+#define FLASH_CRCCR_CLEAN_CRC                FLASH_CRCCR_CLEAN_CRC_Msk            /*!< CRC clear bit */
+#define FLASH_CRCCR_CRC_BURST_Pos            (20U)
+#define FLASH_CRCCR_CRC_BURST_Msk            (0x3UL << FLASH_CRCCR_CRC_BURST_Pos) /*!< 0x00300000 */
+#define FLASH_CRCCR_CRC_BURST                FLASH_CRCCR_CRC_BURST_Msk            /*!< CRC burst size */
+#define FLASH_CRCCR_CRC_BURST_0              (0x1UL << FLASH_CRCCR_CRC_BURST_Pos) /*!< 0x00100000 */
+#define FLASH_CRCCR_CRC_BURST_1              (0x2UL << FLASH_CRCCR_CRC_BURST_Pos) /*!< 0x00200000 */
+#define FLASH_CRCCR_ALL_BANK_Pos             (22U)
+#define FLASH_CRCCR_ALL_BANK_Msk             (0x1UL << FLASH_CRCCR_ALL_BANK_Pos) /*!< 0x00400000 */
+#define FLASH_CRCCR_ALL_BANK                 FLASH_CRCCR_ALL_BANK_Msk            /*!< CRC select bit */
+
+/*******************  Bits definition for FLASH_CRCSADD register  ****************/
+#define FLASH_CRCSADD_CRC_START_ADDR_Pos     (0U)
+#define FLASH_CRCSADD_CRC_START_ADDR_Msk     (0xFFFFFFFFUL << FLASH_CRCSADD_CRC_START_ADDR_Pos) /*!< 0xFFFFFFFF */
+#define FLASH_CRCSADD_CRC_START_ADDR         FLASH_CRCSADD_CRC_START_ADDR_Msk                   /*!< CRC start address */
+
+/*******************  Bits definition for FLASH_CRCEADD register  ****************/
+#define FLASH_CRCEADD_CRC_END_ADDR_Pos       (0U)
+#define FLASH_CRCEADD_CRC_END_ADDR_Msk       (0xFFFFFFFFUL << FLASH_CRCEADD_CRC_END_ADDR_Pos) /*!< 0xFFFFFFFF */
+#define FLASH_CRCEADD_CRC_END_ADDR           FLASH_CRCEADD_CRC_END_ADDR_Msk                   /*!< CRC end address */
+
+/*******************  Bits definition for FLASH_CRCDATA register  ***************/
+#define FLASH_CRCDATA_CRC_DATA_Pos           (0U)
+#define FLASH_CRCDATA_CRC_DATA_Msk           (0xFFFFFFFFUL << FLASH_CRCDATA_CRC_DATA_Pos) /*!< 0xFFFFFFFF */
+#define FLASH_CRCDATA_CRC_DATA               FLASH_CRCDATA_CRC_DATA_Msk                   /*!< CRC result */
+
+/*******************  Bits definition for FLASH_ECC_FA register  *******************/
+#define FLASH_ECC_FA_FAIL_ECC_ADDR_Pos       (0U)
+#define FLASH_ECC_FA_FAIL_ECC_ADDR_Msk       (0x7FFFUL << FLASH_ECC_FA_FAIL_ECC_ADDR_Pos) /*!< 0x00007FFF */
+#define FLASH_ECC_FA_FAIL_ECC_ADDR           FLASH_ECC_FA_FAIL_ECC_ADDR_Msk               /*!< ECC error address */
+
+/*******************  Bits definition for FLASH_OPTSR2 register  *******************/
+#define FLASH_OPTSR2_TCM_AXI_SHARED_Pos      (0U)
+#define FLASH_OPTSR2_TCM_AXI_SHARED_Msk      (0x3UL << FLASH_OPTSR2_TCM_AXI_SHARED_Pos) /*!< 0x00000003 */
+#define FLASH_OPTSR2_TCM_AXI_SHARED          FLASH_OPTSR2_TCM_AXI_SHARED_Msk            /*!< TCM RAM shared */
+#define FLASH_OPTSR2_TCM_AXI_SHARED_0        (0x1UL << FLASH_OPTSR2_TCM_AXI_SHARED_Pos) /*!< 0x00000001 */
+#define FLASH_OPTSR2_TCM_AXI_SHARED_1        (0x2UL << FLASH_OPTSR2_TCM_AXI_SHARED_Pos) /*!< 0x00000002 */
+#define FLASH_OPTSR2_CPUFREQ_BOOST_Pos       (2U)
+#define FLASH_OPTSR2_CPUFREQ_BOOST_Msk       (0x1UL << FLASH_OPTSR2_CPUFREQ_BOOST_Pos) /*!< 0x00000004 */
+#define FLASH_OPTSR2_CPUFREQ_BOOST           FLASH_OPTSR2_CPUFREQ_BOOST_Msk            /*!< CPU frequency boost */
+
+/******************************************************************************/
+/*                                                                            */
+/*                Filter Mathematical ACcelerator unit (FMAC)                 */
+/*                                                                            */
+/******************************************************************************/
+/*****************  Bit definition for FMAC_X1BUFCFG register  ****************/
+#define FMAC_X1BUFCFG_X1_BASE_Pos     (0U)
+#define FMAC_X1BUFCFG_X1_BASE_Msk     (0xFFUL << FMAC_X1BUFCFG_X1_BASE_Pos)    /*!< 0x000000FF */
+#define FMAC_X1BUFCFG_X1_BASE         FMAC_X1BUFCFG_X1_BASE_Msk                /*!< Base address of X1 buffer */
+#define FMAC_X1BUFCFG_X1_BUF_SIZE_Pos (8U)
+#define FMAC_X1BUFCFG_X1_BUF_SIZE_Msk (0xFFUL << FMAC_X1BUFCFG_X1_BUF_SIZE_Pos)/*!< 0x0000FF00 */
+#define FMAC_X1BUFCFG_X1_BUF_SIZE     FMAC_X1BUFCFG_X1_BUF_SIZE_Msk            /*!< Allocated size of X1 buffer in 16-bit words */
+#define FMAC_X1BUFCFG_FULL_WM_Pos     (24U)
+#define FMAC_X1BUFCFG_FULL_WM_Msk     (0x3UL  << FMAC_X1BUFCFG_FULL_WM_Pos)    /*!< 0x03000000 */
+#define FMAC_X1BUFCFG_FULL_WM         FMAC_X1BUFCFG_FULL_WM_Msk                /*!< Watermark for buffer full flag */
+/*****************  Bit definition for FMAC_X2BUFCFG register  ****************/
+#define FMAC_X2BUFCFG_X2_BASE_Pos     (0U)
+#define FMAC_X2BUFCFG_X2_BASE_Msk     (0xFFUL << FMAC_X2BUFCFG_X2_BASE_Pos)    /*!< 0x000000FF */
+#define FMAC_X2BUFCFG_X2_BASE         FMAC_X2BUFCFG_X2_BASE_Msk                /*!< Base address of X2 buffer */
+#define FMAC_X2BUFCFG_X2_BUF_SIZE_Pos (8U)
+#define FMAC_X2BUFCFG_X2_BUF_SIZE_Msk (0xFFUL << FMAC_X2BUFCFG_X2_BUF_SIZE_Pos)/*!< 0x0000FF00 */
+#define FMAC_X2BUFCFG_X2_BUF_SIZE     FMAC_X2BUFCFG_X2_BUF_SIZE_Msk            /*!< Size of X2 buffer in 16-bit words */
+/*****************  Bit definition for FMAC_YBUFCFG register  *****************/
+#define FMAC_YBUFCFG_Y_BASE_Pos       (0U)
+#define FMAC_YBUFCFG_Y_BASE_Msk       (0xFFUL << FMAC_YBUFCFG_Y_BASE_Pos)      /*!< 0x000000FF */
+#define FMAC_YBUFCFG_Y_BASE           FMAC_YBUFCFG_Y_BASE_Msk                  /*!< Base address of Y buffer */
+#define FMAC_YBUFCFG_Y_BUF_SIZE_Pos   (8U)
+#define FMAC_YBUFCFG_Y_BUF_SIZE_Msk   (0xFFUL << FMAC_YBUFCFG_Y_BUF_SIZE_Pos)  /*!< 0x0000FF00 */
+#define FMAC_YBUFCFG_Y_BUF_SIZE       FMAC_YBUFCFG_Y_BUF_SIZE_Msk              /*!< Size of Y buffer in 16-bit words */
+#define FMAC_YBUFCFG_EMPTY_WM_Pos     (24U)
+#define FMAC_YBUFCFG_EMPTY_WM_Msk     (0x3UL  << FMAC_YBUFCFG_EMPTY_WM_Pos)    /*!< 0x03000000 */
+#define FMAC_YBUFCFG_EMPTY_WM         FMAC_YBUFCFG_EMPTY_WM_Msk                /*!< Watermark for buffer empty flag */
+/******************  Bit definition for FMAC_PARAM register  ******************/
+#define FMAC_PARAM_P_Pos              (0U)
+#define FMAC_PARAM_P_Msk              (0xFFUL << FMAC_PARAM_P_Pos)             /*!< 0x000000FF */
+#define FMAC_PARAM_P                  FMAC_PARAM_P_Msk                         /*!< Input parameter P */
+#define FMAC_PARAM_Q_Pos              (8U)
+#define FMAC_PARAM_Q_Msk              (0xFFUL << FMAC_PARAM_Q_Pos)             /*!< 0x0000FF00 */
+#define FMAC_PARAM_Q                  FMAC_PARAM_Q_Msk                         /*!< Input parameter Q */
+#define FMAC_PARAM_R_Pos              (16U)
+#define FMAC_PARAM_R_Msk              (0xFFUL << FMAC_PARAM_R_Pos)             /*!< 0x00FF0000 */
+#define FMAC_PARAM_R                  FMAC_PARAM_R_Msk                         /*!< Input parameter R */
+#define FMAC_PARAM_FUNC_Pos           (24U)
+#define FMAC_PARAM_FUNC_Msk           (0x7FUL << FMAC_PARAM_FUNC_Pos)          /*!< 0x7F000000 */
+#define FMAC_PARAM_FUNC               FMAC_PARAM_FUNC_Msk                      /*!< Function */
+#define FMAC_PARAM_FUNC_0             (0x1UL  << FMAC_PARAM_FUNC_Pos)          /*!< 0x01000000 */
+#define FMAC_PARAM_FUNC_1             (0x2UL  << FMAC_PARAM_FUNC_Pos)          /*!< 0x02000000 */
+#define FMAC_PARAM_FUNC_2             (0x4UL  << FMAC_PARAM_FUNC_Pos)          /*!< 0x04000000 */
+#define FMAC_PARAM_FUNC_3             (0x8UL  << FMAC_PARAM_FUNC_Pos)          /*!< 0x08000000 */
+#define FMAC_PARAM_FUNC_4             (0x10UL << FMAC_PARAM_FUNC_Pos)          /*!< 0x10000000 */
+#define FMAC_PARAM_FUNC_5             (0x20UL << FMAC_PARAM_FUNC_Pos)          /*!< 0x20000000 */
+#define FMAC_PARAM_FUNC_6             (0x40UL << FMAC_PARAM_FUNC_Pos)          /*!< 0x40000000 */
+#define FMAC_PARAM_START_Pos          (31U)
+#define FMAC_PARAM_START_Msk          (0x1UL  << FMAC_PARAM_START_Pos)         /*!< 0x80000000 */
+#define FMAC_PARAM_START              FMAC_PARAM_START_Msk                     /*!< Enable execution */
+/********************  Bit definition for FMAC_CR register  *******************/
+#define FMAC_CR_RIEN_Pos              (0U)
+#define FMAC_CR_RIEN_Msk              (0x1UL  << FMAC_CR_RIEN_Pos)             /*!< 0x00000001 */
+#define FMAC_CR_RIEN                  FMAC_CR_RIEN_Msk                         /*!< Enable read interrupt */
+#define FMAC_CR_WIEN_Pos              (1U)
+#define FMAC_CR_WIEN_Msk              (0x1UL  << FMAC_CR_WIEN_Pos)             /*!< 0x00000002 */
+#define FMAC_CR_WIEN                  FMAC_CR_WIEN_Msk                         /*!< Enable write interrupt */
+#define FMAC_CR_OVFLIEN_Pos           (2U)
+#define FMAC_CR_OVFLIEN_Msk           (0x1UL  << FMAC_CR_OVFLIEN_Pos)          /*!< 0x00000004 */
+#define FMAC_CR_OVFLIEN               FMAC_CR_OVFLIEN_Msk                      /*!< Enable overflow error interrupts */
+#define FMAC_CR_UNFLIEN_Pos           (3U)
+#define FMAC_CR_UNFLIEN_Msk           (0x1UL  << FMAC_CR_UNFLIEN_Pos)          /*!< 0x00000008 */
+#define FMAC_CR_UNFLIEN               FMAC_CR_UNFLIEN_Msk                      /*!< Enable underflow error interrupts */
+#define FMAC_CR_SATIEN_Pos            (4U)
+#define FMAC_CR_SATIEN_Msk            (0x1UL  << FMAC_CR_SATIEN_Pos)           /*!< 0x00000010 */
+#define FMAC_CR_SATIEN                FMAC_CR_SATIEN_Msk                       /*!< Enable saturation error interrupts */
+#define FMAC_CR_DMAREN_Pos            (8U)
+#define FMAC_CR_DMAREN_Msk            (0x1UL  << FMAC_CR_DMAREN_Pos)           /*!< 0x00000100 */
+#define FMAC_CR_DMAREN                FMAC_CR_DMAREN_Msk                       /*!< Enable DMA read channel requests */
+#define FMAC_CR_DMAWEN_Pos            (9U)
+#define FMAC_CR_DMAWEN_Msk            (0x1UL  << FMAC_CR_DMAWEN_Pos)           /*!< 0x00000200 */
+#define FMAC_CR_DMAWEN                FMAC_CR_DMAWEN_Msk                       /*!< Enable DMA write channel requests */
+#define FMAC_CR_CLIPEN_Pos            (15U)
+#define FMAC_CR_CLIPEN_Msk            (0x1UL  << FMAC_CR_CLIPEN_Pos)           /*!< 0x00008000 */
+#define FMAC_CR_CLIPEN                FMAC_CR_CLIPEN_Msk                       /*!< Enable clipping */
+#define FMAC_CR_RESET_Pos             (16U)
+#define FMAC_CR_RESET_Msk             (0x1UL  << FMAC_CR_RESET_Pos)            /*!< 0x00010000 */
+#define FMAC_CR_RESET                 FMAC_CR_RESET_Msk                        /*!< Reset filter mathematical accelerator unit */
+/*******************  Bit definition for FMAC_SR register  ********************/
+#define FMAC_SR_YEMPTY_Pos            (0U)
+#define FMAC_SR_YEMPTY_Msk            (0x1UL  << FMAC_SR_YEMPTY_Pos)           /*!< 0x00000001 */
+#define FMAC_SR_YEMPTY                FMAC_SR_YEMPTY_Msk                       /*!< Y buffer empty flag */
+#define FMAC_SR_X1FULL_Pos            (1U)
+#define FMAC_SR_X1FULL_Msk            (0x1UL  << FMAC_SR_X1FULL_Pos)           /*!< 0x00000002 */
+#define FMAC_SR_X1FULL                FMAC_SR_X1FULL_Msk                       /*!< X1 buffer full flag */
+#define FMAC_SR_OVFL_Pos              (8U)
+#define FMAC_SR_OVFL_Msk              (0x1UL  << FMAC_SR_OVFL_Pos)             /*!< 0x00000100 */
+#define FMAC_SR_OVFL                  FMAC_SR_OVFL_Msk                         /*!< Overflow error flag */
+#define FMAC_SR_UNFL_Pos              (9U)
+#define FMAC_SR_UNFL_Msk              (0x1UL  << FMAC_SR_UNFL_Pos)             /*!< 0x00000200 */
+#define FMAC_SR_UNFL                  FMAC_SR_UNFL_Msk                         /*!< Underflow error flag */
+#define FMAC_SR_SAT_Pos               (10U)
+#define FMAC_SR_SAT_Msk               (0x1UL  << FMAC_SR_SAT_Pos)              /*!< 0x00000400 */
+#define FMAC_SR_SAT                   FMAC_SR_SAT_Msk                          /*!< Saturation error flag */
+/******************  Bit definition for FMAC_WDATA register  ******************/
+#define FMAC_WDATA_WDATA_Pos          (0U)
+#define FMAC_WDATA_WDATA_Msk          (0xFFFFUL << FMAC_WDATA_WDATA_Pos)       /*!< 0x0000FFFF */
+#define FMAC_WDATA_WDATA              FMAC_WDATA_WDATA_Msk                     /*!< Write data */
+/******************  Bit definition for FMACX_RDATA register  *****************/
+#define FMAC_RDATA_RDATA_Pos          (0U)
+#define FMAC_RDATA_RDATA_Msk          (0xFFFFUL << FMAC_RDATA_RDATA_Pos)       /*!< 0x0000FFFF */
+#define FMAC_RDATA_RDATA              FMAC_RDATA_RDATA_Msk                     /*!< Read data */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          Flexible Memory Controller                        */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for FMC_BCR1 register  *******************/
+#define FMC_BCR1_CCLKEN_Pos        (20U)
+#define FMC_BCR1_CCLKEN_Msk        (0x1UL << FMC_BCR1_CCLKEN_Pos)              /*!< 0x00100000 */
+#define FMC_BCR1_CCLKEN            FMC_BCR1_CCLKEN_Msk                         /*!<Continuous clock enable     */
+#define FMC_BCR1_WFDIS_Pos         (21U)
+#define FMC_BCR1_WFDIS_Msk         (0x1UL << FMC_BCR1_WFDIS_Pos)               /*!< 0x00200000 */
+#define FMC_BCR1_WFDIS             FMC_BCR1_WFDIS_Msk                          /*!<Write FIFO Disable         */
+
+#define FMC_BCR1_BMAP_Pos          (24U)
+#define FMC_BCR1_BMAP_Msk          (0x3UL << FMC_BCR1_BMAP_Pos)                /*!< 0x03000000 */
+#define FMC_BCR1_BMAP              FMC_BCR1_BMAP_Msk                           /*!<BMAP[1:0] FMC bank mapping */
+#define FMC_BCR1_BMAP_0            (0x1UL << FMC_BCR1_BMAP_Pos)                 /*!< 0x01000000 */
+#define FMC_BCR1_BMAP_1            (0x2UL << FMC_BCR1_BMAP_Pos)                 /*!< 0x02000000 */
+
+#define FMC_BCR1_FMCEN_Pos         (31U)
+#define FMC_BCR1_FMCEN_Msk         (0x1UL << FMC_BCR1_FMCEN_Pos)               /*!< 0x80000000 */
+#define FMC_BCR1_FMCEN             FMC_BCR1_FMCEN_Msk                          /*!<FMC controller Enable */
+/******************  Bit definition for FMC_BCRx registers (x=1..4)  *********/
+#define FMC_BCRx_MBKEN_Pos         (0U)
+#define FMC_BCRx_MBKEN_Msk         (0x1UL << FMC_BCRx_MBKEN_Pos)               /*!< 0x00000001 */
+#define FMC_BCRx_MBKEN             FMC_BCRx_MBKEN_Msk                          /*!<Memory bank enable bit                 */
+#define FMC_BCRx_MUXEN_Pos         (1U)
+#define FMC_BCRx_MUXEN_Msk         (0x1UL << FMC_BCRx_MUXEN_Pos)               /*!< 0x00000002 */
+#define FMC_BCRx_MUXEN             FMC_BCRx_MUXEN_Msk                          /*!<Address/data multiplexing enable bit   */
+
+#define FMC_BCRx_MTYP_Pos          (2U)
+#define FMC_BCRx_MTYP_Msk          (0x3UL << FMC_BCRx_MTYP_Pos)                /*!< 0x0000000C */
+#define FMC_BCRx_MTYP              FMC_BCRx_MTYP_Msk                           /*!<MTYP[1:0] bits (Memory type)           */
+#define FMC_BCRx_MTYP_0            (0x1UL << FMC_BCRx_MTYP_Pos)                 /*!< 0x00000004 */
+#define FMC_BCRx_MTYP_1            (0x2UL << FMC_BCRx_MTYP_Pos)                 /*!< 0x00000008 */
+
+#define FMC_BCRx_MWID_Pos          (4U)
+#define FMC_BCRx_MWID_Msk          (0x3UL << FMC_BCRx_MWID_Pos)                /*!< 0x00000030 */
+#define FMC_BCRx_MWID              FMC_BCRx_MWID_Msk                           /*!<MWID[1:0] bits (Memory data bus width) */
+#define FMC_BCRx_MWID_0            (0x1UL << FMC_BCRx_MWID_Pos)                 /*!< 0x00000010 */
+#define FMC_BCRx_MWID_1            (0x2UL << FMC_BCRx_MWID_Pos)                 /*!< 0x00000020 */
+
+#define FMC_BCRx_FACCEN_Pos        (6U)
+#define FMC_BCRx_FACCEN_Msk        (0x1UL << FMC_BCRx_FACCEN_Pos)              /*!< 0x00000040 */
+#define FMC_BCRx_FACCEN            FMC_BCRx_FACCEN_Msk                         /*!<Flash access enable        */
+#define FMC_BCRx_BURSTEN_Pos       (8U)
+#define FMC_BCRx_BURSTEN_Msk       (0x1UL << FMC_BCRx_BURSTEN_Pos)             /*!< 0x00000100 */
+#define FMC_BCRx_BURSTEN           FMC_BCRx_BURSTEN_Msk                        /*!<Burst enable bit           */
+#define FMC_BCRx_WAITPOL_Pos       (9U)
+#define FMC_BCRx_WAITPOL_Msk       (0x1UL << FMC_BCRx_WAITPOL_Pos)             /*!< 0x00000200 */
+#define FMC_BCRx_WAITPOL           FMC_BCRx_WAITPOL_Msk                        /*!<Wait signal polarity bit   */
+#define FMC_BCRx_WAITCFG_Pos       (11U)
+#define FMC_BCRx_WAITCFG_Msk       (0x1UL << FMC_BCRx_WAITCFG_Pos)             /*!< 0x00000800 */
+#define FMC_BCRx_WAITCFG           FMC_BCRx_WAITCFG_Msk                        /*!<Wait timing configuration  */
+#define FMC_BCRx_WREN_Pos          (12U)
+#define FMC_BCRx_WREN_Msk          (0x1UL << FMC_BCRx_WREN_Pos)                /*!< 0x00001000 */
+#define FMC_BCRx_WREN              FMC_BCRx_WREN_Msk                           /*!<Write enable bit           */
+#define FMC_BCRx_WAITEN_Pos        (13U)
+#define FMC_BCRx_WAITEN_Msk        (0x1UL << FMC_BCRx_WAITEN_Pos)              /*!< 0x00002000 */
+#define FMC_BCRx_WAITEN            FMC_BCRx_WAITEN_Msk                         /*!<Wait enable bit            */
+#define FMC_BCRx_EXTMOD_Pos        (14U)
+#define FMC_BCRx_EXTMOD_Msk        (0x1UL << FMC_BCRx_EXTMOD_Pos)              /*!< 0x00004000 */
+#define FMC_BCRx_EXTMOD            FMC_BCRx_EXTMOD_Msk                         /*!<Extended mode enable       */
+#define FMC_BCRx_ASYNCWAIT_Pos     (15U)
+#define FMC_BCRx_ASYNCWAIT_Msk     (0x1UL << FMC_BCRx_ASYNCWAIT_Pos)           /*!< 0x00008000 */
+#define FMC_BCRx_ASYNCWAIT         FMC_BCRx_ASYNCWAIT_Msk                      /*!<Asynchronous wait          */
+
+#define FMC_BCRx_CPSIZE_Pos        (16U)
+#define FMC_BCRx_CPSIZE_Msk        (0x7UL << FMC_BCRx_CPSIZE_Pos)              /*!< 0x00070000 */
+#define FMC_BCRx_CPSIZE            FMC_BCRx_CPSIZE_Msk                         /*!<PSIZE[2:0] bits CRAM Page Size */
+#define FMC_BCRx_CPSIZE_0          (0x1UL << FMC_BCRx_CPSIZE_Pos)               /*!< 0x00010000 */
+#define FMC_BCRx_CPSIZE_1          (0x2UL << FMC_BCRx_CPSIZE_Pos)               /*!< 0x00020000 */
+#define FMC_BCRx_CPSIZE_2          (0x4UL << FMC_BCRx_CPSIZE_Pos)               /*!< 0x00040000 */
+
+#define FMC_BCRx_CBURSTRW_Pos      (19U)
+#define FMC_BCRx_CBURSTRW_Msk      (0x1UL << FMC_BCRx_CBURSTRW_Pos)            /*!< 0x00080000 */
+#define FMC_BCRx_CBURSTRW          FMC_BCRx_CBURSTRW_Msk                       /*!<Write burst enable         */
+
+/******************  Bit definition for FMC_BTRx registers (x=1..4)  *********/
+#define FMC_BTRx_ADDSET_Pos        (0U)
+#define FMC_BTRx_ADDSET_Msk        (0xFUL << FMC_BTRx_ADDSET_Pos)              /*!< 0x0000000F */
+#define FMC_BTRx_ADDSET            FMC_BTRx_ADDSET_Msk                         /*!<ADDSET[3:0] bits (Address setup phase duration) */
+#define FMC_BTRx_ADDSET_0          (0x1UL << FMC_BTRx_ADDSET_Pos)               /*!< 0x00000001 */
+#define FMC_BTRx_ADDSET_1          (0x2UL << FMC_BTRx_ADDSET_Pos)               /*!< 0x00000002 */
+#define FMC_BTRx_ADDSET_2          (0x4UL << FMC_BTRx_ADDSET_Pos)               /*!< 0x00000004 */
+#define FMC_BTRx_ADDSET_3          (0x8UL << FMC_BTRx_ADDSET_Pos)               /*!< 0x00000008 */
+
+#define FMC_BTRx_ADDHLD_Pos        (4U)
+#define FMC_BTRx_ADDHLD_Msk        (0xFUL << FMC_BTRx_ADDHLD_Pos)              /*!< 0x000000F0 */
+#define FMC_BTRx_ADDHLD            FMC_BTRx_ADDHLD_Msk                         /*!<ADDHLD[3:0] bits (Address-hold phase duration)  */
+#define FMC_BTRx_ADDHLD_0          (0x1UL << FMC_BTRx_ADDHLD_Pos)               /*!< 0x00000010 */
+#define FMC_BTRx_ADDHLD_1          (0x2UL << FMC_BTRx_ADDHLD_Pos)               /*!< 0x00000020 */
+#define FMC_BTRx_ADDHLD_2          (0x4UL << FMC_BTRx_ADDHLD_Pos)               /*!< 0x00000040 */
+#define FMC_BTRx_ADDHLD_3          (0x8UL << FMC_BTRx_ADDHLD_Pos)               /*!< 0x00000080 */
+
+#define FMC_BTRx_DATAST_Pos        (8U)
+#define FMC_BTRx_DATAST_Msk        (0xFFUL << FMC_BTRx_DATAST_Pos)             /*!< 0x0000FF00 */
+#define FMC_BTRx_DATAST            FMC_BTRx_DATAST_Msk                         /*!<DATAST [3:0] bits (Data-phase duration) */
+#define FMC_BTRx_DATAST_0          (0x01UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00000100 */
+#define FMC_BTRx_DATAST_1          (0x02UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00000200 */
+#define FMC_BTRx_DATAST_2          (0x04UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00000400 */
+#define FMC_BTRx_DATAST_3          (0x08UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00000800 */
+#define FMC_BTRx_DATAST_4          (0x10UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00001000 */
+#define FMC_BTRx_DATAST_5          (0x20UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00002000 */
+#define FMC_BTRx_DATAST_6          (0x40UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00004000 */
+#define FMC_BTRx_DATAST_7          (0x80UL << FMC_BTRx_DATAST_Pos)              /*!< 0x00008000 */
+
+#define FMC_BTRx_BUSTURN_Pos       (16U)
+#define FMC_BTRx_BUSTURN_Msk       (0xFUL << FMC_BTRx_BUSTURN_Pos)             /*!< 0x000F0000 */
+#define FMC_BTRx_BUSTURN           FMC_BTRx_BUSTURN_Msk                        /*!<BUSTURN[3:0] bits (Bus turnaround phase duration) */
+#define FMC_BTRx_BUSTURN_0         (0x1UL << FMC_BTRx_BUSTURN_Pos)              /*!< 0x00010000 */
+#define FMC_BTRx_BUSTURN_1         (0x2UL << FMC_BTRx_BUSTURN_Pos)              /*!< 0x00020000 */
+#define FMC_BTRx_BUSTURN_2         (0x4UL << FMC_BTRx_BUSTURN_Pos)              /*!< 0x00040000 */
+#define FMC_BTRx_BUSTURN_3         (0x8UL << FMC_BTRx_BUSTURN_Pos)              /*!< 0x00080000 */
+
+#define FMC_BTRx_CLKDIV_Pos        (20U)
+#define FMC_BTRx_CLKDIV_Msk        (0xFUL << FMC_BTRx_CLKDIV_Pos)              /*!< 0x00F00000 */
+#define FMC_BTRx_CLKDIV            FMC_BTRx_CLKDIV_Msk                         /*!<CLKDIV[3:0] bits (Clock divide ratio) */
+#define FMC_BTRx_CLKDIV_0          (0x1UL << FMC_BTRx_CLKDIV_Pos)               /*!< 0x00100000 */
+#define FMC_BTRx_CLKDIV_1          (0x2UL << FMC_BTRx_CLKDIV_Pos)               /*!< 0x00200000 */
+#define FMC_BTRx_CLKDIV_2          (0x4UL << FMC_BTRx_CLKDIV_Pos)               /*!< 0x00400000 */
+#define FMC_BTRx_CLKDIV_3          (0x8UL << FMC_BTRx_CLKDIV_Pos)               /*!< 0x00800000 */
+
+#define FMC_BTRx_DATLAT_Pos        (24U)
+#define FMC_BTRx_DATLAT_Msk        (0xFUL << FMC_BTRx_DATLAT_Pos)              /*!< 0x0F000000 */
+#define FMC_BTRx_DATLAT            FMC_BTRx_DATLAT_Msk                         /*!<DATLA[3:0] bits (Data latency) */
+#define FMC_BTRx_DATLAT_0          (0x1UL << FMC_BTRx_DATLAT_Pos)               /*!< 0x01000000 */
+#define FMC_BTRx_DATLAT_1          (0x2UL << FMC_BTRx_DATLAT_Pos)               /*!< 0x02000000 */
+#define FMC_BTRx_DATLAT_2          (0x4UL << FMC_BTRx_DATLAT_Pos)               /*!< 0x04000000 */
+#define FMC_BTRx_DATLAT_3          (0x8UL << FMC_BTRx_DATLAT_Pos)               /*!< 0x08000000 */
+
+#define FMC_BTRx_ACCMOD_Pos        (28U)
+#define FMC_BTRx_ACCMOD_Msk        (0x3UL << FMC_BTRx_ACCMOD_Pos)              /*!< 0x30000000 */
+#define FMC_BTRx_ACCMOD            FMC_BTRx_ACCMOD_Msk                         /*!<ACCMOD[1:0] bits (Access mode) */
+#define FMC_BTRx_ACCMOD_0          (0x1UL << FMC_BTRx_ACCMOD_Pos)               /*!< 0x10000000 */
+#define FMC_BTRx_ACCMOD_1          (0x2UL << FMC_BTRx_ACCMOD_Pos)               /*!< 0x20000000 */
+
+/******************  Bit definition for FMC_BWTRx registers (x=1..4)  *********/
+#define FMC_BWTRx_ADDSET_Pos       (0U)
+#define FMC_BWTRx_ADDSET_Msk       (0xFUL << FMC_BWTRx_ADDSET_Pos)             /*!< 0x0000000F */
+#define FMC_BWTRx_ADDSET           FMC_BWTRx_ADDSET_Msk                        /*!<ADDSET[3:0] bits (Address setup phase duration) */
+#define FMC_BWTRx_ADDSET_0         (0x1UL << FMC_BWTRx_ADDSET_Pos)              /*!< 0x00000001 */
+#define FMC_BWTRx_ADDSET_1         (0x2UL << FMC_BWTRx_ADDSET_Pos)              /*!< 0x00000002 */
+#define FMC_BWTRx_ADDSET_2         (0x4UL << FMC_BWTRx_ADDSET_Pos)              /*!< 0x00000004 */
+#define FMC_BWTRx_ADDSET_3         (0x8UL << FMC_BWTRx_ADDSET_Pos)              /*!< 0x00000008 */
+
+#define FMC_BWTRx_ADDHLD_Pos       (4U)
+#define FMC_BWTRx_ADDHLD_Msk       (0xFUL << FMC_BWTRx_ADDHLD_Pos)             /*!< 0x000000F0 */
+#define FMC_BWTRx_ADDHLD           FMC_BWTRx_ADDHLD_Msk                        /*!<ADDHLD[3:0] bits (Address-hold phase duration) */
+#define FMC_BWTRx_ADDHLD_0         (0x1UL << FMC_BWTRx_ADDHLD_Pos)              /*!< 0x00000010 */
+#define FMC_BWTRx_ADDHLD_1         (0x2UL << FMC_BWTRx_ADDHLD_Pos)              /*!< 0x00000020 */
+#define FMC_BWTRx_ADDHLD_2         (0x4UL << FMC_BWTRx_ADDHLD_Pos)              /*!< 0x00000040 */
+#define FMC_BWTRx_ADDHLD_3         (0x8UL << FMC_BWTRx_ADDHLD_Pos)              /*!< 0x00000080 */
+
+#define FMC_BWTRx_DATAST_Pos       (8U)
+#define FMC_BWTRx_DATAST_Msk       (0xFFUL << FMC_BWTRx_DATAST_Pos)            /*!< 0x0000FF00 */
+#define FMC_BWTRx_DATAST           FMC_BWTRx_DATAST_Msk                        /*!<DATAST [3:0] bits (Data-phase duration) */
+#define FMC_BWTRx_DATAST_0         (0x01UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00000100 */
+#define FMC_BWTRx_DATAST_1         (0x02UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00000200 */
+#define FMC_BWTRx_DATAST_2         (0x04UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00000400 */
+#define FMC_BWTRx_DATAST_3         (0x08UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00000800 */
+#define FMC_BWTRx_DATAST_4         (0x10UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00001000 */
+#define FMC_BWTRx_DATAST_5         (0x20UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00002000 */
+#define FMC_BWTRx_DATAST_6         (0x40UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00004000 */
+#define FMC_BWTRx_DATAST_7         (0x80UL << FMC_BWTRx_DATAST_Pos)             /*!< 0x00008000 */
+
+#define FMC_BWTRx_BUSTURN_Pos      (16U)
+#define FMC_BWTRx_BUSTURN_Msk      (0xFUL << FMC_BWTRx_BUSTURN_Pos)            /*!< 0x000F0000 */
+#define FMC_BWTRx_BUSTURN          FMC_BWTRx_BUSTURN_Msk                       /*!<BUSTURN[3:0] bits (Bus turnaround phase duration) */
+#define FMC_BWTRx_BUSTURN_0        (0x1UL << FMC_BWTRx_BUSTURN_Pos)             /*!< 0x00010000 */
+#define FMC_BWTRx_BUSTURN_1        (0x2UL << FMC_BWTRx_BUSTURN_Pos)             /*!< 0x00020000 */
+#define FMC_BWTRx_BUSTURN_2        (0x4UL << FMC_BWTRx_BUSTURN_Pos)             /*!< 0x00040000 */
+#define FMC_BWTRx_BUSTURN_3        (0x8UL << FMC_BWTRx_BUSTURN_Pos)             /*!< 0x00080000 */
+
+#define FMC_BWTRx_ACCMOD_Pos       (28U)
+#define FMC_BWTRx_ACCMOD_Msk       (0x3UL << FMC_BWTRx_ACCMOD_Pos)             /*!< 0x30000000 */
+#define FMC_BWTRx_ACCMOD           FMC_BWTRx_ACCMOD_Msk                        /*!<ACCMOD[1:0] bits (Access mode) */
+#define FMC_BWTRx_ACCMOD_0         (0x1UL << FMC_BWTRx_ACCMOD_Pos)              /*!< 0x10000000 */
+#define FMC_BWTRx_ACCMOD_1         (0x2UL << FMC_BWTRx_ACCMOD_Pos)              /*!< 0x20000000 */
+
+/******************  Bit definition for FMC_PCR register  *******************/
+#define FMC_PCR_PWAITEN_Pos        (1U)
+#define FMC_PCR_PWAITEN_Msk        (0x1UL << FMC_PCR_PWAITEN_Pos)              /*!< 0x00000002 */
+#define FMC_PCR_PWAITEN            FMC_PCR_PWAITEN_Msk                         /*!<Wait feature enable bit                   */
+#define FMC_PCR_PBKEN_Pos          (2U)
+#define FMC_PCR_PBKEN_Msk          (0x1UL << FMC_PCR_PBKEN_Pos)                /*!< 0x00000004 */
+#define FMC_PCR_PBKEN              FMC_PCR_PBKEN_Msk                           /*!<NAND Flash memory bank enable bit */
+
+#define FMC_PCR_PWID_Pos           (4U)
+#define FMC_PCR_PWID_Msk           (0x3UL << FMC_PCR_PWID_Pos)                 /*!< 0x00000030 */
+#define FMC_PCR_PWID               FMC_PCR_PWID_Msk                            /*!<PWID[1:0] bits (NAND Flash databus width) */
+#define FMC_PCR_PWID_0             (0x1UL << FMC_PCR_PWID_Pos)                  /*!< 0x00000010 */
+#define FMC_PCR_PWID_1             (0x2UL << FMC_PCR_PWID_Pos)                  /*!< 0x00000020 */
+
+#define FMC_PCR_ECCEN_Pos          (6U)
+#define FMC_PCR_ECCEN_Msk          (0x1UL << FMC_PCR_ECCEN_Pos)                /*!< 0x00000040 */
+#define FMC_PCR_ECCEN              FMC_PCR_ECCEN_Msk                           /*!<ECC computation logic enable bit          */
+
+#define FMC_PCR_TCLR_Pos           (9U)
+#define FMC_PCR_TCLR_Msk           (0xFUL << FMC_PCR_TCLR_Pos)                 /*!< 0x00001E00 */
+#define FMC_PCR_TCLR               FMC_PCR_TCLR_Msk                            /*!<TCLR[3:0] bits (CLE to RE delay)          */
+#define FMC_PCR_TCLR_0             (0x1UL << FMC_PCR_TCLR_Pos)                  /*!< 0x00000200 */
+#define FMC_PCR_TCLR_1             (0x2UL << FMC_PCR_TCLR_Pos)                  /*!< 0x00000400 */
+#define FMC_PCR_TCLR_2             (0x4UL << FMC_PCR_TCLR_Pos)                  /*!< 0x00000800 */
+#define FMC_PCR_TCLR_3             (0x8UL << FMC_PCR_TCLR_Pos)                  /*!< 0x00001000 */
+
+#define FMC_PCR_TAR_Pos            (13U)
+#define FMC_PCR_TAR_Msk            (0xFUL << FMC_PCR_TAR_Pos)                  /*!< 0x0001E000 */
+#define FMC_PCR_TAR                FMC_PCR_TAR_Msk                             /*!<TAR[3:0] bits (ALE to RE delay)           */
+#define FMC_PCR_TAR_0              (0x1UL << FMC_PCR_TAR_Pos)                   /*!< 0x00002000 */
+#define FMC_PCR_TAR_1              (0x2UL << FMC_PCR_TAR_Pos)                   /*!< 0x00004000 */
+#define FMC_PCR_TAR_2              (0x4UL << FMC_PCR_TAR_Pos)                   /*!< 0x00008000 */
+#define FMC_PCR_TAR_3              (0x8UL << FMC_PCR_TAR_Pos)                   /*!< 0x00010000 */
+
+#define FMC_PCR_ECCPS_Pos          (17U)
+#define FMC_PCR_ECCPS_Msk          (0x7UL << FMC_PCR_ECCPS_Pos)                /*!< 0x000E0000 */
+#define FMC_PCR_ECCPS              FMC_PCR_ECCPS_Msk                           /*!<ECCPS[1:0] bits (ECC page size)           */
+#define FMC_PCR_ECCPS_0            (0x1UL << FMC_PCR_ECCPS_Pos)                 /*!< 0x00020000 */
+#define FMC_PCR_ECCPS_1            (0x2UL << FMC_PCR_ECCPS_Pos)                 /*!< 0x00040000 */
+#define FMC_PCR_ECCPS_2            (0x4UL << FMC_PCR_ECCPS_Pos)                 /*!< 0x00080000 */
+
+/*******************  Bit definition for FMC_SR register  *******************/
+#define FMC_SR_IRS_Pos             (0U)
+#define FMC_SR_IRS_Msk             (0x1UL << FMC_SR_IRS_Pos)                   /*!< 0x00000001 */
+#define FMC_SR_IRS                 FMC_SR_IRS_Msk                              /*!<Interrupt Rising Edge status                */
+#define FMC_SR_ILS_Pos             (1U)
+#define FMC_SR_ILS_Msk             (0x1UL << FMC_SR_ILS_Pos)                   /*!< 0x00000002 */
+#define FMC_SR_ILS                 FMC_SR_ILS_Msk                              /*!<Interrupt Level status                      */
+#define FMC_SR_IFS_Pos             (2U)
+#define FMC_SR_IFS_Msk             (0x1UL << FMC_SR_IFS_Pos)                   /*!< 0x00000004 */
+#define FMC_SR_IFS                 FMC_SR_IFS_Msk                              /*!<Interrupt Falling Edge status               */
+#define FMC_SR_IREN_Pos            (3U)
+#define FMC_SR_IREN_Msk            (0x1UL << FMC_SR_IREN_Pos)                  /*!< 0x00000008 */
+#define FMC_SR_IREN                FMC_SR_IREN_Msk                             /*!<Interrupt Rising Edge detection Enable bit  */
+#define FMC_SR_ILEN_Pos            (4U)
+#define FMC_SR_ILEN_Msk            (0x1UL << FMC_SR_ILEN_Pos)                  /*!< 0x00000010 */
+#define FMC_SR_ILEN                FMC_SR_ILEN_Msk                             /*!<Interrupt Level detection Enable bit        */
+#define FMC_SR_IFEN_Pos            (5U)
+#define FMC_SR_IFEN_Msk            (0x1UL << FMC_SR_IFEN_Pos)                  /*!< 0x00000020 */
+#define FMC_SR_IFEN                FMC_SR_IFEN_Msk                             /*!<Interrupt Falling Edge detection Enable bit */
+#define FMC_SR_FEMPT_Pos           (6U)
+#define FMC_SR_FEMPT_Msk           (0x1UL << FMC_SR_FEMPT_Pos)                 /*!< 0x00000040 */
+#define FMC_SR_FEMPT               FMC_SR_FEMPT_Msk                            /*!<FIFO empty                                  */
+
+/******************  Bit definition for FMC_PMEM register  ******************/
+#define FMC_PMEM_MEMSET_Pos       (0U)
+#define FMC_PMEM_MEMSET_Msk       (0xFFUL << FMC_PMEM_MEMSET_Pos)            /*!< 0x000000FF */
+#define FMC_PMEM_MEMSET           FMC_PMEM_MEMSET_Msk                        /*!<MEMSET[7:0] bits (Common memory setup time) */
+#define FMC_PMEM_MEMSET_0         (0x01UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000001 */
+#define FMC_PMEM_MEMSET_1         (0x02UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000002 */
+#define FMC_PMEM_MEMSET_2         (0x04UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000004 */
+#define FMC_PMEM_MEMSET_3         (0x08UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000008 */
+#define FMC_PMEM_MEMSET_4         (0x10UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000010 */
+#define FMC_PMEM_MEMSET_5         (0x20UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000020 */
+#define FMC_PMEM_MEMSET_6         (0x40UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000040 */
+#define FMC_PMEM_MEMSET_7         (0x80UL << FMC_PMEM_MEMSET_Pos)             /*!< 0x00000080 */
+
+#define FMC_PMEM_MEMWAIT_Pos      (8U)
+#define FMC_PMEM_MEMWAIT_Msk      (0xFFUL << FMC_PMEM_MEMWAIT_Pos)           /*!< 0x0000FF00 */
+#define FMC_PMEM_MEMWAIT          FMC_PMEM_MEMWAIT_Msk                       /*!<MEMWAIT[7:0] bits (Common memory wait time) */
+#define FMC_PMEM_MEMWAIT_0        (0x01UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00000100 */
+#define FMC_PMEM_MEMWAIT_1        (0x02UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00000200 */
+#define FMC_PMEM_MEMWAIT_2        (0x04UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00000400 */
+#define FMC_PMEM_MEMWAIT_3        (0x08UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00000800 */
+#define FMC_PMEM_MEMWAIT_4        (0x10UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00001000 */
+#define FMC_PMEM_MEMWAIT_5        (0x20UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00002000 */
+#define FMC_PMEM_MEMWAIT_6        (0x40UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00004000 */
+#define FMC_PMEM_MEMWAIT_7        (0x80UL << FMC_PMEM_MEMWAIT_Pos)            /*!< 0x00008000 */
+
+#define FMC_PMEM_MEMHOLD_Pos      (16U)
+#define FMC_PMEM_MEMHOLD_Msk      (0xFFUL << FMC_PMEM_MEMHOLD_Pos)           /*!< 0x00FF0000 */
+#define FMC_PMEM_MEMHOLD          FMC_PMEM_MEMHOLD_Msk                       /*!<MEMHOLD[7:0] bits (Common memory hold time) */
+#define FMC_PMEM_MEMHOLD_0        (0x01UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00010000 */
+#define FMC_PMEM_MEMHOLD_1        (0x02UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00020000 */
+#define FMC_PMEM_MEMHOLD_2        (0x04UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00040000 */
+#define FMC_PMEM_MEMHOLD_3        (0x08UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00080000 */
+#define FMC_PMEM_MEMHOLD_4        (0x10UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00100000 */
+#define FMC_PMEM_MEMHOLD_5        (0x20UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00200000 */
+#define FMC_PMEM_MEMHOLD_6        (0x40UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00400000 */
+#define FMC_PMEM_MEMHOLD_7        (0x80UL << FMC_PMEM_MEMHOLD_Pos)            /*!< 0x00800000 */
+
+#define FMC_PMEM_MEMHIZ_Pos       (24U)
+#define FMC_PMEM_MEMHIZ_Msk       (0xFFUL << FMC_PMEM_MEMHIZ_Pos)            /*!< 0xFF000000 */
+#define FMC_PMEM_MEMHIZ           FMC_PMEM_MEMHIZ_Msk                        /*!<MEMHIZ[7:0] bits (Common memory databus HiZ time) */
+#define FMC_PMEM_MEMHIZ_0         (0x01UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x01000000 */
+#define FMC_PMEM_MEMHIZ_1         (0x02UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x02000000 */
+#define FMC_PMEM_MEMHIZ_2         (0x04UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x04000000 */
+#define FMC_PMEM_MEMHIZ_3         (0x08UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x08000000 */
+#define FMC_PMEM_MEMHIZ_4         (0x10UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x10000000 */
+#define FMC_PMEM_MEMHIZ_5         (0x20UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x20000000 */
+#define FMC_PMEM_MEMHIZ_6         (0x40UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x40000000 */
+#define FMC_PMEM_MEMHIZ_7         (0x80UL << FMC_PMEM_MEMHIZ_Pos)             /*!< 0x80000000 */
+
+/******************  Bit definition for FMC_PATT register  ******************/
+#define FMC_PATT_ATTSET_Pos       (0U)
+#define FMC_PATT_ATTSET_Msk       (0xFFUL << FMC_PATT_ATTSET_Pos)            /*!< 0x000000FF */
+#define FMC_PATT_ATTSET           FMC_PATT_ATTSET_Msk                        /*!<ATTSET[7:0] bits (Attribute memory setup time) */
+#define FMC_PATT_ATTSET_0         (0x01UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000001 */
+#define FMC_PATT_ATTSET_1         (0x02UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000002 */
+#define FMC_PATT_ATTSET_2         (0x04UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000004 */
+#define FMC_PATT_ATTSET_3         (0x08UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000008 */
+#define FMC_PATT_ATTSET_4         (0x10UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000010 */
+#define FMC_PATT_ATTSET_5         (0x20UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000020 */
+#define FMC_PATT_ATTSET_6         (0x40UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000040 */
+#define FMC_PATT_ATTSET_7         (0x80UL << FMC_PATT_ATTSET_Pos)             /*!< 0x00000080 */
+
+#define FMC_PATT_ATTWAIT_Pos      (8U)
+#define FMC_PATT_ATTWAIT_Msk      (0xFFUL << FMC_PATT_ATTWAIT_Pos)           /*!< 0x0000FF00 */
+#define FMC_PATT_ATTWAIT          FMC_PATT_ATTWAIT_Msk                       /*!<ATTWAIT[7:0] bits (Attribute memory wait time) */
+#define FMC_PATT_ATTWAIT_0        (0x01UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00000100 */
+#define FMC_PATT_ATTWAIT_1        (0x02UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00000200 */
+#define FMC_PATT_ATTWAIT_2        (0x04UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00000400 */
+#define FMC_PATT_ATTWAIT_3        (0x08UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00000800 */
+#define FMC_PATT_ATTWAIT_4        (0x10UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00001000 */
+#define FMC_PATT_ATTWAIT_5        (0x20UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00002000 */
+#define FMC_PATT_ATTWAIT_6        (0x40UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00004000 */
+#define FMC_PATT_ATTWAIT_7        (0x80UL << FMC_PATT_ATTWAIT_Pos)            /*!< 0x00008000 */
+
+#define FMC_PATT_ATTHOLD_Pos      (16U)
+#define FMC_PATT_ATTHOLD_Msk      (0xFFUL << FMC_PATT_ATTHOLD_Pos)           /*!< 0x00FF0000 */
+#define FMC_PATT_ATTHOLD          FMC_PATT_ATTHOLD_Msk                       /*!<ATTHOLD[7:0] bits (Attribute memory hold time) */
+#define FMC_PATT_ATTHOLD_0        (0x01UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00010000 */
+#define FMC_PATT_ATTHOLD_1        (0x02UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00020000 */
+#define FMC_PATT_ATTHOLD_2        (0x04UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00040000 */
+#define FMC_PATT_ATTHOLD_3        (0x08UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00080000 */
+#define FMC_PATT_ATTHOLD_4        (0x10UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00100000 */
+#define FMC_PATT_ATTHOLD_5        (0x20UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00200000 */
+#define FMC_PATT_ATTHOLD_6        (0x40UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00400000 */
+#define FMC_PATT_ATTHOLD_7        (0x80UL << FMC_PATT_ATTHOLD_Pos)            /*!< 0x00800000 */
+
+#define FMC_PATT_ATTHIZ_Pos       (24U)
+#define FMC_PATT_ATTHIZ_Msk       (0xFFUL << FMC_PATT_ATTHIZ_Pos)            /*!< 0xFF000000 */
+#define FMC_PATT_ATTHIZ           FMC_PATT_ATTHIZ_Msk                        /*!<ATTHIZ[7:0] bits (Attribute memory databus HiZ time) */
+#define FMC_PATT_ATTHIZ_0         (0x01UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x01000000 */
+#define FMC_PATT_ATTHIZ_1         (0x02UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x02000000 */
+#define FMC_PATT_ATTHIZ_2         (0x04UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x04000000 */
+#define FMC_PATT_ATTHIZ_3         (0x08UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x08000000 */
+#define FMC_PATT_ATTHIZ_4         (0x10UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x10000000 */
+#define FMC_PATT_ATTHIZ_5         (0x20UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x20000000 */
+#define FMC_PATT_ATTHIZ_6         (0x40UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x40000000 */
+#define FMC_PATT_ATTHIZ_7         (0x80UL << FMC_PATT_ATTHIZ_Pos)             /*!< 0x80000000 */
+
+/******************  Bit definition for FMC_ECCR3 register  ******************/
+#define FMC_ECCR3_ECC3_Pos         (0U)
+#define FMC_ECCR3_ECC3_Msk         (0xFFFFFFFFUL << FMC_ECCR3_ECC3_Pos)        /*!< 0xFFFFFFFF */
+#define FMC_ECCR3_ECC3             FMC_ECCR3_ECC3_Msk                          /*!<ECC result */
+
+/******************  Bit definition for FMC_SDCRx registers (x=1..4)  *********/
+#define FMC_SDCRx_NC_Pos           (0U)
+#define FMC_SDCRx_NC_Msk           (0x3UL << FMC_SDCRx_NC_Pos)                 /*!< 0x00000003 */
+#define FMC_SDCRx_NC               FMC_SDCRx_NC_Msk                            /*!<NC[1:0] bits (Number of column bits) */
+#define FMC_SDCRx_NC_0             (0x1UL << FMC_SDCRx_NC_Pos)                  /*!< 0x00000001 */
+#define FMC_SDCRx_NC_1             (0x2UL << FMC_SDCRx_NC_Pos)                  /*!< 0x00000002 */
+
+#define FMC_SDCRx_NR_Pos           (2U)
+#define FMC_SDCRx_NR_Msk           (0x3UL << FMC_SDCRx_NR_Pos)                 /*!< 0x0000000C */
+#define FMC_SDCRx_NR               FMC_SDCRx_NR_Msk                            /*!<NR[1:0] bits (Number of row bits) */
+#define FMC_SDCRx_NR_0             (0x1UL << FMC_SDCRx_NR_Pos)                  /*!< 0x00000004 */
+#define FMC_SDCRx_NR_1             (0x2UL << FMC_SDCRx_NR_Pos)                  /*!< 0x00000008 */
+
+#define FMC_SDCRx_MWID_Pos         (4U)
+#define FMC_SDCRx_MWID_Msk         (0x3UL << FMC_SDCRx_MWID_Pos)               /*!< 0x00000030 */
+#define FMC_SDCRx_MWID             FMC_SDCRx_MWID_Msk                          /*!<NR[1:0] bits (Number of row bits) */
+#define FMC_SDCRx_MWID_0           (0x1UL << FMC_SDCRx_MWID_Pos)                /*!< 0x00000010 */
+#define FMC_SDCRx_MWID_1           (0x2UL << FMC_SDCRx_MWID_Pos)                /*!< 0x00000020 */
+
+#define FMC_SDCRx_NB_Pos           (6U)
+#define FMC_SDCRx_NB_Msk           (0x1UL << FMC_SDCRx_NB_Pos)                 /*!< 0x00000040 */
+#define FMC_SDCRx_NB               FMC_SDCRx_NB_Msk                            /*!<Number of internal bank */
+
+#define FMC_SDCRx_CAS_Pos          (7U)
+#define FMC_SDCRx_CAS_Msk          (0x3UL << FMC_SDCRx_CAS_Pos)                /*!< 0x00000180 */
+#define FMC_SDCRx_CAS              FMC_SDCRx_CAS_Msk                           /*!<CAS[1:0] bits (CAS latency) */
+#define FMC_SDCRx_CAS_0            (0x1UL << FMC_SDCRx_CAS_Pos)                 /*!< 0x00000080 */
+#define FMC_SDCRx_CAS_1            (0x2UL << FMC_SDCRx_CAS_Pos)                 /*!< 0x00000100 */
+
+#define FMC_SDCRx_WP_Pos           (9U)
+#define FMC_SDCRx_WP_Msk           (0x1UL << FMC_SDCRx_WP_Pos)                 /*!< 0x00000200 */
+#define FMC_SDCRx_WP               FMC_SDCRx_WP_Msk                            /*!<Write protection */
+
+#define FMC_SDCRx_SDCLK_Pos        (10U)
+#define FMC_SDCRx_SDCLK_Msk        (0x3UL << FMC_SDCRx_SDCLK_Pos)              /*!< 0x00000C00 */
+#define FMC_SDCRx_SDCLK            FMC_SDCRx_SDCLK_Msk                         /*!<SDRAM clock configuration */
+#define FMC_SDCRx_SDCLK_0          (0x1UL << FMC_SDCRx_SDCLK_Pos)               /*!< 0x00000400 */
+#define FMC_SDCRx_SDCLK_1          (0x2UL << FMC_SDCRx_SDCLK_Pos)               /*!< 0x00000800 */
+
+#define FMC_SDCRx_RBURST_Pos       (12U)
+#define FMC_SDCRx_RBURST_Msk       (0x1UL << FMC_SDCRx_RBURST_Pos)             /*!< 0x00001000 */
+#define FMC_SDCRx_RBURST           FMC_SDCRx_RBURST_Msk                        /*!<Read burst */
+
+#define FMC_SDCRx_RPIPE_Pos        (13U)
+#define FMC_SDCRx_RPIPE_Msk        (0x3UL << FMC_SDCRx_RPIPE_Pos)              /*!< 0x00006000 */
+#define FMC_SDCRx_RPIPE            FMC_SDCRx_RPIPE_Msk                         /*!<Write protection */
+#define FMC_SDCRx_RPIPE_0          (0x1UL << FMC_SDCRx_RPIPE_Pos)               /*!< 0x00002000 */
+#define FMC_SDCRx_RPIPE_1          (0x2UL << FMC_SDCRx_RPIPE_Pos)               /*!< 0x00004000 */
+
+/******************  Bit definition for FMC_SDTRx(1,2) register  ******************/
+#define FMC_SDTRx_TMRD_Pos         (0U)
+#define FMC_SDTRx_TMRD_Msk         (0xFUL << FMC_SDTRx_TMRD_Pos)               /*!< 0x0000000F */
+#define FMC_SDTRx_TMRD             FMC_SDTRx_TMRD_Msk                          /*!<TMRD[3:0] bits (Load mode register to active) */
+#define FMC_SDTRx_TMRD_0           (0x1UL << FMC_SDTRx_TMRD_Pos)                /*!< 0x00000001 */
+#define FMC_SDTRx_TMRD_1           (0x2UL << FMC_SDTRx_TMRD_Pos)                /*!< 0x00000002 */
+#define FMC_SDTRx_TMRD_2           (0x4UL << FMC_SDTRx_TMRD_Pos)                /*!< 0x00000004 */
+#define FMC_SDTRx_TMRD_3           (0x8UL << FMC_SDTRx_TMRD_Pos)                /*!< 0x00000008 */
+
+#define FMC_SDTRx_TXSR_Pos         (4U)
+#define FMC_SDTRx_TXSR_Msk         (0xFUL << FMC_SDTRx_TXSR_Pos)               /*!< 0x000000F0 */
+#define FMC_SDTRx_TXSR             FMC_SDTRx_TXSR_Msk                          /*!<TXSR[3:0] bits (Exit self refresh) */
+#define FMC_SDTRx_TXSR_0           (0x1UL << FMC_SDTRx_TXSR_Pos)                /*!< 0x00000010 */
+#define FMC_SDTRx_TXSR_1           (0x2UL << FMC_SDTRx_TXSR_Pos)                /*!< 0x00000020 */
+#define FMC_SDTRx_TXSR_2           (0x4UL << FMC_SDTRx_TXSR_Pos)                /*!< 0x00000040 */
+#define FMC_SDTRx_TXSR_3           (0x8UL << FMC_SDTRx_TXSR_Pos)                /*!< 0x00000080 */
+
+#define FMC_SDTRx_TRAS_Pos         (8U)
+#define FMC_SDTRx_TRAS_Msk         (0xFUL << FMC_SDTRx_TRAS_Pos)               /*!< 0x00000F00 */
+#define FMC_SDTRx_TRAS             FMC_SDTRx_TRAS_Msk                          /*!<TRAS[3:0] bits (Self refresh time) */
+#define FMC_SDTRx_TRAS_0           (0x1UL << FMC_SDTRx_TRAS_Pos)                /*!< 0x00000100 */
+#define FMC_SDTRx_TRAS_1           (0x2UL << FMC_SDTRx_TRAS_Pos)                /*!< 0x00000200 */
+#define FMC_SDTRx_TRAS_2           (0x4UL << FMC_SDTRx_TRAS_Pos)                /*!< 0x00000400 */
+#define FMC_SDTRx_TRAS_3           (0x8UL << FMC_SDTRx_TRAS_Pos)                /*!< 0x00000800 */
+
+#define FMC_SDTRx_TRC_Pos          (12U)
+#define FMC_SDTRx_TRC_Msk          (0xFUL << FMC_SDTRx_TRC_Pos)                /*!< 0x0000F000 */
+#define FMC_SDTRx_TRC              FMC_SDTRx_TRC_Msk                           /*!<TRC[2:0] bits (Row cycle delay) */
+#define FMC_SDTRx_TRC_0            (0x1UL << FMC_SDTRx_TRC_Pos)                 /*!< 0x00001000 */
+#define FMC_SDTRx_TRC_1            (0x2UL << FMC_SDTRx_TRC_Pos)                 /*!< 0x00002000 */
+#define FMC_SDTRx_TRC_2            (0x4UL << FMC_SDTRx_TRC_Pos)                 /*!< 0x00004000 */
+
+#define FMC_SDTRx_TWR_Pos          (16U)
+#define FMC_SDTRx_TWR_Msk          (0xFUL << FMC_SDTRx_TWR_Pos)                /*!< 0x000F0000 */
+#define FMC_SDTRx_TWR              FMC_SDTRx_TWR_Msk                           /*!<TRC[2:0] bits (Write recovery delay) */
+#define FMC_SDTRx_TWR_0            (0x1UL << FMC_SDTRx_TWR_Pos)                 /*!< 0x00010000 */
+#define FMC_SDTRx_TWR_1            (0x2UL << FMC_SDTRx_TWR_Pos)                 /*!< 0x00020000 */
+#define FMC_SDTRx_TWR_2            (0x4UL << FMC_SDTRx_TWR_Pos)                 /*!< 0x00040000 */
+
+#define FMC_SDTRx_TRP_Pos          (20U)
+#define FMC_SDTRx_TRP_Msk          (0xFUL << FMC_SDTRx_TRP_Pos)                /*!< 0x00F00000 */
+#define FMC_SDTRx_TRP              FMC_SDTRx_TRP_Msk                           /*!<TRP[2:0] bits (Row precharge delay) */
+#define FMC_SDTRx_TRP_0            (0x1UL << FMC_SDTRx_TRP_Pos)                 /*!< 0x00100000 */
+#define FMC_SDTRx_TRP_1            (0x2UL << FMC_SDTRx_TRP_Pos)                 /*!< 0x00200000 */
+#define FMC_SDTRx_TRP_2            (0x4UL << FMC_SDTRx_TRP_Pos)                 /*!< 0x00400000 */
+
+#define FMC_SDTRx_TRCD_Pos         (24U)
+#define FMC_SDTRx_TRCD_Msk         (0xFUL << FMC_SDTRx_TRCD_Pos)               /*!< 0x0F000000 */
+#define FMC_SDTRx_TRCD             FMC_SDTRx_TRCD_Msk                          /*!<TRP[2:0] bits (Row to column delay) */
+#define FMC_SDTRx_TRCD_0           (0x1UL << FMC_SDTRx_TRCD_Pos)                /*!< 0x01000000 */
+#define FMC_SDTRx_TRCD_1           (0x2UL << FMC_SDTRx_TRCD_Pos)                /*!< 0x02000000 */
+#define FMC_SDTRx_TRCD_2           (0x4UL << FMC_SDTRx_TRCD_Pos)                /*!< 0x04000000 */
+
+/******************  Bit definition for FMC_SDCMR register  ******************/
+#define FMC_SDCMR_MODE_Pos         (0U)
+#define FMC_SDCMR_MODE_Msk         (0x7UL << FMC_SDCMR_MODE_Pos)               /*!< 0x00000007 */
+#define FMC_SDCMR_MODE             FMC_SDCMR_MODE_Msk                          /*!<MODE[2:0] bits (Command mode) */
+#define FMC_SDCMR_MODE_0           (0x1UL << FMC_SDCMR_MODE_Pos)                /*!< 0x00000001 */
+#define FMC_SDCMR_MODE_1           (0x2UL << FMC_SDCMR_MODE_Pos)                /*!< 0x00000002 */
+#define FMC_SDCMR_MODE_2           (0x3UL << FMC_SDCMR_MODE_Pos)                /*!< 0x00000003 */
+
+#define FMC_SDCMR_CTB2_Pos         (3U)
+#define FMC_SDCMR_CTB2_Msk         (0x1UL << FMC_SDCMR_CTB2_Pos)               /*!< 0x00000008 */
+#define FMC_SDCMR_CTB2             FMC_SDCMR_CTB2_Msk                          /*!<Command target 2 */
+
+#define FMC_SDCMR_CTB1_Pos         (4U)
+#define FMC_SDCMR_CTB1_Msk         (0x1UL << FMC_SDCMR_CTB1_Pos)               /*!< 0x00000010 */
+#define FMC_SDCMR_CTB1             FMC_SDCMR_CTB1_Msk                          /*!<Command target 1 */
+
+#define FMC_SDCMR_NRFS_Pos         (5U)
+#define FMC_SDCMR_NRFS_Msk         (0xFUL << FMC_SDCMR_NRFS_Pos)               /*!< 0x000001E0 */
+#define FMC_SDCMR_NRFS             FMC_SDCMR_NRFS_Msk                          /*!<NRFS[3:0] bits (Number of auto-refresh) */
+#define FMC_SDCMR_NRFS_0           (0x1UL << FMC_SDCMR_NRFS_Pos)                /*!< 0x00000020 */
+#define FMC_SDCMR_NRFS_1           (0x2UL << FMC_SDCMR_NRFS_Pos)                /*!< 0x00000040 */
+#define FMC_SDCMR_NRFS_2           (0x4UL << FMC_SDCMR_NRFS_Pos)                /*!< 0x00000080 */
+#define FMC_SDCMR_NRFS_3           (0x8UL << FMC_SDCMR_NRFS_Pos)                /*!< 0x00000100 */
+
+#define FMC_SDCMR_MRD_Pos          (9U)
+#define FMC_SDCMR_MRD_Msk          (0x1FFFUL << FMC_SDCMR_MRD_Pos)             /*!< 0x003FFE00 */
+#define FMC_SDCMR_MRD              FMC_SDCMR_MRD_Msk                           /*!<MRD[12:0] bits (Mode register definition) */
+
+/******************  Bit definition for FMC_SDRTR register  ******************/
+#define FMC_SDRTR_CRE_Pos          (0U)
+#define FMC_SDRTR_CRE_Msk          (0x1UL << FMC_SDRTR_CRE_Pos)                /*!< 0x00000001 */
+#define FMC_SDRTR_CRE              FMC_SDRTR_CRE_Msk                           /*!<Clear refresh error flag */
+
+#define FMC_SDRTR_COUNT_Pos        (1U)
+#define FMC_SDRTR_COUNT_Msk        (0x1FFFUL << FMC_SDRTR_COUNT_Pos)           /*!< 0x00003FFE */
+#define FMC_SDRTR_COUNT            FMC_SDRTR_COUNT_Msk                         /*!<COUNT[12:0] bits (Refresh timer count) */
+
+#define FMC_SDRTR_REIE_Pos         (14U)
+#define FMC_SDRTR_REIE_Msk         (0x1UL << FMC_SDRTR_REIE_Pos)               /*!< 0x00004000 */
+#define FMC_SDRTR_REIE             FMC_SDRTR_REIE_Msk                          /*!<RES interrupt enable */
+
+/******************  Bit definition for FMC_SDSR register  ******************/
+#define FMC_SDSR_RE_Pos            (0U)
+#define FMC_SDSR_RE_Msk            (0x1UL << FMC_SDSR_RE_Pos)                  /*!< 0x00000001 */
+#define FMC_SDSR_RE                FMC_SDSR_RE_Msk                             /*!<Refresh error flag */
+
+#define FMC_SDSR_MODES1_Pos        (1U)
+#define FMC_SDSR_MODES1_Msk        (0x3UL << FMC_SDSR_MODES1_Pos)              /*!< 0x00000006 */
+#define FMC_SDSR_MODES1            FMC_SDSR_MODES1_Msk                         /*!<MODES1[1:0]bits (Status mode for bank 1) */
+#define FMC_SDSR_MODES1_0          (0x1UL << FMC_SDSR_MODES1_Pos)               /*!< 0x00000002 */
+#define FMC_SDSR_MODES1_1          (0x2UL << FMC_SDSR_MODES1_Pos)               /*!< 0x00000004 */
+
+#define FMC_SDSR_MODES2_Pos        (3U)
+#define FMC_SDSR_MODES2_Msk        (0x3UL << FMC_SDSR_MODES2_Pos)              /*!< 0x00000018 */
+#define FMC_SDSR_MODES2            FMC_SDSR_MODES2_Msk                         /*!<MODES2[1:0]bits (Status mode for bank 2) */
+#define FMC_SDSR_MODES2_0          (0x1UL << FMC_SDSR_MODES2_Pos)               /*!< 0x00000008 */
+#define FMC_SDSR_MODES2_1          (0x2UL << FMC_SDSR_MODES2_Pos)               /*!< 0x00000010 */
+
+/******************************************************************************/
+/*                                                                            */
+/*                            General Purpose I/O                             */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bits definition for GPIO_MODER register  *****************/
+#define GPIO_MODER_MODE0_Pos           (0U)
+#define GPIO_MODER_MODE0_Msk           (0x3UL << GPIO_MODER_MODE0_Pos)         /*!< 0x00000003 */
+#define GPIO_MODER_MODE0               GPIO_MODER_MODE0_Msk
+#define GPIO_MODER_MODE0_0             (0x1UL << GPIO_MODER_MODE0_Pos)          /*!< 0x00000001 */
+#define GPIO_MODER_MODE0_1             (0x2UL << GPIO_MODER_MODE0_Pos)          /*!< 0x00000002 */
+
+#define GPIO_MODER_MODE1_Pos           (2U)
+#define GPIO_MODER_MODE1_Msk           (0x3UL << GPIO_MODER_MODE1_Pos)         /*!< 0x0000000C */
+#define GPIO_MODER_MODE1               GPIO_MODER_MODE1_Msk
+#define GPIO_MODER_MODE1_0             (0x1UL << GPIO_MODER_MODE1_Pos)          /*!< 0x00000004 */
+#define GPIO_MODER_MODE1_1             (0x2UL << GPIO_MODER_MODE1_Pos)          /*!< 0x00000008 */
+
+#define GPIO_MODER_MODE2_Pos           (4U)
+#define GPIO_MODER_MODE2_Msk           (0x3UL << GPIO_MODER_MODE2_Pos)         /*!< 0x00000030 */
+#define GPIO_MODER_MODE2               GPIO_MODER_MODE2_Msk
+#define GPIO_MODER_MODE2_0             (0x1UL << GPIO_MODER_MODE2_Pos)          /*!< 0x00000010 */
+#define GPIO_MODER_MODE2_1             (0x2UL << GPIO_MODER_MODE2_Pos)          /*!< 0x00000020 */
+
+#define GPIO_MODER_MODE3_Pos           (6U)
+#define GPIO_MODER_MODE3_Msk           (0x3UL << GPIO_MODER_MODE3_Pos)         /*!< 0x000000C0 */
+#define GPIO_MODER_MODE3               GPIO_MODER_MODE3_Msk
+#define GPIO_MODER_MODE3_0             (0x1UL << GPIO_MODER_MODE3_Pos)          /*!< 0x00000040 */
+#define GPIO_MODER_MODE3_1             (0x2UL << GPIO_MODER_MODE3_Pos)          /*!< 0x00000080 */
+
+#define GPIO_MODER_MODE4_Pos           (8U)
+#define GPIO_MODER_MODE4_Msk           (0x3UL << GPIO_MODER_MODE4_Pos)         /*!< 0x00000300 */
+#define GPIO_MODER_MODE4               GPIO_MODER_MODE4_Msk
+#define GPIO_MODER_MODE4_0             (0x1UL << GPIO_MODER_MODE4_Pos)          /*!< 0x00000100 */
+#define GPIO_MODER_MODE4_1             (0x2UL << GPIO_MODER_MODE4_Pos)          /*!< 0x00000200 */
+
+#define GPIO_MODER_MODE5_Pos           (10U)
+#define GPIO_MODER_MODE5_Msk           (0x3UL << GPIO_MODER_MODE5_Pos)         /*!< 0x00000C00 */
+#define GPIO_MODER_MODE5               GPIO_MODER_MODE5_Msk
+#define GPIO_MODER_MODE5_0             (0x1UL << GPIO_MODER_MODE5_Pos)          /*!< 0x00000400 */
+#define GPIO_MODER_MODE5_1             (0x2UL << GPIO_MODER_MODE5_Pos)          /*!< 0x00000800 */
+
+#define GPIO_MODER_MODE6_Pos           (12U)
+#define GPIO_MODER_MODE6_Msk           (0x3UL << GPIO_MODER_MODE6_Pos)         /*!< 0x00003000 */
+#define GPIO_MODER_MODE6               GPIO_MODER_MODE6_Msk
+#define GPIO_MODER_MODE6_0             (0x1UL << GPIO_MODER_MODE6_Pos)          /*!< 0x00001000 */
+#define GPIO_MODER_MODE6_1             (0x2UL << GPIO_MODER_MODE6_Pos)          /*!< 0x00002000 */
+
+#define GPIO_MODER_MODE7_Pos           (14U)
+#define GPIO_MODER_MODE7_Msk           (0x3UL << GPIO_MODER_MODE7_Pos)         /*!< 0x0000C000 */
+#define GPIO_MODER_MODE7               GPIO_MODER_MODE7_Msk
+#define GPIO_MODER_MODE7_0             (0x1UL << GPIO_MODER_MODE7_Pos)          /*!< 0x00004000 */
+#define GPIO_MODER_MODE7_1             (0x2UL << GPIO_MODER_MODE7_Pos)          /*!< 0x00008000 */
+
+#define GPIO_MODER_MODE8_Pos           (16U)
+#define GPIO_MODER_MODE8_Msk           (0x3UL << GPIO_MODER_MODE8_Pos)         /*!< 0x00030000 */
+#define GPIO_MODER_MODE8               GPIO_MODER_MODE8_Msk
+#define GPIO_MODER_MODE8_0             (0x1UL << GPIO_MODER_MODE8_Pos)          /*!< 0x00010000 */
+#define GPIO_MODER_MODE8_1             (0x2UL << GPIO_MODER_MODE8_Pos)          /*!< 0x00020000 */
+
+#define GPIO_MODER_MODE9_Pos           (18U)
+#define GPIO_MODER_MODE9_Msk           (0x3UL << GPIO_MODER_MODE9_Pos)         /*!< 0x000C0000 */
+#define GPIO_MODER_MODE9               GPIO_MODER_MODE9_Msk
+#define GPIO_MODER_MODE9_0             (0x1UL << GPIO_MODER_MODE9_Pos)          /*!< 0x00040000 */
+#define GPIO_MODER_MODE9_1             (0x2UL << GPIO_MODER_MODE9_Pos)          /*!< 0x00080000 */
+
+#define GPIO_MODER_MODE10_Pos          (20U)
+#define GPIO_MODER_MODE10_Msk          (0x3UL << GPIO_MODER_MODE10_Pos)        /*!< 0x00300000 */
+#define GPIO_MODER_MODE10              GPIO_MODER_MODE10_Msk
+#define GPIO_MODER_MODE10_0            (0x1UL << GPIO_MODER_MODE10_Pos)         /*!< 0x00100000 */
+#define GPIO_MODER_MODE10_1            (0x2UL << GPIO_MODER_MODE10_Pos)         /*!< 0x00200000 */
+
+#define GPIO_MODER_MODE11_Pos          (22U)
+#define GPIO_MODER_MODE11_Msk          (0x3UL << GPIO_MODER_MODE11_Pos)        /*!< 0x00C00000 */
+#define GPIO_MODER_MODE11              GPIO_MODER_MODE11_Msk
+#define GPIO_MODER_MODE11_0            (0x1UL << GPIO_MODER_MODE11_Pos)         /*!< 0x00400000 */
+#define GPIO_MODER_MODE11_1            (0x2UL << GPIO_MODER_MODE11_Pos)         /*!< 0x00800000 */
+
+#define GPIO_MODER_MODE12_Pos          (24U)
+#define GPIO_MODER_MODE12_Msk          (0x3UL << GPIO_MODER_MODE12_Pos)        /*!< 0x03000000 */
+#define GPIO_MODER_MODE12              GPIO_MODER_MODE12_Msk
+#define GPIO_MODER_MODE12_0            (0x1UL << GPIO_MODER_MODE12_Pos)         /*!< 0x01000000 */
+#define GPIO_MODER_MODE12_1            (0x2UL << GPIO_MODER_MODE12_Pos)         /*!< 0x02000000 */
+
+#define GPIO_MODER_MODE13_Pos          (26U)
+#define GPIO_MODER_MODE13_Msk          (0x3UL << GPIO_MODER_MODE13_Pos)        /*!< 0x0C000000 */
+#define GPIO_MODER_MODE13              GPIO_MODER_MODE13_Msk
+#define GPIO_MODER_MODE13_0            (0x1UL << GPIO_MODER_MODE13_Pos)         /*!< 0x04000000 */
+#define GPIO_MODER_MODE13_1            (0x2UL << GPIO_MODER_MODE13_Pos)         /*!< 0x08000000 */
+
+#define GPIO_MODER_MODE14_Pos          (28U)
+#define GPIO_MODER_MODE14_Msk          (0x3UL << GPIO_MODER_MODE14_Pos)        /*!< 0x30000000 */
+#define GPIO_MODER_MODE14              GPIO_MODER_MODE14_Msk
+#define GPIO_MODER_MODE14_0            (0x1UL << GPIO_MODER_MODE14_Pos)         /*!< 0x10000000 */
+#define GPIO_MODER_MODE14_1            (0x2UL << GPIO_MODER_MODE14_Pos)         /*!< 0x20000000 */
+
+#define GPIO_MODER_MODE15_Pos          (30U)
+#define GPIO_MODER_MODE15_Msk          (0x3UL << GPIO_MODER_MODE15_Pos)        /*!< 0xC0000000 */
+#define GPIO_MODER_MODE15              GPIO_MODER_MODE15_Msk
+#define GPIO_MODER_MODE15_0            (0x1UL << GPIO_MODER_MODE15_Pos)         /*!< 0x40000000 */
+#define GPIO_MODER_MODE15_1            (0x2UL << GPIO_MODER_MODE15_Pos)         /*!< 0x80000000 */
+
+/******************  Bits definition for GPIO_OTYPER register  ****************/
+#define GPIO_OTYPER_OT0_Pos            (0U)
+#define GPIO_OTYPER_OT0_Msk            (0x1UL << GPIO_OTYPER_OT0_Pos)          /*!< 0x00000001 */
+#define GPIO_OTYPER_OT0                GPIO_OTYPER_OT0_Msk
+#define GPIO_OTYPER_OT1_Pos            (1U)
+#define GPIO_OTYPER_OT1_Msk            (0x1UL << GPIO_OTYPER_OT1_Pos)          /*!< 0x00000002 */
+#define GPIO_OTYPER_OT1                GPIO_OTYPER_OT1_Msk
+#define GPIO_OTYPER_OT2_Pos            (2U)
+#define GPIO_OTYPER_OT2_Msk            (0x1UL << GPIO_OTYPER_OT2_Pos)          /*!< 0x00000004 */
+#define GPIO_OTYPER_OT2                GPIO_OTYPER_OT2_Msk
+#define GPIO_OTYPER_OT3_Pos            (3U)
+#define GPIO_OTYPER_OT3_Msk            (0x1UL << GPIO_OTYPER_OT3_Pos)          /*!< 0x00000008 */
+#define GPIO_OTYPER_OT3                GPIO_OTYPER_OT3_Msk
+#define GPIO_OTYPER_OT4_Pos            (4U)
+#define GPIO_OTYPER_OT4_Msk            (0x1UL << GPIO_OTYPER_OT4_Pos)          /*!< 0x00000010 */
+#define GPIO_OTYPER_OT4                GPIO_OTYPER_OT4_Msk
+#define GPIO_OTYPER_OT5_Pos            (5U)
+#define GPIO_OTYPER_OT5_Msk            (0x1UL << GPIO_OTYPER_OT5_Pos)          /*!< 0x00000020 */
+#define GPIO_OTYPER_OT5                GPIO_OTYPER_OT5_Msk
+#define GPIO_OTYPER_OT6_Pos            (6U)
+#define GPIO_OTYPER_OT6_Msk            (0x1UL << GPIO_OTYPER_OT6_Pos)          /*!< 0x00000040 */
+#define GPIO_OTYPER_OT6                GPIO_OTYPER_OT6_Msk
+#define GPIO_OTYPER_OT7_Pos            (7U)
+#define GPIO_OTYPER_OT7_Msk            (0x1UL << GPIO_OTYPER_OT7_Pos)          /*!< 0x00000080 */
+#define GPIO_OTYPER_OT7                GPIO_OTYPER_OT7_Msk
+#define GPIO_OTYPER_OT8_Pos            (8U)
+#define GPIO_OTYPER_OT8_Msk            (0x1UL << GPIO_OTYPER_OT8_Pos)          /*!< 0x00000100 */
+#define GPIO_OTYPER_OT8                GPIO_OTYPER_OT8_Msk
+#define GPIO_OTYPER_OT9_Pos            (9U)
+#define GPIO_OTYPER_OT9_Msk            (0x1UL << GPIO_OTYPER_OT9_Pos)          /*!< 0x00000200 */
+#define GPIO_OTYPER_OT9                GPIO_OTYPER_OT9_Msk
+#define GPIO_OTYPER_OT10_Pos           (10U)
+#define GPIO_OTYPER_OT10_Msk           (0x1UL << GPIO_OTYPER_OT10_Pos)         /*!< 0x00000400 */
+#define GPIO_OTYPER_OT10               GPIO_OTYPER_OT10_Msk
+#define GPIO_OTYPER_OT11_Pos           (11U)
+#define GPIO_OTYPER_OT11_Msk           (0x1UL << GPIO_OTYPER_OT11_Pos)         /*!< 0x00000800 */
+#define GPIO_OTYPER_OT11               GPIO_OTYPER_OT11_Msk
+#define GPIO_OTYPER_OT12_Pos           (12U)
+#define GPIO_OTYPER_OT12_Msk           (0x1UL << GPIO_OTYPER_OT12_Pos)         /*!< 0x00001000 */
+#define GPIO_OTYPER_OT12               GPIO_OTYPER_OT12_Msk
+#define GPIO_OTYPER_OT13_Pos           (13U)
+#define GPIO_OTYPER_OT13_Msk           (0x1UL << GPIO_OTYPER_OT13_Pos)         /*!< 0x00002000 */
+#define GPIO_OTYPER_OT13               GPIO_OTYPER_OT13_Msk
+#define GPIO_OTYPER_OT14_Pos           (14U)
+#define GPIO_OTYPER_OT14_Msk           (0x1UL << GPIO_OTYPER_OT14_Pos)         /*!< 0x00004000 */
+#define GPIO_OTYPER_OT14               GPIO_OTYPER_OT14_Msk
+#define GPIO_OTYPER_OT15_Pos           (15U)
+#define GPIO_OTYPER_OT15_Msk           (0x1UL << GPIO_OTYPER_OT15_Pos)         /*!< 0x00008000 */
+#define GPIO_OTYPER_OT15               GPIO_OTYPER_OT15_Msk
+
+/******************  Bits definition for GPIO_OSPEEDR register  ***************/
+#define GPIO_OSPEEDR_OSPEED0_Pos       (0U)
+#define GPIO_OSPEEDR_OSPEED0_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED0_Pos)     /*!< 0x00000003 */
+#define GPIO_OSPEEDR_OSPEED0           GPIO_OSPEEDR_OSPEED0_Msk
+#define GPIO_OSPEEDR_OSPEED0_0         (0x1UL << GPIO_OSPEEDR_OSPEED0_Pos)      /*!< 0x00000001 */
+#define GPIO_OSPEEDR_OSPEED0_1         (0x2UL << GPIO_OSPEEDR_OSPEED0_Pos)      /*!< 0x00000002 */
+
+#define GPIO_OSPEEDR_OSPEED1_Pos       (2U)
+#define GPIO_OSPEEDR_OSPEED1_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED1_Pos)     /*!< 0x0000000C */
+#define GPIO_OSPEEDR_OSPEED1           GPIO_OSPEEDR_OSPEED1_Msk
+#define GPIO_OSPEEDR_OSPEED1_0         (0x1UL << GPIO_OSPEEDR_OSPEED1_Pos)      /*!< 0x00000004 */
+#define GPIO_OSPEEDR_OSPEED1_1         (0x2UL << GPIO_OSPEEDR_OSPEED1_Pos)      /*!< 0x00000008 */
+
+#define GPIO_OSPEEDR_OSPEED2_Pos       (4U)
+#define GPIO_OSPEEDR_OSPEED2_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED2_Pos)     /*!< 0x00000030 */
+#define GPIO_OSPEEDR_OSPEED2           GPIO_OSPEEDR_OSPEED2_Msk
+#define GPIO_OSPEEDR_OSPEED2_0         (0x1UL << GPIO_OSPEEDR_OSPEED2_Pos)      /*!< 0x00000010 */
+#define GPIO_OSPEEDR_OSPEED2_1         (0x2UL << GPIO_OSPEEDR_OSPEED2_Pos)      /*!< 0x00000020 */
+
+#define GPIO_OSPEEDR_OSPEED3_Pos       (6U)
+#define GPIO_OSPEEDR_OSPEED3_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED3_Pos)     /*!< 0x000000C0 */
+#define GPIO_OSPEEDR_OSPEED3           GPIO_OSPEEDR_OSPEED3_Msk
+#define GPIO_OSPEEDR_OSPEED3_0         (0x1UL << GPIO_OSPEEDR_OSPEED3_Pos)      /*!< 0x00000040 */
+#define GPIO_OSPEEDR_OSPEED3_1         (0x2UL << GPIO_OSPEEDR_OSPEED3_Pos)      /*!< 0x00000080 */
+
+#define GPIO_OSPEEDR_OSPEED4_Pos       (8U)
+#define GPIO_OSPEEDR_OSPEED4_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED4_Pos)     /*!< 0x00000300 */
+#define GPIO_OSPEEDR_OSPEED4           GPIO_OSPEEDR_OSPEED4_Msk
+#define GPIO_OSPEEDR_OSPEED4_0         (0x1UL << GPIO_OSPEEDR_OSPEED4_Pos)      /*!< 0x00000100 */
+#define GPIO_OSPEEDR_OSPEED4_1         (0x2UL << GPIO_OSPEEDR_OSPEED4_Pos)      /*!< 0x00000200 */
+
+#define GPIO_OSPEEDR_OSPEED5_Pos       (10U)
+#define GPIO_OSPEEDR_OSPEED5_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED5_Pos)     /*!< 0x00000C00 */
+#define GPIO_OSPEEDR_OSPEED5           GPIO_OSPEEDR_OSPEED5_Msk
+#define GPIO_OSPEEDR_OSPEED5_0         (0x1UL << GPIO_OSPEEDR_OSPEED5_Pos)      /*!< 0x00000400 */
+#define GPIO_OSPEEDR_OSPEED5_1         (0x2UL << GPIO_OSPEEDR_OSPEED5_Pos)      /*!< 0x00000800 */
+
+#define GPIO_OSPEEDR_OSPEED6_Pos       (12U)
+#define GPIO_OSPEEDR_OSPEED6_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED6_Pos)     /*!< 0x00003000 */
+#define GPIO_OSPEEDR_OSPEED6           GPIO_OSPEEDR_OSPEED6_Msk
+#define GPIO_OSPEEDR_OSPEED6_0         (0x1UL << GPIO_OSPEEDR_OSPEED6_Pos)      /*!< 0x00001000 */
+#define GPIO_OSPEEDR_OSPEED6_1         (0x2UL << GPIO_OSPEEDR_OSPEED6_Pos)      /*!< 0x00002000 */
+
+#define GPIO_OSPEEDR_OSPEED7_Pos       (14U)
+#define GPIO_OSPEEDR_OSPEED7_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED7_Pos)     /*!< 0x0000C000 */
+#define GPIO_OSPEEDR_OSPEED7           GPIO_OSPEEDR_OSPEED7_Msk
+#define GPIO_OSPEEDR_OSPEED7_0         (0x1UL << GPIO_OSPEEDR_OSPEED7_Pos)      /*!< 0x00004000 */
+#define GPIO_OSPEEDR_OSPEED7_1         (0x2UL << GPIO_OSPEEDR_OSPEED7_Pos)      /*!< 0x00008000 */
+
+#define GPIO_OSPEEDR_OSPEED8_Pos       (16U)
+#define GPIO_OSPEEDR_OSPEED8_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED8_Pos)     /*!< 0x00030000 */
+#define GPIO_OSPEEDR_OSPEED8           GPIO_OSPEEDR_OSPEED8_Msk
+#define GPIO_OSPEEDR_OSPEED8_0         (0x1UL << GPIO_OSPEEDR_OSPEED8_Pos)      /*!< 0x00010000 */
+#define GPIO_OSPEEDR_OSPEED8_1         (0x2UL << GPIO_OSPEEDR_OSPEED8_Pos)      /*!< 0x00020000 */
+
+#define GPIO_OSPEEDR_OSPEED9_Pos       (18U)
+#define GPIO_OSPEEDR_OSPEED9_Msk       (0x3UL << GPIO_OSPEEDR_OSPEED9_Pos)     /*!< 0x000C0000 */
+#define GPIO_OSPEEDR_OSPEED9           GPIO_OSPEEDR_OSPEED9_Msk
+#define GPIO_OSPEEDR_OSPEED9_0         (0x1UL << GPIO_OSPEEDR_OSPEED9_Pos)      /*!< 0x00040000 */
+#define GPIO_OSPEEDR_OSPEED9_1         (0x2UL << GPIO_OSPEEDR_OSPEED9_Pos)      /*!< 0x00080000 */
+
+#define GPIO_OSPEEDR_OSPEED10_Pos      (20U)
+#define GPIO_OSPEEDR_OSPEED10_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED10_Pos)    /*!< 0x00300000 */
+#define GPIO_OSPEEDR_OSPEED10          GPIO_OSPEEDR_OSPEED10_Msk
+#define GPIO_OSPEEDR_OSPEED10_0        (0x1UL << GPIO_OSPEEDR_OSPEED10_Pos)     /*!< 0x00100000 */
+#define GPIO_OSPEEDR_OSPEED10_1        (0x2UL << GPIO_OSPEEDR_OSPEED10_Pos)     /*!< 0x00200000 */
+
+#define GPIO_OSPEEDR_OSPEED11_Pos      (22U)
+#define GPIO_OSPEEDR_OSPEED11_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED11_Pos)    /*!< 0x00C00000 */
+#define GPIO_OSPEEDR_OSPEED11          GPIO_OSPEEDR_OSPEED11_Msk
+#define GPIO_OSPEEDR_OSPEED11_0        (0x1UL << GPIO_OSPEEDR_OSPEED11_Pos)     /*!< 0x00400000 */
+#define GPIO_OSPEEDR_OSPEED11_1        (0x2UL << GPIO_OSPEEDR_OSPEED11_Pos)     /*!< 0x00800000 */
+
+#define GPIO_OSPEEDR_OSPEED12_Pos      (24U)
+#define GPIO_OSPEEDR_OSPEED12_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED12_Pos)    /*!< 0x03000000 */
+#define GPIO_OSPEEDR_OSPEED12          GPIO_OSPEEDR_OSPEED12_Msk
+#define GPIO_OSPEEDR_OSPEED12_0        (0x1UL << GPIO_OSPEEDR_OSPEED12_Pos)     /*!< 0x01000000 */
+#define GPIO_OSPEEDR_OSPEED12_1        (0x2UL << GPIO_OSPEEDR_OSPEED12_Pos)     /*!< 0x02000000 */
+
+#define GPIO_OSPEEDR_OSPEED13_Pos      (26U)
+#define GPIO_OSPEEDR_OSPEED13_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED13_Pos)    /*!< 0x0C000000 */
+#define GPIO_OSPEEDR_OSPEED13          GPIO_OSPEEDR_OSPEED13_Msk
+#define GPIO_OSPEEDR_OSPEED13_0        (0x1UL << GPIO_OSPEEDR_OSPEED13_Pos)     /*!< 0x04000000 */
+#define GPIO_OSPEEDR_OSPEED13_1        (0x2UL << GPIO_OSPEEDR_OSPEED13_Pos)     /*!< 0x08000000 */
+
+#define GPIO_OSPEEDR_OSPEED14_Pos      (28U)
+#define GPIO_OSPEEDR_OSPEED14_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED14_Pos)    /*!< 0x30000000 */
+#define GPIO_OSPEEDR_OSPEED14          GPIO_OSPEEDR_OSPEED14_Msk
+#define GPIO_OSPEEDR_OSPEED14_0        (0x1UL << GPIO_OSPEEDR_OSPEED14_Pos)     /*!< 0x10000000 */
+#define GPIO_OSPEEDR_OSPEED14_1        (0x2UL << GPIO_OSPEEDR_OSPEED14_Pos)     /*!< 0x20000000 */
+
+#define GPIO_OSPEEDR_OSPEED15_Pos      (30U)
+#define GPIO_OSPEEDR_OSPEED15_Msk      (0x3UL << GPIO_OSPEEDR_OSPEED15_Pos)    /*!< 0xC0000000 */
+#define GPIO_OSPEEDR_OSPEED15          GPIO_OSPEEDR_OSPEED15_Msk
+#define GPIO_OSPEEDR_OSPEED15_0        (0x1UL << GPIO_OSPEEDR_OSPEED15_Pos)     /*!< 0x40000000 */
+#define GPIO_OSPEEDR_OSPEED15_1        (0x2UL << GPIO_OSPEEDR_OSPEED15_Pos)     /*!< 0x80000000 */
+
+/******************  Bits definition for GPIO_PUPDR register  *****************/
+#define GPIO_PUPDR_PUPD0_Pos           (0U)
+#define GPIO_PUPDR_PUPD0_Msk           (0x3UL << GPIO_PUPDR_PUPD0_Pos)         /*!< 0x00000003 */
+#define GPIO_PUPDR_PUPD0               GPIO_PUPDR_PUPD0_Msk
+#define GPIO_PUPDR_PUPD0_0             (0x1UL << GPIO_PUPDR_PUPD0_Pos)          /*!< 0x00000001 */
+#define GPIO_PUPDR_PUPD0_1             (0x2UL << GPIO_PUPDR_PUPD0_Pos)          /*!< 0x00000002 */
+
+#define GPIO_PUPDR_PUPD1_Pos           (2U)
+#define GPIO_PUPDR_PUPD1_Msk           (0x3UL << GPIO_PUPDR_PUPD1_Pos)         /*!< 0x0000000C */
+#define GPIO_PUPDR_PUPD1               GPIO_PUPDR_PUPD1_Msk
+#define GPIO_PUPDR_PUPD1_0             (0x1UL << GPIO_PUPDR_PUPD1_Pos)          /*!< 0x00000004 */
+#define GPIO_PUPDR_PUPD1_1             (0x2UL << GPIO_PUPDR_PUPD1_Pos)          /*!< 0x00000008 */
+
+#define GPIO_PUPDR_PUPD2_Pos           (4U)
+#define GPIO_PUPDR_PUPD2_Msk           (0x3UL << GPIO_PUPDR_PUPD2_Pos)         /*!< 0x00000030 */
+#define GPIO_PUPDR_PUPD2               GPIO_PUPDR_PUPD2_Msk
+#define GPIO_PUPDR_PUPD2_0             (0x1UL << GPIO_PUPDR_PUPD2_Pos)          /*!< 0x00000010 */
+#define GPIO_PUPDR_PUPD2_1             (0x2UL << GPIO_PUPDR_PUPD2_Pos)          /*!< 0x00000020 */
+
+#define GPIO_PUPDR_PUPD3_Pos           (6U)
+#define GPIO_PUPDR_PUPD3_Msk           (0x3UL << GPIO_PUPDR_PUPD3_Pos)         /*!< 0x000000C0 */
+#define GPIO_PUPDR_PUPD3               GPIO_PUPDR_PUPD3_Msk
+#define GPIO_PUPDR_PUPD3_0             (0x1UL << GPIO_PUPDR_PUPD3_Pos)          /*!< 0x00000040 */
+#define GPIO_PUPDR_PUPD3_1             (0x2UL << GPIO_PUPDR_PUPD3_Pos)          /*!< 0x00000080 */
+
+#define GPIO_PUPDR_PUPD4_Pos           (8U)
+#define GPIO_PUPDR_PUPD4_Msk           (0x3UL << GPIO_PUPDR_PUPD4_Pos)         /*!< 0x00000300 */
+#define GPIO_PUPDR_PUPD4               GPIO_PUPDR_PUPD4_Msk
+#define GPIO_PUPDR_PUPD4_0             (0x1UL << GPIO_PUPDR_PUPD4_Pos)          /*!< 0x00000100 */
+#define GPIO_PUPDR_PUPD4_1             (0x2UL << GPIO_PUPDR_PUPD4_Pos)          /*!< 0x00000200 */
+
+#define GPIO_PUPDR_PUPD5_Pos           (10U)
+#define GPIO_PUPDR_PUPD5_Msk           (0x3UL << GPIO_PUPDR_PUPD5_Pos)         /*!< 0x00000C00 */
+#define GPIO_PUPDR_PUPD5               GPIO_PUPDR_PUPD5_Msk
+#define GPIO_PUPDR_PUPD5_0             (0x1UL << GPIO_PUPDR_PUPD5_Pos)          /*!< 0x00000400 */
+#define GPIO_PUPDR_PUPD5_1             (0x2UL << GPIO_PUPDR_PUPD5_Pos)          /*!< 0x00000800 */
+
+#define GPIO_PUPDR_PUPD6_Pos           (12U)
+#define GPIO_PUPDR_PUPD6_Msk           (0x3UL << GPIO_PUPDR_PUPD6_Pos)         /*!< 0x00003000 */
+#define GPIO_PUPDR_PUPD6               GPIO_PUPDR_PUPD6_Msk
+#define GPIO_PUPDR_PUPD6_0             (0x1UL << GPIO_PUPDR_PUPD6_Pos)          /*!< 0x00001000 */
+#define GPIO_PUPDR_PUPD6_1             (0x2UL << GPIO_PUPDR_PUPD6_Pos)          /*!< 0x00002000 */
+
+#define GPIO_PUPDR_PUPD7_Pos           (14U)
+#define GPIO_PUPDR_PUPD7_Msk           (0x3UL << GPIO_PUPDR_PUPD7_Pos)         /*!< 0x0000C000 */
+#define GPIO_PUPDR_PUPD7               GPIO_PUPDR_PUPD7_Msk
+#define GPIO_PUPDR_PUPD7_0             (0x1UL << GPIO_PUPDR_PUPD7_Pos)          /*!< 0x00004000 */
+#define GPIO_PUPDR_PUPD7_1             (0x2UL << GPIO_PUPDR_PUPD7_Pos)          /*!< 0x00008000 */
+
+#define GPIO_PUPDR_PUPD8_Pos           (16U)
+#define GPIO_PUPDR_PUPD8_Msk           (0x3UL << GPIO_PUPDR_PUPD8_Pos)         /*!< 0x00030000 */
+#define GPIO_PUPDR_PUPD8               GPIO_PUPDR_PUPD8_Msk
+#define GPIO_PUPDR_PUPD8_0             (0x1UL << GPIO_PUPDR_PUPD8_Pos)          /*!< 0x00010000 */
+#define GPIO_PUPDR_PUPD8_1             (0x2UL << GPIO_PUPDR_PUPD8_Pos)          /*!< 0x00020000 */
+
+#define GPIO_PUPDR_PUPD9_Pos           (18U)
+#define GPIO_PUPDR_PUPD9_Msk           (0x3UL << GPIO_PUPDR_PUPD9_Pos)         /*!< 0x000C0000 */
+#define GPIO_PUPDR_PUPD9               GPIO_PUPDR_PUPD9_Msk
+#define GPIO_PUPDR_PUPD9_0             (0x1UL << GPIO_PUPDR_PUPD9_Pos)          /*!< 0x00040000 */
+#define GPIO_PUPDR_PUPD9_1             (0x2UL << GPIO_PUPDR_PUPD9_Pos)          /*!< 0x00080000 */
+
+#define GPIO_PUPDR_PUPD10_Pos          (20U)
+#define GPIO_PUPDR_PUPD10_Msk          (0x3UL << GPIO_PUPDR_PUPD10_Pos)        /*!< 0x00300000 */
+#define GPIO_PUPDR_PUPD10              GPIO_PUPDR_PUPD10_Msk
+#define GPIO_PUPDR_PUPD10_0            (0x1UL << GPIO_PUPDR_PUPD10_Pos)         /*!< 0x00100000 */
+#define GPIO_PUPDR_PUPD10_1            (0x2UL << GPIO_PUPDR_PUPD10_Pos)         /*!< 0x00200000 */
+
+#define GPIO_PUPDR_PUPD11_Pos          (22U)
+#define GPIO_PUPDR_PUPD11_Msk          (0x3UL << GPIO_PUPDR_PUPD11_Pos)        /*!< 0x00C00000 */
+#define GPIO_PUPDR_PUPD11              GPIO_PUPDR_PUPD11_Msk
+#define GPIO_PUPDR_PUPD11_0            (0x1UL << GPIO_PUPDR_PUPD11_Pos)         /*!< 0x00400000 */
+#define GPIO_PUPDR_PUPD11_1            (0x2UL << GPIO_PUPDR_PUPD11_Pos)         /*!< 0x00800000 */
+
+#define GPIO_PUPDR_PUPD12_Pos          (24U)
+#define GPIO_PUPDR_PUPD12_Msk          (0x3UL << GPIO_PUPDR_PUPD12_Pos)        /*!< 0x03000000 */
+#define GPIO_PUPDR_PUPD12              GPIO_PUPDR_PUPD12_Msk
+#define GPIO_PUPDR_PUPD12_0            (0x1UL << GPIO_PUPDR_PUPD12_Pos)         /*!< 0x01000000 */
+#define GPIO_PUPDR_PUPD12_1            (0x2UL << GPIO_PUPDR_PUPD12_Pos)         /*!< 0x02000000 */
+
+#define GPIO_PUPDR_PUPD13_Pos          (26U)
+#define GPIO_PUPDR_PUPD13_Msk          (0x3UL << GPIO_PUPDR_PUPD13_Pos)        /*!< 0x0C000000 */
+#define GPIO_PUPDR_PUPD13              GPIO_PUPDR_PUPD13_Msk
+#define GPIO_PUPDR_PUPD13_0            (0x1UL << GPIO_PUPDR_PUPD13_Pos)         /*!< 0x04000000 */
+#define GPIO_PUPDR_PUPD13_1            (0x2UL << GPIO_PUPDR_PUPD13_Pos)         /*!< 0x08000000 */
+
+#define GPIO_PUPDR_PUPD14_Pos          (28U)
+#define GPIO_PUPDR_PUPD14_Msk          (0x3UL << GPIO_PUPDR_PUPD14_Pos)        /*!< 0x30000000 */
+#define GPIO_PUPDR_PUPD14              GPIO_PUPDR_PUPD14_Msk
+#define GPIO_PUPDR_PUPD14_0            (0x1UL << GPIO_PUPDR_PUPD14_Pos)         /*!< 0x10000000 */
+#define GPIO_PUPDR_PUPD14_1            (0x2UL << GPIO_PUPDR_PUPD14_Pos)         /*!< 0x20000000 */
+
+#define GPIO_PUPDR_PUPD15_Pos          (30U)
+#define GPIO_PUPDR_PUPD15_Msk          (0x3UL << GPIO_PUPDR_PUPD15_Pos)        /*!< 0xC0000000 */
+#define GPIO_PUPDR_PUPD15              GPIO_PUPDR_PUPD15_Msk
+#define GPIO_PUPDR_PUPD15_0            (0x1UL << GPIO_PUPDR_PUPD15_Pos)         /*!< 0x40000000 */
+#define GPIO_PUPDR_PUPD15_1            (0x2UL << GPIO_PUPDR_PUPD15_Pos)         /*!< 0x80000000 */
+
+/******************  Bits definition for GPIO_IDR register  *******************/
+#define GPIO_IDR_ID0_Pos               (0U)
+#define GPIO_IDR_ID0_Msk               (0x1UL << GPIO_IDR_ID0_Pos)             /*!< 0x00000001 */
+#define GPIO_IDR_ID0                   GPIO_IDR_ID0_Msk
+#define GPIO_IDR_ID1_Pos               (1U)
+#define GPIO_IDR_ID1_Msk               (0x1UL << GPIO_IDR_ID1_Pos)             /*!< 0x00000002 */
+#define GPIO_IDR_ID1                   GPIO_IDR_ID1_Msk
+#define GPIO_IDR_ID2_Pos               (2U)
+#define GPIO_IDR_ID2_Msk               (0x1UL << GPIO_IDR_ID2_Pos)             /*!< 0x00000004 */
+#define GPIO_IDR_ID2                   GPIO_IDR_ID2_Msk
+#define GPIO_IDR_ID3_Pos               (3U)
+#define GPIO_IDR_ID3_Msk               (0x1UL << GPIO_IDR_ID3_Pos)             /*!< 0x00000008 */
+#define GPIO_IDR_ID3                   GPIO_IDR_ID3_Msk
+#define GPIO_IDR_ID4_Pos               (4U)
+#define GPIO_IDR_ID4_Msk               (0x1UL << GPIO_IDR_ID4_Pos)             /*!< 0x00000010 */
+#define GPIO_IDR_ID4                   GPIO_IDR_ID4_Msk
+#define GPIO_IDR_ID5_Pos               (5U)
+#define GPIO_IDR_ID5_Msk               (0x1UL << GPIO_IDR_ID5_Pos)             /*!< 0x00000020 */
+#define GPIO_IDR_ID5                   GPIO_IDR_ID5_Msk
+#define GPIO_IDR_ID6_Pos               (6U)
+#define GPIO_IDR_ID6_Msk               (0x1UL << GPIO_IDR_ID6_Pos)             /*!< 0x00000040 */
+#define GPIO_IDR_ID6                   GPIO_IDR_ID6_Msk
+#define GPIO_IDR_ID7_Pos               (7U)
+#define GPIO_IDR_ID7_Msk               (0x1UL << GPIO_IDR_ID7_Pos)             /*!< 0x00000080 */
+#define GPIO_IDR_ID7                   GPIO_IDR_ID7_Msk
+#define GPIO_IDR_ID8_Pos               (8U)
+#define GPIO_IDR_ID8_Msk               (0x1UL << GPIO_IDR_ID8_Pos)             /*!< 0x00000100 */
+#define GPIO_IDR_ID8                   GPIO_IDR_ID8_Msk
+#define GPIO_IDR_ID9_Pos               (9U)
+#define GPIO_IDR_ID9_Msk               (0x1UL << GPIO_IDR_ID9_Pos)             /*!< 0x00000200 */
+#define GPIO_IDR_ID9                   GPIO_IDR_ID9_Msk
+#define GPIO_IDR_ID10_Pos              (10U)
+#define GPIO_IDR_ID10_Msk              (0x1UL << GPIO_IDR_ID10_Pos)            /*!< 0x00000400 */
+#define GPIO_IDR_ID10                  GPIO_IDR_ID10_Msk
+#define GPIO_IDR_ID11_Pos              (11U)
+#define GPIO_IDR_ID11_Msk              (0x1UL << GPIO_IDR_ID11_Pos)            /*!< 0x00000800 */
+#define GPIO_IDR_ID11                  GPIO_IDR_ID11_Msk
+#define GPIO_IDR_ID12_Pos              (12U)
+#define GPIO_IDR_ID12_Msk              (0x1UL << GPIO_IDR_ID12_Pos)            /*!< 0x00001000 */
+#define GPIO_IDR_ID12                  GPIO_IDR_ID12_Msk
+#define GPIO_IDR_ID13_Pos              (13U)
+#define GPIO_IDR_ID13_Msk              (0x1UL << GPIO_IDR_ID13_Pos)            /*!< 0x00002000 */
+#define GPIO_IDR_ID13                  GPIO_IDR_ID13_Msk
+#define GPIO_IDR_ID14_Pos              (14U)
+#define GPIO_IDR_ID14_Msk              (0x1UL << GPIO_IDR_ID14_Pos)            /*!< 0x00004000 */
+#define GPIO_IDR_ID14                  GPIO_IDR_ID14_Msk
+#define GPIO_IDR_ID15_Pos              (15U)
+#define GPIO_IDR_ID15_Msk              (0x1UL << GPIO_IDR_ID15_Pos)            /*!< 0x00008000 */
+#define GPIO_IDR_ID15                  GPIO_IDR_ID15_Msk
+
+/******************  Bits definition for GPIO_ODR register  *******************/
+#define GPIO_ODR_OD0_Pos               (0U)
+#define GPIO_ODR_OD0_Msk               (0x1UL << GPIO_ODR_OD0_Pos)             /*!< 0x00000001 */
+#define GPIO_ODR_OD0                   GPIO_ODR_OD0_Msk
+#define GPIO_ODR_OD1_Pos               (1U)
+#define GPIO_ODR_OD1_Msk               (0x1UL << GPIO_ODR_OD1_Pos)             /*!< 0x00000002 */
+#define GPIO_ODR_OD1                   GPIO_ODR_OD1_Msk
+#define GPIO_ODR_OD2_Pos               (2U)
+#define GPIO_ODR_OD2_Msk               (0x1UL << GPIO_ODR_OD2_Pos)             /*!< 0x00000004 */
+#define GPIO_ODR_OD2                   GPIO_ODR_OD2_Msk
+#define GPIO_ODR_OD3_Pos               (3U)
+#define GPIO_ODR_OD3_Msk               (0x1UL << GPIO_ODR_OD3_Pos)             /*!< 0x00000008 */
+#define GPIO_ODR_OD3                   GPIO_ODR_OD3_Msk
+#define GPIO_ODR_OD4_Pos               (4U)
+#define GPIO_ODR_OD4_Msk               (0x1UL << GPIO_ODR_OD4_Pos)             /*!< 0x00000010 */
+#define GPIO_ODR_OD4                   GPIO_ODR_OD4_Msk
+#define GPIO_ODR_OD5_Pos               (5U)
+#define GPIO_ODR_OD5_Msk               (0x1UL << GPIO_ODR_OD5_Pos)             /*!< 0x00000020 */
+#define GPIO_ODR_OD5                   GPIO_ODR_OD5_Msk
+#define GPIO_ODR_OD6_Pos               (6U)
+#define GPIO_ODR_OD6_Msk               (0x1UL << GPIO_ODR_OD6_Pos)             /*!< 0x00000040 */
+#define GPIO_ODR_OD6                   GPIO_ODR_OD6_Msk
+#define GPIO_ODR_OD7_Pos               (7U)
+#define GPIO_ODR_OD7_Msk               (0x1UL << GPIO_ODR_OD7_Pos)             /*!< 0x00000080 */
+#define GPIO_ODR_OD7                   GPIO_ODR_OD7_Msk
+#define GPIO_ODR_OD8_Pos               (8U)
+#define GPIO_ODR_OD8_Msk               (0x1UL << GPIO_ODR_OD8_Pos)             /*!< 0x00000100 */
+#define GPIO_ODR_OD8                   GPIO_ODR_OD8_Msk
+#define GPIO_ODR_OD9_Pos               (9U)
+#define GPIO_ODR_OD9_Msk               (0x1UL << GPIO_ODR_OD9_Pos)             /*!< 0x00000200 */
+#define GPIO_ODR_OD9                   GPIO_ODR_OD9_Msk
+#define GPIO_ODR_OD10_Pos              (10U)
+#define GPIO_ODR_OD10_Msk              (0x1UL << GPIO_ODR_OD10_Pos)            /*!< 0x00000400 */
+#define GPIO_ODR_OD10                  GPIO_ODR_OD10_Msk
+#define GPIO_ODR_OD11_Pos              (11U)
+#define GPIO_ODR_OD11_Msk              (0x1UL << GPIO_ODR_OD11_Pos)            /*!< 0x00000800 */
+#define GPIO_ODR_OD11                  GPIO_ODR_OD11_Msk
+#define GPIO_ODR_OD12_Pos              (12U)
+#define GPIO_ODR_OD12_Msk              (0x1UL << GPIO_ODR_OD12_Pos)            /*!< 0x00001000 */
+#define GPIO_ODR_OD12                  GPIO_ODR_OD12_Msk
+#define GPIO_ODR_OD13_Pos              (13U)
+#define GPIO_ODR_OD13_Msk              (0x1UL << GPIO_ODR_OD13_Pos)            /*!< 0x00002000 */
+#define GPIO_ODR_OD13                  GPIO_ODR_OD13_Msk
+#define GPIO_ODR_OD14_Pos              (14U)
+#define GPIO_ODR_OD14_Msk              (0x1UL << GPIO_ODR_OD14_Pos)            /*!< 0x00004000 */
+#define GPIO_ODR_OD14                  GPIO_ODR_OD14_Msk
+#define GPIO_ODR_OD15_Pos              (15U)
+#define GPIO_ODR_OD15_Msk              (0x1UL << GPIO_ODR_OD15_Pos)            /*!< 0x00008000 */
+#define GPIO_ODR_OD15                  GPIO_ODR_OD15_Msk
+
+/******************  Bits definition for GPIO_BSRR register  ******************/
+#define GPIO_BSRR_BS0_Pos              (0U)
+#define GPIO_BSRR_BS0_Msk              (0x1UL << GPIO_BSRR_BS0_Pos)            /*!< 0x00000001 */
+#define GPIO_BSRR_BS0                  GPIO_BSRR_BS0_Msk
+#define GPIO_BSRR_BS1_Pos              (1U)
+#define GPIO_BSRR_BS1_Msk              (0x1UL << GPIO_BSRR_BS1_Pos)            /*!< 0x00000002 */
+#define GPIO_BSRR_BS1                  GPIO_BSRR_BS1_Msk
+#define GPIO_BSRR_BS2_Pos              (2U)
+#define GPIO_BSRR_BS2_Msk              (0x1UL << GPIO_BSRR_BS2_Pos)            /*!< 0x00000004 */
+#define GPIO_BSRR_BS2                  GPIO_BSRR_BS2_Msk
+#define GPIO_BSRR_BS3_Pos              (3U)
+#define GPIO_BSRR_BS3_Msk              (0x1UL << GPIO_BSRR_BS3_Pos)            /*!< 0x00000008 */
+#define GPIO_BSRR_BS3                  GPIO_BSRR_BS3_Msk
+#define GPIO_BSRR_BS4_Pos              (4U)
+#define GPIO_BSRR_BS4_Msk              (0x1UL << GPIO_BSRR_BS4_Pos)            /*!< 0x00000010 */
+#define GPIO_BSRR_BS4                  GPIO_BSRR_BS4_Msk
+#define GPIO_BSRR_BS5_Pos              (5U)
+#define GPIO_BSRR_BS5_Msk              (0x1UL << GPIO_BSRR_BS5_Pos)            /*!< 0x00000020 */
+#define GPIO_BSRR_BS5                  GPIO_BSRR_BS5_Msk
+#define GPIO_BSRR_BS6_Pos              (6U)
+#define GPIO_BSRR_BS6_Msk              (0x1UL << GPIO_BSRR_BS6_Pos)            /*!< 0x00000040 */
+#define GPIO_BSRR_BS6                  GPIO_BSRR_BS6_Msk
+#define GPIO_BSRR_BS7_Pos              (7U)
+#define GPIO_BSRR_BS7_Msk              (0x1UL << GPIO_BSRR_BS7_Pos)            /*!< 0x00000080 */
+#define GPIO_BSRR_BS7                  GPIO_BSRR_BS7_Msk
+#define GPIO_BSRR_BS8_Pos              (8U)
+#define GPIO_BSRR_BS8_Msk              (0x1UL << GPIO_BSRR_BS8_Pos)            /*!< 0x00000100 */
+#define GPIO_BSRR_BS8                  GPIO_BSRR_BS8_Msk
+#define GPIO_BSRR_BS9_Pos              (9U)
+#define GPIO_BSRR_BS9_Msk              (0x1UL << GPIO_BSRR_BS9_Pos)            /*!< 0x00000200 */
+#define GPIO_BSRR_BS9                  GPIO_BSRR_BS9_Msk
+#define GPIO_BSRR_BS10_Pos             (10U)
+#define GPIO_BSRR_BS10_Msk             (0x1UL << GPIO_BSRR_BS10_Pos)           /*!< 0x00000400 */
+#define GPIO_BSRR_BS10                 GPIO_BSRR_BS10_Msk
+#define GPIO_BSRR_BS11_Pos             (11U)
+#define GPIO_BSRR_BS11_Msk             (0x1UL << GPIO_BSRR_BS11_Pos)           /*!< 0x00000800 */
+#define GPIO_BSRR_BS11                 GPIO_BSRR_BS11_Msk
+#define GPIO_BSRR_BS12_Pos             (12U)
+#define GPIO_BSRR_BS12_Msk             (0x1UL << GPIO_BSRR_BS12_Pos)           /*!< 0x00001000 */
+#define GPIO_BSRR_BS12                 GPIO_BSRR_BS12_Msk
+#define GPIO_BSRR_BS13_Pos             (13U)
+#define GPIO_BSRR_BS13_Msk             (0x1UL << GPIO_BSRR_BS13_Pos)           /*!< 0x00002000 */
+#define GPIO_BSRR_BS13                 GPIO_BSRR_BS13_Msk
+#define GPIO_BSRR_BS14_Pos             (14U)
+#define GPIO_BSRR_BS14_Msk             (0x1UL << GPIO_BSRR_BS14_Pos)           /*!< 0x00004000 */
+#define GPIO_BSRR_BS14                 GPIO_BSRR_BS14_Msk
+#define GPIO_BSRR_BS15_Pos             (15U)
+#define GPIO_BSRR_BS15_Msk             (0x1UL << GPIO_BSRR_BS15_Pos)           /*!< 0x00008000 */
+#define GPIO_BSRR_BS15                 GPIO_BSRR_BS15_Msk
+#define GPIO_BSRR_BR0_Pos              (16U)
+#define GPIO_BSRR_BR0_Msk              (0x1UL << GPIO_BSRR_BR0_Pos)            /*!< 0x00010000 */
+#define GPIO_BSRR_BR0                  GPIO_BSRR_BR0_Msk
+#define GPIO_BSRR_BR1_Pos              (17U)
+#define GPIO_BSRR_BR1_Msk              (0x1UL << GPIO_BSRR_BR1_Pos)            /*!< 0x00020000 */
+#define GPIO_BSRR_BR1                  GPIO_BSRR_BR1_Msk
+#define GPIO_BSRR_BR2_Pos              (18U)
+#define GPIO_BSRR_BR2_Msk              (0x1UL << GPIO_BSRR_BR2_Pos)            /*!< 0x00040000 */
+#define GPIO_BSRR_BR2                  GPIO_BSRR_BR2_Msk
+#define GPIO_BSRR_BR3_Pos              (19U)
+#define GPIO_BSRR_BR3_Msk              (0x1UL << GPIO_BSRR_BR3_Pos)            /*!< 0x00080000 */
+#define GPIO_BSRR_BR3                  GPIO_BSRR_BR3_Msk
+#define GPIO_BSRR_BR4_Pos              (20U)
+#define GPIO_BSRR_BR4_Msk              (0x1UL << GPIO_BSRR_BR4_Pos)            /*!< 0x00100000 */
+#define GPIO_BSRR_BR4                  GPIO_BSRR_BR4_Msk
+#define GPIO_BSRR_BR5_Pos              (21U)
+#define GPIO_BSRR_BR5_Msk              (0x1UL << GPIO_BSRR_BR5_Pos)            /*!< 0x00200000 */
+#define GPIO_BSRR_BR5                  GPIO_BSRR_BR5_Msk
+#define GPIO_BSRR_BR6_Pos              (22U)
+#define GPIO_BSRR_BR6_Msk              (0x1UL << GPIO_BSRR_BR6_Pos)            /*!< 0x00400000 */
+#define GPIO_BSRR_BR6                  GPIO_BSRR_BR6_Msk
+#define GPIO_BSRR_BR7_Pos              (23U)
+#define GPIO_BSRR_BR7_Msk              (0x1UL << GPIO_BSRR_BR7_Pos)            /*!< 0x00800000 */
+#define GPIO_BSRR_BR7                  GPIO_BSRR_BR7_Msk
+#define GPIO_BSRR_BR8_Pos              (24U)
+#define GPIO_BSRR_BR8_Msk              (0x1UL << GPIO_BSRR_BR8_Pos)            /*!< 0x01000000 */
+#define GPIO_BSRR_BR8                  GPIO_BSRR_BR8_Msk
+#define GPIO_BSRR_BR9_Pos              (25U)
+#define GPIO_BSRR_BR9_Msk              (0x1UL << GPIO_BSRR_BR9_Pos)            /*!< 0x02000000 */
+#define GPIO_BSRR_BR9                  GPIO_BSRR_BR9_Msk
+#define GPIO_BSRR_BR10_Pos             (26U)
+#define GPIO_BSRR_BR10_Msk             (0x1UL << GPIO_BSRR_BR10_Pos)           /*!< 0x04000000 */
+#define GPIO_BSRR_BR10                 GPIO_BSRR_BR10_Msk
+#define GPIO_BSRR_BR11_Pos             (27U)
+#define GPIO_BSRR_BR11_Msk             (0x1UL << GPIO_BSRR_BR11_Pos)           /*!< 0x08000000 */
+#define GPIO_BSRR_BR11                 GPIO_BSRR_BR11_Msk
+#define GPIO_BSRR_BR12_Pos             (28U)
+#define GPIO_BSRR_BR12_Msk             (0x1UL << GPIO_BSRR_BR12_Pos)           /*!< 0x10000000 */
+#define GPIO_BSRR_BR12                 GPIO_BSRR_BR12_Msk
+#define GPIO_BSRR_BR13_Pos             (29U)
+#define GPIO_BSRR_BR13_Msk             (0x1UL << GPIO_BSRR_BR13_Pos)           /*!< 0x20000000 */
+#define GPIO_BSRR_BR13                 GPIO_BSRR_BR13_Msk
+#define GPIO_BSRR_BR14_Pos             (30U)
+#define GPIO_BSRR_BR14_Msk             (0x1UL << GPIO_BSRR_BR14_Pos)           /*!< 0x40000000 */
+#define GPIO_BSRR_BR14                 GPIO_BSRR_BR14_Msk
+#define GPIO_BSRR_BR15_Pos             (31U)
+#define GPIO_BSRR_BR15_Msk             (0x1UL << GPIO_BSRR_BR15_Pos)           /*!< 0x80000000 */
+#define GPIO_BSRR_BR15                 GPIO_BSRR_BR15_Msk
+
+/****************** Bit definition for GPIO_LCKR register *********************/
+#define GPIO_LCKR_LCK0_Pos             (0U)
+#define GPIO_LCKR_LCK0_Msk             (0x1UL << GPIO_LCKR_LCK0_Pos)           /*!< 0x00000001 */
+#define GPIO_LCKR_LCK0                 GPIO_LCKR_LCK0_Msk
+#define GPIO_LCKR_LCK1_Pos             (1U)
+#define GPIO_LCKR_LCK1_Msk             (0x1UL << GPIO_LCKR_LCK1_Pos)           /*!< 0x00000002 */
+#define GPIO_LCKR_LCK1                 GPIO_LCKR_LCK1_Msk
+#define GPIO_LCKR_LCK2_Pos             (2U)
+#define GPIO_LCKR_LCK2_Msk             (0x1UL << GPIO_LCKR_LCK2_Pos)           /*!< 0x00000004 */
+#define GPIO_LCKR_LCK2                 GPIO_LCKR_LCK2_Msk
+#define GPIO_LCKR_LCK3_Pos             (3U)
+#define GPIO_LCKR_LCK3_Msk             (0x1UL << GPIO_LCKR_LCK3_Pos)           /*!< 0x00000008 */
+#define GPIO_LCKR_LCK3                 GPIO_LCKR_LCK3_Msk
+#define GPIO_LCKR_LCK4_Pos             (4U)
+#define GPIO_LCKR_LCK4_Msk             (0x1UL << GPIO_LCKR_LCK4_Pos)           /*!< 0x00000010 */
+#define GPIO_LCKR_LCK4                 GPIO_LCKR_LCK4_Msk
+#define GPIO_LCKR_LCK5_Pos             (5U)
+#define GPIO_LCKR_LCK5_Msk             (0x1UL << GPIO_LCKR_LCK5_Pos)           /*!< 0x00000020 */
+#define GPIO_LCKR_LCK5                 GPIO_LCKR_LCK5_Msk
+#define GPIO_LCKR_LCK6_Pos             (6U)
+#define GPIO_LCKR_LCK6_Msk             (0x1UL << GPIO_LCKR_LCK6_Pos)           /*!< 0x00000040 */
+#define GPIO_LCKR_LCK6                 GPIO_LCKR_LCK6_Msk
+#define GPIO_LCKR_LCK7_Pos             (7U)
+#define GPIO_LCKR_LCK7_Msk             (0x1UL << GPIO_LCKR_LCK7_Pos)           /*!< 0x00000080 */
+#define GPIO_LCKR_LCK7                 GPIO_LCKR_LCK7_Msk
+#define GPIO_LCKR_LCK8_Pos             (8U)
+#define GPIO_LCKR_LCK8_Msk             (0x1UL << GPIO_LCKR_LCK8_Pos)           /*!< 0x00000100 */
+#define GPIO_LCKR_LCK8                 GPIO_LCKR_LCK8_Msk
+#define GPIO_LCKR_LCK9_Pos             (9U)
+#define GPIO_LCKR_LCK9_Msk             (0x1UL << GPIO_LCKR_LCK9_Pos)           /*!< 0x00000200 */
+#define GPIO_LCKR_LCK9                 GPIO_LCKR_LCK9_Msk
+#define GPIO_LCKR_LCK10_Pos            (10U)
+#define GPIO_LCKR_LCK10_Msk            (0x1UL << GPIO_LCKR_LCK10_Pos)          /*!< 0x00000400 */
+#define GPIO_LCKR_LCK10                GPIO_LCKR_LCK10_Msk
+#define GPIO_LCKR_LCK11_Pos            (11U)
+#define GPIO_LCKR_LCK11_Msk            (0x1UL << GPIO_LCKR_LCK11_Pos)          /*!< 0x00000800 */
+#define GPIO_LCKR_LCK11                GPIO_LCKR_LCK11_Msk
+#define GPIO_LCKR_LCK12_Pos            (12U)
+#define GPIO_LCKR_LCK12_Msk            (0x1UL << GPIO_LCKR_LCK12_Pos)          /*!< 0x00001000 */
+#define GPIO_LCKR_LCK12                GPIO_LCKR_LCK12_Msk
+#define GPIO_LCKR_LCK13_Pos            (13U)
+#define GPIO_LCKR_LCK13_Msk            (0x1UL << GPIO_LCKR_LCK13_Pos)          /*!< 0x00002000 */
+#define GPIO_LCKR_LCK13                GPIO_LCKR_LCK13_Msk
+#define GPIO_LCKR_LCK14_Pos            (14U)
+#define GPIO_LCKR_LCK14_Msk            (0x1UL << GPIO_LCKR_LCK14_Pos)          /*!< 0x00004000 */
+#define GPIO_LCKR_LCK14                GPIO_LCKR_LCK14_Msk
+#define GPIO_LCKR_LCK15_Pos            (15U)
+#define GPIO_LCKR_LCK15_Msk            (0x1UL << GPIO_LCKR_LCK15_Pos)          /*!< 0x00008000 */
+#define GPIO_LCKR_LCK15                GPIO_LCKR_LCK15_Msk
+#define GPIO_LCKR_LCKK_Pos             (16U)
+#define GPIO_LCKR_LCKK_Msk             (0x1UL << GPIO_LCKR_LCKK_Pos)           /*!< 0x00010000 */
+#define GPIO_LCKR_LCKK                 GPIO_LCKR_LCKK_Msk
+
+/****************** Bit definition for GPIO_AFRL register  ********************/
+#define GPIO_AFRL_AFSEL0_Pos           (0U)
+#define GPIO_AFRL_AFSEL0_Msk           (0xFUL << GPIO_AFRL_AFSEL0_Pos)         /*!< 0x0000000F */
+#define GPIO_AFRL_AFSEL0               GPIO_AFRL_AFSEL0_Msk
+#define GPIO_AFRL_AFSEL0_0             (0x1UL << GPIO_AFRL_AFSEL0_Pos)          /*!< 0x00000001 */
+#define GPIO_AFRL_AFSEL0_1             (0x2UL << GPIO_AFRL_AFSEL0_Pos)          /*!< 0x00000002 */
+#define GPIO_AFRL_AFSEL0_2             (0x4UL << GPIO_AFRL_AFSEL0_Pos)          /*!< 0x00000004 */
+#define GPIO_AFRL_AFSEL0_3             (0x8UL << GPIO_AFRL_AFSEL0_Pos)          /*!< 0x00000008 */
+#define GPIO_AFRL_AFSEL1_Pos           (4U)
+#define GPIO_AFRL_AFSEL1_Msk           (0xFUL << GPIO_AFRL_AFSEL1_Pos)         /*!< 0x000000F0 */
+#define GPIO_AFRL_AFSEL1               GPIO_AFRL_AFSEL1_Msk
+#define GPIO_AFRL_AFSEL1_0             (0x1UL << GPIO_AFRL_AFSEL1_Pos)          /*!< 0x00000010 */
+#define GPIO_AFRL_AFSEL1_1             (0x2UL << GPIO_AFRL_AFSEL1_Pos)          /*!< 0x00000020 */
+#define GPIO_AFRL_AFSEL1_2             (0x4UL << GPIO_AFRL_AFSEL1_Pos)          /*!< 0x00000040 */
+#define GPIO_AFRL_AFSEL1_3             (0x8UL << GPIO_AFRL_AFSEL1_Pos)          /*!< 0x00000080 */
+#define GPIO_AFRL_AFSEL2_Pos           (8U)
+#define GPIO_AFRL_AFSEL2_Msk           (0xFUL << GPIO_AFRL_AFSEL2_Pos)         /*!< 0x00000F00 */
+#define GPIO_AFRL_AFSEL2               GPIO_AFRL_AFSEL2_Msk
+#define GPIO_AFRL_AFSEL2_0             (0x1UL << GPIO_AFRL_AFSEL2_Pos)          /*!< 0x00000100 */
+#define GPIO_AFRL_AFSEL2_1             (0x2UL << GPIO_AFRL_AFSEL2_Pos)          /*!< 0x00000200 */
+#define GPIO_AFRL_AFSEL2_2             (0x4UL << GPIO_AFRL_AFSEL2_Pos)          /*!< 0x00000400 */
+#define GPIO_AFRL_AFSEL2_3             (0x8UL << GPIO_AFRL_AFSEL2_Pos)          /*!< 0x00000800 */
+#define GPIO_AFRL_AFSEL3_Pos           (12U)
+#define GPIO_AFRL_AFSEL3_Msk           (0xFUL << GPIO_AFRL_AFSEL3_Pos)         /*!< 0x0000F000 */
+#define GPIO_AFRL_AFSEL3               GPIO_AFRL_AFSEL3_Msk
+#define GPIO_AFRL_AFSEL3_0             (0x1UL << GPIO_AFRL_AFSEL3_Pos)          /*!< 0x00001000 */
+#define GPIO_AFRL_AFSEL3_1             (0x2UL << GPIO_AFRL_AFSEL3_Pos)          /*!< 0x00002000 */
+#define GPIO_AFRL_AFSEL3_2             (0x4UL << GPIO_AFRL_AFSEL3_Pos)          /*!< 0x00004000 */
+#define GPIO_AFRL_AFSEL3_3             (0x8UL << GPIO_AFRL_AFSEL3_Pos)          /*!< 0x00008000 */
+#define GPIO_AFRL_AFSEL4_Pos           (16U)
+#define GPIO_AFRL_AFSEL4_Msk           (0xFUL << GPIO_AFRL_AFSEL4_Pos)         /*!< 0x000F0000 */
+#define GPIO_AFRL_AFSEL4               GPIO_AFRL_AFSEL4_Msk
+#define GPIO_AFRL_AFSEL4_0             (0x1UL << GPIO_AFRL_AFSEL4_Pos)          /*!< 0x00010000 */
+#define GPIO_AFRL_AFSEL4_1             (0x2UL << GPIO_AFRL_AFSEL4_Pos)          /*!< 0x00020000 */
+#define GPIO_AFRL_AFSEL4_2             (0x4UL << GPIO_AFRL_AFSEL4_Pos)          /*!< 0x00040000 */
+#define GPIO_AFRL_AFSEL4_3             (0x8UL << GPIO_AFRL_AFSEL4_Pos)          /*!< 0x00080000 */
+#define GPIO_AFRL_AFSEL5_Pos           (20U)
+#define GPIO_AFRL_AFSEL5_Msk           (0xFUL << GPIO_AFRL_AFSEL5_Pos)         /*!< 0x00F00000 */
+#define GPIO_AFRL_AFSEL5               GPIO_AFRL_AFSEL5_Msk
+#define GPIO_AFRL_AFSEL5_0             (0x1UL << GPIO_AFRL_AFSEL5_Pos)          /*!< 0x00100000 */
+#define GPIO_AFRL_AFSEL5_1             (0x2UL << GPIO_AFRL_AFSEL5_Pos)          /*!< 0x00200000 */
+#define GPIO_AFRL_AFSEL5_2             (0x4UL << GPIO_AFRL_AFSEL5_Pos)          /*!< 0x00400000 */
+#define GPIO_AFRL_AFSEL5_3             (0x8UL << GPIO_AFRL_AFSEL5_Pos)          /*!< 0x00800000 */
+#define GPIO_AFRL_AFSEL6_Pos           (24U)
+#define GPIO_AFRL_AFSEL6_Msk           (0xFUL << GPIO_AFRL_AFSEL6_Pos)         /*!< 0x0F000000 */
+#define GPIO_AFRL_AFSEL6               GPIO_AFRL_AFSEL6_Msk
+#define GPIO_AFRL_AFSEL6_0             (0x1UL << GPIO_AFRL_AFSEL6_Pos)          /*!< 0x01000000 */
+#define GPIO_AFRL_AFSEL6_1             (0x2UL << GPIO_AFRL_AFSEL6_Pos)          /*!< 0x02000000 */
+#define GPIO_AFRL_AFSEL6_2             (0x4UL << GPIO_AFRL_AFSEL6_Pos)          /*!< 0x04000000 */
+#define GPIO_AFRL_AFSEL6_3             (0x8UL << GPIO_AFRL_AFSEL6_Pos)          /*!< 0x08000000 */
+#define GPIO_AFRL_AFSEL7_Pos           (28U)
+#define GPIO_AFRL_AFSEL7_Msk           (0xFUL << GPIO_AFRL_AFSEL7_Pos)         /*!< 0xF0000000 */
+#define GPIO_AFRL_AFSEL7               GPIO_AFRL_AFSEL7_Msk
+#define GPIO_AFRL_AFSEL7_0             (0x1UL << GPIO_AFRL_AFSEL7_Pos)          /*!< 0x10000000 */
+#define GPIO_AFRL_AFSEL7_1             (0x2UL << GPIO_AFRL_AFSEL7_Pos)          /*!< 0x20000000 */
+#define GPIO_AFRL_AFSEL7_2             (0x4UL << GPIO_AFRL_AFSEL7_Pos)          /*!< 0x40000000 */
+#define GPIO_AFRL_AFSEL7_3             (0x8UL << GPIO_AFRL_AFSEL7_Pos)          /*!< 0x80000000 */
+
+/* Legacy defines */
+#define GPIO_AFRL_AFRL0                      GPIO_AFRL_AFSEL0
+#define GPIO_AFRL_AFRL1                      GPIO_AFRL_AFSEL1
+#define GPIO_AFRL_AFRL2                      GPIO_AFRL_AFSEL2
+#define GPIO_AFRL_AFRL3                      GPIO_AFRL_AFSEL3
+#define GPIO_AFRL_AFRL4                      GPIO_AFRL_AFSEL4
+#define GPIO_AFRL_AFRL5                      GPIO_AFRL_AFSEL5
+#define GPIO_AFRL_AFRL6                      GPIO_AFRL_AFSEL6
+#define GPIO_AFRL_AFRL7                      GPIO_AFRL_AFSEL7
+
+/****************** Bit definition for GPIO_AFRH register  ********************/
+#define GPIO_AFRH_AFSEL8_Pos           (0U)
+#define GPIO_AFRH_AFSEL8_Msk           (0xFUL << GPIO_AFRH_AFSEL8_Pos)         /*!< 0x0000000F */
+#define GPIO_AFRH_AFSEL8               GPIO_AFRH_AFSEL8_Msk
+#define GPIO_AFRH_AFSEL8_0             (0x1UL << GPIO_AFRH_AFSEL8_Pos)          /*!< 0x00000001 */
+#define GPIO_AFRH_AFSEL8_1             (0x2UL << GPIO_AFRH_AFSEL8_Pos)          /*!< 0x00000002 */
+#define GPIO_AFRH_AFSEL8_2             (0x4UL << GPIO_AFRH_AFSEL8_Pos)          /*!< 0x00000004 */
+#define GPIO_AFRH_AFSEL8_3             (0x8UL << GPIO_AFRH_AFSEL8_Pos)          /*!< 0x00000008 */
+#define GPIO_AFRH_AFSEL9_Pos           (4U)
+#define GPIO_AFRH_AFSEL9_Msk           (0xFUL << GPIO_AFRH_AFSEL9_Pos)         /*!< 0x000000F0 */
+#define GPIO_AFRH_AFSEL9               GPIO_AFRH_AFSEL9_Msk
+#define GPIO_AFRH_AFSEL9_0             (0x1UL << GPIO_AFRH_AFSEL9_Pos)          /*!< 0x00000010 */
+#define GPIO_AFRH_AFSEL9_1             (0x2UL << GPIO_AFRH_AFSEL9_Pos)          /*!< 0x00000020 */
+#define GPIO_AFRH_AFSEL9_2             (0x4UL << GPIO_AFRH_AFSEL9_Pos)          /*!< 0x00000040 */
+#define GPIO_AFRH_AFSEL9_3             (0x8UL << GPIO_AFRH_AFSEL9_Pos)          /*!< 0x00000080 */
+#define GPIO_AFRH_AFSEL10_Pos          (8U)
+#define GPIO_AFRH_AFSEL10_Msk          (0xFUL << GPIO_AFRH_AFSEL10_Pos)        /*!< 0x00000F00 */
+#define GPIO_AFRH_AFSEL10              GPIO_AFRH_AFSEL10_Msk
+#define GPIO_AFRH_AFSEL10_0            (0x1UL << GPIO_AFRH_AFSEL10_Pos)         /*!< 0x00000100 */
+#define GPIO_AFRH_AFSEL10_1            (0x2UL << GPIO_AFRH_AFSEL10_Pos)         /*!< 0x00000200 */
+#define GPIO_AFRH_AFSEL10_2            (0x4UL << GPIO_AFRH_AFSEL10_Pos)         /*!< 0x00000400 */
+#define GPIO_AFRH_AFSEL10_3            (0x8UL << GPIO_AFRH_AFSEL10_Pos)         /*!< 0x00000800 */
+#define GPIO_AFRH_AFSEL11_Pos          (12U)
+#define GPIO_AFRH_AFSEL11_Msk          (0xFUL << GPIO_AFRH_AFSEL11_Pos)        /*!< 0x0000F000 */
+#define GPIO_AFRH_AFSEL11              GPIO_AFRH_AFSEL11_Msk
+#define GPIO_AFRH_AFSEL11_0            (0x1UL << GPIO_AFRH_AFSEL11_Pos)         /*!< 0x00001000 */
+#define GPIO_AFRH_AFSEL11_1            (0x2UL << GPIO_AFRH_AFSEL11_Pos)         /*!< 0x00002000 */
+#define GPIO_AFRH_AFSEL11_2            (0x4UL << GPIO_AFRH_AFSEL11_Pos)         /*!< 0x00004000 */
+#define GPIO_AFRH_AFSEL11_3            (0x8UL << GPIO_AFRH_AFSEL11_Pos)         /*!< 0x00008000 */
+#define GPIO_AFRH_AFSEL12_Pos          (16U)
+#define GPIO_AFRH_AFSEL12_Msk          (0xFUL << GPIO_AFRH_AFSEL12_Pos)        /*!< 0x000F0000 */
+#define GPIO_AFRH_AFSEL12              GPIO_AFRH_AFSEL12_Msk
+#define GPIO_AFRH_AFSEL12_0            (0x1UL << GPIO_AFRH_AFSEL12_Pos)         /*!< 0x00010000 */
+#define GPIO_AFRH_AFSEL12_1            (0x2UL << GPIO_AFRH_AFSEL12_Pos)         /*!< 0x00020000 */
+#define GPIO_AFRH_AFSEL12_2            (0x4UL << GPIO_AFRH_AFSEL12_Pos)         /*!< 0x00040000 */
+#define GPIO_AFRH_AFSEL12_3            (0x8UL << GPIO_AFRH_AFSEL12_Pos)         /*!< 0x00080000 */
+#define GPIO_AFRH_AFSEL13_Pos          (20U)
+#define GPIO_AFRH_AFSEL13_Msk          (0xFUL << GPIO_AFRH_AFSEL13_Pos)        /*!< 0x00F00000 */
+#define GPIO_AFRH_AFSEL13              GPIO_AFRH_AFSEL13_Msk
+#define GPIO_AFRH_AFSEL13_0            (0x1UL << GPIO_AFRH_AFSEL13_Pos)         /*!< 0x00100000 */
+#define GPIO_AFRH_AFSEL13_1            (0x2UL << GPIO_AFRH_AFSEL13_Pos)         /*!< 0x00200000 */
+#define GPIO_AFRH_AFSEL13_2            (0x4UL << GPIO_AFRH_AFSEL13_Pos)         /*!< 0x00400000 */
+#define GPIO_AFRH_AFSEL13_3            (0x8UL << GPIO_AFRH_AFSEL13_Pos)         /*!< 0x00800000 */
+#define GPIO_AFRH_AFSEL14_Pos          (24U)
+#define GPIO_AFRH_AFSEL14_Msk          (0xFUL << GPIO_AFRH_AFSEL14_Pos)        /*!< 0x0F000000 */
+#define GPIO_AFRH_AFSEL14              GPIO_AFRH_AFSEL14_Msk
+#define GPIO_AFRH_AFSEL14_0            (0x1UL << GPIO_AFRH_AFSEL14_Pos)         /*!< 0x01000000 */
+#define GPIO_AFRH_AFSEL14_1            (0x2UL << GPIO_AFRH_AFSEL14_Pos)         /*!< 0x02000000 */
+#define GPIO_AFRH_AFSEL14_2            (0x4UL << GPIO_AFRH_AFSEL14_Pos)         /*!< 0x04000000 */
+#define GPIO_AFRH_AFSEL14_3            (0x8UL << GPIO_AFRH_AFSEL14_Pos)         /*!< 0x08000000 */
+#define GPIO_AFRH_AFSEL15_Pos          (28U)
+#define GPIO_AFRH_AFSEL15_Msk          (0xFUL << GPIO_AFRH_AFSEL15_Pos)        /*!< 0xF0000000 */
+#define GPIO_AFRH_AFSEL15              GPIO_AFRH_AFSEL15_Msk
+#define GPIO_AFRH_AFSEL15_0            (0x1UL << GPIO_AFRH_AFSEL15_Pos)         /*!< 0x10000000 */
+#define GPIO_AFRH_AFSEL15_1            (0x2UL << GPIO_AFRH_AFSEL15_Pos)         /*!< 0x20000000 */
+#define GPIO_AFRH_AFSEL15_2            (0x4UL << GPIO_AFRH_AFSEL15_Pos)         /*!< 0x40000000 */
+#define GPIO_AFRH_AFSEL15_3            (0x8UL << GPIO_AFRH_AFSEL15_Pos)         /*!< 0x80000000 */
+
+/* Legacy defines */
+#define GPIO_AFRH_AFRH0                      GPIO_AFRH_AFSEL8
+#define GPIO_AFRH_AFRH1                      GPIO_AFRH_AFSEL9
+#define GPIO_AFRH_AFRH2                      GPIO_AFRH_AFSEL10
+#define GPIO_AFRH_AFRH3                      GPIO_AFRH_AFSEL11
+#define GPIO_AFRH_AFRH4                      GPIO_AFRH_AFSEL12
+#define GPIO_AFRH_AFRH5                      GPIO_AFRH_AFSEL13
+#define GPIO_AFRH_AFRH6                      GPIO_AFRH_AFSEL14
+#define GPIO_AFRH_AFRH7                      GPIO_AFRH_AFSEL15
+
+/******************************************************************************/
+/*                                                                            */
+/*                        HSEM HW Semaphore                                   */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for HSEM_R register  ********************/
+#define HSEM_R_PROCID_Pos         (0U)
+#define HSEM_R_PROCID_Msk         (0xFFUL << HSEM_R_PROCID_Pos)                /*!< 0x000000FF */
+#define HSEM_R_PROCID             HSEM_R_PROCID_Msk                            /*!<Semaphore ProcessID */
+#define HSEM_R_COREID_Pos         (8U)
+#define HSEM_R_COREID_Msk         (0xFFUL << HSEM_R_COREID_Pos)                /*!< 0x0000FF00 */
+#define HSEM_R_COREID             HSEM_R_COREID_Msk                            /*!<Semaphore CoreID.   */
+#define HSEM_R_LOCK_Pos           (31U)
+#define HSEM_R_LOCK_Msk           (0x1UL << HSEM_R_LOCK_Pos)                   /*!< 0x80000000 */
+#define HSEM_R_LOCK               HSEM_R_LOCK_Msk                              /*!<Lock indication.    */
+
+/********************  Bit definition for HSEM_RLR register  ******************/
+#define HSEM_RLR_PROCID_Pos       (0U)
+#define HSEM_RLR_PROCID_Msk       (0xFFUL << HSEM_RLR_PROCID_Pos)              /*!< 0x000000FF */
+#define HSEM_RLR_PROCID           HSEM_RLR_PROCID_Msk                          /*!<Semaphore ProcessID */
+#define HSEM_RLR_COREID_Pos       (8U)
+#define HSEM_RLR_COREID_Msk       (0xFFUL << HSEM_RLR_COREID_Pos)              /*!< 0x0000FF00 */
+#define HSEM_RLR_COREID           HSEM_RLR_COREID_Msk                          /*!<Semaphore CoreID.   */
+#define HSEM_RLR_LOCK_Pos         (31U)
+#define HSEM_RLR_LOCK_Msk         (0x1UL << HSEM_RLR_LOCK_Pos)                 /*!< 0x80000000 */
+#define HSEM_RLR_LOCK             HSEM_RLR_LOCK_Msk                            /*!<Lock indication.    */
+
+/********************  Bit definition for HSEM_C1IER register  *****************/
+#define HSEM_C1IER_ISE0_Pos       (0U)
+#define HSEM_C1IER_ISE0_Msk       (0x1UL << HSEM_C1IER_ISE0_Pos)               /*!< 0x00000001 */
+#define HSEM_C1IER_ISE0           HSEM_C1IER_ISE0_Msk                          /*!<semaphore 0 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE1_Pos       (1U)
+#define HSEM_C1IER_ISE1_Msk       (0x1UL << HSEM_C1IER_ISE1_Pos)               /*!< 0x00000002 */
+#define HSEM_C1IER_ISE1           HSEM_C1IER_ISE1_Msk                          /*!<semaphore 1 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE2_Pos       (2U)
+#define HSEM_C1IER_ISE2_Msk       (0x1UL << HSEM_C1IER_ISE2_Pos)               /*!< 0x00000004 */
+#define HSEM_C1IER_ISE2           HSEM_C1IER_ISE2_Msk                          /*!<semaphore 2 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE3_Pos       (3U)
+#define HSEM_C1IER_ISE3_Msk       (0x1UL << HSEM_C1IER_ISE3_Pos)               /*!< 0x00000008 */
+#define HSEM_C1IER_ISE3           HSEM_C1IER_ISE3_Msk                          /*!<semaphore 3 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE4_Pos       (4U)
+#define HSEM_C1IER_ISE4_Msk       (0x1UL << HSEM_C1IER_ISE4_Pos)               /*!< 0x00000010 */
+#define HSEM_C1IER_ISE4           HSEM_C1IER_ISE4_Msk                          /*!<semaphore 4 , interrupt 0 enable bit.  */
+#define HSEM_C1IER_ISE5_Pos       (5U)
+#define HSEM_C1IER_ISE5_Msk       (0x1UL << HSEM_C1IER_ISE5_Pos)               /*!< 0x00000020 */
+#define HSEM_C1IER_ISE5           HSEM_C1IER_ISE5_Msk                          /*!<semaphore 5 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE6_Pos       (6U)
+#define HSEM_C1IER_ISE6_Msk       (0x1UL << HSEM_C1IER_ISE6_Pos)               /*!< 0x00000040 */
+#define HSEM_C1IER_ISE6           HSEM_C1IER_ISE6_Msk                          /*!<semaphore 6 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE7_Pos       (7U)
+#define HSEM_C1IER_ISE7_Msk       (0x1UL << HSEM_C1IER_ISE7_Pos)               /*!< 0x00000080 */
+#define HSEM_C1IER_ISE7           HSEM_C1IER_ISE7_Msk                          /*!<semaphore 7 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE8_Pos       (8U)
+#define HSEM_C1IER_ISE8_Msk       (0x1UL << HSEM_C1IER_ISE8_Pos)               /*!< 0x00000100 */
+#define HSEM_C1IER_ISE8           HSEM_C1IER_ISE8_Msk                          /*!<semaphore 8 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE9_Pos       (9U)
+#define HSEM_C1IER_ISE9_Msk       (0x1UL << HSEM_C1IER_ISE9_Pos)               /*!< 0x00000200 */
+#define HSEM_C1IER_ISE9           HSEM_C1IER_ISE9_Msk                          /*!<semaphore 9 interrupt 0 enable bit.    */
+#define HSEM_C1IER_ISE10_Pos      (10U)
+#define HSEM_C1IER_ISE10_Msk      (0x1UL << HSEM_C1IER_ISE10_Pos)              /*!< 0x00000400 */
+#define HSEM_C1IER_ISE10          HSEM_C1IER_ISE10_Msk                         /*!<semaphore 10 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE11_Pos      (11U)
+#define HSEM_C1IER_ISE11_Msk      (0x1UL << HSEM_C1IER_ISE11_Pos)              /*!< 0x00000800 */
+#define HSEM_C1IER_ISE11          HSEM_C1IER_ISE11_Msk                         /*!<semaphore 11 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE12_Pos      (12U)
+#define HSEM_C1IER_ISE12_Msk      (0x1UL << HSEM_C1IER_ISE12_Pos)              /*!< 0x00001000 */
+#define HSEM_C1IER_ISE12          HSEM_C1IER_ISE12_Msk                         /*!<semaphore 12 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE13_Pos      (13U)
+#define HSEM_C1IER_ISE13_Msk      (0x1UL << HSEM_C1IER_ISE13_Pos)              /*!< 0x00002000 */
+#define HSEM_C1IER_ISE13          HSEM_C1IER_ISE13_Msk                         /*!<semaphore 13 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE14_Pos      (14U)
+#define HSEM_C1IER_ISE14_Msk      (0x1UL << HSEM_C1IER_ISE14_Pos)              /*!< 0x00004000 */
+#define HSEM_C1IER_ISE14          HSEM_C1IER_ISE14_Msk                         /*!<semaphore 14 interrupt 0 enable bit.   */
+#define HSEM_C1IER_ISE15_Pos      (15U)
+#define HSEM_C1IER_ISE15_Msk      (0x1UL << HSEM_C1IER_ISE15_Pos)              /*!< 0x00008000 */
+#define HSEM_C1IER_ISE15          HSEM_C1IER_ISE15_Msk                         /*!<semaphore 15 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE16_Pos      (16U)
+#define HSEM_C1IER_ISE16_Msk      (0x1UL << HSEM_C1IER_ISE16_Pos)              /*!< 0x00010000 */
+#define HSEM_C1IER_ISE16          HSEM_C1IER_ISE16_Msk                         /*!<semaphore 16 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE17_Pos      (17U)
+#define HSEM_C1IER_ISE17_Msk      (0x1UL << HSEM_C1IER_ISE17_Pos)              /*!< 0x00020000 */
+#define HSEM_C1IER_ISE17          HSEM_C1IER_ISE17_Msk                         /*!<semaphore 17 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE18_Pos      (18U)
+#define HSEM_C1IER_ISE18_Msk      (0x1UL << HSEM_C1IER_ISE18_Pos)              /*!< 0x00040000 */
+#define HSEM_C1IER_ISE18          HSEM_C1IER_ISE18_Msk                         /*!<semaphore 18 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE19_Pos      (19U)
+#define HSEM_C1IER_ISE19_Msk      (0x1UL << HSEM_C1IER_ISE19_Pos)              /*!< 0x00080000 */
+#define HSEM_C1IER_ISE19          HSEM_C1IER_ISE19_Msk                         /*!<semaphore 19 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE20_Pos      (20U)
+#define HSEM_C1IER_ISE20_Msk      (0x1UL << HSEM_C1IER_ISE20_Pos)              /*!< 0x00100000 */
+#define HSEM_C1IER_ISE20          HSEM_C1IER_ISE20_Msk                         /*!<semaphore 20 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE21_Pos      (21U)
+#define HSEM_C1IER_ISE21_Msk      (0x1UL << HSEM_C1IER_ISE21_Pos)              /*!< 0x00200000 */
+#define HSEM_C1IER_ISE21          HSEM_C1IER_ISE21_Msk                         /*!<semaphore 21 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE22_Pos      (22U)
+#define HSEM_C1IER_ISE22_Msk      (0x1UL << HSEM_C1IER_ISE22_Pos)              /*!< 0x00400000 */
+#define HSEM_C1IER_ISE22          HSEM_C1IER_ISE22_Msk                         /*!<semaphore 22 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE23_Pos      (23U)
+#define HSEM_C1IER_ISE23_Msk      (0x1UL << HSEM_C1IER_ISE23_Pos)              /*!< 0x00800000 */
+#define HSEM_C1IER_ISE23          HSEM_C1IER_ISE23_Msk                         /*!<semaphore 23 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE24_Pos      (24U)
+#define HSEM_C1IER_ISE24_Msk      (0x1UL << HSEM_C1IER_ISE24_Pos)              /*!< 0x01000000 */
+#define HSEM_C1IER_ISE24          HSEM_C1IER_ISE24_Msk                         /*!<semaphore 24 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE25_Pos      (25U)
+#define HSEM_C1IER_ISE25_Msk      (0x1UL << HSEM_C1IER_ISE25_Pos)              /*!< 0x02000000 */
+#define HSEM_C1IER_ISE25          HSEM_C1IER_ISE25_Msk                         /*!<semaphore 25 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE26_Pos      (26U)
+#define HSEM_C1IER_ISE26_Msk      (0x1UL << HSEM_C1IER_ISE26_Pos)              /*!< 0x04000000 */
+#define HSEM_C1IER_ISE26          HSEM_C1IER_ISE26_Msk                         /*!<semaphore 26 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE27_Pos      (27U)
+#define HSEM_C1IER_ISE27_Msk      (0x1UL << HSEM_C1IER_ISE27_Pos)              /*!< 0x08000000 */
+#define HSEM_C1IER_ISE27          HSEM_C1IER_ISE27_Msk                         /*!<semaphore 27 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE28_Pos      (28U)
+#define HSEM_C1IER_ISE28_Msk      (0x1UL << HSEM_C1IER_ISE28_Pos)              /*!< 0x10000000 */
+#define HSEM_C1IER_ISE28          HSEM_C1IER_ISE28_Msk                         /*!<semaphore 28 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE29_Pos      (29U)
+#define HSEM_C1IER_ISE29_Msk      (0x1UL << HSEM_C1IER_ISE29_Pos)              /*!< 0x20000000 */
+#define HSEM_C1IER_ISE29          HSEM_C1IER_ISE29_Msk                         /*!<semaphore 29 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE30_Pos      (30U)
+#define HSEM_C1IER_ISE30_Msk      (0x1UL << HSEM_C1IER_ISE30_Pos)              /*!< 0x40000000 */
+#define HSEM_C1IER_ISE30          HSEM_C1IER_ISE30_Msk                         /*!<semaphore 30 interrupt 0 enable bit. */
+#define HSEM_C1IER_ISE31_Pos      (31U)
+#define HSEM_C1IER_ISE31_Msk      (0x1UL << HSEM_C1IER_ISE31_Pos)              /*!< 0x80000000 */
+#define HSEM_C1IER_ISE31          HSEM_C1IER_ISE31_Msk                         /*!<semaphore 31 interrupt 0 enable bit. */
+
+/********************  Bit definition for HSEM_C1ICR register  *****************/
+#define HSEM_C1ICR_ISC0_Pos       (0U)
+#define HSEM_C1ICR_ISC0_Msk       (0x1UL << HSEM_C1ICR_ISC0_Pos)               /*!< 0x00000001 */
+#define HSEM_C1ICR_ISC0           HSEM_C1ICR_ISC0_Msk                          /*!<semaphore 0 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC1_Pos       (1U)
+#define HSEM_C1ICR_ISC1_Msk       (0x1UL << HSEM_C1ICR_ISC1_Pos)               /*!< 0x00000002 */
+#define HSEM_C1ICR_ISC1           HSEM_C1ICR_ISC1_Msk                          /*!<semaphore 1 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC2_Pos       (2U)
+#define HSEM_C1ICR_ISC2_Msk       (0x1UL << HSEM_C1ICR_ISC2_Pos)               /*!< 0x00000004 */
+#define HSEM_C1ICR_ISC2           HSEM_C1ICR_ISC2_Msk                          /*!<semaphore 2 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC3_Pos       (3U)
+#define HSEM_C1ICR_ISC3_Msk       (0x1UL << HSEM_C1ICR_ISC3_Pos)               /*!< 0x00000008 */
+#define HSEM_C1ICR_ISC3           HSEM_C1ICR_ISC3_Msk                          /*!<semaphore 3 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC4_Pos       (4U)
+#define HSEM_C1ICR_ISC4_Msk       (0x1UL << HSEM_C1ICR_ISC4_Pos)               /*!< 0x00000010 */
+#define HSEM_C1ICR_ISC4           HSEM_C1ICR_ISC4_Msk                          /*!<semaphore 4 , interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC5_Pos       (5U)
+#define HSEM_C1ICR_ISC5_Msk       (0x1UL << HSEM_C1ICR_ISC5_Pos)               /*!< 0x00000020 */
+#define HSEM_C1ICR_ISC5           HSEM_C1ICR_ISC5_Msk                          /*!<semaphore 5 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC6_Pos       (6U)
+#define HSEM_C1ICR_ISC6_Msk       (0x1UL << HSEM_C1ICR_ISC6_Pos)               /*!< 0x00000040 */
+#define HSEM_C1ICR_ISC6           HSEM_C1ICR_ISC6_Msk                          /*!<semaphore 6 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC7_Pos       (7U)
+#define HSEM_C1ICR_ISC7_Msk       (0x1UL << HSEM_C1ICR_ISC7_Pos)               /*!< 0x00000080 */
+#define HSEM_C1ICR_ISC7           HSEM_C1ICR_ISC7_Msk                          /*!<semaphore 7 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC8_Pos       (8U)
+#define HSEM_C1ICR_ISC8_Msk       (0x1UL << HSEM_C1ICR_ISC8_Pos)               /*!< 0x00000100 */
+#define HSEM_C1ICR_ISC8           HSEM_C1ICR_ISC8_Msk                          /*!<semaphore 8 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC9_Pos       (9U)
+#define HSEM_C1ICR_ISC9_Msk       (0x1UL << HSEM_C1ICR_ISC9_Pos)               /*!< 0x00000200 */
+#define HSEM_C1ICR_ISC9           HSEM_C1ICR_ISC9_Msk                          /*!<semaphore 9 interrupt 0 clear bit.  */
+#define HSEM_C1ICR_ISC10_Pos      (10U)
+#define HSEM_C1ICR_ISC10_Msk      (0x1UL << HSEM_C1ICR_ISC10_Pos)              /*!< 0x00000400 */
+#define HSEM_C1ICR_ISC10          HSEM_C1ICR_ISC10_Msk                         /*!<semaphore 10 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC11_Pos      (11U)
+#define HSEM_C1ICR_ISC11_Msk      (0x1UL << HSEM_C1ICR_ISC11_Pos)              /*!< 0x00000800 */
+#define HSEM_C1ICR_ISC11          HSEM_C1ICR_ISC11_Msk                         /*!<semaphore 11 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC12_Pos      (12U)
+#define HSEM_C1ICR_ISC12_Msk      (0x1UL << HSEM_C1ICR_ISC12_Pos)              /*!< 0x00001000 */
+#define HSEM_C1ICR_ISC12          HSEM_C1ICR_ISC12_Msk                         /*!<semaphore 12 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC13_Pos      (13U)
+#define HSEM_C1ICR_ISC13_Msk      (0x1UL << HSEM_C1ICR_ISC13_Pos)              /*!< 0x00002000 */
+#define HSEM_C1ICR_ISC13          HSEM_C1ICR_ISC13_Msk                         /*!<semaphore 13 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC14_Pos      (14U)
+#define HSEM_C1ICR_ISC14_Msk      (0x1UL << HSEM_C1ICR_ISC14_Pos)              /*!< 0x00004000 */
+#define HSEM_C1ICR_ISC14          HSEM_C1ICR_ISC14_Msk                         /*!<semaphore 14 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC15_Pos      (15U)
+#define HSEM_C1ICR_ISC15_Msk      (0x1UL << HSEM_C1ICR_ISC15_Pos)              /*!< 0x00008000 */
+#define HSEM_C1ICR_ISC15          HSEM_C1ICR_ISC15_Msk                         /*!<semaphore 15 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC16_Pos      (16U)
+#define HSEM_C1ICR_ISC16_Msk      (0x1UL << HSEM_C1ICR_ISC16_Pos)              /*!< 0x00010000 */
+#define HSEM_C1ICR_ISC16          HSEM_C1ICR_ISC16_Msk                         /*!<semaphore 16 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC17_Pos      (17U)
+#define HSEM_C1ICR_ISC17_Msk      (0x1UL << HSEM_C1ICR_ISC17_Pos)              /*!< 0x00020000 */
+#define HSEM_C1ICR_ISC17          HSEM_C1ICR_ISC17_Msk                         /*!<semaphore 17 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC18_Pos      (18U)
+#define HSEM_C1ICR_ISC18_Msk      (0x1UL << HSEM_C1ICR_ISC18_Pos)              /*!< 0x00040000 */
+#define HSEM_C1ICR_ISC18          HSEM_C1ICR_ISC18_Msk                         /*!<semaphore 18 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC19_Pos      (19U)
+#define HSEM_C1ICR_ISC19_Msk      (0x1UL << HSEM_C1ICR_ISC19_Pos)              /*!< 0x00080000 */
+#define HSEM_C1ICR_ISC19          HSEM_C1ICR_ISC19_Msk                         /*!<semaphore 19 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC20_Pos      (20U)
+#define HSEM_C1ICR_ISC20_Msk      (0x1UL << HSEM_C1ICR_ISC20_Pos)              /*!< 0x00100000 */
+#define HSEM_C1ICR_ISC20          HSEM_C1ICR_ISC20_Msk                         /*!<semaphore 20 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC21_Pos      (21U)
+#define HSEM_C1ICR_ISC21_Msk      (0x1UL << HSEM_C1ICR_ISC21_Pos)              /*!< 0x00200000 */
+#define HSEM_C1ICR_ISC21          HSEM_C1ICR_ISC21_Msk                         /*!<semaphore 21 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC22_Pos      (22U)
+#define HSEM_C1ICR_ISC22_Msk      (0x1UL << HSEM_C1ICR_ISC22_Pos)              /*!< 0x00400000 */
+#define HSEM_C1ICR_ISC22          HSEM_C1ICR_ISC22_Msk                         /*!<semaphore 22 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC23_Pos      (23U)
+#define HSEM_C1ICR_ISC23_Msk      (0x1UL << HSEM_C1ICR_ISC23_Pos)              /*!< 0x00800000 */
+#define HSEM_C1ICR_ISC23          HSEM_C1ICR_ISC23_Msk                         /*!<semaphore 23 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC24_Pos      (24U)
+#define HSEM_C1ICR_ISC24_Msk      (0x1UL << HSEM_C1ICR_ISC24_Pos)              /*!< 0x01000000 */
+#define HSEM_C1ICR_ISC24          HSEM_C1ICR_ISC24_Msk                         /*!<semaphore 24 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC25_Pos      (25U)
+#define HSEM_C1ICR_ISC25_Msk      (0x1UL << HSEM_C1ICR_ISC25_Pos)              /*!< 0x02000000 */
+#define HSEM_C1ICR_ISC25          HSEM_C1ICR_ISC25_Msk                         /*!<semaphore 25 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC26_Pos      (26U)
+#define HSEM_C1ICR_ISC26_Msk      (0x1UL << HSEM_C1ICR_ISC26_Pos)              /*!< 0x04000000 */
+#define HSEM_C1ICR_ISC26          HSEM_C1ICR_ISC26_Msk                         /*!<semaphore 26 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC27_Pos      (27U)
+#define HSEM_C1ICR_ISC27_Msk      (0x1UL << HSEM_C1ICR_ISC27_Pos)              /*!< 0x08000000 */
+#define HSEM_C1ICR_ISC27          HSEM_C1ICR_ISC27_Msk                         /*!<semaphore 27 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC28_Pos      (28U)
+#define HSEM_C1ICR_ISC28_Msk      (0x1UL << HSEM_C1ICR_ISC28_Pos)              /*!< 0x10000000 */
+#define HSEM_C1ICR_ISC28          HSEM_C1ICR_ISC28_Msk                         /*!<semaphore 28 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC29_Pos      (29U)
+#define HSEM_C1ICR_ISC29_Msk      (0x1UL << HSEM_C1ICR_ISC29_Pos)              /*!< 0x20000000 */
+#define HSEM_C1ICR_ISC29          HSEM_C1ICR_ISC29_Msk                         /*!<semaphore 29 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC30_Pos      (30U)
+#define HSEM_C1ICR_ISC30_Msk      (0x1UL << HSEM_C1ICR_ISC30_Pos)              /*!< 0x40000000 */
+#define HSEM_C1ICR_ISC30          HSEM_C1ICR_ISC30_Msk                         /*!<semaphore 30 interrupt 0 clear bit. */
+#define HSEM_C1ICR_ISC31_Pos      (31U)
+#define HSEM_C1ICR_ISC31_Msk      (0x1UL << HSEM_C1ICR_ISC31_Pos)              /*!< 0x80000000 */
+#define HSEM_C1ICR_ISC31          HSEM_C1ICR_ISC31_Msk                         /*!<semaphore 31 interrupt 0 clear bit. */
+
+/********************  Bit definition for HSEM_C1ISR register  *****************/
+#define HSEM_C1ISR_ISF0_Pos       (0U)
+#define HSEM_C1ISR_ISF0_Msk       (0x1UL << HSEM_C1ISR_ISF0_Pos)               /*!< 0x00000001 */
+#define HSEM_C1ISR_ISF0           HSEM_C1ISR_ISF0_Msk                          /*!<semaphore 0 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF1_Pos       (1U)
+#define HSEM_C1ISR_ISF1_Msk       (0x1UL << HSEM_C1ISR_ISF1_Pos)               /*!< 0x00000002 */
+#define HSEM_C1ISR_ISF1           HSEM_C1ISR_ISF1_Msk                          /*!<semaphore 1 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF2_Pos       (2U)
+#define HSEM_C1ISR_ISF2_Msk       (0x1UL << HSEM_C1ISR_ISF2_Pos)               /*!< 0x00000004 */
+#define HSEM_C1ISR_ISF2           HSEM_C1ISR_ISF2_Msk                          /*!<semaphore 2 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF3_Pos       (3U)
+#define HSEM_C1ISR_ISF3_Msk       (0x1UL << HSEM_C1ISR_ISF3_Pos)               /*!< 0x00000008 */
+#define HSEM_C1ISR_ISF3           HSEM_C1ISR_ISF3_Msk                          /*!<semaphore 3 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF4_Pos       (4U)
+#define HSEM_C1ISR_ISF4_Msk       (0x1UL << HSEM_C1ISR_ISF4_Pos)               /*!< 0x00000010 */
+#define HSEM_C1ISR_ISF4           HSEM_C1ISR_ISF4_Msk                          /*!<semaphore 4 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF5_Pos       (5U)
+#define HSEM_C1ISR_ISF5_Msk       (0x1UL << HSEM_C1ISR_ISF5_Pos)               /*!< 0x00000020 */
+#define HSEM_C1ISR_ISF5           HSEM_C1ISR_ISF5_Msk                          /*!<semaphore 5 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF6_Pos       (6U)
+#define HSEM_C1ISR_ISF6_Msk       (0x1UL << HSEM_C1ISR_ISF6_Pos)               /*!< 0x00000040 */
+#define HSEM_C1ISR_ISF6           HSEM_C1ISR_ISF6_Msk                          /*!<semaphore 6 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF7_Pos       (7U)
+#define HSEM_C1ISR_ISF7_Msk       (0x1UL << HSEM_C1ISR_ISF7_Pos)               /*!< 0x00000080 */
+#define HSEM_C1ISR_ISF7           HSEM_C1ISR_ISF7_Msk                          /*!<semaphore 7 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF8_Pos       (8U)
+#define HSEM_C1ISR_ISF8_Msk       (0x1UL << HSEM_C1ISR_ISF8_Pos)               /*!< 0x00000100 */
+#define HSEM_C1ISR_ISF8           HSEM_C1ISR_ISF8_Msk                          /*!<semaphore 8 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF9_Pos       (9U)
+#define HSEM_C1ISR_ISF9_Msk       (0x1UL << HSEM_C1ISR_ISF9_Pos)               /*!< 0x00000200 */
+#define HSEM_C1ISR_ISF9           HSEM_C1ISR_ISF9_Msk                          /*!<semaphore 9 interrupt 0 status bit.  */
+#define HSEM_C1ISR_ISF10_Pos      (10U)
+#define HSEM_C1ISR_ISF10_Msk      (0x1UL << HSEM_C1ISR_ISF10_Pos)              /*!< 0x00000400 */
+#define HSEM_C1ISR_ISF10          HSEM_C1ISR_ISF10_Msk                         /*!<semaphore 10 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF11_Pos      (11U)
+#define HSEM_C1ISR_ISF11_Msk      (0x1UL << HSEM_C1ISR_ISF11_Pos)              /*!< 0x00000800 */
+#define HSEM_C1ISR_ISF11          HSEM_C1ISR_ISF11_Msk                         /*!<semaphore 11 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF12_Pos      (12U)
+#define HSEM_C1ISR_ISF12_Msk      (0x1UL << HSEM_C1ISR_ISF12_Pos)              /*!< 0x00001000 */
+#define HSEM_C1ISR_ISF12          HSEM_C1ISR_ISF12_Msk                         /*!<semaphore 12 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF13_Pos      (13U)
+#define HSEM_C1ISR_ISF13_Msk      (0x1UL << HSEM_C1ISR_ISF13_Pos)              /*!< 0x00002000 */
+#define HSEM_C1ISR_ISF13          HSEM_C1ISR_ISF13_Msk                         /*!<semaphore 13 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF14_Pos      (14U)
+#define HSEM_C1ISR_ISF14_Msk      (0x1UL << HSEM_C1ISR_ISF14_Pos)              /*!< 0x00004000 */
+#define HSEM_C1ISR_ISF14          HSEM_C1ISR_ISF14_Msk                         /*!<semaphore 14 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF15_Pos      (15U)
+#define HSEM_C1ISR_ISF15_Msk      (0x1UL << HSEM_C1ISR_ISF15_Pos)              /*!< 0x00008000 */
+#define HSEM_C1ISR_ISF15          HSEM_C1ISR_ISF15_Msk                         /*!<semaphore 15 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF16_Pos      (16U)
+#define HSEM_C1ISR_ISF16_Msk      (0x1UL << HSEM_C1ISR_ISF16_Pos)              /*!< 0x00010000 */
+#define HSEM_C1ISR_ISF16          HSEM_C1ISR_ISF16_Msk                         /*!<semaphore 16 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF17_Pos      (17U)
+#define HSEM_C1ISR_ISF17_Msk      (0x1UL << HSEM_C1ISR_ISF17_Pos)              /*!< 0x00020000 */
+#define HSEM_C1ISR_ISF17          HSEM_C1ISR_ISF17_Msk                         /*!<semaphore 17 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF18_Pos      (18U)
+#define HSEM_C1ISR_ISF18_Msk      (0x1UL << HSEM_C1ISR_ISF18_Pos)              /*!< 0x00040000 */
+#define HSEM_C1ISR_ISF18          HSEM_C1ISR_ISF18_Msk                         /*!<semaphore 18 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF19_Pos      (19U)
+#define HSEM_C1ISR_ISF19_Msk      (0x1UL << HSEM_C1ISR_ISF19_Pos)              /*!< 0x00080000 */
+#define HSEM_C1ISR_ISF19          HSEM_C1ISR_ISF19_Msk                         /*!<semaphore 19 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF20_Pos      (20U)
+#define HSEM_C1ISR_ISF20_Msk      (0x1UL << HSEM_C1ISR_ISF20_Pos)              /*!< 0x00100000 */
+#define HSEM_C1ISR_ISF20          HSEM_C1ISR_ISF20_Msk                         /*!<semaphore 20 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF21_Pos      (21U)
+#define HSEM_C1ISR_ISF21_Msk      (0x1UL << HSEM_C1ISR_ISF21_Pos)              /*!< 0x00200000 */
+#define HSEM_C1ISR_ISF21          HSEM_C1ISR_ISF21_Msk                         /*!<semaphore 21 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF22_Pos      (22U)
+#define HSEM_C1ISR_ISF22_Msk      (0x1UL << HSEM_C1ISR_ISF22_Pos)              /*!< 0x00400000 */
+#define HSEM_C1ISR_ISF22          HSEM_C1ISR_ISF22_Msk                         /*!<semaphore 22 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF23_Pos      (23U)
+#define HSEM_C1ISR_ISF23_Msk      (0x1UL << HSEM_C1ISR_ISF23_Pos)              /*!< 0x00800000 */
+#define HSEM_C1ISR_ISF23          HSEM_C1ISR_ISF23_Msk                         /*!<semaphore 23 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF24_Pos      (24U)
+#define HSEM_C1ISR_ISF24_Msk      (0x1UL << HSEM_C1ISR_ISF24_Pos)              /*!< 0x01000000 */
+#define HSEM_C1ISR_ISF24          HSEM_C1ISR_ISF24_Msk                         /*!<semaphore 24 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF25_Pos      (25U)
+#define HSEM_C1ISR_ISF25_Msk      (0x1UL << HSEM_C1ISR_ISF25_Pos)              /*!< 0x02000000 */
+#define HSEM_C1ISR_ISF25          HSEM_C1ISR_ISF25_Msk                         /*!<semaphore 25 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF26_Pos      (26U)
+#define HSEM_C1ISR_ISF26_Msk      (0x1UL << HSEM_C1ISR_ISF26_Pos)              /*!< 0x04000000 */
+#define HSEM_C1ISR_ISF26          HSEM_C1ISR_ISF26_Msk                         /*!<semaphore 26 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF27_Pos      (27U)
+#define HSEM_C1ISR_ISF27_Msk      (0x1UL << HSEM_C1ISR_ISF27_Pos)              /*!< 0x08000000 */
+#define HSEM_C1ISR_ISF27          HSEM_C1ISR_ISF27_Msk                         /*!<semaphore 27 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF28_Pos      (28U)
+#define HSEM_C1ISR_ISF28_Msk      (0x1UL << HSEM_C1ISR_ISF28_Pos)              /*!< 0x10000000 */
+#define HSEM_C1ISR_ISF28          HSEM_C1ISR_ISF28_Msk                         /*!<semaphore 28 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF29_Pos      (29U)
+#define HSEM_C1ISR_ISF29_Msk      (0x1UL << HSEM_C1ISR_ISF29_Pos)              /*!< 0x20000000 */
+#define HSEM_C1ISR_ISF29          HSEM_C1ISR_ISF29_Msk                         /*!<semaphore 29 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF30_Pos      (30U)
+#define HSEM_C1ISR_ISF30_Msk      (0x1UL << HSEM_C1ISR_ISF30_Pos)              /*!< 0x40000000 */
+#define HSEM_C1ISR_ISF30          HSEM_C1ISR_ISF30_Msk                         /*!<semaphore 30 interrupt 0 status bit. */
+#define HSEM_C1ISR_ISF31_Pos      (31U)
+#define HSEM_C1ISR_ISF31_Msk      (0x1UL << HSEM_C1ISR_ISF31_Pos)              /*!< 0x80000000 */
+#define HSEM_C1ISR_ISF31          HSEM_C1ISR_ISF31_Msk                         /*!<semaphore 31 interrupt 0 status bit. */
+
+/********************  Bit definition for HSEM_C1MISR register  *****************/
+#define HSEM_C1MISR_MISF0_Pos     (0U)
+#define HSEM_C1MISR_MISF0_Msk     (0x1UL << HSEM_C1MISR_MISF0_Pos)             /*!< 0x00000001 */
+#define HSEM_C1MISR_MISF0         HSEM_C1MISR_MISF0_Msk                        /*!<semaphore 0 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF1_Pos     (1U)
+#define HSEM_C1MISR_MISF1_Msk     (0x1UL << HSEM_C1MISR_MISF1_Pos)             /*!< 0x00000002 */
+#define HSEM_C1MISR_MISF1         HSEM_C1MISR_MISF1_Msk                        /*!<semaphore 1 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF2_Pos     (2U)
+#define HSEM_C1MISR_MISF2_Msk     (0x1UL << HSEM_C1MISR_MISF2_Pos)             /*!< 0x00000004 */
+#define HSEM_C1MISR_MISF2         HSEM_C1MISR_MISF2_Msk                        /*!<semaphore 2 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF3_Pos     (3U)
+#define HSEM_C1MISR_MISF3_Msk     (0x1UL << HSEM_C1MISR_MISF3_Pos)             /*!< 0x00000008 */
+#define HSEM_C1MISR_MISF3         HSEM_C1MISR_MISF3_Msk                        /*!<semaphore 3 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF4_Pos     (4U)
+#define HSEM_C1MISR_MISF4_Msk     (0x1UL << HSEM_C1MISR_MISF4_Pos)             /*!< 0x00000010 */
+#define HSEM_C1MISR_MISF4         HSEM_C1MISR_MISF4_Msk                        /*!<semaphore 4 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF5_Pos     (5U)
+#define HSEM_C1MISR_MISF5_Msk     (0x1UL << HSEM_C1MISR_MISF5_Pos)             /*!< 0x00000020 */
+#define HSEM_C1MISR_MISF5         HSEM_C1MISR_MISF5_Msk                        /*!<semaphore 5 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF6_Pos     (6U)
+#define HSEM_C1MISR_MISF6_Msk     (0x1UL << HSEM_C1MISR_MISF6_Pos)             /*!< 0x00000040 */
+#define HSEM_C1MISR_MISF6         HSEM_C1MISR_MISF6_Msk                        /*!<semaphore 6 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF7_Pos     (7U)
+#define HSEM_C1MISR_MISF7_Msk     (0x1UL << HSEM_C1MISR_MISF7_Pos)             /*!< 0x00000080 */
+#define HSEM_C1MISR_MISF7         HSEM_C1MISR_MISF7_Msk                        /*!<semaphore 7 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF8_Pos     (8U)
+#define HSEM_C1MISR_MISF8_Msk     (0x1UL << HSEM_C1MISR_MISF8_Pos)             /*!< 0x00000100 */
+#define HSEM_C1MISR_MISF8         HSEM_C1MISR_MISF8_Msk                        /*!<semaphore 8 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF9_Pos     (9U)
+#define HSEM_C1MISR_MISF9_Msk     (0x1UL << HSEM_C1MISR_MISF9_Pos)             /*!< 0x00000200 */
+#define HSEM_C1MISR_MISF9         HSEM_C1MISR_MISF9_Msk                        /*!<semaphore 9 interrupt 0 masked status bit.  */
+#define HSEM_C1MISR_MISF10_Pos    (10U)
+#define HSEM_C1MISR_MISF10_Msk    (0x1UL << HSEM_C1MISR_MISF10_Pos)            /*!< 0x00000400 */
+#define HSEM_C1MISR_MISF10        HSEM_C1MISR_MISF10_Msk                       /*!<semaphore 10 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF11_Pos    (11U)
+#define HSEM_C1MISR_MISF11_Msk    (0x1UL << HSEM_C1MISR_MISF11_Pos)            /*!< 0x00000800 */
+#define HSEM_C1MISR_MISF11        HSEM_C1MISR_MISF11_Msk                       /*!<semaphore 11 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF12_Pos    (12U)
+#define HSEM_C1MISR_MISF12_Msk    (0x1UL << HSEM_C1MISR_MISF12_Pos)            /*!< 0x00001000 */
+#define HSEM_C1MISR_MISF12        HSEM_C1MISR_MISF12_Msk                       /*!<semaphore 12 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF13_Pos    (13U)
+#define HSEM_C1MISR_MISF13_Msk    (0x1UL << HSEM_C1MISR_MISF13_Pos)            /*!< 0x00002000 */
+#define HSEM_C1MISR_MISF13        HSEM_C1MISR_MISF13_Msk                       /*!<semaphore 13 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF14_Pos    (14U)
+#define HSEM_C1MISR_MISF14_Msk    (0x1UL << HSEM_C1MISR_MISF14_Pos)            /*!< 0x00004000 */
+#define HSEM_C1MISR_MISF14        HSEM_C1MISR_MISF14_Msk                       /*!<semaphore 14 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF15_Pos    (15U)
+#define HSEM_C1MISR_MISF15_Msk    (0x1UL << HSEM_C1MISR_MISF15_Pos)            /*!< 0x00008000 */
+#define HSEM_C1MISR_MISF15        HSEM_C1MISR_MISF15_Msk                       /*!<semaphore 15 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF16_Pos    (16U)
+#define HSEM_C1MISR_MISF16_Msk    (0x1UL << HSEM_C1MISR_MISF16_Pos)            /*!< 0x00010000 */
+#define HSEM_C1MISR_MISF16        HSEM_C1MISR_MISF16_Msk                       /*!<semaphore 16 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF17_Pos    (17U)
+#define HSEM_C1MISR_MISF17_Msk    (0x1UL << HSEM_C1MISR_MISF17_Pos)            /*!< 0x00020000 */
+#define HSEM_C1MISR_MISF17        HSEM_C1MISR_MISF17_Msk                       /*!<semaphore 17 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF18_Pos    (18U)
+#define HSEM_C1MISR_MISF18_Msk    (0x1UL << HSEM_C1MISR_MISF18_Pos)            /*!< 0x00040000 */
+#define HSEM_C1MISR_MISF18        HSEM_C1MISR_MISF18_Msk                       /*!<semaphore 18 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF19_Pos    (19U)
+#define HSEM_C1MISR_MISF19_Msk    (0x1UL << HSEM_C1MISR_MISF19_Pos)            /*!< 0x00080000 */
+#define HSEM_C1MISR_MISF19        HSEM_C1MISR_MISF19_Msk                       /*!<semaphore 19 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF20_Pos    (20U)
+#define HSEM_C1MISR_MISF20_Msk    (0x1UL << HSEM_C1MISR_MISF20_Pos)            /*!< 0x00100000 */
+#define HSEM_C1MISR_MISF20        HSEM_C1MISR_MISF20_Msk                       /*!<semaphore 20 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF21_Pos    (21U)
+#define HSEM_C1MISR_MISF21_Msk    (0x1UL << HSEM_C1MISR_MISF21_Pos)            /*!< 0x00200000 */
+#define HSEM_C1MISR_MISF21        HSEM_C1MISR_MISF21_Msk                       /*!<semaphore 21 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF22_Pos    (22U)
+#define HSEM_C1MISR_MISF22_Msk    (0x1UL << HSEM_C1MISR_MISF22_Pos)            /*!< 0x00400000 */
+#define HSEM_C1MISR_MISF22        HSEM_C1MISR_MISF22_Msk                       /*!<semaphore 22 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF23_Pos    (23U)
+#define HSEM_C1MISR_MISF23_Msk    (0x1UL << HSEM_C1MISR_MISF23_Pos)            /*!< 0x00800000 */
+#define HSEM_C1MISR_MISF23        HSEM_C1MISR_MISF23_Msk                       /*!<semaphore 23 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF24_Pos    (24U)
+#define HSEM_C1MISR_MISF24_Msk    (0x1UL << HSEM_C1MISR_MISF24_Pos)            /*!< 0x01000000 */
+#define HSEM_C1MISR_MISF24        HSEM_C1MISR_MISF24_Msk                       /*!<semaphore 24 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF25_Pos    (25U)
+#define HSEM_C1MISR_MISF25_Msk    (0x1UL << HSEM_C1MISR_MISF25_Pos)            /*!< 0x02000000 */
+#define HSEM_C1MISR_MISF25        HSEM_C1MISR_MISF25_Msk                       /*!<semaphore 25 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF26_Pos    (26U)
+#define HSEM_C1MISR_MISF26_Msk    (0x1UL << HSEM_C1MISR_MISF26_Pos)            /*!< 0x04000000 */
+#define HSEM_C1MISR_MISF26        HSEM_C1MISR_MISF26_Msk                       /*!<semaphore 26 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF27_Pos    (27U)
+#define HSEM_C1MISR_MISF27_Msk    (0x1UL << HSEM_C1MISR_MISF27_Pos)            /*!< 0x08000000 */
+#define HSEM_C1MISR_MISF27        HSEM_C1MISR_MISF27_Msk                       /*!<semaphore 27 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF28_Pos    (28U)
+#define HSEM_C1MISR_MISF28_Msk    (0x1UL << HSEM_C1MISR_MISF28_Pos)            /*!< 0x10000000 */
+#define HSEM_C1MISR_MISF28        HSEM_C1MISR_MISF28_Msk                       /*!<semaphore 28 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF29_Pos    (29U)
+#define HSEM_C1MISR_MISF29_Msk    (0x1UL << HSEM_C1MISR_MISF29_Pos)            /*!< 0x20000000 */
+#define HSEM_C1MISR_MISF29        HSEM_C1MISR_MISF29_Msk                       /*!<semaphore 29 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF30_Pos    (30U)
+#define HSEM_C1MISR_MISF30_Msk    (0x1UL << HSEM_C1MISR_MISF30_Pos)            /*!< 0x40000000 */
+#define HSEM_C1MISR_MISF30        HSEM_C1MISR_MISF30_Msk                       /*!<semaphore 30 interrupt 0 masked status bit. */
+#define HSEM_C1MISR_MISF31_Pos    (31U)
+#define HSEM_C1MISR_MISF31_Msk    (0x1UL << HSEM_C1MISR_MISF31_Pos)            /*!< 0x80000000 */
+#define HSEM_C1MISR_MISF31        HSEM_C1MISR_MISF31_Msk                       /*!<semaphore 31 interrupt 0 masked status bit. */
+
+/********************  Bit definition for HSEM_CR register  *****************/
+#define HSEM_CR_COREID_Pos        (8U)
+#define HSEM_CR_COREID_Msk        (0xFFUL << HSEM_CR_COREID_Pos)               /*!< 0x0000FF00 */
+#define HSEM_CR_COREID            HSEM_CR_COREID_Msk                           /*!<CoreID of semaphores to be cleared. */
+#define HSEM_CR_KEY_Pos           (16U)
+#define HSEM_CR_KEY_Msk           (0xFFFFUL << HSEM_CR_KEY_Pos)                /*!< 0xFFFF0000 */
+#define HSEM_CR_KEY               HSEM_CR_KEY_Msk                              /*!<semaphores clear key. */
+
+/********************  Bit definition for HSEM_KEYR register  *****************/
+#define HSEM_KEYR_KEY_Pos         (16U)
+#define HSEM_KEYR_KEY_Msk         (0xFFFFUL << HSEM_KEYR_KEY_Pos)              /*!< 0xFFFF0000 */
+#define HSEM_KEYR_KEY             HSEM_KEYR_KEY_Msk                            /*!<semaphores clear key. */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    HASH                                    */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bits definition for HASH_CR register  ********************/
+#define HASH_CR_INIT_Pos          (2U)
+#define HASH_CR_INIT_Msk          (0x1UL << HASH_CR_INIT_Pos)                  /*!< 0x00000004 */
+#define HASH_CR_INIT              HASH_CR_INIT_Msk
+#define HASH_CR_DMAE_Pos          (3U)
+#define HASH_CR_DMAE_Msk          (0x1UL << HASH_CR_DMAE_Pos)                  /*!< 0x00000008 */
+#define HASH_CR_DMAE              HASH_CR_DMAE_Msk
+#define HASH_CR_DATATYPE_Pos      (4U)
+#define HASH_CR_DATATYPE_Msk      (0x3UL << HASH_CR_DATATYPE_Pos)              /*!< 0x00000030 */
+#define HASH_CR_DATATYPE          HASH_CR_DATATYPE_Msk
+#define HASH_CR_DATATYPE_0        (0x1UL << HASH_CR_DATATYPE_Pos)               /*!< 0x00000010 */
+#define HASH_CR_DATATYPE_1        (0x2UL << HASH_CR_DATATYPE_Pos)               /*!< 0x00000020 */
+#define HASH_CR_MODE_Pos          (6U)
+#define HASH_CR_MODE_Msk          (0x1UL << HASH_CR_MODE_Pos)                  /*!< 0x00000040 */
+#define HASH_CR_MODE              HASH_CR_MODE_Msk
+#define HASH_CR_ALGO_Pos          (7U)
+#define HASH_CR_ALGO_Msk          (0x801UL << HASH_CR_ALGO_Pos)                /*!< 0x00040080 */
+#define HASH_CR_ALGO              HASH_CR_ALGO_Msk
+#define HASH_CR_ALGO_0            (0x001UL << HASH_CR_ALGO_Pos)                 /*!< 0x00000080 */
+#define HASH_CR_ALGO_1            (0x800UL << HASH_CR_ALGO_Pos)                 /*!< 0x00040000 */
+#define HASH_CR_NBW_Pos           (8U)
+#define HASH_CR_NBW_Msk           (0xFUL << HASH_CR_NBW_Pos)                   /*!< 0x00000F00 */
+#define HASH_CR_NBW               HASH_CR_NBW_Msk
+#define HASH_CR_NBW_0             (0x1UL << HASH_CR_NBW_Pos)                    /*!< 0x00000100 */
+#define HASH_CR_NBW_1             (0x2UL << HASH_CR_NBW_Pos)                    /*!< 0x00000200 */
+#define HASH_CR_NBW_2             (0x4UL << HASH_CR_NBW_Pos)                    /*!< 0x00000400 */
+#define HASH_CR_NBW_3             (0x8UL << HASH_CR_NBW_Pos)                    /*!< 0x00000800 */
+#define HASH_CR_DINNE_Pos         (12U)
+#define HASH_CR_DINNE_Msk         (0x1UL << HASH_CR_DINNE_Pos)                 /*!< 0x00001000 */
+#define HASH_CR_DINNE             HASH_CR_DINNE_Msk
+#define HASH_CR_MDMAT_Pos         (13U)
+#define HASH_CR_MDMAT_Msk         (0x1UL << HASH_CR_MDMAT_Pos)                 /*!< 0x00002000 */
+#define HASH_CR_MDMAT             HASH_CR_MDMAT_Msk
+#define HASH_CR_LKEY_Pos          (16U)
+#define HASH_CR_LKEY_Msk          (0x1UL << HASH_CR_LKEY_Pos)                  /*!< 0x00010000 */
+#define HASH_CR_LKEY              HASH_CR_LKEY_Msk
+
+/******************  Bits definition for HASH_STR register  *******************/
+#define HASH_STR_NBLW_Pos         (0U)
+#define HASH_STR_NBLW_Msk         (0x1FUL << HASH_STR_NBLW_Pos)                /*!< 0x0000001F */
+#define HASH_STR_NBLW             HASH_STR_NBLW_Msk
+#define HASH_STR_NBLW_0           (0x01UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000001 */
+#define HASH_STR_NBLW_1           (0x02UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000002 */
+#define HASH_STR_NBLW_2           (0x04UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000004 */
+#define HASH_STR_NBLW_3           (0x08UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000008 */
+#define HASH_STR_NBLW_4           (0x10UL << HASH_STR_NBLW_Pos)                 /*!< 0x00000010 */
+#define HASH_STR_DCAL_Pos         (8U)
+#define HASH_STR_DCAL_Msk         (0x1UL << HASH_STR_DCAL_Pos)                 /*!< 0x00000100 */
+#define HASH_STR_DCAL             HASH_STR_DCAL_Msk
+
+/******************  Bits definition for HASH_IMR register  *******************/
+#define HASH_IMR_DINIE_Pos        (0U)
+#define HASH_IMR_DINIE_Msk        (0x1UL << HASH_IMR_DINIE_Pos)                /*!< 0x00000001 */
+#define HASH_IMR_DINIE            HASH_IMR_DINIE_Msk
+#define HASH_IMR_DCIE_Pos         (1U)
+#define HASH_IMR_DCIE_Msk         (0x1UL << HASH_IMR_DCIE_Pos)                 /*!< 0x00000002 */
+#define HASH_IMR_DCIE             HASH_IMR_DCIE_Msk
+
+/******************  Bits definition for HASH_SR register  ********************/
+#define HASH_SR_DINIS_Pos         (0U)
+#define HASH_SR_DINIS_Msk         (0x1UL << HASH_SR_DINIS_Pos)                 /*!< 0x00000001 */
+#define HASH_SR_DINIS             HASH_SR_DINIS_Msk
+#define HASH_SR_DCIS_Pos          (1U)
+#define HASH_SR_DCIS_Msk          (0x1UL << HASH_SR_DCIS_Pos)                  /*!< 0x00000002 */
+#define HASH_SR_DCIS              HASH_SR_DCIS_Msk
+#define HASH_SR_DMAS_Pos          (2U)
+#define HASH_SR_DMAS_Msk          (0x1UL << HASH_SR_DMAS_Pos)                  /*!< 0x00000004 */
+#define HASH_SR_DMAS              HASH_SR_DMAS_Msk
+#define HASH_SR_BUSY_Pos          (3U)
+#define HASH_SR_BUSY_Msk          (0x1UL << HASH_SR_BUSY_Pos)                  /*!< 0x00000008 */
+#define HASH_SR_BUSY              HASH_SR_BUSY_Msk
+/******************************************************************************/
+/*                                                                            */
+/*                      Inter-integrated Circuit Interface (I2C)              */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for I2C_CR1 register  *******************/
+#define I2C_CR1_PE_Pos               (0U)
+#define I2C_CR1_PE_Msk               (0x1UL << I2C_CR1_PE_Pos)                 /*!< 0x00000001 */
+#define I2C_CR1_PE                   I2C_CR1_PE_Msk                            /*!< Peripheral enable */
+#define I2C_CR1_TXIE_Pos             (1U)
+#define I2C_CR1_TXIE_Msk             (0x1UL << I2C_CR1_TXIE_Pos)               /*!< 0x00000002 */
+#define I2C_CR1_TXIE                 I2C_CR1_TXIE_Msk                          /*!< TX interrupt enable */
+#define I2C_CR1_RXIE_Pos             (2U)
+#define I2C_CR1_RXIE_Msk             (0x1UL << I2C_CR1_RXIE_Pos)               /*!< 0x00000004 */
+#define I2C_CR1_RXIE                 I2C_CR1_RXIE_Msk                          /*!< RX interrupt enable */
+#define I2C_CR1_ADDRIE_Pos           (3U)
+#define I2C_CR1_ADDRIE_Msk           (0x1UL << I2C_CR1_ADDRIE_Pos)             /*!< 0x00000008 */
+#define I2C_CR1_ADDRIE               I2C_CR1_ADDRIE_Msk                        /*!< Address match interrupt enable */
+#define I2C_CR1_NACKIE_Pos           (4U)
+#define I2C_CR1_NACKIE_Msk           (0x1UL << I2C_CR1_NACKIE_Pos)             /*!< 0x00000010 */
+#define I2C_CR1_NACKIE               I2C_CR1_NACKIE_Msk                        /*!< NACK received interrupt enable */
+#define I2C_CR1_STOPIE_Pos           (5U)
+#define I2C_CR1_STOPIE_Msk           (0x1UL << I2C_CR1_STOPIE_Pos)             /*!< 0x00000020 */
+#define I2C_CR1_STOPIE               I2C_CR1_STOPIE_Msk                        /*!< STOP detection interrupt enable */
+#define I2C_CR1_TCIE_Pos             (6U)
+#define I2C_CR1_TCIE_Msk             (0x1UL << I2C_CR1_TCIE_Pos)               /*!< 0x00000040 */
+#define I2C_CR1_TCIE                 I2C_CR1_TCIE_Msk                          /*!< Transfer complete interrupt enable */
+#define I2C_CR1_ERRIE_Pos            (7U)
+#define I2C_CR1_ERRIE_Msk            (0x1UL << I2C_CR1_ERRIE_Pos)              /*!< 0x00000080 */
+#define I2C_CR1_ERRIE                I2C_CR1_ERRIE_Msk                         /*!< Errors interrupt enable */
+#define I2C_CR1_DNF_Pos              (8U)
+#define I2C_CR1_DNF_Msk              (0xFUL << I2C_CR1_DNF_Pos)                /*!< 0x00000F00 */
+#define I2C_CR1_DNF                  I2C_CR1_DNF_Msk                           /*!< Digital noise filter */
+#define I2C_CR1_ANFOFF_Pos           (12U)
+#define I2C_CR1_ANFOFF_Msk           (0x1UL << I2C_CR1_ANFOFF_Pos)             /*!< 0x00001000 */
+#define I2C_CR1_ANFOFF               I2C_CR1_ANFOFF_Msk                        /*!< Analog noise filter OFF */
+#define I2C_CR1_TXDMAEN_Pos          (14U)
+#define I2C_CR1_TXDMAEN_Msk          (0x1UL << I2C_CR1_TXDMAEN_Pos)            /*!< 0x00004000 */
+#define I2C_CR1_TXDMAEN              I2C_CR1_TXDMAEN_Msk                       /*!< DMA transmission requests enable */
+#define I2C_CR1_RXDMAEN_Pos          (15U)
+#define I2C_CR1_RXDMAEN_Msk          (0x1UL << I2C_CR1_RXDMAEN_Pos)            /*!< 0x00008000 */
+#define I2C_CR1_RXDMAEN              I2C_CR1_RXDMAEN_Msk                       /*!< DMA reception requests enable */
+#define I2C_CR1_SBC_Pos              (16U)
+#define I2C_CR1_SBC_Msk              (0x1UL << I2C_CR1_SBC_Pos)                /*!< 0x00010000 */
+#define I2C_CR1_SBC                  I2C_CR1_SBC_Msk                           /*!< Slave byte control */
+#define I2C_CR1_NOSTRETCH_Pos        (17U)
+#define I2C_CR1_NOSTRETCH_Msk        (0x1UL << I2C_CR1_NOSTRETCH_Pos)          /*!< 0x00020000 */
+#define I2C_CR1_NOSTRETCH            I2C_CR1_NOSTRETCH_Msk                     /*!< Clock stretching disable */
+#define I2C_CR1_WUPEN_Pos            (18U)
+#define I2C_CR1_WUPEN_Msk            (0x1UL << I2C_CR1_WUPEN_Pos)              /*!< 0x00040000 */
+#define I2C_CR1_WUPEN                I2C_CR1_WUPEN_Msk                         /*!< Wakeup from STOP enable */
+#define I2C_CR1_GCEN_Pos             (19U)
+#define I2C_CR1_GCEN_Msk             (0x1UL << I2C_CR1_GCEN_Pos)               /*!< 0x00080000 */
+#define I2C_CR1_GCEN                 I2C_CR1_GCEN_Msk                          /*!< General call enable */
+#define I2C_CR1_SMBHEN_Pos           (20U)
+#define I2C_CR1_SMBHEN_Msk           (0x1UL << I2C_CR1_SMBHEN_Pos)             /*!< 0x00100000 */
+#define I2C_CR1_SMBHEN               I2C_CR1_SMBHEN_Msk                        /*!< SMBus host address enable */
+#define I2C_CR1_SMBDEN_Pos           (21U)
+#define I2C_CR1_SMBDEN_Msk           (0x1UL << I2C_CR1_SMBDEN_Pos)             /*!< 0x00200000 */
+#define I2C_CR1_SMBDEN               I2C_CR1_SMBDEN_Msk                        /*!< SMBus device default address enable */
+#define I2C_CR1_ALERTEN_Pos          (22U)
+#define I2C_CR1_ALERTEN_Msk          (0x1UL << I2C_CR1_ALERTEN_Pos)            /*!< 0x00400000 */
+#define I2C_CR1_ALERTEN              I2C_CR1_ALERTEN_Msk                       /*!< SMBus alert enable */
+#define I2C_CR1_PECEN_Pos            (23U)
+#define I2C_CR1_PECEN_Msk            (0x1UL << I2C_CR1_PECEN_Pos)              /*!< 0x00800000 */
+#define I2C_CR1_PECEN                I2C_CR1_PECEN_Msk                         /*!< PEC enable */
+
+/******************  Bit definition for I2C_CR2 register  ********************/
+#define I2C_CR2_SADD_Pos             (0U)
+#define I2C_CR2_SADD_Msk             (0x3FFUL << I2C_CR2_SADD_Pos)             /*!< 0x000003FF */
+#define I2C_CR2_SADD                 I2C_CR2_SADD_Msk                          /*!< Slave address (master mode) */
+#define I2C_CR2_RD_WRN_Pos           (10U)
+#define I2C_CR2_RD_WRN_Msk           (0x1UL << I2C_CR2_RD_WRN_Pos)             /*!< 0x00000400 */
+#define I2C_CR2_RD_WRN               I2C_CR2_RD_WRN_Msk                        /*!< Transfer direction (master mode) */
+#define I2C_CR2_ADD10_Pos            (11U)
+#define I2C_CR2_ADD10_Msk            (0x1UL << I2C_CR2_ADD10_Pos)              /*!< 0x00000800 */
+#define I2C_CR2_ADD10                I2C_CR2_ADD10_Msk                         /*!< 10-bit addressing mode (master mode) */
+#define I2C_CR2_HEAD10R_Pos          (12U)
+#define I2C_CR2_HEAD10R_Msk          (0x1UL << I2C_CR2_HEAD10R_Pos)            /*!< 0x00001000 */
+#define I2C_CR2_HEAD10R              I2C_CR2_HEAD10R_Msk                       /*!< 10-bit address header only read direction (master mode) */
+#define I2C_CR2_START_Pos            (13U)
+#define I2C_CR2_START_Msk            (0x1UL << I2C_CR2_START_Pos)              /*!< 0x00002000 */
+#define I2C_CR2_START                I2C_CR2_START_Msk                         /*!< START generation */
+#define I2C_CR2_STOP_Pos             (14U)
+#define I2C_CR2_STOP_Msk             (0x1UL << I2C_CR2_STOP_Pos)               /*!< 0x00004000 */
+#define I2C_CR2_STOP                 I2C_CR2_STOP_Msk                          /*!< STOP generation (master mode) */
+#define I2C_CR2_NACK_Pos             (15U)
+#define I2C_CR2_NACK_Msk             (0x1UL << I2C_CR2_NACK_Pos)               /*!< 0x00008000 */
+#define I2C_CR2_NACK                 I2C_CR2_NACK_Msk                          /*!< NACK generation (slave mode) */
+#define I2C_CR2_NBYTES_Pos           (16U)
+#define I2C_CR2_NBYTES_Msk           (0xFFUL << I2C_CR2_NBYTES_Pos)            /*!< 0x00FF0000 */
+#define I2C_CR2_NBYTES               I2C_CR2_NBYTES_Msk                        /*!< Number of bytes */
+#define I2C_CR2_RELOAD_Pos           (24U)
+#define I2C_CR2_RELOAD_Msk           (0x1UL << I2C_CR2_RELOAD_Pos)             /*!< 0x01000000 */
+#define I2C_CR2_RELOAD               I2C_CR2_RELOAD_Msk                        /*!< NBYTES reload mode */
+#define I2C_CR2_AUTOEND_Pos          (25U)
+#define I2C_CR2_AUTOEND_Msk          (0x1UL << I2C_CR2_AUTOEND_Pos)            /*!< 0x02000000 */
+#define I2C_CR2_AUTOEND              I2C_CR2_AUTOEND_Msk                       /*!< Automatic end mode (master mode) */
+#define I2C_CR2_PECBYTE_Pos          (26U)
+#define I2C_CR2_PECBYTE_Msk          (0x1UL << I2C_CR2_PECBYTE_Pos)            /*!< 0x04000000 */
+#define I2C_CR2_PECBYTE              I2C_CR2_PECBYTE_Msk                       /*!< Packet error checking byte */
+
+/*******************  Bit definition for I2C_OAR1 register  ******************/
+#define I2C_OAR1_OA1_Pos             (0U)
+#define I2C_OAR1_OA1_Msk             (0x3FFUL << I2C_OAR1_OA1_Pos)             /*!< 0x000003FF */
+#define I2C_OAR1_OA1                 I2C_OAR1_OA1_Msk                          /*!< Interface own address 1 */
+#define I2C_OAR1_OA1MODE_Pos         (10U)
+#define I2C_OAR1_OA1MODE_Msk         (0x1UL << I2C_OAR1_OA1MODE_Pos)           /*!< 0x00000400 */
+#define I2C_OAR1_OA1MODE             I2C_OAR1_OA1MODE_Msk                      /*!< Own address 1 10-bit mode */
+#define I2C_OAR1_OA1EN_Pos           (15U)
+#define I2C_OAR1_OA1EN_Msk           (0x1UL << I2C_OAR1_OA1EN_Pos)             /*!< 0x00008000 */
+#define I2C_OAR1_OA1EN               I2C_OAR1_OA1EN_Msk                        /*!< Own address 1 enable */
+
+/*******************  Bit definition for I2C_OAR2 register  ******************/
+#define I2C_OAR2_OA2_Pos             (1U)
+#define I2C_OAR2_OA2_Msk             (0x7FUL << I2C_OAR2_OA2_Pos)              /*!< 0x000000FE */
+#define I2C_OAR2_OA2                 I2C_OAR2_OA2_Msk                          /*!< Interface own address 2 */
+#define I2C_OAR2_OA2MSK_Pos          (8U)
+#define I2C_OAR2_OA2MSK_Msk          (0x7UL << I2C_OAR2_OA2MSK_Pos)            /*!< 0x00000700 */
+#define I2C_OAR2_OA2MSK              I2C_OAR2_OA2MSK_Msk                       /*!< Own address 2 masks */
+#define I2C_OAR2_OA2NOMASK           0x00000000UL                              /*!< No mask */
+#define I2C_OAR2_OA2MASK01_Pos       (8U)
+#define I2C_OAR2_OA2MASK01_Msk       (0x1UL << I2C_OAR2_OA2MASK01_Pos)         /*!< 0x00000100 */
+#define I2C_OAR2_OA2MASK01           I2C_OAR2_OA2MASK01_Msk                    /*!< OA2[1] is masked, Only OA2[7:2] are compared */
+#define I2C_OAR2_OA2MASK02_Pos       (9U)
+#define I2C_OAR2_OA2MASK02_Msk       (0x1UL << I2C_OAR2_OA2MASK02_Pos)         /*!< 0x00000200 */
+#define I2C_OAR2_OA2MASK02           I2C_OAR2_OA2MASK02_Msk                    /*!< OA2[2:1] is masked, Only OA2[7:3] are compared */
+#define I2C_OAR2_OA2MASK03_Pos       (8U)
+#define I2C_OAR2_OA2MASK03_Msk       (0x3UL << I2C_OAR2_OA2MASK03_Pos)         /*!< 0x00000300 */
+#define I2C_OAR2_OA2MASK03           I2C_OAR2_OA2MASK03_Msk                    /*!< OA2[3:1] is masked, Only OA2[7:4] are compared */
+#define I2C_OAR2_OA2MASK04_Pos       (10U)
+#define I2C_OAR2_OA2MASK04_Msk       (0x1UL << I2C_OAR2_OA2MASK04_Pos)         /*!< 0x00000400 */
+#define I2C_OAR2_OA2MASK04           I2C_OAR2_OA2MASK04_Msk                    /*!< OA2[4:1] is masked, Only OA2[7:5] are compared */
+#define I2C_OAR2_OA2MASK05_Pos       (8U)
+#define I2C_OAR2_OA2MASK05_Msk       (0x5UL << I2C_OAR2_OA2MASK05_Pos)         /*!< 0x00000500 */
+#define I2C_OAR2_OA2MASK05           I2C_OAR2_OA2MASK05_Msk                    /*!< OA2[5:1] is masked, Only OA2[7:6] are compared */
+#define I2C_OAR2_OA2MASK06_Pos       (9U)
+#define I2C_OAR2_OA2MASK06_Msk       (0x3UL << I2C_OAR2_OA2MASK06_Pos)         /*!< 0x00000600 */
+#define I2C_OAR2_OA2MASK06           I2C_OAR2_OA2MASK06_Msk                    /*!< OA2[6:1] is masked, Only OA2[7] are compared */
+#define I2C_OAR2_OA2MASK07_Pos       (8U)
+#define I2C_OAR2_OA2MASK07_Msk       (0x7UL << I2C_OAR2_OA2MASK07_Pos)         /*!< 0x00000700 */
+#define I2C_OAR2_OA2MASK07           I2C_OAR2_OA2MASK07_Msk                    /*!< OA2[7:1] is masked, No comparison is done */
+#define I2C_OAR2_OA2EN_Pos           (15U)
+#define I2C_OAR2_OA2EN_Msk           (0x1UL << I2C_OAR2_OA2EN_Pos)             /*!< 0x00008000 */
+#define I2C_OAR2_OA2EN               I2C_OAR2_OA2EN_Msk                        /*!< Own address 2 enable */
+
+/*******************  Bit definition for I2C_TIMINGR register *******************/
+#define I2C_TIMINGR_SCLL_Pos         (0U)
+#define I2C_TIMINGR_SCLL_Msk         (0xFFUL << I2C_TIMINGR_SCLL_Pos)          /*!< 0x000000FF */
+#define I2C_TIMINGR_SCLL             I2C_TIMINGR_SCLL_Msk                      /*!< SCL low period (master mode) */
+#define I2C_TIMINGR_SCLH_Pos         (8U)
+#define I2C_TIMINGR_SCLH_Msk         (0xFFUL << I2C_TIMINGR_SCLH_Pos)          /*!< 0x0000FF00 */
+#define I2C_TIMINGR_SCLH             I2C_TIMINGR_SCLH_Msk                      /*!< SCL high period (master mode) */
+#define I2C_TIMINGR_SDADEL_Pos       (16U)
+#define I2C_TIMINGR_SDADEL_Msk       (0xFUL << I2C_TIMINGR_SDADEL_Pos)         /*!< 0x000F0000 */
+#define I2C_TIMINGR_SDADEL           I2C_TIMINGR_SDADEL_Msk                    /*!< Data hold time */
+#define I2C_TIMINGR_SCLDEL_Pos       (20U)
+#define I2C_TIMINGR_SCLDEL_Msk       (0xFUL << I2C_TIMINGR_SCLDEL_Pos)         /*!< 0x00F00000 */
+#define I2C_TIMINGR_SCLDEL           I2C_TIMINGR_SCLDEL_Msk                    /*!< Data setup time */
+#define I2C_TIMINGR_PRESC_Pos        (28U)
+#define I2C_TIMINGR_PRESC_Msk        (0xFUL << I2C_TIMINGR_PRESC_Pos)          /*!< 0xF0000000 */
+#define I2C_TIMINGR_PRESC            I2C_TIMINGR_PRESC_Msk                     /*!< Timings prescaler */
+
+/******************* Bit definition for I2C_TIMEOUTR register *******************/
+#define I2C_TIMEOUTR_TIMEOUTA_Pos    (0U)
+#define I2C_TIMEOUTR_TIMEOUTA_Msk    (0xFFFUL << I2C_TIMEOUTR_TIMEOUTA_Pos)    /*!< 0x00000FFF */
+#define I2C_TIMEOUTR_TIMEOUTA        I2C_TIMEOUTR_TIMEOUTA_Msk                 /*!< Bus timeout A */
+#define I2C_TIMEOUTR_TIDLE_Pos       (12U)
+#define I2C_TIMEOUTR_TIDLE_Msk       (0x1UL << I2C_TIMEOUTR_TIDLE_Pos)         /*!< 0x00001000 */
+#define I2C_TIMEOUTR_TIDLE           I2C_TIMEOUTR_TIDLE_Msk                    /*!< Idle clock timeout detection */
+#define I2C_TIMEOUTR_TIMOUTEN_Pos    (15U)
+#define I2C_TIMEOUTR_TIMOUTEN_Msk    (0x1UL << I2C_TIMEOUTR_TIMOUTEN_Pos)      /*!< 0x00008000 */
+#define I2C_TIMEOUTR_TIMOUTEN        I2C_TIMEOUTR_TIMOUTEN_Msk                 /*!< Clock timeout enable */
+#define I2C_TIMEOUTR_TIMEOUTB_Pos    (16U)
+#define I2C_TIMEOUTR_TIMEOUTB_Msk    (0xFFFUL << I2C_TIMEOUTR_TIMEOUTB_Pos)    /*!< 0x0FFF0000 */
+#define I2C_TIMEOUTR_TIMEOUTB        I2C_TIMEOUTR_TIMEOUTB_Msk                 /*!< Bus timeout B*/
+#define I2C_TIMEOUTR_TEXTEN_Pos      (31U)
+#define I2C_TIMEOUTR_TEXTEN_Msk      (0x1UL << I2C_TIMEOUTR_TEXTEN_Pos)        /*!< 0x80000000 */
+#define I2C_TIMEOUTR_TEXTEN          I2C_TIMEOUTR_TEXTEN_Msk                   /*!< Extended clock timeout enable */
+
+/******************  Bit definition for I2C_ISR register  *********************/
+#define I2C_ISR_TXE_Pos              (0U)
+#define I2C_ISR_TXE_Msk              (0x1UL << I2C_ISR_TXE_Pos)                /*!< 0x00000001 */
+#define I2C_ISR_TXE                  I2C_ISR_TXE_Msk                           /*!< Transmit data register empty */
+#define I2C_ISR_TXIS_Pos             (1U)
+#define I2C_ISR_TXIS_Msk             (0x1UL << I2C_ISR_TXIS_Pos)               /*!< 0x00000002 */
+#define I2C_ISR_TXIS                 I2C_ISR_TXIS_Msk                          /*!< Transmit interrupt status */
+#define I2C_ISR_RXNE_Pos             (2U)
+#define I2C_ISR_RXNE_Msk             (0x1UL << I2C_ISR_RXNE_Pos)               /*!< 0x00000004 */
+#define I2C_ISR_RXNE                 I2C_ISR_RXNE_Msk                          /*!< Receive data register not empty */
+#define I2C_ISR_ADDR_Pos             (3U)
+#define I2C_ISR_ADDR_Msk             (0x1UL << I2C_ISR_ADDR_Pos)               /*!< 0x00000008 */
+#define I2C_ISR_ADDR                 I2C_ISR_ADDR_Msk                          /*!< Address matched (slave mode)*/
+#define I2C_ISR_NACKF_Pos            (4U)
+#define I2C_ISR_NACKF_Msk            (0x1UL << I2C_ISR_NACKF_Pos)              /*!< 0x00000010 */
+#define I2C_ISR_NACKF                I2C_ISR_NACKF_Msk                         /*!< NACK received flag */
+#define I2C_ISR_STOPF_Pos            (5U)
+#define I2C_ISR_STOPF_Msk            (0x1UL << I2C_ISR_STOPF_Pos)              /*!< 0x00000020 */
+#define I2C_ISR_STOPF                I2C_ISR_STOPF_Msk                         /*!< STOP detection flag */
+#define I2C_ISR_TC_Pos               (6U)
+#define I2C_ISR_TC_Msk               (0x1UL << I2C_ISR_TC_Pos)                 /*!< 0x00000040 */
+#define I2C_ISR_TC                   I2C_ISR_TC_Msk                            /*!< Transfer complete (master mode) */
+#define I2C_ISR_TCR_Pos              (7U)
+#define I2C_ISR_TCR_Msk              (0x1UL << I2C_ISR_TCR_Pos)                /*!< 0x00000080 */
+#define I2C_ISR_TCR                  I2C_ISR_TCR_Msk                           /*!< Transfer complete reload */
+#define I2C_ISR_BERR_Pos             (8U)
+#define I2C_ISR_BERR_Msk             (0x1UL << I2C_ISR_BERR_Pos)               /*!< 0x00000100 */
+#define I2C_ISR_BERR                 I2C_ISR_BERR_Msk                          /*!< Bus error */
+#define I2C_ISR_ARLO_Pos             (9U)
+#define I2C_ISR_ARLO_Msk             (0x1UL << I2C_ISR_ARLO_Pos)               /*!< 0x00000200 */
+#define I2C_ISR_ARLO                 I2C_ISR_ARLO_Msk                          /*!< Arbitration lost */
+#define I2C_ISR_OVR_Pos              (10U)
+#define I2C_ISR_OVR_Msk              (0x1UL << I2C_ISR_OVR_Pos)                /*!< 0x00000400 */
+#define I2C_ISR_OVR                  I2C_ISR_OVR_Msk                           /*!< Overrun/Underrun */
+#define I2C_ISR_PECERR_Pos           (11U)
+#define I2C_ISR_PECERR_Msk           (0x1UL << I2C_ISR_PECERR_Pos)             /*!< 0x00000800 */
+#define I2C_ISR_PECERR               I2C_ISR_PECERR_Msk                        /*!< PEC error in reception */
+#define I2C_ISR_TIMEOUT_Pos          (12U)
+#define I2C_ISR_TIMEOUT_Msk          (0x1UL << I2C_ISR_TIMEOUT_Pos)            /*!< 0x00001000 */
+#define I2C_ISR_TIMEOUT              I2C_ISR_TIMEOUT_Msk                       /*!< Timeout or Tlow detection flag */
+#define I2C_ISR_ALERT_Pos            (13U)
+#define I2C_ISR_ALERT_Msk            (0x1UL << I2C_ISR_ALERT_Pos)              /*!< 0x00002000 */
+#define I2C_ISR_ALERT                I2C_ISR_ALERT_Msk                         /*!< SMBus alert */
+#define I2C_ISR_BUSY_Pos             (15U)
+#define I2C_ISR_BUSY_Msk             (0x1UL << I2C_ISR_BUSY_Pos)               /*!< 0x00008000 */
+#define I2C_ISR_BUSY                 I2C_ISR_BUSY_Msk                          /*!< Bus busy */
+#define I2C_ISR_DIR_Pos              (16U)
+#define I2C_ISR_DIR_Msk              (0x1UL << I2C_ISR_DIR_Pos)                /*!< 0x00010000 */
+#define I2C_ISR_DIR                  I2C_ISR_DIR_Msk                           /*!< Transfer direction (slave mode) */
+#define I2C_ISR_ADDCODE_Pos          (17U)
+#define I2C_ISR_ADDCODE_Msk          (0x7FUL << I2C_ISR_ADDCODE_Pos)           /*!< 0x00FE0000 */
+#define I2C_ISR_ADDCODE              I2C_ISR_ADDCODE_Msk                       /*!< Address match code (slave mode) */
+
+/******************  Bit definition for I2C_ICR register  *********************/
+#define I2C_ICR_ADDRCF_Pos           (3U)
+#define I2C_ICR_ADDRCF_Msk           (0x1UL << I2C_ICR_ADDRCF_Pos)             /*!< 0x00000008 */
+#define I2C_ICR_ADDRCF               I2C_ICR_ADDRCF_Msk                        /*!< Address matched clear flag */
+#define I2C_ICR_NACKCF_Pos           (4U)
+#define I2C_ICR_NACKCF_Msk           (0x1UL << I2C_ICR_NACKCF_Pos)             /*!< 0x00000010 */
+#define I2C_ICR_NACKCF               I2C_ICR_NACKCF_Msk                        /*!< NACK clear flag */
+#define I2C_ICR_STOPCF_Pos           (5U)
+#define I2C_ICR_STOPCF_Msk           (0x1UL << I2C_ICR_STOPCF_Pos)             /*!< 0x00000020 */
+#define I2C_ICR_STOPCF               I2C_ICR_STOPCF_Msk                        /*!< STOP detection clear flag */
+#define I2C_ICR_BERRCF_Pos           (8U)
+#define I2C_ICR_BERRCF_Msk           (0x1UL << I2C_ICR_BERRCF_Pos)             /*!< 0x00000100 */
+#define I2C_ICR_BERRCF               I2C_ICR_BERRCF_Msk                        /*!< Bus error clear flag */
+#define I2C_ICR_ARLOCF_Pos           (9U)
+#define I2C_ICR_ARLOCF_Msk           (0x1UL << I2C_ICR_ARLOCF_Pos)             /*!< 0x00000200 */
+#define I2C_ICR_ARLOCF               I2C_ICR_ARLOCF_Msk                        /*!< Arbitration lost clear flag */
+#define I2C_ICR_OVRCF_Pos            (10U)
+#define I2C_ICR_OVRCF_Msk            (0x1UL << I2C_ICR_OVRCF_Pos)              /*!< 0x00000400 */
+#define I2C_ICR_OVRCF                I2C_ICR_OVRCF_Msk                         /*!< Overrun/Underrun clear flag */
+#define I2C_ICR_PECCF_Pos            (11U)
+#define I2C_ICR_PECCF_Msk            (0x1UL << I2C_ICR_PECCF_Pos)              /*!< 0x00000800 */
+#define I2C_ICR_PECCF                I2C_ICR_PECCF_Msk                         /*!< PAC error clear flag */
+#define I2C_ICR_TIMOUTCF_Pos         (12U)
+#define I2C_ICR_TIMOUTCF_Msk         (0x1UL << I2C_ICR_TIMOUTCF_Pos)           /*!< 0x00001000 */
+#define I2C_ICR_TIMOUTCF             I2C_ICR_TIMOUTCF_Msk                      /*!< Timeout clear flag */
+#define I2C_ICR_ALERTCF_Pos          (13U)
+#define I2C_ICR_ALERTCF_Msk          (0x1UL << I2C_ICR_ALERTCF_Pos)            /*!< 0x00002000 */
+#define I2C_ICR_ALERTCF              I2C_ICR_ALERTCF_Msk                       /*!< Alert clear flag */
+
+/******************  Bit definition for I2C_PECR register  *********************/
+#define I2C_PECR_PEC_Pos             (0U)
+#define I2C_PECR_PEC_Msk             (0xFFUL << I2C_PECR_PEC_Pos)              /*!< 0x000000FF */
+#define I2C_PECR_PEC                 I2C_PECR_PEC_Msk                          /*!< PEC register */
+
+/******************  Bit definition for I2C_RXDR register  *********************/
+#define I2C_RXDR_RXDATA_Pos          (0U)
+#define I2C_RXDR_RXDATA_Msk          (0xFFUL << I2C_RXDR_RXDATA_Pos)           /*!< 0x000000FF */
+#define I2C_RXDR_RXDATA              I2C_RXDR_RXDATA_Msk                       /*!< 8-bit receive data */
+
+/******************  Bit definition for I2C_TXDR register  *********************/
+#define I2C_TXDR_TXDATA_Pos          (0U)
+#define I2C_TXDR_TXDATA_Msk          (0xFFUL << I2C_TXDR_TXDATA_Pos)           /*!< 0x000000FF */
+#define I2C_TXDR_TXDATA              I2C_TXDR_TXDATA_Msk                       /*!< 8-bit transmit data */
+
+/******************************************************************************/
+/*                                                                            */
+/*                           Independent WATCHDOG                             */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for IWDG_KR register  ********************/
+#define IWDG_KR_KEY_Pos      (0U)
+#define IWDG_KR_KEY_Msk      (0xFFFFUL << IWDG_KR_KEY_Pos)                     /*!< 0x0000FFFF */
+#define IWDG_KR_KEY          IWDG_KR_KEY_Msk                                   /*!<Key value (write only, read 0000h)  */
+
+/*******************  Bit definition for IWDG_PR register  ********************/
+#define IWDG_PR_PR_Pos       (0U)
+#define IWDG_PR_PR_Msk       (0x7UL << IWDG_PR_PR_Pos)                         /*!< 0x00000007 */
+#define IWDG_PR_PR           IWDG_PR_PR_Msk                                    /*!<PR[2:0] (Prescaler divider)         */
+#define IWDG_PR_PR_0         (0x1UL << IWDG_PR_PR_Pos)                          /*!< 0x00000001 */
+#define IWDG_PR_PR_1         (0x2UL << IWDG_PR_PR_Pos)                          /*!< 0x00000002 */
+#define IWDG_PR_PR_2         (0x4UL << IWDG_PR_PR_Pos)                          /*!< 0x00000004 */
+
+/*******************  Bit definition for IWDG_RLR register  *******************/
+#define IWDG_RLR_RL_Pos      (0U)
+#define IWDG_RLR_RL_Msk      (0xFFFUL << IWDG_RLR_RL_Pos)                      /*!< 0x00000FFF */
+#define IWDG_RLR_RL          IWDG_RLR_RL_Msk                                   /*!<Watchdog counter reload value        */
+
+/*******************  Bit definition for IWDG_SR register  ********************/
+#define IWDG_SR_PVU_Pos      (0U)
+#define IWDG_SR_PVU_Msk      (0x1UL << IWDG_SR_PVU_Pos)                        /*!< 0x00000001 */
+#define IWDG_SR_PVU          IWDG_SR_PVU_Msk                                   /*!< Watchdog prescaler value update */
+#define IWDG_SR_RVU_Pos      (1U)
+#define IWDG_SR_RVU_Msk      (0x1UL << IWDG_SR_RVU_Pos)                        /*!< 0x00000002 */
+#define IWDG_SR_RVU          IWDG_SR_RVU_Msk                                   /*!< Watchdog counter reload value update */
+#define IWDG_SR_WVU_Pos      (2U)
+#define IWDG_SR_WVU_Msk      (0x1UL << IWDG_SR_WVU_Pos)                        /*!< 0x00000004 */
+#define IWDG_SR_WVU          IWDG_SR_WVU_Msk                                   /*!< Watchdog counter window value update */
+
+/*******************  Bit definition for IWDG_KR register  ********************/
+#define IWDG_WINR_WIN_Pos    (0U)
+#define IWDG_WINR_WIN_Msk    (0xFFFUL << IWDG_WINR_WIN_Pos)                    /*!< 0x00000FFF */
+#define IWDG_WINR_WIN        IWDG_WINR_WIN_Msk                                 /*!< Watchdog counter window value */
+
+/******************************************************************************/
+/*                                                                            */
+/*                      LCD-TFT Display Controller (LTDC)                     */
+/*                                                                            */
+/******************************************************************************/
+
+/********************  Bit definition for LTDC_SSCR register  *****************/
+
+#define LTDC_SSCR_VSH_Pos            (0U)
+#define LTDC_SSCR_VSH_Msk            (0x7FFUL << LTDC_SSCR_VSH_Pos)            /*!< 0x000007FF */
+#define LTDC_SSCR_VSH                LTDC_SSCR_VSH_Msk                         /*!< Vertical Synchronization Height  */
+#define LTDC_SSCR_HSW_Pos            (16U)
+#define LTDC_SSCR_HSW_Msk            (0xFFFUL << LTDC_SSCR_HSW_Pos)            /*!< 0x0FFF0000 */
+#define LTDC_SSCR_HSW                LTDC_SSCR_HSW_Msk                         /*!< Horizontal Synchronization Width */
+
+/********************  Bit definition for LTDC_BPCR register  *****************/
+
+#define LTDC_BPCR_AVBP_Pos           (0U)
+#define LTDC_BPCR_AVBP_Msk           (0x7FFUL << LTDC_BPCR_AVBP_Pos)           /*!< 0x000007FF */
+#define LTDC_BPCR_AVBP               LTDC_BPCR_AVBP_Msk                        /*!< Accumulated Vertical Back Porch   */
+#define LTDC_BPCR_AHBP_Pos           (16U)
+#define LTDC_BPCR_AHBP_Msk           (0xFFFUL << LTDC_BPCR_AHBP_Pos)           /*!< 0x0FFF0000 */
+#define LTDC_BPCR_AHBP               LTDC_BPCR_AHBP_Msk                        /*!< Accumulated Horizontal Back Porch */
+
+/********************  Bit definition for LTDC_AWCR register  *****************/
+
+#define LTDC_AWCR_AAH_Pos            (0U)
+#define LTDC_AWCR_AAH_Msk            (0x7FFUL << LTDC_AWCR_AAH_Pos)            /*!< 0x000007FF */
+#define LTDC_AWCR_AAH                LTDC_AWCR_AAH_Msk                         /*!< Accumulated Active height */
+#define LTDC_AWCR_AAW_Pos            (16U)
+#define LTDC_AWCR_AAW_Msk            (0xFFFUL << LTDC_AWCR_AAW_Pos)            /*!< 0x0FFF0000 */
+#define LTDC_AWCR_AAW                LTDC_AWCR_AAW_Msk                         /*!< Accumulated Active Width */
+
+/********************  Bit definition for LTDC_TWCR register  *****************/
+
+#define LTDC_TWCR_TOTALH_Pos         (0U)
+#define LTDC_TWCR_TOTALH_Msk         (0x7FFUL << LTDC_TWCR_TOTALH_Pos)         /*!< 0x000007FF */
+#define LTDC_TWCR_TOTALH             LTDC_TWCR_TOTALH_Msk                      /*!< Total height */
+#define LTDC_TWCR_TOTALW_Pos         (16U)
+#define LTDC_TWCR_TOTALW_Msk         (0xFFFUL << LTDC_TWCR_TOTALW_Pos)         /*!< 0x0FFF0000 */
+#define LTDC_TWCR_TOTALW             LTDC_TWCR_TOTALW_Msk                      /*!< Total Width */
+
+/********************  Bit definition for LTDC_GCR register  ******************/
+
+#define LTDC_GCR_LTDCEN_Pos          (0U)
+#define LTDC_GCR_LTDCEN_Msk          (0x1UL << LTDC_GCR_LTDCEN_Pos)            /*!< 0x00000001 */
+#define LTDC_GCR_LTDCEN              LTDC_GCR_LTDCEN_Msk                       /*!< LCD-TFT controller enable bit       */
+#define LTDC_GCR_DBW_Pos             (4U)
+#define LTDC_GCR_DBW_Msk             (0x7UL << LTDC_GCR_DBW_Pos)               /*!< 0x00000070 */
+#define LTDC_GCR_DBW                 LTDC_GCR_DBW_Msk                          /*!< Dither Blue Width                   */
+#define LTDC_GCR_DGW_Pos             (8U)
+#define LTDC_GCR_DGW_Msk             (0x7UL << LTDC_GCR_DGW_Pos)               /*!< 0x00000700 */
+#define LTDC_GCR_DGW                 LTDC_GCR_DGW_Msk                          /*!< Dither Green Width                  */
+#define LTDC_GCR_DRW_Pos             (12U)
+#define LTDC_GCR_DRW_Msk             (0x7UL << LTDC_GCR_DRW_Pos)               /*!< 0x00007000 */
+#define LTDC_GCR_DRW                 LTDC_GCR_DRW_Msk                          /*!< Dither Red Width                    */
+#define LTDC_GCR_DEN_Pos             (16U)
+#define LTDC_GCR_DEN_Msk             (0x1UL << LTDC_GCR_DEN_Pos)               /*!< 0x00010000 */
+#define LTDC_GCR_DEN                 LTDC_GCR_DEN_Msk                          /*!< Dither Enable                       */
+#define LTDC_GCR_PCPOL_Pos           (28U)
+#define LTDC_GCR_PCPOL_Msk           (0x1UL << LTDC_GCR_PCPOL_Pos)             /*!< 0x10000000 */
+#define LTDC_GCR_PCPOL               LTDC_GCR_PCPOL_Msk                        /*!< Pixel Clock Polarity                */
+#define LTDC_GCR_DEPOL_Pos           (29U)
+#define LTDC_GCR_DEPOL_Msk           (0x1UL << LTDC_GCR_DEPOL_Pos)             /*!< 0x20000000 */
+#define LTDC_GCR_DEPOL               LTDC_GCR_DEPOL_Msk                        /*!< Data Enable Polarity                */
+#define LTDC_GCR_VSPOL_Pos           (30U)
+#define LTDC_GCR_VSPOL_Msk           (0x1UL << LTDC_GCR_VSPOL_Pos)             /*!< 0x40000000 */
+#define LTDC_GCR_VSPOL               LTDC_GCR_VSPOL_Msk                        /*!< Vertical Synchronization Polarity   */
+#define LTDC_GCR_HSPOL_Pos           (31U)
+#define LTDC_GCR_HSPOL_Msk           (0x1UL << LTDC_GCR_HSPOL_Pos)             /*!< 0x80000000 */
+#define LTDC_GCR_HSPOL               LTDC_GCR_HSPOL_Msk                        /*!< Horizontal Synchronization Polarity */
+
+
+/********************  Bit definition for LTDC_SRCR register  *****************/
+
+#define LTDC_SRCR_IMR_Pos            (0U)
+#define LTDC_SRCR_IMR_Msk            (0x1UL << LTDC_SRCR_IMR_Pos)              /*!< 0x00000001 */
+#define LTDC_SRCR_IMR                LTDC_SRCR_IMR_Msk                         /*!< Immediate Reload         */
+#define LTDC_SRCR_VBR_Pos            (1U)
+#define LTDC_SRCR_VBR_Msk            (0x1UL << LTDC_SRCR_VBR_Pos)              /*!< 0x00000002 */
+#define LTDC_SRCR_VBR                LTDC_SRCR_VBR_Msk                         /*!< Vertical Blanking Reload */
+
+/********************  Bit definition for LTDC_BCCR register  *****************/
+
+#define LTDC_BCCR_BCBLUE_Pos         (0U)
+#define LTDC_BCCR_BCBLUE_Msk         (0xFFUL << LTDC_BCCR_BCBLUE_Pos)          /*!< 0x000000FF */
+#define LTDC_BCCR_BCBLUE             LTDC_BCCR_BCBLUE_Msk                      /*!< Background Blue value  */
+#define LTDC_BCCR_BCGREEN_Pos        (8U)
+#define LTDC_BCCR_BCGREEN_Msk        (0xFFUL << LTDC_BCCR_BCGREEN_Pos)         /*!< 0x0000FF00 */
+#define LTDC_BCCR_BCGREEN            LTDC_BCCR_BCGREEN_Msk                     /*!< Background Green value */
+#define LTDC_BCCR_BCRED_Pos          (16U)
+#define LTDC_BCCR_BCRED_Msk          (0xFFUL << LTDC_BCCR_BCRED_Pos)           /*!< 0x00FF0000 */
+#define LTDC_BCCR_BCRED              LTDC_BCCR_BCRED_Msk                       /*!< Background Red value   */
+
+/********************  Bit definition for LTDC_IER register  ******************/
+
+#define LTDC_IER_LIE_Pos             (0U)
+#define LTDC_IER_LIE_Msk             (0x1UL << LTDC_IER_LIE_Pos)               /*!< 0x00000001 */
+#define LTDC_IER_LIE                 LTDC_IER_LIE_Msk                          /*!< Line Interrupt Enable            */
+#define LTDC_IER_FUIE_Pos            (1U)
+#define LTDC_IER_FUIE_Msk            (0x1UL << LTDC_IER_FUIE_Pos)              /*!< 0x00000002 */
+#define LTDC_IER_FUIE                LTDC_IER_FUIE_Msk                         /*!< FIFO Underrun Interrupt Enable   */
+#define LTDC_IER_TERRIE_Pos          (2U)
+#define LTDC_IER_TERRIE_Msk          (0x1UL << LTDC_IER_TERRIE_Pos)            /*!< 0x00000004 */
+#define LTDC_IER_TERRIE              LTDC_IER_TERRIE_Msk                       /*!< Transfer Error Interrupt Enable  */
+#define LTDC_IER_RRIE_Pos            (3U)
+#define LTDC_IER_RRIE_Msk            (0x1UL << LTDC_IER_RRIE_Pos)              /*!< 0x00000008 */
+#define LTDC_IER_RRIE                LTDC_IER_RRIE_Msk                         /*!< Register Reload interrupt enable */
+
+/********************  Bit definition for LTDC_ISR register  ******************/
+
+#define LTDC_ISR_LIF_Pos             (0U)
+#define LTDC_ISR_LIF_Msk             (0x1UL << LTDC_ISR_LIF_Pos)               /*!< 0x00000001 */
+#define LTDC_ISR_LIF                 LTDC_ISR_LIF_Msk                          /*!< Line Interrupt Flag */
+#define LTDC_ISR_FUIF_Pos            (1U)
+#define LTDC_ISR_FUIF_Msk            (0x1UL << LTDC_ISR_FUIF_Pos)              /*!< 0x00000002 */
+#define LTDC_ISR_FUIF                LTDC_ISR_FUIF_Msk                         /*!< FIFO Underrun Interrupt Flag */
+#define LTDC_ISR_TERRIF_Pos          (2U)
+#define LTDC_ISR_TERRIF_Msk          (0x1UL << LTDC_ISR_TERRIF_Pos)            /*!< 0x00000004 */
+#define LTDC_ISR_TERRIF              LTDC_ISR_TERRIF_Msk                       /*!< Transfer Error Interrupt Flag */
+#define LTDC_ISR_RRIF_Pos            (3U)
+#define LTDC_ISR_RRIF_Msk            (0x1UL << LTDC_ISR_RRIF_Pos)              /*!< 0x00000008 */
+#define LTDC_ISR_RRIF                LTDC_ISR_RRIF_Msk                         /*!< Register Reload interrupt Flag */
+
+/********************  Bit definition for LTDC_ICR register  ******************/
+
+#define LTDC_ICR_CLIF_Pos            (0U)
+#define LTDC_ICR_CLIF_Msk            (0x1UL << LTDC_ICR_CLIF_Pos)              /*!< 0x00000001 */
+#define LTDC_ICR_CLIF                LTDC_ICR_CLIF_Msk                         /*!< Clears the Line Interrupt Flag */
+#define LTDC_ICR_CFUIF_Pos           (1U)
+#define LTDC_ICR_CFUIF_Msk           (0x1UL << LTDC_ICR_CFUIF_Pos)             /*!< 0x00000002 */
+#define LTDC_ICR_CFUIF               LTDC_ICR_CFUIF_Msk                        /*!< Clears the FIFO Underrun Interrupt Flag */
+#define LTDC_ICR_CTERRIF_Pos         (2U)
+#define LTDC_ICR_CTERRIF_Msk         (0x1UL << LTDC_ICR_CTERRIF_Pos)           /*!< 0x00000004 */
+#define LTDC_ICR_CTERRIF             LTDC_ICR_CTERRIF_Msk                      /*!< Clears the Transfer Error Interrupt Flag */
+#define LTDC_ICR_CRRIF_Pos           (3U)
+#define LTDC_ICR_CRRIF_Msk           (0x1UL << LTDC_ICR_CRRIF_Pos)             /*!< 0x00000008 */
+#define LTDC_ICR_CRRIF               LTDC_ICR_CRRIF_Msk                        /*!< Clears Register Reload interrupt Flag */
+
+/********************  Bit definition for LTDC_LIPCR register  ****************/
+
+#define LTDC_LIPCR_LIPOS_Pos         (0U)
+#define LTDC_LIPCR_LIPOS_Msk         (0x7FFUL << LTDC_LIPCR_LIPOS_Pos)         /*!< 0x000007FF */
+#define LTDC_LIPCR_LIPOS             LTDC_LIPCR_LIPOS_Msk                      /*!< Line Interrupt Position */
+
+/********************  Bit definition for LTDC_CPSR register  *****************/
+
+#define LTDC_CPSR_CYPOS_Pos          (0U)
+#define LTDC_CPSR_CYPOS_Msk          (0xFFFFUL << LTDC_CPSR_CYPOS_Pos)         /*!< 0x0000FFFF */
+#define LTDC_CPSR_CYPOS              LTDC_CPSR_CYPOS_Msk                       /*!< Current Y Position */
+#define LTDC_CPSR_CXPOS_Pos          (16U)
+#define LTDC_CPSR_CXPOS_Msk          (0xFFFFUL << LTDC_CPSR_CXPOS_Pos)         /*!< 0xFFFF0000 */
+#define LTDC_CPSR_CXPOS              LTDC_CPSR_CXPOS_Msk                       /*!< Current X Position */
+
+/********************  Bit definition for LTDC_CDSR register  *****************/
+
+#define LTDC_CDSR_VDES_Pos           (0U)
+#define LTDC_CDSR_VDES_Msk           (0x1UL << LTDC_CDSR_VDES_Pos)             /*!< 0x00000001 */
+#define LTDC_CDSR_VDES               LTDC_CDSR_VDES_Msk                        /*!< Vertical Data Enable Status       */
+#define LTDC_CDSR_HDES_Pos           (1U)
+#define LTDC_CDSR_HDES_Msk           (0x1UL << LTDC_CDSR_HDES_Pos)             /*!< 0x00000002 */
+#define LTDC_CDSR_HDES               LTDC_CDSR_HDES_Msk                        /*!< Horizontal Data Enable Status     */
+#define LTDC_CDSR_VSYNCS_Pos         (2U)
+#define LTDC_CDSR_VSYNCS_Msk         (0x1UL << LTDC_CDSR_VSYNCS_Pos)           /*!< 0x00000004 */
+#define LTDC_CDSR_VSYNCS             LTDC_CDSR_VSYNCS_Msk                      /*!< Vertical Synchronization Status   */
+#define LTDC_CDSR_HSYNCS_Pos         (3U)
+#define LTDC_CDSR_HSYNCS_Msk         (0x1UL << LTDC_CDSR_HSYNCS_Pos)           /*!< 0x00000008 */
+#define LTDC_CDSR_HSYNCS             LTDC_CDSR_HSYNCS_Msk                      /*!< Horizontal Synchronization Status */
+
+/********************  Bit definition for LTDC_LxCR register  *****************/
+
+#define LTDC_LxCR_LEN_Pos            (0U)
+#define LTDC_LxCR_LEN_Msk            (0x1UL << LTDC_LxCR_LEN_Pos)              /*!< 0x00000001 */
+#define LTDC_LxCR_LEN                LTDC_LxCR_LEN_Msk                         /*!< Layer Enable              */
+#define LTDC_LxCR_COLKEN_Pos         (1U)
+#define LTDC_LxCR_COLKEN_Msk         (0x1UL << LTDC_LxCR_COLKEN_Pos)           /*!< 0x00000002 */
+#define LTDC_LxCR_COLKEN             LTDC_LxCR_COLKEN_Msk                      /*!< Color Keying Enable       */
+#define LTDC_LxCR_CLUTEN_Pos         (4U)
+#define LTDC_LxCR_CLUTEN_Msk         (0x1UL << LTDC_LxCR_CLUTEN_Pos)           /*!< 0x00000010 */
+#define LTDC_LxCR_CLUTEN             LTDC_LxCR_CLUTEN_Msk                      /*!< Color Lockup Table Enable */
+
+/********************  Bit definition for LTDC_LxWHPCR register  **************/
+
+#define LTDC_LxWHPCR_WHSTPOS_Pos     (0U)
+#define LTDC_LxWHPCR_WHSTPOS_Msk     (0xFFFUL << LTDC_LxWHPCR_WHSTPOS_Pos)     /*!< 0x00000FFF */
+#define LTDC_LxWHPCR_WHSTPOS         LTDC_LxWHPCR_WHSTPOS_Msk                  /*!< Window Horizontal Start Position */
+#define LTDC_LxWHPCR_WHSPPOS_Pos     (16U)
+#define LTDC_LxWHPCR_WHSPPOS_Msk     (0xFFFFUL << LTDC_LxWHPCR_WHSPPOS_Pos)    /*!< 0xFFFF0000 */
+#define LTDC_LxWHPCR_WHSPPOS         LTDC_LxWHPCR_WHSPPOS_Msk                  /*!< Window Horizontal Stop Position  */
+
+/********************  Bit definition for LTDC_LxWVPCR register  **************/
+
+#define LTDC_LxWVPCR_WVSTPOS_Pos     (0U)
+#define LTDC_LxWVPCR_WVSTPOS_Msk     (0xFFFUL << LTDC_LxWVPCR_WVSTPOS_Pos)     /*!< 0x00000FFF */
+#define LTDC_LxWVPCR_WVSTPOS         LTDC_LxWVPCR_WVSTPOS_Msk                  /*!< Window Vertical Start Position */
+#define LTDC_LxWVPCR_WVSPPOS_Pos     (16U)
+#define LTDC_LxWVPCR_WVSPPOS_Msk     (0xFFFFUL << LTDC_LxWVPCR_WVSPPOS_Pos)    /*!< 0xFFFF0000 */
+#define LTDC_LxWVPCR_WVSPPOS         LTDC_LxWVPCR_WVSPPOS_Msk                  /*!< Window Vertical Stop Position  */
+
+/********************  Bit definition for LTDC_LxCKCR register  ***************/
+
+#define LTDC_LxCKCR_CKBLUE_Pos       (0U)
+#define LTDC_LxCKCR_CKBLUE_Msk       (0xFFUL << LTDC_LxCKCR_CKBLUE_Pos)        /*!< 0x000000FF */
+#define LTDC_LxCKCR_CKBLUE           LTDC_LxCKCR_CKBLUE_Msk                    /*!< Color Key Blue value  */
+#define LTDC_LxCKCR_CKGREEN_Pos      (8U)
+#define LTDC_LxCKCR_CKGREEN_Msk      (0xFFUL << LTDC_LxCKCR_CKGREEN_Pos)       /*!< 0x0000FF00 */
+#define LTDC_LxCKCR_CKGREEN          LTDC_LxCKCR_CKGREEN_Msk                   /*!< Color Key Green value */
+#define LTDC_LxCKCR_CKRED_Pos        (16U)
+#define LTDC_LxCKCR_CKRED_Msk        (0xFFUL << LTDC_LxCKCR_CKRED_Pos)         /*!< 0x00FF0000 */
+#define LTDC_LxCKCR_CKRED            LTDC_LxCKCR_CKRED_Msk                     /*!< Color Key Red value   */
+
+/********************  Bit definition for LTDC_LxPFCR register  ***************/
+
+#define LTDC_LxPFCR_PF_Pos           (0U)
+#define LTDC_LxPFCR_PF_Msk           (0x7UL << LTDC_LxPFCR_PF_Pos)             /*!< 0x00000007 */
+#define LTDC_LxPFCR_PF               LTDC_LxPFCR_PF_Msk                        /*!< Pixel Format */
+
+/********************  Bit definition for LTDC_LxCACR register  ***************/
+
+#define LTDC_LxCACR_CONSTA_Pos       (0U)
+#define LTDC_LxCACR_CONSTA_Msk       (0xFFUL << LTDC_LxCACR_CONSTA_Pos)        /*!< 0x000000FF */
+#define LTDC_LxCACR_CONSTA           LTDC_LxCACR_CONSTA_Msk                    /*!< Constant Alpha */
+
+/********************  Bit definition for LTDC_LxDCCR register  ***************/
+
+#define LTDC_LxDCCR_DCBLUE_Pos       (0U)
+#define LTDC_LxDCCR_DCBLUE_Msk       (0xFFUL << LTDC_LxDCCR_DCBLUE_Pos)        /*!< 0x000000FF */
+#define LTDC_LxDCCR_DCBLUE           LTDC_LxDCCR_DCBLUE_Msk                    /*!< Default Color Blue  */
+#define LTDC_LxDCCR_DCGREEN_Pos      (8U)
+#define LTDC_LxDCCR_DCGREEN_Msk      (0xFFUL << LTDC_LxDCCR_DCGREEN_Pos)       /*!< 0x0000FF00 */
+#define LTDC_LxDCCR_DCGREEN          LTDC_LxDCCR_DCGREEN_Msk                   /*!< Default Color Green */
+#define LTDC_LxDCCR_DCRED_Pos        (16U)
+#define LTDC_LxDCCR_DCRED_Msk        (0xFFUL << LTDC_LxDCCR_DCRED_Pos)         /*!< 0x00FF0000 */
+#define LTDC_LxDCCR_DCRED            LTDC_LxDCCR_DCRED_Msk                     /*!< Default Color Red   */
+#define LTDC_LxDCCR_DCALPHA_Pos      (24U)
+#define LTDC_LxDCCR_DCALPHA_Msk      (0xFFUL << LTDC_LxDCCR_DCALPHA_Pos)       /*!< 0xFF000000 */
+#define LTDC_LxDCCR_DCALPHA          LTDC_LxDCCR_DCALPHA_Msk                   /*!< Default Color Alpha */
+
+/********************  Bit definition for LTDC_LxBFCR register  ***************/
+
+#define LTDC_LxBFCR_BF2_Pos          (0U)
+#define LTDC_LxBFCR_BF2_Msk          (0x7UL << LTDC_LxBFCR_BF2_Pos)            /*!< 0x00000007 */
+#define LTDC_LxBFCR_BF2              LTDC_LxBFCR_BF2_Msk                       /*!< Blending Factor 2 */
+#define LTDC_LxBFCR_BF1_Pos          (8U)
+#define LTDC_LxBFCR_BF1_Msk          (0x7UL << LTDC_LxBFCR_BF1_Pos)            /*!< 0x00000700 */
+#define LTDC_LxBFCR_BF1              LTDC_LxBFCR_BF1_Msk                       /*!< Blending Factor 1 */
+
+/********************  Bit definition for LTDC_LxCFBAR register  **************/
+
+#define LTDC_LxCFBAR_CFBADD_Pos      (0U)
+#define LTDC_LxCFBAR_CFBADD_Msk      (0xFFFFFFFFUL << LTDC_LxCFBAR_CFBADD_Pos) /*!< 0xFFFFFFFF */
+#define LTDC_LxCFBAR_CFBADD          LTDC_LxCFBAR_CFBADD_Msk                   /*!< Color Frame Buffer Start Address */
+
+/********************  Bit definition for LTDC_LxCFBLR register  **************/
+
+#define LTDC_LxCFBLR_CFBLL_Pos       (0U)
+#define LTDC_LxCFBLR_CFBLL_Msk       (0x1FFFUL << LTDC_LxCFBLR_CFBLL_Pos)      /*!< 0x00001FFF */
+#define LTDC_LxCFBLR_CFBLL           LTDC_LxCFBLR_CFBLL_Msk                    /*!< Color Frame Buffer Line Length    */
+#define LTDC_LxCFBLR_CFBP_Pos        (16U)
+#define LTDC_LxCFBLR_CFBP_Msk        (0x1FFFUL << LTDC_LxCFBLR_CFBP_Pos)       /*!< 0x1FFF0000 */
+#define LTDC_LxCFBLR_CFBP            LTDC_LxCFBLR_CFBP_Msk                     /*!< Color Frame Buffer Pitch in bytes */
+
+/********************  Bit definition for LTDC_LxCFBLNR register  *************/
+
+#define LTDC_LxCFBLNR_CFBLNBR_Pos    (0U)
+#define LTDC_LxCFBLNR_CFBLNBR_Msk    (0x7FFUL << LTDC_LxCFBLNR_CFBLNBR_Pos)    /*!< 0x000007FF */
+#define LTDC_LxCFBLNR_CFBLNBR        LTDC_LxCFBLNR_CFBLNBR_Msk                 /*!< Frame Buffer Line Number */
+
+/********************  Bit definition for LTDC_LxCLUTWR register  *************/
+
+#define LTDC_LxCLUTWR_BLUE_Pos       (0U)
+#define LTDC_LxCLUTWR_BLUE_Msk       (0xFFUL << LTDC_LxCLUTWR_BLUE_Pos)        /*!< 0x000000FF */
+#define LTDC_LxCLUTWR_BLUE           LTDC_LxCLUTWR_BLUE_Msk                    /*!< Blue value   */
+#define LTDC_LxCLUTWR_GREEN_Pos      (8U)
+#define LTDC_LxCLUTWR_GREEN_Msk      (0xFFUL << LTDC_LxCLUTWR_GREEN_Pos)       /*!< 0x0000FF00 */
+#define LTDC_LxCLUTWR_GREEN          LTDC_LxCLUTWR_GREEN_Msk                   /*!< Green value  */
+#define LTDC_LxCLUTWR_RED_Pos        (16U)
+#define LTDC_LxCLUTWR_RED_Msk        (0xFFUL << LTDC_LxCLUTWR_RED_Pos)         /*!< 0x00FF0000 */
+#define LTDC_LxCLUTWR_RED            LTDC_LxCLUTWR_RED_Msk                     /*!< Red value    */
+#define LTDC_LxCLUTWR_CLUTADD_Pos    (24U)
+#define LTDC_LxCLUTWR_CLUTADD_Msk    (0xFFUL << LTDC_LxCLUTWR_CLUTADD_Pos)     /*!< 0xFF000000 */
+#define LTDC_LxCLUTWR_CLUTADD        LTDC_LxCLUTWR_CLUTADD_Msk                 /*!< CLUT address */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                     MDMA                                   */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for MDMA_GISR0 register  ****************/
+#define MDMA_GISR0_GIF0_Pos       (0U)
+#define MDMA_GISR0_GIF0_Msk       (0x1UL << MDMA_GISR0_GIF0_Pos)               /*!< 0x00000001 */
+#define MDMA_GISR0_GIF0           MDMA_GISR0_GIF0_Msk                          /*!< Channel 0 global interrupt flag */
+#define MDMA_GISR0_GIF1_Pos       (1U)
+#define MDMA_GISR0_GIF1_Msk       (0x1UL << MDMA_GISR0_GIF1_Pos)               /*!< 0x00000002 */
+#define MDMA_GISR0_GIF1           MDMA_GISR0_GIF1_Msk                          /*!< Channel 1 global interrupt flag */
+#define MDMA_GISR0_GIF2_Pos       (2U)
+#define MDMA_GISR0_GIF2_Msk       (0x1UL << MDMA_GISR0_GIF2_Pos)               /*!< 0x00000004 */
+#define MDMA_GISR0_GIF2           MDMA_GISR0_GIF2_Msk                          /*!< Channel 2 global interrupt flag */
+#define MDMA_GISR0_GIF3_Pos       (3U)
+#define MDMA_GISR0_GIF3_Msk       (0x1UL << MDMA_GISR0_GIF3_Pos)               /*!< 0x00000008 */
+#define MDMA_GISR0_GIF3           MDMA_GISR0_GIF3_Msk                          /*!< Channel 3 global interrupt flag */
+#define MDMA_GISR0_GIF4_Pos       (4U)
+#define MDMA_GISR0_GIF4_Msk       (0x1UL << MDMA_GISR0_GIF4_Pos)               /*!< 0x00000010 */
+#define MDMA_GISR0_GIF4           MDMA_GISR0_GIF4_Msk                          /*!< Channel 4 global interrupt flag */
+#define MDMA_GISR0_GIF5_Pos       (5U)
+#define MDMA_GISR0_GIF5_Msk       (0x1UL << MDMA_GISR0_GIF5_Pos)               /*!< 0x00000020 */
+#define MDMA_GISR0_GIF5           MDMA_GISR0_GIF5_Msk                          /*!< Channel 5 global interrupt flag */
+#define MDMA_GISR0_GIF6_Pos       (6U)
+#define MDMA_GISR0_GIF6_Msk       (0x1UL << MDMA_GISR0_GIF6_Pos)               /*!< 0x00000040 */
+#define MDMA_GISR0_GIF6           MDMA_GISR0_GIF6_Msk                          /*!< Channel 6 global interrupt flag */
+#define MDMA_GISR0_GIF7_Pos       (7U)
+#define MDMA_GISR0_GIF7_Msk       (0x1UL << MDMA_GISR0_GIF7_Pos)               /*!< 0x00000080 */
+#define MDMA_GISR0_GIF7           MDMA_GISR0_GIF7_Msk                          /*!< Channel 7 global interrupt flag */
+#define MDMA_GISR0_GIF8_Pos       (8U)
+#define MDMA_GISR0_GIF8_Msk       (0x1UL << MDMA_GISR0_GIF8_Pos)               /*!< 0x00000100 */
+#define MDMA_GISR0_GIF8           MDMA_GISR0_GIF8_Msk                          /*!< Channel 8 global interrupt flag */
+#define MDMA_GISR0_GIF9_Pos       (9U)
+#define MDMA_GISR0_GIF9_Msk       (0x1UL << MDMA_GISR0_GIF9_Pos)               /*!< 0x00000200 */
+#define MDMA_GISR0_GIF9           MDMA_GISR0_GIF9_Msk                          /*!< Channel 9 global interrupt flag */
+#define MDMA_GISR0_GIF10_Pos      (10U)
+#define MDMA_GISR0_GIF10_Msk      (0x1UL << MDMA_GISR0_GIF10_Pos)              /*!< 0x00000400 */
+#define MDMA_GISR0_GIF10          MDMA_GISR0_GIF10_Msk                         /*!< Channel 10 global interrupt flag */
+#define MDMA_GISR0_GIF11_Pos      (11U)
+#define MDMA_GISR0_GIF11_Msk      (0x1UL << MDMA_GISR0_GIF11_Pos)              /*!< 0x00000800 */
+#define MDMA_GISR0_GIF11          MDMA_GISR0_GIF11_Msk                         /*!< Channel 11 global interrupt flag */
+#define MDMA_GISR0_GIF12_Pos      (12U)
+#define MDMA_GISR0_GIF12_Msk      (0x1UL << MDMA_GISR0_GIF12_Pos)              /*!< 0x00001000 */
+#define MDMA_GISR0_GIF12          MDMA_GISR0_GIF12_Msk                         /*!< Channel 12 global interrupt flag */
+#define MDMA_GISR0_GIF13_Pos      (13U)
+#define MDMA_GISR0_GIF13_Msk      (0x1UL << MDMA_GISR0_GIF13_Pos)              /*!< 0x00002000 */
+#define MDMA_GISR0_GIF13          MDMA_GISR0_GIF13_Msk                         /*!< Channel 13 global interrupt flag */
+#define MDMA_GISR0_GIF14_Pos      (14U)
+#define MDMA_GISR0_GIF14_Msk      (0x1UL << MDMA_GISR0_GIF14_Pos)              /*!< 0x00004000 */
+#define MDMA_GISR0_GIF14          MDMA_GISR0_GIF14_Msk                         /*!< Channel 14 global interrupt flag */
+#define MDMA_GISR0_GIF15_Pos      (15U)
+#define MDMA_GISR0_GIF15_Msk      (0x1UL << MDMA_GISR0_GIF15_Pos)              /*!< 0x00008000 */
+#define MDMA_GISR0_GIF15          MDMA_GISR0_GIF15_Msk                         /*!< Channel 15 global interrupt flag */
+
+/********************  Bit definition for MDMA_CxISR register  ****************/
+#define MDMA_CISR_TEIF_Pos        (0U)
+#define MDMA_CISR_TEIF_Msk        (0x1UL << MDMA_CISR_TEIF_Pos)                /*!< 0x00000001 */
+#define MDMA_CISR_TEIF            MDMA_CISR_TEIF_Msk                           /*!< Channel x transfer error interrupt flag */
+#define MDMA_CISR_CTCIF_Pos       (1U)
+#define MDMA_CISR_CTCIF_Msk       (0x1UL << MDMA_CISR_CTCIF_Pos)               /*!< 0x00000002 */
+#define MDMA_CISR_CTCIF           MDMA_CISR_CTCIF_Msk                          /*!< Channel x Channel Transfer Complete interrupt flag */
+#define MDMA_CISR_BRTIF_Pos       (2U)
+#define MDMA_CISR_BRTIF_Msk       (0x1UL << MDMA_CISR_BRTIF_Pos)               /*!< 0x00000004 */
+#define MDMA_CISR_BRTIF           MDMA_CISR_BRTIF_Msk                          /*!< Channel x block repeat transfer complete interrupt flag */
+#define MDMA_CISR_BTIF_Pos        (3U)
+#define MDMA_CISR_BTIF_Msk        (0x1UL << MDMA_CISR_BTIF_Pos)                /*!< 0x00000008 */
+#define MDMA_CISR_BTIF            MDMA_CISR_BTIF_Msk                           /*!< Channel x block transfer complete interrupt flag */
+#define MDMA_CISR_TCIF_Pos        (4U)
+#define MDMA_CISR_TCIF_Msk        (0x1UL << MDMA_CISR_TCIF_Pos)                /*!< 0x00000010 */
+#define MDMA_CISR_TCIF            MDMA_CISR_TCIF_Msk                           /*!< Channel x buffer transfer complete interrupt flag */
+#define MDMA_CISR_CRQA_Pos        (16U)
+#define MDMA_CISR_CRQA_Msk        (0x1UL << MDMA_CISR_CRQA_Pos)                /*!< 0x00010000 */
+#define MDMA_CISR_CRQA            MDMA_CISR_CRQA_Msk                           /*!< Channel x request Active flag */
+
+/********************  Bit definition for MDMA_CxIFCR register  ****************/
+#define MDMA_CIFCR_CTEIF_Pos      (0U)
+#define MDMA_CIFCR_CTEIF_Msk      (0x1UL << MDMA_CIFCR_CTEIF_Pos)              /*!< 0x00000001 */
+#define MDMA_CIFCR_CTEIF          MDMA_CIFCR_CTEIF_Msk                         /*!< Channel x clear transfer error interrupt flag */
+#define MDMA_CIFCR_CCTCIF_Pos     (1U)
+#define MDMA_CIFCR_CCTCIF_Msk     (0x1UL << MDMA_CIFCR_CCTCIF_Pos)             /*!< 0x00000002 */
+#define MDMA_CIFCR_CCTCIF         MDMA_CIFCR_CCTCIF_Msk                        /*!< Clear Channel transfer complete interrupt flag for channel x */
+#define MDMA_CIFCR_CBRTIF_Pos     (2U)
+#define MDMA_CIFCR_CBRTIF_Msk     (0x1UL << MDMA_CIFCR_CBRTIF_Pos)             /*!< 0x00000004 */
+#define MDMA_CIFCR_CBRTIF         MDMA_CIFCR_CBRTIF_Msk                        /*!< Channel x clear block repeat transfer complete interrupt flag */
+#define MDMA_CIFCR_CBTIF_Pos      (3U)
+#define MDMA_CIFCR_CBTIF_Msk      (0x1UL << MDMA_CIFCR_CBTIF_Pos)              /*!< 0x00000008 */
+#define MDMA_CIFCR_CBTIF          MDMA_CIFCR_CBTIF_Msk                         /*!< Channel x Clear block transfer complete interrupt flag */
+#define MDMA_CIFCR_CLTCIF_Pos     (4U)
+#define MDMA_CIFCR_CLTCIF_Msk     (0x1UL << MDMA_CIFCR_CLTCIF_Pos)             /*!< 0x00000010 */
+#define MDMA_CIFCR_CLTCIF         MDMA_CIFCR_CLTCIF_Msk                        /*!< CLear Transfer buffer Complete Interrupt Flag for channel */
+
+/********************  Bit definition for MDMA_CxESR register  ****************/
+#define MDMA_CESR_TEA_Pos         (0U)
+#define MDMA_CESR_TEA_Msk         (0x7FUL << MDMA_CESR_TEA_Pos)                /*!< 0x0000007F */
+#define MDMA_CESR_TEA             MDMA_CESR_TEA_Msk                            /*!< Transfer Error Address */
+#define MDMA_CESR_TED_Pos         (7U)
+#define MDMA_CESR_TED_Msk         (0x1UL << MDMA_CESR_TED_Pos)                 /*!< 0x00000080 */
+#define MDMA_CESR_TED             MDMA_CESR_TED_Msk                            /*!< Transfer Error Direction */
+#define MDMA_CESR_TELD_Pos        (8U)
+#define MDMA_CESR_TELD_Msk        (0x1UL << MDMA_CESR_TELD_Pos)                /*!< 0x00000100 */
+#define MDMA_CESR_TELD            MDMA_CESR_TELD_Msk                           /*!< Transfer Error Link Data */
+#define MDMA_CESR_TEMD_Pos        (9U)
+#define MDMA_CESR_TEMD_Msk        (0x1UL << MDMA_CESR_TEMD_Pos)                /*!< 0x00000200 */
+#define MDMA_CESR_TEMD            MDMA_CESR_TEMD_Msk                           /*!< Transfer Error Mask Data */
+#define MDMA_CESR_ASE_Pos         (10U)
+#define MDMA_CESR_ASE_Msk         (0x1UL << MDMA_CESR_ASE_Pos)                 /*!< 0x00000400 */
+#define MDMA_CESR_ASE             MDMA_CESR_ASE_Msk                            /*!< Address/Size Error       */
+#define MDMA_CESR_BSE_Pos         (11U)
+#define MDMA_CESR_BSE_Msk         (0x1UL << MDMA_CESR_BSE_Pos)                 /*!< 0x00000800 */
+#define MDMA_CESR_BSE             MDMA_CESR_BSE_Msk                            /*!< Block Size Error         */
+
+/********************  Bit definition for MDMA_CxCR register  ****************/
+#define MDMA_CCR_EN_Pos           (0U)
+#define MDMA_CCR_EN_Msk           (0x1UL << MDMA_CCR_EN_Pos)                   /*!< 0x00000001 */
+#define MDMA_CCR_EN               MDMA_CCR_EN_Msk                              /*!< Channel enable / flag channel ready when read low */
+#define MDMA_CCR_TEIE_Pos         (1U)
+#define MDMA_CCR_TEIE_Msk         (0x1UL << MDMA_CCR_TEIE_Pos)                 /*!< 0x00000002 */
+#define MDMA_CCR_TEIE             MDMA_CCR_TEIE_Msk                            /*!< Transfer error interrupt enable */
+#define MDMA_CCR_CTCIE_Pos        (2U)
+#define MDMA_CCR_CTCIE_Msk        (0x1UL << MDMA_CCR_CTCIE_Pos)                /*!< 0x00000004 */
+#define MDMA_CCR_CTCIE            MDMA_CCR_CTCIE_Msk                           /*!< Channel Transfer Complete interrupt enable */
+#define MDMA_CCR_BRTIE_Pos        (3U)
+#define MDMA_CCR_BRTIE_Msk        (0x1UL << MDMA_CCR_BRTIE_Pos)                /*!< 0x00000008 */
+#define MDMA_CCR_BRTIE            MDMA_CCR_BRTIE_Msk                           /*!< Block Repeat transfer interrupt enable */
+#define MDMA_CCR_BTIE_Pos         (4U)
+#define MDMA_CCR_BTIE_Msk         (0x1UL << MDMA_CCR_BTIE_Pos)                 /*!< 0x00000010 */
+#define MDMA_CCR_BTIE             MDMA_CCR_BTIE_Msk                            /*!< Block Transfer interrupt enable */
+#define MDMA_CCR_TCIE_Pos         (5U)
+#define MDMA_CCR_TCIE_Msk         (0x1UL << MDMA_CCR_TCIE_Pos)                 /*!< 0x00000020 */
+#define MDMA_CCR_TCIE             MDMA_CCR_TCIE_Msk                            /*!< buffer Transfer Complete interrupt enable */
+#define MDMA_CCR_PL_Pos           (6U)
+#define MDMA_CCR_PL_Msk           (0x3UL << MDMA_CCR_PL_Pos)                   /*!< 0x000000C0 */
+#define MDMA_CCR_PL               MDMA_CCR_PL_Msk                              /*!< Priority level */
+#define MDMA_CCR_PL_0             (0x1UL << MDMA_CCR_PL_Pos)                    /*!< 0x00000040 */
+#define MDMA_CCR_PL_1             (0x2UL << MDMA_CCR_PL_Pos)                    /*!< 0x00000080 */
+#define MDMA_CCR_BEX_Pos          (12U)
+#define MDMA_CCR_BEX_Msk          (0x1UL << MDMA_CCR_BEX_Pos)                  /*!< 0x00001000 */
+#define MDMA_CCR_BEX              MDMA_CCR_BEX_Msk                             /*!< Byte Endianness eXchange */
+#define MDMA_CCR_HEX_Pos          (13U)
+#define MDMA_CCR_HEX_Msk          (0x1UL << MDMA_CCR_HEX_Pos)                  /*!< 0x00002000 */
+#define MDMA_CCR_HEX              MDMA_CCR_HEX_Msk                             /*!< Half word Endianness eXchange */
+#define MDMA_CCR_WEX_Pos          (14U)
+#define MDMA_CCR_WEX_Msk          (0x1UL << MDMA_CCR_WEX_Pos)                  /*!< 0x00004000 */
+#define MDMA_CCR_WEX              MDMA_CCR_WEX_Msk                             /*!< Word Endianness eXchange */
+#define MDMA_CCR_SWRQ_Pos         (16U)
+#define MDMA_CCR_SWRQ_Msk         (0x1UL << MDMA_CCR_SWRQ_Pos)                 /*!< 0x00010000 */
+#define MDMA_CCR_SWRQ             MDMA_CCR_SWRQ_Msk                            /*!< SW ReQuest */
+
+/********************  Bit definition for MDMA_CxTCR register  ****************/
+#define MDMA_CTCR_SINC_Pos        (0U)
+#define MDMA_CTCR_SINC_Msk        (0x3UL << MDMA_CTCR_SINC_Pos)                /*!< 0x00000003 */
+#define MDMA_CTCR_SINC            MDMA_CTCR_SINC_Msk                           /*!< Source increment mode */
+#define MDMA_CTCR_SINC_0          (0x1UL << MDMA_CTCR_SINC_Pos)                 /*!< 0x00000001 */
+#define MDMA_CTCR_SINC_1          (0x2UL << MDMA_CTCR_SINC_Pos)                 /*!< 0x00000002 */
+#define MDMA_CTCR_DINC_Pos        (2U)
+#define MDMA_CTCR_DINC_Msk        (0x3UL << MDMA_CTCR_DINC_Pos)                /*!< 0x0000000C */
+#define MDMA_CTCR_DINC            MDMA_CTCR_DINC_Msk                           /*!< Source increment mode */
+#define MDMA_CTCR_DINC_0          (0x1UL << MDMA_CTCR_DINC_Pos)                 /*!< 0x00000004 */
+#define MDMA_CTCR_DINC_1          (0x2UL << MDMA_CTCR_DINC_Pos)                 /*!< 0x00000008 */
+#define MDMA_CTCR_SSIZE_Pos       (4U)
+#define MDMA_CTCR_SSIZE_Msk       (0x3UL << MDMA_CTCR_SSIZE_Pos)               /*!< 0x00000030 */
+#define MDMA_CTCR_SSIZE           MDMA_CTCR_SSIZE_Msk                          /*!< Source data size */
+#define MDMA_CTCR_SSIZE_0         (0x1UL << MDMA_CTCR_SSIZE_Pos)                /*!< 0x00000010 */
+#define MDMA_CTCR_SSIZE_1         (0x2UL << MDMA_CTCR_SSIZE_Pos)                /*!< 0x00000020 */
+#define MDMA_CTCR_DSIZE_Pos       (6U)
+#define MDMA_CTCR_DSIZE_Msk       (0x3UL << MDMA_CTCR_DSIZE_Pos)               /*!< 0x000000C0 */
+#define MDMA_CTCR_DSIZE           MDMA_CTCR_DSIZE_Msk                          /*!< Destination data size */
+#define MDMA_CTCR_DSIZE_0         (0x1UL << MDMA_CTCR_DSIZE_Pos)                /*!< 0x00000040 */
+#define MDMA_CTCR_DSIZE_1         (0x2UL << MDMA_CTCR_DSIZE_Pos)                /*!< 0x00000080 */
+#define MDMA_CTCR_SINCOS_Pos      (8U)
+#define MDMA_CTCR_SINCOS_Msk      (0x3UL << MDMA_CTCR_SINCOS_Pos)              /*!< 0x00000300 */
+#define MDMA_CTCR_SINCOS          MDMA_CTCR_SINCOS_Msk                         /*!< Source increment offset size */
+#define MDMA_CTCR_SINCOS_0        (0x1UL << MDMA_CTCR_SINCOS_Pos)               /*!< 0x00000100 */
+#define MDMA_CTCR_SINCOS_1        (0x2UL << MDMA_CTCR_SINCOS_Pos)               /*!< 0x00000200 */
+#define MDMA_CTCR_DINCOS_Pos      (10U)
+#define MDMA_CTCR_DINCOS_Msk      (0x3UL << MDMA_CTCR_DINCOS_Pos)              /*!< 0x00000C00 */
+#define MDMA_CTCR_DINCOS          MDMA_CTCR_DINCOS_Msk                         /*!< Destination increment offset size */
+#define MDMA_CTCR_DINCOS_0        (0x1UL << MDMA_CTCR_DINCOS_Pos)               /*!< 0x00000400 */
+#define MDMA_CTCR_DINCOS_1        (0x2UL << MDMA_CTCR_DINCOS_Pos)               /*!< 0x00000800 */
+#define MDMA_CTCR_SBURST_Pos      (12U)
+#define MDMA_CTCR_SBURST_Msk      (0x7UL << MDMA_CTCR_SBURST_Pos)              /*!< 0x00007000 */
+#define MDMA_CTCR_SBURST          MDMA_CTCR_SBURST_Msk                         /*!< Source burst transfer configuration */
+#define MDMA_CTCR_SBURST_0        (0x1UL << MDMA_CTCR_SBURST_Pos)               /*!< 0x00001000 */
+#define MDMA_CTCR_SBURST_1        (0x2UL << MDMA_CTCR_SBURST_Pos)               /*!< 0x00002000 */
+#define MDMA_CTCR_SBURST_2        (0x4UL << MDMA_CTCR_SBURST_Pos)               /*!< 0x00004000 */
+#define MDMA_CTCR_DBURST_Pos      (15U)
+#define MDMA_CTCR_DBURST_Msk      (0x7UL << MDMA_CTCR_DBURST_Pos)              /*!< 0x00038000 */
+#define MDMA_CTCR_DBURST          MDMA_CTCR_DBURST_Msk                         /*!< Destination burst transfer configuration */
+#define MDMA_CTCR_DBURST_0        (0x1UL << MDMA_CTCR_DBURST_Pos)               /*!< 0x00008000 */
+#define MDMA_CTCR_DBURST_1        (0x2UL << MDMA_CTCR_DBURST_Pos)               /*!< 0x00010000 */
+#define MDMA_CTCR_DBURST_2        (0x4UL << MDMA_CTCR_DBURST_Pos)               /*!< 0x00020000 */
+#define MDMA_CTCR_TLEN_Pos        (18U)
+#define MDMA_CTCR_TLEN_Msk        (0x7FUL << MDMA_CTCR_TLEN_Pos)               /*!< 0x01FC0000 */
+#define MDMA_CTCR_TLEN            MDMA_CTCR_TLEN_Msk                           /*!< buffer Transfer Length (number of bytes - 1) */
+#define MDMA_CTCR_PKE_Pos         (25U)
+#define MDMA_CTCR_PKE_Msk         (0x1UL << MDMA_CTCR_PKE_Pos)                 /*!< 0x02000000 */
+#define MDMA_CTCR_PKE             MDMA_CTCR_PKE_Msk                            /*!< PacK Enable */
+#define MDMA_CTCR_PAM_Pos         (26U)
+#define MDMA_CTCR_PAM_Msk         (0x3UL << MDMA_CTCR_PAM_Pos)                 /*!< 0x0C000000 */
+#define MDMA_CTCR_PAM             MDMA_CTCR_PAM_Msk                            /*!< Padding/Alignment Mode */
+#define MDMA_CTCR_PAM_0           (0x1UL << MDMA_CTCR_PAM_Pos)                  /*!< 0x4000000 */
+#define MDMA_CTCR_PAM_1           (0x2UL << MDMA_CTCR_PAM_Pos)                  /*!< 0x8000000 */
+#define MDMA_CTCR_TRGM_Pos        (28U)
+#define MDMA_CTCR_TRGM_Msk        (0x3UL << MDMA_CTCR_TRGM_Pos)                /*!< 0x30000000 */
+#define MDMA_CTCR_TRGM            MDMA_CTCR_TRGM_Msk                           /*!< Trigger Mode */
+#define MDMA_CTCR_TRGM_0          (0x1UL << MDMA_CTCR_TRGM_Pos)                 /*!< 0x10000000 */
+#define MDMA_CTCR_TRGM_1          (0x2UL << MDMA_CTCR_TRGM_Pos)                 /*!< 0x20000000 */
+#define MDMA_CTCR_SWRM_Pos        (30U)
+#define MDMA_CTCR_SWRM_Msk        (0x1UL << MDMA_CTCR_SWRM_Pos)                /*!< 0x40000000 */
+#define MDMA_CTCR_SWRM            MDMA_CTCR_SWRM_Msk                           /*!< SW Request Mode */
+#define MDMA_CTCR_BWM_Pos         (31U)
+#define MDMA_CTCR_BWM_Msk         (0x1UL << MDMA_CTCR_BWM_Pos)                 /*!< 0x80000000 */
+#define MDMA_CTCR_BWM             MDMA_CTCR_BWM_Msk                            /*!< Bufferable Write Mode */
+
+/********************  Bit definition for MDMA_CxBNDTR register  ****************/
+#define MDMA_CBNDTR_BNDT_Pos      (0U)
+#define MDMA_CBNDTR_BNDT_Msk      (0x1FFFFUL << MDMA_CBNDTR_BNDT_Pos)          /*!< 0x0001FFFF */
+#define MDMA_CBNDTR_BNDT          MDMA_CBNDTR_BNDT_Msk                         /*!< Block Number of data bytes to transfer */
+#define MDMA_CBNDTR_BRSUM_Pos     (18U)
+#define MDMA_CBNDTR_BRSUM_Msk     (0x1UL << MDMA_CBNDTR_BRSUM_Pos)             /*!< 0x00040000 */
+#define MDMA_CBNDTR_BRSUM         MDMA_CBNDTR_BRSUM_Msk                        /*!< Block Repeat Source address Update Mode */
+#define MDMA_CBNDTR_BRDUM_Pos     (19U)
+#define MDMA_CBNDTR_BRDUM_Msk     (0x1UL << MDMA_CBNDTR_BRDUM_Pos)             /*!< 0x00080000 */
+#define MDMA_CBNDTR_BRDUM         MDMA_CBNDTR_BRDUM_Msk                        /*!< Block Repeat Destination address Update Mode */
+#define MDMA_CBNDTR_BRC_Pos       (20U)
+#define MDMA_CBNDTR_BRC_Msk       (0xFFFUL << MDMA_CBNDTR_BRC_Pos)             /*!< 0xFFF00000 */
+#define MDMA_CBNDTR_BRC           MDMA_CBNDTR_BRC_Msk                          /*!< Block Repeat Count */
+
+/********************  Bit definition for MDMA_CxSAR register  ****************/
+#define MDMA_CSAR_SAR_Pos         (0U)
+#define MDMA_CSAR_SAR_Msk         (0xFFFFFFFFUL << MDMA_CSAR_SAR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CSAR_SAR             MDMA_CSAR_SAR_Msk                            /*!< Source address */
+
+/********************  Bit definition for MDMA_CxDAR register  ****************/
+#define MDMA_CDAR_DAR_Pos         (0U)
+#define MDMA_CDAR_DAR_Msk         (0xFFFFFFFFUL << MDMA_CDAR_DAR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CDAR_DAR             MDMA_CDAR_DAR_Msk                            /*!< Destination address */
+
+/********************  Bit definition for MDMA_CxBRUR  ************************/
+#define MDMA_CBRUR_SUV_Pos        (0U)
+#define MDMA_CBRUR_SUV_Msk        (0xFFFFUL << MDMA_CBRUR_SUV_Pos)             /*!< 0x0000FFFF */
+#define MDMA_CBRUR_SUV            MDMA_CBRUR_SUV_Msk                           /*!< Source address Update Value */
+#define MDMA_CBRUR_DUV_Pos        (16U)
+#define MDMA_CBRUR_DUV_Msk        (0xFFFFUL << MDMA_CBRUR_DUV_Pos)             /*!< 0xFFFF0000 */
+#define MDMA_CBRUR_DUV            MDMA_CBRUR_DUV_Msk                           /*!< Destination address Update Value */
+
+/********************  Bit definition for MDMA_CxLAR  *************************/
+#define MDMA_CLAR_LAR_Pos         (0U)
+#define MDMA_CLAR_LAR_Msk         (0xFFFFFFFFUL << MDMA_CLAR_LAR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CLAR_LAR             MDMA_CLAR_LAR_Msk                            /*!< Link Address Register */
+
+/********************  Bit definition for MDMA_CxTBR)  ************************/
+#define MDMA_CTBR_TSEL_Pos        (0U)
+#define MDMA_CTBR_TSEL_Msk        (0xFFUL << MDMA_CTBR_TSEL_Pos)               /*!< 0x000000FF */
+#define MDMA_CTBR_TSEL            MDMA_CTBR_TSEL_Msk                           /*!< Trigger SELection */
+#define MDMA_CTBR_SBUS_Pos        (16U)
+#define MDMA_CTBR_SBUS_Msk        (0x1UL << MDMA_CTBR_SBUS_Pos)                /*!< 0x00010000 */
+#define MDMA_CTBR_SBUS            MDMA_CTBR_SBUS_Msk                           /*!< Source BUS select */
+#define MDMA_CTBR_DBUS_Pos        (17U)
+#define MDMA_CTBR_DBUS_Msk        (0x1UL << MDMA_CTBR_DBUS_Pos)                /*!< 0x00020000 */
+#define MDMA_CTBR_DBUS            MDMA_CTBR_DBUS_Msk                           /*!< Destination BUS select */
+
+/********************  Bit definition for MDMA_CxMAR)  ************************/
+#define MDMA_CMAR_MAR_Pos         (0U)
+#define MDMA_CMAR_MAR_Msk         (0xFFFFFFFFUL << MDMA_CMAR_MAR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CMAR_MAR             MDMA_CMAR_MAR_Msk                            /*!< Mask address */
+
+/********************  Bit definition for MDMA_CxMDR)  ************************/
+#define MDMA_CMDR_MDR_Pos         (0U)
+#define MDMA_CMDR_MDR_Msk         (0xFFFFFFFFUL << MDMA_CMDR_MDR_Pos)          /*!< 0xFFFFFFFF */
+#define MDMA_CMDR_MDR             MDMA_CMDR_MDR_Msk                            /*!< Mask Data */
+
+/******************************************************************************/
+/*                                                                            */
+/*                         Operational Amplifier (OPAMP)                      */
+/*                                                                            */
+/******************************************************************************/
+/*********************  Bit definition for OPAMPx_CSR register  ***************/
+#define OPAMP_CSR_OPAMPxEN_Pos           (0U)
+#define OPAMP_CSR_OPAMPxEN_Msk           (0x1UL << OPAMP_CSR_OPAMPxEN_Pos)     /*!< 0x00000001 */
+#define OPAMP_CSR_OPAMPxEN               OPAMP_CSR_OPAMPxEN_Msk                /*!< OPAMP enable */
+#define OPAMP_CSR_FORCEVP_Pos            (1U)
+#define OPAMP_CSR_FORCEVP_Msk            (0x1UL << OPAMP_CSR_FORCEVP_Pos)      /*!< 0x00000002 */
+#define OPAMP_CSR_FORCEVP                OPAMP_CSR_FORCEVP_Msk                 /*!< Force internal reference on VP */
+
+#define OPAMP_CSR_VPSEL_Pos              (2U)
+#define OPAMP_CSR_VPSEL_Msk              (0x3UL << OPAMP_CSR_VPSEL_Pos)        /*!< 0x0000000C */
+#define OPAMP_CSR_VPSEL                  OPAMP_CSR_VPSEL_Msk                   /*!< Non inverted input selection */
+#define OPAMP_CSR_VPSEL_0                (0x1UL << OPAMP_CSR_VPSEL_Pos)         /*!< 0x00000004 */
+#define OPAMP_CSR_VPSEL_1                (0x2UL << OPAMP_CSR_VPSEL_Pos)         /*!< 0x00000008 */
+
+#define OPAMP_CSR_VMSEL_Pos              (5U)
+#define OPAMP_CSR_VMSEL_Msk              (0x3UL << OPAMP_CSR_VMSEL_Pos)        /*!< 0x00000060 */
+#define OPAMP_CSR_VMSEL                  OPAMP_CSR_VMSEL_Msk                   /*!< Inverting input selection */
+#define OPAMP_CSR_VMSEL_0                (0x1UL << OPAMP_CSR_VMSEL_Pos)         /*!< 0x00000020 */
+#define OPAMP_CSR_VMSEL_1                (0x2UL << OPAMP_CSR_VMSEL_Pos)         /*!< 0x00000040 */
+
+#define OPAMP_CSR_OPAHSM_Pos             (8U)
+#define OPAMP_CSR_OPAHSM_Msk             (0x1UL << OPAMP_CSR_OPAHSM_Pos)       /*!< 0x00000100 */
+#define OPAMP_CSR_OPAHSM                 OPAMP_CSR_OPAHSM_Msk                  /*!< Operational amplifier high speed mode */
+#define OPAMP_CSR_CALON_Pos              (11U)
+#define OPAMP_CSR_CALON_Msk              (0x1UL << OPAMP_CSR_CALON_Pos)        /*!< 0x00000800 */
+#define OPAMP_CSR_CALON                  OPAMP_CSR_CALON_Msk                   /*!< Calibration mode enable */
+
+#define OPAMP_CSR_CALSEL_Pos             (12U)
+#define OPAMP_CSR_CALSEL_Msk             (0x3UL << OPAMP_CSR_CALSEL_Pos)       /*!< 0x00003000 */
+#define OPAMP_CSR_CALSEL                 OPAMP_CSR_CALSEL_Msk                  /*!< Calibration selection */
+#define OPAMP_CSR_CALSEL_0               (0x1UL << OPAMP_CSR_CALSEL_Pos)        /*!< 0x00001000 */
+#define OPAMP_CSR_CALSEL_1               (0x2UL << OPAMP_CSR_CALSEL_Pos)        /*!< 0x00002000 */
+
+#define OPAMP_CSR_PGGAIN_Pos             (14U)
+#define OPAMP_CSR_PGGAIN_Msk             (0xFUL << OPAMP_CSR_PGGAIN_Pos)       /*!< 0x0003C000 */
+#define OPAMP_CSR_PGGAIN                 OPAMP_CSR_PGGAIN_Msk                  /*!< Operational amplifier Programmable amplifier gain value */
+#define OPAMP_CSR_PGGAIN_0               (0x1UL << OPAMP_CSR_PGGAIN_Pos)        /*!< 0x00004000 */
+#define OPAMP_CSR_PGGAIN_1               (0x2UL << OPAMP_CSR_PGGAIN_Pos)        /*!< 0x00008000 */
+#define OPAMP_CSR_PGGAIN_2               (0x4UL << OPAMP_CSR_PGGAIN_Pos)        /*!< 0x00010000 */
+#define OPAMP_CSR_PGGAIN_3               (0x8UL << OPAMP_CSR_PGGAIN_Pos)        /*!< 0x00020000 */
+
+#define OPAMP_CSR_USERTRIM_Pos           (18U)
+#define OPAMP_CSR_USERTRIM_Msk           (0x1UL << OPAMP_CSR_USERTRIM_Pos)     /*!< 0x00040000 */
+#define OPAMP_CSR_USERTRIM               OPAMP_CSR_USERTRIM_Msk                /*!< User trimming enable */
+#define OPAMP_CSR_TSTREF_Pos             (29U)
+#define OPAMP_CSR_TSTREF_Msk             (0x1UL << OPAMP_CSR_TSTREF_Pos)       /*!< 0x20000000 */
+#define OPAMP_CSR_TSTREF                 OPAMP_CSR_TSTREF_Msk                  /*!< OpAmp calibration reference voltage output control */
+#define OPAMP_CSR_CALOUT_Pos             (30U)
+#define OPAMP_CSR_CALOUT_Msk             (0x1UL << OPAMP_CSR_CALOUT_Pos)       /*!< 0x40000000 */
+#define OPAMP_CSR_CALOUT                 OPAMP_CSR_CALOUT_Msk                  /*!< Operational amplifier calibration output */
+
+/*********************  Bit definition for OPAMP1_CSR register  ***************/
+#define OPAMP1_CSR_OPAEN_Pos              (0U)
+#define OPAMP1_CSR_OPAEN_Msk              (0x1UL << OPAMP1_CSR_OPAEN_Pos)      /*!< 0x00000001 */
+#define OPAMP1_CSR_OPAEN                  OPAMP1_CSR_OPAEN_Msk                 /*!< Operational amplifier1 Enable */
+#define OPAMP1_CSR_FORCEVP_Pos            (1U)
+#define OPAMP1_CSR_FORCEVP_Msk            (0x1UL << OPAMP1_CSR_FORCEVP_Pos)    /*!< 0x00000002 */
+#define OPAMP1_CSR_FORCEVP                OPAMP1_CSR_FORCEVP_Msk               /*!< Force internal reference on VP */
+
+#define OPAMP1_CSR_VPSEL_Pos              (2U)
+#define OPAMP1_CSR_VPSEL_Msk              (0x3UL << OPAMP1_CSR_VPSEL_Pos)      /*!< 0x0000000C */
+#define OPAMP1_CSR_VPSEL                  OPAMP1_CSR_VPSEL_Msk                 /*!< Non inverted input selection */
+#define OPAMP1_CSR_VPSEL_0                (0x1UL << OPAMP1_CSR_VPSEL_Pos)       /*!< 0x00000004 */
+#define OPAMP1_CSR_VPSEL_1                (0x2UL << OPAMP1_CSR_VPSEL_Pos)       /*!< 0x00000008 */
+
+#define OPAMP1_CSR_VMSEL_Pos              (5U)
+#define OPAMP1_CSR_VMSEL_Msk              (0x3UL << OPAMP1_CSR_VMSEL_Pos)      /*!< 0x00000060 */
+#define OPAMP1_CSR_VMSEL                  OPAMP1_CSR_VMSEL_Msk                 /*!< Inverting input selection */
+#define OPAMP1_CSR_VMSEL_0                (0x1UL << OPAMP1_CSR_VMSEL_Pos)       /*!< 0x00000020 */
+#define OPAMP1_CSR_VMSEL_1                (0x2UL << OPAMP1_CSR_VMSEL_Pos)       /*!< 0x00000040 */
+
+#define OPAMP1_CSR_OPAHSM_Pos             (8U)
+#define OPAMP1_CSR_OPAHSM_Msk             (0x1UL << OPAMP1_CSR_OPAHSM_Pos)     /*!< 0x00000100 */
+#define OPAMP1_CSR_OPAHSM                 OPAMP1_CSR_OPAHSM_Msk                /*!< Operational amplifier1 high speed mode */
+#define OPAMP1_CSR_CALON_Pos              (11U)
+#define OPAMP1_CSR_CALON_Msk              (0x1UL << OPAMP1_CSR_CALON_Pos)      /*!< 0x00000800 */
+#define OPAMP1_CSR_CALON                  OPAMP1_CSR_CALON_Msk                 /*!< Calibration mode enable */
+
+#define OPAMP1_CSR_CALSEL_Pos             (12U)
+#define OPAMP1_CSR_CALSEL_Msk             (0x3UL << OPAMP1_CSR_CALSEL_Pos)     /*!< 0x00003000 */
+#define OPAMP1_CSR_CALSEL                 OPAMP1_CSR_CALSEL_Msk                /*!< Calibration selection */
+#define OPAMP1_CSR_CALSEL_0               (0x1UL << OPAMP1_CSR_CALSEL_Pos)      /*!< 0x00001000 */
+#define OPAMP1_CSR_CALSEL_1               (0x2UL << OPAMP1_CSR_CALSEL_Pos)      /*!< 0x00002000 */
+
+#define OPAMP1_CSR_PGGAIN_Pos             (14U)
+#define OPAMP1_CSR_PGGAIN_Msk             (0xFUL << OPAMP1_CSR_PGGAIN_Pos)     /*!< 0x0003C000 */
+#define OPAMP1_CSR_PGGAIN                 OPAMP1_CSR_PGGAIN_Msk                /*!< Operational amplifier1 Programmable amplifier gain value */
+#define OPAMP1_CSR_PGGAIN_0               (0x1UL << OPAMP1_CSR_PGGAIN_Pos)      /*!< 0x00004000 */
+#define OPAMP1_CSR_PGGAIN_1               (0x2UL << OPAMP1_CSR_PGGAIN_Pos)      /*!< 0x00008000 */
+#define OPAMP1_CSR_PGGAIN_2               (0x4UL << OPAMP1_CSR_PGGAIN_Pos)      /*!< 0x00010000 */
+#define OPAMP1_CSR_PGGAIN_3               (0x8UL << OPAMP1_CSR_PGGAIN_Pos)      /*!< 0x00020000 */
+
+#define OPAMP1_CSR_USERTRIM_Pos           (18U)
+#define OPAMP1_CSR_USERTRIM_Msk           (0x1UL << OPAMP1_CSR_USERTRIM_Pos)   /*!< 0x00040000 */
+#define OPAMP1_CSR_USERTRIM               OPAMP1_CSR_USERTRIM_Msk              /*!< User trimming enable */
+#define OPAMP1_CSR_TSTREF_Pos             (29U)
+#define OPAMP1_CSR_TSTREF_Msk             (0x1UL << OPAMP1_CSR_TSTREF_Pos)     /*!< 0x20000000 */
+#define OPAMP1_CSR_TSTREF                 OPAMP1_CSR_TSTREF_Msk                /*!< OpAmp calibration reference voltage output control */
+#define OPAMP1_CSR_CALOUT_Pos             (30U)
+#define OPAMP1_CSR_CALOUT_Msk             (0x1UL << OPAMP1_CSR_CALOUT_Pos)     /*!< 0x40000000 */
+#define OPAMP1_CSR_CALOUT                 OPAMP1_CSR_CALOUT_Msk                /*!< Operational amplifier1 calibration output */
+
+/*********************  Bit definition for OPAMP2_CSR register  ***************/
+#define OPAMP2_CSR_OPAEN_Pos              (0U)
+#define OPAMP2_CSR_OPAEN_Msk              (0x1UL << OPAMP2_CSR_OPAEN_Pos)      /*!< 0x00000001 */
+#define OPAMP2_CSR_OPAEN                  OPAMP2_CSR_OPAEN_Msk                 /*!< Operational amplifier2 Enable */
+#define OPAMP2_CSR_FORCEVP_Pos            (1U)
+#define OPAMP2_CSR_FORCEVP_Msk            (0x1UL << OPAMP2_CSR_FORCEVP_Pos)    /*!< 0x00000002 */
+#define OPAMP2_CSR_FORCEVP                OPAMP2_CSR_FORCEVP_Msk               /*!< Force internal reference on VP */
+
+#define OPAMP2_CSR_VPSEL_Pos              (2U)
+#define OPAMP2_CSR_VPSEL_Msk              (0x3UL << OPAMP2_CSR_VPSEL_Pos)      /*!< 0x0000000C */
+#define OPAMP2_CSR_VPSEL                  OPAMP2_CSR_VPSEL_Msk                 /*!< Non inverted input selection */
+#define OPAMP2_CSR_VPSEL_0                (0x1UL << OPAMP2_CSR_VPSEL_Pos)       /*!< 0x00000004 */
+#define OPAMP2_CSR_VPSEL_1                (0x2UL << OPAMP2_CSR_VPSEL_Pos)       /*!< 0x00000008 */
+
+#define OPAMP2_CSR_VMSEL_Pos              (5U)
+#define OPAMP2_CSR_VMSEL_Msk              (0x3UL << OPAMP2_CSR_VMSEL_Pos)      /*!< 0x00000060 */
+#define OPAMP2_CSR_VMSEL                  OPAMP2_CSR_VMSEL_Msk                 /*!< Inverting input selection */
+#define OPAMP2_CSR_VMSEL_0                (0x1UL << OPAMP2_CSR_VMSEL_Pos)       /*!< 0x00000020 */
+#define OPAMP2_CSR_VMSEL_1                (0x2UL << OPAMP2_CSR_VMSEL_Pos)       /*!< 0x00000040 */
+
+#define OPAMP2_CSR_OPAHSM_Pos             (8U)
+#define OPAMP2_CSR_OPAHSM_Msk             (0x1UL << OPAMP2_CSR_OPAHSM_Pos)     /*!< 0x00000100 */
+#define OPAMP2_CSR_OPAHSM                 OPAMP2_CSR_OPAHSM_Msk                /*!< Operational amplifier2 high speed mode */
+#define OPAMP2_CSR_CALON_Pos              (11U)
+#define OPAMP2_CSR_CALON_Msk              (0x1UL << OPAMP2_CSR_CALON_Pos)      /*!< 0x00000800 */
+#define OPAMP2_CSR_CALON                  OPAMP2_CSR_CALON_Msk                 /*!< Calibration mode enable */
+
+#define OPAMP2_CSR_CALSEL_Pos             (12U)
+#define OPAMP2_CSR_CALSEL_Msk             (0x3UL << OPAMP2_CSR_CALSEL_Pos)     /*!< 0x00003000 */
+#define OPAMP2_CSR_CALSEL                 OPAMP2_CSR_CALSEL_Msk                /*!< Calibration selection */
+#define OPAMP2_CSR_CALSEL_0               (0x1UL << OPAMP2_CSR_CALSEL_Pos)      /*!< 0x00001000 */
+#define OPAMP2_CSR_CALSEL_1               (0x2UL << OPAMP2_CSR_CALSEL_Pos)      /*!< 0x00002000 */
+
+#define OPAMP2_CSR_PGGAIN_Pos             (14U)
+#define OPAMP2_CSR_PGGAIN_Msk             (0xFUL << OPAMP2_CSR_PGGAIN_Pos)     /*!< 0x0003C000 */
+#define OPAMP2_CSR_PGGAIN                 OPAMP2_CSR_PGGAIN_Msk                /*!< Operational amplifier2 Programmable amplifier gain value */
+#define OPAMP2_CSR_PGGAIN_0               (0x1UL << OPAMP2_CSR_PGGAIN_Pos)      /*!< 0x00004000 */
+#define OPAMP2_CSR_PGGAIN_1               (0x2UL << OPAMP2_CSR_PGGAIN_Pos)      /*!< 0x00008000 */
+#define OPAMP2_CSR_PGGAIN_2               (0x4UL << OPAMP2_CSR_PGGAIN_Pos)      /*!< 0x00010000 */
+#define OPAMP2_CSR_PGGAIN_3               (0x8UL << OPAMP2_CSR_PGGAIN_Pos)      /*!< 0x00020000 */
+
+#define OPAMP2_CSR_USERTRIM_Pos           (18U)
+#define OPAMP2_CSR_USERTRIM_Msk           (0x1UL << OPAMP2_CSR_USERTRIM_Pos)   /*!< 0x00040000 */
+#define OPAMP2_CSR_USERTRIM               OPAMP2_CSR_USERTRIM_Msk              /*!< User trimming enable */
+#define OPAMP2_CSR_TSTREF_Pos             (29U)
+#define OPAMP2_CSR_TSTREF_Msk             (0x1UL << OPAMP2_CSR_TSTREF_Pos)     /*!< 0x20000000 */
+#define OPAMP2_CSR_TSTREF                 OPAMP2_CSR_TSTREF_Msk                /*!< OpAmp calibration reference voltage output control */
+#define OPAMP2_CSR_CALOUT_Pos             (30U)
+#define OPAMP2_CSR_CALOUT_Msk             (0x1UL << OPAMP2_CSR_CALOUT_Pos)     /*!< 0x40000000 */
+#define OPAMP2_CSR_CALOUT                 OPAMP2_CSR_CALOUT_Msk                /*!< Operational amplifier2 calibration output */
+
+/*******************  Bit definition for OPAMP_OTR register  ******************/
+#define OPAMP_OTR_TRIMOFFSETN_Pos        (0U)
+#define OPAMP_OTR_TRIMOFFSETN_Msk        (0x1FUL << OPAMP_OTR_TRIMOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP_OTR_TRIMOFFSETN            OPAMP_OTR_TRIMOFFSETN_Msk             /*!< Trim for NMOS differential pairs */
+#define OPAMP_OTR_TRIMOFFSETP_Pos        (8U)
+#define OPAMP_OTR_TRIMOFFSETP_Msk        (0x1FUL << OPAMP_OTR_TRIMOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP_OTR_TRIMOFFSETP            OPAMP_OTR_TRIMOFFSETP_Msk             /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP1_OTR register  ******************/
+#define OPAMP1_OTR_TRIMOFFSETN_Pos        (0U)
+#define OPAMP1_OTR_TRIMOFFSETN_Msk        (0x1FUL << OPAMP1_OTR_TRIMOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP1_OTR_TRIMOFFSETN            OPAMP1_OTR_TRIMOFFSETN_Msk           /*!< Trim for NMOS differential pairs */
+#define OPAMP1_OTR_TRIMOFFSETP_Pos        (8U)
+#define OPAMP1_OTR_TRIMOFFSETP_Msk        (0x1FUL << OPAMP1_OTR_TRIMOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP1_OTR_TRIMOFFSETP            OPAMP1_OTR_TRIMOFFSETP_Msk           /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP2_OTR register  ******************/
+#define OPAMP2_OTR_TRIMOFFSETN_Pos        (0U)
+#define OPAMP2_OTR_TRIMOFFSETN_Msk        (0x1FUL << OPAMP2_OTR_TRIMOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP2_OTR_TRIMOFFSETN            OPAMP2_OTR_TRIMOFFSETN_Msk           /*!< Trim for NMOS differential pairs */
+#define OPAMP2_OTR_TRIMOFFSETP_Pos        (8U)
+#define OPAMP2_OTR_TRIMOFFSETP_Msk        (0x1FUL << OPAMP2_OTR_TRIMOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP2_OTR_TRIMOFFSETP            OPAMP2_OTR_TRIMOFFSETP_Msk           /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP_HSOTR register  ****************/
+#define OPAMP_HSOTR_TRIMHSOFFSETN_Pos    (0U)
+#define OPAMP_HSOTR_TRIMHSOFFSETN_Msk    (0x1FUL << OPAMP_HSOTR_TRIMHSOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP_HSOTR_TRIMHSOFFSETN        OPAMP_HSOTR_TRIMHSOFFSETN_Msk         /*!< Trim for NMOS differential pairs */
+#define OPAMP_HSOTR_TRIMHSOFFSETP_Pos    (8U)
+#define OPAMP_HSOTR_TRIMHSOFFSETP_Msk    (0x1FUL << OPAMP_HSOTR_TRIMHSOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP_HSOTR_TRIMHSOFFSETP        OPAMP_HSOTR_TRIMHSOFFSETP_Msk         /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP1_HSOTR register  ****************/
+#define OPAMP1_HSOTR_TRIMHSOFFSETN_Pos    (0U)
+#define OPAMP1_HSOTR_TRIMHSOFFSETN_Msk    (0x1FUL << OPAMP1_HSOTR_TRIMHSOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP1_HSOTR_TRIMHSOFFSETN        OPAMP1_HSOTR_TRIMHSOFFSETN_Msk       /*!< Trim for NMOS differential pairs */
+#define OPAMP1_HSOTR_TRIMHSOFFSETP_Pos    (8U)
+#define OPAMP1_HSOTR_TRIMHSOFFSETP_Msk    (0x1FUL << OPAMP1_HSOTR_TRIMHSOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP1_HSOTR_TRIMHSOFFSETP        OPAMP1_HSOTR_TRIMHSOFFSETP_Msk       /*!< Trim for PMOS differential pairs */
+
+/*******************  Bit definition for OPAMP2_HSOTR register  ****************/
+#define OPAMP2_HSOTR_TRIMHSOFFSETN_Pos    (0U)
+#define OPAMP2_HSOTR_TRIMHSOFFSETN_Msk    (0x1FUL << OPAMP2_HSOTR_TRIMHSOFFSETN_Pos) /*!< 0x0000001F */
+#define OPAMP2_HSOTR_TRIMHSOFFSETN        OPAMP2_HSOTR_TRIMHSOFFSETN_Msk       /*!< Trim for NMOS differential pairs */
+#define OPAMP2_HSOTR_TRIMHSOFFSETP_Pos    (8U)
+#define OPAMP2_HSOTR_TRIMHSOFFSETP_Msk    (0x1FUL << OPAMP2_HSOTR_TRIMHSOFFSETP_Pos) /*!< 0x00001F00 */
+#define OPAMP2_HSOTR_TRIMHSOFFSETP        OPAMP2_HSOTR_TRIMHSOFFSETP_Msk       /*!< Trim for PMOS differential pairs */
+
+/******************************************************************************/
+/*                                                                            */
+/*                Parallel Synchronous Slave Interface (PSSI )                */
+/*                                                                            */
+/******************************************************************************/
+
+/********************  Bit definition for PSSI_CR register  *******************/
+#define PSSI_CR_OUTEN_Pos               (31U)
+#define PSSI_CR_OUTEN_Msk               (0x1UL << PSSI_CR_OUTEN_Pos)           /*!< 0x80000000 */
+#define PSSI_CR_OUTEN                   PSSI_CR_OUTEN_Msk                      /*!< Data direction selection */
+#define PSSI_CR_DMAEN_Pos               (30U)
+#define PSSI_CR_DMAEN_Msk               (0x1UL << PSSI_CR_DMAEN_Pos)           /*!< 0x40000000 */
+#define PSSI_CR_DMAEN                   PSSI_CR_DMAEN_Msk                      /*!< DMA enable */
+#define PSSI_CR_DERDYCFG_Pos            (18U)
+#define PSSI_CR_DERDYCFG_Msk            (0x7UL << PSSI_CR_DERDYCFG_Pos)        /*!< 0x001C0000 */
+#define PSSI_CR_DERDYCFG                PSSI_CR_DERDYCFG_Msk                   /*!< Data enable and ready configuration */
+#define PSSI_CR_ENABLE_Pos              (14U)
+#define PSSI_CR_ENABLE_Msk              (0x1UL << PSSI_CR_ENABLE_Pos)          /*!< 0x00004000 */
+#define PSSI_CR_ENABLE                  PSSI_CR_ENABLE_Msk                     /*!< PSSI enable */
+#define PSSI_CR_EDM_Pos                 (10U)
+#define PSSI_CR_EDM_Msk                 (0x3UL << PSSI_CR_EDM_Pos)             /*!< 0x00000C00 */
+#define PSSI_CR_EDM                     PSSI_CR_EDM_Msk                        /*!< Extended data mode */
+#define PSSI_CR_RDYPOL_Pos              (8U)
+#define PSSI_CR_RDYPOL_Msk              (0x1UL << PSSI_CR_RDYPOL_Pos)          /*!< 0x00000C00 */
+#define PSSI_CR_RDYPOL                  PSSI_CR_RDYPOL_Msk                     /*!< Ready polarity */
+#define PSSI_CR_DEPOL_Pos               (6U)
+#define PSSI_CR_DEPOL_Msk               (0x1UL << PSSI_CR_DEPOL_Pos)           /*!< 0x00000C00 */
+#define PSSI_CR_DEPOL                   PSSI_CR_DEPOL_Msk                      /*!<  Data enable polarity */
+#define PSSI_CR_CKPOL_Pos               (5U)
+#define PSSI_CR_CKPOL_Msk               (0x1UL << PSSI_CR_CKPOL_Pos)           /*!< 0x00000C00 */
+#define PSSI_CR_CKPOL                   PSSI_CR_CKPOL_Msk                      /*!< Parallel data clock polarity */
+/********************  Bit definition for PSSI_SR register  *******************/
+#define PSSI_SR_RTT1B_Pos               (3U)
+#define PSSI_SR_RTT1B_Msk               (0x1UL << PSSI_SR_RTT1B_Pos)           /*!< 0x00000008 */
+#define PSSI_SR_RTT1B                   PSSI_SR_RTT1B_Msk                      /*!< Ready to transfer one byte */
+#define PSSI_SR_RTT4B_Pos               (2U)
+#define PSSI_SR_RTT4B_Msk               (0x1UL << PSSI_SR_RTT4B_Pos)           /*!< 0x00000004 */
+#define PSSI_SR_RTT4B                   PSSI_SR_RTT4B_Msk                      /*!< Ready to transfer four bytes */
+/********************  Bit definition for PSSI_RIS register  *******************/
+#define PSSI_RIS_OVR_RIS_Pos            (1U)
+#define PSSI_RIS_OVR_RIS_Msk            (0x1UL << PSSI_RIS_OVR_RIS_Pos)        /*!< 0x00000002 */
+#define PSSI_RIS_OVR_RIS                PSSI_RIS_OVR_RIS_Msk                   /*!< Data buffer overrun/underrun raw interrupt status */
+/********************  Bit definition for PSSI_IER register  *******************/
+#define PSSI_IER_OVR_IE_Pos             (1U)
+#define PSSI_IER_OVR_IE_Msk             (0x1UL << PSSI_IER_OVR_IE_Pos)         /*!< 0x00000002 */
+#define PSSI_IER_OVR_IE                 PSSI_IER_OVR_IE_Msk                    /*!< Data buffer overrun/underrun interrupt enable */
+/********************  Bit definition for PSSI_MIS register  *******************/
+#define PSSI_MIS_OVR_MIS_Pos            (1U)
+#define PSSI_MIS_OVR_MIS_Msk            (0x1UL << PSSI_MIS_OVR_MIS_Pos)        /*!< 0x00000002 */
+#define PSSI_MIS_OVR_MIS                PSSI_MIS_OVR_MIS_Msk                   /*!< Data buffer overrun/underrun masked interrupt status */
+/********************  Bit definition for PSSI_ICR register  *******************/
+#define PSSI_ICR_OVR_ISC_Pos            (1U)
+#define PSSI_ICR_OVR_ISC_Msk            (0x1UL << PSSI_ICR_OVR_ISC_Pos)        /*!< 0x00000002 */
+#define PSSI_ICR_OVR_ISC                PSSI_ICR_OVR_ISC_Msk                   /*!< Data buffer overrun/underrun interrupt status clear */
+/********************  Bit definition for PSSI_DR register  *******************/
+#define PSSI_DR_DR_Pos                  (0U)
+#define PSSI_DR_DR_Msk                  (0xFFFFFFFFUL << PSSI_DR_DR_Pos)       /*!< 0xFFFFFFF */
+#define PSSI_DR_DR                      PSSI_DR_DR_Msk                         /*!< Data register  */
+
+/******************************************************************************/
+/*                                                                            */
+/*                              On The Fly Decryption                         */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for OTFDEC_CR register  ******************/
+#define OTFDEC_CR_ENC_Pos                      (0U)
+#define OTFDEC_CR_ENC_Msk                      (0x1UL << OTFDEC_CR_ENC_Pos)                  /*!< 0x00000001 */
+#define OTFDEC_CR_ENC                          OTFDEC_CR_ENC_Msk                             /*!< Encryption mode bit */
+
+/******************  Bit definition for OTFDEC_PRIVCFGR register  ************/
+#define OTFDEC_PRIVCFGR_PRIV_Pos               (0U)
+#define OTFDEC_PRIVCFGR_PRIV_Msk               (0x1UL << OTFDEC_PRIVCFGR_PRIV_Pos)           /*!< 0x00000001 */
+#define OTFDEC_PRIVCFGR_PRIV                   OTFDEC_PRIVCFGR_PRIV_Msk                      /*!< Privileged access protection */
+
+/******************  Bit definition for OTFDEC_REG_CONFIGR register  *********/
+#define OTFDEC_REG_CONFIGR_REG_EN_Pos          (0U)
+#define OTFDEC_REG_CONFIGR_REG_EN_Msk          (0x1UL << OTFDEC_REG_CONFIGR_REG_EN_Pos)      /*!< 0x00000001 */
+#define OTFDEC_REG_CONFIGR_REG_EN              OTFDEC_REG_CONFIGR_REG_EN_Msk                 /*!< Region on-the-fly decryption enable */
+
+#define OTFDEC_REG_CONFIGR_CONFIGLOCK_Pos      (1U)
+#define OTFDEC_REG_CONFIGR_CONFIGLOCK_Msk      (0x1UL << OTFDEC_REG_CONFIGR_CONFIGLOCK_Pos)  /*!< 0x00000002 */
+#define OTFDEC_REG_CONFIGR_CONFIGLOCK          OTFDEC_REG_CONFIGR_CONFIGLOCK_Msk             /*!< Region config lock */
+
+#define OTFDEC_REG_CONFIGR_KEYLOCK_Pos         (2U)
+#define OTFDEC_REG_CONFIGR_KEYLOCK_Msk         (0x1UL << OTFDEC_REG_CONFIGR_KEYLOCK_Pos)     /*!< 0x00000004 */
+#define OTFDEC_REG_CONFIGR_KEYLOCK             OTFDEC_REG_CONFIGR_KEYLOCK_Msk                /*!< Region key lock */
+
+#define OTFDEC_REG_CONFIGR_MODE_Pos            (4U)
+#define OTFDEC_REG_CONFIGR_MODE_Msk            (0x3UL << OTFDEC_REG_CONFIGR_MODE_Pos)        /*!< 0x00000030 */
+#define OTFDEC_REG_CONFIGR_MODE                OTFDEC_REG_CONFIGR_MODE_Msk                   /*!< Region operating mode */
+#define OTFDEC_REG_CONFIGR_MODE_0              (0x1UL << OTFDEC_REG_CONFIGR_MODE_Pos)        /*!< 0x00000010 */
+#define OTFDEC_REG_CONFIGR_MODE_1              (0x2UL << OTFDEC_REG_CONFIGR_MODE_Pos)        /*!< 0x00000020 */
+
+#define OTFDEC_REG_CONFIGR_KEYCRC_Pos          (8U)
+#define OTFDEC_REG_CONFIGR_KEYCRC_Msk          (0xFFUL << OTFDEC_REG_CONFIGR_KEYCRC_Pos)     /*!< 0x0000FF00 */
+#define OTFDEC_REG_CONFIGR_KEYCRC              OTFDEC_REG_CONFIGR_KEYCRC_Msk                 /*!< Region key 8-bit CRC */
+
+#define OTFDEC_REG_CONFIGR_VERSION_Pos         (16U)
+#define OTFDEC_REG_CONFIGR_VERSION_Msk         (0xFFFFUL << OTFDEC_REG_CONFIGR_VERSION_Pos)  /*!< 0xFFFF0000 */
+#define OTFDEC_REG_CONFIGR_VERSION             OTFDEC_REG_CONFIGR_VERSION_Msk                /*!< Region firmware version */
+
+/******************  Bit definition for OTFDEC_REG_START_ADDR register  ******/
+#define OTFDEC_REG_START_ADDR_Pos              (0U)
+#define OTFDEC_REG_START_ADDR_Msk              (0xFFFFFFFFUL << OTFDEC_REG_START_ADDR_Pos)   /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_START_ADDR                  OTFDEC_REG_START_ADDR_Msk                     /*!< Region AHB start address */
+
+/******************  Bit definition for OTFDEC_REG_END_ADDR register  ********/
+#define OTFDEC_REG_END_ADDR_Pos                (0U)
+#define OTFDEC_REG_END_ADDR_Msk                (0xFFFFFFFFUL << OTFDEC_REG_END_ADDR_Pos)     /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_END_ADDR                    OTFDEC_REG_END_ADDR_Msk                       /*!< Region AHB end address */
+
+/******************  Bit definition for OTFDEC_REG_NONCER0 register  *********/
+#define OTFDEC_REG_NONCER0_Pos                 (0U)
+#define OTFDEC_REG_NONCER0_Msk                 (0xFFFFFFFFUL << OTFDEC_REG_NONCER0_Pos)      /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_NONCER0                     OTFDEC_REG_NONCER0_Msk                        /*!< Region Nonce Register (LSB nonce[31:0]) */
+
+/******************  Bit definition for OTFDEC_REG_NONCER1 register  *********/
+#define OTFDEC_REG_NONCER1_Pos                 (0U)
+#define OTFDEC_REG_NONCER1_Msk                 (0xFFFFFFFFUL << OTFDEC_REG_NONCER1_Pos)      /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_NONCER1                     OTFDEC_REG_NONCER1_Msk                        /*!< Region Nonce Register (MSB nonce[63:32]) */
+
+/******************  Bit definition for OTFDEC_REG_KEYR0 register  ***********/
+#define OTFDEC_REG_KEYR0_Pos                   (0U)
+#define OTFDEC_REG_KEYR0_Msk                   (0xFFFFFFFFUL << OTFDEC_REG_KEYR0_Pos)        /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_KEYR0                       OTFDEC_REG_KEYR0_Msk                          /*!< Region Key Register (LSB key[31:0]) */
+
+/******************  Bit definition for OTFDEC_REG_KEYR1 register  ***********/
+#define OTFDEC_REG_KEYR1_Pos                   (0U)
+#define OTFDEC_REG_KEYR1_Msk                   (0xFFFFFFFFUL << OTFDEC_REG_KEYR1_Pos)        /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_KEYR1                       OTFDEC_REG_KEYR1_Msk                          /*!< Region Key Register (key[63:32]) */
+
+/******************  Bit definition for OTFDEC_REG_KEYR2 register  ***********/
+#define OTFDEC_REG_KEYR2_Pos                   (0U)
+#define OTFDEC_REG_KEYR2_Msk                   (0xFFFFFFFFUL << OTFDEC_REG_KEYR2_Pos)        /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_KEYR2                       OTFDEC_REG_KEYR2_Msk                          /*!< Region Key Register (key[95:64]) */
+
+/******************  Bit definition for OTFDEC_REG_KEYR3 register  ***********/
+#define OTFDEC_REG_KEYR3_Pos                   (0U)
+#define OTFDEC_REG_KEYR3_Msk                   (0xFFFFFFFFUL << OTFDEC_REG_KEYR3_Pos)        /*!< 0xFFFFFFFF */
+#define OTFDEC_REG_KEYR3                       OTFDEC_REG_KEYR3_Msk                          /*!< Region Key Register (key[127:96]) */
+
+/******************  Bit definition for OTFDEC_ISR register  *****************/
+#define OTFDEC_ISR_SEIF_Pos                    (0U)
+#define OTFDEC_ISR_SEIF_Msk                    (0x1UL << OTFDEC_ISR_SEIF_Pos)                /*!< 0x00000001 */
+#define OTFDEC_ISR_SEIF                        OTFDEC_ISR_SEIF_Msk                           /*!< Security Error Interrupt Flag status bit before enable (mask) */
+
+#define OTFDEC_ISR_XONEIF_Pos                  (1U)
+#define OTFDEC_ISR_XONEIF_Msk                  (0x1UL << OTFDEC_ISR_XONEIF_Pos)              /*!< 0x00000002 */
+#define OTFDEC_ISR_XONEIF                      OTFDEC_ISR_XONEIF_Msk                         /*!< Execute-only Error Interrupt Flag status bit before enable (mask) */
+
+#define OTFDEC_ISR_KEIF_Pos                    (2U)
+#define OTFDEC_ISR_KEIF_Msk                    (0x1UL << OTFDEC_ISR_KEIF_Pos)                /*!< 0x00000004 */
+#define OTFDEC_ISR_KEIF                        OTFDEC_ISR_KEIF_Msk                           /*!< Key Error Interrupt Flag status bit before enable (mask) */
+
+/******************  Bit definition  for OTFDEC_ICR register  *****************/
+#define OTFDEC_ICR_SEIF_Pos                    (0U)
+#define OTFDEC_ICR_SEIF_Msk                    (0x1UL << OTFDEC_ICR_SEIF_Pos)                /*!< 0x00000001 */
+#define OTFDEC_ICR_SEIF                        OTFDEC_ICR_SEIF_Msk                           /*!< Security Error Interrupt Flag clear bit */
+
+#define OTFDEC_ICR_XONEIF_Pos                  (1U)
+#define OTFDEC_ICR_XONEIF_Msk                  (0x1UL << OTFDEC_ICR_XONEIF_Pos)              /*!< 0x00000002 */
+#define OTFDEC_ICR_XONEIF                      OTFDEC_ICR_XONEIF_Msk                         /*!< Execute-only Error Interrupt Flag clear bit */
+
+#define OTFDEC_ICR_KEIF_Pos                    (2U)
+#define OTFDEC_ICR_KEIF_Msk                    (0x1UL << OTFDEC_ICR_KEIF_Pos)                /*!< 0x00000004 */
+#define OTFDEC_ICR_KEIF                        OTFDEC_ICR_KEIF_Msk                           /*!< Key Error Interrupt Flag clear bit */
+
+/******************  Bit definition for OTFDEC_IER register  *****************/
+#define OTFDEC_IER_SEIE_Pos                    (0U)
+#define OTFDEC_IER_SEIE_Msk                    (0x1UL << OTFDEC_IER_SEIE_Pos)                /*!< 0x00000001 */
+#define OTFDEC_IER_SEIE                        OTFDEC_IER_SEIE_Msk                           /*!< Security Error Interrupt Enable bit */
+
+#define OTFDEC_IER_XONEIE_Pos                  (1U)
+#define OTFDEC_IER_XONEIE_Msk                  (0x1UL << OTFDEC_IER_XONEIE_Pos)              /*!< 0x00000002 */
+#define OTFDEC_IER_XONEIE                      OTFDEC_IER_XONEIE_Msk                         /*!< Execute-only Error Interrupt Enable bit */
+
+#define OTFDEC_IER_KEIE_Pos                    (2U)
+#define OTFDEC_IER_KEIE_Msk                    (0x1UL << OTFDEC_IER_KEIE_Pos)                /*!< 0x00000004 */
+#define OTFDEC_IER_KEIE                        OTFDEC_IER_KEIE_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                             Power Control                                  */
+/*                                                                            */
+/******************************************************************************/
+/*************************  NUMBER OF POWER DOMAINS  **************************/
+#define POWER_DOMAINS_NUMBER           3U                                      /*!< 3 Domains */
+
+/********************  Bit definition for PWR_CR1 register  *******************/
+#define PWR_CR1_ALS_Pos                (17U)
+#define PWR_CR1_ALS_Msk                (0x3UL << PWR_CR1_ALS_Pos)              /*!< 0x00060000 */
+#define PWR_CR1_ALS                    PWR_CR1_ALS_Msk                         /*!< Analog Voltage Detector level selection */
+#define PWR_CR1_ALS_0                  (0x1UL << PWR_CR1_ALS_Pos)              /*!< 0x00020000 */
+#define PWR_CR1_ALS_1                  (0x2UL << PWR_CR1_ALS_Pos)              /*!< 0x00040000 */
+#define PWR_CR1_AVDEN_Pos              (16U)
+#define PWR_CR1_AVDEN_Msk              (0x1UL << PWR_CR1_AVDEN_Pos)            /*!< 0x00010000 */
+#define PWR_CR1_AVDEN                  PWR_CR1_AVDEN_Msk                       /*!< Analog Voltage Detector Enable */
+#define PWR_CR1_SVOS_Pos               (14U)
+#define PWR_CR1_SVOS_Msk               (0x3UL << PWR_CR1_SVOS_Pos)             /*!< 0x0000C000 */
+#define PWR_CR1_SVOS                   PWR_CR1_SVOS_Msk                        /*!< System STOP mode Voltage Scaling selection */
+#define PWR_CR1_SVOS_0                 (0x1UL << PWR_CR1_SVOS_Pos)             /*!< 0x00004000 */
+#define PWR_CR1_SVOS_1                 (0x2UL << PWR_CR1_SVOS_Pos)             /*!< 0x00008000 */
+#define PWR_CR1_FLPS_Pos               (9U)
+#define PWR_CR1_FLPS_Msk               (0x1UL << PWR_CR1_FLPS_Pos)             /*!< 0x00000200 */
+#define PWR_CR1_FLPS                   PWR_CR1_FLPS_Msk                        /*!< Flash low power mode in DSTOP */
+#define PWR_CR1_DBP_Pos                (8U)
+#define PWR_CR1_DBP_Msk                (0x1UL << PWR_CR1_DBP_Pos)              /*!< 0x00000100 */
+#define PWR_CR1_DBP                    PWR_CR1_DBP_Msk                         /*!< Disable Back-up domain Protection */
+#define PWR_CR1_PLS_Pos                (5U)
+#define PWR_CR1_PLS_Msk                (0x7UL << PWR_CR1_PLS_Pos)              /*!< 0x000000E0 */
+#define PWR_CR1_PLS                    PWR_CR1_PLS_Msk                         /*!< Programmable Voltage Detector level selection */
+#define PWR_CR1_PLS_0                  (0x1UL << PWR_CR1_PLS_Pos)              /*!< 0x00000020 */
+#define PWR_CR1_PLS_1                  (0x2UL << PWR_CR1_PLS_Pos)              /*!< 0x00000040 */
+#define PWR_CR1_PLS_2                  (0x4UL << PWR_CR1_PLS_Pos)              /*!< 0x00000080 */
+#define PWR_CR1_PVDEN_Pos              (4U)
+#define PWR_CR1_PVDEN_Msk              (0x1UL << PWR_CR1_PVDEN_Pos)            /*!< 0x00000010 */
+#define PWR_CR1_PVDEN                  PWR_CR1_PVDEN_Msk                       /*!< Programmable Voltage detector enable */
+#define PWR_CR1_LPDS_Pos               (0U)
+#define PWR_CR1_LPDS_Msk               (0x1UL << PWR_CR1_LPDS_Pos)             /*!< 0x00000001 */
+#define PWR_CR1_LPDS                   PWR_CR1_LPDS_Msk                        /*!< Low Power Deepsleep with SVOS3 */
+
+/*!< PVD level configuration */
+#define PWR_CR1_PLS_LEV0               (0UL)                                   /*!< PVD level 0 */
+#define PWR_CR1_PLS_LEV1_Pos           (5U)
+#define PWR_CR1_PLS_LEV1_Msk           (0x1UL << PWR_CR1_PLS_LEV1_Pos)         /*!< 0x00000020 */
+#define PWR_CR1_PLS_LEV1               PWR_CR1_PLS_LEV1_Msk                    /*!< PVD level 1 */
+#define PWR_CR1_PLS_LEV2_Pos           (6U)
+#define PWR_CR1_PLS_LEV2_Msk           (0x1UL << PWR_CR1_PLS_LEV2_Pos)         /*!< 0x00000040 */
+#define PWR_CR1_PLS_LEV2               PWR_CR1_PLS_LEV2_Msk                    /*!< PVD level 2 */
+#define PWR_CR1_PLS_LEV3_Pos           (5U)
+#define PWR_CR1_PLS_LEV3_Msk           (0x3UL << PWR_CR1_PLS_LEV3_Pos)         /*!< 0x00000060 */
+#define PWR_CR1_PLS_LEV3               PWR_CR1_PLS_LEV3_Msk                    /*!< PVD level 3 */
+#define PWR_CR1_PLS_LEV4_Pos           (7U)
+#define PWR_CR1_PLS_LEV4_Msk           (0x1UL << PWR_CR1_PLS_LEV4_Pos)         /*!< 0x00000080 */
+#define PWR_CR1_PLS_LEV4               PWR_CR1_PLS_LEV4_Msk                    /*!< PVD level 4 */
+#define PWR_CR1_PLS_LEV5_Pos           (5U)
+#define PWR_CR1_PLS_LEV5_Msk           (0x5UL << PWR_CR1_PLS_LEV5_Pos)         /*!< 0x000000A0 */
+#define PWR_CR1_PLS_LEV5               PWR_CR1_PLS_LEV5_Msk                    /*!< PVD level 5 */
+#define PWR_CR1_PLS_LEV6_Pos           (6U)
+#define PWR_CR1_PLS_LEV6_Msk           (0x3UL << PWR_CR1_PLS_LEV6_Pos)         /*!< 0x000000C0 */
+#define PWR_CR1_PLS_LEV6               PWR_CR1_PLS_LEV6_Msk                    /*!< PVD level 6 */
+#define PWR_CR1_PLS_LEV7_Pos           (5U)
+#define PWR_CR1_PLS_LEV7_Msk           (0x7UL << PWR_CR1_PLS_LEV7_Pos)         /*!< 0x000000E0 */
+#define PWR_CR1_PLS_LEV7               PWR_CR1_PLS_LEV7_Msk                    /*!< PVD level 7 */
+
+/*!< AVD level configuration */
+#define PWR_CR1_ALS_LEV0               (0UL)                                   /*!< AVD level 0 */
+#define PWR_CR1_ALS_LEV1_Pos           (17U)
+#define PWR_CR1_ALS_LEV1_Msk           (0x1UL << PWR_CR1_ALS_LEV1_Pos)         /*!< 0x00020000 */
+#define PWR_CR1_ALS_LEV1               PWR_CR1_ALS_LEV1_Msk                    /*!< AVD level 1 */
+#define PWR_CR1_ALS_LEV2_Pos           (18U)
+#define PWR_CR1_ALS_LEV2_Msk           (0x1UL << PWR_CR1_ALS_LEV2_Pos)         /*!< 0x00040000 */
+#define PWR_CR1_ALS_LEV2               PWR_CR1_ALS_LEV2_Msk                    /*!< AVD level 2 */
+#define PWR_CR1_ALS_LEV3_Pos           (17U)
+#define PWR_CR1_ALS_LEV3_Msk           (0x3UL << PWR_CR1_ALS_LEV3_Pos)         /*!< 0x00060000 */
+#define PWR_CR1_ALS_LEV3               PWR_CR1_ALS_LEV3_Msk                    /*!< AVD level 3 */
+
+/********************  Bit definition for PWR_CSR1 register  ******************/
+#define PWR_CSR1_AVDO_Pos              (16U)
+#define PWR_CSR1_AVDO_Msk              (0x1UL << PWR_CSR1_AVDO_Pos)            /*!< 0x00010000 */
+#define PWR_CSR1_AVDO                  PWR_CSR1_AVDO_Msk                       /*!< Analog Voltage Detect Output */
+#define PWR_CSR1_ACTVOS_Pos            (14U)
+#define PWR_CSR1_ACTVOS_Msk            (0x3UL << PWR_CSR1_ACTVOS_Pos)          /*!< 0x0000C000 */
+#define PWR_CSR1_ACTVOS                PWR_CSR1_ACTVOS_Msk                     /*!< Current actual used VOS for VDD11 Voltage Scaling */
+#define PWR_CSR1_ACTVOS_0              (0x1UL << PWR_CSR1_ACTVOS_Pos)          /*!< 0x00004000 */
+#define PWR_CSR1_ACTVOS_1              (0x2UL << PWR_CSR1_ACTVOS_Pos)          /*!< 0x00008000 */
+#define PWR_CSR1_ACTVOSRDY_Pos         (13U)
+#define PWR_CSR1_ACTVOSRDY_Msk         (0x1UL << PWR_CSR1_ACTVOSRDY_Pos)       /*!< 0x00002000 */
+#define PWR_CSR1_ACTVOSRDY             PWR_CSR1_ACTVOSRDY_Msk                  /*!< Ready bit for current actual used VOS for VDD11 Voltage Scaling  */
+#define PWR_CSR1_PVDO_Pos              (4U)
+#define PWR_CSR1_PVDO_Msk              (0x1UL << PWR_CSR1_PVDO_Pos)            /*!< 0x00000010 */
+#define PWR_CSR1_PVDO                  PWR_CSR1_PVDO_Msk                       /*!< Programmable Voltage Detect Output */
+
+/********************  Bit definition for PWR_CR2 register  *******************/
+#define PWR_CR2_TEMPH_Pos              (23U)
+#define PWR_CR2_TEMPH_Msk              (0x1UL << PWR_CR2_TEMPH_Pos)            /*!< 0x00800000 */
+#define PWR_CR2_TEMPH                  PWR_CR2_TEMPH_Msk                       /*!< Monitored temperature level above high threshold */
+#define PWR_CR2_TEMPL_Pos              (22U)
+#define PWR_CR2_TEMPL_Msk              (0x1UL << PWR_CR2_TEMPL_Pos)            /*!< 0x00400000 */
+#define PWR_CR2_TEMPL                  PWR_CR2_TEMPL_Msk                       /*!< Monitored temperature level above low threshold */
+#define PWR_CR2_VBATH_Pos              (21U)
+#define PWR_CR2_VBATH_Msk              (0x1UL << PWR_CR2_VBATH_Pos)            /*!< 0x00200000 */
+#define PWR_CR2_VBATH                  PWR_CR2_VBATH_Msk                       /*!< Monitored VBAT level above high threshold */
+#define PWR_CR2_VBATL_Pos              (20U)
+#define PWR_CR2_VBATL_Msk              (0x1UL << PWR_CR2_VBATL_Pos)            /*!< 0x00100000 */
+#define PWR_CR2_VBATL                  PWR_CR2_VBATL_Msk                       /*!< Monitored VBAT level above low threshold */
+#define PWR_CR2_BRRDY_Pos              (16U)
+#define PWR_CR2_BRRDY_Msk              (0x1UL << PWR_CR2_BRRDY_Pos)            /*!< 0x00010000 */
+#define PWR_CR2_BRRDY                  PWR_CR2_BRRDY_Msk                       /*!< Backup regulator ready */
+#define PWR_CR2_MONEN_Pos              (4U)
+#define PWR_CR2_MONEN_Msk              (0x1UL << PWR_CR2_MONEN_Pos)            /*!< 0x00000010 */
+#define PWR_CR2_MONEN                  PWR_CR2_MONEN_Msk                       /*!< VBAT and temperature monitoring enable */
+#define PWR_CR2_BREN_Pos               (0U)
+#define PWR_CR2_BREN_Msk               (0x1UL << PWR_CR2_BREN_Pos)             /*!< 0x00000001 */
+#define PWR_CR2_BREN                   PWR_CR2_BREN_Msk                        /*!< Backup regulator enable */
+
+/********************  Bit definition for PWR_CR3 register  *******************/
+#define PWR_CR3_USB33RDY_Pos           (26U)
+#define PWR_CR3_USB33RDY_Msk           (0x1UL << PWR_CR3_USB33RDY_Pos)         /*!< 0x04000000 */
+#define PWR_CR3_USB33RDY               PWR_CR3_USB33RDY_Msk                    /*!< USB supply ready */
+#define PWR_CR3_USBREGEN_Pos           (25U)
+#define PWR_CR3_USBREGEN_Msk           (0x1UL << PWR_CR3_USBREGEN_Pos)         /*!< 0x02000000 */
+#define PWR_CR3_USBREGEN               PWR_CR3_USBREGEN_Msk                    /*!< USB regulator enable */
+#define PWR_CR3_USB33DEN_Pos           (24U)
+#define PWR_CR3_USB33DEN_Msk           (0x1UL << PWR_CR3_USB33DEN_Pos)         /*!< 0x01000000 */
+#define PWR_CR3_USB33DEN               PWR_CR3_USB33DEN_Msk                    /*!< VDD33_USB voltage level detector enable */
+#define PWR_CR3_SMPSEXTRDY_Pos         (16U)
+#define PWR_CR3_SMPSEXTRDY_Msk         (0x1UL << PWR_CR3_SMPSEXTRDY_Pos)       /*!< 0x00010000 */
+#define PWR_CR3_SMPSEXTRDY             PWR_CR3_SMPSEXTRDY_Msk                  /*!< SMPS External supply ready */
+#define PWR_CR3_VBRS_Pos               (9U)
+#define PWR_CR3_VBRS_Msk               (0x1UL << PWR_CR3_VBRS_Pos)             /*!< 0x00000200 */
+#define PWR_CR3_VBRS                   PWR_CR3_VBRS_Msk                        /*!< VBAT charging resistor selection */
+#define PWR_CR3_VBE_Pos                (8U)
+#define PWR_CR3_VBE_Msk                (0x1UL << PWR_CR3_VBE_Pos)              /*!< 0x00000100 */
+#define PWR_CR3_VBE                    PWR_CR3_VBE_Msk                         /*!< VBAT charging enable */
+#define PWR_CR3_SMPSLEVEL_Pos          (4U)
+#define PWR_CR3_SMPSLEVEL_Msk          (0x3UL << PWR_CR3_SMPSLEVEL_Pos)        /*!< 0x00000030 */
+#define PWR_CR3_SMPSLEVEL              PWR_CR3_SMPSLEVEL_Msk                   /*!< SMPS output Voltage */
+#define PWR_CR3_SMPSLEVEL_0            (0x1UL << PWR_CR3_SMPSLEVEL_Pos)        /*!< 0x00000010 */
+#define PWR_CR3_SMPSLEVEL_1            (0x2UL << PWR_CR3_SMPSLEVEL_Pos)        /*!< 0x00000020 */
+#define PWR_CR3_SMPSEXTHP_Pos          (3U)
+#define PWR_CR3_SMPSEXTHP_Msk          (0x1UL << PWR_CR3_SMPSEXTHP_Pos)        /*!< 0x00000008 */
+#define PWR_CR3_SMPSEXTHP              PWR_CR3_SMPSEXTHP_Msk                   /*!< SMPS forced ON and in High Power MR mode */
+#define PWR_CR3_SMPSEN_Pos             (2U)
+#define PWR_CR3_SMPSEN_Msk             (0x1UL << PWR_CR3_SMPSEN_Pos)           /*!< 0x00000004 */
+#define PWR_CR3_SMPSEN                 PWR_CR3_SMPSEN_Msk                      /*!< SMPS Enable */
+#define PWR_CR3_LDOEN_Pos              (1U)
+#define PWR_CR3_LDOEN_Msk              (0x1UL << PWR_CR3_LDOEN_Pos)            /*!< 0x00000002 */
+#define PWR_CR3_LDOEN                  PWR_CR3_LDOEN_Msk                       /*!< Low Drop Output regulator enable */
+#define PWR_CR3_BYPASS_Pos             (0U)
+#define PWR_CR3_BYPASS_Msk             (0x1UL << PWR_CR3_BYPASS_Pos)           /*!< 0x00000001 */
+#define PWR_CR3_BYPASS                 PWR_CR3_BYPASS_Msk                      /*!< Power Management Unit bypass */
+
+/********************  Bit definition for PWR_CPUCR register  *****************/
+#define PWR_CPUCR_RUN_D3_Pos           (11U)
+#define PWR_CPUCR_RUN_D3_Msk           (0x1UL << PWR_CPUCR_RUN_D3_Pos)         /*!< 0x00000800 */
+#define PWR_CPUCR_RUN_D3               PWR_CPUCR_RUN_D3_Msk                    /*!< Keep system D3 domain in RUN mode regardless of the CPU sub-systems modes */
+#define PWR_CPUCR_CSSF_Pos             (9U)
+#define PWR_CPUCR_CSSF_Msk             (0x1UL << PWR_CPUCR_CSSF_Pos)           /*!< 0x00000200 */
+#define PWR_CPUCR_CSSF                 PWR_CPUCR_CSSF_Msk                      /*!< Clear D1 domain CPU1 STANDBY, STOP and HOLD flags */
+#define PWR_CPUCR_SBF_D2_Pos           (8U)
+#define PWR_CPUCR_SBF_D2_Msk           (0x1UL << PWR_CPUCR_SBF_D2_Pos)         /*!< 0x00000100 */
+#define PWR_CPUCR_SBF_D2               PWR_CPUCR_SBF_D2_Msk                    /*!< D2 domain DSTANDBY Flag */
+#define PWR_CPUCR_SBF_D1_Pos           (7U)
+#define PWR_CPUCR_SBF_D1_Msk           (0x1UL << PWR_CPUCR_SBF_D1_Pos)         /*!< 0x00000080 */
+#define PWR_CPUCR_SBF_D1               PWR_CPUCR_SBF_D1_Msk                    /*!< D1 domain DSTANDBY Flag */
+#define PWR_CPUCR_SBF_Pos              (6U)
+#define PWR_CPUCR_SBF_Msk              (0x1UL << PWR_CPUCR_SBF_Pos)            /*!< 0x00000040 */
+#define PWR_CPUCR_SBF                  PWR_CPUCR_SBF_Msk                       /*!< System STANDBY Flag */
+#define PWR_CPUCR_STOPF_Pos            (5U)
+#define PWR_CPUCR_STOPF_Msk            (0x1UL << PWR_CPUCR_STOPF_Pos)          /*!< 0x00000020 */
+#define PWR_CPUCR_STOPF                PWR_CPUCR_STOPF_Msk                     /*!< STOP Flag */
+#define PWR_CPUCR_PDDS_D3_Pos          (2U)
+#define PWR_CPUCR_PDDS_D3_Msk          (0x1UL << PWR_CPUCR_PDDS_D3_Pos)        /*!< 0x00000004 */
+#define PWR_CPUCR_PDDS_D3              PWR_CPUCR_PDDS_D3_Msk                   /*!< System D3 domain Power Down Deepsleep */
+#define PWR_CPUCR_PDDS_D2_Pos          (1U)
+#define PWR_CPUCR_PDDS_D2_Msk          (0x1UL << PWR_CPUCR_PDDS_D2_Pos)        /*!< 0x00000002 */
+#define PWR_CPUCR_PDDS_D2              PWR_CPUCR_PDDS_D2_Msk                   /*!< D2 domain Power Down Deepsleep */
+#define PWR_CPUCR_PDDS_D1_Pos          (0U)
+#define PWR_CPUCR_PDDS_D1_Msk          (0x1UL << PWR_CPUCR_PDDS_D1_Pos)        /*!< 0x00000001 */
+#define PWR_CPUCR_PDDS_D1              PWR_CPUCR_PDDS_D1_Msk                   /*!< D1 domain Power Down Deepsleep selection */
+
+
+/********************  Bit definition for PWR_D3CR register  ******************/
+#define PWR_D3CR_VOS_Pos               (14U)
+#define PWR_D3CR_VOS_Msk               (0x3UL << PWR_D3CR_VOS_Pos)             /*!< 0x0000C000 */
+#define PWR_D3CR_VOS                   PWR_D3CR_VOS_Msk                        /*!< Voltage Scaling selection according performance */
+#define PWR_D3CR_VOS_0                 (0x1UL << PWR_D3CR_VOS_Pos)             /*!< 0x00004000 */
+#define PWR_D3CR_VOS_1                 (0x2UL << PWR_D3CR_VOS_Pos)             /*!< 0x00008000 */
+#define PWR_D3CR_VOSRDY_Pos            (13U)
+#define PWR_D3CR_VOSRDY_Msk            (0x1UL << PWR_D3CR_VOSRDY_Pos)          /*!< 0x00002000 */
+#define PWR_D3CR_VOSRDY                PWR_D3CR_VOSRDY_Msk                     /*!< VOS Ready bit for VDD11 Voltage Scaling output selection */
+
+/******************  Bit definition for PWR_WKUPCR register  ******************/
+#define PWR_WKUPCR_WKUPC6_Pos          (5U)
+#define PWR_WKUPCR_WKUPC6_Msk          (0x1UL << PWR_WKUPCR_WKUPC6_Pos)        /*!< 0x00000020 */
+#define PWR_WKUPCR_WKUPC6              PWR_WKUPCR_WKUPC6_Msk                   /*!< Clear Wakeup Pin Flag 6 */
+#define PWR_WKUPCR_WKUPC4_Pos          (3U)
+#define PWR_WKUPCR_WKUPC4_Msk          (0x1UL << PWR_WKUPCR_WKUPC4_Pos)        /*!< 0x00000008 */
+#define PWR_WKUPCR_WKUPC4              PWR_WKUPCR_WKUPC4_Msk                   /*!< Clear Wakeup Pin Flag 4 */
+#define PWR_WKUPCR_WKUPC2_Pos          (1U)
+#define PWR_WKUPCR_WKUPC2_Msk          (0x1UL << PWR_WKUPCR_WKUPC2_Pos)        /*!< 0x00000002 */
+#define PWR_WKUPCR_WKUPC2              PWR_WKUPCR_WKUPC2_Msk                   /*!< Clear Wakeup Pin Flag 2 */
+#define PWR_WKUPCR_WKUPC1_Pos          (0U)
+#define PWR_WKUPCR_WKUPC1_Msk          (0x1UL << PWR_WKUPCR_WKUPC1_Pos)        /*!< 0x00000001 */
+#define PWR_WKUPCR_WKUPC1              PWR_WKUPCR_WKUPC1_Msk                   /*!< Clear Wakeup Pin Flag 1 */
+
+/********************  Bit definition for PWR_WKUPFR register  ****************/
+#define PWR_WKUPFR_WKUPF6_Pos          (5U)
+#define PWR_WKUPFR_WKUPF6_Msk          (0x1UL << PWR_WKUPFR_WKUPF6_Pos)        /*!< 0x00000020 */
+#define PWR_WKUPFR_WKUPF6              PWR_WKUPFR_WKUPF6_Msk                   /*!< Wakeup Pin Flag 6 */
+#define PWR_WKUPFR_WKUPF4_Pos          (3U)
+#define PWR_WKUPFR_WKUPF4_Msk          (0x1UL << PWR_WKUPFR_WKUPF4_Pos)        /*!< 0x00000008 */
+#define PWR_WKUPFR_WKUPF4              PWR_WKUPFR_WKUPF4_Msk                   /*!< Wakeup Pin Flag 4 */
+#define PWR_WKUPFR_WKUPF2_Pos          (1U)
+#define PWR_WKUPFR_WKUPF2_Msk          (0x1UL << PWR_WKUPFR_WKUPF2_Pos)        /*!< 0x00000002 */
+#define PWR_WKUPFR_WKUPF2              PWR_WKUPFR_WKUPF2_Msk                   /*!< Wakeup Pin Flag 2 */
+#define PWR_WKUPFR_WKUPF1_Pos          (0U)
+#define PWR_WKUPFR_WKUPF1_Msk          (0x1UL << PWR_WKUPFR_WKUPF1_Pos)        /*!< 0x00000001 */
+#define PWR_WKUPFR_WKUPF1              PWR_WKUPFR_WKUPF1_Msk                   /*!< Wakeup Pin Flag 1 */
+
+/******************  Bit definition for PWR_WKUPEPR register  *****************/
+#define PWR_WKUPEPR_WKUPPUPD6_Pos      (26U)
+#define PWR_WKUPEPR_WKUPPUPD6_Msk      (0x3UL << PWR_WKUPEPR_WKUPPUPD6_Pos)    /*!< 0x0C000000 */
+#define PWR_WKUPEPR_WKUPPUPD6          PWR_WKUPEPR_WKUPPUPD6_Msk               /*!< Wakeup Pin pull configuration for WKUP6 */
+#define PWR_WKUPEPR_WKUPPUPD6_0        (0x1UL << PWR_WKUPEPR_WKUPPUPD6_Pos)    /*!< 0x04000000 */
+#define PWR_WKUPEPR_WKUPPUPD6_1        (0x2UL << PWR_WKUPEPR_WKUPPUPD6_Pos)    /*!< 0x08000000 */
+#define PWR_WKUPEPR_WKUPPUPD4_Pos      (22U)
+#define PWR_WKUPEPR_WKUPPUPD4_Msk      (0x3UL << PWR_WKUPEPR_WKUPPUPD4_Pos)    /*!< 0x00C00000 */
+#define PWR_WKUPEPR_WKUPPUPD4          PWR_WKUPEPR_WKUPPUPD4_Msk               /*!< Wakeup Pin pull configuration for WKUP4 */
+#define PWR_WKUPEPR_WKUPPUPD4_0        (0x1UL << PWR_WKUPEPR_WKUPPUPD4_Pos)    /*!< 0x00400000 */
+#define PWR_WKUPEPR_WKUPPUPD4_1        (0x2UL << PWR_WKUPEPR_WKUPPUPD4_Pos)    /*!< 0x00800000 */
+#define PWR_WKUPEPR_WKUPPUPD2_Pos      (18U)
+#define PWR_WKUPEPR_WKUPPUPD2_Msk      (0x3UL << PWR_WKUPEPR_WKUPPUPD2_Pos)    /*!< 0x000C0000 */
+#define PWR_WKUPEPR_WKUPPUPD2          PWR_WKUPEPR_WKUPPUPD2_Msk               /*!< Wakeup Pin pull configuration for WKUP2 */
+#define PWR_WKUPEPR_WKUPPUPD2_0        (0x1UL << PWR_WKUPEPR_WKUPPUPD2_Pos)    /*!< 0x00040000 */
+#define PWR_WKUPEPR_WKUPPUPD2_1        (0x2UL << PWR_WKUPEPR_WKUPPUPD2_Pos)    /*!< 0x00080000 */
+#define PWR_WKUPEPR_WKUPPUPD1_Pos      (16U)
+#define PWR_WKUPEPR_WKUPPUPD1_Msk      (0x3UL << PWR_WKUPEPR_WKUPPUPD1_Pos)    /*!< 0x00030000 */
+#define PWR_WKUPEPR_WKUPPUPD1          PWR_WKUPEPR_WKUPPUPD1_Msk               /*!< Wakeup Pin pull configuration for WKUP1 */
+#define PWR_WKUPEPR_WKUPPUPD1_0        (0x1UL << PWR_WKUPEPR_WKUPPUPD1_Pos)    /*!< 0x00010000 */
+#define PWR_WKUPEPR_WKUPPUPD1_1        (0x2UL << PWR_WKUPEPR_WKUPPUPD1_Pos)    /*!< 0x00020000 */
+#define PWR_WKUPEPR_WKUPP6_Pos         (13U)
+#define PWR_WKUPEPR_WKUPP6_Msk         (0x1UL << PWR_WKUPEPR_WKUPP6_Pos)       /*!< 0x00002000 */
+#define PWR_WKUPEPR_WKUPP6             PWR_WKUPEPR_WKUPP6_Msk                  /*!< Wakeup Pin Polarity for WKUP6 */
+#define PWR_WKUPEPR_WKUPP4_Pos         (11U)
+#define PWR_WKUPEPR_WKUPP4_Msk         (0x1UL << PWR_WKUPEPR_WKUPP4_Pos)       /*!< 0x00000800 */
+#define PWR_WKUPEPR_WKUPP4             PWR_WKUPEPR_WKUPP4_Msk                  /*!< Wakeup Pin Polarity for WKUP4 */
+#define PWR_WKUPEPR_WKUPP2_Pos         (9U)
+#define PWR_WKUPEPR_WKUPP2_Msk         (0x1UL << PWR_WKUPEPR_WKUPP2_Pos)       /*!< 0x00000200 */
+#define PWR_WKUPEPR_WKUPP2             PWR_WKUPEPR_WKUPP2_Msk                  /*!< Wakeup Pin Polarity for WKUP2 */
+#define PWR_WKUPEPR_WKUPP1_Pos         (8U)
+#define PWR_WKUPEPR_WKUPP1_Msk         (0x1UL << PWR_WKUPEPR_WKUPP1_Pos)       /*!< 0x00000100 */
+#define PWR_WKUPEPR_WKUPP1             PWR_WKUPEPR_WKUPP1_Msk                  /*!< Wakeup Pin Polarity for WKUP1 */
+#define PWR_WKUPEPR_WKUPEN6_Pos        (5U)
+#define PWR_WKUPEPR_WKUPEN6_Msk        (0x1UL << PWR_WKUPEPR_WKUPEN6_Pos)      /*!< 0x00000020 */
+#define PWR_WKUPEPR_WKUPEN6            PWR_WKUPEPR_WKUPEN6_Msk                 /*!< Enable Wakeup Pin WKUP6 */
+#define PWR_WKUPEPR_WKUPEN4_Pos        (3U)
+#define PWR_WKUPEPR_WKUPEN4_Msk        (0x1UL << PWR_WKUPEPR_WKUPEN4_Pos)      /*!< 0x00000008 */
+#define PWR_WKUPEPR_WKUPEN4            PWR_WKUPEPR_WKUPEN4_Msk                 /*!< Enable Wakeup Pin WKUP4 */
+#define PWR_WKUPEPR_WKUPEN2_Pos        (1U)
+#define PWR_WKUPEPR_WKUPEN2_Msk        (0x1UL << PWR_WKUPEPR_WKUPEN2_Pos)      /*!< 0x00000002 */
+#define PWR_WKUPEPR_WKUPEN2            PWR_WKUPEPR_WKUPEN2_Msk                 /*!< Enable Wakeup Pin WKUP2 */
+#define PWR_WKUPEPR_WKUPEN1_Pos        (0U)
+#define PWR_WKUPEPR_WKUPEN1_Msk        (0x1UL << PWR_WKUPEPR_WKUPEN1_Pos)      /*!< 0x00000001 */
+#define PWR_WKUPEPR_WKUPEN1            PWR_WKUPEPR_WKUPEN1_Msk                 /*!< Enable Wakeup Pin WKUP1 */
+#define PWR_WKUPEPR_WKUPEN_Pos         (0U)
+#define PWR_WKUPEPR_WKUPEN_Msk         (0x3FUL << PWR_WKUPEPR_WKUPEN_Pos)      /*!< 0x0000003F */
+#define PWR_WKUPEPR_WKUPEN             PWR_WKUPEPR_WKUPEN_Msk                  /*!< Enable all Wakeup Pin */
+
+/******************************************************************************/
+/*                                                                            */
+/*                         Reset and Clock Control                            */
+/*                                                                            */
+/******************************************************************************/
+/*******************************  RCC VERSION  ********************************/
+#define RCC_VER_3_0
+
+/********************  Bit definition for RCC_CR register  ********************/
+#define RCC_CR_HSION_Pos                       (0U)
+#define RCC_CR_HSION_Msk                       (0x1UL << RCC_CR_HSION_Pos)     /*!< 0x00000001 */
+#define RCC_CR_HSION                           RCC_CR_HSION_Msk                /*!< Internal High Speed clock enable */
+#define RCC_CR_HSIKERON_Pos                    (1U)
+#define RCC_CR_HSIKERON_Msk                    (0x1UL << RCC_CR_HSIKERON_Pos)  /*!< 0x00000002 */
+#define RCC_CR_HSIKERON                        RCC_CR_HSIKERON_Msk             /*!< Internal High Speed clock enable for some IPs Kernel */
+#define RCC_CR_HSIRDY_Pos                      (2U)
+#define RCC_CR_HSIRDY_Msk                      (0x1UL << RCC_CR_HSIRDY_Pos)    /*!< 0x00000004 */
+#define RCC_CR_HSIRDY                          RCC_CR_HSIRDY_Msk               /*!< Internal High Speed clock ready flag */
+#define RCC_CR_HSIDIV_Pos                      (3U)
+#define RCC_CR_HSIDIV_Msk                      (0x3UL << RCC_CR_HSIDIV_Pos)    /*!< 0x00000018 */
+#define RCC_CR_HSIDIV                          RCC_CR_HSIDIV_Msk               /*!< Internal High Speed clock divider selection */
+#define RCC_CR_HSIDIV_1                        (0x0UL << RCC_CR_HSIDIV_Pos)     /*!< 0x00000000 */
+#define RCC_CR_HSIDIV_2                        (0x1UL << RCC_CR_HSIDIV_Pos)     /*!< 0x00000008 */
+#define RCC_CR_HSIDIV_4                        (0x2UL << RCC_CR_HSIDIV_Pos)     /*!< 0x00000010 */
+#define RCC_CR_HSIDIV_8                        (0x3UL << RCC_CR_HSIDIV_Pos)     /*!< 0x00000018 */
+
+#define RCC_CR_HSIDIVF_Pos                     (5U)
+#define RCC_CR_HSIDIVF_Msk                     (0x1UL << RCC_CR_HSIDIVF_Pos)   /*!< 0x00000020 */
+#define RCC_CR_HSIDIVF                         RCC_CR_HSIDIVF_Msk              /*!< HSI Divider flag */
+#define RCC_CR_CSION_Pos                       (7U)
+#define RCC_CR_CSION_Msk                       (0x1UL << RCC_CR_CSION_Pos)     /*!< 0x00000080 */
+#define RCC_CR_CSION                           RCC_CR_CSION_Msk                /*!< The Internal RC 4MHz oscillator clock enable */
+#define RCC_CR_CSIRDY_Pos                      (8U)
+#define RCC_CR_CSIRDY_Msk                      (0x1UL << RCC_CR_CSIRDY_Pos)    /*!< 0x00000100 */
+#define RCC_CR_CSIRDY                          RCC_CR_CSIRDY_Msk               /*!< The Internal RC 4MHz oscillator clock ready */
+#define RCC_CR_CSIKERON_Pos                    (9U)
+#define RCC_CR_CSIKERON_Msk                    (0x1UL << RCC_CR_CSIKERON_Pos)  /*!< 0x00000200 */
+#define RCC_CR_CSIKERON                        RCC_CR_CSIKERON_Msk             /*!< Internal RC 4MHz oscillator clock enable for some IPs Kernel */
+#define RCC_CR_HSI48ON_Pos                     (12U)
+#define RCC_CR_HSI48ON_Msk                     (0x1UL << RCC_CR_HSI48ON_Pos)   /*!< 0x00001000 */
+#define RCC_CR_HSI48ON                         RCC_CR_HSI48ON_Msk              /*!< HSI48 clock enable clock enable  */
+#define RCC_CR_HSI48RDY_Pos                    (13U)
+#define RCC_CR_HSI48RDY_Msk                    (0x1UL << RCC_CR_HSI48RDY_Pos)  /*!< 0x00002000 */
+#define RCC_CR_HSI48RDY                        RCC_CR_HSI48RDY_Msk             /*!< HSI48 clock ready */
+
+#define RCC_CR_D1CKRDY_Pos                     (14U)
+#define RCC_CR_D1CKRDY_Msk                     (0x1UL << RCC_CR_D1CKRDY_Pos)   /*!< 0x00004000 */
+#define RCC_CR_D1CKRDY                         RCC_CR_D1CKRDY_Msk              /*!< D1 domain clocks ready flag  */
+#define RCC_CR_D2CKRDY_Pos                     (15U)
+#define RCC_CR_D2CKRDY_Msk                     (0x1UL << RCC_CR_D2CKRDY_Pos)   /*!< 0x00008000 */
+#define RCC_CR_D2CKRDY                         RCC_CR_D2CKRDY_Msk              /*!< D2 domain clocks ready flag */
+
+#define RCC_CR_HSEON_Pos                       (16U)
+#define RCC_CR_HSEON_Msk                       (0x1UL << RCC_CR_HSEON_Pos)     /*!< 0x00010000 */
+#define RCC_CR_HSEON                           RCC_CR_HSEON_Msk                /*!< External High Speed clock enable */
+#define RCC_CR_HSERDY_Pos                      (17U)
+#define RCC_CR_HSERDY_Msk                      (0x1UL << RCC_CR_HSERDY_Pos)    /*!< 0x00020000 */
+#define RCC_CR_HSERDY                          RCC_CR_HSERDY_Msk               /*!< External High Speed clock ready */
+#define RCC_CR_HSEBYP_Pos                      (18U)
+#define RCC_CR_HSEBYP_Msk                      (0x1UL << RCC_CR_HSEBYP_Pos)    /*!< 0x00040000 */
+#define RCC_CR_HSEBYP                          RCC_CR_HSEBYP_Msk               /*!< External High Speed clock Bypass */
+#define RCC_CR_CSSHSEON_Pos                    (19U)
+#define RCC_CR_CSSHSEON_Msk                    (0x1UL << RCC_CR_CSSHSEON_Pos)  /*!< 0x00080000 */
+#define RCC_CR_CSSHSEON                        RCC_CR_CSSHSEON_Msk             /*!< HSE Clock security System enable */
+
+
+#define RCC_CR_PLL1ON_Pos                      (24U)
+#define RCC_CR_PLL1ON_Msk                      (0x1UL << RCC_CR_PLL1ON_Pos)    /*!< 0x01000000 */
+#define RCC_CR_PLL1ON                          RCC_CR_PLL1ON_Msk               /*!< System PLL1 clock enable */
+#define RCC_CR_PLL1RDY_Pos                     (25U)
+#define RCC_CR_PLL1RDY_Msk                     (0x1UL << RCC_CR_PLL1RDY_Pos)   /*!< 0x02000000 */
+#define RCC_CR_PLL1RDY                         RCC_CR_PLL1RDY_Msk              /*!< System PLL1 clock ready */
+#define RCC_CR_PLL2ON_Pos                      (26U)
+#define RCC_CR_PLL2ON_Msk                      (0x1UL << RCC_CR_PLL2ON_Pos)    /*!< 0x04000000 */
+#define RCC_CR_PLL2ON                          RCC_CR_PLL2ON_Msk               /*!< System PLL2 clock enable */
+#define RCC_CR_PLL2RDY_Pos                     (27U)
+#define RCC_CR_PLL2RDY_Msk                     (0x1UL << RCC_CR_PLL2RDY_Pos)   /*!< 0x08000000 */
+#define RCC_CR_PLL2RDY                         RCC_CR_PLL2RDY_Msk              /*!< System PLL2 clock ready */
+#define RCC_CR_PLL3ON_Pos                      (28U)
+#define RCC_CR_PLL3ON_Msk                      (0x1UL << RCC_CR_PLL3ON_Pos)    /*!< 0x10000000 */
+#define RCC_CR_PLL3ON                          RCC_CR_PLL3ON_Msk               /*!< System PLL3 clock enable */
+#define RCC_CR_PLL3RDY_Pos                     (29U)
+#define RCC_CR_PLL3RDY_Msk                     (0x1UL << RCC_CR_PLL3RDY_Pos)   /*!< 0x20000000 */
+#define RCC_CR_PLL3RDY                         RCC_CR_PLL3RDY_Msk              /*!< System PLL3 clock ready */
+
+/*Legacy */
+#define RCC_CR_PLLON_Pos                       (24U)
+#define RCC_CR_PLLON_Msk                       (0x1UL << RCC_CR_PLLON_Pos)     /*!< 0x01000000 */
+#define RCC_CR_PLLON                           RCC_CR_PLLON_Msk                /*!< System PLL clock enable */
+#define RCC_CR_PLLRDY_Pos                      (25U)
+#define RCC_CR_PLLRDY_Msk                      (0x1UL << RCC_CR_PLLRDY_Pos)    /*!< 0x02000000 */
+#define RCC_CR_PLLRDY                          RCC_CR_PLLRDY_Msk               /*!< System PLL clock ready */
+
+/********************  Bit definition for RCC_HSICFGR register  ***************/
+/*!< HSICAL configuration */
+#define RCC_HSICFGR_HSICAL_Pos                 (0U)
+#define RCC_HSICFGR_HSICAL_Msk                 (0xFFFUL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000FFF */
+#define RCC_HSICFGR_HSICAL                     RCC_HSICFGR_HSICAL_Msk          /*!< HSICAL[11:0] bits */
+#define RCC_HSICFGR_HSICAL_0                   (0x001UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000001 */
+#define RCC_HSICFGR_HSICAL_1                   (0x002UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000002 */
+#define RCC_HSICFGR_HSICAL_2                   (0x004UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000004 */
+#define RCC_HSICFGR_HSICAL_3                   (0x008UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000008 */
+#define RCC_HSICFGR_HSICAL_4                   (0x010UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000010 */
+#define RCC_HSICFGR_HSICAL_5                   (0x020UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000020 */
+#define RCC_HSICFGR_HSICAL_6                   (0x040UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000040 */
+#define RCC_HSICFGR_HSICAL_7                   (0x080UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000080 */
+#define RCC_HSICFGR_HSICAL_8                   (0x100UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000100 */
+#define RCC_HSICFGR_HSICAL_9                   (0x200UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000200 */
+#define RCC_HSICFGR_HSICAL_10                  (0x400UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000400 */
+#define RCC_HSICFGR_HSICAL_11                  (0x800UL << RCC_HSICFGR_HSICAL_Pos) /*!< 0x00000800 */
+
+/*!< HSITRIM configuration */
+#define RCC_HSICFGR_HSITRIM_Pos                (24U)
+#define RCC_HSICFGR_HSITRIM_Msk                (0x7FUL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x7F000000 */
+#define RCC_HSICFGR_HSITRIM                    RCC_HSICFGR_HSITRIM_Msk         /*!< HSITRIM[6:0] bits */
+#define RCC_HSICFGR_HSITRIM_0                  (0x01UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x01000000 */
+#define RCC_HSICFGR_HSITRIM_1                  (0x02UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x02000000 */
+#define RCC_HSICFGR_HSITRIM_2                  (0x04UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x04000000 */
+#define RCC_HSICFGR_HSITRIM_3                  (0x08UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x08000000 */
+#define RCC_HSICFGR_HSITRIM_4                  (0x10UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x10000000 */
+#define RCC_HSICFGR_HSITRIM_5                  (0x20UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x20000000 */
+#define RCC_HSICFGR_HSITRIM_6                  (0x40UL << RCC_HSICFGR_HSITRIM_Pos) /*!< 0x40000000 */
+
+
+/********************  Bit definition for RCC_CRRCR register  *****************/
+
+/*!< HSI48CAL configuration */
+#define RCC_CRRCR_HSI48CAL_Pos                 (0U)
+#define RCC_CRRCR_HSI48CAL_Msk                 (0x3FFUL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x000003FF */
+#define RCC_CRRCR_HSI48CAL                     RCC_CRRCR_HSI48CAL_Msk          /*!< HSI48CAL[9:0] bits */
+#define RCC_CRRCR_HSI48CAL_0                   (0x001UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000001 */
+#define RCC_CRRCR_HSI48CAL_1                   (0x002UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000002 */
+#define RCC_CRRCR_HSI48CAL_2                   (0x004UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000004 */
+#define RCC_CRRCR_HSI48CAL_3                   (0x008UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000008 */
+#define RCC_CRRCR_HSI48CAL_4                   (0x010UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000010 */
+#define RCC_CRRCR_HSI48CAL_5                   (0x020UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000020 */
+#define RCC_CRRCR_HSI48CAL_6                   (0x040UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000040 */
+#define RCC_CRRCR_HSI48CAL_7                   (0x080UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000080 */
+#define RCC_CRRCR_HSI48CAL_8                   (0x100UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000100 */
+#define RCC_CRRCR_HSI48CAL_9                   (0x200UL << RCC_CRRCR_HSI48CAL_Pos) /*!< 0x00000200 */
+
+
+/********************  Bit definition for RCC_CSICFGR register  *****************/
+/*!< CSICAL configuration */
+#define RCC_CSICFGR_CSICAL_Pos                 (0U)
+#define RCC_CSICFGR_CSICAL_Msk                 (0xFFUL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x000000FF */
+#define RCC_CSICFGR_CSICAL                     RCC_CSICFGR_CSICAL_Msk          /*!< CSICAL[7:0] bits */
+#define RCC_CSICFGR_CSICAL_0                   (0x01UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000001 */
+#define RCC_CSICFGR_CSICAL_1                   (0x02UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000002 */
+#define RCC_CSICFGR_CSICAL_2                   (0x04UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000004 */
+#define RCC_CSICFGR_CSICAL_3                   (0x08UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000008 */
+#define RCC_CSICFGR_CSICAL_4                   (0x10UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000010 */
+#define RCC_CSICFGR_CSICAL_5                   (0x20UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000020 */
+#define RCC_CSICFGR_CSICAL_6                   (0x40UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000040 */
+#define RCC_CSICFGR_CSICAL_7                   (0x80UL << RCC_CSICFGR_CSICAL_Pos) /*!< 0x00000080 */
+
+/*!< CSITRIM configuration */
+#define RCC_CSICFGR_CSITRIM_Pos                (24U)
+#define RCC_CSICFGR_CSITRIM_Msk                (0x3FUL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x3F000000 */
+#define RCC_CSICFGR_CSITRIM                    RCC_CSICFGR_CSITRIM_Msk         /*!< CSITRIM[5:0] bits */
+#define RCC_CSICFGR_CSITRIM_0                  (0x01UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x01000000 */
+#define RCC_CSICFGR_CSITRIM_1                  (0x02UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x02000000 */
+#define RCC_CSICFGR_CSITRIM_2                  (0x04UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x04000000 */
+#define RCC_CSICFGR_CSITRIM_3                  (0x08UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x08000000 */
+#define RCC_CSICFGR_CSITRIM_4                  (0x10UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x10000000 */
+#define RCC_CSICFGR_CSITRIM_5                  (0x20UL << RCC_CSICFGR_CSITRIM_Pos) /*!< 0x20000000 */
+
+/********************  Bit definition for RCC_CFGR register  ******************/
+/*!< SW configuration */
+#define RCC_CFGR_SW_Pos                        (0U)
+#define RCC_CFGR_SW_Msk                        (0x7UL << RCC_CFGR_SW_Pos)           /*!< 0x00000007 */
+#define RCC_CFGR_SW                            RCC_CFGR_SW_Msk                     /*!< SW[2:0] bits (System clock Switch) */
+#define RCC_CFGR_SW_0                          (0x1UL << RCC_CFGR_SW_Pos)           /*!< 0x00000001 */
+#define RCC_CFGR_SW_1                          (0x2UL << RCC_CFGR_SW_Pos)           /*!< 0x00000002 */
+#define RCC_CFGR_SW_2                          (0x4UL << RCC_CFGR_SW_Pos)           /*!< 0x00000004 */
+
+#define RCC_CFGR_SW_HSI                        (0x00000000UL)                       /*!< HSI selection as system clock */
+#define RCC_CFGR_SW_CSI                        (0x00000001UL)                       /*!< CSI selection as system clock */
+#define RCC_CFGR_SW_HSE                        (0x00000002UL)                       /*!< HSE selection as system clock */
+#define RCC_CFGR_SW_PLL1                       (0x00000003UL)                       /*!< PLL1 selection as system clock */
+
+/*!< SWS configuration */
+#define RCC_CFGR_SWS_Pos                       (3U)
+#define RCC_CFGR_SWS_Msk                       (0x7UL << RCC_CFGR_SWS_Pos)          /*!< 0x00000038 */
+#define RCC_CFGR_SWS                           RCC_CFGR_SWS_Msk                    /*!< SWS[2:0] bits (System Clock Switch Status) */
+#define RCC_CFGR_SWS_0                         (0x1UL << RCC_CFGR_SWS_Pos)          /*!< 0x00000008 */
+#define RCC_CFGR_SWS_1                         (0x2UL << RCC_CFGR_SWS_Pos)          /*!< 0x00000010 */
+#define RCC_CFGR_SWS_2                         (0x4UL << RCC_CFGR_SWS_Pos)          /*!< 0x00000020 */
+
+#define RCC_CFGR_SWS_HSI                       (0x00000000UL)                       /*!< HSI used as system clock */
+#define RCC_CFGR_SWS_CSI                       (0x00000008UL)                       /*!< CSI used as system clock */
+#define RCC_CFGR_SWS_HSE                       (0x00000010UL)                       /*!< HSE used as system clock */
+#define RCC_CFGR_SWS_PLL1                      (0x00000018UL)                       /*!< PLL1 used as system clock */
+
+#define RCC_CFGR_STOPWUCK_Pos                  (6U)
+#define RCC_CFGR_STOPWUCK_Msk                  (0x1UL << RCC_CFGR_STOPWUCK_Pos)     /*!< 0x00000040 */
+#define RCC_CFGR_STOPWUCK                      RCC_CFGR_STOPWUCK_Msk                /*!< Wake Up from stop and CSS backup clock selection */
+
+#define RCC_CFGR_STOPKERWUCK_Pos               (7U)
+#define RCC_CFGR_STOPKERWUCK_Msk               (0x1UL << RCC_CFGR_STOPKERWUCK_Pos)  /*!< 0x00000080 */
+#define RCC_CFGR_STOPKERWUCK                   RCC_CFGR_STOPKERWUCK_Msk             /*!< Kernel Clock Selection after a Wake Up from STOP */
+
+/*!< RTCPRE configuration */
+#define RCC_CFGR_RTCPRE_Pos                    (8U)
+#define RCC_CFGR_RTCPRE_Msk                    (0x3FUL << RCC_CFGR_RTCPRE_Pos)
+#define RCC_CFGR_RTCPRE                        RCC_CFGR_RTCPRE_Msk                  /*!< 0x00003F00 */
+#define RCC_CFGR_RTCPRE_0                      (0x1UL << RCC_CFGR_RTCPRE_Pos)        /*!< 0x00000100 */
+#define RCC_CFGR_RTCPRE_1                      (0x2UL << RCC_CFGR_RTCPRE_Pos)        /*!< 0x00000200 */
+#define RCC_CFGR_RTCPRE_2                      (0x4UL << RCC_CFGR_RTCPRE_Pos)        /*!< 0x00000400 */
+#define RCC_CFGR_RTCPRE_3                      (0x8UL << RCC_CFGR_RTCPRE_Pos)        /*!< 0x00000800 */
+#define RCC_CFGR_RTCPRE_4                      (0x10UL << RCC_CFGR_RTCPRE_Pos)       /*!< 0x00001000 */
+#define RCC_CFGR_RTCPRE_5                      (0x20UL << RCC_CFGR_RTCPRE_Pos)       /*!< 0x00002000 */
+
+
+/*!< TIMPRE configuration */
+#define RCC_CFGR_TIMPRE_Pos                    (15U)
+#define RCC_CFGR_TIMPRE_Msk                    (0x1UL << RCC_CFGR_TIMPRE_Pos)
+#define RCC_CFGR_TIMPRE                        RCC_CFGR_TIMPRE_Msk                  /*!< 0x00008000 */
+
+/*!< MCO1 configuration */
+#define RCC_CFGR_MCO1_Pos                      (22U)
+#define RCC_CFGR_MCO1_Msk                      (0x7UL << RCC_CFGR_MCO1_Pos)
+#define RCC_CFGR_MCO1                          RCC_CFGR_MCO1_Msk                       /*!< 0x01C00000 */
+#define RCC_CFGR_MCO1_0                        (0x1UL <<  RCC_CFGR_MCO1_Pos)            /*!< 0x00400000 */
+#define RCC_CFGR_MCO1_1                        (0x2UL <<  RCC_CFGR_MCO1_Pos)            /*!< 0x00800000 */
+#define RCC_CFGR_MCO1_2                        (0x4UL <<  RCC_CFGR_MCO1_Pos)            /*!< 0x01000000 */
+
+#define RCC_CFGR_MCO1PRE_Pos                   (18U)
+#define RCC_CFGR_MCO1PRE_Msk                   (0xFUL << RCC_CFGR_MCO1PRE_Pos)
+#define RCC_CFGR_MCO1PRE                       RCC_CFGR_MCO1PRE_Msk                    /*!< 0x003C0000 */
+#define RCC_CFGR_MCO1PRE_0                     (0x1UL << RCC_CFGR_MCO1PRE_Pos)          /*!< 0x00040000 */
+#define RCC_CFGR_MCO1PRE_1                     (0x2UL << RCC_CFGR_MCO1PRE_Pos)          /*!< 0x00080000 */
+#define RCC_CFGR_MCO1PRE_2                     (0x4UL << RCC_CFGR_MCO1PRE_Pos)          /*!< 0x00100000 */
+#define RCC_CFGR_MCO1PRE_3                     (0x8UL << RCC_CFGR_MCO1PRE_Pos)          /*!< 0x00200000 */
+
+#define RCC_CFGR_MCO2PRE_Pos                   (25U)
+#define RCC_CFGR_MCO2PRE_Msk                   (0xFUL << RCC_CFGR_MCO2PRE_Pos)
+#define RCC_CFGR_MCO2PRE                       RCC_CFGR_MCO2PRE_Msk                    /*!< 0x1E000000 */
+#define RCC_CFGR_MCO2PRE_0                     (0x1UL << RCC_CFGR_MCO2PRE_Pos)          /*!< 0x02000000 */
+#define RCC_CFGR_MCO2PRE_1                     (0x2UL << RCC_CFGR_MCO2PRE_Pos)          /*!< 0x04000000 */
+#define RCC_CFGR_MCO2PRE_2                     (0x4UL << RCC_CFGR_MCO2PRE_Pos)          /*!< 0x08000000 */
+#define RCC_CFGR_MCO2PRE_3                     (0x8UL << RCC_CFGR_MCO2PRE_Pos)          /*!< 0x10000000 */
+
+#define RCC_CFGR_MCO2_Pos                      (29U)
+#define RCC_CFGR_MCO2_Msk                      (0x7UL << RCC_CFGR_MCO2_Pos)
+#define RCC_CFGR_MCO2                          RCC_CFGR_MCO2_Msk                       /*!< 0xE0000000 */
+#define RCC_CFGR_MCO2_0                        (0x1UL << RCC_CFGR_MCO2_Pos)             /*!< 0x20000000 */
+#define RCC_CFGR_MCO2_1                        (0x2UL << RCC_CFGR_MCO2_Pos)             /*!< 0x40000000 */
+#define RCC_CFGR_MCO2_2                        (0x4UL << RCC_CFGR_MCO2_Pos)             /*!< 0x80000000 */
+
+/********************  Bit definition for RCC_D1CFGR register  ******************/
+/*!< D1HPRE configuration */
+#define RCC_D1CFGR_HPRE_Pos                    (0U)
+#define RCC_D1CFGR_HPRE_Msk                    (0xFUL << RCC_D1CFGR_HPRE_Pos)  /*!< 0x0000000F */
+#define RCC_D1CFGR_HPRE                        RCC_D1CFGR_HPRE_Msk             /*!< HPRE[3:0] bits (AHB3 prescaler) */
+#define RCC_D1CFGR_HPRE_0                      (0x1UL << RCC_D1CFGR_HPRE_Pos)   /*!< 0x00000001 */
+#define RCC_D1CFGR_HPRE_1                      (0x2UL << RCC_D1CFGR_HPRE_Pos)   /*!< 0x00000002 */
+#define RCC_D1CFGR_HPRE_2                      (0x4UL << RCC_D1CFGR_HPRE_Pos)   /*!< 0x00000004 */
+#define RCC_D1CFGR_HPRE_3                      (0x8UL << RCC_D1CFGR_HPRE_Pos)   /*!< 0x00000008 */
+
+
+#define RCC_D1CFGR_HPRE_DIV1                   ((uint32_t)0x00000000)          /*!< AHB3 Clock not divided */
+#define RCC_D1CFGR_HPRE_DIV2_Pos               (3U)
+#define RCC_D1CFGR_HPRE_DIV2_Msk               (0x1UL << RCC_D1CFGR_HPRE_DIV2_Pos) /*!< 0x00000008 */
+#define RCC_D1CFGR_HPRE_DIV2                   RCC_D1CFGR_HPRE_DIV2_Msk        /*!< AHB3 Clock divided by 2 */
+#define RCC_D1CFGR_HPRE_DIV4_Pos               (0U)
+#define RCC_D1CFGR_HPRE_DIV4_Msk               (0x9UL << RCC_D1CFGR_HPRE_DIV4_Pos) /*!< 0x00000009 */
+#define RCC_D1CFGR_HPRE_DIV4                   RCC_D1CFGR_HPRE_DIV4_Msk        /*!< AHB3 Clock divided by 4 */
+#define RCC_D1CFGR_HPRE_DIV8_Pos               (1U)
+#define RCC_D1CFGR_HPRE_DIV8_Msk               (0x5UL << RCC_D1CFGR_HPRE_DIV8_Pos) /*!< 0x0000000A */
+#define RCC_D1CFGR_HPRE_DIV8                   RCC_D1CFGR_HPRE_DIV8_Msk        /*!< AHB3 Clock divided by 8 */
+#define RCC_D1CFGR_HPRE_DIV16_Pos              (0U)
+#define RCC_D1CFGR_HPRE_DIV16_Msk              (0xBUL << RCC_D1CFGR_HPRE_DIV16_Pos) /*!< 0x0000000B */
+#define RCC_D1CFGR_HPRE_DIV16                  RCC_D1CFGR_HPRE_DIV16_Msk       /*!< AHB3 Clock divided by 16 */
+#define RCC_D1CFGR_HPRE_DIV64_Pos              (2U)
+#define RCC_D1CFGR_HPRE_DIV64_Msk              (0x3UL << RCC_D1CFGR_HPRE_DIV64_Pos) /*!< 0x0000000C */
+#define RCC_D1CFGR_HPRE_DIV64                  RCC_D1CFGR_HPRE_DIV64_Msk       /*!< AHB3 Clock divided by 64 */
+#define RCC_D1CFGR_HPRE_DIV128_Pos             (0U)
+#define RCC_D1CFGR_HPRE_DIV128_Msk             (0xDUL << RCC_D1CFGR_HPRE_DIV128_Pos) /*!< 0x0000000D */
+#define RCC_D1CFGR_HPRE_DIV128                 RCC_D1CFGR_HPRE_DIV128_Msk      /*!< AHB3 Clock divided by 128 */
+#define RCC_D1CFGR_HPRE_DIV256_Pos             (1U)
+#define RCC_D1CFGR_HPRE_DIV256_Msk             (0x7UL << RCC_D1CFGR_HPRE_DIV256_Pos) /*!< 0x0000000E */
+#define RCC_D1CFGR_HPRE_DIV256                 RCC_D1CFGR_HPRE_DIV256_Msk      /*!< AHB3 Clock divided by 256 */
+#define RCC_D1CFGR_HPRE_DIV512_Pos             (0U)
+#define RCC_D1CFGR_HPRE_DIV512_Msk             (0xFUL << RCC_D1CFGR_HPRE_DIV512_Pos) /*!< 0x0000000F */
+#define RCC_D1CFGR_HPRE_DIV512                 RCC_D1CFGR_HPRE_DIV512_Msk      /*!< AHB3 Clock divided by 512 */
+
+/*!< D1PPRE configuration */
+#define RCC_D1CFGR_D1PPRE_Pos                  (4U)
+#define RCC_D1CFGR_D1PPRE_Msk                  (0x7UL << RCC_D1CFGR_D1PPRE_Pos) /*!< 0x00000070 */
+#define RCC_D1CFGR_D1PPRE                      RCC_D1CFGR_D1PPRE_Msk           /*!< D1PRE[2:0] bits (APB3 prescaler) */
+#define RCC_D1CFGR_D1PPRE_0                    (0x1UL << RCC_D1CFGR_D1PPRE_Pos) /*!< 0x00000010 */
+#define RCC_D1CFGR_D1PPRE_1                    (0x2UL << RCC_D1CFGR_D1PPRE_Pos) /*!< 0x00000020 */
+#define RCC_D1CFGR_D1PPRE_2                    (0x4UL << RCC_D1CFGR_D1PPRE_Pos) /*!< 0x00000040 */
+
+#define RCC_D1CFGR_D1PPRE_DIV1                 ((uint32_t)0x00000000)          /*!< APB3 clock not divided */
+#define RCC_D1CFGR_D1PPRE_DIV2_Pos             (6U)
+#define RCC_D1CFGR_D1PPRE_DIV2_Msk             (0x1UL << RCC_D1CFGR_D1PPRE_DIV2_Pos) /*!< 0x00000040 */
+#define RCC_D1CFGR_D1PPRE_DIV2                 RCC_D1CFGR_D1PPRE_DIV2_Msk      /*!< APB3 clock divided by 2 */
+#define RCC_D1CFGR_D1PPRE_DIV4_Pos             (4U)
+#define RCC_D1CFGR_D1PPRE_DIV4_Msk             (0x5UL << RCC_D1CFGR_D1PPRE_DIV4_Pos) /*!< 0x00000050 */
+#define RCC_D1CFGR_D1PPRE_DIV4                 RCC_D1CFGR_D1PPRE_DIV4_Msk      /*!< APB3 clock divided by 4 */
+#define RCC_D1CFGR_D1PPRE_DIV8_Pos             (5U)
+#define RCC_D1CFGR_D1PPRE_DIV8_Msk             (0x3UL << RCC_D1CFGR_D1PPRE_DIV8_Pos) /*!< 0x00000060 */
+#define RCC_D1CFGR_D1PPRE_DIV8                 RCC_D1CFGR_D1PPRE_DIV8_Msk      /*!< APB3 clock divided by 8 */
+#define RCC_D1CFGR_D1PPRE_DIV16_Pos            (4U)
+#define RCC_D1CFGR_D1PPRE_DIV16_Msk            (0x7UL << RCC_D1CFGR_D1PPRE_DIV16_Pos) /*!< 0x00000070 */
+#define RCC_D1CFGR_D1PPRE_DIV16                RCC_D1CFGR_D1PPRE_DIV16_Msk     /*!< APB3 clock divided by 16 */
+
+#define RCC_D1CFGR_D1CPRE_Pos                  (8U)
+#define RCC_D1CFGR_D1CPRE_Msk                  (0xFUL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000F00 */
+#define RCC_D1CFGR_D1CPRE                      RCC_D1CFGR_D1CPRE_Msk           /*!< D1CPRE[2:0] bits (Domain 1 Core prescaler) */
+#define RCC_D1CFGR_D1CPRE_0                    (0x1UL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000100 */
+#define RCC_D1CFGR_D1CPRE_1                    (0x2UL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000200 */
+#define RCC_D1CFGR_D1CPRE_2                    (0x4UL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000400 */
+#define RCC_D1CFGR_D1CPRE_3                    (0x8UL << RCC_D1CFGR_D1CPRE_Pos) /*!< 0x00000800 */
+
+#define RCC_D1CFGR_D1CPRE_DIV1                 ((uint32_t)0x00000000)          /*!< Domain 1 Core clock not divided */
+#define RCC_D1CFGR_D1CPRE_DIV2_Pos             (11U)
+#define RCC_D1CFGR_D1CPRE_DIV2_Msk             (0x1UL << RCC_D1CFGR_D1CPRE_DIV2_Pos) /*!< 0x00000800 */
+#define RCC_D1CFGR_D1CPRE_DIV2                 RCC_D1CFGR_D1CPRE_DIV2_Msk      /*!< Domain 1 Core clock divided by 2 */
+#define RCC_D1CFGR_D1CPRE_DIV4_Pos             (8U)
+#define RCC_D1CFGR_D1CPRE_DIV4_Msk             (0x9UL << RCC_D1CFGR_D1CPRE_DIV4_Pos) /*!< 0x00000900 */
+#define RCC_D1CFGR_D1CPRE_DIV4                 RCC_D1CFGR_D1CPRE_DIV4_Msk      /*!< Domain 1 Core clock divided by 4 */
+#define RCC_D1CFGR_D1CPRE_DIV8_Pos             (9U)
+#define RCC_D1CFGR_D1CPRE_DIV8_Msk             (0x5UL << RCC_D1CFGR_D1CPRE_DIV8_Pos) /*!< 0x00000A00 */
+#define RCC_D1CFGR_D1CPRE_DIV8                 RCC_D1CFGR_D1CPRE_DIV8_Msk      /*!< Domain 1 Core clock divided by 8 */
+#define RCC_D1CFGR_D1CPRE_DIV16_Pos            (8U)
+#define RCC_D1CFGR_D1CPRE_DIV16_Msk            (0xBUL << RCC_D1CFGR_D1CPRE_DIV16_Pos) /*!< 0x00000B00 */
+#define RCC_D1CFGR_D1CPRE_DIV16                RCC_D1CFGR_D1CPRE_DIV16_Msk     /*!< Domain 1 Core clock divided by 16 */
+#define RCC_D1CFGR_D1CPRE_DIV64_Pos            (10U)
+#define RCC_D1CFGR_D1CPRE_DIV64_Msk            (0x3UL << RCC_D1CFGR_D1CPRE_DIV64_Pos) /*!< 0x00000C00 */
+#define RCC_D1CFGR_D1CPRE_DIV64                RCC_D1CFGR_D1CPRE_DIV64_Msk     /*!< Domain 1 Core clock divided by 64 */
+#define RCC_D1CFGR_D1CPRE_DIV128_Pos           (8U)
+#define RCC_D1CFGR_D1CPRE_DIV128_Msk           (0xDUL << RCC_D1CFGR_D1CPRE_DIV128_Pos) /*!< 0x00000D00 */
+#define RCC_D1CFGR_D1CPRE_DIV128               RCC_D1CFGR_D1CPRE_DIV128_Msk    /*!< Domain 1 Core clock divided by 128 */
+#define RCC_D1CFGR_D1CPRE_DIV256_Pos           (9U)
+#define RCC_D1CFGR_D1CPRE_DIV256_Msk           (0x7UL << RCC_D1CFGR_D1CPRE_DIV256_Pos) /*!< 0x00000E00 */
+#define RCC_D1CFGR_D1CPRE_DIV256               RCC_D1CFGR_D1CPRE_DIV256_Msk    /*!< Domain 1 Core clock divided by 256 */
+#define RCC_D1CFGR_D1CPRE_DIV512_Pos           (8U)
+#define RCC_D1CFGR_D1CPRE_DIV512_Msk           (0xFUL << RCC_D1CFGR_D1CPRE_DIV512_Pos) /*!< 0x00000F00 */
+#define RCC_D1CFGR_D1CPRE_DIV512               RCC_D1CFGR_D1CPRE_DIV512_Msk    /*!< Domain 1 Core clock divided by 512 */
+
+/********************  Bit definition for RCC_D2CFGR register  ******************/
+/*!< D2PPRE1 configuration */
+#define RCC_D2CFGR_D2PPRE1_Pos                 (4U)
+#define RCC_D2CFGR_D2PPRE1_Msk                 (0x7UL << RCC_D2CFGR_D2PPRE1_Pos) /*!< 0x00000070 */
+#define RCC_D2CFGR_D2PPRE1                     RCC_D2CFGR_D2PPRE1_Msk          /*!< D1PPRE1[2:0] bits (APB1 prescaler) */
+#define RCC_D2CFGR_D2PPRE1_0                   (0x1UL << RCC_D2CFGR_D2PPRE1_Pos) /*!< 0x00000010 */
+#define RCC_D2CFGR_D2PPRE1_1                   (0x2UL << RCC_D2CFGR_D2PPRE1_Pos) /*!< 0x00000020 */
+#define RCC_D2CFGR_D2PPRE1_2                   (0x4UL << RCC_D2CFGR_D2PPRE1_Pos) /*!< 0x00000040 */
+
+#define RCC_D2CFGR_D2PPRE1_DIV1                ((uint32_t)0x00000000)          /*!< APB1 clock not divided */
+#define RCC_D2CFGR_D2PPRE1_DIV2_Pos            (6U)
+#define RCC_D2CFGR_D2PPRE1_DIV2_Msk            (0x1UL << RCC_D2CFGR_D2PPRE1_DIV2_Pos) /*!< 0x00000040 */
+#define RCC_D2CFGR_D2PPRE1_DIV2                RCC_D2CFGR_D2PPRE1_DIV2_Msk     /*!< APB1 clock divided by 2 */
+#define RCC_D2CFGR_D2PPRE1_DIV4_Pos            (4U)
+#define RCC_D2CFGR_D2PPRE1_DIV4_Msk            (0x5UL << RCC_D2CFGR_D2PPRE1_DIV4_Pos) /*!< 0x00000050 */
+#define RCC_D2CFGR_D2PPRE1_DIV4                RCC_D2CFGR_D2PPRE1_DIV4_Msk     /*!< APB1 clock divided by 4 */
+#define RCC_D2CFGR_D2PPRE1_DIV8_Pos            (5U)
+#define RCC_D2CFGR_D2PPRE1_DIV8_Msk            (0x3UL << RCC_D2CFGR_D2PPRE1_DIV8_Pos) /*!< 0x00000060 */
+#define RCC_D2CFGR_D2PPRE1_DIV8                RCC_D2CFGR_D2PPRE1_DIV8_Msk     /*!< APB1 clock divided by 8 */
+#define RCC_D2CFGR_D2PPRE1_DIV16_Pos           (4U)
+#define RCC_D2CFGR_D2PPRE1_DIV16_Msk           (0x7UL << RCC_D2CFGR_D2PPRE1_DIV16_Pos) /*!< 0x00000070 */
+#define RCC_D2CFGR_D2PPRE1_DIV16               RCC_D2CFGR_D2PPRE1_DIV16_Msk    /*!< APB1 clock divided by 16 */
+
+/*!< D2PPRE2 configuration */
+#define RCC_D2CFGR_D2PPRE2_Pos                 (8U)
+#define RCC_D2CFGR_D2PPRE2_Msk                 (0x7UL << RCC_D2CFGR_D2PPRE2_Pos) /*!< 0x00000700 */
+#define RCC_D2CFGR_D2PPRE2                     RCC_D2CFGR_D2PPRE2_Msk          /*!< D2PPRE2[2:0] bits (APB2 prescaler) */
+#define RCC_D2CFGR_D2PPRE2_0                   (0x1UL << RCC_D2CFGR_D2PPRE2_Pos) /*!< 0x00000100 */
+#define RCC_D2CFGR_D2PPRE2_1                   (0x2UL << RCC_D2CFGR_D2PPRE2_Pos) /*!< 0x00000200 */
+#define RCC_D2CFGR_D2PPRE2_2                   (0x4UL << RCC_D2CFGR_D2PPRE2_Pos) /*!< 0x00000400 */
+
+#define RCC_D2CFGR_D2PPRE2_DIV1                ((uint32_t)0x00000000)          /*!< APB2 clock not divided */
+#define RCC_D2CFGR_D2PPRE2_DIV2_Pos            (10U)
+#define RCC_D2CFGR_D2PPRE2_DIV2_Msk            (0x1UL << RCC_D2CFGR_D2PPRE2_DIV2_Pos) /*!< 0x00000400 */
+#define RCC_D2CFGR_D2PPRE2_DIV2                RCC_D2CFGR_D2PPRE2_DIV2_Msk     /*!< APB2 clock divided by 2 */
+#define RCC_D2CFGR_D2PPRE2_DIV4_Pos            (8U)
+#define RCC_D2CFGR_D2PPRE2_DIV4_Msk            (0x5UL << RCC_D2CFGR_D2PPRE2_DIV4_Pos) /*!< 0x00000500 */
+#define RCC_D2CFGR_D2PPRE2_DIV4                RCC_D2CFGR_D2PPRE2_DIV4_Msk     /*!< APB2 clock divided by 4 */
+#define RCC_D2CFGR_D2PPRE2_DIV8_Pos            (9U)
+#define RCC_D2CFGR_D2PPRE2_DIV8_Msk            (0x3UL << RCC_D2CFGR_D2PPRE2_DIV8_Pos) /*!< 0x00000600 */
+#define RCC_D2CFGR_D2PPRE2_DIV8                RCC_D2CFGR_D2PPRE2_DIV8_Msk     /*!< APB2 clock divided by 8 */
+#define RCC_D2CFGR_D2PPRE2_DIV16_Pos           (8U)
+#define RCC_D2CFGR_D2PPRE2_DIV16_Msk           (0x7UL << RCC_D2CFGR_D2PPRE2_DIV16_Pos) /*!< 0x00000700 */
+#define RCC_D2CFGR_D2PPRE2_DIV16               RCC_D2CFGR_D2PPRE2_DIV16_Msk    /*!< APB2 clock divided by 16 */
+
+/********************  Bit definition for RCC_D3CFGR register  ******************/
+/*!< D3PPRE configuration */
+#define RCC_D3CFGR_D3PPRE_Pos                  (4U)
+#define RCC_D3CFGR_D3PPRE_Msk                  (0x7UL << RCC_D3CFGR_D3PPRE_Pos) /*!< 0x00000070 */
+#define RCC_D3CFGR_D3PPRE                      RCC_D3CFGR_D3PPRE_Msk           /*!< D3PPRE1[2:0] bits (APB4 prescaler) */
+#define RCC_D3CFGR_D3PPRE_0                    (0x1UL << RCC_D3CFGR_D3PPRE_Pos) /*!< 0x00000010 */
+#define RCC_D3CFGR_D3PPRE_1                    (0x2UL << RCC_D3CFGR_D3PPRE_Pos) /*!< 0x00000020 */
+#define RCC_D3CFGR_D3PPRE_2                    (0x4UL << RCC_D3CFGR_D3PPRE_Pos) /*!< 0x00000040 */
+
+#define RCC_D3CFGR_D3PPRE_DIV1                 ((uint32_t)0x00000000)          /*!< APB4 clock not divided */
+#define RCC_D3CFGR_D3PPRE_DIV2_Pos             (6U)
+#define RCC_D3CFGR_D3PPRE_DIV2_Msk             (0x1UL << RCC_D3CFGR_D3PPRE_DIV2_Pos) /*!< 0x00000040 */
+#define RCC_D3CFGR_D3PPRE_DIV2                 RCC_D3CFGR_D3PPRE_DIV2_Msk      /*!< APB4 clock divided by 2 */
+#define RCC_D3CFGR_D3PPRE_DIV4_Pos             (4U)
+#define RCC_D3CFGR_D3PPRE_DIV4_Msk             (0x5UL << RCC_D3CFGR_D3PPRE_DIV4_Pos) /*!< 0x00000050 */
+#define RCC_D3CFGR_D3PPRE_DIV4                 RCC_D3CFGR_D3PPRE_DIV4_Msk      /*!< APB4 clock divided by 4 */
+#define RCC_D3CFGR_D3PPRE_DIV8_Pos             (5U)
+#define RCC_D3CFGR_D3PPRE_DIV8_Msk             (0x3UL << RCC_D3CFGR_D3PPRE_DIV8_Pos) /*!< 0x00000060 */
+#define RCC_D3CFGR_D3PPRE_DIV8                 RCC_D3CFGR_D3PPRE_DIV8_Msk      /*!< APB4 clock divided by 8 */
+#define RCC_D3CFGR_D3PPRE_DIV16_Pos            (4U)
+#define RCC_D3CFGR_D3PPRE_DIV16_Msk            (0x7UL << RCC_D3CFGR_D3PPRE_DIV16_Pos) /*!< 0x00000070 */
+#define RCC_D3CFGR_D3PPRE_DIV16                RCC_D3CFGR_D3PPRE_DIV16_Msk     /*!< APB4 clock divided by 16 */
+
+/********************  Bit definition for RCC_PLLCKSELR register  *************/
+
+#define RCC_PLLCKSELR_PLLSRC_Pos               (0U)
+#define RCC_PLLCKSELR_PLLSRC_Msk               (0x3UL << RCC_PLLCKSELR_PLLSRC_Pos) /*!< 0x00000003 */
+#define RCC_PLLCKSELR_PLLSRC                   RCC_PLLCKSELR_PLLSRC_Msk
+
+#define RCC_PLLCKSELR_PLLSRC_HSI               ((uint32_t)0x00000000)          /*!< HSI source clock selected */
+#define RCC_PLLCKSELR_PLLSRC_CSI_Pos           (0U)
+#define RCC_PLLCKSELR_PLLSRC_CSI_Msk           (0x1UL << RCC_PLLCKSELR_PLLSRC_CSI_Pos) /*!< 0x00000001 */
+#define RCC_PLLCKSELR_PLLSRC_CSI               RCC_PLLCKSELR_PLLSRC_CSI_Msk    /*!< CSI source clock selected */
+#define RCC_PLLCKSELR_PLLSRC_HSE_Pos           (1U)
+#define RCC_PLLCKSELR_PLLSRC_HSE_Msk           (0x1UL << RCC_PLLCKSELR_PLLSRC_HSE_Pos) /*!< 0x00000002 */
+#define RCC_PLLCKSELR_PLLSRC_HSE               RCC_PLLCKSELR_PLLSRC_HSE_Msk    /*!< HSE source clock selected */
+#define RCC_PLLCKSELR_PLLSRC_NONE_Pos          (0U)
+#define RCC_PLLCKSELR_PLLSRC_NONE_Msk          (0x3UL << RCC_PLLCKSELR_PLLSRC_NONE_Pos) /*!< 0x00000003 */
+#define RCC_PLLCKSELR_PLLSRC_NONE              RCC_PLLCKSELR_PLLSRC_NONE_Msk   /*!< No source clock selected  */
+
+#define RCC_PLLCKSELR_DIVM1_Pos                (4U)
+#define RCC_PLLCKSELR_DIVM1_Msk                (0x3FUL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x000003F0 */
+#define RCC_PLLCKSELR_DIVM1                    RCC_PLLCKSELR_DIVM1_Msk
+#define RCC_PLLCKSELR_DIVM1_0                  (0x01UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000010 */
+#define RCC_PLLCKSELR_DIVM1_1                  (0x02UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000020 */
+#define RCC_PLLCKSELR_DIVM1_2                  (0x04UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000040 */
+#define RCC_PLLCKSELR_DIVM1_3                  (0x08UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000080 */
+#define RCC_PLLCKSELR_DIVM1_4                  (0x10UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000100 */
+#define RCC_PLLCKSELR_DIVM1_5                  (0x20UL << RCC_PLLCKSELR_DIVM1_Pos) /*!< 0x00000200 */
+
+#define RCC_PLLCKSELR_DIVM2_Pos                (12U)
+#define RCC_PLLCKSELR_DIVM2_Msk                (0x3FUL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x0003F000 */
+#define RCC_PLLCKSELR_DIVM2                    RCC_PLLCKSELR_DIVM2_Msk
+#define RCC_PLLCKSELR_DIVM2_0                  (0x01UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00001000 */
+#define RCC_PLLCKSELR_DIVM2_1                  (0x02UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00002000 */
+#define RCC_PLLCKSELR_DIVM2_2                  (0x04UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00004000 */
+#define RCC_PLLCKSELR_DIVM2_3                  (0x08UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00008000 */
+#define RCC_PLLCKSELR_DIVM2_4                  (0x10UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00010000 */
+#define RCC_PLLCKSELR_DIVM2_5                  (0x20UL << RCC_PLLCKSELR_DIVM2_Pos) /*!< 0x00020000 */
+
+#define RCC_PLLCKSELR_DIVM3_Pos                (20U)
+#define RCC_PLLCKSELR_DIVM3_Msk                (0x3FUL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x03F00000 */
+#define RCC_PLLCKSELR_DIVM3                    RCC_PLLCKSELR_DIVM3_Msk
+#define RCC_PLLCKSELR_DIVM3_0                  (0x01UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x00100000 */
+#define RCC_PLLCKSELR_DIVM3_1                  (0x02UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x00200000 */
+#define RCC_PLLCKSELR_DIVM3_2                  (0x04UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x00400000 */
+#define RCC_PLLCKSELR_DIVM3_3                  (0x08UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x00800000 */
+#define RCC_PLLCKSELR_DIVM3_4                  (0x10UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x01000000 */
+#define RCC_PLLCKSELR_DIVM3_5                  (0x20UL << RCC_PLLCKSELR_DIVM3_Pos) /*!< 0x02000000 */
+
+/********************  Bit definition for RCC_PLLCFGR register  ***************/
+
+#define RCC_PLLCFGR_PLL1FRACEN_Pos             (0U)
+#define RCC_PLLCFGR_PLL1FRACEN_Msk             (0x1UL << RCC_PLLCFGR_PLL1FRACEN_Pos) /*!< 0x00000001 */
+#define RCC_PLLCFGR_PLL1FRACEN                 RCC_PLLCFGR_PLL1FRACEN_Msk
+#define RCC_PLLCFGR_PLL1VCOSEL_Pos             (1U)
+#define RCC_PLLCFGR_PLL1VCOSEL_Msk             (0x1UL << RCC_PLLCFGR_PLL1VCOSEL_Pos) /*!< 0x00000002 */
+#define RCC_PLLCFGR_PLL1VCOSEL                 RCC_PLLCFGR_PLL1VCOSEL_Msk
+#define RCC_PLLCFGR_PLL1RGE_Pos                (2U)
+#define RCC_PLLCFGR_PLL1RGE_Msk                (0x3UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x0000000C */
+#define RCC_PLLCFGR_PLL1RGE                    RCC_PLLCFGR_PLL1RGE_Msk
+#define RCC_PLLCFGR_PLL1RGE_0                  (0x0UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x00000000 */
+#define RCC_PLLCFGR_PLL1RGE_1                  (0x1UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x00000004 */
+#define RCC_PLLCFGR_PLL1RGE_2                  (0x2UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x00000008 */
+#define RCC_PLLCFGR_PLL1RGE_3                  (0x3UL << RCC_PLLCFGR_PLL1RGE_Pos) /*!< 0x0000000C */
+
+#define RCC_PLLCFGR_PLL2FRACEN_Pos             (4U)
+#define RCC_PLLCFGR_PLL2FRACEN_Msk             (0x1UL << RCC_PLLCFGR_PLL2FRACEN_Pos) /*!< 0x00000010 */
+#define RCC_PLLCFGR_PLL2FRACEN                 RCC_PLLCFGR_PLL2FRACEN_Msk
+#define RCC_PLLCFGR_PLL2VCOSEL_Pos             (5U)
+#define RCC_PLLCFGR_PLL2VCOSEL_Msk             (0x1UL << RCC_PLLCFGR_PLL2VCOSEL_Pos) /*!< 0x00000020 */
+#define RCC_PLLCFGR_PLL2VCOSEL                 RCC_PLLCFGR_PLL2VCOSEL_Msk
+#define RCC_PLLCFGR_PLL2RGE_Pos                (6U)
+#define RCC_PLLCFGR_PLL2RGE_Msk                (0x3UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x000000C0 */
+#define RCC_PLLCFGR_PLL2RGE                    RCC_PLLCFGR_PLL2RGE_Msk
+#define RCC_PLLCFGR_PLL2RGE_0                  (0x0UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x00000000 */
+#define RCC_PLLCFGR_PLL2RGE_1                  (0x1UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x00000040 */
+#define RCC_PLLCFGR_PLL2RGE_2                  (0x2UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x00000080 */
+#define RCC_PLLCFGR_PLL2RGE_3                  (0x3UL << RCC_PLLCFGR_PLL2RGE_Pos) /*!< 0x000000C0 */
+
+#define RCC_PLLCFGR_PLL3FRACEN_Pos             (8U)
+#define RCC_PLLCFGR_PLL3FRACEN_Msk             (0x1UL << RCC_PLLCFGR_PLL3FRACEN_Pos) /*!< 0x00000100 */
+#define RCC_PLLCFGR_PLL3FRACEN                 RCC_PLLCFGR_PLL3FRACEN_Msk
+#define RCC_PLLCFGR_PLL3VCOSEL_Pos             (9U)
+#define RCC_PLLCFGR_PLL3VCOSEL_Msk             (0x1UL << RCC_PLLCFGR_PLL3VCOSEL_Pos) /*!< 0x00000200 */
+#define RCC_PLLCFGR_PLL3VCOSEL                 RCC_PLLCFGR_PLL3VCOSEL_Msk
+#define RCC_PLLCFGR_PLL3RGE_Pos                (10U)
+#define RCC_PLLCFGR_PLL3RGE_Msk                (0x3UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000C00 */
+#define RCC_PLLCFGR_PLL3RGE                    RCC_PLLCFGR_PLL3RGE_Msk
+#define RCC_PLLCFGR_PLL3RGE_0                  (0x0UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000000 */
+#define RCC_PLLCFGR_PLL3RGE_1                  (0x1UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000400 */
+#define RCC_PLLCFGR_PLL3RGE_2                  (0x2UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000800 */
+#define RCC_PLLCFGR_PLL3RGE_3                  (0x3UL << RCC_PLLCFGR_PLL3RGE_Pos) /*!< 0x00000C00 */
+
+#define RCC_PLLCFGR_DIVP1EN_Pos                (16U)
+#define RCC_PLLCFGR_DIVP1EN_Msk                (0x1UL << RCC_PLLCFGR_DIVP1EN_Pos) /*!< 0x00010000 */
+#define RCC_PLLCFGR_DIVP1EN                    RCC_PLLCFGR_DIVP1EN_Msk
+#define RCC_PLLCFGR_DIVQ1EN_Pos                (17U)
+#define RCC_PLLCFGR_DIVQ1EN_Msk                (0x1UL << RCC_PLLCFGR_DIVQ1EN_Pos) /*!< 0x00020000 */
+#define RCC_PLLCFGR_DIVQ1EN                    RCC_PLLCFGR_DIVQ1EN_Msk
+#define RCC_PLLCFGR_DIVR1EN_Pos                (18U)
+#define RCC_PLLCFGR_DIVR1EN_Msk                (0x1UL << RCC_PLLCFGR_DIVR1EN_Pos) /*!< 0x00040000 */
+#define RCC_PLLCFGR_DIVR1EN                    RCC_PLLCFGR_DIVR1EN_Msk
+
+#define RCC_PLLCFGR_DIVP2EN_Pos                (19U)
+#define RCC_PLLCFGR_DIVP2EN_Msk                (0x1UL << RCC_PLLCFGR_DIVP2EN_Pos) /*!< 0x00080000 */
+#define RCC_PLLCFGR_DIVP2EN                    RCC_PLLCFGR_DIVP2EN_Msk
+#define RCC_PLLCFGR_DIVQ2EN_Pos                (20U)
+#define RCC_PLLCFGR_DIVQ2EN_Msk                (0x1UL << RCC_PLLCFGR_DIVQ2EN_Pos) /*!< 0x00100000 */
+#define RCC_PLLCFGR_DIVQ2EN                    RCC_PLLCFGR_DIVQ2EN_Msk
+#define RCC_PLLCFGR_DIVR2EN_Pos                (21U)
+#define RCC_PLLCFGR_DIVR2EN_Msk                (0x1UL << RCC_PLLCFGR_DIVR2EN_Pos) /*!< 0x00200000 */
+#define RCC_PLLCFGR_DIVR2EN                    RCC_PLLCFGR_DIVR2EN_Msk
+
+#define RCC_PLLCFGR_DIVP3EN_Pos                (22U)
+#define RCC_PLLCFGR_DIVP3EN_Msk                (0x1UL << RCC_PLLCFGR_DIVP3EN_Pos) /*!< 0x00400000 */
+#define RCC_PLLCFGR_DIVP3EN                    RCC_PLLCFGR_DIVP3EN_Msk
+#define RCC_PLLCFGR_DIVQ3EN_Pos                (23U)
+#define RCC_PLLCFGR_DIVQ3EN_Msk                (0x1UL << RCC_PLLCFGR_DIVQ3EN_Pos) /*!< 0x00800000 */
+#define RCC_PLLCFGR_DIVQ3EN                    RCC_PLLCFGR_DIVQ3EN_Msk
+#define RCC_PLLCFGR_DIVR3EN_Pos                (24U)
+#define RCC_PLLCFGR_DIVR3EN_Msk                (0x1UL << RCC_PLLCFGR_DIVR3EN_Pos) /*!< 0x01000000 */
+#define RCC_PLLCFGR_DIVR3EN                    RCC_PLLCFGR_DIVR3EN_Msk
+
+
+/********************  Bit definition for RCC_PLL1DIVR register  ***************/
+#define RCC_PLL1DIVR_N1_Pos                    (0U)
+#define RCC_PLL1DIVR_N1_Msk                    (0x1FFUL << RCC_PLL1DIVR_N1_Pos) /*!< 0x000001FF */
+#define RCC_PLL1DIVR_N1                        RCC_PLL1DIVR_N1_Msk
+#define RCC_PLL1DIVR_P1_Pos                    (9U)
+#define RCC_PLL1DIVR_P1_Msk                    (0x7FUL << RCC_PLL1DIVR_P1_Pos) /*!< 0x0000FE00 */
+#define RCC_PLL1DIVR_P1                        RCC_PLL1DIVR_P1_Msk
+#define RCC_PLL1DIVR_Q1_Pos                    (16U)
+#define RCC_PLL1DIVR_Q1_Msk                    (0x7FUL << RCC_PLL1DIVR_Q1_Pos) /*!< 0x007F0000 */
+#define RCC_PLL1DIVR_Q1                        RCC_PLL1DIVR_Q1_Msk
+#define RCC_PLL1DIVR_R1_Pos                    (24U)
+#define RCC_PLL1DIVR_R1_Msk                    (0x7FUL << RCC_PLL1DIVR_R1_Pos) /*!< 0x7F000000 */
+#define RCC_PLL1DIVR_R1                        RCC_PLL1DIVR_R1_Msk
+
+/********************  Bit definition for RCC_PLL1FRACR register  ***************/
+#define RCC_PLL1FRACR_FRACN1_Pos               (3U)
+#define RCC_PLL1FRACR_FRACN1_Msk               (0x1FFFUL << RCC_PLL1FRACR_FRACN1_Pos) /*!< 0x0000FFF8 */
+#define RCC_PLL1FRACR_FRACN1                   RCC_PLL1FRACR_FRACN1_Msk
+
+/********************  Bit definition for RCC_PLL2DIVR register  ***************/
+#define RCC_PLL2DIVR_N2_Pos                    (0U)
+#define RCC_PLL2DIVR_N2_Msk                    (0x1FFUL << RCC_PLL2DIVR_N2_Pos) /*!< 0x000001FF */
+#define RCC_PLL2DIVR_N2                        RCC_PLL2DIVR_N2_Msk
+#define RCC_PLL2DIVR_P2_Pos                    (9U)
+#define RCC_PLL2DIVR_P2_Msk                    (0x7FUL << RCC_PLL2DIVR_P2_Pos) /*!< 0x0000FE00 */
+#define RCC_PLL2DIVR_P2                        RCC_PLL2DIVR_P2_Msk
+#define RCC_PLL2DIVR_Q2_Pos                    (16U)
+#define RCC_PLL2DIVR_Q2_Msk                    (0x7FUL << RCC_PLL2DIVR_Q2_Pos) /*!< 0x007F0000 */
+#define RCC_PLL2DIVR_Q2                        RCC_PLL2DIVR_Q2_Msk
+#define RCC_PLL2DIVR_R2_Pos                    (24U)
+#define RCC_PLL2DIVR_R2_Msk                    (0x7FUL << RCC_PLL2DIVR_R2_Pos) /*!< 0x7F000000 */
+#define RCC_PLL2DIVR_R2                        RCC_PLL2DIVR_R2_Msk
+
+/********************  Bit definition for RCC_PLL2FRACR register  ***************/
+#define RCC_PLL2FRACR_FRACN2_Pos               (3U)
+#define RCC_PLL2FRACR_FRACN2_Msk               (0x1FFFUL << RCC_PLL2FRACR_FRACN2_Pos) /*!< 0x0000FFF8 */
+#define RCC_PLL2FRACR_FRACN2                   RCC_PLL2FRACR_FRACN2_Msk
+
+/********************  Bit definition for RCC_PLL3DIVR register  ***************/
+#define RCC_PLL3DIVR_N3_Pos                    (0U)
+#define RCC_PLL3DIVR_N3_Msk                    (0x1FFUL << RCC_PLL3DIVR_N3_Pos) /*!< 0x000001FF */
+#define RCC_PLL3DIVR_N3                        RCC_PLL3DIVR_N3_Msk
+#define RCC_PLL3DIVR_P3_Pos                    (9U)
+#define RCC_PLL3DIVR_P3_Msk                    (0x7FUL << RCC_PLL3DIVR_P3_Pos) /*!< 0x0000FE00 */
+#define RCC_PLL3DIVR_P3                        RCC_PLL3DIVR_P3_Msk
+#define RCC_PLL3DIVR_Q3_Pos                    (16U)
+#define RCC_PLL3DIVR_Q3_Msk                    (0x7FUL << RCC_PLL3DIVR_Q3_Pos) /*!< 0x007F0000 */
+#define RCC_PLL3DIVR_Q3                        RCC_PLL3DIVR_Q3_Msk
+#define RCC_PLL3DIVR_R3_Pos                    (24U)
+#define RCC_PLL3DIVR_R3_Msk                    (0x7FUL << RCC_PLL3DIVR_R3_Pos) /*!< 0x7F000000 */
+#define RCC_PLL3DIVR_R3                        RCC_PLL3DIVR_R3_Msk
+
+/********************  Bit definition for RCC_PLL3FRACR register  ***************/
+#define RCC_PLL3FRACR_FRACN3_Pos               (3U)
+#define RCC_PLL3FRACR_FRACN3_Msk               (0x1FFFUL << RCC_PLL3FRACR_FRACN3_Pos) /*!< 0x0000FFF8 */
+#define RCC_PLL3FRACR_FRACN3                   RCC_PLL3FRACR_FRACN3_Msk
+
+/********************  Bit definition for RCC_D1CCIPR register  ***************/
+#define RCC_D1CCIPR_FMCSEL_Pos                 (0U)
+#define RCC_D1CCIPR_FMCSEL_Msk                 (0x3UL << RCC_D1CCIPR_FMCSEL_Pos) /*!< 0x00000003 */
+#define RCC_D1CCIPR_FMCSEL                     RCC_D1CCIPR_FMCSEL_Msk
+#define RCC_D1CCIPR_FMCSEL_0                   (0x1UL << RCC_D1CCIPR_FMCSEL_Pos) /*!< 0x00000001 */
+#define RCC_D1CCIPR_FMCSEL_1                   (0x2UL << RCC_D1CCIPR_FMCSEL_Pos) /*!< 0x00000002 */
+#define RCC_D1CCIPR_OCTOSPISEL_Pos             (4U)
+#define RCC_D1CCIPR_OCTOSPISEL_Msk             (0x3UL << RCC_D1CCIPR_OCTOSPISEL_Pos) /*!< 0x00000030 */
+#define RCC_D1CCIPR_OCTOSPISEL                 RCC_D1CCIPR_OCTOSPISEL_Msk
+#define RCC_D1CCIPR_OCTOSPISEL_0               (0x1UL << RCC_D1CCIPR_OCTOSPISEL_Pos) /*!< 0x00000010 */
+#define RCC_D1CCIPR_OCTOSPISEL_1               (0x2UL << RCC_D1CCIPR_OCTOSPISEL_Pos) /*!< 0x00000020 */
+#define RCC_D1CCIPR_SDMMCSEL_Pos               (16U)
+#define RCC_D1CCIPR_SDMMCSEL_Msk               (0x1UL << RCC_D1CCIPR_SDMMCSEL_Pos) /*!< 0x00010000 */
+#define RCC_D1CCIPR_SDMMCSEL                   RCC_D1CCIPR_SDMMCSEL_Msk
+#define RCC_D1CCIPR_CKPERSEL_Pos               (28U)
+#define RCC_D1CCIPR_CKPERSEL_Msk               (0x3UL << RCC_D1CCIPR_CKPERSEL_Pos) /*!< 0x30000000 */
+#define RCC_D1CCIPR_CKPERSEL                   RCC_D1CCIPR_CKPERSEL_Msk
+#define RCC_D1CCIPR_CKPERSEL_0                 (0x1UL << RCC_D1CCIPR_CKPERSEL_Pos) /*!< 0x10000000 */
+#define RCC_D1CCIPR_CKPERSEL_1                 (0x2UL << RCC_D1CCIPR_CKPERSEL_Pos) /*!< 0x20000000 */
+
+/********************  Bit definition for RCC_D2CCIP1R register  ***************/
+#define RCC_D2CCIP1R_SAI1SEL_Pos               (0U)
+#define RCC_D2CCIP1R_SAI1SEL_Msk               (0x7UL << RCC_D2CCIP1R_SAI1SEL_Pos) /*!< 0x00000007 */
+#define RCC_D2CCIP1R_SAI1SEL                   RCC_D2CCIP1R_SAI1SEL_Msk
+#define RCC_D2CCIP1R_SAI1SEL_0                 (0x1UL << RCC_D2CCIP1R_SAI1SEL_Pos) /*!< 0x00000001 */
+#define RCC_D2CCIP1R_SAI1SEL_1                 (0x2UL << RCC_D2CCIP1R_SAI1SEL_Pos) /*!< 0x00000002 */
+#define RCC_D2CCIP1R_SAI1SEL_2                 (0x4UL << RCC_D2CCIP1R_SAI1SEL_Pos) /*!< 0x00000004 */
+
+
+#define RCC_D2CCIP1R_SPI123SEL_Pos             (12U)
+#define RCC_D2CCIP1R_SPI123SEL_Msk             (0x7UL << RCC_D2CCIP1R_SPI123SEL_Pos) /*!< 0x00007000 */
+#define RCC_D2CCIP1R_SPI123SEL                 RCC_D2CCIP1R_SPI123SEL_Msk
+#define RCC_D2CCIP1R_SPI123SEL_0               (0x1UL << RCC_D2CCIP1R_SPI123SEL_Pos) /*!< 0x00001000 */
+#define RCC_D2CCIP1R_SPI123SEL_1               (0x2UL << RCC_D2CCIP1R_SPI123SEL_Pos) /*!< 0x00002000 */
+#define RCC_D2CCIP1R_SPI123SEL_2               (0x4UL << RCC_D2CCIP1R_SPI123SEL_Pos) /*!< 0x00004000 */
+
+#define RCC_D2CCIP1R_SPI45SEL_Pos              (16U)
+#define RCC_D2CCIP1R_SPI45SEL_Msk              (0x7UL << RCC_D2CCIP1R_SPI45SEL_Pos) /*!< 0x00070000 */
+#define RCC_D2CCIP1R_SPI45SEL                  RCC_D2CCIP1R_SPI45SEL_Msk
+#define RCC_D2CCIP1R_SPI45SEL_0                (0x1UL << RCC_D2CCIP1R_SPI45SEL_Pos) /*!< 0x00010000 */
+#define RCC_D2CCIP1R_SPI45SEL_1                (0x2UL << RCC_D2CCIP1R_SPI45SEL_Pos) /*!< 0x00020000 */
+#define RCC_D2CCIP1R_SPI45SEL_2                (0x4UL << RCC_D2CCIP1R_SPI45SEL_Pos) /*!< 0x00040000 */
+
+#define RCC_D2CCIP1R_SPDIFSEL_Pos              (20U)
+#define RCC_D2CCIP1R_SPDIFSEL_Msk              (0x3UL << RCC_D2CCIP1R_SPDIFSEL_Pos) /*!< 0x00300000 */
+#define RCC_D2CCIP1R_SPDIFSEL                  RCC_D2CCIP1R_SPDIFSEL_Msk
+#define RCC_D2CCIP1R_SPDIFSEL_0                (0x1UL << RCC_D2CCIP1R_SPDIFSEL_Pos) /*!< 0x00100000 */
+#define RCC_D2CCIP1R_SPDIFSEL_1                (0x2UL << RCC_D2CCIP1R_SPDIFSEL_Pos) /*!< 0x00200000 */
+
+#define RCC_D2CCIP1R_DFSDM1SEL_Pos             (24U)
+#define RCC_D2CCIP1R_DFSDM1SEL_Msk             (0x1UL << RCC_D2CCIP1R_DFSDM1SEL_Pos) /*!< 0x01000000 */
+#define RCC_D2CCIP1R_DFSDM1SEL                 RCC_D2CCIP1R_DFSDM1SEL_Msk
+
+#define RCC_D2CCIP1R_FDCANSEL_Pos              (28U)
+#define RCC_D2CCIP1R_FDCANSEL_Msk              (0x3UL << RCC_D2CCIP1R_FDCANSEL_Pos) /*!< 0x30000000 */
+#define RCC_D2CCIP1R_FDCANSEL                  RCC_D2CCIP1R_FDCANSEL_Msk
+#define RCC_D2CCIP1R_FDCANSEL_0                (0x1UL << RCC_D2CCIP1R_FDCANSEL_Pos) /*!< 0x10000000 */
+#define RCC_D2CCIP1R_FDCANSEL_1                (0x2UL << RCC_D2CCIP1R_FDCANSEL_Pos) /*!< 0x20000000 */
+
+#define RCC_D2CCIP1R_SWPSEL_Pos                (31U)
+#define RCC_D2CCIP1R_SWPSEL_Msk                (0x1UL << RCC_D2CCIP1R_SWPSEL_Pos) /*!< 0x80000000 */
+#define RCC_D2CCIP1R_SWPSEL                    RCC_D2CCIP1R_SWPSEL_Msk
+
+/********************  Bit definition for RCC_D2CCIP2R register  ***************/
+#define RCC_D2CCIP2R_USART16910SEL_Pos         (3U)
+#define RCC_D2CCIP2R_USART16910SEL_Msk         (0x7UL << RCC_D2CCIP2R_USART16910SEL_Pos) /*!< 0x00000038 */
+#define RCC_D2CCIP2R_USART16910SEL             RCC_D2CCIP2R_USART16910SEL_Msk
+#define RCC_D2CCIP2R_USART16910SEL_0           (0x1UL << RCC_D2CCIP2R_USART16910SEL_Pos) /*!< 0x00000008 */
+#define RCC_D2CCIP2R_USART16910SEL_1           (0x2UL << RCC_D2CCIP2R_USART16910SEL_Pos) /*!< 0x00000010 */
+#define RCC_D2CCIP2R_USART16910SEL_2           (0x4UL << RCC_D2CCIP2R_USART16910SEL_Pos) /*!< 0x00000020 */
+
+#define RCC_D2CCIP2R_USART28SEL_Pos            (0U)
+#define RCC_D2CCIP2R_USART28SEL_Msk            (0x7UL << RCC_D2CCIP2R_USART28SEL_Pos) /*!< 0x00000007 */
+#define RCC_D2CCIP2R_USART28SEL                RCC_D2CCIP2R_USART28SEL_Msk
+#define RCC_D2CCIP2R_USART28SEL_0              (0x1UL << RCC_D2CCIP2R_USART28SEL_Pos) /*!< 0x00000001 */
+#define RCC_D2CCIP2R_USART28SEL_1              (0x2UL << RCC_D2CCIP2R_USART28SEL_Pos) /*!< 0x00000002 */
+#define RCC_D2CCIP2R_USART28SEL_2              (0x4UL << RCC_D2CCIP2R_USART28SEL_Pos) /*!< 0x00000004 */
+
+#define RCC_D2CCIP2R_RNGSEL_Pos                (8U)
+#define RCC_D2CCIP2R_RNGSEL_Msk                (0x3UL << RCC_D2CCIP2R_RNGSEL_Pos) /*!< 0x00000300 */
+#define RCC_D2CCIP2R_RNGSEL                    RCC_D2CCIP2R_RNGSEL_Msk
+#define RCC_D2CCIP2R_RNGSEL_0                  (0x1UL << RCC_D2CCIP2R_RNGSEL_Pos) /*!< 0x00000100 */
+#define RCC_D2CCIP2R_RNGSEL_1                  (0x2UL << RCC_D2CCIP2R_RNGSEL_Pos) /*!< 0x00000200 */
+
+#define RCC_D2CCIP2R_I2C1235SEL_Pos            (12U)
+#define RCC_D2CCIP2R_I2C1235SEL_Msk            (0x3UL << RCC_D2CCIP2R_I2C1235SEL_Pos) /*!< 0x00003000 */
+#define RCC_D2CCIP2R_I2C1235SEL                RCC_D2CCIP2R_I2C1235SEL_Msk
+#define RCC_D2CCIP2R_I2C1235SEL_0              (0x1UL << RCC_D2CCIP2R_I2C1235SEL_Pos) /*!< 0x00001000 */
+#define RCC_D2CCIP2R_I2C1235SEL_1              (0x2UL << RCC_D2CCIP2R_I2C1235SEL_Pos) /*!< 0x00002000 */
+
+#define RCC_D2CCIP2R_USBSEL_Pos                (20U)
+#define RCC_D2CCIP2R_USBSEL_Msk                (0x3UL << RCC_D2CCIP2R_USBSEL_Pos) /*!< 0x00300000 */
+#define RCC_D2CCIP2R_USBSEL                    RCC_D2CCIP2R_USBSEL_Msk
+#define RCC_D2CCIP2R_USBSEL_0                  (0x1UL << RCC_D2CCIP2R_USBSEL_Pos) /*!< 0x00100000 */
+#define RCC_D2CCIP2R_USBSEL_1                  (0x2UL << RCC_D2CCIP2R_USBSEL_Pos) /*!< 0x00200000 */
+
+#define RCC_D2CCIP2R_CECSEL_Pos                (22U)
+#define RCC_D2CCIP2R_CECSEL_Msk                (0x3UL << RCC_D2CCIP2R_CECSEL_Pos) /*!< 0x00C00000 */
+#define RCC_D2CCIP2R_CECSEL                    RCC_D2CCIP2R_CECSEL_Msk
+#define RCC_D2CCIP2R_CECSEL_0                  (0x1UL << RCC_D2CCIP2R_CECSEL_Pos) /*!< 0x00400000 */
+#define RCC_D2CCIP2R_CECSEL_1                  (0x2UL << RCC_D2CCIP2R_CECSEL_Pos) /*!< 0x00800000 */
+
+#define RCC_D2CCIP2R_LPTIM1SEL_Pos             (28U)
+#define RCC_D2CCIP2R_LPTIM1SEL_Msk             (0x7UL << RCC_D2CCIP2R_LPTIM1SEL_Pos) /*!< 0x70000000 */
+#define RCC_D2CCIP2R_LPTIM1SEL                 RCC_D2CCIP2R_LPTIM1SEL_Msk
+#define RCC_D2CCIP2R_LPTIM1SEL_0               (0x1UL << RCC_D2CCIP2R_LPTIM1SEL_Pos) /*!< 0x10000000 */
+#define RCC_D2CCIP2R_LPTIM1SEL_1               (0x2UL << RCC_D2CCIP2R_LPTIM1SEL_Pos) /*!< 0x20000000 */
+#define RCC_D2CCIP2R_LPTIM1SEL_2               (0x4UL << RCC_D2CCIP2R_LPTIM1SEL_Pos) /*!< 0x40000000 */
+
+/********************  Bit definition for RCC_D3CCIPR register  ***************/
+#define RCC_D3CCIPR_LPUART1SEL_Pos             (0U)
+#define RCC_D3CCIPR_LPUART1SEL_Msk             (0x7UL << RCC_D3CCIPR_LPUART1SEL_Pos) /*!< 0x00000007 */
+#define RCC_D3CCIPR_LPUART1SEL                 RCC_D3CCIPR_LPUART1SEL_Msk
+#define RCC_D3CCIPR_LPUART1SEL_0               (0x1UL << RCC_D3CCIPR_LPUART1SEL_Pos) /*!< 0x00000001 */
+#define RCC_D3CCIPR_LPUART1SEL_1               (0x2UL << RCC_D3CCIPR_LPUART1SEL_Pos) /*!< 0x00000002 */
+#define RCC_D3CCIPR_LPUART1SEL_2               (0x4UL << RCC_D3CCIPR_LPUART1SEL_Pos) /*!< 0x00000004 */
+
+#define RCC_D3CCIPR_I2C4SEL_Pos                (8U)
+#define RCC_D3CCIPR_I2C4SEL_Msk                (0x3UL << RCC_D3CCIPR_I2C4SEL_Pos) /*!< 0x00000300 */
+#define RCC_D3CCIPR_I2C4SEL                    RCC_D3CCIPR_I2C4SEL_Msk
+#define RCC_D3CCIPR_I2C4SEL_0                  (0x1UL << RCC_D3CCIPR_I2C4SEL_Pos) /*!< 0x00000100 */
+#define RCC_D3CCIPR_I2C4SEL_1                  (0x2UL << RCC_D3CCIPR_I2C4SEL_Pos) /*!< 0x00000200 */
+
+#define RCC_D3CCIPR_LPTIM2SEL_Pos              (10U)
+#define RCC_D3CCIPR_LPTIM2SEL_Msk              (0x7UL << RCC_D3CCIPR_LPTIM2SEL_Pos) /*!< 0x00001C00 */
+#define RCC_D3CCIPR_LPTIM2SEL                  RCC_D3CCIPR_LPTIM2SEL_Msk
+#define RCC_D3CCIPR_LPTIM2SEL_0                (0x1UL << RCC_D3CCIPR_LPTIM2SEL_Pos) /*!< 0x00000400 */
+#define RCC_D3CCIPR_LPTIM2SEL_1                (0x2UL << RCC_D3CCIPR_LPTIM2SEL_Pos) /*!< 0x00000800 */
+#define RCC_D3CCIPR_LPTIM2SEL_2                (0x4UL << RCC_D3CCIPR_LPTIM2SEL_Pos) /*!< 0x00001000 */
+
+#define RCC_D3CCIPR_LPTIM345SEL_Pos            (13U)
+#define RCC_D3CCIPR_LPTIM345SEL_Msk            (0x7UL << RCC_D3CCIPR_LPTIM345SEL_Pos) /*!< 0x0000E000 */
+#define RCC_D3CCIPR_LPTIM345SEL                RCC_D3CCIPR_LPTIM345SEL_Msk
+#define RCC_D3CCIPR_LPTIM345SEL_0              (0x1UL << RCC_D3CCIPR_LPTIM345SEL_Pos) /*!< 0x00002000 */
+#define RCC_D3CCIPR_LPTIM345SEL_1              (0x2UL << RCC_D3CCIPR_LPTIM345SEL_Pos) /*!< 0x00004000 */
+#define RCC_D3CCIPR_LPTIM345SEL_2              (0x4UL << RCC_D3CCIPR_LPTIM345SEL_Pos) /*!< 0x00008000 */
+
+#define RCC_D3CCIPR_SAI4ASEL_Pos               (21U)
+#define RCC_D3CCIPR_SAI4ASEL_Msk               (0x7UL << RCC_D3CCIPR_SAI4ASEL_Pos) /*!< 0x00E00000 */
+#define RCC_D3CCIPR_SAI4ASEL                   RCC_D3CCIPR_SAI4ASEL_Msk
+#define RCC_D3CCIPR_SAI4ASEL_0                 (0x1UL << RCC_D3CCIPR_SAI4ASEL_Pos) /*!< 0x00200000 */
+#define RCC_D3CCIPR_SAI4ASEL_1                 (0x2UL << RCC_D3CCIPR_SAI4ASEL_Pos) /*!< 0x00400000 */
+#define RCC_D3CCIPR_SAI4ASEL_2                 (0x4UL << RCC_D3CCIPR_SAI4ASEL_Pos) /*!< 0x00800000 */
+
+#define RCC_D3CCIPR_SAI4BSEL_Pos               (24U)
+#define RCC_D3CCIPR_SAI4BSEL_Msk               (0x7UL << RCC_D3CCIPR_SAI4BSEL_Pos) /*!< 0x07000000 */
+#define RCC_D3CCIPR_SAI4BSEL                   RCC_D3CCIPR_SAI4BSEL_Msk
+#define RCC_D3CCIPR_SAI4BSEL_0                 (0x1UL << RCC_D3CCIPR_SAI4BSEL_Pos) /*!< 0x01000000 */
+#define RCC_D3CCIPR_SAI4BSEL_1                 (0x2UL << RCC_D3CCIPR_SAI4BSEL_Pos) /*!< 0x02000000 */
+#define RCC_D3CCIPR_SAI4BSEL_2                 (0x4UL << RCC_D3CCIPR_SAI4BSEL_Pos) /*!< 0x04000000 */
+
+#define RCC_D3CCIPR_ADCSEL_Pos                 (16U)
+#define RCC_D3CCIPR_ADCSEL_Msk                 (0x3UL << RCC_D3CCIPR_ADCSEL_Pos) /*!< 0x00030000 */
+#define RCC_D3CCIPR_ADCSEL                     RCC_D3CCIPR_ADCSEL_Msk
+#define RCC_D3CCIPR_ADCSEL_0                   (0x1UL << RCC_D3CCIPR_ADCSEL_Pos) /*!< 0x00010000 */
+#define RCC_D3CCIPR_ADCSEL_1                   (0x2UL << RCC_D3CCIPR_ADCSEL_Pos) /*!< 0x00020000 */
+
+#define RCC_D3CCIPR_SPI6SEL_Pos                (28U)
+#define RCC_D3CCIPR_SPI6SEL_Msk                (0x7UL << RCC_D3CCIPR_SPI6SEL_Pos) /*!< 0x70000000 */
+#define RCC_D3CCIPR_SPI6SEL                    RCC_D3CCIPR_SPI6SEL_Msk
+#define RCC_D3CCIPR_SPI6SEL_0                  (0x1UL << RCC_D3CCIPR_SPI6SEL_Pos) /*!< 0x10000000 */
+#define RCC_D3CCIPR_SPI6SEL_1                  (0x2UL << RCC_D3CCIPR_SPI6SEL_Pos) /*!< 0x20000000 */
+#define RCC_D3CCIPR_SPI6SEL_2                  (0x4UL << RCC_D3CCIPR_SPI6SEL_Pos) /*!< 0x40000000 */
+/********************  Bit definition for RCC_CIER register  ******************/
+#define RCC_CIER_LSIRDYIE_Pos                  (0U)
+#define RCC_CIER_LSIRDYIE_Msk                  (0x1UL << RCC_CIER_LSIRDYIE_Pos) /*!< 0x00000001 */
+#define RCC_CIER_LSIRDYIE                      RCC_CIER_LSIRDYIE_Msk
+#define RCC_CIER_LSERDYIE_Pos                  (1U)
+#define RCC_CIER_LSERDYIE_Msk                  (0x1UL << RCC_CIER_LSERDYIE_Pos) /*!< 0x00000002 */
+#define RCC_CIER_LSERDYIE                      RCC_CIER_LSERDYIE_Msk
+#define RCC_CIER_HSIRDYIE_Pos                  (2U)
+#define RCC_CIER_HSIRDYIE_Msk                  (0x1UL << RCC_CIER_HSIRDYIE_Pos) /*!< 0x00000004 */
+#define RCC_CIER_HSIRDYIE                      RCC_CIER_HSIRDYIE_Msk
+#define RCC_CIER_HSERDYIE_Pos                  (3U)
+#define RCC_CIER_HSERDYIE_Msk                  (0x1UL << RCC_CIER_HSERDYIE_Pos) /*!< 0x00000008 */
+#define RCC_CIER_HSERDYIE                      RCC_CIER_HSERDYIE_Msk
+#define RCC_CIER_CSIRDYIE_Pos                  (4U)
+#define RCC_CIER_CSIRDYIE_Msk                  (0x1UL << RCC_CIER_CSIRDYIE_Pos) /*!< 0x00000010 */
+#define RCC_CIER_CSIRDYIE                      RCC_CIER_CSIRDYIE_Msk
+#define RCC_CIER_HSI48RDYIE_Pos                (5U)
+#define RCC_CIER_HSI48RDYIE_Msk                (0x1UL << RCC_CIER_HSI48RDYIE_Pos) /*!< 0x00000020 */
+#define RCC_CIER_HSI48RDYIE                    RCC_CIER_HSI48RDYIE_Msk
+#define RCC_CIER_PLL1RDYIE_Pos                 (6U)
+#define RCC_CIER_PLL1RDYIE_Msk                 (0x1UL << RCC_CIER_PLL1RDYIE_Pos) /*!< 0x00000040 */
+#define RCC_CIER_PLL1RDYIE                     RCC_CIER_PLL1RDYIE_Msk
+#define RCC_CIER_PLL2RDYIE_Pos                 (7U)
+#define RCC_CIER_PLL2RDYIE_Msk                 (0x1UL << RCC_CIER_PLL2RDYIE_Pos) /*!< 0x00000080 */
+#define RCC_CIER_PLL2RDYIE                     RCC_CIER_PLL2RDYIE_Msk
+#define RCC_CIER_PLL3RDYIE_Pos                 (8U)
+#define RCC_CIER_PLL3RDYIE_Msk                 (0x1UL << RCC_CIER_PLL3RDYIE_Pos) /*!< 0x00000100 */
+#define RCC_CIER_PLL3RDYIE                     RCC_CIER_PLL3RDYIE_Msk
+#define RCC_CIER_LSECSSIE_Pos                  (9U)
+#define RCC_CIER_LSECSSIE_Msk                  (0x1UL << RCC_CIER_LSECSSIE_Pos) /*!< 0x00000200 */
+#define RCC_CIER_LSECSSIE                      RCC_CIER_LSECSSIE_Msk
+
+/********************  Bit definition for RCC_CIFR register  ******************/
+#define RCC_CIFR_LSIRDYF_Pos                   (0U)
+#define RCC_CIFR_LSIRDYF_Msk                   (0x1UL << RCC_CIFR_LSIRDYF_Pos) /*!< 0x00000001 */
+#define RCC_CIFR_LSIRDYF                       RCC_CIFR_LSIRDYF_Msk
+#define RCC_CIFR_LSERDYF_Pos                   (1U)
+#define RCC_CIFR_LSERDYF_Msk                   (0x1UL << RCC_CIFR_LSERDYF_Pos) /*!< 0x00000002 */
+#define RCC_CIFR_LSERDYF                       RCC_CIFR_LSERDYF_Msk
+#define RCC_CIFR_HSIRDYF_Pos                   (2U)
+#define RCC_CIFR_HSIRDYF_Msk                   (0x1UL << RCC_CIFR_HSIRDYF_Pos) /*!< 0x00000004 */
+#define RCC_CIFR_HSIRDYF                       RCC_CIFR_HSIRDYF_Msk
+#define RCC_CIFR_HSERDYF_Pos                   (3U)
+#define RCC_CIFR_HSERDYF_Msk                   (0x1UL << RCC_CIFR_HSERDYF_Pos) /*!< 0x00000008 */
+#define RCC_CIFR_HSERDYF                       RCC_CIFR_HSERDYF_Msk
+#define RCC_CIFR_CSIRDYF_Pos                   (4U)
+#define RCC_CIFR_CSIRDYF_Msk                   (0x1UL << RCC_CIFR_CSIRDYF_Pos) /*!< 0x00000010 */
+#define RCC_CIFR_CSIRDYF                       RCC_CIFR_CSIRDYF_Msk
+#define RCC_CIFR_HSI48RDYF_Pos                 (5U)
+#define RCC_CIFR_HSI48RDYF_Msk                 (0x1UL << RCC_CIFR_HSI48RDYF_Pos) /*!< 0x00000020 */
+#define RCC_CIFR_HSI48RDYF                     RCC_CIFR_HSI48RDYF_Msk
+#define RCC_CIFR_PLLRDYF_Pos                   (6U)
+#define RCC_CIFR_PLLRDYF_Msk                   (0x1UL << RCC_CIFR_PLLRDYF_Pos) /*!< 0x00000040 */
+#define RCC_CIFR_PLLRDYF                       RCC_CIFR_PLLRDYF_Msk
+#define RCC_CIFR_PLL2RDYF_Pos                  (7U)
+#define RCC_CIFR_PLL2RDYF_Msk                  (0x1UL << RCC_CIFR_PLL2RDYF_Pos) /*!< 0x00000080 */
+#define RCC_CIFR_PLL2RDYF                      RCC_CIFR_PLL2RDYF_Msk
+#define RCC_CIFR_PLL3RDYF_Pos                  (8U)
+#define RCC_CIFR_PLL3RDYF_Msk                  (0x1UL << RCC_CIFR_PLL3RDYF_Pos) /*!< 0x00000100 */
+#define RCC_CIFR_PLL3RDYF                      RCC_CIFR_PLL3RDYF_Msk
+#define RCC_CIFR_LSECSSF_Pos                   (9U)
+#define RCC_CIFR_LSECSSF_Msk                   (0x1UL << RCC_CIFR_LSECSSF_Pos) /*!< 0x00000200 */
+#define RCC_CIFR_LSECSSF                       RCC_CIFR_LSECSSF_Msk
+#define RCC_CIFR_HSECSSF_Pos                   (10U)
+#define RCC_CIFR_HSECSSF_Msk                   (0x1UL << RCC_CIFR_HSECSSF_Pos) /*!< 0x00000400 */
+#define RCC_CIFR_HSECSSF                       RCC_CIFR_HSECSSF_Msk
+
+/********************  Bit definition for RCC_CICR register  ******************/
+#define RCC_CICR_LSIRDYC_Pos                   (0U)
+#define RCC_CICR_LSIRDYC_Msk                   (0x1UL << RCC_CICR_LSIRDYC_Pos) /*!< 0x00000001 */
+#define RCC_CICR_LSIRDYC                       RCC_CICR_LSIRDYC_Msk
+#define RCC_CICR_LSERDYC_Pos                   (1U)
+#define RCC_CICR_LSERDYC_Msk                   (0x1UL << RCC_CICR_LSERDYC_Pos) /*!< 0x00000002 */
+#define RCC_CICR_LSERDYC                       RCC_CICR_LSERDYC_Msk
+#define RCC_CICR_HSIRDYC_Pos                   (2U)
+#define RCC_CICR_HSIRDYC_Msk                   (0x1UL << RCC_CICR_HSIRDYC_Pos) /*!< 0x00000004 */
+#define RCC_CICR_HSIRDYC                       RCC_CICR_HSIRDYC_Msk
+#define RCC_CICR_HSERDYC_Pos                   (3U)
+#define RCC_CICR_HSERDYC_Msk                   (0x1UL << RCC_CICR_HSERDYC_Pos) /*!< 0x00000008 */
+#define RCC_CICR_HSERDYC                       RCC_CICR_HSERDYC_Msk
+#define RCC_CICR_CSIRDYC_Pos                   (4U)
+#define RCC_CICR_CSIRDYC_Msk                   (0x1UL << RCC_CICR_CSIRDYC_Pos) /*!< 0x00000010 */
+#define RCC_CICR_CSIRDYC                       RCC_CICR_CSIRDYC_Msk
+#define RCC_CICR_HSI48RDYC_Pos                 (5U)
+#define RCC_CICR_HSI48RDYC_Msk                 (0x1UL << RCC_CICR_HSI48RDYC_Pos) /*!< 0x00000020 */
+#define RCC_CICR_HSI48RDYC                     RCC_CICR_HSI48RDYC_Msk
+#define RCC_CICR_PLLRDYC_Pos                   (6U)
+#define RCC_CICR_PLLRDYC_Msk                   (0x1UL << RCC_CICR_PLLRDYC_Pos) /*!< 0x00000040 */
+#define RCC_CICR_PLLRDYC                       RCC_CICR_PLLRDYC_Msk
+#define RCC_CICR_PLL2RDYC_Pos                  (7U)
+#define RCC_CICR_PLL2RDYC_Msk                  (0x1UL << RCC_CICR_PLL2RDYC_Pos) /*!< 0x00000080 */
+#define RCC_CICR_PLL2RDYC                      RCC_CICR_PLL2RDYC_Msk
+#define RCC_CICR_PLL3RDYC_Pos                  (8U)
+#define RCC_CICR_PLL3RDYC_Msk                  (0x1UL << RCC_CICR_PLL3RDYC_Pos) /*!< 0x00000100 */
+#define RCC_CICR_PLL3RDYC                      RCC_CICR_PLL3RDYC_Msk
+#define RCC_CICR_LSECSSC_Pos                   (9U)
+#define RCC_CICR_LSECSSC_Msk                   (0x1UL << RCC_CICR_LSECSSC_Pos) /*!< 0x00000200 */
+#define RCC_CICR_LSECSSC                       RCC_CICR_LSECSSC_Msk
+#define RCC_CICR_HSECSSC_Pos                   (10U)
+#define RCC_CICR_HSECSSC_Msk                   (0x1UL << RCC_CICR_HSECSSC_Pos) /*!< 0x00000400 */
+#define RCC_CICR_HSECSSC                       RCC_CICR_HSECSSC_Msk
+
+/********************  Bit definition for RCC_BDCR register  ******************/
+#define RCC_BDCR_LSEON_Pos                     (0U)
+#define RCC_BDCR_LSEON_Msk                     (0x1UL << RCC_BDCR_LSEON_Pos)   /*!< 0x00000001 */
+#define RCC_BDCR_LSEON                         RCC_BDCR_LSEON_Msk
+#define RCC_BDCR_LSERDY_Pos                    (1U)
+#define RCC_BDCR_LSERDY_Msk                    (0x1UL << RCC_BDCR_LSERDY_Pos)  /*!< 0x00000002 */
+#define RCC_BDCR_LSERDY                        RCC_BDCR_LSERDY_Msk
+#define RCC_BDCR_LSEBYP_Pos                    (2U)
+#define RCC_BDCR_LSEBYP_Msk                    (0x1UL << RCC_BDCR_LSEBYP_Pos)  /*!< 0x00000004 */
+#define RCC_BDCR_LSEBYP                        RCC_BDCR_LSEBYP_Msk
+
+#define RCC_BDCR_LSEDRV_Pos                    (3U)
+#define RCC_BDCR_LSEDRV_Msk                    (0x3UL << RCC_BDCR_LSEDRV_Pos)  /*!< 0x00000018 */
+#define RCC_BDCR_LSEDRV                        RCC_BDCR_LSEDRV_Msk
+#define RCC_BDCR_LSEDRV_0                      (0x1UL << RCC_BDCR_LSEDRV_Pos)   /*!< 0x00000008 */
+#define RCC_BDCR_LSEDRV_1                      (0x2UL << RCC_BDCR_LSEDRV_Pos)   /*!< 0x00000010 */
+
+#define RCC_BDCR_LSECSSON_Pos                  (5U)
+#define RCC_BDCR_LSECSSON_Msk                  (0x1UL << RCC_BDCR_LSECSSON_Pos) /*!< 0x00000020 */
+#define RCC_BDCR_LSECSSON                      RCC_BDCR_LSECSSON_Msk
+#define RCC_BDCR_LSECSSD_Pos                   (6U)
+#define RCC_BDCR_LSECSSD_Msk                   (0x1UL << RCC_BDCR_LSECSSD_Pos) /*!< 0x00000040 */
+#define RCC_BDCR_LSECSSD                       RCC_BDCR_LSECSSD_Msk
+
+#define RCC_BDCR_RTCSEL_Pos                    (8U)
+#define RCC_BDCR_RTCSEL_Msk                    (0x3UL << RCC_BDCR_RTCSEL_Pos)  /*!< 0x00000300 */
+#define RCC_BDCR_RTCSEL                        RCC_BDCR_RTCSEL_Msk
+#define RCC_BDCR_RTCSEL_0                      (0x1UL << RCC_BDCR_RTCSEL_Pos)   /*!< 0x00000100 */
+#define RCC_BDCR_RTCSEL_1                      (0x2UL << RCC_BDCR_RTCSEL_Pos)   /*!< 0x00000200 */
+
+#define RCC_BDCR_RTCEN_Pos                     (15U)
+#define RCC_BDCR_RTCEN_Msk                     (0x1UL << RCC_BDCR_RTCEN_Pos)   /*!< 0x00008000 */
+#define RCC_BDCR_RTCEN                         RCC_BDCR_RTCEN_Msk
+#define RCC_BDCR_VSWRST_Pos                    (16U)
+#define RCC_BDCR_VSWRST_Msk                    (0x1UL << RCC_BDCR_VSWRST_Pos)   /*!< 0x00010000 */
+#define RCC_BDCR_VSWRST                        RCC_BDCR_VSWRST_Msk
+/* Legacy define */
+#define RCC_BDCR_BDRST_Pos                     RCC_BDCR_VSWRST_Pos
+#define RCC_BDCR_BDRST_Msk                     RCC_BDCR_VSWRST_Msk
+#define RCC_BDCR_BDRST                         RCC_BDCR_VSWRST
+/********************  Bit definition for RCC_CSR register  *******************/
+#define RCC_CSR_LSION_Pos                      (0U)
+#define RCC_CSR_LSION_Msk                      (0x1UL << RCC_CSR_LSION_Pos)    /*!< 0x00000001 */
+#define RCC_CSR_LSION                          RCC_CSR_LSION_Msk
+#define RCC_CSR_LSIRDY_Pos                     (1U)
+#define RCC_CSR_LSIRDY_Msk                     (0x1UL << RCC_CSR_LSIRDY_Pos)   /*!< 0x00000002 */
+#define RCC_CSR_LSIRDY                         RCC_CSR_LSIRDY_Msk
+
+
+/********************  Bit definition for RCC_AHB3ENR register  **************/
+#define RCC_AHB3ENR_MDMAEN_Pos                 (0U)
+#define RCC_AHB3ENR_MDMAEN_Msk                 (0x1UL << RCC_AHB3ENR_MDMAEN_Pos)       /*!< 0x00000001 */
+#define RCC_AHB3ENR_MDMAEN                     RCC_AHB3ENR_MDMAEN_Msk
+#define RCC_AHB3ENR_DMA2DEN_Pos                (4U)
+#define RCC_AHB3ENR_DMA2DEN_Msk                (0x1UL << RCC_AHB3ENR_DMA2DEN_Pos)      /*!< 0x00000010 */
+#define RCC_AHB3ENR_DMA2DEN                    RCC_AHB3ENR_DMA2DEN_Msk
+#define RCC_AHB3ENR_FMCEN_Pos                  (12U)
+#define RCC_AHB3ENR_FMCEN_Msk                  (0x1UL << RCC_AHB3ENR_FMCEN_Pos)        /*!< 0x00001000 */
+#define RCC_AHB3ENR_FMCEN                      RCC_AHB3ENR_FMCEN_Msk
+#define RCC_AHB3ENR_OSPI1EN_Pos                (14U)
+#define RCC_AHB3ENR_OSPI1EN_Msk                (0x1UL << RCC_AHB3ENR_OSPI1EN_Pos)      /*!< 0x00004000 */
+#define RCC_AHB3ENR_OSPI1EN                    RCC_AHB3ENR_OSPI1EN_Msk
+#define RCC_AHB3ENR_SDMMC1EN_Pos               (16U)
+#define RCC_AHB3ENR_SDMMC1EN_Msk               (0x1UL << RCC_AHB3ENR_SDMMC1EN_Pos)     /*!< 0x00010000 */
+#define RCC_AHB3ENR_SDMMC1EN                   RCC_AHB3ENR_SDMMC1EN_Msk
+#define RCC_AHB3ENR_OSPI2EN_Pos                (19U)
+#define RCC_AHB3ENR_OSPI2EN_Msk                (0x1UL << RCC_AHB3ENR_OSPI2EN_Pos)      /*!< 0x00040000 */
+#define RCC_AHB3ENR_OSPI2EN                    RCC_AHB3ENR_OSPI2EN_Msk
+#define RCC_AHB3ENR_IOMNGREN_Pos               (21U)
+#define RCC_AHB3ENR_IOMNGREN_Msk               (0x1UL << RCC_AHB3ENR_IOMNGREN_Pos)     /*!< 0x00100000 */
+#define RCC_AHB3ENR_IOMNGREN                   RCC_AHB3ENR_IOMNGREN_Msk
+#define RCC_AHB3ENR_OTFDEC1EN_Pos              (22U)
+#define RCC_AHB3ENR_OTFDEC1EN_Msk              (0x1UL << RCC_AHB3ENR_OTFDEC1EN_Pos)    /*!< 0x00200000 */
+#define RCC_AHB3ENR_OTFDEC1EN                  RCC_AHB3ENR_OTFDEC1EN_Msk
+#define RCC_AHB3ENR_OTFDEC2EN_Pos              (23U)
+#define RCC_AHB3ENR_OTFDEC2EN_Msk              (0x1UL << RCC_AHB3ENR_OTFDEC2EN_Pos)    /*!< 0x00400000 */
+#define RCC_AHB3ENR_OTFDEC2EN                  RCC_AHB3ENR_OTFDEC2EN_Msk
+
+/********************  Bit definition for RCC_AHB1ENR register  ***************/
+#define RCC_AHB1ENR_DMA1EN_Pos                 (0U)
+#define RCC_AHB1ENR_DMA1EN_Msk                 (0x1UL << RCC_AHB1ENR_DMA1EN_Pos)          /*!< 0x00000001 */
+#define RCC_AHB1ENR_DMA1EN                     RCC_AHB1ENR_DMA1EN_Msk
+#define RCC_AHB1ENR_DMA2EN_Pos                 (1U)
+#define RCC_AHB1ENR_DMA2EN_Msk                 (0x1UL << RCC_AHB1ENR_DMA2EN_Pos)          /*!< 0x00000002 */
+#define RCC_AHB1ENR_DMA2EN                     RCC_AHB1ENR_DMA2EN_Msk
+#define RCC_AHB1ENR_ADC12EN_Pos                (5U)
+#define RCC_AHB1ENR_ADC12EN_Msk                (0x1UL << RCC_AHB1ENR_ADC12EN_Pos)         /*!< 0x00000020 */
+#define RCC_AHB1ENR_ADC12EN                    RCC_AHB1ENR_ADC12EN_Msk
+#define RCC_AHB1ENR_ETH1MACEN_Pos              (15U)
+#define RCC_AHB1ENR_ETH1MACEN_Msk              (0x1UL << RCC_AHB1ENR_ETH1MACEN_Pos)       /*!< 0x00008000 */
+#define RCC_AHB1ENR_ETH1MACEN                  RCC_AHB1ENR_ETH1MACEN_Msk
+#define RCC_AHB1ENR_ETH1TXEN_Pos               (16U)
+#define RCC_AHB1ENR_ETH1TXEN_Msk               (0x1UL << RCC_AHB1ENR_ETH1TXEN_Pos)        /*!< 0x00010000 */
+#define RCC_AHB1ENR_ETH1TXEN                   RCC_AHB1ENR_ETH1TXEN_Msk
+#define RCC_AHB1ENR_ETH1RXEN_Pos               (17U)
+#define RCC_AHB1ENR_ETH1RXEN_Msk               (0x1UL << RCC_AHB1ENR_ETH1RXEN_Pos)        /*!< 0x00020000 */
+#define RCC_AHB1ENR_ETH1RXEN                   RCC_AHB1ENR_ETH1RXEN_Msk
+#define RCC_AHB1ENR_USB1OTGHSEN_Pos            (25U)
+#define RCC_AHB1ENR_USB1OTGHSEN_Msk            (0x1UL << RCC_AHB1ENR_USB1OTGHSEN_Pos)     /*!< 0x02000000 */
+#define RCC_AHB1ENR_USB1OTGHSEN                RCC_AHB1ENR_USB1OTGHSEN_Msk
+#define RCC_AHB1ENR_USB1OTGHSULPIEN_Pos        (26U)
+#define RCC_AHB1ENR_USB1OTGHSULPIEN_Msk        (0x1UL << RCC_AHB1ENR_USB1OTGHSULPIEN_Pos) /*!< 0x04000000 */
+#define RCC_AHB1ENR_USB1OTGHSULPIEN            RCC_AHB1ENR_USB1OTGHSULPIEN_Msk
+
+/********************  Bit definition for RCC_AHB2ENR register  ***************/
+#define RCC_AHB2ENR_DCMI_PSSIEN_Pos            (0U)
+#define RCC_AHB2ENR_DCMI_PSSIEN_Msk            (0x1UL << RCC_AHB2ENR_DCMI_PSSIEN_Pos)     /*!< 0x00000001 */
+#define RCC_AHB2ENR_DCMI_PSSIEN                RCC_AHB2ENR_DCMI_PSSIEN_Msk
+#define RCC_AHB2ENR_CRYPEN_Pos                 (4U)
+#define RCC_AHB2ENR_CRYPEN_Msk                 (0x1UL << RCC_AHB2ENR_CRYPEN_Pos)          /*!< 0x00000010 */
+#define RCC_AHB2ENR_CRYPEN                     RCC_AHB2ENR_CRYPEN_Msk
+#define RCC_AHB2ENR_HASHEN_Pos                 (5U)
+#define RCC_AHB2ENR_HASHEN_Msk                 (0x1UL << RCC_AHB2ENR_HASHEN_Pos)          /*!< 0x00000020 */
+#define RCC_AHB2ENR_HASHEN                     RCC_AHB2ENR_HASHEN_Msk
+#define RCC_AHB2ENR_RNGEN_Pos                  (6U)
+#define RCC_AHB2ENR_RNGEN_Msk                  (0x1UL << RCC_AHB2ENR_RNGEN_Pos)           /*!< 0x00000040 */
+#define RCC_AHB2ENR_RNGEN                      RCC_AHB2ENR_RNGEN_Msk
+#define RCC_AHB2ENR_SDMMC2EN_Pos               (9U)
+#define RCC_AHB2ENR_SDMMC2EN_Msk               (0x1UL << RCC_AHB2ENR_SDMMC2EN_Pos)        /*!< 0x00000200 */
+#define RCC_AHB2ENR_SDMMC2EN                   RCC_AHB2ENR_SDMMC2EN_Msk
+#define RCC_AHB2ENR_FMACEN_Pos                 (16U)
+#define RCC_AHB2ENR_FMACEN_Msk                 (0x1UL << RCC_AHB2ENR_FMACEN_Pos)          /*!< 0x00010000 */
+#define RCC_AHB2ENR_FMACEN                     RCC_AHB2ENR_FMACEN_Msk
+#define RCC_AHB2ENR_CORDICEN_Pos               (17U)
+#define RCC_AHB2ENR_CORDICEN_Msk               (0x1UL << RCC_AHB2ENR_CORDICEN_Pos)        /*!< 0x00020000 */
+#define RCC_AHB2ENR_CORDICEN                   RCC_AHB2ENR_CORDICEN_Msk
+#define RCC_AHB2ENR_SRAM1EN_Pos                (29U)
+#define RCC_AHB2ENR_SRAM1EN_Msk                (0x1UL << RCC_AHB2ENR_SRAM1EN_Pos)       /*!< 0x20000000 */
+#define RCC_AHB2ENR_SRAM1EN                    RCC_AHB2ENR_SRAM1EN_Msk
+#define RCC_AHB2ENR_SRAM2EN_Pos                (30U)
+#define RCC_AHB2ENR_SRAM2EN_Msk                (0x1UL << RCC_AHB2ENR_SRAM2EN_Pos)       /*!< 0x40000000 */
+#define RCC_AHB2ENR_SRAM2EN                    RCC_AHB2ENR_SRAM2EN_Msk
+
+/* Legacy define */
+#define RCC_AHB2ENR_DCMIEN_Pos                 RCC_AHB2ENR_DCMI_PSSIEN_Pos
+#define RCC_AHB2ENR_DCMIEN_Msk                 RCC_AHB2ENR_DCMI_PSSIEN_Msk
+#define RCC_AHB2ENR_DCMIEN                     RCC_AHB2ENR_DCMI_PSSIEN
+/* Legacy define */
+#define RCC_AHB2ENR_D2SRAM1EN_Pos              RCC_AHB2ENR_SRAM1EN_Pos
+#define RCC_AHB2ENR_D2SRAM1EN_Msk              RCC_AHB2ENR_SRAM1EN_Msk
+#define RCC_AHB2ENR_D2SRAM1EN                  RCC_AHB2ENR_SRAM1EN
+#define RCC_AHB2ENR_D2SRAM2EN_Pos              RCC_AHB2ENR_SRAM2EN_Pos
+#define RCC_AHB2ENR_D2SRAM2EN_Msk              RCC_AHB2ENR_SRAM2EN_Msk
+#define RCC_AHB2ENR_D2SRAM2EN                  RCC_AHB2ENR_SRAM2EN
+
+/********************  Bit definition for RCC_AHB4ENR register  ******************/
+#define RCC_AHB4ENR_GPIOAEN_Pos                (0U)
+#define RCC_AHB4ENR_GPIOAEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOAEN_Pos)         /*!< 0x00000001 */
+#define RCC_AHB4ENR_GPIOAEN                    RCC_AHB4ENR_GPIOAEN_Msk
+#define RCC_AHB4ENR_GPIOBEN_Pos                (1U)
+#define RCC_AHB4ENR_GPIOBEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOBEN_Pos)         /*!< 0x00000002 */
+#define RCC_AHB4ENR_GPIOBEN                    RCC_AHB4ENR_GPIOBEN_Msk
+#define RCC_AHB4ENR_GPIOCEN_Pos                (2U)
+#define RCC_AHB4ENR_GPIOCEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOCEN_Pos)         /*!< 0x00000004 */
+#define RCC_AHB4ENR_GPIOCEN                    RCC_AHB4ENR_GPIOCEN_Msk
+#define RCC_AHB4ENR_GPIODEN_Pos                (3U)
+#define RCC_AHB4ENR_GPIODEN_Msk                (0x1UL << RCC_AHB4ENR_GPIODEN_Pos)         /*!< 0x00000008 */
+#define RCC_AHB4ENR_GPIODEN                    RCC_AHB4ENR_GPIODEN_Msk
+#define RCC_AHB4ENR_GPIOEEN_Pos                (4U)
+#define RCC_AHB4ENR_GPIOEEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOEEN_Pos)         /*!< 0x00000010 */
+#define RCC_AHB4ENR_GPIOEEN                    RCC_AHB4ENR_GPIOEEN_Msk
+#define RCC_AHB4ENR_GPIOFEN_Pos                (5U)
+#define RCC_AHB4ENR_GPIOFEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOFEN_Pos)         /*!< 0x00000020 */
+#define RCC_AHB4ENR_GPIOFEN                    RCC_AHB4ENR_GPIOFEN_Msk
+#define RCC_AHB4ENR_GPIOGEN_Pos                (6U)
+#define RCC_AHB4ENR_GPIOGEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOGEN_Pos)         /*!< 0x00000040 */
+#define RCC_AHB4ENR_GPIOGEN                    RCC_AHB4ENR_GPIOGEN_Msk
+#define RCC_AHB4ENR_GPIOHEN_Pos                (7U)
+#define RCC_AHB4ENR_GPIOHEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOHEN_Pos)         /*!< 0x00000080 */
+#define RCC_AHB4ENR_GPIOHEN                    RCC_AHB4ENR_GPIOHEN_Msk
+#define RCC_AHB4ENR_GPIOJEN_Pos                (9U)
+#define RCC_AHB4ENR_GPIOJEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOJEN_Pos)         /*!< 0x00000200 */
+#define RCC_AHB4ENR_GPIOJEN                    RCC_AHB4ENR_GPIOJEN_Msk
+#define RCC_AHB4ENR_GPIOKEN_Pos                (10U)
+#define RCC_AHB4ENR_GPIOKEN_Msk                (0x1UL << RCC_AHB4ENR_GPIOKEN_Pos)         /*!< 0x00000400 */
+#define RCC_AHB4ENR_GPIOKEN                    RCC_AHB4ENR_GPIOKEN_Msk
+#define RCC_AHB4ENR_CRCEN_Pos                  (19U)
+#define RCC_AHB4ENR_CRCEN_Msk                  (0x1UL << RCC_AHB4ENR_CRCEN_Pos)           /*!< 0x00080000 */
+#define RCC_AHB4ENR_CRCEN                      RCC_AHB4ENR_CRCEN_Msk
+#define RCC_AHB4ENR_BDMAEN_Pos                 (21U)
+#define RCC_AHB4ENR_BDMAEN_Msk                 (0x1UL << RCC_AHB4ENR_BDMAEN_Pos)          /*!< 0x00200000 */
+#define RCC_AHB4ENR_BDMAEN                     RCC_AHB4ENR_BDMAEN_Msk
+#define RCC_AHB4ENR_ADC3EN_Pos                 (24U)
+#define RCC_AHB4ENR_ADC3EN_Msk                 (0x1UL << RCC_AHB4ENR_ADC3EN_Pos)          /*!< 0x01000000 */
+#define RCC_AHB4ENR_ADC3EN                     RCC_AHB4ENR_ADC3EN_Msk
+#define RCC_AHB4ENR_HSEMEN_Pos                 (25U)
+#define RCC_AHB4ENR_HSEMEN_Msk                 (0x1UL << RCC_AHB4ENR_HSEMEN_Pos)          /*!< 0x02000000 */
+#define RCC_AHB4ENR_HSEMEN                     RCC_AHB4ENR_HSEMEN_Msk
+#define RCC_AHB4ENR_BKPRAMEN_Pos               (28U)
+#define RCC_AHB4ENR_BKPRAMEN_Msk               (0x1UL << RCC_AHB4ENR_BKPRAMEN_Pos)        /*!< 0x10000000 */
+#define RCC_AHB4ENR_BKPRAMEN                   RCC_AHB4ENR_BKPRAMEN_Msk
+
+/********************  Bit definition for RCC_APB3ENR register  ******************/
+#define RCC_APB3ENR_LTDCEN_Pos                 (3U)
+#define RCC_APB3ENR_LTDCEN_Msk                 (0x1UL << RCC_APB3ENR_LTDCEN_Pos) /*!< 0x00000008 */
+#define RCC_APB3ENR_LTDCEN                     RCC_APB3ENR_LTDCEN_Msk
+#define RCC_APB3ENR_WWDG1EN_Pos                (6U)
+#define RCC_APB3ENR_WWDG1EN_Msk                (0x1UL << RCC_APB3ENR_WWDG1EN_Pos) /*!< 0x00000040 */
+#define RCC_APB3ENR_WWDG1EN                    RCC_APB3ENR_WWDG1EN_Msk
+
+/********************  Bit definition for RCC_APB1LENR register  ******************/
+
+#define RCC_APB1LENR_TIM2EN_Pos                (0U)
+#define RCC_APB1LENR_TIM2EN_Msk                (0x1UL << RCC_APB1LENR_TIM2EN_Pos) /*!< 0x00000001 */
+#define RCC_APB1LENR_TIM2EN                    RCC_APB1LENR_TIM2EN_Msk
+#define RCC_APB1LENR_TIM3EN_Pos                (1U)
+#define RCC_APB1LENR_TIM3EN_Msk                (0x1UL << RCC_APB1LENR_TIM3EN_Pos) /*!< 0x00000002 */
+#define RCC_APB1LENR_TIM3EN                    RCC_APB1LENR_TIM3EN_Msk
+#define RCC_APB1LENR_TIM4EN_Pos                (2U)
+#define RCC_APB1LENR_TIM4EN_Msk                (0x1UL << RCC_APB1LENR_TIM4EN_Pos) /*!< 0x00000004 */
+#define RCC_APB1LENR_TIM4EN                    RCC_APB1LENR_TIM4EN_Msk
+#define RCC_APB1LENR_TIM5EN_Pos                (3U)
+#define RCC_APB1LENR_TIM5EN_Msk                (0x1UL << RCC_APB1LENR_TIM5EN_Pos) /*!< 0x00000008 */
+#define RCC_APB1LENR_TIM5EN                    RCC_APB1LENR_TIM5EN_Msk
+#define RCC_APB1LENR_TIM6EN_Pos                (4U)
+#define RCC_APB1LENR_TIM6EN_Msk                (0x1UL << RCC_APB1LENR_TIM6EN_Pos) /*!< 0x00000010 */
+#define RCC_APB1LENR_TIM6EN                    RCC_APB1LENR_TIM6EN_Msk
+#define RCC_APB1LENR_TIM7EN_Pos                (5U)
+#define RCC_APB1LENR_TIM7EN_Msk                (0x1UL << RCC_APB1LENR_TIM7EN_Pos) /*!< 0x00000020 */
+#define RCC_APB1LENR_TIM7EN                    RCC_APB1LENR_TIM7EN_Msk
+#define RCC_APB1LENR_TIM12EN_Pos               (6U)
+#define RCC_APB1LENR_TIM12EN_Msk               (0x1UL << RCC_APB1LENR_TIM12EN_Pos) /*!< 0x00000040 */
+#define RCC_APB1LENR_TIM12EN                   RCC_APB1LENR_TIM12EN_Msk
+#define RCC_APB1LENR_TIM13EN_Pos               (7U)
+#define RCC_APB1LENR_TIM13EN_Msk               (0x1UL << RCC_APB1LENR_TIM13EN_Pos) /*!< 0x00000080 */
+#define RCC_APB1LENR_TIM13EN                   RCC_APB1LENR_TIM13EN_Msk
+#define RCC_APB1LENR_TIM14EN_Pos               (8U)
+#define RCC_APB1LENR_TIM14EN_Msk               (0x1UL << RCC_APB1LENR_TIM14EN_Pos) /*!< 0x00000100 */
+#define RCC_APB1LENR_TIM14EN                   RCC_APB1LENR_TIM14EN_Msk
+#define RCC_APB1LENR_LPTIM1EN_Pos              (9U)
+#define RCC_APB1LENR_LPTIM1EN_Msk              (0x1UL << RCC_APB1LENR_LPTIM1EN_Pos) /*!< 0x00000200 */
+#define RCC_APB1LENR_LPTIM1EN                  RCC_APB1LENR_LPTIM1EN_Msk
+
+
+#define RCC_APB1LENR_SPI2EN_Pos                (14U)
+#define RCC_APB1LENR_SPI2EN_Msk                (0x1UL << RCC_APB1LENR_SPI2EN_Pos) /*!< 0x00004000 */
+#define RCC_APB1LENR_SPI2EN                    RCC_APB1LENR_SPI2EN_Msk
+#define RCC_APB1LENR_SPI3EN_Pos                (15U)
+#define RCC_APB1LENR_SPI3EN_Msk                (0x1UL << RCC_APB1LENR_SPI3EN_Pos) /*!< 0x00008000 */
+#define RCC_APB1LENR_SPI3EN                    RCC_APB1LENR_SPI3EN_Msk
+#define RCC_APB1LENR_SPDIFRXEN_Pos             (16U)
+#define RCC_APB1LENR_SPDIFRXEN_Msk             (0x1UL << RCC_APB1LENR_SPDIFRXEN_Pos) /*!< 0x00010000 */
+#define RCC_APB1LENR_SPDIFRXEN                 RCC_APB1LENR_SPDIFRXEN_Msk
+#define RCC_APB1LENR_USART2EN_Pos              (17U)
+#define RCC_APB1LENR_USART2EN_Msk              (0x1UL << RCC_APB1LENR_USART2EN_Pos) /*!< 0x00020000 */
+#define RCC_APB1LENR_USART2EN                  RCC_APB1LENR_USART2EN_Msk
+#define RCC_APB1LENR_USART3EN_Pos              (18U)
+#define RCC_APB1LENR_USART3EN_Msk              (0x1UL << RCC_APB1LENR_USART3EN_Pos) /*!< 0x00040000 */
+#define RCC_APB1LENR_USART3EN                  RCC_APB1LENR_USART3EN_Msk
+#define RCC_APB1LENR_UART4EN_Pos               (19U)
+#define RCC_APB1LENR_UART4EN_Msk               (0x1UL << RCC_APB1LENR_UART4EN_Pos) /*!< 0x00080000 */
+#define RCC_APB1LENR_UART4EN                   RCC_APB1LENR_UART4EN_Msk
+#define RCC_APB1LENR_UART5EN_Pos               (20U)
+#define RCC_APB1LENR_UART5EN_Msk               (0x1UL << RCC_APB1LENR_UART5EN_Pos) /*!< 0x00100000 */
+#define RCC_APB1LENR_UART5EN                   RCC_APB1LENR_UART5EN_Msk
+#define RCC_APB1LENR_I2C1EN_Pos                (21U)
+#define RCC_APB1LENR_I2C1EN_Msk                (0x1UL << RCC_APB1LENR_I2C1EN_Pos) /*!< 0x00200000 */
+#define RCC_APB1LENR_I2C1EN                    RCC_APB1LENR_I2C1EN_Msk
+#define RCC_APB1LENR_I2C2EN_Pos                (22U)
+#define RCC_APB1LENR_I2C2EN_Msk                (0x1UL << RCC_APB1LENR_I2C2EN_Pos) /*!< 0x00400000 */
+#define RCC_APB1LENR_I2C2EN                    RCC_APB1LENR_I2C2EN_Msk
+#define RCC_APB1LENR_I2C3EN_Pos                (23U)
+#define RCC_APB1LENR_I2C3EN_Msk                (0x1UL << RCC_APB1LENR_I2C3EN_Pos) /*!< 0x00800000 */
+#define RCC_APB1LENR_I2C3EN                    RCC_APB1LENR_I2C3EN_Msk
+#define RCC_APB1LENR_I2C5EN_Pos                (25U)
+#define RCC_APB1LENR_I2C5EN_Msk                (0x1UL << RCC_APB1LENR_I2C5EN_Pos) /*!< 0x02000000 */
+#define RCC_APB1LENR_I2C5EN                    RCC_APB1LENR_I2C5EN_Msk
+#define RCC_APB1LENR_CECEN_Pos                 (27U)
+#define RCC_APB1LENR_CECEN_Msk                 (0x1UL << RCC_APB1LENR_CECEN_Pos) /*!< 0x08000000 */
+#define RCC_APB1LENR_CECEN                     RCC_APB1LENR_CECEN_Msk
+#define RCC_APB1LENR_DAC12EN_Pos               (29U)
+#define RCC_APB1LENR_DAC12EN_Msk               (0x1UL << RCC_APB1LENR_DAC12EN_Pos) /*!< 0x20000000 */
+#define RCC_APB1LENR_DAC12EN                   RCC_APB1LENR_DAC12EN_Msk
+#define RCC_APB1LENR_UART7EN_Pos               (30U)
+#define RCC_APB1LENR_UART7EN_Msk               (0x1UL << RCC_APB1LENR_UART7EN_Pos) /*!< 0x40000000 */
+#define RCC_APB1LENR_UART7EN                   RCC_APB1LENR_UART7EN_Msk
+#define RCC_APB1LENR_UART8EN_Pos               (31U)
+#define RCC_APB1LENR_UART8EN_Msk               (0x1UL << RCC_APB1LENR_UART8EN_Pos) /*!< 0x80000000 */
+#define RCC_APB1LENR_UART8EN                   RCC_APB1LENR_UART8EN_Msk
+
+/* Legacy define */
+#define RCC_APB1LENR_HDMICECEN_Pos             RCC_APB1LENR_CECEN_Pos
+#define RCC_APB1LENR_HDMICECEN_Msk             RCC_APB1LENR_CECEN_Msk
+#define RCC_APB1LENR_HDMICECEN                 RCC_APB1LENR_CECEN
+/********************  Bit definition for RCC_APB1HENR register  ******************/
+#define RCC_APB1HENR_CRSEN_Pos                 (1U)
+#define RCC_APB1HENR_CRSEN_Msk                 (0x1UL << RCC_APB1HENR_CRSEN_Pos) /*!< 0x00000002 */
+#define RCC_APB1HENR_CRSEN                     RCC_APB1HENR_CRSEN_Msk
+#define RCC_APB1HENR_SWPMIEN_Pos               (2U)
+#define RCC_APB1HENR_SWPMIEN_Msk               (0x1UL << RCC_APB1HENR_SWPMIEN_Pos) /*!< 0x00000004 */
+#define RCC_APB1HENR_SWPMIEN                   RCC_APB1HENR_SWPMIEN_Msk
+#define RCC_APB1HENR_OPAMPEN_Pos               (4U)
+#define RCC_APB1HENR_OPAMPEN_Msk               (0x1UL << RCC_APB1HENR_OPAMPEN_Pos) /*!< 0x00000010 */
+#define RCC_APB1HENR_OPAMPEN                   RCC_APB1HENR_OPAMPEN_Msk
+#define RCC_APB1HENR_MDIOSEN_Pos               (5U)
+#define RCC_APB1HENR_MDIOSEN_Msk               (0x1UL << RCC_APB1HENR_MDIOSEN_Pos) /*!< 0x00000020 */
+#define RCC_APB1HENR_MDIOSEN                   RCC_APB1HENR_MDIOSEN_Msk
+#define RCC_APB1HENR_FDCANEN_Pos               (8U)
+#define RCC_APB1HENR_FDCANEN_Msk               (0x1UL << RCC_APB1HENR_FDCANEN_Pos) /*!< 0x00000100 */
+#define RCC_APB1HENR_FDCANEN                   RCC_APB1HENR_FDCANEN_Msk
+#define RCC_APB1HENR_TIM23EN_Pos               (24U)
+#define RCC_APB1HENR_TIM23EN_Msk               (0x1UL << RCC_APB1HENR_TIM23EN_Pos) /*!< 0x01000000 */
+#define RCC_APB1HENR_TIM23EN                   RCC_APB1HENR_TIM23EN_Msk
+#define RCC_APB1HENR_TIM24EN_Pos               (25U)
+#define RCC_APB1HENR_TIM24EN_Msk               (0x1UL << RCC_APB1HENR_TIM24EN_Pos) /*!< 0x02000000 */
+#define RCC_APB1HENR_TIM24EN                   RCC_APB1HENR_TIM24EN_Msk
+
+/********************  Bit definition for RCC_APB2ENR register  ******************/
+#define RCC_APB2ENR_TIM1EN_Pos                 (0U)
+#define RCC_APB2ENR_TIM1EN_Msk                 (0x1UL << RCC_APB2ENR_TIM1EN_Pos) /*!< 0x00000001 */
+#define RCC_APB2ENR_TIM1EN                     RCC_APB2ENR_TIM1EN_Msk
+#define RCC_APB2ENR_TIM8EN_Pos                 (1U)
+#define RCC_APB2ENR_TIM8EN_Msk                 (0x1UL << RCC_APB2ENR_TIM8EN_Pos) /*!< 0x00000002 */
+#define RCC_APB2ENR_TIM8EN                     RCC_APB2ENR_TIM8EN_Msk
+#define RCC_APB2ENR_USART1EN_Pos               (4U)
+#define RCC_APB2ENR_USART1EN_Msk               (0x1UL << RCC_APB2ENR_USART1EN_Pos) /*!< 0x00000010 */
+#define RCC_APB2ENR_USART1EN                   RCC_APB2ENR_USART1EN_Msk
+#define RCC_APB2ENR_USART6EN_Pos               (5U)
+#define RCC_APB2ENR_USART6EN_Msk               (0x1UL << RCC_APB2ENR_USART6EN_Pos) /*!< 0x00000020 */
+#define RCC_APB2ENR_USART6EN                   RCC_APB2ENR_USART6EN_Msk
+#define RCC_APB2ENR_UART9EN_Pos                (6U)
+#define RCC_APB2ENR_UART9EN_Msk                (0x1UL << RCC_APB2ENR_UART9EN_Pos) /*!< 0x00000040 */
+#define RCC_APB2ENR_UART9EN                    RCC_APB2ENR_UART9EN_Msk
+#define RCC_APB2ENR_USART10EN_Pos              (7U)
+#define RCC_APB2ENR_USART10EN_Msk              (0x1UL << RCC_APB2ENR_USART10EN_Pos) /*!< 0x00000080 */
+#define RCC_APB2ENR_USART10EN                   RCC_APB2ENR_USART10EN_Msk
+#define RCC_APB2ENR_SPI1EN_Pos                 (12U)
+#define RCC_APB2ENR_SPI1EN_Msk                 (0x1UL << RCC_APB2ENR_SPI1EN_Pos) /*!< 0x00001000 */
+#define RCC_APB2ENR_SPI1EN                     RCC_APB2ENR_SPI1EN_Msk
+#define RCC_APB2ENR_SPI4EN_Pos                 (13U)
+#define RCC_APB2ENR_SPI4EN_Msk                 (0x1UL << RCC_APB2ENR_SPI4EN_Pos) /*!< 0x00002000 */
+#define RCC_APB2ENR_SPI4EN                     RCC_APB2ENR_SPI4EN_Msk
+#define RCC_APB2ENR_TIM15EN_Pos                (16U)
+#define RCC_APB2ENR_TIM15EN_Msk                (0x1UL << RCC_APB2ENR_TIM15EN_Pos) /*!< 0x00010000 */
+#define RCC_APB2ENR_TIM15EN                    RCC_APB2ENR_TIM15EN_Msk
+#define RCC_APB2ENR_TIM16EN_Pos                (17U)
+#define RCC_APB2ENR_TIM16EN_Msk                (0x1UL << RCC_APB2ENR_TIM16EN_Pos) /*!< 0x00020000 */
+#define RCC_APB2ENR_TIM16EN                    RCC_APB2ENR_TIM16EN_Msk
+#define RCC_APB2ENR_TIM17EN_Pos                (18U)
+#define RCC_APB2ENR_TIM17EN_Msk                (0x1UL << RCC_APB2ENR_TIM17EN_Pos) /*!< 0x00040000 */
+#define RCC_APB2ENR_TIM17EN                    RCC_APB2ENR_TIM17EN_Msk
+#define RCC_APB2ENR_SPI5EN_Pos                 (20U)
+#define RCC_APB2ENR_SPI5EN_Msk                 (0x1UL << RCC_APB2ENR_SPI5EN_Pos) /*!< 0x00100000 */
+#define RCC_APB2ENR_SPI5EN                     RCC_APB2ENR_SPI5EN_Msk
+#define RCC_APB2ENR_SAI1EN_Pos                 (22U)
+#define RCC_APB2ENR_SAI1EN_Msk                 (0x1UL << RCC_APB2ENR_SAI1EN_Pos) /*!< 0x00400000 */
+#define RCC_APB2ENR_SAI1EN                     RCC_APB2ENR_SAI1EN_Msk
+#define RCC_APB2ENR_DFSDM1EN_Pos               (30U)
+#define RCC_APB2ENR_DFSDM1EN_Msk               (0x1UL << RCC_APB2ENR_DFSDM1EN_Pos) /*!< 0x40000000 */
+#define RCC_APB2ENR_DFSDM1EN                   RCC_APB2ENR_DFSDM1EN_Msk
+
+/********************  Bit definition for RCC_APB4ENR register  ******************/
+#define RCC_APB4ENR_SYSCFGEN_Pos               (1U)
+#define RCC_APB4ENR_SYSCFGEN_Msk               (0x1UL << RCC_APB4ENR_SYSCFGEN_Pos) /*!< 0x00000002 */
+#define RCC_APB4ENR_SYSCFGEN                   RCC_APB4ENR_SYSCFGEN_Msk
+#define RCC_APB4ENR_LPUART1EN_Pos              (3U)
+#define RCC_APB4ENR_LPUART1EN_Msk              (0x1UL << RCC_APB4ENR_LPUART1EN_Pos) /*!< 0x00000008 */
+#define RCC_APB4ENR_LPUART1EN                  RCC_APB4ENR_LPUART1EN_Msk
+#define RCC_APB4ENR_SPI6EN_Pos                 (5U)
+#define RCC_APB4ENR_SPI6EN_Msk                 (0x1UL << RCC_APB4ENR_SPI6EN_Pos) /*!< 0x00000020 */
+#define RCC_APB4ENR_SPI6EN                     RCC_APB4ENR_SPI6EN_Msk
+#define RCC_APB4ENR_I2C4EN_Pos                 (7U)
+#define RCC_APB4ENR_I2C4EN_Msk                 (0x1UL << RCC_APB4ENR_I2C4EN_Pos) /*!< 0x00000080 */
+#define RCC_APB4ENR_I2C4EN                     RCC_APB4ENR_I2C4EN_Msk
+#define RCC_APB4ENR_LPTIM2EN_Pos               (9U)
+#define RCC_APB4ENR_LPTIM2EN_Msk               (0x1UL << RCC_APB4ENR_LPTIM2EN_Pos) /*!< 0x00000200 */
+#define RCC_APB4ENR_LPTIM2EN                   RCC_APB4ENR_LPTIM2EN_Msk
+#define RCC_APB4ENR_LPTIM3EN_Pos               (10U)
+#define RCC_APB4ENR_LPTIM3EN_Msk               (0x1UL << RCC_APB4ENR_LPTIM3EN_Pos) /*!< 0x00000400 */
+#define RCC_APB4ENR_LPTIM3EN                   RCC_APB4ENR_LPTIM3EN_Msk
+#define RCC_APB4ENR_LPTIM4EN_Pos               (11U)
+#define RCC_APB4ENR_LPTIM4EN_Msk               (0x1UL << RCC_APB4ENR_LPTIM4EN_Pos) /*!< 0x00000800 */
+#define RCC_APB4ENR_LPTIM4EN                   RCC_APB4ENR_LPTIM4EN_Msk
+#define RCC_APB4ENR_LPTIM5EN_Pos               (12U)
+#define RCC_APB4ENR_LPTIM5EN_Msk               (0x1UL << RCC_APB4ENR_LPTIM5EN_Pos) /*!< 0x00001000 */
+#define RCC_APB4ENR_LPTIM5EN                   RCC_APB4ENR_LPTIM5EN_Msk
+#define RCC_APB4ENR_COMP12EN_Pos               (14U)
+#define RCC_APB4ENR_COMP12EN_Msk               (0x1UL << RCC_APB4ENR_COMP12EN_Pos) /*!< 0x00004000 */
+#define RCC_APB4ENR_COMP12EN                   RCC_APB4ENR_COMP12EN_Msk
+#define RCC_APB4ENR_VREFEN_Pos                 (15U)
+#define RCC_APB4ENR_VREFEN_Msk                 (0x1UL << RCC_APB4ENR_VREFEN_Pos) /*!< 0x00008000 */
+#define RCC_APB4ENR_VREFEN                     RCC_APB4ENR_VREFEN_Msk
+#define RCC_APB4ENR_RTCAPBEN_Pos               (16U)
+#define RCC_APB4ENR_RTCAPBEN_Msk               (0x1UL << RCC_APB4ENR_RTCAPBEN_Pos) /*!< 0x00010000 */
+#define RCC_APB4ENR_RTCAPBEN                   RCC_APB4ENR_RTCAPBEN_Msk
+#define RCC_APB4ENR_SAI4EN_Pos                 (21U)
+#define RCC_APB4ENR_SAI4EN_Msk                 (0x1UL << RCC_APB4ENR_SAI4EN_Pos) /*!< 0x00200000 */
+#define RCC_APB4ENR_SAI4EN                     RCC_APB4ENR_SAI4EN_Msk
+
+#define RCC_APB4ENR_DTSEN_Pos                  (26U)
+#define RCC_APB4ENR_DTSEN_Msk                  (0x1UL << RCC_APB4ENR_DTSEN_Pos) /*!< 0x04000000 */
+#define RCC_APB4ENR_DTSEN                      RCC_APB4ENR_DTSEN_Msk
+
+/********************  Bit definition for RCC_AHB3RSTR register  ***************/
+#define RCC_AHB3RSTR_MDMARST_Pos               (0U)
+#define RCC_AHB3RSTR_MDMARST_Msk               (0x1UL << RCC_AHB3RSTR_MDMARST_Pos)      /*!< 0x00000001 */
+#define RCC_AHB3RSTR_MDMARST                   RCC_AHB3RSTR_MDMARST_Msk
+#define RCC_AHB3RSTR_DMA2DRST_Pos              (4U)
+#define RCC_AHB3RSTR_DMA2DRST_Msk              (0x1UL << RCC_AHB3RSTR_DMA2DRST_Pos)     /*!< 0x00000010 */
+#define RCC_AHB3RSTR_DMA2DRST                  RCC_AHB3RSTR_DMA2DRST_Msk
+#define RCC_AHB3RSTR_FMCRST_Pos                (12U)
+#define RCC_AHB3RSTR_FMCRST_Msk                (0x1UL << RCC_AHB3RSTR_FMCRST_Pos)      /*!< 0x00001000 */
+#define RCC_AHB3RSTR_FMCRST                    RCC_AHB3RSTR_FMCRST_Msk
+#define RCC_AHB3RSTR_OSPI1RST_Pos              (14U)
+#define RCC_AHB3RSTR_OSPI1RST_Msk              (0x1UL << RCC_AHB3RSTR_OSPI1RST_Pos)    /*!< 0x00004000 */
+#define RCC_AHB3RSTR_OSPI1RST                   RCC_AHB3RSTR_OSPI1RST_Msk
+#define RCC_AHB3RSTR_SDMMC1RST_Pos             (16U)
+#define RCC_AHB3RSTR_SDMMC1RST_Msk             (0x1UL << RCC_AHB3RSTR_SDMMC1RST_Pos)   /*!< 0x00010000 */
+#define RCC_AHB3RSTR_SDMMC1RST                 RCC_AHB3RSTR_SDMMC1RST_Msk
+#define RCC_AHB3RSTR_OSPI2RST_Pos              (19U)
+#define RCC_AHB3RSTR_OSPI2RST_Msk              (0x1UL << RCC_AHB3RSTR_OSPI2RST_Pos)    /*!< 0x00008000 */
+#define RCC_AHB3RSTR_OSPI2RST                  RCC_AHB3RSTR_OSPI2RST_Msk
+#define RCC_AHB3RSTR_IOMNGRRST_Pos             (21U)
+#define RCC_AHB3RSTR_IOMNGRRST_Msk             (0x1UL << RCC_AHB3RSTR_IOMNGRRST_Pos)   /*!< 0x00020000 */
+#define RCC_AHB3RSTR_IOMNGRRST                 RCC_AHB3RSTR_IOMNGRRST_Msk
+#define RCC_AHB3RSTR_OTFDEC1RST_Pos            (22U)
+#define RCC_AHB3RSTR_OTFDEC1RST_Msk            (0x1UL << RCC_AHB3RSTR_OTFDEC1RST_Pos)  /*!< 0x00040000 */
+#define RCC_AHB3RSTR_OTFDEC1RST                RCC_AHB3RSTR_OTFDEC1RST_Msk
+#define RCC_AHB3RSTR_OTFDEC2RST_Pos            (23U)
+#define RCC_AHB3RSTR_OTFDEC2RST_Msk            (0x1UL << RCC_AHB3RSTR_OTFDEC2RST_Pos)  /*!< 0x00080000 */
+#define RCC_AHB3RSTR_OTFDEC2RST                RCC_AHB3RSTR_OTFDEC2RST_Msk
+#define RCC_AHB3RSTR_CPURST_Pos                (31U)
+#define RCC_AHB3RSTR_CPURST_Msk                (0x1UL << RCC_AHB3RSTR_CPURST_Pos)      /*!< 0x80000000 */
+#define RCC_AHB3RSTR_CPURST                    RCC_AHB3RSTR_CPURST_Msk
+
+
+/********************  Bit definition for RCC_AHB1RSTR register  ***************/
+#define RCC_AHB1RSTR_DMA1RST_Pos               (0U)
+#define RCC_AHB1RSTR_DMA1RST_Msk               (0x1UL << RCC_AHB1RSTR_DMA1RST_Pos)      /*!< 0x00000001 */
+#define RCC_AHB1RSTR_DMA1RST                   RCC_AHB1RSTR_DMA1RST_Msk
+#define RCC_AHB1RSTR_DMA2RST_Pos               (1U)
+#define RCC_AHB1RSTR_DMA2RST_Msk               (0x1UL << RCC_AHB1RSTR_DMA2RST_Pos)      /*!< 0x00000002 */
+#define RCC_AHB1RSTR_DMA2RST                   RCC_AHB1RSTR_DMA2RST_Msk
+#define RCC_AHB1RSTR_ADC12RST_Pos              (5U)
+#define RCC_AHB1RSTR_ADC12RST_Msk              (0x1UL << RCC_AHB1RSTR_ADC12RST_Pos)     /*!< 0x00000020 */
+#define RCC_AHB1RSTR_ADC12RST                  RCC_AHB1RSTR_ADC12RST_Msk
+#define RCC_AHB1RSTR_ETH1MACRST_Pos            (15U)
+#define RCC_AHB1RSTR_ETH1MACRST_Msk            (0x1UL << RCC_AHB1RSTR_ETH1MACRST_Pos)   /*!< 0x00008000 */
+#define RCC_AHB1RSTR_ETH1MACRST                RCC_AHB1RSTR_ETH1MACRST_Msk
+#define RCC_AHB1RSTR_USB1OTGHSRST_Pos          (25U)
+#define RCC_AHB1RSTR_USB1OTGHSRST_Msk          (0x1UL << RCC_AHB1RSTR_USB1OTGHSRST_Pos) /*!< 0x02000000 */
+#define RCC_AHB1RSTR_USB1OTGHSRST              RCC_AHB1RSTR_USB1OTGHSRST_Msk
+
+/********************  Bit definition for RCC_AHB2RSTR register  ***************/
+#define RCC_AHB2RSTR_DCMI_PSSIRST_Pos          (0U)
+#define RCC_AHB2RSTR_DCMI_PSSIRST_Msk          (0x1UL << RCC_AHB2RSTR_DCMI_PSSIRST_Pos)  /*!< 0x00000001 */
+#define RCC_AHB2RSTR_DCMI_PSSIRST              RCC_AHB2RSTR_DCMI_PSSIRST_Msk
+#define RCC_AHB2RSTR_CRYPRST_Pos               (4U)
+#define RCC_AHB2RSTR_CRYPRST_Msk               (0x1UL << RCC_AHB2RSTR_CRYPRST_Pos)       /*!< 0x00000010 */
+#define RCC_AHB2RSTR_CRYPRST                   RCC_AHB2RSTR_CRYPRST_Msk
+#define RCC_AHB2RSTR_HASHRST_Pos               (5U)
+#define RCC_AHB2RSTR_HASHRST_Msk               (0x1UL << RCC_AHB2RSTR_HASHRST_Pos)       /*!< 0x00000020 */
+#define RCC_AHB2RSTR_HASHRST                   RCC_AHB2RSTR_HASHRST_Msk
+#define RCC_AHB2RSTR_RNGRST_Pos                (6U)
+#define RCC_AHB2RSTR_RNGRST_Msk                (0x1UL << RCC_AHB2RSTR_RNGRST_Pos)        /*!< 0x00000040 */
+#define RCC_AHB2RSTR_RNGRST                    RCC_AHB2RSTR_RNGRST_Msk
+#define RCC_AHB2RSTR_SDMMC2RST_Pos             (9U)
+#define RCC_AHB2RSTR_SDMMC2RST_Msk             (0x1UL << RCC_AHB2RSTR_SDMMC2RST_Pos)     /*!< 0x00000200 */
+#define RCC_AHB2RSTR_SDMMC2RST                 RCC_AHB2RSTR_SDMMC2RST_Msk
+#define RCC_AHB2RSTR_FMACRST_Pos               (16U)
+#define RCC_AHB2RSTR_FMACRST_Msk               (0x1UL << RCC_AHB2RSTR_FMACRST_Pos)       /*!< 0x00010000 */
+#define RCC_AHB2RSTR_FMACRST                   RCC_AHB2RSTR_FMACRST_Msk
+#define RCC_AHB2RSTR_CORDICRST_Pos             (17U)
+#define RCC_AHB2RSTR_CORDICRST_Msk             (0x1UL << RCC_AHB2RSTR_CORDICRST_Pos)     /*!< 0x00020000 */
+#define RCC_AHB2RSTR_CORDICRST                 RCC_AHB2RSTR_CORDICRST_Msk
+
+/* Legacy define */
+#define RCC_AHB2RSTR_DCMIRST_Pos               RCC_AHB2RSTR_DCMI_PSSIRST_Pos
+#define RCC_AHB2RSTR_DCMIRST_Msk               RCC_AHB2RSTR_DCMI_PSSIRST_Msk
+#define RCC_AHB2RSTR_DCMIRST                   RCC_AHB2RSTR_DCMI_PSSIRST
+/********************  Bit definition for RCC_AHB4RSTR register  ******************/
+#define RCC_AHB4RSTR_GPIOARST_Pos              (0U)
+#define RCC_AHB4RSTR_GPIOARST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOARST_Pos)      /*!< 0x00000001 */
+#define RCC_AHB4RSTR_GPIOARST                  RCC_AHB4RSTR_GPIOARST_Msk
+#define RCC_AHB4RSTR_GPIOBRST_Pos              (1U)
+#define RCC_AHB4RSTR_GPIOBRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOBRST_Pos)      /*!< 0x00000002 */
+#define RCC_AHB4RSTR_GPIOBRST                  RCC_AHB4RSTR_GPIOBRST_Msk
+#define RCC_AHB4RSTR_GPIOCRST_Pos              (2U)
+#define RCC_AHB4RSTR_GPIOCRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOCRST_Pos)      /*!< 0x00000004 */
+#define RCC_AHB4RSTR_GPIOCRST                  RCC_AHB4RSTR_GPIOCRST_Msk
+#define RCC_AHB4RSTR_GPIODRST_Pos              (3U)
+#define RCC_AHB4RSTR_GPIODRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIODRST_Pos)      /*!< 0x00000008 */
+#define RCC_AHB4RSTR_GPIODRST                  RCC_AHB4RSTR_GPIODRST_Msk
+#define RCC_AHB4RSTR_GPIOERST_Pos              (4U)
+#define RCC_AHB4RSTR_GPIOERST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOERST_Pos)      /*!< 0x00000010 */
+#define RCC_AHB4RSTR_GPIOERST                  RCC_AHB4RSTR_GPIOERST_Msk
+#define RCC_AHB4RSTR_GPIOFRST_Pos              (5U)
+#define RCC_AHB4RSTR_GPIOFRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOFRST_Pos)       /*!< 0x00000020 */
+#define RCC_AHB4RSTR_GPIOFRST                  RCC_AHB4RSTR_GPIOFRST_Msk
+#define RCC_AHB4RSTR_GPIOGRST_Pos              (6U)
+#define RCC_AHB4RSTR_GPIOGRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOGRST_Pos)       /*!< 0x00000040 */
+#define RCC_AHB4RSTR_GPIOGRST                  RCC_AHB4RSTR_GPIOGRST_Msk
+#define RCC_AHB4RSTR_GPIOHRST_Pos              (7U)
+#define RCC_AHB4RSTR_GPIOHRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOHRST_Pos)       /*!< 0x00000080 */
+#define RCC_AHB4RSTR_GPIOHRST                  RCC_AHB4RSTR_GPIOHRST_Msk
+#define RCC_AHB4RSTR_GPIOJRST_Pos              (9U)
+#define RCC_AHB4RSTR_GPIOJRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOJRST_Pos)       /*!< 0x00000200 */
+#define RCC_AHB4RSTR_GPIOJRST                  RCC_AHB4RSTR_GPIOJRST_Msk
+#define RCC_AHB4RSTR_GPIOKRST_Pos              (10U)
+#define RCC_AHB4RSTR_GPIOKRST_Msk              (0x1UL << RCC_AHB4RSTR_GPIOKRST_Pos)       /*!< 0x00000400 */
+#define RCC_AHB4RSTR_GPIOKRST                  RCC_AHB4RSTR_GPIOKRST_Msk
+#define RCC_AHB4RSTR_CRCRST_Pos                (19U)
+#define RCC_AHB4RSTR_CRCRST_Msk                (0x1UL << RCC_AHB4RSTR_CRCRST_Pos)         /*!< 0x00080000 */
+#define RCC_AHB4RSTR_CRCRST                    RCC_AHB4RSTR_CRCRST_Msk
+#define RCC_AHB4RSTR_BDMARST_Pos               (21U)
+#define RCC_AHB4RSTR_BDMARST_Msk               (0x1UL << RCC_AHB4RSTR_BDMARST_Pos)        /*!< 0x00200000 */
+#define RCC_AHB4RSTR_BDMARST                   RCC_AHB4RSTR_BDMARST_Msk
+#define RCC_AHB4RSTR_ADC3RST_Pos               (24U)
+#define RCC_AHB4RSTR_ADC3RST_Msk               (0x1UL << RCC_AHB4RSTR_ADC3RST_Pos)        /*!< 0x01000000 */
+#define RCC_AHB4RSTR_ADC3RST                   RCC_AHB4RSTR_ADC3RST_Msk
+#define RCC_AHB4RSTR_HSEMRST_Pos               (25U)
+#define RCC_AHB4RSTR_HSEMRST_Msk               (0x1UL << RCC_AHB4RSTR_HSEMRST_Pos)        /*!< 0x02000000 */
+#define RCC_AHB4RSTR_HSEMRST                   RCC_AHB4RSTR_HSEMRST_Msk
+
+
+/********************  Bit definition for RCC_APB3RSTR register  ******************/
+#define RCC_APB3RSTR_LTDCRST_Pos               (3U)
+#define RCC_APB3RSTR_LTDCRST_Msk               (0x1UL << RCC_APB3RSTR_LTDCRST_Pos) /*!< 0x00000008 */
+#define RCC_APB3RSTR_LTDCRST                   RCC_APB3RSTR_LTDCRST_Msk
+
+/********************  Bit definition for RCC_APB1LRSTR register  ******************/
+
+#define RCC_APB1LRSTR_TIM2RST_Pos              (0U)
+#define RCC_APB1LRSTR_TIM2RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM2RST_Pos) /*!< 0x00000001 */
+#define RCC_APB1LRSTR_TIM2RST                  RCC_APB1LRSTR_TIM2RST_Msk
+#define RCC_APB1LRSTR_TIM3RST_Pos              (1U)
+#define RCC_APB1LRSTR_TIM3RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM3RST_Pos) /*!< 0x00000002 */
+#define RCC_APB1LRSTR_TIM3RST                  RCC_APB1LRSTR_TIM3RST_Msk
+#define RCC_APB1LRSTR_TIM4RST_Pos              (2U)
+#define RCC_APB1LRSTR_TIM4RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM4RST_Pos) /*!< 0x00000004 */
+#define RCC_APB1LRSTR_TIM4RST                  RCC_APB1LRSTR_TIM4RST_Msk
+#define RCC_APB1LRSTR_TIM5RST_Pos              (3U)
+#define RCC_APB1LRSTR_TIM5RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM5RST_Pos) /*!< 0x00000008 */
+#define RCC_APB1LRSTR_TIM5RST                  RCC_APB1LRSTR_TIM5RST_Msk
+#define RCC_APB1LRSTR_TIM6RST_Pos              (4U)
+#define RCC_APB1LRSTR_TIM6RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM6RST_Pos) /*!< 0x00000010 */
+#define RCC_APB1LRSTR_TIM6RST                  RCC_APB1LRSTR_TIM6RST_Msk
+#define RCC_APB1LRSTR_TIM7RST_Pos              (5U)
+#define RCC_APB1LRSTR_TIM7RST_Msk              (0x1UL << RCC_APB1LRSTR_TIM7RST_Pos) /*!< 0x00000020 */
+#define RCC_APB1LRSTR_TIM7RST                  RCC_APB1LRSTR_TIM7RST_Msk
+#define RCC_APB1LRSTR_TIM12RST_Pos             (6U)
+#define RCC_APB1LRSTR_TIM12RST_Msk             (0x1UL << RCC_APB1LRSTR_TIM12RST_Pos) /*!< 0x00000040 */
+#define RCC_APB1LRSTR_TIM12RST                 RCC_APB1LRSTR_TIM12RST_Msk
+#define RCC_APB1LRSTR_TIM13RST_Pos             (7U)
+#define RCC_APB1LRSTR_TIM13RST_Msk             (0x1UL << RCC_APB1LRSTR_TIM13RST_Pos) /*!< 0x00000080 */
+#define RCC_APB1LRSTR_TIM13RST                 RCC_APB1LRSTR_TIM13RST_Msk
+#define RCC_APB1LRSTR_TIM14RST_Pos             (8U)
+#define RCC_APB1LRSTR_TIM14RST_Msk             (0x1UL << RCC_APB1LRSTR_TIM14RST_Pos) /*!< 0x00000100 */
+#define RCC_APB1LRSTR_TIM14RST                 RCC_APB1LRSTR_TIM14RST_Msk
+#define RCC_APB1LRSTR_LPTIM1RST_Pos            (9U)
+#define RCC_APB1LRSTR_LPTIM1RST_Msk            (0x1UL << RCC_APB1LRSTR_LPTIM1RST_Pos) /*!< 0x00000200 */
+#define RCC_APB1LRSTR_LPTIM1RST                RCC_APB1LRSTR_LPTIM1RST_Msk
+#define RCC_APB1LRSTR_SPI2RST_Pos              (14U)
+#define RCC_APB1LRSTR_SPI2RST_Msk              (0x1UL << RCC_APB1LRSTR_SPI2RST_Pos) /*!< 0x00004000 */
+#define RCC_APB1LRSTR_SPI2RST                  RCC_APB1LRSTR_SPI2RST_Msk
+#define RCC_APB1LRSTR_SPI3RST_Pos              (15U)
+#define RCC_APB1LRSTR_SPI3RST_Msk              (0x1UL << RCC_APB1LRSTR_SPI3RST_Pos) /*!< 0x00008000 */
+#define RCC_APB1LRSTR_SPI3RST                  RCC_APB1LRSTR_SPI3RST_Msk
+#define RCC_APB1LRSTR_SPDIFRXRST_Pos           (16U)
+#define RCC_APB1LRSTR_SPDIFRXRST_Msk           (0x1UL << RCC_APB1LRSTR_SPDIFRXRST_Pos) /*!< 0x00010000 */
+#define RCC_APB1LRSTR_SPDIFRXRST               RCC_APB1LRSTR_SPDIFRXRST_Msk
+#define RCC_APB1LRSTR_USART2RST_Pos            (17U)
+#define RCC_APB1LRSTR_USART2RST_Msk            (0x1UL << RCC_APB1LRSTR_USART2RST_Pos) /*!< 0x00020000 */
+#define RCC_APB1LRSTR_USART2RST                RCC_APB1LRSTR_USART2RST_Msk
+#define RCC_APB1LRSTR_USART3RST_Pos            (18U)
+#define RCC_APB1LRSTR_USART3RST_Msk            (0x1UL << RCC_APB1LRSTR_USART3RST_Pos) /*!< 0x00040000 */
+#define RCC_APB1LRSTR_USART3RST                RCC_APB1LRSTR_USART3RST_Msk
+#define RCC_APB1LRSTR_UART4RST_Pos             (19U)
+#define RCC_APB1LRSTR_UART4RST_Msk             (0x1UL << RCC_APB1LRSTR_UART4RST_Pos) /*!< 0x00080000 */
+#define RCC_APB1LRSTR_UART4RST                 RCC_APB1LRSTR_UART4RST_Msk
+#define RCC_APB1LRSTR_UART5RST_Pos             (20U)
+#define RCC_APB1LRSTR_UART5RST_Msk             (0x1UL << RCC_APB1LRSTR_UART5RST_Pos) /*!< 0x00100000 */
+#define RCC_APB1LRSTR_UART5RST                 RCC_APB1LRSTR_UART5RST_Msk
+#define RCC_APB1LRSTR_I2C1RST_Pos              (21U)
+#define RCC_APB1LRSTR_I2C1RST_Msk              (0x1UL << RCC_APB1LRSTR_I2C1RST_Pos) /*!< 0x00200000 */
+#define RCC_APB1LRSTR_I2C1RST                  RCC_APB1LRSTR_I2C1RST_Msk
+#define RCC_APB1LRSTR_I2C2RST_Pos              (22U)
+#define RCC_APB1LRSTR_I2C2RST_Msk              (0x1UL << RCC_APB1LRSTR_I2C2RST_Pos) /*!< 0x00400000 */
+#define RCC_APB1LRSTR_I2C2RST                  RCC_APB1LRSTR_I2C2RST_Msk
+#define RCC_APB1LRSTR_I2C3RST_Pos              (23U)
+#define RCC_APB1LRSTR_I2C3RST_Msk              (0x1UL << RCC_APB1LRSTR_I2C3RST_Pos) /*!< 0x00800000 */
+#define RCC_APB1LRSTR_I2C3RST                  RCC_APB1LRSTR_I2C3RST_Msk
+#define RCC_APB1LRSTR_I2C5RST_Pos              (25U)
+#define RCC_APB1LRSTR_I2C5RST_Msk              (0x1UL << RCC_APB1LRSTR_I2C5RST_Pos) /*!< 0x02000000 */
+#define RCC_APB1LRSTR_I2C5RST                  RCC_APB1LRSTR_I2C5RST_Msk
+#define RCC_APB1LRSTR_CECRST_Pos               (27U)
+#define RCC_APB1LRSTR_CECRST_Msk               (0x1UL << RCC_APB1LRSTR_CECRST_Pos) /*!< 0x08000000 */
+#define RCC_APB1LRSTR_CECRST                   RCC_APB1LRSTR_CECRST_Msk
+#define RCC_APB1LRSTR_DAC12RST_Pos             (29U)
+#define RCC_APB1LRSTR_DAC12RST_Msk             (0x1UL << RCC_APB1LRSTR_DAC12RST_Pos) /*!< 0x20000000 */
+#define RCC_APB1LRSTR_DAC12RST                 RCC_APB1LRSTR_DAC12RST_Msk
+#define RCC_APB1LRSTR_UART7RST_Pos             (30U)
+#define RCC_APB1LRSTR_UART7RST_Msk             (0x1UL << RCC_APB1LRSTR_UART7RST_Pos) /*!< 0x40000000 */
+#define RCC_APB1LRSTR_UART7RST                 RCC_APB1LRSTR_UART7RST_Msk
+#define RCC_APB1LRSTR_UART8RST_Pos             (31U)
+#define RCC_APB1LRSTR_UART8RST_Msk             (0x1UL << RCC_APB1LRSTR_UART8RST_Pos) /*!< 0x80000000 */
+#define RCC_APB1LRSTR_UART8RST                 RCC_APB1LRSTR_UART8RST_Msk
+
+/* Legacy define */
+#define RCC_APB1LRSTR_HDMICECRST_Pos           RCC_APB1LRSTR_CECRST_Pos
+#define RCC_APB1LRSTR_HDMICECRST_Msk           RCC_APB1LRSTR_CECRST_Msk
+#define RCC_APB1LRSTR_HDMICECRST               RCC_APB1LRSTR_CECRST
+/********************  Bit definition for RCC_APB1HRSTR register  ******************/
+#define RCC_APB1HRSTR_CRSRST_Pos               (1U)
+#define RCC_APB1HRSTR_CRSRST_Msk               (0x1UL << RCC_APB1HRSTR_CRSRST_Pos) /*!< 0x00000002 */
+#define RCC_APB1HRSTR_CRSRST                   RCC_APB1HRSTR_CRSRST_Msk
+#define RCC_APB1HRSTR_SWPMIRST_Pos             (2U)
+#define RCC_APB1HRSTR_SWPMIRST_Msk             (0x1UL << RCC_APB1HRSTR_SWPMIRST_Pos) /*!< 0x00000004 */
+#define RCC_APB1HRSTR_SWPMIRST                 RCC_APB1HRSTR_SWPMIRST_Msk
+#define RCC_APB1HRSTR_OPAMPRST_Pos             (4U)
+#define RCC_APB1HRSTR_OPAMPRST_Msk             (0x1UL << RCC_APB1HRSTR_OPAMPRST_Pos) /*!< 0x00000010 */
+#define RCC_APB1HRSTR_OPAMPRST                 RCC_APB1HRSTR_OPAMPRST_Msk
+#define RCC_APB1HRSTR_MDIOSRST_Pos             (5U)
+#define RCC_APB1HRSTR_MDIOSRST_Msk             (0x1UL << RCC_APB1HRSTR_MDIOSRST_Pos) /*!< 0x00000020 */
+#define RCC_APB1HRSTR_MDIOSRST                 RCC_APB1HRSTR_MDIOSRST_Msk
+#define RCC_APB1HRSTR_FDCANRST_Pos             (8U)
+#define RCC_APB1HRSTR_FDCANRST_Msk             (0x1UL << RCC_APB1HRSTR_FDCANRST_Pos) /*!< 0x00000100 */
+#define RCC_APB1HRSTR_FDCANRST                 RCC_APB1HRSTR_FDCANRST_Msk
+#define RCC_APB1HRSTR_TIM23RST_Pos             (24U)
+#define RCC_APB1HRSTR_TIM23RST_Msk             (0x1UL << RCC_APB1HRSTR_TIM23RST_Pos) /*!< 0x01000000 */
+#define RCC_APB1HRSTR_TIM23RST                 RCC_APB1HRSTR_TIM23RST_Msk
+#define RCC_APB1HRSTR_TIM24RST_Pos             (25U)
+#define RCC_APB1HRSTR_TIM24RST_Msk             (0x1UL << RCC_APB1HRSTR_TIM24RST_Pos) /*!< 0x02000000 */
+#define RCC_APB1HRSTR_TIM24RST                 RCC_APB1HRSTR_TIM24RST_Msk
+
+/********************  Bit definition for RCC_APB2RSTR register  ******************/
+#define RCC_APB2RSTR_TIM1RST_Pos               (0U)
+#define RCC_APB2RSTR_TIM1RST_Msk               (0x1UL << RCC_APB2RSTR_TIM1RST_Pos) /*!< 0x00000001 */
+#define RCC_APB2RSTR_TIM1RST                   RCC_APB2RSTR_TIM1RST_Msk
+#define RCC_APB2RSTR_TIM8RST_Pos               (1U)
+#define RCC_APB2RSTR_TIM8RST_Msk               (0x1UL << RCC_APB2RSTR_TIM8RST_Pos) /*!< 0x00000002 */
+#define RCC_APB2RSTR_TIM8RST                   RCC_APB2RSTR_TIM8RST_Msk
+#define RCC_APB2RSTR_USART1RST_Pos             (4U)
+#define RCC_APB2RSTR_USART1RST_Msk             (0x1UL << RCC_APB2RSTR_USART1RST_Pos) /*!< 0x00000010 */
+#define RCC_APB2RSTR_USART1RST                 RCC_APB2RSTR_USART1RST_Msk
+#define RCC_APB2RSTR_USART6RST_Pos             (5U)
+#define RCC_APB2RSTR_USART6RST_Msk             (0x1UL << RCC_APB2RSTR_USART6RST_Pos) /*!< 0x00000020 */
+#define RCC_APB2RSTR_USART6RST                 RCC_APB2RSTR_USART6RST_Msk
+#define RCC_APB2RSTR_UART9RST_Pos              (6U)
+#define RCC_APB2RSTR_UART9RST_Msk              (0x1UL << RCC_APB2RSTR_UART9RST_Pos) /*!< 0x00000040 */
+#define RCC_APB2RSTR_UART9RST                  RCC_APB2RSTR_UART9RST_Msk
+#define RCC_APB2RSTR_USART10RST_Pos            (7U)
+#define RCC_APB2RSTR_USART10RST_Msk            (0x1UL << RCC_APB2RSTR_USART10RST_Pos) /*!< 0x00000080 */
+#define RCC_APB2RSTR_USART10RST                RCC_APB2RSTR_USART10RST_Msk
+#define RCC_APB2RSTR_SPI1RST_Pos               (12U)
+#define RCC_APB2RSTR_SPI1RST_Msk               (0x1UL << RCC_APB2RSTR_SPI1RST_Pos) /*!< 0x00001000 */
+#define RCC_APB2RSTR_SPI1RST                   RCC_APB2RSTR_SPI1RST_Msk
+#define RCC_APB2RSTR_SPI4RST_Pos               (13U)
+#define RCC_APB2RSTR_SPI4RST_Msk               (0x1UL << RCC_APB2RSTR_SPI4RST_Pos) /*!< 0x00002000 */
+#define RCC_APB2RSTR_SPI4RST                   RCC_APB2RSTR_SPI4RST_Msk
+#define RCC_APB2RSTR_TIM15RST_Pos              (16U)
+#define RCC_APB2RSTR_TIM15RST_Msk              (0x1UL << RCC_APB2RSTR_TIM15RST_Pos) /*!< 0x00010000 */
+#define RCC_APB2RSTR_TIM15RST                  RCC_APB2RSTR_TIM15RST_Msk
+#define RCC_APB2RSTR_TIM16RST_Pos              (17U)
+#define RCC_APB2RSTR_TIM16RST_Msk              (0x1UL << RCC_APB2RSTR_TIM16RST_Pos) /*!< 0x00020000 */
+#define RCC_APB2RSTR_TIM16RST                  RCC_APB2RSTR_TIM16RST_Msk
+#define RCC_APB2RSTR_TIM17RST_Pos              (18U)
+#define RCC_APB2RSTR_TIM17RST_Msk              (0x1UL << RCC_APB2RSTR_TIM17RST_Pos) /*!< 0x00040000 */
+#define RCC_APB2RSTR_TIM17RST                  RCC_APB2RSTR_TIM17RST_Msk
+#define RCC_APB2RSTR_SPI5RST_Pos               (20U)
+#define RCC_APB2RSTR_SPI5RST_Msk               (0x1UL << RCC_APB2RSTR_SPI5RST_Pos) /*!< 0x00100000 */
+#define RCC_APB2RSTR_SPI5RST                   RCC_APB2RSTR_SPI5RST_Msk
+#define RCC_APB2RSTR_SAI1RST_Pos               (22U)
+#define RCC_APB2RSTR_SAI1RST_Msk               (0x1UL << RCC_APB2RSTR_SAI1RST_Pos) /*!< 0x00400000 */
+#define RCC_APB2RSTR_SAI1RST                   RCC_APB2RSTR_SAI1RST_Msk
+#define RCC_APB2RSTR_DFSDM1RST_Pos             (30U)
+#define RCC_APB2RSTR_DFSDM1RST_Msk             (0x1UL << RCC_APB2RSTR_DFSDM1RST_Pos) /*!< 0x10000000 */
+#define RCC_APB2RSTR_DFSDM1RST                 RCC_APB2RSTR_DFSDM1RST_Msk
+
+/********************  Bit definition for RCC_APB4RSTR register  ******************/
+#define RCC_APB4RSTR_SYSCFGRST_Pos             (1U)
+#define RCC_APB4RSTR_SYSCFGRST_Msk             (0x1UL << RCC_APB4RSTR_SYSCFGRST_Pos) /*!< 0x00000002 */
+#define RCC_APB4RSTR_SYSCFGRST                 RCC_APB4RSTR_SYSCFGRST_Msk
+#define RCC_APB4RSTR_LPUART1RST_Pos            (3U)
+#define RCC_APB4RSTR_LPUART1RST_Msk            (0x1UL << RCC_APB4RSTR_LPUART1RST_Pos) /*!< 0x00000008 */
+#define RCC_APB4RSTR_LPUART1RST                RCC_APB4RSTR_LPUART1RST_Msk
+#define RCC_APB4RSTR_SPI6RST_Pos               (5U)
+#define RCC_APB4RSTR_SPI6RST_Msk               (0x1UL << RCC_APB4RSTR_SPI6RST_Pos) /*!< 0x00000020 */
+#define RCC_APB4RSTR_SPI6RST                   RCC_APB4RSTR_SPI6RST_Msk
+#define RCC_APB4RSTR_I2C4RST_Pos               (7U)
+#define RCC_APB4RSTR_I2C4RST_Msk               (0x1UL << RCC_APB4RSTR_I2C4RST_Pos) /*!< 0x00000080 */
+#define RCC_APB4RSTR_I2C4RST                   RCC_APB4RSTR_I2C4RST_Msk
+#define RCC_APB4RSTR_LPTIM2RST_Pos             (9U)
+#define RCC_APB4RSTR_LPTIM2RST_Msk             (0x1UL << RCC_APB4RSTR_LPTIM2RST_Pos) /*!< 0x00000200 */
+#define RCC_APB4RSTR_LPTIM2RST                 RCC_APB4RSTR_LPTIM2RST_Msk
+#define RCC_APB4RSTR_LPTIM3RST_Pos             (10U)
+#define RCC_APB4RSTR_LPTIM3RST_Msk             (0x1UL << RCC_APB4RSTR_LPTIM3RST_Pos) /*!< 0x00000400 */
+#define RCC_APB4RSTR_LPTIM3RST                 RCC_APB4RSTR_LPTIM3RST_Msk
+#define RCC_APB4RSTR_LPTIM4RST_Pos             (11U)
+#define RCC_APB4RSTR_LPTIM4RST_Msk             (0x1UL << RCC_APB4RSTR_LPTIM4RST_Pos) /*!< 0x00000800 */
+#define RCC_APB4RSTR_LPTIM4RST                 RCC_APB4RSTR_LPTIM4RST_Msk
+#define RCC_APB4RSTR_LPTIM5RST_Pos             (12U)
+#define RCC_APB4RSTR_LPTIM5RST_Msk             (0x1UL << RCC_APB4RSTR_LPTIM5RST_Pos) /*!< 0x00001000 */
+#define RCC_APB4RSTR_LPTIM5RST                 RCC_APB4RSTR_LPTIM5RST_Msk
+#define RCC_APB4RSTR_COMP12RST_Pos             (14U)
+#define RCC_APB4RSTR_COMP12RST_Msk             (0x1UL << RCC_APB4RSTR_COMP12RST_Pos) /*!< 0x00004000 */
+#define RCC_APB4RSTR_COMP12RST                 RCC_APB4RSTR_COMP12RST_Msk
+#define RCC_APB4RSTR_VREFRST_Pos               (15U)
+#define RCC_APB4RSTR_VREFRST_Msk               (0x1UL << RCC_APB4RSTR_VREFRST_Pos) /*!< 0x00008000 */
+#define RCC_APB4RSTR_VREFRST                   RCC_APB4RSTR_VREFRST_Msk
+#define RCC_APB4RSTR_SAI4RST_Pos               (21U)
+#define RCC_APB4RSTR_SAI4RST_Msk               (0x1UL << RCC_APB4RSTR_SAI4RST_Pos) /*!< 0x00200000 */
+#define RCC_APB4RSTR_SAI4RST                   RCC_APB4RSTR_SAI4RST_Msk
+
+#define RCC_APB4RSTR_DTSRST_Pos                (26U)
+#define RCC_APB4RSTR_DTSRST_Msk                (0x1UL << RCC_APB4RSTR_DTSRST_Pos) /*!< 0x04000000 */
+#define RCC_APB4RSTR_DTSRST                    RCC_APB4RSTR_DTSRST_Msk
+
+/********************  Bit definition for RCC_GCR register  ********************/
+#define RCC_GCR_WW1RSC_Pos                     (0U)
+#define RCC_GCR_WW1RSC_Msk                     (0x1UL << RCC_GCR_WW1RSC_Pos)   /*!< 0x00000001 */
+#define RCC_GCR_WW1RSC                         RCC_GCR_WW1RSC_Msk
+
+/********************  Bit definition for RCC_D3AMR register  ********************/
+#define RCC_D3AMR_BDMAAMEN_Pos                 (0U)
+#define RCC_D3AMR_BDMAAMEN_Msk                 (0x1UL << RCC_D3AMR_BDMAAMEN_Pos) /*!< 0x00000001 */
+#define RCC_D3AMR_BDMAAMEN                     RCC_D3AMR_BDMAAMEN_Msk
+#define RCC_D3AMR_LPUART1AMEN_Pos              (3U)
+#define RCC_D3AMR_LPUART1AMEN_Msk              (0x1UL << RCC_D3AMR_LPUART1AMEN_Pos) /*!< 0x00000008 */
+#define RCC_D3AMR_LPUART1AMEN                  RCC_D3AMR_LPUART1AMEN_Msk
+#define RCC_D3AMR_SPI6AMEN_Pos                 (5U)
+#define RCC_D3AMR_SPI6AMEN_Msk                 (0x1UL << RCC_D3AMR_SPI6AMEN_Pos) /*!< 0x00000020 */
+#define RCC_D3AMR_SPI6AMEN                     RCC_D3AMR_SPI6AMEN_Msk
+#define RCC_D3AMR_I2C4AMEN_Pos                 (7U)
+#define RCC_D3AMR_I2C4AMEN_Msk                 (0x1UL << RCC_D3AMR_I2C4AMEN_Pos) /*!< 0x00000080 */
+#define RCC_D3AMR_I2C4AMEN                     RCC_D3AMR_I2C4AMEN_Msk
+#define RCC_D3AMR_LPTIM2AMEN_Pos               (9U)
+#define RCC_D3AMR_LPTIM2AMEN_Msk               (0x1UL << RCC_D3AMR_LPTIM2AMEN_Pos) /*!< 0x00000200 */
+#define RCC_D3AMR_LPTIM2AMEN                   RCC_D3AMR_LPTIM2AMEN_Msk
+#define RCC_D3AMR_LPTIM3AMEN_Pos               (10U)
+#define RCC_D3AMR_LPTIM3AMEN_Msk               (0x1UL << RCC_D3AMR_LPTIM3AMEN_Pos) /*!< 0x00000400 */
+#define RCC_D3AMR_LPTIM3AMEN                   RCC_D3AMR_LPTIM3AMEN_Msk
+#define RCC_D3AMR_LPTIM4AMEN_Pos               (11U)
+#define RCC_D3AMR_LPTIM4AMEN_Msk               (0x1UL << RCC_D3AMR_LPTIM4AMEN_Pos) /*!< 0x00000800 */
+#define RCC_D3AMR_LPTIM4AMEN                   RCC_D3AMR_LPTIM4AMEN_Msk
+#define RCC_D3AMR_LPTIM5AMEN_Pos               (12U)
+#define RCC_D3AMR_LPTIM5AMEN_Msk               (0x1UL << RCC_D3AMR_LPTIM5AMEN_Pos) /*!< 0x00001000 */
+#define RCC_D3AMR_LPTIM5AMEN                   RCC_D3AMR_LPTIM5AMEN_Msk
+#define RCC_D3AMR_COMP12AMEN_Pos               (14U)
+#define RCC_D3AMR_COMP12AMEN_Msk               (0x1UL << RCC_D3AMR_COMP12AMEN_Pos) /*!< 0x00004000 */
+#define RCC_D3AMR_COMP12AMEN                   RCC_D3AMR_COMP12AMEN_Msk
+#define RCC_D3AMR_VREFAMEN_Pos                 (15U)
+#define RCC_D3AMR_VREFAMEN_Msk                 (0x1UL << RCC_D3AMR_VREFAMEN_Pos) /*!< 0x00008000 */
+#define RCC_D3AMR_VREFAMEN                     RCC_D3AMR_VREFAMEN_Msk
+#define RCC_D3AMR_RTCAMEN_Pos                  (16U)
+#define RCC_D3AMR_RTCAMEN_Msk                  (0x1UL << RCC_D3AMR_RTCAMEN_Pos) /*!< 0x00010000 */
+#define RCC_D3AMR_RTCAMEN                      RCC_D3AMR_RTCAMEN_Msk
+#define RCC_D3AMR_CRCAMEN_Pos                  (19U)
+#define RCC_D3AMR_CRCAMEN_Msk                  (0x1UL << RCC_D3AMR_CRCAMEN_Pos) /*!< 0x00080000 */
+#define RCC_D3AMR_CRCAMEN                      RCC_D3AMR_CRCAMEN_Msk
+#define RCC_D3AMR_SAI4AMEN_Pos                 (21U)
+#define RCC_D3AMR_SAI4AMEN_Msk                 (0x1UL << RCC_D3AMR_SAI4AMEN_Pos) /*!< 0x00200000 */
+#define RCC_D3AMR_SAI4AMEN                     RCC_D3AMR_SAI4AMEN_Msk
+#define RCC_D3AMR_ADC3AMEN_Pos                 (24U)
+#define RCC_D3AMR_ADC3AMEN_Msk                 (0x1UL << RCC_D3AMR_ADC3AMEN_Pos) /*!< 0x01000000 */
+#define RCC_D3AMR_ADC3AMEN                     RCC_D3AMR_ADC3AMEN_Msk
+
+#define RCC_D3AMR_DTSAMEN_Pos                  (26U)
+#define RCC_D3AMR_DTSAMEN_Msk                  (0x1UL << RCC_D3AMR_DTSAMEN_Pos) /*!< 0x04000000 */
+#define RCC_D3AMR_DTSAMEN                      RCC_D3AMR_DTSAMEN_Msk
+
+#define RCC_D3AMR_BKPRAMAMEN_Pos               (28U)
+#define RCC_D3AMR_BKPRAMAMEN_Msk               (0x1UL << RCC_D3AMR_BKPRAMAMEN_Pos) /*!< 0x10000000 */
+#define RCC_D3AMR_BKPRAMAMEN                   RCC_D3AMR_BKPRAMAMEN_Msk
+#define RCC_D3AMR_SRAM4AMEN_Pos                (29U)
+#define RCC_D3AMR_SRAM4AMEN_Msk                (0x1UL << RCC_D3AMR_SRAM4AMEN_Pos) /*!< 0x20000000 */
+#define RCC_D3AMR_SRAM4AMEN                    RCC_D3AMR_SRAM4AMEN_Msk
+/********************  Bit definition for RCC_AHB3LPENR register  **************/
+#define RCC_AHB3LPENR_MDMALPEN_Pos             (0U)
+#define RCC_AHB3LPENR_MDMALPEN_Msk             (0x1UL << RCC_AHB3LPENR_MDMALPEN_Pos)         /*!< 0x00000001 */
+#define RCC_AHB3LPENR_MDMALPEN                 RCC_AHB3LPENR_MDMALPEN_Msk
+#define RCC_AHB3LPENR_DMA2DLPEN_Pos            (4U)
+#define RCC_AHB3LPENR_DMA2DLPEN_Msk            (0x1UL << RCC_AHB3LPENR_DMA2DLPEN_Pos)        /*!< 0x00000010 */
+#define RCC_AHB3LPENR_DMA2DLPEN                RCC_AHB3LPENR_DMA2DLPEN_Msk
+#define RCC_AHB3LPENR_FLASHLPEN_Pos            (8U)
+#define RCC_AHB3LPENR_FLASHLPEN_Msk            (0x1UL << RCC_AHB3LPENR_FLASHLPEN_Pos)        /*!< 0x00000100 */
+#define RCC_AHB3LPENR_FLASHLPEN                RCC_AHB3LPENR_FLASHLPEN_Msk
+#define RCC_AHB3LPENR_FMCLPEN_Pos              (12U)
+#define RCC_AHB3LPENR_FMCLPEN_Msk              (0x1UL << RCC_AHB3LPENR_FMCLPEN_Pos)          /*!< 0x00001000 */
+#define RCC_AHB3LPENR_FMCLPEN                  RCC_AHB3LPENR_FMCLPEN_Msk
+#define RCC_AHB3LPENR_OSPI1LPEN_Pos            (14U)
+#define RCC_AHB3LPENR_OSPI1LPEN_Msk            (0x1UL << RCC_AHB3LPENR_OSPI1LPEN_Pos)        /*!< 0x00004000 */
+#define RCC_AHB3LPENR_OSPI1LPEN                RCC_AHB3LPENR_OSPI1LPEN_Msk
+#define RCC_AHB3LPENR_SDMMC1LPEN_Pos           (16U)
+#define RCC_AHB3LPENR_SDMMC1LPEN_Msk           (0x1UL << RCC_AHB3LPENR_SDMMC1LPEN_Pos)       /*!< 0x00010000 */
+#define RCC_AHB3LPENR_SDMMC1LPEN               RCC_AHB3LPENR_SDMMC1LPEN_Msk
+#define RCC_AHB3LPENR_OSPI2LPEN_Pos            (19U)
+#define RCC_AHB3LPENR_OSPI2LPEN_Msk            (0x1UL << RCC_AHB3LPENR_OSPI2LPEN_Pos)        /*!< 0x00080000 */
+#define RCC_AHB3LPENR_OSPI2LPEN                RCC_AHB3LPENR_OSPI2LPEN_Msk
+#define RCC_AHB3LPENR_IOMNGRLPEN_Pos           (21U)
+#define RCC_AHB3LPENR_IOMNGRLPEN_Msk           (0x1UL << RCC_AHB3LPENR_IOMNGRLPEN_Pos)       /*!< 0x00200000 */
+#define RCC_AHB3LPENR_IOMNGRLPEN               RCC_AHB3LPENR_IOMNGRLPEN_Msk
+#define RCC_AHB3LPENR_OTFDEC1LPEN_Pos          (22U)
+#define RCC_AHB3LPENR_OTFDEC1LPEN_Msk          (0x1UL << RCC_AHB3LPENR_OTFDEC1LPEN_Pos)      /*!< 0x00400000 */
+#define RCC_AHB3LPENR_OTFDEC1LPEN              RCC_AHB3LPENR_OTFDEC1LPEN_Msk
+#define RCC_AHB3LPENR_OTFDEC2LPEN_Pos          (23U)
+#define RCC_AHB3LPENR_OTFDEC2LPEN_Msk          (0x1UL << RCC_AHB3LPENR_OTFDEC2LPEN_Pos)      /*!< 0x00800000 */
+#define RCC_AHB3LPENR_OTFDEC2LPEN              RCC_AHB3LPENR_OTFDEC2LPEN_Msk
+#define RCC_AHB3LPENR_DTCM1LPEN_Pos            (28U)
+#define RCC_AHB3LPENR_DTCM1LPEN_Msk            (0x1UL << RCC_AHB3LPENR_DTCM1LPEN_Pos)        /*!< 0x10000000 */
+#define RCC_AHB3LPENR_DTCM1LPEN                RCC_AHB3LPENR_DTCM1LPEN_Msk
+#define RCC_AHB3LPENR_DTCM2LPEN_Pos            (29U)
+#define RCC_AHB3LPENR_DTCM2LPEN_Msk            (0x1UL << RCC_AHB3LPENR_DTCM2LPEN_Pos)        /*!< 0x20000000 */
+#define RCC_AHB3LPENR_DTCM2LPEN                RCC_AHB3LPENR_DTCM2LPEN_Msk
+#define RCC_AHB3LPENR_ITCMLPEN_Pos             (30U)
+#define RCC_AHB3LPENR_ITCMLPEN_Msk             (0x1UL << RCC_AHB3LPENR_ITCMLPEN_Pos)         /*!< 0x40000000 */
+#define RCC_AHB3LPENR_ITCMLPEN                 RCC_AHB3LPENR_ITCMLPEN_Msk
+#define RCC_AHB3LPENR_AXISRAMLPEN_Pos          (31U)
+#define RCC_AHB3LPENR_AXISRAMLPEN_Msk          (0x1UL << RCC_AHB3LPENR_AXISRAMLPEN_Pos)      /*!< 0x80000000 */
+#define RCC_AHB3LPENR_AXISRAMLPEN              RCC_AHB3LPENR_AXISRAMLPEN_Msk
+
+
+/********************  Bit definition for RCC_AHB1LPENR register  ***************/
+#define RCC_AHB1LPENR_DMA1LPEN_Pos             (0U)
+#define RCC_AHB1LPENR_DMA1LPEN_Msk             (0x1UL << RCC_AHB1LPENR_DMA1LPEN_Pos) /*!< 0x00000001 */
+#define RCC_AHB1LPENR_DMA1LPEN                 RCC_AHB1LPENR_DMA1LPEN_Msk
+#define RCC_AHB1LPENR_DMA2LPEN_Pos             (1U)
+#define RCC_AHB1LPENR_DMA2LPEN_Msk             (0x1UL << RCC_AHB1LPENR_DMA2LPEN_Pos) /*!< 0x00000002 */
+#define RCC_AHB1LPENR_DMA2LPEN                 RCC_AHB1LPENR_DMA2LPEN_Msk
+#define RCC_AHB1LPENR_ADC12LPEN_Pos            (5U)
+#define RCC_AHB1LPENR_ADC12LPEN_Msk            (0x1UL << RCC_AHB1LPENR_ADC12LPEN_Pos) /*!< 0x00000020 */
+#define RCC_AHB1LPENR_ADC12LPEN                RCC_AHB1LPENR_ADC12LPEN_Msk
+#define RCC_AHB1LPENR_ETH1MACLPEN_Pos          (15U)
+#define RCC_AHB1LPENR_ETH1MACLPEN_Msk          (0x1UL << RCC_AHB1LPENR_ETH1MACLPEN_Pos) /*!< 0x00008000 */
+#define RCC_AHB1LPENR_ETH1MACLPEN              RCC_AHB1LPENR_ETH1MACLPEN_Msk
+#define RCC_AHB1LPENR_ETH1TXLPEN_Pos           (16U)
+#define RCC_AHB1LPENR_ETH1TXLPEN_Msk           (0x1UL << RCC_AHB1LPENR_ETH1TXLPEN_Pos) /*!< 0x00010000 */
+#define RCC_AHB1LPENR_ETH1TXLPEN               RCC_AHB1LPENR_ETH1TXLPEN_Msk
+#define RCC_AHB1LPENR_ETH1RXLPEN_Pos           (17U)
+#define RCC_AHB1LPENR_ETH1RXLPEN_Msk           (0x1UL << RCC_AHB1LPENR_ETH1RXLPEN_Pos) /*!< 0x00020000 */
+#define RCC_AHB1LPENR_ETH1RXLPEN               RCC_AHB1LPENR_ETH1RXLPEN_Msk
+#define RCC_AHB1LPENR_USB1OTGHSLPEN_Pos        (25U)
+#define RCC_AHB1LPENR_USB1OTGHSLPEN_Msk        (0x1UL << RCC_AHB1LPENR_USB1OTGHSLPEN_Pos) /*!< 0x02000000 */
+#define RCC_AHB1LPENR_USB1OTGHSLPEN            RCC_AHB1LPENR_USB1OTGHSLPEN_Msk
+#define RCC_AHB1LPENR_USB1OTGHSULPILPEN_Pos    (26U)
+#define RCC_AHB1LPENR_USB1OTGHSULPILPEN_Msk    (0x1UL << RCC_AHB1LPENR_USB1OTGHSULPILPEN_Pos) /*!< 0x04000000 */
+#define RCC_AHB1LPENR_USB1OTGHSULPILPEN        RCC_AHB1LPENR_USB1OTGHSULPILPEN_Msk
+
+/********************  Bit definition for RCC_AHB2LPENR register  ***************/
+#define RCC_AHB2LPENR_DCMI_PSSILPEN_Pos        (0U)
+#define RCC_AHB2LPENR_DCMI_PSSILPEN_Msk        (0x1UL << RCC_AHB2LPENR_DCMI_PSSILPEN_Pos) /*!< 0x00000001 */
+#define RCC_AHB2LPENR_DCMI_PSSILPEN            RCC_AHB2LPENR_DCMI_PSSILPEN_Msk
+#define RCC_AHB2LPENR_CRYPLPEN_Pos             (4U)
+#define RCC_AHB2LPENR_CRYPLPEN_Msk             (0x1UL << RCC_AHB2LPENR_CRYPLPEN_Pos) /*!< 0x00000010 */
+#define RCC_AHB2LPENR_CRYPLPEN                 RCC_AHB2LPENR_CRYPLPEN_Msk
+#define RCC_AHB2LPENR_HASHLPEN_Pos             (5U)
+#define RCC_AHB2LPENR_HASHLPEN_Msk             (0x1UL << RCC_AHB2LPENR_HASHLPEN_Pos) /*!< 0x00000020 */
+#define RCC_AHB2LPENR_HASHLPEN                 RCC_AHB2LPENR_HASHLPEN_Msk
+#define RCC_AHB2LPENR_RNGLPEN_Pos              (6U)
+#define RCC_AHB2LPENR_RNGLPEN_Msk              (0x1UL << RCC_AHB2LPENR_RNGLPEN_Pos) /*!< 0x00000040 */
+#define RCC_AHB2LPENR_RNGLPEN                  RCC_AHB2LPENR_RNGLPEN_Msk
+#define RCC_AHB2LPENR_SDMMC2LPEN_Pos           (9U)
+#define RCC_AHB2LPENR_SDMMC2LPEN_Msk           (0x1UL << RCC_AHB2LPENR_SDMMC2LPEN_Pos) /*!< 0x00000200 */
+#define RCC_AHB2LPENR_SDMMC2LPEN               RCC_AHB2LPENR_SDMMC2LPEN_Msk
+#define RCC_AHB2LPENR_FMACLPEN_Pos             (16U)
+#define RCC_AHB2LPENR_FMACLPEN_Msk             (0x1UL << RCC_AHB2LPENR_FMACLPEN_Pos)     /*!< 0x00010000 */
+#define RCC_AHB2LPENR_FMACLPEN                 RCC_AHB2LPENR_FMACLPEN_Msk
+#define RCC_AHB2LPENR_CORDICLPEN_Pos           (17U)
+#define RCC_AHB2LPENR_CORDICLPEN_Msk           (0x1UL << RCC_AHB2LPENR_CORDICLPEN_Pos)   /*!< 0x00020000 */
+#define RCC_AHB2LPENR_CORDICLPEN               RCC_AHB2LPENR_CORDICLPEN_Msk
+#define RCC_AHB2LPENR_SRAM1LPEN_Pos          (29U)
+#define RCC_AHB2LPENR_SRAM1LPEN_Msk          (0x1UL << RCC_AHB2LPENR_SRAM1LPEN_Pos) /*!< 0x20000000 */
+#define RCC_AHB2LPENR_SRAM1LPEN              RCC_AHB2LPENR_SRAM1LPEN_Msk
+#define RCC_AHB2LPENR_SRAM2LPEN_Pos          (30U)
+#define RCC_AHB2LPENR_SRAM2LPEN_Msk          (0x1UL << RCC_AHB2LPENR_SRAM2LPEN_Pos) /*!< 0x40000000 */
+#define RCC_AHB2LPENR_SRAM2LPEN              RCC_AHB2LPENR_SRAM2LPEN_Msk
+
+/* Legacy define */
+#define RCC_AHB2LPENR_DCMILPEN_Pos             RCC_AHB2LPENR_DCMI_PSSILPEN_Pos
+#define RCC_AHB2LPENR_DCMILPEN_Msk             RCC_AHB2LPENR_DCMI_PSSILPEN_Msk
+#define RCC_AHB2LPENR_DCMILPEN                 RCC_AHB2LPENR_DCMI_PSSILPEN
+#define RCC_AHB2LPENR_D2SRAM1LPEN_Pos          RCC_AHB2LPENR_SRAM1LPEN_Pos
+#define RCC_AHB2LPENR_D2SRAM1LPEN_Msk          RCC_AHB2LPENR_SRAM1LPEN_Msk
+#define RCC_AHB2LPENR_D2SRAM1LPEN              RCC_AHB2LPENR_SRAM1LPEN
+#define RCC_AHB2LPENR_D2SRAM2LPEN_Pos          RCC_AHB2LPENR_SRAM2LPEN_Pos
+#define RCC_AHB2LPENR_D2SRAM2LPEN_Msk          RCC_AHB2LPENR_SRAM2LPEN_Msk
+#define RCC_AHB2LPENR_D2SRAM2LPEN              RCC_AHB2LPENR_SRAM2LPEN
+
+/********************  Bit definition for RCC_AHB4LPENR register  ******************/
+#define RCC_AHB4LPENR_GPIOALPEN_Pos            (0U)
+#define RCC_AHB4LPENR_GPIOALPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOALPEN_Pos) /*!< 0x00000001 */
+#define RCC_AHB4LPENR_GPIOALPEN                RCC_AHB4LPENR_GPIOALPEN_Msk
+#define RCC_AHB4LPENR_GPIOBLPEN_Pos            (1U)
+#define RCC_AHB4LPENR_GPIOBLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOBLPEN_Pos) /*!< 0x00000002 */
+#define RCC_AHB4LPENR_GPIOBLPEN                RCC_AHB4LPENR_GPIOBLPEN_Msk
+#define RCC_AHB4LPENR_GPIOCLPEN_Pos            (2U)
+#define RCC_AHB4LPENR_GPIOCLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOCLPEN_Pos) /*!< 0x00000004 */
+#define RCC_AHB4LPENR_GPIOCLPEN                RCC_AHB4LPENR_GPIOCLPEN_Msk
+#define RCC_AHB4LPENR_GPIODLPEN_Pos            (3U)
+#define RCC_AHB4LPENR_GPIODLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIODLPEN_Pos) /*!< 0x00000008 */
+#define RCC_AHB4LPENR_GPIODLPEN                RCC_AHB4LPENR_GPIODLPEN_Msk
+#define RCC_AHB4LPENR_GPIOELPEN_Pos            (4U)
+#define RCC_AHB4LPENR_GPIOELPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOELPEN_Pos) /*!< 0x00000010 */
+#define RCC_AHB4LPENR_GPIOELPEN                RCC_AHB4LPENR_GPIOELPEN_Msk
+#define RCC_AHB4LPENR_GPIOFLPEN_Pos            (5U)
+#define RCC_AHB4LPENR_GPIOFLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOFLPEN_Pos) /*!< 0x00000020 */
+#define RCC_AHB4LPENR_GPIOFLPEN                RCC_AHB4LPENR_GPIOFLPEN_Msk
+#define RCC_AHB4LPENR_GPIOGLPEN_Pos            (6U)
+#define RCC_AHB4LPENR_GPIOGLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOGLPEN_Pos) /*!< 0x00000040 */
+#define RCC_AHB4LPENR_GPIOGLPEN                RCC_AHB4LPENR_GPIOGLPEN_Msk
+#define RCC_AHB4LPENR_GPIOHLPEN_Pos            (7U)
+#define RCC_AHB4LPENR_GPIOHLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOHLPEN_Pos) /*!< 0x00000080 */
+#define RCC_AHB4LPENR_GPIOHLPEN                RCC_AHB4LPENR_GPIOHLPEN_Msk
+#define RCC_AHB4LPENR_GPIOJLPEN_Pos            (9U)
+#define RCC_AHB4LPENR_GPIOJLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOJLPEN_Pos) /*!< 0x00000200 */
+#define RCC_AHB4LPENR_GPIOJLPEN                RCC_AHB4LPENR_GPIOJLPEN_Msk
+#define RCC_AHB4LPENR_GPIOKLPEN_Pos            (10U)
+#define RCC_AHB4LPENR_GPIOKLPEN_Msk            (0x1UL << RCC_AHB4LPENR_GPIOKLPEN_Pos) /*!< 0x00000400 */
+#define RCC_AHB4LPENR_GPIOKLPEN                RCC_AHB4LPENR_GPIOKLPEN_Msk
+#define RCC_AHB4LPENR_CRCLPEN_Pos              (19U)
+#define RCC_AHB4LPENR_CRCLPEN_Msk              (0x1UL << RCC_AHB4LPENR_CRCLPEN_Pos) /*!< 0x00080000 */
+#define RCC_AHB4LPENR_CRCLPEN                  RCC_AHB4LPENR_CRCLPEN_Msk
+#define RCC_AHB4LPENR_BDMALPEN_Pos             (21U)
+#define RCC_AHB4LPENR_BDMALPEN_Msk             (0x1UL << RCC_AHB4LPENR_BDMALPEN_Pos) /*!< 0x00200000 */
+#define RCC_AHB4LPENR_BDMALPEN                 RCC_AHB4LPENR_BDMALPEN_Msk
+#define RCC_AHB4LPENR_ADC3LPEN_Pos             (24U)
+#define RCC_AHB4LPENR_ADC3LPEN_Msk             (0x1UL << RCC_AHB4LPENR_ADC3LPEN_Pos) /*!< 0x01000000 */
+#define RCC_AHB4LPENR_ADC3LPEN                 RCC_AHB4LPENR_ADC3LPEN_Msk
+#define RCC_AHB4LPENR_BKPRAMLPEN_Pos           (28U)
+#define RCC_AHB4LPENR_BKPRAMLPEN_Msk           (0x1UL << RCC_AHB4LPENR_BKPRAMLPEN_Pos) /*!< 0x10000000 */
+#define RCC_AHB4LPENR_BKPRAMLPEN               RCC_AHB4LPENR_BKPRAMLPEN_Msk
+#define RCC_AHB4LPENR_SRAM4LPEN_Pos            (29U)
+#define RCC_AHB4LPENR_SRAM4LPEN_Msk            (0x1UL << RCC_AHB4LPENR_SRAM4LPEN_Pos) /*!< 0x20000000 */
+#define RCC_AHB4LPENR_SRAM4LPEN                RCC_AHB4LPENR_SRAM4LPEN_Msk
+
+/* Legacy define */
+#define RCC_AHB4LPENR_D3SRAM1LPEN_Pos          RCC_AHB4LPENR_SRAM4LPEN_Pos
+#define RCC_AHB4LPENR_D3SRAM1LPEN_Msk          RCC_AHB4LPENR_SRAM4LPEN_Msk
+#define RCC_AHB4LPENR_D3SRAM1LPEN              RCC_AHB4LPENR_SRAM4LPEN
+/********************  Bit definition for RCC_APB3LPENR register  ******************/
+#define RCC_APB3LPENR_LTDCLPEN_Pos             (3U)
+#define RCC_APB3LPENR_LTDCLPEN_Msk             (0x1UL << RCC_APB3LPENR_LTDCLPEN_Pos) /*!< 0x00000008 */
+#define RCC_APB3LPENR_LTDCLPEN                 RCC_APB3LPENR_LTDCLPEN_Msk
+#define RCC_APB3LPENR_WWDG1LPEN_Pos            (6U)
+#define RCC_APB3LPENR_WWDG1LPEN_Msk            (0x1UL << RCC_APB3LPENR_WWDG1LPEN_Pos) /*!< 0x00000040 */
+#define RCC_APB3LPENR_WWDG1LPEN                RCC_APB3LPENR_WWDG1LPEN_Msk
+
+/********************  Bit definition for RCC_APB1LLPENR register  ******************/
+
+#define RCC_APB1LLPENR_TIM2LPEN_Pos            (0U)
+#define RCC_APB1LLPENR_TIM2LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM2LPEN_Pos) /*!< 0x00000001 */
+#define RCC_APB1LLPENR_TIM2LPEN                RCC_APB1LLPENR_TIM2LPEN_Msk
+#define RCC_APB1LLPENR_TIM3LPEN_Pos            (1U)
+#define RCC_APB1LLPENR_TIM3LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM3LPEN_Pos) /*!< 0x00000002 */
+#define RCC_APB1LLPENR_TIM3LPEN                RCC_APB1LLPENR_TIM3LPEN_Msk
+#define RCC_APB1LLPENR_TIM4LPEN_Pos            (2U)
+#define RCC_APB1LLPENR_TIM4LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM4LPEN_Pos) /*!< 0x00000004 */
+#define RCC_APB1LLPENR_TIM4LPEN                RCC_APB1LLPENR_TIM4LPEN_Msk
+#define RCC_APB1LLPENR_TIM5LPEN_Pos            (3U)
+#define RCC_APB1LLPENR_TIM5LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM5LPEN_Pos) /*!< 0x00000008 */
+#define RCC_APB1LLPENR_TIM5LPEN                RCC_APB1LLPENR_TIM5LPEN_Msk
+#define RCC_APB1LLPENR_TIM6LPEN_Pos            (4U)
+#define RCC_APB1LLPENR_TIM6LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM6LPEN_Pos) /*!< 0x00000010 */
+#define RCC_APB1LLPENR_TIM6LPEN                RCC_APB1LLPENR_TIM6LPEN_Msk
+#define RCC_APB1LLPENR_TIM7LPEN_Pos            (5U)
+#define RCC_APB1LLPENR_TIM7LPEN_Msk            (0x1UL << RCC_APB1LLPENR_TIM7LPEN_Pos) /*!< 0x00000020 */
+#define RCC_APB1LLPENR_TIM7LPEN                RCC_APB1LLPENR_TIM7LPEN_Msk
+#define RCC_APB1LLPENR_TIM12LPEN_Pos           (6U)
+#define RCC_APB1LLPENR_TIM12LPEN_Msk           (0x1UL << RCC_APB1LLPENR_TIM12LPEN_Pos) /*!< 0x00000040 */
+#define RCC_APB1LLPENR_TIM12LPEN               RCC_APB1LLPENR_TIM12LPEN_Msk
+#define RCC_APB1LLPENR_TIM13LPEN_Pos           (7U)
+#define RCC_APB1LLPENR_TIM13LPEN_Msk           (0x1UL << RCC_APB1LLPENR_TIM13LPEN_Pos) /*!< 0x00000080 */
+#define RCC_APB1LLPENR_TIM13LPEN               RCC_APB1LLPENR_TIM13LPEN_Msk
+#define RCC_APB1LLPENR_TIM14LPEN_Pos           (8U)
+#define RCC_APB1LLPENR_TIM14LPEN_Msk           (0x1UL << RCC_APB1LLPENR_TIM14LPEN_Pos) /*!< 0x00000100 */
+#define RCC_APB1LLPENR_TIM14LPEN               RCC_APB1LLPENR_TIM14LPEN_Msk
+#define RCC_APB1LLPENR_LPTIM1LPEN_Pos          (9U)
+#define RCC_APB1LLPENR_LPTIM1LPEN_Msk          (0x1UL << RCC_APB1LLPENR_LPTIM1LPEN_Pos) /*!< 0x00000200 */
+#define RCC_APB1LLPENR_LPTIM1LPEN              RCC_APB1LLPENR_LPTIM1LPEN_Msk
+
+
+#define RCC_APB1LLPENR_SPI2LPEN_Pos            (14U)
+#define RCC_APB1LLPENR_SPI2LPEN_Msk            (0x1UL << RCC_APB1LLPENR_SPI2LPEN_Pos) /*!< 0x00004000 */
+#define RCC_APB1LLPENR_SPI2LPEN                RCC_APB1LLPENR_SPI2LPEN_Msk
+#define RCC_APB1LLPENR_SPI3LPEN_Pos            (15U)
+#define RCC_APB1LLPENR_SPI3LPEN_Msk            (0x1UL << RCC_APB1LLPENR_SPI3LPEN_Pos) /*!< 0x00008000 */
+#define RCC_APB1LLPENR_SPI3LPEN                RCC_APB1LLPENR_SPI3LPEN_Msk
+#define RCC_APB1LLPENR_SPDIFRXLPEN_Pos         (16U)
+#define RCC_APB1LLPENR_SPDIFRXLPEN_Msk         (0x1UL << RCC_APB1LLPENR_SPDIFRXLPEN_Pos) /*!< 0x00010000 */
+#define RCC_APB1LLPENR_SPDIFRXLPEN             RCC_APB1LLPENR_SPDIFRXLPEN_Msk
+#define RCC_APB1LLPENR_USART2LPEN_Pos          (17U)
+#define RCC_APB1LLPENR_USART2LPEN_Msk          (0x1UL << RCC_APB1LLPENR_USART2LPEN_Pos) /*!< 0x00020000 */
+#define RCC_APB1LLPENR_USART2LPEN              RCC_APB1LLPENR_USART2LPEN_Msk
+#define RCC_APB1LLPENR_USART3LPEN_Pos          (18U)
+#define RCC_APB1LLPENR_USART3LPEN_Msk          (0x1UL << RCC_APB1LLPENR_USART3LPEN_Pos) /*!< 0x00040000 */
+#define RCC_APB1LLPENR_USART3LPEN              RCC_APB1LLPENR_USART3LPEN_Msk
+#define RCC_APB1LLPENR_UART4LPEN_Pos           (19U)
+#define RCC_APB1LLPENR_UART4LPEN_Msk           (0x1UL << RCC_APB1LLPENR_UART4LPEN_Pos) /*!< 0x00080000 */
+#define RCC_APB1LLPENR_UART4LPEN               RCC_APB1LLPENR_UART4LPEN_Msk
+#define RCC_APB1LLPENR_UART5LPEN_Pos           (20U)
+#define RCC_APB1LLPENR_UART5LPEN_Msk           (0x1UL << RCC_APB1LLPENR_UART5LPEN_Pos) /*!< 0x00100000 */
+#define RCC_APB1LLPENR_UART5LPEN               RCC_APB1LLPENR_UART5LPEN_Msk
+#define RCC_APB1LLPENR_I2C1LPEN_Pos            (21U)
+#define RCC_APB1LLPENR_I2C1LPEN_Msk            (0x1UL << RCC_APB1LLPENR_I2C1LPEN_Pos) /*!< 0x00200000 */
+#define RCC_APB1LLPENR_I2C1LPEN                RCC_APB1LLPENR_I2C1LPEN_Msk
+#define RCC_APB1LLPENR_I2C2LPEN_Pos            (22U)
+#define RCC_APB1LLPENR_I2C2LPEN_Msk            (0x1UL << RCC_APB1LLPENR_I2C2LPEN_Pos) /*!< 0x00400000 */
+#define RCC_APB1LLPENR_I2C2LPEN                RCC_APB1LLPENR_I2C2LPEN_Msk
+#define RCC_APB1LLPENR_I2C3LPEN_Pos            (23U)
+#define RCC_APB1LLPENR_I2C3LPEN_Msk            (0x1UL << RCC_APB1LLPENR_I2C3LPEN_Pos) /*!< 0x00800000 */
+#define RCC_APB1LLPENR_I2C3LPEN                RCC_APB1LLPENR_I2C3LPEN_Msk
+#define RCC_APB1LLPENR_I2C5LPEN_Pos            (25U)
+#define RCC_APB1LLPENR_I2C5LPEN_Msk            (0x1UL << RCC_APB1LLPENR_I2C5LPEN_Pos) /*!< 0x02000000 */
+#define RCC_APB1LLPENR_I2C5LPEN                RCC_APB1LLPENR_I2C5LPEN_Msk
+#define RCC_APB1LLPENR_CECLPEN_Pos             (27U)
+#define RCC_APB1LLPENR_CECLPEN_Msk             (0x1UL << RCC_APB1LLPENR_CECLPEN_Pos) /*!< 0x08000000 */
+#define RCC_APB1LLPENR_CECLPEN                 RCC_APB1LLPENR_CECLPEN_Msk
+#define RCC_APB1LLPENR_DAC12LPEN_Pos           (29U)
+#define RCC_APB1LLPENR_DAC12LPEN_Msk           (0x1UL << RCC_APB1LLPENR_DAC12LPEN_Pos) /*!< 0x20000000 */
+#define RCC_APB1LLPENR_DAC12LPEN               RCC_APB1LLPENR_DAC12LPEN_Msk
+#define RCC_APB1LLPENR_UART7LPEN_Pos           (30U)
+#define RCC_APB1LLPENR_UART7LPEN_Msk           (0x1UL << RCC_APB1LLPENR_UART7LPEN_Pos) /*!< 0x40000000 */
+#define RCC_APB1LLPENR_UART7LPEN               RCC_APB1LLPENR_UART7LPEN_Msk
+#define RCC_APB1LLPENR_UART8LPEN_Pos           (31U)
+#define RCC_APB1LLPENR_UART8LPEN_Msk           (0x1UL << RCC_APB1LLPENR_UART8LPEN_Pos) /*!< 0x80000000 */
+#define RCC_APB1LLPENR_UART8LPEN               RCC_APB1LLPENR_UART8LPEN_Msk
+
+/* Legacy define */
+#define RCC_APB1LLPENR_HDMICECEN_Pos           RCC_APB1LLPENR_CECLPEN_Pos
+#define RCC_APB1LLPENR_HDMICECEN_Msk           RCC_APB1LLPENR_CECLPEN_Msk
+#define RCC_APB1LLPENR_HDMICECEN               RCC_APB1LLPENR_CECLPEN
+/********************  Bit definition for RCC_APB1HLPENR register  ******************/
+#define RCC_APB1HLPENR_CRSLPEN_Pos             (1U)
+#define RCC_APB1HLPENR_CRSLPEN_Msk             (0x1UL << RCC_APB1HLPENR_CRSLPEN_Pos) /*!< 0x00000002 */
+#define RCC_APB1HLPENR_CRSLPEN                 RCC_APB1HLPENR_CRSLPEN_Msk
+#define RCC_APB1HLPENR_SWPMILPEN_Pos           (2U)
+#define RCC_APB1HLPENR_SWPMILPEN_Msk           (0x1UL << RCC_APB1HLPENR_SWPMILPEN_Pos) /*!< 0x00000004 */
+#define RCC_APB1HLPENR_SWPMILPEN               RCC_APB1HLPENR_SWPMILPEN_Msk
+#define RCC_APB1HLPENR_OPAMPLPEN_Pos           (4U)
+#define RCC_APB1HLPENR_OPAMPLPEN_Msk           (0x1UL << RCC_APB1HLPENR_OPAMPLPEN_Pos) /*!< 0x00000010 */
+#define RCC_APB1HLPENR_OPAMPLPEN               RCC_APB1HLPENR_OPAMPLPEN_Msk
+#define RCC_APB1HLPENR_MDIOSLPEN_Pos           (5U)
+#define RCC_APB1HLPENR_MDIOSLPEN_Msk           (0x1UL << RCC_APB1HLPENR_MDIOSLPEN_Pos) /*!< 0x00000020 */
+#define RCC_APB1HLPENR_MDIOSLPEN               RCC_APB1HLPENR_MDIOSLPEN_Msk
+#define RCC_APB1HLPENR_FDCANLPEN_Pos           (8U)
+#define RCC_APB1HLPENR_FDCANLPEN_Msk           (0x1UL << RCC_APB1HLPENR_FDCANLPEN_Pos) /*!< 0x00000100 */
+#define RCC_APB1HLPENR_FDCANLPEN               RCC_APB1HLPENR_FDCANLPEN_Msk
+#define RCC_APB1HLPENR_TIM23LPEN_Pos           (24U)
+#define RCC_APB1HLPENR_TIM23LPEN_Msk           (0x1UL << RCC_APB1HLPENR_TIM23LPEN_Pos)   /*!< 0x01000000 */
+#define RCC_APB1HLPENR_TIM23LPEN                RCC_APB1HLPENR_TIM23LPEN_Msk
+#define RCC_APB1HLPENR_TIM24LPEN_Pos           (25U)
+#define RCC_APB1HLPENR_TIM24LPEN_Msk           (0x1UL << RCC_APB1HLPENR_TIM24LPEN_Pos)   /*!< 0x02000000 */
+#define RCC_APB1HLPENR_TIM24LPEN                RCC_APB1HLPENR_TIM24LPEN_Msk
+
+/********************  Bit definition for RCC_APB2LPENR register  ******************/
+#define RCC_APB2LPENR_TIM1LPEN_Pos             (0U)
+#define RCC_APB2LPENR_TIM1LPEN_Msk             (0x1UL << RCC_APB2LPENR_TIM1LPEN_Pos) /*!< 0x00000001 */
+#define RCC_APB2LPENR_TIM1LPEN                 RCC_APB2LPENR_TIM1LPEN_Msk
+#define RCC_APB2LPENR_TIM8LPEN_Pos             (1U)
+#define RCC_APB2LPENR_TIM8LPEN_Msk             (0x1UL << RCC_APB2LPENR_TIM8LPEN_Pos) /*!< 0x00000002 */
+#define RCC_APB2LPENR_TIM8LPEN                 RCC_APB2LPENR_TIM8LPEN_Msk
+#define RCC_APB2LPENR_USART1LPEN_Pos           (4U)
+#define RCC_APB2LPENR_USART1LPEN_Msk           (0x1UL << RCC_APB2LPENR_USART1LPEN_Pos) /*!< 0x00000010 */
+#define RCC_APB2LPENR_USART1LPEN               RCC_APB2LPENR_USART1LPEN_Msk
+#define RCC_APB2LPENR_USART6LPEN_Pos           (5U)
+#define RCC_APB2LPENR_USART6LPEN_Msk           (0x1UL << RCC_APB2LPENR_USART6LPEN_Pos) /*!< 0x00000020 */
+#define RCC_APB2LPENR_USART6LPEN               RCC_APB2LPENR_USART6LPEN_Msk
+#define RCC_APB2LPENR_UART9LPEN_Pos            (6U)
+#define RCC_APB2LPENR_UART9LPEN_Msk            (0x1UL << RCC_APB2LPENR_UART9LPEN_Pos) /*!< 0x00000040 */
+#define RCC_APB2LPENR_UART9LPEN                 RCC_APB2LPENR_UART9LPEN_Msk
+#define RCC_APB2LPENR_USART10LPEN_Pos          (7U)
+#define RCC_APB2LPENR_USART10LPEN_Msk          (0x1UL << RCC_APB2LPENR_USART10LPEN_Pos) /*!< 0x00000080 */
+#define RCC_APB2LPENR_USART10LPEN               RCC_APB2LPENR_USART10LPEN_Msk
+#define RCC_APB2LPENR_SPI1LPEN_Pos             (12U)
+#define RCC_APB2LPENR_SPI1LPEN_Msk             (0x1UL << RCC_APB2LPENR_SPI1LPEN_Pos) /*!< 0x00001000 */
+#define RCC_APB2LPENR_SPI1LPEN                 RCC_APB2LPENR_SPI1LPEN_Msk
+#define RCC_APB2LPENR_SPI4LPEN_Pos             (13U)
+#define RCC_APB2LPENR_SPI4LPEN_Msk             (0x1UL << RCC_APB2LPENR_SPI4LPEN_Pos) /*!< 0x00002000 */
+#define RCC_APB2LPENR_SPI4LPEN                 RCC_APB2LPENR_SPI4LPEN_Msk
+#define RCC_APB2LPENR_TIM15LPEN_Pos            (16U)
+#define RCC_APB2LPENR_TIM15LPEN_Msk            (0x1UL << RCC_APB2LPENR_TIM15LPEN_Pos) /*!< 0x00010000 */
+#define RCC_APB2LPENR_TIM15LPEN                RCC_APB2LPENR_TIM15LPEN_Msk
+#define RCC_APB2LPENR_TIM16LPEN_Pos            (17U)
+#define RCC_APB2LPENR_TIM16LPEN_Msk            (0x1UL << RCC_APB2LPENR_TIM16LPEN_Pos) /*!< 0x00020000 */
+#define RCC_APB2LPENR_TIM16LPEN                RCC_APB2LPENR_TIM16LPEN_Msk
+#define RCC_APB2LPENR_TIM17LPEN_Pos            (18U)
+#define RCC_APB2LPENR_TIM17LPEN_Msk            (0x1UL << RCC_APB2LPENR_TIM17LPEN_Pos) /*!< 0x00040000 */
+#define RCC_APB2LPENR_TIM17LPEN                RCC_APB2LPENR_TIM17LPEN_Msk
+#define RCC_APB2LPENR_SPI5LPEN_Pos             (20U)
+#define RCC_APB2LPENR_SPI5LPEN_Msk             (0x1UL << RCC_APB2LPENR_SPI5LPEN_Pos) /*!< 0x00100000 */
+#define RCC_APB2LPENR_SPI5LPEN                 RCC_APB2LPENR_SPI5LPEN_Msk
+#define RCC_APB2LPENR_SAI1LPEN_Pos             (22U)
+#define RCC_APB2LPENR_SAI1LPEN_Msk             (0x1UL << RCC_APB2LPENR_SAI1LPEN_Pos) /*!< 0x00400000 */
+#define RCC_APB2LPENR_SAI1LPEN                 RCC_APB2LPENR_SAI1LPEN_Msk
+#define RCC_APB2LPENR_DFSDM1LPEN_Pos           (30U)
+#define RCC_APB2LPENR_DFSDM1LPEN_Msk           (0x1UL << RCC_APB2LPENR_DFSDM1LPEN_Pos) /*!< 0x40000000 */
+#define RCC_APB2LPENR_DFSDM1LPEN               RCC_APB2LPENR_DFSDM1LPEN_Msk
+
+/********************  Bit definition for RCC_APB4LPENR register  ******************/
+#define RCC_APB4LPENR_SYSCFGLPEN_Pos           (1U)
+#define RCC_APB4LPENR_SYSCFGLPEN_Msk           (0x1UL << RCC_APB4LPENR_SYSCFGLPEN_Pos) /*!< 0x00000002 */
+#define RCC_APB4LPENR_SYSCFGLPEN               RCC_APB4LPENR_SYSCFGLPEN_Msk
+#define RCC_APB4LPENR_LPUART1LPEN_Pos          (3U)
+#define RCC_APB4LPENR_LPUART1LPEN_Msk          (0x1UL << RCC_APB4LPENR_LPUART1LPEN_Pos) /*!< 0x00000008 */
+#define RCC_APB4LPENR_LPUART1LPEN              RCC_APB4LPENR_LPUART1LPEN_Msk
+#define RCC_APB4LPENR_SPI6LPEN_Pos             (5U)
+#define RCC_APB4LPENR_SPI6LPEN_Msk             (0x1UL << RCC_APB4LPENR_SPI6LPEN_Pos) /*!< 0x00000020 */
+#define RCC_APB4LPENR_SPI6LPEN                 RCC_APB4LPENR_SPI6LPEN_Msk
+#define RCC_APB4LPENR_I2C4LPEN_Pos             (7U)
+#define RCC_APB4LPENR_I2C4LPEN_Msk             (0x1UL << RCC_APB4LPENR_I2C4LPEN_Pos) /*!< 0x00000080 */
+#define RCC_APB4LPENR_I2C4LPEN                 RCC_APB4LPENR_I2C4LPEN_Msk
+#define RCC_APB4LPENR_LPTIM2LPEN_Pos           (9U)
+#define RCC_APB4LPENR_LPTIM2LPEN_Msk           (0x1UL << RCC_APB4LPENR_LPTIM2LPEN_Pos) /*!< 0x00000200 */
+#define RCC_APB4LPENR_LPTIM2LPEN               RCC_APB4LPENR_LPTIM2LPEN_Msk
+#define RCC_APB4LPENR_LPTIM3LPEN_Pos           (10U)
+#define RCC_APB4LPENR_LPTIM3LPEN_Msk           (0x1UL << RCC_APB4LPENR_LPTIM3LPEN_Pos) /*!< 0x00000400 */
+#define RCC_APB4LPENR_LPTIM3LPEN               RCC_APB4LPENR_LPTIM3LPEN_Msk
+#define RCC_APB4LPENR_LPTIM4LPEN_Pos           (11U)
+#define RCC_APB4LPENR_LPTIM4LPEN_Msk           (0x1UL << RCC_APB4LPENR_LPTIM4LPEN_Pos) /*!< 0x00000800 */
+#define RCC_APB4LPENR_LPTIM4LPEN               RCC_APB4LPENR_LPTIM4LPEN_Msk
+#define RCC_APB4LPENR_LPTIM5LPEN_Pos           (12U)
+#define RCC_APB4LPENR_LPTIM5LPEN_Msk           (0x1UL << RCC_APB4LPENR_LPTIM5LPEN_Pos) /*!< 0x00001000 */
+#define RCC_APB4LPENR_LPTIM5LPEN               RCC_APB4LPENR_LPTIM5LPEN_Msk
+#define RCC_APB4LPENR_COMP12LPEN_Pos           (14U)
+#define RCC_APB4LPENR_COMP12LPEN_Msk           (0x1UL << RCC_APB4LPENR_COMP12LPEN_Pos) /*!< 0x00004000 */
+#define RCC_APB4LPENR_COMP12LPEN               RCC_APB4LPENR_COMP12LPEN_Msk
+#define RCC_APB4LPENR_VREFLPEN_Pos             (15U)
+#define RCC_APB4LPENR_VREFLPEN_Msk             (0x1UL << RCC_APB4LPENR_VREFLPEN_Pos) /*!< 0x00008000 */
+#define RCC_APB4LPENR_VREFLPEN                 RCC_APB4LPENR_VREFLPEN_Msk
+#define RCC_APB4LPENR_RTCAPBLPEN_Pos           (16U)
+#define RCC_APB4LPENR_RTCAPBLPEN_Msk           (0x1UL << RCC_APB4LPENR_RTCAPBLPEN_Pos) /*!< 0x00010000 */
+#define RCC_APB4LPENR_RTCAPBLPEN               RCC_APB4LPENR_RTCAPBLPEN_Msk
+#define RCC_APB4LPENR_SAI4LPEN_Pos             (21U)
+#define RCC_APB4LPENR_SAI4LPEN_Msk             (0x1UL << RCC_APB4LPENR_SAI4LPEN_Pos) /*!< 0x00200000 */
+#define RCC_APB4LPENR_SAI4LPEN                 RCC_APB4LPENR_SAI4LPEN_Msk
+
+#define RCC_APB4LPENR_DTSLPEN_Pos              (26U)
+#define RCC_APB4LPENR_DTSLPEN_Msk              (0x1UL << RCC_APB4LPENR_DTSLPEN_Pos) /*!< 0x04000000 */
+#define RCC_APB4LPENR_DTSLPEN                  RCC_APB4LPENR_DTSLPEN_Msk
+
+/********************  Bit definition for RCC_RSR register  *******************/
+#define RCC_RSR_RMVF_Pos                       (16U)
+#define RCC_RSR_RMVF_Msk                       (0x1UL << RCC_RSR_RMVF_Pos)     /*!< 0x00010000 */
+#define RCC_RSR_RMVF                           RCC_RSR_RMVF_Msk
+#define RCC_RSR_CPURSTF_Pos                    (17U)
+#define RCC_RSR_CPURSTF_Msk                    (0x1UL << RCC_RSR_CPURSTF_Pos)  /*!< 0x00020000 */
+#define RCC_RSR_CPURSTF                        RCC_RSR_CPURSTF_Msk
+#define RCC_RSR_D1RSTF_Pos                     (19U)
+#define RCC_RSR_D1RSTF_Msk                     (0x1UL << RCC_RSR_D1RSTF_Pos)   /*!< 0x00080000 */
+#define RCC_RSR_D1RSTF                         RCC_RSR_D1RSTF_Msk
+#define RCC_RSR_D2RSTF_Pos                     (20U)
+#define RCC_RSR_D2RSTF_Msk                     (0x1UL << RCC_RSR_D2RSTF_Pos)   /*!< 0x00100000 */
+#define RCC_RSR_D2RSTF                         RCC_RSR_D2RSTF_Msk
+#define RCC_RSR_BORRSTF_Pos                    (21U)
+#define RCC_RSR_BORRSTF_Msk                    (0x1UL << RCC_RSR_BORRSTF_Pos)  /*!< 0x00200000 */
+#define RCC_RSR_BORRSTF                        RCC_RSR_BORRSTF_Msk
+#define RCC_RSR_PINRSTF_Pos                    (22U)
+#define RCC_RSR_PINRSTF_Msk                    (0x1UL << RCC_RSR_PINRSTF_Pos)  /*!< 0x00400000 */
+#define RCC_RSR_PINRSTF                        RCC_RSR_PINRSTF_Msk
+#define RCC_RSR_PORRSTF_Pos                    (23U)
+#define RCC_RSR_PORRSTF_Msk                    (0x1UL << RCC_RSR_PORRSTF_Pos)  /*!< 0x00800000 */
+#define RCC_RSR_PORRSTF                        RCC_RSR_PORRSTF_Msk
+#define RCC_RSR_SFTRSTF_Pos                    (24U)
+#define RCC_RSR_SFTRSTF_Msk                    (0x1UL << RCC_RSR_SFTRSTF_Pos)  /*!< 0x01000000 */
+#define RCC_RSR_SFTRSTF                        RCC_RSR_SFTRSTF_Msk
+#define RCC_RSR_IWDG1RSTF_Pos                  (26U)
+#define RCC_RSR_IWDG1RSTF_Msk                  (0x1UL << RCC_RSR_IWDG1RSTF_Pos) /*!< 0x04000000 */
+#define RCC_RSR_IWDG1RSTF                      RCC_RSR_IWDG1RSTF_Msk
+#define RCC_RSR_WWDG1RSTF_Pos                  (28U)
+#define RCC_RSR_WWDG1RSTF_Msk                  (0x1UL << RCC_RSR_WWDG1RSTF_Pos) /*!< 0x10000000 */
+#define RCC_RSR_WWDG1RSTF                      RCC_RSR_WWDG1RSTF_Msk
+
+#define RCC_RSR_LPWRRSTF_Pos                   (30U)
+#define RCC_RSR_LPWRRSTF_Msk                   (0x1UL << RCC_RSR_LPWRRSTF_Pos) /*!< 0x40000000 */
+#define RCC_RSR_LPWRRSTF                       RCC_RSR_LPWRRSTF_Msk
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    RNG                                     */
+/*                                                                            */
+/******************************************************************************/
+/***************************    RNG VER  **************************************/
+#define RNG_VER_3_2
+/********************  Bits definition for RNG_CR register  *******************/
+#define RNG_CR_RNGEN_Pos    (2U)
+#define RNG_CR_RNGEN_Msk    (0x1UL << RNG_CR_RNGEN_Pos)                        /*!< 0x00000004 */
+#define RNG_CR_RNGEN        RNG_CR_RNGEN_Msk
+#define RNG_CR_IE_Pos       (3U)
+#define RNG_CR_IE_Msk       (0x1UL << RNG_CR_IE_Pos)                           /*!< 0x00000008 */
+#define RNG_CR_IE           RNG_CR_IE_Msk
+#define RNG_CR_CED_Pos      (5U)
+#define RNG_CR_CED_Msk      (0x1UL << RNG_CR_CED_Pos)                          /*!< 0x00000020 */
+#define RNG_CR_CED          RNG_CR_CED_Msk
+#define RNG_CR_RNG_CONFIG3_Pos      (8U)
+#define RNG_CR_RNG_CONFIG3_Msk      (0xFUL << RNG_CR_RNG_CONFIG3_Pos)          /*!< 0x00000F00 */
+#define RNG_CR_RNG_CONFIG3          RNG_CR_RNG_CONFIG3_Msk
+#define RNG_CR_NISTC_Pos            (12U)
+#define RNG_CR_NISTC_Msk            (0x1UL << RNG_CR_NISTC_Pos)                /*!< 0x00001000 */
+#define RNG_CR_NISTC                RNG_CR_NISTC_Msk
+#define RNG_CR_RNG_CONFIG2_Pos      (13U)
+#define RNG_CR_RNG_CONFIG2_Msk      (0x7UL << RNG_CR_RNG_CONFIG2_Pos)          /*!< 0x0000E000 */
+#define RNG_CR_RNG_CONFIG2          RNG_CR_RNG_CONFIG2_Msk
+#define RNG_CR_CLKDIV_Pos           (16U)
+#define RNG_CR_CLKDIV_Msk           (0xFUL << RNG_CR_CLKDIV_Pos)               /*!< 0x000F0000 */
+#define RNG_CR_CLKDIV               RNG_CR_CLKDIV_Msk
+#define RNG_CR_CLKDIV_0             (0x1U << RNG_CR_CLKDIV_Pos)                /*!< 0x00010000 */
+#define RNG_CR_CLKDIV_1             (0x2U << RNG_CR_CLKDIV_Pos)                /*!< 0x00020000 */
+#define RNG_CR_CLKDIV_2             (0x4U << RNG_CR_CLKDIV_Pos)                /*!< 0x00040000 */
+#define RNG_CR_CLKDIV_3             (0x8U << RNG_CR_CLKDIV_Pos)                /*!< 0x00080000 */
+#define RNG_CR_RNG_CONFIG1_Pos      (20U)
+#define RNG_CR_RNG_CONFIG1_Msk      (0x3FUL << RNG_CR_RNG_CONFIG1_Pos)         /*!< 0x03F00000 */
+#define RNG_CR_RNG_CONFIG1          RNG_CR_RNG_CONFIG1_Msk
+#define RNG_CR_CONDRST_Pos         (30U)
+#define RNG_CR_CONDRST_Msk         (0x1UL << RNG_CR_CONDRST_Pos)                  /*!< 0x40000000 */
+#define RNG_CR_CONDRST             RNG_CR_CONDRST_Msk
+#define RNG_CR_CONFIGLOCK_Pos      (31U)
+#define RNG_CR_CONFIGLOCK_Msk      (0x1UL << RNG_CR_CONFIGLOCK_Pos)            /*!< 0x80000000 */
+#define RNG_CR_CONFIGLOCK          RNG_CR_CONFIGLOCK_Msk
+
+/********************  Bits definition for RNG_SR register  *******************/
+#define RNG_SR_DRDY_Pos     (0U)
+#define RNG_SR_DRDY_Msk     (0x1UL << RNG_SR_DRDY_Pos)                         /*!< 0x00000001 */
+#define RNG_SR_DRDY         RNG_SR_DRDY_Msk
+#define RNG_SR_CECS_Pos     (1U)
+#define RNG_SR_CECS_Msk     (0x1UL << RNG_SR_CECS_Pos)                         /*!< 0x00000002 */
+#define RNG_SR_CECS         RNG_SR_CECS_Msk
+#define RNG_SR_SECS_Pos     (2U)
+#define RNG_SR_SECS_Msk     (0x1UL << RNG_SR_SECS_Pos)                         /*!< 0x00000004 */
+#define RNG_SR_SECS         RNG_SR_SECS_Msk
+#define RNG_SR_CEIS_Pos     (5U)
+#define RNG_SR_CEIS_Msk     (0x1UL << RNG_SR_CEIS_Pos)                         /*!< 0x00000020 */
+#define RNG_SR_CEIS         RNG_SR_CEIS_Msk
+#define RNG_SR_SEIS_Pos     (6U)
+#define RNG_SR_SEIS_Msk     (0x1UL << RNG_SR_SEIS_Pos)                         /*!< 0x00000040 */
+#define RNG_SR_SEIS         RNG_SR_SEIS_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                           Real-Time Clock (RTC)                            */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bits definition for RTC_TR register  *******************/
+#define RTC_TR_PM_Pos                  (22U)
+#define RTC_TR_PM_Msk                  (0x1UL << RTC_TR_PM_Pos)                /*!< 0x00400000 */
+#define RTC_TR_PM                      RTC_TR_PM_Msk
+#define RTC_TR_HT_Pos                  (20U)
+#define RTC_TR_HT_Msk                  (0x3UL << RTC_TR_HT_Pos)                /*!< 0x00300000 */
+#define RTC_TR_HT                      RTC_TR_HT_Msk
+#define RTC_TR_HT_0                    (0x1UL << RTC_TR_HT_Pos)                 /*!< 0x00100000 */
+#define RTC_TR_HT_1                    (0x2UL << RTC_TR_HT_Pos)                 /*!< 0x00200000 */
+#define RTC_TR_HU_Pos                  (16U)
+#define RTC_TR_HU_Msk                  (0xFUL << RTC_TR_HU_Pos)                /*!< 0x000F0000 */
+#define RTC_TR_HU                      RTC_TR_HU_Msk
+#define RTC_TR_HU_0                    (0x1UL << RTC_TR_HU_Pos)                 /*!< 0x00010000 */
+#define RTC_TR_HU_1                    (0x2UL << RTC_TR_HU_Pos)                 /*!< 0x00020000 */
+#define RTC_TR_HU_2                    (0x4UL << RTC_TR_HU_Pos)                 /*!< 0x00040000 */
+#define RTC_TR_HU_3                    (0x8UL << RTC_TR_HU_Pos)                 /*!< 0x00080000 */
+#define RTC_TR_MNT_Pos                 (12U)
+#define RTC_TR_MNT_Msk                 (0x7UL << RTC_TR_MNT_Pos)               /*!< 0x00007000 */
+#define RTC_TR_MNT                     RTC_TR_MNT_Msk
+#define RTC_TR_MNT_0                   (0x1UL << RTC_TR_MNT_Pos)                /*!< 0x00001000 */
+#define RTC_TR_MNT_1                   (0x2UL << RTC_TR_MNT_Pos)                /*!< 0x00002000 */
+#define RTC_TR_MNT_2                   (0x4UL << RTC_TR_MNT_Pos)                /*!< 0x00004000 */
+#define RTC_TR_MNU_Pos                 (8U)
+#define RTC_TR_MNU_Msk                 (0xFUL << RTC_TR_MNU_Pos)               /*!< 0x00000F00 */
+#define RTC_TR_MNU                     RTC_TR_MNU_Msk
+#define RTC_TR_MNU_0                   (0x1UL << RTC_TR_MNU_Pos)                /*!< 0x00000100 */
+#define RTC_TR_MNU_1                   (0x2UL << RTC_TR_MNU_Pos)                /*!< 0x00000200 */
+#define RTC_TR_MNU_2                   (0x4UL << RTC_TR_MNU_Pos)                /*!< 0x00000400 */
+#define RTC_TR_MNU_3                   (0x8UL << RTC_TR_MNU_Pos)                /*!< 0x00000800 */
+#define RTC_TR_ST_Pos                  (4U)
+#define RTC_TR_ST_Msk                  (0x7UL << RTC_TR_ST_Pos)                /*!< 0x00000070 */
+#define RTC_TR_ST                      RTC_TR_ST_Msk
+#define RTC_TR_ST_0                    (0x1UL << RTC_TR_ST_Pos)                 /*!< 0x00000010 */
+#define RTC_TR_ST_1                    (0x2UL << RTC_TR_ST_Pos)                 /*!< 0x00000020 */
+#define RTC_TR_ST_2                    (0x4UL << RTC_TR_ST_Pos)                 /*!< 0x00000040 */
+#define RTC_TR_SU_Pos                  (0U)
+#define RTC_TR_SU_Msk                  (0xFUL << RTC_TR_SU_Pos)                /*!< 0x0000000F */
+#define RTC_TR_SU                      RTC_TR_SU_Msk
+#define RTC_TR_SU_0                    (0x1UL << RTC_TR_SU_Pos)                 /*!< 0x00000001 */
+#define RTC_TR_SU_1                    (0x2UL << RTC_TR_SU_Pos)                 /*!< 0x00000002 */
+#define RTC_TR_SU_2                    (0x4UL << RTC_TR_SU_Pos)                 /*!< 0x00000004 */
+#define RTC_TR_SU_3                    (0x8UL << RTC_TR_SU_Pos)                 /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_DR register  *******************/
+#define RTC_DR_YT_Pos                  (20U)
+#define RTC_DR_YT_Msk                  (0xFUL << RTC_DR_YT_Pos)                /*!< 0x00F00000 */
+#define RTC_DR_YT                      RTC_DR_YT_Msk
+#define RTC_DR_YT_0                    (0x1UL << RTC_DR_YT_Pos)                 /*!< 0x00100000 */
+#define RTC_DR_YT_1                    (0x2UL << RTC_DR_YT_Pos)                 /*!< 0x00200000 */
+#define RTC_DR_YT_2                    (0x4UL << RTC_DR_YT_Pos)                 /*!< 0x00400000 */
+#define RTC_DR_YT_3                    (0x8UL << RTC_DR_YT_Pos)                 /*!< 0x00800000 */
+#define RTC_DR_YU_Pos                  (16U)
+#define RTC_DR_YU_Msk                  (0xFUL << RTC_DR_YU_Pos)                /*!< 0x000F0000 */
+#define RTC_DR_YU                      RTC_DR_YU_Msk
+#define RTC_DR_YU_0                    (0x1UL << RTC_DR_YU_Pos)                 /*!< 0x00010000 */
+#define RTC_DR_YU_1                    (0x2UL << RTC_DR_YU_Pos)                 /*!< 0x00020000 */
+#define RTC_DR_YU_2                    (0x4UL << RTC_DR_YU_Pos)                 /*!< 0x00040000 */
+#define RTC_DR_YU_3                    (0x8UL << RTC_DR_YU_Pos)                 /*!< 0x00080000 */
+#define RTC_DR_WDU_Pos                 (13U)
+#define RTC_DR_WDU_Msk                 (0x7UL << RTC_DR_WDU_Pos)               /*!< 0x0000E000 */
+#define RTC_DR_WDU                     RTC_DR_WDU_Msk
+#define RTC_DR_WDU_0                   (0x1UL << RTC_DR_WDU_Pos)                /*!< 0x00002000 */
+#define RTC_DR_WDU_1                   (0x2UL << RTC_DR_WDU_Pos)                /*!< 0x00004000 */
+#define RTC_DR_WDU_2                   (0x4UL << RTC_DR_WDU_Pos)                /*!< 0x00008000 */
+#define RTC_DR_MT_Pos                  (12U)
+#define RTC_DR_MT_Msk                  (0x1UL << RTC_DR_MT_Pos)                /*!< 0x00001000 */
+#define RTC_DR_MT                      RTC_DR_MT_Msk
+#define RTC_DR_MU_Pos                  (8U)
+#define RTC_DR_MU_Msk                  (0xFUL << RTC_DR_MU_Pos)                /*!< 0x00000F00 */
+#define RTC_DR_MU                      RTC_DR_MU_Msk
+#define RTC_DR_MU_0                    (0x1UL << RTC_DR_MU_Pos)                 /*!< 0x00000100 */
+#define RTC_DR_MU_1                    (0x2UL << RTC_DR_MU_Pos)                 /*!< 0x00000200 */
+#define RTC_DR_MU_2                    (0x4UL << RTC_DR_MU_Pos)                 /*!< 0x00000400 */
+#define RTC_DR_MU_3                    (0x8UL << RTC_DR_MU_Pos)                 /*!< 0x00000800 */
+#define RTC_DR_DT_Pos                  (4U)
+#define RTC_DR_DT_Msk                  (0x3UL << RTC_DR_DT_Pos)                /*!< 0x00000030 */
+#define RTC_DR_DT                      RTC_DR_DT_Msk
+#define RTC_DR_DT_0                    (0x1UL << RTC_DR_DT_Pos)                 /*!< 0x00000010 */
+#define RTC_DR_DT_1                    (0x2UL << RTC_DR_DT_Pos)                 /*!< 0x00000020 */
+#define RTC_DR_DU_Pos                  (0U)
+#define RTC_DR_DU_Msk                  (0xFUL << RTC_DR_DU_Pos)                /*!< 0x0000000F */
+#define RTC_DR_DU                      RTC_DR_DU_Msk
+#define RTC_DR_DU_0                    (0x1UL << RTC_DR_DU_Pos)                 /*!< 0x00000001 */
+#define RTC_DR_DU_1                    (0x2UL << RTC_DR_DU_Pos)                 /*!< 0x00000002 */
+#define RTC_DR_DU_2                    (0x4UL << RTC_DR_DU_Pos)                 /*!< 0x00000004 */
+#define RTC_DR_DU_3                    (0x8UL << RTC_DR_DU_Pos)                 /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_CR register  *******************/
+#define RTC_CR_ITSE_Pos                (24U)
+#define RTC_CR_ITSE_Msk                (0x1UL << RTC_CR_ITSE_Pos)              /*!< 0x01000000 */
+#define RTC_CR_ITSE                    RTC_CR_ITSE_Msk
+#define RTC_CR_COE_Pos                 (23U)
+#define RTC_CR_COE_Msk                 (0x1UL << RTC_CR_COE_Pos)               /*!< 0x00800000 */
+#define RTC_CR_COE                     RTC_CR_COE_Msk
+#define RTC_CR_OSEL_Pos                (21U)
+#define RTC_CR_OSEL_Msk                (0x3UL << RTC_CR_OSEL_Pos)              /*!< 0x00600000 */
+#define RTC_CR_OSEL                    RTC_CR_OSEL_Msk
+#define RTC_CR_OSEL_0                  (0x1UL << RTC_CR_OSEL_Pos)               /*!< 0x00200000 */
+#define RTC_CR_OSEL_1                  (0x2UL << RTC_CR_OSEL_Pos)               /*!< 0x00400000 */
+#define RTC_CR_POL_Pos                 (20U)
+#define RTC_CR_POL_Msk                 (0x1UL << RTC_CR_POL_Pos)               /*!< 0x00100000 */
+#define RTC_CR_POL                     RTC_CR_POL_Msk
+#define RTC_CR_COSEL_Pos               (19U)
+#define RTC_CR_COSEL_Msk               (0x1UL << RTC_CR_COSEL_Pos)             /*!< 0x00080000 */
+#define RTC_CR_COSEL                   RTC_CR_COSEL_Msk
+#define RTC_CR_BKP_Pos                 (18U)
+#define RTC_CR_BKP_Msk                 (0x1UL << RTC_CR_BKP_Pos)               /*!< 0x00040000 */
+#define RTC_CR_BKP                     RTC_CR_BKP_Msk
+#define RTC_CR_SUB1H_Pos               (17U)
+#define RTC_CR_SUB1H_Msk               (0x1UL << RTC_CR_SUB1H_Pos)             /*!< 0x00020000 */
+#define RTC_CR_SUB1H                   RTC_CR_SUB1H_Msk
+#define RTC_CR_ADD1H_Pos               (16U)
+#define RTC_CR_ADD1H_Msk               (0x1UL << RTC_CR_ADD1H_Pos)             /*!< 0x00010000 */
+#define RTC_CR_ADD1H                   RTC_CR_ADD1H_Msk
+#define RTC_CR_TSIE_Pos                (15U)
+#define RTC_CR_TSIE_Msk                (0x1UL << RTC_CR_TSIE_Pos)              /*!< 0x00008000 */
+#define RTC_CR_TSIE                    RTC_CR_TSIE_Msk
+#define RTC_CR_WUTIE_Pos               (14U)
+#define RTC_CR_WUTIE_Msk               (0x1UL << RTC_CR_WUTIE_Pos)             /*!< 0x00004000 */
+#define RTC_CR_WUTIE                   RTC_CR_WUTIE_Msk
+#define RTC_CR_ALRBIE_Pos              (13U)
+#define RTC_CR_ALRBIE_Msk              (0x1UL << RTC_CR_ALRBIE_Pos)            /*!< 0x00002000 */
+#define RTC_CR_ALRBIE                  RTC_CR_ALRBIE_Msk
+#define RTC_CR_ALRAIE_Pos              (12U)
+#define RTC_CR_ALRAIE_Msk              (0x1UL << RTC_CR_ALRAIE_Pos)            /*!< 0x00001000 */
+#define RTC_CR_ALRAIE                  RTC_CR_ALRAIE_Msk
+#define RTC_CR_TSE_Pos                 (11U)
+#define RTC_CR_TSE_Msk                 (0x1UL << RTC_CR_TSE_Pos)               /*!< 0x00000800 */
+#define RTC_CR_TSE                     RTC_CR_TSE_Msk
+#define RTC_CR_WUTE_Pos                (10U)
+#define RTC_CR_WUTE_Msk                (0x1UL << RTC_CR_WUTE_Pos)              /*!< 0x00000400 */
+#define RTC_CR_WUTE                    RTC_CR_WUTE_Msk
+#define RTC_CR_ALRBE_Pos               (9U)
+#define RTC_CR_ALRBE_Msk               (0x1UL << RTC_CR_ALRBE_Pos)             /*!< 0x00000200 */
+#define RTC_CR_ALRBE                   RTC_CR_ALRBE_Msk
+#define RTC_CR_ALRAE_Pos               (8U)
+#define RTC_CR_ALRAE_Msk               (0x1UL << RTC_CR_ALRAE_Pos)             /*!< 0x00000100 */
+#define RTC_CR_ALRAE                   RTC_CR_ALRAE_Msk
+#define RTC_CR_FMT_Pos                 (6U)
+#define RTC_CR_FMT_Msk                 (0x1UL << RTC_CR_FMT_Pos)               /*!< 0x00000040 */
+#define RTC_CR_FMT                     RTC_CR_FMT_Msk
+#define RTC_CR_BYPSHAD_Pos             (5U)
+#define RTC_CR_BYPSHAD_Msk             (0x1UL << RTC_CR_BYPSHAD_Pos)           /*!< 0x00000020 */
+#define RTC_CR_BYPSHAD                 RTC_CR_BYPSHAD_Msk
+#define RTC_CR_REFCKON_Pos             (4U)
+#define RTC_CR_REFCKON_Msk             (0x1UL << RTC_CR_REFCKON_Pos)           /*!< 0x00000010 */
+#define RTC_CR_REFCKON                 RTC_CR_REFCKON_Msk
+#define RTC_CR_TSEDGE_Pos              (3U)
+#define RTC_CR_TSEDGE_Msk              (0x1UL << RTC_CR_TSEDGE_Pos)            /*!< 0x00000008 */
+#define RTC_CR_TSEDGE                  RTC_CR_TSEDGE_Msk
+#define RTC_CR_WUCKSEL_Pos             (0U)
+#define RTC_CR_WUCKSEL_Msk             (0x7UL << RTC_CR_WUCKSEL_Pos)           /*!< 0x00000007 */
+#define RTC_CR_WUCKSEL                 RTC_CR_WUCKSEL_Msk
+#define RTC_CR_WUCKSEL_0               (0x1UL << RTC_CR_WUCKSEL_Pos)            /*!< 0x00000001 */
+#define RTC_CR_WUCKSEL_1               (0x2UL << RTC_CR_WUCKSEL_Pos)            /*!< 0x00000002 */
+#define RTC_CR_WUCKSEL_2               (0x4UL << RTC_CR_WUCKSEL_Pos)            /*!< 0x00000004 */
+
+/********************  Bits definition for RTC_ISR register  ******************/
+#define RTC_ISR_ITSF_Pos               (17U)
+#define RTC_ISR_ITSF_Msk               (0x1UL << RTC_ISR_ITSF_Pos)             /*!< 0x00020000 */
+#define RTC_ISR_ITSF                   RTC_ISR_ITSF_Msk
+#define RTC_ISR_RECALPF_Pos            (16U)
+#define RTC_ISR_RECALPF_Msk            (0x1UL << RTC_ISR_RECALPF_Pos)          /*!< 0x00010000 */
+#define RTC_ISR_RECALPF                RTC_ISR_RECALPF_Msk
+#define RTC_ISR_TAMP3F_Pos             (15U)
+#define RTC_ISR_TAMP3F_Msk             (0x1UL << RTC_ISR_TAMP3F_Pos)           /*!< 0x00008000 */
+#define RTC_ISR_TAMP3F                 RTC_ISR_TAMP3F_Msk
+#define RTC_ISR_TAMP2F_Pos             (14U)
+#define RTC_ISR_TAMP2F_Msk             (0x1UL << RTC_ISR_TAMP2F_Pos)           /*!< 0x00004000 */
+#define RTC_ISR_TAMP2F                 RTC_ISR_TAMP2F_Msk
+#define RTC_ISR_TAMP1F_Pos             (13U)
+#define RTC_ISR_TAMP1F_Msk             (0x1UL << RTC_ISR_TAMP1F_Pos)           /*!< 0x00002000 */
+#define RTC_ISR_TAMP1F                 RTC_ISR_TAMP1F_Msk
+#define RTC_ISR_TSOVF_Pos              (12U)
+#define RTC_ISR_TSOVF_Msk              (0x1UL << RTC_ISR_TSOVF_Pos)            /*!< 0x00001000 */
+#define RTC_ISR_TSOVF                  RTC_ISR_TSOVF_Msk
+#define RTC_ISR_TSF_Pos                (11U)
+#define RTC_ISR_TSF_Msk                (0x1UL << RTC_ISR_TSF_Pos)              /*!< 0x00000800 */
+#define RTC_ISR_TSF                    RTC_ISR_TSF_Msk
+#define RTC_ISR_WUTF_Pos               (10U)
+#define RTC_ISR_WUTF_Msk               (0x1UL << RTC_ISR_WUTF_Pos)             /*!< 0x00000400 */
+#define RTC_ISR_WUTF                   RTC_ISR_WUTF_Msk
+#define RTC_ISR_ALRBF_Pos              (9U)
+#define RTC_ISR_ALRBF_Msk              (0x1UL << RTC_ISR_ALRBF_Pos)            /*!< 0x00000200 */
+#define RTC_ISR_ALRBF                  RTC_ISR_ALRBF_Msk
+#define RTC_ISR_ALRAF_Pos              (8U)
+#define RTC_ISR_ALRAF_Msk              (0x1UL << RTC_ISR_ALRAF_Pos)            /*!< 0x00000100 */
+#define RTC_ISR_ALRAF                  RTC_ISR_ALRAF_Msk
+#define RTC_ISR_INIT_Pos               (7U)
+#define RTC_ISR_INIT_Msk               (0x1UL << RTC_ISR_INIT_Pos)             /*!< 0x00000080 */
+#define RTC_ISR_INIT                   RTC_ISR_INIT_Msk
+#define RTC_ISR_INITF_Pos              (6U)
+#define RTC_ISR_INITF_Msk              (0x1UL << RTC_ISR_INITF_Pos)            /*!< 0x00000040 */
+#define RTC_ISR_INITF                  RTC_ISR_INITF_Msk
+#define RTC_ISR_RSF_Pos                (5U)
+#define RTC_ISR_RSF_Msk                (0x1UL << RTC_ISR_RSF_Pos)              /*!< 0x00000020 */
+#define RTC_ISR_RSF                    RTC_ISR_RSF_Msk
+#define RTC_ISR_INITS_Pos              (4U)
+#define RTC_ISR_INITS_Msk              (0x1UL << RTC_ISR_INITS_Pos)            /*!< 0x00000010 */
+#define RTC_ISR_INITS                  RTC_ISR_INITS_Msk
+#define RTC_ISR_SHPF_Pos               (3U)
+#define RTC_ISR_SHPF_Msk               (0x1UL << RTC_ISR_SHPF_Pos)             /*!< 0x00000008 */
+#define RTC_ISR_SHPF                   RTC_ISR_SHPF_Msk
+#define RTC_ISR_WUTWF_Pos              (2U)
+#define RTC_ISR_WUTWF_Msk              (0x1UL << RTC_ISR_WUTWF_Pos)            /*!< 0x00000004 */
+#define RTC_ISR_WUTWF                  RTC_ISR_WUTWF_Msk
+#define RTC_ISR_ALRBWF_Pos             (1U)
+#define RTC_ISR_ALRBWF_Msk             (0x1UL << RTC_ISR_ALRBWF_Pos)           /*!< 0x00000002 */
+#define RTC_ISR_ALRBWF                 RTC_ISR_ALRBWF_Msk
+#define RTC_ISR_ALRAWF_Pos             (0U)
+#define RTC_ISR_ALRAWF_Msk             (0x1UL << RTC_ISR_ALRAWF_Pos)           /*!< 0x00000001 */
+#define RTC_ISR_ALRAWF                 RTC_ISR_ALRAWF_Msk
+
+/********************  Bits definition for RTC_PRER register  *****************/
+#define RTC_PRER_PREDIV_A_Pos          (16U)
+#define RTC_PRER_PREDIV_A_Msk          (0x7FUL << RTC_PRER_PREDIV_A_Pos)       /*!< 0x007F0000 */
+#define RTC_PRER_PREDIV_A              RTC_PRER_PREDIV_A_Msk
+#define RTC_PRER_PREDIV_S_Pos          (0U)
+#define RTC_PRER_PREDIV_S_Msk          (0x7FFFUL << RTC_PRER_PREDIV_S_Pos)     /*!< 0x00007FFF */
+#define RTC_PRER_PREDIV_S              RTC_PRER_PREDIV_S_Msk
+
+/********************  Bits definition for RTC_WUTR register  *****************/
+#define RTC_WUTR_WUT_Pos               (0U)
+#define RTC_WUTR_WUT_Msk               (0xFFFFUL << RTC_WUTR_WUT_Pos)          /*!< 0x0000FFFF */
+#define RTC_WUTR_WUT                   RTC_WUTR_WUT_Msk
+
+/********************  Bits definition for RTC_ALRMAR register  ***************/
+#define RTC_ALRMAR_MSK4_Pos            (31U)
+#define RTC_ALRMAR_MSK4_Msk            (0x1UL << RTC_ALRMAR_MSK4_Pos)          /*!< 0x80000000 */
+#define RTC_ALRMAR_MSK4                RTC_ALRMAR_MSK4_Msk
+#define RTC_ALRMAR_WDSEL_Pos           (30U)
+#define RTC_ALRMAR_WDSEL_Msk           (0x1UL << RTC_ALRMAR_WDSEL_Pos)         /*!< 0x40000000 */
+#define RTC_ALRMAR_WDSEL               RTC_ALRMAR_WDSEL_Msk
+#define RTC_ALRMAR_DT_Pos              (28U)
+#define RTC_ALRMAR_DT_Msk              (0x3UL << RTC_ALRMAR_DT_Pos)            /*!< 0x30000000 */
+#define RTC_ALRMAR_DT                  RTC_ALRMAR_DT_Msk
+#define RTC_ALRMAR_DT_0                (0x1UL << RTC_ALRMAR_DT_Pos)             /*!< 0x10000000 */
+#define RTC_ALRMAR_DT_1                (0x2UL << RTC_ALRMAR_DT_Pos)             /*!< 0x20000000 */
+#define RTC_ALRMAR_DU_Pos              (24U)
+#define RTC_ALRMAR_DU_Msk              (0xFUL << RTC_ALRMAR_DU_Pos)            /*!< 0x0F000000 */
+#define RTC_ALRMAR_DU                  RTC_ALRMAR_DU_Msk
+#define RTC_ALRMAR_DU_0                (0x1UL << RTC_ALRMAR_DU_Pos)             /*!< 0x01000000 */
+#define RTC_ALRMAR_DU_1                (0x2UL << RTC_ALRMAR_DU_Pos)             /*!< 0x02000000 */
+#define RTC_ALRMAR_DU_2                (0x4UL << RTC_ALRMAR_DU_Pos)             /*!< 0x04000000 */
+#define RTC_ALRMAR_DU_3                (0x8UL << RTC_ALRMAR_DU_Pos)             /*!< 0x08000000 */
+#define RTC_ALRMAR_MSK3_Pos            (23U)
+#define RTC_ALRMAR_MSK3_Msk            (0x1UL << RTC_ALRMAR_MSK3_Pos)          /*!< 0x00800000 */
+#define RTC_ALRMAR_MSK3                RTC_ALRMAR_MSK3_Msk
+#define RTC_ALRMAR_PM_Pos              (22U)
+#define RTC_ALRMAR_PM_Msk              (0x1UL << RTC_ALRMAR_PM_Pos)            /*!< 0x00400000 */
+#define RTC_ALRMAR_PM                  RTC_ALRMAR_PM_Msk
+#define RTC_ALRMAR_HT_Pos              (20U)
+#define RTC_ALRMAR_HT_Msk              (0x3UL << RTC_ALRMAR_HT_Pos)            /*!< 0x00300000 */
+#define RTC_ALRMAR_HT                  RTC_ALRMAR_HT_Msk
+#define RTC_ALRMAR_HT_0                (0x1UL << RTC_ALRMAR_HT_Pos)             /*!< 0x00100000 */
+#define RTC_ALRMAR_HT_1                (0x2UL << RTC_ALRMAR_HT_Pos)             /*!< 0x00200000 */
+#define RTC_ALRMAR_HU_Pos              (16U)
+#define RTC_ALRMAR_HU_Msk              (0xFUL << RTC_ALRMAR_HU_Pos)            /*!< 0x000F0000 */
+#define RTC_ALRMAR_HU                  RTC_ALRMAR_HU_Msk
+#define RTC_ALRMAR_HU_0                (0x1UL << RTC_ALRMAR_HU_Pos)             /*!< 0x00010000 */
+#define RTC_ALRMAR_HU_1                (0x2UL << RTC_ALRMAR_HU_Pos)             /*!< 0x00020000 */
+#define RTC_ALRMAR_HU_2                (0x4UL << RTC_ALRMAR_HU_Pos)             /*!< 0x00040000 */
+#define RTC_ALRMAR_HU_3                (0x8UL << RTC_ALRMAR_HU_Pos)             /*!< 0x00080000 */
+#define RTC_ALRMAR_MSK2_Pos            (15U)
+#define RTC_ALRMAR_MSK2_Msk            (0x1UL << RTC_ALRMAR_MSK2_Pos)          /*!< 0x00008000 */
+#define RTC_ALRMAR_MSK2                RTC_ALRMAR_MSK2_Msk
+#define RTC_ALRMAR_MNT_Pos             (12U)
+#define RTC_ALRMAR_MNT_Msk             (0x7UL << RTC_ALRMAR_MNT_Pos)           /*!< 0x00007000 */
+#define RTC_ALRMAR_MNT                 RTC_ALRMAR_MNT_Msk
+#define RTC_ALRMAR_MNT_0               (0x1UL << RTC_ALRMAR_MNT_Pos)            /*!< 0x00001000 */
+#define RTC_ALRMAR_MNT_1               (0x2UL << RTC_ALRMAR_MNT_Pos)            /*!< 0x00002000 */
+#define RTC_ALRMAR_MNT_2               (0x4UL << RTC_ALRMAR_MNT_Pos)            /*!< 0x00004000 */
+#define RTC_ALRMAR_MNU_Pos             (8U)
+#define RTC_ALRMAR_MNU_Msk             (0xFUL << RTC_ALRMAR_MNU_Pos)           /*!< 0x00000F00 */
+#define RTC_ALRMAR_MNU                 RTC_ALRMAR_MNU_Msk
+#define RTC_ALRMAR_MNU_0               (0x1UL << RTC_ALRMAR_MNU_Pos)            /*!< 0x00000100 */
+#define RTC_ALRMAR_MNU_1               (0x2UL << RTC_ALRMAR_MNU_Pos)            /*!< 0x00000200 */
+#define RTC_ALRMAR_MNU_2               (0x4UL << RTC_ALRMAR_MNU_Pos)            /*!< 0x00000400 */
+#define RTC_ALRMAR_MNU_3               (0x8UL << RTC_ALRMAR_MNU_Pos)            /*!< 0x00000800 */
+#define RTC_ALRMAR_MSK1_Pos            (7U)
+#define RTC_ALRMAR_MSK1_Msk            (0x1UL << RTC_ALRMAR_MSK1_Pos)          /*!< 0x00000080 */
+#define RTC_ALRMAR_MSK1                RTC_ALRMAR_MSK1_Msk
+#define RTC_ALRMAR_ST_Pos              (4U)
+#define RTC_ALRMAR_ST_Msk              (0x7UL << RTC_ALRMAR_ST_Pos)            /*!< 0x00000070 */
+#define RTC_ALRMAR_ST                  RTC_ALRMAR_ST_Msk
+#define RTC_ALRMAR_ST_0                (0x1UL << RTC_ALRMAR_ST_Pos)             /*!< 0x00000010 */
+#define RTC_ALRMAR_ST_1                (0x2UL << RTC_ALRMAR_ST_Pos)             /*!< 0x00000020 */
+#define RTC_ALRMAR_ST_2                (0x4UL << RTC_ALRMAR_ST_Pos)             /*!< 0x00000040 */
+#define RTC_ALRMAR_SU_Pos              (0U)
+#define RTC_ALRMAR_SU_Msk              (0xFUL << RTC_ALRMAR_SU_Pos)            /*!< 0x0000000F */
+#define RTC_ALRMAR_SU                  RTC_ALRMAR_SU_Msk
+#define RTC_ALRMAR_SU_0                (0x1UL << RTC_ALRMAR_SU_Pos)             /*!< 0x00000001 */
+#define RTC_ALRMAR_SU_1                (0x2UL << RTC_ALRMAR_SU_Pos)             /*!< 0x00000002 */
+#define RTC_ALRMAR_SU_2                (0x4UL << RTC_ALRMAR_SU_Pos)             /*!< 0x00000004 */
+#define RTC_ALRMAR_SU_3                (0x8UL << RTC_ALRMAR_SU_Pos)             /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_ALRMBR register  ***************/
+#define RTC_ALRMBR_MSK4_Pos            (31U)
+#define RTC_ALRMBR_MSK4_Msk            (0x1UL << RTC_ALRMBR_MSK4_Pos)          /*!< 0x80000000 */
+#define RTC_ALRMBR_MSK4                RTC_ALRMBR_MSK4_Msk
+#define RTC_ALRMBR_WDSEL_Pos           (30U)
+#define RTC_ALRMBR_WDSEL_Msk           (0x1UL << RTC_ALRMBR_WDSEL_Pos)         /*!< 0x40000000 */
+#define RTC_ALRMBR_WDSEL               RTC_ALRMBR_WDSEL_Msk
+#define RTC_ALRMBR_DT_Pos              (28U)
+#define RTC_ALRMBR_DT_Msk              (0x3UL << RTC_ALRMBR_DT_Pos)            /*!< 0x30000000 */
+#define RTC_ALRMBR_DT                  RTC_ALRMBR_DT_Msk
+#define RTC_ALRMBR_DT_0                (0x1UL << RTC_ALRMBR_DT_Pos)             /*!< 0x10000000 */
+#define RTC_ALRMBR_DT_1                (0x2UL << RTC_ALRMBR_DT_Pos)             /*!< 0x20000000 */
+#define RTC_ALRMBR_DU_Pos              (24U)
+#define RTC_ALRMBR_DU_Msk              (0xFUL << RTC_ALRMBR_DU_Pos)            /*!< 0x0F000000 */
+#define RTC_ALRMBR_DU                  RTC_ALRMBR_DU_Msk
+#define RTC_ALRMBR_DU_0                (0x1UL << RTC_ALRMBR_DU_Pos)             /*!< 0x01000000 */
+#define RTC_ALRMBR_DU_1                (0x2UL << RTC_ALRMBR_DU_Pos)             /*!< 0x02000000 */
+#define RTC_ALRMBR_DU_2                (0x4UL << RTC_ALRMBR_DU_Pos)             /*!< 0x04000000 */
+#define RTC_ALRMBR_DU_3                (0x8UL << RTC_ALRMBR_DU_Pos)             /*!< 0x08000000 */
+#define RTC_ALRMBR_MSK3_Pos            (23U)
+#define RTC_ALRMBR_MSK3_Msk            (0x1UL << RTC_ALRMBR_MSK3_Pos)          /*!< 0x00800000 */
+#define RTC_ALRMBR_MSK3                RTC_ALRMBR_MSK3_Msk
+#define RTC_ALRMBR_PM_Pos              (22U)
+#define RTC_ALRMBR_PM_Msk              (0x1UL << RTC_ALRMBR_PM_Pos)            /*!< 0x00400000 */
+#define RTC_ALRMBR_PM                  RTC_ALRMBR_PM_Msk
+#define RTC_ALRMBR_HT_Pos              (20U)
+#define RTC_ALRMBR_HT_Msk              (0x3UL << RTC_ALRMBR_HT_Pos)            /*!< 0x00300000 */
+#define RTC_ALRMBR_HT                  RTC_ALRMBR_HT_Msk
+#define RTC_ALRMBR_HT_0                (0x1UL << RTC_ALRMBR_HT_Pos)             /*!< 0x00100000 */
+#define RTC_ALRMBR_HT_1                (0x2UL << RTC_ALRMBR_HT_Pos)             /*!< 0x00200000 */
+#define RTC_ALRMBR_HU_Pos              (16U)
+#define RTC_ALRMBR_HU_Msk              (0xFUL << RTC_ALRMBR_HU_Pos)            /*!< 0x000F0000 */
+#define RTC_ALRMBR_HU                  RTC_ALRMBR_HU_Msk
+#define RTC_ALRMBR_HU_0                (0x1UL << RTC_ALRMBR_HU_Pos)             /*!< 0x00010000 */
+#define RTC_ALRMBR_HU_1                (0x2UL << RTC_ALRMBR_HU_Pos)             /*!< 0x00020000 */
+#define RTC_ALRMBR_HU_2                (0x4UL << RTC_ALRMBR_HU_Pos)             /*!< 0x00040000 */
+#define RTC_ALRMBR_HU_3                (0x8UL << RTC_ALRMBR_HU_Pos)             /*!< 0x00080000 */
+#define RTC_ALRMBR_MSK2_Pos            (15U)
+#define RTC_ALRMBR_MSK2_Msk            (0x1UL << RTC_ALRMBR_MSK2_Pos)          /*!< 0x00008000 */
+#define RTC_ALRMBR_MSK2                RTC_ALRMBR_MSK2_Msk
+#define RTC_ALRMBR_MNT_Pos             (12U)
+#define RTC_ALRMBR_MNT_Msk             (0x7UL << RTC_ALRMBR_MNT_Pos)           /*!< 0x00007000 */
+#define RTC_ALRMBR_MNT                 RTC_ALRMBR_MNT_Msk
+#define RTC_ALRMBR_MNT_0               (0x1UL << RTC_ALRMBR_MNT_Pos)            /*!< 0x00001000 */
+#define RTC_ALRMBR_MNT_1               (0x2UL << RTC_ALRMBR_MNT_Pos)            /*!< 0x00002000 */
+#define RTC_ALRMBR_MNT_2               (0x4UL << RTC_ALRMBR_MNT_Pos)            /*!< 0x00004000 */
+#define RTC_ALRMBR_MNU_Pos             (8U)
+#define RTC_ALRMBR_MNU_Msk             (0xFUL << RTC_ALRMBR_MNU_Pos)           /*!< 0x00000F00 */
+#define RTC_ALRMBR_MNU                 RTC_ALRMBR_MNU_Msk
+#define RTC_ALRMBR_MNU_0               (0x1UL << RTC_ALRMBR_MNU_Pos)            /*!< 0x00000100 */
+#define RTC_ALRMBR_MNU_1               (0x2UL << RTC_ALRMBR_MNU_Pos)            /*!< 0x00000200 */
+#define RTC_ALRMBR_MNU_2               (0x4UL << RTC_ALRMBR_MNU_Pos)            /*!< 0x00000400 */
+#define RTC_ALRMBR_MNU_3               (0x8UL << RTC_ALRMBR_MNU_Pos)            /*!< 0x00000800 */
+#define RTC_ALRMBR_MSK1_Pos            (7U)
+#define RTC_ALRMBR_MSK1_Msk            (0x1UL << RTC_ALRMBR_MSK1_Pos)          /*!< 0x00000080 */
+#define RTC_ALRMBR_MSK1                RTC_ALRMBR_MSK1_Msk
+#define RTC_ALRMBR_ST_Pos              (4U)
+#define RTC_ALRMBR_ST_Msk              (0x7UL << RTC_ALRMBR_ST_Pos)            /*!< 0x00000070 */
+#define RTC_ALRMBR_ST                  RTC_ALRMBR_ST_Msk
+#define RTC_ALRMBR_ST_0                (0x1UL << RTC_ALRMBR_ST_Pos)             /*!< 0x00000010 */
+#define RTC_ALRMBR_ST_1                (0x2UL << RTC_ALRMBR_ST_Pos)             /*!< 0x00000020 */
+#define RTC_ALRMBR_ST_2                (0x4UL << RTC_ALRMBR_ST_Pos)             /*!< 0x00000040 */
+#define RTC_ALRMBR_SU_Pos              (0U)
+#define RTC_ALRMBR_SU_Msk              (0xFUL << RTC_ALRMBR_SU_Pos)            /*!< 0x0000000F */
+#define RTC_ALRMBR_SU                  RTC_ALRMBR_SU_Msk
+#define RTC_ALRMBR_SU_0                (0x1UL << RTC_ALRMBR_SU_Pos)             /*!< 0x00000001 */
+#define RTC_ALRMBR_SU_1                (0x2UL << RTC_ALRMBR_SU_Pos)             /*!< 0x00000002 */
+#define RTC_ALRMBR_SU_2                (0x4UL << RTC_ALRMBR_SU_Pos)             /*!< 0x00000004 */
+#define RTC_ALRMBR_SU_3                (0x8UL << RTC_ALRMBR_SU_Pos)             /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_WPR register  ******************/
+#define RTC_WPR_KEY_Pos                (0U)
+#define RTC_WPR_KEY_Msk                (0xFFUL << RTC_WPR_KEY_Pos)             /*!< 0x000000FF */
+#define RTC_WPR_KEY                    RTC_WPR_KEY_Msk
+
+/********************  Bits definition for RTC_SSR register  ******************/
+#define RTC_SSR_SS_Pos                 (0U)
+#define RTC_SSR_SS_Msk                 (0xFFFFUL << RTC_SSR_SS_Pos)            /*!< 0x0000FFFF */
+#define RTC_SSR_SS                     RTC_SSR_SS_Msk
+
+/********************  Bits definition for RTC_SHIFTR register  ***************/
+#define RTC_SHIFTR_SUBFS_Pos           (0U)
+#define RTC_SHIFTR_SUBFS_Msk           (0x7FFFUL << RTC_SHIFTR_SUBFS_Pos)      /*!< 0x00007FFF */
+#define RTC_SHIFTR_SUBFS               RTC_SHIFTR_SUBFS_Msk
+#define RTC_SHIFTR_ADD1S_Pos           (31U)
+#define RTC_SHIFTR_ADD1S_Msk           (0x1UL << RTC_SHIFTR_ADD1S_Pos)         /*!< 0x80000000 */
+#define RTC_SHIFTR_ADD1S               RTC_SHIFTR_ADD1S_Msk
+
+/********************  Bits definition for RTC_TSTR register  *****************/
+#define RTC_TSTR_PM_Pos                (22U)
+#define RTC_TSTR_PM_Msk                (0x1UL << RTC_TSTR_PM_Pos)              /*!< 0x00400000 */
+#define RTC_TSTR_PM                    RTC_TSTR_PM_Msk
+#define RTC_TSTR_HT_Pos                (20U)
+#define RTC_TSTR_HT_Msk                (0x3UL << RTC_TSTR_HT_Pos)              /*!< 0x00300000 */
+#define RTC_TSTR_HT                    RTC_TSTR_HT_Msk
+#define RTC_TSTR_HT_0                  (0x1UL << RTC_TSTR_HT_Pos)               /*!< 0x00100000 */
+#define RTC_TSTR_HT_1                  (0x2UL << RTC_TSTR_HT_Pos)               /*!< 0x00200000 */
+#define RTC_TSTR_HU_Pos                (16U)
+#define RTC_TSTR_HU_Msk                (0xFUL << RTC_TSTR_HU_Pos)              /*!< 0x000F0000 */
+#define RTC_TSTR_HU                    RTC_TSTR_HU_Msk
+#define RTC_TSTR_HU_0                  (0x1UL << RTC_TSTR_HU_Pos)               /*!< 0x00010000 */
+#define RTC_TSTR_HU_1                  (0x2UL << RTC_TSTR_HU_Pos)               /*!< 0x00020000 */
+#define RTC_TSTR_HU_2                  (0x4UL << RTC_TSTR_HU_Pos)               /*!< 0x00040000 */
+#define RTC_TSTR_HU_3                  (0x8UL << RTC_TSTR_HU_Pos)               /*!< 0x00080000 */
+#define RTC_TSTR_MNT_Pos               (12U)
+#define RTC_TSTR_MNT_Msk               (0x7UL << RTC_TSTR_MNT_Pos)             /*!< 0x00007000 */
+#define RTC_TSTR_MNT                   RTC_TSTR_MNT_Msk
+#define RTC_TSTR_MNT_0                 (0x1UL << RTC_TSTR_MNT_Pos)              /*!< 0x00001000 */
+#define RTC_TSTR_MNT_1                 (0x2UL << RTC_TSTR_MNT_Pos)              /*!< 0x00002000 */
+#define RTC_TSTR_MNT_2                 (0x4UL << RTC_TSTR_MNT_Pos)              /*!< 0x00004000 */
+#define RTC_TSTR_MNU_Pos               (8U)
+#define RTC_TSTR_MNU_Msk               (0xFUL << RTC_TSTR_MNU_Pos)             /*!< 0x00000F00 */
+#define RTC_TSTR_MNU                   RTC_TSTR_MNU_Msk
+#define RTC_TSTR_MNU_0                 (0x1UL << RTC_TSTR_MNU_Pos)              /*!< 0x00000100 */
+#define RTC_TSTR_MNU_1                 (0x2UL << RTC_TSTR_MNU_Pos)              /*!< 0x00000200 */
+#define RTC_TSTR_MNU_2                 (0x4UL << RTC_TSTR_MNU_Pos)              /*!< 0x00000400 */
+#define RTC_TSTR_MNU_3                 (0x8UL << RTC_TSTR_MNU_Pos)              /*!< 0x00000800 */
+#define RTC_TSTR_ST_Pos                (4U)
+#define RTC_TSTR_ST_Msk                (0x7UL << RTC_TSTR_ST_Pos)              /*!< 0x00000070 */
+#define RTC_TSTR_ST                    RTC_TSTR_ST_Msk
+#define RTC_TSTR_ST_0                  (0x1UL << RTC_TSTR_ST_Pos)               /*!< 0x00000010 */
+#define RTC_TSTR_ST_1                  (0x2UL << RTC_TSTR_ST_Pos)               /*!< 0x00000020 */
+#define RTC_TSTR_ST_2                  (0x4UL << RTC_TSTR_ST_Pos)               /*!< 0x00000040 */
+#define RTC_TSTR_SU_Pos                (0U)
+#define RTC_TSTR_SU_Msk                (0xFUL << RTC_TSTR_SU_Pos)              /*!< 0x0000000F */
+#define RTC_TSTR_SU                    RTC_TSTR_SU_Msk
+#define RTC_TSTR_SU_0                  (0x1UL << RTC_TSTR_SU_Pos)               /*!< 0x00000001 */
+#define RTC_TSTR_SU_1                  (0x2UL << RTC_TSTR_SU_Pos)               /*!< 0x00000002 */
+#define RTC_TSTR_SU_2                  (0x4UL << RTC_TSTR_SU_Pos)               /*!< 0x00000004 */
+#define RTC_TSTR_SU_3                  (0x8UL << RTC_TSTR_SU_Pos)               /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_TSDR register  *****************/
+#define RTC_TSDR_WDU_Pos               (13U)
+#define RTC_TSDR_WDU_Msk               (0x7UL << RTC_TSDR_WDU_Pos)             /*!< 0x0000E000 */
+#define RTC_TSDR_WDU                   RTC_TSDR_WDU_Msk
+#define RTC_TSDR_WDU_0                 (0x1UL << RTC_TSDR_WDU_Pos)              /*!< 0x00002000 */
+#define RTC_TSDR_WDU_1                 (0x2UL << RTC_TSDR_WDU_Pos)              /*!< 0x00004000 */
+#define RTC_TSDR_WDU_2                 (0x4UL << RTC_TSDR_WDU_Pos)              /*!< 0x00008000 */
+#define RTC_TSDR_MT_Pos                (12U)
+#define RTC_TSDR_MT_Msk                (0x1UL << RTC_TSDR_MT_Pos)              /*!< 0x00001000 */
+#define RTC_TSDR_MT                    RTC_TSDR_MT_Msk
+#define RTC_TSDR_MU_Pos                (8U)
+#define RTC_TSDR_MU_Msk                (0xFUL << RTC_TSDR_MU_Pos)              /*!< 0x00000F00 */
+#define RTC_TSDR_MU                    RTC_TSDR_MU_Msk
+#define RTC_TSDR_MU_0                  (0x1UL << RTC_TSDR_MU_Pos)               /*!< 0x00000100 */
+#define RTC_TSDR_MU_1                  (0x2UL << RTC_TSDR_MU_Pos)               /*!< 0x00000200 */
+#define RTC_TSDR_MU_2                  (0x4UL << RTC_TSDR_MU_Pos)               /*!< 0x00000400 */
+#define RTC_TSDR_MU_3                  (0x8UL << RTC_TSDR_MU_Pos)               /*!< 0x00000800 */
+#define RTC_TSDR_DT_Pos                (4U)
+#define RTC_TSDR_DT_Msk                (0x3UL << RTC_TSDR_DT_Pos)              /*!< 0x00000030 */
+#define RTC_TSDR_DT                    RTC_TSDR_DT_Msk
+#define RTC_TSDR_DT_0                  (0x1UL << RTC_TSDR_DT_Pos)               /*!< 0x00000010 */
+#define RTC_TSDR_DT_1                  (0x2UL << RTC_TSDR_DT_Pos)               /*!< 0x00000020 */
+#define RTC_TSDR_DU_Pos                (0U)
+#define RTC_TSDR_DU_Msk                (0xFUL << RTC_TSDR_DU_Pos)              /*!< 0x0000000F */
+#define RTC_TSDR_DU                    RTC_TSDR_DU_Msk
+#define RTC_TSDR_DU_0                  (0x1UL << RTC_TSDR_DU_Pos)               /*!< 0x00000001 */
+#define RTC_TSDR_DU_1                  (0x2UL << RTC_TSDR_DU_Pos)               /*!< 0x00000002 */
+#define RTC_TSDR_DU_2                  (0x4UL << RTC_TSDR_DU_Pos)               /*!< 0x00000004 */
+#define RTC_TSDR_DU_3                  (0x8UL << RTC_TSDR_DU_Pos)               /*!< 0x00000008 */
+
+/********************  Bits definition for RTC_TSSSR register  ****************/
+#define RTC_TSSSR_SS_Pos               (0U)
+#define RTC_TSSSR_SS_Msk               (0xFFFFUL << RTC_TSSSR_SS_Pos)          /*!< 0x0000FFFF */
+#define RTC_TSSSR_SS                   RTC_TSSSR_SS_Msk
+
+/********************  Bits definition for RTC_CALR register  *****************/
+#define RTC_CALR_CALP_Pos              (15U)
+#define RTC_CALR_CALP_Msk              (0x1UL << RTC_CALR_CALP_Pos)            /*!< 0x00008000 */
+#define RTC_CALR_CALP                  RTC_CALR_CALP_Msk
+#define RTC_CALR_CALW8_Pos             (14U)
+#define RTC_CALR_CALW8_Msk             (0x1UL << RTC_CALR_CALW8_Pos)           /*!< 0x00004000 */
+#define RTC_CALR_CALW8                 RTC_CALR_CALW8_Msk
+#define RTC_CALR_CALW16_Pos            (13U)
+#define RTC_CALR_CALW16_Msk            (0x1UL << RTC_CALR_CALW16_Pos)          /*!< 0x00002000 */
+#define RTC_CALR_CALW16                RTC_CALR_CALW16_Msk
+#define RTC_CALR_CALM_Pos              (0U)
+#define RTC_CALR_CALM_Msk              (0x1FFUL << RTC_CALR_CALM_Pos)          /*!< 0x000001FF */
+#define RTC_CALR_CALM                  RTC_CALR_CALM_Msk
+#define RTC_CALR_CALM_0                (0x001UL << RTC_CALR_CALM_Pos)           /*!< 0x00000001 */
+#define RTC_CALR_CALM_1                (0x002UL << RTC_CALR_CALM_Pos)           /*!< 0x00000002 */
+#define RTC_CALR_CALM_2                (0x004UL << RTC_CALR_CALM_Pos)           /*!< 0x00000004 */
+#define RTC_CALR_CALM_3                (0x008UL << RTC_CALR_CALM_Pos)           /*!< 0x00000008 */
+#define RTC_CALR_CALM_4                (0x010UL << RTC_CALR_CALM_Pos)           /*!< 0x00000010 */
+#define RTC_CALR_CALM_5                (0x020UL << RTC_CALR_CALM_Pos)           /*!< 0x00000020 */
+#define RTC_CALR_CALM_6                (0x040UL << RTC_CALR_CALM_Pos)           /*!< 0x00000040 */
+#define RTC_CALR_CALM_7                (0x080UL << RTC_CALR_CALM_Pos)           /*!< 0x00000080 */
+#define RTC_CALR_CALM_8                (0x100UL << RTC_CALR_CALM_Pos)           /*!< 0x00000100 */
+
+/********************  Bits definition for RTC_TAMPCR register  ***************/
+#define RTC_TAMPCR_TAMP3MF_Pos         (24U)
+#define RTC_TAMPCR_TAMP3MF_Msk         (0x1UL << RTC_TAMPCR_TAMP3MF_Pos)       /*!< 0x01000000 */
+#define RTC_TAMPCR_TAMP3MF             RTC_TAMPCR_TAMP3MF_Msk
+#define RTC_TAMPCR_TAMP3NOERASE_Pos    (23U)
+#define RTC_TAMPCR_TAMP3NOERASE_Msk    (0x1UL << RTC_TAMPCR_TAMP3NOERASE_Pos)  /*!< 0x00800000 */
+#define RTC_TAMPCR_TAMP3NOERASE        RTC_TAMPCR_TAMP3NOERASE_Msk
+#define RTC_TAMPCR_TAMP3IE_Pos         (22U)
+#define RTC_TAMPCR_TAMP3IE_Msk         (0x1UL << RTC_TAMPCR_TAMP3IE_Pos)       /*!< 0x00400000 */
+#define RTC_TAMPCR_TAMP3IE             RTC_TAMPCR_TAMP3IE_Msk
+#define RTC_TAMPCR_TAMP2MF_Pos         (21U)
+#define RTC_TAMPCR_TAMP2MF_Msk         (0x1UL << RTC_TAMPCR_TAMP2MF_Pos)       /*!< 0x00200000 */
+#define RTC_TAMPCR_TAMP2MF             RTC_TAMPCR_TAMP2MF_Msk
+#define RTC_TAMPCR_TAMP2NOERASE_Pos    (20U)
+#define RTC_TAMPCR_TAMP2NOERASE_Msk    (0x1UL << RTC_TAMPCR_TAMP2NOERASE_Pos)  /*!< 0x00100000 */
+#define RTC_TAMPCR_TAMP2NOERASE        RTC_TAMPCR_TAMP2NOERASE_Msk
+#define RTC_TAMPCR_TAMP2IE_Pos         (19U)
+#define RTC_TAMPCR_TAMP2IE_Msk         (0x1UL << RTC_TAMPCR_TAMP2IE_Pos)       /*!< 0x00080000 */
+#define RTC_TAMPCR_TAMP2IE             RTC_TAMPCR_TAMP2IE_Msk
+#define RTC_TAMPCR_TAMP1MF_Pos         (18U)
+#define RTC_TAMPCR_TAMP1MF_Msk         (0x1UL << RTC_TAMPCR_TAMP1MF_Pos)       /*!< 0x00040000 */
+#define RTC_TAMPCR_TAMP1MF             RTC_TAMPCR_TAMP1MF_Msk
+#define RTC_TAMPCR_TAMP1NOERASE_Pos    (17U)
+#define RTC_TAMPCR_TAMP1NOERASE_Msk    (0x1UL << RTC_TAMPCR_TAMP1NOERASE_Pos)  /*!< 0x00020000 */
+#define RTC_TAMPCR_TAMP1NOERASE        RTC_TAMPCR_TAMP1NOERASE_Msk
+#define RTC_TAMPCR_TAMP1IE_Pos         (16U)
+#define RTC_TAMPCR_TAMP1IE_Msk         (0x1UL << RTC_TAMPCR_TAMP1IE_Pos)       /*!< 0x00010000 */
+#define RTC_TAMPCR_TAMP1IE             RTC_TAMPCR_TAMP1IE_Msk
+#define RTC_TAMPCR_TAMPPUDIS_Pos       (15U)
+#define RTC_TAMPCR_TAMPPUDIS_Msk       (0x1UL << RTC_TAMPCR_TAMPPUDIS_Pos)     /*!< 0x00008000 */
+#define RTC_TAMPCR_TAMPPUDIS           RTC_TAMPCR_TAMPPUDIS_Msk
+#define RTC_TAMPCR_TAMPPRCH_Pos        (13U)
+#define RTC_TAMPCR_TAMPPRCH_Msk        (0x3UL << RTC_TAMPCR_TAMPPRCH_Pos)      /*!< 0x00006000 */
+#define RTC_TAMPCR_TAMPPRCH            RTC_TAMPCR_TAMPPRCH_Msk
+#define RTC_TAMPCR_TAMPPRCH_0          (0x1UL << RTC_TAMPCR_TAMPPRCH_Pos)       /*!< 0x00002000 */
+#define RTC_TAMPCR_TAMPPRCH_1          (0x2UL << RTC_TAMPCR_TAMPPRCH_Pos)       /*!< 0x00004000 */
+#define RTC_TAMPCR_TAMPFLT_Pos         (11U)
+#define RTC_TAMPCR_TAMPFLT_Msk         (0x3UL << RTC_TAMPCR_TAMPFLT_Pos)       /*!< 0x00001800 */
+#define RTC_TAMPCR_TAMPFLT             RTC_TAMPCR_TAMPFLT_Msk
+#define RTC_TAMPCR_TAMPFLT_0           (0x1UL << RTC_TAMPCR_TAMPFLT_Pos)        /*!< 0x00000800 */
+#define RTC_TAMPCR_TAMPFLT_1           (0x2UL << RTC_TAMPCR_TAMPFLT_Pos)        /*!< 0x00001000 */
+#define RTC_TAMPCR_TAMPFREQ_Pos        (8U)
+#define RTC_TAMPCR_TAMPFREQ_Msk        (0x7UL << RTC_TAMPCR_TAMPFREQ_Pos)      /*!< 0x00000700 */
+#define RTC_TAMPCR_TAMPFREQ            RTC_TAMPCR_TAMPFREQ_Msk
+#define RTC_TAMPCR_TAMPFREQ_0          (0x1UL << RTC_TAMPCR_TAMPFREQ_Pos)       /*!< 0x00000100 */
+#define RTC_TAMPCR_TAMPFREQ_1          (0x2UL << RTC_TAMPCR_TAMPFREQ_Pos)       /*!< 0x00000200 */
+#define RTC_TAMPCR_TAMPFREQ_2          (0x4UL << RTC_TAMPCR_TAMPFREQ_Pos)       /*!< 0x00000400 */
+#define RTC_TAMPCR_TAMPTS_Pos          (7U)
+#define RTC_TAMPCR_TAMPTS_Msk          (0x1UL << RTC_TAMPCR_TAMPTS_Pos)        /*!< 0x00000080 */
+#define RTC_TAMPCR_TAMPTS              RTC_TAMPCR_TAMPTS_Msk
+#define RTC_TAMPCR_TAMP3TRG_Pos        (6U)
+#define RTC_TAMPCR_TAMP3TRG_Msk        (0x1UL << RTC_TAMPCR_TAMP3TRG_Pos)      /*!< 0x00000040 */
+#define RTC_TAMPCR_TAMP3TRG            RTC_TAMPCR_TAMP3TRG_Msk
+#define RTC_TAMPCR_TAMP3E_Pos          (5U)
+#define RTC_TAMPCR_TAMP3E_Msk          (0x1UL << RTC_TAMPCR_TAMP3E_Pos)        /*!< 0x00000020 */
+#define RTC_TAMPCR_TAMP3E              RTC_TAMPCR_TAMP3E_Msk
+#define RTC_TAMPCR_TAMP2TRG_Pos        (4U)
+#define RTC_TAMPCR_TAMP2TRG_Msk        (0x1UL << RTC_TAMPCR_TAMP2TRG_Pos)      /*!< 0x00000010 */
+#define RTC_TAMPCR_TAMP2TRG            RTC_TAMPCR_TAMP2TRG_Msk
+#define RTC_TAMPCR_TAMP2E_Pos          (3U)
+#define RTC_TAMPCR_TAMP2E_Msk          (0x1UL << RTC_TAMPCR_TAMP2E_Pos)        /*!< 0x00000008 */
+#define RTC_TAMPCR_TAMP2E              RTC_TAMPCR_TAMP2E_Msk
+#define RTC_TAMPCR_TAMPIE_Pos          (2U)
+#define RTC_TAMPCR_TAMPIE_Msk          (0x1UL << RTC_TAMPCR_TAMPIE_Pos)        /*!< 0x00000004 */
+#define RTC_TAMPCR_TAMPIE              RTC_TAMPCR_TAMPIE_Msk
+#define RTC_TAMPCR_TAMP1TRG_Pos        (1U)
+#define RTC_TAMPCR_TAMP1TRG_Msk        (0x1UL << RTC_TAMPCR_TAMP1TRG_Pos)      /*!< 0x00000002 */
+#define RTC_TAMPCR_TAMP1TRG            RTC_TAMPCR_TAMP1TRG_Msk
+#define RTC_TAMPCR_TAMP1E_Pos          (0U)
+#define RTC_TAMPCR_TAMP1E_Msk          (0x1UL << RTC_TAMPCR_TAMP1E_Pos)        /*!< 0x00000001 */
+#define RTC_TAMPCR_TAMP1E              RTC_TAMPCR_TAMP1E_Msk
+
+/********************  Bits definition for RTC_ALRMASSR register  *************/
+#define RTC_ALRMASSR_MASKSS_Pos        (24U)
+#define RTC_ALRMASSR_MASKSS_Msk        (0xFUL << RTC_ALRMASSR_MASKSS_Pos)      /*!< 0x0F000000 */
+#define RTC_ALRMASSR_MASKSS            RTC_ALRMASSR_MASKSS_Msk
+#define RTC_ALRMASSR_MASKSS_0          (0x1UL << RTC_ALRMASSR_MASKSS_Pos)       /*!< 0x01000000 */
+#define RTC_ALRMASSR_MASKSS_1          (0x2UL << RTC_ALRMASSR_MASKSS_Pos)       /*!< 0x02000000 */
+#define RTC_ALRMASSR_MASKSS_2          (0x4UL << RTC_ALRMASSR_MASKSS_Pos)       /*!< 0x04000000 */
+#define RTC_ALRMASSR_MASKSS_3          (0x8UL << RTC_ALRMASSR_MASKSS_Pos)       /*!< 0x08000000 */
+#define RTC_ALRMASSR_SS_Pos            (0U)
+#define RTC_ALRMASSR_SS_Msk            (0x7FFFUL << RTC_ALRMASSR_SS_Pos)       /*!< 0x00007FFF */
+#define RTC_ALRMASSR_SS                RTC_ALRMASSR_SS_Msk
+
+/********************  Bits definition for RTC_ALRMBSSR register  *************/
+#define RTC_ALRMBSSR_MASKSS_Pos        (24U)
+#define RTC_ALRMBSSR_MASKSS_Msk        (0xFUL << RTC_ALRMBSSR_MASKSS_Pos)      /*!< 0x0F000000 */
+#define RTC_ALRMBSSR_MASKSS            RTC_ALRMBSSR_MASKSS_Msk
+#define RTC_ALRMBSSR_MASKSS_0          (0x1UL << RTC_ALRMBSSR_MASKSS_Pos)       /*!< 0x01000000 */
+#define RTC_ALRMBSSR_MASKSS_1          (0x2UL << RTC_ALRMBSSR_MASKSS_Pos)       /*!< 0x02000000 */
+#define RTC_ALRMBSSR_MASKSS_2          (0x4UL << RTC_ALRMBSSR_MASKSS_Pos)       /*!< 0x04000000 */
+#define RTC_ALRMBSSR_MASKSS_3          (0x8UL << RTC_ALRMBSSR_MASKSS_Pos)       /*!< 0x08000000 */
+#define RTC_ALRMBSSR_SS_Pos            (0U)
+#define RTC_ALRMBSSR_SS_Msk            (0x7FFFUL << RTC_ALRMBSSR_SS_Pos)       /*!< 0x00007FFF */
+#define RTC_ALRMBSSR_SS                RTC_ALRMBSSR_SS_Msk
+
+/********************  Bits definition for RTC_OR register  *******************/
+#define RTC_OR_OUT_RMP_Pos             (1U)
+#define RTC_OR_OUT_RMP_Msk             (0x1UL << RTC_OR_OUT_RMP_Pos)           /*!< 0x00000002 */
+#define RTC_OR_OUT_RMP                 RTC_OR_OUT_RMP_Msk
+#define RTC_OR_ALARMOUTTYPE_Pos        (0U)
+#define RTC_OR_ALARMOUTTYPE_Msk        (0x1UL << RTC_OR_ALARMOUTTYPE_Pos)      /*!< 0x00000001 */
+#define RTC_OR_ALARMOUTTYPE            RTC_OR_ALARMOUTTYPE_Msk
+
+/********************  Bits definition for RTC_BKP0R register  ****************/
+#define RTC_BKP0R_Pos                  (0U)
+#define RTC_BKP0R_Msk                  (0xFFFFFFFFUL << RTC_BKP0R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP0R                      RTC_BKP0R_Msk
+
+/********************  Bits definition for RTC_BKP1R register  ****************/
+#define RTC_BKP1R_Pos                  (0U)
+#define RTC_BKP1R_Msk                  (0xFFFFFFFFUL << RTC_BKP1R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP1R                      RTC_BKP1R_Msk
+
+/********************  Bits definition for RTC_BKP2R register  ****************/
+#define RTC_BKP2R_Pos                  (0U)
+#define RTC_BKP2R_Msk                  (0xFFFFFFFFUL << RTC_BKP2R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP2R                      RTC_BKP2R_Msk
+
+/********************  Bits definition for RTC_BKP3R register  ****************/
+#define RTC_BKP3R_Pos                  (0U)
+#define RTC_BKP3R_Msk                  (0xFFFFFFFFUL << RTC_BKP3R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP3R                      RTC_BKP3R_Msk
+
+/********************  Bits definition for RTC_BKP4R register  ****************/
+#define RTC_BKP4R_Pos                  (0U)
+#define RTC_BKP4R_Msk                  (0xFFFFFFFFUL << RTC_BKP4R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP4R                      RTC_BKP4R_Msk
+
+/********************  Bits definition for RTC_BKP5R register  ****************/
+#define RTC_BKP5R_Pos                  (0U)
+#define RTC_BKP5R_Msk                  (0xFFFFFFFFUL << RTC_BKP5R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP5R                      RTC_BKP5R_Msk
+
+/********************  Bits definition for RTC_BKP6R register  ****************/
+#define RTC_BKP6R_Pos                  (0U)
+#define RTC_BKP6R_Msk                  (0xFFFFFFFFUL << RTC_BKP6R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP6R                      RTC_BKP6R_Msk
+
+/********************  Bits definition for RTC_BKP7R register  ****************/
+#define RTC_BKP7R_Pos                  (0U)
+#define RTC_BKP7R_Msk                  (0xFFFFFFFFUL << RTC_BKP7R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP7R                      RTC_BKP7R_Msk
+
+/********************  Bits definition for RTC_BKP8R register  ****************/
+#define RTC_BKP8R_Pos                  (0U)
+#define RTC_BKP8R_Msk                  (0xFFFFFFFFUL << RTC_BKP8R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP8R                      RTC_BKP8R_Msk
+
+/********************  Bits definition for RTC_BKP9R register  ****************/
+#define RTC_BKP9R_Pos                  (0U)
+#define RTC_BKP9R_Msk                  (0xFFFFFFFFUL << RTC_BKP9R_Pos)         /*!< 0xFFFFFFFF */
+#define RTC_BKP9R                      RTC_BKP9R_Msk
+
+/********************  Bits definition for RTC_BKP10R register  ***************/
+#define RTC_BKP10R_Pos                 (0U)
+#define RTC_BKP10R_Msk                 (0xFFFFFFFFUL << RTC_BKP10R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP10R                     RTC_BKP10R_Msk
+
+/********************  Bits definition for RTC_BKP11R register  ***************/
+#define RTC_BKP11R_Pos                 (0U)
+#define RTC_BKP11R_Msk                 (0xFFFFFFFFUL << RTC_BKP11R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP11R                     RTC_BKP11R_Msk
+
+/********************  Bits definition for RTC_BKP12R register  ***************/
+#define RTC_BKP12R_Pos                 (0U)
+#define RTC_BKP12R_Msk                 (0xFFFFFFFFUL << RTC_BKP12R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP12R                     RTC_BKP12R_Msk
+
+/********************  Bits definition for RTC_BKP13R register  ***************/
+#define RTC_BKP13R_Pos                 (0U)
+#define RTC_BKP13R_Msk                 (0xFFFFFFFFUL << RTC_BKP13R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP13R                     RTC_BKP13R_Msk
+
+/********************  Bits definition for RTC_BKP14R register  ***************/
+#define RTC_BKP14R_Pos                 (0U)
+#define RTC_BKP14R_Msk                 (0xFFFFFFFFUL << RTC_BKP14R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP14R                     RTC_BKP14R_Msk
+
+/********************  Bits definition for RTC_BKP15R register  ***************/
+#define RTC_BKP15R_Pos                 (0U)
+#define RTC_BKP15R_Msk                 (0xFFFFFFFFUL << RTC_BKP15R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP15R                     RTC_BKP15R_Msk
+
+/********************  Bits definition for RTC_BKP16R register  ***************/
+#define RTC_BKP16R_Pos                 (0U)
+#define RTC_BKP16R_Msk                 (0xFFFFFFFFUL << RTC_BKP16R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP16R                     RTC_BKP16R_Msk
+
+/********************  Bits definition for RTC_BKP17R register  ***************/
+#define RTC_BKP17R_Pos                 (0U)
+#define RTC_BKP17R_Msk                 (0xFFFFFFFFUL << RTC_BKP17R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP17R                     RTC_BKP17R_Msk
+
+/********************  Bits definition for RTC_BKP18R register  ***************/
+#define RTC_BKP18R_Pos                 (0U)
+#define RTC_BKP18R_Msk                 (0xFFFFFFFFUL << RTC_BKP18R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP18R                     RTC_BKP18R_Msk
+
+/********************  Bits definition for RTC_BKP19R register  ***************/
+#define RTC_BKP19R_Pos                 (0U)
+#define RTC_BKP19R_Msk                 (0xFFFFFFFFUL << RTC_BKP19R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP19R                     RTC_BKP19R_Msk
+
+/********************  Bits definition for RTC_BKP20R register  ***************/
+#define RTC_BKP20R_Pos                 (0U)
+#define RTC_BKP20R_Msk                 (0xFFFFFFFFUL << RTC_BKP20R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP20R                     RTC_BKP20R_Msk
+
+/********************  Bits definition for RTC_BKP21R register  ***************/
+#define RTC_BKP21R_Pos                 (0U)
+#define RTC_BKP21R_Msk                 (0xFFFFFFFFUL << RTC_BKP21R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP21R                     RTC_BKP21R_Msk
+
+/********************  Bits definition for RTC_BKP22R register  ***************/
+#define RTC_BKP22R_Pos                 (0U)
+#define RTC_BKP22R_Msk                 (0xFFFFFFFFUL << RTC_BKP22R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP22R                     RTC_BKP22R_Msk
+
+/********************  Bits definition for RTC_BKP23R register  ***************/
+#define RTC_BKP23R_Pos                 (0U)
+#define RTC_BKP23R_Msk                 (0xFFFFFFFFUL << RTC_BKP23R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP23R                     RTC_BKP23R_Msk
+
+/********************  Bits definition for RTC_BKP24R register  ***************/
+#define RTC_BKP24R_Pos                 (0U)
+#define RTC_BKP24R_Msk                 (0xFFFFFFFFUL << RTC_BKP24R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP24R                     RTC_BKP24R_Msk
+
+/********************  Bits definition for RTC_BKP25R register  ***************/
+#define RTC_BKP25R_Pos                 (0U)
+#define RTC_BKP25R_Msk                 (0xFFFFFFFFUL << RTC_BKP25R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP25R                     RTC_BKP25R_Msk
+
+/********************  Bits definition for RTC_BKP26R register  ***************/
+#define RTC_BKP26R_Pos                 (0U)
+#define RTC_BKP26R_Msk                 (0xFFFFFFFFUL << RTC_BKP26R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP26R                     RTC_BKP26R_Msk
+
+/********************  Bits definition for RTC_BKP27R register  ***************/
+#define RTC_BKP27R_Pos                 (0U)
+#define RTC_BKP27R_Msk                 (0xFFFFFFFFUL << RTC_BKP27R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP27R                     RTC_BKP27R_Msk
+
+/********************  Bits definition for RTC_BKP28R register  ***************/
+#define RTC_BKP28R_Pos                 (0U)
+#define RTC_BKP28R_Msk                 (0xFFFFFFFFUL << RTC_BKP28R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP28R                     RTC_BKP28R_Msk
+
+/********************  Bits definition for RTC_BKP29R register  ***************/
+#define RTC_BKP29R_Pos                 (0U)
+#define RTC_BKP29R_Msk                 (0xFFFFFFFFUL << RTC_BKP29R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP29R                     RTC_BKP29R_Msk
+
+/********************  Bits definition for RTC_BKP30R register  ***************/
+#define RTC_BKP30R_Pos                 (0U)
+#define RTC_BKP30R_Msk                 (0xFFFFFFFFUL << RTC_BKP30R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP30R                     RTC_BKP30R_Msk
+
+/********************  Bits definition for RTC_BKP31R register  ***************/
+#define RTC_BKP31R_Pos                 (0U)
+#define RTC_BKP31R_Msk                 (0xFFFFFFFFUL << RTC_BKP31R_Pos)        /*!< 0xFFFFFFFF */
+#define RTC_BKP31R                     RTC_BKP31R_Msk
+
+/******************** Number of backup registers ******************************/
+#define RTC_BKP_NUMBER_Pos             (5U)
+#define RTC_BKP_NUMBER_Msk             (0x1UL << RTC_BKP_NUMBER_Pos)           /*!< 0x00000020 */
+#define RTC_BKP_NUMBER                 RTC_BKP_NUMBER_Msk
+
+/******************************************************************************/
+/*                                                                            */
+/*                              SPDIF-RX Interface                            */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for SPDIF_CR register  ******************/
+#define SPDIFRX_CR_SPDIFEN_Pos      (0U)
+#define SPDIFRX_CR_SPDIFEN_Msk      (0x3UL << SPDIFRX_CR_SPDIFEN_Pos)          /*!< 0x00000003 */
+#define SPDIFRX_CR_SPDIFEN          SPDIFRX_CR_SPDIFEN_Msk                     /*!<Peripheral Block Enable                      */
+#define SPDIFRX_CR_RXDMAEN_Pos      (2U)
+#define SPDIFRX_CR_RXDMAEN_Msk      (0x1UL << SPDIFRX_CR_RXDMAEN_Pos)          /*!< 0x00000004 */
+#define SPDIFRX_CR_RXDMAEN          SPDIFRX_CR_RXDMAEN_Msk                     /*!<Receiver DMA Enable for data flow            */
+#define SPDIFRX_CR_RXSTEO_Pos       (3U)
+#define SPDIFRX_CR_RXSTEO_Msk       (0x1UL << SPDIFRX_CR_RXSTEO_Pos)           /*!< 0x00000008 */
+#define SPDIFRX_CR_RXSTEO           SPDIFRX_CR_RXSTEO_Msk                      /*!<Stereo Mode                                  */
+#define SPDIFRX_CR_DRFMT_Pos        (4U)
+#define SPDIFRX_CR_DRFMT_Msk        (0x3UL << SPDIFRX_CR_DRFMT_Pos)            /*!< 0x00000030 */
+#define SPDIFRX_CR_DRFMT            SPDIFRX_CR_DRFMT_Msk                       /*!<RX Data format                               */
+#define SPDIFRX_CR_PMSK_Pos         (6U)
+#define SPDIFRX_CR_PMSK_Msk         (0x1UL << SPDIFRX_CR_PMSK_Pos)             /*!< 0x00000040 */
+#define SPDIFRX_CR_PMSK             SPDIFRX_CR_PMSK_Msk                        /*!<Mask Parity error bit                        */
+#define SPDIFRX_CR_VMSK_Pos         (7U)
+#define SPDIFRX_CR_VMSK_Msk         (0x1UL << SPDIFRX_CR_VMSK_Pos)             /*!< 0x00000080 */
+#define SPDIFRX_CR_VMSK             SPDIFRX_CR_VMSK_Msk                        /*!<Mask of Validity bit                         */
+#define SPDIFRX_CR_CUMSK_Pos        (8U)
+#define SPDIFRX_CR_CUMSK_Msk        (0x1UL << SPDIFRX_CR_CUMSK_Pos)            /*!< 0x00000100 */
+#define SPDIFRX_CR_CUMSK            SPDIFRX_CR_CUMSK_Msk                       /*!<Mask of channel status and user bits         */
+#define SPDIFRX_CR_PTMSK_Pos        (9U)
+#define SPDIFRX_CR_PTMSK_Msk        (0x1UL << SPDIFRX_CR_PTMSK_Pos)            /*!< 0x00000200 */
+#define SPDIFRX_CR_PTMSK            SPDIFRX_CR_PTMSK_Msk                       /*!<Mask of Preamble Type bits                   */
+#define SPDIFRX_CR_CBDMAEN_Pos      (10U)
+#define SPDIFRX_CR_CBDMAEN_Msk      (0x1UL << SPDIFRX_CR_CBDMAEN_Pos)          /*!< 0x00000400 */
+#define SPDIFRX_CR_CBDMAEN          SPDIFRX_CR_CBDMAEN_Msk                     /*!<Control Buffer DMA ENable for control flow   */
+#define SPDIFRX_CR_CHSEL_Pos        (11U)
+#define SPDIFRX_CR_CHSEL_Msk        (0x1UL << SPDIFRX_CR_CHSEL_Pos)            /*!< 0x00000800 */
+#define SPDIFRX_CR_CHSEL            SPDIFRX_CR_CHSEL_Msk                       /*!<Channel Selection                            */
+#define SPDIFRX_CR_NBTR_Pos         (12U)
+#define SPDIFRX_CR_NBTR_Msk         (0x3UL << SPDIFRX_CR_NBTR_Pos)             /*!< 0x00003000 */
+#define SPDIFRX_CR_NBTR             SPDIFRX_CR_NBTR_Msk                        /*!<Maximum allowed re-tries during synchronization phase */
+#define SPDIFRX_CR_WFA_Pos          (14U)
+#define SPDIFRX_CR_WFA_Msk          (0x1UL << SPDIFRX_CR_WFA_Pos)              /*!< 0x00004000 */
+#define SPDIFRX_CR_WFA              SPDIFRX_CR_WFA_Msk                         /*!<Wait For Activity     */
+#define SPDIFRX_CR_INSEL_Pos        (16U)
+#define SPDIFRX_CR_INSEL_Msk        (0x7UL << SPDIFRX_CR_INSEL_Pos)            /*!< 0x00070000 */
+#define SPDIFRX_CR_INSEL            SPDIFRX_CR_INSEL_Msk                       /*!<SPDIF input selection */
+#define SPDIFRX_CR_CKSEN_Pos        (20U)
+#define SPDIFRX_CR_CKSEN_Msk        (0x1UL << SPDIFRX_CR_CKSEN_Pos)            /*!< 0x00100000 */
+#define SPDIFRX_CR_CKSEN            SPDIFRX_CR_CKSEN_Msk                       /*!<Symbol Clock Enable */
+#define SPDIFRX_CR_CKSBKPEN_Pos     (21U)
+#define SPDIFRX_CR_CKSBKPEN_Msk     (0x1UL << SPDIFRX_CR_CKSBKPEN_Pos)         /*!< 0x00200000 */
+#define SPDIFRX_CR_CKSBKPEN         SPDIFRX_CR_CKSBKPEN_Msk                    /*!<Backup Symbol Clock Enable */
+
+/*******************  Bit definition for SPDIFRX_IMR register  *******************/
+#define SPDIFRX_IMR_RXNEIE_Pos      (0U)
+#define SPDIFRX_IMR_RXNEIE_Msk      (0x1UL << SPDIFRX_IMR_RXNEIE_Pos)          /*!< 0x00000001 */
+#define SPDIFRX_IMR_RXNEIE          SPDIFRX_IMR_RXNEIE_Msk                     /*!<RXNE interrupt enable                              */
+#define SPDIFRX_IMR_CSRNEIE_Pos     (1U)
+#define SPDIFRX_IMR_CSRNEIE_Msk     (0x1UL << SPDIFRX_IMR_CSRNEIE_Pos)         /*!< 0x00000002 */
+#define SPDIFRX_IMR_CSRNEIE         SPDIFRX_IMR_CSRNEIE_Msk                    /*!<Control Buffer Ready Interrupt Enable              */
+#define SPDIFRX_IMR_PERRIE_Pos      (2U)
+#define SPDIFRX_IMR_PERRIE_Msk      (0x1UL << SPDIFRX_IMR_PERRIE_Pos)          /*!< 0x00000004 */
+#define SPDIFRX_IMR_PERRIE          SPDIFRX_IMR_PERRIE_Msk                     /*!<Parity error interrupt enable                      */
+#define SPDIFRX_IMR_OVRIE_Pos       (3U)
+#define SPDIFRX_IMR_OVRIE_Msk       (0x1UL << SPDIFRX_IMR_OVRIE_Pos)           /*!< 0x00000008 */
+#define SPDIFRX_IMR_OVRIE           SPDIFRX_IMR_OVRIE_Msk                      /*!<Overrun error Interrupt Enable                     */
+#define SPDIFRX_IMR_SBLKIE_Pos      (4U)
+#define SPDIFRX_IMR_SBLKIE_Msk      (0x1UL << SPDIFRX_IMR_SBLKIE_Pos)          /*!< 0x00000010 */
+#define SPDIFRX_IMR_SBLKIE          SPDIFRX_IMR_SBLKIE_Msk                     /*!<Synchronization Block Detected Interrupt Enable    */
+#define SPDIFRX_IMR_SYNCDIE_Pos     (5U)
+#define SPDIFRX_IMR_SYNCDIE_Msk     (0x1UL << SPDIFRX_IMR_SYNCDIE_Pos)         /*!< 0x00000020 */
+#define SPDIFRX_IMR_SYNCDIE         SPDIFRX_IMR_SYNCDIE_Msk                    /*!<Synchronization Done                               */
+#define SPDIFRX_IMR_IFEIE_Pos       (6U)
+#define SPDIFRX_IMR_IFEIE_Msk       (0x1UL << SPDIFRX_IMR_IFEIE_Pos)           /*!< 0x00000040 */
+#define SPDIFRX_IMR_IFEIE           SPDIFRX_IMR_IFEIE_Msk                      /*!<Serial Interface Error Interrupt Enable            */
+
+/*******************  Bit definition for SPDIFRX_SR register  *******************/
+#define SPDIFRX_SR_RXNE_Pos         (0U)
+#define SPDIFRX_SR_RXNE_Msk         (0x1UL << SPDIFRX_SR_RXNE_Pos)             /*!< 0x00000001 */
+#define SPDIFRX_SR_RXNE             SPDIFRX_SR_RXNE_Msk                        /*!<Read data register not empty                          */
+#define SPDIFRX_SR_CSRNE_Pos        (1U)
+#define SPDIFRX_SR_CSRNE_Msk        (0x1UL << SPDIFRX_SR_CSRNE_Pos)            /*!< 0x00000002 */
+#define SPDIFRX_SR_CSRNE            SPDIFRX_SR_CSRNE_Msk                       /*!<The Control Buffer register is not empty              */
+#define SPDIFRX_SR_PERR_Pos         (2U)
+#define SPDIFRX_SR_PERR_Msk         (0x1UL << SPDIFRX_SR_PERR_Pos)             /*!< 0x00000004 */
+#define SPDIFRX_SR_PERR             SPDIFRX_SR_PERR_Msk                        /*!<Parity error                                          */
+#define SPDIFRX_SR_OVR_Pos          (3U)
+#define SPDIFRX_SR_OVR_Msk          (0x1UL << SPDIFRX_SR_OVR_Pos)              /*!< 0x00000008 */
+#define SPDIFRX_SR_OVR              SPDIFRX_SR_OVR_Msk                         /*!<Overrun error                                         */
+#define SPDIFRX_SR_SBD_Pos          (4U)
+#define SPDIFRX_SR_SBD_Msk          (0x1UL << SPDIFRX_SR_SBD_Pos)              /*!< 0x00000010 */
+#define SPDIFRX_SR_SBD              SPDIFRX_SR_SBD_Msk                         /*!<Synchronization Block Detected                        */
+#define SPDIFRX_SR_SYNCD_Pos        (5U)
+#define SPDIFRX_SR_SYNCD_Msk        (0x1UL << SPDIFRX_SR_SYNCD_Pos)            /*!< 0x00000020 */
+#define SPDIFRX_SR_SYNCD            SPDIFRX_SR_SYNCD_Msk                       /*!<Synchronization Done                                  */
+#define SPDIFRX_SR_FERR_Pos         (6U)
+#define SPDIFRX_SR_FERR_Msk         (0x1UL << SPDIFRX_SR_FERR_Pos)             /*!< 0x00000040 */
+#define SPDIFRX_SR_FERR             SPDIFRX_SR_FERR_Msk                        /*!<Framing error                                         */
+#define SPDIFRX_SR_SERR_Pos         (7U)
+#define SPDIFRX_SR_SERR_Msk         (0x1UL << SPDIFRX_SR_SERR_Pos)             /*!< 0x00000080 */
+#define SPDIFRX_SR_SERR             SPDIFRX_SR_SERR_Msk                        /*!<Synchronization error                                 */
+#define SPDIFRX_SR_TERR_Pos         (8U)
+#define SPDIFRX_SR_TERR_Msk         (0x1UL << SPDIFRX_SR_TERR_Pos)             /*!< 0x00000100 */
+#define SPDIFRX_SR_TERR             SPDIFRX_SR_TERR_Msk                        /*!<Time-out error                                        */
+#define SPDIFRX_SR_WIDTH5_Pos       (16U)
+#define SPDIFRX_SR_WIDTH5_Msk       (0x7FFFUL << SPDIFRX_SR_WIDTH5_Pos)        /*!< 0x7FFF0000 */
+#define SPDIFRX_SR_WIDTH5           SPDIFRX_SR_WIDTH5_Msk                      /*!<Duration of 5 symbols counted with spdif_clk          */
+
+/*******************  Bit definition for SPDIFRX_IFCR register  *******************/
+#define SPDIFRX_IFCR_PERRCF_Pos     (2U)
+#define SPDIFRX_IFCR_PERRCF_Msk     (0x1UL << SPDIFRX_IFCR_PERRCF_Pos)         /*!< 0x00000004 */
+#define SPDIFRX_IFCR_PERRCF         SPDIFRX_IFCR_PERRCF_Msk                    /*!<Clears the Parity error flag                         */
+#define SPDIFRX_IFCR_OVRCF_Pos      (3U)
+#define SPDIFRX_IFCR_OVRCF_Msk      (0x1UL << SPDIFRX_IFCR_OVRCF_Pos)          /*!< 0x00000008 */
+#define SPDIFRX_IFCR_OVRCF          SPDIFRX_IFCR_OVRCF_Msk                     /*!<Clears the Overrun error flag                        */
+#define SPDIFRX_IFCR_SBDCF_Pos      (4U)
+#define SPDIFRX_IFCR_SBDCF_Msk      (0x1UL << SPDIFRX_IFCR_SBDCF_Pos)          /*!< 0x00000010 */
+#define SPDIFRX_IFCR_SBDCF          SPDIFRX_IFCR_SBDCF_Msk                     /*!<Clears the Synchronization Block Detected flag       */
+#define SPDIFRX_IFCR_SYNCDCF_Pos    (5U)
+#define SPDIFRX_IFCR_SYNCDCF_Msk    (0x1UL << SPDIFRX_IFCR_SYNCDCF_Pos)        /*!< 0x00000020 */
+#define SPDIFRX_IFCR_SYNCDCF        SPDIFRX_IFCR_SYNCDCF_Msk                   /*!<Clears the Synchronization Done flag                 */
+
+/*******************  Bit definition for SPDIFRX_DR register  (DRFMT = 0b00 case) *******************/
+#define SPDIFRX_DR0_DR_Pos          (0U)
+#define SPDIFRX_DR0_DR_Msk          (0xFFFFFFUL << SPDIFRX_DR0_DR_Pos)         /*!< 0x00FFFFFF */
+#define SPDIFRX_DR0_DR              SPDIFRX_DR0_DR_Msk                         /*!<Data value            */
+#define SPDIFRX_DR0_PE_Pos          (24U)
+#define SPDIFRX_DR0_PE_Msk          (0x1UL << SPDIFRX_DR0_PE_Pos)              /*!< 0x01000000 */
+#define SPDIFRX_DR0_PE              SPDIFRX_DR0_PE_Msk                         /*!<Parity Error bit      */
+#define SPDIFRX_DR0_V_Pos           (25U)
+#define SPDIFRX_DR0_V_Msk           (0x1UL << SPDIFRX_DR0_V_Pos)               /*!< 0x02000000 */
+#define SPDIFRX_DR0_V               SPDIFRX_DR0_V_Msk                          /*!<Validity bit          */
+#define SPDIFRX_DR0_U_Pos           (26U)
+#define SPDIFRX_DR0_U_Msk           (0x1UL << SPDIFRX_DR0_U_Pos)               /*!< 0x04000000 */
+#define SPDIFRX_DR0_U               SPDIFRX_DR0_U_Msk                          /*!<User bit              */
+#define SPDIFRX_DR0_C_Pos           (27U)
+#define SPDIFRX_DR0_C_Msk           (0x1UL << SPDIFRX_DR0_C_Pos)               /*!< 0x08000000 */
+#define SPDIFRX_DR0_C               SPDIFRX_DR0_C_Msk                          /*!<Channel Status bit    */
+#define SPDIFRX_DR0_PT_Pos          (28U)
+#define SPDIFRX_DR0_PT_Msk          (0x3UL << SPDIFRX_DR0_PT_Pos)              /*!< 0x30000000 */
+#define SPDIFRX_DR0_PT              SPDIFRX_DR0_PT_Msk                         /*!<Preamble Type         */
+
+/*******************  Bit definition for SPDIFRX_DR register  (DRFMT = 0b01 case) *******************/
+#define SPDIFRX_DR1_DR_Pos          (8U)
+#define SPDIFRX_DR1_DR_Msk          (0xFFFFFFUL << SPDIFRX_DR1_DR_Pos)         /*!< 0xFFFFFF00 */
+#define SPDIFRX_DR1_DR              SPDIFRX_DR1_DR_Msk                         /*!<Data value            */
+#define SPDIFRX_DR1_PT_Pos          (4U)
+#define SPDIFRX_DR1_PT_Msk          (0x3UL << SPDIFRX_DR1_PT_Pos)              /*!< 0x00000030 */
+#define SPDIFRX_DR1_PT              SPDIFRX_DR1_PT_Msk                         /*!<Preamble Type         */
+#define SPDIFRX_DR1_C_Pos           (3U)
+#define SPDIFRX_DR1_C_Msk           (0x1UL << SPDIFRX_DR1_C_Pos)               /*!< 0x00000008 */
+#define SPDIFRX_DR1_C               SPDIFRX_DR1_C_Msk                          /*!<Channel Status bit    */
+#define SPDIFRX_DR1_U_Pos           (2U)
+#define SPDIFRX_DR1_U_Msk           (0x1UL << SPDIFRX_DR1_U_Pos)               /*!< 0x00000004 */
+#define SPDIFRX_DR1_U               SPDIFRX_DR1_U_Msk                          /*!<User bit              */
+#define SPDIFRX_DR1_V_Pos           (1U)
+#define SPDIFRX_DR1_V_Msk           (0x1UL << SPDIFRX_DR1_V_Pos)               /*!< 0x00000002 */
+#define SPDIFRX_DR1_V               SPDIFRX_DR1_V_Msk                          /*!<Validity bit          */
+#define SPDIFRX_DR1_PE_Pos          (0U)
+#define SPDIFRX_DR1_PE_Msk          (0x1UL << SPDIFRX_DR1_PE_Pos)              /*!< 0x00000001 */
+#define SPDIFRX_DR1_PE              SPDIFRX_DR1_PE_Msk                         /*!<Parity Error bit      */
+
+/*******************  Bit definition for SPDIFRX_DR register  (DRFMT = 0b10 case) *******************/
+#define SPDIFRX_DR1_DRNL1_Pos       (16U)
+#define SPDIFRX_DR1_DRNL1_Msk       (0xFFFFUL << SPDIFRX_DR1_DRNL1_Pos)        /*!< 0xFFFF0000 */
+#define SPDIFRX_DR1_DRNL1           SPDIFRX_DR1_DRNL1_Msk                      /*!<Data value Channel B      */
+#define SPDIFRX_DR1_DRNL2_Pos       (0U)
+#define SPDIFRX_DR1_DRNL2_Msk       (0xFFFFUL << SPDIFRX_DR1_DRNL2_Pos)        /*!< 0x0000FFFF */
+#define SPDIFRX_DR1_DRNL2           SPDIFRX_DR1_DRNL2_Msk                      /*!<Data value Channel A      */
+
+/*******************  Bit definition for SPDIFRX_CSR register   *******************/
+#define SPDIFRX_CSR_USR_Pos         (0U)
+#define SPDIFRX_CSR_USR_Msk         (0xFFFFUL << SPDIFRX_CSR_USR_Pos)          /*!< 0x0000FFFF */
+#define SPDIFRX_CSR_USR             SPDIFRX_CSR_USR_Msk                        /*!<User data information           */
+#define SPDIFRX_CSR_CS_Pos          (16U)
+#define SPDIFRX_CSR_CS_Msk          (0xFFUL << SPDIFRX_CSR_CS_Pos)             /*!< 0x00FF0000 */
+#define SPDIFRX_CSR_CS              SPDIFRX_CSR_CS_Msk                         /*!<Channel A status information    */
+#define SPDIFRX_CSR_SOB_Pos         (24U)
+#define SPDIFRX_CSR_SOB_Msk         (0x1UL << SPDIFRX_CSR_SOB_Pos)             /*!< 0x01000000 */
+#define SPDIFRX_CSR_SOB             SPDIFRX_CSR_SOB_Msk                        /*!<Start Of Block                  */
+
+/*******************  Bit definition for SPDIFRX_DIR register    *******************/
+#define SPDIFRX_DIR_THI_Pos         (0U)
+#define SPDIFRX_DIR_THI_Msk         (0x1FFFUL << SPDIFRX_DIR_THI_Pos)          /*!< 0x00001FFF */
+#define SPDIFRX_DIR_THI             SPDIFRX_DIR_THI_Msk                        /*!<Threshold LOW      */
+#define SPDIFRX_DIR_TLO_Pos         (16U)
+#define SPDIFRX_DIR_TLO_Msk         (0x1FFFUL << SPDIFRX_DIR_TLO_Pos)          /*!< 0x1FFF0000 */
+#define SPDIFRX_DIR_TLO             SPDIFRX_DIR_TLO_Msk                        /*!<Threshold HIGH     */
+
+/*******************  Bit definition for SPDIFRX_VERR register    *******************/
+#define SPDIFRX_VERR_MINREV_Pos     (0U)
+#define SPDIFRX_VERR_MINREV_Msk     (0xFUL << SPDIFRX_VERR_MINREV_Pos)         /*!< 0x0000000F */
+#define SPDIFRX_VERR_MINREV         SPDIFRX_VERR_MINREV_Msk                    /*!<SPDIFRX Minor revision     */
+#define SPDIFRX_VERR_MAJREV_Pos     (4U)
+#define SPDIFRX_VERR_MAJREV_Msk     (0xFUL << SPDIFRX_VERR_MAJREV_Pos)         /*!< 0x000000F0 */
+#define SPDIFRX_VERR_MAJREV         SPDIFRX_VERR_MAJREV_Msk                    /*!<SPDIFRX Major revision     */
+
+/*******************  Bit definition for SPDIFRX_IDR register    *******************/
+#define SPDIFRX_IDR_ID_Pos          (0U)
+#define SPDIFRX_IDR_ID_Msk          (0xFFFFFFFFUL << SPDIFRX_IDR_ID_Pos)       /*!< 0xFFFFFFFF */
+#define SPDIFRX_IDR_ID              SPDIFRX_IDR_ID_Msk                         /*!<SPDIFRX identifier     */
+
+/*******************  Bit definition for SPDIFRX_SIDR register    *******************/
+#define SPDIFRX_SIDR_SID_Pos        (0U)
+#define SPDIFRX_SIDR_SID_Msk        (0xFFFFFFFFUL << SPDIFRX_SIDR_SID_Pos)     /*!< 0xFFFFFFFF */
+#define SPDIFRX_SIDR_SID            SPDIFRX_SIDR_SID_Msk                       /*!<Size of the memory region allocated to SPDIFRX registers */
+
+/******************************************************************************/
+/*                                                                            */
+/*                          Serial Audio Interface                            */
+/*                                                                            */
+/******************************************************************************/
+/*******************************  SAI VERSION  ********************************/
+#define SAI_VER_V2_1
+
+/********************  Bit definition for SAI_GCR register  *******************/
+#define SAI_GCR_SYNCIN_Pos         (0U)
+#define SAI_GCR_SYNCIN_Msk         (0x3UL << SAI_GCR_SYNCIN_Pos)               /*!< 0x00000003 */
+#define SAI_GCR_SYNCIN             SAI_GCR_SYNCIN_Msk                          /*!<SYNCIN[1:0] bits (Synchronization Inputs)   */
+#define SAI_GCR_SYNCIN_0           (0x1UL << SAI_GCR_SYNCIN_Pos)                /*!< 0x00000001 */
+#define SAI_GCR_SYNCIN_1           (0x2UL << SAI_GCR_SYNCIN_Pos)                /*!< 0x00000002 */
+
+#define SAI_GCR_SYNCOUT_Pos        (4U)
+#define SAI_GCR_SYNCOUT_Msk        (0x3UL << SAI_GCR_SYNCOUT_Pos)              /*!< 0x00000030 */
+#define SAI_GCR_SYNCOUT            SAI_GCR_SYNCOUT_Msk                         /*!<SYNCOUT[1:0] bits (Synchronization Outputs) */
+#define SAI_GCR_SYNCOUT_0          (0x1UL << SAI_GCR_SYNCOUT_Pos)               /*!< 0x00000010 */
+#define SAI_GCR_SYNCOUT_1          (0x2UL << SAI_GCR_SYNCOUT_Pos)               /*!< 0x00000020 */
+
+/*******************  Bit definition for SAI_xCR1 register  *******************/
+#define SAI_xCR1_MODE_Pos          (0U)
+#define SAI_xCR1_MODE_Msk          (0x3UL << SAI_xCR1_MODE_Pos)                /*!< 0x00000003 */
+#define SAI_xCR1_MODE              SAI_xCR1_MODE_Msk                           /*!<MODE[1:0] bits (Audio Block Mode)           */
+#define SAI_xCR1_MODE_0            (0x1UL << SAI_xCR1_MODE_Pos)                 /*!< 0x00000001 */
+#define SAI_xCR1_MODE_1            (0x2UL << SAI_xCR1_MODE_Pos)                 /*!< 0x00000002 */
+
+#define SAI_xCR1_PRTCFG_Pos        (2U)
+#define SAI_xCR1_PRTCFG_Msk        (0x3UL << SAI_xCR1_PRTCFG_Pos)              /*!< 0x0000000C */
+#define SAI_xCR1_PRTCFG            SAI_xCR1_PRTCFG_Msk                         /*!<PRTCFG[1:0] bits (Protocol Configuration)   */
+#define SAI_xCR1_PRTCFG_0          (0x1UL << SAI_xCR1_PRTCFG_Pos)               /*!< 0x00000004 */
+#define SAI_xCR1_PRTCFG_1          (0x2UL << SAI_xCR1_PRTCFG_Pos)               /*!< 0x00000008 */
+
+#define SAI_xCR1_DS_Pos            (5U)
+#define SAI_xCR1_DS_Msk            (0x7UL << SAI_xCR1_DS_Pos)                  /*!< 0x000000E0 */
+#define SAI_xCR1_DS                SAI_xCR1_DS_Msk                             /*!<DS[1:0] bits (Data Size) */
+#define SAI_xCR1_DS_0              (0x1UL << SAI_xCR1_DS_Pos)                   /*!< 0x00000020 */
+#define SAI_xCR1_DS_1              (0x2UL << SAI_xCR1_DS_Pos)                   /*!< 0x00000040 */
+#define SAI_xCR1_DS_2              (0x4UL << SAI_xCR1_DS_Pos)                   /*!< 0x00000080 */
+
+#define SAI_xCR1_LSBFIRST_Pos      (8U)
+#define SAI_xCR1_LSBFIRST_Msk      (0x1UL << SAI_xCR1_LSBFIRST_Pos)            /*!< 0x00000100 */
+#define SAI_xCR1_LSBFIRST          SAI_xCR1_LSBFIRST_Msk                       /*!<LSB First Configuration  */
+#define SAI_xCR1_CKSTR_Pos         (9U)
+#define SAI_xCR1_CKSTR_Msk         (0x1UL << SAI_xCR1_CKSTR_Pos)               /*!< 0x00000200 */
+#define SAI_xCR1_CKSTR             SAI_xCR1_CKSTR_Msk                          /*!<ClocK STRobing edge      */
+
+#define SAI_xCR1_SYNCEN_Pos        (10U)
+#define SAI_xCR1_SYNCEN_Msk        (0x3UL << SAI_xCR1_SYNCEN_Pos)              /*!< 0x00000C00 */
+#define SAI_xCR1_SYNCEN            SAI_xCR1_SYNCEN_Msk                         /*!<SYNCEN[1:0](SYNChronization ENable) */
+#define SAI_xCR1_SYNCEN_0          (0x1UL << SAI_xCR1_SYNCEN_Pos)               /*!< 0x00000400 */
+#define SAI_xCR1_SYNCEN_1          (0x2UL << SAI_xCR1_SYNCEN_Pos)               /*!< 0x00000800 */
+
+#define SAI_xCR1_MONO_Pos          (12U)
+#define SAI_xCR1_MONO_Msk          (0x1UL << SAI_xCR1_MONO_Pos)                /*!< 0x00001000 */
+#define SAI_xCR1_MONO              SAI_xCR1_MONO_Msk                           /*!<Mono mode                  */
+#define SAI_xCR1_OUTDRIV_Pos       (13U)
+#define SAI_xCR1_OUTDRIV_Msk       (0x1UL << SAI_xCR1_OUTDRIV_Pos)             /*!< 0x00002000 */
+#define SAI_xCR1_OUTDRIV           SAI_xCR1_OUTDRIV_Msk                        /*!<Output Drive               */
+#define SAI_xCR1_SAIEN_Pos         (16U)
+#define SAI_xCR1_SAIEN_Msk         (0x1UL << SAI_xCR1_SAIEN_Pos)               /*!< 0x00010000 */
+#define SAI_xCR1_SAIEN             SAI_xCR1_SAIEN_Msk                          /*!<Audio Block enable         */
+#define SAI_xCR1_DMAEN_Pos         (17U)
+#define SAI_xCR1_DMAEN_Msk         (0x1UL << SAI_xCR1_DMAEN_Pos)               /*!< 0x00020000 */
+#define SAI_xCR1_DMAEN             SAI_xCR1_DMAEN_Msk                          /*!<DMA enable                 */
+#define SAI_xCR1_NODIV_Pos         (19U)
+#define SAI_xCR1_NODIV_Msk         (0x1UL << SAI_xCR1_NODIV_Pos)               /*!< 0x00080000 */
+#define SAI_xCR1_NODIV             SAI_xCR1_NODIV_Msk                          /*!<No Divider Configuration   */
+
+#define SAI_xCR1_MCKDIV_Pos        (20U)
+#define SAI_xCR1_MCKDIV_Msk        (0x3FUL << SAI_xCR1_MCKDIV_Pos)             /*!< 0x03F00000 */
+#define SAI_xCR1_MCKDIV            SAI_xCR1_MCKDIV_Msk                         /*!<MCKDIV[5:0] (Master ClocK Divider)  */
+#define SAI_xCR1_MCKDIV_0          (0x01UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x00100000 */
+#define SAI_xCR1_MCKDIV_1          (0x02UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x00200000 */
+#define SAI_xCR1_MCKDIV_2          (0x04UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x00400000 */
+#define SAI_xCR1_MCKDIV_3          (0x08UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x00800000 */
+#define SAI_xCR1_MCKDIV_4          (0x10UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x01000000 */
+#define SAI_xCR1_MCKDIV_5          (0x20UL << SAI_xCR1_MCKDIV_Pos)              /*!< 0x02000000 */
+
+#define SAI_xCR1_MCKEN_Pos         (27U)
+#define SAI_xCR1_MCKEN_Msk         (0x1UL << SAI_xCR1_MCKEN_Pos)               /*!< 0x08000000 */
+#define SAI_xCR1_MCKEN             SAI_xCR1_MCKEN_Msk                          /*!<Master ClocK enable */
+
+#define SAI_xCR1_OSR_Pos           (26U)
+#define SAI_xCR1_OSR_Msk           (0x1UL << SAI_xCR1_OSR_Pos)                 /*!< 0x04000000 */
+#define SAI_xCR1_OSR               SAI_xCR1_OSR_Msk                            /*!<OverSampling Ratio for master clock  */
+
+/* Legacy define */
+#define  SAI_xCR1_NOMCK               SAI_xCR1_NODIV
+
+/*******************  Bit definition for SAI_xCR2 register  *******************/
+#define SAI_xCR2_FTH_Pos           (0U)
+#define SAI_xCR2_FTH_Msk           (0x7UL << SAI_xCR2_FTH_Pos)                 /*!< 0x00000007 */
+#define SAI_xCR2_FTH               SAI_xCR2_FTH_Msk                            /*!<FTH[2:0](Fifo THreshold)  */
+#define SAI_xCR2_FTH_0             (0x1UL << SAI_xCR2_FTH_Pos)                  /*!< 0x00000001 */
+#define SAI_xCR2_FTH_1             (0x2UL << SAI_xCR2_FTH_Pos)                  /*!< 0x00000002 */
+#define SAI_xCR2_FTH_2             (0x4UL << SAI_xCR2_FTH_Pos)                  /*!< 0x00000004 */
+
+#define SAI_xCR2_FFLUSH_Pos        (3U)
+#define SAI_xCR2_FFLUSH_Msk        (0x1UL << SAI_xCR2_FFLUSH_Pos)              /*!< 0x00000008 */
+#define SAI_xCR2_FFLUSH            SAI_xCR2_FFLUSH_Msk                         /*!<Fifo FLUSH                       */
+#define SAI_xCR2_TRIS_Pos          (4U)
+#define SAI_xCR2_TRIS_Msk          (0x1UL << SAI_xCR2_TRIS_Pos)                /*!< 0x00000010 */
+#define SAI_xCR2_TRIS              SAI_xCR2_TRIS_Msk                           /*!<TRIState Management on data line */
+#define SAI_xCR2_MUTE_Pos          (5U)
+#define SAI_xCR2_MUTE_Msk          (0x1UL << SAI_xCR2_MUTE_Pos)                /*!< 0x00000020 */
+#define SAI_xCR2_MUTE              SAI_xCR2_MUTE_Msk                           /*!<Mute mode                        */
+#define SAI_xCR2_MUTEVAL_Pos       (6U)
+#define SAI_xCR2_MUTEVAL_Msk       (0x1UL << SAI_xCR2_MUTEVAL_Pos)             /*!< 0x00000040 */
+#define SAI_xCR2_MUTEVAL           SAI_xCR2_MUTEVAL_Msk                        /*!<Muate value                      */
+
+#define SAI_xCR2_MUTECNT_Pos       (7U)
+#define SAI_xCR2_MUTECNT_Msk       (0x3FUL << SAI_xCR2_MUTECNT_Pos)            /*!< 0x00001F80 */
+#define SAI_xCR2_MUTECNT           SAI_xCR2_MUTECNT_Msk                        /*!<MUTECNT[5:0] (MUTE counter) */
+#define SAI_xCR2_MUTECNT_0         (0x01UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000080 */
+#define SAI_xCR2_MUTECNT_1         (0x02UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000100 */
+#define SAI_xCR2_MUTECNT_2         (0x04UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000200 */
+#define SAI_xCR2_MUTECNT_3         (0x08UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000400 */
+#define SAI_xCR2_MUTECNT_4         (0x10UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00000800 */
+#define SAI_xCR2_MUTECNT_5         (0x20UL << SAI_xCR2_MUTECNT_Pos)             /*!< 0x00001000 */
+
+#define SAI_xCR2_CPL_Pos           (13U)
+#define SAI_xCR2_CPL_Msk           (0x1UL << SAI_xCR2_CPL_Pos)                 /*!< 0x00002000 */
+#define SAI_xCR2_CPL               SAI_xCR2_CPL_Msk                            /*!< Complement Bit             */
+
+#define SAI_xCR2_COMP_Pos          (14U)
+#define SAI_xCR2_COMP_Msk          (0x3UL << SAI_xCR2_COMP_Pos)                /*!< 0x0000C000 */
+#define SAI_xCR2_COMP              SAI_xCR2_COMP_Msk                           /*!<COMP[1:0] (Companding mode) */
+#define SAI_xCR2_COMP_0            (0x1UL << SAI_xCR2_COMP_Pos)                 /*!< 0x00004000 */
+#define SAI_xCR2_COMP_1            (0x2UL << SAI_xCR2_COMP_Pos)                 /*!< 0x00008000 */
+
+/******************  Bit definition for SAI_xFRCR register  *******************/
+#define SAI_xFRCR_FRL_Pos          (0U)
+#define SAI_xFRCR_FRL_Msk          (0xFFUL << SAI_xFRCR_FRL_Pos)               /*!< 0x000000FF */
+#define SAI_xFRCR_FRL              SAI_xFRCR_FRL_Msk                           /*!<FRL[7:0](FRame Length)  */
+#define SAI_xFRCR_FRL_0            (0x01UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000001 */
+#define SAI_xFRCR_FRL_1            (0x02UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000002 */
+#define SAI_xFRCR_FRL_2            (0x04UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000004 */
+#define SAI_xFRCR_FRL_3            (0x08UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000008 */
+#define SAI_xFRCR_FRL_4            (0x10UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000010 */
+#define SAI_xFRCR_FRL_5            (0x20UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000020 */
+#define SAI_xFRCR_FRL_6            (0x40UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000040 */
+#define SAI_xFRCR_FRL_7            (0x80UL << SAI_xFRCR_FRL_Pos)                /*!< 0x00000080 */
+
+#define SAI_xFRCR_FSALL_Pos        (8U)
+#define SAI_xFRCR_FSALL_Msk        (0x7FUL << SAI_xFRCR_FSALL_Pos)             /*!< 0x00007F00 */
+#define SAI_xFRCR_FSALL            SAI_xFRCR_FSALL_Msk                         /*!<FSALL[6:0] (Frame Synchronization Active Level Length)  */
+#define SAI_xFRCR_FSALL_0          (0x01UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00000100 */
+#define SAI_xFRCR_FSALL_1          (0x02UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00000200 */
+#define SAI_xFRCR_FSALL_2          (0x04UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00000400 */
+#define SAI_xFRCR_FSALL_3          (0x08UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00000800 */
+#define SAI_xFRCR_FSALL_4          (0x10UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00001000 */
+#define SAI_xFRCR_FSALL_5          (0x20UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00002000 */
+#define SAI_xFRCR_FSALL_6          (0x40UL << SAI_xFRCR_FSALL_Pos)              /*!< 0x00004000 */
+
+#define SAI_xFRCR_FSDEF_Pos        (16U)
+#define SAI_xFRCR_FSDEF_Msk        (0x1UL << SAI_xFRCR_FSDEF_Pos)              /*!< 0x00010000 */
+#define SAI_xFRCR_FSDEF            SAI_xFRCR_FSDEF_Msk                         /*!<Frame Synchronization Definition  */
+#define SAI_xFRCR_FSPOL_Pos        (17U)
+#define SAI_xFRCR_FSPOL_Msk        (0x1UL << SAI_xFRCR_FSPOL_Pos)              /*!< 0x00020000 */
+#define SAI_xFRCR_FSPOL            SAI_xFRCR_FSPOL_Msk                         /*!<Frame Synchronization POLarity    */
+#define SAI_xFRCR_FSOFF_Pos        (18U)
+#define SAI_xFRCR_FSOFF_Msk        (0x1UL << SAI_xFRCR_FSOFF_Pos)              /*!< 0x00040000 */
+#define SAI_xFRCR_FSOFF            SAI_xFRCR_FSOFF_Msk                         /*!<Frame Synchronization OFFset      */
+
+/* Legacy define */
+#define  SAI_xFRCR_FSPO                      SAI_xFRCR_FSPOL
+
+/******************  Bit definition for SAI_xSLOTR register  *******************/
+#define SAI_xSLOTR_FBOFF_Pos       (0U)
+#define SAI_xSLOTR_FBOFF_Msk       (0x1FUL << SAI_xSLOTR_FBOFF_Pos)            /*!< 0x0000001F */
+#define SAI_xSLOTR_FBOFF           SAI_xSLOTR_FBOFF_Msk                        /*!<FBOFF[4:0](First Bit Offset)  */
+#define SAI_xSLOTR_FBOFF_0         (0x01UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000001 */
+#define SAI_xSLOTR_FBOFF_1         (0x02UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000002 */
+#define SAI_xSLOTR_FBOFF_2         (0x04UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000004 */
+#define SAI_xSLOTR_FBOFF_3         (0x08UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000008 */
+#define SAI_xSLOTR_FBOFF_4         (0x10UL << SAI_xSLOTR_FBOFF_Pos)             /*!< 0x00000010 */
+
+#define SAI_xSLOTR_SLOTSZ_Pos      (6U)
+#define SAI_xSLOTR_SLOTSZ_Msk      (0x3UL << SAI_xSLOTR_SLOTSZ_Pos)            /*!< 0x000000C0 */
+#define SAI_xSLOTR_SLOTSZ          SAI_xSLOTR_SLOTSZ_Msk                       /*!<SLOTSZ[1:0] (Slot size)  */
+#define SAI_xSLOTR_SLOTSZ_0        (0x1UL << SAI_xSLOTR_SLOTSZ_Pos)             /*!< 0x00000040 */
+#define SAI_xSLOTR_SLOTSZ_1        (0x2UL << SAI_xSLOTR_SLOTSZ_Pos)             /*!< 0x00000080 */
+
+#define SAI_xSLOTR_NBSLOT_Pos      (8U)
+#define SAI_xSLOTR_NBSLOT_Msk      (0xFUL << SAI_xSLOTR_NBSLOT_Pos)            /*!< 0x00000F00 */
+#define SAI_xSLOTR_NBSLOT          SAI_xSLOTR_NBSLOT_Msk                       /*!<NBSLOT[3:0] (Number of Slot in audio Frame)  */
+#define SAI_xSLOTR_NBSLOT_0        (0x1UL << SAI_xSLOTR_NBSLOT_Pos)             /*!< 0x00000100 */
+#define SAI_xSLOTR_NBSLOT_1        (0x2UL << SAI_xSLOTR_NBSLOT_Pos)             /*!< 0x00000200 */
+#define SAI_xSLOTR_NBSLOT_2        (0x4UL << SAI_xSLOTR_NBSLOT_Pos)             /*!< 0x00000400 */
+#define SAI_xSLOTR_NBSLOT_3        (0x8UL << SAI_xSLOTR_NBSLOT_Pos)             /*!< 0x00000800 */
+
+#define SAI_xSLOTR_SLOTEN_Pos      (16U)
+#define SAI_xSLOTR_SLOTEN_Msk      (0xFFFFUL << SAI_xSLOTR_SLOTEN_Pos)         /*!< 0xFFFF0000 */
+#define SAI_xSLOTR_SLOTEN          SAI_xSLOTR_SLOTEN_Msk                       /*!<SLOTEN[15:0] (Slot Enable)  */
+
+/*******************  Bit definition for SAI_xIMR register  *******************/
+#define SAI_xIMR_OVRUDRIE_Pos      (0U)
+#define SAI_xIMR_OVRUDRIE_Msk      (0x1UL << SAI_xIMR_OVRUDRIE_Pos)            /*!< 0x00000001 */
+#define SAI_xIMR_OVRUDRIE          SAI_xIMR_OVRUDRIE_Msk                       /*!<Overrun underrun interrupt enable                              */
+#define SAI_xIMR_MUTEDETIE_Pos     (1U)
+#define SAI_xIMR_MUTEDETIE_Msk     (0x1UL << SAI_xIMR_MUTEDETIE_Pos)           /*!< 0x00000002 */
+#define SAI_xIMR_MUTEDETIE         SAI_xIMR_MUTEDETIE_Msk                      /*!<Mute detection interrupt enable                                */
+#define SAI_xIMR_WCKCFGIE_Pos      (2U)
+#define SAI_xIMR_WCKCFGIE_Msk      (0x1UL << SAI_xIMR_WCKCFGIE_Pos)            /*!< 0x00000004 */
+#define SAI_xIMR_WCKCFGIE          SAI_xIMR_WCKCFGIE_Msk                       /*!<Wrong Clock Configuration interrupt enable                     */
+#define SAI_xIMR_FREQIE_Pos        (3U)
+#define SAI_xIMR_FREQIE_Msk        (0x1UL << SAI_xIMR_FREQIE_Pos)              /*!< 0x00000008 */
+#define SAI_xIMR_FREQIE            SAI_xIMR_FREQIE_Msk                         /*!<FIFO request interrupt enable                                  */
+#define SAI_xIMR_CNRDYIE_Pos       (4U)
+#define SAI_xIMR_CNRDYIE_Msk       (0x1UL << SAI_xIMR_CNRDYIE_Pos)             /*!< 0x00000010 */
+#define SAI_xIMR_CNRDYIE           SAI_xIMR_CNRDYIE_Msk                        /*!<Codec not ready interrupt enable                               */
+#define SAI_xIMR_AFSDETIE_Pos      (5U)
+#define SAI_xIMR_AFSDETIE_Msk      (0x1UL << SAI_xIMR_AFSDETIE_Pos)            /*!< 0x00000020 */
+#define SAI_xIMR_AFSDETIE          SAI_xIMR_AFSDETIE_Msk                       /*!<Anticipated frame synchronization detection interrupt enable   */
+#define SAI_xIMR_LFSDETIE_Pos      (6U)
+#define SAI_xIMR_LFSDETIE_Msk      (0x1UL << SAI_xIMR_LFSDETIE_Pos)            /*!< 0x00000040 */
+#define SAI_xIMR_LFSDETIE          SAI_xIMR_LFSDETIE_Msk                       /*!<Late frame synchronization detection interrupt enable          */
+
+/********************  Bit definition for SAI_xSR register  *******************/
+#define SAI_xSR_OVRUDR_Pos         (0U)
+#define SAI_xSR_OVRUDR_Msk         (0x1UL << SAI_xSR_OVRUDR_Pos)               /*!< 0x00000001 */
+#define SAI_xSR_OVRUDR             SAI_xSR_OVRUDR_Msk                          /*!<Overrun underrun                               */
+#define SAI_xSR_MUTEDET_Pos        (1U)
+#define SAI_xSR_MUTEDET_Msk        (0x1UL << SAI_xSR_MUTEDET_Pos)              /*!< 0x00000002 */
+#define SAI_xSR_MUTEDET            SAI_xSR_MUTEDET_Msk                         /*!<Mute detection                                 */
+#define SAI_xSR_WCKCFG_Pos         (2U)
+#define SAI_xSR_WCKCFG_Msk         (0x1UL << SAI_xSR_WCKCFG_Pos)               /*!< 0x00000004 */
+#define SAI_xSR_WCKCFG             SAI_xSR_WCKCFG_Msk                          /*!<Wrong Clock Configuration                      */
+#define SAI_xSR_FREQ_Pos           (3U)
+#define SAI_xSR_FREQ_Msk           (0x1UL << SAI_xSR_FREQ_Pos)                 /*!< 0x00000008 */
+#define SAI_xSR_FREQ               SAI_xSR_FREQ_Msk                            /*!<FIFO request                                   */
+#define SAI_xSR_CNRDY_Pos          (4U)
+#define SAI_xSR_CNRDY_Msk          (0x1UL << SAI_xSR_CNRDY_Pos)                /*!< 0x00000010 */
+#define SAI_xSR_CNRDY              SAI_xSR_CNRDY_Msk                           /*!<Codec not ready                                */
+#define SAI_xSR_AFSDET_Pos         (5U)
+#define SAI_xSR_AFSDET_Msk         (0x1UL << SAI_xSR_AFSDET_Pos)               /*!< 0x00000020 */
+#define SAI_xSR_AFSDET             SAI_xSR_AFSDET_Msk                          /*!<Anticipated frame synchronization detection    */
+#define SAI_xSR_LFSDET_Pos         (6U)
+#define SAI_xSR_LFSDET_Msk         (0x1UL << SAI_xSR_LFSDET_Pos)               /*!< 0x00000040 */
+#define SAI_xSR_LFSDET             SAI_xSR_LFSDET_Msk                          /*!<Late frame synchronization detection           */
+
+#define SAI_xSR_FLVL_Pos           (16U)
+#define SAI_xSR_FLVL_Msk           (0x7UL << SAI_xSR_FLVL_Pos)                 /*!< 0x00070000 */
+#define SAI_xSR_FLVL               SAI_xSR_FLVL_Msk                            /*!<FLVL[2:0] (FIFO Level Threshold)               */
+#define SAI_xSR_FLVL_0             (0x1UL << SAI_xSR_FLVL_Pos)                  /*!< 0x00010000 */
+#define SAI_xSR_FLVL_1             (0x2UL << SAI_xSR_FLVL_Pos)                  /*!< 0x00020000 */
+#define SAI_xSR_FLVL_2             (0x4UL << SAI_xSR_FLVL_Pos)                  /*!< 0x00040000 */
+
+/******************  Bit definition for SAI_xCLRFR register  ******************/
+#define SAI_xCLRFR_COVRUDR_Pos     (0U)
+#define SAI_xCLRFR_COVRUDR_Msk     (0x1UL << SAI_xCLRFR_COVRUDR_Pos)           /*!< 0x00000001 */
+#define SAI_xCLRFR_COVRUDR         SAI_xCLRFR_COVRUDR_Msk                      /*!<Clear Overrun underrun                               */
+#define SAI_xCLRFR_CMUTEDET_Pos    (1U)
+#define SAI_xCLRFR_CMUTEDET_Msk    (0x1UL << SAI_xCLRFR_CMUTEDET_Pos)          /*!< 0x00000002 */
+#define SAI_xCLRFR_CMUTEDET        SAI_xCLRFR_CMUTEDET_Msk                     /*!<Clear Mute detection                                 */
+#define SAI_xCLRFR_CWCKCFG_Pos     (2U)
+#define SAI_xCLRFR_CWCKCFG_Msk     (0x1UL << SAI_xCLRFR_CWCKCFG_Pos)           /*!< 0x00000004 */
+#define SAI_xCLRFR_CWCKCFG         SAI_xCLRFR_CWCKCFG_Msk                      /*!<Clear Wrong Clock Configuration                      */
+#define SAI_xCLRFR_CFREQ_Pos       (3U)
+#define SAI_xCLRFR_CFREQ_Msk       (0x1UL << SAI_xCLRFR_CFREQ_Pos)             /*!< 0x00000008 */
+#define SAI_xCLRFR_CFREQ           SAI_xCLRFR_CFREQ_Msk                        /*!<Clear FIFO request                                   */
+#define SAI_xCLRFR_CCNRDY_Pos      (4U)
+#define SAI_xCLRFR_CCNRDY_Msk      (0x1UL << SAI_xCLRFR_CCNRDY_Pos)            /*!< 0x00000010 */
+#define SAI_xCLRFR_CCNRDY          SAI_xCLRFR_CCNRDY_Msk                       /*!<Clear Codec not ready                                */
+#define SAI_xCLRFR_CAFSDET_Pos     (5U)
+#define SAI_xCLRFR_CAFSDET_Msk     (0x1UL << SAI_xCLRFR_CAFSDET_Pos)           /*!< 0x00000020 */
+#define SAI_xCLRFR_CAFSDET         SAI_xCLRFR_CAFSDET_Msk                      /*!<Clear Anticipated frame synchronization detection    */
+#define SAI_xCLRFR_CLFSDET_Pos     (6U)
+#define SAI_xCLRFR_CLFSDET_Msk     (0x1UL << SAI_xCLRFR_CLFSDET_Pos)           /*!< 0x00000040 */
+#define SAI_xCLRFR_CLFSDET         SAI_xCLRFR_CLFSDET_Msk                      /*!<Clear Late frame synchronization detection           */
+
+/******************  Bit definition for SAI_xDR register  *********************/
+#define SAI_xDR_DATA_Pos           (0U)
+#define SAI_xDR_DATA_Msk           (0xFFFFFFFFUL << SAI_xDR_DATA_Pos)          /*!< 0xFFFFFFFF */
+#define SAI_xDR_DATA               SAI_xDR_DATA_Msk
+
+/*******************  Bit definition for SAI_PDMCR register  ******************/
+#define SAI_PDMCR_PDMEN_Pos        (0U)
+#define SAI_PDMCR_PDMEN_Msk        (0x1UL << SAI_PDMCR_PDMEN_Pos)              /*!< 0x00000001 */
+#define SAI_PDMCR_PDMEN            SAI_PDMCR_PDMEN_Msk                         /*!<PDM Enable                                          */
+
+#define SAI_PDMCR_MICNBR_Pos       (4U)
+#define SAI_PDMCR_MICNBR_Msk       (0x3UL << SAI_PDMCR_MICNBR_Pos)             /*!< 0x00000030 */
+#define SAI_PDMCR_MICNBR           SAI_PDMCR_MICNBR_Msk                        /*!<Number of microphones                               */
+#define SAI_PDMCR_MICNBR_0         (0x1UL << SAI_PDMCR_MICNBR_Pos)              /*!< 0x00000010 */
+#define SAI_PDMCR_MICNBR_1         (0x2UL << SAI_PDMCR_MICNBR_Pos)              /*!< 0x00000020 */
+
+#define SAI_PDMCR_CKEN1_Pos        (8U)
+#define SAI_PDMCR_CKEN1_Msk        (0x1UL << SAI_PDMCR_CKEN1_Pos)              /*!< 0x00000100 */
+#define SAI_PDMCR_CKEN1            SAI_PDMCR_CKEN1_Msk                         /*!<Clock enable of bitstream clock number 1            */
+#define SAI_PDMCR_CKEN2_Pos        (9U)
+#define SAI_PDMCR_CKEN2_Msk        (0x1UL << SAI_PDMCR_CKEN2_Pos)              /*!< 0x00000200 */
+#define SAI_PDMCR_CKEN2            SAI_PDMCR_CKEN2_Msk                         /*!<Clock enable of bitstream clock number 2            */
+#define SAI_PDMCR_CKEN3_Pos        (10U)
+#define SAI_PDMCR_CKEN3_Msk        (0x1UL << SAI_PDMCR_CKEN3_Pos)              /*!< 0x00000400 */
+#define SAI_PDMCR_CKEN3            SAI_PDMCR_CKEN3_Msk                         /*!<Clock enable of bitstream clock number 3            */
+#define SAI_PDMCR_CKEN4_Pos        (11U)
+#define SAI_PDMCR_CKEN4_Msk        (0x1UL << SAI_PDMCR_CKEN4_Pos)              /*!< 0x00000800 */
+#define SAI_PDMCR_CKEN4            SAI_PDMCR_CKEN4_Msk                         /*!<Clock enable of bitstream clock number 4            */
+
+/******************  Bit definition for SAI_PDMDLY register  ******************/
+#define SAI_PDMDLY_DLYM1L_Pos      (0U)
+#define SAI_PDMDLY_DLYM1L_Msk      (0x7UL << SAI_PDMDLY_DLYM1L_Pos)            /*!< 0x00000007 */
+#define SAI_PDMDLY_DLYM1L          SAI_PDMDLY_DLYM1L_Msk                       /*!<DLYM1L[2:0] (Delay line adjust for left microphone of pair 1) */
+#define SAI_PDMDLY_DLYM1L_0        (0x1UL << SAI_PDMDLY_DLYM1L_Pos)             /*!< 0x00000001 */
+#define SAI_PDMDLY_DLYM1L_1        (0x2UL << SAI_PDMDLY_DLYM1L_Pos)             /*!< 0x00000002 */
+#define SAI_PDMDLY_DLYM1L_2        (0x4UL << SAI_PDMDLY_DLYM1L_Pos)             /*!< 0x00000004 */
+
+#define SAI_PDMDLY_DLYM1R_Pos      (4U)
+#define SAI_PDMDLY_DLYM1R_Msk      (0x7UL << SAI_PDMDLY_DLYM1R_Pos)            /*!< 0x00000070 */
+#define SAI_PDMDLY_DLYM1R          SAI_PDMDLY_DLYM1R_Msk                       /*!<DLYM1R[2:0] (Delay line adjust for right microphone of pair 1) */
+#define SAI_PDMDLY_DLYM1R_0        (0x1UL << SAI_PDMDLY_DLYM1R_Pos)             /*!< 0x00000010 */
+#define SAI_PDMDLY_DLYM1R_1        (0x2UL << SAI_PDMDLY_DLYM1R_Pos)             /*!< 0x00000020 */
+#define SAI_PDMDLY_DLYM1R_2        (0x4UL << SAI_PDMDLY_DLYM1R_Pos)             /*!< 0x00000040 */
+
+#define SAI_PDMDLY_DLYM2L_Pos      (8U)
+#define SAI_PDMDLY_DLYM2L_Msk      (0x7UL << SAI_PDMDLY_DLYM2L_Pos)            /*!< 0x00000700 */
+#define SAI_PDMDLY_DLYM2L          SAI_PDMDLY_DLYM2L_Msk                       /*!<DLYM2L[2:0] (Delay line adjust for left microphone of pair 2) */
+#define SAI_PDMDLY_DLYM2L_0        (0x1UL << SAI_PDMDLY_DLYM2L_Pos)             /*!< 0x00000100 */
+#define SAI_PDMDLY_DLYM2L_1        (0x2UL << SAI_PDMDLY_DLYM2L_Pos)             /*!< 0x00000200 */
+#define SAI_PDMDLY_DLYM2L_2        (0x4UL << SAI_PDMDLY_DLYM2L_Pos)             /*!< 0x00000400 */
+
+#define SAI_PDMDLY_DLYM2R_Pos      (12U)
+#define SAI_PDMDLY_DLYM2R_Msk      (0x7UL << SAI_PDMDLY_DLYM2R_Pos)            /*!< 0x00007000 */
+#define SAI_PDMDLY_DLYM2R          SAI_PDMDLY_DLYM2R_Msk                       /*!<DLYM2R[2:0] (Delay line adjust for right microphone of pair 2)*/
+#define SAI_PDMDLY_DLYM2R_0        (0x1UL << SAI_PDMDLY_DLYM2R_Pos)             /*!< 0x00001000 */
+#define SAI_PDMDLY_DLYM2R_1        (0x2UL << SAI_PDMDLY_DLYM2R_Pos)             /*!< 0x00002000 */
+#define SAI_PDMDLY_DLYM2R_2        (0x4UL << SAI_PDMDLY_DLYM2R_Pos)             /*!< 0x00004000 */
+
+#define SAI_PDMDLY_DLYM3L_Pos      (16U)
+#define SAI_PDMDLY_DLYM3L_Msk      (0x7UL << SAI_PDMDLY_DLYM3L_Pos)            /*!< 0x00070000 */
+#define SAI_PDMDLY_DLYM3L          SAI_PDMDLY_DLYM3L_Msk                       /*!<DLYM3L[2:0] (Delay line adjust for left microphone of pair 3)*/
+#define SAI_PDMDLY_DLYM3L_0        (0x1UL << SAI_PDMDLY_DLYM3L_Pos)             /*!< 0x00010000 */
+#define SAI_PDMDLY_DLYM3L_1        (0x2UL << SAI_PDMDLY_DLYM3L_Pos)             /*!< 0x00020000 */
+#define SAI_PDMDLY_DLYM3L_2        (0x4UL << SAI_PDMDLY_DLYM3L_Pos)             /*!< 0x00040000 */
+
+#define SAI_PDMDLY_DLYM3R_Pos      (20U)
+#define SAI_PDMDLY_DLYM3R_Msk      (0x7UL << SAI_PDMDLY_DLYM3R_Pos)            /*!< 0x00700000 */
+#define SAI_PDMDLY_DLYM3R          SAI_PDMDLY_DLYM3R_Msk                       /*!<DLYM3R[2:0] (Delay line adjust for right microphone of pair 3)*/
+#define SAI_PDMDLY_DLYM3R_0        (0x1UL << SAI_PDMDLY_DLYM3R_Pos)             /*!< 0x00100000 */
+#define SAI_PDMDLY_DLYM3R_1        (0x2UL << SAI_PDMDLY_DLYM3R_Pos)             /*!< 0x00200000 */
+#define SAI_PDMDLY_DLYM3R_2        (0x4UL << SAI_PDMDLY_DLYM3R_Pos)             /*!< 0x00400000 */
+
+#define SAI_PDMDLY_DLYM4L_Pos      (24U)
+#define SAI_PDMDLY_DLYM4L_Msk      (0x7UL << SAI_PDMDLY_DLYM4L_Pos)            /*!< 0x07000000 */
+#define SAI_PDMDLY_DLYM4L          SAI_PDMDLY_DLYM4L_Msk                       /*!<DLYM4L[2:0] (Delay line adjust for left microphone of pair 4)*/
+#define SAI_PDMDLY_DLYM4L_0        (0x1UL << SAI_PDMDLY_DLYM4L_Pos)             /*!< 0x01000000 */
+#define SAI_PDMDLY_DLYM4L_1        (0x2UL << SAI_PDMDLY_DLYM4L_Pos)             /*!< 0x02000000 */
+#define SAI_PDMDLY_DLYM4L_2        (0x4UL << SAI_PDMDLY_DLYM4L_Pos)             /*!< 0x04000000 */
+
+#define SAI_PDMDLY_DLYM4R_Pos      (28U)
+#define SAI_PDMDLY_DLYM4R_Msk      (0x7UL << SAI_PDMDLY_DLYM4R_Pos)            /*!< 0x70000000 */
+#define SAI_PDMDLY_DLYM4R          SAI_PDMDLY_DLYM4R_Msk                       /*!<DLYM4R[2:0] (Delay line adjust for right microphone of pair 4)*/
+#define SAI_PDMDLY_DLYM4R_0        (0x1UL << SAI_PDMDLY_DLYM4R_Pos)             /*!< 0x10000000 */
+#define SAI_PDMDLY_DLYM4R_1        (0x2UL << SAI_PDMDLY_DLYM4R_Pos)             /*!< 0x20000000 */
+#define SAI_PDMDLY_DLYM4R_2        (0x4UL << SAI_PDMDLY_DLYM4R_Pos)             /*!< 0x40000000 */
+
+/******************************************************************************/
+/*                                                                            */
+/*                           SDMMC Interface                                  */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for SDMMC_POWER register  ******************/
+#define SDMMC_POWER_PWRCTRL_Pos          (0U)
+#define SDMMC_POWER_PWRCTRL_Msk          (0x3UL << SDMMC_POWER_PWRCTRL_Pos)    /*!< 0x00000003 */
+#define SDMMC_POWER_PWRCTRL              SDMMC_POWER_PWRCTRL_Msk               /*!<PWRCTRL[1:0] bits (Power supply control bits) */
+#define SDMMC_POWER_PWRCTRL_0            (0x1UL << SDMMC_POWER_PWRCTRL_Pos)     /*!< 0x00000001 */
+#define SDMMC_POWER_PWRCTRL_1            (0x2UL << SDMMC_POWER_PWRCTRL_Pos)     /*!< 0x00000002 */
+#define SDMMC_POWER_VSWITCH_Pos          (2U)
+#define SDMMC_POWER_VSWITCH_Msk          (0x1UL << SDMMC_POWER_VSWITCH_Pos)    /*!< 0x00000004 */
+#define SDMMC_POWER_VSWITCH              SDMMC_POWER_VSWITCH_Msk               /*!<Voltage switch sequence start */
+#define SDMMC_POWER_VSWITCHEN_Pos        (3U)
+#define SDMMC_POWER_VSWITCHEN_Msk        (0x1UL << SDMMC_POWER_VSWITCHEN_Pos)  /*!< 0x00000008 */
+#define SDMMC_POWER_VSWITCHEN            SDMMC_POWER_VSWITCHEN_Msk             /*!<Voltage switch procedure enable */
+#define SDMMC_POWER_DIRPOL_Pos           (4U)
+#define SDMMC_POWER_DIRPOL_Msk           (0x1UL << SDMMC_POWER_DIRPOL_Pos)     /*!< 0x00000010 */
+#define SDMMC_POWER_DIRPOL               SDMMC_POWER_DIRPOL_Msk                /*!<Data and Command direction signals polarity selection */
+
+/******************  Bit definition for SDMMC_CLKCR register  ******************/
+#define SDMMC_CLKCR_CLKDIV_Pos           (0U)
+#define SDMMC_CLKCR_CLKDIV_Msk           (0x3FFUL << SDMMC_CLKCR_CLKDIV_Pos)   /*!< 0x000003FF */
+#define SDMMC_CLKCR_CLKDIV               SDMMC_CLKCR_CLKDIV_Msk                /*!<Clock divide factor             */
+#define SDMMC_CLKCR_PWRSAV_Pos           (12U)
+#define SDMMC_CLKCR_PWRSAV_Msk           (0x1UL << SDMMC_CLKCR_PWRSAV_Pos)     /*!< 0x00001000 */
+#define SDMMC_CLKCR_PWRSAV               SDMMC_CLKCR_PWRSAV_Msk                /*!<Power saving configuration bit  */
+
+#define SDMMC_CLKCR_WIDBUS_Pos           (14U)
+#define SDMMC_CLKCR_WIDBUS_Msk           (0x3UL << SDMMC_CLKCR_WIDBUS_Pos)     /*!< 0x0000C000 */
+#define SDMMC_CLKCR_WIDBUS               SDMMC_CLKCR_WIDBUS_Msk                /*!<WIDBUS[1:0] bits (Wide bus mode enable bit) */
+#define SDMMC_CLKCR_WIDBUS_0             (0x1UL << SDMMC_CLKCR_WIDBUS_Pos)      /*!< 0x00004000 */
+#define SDMMC_CLKCR_WIDBUS_1             (0x2UL << SDMMC_CLKCR_WIDBUS_Pos)      /*!< 0x00008000 */
+
+#define SDMMC_CLKCR_NEGEDGE_Pos          (16U)
+#define SDMMC_CLKCR_NEGEDGE_Msk          (0x1UL << SDMMC_CLKCR_NEGEDGE_Pos)    /*!< 0x00010000 */
+#define SDMMC_CLKCR_NEGEDGE              SDMMC_CLKCR_NEGEDGE_Msk               /*!<SDMMC_CK dephasing selection bit */
+#define SDMMC_CLKCR_HWFC_EN_Pos          (17U)
+#define SDMMC_CLKCR_HWFC_EN_Msk          (0x1UL << SDMMC_CLKCR_HWFC_EN_Pos)    /*!< 0x00020000 */
+#define SDMMC_CLKCR_HWFC_EN              SDMMC_CLKCR_HWFC_EN_Msk               /*!<HW Flow Control enable           */
+#define SDMMC_CLKCR_DDR_Pos              (18U)
+#define SDMMC_CLKCR_DDR_Msk              (0x1UL << SDMMC_CLKCR_DDR_Pos)        /*!< 0x00040000 */
+#define SDMMC_CLKCR_DDR                  SDMMC_CLKCR_DDR_Msk                   /*!<Data rate signaling selection    */
+#define SDMMC_CLKCR_BUSSPEED_Pos         (19U)
+#define SDMMC_CLKCR_BUSSPEED_Msk         (0x1UL << SDMMC_CLKCR_BUSSPEED_Pos)   /*!< 0x00080000 */
+#define SDMMC_CLKCR_BUSSPEED             SDMMC_CLKCR_BUSSPEED_Msk              /*!<Bus speed mode selection         */
+#define SDMMC_CLKCR_SELCLKRX_Pos         (20U)
+#define SDMMC_CLKCR_SELCLKRX_Msk         (0x3UL << SDMMC_CLKCR_SELCLKRX_Pos)   /*!< 0x00300000 */
+#define SDMMC_CLKCR_SELCLKRX             SDMMC_CLKCR_SELCLKRX_Msk              /*!<SELCLKRX[1:0] bits (Receive clock selection) */
+#define SDMMC_CLKCR_SELCLKRX_0           (0x1UL << SDMMC_CLKCR_SELCLKRX_Pos)    /*!< 0x00100000 */
+#define SDMMC_CLKCR_SELCLKRX_1           (0x2UL << SDMMC_CLKCR_SELCLKRX_Pos)    /*!< 0x00200000 */
+
+/*******************  Bit definition for SDMMC_ARG register  *******************/
+#define SDMMC_ARG_CMDARG_Pos             (0U)
+#define SDMMC_ARG_CMDARG_Msk             (0xFFFFFFFFUL << SDMMC_ARG_CMDARG_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_ARG_CMDARG                 SDMMC_ARG_CMDARG_Msk                  /*!<Command argument */
+
+/*******************  Bit definition for SDMMC_CMD register  *******************/
+#define SDMMC_CMD_CMDINDEX_Pos           (0U)
+#define SDMMC_CMD_CMDINDEX_Msk           (0x3FUL << SDMMC_CMD_CMDINDEX_Pos)    /*!< 0x0000003F */
+#define SDMMC_CMD_CMDINDEX               SDMMC_CMD_CMDINDEX_Msk                /*!<Command Index                               */
+#define SDMMC_CMD_CMDTRANS_Pos           (6U)
+#define SDMMC_CMD_CMDTRANS_Msk           (0x1UL << SDMMC_CMD_CMDTRANS_Pos)     /*!< 0x00000040 */
+#define SDMMC_CMD_CMDTRANS               SDMMC_CMD_CMDTRANS_Msk                /*!<CPSM Treats command as a Data Transfer      */
+#define SDMMC_CMD_CMDSTOP_Pos            (7U)
+#define SDMMC_CMD_CMDSTOP_Msk            (0x1UL << SDMMC_CMD_CMDSTOP_Pos)      /*!< 0x00000080 */
+#define SDMMC_CMD_CMDSTOP                SDMMC_CMD_CMDSTOP_Msk                 /*!<CPSM Treats command as a Stop               */
+
+#define SDMMC_CMD_WAITRESP_Pos           (8U)
+#define SDMMC_CMD_WAITRESP_Msk           (0x3UL << SDMMC_CMD_WAITRESP_Pos)     /*!< 0x00000300 */
+#define SDMMC_CMD_WAITRESP               SDMMC_CMD_WAITRESP_Msk                /*!<WAITRESP[1:0] bits (Wait for response bits) */
+#define SDMMC_CMD_WAITRESP_0             (0x1UL << SDMMC_CMD_WAITRESP_Pos)      /*!< 0x00000100 */
+#define SDMMC_CMD_WAITRESP_1             (0x2UL << SDMMC_CMD_WAITRESP_Pos)      /*!< 0x00000200 */
+
+#define SDMMC_CMD_WAITINT_Pos            (10U)
+#define SDMMC_CMD_WAITINT_Msk            (0x1UL << SDMMC_CMD_WAITINT_Pos)      /*!< 0x00000400 */
+#define SDMMC_CMD_WAITINT                SDMMC_CMD_WAITINT_Msk                 /*!<CPSM Waits for Interrupt Request                               */
+#define SDMMC_CMD_WAITPEND_Pos           (11U)
+#define SDMMC_CMD_WAITPEND_Msk           (0x1UL << SDMMC_CMD_WAITPEND_Pos)     /*!< 0x00000800 */
+#define SDMMC_CMD_WAITPEND               SDMMC_CMD_WAITPEND_Msk                /*!<CPSM Waits for ends of data transfer (CmdPend internal signal) */
+#define SDMMC_CMD_CPSMEN_Pos             (12U)
+#define SDMMC_CMD_CPSMEN_Msk             (0x1UL << SDMMC_CMD_CPSMEN_Pos)       /*!< 0x00001000 */
+#define SDMMC_CMD_CPSMEN                 SDMMC_CMD_CPSMEN_Msk                  /*!<Command path state machine (CPSM) Enable bit                   */
+#define SDMMC_CMD_DTHOLD_Pos             (13U)
+#define SDMMC_CMD_DTHOLD_Msk             (0x1UL << SDMMC_CMD_DTHOLD_Pos)       /*!< 0x00002000 */
+#define SDMMC_CMD_DTHOLD                 SDMMC_CMD_DTHOLD_Msk                  /*!<Hold new data block transmission and reception in the DPSM     */
+#define SDMMC_CMD_BOOTMODE_Pos           (14U)
+#define SDMMC_CMD_BOOTMODE_Msk           (0x1UL << SDMMC_CMD_BOOTMODE_Pos)     /*!< 0x00004000 */
+#define SDMMC_CMD_BOOTMODE               SDMMC_CMD_BOOTMODE_Msk                /*!<Boot mode                                                      */
+#define SDMMC_CMD_BOOTEN_Pos             (15U)
+#define SDMMC_CMD_BOOTEN_Msk             (0x1UL << SDMMC_CMD_BOOTEN_Pos)       /*!< 0x00008000 */
+#define SDMMC_CMD_BOOTEN                 SDMMC_CMD_BOOTEN_Msk                  /*!<Enable Boot mode procedure                                     */
+#define SDMMC_CMD_CMDSUSPEND_Pos         (16U)
+#define SDMMC_CMD_CMDSUSPEND_Msk         (0x1UL << SDMMC_CMD_CMDSUSPEND_Pos)   /*!< 0x00010000 */
+#define SDMMC_CMD_CMDSUSPEND             SDMMC_CMD_CMDSUSPEND_Msk              /*!<CPSM Treats command as a Suspend or Resume command             */
+
+/*****************  Bit definition for SDMMC_RESPCMD register  *****************/
+#define SDMMC_RESPCMD_RESPCMD_Pos        (0U)
+#define SDMMC_RESPCMD_RESPCMD_Msk        (0x3FUL << SDMMC_RESPCMD_RESPCMD_Pos) /*!< 0x0000003F */
+#define SDMMC_RESPCMD_RESPCMD            SDMMC_RESPCMD_RESPCMD_Msk             /*!<Response command index */
+
+/******************  Bit definition for SDMMC_RESP0 register  ******************/
+#define SDMMC_RESP0_CARDSTATUS0_Pos      (0U)
+#define SDMMC_RESP0_CARDSTATUS0_Msk      (0xFFFFFFFFUL << SDMMC_RESP0_CARDSTATUS0_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP0_CARDSTATUS0          SDMMC_RESP0_CARDSTATUS0_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_RESP1 register  ******************/
+#define SDMMC_RESP1_CARDSTATUS1_Pos      (0U)
+#define SDMMC_RESP1_CARDSTATUS1_Msk      (0xFFFFFFFFUL << SDMMC_RESP1_CARDSTATUS1_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP1_CARDSTATUS1          SDMMC_RESP1_CARDSTATUS1_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_RESP2 register  ******************/
+#define SDMMC_RESP2_CARDSTATUS2_Pos      (0U)
+#define SDMMC_RESP2_CARDSTATUS2_Msk      (0xFFFFFFFFUL << SDMMC_RESP2_CARDSTATUS2_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP2_CARDSTATUS2          SDMMC_RESP2_CARDSTATUS2_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_RESP3 register  ******************/
+#define SDMMC_RESP3_CARDSTATUS3_Pos      (0U)
+#define SDMMC_RESP3_CARDSTATUS3_Msk      (0xFFFFFFFFUL << SDMMC_RESP3_CARDSTATUS3_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP3_CARDSTATUS3          SDMMC_RESP3_CARDSTATUS3_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_RESP4 register  ******************/
+#define SDMMC_RESP4_CARDSTATUS4_Pos      (0U)
+#define SDMMC_RESP4_CARDSTATUS4_Msk      (0xFFFFFFFFUL << SDMMC_RESP4_CARDSTATUS4_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_RESP4_CARDSTATUS4          SDMMC_RESP4_CARDSTATUS4_Msk           /*!<Card Status */
+
+/******************  Bit definition for SDMMC_DTIMER register  *****************/
+#define SDMMC_DTIMER_DATATIME_Pos        (0U)
+#define SDMMC_DTIMER_DATATIME_Msk        (0xFFFFFFFFUL << SDMMC_DTIMER_DATATIME_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_DTIMER_DATATIME            SDMMC_DTIMER_DATATIME_Msk             /*!<Data timeout period. */
+
+/******************  Bit definition for SDMMC_DLEN register  *******************/
+#define SDMMC_DLEN_DATALENGTH_Pos        (0U)
+#define SDMMC_DLEN_DATALENGTH_Msk        (0x1FFFFFFUL << SDMMC_DLEN_DATALENGTH_Pos) /*!< 0x01FFFFFF */
+#define SDMMC_DLEN_DATALENGTH            SDMMC_DLEN_DATALENGTH_Msk             /*!<Data length value    */
+
+/******************  Bit definition for SDMMC_DCTRL register  ******************/
+#define SDMMC_DCTRL_DTEN_Pos             (0U)
+#define SDMMC_DCTRL_DTEN_Msk             (0x1UL << SDMMC_DCTRL_DTEN_Pos)       /*!< 0x00000001 */
+#define SDMMC_DCTRL_DTEN                 SDMMC_DCTRL_DTEN_Msk                  /*!<Data transfer enabled bit                */
+#define SDMMC_DCTRL_DTDIR_Pos            (1U)
+#define SDMMC_DCTRL_DTDIR_Msk            (0x1UL << SDMMC_DCTRL_DTDIR_Pos)      /*!< 0x00000002 */
+#define SDMMC_DCTRL_DTDIR                SDMMC_DCTRL_DTDIR_Msk                 /*!<Data transfer direction selection        */
+#define SDMMC_DCTRL_DTMODE_Pos           (2U)
+#define SDMMC_DCTRL_DTMODE_Msk           (0x3UL << SDMMC_DCTRL_DTMODE_Pos)     /*!< 0x0000000C */
+#define SDMMC_DCTRL_DTMODE               SDMMC_DCTRL_DTMODE_Msk                /*!<DTMODE[1:0] Data transfer mode selection */
+#define SDMMC_DCTRL_DTMODE_0             (0x1UL << SDMMC_DCTRL_DTMODE_Pos)      /*!< 0x00000004 */
+#define SDMMC_DCTRL_DTMODE_1             (0x2UL << SDMMC_DCTRL_DTMODE_Pos)      /*!< 0x00000008 */
+
+#define SDMMC_DCTRL_DBLOCKSIZE_Pos       (4U)
+#define SDMMC_DCTRL_DBLOCKSIZE_Msk       (0xFUL << SDMMC_DCTRL_DBLOCKSIZE_Pos) /*!< 0x000000F0 */
+#define SDMMC_DCTRL_DBLOCKSIZE           SDMMC_DCTRL_DBLOCKSIZE_Msk            /*!<DBLOCKSIZE[3:0] bits (Data block size) */
+#define SDMMC_DCTRL_DBLOCKSIZE_0         (0x1UL << SDMMC_DCTRL_DBLOCKSIZE_Pos)  /*!< 0x00000010 */
+#define SDMMC_DCTRL_DBLOCKSIZE_1         (0x2UL << SDMMC_DCTRL_DBLOCKSIZE_Pos)  /*!< 0x00000020 */
+#define SDMMC_DCTRL_DBLOCKSIZE_2         (0x4UL << SDMMC_DCTRL_DBLOCKSIZE_Pos)  /*!< 0x00000040 */
+#define SDMMC_DCTRL_DBLOCKSIZE_3         (0x8UL << SDMMC_DCTRL_DBLOCKSIZE_Pos)  /*!< 0x00000080 */
+
+#define SDMMC_DCTRL_RWSTART_Pos          (8U)
+#define SDMMC_DCTRL_RWSTART_Msk          (0x1UL << SDMMC_DCTRL_RWSTART_Pos)    /*!< 0x00000100 */
+#define SDMMC_DCTRL_RWSTART              SDMMC_DCTRL_RWSTART_Msk               /*!<Read wait start                                 */
+#define SDMMC_DCTRL_RWSTOP_Pos           (9U)
+#define SDMMC_DCTRL_RWSTOP_Msk           (0x1UL << SDMMC_DCTRL_RWSTOP_Pos)     /*!< 0x00000200 */
+#define SDMMC_DCTRL_RWSTOP               SDMMC_DCTRL_RWSTOP_Msk                /*!<Read wait stop                                  */
+#define SDMMC_DCTRL_RWMOD_Pos            (10U)
+#define SDMMC_DCTRL_RWMOD_Msk            (0x1UL << SDMMC_DCTRL_RWMOD_Pos)      /*!< 0x00000400 */
+#define SDMMC_DCTRL_RWMOD                SDMMC_DCTRL_RWMOD_Msk                 /*!<Read wait mode                                  */
+#define SDMMC_DCTRL_SDIOEN_Pos           (11U)
+#define SDMMC_DCTRL_SDIOEN_Msk           (0x1UL << SDMMC_DCTRL_SDIOEN_Pos)     /*!< 0x00000800 */
+#define SDMMC_DCTRL_SDIOEN               SDMMC_DCTRL_SDIOEN_Msk                /*!<SD I/O enable functions                         */
+#define SDMMC_DCTRL_BOOTACKEN_Pos        (12U)
+#define SDMMC_DCTRL_BOOTACKEN_Msk        (0x1UL << SDMMC_DCTRL_BOOTACKEN_Pos)  /*!< 0x00001000 */
+#define SDMMC_DCTRL_BOOTACKEN            SDMMC_DCTRL_BOOTACKEN_Msk             /*!<Enable the reception of the Boot Acknowledgment */
+#define SDMMC_DCTRL_FIFORST_Pos          (13U)
+#define SDMMC_DCTRL_FIFORST_Msk          (0x1UL << SDMMC_DCTRL_FIFORST_Pos)    /*!< 0x00002000 */
+#define SDMMC_DCTRL_FIFORST              SDMMC_DCTRL_FIFORST_Msk               /*!<FIFO reset                                      */
+
+/******************  Bit definition for SDMMC_DCOUNT register  *****************/
+#define SDMMC_DCOUNT_DATACOUNT_Pos       (0U)
+#define SDMMC_DCOUNT_DATACOUNT_Msk       (0x1FFFFFFUL << SDMMC_DCOUNT_DATACOUNT_Pos) /*!< 0x01FFFFFF */
+#define SDMMC_DCOUNT_DATACOUNT           SDMMC_DCOUNT_DATACOUNT_Msk            /*!<Data count value */
+
+/******************  Bit definition for SDMMC_STA register  ********************/
+#define SDMMC_STA_CCRCFAIL_Pos           (0U)
+#define SDMMC_STA_CCRCFAIL_Msk           (0x1UL << SDMMC_STA_CCRCFAIL_Pos)     /*!< 0x00000001 */
+#define SDMMC_STA_CCRCFAIL               SDMMC_STA_CCRCFAIL_Msk                /*!<Command response received (CRC check failed)  */
+#define SDMMC_STA_DCRCFAIL_Pos           (1U)
+#define SDMMC_STA_DCRCFAIL_Msk           (0x1UL << SDMMC_STA_DCRCFAIL_Pos)     /*!< 0x00000002 */
+#define SDMMC_STA_DCRCFAIL               SDMMC_STA_DCRCFAIL_Msk                /*!<Data block sent/received (CRC check failed)   */
+#define SDMMC_STA_CTIMEOUT_Pos           (2U)
+#define SDMMC_STA_CTIMEOUT_Msk           (0x1UL << SDMMC_STA_CTIMEOUT_Pos)     /*!< 0x00000004 */
+#define SDMMC_STA_CTIMEOUT               SDMMC_STA_CTIMEOUT_Msk                /*!<Command response timeout                      */
+#define SDMMC_STA_DTIMEOUT_Pos           (3U)
+#define SDMMC_STA_DTIMEOUT_Msk           (0x1UL << SDMMC_STA_DTIMEOUT_Pos)     /*!< 0x00000008 */
+#define SDMMC_STA_DTIMEOUT               SDMMC_STA_DTIMEOUT_Msk                /*!<Data timeout                                  */
+#define SDMMC_STA_TXUNDERR_Pos           (4U)
+#define SDMMC_STA_TXUNDERR_Msk           (0x1UL << SDMMC_STA_TXUNDERR_Pos)     /*!< 0x00000010 */
+#define SDMMC_STA_TXUNDERR               SDMMC_STA_TXUNDERR_Msk                /*!<Transmit FIFO underrun error                  */
+#define SDMMC_STA_RXOVERR_Pos            (5U)
+#define SDMMC_STA_RXOVERR_Msk            (0x1UL << SDMMC_STA_RXOVERR_Pos)      /*!< 0x00000020 */
+#define SDMMC_STA_RXOVERR                SDMMC_STA_RXOVERR_Msk                 /*!<Received FIFO overrun error                   */
+#define SDMMC_STA_CMDREND_Pos            (6U)
+#define SDMMC_STA_CMDREND_Msk            (0x1UL << SDMMC_STA_CMDREND_Pos)      /*!< 0x00000040 */
+#define SDMMC_STA_CMDREND                SDMMC_STA_CMDREND_Msk                 /*!<Command response received (CRC check passed)  */
+#define SDMMC_STA_CMDSENT_Pos            (7U)
+#define SDMMC_STA_CMDSENT_Msk            (0x1UL << SDMMC_STA_CMDSENT_Pos)      /*!< 0x00000080 */
+#define SDMMC_STA_CMDSENT                SDMMC_STA_CMDSENT_Msk                 /*!<Command sent (no response required)           */
+#define SDMMC_STA_DATAEND_Pos            (8U)
+#define SDMMC_STA_DATAEND_Msk            (0x1UL << SDMMC_STA_DATAEND_Pos)      /*!< 0x00000100 */
+#define SDMMC_STA_DATAEND                SDMMC_STA_DATAEND_Msk                 /*!<Data end (data counter, SDIDCOUNT, is zero)   */
+#define SDMMC_STA_DHOLD_Pos              (9U)
+#define SDMMC_STA_DHOLD_Msk              (0x1UL << SDMMC_STA_DHOLD_Pos)        /*!< 0x00000200 */
+#define SDMMC_STA_DHOLD                  SDMMC_STA_DHOLD_Msk                   /*!<Data transfer Hold                                                      */
+#define SDMMC_STA_DBCKEND_Pos            (10U)
+#define SDMMC_STA_DBCKEND_Msk            (0x1UL << SDMMC_STA_DBCKEND_Pos)      /*!< 0x00000400 */
+#define SDMMC_STA_DBCKEND                SDMMC_STA_DBCKEND_Msk                 /*!<Data block sent/received (CRC check passed)   */
+#define SDMMC_STA_DABORT_Pos             (11U)
+#define SDMMC_STA_DABORT_Msk             (0x1UL << SDMMC_STA_DABORT_Pos)       /*!< 0x00000800 */
+#define SDMMC_STA_DABORT                 SDMMC_STA_DABORT_Msk                  /*!<Data transfer aborted by CMD12                                          */
+#define SDMMC_STA_DPSMACT_Pos            (12U)
+#define SDMMC_STA_DPSMACT_Msk            (0x1UL << SDMMC_STA_DPSMACT_Pos)      /*!< 0x00001000 */
+#define SDMMC_STA_DPSMACT                SDMMC_STA_DPSMACT_Msk                 /*!<Data path state machine active                                       */
+#define SDMMC_STA_CPSMACT_Pos            (13U)
+#define SDMMC_STA_CPSMACT_Msk            (0x1UL << SDMMC_STA_CPSMACT_Pos)      /*!< 0x00002000 */
+#define SDMMC_STA_CPSMACT                SDMMC_STA_CPSMACT_Msk                 /*!<Command path state machine active                                          */
+#define SDMMC_STA_TXFIFOHE_Pos           (14U)
+#define SDMMC_STA_TXFIFOHE_Msk           (0x1UL << SDMMC_STA_TXFIFOHE_Pos)     /*!< 0x00004000 */
+#define SDMMC_STA_TXFIFOHE               SDMMC_STA_TXFIFOHE_Msk                /*!<Transmit FIFO Half Empty: at least 8 words can be written into the FIFO */
+#define SDMMC_STA_RXFIFOHF_Pos           (15U)
+#define SDMMC_STA_RXFIFOHF_Msk           (0x1UL << SDMMC_STA_RXFIFOHF_Pos)     /*!< 0x00008000 */
+#define SDMMC_STA_RXFIFOHF               SDMMC_STA_RXFIFOHF_Msk                /*!<Receive FIFO Half Full: there are at least 8 words in the FIFO */
+#define SDMMC_STA_TXFIFOF_Pos            (16U)
+#define SDMMC_STA_TXFIFOF_Msk            (0x1UL << SDMMC_STA_TXFIFOF_Pos)      /*!< 0x00010000 */
+#define SDMMC_STA_TXFIFOF                SDMMC_STA_TXFIFOF_Msk                 /*!<Transmit FIFO full                            */
+#define SDMMC_STA_RXFIFOF_Pos            (17U)
+#define SDMMC_STA_RXFIFOF_Msk            (0x1UL << SDMMC_STA_RXFIFOF_Pos)      /*!< 0x00020000 */
+#define SDMMC_STA_RXFIFOF                SDMMC_STA_RXFIFOF_Msk                 /*!<Receive FIFO full                             */
+#define SDMMC_STA_TXFIFOE_Pos            (18U)
+#define SDMMC_STA_TXFIFOE_Msk            (0x1UL << SDMMC_STA_TXFIFOE_Pos)      /*!< 0x00040000 */
+#define SDMMC_STA_TXFIFOE                SDMMC_STA_TXFIFOE_Msk                 /*!<Transmit FIFO empty                           */
+#define SDMMC_STA_RXFIFOE_Pos            (19U)
+#define SDMMC_STA_RXFIFOE_Msk            (0x1UL << SDMMC_STA_RXFIFOE_Pos)      /*!< 0x00080000 */
+#define SDMMC_STA_RXFIFOE                SDMMC_STA_RXFIFOE_Msk                 /*!<Receive FIFO empty                            */
+#define SDMMC_STA_BUSYD0_Pos             (20U)
+#define SDMMC_STA_BUSYD0_Msk             (0x1UL << SDMMC_STA_BUSYD0_Pos)       /*!< 0x00100000 */
+#define SDMMC_STA_BUSYD0                 SDMMC_STA_BUSYD0_Msk                  /*!<Inverted value of SDMMC_D0 line (Busy)                                  */
+#define SDMMC_STA_BUSYD0END_Pos          (21U)
+#define SDMMC_STA_BUSYD0END_Msk          (0x1UL << SDMMC_STA_BUSYD0END_Pos)    /*!< 0x00200000 */
+#define SDMMC_STA_BUSYD0END              SDMMC_STA_BUSYD0END_Msk               /*!<End of SDMMC_D0 Busy following a CMD response detected                  */
+#define SDMMC_STA_SDIOIT_Pos             (22U)
+#define SDMMC_STA_SDIOIT_Msk             (0x1UL << SDMMC_STA_SDIOIT_Pos)       /*!< 0x00400000 */
+#define SDMMC_STA_SDIOIT                 SDMMC_STA_SDIOIT_Msk                  /*!<SDIO interrupt received                                                 */
+#define SDMMC_STA_ACKFAIL_Pos            (23U)
+#define SDMMC_STA_ACKFAIL_Msk            (0x1UL << SDMMC_STA_ACKFAIL_Pos)      /*!< 0x00800000 */
+#define SDMMC_STA_ACKFAIL                SDMMC_STA_ACKFAIL_Msk                 /*!<Boot Acknowledgment received (BootAck check fail)                       */
+#define SDMMC_STA_ACKTIMEOUT_Pos         (24U)
+#define SDMMC_STA_ACKTIMEOUT_Msk         (0x1UL << SDMMC_STA_ACKTIMEOUT_Pos)   /*!< 0x01000000 */
+#define SDMMC_STA_ACKTIMEOUT             SDMMC_STA_ACKTIMEOUT_Msk              /*!<Boot Acknowledgment timeout                                             */
+#define SDMMC_STA_VSWEND_Pos             (25U)
+#define SDMMC_STA_VSWEND_Msk             (0x1UL << SDMMC_STA_VSWEND_Pos)       /*!< 0x02000000 */
+#define SDMMC_STA_VSWEND                 SDMMC_STA_VSWEND_Msk                  /*!<Voltage switch critical timing section completion                       */
+#define SDMMC_STA_CKSTOP_Pos             (26U)
+#define SDMMC_STA_CKSTOP_Msk             (0x1UL << SDMMC_STA_CKSTOP_Pos)       /*!< 0x04000000 */
+#define SDMMC_STA_CKSTOP                 SDMMC_STA_CKSTOP_Msk                  /*!<SDMMC_CK stopped in Voltage switch procedure                            */
+#define SDMMC_STA_IDMATE_Pos             (27U)
+#define SDMMC_STA_IDMATE_Msk             (0x1UL << SDMMC_STA_IDMATE_Pos)       /*!< 0x08000000 */
+#define SDMMC_STA_IDMATE                 SDMMC_STA_IDMATE_Msk                  /*!<IDMA transfer error                                                     */
+#define SDMMC_STA_IDMABTC_Pos            (28U)
+#define SDMMC_STA_IDMABTC_Msk            (0x1UL << SDMMC_STA_IDMABTC_Pos)      /*!< 0x10000000 */
+#define SDMMC_STA_IDMABTC                SDMMC_STA_IDMABTC_Msk                 /*!<IDMA buffer transfer complete                                           */
+
+/*******************  Bit definition for SDMMC_ICR register  *******************/
+#define SDMMC_ICR_CCRCFAILC_Pos          (0U)
+#define SDMMC_ICR_CCRCFAILC_Msk          (0x1UL << SDMMC_ICR_CCRCFAILC_Pos)    /*!< 0x00000001 */
+#define SDMMC_ICR_CCRCFAILC              SDMMC_ICR_CCRCFAILC_Msk               /*!<CCRCFAIL flag clear bit */
+#define SDMMC_ICR_DCRCFAILC_Pos          (1U)
+#define SDMMC_ICR_DCRCFAILC_Msk          (0x1UL << SDMMC_ICR_DCRCFAILC_Pos)    /*!< 0x00000002 */
+#define SDMMC_ICR_DCRCFAILC              SDMMC_ICR_DCRCFAILC_Msk               /*!<DCRCFAIL flag clear bit */
+#define SDMMC_ICR_CTIMEOUTC_Pos          (2U)
+#define SDMMC_ICR_CTIMEOUTC_Msk          (0x1UL << SDMMC_ICR_CTIMEOUTC_Pos)    /*!< 0x00000004 */
+#define SDMMC_ICR_CTIMEOUTC              SDMMC_ICR_CTIMEOUTC_Msk               /*!<CTIMEOUT flag clear bit */
+#define SDMMC_ICR_DTIMEOUTC_Pos          (3U)
+#define SDMMC_ICR_DTIMEOUTC_Msk          (0x1UL << SDMMC_ICR_DTIMEOUTC_Pos)    /*!< 0x00000008 */
+#define SDMMC_ICR_DTIMEOUTC              SDMMC_ICR_DTIMEOUTC_Msk               /*!<DTIMEOUT flag clear bit */
+#define SDMMC_ICR_TXUNDERRC_Pos          (4U)
+#define SDMMC_ICR_TXUNDERRC_Msk          (0x1UL << SDMMC_ICR_TXUNDERRC_Pos)    /*!< 0x00000010 */
+#define SDMMC_ICR_TXUNDERRC              SDMMC_ICR_TXUNDERRC_Msk               /*!<TXUNDERR flag clear bit */
+#define SDMMC_ICR_RXOVERRC_Pos           (5U)
+#define SDMMC_ICR_RXOVERRC_Msk           (0x1UL << SDMMC_ICR_RXOVERRC_Pos)     /*!< 0x00000020 */
+#define SDMMC_ICR_RXOVERRC               SDMMC_ICR_RXOVERRC_Msk                /*!<RXOVERR flag clear bit  */
+#define SDMMC_ICR_CMDRENDC_Pos           (6U)
+#define SDMMC_ICR_CMDRENDC_Msk           (0x1UL << SDMMC_ICR_CMDRENDC_Pos)     /*!< 0x00000040 */
+#define SDMMC_ICR_CMDRENDC               SDMMC_ICR_CMDRENDC_Msk                /*!<CMDREND flag clear bit  */
+#define SDMMC_ICR_CMDSENTC_Pos           (7U)
+#define SDMMC_ICR_CMDSENTC_Msk           (0x1UL << SDMMC_ICR_CMDSENTC_Pos)     /*!< 0x00000080 */
+#define SDMMC_ICR_CMDSENTC               SDMMC_ICR_CMDSENTC_Msk                /*!<CMDSENT flag clear bit  */
+#define SDMMC_ICR_DATAENDC_Pos           (8U)
+#define SDMMC_ICR_DATAENDC_Msk           (0x1UL << SDMMC_ICR_DATAENDC_Pos)     /*!< 0x00000100 */
+#define SDMMC_ICR_DATAENDC               SDMMC_ICR_DATAENDC_Msk                /*!<DATAEND flag clear bit  */
+#define SDMMC_ICR_DHOLDC_Pos             (9U)
+#define SDMMC_ICR_DHOLDC_Msk             (0x1UL << SDMMC_ICR_DHOLDC_Pos)       /*!< 0x00000200 */
+#define SDMMC_ICR_DHOLDC                 SDMMC_ICR_DHOLDC_Msk                  /*!<DHOLD flag clear bit       */
+#define SDMMC_ICR_DBCKENDC_Pos           (10U)
+#define SDMMC_ICR_DBCKENDC_Msk           (0x1UL << SDMMC_ICR_DBCKENDC_Pos)     /*!< 0x00000400 */
+#define SDMMC_ICR_DBCKENDC               SDMMC_ICR_DBCKENDC_Msk                /*!<DBCKEND flag clear bit  */
+#define SDMMC_ICR_DABORTC_Pos            (11U)
+#define SDMMC_ICR_DABORTC_Msk            (0x1UL << SDMMC_ICR_DABORTC_Pos)      /*!< 0x00000800 */
+#define SDMMC_ICR_DABORTC                SDMMC_ICR_DABORTC_Msk                 /*!<DABORTC flag clear bit     */
+#define SDMMC_ICR_BUSYD0ENDC_Pos         (21U)
+#define SDMMC_ICR_BUSYD0ENDC_Msk         (0x1UL << SDMMC_ICR_BUSYD0ENDC_Pos)   /*!< 0x00200000 */
+#define SDMMC_ICR_BUSYD0ENDC             SDMMC_ICR_BUSYD0ENDC_Msk              /*!<BUSYD0ENDC flag clear bit  */
+#define SDMMC_ICR_SDIOITC_Pos            (22U)
+#define SDMMC_ICR_SDIOITC_Msk            (0x1UL << SDMMC_ICR_SDIOITC_Pos)      /*!< 0x00400000 */
+#define SDMMC_ICR_SDIOITC                SDMMC_ICR_SDIOITC_Msk                 /*!<SDIOIT flag clear bit      */
+#define SDMMC_ICR_ACKFAILC_Pos           (23U)
+#define SDMMC_ICR_ACKFAILC_Msk           (0x1UL << SDMMC_ICR_ACKFAILC_Pos)     /*!< 0x00800000 */
+#define SDMMC_ICR_ACKFAILC               SDMMC_ICR_ACKFAILC_Msk                /*!<ACKFAILC flag clear bit    */
+#define SDMMC_ICR_ACKTIMEOUTC_Pos        (24U)
+#define SDMMC_ICR_ACKTIMEOUTC_Msk        (0x1UL << SDMMC_ICR_ACKTIMEOUTC_Pos)  /*!< 0x01000000 */
+#define SDMMC_ICR_ACKTIMEOUTC            SDMMC_ICR_ACKTIMEOUTC_Msk             /*!<ACKTIMEOUTC flag clear bit */
+#define SDMMC_ICR_VSWENDC_Pos            (25U)
+#define SDMMC_ICR_VSWENDC_Msk            (0x1UL << SDMMC_ICR_VSWENDC_Pos)      /*!< 0x02000000 */
+#define SDMMC_ICR_VSWENDC                SDMMC_ICR_VSWENDC_Msk                 /*!<VSWENDC flag clear bit     */
+#define SDMMC_ICR_CKSTOPC_Pos            (26U)
+#define SDMMC_ICR_CKSTOPC_Msk            (0x1UL << SDMMC_ICR_CKSTOPC_Pos)      /*!< 0x04000000 */
+#define SDMMC_ICR_CKSTOPC                SDMMC_ICR_CKSTOPC_Msk                 /*!<CKSTOPC flag clear bit     */
+#define SDMMC_ICR_IDMATEC_Pos            (27U)
+#define SDMMC_ICR_IDMATEC_Msk            (0x1UL << SDMMC_ICR_IDMATEC_Pos)      /*!< 0x08000000 */
+#define SDMMC_ICR_IDMATEC                SDMMC_ICR_IDMATEC_Msk                 /*!<IDMATEC flag clear bit     */
+#define SDMMC_ICR_IDMABTCC_Pos           (28U)
+#define SDMMC_ICR_IDMABTCC_Msk           (0x1UL << SDMMC_ICR_IDMABTCC_Pos)     /*!< 0x10000000 */
+#define SDMMC_ICR_IDMABTCC               SDMMC_ICR_IDMABTCC_Msk                /*!<IDMABTCC flag clear bit    */
+
+/******************  Bit definition for SDMMC_MASK register  *******************/
+#define SDMMC_MASK_CCRCFAILIE_Pos        (0U)
+#define SDMMC_MASK_CCRCFAILIE_Msk        (0x1UL << SDMMC_MASK_CCRCFAILIE_Pos)  /*!< 0x00000001 */
+#define SDMMC_MASK_CCRCFAILIE            SDMMC_MASK_CCRCFAILIE_Msk             /*!<Command CRC Fail Interrupt Enable          */
+#define SDMMC_MASK_DCRCFAILIE_Pos        (1U)
+#define SDMMC_MASK_DCRCFAILIE_Msk        (0x1UL << SDMMC_MASK_DCRCFAILIE_Pos)  /*!< 0x00000002 */
+#define SDMMC_MASK_DCRCFAILIE            SDMMC_MASK_DCRCFAILIE_Msk             /*!<Data CRC Fail Interrupt Enable             */
+#define SDMMC_MASK_CTIMEOUTIE_Pos        (2U)
+#define SDMMC_MASK_CTIMEOUTIE_Msk        (0x1UL << SDMMC_MASK_CTIMEOUTIE_Pos)  /*!< 0x00000004 */
+#define SDMMC_MASK_CTIMEOUTIE            SDMMC_MASK_CTIMEOUTIE_Msk             /*!<Command TimeOut Interrupt Enable           */
+#define SDMMC_MASK_DTIMEOUTIE_Pos        (3U)
+#define SDMMC_MASK_DTIMEOUTIE_Msk        (0x1UL << SDMMC_MASK_DTIMEOUTIE_Pos)  /*!< 0x00000008 */
+#define SDMMC_MASK_DTIMEOUTIE            SDMMC_MASK_DTIMEOUTIE_Msk             /*!<Data TimeOut Interrupt Enable              */
+#define SDMMC_MASK_TXUNDERRIE_Pos        (4U)
+#define SDMMC_MASK_TXUNDERRIE_Msk        (0x1UL << SDMMC_MASK_TXUNDERRIE_Pos)  /*!< 0x00000010 */
+#define SDMMC_MASK_TXUNDERRIE            SDMMC_MASK_TXUNDERRIE_Msk             /*!<Tx FIFO UnderRun Error Interrupt Enable    */
+#define SDMMC_MASK_RXOVERRIE_Pos         (5U)
+#define SDMMC_MASK_RXOVERRIE_Msk         (0x1UL << SDMMC_MASK_RXOVERRIE_Pos)   /*!< 0x00000020 */
+#define SDMMC_MASK_RXOVERRIE             SDMMC_MASK_RXOVERRIE_Msk              /*!<Rx FIFO OverRun Error Interrupt Enable     */
+#define SDMMC_MASK_CMDRENDIE_Pos         (6U)
+#define SDMMC_MASK_CMDRENDIE_Msk         (0x1UL << SDMMC_MASK_CMDRENDIE_Pos)   /*!< 0x00000040 */
+#define SDMMC_MASK_CMDRENDIE             SDMMC_MASK_CMDRENDIE_Msk              /*!<Command Response Received Interrupt Enable */
+#define SDMMC_MASK_CMDSENTIE_Pos         (7U)
+#define SDMMC_MASK_CMDSENTIE_Msk         (0x1UL << SDMMC_MASK_CMDSENTIE_Pos)   /*!< 0x00000080 */
+#define SDMMC_MASK_CMDSENTIE             SDMMC_MASK_CMDSENTIE_Msk              /*!<Command Sent Interrupt Enable              */
+#define SDMMC_MASK_DATAENDIE_Pos         (8U)
+#define SDMMC_MASK_DATAENDIE_Msk         (0x1UL << SDMMC_MASK_DATAENDIE_Pos)   /*!< 0x00000100 */
+#define SDMMC_MASK_DATAENDIE             SDMMC_MASK_DATAENDIE_Msk              /*!<Data End Interrupt Enable                  */
+#define SDMMC_MASK_DHOLDIE_Pos           (9U)
+#define SDMMC_MASK_DHOLDIE_Msk           (0x1UL << SDMMC_MASK_DHOLDIE_Pos)     /*!< 0x00000200 */
+#define SDMMC_MASK_DHOLDIE               SDMMC_MASK_DHOLDIE_Msk                /*!<Data Hold Interrupt Enable                 */
+#define SDMMC_MASK_DBCKENDIE_Pos         (10U)
+#define SDMMC_MASK_DBCKENDIE_Msk         (0x1UL << SDMMC_MASK_DBCKENDIE_Pos)   /*!< 0x00000400 */
+#define SDMMC_MASK_DBCKENDIE             SDMMC_MASK_DBCKENDIE_Msk              /*!<Data Block End Interrupt Enable            */
+#define SDMMC_MASK_DABORTIE_Pos          (11U)
+#define SDMMC_MASK_DABORTIE_Msk          (0x1UL << SDMMC_MASK_DABORTIE_Pos)    /*!< 0x00000800 */
+#define SDMMC_MASK_DABORTIE              SDMMC_MASK_DABORTIE_Msk               /*!<Data transfer aborted interrupt enable     */
+
+#define SDMMC_MASK_TXFIFOHEIE_Pos        (14U)
+#define SDMMC_MASK_TXFIFOHEIE_Msk        (0x1UL << SDMMC_MASK_TXFIFOHEIE_Pos)  /*!< 0x00004000 */
+#define SDMMC_MASK_TXFIFOHEIE            SDMMC_MASK_TXFIFOHEIE_Msk             /*!<Tx FIFO Half Empty interrupt Enable        */
+#define SDMMC_MASK_RXFIFOHFIE_Pos        (15U)
+#define SDMMC_MASK_RXFIFOHFIE_Msk        (0x1UL << SDMMC_MASK_RXFIFOHFIE_Pos)  /*!< 0x00008000 */
+#define SDMMC_MASK_RXFIFOHFIE            SDMMC_MASK_RXFIFOHFIE_Msk             /*!<Rx FIFO Half Full interrupt Enable         */
+
+#define SDMMC_MASK_RXFIFOFIE_Pos         (17U)
+#define SDMMC_MASK_RXFIFOFIE_Msk         (0x1UL << SDMMC_MASK_RXFIFOFIE_Pos)   /*!< 0x00020000 */
+#define SDMMC_MASK_RXFIFOFIE             SDMMC_MASK_RXFIFOFIE_Msk              /*!<Rx FIFO Full interrupt Enable              */
+#define SDMMC_MASK_TXFIFOEIE_Pos         (18U)
+#define SDMMC_MASK_TXFIFOEIE_Msk         (0x1UL << SDMMC_MASK_TXFIFOEIE_Pos)   /*!< 0x00040000 */
+#define SDMMC_MASK_TXFIFOEIE             SDMMC_MASK_TXFIFOEIE_Msk              /*!<Tx FIFO Empty interrupt Enable             */
+
+#define SDMMC_MASK_BUSYD0ENDIE_Pos       (21U)
+#define SDMMC_MASK_BUSYD0ENDIE_Msk       (0x1UL << SDMMC_MASK_BUSYD0ENDIE_Pos) /*!< 0x00200000 */
+#define SDMMC_MASK_BUSYD0ENDIE           SDMMC_MASK_BUSYD0ENDIE_Msk            /*!<BUSYD0ENDIE interrupt Enable */
+#define SDMMC_MASK_SDIOITIE_Pos           (22U)
+#define SDMMC_MASK_SDIOITIE_Msk           (0x1UL << SDMMC_MASK_SDIOITIE_Pos)     /*!< 0x00400000 */
+#define SDMMC_MASK_SDIOITIE               SDMMC_MASK_SDIOITIE_Msk                /*!<SDMMC Mode Interrupt Received interrupt Enable */
+#define SDMMC_MASK_ACKFAILIE_Pos         (23U)
+#define SDMMC_MASK_ACKFAILIE_Msk         (0x1UL << SDMMC_MASK_ACKFAILIE_Pos)   /*!< 0x00800000 */
+#define SDMMC_MASK_ACKFAILIE             SDMMC_MASK_ACKFAILIE_Msk              /*!<Acknowledgment Fail Interrupt Enable */
+#define SDMMC_MASK_ACKTIMEOUTIE_Pos      (24U)
+#define SDMMC_MASK_ACKTIMEOUTIE_Msk      (0x1UL << SDMMC_MASK_ACKTIMEOUTIE_Pos) /*!< 0x01000000 */
+#define SDMMC_MASK_ACKTIMEOUTIE          SDMMC_MASK_ACKTIMEOUTIE_Msk           /*!<Acknowledgment timeout Interrupt Enable */
+#define SDMMC_MASK_VSWENDIE_Pos          (25U)
+#define SDMMC_MASK_VSWENDIE_Msk          (0x1UL << SDMMC_MASK_VSWENDIE_Pos)    /*!< 0x02000000 */
+#define SDMMC_MASK_VSWENDIE              SDMMC_MASK_VSWENDIE_Msk               /*!<Voltage switch critical timing section completion Interrupt Enable */
+#define SDMMC_MASK_CKSTOPIE_Pos          (26U)
+#define SDMMC_MASK_CKSTOPIE_Msk          (0x1UL << SDMMC_MASK_CKSTOPIE_Pos)    /*!< 0x04000000 */
+#define SDMMC_MASK_CKSTOPIE              SDMMC_MASK_CKSTOPIE_Msk               /*!<Voltage Switch clock stopped Interrupt Enable */
+#define SDMMC_MASK_IDMABTCIE_Pos         (28U)
+#define SDMMC_MASK_IDMABTCIE_Msk         (0x1UL << SDMMC_MASK_IDMABTCIE_Pos)   /*!< 0x10000000 */
+#define SDMMC_MASK_IDMABTCIE             SDMMC_MASK_IDMABTCIE_Msk              /*!<IDMA buffer transfer complete Interrupt Enable */
+
+/*****************  Bit definition for SDMMC_ACKTIME register  *****************/
+#define SDMMC_ACKTIME_ACKTIME_Pos        (0U)
+#define SDMMC_ACKTIME_ACKTIME_Msk        (0x1FFFFFFUL << SDMMC_ACKTIME_ACKTIME_Pos) /*!< 0x01FFFFFF */
+#define SDMMC_ACKTIME_ACKTIME            SDMMC_ACKTIME_ACKTIME_Msk             /*!<Boot acknowledgment timeout period */
+
+/******************  Bit definition for SDMMC_FIFO register  *******************/
+#define SDMMC_FIFO_FIFODATA_Pos          (0U)
+#define SDMMC_FIFO_FIFODATA_Msk          (0xFFFFFFFFUL << SDMMC_FIFO_FIFODATA_Pos) /*!< 0xFFFFFFFF */
+#define SDMMC_FIFO_FIFODATA              SDMMC_FIFO_FIFODATA_Msk               /*!<Receive and transmit FIFO data */
+
+/******************  Bit definition for SDMMC_IDMACTRL register ****************/
+#define SDMMC_IDMA_IDMAEN_Pos            (0U)
+#define SDMMC_IDMA_IDMAEN_Msk            (0x1UL << SDMMC_IDMA_IDMAEN_Pos)      /*!< 0x00000001 */
+#define SDMMC_IDMA_IDMAEN                SDMMC_IDMA_IDMAEN_Msk                 /*!< Enable the internal DMA of the SDMMC peripheral */
+#define SDMMC_IDMA_IDMABMODE_Pos         (1U)
+#define SDMMC_IDMA_IDMABMODE_Msk         (0x1UL << SDMMC_IDMA_IDMABMODE_Pos)   /*!< 0x00000002 */
+#define SDMMC_IDMA_IDMABMODE             SDMMC_IDMA_IDMABMODE_Msk              /*!< Enable double buffer mode for IDMA */
+#define SDMMC_IDMA_IDMABACT_Pos          (2U)
+#define SDMMC_IDMA_IDMABACT_Msk          (0x1UL << SDMMC_IDMA_IDMABACT_Pos)    /*!< 0x00000004 */
+#define SDMMC_IDMA_IDMABACT              SDMMC_IDMA_IDMABACT_Msk               /*!< Uses buffer 1 when double buffer mode is selected */
+
+/*****************  Bit definition for SDMMC_IDMABSIZE register  ***************/
+#define SDMMC_IDMABSIZE_IDMABNDT_Pos     (5U)
+#define SDMMC_IDMABSIZE_IDMABNDT_Msk     (0xFFUL << SDMMC_IDMABSIZE_IDMABNDT_Pos) /*!< 0x00001FE0 */
+#define SDMMC_IDMABSIZE_IDMABNDT         SDMMC_IDMABSIZE_IDMABNDT_Msk          /*!< Number of transfers per buffer */
+
+/*****************  Bit definition for SDMMC_IDMABASE0 register  ***************/
+#define SDMMC_IDMABASE0_IDMABASE0        ((uint32_t)0xFFFFFFFF)                /*!< Buffer 0 memory base address */
+
+/*****************  Bit definition for SDMMC_IDMABASE1 register  ***************/
+#define SDMMC_IDMABASE1_IDMABASE1        ((uint32_t)0xFFFFFFFF)                /*!< Buffer 1 memory base address */
+
+/******************************************************************************/
+/*                                                                            */
+/*                        Delay Block Interface (DLYB)                        */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for DLYB_CR register  ********************/
+#define DLYB_CR_DEN_Pos         (0U)
+#define DLYB_CR_DEN_Msk         (0x1UL << DLYB_CR_DEN_Pos)                     /*!< 0x00000001 */
+#define DLYB_CR_DEN             DLYB_CR_DEN_Msk                                /*!<Delay Block enable */
+#define DLYB_CR_SEN_Pos         (1U)
+#define DLYB_CR_SEN_Msk         (0x1UL << DLYB_CR_SEN_Pos)                     /*!< 0x00000002 */
+#define DLYB_CR_SEN             DLYB_CR_SEN_Msk                                /*!<Sampler length enable */
+
+
+/*******************  Bit definition for DLYB_CFGR register  ********************/
+#define DLYB_CFGR_SEL_Pos       (0U)
+#define DLYB_CFGR_SEL_Msk       (0xFUL << DLYB_CFGR_SEL_Pos)                   /*!< 0x0000000F */
+#define DLYB_CFGR_SEL           DLYB_CFGR_SEL_Msk                              /*!<Select the phase for the Output clock[3:0] */
+#define DLYB_CFGR_SEL_0         (0x1UL << DLYB_CFGR_SEL_Pos)                    /*!< 0x00000001 */
+#define DLYB_CFGR_SEL_1         (0x2UL << DLYB_CFGR_SEL_Pos)                    /*!< 0x00000002 */
+#define DLYB_CFGR_SEL_2         (0x3UL << DLYB_CFGR_SEL_Pos)                    /*!< 0x00000003 */
+#define DLYB_CFGR_SEL_3         (0x8UL << DLYB_CFGR_SEL_Pos)                    /*!< 0x00000008 */
+
+#define DLYB_CFGR_UNIT_Pos      (8U)
+#define DLYB_CFGR_UNIT_Msk      (0x7FUL << DLYB_CFGR_UNIT_Pos)                 /*!< 0x00007F00 */
+#define DLYB_CFGR_UNIT          DLYB_CFGR_UNIT_Msk                             /*!<Delay Defines the delay of a Unit delay cell[6:0] */
+#define DLYB_CFGR_UNIT_0        (0x01UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00000100 */
+#define DLYB_CFGR_UNIT_1        (0x02UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00000200 */
+#define DLYB_CFGR_UNIT_2        (0x04UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00000400 */
+#define DLYB_CFGR_UNIT_3        (0x08UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00000800 */
+#define DLYB_CFGR_UNIT_4        (0x10UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00001000 */
+#define DLYB_CFGR_UNIT_5        (0x20UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00002000 */
+#define DLYB_CFGR_UNIT_6        (0x40UL << DLYB_CFGR_UNIT_Pos)                  /*!< 0x00004000 */
+
+#define DLYB_CFGR_LNG_Pos       (16U)
+#define DLYB_CFGR_LNG_Msk       (0xFFFUL << DLYB_CFGR_LNG_Pos)                 /*!< 0x0FFF0000 */
+#define DLYB_CFGR_LNG           DLYB_CFGR_LNG_Msk                              /*!<Delay line length value[11:0] */
+#define DLYB_CFGR_LNG_0         (0x001UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00010000 */
+#define DLYB_CFGR_LNG_1         (0x002UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00020000 */
+#define DLYB_CFGR_LNG_2         (0x004UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00040000 */
+#define DLYB_CFGR_LNG_3         (0x008UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00080000 */
+#define DLYB_CFGR_LNG_4         (0x010UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00100000 */
+#define DLYB_CFGR_LNG_5         (0x020UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00200000 */
+#define DLYB_CFGR_LNG_6         (0x040UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00400000 */
+#define DLYB_CFGR_LNG_7         (0x080UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x00800000 */
+#define DLYB_CFGR_LNG_8         (0x100UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x01000000 */
+#define DLYB_CFGR_LNG_9         (0x200UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x02000000 */
+#define DLYB_CFGR_LNG_10        (0x400UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x04000000 */
+#define DLYB_CFGR_LNG_11        (0x800UL << DLYB_CFGR_LNG_Pos)                  /*!< 0x08000000 */
+
+#define DLYB_CFGR_LNGF_Pos      (31U)
+#define DLYB_CFGR_LNGF_Msk      (0x1UL << DLYB_CFGR_LNGF_Pos)                  /*!< 0x80000000 */
+#define DLYB_CFGR_LNGF          DLYB_CFGR_LNGF_Msk                             /*!<Length valid flag */
+
+/******************************************************************************/
+/*                                                                            */
+/*                   Serial Peripheral Interface (SPI/I2S)                    */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for SPI_CR1 register  ********************/
+#define SPI_CR1_SPE_Pos             (0U)
+#define SPI_CR1_SPE_Msk             (0x1UL << SPI_CR1_SPE_Pos)                 /*!< 0x00000001 */
+#define SPI_CR1_SPE                 SPI_CR1_SPE_Msk                            /*!<Serial Peripheral Enable                         */
+#define SPI_CR1_MASRX_Pos           (8U)
+#define SPI_CR1_MASRX_Msk           (0x1UL << SPI_CR1_MASRX_Pos)               /*!< 0x00000100 */
+#define SPI_CR1_MASRX               SPI_CR1_MASRX_Msk                          /*!<Master automatic SUSP in Receive mode            */
+#define SPI_CR1_CSTART_Pos          (9U)
+#define SPI_CR1_CSTART_Msk          (0x1UL << SPI_CR1_CSTART_Pos)              /*!< 0x00000200 */
+#define SPI_CR1_CSTART              SPI_CR1_CSTART_Msk                         /*!<Master transfer start                            */
+#define SPI_CR1_CSUSP_Pos           (10U)
+#define SPI_CR1_CSUSP_Msk           (0x1UL << SPI_CR1_CSUSP_Pos)               /*!< 0x00000400 */
+#define SPI_CR1_CSUSP               SPI_CR1_CSUSP_Msk                          /*!<Master SUSPend request                           */
+#define SPI_CR1_HDDIR_Pos           (11U)
+#define SPI_CR1_HDDIR_Msk           (0x1UL << SPI_CR1_HDDIR_Pos)               /*!< 0x00000800 */
+#define SPI_CR1_HDDIR               SPI_CR1_HDDIR_Msk                          /*!<Rx/Tx direction at Half-duplex mode              */
+#define SPI_CR1_SSI_Pos             (12U)
+#define SPI_CR1_SSI_Msk             (0x1UL << SPI_CR1_SSI_Pos)                 /*!< 0x00001000 */
+#define SPI_CR1_SSI                 SPI_CR1_SSI_Msk                            /*!<Internal SS signal input level                   */
+#define SPI_CR1_CRC33_17_Pos        (13U)
+#define SPI_CR1_CRC33_17_Msk        (0x1UL << SPI_CR1_CRC33_17_Pos)            /*!< 0x00002000 */
+#define SPI_CR1_CRC33_17             SPI_CR1_CRC33_17_Msk                      /*!<32-bit CRC polynomial configuration              */
+#define SPI_CR1_RCRCINI_Pos         (14U)
+#define SPI_CR1_RCRCINI_Msk         (0x1UL << SPI_CR1_RCRCINI_Pos)             /*!< 0x00004000 */
+#define SPI_CR1_RCRCINI             SPI_CR1_RCRCINI_Msk                        /*!<CRC init pattern control for receiver            */
+#define SPI_CR1_TCRCINI_Pos         (15U)
+#define SPI_CR1_TCRCINI_Msk         (0x1UL << SPI_CR1_TCRCINI_Pos)             /*!< 0x00008000 */
+#define SPI_CR1_TCRCINI             SPI_CR1_TCRCINI_Msk                        /*!<CRC init pattern control for transmitter         */
+#define SPI_CR1_IOLOCK_Pos          (16U)
+#define SPI_CR1_IOLOCK_Msk          (0x1UL << SPI_CR1_IOLOCK_Pos)              /*!< 0x00010000 */
+#define SPI_CR1_IOLOCK              SPI_CR1_IOLOCK_Msk                         /*!<Locking the AF configuration of associated IOs   */
+
+/*******************  Bit definition for SPI_CR2 register  ********************/
+#define SPI_CR2_TSER_Pos            (16U)
+#define SPI_CR2_TSER_Msk            (0xFFFFUL << SPI_CR2_TSER_Pos)             /*!< 0xFFFF0000 */
+#define SPI_CR2_TSER                SPI_CR2_TSER_Msk                           /*!<Number of data transfer extension                */
+#define SPI_CR2_TSIZE_Pos           (0U)
+#define SPI_CR2_TSIZE_Msk           (0xFFFFUL << SPI_CR2_TSIZE_Pos)            /*!< 0x0000FFFF */
+#define SPI_CR2_TSIZE               SPI_CR2_TSIZE_Msk                          /*!<Number of data at current transfer               */
+
+/*******************  Bit definition for SPI_CFG1 register  ********************/
+#define SPI_CFG1_DSIZE_Pos          (0U)
+#define SPI_CFG1_DSIZE_Msk          (0x1FUL << SPI_CFG1_DSIZE_Pos)             /*!< 0x0000001F */
+#define SPI_CFG1_DSIZE              SPI_CFG1_DSIZE_Msk                         /*!<DSIZE[4:0]: Bits number in single SPI data frame */
+#define SPI_CFG1_DSIZE_0            (0x01UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000001 */
+#define SPI_CFG1_DSIZE_1            (0x02UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000002 */
+#define SPI_CFG1_DSIZE_2            (0x04UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000004 */
+#define SPI_CFG1_DSIZE_3            (0x08UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000008 */
+#define SPI_CFG1_DSIZE_4            (0x10UL << SPI_CFG1_DSIZE_Pos)              /*!< 0x00000010 */
+
+#define SPI_CFG1_FTHLV_Pos          (5U)
+#define SPI_CFG1_FTHLV_Msk          (0xFUL << SPI_CFG1_FTHLV_Pos)              /*!< 0x000001E0 */
+#define SPI_CFG1_FTHLV              SPI_CFG1_FTHLV_Msk                         /*!<FTHVL [3:0]: FIFO threshold level*/
+#define SPI_CFG1_FTHLV_0            (0x1UL << SPI_CFG1_FTHLV_Pos)               /*!< 0x00000020 */
+#define SPI_CFG1_FTHLV_1            (0x2UL << SPI_CFG1_FTHLV_Pos)               /*!< 0x00000040 */
+#define SPI_CFG1_FTHLV_2            (0x4UL << SPI_CFG1_FTHLV_Pos)               /*!< 0x00000080 */
+#define SPI_CFG1_FTHLV_3            (0x8UL << SPI_CFG1_FTHLV_Pos)               /*!< 0x00000100 */
+
+#define SPI_CFG1_UDRCFG_Pos         (9U)
+#define SPI_CFG1_UDRCFG_Msk         (0x3UL << SPI_CFG1_UDRCFG_Pos)             /*!< 0x00000600 */
+#define SPI_CFG1_UDRCFG             SPI_CFG1_UDRCFG_Msk                        /*!<UDRCFG[1:0]: Behavior of transmitter at underrun */
+#define SPI_CFG1_UDRCFG_0           (0x1UL << SPI_CFG1_UDRCFG_Pos)              /*!< 0x00000200 */
+#define SPI_CFG1_UDRCFG_1           (0x2UL << SPI_CFG1_UDRCFG_Pos)              /*!< 0x00000400 */
+
+
+#define SPI_CFG1_UDRDET_Pos         (11U)
+#define SPI_CFG1_UDRDET_Msk         (0x3UL << SPI_CFG1_UDRDET_Pos)             /*!< 0x00001800 */
+#define SPI_CFG1_UDRDET             SPI_CFG1_UDRDET_Msk                        /*!<UDRDET[1:0]: Detection of underrun condition     */
+#define SPI_CFG1_UDRDET_0           (0x1UL << SPI_CFG1_UDRDET_Pos)              /*!< 0x00000800 */
+#define SPI_CFG1_UDRDET_1           (0x2UL << SPI_CFG1_UDRDET_Pos)              /*!< 0x00001000 */
+
+#define SPI_CFG1_RXDMAEN_Pos        (14U)
+#define SPI_CFG1_RXDMAEN_Msk        (0x1UL << SPI_CFG1_RXDMAEN_Pos)            /*!< 0x00004000 */
+#define SPI_CFG1_RXDMAEN            SPI_CFG1_RXDMAEN_Msk                       /*!<Rx DMA stream enable                */
+#define SPI_CFG1_TXDMAEN_Pos        (15U)
+#define SPI_CFG1_TXDMAEN_Msk        (0x1UL << SPI_CFG1_TXDMAEN_Pos)            /*!< 0x00008000 */
+#define SPI_CFG1_TXDMAEN            SPI_CFG1_TXDMAEN_Msk                       /*!<Tx DMA stream enable                */
+
+#define SPI_CFG1_CRCSIZE_Pos        (16U)
+#define SPI_CFG1_CRCSIZE_Msk        (0x1FUL << SPI_CFG1_CRCSIZE_Pos)           /*!< 0x001F0000 */
+#define SPI_CFG1_CRCSIZE            SPI_CFG1_CRCSIZE_Msk                       /*!<CRCSIZE [4:0]: Length of CRC frame*/
+#define SPI_CFG1_CRCSIZE_0          (0x01UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00010000 */
+#define SPI_CFG1_CRCSIZE_1          (0x02UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00020000 */
+#define SPI_CFG1_CRCSIZE_2          (0x04UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00040000 */
+#define SPI_CFG1_CRCSIZE_3          (0x08UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00080000 */
+#define SPI_CFG1_CRCSIZE_4          (0x10UL << SPI_CFG1_CRCSIZE_Pos)            /*!< 0x00100000 */
+
+#define SPI_CFG1_CRCEN_Pos          (22U)
+#define SPI_CFG1_CRCEN_Msk          (0x1UL << SPI_CFG1_CRCEN_Pos)              /*!< 0x00400000 */
+#define SPI_CFG1_CRCEN              SPI_CFG1_CRCEN_Msk                         /*!<Hardware CRC computation enable */
+
+#define SPI_CFG1_MBR_Pos            (28U)
+#define SPI_CFG1_MBR_Msk            (0x7UL << SPI_CFG1_MBR_Pos)                /*!< 0x70000000 */
+#define SPI_CFG1_MBR                SPI_CFG1_MBR_Msk                           /*!<Master baud rate                */
+#define SPI_CFG1_MBR_0              (0x1UL << SPI_CFG1_MBR_Pos)                 /*!< 0x10000000 */
+#define SPI_CFG1_MBR_1              (0x2UL << SPI_CFG1_MBR_Pos)                 /*!< 0x20000000 */
+#define SPI_CFG1_MBR_2              (0x4UL << SPI_CFG1_MBR_Pos)                 /*!< 0x40000000 */
+
+/*******************  Bit definition for SPI_CFG2 register  ********************/
+#define SPI_CFG2_MSSI_Pos           (0U)
+#define SPI_CFG2_MSSI_Msk           (0xFUL << SPI_CFG2_MSSI_Pos)               /*!< 0x0000000F */
+#define SPI_CFG2_MSSI               SPI_CFG2_MSSI_Msk                          /*!<Master SS Idleness */
+#define SPI_CFG2_MSSI_0             (0x1UL << SPI_CFG2_MSSI_Pos)                /*!< 0x00000001 */
+#define SPI_CFG2_MSSI_1             (0x2UL << SPI_CFG2_MSSI_Pos)                /*!< 0x00000002 */
+#define SPI_CFG2_MSSI_2             (0x4UL << SPI_CFG2_MSSI_Pos)                /*!< 0x00000004 */
+#define SPI_CFG2_MSSI_3             (0x8UL << SPI_CFG2_MSSI_Pos)                /*!< 0x00000008 */
+
+#define SPI_CFG2_MIDI_Pos           (4U)
+#define SPI_CFG2_MIDI_Msk           (0xFUL << SPI_CFG2_MIDI_Pos)               /*!< 0x000000F0 */
+#define SPI_CFG2_MIDI               SPI_CFG2_MIDI_Msk                          /*!<Master Inter-Data Idleness */
+#define SPI_CFG2_MIDI_0             (0x1UL << SPI_CFG2_MIDI_Pos)                /*!< 0x00000010 */
+#define SPI_CFG2_MIDI_1             (0x2UL << SPI_CFG2_MIDI_Pos)                /*!< 0x00000020 */
+#define SPI_CFG2_MIDI_2             (0x4UL << SPI_CFG2_MIDI_Pos)                /*!< 0x00000040 */
+#define SPI_CFG2_MIDI_3             (0x8UL << SPI_CFG2_MIDI_Pos)                /*!< 0x00000080 */
+
+#define SPI_CFG2_IOSWP_Pos          (15U)
+#define SPI_CFG2_IOSWP_Msk          (0x1UL << SPI_CFG2_IOSWP_Pos)              /*!< 0x00008000 */
+#define SPI_CFG2_IOSWP              SPI_CFG2_IOSWP_Msk                         /*!<Swap functionality of MISO and MOSI pins */
+
+#define SPI_CFG2_COMM_Pos           (17U)
+#define SPI_CFG2_COMM_Msk           (0x3UL << SPI_CFG2_COMM_Pos)               /*!< 0x00060000 */
+#define SPI_CFG2_COMM               SPI_CFG2_COMM_Msk                          /*!<COMM [1:0]: SPI Communication Mode*/
+#define SPI_CFG2_COMM_0             (0x1UL << SPI_CFG2_COMM_Pos)                /*!< 0x00020000 */
+#define SPI_CFG2_COMM_1             (0x2UL << SPI_CFG2_COMM_Pos)                /*!< 0x00040000 */
+
+#define SPI_CFG2_SP_Pos             (19U)
+#define SPI_CFG2_SP_Msk             (0x7UL << SPI_CFG2_SP_Pos)                 /*!< 0x00380000 */
+#define SPI_CFG2_SP                 SPI_CFG2_SP_Msk                            /*!<SP[2:0]: Serial Protocol */
+#define SPI_CFG2_SP_0               (0x1UL << SPI_CFG2_SP_Pos)                  /*!< 0x00080000 */
+#define SPI_CFG2_SP_1               (0x2UL << SPI_CFG2_SP_Pos)                  /*!< 0x00100000 */
+#define SPI_CFG2_SP_2               (0x4UL << SPI_CFG2_SP_Pos)                  /*!< 0x00200000 */
+
+#define SPI_CFG2_MASTER_Pos         (22U)
+#define SPI_CFG2_MASTER_Msk         (0x1UL << SPI_CFG2_MASTER_Pos)             /*!< 0x00400000 */
+#define SPI_CFG2_MASTER             SPI_CFG2_MASTER_Msk                        /*!<SPI Master           */
+#define SPI_CFG2_LSBFRST_Pos        (23U)
+#define SPI_CFG2_LSBFRST_Msk        (0x1UL << SPI_CFG2_LSBFRST_Pos)            /*!< 0x00800000 */
+#define SPI_CFG2_LSBFRST            SPI_CFG2_LSBFRST_Msk                       /*!<Data frame format               */
+#define SPI_CFG2_CPHA_Pos           (24U)
+#define SPI_CFG2_CPHA_Msk           (0x1UL << SPI_CFG2_CPHA_Pos)               /*!< 0x01000000 */
+#define SPI_CFG2_CPHA               SPI_CFG2_CPHA_Msk                          /*!<Clock Phase      */
+#define SPI_CFG2_CPOL_Pos           (25U)
+#define SPI_CFG2_CPOL_Msk           (0x1UL << SPI_CFG2_CPOL_Pos)               /*!< 0x02000000 */
+#define SPI_CFG2_CPOL               SPI_CFG2_CPOL_Msk                          /*!<Clock Polarity   */
+#define SPI_CFG2_SSM_Pos            (26U)
+#define SPI_CFG2_SSM_Msk            (0x1UL << SPI_CFG2_SSM_Pos)                /*!< 0x04000000 */
+#define SPI_CFG2_SSM                SPI_CFG2_SSM_Msk                           /*!<Software slave management */
+
+#define SPI_CFG2_SSIOP_Pos          (28U)
+#define SPI_CFG2_SSIOP_Msk          (0x1UL << SPI_CFG2_SSIOP_Pos)              /*!< 0x10000000 */
+#define SPI_CFG2_SSIOP              SPI_CFG2_SSIOP_Msk                         /*!<SS input/output polarity */
+#define SPI_CFG2_SSOE_Pos           (29U)
+#define SPI_CFG2_SSOE_Msk           (0x1UL << SPI_CFG2_SSOE_Pos)               /*!< 0x20000000 */
+#define SPI_CFG2_SSOE               SPI_CFG2_SSOE_Msk                          /*!<SS output enable */
+#define SPI_CFG2_SSOM_Pos           (30U)
+#define SPI_CFG2_SSOM_Msk           (0x1UL << SPI_CFG2_SSOM_Pos)               /*!< 0x40000000 */
+#define SPI_CFG2_SSOM               SPI_CFG2_SSOM_Msk                          /*!<SS output management in master mode */
+
+#define SPI_CFG2_AFCNTR_Pos         (31U)
+#define SPI_CFG2_AFCNTR_Msk         (0x1UL << SPI_CFG2_AFCNTR_Pos)             /*!< 0x80000000 */
+#define SPI_CFG2_AFCNTR             SPI_CFG2_AFCNTR_Msk                        /*!<Alternate function GPIOs control */
+
+/*******************  Bit definition for SPI_IER register  ********************/
+#define SPI_IER_RXPIE_Pos           (0U)
+#define SPI_IER_RXPIE_Msk           (0x1UL << SPI_IER_RXPIE_Pos)               /*!< 0x00000001 */
+#define SPI_IER_RXPIE               SPI_IER_RXPIE_Msk                          /*!<RXP Interrupt Enable            */
+#define SPI_IER_TXPIE_Pos           (1U)
+#define SPI_IER_TXPIE_Msk           (0x1UL << SPI_IER_TXPIE_Pos)               /*!< 0x00000002 */
+#define SPI_IER_TXPIE               SPI_IER_TXPIE_Msk                          /*!<TXP interrupt enable            */
+#define SPI_IER_DXPIE_Pos           (2U)
+#define SPI_IER_DXPIE_Msk           (0x1UL << SPI_IER_DXPIE_Pos)               /*!< 0x00000004 */
+#define SPI_IER_DXPIE               SPI_IER_DXPIE_Msk                          /*!<DXP interrupt enable            */
+#define SPI_IER_EOTIE_Pos           (3U)
+#define SPI_IER_EOTIE_Msk           (0x1UL << SPI_IER_EOTIE_Pos)               /*!< 0x00000008 */
+#define SPI_IER_EOTIE               SPI_IER_EOTIE_Msk                          /*!<EOT/SUSP/TXC interrupt enable   */
+#define SPI_IER_TXTFIE_Pos          (4U)
+#define SPI_IER_TXTFIE_Msk          (0x1UL << SPI_IER_TXTFIE_Pos)              /*!< 0x00000010 */
+#define SPI_IER_TXTFIE              SPI_IER_TXTFIE_Msk                         /*!<TXTF interrupt enable           */
+#define SPI_IER_UDRIE_Pos           (5U)
+#define SPI_IER_UDRIE_Msk           (0x1UL << SPI_IER_UDRIE_Pos)               /*!< 0x00000020 */
+#define SPI_IER_UDRIE               SPI_IER_UDRIE_Msk                          /*!<UDR interrupt enable            */
+#define SPI_IER_OVRIE_Pos           (6U)
+#define SPI_IER_OVRIE_Msk           (0x1UL << SPI_IER_OVRIE_Pos)               /*!< 0x00000040 */
+#define SPI_IER_OVRIE               SPI_IER_OVRIE_Msk                          /*!<OVR interrupt enable            */
+#define SPI_IER_CRCEIE_Pos          (7U)
+#define SPI_IER_CRCEIE_Msk          (0x1UL << SPI_IER_CRCEIE_Pos)               /*!< 0x00000080 */
+#define SPI_IER_CRCEIE              SPI_IER_CRCEIE_Msk                          /*!<CRCE interrupt enable           */
+#define SPI_IER_TIFREIE_Pos         (8U)
+#define SPI_IER_TIFREIE_Msk         (0x1UL << SPI_IER_TIFREIE_Pos)             /*!< 0x00000100 */
+#define SPI_IER_TIFREIE             SPI_IER_TIFREIE_Msk                        /*!<TI Frame Error interrupt enable */
+#define SPI_IER_MODFIE_Pos          (9U)
+#define SPI_IER_MODFIE_Msk          (0x1UL << SPI_IER_MODFIE_Pos)              /*!< 0x00000200 */
+#define SPI_IER_MODFIE              SPI_IER_MODFIE_Msk                         /*!<MODF interrupt enable           */
+#define SPI_IER_TSERFIE_Pos         (10U)
+#define SPI_IER_TSERFIE_Msk         (0x1UL << SPI_IER_TSERFIE_Pos)              /*!< 0x00000400 */
+#define SPI_IER_TSERFIE             SPI_IER_TSERFIE_Msk                        /*!<TSERF interrupt enable          */
+
+/*******************  Bit definition for SPI_SR register  ********************/
+#define SPI_SR_RXP_Pos              (0U)
+#define SPI_SR_RXP_Msk              (0x1UL << SPI_SR_RXP_Pos)                  /*!< 0x00000001 */
+#define SPI_SR_RXP                  SPI_SR_RXP_Msk                             /*!<Rx-Packet available             */
+#define SPI_SR_TXP_Pos              (1U)
+#define SPI_SR_TXP_Msk              (0x1UL << SPI_SR_TXP_Pos)                  /*!< 0x00000002 */
+#define SPI_SR_TXP                  SPI_SR_TXP_Msk                             /*!<Tx-Packet space available       */
+#define SPI_SR_DXP_Pos              (2U)
+#define SPI_SR_DXP_Msk              (0x1UL << SPI_SR_DXP_Pos)                  /*!< 0x00000004 */
+#define SPI_SR_DXP                  SPI_SR_DXP_Msk                             /*!<Duplex Packet available         */
+#define SPI_SR_EOT_Pos              (3U)
+#define SPI_SR_EOT_Msk              (0x1UL << SPI_SR_EOT_Pos)                  /*!< 0x00000008 */
+#define SPI_SR_EOT                  SPI_SR_EOT_Msk                             /*!<Duplex Packet available         */
+#define SPI_SR_TXTF_Pos             (4U)
+#define SPI_SR_TXTF_Msk             (0x1UL << SPI_SR_TXTF_Pos)                 /*!< 0x00000010 */
+#define SPI_SR_TXTF                 SPI_SR_TXTF_Msk                            /*!<Transmission Transfer Filled    */
+#define SPI_SR_UDR_Pos              (5U)
+#define SPI_SR_UDR_Msk              (0x1UL << SPI_SR_UDR_Pos)                  /*!< 0x00000020 */
+#define SPI_SR_UDR                  SPI_SR_UDR_Msk                             /*!<UDR at Slave transmission       */
+#define SPI_SR_OVR_Pos              (6U)
+#define SPI_SR_OVR_Msk              (0x1UL << SPI_SR_OVR_Pos)                  /*!< 0x00000040 */
+#define SPI_SR_OVR                  SPI_SR_OVR_Msk                             /*!<Rx-Packet available             */
+#define SPI_SR_CRCE_Pos             (7U)
+#define SPI_SR_CRCE_Msk             (0x1UL << SPI_SR_CRCE_Pos)                 /*!< 0x00000080 */
+#define SPI_SR_CRCE                 SPI_SR_CRCE_Msk                            /*!<CRC Error Detected              */
+#define SPI_SR_TIFRE_Pos            (8U)
+#define SPI_SR_TIFRE_Msk            (0x1UL << SPI_SR_TIFRE_Pos)                /*!< 0x00000100 */
+#define SPI_SR_TIFRE                SPI_SR_TIFRE_Msk                           /*!<TI frame format error Detected  */
+#define SPI_SR_MODF_Pos             (9U)
+#define SPI_SR_MODF_Msk             (0x1UL << SPI_SR_MODF_Pos)                 /*!< 0x00000200 */
+#define SPI_SR_MODF                 SPI_SR_MODF_Msk                            /*!<Mode Fault Detected             */
+#define SPI_SR_TSERF_Pos            (10U)
+#define SPI_SR_TSERF_Msk            (0x1UL << SPI_SR_TSERF_Pos)                /*!< 0x00000400 */
+#define SPI_SR_TSERF                SPI_SR_TSERF_Msk                           /*!<Number of SPI data to be transacted reloaded     */
+#define SPI_SR_SUSP_Pos             (11U)
+#define SPI_SR_SUSP_Msk             (0x1UL << SPI_SR_SUSP_Pos)                 /*!< 0x00000800 */
+#define SPI_SR_SUSP                 SPI_SR_SUSP_Msk                            /*!<SUSP is set by hardware  */
+#define SPI_SR_TXC_Pos              (12U)
+#define SPI_SR_TXC_Msk              (0x1UL << SPI_SR_TXC_Pos)                  /*!< 0x00001000 */
+#define SPI_SR_TXC                  SPI_SR_TXC_Msk                             /*!<TxFIFO transmission complete */
+#define SPI_SR_RXPLVL_Pos           (13U)
+#define SPI_SR_RXPLVL_Msk           (0x3UL << SPI_SR_RXPLVL_Pos)               /*!< 0x00006000 */
+#define SPI_SR_RXPLVL               SPI_SR_RXPLVL_Msk                          /*!<RxFIFO Packing Level                             */
+#define SPI_SR_RXPLVL_0             (0x1UL << SPI_SR_RXPLVL_Pos)                /*!< 0x00002000 */
+#define SPI_SR_RXPLVL_1             (0x2UL << SPI_SR_RXPLVL_Pos)                /*!< 0x00004000 */
+#define SPI_SR_RXWNE_Pos            (15U)
+#define SPI_SR_RXWNE_Msk            (0x1UL << SPI_SR_RXWNE_Pos)                /*!< 0x00008000 */
+#define SPI_SR_RXWNE                SPI_SR_RXWNE_Msk                           /*!<Rx FIFO Word Not Empty                           */
+#define SPI_SR_CTSIZE_Pos           (16U)
+#define SPI_SR_CTSIZE_Msk           (0xFFFFUL << SPI_SR_CTSIZE_Pos)            /*!< 0xFFFF0000 */
+#define SPI_SR_CTSIZE               SPI_SR_CTSIZE_Msk                          /*!<Number of data frames remaining in TSIZE         */
+
+/*******************  Bit definition for SPI_IFCR register  ********************/
+#define SPI_IFCR_EOTC_Pos           (3U)
+#define SPI_IFCR_EOTC_Msk           (0x1UL << SPI_IFCR_EOTC_Pos)               /*!< 0x00000008 */
+#define SPI_IFCR_EOTC               SPI_IFCR_EOTC_Msk                          /*!<End Of Transfer flag clear              */
+#define SPI_IFCR_TXTFC_Pos          (4U)
+#define SPI_IFCR_TXTFC_Msk          (0x1UL << SPI_IFCR_TXTFC_Pos)              /*!< 0x00000010 */
+#define SPI_IFCR_TXTFC              SPI_IFCR_TXTFC_Msk                         /*!<Transmission Transfer Filled flag clear */
+#define SPI_IFCR_UDRC_Pos           (5U)
+#define SPI_IFCR_UDRC_Msk           (0x1UL << SPI_IFCR_UDRC_Pos)               /*!< 0x00000020 */
+#define SPI_IFCR_UDRC               SPI_IFCR_UDRC_Msk                          /*!<Underrun flag clear                     */
+#define SPI_IFCR_OVRC_Pos           (6U)
+#define SPI_IFCR_OVRC_Msk           (0x1UL << SPI_IFCR_OVRC_Pos)               /*!< 0x00000040 */
+#define SPI_IFCR_OVRC               SPI_IFCR_OVRC_Msk                          /*!<Overrun flag clear                      */
+#define SPI_IFCR_CRCEC_Pos          (7U)
+#define SPI_IFCR_CRCEC_Msk          (0x1UL << SPI_IFCR_CRCEC_Pos)              /*!< 0x00000080 */
+#define SPI_IFCR_CRCEC              SPI_IFCR_CRCEC_Msk                         /*!<CRC Error flag clear                    */
+#define SPI_IFCR_TIFREC_Pos         (8U)
+#define SPI_IFCR_TIFREC_Msk         (0x1UL << SPI_IFCR_TIFREC_Pos)             /*!< 0x00000100 */
+#define SPI_IFCR_TIFREC             SPI_IFCR_TIFREC_Msk                        /*!<TI frame format error flag clear        */
+#define SPI_IFCR_MODFC_Pos          (9U)
+#define SPI_IFCR_MODFC_Msk          (0x1UL << SPI_IFCR_MODFC_Pos)              /*!< 0x00000200 */
+#define SPI_IFCR_MODFC              SPI_IFCR_MODFC_Msk                         /*!<Mode Fault flag clear                   */
+#define SPI_IFCR_TSERFC_Pos         (10U)
+#define SPI_IFCR_TSERFC_Msk         (0x1UL << SPI_IFCR_TSERFC_Pos)             /*!< 0x00000400 */
+#define SPI_IFCR_TSERFC             SPI_IFCR_TSERFC_Msk                        /*!<TSERFC flag clear                       */
+#define SPI_IFCR_SUSPC_Pos          (11U)
+#define SPI_IFCR_SUSPC_Msk          (0x1UL << SPI_IFCR_SUSPC_Pos)              /*!< 0x00000800 */
+#define SPI_IFCR_SUSPC              SPI_IFCR_SUSPC_Msk                         /*!<SUSPend flag clear                      */
+
+/*******************  Bit definition for SPI_TXDR register  ********************/
+#define SPI_TXDR_TXDR_Pos           (0U)
+#define SPI_TXDR_TXDR_Msk           (0xFFFFFFFFUL << SPI_TXDR_TXDR_Pos)        /*!< 0xFFFFFFFF */
+#define SPI_TXDR_TXDR               SPI_TXDR_TXDR_Msk                          /* Transmit Data Register */
+
+/*******************  Bit definition for SPI_RXDR register  ********************/
+#define SPI_RXDR_RXDR_Pos           (0U)
+#define SPI_RXDR_RXDR_Msk           (0xFFFFFFFFUL << SPI_RXDR_RXDR_Pos)        /*!< 0xFFFFFFFF */
+#define SPI_RXDR_RXDR               SPI_RXDR_RXDR_Msk                          /* Receive Data Register  */
+
+/*******************  Bit definition for SPI_CRCPOLY register  ********************/
+#define SPI_CRCPOLY_CRCPOLY_Pos     (0U)
+#define SPI_CRCPOLY_CRCPOLY_Msk     (0xFFFFFFFFUL << SPI_CRCPOLY_CRCPOLY_Pos)  /*!< 0xFFFFFFFF */
+#define SPI_CRCPOLY_CRCPOLY         SPI_CRCPOLY_CRCPOLY_Msk                    /* CRC Polynomial register  */
+
+/*******************  Bit definition for SPI_TXCRC register  ********************/
+#define SPI_TXCRC_TXCRC_Pos         (0U)
+#define SPI_TXCRC_TXCRC_Msk         (0xFFFFFFFFUL << SPI_TXCRC_TXCRC_Pos)      /*!< 0xFFFFFFFF */
+#define SPI_TXCRC_TXCRC             SPI_TXCRC_TXCRC_Msk                        /* CRCRegister for transmitter */
+
+/*******************  Bit definition for SPI_RXCRC register  ********************/
+#define SPI_RXCRC_RXCRC_Pos         (0U)
+#define SPI_RXCRC_RXCRC_Msk         (0xFFFFFFFFUL << SPI_RXCRC_RXCRC_Pos)      /*!< 0xFFFFFFFF */
+#define SPI_RXCRC_RXCRC             SPI_RXCRC_RXCRC_Msk                        /* CRCRegister for receiver */
+
+/*******************  Bit definition for SPI_UDRDR register  ********************/
+#define SPI_UDRDR_UDRDR_Pos         (0U)
+#define SPI_UDRDR_UDRDR_Msk         (0xFFFFFFFFUL << SPI_UDRDR_UDRDR_Pos)      /*!< 0xFFFFFFFF */
+#define SPI_UDRDR_UDRDR             SPI_UDRDR_UDRDR_Msk                        /* Data at slave underrun condition */
+
+/******************  Bit definition for SPI_I2SCFGR register  *****************/
+#define SPI_I2SCFGR_I2SMOD_Pos      (0U)
+#define SPI_I2SCFGR_I2SMOD_Msk      (0x1UL << SPI_I2SCFGR_I2SMOD_Pos)          /*!< 0x00000001 */
+#define SPI_I2SCFGR_I2SMOD          SPI_I2SCFGR_I2SMOD_Msk                     /*!<I2S mode selection */
+#define SPI_I2SCFGR_I2SCFG_Pos      (1U)
+#define SPI_I2SCFGR_I2SCFG_Msk      (0x7UL << SPI_I2SCFGR_I2SCFG_Pos)          /*!< 0x0000000E */
+#define SPI_I2SCFGR_I2SCFG          SPI_I2SCFGR_I2SCFG_Msk                     /*!<I2SCFG[2:0] I2S configuration mode                */
+#define SPI_I2SCFGR_I2SCFG_0        (0x1UL << SPI_I2SCFGR_I2SCFG_Pos)           /*!< 0x00000002 */
+#define SPI_I2SCFGR_I2SCFG_1        (0x2UL << SPI_I2SCFGR_I2SCFG_Pos)           /*!< 0x00000004 */
+#define SPI_I2SCFGR_I2SCFG_2        (0x4UL << SPI_I2SCFGR_I2SCFG_Pos)           /*!< 0x00000008 */
+#define SPI_I2SCFGR_I2SSTD_Pos      (4U)
+#define SPI_I2SCFGR_I2SSTD_Msk      (0x3UL << SPI_I2SCFGR_I2SSTD_Pos)          /*!< 0x00000030 */
+#define SPI_I2SCFGR_I2SSTD          SPI_I2SCFGR_I2SSTD_Msk                     /*!<I2SSTD[1:0] I2S standard selection                */
+#define SPI_I2SCFGR_I2SSTD_0        (0x1UL << SPI_I2SCFGR_I2SSTD_Pos)           /*!< 0x00000010 */
+#define SPI_I2SCFGR_I2SSTD_1        (0x2UL << SPI_I2SCFGR_I2SSTD_Pos)           /*!< 0x00000020 */
+#define SPI_I2SCFGR_PCMSYNC_Pos     (7U)
+#define SPI_I2SCFGR_PCMSYNC_Msk     (0x1UL << SPI_I2SCFGR_PCMSYNC_Pos)         /*!< 0x00000080 */
+#define SPI_I2SCFGR_PCMSYNC         SPI_I2SCFGR_PCMSYNC_Msk                    /*!<PCM frame synchronization                         */
+#define SPI_I2SCFGR_DATLEN_Pos      (8U)
+#define SPI_I2SCFGR_DATLEN_Msk      (0x3UL << SPI_I2SCFGR_DATLEN_Pos)          /*!< 0x00000300 */
+#define SPI_I2SCFGR_DATLEN          SPI_I2SCFGR_DATLEN_Msk                     /*!<DATLEN[1:0] Data length to be transferred         */
+#define SPI_I2SCFGR_DATLEN_0        (0x1UL << SPI_I2SCFGR_DATLEN_Pos)           /*!< 0x00000100 */
+#define SPI_I2SCFGR_DATLEN_1        (0x2UL << SPI_I2SCFGR_DATLEN_Pos)           /*!< 0x00000200 */
+#define SPI_I2SCFGR_CHLEN_Pos       (10U)
+#define SPI_I2SCFGR_CHLEN_Msk       (0x1UL << SPI_I2SCFGR_CHLEN_Pos)           /*!< 0x00000400 */
+#define SPI_I2SCFGR_CHLEN           SPI_I2SCFGR_CHLEN_Msk                      /*!<Channel length (number of bits per audio channel) */
+#define SPI_I2SCFGR_CKPOL_Pos       (11U)
+#define SPI_I2SCFGR_CKPOL_Msk       (0x1UL << SPI_I2SCFGR_CKPOL_Pos)           /*!< 0x00000800 */
+#define SPI_I2SCFGR_CKPOL           SPI_I2SCFGR_CKPOL_Msk                      /*!<Steady state clock polarity                       */
+#define SPI_I2SCFGR_FIXCH_Pos       (12U)
+#define SPI_I2SCFGR_FIXCH_Msk       (0x1UL << SPI_I2SCFGR_FIXCH_Pos)           /*!< 0x00001000 */
+#define SPI_I2SCFGR_FIXCH           SPI_I2SCFGR_FIXCH_Msk                      /*!<Fixed channel length in SLAVE                     */
+#define SPI_I2SCFGR_WSINV_Pos       (13U)
+#define SPI_I2SCFGR_WSINV_Msk       (0x1UL << SPI_I2SCFGR_WSINV_Pos)           /*!< 0x00002000 */
+#define SPI_I2SCFGR_WSINV           SPI_I2SCFGR_WSINV_Msk                      /*!<Word select inversion                             */
+#define SPI_I2SCFGR_DATFMT_Pos      (14U)
+#define SPI_I2SCFGR_DATFMT_Msk      (0x1UL << SPI_I2SCFGR_DATFMT_Pos)          /*!< 0x00004000 */
+#define SPI_I2SCFGR_DATFMT          SPI_I2SCFGR_DATFMT_Msk                     /*!<Data format                                       */
+#define SPI_I2SCFGR_I2SDIV_Pos      (16U)
+#define SPI_I2SCFGR_I2SDIV_Msk      (0xFFUL << SPI_I2SCFGR_I2SDIV_Pos)         /*!< 0x00FF0000 */
+#define SPI_I2SCFGR_I2SDIV          SPI_I2SCFGR_I2SDIV_Msk                     /*!<I2S Linear prescaler */
+#define SPI_I2SCFGR_ODD_Pos         (24U)
+#define SPI_I2SCFGR_ODD_Msk         (0x1UL << SPI_I2SCFGR_ODD_Pos)             /*!< 0x01000000 */
+#define SPI_I2SCFGR_ODD             SPI_I2SCFGR_ODD_Msk                        /*!<Odd factor for the prescaler */
+#define SPI_I2SCFGR_MCKOE_Pos       (25U)
+#define SPI_I2SCFGR_MCKOE_Msk       (0x1UL << SPI_I2SCFGR_MCKOE_Pos)           /*!< 0x02000000 */
+#define SPI_I2SCFGR_MCKOE           SPI_I2SCFGR_MCKOE_Msk                      /*!<Master Clock Output Enable */
+
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                 SYSCFG                                     */
+/*                                                                            */
+/******************************************************************************/
+
+/******************  Bit definition for SYSCFG_PMCR register  ******************/
+#define SYSCFG_PMCR_I2C1_FMP_Pos        (0U)
+#define SYSCFG_PMCR_I2C1_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C1_FMP_Pos)    /*!< 0x00000001 */
+#define SYSCFG_PMCR_I2C1_FMP            SYSCFG_PMCR_I2C1_FMP_Msk               /*!< I2C1 Fast mode plus */
+#define SYSCFG_PMCR_I2C2_FMP_Pos        (1U)
+#define SYSCFG_PMCR_I2C2_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C2_FMP_Pos)    /*!< 0x00000002 */
+#define SYSCFG_PMCR_I2C2_FMP            SYSCFG_PMCR_I2C2_FMP_Msk               /*!< I2C2 Fast mode plus */
+#define SYSCFG_PMCR_I2C3_FMP_Pos        (2U)
+#define SYSCFG_PMCR_I2C3_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C3_FMP_Pos)    /*!< 0x00000004 */
+#define SYSCFG_PMCR_I2C3_FMP            SYSCFG_PMCR_I2C3_FMP_Msk               /*!< I2C3 Fast mode plus */
+#define SYSCFG_PMCR_I2C4_FMP_Pos        (3U)
+#define SYSCFG_PMCR_I2C4_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C4_FMP_Pos)    /*!< 0x00000008 */
+#define SYSCFG_PMCR_I2C4_FMP            SYSCFG_PMCR_I2C4_FMP_Msk               /*!< I2C4 Fast mode plus */
+#define SYSCFG_PMCR_I2C_PB6_FMP_Pos     (4U)
+#define SYSCFG_PMCR_I2C_PB6_FMP_Msk     (0x1UL << SYSCFG_PMCR_I2C_PB6_FMP_Pos) /*!< 0x00000010 */
+#define SYSCFG_PMCR_I2C_PB6_FMP         SYSCFG_PMCR_I2C_PB6_FMP_Msk            /*!< I2C PB6 Fast mode plus */
+#define SYSCFG_PMCR_I2C_PB7_FMP_Pos     (5U)
+#define SYSCFG_PMCR_I2C_PB7_FMP_Msk     (0x1UL << SYSCFG_PMCR_I2C_PB7_FMP_Pos) /*!< 0x00000020 */
+#define SYSCFG_PMCR_I2C_PB7_FMP         SYSCFG_PMCR_I2C_PB7_FMP_Msk            /*!< I2C PB7 Fast mode plus */
+#define SYSCFG_PMCR_I2C_PB8_FMP_Pos     (6U)
+#define SYSCFG_PMCR_I2C_PB8_FMP_Msk     (0x1UL << SYSCFG_PMCR_I2C_PB8_FMP_Pos) /*!< 0x00000040 */
+#define SYSCFG_PMCR_I2C_PB8_FMP         SYSCFG_PMCR_I2C_PB8_FMP_Msk            /*!< I2C PB8 Fast mode plus */
+#define SYSCFG_PMCR_I2C_PB9_FMP_Pos     (7U)
+#define SYSCFG_PMCR_I2C_PB9_FMP_Msk     (0x1UL << SYSCFG_PMCR_I2C_PB9_FMP_Pos) /*!< 0x00000080 */
+#define SYSCFG_PMCR_I2C_PB9_FMP         SYSCFG_PMCR_I2C_PB9_FMP_Msk            /*!< I2C PB9 Fast mode plus */
+#define SYSCFG_PMCR_BOOSTEN_Pos         (8U)
+#define SYSCFG_PMCR_BOOSTEN_Msk         (0x1UL << SYSCFG_PMCR_BOOSTEN_Pos)     /*!< 0x00000100 */
+#define SYSCFG_PMCR_BOOSTEN             SYSCFG_PMCR_BOOSTEN_Msk                /*!< I/O analog switch voltage booster enable */
+
+#define SYSCFG_PMCR_BOOSTVDDSEL_Pos     (9U)
+#define SYSCFG_PMCR_BOOSTVDDSEL_Msk     (0x1UL << SYSCFG_PMCR_BOOSTVDDSEL_Pos) /*!< 0x00000200 */
+#define SYSCFG_PMCR_BOOSTVDDSEL         SYSCFG_PMCR_BOOSTVDDSEL_Msk            /*!< Analog switch supply source selection : VDD/VDDA */
+
+#define SYSCFG_PMCR_I2C5_FMP_Pos        (10U)
+#define SYSCFG_PMCR_I2C5_FMP_Msk        (0x1UL << SYSCFG_PMCR_I2C5_FMP_Pos)    /*!< 0x00000400 */
+#define SYSCFG_PMCR_I2C5_FMP            SYSCFG_PMCR_I2C5_FMP_Msk               /*!< I2C5 Fast mode plus */
+
+#define SYSCFG_PMCR_EPIS_SEL_Pos        (21U)
+#define SYSCFG_PMCR_EPIS_SEL_Msk        (0x7UL << SYSCFG_PMCR_EPIS_SEL_Pos)    /*!< 0x00E00000 */
+#define SYSCFG_PMCR_EPIS_SEL            SYSCFG_PMCR_EPIS_SEL_Msk               /*!< Ethernet PHY Interface Selection */
+#define SYSCFG_PMCR_EPIS_SEL_0          (0x1UL << SYSCFG_PMCR_EPIS_SEL_Pos)    /*!< 0x00200000 */
+#define SYSCFG_PMCR_EPIS_SEL_1          (0x2UL << SYSCFG_PMCR_EPIS_SEL_Pos)    /*!< 0x00400000 */
+#define SYSCFG_PMCR_EPIS_SEL_2          (0x4UL << SYSCFG_PMCR_EPIS_SEL_Pos)    /*!< 0x00800000 */
+#define SYSCFG_PMCR_PA0SO_Pos           (24U)
+#define SYSCFG_PMCR_PA0SO_Msk           (0x1UL << SYSCFG_PMCR_PA0SO_Pos)       /*!< 0x01000000 */
+#define SYSCFG_PMCR_PA0SO               SYSCFG_PMCR_PA0SO_Msk                  /*!< PA0 Switch Open */
+#define SYSCFG_PMCR_PA1SO_Pos           (25U)
+#define SYSCFG_PMCR_PA1SO_Msk           (0x1UL << SYSCFG_PMCR_PA1SO_Pos)       /*!< 0x02000000 */
+#define SYSCFG_PMCR_PA1SO               SYSCFG_PMCR_PA1SO_Msk                  /*!< PA1 Switch Open */
+#define SYSCFG_PMCR_PC2SO_Pos           (26U)
+#define SYSCFG_PMCR_PC2SO_Msk           (0x1UL << SYSCFG_PMCR_PC2SO_Pos)       /*!< 0x04000000 */
+#define SYSCFG_PMCR_PC2SO               SYSCFG_PMCR_PC2SO_Msk                  /*!< PC2 Switch Open */
+#define SYSCFG_PMCR_PC3SO_Pos           (27U)
+#define SYSCFG_PMCR_PC3SO_Msk           (0x1UL << SYSCFG_PMCR_PC3SO_Pos)       /*!< 0x08000000 */
+#define SYSCFG_PMCR_PC3SO               SYSCFG_PMCR_PC3SO_Msk                  /*!< PC3 Switch Open */
+
+/*****************  Bit definition for SYSCFG_EXTICR1 register  ***************/
+#define SYSCFG_EXTICR1_EXTI0_Pos        (0U)
+#define SYSCFG_EXTICR1_EXTI0_Msk        (0xFUL << SYSCFG_EXTICR1_EXTI0_Pos)    /*!< 0x0000000F */
+#define SYSCFG_EXTICR1_EXTI0            SYSCFG_EXTICR1_EXTI0_Msk               /*!<EXTI 0 configuration */
+#define SYSCFG_EXTICR1_EXTI1_Pos        (4U)
+#define SYSCFG_EXTICR1_EXTI1_Msk        (0xFUL << SYSCFG_EXTICR1_EXTI1_Pos)    /*!< 0x000000F0 */
+#define SYSCFG_EXTICR1_EXTI1            SYSCFG_EXTICR1_EXTI1_Msk               /*!<EXTI 1 configuration */
+#define SYSCFG_EXTICR1_EXTI2_Pos        (8U)
+#define SYSCFG_EXTICR1_EXTI2_Msk        (0xFUL << SYSCFG_EXTICR1_EXTI2_Pos)    /*!< 0x00000F00 */
+#define SYSCFG_EXTICR1_EXTI2            SYSCFG_EXTICR1_EXTI2_Msk               /*!<EXTI 2 configuration */
+#define SYSCFG_EXTICR1_EXTI3_Pos        (12U)
+#define SYSCFG_EXTICR1_EXTI3_Msk        (0xFUL << SYSCFG_EXTICR1_EXTI3_Pos)    /*!< 0x0000F000 */
+#define SYSCFG_EXTICR1_EXTI3            SYSCFG_EXTICR1_EXTI3_Msk               /*!<EXTI 3 configuration */
+/**
+  * @brief   EXTI0 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI0_PA         ((uint32_t)0x00000000)                 /*!<PA[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PB         ((uint32_t)0x00000001)                 /*!<PB[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PC         ((uint32_t)0x00000002)                 /*!<PC[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PD         ((uint32_t)0x00000003)                 /*!<PD[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PE         ((uint32_t)0x00000004)                 /*!<PE[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PF         ((uint32_t)0x00000005)                 /*!<PF[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PG         ((uint32_t)0x00000006)                 /*!<PG[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PH         ((uint32_t)0x00000007)                 /*!<PH[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PJ         ((uint32_t)0x00000009)                 /*!<PJ[0] pin */
+#define SYSCFG_EXTICR1_EXTI0_PK         ((uint32_t)0x0000000A)                 /*!<PK[0] pin */
+
+/**
+  * @brief   EXTI1 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI1_PA         ((uint32_t)0x00000000)                 /*!<PA[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PB         ((uint32_t)0x00000010)                 /*!<PB[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PC         ((uint32_t)0x00000020)                 /*!<PC[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PD         ((uint32_t)0x00000030)                 /*!<PD[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PE         ((uint32_t)0x00000040)                 /*!<PE[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PF         ((uint32_t)0x00000050)                 /*!<PF[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PG         ((uint32_t)0x00000060)                 /*!<PG[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PH         ((uint32_t)0x00000070)                 /*!<PH[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PJ         ((uint32_t)0x00000090)                 /*!<PJ[1] pin */
+#define SYSCFG_EXTICR1_EXTI1_PK         ((uint32_t)0x000000A0)                 /*!<PK[1] pin */
+/**
+  * @brief   EXTI2 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI2_PA         ((uint32_t)0x00000000)                 /*!<PA[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PB         ((uint32_t)0x00000100)                 /*!<PB[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PC         ((uint32_t)0x00000200)                 /*!<PC[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PD         ((uint32_t)0x00000300)                 /*!<PD[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PE         ((uint32_t)0x00000400)                 /*!<PE[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PF         ((uint32_t)0x00000500)                 /*!<PF[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PG         ((uint32_t)0x00000600)                 /*!<PG[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PH         ((uint32_t)0x00000700)                 /*!<PH[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PJ         ((uint32_t)0x00000900)                 /*!<PJ[2] pin */
+#define SYSCFG_EXTICR1_EXTI2_PK         ((uint32_t)0x00000A00)                 /*!<PK[2] pin */
+
+/**
+  * @brief   EXTI3 configuration
+  */
+#define SYSCFG_EXTICR1_EXTI3_PA         ((uint32_t)0x00000000)                 /*!<PA[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PB         ((uint32_t)0x00001000)                 /*!<PB[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PC         ((uint32_t)0x00002000)                 /*!<PC[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PD         ((uint32_t)0x00003000)                 /*!<PD[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PE         ((uint32_t)0x00004000)                 /*!<PE[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PF         ((uint32_t)0x00005000)                 /*!<PF[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PG         ((uint32_t)0x00006000)                 /*!<PG[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PH         ((uint32_t)0x00007000)                 /*!<PH[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PJ         ((uint32_t)0x00009000)                 /*!<PJ[3] pin */
+#define SYSCFG_EXTICR1_EXTI3_PK         ((uint32_t)0x0000A000)                 /*!<PK[3] pin */
+
+/*****************  Bit definition for SYSCFG_EXTICR2 register  ***************/
+#define SYSCFG_EXTICR2_EXTI4_Pos        (0U)
+#define SYSCFG_EXTICR2_EXTI4_Msk        (0xFUL << SYSCFG_EXTICR2_EXTI4_Pos)    /*!< 0x0000000F */
+#define SYSCFG_EXTICR2_EXTI4            SYSCFG_EXTICR2_EXTI4_Msk               /*!<EXTI 4 configuration */
+#define SYSCFG_EXTICR2_EXTI5_Pos        (4U)
+#define SYSCFG_EXTICR2_EXTI5_Msk        (0xFUL << SYSCFG_EXTICR2_EXTI5_Pos)    /*!< 0x000000F0 */
+#define SYSCFG_EXTICR2_EXTI5            SYSCFG_EXTICR2_EXTI5_Msk               /*!<EXTI 5 configuration */
+#define SYSCFG_EXTICR2_EXTI6_Pos        (8U)
+#define SYSCFG_EXTICR2_EXTI6_Msk        (0xFUL << SYSCFG_EXTICR2_EXTI6_Pos)    /*!< 0x00000F00 */
+#define SYSCFG_EXTICR2_EXTI6            SYSCFG_EXTICR2_EXTI6_Msk               /*!<EXTI 6 configuration */
+#define SYSCFG_EXTICR2_EXTI7_Pos        (12U)
+#define SYSCFG_EXTICR2_EXTI7_Msk        (0xFUL << SYSCFG_EXTICR2_EXTI7_Pos)    /*!< 0x0000F000 */
+#define SYSCFG_EXTICR2_EXTI7            SYSCFG_EXTICR2_EXTI7_Msk               /*!<EXTI 7 configuration */
+/**
+  * @brief   EXTI4 configuration
+  */
+#define SYSCFG_EXTICR2_EXTI4_PA         ((uint32_t)0x00000000)                 /*!<PA[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PB         ((uint32_t)0x00000001)                 /*!<PB[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PC         ((uint32_t)0x00000002)                 /*!<PC[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PD         ((uint32_t)0x00000003)                 /*!<PD[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PE         ((uint32_t)0x00000004)                 /*!<PE[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PF         ((uint32_t)0x00000005)                 /*!<PF[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PG         ((uint32_t)0x00000006)                 /*!<PG[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PH         ((uint32_t)0x00000007)                 /*!<PH[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PJ         ((uint32_t)0x00000009)                 /*!<PJ[4] pin */
+#define SYSCFG_EXTICR2_EXTI4_PK         ((uint32_t)0x0000000A)                 /*!<PK[4] pin */
+/**
+  * @brief   EXTI5 configuration
+  */
+#define SYSCFG_EXTICR2_EXTI5_PA         ((uint32_t)0x00000000)                 /*!<PA[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PB         ((uint32_t)0x00000010)                 /*!<PB[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PC         ((uint32_t)0x00000020)                 /*!<PC[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PD         ((uint32_t)0x00000030)                 /*!<PD[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PE         ((uint32_t)0x00000040)                 /*!<PE[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PF         ((uint32_t)0x00000050)                 /*!<PF[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PG         ((uint32_t)0x00000060)                 /*!<PG[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PH         ((uint32_t)0x00000070)                 /*!<PH[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PJ         ((uint32_t)0x00000090)                 /*!<PJ[5] pin */
+#define SYSCFG_EXTICR2_EXTI5_PK         ((uint32_t)0x000000A0)                 /*!<PK[5] pin */
+/**
+  * @brief   EXTI6 configuration
+  */
+#define SYSCFG_EXTICR2_EXTI6_PA         ((uint32_t)0x00000000)                 /*!<PA[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PB         ((uint32_t)0x00000100)                 /*!<PB[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PC         ((uint32_t)0x00000200)                 /*!<PC[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PD         ((uint32_t)0x00000300)                 /*!<PD[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PE         ((uint32_t)0x00000400)                 /*!<PE[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PF         ((uint32_t)0x00000500)                 /*!<PF[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PG         ((uint32_t)0x00000600)                 /*!<PG[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PH         ((uint32_t)0x00000700)                 /*!<PH[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PJ         ((uint32_t)0x00000900)                 /*!<PJ[6] pin */
+#define SYSCFG_EXTICR2_EXTI6_PK         ((uint32_t)0x00000A00)                 /*!<PK[6] pin */
+
+/**
+  * @brief   EXTI7 configuration
+  */
+#define SYSCFG_EXTICR2_EXTI7_PA         ((uint32_t)0x00000000)                 /*!<PA[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PB         ((uint32_t)0x00001000)                 /*!<PB[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PC         ((uint32_t)0x00002000)                 /*!<PC[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PD         ((uint32_t)0x00003000)                 /*!<PD[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PE         ((uint32_t)0x00004000)                 /*!<PE[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PF         ((uint32_t)0x00005000)                 /*!<PF[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PG         ((uint32_t)0x00006000)                 /*!<PG[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PH         ((uint32_t)0x00007000)                 /*!<PH[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PJ         ((uint32_t)0x00009000)                 /*!<PJ[7] pin */
+#define SYSCFG_EXTICR2_EXTI7_PK         ((uint32_t)0x0000A000)                 /*!<PK[7] pin */
+
+/*****************  Bit definition for SYSCFG_EXTICR3 register  ***************/
+#define SYSCFG_EXTICR3_EXTI8_Pos        (0U)
+#define SYSCFG_EXTICR3_EXTI8_Msk        (0xFUL << SYSCFG_EXTICR3_EXTI8_Pos)    /*!< 0x0000000F */
+#define SYSCFG_EXTICR3_EXTI8            SYSCFG_EXTICR3_EXTI8_Msk               /*!<EXTI 8 configuration */
+#define SYSCFG_EXTICR3_EXTI9_Pos        (4U)
+#define SYSCFG_EXTICR3_EXTI9_Msk        (0xFUL << SYSCFG_EXTICR3_EXTI9_Pos)    /*!< 0x000000F0 */
+#define SYSCFG_EXTICR3_EXTI9            SYSCFG_EXTICR3_EXTI9_Msk               /*!<EXTI 9 configuration */
+#define SYSCFG_EXTICR3_EXTI10_Pos       (8U)
+#define SYSCFG_EXTICR3_EXTI10_Msk       (0xFUL << SYSCFG_EXTICR3_EXTI10_Pos)   /*!< 0x00000F00 */
+#define SYSCFG_EXTICR3_EXTI10           SYSCFG_EXTICR3_EXTI10_Msk              /*!<EXTI 10 configuration */
+#define SYSCFG_EXTICR3_EXTI11_Pos       (12U)
+#define SYSCFG_EXTICR3_EXTI11_Msk       (0xFUL << SYSCFG_EXTICR3_EXTI11_Pos)   /*!< 0x0000F000 */
+#define SYSCFG_EXTICR3_EXTI11           SYSCFG_EXTICR3_EXTI11_Msk              /*!<EXTI 11 configuration */
+
+/**
+  * @brief   EXTI8 configuration
+  */
+#define SYSCFG_EXTICR3_EXTI8_PA         ((uint32_t)0x00000000)                 /*!<PA[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PB         ((uint32_t)0x00000001)                 /*!<PB[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PC         ((uint32_t)0x00000002)                 /*!<PC[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PD         ((uint32_t)0x00000003)                 /*!<PD[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PE         ((uint32_t)0x00000004)                 /*!<PE[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PF         ((uint32_t)0x00000005)                 /*!<PF[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PG         ((uint32_t)0x00000006)                 /*!<PG[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PH         ((uint32_t)0x00000007)                 /*!<PH[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PJ         ((uint32_t)0x00000009)                 /*!<PJ[8] pin */
+#define SYSCFG_EXTICR3_EXTI8_PK         ((uint32_t)0x0000000A)                 /*!<PK[8] pin */
+
+/**
+  * @brief   EXTI9 configuration
+  */
+#define SYSCFG_EXTICR3_EXTI9_PA         ((uint32_t)0x00000000)                 /*!<PA[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PB         ((uint32_t)0x00000010)                 /*!<PB[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PC         ((uint32_t)0x00000020)                 /*!<PC[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PD         ((uint32_t)0x00000030)                 /*!<PD[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PE         ((uint32_t)0x00000040)                 /*!<PE[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PF         ((uint32_t)0x00000050)                 /*!<PF[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PG         ((uint32_t)0x00000060)                 /*!<PG[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PH         ((uint32_t)0x00000070)                 /*!<PH[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PJ         ((uint32_t)0x00000090)                 /*!<PJ[9] pin */
+#define SYSCFG_EXTICR3_EXTI9_PK         ((uint32_t)0x000000A0)                 /*!<PK[9] pin */
+
+/**
+  * @brief   EXTI10 configuration
+  */
+#define SYSCFG_EXTICR3_EXTI10_PA        ((uint32_t)0x00000000)                 /*!<PA[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PB        ((uint32_t)0x00000100)                 /*!<PB[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PC        ((uint32_t)0x00000200)                 /*!<PC[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PD        ((uint32_t)0x00000300)                 /*!<PD[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PE        ((uint32_t)0x00000400)                 /*!<PE[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PF        ((uint32_t)0x00000500)                 /*!<PF[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PG        ((uint32_t)0x00000600)                 /*!<PG[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PH        ((uint32_t)0x00000700)                 /*!<PH[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PJ        ((uint32_t)0x00000900)                 /*!<PJ[10] pin */
+#define SYSCFG_EXTICR3_EXTI10_PK        ((uint32_t)0x00000A00)                 /*!<PK[10] pin */
+
+/**
+  * @brief   EXTI11 configuration
+  */
+#define SYSCFG_EXTICR3_EXTI11_PA        ((uint32_t)0x00000000)                 /*!<PA[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PB        ((uint32_t)0x00001000)                 /*!<PB[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PC        ((uint32_t)0x00002000)                 /*!<PC[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PD        ((uint32_t)0x00003000)                 /*!<PD[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PE        ((uint32_t)0x00004000)                 /*!<PE[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PF        ((uint32_t)0x00005000)                 /*!<PF[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PG        ((uint32_t)0x00006000)                 /*!<PG[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PH        ((uint32_t)0x00007000)                 /*!<PH[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PJ        ((uint32_t)0x00009000)                 /*!<PJ[11] pin */
+#define SYSCFG_EXTICR3_EXTI11_PK        ((uint32_t)0x0000A000)                 /*!<PK[11] pin */
+
+/*****************  Bit definition for SYSCFG_EXTICR4 register  ***************/
+#define SYSCFG_EXTICR4_EXTI12_Pos       (0U)
+#define SYSCFG_EXTICR4_EXTI12_Msk       (0xFUL << SYSCFG_EXTICR4_EXTI12_Pos)   /*!< 0x0000000F */
+#define SYSCFG_EXTICR4_EXTI12           SYSCFG_EXTICR4_EXTI12_Msk              /*!<EXTI 12 configuration */
+#define SYSCFG_EXTICR4_EXTI13_Pos       (4U)
+#define SYSCFG_EXTICR4_EXTI13_Msk       (0xFUL << SYSCFG_EXTICR4_EXTI13_Pos)   /*!< 0x000000F0 */
+#define SYSCFG_EXTICR4_EXTI13           SYSCFG_EXTICR4_EXTI13_Msk              /*!<EXTI 13 configuration */
+#define SYSCFG_EXTICR4_EXTI14_Pos       (8U)
+#define SYSCFG_EXTICR4_EXTI14_Msk       (0xFUL << SYSCFG_EXTICR4_EXTI14_Pos)   /*!< 0x00000F00 */
+#define SYSCFG_EXTICR4_EXTI14           SYSCFG_EXTICR4_EXTI14_Msk              /*!<EXTI 14 configuration */
+#define SYSCFG_EXTICR4_EXTI15_Pos       (12U)
+#define SYSCFG_EXTICR4_EXTI15_Msk       (0xFUL << SYSCFG_EXTICR4_EXTI15_Pos)   /*!< 0x0000F000 */
+#define SYSCFG_EXTICR4_EXTI15           SYSCFG_EXTICR4_EXTI15_Msk              /*!<EXTI 15 configuration */
+/**
+  * @brief   EXTI12 configuration
+  */
+#define SYSCFG_EXTICR4_EXTI12_PA        ((uint32_t)0x00000000)                 /*!<PA[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PB        ((uint32_t)0x00000001)                 /*!<PB[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PC        ((uint32_t)0x00000002)                 /*!<PC[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PD        ((uint32_t)0x00000003)                 /*!<PD[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PE        ((uint32_t)0x00000004)                 /*!<PE[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PF        ((uint32_t)0x00000005)                 /*!<PF[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PG        ((uint32_t)0x00000006)                 /*!<PG[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PH        ((uint32_t)0x00000007)                 /*!<PH[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PJ        ((uint32_t)0x00000009)                 /*!<PJ[12] pin */
+#define SYSCFG_EXTICR4_EXTI12_PK        ((uint32_t)0x0000000A)                 /*!<PK[12] pin */
+/**
+  * @brief   EXTI13 configuration
+  */
+#define SYSCFG_EXTICR4_EXTI13_PA        ((uint32_t)0x00000000)                 /*!<PA[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PB        ((uint32_t)0x00000010)                 /*!<PB[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PC        ((uint32_t)0x00000020)                 /*!<PC[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PD        ((uint32_t)0x00000030)                 /*!<PD[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PE        ((uint32_t)0x00000040)                 /*!<PE[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PF        ((uint32_t)0x00000050)                 /*!<PF[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PG        ((uint32_t)0x00000060)                 /*!<PG[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PH        ((uint32_t)0x00000070)                 /*!<PH[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PJ        ((uint32_t)0x00000090)                 /*!<PJ[13] pin */
+#define SYSCFG_EXTICR4_EXTI13_PK        ((uint32_t)0x000000A0)                 /*!<PK[13] pin */
+/**
+  * @brief   EXTI14 configuration
+  */
+#define SYSCFG_EXTICR4_EXTI14_PA        ((uint32_t)0x00000000)                 /*!<PA[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PB        ((uint32_t)0x00000100)                 /*!<PB[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PC        ((uint32_t)0x00000200)                 /*!<PC[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PD        ((uint32_t)0x00000300)                 /*!<PD[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PE        ((uint32_t)0x00000400)                 /*!<PE[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PF        ((uint32_t)0x00000500)                 /*!<PF[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PG        ((uint32_t)0x00000600)                 /*!<PG[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PH        ((uint32_t)0x00000700)                 /*!<PH[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PJ        ((uint32_t)0x00000900)                 /*!<PJ[14] pin */
+#define SYSCFG_EXTICR4_EXTI14_PK        ((uint32_t)0x00000A00)                 /*!<PK[14] pin */
+/**
+  * @brief   EXTI15 configuration
+  */
+#define SYSCFG_EXTICR4_EXTI15_PA        ((uint32_t)0x00000000)                 /*!<PA[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PB        ((uint32_t)0x00001000)                 /*!<PB[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PC        ((uint32_t)0x00002000)                 /*!<PC[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PD        ((uint32_t)0x00003000)                 /*!<PD[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PE        ((uint32_t)0x00004000)                 /*!<PE[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PF        ((uint32_t)0x00005000)                 /*!<PF[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PG        ((uint32_t)0x00006000)                 /*!<PG[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PH        ((uint32_t)0x00007000)                 /*!<PH[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PJ        ((uint32_t)0x00009000)                 /*!<PJ[15] pin */
+#define SYSCFG_EXTICR4_EXTI15_PK        ((uint32_t)0x0000A000)                 /*!<PK[15] pin */
+
+/******************  Bit definition for SYSCFG_CFGR register  ******************/
+#define SYSCFG_CFGR_PVDL_Pos            (2U)
+#define SYSCFG_CFGR_PVDL_Msk            (0x1UL << SYSCFG_CFGR_PVDL_Pos)        /*!< 0x00000004 */
+#define SYSCFG_CFGR_PVDL                SYSCFG_CFGR_PVDL_Msk                   /*!<PVD lock enable bit */
+#define SYSCFG_CFGR_FLASHL_Pos          (3U)
+#define SYSCFG_CFGR_FLASHL_Msk          (0x1UL << SYSCFG_CFGR_FLASHL_Pos)      /*!< 0x00000008 */
+#define SYSCFG_CFGR_FLASHL              SYSCFG_CFGR_FLASHL_Msk                 /*!<FLASH double ECC error lock bit */
+#define SYSCFG_CFGR_CM7L_Pos            (6U)
+#define SYSCFG_CFGR_CM7L_Msk            (0x1UL << SYSCFG_CFGR_CM7L_Pos)        /*!< 0x00000040 */
+#define SYSCFG_CFGR_CM7L                SYSCFG_CFGR_CM7L_Msk                   /*!<Cortex-M7 LOCKUP (Hardfault) output enable bit */
+#define SYSCFG_CFGR_BKRAML_Pos          (7U)
+#define SYSCFG_CFGR_BKRAML_Msk          (0x1UL << SYSCFG_CFGR_BKRAML_Pos)      /*!< 0x00000080 */
+#define SYSCFG_CFGR_BKRAML              SYSCFG_CFGR_BKRAML_Msk                 /*!<Backup SRAM double ECC error lock bit */
+#define SYSCFG_CFGR_SRAM4L_Pos          (9U)
+#define SYSCFG_CFGR_SRAM4L_Msk          (0x1UL << SYSCFG_CFGR_SRAM4L_Pos)      /*!< 0x00000200 */
+#define SYSCFG_CFGR_SRAM4L              SYSCFG_CFGR_SRAM4L_Msk                 /*!<SRAM4 double ECC error lock bit */
+#define SYSCFG_CFGR_SRAM2L_Pos          (11U)
+#define SYSCFG_CFGR_SRAM2L_Msk          (0x1UL << SYSCFG_CFGR_SRAM2L_Pos)      /*!< 0x00000800 */
+#define SYSCFG_CFGR_SRAM2L              SYSCFG_CFGR_SRAM2L_Msk                 /*!<SRAM2 double ECC error lock bit */
+#define SYSCFG_CFGR_SRAM1L_Pos          (12U)
+#define SYSCFG_CFGR_SRAM1L_Msk          (0x1UL << SYSCFG_CFGR_SRAM1L_Pos)      /*!< 0x00001000 */
+#define SYSCFG_CFGR_SRAM1L              SYSCFG_CFGR_SRAM1L_Msk                 /*!<SRAM1 double ECC error lock bit */
+#define SYSCFG_CFGR_DTCML_Pos           (13U)
+#define SYSCFG_CFGR_DTCML_Msk           (0x1UL << SYSCFG_CFGR_DTCML_Pos)       /*!< 0x00002000 */
+#define SYSCFG_CFGR_DTCML               SYSCFG_CFGR_DTCML_Msk                  /*!<DTCM double ECC error lock bit */
+#define SYSCFG_CFGR_ITCML_Pos           (14U)
+#define SYSCFG_CFGR_ITCML_Msk           (0x1UL << SYSCFG_CFGR_ITCML_Pos)       /*!< 0x00004000 */
+#define SYSCFG_CFGR_ITCML               SYSCFG_CFGR_ITCML_Msk                  /*!<ITCM double ECC error lock bit */
+#define SYSCFG_CFGR_AXISRAML_Pos        (15U)
+#define SYSCFG_CFGR_AXISRAML_Msk        (0x1UL << SYSCFG_CFGR_AXISRAML_Pos)    /*!< 0x00008000 */
+#define SYSCFG_CFGR_AXISRAML            SYSCFG_CFGR_AXISRAML_Msk               /*!<AXISRAM double ECC error lock bit */
+
+/******************  Bit definition for SYSCFG_CCCSR register  ******************/
+#define SYSCFG_CCCSR_EN_Pos             (0U)
+#define SYSCFG_CCCSR_EN_Msk             (0x1UL << SYSCFG_CCCSR_EN_Pos)         /*!< 0x00000001 */
+#define SYSCFG_CCCSR_EN                 SYSCFG_CCCSR_EN_Msk                    /*!< I/O compensation cell enable */
+#define SYSCFG_CCCSR_CS_Pos             (1U)
+#define SYSCFG_CCCSR_CS_Msk             (0x1UL << SYSCFG_CCCSR_CS_Pos)         /*!< 0x00000002 */
+#define SYSCFG_CCCSR_CS                 SYSCFG_CCCSR_CS_Msk                    /*!< I/O compensation cell code selection */
+#define SYSCFG_CCCSR_READY_Pos          (8U)
+#define SYSCFG_CCCSR_READY_Msk          (0x1UL << SYSCFG_CCCSR_READY_Pos)      /*!< 0x00000100 */
+#define SYSCFG_CCCSR_READY              SYSCFG_CCCSR_READY_Msk                 /*!< I/O compensation cell ready flag */
+#define SYSCFG_CCCSR_HSLV_Pos           (16U)
+#define SYSCFG_CCCSR_HSLV_Msk           (0x1UL << SYSCFG_CCCSR_HSLV_Pos)       /*!< 0x00010000 */
+#define SYSCFG_CCCSR_HSLV               SYSCFG_CCCSR_HSLV_Msk                  /*!< High-speed at low-voltage */
+
+/******************  Bit definition for SYSCFG_CCVR register  *******************/
+#define SYSCFG_CCVR_NCV_Pos             (0U)
+#define SYSCFG_CCVR_NCV_Msk             (0xFUL << SYSCFG_CCVR_NCV_Pos)         /*!< 0x0000000F */
+#define SYSCFG_CCVR_NCV                 SYSCFG_CCVR_NCV_Msk                    /*!< NMOS compensation value */
+#define SYSCFG_CCVR_PCV_Pos             (4U)
+#define SYSCFG_CCVR_PCV_Msk             (0xFUL << SYSCFG_CCVR_PCV_Pos)         /*!< 0x000000F0 */
+#define SYSCFG_CCVR_PCV                 SYSCFG_CCVR_PCV_Msk                    /*!< PMOS compensation value */
+
+/******************  Bit definition for SYSCFG_CCCR register  *******************/
+#define SYSCFG_CCCR_NCC_Pos             (0U)
+#define SYSCFG_CCCR_NCC_Msk             (0xFUL << SYSCFG_CCCR_NCC_Pos)         /*!< 0x0000000F */
+#define SYSCFG_CCCR_NCC                 SYSCFG_CCCR_NCC_Msk                    /*!< NMOS compensation code */
+#define SYSCFG_CCCR_PCC_Pos             (4U)
+#define SYSCFG_CCCR_PCC_Msk             (0xFUL << SYSCFG_CCCR_PCC_Pos)         /*!< 0x000000F0 */
+#define SYSCFG_CCCR_PCC                 SYSCFG_CCCR_PCC_Msk                    /*!< PMOS compensation code */
+/******************  Bit definition for SYSCFG_ADC2ALT register  *******************/
+#define SYSCFG_ADC2ALT_ADC2_ROUT0_Pos   (0U)
+#define SYSCFG_ADC2ALT_ADC2_ROUT0_Msk   (0x1UL << SYSCFG_ADC2ALT_ADC2_ROUT0_Pos) /*!< 0x00000001 */
+#define SYSCFG_ADC2ALT_ADC2_ROUT0       SYSCFG_ADC2ALT_ADC2_ROUT0_Msk            /*!< VBAT/4 connected to ADC2 V_INP[16] */
+#define SYSCFG_ADC2ALT_ADC2_ROUT1_Pos   (1U)
+#define SYSCFG_ADC2ALT_ADC2_ROUT1_Msk   (0x1UL << SYSCFG_ADC2ALT_ADC2_ROUT1_Pos) /*!< 0x00000002 */
+#define SYSCFG_ADC2ALT_ADC2_ROUT1       SYSCFG_ADC2ALT_ADC2_ROUT1_Msk            /*!< Internal reference voltage (V_REFINT) connected to ADC2 V_INP[17] */
+
+/******************  Bit definition for SYSCFG_PKGR register  *******************/
+#define SYSCFG_PKGR_PKG_Pos             (0U)
+#define SYSCFG_PKGR_PKG_Msk             (0xFUL << SYSCFG_PKGR_PKG_Pos)         /*!< 0x0000000F */
+#define SYSCFG_PKGR_PKG                 SYSCFG_PKGR_PKG_Msk                    /*!< Package type */
+
+/******************  Bit definition for SYSCFG_UR0 register  *******************/
+#define SYSCFG_UR0_RDP_Pos              (16U)
+#define SYSCFG_UR0_RDP_Msk              (0xFFUL << SYSCFG_UR0_RDP_Pos)         /*!< 0x00FF0000 */
+#define SYSCFG_UR0_RDP                  SYSCFG_UR0_RDP_Msk                     /*!< Readout protection */
+
+/******************  Bit definition for SYSCFG_UR2 register  *******************/
+#define SYSCFG_UR2_BORH_Pos             (0U)
+#define SYSCFG_UR2_BORH_Msk             (0x3UL << SYSCFG_UR2_BORH_Pos)         /*!< 0x00000003 */
+#define SYSCFG_UR2_BORH                 SYSCFG_UR2_BORH_Msk                    /*!< Brown Out Reset High level */
+#define SYSCFG_UR2_BORH_0               (0x1UL << SYSCFG_UR2_BORH_Pos)         /*!< 0x00000001 */
+#define SYSCFG_UR2_BORH_1               (0x2UL << SYSCFG_UR2_BORH_Pos)         /*!< 0x00000002 */
+#define SYSCFG_UR2_BOOT_ADD0_Pos        (16U)
+#define SYSCFG_UR2_BOOT_ADD0_Msk        (0xFFFFUL << SYSCFG_UR2_BOOT_ADD0_Pos) /*!< 0xFFFF0000 */
+#define SYSCFG_UR2_BOOT_ADD0            SYSCFG_UR2_BOOT_ADD0_Msk               /*!< Core Boot Address 0 */
+/******************  Bit definition for SYSCFG_UR3 register  *******************/
+#define SYSCFG_UR3_BOOT_ADD1_Pos        (0U)
+#define SYSCFG_UR3_BOOT_ADD1_Msk        (0xFFFFUL << SYSCFG_UR3_BOOT_ADD1_Pos) /*!< 0x0000FFFF */
+#define SYSCFG_UR3_BOOT_ADD1            SYSCFG_UR3_BOOT_ADD1_Msk               /*!< Core Boot Address 1 */
+
+  /******************  Bit definition for SYSCFG_UR4 register  *******************/
+
+#define SYSCFG_UR4_MEPAD_BANK1_Pos      (16U)
+#define SYSCFG_UR4_MEPAD_BANK1_Msk      (0x1UL << SYSCFG_UR4_MEPAD_BANK1_Pos)  /*!< 0x00010000 */
+#define SYSCFG_UR4_MEPAD_BANK1          SYSCFG_UR4_MEPAD_BANK1_Msk             /*!< Mass Erase Protected Area Disabled for bank 1 */
+
+/******************  Bit definition for SYSCFG_UR5 register  *******************/
+#define SYSCFG_UR5_MESAD_BANK1_Pos      (0U)
+#define SYSCFG_UR5_MESAD_BANK1_Msk      (0x1UL << SYSCFG_UR5_MESAD_BANK1_Pos)  /*!< 0x00000001 */
+#define SYSCFG_UR5_MESAD_BANK1          SYSCFG_UR5_MESAD_BANK1_Msk             /*!< Mass erase secured area disabled for bank 1 */
+#define SYSCFG_UR5_WRPN_BANK1_Pos       (16U)
+#define SYSCFG_UR5_WRPN_BANK1_Msk       (0xFFUL << SYSCFG_UR5_WRPN_BANK1_Pos)  /*!< 0x00FF0000 */
+#define SYSCFG_UR5_WRPN_BANK1           SYSCFG_UR5_WRPN_BANK1_Msk              /*!< Write protection for flash bank 1 */
+
+/******************  Bit definition for SYSCFG_UR6 register  *******************/
+#define SYSCFG_UR6_PABEG_BANK1_Pos      (0U)
+#define SYSCFG_UR6_PABEG_BANK1_Msk      (0xFFFUL << SYSCFG_UR6_PABEG_BANK1_Pos) /*!< 0x00000FFF */
+#define SYSCFG_UR6_PABEG_BANK1          SYSCFG_UR6_PABEG_BANK1_Msk             /*!< Protected area start address for bank 1 */
+#define SYSCFG_UR6_PAEND_BANK1_Pos      (16U)
+#define SYSCFG_UR6_PAEND_BANK1_Msk      (0xFFFUL << SYSCFG_UR6_PAEND_BANK1_Pos) /*!< 0x0FFF0000 */
+#define SYSCFG_UR6_PAEND_BANK1          SYSCFG_UR6_PAEND_BANK1_Msk             /*!< Protected area end address for bank 1 */
+
+/******************  Bit definition for SYSCFG_UR7 register  *******************/
+#define SYSCFG_UR7_SABEG_BANK1_Pos      (0U)
+#define SYSCFG_UR7_SABEG_BANK1_Msk      (0xFFFUL << SYSCFG_UR7_SABEG_BANK1_Pos) /*!< 0x00000FFF */
+#define SYSCFG_UR7_SABEG_BANK1          SYSCFG_UR7_SABEG_BANK1_Msk             /*!< Secured area start address for bank 1 */
+#define SYSCFG_UR7_SAEND_BANK1_Pos      (16U)
+#define SYSCFG_UR7_SAEND_BANK1_Msk      (0xFFFUL << SYSCFG_UR7_SAEND_BANK1_Pos) /*!< 0x0FFF0000 */
+#define SYSCFG_UR7_SAEND_BANK1          SYSCFG_UR7_SAEND_BANK1_Msk             /*!< Secured area end address for bank 1 */
+
+
+/******************  Bit definition for SYSCFG_UR11 register  *******************/
+#define SYSCFG_UR11_IWDG1M_Pos          (16U)
+#define SYSCFG_UR11_IWDG1M_Msk          (0x1UL << SYSCFG_UR11_IWDG1M_Pos)      /*!< 0x00010000 */
+#define SYSCFG_UR11_IWDG1M              SYSCFG_UR11_IWDG1M_Msk                 /*!< Independent Watchdog 1 mode (SW or HW) */
+
+/******************  Bit definition for SYSCFG_UR12 register  *******************/
+
+#define SYSCFG_UR12_SECURE_Pos          (16U)
+#define SYSCFG_UR12_SECURE_Msk          (0x1UL << SYSCFG_UR12_SECURE_Pos)      /*!< 0x00010000 */
+#define SYSCFG_UR12_SECURE              SYSCFG_UR12_SECURE_Msk                 /*!< Secure mode status */
+
+/******************  Bit definition for SYSCFG_UR13 register  *******************/
+#define SYSCFG_UR13_SDRS_Pos            (0U)
+#define SYSCFG_UR13_SDRS_Msk            (0x3UL << SYSCFG_UR13_SDRS_Pos)        /*!< 0x00000003 */
+#define SYSCFG_UR13_SDRS                SYSCFG_UR13_SDRS_Msk                   /*!< Secured DTCM RAM Size */
+#define SYSCFG_UR13_D1SBRST_Pos         (16U)
+#define SYSCFG_UR13_D1SBRST_Msk         (0x1UL << SYSCFG_UR13_D1SBRST_Pos)     /*!< 0x00010000 */
+#define SYSCFG_UR13_D1SBRST             SYSCFG_UR13_D1SBRST_Msk                /*!< D1 Standby reset */
+
+/******************  Bit definition for SYSCFG_UR14 register  *******************/
+#define SYSCFG_UR14_D1STPRST_Pos        (0U)
+#define SYSCFG_UR14_D1STPRST_Msk        (0x1UL << SYSCFG_UR14_D1STPRST_Pos)    /*!< 0x00000001 */
+#define SYSCFG_UR14_D1STPRST            SYSCFG_UR14_D1STPRST_Msk               /*!< D1 Stop Reset */
+
+/******************  Bit definition for SYSCFG_UR15 register  *******************/
+#define SYSCFG_UR15_FZIWDGSTB_Pos       (16U)
+#define SYSCFG_UR15_FZIWDGSTB_Msk       (0x1UL << SYSCFG_UR15_FZIWDGSTB_Pos)   /*!< 0x00010000 */
+#define SYSCFG_UR15_FZIWDGSTB           SYSCFG_UR15_FZIWDGSTB_Msk              /*!< Freeze independent watchdogs in Standby mode */
+
+/******************  Bit definition for SYSCFG_UR16 register  *******************/
+#define SYSCFG_UR16_FZIWDGSTP_Pos       (0U)
+#define SYSCFG_UR16_FZIWDGSTP_Msk       (0x1UL << SYSCFG_UR16_FZIWDGSTP_Pos)   /*!< 0x00000001 */
+#define SYSCFG_UR16_FZIWDGSTP           SYSCFG_UR16_FZIWDGSTP_Msk              /*!< Freeze independent watchdogs in Stop mode */
+#define SYSCFG_UR16_PKP_Pos             (16U)
+#define SYSCFG_UR16_PKP_Msk             (0x1UL << SYSCFG_UR16_PKP_Pos)         /*!< 0x00010000 */
+#define SYSCFG_UR16_PKP                 SYSCFG_UR16_PKP_Msk                    /*!< Private key programmed */
+
+/******************  Bit definition for SYSCFG_UR17 register  *******************/
+#define SYSCFG_UR17_IOHSLV_Pos          (0U)
+#define SYSCFG_UR17_IOHSLV_Msk          (0x1UL << SYSCFG_UR17_IOHSLV_Pos)      /*!< 0x00000001 */
+#define SYSCFG_UR17_IOHSLV              SYSCFG_UR17_IOHSLV_Msk                 /*!< I/O high speed / low voltage */
+#define SYSCFG_UR17_TCM_AXI_CFG_Pos     (16U)
+#define SYSCFG_UR17_TCM_AXI_CFG_Msk     (0x3UL << SYSCFG_UR17_TCM_AXI_CFG_Pos) /*!< 0x00030000 */
+#define SYSCFG_UR17_TCM_AXI_CFG         SYSCFG_UR17_TCM_AXI_CFG_Msk            /*!< ITCM-RAM / AXI-SRAM size */
+
+/******************  Bit definition for SYSCFG_UR18 register  *******************/
+#define SYSCFG_UR18_CPU_FREQ_BOOST_Pos  (0U)
+#define SYSCFG_UR18_CPU_FREQ_BOOST_Msk  (0x1UL << SYSCFG_UR18_CPU_FREQ_BOOST_Pos)  /*!< 0x00000001 */
+#define SYSCFG_UR18_CPU_FREQ_BOOST       SYSCFG_UR18_CPU_FREQ_BOOST_Msk            /*!< CPU maximum frequency boost enable */
+
+/******************************************************************************/
+/*                                                                            */
+/*                    Digital Temperature Sensor (DTS)                        */
+/*                                                                            */
+/******************************************************************************/
+
+/******************  Bit definition for DTS_CFGR1 register  ******************/
+#define DTS_CFGR1_TS1_EN_Pos               (0U)
+#define DTS_CFGR1_TS1_EN_Msk               (0x1UL << DTS_CFGR1_TS1_EN_Pos) /*!< 0x00000001 */
+#define DTS_CFGR1_TS1_EN                   DTS_CFGR1_TS1_EN_Msk        /*!< DTS Enable */
+#define DTS_CFGR1_TS1_START_Pos            (4U)
+#define DTS_CFGR1_TS1_START_Msk            (0x1UL << DTS_CFGR1_TS1_START_Pos) /*!< 0x00000010 */
+#define DTS_CFGR1_TS1_START                DTS_CFGR1_TS1_START_Msk     /*!< Proceed to a frequency measurement on DTS */
+#define DTS_CFGR1_TS1_INTRIG_SEL_Pos       (8U)
+#define DTS_CFGR1_TS1_INTRIG_SEL_Msk       (0xFUL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000F00 */
+#define DTS_CFGR1_TS1_INTRIG_SEL           DTS_CFGR1_TS1_INTRIG_SEL_Msk /*!< Input triggers selection bits [3:0] for DTS */
+#define DTS_CFGR1_TS1_INTRIG_SEL_0         (0x1UL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000100 */
+#define DTS_CFGR1_TS1_INTRIG_SEL_1         (0x2UL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000200 */
+#define DTS_CFGR1_TS1_INTRIG_SEL_2         (0x4UL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000400 */
+#define DTS_CFGR1_TS1_INTRIG_SEL_3         (0x8UL << DTS_CFGR1_TS1_INTRIG_SEL_Pos) /*!< 0x00000800 */
+#define DTS_CFGR1_TS1_SMP_TIME_Pos         (16U)
+#define DTS_CFGR1_TS1_SMP_TIME_Msk         (0xFUL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x000F0000 */
+#define DTS_CFGR1_TS1_SMP_TIME             DTS_CFGR1_TS1_SMP_TIME_Msk  /*!< Sample time [3:0] for DTS */
+#define DTS_CFGR1_TS1_SMP_TIME_0           (0x1UL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x00010000 */
+#define DTS_CFGR1_TS1_SMP_TIME_1           (0x2UL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x00020000 */
+#define DTS_CFGR1_TS1_SMP_TIME_2           (0x4UL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x00040000 */
+#define DTS_CFGR1_TS1_SMP_TIME_3           (0x8UL << DTS_CFGR1_TS1_SMP_TIME_Pos) /*!< 0x00080000 */
+#define DTS_CFGR1_REFCLK_SEL_Pos           (20U)
+#define DTS_CFGR1_REFCLK_SEL_Msk           (0x1UL << DTS_CFGR1_REFCLK_SEL_Pos) /*!< 0x00100000 */
+#define DTS_CFGR1_REFCLK_SEL               DTS_CFGR1_REFCLK_SEL_Msk    /*!< Reference Clock Selection */
+#define DTS_CFGR1_Q_MEAS_OPT_Pos           (21U)
+#define DTS_CFGR1_Q_MEAS_OPT_Msk           (0x1UL << DTS_CFGR1_Q_MEAS_OPT_Pos) /*!< 0x00200000 */
+#define DTS_CFGR1_Q_MEAS_OPT               DTS_CFGR1_Q_MEAS_OPT_Msk    /*!< Quick measure option bit  */
+#define DTS_CFGR1_HSREF_CLK_DIV_Pos        (24U)
+#define DTS_CFGR1_HSREF_CLK_DIV_Msk        (0x7FUL << DTS_CFGR1_HSREF_CLK_DIV_Pos) /*!< 0x7F000000 */
+#define DTS_CFGR1_HSREF_CLK_DIV            DTS_CFGR1_HSREF_CLK_DIV_Msk /*!< High Speed Clock Divider Ratio [6:0]*/
+
+/******************  Bit definition for DTS_T0VALR1 register  ******************/
+#define DTS_T0VALR1_TS1_FMT0_Pos           (0U)
+#define DTS_T0VALR1_TS1_FMT0_Msk           (0xFFFFUL << DTS_T0VALR1_TS1_FMT0_Pos) /*!< 0x0000FFFF */
+#define DTS_T0VALR1_TS1_FMT0               DTS_T0VALR1_TS1_FMT0_Msk    /*!< Engineering value of the measured frequency at T0 for DTS */
+#define DTS_T0VALR1_TS1_T0_Pos             (16U)
+#define DTS_T0VALR1_TS1_T0_Msk             (0x3UL << DTS_T0VALR1_TS1_T0_Pos) /*!< 0x00030000 */
+#define DTS_T0VALR1_TS1_T0                 DTS_T0VALR1_TS1_T0_Msk      /*!< Engineering value of the DTSerature T0 for DTS */
+
+/******************  Bit definition for DTS_RAMPVALR register  ******************/
+#define DTS_RAMPVALR_TS1_RAMP_COEFF_Pos    (0U)
+#define DTS_RAMPVALR_TS1_RAMP_COEFF_Msk    (0xFFFFUL << DTS_RAMPVALR_TS1_RAMP_COEFF_Pos) /*!< 0x0000FFFF */
+#define DTS_RAMPVALR_TS1_RAMP_COEFF        DTS_RAMPVALR_TS1_RAMP_COEFF_Msk /*!< Engineering value of the ramp coefficient for DTS */
+
+/******************  Bit definition for DTS_ITR1 register      ******************/
+#define DTS_ITR1_TS1_LITTHD_Pos            (0U)
+#define DTS_ITR1_TS1_LITTHD_Msk            (0xFFFFUL << DTS_ITR1_TS1_LITTHD_Pos) /*!< 0x0000FFFF */
+#define DTS_ITR1_TS1_LITTHD                DTS_ITR1_TS1_LITTHD_Msk     /*!< Low interrupt threshold[15:0] for DTS */
+#define DTS_ITR1_TS1_HITTHD_Pos            (16U)
+#define DTS_ITR1_TS1_HITTHD_Msk            (0xFFFFUL << DTS_ITR1_TS1_HITTHD_Pos) /*!< 0xFFFF0000 */
+#define DTS_ITR1_TS1_HITTHD                DTS_ITR1_TS1_HITTHD_Msk     /*!< High interrupt threshold[15:0] for DTS */
+
+/******************  Bit definition for DTS_DR register        ******************/
+#define DTS_DR_TS1_MFREQ_Pos               (0U)
+#define DTS_DR_TS1_MFREQ_Msk               (0xFFFFUL << DTS_DR_TS1_MFREQ_Pos) /*!< 0x0000FFFF */
+#define DTS_DR_TS1_MFREQ                   DTS_DR_TS1_MFREQ_Msk        /*!< Measured Frequency[15:0] for DTS */
+
+/******************  Bit definition for DTS_SR register        ******************/
+#define DTS_SR_TS1_ITEF_Pos                (0U)
+#define DTS_SR_TS1_ITEF_Msk                (0x1UL << DTS_SR_TS1_ITEF_Pos) /*!< 0x00000001 */
+#define DTS_SR_TS1_ITEF                    DTS_SR_TS1_ITEF_Msk         /*!< Interrupt flag for end of measure for DTS */
+#define DTS_SR_TS1_ITLF_Pos                (1U)
+#define DTS_SR_TS1_ITLF_Msk                (0x1UL << DTS_SR_TS1_ITLF_Pos) /*!< 0x00000002 */
+#define DTS_SR_TS1_ITLF                    DTS_SR_TS1_ITLF_Msk         /*!< Interrupt flag for low threshold for DTS  */
+#define DTS_SR_TS1_ITHF_Pos                (2U)
+#define DTS_SR_TS1_ITHF_Msk                (0x1UL << DTS_SR_TS1_ITHF_Pos) /*!< 0x00000004 */
+#define DTS_SR_TS1_ITHF                    DTS_SR_TS1_ITHF_Msk         /*!< Interrupt flag for high threshold for DTS */
+#define DTS_SR_TS1_AITEF_Pos               (4U)
+#define DTS_SR_TS1_AITEF_Msk               (0x1UL << DTS_SR_TS1_AITEF_Pos) /*!< 0x00000010 */
+#define DTS_SR_TS1_AITEF                   DTS_SR_TS1_AITEF_Msk        /*!< Asynchronous interrupt flag for end of measure for DTS */
+#define DTS_SR_TS1_AITLF_Pos               (5U)
+#define DTS_SR_TS1_AITLF_Msk               (0x1UL << DTS_SR_TS1_AITLF_Pos) /*!< 0x00000020 */
+#define DTS_SR_TS1_AITLF                   DTS_SR_TS1_AITLF_Msk        /*!< Asynchronous interrupt flag for low threshold for DTS  */
+#define DTS_SR_TS1_AITHF_Pos               (6U)
+#define DTS_SR_TS1_AITHF_Msk               (0x1UL << DTS_SR_TS1_AITHF_Pos) /*!< 0x00000040 */
+#define DTS_SR_TS1_AITHF                   DTS_SR_TS1_AITHF_Msk        /*!< Asynchronous interrupt flag for high threshold for DTS */
+#define DTS_SR_TS1_RDY_Pos                 (15U)
+#define DTS_SR_TS1_RDY_Msk                 (0x1UL << DTS_SR_TS1_RDY_Pos) /*!< 0x00008000 */
+#define DTS_SR_TS1_RDY                     DTS_SR_TS1_RDY_Msk          /*!< DTS ready flag */
+
+/******************  Bit definition for DTS_ITENR register      ******************/
+#define DTS_ITENR_TS1_ITEEN_Pos            (0U)
+#define DTS_ITENR_TS1_ITEEN_Msk            (0x1UL << DTS_ITENR_TS1_ITEEN_Pos) /*!< 0x00000001 */
+#define DTS_ITENR_TS1_ITEEN                DTS_ITENR_TS1_ITEEN_Msk     /*!< Enable interrupt flag for end of measure for DTS */
+#define DTS_ITENR_TS1_ITLEN_Pos            (1U)
+#define DTS_ITENR_TS1_ITLEN_Msk            (0x1UL << DTS_ITENR_TS1_ITLEN_Pos) /*!< 0x00000002 */
+#define DTS_ITENR_TS1_ITLEN                DTS_ITENR_TS1_ITLEN_Msk     /*!< Enable interrupt flag for low threshold for DTS  */
+#define DTS_ITENR_TS1_ITHEN_Pos            (2U)
+#define DTS_ITENR_TS1_ITHEN_Msk            (0x1UL << DTS_ITENR_TS1_ITHEN_Pos) /*!< 0x00000004 */
+#define DTS_ITENR_TS1_ITHEN                DTS_ITENR_TS1_ITHEN_Msk     /*!< Enable interrupt flag for high threshold for DTS */
+#define DTS_ITENR_TS1_AITEEN_Pos           (4U)
+#define DTS_ITENR_TS1_AITEEN_Msk           (0x1UL << DTS_ITENR_TS1_AITEEN_Pos) /*!< 0x00000010 */
+#define DTS_ITENR_TS1_AITEEN               DTS_ITENR_TS1_AITEEN_Msk    /*!< Enable asynchronous interrupt flag for end of measure for DTS */
+#define DTS_ITENR_TS1_AITLEN_Pos           (5U)
+#define DTS_ITENR_TS1_AITLEN_Msk           (0x1UL << DTS_ITENR_TS1_AITLEN_Pos) /*!< 0x00000020 */
+#define DTS_ITENR_TS1_AITLEN               DTS_ITENR_TS1_AITLEN_Msk    /*!< Enable Asynchronous interrupt flag for low threshold for DTS  */
+#define DTS_ITENR_TS1_AITHEN_Pos           (6U)
+#define DTS_ITENR_TS1_AITHEN_Msk           (0x1UL << DTS_ITENR_TS1_AITHEN_Pos) /*!< 0x00000040 */
+#define DTS_ITENR_TS1_AITHEN               DTS_ITENR_TS1_AITHEN_Msk    /*!< Enable asynchronous interrupt flag for high threshold for DTS */
+
+/******************  Bit definition for DTS_ICIFR register      ******************/
+#define DTS_ICIFR_TS1_CITEF_Pos            (0U)
+#define DTS_ICIFR_TS1_CITEF_Msk            (0x1UL << DTS_ICIFR_TS1_CITEF_Pos) /*!< 0x00000001 */
+#define DTS_ICIFR_TS1_CITEF                DTS_ICIFR_TS1_CITEF_Msk     /*!< Clear the IT flag for End Of Measure for DTS */
+#define DTS_ICIFR_TS1_CITLF_Pos            (1U)
+#define DTS_ICIFR_TS1_CITLF_Msk            (0x1UL << DTS_ICIFR_TS1_CITLF_Pos) /*!< 0x00000002 */
+#define DTS_ICIFR_TS1_CITLF                DTS_ICIFR_TS1_CITLF_Msk     /*!< Clear the IT flag for low threshold for DTS  */
+#define DTS_ICIFR_TS1_CITHF_Pos            (2U)
+#define DTS_ICIFR_TS1_CITHF_Msk            (0x1UL << DTS_ICIFR_TS1_CITHF_Pos) /*!< 0x00000004 */
+#define DTS_ICIFR_TS1_CITHF                DTS_ICIFR_TS1_CITHF_Msk     /*!< Clear the IT flag for high threshold on DTS  */
+#define DTS_ICIFR_TS1_CAITEF_Pos           (4U)
+#define DTS_ICIFR_TS1_CAITEF_Msk           (0x1UL << DTS_ICIFR_TS1_CAITEF_Pos) /*!< 0x00000010 */
+#define DTS_ICIFR_TS1_CAITEF               DTS_ICIFR_TS1_CAITEF_Msk    /*!< Clear the asynchronous IT flag for End Of Measure for DTS */
+#define DTS_ICIFR_TS1_CAITLF_Pos           (5U)
+#define DTS_ICIFR_TS1_CAITLF_Msk           (0x1UL << DTS_ICIFR_TS1_CAITLF_Pos) /*!< 0x00000020 */
+#define DTS_ICIFR_TS1_CAITLF               DTS_ICIFR_TS1_CAITLF_Msk    /*!< Clear the asynchronous IT flag for low threshold for DTS  */
+#define DTS_ICIFR_TS1_CAITHF_Pos           (6U)
+#define DTS_ICIFR_TS1_CAITHF_Msk           (0x1UL << DTS_ICIFR_TS1_CAITHF_Pos) /*!< 0x00000040 */
+#define DTS_ICIFR_TS1_CAITHF               DTS_ICIFR_TS1_CAITHF_Msk    /*!< Clear the asynchronous IT flag for high threshold on DTS  */
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    TIM                                     */
+/*                                                                            */
+/******************************************************************************/
+#define TIM_BREAK_INPUT_SUPPORT             /*!<TIM Break input feature */
+
+/*******************  Bit definition for TIM_CR1 register  ********************/
+#define TIM_CR1_CEN_Pos           (0U)
+#define TIM_CR1_CEN_Msk           (0x1UL << TIM_CR1_CEN_Pos)                   /*!< 0x00000001 */
+#define TIM_CR1_CEN               TIM_CR1_CEN_Msk                              /*!<Counter enable */
+#define TIM_CR1_UDIS_Pos          (1U)
+#define TIM_CR1_UDIS_Msk          (0x1UL << TIM_CR1_UDIS_Pos)                  /*!< 0x00000002 */
+#define TIM_CR1_UDIS              TIM_CR1_UDIS_Msk                             /*!<Update disable */
+#define TIM_CR1_URS_Pos           (2U)
+#define TIM_CR1_URS_Msk           (0x1UL << TIM_CR1_URS_Pos)                   /*!< 0x00000004 */
+#define TIM_CR1_URS               TIM_CR1_URS_Msk                              /*!<Update request source */
+#define TIM_CR1_OPM_Pos           (3U)
+#define TIM_CR1_OPM_Msk           (0x1UL << TIM_CR1_OPM_Pos)                   /*!< 0x00000008 */
+#define TIM_CR1_OPM               TIM_CR1_OPM_Msk                              /*!<One pulse mode */
+#define TIM_CR1_DIR_Pos           (4U)
+#define TIM_CR1_DIR_Msk           (0x1UL << TIM_CR1_DIR_Pos)                   /*!< 0x00000010 */
+#define TIM_CR1_DIR               TIM_CR1_DIR_Msk                              /*!<Direction */
+
+#define TIM_CR1_CMS_Pos           (5U)
+#define TIM_CR1_CMS_Msk           (0x3UL << TIM_CR1_CMS_Pos)                   /*!< 0x00000060 */
+#define TIM_CR1_CMS               TIM_CR1_CMS_Msk                              /*!<CMS[1:0] bits (Center-aligned mode selection) */
+#define TIM_CR1_CMS_0             (0x1UL << TIM_CR1_CMS_Pos)                    /*!< 0x00000020 */
+#define TIM_CR1_CMS_1             (0x2UL << TIM_CR1_CMS_Pos)                    /*!< 0x00000040 */
+
+#define TIM_CR1_ARPE_Pos          (7U)
+#define TIM_CR1_ARPE_Msk          (0x1UL << TIM_CR1_ARPE_Pos)                  /*!< 0x00000080 */
+#define TIM_CR1_ARPE              TIM_CR1_ARPE_Msk                             /*!<Auto-reload preload enable */
+
+#define TIM_CR1_CKD_Pos           (8U)
+#define TIM_CR1_CKD_Msk           (0x3UL << TIM_CR1_CKD_Pos)                   /*!< 0x00000300 */
+#define TIM_CR1_CKD               TIM_CR1_CKD_Msk                              /*!<CKD[1:0] bits (clock division) */
+#define TIM_CR1_CKD_0             (0x1UL << TIM_CR1_CKD_Pos)                    /*!< 0x00000100 */
+#define TIM_CR1_CKD_1             (0x2UL << TIM_CR1_CKD_Pos)                    /*!< 0x00000200 */
+
+#define TIM_CR1_UIFREMAP_Pos      (11U)
+#define TIM_CR1_UIFREMAP_Msk      (0x1UL << TIM_CR1_UIFREMAP_Pos)              /*!< 0x00000800 */
+#define TIM_CR1_UIFREMAP          TIM_CR1_UIFREMAP_Msk                         /*!<Update interrupt flag remap */
+
+/*******************  Bit definition for TIM_CR2 register  ********************/
+#define TIM_CR2_CCPC_Pos          (0U)
+#define TIM_CR2_CCPC_Msk          (0x1UL << TIM_CR2_CCPC_Pos)                  /*!< 0x00000001 */
+#define TIM_CR2_CCPC              TIM_CR2_CCPC_Msk                             /*!<Capture/Compare Preloaded Control */
+#define TIM_CR2_CCUS_Pos          (2U)
+#define TIM_CR2_CCUS_Msk          (0x1UL << TIM_CR2_CCUS_Pos)                  /*!< 0x00000004 */
+#define TIM_CR2_CCUS              TIM_CR2_CCUS_Msk                             /*!<Capture/Compare Control Update Selection */
+#define TIM_CR2_CCDS_Pos          (3U)
+#define TIM_CR2_CCDS_Msk          (0x1UL << TIM_CR2_CCDS_Pos)                  /*!< 0x00000008 */
+#define TIM_CR2_CCDS              TIM_CR2_CCDS_Msk                             /*!<Capture/Compare DMA Selection */
+
+#define TIM_CR2_MMS_Pos           (4U)
+#define TIM_CR2_MMS_Msk           (0x7UL << TIM_CR2_MMS_Pos)                   /*!< 0x00000070 */
+#define TIM_CR2_MMS               TIM_CR2_MMS_Msk                              /*!<MMS[2:0] bits (Master Mode Selection) */
+#define TIM_CR2_MMS_0             (0x1UL << TIM_CR2_MMS_Pos)                    /*!< 0x00000010 */
+#define TIM_CR2_MMS_1             (0x2UL << TIM_CR2_MMS_Pos)                    /*!< 0x00000020 */
+#define TIM_CR2_MMS_2             (0x4UL << TIM_CR2_MMS_Pos)                    /*!< 0x00000040 */
+
+#define TIM_CR2_TI1S_Pos          (7U)
+#define TIM_CR2_TI1S_Msk          (0x1UL << TIM_CR2_TI1S_Pos)                  /*!< 0x00000080 */
+#define TIM_CR2_TI1S              TIM_CR2_TI1S_Msk                             /*!<TI1 Selection */
+#define TIM_CR2_OIS1_Pos          (8U)
+#define TIM_CR2_OIS1_Msk          (0x1UL << TIM_CR2_OIS1_Pos)                  /*!< 0x00000100 */
+#define TIM_CR2_OIS1              TIM_CR2_OIS1_Msk                             /*!<Output Idle state 1 (OC1 output) */
+#define TIM_CR2_OIS1N_Pos         (9U)
+#define TIM_CR2_OIS1N_Msk         (0x1UL << TIM_CR2_OIS1N_Pos)                 /*!< 0x00000200 */
+#define TIM_CR2_OIS1N             TIM_CR2_OIS1N_Msk                            /*!<Output Idle state 1 (OC1N output) */
+#define TIM_CR2_OIS2_Pos          (10U)
+#define TIM_CR2_OIS2_Msk          (0x1UL << TIM_CR2_OIS2_Pos)                  /*!< 0x00000400 */
+#define TIM_CR2_OIS2              TIM_CR2_OIS2_Msk                             /*!<Output Idle state 2 (OC2 output) */
+#define TIM_CR2_OIS2N_Pos         (11U)
+#define TIM_CR2_OIS2N_Msk         (0x1UL << TIM_CR2_OIS2N_Pos)                 /*!< 0x00000800 */
+#define TIM_CR2_OIS2N             TIM_CR2_OIS2N_Msk                            /*!<Output Idle state 2 (OC2N output) */
+#define TIM_CR2_OIS3_Pos          (12U)
+#define TIM_CR2_OIS3_Msk          (0x1UL << TIM_CR2_OIS3_Pos)                  /*!< 0x00001000 */
+#define TIM_CR2_OIS3              TIM_CR2_OIS3_Msk                             /*!<Output Idle state 3 (OC3 output) */
+#define TIM_CR2_OIS3N_Pos         (13U)
+#define TIM_CR2_OIS3N_Msk         (0x1UL << TIM_CR2_OIS3N_Pos)                 /*!< 0x00002000 */
+#define TIM_CR2_OIS3N             TIM_CR2_OIS3N_Msk                            /*!<Output Idle state 3 (OC3N output) */
+#define TIM_CR2_OIS4_Pos          (14U)
+#define TIM_CR2_OIS4_Msk          (0x1UL << TIM_CR2_OIS4_Pos)                  /*!< 0x00004000 */
+#define TIM_CR2_OIS4              TIM_CR2_OIS4_Msk                             /*!<Output Idle state 4 (OC4 output) */
+#define TIM_CR2_OIS5_Pos          (16U)
+#define TIM_CR2_OIS5_Msk          (0x1UL << TIM_CR2_OIS5_Pos)                  /*!< 0x00010000 */
+#define TIM_CR2_OIS5              TIM_CR2_OIS5_Msk                             /*!<Output Idle state 4 (OC4 output) */
+#define TIM_CR2_OIS6_Pos          (17U)
+#define TIM_CR2_OIS6_Msk          (0x1UL << TIM_CR2_OIS6_Pos)                  /*!< 0x00020000 */
+#define TIM_CR2_OIS6              TIM_CR2_OIS6_Msk                             /*!<Output Idle state 4 (OC4 output) */
+
+#define TIM_CR2_MMS2_Pos          (20U)
+#define TIM_CR2_MMS2_Msk          (0xFUL << TIM_CR2_MMS2_Pos)                  /*!< 0x00F00000 */
+#define TIM_CR2_MMS2              TIM_CR2_MMS2_Msk                             /*!<MMS[2:0] bits (Master Mode Selection) */
+#define TIM_CR2_MMS2_0            (0x1UL << TIM_CR2_MMS2_Pos)                   /*!< 0x00100000 */
+#define TIM_CR2_MMS2_1            (0x2UL << TIM_CR2_MMS2_Pos)                   /*!< 0x00200000 */
+#define TIM_CR2_MMS2_2            (0x4UL << TIM_CR2_MMS2_Pos)                   /*!< 0x00400000 */
+#define TIM_CR2_MMS2_3            (0x8UL << TIM_CR2_MMS2_Pos)                   /*!< 0x00800000 */
+
+/*******************  Bit definition for TIM_SMCR register  *******************/
+#define TIM_SMCR_SMS_Pos          (0U)
+#define TIM_SMCR_SMS_Msk          (0x10007UL << TIM_SMCR_SMS_Pos)              /*!< 0x00010007 */
+#define TIM_SMCR_SMS              TIM_SMCR_SMS_Msk                             /*!<SMS[2:0] bits (Slave mode selection) */
+#define TIM_SMCR_SMS_0            (0x00001UL << TIM_SMCR_SMS_Pos)               /*!< 0x00000001 */
+#define TIM_SMCR_SMS_1            (0x00002UL << TIM_SMCR_SMS_Pos)               /*!< 0x00000002 */
+#define TIM_SMCR_SMS_2            (0x00004UL << TIM_SMCR_SMS_Pos)               /*!< 0x00000004 */
+#define TIM_SMCR_SMS_3            (0x10000UL << TIM_SMCR_SMS_Pos)               /*!< 0x00010000 */
+
+#define TIM_SMCR_TS_Pos           (4U)
+#define TIM_SMCR_TS_Msk           (0x30007UL << TIM_SMCR_TS_Pos)               /*!< 0x00300070 */
+#define TIM_SMCR_TS               TIM_SMCR_TS_Msk                              /*!<TS[4:0] bits (Trigger selection) */
+#define TIM_SMCR_TS_0             (0x00001UL << TIM_SMCR_TS_Pos)                /*!< 0x00000010 */
+#define TIM_SMCR_TS_1             (0x00002UL << TIM_SMCR_TS_Pos)                /*!< 0x00000020 */
+#define TIM_SMCR_TS_2             (0x00004UL << TIM_SMCR_TS_Pos)                /*!< 0x00000040 */
+#define TIM_SMCR_TS_3             (0x10000UL << TIM_SMCR_TS_Pos)                /*!< 0x00100000 */
+#define TIM_SMCR_TS_4             (0x20000UL << TIM_SMCR_TS_Pos)                /*!< 0x00200000 */
+
+#define TIM_SMCR_MSM_Pos          (7U)
+#define TIM_SMCR_MSM_Msk          (0x1UL << TIM_SMCR_MSM_Pos)                  /*!< 0x00000080 */
+#define TIM_SMCR_MSM              TIM_SMCR_MSM_Msk                             /*!<Master/slave mode */
+
+#define TIM_SMCR_ETF_Pos          (8U)
+#define TIM_SMCR_ETF_Msk          (0xFUL << TIM_SMCR_ETF_Pos)                  /*!< 0x00000F00 */
+#define TIM_SMCR_ETF              TIM_SMCR_ETF_Msk                             /*!<ETF[3:0] bits (External trigger filter) */
+#define TIM_SMCR_ETF_0            (0x1UL << TIM_SMCR_ETF_Pos)                   /*!< 0x00000100 */
+#define TIM_SMCR_ETF_1            (0x2UL << TIM_SMCR_ETF_Pos)                   /*!< 0x00000200 */
+#define TIM_SMCR_ETF_2            (0x4UL << TIM_SMCR_ETF_Pos)                   /*!< 0x00000400 */
+#define TIM_SMCR_ETF_3            (0x8UL << TIM_SMCR_ETF_Pos)                   /*!< 0x00000800 */
+
+#define TIM_SMCR_ETPS_Pos         (12U)
+#define TIM_SMCR_ETPS_Msk         (0x3UL << TIM_SMCR_ETPS_Pos)                 /*!< 0x00003000 */
+#define TIM_SMCR_ETPS             TIM_SMCR_ETPS_Msk                            /*!<ETPS[1:0] bits (External trigger prescaler) */
+#define TIM_SMCR_ETPS_0           (0x1UL << TIM_SMCR_ETPS_Pos)                  /*!< 0x00001000 */
+#define TIM_SMCR_ETPS_1           (0x2UL << TIM_SMCR_ETPS_Pos)                  /*!< 0x00002000 */
+
+#define TIM_SMCR_ECE_Pos          (14U)
+#define TIM_SMCR_ECE_Msk          (0x1UL << TIM_SMCR_ECE_Pos)                  /*!< 0x00004000 */
+#define TIM_SMCR_ECE              TIM_SMCR_ECE_Msk                             /*!<External clock enable */
+#define TIM_SMCR_ETP_Pos          (15U)
+#define TIM_SMCR_ETP_Msk          (0x1UL << TIM_SMCR_ETP_Pos)                  /*!< 0x00008000 */
+#define TIM_SMCR_ETP              TIM_SMCR_ETP_Msk                             /*!<External trigger polarity */
+
+/*******************  Bit definition for TIM_DIER register  *******************/
+#define TIM_DIER_UIE_Pos          (0U)
+#define TIM_DIER_UIE_Msk          (0x1UL << TIM_DIER_UIE_Pos)                  /*!< 0x00000001 */
+#define TIM_DIER_UIE              TIM_DIER_UIE_Msk                             /*!<Update interrupt enable */
+#define TIM_DIER_CC1IE_Pos        (1U)
+#define TIM_DIER_CC1IE_Msk        (0x1UL << TIM_DIER_CC1IE_Pos)                /*!< 0x00000002 */
+#define TIM_DIER_CC1IE            TIM_DIER_CC1IE_Msk                           /*!<Capture/Compare 1 interrupt enable */
+#define TIM_DIER_CC2IE_Pos        (2U)
+#define TIM_DIER_CC2IE_Msk        (0x1UL << TIM_DIER_CC2IE_Pos)                /*!< 0x00000004 */
+#define TIM_DIER_CC2IE            TIM_DIER_CC2IE_Msk                           /*!<Capture/Compare 2 interrupt enable */
+#define TIM_DIER_CC3IE_Pos        (3U)
+#define TIM_DIER_CC3IE_Msk        (0x1UL << TIM_DIER_CC3IE_Pos)                /*!< 0x00000008 */
+#define TIM_DIER_CC3IE            TIM_DIER_CC3IE_Msk                           /*!<Capture/Compare 3 interrupt enable */
+#define TIM_DIER_CC4IE_Pos        (4U)
+#define TIM_DIER_CC4IE_Msk        (0x1UL << TIM_DIER_CC4IE_Pos)                /*!< 0x00000010 */
+#define TIM_DIER_CC4IE            TIM_DIER_CC4IE_Msk                           /*!<Capture/Compare 4 interrupt enable */
+#define TIM_DIER_COMIE_Pos        (5U)
+#define TIM_DIER_COMIE_Msk        (0x1UL << TIM_DIER_COMIE_Pos)                /*!< 0x00000020 */
+#define TIM_DIER_COMIE            TIM_DIER_COMIE_Msk                           /*!<COM interrupt enable */
+#define TIM_DIER_TIE_Pos          (6U)
+#define TIM_DIER_TIE_Msk          (0x1UL << TIM_DIER_TIE_Pos)                  /*!< 0x00000040 */
+#define TIM_DIER_TIE              TIM_DIER_TIE_Msk                             /*!<Trigger interrupt enable */
+#define TIM_DIER_BIE_Pos          (7U)
+#define TIM_DIER_BIE_Msk          (0x1UL << TIM_DIER_BIE_Pos)                  /*!< 0x00000080 */
+#define TIM_DIER_BIE              TIM_DIER_BIE_Msk                             /*!<Break interrupt enable */
+#define TIM_DIER_UDE_Pos          (8U)
+#define TIM_DIER_UDE_Msk          (0x1UL << TIM_DIER_UDE_Pos)                  /*!< 0x00000100 */
+#define TIM_DIER_UDE              TIM_DIER_UDE_Msk                             /*!<Update DMA request enable */
+#define TIM_DIER_CC1DE_Pos        (9U)
+#define TIM_DIER_CC1DE_Msk        (0x1UL << TIM_DIER_CC1DE_Pos)                /*!< 0x00000200 */
+#define TIM_DIER_CC1DE            TIM_DIER_CC1DE_Msk                           /*!<Capture/Compare 1 DMA request enable */
+#define TIM_DIER_CC2DE_Pos        (10U)
+#define TIM_DIER_CC2DE_Msk        (0x1UL << TIM_DIER_CC2DE_Pos)                /*!< 0x00000400 */
+#define TIM_DIER_CC2DE            TIM_DIER_CC2DE_Msk                           /*!<Capture/Compare 2 DMA request enable */
+#define TIM_DIER_CC3DE_Pos        (11U)
+#define TIM_DIER_CC3DE_Msk        (0x1UL << TIM_DIER_CC3DE_Pos)                /*!< 0x00000800 */
+#define TIM_DIER_CC3DE            TIM_DIER_CC3DE_Msk                           /*!<Capture/Compare 3 DMA request enable */
+#define TIM_DIER_CC4DE_Pos        (12U)
+#define TIM_DIER_CC4DE_Msk        (0x1UL << TIM_DIER_CC4DE_Pos)                /*!< 0x00001000 */
+#define TIM_DIER_CC4DE            TIM_DIER_CC4DE_Msk                           /*!<Capture/Compare 4 DMA request enable */
+#define TIM_DIER_COMDE_Pos        (13U)
+#define TIM_DIER_COMDE_Msk        (0x1UL << TIM_DIER_COMDE_Pos)                /*!< 0x00002000 */
+#define TIM_DIER_COMDE            TIM_DIER_COMDE_Msk                           /*!<COM DMA request enable */
+#define TIM_DIER_TDE_Pos          (14U)
+#define TIM_DIER_TDE_Msk          (0x1UL << TIM_DIER_TDE_Pos)                  /*!< 0x00004000 */
+#define TIM_DIER_TDE              TIM_DIER_TDE_Msk                             /*!<Trigger DMA request enable */
+
+/********************  Bit definition for TIM_SR register  ********************/
+#define TIM_SR_UIF_Pos            (0U)
+#define TIM_SR_UIF_Msk            (0x1UL << TIM_SR_UIF_Pos)                    /*!< 0x00000001 */
+#define TIM_SR_UIF                TIM_SR_UIF_Msk                               /*!<Update interrupt Flag */
+#define TIM_SR_CC1IF_Pos          (1U)
+#define TIM_SR_CC1IF_Msk          (0x1UL << TIM_SR_CC1IF_Pos)                  /*!< 0x00000002 */
+#define TIM_SR_CC1IF              TIM_SR_CC1IF_Msk                             /*!<Capture/Compare 1 interrupt Flag */
+#define TIM_SR_CC2IF_Pos          (2U)
+#define TIM_SR_CC2IF_Msk          (0x1UL << TIM_SR_CC2IF_Pos)                  /*!< 0x00000004 */
+#define TIM_SR_CC2IF              TIM_SR_CC2IF_Msk                             /*!<Capture/Compare 2 interrupt Flag */
+#define TIM_SR_CC3IF_Pos          (3U)
+#define TIM_SR_CC3IF_Msk          (0x1UL << TIM_SR_CC3IF_Pos)                  /*!< 0x00000008 */
+#define TIM_SR_CC3IF              TIM_SR_CC3IF_Msk                             /*!<Capture/Compare 3 interrupt Flag */
+#define TIM_SR_CC4IF_Pos          (4U)
+#define TIM_SR_CC4IF_Msk          (0x1UL << TIM_SR_CC4IF_Pos)                  /*!< 0x00000010 */
+#define TIM_SR_CC4IF              TIM_SR_CC4IF_Msk                             /*!<Capture/Compare 4 interrupt Flag */
+#define TIM_SR_COMIF_Pos          (5U)
+#define TIM_SR_COMIF_Msk          (0x1UL << TIM_SR_COMIF_Pos)                  /*!< 0x00000020 */
+#define TIM_SR_COMIF              TIM_SR_COMIF_Msk                             /*!<COM interrupt Flag */
+#define TIM_SR_TIF_Pos            (6U)
+#define TIM_SR_TIF_Msk            (0x1UL << TIM_SR_TIF_Pos)                    /*!< 0x00000040 */
+#define TIM_SR_TIF                TIM_SR_TIF_Msk                               /*!<Trigger interrupt Flag */
+#define TIM_SR_BIF_Pos            (7U)
+#define TIM_SR_BIF_Msk            (0x1UL << TIM_SR_BIF_Pos)                    /*!< 0x00000080 */
+#define TIM_SR_BIF                TIM_SR_BIF_Msk                               /*!<Break interrupt Flag */
+#define TIM_SR_B2IF_Pos           (8U)
+#define TIM_SR_B2IF_Msk           (0x1UL << TIM_SR_B2IF_Pos)                   /*!< 0x00000100 */
+#define TIM_SR_B2IF               TIM_SR_B2IF_Msk                              /*!<Break2 interrupt Flag */
+#define TIM_SR_CC1OF_Pos          (9U)
+#define TIM_SR_CC1OF_Msk          (0x1UL << TIM_SR_CC1OF_Pos)                  /*!< 0x00000200 */
+#define TIM_SR_CC1OF              TIM_SR_CC1OF_Msk                             /*!<Capture/Compare 1 Overcapture Flag */
+#define TIM_SR_CC2OF_Pos          (10U)
+#define TIM_SR_CC2OF_Msk          (0x1UL << TIM_SR_CC2OF_Pos)                  /*!< 0x00000400 */
+#define TIM_SR_CC2OF              TIM_SR_CC2OF_Msk                             /*!<Capture/Compare 2 Overcapture Flag */
+#define TIM_SR_CC3OF_Pos          (11U)
+#define TIM_SR_CC3OF_Msk          (0x1UL << TIM_SR_CC3OF_Pos)                  /*!< 0x00000800 */
+#define TIM_SR_CC3OF              TIM_SR_CC3OF_Msk                             /*!<Capture/Compare 3 Overcapture Flag */
+#define TIM_SR_CC4OF_Pos          (12U)
+#define TIM_SR_CC4OF_Msk          (0x1UL << TIM_SR_CC4OF_Pos)                  /*!< 0x00001000 */
+#define TIM_SR_CC4OF              TIM_SR_CC4OF_Msk                             /*!<Capture/Compare 4 Overcapture Flag */
+#define TIM_SR_CC5IF_Pos          (16U)
+#define TIM_SR_CC5IF_Msk          (0x1UL << TIM_SR_CC5IF_Pos)                  /*!< 0x00010000 */
+#define TIM_SR_CC5IF              TIM_SR_CC5IF_Msk                             /*!<Capture/Compare 5 interrupt Flag */
+#define TIM_SR_CC6IF_Pos          (17U)
+#define TIM_SR_CC6IF_Msk          (0x1UL << TIM_SR_CC6IF_Pos)                  /*!< 0x00020000 */
+#define TIM_SR_CC6IF              TIM_SR_CC6IF_Msk                             /*!<Capture/Compare 6 interrupt Flag */
+#define TIM_SR_SBIF_Pos           (13U)
+#define TIM_SR_SBIF_Msk           (0x1UL << TIM_SR_SBIF_Pos)                   /*!< 0x00002000 */
+#define TIM_SR_SBIF               TIM_SR_SBIF_Msk                              /*!< System Break Flag */
+
+/*******************  Bit definition for TIM_EGR register  ********************/
+#define TIM_EGR_UG_Pos            (0U)
+#define TIM_EGR_UG_Msk            (0x1UL << TIM_EGR_UG_Pos)                    /*!< 0x00000001 */
+#define TIM_EGR_UG                TIM_EGR_UG_Msk                               /*!<Update Generation */
+#define TIM_EGR_CC1G_Pos          (1U)
+#define TIM_EGR_CC1G_Msk          (0x1UL << TIM_EGR_CC1G_Pos)                  /*!< 0x00000002 */
+#define TIM_EGR_CC1G              TIM_EGR_CC1G_Msk                             /*!<Capture/Compare 1 Generation */
+#define TIM_EGR_CC2G_Pos          (2U)
+#define TIM_EGR_CC2G_Msk          (0x1UL << TIM_EGR_CC2G_Pos)                  /*!< 0x00000004 */
+#define TIM_EGR_CC2G              TIM_EGR_CC2G_Msk                             /*!<Capture/Compare 2 Generation */
+#define TIM_EGR_CC3G_Pos          (3U)
+#define TIM_EGR_CC3G_Msk          (0x1UL << TIM_EGR_CC3G_Pos)                  /*!< 0x00000008 */
+#define TIM_EGR_CC3G              TIM_EGR_CC3G_Msk                             /*!<Capture/Compare 3 Generation */
+#define TIM_EGR_CC4G_Pos          (4U)
+#define TIM_EGR_CC4G_Msk          (0x1UL << TIM_EGR_CC4G_Pos)                  /*!< 0x00000010 */
+#define TIM_EGR_CC4G              TIM_EGR_CC4G_Msk                             /*!<Capture/Compare 4 Generation */
+#define TIM_EGR_COMG_Pos          (5U)
+#define TIM_EGR_COMG_Msk          (0x1UL << TIM_EGR_COMG_Pos)                  /*!< 0x00000020 */
+#define TIM_EGR_COMG              TIM_EGR_COMG_Msk                             /*!<Capture/Compare Control Update Generation */
+#define TIM_EGR_TG_Pos            (6U)
+#define TIM_EGR_TG_Msk            (0x1UL << TIM_EGR_TG_Pos)                    /*!< 0x00000040 */
+#define TIM_EGR_TG                TIM_EGR_TG_Msk                               /*!<Trigger Generation */
+#define TIM_EGR_BG_Pos            (7U)
+#define TIM_EGR_BG_Msk            (0x1UL << TIM_EGR_BG_Pos)                    /*!< 0x00000080 */
+#define TIM_EGR_BG                TIM_EGR_BG_Msk                               /*!<Break Generation */
+#define TIM_EGR_B2G_Pos           (8U)
+#define TIM_EGR_B2G_Msk           (0x1UL << TIM_EGR_B2G_Pos)                   /*!< 0x00000100 */
+#define TIM_EGR_B2G               TIM_EGR_B2G_Msk                              /*!<Break Generation */
+
+
+/******************  Bit definition for TIM_CCMR1 register  *******************/
+#define TIM_CCMR1_CC1S_Pos        (0U)
+#define TIM_CCMR1_CC1S_Msk        (0x3UL << TIM_CCMR1_CC1S_Pos)                /*!< 0x00000003 */
+#define TIM_CCMR1_CC1S            TIM_CCMR1_CC1S_Msk                           /*!<CC1S[1:0] bits (Capture/Compare 1 Selection) */
+#define TIM_CCMR1_CC1S_0          (0x1UL << TIM_CCMR1_CC1S_Pos)                 /*!< 0x00000001 */
+#define TIM_CCMR1_CC1S_1          (0x2UL << TIM_CCMR1_CC1S_Pos)                 /*!< 0x00000002 */
+
+#define TIM_CCMR1_OC1FE_Pos       (2U)
+#define TIM_CCMR1_OC1FE_Msk       (0x1UL << TIM_CCMR1_OC1FE_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR1_OC1FE           TIM_CCMR1_OC1FE_Msk                          /*!<Output Compare 1 Fast enable */
+#define TIM_CCMR1_OC1PE_Pos       (3U)
+#define TIM_CCMR1_OC1PE_Msk       (0x1UL << TIM_CCMR1_OC1PE_Pos)               /*!< 0x00000008 */
+#define TIM_CCMR1_OC1PE           TIM_CCMR1_OC1PE_Msk                          /*!<Output Compare 1 Preload enable */
+
+#define TIM_CCMR1_OC1M_Pos        (4U)
+#define TIM_CCMR1_OC1M_Msk        (0x1007UL << TIM_CCMR1_OC1M_Pos)             /*!< 0x00010070 */
+#define TIM_CCMR1_OC1M            TIM_CCMR1_OC1M_Msk                           /*!<OC1M[2:0] bits (Output Compare 1 Mode) */
+#define TIM_CCMR1_OC1M_0          (0x0001UL << TIM_CCMR1_OC1M_Pos)              /*!< 0x00000010 */
+#define TIM_CCMR1_OC1M_1          (0x0002UL << TIM_CCMR1_OC1M_Pos)              /*!< 0x00000020 */
+#define TIM_CCMR1_OC1M_2          (0x0004UL << TIM_CCMR1_OC1M_Pos)              /*!< 0x00000040 */
+#define TIM_CCMR1_OC1M_3          (0x1000UL << TIM_CCMR1_OC1M_Pos)              /*!< 0x00010000 */
+
+#define TIM_CCMR1_OC1CE_Pos       (7U)
+#define TIM_CCMR1_OC1CE_Msk       (0x1UL << TIM_CCMR1_OC1CE_Pos)               /*!< 0x00000080 */
+#define TIM_CCMR1_OC1CE           TIM_CCMR1_OC1CE_Msk                          /*!<Output Compare 1Clear Enable */
+
+#define TIM_CCMR1_CC2S_Pos        (8U)
+#define TIM_CCMR1_CC2S_Msk        (0x3UL << TIM_CCMR1_CC2S_Pos)                /*!< 0x00000300 */
+#define TIM_CCMR1_CC2S            TIM_CCMR1_CC2S_Msk                           /*!<CC2S[1:0] bits (Capture/Compare 2 Selection) */
+#define TIM_CCMR1_CC2S_0          (0x1UL << TIM_CCMR1_CC2S_Pos)                 /*!< 0x00000100 */
+#define TIM_CCMR1_CC2S_1          (0x2UL << TIM_CCMR1_CC2S_Pos)                 /*!< 0x00000200 */
+
+#define TIM_CCMR1_OC2FE_Pos       (10U)
+#define TIM_CCMR1_OC2FE_Msk       (0x1UL << TIM_CCMR1_OC2FE_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR1_OC2FE           TIM_CCMR1_OC2FE_Msk                          /*!<Output Compare 2 Fast enable */
+#define TIM_CCMR1_OC2PE_Pos       (11U)
+#define TIM_CCMR1_OC2PE_Msk       (0x1UL << TIM_CCMR1_OC2PE_Pos)               /*!< 0x00000800 */
+#define TIM_CCMR1_OC2PE           TIM_CCMR1_OC2PE_Msk                          /*!<Output Compare 2 Preload enable */
+
+#define TIM_CCMR1_OC2M_Pos        (12U)
+#define TIM_CCMR1_OC2M_Msk        (0x1007UL << TIM_CCMR1_OC2M_Pos)             /*!< 0x01007000 */
+#define TIM_CCMR1_OC2M            TIM_CCMR1_OC2M_Msk                           /*!<OC2M[2:0] bits (Output Compare 2 Mode) */
+#define TIM_CCMR1_OC2M_0          (0x0001UL << TIM_CCMR1_OC2M_Pos)              /*!< 0x00001000 */
+#define TIM_CCMR1_OC2M_1          (0x0002UL << TIM_CCMR1_OC2M_Pos)              /*!< 0x00002000 */
+#define TIM_CCMR1_OC2M_2          (0x0004UL << TIM_CCMR1_OC2M_Pos)              /*!< 0x00004000 */
+#define TIM_CCMR1_OC2M_3          (0x1000UL << TIM_CCMR1_OC2M_Pos)              /*!< 0x01000000 */
+
+#define TIM_CCMR1_OC2CE_Pos       (15U)
+#define TIM_CCMR1_OC2CE_Msk       (0x1UL << TIM_CCMR1_OC2CE_Pos)               /*!< 0x00008000 */
+#define TIM_CCMR1_OC2CE           TIM_CCMR1_OC2CE_Msk                          /*!<Output Compare 2 Clear Enable */
+
+/*----------------------------------------------------------------------------*/
+
+#define TIM_CCMR1_IC1PSC_Pos      (2U)
+#define TIM_CCMR1_IC1PSC_Msk      (0x3UL << TIM_CCMR1_IC1PSC_Pos)              /*!< 0x0000000C */
+#define TIM_CCMR1_IC1PSC          TIM_CCMR1_IC1PSC_Msk                         /*!<IC1PSC[1:0] bits (Input Capture 1 Prescaler) */
+#define TIM_CCMR1_IC1PSC_0        (0x1UL << TIM_CCMR1_IC1PSC_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR1_IC1PSC_1        (0x2UL << TIM_CCMR1_IC1PSC_Pos)               /*!< 0x00000008 */
+
+#define TIM_CCMR1_IC1F_Pos        (4U)
+#define TIM_CCMR1_IC1F_Msk        (0xFUL << TIM_CCMR1_IC1F_Pos)                /*!< 0x000000F0 */
+#define TIM_CCMR1_IC1F            TIM_CCMR1_IC1F_Msk                           /*!<IC1F[3:0] bits (Input Capture 1 Filter) */
+#define TIM_CCMR1_IC1F_0          (0x1UL << TIM_CCMR1_IC1F_Pos)                 /*!< 0x00000010 */
+#define TIM_CCMR1_IC1F_1          (0x2UL << TIM_CCMR1_IC1F_Pos)                 /*!< 0x00000020 */
+#define TIM_CCMR1_IC1F_2          (0x4UL << TIM_CCMR1_IC1F_Pos)                 /*!< 0x00000040 */
+#define TIM_CCMR1_IC1F_3          (0x8UL << TIM_CCMR1_IC1F_Pos)                 /*!< 0x00000080 */
+
+#define TIM_CCMR1_IC2PSC_Pos      (10U)
+#define TIM_CCMR1_IC2PSC_Msk      (0x3UL << TIM_CCMR1_IC2PSC_Pos)              /*!< 0x00000C00 */
+#define TIM_CCMR1_IC2PSC          TIM_CCMR1_IC2PSC_Msk                         /*!<IC2PSC[1:0] bits (Input Capture 2 Prescaler) */
+#define TIM_CCMR1_IC2PSC_0        (0x1UL << TIM_CCMR1_IC2PSC_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR1_IC2PSC_1        (0x2UL << TIM_CCMR1_IC2PSC_Pos)               /*!< 0x00000800 */
+
+#define TIM_CCMR1_IC2F_Pos        (12U)
+#define TIM_CCMR1_IC2F_Msk        (0xFUL << TIM_CCMR1_IC2F_Pos)                /*!< 0x0000F000 */
+#define TIM_CCMR1_IC2F            TIM_CCMR1_IC2F_Msk                           /*!<IC2F[3:0] bits (Input Capture 2 Filter) */
+#define TIM_CCMR1_IC2F_0          (0x1UL << TIM_CCMR1_IC2F_Pos)                 /*!< 0x00001000 */
+#define TIM_CCMR1_IC2F_1          (0x2UL << TIM_CCMR1_IC2F_Pos)                 /*!< 0x00002000 */
+#define TIM_CCMR1_IC2F_2          (0x4UL << TIM_CCMR1_IC2F_Pos)                 /*!< 0x00004000 */
+#define TIM_CCMR1_IC2F_3          (0x8UL << TIM_CCMR1_IC2F_Pos)                 /*!< 0x00008000 */
+
+/******************  Bit definition for TIM_CCMR2 register  *******************/
+#define TIM_CCMR2_CC3S_Pos        (0U)
+#define TIM_CCMR2_CC3S_Msk        (0x3UL << TIM_CCMR2_CC3S_Pos)                /*!< 0x00000003 */
+#define TIM_CCMR2_CC3S            TIM_CCMR2_CC3S_Msk                           /*!<CC3S[1:0] bits (Capture/Compare 3 Selection) */
+#define TIM_CCMR2_CC3S_0          (0x1UL << TIM_CCMR2_CC3S_Pos)                 /*!< 0x00000001 */
+#define TIM_CCMR2_CC3S_1          (0x2UL << TIM_CCMR2_CC3S_Pos)                 /*!< 0x00000002 */
+
+#define TIM_CCMR2_OC3FE_Pos       (2U)
+#define TIM_CCMR2_OC3FE_Msk       (0x1UL << TIM_CCMR2_OC3FE_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR2_OC3FE           TIM_CCMR2_OC3FE_Msk                          /*!<Output Compare 3 Fast enable */
+#define TIM_CCMR2_OC3PE_Pos       (3U)
+#define TIM_CCMR2_OC3PE_Msk       (0x1UL << TIM_CCMR2_OC3PE_Pos)               /*!< 0x00000008 */
+#define TIM_CCMR2_OC3PE           TIM_CCMR2_OC3PE_Msk                          /*!<Output Compare 3 Preload enable */
+
+#define TIM_CCMR2_OC3M_Pos        (4U)
+#define TIM_CCMR2_OC3M_Msk        (0x7UL << TIM_CCMR2_OC3M_Pos)                /*!< 0x00000070 */
+#define TIM_CCMR2_OC3M            TIM_CCMR2_OC3M_Msk                           /*!<OC3M[2:0] bits (Output Compare 3 Mode) */
+#define TIM_CCMR2_OC3M_0          (0x1UL << TIM_CCMR2_OC3M_Pos)                 /*!< 0x00000010 */
+#define TIM_CCMR2_OC3M_1          (0x2UL << TIM_CCMR2_OC3M_Pos)                 /*!< 0x00000020 */
+#define TIM_CCMR2_OC3M_2          (0x4UL << TIM_CCMR2_OC3M_Pos)                 /*!< 0x00000040 */
+#define TIM_CCMR2_OC3M_3          (0x1000UL << TIM_CCMR2_OC3M_Pos)              /*!< 0x00010000 */
+
+#define TIM_CCMR2_OC3CE_Pos       (7U)
+#define TIM_CCMR2_OC3CE_Msk       (0x1UL << TIM_CCMR2_OC3CE_Pos)               /*!< 0x00000080 */
+#define TIM_CCMR2_OC3CE           TIM_CCMR2_OC3CE_Msk                          /*!<Output Compare 3 Clear Enable */
+
+#define TIM_CCMR2_CC4S_Pos        (8U)
+#define TIM_CCMR2_CC4S_Msk        (0x3UL << TIM_CCMR2_CC4S_Pos)                /*!< 0x00000300 */
+#define TIM_CCMR2_CC4S            TIM_CCMR2_CC4S_Msk                           /*!<CC4S[1:0] bits (Capture/Compare 4 Selection) */
+#define TIM_CCMR2_CC4S_0          (0x1UL << TIM_CCMR2_CC4S_Pos)                 /*!< 0x00000100 */
+#define TIM_CCMR2_CC4S_1          (0x2UL << TIM_CCMR2_CC4S_Pos)                 /*!< 0x00000200 */
+
+#define TIM_CCMR2_OC4FE_Pos       (10U)
+#define TIM_CCMR2_OC4FE_Msk       (0x1UL << TIM_CCMR2_OC4FE_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR2_OC4FE           TIM_CCMR2_OC4FE_Msk                          /*!<Output Compare 4 Fast enable */
+#define TIM_CCMR2_OC4PE_Pos       (11U)
+#define TIM_CCMR2_OC4PE_Msk       (0x1UL << TIM_CCMR2_OC4PE_Pos)               /*!< 0x00000800 */
+#define TIM_CCMR2_OC4PE           TIM_CCMR2_OC4PE_Msk                          /*!<Output Compare 4 Preload enable */
+
+#define TIM_CCMR2_OC4M_Pos        (12U)
+#define TIM_CCMR2_OC4M_Msk        (0x7UL << TIM_CCMR2_OC4M_Pos)                /*!< 0x00007000 */
+#define TIM_CCMR2_OC4M            TIM_CCMR2_OC4M_Msk                           /*!<OC4M[2:0] bits (Output Compare 4 Mode) */
+#define TIM_CCMR2_OC4M_0          (0x1UL << TIM_CCMR2_OC4M_Pos)                 /*!< 0x00001000 */
+#define TIM_CCMR2_OC4M_1          (0x2UL << TIM_CCMR2_OC4M_Pos)                 /*!< 0x00002000 */
+#define TIM_CCMR2_OC4M_2          (0x4UL << TIM_CCMR2_OC4M_Pos)                 /*!< 0x00004000 */
+#define TIM_CCMR2_OC4M_3          (0x100UL << TIM_CCMR2_OC4M_Pos)               /*!< 0x00100000 */
+
+#define TIM_CCMR2_OC4CE_Pos       (15U)
+#define TIM_CCMR2_OC4CE_Msk       (0x1UL << TIM_CCMR2_OC4CE_Pos)               /*!< 0x00008000 */
+#define TIM_CCMR2_OC4CE           TIM_CCMR2_OC4CE_Msk                          /*!<Output Compare 4 Clear Enable */
+
+/*----------------------------------------------------------------------------*/
+
+#define TIM_CCMR2_IC3PSC_Pos      (2U)
+#define TIM_CCMR2_IC3PSC_Msk      (0x3UL << TIM_CCMR2_IC3PSC_Pos)              /*!< 0x0000000C */
+#define TIM_CCMR2_IC3PSC          TIM_CCMR2_IC3PSC_Msk                         /*!<IC3PSC[1:0] bits (Input Capture 3 Prescaler) */
+#define TIM_CCMR2_IC3PSC_0        (0x1UL << TIM_CCMR2_IC3PSC_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR2_IC3PSC_1        (0x2UL << TIM_CCMR2_IC3PSC_Pos)               /*!< 0x00000008 */
+
+#define TIM_CCMR2_IC3F_Pos        (4U)
+#define TIM_CCMR2_IC3F_Msk        (0xFUL << TIM_CCMR2_IC3F_Pos)                /*!< 0x000000F0 */
+#define TIM_CCMR2_IC3F            TIM_CCMR2_IC3F_Msk                           /*!<IC3F[3:0] bits (Input Capture 3 Filter) */
+#define TIM_CCMR2_IC3F_0          (0x1UL << TIM_CCMR2_IC3F_Pos)                 /*!< 0x00000010 */
+#define TIM_CCMR2_IC3F_1          (0x2UL << TIM_CCMR2_IC3F_Pos)                 /*!< 0x00000020 */
+#define TIM_CCMR2_IC3F_2          (0x4UL << TIM_CCMR2_IC3F_Pos)                 /*!< 0x00000040 */
+#define TIM_CCMR2_IC3F_3          (0x8UL << TIM_CCMR2_IC3F_Pos)                 /*!< 0x00000080 */
+
+#define TIM_CCMR2_IC4PSC_Pos      (10U)
+#define TIM_CCMR2_IC4PSC_Msk      (0x3UL << TIM_CCMR2_IC4PSC_Pos)              /*!< 0x00000C00 */
+#define TIM_CCMR2_IC4PSC          TIM_CCMR2_IC4PSC_Msk                         /*!<IC4PSC[1:0] bits (Input Capture 4 Prescaler) */
+#define TIM_CCMR2_IC4PSC_0        (0x1UL << TIM_CCMR2_IC4PSC_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR2_IC4PSC_1        (0x2UL << TIM_CCMR2_IC4PSC_Pos)               /*!< 0x00000800 */
+
+#define TIM_CCMR2_IC4F_Pos        (12U)
+#define TIM_CCMR2_IC4F_Msk        (0xFUL << TIM_CCMR2_IC4F_Pos)                /*!< 0x0000F000 */
+#define TIM_CCMR2_IC4F            TIM_CCMR2_IC4F_Msk                           /*!<IC4F[3:0] bits (Input Capture 4 Filter) */
+#define TIM_CCMR2_IC4F_0          (0x1UL << TIM_CCMR2_IC4F_Pos)                 /*!< 0x00001000 */
+#define TIM_CCMR2_IC4F_1          (0x2UL << TIM_CCMR2_IC4F_Pos)                 /*!< 0x00002000 */
+#define TIM_CCMR2_IC4F_2          (0x4UL << TIM_CCMR2_IC4F_Pos)                 /*!< 0x00004000 */
+#define TIM_CCMR2_IC4F_3          (0x8UL << TIM_CCMR2_IC4F_Pos)                 /*!< 0x00008000 */
+
+/*******************  Bit definition for TIM_CCER register  *******************/
+#define TIM_CCER_CC1E_Pos         (0U)
+#define TIM_CCER_CC1E_Msk         (0x1UL << TIM_CCER_CC1E_Pos)                 /*!< 0x00000001 */
+#define TIM_CCER_CC1E             TIM_CCER_CC1E_Msk                            /*!<Capture/Compare 1 output enable */
+#define TIM_CCER_CC1P_Pos         (1U)
+#define TIM_CCER_CC1P_Msk         (0x1UL << TIM_CCER_CC1P_Pos)                 /*!< 0x00000002 */
+#define TIM_CCER_CC1P             TIM_CCER_CC1P_Msk                            /*!<Capture/Compare 1 output Polarity */
+#define TIM_CCER_CC1NE_Pos        (2U)
+#define TIM_CCER_CC1NE_Msk        (0x1UL << TIM_CCER_CC1NE_Pos)                /*!< 0x00000004 */
+#define TIM_CCER_CC1NE            TIM_CCER_CC1NE_Msk                           /*!<Capture/Compare 1 Complementary output enable */
+#define TIM_CCER_CC1NP_Pos        (3U)
+#define TIM_CCER_CC1NP_Msk        (0x1UL << TIM_CCER_CC1NP_Pos)                /*!< 0x00000008 */
+#define TIM_CCER_CC1NP            TIM_CCER_CC1NP_Msk                           /*!<Capture/Compare 1 Complementary output Polarity */
+#define TIM_CCER_CC2E_Pos         (4U)
+#define TIM_CCER_CC2E_Msk         (0x1UL << TIM_CCER_CC2E_Pos)                 /*!< 0x00000010 */
+#define TIM_CCER_CC2E             TIM_CCER_CC2E_Msk                            /*!<Capture/Compare 2 output enable */
+#define TIM_CCER_CC2P_Pos         (5U)
+#define TIM_CCER_CC2P_Msk         (0x1UL << TIM_CCER_CC2P_Pos)                 /*!< 0x00000020 */
+#define TIM_CCER_CC2P             TIM_CCER_CC2P_Msk                            /*!<Capture/Compare 2 output Polarity */
+#define TIM_CCER_CC2NE_Pos        (6U)
+#define TIM_CCER_CC2NE_Msk        (0x1UL << TIM_CCER_CC2NE_Pos)                /*!< 0x00000040 */
+#define TIM_CCER_CC2NE            TIM_CCER_CC2NE_Msk                           /*!<Capture/Compare 2 Complementary output enable */
+#define TIM_CCER_CC2NP_Pos        (7U)
+#define TIM_CCER_CC2NP_Msk        (0x1UL << TIM_CCER_CC2NP_Pos)                /*!< 0x00000080 */
+#define TIM_CCER_CC2NP            TIM_CCER_CC2NP_Msk                           /*!<Capture/Compare 2 Complementary output Polarity */
+#define TIM_CCER_CC3E_Pos         (8U)
+#define TIM_CCER_CC3E_Msk         (0x1UL << TIM_CCER_CC3E_Pos)                 /*!< 0x00000100 */
+#define TIM_CCER_CC3E             TIM_CCER_CC3E_Msk                            /*!<Capture/Compare 3 output enable */
+#define TIM_CCER_CC3P_Pos         (9U)
+#define TIM_CCER_CC3P_Msk         (0x1UL << TIM_CCER_CC3P_Pos)                 /*!< 0x00000200 */
+#define TIM_CCER_CC3P             TIM_CCER_CC3P_Msk                            /*!<Capture/Compare 3 output Polarity */
+#define TIM_CCER_CC3NE_Pos        (10U)
+#define TIM_CCER_CC3NE_Msk        (0x1UL << TIM_CCER_CC3NE_Pos)                /*!< 0x00000400 */
+#define TIM_CCER_CC3NE            TIM_CCER_CC3NE_Msk                           /*!<Capture/Compare 3 Complementary output enable */
+#define TIM_CCER_CC3NP_Pos        (11U)
+#define TIM_CCER_CC3NP_Msk        (0x1UL << TIM_CCER_CC3NP_Pos)                /*!< 0x00000800 */
+#define TIM_CCER_CC3NP            TIM_CCER_CC3NP_Msk                           /*!<Capture/Compare 3 Complementary output Polarity */
+#define TIM_CCER_CC4E_Pos         (12U)
+#define TIM_CCER_CC4E_Msk         (0x1UL << TIM_CCER_CC4E_Pos)                 /*!< 0x00001000 */
+#define TIM_CCER_CC4E             TIM_CCER_CC4E_Msk                            /*!<Capture/Compare 4 output enable */
+#define TIM_CCER_CC4P_Pos         (13U)
+#define TIM_CCER_CC4P_Msk         (0x1UL << TIM_CCER_CC4P_Pos)                 /*!< 0x00002000 */
+#define TIM_CCER_CC4P             TIM_CCER_CC4P_Msk                            /*!<Capture/Compare 4 output Polarity */
+#define TIM_CCER_CC4NP_Pos        (15U)
+#define TIM_CCER_CC4NP_Msk        (0x1UL << TIM_CCER_CC4NP_Pos)                /*!< 0x00008000 */
+#define TIM_CCER_CC4NP            TIM_CCER_CC4NP_Msk                           /*!<Capture/Compare 4 Complementary output Polarity */
+#define TIM_CCER_CC5E_Pos         (16U)
+#define TIM_CCER_CC5E_Msk         (0x1UL << TIM_CCER_CC5E_Pos)                 /*!< 0x00010000 */
+#define TIM_CCER_CC5E             TIM_CCER_CC5E_Msk                            /*!<Capture/Compare 5 output enable */
+#define TIM_CCER_CC5P_Pos         (17U)
+#define TIM_CCER_CC5P_Msk         (0x1UL << TIM_CCER_CC5P_Pos)                 /*!< 0x00020000 */
+#define TIM_CCER_CC5P             TIM_CCER_CC5P_Msk                            /*!<Capture/Compare 5 output Polarity */
+#define TIM_CCER_CC6E_Pos         (20U)
+#define TIM_CCER_CC6E_Msk         (0x1UL << TIM_CCER_CC6E_Pos)                 /*!< 0x00100000 */
+#define TIM_CCER_CC6E             TIM_CCER_CC6E_Msk                            /*!<Capture/Compare 6 output enable */
+#define TIM_CCER_CC6P_Pos         (21U)
+#define TIM_CCER_CC6P_Msk         (0x1UL << TIM_CCER_CC6P_Pos)                 /*!< 0x00200000 */
+#define TIM_CCER_CC6P             TIM_CCER_CC6P_Msk                            /*!<Capture/Compare 6 output Polarity */
+/*******************  Bit definition for TIM_CNT register  ********************/
+#define TIM_CNT_CNT_Pos           (0U)
+#define TIM_CNT_CNT_Msk           (0xFFFFFFFFUL << TIM_CNT_CNT_Pos)            /*!< 0xFFFFFFFF */
+#define TIM_CNT_CNT               TIM_CNT_CNT_Msk                              /*!<Counter Value */
+#define TIM_CNT_UIFCPY_Pos        (31U)
+#define TIM_CNT_UIFCPY_Msk        (0x1UL << TIM_CNT_UIFCPY_Pos)                /*!< 0x80000000 */
+#define TIM_CNT_UIFCPY            TIM_CNT_UIFCPY_Msk                           /*!<Update interrupt flag copy */
+/*******************  Bit definition for TIM_PSC register  ********************/
+#define TIM_PSC_PSC_Pos           (0U)
+#define TIM_PSC_PSC_Msk           (0xFFFFUL << TIM_PSC_PSC_Pos)                /*!< 0x0000FFFF */
+#define TIM_PSC_PSC               TIM_PSC_PSC_Msk                              /*!<Prescaler Value */
+
+/*******************  Bit definition for TIM_ARR register  ********************/
+#define TIM_ARR_ARR_Pos           (0U)
+#define TIM_ARR_ARR_Msk           (0xFFFFFFFFUL << TIM_ARR_ARR_Pos)            /*!< 0xFFFFFFFF */
+#define TIM_ARR_ARR               TIM_ARR_ARR_Msk                              /*!<actual auto-reload Value */
+
+/*******************  Bit definition for TIM_RCR register  ********************/
+#define TIM_RCR_REP_Pos           (0U)
+#define TIM_RCR_REP_Msk           (0xFFUL << TIM_RCR_REP_Pos)                  /*!< 0x000000FF */
+#define TIM_RCR_REP               TIM_RCR_REP_Msk                              /*!<Repetition Counter Value */
+
+/*******************  Bit definition for TIM_CCR1 register  *******************/
+#define TIM_CCR1_CCR1_Pos         (0U)
+#define TIM_CCR1_CCR1_Msk         (0xFFFFUL << TIM_CCR1_CCR1_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR1_CCR1             TIM_CCR1_CCR1_Msk                            /*!<Capture/Compare 1 Value */
+
+/*******************  Bit definition for TIM_CCR2 register  *******************/
+#define TIM_CCR2_CCR2_Pos         (0U)
+#define TIM_CCR2_CCR2_Msk         (0xFFFFUL << TIM_CCR2_CCR2_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR2_CCR2             TIM_CCR2_CCR2_Msk                            /*!<Capture/Compare 2 Value */
+
+/*******************  Bit definition for TIM_CCR3 register  *******************/
+#define TIM_CCR3_CCR3_Pos         (0U)
+#define TIM_CCR3_CCR3_Msk         (0xFFFFUL << TIM_CCR3_CCR3_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR3_CCR3             TIM_CCR3_CCR3_Msk                            /*!<Capture/Compare 3 Value */
+
+/*******************  Bit definition for TIM_CCR4 register  *******************/
+#define TIM_CCR4_CCR4_Pos         (0U)
+#define TIM_CCR4_CCR4_Msk         (0xFFFFUL << TIM_CCR4_CCR4_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR4_CCR4             TIM_CCR4_CCR4_Msk                            /*!<Capture/Compare 4 Value */
+
+/*******************  Bit definition for TIM_CCR5 register  *******************/
+#define TIM_CCR5_CCR5_Pos         (0U)
+#define TIM_CCR5_CCR5_Msk         (0xFFFFFFFFUL << TIM_CCR5_CCR5_Pos)          /*!< 0xFFFFFFFF */
+#define TIM_CCR5_CCR5             TIM_CCR5_CCR5_Msk                            /*!<Capture/Compare 5 Value */
+#define TIM_CCR5_GC5C1_Pos        (29U)
+#define TIM_CCR5_GC5C1_Msk        (0x1UL << TIM_CCR5_GC5C1_Pos)                /*!< 0x20000000 */
+#define TIM_CCR5_GC5C1            TIM_CCR5_GC5C1_Msk                           /*!<Group Channel 5 and Channel 1 */
+#define TIM_CCR5_GC5C2_Pos        (30U)
+#define TIM_CCR5_GC5C2_Msk        (0x1UL << TIM_CCR5_GC5C2_Pos)                /*!< 0x40000000 */
+#define TIM_CCR5_GC5C2            TIM_CCR5_GC5C2_Msk                           /*!<Group Channel 5 and Channel 2 */
+#define TIM_CCR5_GC5C3_Pos        (31U)
+#define TIM_CCR5_GC5C3_Msk        (0x1UL << TIM_CCR5_GC5C3_Pos)                /*!< 0x80000000 */
+#define TIM_CCR5_GC5C3            TIM_CCR5_GC5C3_Msk                           /*!<Group Channel 5 and Channel 3 */
+
+/*******************  Bit definition for TIM_CCR6 register  *******************/
+#define TIM_CCR6_CCR6_Pos         (0U)
+#define TIM_CCR6_CCR6_Msk         (0xFFFFUL << TIM_CCR6_CCR6_Pos)              /*!< 0x0000FFFF */
+#define TIM_CCR6_CCR6             TIM_CCR6_CCR6_Msk                            /*!<Capture/Compare 6 Value */
+
+/*******************  Bit definition for TIM_BDTR register  *******************/
+#define TIM_BDTR_DTG_Pos          (0U)
+#define TIM_BDTR_DTG_Msk          (0xFFUL << TIM_BDTR_DTG_Pos)                 /*!< 0x000000FF */
+#define TIM_BDTR_DTG              TIM_BDTR_DTG_Msk                             /*!<DTG[0:7] bits (Dead-Time Generator set-up) */
+#define TIM_BDTR_DTG_0            (0x01UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000001 */
+#define TIM_BDTR_DTG_1            (0x02UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000002 */
+#define TIM_BDTR_DTG_2            (0x04UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000004 */
+#define TIM_BDTR_DTG_3            (0x08UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000008 */
+#define TIM_BDTR_DTG_4            (0x10UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000010 */
+#define TIM_BDTR_DTG_5            (0x20UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000020 */
+#define TIM_BDTR_DTG_6            (0x40UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000040 */
+#define TIM_BDTR_DTG_7            (0x80UL << TIM_BDTR_DTG_Pos)                  /*!< 0x00000080 */
+
+#define TIM_BDTR_LOCK_Pos         (8U)
+#define TIM_BDTR_LOCK_Msk         (0x3UL << TIM_BDTR_LOCK_Pos)                 /*!< 0x00000300 */
+#define TIM_BDTR_LOCK             TIM_BDTR_LOCK_Msk                            /*!<LOCK[1:0] bits (Lock Configuration) */
+#define TIM_BDTR_LOCK_0           (0x1UL << TIM_BDTR_LOCK_Pos)                  /*!< 0x00000100 */
+#define TIM_BDTR_LOCK_1           (0x2UL << TIM_BDTR_LOCK_Pos)                  /*!< 0x00000200 */
+
+#define TIM_BDTR_OSSI_Pos         (10U)
+#define TIM_BDTR_OSSI_Msk         (0x1UL << TIM_BDTR_OSSI_Pos)                 /*!< 0x00000400 */
+#define TIM_BDTR_OSSI             TIM_BDTR_OSSI_Msk                            /*!<Off-State Selection for Idle mode */
+#define TIM_BDTR_OSSR_Pos         (11U)
+#define TIM_BDTR_OSSR_Msk         (0x1UL << TIM_BDTR_OSSR_Pos)                 /*!< 0x00000800 */
+#define TIM_BDTR_OSSR             TIM_BDTR_OSSR_Msk                            /*!<Off-State Selection for Run mode */
+#define TIM_BDTR_BKE_Pos          (12U)
+#define TIM_BDTR_BKE_Msk          (0x1UL << TIM_BDTR_BKE_Pos)                  /*!< 0x00001000 */
+#define TIM_BDTR_BKE              TIM_BDTR_BKE_Msk                             /*!<Break enable for Break1 */
+#define TIM_BDTR_BKP_Pos          (13U)
+#define TIM_BDTR_BKP_Msk          (0x1UL << TIM_BDTR_BKP_Pos)                  /*!< 0x00002000 */
+#define TIM_BDTR_BKP              TIM_BDTR_BKP_Msk                             /*!<Break Polarity for Break1 */
+#define TIM_BDTR_AOE_Pos          (14U)
+#define TIM_BDTR_AOE_Msk          (0x1UL << TIM_BDTR_AOE_Pos)                  /*!< 0x00004000 */
+#define TIM_BDTR_AOE              TIM_BDTR_AOE_Msk                             /*!<Automatic Output enable */
+#define TIM_BDTR_MOE_Pos          (15U)
+#define TIM_BDTR_MOE_Msk          (0x1UL << TIM_BDTR_MOE_Pos)                  /*!< 0x00008000 */
+#define TIM_BDTR_MOE              TIM_BDTR_MOE_Msk                             /*!<Main Output enable */
+
+#define TIM_BDTR_BKF_Pos          (16U)
+#define TIM_BDTR_BKF_Msk          (0xFUL << TIM_BDTR_BKF_Pos)                  /*!< 0x000F0000 */
+#define TIM_BDTR_BKF              TIM_BDTR_BKF_Msk                             /*!<Break Filter for Break1 */
+#define TIM_BDTR_BK2F_Pos         (20U)
+#define TIM_BDTR_BK2F_Msk         (0xFUL << TIM_BDTR_BK2F_Pos)                 /*!< 0x00F00000 */
+#define TIM_BDTR_BK2F             TIM_BDTR_BK2F_Msk                            /*!<Break Filter for Break2 */
+
+#define TIM_BDTR_BK2E_Pos         (24U)
+#define TIM_BDTR_BK2E_Msk         (0x1UL << TIM_BDTR_BK2E_Pos)                 /*!< 0x01000000 */
+#define TIM_BDTR_BK2E             TIM_BDTR_BK2E_Msk                            /*!<Break enable for Break2 */
+#define TIM_BDTR_BK2P_Pos         (25U)
+#define TIM_BDTR_BK2P_Msk         (0x1UL << TIM_BDTR_BK2P_Pos)                 /*!< 0x02000000 */
+#define TIM_BDTR_BK2P             TIM_BDTR_BK2P_Msk                            /*!<Break Polarity for Break2 */
+
+/*******************  Bit definition for TIM_DCR register  ********************/
+#define TIM_DCR_DBA_Pos           (0U)
+#define TIM_DCR_DBA_Msk           (0x1FUL << TIM_DCR_DBA_Pos)                  /*!< 0x0000001F */
+#define TIM_DCR_DBA               TIM_DCR_DBA_Msk                              /*!<DBA[4:0] bits (DMA Base Address) */
+#define TIM_DCR_DBA_0             (0x01UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000001 */
+#define TIM_DCR_DBA_1             (0x02UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000002 */
+#define TIM_DCR_DBA_2             (0x04UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000004 */
+#define TIM_DCR_DBA_3             (0x08UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000008 */
+#define TIM_DCR_DBA_4             (0x10UL << TIM_DCR_DBA_Pos)                   /*!< 0x00000010 */
+
+#define TIM_DCR_DBL_Pos           (8U)
+#define TIM_DCR_DBL_Msk           (0x1FUL << TIM_DCR_DBL_Pos)                  /*!< 0x00001F00 */
+#define TIM_DCR_DBL               TIM_DCR_DBL_Msk                              /*!<DBL[4:0] bits (DMA Burst Length) */
+#define TIM_DCR_DBL_0             (0x01UL << TIM_DCR_DBL_Pos)                   /*!< 0x00000100 */
+#define TIM_DCR_DBL_1             (0x02UL << TIM_DCR_DBL_Pos)                   /*!< 0x00000200 */
+#define TIM_DCR_DBL_2             (0x04UL << TIM_DCR_DBL_Pos)                   /*!< 0x00000400 */
+#define TIM_DCR_DBL_3             (0x08UL << TIM_DCR_DBL_Pos)                   /*!< 0x00000800 */
+#define TIM_DCR_DBL_4             (0x10UL << TIM_DCR_DBL_Pos)                   /*!< 0x00001000 */
+
+/*******************  Bit definition for TIM_DMAR register  *******************/
+#define TIM_DMAR_DMAB_Pos         (0U)
+#define TIM_DMAR_DMAB_Msk         (0xFFFFUL << TIM_DMAR_DMAB_Pos)              /*!< 0x0000FFFF */
+#define TIM_DMAR_DMAB             TIM_DMAR_DMAB_Msk                            /*!<DMA register for burst accesses */
+
+/******************  Bit definition for TIM_CCMR3 register  *******************/
+#define TIM_CCMR3_OC5FE_Pos       (2U)
+#define TIM_CCMR3_OC5FE_Msk       (0x1UL << TIM_CCMR3_OC5FE_Pos)               /*!< 0x00000004 */
+#define TIM_CCMR3_OC5FE           TIM_CCMR3_OC5FE_Msk                          /*!<Output Compare 5 Fast enable */
+#define TIM_CCMR3_OC5PE_Pos       (3U)
+#define TIM_CCMR3_OC5PE_Msk       (0x1UL << TIM_CCMR3_OC5PE_Pos)               /*!< 0x00000008 */
+#define TIM_CCMR3_OC5PE           TIM_CCMR3_OC5PE_Msk                          /*!<Output Compare 5 Preload enable */
+
+#define TIM_CCMR3_OC5M_Pos        (4U)
+#define TIM_CCMR3_OC5M_Msk        (0x7UL << TIM_CCMR3_OC5M_Pos)                /*!< 0x00000070 */
+#define TIM_CCMR3_OC5M            TIM_CCMR3_OC5M_Msk                           /*!<OC5M[2:0] bits (Output Compare 5 Mode) */
+#define TIM_CCMR3_OC5M_0          (0x1UL << TIM_CCMR3_OC5M_Pos)                 /*!< 0x00000010 */
+#define TIM_CCMR3_OC5M_1          (0x2UL << TIM_CCMR3_OC5M_Pos)                 /*!< 0x00000020 */
+#define TIM_CCMR3_OC5M_2          (0x4UL << TIM_CCMR3_OC5M_Pos)                 /*!< 0x00000040 */
+#define TIM_CCMR3_OC5M_3          (0x1000UL << TIM_CCMR3_OC5M_Pos)              /*!< 0x00010000 */
+
+#define TIM_CCMR3_OC5CE_Pos       (7U)
+#define TIM_CCMR3_OC5CE_Msk       (0x1UL << TIM_CCMR3_OC5CE_Pos)               /*!< 0x00000080 */
+#define TIM_CCMR3_OC5CE           TIM_CCMR3_OC5CE_Msk                          /*!<Output Compare 5 Clear Enable */
+
+#define TIM_CCMR3_OC6FE_Pos       (10U)
+#define TIM_CCMR3_OC6FE_Msk       (0x1UL << TIM_CCMR3_OC6FE_Pos)               /*!< 0x00000400 */
+#define TIM_CCMR3_OC6FE           TIM_CCMR3_OC6FE_Msk                          /*!<Output Compare 4 Fast enable */
+#define TIM_CCMR3_OC6PE_Pos       (11U)
+#define TIM_CCMR3_OC6PE_Msk       (0x1UL << TIM_CCMR3_OC6PE_Pos)               /*!< 0x00000800 */
+#define TIM_CCMR3_OC6PE           TIM_CCMR3_OC6PE_Msk                          /*!<Output Compare 4 Preload enable */
+
+#define TIM_CCMR3_OC6M_Pos        (12U)
+#define TIM_CCMR3_OC6M_Msk        (0x7UL << TIM_CCMR3_OC6M_Pos)                /*!< 0x00007000 */
+#define TIM_CCMR3_OC6M            TIM_CCMR3_OC6M_Msk                           /*!<OC4M[2:0] bits (Output Compare 4 Mode) */
+#define TIM_CCMR3_OC6M_0          (0x1UL << TIM_CCMR3_OC6M_Pos)                 /*!< 0x00001000 */
+#define TIM_CCMR3_OC6M_1          (0x2UL << TIM_CCMR3_OC6M_Pos)                 /*!< 0x00002000 */
+#define TIM_CCMR3_OC6M_2          (0x4UL << TIM_CCMR3_OC6M_Pos)                 /*!< 0x00004000 */
+#define TIM_CCMR3_OC6M_3          (0x100UL << TIM_CCMR3_OC6M_Pos)               /*!< 0x00100000 */
+
+#define TIM_CCMR3_OC6CE_Pos       (15U)
+#define TIM_CCMR3_OC6CE_Msk       (0x1UL << TIM_CCMR3_OC6CE_Pos)               /*!< 0x00008000 */
+#define TIM_CCMR3_OC6CE           TIM_CCMR3_OC6CE_Msk                          /*!<Output Compare 4 Clear Enable */
+/*******************  Bit definition for TIM1_AF1 register  *********************/
+#define TIM1_AF1_BKINE_Pos        (0U)
+#define TIM1_AF1_BKINE_Msk        (0x1UL << TIM1_AF1_BKINE_Pos)                /*!< 0x00000001 */
+#define TIM1_AF1_BKINE            TIM1_AF1_BKINE_Msk                           /*!<BKINE Break input enable bit */
+#define TIM1_AF1_BKCMP1E_Pos      (1U)
+#define TIM1_AF1_BKCMP1E_Msk      (0x1UL << TIM1_AF1_BKCMP1E_Pos)              /*!< 0x00000002 */
+#define TIM1_AF1_BKCMP1E          TIM1_AF1_BKCMP1E_Msk                         /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM1_AF1_BKCMP2E_Pos      (2U)
+#define TIM1_AF1_BKCMP2E_Msk      (0x1UL << TIM1_AF1_BKCMP2E_Pos)              /*!< 0x00000004 */
+#define TIM1_AF1_BKCMP2E          TIM1_AF1_BKCMP2E_Msk                         /*!<BKCMP1E Break Compare2 Enable bit */
+#define TIM1_AF1_BKDF1BK0E_Pos    (8U)
+#define TIM1_AF1_BKDF1BK0E_Msk    (0x1UL << TIM1_AF1_BKDF1BK0E_Pos)            /*!< 0x00000100 */
+#define TIM1_AF1_BKDF1BK0E        TIM1_AF1_BKDF1BK0E_Msk                       /*!<BKDF1BK0E Break input DFSDM Break 0 */
+#define TIM1_AF1_BKINP_Pos        (9U)
+#define TIM1_AF1_BKINP_Msk        (0x1UL << TIM1_AF1_BKINP_Pos)                /*!< 0x00000200 */
+#define TIM1_AF1_BKINP            TIM1_AF1_BKINP_Msk                           /*!<BRKINP Break input polarity */
+#define TIM1_AF1_BKCMP1P_Pos      (10U)
+#define TIM1_AF1_BKCMP1P_Msk      (0x1UL << TIM1_AF1_BKCMP1P_Pos)              /*!< 0x00000400 */
+#define TIM1_AF1_BKCMP1P          TIM1_AF1_BKCMP1P_Msk                         /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM1_AF1_BKCMP2P_Pos      (11U)
+#define TIM1_AF1_BKCMP2P_Msk      (0x1UL << TIM1_AF1_BKCMP2P_Pos)              /*!< 0x00000800 */
+#define TIM1_AF1_BKCMP2P          TIM1_AF1_BKCMP2P_Msk                         /*!<BKCMP2P Break COMP2 input polarity */
+
+#define TIM1_AF1_ETRSEL_Pos       (14U)
+#define TIM1_AF1_ETRSEL_Msk       (0xFUL << TIM1_AF1_ETRSEL_Pos)               /*!< 0x0003C000 */
+#define TIM1_AF1_ETRSEL           TIM1_AF1_ETRSEL_Msk                          /*!<ETRSEL[3:0] bits (TIM1 ETRSEL) */
+#define TIM1_AF1_ETRSEL_0         (0x1UL << TIM1_AF1_ETRSEL_Pos)                /*!< 0x00004000 */
+#define TIM1_AF1_ETRSEL_1         (0x2UL << TIM1_AF1_ETRSEL_Pos)                /*!< 0x00008000 */
+#define TIM1_AF1_ETRSEL_2         (0x4UL << TIM1_AF1_ETRSEL_Pos)                /*!< 0x00010000 */
+#define TIM1_AF1_ETRSEL_3         (0x8UL << TIM1_AF1_ETRSEL_Pos)                /*!< 0x00020000 */
+
+/*******************  Bit definition for TIM1_AF2 register  *********************/
+#define TIM1_AF2_BK2INE_Pos       (0U)
+#define TIM1_AF2_BK2INE_Msk       (0x1UL << TIM1_AF2_BK2INE_Pos)               /*!< 0x00000001 */
+#define TIM1_AF2_BK2INE           TIM1_AF2_BK2INE_Msk                          /*!<BK2INE Break input 2 enable bit */
+#define TIM1_AF2_BK2CMP1E_Pos     (1U)
+#define TIM1_AF2_BK2CMP1E_Msk     (0x1UL << TIM1_AF2_BK2CMP1E_Pos)             /*!< 0x00000002 */
+#define TIM1_AF2_BK2CMP1E         TIM1_AF2_BK2CMP1E_Msk                        /*!<BK2CMP1E Break2 Compare1 Enable bit */
+#define TIM1_AF2_BK2CMP2E_Pos     (2U)
+#define TIM1_AF2_BK2CMP2E_Msk     (0x1UL << TIM1_AF2_BK2CMP2E_Pos)             /*!< 0x00000004 */
+#define TIM1_AF2_BK2CMP2E         TIM1_AF2_BK2CMP2E_Msk                        /*!<BK2CMP1E Break2 Compare2 Enable bit  */
+#define TIM1_AF2_BK2DFBK1E_Pos    (8U)
+#define TIM1_AF2_BK2DFBK1E_Msk    (0x1UL << TIM1_AF2_BK2DFBK1E_Pos)            /*!< 0x00000100 */
+#define TIM1_AF2_BK2DFBK1E        TIM1_AF2_BK2DFBK1E_Msk                       /*!<BK2DFBK1E Break input2 DFSDM Break 1 */
+#define TIM1_AF2_BK2INP_Pos       (9U)
+#define TIM1_AF2_BK2INP_Msk       (0x1UL << TIM1_AF2_BK2INP_Pos)               /*!< 0x00000200 */
+#define TIM1_AF2_BK2INP           TIM1_AF2_BK2INP_Msk                          /*!<BRKINP Break2 input polarity */
+#define TIM1_AF2_BK2CMP1P_Pos     (10U)
+#define TIM1_AF2_BK2CMP1P_Msk     (0x1UL << TIM1_AF2_BK2CMP1P_Pos)             /*!< 0x00000400 */
+#define TIM1_AF2_BK2CMP1P         TIM1_AF2_BK2CMP1P_Msk                        /*!<BKCMP1P Break2 COMP1 input polarity */
+#define TIM1_AF2_BK2CMP2P_Pos     (11U)
+#define TIM1_AF2_BK2CMP2P_Msk     (0x1UL << TIM1_AF2_BK2CMP2P_Pos)             /*!< 0x00000800 */
+#define TIM1_AF2_BK2CMP2P         TIM1_AF2_BK2CMP2P_Msk                        /*!<BKCMP2P Break2 COMP2 input polarity */
+
+/*******************  Bit definition for TIM_TISEL register  *********************/
+#define TIM_TISEL_TI1SEL_Pos      (0U)
+#define TIM_TISEL_TI1SEL_Msk      (0xFUL << TIM_TISEL_TI1SEL_Pos)              /*!< 0x0000000F */
+#define TIM_TISEL_TI1SEL          TIM_TISEL_TI1SEL_Msk                         /*!<TI1SEL[3:0] bits (TIM TI1 SEL)*/
+#define TIM_TISEL_TI1SEL_0        (0x1UL << TIM_TISEL_TI1SEL_Pos)               /*!< 0x00000001 */
+#define TIM_TISEL_TI1SEL_1        (0x2UL << TIM_TISEL_TI1SEL_Pos)               /*!< 0x00000002 */
+#define TIM_TISEL_TI1SEL_2        (0x4UL << TIM_TISEL_TI1SEL_Pos)               /*!< 0x00000004 */
+#define TIM_TISEL_TI1SEL_3        (0x8UL << TIM_TISEL_TI1SEL_Pos)               /*!< 0x00000008 */
+
+#define TIM_TISEL_TI2SEL_Pos      (8U)
+#define TIM_TISEL_TI2SEL_Msk      (0xFUL << TIM_TISEL_TI2SEL_Pos)              /*!< 0x00000F00 */
+#define TIM_TISEL_TI2SEL          TIM_TISEL_TI2SEL_Msk                         /*!<TI2SEL[3:0] bits (TIM TI2 SEL)*/
+#define TIM_TISEL_TI2SEL_0        (0x1UL << TIM_TISEL_TI2SEL_Pos)               /*!< 0x00000100 */
+#define TIM_TISEL_TI2SEL_1        (0x2UL << TIM_TISEL_TI2SEL_Pos)               /*!< 0x00000200 */
+#define TIM_TISEL_TI2SEL_2        (0x4UL << TIM_TISEL_TI2SEL_Pos)               /*!< 0x00000400 */
+#define TIM_TISEL_TI2SEL_3        (0x8UL << TIM_TISEL_TI2SEL_Pos)               /*!< 0x00000800 */
+
+#define TIM_TISEL_TI3SEL_Pos      (16U)
+#define TIM_TISEL_TI3SEL_Msk      (0xFUL << TIM_TISEL_TI3SEL_Pos)              /*!< 0x000F0000 */
+#define TIM_TISEL_TI3SEL          TIM_TISEL_TI3SEL_Msk                         /*!<TI3SEL[3:0] bits (TIM TI3 SEL)*/
+#define TIM_TISEL_TI3SEL_0        (0x1UL << TIM_TISEL_TI3SEL_Pos)               /*!< 0x00010000 */
+#define TIM_TISEL_TI3SEL_1        (0x2UL << TIM_TISEL_TI3SEL_Pos)               /*!< 0x00020000 */
+#define TIM_TISEL_TI3SEL_2        (0x4UL << TIM_TISEL_TI3SEL_Pos)               /*!< 0x00040000 */
+#define TIM_TISEL_TI3SEL_3        (0x8UL << TIM_TISEL_TI3SEL_Pos)               /*!< 0x00080000 */
+
+#define TIM_TISEL_TI4SEL_Pos      (24U)
+#define TIM_TISEL_TI4SEL_Msk      (0xFUL << TIM_TISEL_TI4SEL_Pos)              /*!< 0x0F000000 */
+#define TIM_TISEL_TI4SEL          TIM_TISEL_TI4SEL_Msk                         /*!<TI4SEL[3:0] bits (TIM TI4 SEL)*/
+#define TIM_TISEL_TI4SEL_0        (0x1UL << TIM_TISEL_TI4SEL_Pos)               /*!< 0x01000000 */
+#define TIM_TISEL_TI4SEL_1        (0x2UL << TIM_TISEL_TI4SEL_Pos)               /*!< 0x02000000 */
+#define TIM_TISEL_TI4SEL_2        (0x4UL << TIM_TISEL_TI4SEL_Pos)               /*!< 0x04000000 */
+#define TIM_TISEL_TI4SEL_3        (0x8UL << TIM_TISEL_TI4SEL_Pos)               /*!< 0x08000000 */
+
+/*******************  Bit definition for TIM8_AF1 register  *********************/
+#define TIM8_AF1_BKINE_Pos        (0U)
+#define TIM8_AF1_BKINE_Msk        (0x1UL << TIM8_AF1_BKINE_Pos)                /*!< 0x00000001 */
+#define TIM8_AF1_BKINE            TIM8_AF1_BKINE_Msk                           /*!<BKINE Break input enable bit */
+#define TIM8_AF1_BKCMP1E_Pos      (1U)
+#define TIM8_AF1_BKCMP1E_Msk      (0x1UL << TIM8_AF1_BKCMP1E_Pos)              /*!< 0x00000002 */
+#define TIM8_AF1_BKCMP1E          TIM8_AF1_BKCMP1E_Msk                         /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM8_AF1_BKCMP2E_Pos      (2U)
+#define TIM8_AF1_BKCMP2E_Msk      (0x1UL << TIM8_AF1_BKCMP2E_Pos)              /*!< 0x00000004 */
+#define TIM8_AF1_BKCMP2E          TIM8_AF1_BKCMP2E_Msk                         /*!<BKCMP1E Break Compare2 Enable bit  */
+#define TIM8_AF1_BKDFBK2E_Pos     (8U)
+#define TIM8_AF1_BKDFBK2E_Msk     (0x1UL << TIM8_AF1_BKDFBK2E_Pos)             /*!< 0x00000100 */
+#define TIM8_AF1_BKDFBK2E         TIM8_AF1_BKDFBK2E_Msk                        /*!<BKDFBK2E Break input DFSDM Break 2 */
+#define TIM8_AF1_BKINP_Pos        (9U)
+#define TIM8_AF1_BKINP_Msk        (0x1UL << TIM8_AF1_BKINP_Pos)                /*!< 0x00000200 */
+#define TIM8_AF1_BKINP            TIM8_AF1_BKINP_Msk                           /*!<BRKINP Break input polarity */
+#define TIM8_AF1_BKCMP1P_Pos      (10U)
+#define TIM8_AF1_BKCMP1P_Msk      (0x1UL << TIM8_AF1_BKCMP1P_Pos)              /*!< 0x00000400 */
+#define TIM8_AF1_BKCMP1P          TIM8_AF1_BKCMP1P_Msk                         /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM8_AF1_BKCMP2P_Pos      (11U)
+#define TIM8_AF1_BKCMP2P_Msk      (0x1UL << TIM8_AF1_BKCMP2P_Pos)              /*!< 0x00000800 */
+#define TIM8_AF1_BKCMP2P          TIM8_AF1_BKCMP2P_Msk                         /*!<BKCMP2P Break COMP2 input polarity */
+
+#define TIM8_AF1_ETRSEL_Pos       (14U)
+#define TIM8_AF1_ETRSEL_Msk       (0xFUL << TIM8_AF1_ETRSEL_Pos)               /*!< 0x0003C000 */
+#define TIM8_AF1_ETRSEL           TIM8_AF1_ETRSEL_Msk                          /*!<ETRSEL[3:0] bits (TIM8 ETRSEL) */
+#define TIM8_AF1_ETRSEL_0         (0x1UL << TIM8_AF1_ETRSEL_Pos)                /*!< 0x00004000 */
+#define TIM8_AF1_ETRSEL_1         (0x2UL << TIM8_AF1_ETRSEL_Pos)                /*!< 0x00008000 */
+#define TIM8_AF1_ETRSEL_2         (0x4UL << TIM8_AF1_ETRSEL_Pos)                /*!< 0x00010000 */
+#define TIM8_AF1_ETRSEL_3         (0x8UL << TIM8_AF1_ETRSEL_Pos)                /*!< 0x00020000 */
+/*******************  Bit definition for TIM8_AF2 register  *********************/
+#define TIM8_AF2_BK2INE_Pos       (0U)
+#define TIM8_AF2_BK2INE_Msk       (0x1UL << TIM8_AF2_BK2INE_Pos)               /*!< 0x00000001 */
+#define TIM8_AF2_BK2INE           TIM8_AF2_BK2INE_Msk                          /*!<BK2INE Break input 2 enable bit */
+#define TIM8_AF2_BK2CMP1E_Pos     (1U)
+#define TIM8_AF2_BK2CMP1E_Msk     (0x1UL << TIM8_AF2_BK2CMP1E_Pos)             /*!< 0x00000002 */
+#define TIM8_AF2_BK2CMP1E         TIM8_AF2_BK2CMP1E_Msk                        /*!<BK2CMP1E Break2 Compare1 Enable bit */
+#define TIM8_AF2_BK2CMP2E_Pos     (2U)
+#define TIM8_AF2_BK2CMP2E_Msk     (0x1UL << TIM8_AF2_BK2CMP2E_Pos)             /*!< 0x00000004 */
+#define TIM8_AF2_BK2CMP2E         TIM8_AF2_BK2CMP2E_Msk                        /*!<BK2CMP1E Break2 Compare2 Enable bit  */
+#define TIM8_AF2_BK2DFBK3E_Pos    (8U)
+#define TIM8_AF2_BK2DFBK3E_Msk    (0x1UL << TIM8_AF2_BK2DFBK3E_Pos)            /*!< 0x00000100 */
+#define TIM8_AF2_BK2DFBK3E        TIM8_AF2_BK2DFBK3E_Msk                       /*!<BK2DFBK1E Break input2 DFSDM Break 3 */
+#define TIM8_AF2_BK2INP_Pos       (9U)
+#define TIM8_AF2_BK2INP_Msk       (0x1UL << TIM8_AF2_BK2INP_Pos)               /*!< 0x00000200 */
+#define TIM8_AF2_BK2INP           TIM8_AF2_BK2INP_Msk                          /*!<BRKINP Break2 input polarity */
+#define TIM8_AF2_BK2CMP1P_Pos     (10U)
+#define TIM8_AF2_BK2CMP1P_Msk     (0x1UL << TIM8_AF2_BK2CMP1P_Pos)             /*!< 0x00000400 */
+#define TIM8_AF2_BK2CMP1P         TIM8_AF2_BK2CMP1P_Msk                        /*!<BKCMP1P Break2 COMP1 input polarity */
+#define TIM8_AF2_BK2CMP2P_Pos     (11U)
+#define TIM8_AF2_BK2CMP2P_Msk     (0x1UL << TIM8_AF2_BK2CMP2P_Pos)             /*!< 0x00000800 */
+#define TIM8_AF2_BK2CMP2P         TIM8_AF2_BK2CMP2P_Msk                        /*!<BKCMP2P Break2 COMP2 input polarity */
+
+/*******************  Bit definition for TIM2_AF1 register  *********************/
+#define TIM2_AF1_ETRSEL_Pos      (14U)
+#define TIM2_AF1_ETRSEL_Msk      (0xFUL << TIM2_AF1_ETRSEL_Pos)                /*!< 0x0003C000 */
+#define TIM2_AF1_ETRSEL          TIM2_AF1_ETRSEL_Msk                           /*!<ETRSEL[3:0] bits (TIM2 ETRSEL) */
+#define TIM2_AF1_ETRSEL_0        (0x1UL << TIM2_AF1_ETRSEL_Pos)                 /*!< 0x00004000 */
+#define TIM2_AF1_ETRSEL_1        (0x2UL << TIM2_AF1_ETRSEL_Pos)                 /*!< 0x00008000 */
+#define TIM2_AF1_ETRSEL_2        (0x4UL << TIM2_AF1_ETRSEL_Pos)                 /*!< 0x00010000 */
+#define TIM2_AF1_ETRSEL_3        (0x8UL << TIM2_AF1_ETRSEL_Pos)                 /*!< 0x00020000 */
+
+/*******************  Bit definition for TIM3_AF1 register  *********************/
+#define TIM3_AF1_ETRSEL_Pos      (14U)
+#define TIM3_AF1_ETRSEL_Msk      (0xFUL << TIM3_AF1_ETRSEL_Pos)                /*!< 0x0003C000 */
+#define TIM3_AF1_ETRSEL          TIM3_AF1_ETRSEL_Msk                           /*!<ETRSEL[3:0] bits (TIM3 ETRSEL) */
+#define TIM3_AF1_ETRSEL_0        (0x1UL << TIM3_AF1_ETRSEL_Pos)                 /*!< 0x00004000 */
+#define TIM3_AF1_ETRSEL_1        (0x2UL << TIM3_AF1_ETRSEL_Pos)                 /*!< 0x00008000 */
+#define TIM3_AF1_ETRSEL_2        (0x4UL << TIM3_AF1_ETRSEL_Pos)                 /*!< 0x00010000 */
+#define TIM3_AF1_ETRSEL_3        (0x8UL << TIM3_AF1_ETRSEL_Pos)                 /*!< 0x00020000 */
+
+/*******************  Bit definition for TIM5_AF1 register  *********************/
+#define TIM5_AF1_ETRSEL_Pos      (14U)
+#define TIM5_AF1_ETRSEL_Msk      (0xFUL << TIM5_AF1_ETRSEL_Pos)                /*!< 0x0003C000 */
+#define TIM5_AF1_ETRSEL          TIM5_AF1_ETRSEL_Msk                           /*!<ETRSEL[3:0] bits (TIM5 ETRSEL) */
+#define TIM5_AF1_ETRSEL_0        (0x1UL << TIM5_AF1_ETRSEL_Pos)                 /*!< 0x00004000 */
+#define TIM5_AF1_ETRSEL_1        (0x2UL << TIM5_AF1_ETRSEL_Pos)                 /*!< 0x00008000 */
+#define TIM5_AF1_ETRSEL_2        (0x4UL << TIM5_AF1_ETRSEL_Pos)                 /*!< 0x00010000 */
+#define TIM5_AF1_ETRSEL_3        (0x8UL << TIM5_AF1_ETRSEL_Pos)                 /*!< 0x00020000 */
+
+/*******************  Bit definition for TIM15_AF1 register  *********************/
+#define TIM15_AF1_BKINE_Pos        (0U)
+#define TIM15_AF1_BKINE_Msk        (0x1UL << TIM15_AF1_BKINE_Pos)              /*!< 0x00000001 */
+#define TIM15_AF1_BKINE            TIM15_AF1_BKINE_Msk                         /*!<BKINE Break input enable bit */
+#define TIM15_AF1_BKCMP1E_Pos      (1U)
+#define TIM15_AF1_BKCMP1E_Msk      (0x1UL << TIM15_AF1_BKCMP1E_Pos)            /*!< 0x00000002 */
+#define TIM15_AF1_BKCMP1E          TIM15_AF1_BKCMP1E_Msk                       /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM15_AF1_BKCMP2E_Pos      (2U)
+#define TIM15_AF1_BKCMP2E_Msk      (0x1UL << TIM15_AF1_BKCMP2E_Pos)            /*!< 0x00000004 */
+#define TIM15_AF1_BKCMP2E          TIM15_AF1_BKCMP2E_Msk                       /*!<BKCMP1E Break Compare2 Enable bit  */
+#define TIM15_AF1_BKDF1BK2E_Pos    (8U)
+#define TIM15_AF1_BKDF1BK2E_Msk    (0x1UL << TIM15_AF1_BKDF1BK2E_Pos)          /*!< 0x00000100 */
+#define TIM15_AF1_BKDF1BK2E        TIM15_AF1_BKDF1BK2E_Msk                     /*!<BRK dfsdm1_break[0] enable */
+#define TIM15_AF1_BKINP_Pos        (9U)
+#define TIM15_AF1_BKINP_Msk        (0x1UL << TIM15_AF1_BKINP_Pos)              /*!< 0x00000200 */
+#define TIM15_AF1_BKINP            TIM15_AF1_BKINP_Msk                         /*!<BRKINP Break input polarity */
+#define TIM15_AF1_BKCMP1P_Pos      (10U)
+#define TIM15_AF1_BKCMP1P_Msk      (0x1UL << TIM15_AF1_BKCMP1P_Pos)            /*!< 0x00000400 */
+#define TIM15_AF1_BKCMP1P          TIM15_AF1_BKCMP1P_Msk                       /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM15_AF1_BKCMP2P_Pos      (11U)
+#define TIM15_AF1_BKCMP2P_Msk      (0x1UL << TIM15_AF1_BKCMP2P_Pos)            /*!< 0x00000800 */
+#define TIM15_AF1_BKCMP2P          TIM15_AF1_BKCMP2P_Msk                       /*!<BKCMP2P Break COMP2 input polarity */
+
+/*******************  Bit definition for TIM16_ register  *********************/
+#define TIM16_AF1_BKINE_Pos        (0U)
+#define TIM16_AF1_BKINE_Msk        (0x1UL << TIM16_AF1_BKINE_Pos)              /*!< 0x00000001 */
+#define TIM16_AF1_BKINE            TIM16_AF1_BKINE_Msk                         /*!<BKINE Break input enable bit */
+#define TIM16_AF1_BKCMP1E_Pos      (1U)
+#define TIM16_AF1_BKCMP1E_Msk      (0x1UL << TIM16_AF1_BKCMP1E_Pos)            /*!< 0x00000002 */
+#define TIM16_AF1_BKCMP1E          TIM16_AF1_BKCMP1E_Msk                       /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM16_AF1_BKCMP2E_Pos      (2U)
+#define TIM16_AF1_BKCMP2E_Msk      (0x1UL << TIM16_AF1_BKCMP2E_Pos)            /*!< 0x00000004 */
+#define TIM16_AF1_BKCMP2E          TIM16_AF1_BKCMP2E_Msk                       /*!<BKCMP1E Break Compare2 Enable bit  */
+#define TIM16_AF1_BKDF1BK2E_Pos    (8U)
+#define TIM16_AF1_BKDF1BK2E_Msk    (0x1UL << TIM16_AF1_BKDF1BK2E_Pos)          /*!< 0x00000100 */
+#define TIM16_AF1_BKDF1BK2E        TIM16_AF1_BKDF1BK2E_Msk                     /*!<BRK dfsdm1_break[1] enable */
+#define TIM16_AF1_BKINP_Pos        (9U)
+#define TIM16_AF1_BKINP_Msk        (0x1UL << TIM16_AF1_BKINP_Pos)              /*!< 0x00000200 */
+#define TIM16_AF1_BKINP            TIM16_AF1_BKINP_Msk                         /*!<BRKINP Break input polarity */
+#define TIM16_AF1_BKCMP1P_Pos      (10U)
+#define TIM16_AF1_BKCMP1P_Msk      (0x1UL << TIM16_AF1_BKCMP1P_Pos)            /*!< 0x00000400 */
+#define TIM16_AF1_BKCMP1P          TIM16_AF1_BKCMP1P_Msk                       /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM16_AF1_BKCMP2P_Pos      (11U)
+#define TIM16_AF1_BKCMP2P_Msk      (0x1UL << TIM16_AF1_BKCMP2P_Pos)            /*!< 0x00000800 */
+#define TIM16_AF1_BKCMP2P          TIM16_AF1_BKCMP2P_Msk                       /*!<BKCMP2P Break COMP2 input polarity */
+
+/*******************  Bit definition for TIM17_AF1 register  *********************/
+#define TIM17_AF1_BKINE_Pos        (0U)
+#define TIM17_AF1_BKINE_Msk        (0x1UL << TIM17_AF1_BKINE_Pos)              /*!< 0x00000001 */
+#define TIM17_AF1_BKINE            TIM17_AF1_BKINE_Msk                         /*!<BKINE Break input enable bit */
+#define TIM17_AF1_BKCMP1E_Pos      (1U)
+#define TIM17_AF1_BKCMP1E_Msk      (0x1UL << TIM17_AF1_BKCMP1E_Pos)            /*!< 0x00000002 */
+#define TIM17_AF1_BKCMP1E          TIM17_AF1_BKCMP1E_Msk                       /*!<BKCMP1E Break Compare1 Enable bit */
+#define TIM17_AF1_BKCMP2E_Pos      (2U)
+#define TIM17_AF1_BKCMP2E_Msk      (0x1UL << TIM17_AF1_BKCMP2E_Pos)            /*!< 0x00000004 */
+#define TIM17_AF1_BKCMP2E          TIM17_AF1_BKCMP2E_Msk                       /*!<BKCMP1E Break Compare2 Enable bit  */
+#define TIM17_AF1_BKDF1BK2E_Pos    (8U)
+#define TIM17_AF1_BKDF1BK2E_Msk    (0x1UL << TIM17_AF1_BKDF1BK2E_Pos)          /*!< 0x00000100 */
+#define TIM17_AF1_BKDF1BK2E        TIM17_AF1_BKDF1BK2E_Msk                     /*!<BRK dfsdm1_break[2] enable */
+#define TIM17_AF1_BKINP_Pos        (9U)
+#define TIM17_AF1_BKINP_Msk        (0x1UL << TIM17_AF1_BKINP_Pos)              /*!< 0x00000200 */
+#define TIM17_AF1_BKINP            TIM17_AF1_BKINP_Msk                         /*!<BRKINP Break input polarity */
+#define TIM17_AF1_BKCMP1P_Pos      (10U)
+#define TIM17_AF1_BKCMP1P_Msk      (0x1UL << TIM17_AF1_BKCMP1P_Pos)            /*!< 0x00000400 */
+#define TIM17_AF1_BKCMP1P          TIM17_AF1_BKCMP1P_Msk                       /*!<BKCMP1P Break COMP1 input polarity */
+#define TIM17_AF1_BKCMP2P_Pos      (11U)
+#define TIM17_AF1_BKCMP2P_Msk      (0x1UL << TIM17_AF1_BKCMP2P_Pos)            /*!< 0x00000800 */
+#define TIM17_AF1_BKCMP2P          TIM17_AF1_BKCMP2P_Msk                       /*!<BKCMP2P Break COMP2 input polarity */
+
+/******************************************************************************/
+/*                                                                            */
+/*                         Low Power Timer (LPTTIM)                           */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for LPTIM_ISR register  *******************/
+#define LPTIM_ISR_CMPM_Pos          (0U)
+#define LPTIM_ISR_CMPM_Msk          (0x1UL << LPTIM_ISR_CMPM_Pos)              /*!< 0x00000001 */
+#define LPTIM_ISR_CMPM              LPTIM_ISR_CMPM_Msk                         /*!< Compare match */
+#define LPTIM_ISR_ARRM_Pos          (1U)
+#define LPTIM_ISR_ARRM_Msk          (0x1UL << LPTIM_ISR_ARRM_Pos)              /*!< 0x00000002 */
+#define LPTIM_ISR_ARRM              LPTIM_ISR_ARRM_Msk                         /*!< Autoreload match */
+#define LPTIM_ISR_EXTTRIG_Pos       (2U)
+#define LPTIM_ISR_EXTTRIG_Msk       (0x1UL << LPTIM_ISR_EXTTRIG_Pos)           /*!< 0x00000004 */
+#define LPTIM_ISR_EXTTRIG           LPTIM_ISR_EXTTRIG_Msk                      /*!< External trigger edge event */
+#define LPTIM_ISR_CMPOK_Pos         (3U)
+#define LPTIM_ISR_CMPOK_Msk         (0x1UL << LPTIM_ISR_CMPOK_Pos)             /*!< 0x00000008 */
+#define LPTIM_ISR_CMPOK             LPTIM_ISR_CMPOK_Msk                        /*!< Compare register update OK */
+#define LPTIM_ISR_ARROK_Pos         (4U)
+#define LPTIM_ISR_ARROK_Msk         (0x1UL << LPTIM_ISR_ARROK_Pos)             /*!< 0x00000010 */
+#define LPTIM_ISR_ARROK             LPTIM_ISR_ARROK_Msk                        /*!< Autoreload register update OK */
+#define LPTIM_ISR_UP_Pos            (5U)
+#define LPTIM_ISR_UP_Msk            (0x1UL << LPTIM_ISR_UP_Pos)                /*!< 0x00000020 */
+#define LPTIM_ISR_UP                LPTIM_ISR_UP_Msk                           /*!< Counter direction change down to up */
+#define LPTIM_ISR_DOWN_Pos          (6U)
+#define LPTIM_ISR_DOWN_Msk          (0x1UL << LPTIM_ISR_DOWN_Pos)              /*!< 0x00000040 */
+#define LPTIM_ISR_DOWN              LPTIM_ISR_DOWN_Msk                         /*!< Counter direction change up to down */
+
+/******************  Bit definition for LPTIM_ICR register  *******************/
+#define LPTIM_ICR_CMPMCF_Pos        (0U)
+#define LPTIM_ICR_CMPMCF_Msk        (0x1UL << LPTIM_ICR_CMPMCF_Pos)            /*!< 0x00000001 */
+#define LPTIM_ICR_CMPMCF            LPTIM_ICR_CMPMCF_Msk                       /*!< Compare match Clear Flag */
+#define LPTIM_ICR_ARRMCF_Pos        (1U)
+#define LPTIM_ICR_ARRMCF_Msk        (0x1UL << LPTIM_ICR_ARRMCF_Pos)            /*!< 0x00000002 */
+#define LPTIM_ICR_ARRMCF            LPTIM_ICR_ARRMCF_Msk                       /*!< Autoreload match Clear Flag */
+#define LPTIM_ICR_EXTTRIGCF_Pos     (2U)
+#define LPTIM_ICR_EXTTRIGCF_Msk     (0x1UL << LPTIM_ICR_EXTTRIGCF_Pos)         /*!< 0x00000004 */
+#define LPTIM_ICR_EXTTRIGCF         LPTIM_ICR_EXTTRIGCF_Msk                    /*!< External trigger edge event Clear Flag */
+#define LPTIM_ICR_CMPOKCF_Pos       (3U)
+#define LPTIM_ICR_CMPOKCF_Msk       (0x1UL << LPTIM_ICR_CMPOKCF_Pos)           /*!< 0x00000008 */
+#define LPTIM_ICR_CMPOKCF           LPTIM_ICR_CMPOKCF_Msk                      /*!< Compare register update OK Clear Flag */
+#define LPTIM_ICR_ARROKCF_Pos       (4U)
+#define LPTIM_ICR_ARROKCF_Msk       (0x1UL << LPTIM_ICR_ARROKCF_Pos)           /*!< 0x00000010 */
+#define LPTIM_ICR_ARROKCF           LPTIM_ICR_ARROKCF_Msk                      /*!< Autoreload register update OK Clear Flag */
+#define LPTIM_ICR_UPCF_Pos          (5U)
+#define LPTIM_ICR_UPCF_Msk          (0x1UL << LPTIM_ICR_UPCF_Pos)              /*!< 0x00000020 */
+#define LPTIM_ICR_UPCF              LPTIM_ICR_UPCF_Msk                         /*!< Counter direction change down to up Clear Flag */
+#define LPTIM_ICR_DOWNCF_Pos        (6U)
+#define LPTIM_ICR_DOWNCF_Msk        (0x1UL << LPTIM_ICR_DOWNCF_Pos)            /*!< 0x00000040 */
+#define LPTIM_ICR_DOWNCF            LPTIM_ICR_DOWNCF_Msk                       /*!< Counter direction change up to down Clear Flag */
+
+/******************  Bit definition for LPTIM_IER register ********************/
+#define LPTIM_IER_CMPMIE_Pos        (0U)
+#define LPTIM_IER_CMPMIE_Msk        (0x1UL << LPTIM_IER_CMPMIE_Pos)            /*!< 0x00000001 */
+#define LPTIM_IER_CMPMIE            LPTIM_IER_CMPMIE_Msk                       /*!< Compare match Interrupt Enable */
+#define LPTIM_IER_ARRMIE_Pos        (1U)
+#define LPTIM_IER_ARRMIE_Msk        (0x1UL << LPTIM_IER_ARRMIE_Pos)            /*!< 0x00000002 */
+#define LPTIM_IER_ARRMIE            LPTIM_IER_ARRMIE_Msk                       /*!< Autoreload match Interrupt Enable */
+#define LPTIM_IER_EXTTRIGIE_Pos     (2U)
+#define LPTIM_IER_EXTTRIGIE_Msk     (0x1UL << LPTIM_IER_EXTTRIGIE_Pos)         /*!< 0x00000004 */
+#define LPTIM_IER_EXTTRIGIE         LPTIM_IER_EXTTRIGIE_Msk                    /*!< External trigger edge event Interrupt Enable */
+#define LPTIM_IER_CMPOKIE_Pos       (3U)
+#define LPTIM_IER_CMPOKIE_Msk       (0x1UL << LPTIM_IER_CMPOKIE_Pos)           /*!< 0x00000008 */
+#define LPTIM_IER_CMPOKIE           LPTIM_IER_CMPOKIE_Msk                      /*!< Compare register update OK Interrupt Enable */
+#define LPTIM_IER_ARROKIE_Pos       (4U)
+#define LPTIM_IER_ARROKIE_Msk       (0x1UL << LPTIM_IER_ARROKIE_Pos)           /*!< 0x00000010 */
+#define LPTIM_IER_ARROKIE           LPTIM_IER_ARROKIE_Msk                      /*!< Autoreload register update OK Interrupt Enable */
+#define LPTIM_IER_UPIE_Pos          (5U)
+#define LPTIM_IER_UPIE_Msk          (0x1UL << LPTIM_IER_UPIE_Pos)              /*!< 0x00000020 */
+#define LPTIM_IER_UPIE              LPTIM_IER_UPIE_Msk                         /*!< Counter direction change down to up Interrupt Enable */
+#define LPTIM_IER_DOWNIE_Pos        (6U)
+#define LPTIM_IER_DOWNIE_Msk        (0x1UL << LPTIM_IER_DOWNIE_Pos)            /*!< 0x00000040 */
+#define LPTIM_IER_DOWNIE            LPTIM_IER_DOWNIE_Msk                       /*!< Counter direction change up to down Interrupt Enable */
+
+/******************  Bit definition for LPTIM_CFGR register *******************/
+#define LPTIM_CFGR_CKSEL_Pos        (0U)
+#define LPTIM_CFGR_CKSEL_Msk        (0x1UL << LPTIM_CFGR_CKSEL_Pos)            /*!< 0x00000001 */
+#define LPTIM_CFGR_CKSEL            LPTIM_CFGR_CKSEL_Msk                       /*!< Clock selector */
+
+#define LPTIM_CFGR_CKPOL_Pos        (1U)
+#define LPTIM_CFGR_CKPOL_Msk        (0x3UL << LPTIM_CFGR_CKPOL_Pos)            /*!< 0x00000006 */
+#define LPTIM_CFGR_CKPOL            LPTIM_CFGR_CKPOL_Msk                       /*!< CKPOL[1:0] bits (Clock polarity) */
+#define LPTIM_CFGR_CKPOL_0          (0x1UL << LPTIM_CFGR_CKPOL_Pos)             /*!< 0x00000002 */
+#define LPTIM_CFGR_CKPOL_1          (0x2UL << LPTIM_CFGR_CKPOL_Pos)             /*!< 0x00000004 */
+
+#define LPTIM_CFGR_CKFLT_Pos        (3U)
+#define LPTIM_CFGR_CKFLT_Msk        (0x3UL << LPTIM_CFGR_CKFLT_Pos)            /*!< 0x00000018 */
+#define LPTIM_CFGR_CKFLT            LPTIM_CFGR_CKFLT_Msk                       /*!< CKFLT[1:0] bits (Configurable digital filter for external clock) */
+#define LPTIM_CFGR_CKFLT_0          (0x1UL << LPTIM_CFGR_CKFLT_Pos)             /*!< 0x00000008 */
+#define LPTIM_CFGR_CKFLT_1          (0x2UL << LPTIM_CFGR_CKFLT_Pos)             /*!< 0x00000010 */
+
+#define LPTIM_CFGR_TRGFLT_Pos       (6U)
+#define LPTIM_CFGR_TRGFLT_Msk       (0x3UL << LPTIM_CFGR_TRGFLT_Pos)           /*!< 0x000000C0 */
+#define LPTIM_CFGR_TRGFLT           LPTIM_CFGR_TRGFLT_Msk                      /*!< TRGFLT[1:0] bits (Configurable digital filter for trigger) */
+#define LPTIM_CFGR_TRGFLT_0         (0x1UL << LPTIM_CFGR_TRGFLT_Pos)            /*!< 0x00000040 */
+#define LPTIM_CFGR_TRGFLT_1         (0x2UL << LPTIM_CFGR_TRGFLT_Pos)            /*!< 0x00000080 */
+
+#define LPTIM_CFGR_PRESC_Pos        (9U)
+#define LPTIM_CFGR_PRESC_Msk        (0x7UL << LPTIM_CFGR_PRESC_Pos)            /*!< 0x00000E00 */
+#define LPTIM_CFGR_PRESC            LPTIM_CFGR_PRESC_Msk                       /*!< PRESC[2:0] bits (Clock prescaler) */
+#define LPTIM_CFGR_PRESC_0          (0x1UL << LPTIM_CFGR_PRESC_Pos)             /*!< 0x00000200 */
+#define LPTIM_CFGR_PRESC_1          (0x2UL << LPTIM_CFGR_PRESC_Pos)             /*!< 0x00000400 */
+#define LPTIM_CFGR_PRESC_2          (0x4UL << LPTIM_CFGR_PRESC_Pos)             /*!< 0x00000800 */
+
+#define LPTIM_CFGR_TRIGSEL_Pos      (13U)
+#define LPTIM_CFGR_TRIGSEL_Msk      (0x7UL << LPTIM_CFGR_TRIGSEL_Pos)          /*!< 0x0000E000 */
+#define LPTIM_CFGR_TRIGSEL          LPTIM_CFGR_TRIGSEL_Msk                     /*!< TRIGSEL[2:0]] bits (Trigger selector) */
+#define LPTIM_CFGR_TRIGSEL_0        (0x1UL << LPTIM_CFGR_TRIGSEL_Pos)           /*!< 0x00002000 */
+#define LPTIM_CFGR_TRIGSEL_1        (0x2UL << LPTIM_CFGR_TRIGSEL_Pos)           /*!< 0x00004000 */
+#define LPTIM_CFGR_TRIGSEL_2        (0x4UL << LPTIM_CFGR_TRIGSEL_Pos)           /*!< 0x00008000 */
+
+#define LPTIM_CFGR_TRIGEN_Pos       (17U)
+#define LPTIM_CFGR_TRIGEN_Msk       (0x3UL << LPTIM_CFGR_TRIGEN_Pos)           /*!< 0x00060000 */
+#define LPTIM_CFGR_TRIGEN           LPTIM_CFGR_TRIGEN_Msk                      /*!< TRIGEN[1:0] bits (Trigger enable and polarity) */
+#define LPTIM_CFGR_TRIGEN_0         (0x1UL << LPTIM_CFGR_TRIGEN_Pos)            /*!< 0x00020000 */
+#define LPTIM_CFGR_TRIGEN_1         (0x2UL << LPTIM_CFGR_TRIGEN_Pos)            /*!< 0x00040000 */
+
+#define LPTIM_CFGR_TIMOUT_Pos       (19U)
+#define LPTIM_CFGR_TIMOUT_Msk       (0x1UL << LPTIM_CFGR_TIMOUT_Pos)           /*!< 0x00080000 */
+#define LPTIM_CFGR_TIMOUT           LPTIM_CFGR_TIMOUT_Msk                      /*!< Timout enable */
+#define LPTIM_CFGR_WAVE_Pos         (20U)
+#define LPTIM_CFGR_WAVE_Msk         (0x1UL << LPTIM_CFGR_WAVE_Pos)             /*!< 0x00100000 */
+#define LPTIM_CFGR_WAVE             LPTIM_CFGR_WAVE_Msk                        /*!< Waveform shape */
+#define LPTIM_CFGR_WAVPOL_Pos       (21U)
+#define LPTIM_CFGR_WAVPOL_Msk       (0x1UL << LPTIM_CFGR_WAVPOL_Pos)           /*!< 0x00200000 */
+#define LPTIM_CFGR_WAVPOL           LPTIM_CFGR_WAVPOL_Msk                      /*!< Waveform shape polarity */
+#define LPTIM_CFGR_PRELOAD_Pos      (22U)
+#define LPTIM_CFGR_PRELOAD_Msk      (0x1UL << LPTIM_CFGR_PRELOAD_Pos)          /*!< 0x00400000 */
+#define LPTIM_CFGR_PRELOAD          LPTIM_CFGR_PRELOAD_Msk                     /*!< Reg update mode */
+#define LPTIM_CFGR_COUNTMODE_Pos    (23U)
+#define LPTIM_CFGR_COUNTMODE_Msk    (0x1UL << LPTIM_CFGR_COUNTMODE_Pos)        /*!< 0x00800000 */
+#define LPTIM_CFGR_COUNTMODE        LPTIM_CFGR_COUNTMODE_Msk                   /*!< Counter mode enable */
+#define LPTIM_CFGR_ENC_Pos          (24U)
+#define LPTIM_CFGR_ENC_Msk          (0x1UL << LPTIM_CFGR_ENC_Pos)              /*!< 0x01000000 */
+#define LPTIM_CFGR_ENC              LPTIM_CFGR_ENC_Msk                         /*!< Encoder mode enable */
+
+/******************  Bit definition for LPTIM_CR register  ********************/
+#define LPTIM_CR_ENABLE_Pos         (0U)
+#define LPTIM_CR_ENABLE_Msk         (0x1UL << LPTIM_CR_ENABLE_Pos)             /*!< 0x00000001 */
+#define LPTIM_CR_ENABLE             LPTIM_CR_ENABLE_Msk                        /*!< LPTIMer enable */
+#define LPTIM_CR_SNGSTRT_Pos        (1U)
+#define LPTIM_CR_SNGSTRT_Msk        (0x40001UL << LPTIM_CR_SNGSTRT_Pos)        /*!< 0x00080002 */
+#define LPTIM_CR_SNGSTRT            LPTIM_CR_SNGSTRT_Msk                       /*!< Timer start in single mode */
+#define LPTIM_CR_CNTSTRT_Pos        (2U)
+#define LPTIM_CR_CNTSTRT_Msk        (0x1UL << LPTIM_CR_CNTSTRT_Pos)            /*!< 0x00000004 */
+#define LPTIM_CR_CNTSTRT            LPTIM_CR_CNTSTRT_Msk                       /*!< Timer start in continuous mode */
+#define LPTIM_CR_COUNTRST_Pos       (3U)
+#define LPTIM_CR_COUNTRST_Msk       (0x1UL << LPTIM_CR_COUNTRST_Pos)           /*!< 0x00000008 */
+#define LPTIM_CR_COUNTRST           LPTIM_CR_COUNTRST_Msk                      /*!< Timer Counter reset in synchronous mode*/
+#define LPTIM_CR_RSTARE_Pos         (4U)
+#define LPTIM_CR_RSTARE_Msk         (0x1UL << LPTIM_CR_RSTARE_Pos)             /*!< 0x00000010 */
+#define LPTIM_CR_RSTARE             LPTIM_CR_RSTARE_Msk                        /*!< Timer Counter reset after read enable (asynchronously)*/
+
+
+/******************  Bit definition for LPTIM_CMP register  *******************/
+#define LPTIM_CMP_CMP_Pos           (0U)
+#define LPTIM_CMP_CMP_Msk           (0xFFFFUL << LPTIM_CMP_CMP_Pos)            /*!< 0x0000FFFF */
+#define LPTIM_CMP_CMP               LPTIM_CMP_CMP_Msk                          /*!< Compare register */
+
+/******************  Bit definition for LPTIM_ARR register  *******************/
+#define LPTIM_ARR_ARR_Pos           (0U)
+#define LPTIM_ARR_ARR_Msk           (0xFFFFUL << LPTIM_ARR_ARR_Pos)            /*!< 0x0000FFFF */
+#define LPTIM_ARR_ARR               LPTIM_ARR_ARR_Msk                          /*!< Auto reload register */
+
+/******************  Bit definition for LPTIM_CNT register  *******************/
+#define LPTIM_CNT_CNT_Pos           (0U)
+#define LPTIM_CNT_CNT_Msk           (0xFFFFUL << LPTIM_CNT_CNT_Pos)            /*!< 0x0000FFFF */
+#define LPTIM_CNT_CNT               LPTIM_CNT_CNT_Msk                          /*!< Counter register */
+
+/******************  Bit definition for LPTIM_CFGR2 register  *****************/
+#define LPTIM_CFGR2_IN1SEL_Pos      (0U)
+#define LPTIM_CFGR2_IN1SEL_Msk      (0x3UL << LPTIM_CFGR2_IN1SEL_Pos)          /*!< 0x00000003 */
+#define LPTIM_CFGR2_IN1SEL          LPTIM_CFGR2_IN1SEL_Msk                     /*!< IN1SEL[1:0] bits (Remap selection) */
+#define LPTIM_CFGR2_IN1SEL_0        (0x1UL << LPTIM_CFGR2_IN1SEL_Pos)           /*!< 0x00000001 */
+#define LPTIM_CFGR2_IN1SEL_1        (0x2UL << LPTIM_CFGR2_IN1SEL_Pos)           /*!< 0x00000002 */
+#define LPTIM_CFGR2_IN2SEL_Pos      (4U)
+#define LPTIM_CFGR2_IN2SEL_Msk      (0x3UL << LPTIM_CFGR2_IN2SEL_Pos)          /*!< 0x00000030 */
+#define LPTIM_CFGR2_IN2SEL          LPTIM_CFGR2_IN2SEL_Msk                     /*!< IN2SEL[5:4] bits (Remap selection) */
+#define LPTIM_CFGR2_IN2SEL_0        (0x1UL << LPTIM_CFGR2_IN2SEL_Pos)           /*!< 0x00000010 */
+#define LPTIM_CFGR2_IN2SEL_1        (0x2UL << LPTIM_CFGR2_IN2SEL_Pos)           /*!< 0x00000020 */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                    OCTOSPI                                 */
+/*                                                                            */
+/******************************************************************************/
+/*****************  Bit definition for OCTOSPI_CR register  *******************/
+#define OCTOSPI_CR_EN_Pos              (0U)
+#define OCTOSPI_CR_EN_Msk              (0x1UL << OCTOSPI_CR_EN_Pos)             /*!< 0x00000001 */
+#define OCTOSPI_CR_EN                  OCTOSPI_CR_EN_Msk                       /*!< Enable */
+#define OCTOSPI_CR_ABORT_Pos           (1U)
+#define OCTOSPI_CR_ABORT_Msk           (0x1UL << OCTOSPI_CR_ABORT_Pos)          /*!< 0x00000002 */
+#define OCTOSPI_CR_ABORT               OCTOSPI_CR_ABORT_Msk                    /*!< Abort request */
+#define OCTOSPI_CR_DMAEN_Pos           (2U)
+#define OCTOSPI_CR_DMAEN_Msk           (0x1UL << OCTOSPI_CR_DMAEN_Pos)          /*!< 0x00000004 */
+#define OCTOSPI_CR_DMAEN               OCTOSPI_CR_DMAEN_Msk                    /*!< DMA Enable */
+#define OCTOSPI_CR_TCEN_Pos            (3U)
+#define OCTOSPI_CR_TCEN_Msk            (0x1UL << OCTOSPI_CR_TCEN_Pos)           /*!< 0x00000008 */
+#define OCTOSPI_CR_TCEN                OCTOSPI_CR_TCEN_Msk                     /*!< Timeout Counter Enable */
+#define OCTOSPI_CR_DQM_Pos             (6U)
+#define OCTOSPI_CR_DQM_Msk             (0x1UL << OCTOSPI_CR_DQM_Pos)            /*!< 0x00000040 */
+#define OCTOSPI_CR_DQM                 OCTOSPI_CR_DQM_Msk                      /*!< Dual-Quad Mode */
+#define OCTOSPI_CR_FSEL_Pos            (7U)
+#define OCTOSPI_CR_FSEL_Msk            (0x1UL << OCTOSPI_CR_FSEL_Pos)           /*!< 0x00000080 */
+#define OCTOSPI_CR_FSEL                OCTOSPI_CR_FSEL_Msk                     /*!< Flash Select */
+#define OCTOSPI_CR_FTHRES_Pos          (8U)
+#define OCTOSPI_CR_FTHRES_Msk          (0x1FUL << OCTOSPI_CR_FTHRES_Pos)        /*!< 0x00001F00 */
+#define OCTOSPI_CR_FTHRES              OCTOSPI_CR_FTHRES_Msk                   /*!< FIFO Threshold Level */
+#define OCTOSPI_CR_TEIE_Pos            (16U)
+#define OCTOSPI_CR_TEIE_Msk            (0x1UL << OCTOSPI_CR_TEIE_Pos)           /*!< 0x00010000 */
+#define OCTOSPI_CR_TEIE                OCTOSPI_CR_TEIE_Msk                     /*!< Transfer Error Interrupt Enable */
+#define OCTOSPI_CR_TCIE_Pos            (17U)
+#define OCTOSPI_CR_TCIE_Msk            (0x1UL << OCTOSPI_CR_TCIE_Pos)           /*!< 0x00020000 */
+#define OCTOSPI_CR_TCIE                OCTOSPI_CR_TCIE_Msk                     /*!< Transfer Complete Interrupt Enable */
+#define OCTOSPI_CR_FTIE_Pos            (18U)
+#define OCTOSPI_CR_FTIE_Msk            (0x1UL << OCTOSPI_CR_FTIE_Pos)           /*!< 0x00040000 */
+#define OCTOSPI_CR_FTIE                OCTOSPI_CR_FTIE_Msk                     /*!< FIFO Threshold Interrupt Enable */
+#define OCTOSPI_CR_SMIE_Pos            (19U)
+#define OCTOSPI_CR_SMIE_Msk            (0x1UL << OCTOSPI_CR_SMIE_Pos)           /*!< 0x00080000 */
+#define OCTOSPI_CR_SMIE                OCTOSPI_CR_SMIE_Msk                     /*!< Status Match Interrupt Enable */
+#define OCTOSPI_CR_TOIE_Pos            (20U)
+#define OCTOSPI_CR_TOIE_Msk            (0x1UL << OCTOSPI_CR_TOIE_Pos)           /*!< 0x00100000 */
+#define OCTOSPI_CR_TOIE                OCTOSPI_CR_TOIE_Msk                     /*!< TimeOut Interrupt Enable */
+#define OCTOSPI_CR_APMS_Pos            (22U)
+#define OCTOSPI_CR_APMS_Msk            (0x1UL << OCTOSPI_CR_APMS_Pos)           /*!< 0x00400000 */
+#define OCTOSPI_CR_APMS                OCTOSPI_CR_APMS_Msk                     /*!< Automatic Poll Mode Stop */
+#define OCTOSPI_CR_PMM_Pos             (23U)
+#define OCTOSPI_CR_PMM_Msk             (0x1UL << OCTOSPI_CR_PMM_Pos)            /*!< 0x00800000 */
+#define OCTOSPI_CR_PMM                 OCTOSPI_CR_PMM_Msk                      /*!< Polling Match Mode */
+#define OCTOSPI_CR_FMODE_Pos           (28U)
+#define OCTOSPI_CR_FMODE_Msk           (0x3UL << OCTOSPI_CR_FMODE_Pos)          /*!< 0x30000000 */
+#define OCTOSPI_CR_FMODE               OCTOSPI_CR_FMODE_Msk                    /*!< Functional Mode */
+#define OCTOSPI_CR_FMODE_0             (0x1UL << OCTOSPI_CR_FMODE_Pos)          /*!< 0x10000000 */
+#define OCTOSPI_CR_FMODE_1             (0x2UL << OCTOSPI_CR_FMODE_Pos)          /*!< 0x20000000 */
+
+/****************  Bit definition for OCTOSPI_DCR1 register  ******************/
+#define OCTOSPI_DCR1_CKMODE_Pos        (0U)
+#define OCTOSPI_DCR1_CKMODE_Msk        (0x1UL << OCTOSPI_DCR1_CKMODE_Pos)       /*!< 0x00000001 */
+#define OCTOSPI_DCR1_CKMODE            OCTOSPI_DCR1_CKMODE_Msk                 /*!< Mode 0 / Mode 3 */
+#define OCTOSPI_DCR1_FRCK_Pos          (1U)
+#define OCTOSPI_DCR1_FRCK_Msk          (0x1UL << OCTOSPI_DCR1_FRCK_Pos)         /*!< 0x00000002 */
+#define OCTOSPI_DCR1_FRCK              OCTOSPI_DCR1_FRCK_Msk                   /*!< Free Running Clock */
+#define OCTOSPI_DCR1_DLYBYP_Pos        (3U)
+#define OCTOSPI_DCR1_DLYBYP_Msk        (0x1UL << OCTOSPI_DCR1_DLYBYP_Pos)       /*!< 0x00000008 */
+#define OCTOSPI_DCR1_DLYBYP            OCTOSPI_DCR1_DLYBYP_Msk                 /*!< Delay Block */
+#define OCTOSPI_DCR1_CKCSHT_Pos        (4U)
+#define OCTOSPI_DCR1_CKCSHT_Msk        (0x7UL << OCTOSPI_DCR1_CKCSHT_Pos)       /*!< 0x00000070 */
+#define OCTOSPI_DCR1_CKCSHT            OCTOSPI_DCR1_CKCSHT_Msk                 /*!< Clocked Chip Select High Time */
+#define OCTOSPI_DCR1_CSHT_Pos          (8U)
+#define OCTOSPI_DCR1_CSHT_Msk          (0x7UL << OCTOSPI_DCR1_CSHT_Pos)         /*!< 0x00000700 */
+#define OCTOSPI_DCR1_CSHT              OCTOSPI_DCR1_CSHT_Msk                   /*!< Chip Select High Time */
+#define OCTOSPI_DCR1_DEVSIZE_Pos       (16U)
+#define OCTOSPI_DCR1_DEVSIZE_Msk       (0x1FUL << OCTOSPI_DCR1_DEVSIZE_Pos)     /*!< 0x001F0000 */
+#define OCTOSPI_DCR1_DEVSIZE           OCTOSPI_DCR1_DEVSIZE_Msk                /*!< Device Size */
+#define OCTOSPI_DCR1_MTYP_Pos          (24U)
+#define OCTOSPI_DCR1_MTYP_Msk          (0x7UL << OCTOSPI_DCR1_MTYP_Pos)         /*!< 0x07000000 */
+#define OCTOSPI_DCR1_MTYP              OCTOSPI_DCR1_MTYP_Msk                   /*!< Memory Type */
+#define OCTOSPI_DCR1_MTYP_0            (0x1UL << OCTOSPI_DCR1_MTYP_Pos)         /*!< 0x01000000 */
+#define OCTOSPI_DCR1_MTYP_1            (0x2UL << OCTOSPI_DCR1_MTYP_Pos)         /*!< 0x02000000 */
+#define OCTOSPI_DCR1_MTYP_2            (0x4UL << OCTOSPI_DCR1_MTYP_Pos)         /*!< 0x04000000 */
+
+/****************  Bit definition for OCTOSPI_DCR2 register  ******************/
+#define OCTOSPI_DCR2_PRESCALER_Pos     (0U)
+#define OCTOSPI_DCR2_PRESCALER_Msk     (0xFFUL << OCTOSPI_DCR2_PRESCALER_Pos)   /*!< 0x000000FF */
+#define OCTOSPI_DCR2_PRESCALER         OCTOSPI_DCR2_PRESCALER_Msk              /*!< Clock prescaler */
+#define OCTOSPI_DCR2_WRAPSIZE_Pos      (16U)
+#define OCTOSPI_DCR2_WRAPSIZE_Msk      (0x7UL << OCTOSPI_DCR2_WRAPSIZE_Pos)     /*!< 0x00070000 */
+#define OCTOSPI_DCR2_WRAPSIZE          OCTOSPI_DCR2_WRAPSIZE_Msk               /*!< Wrap Size */
+#define OCTOSPI_DCR2_WRAPSIZE_0        (0x1UL << OCTOSPI_DCR2_WRAPSIZE_Pos)     /*!< 0x00010000 */
+#define OCTOSPI_DCR2_WRAPSIZE_1        (0x2UL << OCTOSPI_DCR2_WRAPSIZE_Pos)     /*!< 0x00020000 */
+#define OCTOSPI_DCR2_WRAPSIZE_2        (0x4UL << OCTOSPI_DCR2_WRAPSIZE_Pos)     /*!< 0x00040000 */
+
+/****************  Bit definition for OCTOSPI_DCR3 register  ******************/
+#define OCTOSPI_DCR3_MAXTRAN_Pos       (0U)
+#define OCTOSPI_DCR3_MAXTRAN_Msk       (0xFFUL << OCTOSPI_DCR3_MAXTRAN_Pos)     /*!< 0x000000FF */
+#define OCTOSPI_DCR3_MAXTRAN           OCTOSPI_DCR3_MAXTRAN_Msk                /*!< Maximum Transfer */
+#define OCTOSPI_DCR3_CSBOUND_Pos       (16U)
+#define OCTOSPI_DCR3_CSBOUND_Msk       (0x1FUL << OCTOSPI_DCR3_CSBOUND_Pos)     /*!< 0x001F0000 */
+#define OCTOSPI_DCR3_CSBOUND           OCTOSPI_DCR3_CSBOUND_Msk                /*!< CS Boundary */
+
+/****************  Bit definition for OCTOSPI_DCR4 register  ******************/
+#define OCTOSPI_DCR4_REFRESH_Pos       (0U)
+#define OCTOSPI_DCR4_REFRESH_Msk       (0xFFFFFFFFUL << OCTOSPI_DCR4_REFRESH_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_DCR4_REFRESH           OCTOSPI_DCR4_REFRESH_Msk                /*!< Refresh rate */
+
+/*****************  Bit definition for OCTOSPI_SR register  *******************/
+#define OCTOSPI_SR_TEF_Pos             (0U)
+#define OCTOSPI_SR_TEF_Msk             (0x1UL << OCTOSPI_SR_TEF_Pos)            /*!< 0x00000001 */
+#define OCTOSPI_SR_TEF                 OCTOSPI_SR_TEF_Msk                      /*!< Transfer Error Flag */
+#define OCTOSPI_SR_TCF_Pos             (1U)
+#define OCTOSPI_SR_TCF_Msk             (0x1UL << OCTOSPI_SR_TCF_Pos)            /*!< 0x00000002 */
+#define OCTOSPI_SR_TCF                 OCTOSPI_SR_TCF_Msk                      /*!< Transfer Complete Flag */
+#define OCTOSPI_SR_FTF_Pos             (2U)
+#define OCTOSPI_SR_FTF_Msk             (0x1UL << OCTOSPI_SR_FTF_Pos)            /*!< 0x00000004 */
+#define OCTOSPI_SR_FTF                 OCTOSPI_SR_FTF_Msk                      /*!< FIFO Threshold Flag */
+#define OCTOSPI_SR_SMF_Pos             (3U)
+#define OCTOSPI_SR_SMF_Msk             (0x1UL << OCTOSPI_SR_SMF_Pos)            /*!< 0x00000008 */
+#define OCTOSPI_SR_SMF                 OCTOSPI_SR_SMF_Msk                      /*!< Status Match Flag */
+#define OCTOSPI_SR_TOF_Pos             (4U)
+#define OCTOSPI_SR_TOF_Msk             (0x1UL << OCTOSPI_SR_TOF_Pos)            /*!< 0x00000010 */
+#define OCTOSPI_SR_TOF                 OCTOSPI_SR_TOF_Msk                      /*!< Timeout Flag */
+#define OCTOSPI_SR_BUSY_Pos            (5U)
+#define OCTOSPI_SR_BUSY_Msk            (0x1UL << OCTOSPI_SR_BUSY_Pos)           /*!< 0x00000020 */
+#define OCTOSPI_SR_BUSY                OCTOSPI_SR_BUSY_Msk                     /*!< Busy */
+#define OCTOSPI_SR_FLEVEL_Pos          (8U)
+#define OCTOSPI_SR_FLEVEL_Msk          (0x3FUL << OCTOSPI_SR_FLEVEL_Pos)        /*!< 0x00003F00 */
+#define OCTOSPI_SR_FLEVEL              OCTOSPI_SR_FLEVEL_Msk                   /*!< FIFO Level */
+
+/****************  Bit definition for OCTOSPI_FCR register  *******************/
+#define OCTOSPI_FCR_CTEF_Pos           (0U)
+#define OCTOSPI_FCR_CTEF_Msk           (0x1UL << OCTOSPI_FCR_CTEF_Pos)          /*!< 0x00000001 */
+#define OCTOSPI_FCR_CTEF               OCTOSPI_FCR_CTEF_Msk                    /*!< Clear Transfer Error Flag */
+#define OCTOSPI_FCR_CTCF_Pos           (1U)
+#define OCTOSPI_FCR_CTCF_Msk           (0x1UL << OCTOSPI_FCR_CTCF_Pos)          /*!< 0x00000002 */
+#define OCTOSPI_FCR_CTCF               OCTOSPI_FCR_CTCF_Msk                    /*!< Clear Transfer Complete Flag */
+#define OCTOSPI_FCR_CSMF_Pos           (3U)
+#define OCTOSPI_FCR_CSMF_Msk           (0x1UL << OCTOSPI_FCR_CSMF_Pos)          /*!< 0x00000008 */
+#define OCTOSPI_FCR_CSMF               OCTOSPI_FCR_CSMF_Msk                    /*!< Clear Status Match Flag */
+#define OCTOSPI_FCR_CTOF_Pos           (4U)
+#define OCTOSPI_FCR_CTOF_Msk           (0x1UL << OCTOSPI_FCR_CTOF_Pos)          /*!< 0x00000010 */
+#define OCTOSPI_FCR_CTOF               OCTOSPI_FCR_CTOF_Msk                    /*!< Clear Timeout Flag */
+
+/****************  Bit definition for OCTOSPI_DLR register  *******************/
+#define OCTOSPI_DLR_DL_Pos             (0U)
+#define OCTOSPI_DLR_DL_Msk             (0xFFFFFFFFUL << OCTOSPI_DLR_DL_Pos)     /*!< 0xFFFFFFFF */
+#define OCTOSPI_DLR_DL                 OCTOSPI_DLR_DL_Msk                      /*!< Data Length */
+
+/*****************  Bit definition for OCTOSPI_AR register  *******************/
+#define OCTOSPI_AR_ADDRESS_Pos         (0U)
+#define OCTOSPI_AR_ADDRESS_Msk         (0xFFFFFFFFUL << OCTOSPI_AR_ADDRESS_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_AR_ADDRESS             OCTOSPI_AR_ADDRESS_Msk                  /*!< Address */
+
+/*****************  Bit definition for OCTOSPI_DR register  *******************/
+#define OCTOSPI_DR_DATA_Pos            (0U)
+#define OCTOSPI_DR_DATA_Msk            (0xFFFFFFFFUL << OCTOSPI_DR_DATA_Pos)    /*!< 0xFFFFFFFF */
+#define OCTOSPI_DR_DATA                OCTOSPI_DR_DATA_Msk                     /*!< Data */
+
+/***************  Bit definition for OCTOSPI_PSMKR register  ******************/
+#define OCTOSPI_PSMKR_MASK_Pos         (0U)
+#define OCTOSPI_PSMKR_MASK_Msk         (0xFFFFFFFFUL << OCTOSPI_PSMKR_MASK_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_PSMKR_MASK             OCTOSPI_PSMKR_MASK_Msk                  /*!< Status mask */
+
+/***************  Bit definition for OCTOSPI_PSMAR register  ******************/
+#define OCTOSPI_PSMAR_MATCH_Pos        (0U)
+#define OCTOSPI_PSMAR_MATCH_Msk        (0xFFFFFFFFUL << OCTOSPI_PSMAR_MATCH_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_PSMAR_MATCH            OCTOSPI_PSMAR_MATCH_Msk                 /*!< Status match */
+
+/****************  Bit definition for OCTOSPI_PIR register  *******************/
+#define OCTOSPI_PIR_INTERVAL_Pos       (0U)
+#define OCTOSPI_PIR_INTERVAL_Msk       (0xFFFFUL << OCTOSPI_PIR_INTERVAL_Pos)   /*!< 0x0000FFFF */
+#define OCTOSPI_PIR_INTERVAL           OCTOSPI_PIR_INTERVAL_Msk                /*!< Polling Interval */
+
+/****************  Bit definition for OCTOSPI_CCR register  *******************/
+#define OCTOSPI_CCR_IMODE_Pos          (0U)
+#define OCTOSPI_CCR_IMODE_Msk          (0x7UL << OCTOSPI_CCR_IMODE_Pos)         /*!< 0x00000007 */
+#define OCTOSPI_CCR_IMODE              OCTOSPI_CCR_IMODE_Msk                   /*!< Instruction Mode */
+#define OCTOSPI_CCR_IMODE_0            (0x1UL << OCTOSPI_CCR_IMODE_Pos)         /*!< 0x00000001 */
+#define OCTOSPI_CCR_IMODE_1            (0x2UL << OCTOSPI_CCR_IMODE_Pos)         /*!< 0x00000002 */
+#define OCTOSPI_CCR_IMODE_2            (0x4UL << OCTOSPI_CCR_IMODE_Pos)         /*!< 0x00000004 */
+#define OCTOSPI_CCR_IDTR_Pos           (3U)
+#define OCTOSPI_CCR_IDTR_Msk           (0x1UL << OCTOSPI_CCR_IDTR_Pos)          /*!< 0x00000008 */
+#define OCTOSPI_CCR_IDTR               OCTOSPI_CCR_IDTR_Msk                    /*!< Instruction Double Transfer Rate */
+#define OCTOSPI_CCR_ISIZE_Pos          (4U)
+#define OCTOSPI_CCR_ISIZE_Msk          (0x3UL << OCTOSPI_CCR_ISIZE_Pos)         /*!< 0x00000030 */
+#define OCTOSPI_CCR_ISIZE              OCTOSPI_CCR_ISIZE_Msk                   /*!< Instruction Size */
+#define OCTOSPI_CCR_ISIZE_0            (0x1UL << OCTOSPI_CCR_ISIZE_Pos)         /*!< 0x00000010 */
+#define OCTOSPI_CCR_ISIZE_1            (0x2UL << OCTOSPI_CCR_ISIZE_Pos)         /*!< 0x00000020 */
+#define OCTOSPI_CCR_ADMODE_Pos         (8U)
+#define OCTOSPI_CCR_ADMODE_Msk         (0x7UL << OCTOSPI_CCR_ADMODE_Pos)        /*!< 0x00000700 */
+#define OCTOSPI_CCR_ADMODE             OCTOSPI_CCR_ADMODE_Msk                  /*!< Address Mode */
+#define OCTOSPI_CCR_ADMODE_0           (0x1UL << OCTOSPI_CCR_ADMODE_Pos)        /*!< 0x00000100 */
+#define OCTOSPI_CCR_ADMODE_1           (0x2UL << OCTOSPI_CCR_ADMODE_Pos)        /*!< 0x00000200 */
+#define OCTOSPI_CCR_ADMODE_2           (0x4UL << OCTOSPI_CCR_ADMODE_Pos)        /*!< 0x00000400 */
+#define OCTOSPI_CCR_ADDTR_Pos          (11U)
+#define OCTOSPI_CCR_ADDTR_Msk          (0x1UL << OCTOSPI_CCR_ADDTR_Pos)         /*!< 0x00000800 */
+#define OCTOSPI_CCR_ADDTR              OCTOSPI_CCR_ADDTR_Msk                   /*!< Address Double Transfer Rate */
+#define OCTOSPI_CCR_ADSIZE_Pos         (12U)
+#define OCTOSPI_CCR_ADSIZE_Msk         (0x3UL << OCTOSPI_CCR_ADSIZE_Pos)        /*!< 0x00003000 */
+#define OCTOSPI_CCR_ADSIZE             OCTOSPI_CCR_ADSIZE_Msk                  /*!< Address Size */
+#define OCTOSPI_CCR_ADSIZE_0           (0x1UL << OCTOSPI_CCR_ADSIZE_Pos)        /*!< 0x00001000 */
+#define OCTOSPI_CCR_ADSIZE_1           (0x2UL << OCTOSPI_CCR_ADSIZE_Pos)        /*!< 0x00002000 */
+#define OCTOSPI_CCR_ABMODE_Pos         (16U)
+#define OCTOSPI_CCR_ABMODE_Msk         (0x7UL << OCTOSPI_CCR_ABMODE_Pos)        /*!< 0x00070000 */
+#define OCTOSPI_CCR_ABMODE             OCTOSPI_CCR_ABMODE_Msk                  /*!< Alternate Bytes Mode */
+#define OCTOSPI_CCR_ABMODE_0           (0x1UL << OCTOSPI_CCR_ABMODE_Pos)        /*!< 0x00010000 */
+#define OCTOSPI_CCR_ABMODE_1           (0x2UL << OCTOSPI_CCR_ABMODE_Pos)        /*!< 0x00020000 */
+#define OCTOSPI_CCR_ABMODE_2           (0x4UL << OCTOSPI_CCR_ABMODE_Pos)        /*!< 0x00040000 */
+#define OCTOSPI_CCR_ABDTR_Pos          (19U)
+#define OCTOSPI_CCR_ABDTR_Msk          (0x1UL << OCTOSPI_CCR_ABDTR_Pos)         /*!< 0x00080000 */
+#define OCTOSPI_CCR_ABDTR              OCTOSPI_CCR_ABDTR_Msk                   /*!< Alternate Bytes Double Transfer Rate */
+#define OCTOSPI_CCR_ABSIZE_Pos         (20U)
+#define OCTOSPI_CCR_ABSIZE_Msk         (0x3UL << OCTOSPI_CCR_ABSIZE_Pos)        /*!< 0x00300000 */
+#define OCTOSPI_CCR_ABSIZE             OCTOSPI_CCR_ABSIZE_Msk                  /*!< Alternate Bytes Size */
+#define OCTOSPI_CCR_ABSIZE_0           (0x1UL << OCTOSPI_CCR_ABSIZE_Pos)        /*!< 0x00100000 */
+#define OCTOSPI_CCR_ABSIZE_1           (0x2UL << OCTOSPI_CCR_ABSIZE_Pos)        /*!< 0x00200000 */
+#define OCTOSPI_CCR_DMODE_Pos          (24U)
+#define OCTOSPI_CCR_DMODE_Msk          (0x7UL << OCTOSPI_CCR_DMODE_Pos)         /*!< 0x07000000 */
+#define OCTOSPI_CCR_DMODE              OCTOSPI_CCR_DMODE_Msk                   /*!< Data Mode */
+#define OCTOSPI_CCR_DMODE_0            (0x1UL << OCTOSPI_CCR_DMODE_Pos)         /*!< 0x01000000 */
+#define OCTOSPI_CCR_DMODE_1            (0x2UL << OCTOSPI_CCR_DMODE_Pos)         /*!< 0x02000000 */
+#define OCTOSPI_CCR_DMODE_2            (0x4UL << OCTOSPI_CCR_DMODE_Pos)         /*!< 0x04000000 */
+#define OCTOSPI_CCR_DDTR_Pos           (27U)
+#define OCTOSPI_CCR_DDTR_Msk           (0x1UL << OCTOSPI_CCR_DDTR_Pos)          /*!< 0x08000000 */
+#define OCTOSPI_CCR_DDTR               OCTOSPI_CCR_DDTR_Msk                    /*!< Data Double Transfer Rate */
+#define OCTOSPI_CCR_DQSE_Pos           (29U)
+#define OCTOSPI_CCR_DQSE_Msk           (0x1UL << OCTOSPI_CCR_DQSE_Pos)          /*!< 0x20000000 */
+#define OCTOSPI_CCR_DQSE               OCTOSPI_CCR_DQSE_Msk                    /*!< DQS Enable */
+#define OCTOSPI_CCR_SIOO_Pos           (31U)
+#define OCTOSPI_CCR_SIOO_Msk           (0x1UL << OCTOSPI_CCR_SIOO_Pos)          /*!< 0x80000000 */
+#define OCTOSPI_CCR_SIOO               OCTOSPI_CCR_SIOO_Msk                    /*!< Send Instruction Only Once Mode */
+
+/****************  Bit definition for OCTOSPI_TCR register  *******************/
+#define OCTOSPI_TCR_DCYC_Pos           (0U)
+#define OCTOSPI_TCR_DCYC_Msk           (0x1FUL << OCTOSPI_TCR_DCYC_Pos)         /*!< 0x0000001F */
+#define OCTOSPI_TCR_DCYC               OCTOSPI_TCR_DCYC_Msk                    /*!< Number of Dummy Cycles */
+#define OCTOSPI_TCR_DHQC_Pos           (28U)
+#define OCTOSPI_TCR_DHQC_Msk           (0x1UL << OCTOSPI_TCR_DHQC_Pos)          /*!< 0x10000000 */
+#define OCTOSPI_TCR_DHQC               OCTOSPI_TCR_DHQC_Msk                    /*!< Delay Hold Quarter Cycle */
+#define OCTOSPI_TCR_SSHIFT_Pos         (30U)
+#define OCTOSPI_TCR_SSHIFT_Msk         (0x1UL << OCTOSPI_TCR_SSHIFT_Pos)        /*!< 0x40000000 */
+#define OCTOSPI_TCR_SSHIFT             OCTOSPI_TCR_SSHIFT_Msk                  /*!< Sample Shift */
+
+/*****************  Bit definition for OCTOSPI_IR register  *******************/
+#define OCTOSPI_IR_INSTRUCTION_Pos     (0U)
+#define OCTOSPI_IR_INSTRUCTION_Msk     (0xFFFFFFFFUL << OCTOSPI_IR_INSTRUCTION_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_IR_INSTRUCTION         OCTOSPI_IR_INSTRUCTION_Msk              /*!< Instruction */
+
+/****************  Bit definition for OCTOSPI_ABR register  *******************/
+#define OCTOSPI_ABR_ALTERNATE_Pos      (0U)
+#define OCTOSPI_ABR_ALTERNATE_Msk      (0xFFFFFFFFUL << OCTOSPI_ABR_ALTERNATE_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_ABR_ALTERNATE          OCTOSPI_ABR_ALTERNATE_Msk               /*!< Alternate Bytes */
+
+/****************  Bit definition for OCTOSPI_LPTR register  ******************/
+#define OCTOSPI_LPTR_TIMEOUT_Pos       (0U)
+#define OCTOSPI_LPTR_TIMEOUT_Msk       (0xFFFFUL << OCTOSPI_LPTR_TIMEOUT_Pos)   /*!< 0x0000FFFF */
+#define OCTOSPI_LPTR_TIMEOUT           OCTOSPI_LPTR_TIMEOUT_Msk                /*!< Timeout period */
+
+/****************  Bit definition for OCTOSPI_WPCCR register  *******************/
+#define OCTOSPI_WPCCR_IMODE_Pos        (0U)
+#define OCTOSPI_WPCCR_IMODE_Msk        (0x7UL << OCTOSPI_WPCCR_IMODE_Pos)       /*!< 0x00000007 */
+#define OCTOSPI_WPCCR_IMODE            OCTOSPI_WPCCR_IMODE_Msk                 /*!< Instruction Mode */
+#define OCTOSPI_WPCCR_IMODE_0          (0x1UL << OCTOSPI_WPCCR_IMODE_Pos)       /*!< 0x00000001 */
+#define OCTOSPI_WPCCR_IMODE_1          (0x2UL << OCTOSPI_WPCCR_IMODE_Pos)       /*!< 0x00000002 */
+#define OCTOSPI_WPCCR_IMODE_2          (0x4UL << OCTOSPI_WPCCR_IMODE_Pos)       /*!< 0x00000004 */
+#define OCTOSPI_WPCCR_IDTR_Pos         (3U)
+#define OCTOSPI_WPCCR_IDTR_Msk         (0x1UL << OCTOSPI_WPCCR_IDTR_Pos)        /*!< 0x00000008 */
+#define OCTOSPI_WPCCR_IDTR             OCTOSPI_WPCCR_IDTR_Msk                  /*!< Instruction Double Transfer Rate */
+#define OCTOSPI_WPCCR_ISIZE_Pos        (4U)
+#define OCTOSPI_WPCCR_ISIZE_Msk        (0x3UL << OCTOSPI_WPCCR_ISIZE_Pos)       /*!< 0x00000030 */
+#define OCTOSPI_WPCCR_ISIZE            OCTOSPI_WPCCR_ISIZE_Msk                 /*!< Instruction Size */
+#define OCTOSPI_WPCCR_ISIZE_0          (0x1UL << OCTOSPI_WPCCR_ISIZE_Pos)       /*!< 0x00000010 */
+#define OCTOSPI_WPCCR_ISIZE_1          (0x2UL << OCTOSPI_WPCCR_ISIZE_Pos)       /*!< 0x00000020 */
+#define OCTOSPI_WPCCR_ADMODE_Pos       (8U)
+#define OCTOSPI_WPCCR_ADMODE_Msk       (0x7UL << OCTOSPI_WPCCR_ADMODE_Pos)      /*!< 0x00000700 */
+#define OCTOSPI_WPCCR_ADMODE           OCTOSPI_WPCCR_ADMODE_Msk                /*!< Address Mode */
+#define OCTOSPI_WPCCR_ADMODE_0         (0x1UL << OCTOSPI_WPCCR_ADMODE_Pos)      /*!< 0x00000100 */
+#define OCTOSPI_WPCCR_ADMODE_1         (0x2UL << OCTOSPI_WPCCR_ADMODE_Pos)      /*!< 0x00000200 */
+#define OCTOSPI_WPCCR_ADMODE_2         (0x4UL << OCTOSPI_WPCCR_ADMODE_Pos)      /*!< 0x00000400 */
+#define OCTOSPI_WPCCR_ADDTR_Pos        (11U)
+#define OCTOSPI_WPCCR_ADDTR_Msk        (0x1UL << OCTOSPI_WPCCR_ADDTR_Pos)       /*!< 0x00000800 */
+#define OCTOSPI_WPCCR_ADDTR            OCTOSPI_WPCCR_ADDTR_Msk                 /*!< Address Double Transfer Rate */
+#define OCTOSPI_WPCCR_ADSIZE_Pos       (12U)
+#define OCTOSPI_WPCCR_ADSIZE_Msk       (0x3UL << OCTOSPI_WPCCR_ADSIZE_Pos)      /*!< 0x00003000 */
+#define OCTOSPI_WPCCR_ADSIZE           OCTOSPI_WPCCR_ADSIZE_Msk                /*!< Address Size */
+#define OCTOSPI_WPCCR_ADSIZE_0         (0x1UL << OCTOSPI_WPCCR_ADSIZE_Pos)      /*!< 0x00001000 */
+#define OCTOSPI_WPCCR_ADSIZE_1         (0x2UL << OCTOSPI_WPCCR_ADSIZE_Pos)      /*!< 0x00002000 */
+#define OCTOSPI_WPCCR_ABMODE_Pos       (16U)
+#define OCTOSPI_WPCCR_ABMODE_Msk       (0x7UL << OCTOSPI_WPCCR_ABMODE_Pos)      /*!< 0x00070000 */
+#define OCTOSPI_WPCCR_ABMODE           OCTOSPI_WPCCR_ABMODE_Msk                /*!< Alternate Bytes Mode */
+#define OCTOSPI_WPCCR_ABMODE_0         (0x1UL << OCTOSPI_WPCCR_ABMODE_Pos)      /*!< 0x00010000 */
+#define OCTOSPI_WPCCR_ABMODE_1         (0x2UL << OCTOSPI_WPCCR_ABMODE_Pos)      /*!< 0x00020000 */
+#define OCTOSPI_WPCCR_ABMODE_2         (0x4UL << OCTOSPI_WPCCR_ABMODE_Pos)      /*!< 0x00040000 */
+#define OCTOSPI_WPCCR_ABDTR_Pos        (19U)
+#define OCTOSPI_WPCCR_ABDTR_Msk        (0x1UL << OCTOSPI_WPCCR_ABDTR_Pos)       /*!< 0x00080000 */
+#define OCTOSPI_WPCCR_ABDTR            OCTOSPI_WPCCR_ABDTR_Msk                 /*!< Alternate Bytes Double Transfer Rate */
+#define OCTOSPI_WPCCR_ABSIZE_Pos       (20U)
+#define OCTOSPI_WPCCR_ABSIZE_Msk       (0x3UL << OCTOSPI_WPCCR_ABSIZE_Pos)      /*!< 0x00300000 */
+#define OCTOSPI_WPCCR_ABSIZE           OCTOSPI_WPCCR_ABSIZE_Msk                /*!< Alternate Bytes Size */
+#define OCTOSPI_WPCCR_ABSIZE_0         (0x1UL << OCTOSPI_WPCCR_ABSIZE_Pos)      /*!< 0x00100000 */
+#define OCTOSPI_WPCCR_ABSIZE_1         (0x2UL << OCTOSPI_WPCCR_ABSIZE_Pos)      /*!< 0x00200000 */
+#define OCTOSPI_WPCCR_DMODE_Pos        (24U)
+#define OCTOSPI_WPCCR_DMODE_Msk        (0x7UL << OCTOSPI_WPCCR_DMODE_Pos)       /*!< 0x07000000 */
+#define OCTOSPI_WPCCR_DMODE            OCTOSPI_WPCCR_DMODE_Msk                 /*!< Data Mode */
+#define OCTOSPI_WPCCR_DMODE_0          (0x1UL << OCTOSPI_WPCCR_DMODE_Pos)       /*!< 0x01000000 */
+#define OCTOSPI_WPCCR_DMODE_1          (0x2UL << OCTOSPI_WPCCR_DMODE_Pos)       /*!< 0x02000000 */
+#define OCTOSPI_WPCCR_DMODE_2          (0x4UL << OCTOSPI_WPCCR_DMODE_Pos)       /*!< 0x04000000 */
+#define OCTOSPI_WPCCR_DDTR_Pos         (27U)
+#define OCTOSPI_WPCCR_DDTR_Msk         (0x1UL << OCTOSPI_WPCCR_DDTR_Pos)        /*!< 0x08000000 */
+#define OCTOSPI_WPCCR_DDTR             OCTOSPI_WPCCR_DDTR_Msk                  /*!< Data Double Transfer Rate */
+#define OCTOSPI_WPCCR_DQSE_Pos         (29U)
+#define OCTOSPI_WPCCR_DQSE_Msk         (0x1UL << OCTOSPI_WPCCR_DQSE_Pos)        /*!< 0x20000000 */
+#define OCTOSPI_WPCCR_DQSE             OCTOSPI_WPCCR_DQSE_Msk                  /*!< DQS Enable */
+#define OCTOSPI_WPCCR_SIOO_Pos         (31U)
+#define OCTOSPI_WPCCR_SIOO_Msk         (0x1UL << OCTOSPI_WPCCR_SIOO_Pos)        /*!< 0x80000000 */
+#define OCTOSPI_WPCCR_SIOO             OCTOSPI_WPCCR_SIOO_Msk                  /*!< Send Instruction Only Once Mode */
+
+/****************  Bit definition for OCTOSPI_WPTCR register  *******************/
+#define OCTOSPI_WPTCR_DCYC_Pos         (0U)
+#define OCTOSPI_WPTCR_DCYC_Msk         (0x1FUL << OCTOSPI_WPTCR_DCYC_Pos)       /*!< 0x0000001F */
+#define OCTOSPI_WPTCR_DCYC             OCTOSPI_WPTCR_DCYC_Msk                  /*!< Number of Dummy Cycles */
+#define OCTOSPI_WPTCR_DHQC_Pos         (28U)
+#define OCTOSPI_WPTCR_DHQC_Msk         (0x1UL << OCTOSPI_WPTCR_DHQC_Pos)        /*!< 0x10000000 */
+#define OCTOSPI_WPTCR_DHQC             OCTOSPI_WPTCR_DHQC_Msk                  /*!< Delay Hold Quarter Cycle */
+#define OCTOSPI_WPTCR_SSHIFT_Pos       (30U)
+#define OCTOSPI_WPTCR_SSHIFT_Msk       (0x1UL << OCTOSPI_WPTCR_SSHIFT_Pos)      /*!< 0x40000000 */
+#define OCTOSPI_WPTCR_SSHIFT           OCTOSPI_WPTCR_SSHIFT_Msk                /*!< Sample Shift */
+
+/*****************  Bit definition for OCTOSPI_WPIR register  *******************/
+#define OCTOSPI_WPIR_INSTRUCTION_Pos   (0U)
+#define OCTOSPI_WPIR_INSTRUCTION_Msk   (0xFFFFFFFFUL << OCTOSPI_WPIR_INSTRUCTION_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_WPIR_INSTRUCTION       OCTOSPI_WPIR_INSTRUCTION_Msk            /*!< Instruction */
+
+/****************  Bit definition for OCTOSPI_WPABR register  *******************/
+#define OCTOSPI_WPABR_ALTERNATE_Pos    (0U)
+#define OCTOSPI_WPABR_ALTERNATE_Msk    (0xFFFFFFFFUL << OCTOSPI_WPABR_ALTERNATE_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_WPABR_ALTERNATE        OCTOSPI_WPABR_ALTERNATE_Msk             /*!< Alternate Bytes */
+
+/****************  Bit definition for OCTOSPI_WCCR register  ******************/
+#define OCTOSPI_WCCR_IMODE_Pos         (0U)
+#define OCTOSPI_WCCR_IMODE_Msk         (0x7UL << OCTOSPI_WCCR_IMODE_Pos)        /*!< 0x00000007 */
+#define OCTOSPI_WCCR_IMODE             OCTOSPI_WCCR_IMODE_Msk                  /*!< Instruction Mode */
+#define OCTOSPI_WCCR_IMODE_0           (0x1UL << OCTOSPI_WCCR_IMODE_Pos)        /*!< 0x00000001 */
+#define OCTOSPI_WCCR_IMODE_1           (0x2UL << OCTOSPI_WCCR_IMODE_Pos)        /*!< 0x00000002 */
+#define OCTOSPI_WCCR_IMODE_2           (0x4UL << OCTOSPI_WCCR_IMODE_Pos)        /*!< 0x00000004 */
+#define OCTOSPI_WCCR_IDTR_Pos          (3U)
+#define OCTOSPI_WCCR_IDTR_Msk          (0x1UL << OCTOSPI_WCCR_IDTR_Pos)         /*!< 0x00000008 */
+#define OCTOSPI_WCCR_IDTR              OCTOSPI_WCCR_IDTR_Msk                   /*!< Instruction Double Transfer Rate */
+#define OCTOSPI_WCCR_ISIZE_Pos         (4U)
+#define OCTOSPI_WCCR_ISIZE_Msk         (0x3UL << OCTOSPI_WCCR_ISIZE_Pos)        /*!< 0x00000030 */
+#define OCTOSPI_WCCR_ISIZE             OCTOSPI_WCCR_ISIZE_Msk                  /*!< Instruction Size */
+#define OCTOSPI_WCCR_ISIZE_0           (0x1UL << OCTOSPI_WCCR_ISIZE_Pos)        /*!< 0x00000010 */
+#define OCTOSPI_WCCR_ISIZE_1           (0x2UL << OCTOSPI_WCCR_ISIZE_Pos)        /*!< 0x00000020 */
+#define OCTOSPI_WCCR_ADMODE_Pos        (8U)
+#define OCTOSPI_WCCR_ADMODE_Msk        (0x7UL << OCTOSPI_WCCR_ADMODE_Pos)       /*!< 0x00000700 */
+#define OCTOSPI_WCCR_ADMODE            OCTOSPI_WCCR_ADMODE_Msk                 /*!< Address Mode */
+#define OCTOSPI_WCCR_ADMODE_0          (0x1UL << OCTOSPI_WCCR_ADMODE_Pos)       /*!< 0x00000100 */
+#define OCTOSPI_WCCR_ADMODE_1          (0x2UL << OCTOSPI_WCCR_ADMODE_Pos)       /*!< 0x00000200 */
+#define OCTOSPI_WCCR_ADMODE_2          (0x4UL << OCTOSPI_WCCR_ADMODE_Pos)       /*!< 0x00000400 */
+#define OCTOSPI_WCCR_ADDTR_Pos         (11U)
+#define OCTOSPI_WCCR_ADDTR_Msk         (0x1UL << OCTOSPI_WCCR_ADDTR_Pos)        /*!< 0x00000800 */
+#define OCTOSPI_WCCR_ADDTR             OCTOSPI_WCCR_ADDTR_Msk                  /*!< Address Double Transfer Rate */
+#define OCTOSPI_WCCR_ADSIZE_Pos        (12U)
+#define OCTOSPI_WCCR_ADSIZE_Msk        (0x3UL << OCTOSPI_WCCR_ADSIZE_Pos)       /*!< 0x00003000 */
+#define OCTOSPI_WCCR_ADSIZE            OCTOSPI_WCCR_ADSIZE_Msk                 /*!< Address Size */
+#define OCTOSPI_WCCR_ADSIZE_0          (0x1UL << OCTOSPI_WCCR_ADSIZE_Pos)       /*!< 0x00001000 */
+#define OCTOSPI_WCCR_ADSIZE_1          (0x2UL << OCTOSPI_WCCR_ADSIZE_Pos)       /*!< 0x00002000 */
+#define OCTOSPI_WCCR_ABMODE_Pos        (16U)
+#define OCTOSPI_WCCR_ABMODE_Msk        (0x7UL << OCTOSPI_WCCR_ABMODE_Pos)       /*!< 0x00070000 */
+#define OCTOSPI_WCCR_ABMODE            OCTOSPI_WCCR_ABMODE_Msk                 /*!< Alternate Bytes Mode */
+#define OCTOSPI_WCCR_ABMODE_0          (0x1UL << OCTOSPI_WCCR_ABMODE_Pos)       /*!< 0x00010000 */
+#define OCTOSPI_WCCR_ABMODE_1          (0x2UL << OCTOSPI_WCCR_ABMODE_Pos)       /*!< 0x00020000 */
+#define OCTOSPI_WCCR_ABMODE_2          (0x4UL << OCTOSPI_WCCR_ABMODE_Pos)       /*!< 0x00040000 */
+#define OCTOSPI_WCCR_ABDTR_Pos         (19U)
+#define OCTOSPI_WCCR_ABDTR_Msk         (0x1UL << OCTOSPI_WCCR_ABDTR_Pos)        /*!< 0x00080000 */
+#define OCTOSPI_WCCR_ABDTR             OCTOSPI_WCCR_ABDTR_Msk                  /*!< Alternate Bytes Double Transfer Rate */
+#define OCTOSPI_WCCR_ABSIZE_Pos        (20U)
+#define OCTOSPI_WCCR_ABSIZE_Msk        (0x3UL << OCTOSPI_WCCR_ABSIZE_Pos)       /*!< 0x00300000 */
+#define OCTOSPI_WCCR_ABSIZE            OCTOSPI_WCCR_ABSIZE_Msk                 /*!< Alternate Bytes Size */
+#define OCTOSPI_WCCR_ABSIZE_0          (0x1UL << OCTOSPI_WCCR_ABSIZE_Pos)       /*!< 0x00100000 */
+#define OCTOSPI_WCCR_ABSIZE_1          (0x2UL << OCTOSPI_WCCR_ABSIZE_Pos)       /*!< 0x00200000 */
+#define OCTOSPI_WCCR_DMODE_Pos         (24U)
+#define OCTOSPI_WCCR_DMODE_Msk         (0x7UL << OCTOSPI_WCCR_DMODE_Pos)        /*!< 0x07000000 */
+#define OCTOSPI_WCCR_DMODE             OCTOSPI_WCCR_DMODE_Msk                  /*!< Data Mode */
+#define OCTOSPI_WCCR_DMODE_0           (0x1UL << OCTOSPI_WCCR_DMODE_Pos)        /*!< 0x01000000 */
+#define OCTOSPI_WCCR_DMODE_1           (0x2UL << OCTOSPI_WCCR_DMODE_Pos)        /*!< 0x02000000 */
+#define OCTOSPI_WCCR_DMODE_2           (0x4UL << OCTOSPI_WCCR_DMODE_Pos)        /*!< 0x04000000 */
+#define OCTOSPI_WCCR_DDTR_Pos          (27U)
+#define OCTOSPI_WCCR_DDTR_Msk          (0x1UL << OCTOSPI_WCCR_DDTR_Pos)         /*!< 0x08000000 */
+#define OCTOSPI_WCCR_DDTR              OCTOSPI_WCCR_DDTR_Msk                   /*!< Data Double Transfer Rate */
+#define OCTOSPI_WCCR_DQSE_Pos          (29U)
+#define OCTOSPI_WCCR_DQSE_Msk          (0x1UL << OCTOSPI_WCCR_DQSE_Pos)         /*!< 0x20000000 */
+#define OCTOSPI_WCCR_DQSE              OCTOSPI_WCCR_DQSE_Msk                   /*!< DQS Enable */
+#define OCTOSPI_WCCR_SIOO_Pos          (31U)
+#define OCTOSPI_WCCR_SIOO_Msk          (0x1UL << OCTOSPI_WCCR_SIOO_Pos)         /*!< 0x80000000 */
+#define OCTOSPI_WCCR_SIOO              OCTOSPI_WCCR_SIOO_Msk                   /*!< Send Instruction Only Once Mode */
+
+/****************  Bit definition for OCTOSPI_WTCR register  ******************/
+#define OCTOSPI_WTCR_DCYC_Pos          (0U)
+#define OCTOSPI_WTCR_DCYC_Msk          (0x1FUL << OCTOSPI_WTCR_DCYC_Pos)        /*!< 0x0000001F */
+#define OCTOSPI_WTCR_DCYC              OCTOSPI_WTCR_DCYC_Msk                   /*!< Number of Dummy Cycles */
+
+/****************  Bit definition for OCTOSPI_WIR register  *******************/
+#define OCTOSPI_WIR_INSTRUCTION_Pos    (0U)
+#define OCTOSPI_WIR_INSTRUCTION_Msk    (0xFFFFFFFFUL << OCTOSPI_WIR_INSTRUCTION_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_WIR_INSTRUCTION        OCTOSPI_WIR_INSTRUCTION_Msk             /*!< Instruction */
+
+/****************  Bit definition for OCTOSPI_WABR register  ******************/
+#define OCTOSPI_WABR_ALTERNATE_Pos     (0U)
+#define OCTOSPI_WABR_ALTERNATE_Msk     (0xFFFFFFFFUL << OCTOSPI_WABR_ALTERNATE_Pos) /*!< 0xFFFFFFFF */
+#define OCTOSPI_WABR_ALTERNATE         OCTOSPI_WABR_ALTERNATE_Msk              /*!< Alternate Bytes */
+
+/****************  Bit definition for OCTOSPI_HLCR register  ******************/
+#define OCTOSPI_HLCR_LM_Pos            (0U)
+#define OCTOSPI_HLCR_LM_Msk            (0x1UL << OCTOSPI_HLCR_LM_Pos)           /*!< 0x00000001 */
+#define OCTOSPI_HLCR_LM                OCTOSPI_HLCR_LM_Msk                     /*!< Latency Mode */
+#define OCTOSPI_HLCR_WZL_Pos           (1U)
+#define OCTOSPI_HLCR_WZL_Msk           (0x1UL << OCTOSPI_HLCR_WZL_Pos)          /*!< 0x00000002 */
+#define OCTOSPI_HLCR_WZL               OCTOSPI_HLCR_WZL_Msk                    /*!< Write Zero Latency */
+#define OCTOSPI_HLCR_TACC_Pos          (8U)
+#define OCTOSPI_HLCR_TACC_Msk          (0xFFUL << OCTOSPI_HLCR_TACC_Pos)        /*!< 0x0000FF00 */
+#define OCTOSPI_HLCR_TACC              OCTOSPI_HLCR_TACC_Msk                   /*!< Access Time */
+#define OCTOSPI_HLCR_TRWR_Pos          (16U)
+#define OCTOSPI_HLCR_TRWR_Msk          (0xFFUL << OCTOSPI_HLCR_TRWR_Pos)        /*!< 0x00FF0000 */
+#define OCTOSPI_HLCR_TRWR              OCTOSPI_HLCR_TRWR_Msk                   /*!< Read Write Recovery Time */
+
+/****************  Bit definition for OCTOSPI_VER register  *******************/
+#define OCTOSPI_VER_VER_Pos            (0U)
+#define OCTOSPI_VER_VER_Msk            (0xFFUL << OCTOSPI_VER_VER_Pos)          /*!< 0x000000FF */
+#define OCTOSPI_VER_VER                OCTOSPI_VER_VER_Msk                     /*!< Version */
+
+/*****************  Bit definition for OCTOSPI_ID register  *******************/
+#define OCTOSPI_ID_ID_Pos              (0U)
+#define OCTOSPI_ID_ID_Msk              (0xFFFFFFFFUL << OCTOSPI_ID_ID_Pos)      /*!< 0xFFFFFFFF */
+#define OCTOSPI_ID_ID                  OCTOSPI_ID_ID_Msk                       /*!< Identification */
+
+/****************  Bit definition for OCTOSPI_MID register  *******************/
+#define OCTOSPI_MID_MID_Pos            (0U)
+#define OCTOSPI_MID_MID_Msk            (0xFFFFFFFFUL << OCTOSPI_MID_MID_Pos)    /*!< 0xFFFFFFFF */
+#define OCTOSPI_MID_MID                OCTOSPI_MID_MID_Msk                     /*!< Magic ID */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                  OCTOSPIM                                  */
+/*                                                                            */
+/******************************************************************************/
+
+/***************  Bit definition for OCTOSPIM_CR register  ********************/
+#define OCTOSPIM_CR_MUXEN_Pos          (0U)
+#define OCTOSPIM_CR_MUXEN_Msk          (0x1UL << OCTOSPIM_CR_MUXEN_Pos)        /*!< 0x00000001 */
+#define OCTOSPIM_CR_MUXEN              OCTOSPIM_CR_MUXEN_Msk                   /*!< Multiplexed mode enable */
+#define OCTOSPIM_CR_REQ2ACK_TIME_Pos   (16U)
+#define OCTOSPIM_CR_REQ2ACK_TIME_Msk   (0xFFUL << OCTOSPIM_CR_REQ2ACK_TIME_Pos)/*!< 0x00FF0000 */
+#define OCTOSPIM_CR_REQ2ACK_TIME       OCTOSPIM_CR_REQ2ACK_TIME_Msk            /*!< REQ to ACK time */
+
+/***************  Bit definition for OCTOSPIM_PCR register  *******************/
+#define OCTOSPIM_PCR_CLKEN_Pos         (0U)
+#define OCTOSPIM_PCR_CLKEN_Msk         (0x1UL << OCTOSPIM_PCR_CLKEN_Pos)        /*!< 0x00000001 */
+#define OCTOSPIM_PCR_CLKEN             OCTOSPIM_PCR_CLKEN_Msk                   /*!< CLK/CLKn Enable for Port n */
+#define OCTOSPIM_PCR_CLKSRC_Pos        (1U)
+#define OCTOSPIM_PCR_CLKSRC_Msk        (0x1UL << OCTOSPIM_PCR_CLKSRC_Pos)       /*!< 0x00000002 */
+#define OCTOSPIM_PCR_CLKSRC            OCTOSPIM_PCR_CLKSRC_Msk                  /*!< CLK/CLKn Source for Port n */
+#define OCTOSPIM_PCR_DQSEN_Pos         (4U)
+#define OCTOSPIM_PCR_DQSEN_Msk         (0x1UL << OCTOSPIM_PCR_DQSEN_Pos)        /*!< 0x00000010 */
+#define OCTOSPIM_PCR_DQSEN             OCTOSPIM_PCR_DQSEN_Msk                   /*!< DQS Enable for Port n */
+#define OCTOSPIM_PCR_DQSSRC_Pos        (5U)
+#define OCTOSPIM_PCR_DQSSRC_Msk        (0x1UL << OCTOSPIM_PCR_DQSSRC_Pos)       /*!< 0x00000020 */
+#define OCTOSPIM_PCR_DQSSRC            OCTOSPIM_PCR_DQSSRC_Msk                  /*!< DQS Source for Port n */
+#define OCTOSPIM_PCR_NCSEN_Pos         (8U)
+#define OCTOSPIM_PCR_NCSEN_Msk         (0x1UL << OCTOSPIM_PCR_NCSEN_Pos)        /*!< 0x00000100 */
+#define OCTOSPIM_PCR_NCSEN             OCTOSPIM_PCR_NCSEN_Msk                   /*!< nCS Enable for Port n */
+#define OCTOSPIM_PCR_NCSSRC_Pos        (9U)
+#define OCTOSPIM_PCR_NCSSRC_Msk        (0x1UL << OCTOSPIM_PCR_NCSSRC_Pos)       /*!< 0x00000200 */
+#define OCTOSPIM_PCR_NCSSRC            OCTOSPIM_PCR_NCSSRC_Msk                  /*!< nCS Source for Port n */
+#define OCTOSPIM_PCR_IOLEN_Pos         (16U)
+#define OCTOSPIM_PCR_IOLEN_Msk         (0x1UL << OCTOSPIM_PCR_IOLEN_Pos)        /*!< 0x00010000 */
+#define OCTOSPIM_PCR_IOLEN             OCTOSPIM_PCR_IOLEN_Msk                   /*!< IO[3:0] Enable for Port n */
+#define OCTOSPIM_PCR_IOLSRC_Pos        (17U)
+#define OCTOSPIM_PCR_IOLSRC_Msk        (0x3UL << OCTOSPIM_PCR_IOLSRC_Pos)       /*!< 0x00060000 */
+#define OCTOSPIM_PCR_IOLSRC            OCTOSPIM_PCR_IOLSRC_Msk                  /*!< IO[3:0] Source for Port n */
+#define OCTOSPIM_PCR_IOLSRC_0          (0x1UL << OCTOSPIM_PCR_IOLSRC_Pos)       /*!< 0x00020000 */
+#define OCTOSPIM_PCR_IOLSRC_1          (0x2UL << OCTOSPIM_PCR_IOLSRC_Pos)       /*!< 0x00040000 */
+#define OCTOSPIM_PCR_IOHEN_Pos         (24U)
+#define OCTOSPIM_PCR_IOHEN_Msk         (0x1UL << OCTOSPIM_PCR_IOHEN_Pos)        /*!< 0x01000000 */
+#define OCTOSPIM_PCR_IOHEN             OCTOSPIM_PCR_IOHEN_Msk                   /*!< IO[7:4] Enable for Port n */
+#define OCTOSPIM_PCR_IOHSRC_Pos        (25U)
+#define OCTOSPIM_PCR_IOHSRC_Msk        (0x3UL << OCTOSPIM_PCR_IOHSRC_Pos)       /*!< 0x06000000 */
+#define OCTOSPIM_PCR_IOHSRC            OCTOSPIM_PCR_IOHSRC_Msk                  /*!< IO[7:4] Source for Port n */
+#define OCTOSPIM_PCR_IOHSRC_0          (0x1UL << OCTOSPIM_PCR_IOHSRC_Pos)       /*!< 0x02000000 */
+#define OCTOSPIM_PCR_IOHSRC_1          (0x2UL << OCTOSPIM_PCR_IOHSRC_Pos)       /*!< 0x04000000 */
+/******************************************************************************/
+/*                                                                            */
+/*                      Analog Comparators (COMP)                             */
+/*                                                                            */
+/******************************************************************************/
+
+/*******************  Bit definition for COMP_SR register  ********************/
+#define COMP_SR_C1VAL_Pos            (0U)
+#define COMP_SR_C1VAL_Msk            (0x1UL << COMP_SR_C1VAL_Pos)              /*!< 0x00000001 */
+#define COMP_SR_C1VAL                COMP_SR_C1VAL_Msk
+#define COMP_SR_C2VAL_Pos            (1U)
+#define COMP_SR_C2VAL_Msk            (0x1UL << COMP_SR_C2VAL_Pos)              /*!< 0x00000002 */
+#define COMP_SR_C2VAL                COMP_SR_C2VAL_Msk
+#define COMP_SR_C1IF_Pos             (16U)
+#define COMP_SR_C1IF_Msk             (0x1UL << COMP_SR_C1IF_Pos)               /*!< 0x00010000 */
+#define COMP_SR_C1IF                 COMP_SR_C1IF_Msk
+#define COMP_SR_C2IF_Pos             (17U)
+#define COMP_SR_C2IF_Msk             (0x1UL << COMP_SR_C2IF_Pos)               /*!< 0x00020000 */
+#define COMP_SR_C2IF                 COMP_SR_C2IF_Msk
+/*******************  Bit definition for COMP_ICFR register  ********************/
+#define COMP_ICFR_C1IF_Pos           (16U)
+#define COMP_ICFR_C1IF_Msk           (0x1UL << COMP_ICFR_C1IF_Pos)             /*!< 0x00010000 */
+#define COMP_ICFR_C1IF               COMP_ICFR_C1IF_Msk
+#define COMP_ICFR_C2IF_Pos           (17U)
+#define COMP_ICFR_C2IF_Msk           (0x1UL << COMP_ICFR_C2IF_Pos)             /*!< 0x00020000 */
+#define COMP_ICFR_C2IF               COMP_ICFR_C2IF_Msk
+/*******************  Bit definition for COMP_OR register  ********************/
+#define COMP_OR_AFOPA6_Pos           (0U)
+#define COMP_OR_AFOPA6_Msk           (0x1UL << COMP_OR_AFOPA6_Pos)             /*!< 0x00000001 */
+#define COMP_OR_AFOPA6               COMP_OR_AFOPA6_Msk
+#define COMP_OR_AFOPA8_Pos           (1U)
+#define COMP_OR_AFOPA8_Msk           (0x1UL << COMP_OR_AFOPA8_Pos)             /*!< 0x00000002 */
+#define COMP_OR_AFOPA8               COMP_OR_AFOPA8_Msk
+#define COMP_OR_AFOPB12_Pos          (2U)
+#define COMP_OR_AFOPB12_Msk          (0x1UL << COMP_OR_AFOPB12_Pos)            /*!< 0x00000004 */
+#define COMP_OR_AFOPB12              COMP_OR_AFOPB12_Msk
+#define COMP_OR_AFOPE6_Pos           (3U)
+#define COMP_OR_AFOPE6_Msk           (0x1UL << COMP_OR_AFOPE6_Pos)             /*!< 0x00000008 */
+#define COMP_OR_AFOPE6               COMP_OR_AFOPE6_Msk
+#define COMP_OR_AFOPE15_Pos          (4U)
+#define COMP_OR_AFOPE15_Msk          (0x1UL << COMP_OR_AFOPE15_Pos)            /*!< 0x00000010 */
+#define COMP_OR_AFOPE15              COMP_OR_AFOPE15_Msk
+#define COMP_OR_AFOPG2_Pos           (5U)
+#define COMP_OR_AFOPG2_Msk           (0x1UL << COMP_OR_AFOPG2_Pos)             /*!< 0x00000020 */
+#define COMP_OR_AFOPG2               COMP_OR_AFOPG2_Msk
+#define COMP_OR_AFOPG3_Pos           (6U)
+#define COMP_OR_AFOPG3_Msk           (0x1UL << COMP_OR_AFOPG3_Pos)             /*!< 0x00000040 */
+#define COMP_OR_AFOPG3               COMP_OR_AFOPG3_Msk
+#define COMP_OR_AFOPG4_Pos           (7U)
+#define COMP_OR_AFOPG4_Msk           (0x1UL << COMP_OR_AFOPG4_Pos)             /*!< 0x00000080 */
+#define COMP_OR_AFOPG4               COMP_OR_AFOPG4_Msk
+#define COMP_OR_AFOPI1_Pos           (8U)
+#define COMP_OR_AFOPI1_Msk           (0x1UL << COMP_OR_AFOPI1_Pos)             /*!< 0x00000100 */
+#define COMP_OR_AFOPI1               COMP_OR_AFOPI1_Msk
+#define COMP_OR_AFOPI4_Pos           (9U)
+#define COMP_OR_AFOPI4_Msk           (0x1UL << COMP_OR_AFOPI4_Pos)             /*!< 0x00000200 */
+#define COMP_OR_AFOPI4               COMP_OR_AFOPI4_Msk
+#define COMP_OR_AFOPK2_Pos           (10U)
+#define COMP_OR_AFOPK2_Msk           (0x1UL << COMP_OR_AFOPK2_Pos)             /*!< 0x00000400 */
+#define COMP_OR_AFOPK2               COMP_OR_AFOPK2_Msk
+
+/*!< ******************  Bit definition for COMP_CFGRx register  ********************/
+#define COMP_CFGRx_EN_Pos            (0U)
+#define COMP_CFGRx_EN_Msk            (0x1UL << COMP_CFGRx_EN_Pos)              /*!< 0x00000001 */
+#define COMP_CFGRx_EN                COMP_CFGRx_EN_Msk                         /*!< COMPx enable bit                     */
+#define COMP_CFGRx_BRGEN_Pos         (1U)
+#define COMP_CFGRx_BRGEN_Msk         (0x1UL << COMP_CFGRx_BRGEN_Pos)           /*!< 0x00000002 */
+#define COMP_CFGRx_BRGEN             COMP_CFGRx_BRGEN_Msk                      /*!< COMPx Scaler bridge enable           */
+#define COMP_CFGRx_SCALEN_Pos        (2U)
+#define COMP_CFGRx_SCALEN_Msk        (0x1UL << COMP_CFGRx_SCALEN_Pos)          /*!< 0x00000004 */
+#define COMP_CFGRx_SCALEN            COMP_CFGRx_SCALEN_Msk                     /*!< COMPx Voltage scaler enable bit      */
+#define COMP_CFGRx_POLARITY_Pos      (3U)
+#define COMP_CFGRx_POLARITY_Msk      (0x1UL << COMP_CFGRx_POLARITY_Pos)        /*!< 0x00000008 */
+#define COMP_CFGRx_POLARITY          COMP_CFGRx_POLARITY_Msk                   /*!< COMPx  polarity selection bit        */
+#define COMP_CFGRx_WINMODE_Pos       (4U)
+#define COMP_CFGRx_WINMODE_Msk       (0x1UL << COMP_CFGRx_WINMODE_Pos)         /*!< 0x00000010 */
+#define COMP_CFGRx_WINMODE           COMP_CFGRx_WINMODE_Msk                    /*!< COMPx Windows mode selection bit     */
+#define COMP_CFGRx_ITEN_Pos          (6U)
+#define COMP_CFGRx_ITEN_Msk          (0x1UL << COMP_CFGRx_ITEN_Pos)            /*!< 0x00000040 */
+#define COMP_CFGRx_ITEN              COMP_CFGRx_ITEN_Msk                       /*!< COMPx  interrupt enable              */
+#define COMP_CFGRx_HYST_Pos          (8U)
+#define COMP_CFGRx_HYST_Msk          (0x3UL << COMP_CFGRx_HYST_Pos)            /*!< 0x00000300 */
+#define COMP_CFGRx_HYST              COMP_CFGRx_HYST_Msk                       /*!< COMPx  hysteresis selection bits     */
+#define COMP_CFGRx_HYST_0            (0x1UL << COMP_CFGRx_HYST_Pos)             /*!< 0x00000100 */
+#define COMP_CFGRx_HYST_1            (0x2UL << COMP_CFGRx_HYST_Pos)             /*!< 0x00000200 */
+#define COMP_CFGRx_PWRMODE_Pos       (12U)
+#define COMP_CFGRx_PWRMODE_Msk       (0x3UL << COMP_CFGRx_PWRMODE_Pos)         /*!< 0x00003000 */
+#define COMP_CFGRx_PWRMODE           COMP_CFGRx_PWRMODE_Msk                    /*!< COMPx Power Mode of the comparator   */
+#define COMP_CFGRx_PWRMODE_0         (0x1UL << COMP_CFGRx_PWRMODE_Pos)          /*!< 0x00001000 */
+#define COMP_CFGRx_PWRMODE_1         (0x2UL << COMP_CFGRx_PWRMODE_Pos)          /*!< 0x00002000 */
+#define COMP_CFGRx_INMSEL_Pos        (16U)
+#define COMP_CFGRx_INMSEL_Msk        (0x7UL << COMP_CFGRx_INMSEL_Pos)          /*!< 0x00070000 */
+#define COMP_CFGRx_INMSEL            COMP_CFGRx_INMSEL_Msk                     /*!< COMPx  input minus selection bit  */
+#define COMP_CFGRx_INMSEL_0          (0x1UL << COMP_CFGRx_INMSEL_Pos)           /*!< 0x00010000 */
+#define COMP_CFGRx_INMSEL_1          (0x2UL << COMP_CFGRx_INMSEL_Pos)           /*!< 0x00020000 */
+#define COMP_CFGRx_INMSEL_2          (0x4UL << COMP_CFGRx_INMSEL_Pos)           /*!< 0x00040000 */
+#define COMP_CFGRx_INPSEL_Pos        (20U)
+#define COMP_CFGRx_INPSEL_Msk        (0x1UL << COMP_CFGRx_INPSEL_Pos)          /*!< 0x00100000 */
+#define COMP_CFGRx_INPSEL            COMP_CFGRx_INPSEL_Msk                     /*!< COMPx  input plus selection bit       */
+#define COMP_CFGRx_BLANKING_Pos      (24U)
+#define COMP_CFGRx_BLANKING_Msk      (0xFUL << COMP_CFGRx_BLANKING_Pos)        /*!< 0x0F000000 */
+#define COMP_CFGRx_BLANKING          COMP_CFGRx_BLANKING_Msk                   /*!< COMPx  blanking source selection bits */
+#define COMP_CFGRx_BLANKING_0        (0x1UL << COMP_CFGRx_BLANKING_Pos)         /*!< 0x01000000 */
+#define COMP_CFGRx_BLANKING_1        (0x2UL << COMP_CFGRx_BLANKING_Pos)         /*!< 0x02000000 */
+#define COMP_CFGRx_BLANKING_2        (0x4UL << COMP_CFGRx_BLANKING_Pos)         /*!< 0x04000000 */
+#define COMP_CFGRx_LOCK_Pos          (31U)
+#define COMP_CFGRx_LOCK_Msk          (0x1UL << COMP_CFGRx_LOCK_Pos)            /*!< 0x80000000 */
+#define COMP_CFGRx_LOCK              COMP_CFGRx_LOCK_Msk                       /*!< COMPx Lock Bit                        */
+
+
+/******************************************************************************/
+/*                                                                            */
+/*      Universal Synchronous Asynchronous Receiver Transmitter (USART)       */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for USART_CR1 register  *******************/
+#define USART_CR1_UE_Pos                (0U)
+#define USART_CR1_UE_Msk                (0x1UL << USART_CR1_UE_Pos)            /*!< 0x00000001 */
+#define USART_CR1_UE                    USART_CR1_UE_Msk                       /*!< USART Enable */
+#define USART_CR1_UESM_Pos              (1U)
+#define USART_CR1_UESM_Msk              (0x1UL << USART_CR1_UESM_Pos)          /*!< 0x00000002 */
+#define USART_CR1_UESM                  USART_CR1_UESM_Msk                     /*!< USART Enable in STOP Mode */
+#define USART_CR1_RE_Pos                (2U)
+#define USART_CR1_RE_Msk                (0x1UL << USART_CR1_RE_Pos)            /*!< 0x00000004 */
+#define USART_CR1_RE                    USART_CR1_RE_Msk                       /*!< Receiver Enable */
+#define USART_CR1_TE_Pos                (3U)
+#define USART_CR1_TE_Msk                (0x1UL << USART_CR1_TE_Pos)            /*!< 0x00000008 */
+#define USART_CR1_TE                    USART_CR1_TE_Msk                       /*!< Transmitter Enable */
+#define USART_CR1_IDLEIE_Pos            (4U)
+#define USART_CR1_IDLEIE_Msk            (0x1UL << USART_CR1_IDLEIE_Pos)        /*!< 0x00000010 */
+#define USART_CR1_IDLEIE                USART_CR1_IDLEIE_Msk                   /*!< IDLE Interrupt Enable */
+#define USART_CR1_RXNEIE_RXFNEIE_Pos    (5U)
+#define USART_CR1_RXNEIE_RXFNEIE_Msk    (0x1UL << USART_CR1_RXNEIE_RXFNEIE_Pos) /*!< 0x00000020 */
+#define USART_CR1_RXNEIE_RXFNEIE        USART_CR1_RXNEIE_RXFNEIE_Msk           /*!< RXNE and RX FIFO Not Empty Interrupt Enable */
+#define USART_CR1_TCIE_Pos              (6U)
+#define USART_CR1_TCIE_Msk              (0x1UL << USART_CR1_TCIE_Pos)          /*!< 0x00000040 */
+#define USART_CR1_TCIE                  USART_CR1_TCIE_Msk                     /*!< Transmission Complete Interrupt Enable */
+#define USART_CR1_TXEIE_TXFNFIE_Pos     (7U)
+#define USART_CR1_TXEIE_TXFNFIE_Msk     (0x1UL << USART_CR1_TXEIE_TXFNFIE_Pos) /*!< 0x00000080 */
+#define USART_CR1_TXEIE_TXFNFIE         USART_CR1_TXEIE_TXFNFIE_Msk            /*!< TXE and TX FIFO Not Full Interrupt Enable */
+#define USART_CR1_PEIE_Pos              (8U)
+#define USART_CR1_PEIE_Msk              (0x1UL << USART_CR1_PEIE_Pos)          /*!< 0x00000100 */
+#define USART_CR1_PEIE                  USART_CR1_PEIE_Msk                     /*!< PE Interrupt Enable */
+#define USART_CR1_PS_Pos                (9U)
+#define USART_CR1_PS_Msk                (0x1UL << USART_CR1_PS_Pos)            /*!< 0x00000200 */
+#define USART_CR1_PS                    USART_CR1_PS_Msk                       /*!< Parity Selection */
+#define USART_CR1_PCE_Pos               (10U)
+#define USART_CR1_PCE_Msk               (0x1UL << USART_CR1_PCE_Pos)           /*!< 0x00000400 */
+#define USART_CR1_PCE                   USART_CR1_PCE_Msk                      /*!< Parity Control Enable */
+#define USART_CR1_WAKE_Pos              (11U)
+#define USART_CR1_WAKE_Msk              (0x1UL << USART_CR1_WAKE_Pos)          /*!< 0x00000800 */
+#define USART_CR1_WAKE                  USART_CR1_WAKE_Msk                     /*!< Receiver Wakeup method */
+#define USART_CR1_M_Pos                 (12U)
+#define USART_CR1_M_Msk                 (0x10001UL << USART_CR1_M_Pos)         /*!< 0x10001000 */
+#define USART_CR1_M                     USART_CR1_M_Msk                        /*!< Word length */
+#define USART_CR1_M0_Pos                (12U)
+#define USART_CR1_M0_Msk                (0x1UL << USART_CR1_M0_Pos)            /*!< 0x00001000 */
+#define USART_CR1_M0                    USART_CR1_M0_Msk                       /*!< Word length - Bit 0 */
+#define USART_CR1_MME_Pos               (13U)
+#define USART_CR1_MME_Msk               (0x1UL << USART_CR1_MME_Pos)           /*!< 0x00002000 */
+#define USART_CR1_MME                   USART_CR1_MME_Msk                      /*!< Mute Mode Enable */
+#define USART_CR1_CMIE_Pos              (14U)
+#define USART_CR1_CMIE_Msk              (0x1UL << USART_CR1_CMIE_Pos)          /*!< 0x00004000 */
+#define USART_CR1_CMIE                  USART_CR1_CMIE_Msk                     /*!< Character match interrupt enable */
+#define USART_CR1_OVER8_Pos             (15U)
+#define USART_CR1_OVER8_Msk             (0x1UL << USART_CR1_OVER8_Pos)         /*!< 0x00008000 */
+#define USART_CR1_OVER8                 USART_CR1_OVER8_Msk                    /*!< Oversampling by 8-bit or 16-bit mode */
+#define USART_CR1_DEDT_Pos              (16U)
+#define USART_CR1_DEDT_Msk              (0x1FUL << USART_CR1_DEDT_Pos)         /*!< 0x001F0000 */
+#define USART_CR1_DEDT                  USART_CR1_DEDT_Msk                     /*!< DEDT[4:0] bits (Driver Enable Deassertion Time) */
+#define USART_CR1_DEDT_0                (0x01UL << USART_CR1_DEDT_Pos)          /*!< 0x00010000 */
+#define USART_CR1_DEDT_1                (0x02UL << USART_CR1_DEDT_Pos)          /*!< 0x00020000 */
+#define USART_CR1_DEDT_2                (0x04UL << USART_CR1_DEDT_Pos)          /*!< 0x00040000 */
+#define USART_CR1_DEDT_3                (0x08UL << USART_CR1_DEDT_Pos)          /*!< 0x00080000 */
+#define USART_CR1_DEDT_4                (0x10UL << USART_CR1_DEDT_Pos)          /*!< 0x00100000 */
+#define USART_CR1_DEAT_Pos              (21U)
+#define USART_CR1_DEAT_Msk              (0x1FUL << USART_CR1_DEAT_Pos)         /*!< 0x03E00000 */
+#define USART_CR1_DEAT                  USART_CR1_DEAT_Msk                     /*!< DEAT[4:0] bits (Driver Enable Assertion Time) */
+#define USART_CR1_DEAT_0                (0x01UL << USART_CR1_DEAT_Pos)          /*!< 0x00200000 */
+#define USART_CR1_DEAT_1                (0x02UL << USART_CR1_DEAT_Pos)          /*!< 0x00400000 */
+#define USART_CR1_DEAT_2                (0x04UL << USART_CR1_DEAT_Pos)          /*!< 0x00800000 */
+#define USART_CR1_DEAT_3                (0x08UL << USART_CR1_DEAT_Pos)          /*!< 0x01000000 */
+#define USART_CR1_DEAT_4                (0x10UL << USART_CR1_DEAT_Pos)          /*!< 0x02000000 */
+#define USART_CR1_RTOIE_Pos             (26U)
+#define USART_CR1_RTOIE_Msk             (0x1UL << USART_CR1_RTOIE_Pos)         /*!< 0x04000000 */
+#define USART_CR1_RTOIE                 USART_CR1_RTOIE_Msk                    /*!< Receive Time Out interrupt enable */
+#define USART_CR1_EOBIE_Pos             (27U)
+#define USART_CR1_EOBIE_Msk             (0x1UL << USART_CR1_EOBIE_Pos)         /*!< 0x08000000 */
+#define USART_CR1_EOBIE                 USART_CR1_EOBIE_Msk                    /*!< End of Block interrupt enable */
+#define USART_CR1_M1_Pos                (28U)
+#define USART_CR1_M1_Msk                (0x1UL << USART_CR1_M1_Pos)            /*!< 0x10000000 */
+#define USART_CR1_M1                    USART_CR1_M1_Msk                       /*!< Word length - Bit 1 */
+#define USART_CR1_FIFOEN_Pos            (29U)
+#define USART_CR1_FIFOEN_Msk            (0x1UL << USART_CR1_FIFOEN_Pos)        /*!< 0x20000000 */
+#define USART_CR1_FIFOEN                USART_CR1_FIFOEN_Msk                   /*!< FIFO mode enable */
+#define USART_CR1_TXFEIE_Pos            (30U)
+#define USART_CR1_TXFEIE_Msk            (0x1UL << USART_CR1_TXFEIE_Pos)        /*!< 0x40000000 */
+#define USART_CR1_TXFEIE                USART_CR1_TXFEIE_Msk                   /*!< TXFIFO empty interrupt enable */
+#define USART_CR1_RXFFIE_Pos            (31U)
+#define USART_CR1_RXFFIE_Msk            (0x1UL << USART_CR1_RXFFIE_Pos)        /*!< 0x80000000 */
+#define USART_CR1_RXFFIE                USART_CR1_RXFFIE_Msk                   /*!< RXFIFO Full interrupt enable */
+
+/* Legacy define */
+#define  USART_CR1_RXNEIE  USART_CR1_RXNEIE_RXFNEIE
+#define  USART_CR1_TXEIE   USART_CR1_TXEIE_TXFNFIE
+
+/******************  Bit definition for USART_CR2 register  *******************/
+#define USART_CR2_SLVEN_Pos             (0U)
+#define USART_CR2_SLVEN_Msk             (0x1UL << USART_CR2_SLVEN_Pos)         /*!< 0x00000001 */
+#define USART_CR2_SLVEN                 USART_CR2_SLVEN_Msk                    /*!< Synchronous Slave mode Enable */
+#define USART_CR2_DIS_NSS_Pos           (3U)
+#define USART_CR2_DIS_NSS_Msk           (0x1UL << USART_CR2_DIS_NSS_Pos)       /*!< 0x00000008 */
+#define USART_CR2_DIS_NSS               USART_CR2_DIS_NSS_Msk                  /*!< Negative Slave Select (NSS) pin management */
+#define USART_CR2_ADDM7_Pos             (4U)
+#define USART_CR2_ADDM7_Msk             (0x1UL << USART_CR2_ADDM7_Pos)         /*!< 0x00000010 */
+#define USART_CR2_ADDM7                 USART_CR2_ADDM7_Msk                    /*!< 7-bit or 4-bit Address Detection */
+#define USART_CR2_LBDL_Pos              (5U)
+#define USART_CR2_LBDL_Msk              (0x1UL << USART_CR2_LBDL_Pos)          /*!< 0x00000020 */
+#define USART_CR2_LBDL                  USART_CR2_LBDL_Msk                     /*!< LIN Break Detection Length */
+#define USART_CR2_LBDIE_Pos             (6U)
+#define USART_CR2_LBDIE_Msk             (0x1UL << USART_CR2_LBDIE_Pos)         /*!< 0x00000040 */
+#define USART_CR2_LBDIE                 USART_CR2_LBDIE_Msk                    /*!< LIN Break Detection Interrupt Enable */
+#define USART_CR2_LBCL_Pos              (8U)
+#define USART_CR2_LBCL_Msk              (0x1UL << USART_CR2_LBCL_Pos)          /*!< 0x00000100 */
+#define USART_CR2_LBCL                  USART_CR2_LBCL_Msk                     /*!< Last Bit Clock pulse */
+#define USART_CR2_CPHA_Pos              (9U)
+#define USART_CR2_CPHA_Msk              (0x1UL << USART_CR2_CPHA_Pos)          /*!< 0x00000200 */
+#define USART_CR2_CPHA                  USART_CR2_CPHA_Msk                     /*!< Clock Phase */
+#define USART_CR2_CPOL_Pos              (10U)
+#define USART_CR2_CPOL_Msk              (0x1UL << USART_CR2_CPOL_Pos)          /*!< 0x00000400 */
+#define USART_CR2_CPOL                  USART_CR2_CPOL_Msk                     /*!< Clock Polarity */
+#define USART_CR2_CLKEN_Pos             (11U)
+#define USART_CR2_CLKEN_Msk             (0x1UL << USART_CR2_CLKEN_Pos)         /*!< 0x00000800 */
+#define USART_CR2_CLKEN                 USART_CR2_CLKEN_Msk                    /*!< Clock Enable */
+#define USART_CR2_STOP_Pos              (12U)
+#define USART_CR2_STOP_Msk              (0x3UL << USART_CR2_STOP_Pos)          /*!< 0x00003000 */
+#define USART_CR2_STOP                  USART_CR2_STOP_Msk                     /*!< STOP[1:0] bits (STOP bits) */
+#define USART_CR2_STOP_0                (0x1UL << USART_CR2_STOP_Pos)           /*!< 0x00001000 */
+#define USART_CR2_STOP_1                (0x2UL << USART_CR2_STOP_Pos)           /*!< 0x00002000 */
+#define USART_CR2_LINEN_Pos             (14U)
+#define USART_CR2_LINEN_Msk             (0x1UL << USART_CR2_LINEN_Pos)         /*!< 0x00004000 */
+#define USART_CR2_LINEN                 USART_CR2_LINEN_Msk                    /*!< LIN mode enable */
+#define USART_CR2_SWAP_Pos              (15U)
+#define USART_CR2_SWAP_Msk              (0x1UL << USART_CR2_SWAP_Pos)          /*!< 0x00008000 */
+#define USART_CR2_SWAP                  USART_CR2_SWAP_Msk                     /*!< SWAP TX/RX pins */
+#define USART_CR2_RXINV_Pos             (16U)
+#define USART_CR2_RXINV_Msk             (0x1UL << USART_CR2_RXINV_Pos)         /*!< 0x00010000 */
+#define USART_CR2_RXINV                 USART_CR2_RXINV_Msk                    /*!< RX pin active level inversion */
+#define USART_CR2_TXINV_Pos             (17U)
+#define USART_CR2_TXINV_Msk             (0x1UL << USART_CR2_TXINV_Pos)         /*!< 0x00020000 */
+#define USART_CR2_TXINV                 USART_CR2_TXINV_Msk                    /*!< TX pin active level inversion */
+#define USART_CR2_DATAINV_Pos           (18U)
+#define USART_CR2_DATAINV_Msk           (0x1UL << USART_CR2_DATAINV_Pos)       /*!< 0x00040000 */
+#define USART_CR2_DATAINV               USART_CR2_DATAINV_Msk                  /*!< Binary data inversion */
+#define USART_CR2_MSBFIRST_Pos          (19U)
+#define USART_CR2_MSBFIRST_Msk          (0x1UL << USART_CR2_MSBFIRST_Pos)      /*!< 0x00080000 */
+#define USART_CR2_MSBFIRST              USART_CR2_MSBFIRST_Msk                 /*!< Most Significant Bit First */
+#define USART_CR2_ABREN_Pos             (20U)
+#define USART_CR2_ABREN_Msk             (0x1UL << USART_CR2_ABREN_Pos)         /*!< 0x00100000 */
+#define USART_CR2_ABREN                 USART_CR2_ABREN_Msk                    /*!< Auto Baud-Rate Enable*/
+#define USART_CR2_ABRMODE_Pos           (21U)
+#define USART_CR2_ABRMODE_Msk           (0x3UL << USART_CR2_ABRMODE_Pos)       /*!< 0x00600000 */
+#define USART_CR2_ABRMODE               USART_CR2_ABRMODE_Msk                  /*!< ABRMOD[1:0] bits (Auto Baud-Rate Mode) */
+#define USART_CR2_ABRMODE_0             (0x1UL << USART_CR2_ABRMODE_Pos)        /*!< 0x00200000 */
+#define USART_CR2_ABRMODE_1             (0x2UL << USART_CR2_ABRMODE_Pos)        /*!< 0x00400000 */
+#define USART_CR2_RTOEN_Pos             (23U)
+#define USART_CR2_RTOEN_Msk             (0x1UL << USART_CR2_RTOEN_Pos)         /*!< 0x00800000 */
+#define USART_CR2_RTOEN                 USART_CR2_RTOEN_Msk                    /*!< Receiver Time-Out enable */
+#define USART_CR2_ADD_Pos               (24U)
+#define USART_CR2_ADD_Msk               (0xFFUL << USART_CR2_ADD_Pos)          /*!< 0xFF000000 */
+#define USART_CR2_ADD                   USART_CR2_ADD_Msk                      /*!< Address of the USART node */
+
+/******************  Bit definition for USART_CR3 register  *******************/
+#define USART_CR3_EIE_Pos               (0U)
+#define USART_CR3_EIE_Msk               (0x1UL << USART_CR3_EIE_Pos)           /*!< 0x00000001 */
+#define USART_CR3_EIE                   USART_CR3_EIE_Msk                      /*!< Error Interrupt Enable */
+#define USART_CR3_IREN_Pos              (1U)
+#define USART_CR3_IREN_Msk              (0x1UL << USART_CR3_IREN_Pos)          /*!< 0x00000002 */
+#define USART_CR3_IREN                  USART_CR3_IREN_Msk                     /*!< IrDA mode Enable */
+#define USART_CR3_IRLP_Pos              (2U)
+#define USART_CR3_IRLP_Msk              (0x1UL << USART_CR3_IRLP_Pos)          /*!< 0x00000004 */
+#define USART_CR3_IRLP                  USART_CR3_IRLP_Msk                     /*!< IrDA Low-Power */
+#define USART_CR3_HDSEL_Pos             (3U)
+#define USART_CR3_HDSEL_Msk             (0x1UL << USART_CR3_HDSEL_Pos)         /*!< 0x00000008 */
+#define USART_CR3_HDSEL                 USART_CR3_HDSEL_Msk                    /*!< Half-Duplex Selection */
+#define USART_CR3_NACK_Pos              (4U)
+#define USART_CR3_NACK_Msk              (0x1UL << USART_CR3_NACK_Pos)          /*!< 0x00000010 */
+#define USART_CR3_NACK                  USART_CR3_NACK_Msk                     /*!< SmartCard NACK enable */
+#define USART_CR3_SCEN_Pos              (5U)
+#define USART_CR3_SCEN_Msk              (0x1UL << USART_CR3_SCEN_Pos)          /*!< 0x00000020 */
+#define USART_CR3_SCEN                  USART_CR3_SCEN_Msk                     /*!< SmartCard mode enable */
+#define USART_CR3_DMAR_Pos              (6U)
+#define USART_CR3_DMAR_Msk              (0x1UL << USART_CR3_DMAR_Pos)          /*!< 0x00000040 */
+#define USART_CR3_DMAR                  USART_CR3_DMAR_Msk                     /*!< DMA Enable Receiver */
+#define USART_CR3_DMAT_Pos              (7U)
+#define USART_CR3_DMAT_Msk              (0x1UL << USART_CR3_DMAT_Pos)          /*!< 0x00000080 */
+#define USART_CR3_DMAT                  USART_CR3_DMAT_Msk                     /*!< DMA Enable Transmitter */
+#define USART_CR3_RTSE_Pos              (8U)
+#define USART_CR3_RTSE_Msk              (0x1UL << USART_CR3_RTSE_Pos)          /*!< 0x00000100 */
+#define USART_CR3_RTSE                  USART_CR3_RTSE_Msk                     /*!< RTS Enable */
+#define USART_CR3_CTSE_Pos              (9U)
+#define USART_CR3_CTSE_Msk              (0x1UL << USART_CR3_CTSE_Pos)          /*!< 0x00000200 */
+#define USART_CR3_CTSE                  USART_CR3_CTSE_Msk                     /*!< CTS Enable */
+#define USART_CR3_CTSIE_Pos             (10U)
+#define USART_CR3_CTSIE_Msk             (0x1UL << USART_CR3_CTSIE_Pos)         /*!< 0x00000400 */
+#define USART_CR3_CTSIE                 USART_CR3_CTSIE_Msk                    /*!< CTS Interrupt Enable */
+#define USART_CR3_ONEBIT_Pos            (11U)
+#define USART_CR3_ONEBIT_Msk            (0x1UL << USART_CR3_ONEBIT_Pos)        /*!< 0x00000800 */
+#define USART_CR3_ONEBIT                USART_CR3_ONEBIT_Msk                   /*!< One sample bit method enable */
+#define USART_CR3_OVRDIS_Pos            (12U)
+#define USART_CR3_OVRDIS_Msk            (0x1UL << USART_CR3_OVRDIS_Pos)        /*!< 0x00001000 */
+#define USART_CR3_OVRDIS                USART_CR3_OVRDIS_Msk                   /*!< Overrun Disable */
+#define USART_CR3_DDRE_Pos              (13U)
+#define USART_CR3_DDRE_Msk              (0x1UL << USART_CR3_DDRE_Pos)          /*!< 0x00002000 */
+#define USART_CR3_DDRE                  USART_CR3_DDRE_Msk                     /*!< DMA Disable on Reception Error */
+#define USART_CR3_DEM_Pos               (14U)
+#define USART_CR3_DEM_Msk               (0x1UL << USART_CR3_DEM_Pos)           /*!< 0x00004000 */
+#define USART_CR3_DEM                   USART_CR3_DEM_Msk                      /*!< Driver Enable Mode */
+#define USART_CR3_DEP_Pos               (15U)
+#define USART_CR3_DEP_Msk               (0x1UL << USART_CR3_DEP_Pos)           /*!< 0x00008000 */
+#define USART_CR3_DEP                   USART_CR3_DEP_Msk                      /*!< Driver Enable Polarity Selection */
+#define USART_CR3_SCARCNT_Pos           (17U)
+#define USART_CR3_SCARCNT_Msk           (0x7UL << USART_CR3_SCARCNT_Pos)       /*!< 0x000E0000 */
+#define USART_CR3_SCARCNT               USART_CR3_SCARCNT_Msk                  /*!< SCARCNT[2:0] bits (SmartCard Auto-Retry Count) */
+#define USART_CR3_SCARCNT_0             (0x1UL << USART_CR3_SCARCNT_Pos)        /*!< 0x00020000 */
+#define USART_CR3_SCARCNT_1             (0x2UL << USART_CR3_SCARCNT_Pos)        /*!< 0x00040000 */
+#define USART_CR3_SCARCNT_2             (0x4UL << USART_CR3_SCARCNT_Pos)        /*!< 0x00080000 */
+#define USART_CR3_WUS_Pos               (20U)
+#define USART_CR3_WUS_Msk               (0x3UL << USART_CR3_WUS_Pos)           /*!< 0x00300000 */
+#define USART_CR3_WUS                   USART_CR3_WUS_Msk                      /*!< WUS[1:0] bits (Wake UP Interrupt Flag Selection) */
+#define USART_CR3_WUS_0                 (0x1UL << USART_CR3_WUS_Pos)            /*!< 0x00100000 */
+#define USART_CR3_WUS_1                 (0x2UL << USART_CR3_WUS_Pos)            /*!< 0x00200000 */
+#define USART_CR3_WUFIE_Pos             (22U)
+#define USART_CR3_WUFIE_Msk             (0x1UL << USART_CR3_WUFIE_Pos)         /*!< 0x00400000 */
+#define USART_CR3_WUFIE                 USART_CR3_WUFIE_Msk                    /*!< Wake Up Interrupt Enable */
+#define USART_CR3_TXFTIE_Pos            (23U)
+#define USART_CR3_TXFTIE_Msk            (0x1UL << USART_CR3_TXFTIE_Pos)        /*!< 0x00800000 */
+#define USART_CR3_TXFTIE                USART_CR3_TXFTIE_Msk                   /*!< TXFIFO threshold interrupt enable */
+#define USART_CR3_TCBGTIE_Pos           (24U)
+#define USART_CR3_TCBGTIE_Msk           (0x1UL << USART_CR3_TCBGTIE_Pos)       /*!< 0x01000000 */
+#define USART_CR3_TCBGTIE               USART_CR3_TCBGTIE_Msk                  /*!< Transmission Complete before guard time, interrupt enable */
+#define USART_CR3_RXFTCFG_Pos           (25U)
+#define USART_CR3_RXFTCFG_Msk           (0x7UL << USART_CR3_RXFTCFG_Pos)       /*!< 0x0E000000 */
+#define USART_CR3_RXFTCFG               USART_CR3_RXFTCFG_Msk                  /*!< RXFTCFG [2:0]Receive FIFO threshold configuration */
+#define USART_CR3_RXFTCFG_0             (0x1UL << USART_CR3_RXFTCFG_Pos)        /*!< 0x02000000 */
+#define USART_CR3_RXFTCFG_1             (0x2UL << USART_CR3_RXFTCFG_Pos)        /*!< 0x04000000 */
+#define USART_CR3_RXFTCFG_2             (0x4UL << USART_CR3_RXFTCFG_Pos)        /*!< 0x08000000 */
+#define USART_CR3_RXFTIE_Pos            (28U)
+#define USART_CR3_RXFTIE_Msk            (0x1UL << USART_CR3_RXFTIE_Pos)        /*!< 0x10000000 */
+#define USART_CR3_RXFTIE                USART_CR3_RXFTIE_Msk                   /*!< RXFIFO threshold interrupt enable */
+#define USART_CR3_TXFTCFG_Pos           (29U)
+#define USART_CR3_TXFTCFG_Msk           (0x7UL << USART_CR3_TXFTCFG_Pos)       /*!< 0xE0000000 */
+#define USART_CR3_TXFTCFG               USART_CR3_TXFTCFG_Msk                  /*!< TXFIFO [2:0] threshold configuration */
+#define USART_CR3_TXFTCFG_0             (0x1UL << USART_CR3_TXFTCFG_Pos)        /*!< 0x20000000 */
+#define USART_CR3_TXFTCFG_1             (0x2UL << USART_CR3_TXFTCFG_Pos)        /*!< 0x40000000 */
+#define USART_CR3_TXFTCFG_2             (0x4UL << USART_CR3_TXFTCFG_Pos)        /*!< 0x80000000 */
+
+/******************  Bit definition for USART_BRR register  *******************/
+#define USART_BRR_DIV_FRACTION_Pos      (0U)
+#define USART_BRR_DIV_FRACTION_Msk      (0xFUL << USART_BRR_DIV_FRACTION_Pos)  /*!< 0x0000000F */
+#define USART_BRR_DIV_FRACTION          USART_BRR_DIV_FRACTION_Msk             /*!< Fraction of USARTDIV */
+#define USART_BRR_DIV_MANTISSA_Pos      (4U)
+#define USART_BRR_DIV_MANTISSA_Msk      (0xFFFUL << USART_BRR_DIV_MANTISSA_Pos) /*!< 0x0000FFF0 */
+#define USART_BRR_DIV_MANTISSA          USART_BRR_DIV_MANTISSA_Msk             /*!< Mantissa of USARTDIV */
+
+/******************  Bit definition for USART_GTPR register  ******************/
+#define USART_GTPR_PSC_Pos              (0U)
+#define USART_GTPR_PSC_Msk              (0xFFUL << USART_GTPR_PSC_Pos)         /*!< 0x000000FF */
+#define USART_GTPR_PSC                  USART_GTPR_PSC_Msk                     /*!< PSC[7:0] bits (Prescaler value) */
+#define USART_GTPR_GT_Pos               (8U)
+#define USART_GTPR_GT_Msk               (0xFFUL << USART_GTPR_GT_Pos)          /*!< 0x0000FF00 */
+#define USART_GTPR_GT                   USART_GTPR_GT_Msk                      /*!< GT[7:0] bits (Guard time value) */
+
+/*******************  Bit definition for USART_RTOR register  *****************/
+#define USART_RTOR_RTO_Pos              (0U)
+#define USART_RTOR_RTO_Msk              (0xFFFFFFUL << USART_RTOR_RTO_Pos)     /*!< 0x00FFFFFF */
+#define USART_RTOR_RTO                  USART_RTOR_RTO_Msk                     /*!< Receiver Time Out Value */
+#define USART_RTOR_BLEN_Pos             (24U)
+#define USART_RTOR_BLEN_Msk             (0xFFUL << USART_RTOR_BLEN_Pos)        /*!< 0xFF000000 */
+#define USART_RTOR_BLEN                 USART_RTOR_BLEN_Msk                    /*!< Block Length */
+
+/*******************  Bit definition for USART_RQR register  ******************/
+#define USART_RQR_ABRRQ_Pos             (0U)
+#define USART_RQR_ABRRQ_Msk             (0x1UL << USART_RQR_ABRRQ_Pos)         /*!< 0x00000001 */
+#define USART_RQR_ABRRQ                 USART_RQR_ABRRQ_Msk                    /*!< Auto-Baud Rate Request */
+#define USART_RQR_SBKRQ_Pos             (1U)
+#define USART_RQR_SBKRQ_Msk             (0x1UL << USART_RQR_SBKRQ_Pos)         /*!< 0x00000002 */
+#define USART_RQR_SBKRQ                 USART_RQR_SBKRQ_Msk                    /*!< Send Break Request */
+#define USART_RQR_MMRQ_Pos              (2U)
+#define USART_RQR_MMRQ_Msk              (0x1UL << USART_RQR_MMRQ_Pos)          /*!< 0x00000004 */
+#define USART_RQR_MMRQ                  USART_RQR_MMRQ_Msk                     /*!< Mute Mode Request */
+#define USART_RQR_RXFRQ_Pos             (3U)
+#define USART_RQR_RXFRQ_Msk             (0x1UL << USART_RQR_RXFRQ_Pos)         /*!< 0x00000008 */
+#define USART_RQR_RXFRQ                 USART_RQR_RXFRQ_Msk                    /*!< Receive Data flush Request */
+#define USART_RQR_TXFRQ_Pos             (4U)
+#define USART_RQR_TXFRQ_Msk             (0x1UL << USART_RQR_TXFRQ_Pos)         /*!< 0x00000010 */
+#define USART_RQR_TXFRQ                 USART_RQR_TXFRQ_Msk                    /*!< Transmit data flush Request */
+
+/*******************  Bit definition for USART_ISR register  ******************/
+#define USART_ISR_PE_Pos                (0U)
+#define USART_ISR_PE_Msk                (0x1UL << USART_ISR_PE_Pos)            /*!< 0x00000001 */
+#define USART_ISR_PE                    USART_ISR_PE_Msk                       /*!< Parity Error */
+#define USART_ISR_FE_Pos                (1U)
+#define USART_ISR_FE_Msk                (0x1UL << USART_ISR_FE_Pos)            /*!< 0x00000002 */
+#define USART_ISR_FE                    USART_ISR_FE_Msk                       /*!< Framing Error */
+#define USART_ISR_NE_Pos                (2U)
+#define USART_ISR_NE_Msk                (0x1UL << USART_ISR_NE_Pos)            /*!< 0x00000004 */
+#define USART_ISR_NE                    USART_ISR_NE_Msk                       /*!< Noise detected Flag */
+#define USART_ISR_ORE_Pos               (3U)
+#define USART_ISR_ORE_Msk               (0x1UL << USART_ISR_ORE_Pos)           /*!< 0x00000008 */
+#define USART_ISR_ORE                   USART_ISR_ORE_Msk                      /*!< OverRun Error */
+#define USART_ISR_IDLE_Pos              (4U)
+#define USART_ISR_IDLE_Msk              (0x1UL << USART_ISR_IDLE_Pos)          /*!< 0x00000010 */
+#define USART_ISR_IDLE                  USART_ISR_IDLE_Msk                     /*!< IDLE line detected */
+#define USART_ISR_RXNE_RXFNE_Pos        (5U)
+#define USART_ISR_RXNE_RXFNE_Msk        (0x1UL << USART_ISR_RXNE_RXFNE_Pos)    /*!< 0x00000020 */
+#define USART_ISR_RXNE_RXFNE            USART_ISR_RXNE_RXFNE_Msk               /*!< Read Data Register or RX FIFO Not Empty */
+#define USART_ISR_TC_Pos                (6U)
+#define USART_ISR_TC_Msk                (0x1UL << USART_ISR_TC_Pos)            /*!< 0x00000040 */
+#define USART_ISR_TC                    USART_ISR_TC_Msk                       /*!< Transmission Complete */
+#define USART_ISR_TXE_TXFNF_Pos         (7U)
+#define USART_ISR_TXE_TXFNF_Msk         (0x1UL << USART_ISR_TXE_TXFNF_Pos)     /*!< 0x00000080 */
+#define USART_ISR_TXE_TXFNF             USART_ISR_TXE_TXFNF_Msk                /*!< Transmit Data Register Empty or TX FIFO Not Full Flag */
+#define USART_ISR_LBDF_Pos              (8U)
+#define USART_ISR_LBDF_Msk              (0x1UL << USART_ISR_LBDF_Pos)          /*!< 0x00000100 */
+#define USART_ISR_LBDF                  USART_ISR_LBDF_Msk                     /*!< LIN Break Detection Flag */
+#define USART_ISR_CTSIF_Pos             (9U)
+#define USART_ISR_CTSIF_Msk             (0x1UL << USART_ISR_CTSIF_Pos)         /*!< 0x00000200 */
+#define USART_ISR_CTSIF                 USART_ISR_CTSIF_Msk                    /*!< CTS interrupt flag */
+#define USART_ISR_CTS_Pos               (10U)
+#define USART_ISR_CTS_Msk               (0x1UL << USART_ISR_CTS_Pos)           /*!< 0x00000400 */
+#define USART_ISR_CTS                   USART_ISR_CTS_Msk                      /*!< CTS flag */
+#define USART_ISR_RTOF_Pos              (11U)
+#define USART_ISR_RTOF_Msk              (0x1UL << USART_ISR_RTOF_Pos)          /*!< 0x00000800 */
+#define USART_ISR_RTOF                  USART_ISR_RTOF_Msk                     /*!< Receiver Time Out */
+#define USART_ISR_EOBF_Pos              (12U)
+#define USART_ISR_EOBF_Msk              (0x1UL << USART_ISR_EOBF_Pos)          /*!< 0x00001000 */
+#define USART_ISR_EOBF                  USART_ISR_EOBF_Msk                     /*!< End Of Block Flag */
+#define USART_ISR_UDR_Pos               (13U)
+#define USART_ISR_UDR_Msk               (0x1UL << USART_ISR_UDR_Pos)           /*!< 0x00002000 */
+#define USART_ISR_UDR                   USART_ISR_UDR_Msk                      /*!< SPI slave underrun error flag */
+#define USART_ISR_ABRE_Pos              (14U)
+#define USART_ISR_ABRE_Msk              (0x1UL << USART_ISR_ABRE_Pos)          /*!< 0x00004000 */
+#define USART_ISR_ABRE                  USART_ISR_ABRE_Msk                     /*!< Auto-Baud Rate Error */
+#define USART_ISR_ABRF_Pos              (15U)
+#define USART_ISR_ABRF_Msk              (0x1UL << USART_ISR_ABRF_Pos)          /*!< 0x00008000 */
+#define USART_ISR_ABRF                  USART_ISR_ABRF_Msk                     /*!< Auto-Baud Rate Flag */
+#define USART_ISR_BUSY_Pos              (16U)
+#define USART_ISR_BUSY_Msk              (0x1UL << USART_ISR_BUSY_Pos)          /*!< 0x00010000 */
+#define USART_ISR_BUSY                  USART_ISR_BUSY_Msk                     /*!< Busy Flag */
+#define USART_ISR_CMF_Pos               (17U)
+#define USART_ISR_CMF_Msk               (0x1UL << USART_ISR_CMF_Pos)           /*!< 0x00020000 */
+#define USART_ISR_CMF                   USART_ISR_CMF_Msk                      /*!< Character Match Flag */
+#define USART_ISR_SBKF_Pos              (18U)
+#define USART_ISR_SBKF_Msk              (0x1UL << USART_ISR_SBKF_Pos)          /*!< 0x00040000 */
+#define USART_ISR_SBKF                  USART_ISR_SBKF_Msk                     /*!< Send Break Flag */
+#define USART_ISR_RWU_Pos               (19U)
+#define USART_ISR_RWU_Msk               (0x1UL << USART_ISR_RWU_Pos)           /*!< 0x00080000 */
+#define USART_ISR_RWU                   USART_ISR_RWU_Msk                      /*!< Receive Wake Up from mute mode Flag */
+#define USART_ISR_WUF_Pos               (20U)
+#define USART_ISR_WUF_Msk               (0x1UL << USART_ISR_WUF_Pos)           /*!< 0x00100000 */
+#define USART_ISR_WUF                   USART_ISR_WUF_Msk                      /*!< Wake Up from stop mode Flag */
+#define USART_ISR_TEACK_Pos             (21U)
+#define USART_ISR_TEACK_Msk             (0x1UL << USART_ISR_TEACK_Pos)         /*!< 0x00200000 */
+#define USART_ISR_TEACK                 USART_ISR_TEACK_Msk                    /*!< Transmit Enable Acknowledge Flag */
+#define USART_ISR_REACK_Pos             (22U)
+#define USART_ISR_REACK_Msk             (0x1UL << USART_ISR_REACK_Pos)         /*!< 0x00400000 */
+#define USART_ISR_REACK                 USART_ISR_REACK_Msk                    /*!< Receive Enable Acknowledge Flag */
+#define USART_ISR_TXFE_Pos              (23U)
+#define USART_ISR_TXFE_Msk              (0x1UL << USART_ISR_TXFE_Pos)          /*!< 0x00800000 */
+#define USART_ISR_TXFE                  USART_ISR_TXFE_Msk                     /*!< TXFIFO Empty */
+#define USART_ISR_RXFF_Pos              (24U)
+#define USART_ISR_RXFF_Msk              (0x1UL << USART_ISR_RXFF_Pos)          /*!< 0x01000000 */
+#define USART_ISR_RXFF                  USART_ISR_RXFF_Msk                     /*!< RXFIFO Full Flag */
+#define USART_ISR_TCBGT_Pos             (25U)
+#define USART_ISR_TCBGT_Msk             (0x1UL << USART_ISR_TCBGT_Pos)         /*!< 0x02000000 */
+#define USART_ISR_TCBGT                 USART_ISR_TCBGT_Msk                    /*!< Transmission complete before guard time Flag */
+#define USART_ISR_RXFT_Pos              (26U)
+#define USART_ISR_RXFT_Msk              (0x1UL << USART_ISR_RXFT_Pos)          /*!< 0x04000000 */
+#define USART_ISR_RXFT                  USART_ISR_RXFT_Msk                     /*!< RXFIFO threshold Flag */
+#define USART_ISR_TXFT_Pos              (27U)
+#define USART_ISR_TXFT_Msk              (0x1UL << USART_ISR_TXFT_Pos)          /*!< 0x08000000 */
+#define USART_ISR_TXFT                  USART_ISR_TXFT_Msk                     /*!< TXFIFO threshold Flag */
+
+/*******************  Bit definition for USART_ICR register  ******************/
+#define USART_ICR_PECF_Pos              (0U)
+#define USART_ICR_PECF_Msk              (0x1UL << USART_ICR_PECF_Pos)          /*!< 0x00000001 */
+#define USART_ICR_PECF                  USART_ICR_PECF_Msk                     /*!< Parity Error Clear Flag */
+#define USART_ICR_FECF_Pos              (1U)
+#define USART_ICR_FECF_Msk              (0x1UL << USART_ICR_FECF_Pos)          /*!< 0x00000002 */
+#define USART_ICR_FECF                  USART_ICR_FECF_Msk                     /*!< Framing Error Clear Flag */
+#define USART_ICR_NECF_Pos              (2U)
+#define USART_ICR_NECF_Msk              (0x1UL << USART_ICR_NECF_Pos)          /*!< 0x00000004 */
+#define USART_ICR_NECF                  USART_ICR_NECF_Msk                     /*!< Noise detected Clear Flag */
+#define USART_ICR_ORECF_Pos             (3U)
+#define USART_ICR_ORECF_Msk             (0x1UL << USART_ICR_ORECF_Pos)         /*!< 0x00000008 */
+#define USART_ICR_ORECF                 USART_ICR_ORECF_Msk                    /*!< OverRun Error Clear Flag */
+#define USART_ICR_IDLECF_Pos            (4U)
+#define USART_ICR_IDLECF_Msk            (0x1UL << USART_ICR_IDLECF_Pos)        /*!< 0x00000010 */
+#define USART_ICR_IDLECF                USART_ICR_IDLECF_Msk                   /*!< IDLE line detected Clear Flag */
+#define USART_ICR_TXFECF_Pos            (5U)
+#define USART_ICR_TXFECF_Msk            (0x1UL << USART_ICR_TXFECF_Pos)        /*!< 0x00000020 */
+#define USART_ICR_TXFECF                USART_ICR_TXFECF_Msk                   /*!< TXFIFO empty clear flag */
+#define USART_ICR_TCCF_Pos              (6U)
+#define USART_ICR_TCCF_Msk              (0x1UL << USART_ICR_TCCF_Pos)          /*!< 0x00000040 */
+#define USART_ICR_TCCF                  USART_ICR_TCCF_Msk                     /*!< Transmission Complete Clear Flag */
+#define USART_ICR_TCBGTCF_Pos           (7U)
+#define USART_ICR_TCBGTCF_Msk           (0x1UL << USART_ICR_TCBGTCF_Pos)       /*!< 0x00000080 */
+#define USART_ICR_TCBGTCF               USART_ICR_TCBGTCF_Msk                  /*!< Transmission complete before guard time Clear Flag */
+#define USART_ICR_LBDCF_Pos             (8U)
+#define USART_ICR_LBDCF_Msk             (0x1UL << USART_ICR_LBDCF_Pos)         /*!< 0x00000100 */
+#define USART_ICR_LBDCF                 USART_ICR_LBDCF_Msk                    /*!< LIN Break Detection Clear Flag */
+#define USART_ICR_CTSCF_Pos             (9U)
+#define USART_ICR_CTSCF_Msk             (0x1UL << USART_ICR_CTSCF_Pos)         /*!< 0x00000200 */
+#define USART_ICR_CTSCF                 USART_ICR_CTSCF_Msk                    /*!< CTS Interrupt Clear Flag */
+#define USART_ICR_RTOCF_Pos             (11U)
+#define USART_ICR_RTOCF_Msk             (0x1UL << USART_ICR_RTOCF_Pos)         /*!< 0x00000800 */
+#define USART_ICR_RTOCF                 USART_ICR_RTOCF_Msk                    /*!< Receiver Time Out Clear Flag */
+#define USART_ICR_EOBCF_Pos             (12U)
+#define USART_ICR_EOBCF_Msk             (0x1UL << USART_ICR_EOBCF_Pos)         /*!< 0x00001000 */
+#define USART_ICR_EOBCF                 USART_ICR_EOBCF_Msk                    /*!< End Of Block Clear Flag */
+#define USART_ICR_UDRCF_Pos             (13U)
+#define USART_ICR_UDRCF_Msk             (0x1UL << USART_ICR_UDRCF_Pos)         /*!< 0x00002000 */
+#define USART_ICR_UDRCF                 USART_ICR_UDRCF_Msk                    /*!< SPI slave underrun clear flag */
+#define USART_ICR_CMCF_Pos              (17U)
+#define USART_ICR_CMCF_Msk              (0x1UL << USART_ICR_CMCF_Pos)          /*!< 0x00020000 */
+#define USART_ICR_CMCF                  USART_ICR_CMCF_Msk                     /*!< Character Match Clear Flag */
+#define USART_ICR_WUCF_Pos              (20U)
+#define USART_ICR_WUCF_Msk              (0x1UL << USART_ICR_WUCF_Pos)          /*!< 0x00100000 */
+#define USART_ICR_WUCF                  USART_ICR_WUCF_Msk                     /*!< Wake Up from stop mode Clear Flag */
+
+/*******************  Bit definition for USART_RDR register  ******************/
+#define USART_RDR_RDR_Pos               (0U)
+#define USART_RDR_RDR_Msk               (0x1FFUL << USART_RDR_RDR_Pos)         /*!< 0x000001FF */
+#define USART_RDR_RDR                   USART_RDR_RDR_Msk                      /*!< RDR[8:0] bits (Receive Data value) */
+
+/*******************  Bit definition for USART_TDR register  ******************/
+#define USART_TDR_TDR_Pos               (0U)
+#define USART_TDR_TDR_Msk               (0x1FFUL << USART_TDR_TDR_Pos)         /*!< 0x000001FF */
+#define USART_TDR_TDR                   USART_TDR_TDR_Msk                      /*!< TDR[8:0] bits (Transmit Data value) */
+
+/*******************  Bit definition for USART_PRESC register  ******************/
+#define USART_PRESC_PRESCALER_Pos       (0U)
+#define USART_PRESC_PRESCALER_Msk       (0xFUL << USART_PRESC_PRESCALER_Pos)   /*!< 0x0000000F */
+#define USART_PRESC_PRESCALER           USART_PRESC_PRESCALER_Msk              /*!< PRESCALER[3:0] bits (Clock prescaler) */
+#define USART_PRESC_PRESCALER_0         (0x1UL << USART_PRESC_PRESCALER_Pos)    /*!< 0x00000001 */
+#define USART_PRESC_PRESCALER_1         (0x2UL << USART_PRESC_PRESCALER_Pos)    /*!< 0x00000002 */
+#define USART_PRESC_PRESCALER_2         (0x4UL << USART_PRESC_PRESCALER_Pos)    /*!< 0x00000004 */
+#define USART_PRESC_PRESCALER_3         (0x8UL << USART_PRESC_PRESCALER_Pos)    /*!< 0x00000008 */
+
+/******************************************************************************/
+/*                                                                            */
+/*           Single Wire Protocol Master Interface (SWPMI)                    */
+/*                                                                            */
+/******************************************************************************/
+
+/*******************  Bit definition for SWPMI_CR register   ********************/
+#define SWPMI_CR_RXDMA_Pos       (0U)
+#define SWPMI_CR_RXDMA_Msk       (0x1UL << SWPMI_CR_RXDMA_Pos)                 /*!< 0x00000001 */
+#define SWPMI_CR_RXDMA           SWPMI_CR_RXDMA_Msk                            /*!<Reception DMA enable                                 */
+#define SWPMI_CR_TXDMA_Pos       (1U)
+#define SWPMI_CR_TXDMA_Msk       (0x1UL << SWPMI_CR_TXDMA_Pos)                 /*!< 0x00000002 */
+#define SWPMI_CR_TXDMA           SWPMI_CR_TXDMA_Msk                            /*!<Transmission DMA enable                              */
+#define SWPMI_CR_RXMODE_Pos      (2U)
+#define SWPMI_CR_RXMODE_Msk      (0x1UL << SWPMI_CR_RXMODE_Pos)                /*!< 0x00000004 */
+#define SWPMI_CR_RXMODE          SWPMI_CR_RXMODE_Msk                           /*!<Reception buffering mode                             */
+#define SWPMI_CR_TXMODE_Pos      (3U)
+#define SWPMI_CR_TXMODE_Msk      (0x1UL << SWPMI_CR_TXMODE_Pos)                /*!< 0x00000008 */
+#define SWPMI_CR_TXMODE          SWPMI_CR_TXMODE_Msk                           /*!<Transmission buffering mode                          */
+#define SWPMI_CR_LPBK_Pos        (4U)
+#define SWPMI_CR_LPBK_Msk        (0x1UL << SWPMI_CR_LPBK_Pos)                  /*!< 0x00000010 */
+#define SWPMI_CR_LPBK            SWPMI_CR_LPBK_Msk                             /*!<Loopback mode enable                                 */
+#define SWPMI_CR_SWPACT_Pos      (5U)
+#define SWPMI_CR_SWPACT_Msk      (0x1UL << SWPMI_CR_SWPACT_Pos)                /*!< 0x00000020 */
+#define SWPMI_CR_SWPACT          SWPMI_CR_SWPACT_Msk                           /*!<Single wire protocol master interface activate       */
+#define SWPMI_CR_DEACT_Pos       (10U)
+#define SWPMI_CR_DEACT_Msk       (0x1UL << SWPMI_CR_DEACT_Pos)                 /*!< 0x00000400 */
+#define SWPMI_CR_DEACT           SWPMI_CR_DEACT_Msk                            /*!<Single wire protocol master interface deactivate     */
+#define SWPMI_CR_SWPEN_Pos       (11U)
+#define SWPMI_CR_SWPEN_Msk       (0x1UL << SWPMI_CR_SWPEN_Pos)                 /*!< 0x00000800 */
+#define SWPMI_CR_SWPEN           SWPMI_CR_SWPEN_Msk                            /*!<Single wire protocol master transceiver enable       */
+
+/*******************  Bit definition for SWPMI_BRR register  ********************/
+#define SWPMI_BRR_BR_Pos         (0U)
+#define SWPMI_BRR_BR_Msk         (0xFFUL << SWPMI_BRR_BR_Pos)                  /*!< 0x000000FF */
+#define SWPMI_BRR_BR             SWPMI_BRR_BR_Msk                              /*!<BR[7:0] bits (Bitrate prescaler) */
+
+/*******************  Bit definition for SWPMI_ISR register  ********************/
+#define SWPMI_ISR_RXBFF_Pos      (0U)
+#define SWPMI_ISR_RXBFF_Msk      (0x1UL << SWPMI_ISR_RXBFF_Pos)                /*!< 0x00000001 */
+#define SWPMI_ISR_RXBFF          SWPMI_ISR_RXBFF_Msk                           /*!<Receive buffer full flag        */
+#define SWPMI_ISR_TXBEF_Pos      (1U)
+#define SWPMI_ISR_TXBEF_Msk      (0x1UL << SWPMI_ISR_TXBEF_Pos)                /*!< 0x00000002 */
+#define SWPMI_ISR_TXBEF          SWPMI_ISR_TXBEF_Msk                           /*!<Transmit buffer empty flag      */
+#define SWPMI_ISR_RXBERF_Pos     (2U)
+#define SWPMI_ISR_RXBERF_Msk     (0x1UL << SWPMI_ISR_RXBERF_Pos)               /*!< 0x00000004 */
+#define SWPMI_ISR_RXBERF         SWPMI_ISR_RXBERF_Msk                          /*!<Receive CRC error flag          */
+#define SWPMI_ISR_RXOVRF_Pos     (3U)
+#define SWPMI_ISR_RXOVRF_Msk     (0x1UL << SWPMI_ISR_RXOVRF_Pos)               /*!< 0x00000008 */
+#define SWPMI_ISR_RXOVRF         SWPMI_ISR_RXOVRF_Msk                          /*!<Receive overrun error flag      */
+#define SWPMI_ISR_TXUNRF_Pos     (4U)
+#define SWPMI_ISR_TXUNRF_Msk     (0x1UL << SWPMI_ISR_TXUNRF_Pos)               /*!< 0x00000010 */
+#define SWPMI_ISR_TXUNRF         SWPMI_ISR_TXUNRF_Msk                          /*!<Transmit underrun error flag    */
+#define SWPMI_ISR_RXNE_Pos       (5U)
+#define SWPMI_ISR_RXNE_Msk       (0x1UL << SWPMI_ISR_RXNE_Pos)                 /*!< 0x00000020 */
+#define SWPMI_ISR_RXNE           SWPMI_ISR_RXNE_Msk                            /*!<Receive data register not empty */
+#define SWPMI_ISR_TXE_Pos        (6U)
+#define SWPMI_ISR_TXE_Msk        (0x1UL << SWPMI_ISR_TXE_Pos)                  /*!< 0x00000040 */
+#define SWPMI_ISR_TXE            SWPMI_ISR_TXE_Msk                             /*!<Transmit data register empty    */
+#define SWPMI_ISR_TCF_Pos        (7U)
+#define SWPMI_ISR_TCF_Msk        (0x1UL << SWPMI_ISR_TCF_Pos)                  /*!< 0x00000080 */
+#define SWPMI_ISR_TCF            SWPMI_ISR_TCF_Msk                             /*!<Transfer complete flag          */
+#define SWPMI_ISR_SRF_Pos        (8U)
+#define SWPMI_ISR_SRF_Msk        (0x1UL << SWPMI_ISR_SRF_Pos)                  /*!< 0x00000100 */
+#define SWPMI_ISR_SRF            SWPMI_ISR_SRF_Msk                             /*!<Slave resume flag               */
+#define SWPMI_ISR_SUSP_Pos       (9U)
+#define SWPMI_ISR_SUSP_Msk       (0x1UL << SWPMI_ISR_SUSP_Pos)                 /*!< 0x00000200 */
+#define SWPMI_ISR_SUSP           SWPMI_ISR_SUSP_Msk                            /*!<SUSPEND flag                    */
+#define SWPMI_ISR_DEACTF_Pos     (10U)
+#define SWPMI_ISR_DEACTF_Msk     (0x1UL << SWPMI_ISR_DEACTF_Pos)               /*!< 0x00000400 */
+#define SWPMI_ISR_DEACTF         SWPMI_ISR_DEACTF_Msk                          /*!<DEACTIVATED flag                */
+#define SWPMI_ISR_RDYF_Pos       (11U)
+#define SWPMI_ISR_RDYF_Msk       (0x1UL << SWPMI_ISR_RDYF_Pos)                 /*!< 0x00000800 */
+#define SWPMI_ISR_RDYF           SWPMI_ISR_RDYF_Msk                            /*!<Transceiver ready flag          */
+
+/*******************  Bit definition for SWPMI_ICR register  ********************/
+#define SWPMI_ICR_CRXBFF_Pos     (0U)
+#define SWPMI_ICR_CRXBFF_Msk     (0x1UL << SWPMI_ICR_CRXBFF_Pos)               /*!< 0x00000001 */
+#define SWPMI_ICR_CRXBFF         SWPMI_ICR_CRXBFF_Msk                          /*!<Clear receive buffer full flag       */
+#define SWPMI_ICR_CTXBEF_Pos     (1U)
+#define SWPMI_ICR_CTXBEF_Msk     (0x1UL << SWPMI_ICR_CTXBEF_Pos)               /*!< 0x00000002 */
+#define SWPMI_ICR_CTXBEF         SWPMI_ICR_CTXBEF_Msk                          /*!<Clear transmit buffer empty flag     */
+#define SWPMI_ICR_CRXBERF_Pos    (2U)
+#define SWPMI_ICR_CRXBERF_Msk    (0x1UL << SWPMI_ICR_CRXBERF_Pos)              /*!< 0x00000004 */
+#define SWPMI_ICR_CRXBERF        SWPMI_ICR_CRXBERF_Msk                         /*!<Clear receive CRC error flag         */
+#define SWPMI_ICR_CRXOVRF_Pos    (3U)
+#define SWPMI_ICR_CRXOVRF_Msk    (0x1UL << SWPMI_ICR_CRXOVRF_Pos)              /*!< 0x00000008 */
+#define SWPMI_ICR_CRXOVRF        SWPMI_ICR_CRXOVRF_Msk                         /*!<Clear receive overrun error flag     */
+#define SWPMI_ICR_CTXUNRF_Pos    (4U)
+#define SWPMI_ICR_CTXUNRF_Msk    (0x1UL << SWPMI_ICR_CTXUNRF_Pos)              /*!< 0x00000010 */
+#define SWPMI_ICR_CTXUNRF        SWPMI_ICR_CTXUNRF_Msk                         /*!<Clear transmit underrun error flag   */
+#define SWPMI_ICR_CTCF_Pos       (7U)
+#define SWPMI_ICR_CTCF_Msk       (0x1UL << SWPMI_ICR_CTCF_Pos)                 /*!< 0x00000080 */
+#define SWPMI_ICR_CTCF           SWPMI_ICR_CTCF_Msk                            /*!<Clear transfer complete flag         */
+#define SWPMI_ICR_CSRF_Pos       (8U)
+#define SWPMI_ICR_CSRF_Msk       (0x1UL << SWPMI_ICR_CSRF_Pos)                 /*!< 0x00000100 */
+#define SWPMI_ICR_CSRF           SWPMI_ICR_CSRF_Msk                            /*!<Clear slave resume flag              */
+#define SWPMI_ICR_CRDYF_Pos      (11U)
+#define SWPMI_ICR_CRDYF_Msk      (0x1UL << SWPMI_ICR_CRDYF_Pos)                /*!< 0x00000800 */
+#define SWPMI_ICR_CRDYF          SWPMI_ICR_CRDYF_Msk                           /*!<Clear transceiver ready flag         */
+
+/*******************  Bit definition for SWPMI_IER register  ********************/
+#define SWPMI_IER_RXBFIE_Pos     (0U)
+#define SWPMI_IER_RXBFIE_Msk     (0x1UL << SWPMI_IER_RXBFIE_Pos)               /*!< 0x00000001 */
+#define SWPMI_IER_RXBFIE         SWPMI_IER_RXBFIE_Msk                          /*!<Receive buffer full interrupt enable        */
+#define SWPMI_IER_TXBEIE_Pos     (1U)
+#define SWPMI_IER_TXBEIE_Msk     (0x1UL << SWPMI_IER_TXBEIE_Pos)               /*!< 0x00000002 */
+#define SWPMI_IER_TXBEIE         SWPMI_IER_TXBEIE_Msk                          /*!<Transmit buffer empty interrupt enable      */
+#define SWPMI_IER_RXBERIE_Pos    (2U)
+#define SWPMI_IER_RXBERIE_Msk    (0x1UL << SWPMI_IER_RXBERIE_Pos)              /*!< 0x00000004 */
+#define SWPMI_IER_RXBERIE        SWPMI_IER_RXBERIE_Msk                         /*!<Receive CRC error interrupt enable          */
+#define SWPMI_IER_RXOVRIE_Pos    (3U)
+#define SWPMI_IER_RXOVRIE_Msk    (0x1UL << SWPMI_IER_RXOVRIE_Pos)              /*!< 0x00000008 */
+#define SWPMI_IER_RXOVRIE        SWPMI_IER_RXOVRIE_Msk                         /*!<Receive overrun error interrupt enable      */
+#define SWPMI_IER_TXUNRIE_Pos    (4U)
+#define SWPMI_IER_TXUNRIE_Msk    (0x1UL << SWPMI_IER_TXUNRIE_Pos)              /*!< 0x00000010 */
+#define SWPMI_IER_TXUNRIE        SWPMI_IER_TXUNRIE_Msk                         /*!<Transmit underrun error interrupt enable    */
+#define SWPMI_IER_RIE_Pos        (5U)
+#define SWPMI_IER_RIE_Msk        (0x1UL << SWPMI_IER_RIE_Pos)                  /*!< 0x00000020 */
+#define SWPMI_IER_RIE            SWPMI_IER_RIE_Msk                             /*!<Receive interrupt enable                    */
+#define SWPMI_IER_TIE_Pos        (6U)
+#define SWPMI_IER_TIE_Msk        (0x1UL << SWPMI_IER_TIE_Pos)                  /*!< 0x00000040 */
+#define SWPMI_IER_TIE            SWPMI_IER_TIE_Msk                             /*!<Transmit interrupt enable                   */
+#define SWPMI_IER_TCIE_Pos       (7U)
+#define SWPMI_IER_TCIE_Msk       (0x1UL << SWPMI_IER_TCIE_Pos)                 /*!< 0x00000080 */
+#define SWPMI_IER_TCIE           SWPMI_IER_TCIE_Msk                            /*!<Transmit complete interrupt enable          */
+#define SWPMI_IER_SRIE_Pos       (8U)
+#define SWPMI_IER_SRIE_Msk       (0x1UL << SWPMI_IER_SRIE_Pos)                 /*!< 0x00000100 */
+#define SWPMI_IER_SRIE           SWPMI_IER_SRIE_Msk                            /*!<Slave resume interrupt enable               */
+#define SWPMI_IER_RDYIE_Pos      (11U)
+#define SWPMI_IER_RDYIE_Msk      (0x1UL << SWPMI_IER_RDYIE_Pos)                /*!< 0x00000800 */
+#define SWPMI_IER_RDYIE          SWPMI_IER_RDYIE_Msk                           /*!<Transceiver ready interrupt enable          */
+
+/*******************  Bit definition for SWPMI_RFL register  ********************/
+#define SWPMI_RFL_RFL_Pos        (0U)
+#define SWPMI_RFL_RFL_Msk        (0x1FUL << SWPMI_RFL_RFL_Pos)                 /*!< 0x0000001F */
+#define SWPMI_RFL_RFL            SWPMI_RFL_RFL_Msk                             /*!<RFL[4:0] bits (Receive Frame length) */
+#define SWPMI_RFL_RFL_0_1        ((uint32_t)0x00000003)                        /*!<RFL[1:0] bits (number of relevant bytes for the last SWPMI_RDR register read.) */
+
+/*******************  Bit definition for SWPMI_TDR register  ********************/
+#define SWPMI_TDR_TD_Pos         (0U)
+#define SWPMI_TDR_TD_Msk         (0xFFFFFFFFUL << SWPMI_TDR_TD_Pos)            /*!< 0xFFFFFFFF */
+#define SWPMI_TDR_TD             SWPMI_TDR_TD_Msk                              /*!<Transmit Data Register         */
+
+/*******************  Bit definition for SWPMI_RDR register  ********************/
+#define SWPMI_RDR_RD_Pos         (0U)
+#define SWPMI_RDR_RD_Msk         (0xFFFFFFFFUL << SWPMI_RDR_RD_Pos)            /*!< 0xFFFFFFFF */
+#define SWPMI_RDR_RD             SWPMI_RDR_RD_Msk                              /*!<Receive Data Register           */
+
+
+/*******************  Bit definition for SWPMI_OR register  ********************/
+#define SWPMI_OR_TBYP_Pos        (0U)
+#define SWPMI_OR_TBYP_Msk        (0x1UL << SWPMI_OR_TBYP_Pos)                  /*!< 0x00000001 */
+#define SWPMI_OR_TBYP            SWPMI_OR_TBYP_Msk                             /*!<SWP Transceiver Bypass */
+#define SWPMI_OR_CLASS_Pos       (1U)
+#define SWPMI_OR_CLASS_Msk       (0x1UL << SWPMI_OR_CLASS_Pos)                 /*!< 0x00000002 */
+#define SWPMI_OR_CLASS           SWPMI_OR_CLASS_Msk                            /*!<SWP CLASS selection */
+
+/******************************************************************************/
+/*                                                                            */
+/*                            Window WATCHDOG                                 */
+/*                                                                            */
+/******************************************************************************/
+/*******************  Bit definition for WWDG_CR register  ********************/
+#define WWDG_CR_T_Pos           (0U)
+#define WWDG_CR_T_Msk           (0x7FUL << WWDG_CR_T_Pos)                      /*!< 0x0000007F */
+#define WWDG_CR_T               WWDG_CR_T_Msk                                  /*!<T[6:0] bits (7-Bit counter (MSB to LSB)) */
+#define WWDG_CR_T_0             (0x01UL << WWDG_CR_T_Pos)                       /*!< 0x00000001 */
+#define WWDG_CR_T_1             (0x02UL << WWDG_CR_T_Pos)                       /*!< 0x00000002 */
+#define WWDG_CR_T_2             (0x04UL << WWDG_CR_T_Pos)                       /*!< 0x00000004 */
+#define WWDG_CR_T_3             (0x08UL << WWDG_CR_T_Pos)                       /*!< 0x00000008 */
+#define WWDG_CR_T_4             (0x10UL << WWDG_CR_T_Pos)                       /*!< 0x00000010 */
+#define WWDG_CR_T_5             (0x20UL << WWDG_CR_T_Pos)                       /*!< 0x00000020 */
+#define WWDG_CR_T_6             (0x40UL << WWDG_CR_T_Pos)                       /*!< 0x00000040 */
+
+#define WWDG_CR_WDGA_Pos        (7U)
+#define WWDG_CR_WDGA_Msk        (0x1UL << WWDG_CR_WDGA_Pos)                    /*!< 0x00000080 */
+#define WWDG_CR_WDGA            WWDG_CR_WDGA_Msk                               /*!<Activation bit */
+
+/*******************  Bit definition for WWDG_CFR register  *******************/
+#define WWDG_CFR_W_Pos          (0U)
+#define WWDG_CFR_W_Msk          (0x7FUL << WWDG_CFR_W_Pos)                     /*!< 0x0000007F */
+#define WWDG_CFR_W              WWDG_CFR_W_Msk                                 /*!<W[6:0] bits (7-bit window value) */
+#define WWDG_CFR_W_0            (0x01UL << WWDG_CFR_W_Pos)                      /*!< 0x00000001 */
+#define WWDG_CFR_W_1            (0x02UL << WWDG_CFR_W_Pos)                      /*!< 0x00000002 */
+#define WWDG_CFR_W_2            (0x04UL << WWDG_CFR_W_Pos)                      /*!< 0x00000004 */
+#define WWDG_CFR_W_3            (0x08UL << WWDG_CFR_W_Pos)                      /*!< 0x00000008 */
+#define WWDG_CFR_W_4            (0x10UL << WWDG_CFR_W_Pos)                      /*!< 0x00000010 */
+#define WWDG_CFR_W_5            (0x20UL << WWDG_CFR_W_Pos)                      /*!< 0x00000020 */
+#define WWDG_CFR_W_6            (0x40UL << WWDG_CFR_W_Pos)                      /*!< 0x00000040 */
+
+#define WWDG_CFR_EWI_Pos        (9U)
+#define WWDG_CFR_EWI_Msk        (0x1UL << WWDG_CFR_EWI_Pos)                    /*!< 0x00000200 */
+#define WWDG_CFR_EWI            WWDG_CFR_EWI_Msk                               /*!<Early Wakeup Interrupt */
+
+#define WWDG_CFR_WDGTB_Pos      (11U)
+#define WWDG_CFR_WDGTB_Msk      (0x7UL << WWDG_CFR_WDGTB_Pos)                  /*!< 0x00003800 */
+#define WWDG_CFR_WDGTB          WWDG_CFR_WDGTB_Msk                             /*!<WDGTB[2:0] bits (Timer Base) */
+#define WWDG_CFR_WDGTB_0        (0x1UL << WWDG_CFR_WDGTB_Pos)                   /*!< 0x00000800 */
+#define WWDG_CFR_WDGTB_1        (0x2UL << WWDG_CFR_WDGTB_Pos)                   /*!< 0x00001000 */
+#define WWDG_CFR_WDGTB_2        (0x4UL << WWDG_CFR_WDGTB_Pos)                   /*!< 0x00002000 */
+
+/*******************  Bit definition for WWDG_SR register  ********************/
+#define WWDG_SR_EWIF_Pos        (0U)
+#define WWDG_SR_EWIF_Msk        (0x1UL << WWDG_SR_EWIF_Pos)                    /*!< 0x00000001 */
+#define WWDG_SR_EWIF            WWDG_SR_EWIF_Msk                               /*!<Early Wakeup Interrupt Flag */
+
+
+/******************************************************************************/
+/*                                                                            */
+/*                                DBG                                         */
+/*                                                                            */
+/******************************************************************************/
+/*********************************  DEVICE ID  ********************************/
+#define STM32H7_DEV_ID           0x483UL
+
+/********************  Bit definition for DBGMCU_IDCODE register  *************/
+#define DBGMCU_IDCODE_DEV_ID_Pos          (0U)
+#define DBGMCU_IDCODE_DEV_ID_Msk          (0xFFFUL << DBGMCU_IDCODE_DEV_ID_Pos) /*!< 0x00000FFF */
+#define DBGMCU_IDCODE_DEV_ID              DBGMCU_IDCODE_DEV_ID_Msk
+#define DBGMCU_IDCODE_REV_ID_Pos          (16U)
+#define DBGMCU_IDCODE_REV_ID_Msk          (0xFFFFUL << DBGMCU_IDCODE_REV_ID_Pos) /*!< 0xFFFF0000 */
+#define DBGMCU_IDCODE_REV_ID              DBGMCU_IDCODE_REV_ID_Msk
+
+/********************  Bit definition for DBGMCU_CR register  *****************/
+#define DBGMCU_CR_DBG_SLEEPD1_Pos         (0U)
+#define DBGMCU_CR_DBG_SLEEPD1_Msk         (0x1UL << DBGMCU_CR_DBG_SLEEPD1_Pos) /*!< 0x00000001 */
+#define DBGMCU_CR_DBG_SLEEPD1             DBGMCU_CR_DBG_SLEEPD1_Msk
+#define DBGMCU_CR_DBG_STOPD1_Pos          (1U)
+#define DBGMCU_CR_DBG_STOPD1_Msk          (0x1UL << DBGMCU_CR_DBG_STOPD1_Pos)  /*!< 0x00000002 */
+#define DBGMCU_CR_DBG_STOPD1              DBGMCU_CR_DBG_STOPD1_Msk
+#define DBGMCU_CR_DBG_STANDBYD1_Pos       (2U)
+#define DBGMCU_CR_DBG_STANDBYD1_Msk       (0x1UL << DBGMCU_CR_DBG_STANDBYD1_Pos) /*!< 0x00000004 */
+#define DBGMCU_CR_DBG_STANDBYD1           DBGMCU_CR_DBG_STANDBYD1_Msk
+#define DBGMCU_CR_DBG_STOPD3_Pos          (7U)
+#define DBGMCU_CR_DBG_STOPD3_Msk          (0x1UL << DBGMCU_CR_DBG_STOPD3_Pos)  /*!< 0x00000080 */
+#define DBGMCU_CR_DBG_STOPD3              DBGMCU_CR_DBG_STOPD3_Msk
+#define DBGMCU_CR_DBG_STANDBYD3_Pos       (8U)
+#define DBGMCU_CR_DBG_STANDBYD3_Msk       (0x1UL << DBGMCU_CR_DBG_STANDBYD3_Pos) /*!< 0x00000100 */
+#define DBGMCU_CR_DBG_STANDBYD3           DBGMCU_CR_DBG_STANDBYD3_Msk
+#define DBGMCU_CR_DBG_TRACECKEN_Pos       (20U)
+#define DBGMCU_CR_DBG_TRACECKEN_Msk       (0x1UL << DBGMCU_CR_DBG_TRACECKEN_Pos) /*!< 0x00100000 */
+#define DBGMCU_CR_DBG_TRACECKEN           DBGMCU_CR_DBG_TRACECKEN_Msk
+#define DBGMCU_CR_DBG_CKD1EN_Pos          (21U)
+#define DBGMCU_CR_DBG_CKD1EN_Msk          (0x1UL << DBGMCU_CR_DBG_CKD1EN_Pos)  /*!< 0x00200000 */
+#define DBGMCU_CR_DBG_CKD1EN              DBGMCU_CR_DBG_CKD1EN_Msk
+#define DBGMCU_CR_DBG_CKD3EN_Pos          (22U)
+#define DBGMCU_CR_DBG_CKD3EN_Msk          (0x1UL << DBGMCU_CR_DBG_CKD3EN_Pos)  /*!< 0x00400000 */
+#define DBGMCU_CR_DBG_CKD3EN              DBGMCU_CR_DBG_CKD3EN_Msk
+#define DBGMCU_CR_DBG_TRGOEN_Pos          (28U)
+#define DBGMCU_CR_DBG_TRGOEN_Msk          (0x1UL << DBGMCU_CR_DBG_TRGOEN_Pos)  /*!< 0x10000000 */
+#define DBGMCU_CR_DBG_TRGOEN              DBGMCU_CR_DBG_TRGOEN_Msk
+
+/********************  Bit definition for APB3FZ1 register  ************/
+#define DBGMCU_APB3FZ1_DBG_WWDG1_Pos      (6U)
+#define DBGMCU_APB3FZ1_DBG_WWDG1_Msk      (0x1UL << DBGMCU_APB3FZ1_DBG_WWDG1_Pos) /*!< 0x00000040 */
+#define DBGMCU_APB3FZ1_DBG_WWDG1          DBGMCU_APB3FZ1_DBG_WWDG1_Msk
+/********************  Bit definition for APB1LFZ1 register  ************/
+#define DBGMCU_APB1LFZ1_DBG_TIM2_Pos      (0U)
+#define DBGMCU_APB1LFZ1_DBG_TIM2_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM2_Pos) /*!< 0x00000001 */
+#define DBGMCU_APB1LFZ1_DBG_TIM2          DBGMCU_APB1LFZ1_DBG_TIM2_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM3_Pos      (1U)
+#define DBGMCU_APB1LFZ1_DBG_TIM3_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM3_Pos) /*!< 0x00000002 */
+#define DBGMCU_APB1LFZ1_DBG_TIM3          DBGMCU_APB1LFZ1_DBG_TIM3_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM4_Pos      (2U)
+#define DBGMCU_APB1LFZ1_DBG_TIM4_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM4_Pos) /*!< 0x00000004 */
+#define DBGMCU_APB1LFZ1_DBG_TIM4          DBGMCU_APB1LFZ1_DBG_TIM4_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM5_Pos      (3U)
+#define DBGMCU_APB1LFZ1_DBG_TIM5_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM5_Pos) /*!< 0x00000008 */
+#define DBGMCU_APB1LFZ1_DBG_TIM5          DBGMCU_APB1LFZ1_DBG_TIM5_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM6_Pos      (4U)
+#define DBGMCU_APB1LFZ1_DBG_TIM6_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM6_Pos) /*!< 0x00000010 */
+#define DBGMCU_APB1LFZ1_DBG_TIM6          DBGMCU_APB1LFZ1_DBG_TIM6_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM7_Pos      (5U)
+#define DBGMCU_APB1LFZ1_DBG_TIM7_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM7_Pos) /*!< 0x00000020 */
+#define DBGMCU_APB1LFZ1_DBG_TIM7          DBGMCU_APB1LFZ1_DBG_TIM7_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM12_Pos     (6U)
+#define DBGMCU_APB1LFZ1_DBG_TIM12_Msk     (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM12_Pos) /*!< 0x00000040 */
+#define DBGMCU_APB1LFZ1_DBG_TIM12         DBGMCU_APB1LFZ1_DBG_TIM12_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM13_Pos     (7U)
+#define DBGMCU_APB1LFZ1_DBG_TIM13_Msk     (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM13_Pos) /*!< 0x00000080 */
+#define DBGMCU_APB1LFZ1_DBG_TIM13         DBGMCU_APB1LFZ1_DBG_TIM13_Msk
+#define DBGMCU_APB1LFZ1_DBG_TIM14_Pos     (8U)
+#define DBGMCU_APB1LFZ1_DBG_TIM14_Msk     (0x1UL << DBGMCU_APB1LFZ1_DBG_TIM14_Pos) /*!< 0x00000100 */
+#define DBGMCU_APB1LFZ1_DBG_TIM14         DBGMCU_APB1LFZ1_DBG_TIM14_Msk
+#define DBGMCU_APB1LFZ1_DBG_LPTIM1_Pos    (9U)
+#define DBGMCU_APB1LFZ1_DBG_LPTIM1_Msk    (0x1UL << DBGMCU_APB1LFZ1_DBG_LPTIM1_Pos) /*!< 0x00000200 */
+#define DBGMCU_APB1LFZ1_DBG_LPTIM1        DBGMCU_APB1LFZ1_DBG_LPTIM1_Msk
+#define DBGMCU_APB1LFZ1_DBG_I2C1_Pos      (21U)
+#define DBGMCU_APB1LFZ1_DBG_I2C1_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_I2C1_Pos) /*!< 0x00200000 */
+#define DBGMCU_APB1LFZ1_DBG_I2C1          DBGMCU_APB1LFZ1_DBG_I2C1_Msk
+#define DBGMCU_APB1LFZ1_DBG_I2C2_Pos      (22U)
+#define DBGMCU_APB1LFZ1_DBG_I2C2_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_I2C2_Pos) /*!< 0x00400000 */
+#define DBGMCU_APB1LFZ1_DBG_I2C2          DBGMCU_APB1LFZ1_DBG_I2C2_Msk
+#define DBGMCU_APB1LFZ1_DBG_I2C3_Pos      (23U)
+#define DBGMCU_APB1LFZ1_DBG_I2C3_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_I2C3_Pos) /*!< 0x00800000 */
+#define DBGMCU_APB1LFZ1_DBG_I2C3          DBGMCU_APB1LFZ1_DBG_I2C3_Msk
+#define DBGMCU_APB1LFZ1_DBG_I2C5_Pos      (25U)
+#define DBGMCU_APB1LFZ1_DBG_I2C5_Msk      (0x1UL << DBGMCU_APB1LFZ1_DBG_I2C5_Pos) /*!< 0x02000000 */
+#define DBGMCU_APB1LFZ1_DBG_I2C5          DBGMCU_APB1LFZ1_DBG_I2C5_Msk
+
+/********************  Bit definition for APB1HFZ1 register  ************/
+#define DBGMCU_APB1HFZ1_DBG_TIM23_Pos     (24U)
+#define DBGMCU_APB1HFZ1_DBG_TIM23_Msk     (0x1UL << DBGMCU_APB1HFZ1_DBG_TIM23_Pos) /*!< 0x01000000 */
+#define DBGMCU_APB1HFZ1_DBG_TIM23          DBGMCU_APB1HFZ1_DBG_TIM23_Msk
+#define DBGMCU_APB1HFZ1_DBG_TIM24_Pos     (24U)
+#define DBGMCU_APB1HFZ1_DBG_TIM24_Msk     (0x1UL << DBGMCU_APB1HFZ1_DBG_TIM24_Pos) /*!< 0x02000000 */
+#define DBGMCU_APB1HFZ1_DBG_TIM24          DBGMCU_APB1HFZ1_DBG_TIM24_Msk
+/********************  Bit definition for APB2FZ1 register  ************/
+#define DBGMCU_APB2FZ1_DBG_TIM1_Pos       (0U)
+#define DBGMCU_APB2FZ1_DBG_TIM1_Msk       (0x1UL << DBGMCU_APB2FZ1_DBG_TIM1_Pos) /*!< 0x00000001 */
+#define DBGMCU_APB2FZ1_DBG_TIM1           DBGMCU_APB2FZ1_DBG_TIM1_Msk
+#define DBGMCU_APB2FZ1_DBG_TIM8_Pos       (1U)
+#define DBGMCU_APB2FZ1_DBG_TIM8_Msk       (0x1UL << DBGMCU_APB2FZ1_DBG_TIM8_Pos) /*!< 0x00000002 */
+#define DBGMCU_APB2FZ1_DBG_TIM8           DBGMCU_APB2FZ1_DBG_TIM8_Msk
+#define DBGMCU_APB2FZ1_DBG_TIM15_Pos      (16U)
+#define DBGMCU_APB2FZ1_DBG_TIM15_Msk      (0x1UL << DBGMCU_APB2FZ1_DBG_TIM15_Pos) /*!< 0x00010000 */
+#define DBGMCU_APB2FZ1_DBG_TIM15          DBGMCU_APB2FZ1_DBG_TIM15_Msk
+#define DBGMCU_APB2FZ1_DBG_TIM16_Pos      (17U)
+#define DBGMCU_APB2FZ1_DBG_TIM16_Msk      (0x1UL << DBGMCU_APB2FZ1_DBG_TIM16_Pos) /*!< 0x00020000 */
+#define DBGMCU_APB2FZ1_DBG_TIM16          DBGMCU_APB2FZ1_DBG_TIM16_Msk
+#define DBGMCU_APB2FZ1_DBG_TIM17_Pos      (18U)
+#define DBGMCU_APB2FZ1_DBG_TIM17_Msk      (0x1UL << DBGMCU_APB2FZ1_DBG_TIM17_Pos) /*!< 0x00040000 */
+#define DBGMCU_APB2FZ1_DBG_TIM17          DBGMCU_APB2FZ1_DBG_TIM17_Msk
+/********************  Bit definition for APB4FZ1 register  ************/
+#define DBGMCU_APB4FZ1_DBG_I2C4_Pos       (7U)
+#define DBGMCU_APB4FZ1_DBG_I2C4_Msk       (0x1UL << DBGMCU_APB4FZ1_DBG_I2C4_Pos) /*!< 0x00000080 */
+#define DBGMCU_APB4FZ1_DBG_I2C4           DBGMCU_APB4FZ1_DBG_I2C4_Msk
+#define DBGMCU_APB4FZ1_DBG_LPTIM2_Pos     (9U)
+#define DBGMCU_APB4FZ1_DBG_LPTIM2_Msk     (0x1UL << DBGMCU_APB4FZ1_DBG_LPTIM2_Pos) /*!< 0x00000200 */
+#define DBGMCU_APB4FZ1_DBG_LPTIM2         DBGMCU_APB4FZ1_DBG_LPTIM2_Msk
+#define DBGMCU_APB4FZ1_DBG_LPTIM3_Pos     (10U)
+#define DBGMCU_APB4FZ1_DBG_LPTIM3_Msk     (0x1UL << DBGMCU_APB4FZ1_DBG_LPTIM3_Pos) /*!< 0x00000400 */
+#define DBGMCU_APB4FZ1_DBG_LPTIM3         DBGMCU_APB4FZ1_DBG_LPTIM3_Msk
+#define DBGMCU_APB4FZ1_DBG_LPTIM4_Pos     (11U)
+#define DBGMCU_APB4FZ1_DBG_LPTIM4_Msk     (0x1UL << DBGMCU_APB4FZ1_DBG_LPTIM4_Pos) /*!< 0x00000800 */
+#define DBGMCU_APB4FZ1_DBG_LPTIM4         DBGMCU_APB4FZ1_DBG_LPTIM4_Msk
+#define DBGMCU_APB4FZ1_DBG_LPTIM5_Pos     (12U)
+#define DBGMCU_APB4FZ1_DBG_LPTIM5_Msk     (0x1UL << DBGMCU_APB4FZ1_DBG_LPTIM5_Pos) /*!< 0x00001000 */
+#define DBGMCU_APB4FZ1_DBG_LPTIM5         DBGMCU_APB4FZ1_DBG_LPTIM5_Msk
+#define DBGMCU_APB4FZ1_DBG_RTC_Pos        (16U)
+#define DBGMCU_APB4FZ1_DBG_RTC_Msk        (0x1UL << DBGMCU_APB4FZ1_DBG_RTC_Pos) /*!< 0x00010000 */
+#define DBGMCU_APB4FZ1_DBG_RTC            DBGMCU_APB4FZ1_DBG_RTC_Msk
+#define DBGMCU_APB4FZ1_DBG_IWDG1_Pos      (18U)
+#define DBGMCU_APB4FZ1_DBG_IWDG1_Msk      (0x1UL << DBGMCU_APB4FZ1_DBG_IWDG1_Pos) /*!< 0x00040000 */
+#define DBGMCU_APB4FZ1_DBG_IWDG1          DBGMCU_APB4FZ1_DBG_IWDG1_Msk
+/********************  Bit definition for DBGMCU_PIDR4 register  ************/
+#define DBGMCU_PIDR4_JEP106CON_Pos        (0U)
+#define DBGMCU_PIDR4_JEP106CON_Msk        (0xFUL << DBGMCU_PIDR4_JEP106CON_Pos) /*!< 0x0000000F */
+#define DBGMCU_PIDR4_JEP106CON            DBGMCU_PIDR4_JEP106CON_Msk
+#define DBGMCU_PIDR4_4KCOUNT_Pos          (4U)
+#define DBGMCU_PIDR4_4KCOUNT_Msk          (0xFUL << DBGMCU_PIDR4_4KCOUNT_Pos)   /*!< 0x000000F0 */
+#define DBGMCU_PIDR4_4KCOUNT              DBGMCU_PIDR4_4KCOUNT_Msk
+/********************  Bit definition for DBGMCU_PIDR0 register  ************/
+#define DBGMCU_PIDR0_PARTNUM_Pos        (0U)
+#define DBGMCU_PIDR0_PARTNUM_Msk        (0xFFUL << DBGMCU_PIDR0_PARTNUM_Pos) /*!< 0x000000FF */
+#define DBGMCU_PIDR0_PARTNUM            DBGMCU_PIDR0_PARTNUM_Msk
+/********************  Bit definition for DBGMCU_PIDR1 register  ************/
+#define DBGMCU_PIDR1_PARTNUM_Pos        (0U)
+#define DBGMCU_PIDR1_PARTNUM_Msk        (0xFUL << DBGMCU_PIDR1_PARTNUM_Pos)  /*!< 0x0000000F */
+#define DBGMCU_PIDR1_PARTNUM            DBGMCU_PIDR1_PARTNUM_Msk
+#define DBGMCU_PIDR1_JEP106ID_Pos       (4U)
+#define DBGMCU_PIDR1_JEP106ID_Msk       (0xFUL << DBGMCU_PIDR1_JEP106ID_Pos) /*!< 0x000000F0 */
+#define DBGMCU_PIDR1_JEP106ID           DBGMCU_PIDR1_JEP106ID_Msk
+/********************  Bit definition for DBGMCU_PIDR2 register  ************/
+#define DBGMCU_PIDR2_JEP106ID_Pos        (0U)
+#define DBGMCU_PIDR2_JEP106ID_Msk        (0x7UL << DBGMCU_PIDR2_JEP106ID_Pos)  /*!< 0x00000007 */
+#define DBGMCU_PIDR2_JEP106ID            DBGMCU_PIDR2_JEP106ID_Msk
+#define DBGMCU_PIDR2_JEDEC_Pos           (3U)
+#define DBGMCU_PIDR2_JEDEC_Msk           (0x1UL << DBGMCU_PIDR2_JEDEC_Pos)  /*!< 0x00000008 */
+#define DBGMCU_PIDR2_JEDEC               DBGMCU_PIDR2_JEDEC_Msk
+#define DBGMCU_PIDR2_REVISION_Pos        (4U)
+#define DBGMCU_PIDR2_REVISION_Msk        (0xFUL << DBGMCU_PIDR2_REVISION_Pos) /*!< 0x000000F0 */
+#define DBGMCU_PIDR2_REVISION            DBGMCU_PIDR2_REVISION_Msk
+/********************  Bit definition for DBGMCU_PIDR3 register  ************/
+#define DBGMCU_PIDR3_CMOD_Pos            (0U)
+#define DBGMCU_PIDR3_CMOD_Msk            (0xFUL << DBGMCU_PIDR3_CMOD_Pos)  /*!< 0x0000000F */
+#define DBGMCU_PIDR3_CMOD                DBGMCU_PIDR3_CMOD_Msk
+#define DBGMCU_PIDR3_REVAND_Pos          (4U)
+#define DBGMCU_PIDR3_REVAND_Msk          (0xFUL << DBGMCU_PIDR3_REVAND_Pos) /*!< 0x000000F0 */
+#define DBGMCU_PIDR3_REVAND              DBGMCU_PIDR3_REVAND_Msk
+/********************  Bit definition for DBGMCU_CIDR0 register  ************/
+#define DBGMCU_CIR0_PREAMBLE_Pos         (0U)
+#define DBGMCU_CIR0_PREAMBLE_Msk         (0xFFUL << DBGMCU_CIR0_PREAMBLE_Pos) /*!< 0x000000FF */
+#define DBGMCU_CIR0_PREAMBLE             DBGMCU_CIR0_PREAMBLE_Msk
+/********************  Bit definition for DBGMCU_CIDR1 register  ************/
+#define DBGMCU_CIR1_PREAMBLE_Pos         (0U)
+#define DBGMCU_CIR1_PREAMBLE_Msk         (0xFUL << DBGMCU_CIR1_PREAMBLE_Pos)  /*!< 0x0000000F */
+#define DBGMCU_CIR1_PREAMBLE             DBGMCU_CIR1_PREAMBLE_Msk
+#define DBGMCU_CIR1_CLASS_Pos            (4U)
+#define DBGMCU_CIR1_CLASS_Msk            (0xFUL << DBGMCU_CIR1_CLASS_Pos) /*!< 0x000000F0 */
+#define DBGMCU_CIR1_CLASS                DBGMCU_CIR1_CLASS_Msk
+/********************  Bit definition for DBGMCU_CIDR2 register  ************/
+#define DBGMCU_CIR2_PREAMBLE_Pos         (0U)
+#define DBGMCU_CIR2_PREAMBLE_Msk         (0xFFUL << DBGMCU_CIR2_PREAMBLE_Pos) /*!< 0x000000FF */
+#define DBGMCU_CIR2_PREAMBLE             DBGMCU_CIR2_PREAMBLE_Msk
+/********************  Bit definition for DBGMCU_CIDR3 register  ************/
+#define DBGMCU_CIR3_PREAMBLE_Pos         (0U)
+#define DBGMCU_CIR3_PREAMBLE_Msk         (0xFFUL << DBGMCU_CIR3_PREAMBLE_Pos) /*!< 0x000000FF */
+#define DBGMCU_CIR3_PREAMBLE             DBGMCU_CIR3_PREAMBLE_Msk
+/******************************************************************************/
+/*                                                                            */
+/*                             RAM ECC monitoring                             */
+/*                                                                            */
+/******************************************************************************/
+/******************  Bit definition for RAMECC_IER register  ******************/
+#define RAMECC_IER_GECCDEBWIE_Pos         (3U)
+#define RAMECC_IER_GECCDEBWIE_Msk         (0x1UL << RAMECC_IER_GECCDEBWIE_Pos)  /*!< 0x00000008 */
+#define RAMECC_IER_GECCDEBWIE             RAMECC_IER_GECCDEBWIE_Msk             /*!< Global ECC double error on byte write (BW) interrupt enable */
+#define RAMECC_IER_GECCDEIE_Pos           (2U)
+#define RAMECC_IER_GECCDEIE_Msk           (0x1UL << RAMECC_IER_GECCDEIE_Pos)    /*!< 0x00000004 */
+#define RAMECC_IER_GECCDEIE               RAMECC_IER_GECCDEIE_Msk               /*!< Global ECC double error interrupt enable */
+#define RAMECC_IER_GECCSEIE_Pos           (1U)
+#define RAMECC_IER_GECCSEIE_Msk           (0x1UL << RAMECC_IER_GECCSEIE_Pos)    /*!< 0x00000002 */
+#define RAMECC_IER_GECCSEIE               RAMECC_IER_GECCSEIE_Msk               /*!< Global ECC single error interrupt enable */
+#define RAMECC_IER_GIE_Pos                (0U)
+#define RAMECC_IER_GIE_Msk                (0x1UL << RAMECC_IER_GIE_Pos)         /*!< 0x00000001 */
+#define RAMECC_IER_GIE                    RAMECC_IER_GIE_Msk                    /*!< Global interrupt enable */
+
+/*******************  Bit definition for RAMECC_CR register  ******************/
+#define RAMECC_CR_ECCELEN_Pos             (5U)
+#define RAMECC_CR_ECCELEN_Msk             (0x1UL << RAMECC_CR_ECCELEN_Pos)      /*!< 0x00000020 */
+#define RAMECC_CR_ECCELEN                 RAMECC_CR_ECCELEN_Msk                 /*!< ECC error latching enable */
+#define RAMECC_CR_ECCDEBWIE_Pos           (4U)
+#define RAMECC_CR_ECCDEBWIE_Msk           (0x1UL << RAMECC_CR_ECCDEBWIE_Pos)    /*!< 0x00000010 */
+#define RAMECC_CR_ECCDEBWIE               RAMECC_CR_ECCDEBWIE_Msk               /*!< ECC double error on byte write (BW) interrupt enable */
+#define RAMECC_CR_ECCDEIE_Pos             (3U)
+#define RAMECC_CR_ECCDEIE_Msk             (0x1UL << RAMECC_CR_ECCDEIE_Pos)      /*!< 0x00000008 */
+#define RAMECC_CR_ECCDEIE                 RAMECC_CR_ECCDEIE_Msk                 /*!< ECC double error interrupt enable */
+#define RAMECC_CR_ECCSEIE_Pos             (2U)
+#define RAMECC_CR_ECCSEIE_Msk             (0x1UL << RAMECC_CR_ECCSEIE_Pos)      /*!< 0x00000004 */
+#define RAMECC_CR_ECCSEIE                 RAMECC_CR_ECCSEIE_Msk                 /*!< ECC single error interrupt enable */
+
+/*******************  Bit definition for RAMECC_SR register  ******************/
+#define RAMECC_SR_DEBWDF_Pos             (2U)
+#define RAMECC_SR_DEBWDF_Msk             (0x1UL << RAMECC_SR_DEBWDF_Pos)        /*!< 0x00000004 */
+#define RAMECC_SR_DEBWDF                 RAMECC_SR_DEBWDF_Msk                   /*!< ECC double error on byte write (BW) detected flag */
+#define RAMECC_SR_DEDF_Pos               (1U)
+#define RAMECC_SR_DEDF_Msk               (0x1UL << RAMECC_SR_DEDF_Pos)          /*!< 0x00000002 */
+#define RAMECC_SR_DEDF                   RAMECC_SR_DEDF_Msk                     /*!< ECC double error detected flag */
+#define RAMECC_SR_SEDCF_Pos              (0U)
+#define RAMECC_SR_SEDCF_Msk              (0x1UL << RAMECC_SR_SEDCF_Pos)         /*!< 0x00000001 */
+#define RAMECC_SR_SEDCF                  RAMECC_SR_SEDCF_Msk                    /*!< ECC single error detected and corrected flag */
+
+/******************  Bit definition for RAMECC_FAR register  ******************/
+#define RAMECC_FAR_FADD_Pos              (0U)
+#define RAMECC_FAR_FADD_Msk              (0xFFFFFFFFUL << RAMECC_FAR_FADD_Pos)  /*!< 0xFFFFFFFF */
+#define RAMECC_FAR_FADD                  RAMECC_FAR_FADD_Msk                    /*!< ECC error failing address */
+
+/******************  Bit definition for RAMECC_FDRL register  *****************/
+#define RAMECC_FAR_FDATAL_Pos            (0U)
+#define RAMECC_FAR_FDATAL_Msk            (0xFFFFFFFFUL << RAMECC_FAR_FDATAL_Pos)/*!< 0xFFFFFFFF */
+#define RAMECC_FAR_FDATAL                RAMECC_FAR_FDATAL_Msk                  /*!< ECC error failing address */
+
+/******************  Bit definition for RAMECC_FDRH register  *****************/
+#define RAMECC_FAR_FDATAH_Pos            (0U)
+#define RAMECC_FAR_FDATAH_Msk            (0xFFFFFFFFUL << RAMECC_FAR_FDATAH_Pos)/*!< 0xFFFFFFFF */
+#define RAMECC_FAR_FDATAH                RAMECC_FAR_FDATAH_Msk                  /* Failing data high (64-bit memory) */
+
+/*****************  Bit definition for RAMECC_FECR register  ******************/
+#define RAMECC_FECR_FEC_Pos              (0U)
+#define RAMECC_FECR_FEC_Msk              (0xFFFFFFFFUL << RAMECC_FECR_FEC_Pos)  /*!< 0xFFFFFFFF */
+#define RAMECC_FECR_FEC                  RAMECC_FECR_FEC_Msk                    /*!< Failing error code */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                MDIOS                                        */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition for MDIOS_CR register  *******************/
+#define MDIOS_CR_EN_Pos                (0U)
+#define MDIOS_CR_EN_Msk                (0x1UL << MDIOS_CR_EN_Pos)              /*!< 0x00000001 */
+#define MDIOS_CR_EN                    MDIOS_CR_EN_Msk                         /*!<  MDIOS slave peripheral enable */
+#define MDIOS_CR_WRIE_Pos              (1U)
+#define MDIOS_CR_WRIE_Msk              (0x1UL << MDIOS_CR_WRIE_Pos)            /*!< 0x00000002 */
+#define MDIOS_CR_WRIE                  MDIOS_CR_WRIE_Msk                       /*!<  MDIOS slave register write interrupt enable. */
+#define MDIOS_CR_RDIE_Pos              (2U)
+#define MDIOS_CR_RDIE_Msk              (0x1UL << MDIOS_CR_RDIE_Pos)            /*!< 0x00000004 */
+#define MDIOS_CR_RDIE                  MDIOS_CR_RDIE_Msk                       /*!<  MDIOS slave register read interrupt enable. */
+#define MDIOS_CR_EIE_Pos               (3U)
+#define MDIOS_CR_EIE_Msk               (0x1UL << MDIOS_CR_EIE_Pos)             /*!< 0x00000008 */
+#define MDIOS_CR_EIE                   MDIOS_CR_EIE_Msk                        /*!<  MDIOS slave register error interrupt enable. */
+#define MDIOS_CR_DPC_Pos               (7U)
+#define MDIOS_CR_DPC_Msk               (0x1UL << MDIOS_CR_DPC_Pos)             /*!< 0x00000080 */
+#define MDIOS_CR_DPC                   MDIOS_CR_DPC_Msk                        /*!<  MDIOS slave disable preamble check. */
+#define MDIOS_CR_PORT_ADDRESS_Pos      (8U)
+#define MDIOS_CR_PORT_ADDRESS_Msk      (0x1FUL << MDIOS_CR_PORT_ADDRESS_Pos)   /*!< 0x00001F00 */
+#define MDIOS_CR_PORT_ADDRESS          MDIOS_CR_PORT_ADDRESS_Msk               /*!<  MDIOS slave port address mask. */
+#define MDIOS_CR_PORT_ADDRESS_0        (0x01UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00000100 */
+#define MDIOS_CR_PORT_ADDRESS_1        (0x02UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00000200 */
+#define MDIOS_CR_PORT_ADDRESS_2        (0x04UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00000400 */
+#define MDIOS_CR_PORT_ADDRESS_3        (0x08UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00000800 */
+#define MDIOS_CR_PORT_ADDRESS_4        (0x10UL << MDIOS_CR_PORT_ADDRESS_Pos)    /*!< 0x00001000 */
+
+/********************  Bit definition for MDIOS_SR register  *******************/
+#define MDIOS_SR_PERF_Pos              (0U)
+#define MDIOS_SR_PERF_Msk              (0x1UL << MDIOS_SR_PERF_Pos)            /*!< 0x00000001 */
+#define MDIOS_SR_PERF                  MDIOS_SR_PERF_Msk                       /*!<  MDIOS slave turnaround error flag*/
+#define MDIOS_SR_SERF_Pos              (1U)
+#define MDIOS_SR_SERF_Msk              (0x1UL << MDIOS_SR_SERF_Pos)            /*!< 0x00000002 */
+#define MDIOS_SR_SERF                  MDIOS_SR_SERF_Msk                       /*!<  MDIOS slave start error flag */
+#define MDIOS_SR_TERF_Pos              (2U)
+#define MDIOS_SR_TERF_Msk              (0x1UL << MDIOS_SR_TERF_Pos)            /*!< 0x00000004 */
+#define MDIOS_SR_TERF                  MDIOS_SR_TERF_Msk                       /*!<  MDIOS slave preamble error flag */
+
+/********************  Bit definition for MDIOS_CLRFR register  *******************/
+#define MDIOS_SR_CPERF_Pos             (0U)
+#define MDIOS_SR_CPERF_Msk             (0x1UL << MDIOS_SR_CPERF_Pos)           /*!< 0x00000001 */
+#define MDIOS_SR_CPERF                 MDIOS_SR_CPERF_Msk                      /*!<  MDIOS slave Clear the turnaround error flag */
+#define MDIOS_SR_CSERF_Pos             (1U)
+#define MDIOS_SR_CSERF_Msk             (0x1UL << MDIOS_SR_CSERF_Pos)           /*!< 0x00000002 */
+#define MDIOS_SR_CSERF                 MDIOS_SR_CSERF_Msk                      /*!<  MDIOS slave Clear the start error flag */
+#define MDIOS_SR_CTERF_Pos             (2U)
+#define MDIOS_SR_CTERF_Msk             (0x1UL << MDIOS_SR_CTERF_Pos)           /*!< 0x00000004 */
+#define MDIOS_SR_CTERF                 MDIOS_SR_CTERF_Msk                      /*!<  MDIOS slave Clear the preamble error flag */
+
+/******************************************************************************/
+/*                                                                            */
+/*                                       USB_OTG                              */
+/*                                                                            */
+/******************************************************************************/
+/********************  Bit definition forUSB_OTG_GOTGCTL register  ********************/
+#define USB_OTG_GOTGCTL_SRQSCS_Pos               (0U)
+#define USB_OTG_GOTGCTL_SRQSCS_Msk               (0x1UL << USB_OTG_GOTGCTL_SRQSCS_Pos) /*!< 0x00000001 */
+#define USB_OTG_GOTGCTL_SRQSCS                   USB_OTG_GOTGCTL_SRQSCS_Msk    /*!< Session request success */
+#define USB_OTG_GOTGCTL_SRQ_Pos                  (1U)
+#define USB_OTG_GOTGCTL_SRQ_Msk                  (0x1UL << USB_OTG_GOTGCTL_SRQ_Pos) /*!< 0x00000002 */
+#define USB_OTG_GOTGCTL_SRQ                      USB_OTG_GOTGCTL_SRQ_Msk       /*!< Session request */
+#define USB_OTG_GOTGCTL_VBVALOEN_Pos             (2U)
+#define USB_OTG_GOTGCTL_VBVALOEN_Msk             (0x1UL << USB_OTG_GOTGCTL_VBVALOEN_Pos) /*!< 0x00000004 */
+#define USB_OTG_GOTGCTL_VBVALOEN                 USB_OTG_GOTGCTL_VBVALOEN_Msk  /*!< VBUS valid override enable */
+#define USB_OTG_GOTGCTL_VBVALOVAL_Pos            (3U)
+#define USB_OTG_GOTGCTL_VBVALOVAL_Msk            (0x1UL << USB_OTG_GOTGCTL_VBVALOVAL_Pos) /*!< 0x00000008 */
+#define USB_OTG_GOTGCTL_VBVALOVAL                USB_OTG_GOTGCTL_VBVALOVAL_Msk /*!< VBUS valid override value */
+#define USB_OTG_GOTGCTL_AVALOEN_Pos              (4U)
+#define USB_OTG_GOTGCTL_AVALOEN_Msk              (0x1UL << USB_OTG_GOTGCTL_AVALOEN_Pos) /*!< 0x00000010 */
+#define USB_OTG_GOTGCTL_AVALOEN                  USB_OTG_GOTGCTL_AVALOEN_Msk   /*!< A-peripheral session valid override enable */
+#define USB_OTG_GOTGCTL_AVALOVAL_Pos             (5U)
+#define USB_OTG_GOTGCTL_AVALOVAL_Msk             (0x1UL << USB_OTG_GOTGCTL_AVALOVAL_Pos) /*!< 0x00000020 */
+#define USB_OTG_GOTGCTL_AVALOVAL                 USB_OTG_GOTGCTL_AVALOVAL_Msk  /*!< A-peripheral session valid override value */
+#define USB_OTG_GOTGCTL_BVALOEN_Pos              (6U)
+#define USB_OTG_GOTGCTL_BVALOEN_Msk              (0x1UL << USB_OTG_GOTGCTL_BVALOEN_Pos) /*!< 0x00000040 */
+#define USB_OTG_GOTGCTL_BVALOEN                  USB_OTG_GOTGCTL_BVALOEN_Msk   /*!< B-peripheral session valid override enable */
+#define USB_OTG_GOTGCTL_BVALOVAL_Pos             (7U)
+#define USB_OTG_GOTGCTL_BVALOVAL_Msk             (0x1UL << USB_OTG_GOTGCTL_BVALOVAL_Pos) /*!< 0x00000080 */
+#define USB_OTG_GOTGCTL_BVALOVAL                 USB_OTG_GOTGCTL_BVALOVAL_Msk  /*!< B-peripheral session valid override value  */
+#define USB_OTG_GOTGCTL_HNGSCS_Pos               (8U)
+#define USB_OTG_GOTGCTL_HNGSCS_Msk               (0x1UL << USB_OTG_GOTGCTL_HNGSCS_Pos) /*!< 0x00000100 */
+#define USB_OTG_GOTGCTL_HNGSCS                   USB_OTG_GOTGCTL_HNGSCS_Msk    /*!< Host set HNP enable */
+#define USB_OTG_GOTGCTL_HNPRQ_Pos                (9U)
+#define USB_OTG_GOTGCTL_HNPRQ_Msk                (0x1UL << USB_OTG_GOTGCTL_HNPRQ_Pos) /*!< 0x00000200 */
+#define USB_OTG_GOTGCTL_HNPRQ                    USB_OTG_GOTGCTL_HNPRQ_Msk     /*!< HNP request */
+#define USB_OTG_GOTGCTL_HSHNPEN_Pos              (10U)
+#define USB_OTG_GOTGCTL_HSHNPEN_Msk              (0x1UL << USB_OTG_GOTGCTL_HSHNPEN_Pos) /*!< 0x00000400 */
+#define USB_OTG_GOTGCTL_HSHNPEN                  USB_OTG_GOTGCTL_HSHNPEN_Msk   /*!< Host set HNP enable */
+#define USB_OTG_GOTGCTL_DHNPEN_Pos               (11U)
+#define USB_OTG_GOTGCTL_DHNPEN_Msk               (0x1UL << USB_OTG_GOTGCTL_DHNPEN_Pos) /*!< 0x00000800 */
+#define USB_OTG_GOTGCTL_DHNPEN                   USB_OTG_GOTGCTL_DHNPEN_Msk    /*!< Device HNP enabled */
+#define USB_OTG_GOTGCTL_EHEN_Pos                 (12U)
+#define USB_OTG_GOTGCTL_EHEN_Msk                 (0x1UL << USB_OTG_GOTGCTL_EHEN_Pos) /*!< 0x00001000 */
+#define USB_OTG_GOTGCTL_EHEN                     USB_OTG_GOTGCTL_EHEN_Msk      /*!< Embedded host enable */
+#define USB_OTG_GOTGCTL_CIDSTS_Pos               (16U)
+#define USB_OTG_GOTGCTL_CIDSTS_Msk               (0x1UL << USB_OTG_GOTGCTL_CIDSTS_Pos) /*!< 0x00010000 */
+#define USB_OTG_GOTGCTL_CIDSTS                   USB_OTG_GOTGCTL_CIDSTS_Msk    /*!< Connector ID status */
+#define USB_OTG_GOTGCTL_DBCT_Pos                 (17U)
+#define USB_OTG_GOTGCTL_DBCT_Msk                 (0x1UL << USB_OTG_GOTGCTL_DBCT_Pos) /*!< 0x00020000 */
+#define USB_OTG_GOTGCTL_DBCT                     USB_OTG_GOTGCTL_DBCT_Msk      /*!< Long/short debounce time */
+#define USB_OTG_GOTGCTL_ASVLD_Pos                (18U)
+#define USB_OTG_GOTGCTL_ASVLD_Msk                (0x1UL << USB_OTG_GOTGCTL_ASVLD_Pos) /*!< 0x00040000 */
+#define USB_OTG_GOTGCTL_ASVLD                    USB_OTG_GOTGCTL_ASVLD_Msk     /*!< A-session valid  */
+#define USB_OTG_GOTGCTL_BSESVLD_Pos              (19U)
+#define USB_OTG_GOTGCTL_BSESVLD_Msk              (0x1UL << USB_OTG_GOTGCTL_BSESVLD_Pos) /*!< 0x00080000 */
+#define USB_OTG_GOTGCTL_BSESVLD                  USB_OTG_GOTGCTL_BSESVLD_Msk   /*!< B-session valid */
+#define USB_OTG_GOTGCTL_OTGVER_Pos               (20U)
+#define USB_OTG_GOTGCTL_OTGVER_Msk               (0x1UL << USB_OTG_GOTGCTL_OTGVER_Pos) /*!< 0x00100000 */
+#define USB_OTG_GOTGCTL_OTGVER                   USB_OTG_GOTGCTL_OTGVER_Msk    /*!< OTG version  */
+
+/********************  Bit definition forUSB_OTG_HCFG register  ********************/
+
+#define USB_OTG_HCFG_FSLSPCS_Pos                 (0U)
+#define USB_OTG_HCFG_FSLSPCS_Msk                 (0x3UL << USB_OTG_HCFG_FSLSPCS_Pos) /*!< 0x00000003 */
+#define USB_OTG_HCFG_FSLSPCS                     USB_OTG_HCFG_FSLSPCS_Msk      /*!< FS/LS PHY clock select  */
+#define USB_OTG_HCFG_FSLSPCS_0                   (0x1UL << USB_OTG_HCFG_FSLSPCS_Pos) /*!< 0x00000001 */
+#define USB_OTG_HCFG_FSLSPCS_1                   (0x2UL << USB_OTG_HCFG_FSLSPCS_Pos) /*!< 0x00000002 */
+#define USB_OTG_HCFG_FSLSS_Pos                   (2U)
+#define USB_OTG_HCFG_FSLSS_Msk                   (0x1UL << USB_OTG_HCFG_FSLSS_Pos) /*!< 0x00000004 */
+#define USB_OTG_HCFG_FSLSS                       USB_OTG_HCFG_FSLSS_Msk        /*!< FS- and LS-only support */
+
+/********************  Bit definition forUSB_OTG_DCFG register  ********************/
+
+#define USB_OTG_DCFG_DSPD_Pos                    (0U)
+#define USB_OTG_DCFG_DSPD_Msk                    (0x3UL << USB_OTG_DCFG_DSPD_Pos) /*!< 0x00000003 */
+#define USB_OTG_DCFG_DSPD                        USB_OTG_DCFG_DSPD_Msk         /*!< Device speed */
+#define USB_OTG_DCFG_DSPD_0                      (0x1UL << USB_OTG_DCFG_DSPD_Pos) /*!< 0x00000001 */
+#define USB_OTG_DCFG_DSPD_1                      (0x2UL << USB_OTG_DCFG_DSPD_Pos) /*!< 0x00000002 */
+#define USB_OTG_DCFG_NZLSOHSK_Pos                (2U)
+#define USB_OTG_DCFG_NZLSOHSK_Msk                (0x1UL << USB_OTG_DCFG_NZLSOHSK_Pos) /*!< 0x00000004 */
+#define USB_OTG_DCFG_NZLSOHSK                    USB_OTG_DCFG_NZLSOHSK_Msk     /*!< Nonzero-length status OUT handshake */
+
+#define USB_OTG_DCFG_DAD_Pos                     (4U)
+#define USB_OTG_DCFG_DAD_Msk                     (0x7FUL << USB_OTG_DCFG_DAD_Pos) /*!< 0x000007F0 */
+#define USB_OTG_DCFG_DAD                         USB_OTG_DCFG_DAD_Msk          /*!< Device address */
+#define USB_OTG_DCFG_DAD_0                       (0x01UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000010 */
+#define USB_OTG_DCFG_DAD_1                       (0x02UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000020 */
+#define USB_OTG_DCFG_DAD_2                       (0x04UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000040 */
+#define USB_OTG_DCFG_DAD_3                       (0x08UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000080 */
+#define USB_OTG_DCFG_DAD_4                       (0x10UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000100 */
+#define USB_OTG_DCFG_DAD_5                       (0x20UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000200 */
+#define USB_OTG_DCFG_DAD_6                       (0x40UL << USB_OTG_DCFG_DAD_Pos) /*!< 0x00000400 */
+
+#define USB_OTG_DCFG_PFIVL_Pos                   (11U)
+#define USB_OTG_DCFG_PFIVL_Msk                   (0x3UL << USB_OTG_DCFG_PFIVL_Pos) /*!< 0x00001800 */
+#define USB_OTG_DCFG_PFIVL                       USB_OTG_DCFG_PFIVL_Msk        /*!< Periodic (micro)frame interval */
+#define USB_OTG_DCFG_PFIVL_0                     (0x1UL << USB_OTG_DCFG_PFIVL_Pos) /*!< 0x00000800 */
+#define USB_OTG_DCFG_PFIVL_1                     (0x2UL << USB_OTG_DCFG_PFIVL_Pos) /*!< 0x00001000 */
+
+#define USB_OTG_DCFG_PERSCHIVL_Pos               (24U)
+#define USB_OTG_DCFG_PERSCHIVL_Msk               (0x3UL << USB_OTG_DCFG_PERSCHIVL_Pos) /*!< 0x03000000 */
+#define USB_OTG_DCFG_PERSCHIVL                   USB_OTG_DCFG_PERSCHIVL_Msk    /*!< Periodic scheduling interval */
+#define USB_OTG_DCFG_PERSCHIVL_0                 (0x1UL << USB_OTG_DCFG_PERSCHIVL_Pos) /*!< 0x01000000 */
+#define USB_OTG_DCFG_PERSCHIVL_1                 (0x2UL << USB_OTG_DCFG_PERSCHIVL_Pos) /*!< 0x02000000 */
+
+/********************  Bit definition forUSB_OTG_PCGCR register  ********************/
+#define USB_OTG_PCGCR_STPPCLK_Pos                (0U)
+#define USB_OTG_PCGCR_STPPCLK_Msk                (0x1UL << USB_OTG_PCGCR_STPPCLK_Pos) /*!< 0x00000001 */
+#define USB_OTG_PCGCR_STPPCLK                    USB_OTG_PCGCR_STPPCLK_Msk     /*!< Stop PHY clock */
+#define USB_OTG_PCGCR_GATEHCLK_Pos               (1U)
+#define USB_OTG_PCGCR_GATEHCLK_Msk               (0x1UL << USB_OTG_PCGCR_GATEHCLK_Pos) /*!< 0x00000002 */
+#define USB_OTG_PCGCR_GATEHCLK                   USB_OTG_PCGCR_GATEHCLK_Msk    /*!< Gate HCLK */
+#define USB_OTG_PCGCR_PHYSUSP_Pos                (4U)
+#define USB_OTG_PCGCR_PHYSUSP_Msk                (0x1UL << USB_OTG_PCGCR_PHYSUSP_Pos) /*!< 0x00000010 */
+#define USB_OTG_PCGCR_PHYSUSP                    USB_OTG_PCGCR_PHYSUSP_Msk     /*!< PHY suspended */
+
+/********************  Bit definition forUSB_OTG_GOTGINT register  ********************/
+#define USB_OTG_GOTGINT_SEDET_Pos                (2U)
+#define USB_OTG_GOTGINT_SEDET_Msk                (0x1UL << USB_OTG_GOTGINT_SEDET_Pos) /*!< 0x00000004 */
+#define USB_OTG_GOTGINT_SEDET                    USB_OTG_GOTGINT_SEDET_Msk     /*!< Session end detected                   */
+#define USB_OTG_GOTGINT_SRSSCHG_Pos              (8U)
+#define USB_OTG_GOTGINT_SRSSCHG_Msk              (0x1UL << USB_OTG_GOTGINT_SRSSCHG_Pos) /*!< 0x00000100 */
+#define USB_OTG_GOTGINT_SRSSCHG                  USB_OTG_GOTGINT_SRSSCHG_Msk   /*!< Session request success status change  */
+#define USB_OTG_GOTGINT_HNSSCHG_Pos              (9U)
+#define USB_OTG_GOTGINT_HNSSCHG_Msk              (0x1UL << USB_OTG_GOTGINT_HNSSCHG_Pos) /*!< 0x00000200 */
+#define USB_OTG_GOTGINT_HNSSCHG                  USB_OTG_GOTGINT_HNSSCHG_Msk   /*!< Host negotiation success status change */
+#define USB_OTG_GOTGINT_HNGDET_Pos               (17U)
+#define USB_OTG_GOTGINT_HNGDET_Msk               (0x1UL << USB_OTG_GOTGINT_HNGDET_Pos) /*!< 0x00020000 */
+#define USB_OTG_GOTGINT_HNGDET                   USB_OTG_GOTGINT_HNGDET_Msk    /*!< Host negotiation detected              */
+#define USB_OTG_GOTGINT_ADTOCHG_Pos              (18U)
+#define USB_OTG_GOTGINT_ADTOCHG_Msk              (0x1UL << USB_OTG_GOTGINT_ADTOCHG_Pos) /*!< 0x00040000 */
+#define USB_OTG_GOTGINT_ADTOCHG                  USB_OTG_GOTGINT_ADTOCHG_Msk   /*!< A-device timeout change                */
+#define USB_OTG_GOTGINT_DBCDNE_Pos               (19U)
+#define USB_OTG_GOTGINT_DBCDNE_Msk               (0x1UL << USB_OTG_GOTGINT_DBCDNE_Pos) /*!< 0x00080000 */
+#define USB_OTG_GOTGINT_DBCDNE                   USB_OTG_GOTGINT_DBCDNE_Msk    /*!< Debounce done                          */
+
+/********************  Bit definition forUSB_OTG_DCTL register  ********************/
+#define USB_OTG_DCTL_RWUSIG_Pos                  (0U)
+#define USB_OTG_DCTL_RWUSIG_Msk                  (0x1UL << USB_OTG_DCTL_RWUSIG_Pos) /*!< 0x00000001 */
+#define USB_OTG_DCTL_RWUSIG                      USB_OTG_DCTL_RWUSIG_Msk       /*!< Remote wakeup signaling */
+#define USB_OTG_DCTL_SDIS_Pos                    (1U)
+#define USB_OTG_DCTL_SDIS_Msk                    (0x1UL << USB_OTG_DCTL_SDIS_Pos) /*!< 0x00000002 */
+#define USB_OTG_DCTL_SDIS                        USB_OTG_DCTL_SDIS_Msk         /*!< Soft disconnect         */
+#define USB_OTG_DCTL_GINSTS_Pos                  (2U)
+#define USB_OTG_DCTL_GINSTS_Msk                  (0x1UL << USB_OTG_DCTL_GINSTS_Pos) /*!< 0x00000004 */
+#define USB_OTG_DCTL_GINSTS                      USB_OTG_DCTL_GINSTS_Msk       /*!< Global IN NAK status    */
+#define USB_OTG_DCTL_GONSTS_Pos                  (3U)
+#define USB_OTG_DCTL_GONSTS_Msk                  (0x1UL << USB_OTG_DCTL_GONSTS_Pos) /*!< 0x00000008 */
+#define USB_OTG_DCTL_GONSTS                      USB_OTG_DCTL_GONSTS_Msk       /*!< Global OUT NAK status   */
+
+#define USB_OTG_DCTL_TCTL_Pos                    (4U)
+#define USB_OTG_DCTL_TCTL_Msk                    (0x7UL << USB_OTG_DCTL_TCTL_Pos) /*!< 0x00000070 */
+#define USB_OTG_DCTL_TCTL                        USB_OTG_DCTL_TCTL_Msk         /*!< Test control */
+#define USB_OTG_DCTL_TCTL_0                      (0x1UL << USB_OTG_DCTL_TCTL_Pos) /*!< 0x00000010 */
+#define USB_OTG_DCTL_TCTL_1                      (0x2UL << USB_OTG_DCTL_TCTL_Pos) /*!< 0x00000020 */
+#define USB_OTG_DCTL_TCTL_2                      (0x4UL << USB_OTG_DCTL_TCTL_Pos) /*!< 0x00000040 */
+#define USB_OTG_DCTL_SGINAK_Pos                  (7U)
+#define USB_OTG_DCTL_SGINAK_Msk                  (0x1UL << USB_OTG_DCTL_SGINAK_Pos) /*!< 0x00000080 */
+#define USB_OTG_DCTL_SGINAK                      USB_OTG_DCTL_SGINAK_Msk       /*!< Set global IN NAK         */
+#define USB_OTG_DCTL_CGINAK_Pos                  (8U)
+#define USB_OTG_DCTL_CGINAK_Msk                  (0x1UL << USB_OTG_DCTL_CGINAK_Pos) /*!< 0x00000100 */
+#define USB_OTG_DCTL_CGINAK                      USB_OTG_DCTL_CGINAK_Msk       /*!< Clear global IN NAK       */
+#define USB_OTG_DCTL_SGONAK_Pos                  (9U)
+#define USB_OTG_DCTL_SGONAK_Msk                  (0x1UL << USB_OTG_DCTL_SGONAK_Pos) /*!< 0x00000200 */
+#define USB_OTG_DCTL_SGONAK                      USB_OTG_DCTL_SGONAK_Msk       /*!< Set global OUT NAK        */
+#define USB_OTG_DCTL_CGONAK_Pos                  (10U)
+#define USB_OTG_DCTL_CGONAK_Msk                  (0x1UL << USB_OTG_DCTL_CGONAK_Pos) /*!< 0x00000400 */
+#define USB_OTG_DCTL_CGONAK                      USB_OTG_DCTL_CGONAK_Msk       /*!< Clear global OUT NAK      */
+#define USB_OTG_DCTL_POPRGDNE_Pos                (11U)
+#define USB_OTG_DCTL_POPRGDNE_Msk                (0x1UL << USB_OTG_DCTL_POPRGDNE_Pos) /*!< 0x00000800 */
+#define USB_OTG_DCTL_POPRGDNE                    USB_OTG_DCTL_POPRGDNE_Msk     /*!< Power-on programming done */
+
+/********************  Bit definition forUSB_OTG_HFIR register  ********************/
+#define USB_OTG_HFIR_FRIVL_Pos                   (0U)
+#define USB_OTG_HFIR_FRIVL_Msk                   (0xFFFFUL << USB_OTG_HFIR_FRIVL_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HFIR_FRIVL                       USB_OTG_HFIR_FRIVL_Msk        /*!< Frame interval */
+
+/********************  Bit definition forUSB_OTG_HFNUM register  ********************/
+#define USB_OTG_HFNUM_FRNUM_Pos                  (0U)
+#define USB_OTG_HFNUM_FRNUM_Msk                  (0xFFFFUL << USB_OTG_HFNUM_FRNUM_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HFNUM_FRNUM                      USB_OTG_HFNUM_FRNUM_Msk       /*!< Frame number         */
+#define USB_OTG_HFNUM_FTREM_Pos                  (16U)
+#define USB_OTG_HFNUM_FTREM_Msk                  (0xFFFFUL << USB_OTG_HFNUM_FTREM_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_HFNUM_FTREM                      USB_OTG_HFNUM_FTREM_Msk       /*!< Frame time remaining */
+
+/********************  Bit definition forUSB_OTG_DSTS register  ********************/
+#define USB_OTG_DSTS_SUSPSTS_Pos                 (0U)
+#define USB_OTG_DSTS_SUSPSTS_Msk                 (0x1UL << USB_OTG_DSTS_SUSPSTS_Pos) /*!< 0x00000001 */
+#define USB_OTG_DSTS_SUSPSTS                     USB_OTG_DSTS_SUSPSTS_Msk      /*!< Suspend status   */
+
+#define USB_OTG_DSTS_ENUMSPD_Pos                 (1U)
+#define USB_OTG_DSTS_ENUMSPD_Msk                 (0x3UL << USB_OTG_DSTS_ENUMSPD_Pos) /*!< 0x00000006 */
+#define USB_OTG_DSTS_ENUMSPD                     USB_OTG_DSTS_ENUMSPD_Msk      /*!< Enumerated speed */
+#define USB_OTG_DSTS_ENUMSPD_0                   (0x1UL << USB_OTG_DSTS_ENUMSPD_Pos) /*!< 0x00000002 */
+#define USB_OTG_DSTS_ENUMSPD_1                   (0x2UL << USB_OTG_DSTS_ENUMSPD_Pos) /*!< 0x00000004 */
+#define USB_OTG_DSTS_EERR_Pos                    (3U)
+#define USB_OTG_DSTS_EERR_Msk                    (0x1UL << USB_OTG_DSTS_EERR_Pos) /*!< 0x00000008 */
+#define USB_OTG_DSTS_EERR                        USB_OTG_DSTS_EERR_Msk         /*!< Erratic error     */
+#define USB_OTG_DSTS_FNSOF_Pos                   (8U)
+#define USB_OTG_DSTS_FNSOF_Msk                   (0x3FFFUL << USB_OTG_DSTS_FNSOF_Pos) /*!< 0x003FFF00 */
+#define USB_OTG_DSTS_FNSOF                       USB_OTG_DSTS_FNSOF_Msk        /*!< Frame number of the received SOF */
+
+/********************  Bit definition forUSB_OTG_GAHBCFG register  ********************/
+#define USB_OTG_GAHBCFG_GINT_Pos                 (0U)
+#define USB_OTG_GAHBCFG_GINT_Msk                 (0x1UL << USB_OTG_GAHBCFG_GINT_Pos) /*!< 0x00000001 */
+#define USB_OTG_GAHBCFG_GINT                     USB_OTG_GAHBCFG_GINT_Msk      /*!< Global interrupt mask */
+
+#define USB_OTG_GAHBCFG_HBSTLEN_Pos              (1U)
+#define USB_OTG_GAHBCFG_HBSTLEN_Msk              (0xFUL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< 0x0000001E */
+#define USB_OTG_GAHBCFG_HBSTLEN                  USB_OTG_GAHBCFG_HBSTLEN_Msk   /*!< Burst length/type */
+#define USB_OTG_GAHBCFG_HBSTLEN_0                (0x0UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< Single */
+#define USB_OTG_GAHBCFG_HBSTLEN_1                (0x1UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< INCR */
+#define USB_OTG_GAHBCFG_HBSTLEN_2                (0x3UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< INCR4 */
+#define USB_OTG_GAHBCFG_HBSTLEN_3                (0x5UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< INCR8 */
+#define USB_OTG_GAHBCFG_HBSTLEN_4                (0x7UL << USB_OTG_GAHBCFG_HBSTLEN_Pos) /*!< INCR16 */
+#define USB_OTG_GAHBCFG_DMAEN_Pos                (5U)
+#define USB_OTG_GAHBCFG_DMAEN_Msk                (0x1UL << USB_OTG_GAHBCFG_DMAEN_Pos) /*!< 0x00000020 */
+#define USB_OTG_GAHBCFG_DMAEN                    USB_OTG_GAHBCFG_DMAEN_Msk     /*!< DMA enable */
+#define USB_OTG_GAHBCFG_TXFELVL_Pos              (7U)
+#define USB_OTG_GAHBCFG_TXFELVL_Msk              (0x1UL << USB_OTG_GAHBCFG_TXFELVL_Pos) /*!< 0x00000080 */
+#define USB_OTG_GAHBCFG_TXFELVL                  USB_OTG_GAHBCFG_TXFELVL_Msk   /*!< TxFIFO empty level */
+#define USB_OTG_GAHBCFG_PTXFELVL_Pos             (8U)
+#define USB_OTG_GAHBCFG_PTXFELVL_Msk             (0x1UL << USB_OTG_GAHBCFG_PTXFELVL_Pos) /*!< 0x00000100 */
+#define USB_OTG_GAHBCFG_PTXFELVL                 USB_OTG_GAHBCFG_PTXFELVL_Msk  /*!< Periodic TxFIFO empty level */
+
+/********************  Bit definition forUSB_OTG_GUSBCFG register  ********************/
+
+#define USB_OTG_GUSBCFG_TOCAL_Pos                (0U)
+#define USB_OTG_GUSBCFG_TOCAL_Msk                (0x7UL << USB_OTG_GUSBCFG_TOCAL_Pos) /*!< 0x00000007 */
+#define USB_OTG_GUSBCFG_TOCAL                    USB_OTG_GUSBCFG_TOCAL_Msk     /*!< FS timeout calibration */
+#define USB_OTG_GUSBCFG_TOCAL_0                  (0x1UL << USB_OTG_GUSBCFG_TOCAL_Pos) /*!< 0x00000001 */
+#define USB_OTG_GUSBCFG_TOCAL_1                  (0x2UL << USB_OTG_GUSBCFG_TOCAL_Pos) /*!< 0x00000002 */
+#define USB_OTG_GUSBCFG_TOCAL_2                  (0x4UL << USB_OTG_GUSBCFG_TOCAL_Pos) /*!< 0x00000004 */
+#define USB_OTG_GUSBCFG_PHYSEL_Pos               (6U)
+#define USB_OTG_GUSBCFG_PHYSEL_Msk               (0x1UL << USB_OTG_GUSBCFG_PHYSEL_Pos) /*!< 0x00000040 */
+#define USB_OTG_GUSBCFG_PHYSEL                   USB_OTG_GUSBCFG_PHYSEL_Msk    /*!< USB 2.0 high-speed ULPI PHY or USB 1.1 full-speed serial transceiver select */
+#define USB_OTG_GUSBCFG_SRPCAP_Pos               (8U)
+#define USB_OTG_GUSBCFG_SRPCAP_Msk               (0x1UL << USB_OTG_GUSBCFG_SRPCAP_Pos) /*!< 0x00000100 */
+#define USB_OTG_GUSBCFG_SRPCAP                   USB_OTG_GUSBCFG_SRPCAP_Msk    /*!< SRP-capable */
+#define USB_OTG_GUSBCFG_HNPCAP_Pos               (9U)
+#define USB_OTG_GUSBCFG_HNPCAP_Msk               (0x1UL << USB_OTG_GUSBCFG_HNPCAP_Pos) /*!< 0x00000200 */
+#define USB_OTG_GUSBCFG_HNPCAP                   USB_OTG_GUSBCFG_HNPCAP_Msk    /*!< HNP-capable */
+
+#define USB_OTG_GUSBCFG_TRDT_Pos                 (10U)
+#define USB_OTG_GUSBCFG_TRDT_Msk                 (0xFUL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00003C00 */
+#define USB_OTG_GUSBCFG_TRDT                     USB_OTG_GUSBCFG_TRDT_Msk      /*!< USB turnaround time */
+#define USB_OTG_GUSBCFG_TRDT_0                   (0x1UL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00000400 */
+#define USB_OTG_GUSBCFG_TRDT_1                   (0x2UL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00000800 */
+#define USB_OTG_GUSBCFG_TRDT_2                   (0x4UL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00001000 */
+#define USB_OTG_GUSBCFG_TRDT_3                   (0x8UL << USB_OTG_GUSBCFG_TRDT_Pos) /*!< 0x00002000 */
+#define USB_OTG_GUSBCFG_PHYLPCS_Pos              (15U)
+#define USB_OTG_GUSBCFG_PHYLPCS_Msk              (0x1UL << USB_OTG_GUSBCFG_PHYLPCS_Pos) /*!< 0x00008000 */
+#define USB_OTG_GUSBCFG_PHYLPCS                  USB_OTG_GUSBCFG_PHYLPCS_Msk   /*!< PHY Low-power clock select */
+#define USB_OTG_GUSBCFG_ULPIFSLS_Pos             (17U)
+#define USB_OTG_GUSBCFG_ULPIFSLS_Msk             (0x1UL << USB_OTG_GUSBCFG_ULPIFSLS_Pos) /*!< 0x00020000 */
+#define USB_OTG_GUSBCFG_ULPIFSLS                 USB_OTG_GUSBCFG_ULPIFSLS_Msk  /*!< ULPI FS/LS select               */
+#define USB_OTG_GUSBCFG_ULPIAR_Pos               (18U)
+#define USB_OTG_GUSBCFG_ULPIAR_Msk               (0x1UL << USB_OTG_GUSBCFG_ULPIAR_Pos) /*!< 0x00040000 */
+#define USB_OTG_GUSBCFG_ULPIAR                   USB_OTG_GUSBCFG_ULPIAR_Msk    /*!< ULPI Auto-resume                */
+#define USB_OTG_GUSBCFG_ULPICSM_Pos              (19U)
+#define USB_OTG_GUSBCFG_ULPICSM_Msk              (0x1UL << USB_OTG_GUSBCFG_ULPICSM_Pos) /*!< 0x00080000 */
+#define USB_OTG_GUSBCFG_ULPICSM                  USB_OTG_GUSBCFG_ULPICSM_Msk   /*!< ULPI Clock SuspendM             */
+#define USB_OTG_GUSBCFG_ULPIEVBUSD_Pos           (20U)
+#define USB_OTG_GUSBCFG_ULPIEVBUSD_Msk           (0x1UL << USB_OTG_GUSBCFG_ULPIEVBUSD_Pos) /*!< 0x00100000 */
+#define USB_OTG_GUSBCFG_ULPIEVBUSD               USB_OTG_GUSBCFG_ULPIEVBUSD_Msk /*!< ULPI External VBUS Drive        */
+#define USB_OTG_GUSBCFG_ULPIEVBUSI_Pos           (21U)
+#define USB_OTG_GUSBCFG_ULPIEVBUSI_Msk           (0x1UL << USB_OTG_GUSBCFG_ULPIEVBUSI_Pos) /*!< 0x00200000 */
+#define USB_OTG_GUSBCFG_ULPIEVBUSI               USB_OTG_GUSBCFG_ULPIEVBUSI_Msk /*!< ULPI external VBUS indicator    */
+#define USB_OTG_GUSBCFG_TSDPS_Pos                (22U)
+#define USB_OTG_GUSBCFG_TSDPS_Msk                (0x1UL << USB_OTG_GUSBCFG_TSDPS_Pos) /*!< 0x00400000 */
+#define USB_OTG_GUSBCFG_TSDPS                    USB_OTG_GUSBCFG_TSDPS_Msk     /*!< TermSel DLine pulsing selection */
+#define USB_OTG_GUSBCFG_PCCI_Pos                 (23U)
+#define USB_OTG_GUSBCFG_PCCI_Msk                 (0x1UL << USB_OTG_GUSBCFG_PCCI_Pos) /*!< 0x00800000 */
+#define USB_OTG_GUSBCFG_PCCI                     USB_OTG_GUSBCFG_PCCI_Msk      /*!< Indicator complement            */
+#define USB_OTG_GUSBCFG_PTCI_Pos                 (24U)
+#define USB_OTG_GUSBCFG_PTCI_Msk                 (0x1UL << USB_OTG_GUSBCFG_PTCI_Pos) /*!< 0x01000000 */
+#define USB_OTG_GUSBCFG_PTCI                     USB_OTG_GUSBCFG_PTCI_Msk      /*!< Indicator pass through          */
+#define USB_OTG_GUSBCFG_ULPIIPD_Pos              (25U)
+#define USB_OTG_GUSBCFG_ULPIIPD_Msk              (0x1UL << USB_OTG_GUSBCFG_ULPIIPD_Pos) /*!< 0x02000000 */
+#define USB_OTG_GUSBCFG_ULPIIPD                  USB_OTG_GUSBCFG_ULPIIPD_Msk   /*!< ULPI interface protect disable  */
+#define USB_OTG_GUSBCFG_FHMOD_Pos                (29U)
+#define USB_OTG_GUSBCFG_FHMOD_Msk                (0x1UL << USB_OTG_GUSBCFG_FHMOD_Pos) /*!< 0x20000000 */
+#define USB_OTG_GUSBCFG_FHMOD                    USB_OTG_GUSBCFG_FHMOD_Msk     /*!< Forced host mode                */
+#define USB_OTG_GUSBCFG_FDMOD_Pos                (30U)
+#define USB_OTG_GUSBCFG_FDMOD_Msk                (0x1UL << USB_OTG_GUSBCFG_FDMOD_Pos) /*!< 0x40000000 */
+#define USB_OTG_GUSBCFG_FDMOD                    USB_OTG_GUSBCFG_FDMOD_Msk     /*!< Forced peripheral mode          */
+#define USB_OTG_GUSBCFG_CTXPKT_Pos               (31U)
+#define USB_OTG_GUSBCFG_CTXPKT_Msk               (0x1UL << USB_OTG_GUSBCFG_CTXPKT_Pos) /*!< 0x80000000 */
+#define USB_OTG_GUSBCFG_CTXPKT                   USB_OTG_GUSBCFG_CTXPKT_Msk    /*!< Corrupt Tx packet               */
+
+/********************  Bit definition forUSB_OTG_GRSTCTL register  ********************/
+#define USB_OTG_GRSTCTL_CSRST_Pos                (0U)
+#define USB_OTG_GRSTCTL_CSRST_Msk                (0x1UL << USB_OTG_GRSTCTL_CSRST_Pos) /*!< 0x00000001 */
+#define USB_OTG_GRSTCTL_CSRST                    USB_OTG_GRSTCTL_CSRST_Msk     /*!< Core soft reset          */
+#define USB_OTG_GRSTCTL_HSRST_Pos                (1U)
+#define USB_OTG_GRSTCTL_HSRST_Msk                (0x1UL << USB_OTG_GRSTCTL_HSRST_Pos) /*!< 0x00000002 */
+#define USB_OTG_GRSTCTL_HSRST                    USB_OTG_GRSTCTL_HSRST_Msk     /*!< HCLK soft reset          */
+#define USB_OTG_GRSTCTL_FCRST_Pos                (2U)
+#define USB_OTG_GRSTCTL_FCRST_Msk                (0x1UL << USB_OTG_GRSTCTL_FCRST_Pos) /*!< 0x00000004 */
+#define USB_OTG_GRSTCTL_FCRST                    USB_OTG_GRSTCTL_FCRST_Msk     /*!< Host frame counter reset */
+#define USB_OTG_GRSTCTL_RXFFLSH_Pos              (4U)
+#define USB_OTG_GRSTCTL_RXFFLSH_Msk              (0x1UL << USB_OTG_GRSTCTL_RXFFLSH_Pos) /*!< 0x00000010 */
+#define USB_OTG_GRSTCTL_RXFFLSH                  USB_OTG_GRSTCTL_RXFFLSH_Msk   /*!< RxFIFO flush             */
+#define USB_OTG_GRSTCTL_TXFFLSH_Pos              (5U)
+#define USB_OTG_GRSTCTL_TXFFLSH_Msk              (0x1UL << USB_OTG_GRSTCTL_TXFFLSH_Pos) /*!< 0x00000020 */
+#define USB_OTG_GRSTCTL_TXFFLSH                  USB_OTG_GRSTCTL_TXFFLSH_Msk   /*!< TxFIFO flush             */
+
+#define USB_OTG_GRSTCTL_TXFNUM_Pos               (6U)
+#define USB_OTG_GRSTCTL_TXFNUM_Msk               (0x1FUL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x000007C0 */
+#define USB_OTG_GRSTCTL_TXFNUM                   USB_OTG_GRSTCTL_TXFNUM_Msk    /*!< TxFIFO number */
+#define USB_OTG_GRSTCTL_TXFNUM_0                 (0x01UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000040 */
+#define USB_OTG_GRSTCTL_TXFNUM_1                 (0x02UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000080 */
+#define USB_OTG_GRSTCTL_TXFNUM_2                 (0x04UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000100 */
+#define USB_OTG_GRSTCTL_TXFNUM_3                 (0x08UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000200 */
+#define USB_OTG_GRSTCTL_TXFNUM_4                 (0x10UL << USB_OTG_GRSTCTL_TXFNUM_Pos) /*!< 0x00000400 */
+#define USB_OTG_GRSTCTL_DMAREQ_Pos               (30U)
+#define USB_OTG_GRSTCTL_DMAREQ_Msk               (0x1UL << USB_OTG_GRSTCTL_DMAREQ_Pos) /*!< 0x40000000 */
+#define USB_OTG_GRSTCTL_DMAREQ                   USB_OTG_GRSTCTL_DMAREQ_Msk    /*!< DMA request signal */
+#define USB_OTG_GRSTCTL_AHBIDL_Pos               (31U)
+#define USB_OTG_GRSTCTL_AHBIDL_Msk               (0x1UL << USB_OTG_GRSTCTL_AHBIDL_Pos) /*!< 0x80000000 */
+#define USB_OTG_GRSTCTL_AHBIDL                   USB_OTG_GRSTCTL_AHBIDL_Msk    /*!< AHB master idle */
+
+/********************  Bit definition forUSB_OTG_DIEPMSK register  ********************/
+#define USB_OTG_DIEPMSK_XFRCM_Pos                (0U)
+#define USB_OTG_DIEPMSK_XFRCM_Msk                (0x1UL << USB_OTG_DIEPMSK_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_DIEPMSK_XFRCM                    USB_OTG_DIEPMSK_XFRCM_Msk     /*!< Transfer completed interrupt mask                 */
+#define USB_OTG_DIEPMSK_EPDM_Pos                 (1U)
+#define USB_OTG_DIEPMSK_EPDM_Msk                 (0x1UL << USB_OTG_DIEPMSK_EPDM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DIEPMSK_EPDM                     USB_OTG_DIEPMSK_EPDM_Msk      /*!< Endpoint disabled interrupt mask                  */
+#define USB_OTG_DIEPMSK_TOM_Pos                  (3U)
+#define USB_OTG_DIEPMSK_TOM_Msk                  (0x1UL << USB_OTG_DIEPMSK_TOM_Pos) /*!< 0x00000008 */
+#define USB_OTG_DIEPMSK_TOM                      USB_OTG_DIEPMSK_TOM_Msk       /*!< Timeout condition mask (nonisochronous endpoints) */
+#define USB_OTG_DIEPMSK_ITTXFEMSK_Pos            (4U)
+#define USB_OTG_DIEPMSK_ITTXFEMSK_Msk            (0x1UL << USB_OTG_DIEPMSK_ITTXFEMSK_Pos) /*!< 0x00000010 */
+#define USB_OTG_DIEPMSK_ITTXFEMSK                USB_OTG_DIEPMSK_ITTXFEMSK_Msk /*!< IN token received when TxFIFO empty mask          */
+#define USB_OTG_DIEPMSK_INEPNMM_Pos              (5U)
+#define USB_OTG_DIEPMSK_INEPNMM_Msk              (0x1UL << USB_OTG_DIEPMSK_INEPNMM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DIEPMSK_INEPNMM                  USB_OTG_DIEPMSK_INEPNMM_Msk   /*!< IN token received with EP mismatch mask           */
+#define USB_OTG_DIEPMSK_INEPNEM_Pos              (6U)
+#define USB_OTG_DIEPMSK_INEPNEM_Msk              (0x1UL << USB_OTG_DIEPMSK_INEPNEM_Pos) /*!< 0x00000040 */
+#define USB_OTG_DIEPMSK_INEPNEM                  USB_OTG_DIEPMSK_INEPNEM_Msk   /*!< IN endpoint NAK effective mask                    */
+#define USB_OTG_DIEPMSK_TXFURM_Pos               (8U)
+#define USB_OTG_DIEPMSK_TXFURM_Msk               (0x1UL << USB_OTG_DIEPMSK_TXFURM_Pos) /*!< 0x00000100 */
+#define USB_OTG_DIEPMSK_TXFURM                   USB_OTG_DIEPMSK_TXFURM_Msk    /*!< FIFO underrun mask                                */
+#define USB_OTG_DIEPMSK_BIM_Pos                  (9U)
+#define USB_OTG_DIEPMSK_BIM_Msk                  (0x1UL << USB_OTG_DIEPMSK_BIM_Pos) /*!< 0x00000200 */
+#define USB_OTG_DIEPMSK_BIM                      USB_OTG_DIEPMSK_BIM_Msk       /*!< BNA interrupt mask                                */
+
+/********************  Bit definition forUSB_OTG_HPTXSTS register  ********************/
+#define USB_OTG_HPTXSTS_PTXFSAVL_Pos             (0U)
+#define USB_OTG_HPTXSTS_PTXFSAVL_Msk             (0xFFFFUL << USB_OTG_HPTXSTS_PTXFSAVL_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HPTXSTS_PTXFSAVL                 USB_OTG_HPTXSTS_PTXFSAVL_Msk  /*!< Periodic transmit data FIFO space available     */
+
+#define USB_OTG_HPTXSTS_PTXQSAV_Pos              (16U)
+#define USB_OTG_HPTXSTS_PTXQSAV_Msk              (0xFFUL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00FF0000 */
+#define USB_OTG_HPTXSTS_PTXQSAV                  USB_OTG_HPTXSTS_PTXQSAV_Msk   /*!< Periodic transmit request queue space available */
+#define USB_OTG_HPTXSTS_PTXQSAV_0                (0x01UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00010000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_1                (0x02UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00020000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_2                (0x04UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00040000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_3                (0x08UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00080000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_4                (0x10UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00100000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_5                (0x20UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00200000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_6                (0x40UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00400000 */
+#define USB_OTG_HPTXSTS_PTXQSAV_7                (0x80UL << USB_OTG_HPTXSTS_PTXQSAV_Pos) /*!< 0x00800000 */
+
+#define USB_OTG_HPTXSTS_PTXQTOP_Pos              (24U)
+#define USB_OTG_HPTXSTS_PTXQTOP_Msk              (0xFFUL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0xFF000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP                  USB_OTG_HPTXSTS_PTXQTOP_Msk   /*!< Top of the periodic transmit request queue */
+#define USB_OTG_HPTXSTS_PTXQTOP_0                (0x01UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x01000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_1                (0x02UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x02000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_2                (0x04UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x04000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_3                (0x08UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x08000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_4                (0x10UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x10000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_5                (0x20UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x20000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_6                (0x40UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x40000000 */
+#define USB_OTG_HPTXSTS_PTXQTOP_7                (0x80UL << USB_OTG_HPTXSTS_PTXQTOP_Pos) /*!< 0x80000000 */
+
+/********************  Bit definition forUSB_OTG_HAINT register  ********************/
+#define USB_OTG_HAINT_HAINT_Pos                  (0U)
+#define USB_OTG_HAINT_HAINT_Msk                  (0xFFFFUL << USB_OTG_HAINT_HAINT_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HAINT_HAINT                      USB_OTG_HAINT_HAINT_Msk       /*!< Channel interrupts */
+
+/********************  Bit definition forUSB_OTG_DOEPMSK register  ********************/
+#define USB_OTG_DOEPMSK_XFRCM_Pos                (0U)
+#define USB_OTG_DOEPMSK_XFRCM_Msk                (0x1UL << USB_OTG_DOEPMSK_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_DOEPMSK_XFRCM                    USB_OTG_DOEPMSK_XFRCM_Msk     /*!< Transfer completed interrupt mask */
+#define USB_OTG_DOEPMSK_EPDM_Pos                 (1U)
+#define USB_OTG_DOEPMSK_EPDM_Msk                 (0x1UL << USB_OTG_DOEPMSK_EPDM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DOEPMSK_EPDM                     USB_OTG_DOEPMSK_EPDM_Msk      /*!< Endpoint disabled interrupt mask               */
+#define USB_OTG_DOEPMSK_AHBERRM_Pos              (2U)
+#define USB_OTG_DOEPMSK_AHBERRM_Msk              (0x1UL << USB_OTG_DOEPMSK_AHBERRM_Pos) /*!< 0x00000004 */
+#define USB_OTG_DOEPMSK_AHBERRM                  USB_OTG_DOEPMSK_AHBERRM_Msk      /*!< OUT transaction AHB Error interrupt mask               */
+#define USB_OTG_DOEPMSK_STUPM_Pos                (3U)
+#define USB_OTG_DOEPMSK_STUPM_Msk                (0x1UL << USB_OTG_DOEPMSK_STUPM_Pos) /*!< 0x00000008 */
+#define USB_OTG_DOEPMSK_STUPM                    USB_OTG_DOEPMSK_STUPM_Msk     /*!< SETUP phase done mask                          */
+#define USB_OTG_DOEPMSK_OTEPDM_Pos               (4U)
+#define USB_OTG_DOEPMSK_OTEPDM_Msk               (0x1UL << USB_OTG_DOEPMSK_OTEPDM_Pos) /*!< 0x00000010 */
+#define USB_OTG_DOEPMSK_OTEPDM                   USB_OTG_DOEPMSK_OTEPDM_Msk    /*!< OUT token received when endpoint disabled mask */
+#define USB_OTG_DOEPMSK_OTEPSPRM_Pos             (5U)
+#define USB_OTG_DOEPMSK_OTEPSPRM_Msk             (0x1UL << USB_OTG_DOEPMSK_OTEPSPRM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DOEPMSK_OTEPSPRM                 USB_OTG_DOEPMSK_OTEPSPRM_Msk  /*!< Status Phase Received mask                     */
+#define USB_OTG_DOEPMSK_B2BSTUP_Pos              (6U)
+#define USB_OTG_DOEPMSK_B2BSTUP_Msk              (0x1UL << USB_OTG_DOEPMSK_B2BSTUP_Pos) /*!< 0x00000040 */
+#define USB_OTG_DOEPMSK_B2BSTUP                  USB_OTG_DOEPMSK_B2BSTUP_Msk   /*!< Back-to-back SETUP packets received mask       */
+#define USB_OTG_DOEPMSK_OPEM_Pos                 (8U)
+#define USB_OTG_DOEPMSK_OPEM_Msk                 (0x1UL << USB_OTG_DOEPMSK_OPEM_Pos) /*!< 0x00000100 */
+#define USB_OTG_DOEPMSK_OPEM                     USB_OTG_DOEPMSK_OPEM_Msk      /*!< OUT packet error mask                          */
+#define USB_OTG_DOEPMSK_BOIM_Pos                 (9U)
+#define USB_OTG_DOEPMSK_BOIM_Msk                 (0x1UL << USB_OTG_DOEPMSK_BOIM_Pos) /*!< 0x00000200 */
+#define USB_OTG_DOEPMSK_BOIM                     USB_OTG_DOEPMSK_BOIM_Msk      /*!< BNA interrupt mask                             */
+#define USB_OTG_DOEPMSK_BERRM_Pos                (12U)
+#define USB_OTG_DOEPMSK_BERRM_Msk                (0x1UL << USB_OTG_DOEPMSK_BERRM_Pos) /*!< 0x00001000 */
+#define USB_OTG_DOEPMSK_BERRM                    USB_OTG_DOEPMSK_BERRM_Msk      /*!< Babble error interrupt mask               */
+#define USB_OTG_DOEPMSK_NAKM_Pos                 (13U)
+#define USB_OTG_DOEPMSK_NAKM_Msk                 (0x1UL << USB_OTG_DOEPMSK_NAKM_Pos) /*!< 0x00002000 */
+#define USB_OTG_DOEPMSK_NAKM                     USB_OTG_DOEPMSK_NAKM_Msk      /*!< OUT Packet NAK interrupt mask               */
+#define USB_OTG_DOEPMSK_NYETM_Pos                (14U)
+#define USB_OTG_DOEPMSK_NYETM_Msk                (0x1UL << USB_OTG_DOEPMSK_NYETM_Pos) /*!< 0x00004000 */
+#define USB_OTG_DOEPMSK_NYETM                    USB_OTG_DOEPMSK_NYETM_Msk      /*!< NYET interrupt mask                */
+
+/********************  Bit definition forUSB_OTG_GINTSTS register  ********************/
+#define USB_OTG_GINTSTS_CMOD_Pos                 (0U)
+#define USB_OTG_GINTSTS_CMOD_Msk                 (0x1UL << USB_OTG_GINTSTS_CMOD_Pos) /*!< 0x00000001 */
+#define USB_OTG_GINTSTS_CMOD                     USB_OTG_GINTSTS_CMOD_Msk      /*!< Current mode of operation                      */
+#define USB_OTG_GINTSTS_MMIS_Pos                 (1U)
+#define USB_OTG_GINTSTS_MMIS_Msk                 (0x1UL << USB_OTG_GINTSTS_MMIS_Pos) /*!< 0x00000002 */
+#define USB_OTG_GINTSTS_MMIS                     USB_OTG_GINTSTS_MMIS_Msk      /*!< Mode mismatch interrupt                        */
+#define USB_OTG_GINTSTS_OTGINT_Pos               (2U)
+#define USB_OTG_GINTSTS_OTGINT_Msk               (0x1UL << USB_OTG_GINTSTS_OTGINT_Pos) /*!< 0x00000004 */
+#define USB_OTG_GINTSTS_OTGINT                   USB_OTG_GINTSTS_OTGINT_Msk    /*!< OTG interrupt                                  */
+#define USB_OTG_GINTSTS_SOF_Pos                  (3U)
+#define USB_OTG_GINTSTS_SOF_Msk                  (0x1UL << USB_OTG_GINTSTS_SOF_Pos) /*!< 0x00000008 */
+#define USB_OTG_GINTSTS_SOF                      USB_OTG_GINTSTS_SOF_Msk       /*!< Start of frame                                 */
+#define USB_OTG_GINTSTS_RXFLVL_Pos               (4U)
+#define USB_OTG_GINTSTS_RXFLVL_Msk               (0x1UL << USB_OTG_GINTSTS_RXFLVL_Pos) /*!< 0x00000010 */
+#define USB_OTG_GINTSTS_RXFLVL                   USB_OTG_GINTSTS_RXFLVL_Msk    /*!< RxFIFO nonempty                                */
+#define USB_OTG_GINTSTS_NPTXFE_Pos               (5U)
+#define USB_OTG_GINTSTS_NPTXFE_Msk               (0x1UL << USB_OTG_GINTSTS_NPTXFE_Pos) /*!< 0x00000020 */
+#define USB_OTG_GINTSTS_NPTXFE                   USB_OTG_GINTSTS_NPTXFE_Msk    /*!< Nonperiodic TxFIFO empty                       */
+#define USB_OTG_GINTSTS_GINAKEFF_Pos             (6U)
+#define USB_OTG_GINTSTS_GINAKEFF_Msk             (0x1UL << USB_OTG_GINTSTS_GINAKEFF_Pos) /*!< 0x00000040 */
+#define USB_OTG_GINTSTS_GINAKEFF                 USB_OTG_GINTSTS_GINAKEFF_Msk  /*!< Global IN nonperiodic NAK effective            */
+#define USB_OTG_GINTSTS_BOUTNAKEFF_Pos           (7U)
+#define USB_OTG_GINTSTS_BOUTNAKEFF_Msk           (0x1UL << USB_OTG_GINTSTS_BOUTNAKEFF_Pos) /*!< 0x00000080 */
+#define USB_OTG_GINTSTS_BOUTNAKEFF               USB_OTG_GINTSTS_BOUTNAKEFF_Msk /*!< Global OUT NAK effective                       */
+#define USB_OTG_GINTSTS_ESUSP_Pos                (10U)
+#define USB_OTG_GINTSTS_ESUSP_Msk                (0x1UL << USB_OTG_GINTSTS_ESUSP_Pos) /*!< 0x00000400 */
+#define USB_OTG_GINTSTS_ESUSP                    USB_OTG_GINTSTS_ESUSP_Msk     /*!< Early suspend                                  */
+#define USB_OTG_GINTSTS_USBSUSP_Pos              (11U)
+#define USB_OTG_GINTSTS_USBSUSP_Msk              (0x1UL << USB_OTG_GINTSTS_USBSUSP_Pos) /*!< 0x00000800 */
+#define USB_OTG_GINTSTS_USBSUSP                  USB_OTG_GINTSTS_USBSUSP_Msk   /*!< USB suspend                                    */
+#define USB_OTG_GINTSTS_USBRST_Pos               (12U)
+#define USB_OTG_GINTSTS_USBRST_Msk               (0x1UL << USB_OTG_GINTSTS_USBRST_Pos) /*!< 0x00001000 */
+#define USB_OTG_GINTSTS_USBRST                   USB_OTG_GINTSTS_USBRST_Msk    /*!< USB reset                                      */
+#define USB_OTG_GINTSTS_ENUMDNE_Pos              (13U)
+#define USB_OTG_GINTSTS_ENUMDNE_Msk              (0x1UL << USB_OTG_GINTSTS_ENUMDNE_Pos) /*!< 0x00002000 */
+#define USB_OTG_GINTSTS_ENUMDNE                  USB_OTG_GINTSTS_ENUMDNE_Msk   /*!< Enumeration done                               */
+#define USB_OTG_GINTSTS_ISOODRP_Pos              (14U)
+#define USB_OTG_GINTSTS_ISOODRP_Msk              (0x1UL << USB_OTG_GINTSTS_ISOODRP_Pos) /*!< 0x00004000 */
+#define USB_OTG_GINTSTS_ISOODRP                  USB_OTG_GINTSTS_ISOODRP_Msk   /*!< Isochronous OUT packet dropped interrupt       */
+#define USB_OTG_GINTSTS_EOPF_Pos                 (15U)
+#define USB_OTG_GINTSTS_EOPF_Msk                 (0x1UL << USB_OTG_GINTSTS_EOPF_Pos) /*!< 0x00008000 */
+#define USB_OTG_GINTSTS_EOPF                     USB_OTG_GINTSTS_EOPF_Msk      /*!< End of periodic frame interrupt                */
+#define USB_OTG_GINTSTS_IEPINT_Pos               (18U)
+#define USB_OTG_GINTSTS_IEPINT_Msk               (0x1UL << USB_OTG_GINTSTS_IEPINT_Pos) /*!< 0x00040000 */
+#define USB_OTG_GINTSTS_IEPINT                   USB_OTG_GINTSTS_IEPINT_Msk    /*!< IN endpoint interrupt                          */
+#define USB_OTG_GINTSTS_OEPINT_Pos               (19U)
+#define USB_OTG_GINTSTS_OEPINT_Msk               (0x1UL << USB_OTG_GINTSTS_OEPINT_Pos) /*!< 0x00080000 */
+#define USB_OTG_GINTSTS_OEPINT                   USB_OTG_GINTSTS_OEPINT_Msk    /*!< OUT endpoint interrupt                         */
+#define USB_OTG_GINTSTS_IISOIXFR_Pos             (20U)
+#define USB_OTG_GINTSTS_IISOIXFR_Msk             (0x1UL << USB_OTG_GINTSTS_IISOIXFR_Pos) /*!< 0x00100000 */
+#define USB_OTG_GINTSTS_IISOIXFR                 USB_OTG_GINTSTS_IISOIXFR_Msk  /*!< Incomplete isochronous IN transfer             */
+#define USB_OTG_GINTSTS_PXFR_INCOMPISOOUT_Pos    (21U)
+#define USB_OTG_GINTSTS_PXFR_INCOMPISOOUT_Msk    (0x1UL << USB_OTG_GINTSTS_PXFR_INCOMPISOOUT_Pos) /*!< 0x00200000 */
+#define USB_OTG_GINTSTS_PXFR_INCOMPISOOUT        USB_OTG_GINTSTS_PXFR_INCOMPISOOUT_Msk /*!< Incomplete periodic transfer                   */
+#define USB_OTG_GINTSTS_DATAFSUSP_Pos            (22U)
+#define USB_OTG_GINTSTS_DATAFSUSP_Msk            (0x1UL << USB_OTG_GINTSTS_DATAFSUSP_Pos) /*!< 0x00400000 */
+#define USB_OTG_GINTSTS_DATAFSUSP                USB_OTG_GINTSTS_DATAFSUSP_Msk /*!< Data fetch suspended                           */
+#define USB_OTG_GINTSTS_RSTDET_Pos               (23U)
+#define USB_OTG_GINTSTS_RSTDET_Msk               (0x1UL << USB_OTG_GINTSTS_RSTDET_Pos) /*!< 0x00800000 */
+#define USB_OTG_GINTSTS_RSTDET                   USB_OTG_GINTSTS_RSTDET_Msk    /*!< Reset detected interrupt                       */
+#define USB_OTG_GINTSTS_HPRTINT_Pos              (24U)
+#define USB_OTG_GINTSTS_HPRTINT_Msk              (0x1UL << USB_OTG_GINTSTS_HPRTINT_Pos) /*!< 0x01000000 */
+#define USB_OTG_GINTSTS_HPRTINT                  USB_OTG_GINTSTS_HPRTINT_Msk   /*!< Host port interrupt                            */
+#define USB_OTG_GINTSTS_HCINT_Pos                (25U)
+#define USB_OTG_GINTSTS_HCINT_Msk                (0x1UL << USB_OTG_GINTSTS_HCINT_Pos) /*!< 0x02000000 */
+#define USB_OTG_GINTSTS_HCINT                    USB_OTG_GINTSTS_HCINT_Msk     /*!< Host channels interrupt                        */
+#define USB_OTG_GINTSTS_PTXFE_Pos                (26U)
+#define USB_OTG_GINTSTS_PTXFE_Msk                (0x1UL << USB_OTG_GINTSTS_PTXFE_Pos) /*!< 0x04000000 */
+#define USB_OTG_GINTSTS_PTXFE                    USB_OTG_GINTSTS_PTXFE_Msk     /*!< Periodic TxFIFO empty                          */
+#define USB_OTG_GINTSTS_LPMINT_Pos               (27U)
+#define USB_OTG_GINTSTS_LPMINT_Msk               (0x1UL << USB_OTG_GINTSTS_LPMINT_Pos) /*!< 0x08000000 */
+#define USB_OTG_GINTSTS_LPMINT                   USB_OTG_GINTSTS_LPMINT_Msk    /*!< LPM interrupt                                  */
+#define USB_OTG_GINTSTS_CIDSCHG_Pos              (28U)
+#define USB_OTG_GINTSTS_CIDSCHG_Msk              (0x1UL << USB_OTG_GINTSTS_CIDSCHG_Pos) /*!< 0x10000000 */
+#define USB_OTG_GINTSTS_CIDSCHG                  USB_OTG_GINTSTS_CIDSCHG_Msk   /*!< Connector ID status change                     */
+#define USB_OTG_GINTSTS_DISCINT_Pos              (29U)
+#define USB_OTG_GINTSTS_DISCINT_Msk              (0x1UL << USB_OTG_GINTSTS_DISCINT_Pos) /*!< 0x20000000 */
+#define USB_OTG_GINTSTS_DISCINT                  USB_OTG_GINTSTS_DISCINT_Msk   /*!< Disconnect detected interrupt                  */
+#define USB_OTG_GINTSTS_SRQINT_Pos               (30U)
+#define USB_OTG_GINTSTS_SRQINT_Msk               (0x1UL << USB_OTG_GINTSTS_SRQINT_Pos) /*!< 0x40000000 */
+#define USB_OTG_GINTSTS_SRQINT                   USB_OTG_GINTSTS_SRQINT_Msk    /*!< Session request/new session detected interrupt */
+#define USB_OTG_GINTSTS_WKUINT_Pos               (31U)
+#define USB_OTG_GINTSTS_WKUINT_Msk               (0x1UL << USB_OTG_GINTSTS_WKUINT_Pos) /*!< 0x80000000 */
+#define USB_OTG_GINTSTS_WKUINT                   USB_OTG_GINTSTS_WKUINT_Msk    /*!< Resume/remote wakeup detected interrupt        */
+
+/********************  Bit definition forUSB_OTG_GINTMSK register  ********************/
+#define USB_OTG_GINTMSK_MMISM_Pos                (1U)
+#define USB_OTG_GINTMSK_MMISM_Msk                (0x1UL << USB_OTG_GINTMSK_MMISM_Pos) /*!< 0x00000002 */
+#define USB_OTG_GINTMSK_MMISM                    USB_OTG_GINTMSK_MMISM_Msk     /*!< Mode mismatch interrupt mask                        */
+#define USB_OTG_GINTMSK_OTGINT_Pos               (2U)
+#define USB_OTG_GINTMSK_OTGINT_Msk               (0x1UL << USB_OTG_GINTMSK_OTGINT_Pos) /*!< 0x00000004 */
+#define USB_OTG_GINTMSK_OTGINT                   USB_OTG_GINTMSK_OTGINT_Msk    /*!< OTG interrupt mask                                  */
+#define USB_OTG_GINTMSK_SOFM_Pos                 (3U)
+#define USB_OTG_GINTMSK_SOFM_Msk                 (0x1UL << USB_OTG_GINTMSK_SOFM_Pos) /*!< 0x00000008 */
+#define USB_OTG_GINTMSK_SOFM                     USB_OTG_GINTMSK_SOFM_Msk      /*!< Start of frame mask                                 */
+#define USB_OTG_GINTMSK_RXFLVLM_Pos              (4U)
+#define USB_OTG_GINTMSK_RXFLVLM_Msk              (0x1UL << USB_OTG_GINTMSK_RXFLVLM_Pos) /*!< 0x00000010 */
+#define USB_OTG_GINTMSK_RXFLVLM                  USB_OTG_GINTMSK_RXFLVLM_Msk   /*!< Receive FIFO nonempty mask                          */
+#define USB_OTG_GINTMSK_NPTXFEM_Pos              (5U)
+#define USB_OTG_GINTMSK_NPTXFEM_Msk              (0x1UL << USB_OTG_GINTMSK_NPTXFEM_Pos) /*!< 0x00000020 */
+#define USB_OTG_GINTMSK_NPTXFEM                  USB_OTG_GINTMSK_NPTXFEM_Msk   /*!< Nonperiodic TxFIFO empty mask                       */
+#define USB_OTG_GINTMSK_GINAKEFFM_Pos            (6U)
+#define USB_OTG_GINTMSK_GINAKEFFM_Msk            (0x1UL << USB_OTG_GINTMSK_GINAKEFFM_Pos) /*!< 0x00000040 */
+#define USB_OTG_GINTMSK_GINAKEFFM                USB_OTG_GINTMSK_GINAKEFFM_Msk /*!< Global nonperiodic IN NAK effective mask            */
+#define USB_OTG_GINTMSK_GONAKEFFM_Pos            (7U)
+#define USB_OTG_GINTMSK_GONAKEFFM_Msk            (0x1UL << USB_OTG_GINTMSK_GONAKEFFM_Pos) /*!< 0x00000080 */
+#define USB_OTG_GINTMSK_GONAKEFFM                USB_OTG_GINTMSK_GONAKEFFM_Msk /*!< Global OUT NAK effective mask                       */
+#define USB_OTG_GINTMSK_ESUSPM_Pos               (10U)
+#define USB_OTG_GINTMSK_ESUSPM_Msk               (0x1UL << USB_OTG_GINTMSK_ESUSPM_Pos) /*!< 0x00000400 */
+#define USB_OTG_GINTMSK_ESUSPM                   USB_OTG_GINTMSK_ESUSPM_Msk    /*!< Early suspend mask                                  */
+#define USB_OTG_GINTMSK_USBSUSPM_Pos             (11U)
+#define USB_OTG_GINTMSK_USBSUSPM_Msk             (0x1UL << USB_OTG_GINTMSK_USBSUSPM_Pos) /*!< 0x00000800 */
+#define USB_OTG_GINTMSK_USBSUSPM                 USB_OTG_GINTMSK_USBSUSPM_Msk  /*!< USB suspend mask                                    */
+#define USB_OTG_GINTMSK_USBRST_Pos               (12U)
+#define USB_OTG_GINTMSK_USBRST_Msk               (0x1UL << USB_OTG_GINTMSK_USBRST_Pos) /*!< 0x00001000 */
+#define USB_OTG_GINTMSK_USBRST                   USB_OTG_GINTMSK_USBRST_Msk    /*!< USB reset mask                                      */
+#define USB_OTG_GINTMSK_ENUMDNEM_Pos             (13U)
+#define USB_OTG_GINTMSK_ENUMDNEM_Msk             (0x1UL << USB_OTG_GINTMSK_ENUMDNEM_Pos) /*!< 0x00002000 */
+#define USB_OTG_GINTMSK_ENUMDNEM                 USB_OTG_GINTMSK_ENUMDNEM_Msk  /*!< Enumeration done mask                               */
+#define USB_OTG_GINTMSK_ISOODRPM_Pos             (14U)
+#define USB_OTG_GINTMSK_ISOODRPM_Msk             (0x1UL << USB_OTG_GINTMSK_ISOODRPM_Pos) /*!< 0x00004000 */
+#define USB_OTG_GINTMSK_ISOODRPM                 USB_OTG_GINTMSK_ISOODRPM_Msk  /*!< Isochronous OUT packet dropped interrupt mask       */
+#define USB_OTG_GINTMSK_EOPFM_Pos                (15U)
+#define USB_OTG_GINTMSK_EOPFM_Msk                (0x1UL << USB_OTG_GINTMSK_EOPFM_Pos) /*!< 0x00008000 */
+#define USB_OTG_GINTMSK_EOPFM                    USB_OTG_GINTMSK_EOPFM_Msk     /*!< End of periodic frame interrupt mask                */
+#define USB_OTG_GINTMSK_EPMISM_Pos               (17U)
+#define USB_OTG_GINTMSK_EPMISM_Msk               (0x1UL << USB_OTG_GINTMSK_EPMISM_Pos) /*!< 0x00020000 */
+#define USB_OTG_GINTMSK_EPMISM                   USB_OTG_GINTMSK_EPMISM_Msk    /*!< Endpoint mismatch interrupt mask                    */
+#define USB_OTG_GINTMSK_IEPINT_Pos               (18U)
+#define USB_OTG_GINTMSK_IEPINT_Msk               (0x1UL << USB_OTG_GINTMSK_IEPINT_Pos) /*!< 0x00040000 */
+#define USB_OTG_GINTMSK_IEPINT                   USB_OTG_GINTMSK_IEPINT_Msk    /*!< IN endpoints interrupt mask                         */
+#define USB_OTG_GINTMSK_OEPINT_Pos               (19U)
+#define USB_OTG_GINTMSK_OEPINT_Msk               (0x1UL << USB_OTG_GINTMSK_OEPINT_Pos) /*!< 0x00080000 */
+#define USB_OTG_GINTMSK_OEPINT                   USB_OTG_GINTMSK_OEPINT_Msk    /*!< OUT endpoints interrupt mask                        */
+#define USB_OTG_GINTMSK_IISOIXFRM_Pos            (20U)
+#define USB_OTG_GINTMSK_IISOIXFRM_Msk            (0x1UL << USB_OTG_GINTMSK_IISOIXFRM_Pos) /*!< 0x00100000 */
+#define USB_OTG_GINTMSK_IISOIXFRM                USB_OTG_GINTMSK_IISOIXFRM_Msk /*!< Incomplete isochronous IN transfer mask             */
+#define USB_OTG_GINTMSK_PXFRM_IISOOXFRM_Pos      (21U)
+#define USB_OTG_GINTMSK_PXFRM_IISOOXFRM_Msk      (0x1UL << USB_OTG_GINTMSK_PXFRM_IISOOXFRM_Pos) /*!< 0x00200000 */
+#define USB_OTG_GINTMSK_PXFRM_IISOOXFRM          USB_OTG_GINTMSK_PXFRM_IISOOXFRM_Msk /*!< Incomplete periodic transfer mask                   */
+#define USB_OTG_GINTMSK_FSUSPM_Pos               (22U)
+#define USB_OTG_GINTMSK_FSUSPM_Msk               (0x1UL << USB_OTG_GINTMSK_FSUSPM_Pos) /*!< 0x00400000 */
+#define USB_OTG_GINTMSK_FSUSPM                   USB_OTG_GINTMSK_FSUSPM_Msk    /*!< Data fetch suspended mask                           */
+#define USB_OTG_GINTMSK_RSTDEM_Pos               (23U)
+#define USB_OTG_GINTMSK_RSTDEM_Msk               (0x1UL << USB_OTG_GINTMSK_RSTDEM_Pos) /*!< 0x00800000 */
+#define USB_OTG_GINTMSK_RSTDEM                   USB_OTG_GINTMSK_RSTDEM_Msk    /*!< Reset detected interrupt mask                      */
+#define USB_OTG_GINTMSK_PRTIM_Pos                (24U)
+#define USB_OTG_GINTMSK_PRTIM_Msk                (0x1UL << USB_OTG_GINTMSK_PRTIM_Pos) /*!< 0x01000000 */
+#define USB_OTG_GINTMSK_PRTIM                    USB_OTG_GINTMSK_PRTIM_Msk     /*!< Host port interrupt mask                            */
+#define USB_OTG_GINTMSK_HCIM_Pos                 (25U)
+#define USB_OTG_GINTMSK_HCIM_Msk                 (0x1UL << USB_OTG_GINTMSK_HCIM_Pos) /*!< 0x02000000 */
+#define USB_OTG_GINTMSK_HCIM                     USB_OTG_GINTMSK_HCIM_Msk      /*!< Host channels interrupt mask                        */
+#define USB_OTG_GINTMSK_PTXFEM_Pos               (26U)
+#define USB_OTG_GINTMSK_PTXFEM_Msk               (0x1UL << USB_OTG_GINTMSK_PTXFEM_Pos) /*!< 0x04000000 */
+#define USB_OTG_GINTMSK_PTXFEM                   USB_OTG_GINTMSK_PTXFEM_Msk    /*!< Periodic TxFIFO empty mask                          */
+#define USB_OTG_GINTMSK_LPMINTM_Pos              (27U)
+#define USB_OTG_GINTMSK_LPMINTM_Msk              (0x1UL << USB_OTG_GINTMSK_LPMINTM_Pos) /*!< 0x08000000 */
+#define USB_OTG_GINTMSK_LPMINTM                  USB_OTG_GINTMSK_LPMINTM_Msk   /*!< LPM interrupt Mask                                  */
+#define USB_OTG_GINTMSK_CIDSCHGM_Pos             (28U)
+#define USB_OTG_GINTMSK_CIDSCHGM_Msk             (0x1UL << USB_OTG_GINTMSK_CIDSCHGM_Pos) /*!< 0x10000000 */
+#define USB_OTG_GINTMSK_CIDSCHGM                 USB_OTG_GINTMSK_CIDSCHGM_Msk  /*!< Connector ID status change mask                     */
+#define USB_OTG_GINTMSK_DISCINT_Pos              (29U)
+#define USB_OTG_GINTMSK_DISCINT_Msk              (0x1UL << USB_OTG_GINTMSK_DISCINT_Pos) /*!< 0x20000000 */
+#define USB_OTG_GINTMSK_DISCINT                  USB_OTG_GINTMSK_DISCINT_Msk   /*!< Disconnect detected interrupt mask                  */
+#define USB_OTG_GINTMSK_SRQIM_Pos                (30U)
+#define USB_OTG_GINTMSK_SRQIM_Msk                (0x1UL << USB_OTG_GINTMSK_SRQIM_Pos) /*!< 0x40000000 */
+#define USB_OTG_GINTMSK_SRQIM                    USB_OTG_GINTMSK_SRQIM_Msk     /*!< Session request/new session detected interrupt mask */
+#define USB_OTG_GINTMSK_WUIM_Pos                 (31U)
+#define USB_OTG_GINTMSK_WUIM_Msk                 (0x1UL << USB_OTG_GINTMSK_WUIM_Pos) /*!< 0x80000000 */
+#define USB_OTG_GINTMSK_WUIM                     USB_OTG_GINTMSK_WUIM_Msk      /*!< Resume/remote wakeup detected interrupt mask        */
+
+/********************  Bit definition forUSB_OTG_DAINT register  ********************/
+#define USB_OTG_DAINT_IEPINT_Pos                 (0U)
+#define USB_OTG_DAINT_IEPINT_Msk                 (0xFFFFUL << USB_OTG_DAINT_IEPINT_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DAINT_IEPINT                     USB_OTG_DAINT_IEPINT_Msk      /*!< IN endpoint interrupt bits  */
+#define USB_OTG_DAINT_OEPINT_Pos                 (16U)
+#define USB_OTG_DAINT_OEPINT_Msk                 (0xFFFFUL << USB_OTG_DAINT_OEPINT_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_DAINT_OEPINT                     USB_OTG_DAINT_OEPINT_Msk      /*!< OUT endpoint interrupt bits */
+
+/********************  Bit definition forUSB_OTG_HAINTMSK register  ********************/
+#define USB_OTG_HAINTMSK_HAINTM_Pos              (0U)
+#define USB_OTG_HAINTMSK_HAINTM_Msk              (0xFFFFUL << USB_OTG_HAINTMSK_HAINTM_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HAINTMSK_HAINTM                  USB_OTG_HAINTMSK_HAINTM_Msk   /*!< Channel interrupt mask */
+
+/********************  Bit definition for USB_OTG_GRXSTSP register  ********************/
+#define USB_OTG_GRXSTSP_EPNUM_Pos                (0U)
+#define USB_OTG_GRXSTSP_EPNUM_Msk                (0xFUL << USB_OTG_GRXSTSP_EPNUM_Pos) /*!< 0x0000000F */
+#define USB_OTG_GRXSTSP_EPNUM                    USB_OTG_GRXSTSP_EPNUM_Msk     /*!< IN EP interrupt mask bits  */
+#define USB_OTG_GRXSTSP_BCNT_Pos                 (4U)
+#define USB_OTG_GRXSTSP_BCNT_Msk                 (0x7FFUL << USB_OTG_GRXSTSP_BCNT_Pos) /*!< 0x00007FF0 */
+#define USB_OTG_GRXSTSP_BCNT                     USB_OTG_GRXSTSP_BCNT_Msk      /*!< OUT EP interrupt mask bits */
+#define USB_OTG_GRXSTSP_DPID_Pos                 (15U)
+#define USB_OTG_GRXSTSP_DPID_Msk                 (0x3UL << USB_OTG_GRXSTSP_DPID_Pos) /*!< 0x00018000 */
+#define USB_OTG_GRXSTSP_DPID                     USB_OTG_GRXSTSP_DPID_Msk      /*!< OUT EP interrupt mask bits */
+#define USB_OTG_GRXSTSP_PKTSTS_Pos               (17U)
+#define USB_OTG_GRXSTSP_PKTSTS_Msk               (0xFUL << USB_OTG_GRXSTSP_PKTSTS_Pos) /*!< 0x001E0000 */
+#define USB_OTG_GRXSTSP_PKTSTS                   USB_OTG_GRXSTSP_PKTSTS_Msk    /*!< OUT EP interrupt mask bits */
+
+/********************  Bit definition forUSB_OTG_DAINTMSK register  ********************/
+#define USB_OTG_DAINTMSK_IEPM_Pos                (0U)
+#define USB_OTG_DAINTMSK_IEPM_Msk                (0xFFFFUL << USB_OTG_DAINTMSK_IEPM_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DAINTMSK_IEPM                    USB_OTG_DAINTMSK_IEPM_Msk     /*!< IN EP interrupt mask bits */
+#define USB_OTG_DAINTMSK_OEPM_Pos                (16U)
+#define USB_OTG_DAINTMSK_OEPM_Msk                (0xFFFFUL << USB_OTG_DAINTMSK_OEPM_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_DAINTMSK_OEPM                    USB_OTG_DAINTMSK_OEPM_Msk     /*!< OUT EP interrupt mask bits */
+
+/********************  Bit definition for OTG register  ********************/
+
+#define USB_OTG_CHNUM_Pos                        (0U)
+#define USB_OTG_CHNUM_Msk                        (0xFUL << USB_OTG_CHNUM_Pos)  /*!< 0x0000000F */
+#define USB_OTG_CHNUM                            USB_OTG_CHNUM_Msk             /*!< Channel number */
+#define USB_OTG_CHNUM_0                          (0x1UL << USB_OTG_CHNUM_Pos)   /*!< 0x00000001 */
+#define USB_OTG_CHNUM_1                          (0x2UL << USB_OTG_CHNUM_Pos)   /*!< 0x00000002 */
+#define USB_OTG_CHNUM_2                          (0x4UL << USB_OTG_CHNUM_Pos)   /*!< 0x00000004 */
+#define USB_OTG_CHNUM_3                          (0x8UL << USB_OTG_CHNUM_Pos)   /*!< 0x00000008 */
+#define USB_OTG_BCNT_Pos                         (4U)
+#define USB_OTG_BCNT_Msk                         (0x7FFUL << USB_OTG_BCNT_Pos) /*!< 0x00007FF0 */
+#define USB_OTG_BCNT                             USB_OTG_BCNT_Msk              /*!< Byte count */
+
+#define USB_OTG_DPID_Pos                         (15U)
+#define USB_OTG_DPID_Msk                         (0x3UL << USB_OTG_DPID_Pos)   /*!< 0x00018000 */
+#define USB_OTG_DPID                             USB_OTG_DPID_Msk              /*!< Data PID */
+#define USB_OTG_DPID_0                           (0x1UL << USB_OTG_DPID_Pos)    /*!< 0x00008000 */
+#define USB_OTG_DPID_1                           (0x2UL << USB_OTG_DPID_Pos)    /*!< 0x00010000 */
+
+#define USB_OTG_PKTSTS_Pos                       (17U)
+#define USB_OTG_PKTSTS_Msk                       (0xFUL << USB_OTG_PKTSTS_Pos) /*!< 0x001E0000 */
+#define USB_OTG_PKTSTS                           USB_OTG_PKTSTS_Msk            /*!< Packet status */
+#define USB_OTG_PKTSTS_0                         (0x1UL << USB_OTG_PKTSTS_Pos)  /*!< 0x00020000 */
+#define USB_OTG_PKTSTS_1                         (0x2UL << USB_OTG_PKTSTS_Pos)  /*!< 0x00040000 */
+#define USB_OTG_PKTSTS_2                         (0x4UL << USB_OTG_PKTSTS_Pos)  /*!< 0x00080000 */
+#define USB_OTG_PKTSTS_3                         (0x8UL << USB_OTG_PKTSTS_Pos)  /*!< 0x00100000 */
+
+#define USB_OTG_EPNUM_Pos                        (0U)
+#define USB_OTG_EPNUM_Msk                        (0xFUL << USB_OTG_EPNUM_Pos)  /*!< 0x0000000F */
+#define USB_OTG_EPNUM                            USB_OTG_EPNUM_Msk             /*!< Endpoint number */
+#define USB_OTG_EPNUM_0                          (0x1UL << USB_OTG_EPNUM_Pos)   /*!< 0x00000001 */
+#define USB_OTG_EPNUM_1                          (0x2UL << USB_OTG_EPNUM_Pos)   /*!< 0x00000002 */
+#define USB_OTG_EPNUM_2                          (0x4UL << USB_OTG_EPNUM_Pos)   /*!< 0x00000004 */
+#define USB_OTG_EPNUM_3                          (0x8UL << USB_OTG_EPNUM_Pos)   /*!< 0x00000008 */
+
+#define USB_OTG_FRMNUM_Pos                       (21U)
+#define USB_OTG_FRMNUM_Msk                       (0xFUL << USB_OTG_FRMNUM_Pos) /*!< 0x01E00000 */
+#define USB_OTG_FRMNUM                           USB_OTG_FRMNUM_Msk            /*!< Frame number */
+#define USB_OTG_FRMNUM_0                         (0x1UL << USB_OTG_FRMNUM_Pos)  /*!< 0x00200000 */
+#define USB_OTG_FRMNUM_1                         (0x2UL << USB_OTG_FRMNUM_Pos)  /*!< 0x00400000 */
+#define USB_OTG_FRMNUM_2                         (0x4UL << USB_OTG_FRMNUM_Pos)  /*!< 0x00800000 */
+#define USB_OTG_FRMNUM_3                         (0x8UL << USB_OTG_FRMNUM_Pos)  /*!< 0x01000000 */
+
+/********************  Bit definition forUSB_OTG_GRXFSIZ register  ********************/
+#define USB_OTG_GRXFSIZ_RXFD_Pos                 (0U)
+#define USB_OTG_GRXFSIZ_RXFD_Msk                 (0xFFFFUL << USB_OTG_GRXFSIZ_RXFD_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_GRXFSIZ_RXFD                     USB_OTG_GRXFSIZ_RXFD_Msk      /*!< RxFIFO depth */
+
+/********************  Bit definition forUSB_OTG_DVBUSDIS register  ********************/
+#define USB_OTG_DVBUSDIS_VBUSDT_Pos              (0U)
+#define USB_OTG_DVBUSDIS_VBUSDT_Msk              (0xFFFFUL << USB_OTG_DVBUSDIS_VBUSDT_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DVBUSDIS_VBUSDT                  USB_OTG_DVBUSDIS_VBUSDT_Msk   /*!< Device VBUS discharge time */
+
+/********************  Bit definition for OTG register  ********************/
+#define USB_OTG_NPTXFSA_Pos                      (0U)
+#define USB_OTG_NPTXFSA_Msk                      (0xFFFFUL << USB_OTG_NPTXFSA_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_NPTXFSA                          USB_OTG_NPTXFSA_Msk           /*!< Nonperiodic transmit RAM start address */
+#define USB_OTG_NPTXFD_Pos                       (16U)
+#define USB_OTG_NPTXFD_Msk                       (0xFFFFUL << USB_OTG_NPTXFD_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_NPTXFD                           USB_OTG_NPTXFD_Msk            /*!< Nonperiodic TxFIFO depth               */
+#define USB_OTG_TX0FSA_Pos                       (0U)
+#define USB_OTG_TX0FSA_Msk                       (0xFFFFUL << USB_OTG_TX0FSA_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_TX0FSA                           USB_OTG_TX0FSA_Msk            /*!< Endpoint 0 transmit RAM start address  */
+#define USB_OTG_TX0FD_Pos                        (16U)
+#define USB_OTG_TX0FD_Msk                        (0xFFFFUL << USB_OTG_TX0FD_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_TX0FD                            USB_OTG_TX0FD_Msk             /*!< Endpoint 0 TxFIFO depth                */
+
+/********************  Bit definition forUSB_OTG_DVBUSPULSE register  ********************/
+#define USB_OTG_DVBUSPULSE_DVBUSP_Pos            (0U)
+#define USB_OTG_DVBUSPULSE_DVBUSP_Msk            (0xFFFUL << USB_OTG_DVBUSPULSE_DVBUSP_Pos) /*!< 0x00000FFF */
+#define USB_OTG_DVBUSPULSE_DVBUSP                USB_OTG_DVBUSPULSE_DVBUSP_Msk /*!< Device VBUS pulsing time */
+
+/********************  Bit definition forUSB_OTG_GNPTXSTS register  ********************/
+#define USB_OTG_GNPTXSTS_NPTXFSAV_Pos            (0U)
+#define USB_OTG_GNPTXSTS_NPTXFSAV_Msk            (0xFFFFUL << USB_OTG_GNPTXSTS_NPTXFSAV_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_GNPTXSTS_NPTXFSAV                USB_OTG_GNPTXSTS_NPTXFSAV_Msk /*!< Nonperiodic TxFIFO space available */
+
+#define USB_OTG_GNPTXSTS_NPTQXSAV_Pos            (16U)
+#define USB_OTG_GNPTXSTS_NPTQXSAV_Msk            (0xFFUL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00FF0000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV                USB_OTG_GNPTXSTS_NPTQXSAV_Msk /*!< Nonperiodic transmit request queue space available */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_0              (0x01UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00010000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_1              (0x02UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00020000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_2              (0x04UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00040000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_3              (0x08UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00080000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_4              (0x10UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00100000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_5              (0x20UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00200000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_6              (0x40UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00400000 */
+#define USB_OTG_GNPTXSTS_NPTQXSAV_7              (0x80UL << USB_OTG_GNPTXSTS_NPTQXSAV_Pos) /*!< 0x00800000 */
+
+#define USB_OTG_GNPTXSTS_NPTXQTOP_Pos            (24U)
+#define USB_OTG_GNPTXSTS_NPTXQTOP_Msk            (0x7FUL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x7F000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP                USB_OTG_GNPTXSTS_NPTXQTOP_Msk /*!< Top of the nonperiodic transmit request queue */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_0              (0x01UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x01000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_1              (0x02UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x02000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_2              (0x04UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x04000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_3              (0x08UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x08000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_4              (0x10UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x10000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_5              (0x20UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x20000000 */
+#define USB_OTG_GNPTXSTS_NPTXQTOP_6              (0x40UL << USB_OTG_GNPTXSTS_NPTXQTOP_Pos) /*!< 0x40000000 */
+
+/********************  Bit definition forUSB_OTG_DTHRCTL register  ********************/
+#define USB_OTG_DTHRCTL_NONISOTHREN_Pos          (0U)
+#define USB_OTG_DTHRCTL_NONISOTHREN_Msk          (0x1UL << USB_OTG_DTHRCTL_NONISOTHREN_Pos) /*!< 0x00000001 */
+#define USB_OTG_DTHRCTL_NONISOTHREN              USB_OTG_DTHRCTL_NONISOTHREN_Msk /*!< Nonisochronous IN endpoints threshold enable */
+#define USB_OTG_DTHRCTL_ISOTHREN_Pos             (1U)
+#define USB_OTG_DTHRCTL_ISOTHREN_Msk             (0x1UL << USB_OTG_DTHRCTL_ISOTHREN_Pos) /*!< 0x00000002 */
+#define USB_OTG_DTHRCTL_ISOTHREN                 USB_OTG_DTHRCTL_ISOTHREN_Msk  /*!< ISO IN endpoint threshold enable */
+
+#define USB_OTG_DTHRCTL_TXTHRLEN_Pos             (2U)
+#define USB_OTG_DTHRCTL_TXTHRLEN_Msk             (0x1FFUL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x000007FC */
+#define USB_OTG_DTHRCTL_TXTHRLEN                 USB_OTG_DTHRCTL_TXTHRLEN_Msk  /*!< Transmit threshold length */
+#define USB_OTG_DTHRCTL_TXTHRLEN_0               (0x001UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000004 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_1               (0x002UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000008 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_2               (0x004UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000010 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_3               (0x008UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000020 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_4               (0x010UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000040 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_5               (0x020UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000080 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_6               (0x040UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000100 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_7               (0x080UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000200 */
+#define USB_OTG_DTHRCTL_TXTHRLEN_8               (0x100UL << USB_OTG_DTHRCTL_TXTHRLEN_Pos) /*!< 0x00000400 */
+#define USB_OTG_DTHRCTL_RXTHREN_Pos              (16U)
+#define USB_OTG_DTHRCTL_RXTHREN_Msk              (0x1UL << USB_OTG_DTHRCTL_RXTHREN_Pos) /*!< 0x00010000 */
+#define USB_OTG_DTHRCTL_RXTHREN                  USB_OTG_DTHRCTL_RXTHREN_Msk   /*!< Receive threshold enable */
+
+#define USB_OTG_DTHRCTL_RXTHRLEN_Pos             (17U)
+#define USB_OTG_DTHRCTL_RXTHRLEN_Msk             (0x1FFUL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x03FE0000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN                 USB_OTG_DTHRCTL_RXTHRLEN_Msk  /*!< Receive threshold length */
+#define USB_OTG_DTHRCTL_RXTHRLEN_0               (0x001UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00020000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_1               (0x002UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00040000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_2               (0x004UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00080000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_3               (0x008UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00100000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_4               (0x010UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00200000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_5               (0x020UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00400000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_6               (0x040UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x00800000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_7               (0x080UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x01000000 */
+#define USB_OTG_DTHRCTL_RXTHRLEN_8               (0x100UL << USB_OTG_DTHRCTL_RXTHRLEN_Pos) /*!< 0x02000000 */
+#define USB_OTG_DTHRCTL_ARPEN_Pos                (27U)
+#define USB_OTG_DTHRCTL_ARPEN_Msk                (0x1UL << USB_OTG_DTHRCTL_ARPEN_Pos) /*!< 0x08000000 */
+#define USB_OTG_DTHRCTL_ARPEN                    USB_OTG_DTHRCTL_ARPEN_Msk     /*!< Arbiter parking enable */
+
+/********************  Bit definition forUSB_OTG_DIEPEMPMSK register  ********************/
+#define USB_OTG_DIEPEMPMSK_INEPTXFEM_Pos         (0U)
+#define USB_OTG_DIEPEMPMSK_INEPTXFEM_Msk         (0xFFFFUL << USB_OTG_DIEPEMPMSK_INEPTXFEM_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DIEPEMPMSK_INEPTXFEM             USB_OTG_DIEPEMPMSK_INEPTXFEM_Msk /*!< IN EP Tx FIFO empty interrupt mask bits */
+
+/********************  Bit definition forUSB_OTG_DEACHINT register  ********************/
+#define USB_OTG_DEACHINT_IEP1INT_Pos             (1U)
+#define USB_OTG_DEACHINT_IEP1INT_Msk             (0x1UL << USB_OTG_DEACHINT_IEP1INT_Pos) /*!< 0x00000002 */
+#define USB_OTG_DEACHINT_IEP1INT                 USB_OTG_DEACHINT_IEP1INT_Msk  /*!< IN endpoint 1interrupt bit   */
+#define USB_OTG_DEACHINT_OEP1INT_Pos             (17U)
+#define USB_OTG_DEACHINT_OEP1INT_Msk             (0x1UL << USB_OTG_DEACHINT_OEP1INT_Pos) /*!< 0x00020000 */
+#define USB_OTG_DEACHINT_OEP1INT                 USB_OTG_DEACHINT_OEP1INT_Msk  /*!< OUT endpoint 1 interrupt bit */
+
+/********************  Bit definition forUSB_OTG_GCCFG register  ********************/
+#define USB_OTG_GCCFG_DCDET_Pos                  (0U)
+#define USB_OTG_GCCFG_DCDET_Msk                  (0x1UL << USB_OTG_GCCFG_DCDET_Pos) /*!< 0x00000001 */
+#define USB_OTG_GCCFG_DCDET                      USB_OTG_GCCFG_DCDET_Msk       /*!< Data contact detection (DCD) status */
+#define USB_OTG_GCCFG_PDET_Pos                   (1U)
+#define USB_OTG_GCCFG_PDET_Msk                   (0x1UL << USB_OTG_GCCFG_PDET_Pos) /*!< 0x00000002 */
+#define USB_OTG_GCCFG_PDET                       USB_OTG_GCCFG_PDET_Msk        /*!< Primary detection (PD) status */
+#define USB_OTG_GCCFG_SDET_Pos                   (2U)
+#define USB_OTG_GCCFG_SDET_Msk                   (0x1UL << USB_OTG_GCCFG_SDET_Pos) /*!< 0x00000004 */
+#define USB_OTG_GCCFG_SDET                       USB_OTG_GCCFG_SDET_Msk        /*!< Secondary detection (SD) status */
+#define USB_OTG_GCCFG_PS2DET_Pos                 (3U)
+#define USB_OTG_GCCFG_PS2DET_Msk                 (0x1UL << USB_OTG_GCCFG_PS2DET_Pos) /*!< 0x00000008 */
+#define USB_OTG_GCCFG_PS2DET                     USB_OTG_GCCFG_PS2DET_Msk      /*!< DM pull-up detection status */
+#define USB_OTG_GCCFG_PWRDWN_Pos                 (16U)
+#define USB_OTG_GCCFG_PWRDWN_Msk                 (0x1UL << USB_OTG_GCCFG_PWRDWN_Pos) /*!< 0x00010000 */
+#define USB_OTG_GCCFG_PWRDWN                     USB_OTG_GCCFG_PWRDWN_Msk      /*!< Power down */
+#define USB_OTG_GCCFG_BCDEN_Pos                  (17U)
+#define USB_OTG_GCCFG_BCDEN_Msk                  (0x1UL << USB_OTG_GCCFG_BCDEN_Pos) /*!< 0x00020000 */
+#define USB_OTG_GCCFG_BCDEN                      USB_OTG_GCCFG_BCDEN_Msk       /*!< Battery charging detector (BCD) enable */
+#define USB_OTG_GCCFG_DCDEN_Pos                  (18U)
+#define USB_OTG_GCCFG_DCDEN_Msk                  (0x1UL << USB_OTG_GCCFG_DCDEN_Pos) /*!< 0x00040000 */
+#define USB_OTG_GCCFG_DCDEN                      USB_OTG_GCCFG_DCDEN_Msk       /*!< Data contact detection (DCD) mode enable*/
+#define USB_OTG_GCCFG_PDEN_Pos                   (19U)
+#define USB_OTG_GCCFG_PDEN_Msk                   (0x1UL << USB_OTG_GCCFG_PDEN_Pos) /*!< 0x00080000 */
+#define USB_OTG_GCCFG_PDEN                       USB_OTG_GCCFG_PDEN_Msk        /*!< Primary detection (PD) mode enable*/
+#define USB_OTG_GCCFG_SDEN_Pos                   (20U)
+#define USB_OTG_GCCFG_SDEN_Msk                   (0x1UL << USB_OTG_GCCFG_SDEN_Pos) /*!< 0x00100000 */
+#define USB_OTG_GCCFG_SDEN                       USB_OTG_GCCFG_SDEN_Msk        /*!< Secondary detection (SD) mode enable */
+#define USB_OTG_GCCFG_VBDEN_Pos                  (21U)
+#define USB_OTG_GCCFG_VBDEN_Msk                  (0x1UL << USB_OTG_GCCFG_VBDEN_Pos) /*!< 0x00200000 */
+#define USB_OTG_GCCFG_VBDEN                      USB_OTG_GCCFG_VBDEN_Msk       /*!< Secondary detection (SD) mode enable */
+
+/********************  Bit definition forUSB_OTG_GPWRDN) register  ********************/
+#define USB_OTG_GPWRDN_ADPMEN_Pos                (0U)
+#define USB_OTG_GPWRDN_ADPMEN_Msk                (0x1UL << USB_OTG_GPWRDN_ADPMEN_Pos) /*!< 0x00000001 */
+#define USB_OTG_GPWRDN_ADPMEN                    USB_OTG_GPWRDN_ADPMEN_Msk     /*!< ADP module enable */
+#define USB_OTG_GPWRDN_ADPIF_Pos                 (23U)
+#define USB_OTG_GPWRDN_ADPIF_Msk                 (0x1UL << USB_OTG_GPWRDN_ADPIF_Pos) /*!< 0x00800000 */
+#define USB_OTG_GPWRDN_ADPIF                     USB_OTG_GPWRDN_ADPIF_Msk      /*!< ADP Interrupt flag */
+
+/********************  Bit definition forUSB_OTG_DEACHINTMSK register  ********************/
+#define USB_OTG_DEACHINTMSK_IEP1INTM_Pos         (1U)
+#define USB_OTG_DEACHINTMSK_IEP1INTM_Msk         (0x1UL << USB_OTG_DEACHINTMSK_IEP1INTM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DEACHINTMSK_IEP1INTM             USB_OTG_DEACHINTMSK_IEP1INTM_Msk /*!< IN Endpoint 1 interrupt mask bit  */
+#define USB_OTG_DEACHINTMSK_OEP1INTM_Pos         (17U)
+#define USB_OTG_DEACHINTMSK_OEP1INTM_Msk         (0x1UL << USB_OTG_DEACHINTMSK_OEP1INTM_Pos) /*!< 0x00020000 */
+#define USB_OTG_DEACHINTMSK_OEP1INTM             USB_OTG_DEACHINTMSK_OEP1INTM_Msk /*!< OUT Endpoint 1 interrupt mask bit */
+
+/********************  Bit definition forUSB_OTG_CID register  ********************/
+#define USB_OTG_CID_PRODUCT_ID_Pos               (0U)
+#define USB_OTG_CID_PRODUCT_ID_Msk               (0xFFFFFFFFUL << USB_OTG_CID_PRODUCT_ID_Pos) /*!< 0xFFFFFFFF */
+#define USB_OTG_CID_PRODUCT_ID                   USB_OTG_CID_PRODUCT_ID_Msk    /*!< Product ID field */
+
+/********************  Bit definition for USB_OTG_GLPMCFG register  ********************/
+#define USB_OTG_GLPMCFG_LPMEN_Pos                (0U)
+#define USB_OTG_GLPMCFG_LPMEN_Msk                (0x1UL << USB_OTG_GLPMCFG_LPMEN_Pos) /*!< 0x00000001 */
+#define USB_OTG_GLPMCFG_LPMEN                    USB_OTG_GLPMCFG_LPMEN_Msk     /*!< LPM support enable                                     */
+#define USB_OTG_GLPMCFG_LPMACK_Pos               (1U)
+#define USB_OTG_GLPMCFG_LPMACK_Msk               (0x1UL << USB_OTG_GLPMCFG_LPMACK_Pos) /*!< 0x00000002 */
+#define USB_OTG_GLPMCFG_LPMACK                   USB_OTG_GLPMCFG_LPMACK_Msk    /*!< LPM Token acknowledge enable                           */
+#define USB_OTG_GLPMCFG_BESL_Pos                 (2U)
+#define USB_OTG_GLPMCFG_BESL_Msk                 (0xFUL << USB_OTG_GLPMCFG_BESL_Pos) /*!< 0x0000003C */
+#define USB_OTG_GLPMCFG_BESL                     USB_OTG_GLPMCFG_BESL_Msk      /*!< BESL value received with last ACKed LPM Token          */
+#define USB_OTG_GLPMCFG_REMWAKE_Pos              (6U)
+#define USB_OTG_GLPMCFG_REMWAKE_Msk              (0x1UL << USB_OTG_GLPMCFG_REMWAKE_Pos) /*!< 0x00000040 */
+#define USB_OTG_GLPMCFG_REMWAKE                  USB_OTG_GLPMCFG_REMWAKE_Msk   /*!< bRemoteWake value received with last ACKed LPM Token   */
+#define USB_OTG_GLPMCFG_L1SSEN_Pos               (7U)
+#define USB_OTG_GLPMCFG_L1SSEN_Msk               (0x1UL << USB_OTG_GLPMCFG_L1SSEN_Pos) /*!< 0x00000080 */
+#define USB_OTG_GLPMCFG_L1SSEN                   USB_OTG_GLPMCFG_L1SSEN_Msk    /*!< L1 shallow sleep enable                                */
+#define USB_OTG_GLPMCFG_BESLTHRS_Pos             (8U)
+#define USB_OTG_GLPMCFG_BESLTHRS_Msk             (0xFUL << USB_OTG_GLPMCFG_BESLTHRS_Pos) /*!< 0x00000F00 */
+#define USB_OTG_GLPMCFG_BESLTHRS                 USB_OTG_GLPMCFG_BESLTHRS_Msk  /*!< BESL threshold                                         */
+#define USB_OTG_GLPMCFG_L1DSEN_Pos               (12U)
+#define USB_OTG_GLPMCFG_L1DSEN_Msk               (0x1UL << USB_OTG_GLPMCFG_L1DSEN_Pos) /*!< 0x00001000 */
+#define USB_OTG_GLPMCFG_L1DSEN                   USB_OTG_GLPMCFG_L1DSEN_Msk    /*!< L1 deep sleep enable                                   */
+#define USB_OTG_GLPMCFG_LPMRSP_Pos               (13U)
+#define USB_OTG_GLPMCFG_LPMRSP_Msk               (0x3UL << USB_OTG_GLPMCFG_LPMRSP_Pos) /*!< 0x00006000 */
+#define USB_OTG_GLPMCFG_LPMRSP                   USB_OTG_GLPMCFG_LPMRSP_Msk    /*!< LPM response                                           */
+#define USB_OTG_GLPMCFG_SLPSTS_Pos               (15U)
+#define USB_OTG_GLPMCFG_SLPSTS_Msk               (0x1UL << USB_OTG_GLPMCFG_SLPSTS_Pos) /*!< 0x00008000 */
+#define USB_OTG_GLPMCFG_SLPSTS                   USB_OTG_GLPMCFG_SLPSTS_Msk    /*!< Port sleep status                                      */
+#define USB_OTG_GLPMCFG_L1RSMOK_Pos              (16U)
+#define USB_OTG_GLPMCFG_L1RSMOK_Msk              (0x1UL << USB_OTG_GLPMCFG_L1RSMOK_Pos) /*!< 0x00010000 */
+#define USB_OTG_GLPMCFG_L1RSMOK                  USB_OTG_GLPMCFG_L1RSMOK_Msk   /*!< Sleep State Resume OK                                  */
+#define USB_OTG_GLPMCFG_LPMCHIDX_Pos             (17U)
+#define USB_OTG_GLPMCFG_LPMCHIDX_Msk             (0xFUL << USB_OTG_GLPMCFG_LPMCHIDX_Pos) /*!< 0x001E0000 */
+#define USB_OTG_GLPMCFG_LPMCHIDX                 USB_OTG_GLPMCFG_LPMCHIDX_Msk  /*!< LPM Channel Index                                      */
+#define USB_OTG_GLPMCFG_LPMRCNT_Pos              (21U)
+#define USB_OTG_GLPMCFG_LPMRCNT_Msk              (0x7UL << USB_OTG_GLPMCFG_LPMRCNT_Pos) /*!< 0x00E00000 */
+#define USB_OTG_GLPMCFG_LPMRCNT                  USB_OTG_GLPMCFG_LPMRCNT_Msk   /*!< LPM retry count                                        */
+#define USB_OTG_GLPMCFG_SNDLPM_Pos               (24U)
+#define USB_OTG_GLPMCFG_SNDLPM_Msk               (0x1UL << USB_OTG_GLPMCFG_SNDLPM_Pos) /*!< 0x01000000 */
+#define USB_OTG_GLPMCFG_SNDLPM                   USB_OTG_GLPMCFG_SNDLPM_Msk    /*!< Send LPM transaction                                   */
+#define USB_OTG_GLPMCFG_LPMRCNTSTS_Pos           (25U)
+#define USB_OTG_GLPMCFG_LPMRCNTSTS_Msk           (0x7UL << USB_OTG_GLPMCFG_LPMRCNTSTS_Pos) /*!< 0x0E000000 */
+#define USB_OTG_GLPMCFG_LPMRCNTSTS               USB_OTG_GLPMCFG_LPMRCNTSTS_Msk /*!< LPM retry count status                                 */
+#define USB_OTG_GLPMCFG_ENBESL_Pos               (28U)
+#define USB_OTG_GLPMCFG_ENBESL_Msk               (0x1UL << USB_OTG_GLPMCFG_ENBESL_Pos) /*!< 0x10000000 */
+#define USB_OTG_GLPMCFG_ENBESL                   USB_OTG_GLPMCFG_ENBESL_Msk    /*!< Enable best effort service latency                     */
+
+/********************  Bit definition forUSB_OTG_DIEPEACHMSK1 register  ********************/
+#define USB_OTG_DIEPEACHMSK1_XFRCM_Pos           (0U)
+#define USB_OTG_DIEPEACHMSK1_XFRCM_Msk           (0x1UL << USB_OTG_DIEPEACHMSK1_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_DIEPEACHMSK1_XFRCM               USB_OTG_DIEPEACHMSK1_XFRCM_Msk /*!< Transfer completed interrupt mask                 */
+#define USB_OTG_DIEPEACHMSK1_EPDM_Pos            (1U)
+#define USB_OTG_DIEPEACHMSK1_EPDM_Msk            (0x1UL << USB_OTG_DIEPEACHMSK1_EPDM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DIEPEACHMSK1_EPDM                USB_OTG_DIEPEACHMSK1_EPDM_Msk /*!< Endpoint disabled interrupt mask                  */
+#define USB_OTG_DIEPEACHMSK1_TOM_Pos             (3U)
+#define USB_OTG_DIEPEACHMSK1_TOM_Msk             (0x1UL << USB_OTG_DIEPEACHMSK1_TOM_Pos) /*!< 0x00000008 */
+#define USB_OTG_DIEPEACHMSK1_TOM                 USB_OTG_DIEPEACHMSK1_TOM_Msk  /*!< Timeout condition mask (nonisochronous endpoints) */
+#define USB_OTG_DIEPEACHMSK1_ITTXFEMSK_Pos       (4U)
+#define USB_OTG_DIEPEACHMSK1_ITTXFEMSK_Msk       (0x1UL << USB_OTG_DIEPEACHMSK1_ITTXFEMSK_Pos) /*!< 0x00000010 */
+#define USB_OTG_DIEPEACHMSK1_ITTXFEMSK           USB_OTG_DIEPEACHMSK1_ITTXFEMSK_Msk /*!< IN token received when TxFIFO empty mask          */
+#define USB_OTG_DIEPEACHMSK1_INEPNMM_Pos         (5U)
+#define USB_OTG_DIEPEACHMSK1_INEPNMM_Msk         (0x1UL << USB_OTG_DIEPEACHMSK1_INEPNMM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DIEPEACHMSK1_INEPNMM             USB_OTG_DIEPEACHMSK1_INEPNMM_Msk /*!< IN token received with EP mismatch mask           */
+#define USB_OTG_DIEPEACHMSK1_INEPNEM_Pos         (6U)
+#define USB_OTG_DIEPEACHMSK1_INEPNEM_Msk         (0x1UL << USB_OTG_DIEPEACHMSK1_INEPNEM_Pos) /*!< 0x00000040 */
+#define USB_OTG_DIEPEACHMSK1_INEPNEM             USB_OTG_DIEPEACHMSK1_INEPNEM_Msk /*!< IN endpoint NAK effective mask                    */
+#define USB_OTG_DIEPEACHMSK1_TXFURM_Pos          (8U)
+#define USB_OTG_DIEPEACHMSK1_TXFURM_Msk          (0x1UL << USB_OTG_DIEPEACHMSK1_TXFURM_Pos) /*!< 0x00000100 */
+#define USB_OTG_DIEPEACHMSK1_TXFURM              USB_OTG_DIEPEACHMSK1_TXFURM_Msk /*!< FIFO underrun mask */
+#define USB_OTG_DIEPEACHMSK1_BIM_Pos             (9U)
+#define USB_OTG_DIEPEACHMSK1_BIM_Msk             (0x1UL << USB_OTG_DIEPEACHMSK1_BIM_Pos) /*!< 0x00000200 */
+#define USB_OTG_DIEPEACHMSK1_BIM                 USB_OTG_DIEPEACHMSK1_BIM_Msk  /*!< BNA interrupt mask */
+#define USB_OTG_DIEPEACHMSK1_NAKM_Pos            (13U)
+#define USB_OTG_DIEPEACHMSK1_NAKM_Msk            (0x1UL << USB_OTG_DIEPEACHMSK1_NAKM_Pos) /*!< 0x00002000 */
+#define USB_OTG_DIEPEACHMSK1_NAKM                USB_OTG_DIEPEACHMSK1_NAKM_Msk /*!< NAK interrupt mask */
+
+/********************  Bit definition forUSB_OTG_HPRT register  ********************/
+#define USB_OTG_HPRT_PCSTS_Pos                   (0U)
+#define USB_OTG_HPRT_PCSTS_Msk                   (0x1UL << USB_OTG_HPRT_PCSTS_Pos) /*!< 0x00000001 */
+#define USB_OTG_HPRT_PCSTS                       USB_OTG_HPRT_PCSTS_Msk        /*!< Port connect status        */
+#define USB_OTG_HPRT_PCDET_Pos                   (1U)
+#define USB_OTG_HPRT_PCDET_Msk                   (0x1UL << USB_OTG_HPRT_PCDET_Pos) /*!< 0x00000002 */
+#define USB_OTG_HPRT_PCDET                       USB_OTG_HPRT_PCDET_Msk        /*!< Port connect detected      */
+#define USB_OTG_HPRT_PENA_Pos                    (2U)
+#define USB_OTG_HPRT_PENA_Msk                    (0x1UL << USB_OTG_HPRT_PENA_Pos) /*!< 0x00000004 */
+#define USB_OTG_HPRT_PENA                        USB_OTG_HPRT_PENA_Msk         /*!< Port enable                */
+#define USB_OTG_HPRT_PENCHNG_Pos                 (3U)
+#define USB_OTG_HPRT_PENCHNG_Msk                 (0x1UL << USB_OTG_HPRT_PENCHNG_Pos) /*!< 0x00000008 */
+#define USB_OTG_HPRT_PENCHNG                     USB_OTG_HPRT_PENCHNG_Msk      /*!< Port enable/disable change */
+#define USB_OTG_HPRT_POCA_Pos                    (4U)
+#define USB_OTG_HPRT_POCA_Msk                    (0x1UL << USB_OTG_HPRT_POCA_Pos) /*!< 0x00000010 */
+#define USB_OTG_HPRT_POCA                        USB_OTG_HPRT_POCA_Msk         /*!< Port overcurrent active    */
+#define USB_OTG_HPRT_POCCHNG_Pos                 (5U)
+#define USB_OTG_HPRT_POCCHNG_Msk                 (0x1UL << USB_OTG_HPRT_POCCHNG_Pos) /*!< 0x00000020 */
+#define USB_OTG_HPRT_POCCHNG                     USB_OTG_HPRT_POCCHNG_Msk      /*!< Port overcurrent change    */
+#define USB_OTG_HPRT_PRES_Pos                    (6U)
+#define USB_OTG_HPRT_PRES_Msk                    (0x1UL << USB_OTG_HPRT_PRES_Pos) /*!< 0x00000040 */
+#define USB_OTG_HPRT_PRES                        USB_OTG_HPRT_PRES_Msk         /*!< Port resume   */
+#define USB_OTG_HPRT_PSUSP_Pos                   (7U)
+#define USB_OTG_HPRT_PSUSP_Msk                   (0x1UL << USB_OTG_HPRT_PSUSP_Pos) /*!< 0x00000080 */
+#define USB_OTG_HPRT_PSUSP                       USB_OTG_HPRT_PSUSP_Msk        /*!< Port suspend  */
+#define USB_OTG_HPRT_PRST_Pos                    (8U)
+#define USB_OTG_HPRT_PRST_Msk                    (0x1UL << USB_OTG_HPRT_PRST_Pos) /*!< 0x00000100 */
+#define USB_OTG_HPRT_PRST                        USB_OTG_HPRT_PRST_Msk         /*!< Port reset    */
+
+#define USB_OTG_HPRT_PLSTS_Pos                   (10U)
+#define USB_OTG_HPRT_PLSTS_Msk                   (0x3UL << USB_OTG_HPRT_PLSTS_Pos) /*!< 0x00000C00 */
+#define USB_OTG_HPRT_PLSTS                       USB_OTG_HPRT_PLSTS_Msk        /*!< Port line status */
+#define USB_OTG_HPRT_PLSTS_0                     (0x1UL << USB_OTG_HPRT_PLSTS_Pos) /*!< 0x00000400 */
+#define USB_OTG_HPRT_PLSTS_1                     (0x2UL << USB_OTG_HPRT_PLSTS_Pos) /*!< 0x00000800 */
+#define USB_OTG_HPRT_PPWR_Pos                    (12U)
+#define USB_OTG_HPRT_PPWR_Msk                    (0x1UL << USB_OTG_HPRT_PPWR_Pos) /*!< 0x00001000 */
+#define USB_OTG_HPRT_PPWR                        USB_OTG_HPRT_PPWR_Msk         /*!< Port power */
+
+#define USB_OTG_HPRT_PTCTL_Pos                   (13U)
+#define USB_OTG_HPRT_PTCTL_Msk                   (0xFUL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x0001E000 */
+#define USB_OTG_HPRT_PTCTL                       USB_OTG_HPRT_PTCTL_Msk        /*!< Port test control */
+#define USB_OTG_HPRT_PTCTL_0                     (0x1UL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x00002000 */
+#define USB_OTG_HPRT_PTCTL_1                     (0x2UL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x00004000 */
+#define USB_OTG_HPRT_PTCTL_2                     (0x4UL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x00008000 */
+#define USB_OTG_HPRT_PTCTL_3                     (0x8UL << USB_OTG_HPRT_PTCTL_Pos) /*!< 0x00010000 */
+
+#define USB_OTG_HPRT_PSPD_Pos                    (17U)
+#define USB_OTG_HPRT_PSPD_Msk                    (0x3UL << USB_OTG_HPRT_PSPD_Pos) /*!< 0x00060000 */
+#define USB_OTG_HPRT_PSPD                        USB_OTG_HPRT_PSPD_Msk         /*!< Port speed */
+#define USB_OTG_HPRT_PSPD_0                      (0x1UL << USB_OTG_HPRT_PSPD_Pos) /*!< 0x00020000 */
+#define USB_OTG_HPRT_PSPD_1                      (0x2UL << USB_OTG_HPRT_PSPD_Pos) /*!< 0x00040000 */
+
+/********************  Bit definition forUSB_OTG_DOEPEACHMSK1 register  ********************/
+#define USB_OTG_DOEPEACHMSK1_XFRCM_Pos           (0U)
+#define USB_OTG_DOEPEACHMSK1_XFRCM_Msk           (0x1UL << USB_OTG_DOEPEACHMSK1_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_DOEPEACHMSK1_XFRCM               USB_OTG_DOEPEACHMSK1_XFRCM_Msk /*!< Transfer completed interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_EPDM_Pos            (1U)
+#define USB_OTG_DOEPEACHMSK1_EPDM_Msk            (0x1UL << USB_OTG_DOEPEACHMSK1_EPDM_Pos) /*!< 0x00000002 */
+#define USB_OTG_DOEPEACHMSK1_EPDM                USB_OTG_DOEPEACHMSK1_EPDM_Msk /*!< Endpoint disabled interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_TOM_Pos             (3U)
+#define USB_OTG_DOEPEACHMSK1_TOM_Msk             (0x1UL << USB_OTG_DOEPEACHMSK1_TOM_Pos) /*!< 0x00000008 */
+#define USB_OTG_DOEPEACHMSK1_TOM                 USB_OTG_DOEPEACHMSK1_TOM_Msk  /*!< Timeout condition mask */
+#define USB_OTG_DOEPEACHMSK1_ITTXFEMSK_Pos       (4U)
+#define USB_OTG_DOEPEACHMSK1_ITTXFEMSK_Msk       (0x1UL << USB_OTG_DOEPEACHMSK1_ITTXFEMSK_Pos) /*!< 0x00000010 */
+#define USB_OTG_DOEPEACHMSK1_ITTXFEMSK           USB_OTG_DOEPEACHMSK1_ITTXFEMSK_Msk /*!< IN token received when TxFIFO empty mask */
+#define USB_OTG_DOEPEACHMSK1_INEPNMM_Pos         (5U)
+#define USB_OTG_DOEPEACHMSK1_INEPNMM_Msk         (0x1UL << USB_OTG_DOEPEACHMSK1_INEPNMM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DOEPEACHMSK1_INEPNMM             USB_OTG_DOEPEACHMSK1_INEPNMM_Msk /*!< IN token received with EP mismatch mask */
+#define USB_OTG_DOEPEACHMSK1_INEPNEM_Pos         (6U)
+#define USB_OTG_DOEPEACHMSK1_INEPNEM_Msk         (0x1UL << USB_OTG_DOEPEACHMSK1_INEPNEM_Pos) /*!< 0x00000040 */
+#define USB_OTG_DOEPEACHMSK1_INEPNEM             USB_OTG_DOEPEACHMSK1_INEPNEM_Msk /*!< IN endpoint NAK effective mask */
+#define USB_OTG_DOEPEACHMSK1_TXFURM_Pos          (8U)
+#define USB_OTG_DOEPEACHMSK1_TXFURM_Msk          (0x1UL << USB_OTG_DOEPEACHMSK1_TXFURM_Pos) /*!< 0x00000100 */
+#define USB_OTG_DOEPEACHMSK1_TXFURM              USB_OTG_DOEPEACHMSK1_TXFURM_Msk /*!< OUT packet error mask */
+#define USB_OTG_DOEPEACHMSK1_BIM_Pos             (9U)
+#define USB_OTG_DOEPEACHMSK1_BIM_Msk             (0x1UL << USB_OTG_DOEPEACHMSK1_BIM_Pos) /*!< 0x00000200 */
+#define USB_OTG_DOEPEACHMSK1_BIM                 USB_OTG_DOEPEACHMSK1_BIM_Msk  /*!< BNA interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_BERRM_Pos           (12U)
+#define USB_OTG_DOEPEACHMSK1_BERRM_Msk           (0x1UL << USB_OTG_DOEPEACHMSK1_BERRM_Pos) /*!< 0x00001000 */
+#define USB_OTG_DOEPEACHMSK1_BERRM               USB_OTG_DOEPEACHMSK1_BERRM_Msk /*!< Bubble error interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_NAKM_Pos            (13U)
+#define USB_OTG_DOEPEACHMSK1_NAKM_Msk            (0x1UL << USB_OTG_DOEPEACHMSK1_NAKM_Pos) /*!< 0x00002000 */
+#define USB_OTG_DOEPEACHMSK1_NAKM                USB_OTG_DOEPEACHMSK1_NAKM_Msk /*!< NAK interrupt mask */
+#define USB_OTG_DOEPEACHMSK1_NYETM_Pos           (14U)
+#define USB_OTG_DOEPEACHMSK1_NYETM_Msk           (0x1UL << USB_OTG_DOEPEACHMSK1_NYETM_Pos) /*!< 0x00004000 */
+#define USB_OTG_DOEPEACHMSK1_NYETM               USB_OTG_DOEPEACHMSK1_NYETM_Msk /*!< NYET interrupt mask */
+
+/********************  Bit definition forUSB_OTG_HPTXFSIZ register  ********************/
+#define USB_OTG_HPTXFSIZ_PTXSA_Pos               (0U)
+#define USB_OTG_HPTXFSIZ_PTXSA_Msk               (0xFFFFUL << USB_OTG_HPTXFSIZ_PTXSA_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_HPTXFSIZ_PTXSA                   USB_OTG_HPTXFSIZ_PTXSA_Msk    /*!< Host periodic TxFIFO start address */
+#define USB_OTG_HPTXFSIZ_PTXFD_Pos               (16U)
+#define USB_OTG_HPTXFSIZ_PTXFD_Msk               (0xFFFFUL << USB_OTG_HPTXFSIZ_PTXFD_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_HPTXFSIZ_PTXFD                   USB_OTG_HPTXFSIZ_PTXFD_Msk    /*!< Host periodic TxFIFO depth */
+
+/********************  Bit definition forUSB_OTG_DIEPCTL register  ********************/
+#define USB_OTG_DIEPCTL_MPSIZ_Pos                (0U)
+#define USB_OTG_DIEPCTL_MPSIZ_Msk                (0x7FFUL << USB_OTG_DIEPCTL_MPSIZ_Pos) /*!< 0x000007FF */
+#define USB_OTG_DIEPCTL_MPSIZ                    USB_OTG_DIEPCTL_MPSIZ_Msk     /*!< Maximum packet size */
+#define USB_OTG_DIEPCTL_USBAEP_Pos               (15U)
+#define USB_OTG_DIEPCTL_USBAEP_Msk               (0x1UL << USB_OTG_DIEPCTL_USBAEP_Pos) /*!< 0x00008000 */
+#define USB_OTG_DIEPCTL_USBAEP                   USB_OTG_DIEPCTL_USBAEP_Msk    /*!< USB active endpoint */
+#define USB_OTG_DIEPCTL_EONUM_DPID_Pos           (16U)
+#define USB_OTG_DIEPCTL_EONUM_DPID_Msk           (0x1UL << USB_OTG_DIEPCTL_EONUM_DPID_Pos) /*!< 0x00010000 */
+#define USB_OTG_DIEPCTL_EONUM_DPID               USB_OTG_DIEPCTL_EONUM_DPID_Msk /*!< Even/odd frame */
+#define USB_OTG_DIEPCTL_NAKSTS_Pos               (17U)
+#define USB_OTG_DIEPCTL_NAKSTS_Msk               (0x1UL << USB_OTG_DIEPCTL_NAKSTS_Pos) /*!< 0x00020000 */
+#define USB_OTG_DIEPCTL_NAKSTS                   USB_OTG_DIEPCTL_NAKSTS_Msk    /*!< NAK status */
+
+#define USB_OTG_DIEPCTL_EPTYP_Pos                (18U)
+#define USB_OTG_DIEPCTL_EPTYP_Msk                (0x3UL << USB_OTG_DIEPCTL_EPTYP_Pos) /*!< 0x000C0000 */
+#define USB_OTG_DIEPCTL_EPTYP                    USB_OTG_DIEPCTL_EPTYP_Msk     /*!< Endpoint type */
+#define USB_OTG_DIEPCTL_EPTYP_0                  (0x1UL << USB_OTG_DIEPCTL_EPTYP_Pos) /*!< 0x00040000 */
+#define USB_OTG_DIEPCTL_EPTYP_1                  (0x2UL << USB_OTG_DIEPCTL_EPTYP_Pos) /*!< 0x00080000 */
+#define USB_OTG_DIEPCTL_STALL_Pos                (21U)
+#define USB_OTG_DIEPCTL_STALL_Msk                (0x1UL << USB_OTG_DIEPCTL_STALL_Pos) /*!< 0x00200000 */
+#define USB_OTG_DIEPCTL_STALL                    USB_OTG_DIEPCTL_STALL_Msk     /*!< STALL handshake */
+
+#define USB_OTG_DIEPCTL_TXFNUM_Pos               (22U)
+#define USB_OTG_DIEPCTL_TXFNUM_Msk               (0xFUL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x03C00000 */
+#define USB_OTG_DIEPCTL_TXFNUM                   USB_OTG_DIEPCTL_TXFNUM_Msk    /*!< TxFIFO number */
+#define USB_OTG_DIEPCTL_TXFNUM_0                 (0x1UL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x00400000 */
+#define USB_OTG_DIEPCTL_TXFNUM_1                 (0x2UL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x00800000 */
+#define USB_OTG_DIEPCTL_TXFNUM_2                 (0x4UL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x01000000 */
+#define USB_OTG_DIEPCTL_TXFNUM_3                 (0x8UL << USB_OTG_DIEPCTL_TXFNUM_Pos) /*!< 0x02000000 */
+#define USB_OTG_DIEPCTL_CNAK_Pos                 (26U)
+#define USB_OTG_DIEPCTL_CNAK_Msk                 (0x1UL << USB_OTG_DIEPCTL_CNAK_Pos) /*!< 0x04000000 */
+#define USB_OTG_DIEPCTL_CNAK                     USB_OTG_DIEPCTL_CNAK_Msk      /*!< Clear NAK */
+#define USB_OTG_DIEPCTL_SNAK_Pos                 (27U)
+#define USB_OTG_DIEPCTL_SNAK_Msk                 (0x1UL << USB_OTG_DIEPCTL_SNAK_Pos) /*!< 0x08000000 */
+#define USB_OTG_DIEPCTL_SNAK                     USB_OTG_DIEPCTL_SNAK_Msk      /*!< Set NAK */
+#define USB_OTG_DIEPCTL_SD0PID_SEVNFRM_Pos       (28U)
+#define USB_OTG_DIEPCTL_SD0PID_SEVNFRM_Msk       (0x1UL << USB_OTG_DIEPCTL_SD0PID_SEVNFRM_Pos) /*!< 0x10000000 */
+#define USB_OTG_DIEPCTL_SD0PID_SEVNFRM           USB_OTG_DIEPCTL_SD0PID_SEVNFRM_Msk /*!< Set DATA0 PID */
+#define USB_OTG_DIEPCTL_SODDFRM_Pos              (29U)
+#define USB_OTG_DIEPCTL_SODDFRM_Msk              (0x1UL << USB_OTG_DIEPCTL_SODDFRM_Pos) /*!< 0x20000000 */
+#define USB_OTG_DIEPCTL_SODDFRM                  USB_OTG_DIEPCTL_SODDFRM_Msk   /*!< Set odd frame */
+#define USB_OTG_DIEPCTL_EPDIS_Pos                (30U)
+#define USB_OTG_DIEPCTL_EPDIS_Msk                (0x1UL << USB_OTG_DIEPCTL_EPDIS_Pos) /*!< 0x40000000 */
+#define USB_OTG_DIEPCTL_EPDIS                    USB_OTG_DIEPCTL_EPDIS_Msk     /*!< Endpoint disable */
+#define USB_OTG_DIEPCTL_EPENA_Pos                (31U)
+#define USB_OTG_DIEPCTL_EPENA_Msk                (0x1UL << USB_OTG_DIEPCTL_EPENA_Pos) /*!< 0x80000000 */
+#define USB_OTG_DIEPCTL_EPENA                    USB_OTG_DIEPCTL_EPENA_Msk     /*!< Endpoint enable */
+
+/********************  Bit definition forUSB_OTG_HCCHAR register  ********************/
+#define USB_OTG_HCCHAR_MPSIZ_Pos                 (0U)
+#define USB_OTG_HCCHAR_MPSIZ_Msk                 (0x7FFUL << USB_OTG_HCCHAR_MPSIZ_Pos) /*!< 0x000007FF */
+#define USB_OTG_HCCHAR_MPSIZ                     USB_OTG_HCCHAR_MPSIZ_Msk      /*!< Maximum packet size */
+
+#define USB_OTG_HCCHAR_EPNUM_Pos                 (11U)
+#define USB_OTG_HCCHAR_EPNUM_Msk                 (0xFUL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00007800 */
+#define USB_OTG_HCCHAR_EPNUM                     USB_OTG_HCCHAR_EPNUM_Msk      /*!< Endpoint number */
+#define USB_OTG_HCCHAR_EPNUM_0                   (0x1UL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00000800 */
+#define USB_OTG_HCCHAR_EPNUM_1                   (0x2UL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00001000 */
+#define USB_OTG_HCCHAR_EPNUM_2                   (0x4UL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00002000 */
+#define USB_OTG_HCCHAR_EPNUM_3                   (0x8UL << USB_OTG_HCCHAR_EPNUM_Pos) /*!< 0x00004000 */
+#define USB_OTG_HCCHAR_EPDIR_Pos                 (15U)
+#define USB_OTG_HCCHAR_EPDIR_Msk                 (0x1UL << USB_OTG_HCCHAR_EPDIR_Pos) /*!< 0x00008000 */
+#define USB_OTG_HCCHAR_EPDIR                     USB_OTG_HCCHAR_EPDIR_Msk      /*!< Endpoint direction */
+#define USB_OTG_HCCHAR_LSDEV_Pos                 (17U)
+#define USB_OTG_HCCHAR_LSDEV_Msk                 (0x1UL << USB_OTG_HCCHAR_LSDEV_Pos) /*!< 0x00020000 */
+#define USB_OTG_HCCHAR_LSDEV                     USB_OTG_HCCHAR_LSDEV_Msk      /*!< Low-speed device */
+
+#define USB_OTG_HCCHAR_EPTYP_Pos                 (18U)
+#define USB_OTG_HCCHAR_EPTYP_Msk                 (0x3UL << USB_OTG_HCCHAR_EPTYP_Pos) /*!< 0x000C0000 */
+#define USB_OTG_HCCHAR_EPTYP                     USB_OTG_HCCHAR_EPTYP_Msk      /*!< Endpoint type */
+#define USB_OTG_HCCHAR_EPTYP_0                   (0x1UL << USB_OTG_HCCHAR_EPTYP_Pos) /*!< 0x00040000 */
+#define USB_OTG_HCCHAR_EPTYP_1                   (0x2UL << USB_OTG_HCCHAR_EPTYP_Pos) /*!< 0x00080000 */
+
+#define USB_OTG_HCCHAR_MC_Pos                    (20U)
+#define USB_OTG_HCCHAR_MC_Msk                    (0x3UL << USB_OTG_HCCHAR_MC_Pos) /*!< 0x00300000 */
+#define USB_OTG_HCCHAR_MC                        USB_OTG_HCCHAR_MC_Msk         /*!< Multi Count (MC) / Error Count (EC) */
+#define USB_OTG_HCCHAR_MC_0                      (0x1UL << USB_OTG_HCCHAR_MC_Pos) /*!< 0x00100000 */
+#define USB_OTG_HCCHAR_MC_1                      (0x2UL << USB_OTG_HCCHAR_MC_Pos) /*!< 0x00200000 */
+
+#define USB_OTG_HCCHAR_DAD_Pos                   (22U)
+#define USB_OTG_HCCHAR_DAD_Msk                   (0x7FUL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x1FC00000 */
+#define USB_OTG_HCCHAR_DAD                       USB_OTG_HCCHAR_DAD_Msk        /*!< Device address */
+#define USB_OTG_HCCHAR_DAD_0                     (0x01UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x00400000 */
+#define USB_OTG_HCCHAR_DAD_1                     (0x02UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x00800000 */
+#define USB_OTG_HCCHAR_DAD_2                     (0x04UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x01000000 */
+#define USB_OTG_HCCHAR_DAD_3                     (0x08UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x02000000 */
+#define USB_OTG_HCCHAR_DAD_4                     (0x10UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x04000000 */
+#define USB_OTG_HCCHAR_DAD_5                     (0x20UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x08000000 */
+#define USB_OTG_HCCHAR_DAD_6                     (0x40UL << USB_OTG_HCCHAR_DAD_Pos) /*!< 0x10000000 */
+#define USB_OTG_HCCHAR_ODDFRM_Pos                (29U)
+#define USB_OTG_HCCHAR_ODDFRM_Msk                (0x1UL << USB_OTG_HCCHAR_ODDFRM_Pos) /*!< 0x20000000 */
+#define USB_OTG_HCCHAR_ODDFRM                    USB_OTG_HCCHAR_ODDFRM_Msk     /*!< Odd frame */
+#define USB_OTG_HCCHAR_CHDIS_Pos                 (30U)
+#define USB_OTG_HCCHAR_CHDIS_Msk                 (0x1UL << USB_OTG_HCCHAR_CHDIS_Pos) /*!< 0x40000000 */
+#define USB_OTG_HCCHAR_CHDIS                     USB_OTG_HCCHAR_CHDIS_Msk      /*!< Channel disable */
+#define USB_OTG_HCCHAR_CHENA_Pos                 (31U)
+#define USB_OTG_HCCHAR_CHENA_Msk                 (0x1UL << USB_OTG_HCCHAR_CHENA_Pos) /*!< 0x80000000 */
+#define USB_OTG_HCCHAR_CHENA                     USB_OTG_HCCHAR_CHENA_Msk      /*!< Channel enable */
+
+/********************  Bit definition forUSB_OTG_HCSPLT register  ********************/
+
+#define USB_OTG_HCSPLT_PRTADDR_Pos               (0U)
+#define USB_OTG_HCSPLT_PRTADDR_Msk               (0x7FUL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x0000007F */
+#define USB_OTG_HCSPLT_PRTADDR                   USB_OTG_HCSPLT_PRTADDR_Msk    /*!< Port address */
+#define USB_OTG_HCSPLT_PRTADDR_0                 (0x01UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000001 */
+#define USB_OTG_HCSPLT_PRTADDR_1                 (0x02UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000002 */
+#define USB_OTG_HCSPLT_PRTADDR_2                 (0x04UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000004 */
+#define USB_OTG_HCSPLT_PRTADDR_3                 (0x08UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000008 */
+#define USB_OTG_HCSPLT_PRTADDR_4                 (0x10UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000010 */
+#define USB_OTG_HCSPLT_PRTADDR_5                 (0x20UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000020 */
+#define USB_OTG_HCSPLT_PRTADDR_6                 (0x40UL << USB_OTG_HCSPLT_PRTADDR_Pos) /*!< 0x00000040 */
+
+#define USB_OTG_HCSPLT_HUBADDR_Pos               (7U)
+#define USB_OTG_HCSPLT_HUBADDR_Msk               (0x7FUL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00003F80 */
+#define USB_OTG_HCSPLT_HUBADDR                   USB_OTG_HCSPLT_HUBADDR_Msk    /*!< Hub address */
+#define USB_OTG_HCSPLT_HUBADDR_0                 (0x01UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000080 */
+#define USB_OTG_HCSPLT_HUBADDR_1                 (0x02UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000100 */
+#define USB_OTG_HCSPLT_HUBADDR_2                 (0x04UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000200 */
+#define USB_OTG_HCSPLT_HUBADDR_3                 (0x08UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000400 */
+#define USB_OTG_HCSPLT_HUBADDR_4                 (0x10UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00000800 */
+#define USB_OTG_HCSPLT_HUBADDR_5                 (0x20UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00001000 */
+#define USB_OTG_HCSPLT_HUBADDR_6                 (0x40UL << USB_OTG_HCSPLT_HUBADDR_Pos) /*!< 0x00002000 */
+
+#define USB_OTG_HCSPLT_XACTPOS_Pos               (14U)
+#define USB_OTG_HCSPLT_XACTPOS_Msk               (0x3UL << USB_OTG_HCSPLT_XACTPOS_Pos) /*!< 0x0000C000 */
+#define USB_OTG_HCSPLT_XACTPOS                   USB_OTG_HCSPLT_XACTPOS_Msk    /*!< XACTPOS */
+#define USB_OTG_HCSPLT_XACTPOS_0                 (0x1UL << USB_OTG_HCSPLT_XACTPOS_Pos) /*!< 0x00004000 */
+#define USB_OTG_HCSPLT_XACTPOS_1                 (0x2UL << USB_OTG_HCSPLT_XACTPOS_Pos) /*!< 0x00008000 */
+#define USB_OTG_HCSPLT_COMPLSPLT_Pos             (16U)
+#define USB_OTG_HCSPLT_COMPLSPLT_Msk             (0x1UL << USB_OTG_HCSPLT_COMPLSPLT_Pos) /*!< 0x00010000 */
+#define USB_OTG_HCSPLT_COMPLSPLT                 USB_OTG_HCSPLT_COMPLSPLT_Msk  /*!< Do complete split */
+#define USB_OTG_HCSPLT_SPLITEN_Pos               (31U)
+#define USB_OTG_HCSPLT_SPLITEN_Msk               (0x1UL << USB_OTG_HCSPLT_SPLITEN_Pos) /*!< 0x80000000 */
+#define USB_OTG_HCSPLT_SPLITEN                   USB_OTG_HCSPLT_SPLITEN_Msk    /*!< Split enable */
+
+/********************  Bit definition forUSB_OTG_HCINT register  ********************/
+#define USB_OTG_HCINT_XFRC_Pos                   (0U)
+#define USB_OTG_HCINT_XFRC_Msk                   (0x1UL << USB_OTG_HCINT_XFRC_Pos) /*!< 0x00000001 */
+#define USB_OTG_HCINT_XFRC                       USB_OTG_HCINT_XFRC_Msk        /*!< Transfer completed */
+#define USB_OTG_HCINT_CHH_Pos                    (1U)
+#define USB_OTG_HCINT_CHH_Msk                    (0x1UL << USB_OTG_HCINT_CHH_Pos) /*!< 0x00000002 */
+#define USB_OTG_HCINT_CHH                        USB_OTG_HCINT_CHH_Msk         /*!< Channel halted */
+#define USB_OTG_HCINT_AHBERR_Pos                 (2U)
+#define USB_OTG_HCINT_AHBERR_Msk                 (0x1UL << USB_OTG_HCINT_AHBERR_Pos) /*!< 0x00000004 */
+#define USB_OTG_HCINT_AHBERR                     USB_OTG_HCINT_AHBERR_Msk      /*!< AHB error */
+#define USB_OTG_HCINT_STALL_Pos                  (3U)
+#define USB_OTG_HCINT_STALL_Msk                  (0x1UL << USB_OTG_HCINT_STALL_Pos) /*!< 0x00000008 */
+#define USB_OTG_HCINT_STALL                      USB_OTG_HCINT_STALL_Msk       /*!< STALL response received interrupt */
+#define USB_OTG_HCINT_NAK_Pos                    (4U)
+#define USB_OTG_HCINT_NAK_Msk                    (0x1UL << USB_OTG_HCINT_NAK_Pos) /*!< 0x00000010 */
+#define USB_OTG_HCINT_NAK                        USB_OTG_HCINT_NAK_Msk         /*!< NAK response received interrupt */
+#define USB_OTG_HCINT_ACK_Pos                    (5U)
+#define USB_OTG_HCINT_ACK_Msk                    (0x1UL << USB_OTG_HCINT_ACK_Pos) /*!< 0x00000020 */
+#define USB_OTG_HCINT_ACK                        USB_OTG_HCINT_ACK_Msk         /*!< ACK response received/transmitted interrupt */
+#define USB_OTG_HCINT_NYET_Pos                   (6U)
+#define USB_OTG_HCINT_NYET_Msk                   (0x1UL << USB_OTG_HCINT_NYET_Pos) /*!< 0x00000040 */
+#define USB_OTG_HCINT_NYET                       USB_OTG_HCINT_NYET_Msk        /*!< Response received interrupt */
+#define USB_OTG_HCINT_TXERR_Pos                  (7U)
+#define USB_OTG_HCINT_TXERR_Msk                  (0x1UL << USB_OTG_HCINT_TXERR_Pos) /*!< 0x00000080 */
+#define USB_OTG_HCINT_TXERR                      USB_OTG_HCINT_TXERR_Msk       /*!< Transaction error */
+#define USB_OTG_HCINT_BBERR_Pos                  (8U)
+#define USB_OTG_HCINT_BBERR_Msk                  (0x1UL << USB_OTG_HCINT_BBERR_Pos) /*!< 0x00000100 */
+#define USB_OTG_HCINT_BBERR                      USB_OTG_HCINT_BBERR_Msk       /*!< Babble error */
+#define USB_OTG_HCINT_FRMOR_Pos                  (9U)
+#define USB_OTG_HCINT_FRMOR_Msk                  (0x1UL << USB_OTG_HCINT_FRMOR_Pos) /*!< 0x00000200 */
+#define USB_OTG_HCINT_FRMOR                      USB_OTG_HCINT_FRMOR_Msk       /*!< Frame overrun */
+#define USB_OTG_HCINT_DTERR_Pos                  (10U)
+#define USB_OTG_HCINT_DTERR_Msk                  (0x1UL << USB_OTG_HCINT_DTERR_Pos) /*!< 0x00000400 */
+#define USB_OTG_HCINT_DTERR                      USB_OTG_HCINT_DTERR_Msk       /*!< Data toggle error */
+
+/********************  Bit definition forUSB_OTG_DIEPINT register  ********************/
+#define USB_OTG_DIEPINT_XFRC_Pos                 (0U)
+#define USB_OTG_DIEPINT_XFRC_Msk                 (0x1UL << USB_OTG_DIEPINT_XFRC_Pos) /*!< 0x00000001 */
+#define USB_OTG_DIEPINT_XFRC                     USB_OTG_DIEPINT_XFRC_Msk      /*!< Transfer completed interrupt */
+#define USB_OTG_DIEPINT_EPDISD_Pos               (1U)
+#define USB_OTG_DIEPINT_EPDISD_Msk               (0x1UL << USB_OTG_DIEPINT_EPDISD_Pos) /*!< 0x00000002 */
+#define USB_OTG_DIEPINT_EPDISD                   USB_OTG_DIEPINT_EPDISD_Msk    /*!< Endpoint disabled interrupt */
+#define USB_OTG_DIEPINT_AHBERR_Pos               (2U)
+#define USB_OTG_DIEPINT_AHBERR_Msk               (0x1UL << USB_OTG_DIEPINT_AHBERR_Pos) /*!< 0x00000004 */
+#define USB_OTG_DIEPINT_AHBERR                   USB_OTG_DIEPINT_AHBERR_Msk   /*!< AHB Error (AHBErr) during an IN transaction */
+#define USB_OTG_DIEPINT_TOC_Pos                  (3U)
+#define USB_OTG_DIEPINT_TOC_Msk                  (0x1UL << USB_OTG_DIEPINT_TOC_Pos) /*!< 0x00000008 */
+#define USB_OTG_DIEPINT_TOC                      USB_OTG_DIEPINT_TOC_Msk       /*!< Timeout condition */
+#define USB_OTG_DIEPINT_ITTXFE_Pos               (4U)
+#define USB_OTG_DIEPINT_ITTXFE_Msk               (0x1UL << USB_OTG_DIEPINT_ITTXFE_Pos) /*!< 0x00000010 */
+#define USB_OTG_DIEPINT_ITTXFE                   USB_OTG_DIEPINT_ITTXFE_Msk    /*!< IN token received when TxFIFO is empty */
+#define USB_OTG_DIEPINT_INEPNM_Pos               (5U)
+#define USB_OTG_DIEPINT_INEPNM_Msk               (0x1UL << USB_OTG_DIEPINT_INEPNM_Pos) /*!< 0x00000020 */
+#define USB_OTG_DIEPINT_INEPNM                   USB_OTG_DIEPINT_INEPNM_Msk   /*!< IN token received with EP mismatch */
+#define USB_OTG_DIEPINT_INEPNE_Pos               (6U)
+#define USB_OTG_DIEPINT_INEPNE_Msk               (0x1UL << USB_OTG_DIEPINT_INEPNE_Pos) /*!< 0x00000040 */
+#define USB_OTG_DIEPINT_INEPNE                   USB_OTG_DIEPINT_INEPNE_Msk    /*!< IN endpoint NAK effective */
+#define USB_OTG_DIEPINT_TXFE_Pos                 (7U)
+#define USB_OTG_DIEPINT_TXFE_Msk                 (0x1UL << USB_OTG_DIEPINT_TXFE_Pos) /*!< 0x00000080 */
+#define USB_OTG_DIEPINT_TXFE                     USB_OTG_DIEPINT_TXFE_Msk      /*!< Transmit FIFO empty */
+#define USB_OTG_DIEPINT_TXFIFOUDRN_Pos           (8U)
+#define USB_OTG_DIEPINT_TXFIFOUDRN_Msk           (0x1UL << USB_OTG_DIEPINT_TXFIFOUDRN_Pos) /*!< 0x00000100 */
+#define USB_OTG_DIEPINT_TXFIFOUDRN               USB_OTG_DIEPINT_TXFIFOUDRN_Msk /*!< Transmit Fifo Underrun */
+#define USB_OTG_DIEPINT_BNA_Pos                  (9U)
+#define USB_OTG_DIEPINT_BNA_Msk                  (0x1UL << USB_OTG_DIEPINT_BNA_Pos) /*!< 0x00000200 */
+#define USB_OTG_DIEPINT_BNA                      USB_OTG_DIEPINT_BNA_Msk       /*!< Buffer not available interrupt */
+#define USB_OTG_DIEPINT_PKTDRPSTS_Pos            (11U)
+#define USB_OTG_DIEPINT_PKTDRPSTS_Msk            (0x1UL << USB_OTG_DIEPINT_PKTDRPSTS_Pos) /*!< 0x00000800 */
+#define USB_OTG_DIEPINT_PKTDRPSTS                USB_OTG_DIEPINT_PKTDRPSTS_Msk /*!< Packet dropped status */
+#define USB_OTG_DIEPINT_BERR_Pos                 (12U)
+#define USB_OTG_DIEPINT_BERR_Msk                 (0x1UL << USB_OTG_DIEPINT_BERR_Pos) /*!< 0x00001000 */
+#define USB_OTG_DIEPINT_BERR                     USB_OTG_DIEPINT_BERR_Msk      /*!< Babble error interrupt */
+#define USB_OTG_DIEPINT_NAK_Pos                  (13U)
+#define USB_OTG_DIEPINT_NAK_Msk                  (0x1UL << USB_OTG_DIEPINT_NAK_Pos) /*!< 0x00002000 */
+#define USB_OTG_DIEPINT_NAK                      USB_OTG_DIEPINT_NAK_Msk       /*!< NAK interrupt */
+
+/********************  Bit definition forUSB_OTG_HCINTMSK register  ********************/
+#define USB_OTG_HCINTMSK_XFRCM_Pos               (0U)
+#define USB_OTG_HCINTMSK_XFRCM_Msk               (0x1UL << USB_OTG_HCINTMSK_XFRCM_Pos) /*!< 0x00000001 */
+#define USB_OTG_HCINTMSK_XFRCM                   USB_OTG_HCINTMSK_XFRCM_Msk    /*!< Transfer completed mask */
+#define USB_OTG_HCINTMSK_CHHM_Pos                (1U)
+#define USB_OTG_HCINTMSK_CHHM_Msk                (0x1UL << USB_OTG_HCINTMSK_CHHM_Pos) /*!< 0x00000002 */
+#define USB_OTG_HCINTMSK_CHHM                    USB_OTG_HCINTMSK_CHHM_Msk     /*!< Channel halted mask */
+#define USB_OTG_HCINTMSK_AHBERR_Pos              (2U)
+#define USB_OTG_HCINTMSK_AHBERR_Msk              (0x1UL << USB_OTG_HCINTMSK_AHBERR_Pos) /*!< 0x00000004 */
+#define USB_OTG_HCINTMSK_AHBERR                  USB_OTG_HCINTMSK_AHBERR_Msk   /*!< AHB error */
+#define USB_OTG_HCINTMSK_STALLM_Pos              (3U)
+#define USB_OTG_HCINTMSK_STALLM_Msk              (0x1UL << USB_OTG_HCINTMSK_STALLM_Pos) /*!< 0x00000008 */
+#define USB_OTG_HCINTMSK_STALLM                  USB_OTG_HCINTMSK_STALLM_Msk   /*!< STALL response received interrupt mask */
+#define USB_OTG_HCINTMSK_NAKM_Pos                (4U)
+#define USB_OTG_HCINTMSK_NAKM_Msk                (0x1UL << USB_OTG_HCINTMSK_NAKM_Pos) /*!< 0x00000010 */
+#define USB_OTG_HCINTMSK_NAKM                    USB_OTG_HCINTMSK_NAKM_Msk     /*!< NAK response received interrupt mask */
+#define USB_OTG_HCINTMSK_ACKM_Pos                (5U)
+#define USB_OTG_HCINTMSK_ACKM_Msk                (0x1UL << USB_OTG_HCINTMSK_ACKM_Pos) /*!< 0x00000020 */
+#define USB_OTG_HCINTMSK_ACKM                    USB_OTG_HCINTMSK_ACKM_Msk     /*!< ACK response received/transmitted interrupt mask */
+#define USB_OTG_HCINTMSK_NYET_Pos                (6U)
+#define USB_OTG_HCINTMSK_NYET_Msk                (0x1UL << USB_OTG_HCINTMSK_NYET_Pos) /*!< 0x00000040 */
+#define USB_OTG_HCINTMSK_NYET                    USB_OTG_HCINTMSK_NYET_Msk     /*!< response received interrupt mask */
+#define USB_OTG_HCINTMSK_TXERRM_Pos              (7U)
+#define USB_OTG_HCINTMSK_TXERRM_Msk              (0x1UL << USB_OTG_HCINTMSK_TXERRM_Pos) /*!< 0x00000080 */
+#define USB_OTG_HCINTMSK_TXERRM                  USB_OTG_HCINTMSK_TXERRM_Msk   /*!< Transaction error mask */
+#define USB_OTG_HCINTMSK_BBERRM_Pos              (8U)
+#define USB_OTG_HCINTMSK_BBERRM_Msk              (0x1UL << USB_OTG_HCINTMSK_BBERRM_Pos) /*!< 0x00000100 */
+#define USB_OTG_HCINTMSK_BBERRM                  USB_OTG_HCINTMSK_BBERRM_Msk   /*!< Babble error mask */
+#define USB_OTG_HCINTMSK_FRMORM_Pos              (9U)
+#define USB_OTG_HCINTMSK_FRMORM_Msk              (0x1UL << USB_OTG_HCINTMSK_FRMORM_Pos) /*!< 0x00000200 */
+#define USB_OTG_HCINTMSK_FRMORM                  USB_OTG_HCINTMSK_FRMORM_Msk   /*!< Frame overrun mask */
+#define USB_OTG_HCINTMSK_DTERRM_Pos              (10U)
+#define USB_OTG_HCINTMSK_DTERRM_Msk              (0x1UL << USB_OTG_HCINTMSK_DTERRM_Pos) /*!< 0x00000400 */
+#define USB_OTG_HCINTMSK_DTERRM                  USB_OTG_HCINTMSK_DTERRM_Msk   /*!< Data toggle error mask */
+
+/********************  Bit definition for USB_OTG_DIEPTSIZ register  ********************/
+
+#define USB_OTG_DIEPTSIZ_XFRSIZ_Pos              (0U)
+#define USB_OTG_DIEPTSIZ_XFRSIZ_Msk              (0x7FFFFUL << USB_OTG_DIEPTSIZ_XFRSIZ_Pos) /*!< 0x0007FFFF */
+#define USB_OTG_DIEPTSIZ_XFRSIZ                  USB_OTG_DIEPTSIZ_XFRSIZ_Msk   /*!< Transfer size */
+#define USB_OTG_DIEPTSIZ_PKTCNT_Pos              (19U)
+#define USB_OTG_DIEPTSIZ_PKTCNT_Msk              (0x3FFUL << USB_OTG_DIEPTSIZ_PKTCNT_Pos) /*!< 0x1FF80000 */
+#define USB_OTG_DIEPTSIZ_PKTCNT                  USB_OTG_DIEPTSIZ_PKTCNT_Msk   /*!< Packet count */
+#define USB_OTG_DIEPTSIZ_MULCNT_Pos              (29U)
+#define USB_OTG_DIEPTSIZ_MULCNT_Msk              (0x3UL << USB_OTG_DIEPTSIZ_MULCNT_Pos) /*!< 0x60000000 */
+#define USB_OTG_DIEPTSIZ_MULCNT                  USB_OTG_DIEPTSIZ_MULCNT_Msk   /*!< Packet count */
+/********************  Bit definition forUSB_OTG_HCTSIZ register  ********************/
+#define USB_OTG_HCTSIZ_XFRSIZ_Pos                (0U)
+#define USB_OTG_HCTSIZ_XFRSIZ_Msk                (0x7FFFFUL << USB_OTG_HCTSIZ_XFRSIZ_Pos) /*!< 0x0007FFFF */
+#define USB_OTG_HCTSIZ_XFRSIZ                    USB_OTG_HCTSIZ_XFRSIZ_Msk     /*!< Transfer size */
+#define USB_OTG_HCTSIZ_PKTCNT_Pos                (19U)
+#define USB_OTG_HCTSIZ_PKTCNT_Msk                (0x3FFUL << USB_OTG_HCTSIZ_PKTCNT_Pos) /*!< 0x1FF80000 */
+#define USB_OTG_HCTSIZ_PKTCNT                    USB_OTG_HCTSIZ_PKTCNT_Msk     /*!< Packet count */
+#define USB_OTG_HCTSIZ_DOPING_Pos                (31U)
+#define USB_OTG_HCTSIZ_DOPING_Msk                (0x1UL << USB_OTG_HCTSIZ_DOPING_Pos) /*!< 0x80000000 */
+#define USB_OTG_HCTSIZ_DOPING                    USB_OTG_HCTSIZ_DOPING_Msk     /*!< Do PING */
+#define USB_OTG_HCTSIZ_DPID_Pos                  (29U)
+#define USB_OTG_HCTSIZ_DPID_Msk                  (0x3UL << USB_OTG_HCTSIZ_DPID_Pos) /*!< 0x60000000 */
+#define USB_OTG_HCTSIZ_DPID                      USB_OTG_HCTSIZ_DPID_Msk       /*!< Data PID */
+#define USB_OTG_HCTSIZ_DPID_0                    (0x1UL << USB_OTG_HCTSIZ_DPID_Pos) /*!< 0x20000000 */
+#define USB_OTG_HCTSIZ_DPID_1                    (0x2UL << USB_OTG_HCTSIZ_DPID_Pos) /*!< 0x40000000 */
+
+/********************  Bit definition forUSB_OTG_DIEPDMA register  ********************/
+#define USB_OTG_DIEPDMA_DMAADDR_Pos              (0U)
+#define USB_OTG_DIEPDMA_DMAADDR_Msk              (0xFFFFFFFFUL << USB_OTG_DIEPDMA_DMAADDR_Pos) /*!< 0xFFFFFFFF */
+#define USB_OTG_DIEPDMA_DMAADDR                  USB_OTG_DIEPDMA_DMAADDR_Msk   /*!< DMA address */
+
+/********************  Bit definition forUSB_OTG_HCDMA register  ********************/
+#define USB_OTG_HCDMA_DMAADDR_Pos                (0U)
+#define USB_OTG_HCDMA_DMAADDR_Msk                (0xFFFFFFFFUL << USB_OTG_HCDMA_DMAADDR_Pos) /*!< 0xFFFFFFFF */
+#define USB_OTG_HCDMA_DMAADDR                    USB_OTG_HCDMA_DMAADDR_Msk     /*!< DMA address */
+
+/********************  Bit definition forUSB_OTG_DTXFSTS register  ********************/
+#define USB_OTG_DTXFSTS_INEPTFSAV_Pos            (0U)
+#define USB_OTG_DTXFSTS_INEPTFSAV_Msk            (0xFFFFUL << USB_OTG_DTXFSTS_INEPTFSAV_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DTXFSTS_INEPTFSAV                USB_OTG_DTXFSTS_INEPTFSAV_Msk /*!< IN endpoint TxFIFO space available */
+
+/********************  Bit definition forUSB_OTG_DIEPTXF register  ********************/
+#define USB_OTG_DIEPTXF_INEPTXSA_Pos             (0U)
+#define USB_OTG_DIEPTXF_INEPTXSA_Msk             (0xFFFFUL << USB_OTG_DIEPTXF_INEPTXSA_Pos) /*!< 0x0000FFFF */
+#define USB_OTG_DIEPTXF_INEPTXSA                 USB_OTG_DIEPTXF_INEPTXSA_Msk  /*!< IN endpoint FIFOx transmit RAM start address */
+#define USB_OTG_DIEPTXF_INEPTXFD_Pos             (16U)
+#define USB_OTG_DIEPTXF_INEPTXFD_Msk             (0xFFFFUL << USB_OTG_DIEPTXF_INEPTXFD_Pos) /*!< 0xFFFF0000 */
+#define USB_OTG_DIEPTXF_INEPTXFD                 USB_OTG_DIEPTXF_INEPTXFD_Msk  /*!< IN endpoint TxFIFO depth */
+
+/********************  Bit definition forUSB_OTG_DOEPCTL register  ********************/
+
+#define USB_OTG_DOEPCTL_MPSIZ_Pos                (0U)
+#define USB_OTG_DOEPCTL_MPSIZ_Msk                (0x7FFUL << USB_OTG_DOEPCTL_MPSIZ_Pos) /*!< 0x000007FF */
+#define USB_OTG_DOEPCTL_MPSIZ                    USB_OTG_DOEPCTL_MPSIZ_Msk     /*!< Maximum packet size */          /*!<Bit 1 */
+#define USB_OTG_DOEPCTL_USBAEP_Pos               (15U)
+#define USB_OTG_DOEPCTL_USBAEP_Msk               (0x1UL << USB_OTG_DOEPCTL_USBAEP_Pos) /*!< 0x00008000 */
+#define USB_OTG_DOEPCTL_USBAEP                   USB_OTG_DOEPCTL_USBAEP_Msk    /*!< USB active endpoint */
+#define USB_OTG_DOEPCTL_NAKSTS_Pos               (17U)
+#define USB_OTG_DOEPCTL_NAKSTS_Msk               (0x1UL << USB_OTG_DOEPCTL_NAKSTS_Pos) /*!< 0x00020000 */
+#define USB_OTG_DOEPCTL_NAKSTS                   USB_OTG_DOEPCTL_NAKSTS_Msk    /*!< NAK status */
+#define USB_OTG_DOEPCTL_SD0PID_SEVNFRM_Pos       (28U)
+#define USB_OTG_DOEPCTL_SD0PID_SEVNFRM_Msk       (0x1UL << USB_OTG_DOEPCTL_SD0PID_SEVNFRM_Pos) /*!< 0x10000000 */
+#define USB_OTG_DOEPCTL_SD0PID_SEVNFRM           USB_OTG_DOEPCTL_SD0PID_SEVNFRM_Msk /*!< Set DATA0 PID */
+#define USB_OTG_DOEPCTL_SODDFRM_Pos              (29U)
+#define USB_OTG_DOEPCTL_SODDFRM_Msk              (0x1UL << USB_OTG_DOEPCTL_SODDFRM_Pos) /*!< 0x20000000 */
+#define USB_OTG_DOEPCTL_SODDFRM                  USB_OTG_DOEPCTL_SODDFRM_Msk   /*!< Set odd frame */
+#define USB_OTG_DOEPCTL_EPTYP_Pos                (18U)
+#define USB_OTG_DOEPCTL_EPTYP_Msk                (0x3UL << USB_OTG_DOEPCTL_EPTYP_Pos) /*!< 0x000C0000 */
+#define USB_OTG_DOEPCTL_EPTYP                    USB_OTG_DOEPCTL_EPTYP_Msk     /*!< Endpoint type */
+#define USB_OTG_DOEPCTL_EPTYP_0                  (0x1UL << USB_OTG_DOEPCTL_EPTYP_Pos) /*!< 0x00040000 */
+#define USB_OTG_DOEPCTL_EPTYP_1                  (0x2UL << USB_OTG_DOEPCTL_EPTYP_Pos) /*!< 0x00080000 */
+#define USB_OTG_DOEPCTL_SNPM_Pos                 (20U)
+#define USB_OTG_DOEPCTL_SNPM_Msk                 (0x1UL << USB_OTG_DOEPCTL_SNPM_Pos) /*!< 0x00100000 */
+#define USB_OTG_DOEPCTL_SNPM                     USB_OTG_DOEPCTL_SNPM_Msk      /*!< Snoop mode */
+#define USB_OTG_DOEPCTL_STALL_Pos                (21U)
+#define USB_OTG_DOEPCTL_STALL_Msk                (0x1UL << USB_OTG_DOEPCTL_STALL_Pos) /*!< 0x00200000 */
+#define USB_OTG_DOEPCTL_STALL                    USB_OTG_DOEPCTL_STALL_Msk     /*!< STALL handshake */
+#define USB_OTG_DOEPCTL_CNAK_Pos                 (26U)
+#define USB_OTG_DOEPCTL_CNAK_Msk                 (0x1UL << USB_OTG_DOEPCTL_CNAK_Pos) /*!< 0x04000000 */
+#define USB_OTG_DOEPCTL_CNAK                     USB_OTG_DOEPCTL_CNAK_Msk      /*!< Clear NAK */
+#define USB_OTG_DOEPCTL_SNAK_Pos                 (27U)
+#define USB_OTG_DOEPCTL_SNAK_Msk                 (0x1UL << USB_OTG_DOEPCTL_SNAK_Pos) /*!< 0x08000000 */
+#define USB_OTG_DOEPCTL_SNAK                     USB_OTG_DOEPCTL_SNAK_Msk      /*!< Set NAK */
+#define USB_OTG_DOEPCTL_EPDIS_Pos                (30U)
+#define USB_OTG_DOEPCTL_EPDIS_Msk                (0x1UL << USB_OTG_DOEPCTL_EPDIS_Pos) /*!< 0x40000000 */
+#define USB_OTG_DOEPCTL_EPDIS                    USB_OTG_DOEPCTL_EPDIS_Msk     /*!< Endpoint disable */
+#define USB_OTG_DOEPCTL_EPENA_Pos                (31U)
+#define USB_OTG_DOEPCTL_EPENA_Msk                (0x1UL << USB_OTG_DOEPCTL_EPENA_Pos) /*!< 0x80000000 */
+#define USB_OTG_DOEPCTL_EPENA                    USB_OTG_DOEPCTL_EPENA_Msk     /*!< Endpoint enable */
+
+/********************  Bit definition forUSB_OTG_DOEPINT register  ********************/
+#define USB_OTG_DOEPINT_XFRC_Pos                 (0U)
+#define USB_OTG_DOEPINT_XFRC_Msk                 (0x1UL << USB_OTG_DOEPINT_XFRC_Pos) /*!< 0x00000001 */
+#define USB_OTG_DOEPINT_XFRC                     USB_OTG_DOEPINT_XFRC_Msk      /*!< Transfer completed interrupt */
+#define USB_OTG_DOEPINT_EPDISD_Pos               (1U)
+#define USB_OTG_DOEPINT_EPDISD_Msk               (0x1UL << USB_OTG_DOEPINT_EPDISD_Pos) /*!< 0x00000002 */
+#define USB_OTG_DOEPINT_EPDISD                   USB_OTG_DOEPINT_EPDISD_Msk    /*!< Endpoint disabled interrupt */
+#define USB_OTG_DOEPINT_AHBERR_Pos               (2U)
+#define USB_OTG_DOEPINT_AHBERR_Msk               (0x1UL << USB_OTG_DOEPINT_AHBERR_Pos) /*!< 0x00000004 */
+#define USB_OTG_DOEPINT_AHBERR                   USB_OTG_DOEPINT_AHBERR_Msk   /*!< AHB Error (AHBErr) during an OUT transaction */
+#define USB_OTG_DOEPINT_STUP_Pos                 (3U)
+#define USB_OTG_DOEPINT_STUP_Msk                 (0x1UL << USB_OTG_DOEPINT_STUP_Pos) /*!< 0x00000008 */
+#define USB_OTG_DOEPINT_STUP                     USB_OTG_DOEPINT_STUP_Msk      /*!< SETUP phase done */
+#define USB_OTG_DOEPINT_OTEPDIS_Pos              (4U)
+#define USB_OTG_DOEPINT_OTEPDIS_Msk              (0x1UL << USB_OTG_DOEPINT_OTEPDIS_Pos) /*!< 0x00000010 */
+#define USB_OTG_DOEPINT_OTEPDIS                  USB_OTG_DOEPINT_OTEPDIS_Msk   /*!< OUT token received when endpoint disabled */
+#define USB_OTG_DOEPINT_OTEPSPR_Pos              (5U)
+#define USB_OTG_DOEPINT_OTEPSPR_Msk              (0x1UL << USB_OTG_DOEPINT_OTEPSPR_Pos) /*!< 0x00000020 */
+#define USB_OTG_DOEPINT_OTEPSPR                  USB_OTG_DOEPINT_OTEPSPR_Msk   /*!< OUT Status Phase Received interrupt */
+#define USB_OTG_DOEPINT_B2BSTUP_Pos              (6U)
+#define USB_OTG_DOEPINT_B2BSTUP_Msk              (0x1UL << USB_OTG_DOEPINT_B2BSTUP_Pos) /*!< 0x00000040 */
+#define USB_OTG_DOEPINT_B2BSTUP                  USB_OTG_DOEPINT_B2BSTUP_Msk   /*!< Back-to-back SETUP packets received */
+#define USB_OTG_DOEPINT_OUTPKTERR_Pos            (8U)
+#define USB_OTG_DOEPINT_OUTPKTERR_Msk            (0x1UL << USB_OTG_DOEPINT_OUTPKTERR_Pos) /*!< 0x00000100 */
+#define USB_OTG_DOEPINT_OUTPKTERR                USB_OTG_DOEPINT_OUTPKTERR_Msk   /*!< OUT packet error */
+#define USB_OTG_DOEPINT_BNA_Pos                  (9U)
+#define USB_OTG_DOEPINT_BNA_Msk                  (0x1UL << USB_OTG_DOEPINT_BNA_Pos) /*!< 0x00000200 */
+#define USB_OTG_DOEPINT_BNA                      USB_OTG_DOEPINT_BNA_Msk   /*!< Buffer not available interrupt */
+#define USB_OTG_DOEPINT_BERR_Pos                 (12U)
+#define USB_OTG_DOEPINT_BERR_Msk                 (0x1UL << USB_OTG_DOEPINT_BERR_Pos) /*!< 0x00001000 */
+#define USB_OTG_DOEPINT_BERR                      USB_OTG_DOEPINT_BERR_Msk   /*!< Babble error interrupt */
+#define USB_OTG_DOEPINT_NAK_Pos                  (13U)
+#define USB_OTG_DOEPINT_NAK_Msk                  (0x1UL << USB_OTG_DOEPINT_NAK_Pos) /*!< 0x00002000 */
+#define USB_OTG_DOEPINT_NAK                      USB_OTG_DOEPINT_NAK_Msk   /*!< NAK Packet is transmitted by the device */
+#define USB_OTG_DOEPINT_NYET_Pos                 (14U)
+#define USB_OTG_DOEPINT_NYET_Msk                 (0x1UL << USB_OTG_DOEPINT_NYET_Pos) /*!< 0x00004000 */
+#define USB_OTG_DOEPINT_NYET                     USB_OTG_DOEPINT_NYET_Msk      /*!< NYET interrupt */
+#define USB_OTG_DOEPINT_STPKTRX_Pos              (15U)
+#define USB_OTG_DOEPINT_STPKTRX_Msk              (0x1UL << USB_OTG_DOEPINT_STPKTRX_Pos) /*!< 0x00008000 */
+#define USB_OTG_DOEPINT_STPKTRX                  USB_OTG_DOEPINT_STPKTRX_Msk   /*!< Setup Packet Received */
+
+/********************  Bit definition forUSB_OTG_DOEPTSIZ register  ********************/
+
+#define USB_OTG_DOEPTSIZ_XFRSIZ_Pos              (0U)
+#define USB_OTG_DOEPTSIZ_XFRSIZ_Msk              (0x7FFFFUL << USB_OTG_DOEPTSIZ_XFRSIZ_Pos) /*!< 0x0007FFFF */
+#define USB_OTG_DOEPTSIZ_XFRSIZ                  USB_OTG_DOEPTSIZ_XFRSIZ_Msk   /*!< Transfer size */
+#define USB_OTG_DOEPTSIZ_PKTCNT_Pos              (19U)
+#define USB_OTG_DOEPTSIZ_PKTCNT_Msk              (0x3FFUL << USB_OTG_DOEPTSIZ_PKTCNT_Pos) /*!< 0x1FF80000 */
+#define USB_OTG_DOEPTSIZ_PKTCNT                  USB_OTG_DOEPTSIZ_PKTCNT_Msk   /*!< Packet count */
+
+#define USB_OTG_DOEPTSIZ_STUPCNT_Pos             (29U)
+#define USB_OTG_DOEPTSIZ_STUPCNT_Msk             (0x3UL << USB_OTG_DOEPTSIZ_STUPCNT_Pos) /*!< 0x60000000 */
+#define USB_OTG_DOEPTSIZ_STUPCNT                 USB_OTG_DOEPTSIZ_STUPCNT_Msk  /*!< SETUP packet count */
+#define USB_OTG_DOEPTSIZ_STUPCNT_0               (0x1UL << USB_OTG_DOEPTSIZ_STUPCNT_Pos) /*!< 0x20000000 */
+#define USB_OTG_DOEPTSIZ_STUPCNT_1               (0x2UL << USB_OTG_DOEPTSIZ_STUPCNT_Pos) /*!< 0x40000000 */
+
+/********************  Bit definition for PCGCCTL register  ********************/
+#define USB_OTG_PCGCCTL_STOPCLK_Pos              (0U)
+#define USB_OTG_PCGCCTL_STOPCLK_Msk              (0x1UL << USB_OTG_PCGCCTL_STOPCLK_Pos) /*!< 0x00000001 */
+#define USB_OTG_PCGCCTL_STOPCLK                  USB_OTG_PCGCCTL_STOPCLK_Msk   /*!< SETUP packet count */
+#define USB_OTG_PCGCCTL_GATECLK_Pos              (1U)
+#define USB_OTG_PCGCCTL_GATECLK_Msk              (0x1UL << USB_OTG_PCGCCTL_GATECLK_Pos) /*!< 0x00000002 */
+#define USB_OTG_PCGCCTL_GATECLK                  USB_OTG_PCGCCTL_GATECLK_Msk   /*!<Bit 0 */
+#define USB_OTG_PCGCCTL_PHYSUSP_Pos              (4U)
+#define USB_OTG_PCGCCTL_PHYSUSP_Msk              (0x1UL << USB_OTG_PCGCCTL_PHYSUSP_Pos) /*!< 0x00000010 */
+#define USB_OTG_PCGCCTL_PHYSUSP                  USB_OTG_PCGCCTL_PHYSUSP_Msk   /*!<Bit 1 */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup Exported_macros
+  * @{
+  */
+
+/******************************* ADC Instances ********************************/
+#define IS_ADC_ALL_INSTANCE(INSTANCE) (((INSTANCE) == ADC1) || \
+                                       ((INSTANCE) == ADC2) || \
+                                       ((INSTANCE) == ADC3))
+
+#define IS_ADC_MULTIMODE_MASTER_INSTANCE(INSTANCE) ((INSTANCE) == ADC1)
+
+#define IS_ADC_COMMON_INSTANCE(INSTANCE) (((INSTANCE) == ADC12_COMMON) ||\
+                                          ((INSTANCE) == ADC3_COMMON))
+
+/******************************* CORDIC Instances *****************************/
+#define IS_CORDIC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == CORDIC)
+
+/******************************** FMAC Instances ******************************/
+#define IS_FMAC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == FMAC)
+
+/******************************** COMP Instances ******************************/
+#define IS_COMP_ALL_INSTANCE(INSTANCE) (((INSTANCE) == COMP1) || \
+                                       ((INSTANCE) == COMP2))
+
+#define IS_COMP_COMMON_INSTANCE(INSTANCE) ((INSTANCE) == COMP12_COMMON)
+/******************** COMP Instances with window mode capability **************/
+#define IS_COMP_WINDOWMODE_INSTANCE(INSTANCE) ((INSTANCE) == COMP2)
+
+/******************************** DTS Instances ******************************/
+#define IS_DTS_ALL_INSTANCE(INSTANCE) ((INSTANCE) == DTS)
+
+/******************************* CRC Instances ********************************/
+#define IS_CRC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == CRC)
+
+/******************************* DAC Instances ********************************/
+#define IS_DAC_ALL_INSTANCE(INSTANCE) ((INSTANCE) == DAC1)
+/******************************* DCMI Instances *******************************/
+#define IS_DCMI_ALL_INSTANCE(__INSTANCE__) ((__INSTANCE__) == DCMI)
+
+/******************************* DELAYBLOCK Instances *******************************/
+#define IS_DLYB_ALL_INSTANCE(INSTANCE)  (((INSTANCE) == DLYB_SDMMC1) || \
+                                         ((INSTANCE) == DLYB_SDMMC2) || \
+                                         ((INSTANCE) == DLYB_OCTOSPI1) || \
+                                         ((INSTANCE) == DLYB_OCTOSPI2) )
+/****************************** DFSDM Instances *******************************/
+#define IS_DFSDM_FILTER_ALL_INSTANCE(INSTANCE) (((INSTANCE) == DFSDM1_Filter0) || \
+                                               ((INSTANCE) == DFSDM1_Filter1) || \
+                                               ((INSTANCE) == DFSDM1_Filter2) || \
+                                               ((INSTANCE) == DFSDM1_Filter3))
+
+#define IS_DFSDM_CHANNEL_ALL_INSTANCE(INSTANCE) (((INSTANCE) == DFSDM1_Channel0) || \
+                                                 ((INSTANCE) == DFSDM1_Channel1) || \
+                                                 ((INSTANCE) == DFSDM1_Channel2) || \
+                                                 ((INSTANCE) == DFSDM1_Channel3) || \
+                                                 ((INSTANCE) == DFSDM1_Channel4) || \
+                                                 ((INSTANCE) == DFSDM1_Channel5) || \
+                                                 ((INSTANCE) == DFSDM1_Channel6) || \
+                                                 ((INSTANCE) == DFSDM1_Channel7))
+/****************************** RAMECC Instances ******************************/
+#define IS_RAMECC_MONITOR_ALL_INSTANCE(INSTANCE) (((INSTANCE) == RAMECC1_Monitor1)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor2)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor3)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor4)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor5)   || \
+                                                  ((INSTANCE) == RAMECC1_Monitor6)   || \
+                                                  ((INSTANCE) == RAMECC2_Monitor1)   || \
+                                                  ((INSTANCE) == RAMECC2_Monitor2)   || \
+                                                  ((INSTANCE) == RAMECC2_Monitor3)   || \
+                                                  ((INSTANCE) == RAMECC3_Monitor1)   || \
+                                                  ((INSTANCE) == RAMECC3_Monitor2))
+
+/******************************** DMA Instances *******************************/
+#define IS_DMA_ALL_INSTANCE(INSTANCE) (((INSTANCE) == DMA1_Stream0)   || \
+                                       ((INSTANCE) == DMA1_Stream1)   || \
+                                       ((INSTANCE) == DMA1_Stream2)   || \
+                                       ((INSTANCE) == DMA1_Stream3)   || \
+                                       ((INSTANCE) == DMA1_Stream4)   || \
+                                       ((INSTANCE) == DMA1_Stream5)   || \
+                                       ((INSTANCE) == DMA1_Stream6)   || \
+                                       ((INSTANCE) == DMA1_Stream7)   || \
+                                       ((INSTANCE) == DMA2_Stream0)   || \
+                                       ((INSTANCE) == DMA2_Stream1)   || \
+                                       ((INSTANCE) == DMA2_Stream2)   || \
+                                       ((INSTANCE) == DMA2_Stream3)   || \
+                                       ((INSTANCE) == DMA2_Stream4)   || \
+                                       ((INSTANCE) == DMA2_Stream5)   || \
+                                       ((INSTANCE) == DMA2_Stream6)   || \
+                                       ((INSTANCE) == DMA2_Stream7)   || \
+                                       ((INSTANCE) == BDMA_Channel0) || \
+                                       ((INSTANCE) == BDMA_Channel1) || \
+                                       ((INSTANCE) == BDMA_Channel2) || \
+                                       ((INSTANCE) == BDMA_Channel3) || \
+                                       ((INSTANCE) == BDMA_Channel4) || \
+                                       ((INSTANCE) == BDMA_Channel5) || \
+                                       ((INSTANCE) == BDMA_Channel6) || \
+                                       ((INSTANCE) == BDMA_Channel7))
+
+/****************************** BDMA CHANNEL Instances ***************************/
+#define IS_BDMA_CHANNEL_INSTANCE(INSTANCE) (((INSTANCE) == BDMA_Channel0) || \
+                                            ((INSTANCE) == BDMA_Channel1) || \
+                                            ((INSTANCE) == BDMA_Channel2) || \
+                                            ((INSTANCE) == BDMA_Channel3) || \
+                                            ((INSTANCE) == BDMA_Channel4) || \
+                                            ((INSTANCE) == BDMA_Channel5) || \
+                                            ((INSTANCE) == BDMA_Channel6) || \
+                                            ((INSTANCE) == BDMA_Channel7))
+
+/****************************** DMA DMAMUX ALL Instances ***************************/
+#define IS_DMA_DMAMUX_ALL_INSTANCE(INSTANCE)  (((INSTANCE) == DMA1_Stream0)    || \
+                                               ((INSTANCE) == DMA1_Stream1)    || \
+                                               ((INSTANCE) == DMA1_Stream2)    || \
+                                               ((INSTANCE) == DMA1_Stream3)    || \
+                                               ((INSTANCE) == DMA1_Stream4)    || \
+                                               ((INSTANCE) == DMA1_Stream5)    || \
+                                               ((INSTANCE) == DMA1_Stream6)    || \
+                                               ((INSTANCE) == DMA1_Stream7)    || \
+                                               ((INSTANCE) == DMA2_Stream0)    || \
+                                               ((INSTANCE) == DMA2_Stream1)    || \
+                                               ((INSTANCE) == DMA2_Stream2)    || \
+                                               ((INSTANCE) == DMA2_Stream3)    || \
+                                               ((INSTANCE) == DMA2_Stream4)    || \
+                                               ((INSTANCE) == DMA2_Stream5)    || \
+                                               ((INSTANCE) == DMA2_Stream6)    || \
+                                               ((INSTANCE) == DMA2_Stream7)    || \
+                                               ((INSTANCE) == BDMA_Channel0)   || \
+                                               ((INSTANCE) == BDMA_Channel1)   || \
+                                               ((INSTANCE) == BDMA_Channel2)   || \
+                                               ((INSTANCE) == BDMA_Channel3)   || \
+                                               ((INSTANCE) == BDMA_Channel4)   || \
+                                               ((INSTANCE) == BDMA_Channel5)   || \
+                                               ((INSTANCE) == BDMA_Channel6)   || \
+                                               ((INSTANCE) == BDMA_Channel7))
+
+/****************************** BDMA DMAMUX Instances ***************************/
+#define IS_BDMA_CHANNEL_DMAMUX_INSTANCE(INSTANCE)  (((INSTANCE) == BDMA_Channel0) || \
+                                                    ((INSTANCE) == BDMA_Channel1) || \
+                                                    ((INSTANCE) == BDMA_Channel2) || \
+                                                    ((INSTANCE) == BDMA_Channel3) || \
+                                                    ((INSTANCE) == BDMA_Channel4) || \
+                                                    ((INSTANCE) == BDMA_Channel5) || \
+                                                    ((INSTANCE) == BDMA_Channel6) || \
+                                                    ((INSTANCE) == BDMA_Channel7))
+
+/****************************** DMA STREAM Instances ***************************/
+#define IS_DMA_STREAM_INSTANCE(INSTANCE) (((INSTANCE) == DMA1_Stream0)   || \
+                                          ((INSTANCE) == DMA1_Stream1)   || \
+                                          ((INSTANCE) == DMA1_Stream2)   || \
+                                          ((INSTANCE) == DMA1_Stream3)   || \
+                                          ((INSTANCE) == DMA1_Stream4)   || \
+                                          ((INSTANCE) == DMA1_Stream5)   || \
+                                          ((INSTANCE) == DMA1_Stream6)   || \
+                                          ((INSTANCE) == DMA1_Stream7)   || \
+                                          ((INSTANCE) == DMA2_Stream0)   || \
+                                          ((INSTANCE) == DMA2_Stream1)   || \
+                                          ((INSTANCE) == DMA2_Stream2)   || \
+                                          ((INSTANCE) == DMA2_Stream3)   || \
+                                          ((INSTANCE) == DMA2_Stream4)   || \
+                                          ((INSTANCE) == DMA2_Stream5)   || \
+                                          ((INSTANCE) == DMA2_Stream6)   || \
+                                          ((INSTANCE) == DMA2_Stream7))
+
+/****************************** DMA DMAMUX Instances ***************************/
+#define IS_DMA_STREAM_DMAMUX_INSTANCE(INSTANCE)  (((INSTANCE) == DMA1_Stream0)   || \
+                                                  ((INSTANCE) == DMA1_Stream1)   || \
+                                                  ((INSTANCE) == DMA1_Stream2)   || \
+                                                  ((INSTANCE) == DMA1_Stream3)   || \
+                                                  ((INSTANCE) == DMA1_Stream4)   || \
+                                                  ((INSTANCE) == DMA1_Stream5)   || \
+                                                  ((INSTANCE) == DMA1_Stream6)   || \
+                                                  ((INSTANCE) == DMA1_Stream7)   || \
+                                                  ((INSTANCE) == DMA2_Stream0)   || \
+                                                  ((INSTANCE) == DMA2_Stream1)   || \
+                                                  ((INSTANCE) == DMA2_Stream2)   || \
+                                                  ((INSTANCE) == DMA2_Stream3)   || \
+                                                  ((INSTANCE) == DMA2_Stream4)   || \
+                                                  ((INSTANCE) == DMA2_Stream5)   || \
+                                                  ((INSTANCE) == DMA2_Stream6)   || \
+                                                  ((INSTANCE) == DMA2_Stream7))
+
+/******************************** DMA Request Generator Instances **************/
+#define IS_DMA_REQUEST_GEN_ALL_INSTANCE(INSTANCE) (((INSTANCE) == DMAMUX1_RequestGenerator0) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator1) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator2) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator3) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator4) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator5) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator6) || \
+                                                   ((INSTANCE) == DMAMUX1_RequestGenerator7) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator0) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator1) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator2) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator3) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator4) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator5) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator6) || \
+                                                   ((INSTANCE) == DMAMUX2_RequestGenerator7))
+
+/******************************* DMA2D Instances *******************************/
+#define IS_DMA2D_ALL_INSTANCE(__INSTANCE__) ((__INSTANCE__) == DMA2D)
+
+/******************************* OTFDEC Instances ******************************/
+#define IS_OTFDEC_ALL_INSTANCE(__INSTANCE__) (((__INSTANCE__) == OTFDEC1) || \
+                                              ((__INSTANCE__) == OTFDEC2))
+
+/****************************** PSSI Instance *********************************/
+#define IS_PSSI_ALL_INSTANCE(INSTANCE) ((INSTANCE) == PSSI)
+
+/******************************** MDMA Request Generator Instances **************/
+#define IS_MDMA_STREAM_ALL_INSTANCE(INSTANCE) (((INSTANCE) == MDMA_Channel0)  || \
+                                               ((INSTANCE) == MDMA_Channel1)  || \
+                                               ((INSTANCE) == MDMA_Channel2)  || \
+                                               ((INSTANCE) == MDMA_Channel3)  || \
+                                               ((INSTANCE) == MDMA_Channel4)  || \
+                                               ((INSTANCE) == MDMA_Channel5)  || \
+                                               ((INSTANCE) == MDMA_Channel6)  || \
+                                               ((INSTANCE) == MDMA_Channel7)  || \
+                                               ((INSTANCE) == MDMA_Channel8)  || \
+                                               ((INSTANCE) == MDMA_Channel9)  || \
+                                               ((INSTANCE) == MDMA_Channel10) || \
+                                               ((INSTANCE) == MDMA_Channel11) || \
+                                               ((INSTANCE) == MDMA_Channel12) || \
+                                               ((INSTANCE) == MDMA_Channel13) || \
+                                               ((INSTANCE) == MDMA_Channel14) || \
+                                               ((INSTANCE) == MDMA_Channel15))
+
+
+/******************************* FDCAN Instances ******************************/
+#define IS_FDCAN_ALL_INSTANCE(__INSTANCE__) (((__INSTANCE__) == FDCAN1) || \
+                                             ((__INSTANCE__) == FDCAN2) || \
+                                             ((__INSTANCE__) == FDCAN3))
+
+#define IS_FDCAN_TT_INSTANCE(__INSTANCE__) ((__INSTANCE__) == FDCAN1)
+
+/******************************* GPIO Instances *******************************/
+#define IS_GPIO_ALL_INSTANCE(INSTANCE) (((INSTANCE) == GPIOA) || \
+                                        ((INSTANCE) == GPIOB) || \
+                                        ((INSTANCE) == GPIOC) || \
+                                        ((INSTANCE) == GPIOD) || \
+                                        ((INSTANCE) == GPIOE) || \
+                                        ((INSTANCE) == GPIOF) || \
+                                        ((INSTANCE) == GPIOG) || \
+                                        ((INSTANCE) == GPIOH) || \
+                                        ((INSTANCE) == GPIOJ) || \
+                                        ((INSTANCE) == GPIOK))
+
+/******************************* GPIO AF Instances ****************************/
+#define IS_GPIO_AF_INSTANCE(INSTANCE)   IS_GPIO_ALL_INSTANCE(INSTANCE)
+
+/**************************** GPIO Lock Instances *****************************/
+/* On H7, all GPIO Bank support the Lock mechanism */
+#define IS_GPIO_LOCK_INSTANCE(INSTANCE) IS_GPIO_ALL_INSTANCE(INSTANCE)
+
+/******************************** HSEM Instances *******************************/
+#define IS_HSEM_ALL_INSTANCE(INSTANCE) ((INSTANCE) == HSEM)
+#define HSEM_CPU1_COREID         (0x00000003U) /* Semaphore Core CM7 ID */
+#define HSEM_CR_COREID_CPU1      (HSEM_CPU1_COREID << HSEM_CR_COREID_Pos)
+#define HSEM_CR_COREID_CURRENT   (HSEM_CPU1_COREID << HSEM_CR_COREID_Pos)
+
+#define HSEM_SEMID_MIN     (0U)       /* HSEM ID Min*/
+#define HSEM_SEMID_MAX     (31U)      /* HSEM ID Max */
+
+#define HSEM_PROCESSID_MIN (0U)       /* HSEM Process ID Min */
+#define HSEM_PROCESSID_MAX (255U)     /* HSEM Process ID Max */
+
+#define HSEM_CLEAR_KEY_MIN (0U)       /* HSEM clear Key Min value */
+#define HSEM_CLEAR_KEY_MAX (0xFFFFU)  /* HSEM clear Key Max value */
+
+/******************************** I2C Instances *******************************/
+#define IS_I2C_ALL_INSTANCE(INSTANCE) (((INSTANCE) == I2C1) || \
+                                       ((INSTANCE) == I2C2) || \
+                                       ((INSTANCE) == I2C3) || \
+                                       ((INSTANCE) == I2C4) || \
+                                       ((INSTANCE) == I2C5))
+
+/****************************** SMBUS Instances *******************************/
+#define IS_SMBUS_ALL_INSTANCE(INSTANCE) (((INSTANCE) == I2C1) || \
+                                         ((INSTANCE) == I2C2) || \
+                                         ((INSTANCE) == I2C3) || \
+                                         ((INSTANCE) == I2C4) || \
+                                         ((INSTANCE) == I2C5))
+
+/************** I2C Instances : wakeup capability from stop modes *************/
+#define IS_I2C_WAKEUP_FROMSTOP_INSTANCE(INSTANCE) IS_I2C_ALL_INSTANCE(INSTANCE)
+
+/******************************** I2S Instances *******************************/
+#define IS_I2S_ALL_INSTANCE(INSTANCE)   (((INSTANCE) == SPI1) || \
+                                         ((INSTANCE) == SPI2) || \
+                                         ((INSTANCE) == SPI3))
+
+/****************************** LTDC Instances ********************************/
+#define IS_LTDC_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == LTDC)
+
+/******************************* RNG Instances ********************************/
+#define IS_RNG_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == RNG)
+
+/****************************** RTC Instances *********************************/
+#define IS_RTC_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == RTC)
+
+/****************************** SDMMC Instances *********************************/
+#define IS_SDMMC_ALL_INSTANCE(_INSTANCE_) (((_INSTANCE_) == SDMMC1) || \
+                                           ((_INSTANCE_) == SDMMC2))
+
+/******************************** SPI Instances *******************************/
+#define IS_SPI_ALL_INSTANCE(INSTANCE) (((INSTANCE) == SPI1) || \
+                                       ((INSTANCE) == SPI2) || \
+                                       ((INSTANCE) == SPI3) || \
+                                       ((INSTANCE) == SPI4) || \
+                                       ((INSTANCE) == SPI5) || \
+                                       ((INSTANCE) == SPI6))
+
+#define IS_SPI_HIGHEND_INSTANCE(INSTANCE) (((INSTANCE) == SPI1) || \
+                                           ((INSTANCE) == SPI2) || \
+                                           ((INSTANCE) == SPI3))
+
+/******************************** SWPMI Instances *****************************/
+#define IS_SWPMI_INSTANCE(INSTANCE)  ((INSTANCE) == SWPMI1)
+
+/****************** LPTIM Instances : All supported instances *****************/
+#define IS_LPTIM_INSTANCE(INSTANCE)     (((INSTANCE) == LPTIM1) || \
+                                         ((INSTANCE) == LPTIM2) || \
+                                         ((INSTANCE) == LPTIM3) || \
+                                         ((INSTANCE) == LPTIM4) || \
+                                         ((INSTANCE) == LPTIM5))
+
+/****************** LPTIM Instances : supporting encoder interface **************/
+#define IS_LPTIM_ENCODER_INTERFACE_INSTANCE(INSTANCE)     (((INSTANCE) == LPTIM1) || \
+                                                           ((INSTANCE) == LPTIM2))
+
+/****************** TIM Instances : All supported instances *******************/
+#define IS_TIM_INSTANCE(INSTANCE)       (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM6)   || \
+                                         ((INSTANCE) == TIM7)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM12)  || \
+                                         ((INSTANCE) == TIM13)  || \
+                                         ((INSTANCE) == TIM14)  || \
+                                         ((INSTANCE) == TIM15)  || \
+                                         ((INSTANCE) == TIM16)  || \
+                                         ((INSTANCE) == TIM17)  || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************* TIM Instances : at least 1 capture/compare channel *************/
+#define IS_TIM_CC1_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM12)  || \
+                                         ((INSTANCE) == TIM13)  || \
+                                         ((INSTANCE) == TIM14)  || \
+                                         ((INSTANCE) == TIM15)  || \
+                                         ((INSTANCE) == TIM16)  || \
+                                         ((INSTANCE) == TIM17)  || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************ TIM Instances : at least 2 capture/compare channels *************/
+#define IS_TIM_CC2_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM12)  || \
+                                         ((INSTANCE) == TIM15)  || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************ TIM Instances : at least 3 capture/compare channels *************/
+#define IS_TIM_CC3_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************ TIM Instances : at least 4 capture/compare channels *************/
+#define IS_TIM_CC4_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/************ TIM Instances : at least 5 capture/compare channels *************/
+#define IS_TIM_CC5_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM8))
+/************ TIM Instances : at least 6 capture/compare channels *************/
+#define IS_TIM_CC6_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM8))
+
+/******************** TIM Instances : Advanced-control timers *****************/
+#define IS_TIM_ADVANCED_INSTANCE(__INSTANCE__) (((__INSTANCE__) == TIM1) || \
+                                                ((__INSTANCE__) == TIM8))
+
+/******************** TIM Instances : Advanced-control timers *****************/
+
+/******************* TIM Instances : Timer input XOR function *****************/
+#define IS_TIM_XOR_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                         ((INSTANCE) == TIM2)   || \
+                                         ((INSTANCE) == TIM3)   || \
+                                         ((INSTANCE) == TIM4)   || \
+                                         ((INSTANCE) == TIM5)   || \
+                                         ((INSTANCE) == TIM8)   || \
+                                         ((INSTANCE) == TIM15)  || \
+                                         ((INSTANCE) == TIM23)  || \
+                                         ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : DMA requests generation (UDE) *************/
+#define IS_TIM_DMA_INSTANCE(INSTANCE)     (((INSTANCE) == TIM1)   || \
+                                           ((INSTANCE) == TIM2)   || \
+                                           ((INSTANCE) == TIM3)   || \
+                                           ((INSTANCE) == TIM4)   || \
+                                           ((INSTANCE) == TIM5)   || \
+                                           ((INSTANCE) == TIM6)   || \
+                                           ((INSTANCE) == TIM7)   || \
+                                           ((INSTANCE) == TIM8)   || \
+                                           ((INSTANCE) == TIM15)  || \
+                                           ((INSTANCE) == TIM16)  || \
+                                           ((INSTANCE) == TIM17)  || \
+                                           ((INSTANCE) == TIM23)  || \
+                                           ((INSTANCE) == TIM24))
+
+/************ TIM Instances : DMA requests generation (CCxDE) *****************/
+#define IS_TIM_DMA_CC_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                            ((INSTANCE) == TIM2)   || \
+                                            ((INSTANCE) == TIM3)   || \
+                                            ((INSTANCE) == TIM4)   || \
+                                            ((INSTANCE) == TIM5)   || \
+                                            ((INSTANCE) == TIM8)   || \
+                                            ((INSTANCE) == TIM15)  || \
+                                            ((INSTANCE) == TIM16)  || \
+                                            ((INSTANCE) == TIM17)  || \
+                                            ((INSTANCE) == TIM23)  || \
+                                            ((INSTANCE) == TIM24))
+
+/************ TIM Instances : DMA requests generation (COMDE) *****************/
+#define IS_TIM_CCDMA_INSTANCE(INSTANCE)    (((INSTANCE) == TIM1)   || \
+                                            ((INSTANCE) == TIM2)   || \
+                                            ((INSTANCE) == TIM3)   || \
+                                            ((INSTANCE) == TIM4)   || \
+                                            ((INSTANCE) == TIM5)   || \
+                                            ((INSTANCE) == TIM8)   || \
+                                            ((INSTANCE) == TIM15))
+
+/******************** TIM Instances : DMA burst feature ***********************/
+#define IS_TIM_DMABURST_INSTANCE(INSTANCE) (((INSTANCE) == TIM1)   || \
+                                            ((INSTANCE) == TIM2)   || \
+                                            ((INSTANCE) == TIM3)   || \
+                                            ((INSTANCE) == TIM4)   || \
+                                            ((INSTANCE) == TIM5)   || \
+                                            ((INSTANCE) == TIM8))
+
+/*************** TIM Instances : external trigger reamp input available *******/
+#define IS_TIM_ETR_INSTANCE(INSTANCE)     (((INSTANCE) == TIM1)   || \
+                                           ((INSTANCE) == TIM2)   || \
+                                           ((INSTANCE) == TIM3)   || \
+                                           ((INSTANCE) == TIM4)   || \
+                                           ((INSTANCE) == TIM5)   || \
+                                           ((INSTANCE) == TIM8)   || \
+                                           ((INSTANCE) == TIM23)   || \
+                                           ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : remapping capability **********************/
+#define IS_TIM_REMAP_INSTANCE(INSTANCE) (((INSTANCE) == TIM1)  || \
+                                         ((INSTANCE) == TIM2)  || \
+                                         ((INSTANCE) == TIM3)  || \
+                                         ((INSTANCE) == TIM5)  || \
+                                         ((INSTANCE) == TIM8)  || \
+                                         ((INSTANCE) == TIM16) || \
+                                         ((INSTANCE) == TIM17) || \
+                                         ((INSTANCE) == TIM23) || \
+                                         ((INSTANCE) == TIM24))
+
+/*************** TIM Instances : external trigger reamp input available *******/
+#define IS_TIM_ETRSEL_INSTANCE(INSTANCE)     (((INSTANCE) == TIM1)  || \
+                                              ((INSTANCE) == TIM2)  || \
+                                              ((INSTANCE) == TIM3)  || \
+                                              ((INSTANCE) == TIM5)  || \
+                                              ((INSTANCE) == TIM8)  || \
+                                              ((INSTANCE) == TIM23) || \
+                                              ((INSTANCE) == TIM24)))
+
+/****** TIM Instances : master mode available (TIMx_CR2.MMS available )********/
+#define IS_TIM_MASTER_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                            ((INSTANCE) == TIM2)   || \
+                                            ((INSTANCE) == TIM3)   || \
+                                            ((INSTANCE) == TIM4)   || \
+                                            ((INSTANCE) == TIM5)   || \
+                                            ((INSTANCE) == TIM6)   || \
+                                            ((INSTANCE) == TIM7)   || \
+                                            ((INSTANCE) == TIM8)   || \
+                                            ((INSTANCE) == TIM12)  || \
+                                            ((INSTANCE) == TIM15)  || \
+                                            ((INSTANCE) == TIM23)  || \
+                                            ((INSTANCE) == TIM24))
+
+/****** TIM Instances : Salve mode available (TIMx_SMCR.TS available )*********/
+#define IS_TIM_SLAVE_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                           ((INSTANCE) == TIM2)   || \
+                                           ((INSTANCE) == TIM3)   || \
+                                           ((INSTANCE) == TIM4)   || \
+                                           ((INSTANCE) == TIM5)   || \
+                                           ((INSTANCE) == TIM8)   || \
+                                           ((INSTANCE) == TIM12)  || \
+                                           ((INSTANCE) == TIM15)  || \
+                                           ((INSTANCE) == TIM23)  || \
+                                           ((INSTANCE) == TIM24))
+
+/****** TIM Instances : TRGO2 available (TIMx_CR2.MMS2 available )*********/
+#define IS_TIM_TRGO2_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                           ((INSTANCE) == TIM8))
+
+/****** TIM Instances : TISEL available (TIMx_TISEL available )*********/
+#define IS_TIM_TISEL_INSTANCE(INSTANCE)  (((INSTANCE) == TIM1)   || \
+                                          ((INSTANCE) == TIM2)   || \
+                                          ((INSTANCE) == TIM3)   || \
+                                          ((INSTANCE) == TIM4)   || \
+                                          ((INSTANCE) == TIM5)   || \
+                                          ((INSTANCE) == TIM8)   || \
+                                          ((INSTANCE) == TIM15)  || \
+                                          ((INSTANCE) == TIM16)  || \
+                                          ((INSTANCE) == TIM17)  || \
+                                          ((INSTANCE) == TIM23)  || \
+                                          ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting commutation event *************/
+#define IS_TIM_COMMUTATION_EVENT_INSTANCE(INSTANCE) (((INSTANCE) == TIM1)    || \
+                                                     ((INSTANCE) == TIM8)    || \
+                                                     ((INSTANCE) == TIM15)   || \
+                                                     ((INSTANCE) == TIM16)   || \
+                                                     ((INSTANCE) == TIM17))
+
+/****************** TIM Instances : supporting encoder interface **************/
+#define IS_TIM_ENCODER_INTERFACE_INSTANCE(__INSTANCE__)  (((__INSTANCE__) == TIM1)  || \
+                                                      ((__INSTANCE__) == TIM2)      || \
+                                                      ((__INSTANCE__) == TIM3)      || \
+                                                      ((__INSTANCE__) == TIM4)      || \
+                                                      ((__INSTANCE__) == TIM5)      || \
+                                                      ((__INSTANCE__) == TIM8)      || \
+                                                      ((__INSTANCE__) == TIM23)      || \
+                                                      ((__INSTANCE__) == TIM24))
+
+/****** TIM Instances : TIM_CCR5_GC5C available (TIMx_CCR5.GC5C available )*********/
+#define IS_TIM_COMBINED3PHASEPWM_INSTANCE(INSTANCE)   (((INSTANCE) == TIM1)   || \
+                                                       ((INSTANCE) == TIM8))
+/******************* TIM Instances : output(s) available **********************/
+#define IS_TIM_CCX_INSTANCE(INSTANCE, CHANNEL) \
+    ((((INSTANCE) == TIM1) &&                  \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4) ||          \
+      ((CHANNEL) == TIM_CHANNEL_5) ||          \
+      ((CHANNEL) == TIM_CHANNEL_6)))           \
+     ||                                        \
+     (((INSTANCE) == TIM2) &&                  \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+  ||                                           \
+      (((INSTANCE) == TIM3) &&                 \
+      (((CHANNEL) == TIM_CHANNEL_1)||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+  ||                                           \
+      (((INSTANCE) == TIM4) &&                 \
+      (((CHANNEL) == TIM_CHANNEL_1) ||         \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+  ||                                           \
+      (((INSTANCE) == TIM5) &&                 \
+      (((CHANNEL) == TIM_CHANNEL_1) ||         \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+  ||                                           \
+      (((INSTANCE) == TIM8) &&                 \
+      (((CHANNEL) == TIM_CHANNEL_1) ||         \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4) ||          \
+      ((CHANNEL) == TIM_CHANNEL_5) ||          \
+      ((CHANNEL) == TIM_CHANNEL_6)))           \
+  ||                                           \
+     (((INSTANCE) == TIM12) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2)))           \
+  ||                                           \
+     (((INSTANCE) == TIM13) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1)))           \
+  ||                                           \
+     (((INSTANCE) == TIM14) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1)))           \
+  ||                                           \
+     (((INSTANCE) == TIM15) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+     ((CHANNEL) == TIM_CHANNEL_2)))            \
+  ||                                           \
+     (((INSTANCE) == TIM16) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1)))           \
+  ||                                           \
+     (((INSTANCE) == TIM17) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1)))           \
+     ||                                        \
+     (((INSTANCE) == TIM23) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4)))           \
+     ||                                        \
+     (((INSTANCE) == TIM24) &&                 \
+     (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||          \
+      ((CHANNEL) == TIM_CHANNEL_3) ||          \
+      ((CHANNEL) == TIM_CHANNEL_4))))
+
+/****************** TIM Instances : supporting the break function *************/
+#define IS_TIM_BREAK_INSTANCE(INSTANCE)\
+      (((INSTANCE) == TIM1)    || \
+      ((INSTANCE) == TIM8)     || \
+       ((INSTANCE) == TIM15)   || \
+       ((INSTANCE) == TIM16)   || \
+       ((INSTANCE) == TIM17))
+
+/************** TIM Instances : supporting Break source selection *************/
+#define IS_TIM_BREAKSOURCE_INSTANCE(INSTANCE) (((INSTANCE) == TIM1)   || \
+                                               ((INSTANCE) == TIM8))
+
+/****************** TIM Instances : supporting complementary output(s) ********/
+#define IS_TIM_CCXN_INSTANCE(INSTANCE, CHANNEL) \
+   ((((INSTANCE) == TIM1) &&                    \
+     (((CHANNEL) == TIM_CHANNEL_1) ||           \
+      ((CHANNEL) == TIM_CHANNEL_2) ||           \
+      ((CHANNEL) == TIM_CHANNEL_3)))            \
+ ||                                             \
+      (((INSTANCE) == TIM8) &&                  \
+      (((CHANNEL) == TIM_CHANNEL_1) ||          \
+      ((CHANNEL) == TIM_CHANNEL_2) ||           \
+      ((CHANNEL) == TIM_CHANNEL_3)))            \
+    ||                                          \
+    (((INSTANCE) == TIM15) &&                   \
+      ((CHANNEL) == TIM_CHANNEL_1))             \
+    ||                                          \
+    (((INSTANCE) == TIM16) &&                   \
+     ((CHANNEL) == TIM_CHANNEL_1))              \
+    ||                                          \
+    (((INSTANCE) == TIM17) &&                   \
+     ((CHANNEL) == TIM_CHANNEL_1)))
+
+/****************** TIM Instances : supporting counting mode selection ********/
+#define IS_TIM_COUNTER_MODE_SELECT_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8))
+
+/****************** TIM Instances : supporting repetition counter *************/
+#define IS_TIM_REPETITION_COUNTER_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM15)   || \
+   ((INSTANCE) == TIM16)   || \
+   ((INSTANCE) == TIM17))
+
+/****************** TIM Instances : supporting synchronization ****************/
+#define IS_TIM_SYNCHRO_INSTANCE(__INSTANCE__)\
+    (((__INSTANCE__) == TIM1)    || \
+     ((__INSTANCE__) == TIM2)    || \
+     ((__INSTANCE__) == TIM3)    || \
+     ((__INSTANCE__) == TIM4)    || \
+     ((__INSTANCE__) == TIM5)    || \
+     ((__INSTANCE__) == TIM6)    || \
+     ((__INSTANCE__) == TIM8)    || \
+     ((__INSTANCE__) == TIM12)   || \
+     ((__INSTANCE__) == TIM15)   || \
+     ((__INSTANCE__) == TIM23)   || \
+     ((__INSTANCE__) == TIM24))
+
+/****************** TIM Instances : supporting clock division *****************/
+#define IS_TIM_CLOCK_DIVISION_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM15)   || \
+   ((INSTANCE) == TIM16)   || \
+   ((INSTANCE) == TIM17)   || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting external clock mode 1 for ETRF input */
+#define IS_TIM_CLOCKSOURCE_ETRMODE1_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting external clock mode 2 **********/
+#define IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(INSTANCE)\
+ (((INSTANCE) == TIM1)     || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting external clock mode 1 for TIX inputs*/
+#define IS_TIM_CLOCKSOURCE_TIX_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM15)   || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting internal trigger inputs(ITRX) *******/
+#define IS_TIM_CLOCKSOURCE_ITRX_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3)    || \
+   ((INSTANCE) == TIM4)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM8)    || \
+   ((INSTANCE) == TIM15)   || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : supporting OCxREF clear *******************/
+#define IS_TIM_OCXREF_CLEAR_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM3))
+
+/****************** TIM Instances : TIM_32B_COUNTER ***************************/
+#define IS_TIM_32B_COUNTER_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM2)    || \
+   ((INSTANCE) == TIM5)    || \
+   ((INSTANCE) == TIM23)   || \
+   ((INSTANCE) == TIM24))
+
+/****************** TIM Instances : TIM_BKIN2 ***************************/
+#define IS_TIM_BKIN2_INSTANCE(INSTANCE)\
+  (((INSTANCE) == TIM1)    || \
+   ((INSTANCE) == TIM8))
+
+/****************** TIM Instances : supporting Hall sensor interface **********/
+#define IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(__INSTANCE__) (((__INSTANCE__) == TIM1)  || \
+                                                             ((__INSTANCE__) == TIM2)  || \
+                                                             ((__INSTANCE__) == TIM3)  || \
+                                                             ((__INSTANCE__) == TIM4)  || \
+                                                             ((__INSTANCE__) == TIM5)  || \
+                                                             ((__INSTANCE__) == TIM15) || \
+                                                             ((__INSTANCE__) == TIM8)  || \
+                                                             ((__INSTANCE__) == TIM23) || \
+                                                             ((__INSTANCE__) == TIM24))
+
+/******************** USART Instances : Synchronous mode **********************/
+#define IS_USART_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                     ((INSTANCE) == USART2) || \
+                                     ((INSTANCE) == USART3) || \
+                                     ((INSTANCE) == USART6) || \
+                                     ((INSTANCE) == USART10))
+
+/******************** USART Instances : SPI slave mode ************************/
+#define IS_UART_SPI_SLAVE_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                              ((INSTANCE) == USART2) || \
+                                              ((INSTANCE) == USART3) || \
+                                              ((INSTANCE) == USART6) || \
+                                              ((INSTANCE) == USART10))
+
+/******************** UART Instances : Asynchronous mode **********************/
+#define IS_UART_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                    ((INSTANCE) == USART2) || \
+                                    ((INSTANCE) == USART3) || \
+                                    ((INSTANCE) == UART4)  || \
+                                    ((INSTANCE) == UART5)  || \
+                                    ((INSTANCE) == USART6) || \
+                                    ((INSTANCE) == UART7)  || \
+                                    ((INSTANCE) == UART8)  || \
+                                    ((INSTANCE) == UART9)  || \
+                                    ((INSTANCE) == USART10))
+
+/******************** UART Instances : FIFO mode.******************************/
+#define IS_UART_FIFO_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                         ((INSTANCE) == USART2) || \
+                                         ((INSTANCE) == USART3) || \
+                                         ((INSTANCE) == UART4)  || \
+                                         ((INSTANCE) == UART5)  || \
+                                         ((INSTANCE) == USART6) || \
+                                         ((INSTANCE) == UART7)  || \
+                                         ((INSTANCE) == UART8)  || \
+                                         ((INSTANCE) == UART9)  || \
+                                         ((INSTANCE) == USART10)|| \
+                                         ((INSTANCE) == LPUART1))
+
+/****************** UART Instances : Auto Baud Rate detection *****************/
+#define IS_USART_AUTOBAUDRATE_DETECTION_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                                            ((INSTANCE) == USART2) || \
+                                                            ((INSTANCE) == USART3) || \
+                                                            ((INSTANCE) == UART4)  || \
+                                                            ((INSTANCE) == UART5)  || \
+                                                            ((INSTANCE) == USART6) || \
+                                                            ((INSTANCE) == UART7)  || \
+                                                            ((INSTANCE) == UART8)  || \
+                                                            ((INSTANCE) == UART9)  || \
+                                                            ((INSTANCE) == USART10))
+
+/*********************** UART Instances : Driver Enable ***********************/
+#define IS_UART_DRIVER_ENABLE_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                                  ((INSTANCE) == USART2) || \
+                                                  ((INSTANCE) == USART3) || \
+                                                  ((INSTANCE) == UART4)  || \
+                                                  ((INSTANCE) == UART5)  || \
+                                                  ((INSTANCE) == USART6) || \
+                                                  ((INSTANCE) == UART7)  || \
+                                                  ((INSTANCE) == UART8)  || \
+                                                  ((INSTANCE) == UART9)  || \
+                                                  ((INSTANCE) == USART10)|| \
+                                                  ((INSTANCE) == LPUART1))
+
+/********************* UART Instances : Half-Duplex mode **********************/
+#define IS_UART_HALFDUPLEX_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                               ((INSTANCE) == USART2) || \
+                                               ((INSTANCE) == USART3) || \
+                                               ((INSTANCE) == UART4)  || \
+                                               ((INSTANCE) == UART5)  || \
+                                               ((INSTANCE) == USART6) || \
+                                               ((INSTANCE) == UART7)  || \
+                                               ((INSTANCE) == UART8)  || \
+                                               ((INSTANCE) == UART9)  || \
+                                               ((INSTANCE) == USART10)|| \
+                                               ((INSTANCE) == LPUART1))
+
+/******************* UART Instances : Hardware Flow control *******************/
+#define IS_UART_HWFLOW_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                           ((INSTANCE) == USART2) || \
+                                           ((INSTANCE) == USART3) || \
+                                           ((INSTANCE) == UART4)  || \
+                                           ((INSTANCE) == UART5)  || \
+                                           ((INSTANCE) == USART6) || \
+                                           ((INSTANCE) == UART7)  || \
+                                           ((INSTANCE) == UART8)  || \
+                                           ((INSTANCE) == UART9)  || \
+                                           ((INSTANCE) == USART10)|| \
+                                           ((INSTANCE) == LPUART1))
+
+/************************* UART Instances : LIN mode **************************/
+#define IS_UART_LIN_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                        ((INSTANCE) == USART2) || \
+                                        ((INSTANCE) == USART3) || \
+                                        ((INSTANCE) == UART4)  || \
+                                        ((INSTANCE) == UART5)  || \
+                                        ((INSTANCE) == USART6) || \
+                                        ((INSTANCE) == UART7)  || \
+                                        ((INSTANCE) == UART8)  || \
+                                        ((INSTANCE) == UART9)  || \
+                                        ((INSTANCE) == USART10))
+
+/****************** UART Instances : Wake-up from Stop mode *******************/
+#define IS_UART_WAKEUP_FROMSTOP_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                                    ((INSTANCE) == USART2) || \
+                                                    ((INSTANCE) == USART3) || \
+                                                    ((INSTANCE) == UART4)  || \
+                                                    ((INSTANCE) == UART5)  || \
+                                                    ((INSTANCE) == USART6) || \
+                                                    ((INSTANCE) == UART7)  || \
+                                                    ((INSTANCE) == UART8)  || \
+                                                    ((INSTANCE) == UART9)  || \
+                                                    ((INSTANCE) == USART10)|| \
+                                                    ((INSTANCE) == LPUART1))
+
+/************************* UART Instances : IRDA mode *************************/
+#define IS_IRDA_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                    ((INSTANCE) == USART2) || \
+                                    ((INSTANCE) == USART3) || \
+                                    ((INSTANCE) == UART4)  || \
+                                    ((INSTANCE) == UART5)  || \
+                                    ((INSTANCE) == USART6) || \
+                                    ((INSTANCE) == UART7)  || \
+                                    ((INSTANCE) == UART8)  || \
+                                    ((INSTANCE) == UART9)  || \
+                                    ((INSTANCE) == USART10))
+
+/********************* USART Instances : Smard card mode **********************/
+#define IS_SMARTCARD_INSTANCE(INSTANCE) (((INSTANCE) == USART1) || \
+                                         ((INSTANCE) == USART2) || \
+                                         ((INSTANCE) == USART3) || \
+                                         ((INSTANCE) == USART6) ||\
+                                         ((INSTANCE) == USART10))
+
+/****************************** LPUART Instance *******************************/
+#define IS_LPUART_INSTANCE(INSTANCE) ((INSTANCE) == LPUART1)
+
+/****************************** IWDG Instances ********************************/
+#define IS_IWDG_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == IWDG1)
+/****************************** USB Instances ********************************/
+#define IS_USB_ALL_INSTANCE(INSTANCE) ((INSTANCE) == USB)
+
+/****************************** WWDG Instances ********************************/
+#define IS_WWDG_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == WWDG1)
+/****************************** MDIOS Instances ********************************/
+#define IS_MDIOS_ALL_INSTANCE(INSTANCE)  ((INSTANCE) == MDIOS)
+
+/****************************** CEC Instances *********************************/
+#define IS_CEC_ALL_INSTANCE(__INSTANCE__) ((__INSTANCE__) == CEC)
+
+/****************************** SAI Instances ********************************/
+#define IS_SAI_ALL_INSTANCE(INSTANCE) (((INSTANCE) == SAI1_Block_A) || \
+                                       ((INSTANCE) == SAI1_Block_B) || \
+                                       ((INSTANCE) == SAI4_Block_A) || \
+                                       ((INSTANCE) == SAI4_Block_B))
+
+/****************************** SPDIFRX Instances ********************************/
+#define IS_SPDIFRX_ALL_INSTANCE(INSTANCE) ((INSTANCE) == SPDIFRX)
+
+/****************************** OPAMP Instances *******************************/
+#define IS_OPAMP_ALL_INSTANCE(INSTANCE) (((INSTANCE) == OPAMP1) || \
+                                         ((INSTANCE) == OPAMP2))
+
+#define IS_OPAMP_COMMON_INSTANCE(COMMON_INSTANCE) ((COMMON_INSTANCE) == OPAMP12_COMMON)
+
+/*********************** USB OTG PCD Instances ********************************/
+#define IS_PCD_ALL_INSTANCE(INSTANCE) ((INSTANCE) == USB_OTG_HS)
+
+/*********************** USB OTG HCD Instances ********************************/
+#define IS_HCD_ALL_INSTANCE(INSTANCE) ((INSTANCE) == USB_OTG_HS)
+
+/******************************************************************************/
+/*  For a painless codes migration between the STM32H7xx device product       */
+/*  lines, or with STM32F7xx devices the aliases defined below are put        */
+/*   in place to overcome the differences in the interrupt handlers and IRQn  */
+/*   definitions. No need to update developed interrupt code when moving      */
+/*  across product lines within the same STM32H7 Family                       */
+/******************************************************************************/
+
+/* Aliases for __IRQn */
+//#define  HASH_RNG_IRQn                  RNG_IRQn
+//#define  TIM1_BRK_TIM9_IRQn             TIM1_BRK_IRQn
+#define  TIM1_UP_TIM10_IRQn             TIM1_UP_IRQn
+//#define  TIM1_TRG_COM_TIM11_IRQn        TIM1_TRG_COM_IRQn
+//#define  PVD_IRQn                       PVD_AVD_IRQn
+
+
+/* Aliases for DCMI/PSSI __IRQn */
+#define  DCMI_IRQn                      DCMI_PSSI_IRQn
+
+/* Aliases for __IRQHandler */
+//#define  HASH_RNG_IRQHandler           RNG_IRQHandler
+//#define TIM1_BRK_TIM9_IRQHandler       TIM1_BRK_IRQHandler
+#define TIM1_UP_TIM9_IRQHandler        TIM1_UP_IRQHandler
+//#define TIM1_TRG_COM_TIM11_IRQHandler  TIM1_TRG_COM_IRQHandler
+//#define PVD_IRQHandler                 PVD_AVD_IRQHandler
+
+/* Aliases for COMP __IRQHandler */
+#define COMP_IRQHandler                COMP1_IRQHandler
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* STM32H735xx_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/panda/board/stm32h7/inc/stm32h7xx.h b/panda/board/stm32h7/inc/stm32h7xx.h
new file mode 100644
index 00000000000000..eb4a93c94dff70
--- /dev/null
+++ b/panda/board/stm32h7/inc/stm32h7xx.h
@@ -0,0 +1,243 @@
+/**
+  ******************************************************************************
+  * @file    stm32h7xx.h
+  * @author  MCD Application Team
+  * @brief   CMSIS STM32H7xx Device Peripheral Access Layer Header File.
+  *
+  *          The file is the unique include file that the application programmer
+  *          is using in the C source code, usually in main.c. This file contains:
+  *           - Configuration section that allows to select:
+  *              - The STM32H7xx device used in the target application
+  *              - To use or not the peripheral’s drivers in application code(i.e.
+  *                code will be based on direct access to peripheral’s registers
+  *                rather than drivers API), this option is controlled by
+  *                "#define USE_HAL_DRIVER"
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32h7xx
+  * @{
+  */
+
+#ifndef STM32H7xx_H
+#define STM32H7xx_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif /* __cplusplus */
+
+/** @addtogroup Library_configuration_section
+  * @{
+  */
+
+/**
+  * @brief STM32 Family
+  */
+#if !defined  (STM32H7)
+#define STM32H7
+#endif /* STM32H7 */
+
+
+/* Uncomment the line below according to the target STM32H7 device used in your
+   application
+  */
+
+/* #if !defined (STM32H743xx) && !defined (STM32H753xx)  && !defined (STM32H750xx) && !defined (STM32H742xx) && \
+    !defined (STM32H745xx) && !defined (STM32H755xx)  && !defined (STM32H747xx) && !defined (STM32H757xx) && \
+    !defined (STM32H7A3xx) && !defined (STM32H7A3xxQ) && !defined (STM32H7B3xx) && !defined (STM32H7B3xxQ) && !defined (STM32H7B0xx)  && !defined (STM32H7B0xxQ) && \
+    !defined (STM32H735xx) && !defined (STM32H733xx)  && !defined (STM32H730xx) && !defined (STM32H730xxQ)  && !defined (STM32H725xx) && !defined (STM32H723xx) */
+  /* #define STM32H742xx */   /*!< STM32H742VI, STM32H742ZI, STM32H742AI, STM32H742II, STM32H742BI, STM32H742XI Devices */
+  /* #define STM32H743xx */   /*!< STM32H743VI, STM32H743ZI, STM32H743AI, STM32H743II, STM32H743BI, STM32H743XI Devices */
+  /* #define STM32H753xx */   /*!< STM32H753VI, STM32H753ZI, STM32H753AI, STM32H753II, STM32H753BI, STM32H753XI Devices */
+  /* #define STM32H750xx */   /*!< STM32H750V, STM32H750I, STM32H750X Devices */
+  /* #define STM32H747xx */   /*!< STM32H747ZI, STM32H747AI, STM32H747II, STM32H747BI, STM32H747XI Devices */
+  /* #define STM32H757xx */   /*!< STM32H757ZI, STM32H757AI, STM32H757II, STM32H757BI, STM32H757XI Devices */
+  /* #define STM32H745xx */   /*!< STM32H745ZI, STM32H745II, STM32H745BI, STM32H745XI Devices  */
+  /* #define STM32H755xx */   /*!< STM32H755ZI, STM32H755II, STM32H755BI, STM32H755XI Devices  */
+  /* #define STM32H7B0xx */   /*!< STM32H7B0ABIxQ, STM32H7B0IBTx, STM32H7B0RBTx, STM32H7B0VBTx, STM32H7B0ZBTx, STM32H7B0IBKxQ */
+  /* #define STM32H7A3xx */   /*!< STM32H7A3IIK6, STM32H7A3IIT6, STM32H7A3NIH6, STM32H7A3RIT6, STM32H7A3VIH6, STM32H7A3VIT6, STM32H7A3ZIT6 */
+  /* #define STM32H7A3xxQ */  /*!< STM32H7A3QIY6Q, STM32H7A3IIK6Q, STM32H7A3IIT6Q, STM32H7A3LIH6Q, STM32H7A3VIH6Q, STM32H7A3VIT6Q, STM32H7A3AII6Q, STM32H7A3ZIT6Q */
+  /* #define STM32H7B3xx */   /*!< STM32H7B3IIK6, STM32H7B3IIT6, STM32H7B3NIH6, STM32H7B3RIT6, STM32H7B3VIH6, STM32H7B3VIT6, STM32H7B3ZIT6 */
+  /* #define STM32H7B3xxQ */  /*!< STM32H7B3QIY6Q, STM32H7B3IIK6Q, STM32H7B3IIT6Q, STM32H7B3LIH6Q, STM32H7B3VIH6Q, STM32H7B3VIT6Q, STM32H7B3AII6Q, STM32H7B3ZIT6Q */
+  /* #define STM32H735xx */   /*!< STM32H735AGI6, STM32H735IGK6, STM32H735RGV6, STM32H735VGT6, STM32H735VGY6, STM32H735ZGT6 Devices */
+  /* #define STM32H733xx */   /*!< STM32H733VGH6, STM32H733VGT6, STM32H733ZGI6, STM32H733ZGT6, Devices */
+  /* #define STM32H730xx */   /*!< STM32H730VBH6, STM32H730VBT6, STM32H730ZBT6, STM32H730ZBI6 Devices */
+  /* #define STM32H730xxQ */  /*!< STM32H730IBT6Q, STM32H730ABI6Q, STM32H730IBK6Q Devices */
+  /* #define STM32H725xx */   /*!< STM32H725AGI6, STM32H725IGK6, STM32H725IGT6, STM32H725RGV6, STM32H725VGT6, STM32H725VGY6, STM32H725ZGT6, STM32H725REV6, SM32H725VET6, STM32H725ZET6, STM32H725AEI6, STM32H725IET6, STM32H725IEK6  Devices */
+  /* #define STM32H723xx */   /*!< STM32H723VGH6, STM32H723VGT6, STM32H723ZGI6, STM32H723ZGT6, STM32H723VET6, STM32H723VEH6, STM32H723ZET6, STM32H723ZEI6 Devices */
+/* #endif */
+
+/*  Tip: To avoid modifying this file each time you need to switch between these
+        devices, you can define the device in your toolchain compiler preprocessor.
+  */
+
+#if defined(DUAL_CORE) && !defined(CORE_CM4) && !defined(CORE_CM7)
+ #error "Dual core device, please select CORE_CM4 or CORE_CM7"
+#endif
+
+#if !defined  (USE_HAL_DRIVER)
+/**
+ * @brief Comment the line below if you will not use the peripherals drivers.
+   In this case, these drivers will not be included and the application code will
+   be based on direct access to peripherals registers
+   */
+  /*#define USE_HAL_DRIVER */
+#endif /* USE_HAL_DRIVER */
+
+/**
+  * @brief CMSIS Device version number V1.10.0
+  */
+#define __STM32H7xx_CMSIS_DEVICE_VERSION_MAIN   (0x01) /*!< [31:24] main version */
+#define __STM32H7xx_CMSIS_DEVICE_VERSION_SUB1   (0x0A) /*!< [23:16] sub1 version */
+#define __STM32H7xx_CMSIS_DEVICE_VERSION_SUB2   (0x00) /*!< [15:8]  sub2 version */
+#define __STM32H7xx_CMSIS_DEVICE_VERSION_RC     (0x00) /*!< [7:0]  release candidate */
+#define __STM32H7xx_CMSIS_DEVICE_VERSION        ((__STM32H7xx_CMSIS_DEVICE_VERSION_MAIN     << 24)\
+                                      |(__STM32H7xx_CMSIS_DEVICE_VERSION_SUB1 << 16)\
+                                      |(__STM32H7xx_CMSIS_DEVICE_VERSION_SUB2 << 8 )\
+                                      |(__STM32H7xx_CMSIS_DEVICE_VERSION_RC))
+
+/**
+  * @}
+  */
+
+/** @addtogroup Device_Included
+  * @{
+  */
+
+#if defined(STM32H743xx)
+  #include "stm32h743xx.h"
+// #elif defined(STM32H753xx)
+//   #include "stm32h753xx.h"
+// #elif defined(STM32H750xx)
+//   #include "stm32h750xx.h"
+// #elif defined(STM32H742xx)
+//   #include "stm32h742xx.h"
+// #elif defined(STM32H745xx)
+//   #include "stm32h745xx.h"
+// #elif defined(STM32H755xx)
+//   #include "stm32h755xx.h"
+// #elif defined(STM32H747xx)
+//   #include "stm32h747xx.h"
+// #elif defined(STM32H757xx)
+//   #include "stm32h757xx.h"
+// #elif defined(STM32H7B0xx)
+//   #include "stm32h7b0xx.h"
+// #elif defined(STM32H7B0xxQ)
+//   #include "stm32h7b0xxq.h"
+// #elif defined(STM32H7A3xx)
+//   #include "stm32h7a3xx.h"
+// #elif defined(STM32H7B3xx)
+//   #include "stm32h7b3xx.h"
+// #elif defined(STM32H7A3xxQ)
+//   #include "stm32h7a3xxq.h"
+// #elif defined(STM32H7B3xxQ)
+//   #include "stm32h7b3xxq.h"
+#elif defined(STM32H735xx)
+  #include "stm32h735xx.h"
+// #elif defined(STM32H733xx)
+//   #include "stm32h733xx.h"
+// #elif defined(STM32H730xx)
+//   #include "stm32h730xx.h"
+// #elif defined(STM32H730xxQ)
+//   #include "stm32h730xxq.h"
+#elif defined(STM32H725xx)
+  #include "stm32h725xx.h"
+// #elif defined(STM32H723xx)
+//   #include "stm32h723xx.h"
+#else
+ #error "Please select first the target STM32H7xx device used in your application (in stm32h7xx.h file)"
+#endif
+
+/**
+  * @}
+  */
+
+/** @addtogroup Exported_types
+  * @{
+  */
+typedef enum
+{
+  RESET = 0,
+  SET = !RESET
+} FlagStatus, ITStatus;
+
+typedef enum
+{
+  DISABLE = 0,
+  ENABLE = !DISABLE
+} FunctionalState;
+#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
+
+typedef enum
+{
+  SUCCESS = 0,
+  ERROR = !SUCCESS
+} ErrorStatus;
+
+/**
+  * @}
+  */
+
+
+/** @addtogroup Exported_macros
+  * @{
+  */
+#define SET_BIT(REG, BIT)     ((REG) |= (BIT))
+
+#define CLEAR_BIT(REG, BIT)   ((REG) &= ~(BIT))
+
+#define READ_BIT(REG, BIT)    ((REG) & (BIT))
+
+#define CLEAR_REG(REG)        ((REG) = (0x0))
+
+#define WRITE_REG(REG, VAL)   ((REG) = (VAL))
+
+#define READ_REG(REG)         ((REG))
+
+#define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
+
+#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL)))
+
+
+/**
+  * @}
+  */
+
+#if defined (USE_HAL_DRIVER)
+ #include "stm32h7xx_hal.h"
+#endif /* USE_HAL_DRIVER */
+
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* STM32H7xx_H */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/panda/board/stm32h7/inc/stm32h7xx_hal_def.h b/panda/board/stm32h7/inc/stm32h7xx_hal_def.h
new file mode 100644
index 00000000000000..3854b1cd39df5b
--- /dev/null
+++ b/panda/board/stm32h7/inc/stm32h7xx_hal_def.h
@@ -0,0 +1,221 @@
+/**
+  ******************************************************************************
+  * @file    stm32h7xx_hal_def.h
+  * @author  MCD Application Team
+  * @brief   This file contains HAL common defines, enumeration, macros and
+  *          structures definitions.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32H7xx_HAL_DEF
+#define STM32H7xx_HAL_DEF
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32h7xx.h"
+//#include "Legacy/stm32_hal_legacy.h"
+//#include <stddef.h>
+//#include <math.h>
+
+/* Exported types ------------------------------------------------------------*/
+
+/**
+  * @brief  HAL Status structures definition
+  */
+typedef enum
+{
+  HAL_OK       = 0x00,
+  HAL_ERROR    = 0x01,
+  HAL_BUSY     = 0x02,
+  HAL_TIMEOUT  = 0x03
+} HAL_StatusTypeDef;
+
+/**
+  * @brief  HAL Lock structures definition
+  */
+typedef enum
+{
+  HAL_UNLOCKED = 0x00,
+  HAL_LOCKED   = 0x01
+} HAL_LockTypeDef;
+
+/* Exported macro ------------------------------------------------------------*/
+
+#define HAL_MAX_DELAY      0xFFFFFFFFU
+
+#define HAL_IS_BIT_SET(REG, BIT)         (((REG) & (BIT)) == (BIT))
+#define HAL_IS_BIT_CLR(REG, BIT)         (((REG) & (BIT)) == 0U)
+
+#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__)               \
+                        do{                                                      \
+                              (__HANDLE__)->__PPP_DMA_FIELD__ = &(__DMA_HANDLE__); \
+                              (__DMA_HANDLE__).Parent = (__HANDLE__);             \
+                          } while(0)
+
+#define UNUSED(x) ((void)(x))
+
+/** @brief Reset the Handle's State field.
+  * @param __HANDLE__: specifies the Peripheral Handle.
+  * @note  This macro can be used for the following purpose: 
+  *          - When the Handle is declared as local variable; before passing it as parameter
+  *            to HAL_PPP_Init() for the first time, it is mandatory to use this macro 
+  *            to set to 0 the Handle's "State" field.
+  *            Otherwise, "State" field may have any random value and the first time the function 
+  *            HAL_PPP_Init() is called, the low level hardware initialization will be missed
+  *            (i.e. HAL_PPP_MspInit() will not be executed).
+  *          - When there is a need to reconfigure the low level hardware: instead of calling
+  *            HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init().
+  *            In this later function, when the Handle's "State" field is set to 0, it will execute the function
+  *            HAL_PPP_MspInit() which will reconfigure the low level hardware.
+  * @retval None
+  */
+#define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0)
+
+#if (USE_RTOS == 1)
+  #error " USE_RTOS should be 0 in the current HAL release "
+#else
+  #define __HAL_LOCK(__HANDLE__)                                           \
+                                do{                                        \
+                                    if((__HANDLE__)->Lock == HAL_LOCKED)   \
+                                    {                                      \
+                                       return HAL_BUSY;                    \
+                                    }                                      \
+                                    else                                   \
+                                    {                                      \
+                                       (__HANDLE__)->Lock = HAL_LOCKED;    \
+                                    }                                      \
+                                  }while (0)
+
+  #define __HAL_UNLOCK(__HANDLE__)                                          \
+                                  do{                                       \
+                                      (__HANDLE__)->Lock = HAL_UNLOCKED;    \
+                                    }while (0)
+#endif /* USE_RTOS */
+
+
+#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) /* ARM Compiler V6 */
+  #ifndef __weak
+    #define __weak  __attribute__((weak))
+  #endif
+  #ifndef __packed
+    #define __packed  __attribute__((packed))
+  #endif
+#elif defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */
+  #ifndef __weak
+    #define __weak   __attribute__((weak))
+  #endif /* __weak */
+  #ifndef __packed
+    #define __packed __attribute__((__packed__))
+  #endif /* __packed */
+#endif /* __GNUC__ */
+
+
+/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
+#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) /* ARM Compiler V6 */
+  #ifndef __ALIGN_BEGIN
+    #define __ALIGN_BEGIN
+  #endif
+  #ifndef __ALIGN_END
+    #define __ALIGN_END      __attribute__ ((aligned (4)))
+  #endif
+#elif defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */
+  #ifndef __ALIGN_END
+    #define __ALIGN_END    __attribute__ ((aligned (4)))
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN
+    #define __ALIGN_BEGIN
+  #endif /* __ALIGN_BEGIN */
+#else
+  #ifndef __ALIGN_END
+    #define __ALIGN_END
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN
+    #if defined   (__CC_ARM)      /* ARM Compiler V5 */
+      #define __ALIGN_BEGIN    __align(4)
+    #elif defined (__ICCARM__)    /* IAR Compiler */
+      #define __ALIGN_BEGIN
+    #endif /* __CC_ARM */
+  #endif /* __ALIGN_BEGIN */
+#endif /* __GNUC__ */
+
+/* Macro to get variable aligned on 32-bytes,needed for cache maintenance purpose */
+#if defined   (__GNUC__)        /* GNU Compiler */
+  #define ALIGN_32BYTES(buf)  buf __attribute__ ((aligned (32)))                                    
+#elif defined (__ICCARM__)    /* IAR Compiler */
+  #define ALIGN_32BYTES(buf) _Pragma("data_alignment=32") buf  
+#elif defined   (__CC_ARM)      /* ARM Compiler */
+  #define ALIGN_32BYTES(buf) __align(32) buf  
+#endif
+
+/**
+  * @brief  __RAM_FUNC definition
+  */
+#if defined ( __CC_ARM   ) || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050))
+/* ARM Compiler V4/V5 and V6
+   --------------------------
+   RAM functions are defined using the toolchain options.
+   Functions that are executed in RAM should reside in a separate source module.
+   Using the 'Options for File' dialog you can simply change the 'Code / Const'
+   area of a module to a memory space in physical RAM.
+   Available memory areas are declared in the 'Target' tab of the 'Options for Target'
+   dialog.
+*/
+#define __RAM_FUNC
+
+#elif defined ( __ICCARM__ )
+/* ICCARM Compiler
+   ---------------
+   RAM functions are defined using a specific toolchain keyword "__ramfunc".
+*/
+#define __RAM_FUNC __ramfunc
+
+#elif defined   (  __GNUC__  )
+/* GNU Compiler
+   ------------
+  RAM functions are defined using a specific toolchain attribute
+   "__attribute__((section(".RamFunc")))".
+*/
+#define __RAM_FUNC __attribute__((section(".RamFunc")))
+
+#endif
+
+/**
+  * @brief  __NOINLINE definition
+  */
+#if defined ( __CC_ARM   ) || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)) || defined   (  __GNUC__  )
+/* ARM V4/V5 and V6 & GNU Compiler
+   -------------------------------
+*/
+#define __NOINLINE __attribute__ ( (noinline) )
+
+#elif defined ( __ICCARM__ )
+/* ICCARM Compiler
+   ---------------
+*/
+#define __NOINLINE _Pragma("optimize = no_inline")
+
+#endif
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32H7xx_HAL_DEF */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/panda/board/stm32h7/inc/stm32h7xx_hal_gpio_ex.h b/panda/board/stm32h7/inc/stm32h7xx_hal_gpio_ex.h
new file mode 100644
index 00000000000000..14f576a424b344
--- /dev/null
+++ b/panda/board/stm32h7/inc/stm32h7xx_hal_gpio_ex.h
@@ -0,0 +1,489 @@
+/**
+  ******************************************************************************
+  * @file    stm32h7xx_hal_gpio_ex.h
+  * @author  MCD Application Team
+  * @brief   Header file of GPIO HAL Extension module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32H7xx_HAL_GPIO_EX_H
+#define STM32H7xx_HAL_GPIO_EX_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32h7xx_hal_def.h"
+
+/** @addtogroup STM32H7xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup GPIOEx GPIOEx
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup GPIOEx_Exported_Constants GPIO Exported Constants
+  * @{
+  */
+
+/** @defgroup GPIO_Alternate_function_selection GPIO Alternate Function Selection
+  * @{
+  */
+
+/**
+  * @brief   AF 0 selection
+  */
+#define GPIO_AF0_RTC_50Hz      ((uint8_t)0x00)  /* RTC_50Hz Alternate Function mapping                                                     */
+#define GPIO_AF0_MCO           ((uint8_t)0x00)  /* MCO (MCO1 and MCO2) Alternate Function mapping                                          */
+#define GPIO_AF0_SWJ           ((uint8_t)0x00)  /* SWJ (SWD and JTAG) Alternate Function mapping                                           */
+#define GPIO_AF0_LCDBIAS       ((uint8_t)0x00)  /* LCDBIAS Alternate Function mapping                                                      */
+#define GPIO_AF0_TRACE         ((uint8_t)0x00)  /* TRACE Alternate Function mapping                                                        */
+#if defined (PWR_CPUCR_PDDS_D2) /* PWR D1 and D2 domains exists */
+#define GPIO_AF0_C1DSLEEP      ((uint8_t)0x00)  /* Cortex-M7 Deep Sleep Alternate Function mapping : available on STM32H7 Rev.B and above  */
+#define GPIO_AF0_C1SLEEP       ((uint8_t)0x00)  /* Cortex-M7 Sleep Alternate Function mapping : available on STM32H7 Rev.B and above       */
+#define GPIO_AF0_D1PWREN       ((uint8_t)0x00)  /* Domain 1 PWR enable Alternate Function mapping : available on STM32H7 Rev.B and above   */
+#define GPIO_AF0_D2PWREN       ((uint8_t)0x00)  /* Domain 2 PWR enable Alternate Function mapping : available on STM32H7 Rev.B and above   */
+#if defined(DUAL_CORE)
+#define GPIO_AF0_C2DSLEEP      ((uint8_t)0x00)  /* Cortex-M4 Deep Sleep Alternate Function mapping : available on STM32H7 Rev.B and above  */
+#define GPIO_AF0_C2SLEEP       ((uint8_t)0x00)  /* Cortex-M4 Sleep Alternate Function mapping : available on STM32H7 Rev.B and above       */
+#endif /* DUAL_CORE */
+#endif /* PWR_CPUCR_PDDS_D2 */
+
+/**
+  * @brief   AF 1 selection
+  */
+#define GPIO_AF1_TIM1          ((uint8_t)0x01)  /* TIM1 Alternate Function mapping   */
+#define GPIO_AF1_TIM2          ((uint8_t)0x01)  /* TIM2 Alternate Function mapping   */
+#define GPIO_AF1_TIM16         ((uint8_t)0x01)  /* TIM16 Alternate Function mapping  */
+#define GPIO_AF1_TIM17         ((uint8_t)0x01)  /* TIM17 Alternate Function mapping  */
+#define GPIO_AF1_LPTIM1        ((uint8_t)0x01)  /* LPTIM1 Alternate Function mapping */
+#if defined(HRTIM1)
+#define GPIO_AF1_HRTIM1        ((uint8_t)0x01)  /* HRTIM1 Alternate Function mapping */
+#endif /* HRTIM1 */
+#if defined(SAI4)
+#define GPIO_AF1_SAI4          ((uint8_t)0x01)  /* SAI4 Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
+#endif /* SAI4 */
+#define GPIO_AF1_FMC           ((uint8_t)0x01)  /* FMC Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
+
+
+/**
+  * @brief   AF 2 selection
+  */
+#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping   */
+#define GPIO_AF2_TIM4          ((uint8_t)0x02)  /* TIM4 Alternate Function mapping   */
+#define GPIO_AF2_TIM5          ((uint8_t)0x02)  /* TIM5 Alternate Function mapping   */
+#define GPIO_AF2_TIM12         ((uint8_t)0x02)  /* TIM12 Alternate Function mapping  */
+#define GPIO_AF2_SAI1          ((uint8_t)0x02)  /* SAI1 Alternate Function mapping   */
+#if defined(HRTIM1)
+#define GPIO_AF2_HRTIM1        ((uint8_t)0x02)  /* HRTIM1 Alternate Function mapping */
+#endif /* HRTIM1 */
+#define GPIO_AF2_TIM15         ((uint8_t)0x02)  /* TIM15 Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
+#if defined(FDCAN3)
+#define GPIO_AF2_FDCAN3        ((uint8_t)0x02)  /* FDCAN3 Alternate Function mapping */
+#endif /*FDCAN3*/
+
+/**
+  * @brief   AF 3 selection
+  */
+#define GPIO_AF3_TIM8          ((uint8_t)0x03)  /* TIM8 Alternate Function mapping   */
+#define GPIO_AF3_LPTIM2        ((uint8_t)0x03)  /* LPTIM2 Alternate Function mapping */
+#define GPIO_AF3_DFSDM1        ((uint8_t)0x03)  /* DFSDM Alternate Function mapping  */
+#define GPIO_AF3_LPTIM3        ((uint8_t)0x03)  /* LPTIM3 Alternate Function mapping */
+#define GPIO_AF3_LPTIM4        ((uint8_t)0x03)  /* LPTIM4 Alternate Function mapping */
+#define GPIO_AF3_LPTIM5        ((uint8_t)0x03)  /* LPTIM5 Alternate Function mapping */
+#define GPIO_AF3_LPUART        ((uint8_t)0x03)  /* LPUART Alternate Function mapping */
+#if defined(OCTOSPIM)
+#define GPIO_AF3_OCTOSPIM_P1   ((uint8_t)0x03)  /* OCTOSPI Manager Port 1 Alternate Function mapping */
+#define GPIO_AF3_OCTOSPIM_P2   ((uint8_t)0x03)  /* OCTOSPI Manager Port 2 Alternate Function mapping */
+#endif /* OCTOSPIM */
+#if defined(HRTIM1)
+#define GPIO_AF3_HRTIM1        ((uint8_t)0x03)  /* HRTIM1 Alternate Function mapping */
+#endif /* HRTIM1 */
+#define GPIO_AF3_LTDC          ((uint8_t)0x03)  /* LTDC Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
+
+/**
+  * @brief   AF 4 selection
+  */
+#define GPIO_AF4_I2C1          ((uint8_t)0x04)  /* I2C1 Alternate Function mapping   */
+#define GPIO_AF4_I2C2          ((uint8_t)0x04)  /* I2C2 Alternate Function mapping   */
+#define GPIO_AF4_I2C3          ((uint8_t)0x04)  /* I2C3 Alternate Function mapping   */
+#define GPIO_AF4_I2C4          ((uint8_t)0x04)  /* I2C4 Alternate Function mapping   */
+#if defined(I2C5)
+#define GPIO_AF4_I2C5          ((uint8_t)0x04)  /* I2C5 Alternate Function mapping   */
+#endif /* I2C5*/
+#define GPIO_AF4_TIM15         ((uint8_t)0x04)  /* TIM15 Alternate Function mapping  */
+#define GPIO_AF4_CEC           ((uint8_t)0x04)  /* CEC Alternate Function mapping    */
+#define GPIO_AF4_LPTIM2        ((uint8_t)0x04)  /* LPTIM2 Alternate Function mapping */
+#define GPIO_AF4_USART1        ((uint8_t)0x04)  /* USART1 Alternate Function mapping */
+#if defined(USART10)
+#define GPIO_AF4_USART10       ((uint8_t)0x04)  /* USART10 Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
+#endif /*USART10*/
+#define GPIO_AF4_DFSDM1        ((uint8_t)0x04)  /* DFSDM  Alternate Function mapping */
+#if defined(DFSDM2_BASE)
+#define GPIO_AF4_DFSDM2        ((uint8_t)0x04)  /* DFSDM2 Alternate Function mapping */
+#endif /* DFSDM2_BASE */
+#define GPIO_AF4_DCMI          ((uint8_t)0x04)   /* DCMI Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
+#if defined(PSSI)
+#define GPIO_AF4_PSSI          ((uint8_t)0x04)  /* PSSI Alternate Function mapping   */
+#endif /* PSSI */
+#if defined(OCTOSPIM)
+#define GPIO_AF4_OCTOSPIM_P1   ((uint8_t)0x04)  /* OCTOSPI Manager Port 1 Alternate Function mapping  : available on STM32H72xxx/STM32H73xxx */
+#endif /* OCTOSPIM */
+
+/**
+  * @brief   AF 5 selection
+  */
+#define GPIO_AF5_SPI1          ((uint8_t)0x05)  /* SPI1 Alternate Function mapping   */
+#define GPIO_AF5_SPI2          ((uint8_t)0x05)  /* SPI2 Alternate Function mapping   */
+#define GPIO_AF5_SPI3          ((uint8_t)0x05)  /* SPI3 Alternate Function mapping   */
+#define GPIO_AF5_SPI4          ((uint8_t)0x05)  /* SPI4 Alternate Function mapping   */
+#define GPIO_AF5_SPI5          ((uint8_t)0x05)  /* SPI5 Alternate Function mapping   */
+#define GPIO_AF5_SPI6          ((uint8_t)0x05)  /* SPI6 Alternate Function mapping   */
+#define GPIO_AF5_CEC           ((uint8_t)0x05)  /* CEC  Alternate Function mapping   */
+#if defined(FDCAN3)
+#define GPIO_AF5_FDCAN3        ((uint8_t)0x05)  /* FDCAN3 Alternate Function mapping */
+#endif /*FDCAN3*/
+
+/**
+  * @brief   AF 6 selection
+  */
+#define GPIO_AF6_SPI2          ((uint8_t)0x06)  /* SPI2 Alternate Function mapping   */
+#define GPIO_AF6_SPI3          ((uint8_t)0x06)  /* SPI3 Alternate Function mapping   */
+#define GPIO_AF6_SAI1          ((uint8_t)0x06)  /* SAI1 Alternate Function mapping   */
+#define GPIO_AF6_I2C4          ((uint8_t)0x06)  /* I2C4 Alternate Function mapping   */
+#if defined(I2C5)
+#define GPIO_AF6_I2C5          ((uint8_t)0x06)  /* I2C5 Alternate Function mapping   */
+#endif /* I2C5*/
+#define GPIO_AF6_DFSDM1        ((uint8_t)0x06)  /* DFSDM Alternate Function mapping  */
+#define GPIO_AF6_UART4         ((uint8_t)0x06)  /* UART4 Alternate Function mapping  */
+#if defined(DFSDM2_BASE)
+#define GPIO_AF6_DFSDM2        ((uint8_t)0x06)  /* DFSDM2 Alternate Function mapping */
+#endif /* DFSDM2_BASE */
+#if defined(SAI3)
+#define GPIO_AF6_SAI3          ((uint8_t)0x06)  /* SAI3 Alternate Function mapping   */
+#endif /* SAI3 */
+#if defined(OCTOSPIM)
+#define GPIO_AF6_OCTOSPIM_P1   ((uint8_t)0x06)  /* OCTOSPI Manager Port 1 Alternate Function mapping */
+#endif /* OCTOSPIM */
+
+/**
+  * @brief   AF 7 selection
+  */
+#define GPIO_AF7_SPI2          ((uint8_t)0x07)  /* SPI2 Alternate Function mapping   */
+#define GPIO_AF7_SPI3          ((uint8_t)0x07)  /* SPI3 Alternate Function mapping   */
+#define GPIO_AF7_SPI6          ((uint8_t)0x07)  /* SPI6 Alternate Function mapping   */
+#define GPIO_AF7_USART1        ((uint8_t)0x07)  /* USART1 Alternate Function mapping */
+#define GPIO_AF7_USART2        ((uint8_t)0x07)  /* USART2 Alternate Function mapping */
+#define GPIO_AF7_USART3        ((uint8_t)0x07)  /* USART3 Alternate Function mapping */
+#define GPIO_AF7_USART6        ((uint8_t)0x07)  /* USART6 Alternate Function mapping */
+#define GPIO_AF7_UART7         ((uint8_t)0x07)  /* UART7 Alternate Function mapping  */
+#define GPIO_AF7_SDMMC1        ((uint8_t)0x07)  /* SDMMC1 Alternate Function mapping */
+
+/**
+  * @brief   AF 8 selection
+  */
+#define GPIO_AF8_SPI6          ((uint8_t)0x08)  /* SPI6 Alternate Function mapping   */
+#if defined(SAI2)
+#define GPIO_AF8_SAI2          ((uint8_t)0x08)  /* SAI2 Alternate Function mapping   */
+#endif /*SAI2*/
+#define GPIO_AF8_UART4         ((uint8_t)0x08)  /* UART4 Alternate Function mapping  */
+#define GPIO_AF8_UART5         ((uint8_t)0x08)  /* UART5 Alternate Function mapping  */
+#define GPIO_AF8_UART8         ((uint8_t)0x08)  /* UART8 Alternate Function mapping  */
+#define GPIO_AF8_SPDIF         ((uint8_t)0x08)  /* SPDIF Alternate Function mapping  */
+#define GPIO_AF8_LPUART        ((uint8_t)0x08)  /* LPUART Alternate Function mapping */
+#define GPIO_AF8_SDMMC1        ((uint8_t)0x08)  /* SDMMC1 Alternate Function mapping */
+#if defined(SAI4)
+#define GPIO_AF8_SAI4          ((uint8_t)0x08)  /* SAI4 Alternate Function mapping   */
+#endif /* SAI4 */
+
+/**
+  * @brief   AF 9 selection
+  */
+#define GPIO_AF9_FDCAN1        ((uint8_t)0x09)  /* FDCAN1 Alternate Function mapping   */
+#define GPIO_AF9_FDCAN2        ((uint8_t)0x09)  /* FDCAN2 Alternate Function mapping   */
+#define GPIO_AF9_TIM13         ((uint8_t)0x09)  /* TIM13 Alternate Function mapping    */
+#define GPIO_AF9_TIM14         ((uint8_t)0x09)  /* TIM14 Alternate Function mapping    */
+#define GPIO_AF9_SDMMC2        ((uint8_t)0x09)  /* SDMMC2 Alternate Function mapping   */
+#define GPIO_AF9_LTDC          ((uint8_t)0x09)  /* LTDC Alternate Function mapping     */
+#define GPIO_AF9_SPDIF         ((uint8_t)0x09)  /* SPDIF Alternate Function mapping    */
+#define GPIO_AF9_FMC           ((uint8_t)0x09)  /* FMC Alternate Function mapping      */
+#if defined(QUADSPI)
+#define GPIO_AF9_QUADSPI       ((uint8_t)0x09)  /* QUADSPI Alternate Function mapping  */
+#endif /* QUADSPI */
+#if defined(SAI4)
+#define GPIO_AF9_SAI4          ((uint8_t)0x09)  /* SAI4 Alternate Function mapping     */
+#endif /* SAI4 */
+#if defined(OCTOSPIM)
+#define GPIO_AF9_OCTOSPIM_P1   ((uint8_t)0x09)  /* OCTOSPI Manager Port 1 Alternate Function mapping */
+#define GPIO_AF9_OCTOSPIM_P2   ((uint8_t)0x09)  /* OCTOSPI Manager Port 2 Alternate Function mapping */
+#endif /* OCTOSPIM */
+
+/**
+  * @brief   AF 10 selection
+  */
+#if defined(SAI2)
+#define GPIO_AF10_SAI2          ((uint8_t)0x0A)  /* SAI2 Alternate Function mapping                                             */
+#endif /*SAI2*/
+#define GPIO_AF10_SDMMC2        ((uint8_t)0x0A)  /* SDMMC2 Alternate Function mapping                                           */
+#if defined(USB2_OTG_FS)
+#define GPIO_AF10_OTG2_FS       ((uint8_t)0x0A)  /* OTG2_FS Alternate Function mapping                                          */
+#endif /*USB2_OTG_FS*/
+#define GPIO_AF10_COMP1         ((uint8_t)0x0A)  /* COMP1 Alternate Function mapping                                            */
+#define GPIO_AF10_COMP2         ((uint8_t)0x0A)  /* COMP2 Alternate Function mapping                                            */
+#if defined(LTDC)
+#define GPIO_AF10_LTDC          ((uint8_t)0x0A)  /* LTDC Alternate Function mapping                                             */
+#endif /*LTDC*/
+#define GPIO_AF10_CRS_SYNC      ((uint8_t)0x0A)  /* CRS Sync Alternate Function mapping : available on STM32H7 Rev.B and above  */
+#if defined(QUADSPI)
+#define GPIO_AF10_QUADSPI       ((uint8_t)0x0A)  /* QUADSPI Alternate Function mapping                                          */
+#endif /* QUADSPI */
+#if defined(SAI4)
+#define GPIO_AF10_SAI4          ((uint8_t)0x0A)  /* SAI4 Alternate Function mapping                                             */
+#endif /* SAI4 */
+#if !defined(USB2_OTG_FS)
+#define GPIO_AF10_OTG1_FS       ((uint8_t)0x0A)  /* OTG1_FS Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
+#endif /* !USB2_OTG_FS */
+#define GPIO_AF10_OTG1_HS       ((uint8_t)0x0A)  /* OTG1_HS Alternate Function mapping                                          */
+#if defined(OCTOSPIM)
+#define GPIO_AF10_OCTOSPIM_P1   ((uint8_t)0x0A)  /* OCTOSPI Manager Port 1 Alternate Function mapping */
+#endif /* OCTOSPIM */
+#define GPIO_AF10_TIM8          ((uint8_t)0x0A)  /* TIM8 Alternate Function mapping                                             */
+#define GPIO_AF10_FMC           ((uint8_t)0x0A)  /* FMC Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
+
+/**
+  * @brief   AF 11 selection
+  */
+#define GPIO_AF11_SWP           ((uint8_t)0x0B)  /* SWP Alternate Function mapping     */
+#define GPIO_AF11_MDIOS         ((uint8_t)0x0B)  /* MDIOS Alternate Function mapping   */
+#define GPIO_AF11_UART7         ((uint8_t)0x0B)  /* UART7 Alternate Function mapping   */
+#define GPIO_AF11_SDMMC2        ((uint8_t)0x0B)  /* SDMMC2 Alternate Function mapping  */
+#define GPIO_AF11_DFSDM1        ((uint8_t)0x0B)  /* DFSDM1 Alternate Function mapping  */
+#define GPIO_AF11_COMP1         ((uint8_t)0x0B)  /* COMP1 Alternate Function mapping   */
+#define GPIO_AF11_COMP2         ((uint8_t)0x0B)  /* COMP2 Alternate Function mapping   */
+#define GPIO_AF11_TIM1          ((uint8_t)0x0B)  /* TIM1 Alternate Function mapping    */
+#define GPIO_AF11_TIM8          ((uint8_t)0x0B)  /* TIM8 Alternate Function mapping    */
+#define GPIO_AF11_I2C4          ((uint8_t)0x0B)  /* I2C4 Alternate Function mapping    */
+#if defined(DFSDM2_BASE)
+#define GPIO_AF11_DFSDM2        ((uint8_t)0x0B)  /* DFSDM2 Alternate Function mapping  */
+#endif /* DFSDM2_BASE */
+#if defined(USART10)
+#define GPIO_AF11_USART10       ((uint8_t)0x0B)  /* USART10 Alternate Function mapping */
+#endif /* USART10 */
+#if defined(UART9)
+#define GPIO_AF11_UART9         ((uint8_t)0x0B)  /* UART9 Alternate Function mapping   */
+#endif /* UART9 */
+#if defined(ETH)
+#define GPIO_AF11_ETH           ((uint8_t)0x0B)  /* ETH Alternate Function mapping     */
+#endif /* ETH */
+#if defined(LTDC)
+#define GPIO_AF11_LTDC          ((uint8_t)0x0B)  /* LTDC Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
+#endif /*LTDC*/
+#if defined(OCTOSPIM)
+#define GPIO_AF11_OCTOSPIM_P1   ((uint8_t)0x0B)  /* OCTOSPI Manager Port 1 Alternate Function mapping */
+#endif /* OCTOSPIM */
+
+/**
+  * @brief   AF 12 selection
+  */
+#define GPIO_AF12_FMC           ((uint8_t)0x0C)  /* FMC Alternate Function mapping     */
+#define GPIO_AF12_SDMMC1        ((uint8_t)0x0C)  /* SDMMC1 Alternate Function mapping  */
+#define GPIO_AF12_MDIOS         ((uint8_t)0x0C)  /* MDIOS Alternate Function mapping   */
+#define GPIO_AF12_COMP1         ((uint8_t)0x0C)  /* COMP1 Alternate Function mapping   */
+#define GPIO_AF12_COMP2         ((uint8_t)0x0C)  /* COMP2 Alternate Function mapping   */
+#define GPIO_AF12_TIM1          ((uint8_t)0x0C)  /* TIM1 Alternate Function mapping    */
+#define GPIO_AF12_TIM8          ((uint8_t)0x0C)  /* TIM8 Alternate Function mapping    */
+#if defined(LTDC)
+#define GPIO_AF12_LTDC          ((uint8_t)0x0C)  /* LTDC Alternate Function mapping    */
+#endif /*LTDC*/
+#if defined(USB2_OTG_FS)
+#define GPIO_AF12_OTG1_FS       ((uint8_t)0x0C)  /* OTG1_FS Alternate Function mapping */
+#endif /* USB2_OTG_FS */
+#if defined(OCTOSPIM)
+#define GPIO_AF12_OCTOSPIM_P1   ((uint8_t)0x0C)  /* OCTOSPI Manager Port 1 Alternate Function mapping */
+#endif /* OCTOSPIM */
+
+/**
+  * @brief   AF 13 selection
+  */
+#define GPIO_AF13_DCMI          ((uint8_t)0x0D)   /* DCMI Alternate Function mapping  */
+#define GPIO_AF13_COMP1         ((uint8_t)0x0D)   /* COMP1 Alternate Function mapping */
+#define GPIO_AF13_COMP2         ((uint8_t)0x0D)   /* COMP2 Alternate Function mapping */
+#if defined(LTDC)
+#define GPIO_AF13_LTDC          ((uint8_t)0x0D)   /* LTDC Alternate Function mapping  */
+#endif /*LTDC*/
+#if defined(DSI)
+#define GPIO_AF13_DSI           ((uint8_t)0x0D)   /* DSI Alternate Function mapping   */
+#endif /* DSI */
+#if defined(PSSI)
+#define GPIO_AF13_PSSI          ((uint8_t)0x0D)   /* PSSI Alternate Function mapping  */
+#endif /* PSSI */
+#define GPIO_AF13_TIM1          ((uint8_t)0x0D)    /* TIM1 Alternate Function mapping */
+#if defined(TIM23)
+#define GPIO_AF13_TIM23         ((uint8_t)0x0D)    /* TIM23 Alternate Function mapping */
+#endif  /*TIM23*/
+
+/**
+  * @brief   AF 14 selection
+  */
+#define GPIO_AF14_LTDC         ((uint8_t)0x0E)   /* LTDC Alternate Function mapping  */
+#define GPIO_AF14_UART5        ((uint8_t)0x0E)   /* UART5 Alternate Function mapping */
+#if defined(TIM24)
+#define GPIO_AF14_TIM24        ((uint8_t)0x0E)   /* TIM24 Alternate Function mapping */
+#endif  /*TIM24*/
+
+/**
+  * @brief   AF 15 selection
+  */
+#define GPIO_AF15_EVENTOUT      ((uint8_t)0x0F)  /* EVENTOUT Alternate Function mapping */
+
+#define IS_GPIO_AF(AF)   ((AF) <= (uint8_t)0x0F)
+
+
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup GPIOEx_Exported_Macros GPIO Exported Macros
+  * @{
+  */
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+/** @defgroup GPIOEx_Exported_Functions GPIO Exported Functions
+  * @{
+  */
+/**
+  * @}
+  */
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup GPIOEx_Private_Constants GPIO Private Constants
+  * @{
+  */
+
+/**
+  * @brief   GPIO pin available on the platform
+  */
+/* Defines the available pins per GPIOs */
+#define GPIOA_PIN_AVAILABLE  GPIO_PIN_All
+#define GPIOB_PIN_AVAILABLE  GPIO_PIN_All
+#define GPIOC_PIN_AVAILABLE  GPIO_PIN_All
+#define GPIOD_PIN_AVAILABLE  GPIO_PIN_All
+#define GPIOE_PIN_AVAILABLE  GPIO_PIN_All
+#define GPIOF_PIN_AVAILABLE  GPIO_PIN_All
+#define GPIOG_PIN_AVAILABLE  GPIO_PIN_All
+#if defined(GPIOI)
+#define GPIOI_PIN_AVAILABLE  GPIO_PIN_All
+#endif /*GPIOI*/
+#if defined(GPIOI)
+#define GPIOJ_PIN_AVAILABLE  GPIO_PIN_All
+#else
+#define GPIOJ_PIN_AVAILABLE  (GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 )
+#endif /* GPIOI */
+#define GPIOH_PIN_AVAILABLE  GPIO_PIN_All
+#if defined(GPIOI)
+#define GPIOK_PIN_AVAILABLE  (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | \
+                              GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7)
+#else
+#define GPIOK_PIN_AVAILABLE  (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 )
+#endif /* GPIOI */
+
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup GPIOEx_Private_Macros GPIO Private Macros
+  * @{
+  */
+/** @defgroup GPIOEx_Get_Port_Index GPIO Get Port Index
+  * @{
+  */
+#if defined(GPIOI)
+#define GPIO_GET_INDEX(__GPIOx__)  (((__GPIOx__) == (GPIOA))? 0UL :\
+                                    ((__GPIOx__) == (GPIOB))? 1UL :\
+                                    ((__GPIOx__) == (GPIOC))? 2UL :\
+                                    ((__GPIOx__) == (GPIOD))? 3UL :\
+                                    ((__GPIOx__) == (GPIOE))? 4UL :\
+                                    ((__GPIOx__) == (GPIOF))? 5UL :\
+                                    ((__GPIOx__) == (GPIOG))? 6UL :\
+                                    ((__GPIOx__) == (GPIOH))? 7UL :\
+                                    ((__GPIOx__) == (GPIOI))? 8UL :\
+                                    ((__GPIOx__) == (GPIOJ))? 9UL : 10UL)
+#else
+#define GPIO_GET_INDEX(__GPIOx__)  (((__GPIOx__) == (GPIOA))? 0UL :\
+                                    ((__GPIOx__) == (GPIOB))? 1UL :\
+                                    ((__GPIOx__) == (GPIOC))? 2UL :\
+                                    ((__GPIOx__) == (GPIOD))? 3UL :\
+                                    ((__GPIOx__) == (GPIOE))? 4UL :\
+                                    ((__GPIOx__) == (GPIOF))? 5UL :\
+                                    ((__GPIOx__) == (GPIOG))? 6UL :\
+                                    ((__GPIOx__) == (GPIOH))? 7UL :\
+                                    ((__GPIOx__) == (GPIOJ))? 9UL : 10UL)
+#endif /* GPIOI */
+
+/**
+  * @}
+  */
+
+/** @defgroup GPIOEx_IS_Alternat_function_selection GPIO Check Alternate Function
+  * @{
+  */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/* Private functions ---------------------------------------------------------*/
+/** @defgroup GPIOEx_Private_Functions GPIO Private Functions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32H7xx_HAL_GPIO_EX_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/panda/board/stm32h7/inc/system_stm32h7xx.h b/panda/board/stm32h7/inc/system_stm32h7xx.h
new file mode 100644
index 00000000000000..dd75af67fffea9
--- /dev/null
+++ b/panda/board/stm32h7/inc/system_stm32h7xx.h
@@ -0,0 +1,105 @@
+/**
+  ******************************************************************************
+  * @file    system_stm32h7xx.h
+  * @author  MCD Application Team
+  * @brief   CMSIS Cortex-Mx Device System Source File for STM32H7xx devices.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32h7xx_system
+  * @{
+  */
+
+/**
+  * @brief Define to prevent recursive inclusion
+  */
+#ifndef SYSTEM_STM32H7XX_H
+#define SYSTEM_STM32H7XX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/** @addtogroup STM32H7xx_System_Includes
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+
+/** @addtogroup STM32H7xx_System_Exported_types
+  * @{
+  */
+  /* This variable is updated in three ways:
+      1) by calling CMSIS function SystemCoreClockUpdate()
+      2) by calling HAL API function HAL_RCC_GetSysClockFreq()
+      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
+         Note: If you use this function to configure the system clock; then there
+               is no need to call the 2 first functions listed above, since SystemCoreClock
+               variable is updated automatically.
+  */
+extern uint32_t SystemCoreClock;             /*!< System Domain1 Clock Frequency  */
+extern uint32_t SystemD2Clock;               /*!< System Domain2 Clock Frequency  */
+extern const  uint8_t D1CorePrescTable[16] ; /*!< D1CorePrescTable prescalers table values */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Exported_Constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Exported_Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Exported_Functions
+  * @{
+  */
+
+extern void SystemInit(void);
+extern void SystemCoreClockUpdate(void);
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SYSTEM_STM32H7XX_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/panda/board/stm32h7/interrupt_handlers.h b/panda/board/stm32h7/interrupt_handlers.h
new file mode 100644
index 00000000000000..2b0a2b428af069
--- /dev/null
+++ b/panda/board/stm32h7/interrupt_handlers.h
@@ -0,0 +1,74 @@
+// ********************* Bare interrupt handlers *********************
+// Interrupts for STM32H7x5
+
+void WWDG_IRQHandler(void) {handle_interrupt(WWDG_IRQn);}
+void PVD_AVD_IRQHandler(void) {handle_interrupt(PVD_AVD_IRQn);}
+void TAMP_STAMP_IRQHandler(void) {handle_interrupt(TAMP_STAMP_IRQn);}
+void RTC_WKUP_IRQHandler(void) {handle_interrupt(RTC_WKUP_IRQn);}
+void FLASH_IRQHandler(void) {handle_interrupt(FLASH_IRQn);}
+void RCC_IRQHandler(void) {handle_interrupt(RCC_IRQn);}
+void EXTI0_IRQHandler(void) {handle_interrupt(EXTI0_IRQn);}
+void EXTI1_IRQHandler(void) {handle_interrupt(EXTI1_IRQn);}
+void EXTI2_IRQHandler(void) {handle_interrupt(EXTI2_IRQn);}
+void EXTI3_IRQHandler(void) {handle_interrupt(EXTI3_IRQn);}
+void EXTI4_IRQHandler(void) {handle_interrupt(EXTI4_IRQn);}
+void DMA1_Stream0_IRQHandler(void) {handle_interrupt(DMA1_Stream0_IRQn);}
+void DMA1_Stream1_IRQHandler(void) {handle_interrupt(DMA1_Stream1_IRQn);}
+void DMA1_Stream2_IRQHandler(void) {handle_interrupt(DMA1_Stream2_IRQn);}
+void DMA1_Stream3_IRQHandler(void) {handle_interrupt(DMA1_Stream3_IRQn);}
+void DMA1_Stream4_IRQHandler(void) {handle_interrupt(DMA1_Stream4_IRQn);}
+void DMA1_Stream5_IRQHandler(void) {handle_interrupt(DMA1_Stream5_IRQn);}
+void DMA1_Stream6_IRQHandler(void) {handle_interrupt(DMA1_Stream6_IRQn);}
+void ADC_IRQHandler(void) {handle_interrupt(ADC_IRQn);}
+void EXTI9_5_IRQHandler(void) {handle_interrupt(EXTI9_5_IRQn);}
+void TIM1_BRK_IRQHandler(void) {handle_interrupt(TIM1_BRK_IRQn);}
+void TIM1_UP_TIM10_IRQHandler(void) {handle_interrupt(TIM1_UP_TIM10_IRQn);}
+void TIM1_TRG_COM_IRQHandler(void) {handle_interrupt(TIM1_TRG_COM_IRQn);}
+void TIM1_CC_IRQHandler(void) {handle_interrupt(TIM1_CC_IRQn);}
+void TIM2_IRQHandler(void) {handle_interrupt(TIM2_IRQn);}
+void TIM3_IRQHandler(void) {handle_interrupt(TIM3_IRQn);}
+void TIM4_IRQHandler(void) {handle_interrupt(TIM4_IRQn);}
+void I2C1_EV_IRQHandler(void) {handle_interrupt(I2C1_EV_IRQn);}
+void I2C1_ER_IRQHandler(void) {handle_interrupt(I2C1_ER_IRQn);}
+void I2C2_EV_IRQHandler(void) {handle_interrupt(I2C2_EV_IRQn);}
+void I2C2_ER_IRQHandler(void) {handle_interrupt(I2C2_ER_IRQn);}
+void SPI1_IRQHandler(void) {handle_interrupt(SPI1_IRQn);}
+void SPI2_IRQHandler(void) {handle_interrupt(SPI2_IRQn);}
+void USART1_IRQHandler(void) {handle_interrupt(USART1_IRQn);}
+void USART2_IRQHandler(void) {handle_interrupt(USART2_IRQn);}
+void USART3_IRQHandler(void) {handle_interrupt(USART3_IRQn);}
+void EXTI15_10_IRQHandler(void) {handle_interrupt(EXTI15_10_IRQn);}
+void RTC_Alarm_IRQHandler(void) {handle_interrupt(RTC_Alarm_IRQn);}
+void TIM8_BRK_TIM12_IRQHandler(void) {handle_interrupt(TIM8_BRK_TIM12_IRQn);}
+void TIM8_UP_TIM13_IRQHandler(void) {handle_interrupt(TIM8_UP_TIM13_IRQn);}
+void TIM8_TRG_COM_TIM14_IRQHandler(void) {handle_interrupt(TIM8_TRG_COM_TIM14_IRQn);}
+void TIM8_CC_IRQHandler(void) {handle_interrupt(TIM8_CC_IRQn);}
+void DMA1_Stream7_IRQHandler(void) {handle_interrupt(DMA1_Stream7_IRQn);}
+void TIM5_IRQHandler(void) {handle_interrupt(TIM5_IRQn);}
+void SPI3_IRQHandler(void) {handle_interrupt(SPI3_IRQn);}
+void UART4_IRQHandler(void) {handle_interrupt(UART4_IRQn);}
+void UART5_IRQHandler(void) {handle_interrupt(UART5_IRQn);}
+void TIM6_DAC_IRQHandler(void) {handle_interrupt(TIM6_DAC_IRQn);}
+void TIM7_IRQHandler(void) {handle_interrupt(TIM7_IRQn);}
+void DMA2_Stream0_IRQHandler(void) {handle_interrupt(DMA2_Stream0_IRQn);}
+void DMA2_Stream1_IRQHandler(void) {handle_interrupt(DMA2_Stream1_IRQn);}
+void DMA2_Stream2_IRQHandler(void) {handle_interrupt(DMA2_Stream2_IRQn);}
+void DMA2_Stream3_IRQHandler(void) {handle_interrupt(DMA2_Stream3_IRQn);}
+void DMA2_Stream4_IRQHandler(void) {handle_interrupt(DMA2_Stream4_IRQn);}
+void DMA2_Stream5_IRQHandler(void) {handle_interrupt(DMA2_Stream5_IRQn);}
+void DMA2_Stream6_IRQHandler(void) {handle_interrupt(DMA2_Stream6_IRQn);}
+void DMA2_Stream7_IRQHandler(void) {handle_interrupt(DMA2_Stream7_IRQn);}
+void USART6_IRQHandler(void) {handle_interrupt(USART6_IRQn);}
+void I2C3_EV_IRQHandler(void) {handle_interrupt(I2C3_EV_IRQn);}
+void I2C3_ER_IRQHandler(void) {handle_interrupt(I2C3_ER_IRQn);}
+void FDCAN1_IT0_IRQHandler(void) {handle_interrupt(FDCAN1_IT0_IRQn);}
+void FDCAN1_IT1_IRQHandler(void) {handle_interrupt(FDCAN1_IT1_IRQn);}
+void FDCAN2_IT0_IRQHandler(void) {handle_interrupt(FDCAN2_IT0_IRQn);}
+void FDCAN2_IT1_IRQHandler(void) {handle_interrupt(FDCAN2_IT1_IRQn);}
+void FDCAN3_IT0_IRQHandler(void) {handle_interrupt(FDCAN3_IT0_IRQn);}
+void FDCAN3_IT1_IRQHandler(void) {handle_interrupt(FDCAN3_IT1_IRQn);}
+void FDCAN_CAL_IRQHandler(void) {handle_interrupt(FDCAN_CAL_IRQn);}
+void OTG_HS_EP1_OUT_IRQHandler(void) {handle_interrupt(OTG_HS_EP1_OUT_IRQn);}
+void OTG_HS_EP1_IN_IRQHandler(void) {handle_interrupt(OTG_HS_EP1_IN_IRQn);}
+void OTG_HS_WKUP_IRQHandler(void) {handle_interrupt(OTG_HS_WKUP_IRQn);}
+void OTG_HS_IRQHandler(void) {handle_interrupt(OTG_HS_IRQn);}
diff --git a/panda/board/stm32h7/lladc.h b/panda/board/stm32h7/lladc.h
new file mode 100644
index 00000000000000..795ca3533fdb03
--- /dev/null
+++ b/panda/board/stm32h7/lladc.h
@@ -0,0 +1,48 @@
+// 5VOUT_S = ADC12_INP5
+// VOLT_S = ADC1_INP2
+#define ADCCHAN_VOLTAGE 2
+
+void adc_init(void) {
+  ADC1->CR &= ~(ADC_CR_DEEPPWD); //Reset deep-power-down mode
+  ADC1->CR |= ADC_CR_ADVREGEN; // Enable ADC regulator
+  while(!(ADC1->ISR & ADC_ISR_LDORDY));
+
+  ADC1->CR &= ~(ADC_CR_ADCALDIF); // Choose single-ended calibration
+  ADC1->CR |= ADC_CR_ADCALLIN; // Lineriality calibration
+  ADC1->CR |= ADC_CR_ADCAL; // Start calibrtation
+  while((ADC1->CR & ADC_CR_ADCAL) != 0);
+
+  ADC1->ISR |= ADC_ISR_ADRDY;
+  ADC1->CR |= ADC_CR_ADEN;
+  while(!(ADC1->ISR & ADC_ISR_ADRDY));
+}
+
+uint32_t adc_get(unsigned int channel) {
+
+  ADC1->SQR1 &= ~(ADC_SQR1_L);
+  ADC1->SQR1 = (channel << 6U);
+  
+  ADC1->SMPR1 = (0x7U << (channel * 3U) );
+  ADC1->PCSEL_RES0 = (0x1U << channel);
+
+  ADC1->CR |= ADC_CR_ADSTART;
+  while (!(ADC1->ISR & ADC_ISR_EOC));
+
+  uint16_t res = ADC1->DR;
+
+  while (!(ADC1->ISR & ADC_ISR_EOS));
+  ADC1->ISR |= ADC_ISR_EOS;
+
+  return res;
+}
+
+uint32_t adc_get_voltage(void) {
+  // REVC has a 10, 1 (1/11) voltage divider
+  // Here is the calculation for the scale (s)
+  // ADCV = VIN_S * (1/11) * (65535/3.3)
+  // RETVAL = ADCV * s = VIN_S*1000
+  // s = 1000/((65535/3.3)*(1/11)) = 0.553902494
+
+  // Avoid needing floating point math, so output in mV
+  return (adc_get(ADCCHAN_VOLTAGE) * 5539U) / 10000U;
+}
diff --git a/panda/board/stm32h7/llfan.h b/panda/board/stm32h7/llfan.h
new file mode 100644
index 00000000000000..fc529dcbe26ff6
--- /dev/null
+++ b/panda/board/stm32h7/llfan.h
@@ -0,0 +1,2 @@
+void EXTI2_IRQ_Handler(void) { }
+void fan_init(void){ }
diff --git a/panda/board/stm32h7/llfdcan.h b/panda/board/stm32h7/llfdcan.h
new file mode 100644
index 00000000000000..c3afadae37a22e
--- /dev/null
+++ b/panda/board/stm32h7/llfdcan.h
@@ -0,0 +1,203 @@
+#define FDCAN_MESSAGE_RAM_SIZE 0x2800UL
+#define FDCAN_START_ADDRESS 0x4000AC00UL
+#define FDCAN_OFFSET 3412UL // bytes for each FDCAN module
+#define FDCAN_OFFSET_W 853UL // words for each FDCAN module
+#define FDCAN_END_ADDRESS 0x4000D3FCUL // Message RAM has a width of 4 Bytes
+
+// With this settings we can go up to 6Mbit/s
+#define CAN_SYNC_JW     1U // 1 to 4
+#define CAN_PHASE_SEG1  6U // =(PROP_SEG + PHASE_SEG1) , 1 to 16
+#define CAN_PHASE_SEG2  1U // 1 to 8
+#define CAN_PCLK 48000U // Sourced from PLL1Q
+#define CAN_QUANTA (1U + CAN_PHASE_SEG1 + CAN_PHASE_SEG2)
+// Valid speeds in kbps and their prescalers:
+// 10=600, 20=300, 50=120, 83.333=72, 100=60, 125=48, 250=24, 500=12, 1000=6, 2000=3, 3000=2, 6000=1
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
+
+// RX FIFO 0
+#define FDCAN_RX_FIFO_0_EL_CNT 24UL
+#define FDCAN_RX_FIFO_0_HEAD_SIZE 8UL // bytes
+#define FDCAN_RX_FIFO_0_DATA_SIZE 64UL // bytes
+#define FDCAN_RX_FIFO_0_EL_SIZE (FDCAN_RX_FIFO_0_HEAD_SIZE + FDCAN_RX_FIFO_0_DATA_SIZE)
+#define FDCAN_RX_FIFO_0_EL_W_SIZE (FDCAN_RX_FIFO_0_EL_SIZE / 4UL)
+#define FDCAN_RX_FIFO_0_OFFSET 0UL
+
+// TX FIFO
+#define FDCAN_TX_FIFO_EL_CNT 16UL
+#define FDCAN_TX_FIFO_HEAD_SIZE 8UL // bytes
+#define FDCAN_TX_FIFO_DATA_SIZE 64UL // bytes
+#define FDCAN_TX_FIFO_EL_SIZE (FDCAN_TX_FIFO_HEAD_SIZE + FDCAN_TX_FIFO_DATA_SIZE)
+#define FDCAN_TX_FIFO_EL_W_SIZE (FDCAN_TX_FIFO_EL_SIZE / 4UL)
+#define FDCAN_TX_FIFO_OFFSET (FDCAN_RX_FIFO_0_OFFSET + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_W_SIZE))
+
+#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? "FDCAN1" : (((CAN_DEV) == FDCAN2) ? "FDCAN2" : "FDCAN3"))
+#define CAN_NUM_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? 0UL : (((CAN_DEV) == FDCAN2) ? 1UL : 2UL))
+
+
+void puts(const char *a);
+
+bool fdcan_request_init(FDCAN_GlobalTypeDef *CANx) {
+  bool ret = true;
+  // Exit from sleep mode
+  CANx->CCCR &= ~(FDCAN_CCCR_CSR);
+  while ((CANx->CCCR & FDCAN_CCCR_CSA) == FDCAN_CCCR_CSA);
+
+  // Request init
+  uint32_t timeout_counter = 0U;
+  CANx->CCCR |= FDCAN_CCCR_INIT;
+  while ((CANx->CCCR & FDCAN_CCCR_INIT) == 0) {
+    // Delay for about 1ms
+    delay(10000);
+    timeout_counter++;
+
+    if (timeout_counter >= CAN_INIT_TIMEOUT_MS){
+      ret = false;
+      break;
+    }
+  }
+  return ret;
+}
+
+bool fdcan_exit_init(FDCAN_GlobalTypeDef *CANx) {
+  bool ret = true;
+
+  CANx->CCCR &= ~(FDCAN_CCCR_INIT);
+  uint32_t timeout_counter = 0U;
+  while ((CANx->CCCR & FDCAN_CCCR_INIT) != 0) {
+    // Delay for about 1ms
+    delay(10000);
+    timeout_counter++;
+
+    if (timeout_counter >= CAN_INIT_TIMEOUT_MS) {
+      ret = false;
+      break;
+    }
+  }
+  return ret;
+}
+
+bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_speed, bool loopback, bool silent) {
+  bool ret = fdcan_request_init(CANx);
+
+  if (ret) {
+    // Enable config change
+    CANx->CCCR |= FDCAN_CCCR_CCE;
+
+    //Reset operation mode to Normal
+    CANx->CCCR &= ~(FDCAN_CCCR_TEST);
+    CANx->TEST &= ~(FDCAN_TEST_LBCK);
+    CANx->CCCR &= ~(FDCAN_CCCR_MON);
+    CANx->CCCR &= ~(FDCAN_CCCR_ASM);
+
+    // Set the nominal bit timing register
+    CANx->NBTP = ((CAN_SYNC_JW-1U)<<FDCAN_NBTP_NSJW_Pos) | ((CAN_PHASE_SEG1-1U)<<FDCAN_NBTP_NTSEG1_Pos) | ((CAN_PHASE_SEG2-1U)<<FDCAN_NBTP_NTSEG2_Pos) | ((can_speed_to_prescaler(speed)-1U)<<FDCAN_NBTP_NBRP_Pos);
+    // Set the data bit timing register
+    CANx->DBTP = ((CAN_SYNC_JW-1U)<<FDCAN_DBTP_DSJW_Pos) | ((CAN_PHASE_SEG1-1U)<<FDCAN_DBTP_DTSEG1_Pos) | ((CAN_PHASE_SEG2-1U)<<FDCAN_DBTP_DTSEG2_Pos) | ((can_speed_to_prescaler(data_speed)-1U)<<FDCAN_DBTP_DBRP_Pos);
+    // Silent loopback is known as internal loopback in the docs
+    if (loopback) {
+      CANx->CCCR |= FDCAN_CCCR_TEST;
+      CANx->TEST |= FDCAN_TEST_LBCK;
+      CANx->CCCR |= FDCAN_CCCR_MON;
+    }
+    // Silent is known as bus monitoring in the docs
+    if (silent) {
+      CANx->CCCR |= FDCAN_CCCR_MON;
+    }
+    ret = fdcan_exit_init(CANx);
+    if (!ret) {
+      puts(CAN_NAME_FROM_CANIF(CANx)); puts(" set_speed timed out! (2)\n");
+    }
+  } else {
+    puts(CAN_NAME_FROM_CANIF(CANx)); puts(" set_speed timed out! (1)\n");
+  }
+  return ret;
+}
+
+bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
+  uint32_t can_number = CAN_NUM_FROM_CANIF(CANx);
+  bool ret = fdcan_request_init(CANx);
+
+  if (ret) {
+    // Enable config change
+    CANx->CCCR |= FDCAN_CCCR_CCE;
+    // Enable automatic retransmission
+    CANx->CCCR &= ~(FDCAN_CCCR_DAR);
+    // Enable transmission pause feature
+    CANx->CCCR |= FDCAN_CCCR_TXP;
+    // Disable protocol exception handling
+    CANx->CCCR |= FDCAN_CCCR_PXHD;
+    // FD with BRS
+    CANx->CCCR |= (FDCAN_CCCR_FDOE | FDCAN_CCCR_BRSE);
+
+    // Set TX mode to FIFO
+    CANx->TXBC &= ~(FDCAN_TXBC_TFQM);
+    // Configure TX element data size
+    CANx->TXESC |= 0x7U << FDCAN_TXESC_TBDS_Pos; // 64 bytes
+    //Configure RX FIFO0 element data size
+    CANx->RXESC |= 0x7U << FDCAN_RXESC_F0DS_Pos;
+    // Disable filtering, accept all valid frames received
+    CANx->XIDFC &= ~(FDCAN_XIDFC_LSE); // No extended filters
+    CANx->SIDFC &= ~(FDCAN_SIDFC_LSS); // No standard filters
+    CANx->GFC &= ~(FDCAN_GFC_RRFE); // Accept extended remote frames
+    CANx->GFC &= ~(FDCAN_GFC_RRFS); // Accept standard remote frames
+    CANx->GFC &= ~(FDCAN_GFC_ANFE); // Accept extended frames to FIFO 0
+    CANx->GFC &= ~(FDCAN_GFC_ANFS); // Accept standard frames to FIFO 0
+
+    uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
+    uint32_t TxFIFOSA = RxFIFO0SA + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
+
+    // RX FIFO 0
+    CANx->RXF0C |= (FDCAN_RX_FIFO_0_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_RXF0C_F0SA_Pos;
+    CANx->RXF0C |= FDCAN_RX_FIFO_0_EL_CNT << FDCAN_RXF0C_F0S_Pos;
+    // RX FIFO 0 switch to non-blocking (overwrite) mode
+    CANx->RXF0C |= FDCAN_RXF0C_F0OM;
+
+    // TX FIFO (mode set earlier)
+    CANx->TXBC |= (FDCAN_TX_FIFO_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_TXBC_TBSA_Pos;
+    CANx->TXBC |= FDCAN_TX_FIFO_EL_CNT << FDCAN_TXBC_TFQS_Pos;
+
+    // Flush allocated RAM
+    uint32_t EndAddress = TxFIFOSA + (FDCAN_TX_FIFO_EL_CNT * FDCAN_TX_FIFO_EL_SIZE);
+    for (uint32_t RAMcounter = RxFIFO0SA; RAMcounter < EndAddress; RAMcounter += 4U) {
+        *(uint32_t *)(RAMcounter) = 0x00000000;
+    }
+
+    // Enable both interrupts for each module
+    CANx->ILE = (FDCAN_ILE_EINT0 | FDCAN_ILE_EINT1);
+
+    CANx->IE &= 0x0U; // Reset all interrupts
+    // Messages for INT0
+    CANx->IE |= FDCAN_IE_RF0NE; // Rx FIFO 0 new message
+
+    // Messages for INT1 (Only TFE works??)
+    CANx->ILS |= FDCAN_ILS_TFEL;
+    CANx->IE |= FDCAN_IE_TFEE; // Tx FIFO empty
+    
+    ret = fdcan_exit_init(CANx);
+    if(!ret) {
+      puts(CAN_NAME_FROM_CANIF(CANx)); puts(" llcan_init timed out (2)!\n");
+    }
+
+    if (CANx == FDCAN1) {
+      NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
+      NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
+    } else if (CANx == FDCAN2) {
+      NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
+      NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
+    } else if (CANx == FDCAN3) {
+      NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
+      NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
+    } else {
+      puts("Invalid CAN: initialization failed\n");
+    }
+
+  } else {
+    puts(CAN_NAME_FROM_CANIF(CANx)); puts(" llcan_init timed out (1)!\n");
+  }
+  return ret;
+}
+
+void llcan_clear_send(FDCAN_GlobalTypeDef *CANx) {
+  // From H7 datasheet: Transmit cancellation is not intended for Tx FIFO operation.
+  UNUSED(CANx);
+}
diff --git a/panda/board/stm32h7/llflash.h b/panda/board/stm32h7/llflash.h
new file mode 100644
index 00000000000000..b95011a9ed87c2
--- /dev/null
+++ b/panda/board/stm32h7/llflash.h
@@ -0,0 +1,33 @@
+bool flash_is_locked(void) {
+  return (FLASH->CR1 & FLASH_CR_LOCK);
+}
+
+void flash_unlock(void) {
+  FLASH->KEYR1 = 0x45670123;
+  FLASH->KEYR1 = 0xCDEF89AB;
+}
+
+bool flash_erase_sector(uint8_t sector, bool unlocked) {
+  // don't erase the bootloader(sector 0)
+  if (sector != 0 && sector < 8 && unlocked) {
+    FLASH->CR1 = (sector << 8) | FLASH_CR_SER;
+    FLASH->CR1 |= FLASH_CR_START;
+    while (FLASH->SR1 & FLASH_SR_QW);
+    return true;
+  }
+  return false;
+}
+
+void flash_write_word(void *prog_ptr, uint32_t data) {
+  uint32_t *pp = prog_ptr;
+  FLASH->CR1 |= FLASH_CR_PG;
+  *pp = data;
+  while (FLASH->SR1 & FLASH_SR_QW);
+}
+
+void flush_write_buffer(void) {
+  if (FLASH->SR1 & FLASH_SR_WBNE) {
+    FLASH->CR1 |= FLASH_CR_FW;
+    while (FLASH->SR1 & FLASH_CR_FW);
+  }
+}
diff --git a/panda/board/stm32h7/llrtc.h b/panda/board/stm32h7/llrtc.h
new file mode 100644
index 00000000000000..8689f895283d80
--- /dev/null
+++ b/panda/board/stm32h7/llrtc.h
@@ -0,0 +1,9 @@
+#define RCC_BDCR_MASK (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL | RCC_BDCR_LSEDRV | RCC_BDCR_LSEBYP | RCC_BDCR_LSEON)
+
+void enable_bdomain_protection(void) {
+  register_clear_bits(&(PWR->CR1), PWR_CR1_DBP);
+}
+
+void disable_bdomain_protection(void) {
+  register_set_bits(&(PWR->CR1), PWR_CR1_DBP);
+}
diff --git a/panda/board/stm32h7/lluart.h b/panda/board/stm32h7/lluart.h
new file mode 100644
index 00000000000000..aa44f7bb8433d5
--- /dev/null
+++ b/panda/board/stm32h7/lluart.h
@@ -0,0 +1,5 @@
+void uart_init(uart_ring *q, int baud) { UNUSED(q); UNUSED(baud); }
+void uart_set_baud(USART_TypeDef *u, unsigned int baud) { UNUSED(u); UNUSED(baud); }
+void dma_pointer_handler(uart_ring *q, uint32_t dma_ndtr) { UNUSED(q); UNUSED(dma_ndtr); }
+void uart_rx_ring(uart_ring *q) { UNUSED(q); }
+void uart_tx_ring(uart_ring *q) { UNUSED(q); }
diff --git a/panda/board/stm32h7/llusb.h b/panda/board/stm32h7/llusb.h
new file mode 100644
index 00000000000000..58646574af3f08
--- /dev/null
+++ b/panda/board/stm32h7/llusb.h
@@ -0,0 +1,98 @@
+typedef struct
+{
+  __IO uint32_t HPRT;
+}
+USB_OTG_HostPortTypeDef;
+
+USB_OTG_GlobalTypeDef *USBx = USB_OTG_HS;
+
+#define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
+#define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
+#define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
+#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE))
+#define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
+
+#define USBD_FS_TRDT_VALUE        6U
+#define USB_OTG_SPEED_FULL        3U
+#define DCFG_FRAME_INTERVAL_80    0U
+
+
+void usb_irqhandler(void);
+
+void OTG_HS_IRQ_Handler(void) {
+  NVIC_DisableIRQ(OTG_HS_IRQn);
+  usb_irqhandler();
+  NVIC_EnableIRQ(OTG_HS_IRQn);
+}
+
+void usb_init(void) {
+  REGISTER_INTERRUPT(OTG_HS_IRQn, OTG_HS_IRQ_Handler, 1500000U, FAULT_INTERRUPT_RATE_USB) // TODO: Find out a better rate limit for USB. Now it's the 1.5MB/s rate
+
+  // Disable global interrupt
+  USBx->GAHBCFG &= ~(USB_OTG_GAHBCFG_GINT);
+  // Select FS Embedded PHY
+  USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
+  // Force device mode
+  USBx->GUSBCFG &= ~(USB_OTG_GUSBCFG_FHMOD | USB_OTG_GUSBCFG_FDMOD);
+  USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
+  delay(250000); // Wait for about 25ms (explicitly stated in H7 ref manual)
+  // Wait for AHB master IDLE state.
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
+  // Core Soft Reset
+  USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
+  // Activate the USB Transceiver
+  USBx->GCCFG |= USB_OTG_GCCFG_PWRDWN;
+
+  for (uint8_t i = 0U; i < 15U; i++) {
+    USBx->DIEPTXF[i] = 0U;
+  }
+
+  // VBUS Sensing setup
+  USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS;
+  // Deactivate VBUS Sensing B
+  USBx->GCCFG &= ~(USB_OTG_GCCFG_VBDEN);
+  // B-peripheral session valid override enable
+  USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOEN;
+  USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOVAL;
+  // Restart the Phy Clock
+  USBx_PCGCCTL = 0U;
+  // Device mode configuration
+  USBx_DEVICE->DCFG |= DCFG_FRAME_INTERVAL_80;
+  USBx_DEVICE->DCFG |= USB_OTG_SPEED_FULL | USB_OTG_DCFG_NZLSOHSK;
+
+  // Flush FIFOs
+  USBx->GRSTCTL = (USB_OTG_GRSTCTL_TXFFLSH | (0x10U << 6));
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
+
+  USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
+
+  // Clear all pending Device Interrupts
+  USBx_DEVICE->DIEPMSK = 0U;
+  USBx_DEVICE->DOEPMSK = 0U;
+  USBx_DEVICE->DAINTMSK = 0U;
+  USBx_DEVICE->DIEPMSK &= ~(USB_OTG_DIEPMSK_TXFURM);
+
+  // Disable all interrupts.
+  USBx->GINTMSK = 0U;
+  // Clear any pending interrupts
+  USBx->GINTSTS = 0xBFFFFFFFU;
+  // Enable interrupts matching to the Device mode ONLY
+  USBx->GINTMSK = USB_OTG_GINTMSK_USBRST | USB_OTG_GINTMSK_ENUMDNEM | USB_OTG_GINTMSK_OTGINT |
+                  USB_OTG_GINTMSK_RXFLVLM | USB_OTG_GINTMSK_GONAKEFFM | USB_OTG_GINTMSK_GINAKEFFM |
+                  USB_OTG_GINTMSK_OEPINT | USB_OTG_GINTMSK_IEPINT | USB_OTG_GINTMSK_USBSUSPM |
+                  USB_OTG_GINTMSK_CIDSCHGM | USB_OTG_GINTMSK_SRQIM | USB_OTG_GINTMSK_MMISM | USB_OTG_GINTMSK_EOPFM;
+
+  // Set USB Turnaround time
+  USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+  // Enables the controller's Global Int in the AHB Config reg
+  USBx->GAHBCFG |= USB_OTG_GAHBCFG_GINT;
+  // Soft disconnect disable:
+  USBx_DEVICE->DCTL &= ~(USB_OTG_DCTL_SDIS);
+
+  // enable the IRQ
+  NVIC_EnableIRQ(OTG_HS_IRQn);
+}
diff --git a/panda/board/stm32h7/peripherals.h b/panda/board/stm32h7/peripherals.h
new file mode 100644
index 00000000000000..b50516f79bbbba
--- /dev/null
+++ b/panda/board/stm32h7/peripherals.h
@@ -0,0 +1,123 @@
+void gpio_usb_init(void) {
+  // A11,A12: USB:
+  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG1_FS);
+  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG1_FS);
+  GPIOA->OSPEEDR = GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12;
+}
+
+void gpio_usart2_init(void) {
+  // A2,A3: USART 2 for debugging
+  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
+  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
+}
+
+// Common GPIO initialization
+void common_init_gpio(void) {
+  /// E2,E3,E4: RGB LED
+  set_gpio_pullup(GPIOE, 2, PULL_NONE);
+  set_gpio_mode(GPIOE, 2, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOE, 3, PULL_NONE);
+  set_gpio_mode(GPIOE, 3, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOE, 4, PULL_NONE);
+  set_gpio_mode(GPIOE, 4, MODE_OUTPUT);
+
+  // F7,F8,F9,F10: BOARD ID
+  set_gpio_pullup(GPIOF, 7, PULL_NONE);
+  set_gpio_mode(GPIOF, 7, MODE_INPUT);
+
+  set_gpio_pullup(GPIOF, 8, PULL_NONE);
+  set_gpio_mode(GPIOF, 8, MODE_INPUT);
+
+  set_gpio_pullup(GPIOF, 9, PULL_NONE);
+  set_gpio_mode(GPIOF, 9, MODE_INPUT);
+
+  set_gpio_pullup(GPIOF, 10, PULL_NONE);
+  set_gpio_mode(GPIOF, 10, MODE_INPUT);
+
+  // G11,B3,D7,B4: transceiver enable
+  set_gpio_pullup(GPIOG, 11, PULL_NONE);
+  set_gpio_mode(GPIOG, 11, MODE_OUTPUT);
+
+  // Speed was set to high by default after reset, changing to low
+  GPIOB->OSPEEDR = GPIO_OSPEEDR_OSPEED3;
+  set_gpio_pullup(GPIOB, 3, PULL_NONE);
+  set_gpio_mode(GPIOB, 3, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOD, 7, PULL_NONE);
+  set_gpio_mode(GPIOD, 7, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOB, 4, PULL_NONE);
+  set_gpio_mode(GPIOB, 4, MODE_OUTPUT);
+
+  // B14: usb load switch
+  set_gpio_pullup(GPIOB, 14, PULL_NONE);
+  set_gpio_mode(GPIOB, 14, MODE_OUTPUT);
+
+  //B1,F11 5VOUT_S, VOLT_S
+  set_gpio_pullup(GPIOB, 1, PULL_NONE);
+  set_gpio_mode(GPIOB, 1, MODE_ANALOG);
+
+  set_gpio_pullup(GPIOF, 11, PULL_NONE);
+  set_gpio_mode(GPIOF, 11, MODE_ANALOG);
+
+  gpio_usb_init();
+
+  // B8,B9: FDCAN1
+  set_gpio_pullup(GPIOB, 8, PULL_NONE);
+  set_gpio_alternate(GPIOB, 8, GPIO_AF9_FDCAN1);
+
+  set_gpio_pullup(GPIOB, 9, PULL_NONE);
+  set_gpio_alternate(GPIOB, 9, GPIO_AF9_FDCAN1);
+  
+  // B5,B6 (mplex to B12,B13): FDCAN2
+  set_gpio_pullup(GPIOB, 12, PULL_NONE);
+  set_gpio_pullup(GPIOB, 13, PULL_NONE);
+
+  set_gpio_pullup(GPIOB, 5, PULL_NONE);
+  set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
+
+  set_gpio_pullup(GPIOB, 6, PULL_NONE);
+  set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
+  
+  // G9,G10: FDCAN3
+  set_gpio_pullup(GPIOG, 9, PULL_NONE);
+  set_gpio_alternate(GPIOG, 9, GPIO_AF2_FDCAN3);
+
+  set_gpio_pullup(GPIOG, 10, PULL_NONE);
+  set_gpio_alternate(GPIOG, 10, GPIO_AF2_FDCAN3);
+}
+
+void flasher_peripherals_init(void) {
+  RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN;
+}
+
+// Peripheral initialization
+void peripherals_init(void) {
+  // enable GPIO(A,B,C,D,E,F,G,H)
+  RCC->AHB4ENR |= RCC_AHB4ENR_GPIOAEN;
+  RCC->AHB4ENR |= RCC_AHB4ENR_GPIOBEN;
+  RCC->AHB4ENR |= RCC_AHB4ENR_GPIOCEN;
+  RCC->AHB4ENR |= RCC_AHB4ENR_GPIODEN;
+  RCC->AHB4ENR |= RCC_AHB4ENR_GPIOEEN;
+  RCC->AHB4ENR |= RCC_AHB4ENR_GPIOFEN;
+  RCC->AHB4ENR |= RCC_AHB4ENR_GPIOGEN;
+
+  RCC->APB1LENR |= RCC_APB1LENR_TIM2EN;  // main counter
+  RCC->APB1LENR |= RCC_APB1LENR_TIM6EN;  // interrupt timer
+  RCC->APB2ENR |= RCC_APB2ENR_TIM8EN;  // clock source timer
+  RCC->APB1LENR |= RCC_APB1LENR_TIM12EN;  // slow loop
+
+  RCC->APB1HENR |= RCC_APB1HENR_FDCANEN; // FDCAN core enable
+  RCC->AHB1ENR |= RCC_AHB1ENR_ADC12EN; // Enable ADC clocks
+
+  // HS USB enable, also LP is needed for CSleep state(__WFI())
+  RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN;
+  RCC->AHB1LPENR |= RCC_AHB1LPENR_USB1OTGHSLPEN;
+  RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_USB1OTGHSULPILPEN);
+}
+
+void enable_interrupt_timer(void) {
+  register_set_bits(&(RCC->APB1LENR), RCC_APB1LENR_TIM6EN); // Enable interrupt timer peripheral
+}
diff --git a/panda/board/stm32h7/startup_stm32h7x5xx.s b/panda/board/stm32h7/startup_stm32h7x5xx.s
new file mode 100644
index 00000000000000..15015a11329d73
--- /dev/null
+++ b/panda/board/stm32h7/startup_stm32h7x5xx.s
@@ -0,0 +1,767 @@
+/**
+  ******************************************************************************
+  * @file      startup_stm32h735xx.s
+  * @author    MCD Application Team
+  * @brief     STM32H735xx Devices vector table for GCC based toolchain.
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address
+  *                - Branches to main in the C library (which eventually
+  *                  calls main()).
+  *            After Reset the Cortex-M processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+  .syntax unified
+  .cpu cortex-m7
+  .fpu softvfp
+  .thumb
+
+.global  g_pfnVectors
+.global  Default_Handler
+
+/* start address for the initialization values of the .data section.
+defined in linker script */
+.word  _sidata
+/* start address for the .data section. defined in linker script */
+.word  _sdata
+/* end address for the .data section. defined in linker script */
+.word  _edata
+/* start address for the .bss section. defined in linker script */
+.word  _sbss
+/* end address for the .bss section. defined in linker script */
+.word  _ebss
+/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
+
+/**
+ * @brief  This is the code that gets called when the processor first
+ *          starts execution following a reset event. Only the absolutely
+ *          necessary set is performed, after which the application
+ *          supplied main() routine is called.
+ * @param  None
+ * @retval : None
+*/
+
+    .section  .text.Reset_Handler
+  .weak  Reset_Handler
+  .type  Reset_Handler, %function
+Reset_Handler:
+  ldr   sp, =_estack      /* set stack pointer */
+  bl __initialize_hardware_early
+
+/* Copy the data segment initializers from flash to SRAM */
+  ldr r0, =_sdata
+  ldr r1, =_edata
+  ldr r2, =_sidata
+  movs r3, #0
+  b LoopCopyDataInit
+
+CopyDataInit:
+  ldr r4, [r2, r3]
+  str r4, [r0, r3]
+  adds r3, r3, #4
+
+LoopCopyDataInit:
+  adds r4, r0, r3
+  cmp r4, r1
+  bcc CopyDataInit
+/* Zero fill the bss segment. */
+  ldr r2, =_sbss
+  ldr r4, =_ebss
+  movs r3, #0
+  b LoopFillZerobss
+
+FillZerobss:
+  str  r3, [r2]
+  adds r2, r2, #4
+
+LoopFillZerobss:
+  cmp r2, r4
+  bcc FillZerobss
+  
+/* Call the clock system intitialization function.*/
+  /* bl  SystemInit    */
+/* Call static constructors */
+    /* bl __libc_init_array */
+/* Call the application's entry point.*/
+  bl  main
+  bx  lr
+.size  Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ * @param  None
+ * @retval None
+*/
+    .section  .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+  b  Infinite_Loop
+  .size  Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M. Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+*
+*******************************************************************************/
+   .section  .isr_vector,"a",%progbits
+  .type  g_pfnVectors, %object
+  .size  g_pfnVectors, .-g_pfnVectors
+
+
+g_pfnVectors:
+  .word  _estack
+  .word  Reset_Handler
+
+  .word  NMI_Handler
+  .word  HardFault_Handler
+  .word  MemManage_Handler
+  .word  BusFault_Handler
+  .word  UsageFault_Handler
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  SVC_Handler
+  .word  DebugMon_Handler
+  .word  0
+  .word  PendSV_Handler
+  .word  SysTick_Handler
+
+  /* External Interrupts */
+  .word     WWDG_IRQHandler                   /* Window WatchDog              */
+  .word     PVD_AVD_IRQHandler                /* PVD/AVD through EXTI Line detection */
+  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */
+  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */
+  .word     FLASH_IRQHandler                  /* FLASH                        */
+  .word     RCC_IRQHandler                    /* RCC                          */
+  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */
+  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */
+  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */
+  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */
+  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */
+  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */
+  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */
+  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */
+  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */
+  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */
+  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */
+  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */
+  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */
+  .word     FDCAN1_IT0_IRQHandler             /* FDCAN1 interrupt line 0      */
+  .word     FDCAN2_IT0_IRQHandler             /* FDCAN2 interrupt line 0      */
+  .word     FDCAN1_IT1_IRQHandler             /* FDCAN1 interrupt line 1      */
+  .word     FDCAN2_IT1_IRQHandler             /* FDCAN2 interrupt line 1      */
+  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */
+  .word     TIM1_BRK_IRQHandler               /* TIM1 Break interrupt         */
+  .word     TIM1_UP_IRQHandler                /* TIM1 Update interrupt        */
+  .word     TIM1_TRG_COM_IRQHandler           /* TIM1 Trigger and Commutation interrupt */
+  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */
+  .word     TIM2_IRQHandler                   /* TIM2                         */
+  .word     TIM3_IRQHandler                   /* TIM3                         */
+  .word     TIM4_IRQHandler                   /* TIM4                         */
+  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */
+  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */
+  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */
+  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */
+  .word     SPI1_IRQHandler                   /* SPI1                         */
+  .word     SPI2_IRQHandler                   /* SPI2                         */
+  .word     USART1_IRQHandler                 /* USART1                       */
+  .word     USART2_IRQHandler                 /* USART2                       */
+  .word     USART3_IRQHandler                 /* USART3                       */
+  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */
+  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */
+  .word     0                                 /* Reserved                     */
+  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */
+  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */
+  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
+  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */
+  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */
+  .word     FMC_IRQHandler                    /* FMC                          */
+  .word     SDMMC1_IRQHandler                 /* SDMMC1                       */
+  .word     TIM5_IRQHandler                   /* TIM5                         */
+  .word     SPI3_IRQHandler                   /* SPI3                         */
+  .word     UART4_IRQHandler                  /* UART4                        */
+  .word     UART5_IRQHandler                  /* UART5                        */
+  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */
+  .word     TIM7_IRQHandler                   /* TIM7                         */
+  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */
+  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */
+  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */
+  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */
+  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */
+  .word     ETH_IRQHandler                    /* Ethernet                     */
+  .word     ETH_WKUP_IRQHandler               /* Ethernet Wakeup through EXTI line */
+  .word     FDCAN_CAL_IRQHandler              /* FDCAN calibration unit interrupt*/
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */
+  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */
+  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */
+  .word     USART6_IRQHandler                 /* USART6                       */
+  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */
+  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */
+  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */
+  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */
+  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */
+  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */
+  .word     DCMI_PSSI_IRQHandler              /* DCMI, PSSI                   */
+  .word     CRYP_IRQHandler                   /* CRYP                         */
+  .word     HASH_RNG_IRQHandler               /* Hash and Rng                 */
+  .word     FPU_IRQHandler                    /* FPU                          */
+  .word     UART7_IRQHandler                  /* UART7                        */
+  .word     UART8_IRQHandler                  /* UART8                        */
+  .word     SPI4_IRQHandler                   /* SPI4                         */
+  .word     SPI5_IRQHandler                   /* SPI5                         */
+  .word     SPI6_IRQHandler                   /* SPI6                         */
+  .word     SAI1_IRQHandler                   /* SAI1                         */
+  .word     LTDC_IRQHandler                   /* LTDC                         */
+  .word     LTDC_ER_IRQHandler                /* LTDC error                   */
+  .word     DMA2D_IRQHandler                  /* DMA2D                        */
+  .word     0                                 /* Reserved                     */
+  .word     OCTOSPI1_IRQHandler               /* OCTOSPI1                     */
+  .word     LPTIM1_IRQHandler                 /* LPTIM1                       */
+  .word     CEC_IRQHandler                    /* HDMI_CEC                     */
+  .word     I2C4_EV_IRQHandler                /* I2C4 Event                   */
+  .word     I2C4_ER_IRQHandler                /* I2C4 Error                   */
+  .word     SPDIF_RX_IRQHandler               /* SPDIF_RX                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     DMAMUX1_OVR_IRQHandler            /* DMAMUX1 Overrun interrupt    */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     DFSDM1_FLT0_IRQHandler            /* DFSDM Filter0 Interrupt      */
+  .word     DFSDM1_FLT1_IRQHandler            /* DFSDM Filter1 Interrupt      */
+  .word     DFSDM1_FLT2_IRQHandler            /* DFSDM Filter2 Interrupt      */
+  .word     DFSDM1_FLT3_IRQHandler            /* DFSDM Filter3 Interrupt      */
+  .word     0                                 /* Reserved                     */
+  .word     SWPMI1_IRQHandler                 /* Serial Wire Interface 1 global interrupt */
+  .word     TIM15_IRQHandler                  /* TIM15 global Interrupt          */
+  .word     TIM16_IRQHandler                  /* TIM16 global Interrupt          */
+  .word     TIM17_IRQHandler                  /* TIM17 global Interrupt          */
+  .word     MDIOS_WKUP_IRQHandler             /* MDIOS Wakeup  Interrupt         */
+  .word     MDIOS_IRQHandler                  /* MDIOS global Interrupt          */
+  .word     0                                 /* Reserved                        */
+  .word     MDMA_IRQHandler                   /* MDMA global Interrupt           */
+  .word     0                                 /* Reserved                        */
+  .word     SDMMC2_IRQHandler                 /* SDMMC2 global Interrupt         */
+  .word     HSEM1_IRQHandler                  /* HSEM1 global Interrupt          */
+  .word     0                                 /* Reserved                        */
+  .word     ADC3_IRQHandler                   /* ADC3 global Interrupt           */
+  .word     DMAMUX2_OVR_IRQHandler            /* DMAMUX Overrun interrupt        */
+  .word     BDMA_Channel0_IRQHandler          /* BDMA Channel 0 global Interrupt */
+  .word     BDMA_Channel1_IRQHandler          /* BDMA Channel 1 global Interrupt */
+  .word     BDMA_Channel2_IRQHandler          /* BDMA Channel 2 global Interrupt */
+  .word     BDMA_Channel3_IRQHandler          /* BDMA Channel 3 global Interrupt */
+  .word     BDMA_Channel4_IRQHandler          /* BDMA Channel 4 global Interrupt */
+  .word     BDMA_Channel5_IRQHandler          /* BDMA Channel 5 global Interrupt */
+  .word     BDMA_Channel6_IRQHandler          /* BDMA Channel 6 global Interrupt */
+  .word     BDMA_Channel7_IRQHandler          /* BDMA Channel 7 global Interrupt */
+  .word     COMP1_IRQHandler                  /* COMP1 global Interrupt          */
+  .word     LPTIM2_IRQHandler                 /* LP TIM2 global interrupt        */
+  .word     LPTIM3_IRQHandler                 /* LP TIM3 global interrupt        */
+  .word     LPTIM4_IRQHandler                 /* LP TIM4 global interrupt        */
+  .word     LPTIM5_IRQHandler                 /* LP TIM5 global interrupt        */
+  .word     LPUART1_IRQHandler                /* LP UART1 interrupt              */
+  .word     0                                 /* Reserved                        */
+  .word     CRS_IRQHandler                    /* Clock Recovery Global Interrupt */
+  .word     ECC_IRQHandler                    /* ECC diagnostic Global Interrupt */
+  .word     SAI4_IRQHandler                   /* SAI4 global interrupt           */
+  .word     DTS_IRQHandler                    /* Digital Temperature Sensor  interrupt */
+  .word     0                                 /* Reserved                              */
+  .word     WAKEUP_PIN_IRQHandler             /* Interrupt for all 6 wake-up pins      */
+  .word     OCTOSPI2_IRQHandler               /* OCTOSPI2 Interrupt       */
+  .word     OTFDEC1_IRQHandler                /* OTFDEC1 Interrupt        */
+  .word     OTFDEC2_IRQHandler                /* OTFDEC2 Interrupt        */
+  .word     FMAC_IRQHandler                   /* FMAC Interrupt           */
+  .word     CORDIC_IRQHandler                 /* CORDIC Interrupt         */
+  .word     UART9_IRQHandler                  /* UART9 Interrupt          */
+  .word     USART10_IRQHandler                /* UART10 Interrupt         */
+  .word     I2C5_EV_IRQHandler                /* I2C5 Event Interrupt     */
+  .word     I2C5_ER_IRQHandler                /* I2C5 Error Interrupt     */
+  .word     FDCAN3_IT0_IRQHandler             /* FDCAN3 interrupt line 0  */
+  .word     FDCAN3_IT1_IRQHandler             /* FDCAN3 interrupt line 1  */
+  .word     TIM23_IRQHandler                  /* TIM23 global interrupt   */
+  .word     TIM24_IRQHandler                  /* TIM24 global interrupt   */
+
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler.
+* As they are weak aliases, any function with the same name will override
+* this definition.
+*
+*******************************************************************************/
+   .weak      NMI_Handler
+   .thumb_set NMI_Handler,Default_Handler
+
+   .weak      HardFault_Handler
+   .thumb_set HardFault_Handler,Default_Handler
+
+   .weak      MemManage_Handler
+   .thumb_set MemManage_Handler,Default_Handler
+
+   .weak      BusFault_Handler
+   .thumb_set BusFault_Handler,Default_Handler
+
+   .weak      UsageFault_Handler
+   .thumb_set UsageFault_Handler,Default_Handler
+
+   .weak      SVC_Handler
+   .thumb_set SVC_Handler,Default_Handler
+
+   .weak      DebugMon_Handler
+   .thumb_set DebugMon_Handler,Default_Handler
+
+   .weak      PendSV_Handler
+   .thumb_set PendSV_Handler,Default_Handler
+
+   .weak      SysTick_Handler
+   .thumb_set SysTick_Handler,Default_Handler
+
+   .weak      WWDG_IRQHandler
+   .thumb_set WWDG_IRQHandler,Default_Handler
+
+   .weak      PVD_AVD_IRQHandler
+   .thumb_set PVD_AVD_IRQHandler,Default_Handler
+
+   .weak      TAMP_STAMP_IRQHandler
+   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
+
+   .weak      RTC_WKUP_IRQHandler
+   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
+
+   .weak      FLASH_IRQHandler
+   .thumb_set FLASH_IRQHandler,Default_Handler
+
+   .weak      RCC_IRQHandler
+   .thumb_set RCC_IRQHandler,Default_Handler
+
+   .weak      EXTI0_IRQHandler
+   .thumb_set EXTI0_IRQHandler,Default_Handler
+
+   .weak      EXTI1_IRQHandler
+   .thumb_set EXTI1_IRQHandler,Default_Handler
+
+   .weak      EXTI2_IRQHandler
+   .thumb_set EXTI2_IRQHandler,Default_Handler
+
+   .weak      EXTI3_IRQHandler
+   .thumb_set EXTI3_IRQHandler,Default_Handler
+
+   .weak      EXTI4_IRQHandler
+   .thumb_set EXTI4_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream0_IRQHandler
+   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream1_IRQHandler
+   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream2_IRQHandler
+   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream3_IRQHandler
+   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream4_IRQHandler
+   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream5_IRQHandler
+   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream6_IRQHandler
+   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
+
+   .weak      ADC_IRQHandler
+   .thumb_set ADC_IRQHandler,Default_Handler
+
+   .weak      FDCAN1_IT0_IRQHandler
+   .thumb_set FDCAN1_IT0_IRQHandler,Default_Handler
+
+   .weak      FDCAN2_IT0_IRQHandler
+   .thumb_set FDCAN2_IT0_IRQHandler,Default_Handler
+
+   .weak      FDCAN1_IT1_IRQHandler
+   .thumb_set FDCAN1_IT1_IRQHandler,Default_Handler
+
+   .weak      FDCAN2_IT1_IRQHandler
+   .thumb_set FDCAN2_IT1_IRQHandler,Default_Handler
+
+   .weak      EXTI9_5_IRQHandler
+   .thumb_set EXTI9_5_IRQHandler,Default_Handler
+
+   .weak      TIM1_BRK_IRQHandler
+   .thumb_set TIM1_BRK_IRQHandler,Default_Handler
+
+   .weak      TIM1_UP_IRQHandler
+   .thumb_set TIM1_UP_IRQHandler,Default_Handler
+
+   .weak      TIM1_TRG_COM_IRQHandler
+   .thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
+
+   .weak      TIM1_CC_IRQHandler
+   .thumb_set TIM1_CC_IRQHandler,Default_Handler
+
+   .weak      TIM2_IRQHandler
+   .thumb_set TIM2_IRQHandler,Default_Handler
+
+   .weak      TIM3_IRQHandler
+   .thumb_set TIM3_IRQHandler,Default_Handler
+
+   .weak      TIM4_IRQHandler
+   .thumb_set TIM4_IRQHandler,Default_Handler
+
+   .weak      I2C1_EV_IRQHandler
+   .thumb_set I2C1_EV_IRQHandler,Default_Handler
+
+   .weak      I2C1_ER_IRQHandler
+   .thumb_set I2C1_ER_IRQHandler,Default_Handler
+
+   .weak      I2C2_EV_IRQHandler
+   .thumb_set I2C2_EV_IRQHandler,Default_Handler
+
+   .weak      I2C2_ER_IRQHandler
+   .thumb_set I2C2_ER_IRQHandler,Default_Handler
+
+   .weak      SPI1_IRQHandler
+   .thumb_set SPI1_IRQHandler,Default_Handler
+
+   .weak      SPI2_IRQHandler
+   .thumb_set SPI2_IRQHandler,Default_Handler
+
+   .weak      USART1_IRQHandler
+   .thumb_set USART1_IRQHandler,Default_Handler
+
+   .weak      USART2_IRQHandler
+   .thumb_set USART2_IRQHandler,Default_Handler
+
+   .weak      USART3_IRQHandler
+   .thumb_set USART3_IRQHandler,Default_Handler
+
+   .weak      EXTI15_10_IRQHandler
+   .thumb_set EXTI15_10_IRQHandler,Default_Handler
+
+   .weak      RTC_Alarm_IRQHandler
+   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
+
+   .weak      TIM8_BRK_TIM12_IRQHandler
+   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
+
+   .weak      TIM8_UP_TIM13_IRQHandler
+   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
+
+   .weak      TIM8_TRG_COM_TIM14_IRQHandler
+   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
+
+   .weak      TIM8_CC_IRQHandler
+   .thumb_set TIM8_CC_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream7_IRQHandler
+   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
+
+   .weak      FMC_IRQHandler
+   .thumb_set FMC_IRQHandler,Default_Handler
+
+   .weak      SDMMC1_IRQHandler
+   .thumb_set SDMMC1_IRQHandler,Default_Handler
+
+   .weak      TIM5_IRQHandler
+   .thumb_set TIM5_IRQHandler,Default_Handler
+
+   .weak      SPI3_IRQHandler
+   .thumb_set SPI3_IRQHandler,Default_Handler
+
+   .weak      UART4_IRQHandler
+   .thumb_set UART4_IRQHandler,Default_Handler
+
+   .weak      UART5_IRQHandler
+   .thumb_set UART5_IRQHandler,Default_Handler
+
+   .weak      TIM6_DAC_IRQHandler
+   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
+
+   .weak      TIM7_IRQHandler
+   .thumb_set TIM7_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream0_IRQHandler
+   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream1_IRQHandler
+   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream2_IRQHandler
+   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream3_IRQHandler
+   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream4_IRQHandler
+   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
+
+   .weak      ETH_IRQHandler
+   .thumb_set ETH_IRQHandler,Default_Handler
+
+   .weak      ETH_WKUP_IRQHandler
+   .thumb_set ETH_WKUP_IRQHandler,Default_Handler
+
+   .weak      FDCAN_CAL_IRQHandler
+   .thumb_set FDCAN_CAL_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream5_IRQHandler
+   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream6_IRQHandler
+   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream7_IRQHandler
+   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
+
+   .weak      USART6_IRQHandler
+   .thumb_set USART6_IRQHandler,Default_Handler
+
+   .weak      I2C3_EV_IRQHandler
+   .thumb_set I2C3_EV_IRQHandler,Default_Handler
+
+   .weak      I2C3_ER_IRQHandler
+   .thumb_set I2C3_ER_IRQHandler,Default_Handler
+
+   .weak      OTG_HS_EP1_OUT_IRQHandler
+   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
+
+   .weak      OTG_HS_EP1_IN_IRQHandler
+   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
+
+   .weak      OTG_HS_WKUP_IRQHandler
+   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
+
+   .weak      OTG_HS_IRQHandler
+   .thumb_set OTG_HS_IRQHandler,Default_Handler
+
+   .weak      DCMI_PSSI_IRQHandler
+   .thumb_set DCMI_PSSI_IRQHandler,Default_Handler
+
+   .weak      CRYP_IRQHandler
+   .thumb_set CRYP_IRQHandler,Default_Handler
+
+   .weak      HASH_RNG_IRQHandler
+   .thumb_set HASH_RNG_IRQHandler,Default_Handler
+
+   .weak      FPU_IRQHandler
+   .thumb_set FPU_IRQHandler,Default_Handler
+
+   .weak      UART7_IRQHandler
+   .thumb_set UART7_IRQHandler,Default_Handler
+
+   .weak      UART8_IRQHandler
+   .thumb_set UART8_IRQHandler,Default_Handler
+
+   .weak      SPI4_IRQHandler
+   .thumb_set SPI4_IRQHandler,Default_Handler
+
+   .weak      SPI5_IRQHandler
+   .thumb_set SPI5_IRQHandler,Default_Handler
+
+   .weak      SPI6_IRQHandler
+   .thumb_set SPI6_IRQHandler,Default_Handler
+
+   .weak      SAI1_IRQHandler
+   .thumb_set SAI1_IRQHandler,Default_Handler
+
+   .weak      LTDC_IRQHandler
+   .thumb_set LTDC_IRQHandler,Default_Handler
+
+   .weak      LTDC_ER_IRQHandler
+   .thumb_set LTDC_ER_IRQHandler,Default_Handler
+
+   .weak      DMA2D_IRQHandler
+   .thumb_set DMA2D_IRQHandler,Default_Handler
+
+   .weak      OCTOSPI1_IRQHandler
+   .thumb_set OCTOSPI1_IRQHandler,Default_Handler
+
+   .weak      LPTIM1_IRQHandler
+   .thumb_set LPTIM1_IRQHandler,Default_Handler
+
+   .weak      CEC_IRQHandler
+   .thumb_set CEC_IRQHandler,Default_Handler
+
+   .weak      I2C4_EV_IRQHandler
+   .thumb_set I2C4_EV_IRQHandler,Default_Handler
+
+   .weak      I2C4_ER_IRQHandler
+   .thumb_set I2C4_ER_IRQHandler,Default_Handler
+
+   .weak      SPDIF_RX_IRQHandler
+   .thumb_set SPDIF_RX_IRQHandler,Default_Handler
+
+   .weak      DMAMUX1_OVR_IRQHandler
+   .thumb_set DMAMUX1_OVR_IRQHandler,Default_Handler
+
+   .weak      DFSDM1_FLT0_IRQHandler
+   .thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler
+
+   .weak      DFSDM1_FLT1_IRQHandler
+   .thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler
+
+   .weak      DFSDM1_FLT2_IRQHandler
+   .thumb_set DFSDM1_FLT2_IRQHandler,Default_Handler
+
+   .weak      DFSDM1_FLT3_IRQHandler
+   .thumb_set DFSDM1_FLT3_IRQHandler,Default_Handler
+
+   .weak      SWPMI1_IRQHandler
+   .thumb_set SWPMI1_IRQHandler,Default_Handler
+
+   .weak      TIM15_IRQHandler
+   .thumb_set TIM15_IRQHandler,Default_Handler
+
+   .weak      TIM16_IRQHandler
+   .thumb_set TIM16_IRQHandler,Default_Handler
+
+   .weak      TIM17_IRQHandler
+   .thumb_set TIM17_IRQHandler,Default_Handler
+
+   .weak      MDIOS_WKUP_IRQHandler
+   .thumb_set MDIOS_WKUP_IRQHandler,Default_Handler
+
+   .weak      MDIOS_IRQHandler
+   .thumb_set MDIOS_IRQHandler,Default_Handler
+
+   .weak      MDMA_IRQHandler
+   .thumb_set MDMA_IRQHandler,Default_Handler
+
+   .weak      SDMMC2_IRQHandler
+   .thumb_set SDMMC2_IRQHandler,Default_Handler
+
+   .weak      HSEM1_IRQHandler
+   .thumb_set HSEM1_IRQHandler,Default_Handler
+
+   .weak      ADC3_IRQHandler
+   .thumb_set ADC3_IRQHandler,Default_Handler
+
+   .weak      DMAMUX2_OVR_IRQHandler
+   .thumb_set DMAMUX2_OVR_IRQHandler,Default_Handler
+
+   .weak      BDMA_Channel0_IRQHandler
+   .thumb_set BDMA_Channel0_IRQHandler,Default_Handler
+
+   .weak      BDMA_Channel1_IRQHandler
+   .thumb_set BDMA_Channel1_IRQHandler,Default_Handler
+
+   .weak      BDMA_Channel2_IRQHandler
+   .thumb_set BDMA_Channel2_IRQHandler,Default_Handler
+
+   .weak      BDMA_Channel3_IRQHandler
+   .thumb_set BDMA_Channel3_IRQHandler,Default_Handler
+
+   .weak      BDMA_Channel4_IRQHandler
+   .thumb_set BDMA_Channel4_IRQHandler,Default_Handler
+
+   .weak      BDMA_Channel5_IRQHandler
+   .thumb_set BDMA_Channel5_IRQHandler,Default_Handler
+
+   .weak      BDMA_Channel6_IRQHandler
+   .thumb_set BDMA_Channel6_IRQHandler,Default_Handler
+
+   .weak      BDMA_Channel7_IRQHandler
+   .thumb_set BDMA_Channel7_IRQHandler,Default_Handler
+
+   .weak      COMP1_IRQHandler
+   .thumb_set COMP1_IRQHandler,Default_Handler
+
+   .weak      LPTIM2_IRQHandler
+   .thumb_set LPTIM2_IRQHandler,Default_Handler
+
+   .weak      LPTIM3_IRQHandler
+   .thumb_set LPTIM3_IRQHandler,Default_Handler
+
+   .weak      LPTIM4_IRQHandler
+   .thumb_set LPTIM4_IRQHandler,Default_Handler
+
+   .weak      LPTIM5_IRQHandler
+   .thumb_set LPTIM5_IRQHandler,Default_Handler
+
+   .weak      LPUART1_IRQHandler
+   .thumb_set LPUART1_IRQHandler,Default_Handler
+
+   .weak      CRS_IRQHandler
+   .thumb_set CRS_IRQHandler,Default_Handler
+
+   .weak      ECC_IRQHandler
+   .thumb_set ECC_IRQHandler,Default_Handler
+
+   .weak      SAI4_IRQHandler
+   .thumb_set SAI4_IRQHandler,Default_Handler
+
+   .weak      DTS_IRQHandler
+   .thumb_set DTS_IRQHandler,Default_Handler
+
+   .weak      WAKEUP_PIN_IRQHandler
+   .thumb_set WAKEUP_PIN_IRQHandler,Default_Handler
+
+   .weak      OCTOSPI2_IRQHandler
+   .thumb_set OCTOSPI2_IRQHandler,Default_Handler
+
+   .weak      OTFDEC1_IRQHandler
+   .thumb_set OTFDEC1_IRQHandler,Default_Handler
+
+   .weak      OTFDEC2_IRQHandler
+   .thumb_set OTFDEC2_IRQHandler,Default_Handler
+
+   .weak      FMAC_IRQHandler
+   .thumb_set FMAC_IRQHandler,Default_Handler
+
+   .weak      CORDIC_IRQHandler
+   .thumb_set CORDIC_IRQHandler,Default_Handler
+
+   .weak      UART9_IRQHandler
+   .thumb_set UART9_IRQHandler,Default_Handler
+
+   .weak      USART10_IRQHandler
+   .thumb_set USART10_IRQHandler,Default_Handler
+
+   .weak      I2C5_EV_IRQHandler
+   .thumb_set I2C5_EV_IRQHandler,Default_Handler
+
+   .weak      I2C5_ER_IRQHandler
+   .thumb_set I2C5_ER_IRQHandler,Default_Handler
+
+   .weak      FDCAN3_IT0_IRQHandler
+   .thumb_set FDCAN3_IT0_IRQHandler,Default_Handler
+
+   .weak      FDCAN3_IT1_IRQHandler
+   .thumb_set FDCAN3_IT1_IRQHandler,Default_Handler
+
+   .weak      TIM23_IRQHandler
+   .thumb_set TIM23_IRQHandler,Default_Handler
+
+   .weak      TIM24_IRQHandler
+   .thumb_set TIM24_IRQHandler,Default_Handler
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
diff --git a/panda/board/stm32h7/stm32h7_config.h b/panda/board/stm32h7/stm32h7_config.h
new file mode 100644
index 00000000000000..cdc2a9dcc29eb7
--- /dev/null
+++ b/panda/board/stm32h7/stm32h7_config.h
@@ -0,0 +1,79 @@
+#include "stm32h7/inc/stm32h7xx.h"
+#include "stm32h7/inc/stm32h7xx_hal_gpio_ex.h"
+#define MCU_IDCODE 0x483U
+
+// from the linker script
+#define APP_START_ADDRESS 0x8020000U
+
+#define CORE_FREQ 240U // in Mhz
+//APB1 - 120Mhz, APB2 - 120Mhz
+#define APB1_FREQ CORE_FREQ/2U 
+#define APB2_FREQ CORE_FREQ/2U
+
+#define BOOTLOADER_ADDRESS 0x1FF09804U
+
+// Around (1Mbps / 8 bits/byte / 12 bytes per message)
+#define CAN_INTERRUPT_RATE 12000U // FIXME: should raise to 16000 ?
+
+#define MAX_LED_FADE 10240U
+
+// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
+#define HARNESS_CONNECTED_THRESHOLD 40000U
+
+// There are 163 external interrupt sources (see stm32f735xx.h)
+#define NUM_INTERRUPTS 163U
+
+#define TICK_TIMER_IRQ TIM8_BRK_TIM12_IRQn
+#define TICK_TIMER TIM12
+
+#define MICROSECOND_TIMER TIM2
+
+#define INTERRUPT_TIMER_IRQ TIM6_DAC_IRQn
+#define INTERRUPT_TIMER TIM6
+
+#define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
+#define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
+
+#define CANPACKET_DATA_SIZE_MAX 64U
+
+#include "can_definitions.h"
+
+#ifndef BOOTSTUB
+  #include "main_declarations.h"
+#else
+  #include "bootstub_declarations.h"
+#endif
+
+#include "libc.h"
+#include "critical.h"
+#include "faults.h"
+
+#include "drivers/registers.h"
+#include "drivers/interrupts.h"
+#include "drivers/gpio.h"
+#include "stm32h7/peripherals.h"
+#include "stm32h7/interrupt_handlers.h"
+#include "drivers/timers.h"
+#include "stm32h7/lladc.h"
+#include "stm32h7/board.h"
+#include "stm32h7/clock.h"
+
+#if !defined (BOOTSTUB) && defined(PANDA)
+  #include "drivers/uart.h"
+  #include "stm32h7/lluart.h"
+#endif
+
+#ifdef BOOTSTUB
+  #include "stm32h7/llflash.h"
+#else
+  #include "stm32h7/llfdcan.h"
+#endif
+
+#include "stm32h7/llusb.h"
+
+void early_gpio_float(void) {
+  RCC->AHB4ENR = RCC_AHB4ENR_GPIOAEN | RCC_AHB4ENR_GPIOBEN | RCC_AHB4ENR_GPIOCEN | RCC_AHB4ENR_GPIODEN | RCC_AHB4ENR_GPIOEEN | RCC_AHB4ENR_GPIOFEN | RCC_AHB4ENR_GPIOGEN | RCC_AHB4ENR_GPIOHEN;
+  GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0; GPIOD->MODER = 0; GPIOE->MODER = 0; GPIOF->MODER = 0; GPIOG->MODER = 0; GPIOH->MODER = 0;
+  GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0; GPIOD->ODR = 0; GPIOE->ODR = 0; GPIOF->ODR = 0; GPIOG->ODR = 0; GPIOH->ODR = 0;
+  GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0; GPIOD->PUPDR = 0; GPIOE->PUPDR = 0; GPIOF->PUPDR = 0; GPIOG->PUPDR = 0; GPIOH->PUPDR = 0;
+}
diff --git a/panda/board/stm32h7/stm32h7x5_flash.ld b/panda/board/stm32h7/stm32h7x5_flash.ld
new file mode 100644
index 00000000000000..aeaa4e3bee4fea
--- /dev/null
+++ b/panda/board/stm32h7/stm32h7x5_flash.ld
@@ -0,0 +1,192 @@
+/*
+******************************************************************************
+**
+
+**  File        : LinkerScript.ld
+**
+**  Author		: Auto-generated by System Workbench for STM32
+**
+**  Abstract    : Linker script for STM32H735ZGTx series
+**                1024Kbytes FLASH and 560Kbytes RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**  Distribution: The file is distributed “as is,” without any warranty
+**                of any kind.
+**
+*****************************************************************************
+** @attention
+**
+** <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+**
+** Redistribution and use in source and binary forms, with or without modification,
+** are permitted provided that the following conditions are met:
+**   1. Redistributions of source code must retain the above copyright notice,
+**      this list of conditions and the following disclaimer.
+**   2. Redistributions in binary form must reproduce the above copyright notice,
+**      this list of conditions and the following disclaimer in the documentation
+**      and/or other materials provided with the distribution.
+**   3. Neither the name of STMicroelectronics nor the names of its contributors
+**      may be used to endorse or promote products derived from this software
+**      without specific prior written permission.
+**
+** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+enter_bootloader_mode = 0x38001FFC;
+_estack = 0x20020000;    /* end of RAM */
+_app_start = 0x08020000; /* Reserve Sector 0(128K) for bootloader */
+
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0x200;      /* required amount of heap  */
+_Min_Stack_Size = 0x400; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+DTCMRAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 128K
+RAM_D1 (xrw)      : ORIGIN = 0x24000000, LENGTH = 320K
+RAM_D2 (xrw)      : ORIGIN = 0x30000000, LENGTH = 32K
+RAM_D3 (xrw)      : ORIGIN = 0x38000000, LENGTH = 16K
+ITCMRAM (xrw)      : ORIGIN = 0x00000000, LENGTH = 64K
+FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 1024K
+}
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+  /* Constant data goes into FLASH */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+  .ARM : {
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+  } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data : 
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >DTCMRAM AT> FLASH
+
+  
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >DTCMRAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >DTCMRAM
+
+  .ram_d1 (NOLOAD) :
+  {
+    . = ALIGN(4);
+    *(.ram_d1*)
+  } >RAM_D1
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
+
+
diff --git a/panda/board/tests/test_rsa.c b/panda/board/tests/test_rsa.c
index f4a7d6be0faba4..5c784e23a4e834 100644
--- a/panda/board/tests/test_rsa.c
+++ b/panda/board/tests/test_rsa.c
@@ -32,4 +32,3 @@ int main() {
 
   return 0;
 }
-
diff --git a/panda/board/tools/dfu-util-aarch64 b/panda/board/tools/dfu-util-aarch64
deleted file mode 100755
index 250c592ada9795..00000000000000
Binary files a/panda/board/tools/dfu-util-aarch64 and /dev/null differ
diff --git a/panda/board/tools/dfu-util-aarch64-linux b/panda/board/tools/dfu-util-aarch64-linux
deleted file mode 100755
index b366f869ace1cd..00000000000000
Binary files a/panda/board/tools/dfu-util-aarch64-linux and /dev/null differ
diff --git a/panda/board/tools/dfu-util-x86_64-linux b/panda/board/tools/dfu-util-x86_64-linux
deleted file mode 100755
index 7be3dc3a7ef682..00000000000000
Binary files a/panda/board/tools/dfu-util-x86_64-linux and /dev/null differ
diff --git a/panda/board/tools/enter_download_mode.py b/panda/board/tools/enter_download_mode.py
deleted file mode 100755
index 17d30dda1131e8..00000000000000
--- a/panda/board/tools/enter_download_mode.py
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-
-
-import sys
-import time
-import usb1
-
-def enter_download_mode(device):
-  handle = device.open()
-  handle.claimInterface(0)
-
-  try:
-    handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, b'')
-  except (usb1.USBErrorIO, usb1.USBErrorPipe):
-    print("Device download mode enabled.")
-    time.sleep(1)
-  else:
-    print("Device failed to enter download mode.")
-    sys.exit(1)
-
-def find_first_panda(context=None):
-  context = context or usb1.USBContext()
-  for device in context.getDeviceList(skip_on_error=True):
-    if device.getVendorID() == 0xbbaa and device.getProductID()&0xFF00 == 0xdd00:
-      return device
-
-if __name__ == "__main__":
-  panda_dev = find_first_panda()
-  if panda_dev == None:
-    print("no device found")
-    sys.exit(0)
-  print("found device")
-  enter_download_mode(panda_dev)
diff --git a/panda/board/usb_protocol.h b/panda/board/usb_protocol.h
new file mode 100644
index 00000000000000..0e50aa7a0430d7
--- /dev/null
+++ b/panda/board/usb_protocol.h
@@ -0,0 +1,108 @@
+typedef struct {
+  uint8_t ptr;
+  uint8_t tail_size;
+  uint8_t data[72];
+  uint8_t counter;
+} usb_asm_buffer;
+
+usb_asm_buffer ep1_buffer = {.ptr = 0, .tail_size = 0, .counter = 0};
+uint32_t total_rx_size = 0;
+
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
+  uint8_t pos = 1;
+  uint8_t *usbdata8 = (uint8_t *)usbdata;
+  usbdata8[0] = ep1_buffer.counter;
+  // Send tail of previous message if it is in buffer
+  if (ep1_buffer.ptr > 0) {
+    if (ep1_buffer.ptr <= 63U) {
+      (void)memcpy(&usbdata8[pos], ep1_buffer.data, ep1_buffer.ptr);
+      pos += ep1_buffer.ptr;
+      ep1_buffer.ptr = 0;
+    } else {
+      (void)memcpy(&usbdata8[pos], ep1_buffer.data, 63U);
+      ep1_buffer.ptr = ep1_buffer.ptr - 63U;
+      (void)memcpy(ep1_buffer.data, &ep1_buffer.data[63U], ep1_buffer.ptr);
+      pos += 63U;
+    }
+  }
+
+  if (total_rx_size > MAX_EP1_CHUNK_PER_BULK_TRANSFER) {
+    total_rx_size = 0;
+    ep1_buffer.counter = 0;
+  } else {
+    CANPacket_t can_packet;
+    while ((pos < len) && can_pop(&can_rx_q, &can_packet)) {
+      uint8_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[can_packet.data_len_code];
+      if ((pos + pckt_len) <= len) {
+        (void)memcpy(&usbdata8[pos], &can_packet, pckt_len);
+        pos += pckt_len;
+      } else {
+        (void)memcpy(&usbdata8[pos], &can_packet, len - pos);
+        ep1_buffer.ptr = pckt_len - (len - pos);
+        //(void)memcpy(ep1_buffer.data, ((uint8_t*)&can_packet + (len - pos)), ep1_buffer.ptr);
+        // cppcheck-suppress objectIndex
+        (void)memcpy(ep1_buffer.data, &((uint8_t*)&can_packet)[(len - pos)], ep1_buffer.ptr);
+        pos = len;
+      }
+    }
+    ep1_buffer.counter++;
+    total_rx_size += pos;
+  }
+  if (pos != len) {
+    ep1_buffer.counter = 0;
+    total_rx_size = 0;
+  }
+  if (pos <= 1) { pos = 0; }
+  return pos;
+}
+
+usb_asm_buffer ep3_buffer = {.ptr = 0, .tail_size = 0, .counter = 0};
+
+// send on CAN
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
+  UNUSED(hardwired);
+  uint8_t *usbdata8 = (uint8_t *)usbdata;
+  // Got first packet from a stream, resetting buffer and counter
+  if (usbdata8[0] == 0) {
+    ep3_buffer.counter = 0;
+    ep3_buffer.ptr = 0;
+    ep3_buffer.tail_size = 0;
+  }
+  // Assembling can message with data from buffer
+  if (usbdata8[0] == ep3_buffer.counter) {
+    uint8_t pos = 1;
+    ep3_buffer.counter++;
+    if (ep3_buffer.ptr != 0) {
+      if (ep3_buffer.tail_size <= 63U) {
+        CANPacket_t to_push;
+        (void)memcpy(&ep3_buffer.data[ep3_buffer.ptr], &usbdata8[pos], ep3_buffer.tail_size);
+        (void)memcpy(&to_push, ep3_buffer.data, ep3_buffer.ptr + ep3_buffer.tail_size);
+        can_send(&to_push, to_push.bus, false);
+        pos += ep3_buffer.tail_size;
+        ep3_buffer.ptr = 0;
+        ep3_buffer.tail_size = 0;
+      } else {
+        (void)memcpy(&ep3_buffer.data[ep3_buffer.ptr], &usbdata8[pos], len - pos);
+        ep3_buffer.tail_size -= 63U;
+        ep3_buffer.ptr += 63U;
+        pos += 63U;
+      }
+    }
+
+    while (pos < len) {
+      uint8_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(usbdata8[pos] >> 4U)];
+      if ((pos + pckt_len) <= (uint8_t)len) {
+        CANPacket_t to_push;
+        (void)memcpy(&to_push, &usbdata8[pos], pckt_len);
+        can_send(&to_push, to_push.bus, false);
+        pos += pckt_len;
+      } else {
+        (void)memcpy(ep3_buffer.data, &usbdata8[pos], len - pos);
+        ep3_buffer.ptr = len - pos;
+        ep3_buffer.tail_size = pckt_len - ep3_buffer.ptr;
+        pos += ep3_buffer.ptr;
+      }
+    }
+  }
+}
diff --git a/panda/boardesp/.gitignore b/panda/boardesp/.gitignore
deleted file mode 100644
index 75255a58518e15..00000000000000
--- a/panda/boardesp/.gitignore
+++ /dev/null
@@ -1,8 +0,0 @@
-proxy
-*.bin
-esp-open-sdk
-a.out
-cert.h
-gitversion.h
-esp-open-sdk.dmg
-obj/*
diff --git a/panda/boardesp/ELM327.md b/panda/boardesp/ELM327.md
deleted file mode 100644
index 6453b35ca41119..00000000000000
--- a/panda/boardesp/ELM327.md
+++ /dev/null
@@ -1,101 +0,0 @@
-ELM327 support for panda
-======
-The panda now has basic ELM327 support.
-
-### What is ELM327?
-
-ELM327 is a command protocol for interfacing with cars using an OBD-II
-port to read [list](standard vehicle diagnostic codes). ELM327
-originally referred to a line of programmable microcontrollers that
-implemented the ELM327 command protocol, and are still being
-developed.
-
-ELM327 devices present a shell and commands are sent via a UART. The
-official ELM327 chips only support raw UART communication, but most
-devices built with the ELM327 devices (official or clones) expose the
-UART in a more modern way (Wifi, USB, etc).
-
-Mechanics use ELM to diagnose vehicles, and reset fault codes in the
-car's computer after fixing the issue (turning off the dreaded check
-engine light). Car owners can use ELM devices to perform the same
-diagnostics in their garage using either a raw terminal to send
-commands to the ELM device directly, or using a GUI (like one of
-several popular smart phone apps) to translate the OBD error codes
-into readable messages. These GUIs also often allow monitoring of the
-performance of the car's speed, engine rpm, etc.
-
-The panda natively supports sending all the important OBD diagnostic
-messages, but ELM327 support removes the need for the user to manually
-craft CAN or LIN packets using the native panda API, and grants
-compatibility with many existing tools.
-
-[Wikipedia](https://en.wikipedia.org/wiki/ELM327) can provide
-additional information.
-
-### OBD Protocols?
-
-While the commands that the OBD standard describe are in fact
-standard, there are several different protocols that those messages
-can be sent and received with. All cars after 1991 support one of
-these protocols. Which one depends on the car's year and country, as
-legal requirements change over the years.
-
-The panda supports the most popular/modern of these protocols, and all
-but two can be added as needed. Below is a chart of the OBD-II
-protocols supported by the panda.
-
-| Protocol | Support Status |
-| --- | --- |
-| SAE J1850 PWM (41.6 kbit/s) | Never/Obsolete |
-| SAE J1850 VPW (10.4 kbit/s) | Never/Obsolete |
-| ISO 9141-2 (5 baud init, 10.4 kbit/s) | Unsupported |
-| ISO 14230-4 KWP (5 baud init, 10.4 kbit/s) | Unsupported |
-| ISO 14230-4 KWP (fast init, 10.4 kbit/s) | Supported |
-| ISO 15765-4 CAN (11 bit ID, 500 kbit/s) | Supported |
-| ISO 15765-4 CAN (29 bit ID, 500 kbit/s) | Supported |
-| ISO 15765-4 CAN (11 bit ID, 250 kbit/s) | Supported |
-| ISO 15765-4 CAN (29 bit ID, 250 kbit/s) | Supported |
-| SAE J1939 (250kbps) | Unsupported |
-
-### The Implementation
-
-The panda ELM327 implementation is not a full implementation of all
-the features of the official ELM327 microcontroller. Like most ELM327
-clones, the panda reports its ELM version as the unreleased version
-1.5, despite only implementing commands from protocol version 1.0.
-
-
-### Testing
-
-These tests require two pandas. One to be tested, and the second to
-simulate the vehicle.
-
-The panda used to simulate the vehicle must be plugged into a USB port
-of the testing computer.
-
-The computer running the tests must be connected to the panda being
-tested's wifi network.
-
-The following command will run the tests (nosetest should work fine
-instead of pytest if you still prefer using that). The CANSIMSERIAL
-environment variable will force the car simulator to use the correct
-panda as the simulator if multiple pandas are attached via usb to the
-host computer.
-
-```
-CANSIMSERIAL=car_sim_panda_serial pytest tests/automated/elm_wifi.py
-```
-
-A single test can be run by putting the test name after the file name
-and two colons, like so:
-
-```
-CANSIMSERIAL=car_sim_panda_serial pytest tests/automated/elm_wifi.py::test_important_thing
-```
-
-For more detail, provide the -s (show output) and the -vv (very
-verbose) flags.
-
-```
-CANSIMSERIAL=car_sim_panda_serial pytest -s -vv tests/automated/elm_wifi.py
-```
diff --git a/panda/boardesp/Makefile b/panda/boardesp/Makefile
deleted file mode 100644
index c713a0061c9a61..00000000000000
--- a/panda/boardesp/Makefile
+++ /dev/null
@@ -1,74 +0,0 @@
-PATH := esp-open-sdk/xtensa-lx106-elf/bin:$(PATH)
-CC = esp-open-sdk/xtensa-lx106-elf/bin/xtensa-lx106-elf-gcc
-CFLAGS = -Iinclude/ -I. -I../ -mlongcalls -Iesp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/driver_lib/include -std=c99 -DICACHE_FLASH
-LDLIBS = -nostdlib -Wl,--start-group -lmain -lnet80211 -lwpa -llwip -lpp -lphy -Wl,--end-group -lgcc -ldriver -Wl,--gc-sections
-LDFLAGS = -Teagle.app.v6.ld
-OBJCP = esp-open-sdk/xtensa-lx106-elf/bin/xtensa-lx106-elf-objcopy
-SDK_BASE = esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20
-
-ifeq ($(RELEASE),1)
-  CERT = ../../pandaextra/certs/releaseesp
-else
-  CERT = ../certs/debugesp
-  CFLAGS += "-DALLOW_DEBUG"
-endif
-
-flashall: user1.bin user2.bin
-	../python/esptool.py write_flash 0 $(SDK_BASE)/bin/boot_v1.5.bin 0x01000 user1.bin 0x81000 user2.bin 0x3FE000 $(SDK_BASE)/bin/blank.bin
-
-proxy-0x00000.bin: proxy
-	../python/esptool.py elf2image $^
-
-proxy: proxy.o elm327.o webserver.o sha.o
-
-obj/proxy.o: proxy.c
-	$(CC) $(CFLAGS) -c $^ -o $@
-
-obj/elm327.o: elm327.c
-	$(CC) $(CFLAGS) -c $^ -o $@
-
-obj/webserver.o: webserver.c obj/cert.h obj/gitversion.h
-	$(CC) $(CFLAGS) -c $< -o $@
-
-obj/cert.h: ../crypto/getcertheader.py
-	../crypto/getcertheader.py ../certs/debugesp.pub ../certs/releaseesp.pub > obj/cert.h
-
-include ../common/version.mk
-
-obj/sha.o: ../crypto/sha.c
-	$(CC) $(CFLAGS) -c $^ -o $@
-
-obj/rsa.o: ../crypto/rsa.c
-	$(CC) $(CFLAGS) -c $^ -o $@
-
-oldflash: proxy-0x00000.bin
-	../python/esptool.py write_flash 0 proxy-0x00000.bin 0x40000 proxy-0x40000.bin
-
-user1.bin: obj/proxy.o obj/elm327.o obj/webserver.o obj/sha.o obj/rsa.o
-	$(CC) $(CFLAGS) $^ -o a.out -L$(SDK_BASE)/ld -T$(SDK_BASE)/ld/eagle.app.v6.new.1024.app1.ld $(LDLIBS)
-	$(OBJCP) --only-section .text -O binary a.out eagle.app.v6.text.bin
-	$(OBJCP) --only-section .data -O binary a.out eagle.app.v6.data.bin
-	$(OBJCP) --only-section .rodata -O binary a.out eagle.app.v6.rodata.bin
-	$(OBJCP) --only-section .irom0.text -O binary a.out eagle.app.v6.irom0text.bin
-	COMPILE=gcc python2 ./esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/tools/gen_appbin.py a.out 2 0 32 4 0
-	rm -f eagle.app.v6.*.bin
-	mv eagle.app.flash.bin $@
-	../crypto/sign.py $@ $@ $(CERT)
-
-user2.bin: obj/proxy.o obj/elm327.o obj/webserver.o obj/sha.o obj/rsa.o
-	$(CC) $(CFLAGS) $^ -o a.out -L$(SDK_BASE)/ld -T$(SDK_BASE)/ld/eagle.app.v6.new.1024.app2.ld $(LDLIBS)
-	$(OBJCP) --only-section .text -O binary a.out eagle.app.v6.text.bin
-	$(OBJCP) --only-section .data -O binary a.out eagle.app.v6.data.bin
-	$(OBJCP) --only-section .rodata -O binary a.out eagle.app.v6.rodata.bin
-	$(OBJCP) --only-section .irom0.text -O binary a.out eagle.app.v6.irom0text.bin
-	COMPILE=gcc python2 ./esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/tools/gen_appbin.py a.out 2 0 32 4 0
-	rm -f eagle.app.v6.*.bin
-	mv eagle.app.flash.bin $@
-	../crypto/sign.py $@ $@ $(CERT)
-
-ota: user1.bin user2.bin
-	curl http://192.168.0.10/espupdate1 --upload-file user1.bin
-	curl http://192.168.0.10/espupdate2 --upload-file user2.bin
-
-clean:
-	rm -f proxy proxy.o proxy-0x00000.bin proxy-0x40000.bin eagle.app.* user1.bin user2.bin a.out obj/*
diff --git a/panda/boardesp/README.md b/panda/boardesp/README.md
deleted file mode 100644
index 5a8fab14777fee..00000000000000
--- a/panda/boardesp/README.md
+++ /dev/null
@@ -1,22 +0,0 @@
-
-Dependencies
------
-
-**Debian / Ubuntu**
-
-```
-./get_sdk.sh
-```
-
-**Mac**
-
-```
-./get_sdk_mac.sh
-```
-
-Programming
------
-
-```
-make
-```
diff --git a/panda/boardesp/elm327.c b/panda/boardesp/elm327.c
deleted file mode 100644
index cec9fd836d8554..00000000000000
--- a/panda/boardesp/elm327.c
+++ /dev/null
@@ -1,1578 +0,0 @@
-#include "ets_sys.h"
-#include "osapi.h"
-#include "gpio.h"
-#include "os_type.h"
-#include "user_interface.h"
-#include "espconn.h"
-#include "mem.h"
-
-#include "driver/uart.h"
-
-//#define ELM_DEBUG
-
-#define MIN(a,b) ((a) < (b) ? (a) : (b))
-#define MAX(a,b) ((a) > (b) ? (a) : (b))
-int ICACHE_FLASH_ATTR spi_comm(char *dat, int len, uint32_t *recvData, int recvDataLen);
-
-#define ELM_PORT 35000
-
-//Version 1.5 is an invalid version used by many pirate clones
-//that only partially support 1.0.
-#define IDENT_MSG "ELM327 v1.5\r\r"
-#define DEVICE_DESC "Panda\n\n"
-
-#define SHOW_CONNECTION(msg, p_conn) os_printf("%s %p, proto %p, %d.%d.%d.%d:%d disconnect\r\n", \
-        msg, p_conn, (p_conn)->proto.tcp, (p_conn)->proto.tcp->remote_ip[0], \
-        (p_conn)->proto.tcp->remote_ip[1], (p_conn)->proto.tcp->remote_ip[2], \
-        (p_conn)->proto.tcp->remote_ip[3], (p_conn)->proto.tcp->remote_port)
-
-const static char hex_lookup[] = {'0', '1', '2', '3', '4', '5', '6', '7',
-                                  '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
-
-typedef struct __attribute__((packed)) {
-  bool tx       : 1;
-  bool          : 1;
-  bool ext      : 1;
-  uint32_t addr : 29;
-
-  uint8_t len   : 4;
-  uint8_t bus   : 8;
-  uint8_t       : 4; //unused
-  uint16_t ts   : 16;
-  uint8_t data[8];
-} panda_can_msg_t;
-
-//TODO: Masking is likely unnecessary for these bit fields. Check.
-#define panda_get_can_addr(recv) (((recv)->ext) ? ((recv)->addr & 0x1FFFFFFF) :\
-                                  (((recv)->addr >> 18) & 0x7FF))
-
-#define PANDA_CAN_FLAG_TRANSMIT 1
-#define PANDA_CAN_FLAG_EXTENDED 4
-
-#define PANDA_USB_CAN_WRITE_BUS_NUM 3
-#define PANDA_USB_LIN_WRITE_BUS_NUM 2
-
-#define SAFETY_ELM327 3U
-
-typedef struct _elm_tcp_conn {
-  struct espconn *conn;
-  struct _elm_tcp_conn *next;
-} elm_tcp_conn_t;
-
-typedef struct __attribute__((packed)) {
-  uint8_t len;
-  uint8_t dat[7]; //mode and data
-} elm_can_obd_msg;
-
-typedef struct __attribute__((packed)) {
-  uint8_t priority;
-  uint8_t receiver;
-  uint8_t sender;
-
-  uint8_t dat[8]; //mode, data, and checksum
-} elm_lin_obd_msg;
-
-typedef struct __attribute__((packed)) {
-  uint16_t usb_ep_num;
-  uint16_t payload_len;
-
-  uint8_t serial_port;
-  //uint8_t msg[8+3];
-  elm_lin_obd_msg msg;
-} elm_lin_usb_msg;
-
-static struct espconn elm_conn;
-static esp_tcp elm_proto;
-static elm_tcp_conn_t *connection_list = NULL;
-
-static char stripped_msg[0x100];
-static uint16 stripped_msg_len = 0;
-
-static char in_msg[0x100];
-static uint16 in_msg_len = 0;
-
-static char rsp_buff[536]; //TCP min MTU
-static uint16 rsp_buff_len = 0;
-
-static uint8_t pandaSendData[0x14] = {0};
-static uint32_t pandaRecvData[0x40] = {0};
-static uint32_t pandaRecvDataDummy[0x40] = {0}; // Used for CAN write operations (no received data)
-
-#define ELM_MODE_SELECTED_PROTOCOL_DEFAULT 6
-#define ELM_MODE_TIMEOUT_DEFAULT 20;
-#define ELM_MODE_KEEPALIVE_PERIOD_DEFAULT (0x92*20)
-
-static bool elm_mode_echo = true;
-static bool elm_mode_linefeed = false;
-static bool elm_mode_additional_headers = false;
-static bool elm_mode_auto_protocol = true;
-static uint8_t elm_selected_protocol = ELM_MODE_SELECTED_PROTOCOL_DEFAULT;
-static bool elm_mode_print_spaces = true;
-static uint8_t elm_mode_adaptive_timing = 1;
-static bool elm_mode_allow_long = false;
-static uint16_t elm_mode_timeout = ELM_MODE_TIMEOUT_DEFAULT;
-static uint16_t elm_mode_keepalive_period = ELM_MODE_KEEPALIVE_PERIOD_DEFAULT;
-
-bool lin_bus_initialized = false;
-
-/***********************************************
- ***       ELM CLI response functions        ***
- *** (for sending data back to the terminal) ***
- ***********************************************/
-
-// All ELM operations are global, so send data out to all connections
-void ICACHE_FLASH_ATTR elm_tcp_tx_flush() {
-  if(!rsp_buff_len) return; // Was causing small error messages
-
-  for(elm_tcp_conn_t *iter = connection_list; iter != NULL; iter = iter->next){
-    int8_t err = espconn_send(iter->conn, rsp_buff, rsp_buff_len);
-    if(err){
-      os_printf("  Wifi %p TX error code %d\n", iter->conn, err);
-      if(err == ESPCONN_ARG) {
-        if(iter == connection_list) {
-          connection_list = iter->next;
-        } else {
-          for(elm_tcp_conn_t *iter2 = connection_list; iter2 != NULL; iter2 = iter2->next)
-            if(iter2->next == iter) {
-              iter2->next = iter->next;
-              break;
-            }
-        }
-        os_printf("  deleting orphaned connection. iter: %p; conn: %p\n", iter, iter->conn);
-        os_free(iter);
-      }
-    }
-  }
-  rsp_buff_len = 0;
-}
-
-static void ICACHE_FLASH_ATTR elm_append_rsp(const char *data, uint16_t len) {
-  uint16_t overflow_len = 0;
-  if(rsp_buff_len + len > sizeof(rsp_buff)) {
-    overflow_len = rsp_buff_len + len - sizeof(rsp_buff);
-    len = sizeof(rsp_buff) - rsp_buff_len;
-  }
-  if(!elm_mode_linefeed) {
-    memcpy(rsp_buff + rsp_buff_len, data, len);
-    rsp_buff_len += len;
-  } else {
-    for(int i=0; i < len && rsp_buff_len < sizeof(rsp_buff); i++){
-      rsp_buff[rsp_buff_len++] = data[i];
-      if(data[i] == '\r' && rsp_buff_len < sizeof(rsp_buff))
-        rsp_buff[rsp_buff_len++] = '\n';
-    }
-  }
-  if(overflow_len) {
-    os_printf("Packet full, sending\n");
-    elm_tcp_tx_flush();
-    elm_append_rsp(data + len, overflow_len);
-  }
-}
-
-#define elm_append_rsp_const(str) elm_append_rsp(str, sizeof(str)-1)
-
-static void ICACHE_FLASH_ATTR elm_append_rsp_hex_byte(uint8_t num) {
-  elm_append_rsp(&hex_lookup[num >> 4], 1);
-  elm_append_rsp(&hex_lookup[num & 0xF], 1);
-  if(elm_mode_print_spaces) elm_append_rsp_const(" ");
-}
-
-void ICACHE_FLASH_ATTR elm_append_rsp_can_msg_addr(const panda_can_msg_t *recv) {
-  //Show address
-  uint32_t addr = panda_get_can_addr(recv);
-  if(recv->ext){
-    elm_append_rsp_hex_byte(addr>>24);
-    elm_append_rsp_hex_byte(addr>>16);
-    elm_append_rsp_hex_byte(addr>>8);
-    elm_append_rsp_hex_byte(addr);
-  } else {
-    elm_append_rsp(&hex_lookup[addr>>8], 1);
-    elm_append_rsp_hex_byte(addr);
-  }
-}
-
-/***************************************
- ***  Panda communication functions  ***
- *** (for controlling the Panda MCU) ***
- ***************************************/
-
-static int ICACHE_FLASH_ATTR panda_usbemu_ctrl_write(uint8_t request_type, uint8_t request,
-                                                     uint16_t value, uint16_t index, uint16_t length) {
-  //self.sock.send(struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length));
-  *(uint16_t*)(pandaSendData) = 0;
-  *(uint16_t*)(pandaSendData+2) = 0;
-  pandaSendData[4] = request_type;
-  pandaSendData[5] = request;
-  *(uint16_t*)(pandaSendData+6) = value;
-  *(uint16_t*)(pandaSendData+8) = index;
-  *(uint16_t*)(pandaSendData+10) = length;
-
-  int returned_count = spi_comm(pandaSendData, 0x10, pandaRecvData, 0x40);
-  if(returned_count > 0x40 || returned_count < 0)
-    return -1;
-  return returned_count;
-}
-
-#define panda_set_can0_cbaud(cbps) panda_usbemu_ctrl_write(0x40, 0xde, 0, cbps, 0)
-#define panda_set_can0_kbaud(kbps) panda_usbemu_ctrl_write(0x40, 0xde, 0, kbps*10, 0)
-#define panda_set_safety_mode(mode) panda_usbemu_ctrl_write(0x40, 0xdc, mode, 0, 0)
-#define panda_kline_wakeup_pulse() panda_usbemu_ctrl_write(0x40, 0xf0, 0, 0, 0)
-#define panda_clear_can_rx() panda_usbemu_ctrl_write(0x40, 0xf1, 0xFFFF, 0, 0)
-#define panda_clear_lin_txrx() panda_usbemu_ctrl_write(0x40, 0xf2, 2, 0, 0)
-
-static int ICACHE_FLASH_ATTR panda_usbemu_can_read(panda_can_msg_t** can_msgs) {
-  int returned_count = spi_comm((uint8_t *)((const uint16 []){1,0}), 4, pandaRecvData, 0x40);
-  if(returned_count > 0x40 || returned_count < 0){
-    os_printf("CAN read got invalid length\n");
-    return -1;
-  }
-  *can_msgs = (panda_can_msg_t*)(pandaRecvData+1);
-  return returned_count/sizeof(panda_can_msg_t);
-}
-
-static int ICACHE_FLASH_ATTR panda_usbemu_can_write(bool ext, uint32_t addr,
-                                                    char *candata, uint8_t canlen) {
-  uint32_t rir;
-
-  if(canlen > 8) return 0;
-
-  if(ext || addr >= 0x800){
-    rir = (addr << 3) | PANDA_CAN_FLAG_TRANSMIT | PANDA_CAN_FLAG_EXTENDED;
-  }else{
-    rir = (addr << 21) | PANDA_CAN_FLAG_TRANSMIT;
-  }
-
-  #define MAX_CAN_LEN 8
-
-  //Wifi USB Wrapper
-  *(uint16_t*)(pandaSendData) = PANDA_USB_CAN_WRITE_BUS_NUM; //USB Bulk Endpoint ID.
-  *(uint16_t*)(pandaSendData+2) = MAX_CAN_LEN;
-  //BULK MESSAGE
-  *(uint32_t*)(pandaSendData+4) = rir;
-  *(uint32_t*)(pandaSendData+8) = MAX_CAN_LEN | (0 << 4); //0 is CAN bus number.
-  //CAN DATA
-  memcpy(pandaSendData+12, candata, canlen);
-  memset(pandaSendData+12+canlen, 0, MAX_CAN_LEN-canlen);
-  for(int i = 12+canlen; i < 20; i++) pandaSendData[i] = 0; //Zero the rest
-
-  /* spi_comm will erase data in the recv buffer even if you are only
-   * interested in sending data that gets no response (like writing
-   * can data). This behavior becomes problematic when trying to send
-   * a can message while processsing received can messages. A dummy
-   * recv buffer is used here so received data is not overwritten. */
-  int returned_count = spi_comm(pandaSendData, 0x14, pandaRecvDataDummy, 0x40);
-  if(returned_count)
-    os_printf("ELM Can send expected 0 bytes back from panda. Got %d bytes instead\n", returned_count);
-  if(returned_count > 0x40) return 0;
-  return returned_count;
-}
-
-elm_lin_obd_msg lin_last_sent_msg;
-uint16_t lin_last_sent_msg_len = 0;
-bool lin_await_msg_echo = false;
-
-static int ICACHE_FLASH_ATTR panda_usbemu_kline_read(uint16_t len) {
-  int returned_count = panda_usbemu_ctrl_write(0xC0, 0xE0, 2, 0, len);
-  if(returned_count > len || returned_count < 0){
-    os_printf("LIN read got invalid length\n");
-    return -1;
-  }
-
-  #ifdef ELM_DEBUG
-  if(returned_count) {
-    os_printf("LIN Received %d bytes\n", returned_count);
-    os_printf("    Data: ");
-    for(int i = 0; i < returned_count; i++)
-      os_printf("%02x ", ((char*)(pandaRecvData+1))[i]);
-    os_printf("\n");
-  }
-  #endif
-  return returned_count;
-}
-
-static int ICACHE_FLASH_ATTR panda_usbemu_kline_write(elm_lin_obd_msg *msg) {
-  elm_lin_usb_msg usb_msg = {};
-
-  usb_msg.usb_ep_num = PANDA_USB_LIN_WRITE_BUS_NUM; //USB Bulk Endpoint ID.
-  usb_msg.payload_len = (msg->priority & 0x07) + 4 + 1; //The +1 is for serial_port
-  usb_msg.serial_port = 2;
-  memcpy(&usb_msg.msg, msg, sizeof(elm_lin_obd_msg));
-
-  /* spi_comm will erase data in the recv buffer even if you are only
-   * interested in sending data that gets no response (like writing
-   * can data). This behavior becomes problematic when trying to send
-   * a can message while processsing received can messages. A dummy
-   * recv buffer is used here so received data is not overwritten. */
-  int returned_count = spi_comm((char*)&usb_msg, sizeof(elm_lin_usb_msg), pandaRecvDataDummy, 0x40);
-
-  if(returned_count)
-    os_printf("ELM LIN send expected 0 bytes back from panda. Got %d bytes instead\n", returned_count);
-  if(returned_count > 0x40) return 0;
-
-  return returned_count;
-}
-
-/****************************************
- *** Ringbuffer                       ***
- ****************************************/
-
-//LIN data is delivered in chunks of arbitrary size. Using a
-//ringbuffer to handle it.
-uint8_t lin_ringbuff[0x20];
-uint8_t lin_ringbuff_start = 0;
-uint8_t lin_ringbuff_end = 0;
-#define lin_ringbuff_len \
-  (((sizeof(lin_ringbuff) + lin_ringbuff_end) - lin_ringbuff_start)% sizeof(lin_ringbuff))
-#define lin_ringbuff_get(index) (lin_ringbuff[(lin_ringbuff_start + index) % sizeof(lin_ringbuff)])
-#define lin_ringbuff_consume(len) lin_ringbuff_start = ((lin_ringbuff_start + len) % sizeof(lin_ringbuff))
-#define lin_ringbuff_clear()\
-  {lin_ringbuff_start = 0;  \
-  lin_ringbuff_end = 0;}
-
-int ICACHE_FLASH_ATTR elm_LIN_ringbuff_memcmp(uint8_t *data, uint16_t len) {
-  if(len > lin_ringbuff_len) return 1;
-  for(int i = 0; i < len; i++)
-    if(lin_ringbuff_get(i) != data[i]) return 1;
-  return 0; // Going with memcpy ret format where 0 means 'equal'
-}
-
-uint16_t ICACHE_FLASH_ATTR elm_LIN_read_into_ringbuff() {
-  int bytelen = panda_usbemu_kline_read((sizeof(lin_ringbuff) - lin_ringbuff_len) - 1);
-  if(bytelen < 0) return 0;
-  for(int j = 0; j < bytelen; j++) {
-    lin_ringbuff[lin_ringbuff_end % sizeof(lin_ringbuff)] = ((char*)(pandaRecvData+1))[j];
-    lin_ringbuff_end = (lin_ringbuff_end + 1) % sizeof(lin_ringbuff);
-    if(lin_ringbuff_start == lin_ringbuff_end) lin_ringbuff_start++;
-  }
-
-  #ifdef ELM_DEBUG
-  if(bytelen){
-    os_printf("    RB Data (%d %d %d): ", lin_ringbuff_start, lin_ringbuff_end, lin_ringbuff_len);
-    for(int i = 0; i < sizeof(lin_ringbuff); i++)
-      os_printf("%02x ", lin_ringbuff[i]);
-    os_printf("\n");
-  }
-  #endif
-
-  return bytelen;
-}
-
-/****************************************
- *** String parsing utility functions ***
- ****************************************/
-
-static int8_t ICACHE_FLASH_ATTR elm_decode_hex_char(char b){
-  if(b >= '0' && b <= '9') return b - '0';
-  if(b >= 'A' && b <= 'F') return (b - 'A') + 10;
-  if(b >= 'a' && b <= 'f') return (b - 'a') + 10;
-  return -1;
-}
-
-static uint8_t ICACHE_FLASH_ATTR elm_decode_hex_byte(const char* data) {
-  return (elm_decode_hex_char(data[0]) << 4) | elm_decode_hex_char(data[1]);
-}
-
-static bool ICACHE_FLASH_ATTR elm_check_valid_hex_chars(const char* data, uint8_t len) {
-  for(int i = 0; i < len; i++){
-    char b = data[i];
-    if(!((b >= '0' && b <= '9') || (b >= 'A' && b <= 'F') || (b >= 'a' && b <= 'f')))
-      return 0;
-  }
-  return 1;
-}
-
-static uint16_t ICACHE_FLASH_ATTR elm_strip(const char *data, uint16_t lenin,
-                                            char *outbuff, uint16_t outbufflen) {
-  uint16_t count = 0;
-  for(uint16_t i = 0; i < lenin; i++) {
-    if(count >= outbufflen) break;
-    if(data[i] == ' ') continue;
-    if(data[i] >= 'a' && data[i] <= 'z'){
-      outbuff[count++] = data[i] - ('a' - 'A');
-    } else {
-      outbuff[count++] = data[i];
-    }
-    if(data[i] == '\r') break;
-  }
-  return count;
-}
-
-static int ICACHE_FLASH_ATTR elm_msg_find_cr_or_eos(char *data, uint16_t len){
-  uint16_t i;
-  for(i = 0; i < len; i++)
-    if(data[i] == '\r') {
-      i++;
-      break;
-    }
-  return i;
-}
-
-/*****************************************************
- *** ELM protocol specification and implementation ***
- *****************************************************/
-
-typedef enum {
-  AUTO, LIN, CAN11, CAN29, NA
-} elm_proto_type_t;
-
-typedef struct elm_protocol {
-  bool supported;
-  elm_proto_type_t type;
-  uint16_t cbaud; //Centibaud (cbaud * 10 = kbaud)
-  void (*process_obd)(const struct elm_protocol*, const char*, uint16_t);
-  //init is used to init and de-init a protocol. Init functions should
-  //not do things that would leave a new protocol in an invalid state
-  //after the new protocol's init is called (e.g. No arming timers).
-  void (*init)(const struct elm_protocol*);
-  char* name;
-} elm_protocol_t;
-
-static const elm_protocol_t* ICACHE_FLASH_ATTR elm_current_proto();
-void ICACHE_FLASH_ATTR elm_reset_aux_timer();
-static void ICACHE_FLASH_ATTR elm_autodetect_cb(bool);
-
-static const elm_protocol_t elm_protocols[];
-//(sizeof(elm_protocols)/sizeof(elm_protocol_t))
-#define ELM_PROTOCOL_COUNT 13
-
-#define LOOPCOUNT_FULL 4
-static int loopcount = 0;
-static volatile os_timer_t elm_timeout;
-static volatile os_timer_t elm_proto_aux_timeout;
-
-static bool is_auto_detecting = false;
-
-// Used only by elm_timer_cb, so not volatile
-static bool did_multimessage = false;
-static bool got_msg_this_run = false;
-static bool can_tx_worked = false;
-static uint8_t elm_msg_mode_ret_filter;
-static uint8_t elm_msg_pid_ret_filter;
-
-/*****************************************************
- *** ELM protocol specification and implementation ***
- ***  -> SAE J1850 implementation (Unsupported)    ***
- *****************************************************/
-
-static void ICACHE_FLASH_ATTR elm_process_obd_cmd_J1850(const elm_protocol_t* proto,
-                                                        const char *cmd, uint16_t len) {
-  elm_append_rsp_const("NO DATA\r\r>");
-}
-
-/*****************************************************
- *** ELM protocol specification and implementation ***
- ***  -> ISO 14230-4 implementation                ***
- *****************************************************/
-
-const char *lin_cmd_backup = NULL; //Holds msg while bus init is done
-uint16_t lin_cmd_backup_len = 0;
-bool lin_waiting_keepalive_echo = false;
-
-static void ICACHE_FLASH_ATTR elm_process_obd_cmd_LIN5baud(const elm_protocol_t* proto,
-                                                           const char *cmd, uint16_t len) {
-  elm_append_rsp_const("BUS INIT: ...ERROR\r\r>");
-}
-
-bool ICACHE_FLASH_ATTR elm_lin_keepalive_echo() {
-  if(lin_waiting_keepalive_echo) {
-    for(int pass = 0; pass < 4 && lin_ringbuff_len < 5; pass++) {
-      elm_LIN_read_into_ringbuff();
-    }
-
-    lin_waiting_keepalive_echo = false;
-    //keepalive Echo should always come before other message echo.
-    if(lin_ringbuff_len >= 5 && !elm_LIN_ringbuff_memcmp("\xc1\x33\xf1\x3e\x23", 5)){
-      lin_ringbuff_consume(5);
-      return true;
-    } else {
-      os_printf("Keep alive echo failed\n");
-      return false;
-    }
-  }
-  return true;
-}
-
-void ICACHE_FLASH_ATTR elm_LINFast_keepalive_timer_cb(void *arg) {
-  if(!lin_bus_initialized) {
-    os_printf("WARNING! Elm LIN keepalive timer running while bus is not initialized\n");
-    return;
-  }
-  if(loopcount) {
-    os_printf("WARNING! Elm LIN keepalive timer during a tx/rx loop!\n");
-    return;
-  }
-  if(lin_ringbuff_len) {
-    os_printf("WARNING! lin_ringbuff_len should be 0 when a keepalive echo is processed.\n");
-    return;
-  }
-
-  if(!elm_lin_keepalive_echo()) {
-    lin_bus_initialized = false;
-    return;
-  }
-
-  elm_lin_obd_msg msg = {};
-
-  msg.priority = 0xC0 | 1;
-  msg.receiver = 0x33;
-  msg.sender = 0xF1;
-  msg.dat[0] = 0x3E;
-  msg.dat[1] = msg.dat[0] + msg.priority + msg.receiver + msg.sender; // checksum
-
-  #ifdef ELM_DEBUG
-  os_printf("Sending LIN KEEPALIVE: Priority: %02x; RecvAddr: %02x; SendAddr: %02x;  (%02x); ",
-            msg.priority, msg.receiver, msg.sender, 1);
-  for(int i = 0; i < 2; i++) os_printf("%02x ", msg.dat[i]);
-  os_printf("\n");
-  #endif
-
-  lin_waiting_keepalive_echo = true;
-
-  panda_usbemu_kline_write(&msg);
-  elm_reset_aux_timer();
-}
-
-static void ICACHE_FLASH_ATTR elm_init_LINFast(const elm_protocol_t* proto){
-  os_timer_disarm(&elm_proto_aux_timeout);
-  os_timer_setfn(&elm_proto_aux_timeout, (os_timer_func_t *)elm_LINFast_keepalive_timer_cb, proto);
-
-  lin_bus_initialized = false;
-  lin_await_msg_echo = false;
-  lin_waiting_keepalive_echo = false;
-
-  lin_cmd_backup = NULL;
-  lin_cmd_backup_len = 0;
-
-  lin_ringbuff_clear();
-  panda_clear_lin_txrx();
-}
-
-int ICACHE_FLASH_ATTR elm_LINFast_process_echo() {
-  if(!elm_lin_keepalive_echo()) {
-    os_printf("Keepalive echo not detected.\n");
-    lin_ringbuff_clear();
-    return -1;
-  }
-
-  if(!lin_await_msg_echo) {
-    os_printf("Echo abort. Nothing waiting echo\n");
-    return 1;
-  }
-
-  for(int i = 0; i < 4; i++){
-    if(lin_ringbuff_len < lin_last_sent_msg_len) elm_LIN_read_into_ringbuff();
-
-    if(lin_ringbuff_len >= lin_last_sent_msg_len){
-      #ifdef ELM_DEBUG
-      os_printf("Got enough data %d\n", lin_last_sent_msg_len);
-      #endif
-      if(!elm_LIN_ringbuff_memcmp((uint8_t*)&lin_last_sent_msg, lin_last_sent_msg_len)) {
-        #ifdef ELM_DEBUG
-        os_printf("LIN data was sent successfully.\n");
-        #endif
-        lin_ringbuff_consume(lin_last_sent_msg_len);
-        lin_await_msg_echo = false;
-        return 1;
-      } else {
-        #ifdef ELM_DEBUG
-        os_printf("Echo not correct.\n");
-        os_printf("    RB Data (%d %d %d): ", lin_ringbuff_start, lin_ringbuff_end, lin_ringbuff_len);
-        for(int i = 0; i < sizeof(lin_ringbuff); i++)
-          os_printf("%02x ", lin_ringbuff[i]);
-        os_printf("\n");
-        os_printf("         MSG Data (%d): ", lin_last_sent_msg_len);
-        for(int i = 0; i < lin_last_sent_msg_len; i++)
-          os_printf("%02x ", ((uint8_t*)&lin_last_sent_msg)[i]);
-        os_printf("\n");
-        #endif
-
-        if(lin_bus_initialized || loopcount == 0 && i == 4) {
-          lin_ringbuff_clear();
-          return -1;
-        } else {
-          os_printf("Lin init echo misaligned? Consuming byte (%02x). Retry.\n", lin_ringbuff_get(0));
-          lin_ringbuff_consume(1);
-          continue;
-        }
-      }
-    }
-  }
-
-  return !lin_await_msg_echo; //true if echo handled
-}
-
-void ICACHE_FLASH_ATTR elm_LINFast_timer_cb(void *arg){
-  const elm_protocol_t* proto = (const elm_protocol_t*) arg;
-  loopcount--;
-  #ifdef ELM_DEBUG
-  os_printf("LIN CB call\n");
-  #endif
-
-  if(!lin_bus_initialized) {
-    os_printf("WARNING: LIN CB called without bus initialized!");
-    return; // TODO: shoulnd't ever happen. Handle?
-  }
-
-  int echo_result = elm_LINFast_process_echo();
-
-  if(echo_result == -1 || (echo_result == 0 && loopcount == 0)) {
-    if(!is_auto_detecting){
-      elm_append_rsp_const("BUS ERROR\r\r>");
-      elm_tcp_tx_flush();
-    }
-    loopcount = 0;
-    lin_bus_initialized = false;
-    return;
-  }
-
-  if(echo_result == 0) {
-    #ifdef ELM_DEBUG
-    os_printf("Not ready to process\n");
-    #endif
-    os_timer_arm(&elm_timeout, 30, 0);
-    return; // Not ready to go on
-  }
-
-  #ifdef ELM_DEBUG
-  os_printf("Processing ELM %d\n", lin_ringbuff_len);
-  #endif
-
-  if(loopcount>0) {
-    for(int pass = 0; pass < 16 && loopcount; pass++){
-      elm_LIN_read_into_ringbuff();
-
-      while(lin_ringbuff_len > 0){
-        //if(lin_ringbuff_len > 0){
-        if(lin_ringbuff_get(0) & 0x80 != 0x80){
-          os_printf("Resetting LIN bus due to bad first byte.\n");
-          loopcount = 0;
-          lin_bus_initialized = false;
-          lin_ringbuff_clear();
-
-          if(!is_auto_detecting){
-            elm_append_rsp_const("ERROR\r\r>");
-            elm_tcp_tx_flush();
-          }
-          return;
-        }
-
-        uint8_t newmsg_len = 4 + (lin_ringbuff_get(0) & 0x7);
-        if(lin_ringbuff_len >= newmsg_len) {
-          #ifdef ELM_DEBUG
-          os_printf("Processing LIN MSG. BuffLen %d; expect %d. Dat: ", lin_ringbuff_len, newmsg_len);
-          for(int i = 0; i < newmsg_len; i++) os_printf("%02x ", lin_ringbuff_get(i));
-          os_printf("\n");
-          #endif
-          got_msg_this_run = true;
-          loopcount = LOOPCOUNT_FULL;
-
-          if(!is_auto_detecting){
-            if(elm_mode_additional_headers){
-              for(int i = 0; i < newmsg_len; i++) elm_append_rsp_hex_byte(lin_ringbuff_get(i));
-            } else {
-              for(int i = 3; i < newmsg_len - 1; i++) elm_append_rsp_hex_byte(lin_ringbuff_get(i));
-            }
-            elm_append_rsp_const("\r");
-          }
-
-          lin_ringbuff_consume(newmsg_len);
-          //elm_reset_aux_timer();
-        } else {
-          break; //Stop consuming data if there is not enough data for the next msg.
-        }
-      }
-    }
-    os_timer_arm(&elm_timeout, 50, 0);
-  } else {
-    bool got_msg_this_run_backup = got_msg_this_run;
-    if(!got_msg_this_run) {
-      #ifdef ELM_DEBUG
-      os_printf("  No data collected\n");
-      #endif
-      if(!is_auto_detecting) {
-        elm_append_rsp_const("NO DATA\r");
-      }
-    }
-    got_msg_this_run = false;
-
-    if(!is_auto_detecting) {
-      elm_append_rsp_const("\r>");
-      elm_tcp_tx_flush();
-    } else {
-      elm_autodetect_cb(got_msg_this_run_backup);
-    }
-
-    //TX RX over, resume Keepalive timer
-    elm_reset_aux_timer();
-  }
-}
-
-void ICACHE_FLASH_ATTR elm_LINFast_businit_timer_cb(void *arg){
-  const elm_protocol_t* proto = (const elm_protocol_t*) arg;
-  loopcount--;
-  #ifdef ELM_DEBUG
-  os_printf("LIN INIT CB call\n");
-  #endif
-
-  int echo_result = elm_LINFast_process_echo();
-
-  if(echo_result == -1 || (echo_result == 0 && loopcount == 0)) {
-    #ifdef ELM_DEBUG
-    os_printf("Init failed with echo test\n");
-    #endif
-
-    loopcount = 0;
-    lin_bus_initialized = 0;
-
-    if(!is_auto_detecting){
-      if(echo_result == -1)
-        elm_append_rsp_const("BUS ERROR\r\r>");
-      else
-        elm_append_rsp_const("ERROR\r\r>");
-      elm_tcp_tx_flush();
-    } else {
-      elm_autodetect_cb(false);
-    }
-    return;
-  }
-
-  if(echo_result == 0) {
-    #ifdef ELM_DEBUG
-    os_printf("Not ready to process\n");
-    #endif
-    os_timer_arm(&elm_timeout, elm_mode_timeout, 0);
-    return; // Not ready to go on
-  }
-
-  #ifdef ELM_DEBUG
-  os_printf("Bus init ready to process %d bytes\n", lin_ringbuff_len);
-  #endif
-
-  if(lin_bus_initialized) return; // TODO: shoulnd't ever happen. Handle?
-
-  if(loopcount>0) {
-    //Keep waiting for response
-    for(int i = 0; i < 4; i++){
-      elm_LIN_read_into_ringbuff();
-
-      if(lin_ringbuff_len > 0){
-        if(lin_ringbuff_get(0) & 0x80 != 0x80){
-          os_printf("Resetting LIN bus due to bad first byte.\n");
-          loopcount = 0;
-          lin_ringbuff_clear();
-
-          if(!is_auto_detecting){
-            elm_append_rsp_const("ERROR\r\r>");
-            elm_tcp_tx_flush();
-          } else {
-            elm_autodetect_cb(false);
-          }
-          return;
-        }
-
-        uint8_t newmsg_len = 4 + (lin_ringbuff_get(0) & 0x7);
-        if(lin_ringbuff_len < newmsg_len) {
-          os_printf("Resetting LIN because returned init data was wrong.\n");
-          loopcount = 0;
-          lin_ringbuff_clear();
-
-          if(!is_auto_detecting){
-            elm_append_rsp_const("ERROR\r\r>");
-            elm_tcp_tx_flush();
-          } else {
-            elm_autodetect_cb(false);
-          }
-          return;
-        }
-
-        if(!elm_LIN_ringbuff_memcmp("\x83\xF1\x10\xC1\x8F\xE9\xBD", 7)) {
-          lin_ringbuff_consume(7);
-          lin_bus_initialized = true;
-          //lin_ringbuff_clear();
-
-          os_printf("BUS INITIALIZED\n");
-
-          elm_reset_aux_timer();
-
-          if(!is_auto_detecting) {
-            elm_append_rsp_const("OK\r");
-
-            //Do the send that was delayed
-            if(lin_cmd_backup_len) {
-              elm_tcp_tx_flush();
-              proto->process_obd(proto, lin_cmd_backup, lin_cmd_backup_len);
-            } else {
-              elm_append_rsp_const("\r>");
-              elm_tcp_tx_flush();
-            }
-          } else {
-            #ifdef ELM_DEBUG
-            os_printf("LIN success. Silent because in autodetect.\n");
-            #endif
-            elm_autodetect_cb(true);
-            // TODO: Since bus init is good, is it ok to skip sending the '0100' msg?
-          }
-          return;
-        }
-      }
-    }
-    os_timer_arm(&elm_timeout, elm_mode_timeout, 0);
-  } else {
-    #ifdef ELM_DEBUG
-    os_printf("Fall through on bus init\n");
-    #endif
-    if(!is_auto_detecting){
-      elm_append_rsp_const("ERROR\r\r>");
-      elm_tcp_tx_flush();
-    } else {
-      elm_autodetect_cb(false);
-    }
-    elm_reset_aux_timer();
-  }
-}
-
-static void ICACHE_FLASH_ATTR elm_process_obd_cmd_LINFast(const elm_protocol_t* proto,
-                                                          const char *cmd, uint16_t len) {
-  elm_lin_obd_msg msg = {};
-  uint8_t bytelen = (len-1)/2;
-  if((bytelen > 7 && !elm_mode_allow_long) || bytelen > 8) {
-    elm_append_rsp_const("?\r\r>");
-    return;
-  }
-
-  os_timer_disarm(&elm_proto_aux_timeout);
-
-  if(!lin_bus_initialized) {
-    panda_clear_lin_txrx();
-
-    if(!is_auto_detecting)
-      elm_append_rsp_const("BUS INIT: ");
-
-    lin_cmd_backup = cmd;
-    lin_cmd_backup_len = len;
-
-    bytelen = 1;
-    msg.dat[0] = 0x81;
-    msg.dat[1] = 0x81; // checksum
-
-    panda_kline_wakeup_pulse();
-  } else {
-    bytelen = MIN(bytelen, 7);
-    for(int i = 0; i < bytelen; i++){
-      msg.dat[i] = elm_decode_hex_byte(&cmd[i*2]);
-      msg.dat[bytelen] += msg.dat[i];
-    }
-
-    elm_msg_mode_ret_filter = msg.dat[0];
-    elm_msg_pid_ret_filter = msg.dat[1];
-  }
-
-  msg.priority = 0xC0 | bytelen;
-  msg.receiver = 0x33;
-  msg.sender = 0xF1;
-  msg.dat[bytelen] += msg.priority + msg.receiver + msg.sender; // checksum
-
-  #ifdef ELM_DEBUG
-  os_printf("Sending LIN OBD: Priority: %02x; RecvAddr: %02x; SendAddr: %02x;  (%02x); ",
-            msg.priority, msg.receiver, msg.sender, bytelen);
-  for(int i = 0; i < 8; i++) os_printf("%02x ", msg.dat[i]);
-  os_printf("\n");
-  #endif
-
-  lin_last_sent_msg_len = (msg.priority & 0x07) + 4;
-  memcpy(&lin_last_sent_msg, &msg, lin_last_sent_msg_len);
-  lin_await_msg_echo = true;
-  panda_usbemu_kline_write(&msg);
-
-  loopcount = LOOPCOUNT_FULL + 1;
-  os_timer_disarm(&elm_timeout);
-
-  if(lin_bus_initialized) {
-    os_timer_setfn(&elm_timeout, (os_timer_func_t *)elm_LINFast_timer_cb, proto);
-    elm_LINFast_timer_cb((void*)proto);
-  } else {
-    os_timer_setfn(&elm_timeout, (os_timer_func_t *)elm_LINFast_businit_timer_cb, proto);
-    elm_LINFast_businit_timer_cb((void*)proto);
-  }
-}
-
-/*****************************************************
- *** ELM protocol specification and implementation ***
- ***  -> ISO 15765-4 implementation                ***
- *****************************************************/
-
-void ICACHE_FLASH_ATTR elm_ISO15765_timer_cb(void *arg){
-  const elm_protocol_t* proto = (const elm_protocol_t*) arg;
-  loopcount--;
-  if(loopcount>0) {
-    for(int pass = 0; pass < 16 && loopcount; pass++){
-      panda_can_msg_t *can_msgs;
-      int num_can_msgs = panda_usbemu_can_read(&can_msgs);
-
-      #ifdef ELM_DEBUG
-      if(num_can_msgs) os_printf("  Received %d can messages\n", num_can_msgs);
-      #endif
-
-      if(num_can_msgs < 0) continue;
-      if(!num_can_msgs) break;
-
-      for(int i = 0; i < num_can_msgs; i++){
-
-        panda_can_msg_t *recv = &can_msgs[i];
-
-        #ifdef ELM_DEBUG
-        os_printf("    RECV: Bus: %d; Addr: %08x; ext: %d; tx: %d; Len: %d; ",
-                  recv->bus, panda_get_can_addr(recv), recv->ext, recv->tx, recv->len);
-        for(int j = 0; j < recv->len; j++) os_printf("%02x ", recv->data[j]);
-        os_printf("Ts: %d\n", recv->ts);
-        #endif
-
-        if (recv->bus==0 && recv->len == 8 &&
-            (
-             (proto->type == CAN11 && !recv->ext && (panda_get_can_addr(recv) & 0x7F8) == 0x7E8) ||
-             (proto->type == CAN29 && recv->ext && (panda_get_can_addr(recv) & 0x1FFFFF00) == 0x18DAF100)
-            )
-           ) {
-          if(recv->data[0] <= 7 &&
-             recv->data[1] == (0x40|elm_msg_mode_ret_filter) &&
-             recv->data[2] == elm_msg_pid_ret_filter) {
-            got_msg_this_run = true;
-            loopcount = LOOPCOUNT_FULL;
-
-            #ifdef ELM_DEBUG
-            os_printf("      CAN msg response, index: %d\n", i);
-            #endif
-
-            if(!is_auto_detecting){
-              if(elm_mode_additional_headers){
-                elm_append_rsp_can_msg_addr(recv);
-                for(int j = 0; j < recv->data[0]+1; j++) elm_append_rsp_hex_byte(recv->data[j]);
-              } else {
-                for(int j = 1; j < recv->data[0]+1; j++) elm_append_rsp_hex_byte(recv->data[j]);
-              }
-
-              elm_append_rsp_const("\r");
-              elm_tcp_tx_flush();
-            }
-
-          } else if((recv->data[0] & 0xF0) == 0x10 &&
-                    recv->data[2] == (0x40|elm_msg_mode_ret_filter) &&
-                    recv->data[3] == elm_msg_pid_ret_filter) {
-            got_msg_this_run = true;
-            loopcount = LOOPCOUNT_FULL;
-            panda_usbemu_can_write(0,
-                                   (proto->type==CAN11) ?
-                                   0x7E0 | (panda_get_can_addr(recv)&0x7) :
-                                   (0x18DA00F1 | (((panda_get_can_addr(recv))&0xFF)<<8)),
-                                   "\x30\x00\x00", 3);
-
-            did_multimessage = true;
-
-            #ifdef ELM_DEBUG
-            os_printf("      CAN multimsg start response, index: %d, len %d\n", i,
-                      ((recv->data[0]&0xF)<<8) | recv->data[1]);
-            #endif
-
-            if(!is_auto_detecting){
-              if(!elm_mode_additional_headers) {
-                elm_append_rsp(&hex_lookup[recv->data[0]&0xF], 1);
-                elm_append_rsp_hex_byte(recv->data[1]);
-                elm_append_rsp_const("\r0:");
-                if(elm_mode_print_spaces) elm_append_rsp_const(" ");
-                for(int j = 2; j < 8; j++) elm_append_rsp_hex_byte(recv->data[j]);
-              } else {
-                elm_append_rsp_can_msg_addr(recv);
-                for(int j = 0; j < 8; j++) elm_append_rsp_hex_byte(recv->data[j]);
-              }
-
-              elm_append_rsp_const("\r");
-              elm_tcp_tx_flush();
-            }
-
-          } else if (did_multimessage && (recv->data[0] & 0xF0) == 0x20) {
-            got_msg_this_run = true;
-            loopcount = LOOPCOUNT_FULL;
-            #ifdef ELM_DEBUG
-            os_printf("      CAN multimsg data response, index: %d\n", i);
-            #endif
-
-            if(!is_auto_detecting){
-              if(!elm_mode_additional_headers) {
-                elm_append_rsp(&hex_lookup[recv->data[0] & 0xF], 1);
-                elm_append_rsp_const(":");
-                if(elm_mode_print_spaces) elm_append_rsp_const(" ");
-                for(int j = 1; j < 8; j++) elm_append_rsp_hex_byte(recv->data[j]);
-              } else {
-                elm_append_rsp_can_msg_addr(recv);
-                for(int j = 0; j < 8; j++) elm_append_rsp_hex_byte(recv->data[j]);
-              }
-              elm_append_rsp_const("\r");
-            }
-          }
-        } else if (recv->bus == 0x80 && recv->len == 8 &&
-                   (panda_get_can_addr(recv) == ((proto->type==CAN11) ? 0x7DF : 0x18DB33F1))
-                  ) {
-          //Can send receipt
-          #ifdef ELM_DEBUG
-          os_printf("      Got CAN tx receipt\n");
-          #endif
-          can_tx_worked = true;
-        }
-      }
-    }
-    os_timer_arm(&elm_timeout, elm_mode_timeout, 0);
-  } else {
-    bool got_msg_this_run_backup = got_msg_this_run;
-    if(did_multimessage) {
-      os_printf("  End of multi message\n");
-    } else if(!got_msg_this_run) {
-      os_printf("  No data collected\n");
-      if(!is_auto_detecting) {
-        if(can_tx_worked) {
-          elm_append_rsp_const("NO DATA\r");
-        } else {
-          elm_append_rsp_const("CAN ERROR\r");
-        }
-      }
-    }
-    did_multimessage = false;
-    got_msg_this_run = false;
-    can_tx_worked = false;
-
-    if(!is_auto_detecting) {
-      elm_append_rsp_const("\r>");
-      elm_tcp_tx_flush();
-    } else {
-      elm_autodetect_cb(got_msg_this_run_backup);
-    }
-  }
-}
-
-static void ICACHE_FLASH_ATTR elm_init_ISO15765(const elm_protocol_t* proto){
-  panda_set_can0_cbaud(proto->cbaud);
-}
-
-static void ICACHE_FLASH_ATTR elm_process_obd_cmd_ISO15765(const elm_protocol_t* proto,
-                                                           const char *cmd, uint16_t len) {
-  elm_can_obd_msg msg = {};
-  msg.len = (len-1)/2;
-  if((msg.len > 7 && !elm_mode_allow_long) || msg.len > 8) {
-    elm_append_rsp_const("?\r\r>");
-    return;
-  }
-
-  msg.len = MIN(msg.len, 7);
-
-  for(int i = 0; i < msg.len; i++)
-    msg.dat[i] = elm_decode_hex_byte(&cmd[i*2]);
-
-  elm_msg_mode_ret_filter = msg.dat[0];
-  elm_msg_pid_ret_filter = msg.dat[1];
-
-  #ifdef ELM_DEBUG
-  os_printf("Sending CAN OBD: %02x; ", msg.len);
-  for(int i = 0; i < 7; i++)
-    os_printf("%02x ", msg.dat[i]);
-  os_printf("\n");
-  #endif
-
-  panda_clear_can_rx();
-
-  panda_usbemu_can_write(0, (proto->type==CAN11) ? 0x7DF : 0x18DB33F1,
-                         (uint8_t*)&msg, msg.len+1);
-
-  #ifdef ELM_DEBUG
-  os_printf("Starting up timer\n");
-  #endif
-
-  loopcount = LOOPCOUNT_FULL;
-  os_timer_disarm(&elm_timeout);
-  os_timer_setfn(&elm_timeout, (os_timer_func_t *)elm_ISO15765_timer_cb, proto);
-  os_timer_arm(&elm_timeout, elm_mode_timeout, 0);
-}
-
-/*****************************************************
- *** ELM protocol specification and implementation ***
- ***  -> Stuf for unsupported CAN protocols        ***
- *****************************************************/
-
-static void ICACHE_FLASH_ATTR elm_process_obd_cmd_CANGen(const elm_protocol_t* proto,
-                                                         const char *cmd, uint16_t len) {
-  elm_append_rsp_const("NO DATA\r\r>");
-}
-
-/*****************************************************
- *** ELM protocol specification and implementation ***
- ***  -> AUTO Detect implementation                ***
- *****************************************************/
-
-static int elm_autodetect_proto_iter;
-static uint16_t elm_staged_auto_msg_len;
-static const char* elm_staged_auto_msg;
-
-static void ICACHE_FLASH_ATTR elm_autodetect_cb(bool proto_worked){
-  if(proto_worked) {
-    os_printf("Autodetect proto success\n");
-    is_auto_detecting = false;
-    elm_selected_protocol = elm_autodetect_proto_iter;
-    elm_current_proto()->process_obd(elm_current_proto(),
-                                     elm_staged_auto_msg, elm_staged_auto_msg_len);
-  } else {
-    for(elm_autodetect_proto_iter++; elm_autodetect_proto_iter < ELM_PROTOCOL_COUNT;
-        elm_autodetect_proto_iter++){
-      const elm_protocol_t *proto = &elm_protocols[elm_autodetect_proto_iter];
-      if(proto->supported && proto->type != AUTO) {
-        os_printf("*** AUTO trying '%s'\n", proto->name);
-        proto->init(proto);
-        proto->process_obd(proto, "0100\r", 5); // Try sending on the bus
-        return;
-      }
-    }
-
-    //if(elm_autodetect_main()) return;
-    is_auto_detecting = false;
-    os_printf("Autodetect failed\n");
-    elm_append_rsp_const("UNABLE TO CONNECT\r\r>");
-    elm_tcp_tx_flush();
-  }
-}
-
-static void ICACHE_FLASH_ATTR elm_process_obd_cmd_AUTO(const elm_protocol_t* proto,
-                                                       const char *cmd, uint16_t len) {
-  elm_append_rsp_const("SEARCHING...\r");
-  elm_staged_auto_msg_len = len;
-  elm_staged_auto_msg = cmd;
-  is_auto_detecting = true;
-
-  elm_autodetect_proto_iter = 0;
-  elm_autodetect_cb(false);
-}
-
-/*****************************************************
- *** ELM protocol specification and implementation ***
- ***  -> Protocol Registry and related functions.  ***
- *****************************************************/
-
-static const elm_protocol_t elm_protocols[] = {
-  {true,  AUTO,  0,    elm_process_obd_cmd_AUTO,     NULL,              "AUTO",                    },
-  {false, NA,    416,  elm_process_obd_cmd_J1850,    NULL,              "SAE J1850 PWM",           },
-  {false, NA,    104,  elm_process_obd_cmd_J1850,    NULL,              "SAE J1850 VPW",           },
-  {false, LIN,   104,  elm_process_obd_cmd_LIN5baud, NULL,              "ISO 9141-2",              },
-  {false, LIN,   104,  elm_process_obd_cmd_LIN5baud, NULL,              "ISO 14230-4 (KWP 5BAUD)", },
-  {true,  LIN,   104,  elm_process_obd_cmd_LINFast,  NULL,              "ISO 14230-4 (KWP FAST)",  },
-  {true,  CAN11, 5000, elm_process_obd_cmd_ISO15765, elm_init_ISO15765, "ISO 15765-4 (CAN 11/500)",},
-  {true,  CAN29, 5000, elm_process_obd_cmd_ISO15765, elm_init_ISO15765, "ISO 15765-4 (CAN 29/500)",},
-  {true,  CAN11, 2500, elm_process_obd_cmd_ISO15765, elm_init_ISO15765, "ISO 15765-4 (CAN 11/250)",},
-  {true,  CAN29, 2500, elm_process_obd_cmd_ISO15765, elm_init_ISO15765, "ISO 15765-4 (CAN 29/250)",},
-  {false, CAN29, 2500, elm_process_obd_cmd_CANGen,   NULL,              "SAE J1939 (CAN 29/250)",  },
-  {false, CAN11, 1250, elm_process_obd_cmd_CANGen,   NULL,              "USER1 (CAN 11/125)",      },
-  {false, CAN11, 500,  elm_process_obd_cmd_CANGen,   NULL,              "USER2 (CAN 11/50)",       },
-};
-
-static const elm_protocol_t* ICACHE_FLASH_ATTR elm_current_proto() {
-  return &elm_protocols[elm_selected_protocol];
-}
-
-void ICACHE_FLASH_ATTR elm_reset_aux_timer() {
-    os_timer_disarm(&elm_proto_aux_timeout);
-    if(elm_mode_keepalive_period)
-      os_timer_arm(&elm_proto_aux_timeout, elm_mode_keepalive_period, 0);
-}
-
-void ICACHE_FLASH_ATTR elm_proto_reinit(const elm_protocol_t *proto) {
-    if(proto->init) proto->init(proto);
-}
-
-/*******************************************
- *** ELM AT command parsing and handling ***
- *******************************************/
-
-enum at_cmd_ids_t { // FULL ELM 1.0 list
-  AT_INVALID, //Fake
-
-  AT_AMP1,
-  AT_AL,
-  AT_AT0, AT_AT1, AT_AT2, // Added ELM 1.2, expected by Torque
-  AT_BD,
-  AT_BI,
-  AT_CAF0, AT_CAF1,
-  AT_CF_8, AT_CF_3,
-  AT_CFC0, AT_CFC1,
-  AT_CM_8, AT_CM_3,
-  AT_CP,
-  AT_CS,
-  AT_CV,
-  AT_D,
-  AT_DP, AT_DPN,
-  AT_E0, AT_E1,
-  AT_H0, AT_H1,
-  AT_I,
-  AT_IB10,
-  AT_IB96,
-  AT_L0, AT_L1,
-  AT_M0, AT_M1, AT_MA,
-  AT_MR,
-  AT_MT,
-  AT_NL,
-  AT_PC,
-  AT_R0, AT_R1,
-  AT_RV,
-  AT_S0, AT_S1, // Added ELM 1.3, expected by Torque
-  AT_SH_6, AT_SH_3,
-  AT_SPA, AT_SP,
-  AT_ST,
-  AT_SW,
-  AT_TPA, AT_TP,
-  AT_WM_XYZA, AT_WM_XYZAB, AT_WM_XYZABC,
-  AT_WS,
-  AT_Z,
-};
-
-typedef struct {
-  char* name;
-  uint8_t name_len;
-  uint8_t cmd_len;
-  enum at_cmd_ids_t id;
-} at_cmd_reg_t;
-
-static const at_cmd_reg_t at_cmd_reg[] = {
-  {"@1",  2, 2, AT_AMP1},
-  {"AL",  2, 2, AT_AL},
-  {"AT0", 3, 3, AT_AT0}, // Added ELM 1.2, expected by Torque
-  {"AT1", 3, 3, AT_AT1}, // Added ELM 1.2, expected by Torque
-  {"AT2", 3, 3, AT_AT2}, // Added ELM 1.2, expected by Torque
-  {"DP",  2, 2, AT_DP},
-  {"DPN", 3, 3, AT_DPN},
-  {"E0",  2, 2, AT_E0},
-  {"E1",  2, 2, AT_E1},
-  {"H0",  2, 2, AT_H0},
-  {"H1",  2, 2, AT_H1},
-  {"I",   1, 1, AT_I},
-  {"L0",  2, 2, AT_L0},
-  {"L1",  2, 2, AT_L1},
-  {"M0",  2, 2, AT_M0},
-  //{"M1",  2, 2, AT_M1},
-  {"NL",  2, 2, AT_NL},
-  {"PC",  2, 2, AT_PC},
-  {"S0",  2, 2, AT_S0}, // Added ELM 1.3, expected by Torque
-  {"S1",  2, 2, AT_S1}, // Added ELM 1.3, expected by Torque
-  {"SP",  2, 3, AT_SP},
-  {"SPA", 3, 4, AT_SPA},
-  {"ST",  2, 4, AT_ST},
-  {"SW",  2, 4, AT_SW},
-  {"Z",   1, 1, AT_Z},
-};
-#define AT_CMD_REG_LEN (sizeof(at_cmd_reg)/sizeof(at_cmd_reg_t))
-
-static enum at_cmd_ids_t ICACHE_FLASH_ATTR elm_parse_at_cmd(char *cmd, uint16_t len){
-  int i;
-  for(i=0; i<AT_CMD_REG_LEN; i++){
-    at_cmd_reg_t candidate = at_cmd_reg[i];
-    if(candidate.cmd_len == len-1 && !memcmp(cmd, candidate.name, candidate.name_len))
-      return candidate.id;
-  }
-  return AT_INVALID;
-}
-
-static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
-  uint8_t tmp;
-
-  os_printf("AT COMMAND ");
-  for(int i = 0; i < len; i++) os_printf("%c", cmd[i]);
-  os_printf("\r\n");
-
-  switch(elm_parse_at_cmd(cmd, len)){
-  case AT_AMP1: //RETURN DEVICE DESCRIPTION
-    elm_append_rsp_const(DEVICE_DESC);
-    return;
-  case AT_AL: //DISABLE LONG MESSAGE SUPPORT (>7 BYTES)
-    elm_mode_allow_long = true;
-    break;
-  case AT_AT0: //DISABLE ADAPTIVE TIMING
-    elm_mode_adaptive_timing = 0;
-    break;
-  case AT_AT1: //SET ADAPTIVE TIMING TO AUTO1
-    elm_mode_adaptive_timing = 1;
-    break;
-  case AT_AT2: //SET ADAPTIVE TIMING TO AUTO2
-    elm_mode_adaptive_timing = 2;
-    break;
-  case AT_DP: //DESCRIBE THE PROTOCOL BY NAME
-    if(elm_mode_auto_protocol && elm_selected_protocol != 0)
-      elm_append_rsp_const("AUTO, ");
-    elm_append_rsp(elm_current_proto()->name,
-                   strlen(elm_current_proto()->name));
-    elm_append_rsp_const("\r\r");
-    return;
-  case AT_DPN: //DESCRIBE THE PROTOCOL BY NUMBER
-    //TODO: Required. Report currently selected protocol
-    if(elm_mode_auto_protocol)
-      elm_append_rsp_const("A");
-    elm_append_rsp(&hex_lookup[elm_selected_protocol], 1);
-    elm_append_rsp_const("\r\r");
-    return; // Don't display 'OK'
-  case AT_E0: //ECHO OFF
-    elm_mode_echo = false;
-    break;
-  case AT_E1: //ECHO ON
-    elm_mode_echo = true;
-    break;
-  case AT_H0: //SHOW FULL CAN HEADERS OFF
-    elm_mode_additional_headers = false;
-    break;
-  case AT_H1: //SHOW FULL CAN HEADERS ON
-    elm_mode_additional_headers = true;
-    break;
-  case AT_I: //IDENTIFY SELF
-    elm_append_rsp_const(IDENT_MSG);
-    return;
-  case AT_L0: //LINEFEED OFF
-    elm_mode_linefeed = false;
-    break;
-  case AT_L1: //LINEFEED ON
-    elm_mode_linefeed = true;
-    break;
-  case AT_M0: //DISABLE NONVOLATILE STORAGE
-    //Memory storage is likely unnecessary
-    break;
-  case AT_NL: //DISABLE LONG MESSAGE SUPPORT (>7 BYTES)
-    elm_mode_allow_long = false;
-    break;
-  case AT_PC: //PROTOCOL CANCEL (Stop timers and stuff)
-    {
-      //Init functions should idenpotently prepare the protocol to be used.
-      //Thus, the init function can be used as a protocol cancel function
-      elm_proto_reinit(elm_current_proto());
-      break;
-    }
-  case AT_S0: //DISABLE PRINTING SPACES IN ECU RESPONSES
-    elm_mode_print_spaces = false;
-    break;
-  case AT_S1: //ENABLE PRINTING SPACES IN ECU RESPONSES
-    elm_mode_print_spaces = true;
-    break;
-  case AT_SP: //SET PROTOCOL
-    tmp = elm_decode_hex_char(cmd[2]);
-    if(tmp == -1 || tmp >= ELM_PROTOCOL_COUNT) {
-      elm_append_rsp_const("?\r\r");
-      return;
-    }
-
-    //De-Init previous protocol
-    elm_proto_reinit(elm_current_proto());
-
-    elm_selected_protocol = tmp;
-    elm_mode_auto_protocol = (tmp == 0);
-
-    //Init new protocol
-    elm_proto_reinit(elm_current_proto());
-    break;
-  case AT_SPA: //SET PROTOCOL WITH AUTO FALLBACK
-    tmp = elm_decode_hex_char(cmd[3]);
-    if(tmp == -1 || tmp >= ELM_PROTOCOL_COUNT) {
-      elm_append_rsp_const("?\r\r");
-      return;
-    }
-
-    //De-Init previous protocol
-    elm_proto_reinit(elm_current_proto());
-
-    elm_selected_protocol = tmp;
-    elm_mode_auto_protocol = true;
-
-    //Init new protocol
-    elm_proto_reinit(elm_current_proto());
-    break;
-  case AT_ST:  //SET TIMEOUT
-    if(!elm_check_valid_hex_chars(&cmd[2], 2)) {
-      elm_append_rsp_const("?\r\r");
-      return;
-    }
-
-    tmp = elm_decode_hex_byte(&cmd[2]);
-    //20 for CAN, 4 for LIN
-    elm_mode_timeout = tmp ? tmp*20 : ELM_MODE_TIMEOUT_DEFAULT;
-    break;
-  case AT_SW:  //SET WAKEUP TIME INTERVAL
-    if(!elm_check_valid_hex_chars(&cmd[2], 2)) {
-      elm_append_rsp_const("?\r\r");
-      return;
-    }
-
-    tmp = elm_decode_hex_byte(&cmd[2]);
-    elm_mode_keepalive_period = tmp ? MAX(tmp, 0x20) * 20 : 0;
-
-    if(lin_bus_initialized){
-      os_timer_disarm(&elm_proto_aux_timeout);
-      if(elm_mode_keepalive_period)
-        os_timer_arm(&elm_proto_aux_timeout, elm_mode_keepalive_period, 0);
-    }
-    break;
-  case AT_Z: //RESET
-    elm_mode_echo = true;
-    elm_mode_linefeed = false;
-    elm_mode_additional_headers = false;
-    elm_mode_auto_protocol = true;
-    elm_selected_protocol = ELM_MODE_SELECTED_PROTOCOL_DEFAULT;
-    elm_mode_print_spaces = true;
-    elm_mode_adaptive_timing = 1;
-    elm_mode_allow_long = false;
-    elm_mode_timeout = ELM_MODE_TIMEOUT_DEFAULT;
-    elm_mode_keepalive_period = ELM_MODE_KEEPALIVE_PERIOD_DEFAULT;
-
-    elm_append_rsp_const("\r\r");
-    elm_append_rsp_const(IDENT_MSG);
-    panda_set_safety_mode(SAFETY_ELM327);
-
-    elm_proto_reinit(elm_current_proto());
-    return;
-  default:
-    elm_append_rsp_const("?\r\r");
-    return;
-  }
-
-  elm_append_rsp_const("OK\r\r");
-}
-
-/*************************************
- *** Connection and cli management ***
- *************************************/
-
-static void ICACHE_FLASH_ATTR elm_append_in_msg(char *data, uint16_t len) {
-  if(in_msg_len + len > sizeof(in_msg))
-    len = sizeof(in_msg) - in_msg_len;
-  memcpy(in_msg + in_msg_len, data, len);
-  in_msg_len += len;
-}
-
-static int ICACHE_FLASH_ATTR elm_msg_is_at_cmd(char *data, uint16_t len){
-  return len >= 4 && data[0] == 'A' && data[1] == 'T';
-}
-
-static void ICACHE_FLASH_ATTR elm_rx_cb(void *arg, char *data, uint16_t len) {
-  #ifdef ELM_DEBUG
-  //os_printf("\nGot ELM Data In: '%s'\n", data);
-  #endif
-
-  rsp_buff_len = 0;
-  len = elm_msg_find_cr_or_eos(data, len);
-
-  if(loopcount){
-    os_timer_disarm(&elm_timeout);
-    loopcount = 0;
-    got_msg_this_run = false;
-    can_tx_worked = false;
-    did_multimessage = false;
-
-    os_printf("Interrupting operation, stopping timer. msg len: %d\n", len);
-    elm_append_rsp_const("STOPPED\r\r>");
-    if(len == 1 && data[0] == '\r') {
-      os_printf("Empty msg source of interrupt.\n");
-      elm_tcp_tx_flush();
-      return;
-    }
-  }
-
-  if(!(len == 1 && data[0] == '\r') && in_msg_len && in_msg[in_msg_len-1] == '\r'){
-    in_msg_len = 0;
-  }
-
-  if(!(len == 1 && data[0] == '\r' && in_msg_len && in_msg[in_msg_len-1] == '\r')) {
-    // Not Repeating last message
-    elm_append_in_msg(data, len); //Aim to remove this memcpy
-  }
-  if(elm_mode_echo)
-    elm_append_rsp(in_msg, in_msg_len);
-
-  if(in_msg_len > 0 && in_msg[in_msg_len-1] == '\r') { //Got a full line
-    stripped_msg_len = elm_strip(in_msg, in_msg_len, stripped_msg, sizeof(stripped_msg));
-
-    if(elm_msg_is_at_cmd(stripped_msg, stripped_msg_len)) {
-      elm_process_at_cmd(stripped_msg+2, stripped_msg_len-2);
-      elm_append_rsp_const(">");
-    } else if(elm_check_valid_hex_chars(stripped_msg, stripped_msg_len - 1)) {
-      elm_current_proto()->process_obd(elm_current_proto(), stripped_msg, stripped_msg_len);
-    } else {
-      elm_append_rsp_const("?\r\r>");
-    }
-  }
-
-  elm_tcp_tx_flush();
-
-  //Just clear the buffer if full with no termination
-  if(in_msg_len == sizeof(in_msg) && in_msg[in_msg_len-1] != '\r')
-    in_msg_len = 0;
-}
-
-void ICACHE_FLASH_ATTR elm_tcp_disconnect_cb(void *arg){
-  struct espconn *pesp_conn = (struct espconn *)arg;
-
-  elm_tcp_conn_t * prev = NULL;
-  for(elm_tcp_conn_t *iter = connection_list; iter != NULL; iter=iter->next){
-    struct espconn *conn = iter->conn;
-    //SHOW_CONNECTION("Considering Disconnecting", conn);
-    if(!memcmp(pesp_conn->proto.tcp->remote_ip, conn->proto.tcp->remote_ip, 4) &&
-       pesp_conn->proto.tcp->remote_port == conn->proto.tcp->remote_port){
-      os_printf("Deleting ELM Connection!\n");
-      if(prev){
-        prev->next = iter->next;
-      } else {
-        connection_list = iter->next;
-      }
-      os_free(iter);
-      break;
-    }
-
-    prev = iter;
-  }
-
-  if(connection_list == NULL) {
-    //If all clients are disconnected, reset the protocol (cancels
-    //keep alive timers). This will not detect inproperly killed
-    //connections. In this case, periodic events associated with the
-    //current protocol will continue until a new client attaches, a
-    //command is sent generating a response (ELM will try to responde
-    //to the dead connection, and remove it upon error), and finally,
-    //the new client disconnects. OFC a power cycle is also an option.
-    elm_proto_reinit(elm_current_proto());
-  }
-}
-
-void ICACHE_FLASH_ATTR elm_tcp_connect_cb(void *arg) {
-  struct espconn *pesp_conn = (struct espconn *)arg;
-  //SHOW_CONNECTION("New connection", pesp_conn);
-  espconn_set_opt(&elm_conn, ESPCONN_NODELAY);
-  espconn_regist_recvcb(pesp_conn, elm_rx_cb);
-  //Allow several sends to be queued at a time.
-  espconn_tcp_set_buf_count(pesp_conn, 3);
-
-  bool connection_address_already_there = false;
-  for(elm_tcp_conn_t *iter2 = connection_list; iter2 != NULL; iter2 = iter2->next)
-    if(iter2->conn == pesp_conn){connection_address_already_there = true; break;}
-
-  if(connection_address_already_there) {
-    os_printf("ELM WIFI: Memory reuse of recently killed connection\n");
-  } else {
-    os_printf("ELM WIFI: Adding connection\n");
-    elm_tcp_conn_t *newconn = os_malloc(sizeof(elm_tcp_conn_t));
-    if(!newconn) {
-      os_printf("Failed to allocate place for connection\n");
-    } else {
-      newconn->next = connection_list;
-      newconn->conn = pesp_conn;
-      connection_list = newconn;
-    }
-  }
-}
-
-void ICACHE_FLASH_ATTR elm327_init() {
-  // control listener
-  elm_proto.local_port = ELM_PORT;
-  elm_conn.type = ESPCONN_TCP;
-  elm_conn.state = ESPCONN_NONE;
-  elm_conn.proto.tcp = &elm_proto;
-  espconn_regist_connectcb(&elm_conn, elm_tcp_connect_cb);
-  espconn_regist_disconcb(&elm_conn, elm_tcp_disconnect_cb);
-  espconn_accept(&elm_conn);
-  espconn_regist_time(&elm_conn, 0, 0); // 60s timeout for all connections
-}
diff --git a/panda/boardesp/get_sdk.sh b/panda/boardesp/get_sdk.sh
deleted file mode 100755
index b1e8bf2be85eda..00000000000000
--- a/panda/boardesp/get_sdk.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-sudo apt-get install make unrar-free autoconf automake libtool gcc g++ gperf \
-    flex bison texinfo gawk ncurses-dev libexpat-dev python-dev python python-serial \
-    sed git unzip bash help2man wget bzip2
-# huh?
-sudo apt-get install libtool
-sudo apt-get install libtool-bin
-git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
-cd esp-open-sdk
-git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
-cp ../python2_make.py .
-python2 python2_make.py 'LD_LIBRARY_PATH="" make STANDALONE=y'
diff --git a/panda/boardesp/get_sdk_ci.sh b/panda/boardesp/get_sdk_ci.sh
deleted file mode 100755
index e95b7bd2624c6d..00000000000000
--- a/panda/boardesp/get_sdk_ci.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
-cd esp-open-sdk
-git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
-cp ../python2_make.py .
-python2 python2_make.py 'LD_LIBRARY_PATH="" make STANDALONE=y'
diff --git a/panda/boardesp/get_sdk_mac.sh b/panda/boardesp/get_sdk_mac.sh
deleted file mode 100755
index c2cfcd53b4d904..00000000000000
--- a/panda/boardesp/get_sdk_mac.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/bash
-
-# from http://www.esp8266.com/wiki/doku.php?id=setup-osx-compiler-esp8266
-
-brew install gnu-sed --with-default-names
-brew tap homebrew/dupes
-brew install gperf
-brew install grep
-brew install autoconf
-brew install binutils
-brew install gawk
-brew install wget
-brew install automake
-brew install libtool
-brew install help2man
-
-brew uninstall gperf
-
-hdiutil create esp-open-sdk.dmg -volname "esp-open-sdk" -size 10g -fs "Case-sensitive HFS+"
-hdiutil mount esp-open-sdk.dmg
-ln -s /Volumes/esp-open-sdk esp-open-sdk
-cd esp-open-sdk
-
-git init
-git remote add origin https://github.com/pfalcon/esp-open-sdk.git
-git fetch origin
-git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
-git submodule init
-git submodule update --recursive
-
-cp ../python2_make.py .
-python2 python2_make.py 'make STANDALONE=y'
diff --git a/panda/boardesp/include/espmissingincludes.h b/panda/boardesp/include/espmissingincludes.h
deleted file mode 100644
index 51672d3f50c54c..00000000000000
--- a/panda/boardesp/include/espmissingincludes.h
+++ /dev/null
@@ -1,78 +0,0 @@
-#ifndef ESPMISSINGINCLUDES_H
-#define ESPMISSINGINCLUDES_H
-
-#include <stdint.h>
-#include <c_types.h>
-#include <os_type.h>
-
-
-int strcasecmp(const char *a, const char *b);
-#ifndef FREERTOS
-#include <eagle_soc.h>
-#include <ets_sys.h>
-//Missing function prototypes in include folders. Gcc will warn on these if we don't define 'em anywhere.
-//MOST OF THESE ARE GUESSED! but they seem to swork and shut up the compiler.
-typedef struct espconn espconn;
-
-int atoi(const char *nptr);
-void ets_install_putc1(void *routine);
-void ets_isr_attach(int intr, void *handler, void *arg);
-void ets_isr_mask(unsigned intr);
-void ets_isr_unmask(unsigned intr);
-int ets_memcmp(const void *s1, const void *s2, size_t n);
-void *ets_memcpy(void *dest, const void *src, size_t n);
-void *ets_memset(void *s, int c, size_t n);
-int ets_sprintf(char *str, const char *format, ...)  __attribute__ ((format (printf, 2, 3)));
-int ets_str2macaddr(void *, void *);
-int ets_strcmp(const char *s1, const char *s2);
-char *ets_strcpy(char *dest, const char *src);
-size_t ets_strlen(const char *s);
-int ets_strncmp(const char *s1, const char *s2, int len);
-char *ets_strncpy(char *dest, const char *src, size_t n);
-char *ets_strstr(const char *haystack, const char *needle);
-void ets_timer_arm_new(os_timer_t *a, int b, int c, int isMstimer);
-void ets_timer_disarm(os_timer_t *a);
-void ets_timer_setfn(os_timer_t *t, ETSTimerFunc *fn, void *parg);
-void ets_update_cpu_frequency(int freqmhz);
-void *os_memmove(void *dest, const void *src, size_t n);
-int os_printf(const char *format, ...)  __attribute__ ((format (printf, 1, 2)));
-int os_snprintf(char *str, size_t size, const char *format, ...) __attribute__ ((format (printf, 3, 4)));
-int os_printf_plus(const char *format, ...)  __attribute__ ((format (printf, 1, 2)));
-void uart_div_modify(int no, unsigned int freq);
-uint8 wifi_get_opmode(void);
-uint32 system_get_time();
-int rand(void);
-void ets_bzero(void *s, size_t n);
-void ets_delay_us(int ms);
-
-//Hack: this is defined in SDK 1.4.0 and undefined in 1.3.0. It's only used for this, the symbol itself
-//has no meaning here.
-#ifndef RC_LIMIT_P2P_11N
-//Defs for SDK <1.4.0
-void *pvPortMalloc(size_t xWantedSize);
-void *pvPortZalloc(size_t);
-void vPortFree(void *ptr);
-void *vPortMalloc(size_t xWantedSize);
-void pvPortFree(void *ptr);
-#else
-void *pvPortMalloc(size_t xWantedSize, const char *file, int line);
-void *pvPortZalloc(size_t, const char *file, int line);
-void vPortFree(void *ptr, const char *file, int line);
-void *vPortMalloc(size_t xWantedSize, const char *file, int line);
-void pvPortFree(void *ptr, const char *file, int line);
-#endif
-
-//Standard PIN_FUNC_SELECT gives a warning. Replace by a non-warning one.
-#ifdef PIN_FUNC_SELECT
-#undef PIN_FUNC_SELECT
-#define PIN_FUNC_SELECT(PIN_NAME, FUNC)  do { \
-    WRITE_PERI_REG(PIN_NAME,   \
-                                (READ_PERI_REG(PIN_NAME) \
-                                     &  (~(PERIPHS_IO_MUX_FUNC<<PERIPHS_IO_MUX_FUNC_S)))  \
-                                     |( (((FUNC&BIT2)<<2)|(FUNC&0x3))<<PERIPHS_IO_MUX_FUNC_S) );  \
-    } while (0)
-#endif
-
-#endif
-
-#endif
diff --git a/panda/boardesp/obj/.placeholder b/panda/boardesp/obj/.placeholder
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/panda/boardesp/proxy.c b/panda/boardesp/proxy.c
deleted file mode 100644
index 65586d6096c2bb..00000000000000
--- a/panda/boardesp/proxy.c
+++ /dev/null
@@ -1,373 +0,0 @@
-#include "ets_sys.h"
-#include "osapi.h"
-#include "gpio.h"
-#include "os_type.h"
-#include "user_interface.h"
-#include "espconn.h"
-
-#include "driver/spi_interface.h"
-#include "driver/uart.h"
-#include "crypto/sha.h"
-
-#define MIN(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
-
-#define MAX(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
-
-char ssid[32];
-char password[] = "testing123";
-int wifi_secure_mode = 0;
-
-static const int pin = 2;
-
-// Structure holding the TCP connection information.
-struct espconn tcp_conn;
-// TCP specific protocol structure.
-esp_tcp tcp_proto;
-
-// interrupt communication on port 1338, UDP!
-struct espconn inter_conn;
-esp_udp inter_proto;
-
-uint32_t sendData[0x14] = {0};
-uint32_t recvData[0x40] = {0};
-
-static int ICACHE_FLASH_ATTR __spi_comm(char *dat, int len, uint32_t *recvData, int recvDataLen) {
-  unsigned int length = 0;
-
-  SpiData spiData;
-
-  spiData.cmd = 2;
-  spiData.cmdLen = 0;
-  spiData.addr = NULL;
-  spiData.addrLen = 0;
-
-  // float boot pin
-  gpio_output_set(0, 0, 0, (1 << 4));
-
-  // manual CS pin
-  gpio_output_set(0, (1 << 5), 0, 0);
-  memset(sendData, 0xCC, 0x14);
-
-  // wait for ST to respond to CS interrupt
-  os_delay_us(50);
-
-  // send request
-  memcpy(((void*)sendData), dat, len);
-  spiData.data = sendData;
-  spiData.dataLen = 0x14;
-  SPIMasterSendData(SpiNum_HSPI, &spiData);
-
-  #define SPI_TIMEOUT 50000
-  // give the ST time to be ready, up to 500ms
-  int i;
-  for (i = 0; (gpio_input_get() & (1 << 4)) && i < SPI_TIMEOUT; i++) {
-    os_delay_us(10);
-    system_soft_wdt_feed();
-  }
-
-  // TODO: handle this better
-  if (i == SPI_TIMEOUT) {
-    os_printf("ERROR: SPI receive failed\n");
-    goto fail;
-  }
-
-  // blank out recvData
-  memset(recvData, 0x00, 0x44);
-
-  // receive the length
-  spiData.data = recvData;
-  spiData.dataLen = 4;
-  if(SPIMasterRecvData(SpiNum_HSPI, &spiData) == -1) {
-    // TODO: Handle gracefully. Maybe fail if len read fails?
-    os_printf("SPI: Failed to recv length\n");
-    goto fail;
-  }
-
-  length = recvData[0];
-  if (length > 0x40) {
-    os_printf("SPI: BAD LENGTH RECEIVED %x\n", length);
-    length = 0;
-    goto fail;
-  }
-
-  // got response, 0x40 works, 0x44 does not
-  spiData.data = recvData+1;
-  spiData.dataLen = (length+3)&(~3); // recvDataLen;
-  if(SPIMasterRecvData(SpiNum_HSPI, &spiData) == -1) {
-    // TODO: Handle gracefully. Maybe retry if payload failed.
-    os_printf("SPI: Failed to recv payload\n");
-    length = 0;
-    goto fail;
-  }
-
-fail:
-  // clear CS
-  gpio_output_set((1 << 5), 0, 0, 0);
-
-  // set boot pin back
-  gpio_output_set((1 << 4), 0, (1 << 4), 0);
-
-  return length;
-}
-
-int ICACHE_FLASH_ATTR spi_comm(char *dat, int len, uint32_t *recvData, int recvDataLen) {
-  // blink the led during SPI comm
-  if (GPIO_REG_READ(GPIO_OUT_ADDRESS) & (1 << pin)) {
-    // set gpio low
-    gpio_output_set(0, (1 << pin), 0, 0);
-  } else {
-    // set gpio high
-    gpio_output_set((1 << pin), 0, 0, 0);
-  }
-
-  return __spi_comm(dat, len, recvData, recvDataLen);
-}
-
-static void ICACHE_FLASH_ATTR tcp_rx_cb(void *arg, char *data, uint16_t len) {
-  // nothing too big
-  if (len > 0x14) return;
-
-  // do the SPI comm
-  spi_comm(data, len, recvData, 0x40);
-
-  espconn_send(&tcp_conn, recvData, 0x44);
-}
-
-void ICACHE_FLASH_ATTR tcp_connect_cb(void *arg) {
-  struct espconn *conn = (struct espconn *)arg;
-  espconn_set_opt(&tcp_conn, ESPCONN_NODELAY);
-  espconn_regist_recvcb(conn, tcp_rx_cb);
-}
-
-// must be 0x44, because we can fit 4 more
-uint8_t buf[0x44*0x10];
-int queue_send_len = -1;
-
-void ICACHE_FLASH_ATTR poll_can(void *arg) {
-  uint8_t timerRecvData[0x44] = {0};
-  int i = 0;
-  int j;
-
-  while (i < 0x40) {
-    int len = spi_comm("\x01\x00\x00\x00", 4, timerRecvData, 0x40);
-    if (len == 0) break;
-    if (len > 0x40) { os_printf("SPI LENGTH ERROR!"); break; }
-
-    // if it sends it, assume it's valid CAN
-    for (j = 0; j < len; j += 0x10) {
-      memcpy(buf + i*0x10, (timerRecvData+4)+j, 0x10);
-      i++;
-    }
-  }
-
-  if (i != 0) {
-    int ret = espconn_sendto(&inter_conn, buf, i*0x10);
-    if (ret != 0) {
-			os_printf("send failed: %d\n", ret);
-      queue_send_len = i*0x10;
-    } else {
-      queue_send_len = -1;
-    }
-  }
-}
-
-int udp_countdown = 0;
-
-static volatile os_timer_t udp_callback;
-void ICACHE_FLASH_ATTR udp_callback_func(void *arg) {
-  if (queue_send_len == -1) {
-    poll_can(NULL);
-  } else {
-    int ret = espconn_sendto(&inter_conn, buf, queue_send_len);
-    if (ret == 0) {
-      queue_send_len = -1;
-    }
-  }
-  if (udp_countdown > 0) {
-    os_timer_arm(&udp_callback, 5, 0);
-    udp_countdown--;
-  } else {
-    os_printf("UDP timeout\n");
-  }
-}
-
-void ICACHE_FLASH_ATTR inter_recv_cb(void *arg, char *pusrdata, unsigned short length) {
-  remot_info *premot = NULL;
-  if (espconn_get_connection_info(&inter_conn,&premot,0) == ESPCONN_OK) {
-		inter_conn.proto.udp->remote_port = premot->remote_port;
-		inter_conn.proto.udp->remote_ip[0] = premot->remote_ip[0];
-		inter_conn.proto.udp->remote_ip[1] = premot->remote_ip[1];
-		inter_conn.proto.udp->remote_ip[2] = premot->remote_ip[2];
-		inter_conn.proto.udp->remote_ip[3] = premot->remote_ip[3];
-
-
-    if (udp_countdown == 0) {
-      os_printf("UDP recv\n");
-      udp_countdown = 200*5;
-
-      // start 5 second timer
-      os_timer_disarm(&udp_callback);
-      os_timer_setfn(&udp_callback, (os_timer_func_t *)udp_callback_func, NULL);
-      os_timer_arm(&udp_callback, 5, 0);
-    } else {
-      udp_countdown = 200*5;
-    }
-  }
-}
-
-void ICACHE_FLASH_ATTR wifi_configure(int secure) {
-  wifi_secure_mode = secure;
-
-  // start wifi AP
-  wifi_set_opmode(SOFTAP_MODE);
-  struct softap_config config = {0};
-  wifi_softap_get_config(&config);
-  strcpy(config.ssid, ssid);
-  if (wifi_secure_mode == 0) strcat(config.ssid, "-pair");
-  strcpy(config.password, password);
-  config.ssid_len = strlen(config.ssid);
-  config.authmode = wifi_secure_mode ? AUTH_WPA2_PSK : AUTH_OPEN;
-  config.beacon_interval = 100;
-  config.max_connection = 4;
-  wifi_softap_set_config(&config);
-
-  if (wifi_secure_mode) {
-    // setup tcp server
-    tcp_proto.local_port = 1337;
-    tcp_conn.type = ESPCONN_TCP;
-    tcp_conn.state = ESPCONN_NONE;
-    tcp_conn.proto.tcp = &tcp_proto;
-    espconn_regist_connectcb(&tcp_conn, tcp_connect_cb);
-    espconn_accept(&tcp_conn);
-    espconn_regist_time(&tcp_conn, 60, 0); // 60s timeout for all connections
-
-    // setup inter server
-    inter_proto.local_port = 1338;
-    const char udp_remote_ip[4] = {255, 255, 255, 255};
-    os_memcpy(inter_proto.remote_ip, udp_remote_ip, 4);
-    inter_proto.remote_port = 1338;
-
-    inter_conn.type = ESPCONN_UDP;
-    inter_conn.proto.udp = &inter_proto;
-
-    espconn_regist_recvcb(&inter_conn, inter_recv_cb);
-    espconn_create(&inter_conn);
-  }
-}
-
-void ICACHE_FLASH_ATTR wifi_init() {
-  // default ssid and password
-  memset(ssid, 0, 32);
-  os_sprintf(ssid, "panda-%08x-BROKEN", system_get_chip_id());
-
-  // fetch secure ssid and password
-  // update, try 20 times, for 1 second
-  for (int i = 0; i < 20; i++) {
-    uint8_t digest[SHA_DIGEST_SIZE];
-    char resp[0x20];
-    __spi_comm("\x00\x00\x00\x00\x40\xD0\x00\x00\x00\x00\x20\x00", 0xC, recvData, 0x40);
-    memcpy(resp, recvData+1, 0x20);
-
-    SHA_hash(resp, 0x1C, digest);
-    if (memcmp(digest, resp+0x1C, 4) == 0) {
-      // OTP is valid
-      memcpy(ssid+6, resp, 0x10);
-      memcpy(password, resp+0x10, 10);
-      break;
-    }
-    os_delay_us(50000);
-  }
-  os_printf("Finished getting SID\n");
-  os_printf(ssid);
-  os_printf("\n");
-
-  // set IP
-  wifi_softap_dhcps_stop(); //stop DHCP before setting static IP
-  struct ip_info ip_config;
-  IP4_ADDR(&ip_config.ip, 192, 168, 0, 10);
-  IP4_ADDR(&ip_config.gw, 0, 0, 0, 0);
-  IP4_ADDR(&ip_config.netmask, 255, 255, 255, 0);
-  wifi_set_ip_info(SOFTAP_IF, &ip_config);
-  int stupid_gateway = 0;
-  wifi_softap_set_dhcps_offer_option(OFFER_ROUTER, &stupid_gateway);
-  wifi_softap_dhcps_start();
-
-  wifi_configure(0);
-}
-
-#define LOOP_PRIO 2
-#define QUEUE_SIZE 1
-static os_event_t my_queue[QUEUE_SIZE];
-void loop();
-
-void ICACHE_FLASH_ATTR web_init();
-void ICACHE_FLASH_ATTR elm327_init();
-
-void ICACHE_FLASH_ATTR user_init() {
-  // init gpio subsystem
-  gpio_init();
-
-  // configure UART TXD to be GPIO1, set as output
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_GPIO1);
-  gpio_output_set(0, 0, (1 << pin), 0);
-
-  // configure SPI
-  SpiAttr hSpiAttr;
-  hSpiAttr.bitOrder = SpiBitOrder_MSBFirst;
-  hSpiAttr.speed = SpiSpeed_10MHz;
-  hSpiAttr.mode = SpiMode_Master;
-  hSpiAttr.subMode = SpiSubMode_0;
-
-  // TODO: is one of these CS?
-  WRITE_PERI_REG(PERIPHS_IO_MUX, 0x105);
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTDI_U, 2);  // configure io to spi mode
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTCK_U, 2);  // configure io to spi mode
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTMS_U, 2);  // configure io to spi mode
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTDO_U, 2);  // configure io to spi mode
-  SPIInit(SpiNum_HSPI, &hSpiAttr);
-  //SPICsPinSelect(SpiNum_HSPI, SpiPinCS_1);
-
-  // configure UART TXD to be GPIO1, set as output
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO5_U, FUNC_GPIO5);
-  gpio_output_set(0, 0, (1 << 5), 0);
-  gpio_output_set((1 << 5), 0, 0, 0);
-
-  // uart init
-  uart_init(BIT_RATE_115200, BIT_RATE_115200);
-
-  // led init
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO2_U, FUNC_GPIO2);
-  gpio_output_set(0, (1 << pin), (1 << pin), 0);
-
-  os_printf("hello\n");
-
-  // needs SPI
-  wifi_init();
-
-  // support ota upgrades
-  elm327_init();
-  web_init();
-
-  // set gpio high, so LED is off by default
-  for (int i = 0; i < 5; i++) {
-    gpio_output_set(0, (1 << pin), 0, 0);
-    os_delay_us(50000);
-    gpio_output_set((1 << pin), 0, 0, 0);
-    os_delay_us(50000);
-  }
-
-  // jump to OS
-  system_os_task(loop, LOOP_PRIO, my_queue, QUEUE_SIZE);
-  system_os_post(LOOP_PRIO, 0, 0);
-}
-
-void ICACHE_FLASH_ATTR loop(os_event_t *events) {
-  system_os_post(LOOP_PRIO, 0, 0);
-}
-
diff --git a/panda/boardesp/python2_make.py b/panda/boardesp/python2_make.py
deleted file mode 100644
index 85bee3457719bf..00000000000000
--- a/panda/boardesp/python2_make.py
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/env python2
-import os
-import sys
-os.system(sys.argv[1])
diff --git a/panda/boardesp/user_config.h b/panda/boardesp/user_config.h
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/panda/boardesp/webserver.c b/panda/boardesp/webserver.c
deleted file mode 100644
index b1a514626f6a6e..00000000000000
--- a/panda/boardesp/webserver.c
+++ /dev/null
@@ -1,380 +0,0 @@
-#include "stdlib.h"
-#include "ets_sys.h"
-#include "osapi.h"
-#include "gpio.h"
-#include "mem.h"
-#include "os_type.h"
-#include "user_interface.h"
-#include "espconn.h"
-#include "upgrade.h"
-
-#include "crypto/rsa.h"
-#include "crypto/sha.h"
-
-#include "obj/gitversion.h"
-#include "obj/cert.h"
-
-#define MAX(a,b) ((a) > (b) ? (a) : (b))
-#define MIN(a,b) ((a) < (b) ? (a) : (b))
-#define espconn_send_string(conn, x) espconn_send(conn, x, strlen(x))
-
-#define MAX_RESP 0x800
-char resp[MAX_RESP];
-char pageheader[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n"
-"<!DOCTYPE html>\n"
-"<html>\n"
-"<head>\n"
-"<title>Panda</title>\n"
-"</head>\n"
-"<body>\n"
-"<pre>This is your comma.ai panda\n\n"
-"It's open source. Find the code <a href=\"https://github.com/commaai/panda\">here</a>\n";
-
-char pagefooter[] = "</pre>\n"
-"</body>\n"
-"</html>\n";
-
-char OK_header[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n";
-
-static struct espconn web_conn;
-static esp_tcp web_proto;
-extern char ssid[];
-extern int wifi_secure_mode;
-
-char *st_firmware;
-int real_content_length, content_length = 0;
-char *st_firmware_ptr;
-LOCAL os_timer_t ota_reboot_timer;
-
-#define FIRMWARE_SIZE 503808
-
-typedef struct {
-  uint16_t ep;
-  uint16_t extra_len;
-  union {
-    struct {
-      uint8_t request_type;
-      uint8_t request;
-      uint16_t value;
-      uint16_t index;
-      uint16_t length;
-    } control;
-    uint8_t data[0x10];
-  } u;
-} usb_msg;
-
-int ICACHE_FLASH_ATTR usb_cmd(int ep, int len, int request,
-                              int value, int index, char *data) {
-  usb_msg usb = {0};
-
-  usb.ep = ep;
-  usb.extra_len = (ep == 0) ? 0 : len;
-  if (ep == 0) {
-    usb.u.control.request_type = 0xc0;
-    usb.u.control.request = request;
-    usb.u.control.value = value;
-    usb.u.control.index = index;
-  } else {
-    memcpy(&usb.u.data, data, usb.extra_len);
-  }
-
-  uint32_t recv[0x44/4];
-  spi_comm(&usb, sizeof(usb), recv, 0x40);
-
-  return recv[0];
-}
-
-
-void ICACHE_FLASH_ATTR st_flash() {
-  if (st_firmware != NULL) {
-    // boot mode
-    os_printf("st_flash: enter boot mode\n");
-    st_set_boot_mode(1);
-
-    // echo
-    os_printf("st_flash: wait for echo\n");
-    for (int i = 0; i < 10; i++) {
-      os_printf("  attempt: %d\n", i);
-      if (usb_cmd(0, 0, 0xb0, 0, 0, NULL) > 0) break;
-    }
-
-    // unlock flash
-    os_printf("st_flash: unlock flash\n");
-    usb_cmd(0, 0, 0xb1, 0, 0, NULL);
-
-    // erase sector 1
-    os_printf("st_flash: erase sector 1\n");
-    usb_cmd(0, 0, 0xb2, 1, 0, NULL);
-
-    if (real_content_length >= 16384) {
-      // erase sector 2
-      os_printf("st_flash: erase sector 2\n");
-      usb_cmd(0, 0, 0xb2, 2, 0, NULL);
-    }
-
-    // real content length will always be 0x10 aligned
-    os_printf("st_flash: flashing\n");
-    for (int i = 0; i < real_content_length; i += 0x10) {
-      int rl = MIN(0x10, real_content_length-i);
-      usb_cmd(2, rl, 0, 0, 0, &st_firmware[i]);
-      system_soft_wdt_feed();
-    }
-
-    // reboot into normal mode
-    os_printf("st_flash: rebooting\n");
-    usb_cmd(0, 0, 0xd8, 0, 0, NULL);
-
-    // done with this
-    os_free(st_firmware);
-    st_firmware = NULL;
-  }
-}
-
-typedef enum {
-    NOT_STARTED,
-    CONNECTION_ESTABLISHED,
-    RECEIVING_HEADER,
-    RECEIVING_ST_FIRMWARE,
-    RECEIVING_ESP_FIRMWARE,
-    REBOOTING,
-    ERROR
-} web_state_t;
-
-web_state_t state = NOT_STARTED;
-int esp_address, esp_address_erase_limit, start_address;
-
-void ICACHE_FLASH_ATTR hexdump(char *data, int len) {
-  int i;
-  for (i=0;i<len;i++) {
-    if (i!=0 && (i%0x10)==0) os_printf("\n");
-    os_printf("%02X ", data[i]);
-  }
-  os_printf("\n");
-}
-
-void ICACHE_FLASH_ATTR st_reset() {
-  // reset the ST
-  gpio16_output_conf();
-  gpio16_output_set(0);
-  os_delay_us(1000);
-  gpio16_output_set(1);
-  os_delay_us(10000);
-}
-
-void ICACHE_FLASH_ATTR st_set_boot_mode(int boot_mode) {
-  if (boot_mode) {
-    // boot mode (pull low)
-    gpio_output_set(0, (1 << 4), (1 << 4), 0);
-    st_reset();
-  } else {
-    // no boot mode (pull high)
-    gpio_output_set((1 << 4), 0, (1 << 4), 0);
-    st_reset();
-  }
-
-  // float boot pin
-  gpio_output_set(0, 0, 0, (1 << 4));
-}
-
-static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
-  int i;
-  struct espconn *conn = (struct espconn *)arg;
-  if (state == CONNECTION_ESTABLISHED) {
-    state = RECEIVING_HEADER;
-    os_printf("%s %d\n", data, len);
-
-    // index
-    if (memcmp(data, "GET / ", 6) == 0) {
-      memset(resp, 0, MAX_RESP);
-
-      strcpy(resp, pageheader);
-      ets_strcat(resp, "\nssid: ");
-      ets_strcat(resp, ssid);
-      ets_strcat(resp, "\n");
-
-      ets_strcat(resp, "\nst version:     ");
-      uint32_t recvData[0x11];
-      int len = spi_comm("\x00\x00\x00\x00\x40\xD6\x00\x00\x00\x00\x40\x00", 0xC, recvData, 0x40);
-      ets_memcpy(resp+strlen(resp), recvData+1, len);
-
-      ets_strcat(resp, "\nesp version:    ");
-      ets_strcat(resp, gitversion);
-      uint8_t current = system_upgrade_userbin_check();
-      if (current == UPGRADE_FW_BIN1) {
-        ets_strcat(resp, "\nesp flash file: user2.bin");
-      } else {
-        ets_strcat(resp, "\nesp flash file: user1.bin");
-      }
-
-      if (wifi_secure_mode) {
-        ets_strcat(resp, "\nin secure mode");
-      } else {
-        ets_strcat(resp, "\nin INSECURE mode...<a href=\"/secure\">secure it</a>");
-      }
-
-      ets_strcat(resp,"\nSet USB Mode:"
-        "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=0'); xhr.send()\" type='button'>Client</button>"
-        "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=1'); xhr.send()\" type='button'>CDP</button>"
-        "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=2'); xhr.send()\" type='button'>DCP</button>\n");
-
-      ets_strcat(resp, pagefooter);
-
-      espconn_send_string(&web_conn, resp);
-      espconn_disconnect(conn);
-    } else if (memcmp(data, "GET /secure", 11) == 0 && !wifi_secure_mode) {
-      wifi_configure(1);
-    } else if (memcmp(data, "GET /set_property?usb_mode=", 27) == 0 && wifi_secure_mode) {
-      char mode_value = data[27] - '0';
-        if (mode_value >= '\x00' && mode_value <= '\x02') {
-          memset(resp, 0, MAX_RESP);
-          char set_usb_mode_packet[] = "\x00\x00\x00\x00\x40\xE6\x00\x00\x00\x00\x40\x00";
-          set_usb_mode_packet[6] = mode_value;
-          uint32_t recvData[1];
-          spi_comm(set_usb_mode_packet, 0xC, recvData, 0);
-          os_sprintf(resp, "%sUSB Mode set to %02x\n\n", OK_header, mode_value);
-          espconn_send_string(&web_conn, resp);
-          espconn_disconnect(conn);
-        }
-    } else if (memcmp(data, "PUT /stupdate ", 14) == 0 && wifi_secure_mode) {
-      os_printf("init st firmware\n");
-      char *cl = strstr(data, "Content-Length: ");
-      if (cl != NULL) {
-        // get content length
-        cl += strlen("Content-Length: ");
-        content_length = skip_atoi(&cl);
-        os_printf("with content length %d\n", content_length);
-
-        // should be small enough to fit in RAM
-        real_content_length = (content_length+0xF)&(~0xF);
-        st_firmware_ptr = st_firmware = os_malloc(real_content_length);
-        memset(st_firmware, 0, real_content_length);
-        state = RECEIVING_ST_FIRMWARE;
-      }
-
-    } else if (((memcmp(data, "PUT /espupdate1 ", 16) == 0) ||
-                (memcmp(data, "PUT /espupdate2 ", 16) == 0)) && wifi_secure_mode) {
-      // 0x1000   = user1.bin
-      // 0x81000  = user2.bin
-      // 0x3FE000 = blank.bin
-      os_printf("init esp firmware\n");
-      char *cl = strstr(data, "Content-Length: ");
-      if (cl != NULL) {
-        // get content length
-        cl += strlen("Content-Length: ");
-        content_length = skip_atoi(&cl);
-        os_printf("with content length %d\n", content_length);
-
-        // setup flashing
-        uint8_t current = system_upgrade_userbin_check();
-        if (data[14] == '2' && current == UPGRADE_FW_BIN1) {
-          os_printf("flashing boot2.bin\n");
-          state = RECEIVING_ESP_FIRMWARE;
-          esp_address = 4*1024 + FIRMWARE_SIZE + 16*1024 + 4*1024;
-        } else if (data[14] == '1' && current == UPGRADE_FW_BIN2) {
-          os_printf("flashing boot1.bin\n");
-          state = RECEIVING_ESP_FIRMWARE;
-          esp_address = 4*1024;
-        } else {
-          espconn_send_string(&web_conn, "HTTP/1.0 404 Not Found\nContent-Type: text/html\n\nwrong!\n");
-          espconn_disconnect(conn);
-        }
-        esp_address_erase_limit = esp_address;
-        start_address = esp_address;
-      }
-    } else {
-      espconn_send_string(&web_conn, "HTTP/1.0 404 Not Found\nContent-Type: text/html\n\n404 Not Found!\n");
-      espconn_disconnect(conn);
-    }
-  } else if (state == RECEIVING_ST_FIRMWARE) {
-    os_printf("receiving st firmware: %d/%d\n", len, content_length);
-    memcpy(st_firmware_ptr, data, MIN(content_length, len));
-    st_firmware_ptr += len;
-    content_length -= len;
-
-    if (content_length <= 0 && real_content_length > 1000) {
-      state = NOT_STARTED;
-      os_printf("done!\n");
-      espconn_send_string(&web_conn, "HTTP/1.0 200 OK\nContent-Type: text/html\n\nsuccess!\n");
-      espconn_disconnect(conn);
-
-      // reboot
-      os_printf("Scheduling st_flash in 100ms.\n");
-      os_timer_disarm(&ota_reboot_timer);
-      os_timer_setfn(&ota_reboot_timer, (os_timer_func_t *)st_flash, NULL);
-      os_timer_arm(&ota_reboot_timer, 100, 0);
-    }
-  } else if (state == RECEIVING_ESP_FIRMWARE) {
-    if ((esp_address+len) < (start_address + FIRMWARE_SIZE)) {
-      os_printf("receiving esp firmware: %d/%d -- 0x%x - 0x%x\n", len, content_length,
-        esp_address, esp_address_erase_limit);
-      content_length -= len;
-      while (esp_address_erase_limit < (esp_address + len)) {
-        os_printf("erasing 0x%X\n", esp_address_erase_limit);
-        spi_flash_erase_sector(esp_address_erase_limit / SPI_FLASH_SEC_SIZE);
-        esp_address_erase_limit += SPI_FLASH_SEC_SIZE;
-      }
-      SpiFlashOpResult res = spi_flash_write(esp_address, data, len);
-      if (res != SPI_FLASH_RESULT_OK) {
-        os_printf("flash fail @ 0x%x\n", esp_address);
-      }
-      esp_address += len;
-
-      if (content_length == 0) {
-
-        char digest[SHA_DIGEST_SIZE];
-        uint32_t rsa[RSANUMBYTES/4];
-        uint32_t dat[0x80/4];
-        int ll;
-        spi_flash_read(esp_address-RSANUMBYTES, rsa, RSANUMBYTES);
-
-        // 32-bit aligned accesses only
-        SHA_CTX ctx;
-        SHA_init(&ctx);
-        for (ll = start_address; ll < esp_address-RSANUMBYTES; ll += 0x80) {
-          spi_flash_read(ll, dat, 0x80);
-          SHA_update(&ctx, dat, MIN((esp_address-RSANUMBYTES)-ll, 0x80));
-        }
-        memcpy(digest, SHA_final(&ctx), SHA_DIGEST_SIZE);
-
-        if (RSA_verify(&releaseesp_rsa_key, rsa, RSANUMBYTES, digest, SHA_DIGEST_SIZE) ||
-          #ifdef ALLOW_DEBUG
-            RSA_verify(&debugesp_rsa_key, rsa, RSANUMBYTES, digest, SHA_DIGEST_SIZE)
-          #else
-            false
-          #endif
-          ) {
-          os_printf("RSA verify success!\n");
-          espconn_send_string(&web_conn, "HTTP/1.0 200 OK\nContent-Type: text/html\n\nsuccess!\n");
-          system_upgrade_flag_set(UPGRADE_FLAG_FINISH);
-
-          // reboot
-          os_printf("Scheduling reboot.\n");
-          os_timer_disarm(&ota_reboot_timer);
-          os_timer_setfn(&ota_reboot_timer, (os_timer_func_t *)system_upgrade_reboot, NULL);
-          os_timer_arm(&ota_reboot_timer, 2000, 0);
-        } else {
-          os_printf("RSA verify FAILURE\n");
-          espconn_send_string(&web_conn, "HTTP/1.0 500 Internal Server Error\nContent-Type: text/html\n\nrsa verify fail\n");
-        }
-        espconn_disconnect(conn);
-      }
-    }
-  }
-}
-
-void ICACHE_FLASH_ATTR web_tcp_connect_cb(void *arg) {
-  state = CONNECTION_ESTABLISHED;
-  struct espconn *conn = (struct espconn *)arg;
-  espconn_set_opt(&web_conn, ESPCONN_NODELAY);
-  espconn_regist_recvcb(conn, web_rx_cb);
-}
-
-void ICACHE_FLASH_ATTR web_init() {
-  web_proto.local_port = 80;
-  web_conn.type = ESPCONN_TCP;
-  web_conn.state = ESPCONN_NONE;
-  web_conn.proto.tcp = &web_proto;
-  espconn_regist_connectcb(&web_conn, web_tcp_connect_cb);
-  espconn_accept(&web_conn);
-}
-
diff --git a/panda/buy.png b/panda/buy.png
deleted file mode 100644
index a4a9e0fd40a426..00000000000000
Binary files a/panda/buy.png and /dev/null differ
diff --git a/panda/certs/debugesp b/panda/certs/debugesp
deleted file mode 100644
index 789beaac195639..00000000000000
--- a/panda/certs/debugesp
+++ /dev/null
@@ -1,15 +0,0 @@
------BEGIN RSA PRIVATE KEY-----
-MIICXAIBAAKBgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5E
-LQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA6
-6f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9QIDAQAB
-AoGADaUn+HRef9BaWMvd4G6uMHI54cwJYbj8NpDfKjExQqnuw5bqWnWRQmiSnwbJ
-DC7kj3zE/LBAuj890ot3q1CAWqh47ZICZfoX9Qbi5TpvIHFCGy6YkOliF6iIQhR2
-4+zNKTAA0zNKskOM25PdI+grK1Ni/bEofSA6TrqvEwsmxnkCQQDVp9FUUor2Bo/h
-/3oAIP51LTw7vfpztYbJr+BDV63czV2DLXzSwzeNrwH4sA3oy1mjUgMBBgAarNGE
-DYlc4H5jAkEAw3UCHzzXPlxkw2QGp7nBly5y3p80Uqc31NuYz8rdX/U8KTngi2No
-Ft/SGCEXNpeYbToj+WK3RJJ2Ey0mK8+IxwJAcpGd/5CPsaQNLcw4WK9Yo+8Q2Jxk
-G/4gfDCSmqn+smNxnLEcuUwzkwdgkEGgA9BfjeOhdsAH+EXpx90WZrZ/LwJBAK0k
-jq+rTqUQZbZsejTEKYjJ/bnV4BzDwoKN0Q1pkLc7X4LJoW74rTFuLgdv8MdMfRtt
-IIb/eoeFEpGkMicnHesCQHgR7BTUGBM6Uxam7RCdsgVsxoHBma21E/44ivWUMZzN
-3oVt0mPnjS4speOlqwED5pCJ7yw7jwLPFMs8kNxuIKU=
------END RSA PRIVATE KEY-----
diff --git a/panda/certs/debugesp.pub b/panda/certs/debugesp.pub
deleted file mode 100644
index 3afcf3988ea651..00000000000000
--- a/panda/certs/debugesp.pub
+++ /dev/null
@@ -1 +0,0 @@
-ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5ELQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA66f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9Q== batman@y840
diff --git a/panda/certs/releaseesp.pub b/panda/certs/releaseesp.pub
deleted file mode 100644
index 1d1d54bb7e73f4..00000000000000
--- a/panda/certs/releaseesp.pub
+++ /dev/null
@@ -1 +0,0 @@
-ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQDN4pVyGuJJSde1l3Fjay8qPxog09DsAJZtYPk+armoYO1L6YKReUTcMNyHQYZZMZFmhCdgjCgTIF2QYWMoP4KSe8l6JF04YPP51dIgefc6UXjtlSI8Pyutr0v9xXjSfsVm3RAJxDSHgzs9AoMsluKCL+LhAR1nd7cuHXITJ80O4w== batman@y840
diff --git a/panda/common/version.mk b/panda/common/version.mk
deleted file mode 100644
index cc66efaa6dbc4b..00000000000000
--- a/panda/common/version.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-ifeq ($(RELEASE),1)
-	BUILD_TYPE = "RELEASE"
-else
-	BUILD_TYPE = "DEBUG"
-endif
-
-SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
-
-ifneq ($(wildcard $(SELF_DIR)/../.git/HEAD),)
-obj/gitversion.h: $(SELF_DIR)/../VERSION $(SELF_DIR)/../.git/HEAD $(SELF_DIR)/../.git/index
-	echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
-else
-ifneq ($(wildcard $(SELF_DIR)/../../.git/modules/panda/HEAD),)
-obj/gitversion.h: $(SELF_DIR)/../VERSION $(SELF_DIR)/../../.git/modules/panda/HEAD $(SELF_DIR)/../../.git/modules/panda/index
-	echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
-else
-obj/gitversion.h: $(SELF_DIR)/../VERSION
-	echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-unknown-$(BUILD_TYPE)\";" > $@
-endif
-endif
diff --git a/panda/crypto/getcertheader.py b/panda/crypto/getcertheader.py
deleted file mode 100755
index bbbe475ef8b000..00000000000000
--- a/panda/crypto/getcertheader.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env python3
-import sys
-from Crypto.PublicKey import RSA
-
-def egcd(a, b):
-  if a == 0:
-    return (b, 0, 1)
-  else:
-    g, y, x = egcd(b % a, a)
-    return (g, x - (b // a) * y, y)
-
-def modinv(a, m):
-  g, x, y = egcd(a, m)
-  if g != 1:
-    raise Exception('modular inverse does not exist')
-  else:
-    return x % m
-
-def to_c_string(x):
-  mod = (hex(x)[2:-1].rjust(0x100, '0'))
-  hh = ''.join('\\x'+mod[i:i+2] for i in range(0, 0x100, 2))
-  return hh
-
-def to_c_uint32(x):
-  nums = []
-  for i in range(0x20):
-    nums.append(x%(2**32))
-    x //= (2**32)
-  return "{"+'U,'.join(map(str, nums))+"U}"
-
-for fn in sys.argv[1:]:
-  rsa = RSA.importKey(open(fn).read())
-  rr = pow(2**1024, 2, rsa.n)
-  n0inv = 2**32 - modinv(rsa.n, 2**32)
-
-  cname = fn.split("/")[-1].split(".")[0] + "_rsa_key"
-
-  print('RSAPublicKey '+cname+' = {.len = 0x20,')
-  print('  .n0inv = %dU,' % n0inv)
-  print('  .n = %s,' % to_c_uint32(rsa.n))
-  print('  .rr = %s,' % to_c_uint32(rr))
-  print('  .exponent = %d,' % rsa.e)
-  print('};')
-
-
diff --git a/panda/crypto/sign.py b/panda/crypto/sign.py
index 8cbe6f4195f1c6..e199a6b148137c 100755
--- a/panda/crypto/sign.py
+++ b/panda/crypto/sign.py
@@ -29,9 +29,8 @@
     dd = hashlib.sha1(dat).digest()
 
   print("hash:", str(binascii.hexlify(dd), "utf-8"))
-  dd = b"\x00\x01" + b"\xff"*0x69 + b"\x00" + dd
+  dd = b"\x00\x01" + b"\xff" * 0x69 + b"\x00" + dd
   rsa_out = pow(int.from_bytes(dd, byteorder='big', signed=False), rsa.d, rsa.n)
   sig = (hex(rsa_out)[2:].rjust(0x100, '0'))
   x += binascii.unhexlify(sig)
   f.write(x)
-
diff --git a/panda/docs/guide.pdf b/panda/docs/guide.pdf
deleted file mode 100644
index 5dbc95680aa4f7..00000000000000
Binary files a/panda/docs/guide.pdf and /dev/null differ
diff --git a/panda/drivers/linux/.gitignore b/panda/drivers/linux/.gitignore
deleted file mode 100644
index 93a6cde7630501..00000000000000
--- a/panda/drivers/linux/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-.*.cmd
-*.ko
-.tmp_versions
-Module.symvers
-modules.order
-*.mod.c
diff --git a/panda/drivers/linux/Makefile b/panda/drivers/linux/Makefile
deleted file mode 100644
index e5b1ec4219ea92..00000000000000
--- a/panda/drivers/linux/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-VERSION=0.0.1
-obj-m+=panda.o
-
-link:
-	sudo dkms add `pwd`
-
-build:
-	sudo dkms build panda/$(VERSION)
-
-install:
-	sudo dkms install panda/$(VERSION)
-
-all:	build install
-
-uninstall:
-	sudo dkms uninstall panda/$(VERSION)
-	sudo dkms remove panda/$(VERSION) --all
-
diff --git a/panda/drivers/linux/README.md b/panda/drivers/linux/README.md
deleted file mode 100644
index 81e95523acaca1..00000000000000
--- a/panda/drivers/linux/README.md
+++ /dev/null
@@ -1,19 +0,0 @@
-Installs the panda linux kernel driver using DKMS.
-
-This will allow the panda to work with tools such as `can-utils`
-
-prerequisites:
- - `apt-get install dkms gcc linux-headers-$(uname -r) make sudo`
-
-installation:
- - `make link` (only needed the first time. It will report an error on subsequent attempts to link)
- - `make all`
- - `make install`
-
-uninstall:
- - `make uninstall`
-
-usage:
-
-You will need to bring it up using `sudo ifconfig can0 up` or
-`sudo ip link set dev can0 up`, depending on your platform.
diff --git a/panda/drivers/linux/dkms.conf b/panda/drivers/linux/dkms.conf
deleted file mode 100644
index da9cba04a28bb7..00000000000000
--- a/panda/drivers/linux/dkms.conf
+++ /dev/null
@@ -1,6 +0,0 @@
-PACKAGE_NAME="panda"
-PACKAGE_VERSION="0.0.1"
-BUILT_MODULE_NAME[0]="panda"
-DEST_MODULE_LOCATION[0]="/kernel/drivers/net/panda/"
-AUTOINSTALL="yes"
-
diff --git a/panda/drivers/linux/panda.c b/panda/drivers/linux/panda.c
deleted file mode 100644
index c0aa44be1840c6..00000000000000
--- a/panda/drivers/linux/panda.c
+++ /dev/null
@@ -1,616 +0,0 @@
-/**
- * @file    panda.c
- * @author  Jessy Diamond Exum
- * @date    16 June 2017
- * @version 0.1
- * @brief   Driver for the Comma.ai Panda CAN adapter to allow it to be controlled via
- * the Linux SocketCAN interface.
- * @see https://github.com/commaai/panda for the full project.
- * @see Inspired by net/can/usb/mcba_usb.c from Linux Kernel 4.12-rc4.
- */
-
-#include <linux/can.h>
-#include <linux/can/dev.h>
-#include <linux/can/error.h>
-#include <linux/init.h>             // Macros used to mark up functions e.g., __init __exit
-#include <linux/kernel.h>           // Contains types, macros, functions for the kernel
-#include <linux/module.h>           // Core header for loading LKMs into the kernel
-#include <linux/netdevice.h>
-#include <linux/usb.h>
-
-/* vendor and product id */
-#define PANDA_MODULE_NAME "panda"
-#define PANDA_VENDOR_ID 0XBBAA
-#define PANDA_PRODUCT_ID 0XDDCC
-
-#define PANDA_MAX_TX_URBS 20
-#define PANDA_CTX_FREE PANDA_MAX_TX_URBS
-
-#define PANDA_USB_RX_BUFF_SIZE 0x40
-#define PANDA_USB_TX_BUFF_SIZE (sizeof(struct panda_usb_can_msg))
-
-#define PANDA_NUM_CAN_INTERFACES 3
-
-#define PANDA_CAN_TRANSMIT 1
-#define PANDA_CAN_EXTENDED 4
-
-#define PANDA_BITRATE 500000
-
-#define PANDA_DLC_MASK  0x0F
-
-#define SAFETY_ALLOUTPUT 17
-#define SAFETY_SILENT 0
-
-struct panda_usb_ctx {
-  struct panda_inf_priv *priv;
-  u32 ndx;
-  u8 dlc;
-};
-
-struct panda_dev_priv;
-
-struct panda_inf_priv {
-  struct can_priv can;
-  struct panda_usb_ctx tx_context[PANDA_MAX_TX_URBS];
-  struct net_device *netdev;
-  struct usb_anchor tx_submitted;
-  atomic_t free_ctx_cnt;
-  u8 interface_num;
-  u8 mcu_can_ifnum;
-  struct panda_dev_priv *priv_dev;
-};
-
-struct panda_dev_priv {
-  struct usb_device *udev;
-  struct device *dev;
-  struct usb_anchor rx_submitted;
-  struct panda_inf_priv *interfaces[PANDA_NUM_CAN_INTERFACES];
-};
-
-struct __packed panda_usb_can_msg {
-  u32 rir;
-  u32 bus_dat_len;
-  u8 data[8];
-};
-
-static const struct usb_device_id panda_usb_table[] = {
-  { USB_DEVICE(PANDA_VENDOR_ID, PANDA_PRODUCT_ID) },
-  {} /* Terminating entry */
-};
-
-MODULE_DEVICE_TABLE(usb, panda_usb_table);
-
-
-// panda:       CAN1 = 0   CAN2 = 1   CAN3 = 4
-const int can_numbering[] = {0,1,4};
-
-struct panda_inf_priv *
-panda_get_inf_from_bus_id(struct panda_dev_priv *priv_dev, int bus_id){
-  int inf_num;
-  for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++)
-    if(can_numbering[inf_num] == bus_id)
-      return priv_dev->interfaces[inf_num];
-  return NULL;
-}
-
-// CTX handling shamlessly ripped from mcba_usb.c linux driver
-static inline void panda_init_ctx(struct panda_inf_priv *priv)
-{
-  int i = 0;
-
-  for (i = 0; i < PANDA_MAX_TX_URBS; i++) {
-    priv->tx_context[i].ndx = PANDA_CTX_FREE;
-    priv->tx_context[i].priv = priv;
-  }
-
-  atomic_set(&priv->free_ctx_cnt, ARRAY_SIZE(priv->tx_context));
-}
-
-static inline struct panda_usb_ctx *panda_usb_get_free_ctx(struct panda_inf_priv *priv,
-							 struct can_frame *cf)
-{
-  int i = 0;
-  struct panda_usb_ctx *ctx = NULL;
-
-  for (i = 0; i < PANDA_MAX_TX_URBS; i++) {
-    if (priv->tx_context[i].ndx == PANDA_CTX_FREE) {
-      ctx = &priv->tx_context[i];
-      ctx->ndx = i;
-      ctx->dlc = cf->can_dlc;
-
-      atomic_dec(&priv->free_ctx_cnt);
-      break;
-    }
-  }
-
-  printk("CTX num %d\n", atomic_read(&priv->free_ctx_cnt));
-  if (!atomic_read(&priv->free_ctx_cnt)){
-    /* That was the last free ctx. Slow down tx path */
-    printk("SENDING TOO FAST\n");
-    netif_stop_queue(priv->netdev);
-  }
-
-  return ctx;
-}
-
-/* panda_usb_free_ctx and panda_usb_get_free_ctx are executed by different
- * threads. The order of execution in below function is important.
- */
-static inline void panda_usb_free_ctx(struct panda_usb_ctx *ctx)
-{
-  /* Increase number of free ctxs before freeing ctx */
-  atomic_inc(&ctx->priv->free_ctx_cnt);
-
-  ctx->ndx = PANDA_CTX_FREE;
-
-  /* Wake up the queue once ctx is marked free */
-  netif_wake_queue(ctx->priv->netdev);
-}
-
-
-
-static void panda_urb_unlink(struct panda_inf_priv *priv)
-{
-  usb_kill_anchored_urbs(&priv->priv_dev->rx_submitted);
-  usb_kill_anchored_urbs(&priv->tx_submitted);
-}
-
-static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable){
-  return usb_control_msg(priv->priv_dev->udev,
-			 usb_sndctrlpipe(priv->priv_dev->udev, 0),
-			 0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE,
-			 enable ? SAFETY_ALLOUTPUT : SAFETY_SILENT, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
-}
-
-static void panda_usb_write_bulk_callback(struct urb *urb)
-{
-  struct panda_usb_ctx *ctx = urb->context;
-  struct net_device *netdev;
-
-  WARN_ON(!ctx);
-
-  netdev = ctx->priv->netdev;
-
-  /* free up our allocated buffer */
-  usb_free_coherent(urb->dev, urb->transfer_buffer_length,
-		    urb->transfer_buffer, urb->transfer_dma);
-
-  if (!netif_device_present(netdev))
-    return;
-
-  netdev->stats.tx_packets++;
-  netdev->stats.tx_bytes += ctx->dlc;
-
-  can_get_echo_skb(netdev, ctx->ndx);
-
-  if (urb->status)
-    netdev_info(netdev, "Tx URB aborted (%d)\n", urb->status);
-
-  /* Release the context */
-  panda_usb_free_ctx(ctx);
-}
-
-
-static netdev_tx_t panda_usb_xmit(struct panda_inf_priv *priv,
-				  struct panda_usb_can_msg *usb_msg,
-				  struct panda_usb_ctx *ctx)
-{
-  struct urb *urb;
-  u8 *buf;
-  int err;
-
-  /* create a URB, and a buffer for it, and copy the data to the URB */
-  urb = usb_alloc_urb(0, GFP_ATOMIC);
-  if (!urb)
-    return -ENOMEM;
-
-  buf = usb_alloc_coherent(priv->priv_dev->udev,
-			   PANDA_USB_TX_BUFF_SIZE, GFP_ATOMIC,
-			   &urb->transfer_dma);
-  if (!buf) {
-    err = -ENOMEM;
-    goto nomembuf;
-  }
-
-  memcpy(buf, usb_msg, PANDA_USB_TX_BUFF_SIZE);
-
-  usb_fill_bulk_urb(urb, priv->priv_dev->udev,
-		    usb_sndbulkpipe(priv->priv_dev->udev, 3), buf,
-		    PANDA_USB_TX_BUFF_SIZE, panda_usb_write_bulk_callback,
-		    ctx);
-
-  urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
-  usb_anchor_urb(urb, &priv->tx_submitted);
-
-  err = usb_submit_urb(urb, GFP_ATOMIC);
-  if (unlikely(err))
-    goto failed;
-
-  /* Release our reference to this URB, the USB core will eventually free it entirely. */
-  usb_free_urb(urb);
-
-  return 0;
-
- failed:
-  usb_unanchor_urb(urb);
-  usb_free_coherent(priv->priv_dev->udev, PANDA_USB_TX_BUFF_SIZE, buf, urb->transfer_dma);
-
-  if (err == -ENODEV)
-    netif_device_detach(priv->netdev);
-  else
-    netdev_warn(priv->netdev, "failed tx_urb %d\n", err);
-
- nomembuf:
-  usb_free_urb(urb);
-
-  return err;
-}
-
-static void panda_usb_process_can_rx(struct panda_dev_priv *priv_dev,
-				     struct panda_usb_can_msg *msg)
-{
-  struct can_frame *cf;
-  struct sk_buff *skb;
-  int bus_num;
-  struct panda_inf_priv *priv_inf;
-  struct net_device_stats *stats;
-
-  bus_num = (msg->bus_dat_len >> 4) & 0xf;
-  priv_inf = panda_get_inf_from_bus_id(priv_dev, bus_num);
-  if(!priv_inf){
-    printk("Got something on an unused interface %d\n", bus_num);
-    return;
-  }
-  printk("Recv bus %d\n", bus_num);
-
-  stats = &priv_inf->netdev->stats;
-  //u16 sid;
-
-  if (!netif_device_present(priv_inf->netdev))
-    return;
-
-  skb = alloc_can_skb(priv_inf->netdev, &cf);
-  if (!skb)
-    return;
-
-  if(msg->rir & PANDA_CAN_EXTENDED){
-    cf->can_id = (msg->rir >> 3) | CAN_EFF_FLAG;
-  }else{
-    cf->can_id = (msg->rir >> 21);
-  }
-
-  // TODO: Handle Remote Frames
-  //if (msg->dlc & MCBA_DLC_RTR_MASK)
-  //  cf->can_id |= CAN_RTR_FLAG;
-
-  cf->can_dlc = get_can_dlc(msg->bus_dat_len & PANDA_DLC_MASK);
-
-  memcpy(cf->data, msg->data, cf->can_dlc);
-
-  stats->rx_packets++;
-  stats->rx_bytes += cf->can_dlc;
-
-  netif_rx(skb);
-}
-
-static void panda_usb_read_int_callback(struct urb *urb)
-{
-  struct panda_dev_priv *priv_dev = urb->context;
-  int retval;
-  int pos = 0;
-  int inf_num;
-
-  switch (urb->status) {
-  case 0: /* success */
-    break;
-  case -ENOENT:
-  case -ESHUTDOWN:
-    return;
-  default:
-    dev_info(priv_dev->dev, "Rx URB aborted (%d)\n", urb->status);
-    goto resubmit_urb;
-  }
-
-  while (pos < urb->actual_length) {
-    struct panda_usb_can_msg *msg;
-
-    if (pos + sizeof(struct panda_usb_can_msg) > urb->actual_length) {
-      dev_err(priv_dev->dev, "format error\n");
-      break;
-    }
-
-    msg = (struct panda_usb_can_msg *)(urb->transfer_buffer + pos);
-
-    panda_usb_process_can_rx(priv_dev, msg);
-
-    pos += sizeof(struct panda_usb_can_msg);
-  }
-
- resubmit_urb:
-  usb_fill_int_urb(urb, priv_dev->udev,
-		    usb_rcvintpipe(priv_dev->udev, 1),
-		    urb->transfer_buffer, PANDA_USB_RX_BUFF_SIZE,
-		    panda_usb_read_int_callback, priv_dev, 5);
-
-  retval = usb_submit_urb(urb, GFP_ATOMIC);
-
-  if (retval == -ENODEV){
-    for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++)
-      if(priv_dev->interfaces[inf_num])
-	netif_device_detach(priv_dev->interfaces[inf_num]->netdev);
-  }else if (retval)
-    dev_err(priv_dev->dev, "failed resubmitting read bulk urb: %d\n", retval);
-}
-
-
-static int panda_usb_start(struct panda_dev_priv *priv_dev)
-{
-  int err;
-  struct urb *urb = NULL;
-  u8 *buf;
-  int inf_num;
-
-  for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++)
-    panda_init_ctx(priv_dev->interfaces[inf_num]);
-
-  err = usb_set_interface(priv_dev->udev, 0, 1);
-  if (err) {
-    dev_err(priv_dev->dev, "Can not set alternate setting to 1, error: %i", err);
-    return err;
-  }
-
-  /* create a URB, and a buffer for it */
-  urb = usb_alloc_urb(0, GFP_KERNEL);
-  if (!urb) {
-    return -ENOMEM;
-  }
-
-  buf = usb_alloc_coherent(priv_dev->udev, PANDA_USB_RX_BUFF_SIZE,
-			   GFP_KERNEL, &urb->transfer_dma);
-  if (!buf) {
-    dev_err(priv_dev->dev, "No memory left for USB buffer\n");
-    usb_free_urb(urb);
-    return -ENOMEM;
-  }
-
-  usb_fill_int_urb(urb, priv_dev->udev,
-                   usb_rcvintpipe(priv_dev->udev, 1),
-                   buf, PANDA_USB_RX_BUFF_SIZE,
-                   panda_usb_read_int_callback, priv_dev, 5);
-  urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
-
-  usb_anchor_urb(urb, &priv_dev->rx_submitted);
-
-  err = usb_submit_urb(urb, GFP_KERNEL);
-  if (err) {
-  usb_unanchor_urb(urb);
-    usb_free_coherent(priv_dev->udev, PANDA_USB_RX_BUFF_SIZE,
-		      buf, urb->transfer_dma);
-    usb_free_urb(urb);
-    dev_err(priv_dev->dev, "Failed in start, while submitting urb.\n");
-    return err;
-  }
-
-  /* Drop reference, USB core will take care of freeing it */
-  usb_free_urb(urb);
-
-
-  return 0;
-}
-
-/* Open USB device */
-static int panda_usb_open(struct net_device *netdev)
-{
-  struct panda_inf_priv *priv = netdev_priv(netdev);
-  int err;
-
-  /* common open */
-  err = open_candev(netdev);
-  if (err)
-    return err;
-
-  //priv->can_speed_check = true;
-  priv->can.state = CAN_STATE_ERROR_ACTIVE;
-
-  netif_start_queue(netdev);
-
-  return 0;
-}
-
-/* Close USB device */
-static int panda_usb_close(struct net_device *netdev)
-{
-  struct panda_inf_priv *priv = netdev_priv(netdev);
-
-  priv->can.state = CAN_STATE_STOPPED;
-
-  netif_stop_queue(netdev);
-
-  /* Stop polling */
-  panda_urb_unlink(priv);
-
-  close_candev(netdev);
-
-  return 0;
-}
-
-static netdev_tx_t panda_usb_start_xmit(struct sk_buff *skb,
-					struct net_device *netdev)
-{
-  struct panda_inf_priv *priv_inf = netdev_priv(netdev);
-  struct can_frame *cf = (struct can_frame *)skb->data;
-  struct panda_usb_ctx *ctx = NULL;
-  struct net_device_stats *stats = &priv_inf->netdev->stats;
-  int err;
-  struct panda_usb_can_msg usb_msg = {};
-  int bus = priv_inf->mcu_can_ifnum;
-
-  if (can_dropped_invalid_skb(netdev, skb)){
-    printk("Invalid CAN packet");
-    return NETDEV_TX_OK;
-  }
-
-  ctx = panda_usb_get_free_ctx(priv_inf, cf);
-
-  //Warning: cargo cult. Can't tell what this is for, but it is
-  //everywhere and encouraged in the documentation.
-  can_put_echo_skb(skb, priv_inf->netdev, ctx->ndx);
-
-  if(cf->can_id & CAN_EFF_FLAG){
-    usb_msg.rir = cpu_to_le32(((cf->can_id & 0x1FFFFFFF) << 3) |
-			      PANDA_CAN_TRANSMIT | PANDA_CAN_EXTENDED);
-  }else{
-    usb_msg.rir = cpu_to_le32(((cf->can_id & 0x7FF) << 21) | PANDA_CAN_TRANSMIT);
-  }
-  usb_msg.bus_dat_len = cpu_to_le32((cf->can_dlc & 0x0F) | (bus << 4));
-
-  memcpy(usb_msg.data, cf->data, cf->can_dlc);
-
-  //TODO Handle Remote Frames
-  //if (cf->can_id & CAN_RTR_FLAG)
-  //  usb_msg.dlc |= PANDA_DLC_RTR_MASK;
-
-  netdev_err(netdev, "Received data from socket. canid: %x; len: %d\n", cf->can_id, cf->can_dlc);
-
-  err = panda_usb_xmit(priv_inf, &usb_msg, ctx);
-  if (err)
-    goto xmit_failed;
-
-  return NETDEV_TX_OK;
-
- xmit_failed:
-  can_free_echo_skb(priv_inf->netdev, ctx->ndx);
-  panda_usb_free_ctx(ctx);
-  dev_kfree_skb(skb);
-  stats->tx_dropped++;
-
-  return NETDEV_TX_OK;
-}
-
-static const struct net_device_ops panda_netdev_ops = {
-  .ndo_open = panda_usb_open,
-  .ndo_stop = panda_usb_close,
-  .ndo_start_xmit = panda_usb_start_xmit,
-};
-
-static int panda_usb_probe(struct usb_interface *intf,
-			   const struct usb_device_id *id)
-{
-  struct net_device *netdev;
-  struct panda_inf_priv *priv_inf;
-  int err = -ENOMEM;
-  int inf_num;
-  struct panda_dev_priv *priv_dev;
-  struct usb_device *usbdev = interface_to_usbdev(intf);
-
-  priv_dev = kzalloc(sizeof(struct panda_dev_priv), GFP_KERNEL);
-  if (!priv_dev) {
-    dev_err(&intf->dev, "Couldn't alloc priv_dev\n");
-    return -ENOMEM;
-  }
-  priv_dev->udev = usbdev;
-  priv_dev->dev = &intf->dev;
-  usb_set_intfdata(intf, priv_dev);
-
-  ////// Interface privs
-  for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++){
-    netdev = alloc_candev(sizeof(struct panda_inf_priv), PANDA_MAX_TX_URBS);
-    if (!netdev) {
-      dev_err(&intf->dev, "Couldn't alloc candev\n");
-      goto cleanup_candev;
-    }
-    netdev->netdev_ops = &panda_netdev_ops;
-    netdev->flags |= IFF_ECHO; /* we support local echo */
-
-    priv_inf = netdev_priv(netdev);
-    priv_inf->netdev = netdev;
-    priv_inf->priv_dev = priv_dev;
-    priv_inf->interface_num = inf_num;
-    priv_inf->mcu_can_ifnum = can_numbering[inf_num];
-
-    init_usb_anchor(&priv_dev->rx_submitted);
-    init_usb_anchor(&priv_inf->tx_submitted);
-
-    /* Init CAN device */
-    priv_inf->can.state = CAN_STATE_STOPPED;
-    priv_inf->can.bittiming.bitrate = PANDA_BITRATE;
-
-    SET_NETDEV_DEV(netdev, &intf->dev);
-
-    err = register_candev(netdev);
-    if (err) {
-      netdev_err(netdev, "couldn't register PANDA CAN device: %d\n", err);
-      free_candev(priv_inf->netdev);
-      goto cleanup_candev;
-    }
-
-    priv_dev->interfaces[inf_num] = priv_inf;
-  }
-
-  err = panda_usb_start(priv_dev);
-  if (err) {
-    dev_err(&intf->dev, "Failed to initialize Comma.ai Panda CAN controller\n");
-    goto cleanup_candev;
-  }
-
-  err = panda_set_output_enable(priv_inf, true);
-  if (err) {
-    dev_info(&intf->dev, "Failed to initialize send enable message to Panda.\n");
-    goto cleanup_candev;
-  }
-
-  dev_info(&intf->dev, "Comma.ai Panda CAN controller connected\n");
-
-  return 0;
-
- cleanup_candev:
-  for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++){
-    priv_inf = priv_dev->interfaces[inf_num];
-    if(priv_inf){
-      unregister_candev(priv_inf->netdev);
-      free_candev(priv_inf->netdev);
-    }else
-      break;
-  }
-
-  kfree(priv_dev);
-
-  return err;
-}
-
-/* Called by the usb core when driver is unloaded or device is removed */
-static void panda_usb_disconnect(struct usb_interface *intf)
-{
-  struct panda_dev_priv *priv_dev = usb_get_intfdata(intf);
-  struct panda_inf_priv *priv_inf;
-  int inf_num;
-
-  usb_set_intfdata(intf, NULL);
-
-  for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++){
-    priv_inf = priv_dev->interfaces[inf_num];
-    if(priv_inf){
-      netdev_info(priv_inf->netdev, "device disconnected\n");
-      unregister_candev(priv_inf->netdev);
-      free_candev(priv_inf->netdev);
-    }else
-      break;
-  }
-
-  panda_urb_unlink(priv_inf);
-  kfree(priv_dev);
-}
-
-static struct usb_driver panda_usb_driver = {
-  .name = PANDA_MODULE_NAME,
-  .probe = panda_usb_probe,
-  .disconnect = panda_usb_disconnect,
-  .id_table = panda_usb_table,
-};
-
-module_usb_driver(panda_usb_driver);
-
-MODULE_LICENSE("GPL");
-MODULE_AUTHOR("Jessy Diamond Exum <jessy.diamondman@gmail.com>");
-MODULE_DESCRIPTION("SocketCAN driver for Comma.ai's Panda Adapter.");
-MODULE_VERSION("0.1");
diff --git a/panda/drivers/linux/test/Makefile b/panda/drivers/linux/test/Makefile
deleted file mode 100644
index c73945e4cd0702..00000000000000
--- a/panda/drivers/linux/test/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-all:
-	gcc main.c -o cantest -pthread -lpthread
diff --git a/panda/drivers/linux/test/main.c b/panda/drivers/linux/test/main.c
deleted file mode 100644
index 1f44efc76e20a7..00000000000000
--- a/panda/drivers/linux/test/main.c
+++ /dev/null
@@ -1,120 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <string.h>
-#include <pthread.h>
-
-#include <net/if.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-
-#include <linux/can.h>
-#include <linux/can/raw.h>
-
-const char *ifname = "can0";
-
-static unsigned char payload[] = {0xAA, 0xAA, 0xAA, 0xAA, 0x07, 0x00, 0x00, 0x00};
-int packet_len = 8;
-int dir = 0;
-
-void *write_thread( void *dat ){
-  int nbytes;
-  struct can_frame frame;
-  int s = *((int*) dat);
-
-  while(1){
-    for(int i = 0; i < 1; i ++){
-    if(packet_len % 2){
-      frame.can_id  = 0x8AA | CAN_EFF_FLAG;
-    }else{
-      frame.can_id  = 0xAA;
-    }
-
-    frame.can_dlc = packet_len;
-    memcpy(frame.data, payload, frame.can_dlc);
-
-    nbytes = write(s, &frame, sizeof(struct can_frame));
-
-    printf("Wrote %d bytes; addr: %lx; datlen: %d\n", nbytes, frame.can_id, frame.can_dlc);
-
-    if(dir){
-      packet_len++;
-      if(packet_len >= 8)
-	dir = 0;
-    }else{
-      packet_len--;
-      if(packet_len <= 0)
-	dir = 1;
-    }
-    }
-    sleep(2);
-  }
-}
-
-
-int main(void)
-{
-  pthread_t sndthread;
-  int err, s, nbytes;
-  struct sockaddr_can addr;
-  struct can_frame frame;
-  struct ifreq ifr;
-
-  if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
-    perror("Error while opening socket");
-    return -1;
-  }
-
-  strcpy(ifr.ifr_name, ifname);
-  ioctl(s, SIOCGIFINDEX, &ifr);
-
-  addr.can_family  = AF_CAN;
-  addr.can_ifindex = ifr.ifr_ifindex;
-
-  printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
-
-  if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
-    perror("Error in socket bind");
-    return -2;
-  }
-
-  /////// Create Write Thread
-
-  err = pthread_create( &sndthread, NULL, write_thread, (void*) &s);
-  if(err){
-    fprintf(stderr,"Error - pthread_create() return code: %d\n", err);
-    exit(EXIT_FAILURE);
-  }
-
-  /////// Listen to socket
-  while (1) {
-    struct can_frame framein;
-
-    // Read in a CAN frame
-    int numBytes = read(s, &framein, CANFD_MTU);
-    switch (numBytes) {
-    case CAN_MTU:
-      if(framein.can_id & 0x80000000)
-	printf("Received %u byte payload; canid 0x%lx (EXT)\n",
-	       framein.can_dlc, framein.can_id & 0x7FFFFFFF);
-      else
-	printf("Received %u byte payload; canid 0x%lx\n", framein.can_dlc, framein.can_id);
-      break;
-    case CANFD_MTU:
-      // TODO: Should make an example for CAN FD
-      break;
-    case -1:
-      // Check the signal value on interrupt
-      //if (EINTR == errno)
-      //  continue;
-
-      // Delay before continuing
-      sleep(1);
-    default:
-      continue;
-    }
-  }
-
-  return 0;
-}
diff --git a/panda/drivers/linux/test/run.sh b/panda/drivers/linux/test/run.sh
deleted file mode 100755
index 5301719b497982..00000000000000
--- a/panda/drivers/linux/test/run.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-sudo ifconfig can0 up
-make
-./cantest
diff --git a/panda/drivers/windows/.gitignore b/panda/drivers/windows/.gitignore
deleted file mode 100644
index dbe7ad5a91a227..00000000000000
--- a/panda/drivers/windows/.gitignore
+++ /dev/null
@@ -1,306 +0,0 @@
-## Ignore Visual Studio temporary files, build results, and
-## files generated by popular Visual Studio add-ons.
-##
-## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore
-
-# User-specific files
-*.suo
-*.user
-*.userosscache
-*.sln.docstates
-
-# User-specific files (MonoDevelop/Xamarin Studio)
-*.userprefs
-
-# Build results
-Debug_x86/
-Debug_x64/
-Release_x86/
-Release_x64/
-[Dd]ebug/
-[Dd]ebugPublic/
-[Rr]elease/
-[Rr]eleases/
-x64/
-x86/
-bld/
-[Bb]in/
-[Oo]bj/
-[Ll]og/
-
-# Visual Studio 2015 cache/options directory
-.vs/
-# Uncomment if you have tasks that create the project's static files in wwwroot
-#wwwroot/
-
-# MSTest test Results
-[Tt]est[Rr]esult*/
-[Bb]uild[Ll]og.*
-
-# NUNIT
-*.VisualState.xml
-TestResult.xml
-
-# Build Results of an ATL Project
-[Dd]ebugPS/
-[Rr]eleasePS/
-dlldata.c
-
-# Benchmark Results
-BenchmarkDotNet.Artifacts/
-
-# .NET Core
-project.lock.json
-project.fragment.lock.json
-artifacts/
-**/Properties/launchSettings.json
-
-*_i.c
-*_p.c
-*_i.h
-*.ilk
-*.meta
-*.obj
-*.pch
-*.pdb
-*.pgc
-*.pgd
-*.rsp
-*.sbr
-*.tlb
-*.tli
-*.tlh
-*.tmp
-*.tmp_proj
-*.log
-*.vspscc
-*.vssscc
-.builds
-*.pidb
-*.svclog
-*.scc
-
-# Chutzpah Test files
-_Chutzpah*
-
-# Visual C++ cache files
-ipch/
-*.aps
-*.ncb
-*.opendb
-*.opensdf
-*.sdf
-*.cachefile
-*.VC.db
-*.VC.VC.opendb
-
-# Visual Studio profiler
-*.psess
-*.vsp
-*.vspx
-*.sap
-
-# TFS 2012 Local Workspace
-$tf/
-
-# Guidance Automation Toolkit
-*.gpState
-
-# ReSharper is a .NET coding add-in
-_ReSharper*/
-*.[Rr]e[Ss]harper
-*.DotSettings.user
-
-# JustCode is a .NET coding add-in
-.JustCode
-
-# TeamCity is a build add-in
-_TeamCity*
-
-# DotCover is a Code Coverage Tool
-*.dotCover
-
-# AxoCover is a Code Coverage Tool
-.axoCover/*
-!.axoCover/settings.json
-
-# Visual Studio code coverage results
-*.coverage
-*.coveragexml
-
-# NCrunch
-_NCrunch_*
-.*crunch*.local.xml
-nCrunchTemp_*
-
-# MightyMoose
-*.mm.*
-AutoTest.Net/
-
-# Web workbench (sass)
-.sass-cache/
-
-# Installshield output folder
-[Ee]xpress/
-
-# DocProject is a documentation generator add-in
-DocProject/buildhelp/
-DocProject/Help/*.HxT
-DocProject/Help/*.HxC
-DocProject/Help/*.hhc
-DocProject/Help/*.hhk
-DocProject/Help/*.hhp
-DocProject/Help/Html2
-DocProject/Help/html
-
-# Click-Once directory
-publish/
-
-# Publish Web Output
-*.[Pp]ublish.xml
-*.azurePubxml
-# Note: Comment the next line if you want to checkin your web deploy settings,
-# but database connection strings (with potential passwords) will be unencrypted
-*.pubxml
-*.publishproj
-
-# Microsoft Azure Web App publish settings. Comment the next line if you want to
-# checkin your Azure Web App publish settings, but sensitive information contained
-# in these scripts will be unencrypted
-PublishScripts/
-
-# NuGet Packages
-*.nupkg
-# The packages folder can be ignored because of Package Restore
-**/packages/*
-# except build/, which is used as an MSBuild target.
-!**/packages/build/
-# Uncomment if necessary however generally it will be regenerated when needed
-#!**/packages/repositories.config
-# NuGet v3's project.json files produces more ignorable files
-*.nuget.props
-*.nuget.targets
-
-# Microsoft Azure Build Output
-csx/
-*.build.csdef
-
-# Microsoft Azure Emulator
-ecf/
-rcf/
-
-# Windows Store app package directories and files
-AppPackages/
-BundleArtifacts/
-Package.StoreAssociation.xml
-_pkginfo.txt
-*.appx
-
-# Visual Studio cache files
-# files ending in .cache can be ignored
-*.[Cc]ache
-# but keep track of directories ending in .cache
-!*.[Cc]ache/
-
-# Others
-ClientBin/
-~$*
-*~
-*.dbmdl
-*.dbproj.schemaview
-*.jfm
-*.pfx
-*.publishsettings
-orleans.codegen.cs
-
-# Since there are multiple workflows, uncomment next line to ignore bower_components
-# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
-#bower_components/
-
-# RIA/Silverlight projects
-Generated_Code/
-
-# Backup & report files from converting an old project file
-# to a newer Visual Studio version. Backup files are not needed,
-# because we have git ;-)
-_UpgradeReport_Files/
-Backup*/
-UpgradeLog*.XML
-UpgradeLog*.htm
-
-# SQL Server files
-*.mdf
-*.ldf
-*.ndf
-
-# Business Intelligence projects
-*.rdl.data
-*.bim.layout
-*.bim_*.settings
-
-# Microsoft Fakes
-FakesAssemblies/
-
-# GhostDoc plugin setting file
-*.GhostDoc.xml
-
-# Node.js Tools for Visual Studio
-.ntvs_analysis.dat
-node_modules/
-
-# Typescript v1 declaration files
-typings/
-
-# Visual Studio 6 build log
-*.plg
-
-# Visual Studio 6 workspace options file
-*.opt
-
-# Visual Studio 6 auto-generated workspace file (contains which files were open etc.)
-*.vbw
-
-# Visual Studio LightSwitch build output
-**/*.HTMLClient/GeneratedArtifacts
-**/*.DesktopClient/GeneratedArtifacts
-**/*.DesktopClient/ModelManifest.xml
-**/*.Server/GeneratedArtifacts
-**/*.Server/ModelManifest.xml
-_Pvt_Extensions
-
-# Paket dependency manager
-.paket/paket.exe
-paket-files/
-
-# FAKE - F# Make
-.fake/
-
-# JetBrains Rider
-.idea/
-*.sln.iml
-
-# CodeRush
-.cr/
-
-# Python Tools for Visual Studio (PTVS)
-__pycache__/
-*.pyc
-
-# Cake - Uncomment if you are using it
-# tools/**
-# !tools/packages.config
-
-# Tabs Studio
-*.tss
-
-# Telerik's JustMock configuration file
-*.jmconfig
-
-# BizTalk build output
-*.btp.cs
-*.btm.cs
-*.odx.cs
-*.xsd.cs
-
-# installer
-*.exe
diff --git a/panda/drivers/windows/ECUsim CLI/ECUsim CLI.cpp b/panda/drivers/windows/ECUsim CLI/ECUsim CLI.cpp
deleted file mode 100644
index 6c8a469acc8566..00000000000000
--- a/panda/drivers/windows/ECUsim CLI/ECUsim CLI.cpp	
+++ /dev/null
@@ -1,38 +0,0 @@
-// ECUsim CLI.cpp : Defines the entry point for the console application.
-//
-
-#include "stdafx.h"
-#include "ECUsim DLL\ECUsim.h"
-
-std::unique_ptr<ECUsim> sim;
-
-BOOL CtrlHandler(DWORD fdwCtrlType)
-{
-	if (fdwCtrlType != CTRL_C_EVENT) return FALSE;
-
-	sim->stop();
-	sim->join();
-
-	return(TRUE);
-}
-
-int main(int argc,      // Number of strings in array argv
-	     char *argv[],  // Array of command-line argument strings
-	     char *envp[])  // Array of environment variable strings
-{
-
-	int count;
-
-	// Display each command-line argument.
-	std::cout << "\nCommand-line arguments:\n";
-	for (count = 0; count < argc; count++)
-		std::cout << "  argv[" << count << "]   " << argv[count] << "\n";
-
-	SetConsoleCtrlHandler((PHANDLER_ROUTINE)CtrlHandler, TRUE);
-
-	sim.reset(new ECUsim("", 500000));
-	sim->join();
-
-    return 0;
-}
-
diff --git a/panda/drivers/windows/ECUsim CLI/ECUsim CLI.vcxproj b/panda/drivers/windows/ECUsim CLI/ECUsim CLI.vcxproj
deleted file mode 100644
index b77937ce7c8294..00000000000000
--- a/panda/drivers/windows/ECUsim CLI/ECUsim CLI.vcxproj	
+++ /dev/null
@@ -1,178 +0,0 @@
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\ No newline at end of file
diff --git a/panda/drivers/windows/ECUsim CLI/ECUsim CLI.vcxproj.filters b/panda/drivers/windows/ECUsim CLI/ECUsim CLI.vcxproj.filters
deleted file mode 100644
index ea223e30b23b71..00000000000000
--- a/panda/drivers/windows/ECUsim CLI/ECUsim CLI.vcxproj.filters	
+++ /dev/null
@@ -1,36 +0,0 @@
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diff --git a/panda/drivers/windows/ECUsim CLI/stdafx.cpp b/panda/drivers/windows/ECUsim CLI/stdafx.cpp
deleted file mode 100644
index d4a23c3cf7b90a..00000000000000
--- a/panda/drivers/windows/ECUsim CLI/stdafx.cpp	
+++ /dev/null
@@ -1,8 +0,0 @@
-// stdafx.cpp : source file that includes just the standard includes
-// ECUsim CLI.pch will be the pre-compiled header
-// stdafx.obj will contain the pre-compiled type information
-
-#include "stdafx.h"
-
-// TODO: reference any additional headers you need in STDAFX.H
-// and not in this file
diff --git a/panda/drivers/windows/ECUsim CLI/stdafx.h b/panda/drivers/windows/ECUsim CLI/stdafx.h
deleted file mode 100644
index b005a839def248..00000000000000
--- a/panda/drivers/windows/ECUsim CLI/stdafx.h	
+++ /dev/null
@@ -1,15 +0,0 @@
-// stdafx.h : include file for standard system include files,
-// or project specific include files that are used frequently, but
-// are changed infrequently
-//
-
-#pragma once
-
-#include "targetver.h"
-
-#include <stdio.h>
-#include <tchar.h>
-
-
-
-// TODO: reference additional headers your program requires here
diff --git a/panda/drivers/windows/ECUsim CLI/targetver.h b/panda/drivers/windows/ECUsim CLI/targetver.h
deleted file mode 100644
index 87c0086de751ba..00000000000000
--- a/panda/drivers/windows/ECUsim CLI/targetver.h	
+++ /dev/null
@@ -1,8 +0,0 @@
-#pragma once
-
-// Including SDKDDKVer.h defines the highest available Windows platform.
-
-// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
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-
-#include <SDKDDKVer.h>
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deleted file mode 100644
index b9a085a6c04ba7..00000000000000
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-    <ClCompile Include="stdafx.cpp">
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
-    </ClCompile>
-  </ItemGroup>
-  <ItemGroup>
-    <ProjectReference Include="..\panda\panda.vcxproj">
-      <Project>{5528aefb-638d-49af-b9d4-965154e7d531}</Project>
-    </ProjectReference>
-  </ItemGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/ECUsim DLL/ECUsim DLL.vcxproj.filters b/panda/drivers/windows/ECUsim DLL/ECUsim DLL.vcxproj.filters
deleted file mode 100644
index 299d654451e182..00000000000000
--- a/panda/drivers/windows/ECUsim DLL/ECUsim DLL.vcxproj.filters	
+++ /dev/null
@@ -1,42 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup>
-    <Filter Include="Source Files">
-      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
-      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
-    </Filter>
-    <Filter Include="Header Files">
-      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
-      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
-    </Filter>
-    <Filter Include="Resource Files">
-      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
-      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
-    </Filter>
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="stdafx.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="targetver.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="ECUsim.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="..\panda\panda.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="stdafx.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="dllmain.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="ECUsim.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-  </ItemGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/ECUsim DLL/ECUsim.cpp b/panda/drivers/windows/ECUsim DLL/ECUsim.cpp
deleted file mode 100644
index 19f2bf360ead9d..00000000000000
--- a/panda/drivers/windows/ECUsim DLL/ECUsim.cpp	
+++ /dev/null
@@ -1,261 +0,0 @@
-#include "stdafx.h"
-#include "ECUsim.h"
-
-ECUsim::ECUsim(std::string sn, unsigned long can_baud, bool ext_addr) :
-	doloop(TRUE), verbose(TRUE), can11b_enabled(TRUE), can29b_enabled(TRUE), ext_addr(ext_addr){
-	this->panda = panda::Panda::openPanda(sn);
-	this->panda->set_can_speed_cbps(panda::PANDA_CAN1, can_baud / 100); //Don't pass in baud where baud%100 != 0
-	this->panda->set_safety_mode(panda::SAFETY_ALLOUTPUT);
-	this->panda->set_can_loopback(FALSE);
-	this->panda->can_clear(panda::PANDA_CAN_RX);
-
-	DWORD threadid;
-	this->thread_can = CreateThread(NULL, 0, _canthreadBootstrap, (LPVOID)this, 0, &threadid);
-}
-
-ECUsim::~ECUsim() {
-	this->stop();
-	this->join();
-}
-
-void ECUsim::stop() {
-	this->doloop = FALSE;
-}
-
-void ECUsim::join() {
-	WaitForSingleObject(this->thread_can, INFINITE);
-}
-
-DWORD WINAPI ECUsim::_canthreadBootstrap(LPVOID This) {
-	return ((ECUsim*)This)->can_recv_thread_function();
-}
-
-DWORD ECUsim::can_recv_thread_function() {
-	while (this->doloop) {
-		auto msgs = this->panda->can_recv();
-		for (auto& msg : msgs) {
-			if (msg.is_receipt) continue;
-			if (msg.bus == 0 && !msg.is_receipt /*&& msg.len == 8*/ && msg.dat[0] >= 2) {
-				if (this->verbose) {
-					printf("Processing message (bus: %d; addr: %X; 29b: %d):\n    ", msg.bus, msg.addr, msg.addr_29b);
-					for (int i = 0; i < msg.len; i++) printf("%02X ", msg.dat[i]);
-					printf("\n");
-				}
-				this->_CAN_process_msg(msg);
-			} else {
-				if (this->verbose) {
-					printf("Rejecting message (bus: %d; addr: %X; 29b: %d):\n    ", msg.bus, msg.addr, msg.addr_29b);
-					for (int i = 0; i < msg.len; i++) printf("%02X ", msg.dat[i]);
-					printf("\n");
-				}
-			}
-		}
-	}
-
-	return 0;
-}
-
-BOOL ECUsim::_can_addr_matches(panda::PANDA_CAN_MSG& msg) {
-	if (this->can11b_enabled && !msg.addr_29b && (msg.addr == 0x7DF || (msg.addr & 0x7F8) == 0x7E0)) {
-		if (!this->ext_addr) {
-			return TRUE;
-		} else {
-			return msg.len >= 1 && msg.dat[0] == 0x13;//13 is an arbitrary address picked to test ext addresses
-		}
-	}
-	if (this->can29b_enabled && msg.addr_29b && ((msg.addr & 0x1FFF00FF) == 0x18DB00F1 || (msg.addr & 0x1FFF00FF) == 0x18da00f1)) {
-		if (!this->ext_addr) {
-			return TRUE;
-		} else {
-			return msg.len >= 1 && msg.dat[0] == 0x13;//13 is an arbitrary address picked to test ext addresses
-		}
-	}
-	return FALSE;
-}
-
-void ECUsim::_CAN_process_msg(panda::PANDA_CAN_MSG& msg) {
-	std::string outmsg;
-	uint32_t outaddr;
-	uint8_t formatted_msg_buff[8];
-	bool doreply = FALSE;
-
-	if (this->_can_addr_matches(msg)) {// && msg.len == 8) {
-		uint8_t *dat = (this->ext_addr) ? &msg.dat[1] : &msg.dat[0];
-		if ((dat[0] & 0xF0) == 0x10) {
-			printf("Got a multiframe write request\n");
-			outaddr = (msg.addr_29b) ? 0x18DAF1EF : 0x7E8;
-			this->panda->can_send(outaddr, msg.addr_29b, (const uint8_t*)"\x30\x00\x00", 3, panda::PANDA_CAN1);
-			return;
-		}
-
-		/////////// Check if Flow Control Msg
-		if ((dat[0] & 0xF0) == 0x30 && msg.len >= 3 && this->can_multipart_data.size() > 0) {
-			if (this->verbose) printf("More data requested\n");
-			uint8_t block_size = dat[1], sep_time_min = dat[2];
-			outaddr = (msg.addr == 0x7DF || msg.addr == 0x7E0) ? 0x7E8 : 0x18DAF1EF; //ext addr 5th byte is just always 0x13 for simplicity
-
-			unsigned int msgnum = 1;
-			while (this->can_multipart_data.size()) {
-				unsigned int datalen = this->ext_addr ?
-					min(6, this->can_multipart_data.size()): //EXT ADDR VALUE
-					min(7, this->can_multipart_data.size()); //NORMAL ADDR VALUE
-
-				unsigned int idx = 0;
-				if (this->ext_addr)
-					formatted_msg_buff[idx++] = 0x13; //EXT ADDR
-				formatted_msg_buff[idx++] = 0x20 | msgnum;
-				for (int i = 0; i < datalen; i++) {
-					formatted_msg_buff[i + idx] = this->can_multipart_data.front();
-					this->can_multipart_data.pop();
-				}
-				for (int i = datalen + idx; i < sizeof(formatted_msg_buff); i++)
-					formatted_msg_buff[i] = 0;
-
-				if (this->verbose) {
-					printf("Multipart reply to %X.\n    ", outaddr);
-					for (int i = 0; i < datalen + idx; i++) printf("%02X ", formatted_msg_buff[i]);
-					printf("\n");
-				}
-
-				this->panda->can_send(outaddr, msg.addr_29b, formatted_msg_buff, datalen + idx, panda::PANDA_CAN1);
-				msgnum = (msgnum + 1) % 0x10;
-				Sleep(10);
-			}
-			return;
-		}
-
-		/////////// Normal message in
-		outmsg = this->process_obd_msg(dat[1], dat[2], doreply);
-		if (doreply) {
-			outaddr = (msg.addr_29b) ? 0x18DAF1EF : 0x7E8;
-
-			if (outmsg.size() <= (this->ext_addr ? 4 : 5)) {
-				unsigned int idx = 0;
-				if(this->ext_addr)
-					formatted_msg_buff[idx++] = 0x13; //EXT ADDR
-				formatted_msg_buff[idx++] = outmsg.size() + 2;
-				formatted_msg_buff[idx++] = 0x40 | dat[1];
-				formatted_msg_buff[idx++] = dat[2]; //PID
-				memcpy_s(&formatted_msg_buff[idx], sizeof(formatted_msg_buff) - idx, outmsg.c_str(), outmsg.size());
-				for (int i = idx + outmsg.size(); i < 8; i++)
-					formatted_msg_buff[i] = 0;
-
-				if (this->verbose) {
-					printf("Replying to %X.\n    ", outaddr);
-					for (int i = 0; i < 8; i++) printf("%02X ", formatted_msg_buff[i]);
-					printf("\n");
-				}
-
-				this->panda->can_send(outaddr, msg.addr_29b, formatted_msg_buff, 8, panda::PANDA_CAN1); //outmsg.size() + 3
-			} else {
-				uint8_t first_msg_len = this->ext_addr ?
-					min(2, outmsg.size() % 7) : //EXT ADDR VALUES
-					min(3, outmsg.size() % 7);  //NORMAL ADDR VALUES
-				uint8_t payload_len = outmsg.size() + 3;
-
-				unsigned int idx = 0;
-				if (this->ext_addr)
-					formatted_msg_buff[idx++] = 0x13; //EXT ADDR
-				formatted_msg_buff[idx++] = 0x10 | ((payload_len >> 8) & 0xF);
-				formatted_msg_buff[idx++] = payload_len & 0xFF;
-				formatted_msg_buff[idx++] = 0x40 | dat[1];
-				formatted_msg_buff[idx++] = dat[2]; //PID
-				formatted_msg_buff[idx++] = 1;
-				memcpy_s(&formatted_msg_buff[idx], sizeof(formatted_msg_buff) - idx, outmsg.c_str(), first_msg_len);
-
-				if (this->verbose) {
-					printf("Replying FIRST FRAME to %X.\n    ", outaddr);
-					for (int i = 0; i < 8; i++) printf("%02X ", formatted_msg_buff[i]);
-					printf("\n");
-				}
-
-				this->panda->can_send(outaddr, msg.addr_29b, formatted_msg_buff, 8, panda::PANDA_CAN1);
-				for (int i = first_msg_len; i < outmsg.size(); i++)
-					this->can_multipart_data.push(outmsg[i]);
-			}
-		}
-	}
-}
-
-std::string ECUsim::process_obd_msg(UCHAR mode, UCHAR pid, bool& return_data) {
-	std::string tmp;
-	return_data = TRUE;
-
-	switch (mode) {
-	case 0x01: // Mode : Show current data
-		switch (pid) {
-		case 0x00: //List supported things
-			return "\xff\xff\xff\xfe"; //b"\xBE\x1F\xB8\x10" #Bitfield, random features
-		case 0x01: // Monitor Status since DTC cleared
-			return std::string("\x00\x00\x00\x00", 4); //Bitfield, random features
-		case 0x04: // Calculated engine load
-			return "\x2f";
-		case 0x05: // Engine coolant temperature
-			return "\x3c";
-		case 0x0B: // Intake manifold absolute pressure
-			return "\x90";
-		case 0x0C: // Engine RPM
-			return "\x1A\xF8";
-		case 0x0D: // Vehicle Speed
-			return "\x53";
-		case 0x10: // MAF air flow rate
-			return "\x01\xA0";
-		case 0x11: // Throttle Position
-			return "\x90";
-		case 0x33: // Absolute Barometric Pressure
-			return "\x90";
-		default:
-			return_data = FALSE;
-			return "";
-		}
-	case 0x09: // Mode : Request vehicle information
-		switch (pid) {
-		case 0x02: // Show VIN
-			return "1D4GP00R55B123456";
-		case 0xFC: // test long multi message.Ligned up for LIN responses
-			for (int i = 0; i < 80; i++) {
-				tmp += "\xAA\xAA";
-			}
-			return tmp;//">BBH", 0xAA, 0xAA, num + 1)
-		case 0xFD: // test long multi message
-			for (int i = 0; i < 80; i++) {
-				tmp += "\xAA\xAA\xAA";
-				tmp.push_back(i >> 24);
-				tmp.push_back((i >> 16) & 0xFF);
-				tmp.push_back((i >> 8) & 0xFF);
-				tmp.push_back(i & 0xFF);
-			}
-			return "\xAA\xAA\xAA" + tmp;
-		case 0xFE: // test very long multi message
-			tmp = "\xAA\xAA\xAA";
-			for (int i = 0; i < 584; i++) {
-				tmp += "\xAA\xAA\xAA";
-				tmp.push_back(i >> 24);
-				tmp.push_back((i >> 16) & 0xFF);
-				tmp.push_back((i >> 8) & 0xFF);
-				tmp.push_back(i & 0xFF);
-			}
-			return tmp + "\xAA";
-		case 0xFF:
-			for (int i = 0; i < 584; i++) {
-				tmp += "\xAA\xAA\xAA\xAA\xAA";
-				tmp.push_back(((i + 1) >> 8) & 0xFF);
-				tmp.push_back((i + 1) & 0xFF);
-			}
-			return std::string("\xAA\x00\x00", 3) + tmp;
-		default:
-			return_data = FALSE;
-			return "";
-		}
-	case 0x3E:
-		if (pid == 0) {
-			return_data = TRUE;
-			return "";
-		}
-		return_data = FALSE;
-		return "";
-	default:
-		return_data = FALSE;
-		return "";
-	}
-}
diff --git a/panda/drivers/windows/ECUsim DLL/ECUsim.h b/panda/drivers/windows/ECUsim DLL/ECUsim.h
deleted file mode 100644
index 2f5fe0f7ad4865..00000000000000
--- a/panda/drivers/windows/ECUsim DLL/ECUsim.h	
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-#include <string>
-#include "panda_shared/panda.h"
-#include <queue>
-
-// The following ifdef block is the standard way of creating macros which make exporting
-// from a DLL simpler. All files within this DLL are compiled with the ECUSIMDLL_EXPORTS
-// symbol defined on the command line. This symbol should not be defined on any project
-// that uses this DLL. This way any other project whose source files include this file see
-// ECUSIMDLL_API functions as being imported from a DLL, whereas this DLL sees symbols
-// defined with this macro as being exported.
-#ifdef ECUSIMDLL_EXPORTS
-#define ECUSIMDLL_API __declspec(dllexport)
-#else
-#define ECUSIMDLL_API __declspec(dllimport)
-#endif
-
-// This class is exported from the ECUsim DLL.dll
-class ECUSIMDLL_API ECUsim {
-public:
-	ECUsim(std::string sn, unsigned long can_baud, bool ext_addr = FALSE);
-	ECUsim(panda::Panda && p, unsigned long can_baud, bool ext_addr = FALSE);
-	~ECUsim();
-
-	void stop();
-	void join();
-
-	// Flag determines if verbose output is enabled
-	volatile bool verbose;
-	BOOL ext_addr;
-private:
-	std::unique_ptr<panda::Panda> panda;
-
-	static DWORD WINAPI _canthreadBootstrap(LPVOID This);
-	DWORD can_recv_thread_function();
-
-	BOOL _can_addr_matches(panda::PANDA_CAN_MSG & msg);
-
-	void _CAN_process_msg(panda::PANDA_CAN_MSG & msg);
-
-	std::string process_obd_msg(UCHAR mode, UCHAR pid, bool& return_data);
-
-	HANDLE thread_can;
-	volatile bool doloop;
-	std::queue<uint8_t> can_multipart_data;
-
-	BOOL can11b_enabled;
-	BOOL can29b_enabled;
-};
diff --git a/panda/drivers/windows/ECUsim DLL/dllmain.cpp b/panda/drivers/windows/ECUsim DLL/dllmain.cpp
deleted file mode 100644
index 69b58914b3572b..00000000000000
--- a/panda/drivers/windows/ECUsim DLL/dllmain.cpp	
+++ /dev/null
@@ -1,19 +0,0 @@
-// dllmain.cpp : Defines the entry point for the DLL application.
-#include "stdafx.h"
-
-BOOL APIENTRY DllMain( HMODULE hModule,
-                       DWORD  ul_reason_for_call,
-                       LPVOID lpReserved
-					 )
-{
-	switch (ul_reason_for_call)
-	{
-	case DLL_PROCESS_ATTACH:
-	case DLL_THREAD_ATTACH:
-	case DLL_THREAD_DETACH:
-	case DLL_PROCESS_DETACH:
-		break;
-	}
-	return TRUE;
-}
-
diff --git a/panda/drivers/windows/ECUsim DLL/stdafx.cpp b/panda/drivers/windows/ECUsim DLL/stdafx.cpp
deleted file mode 100644
index b4056ecd062c0d..00000000000000
--- a/panda/drivers/windows/ECUsim DLL/stdafx.cpp	
+++ /dev/null
@@ -1,8 +0,0 @@
-// stdafx.cpp : source file that includes just the standard includes
-// ECUsim DLL.pch will be the pre-compiled header
-// stdafx.obj will contain the pre-compiled type information
-
-#include "stdafx.h"
-
-// TODO: reference any additional headers you need in STDAFX.H
-// and not in this file
diff --git a/panda/drivers/windows/ECUsim DLL/stdafx.h b/panda/drivers/windows/ECUsim DLL/stdafx.h
deleted file mode 100644
index f3a07375c76623..00000000000000
--- a/panda/drivers/windows/ECUsim DLL/stdafx.h	
+++ /dev/null
@@ -1,16 +0,0 @@
-// stdafx.h : include file for standard system include files,
-// or project specific include files that are used frequently, but
-// are changed infrequently
-//
-
-#pragma once
-
-#include "targetver.h"
-
-#define WIN32_LEAN_AND_MEAN             // Exclude rarely-used stuff from Windows headers
-// Windows Header Files:
-#include <windows.h>
-
-
-
-// TODO: reference additional headers your program requires here
diff --git a/panda/drivers/windows/ECUsim DLL/targetver.h b/panda/drivers/windows/ECUsim DLL/targetver.h
deleted file mode 100644
index 87c0086de751ba..00000000000000
--- a/panda/drivers/windows/ECUsim DLL/targetver.h	
+++ /dev/null
@@ -1,8 +0,0 @@
-#pragma once
-
-// Including SDKDDKVer.h defines the highest available Windows platform.
-
-// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
-// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
-
-#include <SDKDDKVer.h>
diff --git a/panda/drivers/windows/README.md b/panda/drivers/windows/README.md
deleted file mode 100644
index 786a3187f1f225..00000000000000
--- a/panda/drivers/windows/README.md
+++ /dev/null
@@ -1,144 +0,0 @@
-```
-                                                                                                        ;"   ^;     ;'   ",
-______/\\\\\\\\\\\____/\\\\\\\\\_______/\\\\\\\\\\\\\\\______/\\\\\\\\\\_____________/\\\____           ;    s$$$$$$$s     ;
- _____\/////\\\///___/\\\///////\\\____\/\\\///////////_____/\\\///////\\\__________/\\\\\____          ,  ss$$$$$$$$$$s  ,'
-  _________\/\\\_____\///______\//\\\___\/\\\_______________\///______/\\\_________/\\\/\\\____         ;s$$$$$$$$$$$$$$$
-   _________\/\\\_______________/\\\/____\/\\\\\\\\\\\\_____________/\\\//________/\\\/\/\\\____        $$$$$$$$$$$$$$$$$$
-    _________\/\\\____________/\\\//______\////////////\\\__________\////\\\_____/\\\/__\/\\\____      $$$$P""Y$$$Y""W$$$$$
-     _________\/\\\_________/\\\//____________________\//\\\____________\//\\\__/\\\\\\\\\\\\\\\\_     $$$$  p"$$$"q  $$$$$
-      __/\\\___\/\\\_______/\\\/____________/\\\________\/\\\___/\\\______/\\\__\///////////\\\//__    $$$$  .$$$$$.  $$$$
-       _\//\\\\\\\\\_______/\\\\\\\\\\\\\\\_\//\\\\\\\\\\\\\/___\///\\\\\\\\\/_____________\/\\\____  _ $$$$$$$$$$$$$$$$
-        __\/////////_______\///////////////___\/////////////_______\/////////_______________\///_____| |  "Y$$$"*"$$$Y"
-                                                                                _ __   __ _ _ __   __| | __ _"$b.$$"
-                                                                               | '_ \ / _` | '_ \ / _` |/ _` |
-                                                                               | |_) | (_| | | | | (_| | (_| |
-                                                                               | .__/ \__,_|_| |_|\__,_|\__,_|
-                                                                               | |     A comma.ai product.
-                                                                               |_| (Code by Jessy Diamond Exum)
-```
-
-
-# Installing J2534 driver:
-
-[Download](https://github.com/commaai/panda/files/4017364/panda.J2534.driver.install.zip)
-
-Depending on what version of windows you are on, you may need to separately install the WinUSB driver (see next section).
-
-# Installing WinUSB driver:
-
-Installation automatically happens for Windows 8 and Windows 10 because the panda
-firmware contains the USB descriptors necessary to auto-install the WinUSB driver.
-
-Windows 7 will not auto-install the WinUSB driver. You can use Zadig to install
-the WinUSB driver. This software is not tested on anything before 7.
-
-More details here:
-[WinUSB (Winusb.sys) Installation](https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation)
-[WCID Devices](https://github.com/pbatard/libwdi/wiki/WCID-Devices)
-[Zadig for installing libusb compatible driver](https://github.com/pbatard/libwdi/wiki/Zadig)
-
-# Using J2534:
-
-After installing the J2534 drivers for the panda, you can do... nothing.
-You first need to get a J2534 client that can load the drivers and talk to
-the panda for you.
-
-A simple tool for testing J2534 drivers is DrewTech's 'J2534-1 Bus Analysis
-Tool' available in the 'Other Support Applications' section of their
-[Download Page](http://www.drewtech.com/downloads/).
-
-# What is J2534?
-
-J2534 is an API that tries to provide a consistent way to send/receive
-messages over the many different protocols supported by the OBD II
-port. The place this is perhaps most obvious, is sending data over
-different protocols (each using unique packetizing methods) using the
-same data format.
-
-For each PassThru Device that should be used with J2534 (in this case,
-the panda), a 'driver' has to be written that can be loaded by a
-client application wanting to send/receive data.
-
-A lot of J2534 has good ideas behind it, but the standard has some odd choices:
-
-* Platform Locked: Requires using the Windows Registry to find installed J2534 libraries/drivers. Drivers have to be DLLs.
-* Architecture Locked: So far there is only support for x86.
-* No device autodetect, and poor support for selecting from multiple devices.
-* Constant vague language about important behavior (small differences between vendors).
-* Most common differences become standard in later revisions.
-
-# Why use J2534 with the panda?
-
-J2534 is the only interface supported by most professional grade
-vehicle diagnostics systems (such as HDS). These tools are useful for
-diagnosing vehicles, as well as reverse engineering some lesser known
-features.
-
-# What parts are supported with panda?
-
-- [ ] **J1850VPW** *(Outdated, and not physically supported by the panda)*
-- [ ] **J1850PWM** *(Outdated, and not physically supported by the panda)*
-- [X] **CAN**
-- [X] **ISO15765**
-- [ ] **ISO9141** *(This protocol could be implemented if 5 BAUD init support is added to the panda.)*
-- [ ] **ISO14230/KWP2000** *(Could be supported with FAST init, 5baud init if panda adds support for 5bps serial)*
-
-# Building the Project:
-
-This project is developed with Visual Studio 2017, the Windows SDK,
-and the Windows Driver Kit (WDK).
-
-The WDK is only required for creating the signed WinUSB inf file. The
-WDK may also provide the headers for WinUSB.
-
-To build all the projects required for the installer, in Visual
-Studio, select **Build->Batch Build.** In the project list select:
-
-- **"panda"** *Release|x86*
-- **"panda"** *Release|x64*
-- **"panda Driver Package"** Debug|x86 (Note this inf file works with x86/amd64).
-- **"pandaJ2534DLL"** *Release|x86*
-
-The installer is generated with [NullSoft NSIS](http://nsis.sourceforge.net/Main_Page).
-Use NSIS to run panda_install.nsi after building all the required projects.
-
-Before generating the installer, you must go to copy vscruntimeinfo.nsh.sample to
-vscruntimeinfo.nsh and follow the instructions to bundle in the Visual Studio C
-Runtime required by your version of Visual Studio. Without this runtime, the panda
-code will not work, so without this file, the installer will refuse to build.
-
-# Developing:
-
-- Edit and merge pandaJ2534DLL\J2534register_x64.reg to register your development J2534 DLL.
-- Add your output directory (panda\drivers\windows\Debug_x86) to your system PATH to avoid insanity.
-
-# ToDo Items:
-
-- Apply a style-guide and consistent naming convention for Classes/Functions/Variables.
-- Send multiple messages (each with a different address) from a given connection at the same time.
-- Implement ISO14230/KWP2000 FAST (LIN communication is already supported with the raw panda USB driver).
-- Find more documentation about SW_CAN_PS (Single Wire CAN, aka GMLAN).
-- Find example of client using a _PS version of a protocol (PS is pin select, and may support using different CAN buses).
-
-
-# Known Issues:
-
-- ISO15765 Multi-frame TX: Hardware delays make transmission overshoot
-  STMIN by several milliseconds. This does not violate the requirements
-  of STMIN, it just means it is a little slower than it could be.
-
-- All Tx messages from a single Connection are serialized. This can be
-  relaxed to allow serialization of messages based on their address
-  (making multiple queues, effectively one queue per address).
-
-# Troubleshooting:
-troubleshooting:
-1. Install DrewTech J2534-1 Bus Analysis Tool
-http://www.drewtech.com/downloads/tools/Drew%20Technologies%20Tool%20for%20J2534-1%20API%20v1.07.msi
-2. Open DrewTech tool and make sure it shows "panda" as a device listed (this means registry settings are correct)
-3. When DrewTech tool attempts to load the driver it will show an error if it fails
-4. To figure out why the driver fails to load install Process Monitor and filter by the appropriate process name
-https://docs.microsoft.com/en-us/sysinternals/downloads/procmon
-
-# Other:
-Panda head ASCII art by dcau
\ No newline at end of file
diff --git a/panda/drivers/windows/docs/Message_Size.png b/panda/drivers/windows/docs/Message_Size.png
deleted file mode 100644
index 3a20a2ef39fbdf..00000000000000
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diff --git a/panda/drivers/windows/docs/RxBits_defs.jpg b/panda/drivers/windows/docs/RxBits_defs.jpg
deleted file mode 100644
index db01f62c95dba3..00000000000000
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diff --git a/panda/drivers/windows/docs/RxBits_valid.png b/panda/drivers/windows/docs/RxBits_valid.png
deleted file mode 100644
index 6f7c4c326d9e0b..00000000000000
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diff --git a/panda/drivers/windows/docs/bus_init_signla.png b/panda/drivers/windows/docs/bus_init_signla.png
deleted file mode 100644
index 9aa71faa274151..00000000000000
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diff --git a/panda/drivers/windows/docs/connection_flags.png b/panda/drivers/windows/docs/connection_flags.png
deleted file mode 100644
index dd578a2cb9d7b3..00000000000000
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diff --git a/panda/drivers/windows/docs/iso15765_ioctls.png b/panda/drivers/windows/docs/iso15765_ioctls.png
deleted file mode 100644
index 7de4a118e0d11c..00000000000000
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diff --git a/panda/drivers/windows/docs/message_send.png b/panda/drivers/windows/docs/message_send.png
deleted file mode 100644
index 112aab14cb060f..00000000000000
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diff --git a/panda/drivers/windows/docs/msg_filter_passfail.png b/panda/drivers/windows/docs/msg_filter_passfail.png
deleted file mode 100644
index 4a91facb4538fb..00000000000000
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diff --git a/panda/drivers/windows/docs/other notes.txt b/panda/drivers/windows/docs/other notes.txt
deleted file mode 100644
index a066d2646557b1..00000000000000
--- a/panda/drivers/windows/docs/other notes.txt	
+++ /dev/null
@@ -1,347 +0,0 @@
-When using the ISO 15765-4 protocol, only SingleFrame messages can be transmitted without a matching
-flow control filter. Also, PCI bytes are transparently added by the API. See PassThruStartMsgFilter
-and Appendix A for a discussion of flow control filters.
-
-
-
-PassThruReadMsgs
-This function reads messages and indications from the receive buffer. All messages and indications shall
-be read in the order that they occurred on the bus. If a transmit message generated a loopback message
-and TxDone indication, the TxDone indication shall always be queued first. Except for loopback messages
-and indications, no messages shall be queued for reception without matching a PASS_FILTER
-(for non-ISO 15765) or FLOW_CONTROL filter (for ISO 15765). On ISO 15765, PCI bytes are transparently
-removed by the API. If the function is successful, a value of STATUS_NOERROR is returned.
-
-
-PassThruWriteMsgs
-Write timeout (in milliseconds).  When a value of 0 is specified, the function queues as
-many of the specified messages as possible and returns immediately. When a value
-greater than 0 is specified, the function will block until the Timeout has expired, an error
-has occurred, or the desired number of messages have been transmitted on the vehicle
-network. Even if the device can buffer only one packet at a time, this function shall be
-able to send an arbitrary number of packets if a Timeout value is supplied. Since the
-function returns early if all the messages have been sent, there is normally no penalty for
-having a large timeout (several seconds). If the number of messages requested have
-been written, the function shall not return ERR_TIMEOUT, even if the timeout value is
-zero.
-
-When an ERR_TIMEOUT is returned, only the number of messages that were sent on
-the vehicle network is known. The number of messages queued is unknown. Application
-writers should avoid this ambiguity by using a Timeout value large enough to work on
-slow devices and networks with arbitration delays.
-
-
-
-PassThruStartPeriodicMsg
-This function will immediately queue the specified message for transmission, and repeat at the specified
-interval. Periodic messages are limited in length to a single frame message of 12 bytes or less, including
-header or CAN ID. Periodic messages shall have priority over messages queued with
-PassThruWriteMsgs, but periodic messages must not violate bus idle timing parameters (e.g. P3_MIN).
-Periodic messages shall generate TxDone indications (ISO 15765) and loopback messages (on any
-protocol, if enabled).  On ISO 15765, periodic messages can be sent during a multi-frame transmission or
-reception. If the function is successful, a value of STATUS_NOERROR is returned. The Pass-Thru
-device must support a minimum of ten periodic messages.
-
-PassThruDisconnect shall delete all periodic messages on that channel. PassThruClose shall delete all
-periodic messages on all channels for the device. All periodic messages will be stopped on a
-PassThruDisconnect for the associated protocol or a PassThruClose for the device.
-
-
-
-PASSTHRUSTARTMSGFILTER
-This function starts filtering of incoming messages.  If the function is successful, a value of
-STATUS_NOERROR is returned. A minimum of ten message filters shall be supported by the interface
-for each supported protocol. PassThruDisconnect shall delete all message filters on that channel.
-
-PassThruClose shall delete all filters on all channels for the device. Pattern and Mask messages shall
-follow the protocol formats specified in Section 8. However, only the first twelve (12) bytes, including
-header or CAN ID, are used by the filter. ERR_INVALID_MSG shall be returned if the filter length
-exceeds 12. Note that this function does not clear any messages that may have been received and
-queued before the filter was set. Users are cautioned to consider performing a CLEAR_RX_BUFFER
-after starting a message filter to be sure that unwanted frames are purged from any receive buffers.
-
-
-
-
-
-
-
-
-FILTER RELATED STUFF
-For all protocols except ISO 15765:
-� PASS_FILTERs and BLOCK_FILTERs will be applied to all received messages. They shall not be
-applied to indications or loopback messages
-
-� FLOW_CONTROL_FILTERs must not be used and shall cause the interface to return
-ERR_INVALID_FILTER_ID
-
-� Both pMaskMsg and pPatternMsg must have the same DataSize and TxFlags. Otherwise, the
-interface shall return ERR_INVALID_MSG
-
-� The default filter behavior after PassThruConnect is to block all messages, which means no messages
-will be placed in the receive queue until a PASS_FILTER has been set. Messages that match a
-PASS_FILTER can still be blocked by a BLOCK_FILTER
-
-� Figure 16 and Figure 17 show how the message filtering mechanism operates
-
-For ISO 15765:
-� PASS_FILTERs and BLOCK_FILTERs must not be used and shall cause the interface to return
-ERR_INVALID_FILTER_ID
-
-� Filters shall not be applied to indications or loopback messages. When loopback is on, the original
-message shall be copied to the receive queue upon the last segment being transmitted  on the bus.
-
-� Non-segmented messages do not need to match a FLOW_CONTROL_FILTER.
-
-� No segmented messages can be transmitted without matching an appropriate FLOW_CONTROL_FILTER.
-An appropriate filter is one in which the pFlowControlMsg CAN ID matches the messages to be
-transmitted. Also, the ISO 15765_ADDR_TYPE (reference TxFlags in Section 8.7.3) bits must match.
-If that bit is set, the first byte after the CAN IDs (the extended address)
-must match too.
-
-� No message (segmented or unsegmented) shall be received without matching an appropriate
-FLOW_CONTROL_FILTER. An appropriate filter is one in which the pPatternMsg CAN ID matches
-the incoming message ID. If the ISO 15765_ADDR_TYPE (reference TxFlags in Section 8.7.3) bit is
-set in the filter, the first byte after the CAN IDs (the extended address) must match too.
-
-� All 3 message pointers must have the same DataSize and TxFlags. Otherwise, the interface shall
-return ERR_INVALID_MSG.
-
-� Both the pFlowControlMsg ID and the pPatternMsg ID must be unique (not match any IDs in any other
-filters). The only exception is that pPatternMsg can equal pFlowControlMsg to allow for receiving
-functionally addressed messages. In this case, only non-segmented messages can be received.
-
-� See Appendix A for a detailed description of flow control filter usage.
-
-
-
-
-8.4 Format Checks for Messages Passed to the API
-The vendor DLL shall validate all PASSTHRU_MSG structures, and return an ERR_INVALID_MSG in the following cases:
-� DataSize violates Min Tx or Max Tx columns in Figure 42
-
-� Source address (Data[3]) is different from the Node ID (Ioctl SET_CONFIG, Parameter NODE_ADDRESS) on J1850PWM
-
-� The header length field is incorrect for the number of bytes in the message on ISO14230
-
-� The CAN_29_BIT flag of the message does not match the CAN_29_BIT flag passed to
-PassThruConnect, unless the CAN_ID_BOTH bit was set on connect
-
-The vendor DLL shall return ERR_MSG_PROTOCOL_ID when the ProtocolID field in the message does
-not match the Protocol ID specified when opening the channel.
-
-
-
-8.5 Conventions for Returning Messages from the API
-When returning a message in PassThruReadMsg:
-� DataSize shall tell the application how many bytes in the Data array are valid. ExtraDataIndex will be
-the (non-zero) index of the last byte of the message. If ExtraDataIndex is not equal to DataSize there
-are extra data bytes after the message. If loopback is on, RxStatus must be consulted to tell if the
-message came via loopback.
-
-� DataSize will be in the range shown in the Min Rx and Max Rx columns of Figure 42. If the device
-receives a message from the vehicle bus that is too long or too short, the message shall be discarded
-with no error.
-
-� For received messages, ExtraDataIndex shall be equal to DataSize, except when the interface is
-returning SAE J1850 PWM IFR bytes. In no case shall ExtraDataIndex be larger than DataSize.
-
-� When receiving a message on an SAE J1850 PWM channel, the message shall have any IFR bytes
-appended. In this case, ExtraDataIndex shall be the index of the first IFR byte, and DataSize shall be
-the total length of the original message plus all IFR bytes. For example, if there are two IFR bytes,
-DataSize will be incremented by two, and ExtraDataIndex will be DataSize - 2. When loopback is on,
-the loopback message shall contain any IFR bytes.
-
-
-
-8.6 Conventions for Retuning Indications from the API
-When returning an indication in PassThruReadMsg:
-� ExtraDataIndex must be zero
-
-� DataSize shall tell the application how many bytes in the Data array are valid
-
-� RxStatus must be consulted to determine the indication type (See Section 8.4).
-
-� A TxDone indication (ISO 15765 only) is generated by the DLL after a SingleFrame message is sent,
-or the last frame of a multi-segment transmission is sent. DataSize shall be 4 (or 5 when the message
-was using Extended Addressing). Data shall contain the CAN ID (and possible Extended Address) of
-the message just sent. If loopback is on, the TxDone indication shall precede the loopback message in
-the receive queue.
-
-� An RxBreak indication (SAE J2610/SCI and SAE J1850VPW only) is generated by the DLL if a break
-is received.
-
-� An RxStart indication is generated by the DLL when starting to receive a message on ISO9141 or
-ISO14230, or when receiving the FirstFrame signal of a multi-segment ISO 15765 message.
-
-
-
-9.1 Naming of Files
-Each vendor will provide a different name implementation of the API DLL and a number of these
-implementations could simultaneously reside on the same PC. No vendor shall name its implementation
-�J2534.DLL�. All implementations shall have the string �32� suffixed to end of the name of the API DLL to
-indicate 32-bit. For example, if the company name is �Vendor X� the name could be VENDRX32.DLL.
-
-For simplicity, an API DLL shall be named in accordance with the file allocation table (FAT) file system
-naming convention (which allows up to eight characters for the file name and three characters for the
-extension with no spaces anywhere).  Note that, given this criteria, the major name of an API DLL can be
-no greater than six characters.  The OEM application can determine the name of the appropriate vendor�s
-DLL using the Win32 Registry mechanism described in this section.
-
-
-
-
-A.1 Flow Control Overview
-ISO 15765-2 was designed to send blocks of up to 4095 bytes on top of the limited 8-byte payload of raw
-CAN frames. If the data is small enough, it can fit in a single frame and be transmitted like a raw CAN
-message with additional headers. Otherwise, the block is broken up into segments and becomes a
-segmented transmission, generating CAN frames in both directions. For flexibility, the receiver of the
-segments can control the rate at which the segments are sent.
-
-Each transmission is actually part of a conversation between two nodes. There is no discovery
-mechanism for conversation partners. Therefore, each desired conversation must be pre-defined on each
-side before the conversation can start. Conversations are symmetric, meaning that either side can send a
-block of data to the other. A conversation can only have one transfer (in one direction) in progress at a
-time. One transfer must complete before the next transfer (in the same or in a different direction) can
-start. The device must support multiple transfers at once, as long as each one is part of a different
-conversation. Raw CAN frames are not allowed when using ISO15765-2.
-
-A key feature of a conversation is that each side has a unique CAN ID, and each side uses their unique
-CAN ID for all transmissions during the conversation. No other CAN IDs are part of the conversation.
-Even though the useful data is only flowing in one direction, both sides are transmitting. One side is
-sending the flow control message to pace the segments of data coming from the other side.
-
-For example, during OBD communication, a pass-thru device and an ECU might have a conversation.
-The pass-thru device will use the "Tester1" physical CAN ID ($241), and the first ECU will use the
-"ECU1" physical CAN ID ($641). During a multi-segment transfer, both sides will be transmitting using
-only their respective IDs. It does not matter if the data is being sent by the ECU or by the Tester, the IDs
-remain the same.
-
-It is important to understand the difference between OBD Requests/Responses and ISO 15765-2
-transfers. The OBD Request is transmitted from the Tester to the ECU using functional addressing.
-Because segmented transfer is not possible on functional addresses, the message must fit in a single
-frame. The OBD Response is a message from the ECU to the Tester using physical addressing. Unlike
-other protocols, the responses are not sequential. In fact, the responses can overlap, as if each ECU
-were having a private conversation with the Tester.  Some of the responses may fit in a single frame,
-while others will require a segmented transfer from the ECU to the tester.
-
-
-A.2 Transmitting a Segmented Message
-When PassThruWrite is called, the API will search the list of flow control filters, looking for a
-pFlowControlMsg that matches the CAN ID (and possible extended address) of the message being sent.
-Upon matching a filter, the pass-thru device will:
-
-� Start the ISO 15765 transfer by sending a FirstFrame on the bus. The CAN ID of this segment was
-specified in both the message and the matching pFlowControlMsg. In our example, this is $241.
-
-� Wait for a FlowControl frame from the conversation partner. The CAN ID to look for is specified in the
-corresponding pPatternMsg. In our example, this is $641.
-
-� Transmit the message data in ConsecutiveFrames according to the FlowControl frame�s instructions
-for BS (BlockSize) and STmin (SeparationTime minimum). Again, the pass-thru device transmits using
-CAN ID specified in pFlowControlMsg. In our example, this is $241.
-
-� Repeat the previous two steps as required.
-
-� When finished, the pass-thru device will place a TxDone indication in the API receive queue. The data
-will contain the CAN ID specified in pFlowControlMsg. In our example, this is $241.
-
-� If loopback is on, the entire message sent will appear in the API receive queue with the
-TX_MSG_TYPE bit set to 1 in RxStatus. The loopback shall not precede the TxDone indication.
-
-Before any multi-segment transfer can take place, the conversation must be set up on both sides. It�s
-assumed that the ECU is already setup. The application is responsible for setting up the pass-thru device.
-This setup must be done once (and only once) per conversation. The setup involves a single call to
-PassThruStartMsgFilter, with the following parameters:
-
-A.2.2 Data Transmission
-Once the conversation is set up, any number of messages (to the conversation partner) can be
-transmitted using PassThruWriteMsg. The interface shall handle all aspects of the transfer, including
-pacing (slowing) the transmission to the requirements of the receiver.
-
-When there are multiple conversations setup, the pass-thru device will search all of the flow control filters
-for a matching pFlowControlMsg. If there is no match, the message cannot be sent because the pass-
-thru device doesn�t know which partner will be pacing the conversation.
-
-When doing blocking writes, it is important to pick a timeout long enough to cover entire transfer, even if
-the ECU is pacing things slowly. Otherwise PassThruWriteMsg will return with a timeout, even though the
-transmission is proceeding normally.
-
-
-A.3 Transmitting an Unsegmented Message
-As a special case, transfers that fit in a single frame can be transmitted without setting up a conversation.
-This is useful during an OBD Request, which is a functionally addressed message that is broadcast to all
-ECUs. This message must be small enough to fit into a single frame (including headers) because it is not
-possible to do one segmented transfer to multiple ECUs.
-
-When using functional addressing for an OBD Request, it is important to remember that there can be no
-direct reply. Instead, each ECU will send their OBD Response using physical addressing to their
-conversation partner (e.g. ECU1 to Tester1, ECU2 to Tester2) as defined by ISO 15765-4. The OBD
-Response may be a segmented transfer, or it may be a single frame.
-
-In this case, no conversation setup is necessary. The call to PassThruWriteMsg is the same as above,
-except that the DataSize must be 7 bytes or less (6 bytes or less if extended addressing is turned on).
-The pass-thru device will automatically insert a PCI byte before transmission.
-
-
-A.4 Receiving a Segmented Message
-Message reception is asynchronous to the application. When a FirstFrame is seen on the bus, the pass-
-thru device will search the list of flow control filters, looking for a pPatternMsg message with the same
-CAN ID (and possible extended address) as the FirstFrame. Upon matching a filter, the pass-thru device will:
-
-� Place an RxStart indication in the API receive queue. This indication has the START_OF_MESSAGE
-bit set in RxFlags. The message data will contain the CAN ID of the sender. In our example, this is
-$641. DataSize will be 4 bytes (5 with extended addressing), and ExtraDataIndex will be zero.
-
-� Send a FlowControl frame to the conversation partner. The FlowStatus field shall be set to
-ontinueToSend. The CAN ID of this segment comes from the filter�s corresponding
-pFlowControlMsg. In our example, this CAN ID is $241. The BS (BlockSize) and STmin
-(SeparationTime minimum) parameters default to zero, but can be changed with the SET_CONFIGIoctl.
-
-� Wait for the conversation partner to send C
-onsecutiveFrames containing the actual data.  The
-partner�s CAN ID is specified in pPatternMsg. In our example, this CAN ID is $641.
-
-� Repeat as necessary until the entire block has been received. When finished, the pass-thru device will
-put the assembled message into the API receive queue. The CAN ID of the assembled message will
-be the CAN ID of the sender. In our example, this CAN ID is $641.
-
-If the FirstFrame does not match any flow control filters, then the message must be ignored by the
-device.
-
-Segmented messages cause the API to generate an RxStart indication. This lets the application know
-that the device has started message reception. It may take a while before message reception is
-complete, especially if the application has increased BS and STmin.
-
-Once the transfer is complete, the entire message can be read like on any other protocol. Usually,
-applications will call PassThruReadMsg again immediately after getting an RxStart indication. Application
-writers should not assume that the complete message will always follow the RxStart indication. If multiple
-conversations are setup, indications and messages from other conversations can be received in between
-the RxStart indication and the actual message. The parameters for PassThruReadMsg are exactly the
-same as in the previous section. The only difference is that the DataSize will be larger and
-ExtraDataIndex will be non-zero.
-
-
-
-A.5 Receiving an Unsegmented Message
-No messages can be received until a conversation is setup. Each conversation setup will receive
-messages from exactly one CAN ID (and extended address if present). Because setup is bi-directional,
-the same PassThruStartMsgFilter call used for transmission will allow for message reception.
-
-When a SingleFrame is seen on the bus, the pass-thru device will search the list of flow control filters,
-looking for a pPatternMsg message with the same C
-AN ID (and possible extended address) as the
-SingleFrame. Upon matching a filter, the pass-thru device will strip the PCI byte and queue the packet for
-reception. If the SingleFrame does not match a flow control filter, it must be discarded.
-
-The only difference between the previous cases is that single-frame messages do not generate an
-RxStart indication.
-
-
-
-
-
-
-
-
-
diff --git a/panda/drivers/windows/docs/read_msg_flags.png b/panda/drivers/windows/docs/read_msg_flags.png
deleted file mode 100644
index 6d0a1f87422713..00000000000000
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diff --git a/panda/drivers/windows/docs/reginfo.txt b/panda/drivers/windows/docs/reginfo.txt
deleted file mode 100644
index 03182832b21fa9..00000000000000
--- a/panda/drivers/windows/docs/reginfo.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-#32 bit: HKEY_LOCAL_MACHINE\SOFTWARE\PassThruSupport
-#64 bit: HKEY_LOCAL_MACHINE\SOFTWARE\WOW6432Node\PassThruSupport
diff --git a/panda/drivers/windows/docs/start_msg_filter.png b/panda/drivers/windows/docs/start_msg_filter.png
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diff --git a/panda/drivers/windows/docs/start_msg_filter4.png b/panda/drivers/windows/docs/start_msg_filter4.png
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diff --git a/panda/drivers/windows/docs/timeout_info.txt b/panda/drivers/windows/docs/timeout_info.txt
deleted file mode 100644
index 22cfa2c5d5c8e5..00000000000000
--- a/panda/drivers/windows/docs/timeout_info.txt
+++ /dev/null
@@ -1,42 +0,0 @@
-From focum information on NI hardware: https://forums.ni.com/t5/Automotive-and-Embedded-Networks/15765-2-with-NI-products/td-p/1454256
-
-/////////////////////////////////////////////////////////////////////
-Timeout Diag Command is the timeout in milliseconds the master
-waits for the response to a diagnostic request message. The default is
-1000 ms.
-
-Timeout FC (Bs) is the timeout in milliseconds the master waits
-for a Flow Control frame after sending a First Frame or the last
-Consecutive Frame of a block. The default is 250 ms.
-
-Timeout CF (Cr) is the timeout in milliseconds the master waits
-for a Consecutive Frame in a multiframe response. The default is
-250 ms.
-
-Receive Block Size (BS) is the number of Consecutive Frames the
-slave sends in one block before waiting for the next Flow Control
-frame. A value of 0 (default) means all Consecutive Frames are sent
-in one run without interruption.
-
-Wait Time CF (STmin) defines the minimum time for the slave to
-wait between sending two Consecutive Frames of a block. Values
-from 0 to 127 are wait times in milliseconds. Values 241 to 249
-(Hex F1 to F9) mean wait times of 100 μs to 900 μs, respectively.
-All other values are reserved. The default is 5 ms.
-
-Max Wait Frames (N_WFTmax) is the maximum number of WAIT
-frames the master accepts before terminating the connection. The
-default is 10.
-
-
-There are no defined lower limits for these values; you can specify any
-value down to 0. However, as you correctly pointed out, the timing is
-done by Windows, and will be subject to the jitter introduced by the OS
-which can easily be in the order of 10s of milliseconds. It is however
-hard to give more accurate numbers as the actual jitter is dependent on
-the workload of the computer
-/////////////////////////////////////////////////////////////////////
-
-J2534 04.04 does not appear to have default adjustable parameters for
-the timeout related fields. For now, these default values shall be used
-in the Panda J2534 implementation.
diff --git a/panda/drivers/windows/panda Driver Package/panda Driver Package.vcxproj b/panda/drivers/windows/panda Driver Package/panda Driver Package.vcxproj
deleted file mode 100644
index 5b448e96a850f4..00000000000000
--- a/panda/drivers/windows/panda Driver Package/panda Driver Package.vcxproj	
+++ /dev/null
@@ -1,99 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup Label="ProjectConfigurations">
-    <ProjectConfiguration Include="Debug|Win32">
-      <Configuration>Debug</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-  </ItemGroup>
-  <PropertyGroup Label="Globals">
-    <ProjectGuid>{BD34DB24-F5DC-4992-A74F-05FAF731ABED}</ProjectGuid>
-    <TemplateGuid>{a1357fe7-03e0-4d61-85f4-09c7ed38c0c1}</TemplateGuid>
-    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
-    <MinimumVisualStudioVersion>12.0</MinimumVisualStudioVersion>
-    <Configuration>$driverCurrentWindowsConfigurationName$ Debug</Configuration>
-    <Platform Condition="'$(Platform)' == ''">Win32</Platform>
-    <RootNamespace>panda_Driver_Package</RootNamespace>
-    <WindowsTargetPlatformVersion>$(LatestTargetPlatformVersion)</WindowsTargetPlatformVersion>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <TargetVersion>Windows10</TargetVersion>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>WindowsKernelModeDriver10.0</PlatformToolset>
-    <ConfigurationType>Utility</ConfigurationType>
-    <DriverType>Package</DriverType>
-    <DisableFastUpToDateCheck>true</DisableFastUpToDateCheck>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <TargetVersion>Windows10</TargetVersion>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>WindowsKernelModeDriver10.0</PlatformToolset>
-    <ConfigurationType>Utility</ConfigurationType>
-    <DriverType>Package</DriverType>
-    <DisableFastUpToDateCheck>true</DisableFastUpToDateCheck>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
-  <ImportGroup Label="ExtensionSettings">
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <PropertyGroup Label="UserMacros" />
-  <PropertyGroup />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <!-- Debug the associated application, not the WinUSB driver -->
-    <DebuggerFlavor>DbgengRemoteDebugger</DebuggerFlavor>
-    <HardwareIdString />
-    <CommandLine />
-    <DeployFiles />
-    <EnableVerifier>False</EnableVerifier>
-    <AllDrivers>False</AllDrivers>
-    <VerifyProjectOutput>True</VerifyProjectOutput>
-    <VerifyDrivers />
-    <VerifyFlags>133563</VerifyFlags>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <!-- Debug the associated application, not the WinUSB driver -->
-    <DebuggerFlavor>DbgengRemoteDebugger</DebuggerFlavor>
-    <HardwareIdString />
-    <CommandLine />
-    <DeployFiles />
-    <EnableVerifier>False</EnableVerifier>
-    <AllDrivers>False</AllDrivers>
-    <VerifyProjectOutput>True</VerifyProjectOutput>
-    <VerifyDrivers />
-    <VerifyFlags>133563</VerifyFlags>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <ItemGroup>
-    <Inf Include="panda.inf" />
-    <!-- Explicitly set all FilesToPackage since there is no dependency on a driver -->
-    <FilesToPackage Include="@(Inf->'%(CopyOutput)')" Condition="'@(Inf)'!=''" />
-    <FilesToPackage Condition="$(KMDF_VERSION_MAJOR) == 1 and $(KMDF_VERSION_MINOR) &lt; 13" Include="$(WDKContentRoot)redist\wdf\$(DDKPlatform)\WdfCoinstaller$(KMDF_VERSION_MAJOR_STRING)$(KMDF_VERSION_MINOR_STRING).dll" />
-  </ItemGroup>
-  <!-- INF handling depends on order. Some of the above ImportGroup nodes set up INF handling. -->
-  <!-- Modify INF handling here. -->
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <Inf>
-      <!-- The WinUSB driver requires KMDF, so we must provide a KMDF version number in the INF. -->
-      <!-- Use the user's KMDF setting (defaults to latest) -->
-      <KmdfVersionNumber>$(KMDF_VERSION_MAJOR).$(KMDF_VERSION_MINOR)</KmdfVersionNumber>
-    </Inf>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <Inf>
-      <!-- The WinUSB driver requires KMDF, so we must provide a KMDF version number in the INF. -->
-      <!-- Use the user's KMDF setting (defaults to latest) -->
-      <KmdfVersionNumber>$(KMDF_VERSION_MAJOR).$(KMDF_VERSION_MINOR)</KmdfVersionNumber>
-    </Inf>
-  </ItemDefinitionGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/panda Driver Package/panda Driver Package.vcxproj.filters b/panda/drivers/windows/panda Driver Package/panda Driver Package.vcxproj.filters
deleted file mode 100644
index b4cf07798166cf..00000000000000
--- a/panda/drivers/windows/panda Driver Package/panda Driver Package.vcxproj.filters	
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup>
-    <Filter Include="Driver Files">
-      <UniqueIdentifier>{8E41214B-6785-4CFE-B992-037D68949A14}</UniqueIdentifier>
-      <Extensions>inf;inv;inx;mof;mc;</Extensions>
-    </Filter>
-  </ItemGroup>
-  <ItemGroup>
-    <Inf Include="panda.inf">
-      <Filter>Driver Files</Filter>
-    </Inf>
-  </ItemGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/panda Driver Package/panda.inf b/panda/drivers/windows/panda Driver Package/panda.inf
deleted file mode 100644
index 69390dcbc0616f..00000000000000
Binary files a/panda/drivers/windows/panda Driver Package/panda.inf and /dev/null differ
diff --git a/panda/drivers/windows/panda.ico b/panda/drivers/windows/panda.ico
deleted file mode 100644
index 593a5cd33cb220..00000000000000
Binary files a/panda/drivers/windows/panda.ico and /dev/null differ
diff --git a/panda/drivers/windows/panda.sln b/panda/drivers/windows/panda.sln
deleted file mode 100644
index 39c8a63e28d23f..00000000000000
--- a/panda/drivers/windows/panda.sln
+++ /dev/null
@@ -1,92 +0,0 @@
-
-Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 15
-VisualStudioVersion = 15.0.27130.2027
-MinimumVisualStudioVersion = 10.0.40219.1
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "pandaJ2534DLL", "pandaJ2534DLL\pandaJ2534DLL.vcxproj", "{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda", "panda\panda.vcxproj", "{5528AEFB-638D-49AF-B9D4-965154E7D531}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda_playground", "panda_playground\panda_playground.vcxproj", "{691DB635-C272-4B98-897E-0505B970DCA9}"
-	ProjectSection(ProjectDependencies) = postProject
-		{5528AEFB-638D-49AF-B9D4-965154E7D531} = {5528AEFB-638D-49AF-B9D4-965154E7D531}
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda Driver Package", "panda Driver Package\panda Driver Package.vcxproj", "{BD34DB24-F5DC-4992-A74F-05FAF731ABED}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Tests", "pandaJ2534DLL Test\pandaJ2534DLL Test.vcxproj", "{7912F978-B48C-4C5D-8BFD-5D1E22158E47}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ECUsim DLL", "ECUsim DLL\ECUsim DLL.vcxproj", "{96E0E646-EE76-444D-9A77-A0CD7F781DEB}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ECUsim CLI", "ECUsim CLI\ECUsim CLI.vcxproj", "{D99E2FCD-21A4-4065-949A-31E34E0E69D1}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda_shared", "panda_shared\panda_shared.vcxitems", "{0C843279-68C7-4679-AE51-9BC463D50D1C}"
-EndProject
-Global
-	GlobalSection(SharedMSBuildProjectFiles) = preSolution
-		panda_shared\panda_shared.vcxitems*{0c843279-68c7-4679-ae51-9bc463d50d1c}*SharedItemsImports = 9
-		panda_shared\panda_shared.vcxitems*{5528aefb-638d-49af-b9d4-965154e7d531}*SharedItemsImports = 4
-		panda_shared\panda_shared.vcxitems*{a2bb18a5-f26b-48d6-bbb5-b83d64473c77}*SharedItemsImports = 4
-	EndGlobalSection
-	GlobalSection(SolutionConfigurationPlatforms) = preSolution
-		Debug|x64 = Debug|x64
-		Debug|x86 = Debug|x86
-		Release|x64 = Release|x64
-		Release|x86 = Release|x86
-	EndGlobalSection
-	GlobalSection(ProjectConfigurationPlatforms) = postSolution
-		{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x64.ActiveCfg = Debug|Win32
-		{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x86.ActiveCfg = Debug|Win32
-		{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x86.Build.0 = Debug|Win32
-		{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x64.ActiveCfg = Release|Win32
-		{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x86.ActiveCfg = Release|Win32
-		{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x86.Build.0 = Release|Win32
-		{5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x64.ActiveCfg = Debug|x64
-		{5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x64.Build.0 = Debug|x64
-		{5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x86.ActiveCfg = Debug|Win32
-		{5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x86.Build.0 = Debug|Win32
-		{5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x64.ActiveCfg = Release|x64
-		{5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x64.Build.0 = Release|x64
-		{5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x86.ActiveCfg = Release|Win32
-		{5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x86.Build.0 = Release|Win32
-		{691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x64.ActiveCfg = Debug|x64
-		{691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x64.Build.0 = Debug|x64
-		{691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x86.ActiveCfg = Debug|Win32
-		{691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x86.Build.0 = Debug|Win32
-		{691DB635-C272-4B98-897E-0505B970DCA9}.Release|x64.ActiveCfg = Release|x64
-		{691DB635-C272-4B98-897E-0505B970DCA9}.Release|x64.Build.0 = Release|x64
-		{691DB635-C272-4B98-897E-0505B970DCA9}.Release|x86.ActiveCfg = Release|Win32
-		{BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Debug|x64.ActiveCfg = Debug|Win32
-		{BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Debug|x86.ActiveCfg = Debug|Win32
-		{BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Release|x64.ActiveCfg = Release|Win32
-		{BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Release|x86.ActiveCfg = Release|Win32
-		{7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x64.ActiveCfg = Debug|Win32
-		{7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x86.ActiveCfg = Debug|Win32
-		{7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x86.Build.0 = Debug|Win32
-		{7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Release|x64.ActiveCfg = Release|Win32
-		{7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Release|x86.ActiveCfg = Release|Win32
-		{96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x64.ActiveCfg = Debug|x64
-		{96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x64.Build.0 = Debug|x64
-		{96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x86.ActiveCfg = Debug|Win32
-		{96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x86.Build.0 = Debug|Win32
-		{96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x64.ActiveCfg = Release|x64
-		{96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x64.Build.0 = Release|x64
-		{96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x86.ActiveCfg = Release|Win32
-		{D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x64.ActiveCfg = Debug|x64
-		{D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x64.Build.0 = Debug|x64
-		{D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x86.ActiveCfg = Debug|Win32
-		{D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x86.Build.0 = Debug|Win32
-		{D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x64.ActiveCfg = Release|x64
-		{D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x64.Build.0 = Release|x64
-		{D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x86.ActiveCfg = Release|Win32
-	EndGlobalSection
-	GlobalSection(SolutionProperties) = preSolution
-		HideSolutionNode = FALSE
-	EndGlobalSection
-	GlobalSection(ExtensibilityGlobals) = postSolution
-		SolutionGuid = {8AF3826E-406A-4F1C-BA80-B4D7FD4B52E1}
-	EndGlobalSection
-	GlobalSection(Performance) = preSolution
-		HasPerformanceSessions = true
-	EndGlobalSection
-EndGlobal
diff --git a/panda/drivers/windows/panda/dllmain.cpp b/panda/drivers/windows/panda/dllmain.cpp
deleted file mode 100644
index 69b58914b3572b..00000000000000
--- a/panda/drivers/windows/panda/dllmain.cpp
+++ /dev/null
@@ -1,19 +0,0 @@
-// dllmain.cpp : Defines the entry point for the DLL application.
-#include "stdafx.h"
-
-BOOL APIENTRY DllMain( HMODULE hModule,
-                       DWORD  ul_reason_for_call,
-                       LPVOID lpReserved
-					 )
-{
-	switch (ul_reason_for_call)
-	{
-	case DLL_PROCESS_ATTACH:
-	case DLL_THREAD_ATTACH:
-	case DLL_THREAD_DETACH:
-	case DLL_PROCESS_DETACH:
-		break;
-	}
-	return TRUE;
-}
-
diff --git a/panda/drivers/windows/panda/main.cpp b/panda/drivers/windows/panda/main.cpp
deleted file mode 100644
index 621c600b8238ae..00000000000000
--- a/panda/drivers/windows/panda/main.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-#include "stdafx.h"
-
-#include <stdio.h>
-
-LONG __cdecl
-_tmain(
-    LONG     Argc,
-    LPTSTR * Argv
-    )
-/*++
-
-Routine description:
-
-    Sample program that communicates with a USB device using WinUSB
-
---*/
-{
-    DEVICE_DATA           deviceData;
-    HRESULT               hr;
-    USB_DEVICE_DESCRIPTOR deviceDesc;
-    BOOL                  bResult;
-    BOOL                  noDevice;
-    ULONG                 lengthReceived;
-
-    UNREFERENCED_PARAMETER(Argc);
-    UNREFERENCED_PARAMETER(Argv);
-
-    //
-    // Find a device connected to the system that has WinUSB installed using our
-    // INF
-    //
-    hr = OpenDevice(&deviceData, &noDevice);
-
-    if (FAILED(hr)) {
-
-        if (noDevice) {
-
-            printf(_T("Device not connected or driver not installed\n"));
-
-        } else {
-
-            printf(_T("Failed looking for device, HRESULT 0x%x\n"), hr);
-        }
-
-        return 0;
-    }
-
-    //
-    // Get device descriptor
-    //
-    bResult = WinUsb_GetDescriptor(deviceData.WinusbHandle,
-                                   USB_DEVICE_DESCRIPTOR_TYPE,
-                                   0,
-                                   0,
-                                   (PBYTE) &deviceDesc,
-                                   sizeof(deviceDesc),
-                                   &lengthReceived);
-
-    if (FALSE == bResult || lengthReceived != sizeof(deviceDesc)) {
-
-        printf(_T("Error among LastError %d or lengthReceived %d\n"),
-               FALSE == bResult ? GetLastError() : 0,
-               lengthReceived);
-        CloseDevice(&deviceData);
-        return 0;
-    }
-
-    //
-    // Print a few parts of the device descriptor
-    //
-	printf(_T("Device found: VID_%04X&PID_%04X; bcdUsb %04X; path: %s\n"),
-           deviceDesc.idVendor,
-           deviceDesc.idProduct,
-           deviceDesc.bcdUSB,
-		deviceData.DevicePath);
-
-    CloseDevice(&deviceData);
-    return 0;
-}
diff --git a/panda/drivers/windows/panda/panda.ico b/panda/drivers/windows/panda/panda.ico
deleted file mode 100644
index ff0e071f54f12f..00000000000000
Binary files a/panda/drivers/windows/panda/panda.ico and /dev/null differ
diff --git a/panda/drivers/windows/panda/panda.rc b/panda/drivers/windows/panda/panda.rc
deleted file mode 100644
index 88cf9f76780799..00000000000000
Binary files a/panda/drivers/windows/panda/panda.rc and /dev/null differ
diff --git a/panda/drivers/windows/panda/panda.vcxproj b/panda/drivers/windows/panda/panda.vcxproj
deleted file mode 100644
index ccda7a6b232558..00000000000000
--- a/panda/drivers/windows/panda/panda.vcxproj
+++ /dev/null
@@ -1,189 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup Label="ProjectConfigurations">
-    <ProjectConfiguration Include="Debug|Win32">
-      <Configuration>Debug</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|x64">
-      <Configuration>Debug</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|x64">
-      <Configuration>Release</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-  </ItemGroup>
-  <PropertyGroup Label="Globals">
-    <ProjectGuid>{5528AEFB-638D-49AF-B9D4-965154E7D531}</ProjectGuid>
-    <Keyword>Win32Proj</Keyword>
-    <RootNamespace>panda</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <ConfigurationType>DynamicLibrary</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>DynamicLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
-    <ConfigurationType>DynamicLibrary</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
-    <ConfigurationType>DynamicLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
-  <ImportGroup Label="ExtensionSettings">
-  </ImportGroup>
-  <ImportGroup Label="Shared">
-    <Import Project="..\panda_shared\panda_shared.vcxitems" Label="Shared" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <PropertyGroup Label="UserMacros" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;_USRDLL;PANDA_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-      <TreatWarningAsError>false</TreatWarningAsError>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);winusb.lib;setupapi.lib</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>_DEBUG;_WINDOWS;_USRDLL;PANDA_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);winusb.lib;setupapi.lib</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;_USRDLL;PANDA_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);winusb.lib;setupapi.lib</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>NDEBUG;_WINDOWS;_USRDLL;PANDA_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);winusb.lib;setupapi.lib</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemGroup>
-    <ClInclude Include="resource.h" />
-    <ClInclude Include="stdafx.h" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="dllmain.cpp">
-      <CompileAsManaged Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">false</CompileAsManaged>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-      </PrecompiledHeader>
-      <CompileAsManaged Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">false</CompileAsManaged>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-      </PrecompiledHeader>
-      <CompileAsManaged Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">false</CompileAsManaged>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-      </PrecompiledHeader>
-      <CompileAsManaged Condition="'$(Configuration)|$(Platform)'=='Release|x64'">false</CompileAsManaged>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-      </PrecompiledHeader>
-    </ClCompile>
-    <ClCompile Include="stdafx.cpp">
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
-    </ClCompile>
-  </ItemGroup>
-  <ItemGroup>
-    <ResourceCompile Include="panda.rc" />
-  </ItemGroup>
-  <ItemGroup>
-    <Image Include="panda.ico" />
-  </ItemGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/panda/panda.vcxproj.filters b/panda/drivers/windows/panda/panda.vcxproj.filters
deleted file mode 100644
index afddad6e8b7f97..00000000000000
--- a/panda/drivers/windows/panda/panda.vcxproj.filters
+++ /dev/null
@@ -1,43 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup>
-    <Filter Include="Source Files">
-      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
-      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
-    </Filter>
-    <Filter Include="Header Files">
-      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
-      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
-    </Filter>
-    <Filter Include="Resource Files">
-      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
-      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
-    </Filter>
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="stdafx.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="resource.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="stdafx.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="dllmain.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-  </ItemGroup>
-  <ItemGroup>
-    <ResourceCompile Include="panda.rc">
-      <Filter>Resource Files</Filter>
-    </ResourceCompile>
-  </ItemGroup>
-  <ItemGroup>
-    <Image Include="panda.ico">
-      <Filter>Resource Files</Filter>
-    </Image>
-  </ItemGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/panda/resource.h b/panda/drivers/windows/panda/resource.h
deleted file mode 100644
index bf006ff4b39308..00000000000000
Binary files a/panda/drivers/windows/panda/resource.h and /dev/null differ
diff --git a/panda/drivers/windows/panda/stdafx.cpp b/panda/drivers/windows/panda/stdafx.cpp
deleted file mode 100644
index 8793e09b40dfb5..00000000000000
--- a/panda/drivers/windows/panda/stdafx.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-// stdafx.cpp : source file that includes just the standard includes
-// panda.pch will be the pre-compiled header
-// stdafx.obj will contain the pre-compiled type information
-
-#include "stdafx.h"
-
-// TODO: reference any additional headers you need in STDAFX.H
-// and not in this file
diff --git a/panda/drivers/windows/panda/stdafx.h b/panda/drivers/windows/panda/stdafx.h
deleted file mode 100644
index cc3d3b96672b27..00000000000000
--- a/panda/drivers/windows/panda/stdafx.h
+++ /dev/null
@@ -1,19 +0,0 @@
-// stdafx.h : include file for standard system include files,
-// or project specific include files that are used frequently, but
-// are changed infrequently
-//
-
-#pragma once
-
-#include "targetver.h"
-
-#ifndef WIN32_LEAN_AND_MEAN
-#define WIN32_LEAN_AND_MEAN             // Exclude rarely-used stuff from Windows headers
-#endif
-// Windows Header Files:
-#include <windows.h>
-
-#include <tchar.h>
-#include <strsafe.h>
-#include <winusb.h>
-#include <usb.h>
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/ECUsim_tests.cpp b/panda/drivers/windows/pandaJ2534DLL Test/ECUsim_tests.cpp
deleted file mode 100644
index 8a9161475c90bd..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/ECUsim_tests.cpp	
+++ /dev/null
@@ -1,87 +0,0 @@
-#include "stdafx.h"
-#include "Loader4.h"
-#include "pandaJ2534DLL/J2534_v0404.h"
-#include "panda_shared/panda.h"
-#include "Timer.h"
-#include "ECUsim DLL\ECUsim.h"
-#include "TestHelpers.h"
-
-using namespace Microsoft::VisualStudio::CppUnitTestFramework;
-
-namespace pandaWCUsimTest
-{
-
-	TEST_CLASS(ECUsimTests)
-	{
-	public:
-
-		TEST_METHOD(ECUsim_ISO15765_SingleFrameTx_29bStandardAddrPad500k)
-		{
-			ECUsim sim("", 500000);
-			auto p = getPanda(500);
-
-			p->can_send(0x18daeff1, TRUE, (const uint8_t*)"\x02\x01\x00", 3, panda::PANDA_CAN1);
-			auto msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(msg_recv[0], 0, 0x18daeff1, TRUE, TRUE, std::string("\x02\x01\x00", 3), LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x06\x41\x00\xff\xff\xff\xfe\x00", 8), LINE_INFO());
-		}
-
-		TEST_METHOD(ECUsim_ISO15765_SingleFrameTx_29bStandardAddrPad250k)
-		{
-			ECUsim sim("", 250000);
-			auto p = getPanda(250);
-
-			p->can_send(0x18daeff1, TRUE, (const uint8_t*)"\x02\x01\x00", 3, panda::PANDA_CAN1);
-			auto msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(msg_recv[0], 0, 0x18daeff1, TRUE, TRUE, std::string("\x02\x01\x00", 3), LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x06""\x41\x00""\xff\xff\xff\xfe""\x00", 8), LINE_INFO());
-		}
-
-		TEST_METHOD(ECUsim_ISO15765_SingleFrameTx_29bExtAddrPad500k)
-		{
-			ECUsim sim("", 500000, TRUE);
-			auto p = getPanda(500);
-
-			p->can_send(0x18daeff1, TRUE, (const uint8_t*)"\x13""\x02\x01\x00", 4, panda::PANDA_CAN1);
-			auto msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(msg_recv[0], 0, 0x18daeff1, TRUE, TRUE, std::string("\x13""\x02\x01\x00", 4), LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x13""\x06""\x41\x00""\xff\xff\xff\xfe", 8), LINE_INFO());
-		}
-
-		TEST_METHOD(ECUsim_ISO15765_MultiFrameTx_29bStandardAddrPad500k)
-		{
-			ECUsim sim("", 500000);
-			auto p = getPanda(500);
-
-			p->can_send(0x18daeff1, TRUE, (const uint8_t*)"\x02\x09\x02", 3, panda::PANDA_CAN1);
-			auto msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(msg_recv[0], 0, 0x18daeff1, TRUE, TRUE, std::string("\x02\x09\x02", 3), LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x10\x14""\x49\x02\x01""1D4", 8), LINE_INFO());
-
-			p->can_send(0x18daeff1, TRUE, (const uint8_t*)"\x30\x00\x00", 3, panda::PANDA_CAN1);
-			msg_recv = panda_recv_loop(p, 3);
-			check_panda_can_msg(msg_recv[0], 0, 0x18daeff1, TRUE, TRUE, std::string("\x30\x0\x0", 3), LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x21""GP00R55", 8), LINE_INFO());
-			check_panda_can_msg(msg_recv[2], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x22""B123456", 8), LINE_INFO());
-		}
-
-		TEST_METHOD(ECUsim_ISO15765_MultiFrameTx_29bExtAddrPad500k)
-		{
-			ECUsim sim("", 500000, TRUE);
-			auto p = getPanda(500);
-
-			p->can_send(0x18daeff1, TRUE, (const uint8_t*)"\x13""\x02\x09\x02", 4, panda::PANDA_CAN1);
-			auto msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(msg_recv[0], 0, 0x18daeff1, TRUE, TRUE, std::string("\x13""\x02\x09\x02", 4), LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x13""\x10\x14""\x49\x02\x01""1D", 8), LINE_INFO());
-
-			p->can_send(0x18daeff1, TRUE, (const uint8_t*)"\x13""\x30\x00\x00", 4, panda::PANDA_CAN1);
-			msg_recv = panda_recv_loop(p, 4);
-			check_panda_can_msg(msg_recv[0], 0, 0x18daeff1, TRUE, TRUE, std::string("\x13""\x30\x0\x0", 4), LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x13""\x21""4GP00R", 8), LINE_INFO());
-			check_panda_can_msg(msg_recv[2], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x13""\x22""55B123", 8), LINE_INFO());
-			check_panda_can_msg(msg_recv[3], 0, 0x18daf1ef, TRUE, FALSE, std::string("\x13""\x23""456", 5), LINE_INFO());
-		}
-	};
-
-}
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/Loader4.cpp b/panda/drivers/windows/pandaJ2534DLL Test/Loader4.cpp
deleted file mode 100644
index f4a0b70fa596c2..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/Loader4.cpp	
+++ /dev/null
@@ -1,240 +0,0 @@
-// Loader4.cpp
-// (c) 2005 National Control Systems, Inc.
-// Portions (c) 2004 Drew Technologies, Inc.
-// Dynamic J2534 v04.04 dll loader for VB
-
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License
-// as published by the Free Software Foundation; either version 2
-// of the License, or any later version.
-
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to:
-// the Free Software Foundation, Inc.
-// 51 Franklin Street, Fifth Floor
-// Boston, MA  02110-1301, USA
-
-// National Control Systems, Inc.
-// 10737 Hamburg Rd
-// Hamburg, MI 48139
-// 810-231-2901
-
-// Drew Technologies, Inc.
-// 7012  E.M -36, Suite 3B
-// Whitmore Lake, MI 48189
-// 810-231-3171
-
-#define STRICT
-#include "stdafx.h"
-#include <windows.h>
-#include "Loader4.h"
-
-PTOPEN LocalOpen;
-PTCLOSE LocalClose;
-PTCONNECT LocalConnect;
-PTDISCONNECT LocalDisconnect;
-PTREADMSGS LocalReadMsgs;
-PTWRITEMSGS LocalWriteMsgs;
-PTSTARTPERIODICMSG LocalStartPeriodicMsg;
-PTSTOPPERIODICMSG LocalStopPeriodicMsg;
-PTSTARTMSGFILTER LocalStartMsgFilter;
-PTSTOPMSGFILTER LocalStopMsgFilter;
-PTSETPROGRAMMINGVOLTAGE LocalSetProgrammingVoltage;
-PTREADVERSION LocalReadVersion;
-PTGETLASTERROR LocalGetLastError;
-PTIOCTL LocalIoctl;
-
-HINSTANCE hDLL = NULL;
-//BOOL bIsCorrectVersion = FALSE;
-
-BOOL WINAPI DllMain(HINSTANCE hInstA, DWORD dwReason, LPVOID lpvReserved)
-{
-	switch (dwReason) {
-	case DLL_PROCESS_ATTACH:
-		// The DLL is being mapped into the process's address space
-
-	case DLL_THREAD_ATTACH:
-		// A thread is being created
-	    break;
-
-	case DLL_THREAD_DETACH:
-		// A thread is exiting cleanly
-	    break;
-
-	case DLL_PROCESS_DETACH:
-		// The DLL is being unmapped from the process's address space
-	    break;
-	}
-
-	return TRUE;
-}
-
-
-long WINAPI LoadJ2534Dll(char *sLib)
-{
-	long lFuncList = 0;
-
-	if (hDLL != NULL) UnloadJ2534Dll();
-	hDLL = LoadLibraryA (sLib);
-	if (hDLL == NULL) return ERR_NO_DLL;
-
-	LocalOpen = (PTOPEN)(GetProcAddress(hDLL, "PassThruOpen"));
-	if (LocalOpen == NULL) lFuncList = lFuncList | ERR_NO_PTOPEN;
-
-	LocalClose = (PTCLOSE)(GetProcAddress(hDLL, "PassThruClose"));
-	if (LocalClose == NULL) lFuncList = lFuncList | ERR_NO_PTCLOSE;
-
-	LocalConnect = (PTCONNECT)(GetProcAddress(hDLL,"PassThruConnect"));
-	if (LocalConnect == NULL) lFuncList = lFuncList | ERR_NO_PTCONNECT;
-
-	LocalDisconnect = (PTDISCONNECT)(GetProcAddress(hDLL,"PassThruDisconnect"));
-	if (LocalDisconnect == NULL) lFuncList = lFuncList | ERR_NO_PTDISCONNECT;
-
-	LocalReadMsgs = (PTREADMSGS)(GetProcAddress(hDLL,"PassThruReadMsgs"));
-	if (LocalReadMsgs == NULL) lFuncList = lFuncList | ERR_NO_PTREADMSGS;
-
-	LocalWriteMsgs = (PTWRITEMSGS)(GetProcAddress(hDLL,"PassThruWriteMsgs"));
-	if (LocalWriteMsgs == NULL) lFuncList = lFuncList | ERR_NO_PTWRITEMSGS;
-
-	LocalStartPeriodicMsg = (PTSTARTPERIODICMSG)(GetProcAddress(hDLL,"PassThruStartPeriodicMsg"));
-	if (LocalStartPeriodicMsg == NULL) lFuncList = lFuncList | ERR_NO_PTSTARTPERIODICMSG;
-
-	LocalStopPeriodicMsg = (PTSTOPPERIODICMSG)(GetProcAddress(hDLL,"PassThruStopPeriodicMsg"));
-	if (LocalStopPeriodicMsg == NULL) lFuncList = lFuncList | ERR_NO_PTSTOPPERIODICMSG;
-
-	LocalStartMsgFilter = (PTSTARTMSGFILTER)(GetProcAddress(hDLL,"PassThruStartMsgFilter"));
-	if (LocalStartPeriodicMsg == NULL) lFuncList = lFuncList | ERR_NO_PTSTARTMSGFILTER;
-
-	LocalStopMsgFilter = (PTSTOPMSGFILTER)(GetProcAddress(hDLL,"PassThruStopMsgFilter"));
-	if (LocalStopMsgFilter == NULL) lFuncList = lFuncList | ERR_NO_PTSTOPMSGFILTER;
-
-	LocalSetProgrammingVoltage = (PTSETPROGRAMMINGVOLTAGE)(GetProcAddress(hDLL,"PassThruSetProgrammingVoltage"));
-	if (LocalSetProgrammingVoltage == NULL) lFuncList = lFuncList | ERR_NO_PTSETPROGRAMMINGVOLTAGE;
-
-	LocalReadVersion = (PTREADVERSION)(GetProcAddress(hDLL,"PassThruReadVersion"));
-	if (LocalReadVersion == NULL) lFuncList = lFuncList | ERR_NO_PTREADVERSION;
-
-	LocalGetLastError = (PTGETLASTERROR)(GetProcAddress(hDLL,"PassThruGetLastError"));
-	if (LocalGetLastError == NULL) lFuncList = lFuncList | ERR_NO_PTGETLASTERROR;
-
-	LocalIoctl = (PTIOCTL)(GetProcAddress(hDLL,"PassThruIoctl"));
-	if (LocalIoctl == NULL) lFuncList = lFuncList | ERR_NO_PTIOCTL;
-
-	if (lFuncList == ERR_NO_FUNCTIONS) return ERR_WRONG_DLL_VER;
-
-	return lFuncList;
-}
-
-long WINAPI UnloadJ2534Dll()
-{
-	if (FreeLibrary(hDLL))
-	{
-		hDLL = NULL;
-		LocalOpen = NULL;
-		LocalClose = NULL;
-		LocalConnect = NULL;
-		LocalDisconnect = NULL;
-		LocalReadMsgs = NULL;
-		LocalWriteMsgs = NULL;
-		LocalStartPeriodicMsg = NULL;
-		LocalStopPeriodicMsg = NULL;
-		LocalStartMsgFilter = NULL;
-		LocalStopMsgFilter = NULL;
-		LocalSetProgrammingVoltage = NULL;
-		LocalReadVersion = NULL;
-		LocalGetLastError = NULL;
-		LocalIoctl = NULL;
-		return 0;
-	}
-	return ERR_NO_DLL;
-}
-
-long WINAPI PassThruOpen(void *pName, unsigned long *pDeviceID)
-{
-	if (LocalOpen == NULL) return ERR_FUNC_MISSING;
-	return LocalOpen(pName, pDeviceID);
-}
-
-long WINAPI PassThruClose(unsigned long DeviceID)
-{
-	if (LocalOpen == NULL) return ERR_FUNC_MISSING;
-	return LocalClose(DeviceID);
-}
-
-long WINAPI PassThruConnect(unsigned long DeviceID, unsigned long ProtocolID, unsigned long Flags, unsigned long Baudrate, unsigned long *pChannelID)
-{
-	if (LocalConnect == NULL) return ERR_FUNC_MISSING;
-	return LocalConnect(DeviceID, ProtocolID, Flags, Baudrate, pChannelID);
-}
-
-long WINAPI PassThruDisconnect(unsigned long ChannelID)
-{
-	if (LocalDisconnect == NULL) return ERR_FUNC_MISSING;
-	return LocalDisconnect(ChannelID);
-}
-
-long WINAPI PassThruReadMsgs(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout)
-{
-	if (LocalReadMsgs == NULL) return ERR_FUNC_MISSING;
-	return LocalReadMsgs(ChannelID, pMsg, pNumMsgs, Timeout);
-}
-
-long WINAPI PassThruWriteMsgs(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout)
-{
-	if (LocalWriteMsgs == NULL) return ERR_FUNC_MISSING;
-	return LocalWriteMsgs(ChannelID, pMsg, pNumMsgs, Timeout);
-}
-
-long WINAPI PassThruStartPeriodicMsg(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pMsgID, unsigned long TimeInterval)
-{
-	if (LocalStartPeriodicMsg == NULL) return ERR_FUNC_MISSING;
-	return LocalStartPeriodicMsg(ChannelID, pMsg, pMsgID, TimeInterval);
-}
-
-long WINAPI PassThruStopPeriodicMsg(unsigned long ChannelID, unsigned long MsgID)
-{
-	if (LocalStopPeriodicMsg == NULL) return ERR_FUNC_MISSING;
-	return LocalStopPeriodicMsg(ChannelID, MsgID);
-}
-
-long WINAPI PassThruStartMsgFilter(unsigned long ChannelID, unsigned long FilterType,
-	PASSTHRU_MSG *pMaskMsg, PASSTHRU_MSG *pPatternMsg, PASSTHRU_MSG *pFlowControlMsg, unsigned long *pFilterID)
-{
-	if (LocalStartMsgFilter == NULL) return ERR_FUNC_MISSING;
-	return LocalStartMsgFilter(ChannelID, FilterType, pMaskMsg, pPatternMsg, pFlowControlMsg, pFilterID);
-}
-
-long WINAPI PassThruStopMsgFilter(unsigned long ChannelID, unsigned long FilterID)
-{
-	if (LocalStopMsgFilter == NULL) return ERR_FUNC_MISSING;
-	return LocalStopMsgFilter(ChannelID, FilterID);
-}
-
-long WINAPI PassThruSetProgrammingVoltage(unsigned long DeviceID, unsigned long PinNumber, unsigned long Voltage)
-{
-	if (LocalSetProgrammingVoltage == NULL) return ERR_FUNC_MISSING;
-	return LocalSetProgrammingVoltage(DeviceID, PinNumber, Voltage);
-}
-
-long WINAPI PassThruReadVersion(unsigned long DeviceID, char *pFirmwareVersion, char *pDllVersion, char *pApiVersion)
-{
-	if (LocalReadVersion == NULL) return ERR_FUNC_MISSING;
-	return LocalReadVersion(DeviceID, pFirmwareVersion, pDllVersion, pApiVersion);
-}
-
-long WINAPI PassThruGetLastError(char *pErrorDescription)
-{
-	if (LocalGetLastError == NULL) return ERR_FUNC_MISSING;
-	return LocalGetLastError(pErrorDescription);
-}
-
-long WINAPI PassThruIoctl(unsigned long ChannelID, unsigned long IoctlID, void *pInput, void *pOutput)
-{
-	if (LocalIoctl == NULL) return ERR_FUNC_MISSING;
-	return LocalIoctl(ChannelID, IoctlID, pInput, pOutput);
-}
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/Loader4.h b/panda/drivers/windows/pandaJ2534DLL Test/Loader4.h
deleted file mode 100644
index 9710144141e881..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/Loader4.h	
+++ /dev/null
@@ -1,55 +0,0 @@
-// Loader4.h
-// (c) 2005 National Control Systems, Inc.
-// Portions (c) 2004 Drew Technologies, Inc.
-
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License
-// as published by the Free Software Foundation; either version 2
-// of the License, or any later version.
-
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to:
-// the Free Software Foundation, Inc.
-// 51 Franklin Street, Fifth Floor
-// Boston, MA  02110-1301, USA
-
-// National Control Systems, Inc.
-// 10737 Hamburg Rd
-// Hamburg, MI 48139
-// 810-231-2901
-
-// Drew Technologies, Inc.
-// 7012  E.M -36, Suite 3B
-// Whitmore Lake, MI 48189
-// 810-231-3171
-
-#include "pandaJ2534DLL/J2534_v0404.h"
-
-//Other Functions
-long WINAPI LoadJ2534Dll(char *);
-long WINAPI UnloadJ2534Dll();
-
-// NCS Returns of any functions not found
-#define ERR_NO_PTOPEN					0x0001
-#define ERR_NO_PTCLOSE					0x0002
-#define ERR_NO_PTCONNECT				0x0004
-#define ERR_NO_PTDISCONNECT				0x0008
-#define ERR_NO_PTREADMSGS				0x0010
-#define ERR_NO_PTWRITEMSGS				0x0020
-#define ERR_NO_PTSTARTPERIODICMSG		0x0040
-#define ERR_NO_PTSTOPPERIODICMSG		0x0080
-#define ERR_NO_PTSTARTMSGFILTER			0x0100
-#define ERR_NO_PTSTOPMSGFILTER			0x0200
-#define ERR_NO_PTSETPROGRAMMINGVOLTAGE	0x0400
-#define ERR_NO_PTREADVERSION			0x0800
-#define ERR_NO_PTGETLASTERROR			0x1000
-#define ERR_NO_PTIOCTL					0x2000
-#define ERR_NO_FUNCTIONS				0x3fff
-#define ERR_NO_DLL						-1
-#define ERR_WRONG_DLL_VER				-2
-#define ERR_FUNC_MISSING				-3
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/TestHelpers.cpp b/panda/drivers/windows/pandaJ2534DLL Test/TestHelpers.cpp
deleted file mode 100644
index 1281eb9d616c43..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/TestHelpers.cpp	
+++ /dev/null
@@ -1,254 +0,0 @@
-#include "stdafx.h"
-#include "TestHelpers.h"
-#include "Loader4.h"
-#include "pandaJ2534DLL/J2534_v0404.h"
-#include "panda_shared/panda.h"
-#include "Timer.h"
-
-using namespace Microsoft::VisualStudio::CppUnitTestFramework;
-
-void write_ioctl(unsigned int chanid, unsigned int param, unsigned int val, const __LineInfo* pLineInfo) {
-	SCONFIG config = { param, val };
-	SCONFIG_LIST inconfig = { 1, &config };
-
-	Assert::AreEqual<long>(STATUS_NOERROR, PassThruIoctl(chanid, SET_CONFIG, &inconfig, NULL), _T("Failed to set IOCTL."), pLineInfo);
-}
-
-std::vector<panda::PANDA_CAN_MSG> panda_recv_loop_loose(std::unique_ptr<panda::Panda>& p, unsigned int min_num, unsigned long timeout_ms) {
-	std::vector<panda::PANDA_CAN_MSG> ret_messages;
-	Timer t = Timer();
-
-	while (t.getTimePassed() < timeout_ms) {
-		Sleep(10);
-		std::vector<panda::PANDA_CAN_MSG>msg_recv = p->can_recv();
-		if (msg_recv.size() > 0) {
-			ret_messages.insert(std::end(ret_messages), std::begin(msg_recv), std::end(msg_recv));
-		}
-	}
-
-	Assert::IsTrue(min_num <= ret_messages.size(), _T("Received too few messages."));
-	return ret_messages;
-}
-
-std::vector<panda::PANDA_CAN_MSG> panda_recv_loop(std::unique_ptr<panda::Panda>& p, unsigned int num_expected, unsigned long timeout_ms) {
-	std::vector<panda::PANDA_CAN_MSG> ret_messages;
-	Timer t = Timer();
-
-	while (t.getTimePassed() < timeout_ms) {
-		Sleep(10);
-		std::vector<panda::PANDA_CAN_MSG>msg_recv = p->can_recv();
-		if (msg_recv.size() > 0) {
-			ret_messages.insert(std::end(ret_messages), std::begin(msg_recv), std::end(msg_recv));
-		}
-		if (ret_messages.size() >= num_expected) break;
-	}
-
-	std::ostringstream stringStream;
-
-	stringStream << "j2534_recv_loop Broke at " << t.getTimePassed() << " ms size is " << ret_messages.size() << std::endl;
-
-	if (num_expected != ret_messages.size()) {
-		stringStream << "Incorrect number of messages received. Displaying the messages:" << std::endl;
-		for (auto msg : ret_messages) {
-			stringStream << "    TS: " << msg.recv_time << "; Dat: ";
-			for (int i = 0; i < msg.len; i++) stringStream << std::hex << std::setw(2) << std::setfill('0') << int(msg.dat[i] & 0xFF) << " ";
-			stringStream << std::endl;
-		}
-	}
-
-	Logger::WriteMessage(stringStream.str().c_str());
-
-	Assert::AreEqual<unsigned long>(num_expected, ret_messages.size(), _T("Received wrong number of messages."));
-	return ret_messages;
-}
-
-void check_panda_can_msg(panda::PANDA_CAN_MSG& msgin, uint8_t bus, unsigned long addr, bool addr_29b,
-	bool is_receipt, std::string dat, const __LineInfo* pLineInfo) {
-	Assert::AreEqual<uint8_t>(bus, msgin.bus, _T("Wrong msg bus"), pLineInfo);
-	Assert::AreEqual<unsigned long>(addr, msgin.addr, _T("Wrong msg addr"), pLineInfo);
-	Assert::AreEqual<bool>(addr_29b, msgin.addr_29b, _T("Wrong msg 29b flag"), pLineInfo);
-	Assert::AreEqual<bool>(is_receipt, msgin.is_receipt, _T("Wrong msg receipt flag"), pLineInfo);
-
-	std::ostringstream logmsg;
-	logmsg << "Expected Hex (";
-	for (int i = 0; i < dat.size(); i++) logmsg << std::hex << std::setw(2) << std::setfill('0') << int(dat[i] & 0xFF) << " ";
-	logmsg << "); Actual Hex (";
-	for (int i = 0; i < msgin.len; i++) logmsg << std::hex << std::setw(2) << std::setfill('0') << int(((char*)msgin.dat)[i] & 0xFF) << " ";
-	logmsg << ")";
-	Logger::WriteMessage(logmsg.str().c_str());
-
-	Assert::AreEqual<size_t>(dat.size(), msgin.len, _T("Wrong msg len"), pLineInfo);
-	Assert::AreEqual<std::string>(dat, std::string((char*)msgin.dat, msgin.len), _T("Wrong msg payload"), pLineInfo);
-}
-
-unsigned long J2534_start_periodic_msg_checked(unsigned long chanid, unsigned long ProtocolID, unsigned long TxFlags, unsigned long DataSize,
-	unsigned long ExtraDataIndex, const char * Data, unsigned long TimeInterval, const __LineInfo * pLineInfo) {
-	PASSTHRU_MSG msg = { ProtocolID, 0, TxFlags, 0, DataSize, ExtraDataIndex };
-	memcpy_s(msg.Data, 4128, Data, DataSize);
-	unsigned long msgID;
-	Assert::AreEqual<long>(STATUS_NOERROR, J2534_start_periodic_msg(chanid, ProtocolID, TxFlags, DataSize,
-		ExtraDataIndex, Data, TimeInterval, &msgID, pLineInfo), _T("Failed to start Periodic Message."), pLineInfo);
-	return msgID;
-}
-
-unsigned long J2534_start_periodic_msg(unsigned long chanid, unsigned long ProtocolID, unsigned long TxFlags, unsigned long DataSize,
-	unsigned long ExtraDataIndex, const char * Data, unsigned long TimeInterval, unsigned long* msgID, const __LineInfo * pLineInfo) {
-	PASSTHRU_MSG msg = { ProtocolID, 0, TxFlags, 0, DataSize, ExtraDataIndex };
-	memcpy_s(msg.Data, 4128, Data, DataSize);
-	return PassThruStartPeriodicMsg(chanid, &msg, msgID, TimeInterval);
-}
-
-void J2534_send_msg_checked(unsigned long chanid, unsigned long ProtocolID, unsigned long RxStatus, unsigned long TxFlags,
-	unsigned long Timestamp, unsigned long DataSize, unsigned long ExtraDataIndex, const char* Data, const __LineInfo* pLineInfo) {
-
-	PASSTHRU_MSG msg = { ProtocolID, RxStatus, TxFlags, Timestamp, DataSize, ExtraDataIndex };
-	memcpy_s(msg.Data, 4128, Data, DataSize);
-	unsigned long msgcount = 1;
-	Assert::AreEqual<long>(STATUS_NOERROR, PassThruWriteMsgs(chanid, &msg, &msgcount, 0), _T("Failed to write message."), pLineInfo);
-	Assert::AreEqual<unsigned long>(1, msgcount, _T("Wrong message count after tx."), pLineInfo);
-}
-
-long J2534_send_msg(unsigned long chanid, unsigned long ProtocolID, unsigned long RxStatus, unsigned long TxFlags,
-	unsigned long Timestamp, unsigned long DataSize, unsigned long ExtraDataIndex, const char* Data) {
-
-	PASSTHRU_MSG msg = { ProtocolID, RxStatus, TxFlags, Timestamp, DataSize, ExtraDataIndex };
-	memcpy_s(msg.Data, 4128, Data, DataSize);
-	unsigned long msgcount = 1;
-	return PassThruWriteMsgs(chanid, &msg, &msgcount, 0);
-}
-
-//Allow more messages to come in than the min.
-std::vector<PASSTHRU_MSG> j2534_recv_loop_loose(unsigned int chanid, unsigned int min_num, unsigned long timeout_ms) {
-	std::vector<PASSTHRU_MSG> ret_messages;
-	PASSTHRU_MSG recvbuff[4] = {};
-	Timer t = Timer();
-
-	while (t.getTimePassed() < timeout_ms) {
-		unsigned long msgcount = 4;
-		unsigned int res = PassThruReadMsgs(chanid, recvbuff, &msgcount, 0);
-		if (res == ERR_BUFFER_EMPTY) continue;
-		Assert::IsFalse(msgcount > 4, _T("PassThruReadMsgs returned more data than the buffer could hold."));
-		Assert::AreEqual<long>(STATUS_NOERROR, res, _T("Failed to read message."));
-		if (msgcount > 0) {
-			for (unsigned int i = 0; i < msgcount; i++) {
-				ret_messages.push_back(recvbuff[i]);
-			}
-		}
-	}
-
-	Assert::IsTrue(min_num <= ret_messages.size(), _T("Received too few messages."));
-	return ret_messages;
-}
-
-std::vector<PASSTHRU_MSG> j2534_recv_loop(unsigned int chanid, unsigned int num_expected, unsigned long timeout_ms) {
-	std::vector<PASSTHRU_MSG> ret_messages;
-	PASSTHRU_MSG recvbuff[4] = {};
-	Timer t = Timer();
-
-	while (t.getTimePassed() < timeout_ms) {
-		unsigned long msgcount = 4;
-		unsigned int res = PassThruReadMsgs(chanid, recvbuff, &msgcount, 0);
-		if (res == ERR_BUFFER_EMPTY) continue;
-		Assert::IsFalse(msgcount > 4, _T("PassThruReadMsgs returned more data than the buffer could hold."));
-		Assert::AreEqual<long>(STATUS_NOERROR, res, _T("Failed to read message."));
-		if (msgcount > 0) {
-			for (unsigned int i = 0; i < msgcount; i++) {
-				ret_messages.push_back(recvbuff[i]);
-			}
-		}
-		if (ret_messages.size() >= num_expected) break;
-	}
-
-	std::ostringstream stringStream;
-	stringStream << "j2534_recv_loop Broke at " << t.getTimePassed() << " ms size is " << ret_messages.size() << std::endl;
-
-	if (num_expected != ret_messages.size()) {
-		stringStream << "Incorrect number of messages received. Displaying the messages:" << std::endl;
-		for (auto msg : ret_messages) {
-			stringStream << "    TS: " << msg.Timestamp << "; Dat: ";
-			for (int i = 0; i < msg.DataSize; i++) stringStream << std::hex << std::setw(2) << std::setfill('0') << int(msg.Data[i] & 0xFF) << " ";
-			stringStream << std::endl;
-		}
-	}
-
-	Logger::WriteMessage(stringStream.str().c_str());
-
-	Assert::AreEqual<unsigned long>(num_expected, ret_messages.size(), _T("Received wrong number of messages."));
-	return ret_messages;
-}
-
-void check_J2534_can_msg(PASSTHRU_MSG& msgin, unsigned long ProtocolID, unsigned long RxStatus, unsigned long TxFlags,
-	unsigned long DataSize, unsigned long ExtraDataIndex, const char* Data, const __LineInfo* pLineInfo) {
-	Assert::AreEqual<size_t>(DataSize, msgin.DataSize, _T("Wrong msg len"), pLineInfo);
-
-	std::ostringstream logmsg;
-	logmsg << "Expected Hex (";
-	for (int i = 0; i < DataSize; i++) logmsg << std::hex << std::setw(2) << std::setfill('0') << int(Data[i] & 0xFF) << " ";
-	logmsg << "); Actual Hex (";
-	for (int i = 0; i < msgin.DataSize; i++) logmsg << std::hex << std::setw(2) << std::setfill('0') << int(((char*)msgin.Data)[i] & 0xFF) << " ";
-	logmsg << ")";
-	Logger::WriteMessage(logmsg.str().c_str());
-	Assert::AreEqual<std::string>(std::string(Data, DataSize), std::string((char*)msgin.Data, msgin.DataSize), _T("Wrong msg payload"), pLineInfo);
-
-	Assert::AreEqual<unsigned long>(ProtocolID, msgin.ProtocolID, _T("Wrong msg protocol"), pLineInfo);
-	Assert::AreEqual<unsigned long>(RxStatus, msgin.RxStatus, _T("Wrong msg receipt rxstatus"), pLineInfo);
-	Assert::AreEqual<unsigned long>(TxFlags, msgin.TxFlags, _T("Wrong msg receipt txflag"), pLineInfo);
-	Assert::AreEqual<unsigned long>(ExtraDataIndex, msgin.ExtraDataIndex, _T("Wrong msg ExtraDataIndex"), pLineInfo);
-}
-
-unsigned long J2534_set_PASS_filter(unsigned long chanid, unsigned long ProtocolID, unsigned long tx,
-	unsigned long len, char* mask, char* pattern, const __LineInfo* pLineInfo) {
-	unsigned long filterid;
-	PASSTHRU_MSG mask_msg = { ProtocolID, 0, tx, 0, len, 0, 0 };
-	PASSTHRU_MSG pattern_msg = { ProtocolID, 0, tx, 0, len, 0, 0 };
-	memcpy(mask_msg.Data, mask, len);
-	memcpy(pattern_msg.Data, pattern, len);
-	Assert::AreEqual<long>(STATUS_NOERROR, PassThruStartMsgFilter(chanid, PASS_FILTER, &mask_msg, &pattern_msg, NULL, &filterid),
-		_T("Failed to create filter."), pLineInfo);
-	return filterid;
-}
-
-unsigned long J2534_set_BLOCK_filter(unsigned long chanid, unsigned long ProtocolID, unsigned long tx,
-	unsigned long len, char* mask, char* pattern, const __LineInfo* pLineInfo) {
-	unsigned long filterid;
-	PASSTHRU_MSG mask_msg = { ProtocolID, 0, tx, 0, len, 0, 0 };
-	PASSTHRU_MSG pattern_msg = { ProtocolID, 0, tx, 0, len, 0, 0 };
-	memcpy(mask_msg.Data, mask, len);
-	memcpy(pattern_msg.Data, pattern, len);
-	Assert::AreEqual<long>(STATUS_NOERROR, PassThruStartMsgFilter(chanid, BLOCK_FILTER, &mask_msg, &pattern_msg, NULL, &filterid),
-		_T("Failed to create filter."), pLineInfo);
-	return filterid;
-}
-
-unsigned long J2534_set_flowctrl_filter(unsigned long chanid, unsigned long tx,
-	unsigned long len, char* mask, char* pattern, char* flow, const __LineInfo* pLineInfo) {
-	unsigned long filterid;
-	PASSTHRU_MSG mask_msg = { ISO15765, 0, tx, 0, len, 0, 0 };
-	PASSTHRU_MSG pattern_msg = { ISO15765, 0, tx, 0, len, 0, 0 };
-	PASSTHRU_MSG flow_msg = { ISO15765, 0, tx, 0, len, 0, 0 };
-	memcpy(mask_msg.Data, mask, len);
-	memcpy(pattern_msg.Data, pattern, len);
-	memcpy(flow_msg.Data, flow, len);
-	Assert::AreEqual<long>(STATUS_NOERROR, PassThruStartMsgFilter(chanid, FLOW_CONTROL_FILTER, &mask_msg, &pattern_msg, &flow_msg, &filterid),
-		_T("Failed to create filter."), pLineInfo);
-	return filterid;
-}
-
-std::unique_ptr<panda::Panda> getPanda(unsigned long kbaud, BOOL loopback) {
-	auto p = panda::Panda::openPanda("");
-	Assert::IsTrue(p != nullptr, _T("Could not open raw panda device to test communication."));
-	p->set_can_speed_kbps(panda::PANDA_CAN1, kbaud);
-	p->set_safety_mode(panda::SAFETY_ALLOUTPUT);
-	p->set_can_loopback(loopback);
-	p->can_clear(panda::PANDA_CAN_RX);
-	return p;
-}
-
-std::vector<panda::PANDA_CAN_MSG> checked_panda_send(std::unique_ptr<panda::Panda>& p, uint32_t addr, bool is_29b,
-	char* msg, uint8_t len, unsigned int num_expected, const __LineInfo* pLineInfo, unsigned long timeout_ms) {
-	Assert::IsTrue(p->can_send(addr, is_29b, (const uint8_t*)msg, len, panda::PANDA_CAN1), _T("Panda send says it failed."), pLineInfo);
-	auto panda_msg_recv = panda_recv_loop(p, 1 + num_expected, timeout_ms);
-	check_panda_can_msg(panda_msg_recv[0], 0, addr, is_29b, TRUE, std::string(msg, len), pLineInfo);
-	panda_msg_recv.erase(panda_msg_recv.begin());
-	return panda_msg_recv;
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/TestHelpers.h b/panda/drivers/windows/pandaJ2534DLL Test/TestHelpers.h
deleted file mode 100644
index 9df59d7b5e1ac0..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/TestHelpers.h	
+++ /dev/null
@@ -1,48 +0,0 @@
-#pragma once
-#include "stdafx.h"
-#include "pandaJ2534DLL/J2534_v0404.h"
-#include "panda_shared/panda.h"
-
-using namespace Microsoft::VisualStudio::CppUnitTestFramework;
-
-extern void write_ioctl(unsigned int chanid, unsigned int param, unsigned int val, const __LineInfo* pLineInfo = NULL);
-
-extern std::vector<panda::PANDA_CAN_MSG> panda_recv_loop_loose(std::unique_ptr<panda::Panda>& p, unsigned int min_num, unsigned long timeout_ms = 100);
-
-extern std::vector<panda::PANDA_CAN_MSG> panda_recv_loop(std::unique_ptr<panda::Panda>& p, unsigned int num_expected, unsigned long timeout_ms = 100);
-
-extern void check_panda_can_msg(panda::PANDA_CAN_MSG& msgin, uint8_t bus, unsigned long addr, bool addr_29b,
-	bool is_receipt, std::string dat, const __LineInfo* pLineInfo = NULL);
-
-extern unsigned long J2534_start_periodic_msg_checked(unsigned long chanid, unsigned long ProtocolID, unsigned long TxFlags, unsigned long DataSize,
-	unsigned long ExtraDataIndex, const char * Data, unsigned long TimeInterval, const __LineInfo * pLineInfo);
-
-extern unsigned long J2534_start_periodic_msg(unsigned long chanid, unsigned long ProtocolID, unsigned long TxFlags, unsigned long DataSize,
-	unsigned long ExtraDataIndex, const char* Data, unsigned long TimeInterval, unsigned long* msgID, const __LineInfo* pLineInfo = NULL);
-
-extern void J2534_send_msg_checked(unsigned long chanid, unsigned long ProtocolID, unsigned long RxStatus, unsigned long TxFlags,
-	unsigned long Timestamp, unsigned long DataSize, unsigned long ExtraDataIndex, const char* Data, const __LineInfo* pLineInfo = NULL);
-
-extern long J2534_send_msg(unsigned long chanid, unsigned long ProtocolID, unsigned long RxStatus, unsigned long TxFlags,
-	unsigned long Timestamp, unsigned long DataSize, unsigned long ExtraDataIndex, const char* Data);
-
-extern std::vector<PASSTHRU_MSG> j2534_recv_loop_loose(unsigned int chanid, unsigned int min_num, unsigned long timeout_ms = 100);
-
-extern std::vector<PASSTHRU_MSG> j2534_recv_loop(unsigned int chanid, unsigned int num_expected, unsigned long timeout_ms = 100);
-
-extern void check_J2534_can_msg(PASSTHRU_MSG& msgin, unsigned long ProtocolID, unsigned long RxStatus, unsigned long TxFlags,
-	unsigned long DataSize, unsigned long ExtraDataIndex, const char* Data, const __LineInfo* pLineInfo = NULL);
-
-extern unsigned long J2534_set_PASS_filter(unsigned long chanid, unsigned long ProtocolID, unsigned long tx,
-	unsigned long len, char* mask, char* pattern, const __LineInfo* pLineInfo = NULL);
-
-extern unsigned long J2534_set_BLOCK_filter(unsigned long chanid, unsigned long ProtocolID, unsigned long tx,
-	unsigned long len, char* mask, char* pattern, const __LineInfo* pLineInfo = NULL);
-
-extern unsigned long J2534_set_flowctrl_filter(unsigned long chanid, unsigned long tx,
-	unsigned long len, char* mask, char* pattern, char* flow, const __LineInfo* pLineInfo = NULL);
-
-extern std::unique_ptr<panda::Panda> getPanda(unsigned long kbaud = 500, BOOL loopback = FALSE);
-
-extern std::vector<panda::PANDA_CAN_MSG> checked_panda_send(std::unique_ptr<panda::Panda>& p, uint32_t addr, bool is_29b,
-	char* msg, uint8_t len, unsigned int num_expected=0, const __LineInfo* pLineInfo = NULL, unsigned long timeout_ms = 100);
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/Timer.cpp b/panda/drivers/windows/pandaJ2534DLL Test/Timer.cpp
deleted file mode 100644
index 33d029e844a7a5..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/Timer.cpp	
+++ /dev/null
@@ -1,21 +0,0 @@
-#include "stdafx.h"
-#include "Timer.h"
-
-
-Timer::Timer()
-{
-	reset();
-}
-
-// gets the time elapsed from construction.
-unsigned long long /*milliseconds*/ Timer::getTimePassed(){
-	// get the new time
-	auto end = std::chrono::time_point_cast<std::chrono::milliseconds>(clock::now());
-
-	// return the difference of the times
-	return (end - start).count();
-}
-
-void Timer::reset() {
-	start = std::chrono::time_point_cast<std::chrono::milliseconds>(clock::now());
-}
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/Timer.h b/panda/drivers/windows/pandaJ2534DLL Test/Timer.h
deleted file mode 100644
index cbf5579a5cfa4b..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/Timer.h	
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-#include <chrono>
-
-//Copied from https://stackoverflow.com/a/31488113
-
-class Timer
-{
-	using clock = std::chrono::steady_clock;
-	using time_point_type = std::chrono::time_point < clock, std::chrono::milliseconds >;
-public:
-	Timer();
-
-	// gets the time elapsed from construction.
-	unsigned long long /*milliseconds*/ getTimePassed();
-
-	void reset();
-
-private:
-	time_point_type start;
-};
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/j2534_tests.cpp b/panda/drivers/windows/pandaJ2534DLL Test/j2534_tests.cpp
deleted file mode 100644
index 674569acccafd3..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/j2534_tests.cpp	
+++ /dev/null
@@ -1,1602 +0,0 @@
-#include "stdafx.h"
-#include "Loader4.h"
-#include "pandaJ2534DLL/J2534_v0404.h"
-#include "panda_shared/panda.h"
-#include "Timer.h"
-#include "ECUsim DLL\ECUsim.h"
-#include "TestHelpers.h"
-
-using namespace Microsoft::VisualStudio::CppUnitTestFramework;
-
-namespace pandaJ2534DLLTest
-{
-	TEST_CLASS(J2534DLLInitialization)
-	{
-	public:
-
-		TEST_CLASS_CLEANUP(deinit) {
-			UnloadJ2534Dll();
-		}
-
-		TEST_METHOD(J2534_Driver_Init)
-		{
-			long err = LoadJ2534Dll("pandaJ2534_0404_32.dll");
-			Assert::IsTrue(err == 0, _T("Library failed to load properly. Check the export names and library location."));
-		}
-
-	};
-
-	TEST_CLASS(J2534DeviceInitialization)
-	{
-	public:
-
-		TEST_METHOD_INITIALIZE(init) {
-			LoadJ2534Dll("pandaJ2534_0404_32.dll");
-		}
-
-		TEST_METHOD_CLEANUP(deinit) {
-			if (didopen) {
-				PassThruClose(devid);
-				didopen = FALSE;
-			}
-			UnloadJ2534Dll();
-		}
-
-		TEST_METHOD(J2534_Device_OpenDevice__Empty)
-		{
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev(""), _T("Failed to open device."), LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_Device_OpenDevice__J2534_2)
-		{
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev("J2534-2:"), _T("Failed to open device."), LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_Device_OpenDevice__SN)
-		{
-			auto pandas_available = panda::Panda::listAvailablePandas();
-			Assert::IsTrue(pandas_available.size() > 0, _T("No pandas detected."));
-
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev(pandas_available[0].c_str()), _T("Failed to open device."), LINE_INFO());
-
-			auto pandas_available_2 = panda::Panda::listAvailablePandas();
-			for (auto panda_sn : pandas_available_2)
-				Assert::AreNotEqual(panda_sn, pandas_available[0]);
-		}
-
-		TEST_METHOD(J2534_Device_CloseDevice)
-		{
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev(""), _T("Failed to open device."), LINE_INFO());
-			Assert::AreEqual<long>(STATUS_NOERROR, close_dev(devid), _T("Failed to close device."), LINE_INFO());
-			Assert::AreEqual<long>(ERR_INVALID_DEVICE_ID, PassThruClose(devid), _T("The 2nd close should have failed with ERR_INVALID_DEVICE_ID."), LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_Device_ConnectDisconnect)
-		{
-			unsigned long chanid;
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev(""), _T("Failed to open device."), LINE_INFO());
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruConnect(devid, CAN, 0, 500000, &chanid), _T("Failed to open channel."), LINE_INFO());
-
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruDisconnect(chanid), _T("Failed to close channel."), LINE_INFO());
-			Assert::AreEqual<long>(ERR_INVALID_CHANNEL_ID, PassThruDisconnect(chanid), _T("The 2nd disconnect should have failed with ERR_INVALID_CHANNEL_ID."), LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_Device_ConnectInvalidProtocol)
-		{
-			unsigned long chanid;
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev(""), _T("Failed to open device."), LINE_INFO());
-			Assert::AreEqual<long>(ERR_INVALID_PROTOCOL_ID, PassThruConnect(devid, 999, 0, 500000, &chanid),
-				_T("Did not report ERR_INVALID_PROTOCOL_ID."), LINE_INFO());
-			Assert::AreEqual<long>(ERR_INVALID_CHANNEL_ID, PassThruDisconnect(chanid), _T("The channel should not have been created."), LINE_INFO());
-		}
-
-		bool didopen = FALSE;
-		unsigned long devid;
-
-		unsigned long open_dev(const char* name, long assert_err = STATUS_NOERROR, TCHAR* failmsg = _T("Failed to open device.")) {
-			unsigned int res = PassThruOpen((void*)name, &devid);
-			if (res == STATUS_NOERROR) didopen = TRUE;
-			return res;
-		}
-
-		unsigned long close_dev(unsigned long devid) {
-			unsigned long res = PassThruClose(devid);
-			if (res == STATUS_NOERROR) didopen = FALSE;
-			return res;
-		}
-
-	};
-
-	TEST_CLASS(J2534DeviceCAN)
-	{
-	public:
-
-		TEST_METHOD_INITIALIZE(init) {
-			LoadJ2534Dll("pandaJ2534_0404_32.dll");
-		}
-
-		TEST_METHOD_CLEANUP(deinit) {
-			if (didopen) {
-				PassThruClose(devid);
-				didopen = FALSE;
-			}
-			UnloadJ2534Dll();
-		}
-
-		//Test that the BAUD rate of a CAN connection can be changed.
-		TEST_METHOD(J2534_CAN_SetBaud)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO()); // ENABLE J2534 ECHO/LOOPBACK
-			auto p = getPanda(250);
-
-			J2534_send_msg_checked(chanid, CAN, 0, 0, 0, 4 + 2, 0, "\x0\x0\x3\xAB""HI", LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-			panda_recv_loop(p, 0);
-
-			write_ioctl(chanid, DATA_RATE, 250000, LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], CAN, TX_MSG_TYPE, 0, 4 + 2, 0, "\x0\x0\x3\xAB""HI", LINE_INFO());
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_CAN_11b_Tx)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, CAN, 0, 0, 0, 6, 6, "\x0\x0\x3\xAB""HI", LINE_INFO());
-
-			std::vector<panda::PANDA_CAN_MSG> msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-
-			j2534_recv_loop(chanid, 0, 50); // Check no message is returned (since loopback is off)
-		}
-
-		TEST_METHOD(J2534_CAN_29b_Tx)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, CAN_29BIT_ID, 500000, LINE_INFO());
-			auto p = getPanda(500);
-
-			Assert::AreEqual<long>(ERR_INVALID_MSG, J2534_send_msg(chanid, CAN, 0, 0, 0, 6, 6, "\x0\x0\x3\xAB""HI"), _T("11b address should fail to tx."), LINE_INFO());
-			J2534_send_msg_checked(chanid, CAN, 0, CAN_29BIT_ID, 0, 6, 6, "\x0\x0\x3\xAB""YO", LINE_INFO());
-
-			std::vector<panda::PANDA_CAN_MSG> msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, TRUE, FALSE, "YO", LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_CAN_11b29b_Tx)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, CAN_ID_BOTH, 500000, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, CAN, 0, 0, 0, 6, 6, "\x0\x0\x3\xAB""HI", LINE_INFO());
-			J2534_send_msg_checked(chanid, CAN, 0, CAN_29BIT_ID, 0, 6, 6, "\x0\x0\x3\xAB""YO", LINE_INFO());
-
-			std::vector<panda::PANDA_CAN_MSG> msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x3AB, TRUE, FALSE, "YO", LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_CAN_TxEcho)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, CAN, 0, 0, 0, 9, 9, "\x0\x0\x3\xAB""HIDOG", LINE_INFO());
-
-			auto msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HIDOG", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 0);
-
-			/////////////////////////////////
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO()); // ENABLE J2534 ECHO/LOOPBACK
-
-			J2534_send_msg_checked(chanid, CAN, 0, 0, 0, 7, 7, "\x0\x0\x3\xAB""SUP", LINE_INFO());
-
-			msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "SUP", LINE_INFO());
-
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], CAN, TX_MSG_TYPE, 0, 3 + 4, 0, "\x0\x0\x3\xAB""SUP", LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_CAN_RxAndPassAllFilters)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			J2534_set_PASS_filter(chanid, CAN, 0, 4, "\x0\x0\x0\x0", "\x0\x0\x0\x0", LINE_INFO());
-			auto p = getPanda(500);
-
-			p->can_send(0x1FA, FALSE, (const uint8_t*)"ABCDE", 5, panda::PANDA_CAN1);
-			p->can_send(0x2AC, FALSE, (const uint8_t*)"HIJKL", 5, panda::PANDA_CAN1);
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x1\xFA""ABCDE", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x2\xAC""HIJKL", LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_CAN_RxAndLimitedPassFilter)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			J2534_set_PASS_filter(chanid, CAN, 0, 4, "\xFF\xFF\xFF\xFF", "\x0\x0\x02\xAC", LINE_INFO());
-			auto p = getPanda(500);
-
-			p->can_send(0x1FA, FALSE, (const uint8_t*)"ABCDE", 5, panda::PANDA_CAN1);
-			p->can_send(0x2AC, FALSE, (const uint8_t*)"HIJKL", 5, panda::PANDA_CAN1);
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x2\xAC""HIJKL", LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_CAN_RxAndPassBlockFilter)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			J2534_set_PASS_filter(chanid, CAN, 0, 4, "\x0\x0\x0\x0", "\x0\x0\x0\x0", LINE_INFO());
-			J2534_set_BLOCK_filter(chanid, CAN, 0, 4, "\xFF\xFF\xFF\xFF", "\x0\x0\x02\xAC", LINE_INFO());
-			auto p = getPanda(500);
-
-			p->can_send(0x1FA, FALSE, (const uint8_t*)"ABCDE", 5, panda::PANDA_CAN1);
-			p->can_send(0x2AC, FALSE, (const uint8_t*)"HIJKL", 5, panda::PANDA_CAN1);
-			p->can_send(0x3FA, FALSE, (const uint8_t*)"MNOPQ", 5, panda::PANDA_CAN1);
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2, 1000);
-			check_J2534_can_msg(j2534_msg_recv[0], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x1\xFA""ABCDE", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x3\xFA""MNOPQ", LINE_INFO());
-		}
-
-		//Check that the order of the pass and block filter do not matter
-		TEST_METHOD(J2534_CAN_RxAndFilterBlockPass)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			J2534_set_BLOCK_filter(chanid, CAN, 0, 4, "\xFF\xFF\xFF\xFF", "\x0\x0\x02\xAC", LINE_INFO());
-			J2534_set_PASS_filter(chanid, CAN, 0, 4, "\x0\x0\x0\x0", "\x0\x0\x0\x0", LINE_INFO());
-			auto p = getPanda(500);
-
-			p->can_send(0x1FA, FALSE, (const uint8_t*)"ABCDE", 5, panda::PANDA_CAN1);
-			p->can_send(0x2AC, FALSE, (const uint8_t*)"HIJKL", 5, panda::PANDA_CAN1); // Should not pass filter
-			p->can_send(0x3FA, FALSE, (const uint8_t*)"MNOPQ", 5, panda::PANDA_CAN1);
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2, 2000);
-			check_J2534_can_msg(j2534_msg_recv[0], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x1\xFA""ABCDE", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x3\xFA""MNOPQ", LINE_INFO());
-		}
-
-		//Check that the order of the pass and block filter do not matter
-		TEST_METHOD(J2534_CAN_RxAndFilterRemoval)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			auto filterid0 = J2534_set_BLOCK_filter(chanid, CAN, 0, 4, "\xFF\xFF\xFF\xFF", "\x0\x0\x02\xAC", LINE_INFO());
-			auto filterid1 = J2534_set_PASS_filter(chanid, CAN, 0, 4, "\x0\x0\x0\x0", "\x0\x0\x0\x0", LINE_INFO());
-
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruStopMsgFilter(chanid, filterid0), _T("Failed to delete filter."), LINE_INFO());
-
-			auto p = getPanda(500);
-
-			p->can_send(0x1FA, FALSE, (const uint8_t*)"ABCDE", 5, panda::PANDA_CAN1);
-			p->can_send(0x2AC, FALSE, (const uint8_t*)"HIJKL", 5, panda::PANDA_CAN1);
-			p->can_send(0x3FA, FALSE, (const uint8_t*)"MNOPQ", 5, panda::PANDA_CAN1);
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 3, 1000);
-			check_J2534_can_msg(j2534_msg_recv[0], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x1\xFA""ABCDE", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x2\xAC""HIJKL", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[2], CAN, 0, 0, 5 + 4, 0, "\x0\x0\x3\xFA""MNOPQ", LINE_INFO());
-		}
-
-		//Check that the order of the pass and block filter do not matter
-		TEST_METHOD(J2534_CAN_RxWithTimeout)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			J2534_set_PASS_filter(chanid, CAN, 0, 4, "\x0\x0\x0\x0", "\x0\x0\x0\x0", LINE_INFO());
-			auto p = getPanda(500);
-
-			PASSTHRU_MSG recvbuff;
-			unsigned long msgcount = 1;
-			unsigned int res = PassThruReadMsgs(chanid, &recvbuff, &msgcount, 100); // Here is where we test the timeout
-			Assert::AreEqual<long>(ERR_BUFFER_EMPTY, res, _T("No message should be found"), LINE_INFO());
-			Assert::AreEqual<unsigned long>(0, msgcount, _T("Received wrong number of messages."));
-
-			//TODO Test that the timings work right instead of just testing it doesn't crash.
-		}
-
-		TEST_METHOD(J2534_CAN_Baud)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 250000, LINE_INFO());
-			auto p = getPanda(250);
-
-			J2534_send_msg_checked(chanid, CAN, 0, 0, 0, 6, 6, "\x0\x0\x3\xAB""HI", LINE_INFO());
-
-			std::vector<panda::PANDA_CAN_MSG> msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-		}
-
-		TEST_METHOD(J2534_CAN_PeriodicMessageStartStop)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			auto p = getPanda(500);
-
-			auto msgid = J2534_start_periodic_msg_checked(chanid, CAN, 0, 6, 0, "\x0\x0\x3\xAB""HI", 100, LINE_INFO());
-
-			std::vector<panda::PANDA_CAN_MSG> msg_recv = panda_recv_loop(p, 3, 250);
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruStopPeriodicMsg(chanid, msgid), _T("Failed to delete filter."), LINE_INFO());
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[2], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-
-			auto timediff_1_0 = msg_recv[1].recv_time - msg_recv[0].recv_time;
-			auto timediff_2_1 = msg_recv[2].recv_time - msg_recv[1].recv_time;
-
-			std::ostringstream stringStream1;
-			stringStream1 << "times1: " << timediff_1_0 << ", " << timediff_2_1 << std::endl;
-			Logger::WriteMessage(stringStream1.str().c_str());
-
-			Assert::IsTrue(timediff_1_0 > 90000);
-			Assert::IsTrue(timediff_1_0 < 110000);
-			Assert::IsTrue(timediff_2_1 > 90000);
-			Assert::IsTrue(timediff_2_1 < 110000);
-
-			msg_recv = panda_recv_loop(p, 0, 300);
-		}
-
-		TEST_METHOD(J2534_CAN_PeriodicMessageMultipleStartStop)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			auto p = getPanda(500);
-
-			auto msgid0 = J2534_start_periodic_msg_checked(chanid, CAN, 0, 6, 0, "\x0\x0\x3\xAB""HI", 100, LINE_INFO());
-			auto msgid1 = J2534_start_periodic_msg_checked(chanid, CAN, 0, 6, 0, "\x0\x0\x1\x23""YO", 80, LINE_INFO());
-
-			std::vector<panda::PANDA_CAN_MSG> msg_recv = panda_recv_loop(p, 9, 370);
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruStopPeriodicMsg(chanid, msgid0), _T("Failed to delete filter."), LINE_INFO());
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruStopPeriodicMsg(chanid, msgid1), _T("Failed to delete filter."), LINE_INFO());
-			//time diagram. 10 ms per character. * is send event. : is termination of periodic messages.
-			//*---------*---------*---------*-----:----* HI
-			//*-------*-------*-------*-------*---:----* YO
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x123, FALSE, FALSE, "YO", LINE_INFO());
-			check_panda_can_msg(msg_recv[2], 0, 0x123, FALSE, FALSE, "YO", LINE_INFO());
-			check_panda_can_msg(msg_recv[3], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[4], 0, 0x123, FALSE, FALSE, "YO", LINE_INFO());
-			check_panda_can_msg(msg_recv[5], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[6], 0, 0x123, FALSE, FALSE, "YO", LINE_INFO());
-			check_panda_can_msg(msg_recv[7], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[8], 0, 0x123, FALSE, FALSE, "YO", LINE_INFO());
-
-			auto timediff_HI_3_0 = msg_recv[3].recv_time - msg_recv[0].recv_time;
-			auto timediff_HI_5_3 = msg_recv[5].recv_time - msg_recv[3].recv_time;
-			auto timediff_HI_7_5 = msg_recv[7].recv_time - msg_recv[5].recv_time;
-
-			auto timediff_YO_2_1 = msg_recv[2].recv_time - msg_recv[1].recv_time;
-			auto timediff_YO_4_2 = msg_recv[4].recv_time - msg_recv[2].recv_time;
-			auto timediff_YO_6_4 = msg_recv[6].recv_time - msg_recv[4].recv_time;
-			auto timediff_YO_8_6 = msg_recv[8].recv_time - msg_recv[6].recv_time;
-
-			std::ostringstream stringStreamHi;
-			stringStreamHi << "HiTimes: " << timediff_HI_3_0 << ", " << timediff_HI_5_3 << ", " << timediff_HI_7_5 << std::endl;
-			Logger::WriteMessage(stringStreamHi.str().c_str());
-
-			std::ostringstream stringStreamYo;
-			stringStreamYo << "HiTimes: " << timediff_YO_2_1 << ", " << timediff_YO_4_2 << ", " << timediff_YO_6_4 << ", " << timediff_YO_8_6 << std::endl;
-			Logger::WriteMessage(stringStreamYo.str().c_str());
-
-			Assert::IsTrue(timediff_HI_3_0 > 90000);
-			Assert::IsTrue(timediff_HI_3_0 < 110000);
-			Assert::IsTrue(timediff_HI_5_3 > 90000);
-			Assert::IsTrue(timediff_HI_5_3 < 110000);
-			Assert::IsTrue(timediff_HI_7_5 > 90000);
-			Assert::IsTrue(timediff_HI_7_5 < 110000);
-
-			Assert::IsTrue(timediff_YO_2_1 > 80000-10000);
-			Assert::IsTrue(timediff_YO_2_1 < 80000+1000);
-			Assert::IsTrue(timediff_YO_4_2 > 80000 - 10000);
-			Assert::IsTrue(timediff_YO_4_2 < 80000 + 10000);
-			Assert::IsTrue(timediff_YO_6_4 > 80000 - 10000);
-			Assert::IsTrue(timediff_YO_6_4 < 80000 + 10000);
-			Assert::IsTrue(timediff_YO_8_6 > 80000 - 10000);
-			Assert::IsTrue(timediff_YO_8_6 < 80000 + 10000);
-
-			msg_recv = panda_recv_loop(p, 0, 300);
-		}
-
-		TEST_METHOD(J2534_CAN_PeriodicMessageStartStop_Loopback)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO()); // ENABLE J2534 ECHO/LOOPBACK
-			auto p = getPanda(500);
-			auto msgid = J2534_start_periodic_msg_checked(chanid, CAN, 0, 6, 0, "\x0\x0\x3\xAB""HI", 100, LINE_INFO());
-
-			std::vector<panda::PANDA_CAN_MSG> msg_recv = panda_recv_loop(p, 3, 250);
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruStopPeriodicMsg(chanid, msgid), _T("Failed to delete filter."), LINE_INFO());
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[2], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 3);
-			check_J2534_can_msg(j2534_msg_recv[0], CAN, TX_MSG_TYPE, 0, 6, 0, "\x0\x0\x3\xAB""HI", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], CAN, TX_MSG_TYPE, 0, 6, 0, "\x0\x0\x3\xAB""HI", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[2], CAN, TX_MSG_TYPE, 0, 6, 0, "\x0\x0\x3\xAB""HI", LINE_INFO());
-
-			auto timediff_1_0 = j2534_msg_recv[1].Timestamp - j2534_msg_recv[0].Timestamp;
-			auto timediff_2_1 = j2534_msg_recv[2].Timestamp - j2534_msg_recv[1].Timestamp;
-
-			std::ostringstream stringStream1;
-			stringStream1 << "times1: " << timediff_1_0 << ", " << timediff_2_1 << std::endl;
-			Logger::WriteMessage(stringStream1.str().c_str());
-
-			Assert::IsTrue(timediff_1_0 > 90000);
-			Assert::IsTrue(timediff_1_0 < 110000);
-			Assert::IsTrue(timediff_2_1 > 90000);
-			Assert::IsTrue(timediff_2_1 < 110000);
-
-			msg_recv = panda_recv_loop(p, 0, 300);
-		}
-
-		TEST_METHOD(J2534_CAN_PeriodicMessageWithTx)
-		{
-			auto chanid = J2534_open_and_connect("", CAN, 0, 500000, LINE_INFO());
-			auto p = getPanda(500);
-			auto msgid = J2534_start_periodic_msg_checked(chanid, CAN, 0, 6, 0, "\x0\x0\x3\xAB""HI", 100, LINE_INFO());
-
-			J2534_send_msg(chanid, CAN, 0, 0, 0, 7, 0, "\x0\x0\x3\xAB""LOL");
-
-			std::vector<panda::PANDA_CAN_MSG> msg_recv = panda_recv_loop(p, 4, 250);
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruStopPeriodicMsg(chanid, msgid), _T("Failed to delete filter."), LINE_INFO());
-			check_panda_can_msg(msg_recv[0], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[1], 0, 0x3AB, FALSE, FALSE, "LOL", LINE_INFO());//Staggered write inbetween multiple scheduled TXs
-			check_panda_can_msg(msg_recv[2], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-			check_panda_can_msg(msg_recv[3], 0, 0x3AB, FALSE, FALSE, "HI", LINE_INFO());
-
-			auto timediff_2_0 = msg_recv[2].recv_time - msg_recv[0].recv_time;
-			auto timediff_3_2 = msg_recv[3].recv_time - msg_recv[2].recv_time;
-
-			std::ostringstream stringStream1;
-			stringStream1 << "times1: " << timediff_2_0 << ", " << timediff_3_2 << std::endl;
-			Logger::WriteMessage(stringStream1.str().c_str());
-
-			Assert::IsTrue(timediff_2_0 > 90000);
-			Assert::IsTrue(timediff_2_0 < 110000);
-			Assert::IsTrue(timediff_3_2 > 90000);
-			Assert::IsTrue(timediff_3_2 < 110000);
-
-			msg_recv = panda_recv_loop(p, 0, 300);
-		}
-
-		TEST_METHOD(J2534_CAN_BaudInvalid)
-		{
-			unsigned long chanid;
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev(""), _T("Failed to open device."), LINE_INFO());
-			Assert::AreEqual<long>(ERR_INVALID_BAUDRATE, PassThruConnect(devid, CAN, 0, 6000000, &chanid), _T("Baudrate should have been invalid."), LINE_INFO());
-			Assert::AreEqual<long>(ERR_INVALID_BAUDRATE, PassThruConnect(devid, CAN, 0, 200, &chanid), _T("Baudrate should have been invalid."), LINE_INFO());
-			Assert::AreEqual<long>(ERR_INVALID_BAUDRATE, PassThruConnect(devid, CAN, 0, 250010, &chanid), _T("Baudrate should have been invalid."), LINE_INFO());
-		}
-
-		bool didopen = FALSE;
-		unsigned long devid;
-
-		unsigned long open_dev(const char* name, long assert_err = STATUS_NOERROR, TCHAR* failmsg = _T("Failed to open device.")) {
-			unsigned int res = PassThruOpen((void*)name, &devid);
-			if (res == STATUS_NOERROR) didopen = TRUE;
-			return res;
-		}
-
-		unsigned long J2534_open_and_connect(const char* name, unsigned long ProtocolID, unsigned long Flags, unsigned long bps, const __LineInfo* pLineInfo = NULL) {
-			unsigned long chanid;
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev(name), _T("Failed to open device."), pLineInfo);
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruConnect(devid, ProtocolID, Flags, bps, &chanid), _T("Failed to open channel."), pLineInfo);
-			write_ioctl(chanid, LOOPBACK, FALSE, LINE_INFO()); // DISABLE J2534 ECHO/LOOPBACK
-			return chanid;
-		}
-
-	};
-
-	TEST_CLASS(J2534DeviceISO15765)
-	{
-	public:
-
-		TEST_METHOD_INITIALIZE(init) {
-			LoadJ2534Dll("pandaJ2534_0404_32.dll");
-		}
-
-		TEST_METHOD_CLEANUP(deinit) {
-			if (didopen) {
-				PassThruClose(devid);
-				didopen = FALSE;
-			}
-			UnloadJ2534Dll();
-		}
-
-		//Test that the BAUD rate of a ISO15765 connection can be changed.
-		TEST_METHOD(J2534_ISO15765_SetBaud)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, 0, 500000, LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO()); // ENABLE J2534 ECHO/LOOPBACK
-			auto p = getPanda(250);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, 0, 0, 4 + 2, 0, "\x0\x0\x3\xAB""HI", LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-			panda_recv_loop(p, 0);
-
-			write_ioctl(chanid, DATA_RATE, 250000, LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, TX_INDICATION, 0, 4, 0, "\x0\x0\x3\xAB", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, TX_MSG_TYPE, 0, 4 + 2, 0, "\x0\x0\x3\xAB""HI", LINE_INFO());
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x3AB, FALSE, FALSE, "\x2""HI", LINE_INFO());
-		}
-
-		///////////////////// Tests checking things don't send/receive /////////////////////
-
-		//Check tx PASSES and rx FAIL WITHOUT a filter. 29 bit. NO Filter. NoPadding. STD address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_PassTxFailRx_29b_NoFilter_NoPad_STD_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			auto p = getPanda(500);
-
-			//TX: works because all single frame writes should work (with or without a flow contorl filter)
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 11, 0, "\x18\xda\xef\xf1""TX_TEST", LINE_INFO());
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x07""TX_TEST", LINE_INFO());
-
-			//RX: Reads require a flow control filter, and should fail without one.
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x06\x41\x00\xff\xff\xff\xfe", 7, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-		}
-
-		//Check tx and rx FAIL WITHOUT a filter. 29 bit. NO Filter. NoPadding. STD address. First Frame.
-		TEST_METHOD(J2534_ISO15765_FailTxRx_29b_NoFilter_NoPad_STD_FF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			auto p = getPanda(500);
-
-			//TX
-			Assert::AreEqual<long>(ERR_NO_FLOW_CONTROL, J2534_send_msg(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 12, 0, "\x18\xda\xef\xf1\xA1\xB2\xC3\xD4\xE5\xF6\x09\x1A"),
-				_T("Should fail to tx without a filter."), LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-			panda_recv_loop(p, 0);
-
-			//RX; Send full response and check didn't receive flow control from J2534 device
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x14\x49\x02\x01""1D4", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""GP00R55", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""B123456", 8, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);//Check a full message is not accepted.
-		}
-
-		//Check tx PASSES and rx FAIL with a MISMATCHED filter. 29 bit. Mismatch Filter. NoPadding. STD address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_PassTxFailRx_29b_MismatchFilter_NoPad_STD_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//TX: works because all single frame writes should work (with or without a flow contorl filter)
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 6, 0, "\x18\xda\xe0\xf1""\x11\x22", LINE_INFO());
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xe0\xf1", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAE0F1, TRUE, FALSE, "\x02""\x11\x22", LINE_INFO());
-
-			//RX. Send ISO15765 single frame to device. Address still doesn't match filter, so should not be received.
-			checked_panda_send(p, 0x18DAF1E0, TRUE, "\x06\x41\x00\xff\xff\xff\xfe", 7, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-		}
-
-		//Check tx and rx FAIL with a MISMATCHED filter. 29 bit. Mismatch Filter. NoPadding. STD address. First Frame.
-		TEST_METHOD(J2534_ISO15765_FailTxRx_29b_MismatchFilter_NoPad_STD_FF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//TX
-			Assert::AreEqual<long>(ERR_NO_FLOW_CONTROL, J2534_send_msg(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 12, 0, "\x18\xda\xe0\xf1""USELESS STUFF"),
-				_T("Should fail to tx without a filter."), LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-			panda_recv_loop(p, 0);
-
-			//RX; Send a full response and check didn't receive flow control from J2534 device
-			checked_panda_send(p, 0x18DAF1E0, TRUE, "\x10\x14\x49\x02\x01""1D4", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1E0, TRUE, "\x21""GP00R55", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1E0, TRUE, "\x22""B123456", 8, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);//Check a full message is not accepted.
-		}
-
-		//Check tx FAILS with a MISMATCHED filter 29bit flag. 29 bit. Mismatch Filter. NoPadding. STD address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_FailTxRx_29b_MismatchFilterFlag29b_NoPad_STD_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x0\x0\x1\xab", "\x0\x0\x1\xcd", LINE_INFO());
-			auto p = getPanda(500);
-
-			//TX
-			Assert::AreEqual<long>(ERR_INVALID_MSG, J2534_send_msg(chanid, ISO15765, 0, 0, 0, 6, 0, "\x0/x0/x1/xcd\x01\x00"),
-				_T("mismatched address should fail to tx."), LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-			panda_recv_loop(p, 0);
-
-			//RX. Send ISO15765 single frame to device. Address still doesn't match filter, so should not be received.
-			checked_panda_send(p, 0x1ab, FALSE, "\x06\x41\x00\xff\xff\xff\xfe", 7, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-		}
-
-		///////////////////// Tests checking things actually send/receive. Standard Addressing /////////////////////
-
-		//Check rx passes with filter. 29 bit. Good Filter. NoPadding. STD address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessRx_29b_Filter_NoPad_STD_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x07""ABCD123", 8, 0, LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID, 0, 11, 11, "\x18\xda\xf1\xef""ABCD123", LINE_INFO());
-		}
-
-		//Check tx passes with filter. 29 bit. Good Filter. NoPadding. STD address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 11, 0, "\x18\xda\xef\xf1""TX_TEST", LINE_INFO());
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x07""TX_TEST", LINE_INFO());
-		}
-
-		//Check tx passes with filter. 29 bit. Good Filter. NoPadding. STD address. Single Frame. Loopback.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_SF_LOOPBACK)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 11, 0, "\x18\xda\xef\xf1""TX_TEST", LINE_INFO());
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 11, 0, "\x18\xda\xef\xf1""TX_TEST", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x07""TX_TEST", LINE_INFO());
-		}
-
-		//Check rx passes with filter. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessRx_29b_Filter_NoPad_STD_FFCF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			auto panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ninete", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x30\x00\x00", 3), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE, 0, 4, 0, "\x18\xda\xf1\xef", LINE_INFO());
-
-			//Send the rest of the message
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""en byte", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""s here", 7, 0, LINE_INFO());
-
-			//Check J2534 constructed the whole message
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID, 0, 4 + 0x13, 4 + 0x13, "\x18\xda\xf1\xef""nineteen bytes here", LINE_INFO());
-		}
-
-		//Check multi frame tx passes with filter. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_FFCF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 14, 0, "\x18\xda\xef\xf1""\xAA\xBB\xCC\xDD\xEE\xFF\x11\x22\x33\x44", LINE_INFO());
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 0); // No TxDone msg until after the final tx frame is sent
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x0A""\xAA\xBB\xCC\xDD\xEE\xFF", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x0\x0", 3, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""\x11\x22\x33\x44", LINE_INFO());
-
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-		}
-
-		//Check rx passes with filter. 11 bit. Good Filter. NoPadding. STD address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessRx_11b_Filter_NoPad_STD_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, 0, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, 0, 4, "\xff\xff\xff\xff", "\x0\x0\x1\xab", "\x0\x0\x1\xcd", LINE_INFO());
-			auto p = getPanda(500);
-
-			checked_panda_send(p, 0x1ab, FALSE, "\x07""ABCD123", 8, 0, LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, 0, 0, 11, 11, "\x0\x0\x1\xab""ABCD123", LINE_INFO());
-		}
-
-		//Check tx passes with filter. 11 bit. Good Filter. NoPadding. STD address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_11b_Filter_NoPad_STD_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, 0, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, 0, 4, "\xff\xff\xff\xff", "\x0\x0\x1\xab", "\x0\x0\x1\xcd", LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, 0, 0, 11, 0, "\x0\x0\x1\xcd""TX_TEST", LINE_INFO());
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, TX_INDICATION, 0, 4, 0, "\x0\x0\x1\xcd", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x1CD, FALSE, FALSE, "\x07""TX_TEST", LINE_INFO());
-		}
-
-		//Check tx passes with filter multiple times. 29 bit. Good Filter. NoPadding. STD address. Multiple Single Frames.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MultipleSF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 11, 0, "\x18\xda\xef\xf1""TX_TEST", LINE_INFO());
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 9, 0, "\x18\xda\xef\xf1""HELLO", LINE_INFO());
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 4);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 11, 0, "\x18\xda\xef\xf1""TX_TEST", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[2], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[3], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 9, 0, "\x18\xda\xef\xf1""HELLO", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x07""TX_TEST", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x05""HELLO", LINE_INFO());
-		}
-
-		//Check that receiver's flow control block size requests are respected. 29 bit. Good Filter. NoPadding. STD address. Multiple Frames with multiple flow control.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MF_FLOWCONTROLBlockSize)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 52, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXXYYZZ", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x34""AABBCC", LINE_INFO());
-
-			// [flow_status, block_size, st_min]
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x01\x00", 3, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x02\x00", 3, 2, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x23""KKLLMMN", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x01\x00", 3, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x24""NOOPPQQ", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x00\x00", 3, 3, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x25""RRSSTTU", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x26""UVVWWXX", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2], 0, 0x18DAEFF1, TRUE, FALSE, "\x27""YYZZ", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-		}
-
-		//Check that receiver's flow control separation time requests are respected. 29 bit. Good Filter. NoPadding. STD address. Multiple Frames with multiple flow control.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MF_FLOWCONTROLSTMinMultiFc)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 52, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXXYYZZ", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x34""AABBCC", LINE_INFO());
-
-			// [flow_status, block_size, st_min]
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x03\x0A", 3, 3, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2], 0, 0x18DAEFF1, TRUE, FALSE, "\x23""KKLLMMN", LINE_INFO());
-			auto timediff0_1_0 = panda_msg_recv[1].recv_time - panda_msg_recv[0].recv_time;
-			auto timediff0_2_1 = panda_msg_recv[2].recv_time - panda_msg_recv[1].recv_time;
-
-			std::ostringstream stringStream0;
-			stringStream0 << "times0: " << timediff0_1_0 << ", " << timediff0_2_1 << std::endl;
-			Logger::WriteMessage(stringStream0.str().c_str());
-
-			Assert::IsTrue(timediff0_1_0 > 10000);
-			Assert::IsTrue(timediff0_1_0 < 32000);//Flexible, but trying to make sure things don't just all lag for a second or something
-			Assert::IsTrue(timediff0_2_1 > 10000);
-			Assert::IsTrue(timediff0_2_1 < 32000);
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x04\x20", 3, 4, LINE_INFO(), 500);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x24""NOOPPQQ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x25""RRSSTTU", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2], 0, 0x18DAEFF1, TRUE, FALSE, "\x26""UVVWWXX", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[3], 0, 0x18DAEFF1, TRUE, FALSE, "\x27""YYZZ", LINE_INFO());
-			auto timediff1_1_0 = panda_msg_recv[1].recv_time - panda_msg_recv[0].recv_time;
-			auto timediff1_2_1 = panda_msg_recv[2].recv_time - panda_msg_recv[1].recv_time;
-			auto timediff1_3_2 = panda_msg_recv[3].recv_time - panda_msg_recv[2].recv_time;
-
-			std::ostringstream stringStream1;
-			stringStream1 << "times1: " << timediff1_1_0 << ", " << timediff1_2_1 << ", " << timediff1_3_2 << std::endl;
-			Logger::WriteMessage(stringStream1.str().c_str());
-
-			Assert::IsTrue(timediff1_1_0 > 32000);
-			Assert::IsTrue(timediff1_2_1 > 32000);
-			Assert::IsTrue(timediff1_3_2 > 32000);
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-		}
-
-		//Check that receiver's flow control separation time requests are respected 2. 29 bit. Good Filter. NoPadding. STD address. Multiple Frames with one flow control.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MF_FLOWCONTROLSTMinSingleFc)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 52, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXXYYZZ", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x34""AABBCC", LINE_INFO());
-
-			// [flow_status, block_size, st_min]
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x07\x0A", 3, 7, LINE_INFO(), 500);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2], 0, 0x18DAEFF1, TRUE, FALSE, "\x23""KKLLMMN", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[3], 0, 0x18DAEFF1, TRUE, FALSE, "\x24""NOOPPQQ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[4], 0, 0x18DAEFF1, TRUE, FALSE, "\x25""RRSSTTU", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[5], 0, 0x18DAEFF1, TRUE, FALSE, "\x26""UVVWWXX", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[6], 0, 0x18DAEFF1, TRUE, FALSE, "\x27""YYZZ", LINE_INFO());
-
-			auto timediff_1_0 = panda_msg_recv[1].recv_time - panda_msg_recv[0].recv_time;
-			auto timediff_2_1 = panda_msg_recv[2].recv_time - panda_msg_recv[1].recv_time;
-			auto timediff_3_2 = panda_msg_recv[3].recv_time - panda_msg_recv[2].recv_time;
-			auto timediff_4_3 = panda_msg_recv[4].recv_time - panda_msg_recv[3].recv_time;
-			auto timediff_5_4 = panda_msg_recv[5].recv_time - panda_msg_recv[4].recv_time;
-			auto timediff_6_5 = panda_msg_recv[6].recv_time - panda_msg_recv[5].recv_time;
-
-			std::ostringstream stringStream1;
-			stringStream1 << "times1: " << timediff_1_0 << ", " << timediff_2_1 << ", " << timediff_3_2 <<
-				", " << timediff_4_3 << ", " << timediff_5_4 << ", " << timediff_6_5 << std::endl;
-			Logger::WriteMessage(stringStream1.str().c_str());
-
-			Assert::IsTrue(timediff_1_0 > 10000);
-			Assert::IsTrue(timediff_2_1 > 10000);
-			Assert::IsTrue(timediff_3_2 > 10000);
-			Assert::IsTrue(timediff_4_3 > 10000);
-			Assert::IsTrue(timediff_5_4 > 10000);
-			Assert::IsTrue(timediff_6_5 > 10000);
-		}
-
-		//Check that tx works for messages with more than 16 frames. 29 bit. Good Filter. NoPadding. STD address. Large multiframe message.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MF_LotsOfFrames)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 125, 0,
-				"\x18\xda\xef\xf1"
-				"AABBCC""DDEEFFG""GHHIIJJ""KKLLMMN""NOOPPQQ""RRSSTTU""UVVWWXX""YYZZ112""2334455""6677889"
-				"900abcd""efghijk""lmnopqr""stuvwxy""z!@#$%^""&*()_+-""=`~ABCD""EFGHIJK", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x7D""AABBCC", LINE_INFO());
-
-			// [flow_status, block_size, st_min]
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x00\x00", 3, 17, LINE_INFO(), 1000);
-			check_panda_can_msg(panda_msg_recv[0],  0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1],  0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2],  0, 0x18DAEFF1, TRUE, FALSE, "\x23""KKLLMMN", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[3],  0, 0x18DAEFF1, TRUE, FALSE, "\x24""NOOPPQQ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[4],  0, 0x18DAEFF1, TRUE, FALSE, "\x25""RRSSTTU", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[5],  0, 0x18DAEFF1, TRUE, FALSE, "\x26""UVVWWXX", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[6],  0, 0x18DAEFF1, TRUE, FALSE, "\x27""YYZZ112", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[7],  0, 0x18DAEFF1, TRUE, FALSE, "\x28""2334455", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[8],  0, 0x18DAEFF1, TRUE, FALSE, "\x29""6677889", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[9],  0, 0x18DAEFF1, TRUE, FALSE, "\x2A""900abcd", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[10], 0, 0x18DAEFF1, TRUE, FALSE, "\x2B""efghijk", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[11], 0, 0x18DAEFF1, TRUE, FALSE, "\x2C""lmnopqr", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[12], 0, 0x18DAEFF1, TRUE, FALSE, "\x2D""stuvwxy", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[13], 0, 0x18DAEFF1, TRUE, FALSE, "\x2E""z!@#$%^", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[14], 0, 0x18DAEFF1, TRUE, FALSE, "\x2F""&*()_+-", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[15], 0, 0x18DAEFF1, TRUE, FALSE, "\x20""=`~ABCD", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[16], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""EFGHIJK", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-		}
-
-		//Check tx passes with filter multiple times. 29 bit. Good Filter. NoPadding. STD address. Multiple Single Frames.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MultipleMFSF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 23, 0, "\x18\xda\xef\xf1""Long data because I can", LINE_INFO());
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 9, 0, "\x18\xda\xef\xf1""HELLO", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x17""Long d", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x00\x00", 3, 4, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""ata bec", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""ause I ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2], 0, 0x18DAEFF1, TRUE, FALSE, "\x23""can", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[3], 0, 0x18DAEFF1, TRUE, FALSE, "\x05""HELLO", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 4);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 23, 0, "\x18\xda\xef\xf1""Long data because I can", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[2], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[3], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 5, 0, "\x18\xda\xef\xf1""HELLO", LINE_INFO());
-		}
-
-		//Check tx passes after message timeout. 29 bit. Good Filter. NoPadding. STD address. Multiple Frame timeout then Single Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MFTimeoutSFSuccess)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 23, 0, "\x18\xda\xef\xf1""Long data because I can", LINE_INFO());
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 9, 0, "\x18\xda\xef\xf1""HELLO", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 2, 1000);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x17""Long d", LINE_INFO()); //First Frame. Not replying so it needs to time out.
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x05""HELLO", LINE_INFO()); //Reply to the next message.
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 5, 0, "\x18\xda\xef\xf1""HELLO", LINE_INFO());
-		}
-
-		//Check tx passes after mid-message timeout. 29 bit. Good Filter. NoPadding. STD address. Multiple Frame mid-timeout then Single Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MFMidTimeoutSFSuccess)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 23, 0, "\x18\xda\xef\xf1""Long data because I can", LINE_INFO());
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 9, 0, "\x18\xda\xef\xf1""HELLO", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x17""Long d", LINE_INFO()); //First Frame. Not replying so it needs to time out.
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x01\x00", 3, 2, LINE_INFO(), 1000);//Start a conversation
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""ata bec", LINE_INFO());//Check passthru device sent more data, but don't reply to it
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x05""HELLO", LINE_INFO()); //Reply to the next message.
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 5, 0, "\x18\xda\xef\xf1""HELLO", LINE_INFO());
-		}
-
-		//Check slow tx passes without hitting FC timeout. 29 bit. Good Filter. NoPadding. STD address. Long STmin, catches if FC timeout applies before needed.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_SLOWMF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x30""AABBCC", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x06\x7F", 3, 6, LINE_INFO(), 3000);//Start a conversation... but slow. FC timeout is 250 ms.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());//Check this convo doesn't trigger that timeout.
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2], 0, 0x18DAEFF1, TRUE, FALSE, "\x23""KKLLMMN", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[3], 0, 0x18DAEFF1, TRUE, FALSE, "\x24""NOOPPQQ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[4], 0, 0x18DAEFF1, TRUE, FALSE, "\x25""RRSSTTU", LINE_INFO());//Some of these should fail to recv if there is an issue.
-			check_panda_can_msg(panda_msg_recv[5], 0, 0x18DAEFF1, TRUE, FALSE, "\x26""UVVWWXX", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-		}
-
-		//Check MF tx can be sent along side of a periodic message. 29 bit. Good Filter. NoPadding. STD address. Long STmin, checks that MF tx and periodic TX don't break each other.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_SLOWMF_WithPeriodicMsg)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			//Timing diagram of this test.
-			//* is a periodic msg transfer; F is first frame, L is Flow control, C is Consecutive Frame.
-			// *~~~~~~~*~~~~~~~*~~~~~~~* (The alignment here is unimportant. The exact order is not checked.
-			//F C----C----C----C----C----C (100 ms between Cs)
-			// L
-
-			auto msgid = J2534_start_periodic_msg_checked(chanid, ISO15765, CAN_29BIT_ID, 6, 0, "\x18\xda\xef\xf1""HI", 130, LINE_INFO());
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x02""HI", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x30""AABBCC", LINE_INFO());
-
-			Assert::IsTrue(p->can_send(0x18DAF1EF, TRUE, (const uint8_t*)"\x30\x06\x64", 3, panda::PANDA_CAN1), _T("Panda send says it failed."), LINE_INFO());
-
-			Timer t_permsg = Timer();
-			Timer t_MFmsg = Timer();
-			unsigned int MFframesReceived = 0;
-			unsigned int PeriodicMsgReceived = 1; //Because of the first panda_recv_loop above.
-			std::array<std::string, 6> const mfMsgExpectedParts{ "\x21""DDEEFFG", "\x22""GHHIIJJ", "\x23""KKLLMMN", "\x24""NOOPPQQ", "\x25""RRSSTTU", "\x26""UVVWWXX" };
-
-			while (TRUE) {
-				std::vector<panda::PANDA_CAN_MSG>msg_recv = p->can_recv();
-				for (auto msg : msg_recv) {
-					if (msg.is_receipt) continue;
-					if ((msg.dat[0] & 0xf0) == 0x20) {
-						Assert::AreEqual<std::string>(mfMsgExpectedParts[MFframesReceived], std::string((const char*)msg.dat, msg.len), _T("Got wrong part of MF msg."), LINE_INFO());
-						MFframesReceived++;
-						t_MFmsg.reset();
-					} else if (std::string((const char*)msg.dat, msg.len) == "\x02HI") {
-						PeriodicMsgReceived++;
-						t_permsg.reset();
-					} else {
-						Assert::IsTrue(FALSE, _T("Got impossible message. Something is very wrong. Check other tests."), LINE_INFO());
-					}
-				}
-
-				if (MFframesReceived >= 6) break;
-				Assert::IsTrue(300 > t_permsg.getTimePassed(), _T("Timed out waiting for periodic msessage frame."), LINE_INFO());
-				Assert::IsTrue(300 > t_MFmsg.getTimePassed(), _T("Timed out waiting for multiframe msessage frame."), LINE_INFO());
-
-				if (msg_recv.size() == 0)
-					Sleep(10);
-			}
-
-			//Stop the periodic message and grab any data it may have sent since we last checked.
-			//Not sure if this is needed.
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruStopPeriodicMsg(chanid, msgid), _T("Failed to delete filter."), LINE_INFO());
-			auto extra_panda_msg = panda_recv_loop_loose(p, 0, 200);
-			for (auto msg : extra_panda_msg) {
-				 if (std::string((const char*)msg.dat, msg.len) == "\x02HI") {
-					PeriodicMsgReceived++;
-					Logger::WriteMessage("Received extra periodic message.");
-				} else {
-					Assert::IsTrue(FALSE, _T("Got impossible message. Something is very wrong. Check other tests."), LINE_INFO());
-				}
-			}
-
-			Assert::IsTrue(PeriodicMsgReceived > 3, _T("Did not receive enough periodic messages. Likely canceled or delayed."), LINE_INFO());
-
-			std::ostringstream stringStream;
-			stringStream << "PeriodicMsgReceived = " << PeriodicMsgReceived << std::endl;
-			Logger::WriteMessage(stringStream.str().c_str());
-
-			unsigned int periodicTxIndicationCount = 0;
-			unsigned int TxIndicationCount = 0;
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2 + (PeriodicMsgReceived * 2));
-			for (int i = 0; i < PeriodicMsgReceived + 1; i++) {
-				check_J2534_can_msg(j2534_msg_recv[(i * 2) + 0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-				switch (j2534_msg_recv[(i * 2) + 1].DataSize) {
-				case 4 + 2:
-					check_J2534_can_msg(j2534_msg_recv[(i * 2) + 1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 2, 0, "\x18\xda\xef\xf1""HI", LINE_INFO());
-					break;
-				case 4 + 48:
-					check_J2534_can_msg(j2534_msg_recv[(i * 2) + 1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-					break;
-				default:
-					Assert::IsTrue(FALSE, _T("Got unexpected data!"), LINE_INFO());
-				}
-			}
-
-			Assert::AreNotEqual<unsigned int>(PeriodicMsgReceived, periodicTxIndicationCount, _T("Wrong number of periodic msgs reported by passthru device."), LINE_INFO());
-			Assert::AreNotEqual<unsigned int>(1, TxIndicationCount, _T("Wrong number of TX msgs reported by passthru device."), LINE_INFO());
-		}
-
-		///////////////////// Tests checking things break or recover during send/receive /////////////////////
-
-		//Check rx FAILS when frame is dropped. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_FailRx_29b_Filter_NoPad_STD_FFCF_DropFrame)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			auto panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ninete", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x30\x00\x00", 3), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE, 0, 4, 0, "\x18\xda\xf1\xef", LINE_INFO());
-
-			//Send the rest of the message
-			//Missing the 2nd frame "\x21""en byte"
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""s here", 7, 0, LINE_INFO());
-
-			//Check J2534 DOES NOT construct the incomplete message
-			j2534_recv_loop(chanid, 0);
-		}
-
-		//Check rx ignores frames that arrive out of order. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_PassRx_29b_Filter_NoPad_STD_FFCF_FrameNumSkip)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			auto panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ABCDEF", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x30\x00\x00", 3), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE, 0, 4, 0, "\x18\xda\xf1\xef", LINE_INFO());
-
-			//Send the rest of the message
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""XXXXXX", 7, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""GHIJKLM", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x23""ZZZZZZ", 7, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""NOPQRS", 7, 0, LINE_INFO());
-
-			//Check J2534 constructa the complete message from the correctly numbered frames.
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID, 0, 4 + 0x13, 4 + 0x13, "\x18\xda\xf1\xef""ABCDEFGHIJKLMNOPQRS", LINE_INFO());
-		}
-
-		//Check Single Frame rx RESETS ongoing multiframe transmission. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_PassRx_29b_Filter_NoPad_STD_SFRxResetsMFRx)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			auto panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ABCDEF", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x30\x00\x00", 3), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE, 0, 4, 0, "\x18\xda\xf1\xef", LINE_INFO());
-
-			//Send the next part of the message multi message
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""GHIJKLM", 8, 0, LINE_INFO());
-
-			//ABORTING MESSAGE
-			//Send a NEW single frame message and check the J2534 device gets it (but not the original message it was receiving.
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x06""ABC123", 7, 0, LINE_INFO());
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID, 0, 10, 10, "\x18\xda\xf1\xef""ABC123", LINE_INFO());
-
-			//Resume sending the old message, and check th eJ2534 device didn't get a message.
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""NOPQRS", 7, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-		}
-
-		//The documentation says that a s ingle channel can not send and receive messages trhough a
-		//single conversation (flow control filter) at the same time. However, the required behavior
-		//when this is detected is not described. This test was my best understanding of how it was
-		//wanted, but I no longer see the point. For now I am disabling it.
-		/*//Check Single Frame tx RESETS ongoing multiframe rx transmission. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_PassRx_29b_Filter_NoPad_STD_SFTxResetsMFRx)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			auto panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ABCDEF", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x30\x00\x00", 3), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE, 0, 4, 0, "\x18\xda\xf1\xef", LINE_INFO());
-
-			//Send the next part of the message multi message
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""GHIJKLM", 8, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-
-			//ABORTING MESSAGE
-			//Send a NEW single frame message and check the J2534 device gets it (but not the original message it was receiving.
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 11, 0, "\x18\xda\xef\xf1""TX_TEST", LINE_INFO());
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-
-			panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x07""TX_TEST", LINE_INFO());
-			///////////////////////////
-
-			//Resume sending the old message, and check th eJ2534 device didn't get a message.
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""NOPQRS", 7, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-		}*/
-
-		//TODO check rx is cleared by tx (multi). Or not.... read above note.
-
-		//Check multiframe rx RESETS ongoing multiframe transmission. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_PassRx_29b_Filter_NoPad_STD_FFCF_MFRxResetsMFRx)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			auto panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ABCDEF", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x30\x00\x00", 3), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE, 0, 4, 0, "\x18\xda\xf1\xef", LINE_INFO());
-
-			//Send the next part of the multi message A
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""GHIJKLM", 8, 0, LINE_INFO());
-
-			//ABORTING MESSAGE A
-			//Send a NEW multi frame message (B) and check the J2534 device gets it (but not the original message it was receiving.
-			//Send first frame, then check we get a flow control frame
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ninete", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x30\x00\x00", 3), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE, 0, 4, 0, "\x18\xda\xf1\xef", LINE_INFO());
-
-			//Send the rest of the message
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""en byte", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""s here", 7, 0, LINE_INFO());
-
-			//Check J2534 constructed the whole message
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID, 0, 4 + 0x13, 4 + 0x13, "\x18\xda\xf1\xef""nineteen bytes here", LINE_INFO());
-			//////////////////////// End sending B
-
-			//Resume sending the multi message A, and check th eJ2534 device didn't get a message.
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""NOPQRS", 7, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-		}
-
-		//Check rx fails gracefully if final CF of MF rx is too short. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_FailRxFinalCFTooShort_29b_Filter_NoPad_STD_FFCF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			auto panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ninete", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x30\x00\x00", 3), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE, 0, 4, 0, "\x18\xda\xf1\xef", LINE_INFO());
-
-			//Send the rest of the message
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""en byte", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""s her", 6, 0, LINE_INFO()); //The transaction should reset here because more data could have been sent.
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x23""e", 2, 0, LINE_INFO());
-
-			//Check J2534 constructed the whole message
-			j2534_msg_recv = j2534_recv_loop(chanid, 0);
-		}
-
-		//Check rx fails gracefully if first frame is too short. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_FailRxFFTooShort_29b_Filter_NoPad_STD_FFCF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame. The transaction should reset immediately because more data could have been sent in this frame.
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x10\x13""ninet", 7, 0, LINE_INFO());
-			j2534_recv_loop(chanid, 0);
-
-			//Send the rest of the message
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x21""een byt", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x22""es here", 8, 0, LINE_INFO());
-
-			//Check J2534 constructed the whole message
-			j2534_recv_loop(chanid, 0);
-		}
-
-		//Check MF tx will stop upon receiving a flow control ABORT. 29 bit. Good Filter. NoPadding. STD address. Large STmin, then abort, then send SF.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD__MF_FCAbort_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x30""AABBCC", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x02\x20", 3, 2, LINE_INFO());//Start a conversation. FC timeout is 32 ms.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x32\x0\x0", 3, 0, LINE_INFO());//Abort the conversation
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 4, 0, "\x18\xda\xef\xf1""SUP!", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 4, 0, "\x18\xda\xef\xf1""SUP!", LINE_INFO());
-		}
-
-		//Check MF tx will stop upon receiving a flow control ABORT during valid blocksize. 29 bit. Good Filter. NoPadding. STD address. Large STmin, then mid tx abort, then send SF.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD__MF_FCMixTXAbort_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x30""AABBCC", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x06\x7F", 3, 1, LINE_INFO(), 200);//Start a conversation. FC timeout is 127 ms.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x32\x0\x0", 3, 0, LINE_INFO());//Abort the conversation
-			panda_recv_loop(p, 0, 200);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 4, 0, "\x18\xda\xef\xf1""SUP!", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 4, 0, "\x18\xda\xef\xf1""SUP!", LINE_INFO());
-		}
-
-		//Check slow tx can be stalled past timeout with CF WAIT frames. 29 bit. Good Filter. NoPadding. STD address. MF tx that would timeout without WAIT frames.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MFWithWaitFrames)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			write_ioctl(chanid, ISO15765_WFT_MAX, 10, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x30""AABBCC", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x02\x40", 3, 2, LINE_INFO(), 3000);//Start a conversation. FC timeout is 250 ms.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x0\x0", 3, 4, LINE_INFO(), 3000);//Start a conversation. FC timeout is 250 ms.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x23""KKLLMMN", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x24""NOOPPQQ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2], 0, 0x18DAEFF1, TRUE, FALSE, "\x25""RRSSTTU", LINE_INFO());//Some of these should fail to recv if there is an issue.
-			check_panda_can_msg(panda_msg_recv[3], 0, 0x18DAEFF1, TRUE, FALSE, "\x26""UVVWWXX", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-		}
-
-		//Check slow tx can be stalled past timeout with CF WAIT frames during normal TX. 29 bit. Good Filter. NoPadding. STD address. Stalling working MF tx.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MFWithMidTXWaitFrames)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			write_ioctl(chanid, ISO15765_WFT_MAX, 10, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x30""AABBCC", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x06\x64", 3, 2, LINE_INFO(), 120);//Start a conversation. STmin 100. FC timeout is 250 ms.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x0\x0", 3, 4, LINE_INFO(), 3000);//Start a conversation. FC timeout is 250 ms.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x23""KKLLMMN", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x24""NOOPPQQ", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[2], 0, 0x18DAEFF1, TRUE, FALSE, "\x25""RRSSTTU", LINE_INFO());//Some of these should fail to recv if there is an issue.
-			check_panda_can_msg(panda_msg_recv[3], 0, 0x18DAEFF1, TRUE, FALSE, "\x26""UVVWWXX", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-		}
-
-		//Check that too many WAIT frames will abort the transfer. 29 bit. Good Filter. NoPadding. STD address. Too much stalling causes abort.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_STD_MFTooManyWaitFrames)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID, 4, "\xff\xff\xff\xff", "\x18\xda\xf1\xef", "\x18\xda\xef\xf1", LINE_INFO());
-			write_ioctl(chanid, LOOPBACK, TRUE, LINE_INFO());
-			write_ioctl(chanid, ISO15765_WFT_MAX, 2, LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 48, 0, "\x18\xda\xef\xf1""AABBCCDDEEFFGGHHIIJJKKLLMMNNOOPPQQRRSSTTUUVVWWXX", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x10\x30""AABBCC", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x02\x64", 3, 2, LINE_INFO(), 120);//Start a conversation. STmin 100. FC timeout is 250 ms.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x21""DDEEFFG", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x22""GHHIIJJ", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x02\x64", 3, 2, LINE_INFO(), 120);//Resume the conversation.
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x23""KKLLMMN", LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, "\x24""NOOPPQQ", LINE_INFO());
-
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x31\x0\x0", 3, 0, LINE_INFO(), 100);//Delay the conversation.
-			Sleep(100);
-
-			//Should not resume because the conversation has been delayed too long.
-			panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x30\x0\x0", 3, 0, LINE_INFO(), 300);
-
-			//Send a SF message to check the tubes are not clogged.
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID, 0, 4 + 4, 0, "\x18\xda\xef\xf1""SUP!", LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 2);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION, 0, 4, 0, "\x18\xda\xef\xf1", LINE_INFO());
-			check_J2534_can_msg(j2534_msg_recv[1], ISO15765, CAN_29BIT_ID | TX_MSG_TYPE, 0, 4 + 4, 0, "\x18\xda\xef\xf1""SUP!", LINE_INFO());
-		}
-
-		///////////////////// Tests checking things actually send/receive. Ext 5 byte Addressing /////////////////////
-
-		//Check rx passes with filter. 29 bit. Good Filter. NoPadding. EXT address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessRx_29b_Filter_NoPad_EXT_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID | ISO15765_ADDR_TYPE, 5, "\xff\xff\xff\xff\xff", "\x18\xda\xf1\xef\x13", "\x18\xda\xef\xf1\x13", LINE_INFO());
-			auto p = getPanda(500);
-
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x13""\x06""ABC123", 8, 0, LINE_INFO());
-
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | ISO15765_ADDR_TYPE, 0, 11, 11, "\x18\xda\xf1\xef\x13""ABC123", LINE_INFO());
-		}
-
-		//Check tx passes with filter. 29 bit. Good Filter. NoPadding. EXT address. Single Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_EXT_SF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID | ISO15765_ADDR_TYPE, 5, "\xff\xff\xff\xff\xff", "\x18\xda\xf1\xef\x13", "\x18\xda\xef\xf1\x13", LINE_INFO());
-			auto p = getPanda(500);
-
-			J2534_send_msg_checked(chanid, ISO15765, 0, CAN_29BIT_ID | ISO15765_ADDR_TYPE, 0, 11, 0, "\x18\xda\xef\xf1\x13""DERP!!", LINE_INFO());
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | TX_INDICATION | ISO15765_ADDR_TYPE, 0, 5, 0, "\x18\xda\xef\xf1\x13", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, "\x13""\x06""DERP!!", LINE_INFO());
-		}
-
-		//Check rx passes with filter. 29 bit. Good Filter. NoPadding. EXT address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_SuccessRx_29b_Filter_NoPad_EXT_FFCF)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID | ISO15765_ADDR_TYPE, 5, "\xff\xff\xff\xff\xff", "\x18\xda\xf1\xef\x13", "\x18\xda\xef\xf1\x13", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			Assert::IsTrue(p->can_send(0x18DAF1EF, TRUE, (const uint8_t*)"\x13""\x10\x13""ninet", 8, panda::PANDA_CAN1), _T("Panda send says it failed."), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE | ISO15765_ADDR_TYPE, 0, 5, 0, "\x18\xda\xf1\xef\x13", LINE_INFO());
-
-			auto panda_msg_recv = panda_recv_loop(p, 2);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAF1EF, TRUE, TRUE, std::string("\x13""\x10\x13""ninet", 8), LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[1], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x13""\x30\x00\x00", 4), LINE_INFO());
-
-			//Send the rest of the message
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x13""\x21""een by", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x13""\x22""tes he", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x13""\x23""re", 8, 0, LINE_INFO());
-
-			//Check J2534 constructed the whole message
-			j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | ISO15765_ADDR_TYPE, 0, 5 + 0x13, 5 + 0x13, "\x18\xda\xf1\xef\x13""nineteen bytes here", LINE_INFO());
-		}
-
-		//Check tx passes with filter. 29 bit. Good Filter. NoPadding. EXT address. Multi Frame.
-		/*TEST_METHOD(J2534_ISO15765_SuccessTx_29b_Filter_NoPad_EXT_FFCF)
-		{ //TODO when TX works with flow control}*/
-
-		///////////////////// Tests checking things break or recover during send/receive. Ext 5 byte Addressing /////////////////////
-
-		//Check rx FAILS when frame is dropped. 29 bit. Good Filter. NoPadding. STD address. Multi Frame.
-		TEST_METHOD(J2534_ISO15765_FailRx_29b_Filter_NoPad_EXT_FFCF_DropFrame)
-		{
-			auto chanid = J2534_open_and_connect("", ISO15765, CAN_29BIT_ID, 500000, LINE_INFO());
-			J2534_set_flowctrl_filter(chanid, CAN_29BIT_ID | ISO15765_ADDR_TYPE, 5, "\xff\xff\xff\xff\xff", "\x18\xda\xf1\xef\x13", "\x18\xda\xef\xf1\x13", LINE_INFO());
-			auto p = getPanda(500);
-
-			//Send first frame, then check we get a flow control frame
-			auto panda_msg_recv = checked_panda_send(p, 0x18DAF1EF, TRUE, "\x13\x10\x13""ninet", 8, 1, LINE_INFO());
-			check_panda_can_msg(panda_msg_recv[0], 0, 0x18DAEFF1, TRUE, FALSE, std::string("\x13\x30\x00\x00", 4), LINE_INFO());
-
-			//Check first frame is registered with J2534
-			auto j2534_msg_recv = j2534_recv_loop(chanid, 1);
-			check_J2534_can_msg(j2534_msg_recv[0], ISO15765, CAN_29BIT_ID | START_OF_MESSAGE | ISO15765_ADDR_TYPE, 0, 5, 0, "\x18\xda\xf1\xef\x13", LINE_INFO());
-
-			//Send the rest of the message
-			//Missing the 2nd frame "\x13""\x21""een by"
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x13""\x22""tes he", 8, 0, LINE_INFO());
-			checked_panda_send(p, 0x18DAF1EF, TRUE, "\x13""\x23""re", 8, 0, LINE_INFO());
-
-			//Check J2534 DOES NOT construct the incomplete message
-			j2534_recv_loop(chanid, 0);
-		}
-
-		bool didopen = FALSE;
-		unsigned long devid;
-
-		unsigned long open_dev(const char* name, long assert_err = STATUS_NOERROR, TCHAR* failmsg = _T("Failed to open device.")) {
-			unsigned int res = PassThruOpen((void*)name, &devid);
-			if (res == STATUS_NOERROR) didopen = TRUE;
-			return res;
-		}
-
-		unsigned long J2534_open_and_connect(const char* name, unsigned long ProtocolID, unsigned long Flags, unsigned long bps, const __LineInfo* pLineInfo = NULL) {
-			unsigned long chanid;
-			Assert::AreEqual<long>(STATUS_NOERROR, open_dev(name), _T("Failed to open device."), pLineInfo);
-			Assert::AreEqual<long>(STATUS_NOERROR, PassThruConnect(devid, ProtocolID, Flags, bps, &chanid), _T("Failed to open channel."), pLineInfo);
-			write_ioctl(chanid, LOOPBACK, FALSE, LINE_INFO()); // DISABLE J2534 ECHO/LOOPBACK
-			return chanid;
-		}
-
-	};
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj b/panda/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj
deleted file mode 100644
index bab867ab49ffdc..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj	
+++ /dev/null
@@ -1,122 +0,0 @@
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-  <ItemGroup Label="ProjectConfigurations">
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-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
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-    </ProjectConfiguration>
-  </ItemGroup>
-  <PropertyGroup Label="Globals">
-    <ProjectGuid>{7912F978-B48C-4C5D-8BFD-5D1E22158E47}</ProjectGuid>
-    <Keyword>Win32Proj</Keyword>
-    <RootNamespace>pandaJ2534DLLTest</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
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-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <AdditionalIncludeDirectories>$(VCInstallDir)UnitTest\include;%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
-      <PreprocessorDefinitions>WIN32;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <UseFullPaths>true</UseFullPaths>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <AdditionalLibraryDirectories>$(VCInstallDir)UnitTest\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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-  </ItemDefinitionGroup>
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-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
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-      <AdditionalIncludeDirectories>$(VCInstallDir)UnitTest\include;%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
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-    </Link>
-  </ItemDefinitionGroup>
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-    <ClInclude Include="..\pandaJ2534DLL\J2534_v0404.h" />
-    <ClInclude Include="..\panda\panda.h" />
-    <ClInclude Include="Loader4.h" />
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diff --git a/panda/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj.filters b/panda/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj.filters
deleted file mode 100644
index 476ce458d35534..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj.filters	
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup>
-    <Filter Include="Source Files">
-      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
-      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
-    </Filter>
-    <Filter Include="Header Files">
-      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
-      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
-    </Filter>
-    <Filter Include="Resource Files">
-      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
-      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
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-      <Filter>Header Files</Filter>
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-      <Filter>Header Files</Filter>
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-      <Filter>Header Files</Filter>
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-      <Filter>Header Files</Filter>
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-      <Filter>Header Files</Filter>
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-      <Filter>Source Files</Filter>
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diff --git a/panda/drivers/windows/pandaJ2534DLL Test/panda_tests.cpp b/panda/drivers/windows/pandaJ2534DLL Test/panda_tests.cpp
deleted file mode 100644
index 51b0bfcf2f60b5..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/panda_tests.cpp	
+++ /dev/null
@@ -1,187 +0,0 @@
-#include "stdafx.h"
-#include "panda_shared/panda.h"
-#include "TestHelpers.h"
-
-#include <tchar.h>
-
-using namespace Microsoft::VisualStudio::CppUnitTestFramework;
-using namespace panda;
-
-namespace pandaTestNative
-{
-	TEST_CLASS(DeviceDiscovery)
-	{
-	public:
-
-		TEST_METHOD(Panda_DevDiscover_ListDevices)
-		{
-			auto pandas_available = Panda::listAvailablePandas();
-			Assert::IsTrue(pandas_available.size() > 0, _T("No pandas were found."));
-			for (auto sn : pandas_available) {
-				Assert::IsTrue(sn.size() == 24, _T("panda Serial Number not 24 characters long."));
-			}
-		}
-
-		TEST_METHOD(Panda_DevDiscover_OpenFirstDevice)
-		{
-			auto pandas_available = Panda::listAvailablePandas();
-			Assert::IsTrue(pandas_available.size() > 0, _T("No pandas were found."));
-
-			auto p1 = Panda::openPanda(pandas_available[0]);
-			Assert::IsFalse(p1 == nullptr, _T("Could not open panda."));
-		}
-
-		TEST_METHOD(Panda_DevDiscover_OpenDeviceNoName)
-		{
-			auto pandas_available = Panda::listAvailablePandas();
-			Assert::IsTrue(pandas_available.size() > 0, _T("No pandas were found."));
-
-			auto p1 = Panda::openPanda("");
-			Assert::IsFalse(p1 == nullptr, _T("Could not open panda."));
-			Assert::IsTrue(p1->get_usb_sn() == pandas_available[0], _T("Could not open panda."));
-		}
-
-		TEST_METHOD(Panda_DevDiscover_OpenDeviceUnavailable)
-		{
-			auto p1 = Panda::openPanda("ZZZZZZZZZZZZZZZZZZZZZZZZ");
-			Assert::IsTrue(p1 == nullptr, _T("Invalid sn still worked."));
-		}
-
-		TEST_METHOD(Panda_DevDiscover_WillNotOpenAlreadyOpenedDevice)
-		{
-			auto pandas_available = Panda::listAvailablePandas();
-			Assert::IsTrue(pandas_available.size() > 0, _T("No pandas were found."));
-
-			auto p1 = Panda::openPanda(pandas_available[0]);
-			Assert::IsFalse(p1 == nullptr, _T("Could not open panda."));
-
-			auto p2 = Panda::openPanda(pandas_available[0]);
-			Assert::IsTrue(p2 == nullptr, _T("Opened an already open panda."));
-		}
-
-		TEST_METHOD(Panda_DevDiscover_OpenedDeviceNotListed)
-		{
-			auto pandas_available = Panda::listAvailablePandas();
-			Assert::IsTrue(pandas_available.size() > 0, _T("No pandas were found."));
-
-			auto p1 = Panda::openPanda(pandas_available[0]);
-			Assert::IsFalse(p1 == nullptr, _T("Could not open panda."));
-
-			auto pandas_available2 = Panda::listAvailablePandas();
-			for (auto sn : pandas_available2) {
-				Assert::IsFalse(p1->get_usb_sn() == sn, _T("Opened panda appears in list of available pandas."));
-			}
-
-		}
-	};
-
-	TEST_CLASS(CANOperations)
-	{
-	public:
-
-		TEST_METHOD(Panda_CAN_Echo)
-		{
-			auto p0 = getPanda(500, TRUE);
-
-			uint32_t addr = 0xAA;
-			bool is_29b = FALSE;
-			uint8_t candata[8];
-
-			for (auto canbus : { PANDA_CAN1, PANDA_CAN2, PANDA_CAN3 }) {
-				uint8_t len = (rand() % 8) + 1;
-				for (size_t i = 0; i < len; i++)
-					candata[i] = rand() % 256;
-
-				p0->can_send(addr, is_29b, candata, len, canbus);
-				Sleep(10);
-
-				auto can_msgs = p0->can_recv();
-
-				Assert::AreEqual<size_t>(2, can_msgs.size(), _T("Received the wrong number of CAN messages."), LINE_INFO());
-
-				for (auto msg : can_msgs) {
-					Assert::IsTrue(msg.addr == addr, _T("Wrong addr."));
-					Assert::IsTrue(msg.bus == canbus, _T("Wrong bus."));
-					Assert::IsTrue(msg.len == len, _T("Wrong len."));
-					Assert::AreEqual(memcmp(msg.dat, candata, msg.len), 0, _T("Received CAN data not equal"));
-					for (int i = msg.len; i < 8; i++)
-						Assert::IsTrue(msg.dat[i] == 0, _T("Received CAN data not trailed by 0s"));
-				}
-
-				Assert::IsTrue(can_msgs[0].is_receipt, _T("Didn't get receipt."));
-				Assert::IsFalse(can_msgs[1].is_receipt, _T("Didn't get echo."));
-			}
-		}
-
-		TEST_METHOD(Panda_CAN_ChangeBaud)
-		{
-			auto p0 = getPanda(250);
-			auto p1 = getPanda(500);
-
-			p0->can_send(0xAA, FALSE, (const uint8_t*)"\x1\x2\x3\x4\x5\x6\x7\x8", 8, panda::PANDA_CAN1);
-			panda_recv_loop(p0, 0);
-			panda_recv_loop(p1, 0);
-
-			p0->set_can_speed_kbps(panda::PANDA_CAN1, 500);
-
-			auto panda_msg_recv = panda_recv_loop(p0, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0xAA, FALSE, TRUE, "\x1\x2\x3\x4\x5\x6\x7\x8", LINE_INFO());
-			panda_msg_recv = panda_recv_loop(p1, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0xAA, FALSE, FALSE, "\x1\x2\x3\x4\x5\x6\x7\x8", LINE_INFO());
-
-			//////////////////
-
-			p0->set_can_speed_kbps(panda::PANDA_CAN1, 250);
-			p0->can_send(0xC4, FALSE, (const uint8_t*)"\xA\B\xC\xD\xE\xF\x10\x11", 8, panda::PANDA_CAN1);
-			panda_recv_loop(p0, 0);
-			panda_recv_loop(p1, 0);
-
-			p1->set_can_speed_kbps(panda::PANDA_CAN1, 250);
-
-			panda_msg_recv = panda_recv_loop(p0, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0xC4, FALSE, TRUE, "\xA\B\xC\xD\xE\xF\x10\x11", LINE_INFO());
-			panda_msg_recv = panda_recv_loop(p1, 1);
-			check_panda_can_msg(panda_msg_recv[0], 0, 0xC4, FALSE, FALSE, "\xA\B\xC\xD\xE\xF\x10\x11", LINE_INFO());
-		}
-
-		TEST_METHOD(Panda_CAN_ClearClears)
-		{
-			auto p0 = getPanda(500, TRUE);
-			p0->can_send(0xAA, FALSE, (const uint8_t*)"\x0\x1\x2\x3\x4\x5\x6\x7", 8, panda::PANDA_CAN1);
-			Sleep(100);
-			p0->can_clear(PANDA_CAN_RX);
-
-			auto can_msgs = p0->can_recv();
-			Assert::IsTrue(can_msgs.size() == 0, _T("Received messages after a clear."));
-		}
-	};
-
-	TEST_CLASS(SerialOperations)
-	{
-	public:
-
-		TEST_METHOD(Panda_LIN_Echo)
-		{
-			auto p0 = getPanda(500);
-
-			for (auto lin_port : { SERIAL_LIN1, SERIAL_LIN2 }) {
-				p0->serial_clear(lin_port);
-
-				for (int i = 0; i < 10; i++) {
-					uint8_t len = (rand() % LIN_MSG_MAX_LEN) + 1;
-					std::string lindata;
-					lindata.reserve(len);
-
-					for (size_t j = 0; j < len; j++)
-						lindata += (const char)(rand() % 256);
-
-					p0->serial_write(lin_port, lindata.c_str(), len);
-					Sleep(10);
-
-					auto retdata = p0->serial_read(lin_port);
-					Assert::AreEqual(retdata, lindata);
-				}
-			}
-		}
-	};
-}
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/stdafx.cpp b/panda/drivers/windows/pandaJ2534DLL Test/stdafx.cpp
deleted file mode 100644
index 84a1f0aaf34351..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/stdafx.cpp	
+++ /dev/null
@@ -1,8 +0,0 @@
-// stdafx.cpp : source file that includes just the standard includes
-// pandaJ2534DLL Test.pch will be the pre-compiled header
-// stdafx.obj will contain the pre-compiled type information
-
-#include "stdafx.h"
-
-// TODO: reference any additional headers you need in STDAFX.H
-// and not in this file
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/stdafx.h b/panda/drivers/windows/pandaJ2534DLL Test/stdafx.h
deleted file mode 100644
index 1ac8bd8dcc42c9..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/stdafx.h	
+++ /dev/null
@@ -1,14 +0,0 @@
-#pragma once
-
-#include "targetver.h"
-
-#define WIN32_LEAN_AND_MEAN             // Exclude rarely-used stuff from Windows headers
-// Windows Header Files:
-#include <windows.h>
-#include <tchar.h>
-
-// Headers for CppUnitTest
-#include "CppUnitTest.h"
-#include <iomanip> //Used for formatting in TestHelpers.cpp
-#include <string>
-#include <array>
diff --git a/panda/drivers/windows/pandaJ2534DLL Test/targetver.h b/panda/drivers/windows/pandaJ2534DLL Test/targetver.h
deleted file mode 100644
index 87c0086de751ba..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL Test/targetver.h	
+++ /dev/null
@@ -1,8 +0,0 @@
-#pragma once
-
-// Including SDKDDKVer.h defines the highest available Windows platform.
-
-// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
-// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
-
-#include <SDKDDKVer.h>
diff --git a/panda/drivers/windows/pandaJ2534DLL/Action.h b/panda/drivers/windows/pandaJ2534DLL/Action.h
deleted file mode 100644
index e9721c2eda9f29..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/Action.h
+++ /dev/null
@@ -1,57 +0,0 @@
-#pragma once
-#include <memory>
-
-#include "J2534Frame.h"
-
-class J2534Connection;
-
-/**
-An Action represents a unit of work that can be scheduled for execution at a later time.
-Actions are not guaranteed to be run at their specified time, but a best effort is made.
-An Action will never execute early, but can execute later depending on what is in the
-queus.
-Many different operations are based on this base class. Instead of making a thread,
-consider if the work can be offloaded to the Task Queue.
-*/
-class Action
-{
-public:
-	Action(
-		std::weak_ptr<J2534Connection> connection,
-		std::chrono::microseconds delay
-	) : connection(connection), delay(delay) { };
-
-	Action(
-		std::weak_ptr<J2534Connection> connection
-	) : connection(connection), delay(std::chrono::microseconds(0)) { };
-
-	//The function called by the task runner when this action is to be invoked.
-	virtual void execute() = 0;
-
-	//Reschedule this Action for now().
-	void scheduleImmediate() {
-		expire = std::chrono::steady_clock::now();
-	}
-
-	//Reschedule this Action relative to its last expiration time.
-	void scheduleDelay() {
-		expire += this->delay;
-	}
-
-	//Reschedule this action {delay} after now().
-	void scheduleImmediateDelay() {
-		expire = std::chrono::steady_clock::now() + this->delay;
-	}
-
-	//Reschedule this Action based on a specific base time.
-	void schedule(std::chrono::time_point<std::chrono::steady_clock> starttine, BOOL adddelayed) {
-		this->expire = starttine;
-		if (adddelayed)
-			expire += this->delay;
-	}
-
-	std::weak_ptr<J2534Connection> connection;
-	std::chrono::microseconds delay;
-	//The timestamp at which point this Action is ready to be executed.
-	std::chrono::time_point<std::chrono::steady_clock> expire;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534Connection.cpp b/panda/drivers/windows/pandaJ2534DLL/J2534Connection.cpp
deleted file mode 100644
index aa364b0f8a323c..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534Connection.cpp
+++ /dev/null
@@ -1,283 +0,0 @@
-#include "stdafx.h"
-#include "J2534Connection.h"
-#include "Timer.h"
-
-J2534Connection::J2534Connection(
-	std::shared_ptr<PandaJ2534Device> panda_dev,
-	unsigned long ProtocolID,
-	unsigned long Flags,
-	unsigned long BaudRate
-) : panda_dev(panda_dev), ProtocolID(ProtocolID), Flags(Flags), BaudRate(BaudRate), port(0) { }
-
-unsigned long J2534Connection::validateTxMsg(PASSTHRU_MSG* msg) {
-	if (msg->DataSize < this->getMinMsgLen() || msg->DataSize > this->getMaxMsgLen())
-		return ERR_INVALID_MSG;
-	return STATUS_NOERROR;
-}
-
-long J2534Connection::PassThruReadMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout) {
-	//Timeout of 0 means return immediately. Non zero means WAIT for that time then return. Dafuk.
-	long err_code = STATUS_NOERROR;
-	Timer t = Timer();
-
-	unsigned long msgnum = 0;
-	while (msgnum < *pNumMsgs) {
-		if (Timeout > 0 && t.getTimePassed() >= Timeout) {
-			err_code = ERR_TIMEOUT;
-			break;
-		}
-
-		//Synchronized won't work where we have to break out of a loop
-		messageRxBuff_mutex.lock();
-		if (this->messageRxBuff.empty()) {
-			messageRxBuff_mutex.unlock();
-			if (Timeout == 0)
-				break;
-			Sleep(2);
-			continue;
-		}
-
-		auto msg_in = this->messageRxBuff.front();
-		this->messageRxBuff.pop();
-		messageRxBuff_mutex.unlock();
-
-		PASSTHRU_MSG *msg_out = &pMsg[msgnum++];
-		msg_out->ProtocolID = this->ProtocolID;
-		msg_out->DataSize = msg_in.Data.size();
-		memcpy(msg_out->Data, msg_in.Data.c_str(), msg_in.Data.size());
-		msg_out->Timestamp = msg_in.Timestamp;
-		msg_out->RxStatus = msg_in.RxStatus;
-		msg_out->ExtraDataIndex = msg_in.ExtraDataIndex;
-		msg_out->TxFlags = 0;
-		if (msgnum == *pNumMsgs) break;
-	}
-
-	if (msgnum == 0)
-		err_code = ERR_BUFFER_EMPTY;
-	*pNumMsgs = msgnum;
-	return err_code;
-}
-
-long J2534Connection::PassThruWriteMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout) {
-	//There doesn't seem to be much reason to implement the timeout here.
-	for (int msgnum = 0; msgnum < *pNumMsgs; msgnum++) {
-		PASSTHRU_MSG* msg = &pMsg[msgnum];
-		if (msg->ProtocolID != this->ProtocolID) {
-			*pNumMsgs = msgnum;
-			return ERR_MSG_PROTOCOL_ID;
-		}
-
-		auto retcode = this->validateTxMsg(msg);
-		if (retcode != STATUS_NOERROR) {
-			*pNumMsgs = msgnum;
-			return retcode;
-		}
-
-		auto msgtx = this->parseMessageTx(*pMsg);
-		if (msgtx != nullptr) //Nullptr is supported for unimplemented connection types.
-			this->schedultMsgTx(std::dynamic_pointer_cast<Action>(msgtx));
-	}
-	return STATUS_NOERROR;
-}
-
-//The docs say that a device has to support 10 periodic messages, though more is ok.
-//It is easier to store them on the connection, so 10 per connection it is.
-long J2534Connection::PassThruStartPeriodicMsg(PASSTHRU_MSG *pMsg, unsigned long *pMsgID, unsigned long TimeInterval) {
-	if (pMsg->DataSize < getMinMsgLen() || pMsg->DataSize > getMaxMsgSingleFrameLen()) return ERR_INVALID_MSG;
-	if (pMsg->ProtocolID != this->ProtocolID) return ERR_MSG_PROTOCOL_ID;
-	if (TimeInterval < 5 || TimeInterval > 65535) return ERR_INVALID_TIME_INTERVAL;
-
-	for (int i = 0; i < this->periodicMessages.size(); i++) {
-		if (periodicMessages[i] != nullptr) continue;
-
-		*pMsgID = i;
-		auto msgtx = this->parseMessageTx(*pMsg);
-		if (msgtx != nullptr) {
-			periodicMessages[i] = std::make_shared<MessagePeriodic>(std::chrono::microseconds(TimeInterval*1000), msgtx);
-			periodicMessages[i]->scheduleImmediate();
-			if (auto panda_dev = this->getPandaDev()) {
-				panda_dev->insertActionIntoTaskList(periodicMessages[i]);
-			}
-		}
-		return STATUS_NOERROR;
-	}
-	return ERR_EXCEEDED_LIMIT;
-}
-
-long J2534Connection::PassThruStopPeriodicMsg(unsigned long MsgID) {
-	if (MsgID >= this->periodicMessages.size() || this->periodicMessages[MsgID] == nullptr)
-		return ERR_INVALID_MSG_ID;
-	this->periodicMessages[MsgID]->cancel();
-	this->periodicMessages[MsgID] = nullptr;
-	return STATUS_NOERROR;
-}
-
-long J2534Connection::PassThruStartMsgFilter(unsigned long FilterType, PASSTHRU_MSG *pMaskMsg, PASSTHRU_MSG *pPatternMsg,
-	PASSTHRU_MSG *pFlowControlMsg, unsigned long *pFilterID) {
-	for (int i = 0; i < this->filters.size(); i++) {
-		if (filters[i] == nullptr) {
-			try {
-				auto newfilter = std::make_shared<J2534MessageFilter>(this, FilterType, pMaskMsg, pPatternMsg, pFlowControlMsg);
-				for (int check_idx = 0; check_idx < filters.size(); check_idx++) {
-					if (filters[check_idx] == nullptr) continue;
-					if (filters[check_idx] == newfilter) {
-						filters[i] = nullptr;
-						return ERR_NOT_UNIQUE;
-					}
-				}
-				*pFilterID = i;
-				filters[i] = newfilter;
-				return STATUS_NOERROR;
-			} catch (int e) {
-				return e;
-			}
-		}
-	}
-	return ERR_EXCEEDED_LIMIT;
-}
-
-long J2534Connection::PassThruStopMsgFilter(unsigned long FilterID) {
-	if (FilterID >= this->filters.size() || this->filters[FilterID] == nullptr)
-		return ERR_INVALID_FILTER_ID;
-	this->filters[FilterID] = nullptr;
-	return STATUS_NOERROR;
-}
-
-long J2534Connection::PassThruIoctl(unsigned long IoctlID, void *pInput, void *pOutput) {
-	return STATUS_NOERROR;
-}
-
-long J2534Connection::init5b(SBYTE_ARRAY* pInput, SBYTE_ARRAY* pOutput) { return ERR_FAILED; }
-long J2534Connection::initFast(PASSTHRU_MSG* pInput, PASSTHRU_MSG* pOutput) { return ERR_FAILED; }
-long J2534Connection::clearTXBuff() {
-	if (auto panda_ps = this->panda_dev.lock()) {
-		synchronized(staged_writes_lock) {
-			this->txbuff = {};
-			panda_ps->panda->can_clear(panda::PANDA_CAN1_TX);
-		}
-	}
-	return STATUS_NOERROR;
-}
-long J2534Connection::clearRXBuff() {
-	if (auto panda_ps = this->panda_dev.lock()) {
-		synchronized(messageRxBuff_mutex) {
-			this->messageRxBuff = {};
-			panda_ps->panda->can_clear(panda::PANDA_CAN_RX);
-		}
-	}
-	return STATUS_NOERROR;
-}
-long J2534Connection::clearPeriodicMsgs() {
-	for (int i = 0; i < this->periodicMessages.size(); i++) {
-		if (periodicMessages[i] == nullptr) continue;
-		this->periodicMessages[i]->cancel();
-		this->periodicMessages[i] = nullptr;
-	}
-
-	return STATUS_NOERROR;
-}
-long J2534Connection::clearMsgFilters() {
-	for (auto& filter : this->filters) filter = nullptr;
-	return STATUS_NOERROR;
-}
-
-void J2534Connection::setBaud(unsigned long baud) {
-	this->BaudRate = baud;
-}
-
-void J2534Connection::schedultMsgTx(std::shared_ptr<Action> msgout) {
-	if (auto panda_ps = this->panda_dev.lock()) {
-		synchronized(staged_writes_lock) {
-			this->txbuff.push(msgout);
-			panda_ps->registerConnectionTx(shared_from_this());
-		}
-	}
-}
-
-void J2534Connection::rescheduleExistingTxMsgs() {
-	if (auto panda_ps = this->panda_dev.lock()) {
-		synchronized(staged_writes_lock) {
-			panda_ps->unstallConnectionTx(shared_from_this());
-		}
-	}
-}
-
-//Works well as long as the protocol doesn't support flow control.
-void J2534Connection::processMessage(const J2534Frame& msg) {
-	FILTER_RESULT filter_res = FILTER_RESULT_NEUTRAL;
-
-	for (auto filter : this->filters) {
-		if (filter == nullptr) continue;
-		FILTER_RESULT current_check_res = filter->check(msg);
-		if (current_check_res == FILTER_RESULT_BLOCK) return;
-		if (current_check_res == FILTER_RESULT_PASS) filter_res = FILTER_RESULT_PASS;
-	}
-
-	if (filter_res == FILTER_RESULT_PASS) {
-		addMsgToRxQueue(msg);
-	}
-}
-
-void J2534Connection::processIOCTLSetConfig(unsigned long Parameter, unsigned long Value) {
-	switch (Parameter) {
-	case DATA_RATE:			// 5-500000
-		this->setBaud(Value);
-		break;
-	case LOOPBACK:			// 0 (OFF), 1 (ON) [0]
-		this->loopback = (Value != 0);
-		break;
-	case ISO15765_WFT_MAX:
-		break;
-	case NODE_ADDRESS:		// J1850PWM Related (Not supported by panda). HDS requires these to 'work'.
-	case NETWORK_LINE:
-	case P1_MIN:			// A bunch of stuff relating to ISO9141 and ISO14230 that the panda
-	case P1_MAX:			// currently doesn't support. Don't let HDS know we can't use these.
-	case P2_MIN:
-	case P2_MAX:
-	case P3_MIN:
-	case P3_MAX:
-	case P4_MIN:
-	case P4_MAX:
-	case W0:
-	case W1:
-	case W2:
-	case W3:
-	case W4:
-	case W5:
-	case TIDLE:
-	case TINIL:
-	case TWUP:
-	case PARITY:
-	case T1_MAX:			// SCI related options. The panda does not appear to support this
-	case T2_MAX:
-	case T3_MAX:
-	case T4_MAX:
-	case T5_MAX:
-		break;				// Just smile and nod.
-	default:
-		printf("Got unknown SET code %X\n", Parameter);
-	}
-
-	// reserved parameters usually mean special equiptment is required
-	if (Parameter >= 0x20) {
-		throw ERR_NOT_SUPPORTED;
-	}
-}
-
-unsigned long J2534Connection::processIOCTLGetConfig(unsigned long Parameter) {
-	switch (Parameter) {
-	case DATA_RATE:
-		return this->getBaud();
-	case LOOPBACK:
-		return this->loopback;
-		break;
-	case BIT_SAMPLE_POINT:
-		return 80;
-	case SYNC_JUMP_WIDTH:
-		return 15;
-	default:
-		// HDS rarely reads off values through ioctl GET_CONFIG, but it often
-		// just wants the call to pass without erroring, so just don't do anything.
-		printf("Got unknown code %X\n", Parameter);
-	}
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534Connection.h b/panda/drivers/windows/pandaJ2534DLL/J2534Connection.h
deleted file mode 100644
index 70f25a1063f09f..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534Connection.h
+++ /dev/null
@@ -1,141 +0,0 @@
-#pragma once
-#include "panda_shared/panda.h"
-#include "J2534_v0404.h"
-#include "synchronize.h"
-#include "J2534Frame.h"
-#include "PandaJ2534Device.h"
-#include "J2534MessageFilter.h"
-#include "MessagePeriodic.h"
-
-class J2534Frame;
-class Action;
-class PandaJ2534Device;
-class J2534MessageFilter;
-
-#define check_bmask(num, mask)(((num) & mask) == mask)
-
-/**
-Class representing a generic J2534 Connection created by PassThruConnect,
-and is associated with a channelID given to the J2534 API user.
-Subclasses implement specific J2534 supported protocols.
-*/
-class J2534Connection : public std::enable_shared_from_this<J2534Connection> {
-	friend class PandaJ2534Device;
-
-public:
-	J2534Connection(
-		std::shared_ptr<PandaJ2534Device> panda_dev,
-		unsigned long ProtocolID,
-		unsigned long Flags,
-		unsigned long BaudRate
-	);
-	virtual ~J2534Connection() {};
-
-	//J2534 API functions
-
-	virtual long PassThruReadMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout);
-	long PassThruWriteMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout);
-	virtual long PassThruStartPeriodicMsg(PASSTHRU_MSG *pMsg, unsigned long *pMsgID, unsigned long TimeInterval);
-	virtual long PassThruStopPeriodicMsg(unsigned long MsgID);
-
-	virtual long PassThruStartMsgFilter(unsigned long FilterType, PASSTHRU_MSG *pMaskMsg, PASSTHRU_MSG *pPatternMsg,
-		PASSTHRU_MSG *pFlowControlMsg, unsigned long *pFilterID);
-
-	virtual long PassThruStopMsgFilter(unsigned long FilterID);
-	virtual long PassThruIoctl(unsigned long IoctlID, void *pInput, void *pOutput);
-
-	//Functions for parsing messages to be send with PassThruWriteMsgs.
-
-	virtual unsigned long  validateTxMsg(PASSTHRU_MSG* msg);
-	virtual std::shared_ptr<MessageTx> parseMessageTx(PASSTHRU_MSG& msg) { return nullptr; };
-
-	//IOCTL functions
-
-	long init5b(SBYTE_ARRAY* pInput, SBYTE_ARRAY* pOutput);
-	long initFast(PASSTHRU_MSG* pInput, PASSTHRU_MSG* pOutput);
-	long clearTXBuff();
-	long clearRXBuff();
-	long clearPeriodicMsgs();
-	long clearMsgFilters();
-
-	virtual void setBaud(unsigned long baud);
-
-	unsigned long getBaud() {
-		return this->BaudRate;
-	}
-
-	unsigned long getProtocol() {
-		return this->ProtocolID;
-	};
-
-	virtual bool isProtoCan() {
-		return FALSE;
-	}
-
-	//Port is used in a protocol specific way to differentiate tranceivers.
-	unsigned long getPort() {
-		return this->port;
-	}
-
-	virtual void processIOCTLSetConfig(unsigned long Parameter, unsigned long Value);
-
-	virtual unsigned long processIOCTLGetConfig(unsigned long Parameter);
-
-	//Called when the passthru device has received a message for this connection
-	//Loopback messages are processed separately.
-	virtual void processMessage(const J2534Frame& msg);
-
-	//Limitations on message size. Override in every subclass.
-
-	virtual unsigned long getMinMsgLen() {
-		return 1;
-	}
-
-	virtual unsigned long getMaxMsgLen() {
-		return 4128;
-	}
-
-	virtual unsigned long getMaxMsgSingleFrameLen() {
-		return 12;
-	}
-
-	//Add an Action to the Task Queue for future processing.
-	//The task should be set its expire time before being submitted.
-	void schedultMsgTx(std::shared_ptr<Action> msgout);
-
-	void rescheduleExistingTxMsgs();
-
-	std::shared_ptr<PandaJ2534Device> getPandaDev() {
-		if (auto panda_dev_sp = this->panda_dev.lock())
-			return panda_dev_sp;
-		return nullptr;
-	}
-
-	//Add a message to the queue read by PassThruReadMsgs().
-	void addMsgToRxQueue(const J2534Frame& frame) {
-		synchronized(messageRxBuff_mutex) {
-			messageRxBuff.push(frame);
-		}
-	}
-
-	bool loopback = FALSE;
-
-protected:
-	unsigned long ProtocolID;
-	unsigned long Flags;
-	unsigned long BaudRate;
-	unsigned long port;
-
-	std::weak_ptr<PandaJ2534Device> panda_dev;
-
-	Mutex messageRxBuff_mutex;
-	std::queue<J2534Frame> messageRxBuff;
-
-	std::array<std::shared_ptr<J2534MessageFilter>, 10> filters;
-	std::queue<std::shared_ptr<Action>> txbuff;
-
-	std::array<std::shared_ptr<MessagePeriodic>, 10> periodicMessages;
-
-private:
-	Mutex staged_writes_lock;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.cpp b/panda/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.cpp
deleted file mode 100644
index 342616900d0e39..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-#include "stdafx.h"
-#include "J2534Connection_CAN.h"
-#include "MessageTx_CAN.h"
-#include "Timer.h"
-
-J2534Connection_CAN::J2534Connection_CAN(
-		std::shared_ptr<PandaJ2534Device> panda_dev,
-		unsigned long ProtocolID,
-		unsigned long Flags,
-		unsigned long BaudRate
-	) : J2534Connection(panda_dev, ProtocolID, Flags, BaudRate) {
-	this->port = 0;
-
-	if (BaudRate % 100 || BaudRate < 10000 || BaudRate > 5000000)
-		throw ERR_INVALID_BAUDRATE;
-
-	panda_dev->panda->set_can_speed_cbps(panda::PANDA_CAN1, BaudRate/100);
-};
-
-unsigned long J2534Connection_CAN::validateTxMsg(PASSTHRU_MSG* msg) {
-	if ((msg->DataSize < this->getMinMsgLen() || msg->DataSize > this->getMaxMsgLen() ||
-		(val_is_29bit(msg->TxFlags) != this->_is_29bit() && !check_bmask(this->Flags, CAN_ID_BOTH))))
-		return ERR_INVALID_MSG;
-	return STATUS_NOERROR;
-}
-
-std::shared_ptr<MessageTx> J2534Connection_CAN::parseMessageTx(PASSTHRU_MSG& msg) {
-	return std::dynamic_pointer_cast<MessageTx>(std::make_shared<MessageTx_CAN>(shared_from_this(), msg));
-}
-
-void J2534Connection_CAN::setBaud(unsigned long BaudRate) {
-	if (auto panda_dev = this->getPandaDev()) {
-		if (BaudRate % 100 || BaudRate < 10000 || BaudRate > 5000000)
-			throw ERR_NOT_SUPPORTED;
-
-		panda_dev->panda->set_can_speed_cbps(panda::PANDA_CAN1, (uint16_t)(BaudRate / 100));
-		return J2534Connection::setBaud(BaudRate);
-	} else {
-		throw ERR_DEVICE_NOT_CONNECTED;
-	}
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.h b/panda/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.h
deleted file mode 100644
index 3971351eea369a..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#pragma once
-
-#include "J2534Connection.h"
-#include "panda_shared/panda.h"
-
-#define val_is_29bit(num) check_bmask(num, CAN_29BIT_ID)
-
-class J2534Connection_CAN : public J2534Connection {
-public:
-	J2534Connection_CAN(
-		std::shared_ptr<PandaJ2534Device> panda_dev,
-		unsigned long ProtocolID,
-		unsigned long Flags,
-		unsigned long BaudRate
-	);
-
-	virtual unsigned long validateTxMsg(PASSTHRU_MSG* msg);
-
-	virtual std::shared_ptr<MessageTx> parseMessageTx(PASSTHRU_MSG& pMsg);
-
-	virtual void setBaud(unsigned long baud);
-
-	virtual unsigned long getMinMsgLen() {
-		return 4;
-	}
-
-	virtual unsigned long getMaxMsgLen() {
-		return 12;
-	}
-
-	virtual unsigned long getMaxMsgSingleFrameLen() {
-		return 12;
-	}
-
-	virtual bool isProtoCan() {
-		return TRUE;
-	}
-
-	bool _is_29bit() {
-		return (this->Flags & CAN_29BIT_ID) == CAN_29BIT_ID;
-	}
-
-};
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.cpp b/panda/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.cpp
deleted file mode 100644
index a83f6f433135f2..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.cpp
+++ /dev/null
@@ -1,232 +0,0 @@
-#include "stdafx.h"
-#include "J2534Connection_ISO15765.h"
-#include "Timer.h"
-#include "constants_ISO15765.h"
-#include <chrono>
-
-J2534Connection_ISO15765::J2534Connection_ISO15765(
-	std::shared_ptr<PandaJ2534Device> panda_dev,
-	unsigned long ProtocolID,
-	unsigned long Flags,
-	unsigned long BaudRate
-) : J2534Connection(panda_dev, ProtocolID, Flags, BaudRate), wftMax(0) {
-	this->port = 0;
-
-	if (BaudRate % 100 || BaudRate < 10000 || BaudRate > 5000000)
-		throw ERR_INVALID_BAUDRATE;
-
-	panda_dev->panda->set_can_speed_cbps(panda::PANDA_CAN1, (uint16_t)(BaudRate / 100));
-}
-
-unsigned long J2534Connection_ISO15765::validateTxMsg(PASSTHRU_MSG* msg) {
-	if ((msg->DataSize < this->getMinMsgLen() + (msg_is_extaddr(msg) ? 1 : 0) ||
-		msg->DataSize > this->getMaxMsgLen() + (msg_is_extaddr(msg) ? 1 : 0) ||
-		(val_is_29bit(msg->TxFlags) != this->_is_29bit() && !check_bmask(this->Flags, CAN_ID_BOTH))))
-		return ERR_INVALID_MSG;
-
-	int fid = get_matching_out_fc_filter_id(std::string((const char*)msg->Data, msg->DataSize), msg->TxFlags, 0xFFFFFFFF);
-	if (msg->DataSize > getMaxMsgSingleFrameLen() && fid == -1) return ERR_NO_FLOW_CONTROL; //11 bytes (4 for CANid, 7 payload) is max length of input frame.
-
-	return STATUS_NOERROR;
-}
-
-std::shared_ptr<MessageTx> J2534Connection_ISO15765::parseMessageTx(PASSTHRU_MSG& msg) {
-	int fid = get_matching_out_fc_filter_id(std::string((const char*)msg.Data, msg.DataSize), msg.TxFlags, 0xFFFFFFFF);
-	if (msg.DataSize > getMaxMsgSingleFrameLen() && fid == -1) 1;
-
-	return std::dynamic_pointer_cast<MessageTx>(
-		std::make_shared<MessageTx_ISO15765>(shared_from_this(), msg, (fid == -1) ? nullptr : this->filters[fid])
-		);
-}
-
-//https://happilyembedded.wordpress.com/2016/02/15/can-multiple-frame-transmission/
-void J2534Connection_ISO15765::processMessage(const J2534Frame& msg) {
-	if (msg.ProtocolID != CAN) return;
-
-	int fid = get_matching_in_fc_filter_id(msg, this->Flags);
-	if (fid == -1) return;
-
-	auto filter = this->filters[fid];
-	bool is_ext_addr = check_bmask(filter->flags, ISO15765_ADDR_TYPE);
-	uint8_t addrlen = is_ext_addr ? 5 : 4;
-
-	switch (msg_get_type(msg, addrlen)) {
-	case FRAME_FLOWCTRL:
-		{
-			if (this->txbuff.size() == 0)
-				return;
-			if (msg.Data.size() < addrlen + 3) return;
-			uint8_t flow_status = msg.Data[addrlen] & 0x0F;
-			uint8_t block_size = msg.Data[addrlen + 1];
-			uint8_t st_min = msg.Data[addrlen + 2];
-
-			auto txConvo = std::static_pointer_cast<MessageTx_ISO15765>(this->txbuff.front());
-			switch (flow_status) {
-			case FLOWCTRL_CONTINUE: {
-				if (st_min > 0xF9) break;
-				if (st_min >= 0xf1 && st_min <= 0xf9) {
-					txConvo->flowControlContinue(block_size, std::chrono::microseconds((st_min & 0x0F) * 100));
-				} else if(st_min <= 0x7f) {
-					txConvo->flowControlContinue(block_size, std::chrono::microseconds(st_min * 1000));
-				} else {
-					break;
-				}
-				txConvo->scheduleImmediate();
-				this->rescheduleExistingTxMsgs();
-				break;
-			}
-			case FLOWCTRL_WAIT:
-				txConvo->flowControlWait(this->wftMax);
-				break;
-			case FLOWCTRL_ABORT:
-				txConvo->flowControlAbort();
-				break;
-			}
-			break;
-		}
-	case FRAME_SINGLE:
-		{
-			this->rxConversations[fid] = nullptr; //Reset any current transaction.
-
-			if (is_ext_addr) {
-				if ((msg.Data[5] & 0x0F) > 6) return;
-			} else {
-				if ((msg.Data[4] & 0x0F) > 7) return;
-			}
-
-			J2534Frame outframe(ISO15765, msg.RxStatus, 0, msg.Timestamp);
-			if (msg.Data.size() != 8 && check_bmask(this->Flags, ISO15765_FRAME_PAD))
-				outframe.RxStatus |= ISO15765_PADDING_ERROR;
-			if (is_ext_addr)
-				outframe.RxStatus |= ISO15765_ADDR_TYPE;
-			outframe.Data = msg.Data.substr(0, addrlen) + msg.Data.substr(addrlen + 1, msg.Data[addrlen]);
-			outframe.ExtraDataIndex = outframe.Data.size();
-
-			addMsgToRxQueue(outframe);
-			break;
-		}
-	case FRAME_FIRST:
-		{
-			if (msg.Data.size() < 12) {
-				//A frame was received that could have held more data.
-				//No examples of this protocol show that happening, so
-				//it will be assumed that it is grounds to reset rx.
-				this->rxConversations[fid] = nullptr;
-				return;
-			}
-
-			J2534Frame outframe(ISO15765, msg.RxStatus | START_OF_MESSAGE, 0, msg.Timestamp);
-			if (is_ext_addr)
-				outframe.RxStatus |= ISO15765_ADDR_TYPE;
-			outframe.Data = msg.Data.substr(0, addrlen);
-
-			addMsgToRxQueue(outframe);
-
-			this->rxConversations[fid] = std::make_shared<MessageRx>(
-				((msg.Data[addrlen] & 0x0F) << 8) | msg.Data[addrlen + 1],
-				msg.Data.substr(addrlen + 2, 12 - (addrlen + 2)),
-				msg.RxStatus, filter);
-
-			//TODO maybe the flow control should also be scheduled in the TX list.
-			//Doing it this way because the filter can be 5 bytes in ext address mode.
-			std::string flowfilter = filter->get_flowctrl();
-			uint32_t flow_addr = (((uint8_t)flowfilter[0]) << 24) | ((uint8_t)(flowfilter[1]) << 16) | ((uint8_t)(flowfilter[2]) << 8) | ((uint8_t)flowfilter[3]);
-
-			std::string flowstrlresp;
-			if (flowfilter.size() > 4)
-				flowstrlresp += flowfilter[4];
-			flowstrlresp += std::string("\x30\x00\x00", 3);
-			if (check_bmask(filter->flags, ISO15765_FRAME_PAD)) {
-				flowstrlresp += std::string(8 - flowstrlresp.size(), '\x00');
-			}
-
-			if (auto panda_dev_sp = this->panda_dev.lock()) {
-				panda_dev_sp->panda->can_send(flow_addr, val_is_29bit(msg.RxStatus), (const uint8_t *)flowstrlresp.c_str(), (uint8_t)flowstrlresp.size(), panda::PANDA_CAN1);
-			}
-			break;
-		}
-	case FRAME_CONSEC:
-		{
-			auto& convo = this->rxConversations[fid];
-			if (convo == nullptr) return;
-
-			if (!convo->rx_add_frame(msg.Data[addrlen], (is_ext_addr ? 6 : 7), msg.Data.substr(addrlen + 1))) {
-				//Delete this conversation.
-				convo = nullptr;
-				return;
-			}
-
-			std::string final_msg;
-			if (convo->flush_result(final_msg)) {
-				convo = nullptr;
-				J2534Frame outframe(ISO15765, msg.RxStatus, 0, msg.Timestamp);
-				if (is_ext_addr)
-					outframe.RxStatus |= ISO15765_ADDR_TYPE;
-				outframe.Data = msg.Data.substr(0, addrlen) + final_msg;
-				outframe.ExtraDataIndex = outframe.Data.size();
-
-				addMsgToRxQueue(outframe);
-			}
-			break;
-		}
-	}
-}
-
-void J2534Connection_ISO15765::setBaud(unsigned long BaudRate) {
-	if (auto panda_dev = this->getPandaDev()) {
-		if (BaudRate % 100 || BaudRate < 10000 || BaudRate > 5000000)
-			throw ERR_NOT_SUPPORTED;
-
-		panda_dev->panda->set_can_speed_cbps(panda::PANDA_CAN1, (uint16_t)(BaudRate / 100));
-		return J2534Connection::setBaud(BaudRate);
-	} else {
-		throw ERR_DEVICE_NOT_CONNECTED;
-	}
-}
-
-long J2534Connection_ISO15765::PassThruStartMsgFilter(unsigned long FilterType, PASSTHRU_MSG *pMaskMsg, PASSTHRU_MSG *pPatternMsg,
-	PASSTHRU_MSG *pFlowControlMsg, unsigned long *pFilterID) {
-
-	if (FilterType != FLOW_CONTROL_FILTER) return ERR_INVALID_FILTER_ID;
-	return J2534Connection::PassThruStartMsgFilter(FilterType, pMaskMsg, pPatternMsg, pFlowControlMsg, pFilterID);
-}
-
-int J2534Connection_ISO15765::get_matching_out_fc_filter_id(const std::string& msgdata, unsigned long flags, unsigned long flagmask) {
-	for (unsigned int i = 0; i < this->filters.size(); i++) {
-		if (this->filters[i] == nullptr) continue;
-		auto filter = this->filters[i]->get_flowctrl();
-		if (filter == msgdata.substr(0, filter.size()) &&
-			(this->filters[i]->flags & flagmask) == (flags & flagmask))
-			return i;
-	}
-	return -1;
-}
-
-int J2534Connection_ISO15765::get_matching_in_fc_filter_id(const J2534Frame& msg, unsigned long flagmask) {
-	for (unsigned int i = 0; i < this->filters.size(); i++) {
-		if (this->filters[i] == nullptr) continue;
-		if (this->filters[i]->check(msg) == FILTER_RESULT_MATCH &&
-			(this->filters[i]->flags & flagmask) == (msg.RxStatus & flagmask))
-			return i;
-	}
-	return -1;
-}
-
-void J2534Connection_ISO15765::processIOCTLSetConfig(unsigned long Parameter, unsigned long Value) {
-	switch (Parameter) {
-	case ISO15765_WFT_MAX:
-		this->wftMax = Value;
-		break;
-	default:
-		J2534Connection::processIOCTLSetConfig(Parameter, Value);
-	}
-}
-
-unsigned long J2534Connection_ISO15765::processIOCTLGetConfig(unsigned long Parameter) {
-	switch (Parameter) {
-	case ISO15765_WFT_MAX:
-		return this->wftMax;
-	default:
-		return J2534Connection::processIOCTLGetConfig(Parameter);
-	}
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.h b/panda/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.h
deleted file mode 100644
index beb9f012e09976..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#pragma once
-#include <string>
-#include "J2534Connection.h"
-#include "J2534Connection_CAN.h"
-#include "MessageTx_ISO15765.h"
-#include "MessageRx.h"
-
-class MessageTx_ISO15765;
-
-typedef struct {
-	std::string dispatched_msg;
-	std::string remaining_payload;
-} PRESTAGED_WRITE;
-
-class J2534Connection_ISO15765 : public J2534Connection {
-public:
-	J2534Connection_ISO15765(
-		std::shared_ptr<PandaJ2534Device> panda_dev,
-		unsigned long ProtocolID,
-		unsigned long Flags,
-		unsigned long BaudRate
-	);
-
-	virtual long PassThruStartMsgFilter(unsigned long FilterType, PASSTHRU_MSG * pMaskMsg, PASSTHRU_MSG * pPatternMsg, PASSTHRU_MSG * pFlowControlMsg, unsigned long * pFilterID);
-
-	int get_matching_out_fc_filter_id(const std::string & msgdata, unsigned long flags, unsigned long flagmask);
-
-	int get_matching_in_fc_filter_id(const J2534Frame& msg, unsigned long flagmask);
-
-	virtual unsigned long validateTxMsg(PASSTHRU_MSG* msg);
-
-	virtual std::shared_ptr<MessageTx> parseMessageTx(PASSTHRU_MSG& msg);
-
-	virtual void processMessage(const J2534Frame& msg);
-
-	virtual void setBaud(unsigned long baud);
-
-	virtual void processIOCTLSetConfig(unsigned long Parameter, unsigned long Value);
-
-	virtual unsigned long processIOCTLGetConfig(unsigned long Parameter);
-
-	virtual unsigned long getMinMsgLen() {
-		return 4;
-	}
-
-	virtual unsigned long getMaxMsgLen() {
-		return 4099;
-	};
-
-	virtual unsigned long getMaxMsgSingleFrameLen() {
-		return 11;
-	}
-
-	virtual bool _is_29bit() {
-		return (this->Flags & CAN_29BIT_ID) == CAN_29BIT_ID;
-	}
-
-	virtual bool isProtoCan() {
-		return TRUE;
-	}
-
-private:
-	std::array<std::shared_ptr<MessageRx>, 10> rxConversations;
-	unsigned int wftMax;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534Frame.h b/panda/drivers/windows/pandaJ2534DLL/J2534Frame.h
deleted file mode 100644
index 2549216b6f1fac..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534Frame.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#pragma once
-#include "J2534_v0404.h"
-#include "panda_shared/panda.h"
-
-/*A move convenient container for J2534 Messages than the static buffer provided by default.*/
-class J2534Frame {
-public:
-	J2534Frame(unsigned long ProtocolID, unsigned long RxStatus=0, unsigned long TxFlags=0, unsigned long Timestamp=0) :
-		ProtocolID(ProtocolID), RxStatus(RxStatus), TxFlags(TxFlags), Timestamp(Timestamp), ExtraDataIndex(0), Data("") { };
-
-	J2534Frame(const panda::PANDA_CAN_MSG& msg_in) {
-		ProtocolID = CAN;
-		ExtraDataIndex = msg_in.len + 4;
-		Data.reserve(msg_in.len + 4);
-		Data += msg_in.addr >> 24;
-		Data += (msg_in.addr >> 16) & 0xFF;
-		Data += (msg_in.addr >> 8) & 0xFF;
-		Data += msg_in.addr & 0xFF;
-		Data += std::string((char*)&msg_in.dat, msg_in.len);
-		Timestamp = msg_in.recv_time;
-		RxStatus = (msg_in.addr_29b ? CAN_29BIT_ID : 0) |
-			(msg_in.is_receipt ? TX_MSG_TYPE : 0);
-	}
-
-	J2534Frame(const PASSTHRU_MSG& msg) {
-		this->ProtocolID = msg.ProtocolID;
-		this->RxStatus = msg.RxStatus;
-		this->TxFlags = msg.TxFlags;
-		this->Timestamp = msg.Timestamp;
-		this->ExtraDataIndex = msg.ExtraDataIndex;
-		this->Data = std::string((const char*)msg.Data, msg.DataSize);
-	}
-
-	J2534Frame() {
-		this->ProtocolID = 0;
-		this->RxStatus = 0;
-		this->TxFlags = 0;
-		this->Timestamp = 0;
-		this->ExtraDataIndex = 0;
-	}
-
-	unsigned long	ProtocolID;
-	unsigned long	RxStatus;
-	unsigned long	TxFlags;
-	unsigned long	Timestamp;
-	unsigned long	ExtraDataIndex;
-	std::string		Data;
-};
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534MessageFilter.cpp b/panda/drivers/windows/pandaJ2534DLL/J2534MessageFilter.cpp
deleted file mode 100644
index 2d19e1f4e5a63a..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534MessageFilter.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-#include "stdafx.h"
-#include "J2534MessageFilter.h"
-#include "J2534Frame.h"
-
-J2534MessageFilter::J2534MessageFilter(
-	J2534Connection *const conn,
-	unsigned int filtertype,
-	PASSTHRU_MSG *pMaskMsg,
-	PASSTHRU_MSG *pPatternMsg,
-	PASSTHRU_MSG *pFlowControlMsg
-) : filtertype(filtertype), flags(0), conn(conn) {
-	switch (filtertype) {
-	case PASS_FILTER:
-	case BLOCK_FILTER:
-		if (pMaskMsg == NULL || pPatternMsg == NULL)
-			throw ERR_NULL_PARAMETER;
-		if (pFlowControlMsg != NULL)
-			throw ERR_INVALID_FILTER_ID;
-		if (pMaskMsg->DataSize != pPatternMsg->DataSize)
-			throw ERR_INVALID_MSG;
-		break;
-	case FLOW_CONTROL_FILTER:
-		if (conn->getProtocol() != ISO15765) throw ERR_MSG_PROTOCOL_ID; //CHECK
-		if (pFlowControlMsg == NULL || pMaskMsg == NULL || pPatternMsg == NULL)
-			throw ERR_NULL_PARAMETER;
-		break;
-	default:
-		throw ERR_INVALID_MSG;
-	}
-
-	if (!(conn->getMinMsgLen() < pMaskMsg->DataSize || pMaskMsg->DataSize < conn->getMaxMsgLen()))
-		throw ERR_INVALID_MSG;
-	if (conn->getProtocol() != pMaskMsg->ProtocolID)
-		throw ERR_MSG_PROTOCOL_ID;
-	this->maskMsg = std::string((char*)pMaskMsg->Data, pMaskMsg->DataSize);
-
-	if (!(conn->getMinMsgLen() < pPatternMsg->DataSize || pPatternMsg->DataSize < conn->getMaxMsgLen()))
-		throw ERR_INVALID_MSG;
-	if (conn->getProtocol() != pPatternMsg->ProtocolID)
-		throw ERR_MSG_PROTOCOL_ID;
-	this->patternMsg = std::string((char*)pPatternMsg->Data, pPatternMsg->DataSize);
-	if (this->maskMsg.size() != this->patternMsg.size())
-		throw ERR_INVALID_MSG;
-
-	if (pFlowControlMsg) {
-		if (!(conn->getMinMsgLen() < pFlowControlMsg->DataSize || pFlowControlMsg->DataSize < conn->getMaxMsgLen()))
-			throw ERR_INVALID_MSG;
-		if (conn->getProtocol() != pFlowControlMsg->ProtocolID)
-			throw ERR_MSG_PROTOCOL_ID;
-		if (pMaskMsg->TxFlags != pPatternMsg->TxFlags || pMaskMsg->TxFlags != pFlowControlMsg->TxFlags)
-			throw ERR_INVALID_MSG;
-		if(pFlowControlMsg->TxFlags & ~(ISO15765_FRAME_PAD | CAN_29BIT_ID | ISO15765_ADDR_TYPE))
-			throw ERR_INVALID_MSG;
-		if ((pFlowControlMsg->TxFlags & ISO15765_ADDR_TYPE) == ISO15765_ADDR_TYPE) {
-			if(pFlowControlMsg->DataSize != 5)
-				throw ERR_INVALID_MSG;
-		} else {
-			if (pFlowControlMsg->DataSize != 4)
-				throw ERR_INVALID_MSG;
-		}
-		this->flowCtrlMsg = std::string((char*)pFlowControlMsg->Data, pFlowControlMsg->DataSize);
-		if (this->flowCtrlMsg.size() != this->patternMsg.size())
-			throw ERR_INVALID_MSG;
-		this->flags = pFlowControlMsg->TxFlags;
-	}
-}
-
-bool J2534MessageFilter::operator ==(const J2534MessageFilter &b) const {
-	if (this->filtertype != b.filtertype) return FALSE;
-	if (this->maskMsg != b.maskMsg) return FALSE;
-	if (this->patternMsg != b.patternMsg) return FALSE;
-	if (this->flowCtrlMsg != b.flowCtrlMsg) return FALSE;
-	if (this->flags != b.flags) return FALSE;
-	return TRUE;
-}
-
-FILTER_RESULT J2534MessageFilter::check(const J2534Frame& msg) {
-	bool matches = TRUE;
-	if (msg.Data.size() < this->maskMsg.size()) {
-		matches = FALSE;
-	} else {
-		for (int i = 0; i < this->maskMsg.size(); i++) {
-			if (this->patternMsg[i] != (msg.Data[i] & this->maskMsg[i])) {
-				matches = FALSE;
-				break;
-			}
-		}
-	}
-
-	switch (this->filtertype) {
-	case PASS_FILTER:
-		return matches ? FILTER_RESULT_PASS : FILTER_RESULT_NEUTRAL;
-	case BLOCK_FILTER:
-		return matches ? FILTER_RESULT_BLOCK: FILTER_RESULT_NEUTRAL;
-	case FLOW_CONTROL_FILTER:
-		return matches ? FILTER_RESULT_MATCH : FILTER_RESULT_NOMATCH;
-	default:
-		throw std::out_of_range("Filtertype should not be able to be anything but PASS, BLOCK, or FLOW_CONTROL");
-	}
-}
-
-std::string J2534MessageFilter::get_flowctrl() {
-	return std::string(this->flowCtrlMsg);
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534MessageFilter.h b/panda/drivers/windows/pandaJ2534DLL/J2534MessageFilter.h
deleted file mode 100644
index c5e9a68390b1bf..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534MessageFilter.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#pragma once
-#include "J2534_v0404.h"
-#include "J2534Connection.h"
-#include "J2534Frame.h"
-
-typedef enum {
-	FILTER_RESULT_BLOCK,
-	FILTER_RESULT_NEUTRAL,
-	FILTER_RESULT_PASS,
-	FILTER_RESULT_NOMATCH = FILTER_RESULT_BLOCK,
-	FILTER_RESULT_MATCH = FILTER_RESULT_PASS,
-} FILTER_RESULT;
-
-//Forward declare
-class J2534Connection;
-
-/* Represents a J2534 Message Filter created by PassThruStartMsgFilter.
-
-J2534 uses filters to sort out messages in a simple and sane way. Except for
-flow control filters. J2534 v04.04 uses filters to manage 'conversations' in
-protocols that support flow control like ISO15765. The whole solution is a
-hack, and J2534 v05.00 greatly simplifies this concept. But we are using
-v04.04 so, here we are.
-*/
-class J2534MessageFilter {
-public:
-	J2534MessageFilter(
-		J2534Connection *const conn,
-		unsigned int filtertype,
-		PASSTHRU_MSG *pMaskMsg,
-		PASSTHRU_MSG *pPatternMsg,
-		PASSTHRU_MSG *pFlowControlMsg
-	);
-
-	bool J2534MessageFilter::operator ==(const J2534MessageFilter &b) const;
-
-	FILTER_RESULT check(const J2534Frame& msg);
-	std::string get_flowctrl();
-
-	unsigned long flags;
-	J2534Connection *const conn;
-private:
-	unsigned int filtertype;
-	std::string maskMsg;
-	std::string patternMsg;
-	std::string flowCtrlMsg;
-};
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534_v0404.h b/panda/drivers/windows/pandaJ2534DLL/J2534_v0404.h
deleted file mode 100644
index 7cccf6b429a515..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/J2534_v0404.h
+++ /dev/null
@@ -1,428 +0,0 @@
-//
-// Copyright (c) 2015-2016 DashLogic, Inc.
-// All Rights Reserved.
-//
-// http://www.dashlogic.com
-// sales@dashlogic.com
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, including use for commercial purposes, are permitted
-// provided that the following conditions are met:
-//
-// 1. Redistributions of source code must retain the above copyright
-//    notice, this list of conditions and the following disclaimer.
-//
-// 2. Redistributions in binary form must reproduce the above copyright
-//    notice, this list of conditions and the following disclaimer in
-//    the documentation and/or other materials provided with the
-//    distribution.
-//
-// 3. Neither the name of the copyright holder nor the names of its
-//    contributors may be used to endorse or promote products derived
-//    from this software without specific prior written permission.
-//
-// 4. Redistributions of any form whatsoever must retain the following
-//    acknowledgment: 'This product includes software developed by
-//    "DashLogic, Inc." (http://www.dashlogic.com/).'
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
-// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-
-
-//
-// Formatting:
-//  Indents:	Use tabs only (1 tab per indent)
-//	Tab Size:	4 spaces
-//
-// File Revision:
-// $Rev: 5216 $
-// $Date: 2016-03-15 09:32:34 -0600 (Tue, 15 Mar 2016) $
-//
-
-#pragma once
-
-#ifdef PANDAJ2534DLL_EXPORTS
-#define PANDAJ2534DLL_API extern "C" __declspec(dllexport)
-#else
-#define PANDAJ2534DLL_API
-//__declspec(dllimport)
-#endif
-
-//
-// Platform-specific Defines:
-//
-// PTAPI: Define this yourself if you want a specific calling
-//        convention or other modifiers on the Pass-Thru API
-//        functions. Typically, on Windows, PTAPI will be defined
-//        as WINAPI, which enables the __stdcall convention.
-//
-#define PTAPI			__stdcall	//WINAPI
-
-//
-// J2534-1 v04.04 ProtocolID Values
-//
-#define J1850VPW						0x01
-#define J1850PWM						0x02
-#define ISO9141							0x03
-#define ISO14230						0x04
-#define CAN								0x05
-#define ISO15765						0x06
-#define SCI_A_ENGINE					0x07
-#define SCI_A_TRANS						0x08
-#define SCI_B_ENGINE					0x09
-#define SCI_B_TRANS						0x0A
-
-
-//
-// J2534-2 ProtocolID Values
-//
-#define J1850VPW_PS						0x00008000
-#define J1850PWM_PS						0x00008001
-#define ISO9141_PS						0x00008002
-#define ISO14230_PS						0x00008003
-#define CAN_PS							0x00008004
-#define ISO15765_PS						0x00008005
-#define J2610_PS						0x00008006
-#define SW_ISO15765_PS					0x00008007
-#define SW_CAN_PS						0x00008008
-#define GM_UART_PS						0x00008009
-#define CAN_CH1							0x00009000
-#define CAN_CH2							(CAN_CH1 + 1)
-#define CAN_CH128						(CAN_CH1 + 127)
-#define J1850VPW_CH1					0x00009080
-#define J1850VPW_CH2					(J1850VPW_CH1 + 1)
-#define J1850VPW_CH128					(J1850VPW_CH1 + 127)
-#define J1850PWM_CH1					0x00009160
-#define J1850PWM_CH2					(J1850PWM_CH1 + 1)
-#define J1850PWM_CH128					(J1850PWM_CH1 + 127)
-#define ISO9141_CH1						0x00009240
-#define ISO9141_CH2						(ISO9141_CH1 + 1)
-#define ISO9141_CH128					(ISO9141_CH1 + 127)
-#define ISO14230_CH1					0x00009320
-#define ISO14230_CH2					(ISO14230_CH1 + 1)
-#define ISO14230_CH128					(ISO14230_CH1 + 127)
-#define ISO15765_CH1					0x00009400
-#define ISO15765_CH2					(ISO15765_CH1 + 1)
-#define ISO15765_CH128					(ISO15765_CH1 + 127)
-#define SW_CAN_CAN_CH1					0x00009480
-#define SW_CAN_CAN_CH2					(SW_CAN_CAN_CH1 + 1)
-#define SW_CAN_CAN_CH128				(SW_CAN_CAN_CH1 + 127)
-#define SW_CAN_ISO15765_CH1				0x00009560
-#define SW_CAN_ISO15765_CH2				(SW_CAN_ISO15765_CH1 + 1)
-#define SW_CAN_ISO15765_CH128			(SW_CAN_ISO15765_CH1 + 127)
-#define J2610_CH1						0x00009640
-#define J2610_CH2						(J2610_CH1 + 1)
-#define J2610_CH128						(J2610_CH1 + 127)
-#define ANALOG_IN_CH1					0x0000C000
-#define ANALOG_IN_CH2					0x0000C001
-#define ANALOG_IN_CH32					0x0000C01F
-
-
-//
-// J2534-1 v04.04 Error Values
-//
-#define STATUS_NOERROR					0x00	// Function call successful.
-#define ERR_NOT_SUPPORTED				0x01	// Device cannot support requested functionality mandated in J2534. Device is not fully SAE J2534 compliant.
-#define ERR_INVALID_CHANNEL_ID			0x02	// Invalid ChannelID value.
-#define ERR_INVALID_PROTOCOL_ID			0x03	// Invalid or unsupported ProtocolID, or there is a resource conflict (i.e. trying to connect to multiple mutually exclusive protocols such as J1850PWM and J1850VPW, or CAN and SCI, etc.).
-#define ERR_NULL_PARAMETER				0x04	// NULL pointer supplied where a valid pointer is required.
-#define ERR_INVALID_IOCTL_VALUE			0x05	// Invalid value for Ioctl parameter.
-#define ERR_INVALID_FLAGS				0x06	// Invalid flag values.
-#define ERR_FAILED						0x07	// Undefined error, use PassThruGetLastError() for text description.
-#define ERR_DEVICE_NOT_CONNECTED		0x08	// Unable to communicate with device.
-#define ERR_TIMEOUT						0x09	// Read or write timeout:
-												// PassThruReadMsgs() - No message available to read or could not read the specified number of messages. The actual number of messages read is placed in <NumMsgs>.
-												// PassThruWriteMsgs() - Device could not write the specified number of messages. The actual number of messages sent on the vehicle network is placed in <NumMsgs>.
-#define ERR_INVALID_MSG					0x0A	// Invalid message structure pointed to by pMsg.
-#define ERR_INVALID_TIME_INTERVAL		0x0B	// Invalid TimeInterval value.
-#define ERR_EXCEEDED_LIMIT				0x0C	// Exceeded maximum number of message IDs or allocated space.
-#define ERR_INVALID_MSG_ID				0x0D	// Invalid MsgID value.
-#define ERR_DEVICE_IN_USE				0x0E	// Device is currently open.
-#define ERR_INVALID_IOCTL_ID			0x0F	// Invalid IoctlID value.
-#define ERR_BUFFER_EMPTY				0x10	// Protocol message buffer empty, no messages available to read.
-#define ERR_BUFFER_FULL					0x11	// Protocol message buffer full. All the messages specified may not have been transmitted.
-#define ERR_BUFFER_OVERFLOW				0x12	// Indicates a buffer overflow occurred and messages were lost.
-#define ERR_PIN_INVALID					0x13	// Invalid pin number, pin number already in use, or voltage already applied to a different pin.
-#define ERR_CHANNEL_IN_USE				0x14	// Channel number is currently connected.
-#define ERR_MSG_PROTOCOL_ID				0x15	// Protocol type in the message does not match the protocol associated with the Channel ID
-#define ERR_INVALID_FILTER_ID			0x16	// Invalid Filter ID value.
-#define ERR_NO_FLOW_CONTROL				0x17	// No flow control filter set or matched (for ProtocolID ISO15765 only).
-#define ERR_NOT_UNIQUE					0x18	// A CAN ID in pPatternMsg or pFlowControlMsg matches either ID in an existing FLOW_CONTROL_FILTER
-#define ERR_INVALID_BAUDRATE			0x19	// The desired baud rate cannot be achieved within the tolerance specified in SAE J2534-1 Section 6.5
-#define ERR_INVALID_DEVICE_ID			0x1A	// Device ID invalid.
-
-
-//
-// J2534-1 v04.04 Connect Flags
-//
-#define CAN_29BIT_ID						0x0100
-#define ISO9141_NO_CHECKSUM					0x0200
-#define CAN_ID_BOTH							0x0800
-#define ISO9141_K_LINE_ONLY					0x1000
-
-
-//
-// J2534-1 v04.04 Filter Type Values
-//
-#define PASS_FILTER							0x00000001
-#define BLOCK_FILTER						0x00000002
-#define FLOW_CONTROL_FILTER					0x00000003
-
-
-//
-// J2534-1 v04.04 Programming Voltage Pin Numbers
-//
-#define AUXILIARY_OUTPUT_PIN				0
-#define SAE_J1962_CONNECTOR_PIN_6			6
-#define SAE_J1962_CONNECTOR_PIN_9			9
-#define SAE_J1962_CONNECTOR_PIN_11			11
-#define SAE_J1962_CONNECTOR_PIN_12			12
-#define SAE_J1962_CONNECTOR_PIN_13			13
-#define SAE_J1962_CONNECTOR_PIN_14			14
-#define SAE_J1962_CONNECTOR_PIN_15			15        // Short to ground only
-
-
-//
-// J2534-1 v04.04 Programming Voltage Values
-//
-#define SHORT_TO_GROUND						0xFFFFFFFE
-#define VOLTAGE_OFF							0xFFFFFFFF
-
-
-//
-// J2534-1 v04.04 API Version Values
-//
-#define J2534_APIVER_FEBRUARY_2002		"02.02"
-#define J2534_APIVER_NOVEMBER_2004		"04.04"
-
-
-//
-// J2534-1 v04.04 IOCTL ID Values
-//
-#define GET_CONFIG								0x01	// pInput = SCONFIG_LIST, pOutput = NULL
-#define SET_CONFIG								0x02	// pInput = SCONFIG_LIST, pOutput = NULL
-#define READ_VBATT								0x03	// pInput = NULL, pOutput = unsigned long
-#define FIVE_BAUD_INIT							0x04	// pInput = SBYTE_ARRAY, pOutput = SBYTE_ARRAY
-#define FAST_INIT								0x05	// pInput = PASSTHRU_MSG, pOutput = PASSTHRU_MSG
-#define CLEAR_TX_BUFFER							0x07	// pInput = NULL, pOutput = NULL
-#define CLEAR_RX_BUFFER							0x08	// pInput = NULL, pOutput = NULL
-#define CLEAR_PERIODIC_MSGS						0x09	// pInput = NULL, pOutput = NULL
-#define CLEAR_MSG_FILTERS						0x0A	// pInput = NULL, pOutput = NULL
-#define CLEAR_FUNCT_MSG_LOOKUP_TABLE			0x0B	// pInput = NULL, pOutput = NULL
-#define ADD_TO_FUNCT_MSG_LOOKUP_TABLE			0x0C	// pInput = SBYTE_ARRAY, pOutput = NULL
-#define DELETE_FROM_FUNCT_MSG_LOOKUP_TABLE		0x0D	// pInput = SBYTE_ARRAY, pOutput = NULL
-#define READ_PROG_VOLTAGE						0x0E	// pInput = NULL, pOutput = unsigned long
-
-
-//
-// J2534-2 IOCTL ID Values
-//
-#define SW_CAN_HS								0x00008000	// pInput = NULL, pOutput = NULL
-#define SW_CAN_NS								0x00008001	// pInput = NULL, pOutput = NULL
-#define SET_POLL_RESPONSE						0x00008002	// pInput = SBYTE_ARRAY, pOutput = NULL
-#define BECOME_MASTER							0x00008003	// pInput = unsigned char, pOutput = NULL
-
-
-//
-// J2534-1 v04.04 Configuration Parameter Values
-// Default value is enclosed in square brackets "[" and "]"
-//
-#define DATA_RATE				0x01	// 5-500000
-#define LOOPBACK				0x03	// 0 (OFF), 1 (ON) [0]
-#define NODE_ADDRESS			0x04	// J1850PWM: 0x00-0xFF
-#define NETWORK_LINE			0x05	// J1850PWM: 0 (BUS_NORMAL), 1 (BUS_PLUS), 2 (BUS_MINUS) [0]
-#define P1_MIN					0x06	// ISO9141 or ISO14230: Not used by interface
-#define P1_MAX					0x07	// ISO9141 or ISO14230: 0x1-0xFFFF (.5 ms per bit) [40 (20ms)]
-#define P2_MIN					0x08	// ISO9141 or ISO14230: Not used by interface
-#define P2_MAX					0x09	// ISO9141 or ISO14230: Not used by interface
-#define P3_MIN					0x0A	// ISO9141 or ISO14230: 0x0-0xFFFF (.5 ms per bit) [110 (55ms)]
-#define P3_MAX					0x0B	// ISO9141 or ISO14230: Not used by interface
-#define P4_MIN					0x0C	// ISO9141 or ISO14230: 0x0-0xFFFF (.5 ms per bit) [10 (5ms)]
-#define P4_MAX					0x0D	// ISO9141 or ISO14230: Not used by interface
-#define W0						0x19	// ISO9141: 0x0-0xFFFF (1 ms per bit) [300]
-#define W1						0x0E	// ISO9141 or ISO14230: 0x0-0xFFFF (1 ms per bit) [300]
-#define W2						0x0F	// ISO9141 or ISO14230: 0x0-0xFFFF (1 ms per bit) [20]
-#define W3						0x10	// ISO9141 or ISO14230: 0x0-0xFFFF (1 ms per bit) [20]
-#define W4						0x11	// ISO9141 or ISO14230: 0x0-0xFFFF (1 ms per bit) [50]
-#define W5						0x12	// ISO9141 or ISO14230: 0x0-0xFFFF (1 ms per bit) [300]
-#define TIDLE					0x13	// ISO9141 or ISO14230: 0x0-0xFFFF (1 ms per bit) [300]
-#define TINIL					0x14	// ISO9141 or ISO14230: 0x0-0xFFFF (1 ms per bit) [25]
-#define TWUP					0x15	// ISO9141 or ISO14230: 0x0-0xFFFF (1 ms per bit) [50]
-#define PARITY					0x16	// ISO9141 or ISO14230: 0 (NO_PARITY), 1 (ODD_PARITY), 2 (EVEN_PARITY) [0]
-#define BIT_SAMPLE_POINT		0x17	// CAN: 0-100 (1% per bit) [80]
-#define SYNC_JUMP_WIDTH			0x18	// CAN: 0-100 (1% per bit) [15]
-#define T1_MAX					0x1A	// SCI: 0x0-0xFFFF (1 ms per bit) [20]
-#define T2_MAX					0x1B	// SCI: 0x0-0xFFFF (1 ms per bit) [100]
-#define T3_MAX					0x24	// SCI: 0x0-0xFFFF (1 ms per bit) [50]
-#define T4_MAX					0x1C	// SCI: 0x0-0xFFFF (1 ms per bit) [20]
-#define T5_MAX					0x1D	// SCI: 0x0-0xFFFF (1 ms per bit) [100]
-#define ISO15765_BS				0x1E	// ISO15765: 0x0-0xFF [0]
-#define ISO15765_STMIN			0x1F	// ISO15765: 0x0-0xFF [0]
-#define ISO15765_BS_TX			0x22	// ISO15765: 0x0-0xFF,0xFFFF [0xFFFF]
-#define ISO15765_STMIN_TX		0x23	// ISO15765: 0x0-0xFF,0xFFFF [0xFFFF]
-#define DATA_BITS				0x20	// ISO9141 or ISO14230: 0 (8 data bits), 1 (7 data bits) [0]
-#define FIVE_BAUD_MOD			0x21	// ISO9141 or ISO14230: 0 (ISO 9141-2/14230-4), 1 (Inv KB2), 2 (Inv Addr), 3 (ISO 9141) [0]
-#define ISO15765_WFT_MAX		0x25	// ISO15765: 0x0-0xFF [0]
-
-
-//
-// J2534-2 Configuration Parameter Values
-// Default value is enclosed in square brackets "[" and "]"
-//
-#define CAN_MIXED_FORMAT				0x00008000	// See #defines below. [0]
-#define J1962_PINS						0x00008001	// 0xPPSS PP: 0x00-0x10 SS: 0x00-0x10 PP!=SS, except 0x0000. Exclude pins 4, 5, and 16. [0]
-#define SW_CAN_HS_DATA_RATE				0x00008010	// SWCAN: 5-500000 [83333]
-#define SW_CAN_SPEEDCHANGE_ENABLE		0x00008011	// SWCAN: 0 (DISABLE_SPDCHANGE), 1 (ENABLE_SPDCHANGE) [0]
-#define SW_CAN_RES_SWITCH				0x00008012	// SWCAN: 0 (DISCONNECT_RESISTOR), 1 (CONNECT_RESISTOR), 2 (AUTO_ RESISTOR) [0]
-#define ACTIVE_CHANNELS					0x00008020	// ANALOG: 0-0xFFFFFFFF
-#define SAMPLE_RATE						0x00008021	// ANALOG: 0-0xFFFFFFFF [0] (high bit changes meaning from samples/sec to seconds/sample)
-#define SAMPLES_PER_READING				0x00008022	// ANALOG: 1-0xFFFFFFFF [1]
-#define READINGS_PER_MSG				0x00008023	// ANALOG: 1-0x00000408 (1 - 1032) [1]
-#define AVERAGING_METHOD				0x00008024	// ANALOG: 0-0xFFFFFFFF [0]
-#define SAMPLE_RESOLUTION				0x00008025	// ANALOG READ-ONLY: 0x1-0x20 (1 - 32)
-#define INPUT_RANGE_LOW					0x00008026	// ANALOG READ-ONLY: 0x80000000-0x7FFFFFFF (-2147483648-2147483647)
-#define INPUT_RANGE_HIGH				0x00008027	// ANALOG READ-ONLY: 0x80000000-0x7FFFFFFF (-2147483648-2147483647)
-
-
-//
-// J2534-2 Mixed-Mode/Format CAN Definitions
-//
-#define CAN_MIXED_FORMAT_OFF			0	// Messages will be treated as ISO 15765 ONLY.
-#define CAN_MIXED_FORMAT_ON				1	// Messages will be treated as either ISO 15765 or an unformatted CAN frame.
-#define CAN_MIXED_FORMAT_ALL_FRAMES		2	// Messages will be treated as ISO 15765, an unformatted CAN frame, or both.
-
-
-//
-// J2534-2 Analog Channel Averaging Method Definitions
-//
-#define SIMPLE_AVERAGE			0x00000000        // Simple arithmetic mean
-#define MAX_LIMIT_AVERAGE		0x00000001        // Choose the biggest value
-#define MIN_LIMIT_AVERAGE		0x00000002        // Choose the lowest value
-#define MEDIAN_AVERAGE			0x00000003        // Choose arithmetic median
-
-
-//
-// J2534-1 v04.04 RxStatus Definitions
-//
-#define TX_MSG_TYPE					0x0001
-#define START_OF_MESSAGE			0x0002
-#define RX_BREAK					0x0004
-#define TX_INDICATION				0x0008
-#define ISO15765_PADDING_ERROR		0x0010
-#define ISO15765_ADDR_TYPE			0x0080
-//#define CAN_29BIT_ID				0x0100		// Defined above
-
-
-//
-// J2534-2 RxStatus Definitions
-//
-#define SW_CAN_HV_RX				0x00010000	// SWCAN Channels Only
-#define SW_CAN_HS_RX				0x00020000	// SWCAN Channels Only
-#define SW_CAN_NS_RX				0x00040000	// SWCAN Channels Only
-#define OVERFLOW_					0x00010000	// Analog Input Channels Only
-
-
-//
-// J2534-1 v04.04 TxFlags Definitions
-//
-#define ISO15765_FRAME_PAD			0x0040
-//#define ISO15765_ADDR_TYPE		0x0080		// Defined above
-//#define CAN_29BIT_ID				0x0100		// Defined above
-#define WAIT_P3_MIN_ONLY			0x0200
-#define SCI_MODE					0x400000
-#define SCI_TX_VOLTAGE				0x800000
-
-
-//
-// J2534-2 TxFlags Definitions
-//
-#define SW_CAN_HV_TX				0x00000400
-
-
-//
-// J2534-1 v04.04 Structure Definitions
-//
-typedef struct
-{
-	unsigned long	Parameter;	// Name of parameter
-	unsigned long	Value;		// Value of the parameter
-} SCONFIG;
-
-
-typedef struct
-{
-	unsigned long	NumOfParams;	// Number of SCONFIG elements
-	SCONFIG*		ConfigPtr;		// Array of SCONFIG
-} SCONFIG_LIST;
-
-
-typedef struct
-{
-	unsigned long	NumOfBytes;		// Number of bytes in the array
-	unsigned char*	BytePtr;		// Array of bytes
-} SBYTE_ARRAY;
-
-
-typedef struct
-{
-	unsigned long	ProtocolID;
-	unsigned long	RxStatus;
-	unsigned long	TxFlags;
-	unsigned long	Timestamp;
-	unsigned long	DataSize;
-	unsigned long	ExtraDataIndex;
-	unsigned char	Data[4128];
-} PASSTHRU_MSG;
-
-//
-// J2534-1 v04.04 Function Prototypes
-//
-PANDAJ2534DLL_API long PTAPI	PassThruOpen(void *pName, unsigned long *pDeviceID);
-PANDAJ2534DLL_API long PTAPI	PassThruClose(unsigned long DeviceID);
-PANDAJ2534DLL_API long PTAPI	PassThruConnect(unsigned long DeviceID, unsigned long ProtocolID, unsigned long Flags, unsigned long BaudRate, unsigned long *pChannelID);
-PANDAJ2534DLL_API long PTAPI	PassThruDisconnect(unsigned long ChannelID);
-PANDAJ2534DLL_API long PTAPI	PassThruReadMsgs(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout);
-PANDAJ2534DLL_API long PTAPI	PassThruWriteMsgs(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout);
-PANDAJ2534DLL_API long PTAPI	PassThruStartPeriodicMsg(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pMsgID, unsigned long TimeInterval);
-PANDAJ2534DLL_API long PTAPI	PassThruStopPeriodicMsg(unsigned long ChannelID, unsigned long MsgID);
-PANDAJ2534DLL_API long PTAPI	PassThruStartMsgFilter(unsigned long ChannelID, unsigned long FilterType, PASSTHRU_MSG *pMaskMsg, PASSTHRU_MSG *pPatternMsg, PASSTHRU_MSG *pFlowControlMsg, unsigned long *pFilterID);
-PANDAJ2534DLL_API long PTAPI	PassThruStopMsgFilter(unsigned long ChannelID, unsigned long FilterID);
-PANDAJ2534DLL_API long PTAPI	PassThruSetProgrammingVoltage(unsigned long DeviceID, unsigned long PinNumber, unsigned long Voltage);
-PANDAJ2534DLL_API long PTAPI	PassThruReadVersion(unsigned long DeviceID, char *pFirmwareVersion, char *pDllVersion, char *pApiVersion);
-PANDAJ2534DLL_API long PTAPI	PassThruGetLastError(char *pErrorDescription);
-PANDAJ2534DLL_API long PTAPI	PassThruIoctl(unsigned long ChannelID, unsigned long IoctlID, void *pInput, void *pOutput);
-
-
-//
-// J2534-1 v04.04 Function Typedefs
-// These function typedefs allow simpler use of the J2534 API by
-// allowing you to do things like this:
-// PTCONNECT	pPassThruConnectFunc = GetProcAddress(hModule, "PassThruConnect");
-// if (pPassThruConnectFunc == NULL)
-//     return FALSE;
-// pPassThruConnectFunc(DeviceID, CAN, CAN_29BIT_ID, 500000, &ChannelID);
-//
-typedef long	(PTAPI *PTOPEN)(void *pName, unsigned long *pDeviceID);
-typedef long	(PTAPI *PTCLOSE)(unsigned long DeviceID);
-typedef long	(PTAPI *PTCONNECT)(unsigned long DeviceID, unsigned long ProtocolID, unsigned long Flags, unsigned long BaudRate, unsigned long *pChannelID);
-typedef long	(PTAPI *PTDISCONNECT)(unsigned long ChannelID);
-typedef long	(PTAPI *PTREADMSGS)(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout);
-typedef long	(PTAPI *PTWRITEMSGS)(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout);
-typedef long	(PTAPI *PTSTARTPERIODICMSG)(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pMsgID, unsigned long TimeInterval);
-typedef long	(PTAPI *PTSTOPPERIODICMSG)(unsigned long ChannelID, unsigned long MsgID);
-typedef long	(PTAPI *PTSTARTMSGFILTER)(unsigned long ChannelID, unsigned long FilterType, PASSTHRU_MSG *pMaskMsg, PASSTHRU_MSG *pPatternMsg, PASSTHRU_MSG *pFlowControlMsg, unsigned long *pFilterID);
-typedef long	(PTAPI *PTSTOPMSGFILTER)(unsigned long ChannelID, unsigned long FilterID);
-typedef long	(PTAPI *PTSETPROGRAMMINGVOLTAGE)(unsigned long DeviceID, unsigned long PinNumber, unsigned long Voltage);
-typedef long	(PTAPI *PTREADVERSION)(unsigned long DeviceID, char *pFirmwareVersion, char *pDllVersion, char *pApiVersion);
-typedef long	(PTAPI *PTGETLASTERROR)(char *pErrorDescription);
-typedef long	(PTAPI *PTIOCTL)(unsigned long ChannelID, unsigned long IoctlID, void *pInput, void *pOutput);
diff --git a/panda/drivers/windows/pandaJ2534DLL/J2534register_x64.reg b/panda/drivers/windows/pandaJ2534DLL/J2534register_x64.reg
deleted file mode 100644
index 120ab391c7bb4d..00000000000000
Binary files a/panda/drivers/windows/pandaJ2534DLL/J2534register_x64.reg and /dev/null differ
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessagePeriodic.cpp b/panda/drivers/windows/pandaJ2534DLL/MessagePeriodic.cpp
deleted file mode 100644
index 0c3416e0daf09f..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessagePeriodic.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-#include "stdafx.h"
-#include "MessagePeriodic.h"
-#include "J2534Connection.h"
-
-MessagePeriodic::MessagePeriodic(
-	std::chrono::microseconds delay,
-	std::shared_ptr<MessageTx> msg
-) : Action(msg->connection, delay), msg(msg), runyet(FALSE), active(TRUE) { };
-
-void MessagePeriodic::execute() {
-	if (!this->active) return;
-	if (this->runyet) {
-		if (msg->isFinished()) {
-			msg->reset();
-			msg->execute();
-		}
-	} else {
-		this->runyet = TRUE;
-		msg->execute();
-	}
-
-	if (auto conn_sp = this->connection.lock()) {
-		if (auto panda_dev_sp = conn_sp->getPandaDev()) {
-			//Scheduling must be relative to now incase there was a long stall that
-			//would case it to be super far behind and try to catch up forever.
-			this->scheduleImmediateDelay();
-			panda_dev_sp->insertActionIntoTaskList(shared_from_this());
-		}
-	}
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessagePeriodic.h b/panda/drivers/windows/pandaJ2534DLL/MessagePeriodic.h
deleted file mode 100644
index 40132565c11fc0..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessagePeriodic.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-#include "Action.h"
-#include "MessageTx.h"
-
-class J2534Connection;
-
-/* A message that is resent on a given period. Created with calls to PassThruStartPeriodicMessage.
-
-Instead of making each J2534 protocol implementation have to implement periodic message
-functionality, this class takes a message to be sent, and passes along the execute call
-to the message, then reschedules itself.
-*/
-class MessagePeriodic : public Action, public std::enable_shared_from_this<Action>
-{
-public:
-	MessagePeriodic(
-		std::chrono::microseconds delay,
-		std::shared_ptr<MessageTx> msg
-	);
-
-	virtual void execute();
-
-	void cancel() {
-		this->active = FALSE;
-	}
-
-protected:
-	std::shared_ptr<MessageTx> msg;
-
-private:
-	BOOL runyet;
-	BOOL active;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessageRx.h b/panda/drivers/windows/pandaJ2534DLL/MessageRx.h
deleted file mode 100644
index e22278d4d0a934..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessageRx.h
+++ /dev/null
@@ -1,61 +0,0 @@
-#pragma once
-
-class MessageRx
-{
-public:
-	MessageRx(
-		unsigned long size,
-		std::string piece,
-		unsigned long rxFlags,
-		std::shared_ptr<J2534MessageFilter> filter
-	) : expected_size(size & 0xFFF), flags(rxFlags) {
-		msg.reserve(expected_size);
-		msg = piece;
-		next_part = 1;
-	};
-
-	bool rx_add_frame(uint8_t pci_byte, unsigned int max_packet_size, const std::string piece) {
-		if ((pci_byte & 0x0F) != this->next_part) {
-			//TODO: Maybe this should instantly fail the transaction.
-			return TRUE;
-		}
-
-		this->next_part = (this->next_part + 1) % 0x10;
-		unsigned int payload_len = min(expected_size - msg.size(), max_packet_size);
-		if (piece.size() < payload_len) {
-			//A frame was received that could have held more data.
-			//No examples of this protocol show that happening, so
-			//it will be assumed that it is grounds to reset rx.
-			return FALSE;
-		}
-		msg += piece.substr(0, payload_len);
-
-		return TRUE;
-	}
-
-	unsigned int bytes_remaining() {
-		return this->expected_size - this->msg.size();
-	}
-
-	bool is_ready() {
-		return this->msg.size() == this->expected_size;
-	}
-
-	bool flush_result(std::string& final_msg) {
-		if (this->msg.size() == this->expected_size) {
-			final_msg = this->msg;
-			return TRUE;
-		}
-		return FALSE;
-	}
-
-	uint8_t getNextConsecutiveFrameId() {
-		return this->next_part++;
-	}
-
-	std::weak_ptr<J2534MessageFilter> filter;
-	unsigned long flags;
-	unsigned long expected_size;
-	std::string msg;
-	unsigned char next_part;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessageTx.h b/panda/drivers/windows/pandaJ2534DLL/MessageTx.h
deleted file mode 100644
index 5315fa058faf60..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessageTx.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-#include "Action.h"
-#include "J2534Frame.h"
-
-class J2534Connection;
-
-class MessageTx : public Action, public std::enable_shared_from_this<MessageTx>
-{
-public:
-	MessageTx(
-		std::weak_ptr<J2534Connection> connection_in,
-		PASSTHRU_MSG& to_send
-	) : Action(connection_in), fullmsg(to_send) { };
-
-	virtual BOOL checkTxReceipt(J2534Frame frame) = 0;
-
-	virtual BOOL isFinished() = 0;
-
-	virtual BOOL txReady() = 0;
-
-	virtual void reset() = 0;
-
-protected:
-	J2534Frame fullmsg;
-};
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessageTxTimeout.cpp b/panda/drivers/windows/pandaJ2534DLL/MessageTxTimeout.cpp
deleted file mode 100644
index 2e21ba3ce121cd..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessageTxTimeout.cpp
+++ /dev/null
@@ -1,43 +0,0 @@
-#include "stdafx.h"
-#include "J2534Connection.h"
-#include "MessageTxTimeout.h"
-
-MessageTxTimeoutable::MessageTxTimeoutable(
-	std::weak_ptr<J2534Connection> connection,
-	PASSTHRU_MSG& to_send
-) : MessageTx(connection, to_send), recvCount(0) { };
-
-void MessageTxTimeoutable::scheduleTimeout(std::chrono::microseconds timeoutus) {
-	if (auto conn_sp = this->connection.lock()) {
-		if (auto panda_dev_sp = conn_sp->getPandaDev()) {
-			auto timeoutobj = std::make_shared<MessageTxTimeout>(std::static_pointer_cast<MessageTxTimeoutable>(shared_from_this()), timeoutus);
-			panda_dev_sp->scheduleAction(std::static_pointer_cast<Action>(timeoutobj), TRUE);
-		}
-	}
-}
-
-void MessageTxTimeoutable::scheduleTimeout(unsigned long timeoutus) {
-	scheduleTimeout(std::chrono::microseconds(timeoutus));
-}
-
-
-
-MessageTxTimeout::MessageTxTimeout(
-	std::shared_ptr<MessageTxTimeoutable> msg,
-	std::chrono::microseconds timeout
-) : Action(msg->connection), msg(msg), lastRecvCount(msg->getRecvCount()) {
-	delay = timeout;
-};
-
-MessageTxTimeout::MessageTxTimeout(
-	std::shared_ptr<MessageTxTimeoutable> msg,
-	unsigned long timeout
-) : MessageTxTimeout(msg, std::chrono::microseconds(timeout * 1000)) { };
-
-void MessageTxTimeout::execute() {
-	if (auto msg_sp = this->msg.lock()) {
-		if (msg_sp->getRecvCount() == this->lastRecvCount) {
-			msg_sp->onTimeout();
-		}
-	}
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessageTxTimeout.h b/panda/drivers/windows/pandaJ2534DLL/MessageTxTimeout.h
deleted file mode 100644
index a9c878468cfd6e..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessageTxTimeout.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#pragma once
-#include "Action.h"
-#include "MessageTx.h"
-
-class MessageTxTimeout;
-
-/* A special type of MessageTx for multipart messages that supports being canceled with a timeout.*/
-class MessageTxTimeoutable : public MessageTx
-{
-public:
-	MessageTxTimeoutable(
-		std::weak_ptr<J2534Connection> connection,
-		PASSTHRU_MSG& to_send
-	);
-
-	unsigned long getRecvCount() {
-		return recvCount;
-	}
-
-	virtual void onTimeout() = 0;
-
-protected:
-	unsigned long recvCount;
-
-	void scheduleTimeout(std::chrono::microseconds timeoutus);
-
-	void scheduleTimeout(unsigned long timeoutus);
-};
-
-
-/* An Action that cancels MessageTxTimeoutableif the Timeout Actoin executes
-before the MessageTxTimeoutableif renews its timeout.
-*/
-class MessageTxTimeout : public Action
-{
-public:
-	MessageTxTimeout(
-		std::shared_ptr<MessageTxTimeoutable> msg,
-		std::chrono::microseconds timeout
-	);
-
-	MessageTxTimeout(
-		std::shared_ptr<MessageTxTimeoutable> msg,
-		unsigned long timeout
-	);
-
-	virtual void execute();
-
-private:
-	std::weak_ptr<MessageTxTimeoutable> msg;
-	unsigned long lastRecvCount;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessageTx_CAN.cpp b/panda/drivers/windows/pandaJ2534DLL/MessageTx_CAN.cpp
deleted file mode 100644
index 8217ce539a1a54..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessageTx_CAN.cpp
+++ /dev/null
@@ -1,44 +0,0 @@
-#include "stdafx.h"
-#include "MessageTx_CAN.h"
-#include "J2534Connection_CAN.h"
-
-MessageTx_CAN::MessageTx_CAN(
-	std::shared_ptr<J2534Connection> connection_in,
-	PASSTHRU_MSG& to_send
-) : MessageTx(connection_in, to_send), sentyet(FALSE), txInFlight(FALSE) {};
-
-void MessageTx_CAN::execute() {
-	uint32_t addr = ((uint8_t)fullmsg.Data[0]) << 24 | ((uint8_t)fullmsg.Data[1]) << 16 |
-		((uint8_t)fullmsg.Data[2]) << 8 | ((uint8_t)fullmsg.Data[3]);
-
-	if (auto conn_sp = std::static_pointer_cast<J2534Connection_CAN>(this->connection.lock())) {
-		if (auto panda_dev_sp = conn_sp->getPandaDev()) {
-			auto payload = fullmsg.Data.substr(4);
-			if (panda_dev_sp->panda->can_send(addr, check_bmask(this->fullmsg.TxFlags, CAN_29BIT_ID),
-				(const uint8_t*)payload.c_str(), (uint8_t)payload.size(), panda::PANDA_CAN1) == FALSE) {
-				return;
-			}
-			this->txInFlight = TRUE;
-			this->sentyet = TRUE;
-			panda_dev_sp->txMsgsAwaitingEcho.push(shared_from_this());
-		}
-	}
-}
-
-//Returns TRUE if receipt is consumed by the msg, FALSE otherwise.
-BOOL MessageTx_CAN::checkTxReceipt(J2534Frame frame) {
-	if (txReady()) return FALSE;
-	if (frame.Data == fullmsg.Data && ((this->fullmsg.TxFlags & CAN_29BIT_ID) == (frame.RxStatus & CAN_29BIT_ID))) {
-		txInFlight = FALSE;
-		if (auto conn_sp = std::static_pointer_cast<J2534Connection_CAN>(this->connection.lock()))
-			if (conn_sp->loopback)
-				conn_sp->addMsgToRxQueue(frame);
-		return TRUE;
-	}
-	return FALSE;
-}
-
-void MessageTx_CAN::reset() {
-	sentyet = FALSE;
-	txInFlight = FALSE;
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessageTx_CAN.h b/panda/drivers/windows/pandaJ2534DLL/MessageTx_CAN.h
deleted file mode 100644
index afac75ef8116c2..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessageTx_CAN.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-#include <memory>
-#include "MessageTx.h"
-
-class J2534Connection;
-
-class MessageTx_CAN : public MessageTx
-{
-public:
-	MessageTx_CAN(
-		std::shared_ptr<J2534Connection> connection_in,
-		PASSTHRU_MSG& to_send
-	);
-
-	virtual void execute();
-
-	//Returns TRUE if receipt is consumed by the msg, FALSE otherwise.
-	virtual BOOL checkTxReceipt(J2534Frame frame);
-
-	virtual BOOL isFinished() {
-		return !txInFlight && sentyet;
-	};
-
-	virtual BOOL txReady() {
-		return !sentyet;
-	};
-
-	virtual void reset();
-
-private:
-	BOOL sentyet;
-	BOOL txInFlight;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.cpp b/panda/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.cpp
deleted file mode 100644
index 023088d3c61ea6..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.cpp
+++ /dev/null
@@ -1,180 +0,0 @@
-#include "stdafx.h"
-#include "MessageTx_ISO15765.h"
-#include "constants_ISO15765.h"
-
-//in microseconsa
-#define TIMEOUT_FC 250000 //Flow Control
-#define TIMEOUT_CF 250000 //Consecutive Frames
-
-MessageTx_ISO15765::MessageTx_ISO15765(
-	std::shared_ptr<J2534Connection> connection_in,
-	PASSTHRU_MSG& to_send,
-	std::shared_ptr<J2534MessageFilter> filter
-) : MessageTxTimeoutable(connection_in, to_send), filter(filter), frames_sent(0),
-consumed_count(0), txInFlight(FALSE), sendAll(FALSE), block_size(0), numWaitFrames(0), didtimeout(FALSE), issuspended(FALSE){
-
-	CANid = ((uint8_t)fullmsg.Data[0]) << 24 | ((uint8_t)fullmsg.Data[1]) << 16 |
-		((uint8_t)fullmsg.Data[2]) << 8 | ((uint8_t)fullmsg.Data[3]);
-
-	payload = fullmsg.Data.substr(addressLength());
-
-	if (check_bmask(fullmsg.TxFlags, ISO15765_ADDR_TYPE))
-		data_prefix = fullmsg.Data[4];
-
-	if (payload.size() <= (7 - data_prefix.size())) {
-		isMultipart = FALSE;
-		auto framepayload = data_prefix + std::string(1, (char)payload.size()) + payload;
-		if (check_bmask(this->fullmsg.TxFlags, ISO15765_FRAME_PAD))
-			framepayload += std::string(8 - framepayload.size(), '\x00');
-		framePayloads.push_back(framepayload);
-	} else {
-		isMultipart = TRUE;
-		unsigned long first_payload_len = 6 - data_prefix.size(); // 5 or 6
-		std::string framepayload = data_prefix +
-			(char)(0x10 | ((payload.size() >> 8) & 0xF)) +
-			(char)(payload.size() & 0xFF) +
-			payload.substr(0, first_payload_len);
-		framePayloads.push_back(framepayload);
-
-		unsigned int pktnum = 1;
-		uint8_t CFDatSize = 7 - data_prefix.size();
-		while (TRUE) {
-			framepayload = data_prefix + (char)(0x20 | (pktnum % 0x10)) +
-				payload.substr(first_payload_len + (CFDatSize * (pktnum-1)), CFDatSize);
-
-			if (check_bmask(this->fullmsg.TxFlags, ISO15765_FRAME_PAD))
-				framepayload += std::string(8 - framepayload.size(), '\x00');
-			framePayloads.push_back(framepayload);
-			if (first_payload_len + (CFDatSize * pktnum) >= payload.size()) break;
-			pktnum++;
-		}
-
-	}
-};
-
-unsigned int MessageTx_ISO15765::addressLength() {
-	return check_bmask(fullmsg.TxFlags, ISO15765_ADDR_TYPE) ? 5 : 4;
-}
-
-void MessageTx_ISO15765::execute() {
-	if (didtimeout || issuspended) return;
-	if (this->frames_sent >= this->framePayloads.size()) return;
-	if (block_size == 0 && !sendAll && this->frames_sent > 0) return;
-	if (block_size > 0 && !sendAll) block_size--;
-
-	if (auto conn_sp = this->connection.lock()) {
-		if (auto panda_dev_sp = conn_sp->getPandaDev()) {
-			auto& outFramePayload = this->framePayloads[this->frames_sent];
-			if (panda_dev_sp->panda->can_send(this->CANid, check_bmask(this->fullmsg.TxFlags, CAN_29BIT_ID),
-				(const uint8_t*)outFramePayload.c_str(), (uint8_t)outFramePayload.size(), panda::PANDA_CAN1) == FALSE) {
-				return;
-			}
-
-			this->txInFlight = TRUE;
-			this->frames_sent++;
-			panda_dev_sp->txMsgsAwaitingEcho.push(shared_from_this());
-		}
-	}
-}
-
-//Returns TRUE if receipt is consumed by the msg, FALSE otherwise.
-BOOL MessageTx_ISO15765::checkTxReceipt(J2534Frame frame) {
-	if (!txInFlight) return FALSE;
-	if (frame.Data.size() >= addressLength() + 1 && (frame.Data[addressLength()] & 0xF0) == FRAME_FLOWCTRL) return FALSE;
-
-	if (frame.Data == fullmsg.Data.substr(0, 4) + framePayloads[frames_sent - 1] &&
-		((this->fullmsg.TxFlags & CAN_29BIT_ID) == (frame.RxStatus & CAN_29BIT_ID))) { //Check receipt is expected
-		txInFlight = FALSE; //Received the expected receipt. Allow another msg to be sent.
-
-		if (this->recvCount == 0 && this->framePayloads.size() > 1)
-			scheduleTimeout(TIMEOUT_FC);
-
-		if (frames_sent == framePayloads.size()) { //Check message done
-			if (auto conn_sp = std::static_pointer_cast<J2534Connection_ISO15765>(this->connection.lock())) {
-				unsigned long flags = (filter == nullptr) ? fullmsg.TxFlags : this->filter->flags;
-
-				J2534Frame outframe(ISO15765);
-				outframe.Timestamp = frame.Timestamp;
-				outframe.RxStatus = TX_MSG_TYPE | TX_INDICATION | (flags & (ISO15765_ADDR_TYPE | CAN_29BIT_ID));
-				outframe.Data = frame.Data.substr(0, addressLength());
-				conn_sp->addMsgToRxQueue(outframe);
-
-				if (conn_sp->loopback) {
-					J2534Frame outframe(ISO15765);
-					outframe.Timestamp = frame.Timestamp;
-					outframe.RxStatus = TX_MSG_TYPE | (flags & (ISO15765_ADDR_TYPE | CAN_29BIT_ID));
-					outframe.Data = this->fullmsg.Data;
-					conn_sp->addMsgToRxQueue(outframe);
-				}
-
-			} //TODO what if fails
-		} else {
-			//Restart timeout if we are waiting for a flow control frame.
-			//FC frames are required when we are not sending all, the
-			//current block_size batch has not been sent, a FC message has
-			//already been received (differentiating from first frame), the
-			//message is not finished, and there is more than one frame in
-			//the message.
-			if (block_size == 0 && recvCount != 0 && !sendAll && !this->isFinished() && this->framePayloads.size() > 1)
-				scheduleTimeout(TIMEOUT_CF);
-		}
-		return TRUE;
-	}
-	return FALSE;
-}
-
-BOOL MessageTx_ISO15765::isFinished() {
-	return this->frames_sent == this->framePayloads.size() && !txInFlight;
-}
-
-BOOL MessageTx_ISO15765::txReady() {
-	return block_size > 0 || sendAll || this->frames_sent == 0;
-}
-
-void MessageTx_ISO15765::reset() {
-	frames_sent = 0;
-	consumed_count = 0;
-	block_size = 0;
-	txInFlight = FALSE;
-	sendAll = FALSE;
-	numWaitFrames = 0;
-	didtimeout = FALSE;
-}
-
-void MessageTx_ISO15765::onTimeout() {
-	didtimeout = TRUE;
-	if (auto conn_sp = std::static_pointer_cast<J2534Connection_ISO15765>(this->connection.lock())) {
-		if (auto panda_dev_sp = conn_sp->getPandaDev()) {
-			panda_dev_sp->removeConnectionTopAction(conn_sp, shared_from_this());
-		}
-	}
-}
-
-void MessageTx_ISO15765::flowControlContinue(uint8_t block_size, std::chrono::microseconds separation_time) {
-	this->issuspended = FALSE;
-	this->block_size = block_size;
-	this->delay = separation_time;
-	this->sendAll = block_size == 0;
-	this->recvCount++;
-}
-
-void MessageTx_ISO15765::flowControlWait(unsigned long N_WFTmax) {
-	this->issuspended = TRUE;
-	this->recvCount++;
-	this->numWaitFrames++;
-	this->sendAll = FALSE;
-	this->block_size = block_size;
-	this->delay = std::chrono::microseconds(0);
-	//Docs are vague on if 0 means NO WAITS ALLOWED or NO LIMIT TO WAITS.
-	//It is less likely to cause issue if NO LIMIT is assumed.
-	if (N_WFTmax > 0 && this->numWaitFrames > N_WFTmax) {
-		this->onTimeout(); //Trigger self destruction of message.
-	} else {
-		scheduleTimeout(TIMEOUT_FC);
-	}
-}
-
-void MessageTx_ISO15765::flowControlAbort() {
-	this->recvCount++; //Invalidate future timeout actions.
-	this->onTimeout(); //Trigger self destruction of message.
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.h b/panda/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.h
deleted file mode 100644
index 0113edb8f96fd3..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.h
+++ /dev/null
@@ -1,54 +0,0 @@
-#pragma once
-#include "MessageTxTimeout.h"
-#include "J2534Connection_ISO15765.h"
-
-class J2534Connection_ISO15765;
-
-/**
-A specialized message type that can handle J2534 single and multi
-frame (with flow control) writes.
-*/
-class MessageTx_ISO15765 : public MessageTxTimeoutable
-{
-public:
-	MessageTx_ISO15765(
-		std::shared_ptr<J2534Connection> connection,
-		PASSTHRU_MSG& to_send,
-		std::shared_ptr<J2534MessageFilter> filter
-	);
-
-	unsigned int addressLength();
-
-	virtual void execute();
-
-	virtual BOOL checkTxReceipt(J2534Frame frame);
-
-	virtual BOOL isFinished();
-
-	virtual BOOL txReady();
-
-	virtual void reset();
-
-	virtual void onTimeout();
-
-	//Functions for ISO15765 flow control
-
-	void MessageTx_ISO15765::flowControlContinue(uint8_t block_size, std::chrono::microseconds separation_time);
-	void MessageTx_ISO15765::flowControlWait(unsigned long N_WFTmax);
-	void MessageTx_ISO15765::flowControlAbort();
-
-	std::shared_ptr<J2534MessageFilter> filter;
-	unsigned long frames_sent;
-	unsigned long consumed_count;
-	uint8_t block_size;
-	unsigned long CANid;
-	std::string data_prefix;
-	std::string payload;
-	BOOL isMultipart;
-	std::vector<std::string> framePayloads;
-	BOOL txInFlight;
-	BOOL sendAll;
-	unsigned int numWaitFrames;
-	BOOL didtimeout;
-	BOOL issuspended;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp b/panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
deleted file mode 100644
index e250ded7b44ff0..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
+++ /dev/null
@@ -1,238 +0,0 @@
-#include "stdafx.h"
-#include "PandaJ2534Device.h"
-#include "J2534Frame.h"
-
-PandaJ2534Device::PandaJ2534Device(std::unique_ptr<panda::Panda> new_panda) : txInProgress(FALSE) {
-	this->panda = std::move(new_panda);
-
-	this->panda->set_esp_power(FALSE);
-	this->panda->set_safety_mode(panda::SAFETY_ALLOUTPUT);
-	this->panda->set_can_loopback(FALSE);
-	this->panda->set_alt_setting(0);
-
-	this->thread_kill_event = CreateEvent(NULL, TRUE, FALSE, NULL);
-
-	DWORD canListenThreadID;
-	this->can_recv_handle = CreateThread(NULL, 0, _can_recv_threadBootstrap, (LPVOID)this, 0, &canListenThreadID);
-
-	DWORD canProcessThreadID;
-	this->can_process_handle = CreateThread(NULL, 0, _can_process_threadBootstrap, (LPVOID)this, 0, &canProcessThreadID);
-
-	DWORD flowControlSendThreadID;
-	this->flow_control_wakeup_event = CreateEvent(NULL, TRUE, FALSE, NULL);
-	this->flow_control_thread_handle = CreateThread(NULL, 0, _msg_tx_threadBootstrap, (LPVOID)this, 0, &flowControlSendThreadID);
-};
-
-PandaJ2534Device::~PandaJ2534Device() {
-	SetEvent(this->thread_kill_event);
-	DWORD res = WaitForSingleObject(this->can_recv_handle, INFINITE);
-	CloseHandle(this->can_recv_handle);
-
-	res = WaitForSingleObject(this->can_process_handle, INFINITE);
-	CloseHandle(this->can_process_handle);
-
-	res = WaitForSingleObject(this->flow_control_thread_handle, INFINITE);
-	CloseHandle(this->flow_control_thread_handle);
-
-	CloseHandle(this->flow_control_wakeup_event);
-	CloseHandle(this->thread_kill_event);
-}
-
-std::shared_ptr<PandaJ2534Device> PandaJ2534Device::openByName(std::string sn) {
-	auto p = panda::Panda::openPanda("");
-	if (p == nullptr)
-		return nullptr;
-	return std::unique_ptr<PandaJ2534Device>(new PandaJ2534Device(std::move(p)));
-}
-
-DWORD PandaJ2534Device::closeChannel(unsigned long ChannelID) {
-	if (this->connections.size() <= ChannelID) return ERR_INVALID_CHANNEL_ID;
-	if (this->connections[ChannelID] == nullptr) return ERR_INVALID_CHANNEL_ID;
-	this->connections[ChannelID] = nullptr;
-	return STATUS_NOERROR;
-}
-
-DWORD PandaJ2534Device::addChannel(std::shared_ptr<J2534Connection>& conn, unsigned long* channel_id) {
-	int channel_index = -1;
-	for (unsigned int i = 0; i < this->connections.size(); i++)
-		if (this->connections[i] == nullptr) {
-			channel_index = i;
-			break;
-		}
-
-	if (channel_index == -1) {
-		if (this->connections.size() == 0xFFFF) //channelid max 16 bits
-			return ERR_FAILED; //Too many channels
-		this->connections.push_back(nullptr);
-		channel_index = this->connections.size() - 1;
-	}
-
-	this->connections[channel_index] = conn;
-
-	*channel_id = channel_index;
-	return STATUS_NOERROR;
-}
-
-DWORD PandaJ2534Device::can_recv_thread() {
-	this->panda->can_clear(panda::PANDA_CAN_RX);
-	this->panda->can_rx_q_push(this->thread_kill_event);
-
-	return 0;
-}
-
-DWORD PandaJ2534Device::can_process_thread() {
-	panda::PANDA_CAN_MSG msg_recv[CAN_RX_MSG_LEN];
-
-	while (true) {
-		if (!WaitForSingleObject(this->thread_kill_event, 0)) {
-			break;
-		}
-
-		int count = 0;
-		this->panda->can_rx_q_pop(msg_recv, count);
-		if (count == 0) {
-			continue;
-		}
-
-		for (int i = 0; i < count; i++) {
-			auto msg_in = msg_recv[i];
-			J2534Frame msg_out(msg_in);
-
-			if (msg_in.is_receipt) {
-				synchronized(task_queue_mutex) {
-					if (txMsgsAwaitingEcho.size() > 0) {
-						auto msgtx = txMsgsAwaitingEcho.front();
-						if (auto conn = msgtx->connection.lock()) {
-							if (conn->isProtoCan() && conn->getPort() == msg_in.bus) {
-								if (msgtx->checkTxReceipt(msg_out)) {
-									//Things to check:
-									//    Frame not for this msg: Drop frame and alert. Error?
-									//    Frame is for this msg, more tx frames required after a FC frame: Wait for FC frame to come and trigger next tx.
-									//    Frame is for this msg, more tx frames required: Schedule next tx frame.
-									//    Frame is for this msg, and is the final frame of the msg: Let conn process full msg, If another msg from this conn is available, register it.
-									txMsgsAwaitingEcho.pop(); //Remove the TX object and schedule record.
-
-									if (msgtx->isFinished()) {
-										this->removeConnectionTopAction(conn, msgtx);
-									} else {
-										if (msgtx->txReady()) { //Not finished, ready to send next frame.
-											msgtx->schedule(msg_in.recv_time_point, TRUE);
-											this->insertActionIntoTaskList(msgtx);
-										} else {
-											//Not finished, but next frame not ready (maybe waiting for flow control).
-											//Do not schedule more messages from this connection.
-											//this->ConnTxSet.erase(conn);
-											//Removing this means new messages queued can kickstart the queue and overstep the current message.
-										}
-									}
-								}
-							}
-						} else {
-							//Connection has died. Clear out the tx entry from device records.
-							txMsgsAwaitingEcho.pop();
-							this->ConnTxSet.erase(conn); //connection is already dead, no need to schedule future tx msgs.
-						}
-					}
-				}
-			} else {
-				for (auto& conn : this->connections)
-					if (conn != nullptr && conn->isProtoCan() && conn->getPort() == msg_in.bus)
-						conn->processMessage(msg_out);
-			}
-		}
-	}
-
-	return 0;
-}
-
-DWORD PandaJ2534Device::msg_tx_thread() {
-	const HANDLE subscriptions[] = { this->flow_control_wakeup_event, this->thread_kill_event };
-	DWORD sleepDuration = INFINITE;
-	while (TRUE) {
-		DWORD res = WaitForMultipleObjects(2, subscriptions, FALSE, sleepDuration);
-		if (res == WAIT_OBJECT_0 + 1) return 0;
-		if (res != WAIT_OBJECT_0 && res != WAIT_TIMEOUT) {
-			printf("Got an unexpected wait result in flow_control_write_thread. Res: %d; GetLastError: %d\n. Terminating thread.", res, GetLastError());
-			return 0;
-		}
-		ResetEvent(this->flow_control_wakeup_event);
-
-		while (TRUE) {
-			synchronized(task_queue_mutex) { //implemented with for loop. Consumes breaks.
-				if (this->task_queue.size() == 0) {
-					sleepDuration = INFINITE;
-					goto break_flow_ctrl_loop;
-				}
-				if (std::chrono::steady_clock::now() >= this->task_queue.front()->expire) {
-					auto task = this->task_queue.front(); //Get the scheduled tx record.
-					this->task_queue.pop_front();
-					task->execute();
-				} else { //Ran out of things that need to be sent now. Sleep!
-					auto time_diff = std::chrono::duration_cast<std::chrono::milliseconds>
-						(this->task_queue.front()->expire - std::chrono::steady_clock::now());
-					sleepDuration = max(1, time_diff.count());
-					goto break_flow_ctrl_loop;
-				}
-			}
-		}
-		break_flow_ctrl_loop:
-		continue;
-	}
-	return 0;
-}
-
-//Place the Action in the task queue based on the Action's expiration time,
-//then signal the thread that processes actions.
-void PandaJ2534Device::insertActionIntoTaskList(std::shared_ptr<Action> action) {
-	synchronized(task_queue_mutex) {
-		auto iter = this->task_queue.begin();
-		for (; iter != this->task_queue.end(); iter++) {
-			if (action->expire < (*iter)->expire) break;
-		}
-		this->task_queue.insert(iter, action);
-	}
-	SetEvent(this->flow_control_wakeup_event);
-}
-
-void PandaJ2534Device::scheduleAction(std::shared_ptr<Action> msg, BOOL startdelayed) {
-	if(startdelayed)
-		msg->scheduleImmediateDelay();
-	else
-		msg->scheduleImmediate();
-	this->insertActionIntoTaskList(msg);
-}
-
-void PandaJ2534Device::registerConnectionTx(std::shared_ptr<J2534Connection> conn) {
-	synchronized(connTXSet_mutex) {
-		auto ret = this->ConnTxSet.insert(conn);
-		if (ret.second == FALSE) return; //Conn already exists.
-		this->scheduleAction(conn->txbuff.front());
-	}
-}
-
-void PandaJ2534Device::unstallConnectionTx(std::shared_ptr<J2534Connection> conn) {
-	synchronized(connTXSet_mutex) {
-		auto ret = this->ConnTxSet.insert(conn);
-		if (ret.second == TRUE) return; //Conn already exists.
-		this->insertActionIntoTaskList(conn->txbuff.front());
-	}
-}
-
-void PandaJ2534Device::removeConnectionTopAction(std::shared_ptr<J2534Connection> conn, std::shared_ptr<MessageTx> msg) {
-	synchronized(task_queue_mutex) {
-		if (conn->txbuff.size() == 0)
-			return;
-		if (conn->txbuff.front() != msg)
-			return;
-		conn->txbuff.pop(); //Remove the top TX message from the connection tx queue.
-
-		//Remove the connection from the active connection list if no more messages are scheduled with this connection.
-		if (conn->txbuff.size() == 0) {
-			//Update records showing the connection no longer has a tx record scheduled.
-			this->ConnTxSet.erase(conn);
-		} else {
-			//Add the next scheduled tx from this conn
-			this->scheduleAction(conn->txbuff.front());
-		}
-	}
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.h b/panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.h
deleted file mode 100644
index 32004ffba5ea14..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.h
+++ /dev/null
@@ -1,83 +0,0 @@
-#pragma once
-#include <memory>
-#include <list>
-#include <queue>
-#include <set>
-#include <chrono>
-#include "J2534_v0404.h"
-#include "panda_shared/panda.h"
-#include "synchronize.h"
-#include "Action.h"
-#include "MessageTx.h"
-#include "J2534Connection.h"
-
-class J2534Connection;
-class Action;
-class MessageTx;
-
-/**
-Class representing a physical panda adapter. Instances are created by
-PassThruOpen in the J2534 API. A Device can create one or more
-J2534Connections.
-*/
-class PandaJ2534Device {
-public:
-	PandaJ2534Device(std::unique_ptr<panda::Panda> new_panda);
-
-	~PandaJ2534Device();
-
-	static std::shared_ptr<PandaJ2534Device> openByName(std::string sn);
-
-	DWORD closeChannel(unsigned long ChannelID);
-	DWORD addChannel(std::shared_ptr<J2534Connection>& conn, unsigned long* channel_id);
-
-	std::unique_ptr<panda::Panda> panda;
-	std::vector<std::shared_ptr<J2534Connection>> connections;
-
-	//Place the Action in the task queue based on the Action's expiration time,
-	//then signal the thread that processes actions.
-	void insertActionIntoTaskList(std::shared_ptr<Action> action);
-
-	void scheduleAction(std::shared_ptr<Action> msg, BOOL startdelayed=FALSE);
-
-	void registerConnectionTx(std::shared_ptr<J2534Connection> conn);
-
-	//Resume sending messages from the provided Connection's TX queue.
-	void unstallConnectionTx(std::shared_ptr<J2534Connection> conn);
-
-	//Cleans up several queues after a message completes, is canceled, or otherwise goes away.
-	void removeConnectionTopAction(std::shared_ptr<J2534Connection> conn, std::shared_ptr<MessageTx> msg);
-
-	//Messages that have been sent on the wire will be echoed by the panda when
-	//transmission is complete. This tracks what is still waiting to hear an echo.
-	std::queue<std::shared_ptr<MessageTx>> txMsgsAwaitingEcho;
-
-private:
-	HANDLE thread_kill_event;
-
-	HANDLE can_recv_handle;
-	static DWORD WINAPI _can_recv_threadBootstrap(LPVOID This) {
-		return ((PandaJ2534Device*)This)->can_recv_thread();
-	}
-	DWORD can_recv_thread();
-
-	HANDLE can_process_handle;
-	static DWORD WINAPI _can_process_threadBootstrap(LPVOID This) {
-		return ((PandaJ2534Device*)This)->can_process_thread();
-	}
-	DWORD can_process_thread();
-
-	HANDLE flow_control_wakeup_event;
-	HANDLE flow_control_thread_handle;
-	static DWORD WINAPI _msg_tx_threadBootstrap(LPVOID This) {
-		return ((PandaJ2534Device*)This)->msg_tx_thread();
-	}
-	DWORD msg_tx_thread();
-	std::list<std::shared_ptr<Action>> task_queue;
-	Mutex task_queue_mutex;
-
-	std::queue<std::shared_ptr<J2534Connection>> ConnTxQueue;
-	std::set<std::shared_ptr<J2534Connection>> ConnTxSet;
-	Mutex connTXSet_mutex;
-	BOOL txInProgress;
-};
diff --git a/panda/drivers/windows/pandaJ2534DLL/Timer.cpp b/panda/drivers/windows/pandaJ2534DLL/Timer.cpp
deleted file mode 100644
index 2f20f888eeef83..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/Timer.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#include "stdafx.h"
-#include "Timer.h"
-
-
-Timer::Timer()
-{
-	start = std::chrono::time_point_cast<std::chrono::milliseconds>(clock::now());
-}
-
-// gets the time elapsed from construction.
-unsigned long long /*milliseconds*/ Timer::getTimePassed(){
-	// get the new time
-	auto end = std::chrono::time_point_cast<std::chrono::milliseconds>(clock::now());
-
-	// return the difference of the times
-	return (end - start).count();
-}
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/Timer.h b/panda/drivers/windows/pandaJ2534DLL/Timer.h
deleted file mode 100644
index d4888fc5e6dd55..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/Timer.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#pragma once
-#include <chrono>
-
-//Copied from https://stackoverflow.com/a/31488113
-
-class Timer
-{
-	using clock = std::chrono::steady_clock;
-	using time_point_type = std::chrono::time_point < clock, std::chrono::milliseconds >;
-public:
-	Timer();
-
-	// gets the time elapsed from construction.
-	unsigned long long /*milliseconds*/ getTimePassed();
-
-private:
-	time_point_type start;
-};
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/constants_ISO15765.h b/panda/drivers/windows/pandaJ2534DLL/constants_ISO15765.h
deleted file mode 100644
index 86928f1436c996..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/constants_ISO15765.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#define msg_is_extaddr(msg) check_bmask(msg->TxFlags, ISO15765_ADDR_TYPE)
-#define msg_is_padded(msg) check_bmask(msg->TxFlags, ISO15765_FRAME_PAD)
-
-#define FRAME_SINGLE   0x00
-#define FRAME_FIRST    0x10
-#define FRAME_CONSEC   0x20
-#define FRAME_FLOWCTRL 0x30
-
-#define FLOWCTRL_CONTINUE 0
-#define FLOWCTRL_WAIT     1
-#define FLOWCTRL_ABORT    2
-
-#define msg_get_type(msg, addrlen)   ((msg).Data[addrlen] & 0xF0)
-
-#define is_single(msg, addrlen)      (msg_get_type(msg, addrlen) == FRAME_SINGLE)
-#define is_first(msg, addrlen)       (msg_get_type(msg, addrlen) == FRAME_FIRST)
-#define is_consecutive(msg, addrlen) (msg_get_type(msg, addrlen) == FRAME_CONSEC)
-#define is_flowctrl(msg, addrlen)    (msg_get_type(msg, addrlen) == FRAME_FLOWCTRL)
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/dllmain.cpp b/panda/drivers/windows/pandaJ2534DLL/dllmain.cpp
deleted file mode 100644
index d4122e0b1dda9c..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/dllmain.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-// dllmain.cpp : Defines the entry point for the DLL application.
-#include "dllmain.h"
-
-HMODULE thisdll;
-
-BOOL APIENTRY DllMain( HMODULE hModule,
-                       DWORD  ul_reason_for_call,
-                       LPVOID lpReserved
-					 )
-{
-	thisdll = hModule;
-
-	switch (ul_reason_for_call)
-	{
-	case DLL_PROCESS_ATTACH:
-	case DLL_THREAD_ATTACH:
-	case DLL_THREAD_DETACH:
-	case DLL_PROCESS_DETACH:
-		break;
-	}
-	return TRUE;
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/dllmain.h b/panda/drivers/windows/pandaJ2534DLL/dllmain.h
deleted file mode 100644
index f49819e2c40aa1..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/dllmain.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-#include "stdafx.h"
-
-extern HMODULE thisdll;
diff --git a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.cpp b/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.cpp
deleted file mode 100644
index 096e4419883928..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.cpp
+++ /dev/null
@@ -1,430 +0,0 @@
-// pandaJ2534DLL.cpp : Defines the exported functions for the DLL application.
-// Protocol derived from the following sites (which shall be referred to as The Protocol Reference #).
-// https://web.archive.org/web/20130805013326/https://tunertools.com/prodimages/DrewTech/Manuals/PassThru_API-1.pdf
-// http://web.archive.org/web/20170910063536/http://www.tiecar.net/downloads/SAE_J2534_2002.pdf
-
-#include "stdafx.h"
-#include "J2534_v0404.h"
-#include "panda_shared/panda.h"
-#include "J2534Connection.h"
-#include "J2534Connection_CAN.h"
-#include "J2534Connection_ISO15765.h"
-#include "PandaJ2534Device.h"
-#include "dllmain.h"
-
-// A quick way to avoid the name mangling that __stdcall liked to do
-#define EXPORT comment(linker, "/EXPORT:" __FUNCTION__ "=" __FUNCDNAME__)
-
-std::vector<std::shared_ptr<PandaJ2534Device>> pandas;
-
-int J25334LastError = 0;
-
-std::string GetProductAndVersion(TCHAR* szFilename)//std::string & strProductName, std::string & strProductVersion)
-{
-	// allocate a block of memory for the version info
-	DWORD dummy;
-	DWORD dwSize = GetFileVersionInfoSize(szFilename, &dummy);
-	if (dwSize == 0) {
-		return "error";
-	}
-	std::vector<BYTE> data(dwSize);
-
-	// load the version info
-	if (!GetFileVersionInfo(szFilename, NULL, dwSize, &data[0])) {
-		return "error";
-	}
-
-	// get the name and version strings
-	LPVOID pvProductName = NULL;
-	unsigned int iProductNameLen = 0;
-	LPVOID pvProductVersion = NULL;
-	unsigned int iProductVersionLen = 0;
-
-	// 040904b0 is a language id.
-	if (!VerQueryValueA(&data[0], "\\StringFileInfo\\040904b0\\ProductName", &pvProductName, &iProductNameLen) ||
-		!VerQueryValueA(&data[0], "\\StringFileInfo\\040904b0\\ProductVersion", &pvProductVersion, &iProductVersionLen)) {
-		return "error";
-	}
-
-	std::string ver_str = std::string((char*)pvProductVersion, iProductVersionLen-1);
-	std::string prod_str = std::string((char*)pvProductName, iProductNameLen-1);
-	std::string full_ver = prod_str + std::string(": ") + ver_str;
-	return full_ver;
-}
-
-long ret_code(long code) {
-	J25334LastError = code;
-	return code;
-}
-
-#define EXTRACT_DID(CID) ((CID & 0xFFFF) - 1)
-#define EXTRACT_CID(CID) ((CID >> 16) & 0xFFFF)
-
-long check_valid_DeviceID(unsigned long DeviceID) {
-	uint16_t dev_id = EXTRACT_DID(DeviceID);
-	if (pandas.size() <= dev_id || pandas[dev_id] == nullptr)
-		return ret_code(ERR_INVALID_DEVICE_ID);
-	return ret_code(STATUS_NOERROR);
-}
-
-long check_valid_ChannelID(unsigned long ChannelID) {
-	uint16_t dev_id = EXTRACT_DID(ChannelID);
-	uint16_t con_id = EXTRACT_CID(ChannelID);
-
-	if (pandas.size() <= dev_id || pandas[dev_id] == nullptr)
-		return ret_code(ERR_INVALID_CHANNEL_ID);
-
-	if (pandas[dev_id]->connections.size() <= con_id) return ret_code(ERR_INVALID_CHANNEL_ID);
-	if (pandas[dev_id]->connections[con_id] == nullptr) return ret_code(ERR_DEVICE_NOT_CONNECTED);
-
-	return ret_code(STATUS_NOERROR);
-}
-
-//Do not call without checking if the device/channel id exists first.
-#define get_device(DeviceID) (pandas[EXTRACT_DID(DeviceID)])
-#define get_channel(ChannelID) (get_device(ChannelID)->connections[EXTRACT_CID(ChannelID)])
-
-PANDAJ2534DLL_API long PTAPI    PassThruOpen(void *pName, unsigned long *pDeviceID) {
-	#pragma EXPORT
-	if (pDeviceID == NULL) return ret_code(ERR_NULL_PARAMETER);
-	std::string sn = (pName == NULL) ? "" : std::string((char*)pName);
-	if (sn == "J2534-2:")
-		sn = "";
-
-	auto new_panda = PandaJ2534Device::openByName(sn);
-	if (new_panda == nullptr) {
-		if(sn == "" && pandas.size() == 1)
-			return ret_code(ERR_DEVICE_IN_USE);
-		for (auto& pn : pandas) {
-			if (pn->panda->get_usb_sn() == sn)
-				return ret_code(ERR_DEVICE_IN_USE);
-		}
-		return ret_code(ERR_DEVICE_NOT_CONNECTED);
-	}
-
-	int panda_index = -1;
-	for (unsigned int i = 0; i < pandas.size(); i++)
-		if (pandas[i] == nullptr) {
-			panda_index = i;
-			pandas[panda_index] = std::move(new_panda);
-			break;
-		}
-
-	if (panda_index == -1) {
-		if(pandas.size() == 0xFFFF) //device id will be 16 bit to fit channel next to it.
-			return ret_code(ERR_FAILED); //Too many pandas. Off the endangered species list.
-		pandas.push_back(std::move(new_panda));
-		panda_index = pandas.size()-1;
-	}
-
-	*pDeviceID = panda_index + 1; // TIS doesn't like it when ID == 0
-	return ret_code(STATUS_NOERROR);
-}
-PANDAJ2534DLL_API long PTAPI	PassThruClose(unsigned long DeviceID) {
-	#pragma EXPORT
-	if (check_valid_DeviceID(DeviceID) != STATUS_NOERROR) return J25334LastError;
-	get_device(DeviceID) = nullptr;
-	return ret_code(STATUS_NOERROR);
-}
-PANDAJ2534DLL_API long PTAPI	PassThruConnect(unsigned long DeviceID, unsigned long ProtocolID,
-	                                            unsigned long Flags, unsigned long BaudRate, unsigned long *pChannelID) {
-	#pragma EXPORT
-	if (pChannelID == NULL) return ret_code(ERR_NULL_PARAMETER);
-	if (check_valid_DeviceID(DeviceID) != STATUS_NOERROR) return J25334LastError;
-	auto& panda = get_device(DeviceID);
-
-	std::shared_ptr<J2534Connection> conn;
-
-	//TODO check if channel can be made
-	try {
-		switch (ProtocolID) {
-			//SW seems to refer to Single Wire. https://www.nxp.com/files-static/training_pdf/20451_BUS_COMM_WBT.pdf
-			//SW_ protocols may be touched on here: https://www.iso.org/obp/ui/#iso:std:iso:22900:-2:ed-1:v1:en
-		//case J1850VPW: // These protocols are outdated and will not be supported. HDS wants them to not fail to open.
-		//case J1850PWM: // ^-- it appears HDS no longer needs this, and TIS needs it disabled --^
-		//case J1850VPW_PS:
-		//case J1850PWM_PS:
-		case ISO9141: //This protocol could be implemented if 5 BAUD init support is added to the panda.
-		case ISO9141_PS:
-		case ISO14230: //Only supporting Fast init until panda adds support for 5 BAUD init.
-		case ISO14230_PS:
-			conn = std::make_shared<J2534Connection>(panda, ProtocolID, Flags, BaudRate);
-			break;
-		case CAN:
-		case CAN_PS:
-		//case SW_CAN_PS:
-			conn = std::make_shared<J2534Connection_CAN>(panda, ProtocolID, Flags, BaudRate);
-			break;
-		case ISO15765:
-		case ISO15765_PS:
-			conn = std::make_shared<J2534Connection_ISO15765>(panda, ProtocolID, Flags, BaudRate);
-			break;
-		//case SW_ISO15765_PS: // SW = Single Wire. GMLAN is a SW CAN protocol
-		//case GM_UART_PS: // PS = Pin Select. Handles different ports.
-		//Looks like SCI based protocols may not be compatible with the panda:
-		//http://mdhmotors.com/can-communications-vehicle-network-protocols/3/
-		//case SCI_A_ENGINE:
-		//case SCI_A_TRANS:
-		//case SCI_B_ENGINE:
-			//case SCI_B_TRANS:
-		//case J2610_PS:
-		default:
-			return ret_code(ERR_INVALID_PROTOCOL_ID);
-		}
-	} catch (int e) {
-		return ret_code(e);
-	}
-
-	unsigned long channel_index;
-	unsigned long err = panda->addChannel(conn, &channel_index);
-	if (err == STATUS_NOERROR)
-		*pChannelID = (channel_index << 16) | DeviceID;
-
-	return ret_code(err);
-}
-PANDAJ2534DLL_API long PTAPI	PassThruDisconnect(unsigned long ChannelID) {
-	#pragma EXPORT
-	unsigned long res = check_valid_DeviceID(ChannelID);
-	if (res == ERR_INVALID_DEVICE_ID) return ret_code(ERR_INVALID_CHANNEL_ID);
-	if (res != STATUS_NOERROR) return J25334LastError;
-	return ret_code(get_device(ChannelID)->closeChannel(EXTRACT_CID(ChannelID)));
-}
-PANDAJ2534DLL_API long PTAPI	PassThruReadMsgs(unsigned long ChannelID, PASSTHRU_MSG *pMsg,
-	                                             unsigned long *pNumMsgs, unsigned long Timeout) {
-	#pragma EXPORT
-	if (pMsg == NULL || pNumMsgs == NULL) return ret_code(ERR_NULL_PARAMETER);
-	if (check_valid_ChannelID(ChannelID) != STATUS_NOERROR) return J25334LastError;
-	return ret_code(get_channel(ChannelID)->PassThruReadMsgs(pMsg, pNumMsgs, Timeout));
-}
-PANDAJ2534DLL_API long PTAPI	PassThruWriteMsgs(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout) {
-	#pragma EXPORT
-	if (pMsg == NULL || pNumMsgs == NULL) return ret_code(ERR_NULL_PARAMETER);
-	if (check_valid_ChannelID(ChannelID) != STATUS_NOERROR) return J25334LastError;
-	return ret_code(get_channel(ChannelID)->PassThruWriteMsgs(pMsg, pNumMsgs, Timeout));
-}
-PANDAJ2534DLL_API long PTAPI	PassThruStartPeriodicMsg(unsigned long ChannelID, PASSTHRU_MSG *pMsg, unsigned long *pMsgID, unsigned long TimeInterval) {
-	#pragma EXPORT
-	if (pMsg == NULL || pMsgID == NULL) return ret_code(ERR_NULL_PARAMETER);
-	if (check_valid_ChannelID(ChannelID) != STATUS_NOERROR) return J25334LastError;
-	return ret_code(get_channel(ChannelID)->PassThruStartPeriodicMsg(pMsg, pMsgID, TimeInterval));
-}
-PANDAJ2534DLL_API long PTAPI	PassThruStopPeriodicMsg(unsigned long ChannelID, unsigned long MsgID) {
-	#pragma EXPORT
-	if (check_valid_ChannelID(ChannelID) != STATUS_NOERROR) return J25334LastError;
-	return ret_code(get_channel(ChannelID)->PassThruStopPeriodicMsg(MsgID));
-}
-PANDAJ2534DLL_API long PTAPI	PassThruStartMsgFilter(unsigned long ChannelID, unsigned long FilterType, PASSTHRU_MSG *pMaskMsg,
-	                                                   PASSTHRU_MSG *pPatternMsg, PASSTHRU_MSG *pFlowControlMsg, unsigned long *pFilterID) {
-	#pragma EXPORT
-	if (FilterType != PASS_FILTER && FilterType != BLOCK_FILTER && FilterType != FLOW_CONTROL_FILTER) return ret_code(ERR_NULL_PARAMETER);
-	if (!pFilterID || (!pMaskMsg && !pPatternMsg && !pFlowControlMsg)) return ret_code(ERR_NULL_PARAMETER);
-	if (check_valid_ChannelID(ChannelID) != STATUS_NOERROR) return J25334LastError;
-	return ret_code(get_channel(ChannelID)->PassThruStartMsgFilter(FilterType, pMaskMsg, pPatternMsg, pFlowControlMsg, pFilterID));
-}
-PANDAJ2534DLL_API long PTAPI	PassThruStopMsgFilter(unsigned long ChannelID, unsigned long FilterID) {
-	#pragma EXPORT
-	if (check_valid_ChannelID(ChannelID) != STATUS_NOERROR) return J25334LastError;
-	return ret_code(get_channel(ChannelID)->PassThruStopMsgFilter(FilterID));
-}
-PANDAJ2534DLL_API long PTAPI	PassThruSetProgrammingVoltage(unsigned long DeviceID, unsigned long PinNumber, unsigned long Voltage) {
-	#pragma EXPORT
-	//Unused
-	if (check_valid_DeviceID(DeviceID) != STATUS_NOERROR) return J25334LastError;
-	auto& panda = get_device(DeviceID);
-
-	switch (Voltage) {
-	case SHORT_TO_GROUND:
-		break;
-	case VOLTAGE_OFF:
-		break;
-	default:
-		if (!(5000 <= Voltage && Voltage <= 20000))
-			return ret_code(ERR_NOT_SUPPORTED);
-		break;
-	}
-
-	return ret_code(STATUS_NOERROR);
-}
-PANDAJ2534DLL_API long PTAPI	PassThruReadVersion(unsigned long DeviceID, char *pFirmwareVersion, char *pDllVersion, char *pApiVersion) {
-	#pragma EXPORT
-	if (!pFirmwareVersion || !pDllVersion || !pApiVersion) return ret_code(ERR_NULL_PARAMETER);
-	if (check_valid_DeviceID(DeviceID) != STATUS_NOERROR) return J25334LastError;
-
-	auto& panda = get_device(DeviceID);
-	auto fw_version = panda->panda->get_version();
-	strcpy_s(pFirmwareVersion, 80, fw_version.c_str());
-
-	std::string j2534dll_ver;
-	TCHAR pandalib_filename[MAX_PATH + 1] = { 0 };
-	if (GetModuleFileName(thisdll, pandalib_filename, MAX_PATH) == 0) {
-		j2534dll_ver = "error";
-	} else {
-		j2534dll_ver = GetProductAndVersion(pandalib_filename);
-	}
-	std::string fullver = "(" + j2534dll_ver + ")";
-	strcpy_s(pDllVersion, 80, fullver.c_str());
-
-	strcpy_s(pApiVersion, 80, J2534_APIVER_NOVEMBER_2004);
-	return ret_code(STATUS_NOERROR);
-}
-PANDAJ2534DLL_API long PTAPI	PassThruGetLastError(char *pErrorDescription) {
-	#pragma EXPORT
-	if (pErrorDescription == NULL) return ret_code(ERR_NULL_PARAMETER);
-	switch (J25334LastError) {
-	case STATUS_NOERROR:
-		strcpy_s(pErrorDescription, 80, "Function call successful.");
-		break;
-	case ERR_NOT_SUPPORTED:
-		strcpy_s(pErrorDescription, 80, "Device cannot support requested functionality mandated in J2534.");
-		break;
-	case ERR_INVALID_CHANNEL_ID:
-		strcpy_s(pErrorDescription, 80, "Invalid ChannelID value.");
-		break;
-	case ERR_INVALID_PROTOCOL_ID:
-		strcpy_s(pErrorDescription, 80, "Invalid or unsupported ProtocolID, or resource conflict.");
-		break;
-	case ERR_NULL_PARAMETER:
-		strcpy_s(pErrorDescription, 80, "NULL pointer supplied where a valid pointer is required.");
-		break;
-	case ERR_INVALID_IOCTL_VALUE:
-		strcpy_s(pErrorDescription, 80, "Invalid value for Ioctl parameter.");
-		break;
-	case ERR_INVALID_FLAGS:
-		strcpy_s(pErrorDescription, 80, "Invalid flag values.");
-		break;
-	case ERR_FAILED:
-		strcpy_s(pErrorDescription, 80, "Undefined error.");
-		break;
-	case ERR_DEVICE_NOT_CONNECTED:
-		strcpy_s(pErrorDescription, 80, "Unable to communicate with device.");
-		break;
-	case ERR_TIMEOUT:
-		strcpy_s(pErrorDescription, 80, "Read or write timeout:");
-		// PassThruReadMsgs() - No message available to read or could not read the specified number of messages. The actual number of messages read is placed in <NumMsgs>.
-		// PassThruWriteMsgs() - Device could not write the specified number of messages. The actual number of messages sent on the vehicle network is placed in <NumMsgs>.
-		break;
-	case ERR_INVALID_MSG:
-		strcpy_s(pErrorDescription, 80, "Invalid message structure pointed to by pMsg.");
-		break;
-	case ERR_INVALID_TIME_INTERVAL:
-		strcpy_s(pErrorDescription, 80, "Invalid TimeInterval value.");
-		break;
-	case ERR_EXCEEDED_LIMIT:
-		strcpy_s(pErrorDescription, 80, "Exceeded maximum number of message IDs or allocated space.");
-		break;
-	case ERR_INVALID_MSG_ID:
-		strcpy_s(pErrorDescription, 80, "Invalid MsgID value.");
-		break;
-	case ERR_DEVICE_IN_USE:
-		strcpy_s(pErrorDescription, 80, "Device is currently open.");
-		break;
-	case ERR_INVALID_IOCTL_ID:
-		strcpy_s(pErrorDescription, 80, "Invalid IoctlID value.");
-		break;
-	case ERR_BUFFER_EMPTY:
-		strcpy_s(pErrorDescription, 80, "Protocol message buffer empty.");
-		break;
-	case ERR_BUFFER_FULL:
-		strcpy_s(pErrorDescription, 80, "Protocol message buffer full. Messages may have been lost.");
-		break;
-	case ERR_BUFFER_OVERFLOW:
-		strcpy_s(pErrorDescription, 80, "A buffer overflow occurred and messages were lost.");
-		break;
-	case ERR_PIN_INVALID:
-		strcpy_s(pErrorDescription, 80, "Invalid pin number, or pin number already in use.");
-		break;
-	case ERR_CHANNEL_IN_USE:
-		strcpy_s(pErrorDescription, 80, "Channel number is currently connected.");
-		break;
-	case ERR_MSG_PROTOCOL_ID:
-		strcpy_s(pErrorDescription, 80, "The Message's Protocol does not match the Channel's protocol.");
-		break;
-	case ERR_INVALID_FILTER_ID:
-		strcpy_s(pErrorDescription, 80, "Invalid Filter ID value.");
-		break;
-	case ERR_NO_FLOW_CONTROL:
-		strcpy_s(pErrorDescription, 80, "No flow control filter set or matched.");
-		break;
-	case ERR_NOT_UNIQUE:
-		strcpy_s(pErrorDescription, 80, "This filter already exists.");
-		break;
-	case ERR_INVALID_BAUDRATE:
-		strcpy_s(pErrorDescription, 80, "The desired baud rate cannot be achieved within SAE tolerance.");
-		break;
-	case ERR_INVALID_DEVICE_ID:
-		strcpy_s(pErrorDescription, 80, "Device ID invalid.");
-		break;
-	}
-	return ret_code(STATUS_NOERROR);
-}
-PANDAJ2534DLL_API long PTAPI	PassThruIoctl(unsigned long ChannelID, unsigned long IoctlID,
-	                                          void *pInput, void *pOutput) {
-	#pragma EXPORT
-	if (check_valid_ChannelID(ChannelID) != STATUS_NOERROR) return J25334LastError;
-	auto& dev_entry = get_device(ChannelID);
-	//get_channel(ChannelID)
-
-	switch (IoctlID) {
-	case GET_CONFIG:
-	{
-		SCONFIG_LIST *inconfig = (SCONFIG_LIST*)pInput;
-		if (inconfig == NULL)
-			return ret_code(ERR_NULL_PARAMETER);
-		for (unsigned int i = 0; i < inconfig->NumOfParams; i++) {
-			try {
-				inconfig->ConfigPtr[i].Value = get_channel(ChannelID)->processIOCTLGetConfig(inconfig->ConfigPtr[i].Parameter);
-			} catch (int e) {
-				return ret_code(e);
-			}
-		}
-		break;
-	}
-	case SET_CONFIG:
-	{
-		SCONFIG_LIST *inconfig = (SCONFIG_LIST*)pInput;
-		if (inconfig == NULL)
-			return ret_code(ERR_NULL_PARAMETER);
-		for (unsigned int i = 0; i < inconfig->NumOfParams; i++) {
-			try {
-				get_channel(ChannelID)->processIOCTLSetConfig(inconfig->ConfigPtr[i].Parameter, inconfig->ConfigPtr[i].Value);
-			} catch (int e) {
-				return ret_code(e);
-			}
-		}
-		break;
-	}
-	case READ_VBATT:
-		panda::PANDA_HEALTH health = dev_entry->panda->get_health();
-		*(unsigned long*)pOutput = health.voltage;
-		break;
-	case FIVE_BAUD_INIT:
-		if (!pInput || !pOutput) return ret_code(ERR_NULL_PARAMETER);
-		return ret_code(get_channel(ChannelID)->init5b((SBYTE_ARRAY*)pInput, (SBYTE_ARRAY*)pOutput));
-	case FAST_INIT:
-		if (!pInput || !pOutput) return ret_code(ERR_NULL_PARAMETER);
-		return ret_code(get_channel(ChannelID)->initFast((PASSTHRU_MSG*)pInput, (PASSTHRU_MSG*)pOutput));
-	case CLEAR_TX_BUFFER:
-		return ret_code(get_channel(ChannelID)->clearTXBuff());
-	case CLEAR_RX_BUFFER:
-		return ret_code(get_channel(ChannelID)->clearRXBuff());
-	case CLEAR_PERIODIC_MSGS:
-		return ret_code(get_channel(ChannelID)->clearPeriodicMsgs());
-	case CLEAR_MSG_FILTERS:
-		return ret_code(get_channel(ChannelID)->clearMsgFilters());
-	case CLEAR_FUNCT_MSG_LOOKUP_TABLE:			// LOOKUP TABLE IS RELATED TO J1850 PWM. Unsupported.
-		if (!pInput) return ret_code(ERR_NULL_PARAMETER);
-		return ret_code(STATUS_NOERROR);
-	case ADD_TO_FUNCT_MSG_LOOKUP_TABLE:			// LOOKUP TABLE IS RELATED TO J1850 PWM. Unsupported.
-		if (!pInput) return ret_code(ERR_NULL_PARAMETER);
-		return ret_code(STATUS_NOERROR);
-	case DELETE_FROM_FUNCT_MSG_LOOKUP_TABLE:	// LOOKUP TABLE IS RELATED TO J1850 PWM. Unsupported.
-		return ret_code(STATUS_NOERROR);
-	case READ_PROG_VOLTAGE:
-		*(unsigned long*)pOutput = 0;
-		break;
-	default:
-		printf("Got unknown IIOCTL %X\n", IoctlID);
-	}
-
-	return ret_code(STATUS_NOERROR);
-}
diff --git a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.rc b/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.rc
deleted file mode 100644
index e359044825257c..00000000000000
Binary files a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.rc and /dev/null differ
diff --git a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj b/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
deleted file mode 100644
index bc9d145e0fac5f..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
+++ /dev/null
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-    <ClInclude Include="constants_ISO15765.h" />
-    <ClInclude Include="dllmain.h" />
-    <ClInclude Include="MessagePeriodic.h" />
-    <ClInclude Include="MessageRx.h" />
-    <ClInclude Include="J2534Connection.h" />
-    <ClInclude Include="J2534Connection_CAN.h" />
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-    <ClInclude Include="J2534Frame.h" />
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-    <ClInclude Include="Action.h" />
-    <ClInclude Include="MessageTx.h" />
-    <ClInclude Include="MessageTxTimeout.h" />
-    <ClInclude Include="MessageTx_CAN.h" />
-    <ClInclude Include="MessageTx_ISO15765.h" />
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-    <ClInclude Include="stdafx.h" />
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-      <CompileAsManaged Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">false</CompileAsManaged>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-      </PrecompiledHeader>
-    </ClCompile>
-    <ClCompile Include="J2534Connection.cpp" />
-    <ClCompile Include="J2534Connection_CAN.cpp" />
-    <ClCompile Include="J2534Connection_ISO15765.cpp" />
-    <ClCompile Include="J2534MessageFilter.cpp" />
-    <ClCompile Include="MessagePeriodic.cpp" />
-    <ClCompile Include="MessageTxTimeout.cpp" />
-    <ClCompile Include="MessageTx_CAN.cpp" />
-    <ClCompile Include="MessageTx_ISO15765.cpp" />
-    <ClCompile Include="PandaJ2534Device.cpp" />
-    <ClCompile Include="pandaJ2534DLL.cpp" />
-    <ClCompile Include="stdafx.cpp">
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
-    </ClCompile>
-    <ClCompile Include="Timer.cpp" />
-  </ItemGroup>
-  <ItemGroup>
-    <ResourceCompile Include="pandaJ2534DLL.rc" />
-  </ItemGroup>
-  <ItemGroup>
-    <None Include="ClassDiagram.cd" />
-  </ItemGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj.filters b/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj.filters
deleted file mode 100644
index 57f7cefb081e74..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj.filters
+++ /dev/null
@@ -1,155 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup>
-    <Filter Include="Source Files">
-      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
-      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
-    </Filter>
-    <Filter Include="Header Files">
-      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
-      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
-    </Filter>
-    <Filter Include="Resource Files">
-      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
-      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
-    </Filter>
-    <Filter Include="Header Files\depends">
-      <UniqueIdentifier>{a4cd0bce-0a2a-43d9-9c9f-b21a3b607e90}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Header Files\boilerplate">
-      <UniqueIdentifier>{a85ee263-380d-4d37-b167-6629cfd5177f}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Source Files\boilerplate">
-      <UniqueIdentifier>{010a0176-a146-4d3a-824a-fd683904774d}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Header Files\J2534_CAN">
-      <UniqueIdentifier>{71c9502a-ee59-4d5e-873f-c9cc792e7c76}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Header Files\J2534_ISO15765">
-      <UniqueIdentifier>{4fd3183a-c457-430c-b762-f767a5788bca}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Source Files\J2534_ISO15765">
-      <UniqueIdentifier>{53cd179e-22d8-43e2-bc61-516d3861fae6}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Source Files\J2534_CAN">
-      <UniqueIdentifier>{08d548b5-4d0b-4ce4-85e6-5ff3fc987758}</UniqueIdentifier>
-    </Filter>
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="J2534Connection.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="PandaJ2534Device.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="Timer.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="J2534MessageFilter.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="synchronize.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="J2534Connection_CAN.h">
-      <Filter>Header Files\J2534_CAN</Filter>
-    </ClInclude>
-    <ClInclude Include="J2534Connection_ISO15765.h">
-      <Filter>Header Files\J2534_ISO15765</Filter>
-    </ClInclude>
-    <ClInclude Include="J2534_v0404.h">
-      <Filter>Header Files\depends</Filter>
-    </ClInclude>
-    <ClInclude Include="..\panda\panda.h">
-      <Filter>Header Files\depends</Filter>
-    </ClInclude>
-    <ClInclude Include="dllmain.h">
-      <Filter>Header Files\boilerplate</Filter>
-    </ClInclude>
-    <ClInclude Include="resource.h">
-      <Filter>Header Files\boilerplate</Filter>
-    </ClInclude>
-    <ClInclude Include="stdafx.h">
-      <Filter>Header Files\boilerplate</Filter>
-    </ClInclude>
-    <ClInclude Include="targetver.h">
-      <Filter>Header Files\boilerplate</Filter>
-    </ClInclude>
-    <ClInclude Include="J2534Frame.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="MessageTx_ISO15765.h">
-      <Filter>Header Files\J2534_ISO15765</Filter>
-    </ClInclude>
-    <ClInclude Include="MessageRx.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="constants_ISO15765.h">
-      <Filter>Header Files\J2534_ISO15765</Filter>
-    </ClInclude>
-    <ClInclude Include="MessageTx_CAN.h">
-      <Filter>Header Files\J2534_CAN</Filter>
-    </ClInclude>
-    <ClInclude Include="MessageTxTimeout.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="Action.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="MessageTx.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="MessagePeriodic.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="pandaJ2534DLL.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="J2534Connection.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="PandaJ2534Device.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="Timer.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="J2534MessageFilter.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="J2534Connection_CAN.cpp">
-      <Filter>Source Files\J2534_CAN</Filter>
-    </ClCompile>
-    <ClCompile Include="J2534Connection_ISO15765.cpp">
-      <Filter>Source Files\J2534_ISO15765</Filter>
-    </ClCompile>
-    <ClCompile Include="dllmain.cpp">
-      <Filter>Source Files\boilerplate</Filter>
-    </ClCompile>
-    <ClCompile Include="stdafx.cpp">
-      <Filter>Source Files\boilerplate</Filter>
-    </ClCompile>
-    <ClCompile Include="MessageTx_ISO15765.cpp">
-      <Filter>Source Files\J2534_ISO15765</Filter>
-    </ClCompile>
-    <ClCompile Include="MessageTxTimeout.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="MessageTx_CAN.cpp">
-      <Filter>Source Files\J2534_CAN</Filter>
-    </ClCompile>
-    <ClCompile Include="MessagePeriodic.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-  </ItemGroup>
-  <ItemGroup>
-    <ResourceCompile Include="pandaJ2534DLL.rc">
-      <Filter>Resource Files</Filter>
-    </ResourceCompile>
-  </ItemGroup>
-  <ItemGroup>
-    <None Include="ClassDiagram.cd" />
-  </ItemGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/resource.h b/panda/drivers/windows/pandaJ2534DLL/resource.h
deleted file mode 100644
index af0e13cc04d638..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/resource.h
+++ /dev/null
@@ -1,14 +0,0 @@
-//{{NO_DEPENDENCIES}}
-// Microsoft Visual C++ generated include file.
-// Used by pandaJ2534DLL.rc
-
-// Next default values for new objects
-//
-#ifdef APSTUDIO_INVOKED
-#ifndef APSTUDIO_READONLY_SYMBOLS
-#define _APS_NEXT_RESOURCE_VALUE        101
-#define _APS_NEXT_COMMAND_VALUE         40001
-#define _APS_NEXT_CONTROL_VALUE         1001
-#define _APS_NEXT_SYMED_VALUE           101
-#endif
-#endif
diff --git a/panda/drivers/windows/pandaJ2534DLL/stdafx.cpp b/panda/drivers/windows/pandaJ2534DLL/stdafx.cpp
deleted file mode 100644
index c27db9ee2d9eb4..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/stdafx.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-// stdafx.cpp : source file that includes just the standard includes
-// pandaJ2534DLL.pch will be the pre-compiled header
-// stdafx.obj will contain the pre-compiled type information
-
-#include "stdafx.h"
-
-// TODO: reference any additional headers you need in STDAFX.H
-// and not in this file
diff --git a/panda/drivers/windows/pandaJ2534DLL/stdafx.h b/panda/drivers/windows/pandaJ2534DLL/stdafx.h
deleted file mode 100644
index bd4a4b6f78fef9..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/stdafx.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#pragma once
-
-#include "targetver.h"
-
-#define WIN32_LEAN_AND_MEAN             // Exclude rarely-used stuff from Windows headers
-// Windows Header Files:
-#include <windows.h>
-
-#include <string>
-#include <array>
-#include <queue>
-#include <ctime>
-#include <chrono>
-#include <tchar.h>
\ No newline at end of file
diff --git a/panda/drivers/windows/pandaJ2534DLL/synchronize.h b/panda/drivers/windows/pandaJ2534DLL/synchronize.h
deleted file mode 100644
index 446dfc19e3f08b..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/synchronize.h
+++ /dev/null
@@ -1,56 +0,0 @@
-#pragma once
-#define WIN32_LEAN_AND_MEAN
-#include <windows.h>
-
-//Inspired/directly copied from https://www.codeproject.com/Articles/12362/A-quot-synchronized-quot-statement-for-C-like-in-J
-//Enables easier synchronization
-class Mutex {
-public:
-	Mutex() {
-		InitializeCriticalSectionAndSpinCount(&critSection, 0x00000400);
-		//InitializeCriticalSection(&critSection);
-	}
-
-	~Mutex() {
-		DeleteCriticalSection(&critSection);
-	}
-
-	void lock() {
-		EnterCriticalSection(&critSection);
-	}
-
-	void unlock() {
-		LeaveCriticalSection(&critSection);
-	}
-
-private:
-	CRITICAL_SECTION critSection;
-};
-
-//Synchronization Controller Object
-class Lock {
-public:
-	Lock(Mutex &m) : mutex(m), locked(TRUE) {
-		m.lock();
-	}
-
-	~Lock() {
-		mutex.unlock();
-	}
-
-	operator bool() const {
-		return locked;
-	}
-
-	void setUnlock() {
-		locked = FALSE;
-	}
-
-private:
-	Mutex& mutex;
-	bool locked;
-};
-
-//A useful shorthand for locking and unlocking a mutex over a scope.
-//CAUTION, implemented with a for loop, so break/continue are consumed.
-#define synchronized(M) for(Lock M##_lock = M; M##_lock; M##_lock.setUnlock())
diff --git a/panda/drivers/windows/pandaJ2534DLL/targetver.h b/panda/drivers/windows/pandaJ2534DLL/targetver.h
deleted file mode 100644
index 1bf4ee6fee02e7..00000000000000
--- a/panda/drivers/windows/pandaJ2534DLL/targetver.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-// Including SDKDDKVer.h defines the highest available Windows platform.
-
-// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
-// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
-
-#include <WinSDKVer.h>
-
-#define WINVER _WIN32_WINNT_WIN7
-#define _WIN32_WINNT _WIN32_WINNT_WIN7
-
-#include <SDKDDKVer.h>
diff --git a/panda/drivers/windows/panda_install.nsi b/panda/drivers/windows/panda_install.nsi
deleted file mode 100644
index 47a4423f91b940..00000000000000
--- a/panda/drivers/windows/panda_install.nsi
+++ /dev/null
@@ -1,214 +0,0 @@
-!define J2534_Reg_Path "Software\PassThruSupport.04.04\comma.ai - panda"
-!define Install_Name "panda J2534 driver"
-
-;NOTE! The panda software requires a VC runtime to be installed in order to work.
-;This installer must be bundled with the appropriate runtime installer, and have
-;the installation registry key set so the installer can tell if the runtime is
-;already installed. Copy vscruntimeinfo.nsh.sample to vscruntimeinfo.nsh and edit
-;it for your version of Visual Studio.
-!include "redist\vscruntimeinfo.nsh"
-
-;--------------------------------
-;Include Modern UI
-!include "MUI2.nsh"
-!include "x64.nsh"
-
-!define MUI_ICON "panda.ico"
-;NSIS is ignoring the unicon unless it is the same as the normal icon
-;!define MUI_UNICON "panda_remove.ico"
-
-;Properly display all languages (Installer will not work on Windows 95, 98 or ME!)
-Unicode true
-
-# Set the installer display name
-Name "${Install_Name}"
-
-# set the name of the installer
-Outfile "${Install_Name} install.exe"
-
-; The default installation directory
-InstallDir $PROGRAMFILES\comma.ai\panda
-
-; Request application privileges for UAC
-RequestExecutionLevel admin
-
-; Registry key to check for directory (so if you install again, it will
-; overwrite the old one automatically)
-InstallDirRegKey HKLM "SOFTWARE\${Install_Name}" "Install_Dir"
-
-;--------------------------------
-; Pages
-!insertmacro MUI_PAGE_WELCOME
-!insertmacro MUI_PAGE_LICENSE "..\..\LICENSE"
-!insertmacro MUI_PAGE_COMPONENTS
-!insertmacro MUI_PAGE_DIRECTORY
-!insertmacro MUI_PAGE_INSTFILES
-
-!insertmacro MUI_UNPAGE_CONFIRM
-!insertmacro MUI_UNPAGE_INSTFILES
-
-!insertmacro MUI_LANGUAGE "English" ;first language is the default language
-
-; -------------------------------------------------------------------------------------------------
-; Additional info (will appear in the "details" tab of the properties window for the installer)
-
-VIAddVersionKey /LANG=${LANG_ENGLISH} "ProductName"      "panda OBD-II adapter"
-VIAddVersionKey /LANG=${LANG_ENGLISH} "Comments"         ""
-VIAddVersionKey /LANG=${LANG_ENGLISH} "CompanyName"      "comma.ai"
-VIAddVersionKey /LANG=${LANG_ENGLISH} "LegalTrademarks"  "Application released under the MIT license"
-;VIAddVersionKey /LANG=${LANG_ENGLISH} "LegalCopyright"   "© ${PRODUCT_NAME} Team"
-;VIAddVersionKey /LANG=${LANG_ENGLISH} "FileDescription"  "Jessy Exum"
-;VIAddVersionKey /LANG=${LANG_ENGLISH} "FileVersion"      "${PRODUCT_VERSION}"
-VIProductVersion "1.0.0.0"
-
-;--------------------------------
-; Install Sections
-Section "prerequisites"
-
-  SectionIn RO
-
-  SetOutPath "$INSTDIR"
-
-  File "panda.ico"
-
-  ;If the visual studio version this project is compiled with changes, this section
-  ;must be revisited. The registry key must be changed, and the VS redistributable
-  ;binary must be updated to the VS version used.
-  ClearErrors
-  ReadRegStr $0 HKCR ${VCRuntimeRegKey} "Version"
-  ${If} ${Errors}
-    DetailPrint "Installing Visual Studio C Runtime..."
-    File "${VCRuntimeSetupPath}\${VCRuntimeSetupFile}"
-    ExecWait '"$INSTDIR\${VCRuntimeSetupFile}" /passive /norestart'
-  ${Else}
-    DetailPrint "Visual Studio C Runtime already installed."
-  ${EndIf}
-
-  ;Remove the now unnecessary runtime installer.
-  Delete "$INSTDIR\${VCRuntimeSetupFile}"
-
-  ;Do the rest of the install
-  ; SetOutPath "$INSTDIR\driver"
-
-  ; The inf file works for both 32 and 64 bit.
-  ; File "Debug_x86\panda Driver Package\panda.inf"
-  ; File "Debug_x86\panda Driver Package\panda.cat"
-  ; ${DisableX64FSRedirection}
-  ; nsExec::ExecToLog '"$SYSDIR\PnPutil.exe" /a "$INSTDIR\driver\panda.inf"'
-  ; ${EnableX64FSRedirection}
-
-  ; Write the installation path into the registry
-  WriteRegStr HKLM "SOFTWARE\${Install_Name}" "Install_Dir" "$INSTDIR"
-
-  ; Write the uninstall keys for Windows
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayVersion" ""
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayIcon" '"$INSTDIR\panda.ico",0'
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayName" "${Install_Name}"
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "Publisher" "comma.ai"
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "UninstallString" '"$INSTDIR\uninstall.exe"'
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "URLInfoAbout" "https://github.com/commaai/panda/"
-  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "NoModify" 1
-  WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "NoRepair" 1
-
-  SetOutPath $INSTDIR
-  WriteUninstaller "uninstall.exe"
-
-SectionEnd
-
-Section "J2534 Driver"
-
-  SetOutPath $INSTDIR
-
-  File Release_x86\pandaJ2534_0404_32.dll
-
-  SetRegView 32
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "CAN"               00000001
-  WriteRegStr    HKLM "${J2534_Reg_Path}" "FunctionLibrary"   "$INSTDIR\pandaJ2534_0404_32.dll"
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "ISO15765"          00000001
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "J1850VPW"          00000000
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "SCI_A_ENGINE"      00000000
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "SCI_A_TRANS"       00000000
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "SCI_B_ENGINE"      00000000
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "SCI_B_TRANS"       00000000
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "J1850PWM"          00000000
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "ISO9141"           00000000
-  WriteRegDWORD  HKLM "${J2534_Reg_Path}" "ISO14230"          00000001
-  WriteRegStr    HKLM "${J2534_Reg_Path}" "Name"              "panda"
-  WriteRegStr    HKLM "${J2534_Reg_Path}" "Vendor"            "comma.ai"
-  WriteRegStr    HKLM "${J2534_Reg_Path}" "ConfigApplication" ""
-  DetailPrint "Registered J2534 Driver"
-
-SectionEnd
-
-Section /o "Development lib/header"
-
-  SetOutPath $SYSDIR
-
-  File Release_x86\panda.dll
-
-  ${If} ${RunningX64}
-    ${DisableX64FSRedirection}
-      ;Note that the x64 VS redistributable is not installed to prevent bloat.
-      ;If you are the rare person who uses the 64 bit raw panda driver, please
-      ;install the correct x64 VS runtime manually.
-      File Release_x64\panda.dll
-    ${EnableX64FSRedirection}
-  ${EndIf}
-
-  SetOutPath "$INSTDIR\devel"
-  File panda_shared\panda.h
-
-  SetOutPath "$INSTDIR\devel\x86"
-  File Release_x86\panda.lib
-
-  SetOutPath "$INSTDIR\devel\x64"
-  File Release_x64\panda.lib
-
-SectionEnd
-
-;--------------------------------
-; Uninstaller
-Section "Uninstall"
-
-  ; Removing the inf file for winusb is not easy to do.
-  ; The best solution I can find is parsing the output
-  ; of the pnputil.exe /e command to find the oem#.inf
-  ; file that lists comma.ai as the provider. Not sure
-  ; if Microsoft wants these inf files to be removed.
-  ; Consider https://blog.sverrirs.com/2015/12/creating-windows-installer-and.html
-  ; These lines just remove the inf backups.
-  ; Delete "$INSTDIR\driver\panda.inf"
-  ; Delete "$INSTDIR\driver\panda.cat"
-  ; RMDir "$INSTDIR\driver"
-
-  ; Remove WinUSB driver library
-  Delete $SYSDIR\panda.dll
-  ${If} ${RunningX64}
-    ${DisableX64FSRedirection}
-    Delete $SYSDIR\panda.dll
-    ${EnableX64FSRedirection}
-  ${EndIf}
-
-  ; Remove devel files
-  Delete "$INSTDIR\devel\x86\panda.lib"
-  RMDir "$INSTDIR\devel\x86"
-  Delete "$INSTDIR\devel\x64\panda.lib"
-  RMDir "$INSTDIR\devel\x64"
-  Delete "$INSTDIR\devel\panda.h"
-  RMDir "$INSTDIR\devel"
-
-  ; Remove registry keys
-  DeleteRegKey HKLM "${J2534_Reg_Path}"
-  DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}"
-  DeleteRegKey HKLM "SOFTWARE\${Install_Name}"
-
-  ; Remove files and uninstaller
-  Delete "$INSTDIR\uninstall.exe"
-  Delete "$INSTDIR\pandaJ2534_0404_32.dll"
-  Delete "$INSTDIR\panda.ico"
-
-  ; Remove directories used
-  RMDir "$INSTDIR"
-  RMDir "$PROGRAMFILES\comma.ai"
-
-SectionEnd
diff --git a/panda/drivers/windows/panda_playground/ReadMe.txt b/panda/drivers/windows/panda_playground/ReadMe.txt
deleted file mode 100644
index 37dba5d8775a99..00000000000000
--- a/panda/drivers/windows/panda_playground/ReadMe.txt
+++ /dev/null
@@ -1,40 +0,0 @@
-========================================================================
-    CONSOLE APPLICATION : panda_playground Project Overview
-========================================================================
-
-AppWizard has created this panda_playground application for you.
-
-This file contains a summary of what you will find in each of the files that
-make up your panda_playground application.
-
-
-panda_playground.vcxproj
-    This is the main project file for VC++ projects generated using an Application Wizard.
-    It contains information about the version of Visual C++ that generated the file, and
-    information about the platforms, configurations, and project features selected with the
-    Application Wizard.
-
-panda_playground.vcxproj.filters
-    This is the filters file for VC++ projects generated using an Application Wizard. 
-    It contains information about the association between the files in your project 
-    and the filters. This association is used in the IDE to show grouping of files with
-    similar extensions under a specific node (for e.g. ".cpp" files are associated with the
-    "Source Files" filter).
-
-panda_playground.cpp
-    This is the main application source file.
-
-/////////////////////////////////////////////////////////////////////////////
-Other standard files:
-
-StdAfx.h, StdAfx.cpp
-    These files are used to build a precompiled header (PCH) file
-    named panda_playground.pch and a precompiled types file named StdAfx.obj.
-
-/////////////////////////////////////////////////////////////////////////////
-Other notes:
-
-AppWizard uses "TODO:" comments to indicate parts of the source code you
-should add to or customize.
-
-/////////////////////////////////////////////////////////////////////////////
diff --git a/panda/drivers/windows/panda_playground/panda_playground.cpp b/panda/drivers/windows/panda_playground/panda_playground.cpp
deleted file mode 100644
index 0f51924dbcbd2d..00000000000000
--- a/panda/drivers/windows/panda_playground/panda_playground.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-// panda_playground.cpp : Defines the entry point for the console application.
-//
-
-#include "stdafx.h"
-#include "pandaJ2534DLL Test\Loader4.h"
-#include "ECUsim DLL\ECUsim.h"
-#include <chrono>
-
-
-int _tmain(int Argc, _TCHAR *Argv) {
-	UNREFERENCED_PARAMETER(Argc);
-	UNREFERENCED_PARAMETER(Argv);
-
-	ECUsim sim("", 500000);
-
-	//if (LoadJ2534Dll("C:\\WINDOWS\\SysWOW64\\op20pt32.dll") != 0) {
-	if (LoadJ2534Dll("pandaJ2534.dll") != 0) {
-		auto err = GetLastError();
-		return 1;
-	}
-	unsigned long did, cid, fid;
-	PassThruOpen("", &did);
-	PassThruConnect(did, ISO15765, CAN_29BIT_ID, 500000, &cid);
-
-	PASSTHRU_MSG mask, pattern, flow;
-
-	memcpy(mask.Data, "\xff\xff\xff\xff", 4);
-	mask.DataSize = 4;
-	mask.ProtocolID = ISO15765;
-	mask.TxFlags = CAN_29BIT_ID;
-	mask.ExtraDataIndex = 0;
-	mask.RxStatus = 0;
-
-	////////////////////////18//DA//F1//EF
-	memcpy(pattern.Data, "\x18\xda\xf1\xef", 4);
-	pattern.DataSize = 4;
-	pattern.ProtocolID = ISO15765;
-	pattern.TxFlags = CAN_29BIT_ID;
-	pattern.ExtraDataIndex = 0;
-	pattern.RxStatus = 0;
-
-	memcpy(flow.Data, "\x18\xda\xef\xf1", 4);
-	flow.DataSize = 4;
-	flow.ProtocolID = ISO15765;
-	flow.TxFlags = CAN_29BIT_ID;
-	flow.ExtraDataIndex = 0;
-	flow.RxStatus = 0;
-
-	auto res = PassThruStartMsgFilter(cid, FLOW_CONTROL_FILTER, &mask, &pattern, &flow, &fid);
-	if (res != STATUS_NOERROR)
-		return 1;
-
-	SCONFIG_LIST list;
-	SCONFIG config;
-	config.Parameter = LOOPBACK;
-	config.Value = 0;
-	list.ConfigPtr = &config;
-	list.NumOfParams = 1;
-
-	res = PassThruIoctl(cid, SET_CONFIG, &list, NULL);
-	if (res != STATUS_NOERROR)
-		return 1;
-
-	PASSTHRU_MSG outmsg;
-	memcpy(outmsg.Data, "\x18\xda\xef\xf1""\xAA\xBB\xCC\xDD\xEE\xFF\x11\x22\x33\x44", 4 + 10);
-	outmsg.DataSize = 4 + 10;
-	outmsg.ProtocolID = ISO15765;
-	outmsg.TxFlags = CAN_29BIT_ID;
-	outmsg.ExtraDataIndex = 0;
-	outmsg.RxStatus = 0;
-
-	unsigned long msgoutcount = 1;
-
-	res = PassThruWriteMsgs(cid, &outmsg, &msgoutcount, 0);
-	if (res != STATUS_NOERROR)
-		return 1;
-
-	PASSTHRU_MSG inmsg[8];
-	unsigned long msgincount = 8;
-
-	res = PassThruReadMsgs(cid, inmsg, &msgincount, 1000);
-	if (res != STATUS_NOERROR)
-		return 1;
-
-	return 0;
-}
diff --git a/panda/drivers/windows/panda_playground/panda_playground.vcxproj b/panda/drivers/windows/panda_playground/panda_playground.vcxproj
deleted file mode 100644
index 9174d7e36dd532..00000000000000
--- a/panda/drivers/windows/panda_playground/panda_playground.vcxproj
+++ /dev/null
@@ -1,191 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup Label="ProjectConfigurations">
-    <ProjectConfiguration Include="Debug|Win32">
-      <Configuration>Debug</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|x64">
-      <Configuration>Debug</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|x64">
-      <Configuration>Release</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-  </ItemGroup>
-  <PropertyGroup Label="Globals">
-    <ProjectGuid>{691DB635-C272-4B98-897E-0505B970DCA9}</ProjectGuid>
-    <Keyword>Win32Proj</Keyword>
-    <RootNamespace>panda_playground</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
-  <ImportGroup Label="ExtensionSettings">
-  </ImportGroup>
-  <ImportGroup Label="Shared">
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <PropertyGroup Label="UserMacros" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-    <TargetName>$(ProjectName)2</TargetName>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-    <TargetName>$(ProjectName)</TargetName>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(SolutionDir)$(Configuration)_$(PlatformShortName)\</OutDir>
-  </PropertyGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);$(OutDir)panda.lib;$(OutDir)ecusim.lib</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);$(OutDir)panda.lib;$(OutDir)ecusim.lib</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);$(OutDir)panda.lib;$(OutDir)ecusim.lib</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);$(OutDir)panda.lib;$(OutDir)ecusim.lib</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemGroup>
-    <Text Include="ReadMe.txt" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="..\pandaJ2534DLL Test\Loader4.h" />
-    <ClInclude Include="..\panda\panda.h" />
-    <ClInclude Include="stdafx.h" />
-    <ClInclude Include="targetver.h" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="..\pandaJ2534DLL Test\Loader4.cpp" />
-    <ClCompile Include="panda_playground.cpp" />
-    <ClCompile Include="stdafx.cpp">
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
-    </ClCompile>
-  </ItemGroup>
-  <ItemGroup>
-    <ProjectReference Include="..\ECUsim DLL\ECUsim DLL.vcxproj">
-      <Project>{96e0e646-ee76-444d-9a77-a0cd7f781deb}</Project>
-    </ProjectReference>
-    <ProjectReference Include="..\pandaJ2534DLL\pandaJ2534DLL.vcxproj">
-      <Project>{a2bb18a5-f26b-48d6-bbb5-b83d64473c77}</Project>
-    </ProjectReference>
-    <ProjectReference Include="..\panda\panda.vcxproj">
-      <Project>{5528aefb-638d-49af-b9d4-965154e7d531}</Project>
-    </ProjectReference>
-  </ItemGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/panda_playground/panda_playground.vcxproj.filters b/panda/drivers/windows/panda_playground/panda_playground.vcxproj.filters
deleted file mode 100644
index b84fc23184e2c9..00000000000000
--- a/panda/drivers/windows/panda_playground/panda_playground.vcxproj.filters
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup>
-    <Filter Include="Source Files">
-      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
-      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
-    </Filter>
-    <Filter Include="Header Files">
-      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
-      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
-    </Filter>
-    <Filter Include="Resource Files">
-      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
-      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
-    </Filter>
-  </ItemGroup>
-  <ItemGroup>
-    <Text Include="ReadMe.txt" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="stdafx.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="targetver.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="..\panda\panda.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="..\pandaJ2534DLL Test\Loader4.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="stdafx.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="panda_playground.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="..\pandaJ2534DLL Test\Loader4.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-  </ItemGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/panda_playground/stdafx.cpp b/panda/drivers/windows/panda_playground/stdafx.cpp
deleted file mode 100644
index fefa8d7ec924ca..00000000000000
--- a/panda/drivers/windows/panda_playground/stdafx.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-// stdafx.cpp : source file that includes just the standard includes
-// panda_playground.pch will be the pre-compiled header
-// stdafx.obj will contain the pre-compiled type information
-
-#include "stdafx.h"
-
-// TODO: reference any additional headers you need in STDAFX.H
-// and not in this file
diff --git a/panda/drivers/windows/panda_playground/stdafx.h b/panda/drivers/windows/panda_playground/stdafx.h
deleted file mode 100644
index f22759b0866ee2..00000000000000
--- a/panda/drivers/windows/panda_playground/stdafx.h
+++ /dev/null
@@ -1,17 +0,0 @@
-// stdafx.h : include file for standard system include files,
-// or project specific include files that are used frequently, but
-// are changed infrequently
-//
-
-#pragma once
-
-#include "targetver.h"
-
-#define WIN32_LEAN_AND_MEAN             // Exclude rarely-used stuff from Windows headers
-// Windows Header Files:
-#include <windows.h>
-
-#include <string>
-#include <stdio.h>
-#include <tchar.h>
-#include <strsafe.h>
diff --git a/panda/drivers/windows/panda_playground/targetver.h b/panda/drivers/windows/panda_playground/targetver.h
deleted file mode 100644
index 87c0086de751ba..00000000000000
--- a/panda/drivers/windows/panda_playground/targetver.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#pragma once
-
-// Including SDKDDKVer.h defines the highest available Windows platform.
-
-// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
-// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
-
-#include <SDKDDKVer.h>
diff --git a/panda/drivers/windows/panda_remove.ico b/panda/drivers/windows/panda_remove.ico
deleted file mode 100644
index 74602e03e913d3..00000000000000
Binary files a/panda/drivers/windows/panda_remove.ico and /dev/null differ
diff --git a/panda/drivers/windows/panda_shared/device.cpp b/panda/drivers/windows/panda_shared/device.cpp
deleted file mode 100644
index 83e021b7994ad4..00000000000000
--- a/panda/drivers/windows/panda_shared/device.cpp
+++ /dev/null
@@ -1,169 +0,0 @@
-#include "stdafx.h"
-
-#include <SetupAPI.h>
-#include <Devpkey.h>
-
-#include <unordered_map>
-#include <string>
-
-#include <winusb.h>
-
-#include "device.h"
-
-using namespace panda;
-
-//Returns the last Win32 error, in string format. Returns an empty string if there is no error.
-tstring GetLastErrorAsString(){
-	//Get the error message, if any.
-	DWORD errorMessageID = ::GetLastError();
-	if (errorMessageID == 0)
-		return tstring(); //No error message has been recorded
-
-	_TCHAR *messageBuffer = nullptr;
-	size_t size = FormatMessage(FORMAT_MESSAGE_ALLOCATE_BUFFER | FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS,
-		NULL, errorMessageID, MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), (_TCHAR*)&messageBuffer, 0, NULL);
-
-	tstring message(messageBuffer, size);
-
-	//Free the buffer.
-	LocalFree(messageBuffer);
-
-	return message;
-}
-
-std::unordered_map<std::string, tstring> panda::detect_pandas() {
-	HDEVINFO                        deviceInfo;
-	HRESULT                         hr;
-	SP_DEVINFO_DATA					deviceInfoData;
-	SP_DEVICE_INTERFACE_DATA		interfaceData;
-	unsigned int					deviceIndex;
-
-	std::unordered_map<std::string, tstring> map_sn_to_devpath;
-
-	deviceInfo = SetupDiGetClassDevs(&GUID_DEVINTERFACE_panda,
-		NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE); //DIGCF_ALLCLASSES
-
-	if (deviceInfo == INVALID_HANDLE_VALUE) {
-		hr = HRESULT_FROM_WIN32(GetLastError());
-		_tprintf(_T("Failed to get dev handle. HR: %d\n"), hr);
-		return map_sn_to_devpath;
-	}
-
-	ZeroMemory(&deviceInfoData, sizeof(SP_DEVINFO_DATA));
-	deviceInfoData.cbSize = sizeof(SP_DEVINFO_DATA);
-	deviceIndex = 0;
-
-	while (SetupDiEnumDeviceInfo(deviceInfo, deviceIndex, &deviceInfoData)) {
-		deviceIndex++;
-		_tprintf(_T("Device info index %d\n"), deviceIndex);
-
-		interfaceData.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
-		if (SetupDiEnumDeviceInterfaces(deviceInfo, &deviceInfoData,
-			&GUID_DEVINTERFACE_panda, 0, &interfaceData) == FALSE) {
-			_tprintf(_T("    Got unexpected error while accessing interface %d\n"), GetLastError());
-			continue;
-		}
-
-		DWORD requiredLength;
-		if (SetupDiGetDeviceInterfaceDetail(deviceInfo, &interfaceData, NULL, 0, &requiredLength, NULL) == FALSE
-			&& ERROR_INSUFFICIENT_BUFFER != GetLastError()) {
-			_tprintf(_T("    Got unexpected error while reading interface details %d\n"), GetLastError());
-			continue;
-		}
-
-		PSP_DEVICE_INTERFACE_DETAIL_DATA detailData = (PSP_DEVICE_INTERFACE_DETAIL_DATA)LocalAlloc(LMEM_FIXED, requiredLength);
-		if (NULL == detailData) {
-			_tprintf(_T("    Failed to allocate %d bytes for interface data\n"), requiredLength);
-			continue;
-		}
-		detailData->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
-
-		DWORD length = requiredLength;
-		if (SetupDiGetDeviceInterfaceDetail(deviceInfo, &interfaceData, detailData, length, &requiredLength, NULL) == FALSE) {
-			_tprintf(_T("    Got unexpected error while reading interface details (2nd time) %d. Msg: '%s'\n"),
-				GetLastError(), GetLastErrorAsString().c_str());
-			LocalFree(detailData);
-			continue;
-		}
-
-		//_tprintf(_T("    Path: '%s'\n"), detailData->DevicePath);
-		HANDLE deviceHandle = CreateFile(detailData->DevicePath,
-			GENERIC_WRITE | GENERIC_READ, FILE_SHARE_WRITE | FILE_SHARE_READ,
-			NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, NULL);
-
-		if (INVALID_HANDLE_VALUE == deviceHandle) {
-			_tprintf(_T("    Error opening Device Handle %d. Msg: '%s'\n"),
-				GetLastError(), GetLastErrorAsString().c_str());
-			LocalFree(detailData);
-			continue;
-		}
-
-		WINUSB_INTERFACE_HANDLE winusbHandle;
-		if (WinUsb_Initialize(deviceHandle, &winusbHandle) == FALSE) {
-			_tprintf(_T("    Error initializing WinUSB %d. Msg: '%s'\n"),
-				GetLastError(), GetLastErrorAsString().c_str());
-			CloseHandle(deviceHandle);
-			LocalFree(detailData);
-			continue;
-		}
-
-		USB_DEVICE_DESCRIPTOR deviceDesc;
-		unsigned long lengthReceived;
-		if (WinUsb_GetDescriptor(winusbHandle, USB_DEVICE_DESCRIPTOR_TYPE, 0, 0,
-			(PBYTE)&deviceDesc, sizeof(deviceDesc), &lengthReceived) == FALSE
-			|| lengthReceived != sizeof(deviceDesc)) {
-			_tprintf(_T("    Error getting device descriptor %d. Msg: '%s'\n"),
-				GetLastError(), GetLastErrorAsString().c_str());
-			WinUsb_Free(winusbHandle);
-			CloseHandle(deviceHandle);
-			LocalFree(detailData);
-			continue;
-		}
-
-		#define SNDESCLEN 64
-		PUSB_STRING_DESCRIPTOR psnDesc = (PUSB_STRING_DESCRIPTOR)LocalAlloc(LMEM_FIXED, SNDESCLEN);
-		if (NULL == psnDesc) {
-			_tprintf(_T("    Failed to allocate %d bytes for sn data\n"), SNDESCLEN);
-			continue;
-		}
-
-		if (WinUsb_GetDescriptor(winusbHandle, USB_STRING_DESCRIPTOR_TYPE, deviceDesc.iSerialNumber,
-			0x0409 /*Eng*/, (PBYTE)psnDesc, SNDESCLEN, &lengthReceived) == FALSE || lengthReceived == 0) {
-			_tprintf(_T("    Error getting serial number %d. Msg: '%s'\n"),
-				GetLastError(), GetLastErrorAsString().c_str());
-			LocalFree(psnDesc);
-			WinUsb_Free(winusbHandle);
-			CloseHandle(deviceHandle);
-			LocalFree(detailData);
-			continue;
-		}
-		//The minus 2 is for the two numbers, not the null term.
-		psnDesc->bString[(psnDesc->bLength - 2) / sizeof(_TCHAR)] = 0;
-
-		char w_to_m_buff[256];
-		size_t mbuff_len;
-		if (wcstombs_s(&mbuff_len, w_to_m_buff, sizeof(w_to_m_buff), psnDesc->bString, 24) != 0) {
-			_tprintf(_T("    Error generating mb SN string %d. Msg: '%s'\n"),
-				GetLastError(), GetLastErrorAsString().c_str());
-			LocalFree(psnDesc);
-			WinUsb_Free(winusbHandle);
-			CloseHandle(deviceHandle);
-			LocalFree(detailData);
-			continue;
-		}
-		std::string serialnum(w_to_m_buff, mbuff_len-1);
-		printf("    Device found: seriallen: %d; serial: %s\n", lengthReceived, serialnum.c_str());
-
-		map_sn_to_devpath[serialnum] = tstring(detailData->DevicePath);
-
-		LocalFree(psnDesc);
-		WinUsb_Free(winusbHandle);
-		CloseHandle(deviceHandle);
-		LocalFree(detailData);
-	}
-
-	if(deviceInfo)
-		SetupDiDestroyDeviceInfoList(deviceInfo);
-
-	return map_sn_to_devpath;
-}
diff --git a/panda/drivers/windows/panda_shared/device.h b/panda/drivers/windows/panda_shared/device.h
deleted file mode 100644
index f11baa1c67c887..00000000000000
--- a/panda/drivers/windows/panda_shared/device.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef __PANDA_DEVICE
-#define __PANDA_DEVICE
-
-//
-// Define below GUIDs
-//
-#include <initguid.h>
-#include <unordered_map>
-
-#if defined(UNICODE)
-#define _tcout std::wcout
-#define tstring std::wstring
-#else
-#define _tcout std::cout
-#define tstring std::string
-#endif
-
-//
-// Device Interface GUID.
-// Used by all WinUsb devices that this application talks to.
-// Must match "DeviceInterfaceGUIDs" registry value specified in the INF file.
-// cce5291c-a69f-4995-a4c2-2ae57a51ade9
-//
-DEFINE_GUID(GUID_DEVINTERFACE_panda,
-    0xcce5291c,0xa69f,0x4995,0xa4,0xc2,0x2a,0xe5,0x7a,0x51,0xad,0xe9);
-
-tstring GetLastErrorAsString();
-
-namespace panda {
-	std::unordered_map<std::string, tstring> __declspec(dllexport) detect_pandas();
-}
-#endif
diff --git a/panda/drivers/windows/panda_shared/panda.cpp b/panda/drivers/windows/panda_shared/panda.cpp
deleted file mode 100644
index 8425ec9da20953..00000000000000
--- a/panda/drivers/windows/panda_shared/panda.cpp
+++ /dev/null
@@ -1,522 +0,0 @@
-// panda.cpp : Defines the exported functions for the DLL application.
-//
-#include "stdafx.h"
-
-#include "device.h"
-#include "panda.h"
-
-#define REQUEST_IN 0xC0
-#define REQUEST_OUT 0x40
-
-#define CAN_TRANSMIT 1
-#define CAN_EXTENDED 4
-
-using namespace panda;
-
-Panda::Panda(
-	WINUSB_INTERFACE_HANDLE WinusbHandle,
-	HANDLE DeviceHandle,
-	tstring devPath_,
-	std::string sn_
-) : usbh(WinusbHandle), devh(DeviceHandle), devPath(devPath_), sn(sn_) {
-	printf("CREATED A PANDA %s\n", this->sn.c_str());
-	this->set_can_loopback(FALSE);
-	this->set_raw_io(TRUE);
-	this->set_alt_setting(0);
-}
-
-Panda::~Panda() {
-	WinUsb_Free(this->usbh);
-	CloseHandle(this->devh);
-	printf("Cleanup Panda %s\n", this->sn.c_str());
-}
-
-std::vector<std::string> Panda::listAvailablePandas() {
-	std::vector<std::string> ret;
-	auto map_sn_to_devpath = detect_pandas();
-
-	for (auto kv : map_sn_to_devpath) {
-		ret.push_back(std::string(kv.first));
-	}
-
-	return ret;
-}
-
-std::unique_ptr<Panda> Panda::openPanda(std::string sn)
-{
-	auto map_sn_to_devpath = detect_pandas();
-
-	if (map_sn_to_devpath.empty()) return nullptr;
-	if (map_sn_to_devpath.find(sn) == map_sn_to_devpath.end() && sn != "") return nullptr;
-
-	tstring devpath;
-	if (sn.empty()) {
-		sn = map_sn_to_devpath.begin()->first;
-		devpath = map_sn_to_devpath.begin()->second;
-	} else {
-		devpath = map_sn_to_devpath[sn];
-	}
-
-	HANDLE deviceHandle = CreateFile(devpath.c_str(),
-		GENERIC_WRITE | GENERIC_READ, FILE_SHARE_WRITE | FILE_SHARE_READ,
-		NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, NULL);
-
-	if (INVALID_HANDLE_VALUE == deviceHandle) {
-		_tprintf(_T("    Error opening Device Handle %d.\n"),// Msg: '%s'\n"),
-			GetLastError());// , GetLastErrorAsString().c_str());
-		return nullptr;
-	}
-
-	WINUSB_INTERFACE_HANDLE winusbHandle;
-	if (WinUsb_Initialize(deviceHandle, &winusbHandle) == FALSE) {
-		_tprintf(_T("    Error initializing WinUSB %d.\n"),// Msg: '%s'\n"),
-			GetLastError());// , GetLastErrorAsString().c_str());
-		CloseHandle(deviceHandle);
-		return nullptr;
-	}
-
-	return std::unique_ptr<Panda>(new Panda(winusbHandle, deviceHandle, map_sn_to_devpath[sn], sn));
-}
-
-std::string Panda::get_usb_sn() {
-	return std::string(this->sn);
-}
-
-int Panda::control_transfer(
-	uint8_t			bmRequestType,
-	uint8_t  		bRequest,
-	uint16_t  		wValue,
-	uint16_t  		wIndex,
-	void *			data,
-	uint16_t		wLength,
-	unsigned int  	timeout
-) {
-	UNREFERENCED_PARAMETER(timeout);
-
-	WINUSB_SETUP_PACKET SetupPacket;
-	ZeroMemory(&SetupPacket, sizeof(WINUSB_SETUP_PACKET));
-	ULONG cbSent = 0;
-
-	//Create the setup packet
-	SetupPacket.RequestType = bmRequestType;
-	SetupPacket.Request = bRequest;
-	SetupPacket.Value = wValue;
-	SetupPacket.Index = wIndex;
-	SetupPacket.Length = wLength;
-
-	//ULONG timeout = 10; // ms
-	//WinUsb_SetPipePolicy(interfaceHandle, pipeID, PIPE_TRANSFER_TIMEOUT, sizeof(ULONG), &timeout);
-
-	if (WinUsb_ControlTransfer(this->usbh, SetupPacket, (PUCHAR)data, wLength, &cbSent, 0) == FALSE) {
-		return -1;
-	}
-
-	return cbSent;
-}
-
-int Panda::bulk_write(UCHAR endpoint, const void * buff, ULONG length, PULONG transferred, ULONG timeout) {
-	if (this->usbh == INVALID_HANDLE_VALUE || !buff || !length || !transferred) return FALSE;
-
-	if (WinUsb_WritePipe(this->usbh, endpoint, (PUCHAR)buff, length, transferred, NULL) == FALSE) {
-		_tprintf(_T("    Got error during bulk xfer: %d. Msg: '%s'\n"),
-			GetLastError(), GetLastErrorAsString().c_str());
-		return FALSE;
-	}
-	return TRUE;
-}
-
-int Panda::bulk_read(UCHAR endpoint, void * buff, ULONG buff_size, PULONG transferred, ULONG timeout) {
-	if (this->usbh == INVALID_HANDLE_VALUE || !buff || !buff_size || !transferred) return FALSE;
-
-	if (WinUsb_ReadPipe(this->usbh, endpoint, (PUCHAR)buff, buff_size, transferred, NULL) == FALSE) {
-		_tprintf(_T("    Got error during bulk xfer: %d. Msg: '%s'\n"),
-			GetLastError(), GetLastErrorAsString().c_str());
-		return FALSE;
-	}
-	return TRUE;
-}
-
-bool Panda::set_alt_setting(UCHAR alt_setting) {
-	if (WinUsb_AbortPipe(this->usbh, 0x81) == FALSE) {
-		_tprintf(_T("    Error abobrting pipe before setting altsetting. continue. %d, Msg: '%s'\n"),
-			GetLastError(), GetLastErrorAsString().c_str());
-	}
-	if (WinUsb_SetCurrentAlternateSetting(this->usbh, alt_setting) == FALSE) {
-		_tprintf(_T("    Error setting usb altsetting %d, Msg: '%s'\n"),
-			GetLastError(), GetLastErrorAsString().c_str());
-		return FALSE;
-	}
-
-	// Either the panda or the windows usb stack can drop messages
-	// if an odd number of messages are sent before an interrupt IN
-	// message is canceled. There are some other odd behaviors, but
-	// the best solution so far has been to send a few messages
-	// before using the device to clear out the pipe. No, the windows
-	// functions for clearing/resetting/etc the pipe did not work.
-	// This took way too to figure out a workaround.
-	// New info. The most repeatable behavior is losing the first
-	// message sent after setting alt setting to 1 (even without
-	// receiving). Something like this happened on linux sometimes.
-	bool loopback_backup = this->loopback;
-	this->set_can_loopback(TRUE);
-	Sleep(20); // Give time for any sent messages to appear in the RX buffer.
-	this->can_clear(PANDA_CAN_RX);
-	// send 4 messages becaus can_recv reads 4 messages at a time
-	for (int i = 0; i < 4; i++) {
-		printf("Sending PAD %d\n", i);
-		if (this->can_send(0x7FF, FALSE, {}, 0, PANDA_CAN1) == FALSE) {
-			auto err = GetLastError();
-			printf("Got err on first send: %d\n", err);
-		}
-	}
-	Sleep(10);
-	//this->can_clear(PANDA_CAN_RX);
-
-	//Read the messages so they do not contaimnate the real message stream.
-	this->can_recv();
-
-	//this->set_can_loopback(FALSE);
-	this->set_can_loopback(loopback_backup);
-
-	return TRUE;
-}
-
-UCHAR Panda::get_current_alt_setting() {
-	UCHAR alt_setting;
-	if (WinUsb_GetCurrentAlternateSetting(this->usbh, &alt_setting) == FALSE) {
-		_tprintf(_T("    Error getting usb altsetting %d, Msg: '%s'\n"),
-			GetLastError(), GetLastErrorAsString().c_str());
-		return FALSE;
-	}
-
-	return alt_setting;
-}
-
-bool Panda::set_raw_io(bool val) {
-	UCHAR raw_io = val;
-	if (!WinUsb_SetPipePolicy(this->usbh, 0x81, RAW_IO, sizeof(raw_io), &raw_io)) {
-		_tprintf(_T("    Error setting usb raw I/O pipe policy %d, Msg: '%s'\n"),
-			GetLastError(), GetLastErrorAsString().c_str());
-		return FALSE;
-	}
-
-	return TRUE;
-}
-
-PANDA_HEALTH Panda::get_health()
-{
-	WINUSB_SETUP_PACKET SetupPacket;
-	ZeroMemory(&SetupPacket, sizeof(WINUSB_SETUP_PACKET));
-	ULONG cbSent = 0;
-
-	//Create the setup packet
-	SetupPacket.RequestType = REQUEST_IN;
-	SetupPacket.Request = 0xD2;
-	SetupPacket.Value = 0;
-	SetupPacket.Index = 0;
-	SetupPacket.Length = sizeof(UCHAR);
-
-	//uint8_t health[13];
-	PANDA_HEALTH health;
-
-	if (WinUsb_ControlTransfer(this->usbh, SetupPacket, (PUCHAR)&health, sizeof(health), &cbSent, 0) == FALSE) {
-		_tprintf(_T("    Got unexpected error while reading panda health (2nd time) %d. Msg: '%s'\n"),
-				GetLastError(), GetLastErrorAsString().c_str());
-	}
-
-	return health;
-}
-
-bool Panda::enter_bootloader() {
-	return this->control_transfer(REQUEST_OUT, 0xd1, 0, 0, NULL, 0, 0) != -1;
-}
-
-std::string Panda::get_version() {
-	char buff[0x40];
-	ZeroMemory(&buff, sizeof(buff));
-
-	int xferCount = this->control_transfer(REQUEST_IN, 0xd6, 0, 0, buff, 0x40, 0);
-	if (xferCount == -1) return std::string();
-	return std::string(buff);
-}
-
-//TODO: Do hash stuff for calculating the serial.
-std::string Panda::get_serial() {
-	char buff[0x20];
-	ZeroMemory(&buff, sizeof(buff));
-
-	int xferCount = this->control_transfer(REQUEST_IN, 0xD0, 0, 0, buff, 0x20, 0);
-	if (xferCount == -1) return std::string();
-	return std::string(buff);
-
-	//dat = self._handle.controlRead(REQUEST_IN, 0xd0, 0, 0, 0x20);
-	//hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
-	//	assert(hashsig == calc_hash)
-	//	return[dat[0:0x10], dat[0x10:0x10 + 10]]
-}
-
-//Secret appears to by raw bytes, not a string. TODO: Change returned type.
-std::string Panda::get_secret() {
-	char buff[0x10];
-	ZeroMemory(&buff, sizeof(buff));
-
-	int xferCount = this->control_transfer(REQUEST_IN, 0xd0, 1, 0, buff, 0x10, 0);
-	if (xferCount == -1) return std::string();
-	return std::string(buff);
-}
-
-bool Panda::set_usb_power(bool on) {
-	return this->control_transfer(REQUEST_OUT, 0xe6, (int)on, 0, NULL, 0, 0) != -1;
-}
-
-bool Panda::set_esp_power(bool on) {
-	return this->control_transfer(REQUEST_OUT, 0xd9, (int)on, 0, NULL, 0, 0) != -1;
-}
-
-bool Panda::esp_reset(uint16_t bootmode = 0) {
-	return this->control_transfer(REQUEST_OUT, 0xda, bootmode, 0, NULL, 0, 0) != -1;
-}
-
-bool Panda::set_safety_mode(PANDA_SAFETY_MODE mode = SAFETY_SILENT) {
-	return this->control_transfer(REQUEST_OUT, 0xdc, mode, 0, NULL, 0, 0) != -1;
-}
-
-bool Panda::set_can_forwarding(PANDA_CAN_PORT from_bus, PANDA_CAN_PORT to_bus) {
-	if (from_bus == PANDA_CAN_UNK) return FALSE;
-	return this->control_transfer(REQUEST_OUT, 0xdd, from_bus, to_bus, NULL, 0, 0) != -1;
-}
-
-bool Panda::set_gmlan(PANDA_GMLAN_HOST_PORT bus = PANDA_GMLAN_CAN3) {
-	return this->control_transfer(REQUEST_OUT, 0xdb, 1, (bus == PANDA_GMLAN_CLEAR) ? 0 : bus, NULL, 0, 0) != -1;
-}
-
-bool Panda::set_can_loopback(bool enable) {
-	this->loopback = enable;
-	return this->control_transfer(REQUEST_OUT, 0xe5, enable, 0, NULL, 0, 0) != -1;
-}
-
-//Can not use the full range of 16 bit speed.
-//cbps means centa bits per second (tento of kbps)
-bool Panda::set_can_speed_cbps(PANDA_CAN_PORT bus, uint16_t speed) {
-	if (bus == PANDA_CAN_UNK) return FALSE;
-	return this->control_transfer(REQUEST_OUT, 0xde, bus, speed, NULL, 0, 0) != -1;
-}
-
-//Can not use the full range of 16 bit speed.
-bool Panda::set_can_speed_kbps(PANDA_CAN_PORT bus, uint16_t speed) {
-	return set_can_speed_cbps(bus, speed * 10);
-}
-
-//Can not use full 32 bit range of rate
-bool Panda::set_uart_baud(PANDA_SERIAL_PORT uart, uint32_t rate) {
-	return this->control_transfer(REQUEST_OUT, 0xe4, uart, rate / 300, NULL, 0, 0) != -1;
-}
-
-bool Panda::set_uart_parity(PANDA_SERIAL_PORT uart, PANDA_SERIAL_PORT_PARITY parity) {
-	return this->control_transfer(REQUEST_OUT, 0xe2, uart, parity, NULL, 0, 0) != -1;
-}
-
-bool Panda::can_send_many(const std::vector<PANDA_CAN_MSG>& can_msgs) {
-	std::vector<PANDA_CAN_MSG_INTERNAL> formatted_msgs;
-	formatted_msgs.reserve(can_msgs.size());
-
-	for (auto msg : can_msgs) {
-		if (msg.bus == PANDA_CAN_UNK) continue;
-		if (msg.len > 8) continue;
-		PANDA_CAN_MSG_INTERNAL tmpmsg = {};
-		tmpmsg.rir = (msg.addr_29b) ?
-			((msg.addr << 3) | CAN_TRANSMIT | CAN_EXTENDED) :
-			(((msg.addr & 0x7FF) << 21) | CAN_TRANSMIT);
-		tmpmsg.f2 = msg.len | (msg.bus << 4);
-		memcpy(tmpmsg.dat, msg.dat, msg.len);
-		formatted_msgs.push_back(tmpmsg);
-	}
-
-	if (formatted_msgs.size() == 0) return FALSE;
-
-	unsigned int retcount;
-	return this->bulk_write(3, formatted_msgs.data(),
-		sizeof(PANDA_CAN_MSG_INTERNAL)*formatted_msgs.size(), (PULONG)&retcount, 0);
-}
-
-bool Panda::can_send(uint32_t addr, bool addr_29b, const uint8_t *dat, uint8_t len, PANDA_CAN_PORT bus) {
-	if (bus == PANDA_CAN_UNK) return FALSE;
-	if (len > 8) return FALSE;
-	PANDA_CAN_MSG msg;
-	msg.addr_29b = addr_29b;
-	msg.addr = addr;
-	msg.len = len;
-	memcpy(msg.dat, dat, msg.len);
-	msg.bus = bus;
-	return this->can_send_many(std::vector<PANDA_CAN_MSG>{msg});
-}
-
-PANDA_CAN_MSG Panda::parse_can_recv(PANDA_CAN_MSG_INTERNAL *in_msg_raw) {
-	PANDA_CAN_MSG in_msg;
-
-	in_msg.addr_29b = (bool)(in_msg_raw->rir & CAN_EXTENDED);
-	in_msg.addr = (in_msg.addr_29b) ? (in_msg_raw->rir >> 3) : (in_msg_raw->rir >> 21);
-	in_msg.recv_time = this->runningTime.getTimePassedUS();
-	in_msg.recv_time_point = std::chrono::steady_clock::now();
-	//The timestamp from the device is (in_msg_raw->f2 >> 16),
-	//but this 16 bit value is a little hard to use. Using a
-	//timer since the initialization of this device.
-	in_msg.len = in_msg_raw->f2 & 0xF;
-	memcpy(in_msg.dat, in_msg_raw->dat, 8);
-
-	in_msg.is_receipt = ((in_msg_raw->f2 >> 4) & 0x80) == 0x80;
-	switch ((in_msg_raw->f2 >> 4) & 0x7F) {
-	case PANDA_CAN1:
-		in_msg.bus = PANDA_CAN1;
-		break;
-	case PANDA_CAN2:
-		in_msg.bus = PANDA_CAN2;
-		break;
-	case PANDA_CAN3:
-		in_msg.bus = PANDA_CAN3;
-		break;
-	default:
-		in_msg.bus = PANDA_CAN_UNK;
-	}
-	return in_msg;
-}
-
-bool Panda::can_rx_q_push(HANDLE kill_event, DWORD timeoutms) {
-	while (1) {
-		auto w_ptr = this->w_ptr;
-		auto n_ptr = w_ptr + 1;
-		if (n_ptr == CAN_RX_QUEUE_LEN) {
-			n_ptr = 0;
-		}
-
-		// Pause if there is not a slot available in the queue
-		if (n_ptr == this->r_ptr) {
-			printf("RX queue full!\n");
-			Sleep(1);
-			continue;
-		}
-
-		if (this->can_rx_q[n_ptr].complete) {
-			// TODO: is ResetEvent() faster?
-			CloseHandle(this->can_rx_q[n_ptr].complete);
-		}
-
-		// Overlapped structure required for async read.
-		this->can_rx_q[n_ptr].complete = CreateEvent(NULL, TRUE, TRUE, NULL);
-		memset(&this->can_rx_q[n_ptr].overlapped, sizeof(OVERLAPPED), 0);
-		this->can_rx_q[n_ptr].overlapped.hEvent = this->can_rx_q[n_ptr].complete;
-		this->can_rx_q[n_ptr].error = 0;
-
-		if (!WinUsb_ReadPipe(this->usbh, 0x81, this->can_rx_q[n_ptr].data, sizeof(this->can_rx_q[n_ptr].data), &this->can_rx_q[n_ptr].count, &this->can_rx_q[n_ptr].overlapped)) {
-			// An overlapped read will return true if done, or false with an
-			// error of ERROR_IO_PENDING if the transfer is still in process.
-			this->can_rx_q[n_ptr].error = GetLastError();
-		}
-
-		// Process the pipe read call from the previous invocation of this function
-		if (this->can_rx_q[w_ptr].error == ERROR_IO_PENDING) {
-			HANDLE phSignals[2] = { this->can_rx_q[w_ptr].complete, kill_event };
-			auto dwError = WaitForMultipleObjects(kill_event ? 2 : 1, phSignals, FALSE, timeoutms);
-
-			// Check if packet, timeout (nope), or break
-			if (dwError == WAIT_OBJECT_0) {
-				// Signal came from our usb object. Read the returned data.
-				if (!GetOverlappedResult(this->usbh, &this->can_rx_q[w_ptr].overlapped, &this->can_rx_q[w_ptr].count, TRUE)) {
-					// TODO: handle other error cases better.
-					dwError = GetLastError();
-					printf("Got overlap error %d\n", dwError);
-
-					continue;
-				}
-			}
-			else {
-				WinUsb_AbortPipe(this->usbh, 0x81);
-
-				// Return FALSE to show that the optional signal
-				// was set instead of the wait breaking from a
-				// message or recoverable error.
-				if (dwError == (WAIT_OBJECT_0 + 1)) {
-					return FALSE;
-				}
-				continue;
-			}
-		}
-		else if (this->can_rx_q[w_ptr].error != 0) { // ERROR_BAD_COMMAND happens when device is unplugged.
-			return FALSE;
-		}
-
-		this->w_ptr = n_ptr;
-	}
-
-	return TRUE;
-}
-
-void Panda::can_rx_q_pop(PANDA_CAN_MSG msg_out[], int &count) {
-	count = 0;
-
-	// No data left in queue
-	if (this->r_ptr == this->w_ptr) {
-		Sleep(1);
-		return;
-	}
-
-	auto r_ptr = this->r_ptr;
-	for (int i = 0; i < this->can_rx_q[r_ptr].count; i += sizeof(PANDA_CAN_MSG_INTERNAL)) {
-		auto in_msg_raw = (PANDA_CAN_MSG_INTERNAL *)(this->can_rx_q[r_ptr].data + i);
-		msg_out[count] = parse_can_recv(in_msg_raw);
-		++count;
-	}
-
-	// Advance read pointer (wrap around if needed)
-	++r_ptr;
-	this->r_ptr = (r_ptr == CAN_RX_QUEUE_LEN ? 0 : r_ptr);
-}
-
-std::vector<PANDA_CAN_MSG> Panda::can_recv() {
-	std::vector<PANDA_CAN_MSG> msg_recv;
-	int retcount;
-	char buff[sizeof(PANDA_CAN_MSG_INTERNAL) * 4];
-
-	if (this->bulk_read(0x81, buff, sizeof(buff), (PULONG)&retcount, 0) == FALSE)
-		return msg_recv;
-
-	for (int i = 0; i < retcount; i += sizeof(PANDA_CAN_MSG_INTERNAL)) {
-		PANDA_CAN_MSG_INTERNAL *in_msg_raw = (PANDA_CAN_MSG_INTERNAL *)(buff + i);
-		auto in_msg = parse_can_recv(in_msg_raw);
-		msg_recv.push_back(in_msg);
-	}
-
-	return msg_recv;
-}
-
-bool Panda::can_clear(PANDA_CAN_PORT_CLEAR bus) {
-	/*Clears all messages from the specified internal CAN ringbuffer as though it were drained.
-	bus(int) : can bus number to clear a tx queue, or 0xFFFF to clear the global can rx queue.*/
-	return this->control_transfer(REQUEST_OUT, 0xf1, bus, 0, NULL, 0, 0) != -1;
-}
-
-std::string Panda::serial_read(PANDA_SERIAL_PORT port_number) {
-	std::string result;
-	char buff[0x40];
-	while (TRUE) {
-		int retlen = this->control_transfer(REQUEST_IN, 0xe0, port_number, 0, &buff, 0x40, 0);
-		if (retlen <= 0)
-			break;
-		result += std::string(buff, retlen);
-		if (retlen < 0x40) break;
-	}
-	return result;
-}
-
-int Panda::serial_write(PANDA_SERIAL_PORT port_number, const void* buff, uint16_t len) {
-	std::string dat;
-	dat += port_number;
-	dat += std::string((char*)buff, len);
-	int retcount;
-	if (this->bulk_write(2, dat.c_str(), len+1, (PULONG)&retcount, 0) == FALSE) return -1;
-	return retcount;
-}
-
-bool Panda::serial_clear(PANDA_SERIAL_PORT port_number) {
-	return this->control_transfer(REQUEST_OUT, 0xf2, port_number, 0, NULL, 0, 0) != -1;
-}
diff --git a/panda/drivers/windows/panda_shared/panda.h b/panda/drivers/windows/panda_shared/panda.h
deleted file mode 100644
index 541d30584ff972..00000000000000
--- a/panda/drivers/windows/panda_shared/panda.h
+++ /dev/null
@@ -1,247 +0,0 @@
-#pragma once
-
-// The following ifdef block is the standard way of creating macros which make exporting
-// from a DLL simpler. All files within this DLL are compiled with the PANDA_EXPORTS
-// symbol defined on the command line. This symbol should not be defined on any project
-// that uses this DLL. This way any other project whose source files include this file see
-// PANDA_API functions as being imported from a DLL, whereas this DLL sees symbols
-// defined with this macro as being exported.
-#ifdef PANDA_EXPORTS
-#define PANDA_API __declspec(dllexport)
-#else
-#define PANDA_API
-#endif
-
-#include <vector>
-#include <string>
-#include <unordered_map>
-#include <memory>
-#include <iostream>
-#include <chrono>
-
-#include <windows.h>
-#include <winusb.h>
-
-#if defined(UNICODE)
-#define _tcout std::wcout
-#define tstring std::wstring
-#else
-#define _tcout std::cout
-#define tstring std::string
-#endif
-
-#define LIN_MSG_MAX_LEN 10
-#define CAN_RX_QUEUE_LEN 10000
-#define CAN_RX_MSG_LEN 1000
-
-//template class __declspec(dllexport) std::basic_string<char>;
-
-namespace panda {
-	typedef enum _PANDA_SAFETY_MODE : uint16_t {
-		SAFETY_SILENT = 0,
-		SAFETY_HONDA_NIDEC = 1,
-		SAFETY_ALLOUTPUT = 17,
-	} PANDA_SAFETY_MODE;
-
-	typedef enum _PANDA_SERIAL_PORT : uint8_t {
-		SERIAL_DEBUG = 0,
-		SERIAL_ESP = 1,
-		SERIAL_LIN1 = 2,
-		SERIAL_LIN2 = 3,
-	} PANDA_SERIAL_PORT;
-
-	typedef enum _PANDA_SERIAL_PORT_PARITY : uint8_t {
-		PANDA_PARITY_OFF = 0,
-		PANDA_PARITY_EVEN = 1,
-		PANDA_PARITY_ODD = 2,
-	} PANDA_SERIAL_PORT_PARITY;
-
-	typedef enum _PANDA_CAN_PORT : uint8_t {
-		PANDA_CAN1 = 0,
-		PANDA_CAN2 = 1,
-		PANDA_CAN3 = 2,
-		PANDA_CAN_UNK = 0xFF,
-	} PANDA_CAN_PORT;
-
-	typedef enum _PANDA_CAN_PORT_CLEAR : uint16_t {
-		PANDA_CAN1_TX = 0,
-		PANDA_CAN2_TX = 1,
-		PANDA_CAN3_TX = 2,
-		PANDA_CAN_RX = 0xFFFF,
-	} PANDA_CAN_PORT_CLEAR;
-
-	typedef enum _PANDA_GMLAN_HOST_PORT : uint8_t {
-		PANDA_GMLAN_CLEAR = 0,
-		PANDA_GMLAN_CAN2 = 1,
-		PANDA_GMLAN_CAN3 = 2,
-	} PANDA_GMLAN_HOST_PORT;
-
-	#pragma pack(1)
-	typedef struct _PANDA_HEALTH {
-		uint32_t uptime;
-		uint32_t voltage;
-		uint32_t current;
-		uint32_t can_rx_errs;
-		uint32_t can_send_errs;
-		uint32_t can_fwd_errs;
-		uint32_t gmlan_send_errs;
-		uint32_t faults;
-		uint8_t ignition_line;
-		uint8_t ignition_can;
-		uint8_t controls_allowed;
-		uint8_t gas_interceptor_detected;
-		uint8_t car_harness_status;
-		uint8_t usb_power_mode;
-		uint8_t safety_mode;
-		uint8_t fault_status;
-		uint8_t power_save_enabled;
-	} PANDA_HEALTH, *PPANDA_HEALTH;
-
-	typedef struct _PANDA_CAN_MSG {
-		uint32_t addr;
-		unsigned long long recv_time; //In microseconds since device initialization
-		std::chrono::time_point<std::chrono::steady_clock> recv_time_point;
-		uint8_t dat[8];
-		uint8_t len;
-		PANDA_CAN_PORT bus;
-		bool is_receipt;
-		bool addr_29b;
-	} PANDA_CAN_MSG;
-
-	//Copied from https://stackoverflow.com/a/31488113
-	class Timer
-	{
-		using clock = std::chrono::steady_clock;
-		using time_point_type = std::chrono::time_point < clock, std::chrono::microseconds >;
-	public:
-		Timer() {
-			start = std::chrono::time_point_cast<std::chrono::microseconds>(clock::now());
-		}
-
-		// gets the time elapsed from construction.
-		unsigned long long /*microseconds*/ Timer::getTimePassedUS() {
-			// get the new time
-			auto end = std::chrono::time_point_cast<std::chrono::microseconds>(clock::now());
-
-			// return the difference of the times
-			return (end - start).count();
-		}
-
-		// gets the time elapsed from construction.
-		unsigned long long /*milliseconds*/ Timer::getTimePassedMS() {
-			// get the new time
-			auto end = std::chrono::time_point_cast<std::chrono::milliseconds>(clock::now());
-
-			// return the difference of the times
-			auto startms = std::chrono::time_point_cast<std::chrono::milliseconds>(start);
-			return (end - startms).count();
-		}
-	private:
-		time_point_type start;
-	};
-
-	// This class is exported from the panda.dll
-	class PANDA_API Panda {
-	public:
-		static std::vector<std::string> listAvailablePandas();
-		static std::unique_ptr<Panda> openPanda(std::string sn);
-
-		~Panda();
-
-		std::string get_usb_sn();
-		bool set_alt_setting(UCHAR alt_setting);
-		UCHAR get_current_alt_setting();
-		bool Panda::set_raw_io(bool val);
-
-		PANDA_HEALTH get_health();
-		bool enter_bootloader();
-		std::string get_version();
-		std::string get_serial();
-		std::string get_secret();
-
-		bool set_usb_power(bool on);
-		bool set_esp_power(bool on);
-		bool esp_reset(uint16_t bootmode);
-		bool set_safety_mode(PANDA_SAFETY_MODE mode);
-		bool set_can_forwarding(PANDA_CAN_PORT from_bus, PANDA_CAN_PORT to_bus);
-		bool set_gmlan(PANDA_GMLAN_HOST_PORT bus);
-		bool set_can_loopback(bool enable);
-		bool set_can_speed_cbps(PANDA_CAN_PORT bus, uint16_t speed);
-		bool set_can_speed_kbps(PANDA_CAN_PORT bus, uint16_t speed);
-		bool set_uart_baud(PANDA_SERIAL_PORT uart, uint32_t rate);
-		bool set_uart_parity(PANDA_SERIAL_PORT uart, PANDA_SERIAL_PORT_PARITY parity);
-
-		bool can_send_many(const std::vector<PANDA_CAN_MSG>& can_msgs);
-		bool can_send(uint32_t addr, bool addr_29b, const uint8_t *dat, uint8_t len, PANDA_CAN_PORT bus);
-		std::vector<PANDA_CAN_MSG> can_recv();
-		bool can_rx_q_push(HANDLE kill_event, DWORD timeoutms = INFINITE);
-		void can_rx_q_pop(PANDA_CAN_MSG msg_out[], int &count);
-		bool can_clear(PANDA_CAN_PORT_CLEAR bus);
-
-		std::string serial_read(PANDA_SERIAL_PORT port_number);
-		int serial_write(PANDA_SERIAL_PORT port_number, const void* buff, uint16_t len);
-		bool serial_clear(PANDA_SERIAL_PORT port_number);
-	private:
-		Panda(
-			WINUSB_INTERFACE_HANDLE WinusbHandle,
-			HANDLE DeviceHandle,
-			tstring devPath_,
-			std::string sn_
-		);
-
-		int control_transfer(
-			uint8_t bmRequestType,
-			uint8_t bRequest,
-			uint16_t wValue,
-			uint16_t wIndex,
-			void * data,
-			uint16_t wLength,
-			unsigned int timeout
-		);
-
-		int bulk_write(
-			UCHAR endpoint,
-			const void * buff,
-			ULONG length,
-			PULONG transferred,
-			ULONG timeout
-		);
-
-		int Panda::bulk_read(
-			UCHAR endpoint,
-			void * buff,
-			ULONG buff_size,
-			PULONG transferred,
-			ULONG timeout
-		);
-
-		#pragma pack(1)
-		typedef struct _PANDA_CAN_MSG_INTERNAL {
-			uint32_t rir;
-			uint32_t f2;
-			uint8_t dat[8];
-		} PANDA_CAN_MSG_INTERNAL;
-
-		typedef struct _CAN_RX_PIPE_READ {
-			unsigned char data[sizeof(PANDA_CAN_MSG_INTERNAL) * CAN_RX_MSG_LEN];
-			unsigned long count;
-			OVERLAPPED overlapped;
-			HANDLE complete;
-			DWORD error;
-		} CAN_RX_PIPE_READ;
-
-		PANDA_CAN_MSG parse_can_recv(PANDA_CAN_MSG_INTERNAL *in_msg_raw);
-
-		WINUSB_INTERFACE_HANDLE usbh;
-		HANDLE devh;
-		tstring devPath;
-		std::string sn;
-		bool loopback;
-
-		Timer runningTime;
-		CAN_RX_PIPE_READ can_rx_q[CAN_RX_QUEUE_LEN];
-		unsigned long w_ptr = 0;
-		unsigned long r_ptr = 0;
-	};
-
-}
diff --git a/panda/drivers/windows/panda_shared/panda_shared.vcxitems b/panda/drivers/windows/panda_shared/panda_shared.vcxitems
deleted file mode 100644
index 3f3b4765c0225c..00000000000000
--- a/panda/drivers/windows/panda_shared/panda_shared.vcxitems
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <PropertyGroup Label="Globals">
-    <MSBuildAllProjects>$(MSBuildAllProjects);$(MSBuildThisFileFullPath)</MSBuildAllProjects>
-    <HasSharedItems>true</HasSharedItems>
-    <ItemsProjectGuid>{0c843279-68c7-4679-ae51-9bc463d50d1c}</ItemsProjectGuid>
-  </PropertyGroup>
-  <ItemDefinitionGroup>
-    <ClCompile>
-      <AdditionalIncludeDirectories>%(AdditionalIncludeDirectories);$(MSBuildThisFileDirectory)</AdditionalIncludeDirectories>
-    </ClCompile>
-  </ItemDefinitionGroup>
-  <ItemGroup>
-    <ProjectCapability Include="SourceItemsFromImports" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="$(MSBuildThisFileDirectory)device.cpp" />
-    <ClCompile Include="$(MSBuildThisFileDirectory)panda.cpp" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="$(MSBuildThisFileDirectory)device.h" />
-    <ClInclude Include="$(MSBuildThisFileDirectory)panda.h" />
-    <ClInclude Include="$(MSBuildThisFileDirectory)targetver.h" />
-  </ItemGroup>
-</Project>
\ No newline at end of file
diff --git a/panda/drivers/windows/panda_shared/targetver.h b/panda/drivers/windows/panda_shared/targetver.h
deleted file mode 100644
index 1bf4ee6fee02e7..00000000000000
--- a/panda/drivers/windows/panda_shared/targetver.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-// Including SDKDDKVer.h defines the highest available Windows platform.
-
-// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
-// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
-
-#include <WinSDKVer.h>
-
-#define WINVER _WIN32_WINNT_WIN7
-#define _WIN32_WINNT _WIN32_WINNT_WIN7
-
-#include <SDKDDKVer.h>
diff --git a/panda/drivers/windows/redist/.gitignore b/panda/drivers/windows/redist/.gitignore
deleted file mode 100644
index 90d431bfbaed71..00000000000000
--- a/panda/drivers/windows/redist/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*.exe
-vscruntimeinfo.nsh
diff --git a/panda/drivers/windows/redist/README.md b/panda/drivers/windows/redist/README.md
deleted file mode 100644
index 69565f11c6cd1b..00000000000000
--- a/panda/drivers/windows/redist/README.md
+++ /dev/null
@@ -1,7 +0,0 @@
-When building the installer, please put the relevant vc_redist.x86.exe file into this folder.
-Make sure that the uninstall registry key is correct in the panda_install.nsi file.
-
-Here is a list of the VC runtime downloads: https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads
-An list of the registry keys has been maintained here: https://stackoverflow.com/a/34209692/627525
-
-Copy vscruntimeinfo.nsh.sample to vscruntimeinfo.nsh and edit it for your version of Visual Studio.
\ No newline at end of file
diff --git a/panda/drivers/windows/redist/vscruntimeinfo.nsh.sample b/panda/drivers/windows/redist/vscruntimeinfo.nsh.sample
deleted file mode 100644
index f23968d744c5ff..00000000000000
--- a/panda/drivers/windows/redist/vscruntimeinfo.nsh.sample
+++ /dev/null
@@ -1,13 +0,0 @@
-;NOTE! The panda software requires a VC runtime to be installed in order to work.
-;This installer must be bundled with the appropriate runtime installer, and have
-;the installation registry key set so the installer can tell if the runtime is
-;already installed.
-
-;Here is a list of the VC runtime downloads: https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads
-;An list of the registry keys has been maintained here: https://stackoverflow.com/a/34209692/627525
-
-
-;Microsoft Visual C++ 2015-2019 Redistributable (x86) - 14.24.28127
-!define VCRuntimeRegKey "Installer\Dependencies\VC,redist.x86,x86,14.24,bundle"
-!define VCRuntimeSetupPath "redist\"
-!define VCRuntimeSetupFile "vc_redist.x86.exe"
\ No newline at end of file
diff --git a/panda/drivers/windows/test certs/commaaiCertStore.pvk b/panda/drivers/windows/test certs/commaaiCertStore.pvk
deleted file mode 100644
index 6db0a7885d2ff4..00000000000000
Binary files a/panda/drivers/windows/test certs/commaaiCertStore.pvk and /dev/null differ
diff --git a/panda/drivers/windows/test certs/commaaicert.cer b/panda/drivers/windows/test certs/commaaicert.cer
deleted file mode 100644
index 8d0a38a7c00f37..00000000000000
Binary files a/panda/drivers/windows/test certs/commaaicert.cer and /dev/null differ
diff --git a/panda/examples/can_bit_transition.md b/panda/examples/can_bit_transition.md
deleted file mode 100644
index fa0a6c6bb354fd..00000000000000
--- a/panda/examples/can_bit_transition.md
+++ /dev/null
@@ -1,25 +0,0 @@
-# How to use can_bit_transition.py to reverse engineer a single bit field
-
-Let's say our goal is to find a brake pedal signal (caused by your foot pressing the brake pedal vs adaptive cruise control braking).
-
-The following process will allow you to quickly find bits that are always 0 during a period of time (when you know you were not pressing the brake with your foot) and always 1 in a different period of time (when you know you were pressing the brake with your foot).
-
-Open up a drive in cabana where you can find a place you used the brake pedal and another place where you did not use the brake pedal (and you can identify when you were on the brake pedal and when you were not).  You may want to go out for a drive and put something in front of the camera after you put your foot on the brake and take it away before you take your foot off the brake so you can easily identify exactly when you had your foot on the brake based on the video in cabana.  This is critical because this script needs the brake signal to always be high the entire time for one of the time frames.  A 10 second time frame worked well for me.
-
-I found a drive where I knew I was not pressing the brake between timestamp 50.0 thru 65.0 and I was pressing the brake between timestamp 69.0 thru 79.0. Determine what the timestamps are in cabana by plotting any message and putting your mouse over the plot at the location you want to discover the timestamp.  The tool tip on mouse hover has the format: timestamp: value
-
-Now download the log from cabana (Save Log button) and run the script passing in the timestamps
-(replace csv file name with cabana log you downloaded and time ranges with your own)
-```
-./can_bit_transition.py ./honda_crv_ex_2017_can-1520354796875.csv 50.0-65.0 69.0-79.0
-```
-
-The script will output bits that were always low in the first time range and always high in the second time range (and vice versa)
-```
-id 17c 0 -> 1 at byte 4 bitmask 1
-id 17c 0 -> 1 at byte 6 bitmask 32
-id 221 1 -> 0 at byte 0 bitmask 4
-id 1be 0 -> 1 at byte 0 bitmask 16
-```
-
-Now I go back to cabana and graph the above bits by searching for the message by id, double clicking on the appropriate bit, and then selecting "show plot". I already knew that message id 0x17c is both user brake and adaptive cruise control braking combined, so I plotted one of those signals along side 0x221 and 0x1be.  By replaying a drive I could see that 0x221 was not a brake signal (when high at random times that did not correspond to braking).  Next I looked at 0x1be and I found it was the brake pedal signal I was looking for (went high whenever I pressed the brake pedal and did not go high when adaptive cruise control was braking).
\ No newline at end of file
diff --git a/panda/examples/can_bit_transition.py b/panda/examples/can_bit_transition.py
deleted file mode 100755
index aa4aa9df95f010..00000000000000
--- a/panda/examples/can_bit_transition.py
+++ /dev/null
@@ -1,85 +0,0 @@
-#!/usr/bin/env python3
-import csv
-import sys
-
-class Message():
-  """Details about a specific message ID."""
-  def __init__(self, message_id):
-    self.message_id = message_id
-    self.ones = [0] * 8   # bit set if 1 is always seen
-    self.zeros = [0] * 8  # bit set if 0 is always seen
-
-  def printBitDiff(self, other):
-    """Prints bits that transition from always zero to always 1 and vice versa."""
-    for i in range(len(self.ones)):
-      zero_to_one = other.zeros[i] & self.ones[i]
-      if zero_to_one:
-        print('id %s 0 -> 1 at byte %d bitmask %d' % (self.message_id, i, zero_to_one))
-      one_to_zero = other.ones[i] & self.zeros[i]
-      if one_to_zero:
-        print('id %s 1 -> 0 at byte %d bitmask %d' % (self.message_id, i, one_to_zero))
-
-
-class Info():
-  """A collection of Messages."""
-
-  def __init__(self):
-    self.messages = {}  # keyed by MessageID
-
-  def load(self, filename, start, end):
-    """Given a CSV file, adds information about message IDs and their values."""
-    with open(filename, 'rb') as input:
-      reader = csv.reader(input)
-      next(reader, None)  # skip the CSV header
-      for row in reader:
-        if not len(row): continue
-        time = float(row[0])
-        bus = int(row[2])
-        if time < start or bus > 127:
-          continue
-        elif time > end:
-          break
-        if row[1].startswith('0x'):
-          message_id = row[1][2:]  # remove leading '0x'
-        else:
-          message_id = hex(int(row[1]))[2:]  # old message IDs are in decimal
-        message_id = '%s:%s' % (bus, message_id)
-        if row[3].startswith('0x'):
-          data = row[3][2:]  # remove leading '0x'
-        else:
-          data = row[3]
-        new_message = False
-        if message_id not in self.messages:
-          self.messages[message_id] = Message(message_id)
-          new_message = True
-        message = self.messages[message_id]
-        bytes = bytearray.fromhex(data)
-        for i in range(len(bytes)):
-          ones = int(bytes[i])
-          message.ones[i] = ones if new_message else message.ones[i] & ones
-          # Inverts the data and masks it to a byte to get the zeros as ones.
-          zeros = (~int(bytes[i])) & 0xff
-          message.zeros[i] = zeros if new_message else message.zeros[i] & zeros
-
-def PrintUnique(log_file, low_range, high_range):
-  # find messages with bits that are always low
-  start, end = list(map(float, low_range.split('-')))
-  low = Info()
-  low.load(log_file, start, end)
-  # find messages with bits that are always high
-  start, end = list(map(float, high_range.split('-')))
-  high = Info()
-  high.load(log_file, start, end)
-  # print messages that go from low to high
-  found = False
-  for message_id in sorted(high.messages):
-    if message_id in low.messages:
-      high.messages[message_id].printBitDiff(low.messages[message_id])
-      found = True
-  if not found: print('No messages that transition from always low to always high found!')
-
-if __name__ == "__main__":
-  if len(sys.argv) < 4:
-    print('Usage:\n%s log.csv <low-start>-<low-end> <high-start>-<high-end>' % sys.argv[0])
-    sys.exit(0)
-  PrintUnique(sys.argv[1], sys.argv[2], sys.argv[3])
diff --git a/panda/examples/can_logger.py b/panda/examples/can_logger.py
deleted file mode 100755
index 12dcf5849111a8..00000000000000
--- a/panda/examples/can_logger.py
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env python3
-
-import csv
-import sys
-from panda import Panda
-
-def can_logger():
-
-  try:
-    print("Trying to connect to Panda over USB...")
-    p = Panda()
-
-  except AssertionError:
-    print("USB connection failed. Trying WiFi...")
-
-    try:
-      p = Panda("WIFI")
-    except:
-      print("WiFi connection timed out. Please make sure your Panda is connected and try again.")
-      sys.exit(0)
-
-  try:
-    outputfile = open('output.csv', 'w')
-    csvwriter = csv.writer(outputfile)
-    #Write Header
-    csvwriter.writerow(['Bus', 'MessageID', 'Message', 'MessageLength'])
-    print("Writing csv file output.csv. Press Ctrl-C to exit...\n")
-
-    bus0_msg_cnt = 0
-    bus1_msg_cnt = 0
-    bus2_msg_cnt = 0
-
-    while True:
-      can_recv = p.can_recv()
-
-      for address, _, dat, src  in can_recv:
-        csvwriter.writerow([str(src), str(hex(address)), f"0x{dat.hex()}", len(dat)])
-
-        if src == 0:
-          bus0_msg_cnt += 1
-        elif src == 1:
-          bus1_msg_cnt += 1
-        elif src == 2:
-          bus2_msg_cnt += 1
-
-        print(f"Message Counts... Bus 0: {bus0_msg_cnt} Bus 1: {bus1_msg_cnt} Bus 2: {bus2_msg_cnt}", end='\r')
-
-  except KeyboardInterrupt:
-    print(f"\nNow exiting. Final message Counts... Bus 0: {bus0_msg_cnt} Bus 1: {bus1_msg_cnt} Bus 2: {bus2_msg_cnt}")
-    outputfile.close()
-
-if __name__ == "__main__":
-  can_logger()
diff --git a/panda/examples/can_unique.md b/panda/examples/can_unique.md
deleted file mode 100644
index 4d8ac460e4d6c3..00000000000000
--- a/panda/examples/can_unique.md
+++ /dev/null
@@ -1,103 +0,0 @@
-# How to use can_unique.py to reverse engineer a single bit field
-
-Let's say our goal is to find the CAN message indicating that the driver's door is either open or closed.
-The following process is great for simple single-bit messages.
-However for frequently changing values, such as RPM or speed, Cabana's graphical plots are probably better to use.
-
-
-First record a few minutes of background CAN messages with all the doors closed and save it in background.csv:
-```
-./can_logger.py
-mv output.csv background.csv
-```
-Then run can_logger.py for a few seconds while performing the action you're interested, such as opening and then closing the
-front-left door and save it as door-fl-1.csv
-Repeat the process and save it as door-f1-2.csv to have an easy way to confirm any suspicions.
-
-Now we'll use can_unique.py to look for unique bits:
-```
-$ ./can_unique.py door-fl-1.csv background*
-id 820 new one  at byte 2 bitmask 2
-id 520 new one  at byte 3 bitmask 7
-id 520 new zero at byte 3 bitmask 8
-id 520 new one  at byte 5 bitmask 6
-id 520 new zero at byte 5 bitmask 9
-id 559 new zero at byte 6 bitmask 4
-id 804 new one  at byte 5 bitmask 2
-id 804 new zero at byte 5 bitmask 1
-
-$ ./can_unique.py door-fl-2.csv background*
-id 672 new one  at byte 3 bitmask 3
-id 820 new one  at byte 2 bitmask 2
-id 520 new one  at byte 3 bitmask 7
-id 520 new zero at byte 3 bitmask 8
-id 520 new one  at byte 5 bitmask 6
-id 520 new zero at byte 5 bitmask 9
-id 559 new zero at byte 6 bitmask 4
-```
-
-One of these bits hopefully indicates that the driver's door is open.
-Let's go through each message ID to figure out which one is correct.
-We expect any correct bits to have changed in both runs.
-We can rule out 804 because it only occurred in the first run.
-We can rule out 672 because it only occurred in the second run.
-That leaves us with these message IDs: 820, 520, 559. Let's take a closer look at each one.
-
-```
-$ fgrep ,559, door-fl-1.csv |head
-0,559,00ff0000000024f0
-0,559,00ff000000004464
-0,559,00ff0000000054a9
-0,559,00ff0000000064e3
-0,559,00ff00000000742e
-0,559,00ff000000008451
-0,559,00ff00000000949c
-0,559,00ff00000000a4d6
-0,559,00ff00000000b41b
-0,559,00ff00000000c442
-```
-Message ID 559 looks like an incrementing value, so it's not what we're looking for.
-
-```
-$ fgrep ,520, door-fl-2.csv
-0,520,26ff00f8a1890000
-0,520,26ff00f8a2890000
-0,520,26ff00f8a2890000
-0,520,26ff00f8a1890000
-0,520,26ff00f8a2890000
-0,520,26ff00f8a1890000
-0,520,26ff00f8a2890000
-0,520,26ff00f8a1890000
-0,520,26ff00f8a2890000
-0,520,26ff00f8a1890000
-0,520,26ff00f8a2890000
-0,520,26ff00f8a1890000
-```
-Message ID 520 oscillates between two values. However I only opened and closed the door once, so this is probably not it.
-
-```
-$ fgrep ,820, door-fl-1.csv
-0,820,44000100a500c802
-0,820,44000100a500c803
-0,820,44000300a500c803
-0,820,44000300a500c802
-0,820,44000300a500c802
-0,820,44000300a500c802
-0,820,44000100a500c802
-0,820,44000100a500c802
-0,820,44000100a500c802
-```
-Message ID 820 looks promising! It starts off at 44000100a500c802 when the door is closed.
-When the door is open it goes to 44000300a500c802.
-Then when the door is closed again, it goes back to 44000100a500c802.
-Let's confirm by looking at the data from our other run:
-```
-$ fgrep ,820, door-fl-2.csv
-0,820,44000100a500c802
-0,820,44000300a500c802
-0,820,44000100a500c802
-```
-Perfect! We now know that message id 820 at byte 2 bitmask 2 is set if the driver's door is open.
-If we repeat the process with the front passenger's door,
-then we'll find that message id 820 at byte 2 bitmask 4 is set if the front-right door is open.
-This confirms our finding because it's common for similar signals to be near each other.
diff --git a/panda/examples/can_unique.py b/panda/examples/can_unique.py
deleted file mode 100755
index fdd586c3d3517d..00000000000000
--- a/panda/examples/can_unique.py
+++ /dev/null
@@ -1,91 +0,0 @@
-#!/usr/bin/env python3
-
-# Given an interesting CSV file of CAN messages and a list of background CAN
-# messages, print which bits in the interesting file have never appeared
-# in the background files.
-
-# Expects the CSV file to be in the format from can_logger.py
-# Bus,MessageID,Message,MessageLength
-# 0,0x292,0x040000001068,6
-
-# The old can_logger.py format is also supported:
-# Bus,MessageID,Message
-# 0,344,c000c00000000000
-
-
-import csv
-import sys
-
-class Message():
-  """Details about a specific message ID."""
-  def __init__(self, message_id):
-    self.message_id = message_id
-    self.data = {}  # keyed by hex string encoded message data
-    self.ones = [0] * 8   # bit set if 1 is seen
-    self.zeros = [0] * 8  # bit set if 0 has been seen
-
-  def printBitDiff(self, other):
-    """Prints bits that are set or cleared compared to other background."""
-    for i in range(len(self.ones)):
-      new_ones = ((~other.ones[i]) & 0xff) & self.ones[i]
-      if new_ones:
-        print('id %s new one  at byte %d bitmask %d' % (
-            self.message_id, i, new_ones))
-      new_zeros = ((~other.zeros[i]) & 0xff) & self.zeros[i]
-      if new_zeros:
-        print('id %s new zero at byte %d bitmask %d' % (
-            self.message_id, i, new_zeros))
-
-
-class Info():
-  """A collection of Messages."""
-
-  def __init__(self):
-    self.messages = {}  # keyed by MessageID
-
-  def load(self, filename):
-    """Given a CSV file, adds information about message IDs and their values."""
-    with open(filename, 'rb') as input:
-      reader = csv.reader(input)
-      next(reader, None)  # skip the CSV header
-      for row in reader:
-        bus = row[0]
-        if row[1].startswith('0x'):
-          message_id = row[1][2:]  # remove leading '0x'
-        else:
-          message_id = hex(int(row[1]))[2:]  # old message IDs are in decimal
-        message_id = '%s:%s' % (bus, message_id)
-        if row[1].startswith('0x'):
-          data = row[2][2:]  # remove leading '0x'
-        else:
-          data = row[2]
-        if message_id not in self.messages:
-          self.messages[message_id] = Message(message_id)
-        message = self.messages[message_id]
-        if data not in self.messages[message_id].data:
-          message.data[data] = True
-        bytes = bytearray.fromhex(data)
-        for i in range(len(bytes)):
-          message.ones[i] = message.ones[i] | int(bytes[i])
-          # Inverts the data and masks it to a byte to get the zeros as ones.
-          message.zeros[i] = message.zeros[i] | ( (~int(bytes[i])) & 0xff)
-
-def PrintUnique(interesting_file, background_files):
-  background = Info()
-  for background_file in background_files:
-    background.load(background_file)
-  interesting = Info()
-  interesting.load(interesting_file)
-  for message_id in sorted(interesting.messages):
-    if message_id not in background.messages:
-      print('New message_id: %s' % message_id)
-    else:
-      interesting.messages[message_id].printBitDiff(
-          background.messages[message_id])
-
-
-if __name__ == "__main__":
-  if len(sys.argv) < 3:
-    print('Usage:\n%s interesting.csv background*.csv' % sys.argv[0])
-    sys.exit(0)
-  PrintUnique(sys.argv[1], sys.argv[2:])
diff --git a/panda/examples/get_panda_password.py b/panda/examples/get_panda_password.py
deleted file mode 100644
index 54cbe57ec363a6..00000000000000
--- a/panda/examples/get_panda_password.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-import sys
-from panda import Panda
-
-def get_panda_password():
-
-  try:
-    print("Trying to connect to Panda over USB...")
-    p = Panda()
-
-  except AssertionError:
-    print("USB connection failed")
-    sys.exit(0)
-
-  wifi = p.get_serial()
-  #print('[%s]' % ', '.join(map(str, wifi)))
-  print("SSID: " + wifi[0])
-  print("Password: " + wifi[1])
-
-if __name__ == "__main__":
-  get_panda_password()
diff --git a/panda/examples/query_fw_versions.py b/panda/examples/query_fw_versions.py
index 2177335f6e51a4..4132959be50c8f 100755
--- a/panda/examples/query_fw_versions.py
+++ b/panda/examples/query_fw_versions.py
@@ -1,13 +1,35 @@
 #!/usr/bin/env python3
+import argparse
 from tqdm import tqdm
 from panda import Panda
 from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 
 if __name__ == "__main__":
-  addrs = [0x700 + i for i in range(256)]
-  addrs += [0x18da0000 + (i<<8) + 0xf1 for i in range(256)]
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--rxoffset', default="")
+  parser.add_argument('--nonstandard', action='store_true')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--addr')
+  args = parser.parse_args()
+
+  if args.addr:
+    addrs = [int(args.addr, base=16)]
+  else:
+    addrs = [0x700 + i for i in range(256)]
+    addrs += [0x18da0000 + (i << 8) + 0xf1 for i in range(256)]
   results = {}
 
+  uds_data_ids = {}
+  for std_id in DATA_IDENTIFIER_TYPE:
+    uds_data_ids[std_id.value] = std_id.name
+  if args.nonstandard:
+    for uds_id in range(0xf100,0xf180):
+      uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC_DATA_IDENTIFIER"
+    for uds_id in range(0xf1a0,0xf1f0):
+      uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC"
+    for uds_id in range(0xf1f0,0xf200):
+      uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_SYSTEM_SUPPLIER_SPECIFIC"
+
   panda = Panda()
   panda.set_safety_mode(Panda.SAFETY_ELM327)
   print("querying addresses ...")
@@ -17,61 +39,40 @@
       if addr == 0x7df or addr == 0x18db33f1:
         continue
       t.set_description(hex(addr))
+      panda.send_heartbeat()
 
-      uds_client = UdsClient(panda, addr, bus=1 if panda.has_obd() else 0, timeout=0.1, debug=False)
+      bus = 1 if panda.has_obd() else 0
+      rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None
+      uds_client = UdsClient(panda, addr, rx_addr, bus, timeout=0.2, debug=args.debug)
+      # Check for anything alive at this address, and switch to the highest
+      # available diagnostic session without security access
       try:
         uds_client.tester_present()
+        uds_client.diagnostic_session_control(SESSION_TYPE.DEFAULT)
         uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
       except NegativeResponseError:
         pass
       except MessageTimeoutError:
         continue
 
+      # Run queries against all standard UDS data identifiers, plus selected
+      # non-standardized identifier ranges if requested
       resp = {}
-
-      try:
-        data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.BOOT_SOFTWARE_IDENTIFICATION)
-        if data: resp[DATA_IDENTIFIER_TYPE.BOOT_SOFTWARE_IDENTIFICATION] = data
-      except NegativeResponseError:
-        pass
-
-      try:
-        data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
-        if data: resp[DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION] = data
-      except NegativeResponseError:
-        pass
-
-      try:
-        data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
-        if data: resp[DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION] = data
-      except NegativeResponseError:
-        pass
-
-      try:
-        data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.BOOT_SOFTWARE_FINGERPRINT)
-        if data: resp[DATA_IDENTIFIER_TYPE.BOOT_SOFTWARE_FINGERPRINT] = data
-      except NegativeResponseError:
-        pass
-
-      try:
-        data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_FINGERPRINT)
-        if data: resp[DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_FINGERPRINT] = data
-      except NegativeResponseError:
-        pass
-
-      try:
-        data = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_FINGERPRINT)
-        if data: resp[DATA_IDENTIFIER_TYPE.APPLICATION_DATA_FINGERPRINT] = data
-      except NegativeResponseError:
-        pass
+      for uds_data_id in sorted(uds_data_ids):
+        try:
+          data = uds_client.read_data_by_identifier(uds_data_id)  # type: ignore
+          if data:
+            resp[uds_data_id] = data
+        except (NegativeResponseError, MessageTimeoutError):
+          pass
 
       if resp.keys():
         results[addr] = resp
 
-    print("results:")
     if len(results.items()):
       for addr, resp in results.items():
+        print(f"\n\n*** Results for address 0x{addr:X} ***\n\n")
         for rid, dat in resp.items():
-          print(hex(addr), hex(rid), dat.decode())
+          print(f"0x{rid:02X} {uds_data_ids[rid]}: {dat}")
     else:
       print("no fw versions found!")
diff --git a/panda/examples/query_vin_and_stats.py b/panda/examples/query_vin_and_stats.py
deleted file mode 100755
index f8b5d9b2eb880a..00000000000000
--- a/panda/examples/query_vin_and_stats.py
+++ /dev/null
@@ -1,60 +0,0 @@
-#!/usr/bin/env python3
-import time
-import struct
-from panda import Panda
-from hexdump import hexdump
-from panda.python.isotp import isotp_send, isotp_recv
-
-# 0x7e0 = Toyota
-# 0x18DB33F1 for Honda?
-
-
-def get_current_data_for_pid(pid):
-  # 01 xx = Show current data
-  isotp_send(panda, b"\x01"+ bytes([pid]), 0x7e0)
-  return isotp_recv(panda, 0x7e8)
-
-def get_supported_pids():
-  ret = []
-  pid = 0
-  while 1:
-    supported = struct.unpack(">I", get_current_data_for_pid(pid)[2:])[0]
-    for i in range(1+pid, 0x21+pid):
-      if supported & 0x80000000:
-        ret.append(i)
-      supported <<= 1
-    pid += 0x20
-    if pid not in ret:
-      break
-  return ret
-
-if __name__ == "__main__":
-  panda = Panda()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
-  panda.can_clear(0)
-
-  # 09 02 = Get VIN
-  isotp_send(panda, b"\x09\x02", 0x7df)
-  ret = isotp_recv(panda, 0x7e8)
-  hexdump(ret)
-  print("VIN: %s" % "".join(map(chr, ret[:2])))
-
-  # 03 = get DTCS
-  isotp_send(panda, b"\x03", 0x7e0)
-  dtcs = isotp_recv(panda, 0x7e8)
-  print("DTCs:", "".join(map(chr, dtcs[:2])))
-
-  supported_pids = get_supported_pids()
-  print("Supported PIDs:",supported_pids)
-
-  while 1:
-    speed = struct.unpack(">B", get_current_data_for_pid(13)[2:])[0]                  # kph
-    rpm = struct.unpack(">H", get_current_data_for_pid(12)[2:])[0]/4.0                # revs
-    throttle = struct.unpack(">B", get_current_data_for_pid(17)[2:])[0]/255.0 * 100   # percent
-    temp = struct.unpack(">B", get_current_data_for_pid(5)[2:])[0] - 40               # degrees C
-    load = struct.unpack(">B", get_current_data_for_pid(4)[2:])[0]/255.0 * 100        # percent
-    print("%d KPH, %d RPM, %.1f%% Throttle, %d deg C, %.1f%% load" % (speed, rpm, throttle, temp, load))
-    time.sleep(0.2)
-
-
-
diff --git a/panda/examples/tesla_tester.py b/panda/examples/tesla_tester.py
deleted file mode 100644
index 57079f56eb3eed..00000000000000
--- a/panda/examples/tesla_tester.py
+++ /dev/null
@@ -1,61 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import binascii
-from panda import Panda
-
-def tesla_tester():
-
-  try:
-    print("Trying to connect to Panda over USB...")
-    p = Panda()
-
-  except AssertionError:
-    print("USB connection failed. Trying WiFi...")
-
-    try:
-      p = Panda("WIFI")
-    except:
-      print("WiFi connection timed out. Please make sure your Panda is connected and try again.")
-      sys.exit(0)
-
-  body_bus_speed = 125 # Tesla Body busses (B, BF) are 125kbps, rest are 500kbps
-  body_bus_num = 1 # My TDC to OBD adapter has PT on bus0 BDY on bus1 and CH on bus2
-  p.set_can_speed_kbps(body_bus_num, body_bus_speed)
-
-  # Now set the panda from its default of SAFETY_SILENT (read only) to SAFETY_ALLOUTPUT
-  # Careful, as this will let us send any CAN messages we want (which could be very bad!)
-  print("Setting Panda to output mode...")
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
-  print("Unlocking Tesla...")
-  p.can_send(0x248, b"\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
-
-  #Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
-  print("Opening Frunk...")
-  p.can_send(0x248, b"\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
-
-  #Back to safety...
-  print("Disabling output on Panda...")
-  p.set_safety_mode(Panda.SAFETY_SILENT)
-
-  print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")
-
-  vin = {}
-  while True:
-    #Read the VIN
-    can_recv = p.can_recv()
-    for address, _, dat, src  in can_recv:
-      if src == body_bus_num:
-        if address == 1384: #0x568 is VIN
-          vin_index = int(binascii.hexlify(dat)[:2]) #first byte is the index, 00, 01, 02
-          vin_string = binascii.hexlify(dat)[2:] #rest of the string is the actual VIN data
-          vin[vin_index] = vin_string.decode("hex")
-          print("Got VIN index " + str(vin_index) + " data " + vin[vin_index])
-    #if we have all 3 parts of the VIN, print it and break out of our while loop
-    if 0 in vin and 1 in vin and 2 in vin:
-      print("VIN: " + vin[0] + vin[1] + vin[2][:3])
-      break
-
-if __name__ == "__main__":
-  tesla_tester()
diff --git a/panda/panda.png b/panda/panda.png
deleted file mode 100644
index e18137d8727c0f..00000000000000
Binary files a/panda/panda.png and /dev/null differ
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index ea8dea13d93874..fb5dc48181be3b 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -1,6 +1,5 @@
 # python library to interface with panda
 import datetime
-import binascii
 import struct
 import hashlib
 import socket
@@ -8,47 +7,114 @@
 import os
 import time
 import traceback
-import subprocess
-from .dfu import PandaDFU
-from .esptool import ESPROM, CesantaFlasher  # noqa: F401
-from .flash_release import flash_release  # noqa: F401
-from .update import ensure_st_up_to_date  # noqa: F401
-from .serial import PandaSerial  # noqa: F401
-from .isotp import isotp_send, isotp_recv
+import sys
+from functools import wraps
+from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7  # pylint: disable=import-error
+from .flash_release import flash_release  # noqa pylint: disable=import-error
+from .update import ensure_st_up_to_date  # noqa pylint: disable=import-error
+from .serial import PandaSerial  # noqa pylint: disable=import-error
+from .isotp import isotp_send, isotp_recv  # pylint: disable=import-error
+from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN  # noqa pylint: disable=import-error
 
-__version__ = '0.0.9'
+__version__ = '0.0.10'
 
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 
 DEBUG = os.getenv("PANDADEBUG") is not None
 
-# *** wifi mode ***
-def build_st(target, mkfile="Makefile", clean=True):
-  from panda import BASEDIR
+CANPACKET_HEAD_SIZE = 0x5
+DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
+LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
 
-  clean_cmd = "make -f %s clean" % mkfile if clean else ":"
-  cmd = 'cd %s && %s && make -f %s %s' % (os.path.join(BASEDIR, "board"), clean_cmd, mkfile, target)
-  try:
-    _ = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
-  except subprocess.CalledProcessError:
-    raise
-
-def parse_can_buffer(dat):
-  ret = []
-  for j in range(0, len(dat), 0x10):
-    ddat = dat[j:j+0x10]
-    f1, f2 = struct.unpack("II", ddat[0:8])
-    extended = 4
-    if f1 & extended:
-      address = f1 >> 3
-    else:
-      address = f1 >> 21
-    dddat = ddat[8:8+(f2&0xF)]
+def pack_can_buffer(arr):
+  snds = [b'']
+  idx = 0
+  for address, _, dat, bus in arr:
+    assert len(dat) in LEN_TO_DLC
     if DEBUG:
-      print("  R %x: %s" % (address, binascii.hexlify(dddat)))
-    ret.append((address, f2>>16, dddat, (f2>>4)&0xFF))
+      print(f"  W 0x{address:x}: 0x{dat.hex()}")
+    extended = 1 if address >= 0x800 else 0
+    data_len_code = LEN_TO_DLC[len(dat)]
+    header = bytearray(5)
+    word_4b = address << 3 | extended << 2
+    header[0] = (data_len_code << 4) | (bus << 1)
+    header[1] = word_4b & 0xFF
+    header[2] = (word_4b >> 8) & 0xFF
+    header[3] = (word_4b >> 16) & 0xFF
+    header[4] = (word_4b >> 24) & 0xFF
+    snds[idx] += header + dat
+    if len(snds[idx]) > 256: # Limit chunks to 256 bytes
+      snds.append(b'')
+      idx += 1
+
+  #Apply counter to each 64 byte packet
+  for idx in range(len(snds)):
+    tx = b''
+    counter = 0
+    for i in range (0, len(snds[idx]), 63):
+      tx += bytes([counter]) + snds[idx][i:i+63]
+      counter += 1
+    snds[idx] = tx
+  return snds
+
+def unpack_can_buffer(dat):
+  ret = []
+  counter = 0
+  tail = bytearray()
+  for i in range(0, len(dat), 64):
+    if counter != dat[i]:
+      print("CAN: LOST RECV PACKET COUNTER")
+      break
+    counter+=1
+    chunk = tail + dat[i+1:i+64]
+    tail = bytearray()
+    pos = 0
+    while pos<len(chunk):
+      data_len = DLC_TO_LEN[(chunk[pos]>>4)]
+      pckt_len = CANPACKET_HEAD_SIZE + data_len
+      if pckt_len <= len(chunk[pos:]):
+        header = chunk[pos:pos+CANPACKET_HEAD_SIZE]
+        if len(header) < 5:
+          print("CAN: MALFORMED USB RECV PACKET")
+          break
+        bus = (header[0] >> 1) & 0x7
+        address = (header[4] << 24 | header[3] << 16 | header[2] << 8 | header[1]) >> 3
+        returned = (header[1] >> 1) & 0x1
+        rejected = header[1] & 0x1
+        data = chunk[pos + CANPACKET_HEAD_SIZE:pos + CANPACKET_HEAD_SIZE + data_len]
+        if returned:
+          bus += 128
+        if rejected:
+          bus += 192
+        if DEBUG:
+          print(f"  R 0x{address:x}: 0x{data.hex()}")
+        ret.append((address, 0, data, bus))
+        pos += pckt_len
+      else:
+        tail = chunk[pos:]
+        break
   return ret
 
+def ensure_health_packet_version(fn):
+  @wraps(fn)
+  def wrapper(self, *args, **kwargs):
+    if self.health_version < self.HEALTH_PACKET_VERSION:
+      raise RuntimeError("Panda firmware has outdated health packet definition. Reflash panda firmware.")
+    elif self.health_version > self.HEALTH_PACKET_VERSION:
+      raise RuntimeError("Panda python library has outdated health packet definition. Update panda python library.")
+    return fn(self, *args, **kwargs)
+  return wrapper
+
+def ensure_can_packet_version(fn):
+  @wraps(fn)
+  def wrapper(self, *args, **kwargs):
+    if self.can_version < self.CAN_PACKET_VERSION:
+      raise RuntimeError("Panda firmware has outdated CAN packet definition. Reflash panda firmware.")
+    elif self.can_version > self.CAN_PACKET_VERSION:
+      raise RuntimeError("Panda python library has outdated CAN packet definition. Update panda python library.")
+    return fn(self, *args, **kwargs)
+  return wrapper
+
 class PandaWifiStreaming(object):
   def __init__(self, ip="192.168.0.10", port=1338):
     self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@@ -65,9 +131,9 @@ def can_recv(self):
     ret = []
     while True:
       try:
-        dat, addr = self.sock.recvfrom(0x200*0x10)
+        dat, addr = self.sock.recvfrom(0x200 * 0x10)
         if addr == (self.ip, self.port):
-          ret += parse_can_buffer(dat)
+          ret += unpack_can_buffer(dat)
       except socket.error as e:
         if e.errno != 35 and e.errno != 11:
           traceback.print_exc()
@@ -82,7 +148,7 @@ def __init__(self, ip="192.168.0.10", port=1337):
   def __recv(self):
     ret = self.sock.recv(0x44)
     length = struct.unpack("I", ret[0:4])[0]
-    return ret[4:4+length]
+    return ret[4:4 + length]
 
   def controlWrite(self, request_type, request, value, index, data, timeout=0):
     # ignore data in reply, panda doesn't use it
@@ -95,7 +161,7 @@ def controlRead(self, request_type, request, value, index, length, timeout=0):
   def bulkWrite(self, endpoint, data, timeout=0):
     if len(data) > 0x10:
       raise ValueError("Data must not be longer than 0x10")
-    self.sock.send(struct.pack("HH", endpoint, len(data))+data)
+    self.sock.send(struct.pack("HH", endpoint, len(data)) + data)
     self.__recv()  # to /dev/null
 
   def bulkRead(self, endpoint, length, timeout=0):
@@ -117,18 +183,20 @@ class Panda(object):
   SAFETY_GM = 4
   SAFETY_HONDA_BOSCH_GIRAFFE = 5
   SAFETY_FORD = 6
-  SAFETY_CADILLAC = 7
   SAFETY_HYUNDAI = 8
   SAFETY_CHRYSLER = 9
   SAFETY_TESLA = 10
   SAFETY_SUBARU = 11
   SAFETY_MAZDA = 13
-  SAFETY_VOLKSWAGEN = 15
-  SAFETY_TOYOTA_IPAS = 16
+  SAFETY_NISSAN = 14
+  SAFETY_VOLKSWAGEN_MQB = 15
   SAFETY_ALLOUTPUT = 17
   SAFETY_GM_ASCM = 18
   SAFETY_NOOUTPUT = 19
   SAFETY_HONDA_BOSCH_HARNESS = 20
+  SAFETY_VOLKSWAGEN_PQ = 21
+  SAFETY_SUBARU_LEGACY = 22
+  SAFETY_HYUNDAI_LEGACY = 23
 
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1
@@ -147,18 +215,36 @@ class Panda(object):
   HW_TYPE_BLACK_PANDA = b'\x03'
   HW_TYPE_PEDAL = b'\x04'
   HW_TYPE_UNO = b'\x05'
+  HW_TYPE_DOS = b'\x06'
+  HW_TYPE_RED_PANDA = b'\x07'
+
+  CAN_PACKET_VERSION = 2
+  HEALTH_PACKET_VERSION = 1
+
+  F2_DEVICES = [HW_TYPE_PEDAL]
+  F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
+  H7_DEVICES = [HW_TYPE_RED_PANDA]
+
+  CLOCK_SOURCE_MODE_DISABLED = 0
+  CLOCK_SOURCE_MODE_FREE_RUNNING = 1
+  CLOCK_SOURCE_MODE_EXTERNAL_SYNC = 2
+
+  FLAG_HONDA_ALT_BRAKE = 1
+  FLAG_HONDA_BOSCH_LONG = 2
+  FLAG_HYUNDAI_LONG = 4
 
   def __init__(self, serial=None, claim=True):
     self._serial = serial
     self._handle = None
     self.connect(claim)
+    self._mcu_type = self.get_mcu_type()
 
   def close(self):
     self._handle.close()
     self._handle = None
 
   def connect(self, claim=True, wait=False):
-    if self._handle != None:
+    if self._handle is not None:
       self.close()
 
     if self._serial == "WIFI":
@@ -173,7 +259,6 @@ def connect(self, claim=True, wait=False):
       while 1:
         try:
           for device in context.getDeviceList(skip_on_error=True):
-            #print(device)
             if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
               try:
                 this_serial = device.getSerialNumber()
@@ -182,21 +267,22 @@ def connect(self, claim=True, wait=False):
               if self._serial is None or this_serial == self._serial:
                 self._serial = this_serial
                 print("opening device", self._serial, hex(device.getProductID()))
-                time.sleep(1)
                 self.bootstub = device.getProductID() == 0xddee
-                self.legacy = (device.getbcdDevice() != 0x2300)
                 self._handle = device.open()
+                if sys.platform not in ["win32", "cygwin", "msys", "darwin"]:
+                  self._handle.setAutoDetachKernelDriver(True)
                 if claim:
                   self._handle.claimInterface(0)
-                  #self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
+                  # self._handle.setInterfaceAltSetting(0, 0)  # Issue in USB stack
                 break
         except Exception as e:
           print("exception", e)
           traceback.print_exc()
-        if wait == False or self._handle != None:
+        if not wait or self._handle is not None:
           break
-        context = usb1.USBContext() #New context needed so new devices show up
-    assert(self._handle != None)
+        context = usb1.USBContext()  # New context needed so new devices show up
+    assert(self._handle is not None)
+    self.health_version, self.can_version = self.get_packets_versions()
     print("connected")
 
   def reset(self, enter_bootstub=False, enter_bootloader=False):
@@ -225,9 +311,9 @@ def reconnect(self):
         success = True
         break
       except Exception:
-        print("reconnecting is taking %d seconds..." % (i+1))
+        print("reconnecting is taking %d seconds..." % (i + 1))
         try:
-          dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
+          dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
           dfu.recover()
         except Exception:
           pass
@@ -235,6 +321,8 @@ def reconnect(self):
     if not success:
       raise Exception("reconnect failed")
 
+
+
   @staticmethod
   def flash_static(handle, code):
     # confirm flasher is present
@@ -254,7 +342,7 @@ def flash_static(handle, code):
     STEP = 0x10
     print("flash: flashing")
     for i in range(0, len(code), STEP):
-      handle.bulkWrite(2, code[i:i+STEP])
+      handle.bulkWrite(2, code[i:i + STEP])
 
     # reset
     print("flash: resetting")
@@ -263,23 +351,14 @@ def flash_static(handle, code):
     except Exception:
       pass
 
-  def flash(self, fn=None, code=None, reconnect=True):
+  def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
+    if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
+      fn = DEFAULT_H7_FW_FN
     print("flash: main version is " + self.get_version())
     if not self.bootstub:
       self.reset(enter_bootstub=True)
     assert(self.bootstub)
 
-    if fn is None and code is None:
-      if self.legacy:
-        fn = "obj/comma.bin"
-        print("building legacy st code")
-        build_st(fn, "Makefile.legacy")
-      else:
-        fn = "obj/panda.bin"
-        print("building panda st code")
-        build_st(fn)
-      fn = os.path.join(BASEDIR, "board", fn)
-
     if code is None:
       with open(fn, "rb") as f:
         code = f.read()
@@ -295,6 +374,7 @@ def flash(self, fn=None, code=None, reconnect=True):
       self.reconnect()
 
   def recover(self, timeout=None):
+    self.reset(enter_bootstub=True)
     self.reset(enter_bootloader=True)
     t_start = time.time()
     while len(PandaDFU.list()) == 0:
@@ -303,7 +383,7 @@ def recover(self, timeout=None):
       if timeout is not None and (time.time() - t_start) > timeout:
         return False
 
-    dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
+    dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
     dfu.recover()
 
     # reflash after recover
@@ -315,14 +395,14 @@ def recover(self, timeout=None):
   def flash_ota_st():
     ret = os.system("cd %s && make clean && make ota" % (os.path.join(BASEDIR, "board")))
     time.sleep(1)
-    return ret==0
+    return ret == 0
 
   @staticmethod
   def flash_ota_wifi(release=False):
     release_str = "RELEASE=1" if release else ""
-    ret = os.system("cd {} && make clean && {} make ota".format(os.path.join(BASEDIR, "boardesp"),release_str))
+    ret = os.system("cd {} && make clean && {} make ota".format(os.path.join(BASEDIR, "boardesp"), release_str))
     time.sleep(1)
-    return ret==0
+    return ret == 0
 
   @staticmethod
   def list():
@@ -338,7 +418,7 @@ def list():
     except Exception:
       pass
     # TODO: detect if this is real
-    #ret += ["WIFI"]
+    # ret += ["WIFI"]
     return ret
 
   def call_control_api(self, msg):
@@ -346,9 +426,10 @@ def call_control_api(self, msg):
 
   # ******************* health *******************
 
+  @ensure_health_packet_version
   def health(self):
-    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 41)
-    a = struct.unpack("IIIIIIIIBBBBBBBBB", dat)
+    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 44)
+    a = struct.unpack("<IIIIIIIIBBBBBBBHBBB", dat)
     return {
       "uptime": a[0],
       "voltage": a[1],
@@ -365,8 +446,10 @@ def health(self):
       "car_harness_status": a[12],
       "usb_power_mode": a[13],
       "safety_mode": a[14],
-      "fault_status": a[15],
-      "power_save_enabled": a[16]
+      "safety_param": a[15],
+      "fault_status": a[16],
+      "power_save_enabled": a[17],
+      "heartbeat_lost": a[18],
     }
 
   # ******************* control *******************
@@ -376,7 +459,6 @@ def enter_bootloader(self):
       self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'')
     except Exception as e:
       print(e)
-      pass
 
   def get_version(self):
     return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
@@ -395,6 +477,15 @@ def get_signature(self):
   def get_type(self):
     return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
 
+  # Returns tuple with health packet version and CAN packet/USB packet version
+  def get_packets_versions(self):
+    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 2)
+    if dat:
+      a = struct.unpack("BB", dat)
+      return (a[0], a[1])
+    else:
+      return (0, 0)
+
   def is_white(self):
     return self.get_type() == Panda.HW_TYPE_WHITE_PANDA
 
@@ -404,17 +495,45 @@ def is_grey(self):
   def is_black(self):
     return self.get_type() == Panda.HW_TYPE_BLACK_PANDA
 
+  def is_pedal(self):
+    return self.get_type() == Panda.HW_TYPE_PEDAL
+
   def is_uno(self):
     return self.get_type() == Panda.HW_TYPE_UNO
 
+  def is_dos(self):
+    return self.get_type() == Panda.HW_TYPE_DOS
+
+  def is_red(self):
+    return self.get_type() == Panda.HW_TYPE_RED_PANDA
+
+  def get_mcu_type(self):
+    hw_type = self.get_type()
+    if hw_type in Panda.F2_DEVICES:
+      return MCU_TYPE_F2
+    elif hw_type in Panda.F4_DEVICES:
+      return MCU_TYPE_F4
+    elif hw_type in Panda.H7_DEVICES:
+      return MCU_TYPE_H7
+    return None
+
   def has_obd(self):
-    return (self.is_uno() or self.is_black())
+    return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red())
+
+  def has_canfd(self):
+    return self._mcu_type in Panda.H7_DEVICES
+
+  def is_internal(self):
+    return self.get_type() in [Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS]
 
   def get_serial(self):
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
     hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
     assert(hashsig == calc_hash)
-    return [dat[0:0x10].decode("utf8"), dat[0x10:0x10+10].decode("utf8")]
+    return [dat[0:0x10].decode("utf8"), dat[0x10:0x10 + 10].decode("utf8")]
+
+  def get_usb_serial(self):
+    return self._serial
 
   def get_secret(self):
     return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
@@ -434,12 +553,11 @@ def esp_reset(self, bootmode=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
     time.sleep(0.2)
 
-  def set_safety_mode(self, mode=SAFETY_SILENT):
+  def set_safety_mode(self, mode=SAFETY_SILENT, disable_checks=True):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, 0, b'')
-
-  def set_can_forwarding(self, from_bus, to_bus):
-    # TODO: This feature may not work correctly with saturated buses
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xdd, from_bus, to_bus, b'')
+    if disable_checks:
+      self.set_heartbeat_disabled()
+      self.set_power_save(0)
 
   def set_gmlan(self, bus=2):
     # TODO: check panda type
@@ -457,14 +575,17 @@ def set_can_loopback(self, enable):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
 
   def set_can_enable(self, bus_num, enable):
-    # sets the can transciever enable pin
+    # sets the can transceiver enable pin
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'')
 
   def set_can_speed_kbps(self, bus, speed):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed * 10), b'')
+
+  def set_can_data_speed_kbps(self, bus, speed):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
 
   def set_uart_baud(self, uart, rate):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate/300), b'')
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')
 
   def set_uart_parity(self, uart, parity):
     # parity, 0=off, 1=even, 2=odd
@@ -475,47 +596,45 @@ def set_uart_callback(self, uart, install):
 
   # ******************* can *******************
 
-  def can_send_many(self, arr):
-    snds = []
-    transmit = 1
-    extended = 4
-    for addr, _, dat, bus in arr:
-      assert len(dat) <= 8
-      if DEBUG:
-        print("  W %x: %s" % (addr, binascii.hexlify(dat)))
-      if addr >= 0x800:
-        rir = (addr << 3) | transmit | extended
-      else:
-        rir = (addr << 21) | transmit
-      snd = struct.pack("II", rir, len(dat) | (bus << 4)) + dat
-      snd = snd.ljust(0x10, b'\x00')
-      snds.append(snd)
+  # The panda will NAK CAN writes when there is CAN congestion.
+  # libusb will try to send it again, with a max timeout.
+  # Timeout is in ms. If set to 0, the timeout is infinite.
+  CAN_SEND_TIMEOUT_MS = 10
 
+  @ensure_can_packet_version
+  def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
+    snds = pack_can_buffer(arr)
     while True:
       try:
-        #print("DAT: %s"%b''.join(snds).__repr__())
         if self.wifi:
           for s in snds:
             self._handle.bulkWrite(3, s)
         else:
-          self._handle.bulkWrite(3, b''.join(snds))
+          for tx in snds:
+            while True:
+              bs = self._handle.bulkWrite(3, tx, timeout=timeout)
+              tx = tx[bs:]
+              if len(tx) == 0:
+                break
+              print("CAN: PARTIAL SEND MANY, RETRYING")
         break
       except (usb1.USBErrorIO, usb1.USBErrorOverflow):
         print("CAN: BAD SEND MANY, RETRYING")
 
-  def can_send(self, addr, dat, bus):
-    self.can_send_many([[addr, None, dat, bus]])
+  def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
+    self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
 
+  @ensure_can_packet_version
   def can_recv(self):
     dat = bytearray()
     while True:
       try:
-        dat = self._handle.bulkRead(1, 0x10*256)
+        dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames
         break
       except (usb1.USBErrorIO, usb1.USBErrorOverflow):
         print("CAN: BAD RECV, RETRYING")
         time.sleep(0.1)
-    return parse_can_buffer(dat)
+    return unpack_can_buffer(dat)
 
   def can_clear(self, bus):
     """Clears all messages from the specified internal CAN ringbuffer as
@@ -550,7 +669,7 @@ def serial_read(self, port_number):
   def serial_write(self, port_number, ln):
     ret = 0
     for i in range(0, len(ln), 0x20):
-      ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i+0x20])
+      ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
     return ret
 
   def serial_clear(self, port_number):
@@ -566,13 +685,22 @@ def serial_clear(self, port_number):
   # ******************* kline *******************
 
   # pulse low for wakeup
-  def kline_wakeup(self):
+  def kline_wakeup(self, k=True, l=True):
+    assert k or l, "must specify k-line, l-line, or both"
     if DEBUG:
       print("kline wakeup...")
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 0, 0, b'')
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 2 if k and l else int(l), 0, b'')
     if DEBUG:
       print("kline wakeup done")
 
+  def kline_5baud(self, addr, k=True, l=True):
+    assert k or l, "must specify k-line, l-line, or both"
+    if DEBUG:
+      print("kline 5 baud...")
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, 2 if k and l else int(l), addr, b'')
+    if DEBUG:
+      print("kline 5 baud done")
+
   def kline_drain(self, bus=2):
     # drain buffer
     bret = bytearray()
@@ -581,49 +709,50 @@ def kline_drain(self, bus=2):
       if len(ret) == 0:
         break
       elif DEBUG:
-        print("kline drain: " + binascii.hexlify(ret))
+        print(f"kline drain: 0x{ret.hex()}")
       bret += ret
     return bytes(bret)
 
   def kline_ll_recv(self, cnt, bus=2):
     echo = bytearray()
     while len(echo) != cnt:
-      ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo))
+      ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt - len(echo))
       if DEBUG and len(ret) > 0:
-        print("kline recv: " + binascii.hexlify(ret))
+        print(f"kline recv: 0x{ret.hex()}")
       echo += ret
-    return str(echo)
+    return bytes(echo)
 
   def kline_send(self, x, bus=2, checksum=True):
-    def get_checksum(dat):
-      result = 0
-      result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
-      result = -result
-      return struct.pack("B", result % 0x100)
-
     self.kline_drain(bus=bus)
     if checksum:
-      x += get_checksum(x)
+      x += bytes([sum(x) % 0x100])
     for i in range(0, len(x), 0xf):
-      ts = x[i:i+0xf]
+      ts = x[i:i + 0xf]
       if DEBUG:
-        print("kline send: " + binascii.hexlify(ts))
+        print(f"kline send: 0x{ts.hex()}")
       self._handle.bulkWrite(2, bytes([bus]) + ts)
       echo = self.kline_ll_recv(len(ts), bus=bus)
       if echo != ts:
-        print("**** ECHO ERROR %d ****" % i)
-        print(binascii.hexlify(echo))
-        print(binascii.hexlify(ts))
+        print(f"**** ECHO ERROR {i} ****")
+        print(f"0x{echo.hex()}")
+        print(f"0x{ts.hex()}")
     assert echo == ts
 
-  def kline_recv(self, bus=2):
-    msg = self.kline_ll_recv(2, bus=bus)
-    msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus)
+  def kline_recv(self, bus=2, header_len=4):
+    # read header (last byte is length)
+    msg = self.kline_ll_recv(header_len, bus=bus)
+    # read data (add one byte to length for checksum)
+    msg += self.kline_ll_recv(msg[-1]+1, bus=bus)
     return msg
 
   def send_heartbeat(self):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, 0, 0, b'')
 
+  # disable heartbeat checks for use outside of openpilot
+  # sending a heartbeat will reenable the checks
+  def set_heartbeat_disabled(self):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf8, 0, 0, b'')
+
   # ******************* RTC *******************
   def set_datetime(self, dt):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xa1, int(dt.year), 0, b'')
@@ -652,6 +781,18 @@ def get_fan_rpm(self):
     a = struct.unpack("H", dat)
     return a[0]
 
-# ****************** Phone *****************
+  # ****************** Phone *****************
   def set_phone_power(self, enabled):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'')
+
+  # ************** Clock Source **************
+  def set_clock_source_mode(self, mode):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf5, int(mode), 0, b'')
+
+  # ****************** Siren *****************
+  def set_siren(self, enabled):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
+
+  # ****************** Debug *****************
+  def set_green_led(self, enabled):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
diff --git a/panda/python/ccp.py b/panda/python/ccp.py
new file mode 100644
index 00000000000000..a8c00169fc3975
--- /dev/null
+++ b/panda/python/ccp.py
@@ -0,0 +1,362 @@
+#!/usr/bin/env python3
+import sys
+import time
+import struct
+from enum import IntEnum, Enum
+
+class COMMAND_CODE(IntEnum):
+  CONNECT = 0x01
+  SET_MTA = 0x02
+  DNLOAD = 0x03
+  UPLOAD = 0x04
+  TEST = 0x05
+  START_STOP = 0x06
+  DISCONNECT = 0x07
+  START_STOP_ALL = 0x08
+  GET_ACTIVE_CAL_PAGE = 0x09
+  SET_S_STATUS = 0x0C
+  GET_S_STATUS = 0x0D
+  BUILD_CHKSUM = 0x0E
+  SHORT_UP = 0x0F
+  CLEAR_MEMORY = 0x10
+  SELECT_CAL_PAGE = 0x11
+  GET_SEED = 0x12
+  UNLOCK = 0x13
+  GET_DAQ_SIZE = 0x14
+  SET_DAQ_PTR = 0x15
+  WRITE_DAQ = 0x16
+  EXCHANGE_ID = 0x17
+  PROGRAM = 0x18
+  MOVE = 0x19
+  GET_CCP_VERSION = 0x1B
+  DIAG_SERVICE = 0x20
+  ACTION_SERVICE = 0x21
+  PROGRAM_6 = 0x22
+  DNLOAD_6 = 0x23
+
+COMMAND_RETURN_CODES = {
+  0x00: "acknowledge / no error",
+  0x01: "DAQ processor overload",
+  0x10: "command processor busy",
+  0x11: "DAQ processor busy",
+  0x12: "internal timeout",
+  0x18: "key request",
+  0x19: "session status request",
+  0x20: "cold start request",
+  0x21: "cal. data init. request",
+  0x22: "DAQ list init. request",
+  0x23: "code update request",
+  0x30: "unknown command",
+  0x31: "command syntax",
+  0x32: "parameter(s) out of range",
+  0x33: "access denied",
+  0x34: "overload",
+  0x35: "access locked",
+  0x36: "resource/function not available",
+}
+
+class BYTE_ORDER(Enum):
+  LITTLE_ENDIAN = '<'
+  BIG_ENDIAN = '>'
+
+class CommandTimeoutError(Exception):
+  pass
+
+class CommandCounterError(Exception):
+  pass
+
+class CommandResponseError(Exception):
+  def __init__(self, message, return_code):
+    super().__init__()
+    self.message = message
+    self.return_code = return_code
+
+  def __str__(self):
+    return self.message
+
+class CcpClient():
+  def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, byte_order: BYTE_ORDER=BYTE_ORDER.BIG_ENDIAN, debug=False):
+    self.tx_addr = tx_addr
+    self.rx_addr = rx_addr
+    self.can_bus = bus
+    self.byte_order = byte_order
+    self.debug = debug
+    self._panda = panda
+    self._command_counter = -1
+
+  def _send_cro(self, cmd: int, dat: bytes = b"") -> None:
+    self._command_counter = (self._command_counter + 1) & 0xFF
+    tx_data = (bytes([cmd, self._command_counter]) + dat).ljust(8, b"\x00")
+    if self.debug:
+      print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(tx_data)}")
+    assert len(tx_data) == 8, "data is not 8 bytes"
+    self._panda.can_clear(self.can_bus)
+    self._panda.can_clear(0xFFFF)
+    self._panda.can_send(self.tx_addr, tx_data, self.can_bus)
+
+  def _recv_dto(self, timeout: float) -> bytes:
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+      msgs = self._panda.can_recv() or []
+      if len(msgs) >= 256:
+        print("CAN RX buffer overflow!!!", file=sys.stderr)
+      for rx_addr, _, rx_data, rx_bus in msgs:
+        if rx_bus == self.can_bus and rx_addr == self.rx_addr:
+          rx_data = bytes(rx_data)  # convert bytearray to bytes
+          if self.debug:
+            print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
+          assert len(rx_data) == 8, f"message length not 8: {len(rx_data)}"
+
+          pid = rx_data[0]
+          if pid == 0xFF or pid == 0xFE:
+            err = rx_data[1]
+            err_desc = COMMAND_RETURN_CODES.get(err, "unknown error")
+            ctr = rx_data[2]
+            dat = rx_data[3:]
+
+            if pid == 0xFF and self._command_counter != ctr:
+              raise CommandCounterError(f"counter invalid: {ctr} != {self._command_counter}")
+
+            if err >= 0x10 and err <= 0x12:
+              if self.debug:
+                print(f"CCP-WAIT: {hex(err)} - {err_desc}")
+              start_time = time.time()
+              continue
+
+            if err >= 0x30:
+              raise CommandResponseError(f"{hex(err)} - {err_desc}", err)
+          else:
+            dat = rx_data[1:]
+
+          return dat
+      time.sleep(0.001)
+
+    raise CommandTimeoutError("timeout waiting for response")
+
+  # commands
+  def connect(self, station_addr: int) -> None:
+    if station_addr > 65535:
+      raise ValueError("station address must be less than 65536")
+    # NOTE: station address is always little endian
+    self._send_cro(COMMAND_CODE.CONNECT, struct.pack("<H", station_addr))
+    self._recv_dto(0.025)
+
+  def exchange_station_ids(self, device_id_info: bytes = b"") -> dict:
+    self._send_cro(COMMAND_CODE.EXCHANGE_ID, device_id_info)
+    resp = self._recv_dto(0.025)
+    return { # TODO: define a type
+      "id_length": resp[0],
+      "data_type": resp[1],
+      "available": resp[2],
+      "protected": resp[3],
+    }
+
+  def get_seed(self, resource_mask: int) -> bytes:
+    if resource_mask > 255:
+      raise ValueError("resource mask must be less than 256")
+    self._send_cro(COMMAND_CODE.GET_SEED)
+    resp = self._recv_dto(0.025)
+    # protected = resp[0] == 0
+    seed = resp[1:]
+    return seed
+
+  def unlock(self, key: bytes) -> int:
+    if len(key) > 6:
+      raise ValueError("max key size is 6 bytes")
+    self._send_cro(COMMAND_CODE.UNLOCK, key)
+    resp = self._recv_dto(0.025)
+    status = resp[0]
+    return status
+
+  def set_memory_transfer_address(self, mta_num: int, addr_ext: int, addr: int) -> None:
+    if mta_num > 255:
+      raise ValueError("MTA number must be less than 256")
+    if addr_ext > 255:
+      raise ValueError("address extension must be less than 256")
+    self._send_cro(COMMAND_CODE.SET_MTA, bytes([mta_num, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
+    self._recv_dto(0.025)
+
+  def download(self, data: bytes) -> int:
+    if len(data) > 5:
+      raise ValueError("max data size is 5 bytes")
+    self._send_cro(COMMAND_CODE.DNLOAD, bytes([len(data)]) + data)
+    resp = self._recv_dto(0.025)
+    # mta_addr_ext = resp[0]
+    mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
+    return mta_addr
+
+  def download_6_bytes(self, data: bytes) -> int:
+    if len(data) != 6:
+      raise ValueError("data size must be 6 bytes")
+    self._send_cro(COMMAND_CODE.DNLOAD_6, data)
+    resp = self._recv_dto(0.025)
+    # mta_addr_ext = resp[0]
+    mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
+    return mta_addr
+
+  def upload(self, size: int) -> bytes:
+    if size > 5:
+      raise ValueError("size must be less than 6")
+    self._send_cro(COMMAND_CODE.UPLOAD, bytes([size]))
+    return self._recv_dto(0.025)
+
+  def short_upload(self, size: int, addr_ext: int, addr: int) -> bytes:
+    if size > 5:
+      raise ValueError("size must be less than 6")
+    if addr_ext > 255:
+      raise ValueError("address extension must be less than 256")
+    self._send_cro(COMMAND_CODE.SHORT_UP, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
+    return self._recv_dto(0.025)
+
+  def select_calibration_page(self) -> None:
+    self._send_cro(COMMAND_CODE.SELECT_CAL_PAGE)
+    self._recv_dto(0.025)
+
+  def get_daq_list_size(self, list_num: int, can_id: int = 0) -> dict:
+    if list_num > 255:
+      raise ValueError("list number must be less than 256")
+    self._send_cro(COMMAND_CODE.GET_DAQ_SIZE, bytes([list_num, 0]) + struct.pack(f"{self.byte_order.value}I", can_id))
+    resp = self._recv_dto(0.025)
+    return { # TODO: define a type
+      "list_size": resp[0],
+      "first_pid": resp[1],
+    }
+
+  def set_daq_list_pointer(self, list_num: int, odt_num: int, element_num: int) -> None:
+    if list_num > 255:
+      raise ValueError("list number must be less than 256")
+    if odt_num > 255:
+      raise ValueError("ODT number must be less than 256")
+    if element_num > 255:
+      raise ValueError("element number must be less than 256")
+    self._send_cro(COMMAND_CODE.SET_DAQ_PTR, bytes([list_num, odt_num, element_num]))
+    self._recv_dto(0.025)
+
+  def write_daq_list_entry(self, size: int, addr_ext: int, addr: int) -> None:
+    if size > 255:
+      raise ValueError("size must be less than 256")
+    if addr_ext > 255:
+      raise ValueError("address extension must be less than 256")
+    self._send_cro(COMMAND_CODE.WRITE_DAQ, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
+    self._recv_dto(0.025)
+
+  def start_stop_transmission(self, mode: int, list_num: int, odt_num: int, channel_num: int, rate_prescaler: int = 0) -> None:
+    if mode > 255:
+      raise ValueError("mode must be less than 256")
+    if list_num > 255:
+      raise ValueError("list number must be less than 256")
+    if odt_num > 255:
+      raise ValueError("ODT number must be less than 256")
+    if channel_num > 255:
+      raise ValueError("channel number must be less than 256")
+    if rate_prescaler > 65535:
+      raise ValueError("rate prescaler must be less than 65536")
+    self._send_cro(COMMAND_CODE.START_STOP, bytes([mode, list_num, odt_num, channel_num]) + struct.pack(f"{self.byte_order.value}H", rate_prescaler))
+    self._recv_dto(0.025)
+
+  def disconnect(self, station_addr: int, temporary: bool = False) -> None:
+    if station_addr > 65535:
+      raise ValueError("station address must be less than 65536")
+    # NOTE: station address is always little endian
+    self._send_cro(COMMAND_CODE.DISCONNECT, bytes([int(not temporary), 0x00]) + struct.pack("<H", station_addr))
+    self._recv_dto(0.025)
+
+  def set_session_status(self, status: int) -> None:
+    if status > 255:
+      raise ValueError("status must be less than 256")
+    self._send_cro(COMMAND_CODE.SET_S_STATUS, bytes([status]))
+    self._recv_dto(0.025)
+
+  def get_session_status(self) -> dict:
+    self._send_cro(COMMAND_CODE.GET_S_STATUS)
+    resp = self._recv_dto(0.025)
+    return { # TODO: define a type
+      "status": resp[0],
+      "info": resp[2] if resp[1] else None,
+    }
+
+  def build_checksum(self, size: int) -> bytes:
+    self._send_cro(COMMAND_CODE.BUILD_CHKSUM, struct.pack(f"{self.byte_order.value}I", size))
+    resp = self._recv_dto(30.0)
+    chksum_size = resp[0]
+    assert chksum_size <= 4, "checksum more than 4 bytes"
+    chksum = resp[1:1+chksum_size]
+    return chksum
+
+  def clear_memory(self, size: int) -> None:
+    self._send_cro(COMMAND_CODE.CLEAR_MEMORY, struct.pack(f"{self.byte_order.value}I", size))
+    self._recv_dto(30.0)
+
+  def program(self, size: int, data: bytes) -> int:
+    if size > 5:
+      raise ValueError("size must be less than 6")
+    if len(data) > 5:
+      raise ValueError("max data size is 5 bytes")
+    self._send_cro(COMMAND_CODE.PROGRAM, bytes([size]) + data)
+    resp = self._recv_dto(0.1)
+    # mta_addr_ext = resp[0]
+    mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
+    return mta_addr
+
+  def program_6_bytes(self, data: bytes) -> int:
+    if len(data) != 6:
+      raise ValueError("data size must be 6 bytes")
+    self._send_cro(COMMAND_CODE.PROGRAM_6, data)
+    resp = self._recv_dto(0.1)
+    # mta_addr_ext = resp[0]
+    mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
+    return mta_addr
+
+  def move_memory_block(self, size: int) -> None:
+    self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size))
+    self._recv_dto(0.025)
+
+  def diagnostic_service(self, service_num: int, data: bytes = b"") -> dict:
+    if service_num > 65535:
+      raise ValueError("service number must be less than 65536")
+    if len(data) > 4:
+      raise ValueError("max data size is 4 bytes")
+    self._send_cro(COMMAND_CODE.DIAG_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data)
+    resp = self._recv_dto(0.025)
+    return { # TODO: define a type
+      "length": resp[0],
+      "type": resp[1],
+    }
+
+  def action_service(self, service_num: int, data: bytes = b"") -> dict:
+    if service_num > 65535:
+      raise ValueError("service number must be less than 65536")
+    if len(data) > 4:
+      raise ValueError("max data size is 4 bytes")
+    self._send_cro(COMMAND_CODE.ACTION_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data)
+    resp = self._recv_dto(0.025)
+    return { # TODO: define a type
+      "length": resp[0],
+      "type": resp[1],
+    }
+
+  def test_availability(self, station_addr: int) -> None:
+    if station_addr > 65535:
+      raise ValueError("station address must be less than 65536")
+    # NOTE: station address is always little endian
+    self._send_cro(COMMAND_CODE.TEST, struct.pack("<H", station_addr))
+    self._recv_dto(0.025)
+
+  def start_stop_synchronised_transmission(self, mode: int) -> None:
+    if mode > 255:
+      raise ValueError("mode must be less than 256")
+    self._send_cro(COMMAND_CODE.START_STOP_ALL, bytes([mode]))
+    self._recv_dto(0.025)
+
+  def get_active_calibration_page(self):
+    self._send_cro(COMMAND_CODE.GET_ACTIVE_CAL_PAGE)
+    resp = self._recv_dto(0.025)
+    # cal_addr_ext = resp[0]
+    cal_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
+    return cal_addr
+
+  def get_version(self, desired_version: float = 2.1) -> float:
+    major, minor = map(int, str(desired_version).split("."))
+    self._send_cro(COMMAND_CODE.GET_CCP_VERSION, bytes([major, minor]))
+    resp = self._recv_dto(0.025)
+    return float(f"{resp[0]}.{resp[1]}")
diff --git a/panda/python/config.py b/panda/python/config.py
new file mode 100644
index 00000000000000..9b890a1314f35e
--- /dev/null
+++ b/panda/python/config.py
@@ -0,0 +1,18 @@
+import os
+
+
+BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
+
+BOOTSTUB_ADDRESS = 0x8000000
+
+BLOCK_SIZE_FX = 0x800
+APP_ADDRESS_FX = 0x8004000
+DEVICE_SERIAL_NUMBER_ADDR_FX = 0x1FFF79C0
+DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
+DEFAULT_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin")
+
+BLOCK_SIZE_H7 = 0x400
+APP_ADDRESS_H7 = 0x8020000
+DEVICE_SERIAL_NUMBER_ADDR_H7 = 0x080FFFC0
+DEFAULT_H7_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed")
+DEFAULT_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin")
diff --git a/panda/python/dfu.py b/panda/python/dfu.py
index d9d619a822de80..317780ca8d6898 100644
--- a/panda/python/dfu.py
+++ b/panda/python/dfu.py
@@ -1,10 +1,14 @@
-import os
 import usb1
 import struct
 import binascii
+from .config import BOOTSTUB_ADDRESS, APP_ADDRESS_H7, APP_ADDRESS_FX, BLOCK_SIZE_H7, BLOCK_SIZE_FX, DEFAULT_H7_BOOTSTUB_FN, DEFAULT_BOOTSTUB_FN
 
-# *** DFU mode ***
 
+MCU_TYPE_F2 = 0
+MCU_TYPE_F4 = 1
+MCU_TYPE_H7 = 2
+
+# *** DFU mode ***
 DFU_DNLOAD = 1
 DFU_UPLOAD = 2
 DFU_GETSTATUS = 3
@@ -21,10 +25,10 @@ def __init__(self, dfu_serial):
         except Exception:
           continue
         if this_dfu_serial == dfu_serial or dfu_serial is None:
+          self._mcu_type = self.get_mcu_type(device)
           self._handle = device.open()
-          self.legacy = "07*128Kg" in self._handle.getASCIIStringDescriptor(4)
           return
-    raise Exception("failed to open "+dfu_serial)
+    raise Exception("failed to open " + dfu_serial if dfu_serial is not None else "DFU device")
 
   @staticmethod
   def list():
@@ -42,11 +46,18 @@ def list():
     return dfu_serials
 
   @staticmethod
-  def st_serial_to_dfu_serial(st):
-    if st == None or st == "none":
+  def st_serial_to_dfu_serial(st, mcu_type=MCU_TYPE_F4):
+    if st is None or st == "none":
       return None
-    uid_base = struct.unpack("H"*6, bytes.fromhex(st))
-    return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
+    uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
+    if mcu_type == MCU_TYPE_H7:
+      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
+    else:
+      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
+
+  # TODO: Find a way to detect F4 vs F2
+  def get_mcu_type(self, dev):
+    return MCU_TYPE_H7 if dev.getbcdDevice() == 512 else MCU_TYPE_F4
 
   def status(self):
     while 1:
@@ -69,7 +80,7 @@ def erase(self, address):
     self.status()
 
   def program(self, address, dat, block_size=None):
-    if block_size == None:
+    if block_size is None:
       block_size = len(dat)
 
     # Set Address Pointer
@@ -77,31 +88,26 @@ def program(self, address, dat, block_size=None):
     self.status()
 
     # Program
-    dat += b"\xFF"*((block_size-len(dat)) % block_size)
-    for i in range(0, len(dat)//block_size):
-      ldat = dat[i*block_size:(i+1)*block_size]
+    dat += b"\xFF" * ((block_size - len(dat)) % block_size)
+    for i in range(0, len(dat) // block_size):
+      ldat = dat[i * block_size:(i + 1) * block_size]
       print("programming %d with length %d" % (i, len(ldat)))
-      self._handle.controlWrite(0x21, DFU_DNLOAD, 2+i, 0, ldat)
+      self._handle.controlWrite(0x21, DFU_DNLOAD, 2 + i, 0, ldat)
       self.status()
 
   def program_bootstub(self, code_bootstub):
     self.clear_status()
-    self.erase(0x8004000)
-    self.erase(0x8000000)
-    self.program(0x8000000, code_bootstub, 0x800)
+    self.erase(BOOTSTUB_ADDRESS)
+    if self._mcu_type == MCU_TYPE_H7:
+      self.erase(APP_ADDRESS_H7)
+      self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_H7)
+    else:
+      self.erase(APP_ADDRESS_FX)
+      self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_FX)
     self.reset()
 
   def recover(self):
-    from panda import BASEDIR, build_st
-    if self.legacy:
-      fn = "obj/bootstub.comma.bin"
-      print("building legacy bootstub")
-      build_st(fn, "Makefile.legacy")
-    else:
-      fn = "obj/bootstub.panda.bin"
-      print("building panda bootstub")
-      build_st(fn)
-    fn = os.path.join(BASEDIR, "board", fn)
+    fn = DEFAULT_H7_BOOTSTUB_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_BOOTSTUB_FN
 
     with open(fn, "rb") as f:
       code = f.read()
@@ -110,7 +116,7 @@ def recover(self):
 
   def reset(self):
     # **** Reset ****
-    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", 0x8000000))
+    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", BOOTSTUB_ADDRESS))
     self.status()
     try:
       self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")
diff --git a/panda/python/esptool.py b/panda/python/esptool.py
deleted file mode 100755
index 74e383eb08600c..00000000000000
--- a/panda/python/esptool.py
+++ /dev/null
@@ -1,1314 +0,0 @@
-#!/usr/bin/env python
-# NB: Before sending a PR to change the above line to '#!/usr/bin/env python3', please read https://github.com/themadinventor/esptool/issues/21
-#
-# ESP8266 ROM Bootloader Utility
-# https://github.com/themadinventor/esptool
-#
-# Copyright (C) 2014-2016 Fredrik Ahlberg, Angus Gratton, other contributors as noted.
-#
-# This program is free software; you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation; either version 2 of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License along with
-# this program; if not, write to the Free Software Foundation, Inc., 51 Franklin
-# Street, Fifth Floor, Boston, MA 02110-1301 USA.
-
-import argparse
-import hashlib
-import inspect
-import json
-import os
-#import serial
-import struct
-import subprocess
-import sys
-import tempfile
-import time
-#import traceback
-import usb1
-
-__version__ = "1.2"
-
-class FakePort(object):
-  def __init__(self, serial=None):
-    from panda import Panda
-    self.panda = Panda(serial)
-
-    # will only work on new st, old ones will stay @ 921600
-    self.baudrate = 230400
-
-  @property
-  def baudrate(self):
-    return self.baudrate
-
-  @baudrate.setter
-  def baudrate(self, x):
-    print("set baud to", x)
-    self.panda.set_uart_baud(1, x)
-
-  def write(self, buf):
-    SEND_STEP = 0x20
-    for i in range(0, len(buf), SEND_STEP):
-      self.panda.serial_write(1, buf[i:i+SEND_STEP])
-
-  def flushInput(self):
-    self.panda.serial_clear(1)
-
-  def flushOutput(self):
-    self.panda.serial_clear(1)
-
-  def read(self, llen):
-    ret = self.panda._handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, 1, 0, 1)
-    if ret == '':
-      time.sleep(0.1)
-      ret = self.panda._handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, 1, 0, 1)
-    return str(ret)
-
-  def reset(self):
-    self.panda.esp_reset(1)
-
-  def inWaiting(self):
-    return False
-
-class ESPROM(object):
-    # These are the currently known commands supported by the ROM
-    ESP_FLASH_BEGIN = 0x02
-    ESP_FLASH_DATA  = 0x03
-    ESP_FLASH_END   = 0x04
-    ESP_MEM_BEGIN   = 0x05
-    ESP_MEM_END     = 0x06
-    ESP_MEM_DATA    = 0x07
-    ESP_SYNC        = 0x08
-    ESP_WRITE_REG   = 0x09
-    ESP_READ_REG    = 0x0a
-
-    # Maximum block sized for RAM and Flash writes, respectively.
-    ESP_RAM_BLOCK   = 0x1800
-    ESP_FLASH_BLOCK = 0x400
-
-    # Default baudrate. The ROM auto-bauds, so we can use more or less whatever we want.
-    ESP_ROM_BAUD    = 115200
-
-    # First byte of the application image
-    ESP_IMAGE_MAGIC = 0xe9
-
-    # Initial state for the checksum routine
-    ESP_CHECKSUM_MAGIC = 0xef
-
-    # OTP ROM addresses
-    ESP_OTP_MAC0    = 0x3ff00050
-    ESP_OTP_MAC1    = 0x3ff00054
-    ESP_OTP_MAC3    = 0x3ff0005c
-
-    # Flash sector size, minimum unit of erase.
-    ESP_FLASH_SECTOR = 0x1000
-
-    def __init__(self, port=None, baud=ESP_ROM_BAUD):
-        self._port = FakePort(port)
-        self._slip_reader = slip_reader(self._port)
-
-    """ Read a SLIP packet from the serial port """
-    def read(self):
-        return next(self._slip_reader)
-
-    """ Write bytes to the serial port while performing SLIP escaping """
-    def write(self, packet):
-        buf = '\xc0' \
-              + (packet.replace('\xdb','\xdb\xdd').replace('\xc0','\xdb\xdc')) \
-              + '\xc0'
-        self._port.write(buf)
-
-    """ Calculate checksum of a blob, as it is defined by the ROM """
-    @staticmethod
-    def checksum(data, state=ESP_CHECKSUM_MAGIC):
-        for b in data:
-            state ^= ord(b)
-        return state
-
-    """ Send a request and read the response """
-    def command(self, op=None, data=None, chk=0):
-        if op is not None:
-            pkt = struct.pack('<BBHI', 0x00, op, len(data), chk) + data
-            self.write(pkt)
-
-        # tries to get a response until that response has the
-        # same operation as the request or a retries limit has
-        # exceeded. This is needed for some esp8266s that
-        # reply with more sync responses than expected.
-        for retry in range(100):
-            p = self.read()
-            if len(p) < 8:
-                continue
-            (resp, op_ret, len_ret, val) = struct.unpack('<BBHI', p[:8])
-            if resp != 1:
-                continue
-            body = p[8:]
-            if op is None or op_ret == op:
-                return val, body  # valid response received
-
-        raise FatalError("Response doesn't match request")
-
-    """ Perform a connection test """
-    def sync(self):
-        self.command(ESPROM.ESP_SYNC, '\x07\x07\x12\x20' + 32 * '\x55')
-        for i in range(7):
-            self.command()
-
-    """ Try connecting repeatedly until successful, or giving up """
-    def connect(self):
-        print('Connecting...')
-
-        for _ in range(4):
-            # issue reset-to-bootloader:
-            # RTS = either CH_PD or nRESET (both active low = chip in reset)
-            # DTR = GPIO0 (active low = boot to flasher)
-            """
-            self._port.setDTR(False)
-            self._port.setRTS(True)
-            time.sleep(0.05)
-            self._port.setDTR(True)
-            self._port.setRTS(False)
-            time.sleep(0.05)
-            self._port.setDTR(False)
-            """
-            self._port.reset()
-
-            # worst-case latency timer should be 255ms (probably <20ms)
-            self._port.timeout = 0.3
-            for _ in range(4):
-                try:
-                    self._port.flushInput()
-                    self._slip_reader = slip_reader(self._port)
-                    self._port.flushOutput()
-                    self.sync()
-                    self._port.timeout = 5
-                    return
-                except Exception:
-                    print("Connection timeout.")
-                    #traceback.print_exc()
-                    time.sleep(0.05)
-        raise FatalError('Failed to connect to ESP8266')
-
-    """ Read memory address in target """
-    def read_reg(self, addr):
-        res = self.command(ESPROM.ESP_READ_REG, struct.pack('<I', addr))
-        if res[1] != "\0\0":
-            raise FatalError('Failed to read target memory')
-        return res[0]
-
-    """ Write to memory address in target """
-    def write_reg(self, addr, value, mask, delay_us=0):
-        if self.command(ESPROM.ESP_WRITE_REG,
-                        struct.pack('<IIII', addr, value, mask, delay_us))[1] != "\0\0":
-            raise FatalError('Failed to write target memory')
-
-    """ Start downloading an application image to RAM """
-    def mem_begin(self, size, blocks, blocksize, offset):
-        if self.command(ESPROM.ESP_MEM_BEGIN,
-                        struct.pack('<IIII', size, blocks, blocksize, offset))[1] != "\0\0":
-            raise FatalError('Failed to enter RAM download mode')
-
-    """ Send a block of an image to RAM """
-    def mem_block(self, data, seq):
-        if self.command(ESPROM.ESP_MEM_DATA,
-                        struct.pack('<IIII', len(data), seq, 0, 0) + data,
-                        ESPROM.checksum(data))[1] != "\0\0":
-            raise FatalError('Failed to write to target RAM')
-
-    """ Leave download mode and run the application """
-    def mem_finish(self, entrypoint=0):
-        if self.command(ESPROM.ESP_MEM_END,
-                        struct.pack('<II', int(entrypoint == 0), entrypoint))[1] != "\0\0":
-            raise FatalError('Failed to leave RAM download mode')
-
-    """ Start downloading to Flash (performs an erase) """
-    def flash_begin(self, size, offset):
-        old_tmo = self._port.timeout
-        num_blocks = (size + ESPROM.ESP_FLASH_BLOCK - 1) / ESPROM.ESP_FLASH_BLOCK
-
-        sectors_per_block = 16
-        sector_size = self.ESP_FLASH_SECTOR
-        num_sectors = (size + sector_size - 1) / sector_size
-        start_sector = offset / sector_size
-
-        head_sectors = sectors_per_block - (start_sector % sectors_per_block)
-        if num_sectors < head_sectors:
-            head_sectors = num_sectors
-
-        if num_sectors < 2 * head_sectors:
-            erase_size = (num_sectors + 1) / 2 * sector_size
-        else:
-            erase_size = (num_sectors - head_sectors) * sector_size
-
-        self._port.timeout = 20
-        t = time.time()
-        result = self.command(ESPROM.ESP_FLASH_BEGIN,
-                              struct.pack('<IIII', erase_size, num_blocks, ESPROM.ESP_FLASH_BLOCK, offset))[1]
-        if size != 0:
-            print("Took %.2fs to erase flash block" % (time.time() - t))
-        if result != "\0\0":
-            raise FatalError.WithResult('Failed to enter Flash download mode (result "%s")', result)
-        self._port.timeout = old_tmo
-
-    """ Write block to flash """
-    def flash_block(self, data, seq):
-        result = self.command(ESPROM.ESP_FLASH_DATA,
-                              struct.pack('<IIII', len(data), seq, 0, 0) + data,
-                              ESPROM.checksum(data))[1]
-        if result != "\0\0":
-            raise FatalError.WithResult('Failed to write to target Flash after seq %d (got result %%s)' % seq, result)
-
-    """ Leave flash mode and run/reboot """
-    def flash_finish(self, reboot=False):
-        pkt = struct.pack('<I', int(not reboot))
-        if self.command(ESPROM.ESP_FLASH_END, pkt)[1] != "\0\0":
-            raise FatalError('Failed to leave Flash mode')
-
-    """ Run application code in flash """
-    def run(self, reboot=False):
-        # Fake flash begin immediately followed by flash end
-        self.flash_begin(0, 0)
-        self.flash_finish(reboot)
-
-    """ Read MAC from OTP ROM """
-    def read_mac(self):
-        mac0 = self.read_reg(self.ESP_OTP_MAC0)
-        mac1 = self.read_reg(self.ESP_OTP_MAC1)
-        mac3 = self.read_reg(self.ESP_OTP_MAC3)
-        if (mac3 != 0):
-            oui = ((mac3 >> 16) & 0xff, (mac3 >> 8) & 0xff, mac3 & 0xff)
-        elif ((mac1 >> 16) & 0xff) == 0:
-            oui = (0x18, 0xfe, 0x34)
-        elif ((mac1 >> 16) & 0xff) == 1:
-            oui = (0xac, 0xd0, 0x74)
-        else:
-            raise FatalError("Unknown OUI")
-        return oui + ((mac1 >> 8) & 0xff, mac1 & 0xff, (mac0 >> 24) & 0xff)
-
-    """ Read Chip ID from OTP ROM - see http://esp8266-re.foogod.com/wiki/System_get_chip_id_%28IoT_RTOS_SDK_0.9.9%29 """
-    def chip_id(self):
-        id0 = self.read_reg(self.ESP_OTP_MAC0)
-        id1 = self.read_reg(self.ESP_OTP_MAC1)
-        return (id0 >> 24) | ((id1 & 0xffffff) << 8)
-
-    """ Read SPI flash manufacturer and device id """
-    def flash_id(self):
-        self.flash_begin(0, 0)
-        self.write_reg(0x60000240, 0x0, 0xffffffff)
-        self.write_reg(0x60000200, 0x10000000, 0xffffffff)
-        flash_id = self.read_reg(0x60000240)
-        return flash_id
-
-    """ Abuse the loader protocol to force flash to be left in write mode """
-    def flash_unlock_dio(self):
-        # Enable flash write mode
-        self.flash_begin(0, 0)
-        # Reset the chip rather than call flash_finish(), which would have
-        # write protected the chip again (why oh why does it do that?!)
-        self.mem_begin(0,0,0,0x40100000)
-        self.mem_finish(0x40000080)
-
-    """ Perform a chip erase of SPI flash """
-    def flash_erase(self):
-        # Trick ROM to initialize SFlash
-        self.flash_begin(0, 0)
-
-        # This is hacky: we don't have a custom stub, instead we trick
-        # the bootloader to jump to the SPIEraseChip() routine and then halt/crash
-        # when it tries to boot an unconfigured system.
-        self.mem_begin(0,0,0,0x40100000)
-        self.mem_finish(0x40004984)
-
-        # Yup - there's no good way to detect if we succeeded.
-        # It it on the other hand unlikely to fail.
-
-    def run_stub(self, stub, params, read_output=True):
-        stub = dict(stub)
-        stub['code'] = unhexify(stub['code'])
-        if 'data' in stub:
-            stub['data'] = unhexify(stub['data'])
-
-        if stub['num_params'] != len(params):
-            raise FatalError('Stub requires %d params, %d provided'
-                             % (stub['num_params'], len(params)))
-
-        params = struct.pack('<' + ('I' * stub['num_params']), *params)
-        pc = params + stub['code']
-
-        # Upload
-        self.mem_begin(len(pc), 1, len(pc), stub['params_start'])
-        self.mem_block(pc, 0)
-        if 'data' in stub:
-            self.mem_begin(len(stub['data']), 1, len(stub['data']), stub['data_start'])
-            self.mem_block(stub['data'], 0)
-        self.mem_finish(stub['entry'])
-
-        if read_output:
-            print('Stub executed, reading response:')
-            while True:
-                p = self.read()
-                print(hexify(p))
-                if p == '':
-                    return
-
-
-class ESPBOOTLOADER(object):
-    """ These are constants related to software ESP bootloader, working with 'v2' image files """
-
-    # First byte of the "v2" application image
-    IMAGE_V2_MAGIC = 0xea
-
-    # First 'segment' value in a "v2" application image, appears to be a constant version value?
-    IMAGE_V2_SEGMENT = 4
-
-
-def LoadFirmwareImage(filename):
-    """ Load a firmware image, without knowing what kind of file (v1 or v2) it is.
-
-        Returns a BaseFirmwareImage subclass, either ESPFirmwareImage (v1) or OTAFirmwareImage (v2).
-    """
-    with open(filename, 'rb') as f:
-        magic = ord(f.read(1))
-        f.seek(0)
-        if magic == ESPROM.ESP_IMAGE_MAGIC:
-            return ESPFirmwareImage(f)
-        elif magic == ESPBOOTLOADER.IMAGE_V2_MAGIC:
-            return OTAFirmwareImage(f)
-        else:
-            raise FatalError("Invalid image magic number: %d" % magic)
-
-
-class BaseFirmwareImage(object):
-    """ Base class with common firmware image functions """
-    def __init__(self):
-        self.segments = []
-        self.entrypoint = 0
-
-    def add_segment(self, addr, data, pad_to=4):
-        """ Add a segment to the image, with specified address & data
-        (padded to a boundary of pad_to size) """
-        # Data should be aligned on word boundary
-        l = len(data)
-        if l % pad_to:
-            data += b"\x00" * (pad_to - l % pad_to)
-        if l > 0:
-            self.segments.append((addr, len(data), data))
-
-    def load_segment(self, f, is_irom_segment=False):
-        """ Load the next segment from the image file """
-        (offset, size) = struct.unpack('<II', f.read(8))
-        if not is_irom_segment:
-            if offset > 0x40200000 or offset < 0x3ffe0000 or size > 65536:
-                raise FatalError('Suspicious segment 0x%x, length %d' % (offset, size))
-        segment_data = f.read(size)
-        if len(segment_data) < size:
-            raise FatalError('End of file reading segment 0x%x, length %d (actual length %d)' % (offset, size, len(segment_data)))
-        segment = (offset, size, segment_data)
-        self.segments.append(segment)
-        return segment
-
-    def save_segment(self, f, segment, checksum=None):
-        """ Save the next segment to the image file, return next checksum value if provided """
-        (offset, size, data) = segment
-        f.write(struct.pack('<II', offset, size))
-        f.write(data)
-        if checksum is not None:
-            return ESPROM.checksum(data, checksum)
-
-    def read_checksum(self, f):
-        """ Return ESPROM checksum from end of just-read image """
-        # Skip the padding. The checksum is stored in the last byte so that the
-        # file is a multiple of 16 bytes.
-        align_file_position(f, 16)
-        return ord(f.read(1))
-
-    def append_checksum(self, f, checksum):
-        """ Append ESPROM checksum to the just-written image """
-        align_file_position(f, 16)
-        f.write(struct.pack('B', checksum))
-
-    def write_v1_header(self, f, segments):
-        f.write(struct.pack('<BBBBI', ESPROM.ESP_IMAGE_MAGIC, len(segments),
-                            self.flash_mode, self.flash_size_freq, self.entrypoint))  # pylint: disable=no-member
-
-
-class ESPFirmwareImage(BaseFirmwareImage):
-    """ 'Version 1' firmware image, segments loaded directly by the ROM bootloader. """
-    def __init__(self, load_file=None):
-        super(ESPFirmwareImage, self).__init__()
-        self.flash_mode = 0
-        self.flash_size_freq = 0
-        self.version = 1
-
-        if load_file is not None:
-            (magic, segments, self.flash_mode, self.flash_size_freq, self.entrypoint) = struct.unpack('<BBBBI', load_file.read(8))
-
-            # some sanity check
-            if magic != ESPROM.ESP_IMAGE_MAGIC or segments > 16:
-                raise FatalError('Invalid firmware image magic=%d segments=%d' % (magic, segments))
-
-            for i in range(segments):
-                self.load_segment(load_file)
-            self.checksum = self.read_checksum(load_file)
-
-    def save(self, filename):
-        with open(filename, 'wb') as f:
-            self.write_v1_header(f, self.segments)
-            checksum = ESPROM.ESP_CHECKSUM_MAGIC
-            for segment in self.segments:
-                checksum = self.save_segment(f, segment, checksum)
-            self.append_checksum(f, checksum)
-
-
-class OTAFirmwareImage(BaseFirmwareImage):
-    """ 'Version 2' firmware image, segments loaded by software bootloader stub
-        (ie Espressif bootloader or rboot)
-    """
-    def __init__(self, load_file=None):
-        super(OTAFirmwareImage, self).__init__()
-        self.version = 2
-        if load_file is not None:
-            (magic, segments, first_flash_mode, first_flash_size_freq, first_entrypoint) = struct.unpack('<BBBBI', load_file.read(8))
-
-            # some sanity check
-            if magic != ESPBOOTLOADER.IMAGE_V2_MAGIC:
-                raise FatalError('Invalid V2 image magic=%d' % (magic))
-            if segments != 4:
-                # segment count is not really segment count here, but we expect to see '4'
-                print('Warning: V2 header has unexpected "segment" count %d (usually 4)' % segments)
-
-            # irom segment comes before the second header
-            self.load_segment(load_file, True)
-
-            (magic, segments, self.flash_mode, self.flash_size_freq, self.entrypoint) = struct.unpack('<BBBBI', load_file.read(8))
-
-            if first_flash_mode != self.flash_mode:
-                print('WARNING: Flash mode value in first header (0x%02x) disagrees with second (0x%02x). Using second value.'
-                      % (first_flash_mode, self.flash_mode))
-            if first_flash_size_freq != self.flash_size_freq:
-                print('WARNING: Flash size/freq value in first header (0x%02x) disagrees with second (0x%02x). Using second value.'
-                      % (first_flash_size_freq, self.flash_size_freq))
-            if first_entrypoint != self.entrypoint:
-                print('WARNING: Enterypoint address in first header (0x%08x) disagrees with second header (0x%08x). Using second value.'
-                      % (first_entrypoint, self.entrypoint))
-
-            if magic != ESPROM.ESP_IMAGE_MAGIC or segments > 16:
-                raise FatalError('Invalid V2 second header magic=%d segments=%d' % (magic, segments))
-
-            # load all the usual segments
-            for _ in range(segments):
-                self.load_segment(load_file)
-            self.checksum = self.read_checksum(load_file)
-
-    def save(self, filename):
-        with open(filename, 'wb') as f:
-            # Save first header for irom0 segment
-            f.write(struct.pack('<BBBBI', ESPBOOTLOADER.IMAGE_V2_MAGIC, ESPBOOTLOADER.IMAGE_V2_SEGMENT,
-                                self.flash_mode, self.flash_size_freq, self.entrypoint))
-
-            # irom0 segment identified by load address zero
-            irom_segments = [segment for segment in self.segments if segment[0] == 0]
-            if len(irom_segments) != 1:
-                raise FatalError('Found %d segments that could be irom0. Bad ELF file?' % len(irom_segments))
-            # save irom0 segment
-            irom_segment = irom_segments[0]
-            self.save_segment(f, irom_segment)
-
-            # second header, matches V1 header and contains loadable segments
-            normal_segments = [s for s in self.segments if s != irom_segment]
-            self.write_v1_header(f, normal_segments)
-            checksum = ESPROM.ESP_CHECKSUM_MAGIC
-            for segment in normal_segments:
-                checksum = self.save_segment(f, segment, checksum)
-            self.append_checksum(f, checksum)
-
-
-class ELFFile(object):
-    def __init__(self, name):
-        self.name = binutils_safe_path(name)
-        self.symbols = None
-
-    def _fetch_symbols(self):
-        if self.symbols is not None:
-            return
-        self.symbols = {}
-        try:
-            tool_nm = "xtensa-lx106-elf-nm"
-            if os.getenv('XTENSA_CORE') == 'lx106':
-                tool_nm = "xt-nm"
-            proc = subprocess.Popen([tool_nm, self.name], stdout=subprocess.PIPE)
-        except OSError:
-            print("Error calling %s, do you have Xtensa toolchain in PATH?" % tool_nm)
-            sys.exit(1)
-        for l in proc.stdout:
-            fields = l.strip().split()
-            try:
-                if fields[0] == "U":
-                    print("Warning: ELF binary has undefined symbol %s" % fields[1])
-                    continue
-                if fields[0] == "w":
-                    continue  # can skip weak symbols
-                self.symbols[fields[2]] = int(fields[0], 16)
-            except ValueError:
-                raise FatalError("Failed to strip symbol output from nm: %s" % fields)
-
-    def get_symbol_addr(self, sym):
-        self._fetch_symbols()
-        return self.symbols[sym]
-
-    def get_entry_point(self):
-        tool_readelf = "xtensa-lx106-elf-readelf"
-        if os.getenv('XTENSA_CORE') == 'lx106':
-            tool_readelf = "xt-readelf"
-        try:
-            proc = subprocess.Popen([tool_readelf, "-h", self.name], stdout=subprocess.PIPE)
-        except OSError:
-            print("Error calling %s, do you have Xtensa toolchain in PATH?" % tool_readelf)
-            sys.exit(1)
-        for l in proc.stdout:
-            fields = l.strip().split()
-            if fields[0] == "Entry":
-                return int(fields[3], 0)
-
-    def load_section(self, section):
-        tool_objcopy = "xtensa-lx106-elf-objcopy"
-        if os.getenv('XTENSA_CORE') == 'lx106':
-            tool_objcopy = "xt-objcopy"
-        tmpsection = binutils_safe_path(tempfile.mktemp(suffix=".section"))
-        try:
-            subprocess.check_call([tool_objcopy, "--only-section", section, "-Obinary", self.name, tmpsection])
-            with open(tmpsection, "rb") as f:
-                data = f.read()
-        finally:
-            os.remove(tmpsection)
-        return data
-
-
-class CesantaFlasher(object):
-
-    # From stub_flasher.h
-    CMD_FLASH_WRITE = 1
-    CMD_FLASH_READ = 2
-    CMD_FLASH_DIGEST = 3
-    CMD_FLASH_ERASE_CHIP = 5
-    CMD_BOOT_FW = 6
-
-    def __init__(self, esp, baud_rate=0):
-        print('Running Cesanta flasher stub...')
-        if baud_rate <= ESPROM.ESP_ROM_BAUD:  # don't change baud rates if we already synced at that rate
-            baud_rate = 0
-        self._esp = esp
-        esp.run_stub(json.loads(_CESANTA_FLASHER_STUB), [baud_rate], read_output=False)
-        if baud_rate > 0:
-            esp._port.baudrate = baud_rate
-        # Read the greeting.
-        p = esp.read()
-        if p != 'OHAI':
-            raise FatalError('Failed to connect to the flasher (got %s)' % hexify(p))
-
-    def flash_write(self, addr, data, show_progress=False):
-        assert addr % self._esp.ESP_FLASH_SECTOR == 0, 'Address must be sector-aligned'
-        assert len(data) % self._esp.ESP_FLASH_SECTOR == 0, 'Length must be sector-aligned'
-        sys.stdout.write('Writing %d @ 0x%x... ' % (len(data), addr))
-        sys.stdout.flush()
-        self._esp.write(struct.pack('<B', self.CMD_FLASH_WRITE))
-        self._esp.write(struct.pack('<III', addr, len(data), 1))
-        num_sent, num_written = 0, 0
-        while num_written < len(data):
-            p = self._esp.read()
-            if len(p) == 4:
-                num_written = struct.unpack('<I', p)[0]
-            elif len(p) == 1:
-                status_code = struct.unpack('<B', p)[0]
-                raise FatalError('Write failure, status: %x' % status_code)
-            else:
-                raise FatalError('Unexpected packet while writing: %s' % hexify(p))
-            if show_progress:
-                progress = '%d (%d %%)' % (num_written, num_written * 100.0 / len(data))
-                sys.stdout.write(progress + '\b' * len(progress))
-                sys.stdout.flush()
-            while num_sent - num_written < 5120:
-                self._esp._port.write(data[num_sent:num_sent + 1024])
-                num_sent += 1024
-        p = self._esp.read()
-        if len(p) != 16:
-            raise FatalError('Expected digest, got: %s' % hexify(p))
-        digest = hexify(p).upper()
-        expected_digest = hashlib.md5(data).hexdigest().upper()
-        print()
-        if digest != expected_digest:
-            raise FatalError('Digest mismatch: expected %s, got %s' % (expected_digest, digest))
-        p = self._esp.read()
-        if len(p) != 1:
-            raise FatalError('Expected status, got: %s' % hexify(p))
-        status_code = struct.unpack('<B', p)[0]
-        if status_code != 0:
-            raise FatalError('Write failure, status: %x' % status_code)
-
-    def flash_read(self, addr, length, show_progress=False):
-        sys.stdout.write('Reading %d @ 0x%x... ' % (length, addr))
-        sys.stdout.flush()
-        self._esp.write(struct.pack('<B', self.CMD_FLASH_READ))
-        # USB may not be able to keep up with the read rate, especially at
-        # higher speeds. Since we don't have flow control, this will result in
-        # data loss. Hence, we use small packet size and only allow small
-        # number of bytes in flight, which we can reasonably expect to fit in
-        # the on-chip FIFO. max_in_flight = 64 works for CH340G, other chips may
-        # have longer FIFOs and could benefit from increasing max_in_flight.
-        self._esp.write(struct.pack('<IIII', addr, length, 32, 64))
-        data = ''
-        while True:
-            p = self._esp.read()
-            data += p
-            self._esp.write(struct.pack('<I', len(data)))
-            if show_progress and (len(data) % 1024 == 0 or len(data) == length):
-                progress = '%d (%d %%)' % (len(data), len(data) * 100.0 / length)
-                sys.stdout.write(progress + '\b' * len(progress))
-                sys.stdout.flush()
-            if len(data) == length:
-                break
-            if len(data) > length:
-                raise FatalError('Read more than expected')
-        p = self._esp.read()
-        if len(p) != 16:
-            raise FatalError('Expected digest, got: %s' % hexify(p))
-        expected_digest = hexify(p).upper()
-        digest = hashlib.md5(data).hexdigest().upper()
-        print()
-        if digest != expected_digest:
-            raise FatalError('Digest mismatch: expected %s, got %s' % (expected_digest, digest))
-        p = self._esp.read()
-        if len(p) != 1:
-            raise FatalError('Expected status, got: %s' % hexify(p))
-        status_code = struct.unpack('<B', p)[0]
-        if status_code != 0:
-            raise FatalError('Write failure, status: %x' % status_code)
-        return data
-
-    def flash_digest(self, addr, length, digest_block_size=0):
-        self._esp.write(struct.pack('<B', self.CMD_FLASH_DIGEST))
-        self._esp.write(struct.pack('<III', addr, length, digest_block_size))
-        digests = []
-        while True:
-            p = self._esp.read()
-            if len(p) == 16:
-                digests.append(p)
-            elif len(p) == 1:
-                status_code = struct.unpack('<B', p)[0]
-                if status_code != 0:
-                    raise FatalError('Write failure, status: %x' % status_code)
-                break
-            else:
-                raise FatalError('Unexpected packet: %s' % hexify(p))
-        return digests[-1], digests[:-1]
-
-    def boot_fw(self):
-        self._esp.write(struct.pack('<B', self.CMD_BOOT_FW))
-        p = self._esp.read()
-        if len(p) != 1:
-            raise FatalError('Expected status, got: %s' % hexify(p))
-        status_code = struct.unpack('<B', p)[0]
-        if status_code != 0:
-            raise FatalError('Boot failure, status: %x' % status_code)
-
-    def flash_erase_chip(self):
-        self._esp.write(struct.pack('<B', self.CMD_FLASH_ERASE_CHIP))
-        otimeout = self._esp._port.timeout
-        self._esp._port.timeout = 60
-        p = self._esp.read()
-        self._esp._port.timeout = otimeout
-        if len(p) != 1:
-            raise FatalError('Expected status, got: %s' % hexify(p))
-        status_code = struct.unpack('<B', p)[0]
-        if status_code != 0:
-            raise FatalError('Erase chip failure, status: %x' % status_code)
-
-
-def slip_reader(port):
-    """Generator to read SLIP packets from a serial port.
-    Yields one full SLIP packet at a time, raises exception on timeout or invalid data.
-
-    Designed to avoid too many calls to serial.read(1), which can bog
-    down on slow systems.
-    """
-    partial_packet = None
-    in_escape = False
-    while True:
-        waiting = port.inWaiting()
-        read_bytes = port.read(1 if waiting == 0 else waiting)
-        if read_bytes == '':
-            raise FatalError("Timed out waiting for packet %s" % ("header" if partial_packet is None else "content"))
-
-        for b in read_bytes:
-            if partial_packet is None:  # waiting for packet header
-                if b == '\xc0':
-                    partial_packet = ""
-                else:
-                    raise FatalError('Invalid head of packet (%r)' % b)
-            elif in_escape:  # part-way through escape sequence
-                in_escape = False
-                if b == '\xdc':
-                    partial_packet += '\xc0'
-                elif b == '\xdd':
-                    partial_packet += '\xdb'
-                else:
-                    raise FatalError('Invalid SLIP escape (%r%r)' % ('\xdb', b))
-            elif b == '\xdb':  # start of escape sequence
-                in_escape = True
-            elif b == '\xc0':  # end of packet
-                yield partial_packet
-                partial_packet = None
-            else:  # normal byte in packet
-                partial_packet += b
-
-
-def arg_auto_int(x):
-    return int(x, 0)
-
-
-def div_roundup(a, b):
-    """ Return a/b rounded up to nearest integer,
-    equivalent result to int(math.ceil(float(int(a)) / float(int(b))), only
-    without possible floating point accuracy errors.
-    """
-    return (int(a) + int(b) - 1) / int(b)
-
-
-def binutils_safe_path(p):
-    """Returns a 'safe' version of path 'p' to pass to binutils
-
-    Only does anything under Cygwin Python, where cygwin paths need to
-    be translated to Windows paths if the binutils wasn't compiled
-    using Cygwin (should also work with binutils compiled using
-    Cygwin, see #73.)
-    """
-    if sys.platform == "cygwin":
-        try:
-            return subprocess.check_output(["cygpath", "-w", p]).rstrip('\n')
-        except subprocess.CalledProcessError:
-            print("WARNING: Failed to call cygpath to sanitise Cygwin path.")
-    return p
-
-
-def align_file_position(f, size):
-    """ Align the position in the file to the next block of specified size """
-    align = (size - 1) - (f.tell() % size)
-    f.seek(align, 1)
-
-
-def hexify(s):
-    return ''.join('%02X' % ord(c) for c in s)
-
-
-def unhexify(hs):
-    s = ''
-    for i in range(0, len(hs) - 1, 2):
-        s += chr(int(hs[i] + hs[i + 1], 16))
-    return s
-
-
-class FatalError(RuntimeError):
-    """
-    Wrapper class for runtime errors that aren't caused by internal bugs, but by
-    ESP8266 responses or input content.
-    """
-    def __init__(self, message):
-        RuntimeError.__init__(self, message)
-
-    @staticmethod
-    def WithResult(message, result):
-        """
-        Return a fatal error object that includes the hex values of
-        'result' as a string formatted argument.
-        """
-        return FatalError(message % ", ".join(hex(ord(x)) for x in result))
-
-
-# "Operation" commands, executable at command line. One function each
-#
-# Each function takes either two args (<ESPROM instance>, <args>) or a single <args>
-# argument.
-
-def load_ram(esp, args):
-    image = LoadFirmwareImage(args.filename)
-
-    print('RAM boot...')
-    for (offset, size, data) in image.segments:
-        print('Downloading %d bytes at %08x...' % (size, offset), end=' ')
-        sys.stdout.flush()
-        esp.mem_begin(size, div_roundup(size, esp.ESP_RAM_BLOCK), esp.ESP_RAM_BLOCK, offset)
-
-        seq = 0
-        while len(data) > 0:
-            esp.mem_block(data[0:esp.ESP_RAM_BLOCK], seq)
-            data = data[esp.ESP_RAM_BLOCK:]
-            seq += 1
-        print('done!')
-
-    print('All segments done, executing at %08x' % image.entrypoint)
-    esp.mem_finish(image.entrypoint)
-
-
-def read_mem(esp, args):
-    print('0x%08x = 0x%08x' % (args.address, esp.read_reg(args.address)))
-
-
-def write_mem(esp, args):
-    esp.write_reg(args.address, args.value, args.mask, 0)
-    print('Wrote %08x, mask %08x to %08x' % (args.value, args.mask, args.address))
-
-
-def dump_mem(esp, args):
-    f = open(args.filename, 'wb')
-    for i in range(args.size / 4):
-        d = esp.read_reg(args.address + (i * 4))
-        f.write(struct.pack('<I', d))
-        if f.tell() % 1024 == 0:
-            print('\r%d bytes read... (%d %%)' % (f.tell(),
-                                                  f.tell() * 100 / args.size), end=' ')
-        sys.stdout.flush()
-    print('Done!')
-
-
-def detect_flash_size(esp, args):
-    if args.flash_size == 'detect':
-        flash_id = esp.flash_id()
-        size_id = flash_id >> 16
-        args.flash_size = {18: '2m', 19: '4m', 20: '8m', 21: '16m', 22: '32m'}.get(size_id)
-        if args.flash_size is None:
-            print('Warning: Could not auto-detect Flash size (FlashID=0x%x, SizeID=0x%x), defaulting to 4m' % (flash_id, size_id))
-            args.flash_size = '4m'
-        else:
-            print('Auto-detected Flash size:', args.flash_size)
-
-
-def write_flash(esp, args):
-    detect_flash_size(esp, args)
-    flash_mode = {'qio':0, 'qout':1, 'dio':2, 'dout': 3}[args.flash_mode]
-    flash_size_freq = {'4m':0x00, '2m':0x10, '8m':0x20, '16m':0x30, '32m':0x40, '16m-c1': 0x50, '32m-c1':0x60, '32m-c2':0x70}[args.flash_size]
-    flash_size_freq += {'40m':0, '26m':1, '20m':2, '80m': 0xf}[args.flash_freq]
-    flash_params = struct.pack('BB', flash_mode, flash_size_freq)
-
-    flasher = CesantaFlasher(esp, args.baud)
-
-    for address, argfile in args.addr_filename:
-        image = argfile.read()
-        argfile.seek(0)  # rewind in case we need it again
-        if address + len(image) > int(args.flash_size.split('m')[0]) * (1 << 17):
-            print('WARNING: Unlikely to work as data goes beyond end of flash. Hint: Use --flash_size')
-        # Fix sflash config data.
-        if address == 0 and image[0] == '\xe9':
-            print('Flash params set to 0x%02x%02x' % (flash_mode, flash_size_freq))
-            image = image[0:2] + flash_params + image[4:]
-        # Pad to sector size, which is the minimum unit of writing (erasing really).
-        if len(image) % esp.ESP_FLASH_SECTOR != 0:
-            image += '\xff' * (esp.ESP_FLASH_SECTOR - (len(image) % esp.ESP_FLASH_SECTOR))
-        t = time.time()
-        flasher.flash_write(address, image, not args.no_progress)
-        t = time.time() - t
-        print('\rWrote %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
-               % (len(image), address, t, len(image) / t * 8 / 1000))
-    print('Leaving...')
-    if args.verify:
-        print('Verifying just-written flash...')
-        _verify_flash(flasher, args, flash_params)
-    flasher.boot_fw()
-
-
-def image_info(args):
-    image = LoadFirmwareImage(args.filename)
-    print('Image version: %d' % image.version)
-    print(('Entry point: %08x' % image.entrypoint) if image.entrypoint != 0 else 'Entry point not set')
-    print('%d segments' % len(image.segments))
-    print()
-    checksum = ESPROM.ESP_CHECKSUM_MAGIC
-    for (idx, (offset, size, data)) in enumerate(image.segments):
-        if image.version == 2 and idx == 0:
-            print('Segment 1: %d bytes IROM0 (no load address)' % size)
-        else:
-            print('Segment %d: %5d bytes at %08x' % (idx + 1, size, offset))
-            checksum = ESPROM.checksum(data, checksum)
-    print()
-    print('Checksum: %02x (%s)' % (image.checksum, 'valid' if image.checksum == checksum else 'invalid!'))
-
-
-def make_image(args):
-    image = ESPFirmwareImage()
-    if len(args.segfile) == 0:
-        raise FatalError('No segments specified')
-    if len(args.segfile) != len(args.segaddr):
-        raise FatalError('Number of specified files does not match number of specified addresses')
-    for (seg, addr) in zip(args.segfile, args.segaddr):
-        data = open(seg, 'rb').read()
-        image.add_segment(addr, data)
-    image.entrypoint = args.entrypoint
-    image.save(args.output)
-
-
-def elf2image(args):
-    e = ELFFile(args.input)
-    if args.version == '1':
-        image = ESPFirmwareImage()
-    else:
-        image = OTAFirmwareImage()
-        irom_data = e.load_section('.irom0.text')
-        if len(irom_data) == 0:
-            raise FatalError(".irom0.text section not found in ELF file - can't create V2 image.")
-        image.add_segment(0, irom_data, 16)
-    image.entrypoint = e.get_entry_point()
-    for section, start in ((".text", "_text_start"), (".data", "_data_start"), (".rodata", "_rodata_start")):
-        data = e.load_section(section)
-        image.add_segment(e.get_symbol_addr(start), data)
-
-    image.flash_mode = {'qio':0, 'qout':1, 'dio':2, 'dout': 3}[args.flash_mode]
-    image.flash_size_freq = {'4m':0x00, '2m':0x10, '8m':0x20, '16m':0x30, '32m':0x40, '16m-c1': 0x50, '32m-c1':0x60, '32m-c2':0x70}[args.flash_size]
-    image.flash_size_freq += {'40m':0, '26m':1, '20m':2, '80m': 0xf}[args.flash_freq]
-
-    irom_offs = e.get_symbol_addr("_irom0_text_start") - 0x40200000
-
-    if args.version == '1':
-        if args.output is None:
-            args.output = args.input + '-'
-        image.save(args.output + "0x00000.bin")
-        data = e.load_section(".irom0.text")
-        if irom_offs < 0:
-            raise FatalError('Address of symbol _irom0_text_start in ELF is located before flash mapping address. Bad linker script?')
-        if (irom_offs & 0xFFF) != 0:  # irom0 isn't flash sector aligned
-            print("WARNING: irom0 section offset is 0x%08x. ELF is probably linked for 'elf2image --version=2'" % irom_offs)
-        with open(args.output + "0x%05x.bin" % irom_offs, "wb") as f:
-            f.write(data)
-            f.close()
-    else:  # V2 OTA image
-        if args.output is None:
-            args.output = "%s-0x%05x.bin" % (os.path.splitext(args.input)[0], irom_offs & ~(ESPROM.ESP_FLASH_SECTOR - 1))
-        image.save(args.output)
-
-
-def read_mac(esp, args):
-    mac = esp.read_mac()
-    print('MAC: %s' % ':'.join(['%02x' % x for x in mac]))
-
-
-def chip_id(esp, args):
-    chipid = esp.chip_id()
-    print('Chip ID: 0x%08x' % chipid)
-
-
-def erase_flash(esp, args):
-    flasher = CesantaFlasher(esp, args.baud)
-    print('Erasing flash (this may take a while)...')
-    t = time.time()
-    flasher.flash_erase_chip()
-    t = time.time() - t
-    print('Erase took %.1f seconds' % t)
-
-
-def run(esp, args):
-    esp.run()
-
-
-def flash_id(esp, args):
-    flash_id = esp.flash_id()
-    esp.flash_finish(False)
-    print('Manufacturer: %02x' % (flash_id & 0xff))
-    print('Device: %02x%02x' % ((flash_id >> 8) & 0xff, (flash_id >> 16) & 0xff))
-
-
-def read_flash(esp, args):
-    flasher = CesantaFlasher(esp, args.baud)
-    t = time.time()
-    data = flasher.flash_read(args.address, args.size, not args.no_progress)
-    t = time.time() - t
-    print('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
-           % (len(data), args.address, t, len(data) / t * 8 / 1000))
-    open(args.filename, 'wb').write(data)
-
-
-def _verify_flash(flasher, args, flash_params=None):
-    differences = False
-    for address, argfile in args.addr_filename:
-        image = argfile.read()
-        argfile.seek(0)  # rewind in case we need it again
-        if address == 0 and image[0] == '\xe9' and flash_params is not None:
-            image = image[0:2] + flash_params + image[4:]
-        image_size = len(image)
-        print('Verifying 0x%x (%d) bytes @ 0x%08x in flash against %s...' % (image_size, image_size, address, argfile.name))
-        # Try digest first, only read if there are differences.
-        digest, _ = flasher.flash_digest(address, image_size)
-        digest = hexify(digest).upper()
-        expected_digest = hashlib.md5(image).hexdigest().upper()
-        if digest == expected_digest:
-            print('-- verify OK (digest matched)')
-            continue
-        else:
-            differences = True
-            if getattr(args, 'diff', 'no') != 'yes':
-                print('-- verify FAILED (digest mismatch)')
-                continue
-
-        flash = flasher.flash_read(address, image_size)
-        assert flash != image
-        diff = [i for i in range(image_size) if flash[i] != image[i]]
-        print('-- verify FAILED: %d differences, first @ 0x%08x' % (len(diff), address + diff[0]))
-        for d in diff:
-            print('   %08x %02x %02x' % (address + d, ord(flash[d]), ord(image[d])))
-    if differences:
-        raise FatalError("Verify failed.")
-
-
-def verify_flash(esp, args, flash_params=None):
-    flasher = CesantaFlasher(esp)
-    _verify_flash(flasher, args, flash_params)
-
-
-def version(args):
-    print(__version__)
-
-#
-# End of operations functions
-#
-
-
-def main():
-    parser = argparse.ArgumentParser(description='esptool.py v%s - ESP8266 ROM Bootloader Utility' % __version__, prog='esptool')
-
-    parser.add_argument(
-        '--port', '-p',
-        help='Serial port device',
-        default=os.environ.get('ESPTOOL_PORT', None))
-
-    parser.add_argument(
-        '--baud', '-b',
-        help='Serial port baud rate used when flashing/reading',
-        type=arg_auto_int,
-        default=os.environ.get('ESPTOOL_BAUD', ESPROM.ESP_ROM_BAUD))
-
-    subparsers = parser.add_subparsers(
-        dest='operation',
-        help='Run esptool {command} -h for additional help')
-
-    parser_load_ram = subparsers.add_parser(
-        'load_ram',
-        help='Download an image to RAM and execute')
-    parser_load_ram.add_argument('filename', help='Firmware image')
-
-    parser_dump_mem = subparsers.add_parser(
-        'dump_mem',
-        help='Dump arbitrary memory to disk')
-    parser_dump_mem.add_argument('address', help='Base address', type=arg_auto_int)
-    parser_dump_mem.add_argument('size', help='Size of region to dump', type=arg_auto_int)
-    parser_dump_mem.add_argument('filename', help='Name of binary dump')
-
-    parser_read_mem = subparsers.add_parser(
-        'read_mem',
-        help='Read arbitrary memory location')
-    parser_read_mem.add_argument('address', help='Address to read', type=arg_auto_int)
-
-    parser_write_mem = subparsers.add_parser(
-        'write_mem',
-        help='Read-modify-write to arbitrary memory location')
-    parser_write_mem.add_argument('address', help='Address to write', type=arg_auto_int)
-    parser_write_mem.add_argument('value', help='Value', type=arg_auto_int)
-    parser_write_mem.add_argument('mask', help='Mask of bits to write', type=arg_auto_int)
-
-    def add_spi_flash_subparsers(parent, auto_detect=False):
-        """ Add common parser arguments for SPI flash properties """
-        parent.add_argument('--flash_freq', '-ff', help='SPI Flash frequency',
-                            choices=['40m', '26m', '20m', '80m'],
-                            default=os.environ.get('ESPTOOL_FF', '40m'))
-        parent.add_argument('--flash_mode', '-fm', help='SPI Flash mode',
-                            choices=['qio', 'qout', 'dio', 'dout'],
-                            default=os.environ.get('ESPTOOL_FM', 'qio'))
-        choices = ['4m', '2m', '8m', '16m', '32m', '16m-c1', '32m-c1', '32m-c2']
-        default = '4m'
-        if auto_detect:
-            default = 'detect'
-            choices.insert(0, 'detect')
-        parent.add_argument('--flash_size', '-fs', help='SPI Flash size in Mbit', type=str.lower,
-                            choices=choices,
-                            default=os.environ.get('ESPTOOL_FS', default))
-
-    parser_write_flash = subparsers.add_parser(
-        'write_flash',
-        help='Write a binary blob to flash')
-    parser_write_flash.add_argument('addr_filename', metavar='<address> <filename>', help='Address followed by binary filename, separated by space',
-                                    action=AddrFilenamePairAction)
-    add_spi_flash_subparsers(parser_write_flash, auto_detect=True)
-    parser_write_flash.add_argument('--no-progress', '-p', help='Suppress progress output', action="store_true")
-    parser_write_flash.add_argument('--verify', help='Verify just-written data (only necessary if very cautious, data is already CRCed', action='store_true')
-
-    subparsers.add_parser(
-        'run',
-        help='Run application code in flash')
-
-    parser_image_info = subparsers.add_parser(
-        'image_info',
-        help='Dump headers from an application image')
-    parser_image_info.add_argument('filename', help='Image file to parse')
-
-    parser_make_image = subparsers.add_parser(
-        'make_image',
-        help='Create an application image from binary files')
-    parser_make_image.add_argument('output', help='Output image file')
-    parser_make_image.add_argument('--segfile', '-f', action='append', help='Segment input file')
-    parser_make_image.add_argument('--segaddr', '-a', action='append', help='Segment base address', type=arg_auto_int)
-    parser_make_image.add_argument('--entrypoint', '-e', help='Address of entry point', type=arg_auto_int, default=0)
-
-    parser_elf2image = subparsers.add_parser(
-        'elf2image',
-        help='Create an application image from ELF file')
-    parser_elf2image.add_argument('input', help='Input ELF file')
-    parser_elf2image.add_argument('--output', '-o', help='Output filename prefix (for version 1 image), or filename (for version 2 single image)', type=str)
-    parser_elf2image.add_argument('--version', '-e', help='Output image version', choices=['1','2'], default='1')
-    add_spi_flash_subparsers(parser_elf2image)
-
-    subparsers.add_parser(
-        'read_mac',
-        help='Read MAC address from OTP ROM')
-
-    subparsers.add_parser(
-        'chip_id',
-        help='Read Chip ID from OTP ROM')
-
-    subparsers.add_parser(
-        'flash_id',
-        help='Read SPI flash manufacturer and device ID')
-
-    parser_read_flash = subparsers.add_parser(
-        'read_flash',
-        help='Read SPI flash content')
-    parser_read_flash.add_argument('address', help='Start address', type=arg_auto_int)
-    parser_read_flash.add_argument('size', help='Size of region to dump', type=arg_auto_int)
-    parser_read_flash.add_argument('filename', help='Name of binary dump')
-    parser_read_flash.add_argument('--no-progress', '-p', help='Suppress progress output', action="store_true")
-
-    parser_verify_flash = subparsers.add_parser(
-        'verify_flash',
-        help='Verify a binary blob against flash')
-    parser_verify_flash.add_argument('addr_filename', help='Address and binary file to verify there, separated by space',
-                                     action=AddrFilenamePairAction)
-    parser_verify_flash.add_argument('--diff', '-d', help='Show differences',
-                                     choices=['no', 'yes'], default='no')
-
-    subparsers.add_parser(
-        'erase_flash',
-        help='Perform Chip Erase on SPI flash')
-
-    subparsers.add_parser(
-        'version', help='Print esptool version')
-
-    # internal sanity check - every operation matches a module function of the same name
-    for operation in list(subparsers.choices.keys()):
-        assert operation in globals(), "%s should be a module function" % operation
-
-    args = parser.parse_args()
-
-    print('esptool.py v%s' % __version__)
-
-    # operation function can take 1 arg (args), 2 args (esp, arg)
-    # or be a member function of the ESPROM class.
-
-    operation_func = globals()[args.operation]
-    operation_args,_,_,_ = inspect.getargspec(operation_func)
-    if operation_args[0] == 'esp':  # operation function takes an ESPROM connection object
-        initial_baud = min(ESPROM.ESP_ROM_BAUD, args.baud)  # don't sync faster than the default baud rate
-        esp = ESPROM(args.port, initial_baud)
-        esp.connect()
-        operation_func(esp, args)
-    else:
-        operation_func(args)
-
-
-class AddrFilenamePairAction(argparse.Action):
-    """ Custom parser class for the address/filename pairs passed as arguments """
-    def __init__(self, option_strings, dest, nargs='+', **kwargs):
-        super(AddrFilenamePairAction, self).__init__(option_strings, dest, nargs, **kwargs)
-
-    def __call__(self, parser, namespace, values, option_string=None):
-        # validate pair arguments
-        pairs = []
-        for i in range(0,len(values),2):
-            try:
-                address = int(values[i],0)
-            except ValueError:
-                raise argparse.ArgumentError(self,'Address "%s" must be a number' % values[i])
-            try:
-                argfile = open(values[i + 1], 'rb')
-            except IOError as e:
-                raise argparse.ArgumentError(self, e)
-            except IndexError:
-                raise argparse.ArgumentError(self,'Must be pairs of an address and the binary filename to write there')
-            pairs.append((address, argfile))
-        setattr(namespace, self.dest, pairs)
-
-# This is "wrapped" stub_flasher.c, to  be loaded using run_stub.
-_CESANTA_FLASHER_STUB = """\
-{"code_start": 1074790404, "code": "080000601C000060000000601000006031FCFF71FCFF\
-81FCFFC02000680332D218C020004807404074DCC48608005823C0200098081BA5A9239245005803\
-1B555903582337350129230B446604DFC6F3FF21EEFFC0200069020DF0000000010078480040004A\
-0040B449004012C1F0C921D911E901DD0209312020B4ED033C2C56C2073020B43C3C56420701F5FF\
-C000003C4C569206CD0EEADD860300202C4101F1FFC0000056A204C2DCF0C02DC0CC6CCAE2D1EAFF\
-0606002030F456D3FD86FBFF00002020F501E8FFC00000EC82D0CCC0C02EC0C73DEB2ADC46030020\
-2C4101E1FFC00000DC42C2DCF0C02DC056BCFEC602003C5C8601003C6C4600003C7C08312D0CD811\
-C821E80112C1100DF0000C180000140010400C0000607418000064180000801800008C1800008418\
-0000881800009018000018980040880F0040A80F0040349800404C4A0040740F0040800F0040980F\
-00400099004012C1E091F5FFC961CD0221EFFFE941F9310971D9519011C01A223902E2D1180C0222\
-6E1D21E4FF31E9FF2AF11A332D0F42630001EAFFC00000C030B43C2256A31621E1FF1A2228022030\
-B43C3256B31501ADFFC00000DD023C4256ED1431D6FF4D010C52D90E192E126E0101DDFFC0000021\
-D2FF32A101C020004802303420C0200039022C0201D7FFC00000463300000031CDFF1A333803D023\
-C03199FF27B31ADC7F31CBFF1A3328030198FFC0000056C20E2193FF2ADD060E000031C6FF1A3328\
-030191FFC0000056820DD2DD10460800000021BEFF1A2228029CE231BCFFC020F51A33290331BBFF\
-C02C411A332903C0F0F4222E1D22D204273D9332A3FFC02000280E27B3F721ABFF381E1A2242A400\
-01B5FFC00000381E2D0C42A40001B3FFC0000056120801B2FFC00000C02000280EC2DC0422D2FCC0\
-2000290E01ADFFC00000222E1D22D204226E1D281E22D204E7B204291E860000126E012198FF32A0\
-042A21C54C003198FF222E1D1A33380337B202C6D6FF2C02019FFFC000002191FF318CFF1A223A31\
-019CFFC00000218DFF1C031A22C549000C02060300003C528601003C624600003C72918BFF9A1108\
-71C861D851E841F83112C1200DF00010000068100000581000007010000074100000781000007C10\
-0000801000001C4B0040803C004091FDFF12C1E061F7FFC961E941F9310971D9519011C01A662906\
-21F3FFC2D1101A22390231F2FF0C0F1A33590331EAFFF26C1AED045C2247B3028636002D0C016DFF\
-C0000021E5FF41EAFF2A611A4469040622000021E4FF1A222802F0D2C0D7BE01DD0E31E0FF4D0D1A\
-3328033D0101E2FFC00000561209D03D2010212001DFFFC000004D0D2D0C3D01015DFFC0000041D5\
-FFDAFF1A444804D0648041D2FF1A4462640061D1FF106680622600673F1331D0FF10338028030C43\
-853A002642164613000041CAFF222C1A1A444804202FC047328006F6FF222C1A273F3861C2FF222C\
-1A1A6668066732B921BDFF3D0C1022800148FFC0000021BAFF1C031A2201BFFFC000000C02460300\
-5C3206020000005C424600005C5291B7FF9A110871C861D851E841F83112C1200DF0B0100000C010\
-0000D010000012C1E091FEFFC961D951E9410971F931CD039011C0ED02DD0431A1FF9C1422A06247\
-B302062D0021F4FF1A22490286010021F1FF1A223902219CFF2AF12D0F011FFFC00000461C0022D1\
-10011CFFC0000021E9FFFD0C1A222802C7B20621E6FF1A22F8022D0E3D014D0F0195FFC000008C52\
-22A063C6180000218BFF3D01102280F04F200111FFC00000AC7D22D1103D014D0F010DFFC0000021\
-D6FF32D110102280010EFFC0000021D3FF1C031A220185FFC00000FAEEF0CCC056ACF821CDFF317A\
-FF1A223A310105FFC0000021C9FF1C031A22017CFFC000002D0C91C8FF9A110871C861D851E841F8\
-3112C1200DF0000200600000001040020060FFFFFF0012C1E00C02290131FAFF21FAFF026107C961\
-C02000226300C02000C80320CC10564CFF21F5FFC02000380221F4FF20231029010C432D010163FF\
-C0000008712D0CC86112C1200DF00080FE3F8449004012C1D0C9A109B17CFC22C1110C13C51C0026\
-1202463000220111C24110B68202462B0031F5FF3022A02802A002002D011C03851A0066820A2801\
-32210105A6FF0607003C12C60500000010212032A01085180066A20F2221003811482105B3FF2241\
-10861A004C1206FDFF2D011C03C5160066B20E280138114821583185CFFF06F7FF005C1286F5FF00\
-10212032A01085140066A20D2221003811482105E1FF06EFFF0022A06146EDFF45F0FFC6EBFF0000\
-01D2FFC0000006E9FF000C022241100C1322C110C50F00220111060600000022C1100C13C50E0022\
-011132C2FA303074B6230206C8FF08B1C8A112C1300DF0000000000010404F484149007519031027\
-000000110040A8100040BC0F0040583F0040CC2E00401CE20040D83900408000004021F4FF12C1E0\
-C961C80221F2FF097129010C02D951C91101F4FFC0000001F3FFC00000AC2C22A3E801F2FFC00000\
-21EAFFC031412A233D0C01EFFFC000003D0222A00001EDFFC00000C1E4FF2D0C01E8FFC000002D01\
-32A004450400C5E7FFDD022D0C01E3FFC00000666D1F4B2131DCFF4600004B22C0200048023794F5\
-31D9FFC0200039023DF08601000001DCFFC000000871C861D85112C1200DF000000012C1F0026103\
-01EAFEC00000083112C1100DF000643B004012C1D0E98109B1C9A1D991F97129013911E2A0C001FA\
-FFC00000CD02E792F40C0DE2A0C0F2A0DB860D00000001F4FFC00000204220E71240F7921C226102\
-01EFFFC0000052A0DC482157120952A0DD571205460500004D0C3801DA234242001BDD3811379DC5\
-C6000000000C0DC2A0C001E3FFC00000C792F608B12D0DC8A1D891E881F87112C1300DF00000", "\
-entry": 1074792180, "num_params": 1, "params_start": 1074790400, "data": "FE0510\
-401A0610403B0610405A0610407A061040820610408C0610408C061040", "data_start": 10736\
-43520}
-"""
-
-if __name__ == '__main__':
-    try:
-        main()
-    except FatalError as e:
-        print('\nA fatal error occurred: %s' % e)
-        sys.exit(2)
diff --git a/panda/python/flash_release.py b/panda/python/flash_release.py
index b50c9b36b3af78..ae50e6dc02d8ba 100755
--- a/panda/python/flash_release.py
+++ b/panda/python/flash_release.py
@@ -7,13 +7,13 @@
 import io
 
 def flash_release(path=None, st_serial=None):
-  from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
+  from panda import Panda, PandaDFU
   from zipfile import ZipFile
 
   def status(x):
-    print("\033[1;32;40m"+x+"\033[00m")
+    print("\033[1;32;40m" + x + "\033[00m")
 
-  if st_serial == None:
+  if st_serial is not None:
     # look for Panda
     panda_list = Panda.list()
     if len(panda_list) == 0:
@@ -23,33 +23,28 @@ def status(x):
     st_serial = panda_list[0]
     print("Using panda with serial %s" % st_serial)
 
-  if path == None:
+  if path is None:
     print("Fetching latest firmware from github.com/commaai/panda-artifacts")
     r = requests.get("https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json")
     url = json.loads(r.text)['url']
     r = requests.get(url)
     print("Fetching firmware from %s" % url)
-    path = io.StringIO(r.content)
+    path = io.BytesIO(r.content)
 
   zf = ZipFile(path)
   zf.printdir()
 
-  version = zf.read("version")
-  status("0. Preparing to flash "+version)
+  version = zf.read("version").decode().strip()
+  status("0. Preparing to flash " + str(version))
 
   code_bootstub = zf.read("bootstub.panda.bin")
   code_panda = zf.read("panda.bin")
 
-  code_boot_15 = zf.read("boot_v1.5.bin")
-  code_boot_15 = code_boot_15[0:2] + "\x00\x30" + code_boot_15[4:]
-
-  code_user1 = zf.read("user1.bin")
-  code_user2 = zf.read("user2.bin")
-
   # enter DFU mode
   status("1. Entering DFU mode")
   panda = Panda(st_serial)
-  panda.enter_bootloader()
+  panda.reset(enter_bootstub=True)
+  panda.reset(enter_bootloader=True)
   time.sleep(1)
 
   # program bootstub
@@ -64,23 +59,8 @@ def status(x):
   panda.flash(code=code_panda)
   panda.close()
 
-  # flashing ESP
-  status("4. Flashing ESP (slow!)")
-  align = lambda x, sz=0x1000: x+"\xFF"*((sz-len(x)) % sz)
-  esp = ESPROM(st_serial)
-  esp.connect()
-  flasher = CesantaFlasher(esp, 230400)
-  flasher.flash_write(0x0, align(code_boot_15), True)
-  flasher.flash_write(0x1000, align(code_user1), True)
-  flasher.flash_write(0x81000, align(code_user2), True)
-  flasher.flash_write(0x3FE000, "\xFF"*0x1000)
-  flasher.boot_fw()
-  del flasher
-  del esp
-  time.sleep(1)
-
   # check for connection
-  status("5. Verifying version")
+  status("4. Verifying version")
   panda = Panda(st_serial)
   my_version = panda.get_version()
   print("dongle id: %s" % panda.get_serial()[0])
@@ -92,4 +72,3 @@ def status(x):
 
 if __name__ == "__main__":
   flash_release(*sys.argv[1:])
-
diff --git a/panda/python/isotp.py b/panda/python/isotp.py
index 69cddc4ec220c1..45acb6abae7d70 100644
--- a/panda/python/isotp.py
+++ b/panda/python/isotp.py
@@ -1,4 +1,5 @@
 import binascii
+import time
 
 DEBUG = False
 
@@ -34,22 +35,22 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
   # TODO: handle other subaddr also communicating
   assert msg[0] == subaddr
 
-  if msg[1]&0xf0 == 0x10:
+  if msg[1] & 0xf0 == 0x10:
     # first
     tlen = ((msg[1] & 0xf) << 8) | msg[2]
     dat = msg[3:]
 
     # 0 block size?
-    CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00"*6
+    CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00" * 6
     panda.can_send(sendaddr, CONTINUE, bus)
 
     idx = 1
-    for mm in recv(panda, (tlen-len(dat) + 5)//6, addr, bus):
+    for mm in recv(panda, (tlen - len(dat) + 5) // 6, addr, bus):
       assert mm[0] == subaddr
-      assert mm[1] == (0x20 | (idx&0xF))
+      assert mm[1] == (0x20 | (idx & 0xF))
       dat += mm[2:]
       idx += 1
-  elif msg[1]&0xf0 == 0x00:
+  elif msg[1] & 0xf0 == 0x00:
     # single
     tlen = msg[1] & 0xf
     dat = msg[2:]
@@ -61,9 +62,9 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
 
 # **** import below this line ****
 
-def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None):
+def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None):
   if recvaddr is None:
-    recvaddr = addr+8
+    recvaddr = addr + 8
 
   if len(x) <= 7 and subaddr is None:
     panda.can_send(addr, msg(x), bus)
@@ -96,11 +97,16 @@ def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None):
         rr = recv(panda, 1, recvaddr, bus)[0]
       panda.can_send(addr, sends[-1], 0)
     else:
-      panda.can_send_many([(addr, None, s, 0) for s in sends])
+      if rate is None:
+        panda.can_send_many([(addr, None, s, bus) for s in sends])
+      else:
+        for dat in sends:
+          panda.can_send(addr, dat, bus)
+          time.sleep(rate)
 
 def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
   if sendaddr is None:
-    sendaddr = addr-8
+    sendaddr = addr - 8
 
   if subaddr is not None:
     dat = isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr)
@@ -113,13 +119,13 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
       dat = msg[2:]
 
       # 0 block size?
-      CONTINUE = b"\x30" + b"\x00"*7
+      CONTINUE = b"\x30" + b"\x00" * 7
 
       panda.can_send(sendaddr, CONTINUE, bus)
 
       idx = 1
-      for mm in recv(panda, (tlen-len(dat) + 6)//7, addr, bus):
-        assert mm[0] == (0x20 | (idx&0xF))
+      for mm in recv(panda, (tlen - len(dat) + 6) // 7, addr, bus):
+        assert mm[0] == (0x20 | (idx & 0xF))
         dat += mm[1:]
         idx += 1
     elif msg[0] & 0xf0 == 0x00:
@@ -134,4 +140,3 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
     print("R:", binascii.hexlify(dat))
 
   return dat
-
diff --git a/panda/python/serial.py b/panda/python/serial.py
index 4d900cf29f6610..97fe8f1d90d818 100644
--- a/panda/python/serial.py
+++ b/panda/python/serial.py
@@ -4,24 +4,32 @@ def __init__(self, panda, port, baud):
     self.panda = panda
     self.port = port
     self.panda.set_uart_parity(self.port, 0)
+    self._baudrate = baud
     self.panda.set_uart_baud(self.port, baud)
     self.buf = b""
 
-  def read(self, l=1):
+  def read(self, l=1):  # noqa: E741
     tt = self.panda.serial_read(self.port)
     if len(tt) > 0:
-      #print "R: ", tt.encode("hex")
       self.buf += tt
     ret = self.buf[0:l]
     self.buf = self.buf[l:]
     return ret
 
   def write(self, dat):
-    #print "W: ", dat.encode("hex")
-    #print '  pigeon_send("' + ''.join(map(lambda x: "\\x%02X" % ord(x), dat)) + '");'
     return self.panda.serial_write(self.port, dat)
 
   def close(self):
     pass
 
+  def flush(self):
+    pass
+
+  @property
+  def baudrate(self):
+    return self._baudrate
 
+  @baudrate.setter
+  def baudrate(self, value):
+    self.panda.set_uart_baud(self.port, value)
+    self._baudrate = value
diff --git a/panda/python/uds.py b/panda/python/uds.py
index 548f1bcceaab9c..d0119612c8e731 100644
--- a/panda/python/uds.py
+++ b/panda/python/uds.py
@@ -2,35 +2,36 @@
 import time
 import struct
 from collections import deque
-from typing import Callable, NamedTuple, Tuple, List
+from typing import Callable, NamedTuple, Tuple, List, Deque, Generator, Optional, cast
 from enum import IntEnum
+from functools import partial
 
 class SERVICE_TYPE(IntEnum):
-  DIAGNOSTIC_SESSION_CONTROL         = 0x10
-  ECU_RESET                          = 0x11
-  SECURITY_ACCESS                    = 0x27
-  COMMUNICATION_CONTROL              = 0x28
-  TESTER_PRESENT                     = 0x3E
-  ACCESS_TIMING_PARAMETER            = 0x83
-  SECURED_DATA_TRANSMISSION          = 0x84
-  CONTROL_DTC_SETTING                = 0x85
-  RESPONSE_ON_EVENT                  = 0x86
-  LINK_CONTROL                       = 0x87
-  READ_DATA_BY_IDENTIFIER            = 0x22
-  READ_MEMORY_BY_ADDRESS             = 0x23
-  READ_SCALING_DATA_BY_IDENTIFIER    = 0x24
-  READ_DATA_BY_PERIODIC_IDENTIFIER   = 0x2A
+  DIAGNOSTIC_SESSION_CONTROL = 0x10
+  ECU_RESET = 0x11
+  SECURITY_ACCESS = 0x27
+  COMMUNICATION_CONTROL = 0x28
+  TESTER_PRESENT = 0x3E
+  ACCESS_TIMING_PARAMETER = 0x83
+  SECURED_DATA_TRANSMISSION = 0x84
+  CONTROL_DTC_SETTING = 0x85
+  RESPONSE_ON_EVENT = 0x86
+  LINK_CONTROL = 0x87
+  READ_DATA_BY_IDENTIFIER = 0x22
+  READ_MEMORY_BY_ADDRESS = 0x23
+  READ_SCALING_DATA_BY_IDENTIFIER = 0x24
+  READ_DATA_BY_PERIODIC_IDENTIFIER = 0x2A
   DYNAMICALLY_DEFINE_DATA_IDENTIFIER = 0x2C
-  WRITE_DATA_BY_IDENTIFIER           = 0x2E
-  WRITE_MEMORY_BY_ADDRESS            = 0x3D
-  CLEAR_DIAGNOSTIC_INFORMATION       = 0x14
-  READ_DTC_INFORMATION               = 0x19
+  WRITE_DATA_BY_IDENTIFIER = 0x2E
+  WRITE_MEMORY_BY_ADDRESS = 0x3D
+  CLEAR_DIAGNOSTIC_INFORMATION = 0x14
+  READ_DTC_INFORMATION = 0x19
   INPUT_OUTPUT_CONTROL_BY_IDENTIFIER = 0x2F
-  ROUTINE_CONTROL                    = 0x31
-  REQUEST_DOWNLOAD                   = 0x34
-  REQUEST_UPLOAD                     = 0x35
-  TRANSFER_DATA                      = 0x36
-  REQUEST_TRANSFER_EXIT              = 0x37
+  ROUTINE_CONTROL = 0x31
+  REQUEST_DOWNLOAD = 0x34
+  REQUEST_UPLOAD = 0x35
+  TRANSFER_DATA = 0x36
+  REQUEST_TRANSFER_EXIT = 0x37
 
 class SESSION_TYPE(IntEnum):
   DEFAULT = 1
@@ -240,7 +241,7 @@ class InvalidSubFunctioneError(Exception):
     0x31: 'request out of range',
     0x33: 'security access denied',
     0x35: 'invalid key',
-    0x36: 'exceed numebr of attempts',
+    0x36: 'exceed number of attempts',
     0x37: 'required time delay not expired',
     0x70: 'upload download not accepted',
     0x71: 'transfer data suspended',
@@ -271,12 +272,13 @@ class InvalidSubFunctioneError(Exception):
 
 
 class CanClient():
-  def __init__(self, can_send: Callable[[Tuple[int, bytes, int]], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]], tx_addr: int, rx_addr: int, bus: int, sub_addr: int=None, debug: bool=False):
+  def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]],
+               tx_addr: int, rx_addr: int, bus: int, sub_addr: int = None, debug: bool = False):
     self.tx = can_send
     self.rx = can_recv
     self.tx_addr = tx_addr
     self.rx_addr = rx_addr
-    self.rx_buff = deque()
+    self.rx_buff = deque()  # type: Deque[bytes]
     self.sub_addr = sub_addr
     self.bus = bus
     self.debug = debug
@@ -286,30 +288,34 @@ def _recv_filter(self, bus: int, addr: int) -> bool:
     if self.tx_addr == 0x7DF:
       is_response = addr >= 0x7E8 and addr <= 0x7EF
       if is_response:
-        if self.debug: print(f"switch to physical addr {hex(addr)}")
-        self.tx_addr = addr-8
+        if self.debug:
+          print(f"switch to physical addr {hex(addr)}")
+        self.tx_addr = addr - 8
         self.rx_addr = addr
       return is_response
     if self.tx_addr == 0x18DB33F1:
       is_response = addr >= 0x18DAF100 and addr <= 0x18DAF1FF
       if is_response:
-        if self.debug: print(f"switch to physical addr {hex(addr)}")
-        self.tx_addr = 0x18DA00F1 + (addr<<8 & 0xFF00)
+        if self.debug:
+          print(f"switch to physical addr {hex(addr)}")
+        self.tx_addr = 0x18DA00F1 + (addr << 8 & 0xFF00)
         self.rx_addr = addr
     return bus == self.bus and addr == self.rx_addr
 
-  def _recv_buffer(self, drain: bool=False) -> None:
+  def _recv_buffer(self, drain: bool = False) -> None:
     while True:
       msgs = self.rx()
       if drain:
-        if self.debug: print("CAN-RX: drain - {}".format(len(msgs)))
+        if self.debug:
+          print("CAN-RX: drain - {}".format(len(msgs)))
         self.rx_buff.clear()
       else:
-        for rx_addr, rx_ts, rx_data, rx_bus in msgs or []:
+        for rx_addr, _, rx_data, rx_bus in msgs or []:
           if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0:
             rx_data = bytes(rx_data)  # convert bytearray to bytes
 
-            if self.debug: print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
+            if self.debug:
+              print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
 
             # Cut off sub addr in first byte
             if self.sub_addr is not None:
@@ -320,7 +326,7 @@ def _recv_buffer(self, drain: bool=False) -> None:
       if len(msgs) < 254:
         return
 
-  def recv(self, drain: bool=False) -> List[bytes]:
+  def recv(self, drain: bool = False) -> Generator[bytes, None, None]:
     # buffer rx messages in case two response messages are received at once
     # (e.g. response pending and success/failure response)
     self._recv_buffer(drain)
@@ -328,18 +334,20 @@ def recv(self, drain: bool=False) -> List[bytes]:
       while True:
         yield self.rx_buff.popleft()
     except IndexError:
-      pass # empty
+      pass  # empty
 
-  def send(self, msgs: List[bytes], delay: float=0) -> None:
+  def send(self, msgs: List[bytes], delay: float = 0) -> None:
     for i, msg in enumerate(msgs):
       if delay and i != 0:
-        if self.debug: print(f"CAN-TX: delay - {delay}")
+        if self.debug:
+          print(f"CAN-TX: delay - {delay}")
         time.sleep(delay)
 
       if self.sub_addr is not None:
         msg = bytes([self.sub_addr]) + msg
 
-      if self.debug: print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(msg)}")
+      if self.debug:
+        print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(msg)}")
       assert len(msg) <= 8
 
       self.tx(self.tx_addr, msg, self.bus)
@@ -348,7 +356,7 @@ def send(self, msgs: List[bytes], delay: float=0) -> None:
         self._recv_buffer()
 
 class IsoTpMessage():
-  def __init__(self, can_client: CanClient, timeout: float=1, debug: bool=False, max_len: int=8):
+  def __init__(self, can_client: CanClient, timeout: float = 1, debug: bool = False, max_len: int = 8):
     self._can_client = can_client
     self.timeout = timeout
     self.debug = debug
@@ -368,45 +376,54 @@ def send(self, dat: bytes) -> None:
     self.rx_idx = 0
     self.rx_done = False
 
-    if self.debug: print(f"ISO-TP: REQUEST - 0x{bytes.hex(self.tx_dat)}")
+    if self.debug:
+      print(f"ISO-TP: REQUEST - {hex(self._can_client.tx_addr)} 0x{bytes.hex(self.tx_dat)}")
     self._tx_first_frame()
 
   def _tx_first_frame(self) -> None:
-    if self.tx_len < 8:
+    if self.tx_len < self.max_len:
       # single frame (send all bytes)
-      if self.debug: print("ISO-TP: TX - single frame")
+      if self.debug:
+        print(f"ISO-TP: TX - single frame - {hex(self._can_client.tx_addr)}")
       msg = (bytes([self.tx_len]) + self.tx_dat).ljust(self.max_len, b"\x00")
       self.tx_done = True
     else:
       # first frame (send first 6 bytes)
-      if self.debug: print("ISO-TP: TX - first frame")
-      msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:6]).ljust(self.max_len, b"\x00")
+      if self.debug:
+        print(f"ISO-TP: TX - first frame - {hex(self._can_client.tx_addr)}")
+      msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:self.max_len - 2]).ljust(self.max_len - 2, b"\x00")
     self._can_client.send([msg])
 
-  def recv(self) -> bytes:
-    start_time = time.time()
+  def recv(self, timeout=None) -> Optional[bytes]:
+    if timeout is None:
+      timeout = self.timeout
+
+    start_time = time.monotonic()
     try:
       while True:
         for msg in self._can_client.recv():
           self._isotp_rx_next(msg)
+          start_time = time.monotonic()
           if self.tx_done and self.rx_done:
             return self.rx_dat
         # no timeout indicates non-blocking
-        if self.timeout == 0:
+        if timeout == 0:
           return None
-        if time.time() - start_time > self.timeout:
+        if time.monotonic() - start_time > timeout:
           raise MessageTimeoutError("timeout waiting for response")
     finally:
-      if self.debug and self.rx_dat: print(f"ISO-TP: RESPONSE - 0x{bytes.hex(self.rx_dat)}")
+      if self.debug and self.rx_dat:
+        print(f"ISO-TP: RESPONSE - {hex(self._can_client.rx_addr)} 0x{bytes.hex(self.rx_dat)}")
 
   def _isotp_rx_next(self, rx_data: bytes) -> None:
     # single rx_frame
     if rx_data[0] >> 4 == 0x0:
       self.rx_len = rx_data[0] & 0xFF
-      self.rx_dat = rx_data[1:1+self.rx_len]
+      self.rx_dat = rx_data[1:1 + self.rx_len]
       self.rx_idx = 0
       self.rx_done = True
-      if self.debug: print(f"ISO-TP: RX - single frame - idx={self.rx_idx} done={self.rx_done}")
+      if self.debug:
+        print(f"ISO-TP: RX - single frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
       return
 
     # first rx_frame
@@ -415,8 +432,10 @@ def _isotp_rx_next(self, rx_data: bytes) -> None:
       self.rx_dat = rx_data[2:]
       self.rx_idx = 0
       self.rx_done = False
-      if self.debug: print(f"ISO-TP: RX - first frame - idx={self.rx_idx} done={self.rx_done}")
-      if self.debug: print(f"ISO-TP: TX - flow control continue")
+      if self.debug:
+        print(f"ISO-TP: RX - first frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
+      if self.debug:
+        print(f"ISO-TP: TX - flow control continue - {hex(self._can_client.tx_addr)}")
       # send flow control message (send all bytes)
       msg = b"\x30\x00\x00".ljust(self.max_len, b"\x00")
       self._can_client.send([msg])
@@ -424,23 +443,25 @@ def _isotp_rx_next(self, rx_data: bytes) -> None:
 
     # consecutive rx frame
     if rx_data[0] >> 4 == 0x2:
-      assert self.rx_done == False, "isotp - rx: consecutive frame with no active frame"
+      assert not self.rx_done, "isotp - rx: consecutive frame with no active frame"
       self.rx_idx += 1
       assert self.rx_idx & 0xF == rx_data[0] & 0xF, "isotp - rx: invalid consecutive frame index"
       rx_size = self.rx_len - len(self.rx_dat)
-      self.rx_dat += rx_data[1:1+rx_size]
+      self.rx_dat += rx_data[1:1 + rx_size]
       if self.rx_len == len(self.rx_dat):
         self.rx_done = True
-      if self.debug: print(f"ISO-TP: RX - consecutive frame - idx={self.rx_idx} done={self.rx_done}")
+      if self.debug:
+        print(f"ISO-TP: RX - consecutive frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
       return
 
     # flow control
     if rx_data[0] >> 4 == 0x3:
-      assert self.tx_done == False, "isotp - rx: flow control with no active frame"
+      assert not self.tx_done, "isotp - rx: flow control with no active frame"
       assert rx_data[0] != 0x32, "isotp - rx: flow-control overflow/abort"
       assert rx_data[0] == 0x30 or rx_data[0] == 0x31, "isotp - rx: flow-control transfer state indicator invalid"
       if rx_data[0] == 0x30:
-        if self.debug: print("ISO-TP: RX - flow control continue")
+        if self.debug:
+          print(f"ISO-TP: RX - flow control continue - {hex(self._can_client.tx_addr)}")
         delay_ts = rx_data[2] & 0x7F
         # scale is 1 milliseconds if first bit == 0, 100 micro seconds if first bit == 1
         delay_div = 1000. if rx_data[2] & 0x80 == 0 else 10000.
@@ -455,45 +476,51 @@ def _isotp_rx_next(self, rx_data: bytes) -> None:
         for i in range(start, end, num_bytes):
           self.tx_idx += 1
           # consecutive tx messages
-          msg = (bytes([0x20 | (self.tx_idx & 0xF)]) + self.tx_dat[i:i+num_bytes]).ljust(self.max_len, b"\x00")
+          msg = (bytes([0x20 | (self.tx_idx & 0xF)]) + self.tx_dat[i:i + num_bytes]).ljust(self.max_len, b"\x00")
           tx_msgs.append(msg)
         # send consecutive tx messages
         self._can_client.send(tx_msgs, delay=delay_sec)
         if end >= self.tx_len:
           self.tx_done = True
-        if self.debug: print(f"ISO-TP: TX - consecutive frame - idx={self.tx_idx} done={self.tx_done}")
+        if self.debug:
+          print(f"ISO-TP: TX - consecutive frame - {hex(self._can_client.tx_addr)} idx={self.tx_idx} done={self.tx_done}")
       elif rx_data[0] == 0x31:
         # wait (do nothing until next flow control message)
-        if self.debug: print("ISO-TP: TX - flow control wait")
+        if self.debug:
+          print(f"ISO-TP: TX - flow control wait - {hex(self._can_client.tx_addr)}")
 
 FUNCTIONAL_ADDRS = [0x7DF, 0x18DB33F1]
 
-def get_rx_addr_for_tx_addr(tx_addr):
+def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8):
   if tx_addr in FUNCTIONAL_ADDRS:
     return None
 
   if tx_addr < 0xFFF8:
-    # standard 11 bit response addr (add 8)
-    return tx_addr + 8
+    # pseudo-standard 11 bit response addr (add 8) works for most manufacturers
+    # allow override; some manufacturers use other offsets for non-OBD2 access
+    return tx_addr + rx_offset
 
   if tx_addr > 0x10000000 and tx_addr < 0xFFFFFFFF:
     # standard 29 bit response addr (flip last two bytes)
-    return (tx_addr & 0xFFFF0000) + (tx_addr<<8 & 0xFF00) + (tx_addr>>8 & 0xFF)
+    return (tx_addr & 0xFFFF0000) + (tx_addr << 8 & 0xFF00) + (tx_addr >> 8 & 0xFF)
 
   raise ValueError("invalid tx_addr: {}".format(tx_addr))
 
 
 class UdsClient():
-  def __init__(self, panda, tx_addr: int, rx_addr: int=None, bus: int=0, timeout: float=1, debug: bool=False):
+  def __init__(self, panda, tx_addr: int, rx_addr: int = None, bus: int = 0, timeout: float = 1, debug: bool = False,
+               tx_timeout: float = 1, response_pending_timeout: float = 10):
     self.bus = bus
     self.tx_addr = tx_addr
     self.rx_addr = rx_addr if rx_addr is not None else get_rx_addr_for_tx_addr(tx_addr)
     self.timeout = timeout
     self.debug = debug
-    self._can_client = CanClient(panda.can_send, panda.can_recv, self.tx_addr, self.rx_addr, self.bus, debug=self.debug)
+    can_send_with_timeout = partial(panda.can_send, timeout=int(tx_timeout*1000))
+    self._can_client = CanClient(can_send_with_timeout, panda.can_recv, self.tx_addr, self.rx_addr, self.bus, debug=self.debug)
+    self.response_pending_timeout = response_pending_timeout
 
   # generic uds request
-  def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int=None, data: bytes=None) -> bytes:
+  def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int = None, data: bytes = None) -> bytes:
     req = bytes([service_type])
     if subfunction is not None:
       req += bytes([subfunction])
@@ -503,8 +530,15 @@ def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int=None, data:
     # send request, wait for response
     isotp_msg = IsoTpMessage(self._can_client, self.timeout, self.debug)
     isotp_msg.send(req)
+    response_pending = False
     while True:
-      resp = isotp_msg.recv()
+      timeout = self.response_pending_timeout if response_pending else self.timeout
+      resp = isotp_msg.recv(timeout)
+
+      if resp is None:
+        continue
+
+      response_pending = False
       resp_sid = resp[0] if len(resp) > 0 else None
 
       # negative response
@@ -518,15 +552,17 @@ def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int=None, data:
         try:
           error_desc = _negative_response_codes[error_code]
         except BaseException:
-          error_desc = resp[3:]
+          error_desc = resp[3:].hex()
         # wait for another message if response pending
         if error_code == 0x78:
-          if self.debug: print("UDS-RX: response pending")
+          response_pending = True
+          if self.debug:
+            print("UDS-RX: response pending")
           continue
         raise NegativeResponseError('{} - {}'.format(service_desc, error_desc), service_id, error_code)
 
       # positive response
-      if service_type+0x40 != resp_sid:
+      if service_type + 0x40 != resp_sid:
         resp_sid_hex = hex(resp_sid) if resp_sid is not None else None
         raise InvalidServiceIdError('invalid response service id: {}'.format(resp_sid_hex))
 
@@ -534,7 +570,7 @@ def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int=None, data:
         resp_sfn = resp[1] if len(resp) > 1 else None
         if subfunction != resp_sfn:
           resp_sfn_hex = hex(resp_sfn) if resp_sfn is not None else None
-          raise InvalidSubFunctioneError('invalid response subfunction: {}'.format(hex(resp_sfn_hex)))
+          raise InvalidSubFunctioneError(f'invalid response subfunction: {resp_sfn_hex:x}')
 
       # return data (exclude service id and sub-function id)
       return resp[(1 if subfunction is None else 2):]
@@ -550,13 +586,16 @@ def ecu_reset(self, reset_type: RESET_TYPE):
       power_down_time = resp[0]
       return power_down_time
 
-  def security_access(self, access_type: ACCESS_TYPE, security_key: bytes=None):
+  def security_access(self, access_type: ACCESS_TYPE, security_key: bytes = b'', data_record: bytes = b''):
     request_seed = access_type % 2 != 0
-    if request_seed and security_key is not None:
+    if request_seed and len(security_key) != 0:
       raise ValueError('security_key not allowed')
-    if not request_seed and security_key is None:
+    if not request_seed and len(security_key) == 0:
       raise ValueError('security_key is missing')
-    resp = self._uds_request(SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=security_key)
+    if not request_seed and len(data_record) != 0:
+      raise ValueError('data_record not allowed')
+    data = security_key + data_record
+    resp = self._uds_request(SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=data)
     if request_seed:
       security_seed = resp
       return security_seed
@@ -568,12 +607,10 @@ def communication_control(self, control_type: CONTROL_TYPE, message_type: MESSAG
   def tester_present(self, ):
     self._uds_request(SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00)
 
-  def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: bytes=None):
+  def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: bytes = None):
     write_custom_values = timing_parameter_type == TIMING_PARAMETER_TYPE.SET_TO_GIVEN_VALUES
-    read_values = (
-      timing_parameter_type == TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or
-      timing_parameter_type == TIMING_PARAMETER_TYPE.READ_EXTENDED_SET
-    )
+    read_values = (timing_parameter_type == TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or
+                   timing_parameter_type == TIMING_PARAMETER_TYPE.READ_EXTENDED_SET)
     if not write_custom_values and parameter_values is not None:
       raise ValueError('parameter_values not allowed')
     if write_custom_values and parameter_values is None:
@@ -593,9 +630,10 @@ def secured_data_transmission(self, data: bytes):
   def control_dtc_setting(self, dtc_setting_type: DTC_SETTING_TYPE):
     self._uds_request(SERVICE_TYPE.CONTROL_DTC_SETTING, subfunction=dtc_setting_type)
 
-  def response_on_event(self, response_event_type: RESPONSE_EVENT_TYPE, store_event: bool, window_time: int, event_type_record: int, service_response_record: int):
+  def response_on_event(self, response_event_type: RESPONSE_EVENT_TYPE, store_event: bool, window_time: int,
+                        event_type_record: int, service_response_record: int):
     if store_event:
-      response_event_type |= 0x20
+      response_event_type |= 0x20  # type: ignore
     # TODO: split record parameters into arrays
     data = bytes([window_time, event_type_record, service_response_record])
     resp = self._uds_request(SERVICE_TYPE.RESPONSE_ON_EVENT, subfunction=response_event_type, data=data)
@@ -603,19 +641,21 @@ def response_on_event(self, response_event_type: RESPONSE_EVENT_TYPE, store_even
     if response_event_type == RESPONSE_EVENT_TYPE.REPORT_ACTIVATED_EVENTS:
       return {
         "num_of_activated_events": resp[0],
-        "data": resp[1:], # TODO: parse the reset of response
+        "data": resp[1:],  # TODO: parse the reset of response
       }
 
     return {
       "num_of_identified_events": resp[0],
       "event_window_time": resp[1],
-      "data": resp[2:], # TODO: parse the reset of response
+      "data": resp[2:],  # TODO: parse the reset of response
     }
 
-  def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE=None):
+  def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE = None):
+    data: Optional[bytes]
+
     if link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE:
       # baud_rate_type = BAUD_RATE_TYPE
-      data = bytes([baud_rate_type])
+      data = bytes([cast(int, baud_rate_type)])
     elif link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE:
       # baud_rate_type = custom value (3 bytes big-endian)
       data = struct.pack('!I', baud_rate_type)[1:]
@@ -629,22 +669,22 @@ def read_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE):
     resp = self._uds_request(SERVICE_TYPE.READ_DATA_BY_IDENTIFIER, subfunction=None, data=data)
     resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
     if resp_id != data_identifier_type:
-      raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
+      raise ValueError('invalid response data identifier: {} expected: {}'.format(hex(resp_id), hex(data_identifier_type)))
     return resp[2:]
 
-  def read_memory_by_address(self, memory_address: int, memory_size: int, memory_address_bytes: int=4, memory_size_bytes: int=1):
+  def read_memory_by_address(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 1):
     if memory_address_bytes < 1 or memory_address_bytes > 4:
       raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
     if memory_size_bytes < 1 or memory_size_bytes > 4:
       raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
-    data = bytes([memory_size_bytes<<4 | memory_address_bytes])
+    data = bytes([memory_size_bytes << 4 | memory_address_bytes])
 
-    if memory_address >= 1<<(memory_address_bytes*8):
+    if memory_address >= 1 << (memory_address_bytes * 8):
       raise ValueError('invalid memory_address: {}'.format(memory_address))
-    data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
-    if memory_size >= 1<<(memory_size_bytes*8):
+    data += struct.pack('!I', memory_address)[4 - memory_address_bytes:]
+    if memory_size >= 1 << (memory_size_bytes * 8):
       raise ValueError('invalid memory_size: {}'.format(memory_size))
-    data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
+    data += struct.pack('!I', memory_size)[4 - memory_size_bytes:]
 
     resp = self._uds_request(SERVICE_TYPE.READ_MEMORY_BY_ADDRESS, subfunction=None, data=data)
     return resp
@@ -655,14 +695,15 @@ def read_scaling_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_
     resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
     if resp_id != data_identifier_type:
       raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
-    return resp[2:] # TODO: parse the response
+    return resp[2:]  # TODO: parse the response
 
   def read_data_by_periodic_identifier(self, transmission_mode_type: TRANSMISSION_MODE_TYPE, periodic_data_identifier: int):
     # TODO: support list of identifiers
     data = bytes([transmission_mode_type, periodic_data_identifier])
     self._uds_request(SERVICE_TYPE.READ_DATA_BY_PERIODIC_IDENTIFIER, subfunction=None, data=data)
 
-  def dynamically_define_data_identifier(self, dynamic_definition_type: DYNAMIC_DEFINITION_TYPE, dynamic_data_identifier: int, source_definitions: List[DynamicSourceDefinition], memory_address_bytes: int=4, memory_size_bytes: int=1):
+  def dynamically_define_data_identifier(self, dynamic_definition_type: DYNAMIC_DEFINITION_TYPE, dynamic_data_identifier: int,
+                                         source_definitions: List[DynamicSourceDefinition], memory_address_bytes: int = 4, memory_size_bytes: int = 1):
     if memory_address_bytes < 1 or memory_address_bytes > 4:
       raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
     if memory_size_bytes < 1 or memory_size_bytes > 4:
@@ -671,16 +712,16 @@ def dynamically_define_data_identifier(self, dynamic_definition_type: DYNAMIC_DE
     data = struct.pack('!H', dynamic_data_identifier)
     if dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_IDENTIFIER:
       for s in source_definitions:
-        data += struct.pack('!H', s["data_identifier"]) + bytes([s["position"], s["memory_size"]])
+        data += struct.pack('!H', s.data_identifier) + bytes([s.position, s.memory_size])
     elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_MEMORY_ADDRESS:
-      data += bytes([memory_size_bytes<<4 | memory_address_bytes])
+      data += bytes([memory_size_bytes << 4 | memory_address_bytes])
       for s in source_definitions:
-        if s["memory_address"] >= 1<<(memory_address_bytes*8):
-          raise ValueError('invalid memory_address: {}'.format(s["memory_address"]))
-        data += struct.pack('!I', s["memory_address"])[4-memory_address_bytes:]
-        if s["memory_size"] >= 1<<(memory_size_bytes*8):
-          raise ValueError('invalid memory_size: {}'.format(s["memory_size"]))
-        data += struct.pack('!I', s["memory_size"])[4-memory_size_bytes:]
+        if s.memory_address >= 1 << (memory_address_bytes * 8):
+          raise ValueError('invalid memory_address: {}'.format(s.memory_address))
+        data += struct.pack('!I', s.memory_address)[4 - memory_address_bytes:]
+        if s.memory_size >= 1 << (memory_size_bytes * 8):
+          raise ValueError('invalid memory_size: {}'.format(s.memory_size))
+        data += struct.pack('!I', s.memory_size)[4 - memory_size_bytes:]
     elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER:
       pass
     else:
@@ -694,64 +735,67 @@ def write_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, d
     if resp_id != data_identifier_type:
       raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
 
-  def write_memory_by_address(self, memory_address: int, memory_size: int, data_record: bytes, memory_address_bytes: int=4, memory_size_bytes: int=1):
+  def write_memory_by_address(self, memory_address: int, memory_size: int, data_record: bytes, memory_address_bytes: int = 4, memory_size_bytes: int = 1):
     if memory_address_bytes < 1 or memory_address_bytes > 4:
       raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
     if memory_size_bytes < 1 or memory_size_bytes > 4:
       raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
-    data = bytes([memory_size_bytes<<4 | memory_address_bytes])
+    data = bytes([memory_size_bytes << 4 | memory_address_bytes])
 
-    if memory_address >= 1<<(memory_address_bytes*8):
+    if memory_address >= 1 << (memory_address_bytes * 8):
       raise ValueError('invalid memory_address: {}'.format(memory_address))
-    data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
-    if memory_size >= 1<<(memory_size_bytes*8):
+    data += struct.pack('!I', memory_address)[4 - memory_address_bytes:]
+    if memory_size >= 1 << (memory_size_bytes * 8):
       raise ValueError('invalid memory_size: {}'.format(memory_size))
-    data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
+    data += struct.pack('!I', memory_size)[4 - memory_size_bytes:]
 
     data += data_record
     self._uds_request(SERVICE_TYPE.WRITE_MEMORY_BY_ADDRESS, subfunction=0x00, data=data)
 
   def clear_diagnostic_information(self, dtc_group_type: DTC_GROUP_TYPE):
-    data = struct.pack('!I', dtc_group_type)[1:] # 3 bytes
+    data = struct.pack('!I', dtc_group_type)[1:]  # 3 bytes
     self._uds_request(SERVICE_TYPE.CLEAR_DIAGNOSTIC_INFORMATION, subfunction=None, data=data)
 
-  def read_dtc_information(self, dtc_report_type: DTC_REPORT_TYPE, dtc_status_mask_type: DTC_STATUS_MASK_TYPE=DTC_STATUS_MASK_TYPE.ALL, dtc_severity_mask_type: DTC_SEVERITY_MASK_TYPE=DTC_SEVERITY_MASK_TYPE.ALL, dtc_mask_record: int=0xFFFFFF, dtc_snapshot_record_num: int=0xFF, dtc_extended_record_num: int=0xFF):
+  def read_dtc_information(self, dtc_report_type: DTC_REPORT_TYPE, dtc_status_mask_type: DTC_STATUS_MASK_TYPE = DTC_STATUS_MASK_TYPE.ALL,
+                           dtc_severity_mask_type: DTC_SEVERITY_MASK_TYPE = DTC_SEVERITY_MASK_TYPE.ALL, dtc_mask_record: int = 0xFFFFFF,
+                           dtc_snapshot_record_num: int = 0xFF, dtc_extended_record_num: int = 0xFF):
     data = b''
     # dtc_status_mask_type
     if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_STATUS_MASK or \
-      dtc_report_type == DTC_REPORT_TYPE.DTC_BY_STATUS_MASK or \
-      dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_BY_STATUS_MASK or \
-      dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK or \
-      dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK or \
-      dtc_report_type == DTC_REPORT_TYPE.EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK:
-      data += bytes([dtc_status_mask_type])
+       dtc_report_type == DTC_REPORT_TYPE.DTC_BY_STATUS_MASK or \
+       dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_BY_STATUS_MASK or \
+       dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK or \
+       dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK or \
+       dtc_report_type == DTC_REPORT_TYPE.EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK:
+       data += bytes([dtc_status_mask_type])
     # dtc_mask_record
     if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \
-      dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
-      dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
-      dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
-      dtc_report_type == DTC_REPORT_TYPE.SEVERITY_INFORMATION_OF_DTC:
-      data += struct.pack('!I', dtc_mask_record)[1:] # 3 bytes
+       dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
+       dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
+       dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
+       dtc_report_type == DTC_REPORT_TYPE.SEVERITY_INFORMATION_OF_DTC:
+       data += struct.pack('!I', dtc_mask_record)[1:]  # 3 bytes
     # dtc_snapshot_record_num
     if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \
-      dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
-      dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER:
-      data += ord(dtc_snapshot_record_num)
+       dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
+       dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER:
+       data += bytes([dtc_snapshot_record_num])
     # dtc_extended_record_num
     if dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
-      dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER:
-      data += bytes([dtc_extended_record_num])
+       dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER:
+       data += bytes([dtc_extended_record_num])
     # dtc_severity_mask_type
     if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD or \
-      dtc_report_type == DTC_REPORT_TYPE.DTC_BY_SEVERITY_MASK_RECORD:
-      data += bytes([dtc_severity_mask_type, dtc_status_mask_type])
+       dtc_report_type == DTC_REPORT_TYPE.DTC_BY_SEVERITY_MASK_RECORD:
+       data += bytes([dtc_severity_mask_type, dtc_status_mask_type])
 
     resp = self._uds_request(SERVICE_TYPE.READ_DTC_INFORMATION, subfunction=dtc_report_type, data=data)
 
     # TODO: parse response
     return resp
 
-  def input_output_control_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, control_parameter_type: CONTROL_PARAMETER_TYPE, control_option_record: bytes, control_enable_mask_record: bytes=b''):
+  def input_output_control_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, control_parameter_type: CONTROL_PARAMETER_TYPE,
+                                         control_option_record: bytes = b'', control_enable_mask_record: bytes = b''):
     data = struct.pack('!H', data_identifier_type) + bytes([control_parameter_type]) + control_option_record + control_enable_mask_record
     resp = self._uds_request(SERVICE_TYPE.INPUT_OUTPUT_CONTROL_BY_IDENTIFIER, subfunction=None, data=data)
     resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
@@ -759,7 +803,7 @@ def input_output_control_by_identifier(self, data_identifier_type: DATA_IDENTIFI
       raise ValueError('invalid response data identifier: {}'.format(hex(resp_id)))
     return resp[2:]
 
-  def routine_control(self, routine_control_type: ROUTINE_CONTROL_TYPE, routine_identifier_type: ROUTINE_IDENTIFIER_TYPE, routine_option_record: bytes=b''):
+  def routine_control(self, routine_control_type: ROUTINE_CONTROL_TYPE, routine_identifier_type: ROUTINE_IDENTIFIER_TYPE, routine_option_record: bytes = b''):
     data = struct.pack('!H', routine_identifier_type) + routine_option_record
     resp = self._uds_request(SERVICE_TYPE.ROUTINE_CONTROL, subfunction=routine_control_type, data=data)
     resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
@@ -767,57 +811,57 @@ def routine_control(self, routine_control_type: ROUTINE_CONTROL_TYPE, routine_id
       raise ValueError('invalid response routine identifier: {}'.format(hex(resp_id)))
     return resp[2:]
 
-  def request_download(self, memory_address: int, memory_size: int, memory_address_bytes: int=4, memory_size_bytes: int=4, data_format: int=0x00):
+  def request_download(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 4, data_format: int = 0x00):
     data = bytes([data_format])
 
     if memory_address_bytes < 1 or memory_address_bytes > 4:
       raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
     if memory_size_bytes < 1 or memory_size_bytes > 4:
       raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
-    data += bytes([memory_size_bytes<<4 | memory_address_bytes])
+    data += bytes([memory_size_bytes << 4 | memory_address_bytes])
 
-    if memory_address >= 1<<(memory_address_bytes*8):
+    if memory_address >= 1 << (memory_address_bytes * 8):
       raise ValueError('invalid memory_address: {}'.format(memory_address))
-    data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
-    if memory_size >= 1<<(memory_size_bytes*8):
+    data += struct.pack('!I', memory_address)[4 - memory_address_bytes:]
+    if memory_size >= 1 << (memory_size_bytes * 8):
       raise ValueError('invalid memory_size: {}'.format(memory_size))
-    data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
+    data += struct.pack('!I', memory_size)[4 - memory_size_bytes:]
 
     resp = self._uds_request(SERVICE_TYPE.REQUEST_DOWNLOAD, subfunction=None, data=data)
-    max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else None
+    max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0
     if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
-      max_num_bytes = struct.unpack('!I', (b"\x00"*(4-max_num_bytes_len))+resp[1:max_num_bytes_len+1])[0]
+      max_num_bytes = struct.unpack('!I', (b"\x00" * (4 - max_num_bytes_len)) + resp[1:max_num_bytes_len + 1])[0]
     else:
       raise ValueError('invalid max_num_bytes_len: {}'.format(max_num_bytes_len))
 
-    return max_num_bytes # max number of bytes per transfer data request
+    return max_num_bytes  # max number of bytes per transfer data request
 
-  def request_upload(self, memory_address: int, memory_size: int, memory_address_bytes: int=4, memory_size_bytes: int=4, data_format: int=0x00):
+  def request_upload(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 4, data_format: int = 0x00):
     data = bytes([data_format])
 
     if memory_address_bytes < 1 or memory_address_bytes > 4:
       raise ValueError('invalid memory_address_bytes: {}'.format(memory_address_bytes))
     if memory_size_bytes < 1 or memory_size_bytes > 4:
       raise ValueError('invalid memory_size_bytes: {}'.format(memory_size_bytes))
-    data += bytes([memory_size_bytes<<4 | memory_address_bytes])
+    data += bytes([memory_size_bytes << 4 | memory_address_bytes])
 
-    if memory_address >= 1<<(memory_address_bytes*8):
+    if memory_address >= 1 << (memory_address_bytes * 8):
       raise ValueError('invalid memory_address: {}'.format(memory_address))
-    data += struct.pack('!I', memory_address)[4-memory_address_bytes:]
-    if memory_size >= 1<<(memory_size_bytes*8):
+    data += struct.pack('!I', memory_address)[4 - memory_address_bytes:]
+    if memory_size >= 1 << (memory_size_bytes * 8):
       raise ValueError('invalid memory_size: {}'.format(memory_size))
-    data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
+    data += struct.pack('!I', memory_size)[4 - memory_size_bytes:]
 
     resp = self._uds_request(SERVICE_TYPE.REQUEST_UPLOAD, subfunction=None, data=data)
-    max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else None
+    max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0
     if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
-      max_num_bytes = struct.unpack('!I', (b"\x00"*(4-max_num_bytes_len))+resp[1:max_num_bytes_len+1])[0]
+      max_num_bytes = struct.unpack('!I', (b"\x00" * (4 - max_num_bytes_len)) + resp[1:max_num_bytes_len + 1])[0]
     else:
       raise ValueError('invalid max_num_bytes_len: {}'.format(max_num_bytes_len))
 
-    return max_num_bytes # max number of bytes per transfer data request
+    return max_num_bytes  # max number of bytes per transfer data request
 
-  def transfer_data(self, block_sequence_count: int, data: bytes=b''):
+  def transfer_data(self, block_sequence_count: int, data: bytes = b''):
     data = bytes([block_sequence_count]) + data
     resp = self._uds_request(SERVICE_TYPE.TRANSFER_DATA, subfunction=None, data=data)
     resp_id = resp[0] if len(resp) > 0 else None
diff --git a/panda/python/update.py b/panda/python/update.py
index 7d8d2c04023b8e..f8e32804449272 100755
--- a/panda/python/update.py
+++ b/panda/python/update.py
@@ -42,4 +42,3 @@ def ensure_st_up_to_date():
 
 if __name__ == "__main__":
   ensure_st_up_to_date()
-
diff --git a/panda/release/.gitignore b/panda/release/.gitignore
deleted file mode 100644
index c4c4ffc6aa41a8..00000000000000
--- a/panda/release/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.zip
diff --git a/panda/release/make_release.sh b/panda/release/make_release.sh
deleted file mode 100755
index 5aec1a79495fe1..00000000000000
--- a/panda/release/make_release.sh
+++ /dev/null
@@ -1,41 +0,0 @@
-#!/bin/bash
-
-if [ ! -d "../../pandaextra" ]; then
-  echo "No release cert found, cannot build release."
-  echo "You probably aren't looking to do this anyway."
-  exit
-fi
-
-export RELEASE=1
-export BUILDER=DEV
-
-# make ST + bootstub
-pushd .
-cd ../board
-make clean
-make obj/panda.bin
-make obj/bootstub.panda.bin
-popd
-
-# make ESP
-pushd .
-cd ../boardesp
-make clean
-make user1.bin
-make user2.bin
-popd
-
-# make release
-mkdir obj
-make -f ../common/version.mk
-make obj/gitversion.h
-RELEASE_NAME=$(python -c "import sys;sys.stdout.write(open('obj/gitversion.h').read().split('\"')[1])")
-echo -en $RELEASE_NAME > /tmp/version
-rm -rf obj
-
-# make zip file
-pushd .
-cd ..
-zip -j release/panda-$RELEASE_NAME.zip ~/one/panda/board/obj/bootstub.panda.bin ~/one/panda/board/obj/panda.bin ~/one/panda/boardesp/user?.bin ~/one/panda/boardesp/esp-open-sdk/ESP8266_NONOS_SDK_V1.5.4_16_05_20/bin/boot_v1.5.bin /tmp/version
-popd
-
diff --git a/panda/release/ota_release.sh b/panda/release/ota_release.sh
deleted file mode 100755
index 541a196ba7e408..00000000000000
--- a/panda/release/ota_release.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/bin/bash
-mkdir -p /tmp/panda_firmware
-unzip -o $1 -d /tmp/panda_firmware
-
-curl http://192.168.0.10/
-
-echo "flashing user1"
-curl http://192.168.0.10/espupdate1 --upload-file /tmp/panda_firmware/user1.bin
-echo "flashing user2"
-curl http://192.168.0.10/espupdate2 --upload-file /tmp/panda_firmware/user2.bin
-echo "waiting 10s for reboot"
-sleep 10
-echo "flashing st"
-curl http://192.168.0.10/stupdate --upload-file /tmp/panda_firmware/panda.bin
-sleep 2
-curl http://192.168.0.10/
-echo "done"
-
diff --git a/panda/requirements.txt b/panda/requirements.txt
deleted file mode 100644
index 5ceb3cf6e7d6cf..00000000000000
--- a/panda/requirements.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-libusb1 == 1.6.6
-numpy==1.17.2
-hexdump>=3.3
-pycrypto==2.6.1
-tqdm>=4.14.0
-nose
-parameterized
-requests
-flake8==3.7.9
-pylint==2.4.3
-cffi==1.11.4
diff --git a/panda/run_automated_tests.sh b/panda/run_automated_tests.sh
deleted file mode 100755
index e876c670a74c0e..00000000000000
--- a/panda/run_automated_tests.sh
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/bin/bash -e
-TEST_FILENAME=${TEST_FILENAME:-nosetests.xml}
-if [ -f "/EON" ]; then
-  TESTSUITE_NAME="Panda_Test-EON"
-else
-  TESTSUITE_NAME="Panda_Test-DEV"
-fi
-
-if [ ! -z "${SKIPWIFI}" ] || [ -f "/EON" ]; then
-  TEST_SCRIPTS=$(ls tests/automated/$1*.py | grep -v wifi)
-else
-  TEST_SCRIPTS=$(ls tests/automated/$1*.py)
-fi
-
-IFS=$'\n'
-for NAME in $(nmcli --fields NAME con show | grep panda | awk '{$1=$1};1')
-do
-  nmcli connection delete "$NAME"
-done
-
-PYTHONPATH="." $(which nosetests) -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s $TEST_SCRIPTS
diff --git a/panda/setup.cfg b/panda/setup.cfg
deleted file mode 100644
index 3480374bc2f25b..00000000000000
--- a/panda/setup.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-[bdist_wheel]
-universal=1
\ No newline at end of file
diff --git a/panda/setup.py b/panda/setup.py
deleted file mode 100644
index f34905d7a2ee17..00000000000000
--- a/panda/setup.py
+++ /dev/null
@@ -1,65 +0,0 @@
-#-*- coding: utf-8 -*-
-
-"""
-    Panda CAN Controller Dongle
-    ~~~~~
-
-    Setup
-    `````
-
-    $ pip install . # or python setup.py install
-"""
-
-import codecs
-import os
-import re
-from setuptools import setup
-
-here = os.path.abspath(os.path.dirname(__file__))
-
-def read(*parts):
-  """Taken from pypa pip setup.py:
-  intentionally *not* adding an encoding option to open, See:
-  https://github.com/pypa/virtualenv/issues/201#issuecomment-3145690
-  """
-  return codecs.open(os.path.join(here, *parts), 'r').read()
-
-
-def find_version(*file_paths):
-  version_file = read(*file_paths)
-  version_match = re.search(r"^__version__ = ['\"]([^'\"]*)['\"]",
-                            version_file, re.M)
-  if version_match:
-    return version_match.group(1)
-  raise RuntimeError("Unable to find version string.")
-
-setup(
-  name='pandacan',
-  version=find_version("python", "__init__.py"),
-  url='https://github.com/commaai/panda',
-  author='comma.ai',
-  author_email='',
-  packages=[
-    'panda',
-    ],
-  package_dir = {'panda': 'python'},
-  platforms='any',
-  license='MIT',
-  install_requires=[
-    'libusb1 == 1.6.6',
-    'hexdump >= 3.3',
-    'pycrypto >= 2.6.1',
-    'tqdm >= 4.14.0',
-    'requests'
-  ],
-  ext_modules = [],
-  description="Code powering the comma.ai panda",
-  long_description='See https://github.com/commaai/panda',
-  classifiers=[
-    'Development Status :: 2 - Pre-Alpha',
-    "Natural Language :: English",
-    "Programming Language :: Python :: 2",
-    "Programming Language :: Python :: 3",
-    "Topic :: System :: Hardware",
-  ],
-)
diff --git a/panda/tests/all_wifi_test.py b/panda/tests/all_wifi_test.py
deleted file mode 100755
index 85dc173b07625c..00000000000000
--- a/panda/tests/all_wifi_test.py
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/usr/bin/env python3
-import requests
-import json
-from .automated.helpers import _connect_wifi
-from panda import Panda
-from nose.tools import assert_equal
-
-if __name__ == "__main__":
-  print("Fetching latest firmware from github.com/commaai/panda-artifacts")
-  r = requests.get("https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json")
-  latest_version = json.loads(r.text)['version']
-
-  for p in Panda.list():
-    dongle_id, pw = Panda(p).get_serial()
-    print(dongle_id, pw)
-    assert(dongle_id.isalnum())
-    _connect_wifi(dongle_id, pw)
-
-    r = requests.get("http://192.168.0.10/")
-    print(r.text)
-    wifi_dongle_id = r.text.split("ssid: panda-")[1].split("<br/>")[0]
-    st_version = r.text.split("st version:")[1].strip().split("<br/>")[0]
-    esp_version = r.text.split("esp version:")[1].strip().split("<br/>")[0]
-
-    assert_equal(str(dongle_id), wifi_dongle_id)
-    assert_equal(latest_version, st_version)
-    assert_equal(latest_version, esp_version)
-
-
diff --git a/panda/tests/automated/0_builds.py b/panda/tests/automated/0_builds.py
deleted file mode 100644
index fa3a1125d48244..00000000000000
--- a/panda/tests/automated/0_builds.py
+++ /dev/null
@@ -1,8 +0,0 @@
-from panda import build_st
-
-def test_build_panda():
-  build_st("obj/panda.bin")
-
-def test_build_bootstub_panda():
-  build_st("obj/bootstub.panda.bin")
-
diff --git a/panda/tests/automated/1_program.py b/panda/tests/automated/1_program.py
deleted file mode 100644
index 98c32114fe7bb7..00000000000000
--- a/panda/tests/automated/1_program.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import os
-
-from nose.tools import assert_equal
-
-from panda import Panda, BASEDIR
-from .helpers import reset_pandas, test_all_pandas, panda_connect_and_init
-
-
-# Reset the pandas before flashing them
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-
-@test_all_pandas
-@panda_connect_and_init
-def test_recover(p):
-  assert p.recover(timeout=30)
-
-
-@test_all_pandas
-@panda_connect_and_init
-def test_flash(p):
-  p.flash()
-
-
-@test_all_pandas
-@panda_connect_and_init
-def test_get_signature(p):
-  fn = os.path.join(BASEDIR, "board/obj/panda.bin")
-
-  firmware_sig = Panda.get_signature_from_firmware(fn)
-  panda_sig = p.get_signature()
-
-  assert_equal(panda_sig, firmware_sig)
diff --git a/panda/tests/automated/2_health.py b/panda/tests/automated/2_health.py
deleted file mode 100644
index da5eaec9d995ba..00000000000000
--- a/panda/tests/automated/2_health.py
+++ /dev/null
@@ -1,44 +0,0 @@
-import time
-from panda_jungle import PandaJungle  # pylint: disable=import-error
-from .helpers import panda_jungle, reset_pandas, test_all_pandas, test_all_gen2_pandas, panda_connect_and_init
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_all_pandas
-@panda_connect_and_init
-def test_ignition(p):
-  try:
-    # Set harness orientation to #2, since the ignition line is on the wrong SBU bus :/
-    panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_2)
-    reset_pandas()
-    p.reconnect()
-    panda_jungle.set_ignition(False)
-    time.sleep(2)
-    assert p.health()['ignition_line'] == False
-    panda_jungle.set_ignition(True)
-    time.sleep(2)
-    assert p.health()['ignition_line'] == True
-  finally:
-    panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_1)
-
-@test_all_gen2_pandas
-@panda_connect_and_init
-def test_orientation_detection(p):
-  seen_orientations = []
-  for i in range(3):
-    panda_jungle.set_harness_orientation(i)
-    reset_pandas()
-    p.reconnect()
-    detected_harness_orientation = p.health()['car_harness_status']
-    if (i == 0 and detected_harness_orientation != 0) or detected_harness_orientation in seen_orientations:
-      assert False
-    seen_orientations.append(detected_harness_orientation)
-
-
-@test_all_pandas
-@panda_connect_and_init
-def test_voltage(p):
-  voltage = p.health()['voltage']
-  assert ((voltage > 10000) and (voltage < 14000))
\ No newline at end of file
diff --git a/panda/tests/automated/3_usb_to_can.py b/panda/tests/automated/3_usb_to_can.py
deleted file mode 100644
index 282a37ef1c6be3..00000000000000
--- a/panda/tests/automated/3_usb_to_can.py
+++ /dev/null
@@ -1,205 +0,0 @@
-import sys
-import time
-from panda import Panda
-from nose.tools import assert_equal, assert_less, assert_greater
-from .helpers import start_heartbeat_thread, reset_pandas, SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_all_pandas
-@panda_connect_and_init
-def test_can_loopback(p):
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # enable output mode
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # enable CAN loopback mode
-  p.set_can_loopback(True)
-
-  if p.legacy:
-    busses = [0,1]
-  else:
-    busses = [0,1,2]
-
-  for bus in busses:
-    # set bus 0 speed to 250
-    p.set_can_speed_kbps(bus, 250)
-
-    # send a message on bus 0
-    p.can_send(0x1aa, b"message", bus)
-
-    # confirm receive both on loopback and send receipt
-    time.sleep(0.05)
-    r = p.can_recv()
-    sr = [x for x in r if x[3] == 0x80 | bus]
-    lb = [x for x in r if x[3] == bus]
-    assert len(sr) == 1
-    assert len(lb) == 1
-
-    # confirm data is correct
-    assert 0x1aa == sr[0][0] == lb[0][0]
-    assert b"message" == sr[0][2] == lb[0][2]
-
-@test_all_pandas
-@panda_connect_and_init
-def test_safety_nooutput(p):
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # enable output mode
-  p.set_safety_mode(Panda.SAFETY_SILENT)
-
-  # enable CAN loopback mode
-  p.set_can_loopback(True)
-
-  # send a message on bus 0
-  p.can_send(0x1aa, b"message", 0)
-
-  # confirm receive nothing
-  time.sleep(0.05)
-  r = p.can_recv()
-  assert len(r) == 0
-
-@test_all_pandas
-@panda_connect_and_init
-def test_reliability(p):
-  LOOP_COUNT = 100
-  MSG_COUNT = 100
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # enable output mode
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  p.set_can_loopback(True)
-  p.set_can_speed_kbps(0, 1000)
-
-  addrs = list(range(100, 100+MSG_COUNT))
-  ts = [(j, 0, b"\xaa"*8, 0) for j in addrs]
-
-  # 100 loops
-  for i in range(LOOP_COUNT):
-    st = time.time()
-
-    p.can_send_many(ts)
-
-    r = []
-    while len(r) < 200 and (time.time() - st) < 0.5:
-      r.extend(p.can_recv())
-
-    sent_echo = [x for x in r if x[3] == 0x80]
-    loopback_resp = [x for x in r if x[3] == 0]
-
-    assert_equal(sorted([x[0] for x in loopback_resp]), addrs)
-    assert_equal(sorted([x[0] for x in sent_echo]), addrs)
-    assert_equal(len(r), 200)
-
-    # take sub 20ms
-    et = (time.time()-st)*1000.0
-    assert_less(et, 20)
-
-    sys.stdout.write("P")
-    sys.stdout.flush()
-
-@test_all_pandas
-@panda_connect_and_init
-def test_throughput(p):
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # enable output mode
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # enable CAN loopback mode
-  p.set_can_loopback(True)
-
-  for speed in [100,250,500,750,1000]:
-    # set bus 0 speed to speed
-    p.set_can_speed_kbps(0, speed)
-    time.sleep(0.05)
-
-    comp_kbps = time_many_sends(p, 0)
-
-    # bit count from https://en.wikipedia.org/wiki/CAN_bus
-    saturation_pct = (comp_kbps/speed) * 100.0
-    assert_greater(saturation_pct, 80)
-    assert_less(saturation_pct, 100)
-
-    print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
-
-@test_white_and_grey
-@panda_type_to_serial
-@panda_connect_and_init
-def test_gmlan(p):
-  if p.legacy:
-    return
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # enable output mode
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # enable CAN loopback mode
-  p.set_can_loopback(True)
-
-  p.set_can_speed_kbps(1, SPEED_NORMAL)
-  p.set_can_speed_kbps(2, SPEED_NORMAL)
-  p.set_can_speed_kbps(3, SPEED_GMLAN)
-
-  # set gmlan on CAN2
-  for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
-    p.set_gmlan(bus)
-    comp_kbps_gmlan = time_many_sends(p, 3)
-    assert_greater(comp_kbps_gmlan, 0.8 * SPEED_GMLAN)
-    assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
-
-    p.set_gmlan(None)
-    comp_kbps_normal = time_many_sends(p, bus)
-    assert_greater(comp_kbps_normal, 0.8 * SPEED_NORMAL)
-    assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
-
-    print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
-
-@test_white_and_grey
-@panda_type_to_serial
-@panda_connect_and_init
-def test_gmlan_bad_toggle(p):
-  if p.legacy:
-    return
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # enable output mode
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # enable CAN loopback mode
-  p.set_can_loopback(True)
-
-  # GMLAN_CAN2
-  for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
-    p.set_gmlan(bus)
-    comp_kbps_gmlan = time_many_sends(p, 3)
-    assert_greater(comp_kbps_gmlan, 0.6 * SPEED_GMLAN)
-    assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
-
-  # normal
-  for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
-    p.set_gmlan(None)
-    comp_kbps_normal = time_many_sends(p, bus)
-    assert_greater(comp_kbps_normal, 0.6 * SPEED_NORMAL)
-    assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
-
-
-# this will fail if you have hardware serial connected
-@test_all_pandas
-@panda_connect_and_init
-def test_serial_debug(p):
-  _ = p.serial_read(Panda.SERIAL_DEBUG)  # junk
-  p.call_control_api(0xc0)
-  assert(p.serial_read(Panda.SERIAL_DEBUG).startswith(b"can "))
diff --git a/panda/tests/automated/4_wifi.py b/panda/tests/automated/4_wifi.py
deleted file mode 100644
index 15b8dc6c9ed9a4..00000000000000
--- a/panda/tests/automated/4_wifi.py
+++ /dev/null
@@ -1,60 +0,0 @@
-import time
-from panda import Panda
-from .helpers import reset_pandas, connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
-import requests
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_all_pandas
-@panda_connect_and_init
-def test_get_serial(p):
-  print(p.get_serial())
-
-@test_all_pandas
-@panda_connect_and_init
-def test_get_serial_in_flash_mode(p):
-  p.reset(enter_bootstub=True)
-  assert(p.bootstub)
-  print(p.get_serial())
-  p.reset()
-
-@test_white
-@panda_type_to_serial
-def test_connect_wifi(serials=None):
-  connect_wifi(serials[0])
-
-@test_white
-@panda_type_to_serial
-def test_flash_wifi(serials=None):
-  connect_wifi(serials[0])
-  assert Panda.flash_ota_wifi(release=False), "OTA Wifi Flash Failed"
-  connect_wifi(serials[0])
-
-@test_white
-@panda_type_to_serial
-def test_wifi_flash_st(serials=None):
-  connect_wifi(serials[0])
-  assert Panda.flash_ota_st(), "OTA ST Flash Failed"
-  connected = False
-  st = time.time()
-  while not connected and (time.time() - st) < 20:
-    try:
-      p = Panda(serial=serials[0])
-      p.get_serial()
-      connected = True
-    except:
-      time.sleep(1)
-
-  if not connected:
-    assert False, "Panda failed to connect on USB after flashing"
-
-@test_white
-@panda_type_to_serial
-def test_webpage_fetch(serials=None):
-  connect_wifi(serials[0])
-  r = requests.get("http://192.168.0.10/")
-  print(r.text)
-
-  assert "This is your comma.ai panda" in r.text
diff --git a/panda/tests/automated/5_wifi_functionality.py b/panda/tests/automated/5_wifi_functionality.py
deleted file mode 100644
index 88c81dcbdcdd75..00000000000000
--- a/panda/tests/automated/5_wifi_functionality.py
+++ /dev/null
@@ -1,69 +0,0 @@
-import time
-from panda import Panda
-from .helpers import start_heartbeat_thread, reset_pandas, time_many_sends, connect_wifi, test_white, panda_type_to_serial
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_white
-@panda_type_to_serial
-def test_get_serial_wifi(serials=None):
-  connect_wifi(serials[0])
-
-  p = Panda("WIFI")
-  print(p.get_serial())
-
-@test_white
-@panda_type_to_serial
-def test_throughput(serials=None):
-  connect_wifi(serials[0])
-  p = Panda(serials[0])
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # enable output mode
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # enable CAN loopback mode
-  p.set_can_loopback(True)
-
-  p = Panda("WIFI")
-
-  for speed in [100,250,500,750,1000]:
-    # set bus 0 speed to speed
-    p.set_can_speed_kbps(0, speed)
-    time.sleep(0.1)
-
-    comp_kbps = time_many_sends(p, 0)
-
-    # bit count from https://en.wikipedia.org/wiki/CAN_bus
-    saturation_pct = (comp_kbps/speed) * 100.0
-    #assert_greater(saturation_pct, 80)
-    #assert_less(saturation_pct, 100)
-
-    print("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
-
-@test_white
-@panda_type_to_serial
-def test_recv_only(serials=None):
-  connect_wifi(serials[0])
-  p = Panda(serials[0])
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  p.set_can_loopback(True)
-  pwifi = Panda("WIFI")
-
-  # TODO: msg_count=1000 drops packets, is this fixable?
-  for msg_count in [10,100,200]:
-    speed = 500
-    p.set_can_speed_kbps(0, speed)
-    comp_kbps = time_many_sends(p, 0, pwifi, msg_count)
-    saturation_pct = (comp_kbps/speed) * 100.0
-
-    print("HT WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
diff --git a/panda/tests/automated/6_wifi_udp.py b/panda/tests/automated/6_wifi_udp.py
deleted file mode 100644
index 197e4d46c73476..00000000000000
--- a/panda/tests/automated/6_wifi_udp.py
+++ /dev/null
@@ -1,73 +0,0 @@
-import sys
-import time
-from .helpers import start_heartbeat_thread, reset_pandas, time_many_sends, connect_wifi, test_white, panda_type_to_serial
-from panda import Panda, PandaWifiStreaming
-from nose.tools import assert_less, assert_greater
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_white
-@panda_type_to_serial
-def test_udp_doesnt_drop(serials=None):
-  connect_wifi(serials[0])
-
-  p = Panda(serials[0])
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  p.set_can_loopback(True)
-
-  pwifi = PandaWifiStreaming()
-  while 1:
-    if len(pwifi.can_recv()) == 0:
-      break
-
-  for msg_count in [1, 100]:
-    saturation_pcts = []
-    for i in range({1: 0x80, 100: 0x20}[msg_count]):
-      pwifi.kick()
-
-      speed = 500
-      p.set_can_speed_kbps(0, speed)
-      comp_kbps = time_many_sends(p, 0, pwifi, msg_count=msg_count, msg_id=0x100+i)
-      saturation_pct = (comp_kbps/speed) * 100.0
-
-      if msg_count == 1:
-        sys.stdout.write(".")
-        sys.stdout.flush()
-      else:
-        print("UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
-        assert_greater(saturation_pct, 20) #sometimes the wifi can be slow...
-        assert_less(saturation_pct, 100)
-        saturation_pcts.append(saturation_pct)
-    if len(saturation_pcts) > 0:
-      assert_greater(sum(saturation_pcts)/len(saturation_pcts), 60)
-
-  time.sleep(5)
-  usb_ok_cnt = 0
-  REQ_USB_OK_CNT = 500
-  st = time.time()
-  msg_id = 0x1bb
-  bus = 0
-  last_missing_msg = 0
-  while usb_ok_cnt < REQ_USB_OK_CNT and (time.time() - st) < 40:
-    p.can_send(msg_id, "message", bus)
-    time.sleep(0.01)
-    r = [1]
-    missing = True
-    while len(r) > 0:
-      r = p.can_recv()
-      r = [x for x in r if x[3] == bus and x[0] == msg_id]
-      if len(r) > 0:
-        missing = False
-        usb_ok_cnt += len(r)
-      if missing:
-        last_missing_msg = time.time()
-  et = time.time() - st
-  last_missing_msg = last_missing_msg - st
-  print("waited {} for panda to recv can on usb, {} msgs, last missing at {}".format(et, usb_ok_cnt, last_missing_msg))
-  assert usb_ok_cnt >= REQ_USB_OK_CNT, "Unable to recv can on USB after UDP"
diff --git a/panda/tests/automated/7_can_loopback.py b/panda/tests/automated/7_can_loopback.py
deleted file mode 100644
index cb9f5570b5551f..00000000000000
--- a/panda/tests/automated/7_can_loopback.py
+++ /dev/null
@@ -1,202 +0,0 @@
-import os
-import time
-import random
-from panda import Panda
-from nose.tools import assert_equal, assert_less, assert_greater
-from .helpers import panda_jungle, start_heartbeat_thread, reset_pandas, time_many_sends, test_all_pandas, test_all_gen2_pandas, clear_can_buffers, panda_connect_and_init
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_all_pandas
-@panda_connect_and_init
-def test_send_recv(p):
-  def test(p_send, p_recv):
-    p_send.set_can_loopback(False)
-    p_recv.set_can_loopback(False)
-
-    p_send.can_send_many([(0x1ba, 0, b"message", 0)]*2)
-    time.sleep(0.05)
-    p_recv.can_recv()
-    p_send.can_recv()
-
-    busses = [0,1,2]
-
-    for bus in busses:
-      for speed in [100, 250, 500, 750, 1000]:
-        p_send.set_can_speed_kbps(bus, speed)
-        p_recv.set_can_speed_kbps(bus, speed)
-        time.sleep(0.05)
-
-        clear_can_buffers(p_send)
-        clear_can_buffers(p_recv)
-
-        comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True)
-
-        saturation_pct = (comp_kbps/speed) * 100.0
-        assert_greater(saturation_pct, 80)
-        assert_less(saturation_pct, 100)
-
-        print("two pandas bus {}, 100 messages at speed {:4d}, comp speed is {:7.2f}, percent {:6.2f}".format(bus, speed, comp_kbps, saturation_pct))
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # Set safety mode and power saving
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  p.set_power_save(False)
-
-  try:
-    # Run tests in both directions
-    test(p, panda_jungle)
-    test(panda_jungle, p)
-  except Exception as e:
-    # Raise errors again, we don't want them to get lost
-    raise e
-  finally:
-    # Set back to silent mode
-    p.set_safety_mode(Panda.SAFETY_SILENT)
-
-@test_all_pandas
-@panda_connect_and_init
-def test_latency(p):
-  def test(p_send, p_recv):
-    p_send.set_can_loopback(False)
-    p_recv.set_can_loopback(False)
-
-    p_send.set_can_speed_kbps(0, 100)
-    p_recv.set_can_speed_kbps(0, 100)
-    time.sleep(0.05)
-
-    p_send.can_send_many([(0x1ba, 0, b"testmsg", 0)]*10)
-    time.sleep(0.05)
-    p_recv.can_recv()
-    p_send.can_recv()
-
-    busses = [0,1,2]
-
-    for bus in busses:
-      for speed in [100, 250, 500, 750, 1000]:
-        p_send.set_can_speed_kbps(bus, speed)
-        p_recv.set_can_speed_kbps(bus, speed)
-        time.sleep(0.1)
-
-        # clear can buffers
-        clear_can_buffers(p_send)
-        clear_can_buffers(p_recv)
-
-        latencies = []
-        comp_kbps_list = []
-        saturation_pcts = []
-
-        num_messages = 100
-
-        for i in range(num_messages):
-          st = time.time()
-          p_send.can_send(0x1ab, b"message", bus)
-          r = []
-          while len(r) < 1 and (time.time() - st) < 5:
-            r = p_recv.can_recv()
-          et = time.time()
-          r_echo = []
-          while len(r_echo) < 1 and (time.time() - st) < 10:
-            r_echo = p_send.can_recv()
-
-          if len(r) == 0 or len(r_echo) == 0:
-            print("r: {}, r_echo: {}".format(r, r_echo))
-
-          assert_equal(len(r),1)
-          assert_equal(len(r_echo),1)
-
-          et = (et - st)*1000.0
-          comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7) / et
-          latency = et - ((1+11+1+1+1+4+8*8+15+1+1+1+7) / speed)
-
-          assert_less(latency, 5.0)
-
-          saturation_pct = (comp_kbps/speed) * 100.0
-          latencies.append(latency)
-          comp_kbps_list.append(comp_kbps)
-          saturation_pcts.append(saturation_pct)
-
-        average_latency = sum(latencies)/num_messages
-        assert_less(average_latency, 1.0)
-        average_comp_kbps = sum(comp_kbps_list)/num_messages
-        average_saturation_pct = sum(saturation_pcts)/num_messages
-
-        print("two pandas bus {}, {} message average at speed {:4d}, latency is {:5.3f}ms, comp speed is {:7.2f}, percent {:6.2f}"\
-              .format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct))
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # Set safety mode and power saving
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  p.set_power_save(False)
-
-  try:
-    # Run tests in both directions
-    test(p, panda_jungle)
-    test(panda_jungle, p)
-  except Exception as e:
-    # Raise errors again, we don't want them to get lost
-    raise e
-  finally:
-    # Set back to silent mode
-    p.set_safety_mode(Panda.SAFETY_SILENT)
-
-
-@test_all_gen2_pandas
-@panda_connect_and_init
-def test_gen2_loopback(p):
-  def test(p_send, p_recv):
-    for bus in range(4):
-      obd = False
-      if bus == 3:
-        obd = True
-        bus = 1
-      
-      # Clear buses
-      clear_can_buffers(p_send)
-      clear_can_buffers(p_recv)
-
-      # Send a random string
-      addr = random.randint(1, 2000)
-      string = b"test"+os.urandom(4)
-      p_send.set_obd(obd)
-      p_recv.set_obd(obd)
-      time.sleep(0.2)
-      p_send.can_send(addr, string, bus)
-      time.sleep(0.2)
-
-      content = p_recv.can_recv()
-
-      # Check amount of messages
-      assert len(content) == 1
-
-      # Check content
-      assert content[0][0] == addr and content[0][2] == string
-      
-      # Check bus
-      assert content[0][3] == bus
-
-      print("Bus:", bus, "OBD:", obd, "OK")
-
-  # Start heartbeat
-  start_heartbeat_thread(p)
-
-  # Set safety mode and power saving
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  p.set_power_save(False)
-
-  try:
-    # Run tests in both directions
-    test(p, panda_jungle)
-    test(panda_jungle, p)
-  except Exception as e:
-    # Raise errors again, we don't want them to get lost
-    raise e
-  finally:
-    # Set back to silent mode
-    p.set_safety_mode(Panda.SAFETY_SILENT)
diff --git a/panda/tests/automated/8_gps.py b/panda/tests/automated/8_gps.py
deleted file mode 100644
index fc387c996916b2..00000000000000
--- a/panda/tests/automated/8_gps.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import time
-from panda import PandaSerial
-from .helpers import reset_pandas, test_all_gps_pandas, panda_connect_and_init
-
-# Reset the pandas before running tests
-def aaaa_reset_before_tests():
-  reset_pandas()
-
-@test_all_gps_pandas
-@panda_connect_and_init
-def test_gps_version(p):
-  serial = PandaSerial(p, 1, 9600)
-  # Reset and check twice to make sure the enabling works
-  for i in range(2):
-    # Reset GPS
-    p.set_esp_power(0)
-    time.sleep(0.5)
-    p.set_esp_power(1)
-    time.sleep(1)
-
-    # Read startup message and check if version is contained
-    dat = serial.read(0x1000)    # Read one full panda DMA buffer. This should include the startup message
-    assert b'HPG 1.40ROV' in dat
\ No newline at end of file
diff --git a/panda/tests/automated/helpers.py b/panda/tests/automated/helpers.py
deleted file mode 100644
index 6b963e954f8f35..00000000000000
--- a/panda/tests/automated/helpers.py
+++ /dev/null
@@ -1,218 +0,0 @@
-import time
-import random
-import _thread
-import faulthandler
-from functools import wraps
-from panda import Panda
-from panda_jungle import PandaJungle  # pylint: disable=import-error
-from nose.tools import assert_equal
-from parameterized import parameterized, param
-from .timeout import run_with_timeout
-from .wifi_helpers import _connect_wifi
-
-SPEED_NORMAL = 500
-SPEED_GMLAN = 33.3
-BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL), (3, SPEED_GMLAN)]
-TIMEOUT = 30
-GEN2_HW_TYPES = [Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
-GPS_HW_TYPES = [Panda.HW_TYPE_GREY_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
-
-# Enable fault debug
-faulthandler.enable(all_threads=False)
-
-# Connect to Panda Jungle
-panda_jungle = PandaJungle()
-
-# Find all panda's connected
-_panda_serials = None
-def init_panda_serials():
-  global panda_jungle, _panda_serials
-  _panda_serials = []
-  panda_jungle.set_panda_power(True)
-  time.sleep(5)
-  for serial in Panda.list():
-    p = Panda(serial=serial)
-    _panda_serials.append((serial, p.get_type()))
-    p.close()
-  print('Found', str(len(_panda_serials)), 'pandas')
-init_panda_serials()
-
-# Panda providers
-test_all_types = parameterized([
-    param(panda_type=Panda.HW_TYPE_WHITE_PANDA),
-    param(panda_type=Panda.HW_TYPE_GREY_PANDA),
-    param(panda_type=Panda.HW_TYPE_BLACK_PANDA)
-  ])
-test_all_pandas = parameterized(
-    list(map(lambda x: x[0], _panda_serials))
-  )
-test_all_gen2_pandas = parameterized(
-    list(map(lambda x: x[0], filter(lambda x: x[1] in GEN2_HW_TYPES, _panda_serials)))
-  )
-test_all_gps_pandas = parameterized(
-    list(map(lambda x: x[0], filter(lambda x: x[1] in GPS_HW_TYPES, _panda_serials)))
-  )
-test_white_and_grey = parameterized([
-    param(panda_type=Panda.HW_TYPE_WHITE_PANDA),
-    param(panda_type=Panda.HW_TYPE_GREY_PANDA)
-  ])
-test_white = parameterized([
-    param(panda_type=Panda.HW_TYPE_WHITE_PANDA)
-  ])
-test_grey = parameterized([
-    param(panda_type=Panda.HW_TYPE_GREY_PANDA)
-  ])
-test_black = parameterized([
-    param(panda_type=Panda.HW_TYPE_BLACK_PANDA)
-  ])
-
-def connect_wifi(serial=None):
-  p = Panda(serial=serial)
-  p.set_esp_power(True)
-  dongle_id, pw = p.get_serial()
-  assert(dongle_id.isalnum())
-  _connect_wifi(dongle_id, pw)
-
-def time_many_sends(p, bus, p_recv=None, msg_count=100, msg_id=None, two_pandas=False):
-  if p_recv == None:
-    p_recv = p
-  if msg_id == None:
-    msg_id = random.randint(0x100, 0x200)
-  if p == p_recv and two_pandas:
-    raise ValueError("Cannot have two pandas that are the same panda")
-
-  start_time = time.time()
-  p.can_send_many([(msg_id, 0, b"\xaa"*8, bus)]*msg_count)
-  r = []
-  r_echo = []
-  r_len_expected = msg_count if two_pandas else msg_count*2
-  r_echo_len_exected = msg_count if two_pandas else 0
-
-  while len(r) < r_len_expected and (time.time() - start_time) < 5:
-    r.extend(p_recv.can_recv())
-  end_time = time.time()
-  if two_pandas:
-    while len(r_echo) < r_echo_len_exected and (time.time() - start_time) < 10:
-      r_echo.extend(p.can_recv())
-
-  sent_echo = [x for x in r if x[3] == 0x80 | bus and x[0] == msg_id]
-  sent_echo.extend([x for x in r_echo if x[3] == 0x80 | bus and x[0] == msg_id])
-  resp = [x for x in r if x[3] == bus and x[0] == msg_id]
-
-  leftovers = [x for x in r if (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id]
-  assert_equal(len(leftovers), 0)
-
-  assert_equal(len(resp), msg_count)
-  assert_equal(len(sent_echo), msg_count)
-
-  end_time = (end_time-start_time)*1000.0
-  comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7)*msg_count / end_time
-
-  return comp_kbps
-
-def reset_pandas():
-  panda_jungle.set_panda_power(False)
-  time.sleep(2)
-  panda_jungle.set_panda_power(True)
-  time.sleep(5)
-
-def panda_type_to_serial(fn):
-  @wraps(fn)
-  def wrapper(panda_type=None, **kwargs):
-    # Change panda_types to a list
-    if panda_type is not None:
-      if not isinstance(panda_type, list):
-        panda_type = [panda_type]
-
-    # If not done already, get panda serials and their type
-    global _panda_serials
-    if _panda_serials == None:
-      init_panda_serials()
-
-    # Find a panda with the correct types and add the corresponding serial
-    serials = []
-    for p_type in panda_type:
-      found = False
-      for serial, pt in _panda_serials:
-        # Never take the same panda twice
-        if (pt == p_type) and (serial not in serials):
-          serials.append(serial)
-          found = True
-          break
-      if not found:
-        raise IOError("No unused panda found for type: {}".format(p_type))
-    return fn(serials, **kwargs)
-  return wrapper
-
-def start_heartbeat_thread(p):
-  def heartbeat_thread(p):
-    while True:
-      try:
-        p.send_heartbeat()
-        time.sleep(1)
-      except:
-        break
-  _thread.start_new_thread(heartbeat_thread, (p,))
-
-def panda_connect_and_init(fn):
-  @wraps(fn)
-  def wrapper(panda_serials=None, **kwargs):
-    # Change panda_serials to a list
-    if panda_serials is not None:
-      if not isinstance(panda_serials, list):
-        panda_serials = [panda_serials]
-
-    # Connect to pandas
-    pandas = []
-    for panda_serial in panda_serials:
-      pandas.append(Panda(serial=panda_serial))
-
-    # Initialize jungle
-    clear_can_buffers(panda_jungle)
-    panda_jungle.set_can_loopback(False)
-    panda_jungle.set_obd(False)
-    panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_1)
-    for bus, speed in BUS_SPEEDS:
-        panda_jungle.set_can_speed_kbps(bus, speed)
-
-    # Initialize pandas
-    for panda in pandas:
-      panda.set_can_loopback(False)
-      panda.set_gmlan(None)
-      panda.set_esp_power(False)
-      panda.set_power_save(False)
-      for bus, speed in BUS_SPEEDS:
-        panda.set_can_speed_kbps(bus, speed)
-      clear_can_buffers(panda)
-      panda.set_power_save(False)
-
-    try:
-      run_with_timeout(TIMEOUT, fn, *pandas, **kwargs)
-
-      # Check if the pandas did not throw any faults while running test
-      for panda in pandas:
-        panda.reconnect()
-        assert panda.health()['fault_status'] == 0
-    except Exception as e:
-      raise e
-    finally:
-      # Close all connections
-      for panda in pandas:
-        panda.close()        
-  return wrapper
-
-def clear_can_buffers(panda):
-  # clear tx buffers
-  for i in range(4):
-    panda.can_clear(i)
-
-  # clear rx buffers
-  panda.can_clear(0xFFFF)
-  r = [1]
-  st = time.time()
-  while len(r) > 0:
-    r = panda.can_recv()
-    time.sleep(0.05)
-    if (time.time() - st) > 10:
-      print("Unable to clear can buffers for panda ", panda.get_serial())
-      assert False
diff --git a/panda/tests/automated/timeout.py b/panda/tests/automated/timeout.py
deleted file mode 100644
index f937844f07e8b5..00000000000000
--- a/panda/tests/automated/timeout.py
+++ /dev/null
@@ -1,25 +0,0 @@
-import time
-from multiprocessing import Process
-
-# Note: this does not return any return values of the function, just the exit status
-INTERVAL = 0.1
-def run_with_timeout(timeout, fn, *kwargs):
-  def runner(fn, kwargs):
-    try:
-      fn(*kwargs)
-    except Exception as e:
-      print(e)
-      raise e
-  
-  process = Process(target=runner, args=(fn, kwargs))
-  process.start()
-
-  counter = 0
-  while process.is_alive():
-    time.sleep(INTERVAL)
-    counter+=1
-    if (counter * INTERVAL) > timeout:
-      process.terminate()
-      raise TimeoutError("Function timed out!")
-  if process.exitcode != 0:
-    raise RuntimeError("Test failed with exit code: ", str(process.exitcode))
\ No newline at end of file
diff --git a/panda/tests/automated/wifi_helpers.py b/panda/tests/automated/wifi_helpers.py
deleted file mode 100644
index d3be8ff867c8e7..00000000000000
--- a/panda/tests/automated/wifi_helpers.py
+++ /dev/null
@@ -1,90 +0,0 @@
-import os
-import sys
-import time
-import subprocess
-import requests
-from panda import Panda
-FNULL = open(os.devnull, 'w')
-def _connect_wifi(dongle_id, pw, insecure_okay=False):
-  ssid = "panda-" + dongle_id
-
-  r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
-  if not r:
-    # Can already ping, try connecting on wifi
-    try:
-      p = Panda("WIFI")
-      p.get_serial()
-      print("Already connected")
-      return
-    except:
-      pass
-
-  print("WIFI: connecting to %s" % ssid)
-
-  while 1:
-    if sys.platform == "darwin":
-      os.system("networksetup -setairportnetwork en0 %s %s" % (ssid, pw))
-    else:
-      wlan_interface = subprocess.check_output(["sh", "-c", "iw dev | awk '/Interface/ {print $2}'"]).strip().decode('utf8')
-      cnt = 0
-      MAX_TRIES = 10
-      while cnt < MAX_TRIES:
-        print("WIFI: scanning %d" % cnt)
-        os.system("iwlist %s scanning > /dev/null" % wlan_interface)
-        os.system("nmcli device wifi rescan")
-        wifi_networks = [x.decode("utf8") for x in subprocess.check_output(["nmcli","dev", "wifi", "list"]).split(b"\n")]
-        wifi_scan = [x for x in wifi_networks if ssid in x]
-        if len(wifi_scan) != 0:
-          break
-        time.sleep(0.1)
-        # MAX_TRIES tries, ~10 seconds max
-        cnt += 1
-      assert cnt < MAX_TRIES
-      if "-pair" in wifi_scan[0]:
-        os.system("nmcli d wifi connect %s-pair" % (ssid))
-        connect_cnt = 0
-        MAX_TRIES = 100
-        while connect_cnt < MAX_TRIES:
-          connect_cnt += 1
-          r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
-          if r:
-            print("Waiting for panda to ping...")
-            time.sleep(0.5)
-          else:
-            break
-        if insecure_okay:
-          break
-        # fetch webpage
-        print("connecting to insecure network to secure")
-        try:
-          r = requests.get("http://192.168.0.10/")
-        except requests.ConnectionError:
-          r = requests.get("http://192.168.0.10/")
-        assert r.status_code==200
-
-        print("securing")
-        try:
-          r = requests.get("http://192.168.0.10/secure", timeout=0.01)
-        except requests.exceptions.Timeout:
-          print("timeout http request to secure")
-          pass
-      else:
-        ret = os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
-        if os.WEXITSTATUS(ret) == 0:
-          #check ping too
-          ping_ok = False
-          connect_cnt = 0
-          MAX_TRIES = 10
-          while connect_cnt < MAX_TRIES:
-            connect_cnt += 1
-            r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
-            if r:
-              print("Waiting for panda to ping...")
-              time.sleep(0.1)
-            else:
-              ping_ok = True
-              break
-          if ping_ok:
-            break
-
-  # TODO: confirm that it's connected to the right panda
\ No newline at end of file
diff --git a/panda/tests/black_loopback_test.py b/panda/tests/black_loopback_test.py
deleted file mode 100755
index 5fe0c48077e238..00000000000000
--- a/panda/tests/black_loopback_test.py
+++ /dev/null
@@ -1,122 +0,0 @@
-#!/usr/bin/env python3
-
-# Loopback test between two black pandas (+ harness and power)
-# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
-# To be sure, the test should be run with both harness orientations
-
-
-import os
-import sys
-import time
-import random
-import argparse
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-def run_test(sleep_duration):
-  pandas = Panda.list()
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    print("Connect white/grey and black panda to run this test!")
-    assert False
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  # find out the hardware types
-  if not pandas[0].is_black() or not pandas[1].is_black():
-    print("Connect two black pandas to run this test!")
-    assert False
-
-  for panda in pandas:
-    # disable safety modes
-    panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-    # test health packet
-    print("panda health", panda.health())
-
-  # setup test array (send bus, sender obd, reciever obd, expected busses)
-  test_array = [
-    (0, False, False, [0]),
-    (1, False, False, [1]),
-    (2, False, False, [2]),
-    (0, False, True, [0, 1]),
-    (1, False, True, []),
-    (2, False, True, [2]),
-    (0, True, False, [0]),
-    (1, True, False, [0]),
-    (2, True, False, [2]),
-    (0, True, True, [0, 1]),
-    (1, True, True, [0, 1]),
-    (2, True, True, [2])
-  ]
-
-  # test both orientations
-  print("***************** TESTING (0 --> 1) *****************")
-  test_buses(pandas[0], pandas[1], test_array, sleep_duration)
-  print("***************** TESTING (1 --> 0) *****************")
-  test_buses(pandas[1], pandas[0], test_array, sleep_duration)
-
-
-def test_buses(send_panda, recv_panda, test_array, sleep_duration):
-  for send_bus, send_obd, recv_obd, recv_buses in test_array:
-    send_panda.send_heartbeat()
-    recv_panda.send_heartbeat()
-    print("\nSend bus:", send_bus, " Send OBD:", send_obd, " Recv OBD:", recv_obd)
-
-    # set OBD on pandas
-    send_panda.set_gmlan(True if send_obd else None)
-    recv_panda.set_gmlan(True if recv_obd else None)
-
-    # clear and flush
-    send_panda.can_clear(send_bus)
-    for recv_bus in recv_buses:
-      recv_panda.can_clear(recv_bus)
-    send_panda.can_recv()
-    recv_panda.can_recv()
-
-    # send the characters
-    at = random.randint(1, 2000)
-    st = get_test_string()[0:8]
-    send_panda.can_send(at, st, send_bus)
-    time.sleep(0.1)
-
-    # check for receive
-    _ = send_panda.can_recv()  # cans echo
-    cans_loop = recv_panda.can_recv()
-
-    loop_buses = []
-    for loop in cans_loop:
-      print("  Loop on bus", str(loop[3]))
-      loop_buses.append(loop[3])
-    if len(cans_loop) == 0:
-      print("  No loop")
-
-    # test loop buses
-    recv_buses.sort()
-    loop_buses.sort()
-    assert recv_buses == loop_buses
-    print("  TEST PASSED")
-
-    time.sleep(sleep_duration)
-  print("\n")
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for i in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/panda/tests/black_white_loopback_test.py b/panda/tests/black_white_loopback_test.py
deleted file mode 100755
index d700068d9e7d16..00000000000000
--- a/panda/tests/black_white_loopback_test.py
+++ /dev/null
@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-
-# Loopback test between black panda (+ harness and power) and white/grey panda
-# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
-# To be sure, the test should be run with both harness orientations
-
-
-import os
-import sys
-import time
-import random
-import argparse
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-counter = 0
-nonzero_bus_errors = 0
-zero_bus_errors = 0
-content_errors = 0
-
-def run_test(sleep_duration):
-  global counter, nonzero_bus_errors, zero_bus_errors, content_errors
-
-  pandas = Panda.list()
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    print("Connect white/grey and black panda to run this test!")
-    assert False
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  black_panda = None
-  other_panda = None
-
-  # find out which one is black
-  if pandas[0].is_black() and not pandas[1].is_black():
-    black_panda = pandas[0]
-    other_panda = pandas[1]
-  elif not pandas[0].is_black() and pandas[1].is_black():
-    black_panda = pandas[1]
-    other_panda = pandas[0]
-  else:
-    print("Connect white/grey and black panda to run this test!")
-    assert False
-
-  # disable safety modes
-  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # test health packet
-  print("black panda health", black_panda.health())
-  print("other panda health", other_panda.health())
-
-  # test black -> other
-  while True:
-    test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
-    test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
-    counter += 1
-    print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors)
-
-    # Toggle relay
-    black_panda.set_safety_mode(Panda.SAFETY_SILENT)
-    time.sleep(1)
-    black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    time.sleep(1)
-
-
-def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
-  global nonzero_bus_errors, zero_bus_errors, content_errors
-
-  if direction:
-    print("***************** TESTING (BLACK --> OTHER) *****************")
-  else:
-    print("***************** TESTING (OTHER --> BLACK) *****************")
-
-  for send_bus, obd, recv_buses in test_array:
-    black_panda.send_heartbeat()
-    other_panda.send_heartbeat()
-    print("\ntest can: ", send_bus, " OBD: ", obd)
-
-    # set OBD on black panda
-    black_panda.set_gmlan(True if obd else None)
-
-    # clear and flush
-    if direction:
-      black_panda.can_clear(send_bus)
-    else:
-      other_panda.can_clear(send_bus)
-
-    for recv_bus in recv_buses:
-      if direction:
-        other_panda.can_clear(recv_bus)
-      else:
-        black_panda.can_clear(recv_bus)
-
-    black_panda.can_recv()
-    other_panda.can_recv()
-
-    # send the characters
-    at = random.randint(1, 2000)
-    st = get_test_string()[0:8]
-    if direction:
-      black_panda.can_send(at, st, send_bus)
-    else:
-      other_panda.can_send(at, st, send_bus)
-    time.sleep(0.1)
-
-    # check for receive
-    if direction:
-      _ = black_panda.can_recv()  # can echo
-      cans_loop = other_panda.can_recv()
-    else:
-      _ = other_panda.can_recv()  # can echo
-      cans_loop = black_panda.can_recv()
-
-    loop_buses = []
-    for loop in cans_loop:
-      if (loop[0] != at) or (loop[2] != st):
-	      content_errors += 1
-
-      print("  Loop on bus", str(loop[3]))
-      loop_buses.append(loop[3])
-    if len(cans_loop) == 0:
-      print("  No loop")
-      if not os.getenv("NOASSERT"):
-        assert False
-
-    # test loop buses
-    recv_buses.sort()
-    loop_buses.sort()
-    if(recv_buses != loop_buses):
-      if len(loop_buses) == 0:
-	      zero_bus_errors += 1
-      else:
-	      nonzero_bus_errors += 1
-      if not os.getenv("NOASSERT"):
-        assert False
-    else:
-      print("  TEST PASSED")
-
-    time.sleep(sleep_duration)
-  print("\n")
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for i in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/panda/tests/black_white_relay_endurance.py b/panda/tests/black_white_relay_endurance.py
deleted file mode 100755
index d3d61be6616fab..00000000000000
--- a/panda/tests/black_white_relay_endurance.py
+++ /dev/null
@@ -1,169 +0,0 @@
-#!/usr/bin/env python3
-
-# Loopback test between black panda (+ harness and power) and white/grey panda
-# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
-# To be sure, the test should be run with both harness orientations
-
-
-import os
-import sys
-import time
-import random
-import argparse
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-counter = 0
-nonzero_bus_errors = 0
-zero_bus_errors = 0
-content_errors = 0
-
-def run_test(sleep_duration):
-  global counter, nonzero_bus_errors, zero_bus_errors, content_errors
-
-  pandas = Panda.list()
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    print("Connect white/grey and black panda to run this test!")
-    assert False
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  black_panda = None
-  other_panda = None
-
-  # find out which one is black
-  if pandas[0].is_black() and not pandas[1].is_black():
-    black_panda = pandas[0]
-    other_panda = pandas[1]
-  elif not pandas[0].is_black() and pandas[1].is_black():
-    black_panda = pandas[1]
-    other_panda = pandas[0]
-  else:
-    print("Connect white/grey and black panda to run this test!")
-    assert False
-
-  # disable safety modes
-  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # test health packet
-  print("black panda health", black_panda.health())
-  print("other panda health", other_panda.health())
-
-  # test black -> other
-  start_time = time.time()
-  temp_start_time = start_time
-  while True:
-    test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
-    test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
-    counter += 1
-
-    runtime = time.time() - start_time
-    print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors, "Runtime: ", runtime)
-
-    if (time.time() - temp_start_time) > 3600*6:
-    	# Toggle relay
-      black_panda.set_safety_mode(Panda.SAFETY_SILENT)
-      time.sleep(1)
-      black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-      time.sleep(1)
-      temp_start_time = time.time()
-
-
-def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
-  global nonzero_bus_errors, zero_bus_errors, content_errors
-
-  if direction:
-    print("***************** TESTING (BLACK --> OTHER) *****************")
-  else:
-    print("***************** TESTING (OTHER --> BLACK) *****************")
-
-  for send_bus, obd, recv_buses in test_array:
-    black_panda.send_heartbeat()
-    other_panda.send_heartbeat()
-    print("\ntest can: ", send_bus, " OBD: ", obd)
-
-    # set OBD on black panda
-    black_panda.set_gmlan(True if obd else None)
-
-    # clear and flush
-    if direction:
-      black_panda.can_clear(send_bus)
-    else:
-      other_panda.can_clear(send_bus)
-
-    for recv_bus in recv_buses:
-      if direction:
-        other_panda.can_clear(recv_bus)
-      else:
-	      black_panda.can_clear(recv_bus)
-
-    black_panda.can_recv()
-    other_panda.can_recv()
-
-    # send the characters
-    at = random.randint(1, 2000)
-    st = get_test_string()[0:8]
-    if direction:
-      black_panda.can_send(at, st, send_bus)
-    else:
-      other_panda.can_send(at, st, send_bus)
-    time.sleep(0.1)
-
-    # check for receive
-    if direction:
-      _ = black_panda.can_recv()  # cans echo
-      cans_loop = other_panda.can_recv()
-    else:
-      _ = other_panda.can_recv()  # cans echo
-      cans_loop = black_panda.can_recv()
-
-    loop_buses = []
-    for loop in cans_loop:
-      if (loop[0] != at) or (loop[2] != st):
-	      content_errors += 1
-
-      print("  Loop on bus", str(loop[3]))
-      loop_buses.append(loop[3])
-    if len(cans_loop) == 0:
-      print("  No loop")
-      if not os.getenv("NOASSERT"):
-        assert False
-
-    # test loop buses
-    recv_buses.sort()
-    loop_buses.sort()
-    if(recv_buses != loop_buses):
-      if len(loop_buses) == 0:
-	      zero_bus_errors += 1
-      else:
-	      nonzero_bus_errors += 1
-      if not os.getenv("NOASSERT"):
-        assert False
-    else:
-      print("  TEST PASSED")
-
-    time.sleep(sleep_duration)
-  print("\n")
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for i in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/panda/tests/black_white_relay_test.py b/panda/tests/black_white_relay_test.py
deleted file mode 100755
index f12e42d39b023f..00000000000000
--- a/panda/tests/black_white_relay_test.py
+++ /dev/null
@@ -1,142 +0,0 @@
-#!/usr/bin/env python3
-
-# Relay test with loopback between black panda (+ harness and power) and white/grey panda
-# Tests the relay switching multiple times / second by looking at the buses on which loop occurs.
-
-
-import os
-import sys
-import time
-import random
-import argparse
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-counter = 0
-open_errors = 0
-closed_errors = 0
-content_errors = 0
-
-def run_test(sleep_duration):
-  global counter, open_errors, closed_errors, content_errors
-
-  pandas = Panda.list()
-  #pandas = ["540046000c51363338383037", "07801b800f51363038363036"]
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    print("Connect white/grey and black panda to run this test!")
-    assert False
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  # find out which one is black
-  type0 = pandas[0].get_type()
-  type1 = pandas[1].get_type()
-
-  black_panda = None
-  other_panda = None
-
-  if type0 == "\x03" and type1 != "\x03":
-    black_panda = pandas[0]
-    other_panda = pandas[1]
-  elif type0 != "\x03" and type1 == "\x03":
-    black_panda = pandas[1]
-    other_panda = pandas[0]
-  else:
-    print("Connect white/grey and black panda to run this test!")
-    assert False
-
-  # disable safety modes
-  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # test health packet
-  print("black panda health", black_panda.health())
-  print("other panda health", other_panda.health())
-
-  # test black -> other
-  while True:
-    # Switch on relay
-    black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    time.sleep(0.05)
-
-    if not test_buses(black_panda, other_panda, (0, False, [0])):
-      open_errors += 1
-      print("Open error")
-      assert False
-
-    # Switch off relay
-    black_panda.set_safety_mode(Panda.SAFETY_SILENT)
-    time.sleep(0.05)
-
-    if not test_buses(black_panda, other_panda, (0, False, [0, 2])):
-      closed_errors += 1
-      print("Close error")
-      assert False
-
-    counter += 1
-    print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors)
-
-def test_buses(black_panda, other_panda, test_obj):
-  global content_errors
-  send_bus, obd, recv_buses = test_obj
-
-  black_panda.send_heartbeat()
-  other_panda.send_heartbeat()
-
-  # Set OBD on send panda
-  other_panda.set_gmlan(True if obd else None)
-
-  # clear and flush
-  other_panda.can_clear(send_bus)
-
-  for recv_bus in recv_buses:
-    black_panda.can_clear(recv_bus)
-
-  black_panda.can_recv()
-  other_panda.can_recv()
-
-  # send the characters
-  at = random.randint(1, 2000)
-  st = get_test_string()[0:8]
-  other_panda.can_send(at, st, send_bus)
-  time.sleep(0.05)
-
-  # check for receive
-  _ = other_panda.can_recv()  # can echo
-  cans_loop = black_panda.can_recv()
-
-  loop_buses = []
-  for loop in cans_loop:
-    if (loop[0] != at) or (loop[2] != st):
-      content_errors += 1
-    loop_buses.append(loop[3])
-
-  # test loop buses
-  recv_buses.sort()
-  loop_buses.sort()
-  if(recv_buses != loop_buses):
-    return False
-  else:
-    return True
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for i in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/panda/tests/build/Dockerfile b/panda/tests/build/Dockerfile
deleted file mode 100644
index 0f982160beb8de..00000000000000
--- a/panda/tests/build/Dockerfile
+++ /dev/null
@@ -1,31 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++ git autoconf gperf bison flex automake texinfo wget help2man gawk libtool libtool-bin ncurses-dev unzip unrar-free libexpat-dev sed bzip2 locales curl zlib1g-dev libffi-dev libssl-dev
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 2.7.12
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-RUN pip install pycrypto==2.6.1
-
-# Build esp toolchain
-RUN mkdir -p /panda/boardesp
-WORKDIR /panda/boardesp
-RUN git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
-WORKDIR /panda/boardesp/esp-open-sdk
-RUN git checkout 03f5e898a059451ec5f3de30e7feff30455f7ce
-COPY ./boardesp/python2_make.py /panda/boardesp/esp-open-sdk
-RUN python2 python2_make.py "CT_ALLOW_BUILD_AS_ROOT_SURE=1 make STANDALONE=y"
-
-COPY . /panda
-
-WORKDIR /panda
diff --git a/panda/tests/can_printer.py b/panda/tests/can_printer.py
deleted file mode 100755
index c8bbc3f18442b7..00000000000000
--- a/panda/tests/can_printer.py
+++ /dev/null
@@ -1,39 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import time
-from collections import defaultdict
-import binascii
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-# fake
-def sec_since_boot():
-  return time.time()
-
-def can_printer():
-  p = Panda()
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  start = sec_since_boot()
-  lp = sec_since_boot()
-  msgs = defaultdict(list)
-  canbus = int(os.getenv("CAN", 0))
-  while True:
-    can_recv = p.can_recv()
-    for address, _, dat, src  in can_recv:
-      if src == canbus:
-        msgs[address].append(dat)
-
-    if sec_since_boot() - lp > 0.1:
-      dd = chr(27) + "[2J"
-      dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k,v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())])):
-        dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
-      print(dd)
-      lp = sec_since_boot()
-
-if __name__ == "__main__":
-  can_printer()
diff --git a/panda/tests/debug_console.py b/panda/tests/debug_console.py
deleted file mode 100755
index 7b354b1487a080..00000000000000
--- a/panda/tests/debug_console.py
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import time
-import select
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-setcolor = ["\033[1;32;40m", "\033[1;31;40m"]
-unsetcolor = "\033[00m"
-
-if __name__ == "__main__":
-  while True:
-    try:
-      port_number = int(os.getenv("PORT", 0))
-      claim = os.getenv("CLAIM") is not None
-
-      serials = Panda.list()
-      if os.getenv("SERIAL"):
-        serials = [x for x in serials if x==os.getenv("SERIAL")]
-
-      pandas = list([Panda(x, claim=claim) for x in serials])
-
-      if not len(pandas):
-        sys.exit("no pandas found")
-
-      if os.getenv("BAUD") is not None:
-        for panda in pandas:
-          panda.set_uart_baud(port_number, int(os.getenv("BAUD")))
-
-      while True:
-        for i, panda in enumerate(pandas):
-          while True:
-            ret = panda.serial_read(port_number)
-            if len(ret) > 0:
-              sys.stdout.write(setcolor[i] + ret.decode('ascii') + unsetcolor)
-              sys.stdout.flush()
-            else:
-              break
-          if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
-            ln = sys.stdin.readline()
-            if claim:
-              panda.serial_write(port_number, ln)
-          time.sleep(0.01)
-    except Exception:
-      print("panda disconnected!")
-      time.sleep(0.5);
diff --git a/panda/tests/development/register_hashmap_spread.py b/panda/tests/development/register_hashmap_spread.py
deleted file mode 100755
index ba0a0eb29d8fde..00000000000000
--- a/panda/tests/development/register_hashmap_spread.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-import matplotlib.pyplot as plt # pylint: disable=import-error
-
-HASHING_PRIME = 23
-REGISTER_MAP_SIZE = 0x3FF
-BYTES_PER_REG = 4
-
-# From ST32F413 datasheet
-REGISTER_ADDRESS_REGIONS = [
-  (0x40000000, 0x40007FFF),
-  (0x40010000, 0x400107FF),
-  (0x40011000, 0x400123FF),
-  (0x40012C00, 0x40014BFF),
-  (0x40015000, 0x400153FF),
-  (0x40015800, 0x40015BFF),
-  (0x40016000, 0x400167FF),
-  (0x40020000, 0x40021FFF),
-  (0x40023000, 0x400233FF),
-  (0x40023800, 0x40023FFF),
-  (0x40026000, 0x400267FF),
-  (0x50000000, 0x5003FFFF),
-  (0x50060000, 0x500603FF),
-  (0x50060800, 0x50060BFF),
-  (0x50060800, 0x50060BFF),
-  (0xE0000000, 0xE00FFFFF)
-]
-
-def hash(reg_addr):
-  return (((reg_addr >> 16) ^ ((((reg_addr + 1) & 0xFFFF) * HASHING_PRIME) & 0xFFFF)) & REGISTER_MAP_SIZE)
-
-# Calculate hash for each address
-hashes = []
-double_hashes = []
-for (start_addr, stop_addr) in REGISTER_ADDRESS_REGIONS:
-  for addr in range(start_addr, stop_addr+1, BYTES_PER_REG):
-    h = hash(addr)
-    hashes.append(h)
-    double_hashes.append(hash(h))
-
-# Make histograms
-plt.subplot(2, 1, 1)
-plt.hist(hashes, bins=REGISTER_MAP_SIZE)
-plt.title("Number of collisions per hash")
-plt.xlabel("Address")
-
-plt.subplot(2, 1, 2)
-plt.hist(double_hashes, bins=REGISTER_MAP_SIZE)
-plt.title("Number of collisions per double hash")
-plt.xlabel("Address")
-plt.show()
diff --git a/panda/tests/disable_esp.py b/panda/tests/disable_esp.py
deleted file mode 100755
index ce1dd6db2eec36..00000000000000
--- a/panda/tests/disable_esp.py
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/env python3
-from panda import Panda
-Panda().set_esp_power(False)
-
diff --git a/panda/tests/echo.py b/panda/tests/echo.py
deleted file mode 100755
index 9ef0cf1074b73f..00000000000000
--- a/panda/tests/echo.py
+++ /dev/null
@@ -1,35 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import time
-import _thread
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-# This script is intended to be used in conjunction with the echo_loopback_test.py test script from panda jungle.
-# It sends a reversed response back for every message received containing b"test".
-
-def heartbeat_thread(p):
-  while True:
-    try:
-      p.send_heartbeat()
-      time.sleep(1)
-    except:
-      break
-
-# Resend every CAN message that has been received on the same bus, but with the data reversed
-if __name__ == "__main__":
-  p = Panda()
-  _thread.start_new_thread(heartbeat_thread, (p,))
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  p.set_power_save(False)
-
-  while True:
-    incoming = p.can_recv()
-    for message in incoming:
-      address, notused, data, bus = message
-      if b'test' in data:
-        p.can_send(address, data[::-1], bus)
-
-
diff --git a/panda/tests/elm_car_simulator.py b/panda/tests/elm_car_simulator.py
deleted file mode 100755
index 01b79c88404e48..00000000000000
--- a/panda/tests/elm_car_simulator.py
+++ /dev/null
@@ -1,325 +0,0 @@
-#!/usr/bin/env python3
-"""Used to Reverse/Test ELM protocol auto detect and OBD message response without a car."""
-
-import sys
-import os
-import struct
-import binascii
-import time
-import threading
-from collections import deque
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-def lin_checksum(dat):
-    return sum(dat) % 0x100
-
-class ELMCarSimulator():
-    def __init__(self, sn, silent=False, can_kbaud=500,
-                 can=True, can11b=True, can29b=True,
-                 lin=True):
-        self.__p = Panda(sn if sn else Panda.list()[0])
-        self.__on = True
-        self.__stop = False
-        self.__silent = silent
-
-        self.__lin_timer = None
-        self.__lin_active = False
-        self.__lin_enable = lin
-        self.__lin_monitor_thread = threading.Thread(target=self.__lin_monitor)
-
-        self.__can_multipart_data = None
-        self.__can_kbaud = can_kbaud
-        self.__can_extra_noise_msgs = deque()
-        self.__can_enable = can
-        self.__can11b = can11b
-        self.__can29b = can29b
-        self.__can_monitor_thread = threading.Thread(target=self.__can_monitor)
-
-    @property
-    def panda(self):
-        return self.__p
-
-    def stop(self):
-        if self.__lin_timer:
-            self.__lin_timer.cancel()
-            self.__lin_timeout_handler()
-
-        self.__stop = True
-
-    def join(self):
-        if self.__lin_monitor_thread.is_alive():
-            self.__lin_monitor_thread.join()
-        if self.__can_monitor_thread.is_alive():
-            self.__can_monitor_thread.join()
-        if self.__p:
-            print("closing handle")
-            self.__p.close()
-
-    def set_enable(self, on):
-        self.__on = on
-
-    def start(self):
-        self.panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-        if self.__lin_enable:
-            self.__lin_monitor_thread.start()
-        if self.__can_enable:
-            self.__can_monitor_thread.start()
-
-    #########################
-    # LIN related functions #
-    #########################
-
-    def __lin_monitor(self):
-        print("STARTING LIN THREAD")
-        self.panda.set_uart_baud(2, 10400)
-        self.panda.kline_drain() # Toss whatever was already there
-
-        lin_buff = bytearray()
-
-        while not self.__stop:
-            lin_msg = self.panda.serial_read(2)
-            if not lin_msg:
-                continue
-
-            lin_buff += lin_msg
-            #print("    ** Buff", lin_buff)
-            if lin_buff.endswith(b'\x00\xc1\x33\xf1\x81\x66'): # Leading 0 is wakeup
-                lin_buff = bytearray()
-                self.__lin_active = True
-                print("GOT LIN (KWP FAST) WAKEUP SIGNAL")
-                self._lin_send(0x10, b'\xC1\x8F\xE9')
-                self.__reset_lin_timeout()
-                continue
-            if self.__lin_active:
-                msglen = lin_buff[0] & 0x7
-                if lin_buff[0] & 0xF8 not in (0x80, 0xC0):
-                    print("Invalid bytes at start of message")
-                    print("    BUFF", lin_buff)
-                    continue
-                if len(lin_buff) < msglen + 4: continue
-                if lin_checksum(lin_buff[:-1]) != lin_buff[-1]: continue
-                self.__lin_process_msg(lin_buff[0] & 0xF8, #Priority
-                                       lin_buff[1], lin_buff[2], lin_buff[3:-1])
-                lin_buff = bytearray()
-
-    def _lin_send(self, to_addr, msg):
-        if not self.__silent:
-            print("    LIN Reply (%x)" % to_addr, binascii.hexlify(msg))
-
-        PHYS_ADDR = 0x80
-        #FUNC_ADDR = 0xC0
-        RECV = 0xF1
-        #SEND = 0x33 # Car OBD Functional Address
-        headers = struct.pack("BBB", PHYS_ADDR | len(msg), RECV, to_addr)
-        if not self.__silent:
-            print("    Sending LIN", binascii.hexlify(headers+msg),
-                  hex(sum(bytearray(headers+msg))%0x100))
-        self.panda.kline_send(headers + msg)
-
-    def __reset_lin_timeout(self):
-        if self.__lin_timer:
-            self.__lin_timer.cancel()
-        self.__lin_timer = threading.Timer(5, self.__lin_timeout_handler)
-        self.__lin_timer.start()
-
-    def __lin_timeout_handler(self):
-        print("LIN TIMEOUT")
-        self.__lin_timer = None
-        self.__lin_active = False
-
-    @property
-    def lin_active(self):
-        return self.__lin_active
-
-    def __lin_process_msg(self, priority, toaddr, fromaddr, data):
-        self.__reset_lin_timeout()
-
-        if not self.__silent and data != b'\x3E':
-            print("LIN MSG", "Addr:", hex(toaddr), "obdLen:", len(data),
-                  binascii.hexlify(data))
-
-        outmsg = None
-        #if data == b'\x3E':
-        #    print("KEEP ALIVE")
-        #el
-        if len(data) > 1:
-            outmsg = self._process_obd(data[0], data[1])
-
-        if outmsg:
-            obd_header = struct.pack("BB", 0x40 | data[0], data[1])
-            if len(outmsg) <= 5:
-                self._lin_send(0x10, obd_header + outmsg)
-            else:
-                first_msg_len = min(4, len(outmsg)%4) or 4
-                self._lin_send(0x10, obd_header + b'\x01' +
-                               b'\x00'*(4-first_msg_len) +
-                               outmsg[:first_msg_len])
-
-                for num, i in enumerate(range(first_msg_len, len(outmsg), 4)):
-                    self._lin_send(0x10, obd_header +
-                                   struct.pack('B', (num+2)%0x100) + outmsg[i:i+4])
-
-    #########################
-    # CAN related functions #
-    #########################
-
-    def __can_monitor(self):
-        print("STARTING CAN THREAD")
-        self.panda.set_can_speed_kbps(0, self.__can_kbaud)
-        self.panda.can_recv() # Toss whatever was already there
-
-        while not self.__stop:
-            for address, ts, data, src in self.panda.can_recv():
-                if self.__on and src == 0 and len(data) == 8 and data[0] >= 2:
-                    if not self.__silent:
-                        print("Processing CAN message", src, hex(address), binascii.hexlify(data))
-                    self.__can_process_msg(data[1], data[2], address, ts, data, src)
-                elif not self.__silent:
-                    print("Rejecting CAN message", src, hex(address), binascii.hexlify(data))
-
-    def can_mode_11b(self):
-        self.__can11b = True
-        self.__can29b = False
-
-    def can_mode_29b(self):
-        self.__can11b = False
-        self.__can29b = True
-
-    def can_mode_11b_29b(self):
-        self.__can11b = True
-        self.__can29b = True
-
-    def change_can_baud(self, kbaud):
-        self.__can_kbaud = kbaud
-        self.panda.set_can_speed_kbps(0, self.__can_kbaud)
-
-    def can_add_extra_noise(self, noise_msg, addr=None):
-        self.__can_extra_noise_msgs.append((addr, noise_msg))
-
-    def _can_send(self, addr, msg):
-        if not self.__silent:
-            print("    CAN Reply (%x)" % addr, binascii.hexlify(msg))
-        self.panda.can_send(addr, msg + b'\x00'*(8-len(msg)), 0)
-        if self.__can_extra_noise_msgs:
-            noise = self.__can_extra_noise_msgs.popleft()
-            self.panda.can_send(noise[0] if noise[0] is not None else addr,
-                             noise[1] + b'\x00'*(8-len(noise[1])), 0)
-
-    def _can_addr_matches(self, addr):
-        if self.__can11b and (addr == 0x7DF or (addr & 0x7F8) == 0x7E0):
-            return True
-        if self.__can29b and (addr == 0x18db33f1 or (addr & 0x1FFF00FF) == 0x18da00f1):
-            return True
-        return False
-
-    def __can_process_msg(self, mode, pid, address, ts, data, src):
-        if not self.__silent:
-            print("CAN MSG", binascii.hexlify(data[1:1+data[0]]),
-                  "Addr:", hex(address), "Mode:", hex(mode)[2:].zfill(2),
-                  "PID:", hex(pid)[2:].zfill(2), "canLen:", len(data),
-                  binascii.hexlify(data))
-
-        if self._can_addr_matches(address) and len(data) == 8:
-            outmsg = None
-            if data[:3] == b'\x30\x00\x00' and len(self.__can_multipart_data):
-                if not self.__silent:
-                    print("Request for more data");
-                outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0x18DAF110
-                msgnum = 1
-                while(self.__can_multipart_data):
-                    datalen = min(7, len(self.__can_multipart_data))
-                    msgpiece = struct.pack("B", 0x20 | msgnum) + self.__can_multipart_data[:datalen]
-                    self._can_send(outaddr, msgpiece)
-                    self.__can_multipart_data = self.__can_multipart_data[7:]
-                    msgnum = (msgnum+1)%0x10
-                    time.sleep(0.01)
-
-            else:
-                outmsg = self._process_obd(mode, pid)
-
-            if outmsg:
-                outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0x18DAF110
-
-                if len(outmsg) <= 5:
-                    self._can_send(outaddr,
-                                   struct.pack("BBB", len(outmsg)+2, 0x40|data[1], pid) + outmsg)
-                else:
-                    first_msg_len = min(3, len(outmsg)%7)
-                    payload_len = len(outmsg)+3
-                    msgpiece = struct.pack("BBBBB", 0x10 | ((payload_len>>8)&0xF),
-                                           payload_len&0xFF,
-                                           0x40|data[1], pid, 1) + outmsg[:first_msg_len]
-                    self._can_send(outaddr, msgpiece)
-                    self.__can_multipart_data = outmsg[first_msg_len:]
-
-    #########################
-    # General OBD functions #
-    #########################
-
-    def _process_obd(self, mode, pid):
-        if mode == 0x01: # Mode: Show current data
-            if pid == 0x00:   #List supported things
-                return b"\xff\xff\xff\xfe"#b"\xBE\x1F\xB8\x10" #Bitfield, random features
-            elif pid == 0x01: # Monitor Status since DTC cleared
-                return b"\x00\x00\x00\x00" #Bitfield, random features
-            elif pid == 0x04: # Calculated engine load
-                return b"\x2f"
-            elif pid == 0x05: # Engine coolant temperature
-                return b"\x3c"
-            elif pid == 0x0B: # Intake manifold absolute pressure
-                return b"\x90"
-            elif pid == 0x0C: # Engine RPM
-                return b"\x1A\xF8"
-            elif pid == 0x0D: # Vehicle Speed
-                return b"\x53"
-            elif pid == 0x10: # MAF air flow rate
-                return b"\x01\xA0"
-            elif pid == 0x11: # Throttle Position
-                return b"\x90"
-            elif pid == 0x33: # Absolute Barometric Pressure
-                return b"\x90"
-        elif mode == 0x09: # Mode: Request vehicle information
-            if pid == 0x02:   # Show VIN
-                return b"1D4GP00R55B123456"
-            if pid == 0xFC:   # test long multi message. Ligned up for LIN responses
-                return b''.join((struct.pack(">BBH", 0xAA, 0xAA, num+1) for num in range(80)))
-            if pid == 0xFD:   # test long multi message
-                parts = (b'\xAA\xAA\xAA' + struct.pack(">I", num) for num in range(80))
-                return b'\xAA\xAA\xAA' + b''.join(parts)
-            if pid == 0xFE:   # test very long multi message
-                parts = (b'\xAA\xAA\xAA' + struct.pack(">I", num) for num in range(584))
-                return b'\xAA\xAA\xAA' + b''.join(parts) + b'\xAA'
-            if pid == 0xFF:
-                return b'\xAA\x00\x00' +\
-                        b"".join(((b'\xAA'*5)+struct.pack(">H", num+1) for num in range(584)))
-                #return b"\xAA"*100#(0xFFF-3)
-
-
-if __name__ == "__main__":
-    serial = os.getenv("SERIAL") if os.getenv("SERIAL") else None
-    kbaud = int(os.getenv("CANKBAUD")) if os.getenv("CANKBAUD") else 500
-    bitwidth = int(os.getenv("CANBITWIDTH")) if os.getenv("CANBITWIDTH") else 0
-    canenable = bool(int(os.getenv("CANENABLE"))) if os.getenv("CANENABLE") else True
-    linenable = bool(int(os.getenv("LINENABLE"))) if os.getenv("LINENABLE") else True
-    sim = ELMCarSimulator(serial, can_kbaud=kbaud, can=canenable, lin=linenable)
-    if(bitwidth == 0):
-        sim.can_mode_11b_29b()
-    if(bitwidth == 11):
-        sim.can_mode_11b()
-    if(bitwidth == 29):
-        sim.can_mode_29b()
-
-    import signal
-    def signal_handler(signal, frame):
-        print('\nShutting down simulator')
-        sim.stop()
-        sim.join()
-        sys.exit(0)
-
-    signal.signal(signal.SIGINT, signal_handler)
-
-    sim.start()
-
-    signal.pause()
diff --git a/panda/tests/elm_throughput.py b/panda/tests/elm_throughput.py
deleted file mode 100755
index 2895b0926119d9..00000000000000
--- a/panda/tests/elm_throughput.py
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/usr/bin/env python3
-
-import socket
-import threading
-import select
-
-class Reader(threading.Thread):
-    def __init__(self, s, *args, **kwargs):
-        super(Reader, self).__init__(*args, **kwargs)
-        self._s = s
-        self.__stop = False
-
-    def stop(self):
-        self.__stop = True
-
-    def run(self):
-        while not self.__stop:
-            s.recv(1000)
-
-def read_or_fail(s):
-    ready = select.select([s], [], [], 4)
-    assert ready[0], "Socket did not receive data within the timeout duration."
-    return s.recv(1000)
-
-def send_msg(s, msg):
-    s.send(msg)
-    res = b''
-    while not res.endswith(">"):
-        res += read_or_fail(s)
-    return res
-
-if __name__ == "__main__":
-    s = socket.create_connection(("192.168.0.10", 35000))
-    #t1 = Reader(s)
-    #t1.start()
-    send_msg(s, b"ATZ\r")
-    send_msg(s, b"ATL1\r")
-    print(send_msg(s, b"ATE0\r"))
-    print(send_msg(s, b"ATS0\r"))
-    print(send_msg(s, b"ATSP6\r"))
-
-    print("\nLOOP\n")
-
-    while True:
-        print(send_msg(s, b"0100\r"))
-        print(send_msg(s, b"010d\r"))
diff --git a/panda/tests/elm_wifi.py b/panda/tests/elm_wifi.py
deleted file mode 100644
index b0645ea8898d22..00000000000000
--- a/panda/tests/elm_wifi.py
+++ /dev/null
@@ -1,667 +0,0 @@
-import os
-import sys
-import time
-import socket
-import select
-import struct
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", ".."))
-from panda import Panda
-from panda.tests import elm_car_simulator
-
-def elm_connect():
-    s = socket.create_connection(("192.168.0.10", 35000))
-    s.setblocking(0)
-    return s
-
-def read_or_fail(s):
-    ready = select.select([s], [], [], 4)
-    assert ready[0], "Socket did not receive data within the timeout duration."
-    return s.recv(1000)
-
-def sendrecv(s, dat):
-    s.send(dat)
-    return read_or_fail(s)
-
-def send_compare(s, dat, ret, timeout=4):
-    s.send(dat)
-    res = b''
-    while ret.startswith(res) and ret != res:
-        print("Waiting")
-        ready = select.select([s], [], [], timeout)
-        if not ready[0]:
-            print("current recv data:", repr(res))
-            break;
-        res += s.recv(1000)
-    #print("final recv data: '%s'" % repr(res))
-    assert ret == res#, "Data does not agree (%s) (%s)"%(repr(ret), repr(res))
-
-def sync_reset(s):
-    s.send("ATZ\r")
-    res = b''
-    while not res.endswith("ELM327 v1.5\r\r>"):
-        res += read_or_fail(s)
-        print("Reset response is '%s'" % repr(res))
-
-def test_reset():
-    s = socket.create_connection(("192.168.0.10", 35000))
-    s.setblocking(0)
-
-    try:
-        sync_reset(s)
-    finally:
-        s.close()
-
-def test_elm_cli():
-    s = elm_connect()
-
-    try:
-        sync_reset(s)
-
-        send_compare(s, b'ATI\r', b'ATI\rELM327 v1.5\r\r>')
-
-        #Test Echo Off
-        #Expected to be misimplimentation, but this is how the reference device behaved.
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') #Here is the odd part
-        send_compare(s, b'ATE0\r', b'OK\r\r>')       #Should prob show this immediately
-        send_compare(s, b'ATI\r', b'ELM327 v1.5\r\r>')
-
-        #Test Newline On
-        send_compare(s, b'ATL1\r', b'OK\r\n\r\n>')
-        send_compare(s, b'ATI\r', b'ELM327 v1.5\r\n\r\n>')
-        send_compare(s, b'ATL0\r', b'OK\r\r>')
-        send_compare(s, b'ATI\r', b'ELM327 v1.5\r\r>')
-
-        send_compare(s, b'ATI\r', b'ELM327 v1.5\r\r>') #Test repeat command no echo
-        send_compare(s, b'\r', b'ELM327 v1.5\r\r>')
-
-        send_compare(s, b'aTi\r', b'ELM327 v1.5\r\r>') #Test different case
-
-        send_compare(s, b'  a     T i\r', b'ELM327 v1.5\r\r>') #Test with white space
-
-        send_compare(s, b'ATCATHAT\r', b'?\r\r>') #Test Invalid AT command
-
-        send_compare(s, b'01 00 00 00 00 00 00 00\r', b'?\r\r>') #Test Invalid (too long) OBD command
-        send_compare(s, b'01 GZ\r', b'?\r\r>') #Test Invalid (Non hex chars) OBD command
-    finally:
-        s.close()
-
-def test_elm_setget_protocol():
-    s = elm_connect()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-
-        send_compare(s, b'ATSP0\r', b"OK\r\r>") # Set auto
-        send_compare(s, b'ATDP\r', b"AUTO\r\r>")
-        send_compare(s, b'ATDPN\r', b"A0\r\r>")
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>") # Set protocol
-        send_compare(s, b'ATDP\r', b"ISO 15765-4 (CAN 11/500)\r\r>")
-        send_compare(s, b'ATDPN\r', b"6\r\r>")
-
-        send_compare(s, b'ATSPA6\r', b"OK\r\r>") # Set auto with protocol default
-        send_compare(s, b'ATDP\r', b"AUTO, ISO 15765-4 (CAN 11/500)\r\r>")
-        send_compare(s, b'ATDPN\r', b"A6\r\r>")
-
-        send_compare(s, b'ATSP7\r', b"OK\r\r>")
-        send_compare(s, b'ATDP\r', b"ISO 15765-4 (CAN 29/500)\r\r>")
-        send_compare(s, b'ATDPN\r', b"7\r\r>") #Test Does not accept invalid protocols
-        send_compare(s, b'ATSPD\r', b"?\r\r>")
-        send_compare(s, b'ATDP\r', b"ISO 15765-4 (CAN 29/500)\r\r>")
-        send_compare(s, b'ATDPN\r', b"7\r\r>")
-    finally:
-        s.close()
-
-def test_elm_protocol_failure():
-    s = elm_connect()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"SEARCHING...\rUNABLE TO CONNECT\r\r>", timeout=10)
-
-        send_compare(s, b'ATSP1\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"NO DATA\r\r>")
-
-        send_compare(s, b'ATSP2\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"NO DATA\r\r>")
-
-        send_compare(s, b'ATSP3\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"BUS INIT: ...ERROR\r\r>")
-
-        send_compare(s, b'ATSP4\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"BUS INIT: ...ERROR\r\r>")
-
-        send_compare(s, b'ATSP5\r', b"OK\r\r>")
-        send_compare(s, b'0100\r', b"BUS INIT: ERROR\r\r>")
-
-        #send_compare(s, b'ATSP6\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSP7\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSP8\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSP9\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSPA\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSPB\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-        #
-        #send_compare(s, b'ATSPC\r', b"OK\r\r>")
-        #send_compare(s, b'0100\r', b"NO DATA\r\r>")
-    finally:
-        s.close()
-
-def test_elm_protocol_autodetect_ISO14230_KWP_FAST():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False)#, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATH0\r', b'OK\r\r>') # Headers ON
-        send_compare(s, b'ATS0\r', b"OK\r\r>")
-
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A5\r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_basic_send_lin():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False)#, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP5\r', b"ATSP5\rOK\r\r>") # Set Proto
-
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'0100\r', b"BUS INIT: OK\r41 00 FF FF FF FE \r\r>")
-        send_compare(s, b'010D\r', b"41 0D 53 \r\r>")
-
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces Off
-        send_compare(s, b'0100\r', b"4100FFFFFFFE\r\r>")
-        send_compare(s, b'010D\r', b"410D53\r\r>")
-
-        send_compare(s, b'ATH1\r', b'OK\r\r>') # Spaces Off Headers On
-        send_compare(s, b'0100\r', b"86F1104100FFFFFFFEC3\r\r>")
-        send_compare(s, b'010D\r', b"83F110410D5325\r\r>")
-
-        send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces On Headers On
-        send_compare(s, b'0100\r', b"86 F1 10 41 00 FF FF FF FE C3 \r\r>")
-        send_compare(s, b'010D\r', b"83 F1 10 41 0D 53 25 \r\r>")
-
-        send_compare(s, b'1F00\r', b"NO DATA\r\r>") # Unhandled msg, no response.
-
-        # Repeat last check to see if it still works after NO DATA was received
-        send_compare(s, b'0100\r', b"86 F1 10 41 00 FF FF FF FE C3 \r\r>")
-        send_compare(s, b'010D\r', b"83 F1 10 41 0D 53 25 \r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_lin_multiline_msg():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATSP5\r', b"OK\r\r>") # Set Proto
-
-        send_compare(s, b'0902\r', # headers OFF, Spaces ON
-                     b"BUS INIT: OK\r"
-                     b"49 02 01 00 00 00 31 \r"
-                     b"49 02 02 44 34 47 50 \r"
-                     b"49 02 03 30 30 52 35 \r"
-                     b"49 02 04 35 42 31 32 \r"
-                     b"49 02 05 33 34 35 36 \r\r>")
-
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
-        send_compare(s, b'0902\r', # Headers OFF, Spaces OFF
-                     b"49020100000031\r"
-                     b"49020244344750\r"
-                     b"49020330305235\r"
-                     b"49020435423132\r"
-                     b"49020533343536\r\r>")
-
-        send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
-        send_compare(s, b'0902\r', # Headers ON, Spaces OFF
-                     b"87F1104902010000003105\r"
-                     b"87F11049020244344750E4\r"
-                     b"87F11049020330305235BD\r"
-                     b"87F11049020435423132B1\r"
-                     b"87F11049020533343536AA\r\r>")
-
-        send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces ON
-        send_compare(s, b'0902\r', # Headers ON, Spaces ON
-                     b"87 F1 10 49 02 01 00 00 00 31 05 \r"
-                     b"87 F1 10 49 02 02 44 34 47 50 E4 \r"
-                     b"87 F1 10 49 02 03 30 30 52 35 BD \r"
-                     b"87 F1 10 49 02 04 35 42 31 32 B1 \r"
-                     b"87 F1 10 49 02 05 33 34 35 36 AA \r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_lin_multiline_msg_throughput():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP5\r', b"ATSP5\rOK\r\r>") # Set Proto
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
-        send_compare(s, b'ATH0\r', b'OK\r\r>') # Headers OFF
-
-        send_compare(s, b'09fc\r', # headers OFF, Spaces OFF
-                     b"BUS INIT: OK\r" +
-                     b''.join((b'49FC' + hex(num+1)[2:].upper().zfill(2) +
-                               b'AAAA' + hex(num+1)[2:].upper().zfill(4) + b'\r'
-                               for num in range(80))) +
-                     b"\r>",
-                     timeout=10
-        )
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_panda_safety_mode_KWPFast():
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    p_car = Panda(serial) # Configure this so the messages will send
-    p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    p_car.kline_drain()
-
-    p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(Panda.SAFETY_ELM327);
-
-    def get_checksum(dat):
-        result = 0
-        result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
-        return struct.pack("B", result % 0x100)
-
-    def timed_recv_check(p, bus, goodmsg):
-        t = time.time()
-        msg = bytearray()
-
-        while time.time()-t < 0.5 and len(msg) != len(goodmsg):
-            msg += p._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, len(goodmsg)-len(msg))
-            #print("Received", repr(msg))
-            if msg == goodmsg:
-                return True
-            time.sleep(0.01)
-        return False
-
-    def kline_send(p, x, bus=2):
-        p.kline_drain(bus=bus)
-        p._handle.bulkWrite(2, bytes([bus]) + x)
-        return timed_recv_check(p, bus, x)
-
-    def did_send(priority, toaddr, fromaddr, dat, bus=2, checkbyte=None):
-        msgout = struct.pack("BBB", priority | len(dat), toaddr, fromaddr) + dat
-        msgout += get_checksum(msgout) if checkbyte is None else checkbyte
-        print("Sending", hex(priority), hex(toaddr), hex(fromaddr), repr(msgout))
-
-        if not kline_send(p_elm, msgout, bus=bus):
-            return False
-        return timed_recv_check(p_car, bus, msgout)
-
-    assert not did_send(0xC0, 0x33, 0xF1, b'\x01\x0F', bus=3) #wrong bus
-    assert not did_send(0xC0, 0x33, 0xF1, b'') #wrong length
-    assert not did_send(0xB0, 0x33, 0xF1, b'\x01\x0E') #bad priority
-    assert not did_send(0xC0, 0x00, 0xF1, b'\x01\x0D') #bad addr
-    assert not did_send(0xC0, 0x33, 0x00, b'\x01\x0C') #bad addr
-
-    assert did_send(0xC0, 0x33, 0xF1, b'\x01\x0B') #good! (obd func req)
-
-def test_elm_lin_keepalive():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, can=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP5\r', b"ATSP5\rOK\r\r>") # Set Proto
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
-        send_compare(s, b'ATH0\r', b'OK\r\r>') # Headers OFF
-
-        send_compare(s, b'0100\r', b"BUS INIT: OK\r4100FFFFFFFE\r\r>")
-        assert sim.lin_active
-        time.sleep(6)
-        assert sim.lin_active
-
-        send_compare(s, b'ATPC\r', b"OK\r\r>") #STOP KEEPALIVE
-        assert sim.lin_active
-        time.sleep(6)
-        assert not sim.lin_active
-
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-#////////////
-def test_elm_protocol_autodetect_ISO15765():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
-        send_compare(s, b'ATS0\r', b"OK\r\r>")
-
-        sim.can_mode_11b()
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r7E803410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A6\r\r>")
-
-        sim.can_mode_29b()
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r18DAF11003410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A7\r\r>")
-
-        sim.change_can_baud(250)
-
-        sim.can_mode_11b()
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r7E803410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A8\r\r>")
-
-        sim.can_mode_29b()
-        send_compare(s, b'ATSP0\r', b"OK\r\r>")
-        send_compare(s, b'010D\r', b"SEARCHING...\r18DAF11003410D53\r\r>", timeout=10)
-        send_compare(s, b'ATDPN\r', b"A9\r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_basic_send_can():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP6\r', b"ATSP6\rOK\r\r>") # Set Proto
-
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'0100\r', b"41 00 FF FF FF FE \r\r>")
-        send_compare(s, b'010D\r', b"41 0D 53 \r\r>")
-
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces Off
-        send_compare(s, b'0100\r', b"4100FFFFFFFE\r\r>")
-        send_compare(s, b'010D\r', b"410D53\r\r>")
-
-        send_compare(s, b'ATH1\r', b'OK\r\r>') # Spaces Off Headers On
-        send_compare(s, b'0100\r', b"7E8064100FFFFFFFE\r\r>")
-        send_compare(s, b'010D\r', b"7E803410D53\r\r>")
-
-        send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces On Headers On
-        send_compare(s, b'0100\r', b"7E8 06 41 00 FF FF FF FE \r\r>")
-        send_compare(s, b'010D\r', b"7E8 03 41 0D 53 \r\r>")
-
-        send_compare(s, b'1F00\r', b"NO DATA\r\r>") # Unhandled msg, no response.
-
-        # Repeat last check to see if it still works after NO DATA was received
-        send_compare(s, b'0100\r', b"7E8 06 41 00 FF FF FF FE \r\r>")
-        send_compare(s, b'010D\r', b"7E8 03 41 0D 53 \r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_can_multimsg():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces OFF
-        send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>") # Set Proto ISO 15765-4 (CAN 11/500)
-        sim.can_add_extra_noise(b'\x03\x41\x0D\xFA', addr=0x7E9)# Inject message into the stream
-        send_compare(s, b'010D\r',
-                     b"7E8 03 41 0D 53 \r"
-                     b"7E9 03 41 0D FA \r\r>") # Check it was ignored.
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-"""The ability to correctly filter out messages with the wrong PID is not
-implemented correctly in the reference device."""
-def test_elm_can_check_mode_pid():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
-        send_compare(s, b'ATH0\r', b'OK\r\r>') # Headers OFF
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>") # Set Proto ISO 15765-4 (CAN 11/500)
-        sim.can_add_extra_noise(b'\x03\x41\x0E\xFA')# Inject message into the stream
-        send_compare(s, b'010D\r', b"410D53\r\r>") # Check it was ignored.
-        send_compare(s, b'0100\r', b"4100FFFFFFFE\r\r>") # Check it was ignored again.
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_can_multiline_msg():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP6\r', b"ATSP6\rOK\r\r>") # Set Proto
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-
-        send_compare(s, b'0902\r', # headers OFF, Spaces ON
-                     b"014 \r"
-                     b"0: 49 02 01 31 44 34 \r"
-                     b"1: 47 50 30 30 52 35 35 \r"
-                     b"2: 42 31 32 33 34 35 36 \r\r>")
-
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
-        send_compare(s, b'0902\r', # Headers OFF, Spaces OFF
-                     b"014\r"
-                     b"0:490201314434\r"
-                     b"1:47503030523535\r"
-                     b"2:42313233343536\r\r>")
-
-        send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
-        send_compare(s, b'0902\r', # Headers ON, Spaces OFF
-                     b"7E81014490201314434\r"
-                     b"7E82147503030523535\r"
-                     b"7E82242313233343536\r\r>")
-
-        send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces ON
-        send_compare(s, b'0902\r', # Headers ON, Spaces ON
-                     b"7E8 10 14 49 02 01 31 44 34 \r"
-                     b"7E8 21 47 50 30 30 52 35 35 \r"
-                     b"7E8 22 42 31 32 33 34 35 36 \r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_send_can_multiline_msg_throughput():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATSP6\r', b"ATSP6\rOK\r\r>") # Set Proto
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
-        send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
-
-        rows = 584
-        send_compare(s, b'09ff\r', # headers ON, Spaces OFF
-                     ("7E8" + "1" + hex((rows*7)+6)[2:].upper().zfill(3) + "49FF01"+"AA0000\r" +
-                      "".join(
-                          ("7E82"+hex((num+1)%0x10)[2:].upper()+("AA"*5) +
-                           hex(num+1)[2:].upper().zfill(4) + "\r" for num in range(rows))
-                      ) + "\r>").encode(),
-                     timeout=10
-        )
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_interrupted_obd_cmd_resets_state():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False, silent=True)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
-        s.send(b"09fd\r")
-        ready = select.select([s], [], [], 4)
-        assert ready[0], "Socket did not receive data within the timeout duration."
-        s.send(b"ATI\r")
-
-        assert b"236\r0:49FD01AAAAAA\r" in s.recv(10000)
-
-        #Will likely have to be improved to scan for STOPPED if the FW gets more responsive.
-        ready = select.select([s], [], [], 4)
-        assert ready[0], "Socket did not receive data within the timeout duration."
-
-        assert b"STOPPED" in s.recv(10000)
-
-        sim.set_enable(False)
-        send_compare(s, b'09fd\r', b"NO DATA\r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_can_baud():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    sim.start()
-
-    try:
-        sync_reset(s)
-        send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
-        send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
-        send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>") # Set Proto ISO 15765-4 (CAN 11/500)
-        send_compare(s, b'0100\r', b"7E8064100FFFFFFFE\r\r>")
-
-        send_compare(s, b'ATSP8\r', b"OK\r\r>") # Set Proto ISO 15765-4 (CAN 11/250)
-        send_compare(s, b'0100\r', b"CAN ERROR\r\r>")
-
-        sim.change_can_baud(250)
-
-        send_compare(s, b'ATSP6\r', b"OK\r\r>") # Set Proto ISO 15765-4 (CAN 11/500)
-        send_compare(s, b'0100\r', b"CAN ERROR\r\r>")
-
-        send_compare(s, b'ATSP8\r', b"OK\r\r>") # Set Proto ISO 15765-4 (CAN 11/250)
-        send_compare(s, b'0100\r', b"7E8064100FFFFFFFE\r\r>")
-    finally:
-        sim.stop()
-        sim.join()
-        s.close()
-
-def test_elm_panda_safety_mode_ISO15765():
-    s = elm_connect()
-    serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
-    p_car = Panda(serial) # Configure this so the messages will send
-    p_car.set_can_speed_kbps(0, 500)
-    p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-    p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(Panda.SAFETY_ELM327);
-
-    #sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
-    #sim.start()
-
-    def did_send(p, addr, dat, bus):
-        p.can_send(addr, dat, bus)
-        t = time.time()
-        while time.time()-t < 0.5:
-            msg = p.can_recv()
-            for addrin, _, datin, busin in msg:
-                if (0x80 | bus) == busin and addr == addrin and datin == dat:
-                    return True
-            time.sleep(0.01)
-        return False
-
-    try:
-        sync_reset(s) # Reset elm (which requests the ELM327 safety mode)
-
-        #29 bit
-        assert not did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 1) #wrong canid
-        assert not did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00', 0) #wrong length
-        assert not did_send(p_elm, 0x10000000, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr
-        assert not did_send(p_elm, 0x18DAF133, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr (phy addr)
-        assert not did_send(p_elm, 0x18DAF000, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr
-        assert not did_send(p_elm, 0x18DAF1F3, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr! (phys rsp to elm)
-
-        assert did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #good! (obd func req)
-        assert did_send(p_elm, 0x18DA10F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #good! (phys response)
-
-        #11 bit
-        assert not did_send(p_elm, 0X7DF, b'\x02\x01\x00\x00\x00\x00\x00\x00', 1) #wrong canid
-        assert not did_send(p_elm, 0X7DF, b'\x02\x01\x00', 0) #wrong length
-        assert not did_send(p_elm, 0xAA, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr
-        assert not did_send(p_elm, 0x7DA, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr (phy addr)
-        assert not did_send(p_elm, 0x7E8, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr (sending 'response')
-
-        assert did_send(p_elm, 0x7DF, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #good! (obd func req)
-        assert did_send(p_elm, 0x7E1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #good! (phys response)
-
-    finally:
-        s.close()
diff --git a/panda/tests/fan_test.py b/panda/tests/fan_test.py
deleted file mode 100755
index 73856988281b19..00000000000000
--- a/panda/tests/fan_test.py
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env python
-import os
-import sys
-import time
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-power = 0
-if __name__ == "__main__":
-  p = Panda()
-  while True:
-    p.set_fan_power(power)
-    time.sleep(5)
-    print("Power: ", power, "RPM: ", str(p.get_fan_rpm()))
-    power += 10
-    power %=100
diff --git a/panda/tests/flashing_loop.sh b/panda/tests/flashing_loop.sh
deleted file mode 100755
index 2eaf850c835c92..00000000000000
--- a/panda/tests/flashing_loop.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/bin/bash
-cd ../board
-make clean
-
-while true; do
-  make ota
-  sleep 10
-done
-
diff --git a/panda/tests/get_version.py b/panda/tests/get_version.py
deleted file mode 100755
index 73e51e1f0df2ab..00000000000000
--- a/panda/tests/get_version.py
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env python3
-from panda import Panda
-
-if __name__ == "__main__":
-  for p in Panda.list():
-    pp = Panda(p)
-    print("%s: %s" % (pp.get_serial()[0], pp.get_version()))
-
-
diff --git a/panda/tests/gmbitbang/recv.py b/panda/tests/gmbitbang/recv.py
deleted file mode 100755
index 3949c424d9ef36..00000000000000
--- a/panda/tests/gmbitbang/recv.py
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env python3
-from panda import Panda
-
-p = Panda()
-p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-p.set_gmlan(bus=2)
-#p.can_send(0xaaa, b"\x00\x00", bus=3)
-last_add = None
-while 1:
-  ret = p.can_recv()
-  if len(ret) > 0:
-    add = ret[0][0]
-    if last_add is not None and add != last_add + 1:
-      print("MISS: ", last_add, add)
-    last_add = add
-    print(ret)
diff --git a/panda/tests/gmbitbang/rigol.py b/panda/tests/gmbitbang/rigol.py
deleted file mode 100755
index 5fcdf243ecd4d7..00000000000000
--- a/panda/tests/gmbitbang/rigol.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-# pylint: skip-file
-import numpy as np
-import visa
-import matplotlib.pyplot as plt
-
-resources = visa.ResourceManager()
-print(resources.list_resources())
-
-scope = resources.open_resource('USB0::0x1AB1::0x04CE::DS1ZA184652242::INSTR', timeout=2000, chunk_size=1024000)
-print(scope.query('*IDN?').strip())
-
-#voltscale = scope.ask_for_values(':CHAN1:SCAL?')[0]
-#voltoffset = scope.ask_for_values(":CHAN1:OFFS?")[0]
-
-#scope.write(":STOP")
-scope.write(":WAV:POIN:MODE RAW")
-scope.write(":WAV:DATA? CHAN1")[10:]
-rawdata = scope.read_raw()
-data = np.frombuffer(rawdata, 'B')
-print(data.shape)
-
-s1 = data[0:650]
-s2 = data[650:]
-s1i = np.argmax(s1 > 100)
-s2i = np.argmax(s2 > 100)
-s1 = s1[s1i:]
-s2 = s2[s2i:]
-
-plt.plot(s1)
-plt.plot(s2)
-plt.show()
-#data = (data - 130.0 - voltoffset/voltscale*25) / 25 * voltscale
-
-print(data)
-
diff --git a/panda/tests/gmbitbang/test.py b/panda/tests/gmbitbang/test.py
deleted file mode 100755
index 0934c6442028cd..00000000000000
--- a/panda/tests/gmbitbang/test.py
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-import time
-from panda import Panda
-
-p1 = Panda('380016000551363338383037')
-p2 = Panda('430026000951363338383037')
-
-# this is a test, no safety
-p1.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-p2.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-# get versions
-print(p1.get_version())
-print(p2.get_version())
-
-# this sets bus 2 to actually be GMLAN
-p2.set_gmlan(bus=2)
-
-# send w bitbang then without
-#iden = 123
-iden = 18000
-#dat = "\x01\x02"
-dat = "\x01\x02\x03\x04\x05\x06\x07\x08"
-while 1:
-  iden += 1
-  p1.set_gmlan(bus=None)
-  p1.can_send(iden, dat, bus=3)
-  #p1.set_gmlan(bus=2)
-  #p1.can_send(iden, dat, bus=3)
-  time.sleep(0.01)
-  print(p2.can_recv())
-  #exit(0)
-
diff --git a/panda/tests/gmbitbang/test_one.py b/panda/tests/gmbitbang/test_one.py
deleted file mode 100755
index 635cd2c91f4a45..00000000000000
--- a/panda/tests/gmbitbang/test_one.py
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/usr/bin/env python3
-import time
-from panda import Panda
-
-p = Panda()
-p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-# hack anything on bus
-p.set_gmlan(bus=2)
-time.sleep(0.1)
-while len(p.can_recv()) > 0:
-  print("clearing")
-  time.sleep(0.1)
-print("cleared")
-p.set_gmlan(bus=None)
-
-iden = 18000
-dat = "\x01\x02\x03\x04\x05\x06\x07\x08"
-while 1:
-  iden += 1
-  p.can_send(iden, dat, bus=3)
-  time.sleep(0.01)
-
diff --git a/panda/tests/gmbitbang/test_packer.c b/panda/tests/gmbitbang/test_packer.c
deleted file mode 100644
index f056dd48125d34..00000000000000
--- a/panda/tests/gmbitbang/test_packer.c
+++ /dev/null
@@ -1,32 +0,0 @@
-#include <stdio.h>
-#include <stdint.h>
-
-typedef struct {
-  uint32_t RIR;  /*!< CAN receive FIFO mailbox identifier register */
-  uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
-  uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
-  uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
-} CAN_FIFOMailBox_TypeDef;
-
-#include "../../board/drivers/canbitbang.h"
-
-int main() {
-  char out[300];
-  CAN_FIFOMailBox_TypeDef to_bang = {0};
-  to_bang.RIR = 20 << 21;
-  to_bang.RDTR = 1;
-  to_bang.RDLR = 1;
-
-  int len = get_bit_message(out, &to_bang);
-  printf("T:");
-  for (int i = 0; i < len; i++) {
-    printf("%d", out[i]);
-  }
-  printf("\n");
-  printf("R:0000010010100000100010000010011110111010100111111111111111");
-  printf("\n");
-  return 0;
-}
-
-
-
diff --git a/panda/tests/gps_stability_test.py b/panda/tests/gps_stability_test.py
deleted file mode 100755
index 529970e0f4e1fa..00000000000000
--- a/panda/tests/gps_stability_test.py
+++ /dev/null
@@ -1,165 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import time
-import random
-import threading
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda, PandaSerial
-
-INIT_GPS_BAUD = 9600
-GPS_BAUD = 460800
-
-def connect():
-  pandas = Panda.list()
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    print("Connect white and grey/black panda to run this test!")
-    assert False
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  white_panda = None
-  gps_panda = None
-
-  # find out which one is white (for spamming the CAN buses)
-  if pandas[0].is_white() and not pandas[1].is_white():
-    white_panda = pandas[0]
-    gps_panda = pandas[1]
-  elif not pandas[0].is_white() and pandas[1].is_white():
-    white_panda = pandas[1]
-    gps_panda = pandas[0]
-  else:
-    print("Connect white and grey/black panda to run this test!")
-    assert False
-  return white_panda, gps_panda
-
-def spam_buses_thread(panda):
-  try:
-    panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    while True:
-      at = random.randint(1, 2000)
-      st = (b"test"+os.urandom(10))[0:8]
-      bus = random.randint(0, 2)
-      panda.can_send(at, st, bus)
-  except Exception as e:
-    print(e)
-
-def read_can_thread(panda):
-  try:
-    while True:
-      panda.can_recv()
-  except Exception as e:
-    print(e)
-
-def init_gps(panda):
-  def add_nmea_checksum(msg):
-    d = msg[1:]
-    cs = 0
-    for i in d:
-      cs ^= ord(i)
-    return msg + "*%02X" % cs
-
-  ser = PandaSerial(panda, 1, INIT_GPS_BAUD)
-
-  # Power cycle the gps by toggling reset
-  print("Resetting GPS")
-  panda.set_esp_power(0)
-  time.sleep(0.5)
-  panda.set_esp_power(1)
-  time.sleep(0.5)
-
-  # Upping baud rate
-  print("Upping GPS baud rate")
-  msg = str.encode(add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % GPS_BAUD)+"\r\n")
-  ser.write(msg)
-  time.sleep(1)   # needs a wait for it to actually send
-
-  # Reconnecting with the correct baud
-  ser = PandaSerial(panda, 1, GPS_BAUD)
-
-  # Sending all config messages boardd sends
-  print("Sending config")
-  ser.write(b"\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
-  ser.write(b"\xB5\x62\x06\x3E\x00\x00\x44\xD2")
-  ser.write(b"\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
-  ser.write(b"\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
-  ser.write(b"\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
-  ser.write(b"\xB5\x62\x06\x00\x00\x00\x06\x18")
-  ser.write(b"\xB5\x62\x06\x00\x01\x00\x01\x08\x22")
-  ser.write(b"\xB5\x62\x06\x00\x01\x00\x02\x09\x23")
-  ser.write(b"\xB5\x62\x06\x00\x01\x00\x03\x0A\x24")
-  ser.write(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
-  ser.write(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
-  ser.write(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
-  ser.write(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
-  ser.write(b"\xB5\x62\x06\x23\x00\x00\x29\x81")
-  ser.write(b"\xB5\x62\x06\x1E\x00\x00\x24\x72")
-  ser.write(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
-  ser.write(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
-  ser.write(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
-
-  print("Initialized GPS")
-
-received_messages = 0
-received_bytes = 0
-send_something = False
-def gps_read_thread(panda):
-  global received_messages, received_bytes, send_something
-  ser = PandaSerial(panda, 1, GPS_BAUD)
-  while True:
-    ret = ser.read(1024)
-    time.sleep(0.001)
-    l = len(ret)
-    if l > 0:
-      received_messages+=1
-      received_bytes+=l
-    if send_something:
-      ser.write("test")
-      send_something = False
-
-
-CHECK_PERIOD = 5
-MIN_BYTES = 10000
-MAX_BYTES = 50000
-
-min_failures = 0
-max_failures = 0
-
-if __name__ == "__main__":
-  white_panda, gps_panda = connect()
-
-  # Start spamming the CAN buses with the white panda. Also read the messages to add load on the GPS panda
-  threading.Thread(target=spam_buses_thread, args=(white_panda,)).start()
-  threading.Thread(target=read_can_thread, args=(gps_panda,)).start()
-
-  # Start GPS checking
-  init_gps(gps_panda)
-
-  read_thread = threading.Thread(target=gps_read_thread, args=(gps_panda,))
-  read_thread.start()
-  while True:
-    time.sleep(CHECK_PERIOD)
-    if(received_bytes < MIN_BYTES):
-      print("Panda is not sending out enough data! Got " + str(received_messages) + " (" + str(received_bytes) + "B) in the last " + str(CHECK_PERIOD) + " seconds")
-      send_something = True
-      min_failures+=1
-    elif(received_bytes > MAX_BYTES):
-      print("Panda is not sending out too much data! Got " + str(received_messages) + " (" + str(received_bytes) + "B) in the last " + str(CHECK_PERIOD) + " seconds")
-      print("Probably not on the right baud rate, got reset somehow? Resetting...")
-      max_failures+=1
-      init_gps(gps_panda)
-    else:
-      print("Got " + str(received_messages) + " (" + str(received_bytes) + "B) messages in the last " + str(CHECK_PERIOD) + " seconds.")
-      if(min_failures > 0):
-        print("Total min failures: ", min_failures)
-      if(max_failures > 0):
-        print("Total max failures: ", max_failures)
-    received_messages = 0
-    received_bytes = 0
diff --git a/panda/tests/health_test.py b/panda/tests/health_test.py
deleted file mode 100755
index 69234c7d6462f2..00000000000000
--- a/panda/tests/health_test.py
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/usr/bin/env python3
-import time
-from panda import Panda
-
-if __name__ == "__main__":
-  panda_serials = Panda.list()
-  pandas = []
-  for ps in panda_serials:
-    pandas.append(Panda(serial=ps))
-  if len(pandas) == 0:
-    print("No pandas connected")
-    assert False
-
-  while True:
-    for panda in pandas:
-      print(panda.health())
-    print("\n")
-    time.sleep(0.5)
-
diff --git a/panda/tests/ir_test.py b/panda/tests/ir_test.py
deleted file mode 100755
index a65fe068657650..00000000000000
--- a/panda/tests/ir_test.py
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import time
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-power = 0
-if __name__ == "__main__":
-  p = Panda()
-  while True:
-    p.set_ir_power(power)
-    print("Power: ", str(power))
-    time.sleep(1)
-    power += 10
-    power %=100
diff --git a/panda/tests/language/Dockerfile b/panda/tests/language/Dockerfile
deleted file mode 100644
index 6a1d8bb7c77ff9..00000000000000
--- a/panda/tests/language/Dockerfile
+++ /dev/null
@@ -1,17 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y make python python-pip locales curl git zlib1g-dev libffi-dev bzip2 libssl-dev
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-COPY . /panda
diff --git a/panda/tests/language/LICENSE b/panda/tests/language/LICENSE
deleted file mode 100644
index 8dada3edaf50db..00000000000000
--- a/panda/tests/language/LICENSE
+++ /dev/null
@@ -1,201 +0,0 @@
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-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
-
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diff --git a/panda/tests/language/list.txt b/panda/tests/language/list.txt
deleted file mode 100644
index cfd25897d8dc55..00000000000000
--- a/panda/tests/language/list.txt
+++ /dev/null
@@ -1,451 +0,0 @@
-4r5e
-5h1t
-5hit
-a55
-anal
-anus
-ar5e
-arrse
-arse
-ass
-ass-fucker
-asses
-assfucker
-assfukka
-asshole
-assholes
-asswhole
-a_s_s
-b!tch
-b00bs
-b17ch
-b1tch
-ballbag
-balls
-ballsack
-bastard
-beastial
-beastiality
-bellend
-bestial
-bestiality
-bi+ch
-biatch
-bitch
-bitcher
-bitchers
-bitches
-bitchin
-bitching
-bloody
-blow job
-blowjob
-blowjobs
-boiolas
-bollock
-bollok
-boner
-boob
-boobs
-booobs
-boooobs
-booooobs
-booooooobs
-breasts
-buceta
-bugger
-bum
-bunny fucker
-bullshit
-butt
-butthole
-buttmuch
-buttplug
-c0ck
-c0cksucker
-carpet muncher
-cawk
-chink
-cipa
-cl1t
-clit
-clitoris
-clits
-cnut
-cock
-cock-sucker
-cockface
-cockhead
-cockmunch
-cockmuncher
-cocks
-cocksuck 
-cocksucked 
-cocksucker
-cocksucking
-cocksucks 
-cocksuka
-cocksukka
-cok
-cokmuncher
-coksucka
-coon
-cox
-crap
-cum
-cummer
-cumming
-cums
-cumshot
-cunilingus
-cunillingus
-cunnilingus
-cunt
-cuntlick 
-cuntlicker 
-cuntlicking 
-cunts
-cyalis
-cyberfuc
-cyberfuck 
-cyberfucked 
-cyberfucker
-cyberfuckers
-cyberfucking 
-d1ck
-damn
-dick
-dickhead
-dildo
-dildos
-dink
-dinks
-dirsa
-dlck
-dog-fucker
-doggin
-dogging
-donkeyribber
-doosh
-duche
-dyke
-ejaculate
-ejaculated
-ejaculates 
-ejaculating 
-ejaculatings
-ejaculation
-ejakulate
-f u c k
-f u c k e r
-f4nny
-fag
-fagging
-faggitt
-faggot
-faggs
-fagot
-fagots
-fags
-fanny
-fannyflaps
-fannyfucker
-fanyy
-fatass
-fcuk
-fcuker
-fcuking
-feck
-fecker
-felching
-fellate
-fellatio
-fingerfuck 
-fingerfucked 
-fingerfucker 
-fingerfuckers
-fingerfucking 
-fingerfucks 
-fistfuck
-fistfucked 
-fistfucker 
-fistfuckers 
-fistfucking 
-fistfuckings 
-fistfucks 
-flange
-fook
-fooker
-fuck
-fucka
-fucked
-fucker
-fuckers
-fuckhead
-fuckheads
-fuckin
-fucking
-fuckings
-fuckingshitmotherfucker
-fuckme 
-fucks
-fuckwhit
-fuckwit
-fudge packer
-fudgepacker
-fuk
-fuker
-fukker
-fukkin
-fuks
-fukwhit
-fukwit
-fux
-fux0r
-f_u_c_k
-gangbang
-gangbanged 
-gangbangs 
-gaylord
-gaysex
-goatse
-God
-god-dam
-god-damned
-goddamn
-goddamned
-hardcoresex 
-hell
-heshe
-hoar
-hoare
-hoer
-homo
-hore
-horniest
-horny
-hotsex
-jack-off 
-jackoff
-jap
-jerk-off 
-jism
-jiz 
-jizm 
-jizz
-kawk
-knob
-knobead
-knobed
-knobend
-knobhead
-knobjocky
-knobjokey
-kock
-kondum
-kondums
-kum
-kummer
-kumming
-kums
-kunilingus
-l3i+ch
-l3itch
-labia
-lmfao
-lust
-lusting
-m0f0
-m0fo
-m45terbate
-ma5terb8
-ma5terbate
-masochist
-master-bate
-masterb8
-masterbat*
-masterbat3
-masterbate
-masterbation
-masterbations
-masturbate
-mo-fo
-mof0
-mofo
-mothafuck
-mothafucka
-mothafuckas
-mothafuckaz
-mothafucked 
-mothafucker
-mothafuckers
-mothafuckin
-mothafucking 
-mothafuckings
-mothafucks
-mother fucker
-motherfuck
-motherfucked
-motherfucker
-motherfuckers
-motherfuckin
-motherfucking
-motherfuckings
-motherfuckka
-motherfucks
-muff
-mutha
-muthafecker
-muthafuckker
-muther
-mutherfucker
-n1gga
-n1gger
-nazi
-nigg3r
-nigg4h
-nigga
-niggah
-niggas
-niggaz
-nigger
-niggers 
-nob
-nob jokey
-nobhead
-nobjocky
-nobjokey
-numbnuts
-nutsack
-orgasim 
-orgasims 
-orgasm
-orgasms 
-p0rn
-pawn
-pecker
-penis
-penisfucker
-phonesex
-phuck
-phuk
-phuked
-phuking
-phukked
-phukking
-phuks
-phuq
-pigfucker
-pimpis
-piss
-pissed
-pisser
-pissers
-pisses 
-pissflaps
-pissin 
-pissing
-pissoff 
-poop
-porn
-porno
-pornography
-pornos
-prick
-pricks 
-pron
-pube
-pusse
-pussi
-pussies
-pussy
-pussys 
-rectum
-retard
-rimjaw
-rimming
-s hit
-s.o.b.
-sadist
-schlong
-screwing
-scroat
-scrote
-scrotum
-semen
-sex
-sh!+
-sh!t
-sh1t
-shag
-shagger
-shaggin
-shagging
-shemale
-shi+
-shit
-shitdick
-shite
-shited
-shitey
-shitfuck
-shitfull
-shithead
-shiting
-shitings
-shits
-shitted
-shitter
-shitters 
-shitting
-shittings
-shitty 
-skank
-slut
-sluts
-smegma
-smut
-snatch
-son-of-a-bitch
-spac
-spunk
-s_h_i_t
-t1tt1e5
-t1tties
-teets
-teez
-testical
-testicle
-tit
-titfuck
-tits
-titt
-tittie5
-tittiefucker
-titties
-tittyfuck
-tittywank
-titwank
-tosser
-turd
-tw4t
-twat
-twathead
-twatty
-twunt
-twunter
-v14gra
-v1gra
-vagina
-viagra
-vulva
-w00se
-wang
-wank
-wanker
-wanky
-whoar
-whore
-willies
-willy
-xrated
diff --git a/panda/tests/language/test_language.py b/panda/tests/language/test_language.py
deleted file mode 100755
index 98b029042551e9..00000000000000
--- a/panda/tests/language/test_language.py
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/env python3
-
-import subprocess
-import sys
-
-checked_ext = ["h", "c", "py", "pyx", "cpp", "hpp", "md", "mk"]
-
-if __name__ == "__main__":
-  with open("list.txt", 'r') as handle:
-
-    suffix_cmd = " "
-    for i in checked_ext:
-      suffix_cmd +=  "--include \*." + i + " "
-
-    found_bad_language = False
-    for line in handle:
-      line = line.rstrip('\n').rstrip(" ")
-      try:
-        cmd = "cd ../../; grep -R -i -w " + suffix_cmd + " '" + line + "'"
-        res = subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT)
-        print(res)
-        found_bad_language = True
-      except subprocess.CalledProcessError:
-        pass
-  if found_bad_language:
-    sys.exit("Failed: found bad language")
-  else:
-    print("Success")
diff --git a/panda/tests/linter_python/.pylintrc b/panda/tests/linter_python/.pylintrc
deleted file mode 100644
index 64a55daf8fabb3..00000000000000
--- a/panda/tests/linter_python/.pylintrc
+++ /dev/null
@@ -1,585 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=print-statement,
-        parameter-unpacking,
-        unpacking-in-except,
-        old-raise-syntax,
-        backtick,
-        long-suffix,
-        old-ne-operator,
-        old-octal-literal,
-        import-star-module-level,
-        non-ascii-bytes-literal,
-        raw-checker-failed,
-        bad-inline-option,
-        locally-disabled,
-        locally-enabled,
-        file-ignored,
-        suppressed-message,
-        useless-suppression,
-        deprecated-pragma,
-        apply-builtin,
-        basestring-builtin,
-        buffer-builtin,
-        cmp-builtin,
-        coerce-builtin,
-        execfile-builtin,
-        file-builtin,
-        long-builtin,
-        raw_input-builtin,
-        reduce-builtin,
-        standarderror-builtin,
-        unicode-builtin,
-        xrange-builtin,
-        coerce-method,
-        delslice-method,
-        getslice-method,
-        setslice-method,
-        no-absolute-import,
-        old-division,
-        dict-iter-method,
-        dict-view-method,
-        next-method-called,
-        metaclass-assignment,
-        indexing-exception,
-        raising-string,
-        reload-builtin,
-        oct-method,
-        hex-method,
-        nonzero-method,
-        cmp-method,
-        input-builtin,
-        round-builtin,
-        intern-builtin,
-        unichr-builtin,
-        map-builtin-not-iterating,
-        zip-builtin-not-iterating,
-        range-builtin-not-iterating,
-        filter-builtin-not-iterating,
-        using-cmp-argument,
-        eq-without-hash,
-        div-method,
-        idiv-method,
-        rdiv-method,
-        exception-message-attribute,
-        invalid-str-codec,
-        sys-max-int,
-        bad-python3-import,
-        deprecated-string-function,
-        deprecated-str-translate-call,
-        deprecated-itertools-function,
-        deprecated-types-field,
-        next-method-defined,
-        dict-items-not-iterating,
-        dict-keys-not-iterating,
-        dict-values-not-iterating,
-        bad-indentation,
-        line-too-long,
-        missing-docstring,
-        multiple-statements,
-        bad-continuation,
-        invalid-name,
-        too-many-arguments,
-        too-many-locals,
-        superfluous-parens,
-        bad-whitespace,
-        too-many-instance-attributes,
-        wrong-import-position,
-        ungrouped-imports,
-        wrong-import-order,
-        protected-access,
-        trailing-whitespace,
-        too-many-branches,
-        too-few-public-methods,
-        too-many-statements,
-        trailing-newlines,
-        attribute-defined-outside-init,
-        too-many-return-statements,
-        too-many-public-methods,
-        unused-argument,
-        old-style-class,
-        no-init,
-        len-as-condition,
-        unneeded-not,
-        no-self-use,
-        multiple-imports,
-        no-else-return,
-        logging-not-lazy,
-        fixme,
-        redefined-outer-name,
-        unused-variable,
-        unsubscriptable-object,
-        expression-not-assigned,
-        too-many-boolean-expressions,
-        consider-using-ternary,
-        invalid-unary-operand-type,
-        relative-import,
-        deprecated-lambda
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception
diff --git a/panda/tests/linter_python/Dockerfile b/panda/tests/linter_python/Dockerfile
deleted file mode 100644
index 819d692109e1c3..00000000000000
--- a/panda/tests/linter_python/Dockerfile
+++ /dev/null
@@ -1,19 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y make python python-pip locales curl git zlib1g-dev libffi-dev bzip2 libssl-dev
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-COPY requirements.txt /tmp/
-RUN pip install -r /tmp/requirements.txt
-COPY . /panda
diff --git a/panda/tests/linter_python/flake8_panda.sh b/panda/tests/linter_python/flake8_panda.sh
deleted file mode 100755
index a1d02ea548eabe..00000000000000
--- a/panda/tests/linter_python/flake8_panda.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-
-RESULT=$(python3 -m flake8 --select=F $(find ../../ -type f | grep -v "/boardesp/" | grep -v "/cppcheck/" | grep "\.py$"))
-if [[ $RESULT  ]]; then
-	echo "Pyflakes found errors in the code. Please fix and try again"
-	echo "$RESULT"
-	exit 1
-fi
diff --git a/panda/tests/linter_python/pylint_panda.sh b/panda/tests/linter_python/pylint_panda.sh
deleted file mode 100755
index 1486bd839cceff..00000000000000
--- a/panda/tests/linter_python/pylint_panda.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-python3 -m pylint --disable=R,C,W $(find ../../ -type f | grep -v "/boardesp/" | grep -v "/cppcheck/" | grep "\.py$")
-
-exit_status=$?
-(( res = exit_status & 3 ))
-
-if [[ $res != 0  ]]; then
-	echo "Pylint found errors in the code. Please fix and try again"
-	exit 1
-fi
diff --git a/panda/tests/location_listener.py b/panda/tests/location_listener.py
deleted file mode 100755
index 1a784babc98806..00000000000000
--- a/panda/tests/location_listener.py
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import sys
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda, PandaSerial
-
-def add_nmea_checksum(msg):
-  d = msg[1:]
-  cs = 0
-  for i in d:
-    cs ^= ord(i)
-  return msg + "*%02X" % cs
-
-if __name__ == "__main__":
-  panda = Panda()
-  ser = PandaSerial(panda, 1, 9600)
-
-  # power cycle by toggling reset
-  print("resetting")
-  panda.set_esp_power(0)
-  time.sleep(0.5)
-  panda.set_esp_power(1)
-  time.sleep(0.5)
-  print("done")
-  print(ser.read(1024))
-
-  # upping baud rate
-  baudrate = 460800
-
-  print("upping baud rate")
-  msg = str.encode(add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % baudrate)+"\r\n")
-  print(msg)
-  ser.write(msg)
-  time.sleep(0.1)   # needs a wait for it to actually send
-
-  # new panda serial
-  ser = PandaSerial(panda, 1, baudrate)
-
-  while True:
-    ret = ser.read(1024)
-    if len(ret) > 0:
-      sys.stdout.write(ret.decode('ascii', 'ignore'))
-      sys.stdout.flush()
-      #print str(ret).encode("hex")
-
diff --git a/panda/tests/loopback_test.py b/panda/tests/loopback_test.py
deleted file mode 100755
index 60009fae51fd00..00000000000000
--- a/panda/tests/loopback_test.py
+++ /dev/null
@@ -1,127 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import time
-import random
-import argparse
-
-from hexdump import hexdump
-from itertools import permutations
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-def run_test(sleep_duration):
-  pandas = Panda.list()
-  print(pandas)
-
-  if len(pandas) == 0:
-    print("NO PANDAS")
-    assert False
-
-  if len(pandas) == 1:
-    # if we only have one on USB, assume the other is on wifi
-    pandas.append("WIFI")
-  run_test_w_pandas(pandas, sleep_duration)
-
-def run_test_w_pandas(pandas, sleep_duration):
-  h = list([Panda(x) for x in pandas])
-  print("H", h)
-
-  for hh in h:
-    hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # test both directions
-  for ho in permutations(list(range(len(h))), r=2):
-    print("***************** TESTING", ho)
-
-    panda0, panda1 = h[ho[0]], h[ho[1]]
-
-    if(panda0._serial == "WIFI"):
-      print("  *** Can not send can data over wifi panda. Skipping! ***")
-      continue
-
-    # **** test health packet ****
-    print("health", ho[0], h[ho[0]].health())
-
-    # **** test K/L line loopback ****
-    for bus in [2,3]:
-      # flush the output
-      h[ho[1]].kline_drain(bus=bus)
-
-      # send the characters
-      st = get_test_string()
-      st = bytes([0xaa, len(st) + 3]) + st
-      h[ho[0]].kline_send(st, bus=bus, checksum=False)
-
-      # check for receive
-      ret = h[ho[1]].kline_drain(bus=bus)
-
-      print("ST Data:")
-      hexdump(st)
-      print("RET Data:")
-      hexdump(ret)
-      assert st == ret
-      print("K/L pass", bus, ho, "\n")
-      time.sleep(sleep_duration)
-
-    # **** test can line loopback ****
-    for bus, gmlan in [(0, False), (1, False), (2, False), (1, True), (2, True)]:
-      print("\ntest can", bus)
-      # flush
-      cans_echo = panda0.can_recv()
-      cans_loop = panda1.can_recv()
-
-      panda0.set_gmlan(None)
-      panda1.set_gmlan(None)
-
-      if gmlan is True:
-        panda0.set_gmlan(bus)
-        panda1.set_gmlan(bus)
-        bus = 3
-
-      # send the characters
-      at = random.randint(1, 2000)
-      st = get_test_string()[0:8]
-      panda0.can_send(at, st, bus)
-      time.sleep(0.1)
-
-      # check for receive
-      cans_echo = panda0.can_recv()
-      cans_loop = panda1.can_recv()
-
-      print("Bus", bus, "echo", cans_echo, "loop", cans_loop)
-
-      assert len(cans_echo) == 1
-      assert len(cans_loop) == 1
-
-      assert cans_echo[0][0] == at
-      assert cans_loop[0][0] == at
-
-      assert cans_echo[0][2] == st
-      assert cans_loop[0][2] == st
-
-      assert cans_echo[0][3] == 0x80 | bus
-      if cans_loop[0][3] != bus:
-        print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3]))
-      assert cans_loop[0][3] == bus
-
-      print("CAN pass", bus, ho)
-      time.sleep(sleep_duration)
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for i in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/panda/tests/misra/.gitignore b/panda/tests/misra/.gitignore
deleted file mode 100644
index fa3aeaa30613ce..00000000000000
--- a/panda/tests/misra/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-cppcheck/
diff --git a/panda/tests/misra/Dockerfile b/panda/tests/misra/Dockerfile
deleted file mode 100644
index 06882834fcdfbe..00000000000000
--- a/panda/tests/misra/Dockerfile
+++ /dev/null
@@ -1,19 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev libusb-1.0-0
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-COPY requirements.txt /tmp/
-RUN pip install -r /tmp/requirements.txt
-COPY . /panda
diff --git a/panda/tests/misra/coverage_table b/panda/tests/misra/coverage_table
deleted file mode 100644
index 9dc89bd4f5d744..00000000000000
--- a/panda/tests/misra/coverage_table
+++ /dev/null
@@ -1,143 +0,0 @@
-1.1     
-1.2     
-1.3     X (Cppcheck)
-2.1     X (Cppcheck)
-2.2     X (Cppcheck)
-2.3     
-2.4     X (Cppcheck)
-2.5     
-2.6     X (Cppcheck)
-2.7     X (Addon)
-3.1     X (Addon)
-3.2     X (Addon)
-4.1     X (Addon)
-4.2     X (Addon)
-5.1     X (Addon)
-5.2     X (Addon)
-5.3     X (Addon)
-5.4     X (Addon)
-5.5     X (Addon)
-5.6     
-5.7     
-5.8     
-5.9     
-6.1     
-6.2     
-7.1     X (Addon)
-7.2     
-7.3     X (Addon)
-7.4     
-8.1     
-8.2     
-8.3     X (Cppcheck)
-8.4     
-8.5     
-8.6     
-8.7     
-8.8     
-8.9     
-8.10    
-8.11    X (Addon)
-8.12    X (Addon)
-8.13    
-8.14    X (Addon)
-9.1     
-9.2     
-9.3     
-9.4     
-9.5     X (Addon)
-10.1    X (Addon)
-10.2    
-10.3    
-10.4    X (Addon)
-10.5    
-10.6    X (Addon)
-10.7    
-10.8    X (Addon)
-11.1    
-11.2    
-11.3    X (Addon)
-11.4    X (Addon)
-11.5    X (Addon)
-11.6    X (Addon)
-11.7    X (Addon)
-11.8    X (Addon)
-11.9    X (Addon)
-12.1    X (Addon)
-12.2    X (Addon)
-12.3    X (Addon)
-12.4    X (Addon)
-13.1    X (Addon)
-13.2    X (Cppcheck)
-13.3    X (Addon)
-13.4    X (Addon)
-13.5    X (Addon)
-13.6    X (Addon)
-14.1    X (Addon)
-14.2    X (Addon)
-14.3    X (Cppcheck)
-14.4    X (Addon)
-15.1    X (Addon)
-15.2    X (Addon)
-15.3    X (Addon)
-15.4    
-15.5    X (Addon)
-15.6    X (Addon)
-15.7    X (Addon)
-16.1    
-16.2    X (Addon)
-16.3    X (Addon)
-16.4    X (Addon)
-16.5    X (Addon)
-16.6    X (Addon)
-16.7    X (Addon)
-17.1    X (Addon)
-17.2    X (Addon)
-17.3    
-17.4    
-17.5    X (Cppcheck)
-17.6    X (Addon)
-17.7    X (Addon)
-17.8    X (Addon)
-18.1    X (Cppcheck)
-18.2    X (Cppcheck)
-18.3    X (Cppcheck)
-18.4    X (Addon)
-18.5    X (Addon)
-18.6    X (Cppcheck)
-18.7    X (Addon)
-18.8    X (Addon)
-19.1    
-19.2    X (Addon)
-20.1    X (Addon)
-20.2    X (Addon)
-20.3    X (Addon)
-20.4    X (Addon)
-20.5    X (Addon)
-20.6    X (Cppcheck)
-20.7    X (Addon)
-20.8    
-20.9    
-20.10   X (Addon)
-20.11   
-20.12   
-20.13   X (Addon)
-20.14   X (Addon)
-21.1    X (Addon)
-21.2    
-21.3    X (Addon)
-21.4    X (Addon)
-21.5    X (Addon)
-21.6    X (Addon)
-21.7    X (Addon)
-21.8    X (Addon)
-21.9    X (Addon)
-21.10   X (Addon)
-21.11   X (Addon)
-21.12   X (Addon)
-22.1    X (Cppcheck)
-22.2    X (Cppcheck)
-22.3    
-22.4    X (Cppcheck)
-22.5    
-22.6    X (Cppcheck)
diff --git a/panda/tests/misra/suppressions.txt b/panda/tests/misra/suppressions.txt
deleted file mode 100644
index 0a479bc586942a..00000000000000
--- a/panda/tests/misra/suppressions.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
-misra.11.4
-# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
-misra.11.5
-# Advisory: as stated in the Misra document, use of goto statements in accordance to 15.2 and 15.3 is ok
-misra.15.1
-# Advisory: union types can be used
-misra.19.2
-# Required: it's ok re-defining potentially reserved Macro names. Not likely to cause confusion
-misra.21.1
diff --git a/panda/tests/misra/test_misra.sh b/panda/tests/misra/test_misra.sh
deleted file mode 100755
index 47a38dad23c12c..00000000000000
--- a/panda/tests/misra/test_misra.sh
+++ /dev/null
@@ -1,55 +0,0 @@
-#!/bin/bash -e
-
-mkdir /tmp/misra || true
-git clone https://github.com/danmar/cppcheck.git || true
-cd cppcheck
-git fetch
-git checkout e46191e6e809272d8b34feca8999ee413f716b80
-make -j4
-cd ../../../
-
-# generate coverage matrix
-python tests/misra/cppcheck/addons/misra.py -generate-table > tests/misra/coverage_table
-
-printf "\nPANDA CODE\n"
-tests/misra/cppcheck/cppcheck -DPANDA -UPEDAL -DCAN3 -DUID_BASE -DEON \
-                              --suppressions-list=tests/misra/suppressions.txt \
-                              --dump --enable=all --inline-suppr --force \
-                              board/main.c 2>/tmp/misra/cppcheck_output.txt
-
-python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2> /tmp/misra/misra_output.txt || true
-
-# strip (information) lines
-cppcheck_output=$( cat /tmp/misra/cppcheck_output.txt | grep -v ": information: " ) || true
-misra_output=$( cat /tmp/misra/misra_output.txt | grep -v ": information: " ) || true
-
-
-printf "\nPEDAL CODE\n"
-tests/misra/cppcheck/cppcheck -UPANDA -DPEDAL -UCAN3 \
-                              --suppressions-list=tests/misra/suppressions.txt \
-                              -I board/ --dump --enable=all --inline-suppr --force \
-                              board/pedal/main.c 2>/tmp/misra/cppcheck_pedal_output.txt
-
-python tests/misra/cppcheck/addons/misra.py board/pedal/main.c.dump 2> /tmp/misra/misra_pedal_output.txt || true
-
-# strip (information) lines
-cppcheck_pedal_output=$( cat /tmp/misra/cppcheck_pedal_output.txt | grep -v ": information: " ) || true
-misra_pedal_output=$( cat /tmp/misra/misra_pedal_output.txt | grep -v ": information: " ) || true
-
-if [[ -n "$misra_output" ]] || [[ -n "$cppcheck_output" ]]
-then
-  echo "Failed! found Misra violations in panda code:"
-  echo "$misra_output"
-  echo "$cppcheck_output"
-  exit 1
-fi
-
-if [[ -n "$misra_pedal_output" ]] || [[ -n "$cppcheck_pedal_output" ]]
-then
-  echo "Failed! found Misra violations in pedal code:"
-  echo "$misra_pedal_output"
-  echo "$cppcheck_pedal_output"
-  exit 1
-fi
-
-echo "Success"
diff --git a/panda/tests/pedal/enter_canloader.py b/panda/tests/pedal/enter_canloader.py
deleted file mode 100755
index 4488c3205626cf..00000000000000
--- a/panda/tests/pedal/enter_canloader.py
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/usr/bin/env python3
-import time
-import struct
-import argparse
-import signal
-from panda import Panda
-
-class CanHandle(object):
-  def __init__(self, p):
-    self.p = p
-
-  def transact(self, dat):
-    #print "W:",dat.encode("hex")
-    self.p.isotp_send(1, dat, 0, recvaddr=2)
-
-    def _handle_timeout(signum, frame):
-      # will happen on reset
-      raise Exception("timeout")
-
-    signal.signal(signal.SIGALRM, _handle_timeout)
-    signal.alarm(1)
-    try:
-      ret = self.p.isotp_recv(2, 0, sendaddr=1)
-    finally:
-      signal.alarm(0)
-
-    #print "R:",ret.encode("hex")
-    return ret
-
-  def controlWrite(self, request_type, request, value, index, data, timeout=0):
-    # ignore data in reply, panda doesn't use it
-    return self.controlRead(request_type, request, value, index, 0, timeout)
-
-  def controlRead(self, request_type, request, value, index, length, timeout=0):
-    dat = struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length)
-    return self.transact(dat)
-
-  def bulkWrite(self, endpoint, data, timeout=0):
-    if len(data) > 0x10:
-      raise ValueError("Data must not be longer than 0x10")
-    dat = struct.pack("HH", endpoint, len(data))+data
-    return self.transact(dat)
-
-  def bulkRead(self, endpoint, length, timeout=0):
-    dat = struct.pack("HH", endpoint, 0)
-    return self.transact(dat)
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description='Flash pedal over can')
-  parser.add_argument('--recover', action='store_true')
-  parser.add_argument("fn", type=str, nargs='?', help="flash file")
-  args = parser.parse_args()
-
-  p = Panda()
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  while 1:
-    if len(p.can_recv()) == 0:
-      break
-
-  if args.recover:
-    p.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
-    exit(0)
-  else:
-    p.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
-
-  if args.fn:
-    time.sleep(0.1)
-    print("flashing", args.fn)
-    code = open(args.fn, "rb").read()
-    Panda.flash_static(CanHandle(p), code)
-
-  print("can flash done")
-
-
diff --git a/panda/tests/read_st_flash.sh b/panda/tests/read_st_flash.sh
deleted file mode 100755
index ffcfd7bbfe725b..00000000000000
--- a/panda/tests/read_st_flash.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-rm -f /tmp/dump_bootstub
-rm -f /tmp/dump_main
-dfu-util -a 0 -s 0x08000000 -U /tmp/dump_bootstub
-dfu-util -a 0 -s 0x08004000 -U /tmp/dump_main
-
diff --git a/panda/tests/read_winusb_descriptors.py b/panda/tests/read_winusb_descriptors.py
deleted file mode 100644
index ea5e93f32dfce8..00000000000000
--- a/panda/tests/read_winusb_descriptors.py
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/usr/bin/env python3
-from panda import Panda
-from hexdump import hexdump
-
-DEBUG = False
-
-if __name__ == "__main__":
-  p = Panda()
-
-  len = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, 1)
-  print('Microsoft OS String Descriptor')
-  dat = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, len[0])
-  if DEBUG: print('LEN: {}'.format(hex(len[0])))
-  hexdump("".join(map(chr, dat)))
-
-  ms_vendor_code = dat[16]
-  if DEBUG: print('MS_VENDOR_CODE: {}'.format(hex(len[0])))
-
-  print('\nMicrosoft Compatible ID Feature Descriptor')
-  len = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, 1)
-  if DEBUG: print('LEN: {}'.format(hex(len[0])))
-  dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, len[0])
-  hexdump("".join(map(chr, dat)))
-
-  print('\nMicrosoft Extended Properties Feature Descriptor')
-  len = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, 1)
-  if DEBUG: print('LEN: {}'.format(hex(len[0])))
-  dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, len[0])
-  hexdump("".join(map(chr, dat)))
diff --git a/panda/tests/rtc_test.py b/panda/tests/rtc_test.py
deleted file mode 100755
index 3732cb765f81e9..00000000000000
--- a/panda/tests/rtc_test.py
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env python
-import os
-import sys
-import datetime
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-if __name__ == "__main__":
-  p = Panda()
-  
-  p.set_datetime(datetime.datetime.now())
-  print(p.get_datetime())
diff --git a/panda/tests/safety/Dockerfile b/panda/tests/safety/Dockerfile
deleted file mode 100644
index 3c70d253411b26..00000000000000
--- a/panda/tests/safety/Dockerfile
+++ /dev/null
@@ -1,20 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev libusb-1.0-0
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-COPY requirements.txt /tmp/
-RUN pip install -r /tmp/requirements.txt
-
-COPY . /panda
diff --git a/panda/tests/safety/Makefile b/panda/tests/safety/Makefile
deleted file mode 100644
index 334a29427d7d29..00000000000000
--- a/panda/tests/safety/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-CC = clang
-CCFLAGS = -O3 -fPIC -DPANDA -I.
-
-.PHONY: all
-all: libpandasafety.so
-
-libpandasafety.so: test.o
-	$(CC) -shared -o '$@' $^ -lm
-
-test.o: test.c
-	@echo "[ CC ] $@"
-	$(CC) $(CCFLAGS) -MMD -c -I../../board -o '$@' '$<'
-
-.PHONY: clean
-clean:
-	rm -f libpandasafety.so test.o test.d
-
--include test.d
diff --git a/panda/tests/safety/common.py b/panda/tests/safety/common.py
deleted file mode 100644
index 63408ce430ed50..00000000000000
--- a/panda/tests/safety/common.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from panda.tests.safety import libpandasafety_py
-
-MAX_WRONG_COUNTERS = 5
-
-def make_msg(bus, addr, length=8):
-  to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-  if addr >= 0x800:
-    to_send[0].RIR = (addr << 3) | 5
-  else:
-    to_send[0].RIR = (addr << 21) | 1
-  to_send[0].RDTR = length
-  to_send[0].RDTR |= bus << 4
-
-  return to_send
-
-def test_relay_malfunction(test, addr):
-  # input is a test class and the address that, if seen on bus 0, triggers
-  # the relay_malfunction protection logic: both tx_hook and fwd_hook are
-  # expected to return failure
-  test.assertFalse(test.safety.get_relay_malfunction())
-  test.safety.safety_rx_hook(make_msg(0, addr, 8))
-  test.assertTrue(test.safety.get_relay_malfunction())
-  for a in range(1, 0x800):
-    for b in range(0, 3):
-      test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))
-      test.assertEqual(-1, test.safety.safety_fwd_hook(b, make_msg(b, a, 8)))
-
-def test_manually_enable_controls_allowed(test):
-  test.safety.set_controls_allowed(1)
-  test.assertTrue(test.safety.get_controls_allowed())
-  test.safety.set_controls_allowed(0)
-  test.assertFalse(test.safety.get_controls_allowed())
-
-def test_spam_can_buses(test, TX_MSGS):
-  for addr in range(1, 0x800):
-    for bus in range(0, 4):
-      if all(addr != m[0] or bus != m[1] for m in TX_MSGS):
-        test.assertFalse(test.safety.safety_tx_hook(make_msg(bus, addr, 8)))
diff --git a/panda/tests/safety/libpandasafety_py.py b/panda/tests/safety/libpandasafety_py.py
deleted file mode 100644
index 77131c1a3c8e53..00000000000000
--- a/panda/tests/safety/libpandasafety_py.py
+++ /dev/null
@@ -1,101 +0,0 @@
-import os
-import subprocess
-
-from cffi import FFI
-
-can_dir = os.path.dirname(os.path.abspath(__file__))
-libpandasafety_fn = os.path.join(can_dir, "libpandasafety.so")
-subprocess.check_call(["make"], cwd=can_dir)
-
-ffi = FFI()
-ffi.cdef("""
-typedef struct
-{
-  uint32_t TIR;  /*!< CAN TX mailbox identifier register */
-  uint32_t TDTR; /*!< CAN mailbox data length control and time stamp register */
-  uint32_t TDLR; /*!< CAN mailbox data low register */
-  uint32_t TDHR; /*!< CAN mailbox data high register */
-} CAN_TxMailBox_TypeDef;
-
-typedef struct
-{
-  uint32_t RIR;  /*!< CAN receive FIFO mailbox identifier register */
-  uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
-  uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
-  uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
-} CAN_FIFOMailBox_TypeDef;
-
-typedef struct
-{
-  uint32_t CNT;
-} TIM_TypeDef;
-
-void set_controls_allowed(bool c);
-bool get_controls_allowed(void);
-void set_relay_malfunction(bool c);
-bool get_relay_malfunction(void);
-void set_gas_interceptor_detected(bool c);
-bool get_gas_interceptor_detetcted(void);
-int get_gas_interceptor_prev(void);
-int get_hw_type(void);
-void set_timer(uint32_t t);
-void reset_angle_control(void);
-
-int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_send);
-int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_push);
-int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
-int set_safety_hooks(uint16_t  mode, int16_t param);
-
-void init_tests_toyota(void);
-int get_toyota_torque_meas_min(void);
-int get_toyota_torque_meas_max(void);
-int get_toyota_gas_prev(void);
-void set_toyota_torque_meas(int min, int max);
-void set_toyota_desired_torque_last(int t);
-void set_toyota_rt_torque_last(int t);
-
-void init_tests_honda(void);
-bool get_honda_moving(void);
-bool get_honda_brake_pressed_prev(void);
-int get_honda_gas_prev(void);
-void set_honda_fwd_brake(bool);
-void set_honda_alt_brake_msg(bool);
-void set_honda_hw(int);
-int get_honda_hw(void);
-
-void init_tests_cadillac(void);
-void set_cadillac_desired_torque_last(int t);
-void set_cadillac_rt_torque_last(int t);
-void set_cadillac_torque_driver(int min, int max);
-
-void init_tests_gm(void);
-void set_gm_desired_torque_last(int t);
-void set_gm_rt_torque_last(int t);
-void set_gm_torque_driver(int min, int max);
-
-void init_tests_hyundai(void);
-void set_hyundai_desired_torque_last(int t);
-void set_hyundai_rt_torque_last(int t);
-void set_hyundai_torque_driver(int min, int max);
-
-void init_tests_chrysler(void);
-void set_chrysler_desired_torque_last(int t);
-void set_chrysler_rt_torque_last(int t);
-int get_chrysler_torque_meas_min(void);
-int get_chrysler_torque_meas_max(void);
-void set_chrysler_torque_meas(int min, int max);
-
-void init_tests_subaru(void);
-void set_subaru_desired_torque_last(int t);
-void set_subaru_rt_torque_last(int t);
-void set_subaru_torque_driver(int min, int max);
-
-void init_tests_volkswagen(void);
-void set_volkswagen_desired_torque_last(int t);
-void set_volkswagen_rt_torque_last(int t);
-void set_volkswagen_torque_driver(int min, int max);
-int get_volkswagen_gas_prev(void);
-
-""")
-
-libpandasafety = ffi.dlopen(libpandasafety_fn)
diff --git a/panda/tests/safety/test.c b/panda/tests/safety/test.c
deleted file mode 100644
index 59611d3131c67e..00000000000000
--- a/panda/tests/safety/test.c
+++ /dev/null
@@ -1,351 +0,0 @@
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-
-typedef struct
-{
-  uint32_t TIR;  /*!< CAN TX mailbox identifier register */
-  uint32_t TDTR; /*!< CAN mailbox data length control and time stamp register */
-  uint32_t TDLR; /*!< CAN mailbox data low register */
-  uint32_t TDHR; /*!< CAN mailbox data high register */
-} CAN_TxMailBox_TypeDef;
-
-typedef struct
-{
-  uint32_t RIR;  /*!< CAN receive FIFO mailbox identifier register */
-  uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
-  uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
-  uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
-} CAN_FIFOMailBox_TypeDef;
-
-typedef struct
-{
-  uint32_t CNT;
-} TIM_TypeDef;
-
-struct sample_t toyota_torque_meas;
-struct sample_t cadillac_torque_driver;
-struct sample_t gm_torque_driver;
-struct sample_t hyundai_torque_driver;
-struct sample_t chrysler_torque_meas;
-struct sample_t subaru_torque_driver;
-struct sample_t volkswagen_torque_driver;
-
-TIM_TypeDef timer;
-TIM_TypeDef *TIM2 = &timer;
-
-// from board_declarations.h
-#define HW_TYPE_UNKNOWN 0U
-#define HW_TYPE_WHITE_PANDA 1U
-#define HW_TYPE_GREY_PANDA 2U
-#define HW_TYPE_BLACK_PANDA 3U
-#define HW_TYPE_PEDAL 4U
-#define HW_TYPE_UNO 5U
-
-#define ALLOW_DEBUG
-
-// from main_declarations.h
-uint8_t hw_type = HW_TYPE_UNKNOWN;
-
-// from config.h
-#define MIN(a,b)                                \
-  ({ __typeof__ (a) _a = (a);                   \
-    __typeof__ (b) _b = (b);                    \
-    _a < _b ? _a : _b; })
-
-#define MAX(a,b)                                \
-  ({ __typeof__ (a) _a = (a);                   \
-    __typeof__ (b) _b = (b);                    \
-    _a > _b ? _a : _b; })
-
-// from llcan.h
-#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
-#define GET_LEN(msg) ((msg)->RDTR & 0xf)
-#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
-#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
-#define GET_BYTES_04(msg) ((msg)->RDLR)
-#define GET_BYTES_48(msg) ((msg)->RDHR)
-
-#define UNUSED(x) (void)(x)
-
-#define PANDA
-#define NULL ((void*)0)
-#define static
-#include "safety.h"
-
-void set_controls_allowed(bool c){
-  controls_allowed = c;
-}
-
-void set_relay_malfunction(bool c){
-  relay_malfunction = c;
-}
-
-void set_gas_interceptor_detected(bool c){
-  gas_interceptor_detected = c;
-}
-
-void reset_angle_control(void){
-  angle_control = 0;
-}
-
-bool get_controls_allowed(void){
-  return controls_allowed;
-}
-
-bool get_relay_malfunction(void){
-  return relay_malfunction;
-}
-
-bool get_gas_interceptor_detected(void){
-  return gas_interceptor_detected;
-}
-
-int get_gas_interceptor_prev(void){
-  return gas_interceptor_prev;
-}
-
-int get_hw_type(void){
-  return hw_type;
-}
-
-void set_timer(uint32_t t){
-  timer.CNT = t;
-}
-
-void set_toyota_torque_meas(int min, int max){
-  toyota_torque_meas.min = min;
-  toyota_torque_meas.max = max;
-}
-
-void set_cadillac_torque_driver(int min, int max){
-  cadillac_torque_driver.min = min;
-  cadillac_torque_driver.max = max;
-}
-
-void set_gm_torque_driver(int min, int max){
-  gm_torque_driver.min = min;
-  gm_torque_driver.max = max;
-}
-
-void set_hyundai_torque_driver(int min, int max){
-  hyundai_torque_driver.min = min;
-  hyundai_torque_driver.max = max;
-}
-
-void set_chrysler_torque_meas(int min, int max){
-  chrysler_torque_meas.min = min;
-  chrysler_torque_meas.max = max;
-}
-
-void set_subaru_torque_driver(int min, int max){
-  subaru_torque_driver.min = min;
-  subaru_torque_driver.max = max;
-}
-
-void set_volkswagen_torque_driver(int min, int max){
-  volkswagen_torque_driver.min = min;
-  volkswagen_torque_driver.max = max;
-}
-
-int get_chrysler_torque_meas_min(void){
-  return chrysler_torque_meas.min;
-}
-
-int get_chrysler_torque_meas_max(void){
-  return chrysler_torque_meas.max;
-}
-
-int get_toyota_gas_prev(void){
-  return toyota_gas_prev;
-}
-
-int get_toyota_torque_meas_min(void){
-  return toyota_torque_meas.min;
-}
-
-int get_toyota_torque_meas_max(void){
-  return toyota_torque_meas.max;
-}
-
-void set_toyota_rt_torque_last(int t){
-  toyota_rt_torque_last = t;
-}
-
-void set_cadillac_rt_torque_last(int t){
-  cadillac_rt_torque_last = t;
-}
-
-void set_gm_rt_torque_last(int t){
-  gm_rt_torque_last = t;
-}
-
-void set_hyundai_rt_torque_last(int t){
-  hyundai_rt_torque_last = t;
-}
-
-void set_chrysler_rt_torque_last(int t){
-  chrysler_rt_torque_last = t;
-}
-
-void set_subaru_rt_torque_last(int t){
-  subaru_rt_torque_last = t;
-}
-
-void set_volkswagen_rt_torque_last(int t){
-  volkswagen_rt_torque_last = t;
-}
-
-void set_toyota_desired_torque_last(int t){
-  toyota_desired_torque_last = t;
-}
-
-void set_cadillac_desired_torque_last(int t){
-  for (int i = 0; i < 4; i++) cadillac_desired_torque_last[i] = t;
-}
-
-void set_gm_desired_torque_last(int t){
-  gm_desired_torque_last = t;
-}
-
-void set_hyundai_desired_torque_last(int t){
-  hyundai_desired_torque_last = t;
-}
-
-void set_chrysler_desired_torque_last(int t){
-  chrysler_desired_torque_last = t;
-}
-
-void set_subaru_desired_torque_last(int t){
-  subaru_desired_torque_last = t;
-}
-
-void set_volkswagen_desired_torque_last(int t){
-  volkswagen_desired_torque_last = t;
-}
-
-int get_volkswagen_gas_prev(void){
-  return volkswagen_gas_prev;
-}
-
-bool get_honda_moving(void){
-  return honda_moving;
-}
-
-bool get_honda_brake_pressed_prev(void){
-  return honda_brake_pressed_prev;
-}
-
-int get_honda_gas_prev(void){
-  return honda_gas_prev;
-}
-
-void set_honda_alt_brake_msg(bool c){
-  honda_alt_brake_msg = c;
-}
-
-void set_honda_hw(int c){
-  honda_hw = c;
-}
-
-int get_honda_hw(void) {
-  return honda_hw;
-}
-
-void set_honda_fwd_brake(bool c){
-  honda_fwd_brake = c;
-}
-
-void init_tests(void){
-  // get HW_TYPE from env variable set in test.sh
-  hw_type = atoi(getenv("HW_TYPE"));
-  safety_mode_cnt = 2U;  // avoid ignoring relay_malfunction logic
-}
-
-void init_tests_toyota(void){
-  init_tests();
-  toyota_torque_meas.min = 0;
-  toyota_torque_meas.max = 0;
-  toyota_desired_torque_last = 0;
-  toyota_rt_torque_last = 0;
-  toyota_ts_last = 0;
-  set_timer(0);
-}
-
-void init_tests_cadillac(void){
-  init_tests();
-  cadillac_torque_driver.min = 0;
-  cadillac_torque_driver.max = 0;
-  for (int i = 0; i < 4; i++) cadillac_desired_torque_last[i] = 0;
-  cadillac_rt_torque_last = 0;
-  cadillac_ts_last = 0;
-  set_timer(0);
-}
-
-void init_tests_gm(void){
-  init_tests();
-  gm_torque_driver.min = 0;
-  gm_torque_driver.max = 0;
-  gm_desired_torque_last = 0;
-  gm_rt_torque_last = 0;
-  gm_ts_last = 0;
-  set_timer(0);
-}
-
-void init_tests_hyundai(void){
-  init_tests();
-  hyundai_torque_driver.min = 0;
-  hyundai_torque_driver.max = 0;
-  hyundai_desired_torque_last = 0;
-  hyundai_rt_torque_last = 0;
-  hyundai_ts_last = 0;
-  set_timer(0);
-}
-
-void init_tests_chrysler(void){
-  init_tests();
-  chrysler_torque_meas.min = 0;
-  chrysler_torque_meas.max = 0;
-  chrysler_desired_torque_last = 0;
-  chrysler_rt_torque_last = 0;
-  chrysler_ts_last = 0;
-  set_timer(0);
-}
-
-void init_tests_subaru(void){
-  init_tests();
-  subaru_torque_driver.min = 0;
-  subaru_torque_driver.max = 0;
-  subaru_desired_torque_last = 0;
-  subaru_rt_torque_last = 0;
-  subaru_ts_last = 0;
-  set_timer(0);
-}
-
-void init_tests_volkswagen(void){
-  init_tests();
-  volkswagen_torque_driver.min = 0;
-  volkswagen_torque_driver.max = 0;
-  volkswagen_desired_torque_last = 0;
-  volkswagen_rt_torque_last = 0;
-  volkswagen_ts_last = 0;
-  set_timer(0);
-}
-
-void init_tests_honda(void){
-  init_tests();
-  honda_moving = false;
-  honda_brake_pressed_prev = false;
-  honda_gas_prev = 0;
-  honda_fwd_brake = false;
-}
-
-void set_gmlan_digital_output(int to_set){
-}
-
-void reset_gmlan_switch_timeout(void){
-}
-
-void gmlan_switch_init(int timeout_enable){
-}
-
diff --git a/panda/tests/safety/test.sh b/panda/tests/safety/test.sh
deleted file mode 100755
index 39d70ff615bee8..00000000000000
--- a/panda/tests/safety/test.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env sh
-
-# Loop over all hardware types:
-#   HW_TYPE_UNKNOWN 0U
-#   HW_TYPE_WHITE_PANDA 1U
-#   HW_TYPE_GREY_PANDA 2U
-#   HW_TYPE_BLACK_PANDA 3U
-#   HW_TYPE_PEDAL 4U
-#   HW_TYPE_UNO 5U
-
-# Make sure test fails if one HW_TYPE fails
-set -e
-
-for hw_type in 0 1 2 3 4 5
-do
-  echo "Testing HW_TYPE: $hw_type"
-  HW_TYPE=$hw_type python -m unittest discover .
-done
diff --git a/panda/tests/safety/test_cadillac.py b/panda/tests/safety/test_cadillac.py
deleted file mode 100644
index 7806fb7b285cc1..00000000000000
--- a/panda/tests/safety/test_cadillac.py
+++ /dev/null
@@ -1,184 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
-
-
-MAX_RATE_UP = 2
-MAX_RATE_DOWN = 5
-MAX_TORQUE = 150
-
-MAX_RT_DELTA = 75
-RT_INTERVAL = 250000
-
-DRIVER_TORQUE_ALLOWANCE = 50;
-DRIVER_TORQUE_FACTOR = 4;
-
-IPAS_OVERRIDE_THRESHOLD = 200
-
-TX_MSGS = [[0x151, 2], [0x152, 0], [0x153, 2], [0x154, 0]]
-
-def twos_comp(val, bits):
-  if val >= 0:
-    return val
-  else:
-    return (2**bits) + val
-
-def sign(a):
-  if a > 0:
-    return 1
-  else:
-    return -1
-
-class TestCadillacSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_CADILLAC, 0)
-    cls.safety.init_tests_cadillac()
-
-  def _set_prev_torque(self, t):
-    self.safety.set_cadillac_desired_torque_last(t)
-    self.safety.set_cadillac_rt_torque_last(t)
-
-  def _torque_driver_msg(self, torque):
-    t = twos_comp(torque, 11)
-    to_send = make_msg(0, 0x164)
-    to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8)
-    return to_send
-
-  def _torque_msg(self, torque):
-    to_send = make_msg(2, 0x151)
-    t = twos_comp(torque, 14)
-    to_send[0].RDLR = ((t >> 8) & 0x3F) | ((t & 0xFF) << 8)
-    return to_send
-
-  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
-
-  def test_enable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x370)
-    to_push[0].RDLR = 0x800000
-    self.safety.safety_rx_hook(to_push)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x370)
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(to_push)
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_torque_absolute_limits(self):
-    for controls_allowed in [True, False]:
-      for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
-        self.safety.set_controls_allowed(controls_allowed)
-        self.safety.set_cadillac_rt_torque_last(torque)
-        self.safety.set_cadillac_torque_driver(0, 0)
-        self.safety.set_cadillac_desired_torque_last(torque - MAX_RATE_UP)
-
-        if controls_allowed:
-          send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
-        else:
-          send = torque == 0
-
-        self.assertEqual(send, self.safety.safety_tx_hook(self._torque_msg(torque)))
-
-  def test_non_realtime_limit_up(self):
-    self.safety.set_cadillac_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP)))
-
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
-    self.safety.set_controls_allowed(True)
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
-
-  def test_non_realtime_limit_down(self):
-    self.safety.set_cadillac_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-  def test_exceed_torque_sensor(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
-        t *= -sign
-        self.safety.set_cadillac_torque_driver(t, t)
-        self._set_prev_torque(MAX_TORQUE * sign)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_TORQUE * sign)))
-
-      self.safety.set_cadillac_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_TORQUE)))
-
-    # spot check some individual cases
-    for sign in [-1, 1]:
-      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
-      torque_desired = (MAX_TORQUE - 10 * DRIVER_TORQUE_FACTOR) * sign
-      delta = 1 * sign
-      self._set_prev_torque(torque_desired)
-      self.safety.set_cadillac_torque_driver(-driver_torque, -driver_torque)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
-      self._set_prev_torque(torque_desired + delta)
-      self.safety.set_cadillac_torque_driver(-driver_torque, -driver_torque)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
-
-      self._set_prev_torque(MAX_TORQUE * sign)
-      self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_TORQUE - MAX_RATE_DOWN) * sign)))
-      self._set_prev_torque(MAX_TORQUE * sign)
-      self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
-      self._set_prev_torque(MAX_TORQUE * sign)
-      self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_TORQUE - MAX_RATE_DOWN + 1) * sign)))
-
-
-  def test_realtime_limits(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self.safety.init_tests_cadillac()
-      self._set_prev_torque(0)
-      self.safety.set_cadillac_torque_driver(0, 0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      # Increase timer to update rt_torque_last
-      self.safety.set_timer(RT_INTERVAL + 1)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-
-  def test_fwd_hook(self):
-    # nothing allowed
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-
-    for b in buss:
-      for m in msgs:
-        # assume len 8
-        self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_chrysler.py b/panda/tests/safety/test_chrysler.py
deleted file mode 100755
index 2c472706fe1c99..00000000000000
--- a/panda/tests/safety/test_chrysler.py
+++ /dev/null
@@ -1,186 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
-
-MAX_RATE_UP = 3
-MAX_RATE_DOWN = 3
-MAX_STEER = 261
-
-MAX_RT_DELTA = 112
-RT_INTERVAL = 250000
-
-MAX_TORQUE_ERROR = 80
-
-TX_MSGS = [[571, 0], [658, 0], [678, 0]]
-
-class TestChryslerSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
-    cls.safety.init_tests_chrysler()
-
-  def _button_msg(self, buttons):
-    to_send = make_msg(0, 571)
-    to_send[0].RDLR = buttons
-    return to_send
-
-  def _set_prev_torque(self, t):
-    self.safety.set_chrysler_desired_torque_last(t)
-    self.safety.set_chrysler_rt_torque_last(t)
-    self.safety.set_chrysler_torque_meas(t, t)
-
-  def _torque_meas_msg(self, torque):
-    to_send = make_msg(0, 544)
-    to_send[0].RDHR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
-    return to_send
-
-  def _torque_msg(self, torque):
-    to_send = make_msg(0, 0x292)
-    to_send[0].RDLR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
-    return to_send
-
-  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
-
-  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x292)
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_steer_safety_check(self):
-    for enabled in [0, 1]:
-      for t in range(-MAX_STEER*2, MAX_STEER*2):
-        self.safety.set_controls_allowed(enabled)
-        self._set_prev_torque(t)
-        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
-          self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(t)))
-        else:
-          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
-
-  def test_enable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x1F4)
-    to_push[0].RDLR = 0x380000
-
-    self.safety.safety_rx_hook(to_push)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x1F4)
-    to_push[0].RDLR = 0
-
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(to_push)
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_non_realtime_limit_up(self):
-    self.safety.set_controls_allowed(True)
-
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
-
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
-
-  def test_non_realtime_limit_down(self):
-    self.safety.set_controls_allowed(True)
-
-    self.safety.set_chrysler_rt_torque_last(MAX_STEER)
-    torque_meas = MAX_STEER - MAX_TORQUE_ERROR - 20
-    self.safety.set_chrysler_torque_meas(torque_meas, torque_meas)
-    self.safety.set_chrysler_desired_torque_last(MAX_STEER)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER - MAX_RATE_DOWN)))
-
-    self.safety.set_chrysler_rt_torque_last(MAX_STEER)
-    self.safety.set_chrysler_torque_meas(torque_meas, torque_meas)
-    self.safety.set_chrysler_desired_torque_last(MAX_STEER)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER - MAX_RATE_DOWN + 1)))
-
-  def test_exceed_torque_sensor(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_TORQUE_ERROR + 2, 2):  # step needs to be smaller than MAX_TORQUE_ERROR
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_TORQUE_ERROR + 2))))
-
-  def test_realtime_limit_up(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self.safety.init_tests_chrysler()
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_RT_DELTA+1, 1):
-        t *= sign
-        self.safety.set_chrysler_torque_meas(t, t)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_RT_DELTA+1, 1):
-        t *= sign
-        self.safety.set_chrysler_torque_meas(t, t)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      # Increase timer to update rt_torque_last
-      self.safety.set_timer(RT_INTERVAL + 1)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * MAX_RT_DELTA)))
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-  def test_torque_measurements(self):
-    self.safety.safety_rx_hook(self._torque_meas_msg(50))
-    self.safety.safety_rx_hook(self._torque_meas_msg(-50))
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-
-    self.assertEqual(-50, self.safety.get_chrysler_torque_meas_min())
-    self.assertEqual(50, self.safety.get_chrysler_torque_meas_max())
-
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
-    self.assertEqual(-50, self.safety.get_chrysler_torque_meas_min())
-
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
-    self.assertEqual(0, self.safety.get_chrysler_torque_meas_min())
-
-  def test_cancel_button(self):
-    CANCEL = 1
-    for b in range(0, 0xff):
-      if b == CANCEL:
-        self.assertTrue(self.safety.safety_tx_hook(self._button_msg(b)))
-      else:
-        self.assertFalse(self.safety.safety_tx_hook(self._button_msg(b)))
-
-  def test_fwd_hook(self):
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-
-    blocked_msgs = [658, 678]
-    for b in buss:
-      for m in msgs:
-        if b == 0:
-          fwd_bus = 2
-        elif b == 1:
-          fwd_bus = -1
-        elif b == 2:
-          fwd_bus = -1 if m in blocked_msgs else 0
-
-        # assume len 8
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_gm.py b/panda/tests/safety/test_gm.py
deleted file mode 100644
index 06872dede5b1e4..00000000000000
--- a/panda/tests/safety/test_gm.py
+++ /dev/null
@@ -1,277 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
-
-MAX_RATE_UP = 7
-MAX_RATE_DOWN = 17
-MAX_STEER = 300
-MAX_BRAKE = 350
-MAX_GAS = 3072
-MAX_REGEN = 1404
-
-MAX_RT_DELTA = 128
-RT_INTERVAL = 250000
-
-DRIVER_TORQUE_ALLOWANCE = 50;
-DRIVER_TORQUE_FACTOR = 4;
-
-TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0],  # pt bus
-           [161, 1], [774, 1], [776, 1], [784, 1],  # obs bus
-           [789, 2],  # ch bus
-           [0x104c006c, 3], [0x10400060]]  # gmlan
-
-def twos_comp(val, bits):
-  if val >= 0:
-    return val
-  else:
-    return (2**bits) + val
-
-def sign(a):
-  if a > 0:
-    return 1
-  else:
-    return -1
-
-class TestGmSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
-    cls.safety.init_tests_gm()
-
-  def _speed_msg(self, speed):
-    to_send = make_msg(0, 842)
-    to_send[0].RDLR = speed
-    return to_send
-
-  def _button_msg(self, buttons):
-    to_send = make_msg(0, 481)
-    to_send[0].RDHR = buttons << 12
-    return to_send
-
-  def _brake_msg(self, brake):
-    to_send = make_msg(0, 241)
-    to_send[0].RDLR = 0xa00 if brake else 0x900
-    return to_send
-
-  def _gas_msg(self, gas):
-    to_send = make_msg(0, 417)
-    to_send[0].RDHR = (1 << 16) if gas else 0
-    return to_send
-
-  def _send_brake_msg(self, brake):
-    to_send = make_msg(2, 789)
-    brake = (-brake) & 0xfff
-    to_send[0].RDLR = (brake >> 8) | ((brake &0xff) << 8)
-    return to_send
-
-  def _send_gas_msg(self, gas):
-    to_send = make_msg(0, 715)
-    to_send[0].RDLR = ((gas & 0x1f) << 27) | ((gas & 0xfe0) << 11)
-    return to_send
-
-  def _set_prev_torque(self, t):
-    self.safety.set_gm_desired_torque_last(t)
-    self.safety.set_gm_rt_torque_last(t)
-
-  def _torque_driver_msg(self, torque):
-    t = twos_comp(torque, 11)
-    to_send = make_msg(0, 388)
-    to_send[0].RDHR = (((t >> 8) & 0x7) << 16) | ((t & 0xFF) << 24)
-    return to_send
-
-  def _torque_msg(self, torque):
-    t = twos_comp(torque, 11)
-    to_send = make_msg(0, 384)
-    to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8)
-    return to_send
-
-  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
-
-  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 384)
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_resume_button(self):
-    RESUME_BTN = 2
-    self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._button_msg(RESUME_BTN))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_set_button(self):
-    SET_BTN = 3
-    self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._button_msg(SET_BTN))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_cancel_button(self):
-    CANCEL_BTN = 6
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_disengage_on_brake(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(100))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))
-
-  def test_disengage_on_gas(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._gas_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._gas_msg(False))
-
-  def test_allow_engage_with_gas_pressed(self):
-    self.safety.safety_rx_hook(self._gas_msg(True))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._gas_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._gas_msg(False))
-
-  def test_brake_safety_check(self):
-    for enabled in [0, 1]:
-      for b in range(0, 500):
-        self.safety.set_controls_allowed(enabled)
-        if abs(b) > MAX_BRAKE or (not enabled and b != 0):
-          self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(b)))
-        else:
-          self.assertTrue(self.safety.safety_tx_hook(self._send_brake_msg(b)))
-
-  def test_gas_safety_check(self):
-    for enabled in [0, 1]:
-      for g in range(0, 2**12-1):
-        self.safety.set_controls_allowed(enabled)
-        if abs(g) > MAX_GAS or (not enabled and g != MAX_REGEN):
-          self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(g)))
-        else:
-          self.assertTrue(self.safety.safety_tx_hook(self._send_gas_msg(g)))
-
-  def test_steer_safety_check(self):
-    for enabled in [0, 1]:
-      for t in range(-0x200, 0x200):
-        self.safety.set_controls_allowed(enabled)
-        self._set_prev_torque(t)
-        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
-          self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(t)))
-        else:
-          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
-
-  def test_non_realtime_limit_up(self):
-    self.safety.set_gm_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP)))
-
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
-    self.safety.set_controls_allowed(True)
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
-
-  def test_non_realtime_limit_down(self):
-    self.safety.set_gm_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-  def test_against_torque_driver(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
-        t *= -sign
-        self.safety.set_gm_torque_driver(t, t)
-        self._set_prev_torque(MAX_STEER * sign)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER * sign)))
-
-      self.safety.set_gm_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_STEER)))
-
-    # spot check some individual cases
-    for sign in [-1, 1]:
-      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
-      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
-      delta = 1 * sign
-      self._set_prev_torque(torque_desired)
-      self.safety.set_gm_torque_driver(-driver_torque, -driver_torque)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
-      self._set_prev_torque(torque_desired + delta)
-      self.safety.set_gm_torque_driver(-driver_torque, -driver_torque)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
-
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_gm_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_gm_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_gm_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
-
-
-  def test_realtime_limits(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self.safety.init_tests_gm()
-      self._set_prev_torque(0)
-      self.safety.set_gm_torque_driver(0, 0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      # Increase timer to update rt_torque_last
-      self.safety.set_timer(RT_INTERVAL + 1)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-
-  def test_fwd_hook(self):
-    # nothing allowed
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-
-    for b in buss:
-      for m in msgs:
-        # assume len 8
-        self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_honda.py b/panda/tests/safety/test_honda.py
deleted file mode 100755
index 87f708930402a9..00000000000000
--- a/panda/tests/safety/test_honda.py
+++ /dev/null
@@ -1,336 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, \
-                                      test_manually_enable_controls_allowed, \
-                                      test_spam_can_buses, MAX_WRONG_COUNTERS
-
-MAX_BRAKE = 255
-
-INTERCEPTOR_THRESHOLD = 328
-TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
-
-HONDA_N_HW = 0
-HONDA_BG_HW = 1
-HONDA_BH_HW = 2
-
-def honda_checksum(msg, addr, len_msg):
-  checksum = 0
-  while addr > 0:
-    checksum += addr
-    addr >>= 4
-  for i in range (0, 2*len_msg):
-    if i < 8:
-      checksum += (msg.RDLR >> (4 * i))
-    else:
-      checksum += (msg.RDHR >> (4 * (i - 8)))
-  return (8 - checksum) & 0xF
-
-
-class TestHondaSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
-    cls.safety.init_tests_honda()
-    cls.cnt_speed = 0
-    cls.cnt_gas = 0
-    cls.cnt_button = 0
-
-  def _speed_msg(self, speed):
-    to_send = make_msg(0, 0x158)
-    to_send[0].RDLR = speed
-    to_send[0].RDHR |= (self.cnt_speed % 4) << 28
-    to_send[0].RDHR |= honda_checksum(to_send[0], 0x158, 8) << 24
-    self.cnt_speed += 1
-    return to_send
-
-  def _button_msg(self, buttons, addr):
-    honda_hw = self.safety.get_honda_hw()
-    bus = 1 if honda_hw == HONDA_BH_HW else 0
-    to_send = make_msg(bus, addr)
-    to_send[0].RDLR = buttons << 5
-    to_send[0].RDHR |= (self.cnt_button % 4) << 28
-    to_send[0].RDHR |= honda_checksum(to_send[0], addr, 8) << 24
-    self.cnt_button += 1
-    return to_send
-
-  def _brake_msg(self, brake):
-    to_send = make_msg(0, 0x17C)
-    to_send[0].RDHR = 0x200000 if brake else 0
-    to_send[0].RDHR |= (self.cnt_gas % 4) << 28
-    to_send[0].RDHR |= honda_checksum(to_send[0], 0x17C, 8) << 24
-    self.cnt_gas += 1
-    return to_send
-
-  def _alt_brake_msg(self, brake):
-    to_send = make_msg(0, 0x1BE)
-    to_send[0].RDLR = 0x10 if brake else 0
-    return to_send
-
-  def _gas_msg(self, gas):
-    to_send = make_msg(0, 0x17C)
-    to_send[0].RDLR = 1 if gas else 0
-    to_send[0].RDHR |= (self.cnt_gas % 4) << 28
-    to_send[0].RDHR |= honda_checksum(to_send[0], 0x17C, 8) << 24
-    self.cnt_gas += 1
-    return to_send
-
-  def _send_brake_msg(self, brake):
-    to_send = make_msg(0, 0x1FA)
-    to_send[0].RDLR = ((brake & 0x3) << 14) | ((brake & 0x3FF) >> 2)
-    return to_send
-
-  def _send_interceptor_msg(self, gas, addr):
-    to_send = make_msg(0, addr, 6)
-    gas2 = gas * 2
-    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
-                      ((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
-    return to_send
-
-  def _send_steer_msg(self, steer):
-    to_send = make_msg(0, 0xE4, 6)
-    to_send[0].RDLR = steer
-    return to_send
-
-  def test_spam_can_buses(self):
-    self.safety.set_honda_hw(HONDA_N_HW)
-    test_spam_can_buses(self, TX_MSGS)
-
-  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0xE4)
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
-
-  def test_resume_button(self):
-    RESUME_BTN = 4
-    self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._button_msg(RESUME_BTN, 0x1A6))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_set_button(self):
-    SET_BTN = 3
-    self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_cancel_button(self):
-    CANCEL_BTN = 2
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN, 0x1A6))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_sample_speed(self):
-    self.assertEqual(0, self.safety.get_honda_moving())
-    self.safety.safety_rx_hook(self._speed_msg(100))
-    self.assertEqual(1, self.safety.get_honda_moving())
-
-  def test_prev_brake(self):
-    self.assertFalse(self.safety.get_honda_brake_pressed_prev())
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_honda_brake_pressed_prev())
-
-  def test_disengage_on_brake(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(1))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_alt_disengage_on_brake(self):
-    self.safety.set_honda_alt_brake_msg(1)
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._alt_brake_msg(1))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    self.safety.set_honda_alt_brake_msg(0)
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._alt_brake_msg(1))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))  # reset no brakes
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(100))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_prev_gas(self):
-    self.safety.safety_rx_hook(self._gas_msg(False))
-    self.assertFalse(self.safety.get_honda_gas_prev())
-    self.safety.safety_rx_hook(self._gas_msg(True))
-    self.assertTrue(self.safety.get_honda_gas_prev())
-
-  def test_prev_gas_interceptor(self):
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
-    self.assertFalse(self.safety.get_gas_interceptor_prev())
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-    self.assertTrue(self.safety.get_gas_interceptor_prev())
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
-    self.safety.set_gas_interceptor_detected(False)
-
-  def test_disengage_on_gas(self):
-    self.safety.safety_rx_hook(self._gas_msg(0))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._gas_msg(1))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_allow_engage_with_gas_pressed(self):
-    self.safety.safety_rx_hook(self._gas_msg(1))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._gas_msg(1))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disengage_on_gas_interceptor(self):
-    for g in range(0, 0x1000):
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-      self.safety.set_controls_allowed(True)
-      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
-      remain_enabled = g <= INTERCEPTOR_THRESHOLD
-      self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-      self.safety.set_gas_interceptor_detected(False)
-
-  def test_allow_engage_with_gas_interceptor_pressed(self):
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-    self.safety.set_gas_interceptor_detected(False)
-
-  def test_brake_safety_check(self):
-    for fwd_brake in [False, True]:
-      self.safety.set_honda_fwd_brake(fwd_brake)
-      for brake in np.arange(0, MAX_BRAKE + 10, 1):
-        for controls_allowed in [True, False]:
-          self.safety.set_controls_allowed(controls_allowed)
-          if fwd_brake:
-            send = False  # block openpilot brake msg when fwd'ing stock msg
-          elif controls_allowed:
-            send = MAX_BRAKE >= brake >= 0
-          else:
-            send = brake == 0
-          self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
-    self.safety.set_honda_fwd_brake(False)
-
-  def test_gas_interceptor_safety_check(self):
-    for gas in np.arange(0, 4000, 100):
-      for controls_allowed in [True, False]:
-        self.safety.set_controls_allowed(controls_allowed)
-        if controls_allowed:
-          send = True
-        else:
-          send = gas == 0
-        self.assertEqual(send, self.safety.safety_tx_hook(self._send_interceptor_msg(gas, 0x200)))
-
-  def test_steer_safety_check(self):
-    self.safety.set_controls_allowed(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._send_steer_msg(0x0000)))
-    self.assertFalse(self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
-
-  def test_spam_cancel_safety_check(self):
-    RESUME_BTN = 4
-    SET_BTN = 3
-    CANCEL_BTN = 2
-    BUTTON_MSG = 0x296
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
-      self.safety.set_controls_allowed(0)
-      self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN, BUTTON_MSG)))
-      self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
-      self.assertFalse(self.safety.safety_tx_hook(self._button_msg(SET_BTN, BUTTON_MSG)))
-      # do not block resume if we are engaged already
-      self.safety.set_controls_allowed(1)
-      self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
-
-  def test_rx_hook(self):
-    # checksum checks
-    SET_BTN = 3
-    for msg in ["btn1", "btn2", "gas", "speed"]:
-      self.safety.set_controls_allowed(1)
-      if msg == "btn1":
-        to_push = self._button_msg(SET_BTN, 0x1A6)
-      if msg == "btn2":
-        to_push = self._button_msg(SET_BTN, 0x296)
-      if msg == "gas":
-        to_push = self._gas_msg(0)
-      if msg == "speed":
-        to_push = self._speed_msg(0)
-      self.assertTrue(self.safety.safety_rx_hook(to_push))
-      to_push[0].RDHR = 0
-      self.assertFalse(self.safety.safety_rx_hook(to_push))
-      self.assertFalse(self.safety.get_controls_allowed())
-
-    # counter
-    # reset wrong_counters to zero by sending valid messages
-    for i in range(MAX_WRONG_COUNTERS + 1):
-      self.cnt_speed = 0
-      self.cnt_gas = 0
-      self.cnt_button = 0
-      if i < MAX_WRONG_COUNTERS:
-        self.safety.set_controls_allowed(1)
-        self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
-        self.safety.safety_rx_hook(self._speed_msg(0))
-        self.safety.safety_rx_hook(self._gas_msg(0))
-      else:
-        self.assertFalse(self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6)))
-        self.assertFalse(self.safety.safety_rx_hook(self._speed_msg(0)))
-        self.assertFalse(self.safety.safety_rx_hook(self._gas_msg(0)))
-        self.assertFalse(self.safety.get_controls_allowed())
-
-    # restore counters for future tests with a couple of good messages
-    for i in range(2):
-      self.safety.set_controls_allowed(1)
-      self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
-      self.safety.safety_rx_hook(self._speed_msg(0))
-      self.safety.safety_rx_hook(self._gas_msg(0))
-    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-
-  def test_fwd_hook(self):
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-    fwd_brake = [False, True]
-
-    self.safety.set_honda_hw(HONDA_N_HW)
-
-    for f in fwd_brake:
-      self.safety.set_honda_fwd_brake(f)
-      blocked_msgs = [0xE4, 0x194, 0x33D]
-      blocked_msgs += [0x30C]
-      if not f:
-        blocked_msgs += [0x1FA]
-      for b in buss:
-        for m in msgs:
-          if b == 0:
-            fwd_bus = 2
-          elif b == 1:
-            fwd_bus = -1
-          elif b == 2:
-            fwd_bus = -1 if m in blocked_msgs else 0
-
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-    self.safety.set_honda_fwd_brake(False)
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_honda_bosch.py b/panda/tests/safety/test_honda_bosch.py
deleted file mode 100755
index 99c8d35464d956..00000000000000
--- a/panda/tests/safety/test_honda_bosch.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg, test_spam_can_buses
-from panda.tests.safety.test_honda import HONDA_BG_HW, HONDA_BH_HW
-
-MAX_BRAKE = 255
-
-H_TX_MSGS = [[0xE4, 0], [0x296, 1], [0x33D, 0]]  # Bosch Harness
-G_TX_MSGS = [[0xE4, 2], [0x296, 0], [0x33D, 2]]  # Bosch Giraffe
-
-
-class TestHondaSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
-    cls.safety.init_tests_honda()
-
-  def test_spam_can_buses(self):
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
-      test_spam_can_buses(self, H_TX_MSGS if hw == HONDA_BH_HW else G_TX_MSGS)
-
-  def test_fwd_hook(self):
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
-      bus_rdr_cam = 2 if hw == HONDA_BH_HW else 1
-      bus_rdr_car = 0 if hw == HONDA_BH_HW else 2
-      bus_pt = 1 if hw == HONDA_BH_HW else 0
-
-      blocked_msgs = [0xE4, 0x33D]
-      for b in buss:
-        for m in msgs:
-          if b == bus_pt:
-            fwd_bus = -1
-          elif b == bus_rdr_cam:
-            fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
-          elif b == bus_rdr_car:
-            fwd_bus = bus_rdr_cam
-
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_hyundai.py b/panda/tests/safety/test_hyundai.py
deleted file mode 100644
index 9067ec9842870a..00000000000000
--- a/panda/tests/safety/test_hyundai.py
+++ /dev/null
@@ -1,202 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
-
-MAX_RATE_UP = 3
-MAX_RATE_DOWN = 7
-MAX_STEER = 255
-
-MAX_RT_DELTA = 112
-RT_INTERVAL = 250000
-
-DRIVER_TORQUE_ALLOWANCE = 50;
-DRIVER_TORQUE_FACTOR = 2;
-
-TX_MSGS = [[832, 0], [1265, 0]]
-
-def twos_comp(val, bits):
-  if val >= 0:
-    return val
-  else:
-    return (2**bits) + val
-
-def sign(a):
-  if a > 0:
-    return 1
-  else:
-    return -1
-
-class TestHyundaiSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0)
-    cls.safety.init_tests_hyundai()
-
-  def _button_msg(self, buttons):
-    to_send = make_msg(0, 1265)
-    to_send[0].RDLR = buttons
-    return to_send
-
-  def _set_prev_torque(self, t):
-    self.safety.set_hyundai_desired_torque_last(t)
-    self.safety.set_hyundai_rt_torque_last(t)
-
-  def _torque_driver_msg(self, torque):
-    to_send = make_msg(0, 897)
-    to_send[0].RDLR = (torque + 2048) << 11
-    return to_send
-
-  def _torque_msg(self, torque):
-    to_send = make_msg(0, 832)
-    to_send[0].RDLR = (torque + 1024) << 16
-    return to_send
-
-  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
-
-  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 832)
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_steer_safety_check(self):
-    for enabled in [0, 1]:
-      for t in range(-0x200, 0x200):
-        self.safety.set_controls_allowed(enabled)
-        self._set_prev_torque(t)
-        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
-          self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(t)))
-        else:
-          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
-
-  def test_enable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 1057)
-    to_push[0].RDLR = 1 << 13
-    self.safety.safety_rx_hook(to_push)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 1057)
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(to_push)
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_non_realtime_limit_up(self):
-    self.safety.set_hyundai_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP)))
-
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
-    self.safety.set_controls_allowed(True)
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
-
-  def test_non_realtime_limit_down(self):
-    self.safety.set_hyundai_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-  def test_against_torque_driver(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
-        t *= -sign
-        self.safety.set_hyundai_torque_driver(t, t)
-        self._set_prev_torque(MAX_STEER * sign)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER * sign)))
-
-      self.safety.set_hyundai_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_STEER)))
-
-    # spot check some individual cases
-    for sign in [-1, 1]:
-      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
-      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
-      delta = 1 * sign
-      self._set_prev_torque(torque_desired)
-      self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
-      self._set_prev_torque(torque_desired + delta)
-      self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
-
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
-
-
-  def test_realtime_limits(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self.safety.init_tests_hyundai()
-      self._set_prev_torque(0)
-      self.safety.set_hyundai_torque_driver(0, 0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      # Increase timer to update rt_torque_last
-      self.safety.set_timer(RT_INTERVAL + 1)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-
-  def test_spam_cancel_safety_check(self):
-    RESUME_BTN = 1
-    SET_BTN = 2
-    CANCEL_BTN = 4
-    self.safety.set_controls_allowed(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN)))
-    self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN)))
-    self.assertFalse(self.safety.safety_tx_hook(self._button_msg(SET_BTN)))
-    # do not block resume if we are engaged already
-    self.safety.set_controls_allowed(1)
-    self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN)))
-
-  def test_fwd_hook(self):
-
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-
-    blocked_msgs = [832]
-    for b in buss:
-      for m in msgs:
-        if b == 0:
-          fwd_bus = 2
-        elif b == 1:
-          fwd_bus = -1
-        elif b == 2:
-          fwd_bus = -1 if m in blocked_msgs else 0
-
-        # assume len 8
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_subaru.py b/panda/tests/safety/test_subaru.py
deleted file mode 100644
index e18d7515cb1345..00000000000000
--- a/panda/tests/safety/test_subaru.py
+++ /dev/null
@@ -1,186 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
-
-MAX_RATE_UP = 50
-MAX_RATE_DOWN = 70
-MAX_STEER = 2047
-
-MAX_RT_DELTA = 940
-RT_INTERVAL = 250000
-
-DRIVER_TORQUE_ALLOWANCE = 60;
-DRIVER_TORQUE_FACTOR = 10;
-
-TX_MSGS = [[0x122, 0], [0x164, 0], [0x221, 0], [0x322, 0]]
-
-def twos_comp(val, bits):
-  if val >= 0:
-    return val
-  else:
-    return (2**bits) + val
-
-def sign(a):
-  if a > 0:
-    return 1
-  else:
-    return -1
-
-class TestSubaruSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
-    cls.safety.init_tests_subaru()
-
-  def _set_prev_torque(self, t):
-    self.safety.set_subaru_desired_torque_last(t)
-    self.safety.set_subaru_rt_torque_last(t)
-
-  def _torque_driver_msg(self, torque):
-    t = twos_comp(torque, 11)
-    to_send = make_msg(0, 0x119)
-    to_send[0].RDLR = ((t & 0x7FF) << 16)
-    return to_send
-
-  def _torque_msg(self, torque):
-    to_send = make_msg(0, 0x122)
-    t = twos_comp(torque, 13)
-    to_send[0].RDLR = (t << 16)
-    return to_send
-
-  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
-
-  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x122)
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_enable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x240)
-    to_push[0].RDHR = 1 << 9
-    self.safety.safety_rx_hook(to_push)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x240)
-    to_push[0].RDHR = 0
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(to_push)
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_steer_safety_check(self):
-    for enabled in [0, 1]:
-      for t in range(-3000, 3000):
-        self.safety.set_controls_allowed(enabled)
-        self._set_prev_torque(t)
-        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
-          self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(t)))
-        else:
-          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
-
-  def test_non_realtime_limit_up(self):
-    self.safety.set_subaru_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP)))
-
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
-    self.safety.set_controls_allowed(True)
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
-
-  def test_non_realtime_limit_down(self):
-    self.safety.set_subaru_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-  def test_against_torque_driver(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
-        t *= -sign
-        self.safety.set_subaru_torque_driver(t, t)
-        self._set_prev_torque(MAX_STEER * sign)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER * sign)))
-
-      self.safety.set_subaru_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_STEER)))
-
-    # spot check some individual cases
-    for sign in [-1, 1]:
-      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
-      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
-      delta = 1 * sign
-      self._set_prev_torque(torque_desired)
-      self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
-      self._set_prev_torque(torque_desired + delta)
-      self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
-
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
-
-
-  def test_realtime_limits(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self.safety.init_tests_subaru()
-      self._set_prev_torque(0)
-      self.safety.set_subaru_torque_driver(0, 0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      # Increase timer to update rt_torque_last
-      self.safety.set_timer(RT_INTERVAL + 1)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-
-  def test_fwd_hook(self):
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-    blocked_msgs = [290, 356, 545, 802]
-    for b in buss:
-      for m in msgs:
-        if b == 0:
-          fwd_bus = 2
-        elif b == 1:
-          fwd_bus = -1
-        elif b == 2:
-          fwd_bus = -1 if m in blocked_msgs else 0
-
-        # assume len 8
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_toyota.py b/panda/tests/safety/test_toyota.py
deleted file mode 100644
index 493fb1f62b0ae3..00000000000000
--- a/panda/tests/safety/test_toyota.py
+++ /dev/null
@@ -1,309 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
-
-MAX_RATE_UP = 10
-MAX_RATE_DOWN = 25
-MAX_TORQUE = 1500
-
-MAX_ACCEL = 1500
-MIN_ACCEL = -3000
-
-MAX_RT_DELTA = 375
-RT_INTERVAL = 250000
-
-MAX_TORQUE_ERROR = 350
-INTERCEPTOR_THRESHOLD = 475
-
-TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
-           [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
-           [0x2E4, 0], [0x411, 0], [0x412, 0], [0x343, 0], [0x1D2, 0],  # LKAS + ACC
-           [0x200, 0], [0x750, 0]];  # interceptor + blindspot monitor
-
-
-def twos_comp(val, bits):
-  if val >= 0:
-    return val
-  else:
-    return (2**bits) + val
-
-def sign(a):
-  if a > 0:
-    return 1
-  else:
-    return -1
-
-def toyota_checksum(msg, addr, len_msg):
-  checksum = (len_msg + addr + (addr >> 8))
-  for i in range(len_msg):
-    if i < 4:
-      checksum += (msg.RDLR >> (8 * i))
-    else:
-      checksum += (msg.RDHR >> (8 * (i - 4)))
-  return checksum & 0xff
-
-
-class TestToyotaSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 100)
-    cls.safety.init_tests_toyota()
-
-  def _set_prev_torque(self, t):
-    self.safety.set_toyota_desired_torque_last(t)
-    self.safety.set_toyota_rt_torque_last(t)
-    self.safety.set_toyota_torque_meas(t, t)
-
-  def _torque_meas_msg(self, torque):
-    t = twos_comp(torque, 16)
-    to_send = make_msg(0, 0x260)
-    to_send[0].RDHR = (t & 0xff00) | ((t & 0xFF) << 16)
-    to_send[0].RDHR = to_send[0].RDHR | (toyota_checksum(to_send[0], 0x260, 8) << 24)
-    return to_send
-
-  def _torque_msg(self, torque):
-    t = twos_comp(torque, 16)
-    to_send = make_msg(0, 0x2E4)
-    to_send[0].RDLR = t | ((t & 0xFF) << 16)
-    return to_send
-
-  def _accel_msg(self, accel):
-    to_send = make_msg(0, 0x343)
-    a = twos_comp(accel, 16)
-    to_send[0].RDLR = (a & 0xFF) << 8 | (a >> 8)
-    return to_send
-
-  def _send_gas_msg(self, gas):
-    to_send = make_msg(0, 0x2C1)
-    to_send[0].RDHR = (gas & 0xFF) << 16
-    return to_send
-
-  def _send_interceptor_msg(self, gas, addr):
-    gas2 = gas * 2
-    to_send = make_msg(0, addr, 6)
-    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
-                      ((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
-    return to_send
-
-  def _pcm_cruise_msg(self, cruise_on):
-    to_send = make_msg(0, 0x1D2)
-    to_send[0].RDLR = cruise_on << 5
-    to_send[0].RDHR = to_send[0].RDHR | (toyota_checksum(to_send[0], 0x1D2, 8) << 24)
-    return to_send
-
-  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
-
-  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x2E4)
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
-
-  def test_enable_control_allowed_from_cruise(self):
-    self.safety.safety_rx_hook(self._pcm_cruise_msg(False))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._pcm_cruise_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disable_control_allowed_from_cruise(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._pcm_cruise_msg(False))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_prev_gas(self):
-    for g in range(0, 256):
-      self.safety.safety_rx_hook(self._send_gas_msg(g))
-      self.assertEqual(g, self.safety.get_toyota_gas_prev())
-
-  def test_prev_gas_interceptor(self):
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
-    self.assertFalse(self.safety.get_gas_interceptor_prev())
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-    self.assertTrue(self.safety.get_gas_interceptor_prev())
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
-    self.safety.set_gas_interceptor_detected(False)
-
-  def test_disengage_on_gas(self):
-    self.safety.safety_rx_hook(self._send_gas_msg(0))
-    self.safety.set_controls_allowed(True)
-    self.safety.safety_rx_hook(self._send_gas_msg(1))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_allow_engage_with_gas_pressed(self):
-    self.safety.safety_rx_hook(self._send_gas_msg(1))
-    self.safety.set_controls_allowed(True)
-    self.safety.safety_rx_hook(self._send_gas_msg(1))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._send_gas_msg(1))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disengage_on_gas_interceptor(self):
-    for g in range(0, 0x1000):
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-      self.safety.set_controls_allowed(True)
-      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
-      remain_enabled = g <= INTERCEPTOR_THRESHOLD
-      self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-      self.safety.set_gas_interceptor_detected(False)
-
-  def test_allow_engage_with_gas_interceptor_pressed(self):
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
-    self.safety.set_gas_interceptor_detected(False)
-
-  def test_accel_actuation_limits(self):
-    for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
-      for controls_allowed in [True, False]:
-        self.safety.set_controls_allowed(controls_allowed)
-        if controls_allowed:
-          send = MIN_ACCEL <= accel <= MAX_ACCEL
-        else:
-          send = accel == 0
-        self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
-
-  def test_torque_absolute_limits(self):
-    for controls_allowed in [True, False]:
-      for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
-          self.safety.set_controls_allowed(controls_allowed)
-          self.safety.set_toyota_rt_torque_last(torque)
-          self.safety.set_toyota_torque_meas(torque, torque)
-          self.safety.set_toyota_desired_torque_last(torque - MAX_RATE_UP)
-
-          if controls_allowed:
-            send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
-          else:
-            send = torque == 0
-
-          self.assertEqual(send, self.safety.safety_tx_hook(self._torque_msg(torque)))
-
-  def test_non_realtime_limit_up(self):
-    self.safety.set_controls_allowed(True)
-
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
-
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
-
-  def test_non_realtime_limit_down(self):
-    self.safety.set_controls_allowed(True)
-
-    self.safety.set_toyota_rt_torque_last(1000)
-    self.safety.set_toyota_torque_meas(500, 500)
-    self.safety.set_toyota_desired_torque_last(1000)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN)))
-
-    self.safety.set_toyota_rt_torque_last(1000)
-    self.safety.set_toyota_torque_meas(500, 500)
-    self.safety.set_toyota_desired_torque_last(1000)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN + 1)))
-
-  def test_exceed_torque_sensor(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_TORQUE_ERROR + 10, 10):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_TORQUE_ERROR + 10))))
-
-  def test_realtime_limit_up(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self.safety.init_tests_toyota()
-      self._set_prev_torque(0)
-      for t in np.arange(0, 380, 10):
-        t *= sign
-        self.safety.set_toyota_torque_meas(t, t)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * 380)))
-
-      self._set_prev_torque(0)
-      for t in np.arange(0, 370, 10):
-        t *= sign
-        self.safety.set_toyota_torque_meas(t, t)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      # Increase timer to update rt_torque_last
-      self.safety.set_timer(RT_INTERVAL + 1)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * 370)))
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * 380)))
-
-  def test_torque_measurements(self):
-    self.safety.safety_rx_hook(self._torque_meas_msg(50))
-    self.safety.safety_rx_hook(self._torque_meas_msg(-50))
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-
-    self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
-    self.assertEqual(51, self.safety.get_toyota_torque_meas_max())
-
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
-    self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
-
-    self.safety.safety_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
-    self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())
-
-  def test_gas_interceptor_safety_check(self):
-
-    self.safety.set_controls_allowed(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200)))
-    self.assertFalse(self.safety.safety_tx_hook(self._send_interceptor_msg(0x1000, 0x200)))
-    self.safety.set_controls_allowed(1)
-    self.assertTrue(self.safety.safety_tx_hook(self._send_interceptor_msg(0x1000, 0x200)))
-
-  def test_rx_hook(self):
-    # checksum checks
-    for msg in ["trq", "pcm"]:
-      self.safety.set_controls_allowed(1)
-      if msg == "trq":
-        to_push = self._torque_meas_msg(0)
-      if msg == "pcm":
-        to_push = self._pcm_cruise_msg(1)
-      self.assertTrue(self.safety.safety_rx_hook(to_push))
-      to_push[0].RDHR = 0
-      self.assertFalse(self.safety.safety_rx_hook(to_push))
-      self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_fwd_hook(self):
-
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-
-    blocked_msgs = [0x2E4, 0x412, 0x191]
-    blocked_msgs += [0x343]
-    for b in buss:
-      for m in msgs:
-        if b == 0:
-          fwd_bus = 2
-        elif b == 1:
-          fwd_bus = -1
-        elif b == 2:
-          fwd_bus = -1 if m in blocked_msgs else 0
-
-        # assume len 8
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_toyota_ipas.py b/panda/tests/safety/test_toyota_ipas.py
deleted file mode 100644
index 3fcca95f1ca53c..00000000000000
--- a/panda/tests/safety/test_toyota_ipas.py
+++ /dev/null
@@ -1,243 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg
-from panda.tests.safety.test_toyota import toyota_checksum
-
-IPAS_OVERRIDE_THRESHOLD = 200
-
-ANGLE_DELTA_BP = [0., 5., 15.]
-ANGLE_DELTA_V = [5., .8, .15]     # windup limit
-ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
-
-def twos_comp(val, bits):
-  if val >= 0:
-    return val
-  else:
-    return (2**bits) + val
-
-def sign(a):
-  if a > 0:
-    return 1
-  else:
-    return -1
-
-
-class TestToyotaSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_TOYOTA_IPAS, 66)
-    cls.safety.init_tests_toyota()
-
-  def _torque_driver_msg(self, torque):
-    to_send = make_msg(0, 0x260)
-    t = twos_comp(torque, 16)
-    to_send[0].RDLR = t | ((t & 0xFF) << 16)
-    to_send[0].RDHR = to_send[0].RDHR | (toyota_checksum(to_send[0], 0x260, 8) << 24)
-    return to_send
-
-  def _torque_driver_msg_array(self, torque):
-    for i in range(6):
-      self.safety.safety_rx_hook(self._torque_driver_msg(torque))
-
-  def _angle_meas_msg(self, angle):
-    to_send = make_msg(0, 0x25)
-    t = twos_comp(angle, 12)
-    to_send[0].RDLR = ((t & 0xF00) >> 8) | ((t & 0xFF) << 8)
-    return to_send
-
-  def _angle_meas_msg_array(self, angle):
-    for i in range(6):
-      self.safety.safety_rx_hook(self._angle_meas_msg(angle))
-
-  def _ipas_state_msg(self, state):
-    to_send = make_msg(0, 0x262)
-    to_send[0].RDLR = state & 0xF
-    return to_send
-
-  def _ipas_control_msg(self, angle, state):
-    # note: we command 2/3 of the angle due to CAN conversion
-    to_send = make_msg(0, 0x266)
-    t = twos_comp(angle, 12)
-    to_send[0].RDLR = ((t & 0xF00) >> 8) | ((t & 0xFF) << 8)
-    to_send[0].RDLR |= ((state & 0xf) << 4)
-
-    return to_send
-
-  def _speed_msg(self, speed):
-    to_send = make_msg(0, 0xB4)
-    speed = int(speed * 100 * 3.6)
-
-    to_send[0].RDHR = ((speed & 0xFF) << 16) | (speed & 0xFF00)
-    return to_send
-
-  def test_ipas_override(self):
-
-    ## angle control is not active
-    self.safety.set_controls_allowed(1)
-
-    # 3 consecutive msgs where driver exceeds threshold but angle_control isn't active
-    self.safety.set_controls_allowed(1)
-    self._torque_driver_msg_array(IPAS_OVERRIDE_THRESHOLD + 1)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    self._torque_driver_msg_array(-IPAS_OVERRIDE_THRESHOLD - 1)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    # ipas state is override
-    self.safety.safety_rx_hook(self._ipas_state_msg(5))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    ## now angle control is active
-    self.safety.safety_tx_hook(self._ipas_control_msg(0, 0))
-    self.safety.safety_rx_hook(self._ipas_state_msg(0))
-
-    # 3 consecutive msgs where driver does exceed threshold
-    self.safety.set_controls_allowed(1)
-    self._torque_driver_msg_array(IPAS_OVERRIDE_THRESHOLD + 1)
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    self.safety.set_controls_allowed(1)
-    self._torque_driver_msg_array(-IPAS_OVERRIDE_THRESHOLD - 1)
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    # ipas state is override and torque isn't overriding any more
-    self.safety.set_controls_allowed(1)
-    self._torque_driver_msg_array(0)
-    self.safety.safety_rx_hook(self._ipas_state_msg(5))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    # 3 consecutive msgs where driver does not exceed threshold and
-    # ipas state is not override
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._ipas_state_msg(0))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    self._torque_driver_msg_array(IPAS_OVERRIDE_THRESHOLD)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    self._torque_driver_msg_array(-IPAS_OVERRIDE_THRESHOLD)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    # reset no angle control at the end of the test
-    self.safety.reset_angle_control()
-
-  def test_angle_cmd_when_disabled(self):
-
-    self.safety.set_controls_allowed(0)
-
-    # test angle cmd too far from actual
-    angle_refs = [-10, 10]
-    deltas = list(range(-2, 3))
-    expected_results = [False, True, True, True, False]
-
-    for a in angle_refs:
-      self._angle_meas_msg_array(a)
-      for i, d in enumerate(deltas):
-        self.assertEqual(expected_results[i], self.safety.safety_tx_hook(self._ipas_control_msg(a + d, 1)))
-
-    # test ipas state cmd enabled
-    self._angle_meas_msg_array(0)
-    self.assertEqual(0, self.safety.safety_tx_hook(self._ipas_control_msg(0, 3)))
-
-    # reset no angle control at the end of the test
-    self.safety.reset_angle_control()
-
-  def test_angle_cmd_when_enabled(self):
-
-    # ipas angle cmd should pass through when controls are enabled
-
-    self.safety.set_controls_allowed(1)
-    self._angle_meas_msg_array(0)
-    self.safety.safety_rx_hook(self._speed_msg(0.1))
-
-    self.assertEqual(1, self.safety.safety_tx_hook(self._ipas_control_msg(0, 1)))
-    self.assertEqual(1, self.safety.safety_tx_hook(self._ipas_control_msg(4, 1)))
-    self.assertEqual(1, self.safety.safety_tx_hook(self._ipas_control_msg(0, 3)))
-    self.assertEqual(1, self.safety.safety_tx_hook(self._ipas_control_msg(-4, 3)))
-    self.assertEqual(1, self.safety.safety_tx_hook(self._ipas_control_msg(-8, 3)))
-
-    # reset no angle control at the end of the test
-    self.safety.reset_angle_control()
-
-  def test_angle_cmd_rate_when_disabled(self):
-
-    # as long as the command is close to the measured, no rate limit is enforced when
-    # controls are disabled
-    self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._angle_meas_msg(0))
-    self.assertEqual(1, self.safety.safety_tx_hook(self._ipas_control_msg(0, 1)))
-    self.safety.safety_rx_hook(self._angle_meas_msg(100))
-    self.assertEqual(1, self.safety.safety_tx_hook(self._ipas_control_msg(100, 1)))
-    self.safety.safety_rx_hook(self._angle_meas_msg(-100))
-    self.assertEqual(1, self.safety.safety_tx_hook(self._ipas_control_msg(-100, 1)))
-
-    # reset no angle control at the end of the test
-    self.safety.reset_angle_control()
-
-  def test_angle_cmd_rate_when_enabled(self):
-
-    # when controls are allowed, angle cmd rate limit is enforced
-    # test 1: no limitations if we stay within limits
-    speeds = [0., 1., 5., 10., 15., 100.]
-    angles = [-300, -100, -10, 0, 10, 100, 300]
-    for a in angles:
-      for s in speeds:
-
-        # first test against false positives
-        self._angle_meas_msg_array(a)
-        self.safety.safety_tx_hook(self._ipas_control_msg(a, 1))
-        self.safety.set_controls_allowed(1)
-        self.safety.safety_rx_hook(self._speed_msg(s))
-        max_delta_up = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_V) * 2 / 3. + 1.)
-        max_delta_down = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_VU) * 2 / 3. + 1.)
-        self.assertEqual(True, self.safety.safety_tx_hook(self._ipas_control_msg(a + sign(a) * max_delta_up, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(True, self.safety.safety_tx_hook(self._ipas_control_msg(a, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(True, self.safety.safety_tx_hook(self._ipas_control_msg(a - sign(a) * max_delta_down, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
-
-        # now inject too high rates
-        self.assertEqual(False, self.safety.safety_tx_hook(self._ipas_control_msg(a + sign(a) *
-                                                                                  (max_delta_up + 1), 1)))
-        self.assertFalse(self.safety.get_controls_allowed())
-        self.safety.set_controls_allowed(1)
-        self.assertEqual(True, self.safety.safety_tx_hook(self._ipas_control_msg(a + sign(a) * max_delta_up, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(True, self.safety.safety_tx_hook(self._ipas_control_msg(a, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(False, self.safety.safety_tx_hook(self._ipas_control_msg(a - sign(a) *
-                                                                                  (max_delta_down + 1), 1)))
-        self.assertFalse(self.safety.get_controls_allowed())
-
-    # reset no angle control at the end of the test
-    self.safety.reset_angle_control()
-
-  def test_angle_measured_rate(self):
-
-    speeds = [0., 1., 5., 10., 15., 100.]
-    angles = [-300, -100, -10, 0, 10, 100, 300]
-    angles = [10]
-    for a in angles:
-      for s in speeds:
-        self._angle_meas_msg_array(a)
-        self.safety.safety_tx_hook(self._ipas_control_msg(a, 1))
-        self.safety.set_controls_allowed(1)
-        self.safety.safety_rx_hook(self._speed_msg(s))
-        #max_delta_up = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_V) * 2 / 3. + 1.)
-        #max_delta_down = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_VU) * 2 / 3. + 1.)
-        self.safety.safety_rx_hook(self._angle_meas_msg(a))
-        self.assertTrue(self.safety.get_controls_allowed())
-        self.safety.safety_rx_hook(self._angle_meas_msg(a + 150))
-        self.assertFalse(self.safety.get_controls_allowed())
-
-    # reset no angle control at the end of the test
-    self.safety.reset_angle_control()
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety/test_volkswagen.py b/panda/tests/safety/test_volkswagen.py
deleted file mode 100644
index db58cdc5811a45..00000000000000
--- a/panda/tests/safety/test_volkswagen.py
+++ /dev/null
@@ -1,226 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import numpy as np
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
-
-MAX_RATE_UP = 4
-MAX_RATE_DOWN = 10
-MAX_STEER = 250
-
-MAX_RT_DELTA = 75
-RT_INTERVAL = 250000
-
-DRIVER_TORQUE_ALLOWANCE = 80
-DRIVER_TORQUE_FACTOR = 3
-
-TX_MSGS = [[0x126, 0], [0x12B, 0], [0x12B, 2], [0x397, 0]]
-
-def sign(a):
-  if a > 0:
-    return 1
-  else:
-    return -1
-
-class TestVolkswagenSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN, 0)
-    cls.safety.init_tests_volkswagen()
-
-  def _set_prev_torque(self, t):
-    self.safety.set_volkswagen_desired_torque_last(t)
-    self.safety.set_volkswagen_rt_torque_last(t)
-
-  def _torque_driver_msg(self, torque):
-    to_send = make_msg(0, 0x9F)
-    t = abs(torque)
-    to_send[0].RDHR = ((t & 0x1FFF) << 8)
-    if torque < 0:
-      to_send[0].RDHR |= 0x1 << 23
-    return to_send
-
-  def _torque_msg(self, torque):
-    to_send = make_msg(0, 0x126)
-    t = abs(torque)
-    to_send[0].RDLR = (t & 0xFFF) << 16
-    if torque < 0:
-      to_send[0].RDLR |= 0x1 << 31
-    return to_send
-
-  def _gas_msg(self, gas):
-    to_send = make_msg(0, 0x121)
-    to_send[0].RDLR = (gas & 0xFF) << 12
-    return to_send
-
-  def _button_msg(self, bit):
-    to_send = make_msg(2, 0x12B)
-    to_send[0].RDLR = 1 << bit
-    return to_send
-
-  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
-
-  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x126)
-
-  def test_prev_gas(self):
-    for g in range(0, 256):
-      self.safety.safety_rx_hook(self._gas_msg(g))
-      self.assertEqual(g, self.safety.get_volkswagen_gas_prev())
-
-  def test_default_controls_not_allowed(self):
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_enable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x122)
-    to_push[0].RDHR = 0x30000000
-    self.safety.safety_rx_hook(to_push)
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x122)
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(to_push)
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_disengage_on_gas(self):
-    self.safety.safety_rx_hook(self._gas_msg(0))
-    self.safety.set_controls_allowed(True)
-    self.safety.safety_rx_hook(self._gas_msg(1))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_allow_engage_with_gas_pressed(self):
-    self.safety.safety_rx_hook(self._gas_msg(1))
-    self.safety.set_controls_allowed(True)
-    self.safety.safety_rx_hook(self._gas_msg(1))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._gas_msg(1))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-
-  def test_steer_safety_check(self):
-    for enabled in [0, 1]:
-      for t in range(-500, 500):
-        self.safety.set_controls_allowed(enabled)
-        self._set_prev_torque(t)
-        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
-          self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(t)))
-        else:
-          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
-
-  def test_spam_cancel_safety_check(self):
-    BIT_CANCEL = 13
-    BIT_RESUME = 19
-    BIT_SET = 16
-    self.safety.set_controls_allowed(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._button_msg(BIT_CANCEL)))
-    self.assertFalse(self.safety.safety_tx_hook(self._button_msg(BIT_RESUME)))
-    self.assertFalse(self.safety.safety_tx_hook(self._button_msg(BIT_SET)))
-    # do not block resume if we are engaged already
-    self.safety.set_controls_allowed(1)
-    self.assertTrue(self.safety.safety_tx_hook(self._button_msg(BIT_RESUME)))
-
-  def test_non_realtime_limit_up(self):
-    self.safety.set_volkswagen_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
-    self._set_prev_torque(0)
-    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP)))
-
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
-    self.safety.set_controls_allowed(True)
-    self._set_prev_torque(0)
-    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
-
-  def test_non_realtime_limit_down(self):
-    self.safety.set_volkswagen_torque_driver(0, 0)
-    self.safety.set_controls_allowed(True)
-
-  def test_against_torque_driver(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
-        t *= -sign
-        self.safety.set_volkswagen_torque_driver(t, t)
-        self._set_prev_torque(MAX_STEER * sign)
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER * sign)))
-
-      self.safety.set_volkswagen_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_STEER)))
-
-    # spot check some individual cases
-    for sign in [-1, 1]:
-      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
-      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
-      delta = 1 * sign
-      self._set_prev_torque(torque_desired)
-      self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
-      self._set_prev_torque(torque_desired + delta)
-      self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
-
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
-      self._set_prev_torque(MAX_STEER * sign)
-      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
-
-
-  def test_realtime_limits(self):
-    self.safety.set_controls_allowed(True)
-
-    for sign in [-1, 1]:
-      self.safety.init_tests_volkswagen()
-      self._set_prev_torque(0)
-      self.safety.set_volkswagen_torque_driver(0, 0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-      self._set_prev_torque(0)
-      for t in np.arange(0, MAX_RT_DELTA, 1):
-        t *= sign
-        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
-
-      # Increase timer to update rt_torque_last
-      self.safety.set_timer(RT_INTERVAL + 1)
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
-      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
-
-
-  def test_fwd_hook(self):
-    buss = list(range(0x0, 0x3))
-    msgs = list(range(0x1, 0x800))
-    blocked_msgs_0to2 = []
-    blocked_msgs_2to0 = [0x126, 0x397]
-    for b in buss:
-      for m in msgs:
-        if b == 0:
-          fwd_bus = -1 if m in blocked_msgs_0to2 else 2
-        elif b == 1:
-          fwd_bus = -1
-        elif b == 2:
-          fwd_bus = -1 if m in blocked_msgs_2to0 else 0
-
-        # assume len 8
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/panda/tests/safety_replay/Dockerfile b/panda/tests/safety_replay/Dockerfile
deleted file mode 100644
index f5175c74582005..00000000000000
--- a/panda/tests/safety_replay/Dockerfile
+++ /dev/null
@@ -1,34 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y make clang python python-pip git libarchive-dev libusb-1.0-0 locales curl zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-COPY requirements.txt /tmp/
-RUN pip install -r /tmp/requirements.txt
-COPY tests/safety_replay/requirements_extra.txt requirements_extra.txt
-RUN pip install -r requirements_extra.txt
-COPY tests/safety_replay/install_capnp.sh install_capnp.sh
-RUN ./install_capnp.sh
-
-RUN mkdir /openpilot
-WORKDIR /openpilot
-RUN git clone https://github.com/commaai/cereal.git || true
-WORKDIR /openpilot/cereal
-RUN git checkout f7043fde062cbfd49ec90af669901a9caba52de9
-COPY . /openpilot/panda
-
-WORKDIR /openpilot/panda/tests/safety_replay
-RUN git clone https://github.com/commaai/openpilot-tools.git tools || true
-WORKDIR tools
-RUN git checkout d69c6bc85f221766305ec53956e9a1d3bf283160
diff --git a/panda/tests/safety_replay/helpers.py b/panda/tests/safety_replay/helpers.py
deleted file mode 100644
index b5fe1a09a06873..00000000000000
--- a/panda/tests/safety_replay/helpers.py
+++ /dev/null
@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-import struct
-import panda.tests.safety.libpandasafety_py as libpandasafety_py
-from panda import Panda
-
-def to_signed(d, bits):
-  ret = d
-  if d >= (1 << (bits - 1)):
-    ret = d - (1 << bits)
-  return ret
-
-def is_steering_msg(mode, addr):
-  ret = False
-  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
-    ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
-  elif mode == Panda.SAFETY_TOYOTA:
-    ret = addr == 0x2E4
-  elif mode == Panda.SAFETY_GM:
-    ret = addr == 384
-  elif mode == Panda.SAFETY_HYUNDAI:
-    ret = addr == 832
-  elif mode == Panda.SAFETY_CHRYSLER:
-    ret = addr == 0x292
-  elif mode == Panda.SAFETY_SUBARU:
-    ret = addr == 0x122
-  return ret
-
-def get_steer_torque(mode, to_send):
-  ret = 0
-  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
-    ret = to_send.RDLR & 0xFFFF0000
-  elif mode == Panda.SAFETY_TOYOTA:
-    ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
-    ret = to_signed(ret, 16)
-  elif mode == Panda.SAFETY_GM:
-    ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8)
-    ret = to_signed(ret, 11)
-  elif mode == Panda.SAFETY_HYUNDAI:
-    ret = ((to_send.RDLR >> 16) & 0x7ff) - 1024
-  elif mode == Panda.SAFETY_CHRYSLER:
-    ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8) - 1024
-  elif mode == Panda.SAFETY_SUBARU:
-    ret = ((to_send.RDLR >> 16) & 0x1FFF)
-    ret = to_signed(ret, 13)
-  return ret
-
-def set_desired_torque_last(safety, mode, torque):
-  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
-    pass # honda safety mode doesn't enforce a rate on steering msgs
-  elif mode == Panda.SAFETY_TOYOTA:
-    safety.set_toyota_desired_torque_last(torque)
-  elif mode == Panda.SAFETY_GM:
-    safety.set_gm_desired_torque_last(torque)
-  elif mode == Panda.SAFETY_HYUNDAI:
-    safety.set_hyundai_desired_torque_last(torque)
-  elif mode == Panda.SAFETY_CHRYSLER:
-    safety.set_chrysler_desired_torque_last(torque)
-  elif mode == Panda.SAFETY_SUBARU:
-    safety.set_subaru_desired_torque_last(torque)
-
-def package_can_msg(msg):
-  rdlr, rdhr = struct.unpack('II', msg.dat.ljust(8, b'\x00'))
-
-  ret = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-  if msg.address >= 0x800:
-    ret[0].RIR = (msg.address << 3) | 5
-  else:
-    ret[0].RIR = (msg.address << 21) | 1
-  ret[0].RDTR = len(msg.dat) | ((msg.src & 0xF) << 4)
-  ret[0].RDHR = rdhr
-  ret[0].RDLR = rdlr
-
-  return ret
-
-def init_segment(safety, lr, mode):
-  sendcan = (msg for msg in lr if msg.which() == 'sendcan')
-  steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, can.address))
-
-  msg = next(steering_msgs, None)
-  if msg is None:
-    # no steering msgs
-    return
-
-  to_send = package_can_msg(msg)
-  torque = get_steer_torque(mode, to_send)
-  if torque != 0:
-    safety.set_controls_allowed(1)
-    set_desired_torque_last(safety, mode, torque)
-    assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment"
-
diff --git a/panda/tests/safety_replay/install_capnp.sh b/panda/tests/safety_replay/install_capnp.sh
deleted file mode 100755
index 51559d3991b0a9..00000000000000
--- a/panda/tests/safety_replay/install_capnp.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/bin/bash -e
-
-apt-get install -y autoconf curl libtool
-curl -O https://capnproto.org/capnproto-c++-0.6.1.tar.gz
-tar xvf capnproto-c++-0.6.1.tar.gz
-cd capnproto-c++-0.6.1
-./configure --prefix=/usr/local CPPFLAGS=-DPIC CFLAGS=-fPIC CXXFLAGS=-fPIC LDFLAGS=-fPIC --disable-shared --enable-static
-make -j4
-make install
-
diff --git a/panda/tests/safety_replay/replay_drive.py b/panda/tests/safety_replay/replay_drive.py
deleted file mode 100755
index 456723cb2b1f10..00000000000000
--- a/panda/tests/safety_replay/replay_drive.py
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety_replay.helpers import package_can_msg, init_segment
-from tools.lib.logreader import LogReader  # pylint: disable=import-error
-
-# replay a drive to check for safety violations
-def replay_drive(lr, safety_mode, param):
-  safety = libpandasafety_py.libpandasafety
-
-  err = safety.set_safety_hooks(safety_mode, param)
-  assert err == 0, "invalid safety mode: %d" % safety_mode
-
-  if "SEGMENT" in os.environ:
-    init_segment(safety, lr, mode)
-
-  rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_blocked = 0, 0, 0, 0, 0, 0
-  blocked_addrs = set()
-  invalid_addrs = set()
-  start_t = None
-
-  for msg in lr:
-    if start_t is None:
-      start_t = msg.logMonoTime
-    safety.set_timer(((msg.logMonoTime // 1000))  % 0xFFFFFFFF)
-
-    if msg.which() == 'sendcan':
-     for canmsg in msg.sendcan:
-        to_send = package_can_msg(canmsg)
-        sent = safety.safety_tx_hook(to_send)
-        if not sent:
-          tx_blocked += 1
-          tx_controls_blocked += safety.get_controls_allowed()
-          blocked_addrs.add(canmsg.address)
-
-          if "DEBUG" in os.environ:
-            print("blocked bus %d msg %d at %f" % (canmsg.src, canmsg.address, (msg.logMonoTime - start_t)/(1e9)))
-        tx_controls += safety.get_controls_allowed()
-        tx_tot += 1
-    elif msg.which() == 'can':
-      for canmsg in msg.can:
-        # ignore msgs we sent
-        if canmsg.src >= 128:
-          continue
-        to_push = package_can_msg(canmsg)
-        recv = safety.safety_rx_hook(to_push)
-        if not recv:
-          rx_invalid += 1
-          invalid_addrs.add(canmsg.address)
-        rx_tot += 1
-
-  print("\nRX")
-  print("total rx msgs:", rx_tot)
-  print("invalid rx msgs:", rx_invalid)
-  print("invalid addrs:", invalid_addrs)
-  print("\nTX")
-  print("total openpilot msgs:", tx_tot)
-  print("total msgs with controls allowed:", tx_controls)
-  print("blocked msgs:", tx_blocked)
-  print("blocked with controls allowed:", tx_controls_blocked)
-  print("blocked addrs:", blocked_addrs)
-
-  return tx_controls_blocked == 0 and rx_invalid == 0
-
-if __name__ == "__main__":
-  mode = int(sys.argv[2])
-  param = 0 if len(sys.argv) < 4 else int(sys.argv[3])
-  lr = LogReader(sys.argv[1])
-
-  print("replaying drive %s with safety mode %d and param %d" % (sys.argv[1], mode, param))
-
-  replay_drive(lr, mode, param)
-
diff --git a/panda/tests/safety_replay/requirements_extra.txt b/panda/tests/safety_replay/requirements_extra.txt
deleted file mode 100644
index b04b7674d76efa..00000000000000
--- a/panda/tests/safety_replay/requirements_extra.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-aenum
-subprocess32
-libarchive
-pycapnp
diff --git a/panda/tests/safety_replay/test_safety_replay.py b/panda/tests/safety_replay/test_safety_replay.py
deleted file mode 100755
index fd36b248e396e5..00000000000000
--- a/panda/tests/safety_replay/test_safety_replay.py
+++ /dev/null
@@ -1,41 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import requests
-
-from panda import Panda
-from replay_drive import replay_drive
-from tools.lib.logreader import LogReader  # pylint: disable=import-error
-
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
-
-# (route, safety mode, param)
-logs = [
-  ("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
-  ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
-  ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
-  ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 1), # HONDA.ACCORD
-  ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
-  ("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
-  ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
-  ("b0c9d2329ad1606b|2019-11-17--17-06-13.bz2", Panda.SAFETY_VOLKSWAGEN, 0), # VOLKSWAGEN.GOLF
-]
-
-if __name__ == "__main__":
-  for route, _, _ in logs:
-    if not os.path.isfile(route):
-      with open(route, "wb") as f:
-        f.write(requests.get(BASE_URL + route).content)
-
-  failed = []
-  for route, mode, param in logs:
-    lr = LogReader(route)
-
-    print("\nreplaying %s with safety mode %d and param %s" % (route, mode, param))
-    if not replay_drive(lr, mode, int(param)):
-      failed.append(route)
-
-    for f in failed:
-      print("\n**** failed on %s ****" % f)
-    assert len(failed) == 0, "\nfailed on %d logs" % len(failed)
-
diff --git a/panda/tests/spam_can.py b/panda/tests/spam_can.py
deleted file mode 100755
index 1daffdbd91009d..00000000000000
--- a/panda/tests/spam_can.py
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import random
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-if __name__ == "__main__":
-  p = Panda()
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  print("Spamming all buses...")
-  while True:
-    at = random.randint(1, 2000)
-    st = get_test_string()[0:8]
-    bus = random.randint(0, 2)
-    p.can_send(at, st, bus)
-    #print("Sent message on bus: ", bus)
diff --git a/panda/tests/standalone_test.py b/panda/tests/standalone_test.py
deleted file mode 100755
index 9e181d8fc95fca..00000000000000
--- a/panda/tests/standalone_test.py
+++ /dev/null
@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import struct
-import time
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-if __name__ == "__main__":
-  if os.getenv("WIFI") is not None:
-    p = Panda("WIFI")
-  else:
-    p = Panda()
-  print(p.get_serial())
-  print(p.health())
-
-  t1 = time.time()
-  for i in range(100):
-    p.get_serial()
-  t2 = time.time()
-  print("100 requests took %.2f ms" % ((t2-t1)*1000))
-
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  a = 0
-  while True:
-    # flood
-    msg = b"\xaa"*4 + struct.pack("I", a)
-    p.can_send(0xaa, msg, 0)
-    p.can_send(0xaa, msg, 1)
-    p.can_send(0xaa, msg, 4)
-    time.sleep(0.01)
-
-    dat = p.can_recv()
-    if len(dat) > 0:
-      print(dat)
-    a += 1
diff --git a/panda/tests/throughput_test.py b/panda/tests/throughput_test.py
deleted file mode 100755
index 9f6021240173e9..00000000000000
--- a/panda/tests/throughput_test.py
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import struct
-import time
-from tqdm import tqdm
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda, PandaWifiStreaming
-
-# test throughput between USB and wifi
-
-if __name__ == "__main__":
-  print(Panda.list())
-  p_out = Panda("108018800f51363038363036")
-  print(p_out.get_serial())
-  #p_in = Panda("02001b000f51363038363036")
-  p_in = Panda("WIFI")
-  print(p_in.get_serial())
-
-  p_in = PandaWifiStreaming()
-
-  #while True:
-  #  p_in.can_recv()
-  #sys.exit(0)
-
-  p_out.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  set_out, set_in = set(), set()
-
-  # drain
-  p_out.can_recv()
-  p_in.can_recv()
-
-  BATCH_SIZE = 16
-  for a in tqdm(list(range(0, 10000, BATCH_SIZE))):
-    for b in range(0, BATCH_SIZE):
-      msg = b"\xaa"*4 + struct.pack("I", a+b)
-      if a%1 == 0:
-        p_out.can_send(0xaa, msg, 0)
-
-    dat_out, dat_in = p_out.can_recv(), p_in.can_recv()
-    if len(dat_in) != 0:
-      print(len(dat_in))
-
-    num_out = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_out]
-    num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
-
-    set_in.update(num_in)
-    set_out.update(num_out)
-
-  # swag
-  print("waiting for packets")
-  time.sleep(2.0)
-  dat_in = p_in.can_recv()
-  print(len(dat_in))
-  num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
-  set_in.update(num_in)
-
-  if len(set_out - set_in):
-    print("MISSING %d" % len(set_out - set_in))
-    if len(set_out - set_in) < 256:
-      print(list(map(hex, sorted(list(set_out - set_in)))))
diff --git a/panda/tests/tucan_loopback.py b/panda/tests/tucan_loopback.py
deleted file mode 100755
index cb5d1cbfea12e8..00000000000000
--- a/panda/tests/tucan_loopback.py
+++ /dev/null
@@ -1,125 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import time
-import random
-import argparse
-
-from hexdump import hexdump
-from itertools import permutations
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-def run_test(sleep_duration):
-  pandas = Panda.list()
-  print(pandas)
-
-  if len(pandas) == 0:
-    print("NO PANDAS")
-    assert False
-
-  if len(pandas) == 1:
-    # if we only have one on USB, assume the other is on wifi
-    pandas.append("WIFI")
-  run_test_w_pandas(pandas, sleep_duration)
-
-def run_test_w_pandas(pandas, sleep_duration):
-  h = list([Panda(x) for x in pandas])
-  print("H", h)
-
-  for hh in h:
-    hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-  # test both directions
-  for ho in permutations(list(range(len(h))), r=2):
-    print("***************** TESTING", ho)
-
-    panda0, panda1 = h[ho[0]], h[ho[1]]
-
-    if(panda0._serial == "WIFI"):
-      print("  *** Can not send can data over wifi panda. Skipping! ***")
-      continue
-
-    # **** test health packet ****
-    print("health", ho[0], h[ho[0]].health())
-
-    # **** test K/L line loopback ****
-    for bus in [2,3]:
-      # flush the output
-      h[ho[1]].kline_drain(bus=bus)
-
-      # send the characters
-      st = get_test_string()
-      st = bytes([0xaa, len(st) + 3]) + st
-      h[ho[0]].kline_send(st, bus=bus, checksum=False)
-
-      # check for receive
-      ret = h[ho[1]].kline_drain(bus=bus)
-
-      print("ST Data:")
-      hexdump(st)
-      print("RET Data:")
-      hexdump(ret)
-      assert st == ret
-      print("K/L pass", bus, ho, "\n")
-      time.sleep(sleep_duration)
-
-    # **** test can line loopback ****
-    #    for bus, gmlan in [(0, None), (1, False), (2, False), (1, True), (2, True)]:
-    for bus, gmlan in [(0, None), (1, None)]:
-      print("\ntest can", bus)
-      # flush
-      cans_echo = panda0.can_recv()
-      cans_loop = panda1.can_recv()
-
-      if gmlan is not None:
-        panda0.set_gmlan(gmlan, bus)
-        panda1.set_gmlan(gmlan, bus)
-
-      # send the characters
-      # pick addresses high enough to not conflict with honda code
-      at = random.randint(1024, 2000)
-      st = get_test_string()[0:8]
-      panda0.can_send(at, st, bus)
-      time.sleep(0.1)
-
-      # check for receive
-      cans_echo = panda0.can_recv()
-      cans_loop = panda1.can_recv()
-
-      print("Bus", bus, "echo", cans_echo, "loop", cans_loop)
-
-      assert len(cans_echo) == 1
-      assert len(cans_loop) == 1
-
-      assert cans_echo[0][0] == at
-      assert cans_loop[0][0] == at
-
-      assert cans_echo[0][2] == st
-      assert cans_loop[0][2] == st
-
-      assert cans_echo[0][3] == 0x80 | bus
-      if cans_loop[0][3] != bus:
-        print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3]))
-      assert cans_loop[0][3] == bus
-
-      print("CAN pass", bus, ho)
-      time.sleep(sleep_duration)
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-n", type=int, help="Number of test iterations to run")
-  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
-  args = parser.parse_args()
-
-  if args.n is None:
-    while True:
-      run_test(sleep_duration=args.sleep)
-  else:
-    for i in range(args.n):
-      run_test(sleep_duration=args.sleep)
diff --git a/phonelibs/SConscript b/phonelibs/SConscript
deleted file mode 100644
index c50d9a5078bffe..00000000000000
--- a/phonelibs/SConscript
+++ /dev/null
@@ -1,14 +0,0 @@
-Import('env')
-
-def static_library(lib_dir, header_dir):
-  env.Append(LIBPATH=[Dir(lib_dir)])
-  env.Append(CPPPATH=[Dir(header_dir)])
-
-env.Library('json', ['json/src/json.c'])
-env.Append(CPPPATH=[Dir('json/src')])
-
-env.Library('json11', ['json11/json11.cpp'])
-env.Append(CPPPATH=[Dir('json11')])
-
-static_library('zmq/aarch64-linux/lib', 'zmq/aarch64-linux/include')
-static_library('capnp-cpp/aarch64-linux/lib', 'capnp-cpp/aarch64-linux/include')
diff --git a/phonelibs/android_frameworks_native/get.txt b/phonelibs/android_frameworks_native/get.txt
deleted file mode 100644
index 31f42ebe0e3f36..00000000000000
--- a/phonelibs/android_frameworks_native/get.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-git clone https://github.com/CyanogenMod/android_frameworks_native.git && cd android_frameworks_native
-git reset --hard b22bca465e55618a949d9cbdea665a1a3a831241
-cp -r include ~/one/phonelibs/android_frameworks_native/
diff --git a/phonelibs/android_frameworks_native/include/batteryservice/BatteryService.h b/phonelibs/android_frameworks_native/include/batteryservice/BatteryService.h
deleted file mode 100644
index 3e6bfb8204f611..00000000000000
--- a/phonelibs/android_frameworks_native/include/batteryservice/BatteryService.h
+++ /dev/null
@@ -1,93 +0,0 @@
-/*
- * Copyright (C) 2013 The Android Open Source Project
- * Copyright (C) 2015 The CyanogenMod Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_BATTERYSERVICE_H
-#define ANDROID_BATTERYSERVICE_H
-
-#include <binder/Parcel.h>
-#include <sys/types.h>
-#include <utils/Errors.h>
-#include <utils/String8.h>
-
-namespace android {
-
-// must be kept in sync with definitions in BatteryManager.java
-enum {
-    BATTERY_STATUS_UNKNOWN = 1, // equals BatteryManager.BATTERY_STATUS_UNKNOWN constant
-    BATTERY_STATUS_CHARGING = 2, // equals BatteryManager.BATTERY_STATUS_CHARGING constant
-    BATTERY_STATUS_DISCHARGING = 3, // equals BatteryManager.BATTERY_STATUS_DISCHARGING constant
-    BATTERY_STATUS_NOT_CHARGING = 4, // equals BatteryManager.BATTERY_STATUS_NOT_CHARGING constant
-    BATTERY_STATUS_FULL = 5, // equals BatteryManager.BATTERY_STATUS_FULL constant
-};
-
-// must be kept in sync with definitions in BatteryManager.java
-enum {
-    BATTERY_HEALTH_UNKNOWN = 1, // equals BatteryManager.BATTERY_HEALTH_UNKNOWN constant
-    BATTERY_HEALTH_GOOD = 2, // equals BatteryManager.BATTERY_HEALTH_GOOD constant
-    BATTERY_HEALTH_OVERHEAT = 3, // equals BatteryManager.BATTERY_HEALTH_OVERHEAT constant
-    BATTERY_HEALTH_DEAD = 4, // equals BatteryManager.BATTERY_HEALTH_DEAD constant
-    BATTERY_HEALTH_OVER_VOLTAGE = 5, // equals BatteryManager.BATTERY_HEALTH_OVER_VOLTAGE constant
-    BATTERY_HEALTH_UNSPECIFIED_FAILURE = 6, // equals BatteryManager.BATTERY_HEALTH_UNSPECIFIED_FAILURE constant
-    BATTERY_HEALTH_COLD = 7, // equals BatteryManager.BATTERY_HEALTH_COLD constant
-};
-
-// must be kept in sync with definitions in BatteryProperty.java
-enum {
-    BATTERY_PROP_CHARGE_COUNTER = 1, // equals BatteryProperty.CHARGE_COUNTER constant
-    BATTERY_PROP_CURRENT_NOW = 2, // equals BatteryProperty.CURRENT_NOW constant
-    BATTERY_PROP_CURRENT_AVG = 3, // equals BatteryProperty.CURRENT_AVG constant
-    BATTERY_PROP_CAPACITY = 4, // equals BatteryProperty.CAPACITY constant
-    BATTERY_PROP_ENERGY_COUNTER = 5, // equals BatteryProperty.ENERGY_COUNTER constant
-};
-
-struct BatteryProperties {
-    bool chargerAcOnline;
-    bool chargerUsbOnline;
-    bool chargerWirelessOnline;
-    int maxChargingCurrent;
-    int batteryStatus;
-    int batteryHealth;
-    bool batteryPresent;
-    int batteryLevel;
-    int batteryVoltage;
-    int batteryTemperature;
-    String8 batteryTechnology;
-
-    bool dockBatterySupported;
-    bool chargerDockAcOnline;
-    int dockBatteryStatus;
-    int dockBatteryHealth;
-    bool dockBatteryPresent;
-    int dockBatteryLevel;
-    int dockBatteryVoltage;
-    int dockBatteryTemperature;
-    String8 dockBatteryTechnology;
-
-    status_t writeToParcel(Parcel* parcel) const;
-    status_t readFromParcel(Parcel* parcel);
-};
-
-struct BatteryProperty {
-    int64_t valueInt64;
-
-    status_t writeToParcel(Parcel* parcel) const;
-    status_t readFromParcel(Parcel* parcel);
-};
-
-}; // namespace android
-
-#endif // ANDROID_BATTERYSERVICE_H
diff --git a/phonelibs/android_frameworks_native/include/batteryservice/IBatteryPropertiesListener.h b/phonelibs/android_frameworks_native/include/batteryservice/IBatteryPropertiesListener.h
deleted file mode 100644
index b02d8e907335eb..00000000000000
--- a/phonelibs/android_frameworks_native/include/batteryservice/IBatteryPropertiesListener.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * Copyright (C) 2013 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_IBATTERYPROPERTIESLISTENER_H
-#define ANDROID_IBATTERYPROPERTIESLISTENER_H
-
-#include <binder/IBinder.h>
-#include <binder/IInterface.h>
-
-#include <batteryservice/BatteryService.h>
-
-namespace android {
-
-// must be kept in sync with interface defined in IBatteryPropertiesListener.aidl
-enum {
-        TRANSACT_BATTERYPROPERTIESCHANGED = IBinder::FIRST_CALL_TRANSACTION,
-};
-
-// ----------------------------------------------------------------------------
-
-class IBatteryPropertiesListener : public IInterface {
-public:
-    DECLARE_META_INTERFACE(BatteryPropertiesListener);
-
-    virtual void batteryPropertiesChanged(struct BatteryProperties props) = 0;
-};
-
-// ----------------------------------------------------------------------------
-
-}; // namespace android
-
-#endif // ANDROID_IBATTERYPROPERTIESLISTENER_H
diff --git a/phonelibs/android_frameworks_native/include/batteryservice/IBatteryPropertiesRegistrar.h b/phonelibs/android_frameworks_native/include/batteryservice/IBatteryPropertiesRegistrar.h
deleted file mode 100644
index f6a7981d54b95a..00000000000000
--- a/phonelibs/android_frameworks_native/include/batteryservice/IBatteryPropertiesRegistrar.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- * Copyright (C) 2013 The Android Open Source Project
- * Copyright (C) 2015 The CyanogenMod Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_IBATTERYPROPERTIESREGISTRAR_H
-#define ANDROID_IBATTERYPROPERTIESREGISTRAR_H
-
-#include <binder/IInterface.h>
-#include <batteryservice/IBatteryPropertiesListener.h>
-
-namespace android {
-
-// must be kept in sync with interface defined in IBatteryPropertiesRegistrar.aidl
-enum {
-    REGISTER_LISTENER = IBinder::FIRST_CALL_TRANSACTION,
-    UNREGISTER_LISTENER,
-    GET_PROPERTY,
-    GET_DOCK_PROPERTY,
-};
-
-class IBatteryPropertiesRegistrar : public IInterface {
-public:
-    DECLARE_META_INTERFACE(BatteryPropertiesRegistrar);
-
-    virtual void registerListener(const sp<IBatteryPropertiesListener>& listener) = 0;
-    virtual void unregisterListener(const sp<IBatteryPropertiesListener>& listener) = 0;
-    virtual status_t getProperty(int id, struct BatteryProperty *val) = 0;
-    virtual status_t getDockProperty(int id, struct BatteryProperty *val) = 0;
-};
-
-class BnBatteryPropertiesRegistrar : public BnInterface<IBatteryPropertiesRegistrar> {
-public:
-    virtual status_t onTransact(uint32_t code, const Parcel& data,
-                                Parcel* reply, uint32_t flags = 0);
-};
-
-}; // namespace android
-
-#endif // ANDROID_IBATTERYPROPERTIESREGISTRAR_H
diff --git a/phonelibs/android_frameworks_native/include/diskusage/dirsize.h b/phonelibs/android_frameworks_native/include/diskusage/dirsize.h
deleted file mode 100644
index 34236c0e6f7006..00000000000000
--- a/phonelibs/android_frameworks_native/include/diskusage/dirsize.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- *
- * Copyright (C) 2010 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef __LIBDISKUSAGE_DIRSIZE_H
-#define __LIBDISKUSAGE_DIRSIZE_H
-
-#include <stdint.h>
-
-__BEGIN_DECLS
-
-int64_t stat_size(struct stat *s);
-int64_t calculate_dir_size(int dfd);
-
-__END_DECLS
-
-#endif /* __LIBDISKUSAGE_DIRSIZE_H */
diff --git a/phonelibs/android_frameworks_native/include/input/IInputFlinger.h b/phonelibs/android_frameworks_native/include/input/IInputFlinger.h
deleted file mode 100644
index 629310ff2f236f..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/IInputFlinger.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- * Copyright (C) 2013 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_IINPUT_FLINGER_H
-#define _LIBINPUT_IINPUT_FLINGER_H
-
-#include <stdint.h>
-#include <sys/types.h>
-
-#include <binder/IInterface.h>
-
-namespace android {
-
-/*
- * This class defines the Binder IPC interface for accessing various
- * InputFlinger features.
- */
-class IInputFlinger : public IInterface {
-public:
-    DECLARE_META_INTERFACE(InputFlinger);
-};
-
-
-/**
- * Binder implementation.
- */
-class BnInputFlinger : public BnInterface<IInputFlinger> {
-public:
-    enum {
-        DO_SOMETHING_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION,
-    };
-
-    virtual status_t onTransact(uint32_t code, const Parcel& data,
-            Parcel* reply, uint32_t flags = 0);
-};
-
-} // namespace android
-
-#endif // _LIBINPUT_IINPUT_FLINGER_H
diff --git a/phonelibs/android_frameworks_native/include/input/Input.h b/phonelibs/android_frameworks_native/include/input/Input.h
deleted file mode 100644
index 82fc6599a7f051..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/Input.h
+++ /dev/null
@@ -1,681 +0,0 @@
-/*
- * Copyright (C) 2010 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_INPUT_H
-#define _LIBINPUT_INPUT_H
-
-/**
- * Native input event structures.
- */
-
-#include <android/input.h>
-#include <utils/BitSet.h>
-#include <utils/KeyedVector.h>
-#include <utils/RefBase.h>
-#include <utils/String8.h>
-#include <utils/Timers.h>
-#include <utils/Vector.h>
-#include <stdint.h>
-
-/*
- * Additional private constants not defined in ndk/ui/input.h.
- */
-enum {
-    /* Signifies that the key is being predispatched */
-    AKEY_EVENT_FLAG_PREDISPATCH = 0x20000000,
-
-    /* Private control to determine when an app is tracking a key sequence. */
-    AKEY_EVENT_FLAG_START_TRACKING = 0x40000000,
-
-    /* Key event is inconsistent with previously sent key events. */
-    AKEY_EVENT_FLAG_TAINTED = 0x80000000,
-};
-
-enum {
-
-    /**
-     * This flag indicates that the window that received this motion event is partly
-     * or wholly obscured by another visible window above it.  This flag is set to true
-     * even if the event did not directly pass through the obscured area.
-     * A security sensitive application can check this flag to identify situations in which
-     * a malicious application may have covered up part of its content for the purpose
-     * of misleading the user or hijacking touches.  An appropriate response might be
-     * to drop the suspect touches or to take additional precautions to confirm the user's
-     * actual intent.
-     */
-    AMOTION_EVENT_FLAG_WINDOW_IS_PARTIALLY_OBSCURED = 0x2,
-
-    /* Motion event is inconsistent with previously sent motion events. */
-    AMOTION_EVENT_FLAG_TAINTED = 0x80000000,
-};
-
-enum {
-    /* Used when a motion event is not associated with any display.
-     * Typically used for non-pointer events. */
-    ADISPLAY_ID_NONE = -1,
-
-    /* The default display id. */
-    ADISPLAY_ID_DEFAULT = 0,
-};
-
-enum {
-    /*
-     * Indicates that an input device has switches.
-     * This input source flag is hidden from the API because switches are only used by the system
-     * and applications have no way to interact with them.
-     */
-    AINPUT_SOURCE_SWITCH = 0x80000000,
-};
-
-enum {
-    /**
-     * Constants for LEDs. Hidden from the API since we don't actually expose a way to interact
-     * with LEDs to developers
-     *
-     * NOTE: If you add LEDs here, you must also add them to InputEventLabels.h
-     */
-
-    ALED_NUM_LOCK = 0x00,
-    ALED_CAPS_LOCK = 0x01,
-    ALED_SCROLL_LOCK = 0x02,
-    ALED_COMPOSE = 0x03,
-    ALED_KANA = 0x04,
-    ALED_SLEEP = 0x05,
-    ALED_SUSPEND = 0x06,
-    ALED_MUTE = 0x07,
-    ALED_MISC = 0x08,
-    ALED_MAIL = 0x09,
-    ALED_CHARGING = 0x0a,
-    ALED_CONTROLLER_1 = 0x10,
-    ALED_CONTROLLER_2 = 0x11,
-    ALED_CONTROLLER_3 = 0x12,
-    ALED_CONTROLLER_4 = 0x13,
-};
-
-/* Maximum number of controller LEDs we support */
-#define MAX_CONTROLLER_LEDS 4
-
-/*
- * SystemUiVisibility constants from View.
- */
-enum {
-    ASYSTEM_UI_VISIBILITY_STATUS_BAR_VISIBLE = 0,
-    ASYSTEM_UI_VISIBILITY_STATUS_BAR_HIDDEN = 0x00000001,
-};
-
-/*
- * Maximum number of pointers supported per motion event.
- * Smallest number of pointers is 1.
- * (We want at least 10 but some touch controllers obstensibly configured for 10 pointers
- * will occasionally emit 11.  There is not much harm making this constant bigger.)
- */
-#define MAX_POINTERS 16
-
-/*
- * Maximum number of samples supported per motion event.
- */
-#define MAX_SAMPLES UINT16_MAX
-
-/*
- * Maximum pointer id value supported in a motion event.
- * Smallest pointer id is 0.
- * (This is limited by our use of BitSet32 to track pointer assignments.)
- */
-#define MAX_POINTER_ID 31
-
-/*
- * Declare a concrete type for the NDK's input event forward declaration.
- */
-struct AInputEvent {
-    virtual ~AInputEvent() { }
-};
-
-/*
- * Declare a concrete type for the NDK's input device forward declaration.
- */
-struct AInputDevice {
-    virtual ~AInputDevice() { }
-};
-
-
-namespace android {
-
-#ifdef HAVE_ANDROID_OS
-class Parcel;
-#endif
-
-/*
- * Flags that flow alongside events in the input dispatch system to help with certain
- * policy decisions such as waking from device sleep.
- *
- * These flags are also defined in frameworks/base/core/java/android/view/WindowManagerPolicy.java.
- */
-enum {
-    /* These flags originate in RawEvents and are generally set in the key map.
-     * NOTE: If you want a flag to be able to set in a keylayout file, then you must add it to
-     * InputEventLabels.h as well. */
-
-    // Indicates that the event should wake the device.
-    POLICY_FLAG_WAKE = 0x00000001,
-
-    // Indicates that the key is virtual, such as a capacitive button, and should
-    // generate haptic feedback.  Virtual keys may be suppressed for some time
-    // after a recent touch to prevent accidental activation of virtual keys adjacent
-    // to the touch screen during an edge swipe.
-    POLICY_FLAG_VIRTUAL = 0x00000002,
-
-    // Indicates that the key is the special function modifier.
-    POLICY_FLAG_FUNCTION = 0x00000004,
-
-    // Indicates that the key represents a special gesture that has been detected by
-    // the touch firmware or driver.  Causes touch events from the same device to be canceled.
-    POLICY_FLAG_GESTURE = 0x00000008,
-
-    POLICY_FLAG_RAW_MASK = 0x0000ffff,
-
-    /* These flags are set by the input dispatcher. */
-
-    // Indicates that the input event was injected.
-    POLICY_FLAG_INJECTED = 0x01000000,
-
-    // Indicates that the input event is from a trusted source such as a directly attached
-    // input device or an application with system-wide event injection permission.
-    POLICY_FLAG_TRUSTED = 0x02000000,
-
-    // Indicates that the input event has passed through an input filter.
-    POLICY_FLAG_FILTERED = 0x04000000,
-
-    // Disables automatic key repeating behavior.
-    POLICY_FLAG_DISABLE_KEY_REPEAT = 0x08000000,
-
-    /* These flags are set by the input reader policy as it intercepts each event. */
-
-    // Indicates that the device was in an interactive state when the
-    // event was intercepted.
-    POLICY_FLAG_INTERACTIVE = 0x20000000,
-
-    // Indicates that the event should be dispatched to applications.
-    // The input event should still be sent to the InputDispatcher so that it can see all
-    // input events received include those that it will not deliver.
-    POLICY_FLAG_PASS_TO_USER = 0x40000000,
-};
-
-/*
- * Pointer coordinate data.
- */
-struct PointerCoords {
-    enum { MAX_AXES = 30 }; // 30 so that sizeof(PointerCoords) == 128
-
-    // Bitfield of axes that are present in this structure.
-    uint64_t bits __attribute__((aligned(8)));
-
-    // Values of axes that are stored in this structure packed in order by axis id
-    // for each axis that is present in the structure according to 'bits'.
-    float values[MAX_AXES];
-
-    inline void clear() {
-        BitSet64::clear(bits);
-    }
-
-    bool isEmpty() const {
-        return BitSet64::isEmpty(bits);
-    }
-
-    float getAxisValue(int32_t axis) const;
-    status_t setAxisValue(int32_t axis, float value);
-
-    void scale(float scale);
-    void applyOffset(float xOffset, float yOffset);
-
-    inline float getX() const {
-        return getAxisValue(AMOTION_EVENT_AXIS_X);
-    }
-
-    inline float getY() const {
-        return getAxisValue(AMOTION_EVENT_AXIS_Y);
-    }
-
-#ifdef HAVE_ANDROID_OS
-    status_t readFromParcel(Parcel* parcel);
-    status_t writeToParcel(Parcel* parcel) const;
-#endif
-
-    bool operator==(const PointerCoords& other) const;
-    inline bool operator!=(const PointerCoords& other) const {
-        return !(*this == other);
-    }
-
-    void copyFrom(const PointerCoords& other);
-
-private:
-    void tooManyAxes(int axis);
-};
-
-/*
- * Pointer property data.
- */
-struct PointerProperties {
-    // The id of the pointer.
-    int32_t id;
-
-    // The pointer tool type.
-    int32_t toolType;
-
-    inline void clear() {
-        id = -1;
-        toolType = 0;
-    }
-
-    bool operator==(const PointerProperties& other) const;
-    inline bool operator!=(const PointerProperties& other) const {
-        return !(*this == other);
-    }
-
-    void copyFrom(const PointerProperties& other);
-};
-
-/*
- * Input events.
- */
-class InputEvent : public AInputEvent {
-public:
-    virtual ~InputEvent() { }
-
-    virtual int32_t getType() const = 0;
-
-    inline int32_t getDeviceId() const { return mDeviceId; }
-
-    inline int32_t getSource() const { return mSource; }
-
-    inline void setSource(int32_t source) { mSource = source; }
-
-protected:
-    void initialize(int32_t deviceId, int32_t source);
-    void initialize(const InputEvent& from);
-
-    int32_t mDeviceId;
-    int32_t mSource;
-};
-
-/*
- * Key events.
- */
-class KeyEvent : public InputEvent {
-public:
-    virtual ~KeyEvent() { }
-
-    virtual int32_t getType() const { return AINPUT_EVENT_TYPE_KEY; }
-
-    inline int32_t getAction() const { return mAction; }
-
-    inline int32_t getFlags() const { return mFlags; }
-
-    inline void setFlags(int32_t flags) { mFlags = flags; }
-
-    inline int32_t getKeyCode() const { return mKeyCode; }
-
-    inline int32_t getScanCode() const { return mScanCode; }
-
-    inline int32_t getMetaState() const { return mMetaState; }
-
-    inline int32_t getRepeatCount() const { return mRepeatCount; }
-
-    inline nsecs_t getDownTime() const { return mDownTime; }
-
-    inline nsecs_t getEventTime() const { return mEventTime; }
-
-    static const char* getLabel(int32_t keyCode);
-    static int32_t getKeyCodeFromLabel(const char* label);
-    
-    void initialize(
-            int32_t deviceId,
-            int32_t source,
-            int32_t action,
-            int32_t flags,
-            int32_t keyCode,
-            int32_t scanCode,
-            int32_t metaState,
-            int32_t repeatCount,
-            nsecs_t downTime,
-            nsecs_t eventTime);
-    void initialize(const KeyEvent& from);
-
-protected:
-    int32_t mAction;
-    int32_t mFlags;
-    int32_t mKeyCode;
-    int32_t mScanCode;
-    int32_t mMetaState;
-    int32_t mRepeatCount;
-    nsecs_t mDownTime;
-    nsecs_t mEventTime;
-};
-
-/*
- * Motion events.
- */
-class MotionEvent : public InputEvent {
-public:
-    virtual ~MotionEvent() { }
-
-    virtual int32_t getType() const { return AINPUT_EVENT_TYPE_MOTION; }
-
-    inline int32_t getAction() const { return mAction; }
-
-    inline int32_t getActionMasked() const { return mAction & AMOTION_EVENT_ACTION_MASK; }
-
-    inline int32_t getActionIndex() const {
-        return (mAction & AMOTION_EVENT_ACTION_POINTER_INDEX_MASK)
-                >> AMOTION_EVENT_ACTION_POINTER_INDEX_SHIFT;
-    }
-
-    inline void setAction(int32_t action) { mAction = action; }
-
-    inline int32_t getFlags() const { return mFlags; }
-
-    inline void setFlags(int32_t flags) { mFlags = flags; }
-
-    inline int32_t getEdgeFlags() const { return mEdgeFlags; }
-
-    inline void setEdgeFlags(int32_t edgeFlags) { mEdgeFlags = edgeFlags; }
-
-    inline int32_t getMetaState() const { return mMetaState; }
-
-    inline void setMetaState(int32_t metaState) { mMetaState = metaState; }
-
-    inline int32_t getButtonState() const { return mButtonState; }
-
-    inline int32_t setButtonState(int32_t buttonState) { mButtonState = buttonState; }
-
-    inline int32_t getActionButton() const { return mActionButton; }
-
-    inline void setActionButton(int32_t button) { mActionButton = button; }
-
-    inline float getXOffset() const { return mXOffset; }
-
-    inline float getYOffset() const { return mYOffset; }
-
-    inline float getXPrecision() const { return mXPrecision; }
-
-    inline float getYPrecision() const { return mYPrecision; }
-
-    inline nsecs_t getDownTime() const { return mDownTime; }
-
-    inline void setDownTime(nsecs_t downTime) { mDownTime = downTime; }
-
-    inline size_t getPointerCount() const { return mPointerProperties.size(); }
-
-    inline const PointerProperties* getPointerProperties(size_t pointerIndex) const {
-        return &mPointerProperties[pointerIndex];
-    }
-
-    inline int32_t getPointerId(size_t pointerIndex) const {
-        return mPointerProperties[pointerIndex].id;
-    }
-
-    inline int32_t getToolType(size_t pointerIndex) const {
-        return mPointerProperties[pointerIndex].toolType;
-    }
-
-    inline nsecs_t getEventTime() const { return mSampleEventTimes[getHistorySize()]; }
-
-    const PointerCoords* getRawPointerCoords(size_t pointerIndex) const;
-
-    float getRawAxisValue(int32_t axis, size_t pointerIndex) const;
-
-    inline float getRawX(size_t pointerIndex) const {
-        return getRawAxisValue(AMOTION_EVENT_AXIS_X, pointerIndex);
-    }
-
-    inline float getRawY(size_t pointerIndex) const {
-        return getRawAxisValue(AMOTION_EVENT_AXIS_Y, pointerIndex);
-    }
-
-    float getAxisValue(int32_t axis, size_t pointerIndex) const;
-
-    inline float getX(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_X, pointerIndex);
-    }
-
-    inline float getY(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_Y, pointerIndex);
-    }
-
-    inline float getPressure(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_PRESSURE, pointerIndex);
-    }
-
-    inline float getSize(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_SIZE, pointerIndex);
-    }
-
-    inline float getTouchMajor(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_TOUCH_MAJOR, pointerIndex);
-    }
-
-    inline float getTouchMinor(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_TOUCH_MINOR, pointerIndex);
-    }
-
-    inline float getToolMajor(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_TOOL_MAJOR, pointerIndex);
-    }
-
-    inline float getToolMinor(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_TOOL_MINOR, pointerIndex);
-    }
-
-    inline float getOrientation(size_t pointerIndex) const {
-        return getAxisValue(AMOTION_EVENT_AXIS_ORIENTATION, pointerIndex);
-    }
-
-    inline size_t getHistorySize() const { return mSampleEventTimes.size() - 1; }
-
-    inline nsecs_t getHistoricalEventTime(size_t historicalIndex) const {
-        return mSampleEventTimes[historicalIndex];
-    }
-
-    const PointerCoords* getHistoricalRawPointerCoords(
-            size_t pointerIndex, size_t historicalIndex) const;
-
-    float getHistoricalRawAxisValue(int32_t axis, size_t pointerIndex,
-            size_t historicalIndex) const;
-
-    inline float getHistoricalRawX(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalRawAxisValue(
-                AMOTION_EVENT_AXIS_X, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalRawY(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalRawAxisValue(
-                AMOTION_EVENT_AXIS_Y, pointerIndex, historicalIndex);
-    }
-
-    float getHistoricalAxisValue(int32_t axis, size_t pointerIndex, size_t historicalIndex) const;
-
-    inline float getHistoricalX(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_X, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalY(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_Y, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalPressure(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_PRESSURE, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalSize(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_SIZE, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalTouchMajor(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_TOUCH_MAJOR, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalTouchMinor(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_TOUCH_MINOR, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalToolMajor(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_TOOL_MAJOR, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalToolMinor(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_TOOL_MINOR, pointerIndex, historicalIndex);
-    }
-
-    inline float getHistoricalOrientation(size_t pointerIndex, size_t historicalIndex) const {
-        return getHistoricalAxisValue(
-                AMOTION_EVENT_AXIS_ORIENTATION, pointerIndex, historicalIndex);
-    }
-
-    ssize_t findPointerIndex(int32_t pointerId) const;
-
-    void initialize(
-            int32_t deviceId,
-            int32_t source,
-            int32_t action,
-            int32_t actionButton,
-            int32_t flags,
-            int32_t edgeFlags,
-            int32_t metaState,
-            int32_t buttonState,
-            float xOffset,
-            float yOffset,
-            float xPrecision,
-            float yPrecision,
-            nsecs_t downTime,
-            nsecs_t eventTime,
-            size_t pointerCount,
-            const PointerProperties* pointerProperties,
-            const PointerCoords* pointerCoords);
-
-    void copyFrom(const MotionEvent* other, bool keepHistory);
-
-    void addSample(
-            nsecs_t eventTime,
-            const PointerCoords* pointerCoords);
-
-    void offsetLocation(float xOffset, float yOffset);
-
-    void scale(float scaleFactor);
-
-    // Apply 3x3 perspective matrix transformation.
-    // Matrix is in row-major form and compatible with SkMatrix.
-    void transform(const float matrix[9]);
-
-#ifdef HAVE_ANDROID_OS
-    status_t readFromParcel(Parcel* parcel);
-    status_t writeToParcel(Parcel* parcel) const;
-#endif
-
-    static bool isTouchEvent(int32_t source, int32_t action);
-    inline bool isTouchEvent() const {
-        return isTouchEvent(mSource, mAction);
-    }
-
-    // Low-level accessors.
-    inline const PointerProperties* getPointerProperties() const {
-        return mPointerProperties.array();
-    }
-    inline const nsecs_t* getSampleEventTimes() const { return mSampleEventTimes.array(); }
-    inline const PointerCoords* getSamplePointerCoords() const {
-            return mSamplePointerCoords.array();
-    }
-
-    static const char* getLabel(int32_t axis);
-    static int32_t getAxisFromLabel(const char* label);
-
-protected:
-    int32_t mAction;
-    int32_t mActionButton;
-    int32_t mFlags;
-    int32_t mEdgeFlags;
-    int32_t mMetaState;
-    int32_t mButtonState;
-    float mXOffset;
-    float mYOffset;
-    float mXPrecision;
-    float mYPrecision;
-    nsecs_t mDownTime;
-    Vector<PointerProperties> mPointerProperties;
-    Vector<nsecs_t> mSampleEventTimes;
-    Vector<PointerCoords> mSamplePointerCoords;
-};
-
-/*
- * Input event factory.
- */
-class InputEventFactoryInterface {
-protected:
-    virtual ~InputEventFactoryInterface() { }
-
-public:
-    InputEventFactoryInterface() { }
-
-    virtual KeyEvent* createKeyEvent() = 0;
-    virtual MotionEvent* createMotionEvent() = 0;
-};
-
-/*
- * A simple input event factory implementation that uses a single preallocated instance
- * of each type of input event that are reused for each request.
- */
-class PreallocatedInputEventFactory : public InputEventFactoryInterface {
-public:
-    PreallocatedInputEventFactory() { }
-    virtual ~PreallocatedInputEventFactory() { }
-
-    virtual KeyEvent* createKeyEvent() { return & mKeyEvent; }
-    virtual MotionEvent* createMotionEvent() { return & mMotionEvent; }
-
-private:
-    KeyEvent mKeyEvent;
-    MotionEvent mMotionEvent;
-};
-
-/*
- * An input event factory implementation that maintains a pool of input events.
- */
-class PooledInputEventFactory : public InputEventFactoryInterface {
-public:
-    PooledInputEventFactory(size_t maxPoolSize = 20);
-    virtual ~PooledInputEventFactory();
-
-    virtual KeyEvent* createKeyEvent();
-    virtual MotionEvent* createMotionEvent();
-
-    void recycle(InputEvent* event);
-
-private:
-    const size_t mMaxPoolSize;
-
-    Vector<KeyEvent*> mKeyEventPool;
-    Vector<MotionEvent*> mMotionEventPool;
-};
-
-} // namespace android
-
-#endif // _LIBINPUT_INPUT_H
diff --git a/phonelibs/android_frameworks_native/include/input/InputDevice.h b/phonelibs/android_frameworks_native/include/input/InputDevice.h
deleted file mode 100644
index 1ea69d352d18d8..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/InputDevice.h
+++ /dev/null
@@ -1,170 +0,0 @@
-/*
- * Copyright (C) 2012 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_INPUT_DEVICE_H
-#define _LIBINPUT_INPUT_DEVICE_H
-
-#include <input/Input.h>
-#include <input/KeyCharacterMap.h>
-
-namespace android {
-
-/*
- * Identifies a device.
- */
-struct InputDeviceIdentifier {
-    inline InputDeviceIdentifier() :
-            bus(0), vendor(0), product(0), version(0) {
-    }
-
-    // Information provided by the kernel.
-    String8 name;
-    String8 location;
-    String8 uniqueId;
-    uint16_t bus;
-    uint16_t vendor;
-    uint16_t product;
-    uint16_t version;
-
-    // A composite input device descriptor string that uniquely identifies the device
-    // even across reboots or reconnections.  The value of this field is used by
-    // upper layers of the input system to associate settings with individual devices.
-    // It is hashed from whatever kernel provided information is available.
-    // Ideally, the way this value is computed should not change between Android releases
-    // because that would invalidate persistent settings that rely on it.
-    String8 descriptor;
-
-    // A value added to uniquely identify a device in the absence of a unique id. This
-    // is intended to be a minimum way to distinguish from other active devices and may
-    // reuse values that are not associated with an input anymore.
-    uint16_t nonce;
-};
-
-/*
- * Describes the characteristics and capabilities of an input device.
- */
-class InputDeviceInfo {
-public:
-    InputDeviceInfo();
-    InputDeviceInfo(const InputDeviceInfo& other);
-    ~InputDeviceInfo();
-
-    struct MotionRange {
-        int32_t axis;
-        uint32_t source;
-        float min;
-        float max;
-        float flat;
-        float fuzz;
-        float resolution;
-    };
-
-    void initialize(int32_t id, int32_t generation, int32_t controllerNumber,
-            const InputDeviceIdentifier& identifier, const String8& alias, bool isExternal,
-            bool hasMic);
-
-    inline int32_t getId() const { return mId; }
-    inline int32_t getControllerNumber() const { return mControllerNumber; }
-    inline int32_t getGeneration() const { return mGeneration; }
-    inline const InputDeviceIdentifier& getIdentifier() const { return mIdentifier; }
-    inline const String8& getAlias() const { return mAlias; }
-    inline const String8& getDisplayName() const {
-        return mAlias.isEmpty() ? mIdentifier.name : mAlias;
-    }
-    inline bool isExternal() const { return mIsExternal; }
-    inline bool hasMic() const { return mHasMic; }
-    inline uint32_t getSources() const { return mSources; }
-
-    const MotionRange* getMotionRange(int32_t axis, uint32_t source) const;
-
-    void addSource(uint32_t source);
-    void addMotionRange(int32_t axis, uint32_t source,
-            float min, float max, float flat, float fuzz, float resolution);
-    void addMotionRange(const MotionRange& range);
-
-    inline void setKeyboardType(int32_t keyboardType) { mKeyboardType = keyboardType; }
-    inline int32_t getKeyboardType() const { return mKeyboardType; }
-
-    inline void setKeyCharacterMap(const sp<KeyCharacterMap>& value) {
-        mKeyCharacterMap = value;
-    }
-
-    inline sp<KeyCharacterMap> getKeyCharacterMap() const {
-        return mKeyCharacterMap;
-    }
-
-    inline void setVibrator(bool hasVibrator) { mHasVibrator = hasVibrator; }
-    inline bool hasVibrator() const { return mHasVibrator; }
-
-    inline void setButtonUnderPad(bool hasButton) { mHasButtonUnderPad = hasButton; }
-    inline bool hasButtonUnderPad() const { return mHasButtonUnderPad; }
-
-    inline const Vector<MotionRange>& getMotionRanges() const {
-        return mMotionRanges;
-    }
-
-private:
-    int32_t mId;
-    int32_t mGeneration;
-    int32_t mControllerNumber;
-    InputDeviceIdentifier mIdentifier;
-    String8 mAlias;
-    bool mIsExternal;
-    bool mHasMic;
-    uint32_t mSources;
-    int32_t mKeyboardType;
-    sp<KeyCharacterMap> mKeyCharacterMap;
-    bool mHasVibrator;
-    bool mHasButtonUnderPad;
-
-    Vector<MotionRange> mMotionRanges;
-};
-
-/* Types of input device configuration files. */
-enum InputDeviceConfigurationFileType {
-    INPUT_DEVICE_CONFIGURATION_FILE_TYPE_CONFIGURATION = 0,     /* .idc file */
-    INPUT_DEVICE_CONFIGURATION_FILE_TYPE_KEY_LAYOUT = 1,        /* .kl file */
-    INPUT_DEVICE_CONFIGURATION_FILE_TYPE_KEY_CHARACTER_MAP = 2, /* .kcm file */
-};
-
-/*
- * Gets the path of an input device configuration file, if one is available.
- * Considers both system provided and user installed configuration files.
- *
- * The device identifier is used to construct several default configuration file
- * names to try based on the device name, vendor, product, and version.
- *
- * Returns an empty string if not found.
- */
-extern String8 getInputDeviceConfigurationFilePathByDeviceIdentifier(
-        const InputDeviceIdentifier& deviceIdentifier,
-        InputDeviceConfigurationFileType type);
-
-/*
- * Gets the path of an input device configuration file, if one is available.
- * Considers both system provided and user installed configuration files.
- *
- * The name is case-sensitive and is used to construct the filename to resolve.
- * All characters except 'a'-'z', 'A'-'Z', '0'-'9', '-', and '_' are replaced by underscores.
- *
- * Returns an empty string if not found.
- */
-extern String8 getInputDeviceConfigurationFilePathByName(
-        const String8& name, InputDeviceConfigurationFileType type);
-
-} // namespace android
-
-#endif // _LIBINPUT_INPUT_DEVICE_H
diff --git a/phonelibs/android_frameworks_native/include/input/InputEventLabels.h b/phonelibs/android_frameworks_native/include/input/InputEventLabels.h
deleted file mode 100644
index c03c0f2d584500..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/InputEventLabels.h
+++ /dev/null
@@ -1,447 +0,0 @@
-/*
- * Copyright (C) 2008 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_INPUT_EVENT_LABELS_H
-#define _LIBINPUT_INPUT_EVENT_LABELS_H
-
-#include <input/Input.h>
-#include <android/keycodes.h>
-
-#define DEFINE_KEYCODE(key) { #key, AKEYCODE_##key }
-#define DEFINE_AXIS(axis) { #axis, AMOTION_EVENT_AXIS_##axis }
-#define DEFINE_LED(led) { #led, ALED_##led }
-#define DEFINE_FLAG(flag) { #flag, POLICY_FLAG_##flag }
-
-namespace android {
-
-template<typename T, size_t N>
-size_t size(T (&)[N]) { return N; }
-
-struct InputEventLabel {
-    const char *literal;
-    int value;
-};
-
-
-static const InputEventLabel KEYCODES[] = {
-    // NOTE: If you add a new keycode here you must also add it to several other files.
-    //       Refer to frameworks/base/core/java/android/view/KeyEvent.java for the full list.
-    DEFINE_KEYCODE(UNKNOWN),
-    DEFINE_KEYCODE(SOFT_LEFT),
-    DEFINE_KEYCODE(SOFT_RIGHT),
-    DEFINE_KEYCODE(HOME),
-    DEFINE_KEYCODE(BACK),
-    DEFINE_KEYCODE(CALL),
-    DEFINE_KEYCODE(ENDCALL),
-    DEFINE_KEYCODE(0),
-    DEFINE_KEYCODE(1),
-    DEFINE_KEYCODE(2),
-    DEFINE_KEYCODE(3),
-    DEFINE_KEYCODE(4),
-    DEFINE_KEYCODE(5),
-    DEFINE_KEYCODE(6),
-    DEFINE_KEYCODE(7),
-    DEFINE_KEYCODE(8),
-    DEFINE_KEYCODE(9),
-    DEFINE_KEYCODE(STAR),
-    DEFINE_KEYCODE(POUND),
-    DEFINE_KEYCODE(DPAD_UP),
-    DEFINE_KEYCODE(DPAD_DOWN),
-    DEFINE_KEYCODE(DPAD_LEFT),
-    DEFINE_KEYCODE(DPAD_RIGHT),
-    DEFINE_KEYCODE(DPAD_CENTER),
-    DEFINE_KEYCODE(VOLUME_UP),
-    DEFINE_KEYCODE(VOLUME_DOWN),
-    DEFINE_KEYCODE(POWER),
-    DEFINE_KEYCODE(CAMERA),
-    DEFINE_KEYCODE(CLEAR),
-    DEFINE_KEYCODE(A),
-    DEFINE_KEYCODE(B),
-    DEFINE_KEYCODE(C),
-    DEFINE_KEYCODE(D),
-    DEFINE_KEYCODE(E),
-    DEFINE_KEYCODE(F),
-    DEFINE_KEYCODE(G),
-    DEFINE_KEYCODE(H),
-    DEFINE_KEYCODE(I),
-    DEFINE_KEYCODE(J),
-    DEFINE_KEYCODE(K),
-    DEFINE_KEYCODE(L),
-    DEFINE_KEYCODE(M),
-    DEFINE_KEYCODE(N),
-    DEFINE_KEYCODE(O),
-    DEFINE_KEYCODE(P),
-    DEFINE_KEYCODE(Q),
-    DEFINE_KEYCODE(R),
-    DEFINE_KEYCODE(S),
-    DEFINE_KEYCODE(T),
-    DEFINE_KEYCODE(U),
-    DEFINE_KEYCODE(V),
-    DEFINE_KEYCODE(W),
-    DEFINE_KEYCODE(X),
-    DEFINE_KEYCODE(Y),
-    DEFINE_KEYCODE(Z),
-    DEFINE_KEYCODE(COMMA),
-    DEFINE_KEYCODE(PERIOD),
-    DEFINE_KEYCODE(ALT_LEFT),
-    DEFINE_KEYCODE(ALT_RIGHT),
-    DEFINE_KEYCODE(SHIFT_LEFT),
-    DEFINE_KEYCODE(SHIFT_RIGHT),
-    DEFINE_KEYCODE(TAB),
-    DEFINE_KEYCODE(SPACE),
-    DEFINE_KEYCODE(SYM),
-    DEFINE_KEYCODE(EXPLORER),
-    DEFINE_KEYCODE(ENVELOPE),
-    DEFINE_KEYCODE(ENTER),
-    DEFINE_KEYCODE(DEL),
-    DEFINE_KEYCODE(GRAVE),
-    DEFINE_KEYCODE(MINUS),
-    DEFINE_KEYCODE(EQUALS),
-    DEFINE_KEYCODE(LEFT_BRACKET),
-    DEFINE_KEYCODE(RIGHT_BRACKET),
-    DEFINE_KEYCODE(BACKSLASH),
-    DEFINE_KEYCODE(SEMICOLON),
-    DEFINE_KEYCODE(APOSTROPHE),
-    DEFINE_KEYCODE(SLASH),
-    DEFINE_KEYCODE(AT),
-    DEFINE_KEYCODE(NUM),
-    DEFINE_KEYCODE(HEADSETHOOK),
-    DEFINE_KEYCODE(FOCUS),   // *Camera* focus
-    DEFINE_KEYCODE(PLUS),
-    DEFINE_KEYCODE(MENU),
-    DEFINE_KEYCODE(NOTIFICATION),
-    DEFINE_KEYCODE(SEARCH),
-    DEFINE_KEYCODE(MEDIA_PLAY_PAUSE),
-    DEFINE_KEYCODE(MEDIA_STOP),
-    DEFINE_KEYCODE(MEDIA_NEXT),
-    DEFINE_KEYCODE(MEDIA_PREVIOUS),
-    DEFINE_KEYCODE(MEDIA_REWIND),
-    DEFINE_KEYCODE(MEDIA_FAST_FORWARD),
-    DEFINE_KEYCODE(MUTE),
-    DEFINE_KEYCODE(PAGE_UP),
-    DEFINE_KEYCODE(PAGE_DOWN),
-    DEFINE_KEYCODE(PICTSYMBOLS),
-    DEFINE_KEYCODE(SWITCH_CHARSET),
-    DEFINE_KEYCODE(BUTTON_A),
-    DEFINE_KEYCODE(BUTTON_B),
-    DEFINE_KEYCODE(BUTTON_C),
-    DEFINE_KEYCODE(BUTTON_X),
-    DEFINE_KEYCODE(BUTTON_Y),
-    DEFINE_KEYCODE(BUTTON_Z),
-    DEFINE_KEYCODE(BUTTON_L1),
-    DEFINE_KEYCODE(BUTTON_R1),
-    DEFINE_KEYCODE(BUTTON_L2),
-    DEFINE_KEYCODE(BUTTON_R2),
-    DEFINE_KEYCODE(BUTTON_THUMBL),
-    DEFINE_KEYCODE(BUTTON_THUMBR),
-    DEFINE_KEYCODE(BUTTON_START),
-    DEFINE_KEYCODE(BUTTON_SELECT),
-    DEFINE_KEYCODE(BUTTON_MODE),
-    DEFINE_KEYCODE(ESCAPE),
-    DEFINE_KEYCODE(FORWARD_DEL),
-    DEFINE_KEYCODE(CTRL_LEFT),
-    DEFINE_KEYCODE(CTRL_RIGHT),
-    DEFINE_KEYCODE(CAPS_LOCK),
-    DEFINE_KEYCODE(SCROLL_LOCK),
-    DEFINE_KEYCODE(META_LEFT),
-    DEFINE_KEYCODE(META_RIGHT),
-    DEFINE_KEYCODE(FUNCTION),
-    DEFINE_KEYCODE(SYSRQ),
-    DEFINE_KEYCODE(BREAK),
-    DEFINE_KEYCODE(MOVE_HOME),
-    DEFINE_KEYCODE(MOVE_END),
-    DEFINE_KEYCODE(INSERT),
-    DEFINE_KEYCODE(FORWARD),
-    DEFINE_KEYCODE(MEDIA_PLAY),
-    DEFINE_KEYCODE(MEDIA_PAUSE),
-    DEFINE_KEYCODE(MEDIA_CLOSE),
-    DEFINE_KEYCODE(MEDIA_EJECT),
-    DEFINE_KEYCODE(MEDIA_RECORD),
-    DEFINE_KEYCODE(F1),
-    DEFINE_KEYCODE(F2),
-    DEFINE_KEYCODE(F3),
-    DEFINE_KEYCODE(F4),
-    DEFINE_KEYCODE(F5),
-    DEFINE_KEYCODE(F6),
-    DEFINE_KEYCODE(F7),
-    DEFINE_KEYCODE(F8),
-    DEFINE_KEYCODE(F9),
-    DEFINE_KEYCODE(F10),
-    DEFINE_KEYCODE(F11),
-    DEFINE_KEYCODE(F12),
-    DEFINE_KEYCODE(NUM_LOCK),
-    DEFINE_KEYCODE(NUMPAD_0),
-    DEFINE_KEYCODE(NUMPAD_1),
-    DEFINE_KEYCODE(NUMPAD_2),
-    DEFINE_KEYCODE(NUMPAD_3),
-    DEFINE_KEYCODE(NUMPAD_4),
-    DEFINE_KEYCODE(NUMPAD_5),
-    DEFINE_KEYCODE(NUMPAD_6),
-    DEFINE_KEYCODE(NUMPAD_7),
-    DEFINE_KEYCODE(NUMPAD_8),
-    DEFINE_KEYCODE(NUMPAD_9),
-    DEFINE_KEYCODE(NUMPAD_DIVIDE),
-    DEFINE_KEYCODE(NUMPAD_MULTIPLY),
-    DEFINE_KEYCODE(NUMPAD_SUBTRACT),
-    DEFINE_KEYCODE(NUMPAD_ADD),
-    DEFINE_KEYCODE(NUMPAD_DOT),
-    DEFINE_KEYCODE(NUMPAD_COMMA),
-    DEFINE_KEYCODE(NUMPAD_ENTER),
-    DEFINE_KEYCODE(NUMPAD_EQUALS),
-    DEFINE_KEYCODE(NUMPAD_LEFT_PAREN),
-    DEFINE_KEYCODE(NUMPAD_RIGHT_PAREN),
-    DEFINE_KEYCODE(VOLUME_MUTE),
-    DEFINE_KEYCODE(INFO),
-    DEFINE_KEYCODE(CHANNEL_UP),
-    DEFINE_KEYCODE(CHANNEL_DOWN),
-    DEFINE_KEYCODE(ZOOM_IN),
-    DEFINE_KEYCODE(ZOOM_OUT),
-    DEFINE_KEYCODE(TV),
-    DEFINE_KEYCODE(WINDOW),
-    DEFINE_KEYCODE(GUIDE),
-    DEFINE_KEYCODE(DVR),
-    DEFINE_KEYCODE(BOOKMARK),
-    DEFINE_KEYCODE(CAPTIONS),
-    DEFINE_KEYCODE(SETTINGS),
-    DEFINE_KEYCODE(TV_POWER),
-    DEFINE_KEYCODE(TV_INPUT),
-    DEFINE_KEYCODE(STB_POWER),
-    DEFINE_KEYCODE(STB_INPUT),
-    DEFINE_KEYCODE(AVR_POWER),
-    DEFINE_KEYCODE(AVR_INPUT),
-    DEFINE_KEYCODE(PROG_RED),
-    DEFINE_KEYCODE(PROG_GREEN),
-    DEFINE_KEYCODE(PROG_YELLOW),
-    DEFINE_KEYCODE(PROG_BLUE),
-    DEFINE_KEYCODE(APP_SWITCH),
-    DEFINE_KEYCODE(BUTTON_1),
-    DEFINE_KEYCODE(BUTTON_2),
-    DEFINE_KEYCODE(BUTTON_3),
-    DEFINE_KEYCODE(BUTTON_4),
-    DEFINE_KEYCODE(BUTTON_5),
-    DEFINE_KEYCODE(BUTTON_6),
-    DEFINE_KEYCODE(BUTTON_7),
-    DEFINE_KEYCODE(BUTTON_8),
-    DEFINE_KEYCODE(BUTTON_9),
-    DEFINE_KEYCODE(BUTTON_10),
-    DEFINE_KEYCODE(BUTTON_11),
-    DEFINE_KEYCODE(BUTTON_12),
-    DEFINE_KEYCODE(BUTTON_13),
-    DEFINE_KEYCODE(BUTTON_14),
-    DEFINE_KEYCODE(BUTTON_15),
-    DEFINE_KEYCODE(BUTTON_16),
-    DEFINE_KEYCODE(LANGUAGE_SWITCH),
-    DEFINE_KEYCODE(MANNER_MODE),
-    DEFINE_KEYCODE(3D_MODE),
-    DEFINE_KEYCODE(CONTACTS),
-    DEFINE_KEYCODE(CALENDAR),
-    DEFINE_KEYCODE(MUSIC),
-    DEFINE_KEYCODE(CALCULATOR),
-    DEFINE_KEYCODE(ZENKAKU_HANKAKU),
-    DEFINE_KEYCODE(EISU),
-    DEFINE_KEYCODE(MUHENKAN),
-    DEFINE_KEYCODE(HENKAN),
-    DEFINE_KEYCODE(KATAKANA_HIRAGANA),
-    DEFINE_KEYCODE(YEN),
-    DEFINE_KEYCODE(RO),
-    DEFINE_KEYCODE(KANA),
-    DEFINE_KEYCODE(ASSIST),
-    DEFINE_KEYCODE(BRIGHTNESS_DOWN),
-    DEFINE_KEYCODE(BRIGHTNESS_UP),
-    DEFINE_KEYCODE(MEDIA_AUDIO_TRACK),
-    DEFINE_KEYCODE(SLEEP),
-    DEFINE_KEYCODE(WAKEUP),
-    DEFINE_KEYCODE(PAIRING),
-    DEFINE_KEYCODE(MEDIA_TOP_MENU),
-    DEFINE_KEYCODE(11),
-    DEFINE_KEYCODE(12),
-    DEFINE_KEYCODE(LAST_CHANNEL),
-    DEFINE_KEYCODE(TV_DATA_SERVICE),
-    DEFINE_KEYCODE(VOICE_ASSIST),
-    DEFINE_KEYCODE(TV_RADIO_SERVICE),
-    DEFINE_KEYCODE(TV_TELETEXT),
-    DEFINE_KEYCODE(TV_NUMBER_ENTRY),
-    DEFINE_KEYCODE(TV_TERRESTRIAL_ANALOG),
-    DEFINE_KEYCODE(TV_TERRESTRIAL_DIGITAL),
-    DEFINE_KEYCODE(TV_SATELLITE),
-    DEFINE_KEYCODE(TV_SATELLITE_BS),
-    DEFINE_KEYCODE(TV_SATELLITE_CS),
-    DEFINE_KEYCODE(TV_SATELLITE_SERVICE),
-    DEFINE_KEYCODE(TV_NETWORK),
-    DEFINE_KEYCODE(TV_ANTENNA_CABLE),
-    DEFINE_KEYCODE(TV_INPUT_HDMI_1),
-    DEFINE_KEYCODE(TV_INPUT_HDMI_2),
-    DEFINE_KEYCODE(TV_INPUT_HDMI_3),
-    DEFINE_KEYCODE(TV_INPUT_HDMI_4),
-    DEFINE_KEYCODE(TV_INPUT_COMPOSITE_1),
-    DEFINE_KEYCODE(TV_INPUT_COMPOSITE_2),
-    DEFINE_KEYCODE(TV_INPUT_COMPONENT_1),
-    DEFINE_KEYCODE(TV_INPUT_COMPONENT_2),
-    DEFINE_KEYCODE(TV_INPUT_VGA_1),
-    DEFINE_KEYCODE(TV_AUDIO_DESCRIPTION),
-    DEFINE_KEYCODE(TV_AUDIO_DESCRIPTION_MIX_UP),
-    DEFINE_KEYCODE(TV_AUDIO_DESCRIPTION_MIX_DOWN),
-    DEFINE_KEYCODE(TV_ZOOM_MODE),
-    DEFINE_KEYCODE(TV_CONTENTS_MENU),
-    DEFINE_KEYCODE(TV_MEDIA_CONTEXT_MENU),
-    DEFINE_KEYCODE(TV_TIMER_PROGRAMMING),
-    DEFINE_KEYCODE(HELP),
-    DEFINE_KEYCODE(NAVIGATE_PREVIOUS),
-    DEFINE_KEYCODE(NAVIGATE_NEXT),
-    DEFINE_KEYCODE(NAVIGATE_IN),
-    DEFINE_KEYCODE(NAVIGATE_OUT),
-    DEFINE_KEYCODE(STEM_PRIMARY),
-    DEFINE_KEYCODE(STEM_1),
-    DEFINE_KEYCODE(STEM_2),
-    DEFINE_KEYCODE(STEM_3),
-    DEFINE_KEYCODE(MEDIA_SKIP_FORWARD),
-    DEFINE_KEYCODE(MEDIA_SKIP_BACKWARD),
-    DEFINE_KEYCODE(MEDIA_STEP_FORWARD),
-    DEFINE_KEYCODE(MEDIA_STEP_BACKWARD),
-    DEFINE_KEYCODE(SOFT_SLEEP),
-
-    { NULL, 0 }
-};
-
-static const InputEventLabel AXES[] = {
-    DEFINE_AXIS(X),
-    DEFINE_AXIS(Y),
-    DEFINE_AXIS(PRESSURE),
-    DEFINE_AXIS(SIZE),
-    DEFINE_AXIS(TOUCH_MAJOR),
-    DEFINE_AXIS(TOUCH_MINOR),
-    DEFINE_AXIS(TOOL_MAJOR),
-    DEFINE_AXIS(TOOL_MINOR),
-    DEFINE_AXIS(ORIENTATION),
-    DEFINE_AXIS(VSCROLL),
-    DEFINE_AXIS(HSCROLL),
-    DEFINE_AXIS(Z),
-    DEFINE_AXIS(RX),
-    DEFINE_AXIS(RY),
-    DEFINE_AXIS(RZ),
-    DEFINE_AXIS(HAT_X),
-    DEFINE_AXIS(HAT_Y),
-    DEFINE_AXIS(LTRIGGER),
-    DEFINE_AXIS(RTRIGGER),
-    DEFINE_AXIS(THROTTLE),
-    DEFINE_AXIS(RUDDER),
-    DEFINE_AXIS(WHEEL),
-    DEFINE_AXIS(GAS),
-    DEFINE_AXIS(BRAKE),
-    DEFINE_AXIS(DISTANCE),
-    DEFINE_AXIS(TILT),
-    DEFINE_AXIS(GENERIC_1),
-    DEFINE_AXIS(GENERIC_2),
-    DEFINE_AXIS(GENERIC_3),
-    DEFINE_AXIS(GENERIC_4),
-    DEFINE_AXIS(GENERIC_5),
-    DEFINE_AXIS(GENERIC_6),
-    DEFINE_AXIS(GENERIC_7),
-    DEFINE_AXIS(GENERIC_8),
-    DEFINE_AXIS(GENERIC_9),
-    DEFINE_AXIS(GENERIC_10),
-    DEFINE_AXIS(GENERIC_11),
-    DEFINE_AXIS(GENERIC_12),
-    DEFINE_AXIS(GENERIC_13),
-    DEFINE_AXIS(GENERIC_14),
-    DEFINE_AXIS(GENERIC_15),
-    DEFINE_AXIS(GENERIC_16),
-
-    // NOTE: If you add a new axis here you must also add it to several other files.
-    //       Refer to frameworks/base/core/java/android/view/MotionEvent.java for the full list.
-    { NULL, 0 }
-};
-
-static const InputEventLabel LEDS[] = {
-    DEFINE_LED(NUM_LOCK),
-    DEFINE_LED(CAPS_LOCK),
-    DEFINE_LED(SCROLL_LOCK),
-    DEFINE_LED(COMPOSE),
-    DEFINE_LED(KANA),
-    DEFINE_LED(SLEEP),
-    DEFINE_LED(SUSPEND),
-    DEFINE_LED(MUTE),
-    DEFINE_LED(MISC),
-    DEFINE_LED(MAIL),
-    DEFINE_LED(CHARGING),
-    DEFINE_LED(CONTROLLER_1),
-    DEFINE_LED(CONTROLLER_2),
-    DEFINE_LED(CONTROLLER_3),
-    DEFINE_LED(CONTROLLER_4),
-
-    // NOTE: If you add new LEDs here, you must also add them to Input.h
-    { NULL, 0 }
-};
-
-static const InputEventLabel FLAGS[] = {
-    DEFINE_FLAG(WAKE),
-    DEFINE_FLAG(VIRTUAL),
-    DEFINE_FLAG(FUNCTION),
-    DEFINE_FLAG(GESTURE),
-
-    { NULL, 0 }
-};
-
-static int lookupValueByLabel(const char* literal, const InputEventLabel *list) {
-    while (list->literal) {
-        if (strcmp(literal, list->literal) == 0) {
-            return list->value;
-        }
-        list++;
-    }
-    return list->value;
-}
-
-static const char* lookupLabelByValue(int value, const InputEventLabel* list) {
-    while (list->literal) {
-        if (list->value == value) {
-            return list->literal;
-        }
-        list++;
-    }
-    return NULL;
-}
-
-static int32_t getKeyCodeByLabel(const char* label) {
-    return int32_t(lookupValueByLabel(label, KEYCODES));
-}
-
-static const char* getLabelByKeyCode(int32_t keyCode) {
-    if (keyCode >= 0 && keyCode < size(KEYCODES)) {
-        return KEYCODES[keyCode].literal;
-    }
-    return NULL;
-}
-
-static uint32_t getKeyFlagByLabel(const char* label) {
-    return uint32_t(lookupValueByLabel(label, FLAGS));
-}
-
-static int32_t getAxisByLabel(const char* label) {
-    return int32_t(lookupValueByLabel(label, AXES));
-}
-
-static const char* getAxisLabel(int32_t axisId) {
-    return lookupLabelByValue(axisId, AXES);
-}
-
-static int32_t getLedByLabel(const char* label) {
-    return int32_t(lookupValueByLabel(label, LEDS));
-}
-
-
-} // namespace android
-#endif // _LIBINPUT_INPUT_EVENT_LABELS_H
diff --git a/phonelibs/android_frameworks_native/include/input/InputTransport.h b/phonelibs/android_frameworks_native/include/input/InputTransport.h
deleted file mode 100644
index f31bceabd75c3a..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/InputTransport.h
+++ /dev/null
@@ -1,453 +0,0 @@
-/*
- * Copyright (C) 2010 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_INPUT_TRANSPORT_H
-#define _LIBINPUT_INPUT_TRANSPORT_H
-
-/**
- * Native input transport.
- *
- * The InputChannel provides a mechanism for exchanging InputMessage structures across processes.
- *
- * The InputPublisher and InputConsumer each handle one end-point of an input channel.
- * The InputPublisher is used by the input dispatcher to send events to the application.
- * The InputConsumer is used by the application to receive events from the input dispatcher.
- */
-
-#include <input/Input.h>
-#include <utils/Errors.h>
-#include <utils/Timers.h>
-#include <utils/RefBase.h>
-#include <utils/String8.h>
-#include <utils/Vector.h>
-#include <utils/BitSet.h>
-
-namespace android {
-
-/*
- * Intermediate representation used to send input events and related signals.
- *
- * Note that this structure is used for IPCs so its layout must be identical
- * on 64 and 32 bit processes. This is tested in StructLayout_test.cpp.
- */
-struct InputMessage {
-    enum {
-        TYPE_KEY = 1,
-        TYPE_MOTION = 2,
-        TYPE_FINISHED = 3,
-    };
-
-    struct Header {
-        uint32_t type;
-        // We don't need this field in order to align the body below but we
-        // leave it here because InputMessage::size() and other functions
-        // compute the size of this structure as sizeof(Header) + sizeof(Body).
-        uint32_t padding;
-    } header;
-
-    // Body *must* be 8 byte aligned.
-    union Body {
-        struct Key {
-            uint32_t seq;
-            nsecs_t eventTime __attribute__((aligned(8)));
-            int32_t deviceId;
-            int32_t source;
-            int32_t action;
-            int32_t flags;
-            int32_t keyCode;
-            int32_t scanCode;
-            int32_t metaState;
-            int32_t repeatCount;
-            nsecs_t downTime __attribute__((aligned(8)));
-
-            inline size_t size() const {
-                return sizeof(Key);
-            }
-        } key;
-
-        struct Motion {
-            uint32_t seq;
-            nsecs_t eventTime __attribute__((aligned(8)));
-            int32_t deviceId;
-            int32_t source;
-            int32_t action;
-            int32_t actionButton;
-            int32_t flags;
-            int32_t metaState;
-            int32_t buttonState;
-            int32_t edgeFlags;
-            nsecs_t downTime __attribute__((aligned(8)));
-            float xOffset;
-            float yOffset;
-            float xPrecision;
-            float yPrecision;
-            uint32_t pointerCount;
-            // Note that PointerCoords requires 8 byte alignment.
-            struct Pointer {
-                PointerProperties properties;
-                PointerCoords coords;
-            } pointers[MAX_POINTERS];
-
-            int32_t getActionId() const {
-                uint32_t index = (action & AMOTION_EVENT_ACTION_POINTER_INDEX_MASK)
-                        >> AMOTION_EVENT_ACTION_POINTER_INDEX_SHIFT;
-                return pointers[index].properties.id;
-            }
-
-            inline size_t size() const {
-                return sizeof(Motion) - sizeof(Pointer) * MAX_POINTERS
-                        + sizeof(Pointer) * pointerCount;
-            }
-        } motion;
-
-        struct Finished {
-            uint32_t seq;
-            bool handled;
-
-            inline size_t size() const {
-                return sizeof(Finished);
-            }
-        } finished;
-    } __attribute__((aligned(8))) body;
-
-    bool isValid(size_t actualSize) const;
-    size_t size() const;
-};
-
-/*
- * An input channel consists of a local unix domain socket used to send and receive
- * input messages across processes.  Each channel has a descriptive name for debugging purposes.
- *
- * Each endpoint has its own InputChannel object that specifies its file descriptor.
- *
- * The input channel is closed when all references to it are released.
- */
-class InputChannel : public RefBase {
-protected:
-    virtual ~InputChannel();
-
-public:
-    InputChannel(const String8& name, int fd);
-
-    /* Creates a pair of input channels.
-     *
-     * Returns OK on success.
-     */
-    static status_t openInputChannelPair(const String8& name,
-            sp<InputChannel>& outServerChannel, sp<InputChannel>& outClientChannel);
-
-    inline String8 getName() const { return mName; }
-    inline int getFd() const { return mFd; }
-
-    /* Sends a message to the other endpoint.
-     *
-     * If the channel is full then the message is guaranteed not to have been sent at all.
-     * Try again after the consumer has sent a finished signal indicating that it has
-     * consumed some of the pending messages from the channel.
-     *
-     * Returns OK on success.
-     * Returns WOULD_BLOCK if the channel is full.
-     * Returns DEAD_OBJECT if the channel's peer has been closed.
-     * Other errors probably indicate that the channel is broken.
-     */
-    status_t sendMessage(const InputMessage* msg);
-
-    /* Receives a message sent by the other endpoint.
-     *
-     * If there is no message present, try again after poll() indicates that the fd
-     * is readable.
-     *
-     * Returns OK on success.
-     * Returns WOULD_BLOCK if there is no message present.
-     * Returns DEAD_OBJECT if the channel's peer has been closed.
-     * Other errors probably indicate that the channel is broken.
-     */
-    status_t receiveMessage(InputMessage* msg);
-
-    /* Returns a new object that has a duplicate of this channel's fd. */
-    sp<InputChannel> dup() const;
-
-private:
-    String8 mName;
-    int mFd;
-};
-
-/*
- * Publishes input events to an input channel.
- */
-class InputPublisher {
-public:
-    /* Creates a publisher associated with an input channel. */
-    explicit InputPublisher(const sp<InputChannel>& channel);
-
-    /* Destroys the publisher and releases its input channel. */
-    ~InputPublisher();
-
-    /* Gets the underlying input channel. */
-    inline sp<InputChannel> getChannel() { return mChannel; }
-
-    /* Publishes a key event to the input channel.
-     *
-     * Returns OK on success.
-     * Returns WOULD_BLOCK if the channel is full.
-     * Returns DEAD_OBJECT if the channel's peer has been closed.
-     * Returns BAD_VALUE if seq is 0.
-     * Other errors probably indicate that the channel is broken.
-     */
-    status_t publishKeyEvent(
-            uint32_t seq,
-            int32_t deviceId,
-            int32_t source,
-            int32_t action,
-            int32_t flags,
-            int32_t keyCode,
-            int32_t scanCode,
-            int32_t metaState,
-            int32_t repeatCount,
-            nsecs_t downTime,
-            nsecs_t eventTime);
-
-    /* Publishes a motion event to the input channel.
-     *
-     * Returns OK on success.
-     * Returns WOULD_BLOCK if the channel is full.
-     * Returns DEAD_OBJECT if the channel's peer has been closed.
-     * Returns BAD_VALUE if seq is 0 or if pointerCount is less than 1 or greater than MAX_POINTERS.
-     * Other errors probably indicate that the channel is broken.
-     */
-    status_t publishMotionEvent(
-            uint32_t seq,
-            int32_t deviceId,
-            int32_t source,
-            int32_t action,
-            int32_t actionButton,
-            int32_t flags,
-            int32_t edgeFlags,
-            int32_t metaState,
-            int32_t buttonState,
-            float xOffset,
-            float yOffset,
-            float xPrecision,
-            float yPrecision,
-            nsecs_t downTime,
-            nsecs_t eventTime,
-            uint32_t pointerCount,
-            const PointerProperties* pointerProperties,
-            const PointerCoords* pointerCoords);
-
-    /* Receives the finished signal from the consumer in reply to the original dispatch signal.
-     * If a signal was received, returns the message sequence number,
-     * and whether the consumer handled the message.
-     *
-     * The returned sequence number is never 0 unless the operation failed.
-     *
-     * Returns OK on success.
-     * Returns WOULD_BLOCK if there is no signal present.
-     * Returns DEAD_OBJECT if the channel's peer has been closed.
-     * Other errors probably indicate that the channel is broken.
-     */
-    status_t receiveFinishedSignal(uint32_t* outSeq, bool* outHandled);
-
-private:
-    sp<InputChannel> mChannel;
-};
-
-/*
- * Consumes input events from an input channel.
- */
-class InputConsumer {
-public:
-    /* Creates a consumer associated with an input channel. */
-    explicit InputConsumer(const sp<InputChannel>& channel);
-
-    /* Destroys the consumer and releases its input channel. */
-    ~InputConsumer();
-
-    /* Gets the underlying input channel. */
-    inline sp<InputChannel> getChannel() { return mChannel; }
-
-    /* Consumes an input event from the input channel and copies its contents into
-     * an InputEvent object created using the specified factory.
-     *
-     * Tries to combine a series of move events into larger batches whenever possible.
-     *
-     * If consumeBatches is false, then defers consuming pending batched events if it
-     * is possible for additional samples to be added to them later.  Call hasPendingBatch()
-     * to determine whether a pending batch is available to be consumed.
-     *
-     * If consumeBatches is true, then events are still batched but they are consumed
-     * immediately as soon as the input channel is exhausted.
-     *
-     * The frameTime parameter specifies the time when the current display frame started
-     * rendering in the CLOCK_MONOTONIC time base, or -1 if unknown.
-     *
-     * The returned sequence number is never 0 unless the operation failed.
-     *
-     * Returns OK on success.
-     * Returns WOULD_BLOCK if there is no event present.
-     * Returns DEAD_OBJECT if the channel's peer has been closed.
-     * Returns NO_MEMORY if the event could not be created.
-     * Other errors probably indicate that the channel is broken.
-     */
-    status_t consume(InputEventFactoryInterface* factory, bool consumeBatches,
-            nsecs_t frameTime, uint32_t* outSeq, InputEvent** outEvent);
-
-    /* Sends a finished signal to the publisher to inform it that the message
-     * with the specified sequence number has finished being process and whether
-     * the message was handled by the consumer.
-     *
-     * Returns OK on success.
-     * Returns BAD_VALUE if seq is 0.
-     * Other errors probably indicate that the channel is broken.
-     */
-    status_t sendFinishedSignal(uint32_t seq, bool handled);
-
-    /* Returns true if there is a deferred event waiting.
-     *
-     * Should be called after calling consume() to determine whether the consumer
-     * has a deferred event to be processed.  Deferred events are somewhat special in
-     * that they have already been removed from the input channel.  If the input channel
-     * becomes empty, the client may need to do extra work to ensure that it processes
-     * the deferred event despite the fact that the input channel's file descriptor
-     * is not readable.
-     *
-     * One option is simply to call consume() in a loop until it returns WOULD_BLOCK.
-     * This guarantees that all deferred events will be processed.
-     *
-     * Alternately, the caller can call hasDeferredEvent() to determine whether there is
-     * a deferred event waiting and then ensure that its event loop wakes up at least
-     * one more time to consume the deferred event.
-     */
-    bool hasDeferredEvent() const;
-
-    /* Returns true if there is a pending batch.
-     *
-     * Should be called after calling consume() with consumeBatches == false to determine
-     * whether consume() should be called again later on with consumeBatches == true.
-     */
-    bool hasPendingBatch() const;
-
-private:
-    // True if touch resampling is enabled.
-    const bool mResampleTouch;
-
-    // The input channel.
-    sp<InputChannel> mChannel;
-
-    // The current input message.
-    InputMessage mMsg;
-
-    // True if mMsg contains a valid input message that was deferred from the previous
-    // call to consume and that still needs to be handled.
-    bool mMsgDeferred;
-
-    // Batched motion events per device and source.
-    struct Batch {
-        Vector<InputMessage> samples;
-    };
-    Vector<Batch> mBatches;
-
-    // Touch state per device and source, only for sources of class pointer.
-    struct History {
-        nsecs_t eventTime;
-        BitSet32 idBits;
-        int32_t idToIndex[MAX_POINTER_ID + 1];
-        PointerCoords pointers[MAX_POINTERS];
-
-        void initializeFrom(const InputMessage* msg) {
-            eventTime = msg->body.motion.eventTime;
-            idBits.clear();
-            for (uint32_t i = 0; i < msg->body.motion.pointerCount; i++) {
-                uint32_t id = msg->body.motion.pointers[i].properties.id;
-                idBits.markBit(id);
-                idToIndex[id] = i;
-                pointers[i].copyFrom(msg->body.motion.pointers[i].coords);
-            }
-        }
-
-        const PointerCoords& getPointerById(uint32_t id) const {
-            return pointers[idToIndex[id]];
-        }
-    };
-    struct TouchState {
-        int32_t deviceId;
-        int32_t source;
-        size_t historyCurrent;
-        size_t historySize;
-        History history[2];
-        History lastResample;
-
-        void initialize(int32_t deviceId, int32_t source) {
-            this->deviceId = deviceId;
-            this->source = source;
-            historyCurrent = 0;
-            historySize = 0;
-            lastResample.eventTime = 0;
-            lastResample.idBits.clear();
-        }
-
-        void addHistory(const InputMessage* msg) {
-            historyCurrent ^= 1;
-            if (historySize < 2) {
-                historySize += 1;
-            }
-            history[historyCurrent].initializeFrom(msg);
-        }
-
-        const History* getHistory(size_t index) const {
-            return &history[(historyCurrent + index) & 1];
-        }
-    };
-    Vector<TouchState> mTouchStates;
-
-    // Chain of batched sequence numbers.  When multiple input messages are combined into
-    // a batch, we append a record here that associates the last sequence number in the
-    // batch with the previous one.  When the finished signal is sent, we traverse the
-    // chain to individually finish all input messages that were part of the batch.
-    struct SeqChain {
-        uint32_t seq;   // sequence number of batched input message
-        uint32_t chain; // sequence number of previous batched input message
-    };
-    Vector<SeqChain> mSeqChains;
-
-    status_t consumeBatch(InputEventFactoryInterface* factory,
-            nsecs_t frameTime, uint32_t* outSeq, InputEvent** outEvent);
-    status_t consumeSamples(InputEventFactoryInterface* factory,
-            Batch& batch, size_t count, uint32_t* outSeq, InputEvent** outEvent);
-
-    void updateTouchState(InputMessage* msg);
-    void rewriteMessage(const TouchState& state, InputMessage* msg);
-    void resampleTouchState(nsecs_t frameTime, MotionEvent* event,
-            const InputMessage *next);
-
-    ssize_t findBatch(int32_t deviceId, int32_t source) const;
-    ssize_t findTouchState(int32_t deviceId, int32_t source) const;
-
-    status_t sendUnchainedFinishedSignal(uint32_t seq, bool handled);
-
-    static void initializeKeyEvent(KeyEvent* event, const InputMessage* msg);
-    static void initializeMotionEvent(MotionEvent* event, const InputMessage* msg);
-    static void addSample(MotionEvent* event, const InputMessage* msg);
-    static bool canAddSample(const Batch& batch, const InputMessage* msg);
-    static ssize_t findSampleNoLaterThan(const Batch& batch, nsecs_t time);
-    static bool shouldResampleTool(int32_t toolType);
-
-    static bool isTouchResamplingEnabled();
-};
-
-} // namespace android
-
-#endif // _LIBINPUT_INPUT_TRANSPORT_H
diff --git a/phonelibs/android_frameworks_native/include/input/KeyCharacterMap.h b/phonelibs/android_frameworks_native/include/input/KeyCharacterMap.h
deleted file mode 100644
index 3f0914b67e5d9c..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/KeyCharacterMap.h
+++ /dev/null
@@ -1,265 +0,0 @@
-/*
- * Copyright (C) 2008 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_KEY_CHARACTER_MAP_H
-#define _LIBINPUT_KEY_CHARACTER_MAP_H
-
-#include <stdint.h>
-
-#if HAVE_ANDROID_OS
-#include <binder/IBinder.h>
-#endif
-
-#include <input/Input.h>
-#include <utils/Errors.h>
-#include <utils/KeyedVector.h>
-#include <utils/Tokenizer.h>
-#include <utils/String8.h>
-#include <utils/Unicode.h>
-#include <utils/RefBase.h>
-
-namespace android {
-
-/**
- * Describes a mapping from Android key codes to characters.
- * Also specifies other functions of the keyboard such as the keyboard type
- * and key modifier semantics.
- *
- * This object is immutable after it has been loaded.
- */
-class KeyCharacterMap : public RefBase {
-public:
-    enum KeyboardType {
-        KEYBOARD_TYPE_UNKNOWN = 0,
-        KEYBOARD_TYPE_NUMERIC = 1,
-        KEYBOARD_TYPE_PREDICTIVE = 2,
-        KEYBOARD_TYPE_ALPHA = 3,
-        KEYBOARD_TYPE_FULL = 4,
-        KEYBOARD_TYPE_SPECIAL_FUNCTION = 5,
-        KEYBOARD_TYPE_OVERLAY = 6,
-    };
-
-    enum Format {
-        // Base keyboard layout, may contain device-specific options, such as "type" declaration.
-        FORMAT_BASE = 0,
-        // Overlay keyboard layout, more restrictive, may be published by applications,
-        // cannot override device-specific options.
-        FORMAT_OVERLAY = 1,
-        // Either base or overlay layout ok.
-        FORMAT_ANY = 2,
-    };
-
-    // Substitute key code and meta state for fallback action.
-    struct FallbackAction {
-        int32_t keyCode;
-        int32_t metaState;
-    };
-
-    /* Loads a key character map from a file. */
-    static status_t load(const String8& filename, Format format, sp<KeyCharacterMap>* outMap);
-
-    /* Loads a key character map from its string contents. */
-    static status_t loadContents(const String8& filename,
-            const char* contents, Format format, sp<KeyCharacterMap>* outMap);
-
-    /* Combines a base key character map and an overlay. */
-    static sp<KeyCharacterMap> combine(const sp<KeyCharacterMap>& base,
-            const sp<KeyCharacterMap>& overlay);
-
-    /* Returns an empty key character map. */
-    static sp<KeyCharacterMap> empty();
-
-    /* Gets the keyboard type. */
-    int32_t getKeyboardType() const;
-
-    /* Gets the primary character for this key as in the label physically printed on it.
-     * Returns 0 if none (eg. for non-printing keys). */
-    char16_t getDisplayLabel(int32_t keyCode) const;
-
-    /* Gets the Unicode character for the number or symbol generated by the key
-     * when the keyboard is used as a dialing pad.
-     * Returns 0 if no number or symbol is generated.
-     */
-    char16_t getNumber(int32_t keyCode) const;
-
-    /* Gets the Unicode character generated by the key and meta key modifiers.
-     * Returns 0 if no character is generated.
-     */
-    char16_t getCharacter(int32_t keyCode, int32_t metaState) const;
-
-    /* Gets the fallback action to use by default if the application does not
-     * handle the specified key.
-     * Returns true if an action was available, false if none.
-     */
-    bool getFallbackAction(int32_t keyCode, int32_t metaState,
-            FallbackAction* outFallbackAction) const;
-
-    /* Gets the first matching Unicode character that can be generated by the key,
-     * preferring the one with the specified meta key modifiers.
-     * Returns 0 if no matching character is generated.
-     */
-    char16_t getMatch(int32_t keyCode, const char16_t* chars,
-            size_t numChars, int32_t metaState) const;
-
-    /* Gets a sequence of key events that could plausibly generate the specified
-     * character sequence.  Returns false if some of the characters cannot be generated.
-     */
-    bool getEvents(int32_t deviceId, const char16_t* chars, size_t numChars,
-            Vector<KeyEvent>& outEvents) const;
-
-    /* Maps a scan code and usage code to a key code, in case this key map overrides
-     * the mapping in some way. */
-    status_t mapKey(int32_t scanCode, int32_t usageCode, int32_t* outKeyCode) const;
-
-    /* Tries to find a replacement key code for a given key code and meta state
-     * in character map. */
-    void tryRemapKey(int32_t scanCode, int32_t metaState,
-            int32_t* outKeyCode, int32_t* outMetaState) const;
-
-#if HAVE_ANDROID_OS
-    /* Reads a key map from a parcel. */
-    static sp<KeyCharacterMap> readFromParcel(Parcel* parcel);
-
-    /* Writes a key map to a parcel. */
-    void writeToParcel(Parcel* parcel) const;
-#endif
-
-protected:
-    virtual ~KeyCharacterMap();
-
-private:
-    struct Behavior {
-        Behavior();
-        Behavior(const Behavior& other);
-
-        /* The next behavior in the list, or NULL if none. */
-        Behavior* next;
-
-        /* The meta key modifiers for this behavior. */
-        int32_t metaState;
-
-        /* The character to insert. */
-        char16_t character;
-
-        /* The fallback keycode if the key is not handled. */
-        int32_t fallbackKeyCode;
-
-        /* The replacement keycode if the key has to be replaced outright. */
-        int32_t replacementKeyCode;
-    };
-
-    struct Key {
-        Key();
-        Key(const Key& other);
-        ~Key();
-
-        /* The single character label printed on the key, or 0 if none. */
-        char16_t label;
-
-        /* The number or symbol character generated by the key, or 0 if none. */
-        char16_t number;
-
-        /* The list of key behaviors sorted from most specific to least specific
-         * meta key binding. */
-        Behavior* firstBehavior;
-    };
-
-    class Parser {
-        enum State {
-            STATE_TOP = 0,
-            STATE_KEY = 1,
-        };
-
-        enum {
-            PROPERTY_LABEL = 1,
-            PROPERTY_NUMBER = 2,
-            PROPERTY_META = 3,
-        };
-
-        struct Property {
-            inline Property(int32_t property = 0, int32_t metaState = 0) :
-                    property(property), metaState(metaState) { }
-
-            int32_t property;
-            int32_t metaState;
-        };
-
-        KeyCharacterMap* mMap;
-        Tokenizer* mTokenizer;
-        Format mFormat;
-        State mState;
-        int32_t mKeyCode;
-
-    public:
-        Parser(KeyCharacterMap* map, Tokenizer* tokenizer, Format format);
-        ~Parser();
-        status_t parse();
-
-    private:
-        status_t parseType();
-        status_t parseMap();
-        status_t parseMapKey();
-        status_t parseKey();
-        status_t parseKeyProperty();
-        status_t finishKey(Key* key);
-        status_t parseModifier(const String8& token, int32_t* outMetaState);
-        status_t parseCharacterLiteral(char16_t* outCharacter);
-    };
-
-    static sp<KeyCharacterMap> sEmpty;
-
-    KeyedVector<int32_t, Key*> mKeys;
-    int mType;
-
-    KeyedVector<int32_t, int32_t> mKeysByScanCode;
-    KeyedVector<int32_t, int32_t> mKeysByUsageCode;
-
-    KeyCharacterMap();
-    KeyCharacterMap(const KeyCharacterMap& other);
-
-    bool getKey(int32_t keyCode, const Key** outKey) const;
-    bool getKeyBehavior(int32_t keyCode, int32_t metaState,
-            const Key** outKey, const Behavior** outBehavior) const;
-    static bool matchesMetaState(int32_t eventMetaState, int32_t behaviorMetaState);
-
-    bool findKey(char16_t ch, int32_t* outKeyCode, int32_t* outMetaState) const;
-
-    static status_t load(Tokenizer* tokenizer, Format format, sp<KeyCharacterMap>* outMap);
-
-    static void addKey(Vector<KeyEvent>& outEvents,
-            int32_t deviceId, int32_t keyCode, int32_t metaState, bool down, nsecs_t time);
-    static void addMetaKeys(Vector<KeyEvent>& outEvents,
-            int32_t deviceId, int32_t metaState, bool down, nsecs_t time,
-            int32_t* currentMetaState);
-    static bool addSingleEphemeralMetaKey(Vector<KeyEvent>& outEvents,
-            int32_t deviceId, int32_t metaState, bool down, nsecs_t time,
-            int32_t keyCode, int32_t keyMetaState,
-            int32_t* currentMetaState);
-    static void addDoubleEphemeralMetaKey(Vector<KeyEvent>& outEvents,
-            int32_t deviceId, int32_t metaState, bool down, nsecs_t time,
-            int32_t leftKeyCode, int32_t leftKeyMetaState,
-            int32_t rightKeyCode, int32_t rightKeyMetaState,
-            int32_t eitherKeyMetaState,
-            int32_t* currentMetaState);
-    static void addLockedMetaKey(Vector<KeyEvent>& outEvents,
-            int32_t deviceId, int32_t metaState, nsecs_t time,
-            int32_t keyCode, int32_t keyMetaState,
-            int32_t* currentMetaState);
-};
-
-} // namespace android
-
-#endif // _LIBINPUT_KEY_CHARACTER_MAP_H
diff --git a/phonelibs/android_frameworks_native/include/input/KeyLayoutMap.h b/phonelibs/android_frameworks_native/include/input/KeyLayoutMap.h
deleted file mode 100644
index 1e8de7173bdb5f..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/KeyLayoutMap.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- * Copyright (C) 2008 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_KEY_LAYOUT_MAP_H
-#define _LIBINPUT_KEY_LAYOUT_MAP_H
-
-#include <stdint.h>
-#include <utils/Errors.h>
-#include <utils/KeyedVector.h>
-#include <utils/Tokenizer.h>
-#include <utils/RefBase.h>
-
-namespace android {
-
-struct AxisInfo {
-    enum Mode {
-        // Axis value is reported directly.
-        MODE_NORMAL = 0,
-        // Axis value should be inverted before reporting.
-        MODE_INVERT = 1,
-        // Axis value should be split into two axes
-        MODE_SPLIT = 2,
-    };
-
-    // Axis mode.
-    Mode mode;
-
-    // Axis id.
-    // When split, this is the axis used for values smaller than the split position.
-    int32_t axis;
-
-    // When split, this is the axis used for values after higher than the split position.
-    int32_t highAxis;
-
-    // The split value, or 0 if not split.
-    int32_t splitValue;
-
-    // The flat value, or -1 if none.
-    int32_t flatOverride;
-
-    AxisInfo() : mode(MODE_NORMAL), axis(-1), highAxis(-1), splitValue(0), flatOverride(-1) {
-    }
-};
-
-/**
- * Describes a mapping from keyboard scan codes and joystick axes to Android key codes and axes.
- *
- * This object is immutable after it has been loaded.
- */
-class KeyLayoutMap : public RefBase {
-public:
-    static status_t load(const String8& filename, sp<KeyLayoutMap>* outMap);
-
-    status_t mapKey(int32_t scanCode, int32_t usageCode,
-            int32_t* outKeyCode, uint32_t* outFlags) const;
-    status_t findScanCodesForKey(int32_t keyCode, Vector<int32_t>* outScanCodes) const;
-    status_t findScanCodeForLed(int32_t ledCode, int32_t* outScanCode) const;
-    status_t findUsageCodeForLed(int32_t ledCode, int32_t* outUsageCode) const;
-
-    status_t mapAxis(int32_t scanCode, AxisInfo* outAxisInfo) const;
-
-protected:
-    virtual ~KeyLayoutMap();
-
-private:
-    struct Key {
-        int32_t keyCode;
-        uint32_t flags;
-    };
-
-    struct Led {
-        int32_t ledCode;
-    };
-
-
-    KeyedVector<int32_t, Key> mKeysByScanCode;
-    KeyedVector<int32_t, Key> mKeysByUsageCode;
-    KeyedVector<int32_t, AxisInfo> mAxes;
-    KeyedVector<int32_t, Led> mLedsByScanCode;
-    KeyedVector<int32_t, Led> mLedsByUsageCode;
-
-    KeyLayoutMap();
-
-    const Key* getKey(int32_t scanCode, int32_t usageCode) const;
-
-    class Parser {
-        KeyLayoutMap* mMap;
-        Tokenizer* mTokenizer;
-
-    public:
-        Parser(KeyLayoutMap* map, Tokenizer* tokenizer);
-        ~Parser();
-        status_t parse();
-
-    private:
-        status_t parseKey();
-        status_t parseAxis();
-        status_t parseLed();
-    };
-};
-
-} // namespace android
-
-#endif // _LIBINPUT_KEY_LAYOUT_MAP_H
diff --git a/phonelibs/android_frameworks_native/include/input/Keyboard.h b/phonelibs/android_frameworks_native/include/input/Keyboard.h
deleted file mode 100644
index d4903e98dfe3b6..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/Keyboard.h
+++ /dev/null
@@ -1,104 +0,0 @@
-/*
- * Copyright (C) 2010 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_KEYBOARD_H
-#define _LIBINPUT_KEYBOARD_H
-
-#include <input/Input.h>
-#include <input/InputDevice.h>
-#include <input/InputEventLabels.h>
-#include <utils/Errors.h>
-#include <utils/String8.h>
-#include <utils/PropertyMap.h>
-
-namespace android {
-
-enum {
-    /* Device id of the built in keyboard. */
-    DEVICE_ID_BUILT_IN_KEYBOARD = 0,
-
-    /* Device id of a generic virtual keyboard with a full layout that can be used
-     * to synthesize key events. */
-    DEVICE_ID_VIRTUAL_KEYBOARD = -1,
-};
-
-class KeyLayoutMap;
-class KeyCharacterMap;
-
-/**
- * Loads the key layout map and key character map for a keyboard device.
- */
-class KeyMap {
-public:
-    String8 keyLayoutFile;
-    sp<KeyLayoutMap> keyLayoutMap;
-
-    String8 keyCharacterMapFile;
-    sp<KeyCharacterMap> keyCharacterMap;
-
-    KeyMap();
-    ~KeyMap();
-
-    status_t load(const InputDeviceIdentifier& deviceIdenfier,
-            const PropertyMap* deviceConfiguration);
-
-    inline bool haveKeyLayout() const {
-        return !keyLayoutFile.isEmpty();
-    }
-
-    inline bool haveKeyCharacterMap() const {
-        return !keyCharacterMapFile.isEmpty();
-    }
-
-    inline bool isComplete() const {
-        return haveKeyLayout() && haveKeyCharacterMap();
-    }
-
-private:
-    bool probeKeyMap(const InputDeviceIdentifier& deviceIdentifier, const String8& name);
-    status_t loadKeyLayout(const InputDeviceIdentifier& deviceIdentifier, const String8& name);
-    status_t loadKeyCharacterMap(const InputDeviceIdentifier& deviceIdentifier,
-            const String8& name);
-    String8 getPath(const InputDeviceIdentifier& deviceIdentifier,
-            const String8& name, InputDeviceConfigurationFileType type);
-};
-
-/**
- * Returns true if the keyboard is eligible for use as a built-in keyboard.
- */
-extern bool isEligibleBuiltInKeyboard(const InputDeviceIdentifier& deviceIdentifier,
-        const PropertyMap* deviceConfiguration, const KeyMap* keyMap);
-
-/**
- * Updates a meta state field when a key is pressed or released.
- */
-extern int32_t updateMetaState(int32_t keyCode, bool down, int32_t oldMetaState);
-
-/**
- * Normalizes the meta state such that if either the left or right modifier
- * meta state bits are set then the result will also include the universal
- * bit for that modifier.
- */
-extern int32_t normalizeMetaState(int32_t oldMetaState);
-
-/**
- * Returns true if a key is a meta key like ALT or CAPS_LOCK.
- */
-extern bool isMetaKey(int32_t keyCode);
-
-} // namespace android
-
-#endif // _LIBINPUT_KEYBOARD_H
diff --git a/phonelibs/android_frameworks_native/include/input/VelocityControl.h b/phonelibs/android_frameworks_native/include/input/VelocityControl.h
deleted file mode 100644
index 1acc2aef702ad5..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/VelocityControl.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- * Copyright (C) 2012 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_VELOCITY_CONTROL_H
-#define _LIBINPUT_VELOCITY_CONTROL_H
-
-#include <input/Input.h>
-#include <input/VelocityTracker.h>
-#include <utils/Timers.h>
-
-namespace android {
-
-/*
- * Specifies parameters that govern pointer or wheel acceleration.
- */
-struct VelocityControlParameters {
-    // A scale factor that is multiplied with the raw velocity deltas
-    // prior to applying any other velocity control factors.  The scale
-    // factor should be used to adapt the input device resolution
-    // (eg. counts per inch) to the output device resolution (eg. pixels per inch).
-    //
-    // Must be a positive value.
-    // Default is 1.0 (no scaling).
-    float scale;
-
-    // The scaled speed at which acceleration begins to be applied.
-    // This value establishes the upper bound of a low speed regime for
-    // small precise motions that are performed without any acceleration.
-    //
-    // Must be a non-negative value.
-    // Default is 0.0 (no low threshold).
-    float lowThreshold;
-
-    // The scaled speed at which maximum acceleration is applied.
-    // The difference between highThreshold and lowThreshold controls
-    // the range of speeds over which the acceleration factor is interpolated.
-    // The wider the range, the smoother the acceleration.
-    //
-    // Must be a non-negative value greater than or equal to lowThreshold.
-    // Default is 0.0 (no high threshold).
-    float highThreshold;
-
-    // The acceleration factor.
-    // When the speed is above the low speed threshold, the velocity will scaled
-    // by an interpolated value between 1.0 and this amount.
-    //
-    // Must be a positive greater than or equal to 1.0.
-    // Default is 1.0 (no acceleration).
-    float acceleration;
-
-    VelocityControlParameters() :
-            scale(1.0f), lowThreshold(0.0f), highThreshold(0.0f), acceleration(1.0f) {
-    }
-
-    VelocityControlParameters(float scale, float lowThreshold,
-            float highThreshold, float acceleration) :
-            scale(scale), lowThreshold(lowThreshold),
-            highThreshold(highThreshold), acceleration(acceleration) {
-    }
-};
-
-/*
- * Implements mouse pointer and wheel speed control and acceleration.
- */
-class VelocityControl {
-public:
-    VelocityControl();
-
-    /* Sets the various parameters. */
-    void setParameters(const VelocityControlParameters& parameters);
-
-    /* Resets the current movement counters to zero.
-     * This has the effect of nullifying any acceleration. */
-    void reset();
-
-    /* Translates a raw movement delta into an appropriately
-     * scaled / accelerated delta based on the current velocity. */
-    void move(nsecs_t eventTime, float* deltaX, float* deltaY);
-
-private:
-    // If no movements are received within this amount of time,
-    // we assume the movement has stopped and reset the movement counters.
-    static const nsecs_t STOP_TIME = 500 * 1000000; // 500 ms
-
-    VelocityControlParameters mParameters;
-
-    nsecs_t mLastMovementTime;
-    VelocityTracker::Position mRawPosition;
-    VelocityTracker mVelocityTracker;
-};
-
-} // namespace android
-
-#endif // _LIBINPUT_VELOCITY_CONTROL_H
diff --git a/phonelibs/android_frameworks_native/include/input/VelocityTracker.h b/phonelibs/android_frameworks_native/include/input/VelocityTracker.h
deleted file mode 100644
index 795f575a2e377d..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/VelocityTracker.h
+++ /dev/null
@@ -1,269 +0,0 @@
-/*
- * Copyright (C) 2012 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_VELOCITY_TRACKER_H
-#define _LIBINPUT_VELOCITY_TRACKER_H
-
-#include <input/Input.h>
-#include <utils/Timers.h>
-#include <utils/BitSet.h>
-
-namespace android {
-
-class VelocityTrackerStrategy;
-
-/*
- * Calculates the velocity of pointer movements over time.
- */
-class VelocityTracker {
-public:
-    struct Position {
-        float x, y;
-    };
-
-    struct Estimator {
-        static const size_t MAX_DEGREE = 4;
-
-        // Estimator time base.
-        nsecs_t time;
-
-        // Polynomial coefficients describing motion in X and Y.
-        float xCoeff[MAX_DEGREE + 1], yCoeff[MAX_DEGREE + 1];
-
-        // Polynomial degree (number of coefficients), or zero if no information is
-        // available.
-        uint32_t degree;
-
-        // Confidence (coefficient of determination), between 0 (no fit) and 1 (perfect fit).
-        float confidence;
-
-        inline void clear() {
-            time = 0;
-            degree = 0;
-            confidence = 0;
-            for (size_t i = 0; i <= MAX_DEGREE; i++) {
-                xCoeff[i] = 0;
-                yCoeff[i] = 0;
-            }
-        }
-    };
-
-    // Creates a velocity tracker using the specified strategy.
-    // If strategy is NULL, uses the default strategy for the platform.
-    VelocityTracker(const char* strategy = NULL);
-
-    ~VelocityTracker();
-
-    // Resets the velocity tracker state.
-    void clear();
-
-    // Resets the velocity tracker state for specific pointers.
-    // Call this method when some pointers have changed and may be reusing
-    // an id that was assigned to a different pointer earlier.
-    void clearPointers(BitSet32 idBits);
-
-    // Adds movement information for a set of pointers.
-    // The idBits bitfield specifies the pointer ids of the pointers whose positions
-    // are included in the movement.
-    // The positions array contains position information for each pointer in order by
-    // increasing id.  Its size should be equal to the number of one bits in idBits.
-    void addMovement(nsecs_t eventTime, BitSet32 idBits, const Position* positions);
-
-    // Adds movement information for all pointers in a MotionEvent, including historical samples.
-    void addMovement(const MotionEvent* event);
-
-    // Gets the velocity of the specified pointer id in position units per second.
-    // Returns false and sets the velocity components to zero if there is
-    // insufficient movement information for the pointer.
-    bool getVelocity(uint32_t id, float* outVx, float* outVy) const;
-
-    // Gets an estimator for the recent movements of the specified pointer id.
-    // Returns false and clears the estimator if there is no information available
-    // about the pointer.
-    bool getEstimator(uint32_t id, Estimator* outEstimator) const;
-
-    // Gets the active pointer id, or -1 if none.
-    inline int32_t getActivePointerId() const { return mActivePointerId; }
-
-    // Gets a bitset containing all pointer ids from the most recent movement.
-    inline BitSet32 getCurrentPointerIdBits() const { return mCurrentPointerIdBits; }
-
-private:
-    static const char* DEFAULT_STRATEGY;
-
-    nsecs_t mLastEventTime;
-    BitSet32 mCurrentPointerIdBits;
-    int32_t mActivePointerId;
-    VelocityTrackerStrategy* mStrategy;
-
-    bool configureStrategy(const char* strategy);
-
-    static VelocityTrackerStrategy* createStrategy(const char* strategy);
-};
-
-
-/*
- * Implements a particular velocity tracker algorithm.
- */
-class VelocityTrackerStrategy {
-protected:
-    VelocityTrackerStrategy() { }
-
-public:
-    virtual ~VelocityTrackerStrategy() { }
-
-    virtual void clear() = 0;
-    virtual void clearPointers(BitSet32 idBits) = 0;
-    virtual void addMovement(nsecs_t eventTime, BitSet32 idBits,
-            const VelocityTracker::Position* positions) = 0;
-    virtual bool getEstimator(uint32_t id, VelocityTracker::Estimator* outEstimator) const = 0;
-};
-
-
-/*
- * Velocity tracker algorithm based on least-squares linear regression.
- */
-class LeastSquaresVelocityTrackerStrategy : public VelocityTrackerStrategy {
-public:
-    enum Weighting {
-        // No weights applied.  All data points are equally reliable.
-        WEIGHTING_NONE,
-
-        // Weight by time delta.  Data points clustered together are weighted less.
-        WEIGHTING_DELTA,
-
-        // Weight such that points within a certain horizon are weighed more than those
-        // outside of that horizon.
-        WEIGHTING_CENTRAL,
-
-        // Weight such that points older than a certain amount are weighed less.
-        WEIGHTING_RECENT,
-    };
-
-    // Degree must be no greater than Estimator::MAX_DEGREE.
-    LeastSquaresVelocityTrackerStrategy(uint32_t degree, Weighting weighting = WEIGHTING_NONE);
-    virtual ~LeastSquaresVelocityTrackerStrategy();
-
-    virtual void clear();
-    virtual void clearPointers(BitSet32 idBits);
-    virtual void addMovement(nsecs_t eventTime, BitSet32 idBits,
-            const VelocityTracker::Position* positions);
-    virtual bool getEstimator(uint32_t id, VelocityTracker::Estimator* outEstimator) const;
-
-private:
-    // Sample horizon.
-    // We don't use too much history by default since we want to react to quick
-    // changes in direction.
-    static const nsecs_t HORIZON = 100 * 1000000; // 100 ms
-
-    // Number of samples to keep.
-    static const uint32_t HISTORY_SIZE = 20;
-
-    struct Movement {
-        nsecs_t eventTime;
-        BitSet32 idBits;
-        VelocityTracker::Position positions[MAX_POINTERS];
-
-        inline const VelocityTracker::Position& getPosition(uint32_t id) const {
-            return positions[idBits.getIndexOfBit(id)];
-        }
-    };
-
-    float chooseWeight(uint32_t index) const;
-
-    const uint32_t mDegree;
-    const Weighting mWeighting;
-    uint32_t mIndex;
-    Movement mMovements[HISTORY_SIZE];
-};
-
-
-/*
- * Velocity tracker algorithm that uses an IIR filter.
- */
-class IntegratingVelocityTrackerStrategy : public VelocityTrackerStrategy {
-public:
-    // Degree must be 1 or 2.
-    IntegratingVelocityTrackerStrategy(uint32_t degree);
-    ~IntegratingVelocityTrackerStrategy();
-
-    virtual void clear();
-    virtual void clearPointers(BitSet32 idBits);
-    virtual void addMovement(nsecs_t eventTime, BitSet32 idBits,
-            const VelocityTracker::Position* positions);
-    virtual bool getEstimator(uint32_t id, VelocityTracker::Estimator* outEstimator) const;
-
-private:
-    // Current state estimate for a particular pointer.
-    struct State {
-        nsecs_t updateTime;
-        uint32_t degree;
-
-        float xpos, xvel, xaccel;
-        float ypos, yvel, yaccel;
-    };
-
-    const uint32_t mDegree;
-    BitSet32 mPointerIdBits;
-    State mPointerState[MAX_POINTER_ID + 1];
-
-    void initState(State& state, nsecs_t eventTime, float xpos, float ypos) const;
-    void updateState(State& state, nsecs_t eventTime, float xpos, float ypos) const;
-    void populateEstimator(const State& state, VelocityTracker::Estimator* outEstimator) const;
-};
-
-
-/*
- * Velocity tracker strategy used prior to ICS.
- */
-class LegacyVelocityTrackerStrategy : public VelocityTrackerStrategy {
-public:
-    LegacyVelocityTrackerStrategy();
-    virtual ~LegacyVelocityTrackerStrategy();
-
-    virtual void clear();
-    virtual void clearPointers(BitSet32 idBits);
-    virtual void addMovement(nsecs_t eventTime, BitSet32 idBits,
-            const VelocityTracker::Position* positions);
-    virtual bool getEstimator(uint32_t id, VelocityTracker::Estimator* outEstimator) const;
-
-private:
-    // Oldest sample to consider when calculating the velocity.
-    static const nsecs_t HORIZON = 200 * 1000000; // 100 ms
-
-    // Number of samples to keep.
-    static const uint32_t HISTORY_SIZE = 20;
-
-    // The minimum duration between samples when estimating velocity.
-    static const nsecs_t MIN_DURATION = 10 * 1000000; // 10 ms
-
-    struct Movement {
-        nsecs_t eventTime;
-        BitSet32 idBits;
-        VelocityTracker::Position positions[MAX_POINTERS];
-
-        inline const VelocityTracker::Position& getPosition(uint32_t id) const {
-            return positions[idBits.getIndexOfBit(id)];
-        }
-    };
-
-    uint32_t mIndex;
-    Movement mMovements[HISTORY_SIZE];
-};
-
-} // namespace android
-
-#endif // _LIBINPUT_VELOCITY_TRACKER_H
diff --git a/phonelibs/android_frameworks_native/include/input/VirtualKeyMap.h b/phonelibs/android_frameworks_native/include/input/VirtualKeyMap.h
deleted file mode 100644
index e245ead682ef7e..00000000000000
--- a/phonelibs/android_frameworks_native/include/input/VirtualKeyMap.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (C) 2010 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _LIBINPUT_VIRTUAL_KEY_MAP_H
-#define _LIBINPUT_VIRTUAL_KEY_MAP_H
-
-#include <stdint.h>
-
-#include <input/Input.h>
-#include <utils/Errors.h>
-#include <utils/KeyedVector.h>
-#include <utils/Tokenizer.h>
-#include <utils/String8.h>
-#include <utils/Unicode.h>
-
-namespace android {
-
-/* Describes a virtual key. */
-struct VirtualKeyDefinition {
-    int32_t scanCode;
-
-    // configured position data, specified in display coords
-    int32_t centerX;
-    int32_t centerY;
-    int32_t width;
-    int32_t height;
-};
-
-
-/**
- * Describes a collection of virtual keys on a touch screen in terms of
- * virtual scan codes and hit rectangles.
- *
- * This object is immutable after it has been loaded.
- */
-class VirtualKeyMap {
-public:
-    ~VirtualKeyMap();
-
-    static status_t load(const String8& filename, VirtualKeyMap** outMap);
-
-    inline const Vector<VirtualKeyDefinition>& getVirtualKeys() const {
-        return mVirtualKeys;
-    }
-
-private:
-    class Parser {
-        VirtualKeyMap* mMap;
-        Tokenizer* mTokenizer;
-
-    public:
-        Parser(VirtualKeyMap* map, Tokenizer* tokenizer);
-        ~Parser();
-        status_t parse();
-
-    private:
-        bool consumeFieldDelimiterAndSkipWhitespace();
-        bool parseNextIntField(int32_t* outValue);
-    };
-
-    Vector<VirtualKeyDefinition> mVirtualKeys;
-
-    VirtualKeyMap();
-};
-
-} // namespace android
-
-#endif // _LIBINPUT_KEY_CHARACTER_MAP_H
diff --git a/phonelibs/android_frameworks_native/include/media/drm/DrmAPI.h b/phonelibs/android_frameworks_native/include/media/drm/DrmAPI.h
deleted file mode 100644
index 272881b9f50f55..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/drm/DrmAPI.h
+++ /dev/null
@@ -1,419 +0,0 @@
-/*
- * Copyright (C) 2013 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef DRM_API_H_
-#define DRM_API_H_
-
-#include <utils/List.h>
-#include <utils/String8.h>
-#include <utils/Vector.h>
-#include <utils/KeyedVector.h>
-#include <utils/RefBase.h>
-#include <utils/Mutex.h>
-#include <media/stagefright/foundation/ABase.h>
-
-//  Loadable DrmEngine shared libraries should define the entry points
-//  createDrmFactory and createCryptoFactory as shown below:
-//
-//  extern "C" {
-//      extern android::DrmFactory *createDrmFactory();
-//      extern android::CryptoFactory *createCryptoFactory();
-//  }
-
-namespace android {
-
-    class DrmPlugin;
-    class DrmPluginListener;
-
-    // DRMs are implemented in DrmEngine plugins, which are dynamically
-    // loadable shared libraries that implement the entry points
-    // createDrmFactory and createCryptoFactory.  createDrmFactory
-    // constructs and returns an instance of a DrmFactory object.  Similarly,
-    // createCryptoFactory creates an instance of a CryptoFactory object.
-    // When a MediaCrypto or MediaDrm object needs to be constructed, all
-    // available DrmEngines present in the plugins directory on the device
-    // are scanned for a matching DrmEngine that can support the crypto
-    // scheme.  When a match is found, the DrmEngine's createCryptoPlugin and
-    // createDrmPlugin methods are used to create CryptoPlugin or
-    // DrmPlugin instances to support that DRM scheme.
-
-    class DrmFactory {
-    public:
-        DrmFactory() {}
-        virtual ~DrmFactory() {}
-
-        // DrmFactory::isCryptoSchemeSupported can be called to determine
-        // if the plugin factory is able to construct plugins that support a
-        // given crypto scheme, which is specified by a UUID.
-        virtual bool isCryptoSchemeSupported(const uint8_t uuid[16]) = 0;
-
-        // DrmFactory::isContentTypeSupported can be called to determine
-        // if the plugin factory is able to construct plugins that support a
-        // given media container format specified by mimeType
-        virtual bool isContentTypeSupported(const String8 &mimeType) = 0;
-
-        // Construct a DrmPlugin for the crypto scheme specified by UUID.
-        virtual status_t createDrmPlugin(
-                const uint8_t uuid[16], DrmPlugin **plugin) = 0;
-
-    private:
-        DrmFactory(const DrmFactory &);
-        DrmFactory &operator=(const DrmFactory &);
-    };
-
-    class DrmPlugin {
-    public:
-        enum EventType {
-            kDrmPluginEventProvisionRequired = 1,
-            kDrmPluginEventKeyNeeded,
-            kDrmPluginEventKeyExpired,
-            kDrmPluginEventVendorDefined,
-            kDrmPluginEventSessionReclaimed,
-            kDrmPluginEventExpirationUpdate,
-            kDrmPluginEventKeysChange,
-        };
-
-        // Drm keys can be for offline content or for online streaming.
-        // Offline keys are persisted on the device and may be used when the device
-        // is disconnected from the network.  The Release type is used to request
-        // that offline keys be no longer restricted to offline use.
-        enum KeyType {
-            kKeyType_Offline,
-            kKeyType_Streaming,
-            kKeyType_Release
-        };
-
-        // Enumerate KeyRequestTypes to allow an app to determine the
-        // type of a key request returned from getKeyRequest.
-        enum KeyRequestType {
-            kKeyRequestType_Unknown,
-            kKeyRequestType_Initial,
-            kKeyRequestType_Renewal,
-            kKeyRequestType_Release
-        };
-
-        // Enumerate KeyStatusTypes which indicate the state of a key
-        enum KeyStatusType
-        {
-            kKeyStatusType_Usable,
-            kKeyStatusType_Expired,
-            kKeyStatusType_OutputNotAllowed,
-            kKeyStatusType_StatusPending,
-            kKeyStatusType_InternalError
-        };
-
-        // Used by sendKeysChange to report the usability status of each
-        // key to the app.
-        struct KeyStatus
-        {
-            Vector<uint8_t> mKeyId;
-            KeyStatusType mType;
-        };
-
-        DrmPlugin() {}
-        virtual ~DrmPlugin() {}
-
-        // Open a new session with the DrmPlugin object.  A session ID is returned
-        // in the sessionId parameter.
-        virtual status_t openSession(Vector<uint8_t> &sessionId) = 0;
-
-        // Close a session on the DrmPlugin object.
-        virtual status_t closeSession(Vector<uint8_t> const &sessionId) = 0;
-
-        // A key request/response exchange occurs between the app and a License
-        // Server to obtain the keys required to decrypt the content.  getKeyRequest()
-        // is used to obtain an opaque key request blob that is delivered to the
-        // license server.
-        //
-        // The scope parameter may be a sessionId or a keySetId, depending on the
-        // specified keyType.  When the keyType is kKeyType_Offline or
-        // kKeyType_Streaming, scope should be set to the sessionId the keys will be
-        // provided to.  When the keyType is kKeyType_Release, scope should be set to
-        // the keySetId of the keys being released.  Releasing keys from a device
-        // invalidates them for all sessions.
-        //
-        // The init data passed to getKeyRequest is container-specific and its
-        // meaning is interpreted based on the mime type provided in the mimeType
-        // parameter to getKeyRequest.  It could contain, for example, the content
-        // ID, key ID or other data obtained from the content metadata that is required
-        // in generating the key request.  Init may be null when keyType is
-        // kKeyType_Release.
-        //
-        // mimeType identifies the mime type of the content
-        //
-        // keyType specifies if the keys are to be used for streaming or offline content
-        //
-        // optionalParameters are included in the key request message to allow a
-        // client application to provide additional message parameters to the server.
-        //
-        // If successful, the opaque key request blob is returned to the caller.
-        virtual status_t
-            getKeyRequest(Vector<uint8_t> const &scope,
-                          Vector<uint8_t> const &initData,
-                          String8 const &mimeType, KeyType keyType,
-                          KeyedVector<String8, String8> const &optionalParameters,
-                          Vector<uint8_t> &request, String8 &defaultUrl,
-                          KeyRequestType *keyRequestType) = 0;
-
-        //
-        // After a key response is received by the app, it is provided to the
-        // Drm plugin using provideKeyResponse.
-        //
-        // scope may be a sessionId or a keySetId depending on the type of the
-        // response.  Scope should be set to the sessionId when the response is
-        // for either streaming or offline key requests.  Scope should be set to the
-        // keySetId when the response is for a release request.
-        //
-        // When the response is for an offline key request, a keySetId is returned
-        // in the keySetId vector parameter that can be used to later restore the
-        // keys to a new session with the method restoreKeys. When the response is
-        // for a streaming or release request, no keySetId is returned.
-        //
-        virtual status_t provideKeyResponse(Vector<uint8_t> const &scope,
-                                            Vector<uint8_t> const &response,
-                                            Vector<uint8_t> &keySetId) = 0;
-
-        // Remove the current keys from a session
-        virtual status_t removeKeys(Vector<uint8_t> const &sessionId) = 0;
-
-        // Restore persisted offline keys into a new session.  keySetId identifies
-        // the keys to load, obtained from a prior call to provideKeyResponse().
-        virtual status_t restoreKeys(Vector<uint8_t> const &sessionId,
-                                     Vector<uint8_t> const &keySetId) = 0;
-
-        // Request an informative description of the license for the session.  The status
-        // is in the form of {name, value} pairs.  Since DRM license policies vary by
-        // vendor, the specific status field names are determined by each DRM vendor.
-        // Refer to your DRM provider documentation for definitions of the field names
-        // for a particular DrmEngine.
-        virtual status_t
-            queryKeyStatus(Vector<uint8_t> const &sessionId,
-                           KeyedVector<String8, String8> &infoMap) const = 0;
-
-        // A provision request/response exchange occurs between the app and a
-        // provisioning server to retrieve a device certificate.  getProvisionRequest
-        // is used to obtain an opaque key request blob that is delivered to the
-        // provisioning server.
-        //
-        // If successful, the opaque provision request blob is returned to the caller.
-        virtual status_t getProvisionRequest(String8 const &cert_type,
-                                             String8 const &cert_authority,
-                                             Vector<uint8_t> &request,
-                                             String8 &defaultUrl) = 0;
-
-        // After a provision response is received by the app, it is provided to the
-        // Drm plugin using provideProvisionResponse.
-        virtual status_t provideProvisionResponse(Vector<uint8_t> const &response,
-                                                  Vector<uint8_t> &certificate,
-                                                  Vector<uint8_t> &wrapped_key) = 0;
-
-        // Remove device provisioning.
-        virtual status_t unprovisionDevice() = 0;
-
-        // A means of enforcing the contractual requirement for a concurrent stream
-        // limit per subscriber across devices is provided via SecureStop.  SecureStop
-        // is a means of securely monitoring the lifetime of sessions. Since playback
-        // on a device can be interrupted due to reboot, power failure, etc. a means
-        // of persisting the lifetime information on the device is needed.
-        //
-        // A signed version of the sessionID is written to persistent storage on the
-        // device when each MediaCrypto object is created. The sessionID is signed by
-        // the device private key to prevent tampering.
-        //
-        // In the normal case, playback will be completed, the session destroyed and
-        // the Secure Stops will be queried. The App queries secure stops and forwards
-        // the secure stop message to the server which verifies the signature and
-        // notifies the server side database that the session destruction has been
-        // confirmed. The persisted record on the client is only removed after positive
-        // confirmation that the server received the message using releaseSecureStops().
-        virtual status_t getSecureStops(List<Vector<uint8_t> > &secureStops) = 0;
-        virtual status_t getSecureStop(Vector<uint8_t> const &ssid, Vector<uint8_t> &secureStop) = 0;
-        virtual status_t releaseSecureStops(Vector<uint8_t> const &ssRelease) = 0;
-        virtual status_t releaseAllSecureStops() = 0;
-
-        // Read a property value given the device property string.  There are a few forms
-        // of property access methods, depending on the data type returned.
-        // Since DRM plugin properties may vary, additional field names may be defined
-        // by each DRM vendor.  Refer to your DRM provider documentation for definitions
-        // of its additional field names.
-        //
-        // Standard values are:
-        //   "vendor" [string] identifies the maker of the plugin
-        //   "version" [string] identifies the version of the plugin
-        //   "description" [string] describes the plugin
-        //   'deviceUniqueId' [byte array] The device unique identifier is established
-        //   during device provisioning and provides a means of uniquely identifying
-        //   each device.
-        virtual status_t getPropertyString(String8 const &name, String8 &value ) const = 0;
-        virtual status_t getPropertyByteArray(String8 const &name,
-                                              Vector<uint8_t> &value ) const = 0;
-
-        // Write  a property value given the device property string.  There are a few forms
-        // of property setting methods, depending on the data type.
-        // Since DRM plugin properties may vary, additional field names may be defined
-        // by each DRM vendor.  Refer to your DRM provider documentation for definitions
-        // of its field names.
-        virtual status_t setPropertyString(String8 const &name,
-                                           String8 const &value ) = 0;
-        virtual status_t setPropertyByteArray(String8 const &name,
-                                              Vector<uint8_t> const &value ) = 0;
-
-        // The following methods implement operations on a CryptoSession to support
-        // encrypt, decrypt, sign verify operations on operator-provided
-        // session keys.
-
-        //
-        // The algorithm string conforms to JCA Standard Names for Cipher
-        // Transforms and is case insensitive.  For example "AES/CBC/PKCS5Padding".
-        //
-        // Return OK if the algorithm is supported, otherwise return BAD_VALUE
-        //
-        virtual status_t setCipherAlgorithm(Vector<uint8_t> const &sessionId,
-                                            String8 const &algorithm) = 0;
-
-        //
-        // The algorithm string conforms to JCA Standard Names for Mac
-        // Algorithms and is case insensitive.  For example "HmacSHA256".
-        //
-        // Return OK if the algorithm is supported, otherwise return BAD_VALUE
-        //
-        virtual status_t setMacAlgorithm(Vector<uint8_t> const &sessionId,
-                                         String8 const &algorithm) = 0;
-
-        // Encrypt the provided input buffer with the cipher algorithm
-        // specified by setCipherAlgorithm and the key selected by keyId,
-        // and return the encrypted data.
-        virtual status_t encrypt(Vector<uint8_t> const &sessionId,
-                                 Vector<uint8_t> const &keyId,
-                                 Vector<uint8_t> const &input,
-                                 Vector<uint8_t> const &iv,
-                                 Vector<uint8_t> &output) = 0;
-
-        // Decrypt the provided input buffer with the cipher algorithm
-        // specified by setCipherAlgorithm and the key selected by keyId,
-        // and return the decrypted data.
-        virtual status_t decrypt(Vector<uint8_t> const &sessionId,
-                                 Vector<uint8_t> const &keyId,
-                                 Vector<uint8_t> const &input,
-                                 Vector<uint8_t> const &iv,
-                                 Vector<uint8_t> &output) = 0;
-
-        // Compute a signature on the provided message using the mac algorithm
-        // specified by setMacAlgorithm and the key selected by keyId,
-        // and return the signature.
-        virtual status_t sign(Vector<uint8_t> const &sessionId,
-                              Vector<uint8_t> const &keyId,
-                              Vector<uint8_t> const &message,
-                              Vector<uint8_t> &signature) = 0;
-
-        // Compute a signature on the provided message using the mac algorithm
-        // specified by setMacAlgorithm and the key selected by keyId,
-        // and compare with the expected result.  Set result to true or
-        // false depending on the outcome.
-        virtual status_t verify(Vector<uint8_t> const &sessionId,
-                                Vector<uint8_t> const &keyId,
-                                Vector<uint8_t> const &message,
-                                Vector<uint8_t> const &signature,
-                                bool &match) = 0;
-
-
-        // Compute an RSA signature on the provided message using the algorithm
-        // specified by algorithm.
-        virtual status_t signRSA(Vector<uint8_t> const &sessionId,
-                                 String8 const &algorithm,
-                                 Vector<uint8_t> const &message,
-                                 Vector<uint8_t> const &wrapped_key,
-                                 Vector<uint8_t> &signature) = 0;
-
-
-        status_t setListener(const sp<DrmPluginListener>& listener) {
-            Mutex::Autolock lock(mEventLock);
-            mListener = listener;
-            return OK;
-        }
-
-    protected:
-        // Plugins call these methods to deliver events to the java app
-        void sendEvent(EventType eventType, int extra,
-                       Vector<uint8_t> const *sessionId,
-                       Vector<uint8_t> const *data);
-
-        void sendExpirationUpdate(Vector<uint8_t> const *sessionId,
-                                  int64_t expiryTimeInMS);
-
-        void sendKeysChange(Vector<uint8_t> const *sessionId,
-                            Vector<DrmPlugin::KeyStatus> const *keyStatusList,
-                            bool hasNewUsableKey);
-
-    private:
-        Mutex mEventLock;
-        sp<DrmPluginListener> mListener;
-
-        DISALLOW_EVIL_CONSTRUCTORS(DrmPlugin);
-    };
-
-    class DrmPluginListener: virtual public RefBase
-    {
-    public:
-        virtual void sendEvent(DrmPlugin::EventType eventType, int extra,
-                               Vector<uint8_t> const *sessionId,
-                               Vector<uint8_t> const *data) = 0;
-
-        virtual void sendExpirationUpdate(Vector<uint8_t> const *sessionId,
-                                          int64_t expiryTimeInMS) = 0;
-
-        virtual void sendKeysChange(Vector<uint8_t> const *sessionId,
-                                    Vector<DrmPlugin::KeyStatus> const *keyStatusList,
-                                    bool hasNewUsableKey) = 0;
-    };
-
-    inline void DrmPlugin::sendEvent(EventType eventType, int extra,
-                                     Vector<uint8_t> const *sessionId,
-                                     Vector<uint8_t> const *data) {
-        mEventLock.lock();
-        sp<DrmPluginListener> listener = mListener;
-        mEventLock.unlock();
-
-        if (listener != NULL) {
-            listener->sendEvent(eventType, extra, sessionId, data);
-        }
-    }
-
-    inline void DrmPlugin::sendExpirationUpdate(Vector<uint8_t> const *sessionId,
-                                                int64_t expiryTimeInMS) {
-        mEventLock.lock();
-        sp<DrmPluginListener> listener = mListener;
-        mEventLock.unlock();
-
-        if (listener != NULL) {
-            listener->sendExpirationUpdate(sessionId, expiryTimeInMS);
-        }
-    }
-
-    inline void DrmPlugin::sendKeysChange(Vector<uint8_t> const *sessionId,
-                                          Vector<DrmPlugin::KeyStatus> const *keyStatusList,
-                                          bool hasNewUsableKey) {
-        mEventLock.lock();
-        sp<DrmPluginListener> listener = mListener;
-        mEventLock.unlock();
-
-        if (listener != NULL) {
-            listener->sendKeysChange(sessionId, keyStatusList, hasNewUsableKey);
-        }
-    }
-}  // namespace android
-
-#endif // DRM_API_H_
diff --git a/phonelibs/android_frameworks_native/include/media/editor/II420ColorConverter.h b/phonelibs/android_frameworks_native/include/media/editor/II420ColorConverter.h
deleted file mode 100644
index 33af61ff9a5276..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/editor/II420ColorConverter.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/*
- * Copyright (C) 2011 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef II420_COLOR_CONVERTER_H
-
-#define II420_COLOR_CONVERTER_H
-
-#include <stdint.h>
-#include <android/rect.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct II420ColorConverter {
-
-    /*
-     * getDecoderOutputFormat
-     * Returns the color format (OMX_COLOR_FORMATTYPE) of the decoder output.
-     * If it is I420 (OMX_COLOR_FormatYUV420Planar), no conversion is needed,
-     * and convertDecoderOutputToI420() can be a no-op.
-     */
-    int (*getDecoderOutputFormat)();
-
-    /*
-     * convertDecoderOutputToI420
-     * @Desc     Converts from the decoder output format to I420 format.
-     * @note     Caller (e.g. VideoEditor) owns the buffers
-     * @param    decoderBits   (IN) Pointer to the buffer contains decoder output
-     * @param    decoderWidth  (IN) Buffer width, as reported by the decoder
-     *                              metadata (kKeyWidth)
-     * @param    decoderHeight (IN) Buffer height, as reported by the decoder
-     *                              metadata (kKeyHeight)
-     * @param    decoderRect   (IN) The rectangle of the actual frame, as
-     *                              reported by decoder metadata (kKeyCropRect)
-     * @param    dstBits      (OUT) Pointer to the output I420 buffer
-     * @return   -1 Any error
-     * @return   0  No Error
-     */
-    int (*convertDecoderOutputToI420)(
-        void* decoderBits, int decoderWidth, int decoderHeight,
-        ARect decoderRect, void* dstBits);
-
-    /*
-     * getEncoderIntputFormat
-     * Returns the color format (OMX_COLOR_FORMATTYPE) of the encoder input.
-     * If it is I420 (OMX_COLOR_FormatYUV420Planar), no conversion is needed,
-     * and convertI420ToEncoderInput() and getEncoderInputBufferInfo() can
-     * be no-ops.
-     */
-    int (*getEncoderInputFormat)();
-
-    /* convertI420ToEncoderInput
-     * @Desc     This function converts from I420 to the encoder input format
-     * @note     Caller (e.g. VideoEditor) owns the buffers
-     * @param    srcBits       (IN) Pointer to the input I420 buffer
-     * @param    srcWidth      (IN) Width of the I420 frame
-     * @param    srcHeight     (IN) Height of the I420 frame
-     * @param    encoderWidth  (IN) Encoder buffer width, as calculated by
-     *                              getEncoderBufferInfo()
-     * @param    encoderHeight (IN) Encoder buffer height, as calculated by
-     *                              getEncoderBufferInfo()
-     * @param    encoderRect   (IN) Rect coordinates of the actual frame inside
-     *                              the encoder buffer, as calculated by
-     *                              getEncoderBufferInfo().
-     * @param    encoderBits  (OUT) Pointer to the output buffer. The size of
-     *                              this buffer is calculated by
-     *                              getEncoderBufferInfo()
-     * @return   -1 Any error
-     * @return   0  No Error
-     */
-    int (*convertI420ToEncoderInput)(
-        void* srcBits, int srcWidth, int srcHeight,
-        int encoderWidth, int encoderHeight, ARect encoderRect,
-        void* encoderBits);
-
-    /* getEncoderInputBufferInfo
-     * @Desc     This function returns metadata for the encoder input buffer
-     *           based on the actual I420 frame width and height.
-     * @note     This API should be be used to obtain the necessary information
-     *           before calling convertI420ToEncoderInput().
-     *           VideoEditor knows only the width and height of the I420 buffer,
-     *           but it also needs know the width, height, and size of the
-     *           encoder input buffer. The encoder input buffer width and height
-     *           are used to set the metadata for the encoder.
-     * @param    srcWidth      (IN) Width of the I420 frame
-     * @param    srcHeight     (IN) Height of the I420 frame
-     * @param    encoderWidth  (OUT) Encoder buffer width needed
-     * @param    encoderHeight (OUT) Encoder buffer height needed
-     * @param    encoderRect   (OUT) Rect coordinates of the actual frame inside
-     *                               the encoder buffer
-     * @param    encoderBufferSize  (OUT) The size of the buffer that need to be
-     *                              allocated by the caller before invoking
-     *                              convertI420ToEncoderInput().
-     * @return   -1 Any error
-     * @return   0  No Error
-     */
-    int (*getEncoderInputBufferInfo)(
-        int srcWidth, int srcHeight,
-        int* encoderWidth, int* encoderHeight,
-        ARect* encoderRect, int* encoderBufferSize);
-
-} II420ColorConverter;
-
-/* The only function that the shared library needs to expose: It fills the
-   function pointers in II420ColorConverter */
-void getI420ColorConverter(II420ColorConverter *converter);
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif  // II420_COLOR_CONVERTER_H
diff --git a/phonelibs/android_frameworks_native/include/media/hardware/CryptoAPI.h b/phonelibs/android_frameworks_native/include/media/hardware/CryptoAPI.h
deleted file mode 100644
index 3e3257f9568768..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/hardware/CryptoAPI.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
- * Copyright (C) 2012 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <media/stagefright/MediaErrors.h>
-#include <utils/Errors.h>
-#include <utils/Vector.h>
-
-#ifndef CRYPTO_API_H_
-
-#define CRYPTO_API_H_
-
-namespace android {
-
-struct AString;
-struct CryptoPlugin;
-
-struct CryptoFactory {
-    CryptoFactory() {}
-    virtual ~CryptoFactory() {}
-
-    virtual bool isCryptoSchemeSupported(const uint8_t uuid[16]) const = 0;
-
-    virtual status_t createPlugin(
-            const uint8_t uuid[16], const void *data, size_t size,
-            CryptoPlugin **plugin) = 0;
-
-private:
-    CryptoFactory(const CryptoFactory &);
-    CryptoFactory &operator=(const CryptoFactory &);
-};
-
-struct CryptoPlugin {
-    enum Mode {
-        kMode_Unencrypted = 0,
-        kMode_AES_CTR     = 1,
-
-        // Neither key nor iv are being used in this mode.
-        // Each subsample is encrypted w/ an iv of all zeroes.
-        kMode_AES_WV      = 2,  // FIX constant
-    };
-
-    struct SubSample {
-        uint32_t mNumBytesOfClearData;
-        uint32_t mNumBytesOfEncryptedData;
-    };
-
-    CryptoPlugin() {}
-    virtual ~CryptoPlugin() {}
-
-    // If this method returns false, a non-secure decoder will be used to
-    // decode the data after decryption. The decrypt API below will have
-    // to support insecure decryption of the data (secure = false) for
-    // media data of the given mime type.
-    virtual bool requiresSecureDecoderComponent(const char *mime) const = 0;
-
-    // To implement resolution constraints, the crypto plugin needs to know
-    // the resolution of the video being decrypted.  The media player should
-    // call this method when the resolution is determined and any time it
-    // is subsequently changed.
-
-    virtual void notifyResolution(uint32_t /* width */, uint32_t /* height */) {}
-
-    // A MediaDrm session may be associated with a MediaCrypto session.  The
-    // associated MediaDrm session is used to load decryption keys
-    // into the crypto/drm plugin.  The keys are then referenced by key-id
-    // in the 'key' parameter to the decrypt() method.
-    // Should return NO_ERROR on success, ERROR_DRM_SESSION_NOT_OPENED if
-    // the session is not opened and a code from MediaErrors.h otherwise.
-    virtual status_t setMediaDrmSession(const Vector<uint8_t> & /*sessionId */) {
-        return ERROR_UNSUPPORTED;
-    }
-
-    // If the error returned falls into the range
-    // ERROR_DRM_VENDOR_MIN..ERROR_DRM_VENDOR_MAX, errorDetailMsg should be
-    // filled in with an appropriate string.
-    // At the java level these special errors will then trigger a
-    // MediaCodec.CryptoException that gives clients access to both
-    // the error code and the errorDetailMsg.
-    // Returns a non-negative result to indicate the number of bytes written
-    // to the dstPtr, or a negative result to indicate an error.
-    virtual ssize_t decrypt(
-            bool secure,
-            const uint8_t key[16],
-            const uint8_t iv[16],
-            Mode mode,
-            const void *srcPtr,
-            const SubSample *subSamples, size_t numSubSamples,
-            void *dstPtr,
-            AString *errorDetailMsg) = 0;
-
-private:
-    CryptoPlugin(const CryptoPlugin &);
-    CryptoPlugin &operator=(const CryptoPlugin &);
-};
-
-}  // namespace android
-
-extern "C" {
-    extern android::CryptoFactory *createCryptoFactory();
-}
-
-#endif  // CRYPTO_API_H_
diff --git a/phonelibs/android_frameworks_native/include/media/hardware/HDCPAPI.h b/phonelibs/android_frameworks_native/include/media/hardware/HDCPAPI.h
deleted file mode 100644
index 3a53e9fc9084a9..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/hardware/HDCPAPI.h
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
- * Copyright (C) 2012 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef HDCP_API_H_
-
-#define HDCP_API_H_
-
-#include <utils/Errors.h>
-#include <system/window.h>
-
-namespace android {
-
-// Two different kinds of modules are covered under the same HDCPModule
-// structure below, a module either implements decryption or encryption.
-struct HDCPModule {
-    typedef void (*ObserverFunc)(void *cookie, int msg, int ext1, int ext2);
-
-    // The msg argument in calls to the observer notification function.
-    enum {
-        // Sent in response to a call to "HDCPModule::initAsync" once
-        // initialization has either been successfully completed,
-        // i.e. the HDCP session is now fully setup (AKE, Locality Check,
-        // SKE and any authentication with repeaters completed) or failed.
-        // ext1 should be a suitable error code (status_t), ext2 is
-        // unused for ENCRYPTION and in the case of HDCP_INITIALIZATION_COMPLETE
-        // holds the local TCP port the module is listening on.
-        HDCP_INITIALIZATION_COMPLETE,
-        HDCP_INITIALIZATION_FAILED,
-
-        // Sent upon completion of a call to "HDCPModule::shutdownAsync".
-        // ext1 should be a suitable error code, ext2 is unused.
-        HDCP_SHUTDOWN_COMPLETE,
-        HDCP_SHUTDOWN_FAILED,
-
-        HDCP_UNAUTHENTICATED_CONNECTION,
-        HDCP_UNAUTHORIZED_CONNECTION,
-        HDCP_REVOKED_CONNECTION,
-        HDCP_TOPOLOGY_EXECEEDED,
-        HDCP_UNKNOWN_ERROR,
-
-        // DECRYPTION only: Indicates that a client has successfully connected,
-        // a secure session established and the module is ready to accept
-        // future calls to "decrypt".
-        HDCP_SESSION_ESTABLISHED,
-    };
-
-    // HDCPModule capability bit masks
-    enum {
-        // HDCP_CAPS_ENCRYPT: mandatory, meaning the HDCP module can encrypt
-        // from an input byte-array buffer to an output byte-array buffer
-        HDCP_CAPS_ENCRYPT = (1 << 0),
-        // HDCP_CAPS_ENCRYPT_NATIVE: the HDCP module supports encryption from
-        // a native buffer to an output byte-array buffer. The format of the
-        // input native buffer is specific to vendor's encoder implementation.
-        // It is the same format as that used by the encoder when
-        // "storeMetaDataInBuffers" extension is enabled on its output port.
-        HDCP_CAPS_ENCRYPT_NATIVE = (1 << 1),
-    };
-
-    // Module can call the notification function to signal completion/failure
-    // of asynchronous operations (such as initialization) or out of band
-    // events.
-    HDCPModule(void *cookie, ObserverFunc observerNotify) {};
-
-    virtual ~HDCPModule() {};
-
-    // ENCRYPTION: Request to setup an HDCP session with the host specified
-    // by addr and listening on the specified port.
-    // DECRYPTION: Request to setup an HDCP session, addr is the interface
-    // address the module should bind its socket to. port will be 0.
-    // The module will pick the port to listen on itself and report its choice
-    // in the "ext2" argument of the HDCP_INITIALIZATION_COMPLETE callback.
-    virtual status_t initAsync(const char *addr, unsigned port) = 0;
-
-    // Request to shutdown the active HDCP session.
-    virtual status_t shutdownAsync() = 0;
-
-    // Returns the capability bitmask of this HDCP session.
-    virtual uint32_t getCaps() {
-        return HDCP_CAPS_ENCRYPT;
-    }
-
-    // ENCRYPTION only:
-    // Encrypt data according to the HDCP spec. "size" bytes of data are
-    // available at "inData" (virtual address), "size" may not be a multiple
-    // of 128 bits (16 bytes). An equal number of encrypted bytes should be
-    // written to the buffer at "outData" (virtual address).
-    // This operation is to be synchronous, i.e. this call does not return
-    // until outData contains size bytes of encrypted data.
-    // streamCTR will be assigned by the caller (to 0 for the first PES stream,
-    // 1 for the second and so on)
-    // inputCTR _will_be_maintained_by_the_callee_ for each PES stream.
-    virtual status_t encrypt(
-            const void *inData, size_t size, uint32_t streamCTR,
-            uint64_t *outInputCTR, void *outData) {
-        return INVALID_OPERATION;
-    }
-
-    // Encrypt data according to the HDCP spec. "size" bytes of data starting
-    // at location "offset" are available in "buffer" (buffer handle). "size"
-    // may not be a multiple of 128 bits (16 bytes). An equal number of
-    // encrypted bytes should be written to the buffer at "outData" (virtual
-    // address). This operation is to be synchronous, i.e. this call does not
-    // return until outData contains size bytes of encrypted data.
-    // streamCTR will be assigned by the caller (to 0 for the first PES stream,
-    // 1 for the second and so on)
-    // inputCTR _will_be_maintained_by_the_callee_ for each PES stream.
-    virtual status_t encryptNative(
-            buffer_handle_t buffer, size_t offset, size_t size,
-            uint32_t streamCTR, uint64_t *outInputCTR, void *outData) {
-        return INVALID_OPERATION;
-    }
-    // DECRYPTION only:
-    // Decrypt data according to the HDCP spec.
-    // "size" bytes of encrypted data are available at "inData"
-    // (virtual address), "size" may not be a multiple of 128 bits (16 bytes).
-    // An equal number of decrypted bytes should be written to the buffer
-    // at "outData" (virtual address).
-    // This operation is to be synchronous, i.e. this call does not return
-    // until outData contains size bytes of decrypted data.
-    // Both streamCTR and inputCTR will be provided by the caller.
-    virtual status_t decrypt(
-            const void *inData, size_t size,
-            uint32_t streamCTR, uint64_t inputCTR,
-            void *outData) {
-        return INVALID_OPERATION;
-    }
-
-private:
-    HDCPModule(const HDCPModule &);
-    HDCPModule &operator=(const HDCPModule &);
-};
-
-}  // namespace android
-
-// A shared library exporting the following methods should be included to
-// support HDCP functionality. The shared library must be called
-// "libstagefright_hdcp.so", it will be dynamically loaded into the
-// mediaserver process.
-extern "C" {
-    // Create a module for ENCRYPTION.
-    extern android::HDCPModule *createHDCPModule(
-            void *cookie, android::HDCPModule::ObserverFunc);
-
-    // Create a module for DECRYPTION.
-    extern android::HDCPModule *createHDCPModuleForDecryption(
-            void *cookie, android::HDCPModule::ObserverFunc);
-}
-
-#endif  // HDCP_API_H_
-
diff --git a/phonelibs/android_frameworks_native/include/media/hardware/HardwareAPI.h b/phonelibs/android_frameworks_native/include/media/hardware/HardwareAPI.h
deleted file mode 100644
index 1008c22d73ba0b..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/hardware/HardwareAPI.h
+++ /dev/null
@@ -1,288 +0,0 @@
-/*
- * Copyright (C) 2009 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef HARDWARE_API_H_
-
-#define HARDWARE_API_H_
-
-#include <media/hardware/OMXPluginBase.h>
-#include <media/hardware/MetadataBufferType.h>
-#include <system/window.h>
-#include <utils/RefBase.h>
-
-#include <OMX_Component.h>
-
-namespace android {
-
-// A pointer to this struct is passed to the OMX_SetParameter when the extension
-// index for the 'OMX.google.android.index.enableAndroidNativeBuffers' extension
-// is given.
-//
-// When Android native buffer use is disabled for a port (the default state),
-// the OMX node should operate as normal, and expect UseBuffer calls to set its
-// buffers.  This is the mode that will be used when CPU access to the buffer is
-// required.
-//
-// When Android native buffer use has been enabled for a given port, the video
-// color format for the port is to be interpreted as an Android pixel format
-// rather than an OMX color format.  Enabling Android native buffers may also
-// change how the component receives the native buffers.  If store-metadata-mode
-// is enabled on the port, the component will receive the buffers as specified
-// in the section below. Otherwise, unless the node supports the
-// 'OMX.google.android.index.useAndroidNativeBuffer2' extension, it should
-// expect to receive UseAndroidNativeBuffer calls (via OMX_SetParameter) rather
-// than UseBuffer calls for that port.
-struct EnableAndroidNativeBuffersParams {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL enable;
-};
-
-// A pointer to this struct is passed to OMX_SetParameter() when the extension index
-// "OMX.google.android.index.storeMetaDataInBuffers" or
-// "OMX.google.android.index.storeANWBufferInMetadata" is given.
-//
-// When meta data is stored in the video buffers passed between OMX clients
-// and OMX components, interpretation of the buffer data is up to the
-// buffer receiver, and the data may or may not be the actual video data, but
-// some information helpful for the receiver to locate the actual data.
-// The buffer receiver thus needs to know how to interpret what is stored
-// in these buffers, with mechanisms pre-determined externally. How to
-// interpret the meta data is outside of the scope of this parameter.
-//
-// Currently, this is used to pass meta data from video source (camera component, for instance) to
-// video encoder to avoid memcpying of input video frame data, as well as to pass dynamic output
-// buffer to video decoder. To do this, bStoreMetaData is set to OMX_TRUE.
-//
-// If bStoreMetaData is set to false, real YUV frame data will be stored in input buffers, and
-// the output buffers contain either real YUV frame data, or are themselves native handles as
-// directed by enable/use-android-native-buffer parameter settings.
-// In addition, if no OMX_SetParameter() call is made on a port with the corresponding extension
-// index, the component should not assume that the client is not using metadata mode for the port.
-//
-// If the component supports this using the "OMX.google.android.index.storeANWBufferInMetadata"
-// extension and bStoreMetaData is set to OMX_TRUE, data is passed using the VideoNativeMetadata
-// layout as defined below. Each buffer will be accompanied by a fence. The fence must signal
-// before the buffer can be used (e.g. read from or written into). When returning such buffer to
-// the client, component must provide a new fence that must signal before the returned buffer can
-// be used (e.g. read from or written into). The component owns the incoming fenceFd, and must close
-// it when fence has signaled. The client will own and close the returned fence file descriptor.
-//
-// If the component supports this using the "OMX.google.android.index.storeMetaDataInBuffers"
-// extension and bStoreMetaData is set to OMX_TRUE, data is passed using VideoGrallocMetadata
-// (the layout of which is the VideoGrallocMetadata defined below). Camera input can be also passed
-// as "CameraSource", the layout of which is vendor dependent.
-//
-// Metadata buffers are registered with the component using UseBuffer calls, or can be allocated
-// by the component for encoder-metadata-output buffers.
-struct StoreMetaDataInBuffersParams {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bStoreMetaData;
-};
-
-// Meta data buffer layout used to transport output frames to the decoder for
-// dynamic buffer handling.
-struct VideoGrallocMetadata {
-    MetadataBufferType eType;               // must be kMetadataBufferTypeGrallocSource
-#ifdef OMX_ANDROID_COMPILE_AS_32BIT_ON_64BIT_PLATFORMS
-    OMX_PTR pHandle;
-#else
-    buffer_handle_t pHandle;
-#endif
-};
-
-// Legacy name for VideoGrallocMetadata struct.
-struct VideoDecoderOutputMetaData : public VideoGrallocMetadata {};
-
-struct VideoNativeMetadata {
-    MetadataBufferType eType;               // must be kMetadataBufferTypeANWBuffer
-#ifdef OMX_ANDROID_COMPILE_AS_32BIT_ON_64BIT_PLATFORMS
-    OMX_PTR pBuffer;
-#else
-    struct ANativeWindowBuffer* pBuffer;
-#endif
-    int nFenceFd;                           // -1 if unused
-};
-
-// A pointer to this struct is passed to OMX_SetParameter() when the extension
-// index "OMX.google.android.index.prepareForAdaptivePlayback" is given.
-//
-// This method is used to signal a video decoder, that the user has requested
-// seamless resolution change support (if bEnable is set to OMX_TRUE).
-// nMaxFrameWidth and nMaxFrameHeight are the dimensions of the largest
-// anticipated frames in the video.  If bEnable is OMX_FALSE, no resolution
-// change is expected, and the nMaxFrameWidth/Height fields are unused.
-//
-// If the decoder supports dynamic output buffers, it may ignore this
-// request.  Otherwise, it shall request resources in such a way so that it
-// avoids full port-reconfiguration (due to output port-definition change)
-// during resolution changes.
-//
-// DO NOT USE THIS STRUCTURE AS IT WILL BE REMOVED.  INSTEAD, IMPLEMENT
-// METADATA SUPPORT FOR VIDEO DECODERS.
-struct PrepareForAdaptivePlaybackParams {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bEnable;
-    OMX_U32 nMaxFrameWidth;
-    OMX_U32 nMaxFrameHeight;
-};
-
-// A pointer to this struct is passed to OMX_SetParameter when the extension
-// index for the 'OMX.google.android.index.useAndroidNativeBuffer' extension is
-// given.  This call will only be performed if a prior call was made with the
-// 'OMX.google.android.index.enableAndroidNativeBuffers' extension index,
-// enabling use of Android native buffers.
-struct UseAndroidNativeBufferParams {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_PTR pAppPrivate;
-    OMX_BUFFERHEADERTYPE **bufferHeader;
-    const sp<ANativeWindowBuffer>& nativeBuffer;
-};
-
-// A pointer to this struct is passed to OMX_GetParameter when the extension
-// index for the 'OMX.google.android.index.getAndroidNativeBufferUsage'
-// extension is given.  The usage bits returned from this query will be used to
-// allocate the Gralloc buffers that get passed to the useAndroidNativeBuffer
-// command.
-struct GetAndroidNativeBufferUsageParams {
-    OMX_U32 nSize;              // IN
-    OMX_VERSIONTYPE nVersion;   // IN
-    OMX_U32 nPortIndex;         // IN
-    OMX_U32 nUsage;             // OUT
-};
-
-// An enum OMX_COLOR_FormatAndroidOpaque to indicate an opaque colorformat
-// is declared in media/stagefright/openmax/OMX_IVCommon.h
-// This will inform the encoder that the actual
-// colorformat will be relayed by the GRalloc Buffers.
-// OMX_COLOR_FormatAndroidOpaque  = 0x7F000001,
-
-// A pointer to this struct is passed to OMX_SetParameter when the extension
-// index for the 'OMX.google.android.index.prependSPSPPSToIDRFrames' extension
-// is given.
-// A successful result indicates that future IDR frames will be prefixed by
-// SPS/PPS.
-struct PrependSPSPPSToIDRFramesParams {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_BOOL bEnable;
-};
-
-// Structure describing a media image (frame)
-// Currently only supporting YUV
-struct MediaImage {
-    enum Type {
-        MEDIA_IMAGE_TYPE_UNKNOWN = 0,
-        MEDIA_IMAGE_TYPE_YUV,
-    };
-
-    enum PlaneIndex {
-        Y = 0,
-        U,
-        V,
-        MAX_NUM_PLANES
-    };
-
-    Type mType;
-    uint32_t mNumPlanes;              // number of planes
-    uint32_t mWidth;                  // width of largest plane (unpadded, as in nFrameWidth)
-    uint32_t mHeight;                 // height of largest plane (unpadded, as in nFrameHeight)
-    uint32_t mBitDepth;               // useable bit depth
-    struct PlaneInfo {
-        uint32_t mOffset;             // offset of first pixel of the plane in bytes
-                                      // from buffer offset
-        uint32_t mColInc;             // column increment in bytes
-        uint32_t mRowInc;             // row increment in bytes
-        uint32_t mHorizSubsampling;   // subsampling compared to the largest plane
-        uint32_t mVertSubsampling;    // subsampling compared to the largest plane
-    };
-    PlaneInfo mPlane[MAX_NUM_PLANES];
-};
-
-// A pointer to this struct is passed to OMX_GetParameter when the extension
-// index for the 'OMX.google.android.index.describeColorFormat'
-// extension is given.  This method can be called from any component state
-// other than invalid.  The color-format, frame width/height, and stride/
-// slice-height parameters are ones that are associated with a raw video
-// port (input or output), but the stride/slice height parameters may be
-// incorrect. bUsingNativeBuffers is OMX_TRUE if native android buffers will
-// be used (while specifying this color format).
-//
-// The component shall fill out the MediaImage structure that
-// corresponds to the described raw video format, and the potentially corrected
-// stride and slice-height info.
-//
-// The behavior is slightly different if bUsingNativeBuffers is OMX_TRUE,
-// though most implementations can ignore this difference. When using native buffers,
-// the component may change the configured color format to an optimized format.
-// Additionally, when allocating these buffers for flexible usecase, the framework
-// will set the SW_READ/WRITE_OFTEN usage flags. In this case (if bUsingNativeBuffers
-// is OMX_TRUE), the component shall fill out the MediaImage information for the
-// scenario when these SW-readable/writable buffers are locked using gralloc_lock.
-// Note, that these buffers may also be locked using gralloc_lock_ycbcr, which must
-// be supported for vendor-specific formats.
-//
-// For non-YUV packed planar/semiplanar image formats, or if bUsingNativeBuffers
-// is OMX_TRUE and the component does not support this color format with native
-// buffers, the component shall set mNumPlanes to 0, and mType to MEDIA_IMAGE_TYPE_UNKNOWN.
-struct DescribeColorFormatParams {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    // input: parameters from OMX_VIDEO_PORTDEFINITIONTYPE
-    OMX_COLOR_FORMATTYPE eColorFormat;
-    OMX_U32 nFrameWidth;
-    OMX_U32 nFrameHeight;
-    OMX_U32 nStride;
-    OMX_U32 nSliceHeight;
-    OMX_BOOL bUsingNativeBuffers;
-
-    // output: fill out the MediaImage fields
-    MediaImage sMediaImage;
-};
-
-// A pointer to this struct is passed to OMX_SetParameter or OMX_GetParameter
-// when the extension index for the
-// 'OMX.google.android.index.configureVideoTunnelMode' extension is  given.
-// If the extension is supported then tunneled playback mode should be supported
-// by the codec. If bTunneled is set to OMX_TRUE then the video decoder should
-// operate in "tunneled" mode and output its decoded frames directly to the
-// sink. In this case nAudioHwSync is the HW SYNC ID of the audio HAL Output
-// stream to sync the video with. If bTunneled is set to OMX_FALSE, "tunneled"
-// mode should be disabled and nAudioHwSync should be ignored.
-// OMX_GetParameter is used to query tunneling configuration. bTunneled should
-// return whether decoder is operating in tunneled mode, and if it is,
-// pSidebandWindow should contain the codec allocated sideband window handle.
-struct ConfigureVideoTunnelModeParams {
-    OMX_U32 nSize;              // IN
-    OMX_VERSIONTYPE nVersion;   // IN
-    OMX_U32 nPortIndex;         // IN
-    OMX_BOOL bTunneled;         // IN/OUT
-    OMX_U32 nAudioHwSync;       // IN
-    OMX_PTR pSidebandWindow;    // OUT
-};
-
-}  // namespace android
-
-extern android::OMXPluginBase *createOMXPlugin();
-
-#endif  // HARDWARE_API_H_
diff --git a/phonelibs/android_frameworks_native/include/media/hardware/MetadataBufferType.h b/phonelibs/android_frameworks_native/include/media/hardware/MetadataBufferType.h
deleted file mode 100644
index b765203956589a..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/hardware/MetadataBufferType.h
+++ /dev/null
@@ -1,127 +0,0 @@
-/*
- * Copyright (C) 2011 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef METADATA_BUFFER_TYPE_H
-#define METADATA_BUFFER_TYPE_H
-
-#ifdef __cplusplus
-extern "C" {
-namespace android {
-#endif
-
-/*
- * MetadataBufferType defines the type of the metadata buffers that
- * can be passed to video encoder component for encoding, via Stagefright
- * media recording framework. To see how to work with the metadata buffers
- * in media recording framework, please consult HardwareAPI.h
- *
- * The creator of metadata buffers and video encoder share common knowledge
- * on what is actually being stored in these metadata buffers, and
- * how the information can be used by the video encoder component
- * to locate the actual pixel data as the source input for video
- * encoder, plus whatever other information that is necessary. Stagefright
- * media recording framework does not need to know anything specific about the
- * metadata buffers, except for receving each individual metadata buffer
- * as the source input, making a copy of the metadata buffer, and passing the
- * copy via OpenMAX API to the video encoder component.
- *
- * The creator of the metadata buffers must ensure that the first
- * 4 bytes in every metadata buffer indicates its buffer type,
- * and the rest of the metadata buffer contains the
- * actual metadata information. When a video encoder component receives
- * a metadata buffer, it uses the first 4 bytes in that buffer to find
- * out the type of the metadata buffer, and takes action appropriate
- * to that type of metadata buffers (for instance, locate the actual
- * pixel data input and then encoding the input data to produce a
- * compressed output buffer).
- *
- * The following shows the layout of a metadata buffer,
- * where buffer type is a 4-byte field of MetadataBufferType,
- * and the payload is the metadata information.
- *
- * --------------------------------------------------------------
- * |  buffer type  |          payload                           |
- * --------------------------------------------------------------
- *
- */
-typedef enum {
-
-    /*
-     * kMetadataBufferTypeCameraSource is used to indicate that
-     * the source of the metadata buffer is the camera component.
-     */
-    kMetadataBufferTypeCameraSource  = 0,
-
-    /*
-     * kMetadataBufferTypeGrallocSource is used to indicate that
-     * the payload of the metadata buffers can be interpreted as
-     * a buffer_handle_t.
-     * So in this case,the metadata that the encoder receives
-     * will have a byte stream that consists of two parts:
-     * 1. First, there is an integer indicating that it is a GRAlloc
-     * source (kMetadataBufferTypeGrallocSource)
-     * 2. This is followed by the buffer_handle_t that is a handle to the
-     * GRalloc buffer. The encoder needs to interpret this GRalloc handle
-     * and encode the frames.
-     * --------------------------------------------------------------
-     * |  kMetadataBufferTypeGrallocSource | buffer_handle_t buffer |
-     * --------------------------------------------------------------
-     *
-     * See the VideoGrallocMetadata structure.
-     */
-    kMetadataBufferTypeGrallocSource = 1,
-
-    /*
-     * kMetadataBufferTypeGraphicBuffer is used to indicate that
-     * the payload of the metadata buffers can be interpreted as
-     * an ANativeWindowBuffer, and that a fence is provided.
-     *
-     * In this case, the metadata will have a byte stream that consists of three parts:
-     * 1. First, there is an integer indicating that the metadata
-     * contains an ANativeWindowBuffer (kMetadataBufferTypeANWBuffer)
-     * 2. This is followed by the pointer to the ANativeWindowBuffer.
-     * Codec must not free this buffer as it does not actually own this buffer.
-     * 3. Finally, there is an integer containing a fence file descriptor.
-     * The codec must wait on the fence before encoding or decoding into this
-     * buffer. When the buffer is returned, codec must replace this file descriptor
-     * with a new fence, that will be waited on before the buffer is replaced
-     * (encoder) or read (decoder).
-     * ---------------------------------
-     * |  kMetadataBufferTypeANWBuffer |
-     * ---------------------------------
-     * |  ANativeWindowBuffer *buffer  |
-     * ---------------------------------
-     * |  int fenceFd                  |
-     * ---------------------------------
-     *
-     * See the VideoNativeMetadata structure.
-     */
-    kMetadataBufferTypeANWBuffer = 2,
-
-    /* This value is used by framework, but is never used inside a metadata buffer  */
-    kMetadataBufferTypeInvalid = -1,
-
-
-    // Add more here...
-
-} MetadataBufferType;
-
-#ifdef __cplusplus
-}  // namespace android
-}
-#endif
-
-#endif  // METADATA_BUFFER_TYPE_H
diff --git a/phonelibs/android_frameworks_native/include/media/hardware/OMXPluginBase.h b/phonelibs/android_frameworks_native/include/media/hardware/OMXPluginBase.h
deleted file mode 100644
index 7bf414739b85dc..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/hardware/OMXPluginBase.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
- * Copyright (C) 2009 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef OMX_PLUGIN_BASE_H_
-
-#define OMX_PLUGIN_BASE_H_
-
-#include <sys/types.h>
-
-#include <OMX_Component.h>
-
-#include <utils/String8.h>
-#include <utils/Vector.h>
-
-namespace android {
-
-struct OMXPluginBase {
-    OMXPluginBase() {}
-    virtual ~OMXPluginBase() {}
-
-    virtual OMX_ERRORTYPE makeComponentInstance(
-            const char *name,
-            const OMX_CALLBACKTYPE *callbacks,
-            OMX_PTR appData,
-            OMX_COMPONENTTYPE **component) = 0;
-
-    virtual OMX_ERRORTYPE destroyComponentInstance(
-            OMX_COMPONENTTYPE *component) = 0;
-
-    virtual OMX_ERRORTYPE enumerateComponents(
-            OMX_STRING name,
-            size_t size,
-            OMX_U32 index) = 0;
-
-    virtual OMX_ERRORTYPE getRolesOfComponent(
-            const char *name,
-            Vector<String8> *roles) = 0;
-
-private:
-    OMXPluginBase(const OMXPluginBase &);
-    OMXPluginBase &operator=(const OMXPluginBase &);
-};
-
-}  // namespace android
-
-#endif  // OMX_PLUGIN_BASE_H_
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_AsString.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_AsString.h
deleted file mode 100644
index ae8430d856124a..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_AsString.h
+++ /dev/null
@@ -1,947 +0,0 @@
-/*
- * Copyright 2014 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/* NOTE: This file contains several sections for individual OMX include files.
-   Each section has its own include guard.  This file should be included AFTER
-   the OMX include files. */
-
-#ifdef OMX_Audio_h
-/* asString definitions if media/openmax/OMX_Audio.h was included */
-
-#ifndef AS_STRING_FOR_OMX_AUDIO_H
-#define AS_STRING_FOR_OMX_AUDIO_H
-
-inline static const char *asString(OMX_AUDIO_CODINGTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_AUDIO_CodingUnused:     return "Unused";      // unused
-        case OMX_AUDIO_CodingAutoDetect: return "AutoDetect";  // unused
-        case OMX_AUDIO_CodingPCM:        return "PCM";
-        case OMX_AUDIO_CodingADPCM:      return "ADPCM";       // unused
-        case OMX_AUDIO_CodingAMR:        return "AMR";
-        case OMX_AUDIO_CodingGSMFR:      return "GSMFR";
-        case OMX_AUDIO_CodingGSMEFR:     return "GSMEFR";      // unused
-        case OMX_AUDIO_CodingGSMHR:      return "GSMHR";       // unused
-        case OMX_AUDIO_CodingPDCFR:      return "PDCFR";       // unused
-        case OMX_AUDIO_CodingPDCEFR:     return "PDCEFR";      // unused
-        case OMX_AUDIO_CodingPDCHR:      return "PDCHR";       // unused
-        case OMX_AUDIO_CodingTDMAFR:     return "TDMAFR";      // unused
-        case OMX_AUDIO_CodingTDMAEFR:    return "TDMAEFR";     // unused
-        case OMX_AUDIO_CodingQCELP8:     return "QCELP8";      // unused
-        case OMX_AUDIO_CodingQCELP13:    return "QCELP13";     // unused
-        case OMX_AUDIO_CodingEVRC:       return "EVRC";        // unused
-        case OMX_AUDIO_CodingSMV:        return "SMV";         // unused
-        case OMX_AUDIO_CodingG711:       return "G711";
-        case OMX_AUDIO_CodingG723:       return "G723";        // unused
-        case OMX_AUDIO_CodingG726:       return "G726";        // unused
-        case OMX_AUDIO_CodingG729:       return "G729";        // unused
-        case OMX_AUDIO_CodingAAC:        return "AAC";
-        case OMX_AUDIO_CodingMP3:        return "MP3";
-        case OMX_AUDIO_CodingSBC:        return "SBC";         // unused
-        case OMX_AUDIO_CodingVORBIS:     return "VORBIS";
-        case OMX_AUDIO_CodingWMA:        return "WMA";         // unused
-        case OMX_AUDIO_CodingRA:         return "RA";          // unused
-        case OMX_AUDIO_CodingMIDI:       return "MIDI";        // unused
-        case OMX_AUDIO_CodingFLAC:       return "FLAC";
-        default:                         return def;
-    }
-}
-
-inline static const char *asString(OMX_AUDIO_PCMMODETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_AUDIO_PCMModeLinear: return "Linear";
-        case OMX_AUDIO_PCMModeALaw:   return "ALaw";
-        case OMX_AUDIO_PCMModeMULaw:  return "MULaw";
-        default:                      return def;
-    }
-}
-
-inline static const char *asString(OMX_AUDIO_CHANNELTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_AUDIO_ChannelNone: return "None";  // unused
-        case OMX_AUDIO_ChannelLF:   return "LF";
-        case OMX_AUDIO_ChannelRF:   return "RF";
-        case OMX_AUDIO_ChannelCF:   return "CF";
-        case OMX_AUDIO_ChannelLS:   return "LS";
-        case OMX_AUDIO_ChannelRS:   return "RS";
-        case OMX_AUDIO_ChannelLFE:  return "LFE";
-        case OMX_AUDIO_ChannelCS:   return "CS";
-        case OMX_AUDIO_ChannelLR:   return "LR";
-        case OMX_AUDIO_ChannelRR:   return "RR";
-        default:                    return def;
-    }
-}
-
-inline static const char *asString(OMX_AUDIO_CHANNELMODETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_AUDIO_ChannelModeStereo:      return "Stereo";
-//      case OMX_AUDIO_ChannelModeJointStereo: return "JointStereo";
-//      case OMX_AUDIO_ChannelModeDual:        return "Dual";
-        case OMX_AUDIO_ChannelModeMono:        return "Mono";
-        default:                               return def;
-    }
-}
-
-inline static const char *asString(OMX_AUDIO_AACSTREAMFORMATTYPE i, const char *def = "??") {
-    switch (i) {
-//      case OMX_AUDIO_AACStreamFormatMP2ADTS: return "MP2ADTS";
-        case OMX_AUDIO_AACStreamFormatMP4ADTS: return "MP4ADTS";
-//      case OMX_AUDIO_AACStreamFormatMP4LOAS: return "MP4LOAS";
-//      case OMX_AUDIO_AACStreamFormatMP4LATM: return "MP4LATM";
-//      case OMX_AUDIO_AACStreamFormatADIF:    return "ADIF";
-        case OMX_AUDIO_AACStreamFormatMP4FF:   return "MP4FF";
-//      case OMX_AUDIO_AACStreamFormatRAW:     return "RAW";
-        default:                               return def;
-    }
-}
-
-inline static const char *asString(OMX_AUDIO_AMRFRAMEFORMATTYPE i, const char *def = "??") {
-    switch (i) {
-//      case OMX_AUDIO_AMRFrameFormatConformance: return "Conformance";
-//      case OMX_AUDIO_AMRFrameFormatIF1:         return "IF1";
-//      case OMX_AUDIO_AMRFrameFormatIF2:         return "IF2";
-        case OMX_AUDIO_AMRFrameFormatFSF:         return "FSF";
-//      case OMX_AUDIO_AMRFrameFormatRTPPayload:  return "RTPPayload";
-//      case OMX_AUDIO_AMRFrameFormatITU:         return "ITU";
-        default:                                  return def;
-    }
-}
-
-inline static const char *asString(OMX_AUDIO_AMRBANDMODETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_AUDIO_AMRBandModeUnused: return "Unused";
-        case OMX_AUDIO_AMRBandModeNB0:    return "NB0";
-        case OMX_AUDIO_AMRBandModeNB1:    return "NB1";
-        case OMX_AUDIO_AMRBandModeNB2:    return "NB2";
-        case OMX_AUDIO_AMRBandModeNB3:    return "NB3";
-        case OMX_AUDIO_AMRBandModeNB4:    return "NB4";
-        case OMX_AUDIO_AMRBandModeNB5:    return "NB5";
-        case OMX_AUDIO_AMRBandModeNB6:    return "NB6";
-        case OMX_AUDIO_AMRBandModeNB7:    return "NB7";
-        case OMX_AUDIO_AMRBandModeWB0:    return "WB0";
-        case OMX_AUDIO_AMRBandModeWB1:    return "WB1";
-        case OMX_AUDIO_AMRBandModeWB2:    return "WB2";
-        case OMX_AUDIO_AMRBandModeWB3:    return "WB3";
-        case OMX_AUDIO_AMRBandModeWB4:    return "WB4";
-        case OMX_AUDIO_AMRBandModeWB5:    return "WB5";
-        case OMX_AUDIO_AMRBandModeWB6:    return "WB6";
-        case OMX_AUDIO_AMRBandModeWB7:    return "WB7";
-        case OMX_AUDIO_AMRBandModeWB8:    return "WB8";
-        default:                          return def;
-    }
-}
-
-inline static const char *asString(OMX_AUDIO_AMRDTXMODETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_AUDIO_AMRDTXModeOff:    return "ModeOff";
-//      case OMX_AUDIO_AMRDTXModeOnVAD1: return "ModeOnVAD1";
-//      case OMX_AUDIO_AMRDTXModeOnVAD2: return "ModeOnVAD2";
-//      case OMX_AUDIO_AMRDTXModeOnAuto: return "ModeOnAuto";
-//      case OMX_AUDIO_AMRDTXasEFR:      return "asEFR";
-        default:                         return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_AUDIO_H
-
-#endif // OMX_Audio_h
-
-#ifdef OMX_AudioExt_h
-/* asString definitions if media/openmax/OMX_AudioExt.h was included */
-
-#ifndef AS_STRING_FOR_OMX_AUDIOEXT_H
-#define AS_STRING_FOR_OMX_AUDIOEXT_H
-
-inline static const char *asString(OMX_AUDIO_CODINGEXTTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_AUDIO_CodingAndroidAC3:  return "AndroidAC3";
-        case OMX_AUDIO_CodingAndroidOPUS: return "AndroidOPUS";
-        default:                          return asString((OMX_AUDIO_CODINGTYPE)i, def);
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_AUDIOEXT_H
-
-#endif // OMX_AudioExt_h
-
-#ifdef OMX_Component_h
-/* asString definitions if media/openmax/OMX_Component.h was included */
-
-#ifndef AS_STRING_FOR_OMX_COMPONENT_H
-#define AS_STRING_FOR_OMX_COMPONENT_H
-
-inline static const char *asString(OMX_PORTDOMAINTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_PortDomainAudio: return "Audio";
-        case OMX_PortDomainVideo: return "Video";
-        case OMX_PortDomainImage: return "Image";
-//      case OMX_PortDomainOther: return "Other";
-        default:                  return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_COMPONENT_H
-
-#endif // OMX_Component_h
-
-#ifdef OMX_Core_h
-/* asString definitions if media/openmax/OMX_Core.h was included */
-
-#ifndef AS_STRING_FOR_OMX_CORE_H
-#define AS_STRING_FOR_OMX_CORE_H
-
-inline static const char *asString(OMX_COMMANDTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_CommandStateSet:    return "StateSet";
-        case OMX_CommandFlush:       return "Flush";
-        case OMX_CommandPortDisable: return "PortDisable";
-        case OMX_CommandPortEnable:  return "PortEnable";
-//      case OMX_CommandMarkBuffer:  return "MarkBuffer";
-        default:                     return def;
-    }
-}
-
-inline static const char *asString(OMX_STATETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_StateInvalid:          return "Invalid";
-        case OMX_StateLoaded:           return "Loaded";
-        case OMX_StateIdle:             return "Idle";
-        case OMX_StateExecuting:        return "Executing";
-//      case OMX_StatePause:            return "Pause";
-//      case OMX_StateWaitForResources: return "WaitForResources";
-        default:                        return def;
-    }
-}
-
-inline static const char *asString(OMX_ERRORTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_ErrorNone:                               return "None";
-        case OMX_ErrorInsufficientResources:              return "InsufficientResources";
-        case OMX_ErrorUndefined:                          return "Undefined";
-        case OMX_ErrorInvalidComponentName:               return "InvalidComponentName";
-        case OMX_ErrorComponentNotFound:                  return "ComponentNotFound";
-        case OMX_ErrorInvalidComponent:                   return "InvalidComponent";       // unused
-        case OMX_ErrorBadParameter:                       return "BadParameter";
-        case OMX_ErrorNotImplemented:                     return "NotImplemented";
-        case OMX_ErrorUnderflow:                          return "Underflow";              // unused
-        case OMX_ErrorOverflow:                           return "Overflow";               // unused
-        case OMX_ErrorHardware:                           return "Hardware";               // unused
-        case OMX_ErrorInvalidState:                       return "InvalidState";
-        case OMX_ErrorStreamCorrupt:                      return "StreamCorrupt";
-        case OMX_ErrorPortsNotCompatible:                 return "PortsNotCompatible";     // unused
-        case OMX_ErrorResourcesLost:                      return "ResourcesLost";
-        case OMX_ErrorNoMore:                             return "NoMore";
-        case OMX_ErrorVersionMismatch:                    return "VersionMismatch";        // unused
-        case OMX_ErrorNotReady:                           return "NotReady";               // unused
-        case OMX_ErrorTimeout:                            return "Timeout";                // unused
-        case OMX_ErrorSameState:                          return "SameState";              // unused
-        case OMX_ErrorResourcesPreempted:                 return "ResourcesPreempted";     // unused
-        case OMX_ErrorPortUnresponsiveDuringAllocation:
-            return "PortUnresponsiveDuringAllocation";    // unused
-        case OMX_ErrorPortUnresponsiveDuringDeallocation:
-            return "PortUnresponsiveDuringDeallocation";  // unused
-        case OMX_ErrorPortUnresponsiveDuringStop:
-            return "PortUnresponsiveDuringStop";          // unused
-        case OMX_ErrorIncorrectStateTransition:
-            return "IncorrectStateTransition";            // unused
-        case OMX_ErrorIncorrectStateOperation:
-            return "IncorrectStateOperation";             // unused
-        case OMX_ErrorUnsupportedSetting:                 return "UnsupportedSetting";
-        case OMX_ErrorUnsupportedIndex:                   return "UnsupportedIndex";
-        case OMX_ErrorBadPortIndex:                       return "BadPortIndex";
-        case OMX_ErrorPortUnpopulated:                    return "PortUnpopulated";        // unused
-        case OMX_ErrorComponentSuspended:                 return "ComponentSuspended";     // unused
-        case OMX_ErrorDynamicResourcesUnavailable:
-            return "DynamicResourcesUnavailable";         // unused
-        case OMX_ErrorMbErrorsInFrame:                    return "MbErrorsInFrame";        // unused
-        case OMX_ErrorFormatNotDetected:                  return "FormatNotDetected";      // unused
-        case OMX_ErrorContentPipeOpenFailed:              return "ContentPipeOpenFailed";  // unused
-        case OMX_ErrorContentPipeCreationFailed:
-            return "ContentPipeCreationFailed";           // unused
-        case OMX_ErrorSeperateTablesUsed:                 return "SeperateTablesUsed";     // unused
-        case OMX_ErrorTunnelingUnsupported:               return "TunnelingUnsupported";   // unused
-        default:                                          return def;
-    }
-}
-
-inline static const char *asString(OMX_EVENTTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_EventCmdComplete:               return "CmdComplete";
-        case OMX_EventError:                     return "Error";
-//      case OMX_EventMark:                      return "Mark";
-        case OMX_EventPortSettingsChanged:       return "PortSettingsChanged";
-        case OMX_EventBufferFlag:                return "BufferFlag";
-//      case OMX_EventResourcesAcquired:         return "ResourcesAcquired";
-//      case OMX_EventComponentResumed:          return "ComponentResumed";
-//      case OMX_EventDynamicResourcesAvailable: return "DynamicResourcesAvailable";
-//      case OMX_EventPortFormatDetected:        return "PortFormatDetected";
-        case OMX_EventOutputRendered:            return "OutputRendered";
-        default:                                 return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_CORE_H
-
-#endif // OMX_Core_h
-
-#ifdef OMX_Image_h
-/* asString definitions if media/openmax/OMX_Image.h was included */
-
-#ifndef AS_STRING_FOR_OMX_IMAGE_H
-#define AS_STRING_FOR_OMX_IMAGE_H
-
-inline static const char *asString(OMX_IMAGE_CODINGTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_IMAGE_CodingUnused:     return "Unused";
-        case OMX_IMAGE_CodingAutoDetect: return "AutoDetect";  // unused
-        case OMX_IMAGE_CodingJPEG:       return "JPEG";
-        case OMX_IMAGE_CodingJPEG2K:     return "JPEG2K";      // unused
-        case OMX_IMAGE_CodingEXIF:       return "EXIF";        // unused
-        case OMX_IMAGE_CodingTIFF:       return "TIFF";        // unused
-        case OMX_IMAGE_CodingGIF:        return "GIF";         // unused
-        case OMX_IMAGE_CodingPNG:        return "PNG";         // unused
-        case OMX_IMAGE_CodingLZW:        return "LZW";         // unused
-        case OMX_IMAGE_CodingBMP:        return "BMP";         // unused
-        default:                         return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_IMAGE_H
-
-#endif // OMX_Image_h
-
-#ifdef OMX_Index_h
-/* asString definitions if media/openmax/OMX_Index.h was included */
-
-#ifndef AS_STRING_FOR_OMX_INDEX_H
-#define AS_STRING_FOR_OMX_INDEX_H
-
-inline static const char *asString(OMX_INDEXTYPE i, const char *def = "??") {
-    switch (i) {
-//      case OMX_IndexParamPriorityMgmt:                    return "ParamPriorityMgmt";
-//      case OMX_IndexParamAudioInit:                       return "ParamAudioInit";
-//      case OMX_IndexParamImageInit:                       return "ParamImageInit";
-//      case OMX_IndexParamVideoInit:                       return "ParamVideoInit";
-//      case OMX_IndexParamOtherInit:                       return "ParamOtherInit";
-//      case OMX_IndexParamNumAvailableStreams:             return "ParamNumAvailableStreams";
-//      case OMX_IndexParamActiveStream:                    return "ParamActiveStream";
-//      case OMX_IndexParamSuspensionPolicy:                return "ParamSuspensionPolicy";
-//      case OMX_IndexParamComponentSuspended:              return "ParamComponentSuspended";
-//      case OMX_IndexConfigCapturing:                      return "ConfigCapturing";
-//      case OMX_IndexConfigCaptureMode:                    return "ConfigCaptureMode";
-//      case OMX_IndexAutoPauseAfterCapture:                return "AutoPauseAfterCapture";
-//      case OMX_IndexParamContentURI:                      return "ParamContentURI";
-//      case OMX_IndexParamCustomContentPipe:               return "ParamCustomContentPipe";
-//      case OMX_IndexParamDisableResourceConcealment:
-//          return "ParamDisableResourceConcealment";
-//      case OMX_IndexConfigMetadataItemCount:              return "ConfigMetadataItemCount";
-//      case OMX_IndexConfigContainerNodeCount:             return "ConfigContainerNodeCount";
-//      case OMX_IndexConfigMetadataItem:                   return "ConfigMetadataItem";
-//      case OMX_IndexConfigCounterNodeID:                  return "ConfigCounterNodeID";
-//      case OMX_IndexParamMetadataFilterType:              return "ParamMetadataFilterType";
-//      case OMX_IndexParamMetadataKeyFilter:               return "ParamMetadataKeyFilter";
-//      case OMX_IndexConfigPriorityMgmt:                   return "ConfigPriorityMgmt";
-        case OMX_IndexParamStandardComponentRole:           return "ParamStandardComponentRole";
-        case OMX_IndexParamPortDefinition:                  return "ParamPortDefinition";
-//      case OMX_IndexParamCompBufferSupplier:              return "ParamCompBufferSupplier";
-        case OMX_IndexParamAudioPortFormat:                 return "ParamAudioPortFormat";
-        case OMX_IndexParamAudioPcm:                        return "ParamAudioPcm";
-        case OMX_IndexParamAudioAac:                        return "ParamAudioAac";
-//      case OMX_IndexParamAudioRa:                         return "ParamAudioRa";
-        case OMX_IndexParamAudioMp3:                        return "ParamAudioMp3";
-//      case OMX_IndexParamAudioAdpcm:                      return "ParamAudioAdpcm";
-//      case OMX_IndexParamAudioG723:                       return "ParamAudioG723";
-//      case OMX_IndexParamAudioG729:                       return "ParamAudioG729";
-        case OMX_IndexParamAudioAmr:                        return "ParamAudioAmr";
-//      case OMX_IndexParamAudioWma:                        return "ParamAudioWma";
-//      case OMX_IndexParamAudioSbc:                        return "ParamAudioSbc";
-//      case OMX_IndexParamAudioMidi:                       return "ParamAudioMidi";
-//      case OMX_IndexParamAudioGsm_FR:                     return "ParamAudioGsm_FR";
-//      case OMX_IndexParamAudioMidiLoadUserSound:          return "ParamAudioMidiLoadUserSound";
-//      case OMX_IndexParamAudioG726:                       return "ParamAudioG726";
-//      case OMX_IndexParamAudioGsm_EFR:                    return "ParamAudioGsm_EFR";
-//      case OMX_IndexParamAudioGsm_HR:                     return "ParamAudioGsm_HR";
-//      case OMX_IndexParamAudioPdc_FR:                     return "ParamAudioPdc_FR";
-//      case OMX_IndexParamAudioPdc_EFR:                    return "ParamAudioPdc_EFR";
-//      case OMX_IndexParamAudioPdc_HR:                     return "ParamAudioPdc_HR";
-//      case OMX_IndexParamAudioTdma_FR:                    return "ParamAudioTdma_FR";
-//      case OMX_IndexParamAudioTdma_EFR:                   return "ParamAudioTdma_EFR";
-//      case OMX_IndexParamAudioQcelp8:                     return "ParamAudioQcelp8";
-//      case OMX_IndexParamAudioQcelp13:                    return "ParamAudioQcelp13";
-//      case OMX_IndexParamAudioEvrc:                       return "ParamAudioEvrc";
-//      case OMX_IndexParamAudioSmv:                        return "ParamAudioSmv";
-        case OMX_IndexParamAudioVorbis:                     return "ParamAudioVorbis";
-        case OMX_IndexParamAudioFlac:                       return "ParamAudioFlac";
-//      case OMX_IndexConfigAudioMidiImmediateEvent:        return "ConfigAudioMidiImmediateEvent";
-//      case OMX_IndexConfigAudioMidiControl:               return "ConfigAudioMidiControl";
-//      case OMX_IndexConfigAudioMidiSoundBankProgram:
-//          return "ConfigAudioMidiSoundBankProgram";
-//      case OMX_IndexConfigAudioMidiStatus:                return "ConfigAudioMidiStatus";
-//      case OMX_IndexConfigAudioMidiMetaEvent:             return "ConfigAudioMidiMetaEvent";
-//      case OMX_IndexConfigAudioMidiMetaEventData:         return "ConfigAudioMidiMetaEventData";
-//      case OMX_IndexConfigAudioVolume:                    return "ConfigAudioVolume";
-//      case OMX_IndexConfigAudioBalance:                   return "ConfigAudioBalance";
-//      case OMX_IndexConfigAudioChannelMute:               return "ConfigAudioChannelMute";
-//      case OMX_IndexConfigAudioMute:                      return "ConfigAudioMute";
-//      case OMX_IndexConfigAudioLoudness:                  return "ConfigAudioLoudness";
-//      case OMX_IndexConfigAudioEchoCancelation:           return "ConfigAudioEchoCancelation";
-//      case OMX_IndexConfigAudioNoiseReduction:            return "ConfigAudioNoiseReduction";
-//      case OMX_IndexConfigAudioBass:                      return "ConfigAudioBass";
-//      case OMX_IndexConfigAudioTreble:                    return "ConfigAudioTreble";
-//      case OMX_IndexConfigAudioStereoWidening:            return "ConfigAudioStereoWidening";
-//      case OMX_IndexConfigAudioChorus:                    return "ConfigAudioChorus";
-//      case OMX_IndexConfigAudioEqualizer:                 return "ConfigAudioEqualizer";
-//      case OMX_IndexConfigAudioReverberation:             return "ConfigAudioReverberation";
-//      case OMX_IndexConfigAudioChannelVolume:             return "ConfigAudioChannelVolume";
-//      case OMX_IndexParamImagePortFormat:                 return "ParamImagePortFormat";
-//      case OMX_IndexParamFlashControl:                    return "ParamFlashControl";
-//      case OMX_IndexConfigFocusControl:                   return "ConfigFocusControl";
-//      case OMX_IndexParamQFactor:                         return "ParamQFactor";
-//      case OMX_IndexParamQuantizationTable:               return "ParamQuantizationTable";
-//      case OMX_IndexParamHuffmanTable:                    return "ParamHuffmanTable";
-//      case OMX_IndexConfigFlashControl:                   return "ConfigFlashControl";
-        case OMX_IndexParamVideoPortFormat:                 return "ParamVideoPortFormat";
-//      case OMX_IndexParamVideoQuantization:               return "ParamVideoQuantization";
-//      case OMX_IndexParamVideoFastUpdate:                 return "ParamVideoFastUpdate";
-        case OMX_IndexParamVideoBitrate:                    return "ParamVideoBitrate";
-//      case OMX_IndexParamVideoMotionVector:               return "ParamVideoMotionVector";
-        case OMX_IndexParamVideoIntraRefresh:               return "ParamVideoIntraRefresh";
-        case OMX_IndexParamVideoErrorCorrection:            return "ParamVideoErrorCorrection";
-//      case OMX_IndexParamVideoVBSMC:                      return "ParamVideoVBSMC";
-//      case OMX_IndexParamVideoMpeg2:                      return "ParamVideoMpeg2";
-        case OMX_IndexParamVideoMpeg4:                      return "ParamVideoMpeg4";
-//      case OMX_IndexParamVideoWmv:                        return "ParamVideoWmv";
-//      case OMX_IndexParamVideoRv:                         return "ParamVideoRv";
-        case OMX_IndexParamVideoAvc:                        return "ParamVideoAvc";
-        case OMX_IndexParamVideoH263:                       return "ParamVideoH263";
-        case OMX_IndexParamVideoProfileLevelQuerySupported:
-            return "ParamVideoProfileLevelQuerySupported";
-        case OMX_IndexParamVideoProfileLevelCurrent:        return "ParamVideoProfileLevelCurrent";
-        case OMX_IndexConfigVideoBitrate:                   return "ConfigVideoBitrate";
-//      case OMX_IndexConfigVideoFramerate:                 return "ConfigVideoFramerate";
-        case OMX_IndexConfigVideoIntraVOPRefresh:           return "ConfigVideoIntraVOPRefresh";
-//      case OMX_IndexConfigVideoIntraMBRefresh:            return "ConfigVideoIntraMBRefresh";
-//      case OMX_IndexConfigVideoMBErrorReporting:          return "ConfigVideoMBErrorReporting";
-//      case OMX_IndexParamVideoMacroblocksPerFrame:        return "ParamVideoMacroblocksPerFrame";
-//      case OMX_IndexConfigVideoMacroBlockErrorMap:        return "ConfigVideoMacroBlockErrorMap";
-//      case OMX_IndexParamVideoSliceFMO:                   return "ParamVideoSliceFMO";
-//      case OMX_IndexConfigVideoAVCIntraPeriod:            return "ConfigVideoAVCIntraPeriod";
-//      case OMX_IndexConfigVideoNalSize:                   return "ConfigVideoNalSize";
-//      case OMX_IndexParamCommonDeblocking:                return "ParamCommonDeblocking";
-//      case OMX_IndexParamCommonSensorMode:                return "ParamCommonSensorMode";
-//      case OMX_IndexParamCommonInterleave:                return "ParamCommonInterleave";
-//      case OMX_IndexConfigCommonColorFormatConversion:
-//          return "ConfigCommonColorFormatConversion";
-        case OMX_IndexConfigCommonScale:                    return "ConfigCommonScale";
-//      case OMX_IndexConfigCommonImageFilter:              return "ConfigCommonImageFilter";
-//      case OMX_IndexConfigCommonColorEnhancement:         return "ConfigCommonColorEnhancement";
-//      case OMX_IndexConfigCommonColorKey:                 return "ConfigCommonColorKey";
-//      case OMX_IndexConfigCommonColorBlend:               return "ConfigCommonColorBlend";
-//      case OMX_IndexConfigCommonFrameStabilisation:       return "ConfigCommonFrameStabilisation";
-//      case OMX_IndexConfigCommonRotate:                   return "ConfigCommonRotate";
-//      case OMX_IndexConfigCommonMirror:                   return "ConfigCommonMirror";
-//      case OMX_IndexConfigCommonOutputPosition:           return "ConfigCommonOutputPosition";
-        case OMX_IndexConfigCommonInputCrop:                return "ConfigCommonInputCrop";
-        case OMX_IndexConfigCommonOutputCrop:               return "ConfigCommonOutputCrop";
-//      case OMX_IndexConfigCommonDigitalZoom:              return "ConfigCommonDigitalZoom";
-//      case OMX_IndexConfigCommonOpticalZoom:              return "ConfigCommonOpticalZoom";
-//      case OMX_IndexConfigCommonWhiteBalance:             return "ConfigCommonWhiteBalance";
-//      case OMX_IndexConfigCommonExposure:                 return "ConfigCommonExposure";
-//      case OMX_IndexConfigCommonContrast:                 return "ConfigCommonContrast";
-//      case OMX_IndexConfigCommonBrightness:               return "ConfigCommonBrightness";
-//      case OMX_IndexConfigCommonBacklight:                return "ConfigCommonBacklight";
-//      case OMX_IndexConfigCommonGamma:                    return "ConfigCommonGamma";
-//      case OMX_IndexConfigCommonSaturation:               return "ConfigCommonSaturation";
-//      case OMX_IndexConfigCommonLightness:                return "ConfigCommonLightness";
-//      case OMX_IndexConfigCommonExclusionRect:            return "ConfigCommonExclusionRect";
-//      case OMX_IndexConfigCommonDithering:                return "ConfigCommonDithering";
-//      case OMX_IndexConfigCommonPlaneBlend:               return "ConfigCommonPlaneBlend";
-//      case OMX_IndexConfigCommonExposureValue:            return "ConfigCommonExposureValue";
-//      case OMX_IndexConfigCommonOutputSize:               return "ConfigCommonOutputSize";
-//      case OMX_IndexParamCommonExtraQuantData:            return "ParamCommonExtraQuantData";
-//      case OMX_IndexConfigCommonFocusRegion:              return "ConfigCommonFocusRegion";
-//      case OMX_IndexConfigCommonFocusStatus:              return "ConfigCommonFocusStatus";
-//      case OMX_IndexConfigCommonTransitionEffect:         return "ConfigCommonTransitionEffect";
-//      case OMX_IndexParamOtherPortFormat:                 return "ParamOtherPortFormat";
-//      case OMX_IndexConfigOtherPower:                     return "ConfigOtherPower";
-//      case OMX_IndexConfigOtherStats:                     return "ConfigOtherStats";
-//      case OMX_IndexConfigTimeScale:                      return "ConfigTimeScale";
-//      case OMX_IndexConfigTimeClockState:                 return "ConfigTimeClockState";
-//      case OMX_IndexConfigTimeActiveRefClock:             return "ConfigTimeActiveRefClock";
-//      case OMX_IndexConfigTimeCurrentMediaTime:           return "ConfigTimeCurrentMediaTime";
-//      case OMX_IndexConfigTimeCurrentWallTime:            return "ConfigTimeCurrentWallTime";
-//      case OMX_IndexConfigTimeCurrentAudioReference:
-//          return "ConfigTimeCurrentAudioReference";
-//      case OMX_IndexConfigTimeCurrentVideoReference:
-//          return "ConfigTimeCurrentVideoReference";
-//      case OMX_IndexConfigTimeMediaTimeRequest:           return "ConfigTimeMediaTimeRequest";
-//      case OMX_IndexConfigTimeClientStartTime:            return "ConfigTimeClientStartTime";
-//      case OMX_IndexConfigTimePosition:                   return "ConfigTimePosition";
-//      case OMX_IndexConfigTimeSeekMode:                   return "ConfigTimeSeekMode";
-        default:                                            return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_INDEX_H
-
-#endif // OMX_Index_h
-
-#ifdef OMX_IndexExt_h
-/* asString definitions if media/openmax/OMX_IndexExt.h was included */
-
-#ifndef AS_STRING_FOR_OMX_INDEXEXT_H
-#define AS_STRING_FOR_OMX_INDEXEXT_H
-
-inline static const char *asString(OMX_INDEXEXTTYPE i, const char *def = "??") {
-    switch (i) {
-//      case OMX_IndexConfigCallbackRequest:            return "ConfigCallbackRequest";
-//      case OMX_IndexConfigCommitMode:                 return "ConfigCommitMode";
-//      case OMX_IndexConfigCommit:                     return "ConfigCommit";
-        case OMX_IndexParamAudioAndroidAc3:             return "ParamAudioAndroidAc3";
-        case OMX_IndexParamAudioAndroidOpus:            return "ParamAudioAndroidOpus";
-        case OMX_IndexParamAudioAndroidAacPresentation: return "ParamAudioAndroidAacPresentation";
-//      case OMX_IndexParamNalStreamFormatSupported:    return "ParamNalStreamFormatSupported";
-//      case OMX_IndexParamNalStreamFormat:             return "ParamNalStreamFormat";
-//      case OMX_IndexParamNalStreamFormatSelect:       return "ParamNalStreamFormatSelect";
-        case OMX_IndexParamVideoVp8:                    return "ParamVideoVp8";
-//      case OMX_IndexConfigVideoVp8ReferenceFrame:     return "ConfigVideoVp8ReferenceFrame";
-//      case OMX_IndexConfigVideoVp8ReferenceFrameType: return "ConfigVideoVp8ReferenceFrameType";
-        case OMX_IndexParamVideoAndroidVp8Encoder:      return "ParamVideoAndroidVp8Encoder";
-        case OMX_IndexParamVideoHevc:                   return "ParamVideoHevc";
-//      case OMX_IndexParamSliceSegments:               return "ParamSliceSegments";
-        case OMX_IndexConfigAutoFramerateConversion:    return "ConfigAutoFramerateConversion";
-        case OMX_IndexConfigPriority:                   return "ConfigPriority";
-        case OMX_IndexConfigOperatingRate:              return "ConfigOperatingRate";
-        case OMX_IndexParamConsumerUsageBits:           return "ParamConsumerUsageBits";
-        default:                                        return asString((OMX_INDEXTYPE)i, def);
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_INDEXEXT_H
-
-#endif // OMX_IndexExt_h
-
-#ifdef OMX_IVCommon_h
-/* asString definitions if media/openmax/OMX_IVCommon.h was included */
-
-#ifndef AS_STRING_FOR_OMX_IVCOMMON_H
-#define AS_STRING_FOR_OMX_IVCOMMON_H
-
-inline static const char *asString(OMX_COLOR_FORMATTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_COLOR_FormatUnused:
-            return "COLOR_FormatUnused";
-        case OMX_COLOR_FormatMonochrome:
-            return "COLOR_FormatMonochrome";
-        case OMX_COLOR_Format8bitRGB332:
-            return "COLOR_Format8bitRGB332";
-        case OMX_COLOR_Format12bitRGB444:
-            return "COLOR_Format12bitRGB444";
-        case OMX_COLOR_Format16bitARGB4444:
-            return "COLOR_Format16bitARGB4444";
-        case OMX_COLOR_Format16bitARGB1555:
-            return "COLOR_Format16bitARGB1555";
-        case OMX_COLOR_Format16bitRGB565:
-            return "COLOR_Format16bitRGB565";
-        case OMX_COLOR_Format16bitBGR565:
-            return "COLOR_Format16bitBGR565";
-        case OMX_COLOR_Format18bitRGB666:
-            return "COLOR_Format18bitRGB666";
-        case OMX_COLOR_Format18bitARGB1665:
-            return "COLOR_Format18bitARGB1665";
-        case OMX_COLOR_Format19bitARGB1666:
-            return "COLOR_Format19bitARGB1666";
-        case OMX_COLOR_Format24bitRGB888:
-            return "COLOR_Format24bitRGB888";
-        case OMX_COLOR_Format24bitBGR888:
-            return "COLOR_Format24bitBGR888";
-        case OMX_COLOR_Format24bitARGB1887:
-            return "COLOR_Format24bitARGB1887";
-        case OMX_COLOR_Format25bitARGB1888:
-            return "COLOR_Format25bitARGB1888";
-        case OMX_COLOR_Format32bitBGRA8888:
-            return "COLOR_Format32bitBGRA8888";
-        case OMX_COLOR_Format32bitARGB8888:
-            return "COLOR_Format32bitARGB8888";
-        case OMX_COLOR_FormatYUV411Planar:
-            return "COLOR_FormatYUV411Planar";
-        case OMX_COLOR_FormatYUV411PackedPlanar:
-            return "COLOR_FormatYUV411PackedPlanar";
-        case OMX_COLOR_FormatYUV420Planar:
-            return "COLOR_FormatYUV420Planar";
-        case OMX_COLOR_FormatYUV420PackedPlanar:
-            return "COLOR_FormatYUV420PackedPlanar";
-        case OMX_COLOR_FormatYUV420SemiPlanar:
-            return "COLOR_FormatYUV420SemiPlanar";
-        case OMX_COLOR_FormatYUV422Planar:
-            return "COLOR_FormatYUV422Planar";
-        case OMX_COLOR_FormatYUV422PackedPlanar:
-            return "COLOR_FormatYUV422PackedPlanar";
-        case OMX_COLOR_FormatYUV422SemiPlanar:
-            return "COLOR_FormatYUV422SemiPlanar";
-        case OMX_COLOR_FormatYCbYCr:
-            return "COLOR_FormatYCbYCr";
-        case OMX_COLOR_FormatYCrYCb:
-            return "COLOR_FormatYCrYCb";
-        case OMX_COLOR_FormatCbYCrY:
-            return "COLOR_FormatCbYCrY";
-        case OMX_COLOR_FormatCrYCbY:
-            return "COLOR_FormatCrYCbY";
-        case OMX_COLOR_FormatYUV444Interleaved:
-            return "COLOR_FormatYUV444Interleaved";
-        case OMX_COLOR_FormatRawBayer8bit:
-            return "COLOR_FormatRawBayer8bit";
-        case OMX_COLOR_FormatRawBayer10bit:
-            return "COLOR_FormatRawBayer10bit";
-        case OMX_COLOR_FormatRawBayer8bitcompressed:
-            return "COLOR_FormatRawBayer8bitcompressed";
-        case OMX_COLOR_FormatL2:
-            return "COLOR_FormatL2";
-        case OMX_COLOR_FormatL4:
-            return "COLOR_FormatL4";
-        case OMX_COLOR_FormatL8:
-            return "COLOR_FormatL8";
-        case OMX_COLOR_FormatL16:
-            return "COLOR_FormatL16";
-        case OMX_COLOR_FormatL24:
-            return "COLOR_FormatL24";
-        case OMX_COLOR_FormatL32:
-            return "COLOR_FormatL32";
-        case OMX_COLOR_FormatYUV420PackedSemiPlanar:
-            return "COLOR_FormatYUV420PackedSemiPlanar";
-        case OMX_COLOR_FormatYUV422PackedSemiPlanar:
-            return "COLOR_FormatYUV422PackedSemiPlanar";
-        case OMX_COLOR_Format18BitBGR666:
-            return "COLOR_Format18BitBGR666";
-        case OMX_COLOR_Format24BitARGB6666:
-            return "COLOR_Format24BitARGB6666";
-        case OMX_COLOR_Format24BitABGR6666:
-            return "COLOR_Format24BitABGR6666";
-        case OMX_COLOR_FormatAndroidOpaque:
-            return "COLOR_FormatAndroidOpaque";
-        case OMX_COLOR_FormatYUV420Flexible:
-            return "COLOR_FormatYUV420Flexible";
-        case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar:
-            return "TI_COLOR_FormatYUV420PackedSemiPlanar";
-        case OMX_QCOM_COLOR_FormatYVU420SemiPlanar:
-            return "QCOM_COLOR_FormatYVU420SemiPlanar";
-//      case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka:
-//          return "QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
-//      case OMX_SEC_COLOR_FormatNV12Tiled:
-//          return "SEC_COLOR_FormatNV12Tiled";
-//      case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m:
-//          return "QCOM_COLOR_FormatYUV420PackedSemiPlanar32m";
-        default:
-            return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_IVCOMMON_H
-
-#endif // OMX_IVCommon_h
-
-#ifdef OMX_Types_h
-/* asString definitions if media/openmax/OMX_Types.h was included */
-
-#ifndef AS_STRING_FOR_OMX_TYPES_H
-#define AS_STRING_FOR_OMX_TYPES_H
-
-inline static const char *asString(OMX_BOOL i, const char *def = "??") {
-    switch (i) {
-        case OMX_FALSE: return "FALSE";
-        case OMX_TRUE:  return "TRUE";
-        default:        return def;
-    }
-}
-
-inline static const char *asString(OMX_DIRTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_DirInput:  return "Input";
-        case OMX_DirOutput: return "Output";
-        default:            return def;
-    }
-}
-
-inline static const char *asString(OMX_ENDIANTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_EndianBig:    return "Big";
-//      case OMX_EndianLittle: return "Little";
-        default:               return def;
-    }
-}
-
-inline static const char *asString(OMX_NUMERICALDATATYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_NumericalDataSigned:   return "Signed";
-//      case OMX_NumericalDataUnsigned: return "Unsigned";
-        default:                        return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_TYPES_H
-
-#endif // OMX_Types_h
-
-#ifdef OMX_Video_h
-/* asString definitions if media/openmax/OMX_Video.h was included */
-
-#ifndef AS_STRING_FOR_OMX_VIDEO_H
-#define AS_STRING_FOR_OMX_VIDEO_H
-
-inline static const char *asString(OMX_VIDEO_CODINGTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_CodingUnused:     return "Unused";
-        case OMX_VIDEO_CodingAutoDetect: return "AutoDetect";  // unused
-        case OMX_VIDEO_CodingMPEG2:      return "MPEG2";
-        case OMX_VIDEO_CodingH263:       return "H263";
-        case OMX_VIDEO_CodingMPEG4:      return "MPEG4";
-        case OMX_VIDEO_CodingWMV:        return "WMV";         // unused
-        case OMX_VIDEO_CodingRV:         return "RV";          // unused
-        case OMX_VIDEO_CodingAVC:        return "AVC";
-        case OMX_VIDEO_CodingMJPEG:      return "MJPEG";       // unused
-        case OMX_VIDEO_CodingVP8:        return "VP8";
-        case OMX_VIDEO_CodingVP9:        return "VP9";
-        case OMX_VIDEO_CodingHEVC:       return "HEVC";
-        default:                         return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_CONTROLRATETYPE i, const char *def = "??") {
-    switch (i) {
-//      case OMX_Video_ControlRateDisable:            return "Disable";
-        case OMX_Video_ControlRateVariable:           return "Variable";
-        case OMX_Video_ControlRateConstant:           return "Constant";
-//      case OMX_Video_ControlRateVariableSkipFrames: return "VariableSkipFrames";
-//      case OMX_Video_ControlRateConstantSkipFrames: return "ConstantSkipFrames";
-        default:                                      return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_INTRAREFRESHTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_IntraRefreshCyclic:   return "Cyclic";
-        case OMX_VIDEO_IntraRefreshAdaptive: return "Adaptive";
-        case OMX_VIDEO_IntraRefreshBoth:     return "Both";
-        default:                             return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_H263PROFILETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_H263ProfileBaseline:           return "Baseline";
-        case OMX_VIDEO_H263ProfileH320Coding:         return "H320Coding";
-        case OMX_VIDEO_H263ProfileBackwardCompatible: return "BackwardCompatible";
-        case OMX_VIDEO_H263ProfileISWV2:              return "ISWV2";
-        case OMX_VIDEO_H263ProfileISWV3:              return "ISWV3";
-        case OMX_VIDEO_H263ProfileHighCompression:    return "HighCompression";
-        case OMX_VIDEO_H263ProfileInternet:           return "Internet";
-        case OMX_VIDEO_H263ProfileInterlace:          return "Interlace";
-        case OMX_VIDEO_H263ProfileHighLatency:        return "HighLatency";
-        default:                                      return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_H263LEVELTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_H263Level10: return "Level10";
-        case OMX_VIDEO_H263Level20: return "Level20";
-        case OMX_VIDEO_H263Level30: return "Level30";
-        case OMX_VIDEO_H263Level40: return "Level40";
-        case OMX_VIDEO_H263Level45: return "Level45";
-        case OMX_VIDEO_H263Level50: return "Level50";
-        case OMX_VIDEO_H263Level60: return "Level60";
-        case OMX_VIDEO_H263Level70: return "Level70";
-        default:                    return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_PICTURETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_PictureTypeI:  return "I";
-        case OMX_VIDEO_PictureTypeP:  return "P";
-        case OMX_VIDEO_PictureTypeB:  return "B";
-//      case OMX_VIDEO_PictureTypeSI: return "SI";
-//      case OMX_VIDEO_PictureTypeSP: return "SP";
-//      case OMX_VIDEO_PictureTypeEI: return "EI";
-//      case OMX_VIDEO_PictureTypeEP: return "EP";
-//      case OMX_VIDEO_PictureTypeS:  return "S";
-        default:                      return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_MPEG4PROFILETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_MPEG4ProfileSimple:           return "Simple";
-        case OMX_VIDEO_MPEG4ProfileSimpleScalable:   return "SimpleScalable";
-        case OMX_VIDEO_MPEG4ProfileCore:             return "Core";
-        case OMX_VIDEO_MPEG4ProfileMain:             return "Main";
-        case OMX_VIDEO_MPEG4ProfileNbit:             return "Nbit";
-        case OMX_VIDEO_MPEG4ProfileScalableTexture:  return "ScalableTexture";
-        case OMX_VIDEO_MPEG4ProfileSimpleFace:       return "SimpleFace";
-        case OMX_VIDEO_MPEG4ProfileSimpleFBA:        return "SimpleFBA";
-        case OMX_VIDEO_MPEG4ProfileBasicAnimated:    return "BasicAnimated";
-        case OMX_VIDEO_MPEG4ProfileHybrid:           return "Hybrid";
-        case OMX_VIDEO_MPEG4ProfileAdvancedRealTime: return "AdvancedRealTime";
-        case OMX_VIDEO_MPEG4ProfileCoreScalable:     return "CoreScalable";
-        case OMX_VIDEO_MPEG4ProfileAdvancedCoding:   return "AdvancedCoding";
-        case OMX_VIDEO_MPEG4ProfileAdvancedCore:     return "AdvancedCore";
-        case OMX_VIDEO_MPEG4ProfileAdvancedScalable: return "AdvancedScalable";
-        case OMX_VIDEO_MPEG4ProfileAdvancedSimple:   return "AdvancedSimple";
-        default:                                     return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_MPEG4LEVELTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_MPEG4Level0:  return "Level0";
-        case OMX_VIDEO_MPEG4Level0b: return "Level0b";
-        case OMX_VIDEO_MPEG4Level1:  return "Level1";
-        case OMX_VIDEO_MPEG4Level2:  return "Level2";
-        case OMX_VIDEO_MPEG4Level3:  return "Level3";
-        case OMX_VIDEO_MPEG4Level4:  return "Level4";
-        case OMX_VIDEO_MPEG4Level4a: return "Level4a";
-        case OMX_VIDEO_MPEG4Level5:  return "Level5";
-        default:                     return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_AVCPROFILETYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_AVCProfileBaseline: return "Baseline";
-        case OMX_VIDEO_AVCProfileMain:     return "Main";
-        case OMX_VIDEO_AVCProfileExtended: return "Extended";
-        case OMX_VIDEO_AVCProfileHigh:     return "High";
-        case OMX_VIDEO_AVCProfileHigh10:   return "High10";
-        case OMX_VIDEO_AVCProfileHigh422:  return "High422";
-        case OMX_VIDEO_AVCProfileHigh444:  return "High444";
-        default:                           return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_AVCLEVELTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_AVCLevel1:  return "Level1";
-        case OMX_VIDEO_AVCLevel1b: return "Level1b";
-        case OMX_VIDEO_AVCLevel11: return "Level11";
-        case OMX_VIDEO_AVCLevel12: return "Level12";
-        case OMX_VIDEO_AVCLevel13: return "Level13";
-        case OMX_VIDEO_AVCLevel2:  return "Level2";
-        case OMX_VIDEO_AVCLevel21: return "Level21";
-        case OMX_VIDEO_AVCLevel22: return "Level22";
-        case OMX_VIDEO_AVCLevel3:  return "Level3";
-        case OMX_VIDEO_AVCLevel31: return "Level31";
-        case OMX_VIDEO_AVCLevel32: return "Level32";
-        case OMX_VIDEO_AVCLevel4:  return "Level4";
-        case OMX_VIDEO_AVCLevel41: return "Level41";
-        case OMX_VIDEO_AVCLevel42: return "Level42";
-        case OMX_VIDEO_AVCLevel5:  return "Level5";
-        case OMX_VIDEO_AVCLevel51: return "Level51";
-        case OMX_VIDEO_AVCLevel52: return "Level52";
-        default:                   return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_AVCLOOPFILTERTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_AVCLoopFilterEnable:               return "Enable";
-//      case OMX_VIDEO_AVCLoopFilterDisable:              return "Disable";
-//      case OMX_VIDEO_AVCLoopFilterDisableSliceBoundary: return "DisableSliceBoundary";
-        default:                                          return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_VIDEO_H
-
-#endif // OMX_Video_h
-
-#ifdef OMX_VideoExt_h
-/* asString definitions if media/openmax/OMX_VideoExt.h was included */
-
-#ifndef AS_STRING_FOR_OMX_VIDEOEXT_H
-#define AS_STRING_FOR_OMX_VIDEOEXT_H
-
-inline static const char *asString(OMX_VIDEO_VP8PROFILETYPE i, const char *def = "!!") {
-    switch (i) {
-        case OMX_VIDEO_VP8ProfileMain:    return "Main";
-        case OMX_VIDEO_VP8ProfileUnknown: return "Unknown";  // unused
-        default:                          return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_VP8LEVELTYPE i, const char *def = "!!") {
-    switch (i) {
-        case OMX_VIDEO_VP8Level_Version0: return "_Version0";
-        case OMX_VIDEO_VP8Level_Version1: return "_Version1";
-        case OMX_VIDEO_VP8Level_Version2: return "_Version2";
-        case OMX_VIDEO_VP8Level_Version3: return "_Version3";
-        case OMX_VIDEO_VP8LevelUnknown:   return "Unknown";    // unused
-        default:                          return def;
-    }
-}
-
-inline static const char *asString(
-        OMX_VIDEO_ANDROID_VPXTEMPORALLAYERPATTERNTYPE i, const char *def = "??") {
-    switch (i) {
-        case OMX_VIDEO_VPXTemporalLayerPatternNone:   return "VPXTemporalLayerPatternNone";
-        case OMX_VIDEO_VPXTemporalLayerPatternWebRTC: return "VPXTemporalLayerPatternWebRTC";
-        default:                                      return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_HEVCPROFILETYPE i, const char *def = "!!") {
-    switch (i) {
-        case OMX_VIDEO_HEVCProfileUnknown: return "Unknown";  // unused
-        case OMX_VIDEO_HEVCProfileMain:    return "Main";
-        case OMX_VIDEO_HEVCProfileMain10:  return "Main10";
-        default:                           return def;
-    }
-}
-
-inline static const char *asString(OMX_VIDEO_HEVCLEVELTYPE i, const char *def = "!!") {
-    switch (i) {
-        case OMX_VIDEO_HEVCLevelUnknown:    return "LevelUnknown";     // unused
-        case OMX_VIDEO_HEVCMainTierLevel1:  return "MainTierLevel1";
-        case OMX_VIDEO_HEVCHighTierLevel1:  return "HighTierLevel1";
-        case OMX_VIDEO_HEVCMainTierLevel2:  return "MainTierLevel2";
-        case OMX_VIDEO_HEVCHighTierLevel2:  return "HighTierLevel2";
-        case OMX_VIDEO_HEVCMainTierLevel21: return "MainTierLevel21";
-        case OMX_VIDEO_HEVCHighTierLevel21: return "HighTierLevel21";
-        case OMX_VIDEO_HEVCMainTierLevel3:  return "MainTierLevel3";
-        case OMX_VIDEO_HEVCHighTierLevel3:  return "HighTierLevel3";
-        case OMX_VIDEO_HEVCMainTierLevel31: return "MainTierLevel31";
-        case OMX_VIDEO_HEVCHighTierLevel31: return "HighTierLevel31";
-        case OMX_VIDEO_HEVCMainTierLevel4:  return "MainTierLevel4";
-        case OMX_VIDEO_HEVCHighTierLevel4:  return "HighTierLevel4";
-        case OMX_VIDEO_HEVCMainTierLevel41: return "MainTierLevel41";
-        case OMX_VIDEO_HEVCHighTierLevel41: return "HighTierLevel41";
-        case OMX_VIDEO_HEVCMainTierLevel5:  return "MainTierLevel5";
-        case OMX_VIDEO_HEVCHighTierLevel5:  return "HighTierLevel5";
-        case OMX_VIDEO_HEVCMainTierLevel51: return "MainTierLevel51";
-        case OMX_VIDEO_HEVCHighTierLevel51: return "HighTierLevel51";
-        case OMX_VIDEO_HEVCMainTierLevel52: return "MainTierLevel52";
-        case OMX_VIDEO_HEVCHighTierLevel52: return "HighTierLevel52";
-        case OMX_VIDEO_HEVCMainTierLevel6:  return "MainTierLevel6";
-        case OMX_VIDEO_HEVCHighTierLevel6:  return "HighTierLevel6";
-        case OMX_VIDEO_HEVCMainTierLevel61: return "MainTierLevel61";
-        case OMX_VIDEO_HEVCHighTierLevel61: return "HighTierLevel61";
-        case OMX_VIDEO_HEVCMainTierLevel62: return "MainTierLevel62";
-        case OMX_VIDEO_HEVCHighTierLevel62: return "HighTierLevel62";
-        default:                            return def;
-    }
-}
-
-#endif // AS_STRING_FOR_OMX_VIDEOEXT_H
-
-#endif // OMX_VideoExt_h
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Audio.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_Audio.h
deleted file mode 100644
index a0cbd3bb990c0f..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Audio.h
+++ /dev/null
@@ -1,1342 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/*
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** @file OMX_Audio.h - OpenMax IL version 1.1.2
- *  The structures needed by Audio components to exchange
- *  parameters and configuration data with the componenmilts.
- */
-
-#ifndef OMX_Audio_h
-#define OMX_Audio_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/* Each OMX header must include all required header files to allow the
- *  header to compile without errors.  The includes below are required
- *  for this header file to compile successfully
- */
-
-#include <OMX_Core.h>
-
-/** @defgroup midi MIDI
- * @ingroup audio
- */
-
-/** @defgroup effects Audio effects
- * @ingroup audio
- */
-
-/** @defgroup audio OpenMAX IL Audio Domain
- * Structures for OpenMAX IL Audio domain
- * @{
- */
-
-/** Enumeration used to define the possible audio codings.
- *  If "OMX_AUDIO_CodingUnused" is selected, the coding selection must
- *  be done in a vendor specific way.  Since this is for an audio
- *  processing element this enum is relevant.  However, for another
- *  type of component other enums would be in this area.
- */
-typedef enum OMX_AUDIO_CODINGTYPE {
-    OMX_AUDIO_CodingUnused = 0,  /**< Placeholder value when coding is N/A  */
-    OMX_AUDIO_CodingAutoDetect,  /**< auto detection of audio format */
-    OMX_AUDIO_CodingPCM,         /**< Any variant of PCM coding */
-    OMX_AUDIO_CodingADPCM,       /**< Any variant of ADPCM encoded data */
-    OMX_AUDIO_CodingAMR,         /**< Any variant of AMR encoded data */
-    OMX_AUDIO_CodingGSMFR,       /**< Any variant of GSM fullrate (i.e. GSM610) */
-    OMX_AUDIO_CodingGSMEFR,      /**< Any variant of GSM Enhanced Fullrate encoded data*/
-    OMX_AUDIO_CodingGSMHR,       /**< Any variant of GSM Halfrate encoded data */
-    OMX_AUDIO_CodingPDCFR,       /**< Any variant of PDC Fullrate encoded data */
-    OMX_AUDIO_CodingPDCEFR,      /**< Any variant of PDC Enhanced Fullrate encoded data */
-    OMX_AUDIO_CodingPDCHR,       /**< Any variant of PDC Halfrate encoded data */
-    OMX_AUDIO_CodingTDMAFR,      /**< Any variant of TDMA Fullrate encoded data (TIA/EIA-136-420) */
-    OMX_AUDIO_CodingTDMAEFR,     /**< Any variant of TDMA Enhanced Fullrate encoded data (TIA/EIA-136-410) */
-    OMX_AUDIO_CodingQCELP8,      /**< Any variant of QCELP 8kbps encoded data */
-    OMX_AUDIO_CodingQCELP13,     /**< Any variant of QCELP 13kbps encoded data */
-    OMX_AUDIO_CodingEVRC,        /**< Any variant of EVRC encoded data */
-    OMX_AUDIO_CodingSMV,         /**< Any variant of SMV encoded data */
-    OMX_AUDIO_CodingG711,        /**< Any variant of G.711 encoded data */
-    OMX_AUDIO_CodingG723,        /**< Any variant of G.723 dot 1 encoded data */
-    OMX_AUDIO_CodingG726,        /**< Any variant of G.726 encoded data */
-    OMX_AUDIO_CodingG729,        /**< Any variant of G.729 encoded data */
-    OMX_AUDIO_CodingAAC,         /**< Any variant of AAC encoded data */
-    OMX_AUDIO_CodingMP3,         /**< Any variant of MP3 encoded data */
-    OMX_AUDIO_CodingSBC,         /**< Any variant of SBC encoded data */
-    OMX_AUDIO_CodingVORBIS,      /**< Any variant of VORBIS encoded data */
-    OMX_AUDIO_CodingWMA,         /**< Any variant of WMA encoded data */
-    OMX_AUDIO_CodingRA,          /**< Any variant of RA encoded data */
-    OMX_AUDIO_CodingMIDI,        /**< Any variant of MIDI encoded data */
-    OMX_AUDIO_CodingFLAC,        /**< Any variant of FLAC encoded data */
-    OMX_AUDIO_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_CodingMax = 0x7FFFFFFF
-} OMX_AUDIO_CODINGTYPE;
-
-
-/** The PortDefinition structure is used to define all of the parameters
- *  necessary for the compliant component to setup an input or an output audio
- *  path.  If additional information is needed to define the parameters of the
- *  port (such as frequency), additional structures must be sent such as the
- *  OMX_AUDIO_PARAM_PCMMODETYPE structure to supply the extra parameters for the port.
- */
-typedef struct OMX_AUDIO_PORTDEFINITIONTYPE {
-    OMX_STRING cMIMEType;            /**< MIME type of data for the port */
-    OMX_NATIVE_DEVICETYPE pNativeRender; /** < platform specific reference
-                                               for an output device,
-                                               otherwise this field is 0 */
-    OMX_BOOL bFlagErrorConcealment;  /**< Turns on error concealment if it is
-                                          supported by the OMX component */
-    OMX_AUDIO_CODINGTYPE eEncoding;  /**< Type of data expected for this
-                                          port (e.g. PCM, AMR, MP3, etc) */
-} OMX_AUDIO_PORTDEFINITIONTYPE;
-
-
-/**  Port format parameter.  This structure is used to enumerate
-  *  the various data input/output format supported by the port.
-  */
-typedef struct OMX_AUDIO_PARAM_PORTFORMATTYPE {
-    OMX_U32 nSize;                  /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;       /**< OMX specification version information */
-    OMX_U32 nPortIndex;             /**< Indicates which port to set */
-    OMX_U32 nIndex;                 /**< Indicates the enumeration index for the format from 0x0 to N-1 */
-    OMX_AUDIO_CODINGTYPE eEncoding; /**< Type of data expected for this port (e.g. PCM, AMR, MP3, etc) */
-} OMX_AUDIO_PARAM_PORTFORMATTYPE;
-
-
-/** PCM mode type  */
-typedef enum OMX_AUDIO_PCMMODETYPE {
-    OMX_AUDIO_PCMModeLinear = 0,  /**< Linear PCM encoded data */
-    OMX_AUDIO_PCMModeALaw,        /**< A law PCM encoded data (G.711) */
-    OMX_AUDIO_PCMModeMULaw,       /**< Mu law PCM encoded data (G.711)  */
-    OMX_AUDIO_PCMModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_PCMModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_PCMModeMax = 0x7FFFFFFF
-} OMX_AUDIO_PCMMODETYPE;
-
-
-typedef enum OMX_AUDIO_CHANNELTYPE {
-    OMX_AUDIO_ChannelNone = 0x0,    /**< Unused or empty */
-    OMX_AUDIO_ChannelLF   = 0x1,    /**< Left front */
-    OMX_AUDIO_ChannelRF   = 0x2,    /**< Right front */
-    OMX_AUDIO_ChannelCF   = 0x3,    /**< Center front */
-    OMX_AUDIO_ChannelLS   = 0x4,    /**< Left surround */
-    OMX_AUDIO_ChannelRS   = 0x5,    /**< Right surround */
-    OMX_AUDIO_ChannelLFE  = 0x6,    /**< Low frequency effects */
-    OMX_AUDIO_ChannelCS   = 0x7,    /**< Back surround */
-    OMX_AUDIO_ChannelLR   = 0x8,    /**< Left rear. */
-    OMX_AUDIO_ChannelRR   = 0x9,    /**< Right rear. */
-    OMX_AUDIO_ChannelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_ChannelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_ChannelMax  = 0x7FFFFFFF
-} OMX_AUDIO_CHANNELTYPE;
-
-#define OMX_AUDIO_MAXCHANNELS 16  /**< maximum number distinct audio channels that a buffer may contain */
-#define OMX_MIN_PCMPAYLOAD_MSEC 5 /**< Minimum audio buffer payload size for uncompressed (PCM) audio */
-
-/** PCM format description */
-typedef struct OMX_AUDIO_PARAM_PCMMODETYPE {
-    OMX_U32 nSize;                    /**< Size of this structure, in Bytes */
-    OMX_VERSIONTYPE nVersion;         /**< OMX specification version information */
-    OMX_U32 nPortIndex;               /**< port that this structure applies to */
-    OMX_U32 nChannels;                /**< Number of channels (e.g. 2 for stereo) */
-    OMX_NUMERICALDATATYPE eNumData;   /**< indicates PCM data as signed or unsigned */
-    OMX_ENDIANTYPE eEndian;           /**< indicates PCM data as little or big endian */
-    OMX_BOOL bInterleaved;            /**< True for normal interleaved data; false for
-                                           non-interleaved data (e.g. block data) */
-    OMX_U32 nBitPerSample;            /**< Bit per sample */
-    OMX_U32 nSamplingRate;            /**< Sampling rate of the source data.  Use 0 for
-                                           variable or unknown sampling rate. */
-    OMX_AUDIO_PCMMODETYPE ePCMMode;   /**< PCM mode enumeration */
-    OMX_AUDIO_CHANNELTYPE eChannelMapping[OMX_AUDIO_MAXCHANNELS]; /**< Slot i contains channel defined by eChannelMap[i] */
-
-} OMX_AUDIO_PARAM_PCMMODETYPE;
-
-
-/** Audio channel mode.  This is used by both AAC and MP3, although the names are more appropriate
- * for the MP3.  For example, JointStereo for MP3 is CouplingChannels for AAC.
- */
-typedef enum OMX_AUDIO_CHANNELMODETYPE {
-    OMX_AUDIO_ChannelModeStereo = 0,  /**< 2 channels, the bitrate allocation between those
-                                          two channels changes accordingly to each channel information */
-    OMX_AUDIO_ChannelModeJointStereo, /**< mode that takes advantage of what is common between
-                                           2 channels for higher compression gain */
-    OMX_AUDIO_ChannelModeDual,        /**< 2 mono-channels, each channel is encoded with half
-                                           the bitrate of the overall bitrate */
-    OMX_AUDIO_ChannelModeMono,        /**< Mono channel mode */
-    OMX_AUDIO_ChannelModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_ChannelModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_ChannelModeMax = 0x7FFFFFFF
-} OMX_AUDIO_CHANNELMODETYPE;
-
-
-typedef enum OMX_AUDIO_MP3STREAMFORMATTYPE {
-    OMX_AUDIO_MP3StreamFormatMP1Layer3 = 0, /**< MP3 Audio MPEG 1 Layer 3 Stream format */
-    OMX_AUDIO_MP3StreamFormatMP2Layer3,     /**< MP3 Audio MPEG 2 Layer 3 Stream format */
-    OMX_AUDIO_MP3StreamFormatMP2_5Layer3,   /**< MP3 Audio MPEG2.5 Layer 3 Stream format */
-    OMX_AUDIO_MP3StreamFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_MP3StreamFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_MP3StreamFormatMax = 0x7FFFFFFF
-} OMX_AUDIO_MP3STREAMFORMATTYPE;
-
-/** MP3 params */
-typedef struct OMX_AUDIO_PARAM_MP3TYPE {
-    OMX_U32 nSize;                 /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;      /**< OMX specification version information */
-    OMX_U32 nPortIndex;            /**< port that this structure applies to */
-    OMX_U32 nChannels;             /**< Number of channels */
-    OMX_U32 nBitRate;              /**< Bit rate of the input data.  Use 0 for variable
-                                        rate or unknown bit rates */
-    OMX_U32 nSampleRate;           /**< Sampling rate of the source data.  Use 0 for
-                                        variable or unknown sampling rate. */
-    OMX_U32 nAudioBandWidth;       /**< Audio band width (in Hz) to which an encoder should
-                                        limit the audio signal. Use 0 to let encoder decide */
-    OMX_AUDIO_CHANNELMODETYPE eChannelMode;   /**< Channel mode enumeration */
-    OMX_AUDIO_MP3STREAMFORMATTYPE eFormat;  /**< MP3 stream format */
-} OMX_AUDIO_PARAM_MP3TYPE;
-
-
-typedef enum OMX_AUDIO_AACSTREAMFORMATTYPE {
-    OMX_AUDIO_AACStreamFormatMP2ADTS = 0, /**< AAC Audio Data Transport Stream 2 format */
-    OMX_AUDIO_AACStreamFormatMP4ADTS,     /**< AAC Audio Data Transport Stream 4 format */
-    OMX_AUDIO_AACStreamFormatMP4LOAS,     /**< AAC Low Overhead Audio Stream format */
-    OMX_AUDIO_AACStreamFormatMP4LATM,     /**< AAC Low overhead Audio Transport Multiplex */
-    OMX_AUDIO_AACStreamFormatADIF,        /**< AAC Audio Data Interchange Format */
-    OMX_AUDIO_AACStreamFormatMP4FF,       /**< AAC inside MPEG-4/ISO File Format */
-    OMX_AUDIO_AACStreamFormatRAW,         /**< AAC Raw Format */
-    OMX_AUDIO_AACStreamFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_AACStreamFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_AACStreamFormatMax = 0x7FFFFFFF
-} OMX_AUDIO_AACSTREAMFORMATTYPE;
-
-
-/** AAC mode type.  Note that the term profile is used with the MPEG-2
- * standard and the term object type and profile is used with MPEG-4 */
-typedef enum OMX_AUDIO_AACPROFILETYPE{
-  OMX_AUDIO_AACObjectNull = 0,      /**< Null, not used */
-  OMX_AUDIO_AACObjectMain = 1,      /**< AAC Main object */
-  OMX_AUDIO_AACObjectLC,            /**< AAC Low Complexity object (AAC profile) */
-  OMX_AUDIO_AACObjectSSR,           /**< AAC Scalable Sample Rate object */
-  OMX_AUDIO_AACObjectLTP,           /**< AAC Long Term Prediction object */
-  OMX_AUDIO_AACObjectHE,            /**< AAC High Efficiency (object type SBR, HE-AAC profile) */
-  OMX_AUDIO_AACObjectScalable,      /**< AAC Scalable object */
-  OMX_AUDIO_AACObjectERLC = 17,     /**< ER AAC Low Complexity object (Error Resilient AAC-LC) */
-  OMX_AUDIO_AACObjectLD = 23,       /**< AAC Low Delay object (Error Resilient) */
-  OMX_AUDIO_AACObjectHE_PS = 29,    /**< AAC High Efficiency with Parametric Stereo coding (HE-AAC v2, object type PS) */
-  OMX_AUDIO_AACObjectELD = 39,      /** AAC Enhanced Low Delay. NOTE: Pending Khronos standardization **/
-  OMX_AUDIO_AACObjectKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-  OMX_AUDIO_AACObjectVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-  OMX_AUDIO_AACObjectMax = 0x7FFFFFFF
-} OMX_AUDIO_AACPROFILETYPE;
-
-
-/** AAC tool usage (for nAACtools in OMX_AUDIO_PARAM_AACPROFILETYPE).
- * Required for encoder configuration and optional as decoder info output.
- * For MP3, OMX_AUDIO_CHANNELMODETYPE is sufficient. */
-#define OMX_AUDIO_AACToolNone 0x00000000 /**< no AAC tools allowed (encoder config) or active (decoder info output) */
-#define OMX_AUDIO_AACToolMS   0x00000001 /**< MS: Mid/side joint coding tool allowed or active */
-#define OMX_AUDIO_AACToolIS   0x00000002 /**< IS: Intensity stereo tool allowed or active */
-#define OMX_AUDIO_AACToolTNS  0x00000004 /**< TNS: Temporal Noise Shaping tool allowed or active */
-#define OMX_AUDIO_AACToolPNS  0x00000008 /**< PNS: MPEG-4 Perceptual Noise substitution tool allowed or active */
-#define OMX_AUDIO_AACToolLTP  0x00000010 /**< LTP: MPEG-4 Long Term Prediction tool allowed or active */
-#define OMX_AUDIO_AACToolVendor 0x00010000 /**< NOT A KHRONOS VALUE, offset for vendor-specific additions */
-#define OMX_AUDIO_AACToolAll  0x7FFFFFFF /**< all AAC tools allowed or active (*/
-
-/** MPEG-4 AAC error resilience (ER) tool usage (for nAACERtools in OMX_AUDIO_PARAM_AACPROFILETYPE).
- * Required for ER encoder configuration and optional as decoder info output */
-#define OMX_AUDIO_AACERNone  0x00000000  /**< no AAC ER tools allowed/used */
-#define OMX_AUDIO_AACERVCB11 0x00000001  /**< VCB11: Virtual Code Books for AAC section data */
-#define OMX_AUDIO_AACERRVLC  0x00000002  /**< RVLC: Reversible Variable Length Coding */
-#define OMX_AUDIO_AACERHCR   0x00000004  /**< HCR: Huffman Codeword Reordering */
-#define OMX_AUDIO_AACERAll   0x7FFFFFFF  /**< all AAC ER tools allowed/used */
-
-
-/** AAC params */
-typedef struct OMX_AUDIO_PARAM_AACPROFILETYPE {
-    OMX_U32 nSize;                 /**< Size of this structure, in Bytes */
-    OMX_VERSIONTYPE nVersion;      /**< OMX specification version information */
-    OMX_U32 nPortIndex;            /**< Port that this structure applies to */
-    OMX_U32 nChannels;             /**< Number of channels */
-    OMX_U32 nSampleRate;           /**< Sampling rate of the source data.  Use 0 for
-                                        variable or unknown sampling rate. */
-    OMX_U32 nBitRate;              /**< Bit rate of the input data.  Use 0 for variable
-                                        rate or unknown bit rates */
-    OMX_U32 nAudioBandWidth;       /**< Audio band width (in Hz) to which an encoder should
-                                        limit the audio signal. Use 0 to let encoder decide */
-    OMX_U32 nFrameLength;          /**< Frame length (in audio samples per channel) of the codec.
-                                        Can be 1024 or 960 (AAC-LC), 2048 (HE-AAC), 480 or 512 (AAC-LD).
-                                        Use 0 to let encoder decide */
-    OMX_U32 nAACtools;             /**< AAC tool usage */
-    OMX_U32 nAACERtools;           /**< MPEG-4 AAC error resilience tool usage */
-    OMX_AUDIO_AACPROFILETYPE eAACProfile;   /**< AAC profile enumeration */
-    OMX_AUDIO_AACSTREAMFORMATTYPE eAACStreamFormat; /**< AAC stream format enumeration */
-    OMX_AUDIO_CHANNELMODETYPE eChannelMode;   /**< Channel mode enumeration */
-} OMX_AUDIO_PARAM_AACPROFILETYPE;
-
-
-/** VORBIS params */
-typedef struct OMX_AUDIO_PARAM_VORBISTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_U32 nChannels;        /**< Number of channels */
-    OMX_U32 nBitRate;         /**< Bit rate of the encoded data data.  Use 0 for variable
-                                   rate or unknown bit rates. Encoding is set to the
-                                   bitrate closest to specified  value (in bps) */
-    OMX_U32 nMinBitRate;      /**< Sets minimum bitrate (in bps). */
-    OMX_U32 nMaxBitRate;      /**< Sets maximum bitrate (in bps). */
-
-    OMX_U32 nSampleRate;      /**< Sampling rate of the source data.  Use 0 for
-                                   variable or unknown sampling rate. */
-    OMX_U32 nAudioBandWidth;  /**< Audio band width (in Hz) to which an encoder should
-                                   limit the audio signal. Use 0 to let encoder decide */
-    OMX_S32 nQuality;         /**< Sets encoding quality to n, between -1 (low) and 10 (high).
-                                   In the default mode of operation, teh quality level is 3.
-                                   Normal quality range is 0 - 10. */
-    OMX_BOOL bManaged;        /**< Set  bitrate  management  mode. This turns off the
-                                   normal VBR encoding, but allows hard or soft bitrate
-                                   constraints to be enforced by the encoder. This mode can
-                                   be slower, and may also be lower quality. It is
-                                   primarily useful for streaming. */
-    OMX_BOOL bDownmix;        /**< Downmix input from stereo to mono (has no effect on
-                                   non-stereo streams). Useful for lower-bitrate encoding. */
-} OMX_AUDIO_PARAM_VORBISTYPE;
-
-
-/** FLAC params */
-typedef struct OMX_AUDIO_PARAM_FLACTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_U32 nChannels;        /**< Number of channels */
-    OMX_U32 nSampleRate;      /**< Sampling rate of the source data.  Use 0 for
-                                   unknown sampling rate. */
-    OMX_U32 nCompressionLevel;/**< FLAC compression level, from 0 (fastest compression)
-                                   to 8 (highest compression */
-} OMX_AUDIO_PARAM_FLACTYPE;
-
-
-/** WMA Version */
-typedef enum OMX_AUDIO_WMAFORMATTYPE {
-  OMX_AUDIO_WMAFormatUnused = 0, /**< format unused or unknown */
-  OMX_AUDIO_WMAFormat7,          /**< Windows Media Audio format 7 */
-  OMX_AUDIO_WMAFormat8,          /**< Windows Media Audio format 8 */
-  OMX_AUDIO_WMAFormat9,          /**< Windows Media Audio format 9 */
-  OMX_AUDIO_WMAFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-  OMX_AUDIO_WMAFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-  OMX_AUDIO_WMAFormatMax = 0x7FFFFFFF
-} OMX_AUDIO_WMAFORMATTYPE;
-
-
-/** WMA Profile */
-typedef enum OMX_AUDIO_WMAPROFILETYPE {
-  OMX_AUDIO_WMAProfileUnused = 0,  /**< profile unused or unknown */
-  OMX_AUDIO_WMAProfileL1,          /**< Windows Media audio version 9 profile L1 */
-  OMX_AUDIO_WMAProfileL2,          /**< Windows Media audio version 9 profile L2 */
-  OMX_AUDIO_WMAProfileL3,          /**< Windows Media audio version 9 profile L3 */
-  OMX_AUDIO_WMAProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-  OMX_AUDIO_WMAProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-  OMX_AUDIO_WMAProfileMax = 0x7FFFFFFF
-} OMX_AUDIO_WMAPROFILETYPE;
-
-
-/** WMA params */
-typedef struct OMX_AUDIO_PARAM_WMATYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_U16 nChannels;        /**< Number of channels */
-    OMX_U32 nBitRate;         /**< Bit rate of the input data.  Use 0 for variable
-                                   rate or unknown bit rates */
-    OMX_AUDIO_WMAFORMATTYPE eFormat; /**< Version of WMA stream / data */
-    OMX_AUDIO_WMAPROFILETYPE eProfile;  /**< Profile of WMA stream / data */
-    OMX_U32 nSamplingRate;    /**< Sampling rate of the source data */
-    OMX_U16 nBlockAlign;      /**< is the block alignment, or block size, in bytes of the audio codec */
-    OMX_U16 nEncodeOptions;   /**< WMA Type-specific data */
-    OMX_U32 nSuperBlockAlign; /**< WMA Type-specific data */
-} OMX_AUDIO_PARAM_WMATYPE;
-
-/**
- * RealAudio format
- */
-typedef enum OMX_AUDIO_RAFORMATTYPE {
-    OMX_AUDIO_RAFormatUnused = 0, /**< Format unused or unknown */
-    OMX_AUDIO_RA8,                /**< RealAudio 8 codec */
-    OMX_AUDIO_RA9,                /**< RealAudio 9 codec */
-    OMX_AUDIO_RA10_AAC,           /**< MPEG-4 AAC codec for bitrates of more than 128kbps */
-    OMX_AUDIO_RA10_CODEC,         /**< RealAudio codec for bitrates less than 128 kbps */
-    OMX_AUDIO_RA10_LOSSLESS,      /**< RealAudio Lossless */
-    OMX_AUDIO_RA10_MULTICHANNEL,  /**< RealAudio Multichannel */
-    OMX_AUDIO_RA10_VOICE,         /**< RealAudio Voice for bitrates below 15 kbps */
-    OMX_AUDIO_RAFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_RAFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_RAFormatMax = 0x7FFFFFFF
-} OMX_AUDIO_RAFORMATTYPE;
-
-/** RA (Real Audio) params */
-typedef struct OMX_AUDIO_PARAM_RATYPE {
-    OMX_U32 nSize;              /**< Size of this structure, in Bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< Port that this structure applies to */
-    OMX_U32 nChannels;          /**< Number of channels */
-    OMX_U32 nSamplingRate;      /**< is the sampling rate of the source data */
-    OMX_U32 nBitsPerFrame;      /**< is the value for bits per frame  */
-    OMX_U32 nSamplePerFrame;    /**< is the value for samples per frame */
-    OMX_U32 nCouplingQuantBits; /**< is the number of coupling quantization bits in the stream */
-    OMX_U32 nCouplingStartRegion;   /**< is the coupling start region in the stream  */
-    OMX_U32 nNumRegions;        /**< is the number of regions value */
-    OMX_AUDIO_RAFORMATTYPE eFormat; /**< is the RealAudio audio format */
-} OMX_AUDIO_PARAM_RATYPE;
-
-
-/** SBC Allocation Method Type */
-typedef enum OMX_AUDIO_SBCALLOCMETHODTYPE {
-  OMX_AUDIO_SBCAllocMethodLoudness, /**< Loudness allocation method */
-  OMX_AUDIO_SBCAllocMethodSNR,      /**< SNR allocation method */
-  OMX_AUDIO_SBCAllocMethodKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-  OMX_AUDIO_SBCAllocMethodVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-  OMX_AUDIO_SBCAllocMethodMax = 0x7FFFFFFF
-} OMX_AUDIO_SBCALLOCMETHODTYPE;
-
-
-/** SBC params */
-typedef struct OMX_AUDIO_PARAM_SBCTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_U32 nChannels;         /**< Number of channels */
-    OMX_U32 nBitRate;          /**< Bit rate of the input data.  Use 0 for variable
-                                    rate or unknown bit rates */
-    OMX_U32 nSampleRate;       /**< Sampling rate of the source data.  Use 0 for
-                                    variable or unknown sampling rate. */
-    OMX_U32 nBlocks;           /**< Number of blocks */
-    OMX_U32 nSubbands;         /**< Number of subbands */
-    OMX_U32 nBitPool;          /**< Bitpool value */
-    OMX_BOOL bEnableBitrate;   /**< Use bitrate value instead of bitpool */
-    OMX_AUDIO_CHANNELMODETYPE eChannelMode; /**< Channel mode enumeration */
-    OMX_AUDIO_SBCALLOCMETHODTYPE eSBCAllocType;   /**< SBC Allocation method type */
-} OMX_AUDIO_PARAM_SBCTYPE;
-
-
-/** ADPCM stream format parameters */
-typedef struct OMX_AUDIO_PARAM_ADPCMTYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< port that this structure applies to */
-    OMX_U32 nChannels;          /**< Number of channels in the data stream (not
-                                     necessarily the same as the number of channels
-                                     to be rendered. */
-    OMX_U32 nBitsPerSample;     /**< Number of bits in each sample */
-    OMX_U32 nSampleRate;        /**< Sampling rate of the source data.  Use 0 for
-                                    variable or unknown sampling rate. */
-} OMX_AUDIO_PARAM_ADPCMTYPE;
-
-
-/** G723 rate */
-typedef enum OMX_AUDIO_G723RATE {
-    OMX_AUDIO_G723ModeUnused = 0,  /**< AMRNB Mode unused / unknown */
-    OMX_AUDIO_G723ModeLow,         /**< 5300 bps */
-    OMX_AUDIO_G723ModeHigh,        /**< 6300 bps */
-    OMX_AUDIO_G723ModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_G723ModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_G723ModeMax = 0x7FFFFFFF
-} OMX_AUDIO_G723RATE;
-
-
-/** G723 - Sample rate must be 8 KHz */
-typedef struct OMX_AUDIO_PARAM_G723TYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_BOOL bDTX;                /**< Enable Discontinuous Transmisssion */
-    OMX_AUDIO_G723RATE eBitRate;  /**< todo: Should this be moved to a config? */
-    OMX_BOOL bHiPassFilter;       /**< Enable High Pass Filter */
-    OMX_BOOL bPostFilter;         /**< Enable Post Filter */
-} OMX_AUDIO_PARAM_G723TYPE;
-
-
-/** ITU G726 (ADPCM) rate */
-typedef enum OMX_AUDIO_G726MODE {
-    OMX_AUDIO_G726ModeUnused = 0,  /**< G726 Mode unused / unknown */
-    OMX_AUDIO_G726Mode16,          /**< 16 kbps */
-    OMX_AUDIO_G726Mode24,          /**< 24 kbps */
-    OMX_AUDIO_G726Mode32,          /**< 32 kbps, most common rate, also G721 */
-    OMX_AUDIO_G726Mode40,          /**< 40 kbps */
-    OMX_AUDIO_G726ModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_G726ModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_G726ModeMax = 0x7FFFFFFF
-} OMX_AUDIO_G726MODE;
-
-
-/** G.726 stream format parameters - must be at 8KHz */
-typedef struct OMX_AUDIO_PARAM_G726TYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< port that this structure applies to */
-    OMX_U32 nChannels;          /**< Number of channels in the data stream (not
-                                     necessarily the same as the number of channels
-                                     to be rendered. */
-     OMX_AUDIO_G726MODE eG726Mode;
-} OMX_AUDIO_PARAM_G726TYPE;
-
-
-/** G729 coder type */
-typedef enum OMX_AUDIO_G729TYPE {
-    OMX_AUDIO_G729 = 0,           /**< ITU G.729  encoded data */
-    OMX_AUDIO_G729A,              /**< ITU G.729 annex A  encoded data */
-    OMX_AUDIO_G729B,              /**< ITU G.729 with annex B encoded data */
-    OMX_AUDIO_G729AB,             /**< ITU G.729 annexes A and B encoded data */
-    OMX_AUDIO_G729KhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_G729VendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_G729Max = 0x7FFFFFFF
-} OMX_AUDIO_G729TYPE;
-
-
-/** G729 stream format parameters - fixed 6KHz sample rate */
-typedef struct OMX_AUDIO_PARAM_G729TYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_U32 nChannels;        /**< Number of channels in the data stream (not
-                                   necessarily the same as the number of channels
-                                   to be rendered. */
-    OMX_BOOL bDTX;            /**< Enable Discontinuous Transmisssion */
-    OMX_AUDIO_G729TYPE eBitType;
-} OMX_AUDIO_PARAM_G729TYPE;
-
-
-/** AMR Frame format */
-typedef enum OMX_AUDIO_AMRFRAMEFORMATTYPE {
-    OMX_AUDIO_AMRFrameFormatConformance = 0,  /**< Frame Format is AMR Conformance
-                                                   (Standard) Format */
-    OMX_AUDIO_AMRFrameFormatIF1,              /**< Frame Format is AMR Interface
-                                                   Format 1 */
-    OMX_AUDIO_AMRFrameFormatIF2,              /**< Frame Format is AMR Interface
-                                                   Format 2*/
-    OMX_AUDIO_AMRFrameFormatFSF,              /**< Frame Format is AMR File Storage
-                                                   Format */
-    OMX_AUDIO_AMRFrameFormatRTPPayload,       /**< Frame Format is AMR Real-Time
-                                                   Transport Protocol Payload Format */
-    OMX_AUDIO_AMRFrameFormatITU,              /**< Frame Format is ITU Format (added at Motorola request) */
-    OMX_AUDIO_AMRFrameFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_AMRFrameFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_AMRFrameFormatMax = 0x7FFFFFFF
-} OMX_AUDIO_AMRFRAMEFORMATTYPE;
-
-
-/** AMR band mode */
-typedef enum OMX_AUDIO_AMRBANDMODETYPE {
-    OMX_AUDIO_AMRBandModeUnused = 0,          /**< AMRNB Mode unused / unknown */
-    OMX_AUDIO_AMRBandModeNB0,                 /**< AMRNB Mode 0 =  4750 bps */
-    OMX_AUDIO_AMRBandModeNB1,                 /**< AMRNB Mode 1 =  5150 bps */
-    OMX_AUDIO_AMRBandModeNB2,                 /**< AMRNB Mode 2 =  5900 bps */
-    OMX_AUDIO_AMRBandModeNB3,                 /**< AMRNB Mode 3 =  6700 bps */
-    OMX_AUDIO_AMRBandModeNB4,                 /**< AMRNB Mode 4 =  7400 bps */
-    OMX_AUDIO_AMRBandModeNB5,                 /**< AMRNB Mode 5 =  7950 bps */
-    OMX_AUDIO_AMRBandModeNB6,                 /**< AMRNB Mode 6 = 10200 bps */
-    OMX_AUDIO_AMRBandModeNB7,                 /**< AMRNB Mode 7 = 12200 bps */
-    OMX_AUDIO_AMRBandModeWB0,                 /**< AMRWB Mode 0 =  6600 bps */
-    OMX_AUDIO_AMRBandModeWB1,                 /**< AMRWB Mode 1 =  8850 bps */
-    OMX_AUDIO_AMRBandModeWB2,                 /**< AMRWB Mode 2 = 12650 bps */
-    OMX_AUDIO_AMRBandModeWB3,                 /**< AMRWB Mode 3 = 14250 bps */
-    OMX_AUDIO_AMRBandModeWB4,                 /**< AMRWB Mode 4 = 15850 bps */
-    OMX_AUDIO_AMRBandModeWB5,                 /**< AMRWB Mode 5 = 18250 bps */
-    OMX_AUDIO_AMRBandModeWB6,                 /**< AMRWB Mode 6 = 19850 bps */
-    OMX_AUDIO_AMRBandModeWB7,                 /**< AMRWB Mode 7 = 23050 bps */
-    OMX_AUDIO_AMRBandModeWB8,                 /**< AMRWB Mode 8 = 23850 bps */
-    OMX_AUDIO_AMRBandModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_AMRBandModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_AMRBandModeMax = 0x7FFFFFFF
-} OMX_AUDIO_AMRBANDMODETYPE;
-
-
-/** AMR Discontinuous Transmission mode */
-typedef enum OMX_AUDIO_AMRDTXMODETYPE {
-    OMX_AUDIO_AMRDTXModeOff = 0,        /**< AMR Discontinuous Transmission Mode is disabled */
-    OMX_AUDIO_AMRDTXModeOnVAD1,         /**< AMR Discontinuous Transmission Mode using
-                                             Voice Activity Detector 1 (VAD1) is enabled */
-    OMX_AUDIO_AMRDTXModeOnVAD2,         /**< AMR Discontinuous Transmission Mode using
-                                             Voice Activity Detector 2 (VAD2) is enabled */
-    OMX_AUDIO_AMRDTXModeOnAuto,         /**< The codec will automatically select between
-                                             Off, VAD1 or VAD2 modes */
-
-    OMX_AUDIO_AMRDTXasEFR,             /**< DTX as EFR instead of AMR standard (3GPP 26.101, frame type =8,9,10) */
-
-    OMX_AUDIO_AMRDTXModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_AMRDTXModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_AMRDTXModeMax = 0x7FFFFFFF
-} OMX_AUDIO_AMRDTXMODETYPE;
-
-
-/** AMR params */
-typedef struct OMX_AUDIO_PARAM_AMRTYPE {
-    OMX_U32 nSize;                          /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;               /**< OMX specification version information */
-    OMX_U32 nPortIndex;                     /**< port that this structure applies to */
-    OMX_U32 nChannels;                      /**< Number of channels */
-    OMX_U32 nBitRate;                       /**< Bit rate read only field */
-    OMX_AUDIO_AMRBANDMODETYPE eAMRBandMode; /**< AMR Band Mode enumeration */
-    OMX_AUDIO_AMRDTXMODETYPE  eAMRDTXMode;  /**< AMR DTX Mode enumeration */
-    OMX_AUDIO_AMRFRAMEFORMATTYPE eAMRFrameFormat; /**< AMR frame format enumeration */
-} OMX_AUDIO_PARAM_AMRTYPE;
-
-
-/** GSM_FR (ETSI 06.10, 3GPP 46.010) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_GSMFRTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_BOOL bDTX;            /**< Enable Discontinuous Transmisssion */
-    OMX_BOOL bHiPassFilter;   /**< Enable High Pass Filter */
-} OMX_AUDIO_PARAM_GSMFRTYPE;
-
-
-/** GSM-HR (ETSI 06.20, 3GPP 46.020) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_GSMHRTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_BOOL bDTX;            /**< Enable Discontinuous Transmisssion */
-    OMX_BOOL bHiPassFilter;   /**< Enable High Pass Filter */
-} OMX_AUDIO_PARAM_GSMHRTYPE;
-
-
-/** GSM-EFR (ETSI 06.60, 3GPP 46.060) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_GSMEFRTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_BOOL bDTX;            /**< Enable Discontinuous Transmisssion */
-    OMX_BOOL bHiPassFilter;   /**< Enable High Pass Filter */
-} OMX_AUDIO_PARAM_GSMEFRTYPE;
-
-
-/** TDMA FR (TIA/EIA-136-420, VSELP 7.95kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_TDMAFRTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_BOOL bDTX;                /**< Enable Discontinuous Transmisssion */
-    OMX_BOOL bHiPassFilter;       /**< Enable High Pass Filter */
-} OMX_AUDIO_PARAM_TDMAFRTYPE;
-
-
-/** TDMA EFR (TIA/EIA-136-410, ACELP 7.4kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_TDMAEFRTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_BOOL bDTX;                /**< Enable Discontinuous Transmisssion */
-    OMX_BOOL bHiPassFilter;       /**< Enable High Pass Filter */
-} OMX_AUDIO_PARAM_TDMAEFRTYPE;
-
-
-/** PDC FR ( RCR-27, VSELP 6.7kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_PDCFRTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_BOOL bDTX;                /**< Enable Discontinuous Transmisssion */
-    OMX_BOOL bHiPassFilter;       /**< Enable High Pass Filter */
-} OMX_AUDIO_PARAM_PDCFRTYPE;
-
-
-/** PDC EFR ( RCR-27, ACELP 6.7kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_PDCEFRTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_BOOL bDTX;                /**< Enable Discontinuous Transmisssion */
-    OMX_BOOL bHiPassFilter;       /**< Enable High Pass Filter */
-} OMX_AUDIO_PARAM_PDCEFRTYPE;
-
-/** PDC HR ( RCR-27, PSI-CELP 3.45kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_PDCHRTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_BOOL bDTX;                /**< Enable Discontinuous Transmisssion */
-    OMX_BOOL bHiPassFilter;       /**< Enable High Pass Filter */
-} OMX_AUDIO_PARAM_PDCHRTYPE;
-
-
-/** CDMA Rate types */
-typedef enum OMX_AUDIO_CDMARATETYPE {
-    OMX_AUDIO_CDMARateBlank = 0,          /**< CDMA encoded frame is blank */
-    OMX_AUDIO_CDMARateFull,               /**< CDMA encoded frame in full rate */
-    OMX_AUDIO_CDMARateHalf,               /**< CDMA encoded frame in half rate */
-    OMX_AUDIO_CDMARateQuarter,            /**< CDMA encoded frame in quarter rate */
-    OMX_AUDIO_CDMARateEighth,             /**< CDMA encoded frame in eighth rate (DTX)*/
-    OMX_AUDIO_CDMARateErasure,            /**< CDMA erasure frame */
-    OMX_AUDIO_CDMARateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_CDMARateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_CDMARateMax = 0x7FFFFFFF
-} OMX_AUDIO_CDMARATETYPE;
-
-
-/** QCELP8 (TIA/EIA-96, up to 8kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_QCELP8TYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_U32 nBitRate;             /**< Bit rate of the input data.  Use 0 for variable
-                                       rate or unknown bit rates */
-    OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */
-    OMX_U32 nMinBitRate;          /**< minmal rate for the encoder = 1,2,3,4, default = 1 */
-    OMX_U32 nMaxBitRate;          /**< maximal rate for the encoder = 1,2,3,4, default = 4 */
-} OMX_AUDIO_PARAM_QCELP8TYPE;
-
-
-/** QCELP13 ( CDMA, EIA/TIA-733, 13.3kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_QCELP13TYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */
-    OMX_U32 nMinBitRate;          /**< minmal rate for the encoder = 1,2,3,4, default = 1 */
-    OMX_U32 nMaxBitRate;          /**< maximal rate for the encoder = 1,2,3,4, default = 4 */
-} OMX_AUDIO_PARAM_QCELP13TYPE;
-
-
-/** EVRC ( CDMA, EIA/TIA-127, RCELP up to 8.55kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_EVRCTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_AUDIO_CDMARATETYPE eCDMARate; /**< actual Frame rate */
-    OMX_BOOL bRATE_REDUCon;       /**< RATE_REDUCtion is requested for this frame */
-    OMX_U32 nMinBitRate;          /**< minmal rate for the encoder = 1,2,3,4, default = 1 */
-    OMX_U32 nMaxBitRate;          /**< maximal rate for the encoder = 1,2,3,4, default = 4 */
-    OMX_BOOL bHiPassFilter;       /**< Enable encoder's High Pass Filter */
-    OMX_BOOL bNoiseSuppressor;    /**< Enable encoder's noise suppressor pre-processing */
-    OMX_BOOL bPostFilter;         /**< Enable decoder's post Filter */
-} OMX_AUDIO_PARAM_EVRCTYPE;
-
-
-/** SMV ( up to 8.55kbps coder) stream format parameters */
-typedef struct OMX_AUDIO_PARAM_SMVTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_U32 nChannels;            /**< Number of channels in the data stream (not
-                                       necessarily the same as the number of channels
-                                       to be rendered. */
-    OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */
-    OMX_BOOL bRATE_REDUCon;           /**< RATE_REDUCtion is requested for this frame */
-    OMX_U32 nMinBitRate;          /**< minmal rate for the encoder = 1,2,3,4, default = 1 ??*/
-    OMX_U32 nMaxBitRate;          /**< maximal rate for the encoder = 1,2,3,4, default = 4 ??*/
-    OMX_BOOL bHiPassFilter;       /**< Enable encoder's High Pass Filter ??*/
-    OMX_BOOL bNoiseSuppressor;    /**< Enable encoder's noise suppressor pre-processing */
-    OMX_BOOL bPostFilter;         /**< Enable decoder's post Filter ??*/
-} OMX_AUDIO_PARAM_SMVTYPE;
-
-
-/** MIDI Format
- * @ingroup midi
- */
-typedef enum OMX_AUDIO_MIDIFORMATTYPE
-{
-    OMX_AUDIO_MIDIFormatUnknown = 0, /**< MIDI Format unknown or don't care */
-    OMX_AUDIO_MIDIFormatSMF0,        /**< Standard MIDI File Type 0 */
-    OMX_AUDIO_MIDIFormatSMF1,        /**< Standard MIDI File Type 1 */
-    OMX_AUDIO_MIDIFormatSMF2,        /**< Standard MIDI File Type 2 */
-    OMX_AUDIO_MIDIFormatSPMIDI,      /**< SP-MIDI */
-    OMX_AUDIO_MIDIFormatXMF0,        /**< eXtensible Music Format type 0 */
-    OMX_AUDIO_MIDIFormatXMF1,        /**< eXtensible Music Format type 1 */
-    OMX_AUDIO_MIDIFormatMobileXMF,   /**< Mobile XMF (eXtensible Music Format type 2) */
-    OMX_AUDIO_MIDIFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_MIDIFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_MIDIFormatMax = 0x7FFFFFFF
-} OMX_AUDIO_MIDIFORMATTYPE;
-
-
-/** MIDI params
- * @ingroup midi
- */
-typedef struct OMX_AUDIO_PARAM_MIDITYPE {
-    OMX_U32 nSize;                 /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;      /**< OMX specification version information */
-    OMX_U32 nPortIndex;            /**< port that this structure applies to */
-    OMX_U32 nFileSize;             /**< size of the MIDI file in bytes, where the entire
-                                        MIDI file passed in, otherwise if 0x0, the MIDI data
-                                        is merged and streamed (instead of passed as an
-                                        entire MIDI file) */
-    OMX_BU32 sMaxPolyphony;        /**< Specifies the maximum simultaneous polyphonic
-                                        voices. A value of zero indicates that the default
-                                        polyphony of the device is used  */
-    OMX_BOOL bLoadDefaultSound;    /**< Whether to load default sound
-                                        bank at initialization */
-    OMX_AUDIO_MIDIFORMATTYPE eMidiFormat; /**< Version of the MIDI file */
-} OMX_AUDIO_PARAM_MIDITYPE;
-
-
-/** Type of the MIDI sound bank
- * @ingroup midi
- */
-typedef enum OMX_AUDIO_MIDISOUNDBANKTYPE {
-    OMX_AUDIO_MIDISoundBankUnused = 0,           /**< unused/unknown soundbank type */
-    OMX_AUDIO_MIDISoundBankDLS1,                 /**< DLS version 1 */
-    OMX_AUDIO_MIDISoundBankDLS2,                 /**< DLS version 2 */
-    OMX_AUDIO_MIDISoundBankMobileDLSBase,        /**< Mobile DLS, using the base functionality */
-    OMX_AUDIO_MIDISoundBankMobileDLSPlusOptions, /**< Mobile DLS, using the specification-defined optional feature set */
-    OMX_AUDIO_MIDISoundBankKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_MIDISoundBankVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_MIDISoundBankMax = 0x7FFFFFFF
-} OMX_AUDIO_MIDISOUNDBANKTYPE;
-
-
-/** Bank Layout describes how bank MSB & LSB are used in the DLS instrument definitions sound bank
- * @ingroup midi
- */
-typedef enum OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE {
-   OMX_AUDIO_MIDISoundBankLayoutUnused = 0,   /**< unused/unknown soundbank type */
-   OMX_AUDIO_MIDISoundBankLayoutGM,           /**< GS layout (based on bank MSB 0x00) */
-   OMX_AUDIO_MIDISoundBankLayoutGM2,          /**< General MIDI 2 layout (using MSB 0x78/0x79, LSB 0x00) */
-   OMX_AUDIO_MIDISoundBankLayoutUser,         /**< Does not conform to any bank numbering standards */
-   OMX_AUDIO_MIDISoundBankLayoutKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-   OMX_AUDIO_MIDISoundBankLayoutVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-   OMX_AUDIO_MIDISoundBankLayoutMax = 0x7FFFFFFF
-} OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE;
-
-
-/** MIDI params to load/unload user soundbank
- * @ingroup midi
- */
-typedef struct OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_U32 nDLSIndex;        /**< DLS file index to be loaded */
-    OMX_U32 nDLSSize;         /**< Size in bytes */
-    OMX_PTR pDLSData;         /**< Pointer to DLS file data */
-    OMX_AUDIO_MIDISOUNDBANKTYPE eMidiSoundBank;   /**< Midi sound bank type enumeration */
-    OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE eMidiSoundBankLayout; /**< Midi sound bank layout enumeration */
-} OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE;
-
-
-/** Structure for Live MIDI events and MIP messages.
- * (MIP = Maximum Instantaneous Polyphony; part of the SP-MIDI standard.)
- * @ingroup midi
- */
-typedef struct OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< Port that this structure applies to */
-    OMX_U32 nMidiEventSize;   /**< Size of immediate MIDI events or MIP message in bytes  */
-    OMX_U8 nMidiEvents[1];    /**< MIDI event array to be rendered immediately, or an
-                                   array for the MIP message buffer, where the size is
-                                   indicated by nMidiEventSize */
-} OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE;
-
-
-/** MIDI sound bank/ program pair in a given channel
- * @ingroup midi
- */
-typedef struct OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< Port that this structure applies to */
-    OMX_U32 nChannel;           /**< Valid channel values range from 1 to 16 */
-    OMX_U16 nIDProgram;         /**< Valid program ID range is 1 to 128 */
-    OMX_U16 nIDSoundBank;       /**< Sound bank ID */
-    OMX_U32 nUserSoundBankIndex;/**< User soundbank index, easier to access soundbanks
-                                     by index if multiple banks are present */
-} OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE;
-
-
-/** MIDI control
- * @ingroup midi
- */
-typedef struct OMX_AUDIO_CONFIG_MIDICONTROLTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_BS32 sPitchTransposition; /**< Pitch transposition in semitones, stored as Q22.10
-                                       format based on JAVA MMAPI (JSR-135) requirement */
-    OMX_BU32 sPlayBackRate;       /**< Relative playback rate, stored as Q14.17 fixed-point
-                                       number based on JSR-135 requirement */
-    OMX_BU32 sTempo ;             /**< Tempo in beats per minute (BPM), stored as Q22.10
-                                       fixed-point number based on JSR-135 requirement */
-    OMX_U32 nMaxPolyphony;        /**< Specifies the maximum simultaneous polyphonic
-                                       voices. A value of zero indicates that the default
-                                       polyphony of the device is used  */
-    OMX_U32 nNumRepeat;           /**< Number of times to repeat playback */
-    OMX_U32 nStopTime;            /**< Time in milliseconds to indicate when playback
-                                       will stop automatically.  Set to zero if not used */
-    OMX_U16 nChannelMuteMask;     /**< 16 bit mask for channel mute status */
-    OMX_U16 nChannelSoloMask;     /**< 16 bit mask for channel solo status */
-    OMX_U32 nTrack0031MuteMask;   /**< 32 bit mask for track mute status. Note: This is for tracks 0-31 */
-    OMX_U32 nTrack3263MuteMask;   /**< 32 bit mask for track mute status. Note: This is for tracks 32-63 */
-    OMX_U32 nTrack0031SoloMask;   /**< 32 bit mask for track solo status. Note: This is for tracks 0-31 */
-    OMX_U32 nTrack3263SoloMask;   /**< 32 bit mask for track solo status. Note: This is for tracks 32-63 */
-
-} OMX_AUDIO_CONFIG_MIDICONTROLTYPE;
-
-
-/** MIDI Playback States
- * @ingroup midi
- */
-typedef enum OMX_AUDIO_MIDIPLAYBACKSTATETYPE {
-  OMX_AUDIO_MIDIPlayBackStateUnknown = 0,      /**< Unknown state or state does not map to
-                                                    other defined states */
-  OMX_AUDIO_MIDIPlayBackStateClosedEngaged,    /**< No MIDI resource is currently open.
-                                                    The MIDI engine is currently processing
-                                                    MIDI events. */
-  OMX_AUDIO_MIDIPlayBackStateParsing,          /**< A MIDI resource is open and is being
-                                                    primed. The MIDI engine is currently
-                                                    processing MIDI events. */
-  OMX_AUDIO_MIDIPlayBackStateOpenEngaged,      /**< A MIDI resource is open and primed but
-                                                    not playing. The MIDI engine is currently
-                                                    processing MIDI events. The transition to
-                                                    this state is only possible from the
-                                                    OMX_AUDIO_MIDIPlayBackStatePlaying state,
-                                                    when the 'playback head' reaches the end
-                                                    of media data or the playback stops due
-                                                    to stop time set.*/
-  OMX_AUDIO_MIDIPlayBackStatePlaying,          /**< A MIDI resource is open and currently
-                                                    playing. The MIDI engine is currently
-                                                    processing MIDI events.*/
-  OMX_AUDIO_MIDIPlayBackStatePlayingPartially, /**< Best-effort playback due to SP-MIDI/DLS
-                                                    resource constraints */
-  OMX_AUDIO_MIDIPlayBackStatePlayingSilently,  /**< Due to system resource constraints and
-                                                    SP-MIDI content constraints, there is
-                                                    no audible MIDI content during playback
-                                                    currently. The situation may change if
-                                                    resources are freed later.*/
-  OMX_AUDIO_MIDIPlayBackStateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-  OMX_AUDIO_MIDIPlayBackStateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-  OMX_AUDIO_MIDIPlayBackStateMax = 0x7FFFFFFF
-} OMX_AUDIO_MIDIPLAYBACKSTATETYPE;
-
-
-/** MIDI status
- * @ingroup midi
- */
-typedef struct OMX_AUDIO_CONFIG_MIDISTATUSTYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< port that this structure applies to */
-    OMX_U16 nNumTracks;         /**< Number of MIDI tracks in the file, read only field.
-                                     NOTE: May not return a meaningful value until the entire
-                                     file is parsed and buffered.  */
-    OMX_U32 nDuration;          /**< The length of the currently open MIDI resource
-                                     in milliseconds. NOTE: May not return a meaningful value
-                                     until the entire file is parsed and buffered.  */
-    OMX_U32 nPosition;          /**< Current Position of the MIDI resource being played
-                                     in milliseconds */
-    OMX_BOOL bVibra;            /**< Does Vibra track exist? NOTE: May not return a meaningful
-                                     value until the entire file is parsed and buffered. */
-    OMX_U32 nNumMetaEvents;     /**< Total number of MIDI Meta Events in the currently
-                                     open MIDI resource. NOTE: May not return a meaningful value
-                                     until the entire file is parsed and buffered.  */
-    OMX_U32 nNumActiveVoices;   /**< Number of active voices in the currently playing
-                                     MIDI resource. NOTE: May not return a meaningful value until
-                                     the entire file is parsed and buffered. */
-    OMX_AUDIO_MIDIPLAYBACKSTATETYPE eMIDIPlayBackState;  /**< MIDI playback state enumeration, read only field */
-} OMX_AUDIO_CONFIG_MIDISTATUSTYPE;
-
-
-/** MIDI Meta Event structure one per Meta Event.
- *  MIDI Meta Events are like audio metadata, except that they are interspersed
- *  with the MIDI content throughout the file and are not localized in the header.
- *  As such, it is necessary to retrieve information about these Meta Events from
- *  the engine, as it encounters these Meta Events within the MIDI content.
- *  For example, SMF files can have up to 14 types of MIDI Meta Events (copyright,
- *  author, default tempo, etc.) scattered throughout the file.
- *  @ingroup midi
- */
-typedef struct OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE{
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_U32 nIndex;           /**< Index of Meta Event */
-    OMX_U8 nMetaEventType;    /**< Meta Event Type, 7bits (i.e. 0 - 127) */
-    OMX_U32 nMetaEventSize;   /**< size of the Meta Event in bytes */
-    OMX_U32 nTrack;           /**< track number for the meta event */
-    OMX_U32 nPosition;        /**< Position of the meta-event in milliseconds */
-} OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE;
-
-
-/** MIDI Meta Event Data structure - one per Meta Event.
- * @ingroup midi
- */
-typedef struct OMX_AUDIO_CONFIG_MIDIMETAEVENTDATATYPE{
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_U32 nIndex;           /**< Index of Meta Event */
-    OMX_U32 nMetaEventSize;   /**< size of the Meta Event in bytes */
-    OMX_U8 nData[1];          /**< array of one or more bytes of meta data
-                                   as indicated by the nMetaEventSize field */
-} OMX_AUDIO_CONFIG__MIDIMETAEVENTDATATYPE;
-
-
-/** Audio Volume adjustment for a port */
-typedef struct OMX_AUDIO_CONFIG_VOLUMETYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< Port index indicating which port to
-                                     set.  Select the input port to set
-                                     just that port's volume.  Select the
-                                     output port to adjust the master
-                                     volume. */
-    OMX_BOOL bLinear;           /**< Is the volume to be set in linear (0.100)
-                                     or logarithmic scale (mB) */
-    OMX_BS32 sVolume;           /**< Volume linear setting in the 0..100 range, OR
-                                     Volume logarithmic setting for this port.  The values
-                                     for volume are in mB (millibels = 1/100 dB) relative
-                                     to a gain of 1 (e.g. the output is the same as the
-                                     input level).  Values are in mB from nMax
-                                     (maximum volume) to nMin mB (typically negative).
-                                     Since the volume is "voltage"
-                                     and not a "power", it takes a setting of
-                                     -600 mB to decrease the volume by 1/2.  If
-                                     a component cannot accurately set the
-                                     volume to the requested value, it must
-                                     set the volume to the closest value BELOW
-                                     the requested value.  When getting the
-                                     volume setting, the current actual volume
-                                     must be returned. */
-} OMX_AUDIO_CONFIG_VOLUMETYPE;
-
-
-/** Audio Volume adjustment for a channel */
-typedef struct OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< Port index indicating which port to
-                                     set.  Select the input port to set
-                                     just that port's volume.  Select the
-                                     output port to adjust the master
-                                     volume. */
-    OMX_U32 nChannel;           /**< channel to select from 0 to N-1,
-                                     using OMX_ALL to apply volume settings
-                                     to all channels */
-    OMX_BOOL bLinear;           /**< Is the volume to be set in linear (0.100) or
-                                     logarithmic scale (mB) */
-    OMX_BS32 sVolume;           /**< Volume linear setting in the 0..100 range, OR
-                                     Volume logarithmic setting for this port.
-                                     The values for volume are in mB
-                                     (millibels = 1/100 dB) relative to a gain
-                                     of 1 (e.g. the output is the same as the
-                                     input level).  Values are in mB from nMax
-                                     (maximum volume) to nMin mB (typically negative).
-                                     Since the volume is "voltage"
-                                     and not a "power", it takes a setting of
-                                     -600 mB to decrease the volume by 1/2.  If
-                                     a component cannot accurately set the
-                                     volume to the requested value, it must
-                                     set the volume to the closest value BELOW
-                                     the requested value.  When getting the
-                                     volume setting, the current actual volume
-                                     must be returned. */
-    OMX_BOOL bIsMIDI;           /**< TRUE if nChannel refers to a MIDI channel,
-                                     FALSE otherwise */
-} OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE;
-
-
-/** Audio balance setting */
-typedef struct OMX_AUDIO_CONFIG_BALANCETYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< Port index indicating which port to
-                                     set.  Select the input port to set
-                                     just that port's balance.  Select the
-                                     output port to adjust the master
-                                     balance. */
-    OMX_S32 nBalance;           /**< balance setting for this port
-                                     (-100 to 100, where -100 indicates
-                                     all left, and no right */
-} OMX_AUDIO_CONFIG_BALANCETYPE;
-
-
-/** Audio Port mute */
-typedef struct OMX_AUDIO_CONFIG_MUTETYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< Port index indicating which port to
-                                     set.  Select the input port to set
-                                     just that port's mute.  Select the
-                                     output port to adjust the master
-                                     mute. */
-    OMX_BOOL bMute;             /**< Mute setting for this port */
-} OMX_AUDIO_CONFIG_MUTETYPE;
-
-
-/** Audio Channel mute */
-typedef struct OMX_AUDIO_CONFIG_CHANNELMUTETYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< port that this structure applies to */
-    OMX_U32 nChannel;           /**< channel to select from 0 to N-1,
-                                     using OMX_ALL to apply mute settings
-                                     to all channels */
-    OMX_BOOL bMute;             /**< Mute setting for this channel */
-    OMX_BOOL bIsMIDI;           /**< TRUE if nChannel refers to a MIDI channel,
-                                     FALSE otherwise */
-} OMX_AUDIO_CONFIG_CHANNELMUTETYPE;
-
-
-
-/** Enable / Disable for loudness control, which boosts bass and to a
- *  smaller extent high end frequencies to compensate for hearing
- *  ability at the extreme ends of the audio spectrum
- */
-typedef struct OMX_AUDIO_CONFIG_LOUDNESSTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_BOOL bLoudness;        /**< Enable/disable for loudness */
-} OMX_AUDIO_CONFIG_LOUDNESSTYPE;
-
-
-/** Enable / Disable for bass, which controls low frequencies
- */
-typedef struct OMX_AUDIO_CONFIG_BASSTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_BOOL bEnable;          /**< Enable/disable for bass control */
-    OMX_S32 nBass;             /**< bass setting for the port, as a
-                                    continuous value from -100 to 100
-                                    (0 means no change in bass level)*/
-} OMX_AUDIO_CONFIG_BASSTYPE;
-
-
-/** Enable / Disable for treble, which controls high frequencies tones
- */
-typedef struct OMX_AUDIO_CONFIG_TREBLETYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_BOOL bEnable;          /**< Enable/disable for treble control */
-    OMX_S32  nTreble;          /**< treble setting for the port, as a
-                                    continuous value from -100 to 100
-                                    (0 means no change in treble level) */
-} OMX_AUDIO_CONFIG_TREBLETYPE;
-
-
-/** An equalizer is typically used for two reasons: to compensate for an
- *  sub-optimal frequency response of a system to make it sound more natural
- *  or to create intentionally some unnatural coloring to the sound to create
- *  an effect.
- *  @ingroup effects
- */
-typedef struct OMX_AUDIO_CONFIG_EQUALIZERTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_BOOL bEnable;          /**< Enable/disable for equalizer */
-    OMX_BU32 sBandIndex;       /**< Band number to be set.  Upper Limit is
-                                    N-1, where N is the number of bands, lower limit is 0 */
-    OMX_BU32 sCenterFreq;      /**< Center frequecies in Hz.  This is a
-                                    read only element and is used to determine
-                                    the lower, center and upper frequency of
-                                    this band.  */
-    OMX_BS32 sBandLevel;       /**< band level in millibels */
-} OMX_AUDIO_CONFIG_EQUALIZERTYPE;
-
-
-/** Stereo widening mode type
- * @ingroup effects
- */
-typedef enum OMX_AUDIO_STEREOWIDENINGTYPE {
-    OMX_AUDIO_StereoWideningHeadphones,    /**< Stereo widening for loudspeakers */
-    OMX_AUDIO_StereoWideningLoudspeakers,  /**< Stereo widening for closely spaced loudspeakers */
-    OMX_AUDIO_StereoWideningKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_AUDIO_StereoWideningVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_AUDIO_StereoWideningMax = 0x7FFFFFFF
-} OMX_AUDIO_STEREOWIDENINGTYPE;
-
-
-/** Control for stereo widening, which is a special 2-channel
- *  case of the audio virtualizer effect. For example, for 5.1-channel
- *  output, it translates to virtual surround sound.
- * @ingroup effects
- */
-typedef struct OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_BOOL bEnable;          /**< Enable/disable for stereo widening control */
-    OMX_AUDIO_STEREOWIDENINGTYPE eWideningType; /**< Stereo widening algorithm type */
-    OMX_U32  nStereoWidening;  /**< stereo widening setting for the port,
-                                    as a continuous value from 0 to 100  */
-} OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE;
-
-
-/** The chorus effect (or ``choralizer'') is any signal processor which makes
- *  one sound source (such as a voice) sound like many such sources singing
- *  (or playing) in unison. Since performance in unison is never exact, chorus
- *  effects simulate this by making independently modified copies of the input
- *  signal. Modifications may include (1) delay, (2) frequency shift, and
- *  (3) amplitude modulation.
- * @ingroup effects
- */
-typedef struct OMX_AUDIO_CONFIG_CHORUSTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_BOOL bEnable;          /**< Enable/disable for chorus */
-    OMX_BU32 sDelay;           /**< average delay in milliseconds */
-    OMX_BU32 sModulationRate;  /**< rate of modulation in millihertz */
-    OMX_U32 nModulationDepth;  /**< depth of modulation as a percentage of
-                                    delay (i.e. 0 to 100) */
-    OMX_BU32 nFeedback;        /**< Feedback from chorus output to input in percentage */
-} OMX_AUDIO_CONFIG_CHORUSTYPE;
-
-
-/** Reverberation is part of the reflected sound that follows the early
- *  reflections. In a typical room, this consists of a dense succession of
- *  echoes whose energy decays exponentially. The reverberation effect structure
- *  as defined here includes both (early) reflections as well as (late) reverberations.
- * @ingroup effects
- */
-typedef struct OMX_AUDIO_CONFIG_REVERBERATIONTYPE {
-    OMX_U32 nSize;                /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;     /**< OMX specification version information */
-    OMX_U32 nPortIndex;           /**< port that this structure applies to */
-    OMX_BOOL bEnable;             /**< Enable/disable for reverberation control */
-    OMX_BS32 sRoomLevel;          /**< Intensity level for the whole room effect
-                                       (i.e. both early reflections and late
-                                       reverberation) in millibels */
-    OMX_BS32 sRoomHighFreqLevel;  /**< Attenuation at high frequencies
-                                       relative to the intensity at low
-                                       frequencies in millibels */
-    OMX_BS32 sReflectionsLevel;   /**< Intensity level of early reflections
-                                       (relative to room value), in millibels */
-    OMX_BU32 sReflectionsDelay;   /**< Delay time of the first reflection relative
-                                       to the direct path, in milliseconds */
-    OMX_BS32 sReverbLevel;        /**< Intensity level of late reverberation
-                                       relative to room level, in millibels */
-    OMX_BU32 sReverbDelay;        /**< Time delay from the first early reflection
-                                       to the beginning of the late reverberation
-                                       section, in milliseconds */
-    OMX_BU32 sDecayTime;          /**< Late reverberation decay time at low
-                                       frequencies, in milliseconds */
-    OMX_BU32 nDecayHighFreqRatio; /**< Ratio of high frequency decay time relative
-                                       to low frequency decay time in percent  */
-    OMX_U32 nDensity;             /**< Modal density in the late reverberation decay,
-                                       in percent (i.e. 0 - 100) */
-    OMX_U32 nDiffusion;           /**< Echo density in the late reverberation decay,
-                                       in percent (i.e. 0 - 100) */
-    OMX_BU32 sReferenceHighFreq;  /**< Reference high frequency in Hertz. This is
-                                       the frequency used as the reference for all
-                                       the high-frequency settings above */
-
-} OMX_AUDIO_CONFIG_REVERBERATIONTYPE;
-
-
-/** Possible settings for the Echo Cancelation structure to use
- * @ingroup effects
- */
-typedef enum OMX_AUDIO_ECHOCANTYPE {
-   OMX_AUDIO_EchoCanOff = 0,    /**< Echo Cancellation is disabled */
-   OMX_AUDIO_EchoCanNormal,     /**< Echo Cancellation normal operation -
-                                     echo from plastics and face */
-   OMX_AUDIO_EchoCanHFree,      /**< Echo Cancellation optimized for
-                                     Hands Free operation */
-   OMX_AUDIO_EchoCanCarKit,    /**< Echo Cancellation optimized for
-                                     Car Kit (longer echo) */
-   OMX_AUDIO_EchoCanKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-   OMX_AUDIO_EchoCanVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-   OMX_AUDIO_EchoCanMax = 0x7FFFFFFF
-} OMX_AUDIO_ECHOCANTYPE;
-
-
-/** Enable / Disable for echo cancelation, which removes undesired echo's
- *  from the audio
- * @ingroup effects
- */
-typedef struct OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_AUDIO_ECHOCANTYPE eEchoCancelation; /**< Echo cancelation settings */
-} OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE;
-
-
-/** Enable / Disable for noise reduction, which undesired noise from
- * the audio
- * @ingroup effects
- */
-typedef struct OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_U32 nPortIndex;        /**< port that this structure applies to */
-    OMX_BOOL bNoiseReduction;  /**< Enable/disable for noise reduction */
-} OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE;
-
-/** @} */
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_AudioExt.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_AudioExt.h
deleted file mode 100644
index 2a1c3f2e1815ec..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_AudioExt.h
+++ /dev/null
@@ -1,102 +0,0 @@
-/*
- * Copyright (c) 2010 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** OMX_AudioExt.h - OpenMax IL version 1.1.2
- * The OMX_AudioExt header file contains extensions to the
- * definitions used by both the application and the component to
- * access video items.
- */
-
-#ifndef OMX_AudioExt_h
-#define OMX_AudioExt_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/* Each OMX header shall include all required header files to allow the
- * header to compile without errors.  The includes below are required
- * for this header file to compile successfully
- */
-#include <OMX_Core.h>
-
-#define OMX_AUDIO_AACToolAndroidSSBR (OMX_AUDIO_AACToolVendor << 0) /**< SSBR: MPEG-4 Single-rate (downsampled) Spectral Band Replication tool allowed or active */
-#define OMX_AUDIO_AACToolAndroidDSBR (OMX_AUDIO_AACToolVendor << 1) /**< DSBR: MPEG-4 Dual-rate Spectral Band Replication tool allowed or active */
-
-typedef enum OMX_AUDIO_CODINGEXTTYPE {
-    OMX_AUDIO_CodingAndroidUnused = OMX_AUDIO_CodingKhronosExtensions + 0x00100000,
-    OMX_AUDIO_CodingAndroidAC3,         /**< AC3 encoded data */
-    OMX_AUDIO_CodingAndroidOPUS,        /**< OPUS encoded data */
-    OMX_AUDIO_CodingAndroidEAC3,        /**< EAC3 encoded data */
-} OMX_AUDIO_CODINGEXTTYPE;
-
-typedef struct OMX_AUDIO_PARAM_ANDROID_AC3TYPE {
-    OMX_U32 nSize;                 /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;      /**< OMX specification version information */
-    OMX_U32 nPortIndex;            /**< port that this structure applies to */
-    OMX_U32 nChannels;             /**< Number of channels */
-    OMX_U32 nSampleRate;           /**< Sampling rate of the source data.  Use 0 for
-                                        variable or unknown sampling rate. */
-} OMX_AUDIO_PARAM_ANDROID_AC3TYPE;
-
-typedef struct OMX_AUDIO_PARAM_ANDROID_EAC3TYPE {
-    OMX_U32 nSize;                 /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;      /**< OMX specification version information */
-    OMX_U32 nPortIndex;            /**< port that this structure applies to */
-    OMX_U32 nChannels;             /**< Number of channels */
-    OMX_U32 nSampleRate;           /**< Sampling rate of the source data.  Use 0 for
-                                        variable or unknown sampling rate. */
-} OMX_AUDIO_PARAM_ANDROID_EAC3TYPE;
-
-typedef struct OMX_AUDIO_PARAM_ANDROID_OPUSTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< port that this structure applies to */
-    OMX_U32 nChannels;        /**< Number of channels */
-    OMX_U32 nBitRate;         /**< Bit rate of the encoded data data.  Use 0 for variable
-                                   rate or unknown bit rates. Encoding is set to the
-                                   bitrate closest to specified  value (in bps) */
-    OMX_U32 nSampleRate;      /**< Sampling rate of the source data.  Use 0 for
-                                   variable or unknown sampling rate. */
-    OMX_U32 nAudioBandWidth;  /**< Audio band width (in Hz) to which an encoder should
-                                   limit the audio signal. Use 0 to let encoder decide */
-} OMX_AUDIO_PARAM_ANDROID_OPUSTYPE;
-
-typedef struct OMX_AUDIO_PARAM_ANDROID_AACPRESENTATIONTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_S32 nMaxOutputChannels;    /**< Maximum channel count to be output, -1 if unspecified, 0 if downmixing disabled */
-    OMX_S32 nDrcCut;               /**< The DRC attenuation factor, between 0 and 127, -1 if unspecified */
-    OMX_S32 nDrcBoost;             /**< The DRC amplification factor, between 0 and 127, -1 if unspecified */
-    OMX_S32 nHeavyCompression;     /**< 0 for light compression, 1 for heavy compression, -1 if unspecified */
-    OMX_S32 nTargetReferenceLevel; /**< Target reference level, between 0 and 127, -1 if unspecified */
-    OMX_S32 nEncodedTargetLevel;   /**< Target reference level assumed at the encoder, between 0 and 127, -1 if unspecified */
-    OMX_S32 nPCMLimiterEnable;     /**< Signal level limiting, 0 for disable, 1 for enable, -1 if unspecified */
-} OMX_AUDIO_PARAM_ANDROID_AACPRESENTATIONTYPE;
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif /* OMX_AudioExt_h */
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Component.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_Component.h
deleted file mode 100644
index 0dc2c769725e76..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Component.h
+++ /dev/null
@@ -1,596 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/*
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** OMX_Component.h - OpenMax IL version 1.1.2
- *  The OMX_Component header file contains the definitions used to define
- *  the public interface of a component.  This header file is intended to
- *  be used by both the application and the component.
- */
-
-#ifndef OMX_Component_h
-#define OMX_Component_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-
-
-/* Each OMX header must include all required header files to allow the
- *  header to compile without errors.  The includes below are required
- *  for this header file to compile successfully
- */
-
-#include <OMX_Audio.h>
-#include <OMX_Video.h>
-#include <OMX_Image.h>
-#include <OMX_Other.h>
-
-/** @ingroup comp */
-typedef enum OMX_PORTDOMAINTYPE {
-    OMX_PortDomainAudio,
-    OMX_PortDomainVideo,
-    OMX_PortDomainImage,
-    OMX_PortDomainOther,
-    OMX_PortDomainKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_PortDomainVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_PortDomainMax = 0x7ffffff
-} OMX_PORTDOMAINTYPE;
-
-/** @ingroup comp */
-typedef struct OMX_PARAM_PORTDEFINITIONTYPE {
-    OMX_U32 nSize;                 /**< Size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;      /**< OMX specification version information */
-    OMX_U32 nPortIndex;            /**< Port number the structure applies to */
-    OMX_DIRTYPE eDir;              /**< Direction (input or output) of this port */
-    OMX_U32 nBufferCountActual;    /**< The actual number of buffers allocated on this port */
-    OMX_U32 nBufferCountMin;       /**< The minimum number of buffers this port requires */
-    OMX_U32 nBufferSize;           /**< Size, in bytes, for buffers to be used for this channel */
-    OMX_BOOL bEnabled;             /**< Ports default to enabled and are enabled/disabled by
-                                        OMX_CommandPortEnable/OMX_CommandPortDisable.
-                                        When disabled a port is unpopulated. A disabled port
-                                        is not populated with buffers on a transition to IDLE. */
-    OMX_BOOL bPopulated;           /**< Port is populated with all of its buffers as indicated by
-                                        nBufferCountActual. A disabled port is always unpopulated.
-                                        An enabled port is populated on a transition to OMX_StateIdle
-                                        and unpopulated on a transition to loaded. */
-    OMX_PORTDOMAINTYPE eDomain;    /**< Domain of the port. Determines the contents of metadata below. */
-    union {
-        OMX_AUDIO_PORTDEFINITIONTYPE audio;
-        OMX_VIDEO_PORTDEFINITIONTYPE video;
-        OMX_IMAGE_PORTDEFINITIONTYPE image;
-        OMX_OTHER_PORTDEFINITIONTYPE other;
-    } format;
-    OMX_BOOL bBuffersContiguous;
-    OMX_U32 nBufferAlignment;
-} OMX_PARAM_PORTDEFINITIONTYPE;
-
-/** @ingroup comp */
-typedef struct OMX_PARAM_U32TYPE {
-    OMX_U32 nSize;                    /**< Size of this structure, in Bytes */
-    OMX_VERSIONTYPE nVersion;         /**< OMX specification version information */
-    OMX_U32 nPortIndex;               /**< port that this structure applies to */
-    OMX_U32 nU32;                     /**< U32 value */
-} OMX_PARAM_U32TYPE;
-
-/** @ingroup rpm */
-typedef enum OMX_SUSPENSIONPOLICYTYPE {
-    OMX_SuspensionDisabled, /**< No suspension; v1.0 behavior */
-    OMX_SuspensionEnabled,  /**< Suspension allowed */
-    OMX_SuspensionPolicyKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_SuspensionPolicyStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_SuspensionPolicyMax = 0x7fffffff
-} OMX_SUSPENSIONPOLICYTYPE;
-
-/** @ingroup rpm */
-typedef struct OMX_PARAM_SUSPENSIONPOLICYTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_SUSPENSIONPOLICYTYPE ePolicy;
-} OMX_PARAM_SUSPENSIONPOLICYTYPE;
-
-/** @ingroup rpm */
-typedef enum OMX_SUSPENSIONTYPE {
-    OMX_NotSuspended, /**< component is not suspended */
-    OMX_Suspended,    /**< component is suspended */
-    OMX_SuspensionKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_SuspensionVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_SuspendMax = 0x7FFFFFFF
-} OMX_SUSPENSIONTYPE;
-
-/** @ingroup rpm */
-typedef struct OMX_PARAM_SUSPENSIONTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_SUSPENSIONTYPE eType;
-} OMX_PARAM_SUSPENSIONTYPE ;
-
-typedef struct OMX_CONFIG_BOOLEANTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_BOOL bEnabled;
-} OMX_CONFIG_BOOLEANTYPE;
-
-/* Parameter specifying the content uri to use. */
-/** @ingroup cp */
-typedef struct OMX_PARAM_CONTENTURITYPE
-{
-    OMX_U32 nSize;                      /**< size of the structure in bytes, including
-                                             actual URI name */
-    OMX_VERSIONTYPE nVersion;           /**< OMX specification version information */
-    OMX_U8 contentURI[1];               /**< The URI name */
-} OMX_PARAM_CONTENTURITYPE;
-
-/* Parameter specifying the pipe to use. */
-/** @ingroup cp */
-typedef struct OMX_PARAM_CONTENTPIPETYPE
-{
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_HANDLETYPE hPipe;       /**< The pipe handle*/
-} OMX_PARAM_CONTENTPIPETYPE;
-
-/** @ingroup rpm */
-typedef struct OMX_RESOURCECONCEALMENTTYPE {
-    OMX_U32 nSize;             /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
-    OMX_BOOL bResourceConcealmentForbidden; /**< disallow the use of resource concealment
-                                            methods (like degrading algorithm quality to
-                                            lower resource consumption or functional bypass)
-                                            on a component as a resolution to resource conflicts. */
-} OMX_RESOURCECONCEALMENTTYPE;
-
-
-/** @ingroup metadata */
-typedef enum OMX_METADATACHARSETTYPE {
-    OMX_MetadataCharsetUnknown = 0,
-    OMX_MetadataCharsetASCII,
-    OMX_MetadataCharsetBinary,
-    OMX_MetadataCharsetCodePage1252,
-    OMX_MetadataCharsetUTF8,
-    OMX_MetadataCharsetJavaConformantUTF8,
-    OMX_MetadataCharsetUTF7,
-    OMX_MetadataCharsetImapUTF7,
-    OMX_MetadataCharsetUTF16LE,
-    OMX_MetadataCharsetUTF16BE,
-    OMX_MetadataCharsetGB12345,
-    OMX_MetadataCharsetHZGB2312,
-    OMX_MetadataCharsetGB2312,
-    OMX_MetadataCharsetGB18030,
-    OMX_MetadataCharsetGBK,
-    OMX_MetadataCharsetBig5,
-    OMX_MetadataCharsetISO88591,
-    OMX_MetadataCharsetISO88592,
-    OMX_MetadataCharsetISO88593,
-    OMX_MetadataCharsetISO88594,
-    OMX_MetadataCharsetISO88595,
-    OMX_MetadataCharsetISO88596,
-    OMX_MetadataCharsetISO88597,
-    OMX_MetadataCharsetISO88598,
-    OMX_MetadataCharsetISO88599,
-    OMX_MetadataCharsetISO885910,
-    OMX_MetadataCharsetISO885913,
-    OMX_MetadataCharsetISO885914,
-    OMX_MetadataCharsetISO885915,
-    OMX_MetadataCharsetShiftJIS,
-    OMX_MetadataCharsetISO2022JP,
-    OMX_MetadataCharsetISO2022JP1,
-    OMX_MetadataCharsetISOEUCJP,
-    OMX_MetadataCharsetSMS7Bit,
-    OMX_MetadataCharsetKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_MetadataCharsetVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_MetadataCharsetTypeMax= 0x7FFFFFFF
-} OMX_METADATACHARSETTYPE;
-
-/** @ingroup metadata */
-typedef enum OMX_METADATASCOPETYPE
-{
-    OMX_MetadataScopeAllLevels,
-    OMX_MetadataScopeTopLevel,
-    OMX_MetadataScopePortLevel,
-    OMX_MetadataScopeNodeLevel,
-    OMX_MetadataScopeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_MetadataScopeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_MetadataScopeTypeMax = 0x7fffffff
-} OMX_METADATASCOPETYPE;
-
-/** @ingroup metadata */
-typedef enum OMX_METADATASEARCHMODETYPE
-{
-    OMX_MetadataSearchValueSizeByIndex,
-    OMX_MetadataSearchItemByIndex,
-    OMX_MetadataSearchNextItemByKey,
-    OMX_MetadataSearchKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_MetadataSearchVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_MetadataSearchTypeMax = 0x7fffffff
-} OMX_METADATASEARCHMODETYPE;
-/** @ingroup metadata */
-typedef struct OMX_CONFIG_METADATAITEMCOUNTTYPE
-{
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_METADATASCOPETYPE eScopeMode;
-    OMX_U32 nScopeSpecifier;
-    OMX_U32 nMetadataItemCount;
-} OMX_CONFIG_METADATAITEMCOUNTTYPE;
-
-/** @ingroup metadata */
-typedef struct OMX_CONFIG_METADATAITEMTYPE
-{
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_METADATASCOPETYPE eScopeMode;
-    OMX_U32 nScopeSpecifier;
-    OMX_U32 nMetadataItemIndex;
-    OMX_METADATASEARCHMODETYPE eSearchMode;
-    OMX_METADATACHARSETTYPE eKeyCharset;
-    OMX_U8 nKeySizeUsed;
-    OMX_U8 nKey[128];
-    OMX_METADATACHARSETTYPE eValueCharset;
-    OMX_STRING sLanguageCountry;
-    OMX_U32 nValueMaxSize;
-    OMX_U32 nValueSizeUsed;
-    OMX_U8 nValue[1];
-} OMX_CONFIG_METADATAITEMTYPE;
-
-/* @ingroup metadata */
-typedef struct OMX_CONFIG_CONTAINERNODECOUNTTYPE
-{
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_BOOL bAllKeys;
-    OMX_U32 nParentNodeID;
-    OMX_U32 nNumNodes;
-} OMX_CONFIG_CONTAINERNODECOUNTTYPE;
-
-/** @ingroup metadata */
-typedef struct OMX_CONFIG_CONTAINERNODEIDTYPE
-{
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_BOOL bAllKeys;
-    OMX_U32 nParentNodeID;
-    OMX_U32 nNodeIndex;
-    OMX_U32 nNodeID;
-    OMX_STRING cNodeName;
-    OMX_BOOL bIsLeafType;
-} OMX_CONFIG_CONTAINERNODEIDTYPE;
-
-/** @ingroup metadata */
-typedef struct OMX_PARAM_METADATAFILTERTYPE
-{
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_BOOL bAllKeys;  /* if true then this structure refers to all keys and
-                         * the three key fields below are ignored */
-    OMX_METADATACHARSETTYPE eKeyCharset;
-    OMX_U32 nKeySizeUsed;
-    OMX_U8   nKey [128];
-    OMX_U32 nLanguageCountrySizeUsed;
-    OMX_U8 nLanguageCountry[128];
-    OMX_BOOL bEnabled;  /* if true then key is part of filter (e.g.
-                         * retained for query later). If false then
-                         * key is not part of filter */
-} OMX_PARAM_METADATAFILTERTYPE;
-
-/** The OMX_HANDLETYPE structure defines the component handle.  The component
- *  handle is used to access all of the component's public methods and also
- *  contains pointers to the component's private data area.  The component
- *  handle is initialized by the OMX core (with help from the component)
- *  during the process of loading the component.  After the component is
- *  successfully loaded, the application can safely access any of the
- *  component's public functions (although some may return an error because
- *  the state is inappropriate for the access).
- *
- *  @ingroup comp
- */
-typedef struct OMX_COMPONENTTYPE
-{
-    /** The size of this structure, in bytes.  It is the responsibility
-        of the allocator of this structure to fill in this value.  Since
-        this structure is allocated by the GetHandle function, this
-        function will fill in this value. */
-    OMX_U32 nSize;
-
-    /** nVersion is the version of the OMX specification that the structure
-        is built against.  It is the responsibility of the creator of this
-        structure to initialize this value and every user of this structure
-        should verify that it knows how to use the exact version of
-        this structure found herein. */
-    OMX_VERSIONTYPE nVersion;
-
-    /** pComponentPrivate is a pointer to the component private data area.
-        This member is allocated and initialized by the component when the
-        component is first loaded.  The application should not access this
-        data area. */
-    OMX_PTR pComponentPrivate;
-
-    /** pApplicationPrivate is a pointer that is a parameter to the
-        OMX_GetHandle method, and contains an application private value
-        provided by the IL client.  This application private data is
-        returned to the IL Client by OMX in all callbacks */
-    OMX_PTR pApplicationPrivate;
-
-    /** refer to OMX_GetComponentVersion in OMX_core.h or the OMX IL
-        specification for details on the GetComponentVersion method.
-     */
-    OMX_ERRORTYPE (*GetComponentVersion)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_OUT OMX_STRING pComponentName,
-            OMX_OUT OMX_VERSIONTYPE* pComponentVersion,
-            OMX_OUT OMX_VERSIONTYPE* pSpecVersion,
-            OMX_OUT OMX_UUIDTYPE* pComponentUUID);
-
-    /** refer to OMX_SendCommand in OMX_core.h or the OMX IL
-        specification for details on the SendCommand method.
-     */
-    OMX_ERRORTYPE (*SendCommand)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_COMMANDTYPE Cmd,
-            OMX_IN  OMX_U32 nParam1,
-            OMX_IN  OMX_PTR pCmdData);
-
-    /** refer to OMX_GetParameter in OMX_core.h or the OMX IL
-        specification for details on the GetParameter method.
-     */
-    OMX_ERRORTYPE (*GetParameter)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_INDEXTYPE nParamIndex,
-            OMX_INOUT OMX_PTR pComponentParameterStructure);
-
-
-    /** refer to OMX_SetParameter in OMX_core.h or the OMX IL
-        specification for details on the SetParameter method.
-     */
-    OMX_ERRORTYPE (*SetParameter)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_INDEXTYPE nIndex,
-            OMX_IN  OMX_PTR pComponentParameterStructure);
-
-
-    /** refer to OMX_GetConfig in OMX_core.h or the OMX IL
-        specification for details on the GetConfig method.
-     */
-    OMX_ERRORTYPE (*GetConfig)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_INDEXTYPE nIndex,
-            OMX_INOUT OMX_PTR pComponentConfigStructure);
-
-
-    /** refer to OMX_SetConfig in OMX_core.h or the OMX IL
-        specification for details on the SetConfig method.
-     */
-    OMX_ERRORTYPE (*SetConfig)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_INDEXTYPE nIndex,
-            OMX_IN  OMX_PTR pComponentConfigStructure);
-
-
-    /** refer to OMX_GetExtensionIndex in OMX_core.h or the OMX IL
-        specification for details on the GetExtensionIndex method.
-     */
-    OMX_ERRORTYPE (*GetExtensionIndex)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_STRING cParameterName,
-            OMX_OUT OMX_INDEXTYPE* pIndexType);
-
-
-    /** refer to OMX_GetState in OMX_core.h or the OMX IL
-        specification for details on the GetState method.
-     */
-    OMX_ERRORTYPE (*GetState)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_OUT OMX_STATETYPE* pState);
-
-
-    /** The ComponentTunnelRequest method will interact with another OMX
-        component to determine if tunneling is possible and to setup the
-        tunneling.  The return codes for this method can be used to
-        determine if tunneling is not possible, or if tunneling is not
-        supported.
-
-        Base profile components (i.e. non-interop) do not support this
-        method and should return OMX_ErrorNotImplemented
-
-        The interop profile component MUST support tunneling to another
-        interop profile component with a compatible port parameters.
-        A component may also support proprietary communication.
-
-        If proprietary communication is supported the negotiation of
-        proprietary communication is done outside of OMX in a vendor
-        specific way. It is only required that the proper result be
-        returned and the details of how the setup is done is left
-        to the component implementation.
-
-        When this method is invoked when nPort in an output port, the
-        component will:
-        1.  Populate the pTunnelSetup structure with the output port's
-            requirements and constraints for the tunnel.
-
-        When this method is invoked when nPort in an input port, the
-        component will:
-        1.  Query the necessary parameters from the output port to
-            determine if the ports are compatible for tunneling
-        2.  If the ports are compatible, the component should store
-            the tunnel step provided by the output port
-        3.  Determine which port (either input or output) is the buffer
-            supplier, and call OMX_SetParameter on the output port to
-            indicate this selection.
-
-        The component will return from this call within 5 msec.
-
-        @param [in] hComp
-            Handle of the component to be accessed.  This is the component
-            handle returned by the call to the OMX_GetHandle method.
-        @param [in] nPort
-            nPort is used to select the port on the component to be used
-            for tunneling.
-        @param [in] hTunneledComp
-            Handle of the component to tunnel with.  This is the component
-            handle returned by the call to the OMX_GetHandle method.  When
-            this parameter is 0x0 the component should setup the port for
-            communication with the application / IL Client.
-        @param [in] nPortOutput
-            nPortOutput is used indicate the port the component should
-            tunnel with.
-        @param [in] pTunnelSetup
-            Pointer to the tunnel setup structure.  When nPort is an output port
-            the component should populate the fields of this structure.  When
-            When nPort is an input port the component should review the setup
-            provided by the component with the output port.
-        @return OMX_ERRORTYPE
-            If the command successfully executes, the return code will be
-            OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-        @ingroup tun
-    */
-
-    OMX_ERRORTYPE (*ComponentTunnelRequest)(
-        OMX_IN  OMX_HANDLETYPE hComp,
-        OMX_IN  OMX_U32 nPort,
-        OMX_IN  OMX_HANDLETYPE hTunneledComp,
-        OMX_IN  OMX_U32 nTunneledPort,
-        OMX_INOUT  OMX_TUNNELSETUPTYPE* pTunnelSetup);
-
-    /** refer to OMX_UseBuffer in OMX_core.h or the OMX IL
-        specification for details on the UseBuffer method.
-        @ingroup buf
-     */
-    OMX_ERRORTYPE (*UseBuffer)(
-            OMX_IN OMX_HANDLETYPE hComponent,
-            OMX_INOUT OMX_BUFFERHEADERTYPE** ppBufferHdr,
-            OMX_IN OMX_U32 nPortIndex,
-            OMX_IN OMX_PTR pAppPrivate,
-            OMX_IN OMX_U32 nSizeBytes,
-            OMX_IN OMX_U8* pBuffer);
-
-    /** refer to OMX_AllocateBuffer in OMX_core.h or the OMX IL
-        specification for details on the AllocateBuffer method.
-        @ingroup buf
-     */
-    OMX_ERRORTYPE (*AllocateBuffer)(
-            OMX_IN OMX_HANDLETYPE hComponent,
-            OMX_INOUT OMX_BUFFERHEADERTYPE** ppBuffer,
-            OMX_IN OMX_U32 nPortIndex,
-            OMX_IN OMX_PTR pAppPrivate,
-            OMX_IN OMX_U32 nSizeBytes);
-
-    /** refer to OMX_FreeBuffer in OMX_core.h or the OMX IL
-        specification for details on the FreeBuffer method.
-        @ingroup buf
-     */
-    OMX_ERRORTYPE (*FreeBuffer)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_U32 nPortIndex,
-            OMX_IN  OMX_BUFFERHEADERTYPE* pBuffer);
-
-    /** refer to OMX_EmptyThisBuffer in OMX_core.h or the OMX IL
-        specification for details on the EmptyThisBuffer method.
-        @ingroup buf
-     */
-    OMX_ERRORTYPE (*EmptyThisBuffer)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_BUFFERHEADERTYPE* pBuffer);
-
-    /** refer to OMX_FillThisBuffer in OMX_core.h or the OMX IL
-        specification for details on the FillThisBuffer method.
-        @ingroup buf
-     */
-    OMX_ERRORTYPE (*FillThisBuffer)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_BUFFERHEADERTYPE* pBuffer);
-
-    /** The SetCallbacks method is used by the core to specify the callback
-        structure from the application to the component.  This is a blocking
-        call.  The component will return from this call within 5 msec.
-        @param [in] hComponent
-            Handle of the component to be accessed.  This is the component
-            handle returned by the call to the GetHandle function.
-        @param [in] pCallbacks
-            pointer to an OMX_CALLBACKTYPE structure used to provide the
-            callback information to the component
-        @param [in] pAppData
-            pointer to an application defined value.  It is anticipated that
-            the application will pass a pointer to a data structure or a "this
-            pointer" in this area to allow the callback (in the application)
-            to determine the context of the call
-        @return OMX_ERRORTYPE
-            If the command successfully executes, the return code will be
-            OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-     */
-    OMX_ERRORTYPE (*SetCallbacks)(
-            OMX_IN  OMX_HANDLETYPE hComponent,
-            OMX_IN  OMX_CALLBACKTYPE* pCallbacks,
-            OMX_IN  OMX_PTR pAppData);
-
-    /** ComponentDeInit method is used to deinitialize the component
-        providing a means to free any resources allocated at component
-        initialization.  NOTE:  After this call the component handle is
-        not valid for further use.
-        @param [in] hComponent
-            Handle of the component to be accessed.  This is the component
-            handle returned by the call to the GetHandle function.
-        @return OMX_ERRORTYPE
-            If the command successfully executes, the return code will be
-            OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-     */
-    OMX_ERRORTYPE (*ComponentDeInit)(
-            OMX_IN  OMX_HANDLETYPE hComponent);
-
-    /** @ingroup buf */
-    OMX_ERRORTYPE (*UseEGLImage)(
-            OMX_IN OMX_HANDLETYPE hComponent,
-            OMX_INOUT OMX_BUFFERHEADERTYPE** ppBufferHdr,
-            OMX_IN OMX_U32 nPortIndex,
-            OMX_IN OMX_PTR pAppPrivate,
-            OMX_IN void* eglImage);
-
-    OMX_ERRORTYPE (*ComponentRoleEnum)(
-        OMX_IN OMX_HANDLETYPE hComponent,
-        OMX_OUT OMX_U8 *cRole,
-        OMX_IN OMX_U32 nIndex);
-
-} OMX_COMPONENTTYPE;
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_ContentPipe.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_ContentPipe.h
deleted file mode 100644
index 0224c8a2eed1bf..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_ContentPipe.h
+++ /dev/null
@@ -1,212 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/*
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** OMX_ContentPipe.h - OpenMax IL version 1.1.2
- *  The OMX_ContentPipe header file contains the definitions used to define
- *  the public interface for content piples.  This header file is intended to
- *  be used by the component.
- */
-
-#ifndef OMX_CONTENTPIPE_H
-#define OMX_CONTENTPIPE_H
-
-#ifndef KD_EACCES
-/* OpenKODE error codes. CPResult values may be zero (indicating success
-   or one of the following values) */
-#define KD_EACCES (1)
-#define KD_EADDRINUSE (2)
-#define KD_EAGAIN (5)
-#define KD_EBADF (7)
-#define KD_EBUSY (8)
-#define KD_ECONNREFUSED (9)
-#define KD_ECONNRESET (10)
-#define KD_EDEADLK (11)
-#define KD_EDESTADDRREQ (12)
-#define KD_ERANGE (35)
-#define KD_EEXIST (13)
-#define KD_EFBIG (14)
-#define KD_EHOSTUNREACH (15)
-#define KD_EINVAL (17)
-#define KD_EIO (18)
-#define KD_EISCONN (20)
-#define KD_EISDIR (21)
-#define KD_EMFILE (22)
-#define KD_ENAMETOOLONG (23)
-#define KD_ENOENT (24)
-#define KD_ENOMEM (25)
-#define KD_ENOSPC (26)
-#define KD_ENOSYS (27)
-#define KD_ENOTCONN (28)
-#define KD_EPERM (33)
-#define KD_ETIMEDOUT (36)
-#define KD_EILSEQ (19)
-#endif
-
-/** Map types from OMX standard types only here so interface is as generic as possible. */
-typedef OMX_U32    CPresult;
-typedef char *     CPstring;
-typedef void *     CPhandle;
-typedef OMX_U32    CPuint;
-typedef OMX_S32    CPint;
-typedef char       CPbyte;
-typedef OMX_BOOL   CPbool;
-
-/** enumeration of origin types used in the CP_PIPETYPE's Seek function
- * @ingroup cp
- */
-typedef enum CP_ORIGINTYPE {
-    CP_OriginBegin,
-    CP_OriginCur,
-    CP_OriginEnd,
-    CP_OriginKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    CP_OriginVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    CP_OriginMax = 0X7FFFFFFF
-} CP_ORIGINTYPE;
-
-/** enumeration of contact access types used in the CP_PIPETYPE's Open function
- * @ingroup cp
- */
-typedef enum CP_ACCESSTYPE {
-    CP_AccessRead,
-    CP_AccessWrite,
-    CP_AccessReadWrite,
-    CP_AccessKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    CP_AccessVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    CP_AccessMax = 0X7FFFFFFF
-} CP_ACCESSTYPE;
-
-/** enumeration of results returned by the CP_PIPETYPE's CheckAvailableBytes function
- * @ingroup cp
- */
-typedef enum CP_CHECKBYTESRESULTTYPE
-{
-    CP_CheckBytesOk,                    /**< There are at least the request number
-                                              of bytes available */
-    CP_CheckBytesNotReady,              /**< The pipe is still retrieving bytes
-                                              and presently lacks sufficient bytes.
-                                              Client will be called when they are
-                                              sufficient bytes are available. */
-    CP_CheckBytesInsufficientBytes,     /**< The pipe has retrieved all bytes
-                                              but those available are less than those
-                                              requested */
-    CP_CheckBytesAtEndOfStream,         /**< The pipe has reached the end of stream
-                                              and no more bytes are available. */
-    CP_CheckBytesOutOfBuffers,          /**< All read/write buffers are currently in use. */
-    CP_CheckBytesKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    CP_CheckBytesVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    CP_CheckBytesMax = 0X7FFFFFFF
-} CP_CHECKBYTESRESULTTYPE;
-
-/** enumeration of content pipe events sent to the client callback.
- * @ingroup cp
- */
-typedef enum CP_EVENTTYPE{
-    CP_BytesAvailable,                      /** bytes requested in a CheckAvailableBytes call are now available*/
-    CP_Overflow,                            /** enumeration of content pipe events sent to the client callback*/
-    CP_PipeDisconnected,                    /** enumeration of content pipe events sent to the client callback*/
-    CP_EventKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    CP_EventVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    CP_EventMax = 0X7FFFFFFF
-} CP_EVENTTYPE;
-
-/** content pipe definition
- * @ingroup cp
- */
-typedef struct CP_PIPETYPE
-{
-    /** Open a content stream for reading or writing. */
-    CPresult (*Open)( CPhandle* hContent, CPstring szURI, CP_ACCESSTYPE eAccess );
-
-    /** Close a content stream. */
-    CPresult (*Close)( CPhandle hContent );
-
-    /** Create a content source and open it for writing. */
-    CPresult (*Create)( CPhandle *hContent, CPstring szURI );
-
-    /** Check the that specified number of bytes are available for reading or writing (depending on access type).*/
-    CPresult (*CheckAvailableBytes)( CPhandle hContent, CPuint nBytesRequested, CP_CHECKBYTESRESULTTYPE *eResult );
-
-    /** Seek to certain position in the content relative to the specified origin. */
-    CPresult (*SetPosition)( CPhandle  hContent, CPint nOffset, CP_ORIGINTYPE eOrigin);
-
-    /** Retrieve the current position relative to the start of the content. */
-    CPresult (*GetPosition)( CPhandle hContent, CPuint *pPosition);
-
-    /** Retrieve data of the specified size from the content stream (advance content pointer by size of data).
-       Note: pipe client provides pointer. This function is appropriate for small high frequency reads. */
-    CPresult (*Read)( CPhandle hContent, CPbyte *pData, CPuint nSize);
-
-    /** Retrieve a buffer allocated by the pipe that contains the requested number of bytes.
-       Buffer contains the next block of bytes, as specified by nSize, of the content. nSize also
-       returns the size of the block actually read. Content pointer advances the by the returned size.
-       Note: pipe provides pointer. This function is appropriate for large reads. The client must call
-       ReleaseReadBuffer when done with buffer.
-
-       In some cases the requested block may not reside in contiguous memory within the
-       pipe implementation. For instance if the pipe leverages a circular buffer then the requested
-       block may straddle the boundary of the circular buffer. By default a pipe implementation
-       performs a copy in this case to provide the block to the pipe client in one contiguous buffer.
-       If, however, the client sets bForbidCopy, then the pipe returns only those bytes preceding the memory
-       boundary. Here the client may retrieve the data in segments over successive calls. */
-    CPresult (*ReadBuffer)( CPhandle hContent, CPbyte **ppBuffer, CPuint *nSize, CPbool bForbidCopy);
-
-    /** Release a buffer obtained by ReadBuffer back to the pipe. */
-    CPresult (*ReleaseReadBuffer)(CPhandle hContent, CPbyte *pBuffer);
-
-    /** Write data of the specified size to the content (advance content pointer by size of data).
-       Note: pipe client provides pointer. This function is appropriate for small high frequency writes. */
-    CPresult (*Write)( CPhandle hContent, CPbyte *data, CPuint nSize);
-
-    /** Retrieve a buffer allocated by the pipe used to write data to the content.
-       Client will fill buffer with output data. Note: pipe provides pointer. This function is appropriate
-       for large writes. The client must call WriteBuffer when done it has filled the buffer with data.*/
-    CPresult (*GetWriteBuffer)( CPhandle hContent, CPbyte **ppBuffer, CPuint nSize);
-
-    /** Deliver a buffer obtained via GetWriteBuffer to the pipe. Pipe will write the
-       the contents of the buffer to content and advance content pointer by the size of the buffer */
-    CPresult (*WriteBuffer)( CPhandle hContent, CPbyte *pBuffer, CPuint nFilledSize);
-
-    /** Register a per-handle client callback with the content pipe. */
-    CPresult (*RegisterCallback)( CPhandle hContent, CPresult (*ClientCallback)(CP_EVENTTYPE eEvent, CPuint iParam));
-
-} CP_PIPETYPE;
-
-#endif
-
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Core.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_Core.h
deleted file mode 100644
index f746a69d2ad062..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Core.h
+++ /dev/null
@@ -1,1464 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/*
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** OMX_Core.h - OpenMax IL version 1.1.2
- *  The OMX_Core header file contains the definitions used by both the
- *  application and the component to access common items.
- */
-
-#ifndef OMX_Core_h
-#define OMX_Core_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-
-/* Each OMX header shall include all required header files to allow the
- *  header to compile without errors.  The includes below are required
- *  for this header file to compile successfully
- */
-
-#include <OMX_Index.h>
-
-
-/** The OMX_COMMANDTYPE enumeration is used to specify the action in the
- *  OMX_SendCommand macro.
- *  @ingroup core
- */
-typedef enum OMX_COMMANDTYPE
-{
-    OMX_CommandStateSet,    /**< Change the component state */
-    OMX_CommandFlush,       /**< Flush the data queue(s) of a component */
-    OMX_CommandPortDisable, /**< Disable a port on a component. */
-    OMX_CommandPortEnable,  /**< Enable a port on a component. */
-    OMX_CommandMarkBuffer,  /**< Mark a component/buffer for observation */
-    OMX_CommandKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_CommandVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_CommandMax = 0X7FFFFFFF
-} OMX_COMMANDTYPE;
-
-
-
-/** The OMX_STATETYPE enumeration is used to indicate or change the component
- *  state.  This enumeration reflects the current state of the component when
- *  used with the OMX_GetState macro or becomes the parameter in a state change
- *  command when used with the OMX_SendCommand macro.
- *
- *  The component will be in the Loaded state after the component is initially
- *  loaded into memory.  In the Loaded state, the component is not allowed to
- *  allocate or hold resources other than to build it's internal parameter
- *  and configuration tables.  The application will send one or more
- *  SetParameters/GetParameters and SetConfig/GetConfig commands to the
- *  component and the component will record each of these parameter and
- *  configuration changes for use later.  When the application sends the
- *  Idle command, the component will acquire the resources needed for the
- *  specified configuration and will transition to the idle state if the
- *  allocation is successful.  If the component cannot successfully
- *  transition to the idle state for any reason, the state of the component
- *  shall be fully rolled back to the Loaded state (e.g. all allocated
- *  resources shall be released).  When the component receives the command
- *  to go to the Executing state, it shall begin processing buffers by
- *  sending all input buffers it holds to the application.  While
- *  the component is in the Idle state, the application may also send the
- *  Pause command.  If the component receives the pause command while in the
- *  Idle state, the component shall send all input buffers it holds to the
- *  application, but shall not begin processing buffers.  This will allow the
- *  application to prefill buffers.
- *
- *  @ingroup comp
- */
-
-typedef enum OMX_STATETYPE
-{
-    OMX_StateInvalid,      /**< component has detected that it's internal data
-                                structures are corrupted to the point that
-                                it cannot determine it's state properly */
-    OMX_StateLoaded,      /**< component has been loaded but has not completed
-                                initialization.  The OMX_SetParameter macro
-                                and the OMX_GetParameter macro are the only
-                                valid macros allowed to be sent to the
-                                component in this state. */
-    OMX_StateIdle,        /**< component initialization has been completed
-                                successfully and the component is ready to
-                                to start. */
-    OMX_StateExecuting,   /**< component has accepted the start command and
-                                is processing data (if data is available) */
-    OMX_StatePause,       /**< component has received pause command */
-    OMX_StateWaitForResources, /**< component is waiting for resources, either after
-                                preemption or before it gets the resources requested.
-                                See specification for complete details. */
-    OMX_StateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_StateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_StateMax = 0X7FFFFFFF
-} OMX_STATETYPE;
-
-/** The OMX_ERRORTYPE enumeration defines the standard OMX Errors.  These
- *  errors should cover most of the common failure cases.  However,
- *  vendors are free to add additional error messages of their own as
- *  long as they follow these rules:
- *  1.  Vendor error messages shall be in the range of 0x90000000 to
- *      0x9000FFFF.
- *  2.  Vendor error messages shall be defined in a header file provided
- *      with the component.  No error messages are allowed that are
- *      not defined.
- */
-typedef enum OMX_ERRORTYPE
-{
-  OMX_ErrorNone = 0,
-
-  /** There were insufficient resources to perform the requested operation */
-  OMX_ErrorInsufficientResources = (OMX_S32) 0x80001000,
-
-  /** There was an error, but the cause of the error could not be determined */
-  OMX_ErrorUndefined = (OMX_S32) 0x80001001,
-
-  /** The component name string was not valid */
-  OMX_ErrorInvalidComponentName = (OMX_S32) 0x80001002,
-
-  /** No component with the specified name string was found */
-  OMX_ErrorComponentNotFound = (OMX_S32) 0x80001003,
-
-  /** The component specified did not have a "OMX_ComponentInit" or
-      "OMX_ComponentDeInit entry point */
-  OMX_ErrorInvalidComponent = (OMX_S32) 0x80001004,
-
-  /** One or more parameters were not valid */
-  OMX_ErrorBadParameter = (OMX_S32) 0x80001005,
-
-  /** The requested function is not implemented */
-  OMX_ErrorNotImplemented = (OMX_S32) 0x80001006,
-
-  /** The buffer was emptied before the next buffer was ready */
-  OMX_ErrorUnderflow = (OMX_S32) 0x80001007,
-
-  /** The buffer was not available when it was needed */
-  OMX_ErrorOverflow = (OMX_S32) 0x80001008,
-
-  /** The hardware failed to respond as expected */
-  OMX_ErrorHardware = (OMX_S32) 0x80001009,
-
-  /** The component is in the state OMX_StateInvalid */
-  OMX_ErrorInvalidState = (OMX_S32) 0x8000100A,
-
-  /** Stream is found to be corrupt */
-  OMX_ErrorStreamCorrupt = (OMX_S32) 0x8000100B,
-
-  /** Ports being connected are not compatible */
-  OMX_ErrorPortsNotCompatible = (OMX_S32) 0x8000100C,
-
-  /** Resources allocated to an idle component have been
-      lost resulting in the component returning to the loaded state */
-  OMX_ErrorResourcesLost = (OMX_S32) 0x8000100D,
-
-  /** No more indicies can be enumerated */
-  OMX_ErrorNoMore = (OMX_S32) 0x8000100E,
-
-  /** The component detected a version mismatch */
-  OMX_ErrorVersionMismatch = (OMX_S32) 0x8000100F,
-
-  /** The component is not ready to return data at this time */
-  OMX_ErrorNotReady = (OMX_S32) 0x80001010,
-
-  /** There was a timeout that occurred */
-  OMX_ErrorTimeout = (OMX_S32) 0x80001011,
-
-  /** This error occurs when trying to transition into the state you are already in */
-  OMX_ErrorSameState = (OMX_S32) 0x80001012,
-
-  /** Resources allocated to an executing or paused component have been
-      preempted, causing the component to return to the idle state */
-  OMX_ErrorResourcesPreempted = (OMX_S32) 0x80001013,
-
-  /** A non-supplier port sends this error to the IL client (via the EventHandler callback)
-      during the allocation of buffers (on a transition from the LOADED to the IDLE state or
-      on a port restart) when it deems that it has waited an unusually long time for the supplier
-      to send it an allocated buffer via a UseBuffer call. */
-  OMX_ErrorPortUnresponsiveDuringAllocation = (OMX_S32) 0x80001014,
-
-  /** A non-supplier port sends this error to the IL client (via the EventHandler callback)
-      during the deallocation of buffers (on a transition from the IDLE to LOADED state or
-      on a port stop) when it deems that it has waited an unusually long time for the supplier
-      to request the deallocation of a buffer header via a FreeBuffer call. */
-  OMX_ErrorPortUnresponsiveDuringDeallocation = (OMX_S32) 0x80001015,
-
-  /** A supplier port sends this error to the IL client (via the EventHandler callback)
-      during the stopping of a port (either on a transition from the IDLE to LOADED
-      state or a port stop) when it deems that it has waited an unusually long time for
-      the non-supplier to return a buffer via an EmptyThisBuffer or FillThisBuffer call. */
-  OMX_ErrorPortUnresponsiveDuringStop = (OMX_S32) 0x80001016,
-
-  /** Attempting a state transtion that is not allowed */
-  OMX_ErrorIncorrectStateTransition = (OMX_S32) 0x80001017,
-
-  /* Attempting a command that is not allowed during the present state. */
-  OMX_ErrorIncorrectStateOperation = (OMX_S32) 0x80001018,
-
-  /** The values encapsulated in the parameter or config structure are not supported. */
-  OMX_ErrorUnsupportedSetting = (OMX_S32) 0x80001019,
-
-  /** The parameter or config indicated by the given index is not supported. */
-  OMX_ErrorUnsupportedIndex = (OMX_S32) 0x8000101A,
-
-  /** The port index supplied is incorrect. */
-  OMX_ErrorBadPortIndex = (OMX_S32) 0x8000101B,
-
-  /** The port has lost one or more of its buffers and it thus unpopulated. */
-  OMX_ErrorPortUnpopulated = (OMX_S32) 0x8000101C,
-
-  /** Component suspended due to temporary loss of resources */
-  OMX_ErrorComponentSuspended = (OMX_S32) 0x8000101D,
-
-  /** Component suspended due to an inability to acquire dynamic resources */
-  OMX_ErrorDynamicResourcesUnavailable = (OMX_S32) 0x8000101E,
-
-  /** When the macroblock error reporting is enabled the component returns new error
-  for every frame that has errors */
-  OMX_ErrorMbErrorsInFrame = (OMX_S32) 0x8000101F,
-
-  /** A component reports this error when it cannot parse or determine the format of an input stream. */
-  OMX_ErrorFormatNotDetected = (OMX_S32) 0x80001020,
-
-  /** The content open operation failed. */
-  OMX_ErrorContentPipeOpenFailed = (OMX_S32) 0x80001021,
-
-  /** The content creation operation failed. */
-  OMX_ErrorContentPipeCreationFailed = (OMX_S32) 0x80001022,
-
-  /** Separate table information is being used */
-  OMX_ErrorSeperateTablesUsed = (OMX_S32) 0x80001023,
-
-  /** Tunneling is unsupported by the component*/
-  OMX_ErrorTunnelingUnsupported = (OMX_S32) 0x80001024,
-
-  OMX_ErrorKhronosExtensions = (OMX_S32)0x8F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-  OMX_ErrorVendorStartUnused = (OMX_S32)0x90000000, /**< Reserved region for introducing Vendor Extensions */
-  OMX_ErrorMax = 0x7FFFFFFF
-} OMX_ERRORTYPE;
-
-/** @ingroup core */
-typedef OMX_ERRORTYPE (* OMX_COMPONENTINITTYPE)(OMX_IN  OMX_HANDLETYPE hComponent);
-
-/** @ingroup core */
-typedef struct OMX_COMPONENTREGISTERTYPE
-{
-  const char          * pName;       /* Component name, 128 byte limit (including '\0') applies */
-  OMX_COMPONENTINITTYPE pInitialize; /* Component instance initialization function */
-} OMX_COMPONENTREGISTERTYPE;
-
-/** @ingroup core */
-extern OMX_COMPONENTREGISTERTYPE OMX_ComponentRegistered[];
-
-/** @ingroup rpm */
-typedef struct OMX_PRIORITYMGMTTYPE {
- OMX_U32 nSize;             /**< size of the structure in bytes */
- OMX_VERSIONTYPE nVersion;  /**< OMX specification version information */
- OMX_U32 nGroupPriority;            /**< Priority of the component group */
- OMX_U32 nGroupID;                  /**< ID of the component group */
-} OMX_PRIORITYMGMTTYPE;
-
-/* Component name and Role names are limited to 128 characters including the terminating '\0'. */
-#define OMX_MAX_STRINGNAME_SIZE 128
-
-/** @ingroup comp */
-typedef struct OMX_PARAM_COMPONENTROLETYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U8 cRole[OMX_MAX_STRINGNAME_SIZE];  /**< name of standard component which defines component role */
-} OMX_PARAM_COMPONENTROLETYPE;
-
-/** End of Stream Buffer Flag:
-  *
-  * A component sets EOS when it has no more data to emit on a particular
-  * output port. Thus an output port shall set EOS on the last buffer it
-  * emits. A component's determination of when an output port should
-  * cease sending data is implemenation specific.
-  * @ingroup buf
-  */
-
-#define OMX_BUFFERFLAG_EOS 0x00000001
-
-/** Start Time Buffer Flag:
- *
- * The source of a stream (e.g. a demux component) sets the STARTTIME
- * flag on the buffer that contains the starting timestamp for the
- * stream. The starting timestamp corresponds to the first data that
- * should be displayed at startup or after a seek.
- * The first timestamp of the stream is not necessarily the start time.
- * For instance, in the case of a seek to a particular video frame,
- * the target frame may be an interframe. Thus the first buffer of
- * the stream will be the intra-frame preceding the target frame and
- * the starttime will occur with the target frame (with any other
- * required frames required to reconstruct the target intervening).
- *
- * The STARTTIME flag is directly associated with the buffer's
- * timestamp ' thus its association to buffer data and its
- * propagation is identical to the timestamp's.
- *
- * When a Sync Component client receives a buffer with the
- * STARTTIME flag it shall perform a SetConfig on its sync port
- * using OMX_ConfigTimeClientStartTime and passing the buffer's
- * timestamp.
- *
- * @ingroup buf
- */
-
-#define OMX_BUFFERFLAG_STARTTIME 0x00000002
-
-
-
-/** Decode Only Buffer Flag:
- *
- * The source of a stream (e.g. a demux component) sets the DECODEONLY
- * flag on any buffer that should shall be decoded but should not be
- * displayed. This flag is used, for instance, when a source seeks to
- * a target interframe that requires the decode of frames preceding the
- * target to facilitate the target's reconstruction. In this case the
- * source would emit the frames preceding the target downstream
- * but mark them as decode only.
- *
- * The DECODEONLY is associated with buffer data and propagated in a
- * manner identical to the buffer timestamp.
- *
- * A component that renders data should ignore all buffers with
- * the DECODEONLY flag set.
- *
- * @ingroup buf
- */
-
-#define OMX_BUFFERFLAG_DECODEONLY 0x00000004
-
-
-/* Data Corrupt Flag: This flag is set when the IL client believes the data in the associated buffer is corrupt
- * @ingroup buf
- */
-
-#define OMX_BUFFERFLAG_DATACORRUPT 0x00000008
-
-/* End of Frame: The buffer contains exactly one end of frame and no data
- *  occurs after the end of frame. This flag is an optional hint. The absence
- *  of this flag does not imply the absence of an end of frame within the buffer.
- * @ingroup buf
-*/
-#define OMX_BUFFERFLAG_ENDOFFRAME 0x00000010
-
-/* Sync Frame Flag: This flag is set when the buffer content contains a coded sync frame '
- *  a frame that has no dependency on any other frame information
- *  @ingroup buf
- */
-#define OMX_BUFFERFLAG_SYNCFRAME 0x00000020
-
-/* Extra data present flag: there is extra data appended to the data stream
- * residing in the buffer
- * @ingroup buf
- */
-#define OMX_BUFFERFLAG_EXTRADATA 0x00000040
-
-/** Codec Config Buffer Flag:
-* OMX_BUFFERFLAG_CODECCONFIG is an optional flag that is set by an
-* output port when all bytes in the buffer form part or all of a set of
-* codec specific configuration data.  Examples include SPS/PPS nal units
-* for OMX_VIDEO_CodingAVC or AudioSpecificConfig data for
-* OMX_AUDIO_CodingAAC.  Any component that for a given stream sets
-* OMX_BUFFERFLAG_CODECCONFIG shall not mix codec configuration bytes
-* with frame data in the same buffer, and shall send all buffers
-* containing codec configuration bytes before any buffers containing
-* frame data that those configurations bytes describe.
-* If the stream format for a particular codec has a frame specific
-* header at the start of each frame, for example OMX_AUDIO_CodingMP3 or
-* OMX_AUDIO_CodingAAC in ADTS mode, then these shall be presented as
-* normal without setting OMX_BUFFERFLAG_CODECCONFIG.
- * @ingroup buf
- */
-#define OMX_BUFFERFLAG_CODECCONFIG 0x00000080
-
-
-
-/** @ingroup buf */
-typedef struct OMX_BUFFERHEADERTYPE
-{
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U8* pBuffer;            /**< Pointer to actual block of memory
-                                     that is acting as the buffer */
-    OMX_U32 nAllocLen;          /**< size of the buffer allocated, in bytes */
-    OMX_U32 nFilledLen;         /**< number of bytes currently in the
-                                     buffer */
-    OMX_U32 nOffset;            /**< start offset of valid data in bytes from
-                                     the start of the buffer */
-    OMX_PTR pAppPrivate;        /**< pointer to any data the application
-                                     wants to associate with this buffer */
-    OMX_PTR pPlatformPrivate;   /**< pointer to any data the platform
-                                     wants to associate with this buffer */
-    OMX_PTR pInputPortPrivate;  /**< pointer to any data the input port
-                                     wants to associate with this buffer */
-    OMX_PTR pOutputPortPrivate; /**< pointer to any data the output port
-                                     wants to associate with this buffer */
-    OMX_HANDLETYPE hMarkTargetComponent; /**< The component that will generate a
-                                              mark event upon processing this buffer. */
-    OMX_PTR pMarkData;          /**< Application specific data associated with
-                                     the mark sent on a mark event to disambiguate
-                                     this mark from others. */
-    OMX_U32 nTickCount;         /**< Optional entry that the component and
-                                     application can update with a tick count
-                                     when they access the component.  This
-                                     value should be in microseconds.  Since
-                                     this is a value relative to an arbitrary
-                                     starting point, this value cannot be used
-                                     to determine absolute time.  This is an
-                                     optional entry and not all components
-                                     will update it.*/
- OMX_TICKS nTimeStamp;          /**< Timestamp corresponding to the sample
-                                     starting at the first logical sample
-                                     boundary in the buffer. Timestamps of
-                                     successive samples within the buffer may
-                                     be inferred by adding the duration of the
-                                     of the preceding buffer to the timestamp
-                                     of the preceding buffer.*/
-  OMX_U32     nFlags;           /**< buffer specific flags */
-  OMX_U32 nOutputPortIndex;     /**< The index of the output port (if any) using
-                                     this buffer */
-  OMX_U32 nInputPortIndex;      /**< The index of the input port (if any) using
-                                     this buffer */
-} OMX_BUFFERHEADERTYPE;
-
-/** The OMX_EXTRADATATYPE enumeration is used to define the
- * possible extra data payload types.
- * NB: this enum is binary backwards compatible with the previous
- * OMX_EXTRADATA_QUANT define.  This should be replaced with
- * OMX_ExtraDataQuantization.
- */
-typedef enum OMX_EXTRADATATYPE
-{
-   OMX_ExtraDataNone = 0,                       /**< Indicates that no more extra data sections follow */
-   OMX_ExtraDataQuantization,                   /**< The data payload contains quantization data */
-   OMX_ExtraDataKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-   OMX_ExtraDataVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-   OMX_ExtraDataMax = 0x7FFFFFFF
-} OMX_EXTRADATATYPE;
-
-
-typedef struct OMX_OTHER_EXTRADATATYPE  {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_EXTRADATATYPE eType;       /* Extra Data type */
-    OMX_U32 nDataSize;   /* Size of the supporting data to follow */
-    OMX_U8  data[1];     /* Supporting data hint  */
-} OMX_OTHER_EXTRADATATYPE;
-
-/** @ingroup comp */
-typedef struct OMX_PORT_PARAM_TYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPorts;             /**< The number of ports for this component */
-    OMX_U32 nStartPortNumber;   /** first port number for this type of port */
-} OMX_PORT_PARAM_TYPE;
-
-/** @ingroup comp */
-typedef enum OMX_EVENTTYPE
-{
-    OMX_EventCmdComplete,         /**< component has sucessfully completed a command */
-    OMX_EventError,               /**< component has detected an error condition */
-    OMX_EventMark,                /**< component has detected a buffer mark */
-    OMX_EventPortSettingsChanged, /**< component is reported a port settings change */
-    OMX_EventBufferFlag,          /**< component has detected an EOS */
-    OMX_EventResourcesAcquired,   /**< component has been granted resources and is
-                                       automatically starting the state change from
-                                       OMX_StateWaitForResources to OMX_StateIdle. */
-    OMX_EventComponentResumed,     /**< Component resumed due to reacquisition of resources */
-    OMX_EventDynamicResourcesAvailable, /**< Component has acquired previously unavailable dynamic resources */
-    OMX_EventPortFormatDetected,      /**< Component has detected a supported format. */
-    OMX_EventKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_EventVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-
-    /** Event when tunneled decoder has rendered an output or reached EOS
-     *  nData1 must contain the number of timestamps returned
-     *  pEventData must point to an array of the OMX_VIDEO_RENDEREVENTTYPE structs containing the
-     *  render-timestamps of each frame. Component may batch rendered timestamps using this event,
-     *  but must signal the event no more than 40ms after the first frame in the batch. The frames
-     *  must be ordered by system timestamp inside and across batches.
-     *
-     *  If component is doing frame-rate conversion, it must signal the render time of each
-     *  converted frame, and must interpolate media timestamps for in-between frames.
-     *
-     *  When the component reached EOS, it must signal an EOS timestamp using the same mechanism.
-     *  This is in addition to the timestamp of the last rendered frame, and should follow that
-     *  frame.
-     */
-    OMX_EventOutputRendered = 0x7F000001,
-    OMX_EventMax = 0x7FFFFFFF
-} OMX_EVENTTYPE;
-
-typedef struct OMX_CALLBACKTYPE
-{
-    /** The EventHandler method is used to notify the application when an
-        event of interest occurs.  Events are defined in the OMX_EVENTTYPE
-        enumeration.  Please see that enumeration for details of what will
-        be returned for each type of event. Callbacks should not return
-        an error to the component, so if an error occurs, the application
-        shall handle it internally.  This is a blocking call.
-
-        The application should return from this call within 5 msec to avoid
-        blocking the component for an excessively long period of time.
-
-        @param hComponent
-            handle of the component to access.  This is the component
-            handle returned by the call to the GetHandle function.
-        @param pAppData
-            pointer to an application defined value that was provided in the
-            pAppData parameter to the OMX_GetHandle method for the component.
-            This application defined value is provided so that the application
-            can have a component specific context when receiving the callback.
-        @param eEvent
-            Event that the component wants to notify the application about.
-        @param nData1
-            nData will be the OMX_ERRORTYPE for an error event and will be
-            an OMX_COMMANDTYPE for a command complete event and OMX_INDEXTYPE for a OMX_PortSettingsChanged event.
-         @param nData2
-            nData2 will hold further information related to the event. Can be OMX_STATETYPE for
-            a OMX_CommandStateSet command or port index for a OMX_PortSettingsChanged event.
-            Default value is 0 if not used. )
-        @param pEventData
-            Pointer to additional event-specific data (see spec for meaning).
-      */
-
-   OMX_ERRORTYPE (*EventHandler)(
-        OMX_IN OMX_HANDLETYPE hComponent,
-        OMX_IN OMX_PTR pAppData,
-        OMX_IN OMX_EVENTTYPE eEvent,
-        OMX_IN OMX_U32 nData1,
-        OMX_IN OMX_U32 nData2,
-        OMX_IN OMX_PTR pEventData);
-
-    /** The EmptyBufferDone method is used to return emptied buffers from an
-        input port back to the application for reuse.  This is a blocking call
-        so the application should not attempt to refill the buffers during this
-        call, but should queue them and refill them in another thread.  There
-        is no error return, so the application shall handle any errors generated
-        internally.
-
-        The application should return from this call within 5 msec.
-
-        @param hComponent
-            handle of the component to access.  This is the component
-            handle returned by the call to the GetHandle function.
-        @param pAppData
-            pointer to an application defined value that was provided in the
-            pAppData parameter to the OMX_GetHandle method for the component.
-            This application defined value is provided so that the application
-            can have a component specific context when receiving the callback.
-        @param pBuffer
-            pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer
-            or AllocateBuffer indicating the buffer that was emptied.
-        @ingroup buf
-     */
-    OMX_ERRORTYPE (*EmptyBufferDone)(
-        OMX_IN OMX_HANDLETYPE hComponent,
-        OMX_IN OMX_PTR pAppData,
-        OMX_IN OMX_BUFFERHEADERTYPE* pBuffer);
-
-    /** The FillBufferDone method is used to return filled buffers from an
-        output port back to the application for emptying and then reuse.
-        This is a blocking call so the application should not attempt to
-        empty the buffers during this call, but should queue the buffers
-        and empty them in another thread.  There is no error return, so
-        the application shall handle any errors generated internally.  The
-        application shall also update the buffer header to indicate the
-        number of bytes placed into the buffer.
-
-        The application should return from this call within 5 msec.
-
-        @param hComponent
-            handle of the component to access.  This is the component
-            handle returned by the call to the GetHandle function.
-        @param pAppData
-            pointer to an application defined value that was provided in the
-            pAppData parameter to the OMX_GetHandle method for the component.
-            This application defined value is provided so that the application
-            can have a component specific context when receiving the callback.
-        @param pBuffer
-            pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer
-            or AllocateBuffer indicating the buffer that was filled.
-        @ingroup buf
-     */
-    OMX_ERRORTYPE (*FillBufferDone)(
-        OMX_OUT OMX_HANDLETYPE hComponent,
-        OMX_OUT OMX_PTR pAppData,
-        OMX_OUT OMX_BUFFERHEADERTYPE* pBuffer);
-
-} OMX_CALLBACKTYPE;
-
-/** The OMX_BUFFERSUPPLIERTYPE enumeration is used to dictate port supplier
-    preference when tunneling between two ports.
-    @ingroup tun buf
-*/
-typedef enum OMX_BUFFERSUPPLIERTYPE
-{
-    OMX_BufferSupplyUnspecified = 0x0, /**< port supplying the buffers is unspecified,
-                                              or don't care */
-    OMX_BufferSupplyInput,             /**< input port supplies the buffers */
-    OMX_BufferSupplyOutput,            /**< output port supplies the buffers */
-    OMX_BufferSupplyKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_BufferSupplyVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_BufferSupplyMax = 0x7FFFFFFF
-} OMX_BUFFERSUPPLIERTYPE;
-
-
-/** buffer supplier parameter
- * @ingroup tun
- */
-typedef struct OMX_PARAM_BUFFERSUPPLIERTYPE {
-    OMX_U32 nSize; /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex; /**< port that this structure applies to */
-    OMX_BUFFERSUPPLIERTYPE eBufferSupplier; /**< buffer supplier */
-} OMX_PARAM_BUFFERSUPPLIERTYPE;
-
-
-/**< indicates that buffers received by an input port of a tunnel
-     may not modify the data in the buffers
-     @ingroup tun
- */
-#define OMX_PORTTUNNELFLAG_READONLY 0x00000001
-
-
-/** The OMX_TUNNELSETUPTYPE structure is used to pass data from an output
-    port to an input port as part the two ComponentTunnelRequest calls
-    resulting from a OMX_SetupTunnel call from the IL Client.
-    @ingroup tun
- */
-typedef struct OMX_TUNNELSETUPTYPE
-{
-    OMX_U32 nTunnelFlags;             /**< bit flags for tunneling */
-    OMX_BUFFERSUPPLIERTYPE eSupplier; /**< supplier preference */
-} OMX_TUNNELSETUPTYPE;
-
-/* OMX Component headers is included to enable the core to use
-   macros for functions into the component for OMX release 1.0.
-   Developers should not access any structures or data from within
-   the component header directly */
-/* TO BE REMOVED - #include <OMX_Component.h> */
-
-/** GetComponentVersion will return information about the component.
-    This is a blocking call.  This macro will go directly from the
-    application to the component (via a core macro).  The
-    component will return from this call within 5 msec.
-    @param [in] hComponent
-        handle of component to execute the command
-    @param [out] pComponentName
-        pointer to an empty string of length 128 bytes.  The component
-        will write its name into this string.  The name will be
-        terminated by a single zero byte.  The name of a component will
-        be 127 bytes or less to leave room for the trailing zero byte.
-        An example of a valid component name is "OMX.ABC.ChannelMixer\0".
-    @param [out] pComponentVersion
-        pointer to an OMX Version structure that the component will fill
-        in.  The component will fill in a value that indicates the
-        component version.  NOTE: the component version is NOT the same
-        as the OMX Specification version (found in all structures).  The
-        component version is defined by the vendor of the component and
-        its value is entirely up to the component vendor.
-    @param [out] pSpecVersion
-        pointer to an OMX Version structure that the component will fill
-        in.  The SpecVersion is the version of the specification that the
-        component was built against.  Please note that this value may or
-        may not match the structure's version.  For example, if the
-        component was built against the 2.0 specification, but the
-        application (which creates the structure is built against the
-        1.0 specification the versions would be different.
-    @param [out] pComponentUUID
-        pointer to the UUID of the component which will be filled in by
-        the component.  The UUID is a unique identifier that is set at
-        RUN time for the component and is unique to each instantion of
-        the component.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp
- */
-#define OMX_GetComponentVersion(                            \
-        hComponent,                                         \
-        pComponentName,                                     \
-        pComponentVersion,                                  \
-        pSpecVersion,                                       \
-        pComponentUUID)                                     \
-    ((OMX_COMPONENTTYPE*)hComponent)->GetComponentVersion(  \
-        hComponent,                                         \
-        pComponentName,                                     \
-        pComponentVersion,                                  \
-        pSpecVersion,                                       \
-        pComponentUUID)                 /* Macro End */
-
-
-/** Send a command to the component.  This call is a non-blocking call.
-    The component should check the parameters and then queue the command
-    to the component thread to be executed.  The component thread shall
-    send the EventHandler() callback at the conclusion of the command.
-    This macro will go directly from the application to the component (via
-    a core macro).  The component will return from this call within 5 msec.
-
-    When the command is "OMX_CommandStateSet" the component will queue a
-    state transition to the new state idenfied in nParam.
-
-    When the command is "OMX_CommandFlush", to flush a port's buffer queues,
-    the command will force the component to return all buffers NOT CURRENTLY
-    BEING PROCESSED to the application, in the order in which the buffers
-    were received.
-
-    When the command is "OMX_CommandPortDisable" or
-    "OMX_CommandPortEnable", the component's port (given by the value of
-    nParam) will be stopped or restarted.
-
-    When the command "OMX_CommandMarkBuffer" is used to mark a buffer, the
-    pCmdData will point to a OMX_MARKTYPE structure containing the component
-    handle of the component to examine the buffer chain for the mark.  nParam1
-    contains the index of the port on which the buffer mark is applied.
-
-    Specification text for more details.
-
-    @param [in] hComponent
-        handle of component to execute the command
-    @param [in] Cmd
-        Command for the component to execute
-    @param [in] nParam
-        Parameter for the command to be executed.  When Cmd has the value
-        OMX_CommandStateSet, value is a member of OMX_STATETYPE.  When Cmd has
-        the value OMX_CommandFlush, value of nParam indicates which port(s)
-        to flush. -1 is used to flush all ports a single port index will
-        only flush that port.  When Cmd has the value "OMX_CommandPortDisable"
-        or "OMX_CommandPortEnable", the component's port is given by
-        the value of nParam.  When Cmd has the value "OMX_CommandMarkBuffer"
-        the components pot is given by the value of nParam.
-    @param [in] pCmdData
-        Parameter pointing to the OMX_MARKTYPE structure when Cmd has the value
-        "OMX_CommandMarkBuffer".
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp
- */
-#define OMX_SendCommand(                                    \
-         hComponent,                                        \
-         Cmd,                                               \
-         nParam,                                            \
-         pCmdData)                                          \
-     ((OMX_COMPONENTTYPE*)hComponent)->SendCommand(         \
-         hComponent,                                        \
-         Cmd,                                               \
-         nParam,                                            \
-         pCmdData)                          /* Macro End */
-
-
-/** The OMX_GetParameter macro will get one of the current parameter
-    settings from the component.  This macro cannot only be invoked when
-    the component is in the OMX_StateInvalid state.  The nParamIndex
-    parameter is used to indicate which structure is being requested from
-    the component.  The application shall allocate the correct structure
-    and shall fill in the structure size and version information before
-    invoking this macro.  When the parameter applies to a port, the
-    caller shall fill in the appropriate nPortIndex value indicating the
-    port on which the parameter applies. If the component has not had
-    any settings changed, then the component should return a set of
-    valid DEFAULT  parameters for the component.  This is a blocking
-    call.
-
-    The component should return from this call within 20 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [in] nParamIndex
-        Index of the structure to be filled.  This value is from the
-        OMX_INDEXTYPE enumeration.
-    @param [in,out] pComponentParameterStructure
-        Pointer to application allocated structure to be filled by the
-        component.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp
- */
-#define OMX_GetParameter(                                   \
-        hComponent,                                         \
-        nParamIndex,                                        \
-        pComponentParameterStructure)                        \
-    ((OMX_COMPONENTTYPE*)hComponent)->GetParameter(         \
-        hComponent,                                         \
-        nParamIndex,                                        \
-        pComponentParameterStructure)    /* Macro End */
-
-
-/** The OMX_SetParameter macro will send an initialization parameter
-    structure to a component.  Each structure shall be sent one at a time,
-    in a separate invocation of the macro.  This macro can only be
-    invoked when the component is in the OMX_StateLoaded state, or the
-    port is disabled (when the parameter applies to a port). The
-    nParamIndex parameter is used to indicate which structure is being
-    passed to the component.  The application shall allocate the
-    correct structure and shall fill in the structure size and version
-    information (as well as the actual data) before invoking this macro.
-    The application is free to dispose of this structure after the call
-    as the component is required to copy any data it shall retain.  This
-    is a blocking call.
-
-    The component should return from this call within 20 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [in] nIndex
-        Index of the structure to be sent.  This value is from the
-        OMX_INDEXTYPE enumeration.
-    @param [in] pComponentParameterStructure
-        pointer to application allocated structure to be used for
-        initialization by the component.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp
- */
-#define OMX_SetParameter(                                   \
-        hComponent,                                         \
-        nParamIndex,                                        \
-        pComponentParameterStructure)                        \
-    ((OMX_COMPONENTTYPE*)hComponent)->SetParameter(         \
-        hComponent,                                         \
-        nParamIndex,                                        \
-        pComponentParameterStructure)    /* Macro End */
-
-
-/** The OMX_GetConfig macro will get one of the configuration structures
-    from a component.  This macro can be invoked anytime after the
-    component has been loaded.  The nParamIndex call parameter is used to
-    indicate which structure is being requested from the component.  The
-    application shall allocate the correct structure and shall fill in the
-    structure size and version information before invoking this macro.
-    If the component has not had this configuration parameter sent before,
-    then the component should return a set of valid DEFAULT values for the
-    component.  This is a blocking call.
-
-    The component should return from this call within 5 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [in] nIndex
-        Index of the structure to be filled.  This value is from the
-        OMX_INDEXTYPE enumeration.
-    @param [in,out] pComponentConfigStructure
-        pointer to application allocated structure to be filled by the
-        component.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp
-*/
-#define OMX_GetConfig(                                      \
-        hComponent,                                         \
-        nConfigIndex,                                       \
-        pComponentConfigStructure)                           \
-    ((OMX_COMPONENTTYPE*)hComponent)->GetConfig(            \
-        hComponent,                                         \
-        nConfigIndex,                                       \
-        pComponentConfigStructure)       /* Macro End */
-
-
-/** The OMX_SetConfig macro will send one of the configuration
-    structures to a component.  Each structure shall be sent one at a time,
-    each in a separate invocation of the macro.  This macro can be invoked
-    anytime after the component has been loaded.  The application shall
-    allocate the correct structure and shall fill in the structure size
-    and version information (as well as the actual data) before invoking
-    this macro.  The application is free to dispose of this structure after
-    the call as the component is required to copy any data it shall retain.
-    This is a blocking call.
-
-    The component should return from this call within 5 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [in] nConfigIndex
-        Index of the structure to be sent.  This value is from the
-        OMX_INDEXTYPE enumeration above.
-    @param [in] pComponentConfigStructure
-        pointer to application allocated structure to be used for
-        initialization by the component.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp
- */
-#define OMX_SetConfig(                                      \
-        hComponent,                                         \
-        nConfigIndex,                                       \
-        pComponentConfigStructure)                           \
-    ((OMX_COMPONENTTYPE*)hComponent)->SetConfig(            \
-        hComponent,                                         \
-        nConfigIndex,                                       \
-        pComponentConfigStructure)       /* Macro End */
-
-
-/** The OMX_GetExtensionIndex macro will invoke a component to translate
-    a vendor specific configuration or parameter string into an OMX
-    structure index.  There is no requirement for the vendor to support
-    this command for the indexes already found in the OMX_INDEXTYPE
-    enumeration (this is done to save space in small components).  The
-    component shall support all vendor supplied extension indexes not found
-    in the master OMX_INDEXTYPE enumeration.  This is a blocking call.
-
-    The component should return from this call within 5 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the GetHandle function.
-    @param [in] cParameterName
-        OMX_STRING that shall be less than 128 characters long including
-        the trailing null byte.  This is the string that will get
-        translated by the component into a configuration index.
-    @param [out] pIndexType
-        a pointer to a OMX_INDEXTYPE to receive the index value.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp
- */
-#define OMX_GetExtensionIndex(                              \
-        hComponent,                                         \
-        cParameterName,                                     \
-        pIndexType)                                         \
-    ((OMX_COMPONENTTYPE*)hComponent)->GetExtensionIndex(    \
-        hComponent,                                         \
-        cParameterName,                                     \
-        pIndexType)                     /* Macro End */
-
-
-/** The OMX_GetState macro will invoke the component to get the current
-    state of the component and place the state value into the location
-    pointed to by pState.
-
-    The component should return from this call within 5 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [out] pState
-        pointer to the location to receive the state.  The value returned
-        is one of the OMX_STATETYPE members
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp
- */
-#define OMX_GetState(                                       \
-        hComponent,                                         \
-        pState)                                             \
-    ((OMX_COMPONENTTYPE*)hComponent)->GetState(             \
-        hComponent,                                         \
-        pState)                         /* Macro End */
-
-
-/** The OMX_UseBuffer macro will request that the component use
-    a buffer (and allocate its own buffer header) already allocated
-    by another component, or by the IL Client. This is a blocking
-    call.
-
-    The component should return from this call within 20 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [out] ppBuffer
-        pointer to an OMX_BUFFERHEADERTYPE structure used to receive the
-        pointer to the buffer header
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp buf
- */
-
-#define OMX_UseBuffer(                                      \
-           hComponent,                                      \
-           ppBufferHdr,                                     \
-           nPortIndex,                                      \
-           pAppPrivate,                                     \
-           nSizeBytes,                                      \
-           pBuffer)                                         \
-    ((OMX_COMPONENTTYPE*)hComponent)->UseBuffer(            \
-           hComponent,                                      \
-           ppBufferHdr,                                     \
-           nPortIndex,                                      \
-           pAppPrivate,                                     \
-           nSizeBytes,                                      \
-           pBuffer)
-
-
-/** The OMX_AllocateBuffer macro will request that the component allocate
-    a new buffer and buffer header.  The component will allocate the
-    buffer and the buffer header and return a pointer to the buffer
-    header.  This is a blocking call.
-
-    The component should return from this call within 5 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [out] ppBuffer
-        pointer to an OMX_BUFFERHEADERTYPE structure used to receive
-        the pointer to the buffer header
-    @param [in] nPortIndex
-        nPortIndex is used to select the port on the component the buffer will
-        be used with.  The port can be found by using the nPortIndex
-        value as an index into the Port Definition array of the component.
-    @param [in] pAppPrivate
-        pAppPrivate is used to initialize the pAppPrivate member of the
-        buffer header structure.
-    @param [in] nSizeBytes
-        size of the buffer to allocate.  Used when bAllocateNew is true.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp buf
- */
-#define OMX_AllocateBuffer(                                 \
-        hComponent,                                         \
-        ppBuffer,                                           \
-        nPortIndex,                                         \
-        pAppPrivate,                                        \
-        nSizeBytes)                                         \
-    ((OMX_COMPONENTTYPE*)hComponent)->AllocateBuffer(       \
-        hComponent,                                         \
-        ppBuffer,                                           \
-        nPortIndex,                                         \
-        pAppPrivate,                                        \
-        nSizeBytes)                     /* Macro End */
-
-
-/** The OMX_FreeBuffer macro will release a buffer header from the component
-    which was allocated using either OMX_AllocateBuffer or OMX_UseBuffer. If
-    the component allocated the buffer (see the OMX_UseBuffer macro) then
-    the component shall free the buffer and buffer header. This is a
-    blocking call.
-
-    The component should return from this call within 20 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [in] nPortIndex
-        nPortIndex is used to select the port on the component the buffer will
-        be used with.
-    @param [in] pBuffer
-        pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer
-        or AllocateBuffer.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp buf
- */
-#define OMX_FreeBuffer(                                     \
-        hComponent,                                         \
-        nPortIndex,                                         \
-        pBuffer)                                            \
-    ((OMX_COMPONENTTYPE*)hComponent)->FreeBuffer(           \
-        hComponent,                                         \
-        nPortIndex,                                         \
-        pBuffer)                        /* Macro End */
-
-
-/** The OMX_EmptyThisBuffer macro will send a buffer full of data to an
-    input port of a component.  The buffer will be emptied by the component
-    and returned to the application via the EmptyBufferDone call back.
-    This is a non-blocking call in that the component will record the buffer
-    and return immediately and then empty the buffer, later, at the proper
-    time.  As expected, this macro may be invoked only while the component
-    is in the OMX_StateExecuting.  If nPortIndex does not specify an input
-    port, the component shall return an error.
-
-    The component should return from this call within 5 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [in] pBuffer
-        pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer
-        or AllocateBuffer.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp buf
- */
-#define OMX_EmptyThisBuffer(                                \
-        hComponent,                                         \
-        pBuffer)                                            \
-    ((OMX_COMPONENTTYPE*)hComponent)->EmptyThisBuffer(      \
-        hComponent,                                         \
-        pBuffer)                        /* Macro End */
-
-
-/** The OMX_FillThisBuffer macro will send an empty buffer to an
-    output port of a component.  The buffer will be filled by the component
-    and returned to the application via the FillBufferDone call back.
-    This is a non-blocking call in that the component will record the buffer
-    and return immediately and then fill the buffer, later, at the proper
-    time.  As expected, this macro may be invoked only while the component
-    is in the OMX_ExecutingState.  If nPortIndex does not specify an output
-    port, the component shall return an error.
-
-    The component should return from this call within 5 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [in] pBuffer
-        pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer
-        or AllocateBuffer.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp buf
- */
-#define OMX_FillThisBuffer(                                 \
-        hComponent,                                         \
-        pBuffer)                                            \
-    ((OMX_COMPONENTTYPE*)hComponent)->FillThisBuffer(       \
-        hComponent,                                         \
-        pBuffer)                        /* Macro End */
-
-
-
-/** The OMX_UseEGLImage macro will request that the component use
-    a EGLImage provided by EGL (and allocate its own buffer header)
-    This is a blocking call.
-
-    The component should return from this call within 20 msec.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the OMX_GetHandle function.
-    @param [out] ppBuffer
-        pointer to an OMX_BUFFERHEADERTYPE structure used to receive the
-        pointer to the buffer header.  Note that the memory location used
-        for this buffer is NOT visible to the IL Client.
-    @param [in] nPortIndex
-        nPortIndex is used to select the port on the component the buffer will
-        be used with.  The port can be found by using the nPortIndex
-        value as an index into the Port Definition array of the component.
-    @param [in] pAppPrivate
-        pAppPrivate is used to initialize the pAppPrivate member of the
-        buffer header structure.
-    @param [in] eglImage
-        eglImage contains the handle of the EGLImage to use as a buffer on the
-        specified port.  The component is expected to validate properties of
-        the EGLImage against the configuration of the port to ensure the component
-        can use the EGLImage as a buffer.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup comp buf
- */
-#define OMX_UseEGLImage(                                    \
-           hComponent,                                      \
-           ppBufferHdr,                                     \
-           nPortIndex,                                      \
-           pAppPrivate,                                     \
-           eglImage)                                        \
-    ((OMX_COMPONENTTYPE*)hComponent)->UseEGLImage(          \
-           hComponent,                                      \
-           ppBufferHdr,                                     \
-           nPortIndex,                                      \
-           pAppPrivate,                                     \
-           eglImage)
-
-/** The OMX_Init method is used to initialize the OMX core.  It shall be the
-    first call made into OMX and it should only be executed one time without
-    an interviening OMX_Deinit call.
-
-    The core should return from this call within 20 msec.
-
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup core
- */
-OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_Init(void);
-
-
-/** The OMX_Deinit method is used to deinitialize the OMX core.  It shall be
-    the last call made into OMX. In the event that the core determines that
-    thare are components loaded when this call is made, the core may return
-    with an error rather than try to unload the components.
-
-    The core should return from this call within 20 msec.
-
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup core
- */
-OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_Deinit(void);
-
-
-/** The OMX_ComponentNameEnum method will enumerate through all the names of
-    recognised valid components in the system. This function is provided
-    as a means to detect all the components in the system run-time. There is
-    no strict ordering to the enumeration order of component names, although
-    each name will only be enumerated once.  If the OMX core supports run-time
-    installation of new components, it is only requried to detect newly
-    installed components when the first call to enumerate component names
-    is made (i.e. when nIndex is 0x0).
-
-    The core should return from this call in 20 msec.
-
-    @param [out] cComponentName
-        pointer to a null terminated string with the component name.  The
-        names of the components are strings less than 127 bytes in length
-        plus the trailing null for a maximum size of 128 bytes.  An example
-        of a valid component name is "OMX.TI.AUDIO.DSP.MIXER\0".  Names are
-        assigned by the vendor, but shall start with "OMX." and then have
-        the Vendor designation next.
-    @param [in] nNameLength
-        number of characters in the cComponentName string.  With all
-        component name strings restricted to less than 128 characters
-        (including the trailing null) it is recomended that the caller
-        provide a input string for the cComponentName of 128 characters.
-    @param [in] nIndex
-        number containing the enumeration index for the component.
-        Multiple calls to OMX_ComponentNameEnum with increasing values
-        of nIndex will enumerate through the component names in the
-        system until OMX_ErrorNoMore is returned.  The value of nIndex
-        is 0 to (N-1), where N is the number of valid installed components
-        in the system.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  When the value of nIndex exceeds the number of
-        components in the system minus 1, OMX_ErrorNoMore will be
-        returned. Otherwise the appropriate OMX error will be returned.
-    @ingroup core
- */
-OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_ComponentNameEnum(
-    OMX_OUT OMX_STRING cComponentName,
-    OMX_IN  OMX_U32 nNameLength,
-    OMX_IN  OMX_U32 nIndex);
-
-
-/** The OMX_GetHandle method will locate the component specified by the
-    component name given, load that component into memory and then invoke
-    the component's methods to create an instance of the component.
-
-    The core should return from this call within 20 msec.
-
-    @param [out] pHandle
-        pointer to an OMX_HANDLETYPE pointer to be filled in by this method.
-    @param [in] cComponentName
-        pointer to a null terminated string with the component name.  The
-        names of the components are strings less than 127 bytes in length
-        plus the trailing null for a maximum size of 128 bytes.  An example
-        of a valid component name is "OMX.TI.AUDIO.DSP.MIXER\0".  Names are
-        assigned by the vendor, but shall start with "OMX." and then have
-        the Vendor designation next.
-    @param [in] pAppData
-        pointer to an application defined value that will be returned
-        during callbacks so that the application can identify the source
-        of the callback.
-    @param [in] pCallBacks
-        pointer to a OMX_CALLBACKTYPE structure that will be passed to the
-        component to initialize it with.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup core
- */
-OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_GetHandle(
-    OMX_OUT OMX_HANDLETYPE* pHandle,
-    OMX_IN  OMX_STRING cComponentName,
-    OMX_IN  OMX_PTR pAppData,
-    OMX_IN  OMX_CALLBACKTYPE* pCallBacks);
-
-
-/** The OMX_FreeHandle method will free a handle allocated by the OMX_GetHandle
-    method.  If the component reference count goes to zero, the component will
-    be unloaded from memory.
-
-    The core should return from this call within 20 msec when the component is
-    in the OMX_StateLoaded state.
-
-    @param [in] hComponent
-        Handle of the component to be accessed.  This is the component
-        handle returned by the call to the GetHandle function.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-    @ingroup core
- */
-OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_FreeHandle(
-    OMX_IN  OMX_HANDLETYPE hComponent);
-
-
-
-/** The OMX_SetupTunnel method will handle the necessary calls to the components
-    to setup the specified tunnel the two components.  NOTE: This is
-    an actual method (not a #define macro).  This method will make calls into
-    the component ComponentTunnelRequest method to do the actual tunnel
-    connection.
-
-    The ComponentTunnelRequest method on both components will be called.
-    This method shall not be called unless the component is in the
-    OMX_StateLoaded state except when the ports used for the tunnel are
-    disabled. In this case, the component may be in the OMX_StateExecuting,
-    OMX_StatePause, or OMX_StateIdle states.
-
-    The core should return from this call within 20 msec.
-
-    @param [in] hOutput
-        Handle of the component to be accessed.  Also this is the handle
-        of the component whose port, specified in the nPortOutput parameter
-        will be used the source for the tunnel. This is the component handle
-        returned by the call to the OMX_GetHandle function.  There is a
-        requirement that hOutput be the source for the data when
-        tunelling (i.e. nPortOutput is an output port).  If 0x0, the component
-        specified in hInput will have it's port specified in nPortInput
-        setup for communication with the application / IL client.
-    @param [in] nPortOutput
-        nPortOutput is used to select the source port on component to be
-        used in the tunnel.
-    @param [in] hInput
-        This is the component to setup the tunnel with. This is the handle
-        of the component whose port, specified in the nPortInput parameter
-        will be used the destination for the tunnel. This is the component handle
-        returned by the call to the OMX_GetHandle function.  There is a
-        requirement that hInput be the destination for the data when
-        tunelling (i.e. nPortInut is an input port).   If 0x0, the component
-        specified in hOutput will have it's port specified in nPortPOutput
-        setup for communication with the application / IL client.
-    @param [in] nPortInput
-        nPortInput is used to select the destination port on component to be
-        used in the tunnel.
-    @return OMX_ERRORTYPE
-        If the command successfully executes, the return code will be
-        OMX_ErrorNone.  Otherwise the appropriate OMX error will be returned.
-        When OMX_ErrorNotImplemented is returned, one or both components is
-        a non-interop component and does not support tunneling.
-
-        On failure, the ports of both components are setup for communication
-        with the application / IL Client.
-    @ingroup core tun
- */
-OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_SetupTunnel(
-    OMX_IN  OMX_HANDLETYPE hOutput,
-    OMX_IN  OMX_U32 nPortOutput,
-    OMX_IN  OMX_HANDLETYPE hInput,
-    OMX_IN  OMX_U32 nPortInput);
-
-/** @ingroup cp */
-OMX_API OMX_ERRORTYPE   OMX_GetContentPipe(
-    OMX_OUT OMX_HANDLETYPE *hPipe,
-    OMX_IN OMX_STRING szURI);
-
-/** The OMX_GetComponentsOfRole method will return the number of components that support the given
-    role and (if the compNames field is non-NULL) the names of those components. The call will fail if
-    an insufficiently sized array of names is supplied. To ensure the array is sufficiently sized the
-    client should:
-        * first call this function with the compNames field NULL to determine the number of component names
-        * second call this function with the compNames field pointing to an array of names allocated
-          according to the number returned by the first call.
-
-    The core should return from this call within 5 msec.
-
-    @param [in] role
-        This is generic standard component name consisting only of component class
-        name and the type within that class (e.g. 'audio_decoder.aac').
-    @param [inout] pNumComps
-        This is used both as input and output.
-
-        If compNames is NULL, the input is ignored and the output specifies how many components support
-        the given role.
-
-        If compNames is not NULL, on input it bounds the size of the input structure and
-        on output, it specifies the number of components string names listed within the compNames parameter.
-    @param [inout] compNames
-        If NULL this field is ignored. If non-NULL this points to an array of 128-byte strings which accepts
-        a list of the names of all physical components that implement the specified standard component name.
-        Each name is NULL terminated. numComps indicates the number of names.
-    @ingroup core
- */
-OMX_API OMX_ERRORTYPE OMX_GetComponentsOfRole (
-    OMX_IN      OMX_STRING role,
-    OMX_INOUT   OMX_U32 *pNumComps,
-    OMX_INOUT   OMX_U8  **compNames);
-
-/** The OMX_GetRolesOfComponent method will return the number of roles supported by the given
-    component and (if the roles field is non-NULL) the names of those roles. The call will fail if
-    an insufficiently sized array of names is supplied. To ensure the array is sufficiently sized the
-    client should:
-        * first call this function with the roles field NULL to determine the number of role names
-        * second call this function with the roles field pointing to an array of names allocated
-          according to the number returned by the first call.
-
-    The core should return from this call within 5 msec.
-
-    @param [in] compName
-        This is the name of the component being queried about.
-    @param [inout] pNumRoles
-        This is used both as input and output.
-
-        If roles is NULL, the input is ignored and the output specifies how many roles the component supports.
-
-        If compNames is not NULL, on input it bounds the size of the input structure and
-        on output, it specifies the number of roles string names listed within the roles parameter.
-    @param [out] roles
-        If NULL this field is ignored. If non-NULL this points to an array of 128-byte strings
-        which accepts a list of the names of all standard components roles implemented on the
-        specified component name. numComps indicates the number of names.
-    @ingroup core
- */
-OMX_API OMX_ERRORTYPE OMX_GetRolesOfComponent (
-    OMX_IN      OMX_STRING compName,
-    OMX_INOUT   OMX_U32 *pNumRoles,
-    OMX_OUT     OMX_U8 **roles);
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
-
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_IVCommon.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_IVCommon.h
deleted file mode 100644
index f9b6f4b0fd279a..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_IVCommon.h
+++ /dev/null
@@ -1,958 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/**
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/**
- * @file OMX_IVCommon.h - OpenMax IL version 1.1.2
- *  The structures needed by Video and Image components to exchange
- *  parameters and configuration data with the components.
- */
-#ifndef OMX_IVCommon_h
-#define OMX_IVCommon_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/**
- * Each OMX header must include all required header files to allow the header
- * to compile without errors.  The includes below are required for this header
- * file to compile successfully
- */
-
-#include <OMX_Core.h>
-
-/** @defgroup iv OpenMAX IL Imaging and Video Domain
- * Common structures for OpenMAX IL Imaging and Video domains
- * @{
- */
-
-
-/**
- * Enumeration defining possible uncompressed image/video formats.
- *
- * ENUMS:
- *  Unused                 : Placeholder value when format is N/A
- *  Monochrome             : black and white
- *  8bitRGB332             : Red 7:5, Green 4:2, Blue 1:0
- *  12bitRGB444            : Red 11:8, Green 7:4, Blue 3:0
- *  16bitARGB4444          : Alpha 15:12, Red 11:8, Green 7:4, Blue 3:0
- *  16bitARGB1555          : Alpha 15, Red 14:10, Green 9:5, Blue 4:0
- *  16bitRGB565            : Red 15:11, Green 10:5, Blue 4:0
- *  16bitBGR565            : Blue 15:11, Green 10:5, Red 4:0
- *  18bitRGB666            : Red 17:12, Green 11:6, Blue 5:0
- *  18bitARGB1665          : Alpha 17, Red 16:11, Green 10:5, Blue 4:0
- *  19bitARGB1666          : Alpha 18, Red 17:12, Green 11:6, Blue 5:0
- *  24bitRGB888            : Red 24:16, Green 15:8, Blue 7:0
- *  24bitBGR888            : Blue 24:16, Green 15:8, Red 7:0
- *  24bitARGB1887          : Alpha 23, Red 22:15, Green 14:7, Blue 6:0
- *  25bitARGB1888          : Alpha 24, Red 23:16, Green 15:8, Blue 7:0
- *  32bitBGRA8888          : Blue 31:24, Green 23:16, Red 15:8, Alpha 7:0
- *  32bitARGB8888          : Alpha 31:24, Red 23:16, Green 15:8, Blue 7:0
- *  YUV411Planar           : U,Y are subsampled by a factor of 4 horizontally
- *  YUV411PackedPlanar     : packed per payload in planar slices
- *  YUV420Planar           : Three arrays Y,U,V.
- *  YUV420PackedPlanar     : packed per payload in planar slices
- *  YUV420SemiPlanar       : Two arrays, one is all Y, the other is U and V
- *  YUV422Planar           : Three arrays Y,U,V.
- *  YUV422PackedPlanar     : packed per payload in planar slices
- *  YUV422SemiPlanar       : Two arrays, one is all Y, the other is U and V
- *  YCbYCr                 : Organized as 16bit YUYV (i.e. YCbYCr)
- *  YCrYCb                 : Organized as 16bit YVYU (i.e. YCrYCb)
- *  CbYCrY                 : Organized as 16bit UYVY (i.e. CbYCrY)
- *  CrYCbY                 : Organized as 16bit VYUY (i.e. CrYCbY)
- *  YUV444Interleaved      : Each pixel contains equal parts YUV
- *  RawBayer8bit           : SMIA camera output format
- *  RawBayer10bit          : SMIA camera output format
- *  RawBayer8bitcompressed : SMIA camera output format
- */
-typedef enum OMX_COLOR_FORMATTYPE {
-    OMX_COLOR_FormatUnused,
-    OMX_COLOR_FormatMonochrome,
-    OMX_COLOR_Format8bitRGB332,
-    OMX_COLOR_Format12bitRGB444,
-    OMX_COLOR_Format16bitARGB4444,
-    OMX_COLOR_Format16bitARGB1555,
-    OMX_COLOR_Format16bitRGB565,
-    OMX_COLOR_Format16bitBGR565,
-    OMX_COLOR_Format18bitRGB666,
-    OMX_COLOR_Format18bitARGB1665,
-    OMX_COLOR_Format19bitARGB1666,
-    OMX_COLOR_Format24bitRGB888,
-    OMX_COLOR_Format24bitBGR888,
-    OMX_COLOR_Format24bitARGB1887,
-    OMX_COLOR_Format25bitARGB1888,
-    OMX_COLOR_Format32bitBGRA8888,
-    OMX_COLOR_Format32bitARGB8888,
-    OMX_COLOR_FormatYUV411Planar,
-    OMX_COLOR_FormatYUV411PackedPlanar,
-    OMX_COLOR_FormatYUV420Planar,
-    OMX_COLOR_FormatYUV420PackedPlanar,
-    OMX_COLOR_FormatYUV420SemiPlanar,
-    OMX_COLOR_FormatYUV422Planar,
-    OMX_COLOR_FormatYUV422PackedPlanar,
-    OMX_COLOR_FormatYUV422SemiPlanar,
-    OMX_COLOR_FormatYCbYCr,
-    OMX_COLOR_FormatYCrYCb,
-    OMX_COLOR_FormatCbYCrY,
-    OMX_COLOR_FormatCrYCbY,
-    OMX_COLOR_FormatYUV444Interleaved,
-    OMX_COLOR_FormatRawBayer8bit,
-    OMX_COLOR_FormatRawBayer10bit,
-    OMX_COLOR_FormatRawBayer8bitcompressed,
-    OMX_COLOR_FormatL2,
-    OMX_COLOR_FormatL4,
-    OMX_COLOR_FormatL8,
-    OMX_COLOR_FormatL16,
-    OMX_COLOR_FormatL24,
-    OMX_COLOR_FormatL32,
-    OMX_COLOR_FormatYUV420PackedSemiPlanar,
-    OMX_COLOR_FormatYUV422PackedSemiPlanar,
-    OMX_COLOR_Format18BitBGR666,
-    OMX_COLOR_Format24BitARGB6666,
-    OMX_COLOR_Format24BitABGR6666,
-    OMX_COLOR_FormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_COLOR_FormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    /**<Reserved android opaque colorformat. Tells the encoder that
-     * the actual colorformat will be  relayed by the
-     * Gralloc Buffers.
-     * FIXME: In the process of reserving some enum values for
-     * Android-specific OMX IL colorformats. Change this enum to
-     * an acceptable range once that is done.
-     * */
-    OMX_COLOR_FormatAndroidOpaque = 0x7F000789,
-    OMX_COLOR_Format32BitRGBA8888 = 0x7F00A000,
-    /** Flexible 8-bit YUV format.  Codec should report this format
-     *  as being supported if it supports any YUV420 packed planar
-     *  or semiplanar formats.  When port is set to use this format,
-     *  codec can substitute any YUV420 packed planar or semiplanar
-     *  format for it. */
-    OMX_COLOR_FormatYUV420Flexible = 0x7F420888,
-
-    OMX_TI_COLOR_FormatYUV420PackedSemiPlanar = 0x7F000100,
-    OMX_QCOM_COLOR_FormatYVU420SemiPlanar = 0x7FA30C00,
-    OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka = 0x7FA30C03,
-    OMX_SEC_COLOR_FormatNV12Tiled = 0x7FC00002,
-    OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m = 0x7FA30C04,
-    OMX_COLOR_FormatMax = 0x7FFFFFFF
-} OMX_COLOR_FORMATTYPE;
-
-
-/**
- * Defines the matrix for conversion from RGB to YUV or vice versa.
- * iColorMatrix should be initialized with the fixed point values
- * used in converting between formats.
- */
-typedef struct OMX_CONFIG_COLORCONVERSIONTYPE {
-    OMX_U32 nSize;              /**< Size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version info */
-    OMX_U32 nPortIndex;         /**< Port that this struct applies to */
-    OMX_S32 xColorMatrix[3][3]; /**< Stored in signed Q16 format */
-    OMX_S32 xColorOffset[4];    /**< Stored in signed Q16 format */
-}OMX_CONFIG_COLORCONVERSIONTYPE;
-
-
-/**
- * Structure defining percent to scale each frame dimension.  For example:
- * To make the width 50% larger, use fWidth = 1.5 and to make the width
- * 1/2 the original size, use fWidth = 0.5
- */
-typedef struct OMX_CONFIG_SCALEFACTORTYPE {
-    OMX_U32 nSize;            /**< Size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version info */
-    OMX_U32 nPortIndex;       /**< Port that this struct applies to */
-    OMX_S32 xWidth;           /**< Fixed point value stored as Q16 */
-    OMX_S32 xHeight;          /**< Fixed point value stored as Q16 */
-}OMX_CONFIG_SCALEFACTORTYPE;
-
-
-/**
- * Enumeration of possible image filter types
- */
-typedef enum OMX_IMAGEFILTERTYPE {
-    OMX_ImageFilterNone,
-    OMX_ImageFilterNoise,
-    OMX_ImageFilterEmboss,
-    OMX_ImageFilterNegative,
-    OMX_ImageFilterSketch,
-    OMX_ImageFilterOilPaint,
-    OMX_ImageFilterHatch,
-    OMX_ImageFilterGpen,
-    OMX_ImageFilterAntialias,
-    OMX_ImageFilterDeRing,
-    OMX_ImageFilterSolarize,
-    OMX_ImageFilterKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_ImageFilterVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_ImageFilterMax = 0x7FFFFFFF
-} OMX_IMAGEFILTERTYPE;
-
-
-/**
- * Image filter configuration
- *
- * STRUCT MEMBERS:
- *  nSize        : Size of the structure in bytes
- *  nVersion     : OMX specification version information
- *  nPortIndex   : Port that this structure applies to
- *  eImageFilter : Image filter type enumeration
- */
-typedef struct OMX_CONFIG_IMAGEFILTERTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_IMAGEFILTERTYPE eImageFilter;
-} OMX_CONFIG_IMAGEFILTERTYPE;
-
-
-/**
- * Customized U and V for color enhancement
- *
- * STRUCT MEMBERS:
- *  nSize             : Size of the structure in bytes
- *  nVersion          : OMX specification version information
- *  nPortIndex        : Port that this structure applies to
- *  bColorEnhancement : Enable/disable color enhancement
- *  nCustomizedU      : Practical values: 16-240, range: 0-255, value set for
- *                      U component
- *  nCustomizedV      : Practical values: 16-240, range: 0-255, value set for
- *                      V component
- */
-typedef struct OMX_CONFIG_COLORENHANCEMENTTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bColorEnhancement;
-    OMX_U8 nCustomizedU;
-    OMX_U8 nCustomizedV;
-} OMX_CONFIG_COLORENHANCEMENTTYPE;
-
-
-/**
- * Define color key and color key mask
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nARGBColor : 32bit Alpha, Red, Green, Blue Color
- *  nARGBMask  : 32bit Mask for Alpha, Red, Green, Blue channels
- */
-typedef struct OMX_CONFIG_COLORKEYTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nARGBColor;
-    OMX_U32 nARGBMask;
-} OMX_CONFIG_COLORKEYTYPE;
-
-
-/**
- * List of color blend types for pre/post processing
- *
- * ENUMS:
- *  None          : No color blending present
- *  AlphaConstant : Function is (alpha_constant * src) +
- *                  (1 - alpha_constant) * dst)
- *  AlphaPerPixel : Function is (alpha * src) + (1 - alpha) * dst)
- *  Alternate     : Function is alternating pixels from src and dst
- *  And           : Function is (src & dst)
- *  Or            : Function is (src | dst)
- *  Invert        : Function is ~src
- */
-typedef enum OMX_COLORBLENDTYPE {
-    OMX_ColorBlendNone,
-    OMX_ColorBlendAlphaConstant,
-    OMX_ColorBlendAlphaPerPixel,
-    OMX_ColorBlendAlternate,
-    OMX_ColorBlendAnd,
-    OMX_ColorBlendOr,
-    OMX_ColorBlendInvert,
-    OMX_ColorBlendKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_ColorBlendVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_ColorBlendMax = 0x7FFFFFFF
-} OMX_COLORBLENDTYPE;
-
-
-/**
- * Color blend configuration
- *
- * STRUCT MEMBERS:
- *  nSize             : Size of the structure in bytes
- *  nVersion          : OMX specification version information
- *  nPortIndex        : Port that this structure applies to
- *  nRGBAlphaConstant : Constant global alpha values when global alpha is used
- *  eColorBlend       : Color blend type enumeration
- */
-typedef struct OMX_CONFIG_COLORBLENDTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nRGBAlphaConstant;
-    OMX_COLORBLENDTYPE  eColorBlend;
-} OMX_CONFIG_COLORBLENDTYPE;
-
-
-/**
- * Hold frame dimension
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nWidth     : Frame width in pixels
- *  nHeight    : Frame height in pixels
- */
-typedef struct OMX_FRAMESIZETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nWidth;
-    OMX_U32 nHeight;
-} OMX_FRAMESIZETYPE;
-
-
-/**
- * Rotation configuration
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nRotation  : +/- integer rotation value
- */
-typedef struct OMX_CONFIG_ROTATIONTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_S32 nRotation;
-} OMX_CONFIG_ROTATIONTYPE;
-
-
-/**
- * Possible mirroring directions for pre/post processing
- *
- * ENUMS:
- *  None       : No mirroring
- *  Vertical   : Vertical mirroring, flip on X axis
- *  Horizontal : Horizontal mirroring, flip on Y axis
- *  Both       : Both vertical and horizontal mirroring
- */
-typedef enum OMX_MIRRORTYPE {
-    OMX_MirrorNone = 0,
-    OMX_MirrorVertical,
-    OMX_MirrorHorizontal,
-    OMX_MirrorBoth,
-    OMX_MirrorKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_MirrorVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_MirrorMax = 0x7FFFFFFF
-} OMX_MIRRORTYPE;
-
-
-/**
- * Mirroring configuration
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  eMirror    : Mirror type enumeration
- */
-typedef struct OMX_CONFIG_MIRRORTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_MIRRORTYPE  eMirror;
-} OMX_CONFIG_MIRRORTYPE;
-
-
-/**
- * Position information only
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nX         : X coordinate for the point
- *  nY         : Y coordinate for the point
- */
-typedef struct OMX_CONFIG_POINTTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_S32 nX;
-    OMX_S32 nY;
-} OMX_CONFIG_POINTTYPE;
-
-
-/**
- * Frame size plus position
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nLeft      : X Coordinate of the top left corner of the rectangle
- *  nTop       : Y Coordinate of the top left corner of the rectangle
- *  nWidth     : Width of the rectangle
- *  nHeight    : Height of the rectangle
- */
-typedef struct OMX_CONFIG_RECTTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_S32 nLeft;
-    OMX_S32 nTop;
-    OMX_U32 nWidth;
-    OMX_U32 nHeight;
-} OMX_CONFIG_RECTTYPE;
-
-
-/**
- * Deblocking state; it is required to be set up before starting the codec
- *
- * STRUCT MEMBERS:
- *  nSize       : Size of the structure in bytes
- *  nVersion    : OMX specification version information
- *  nPortIndex  : Port that this structure applies to
- *  bDeblocking : Enable/disable deblocking mode
- */
-typedef struct OMX_PARAM_DEBLOCKINGTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bDeblocking;
-} OMX_PARAM_DEBLOCKINGTYPE;
-
-
-/**
- * Stabilization state
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  bStab      : Enable/disable frame stabilization state
- */
-typedef struct OMX_CONFIG_FRAMESTABTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bStab;
-} OMX_CONFIG_FRAMESTABTYPE;
-
-
-/**
- * White Balance control type
- *
- * STRUCT MEMBERS:
- *  SunLight : Referenced in JSR-234
- *  Flash    : Optimal for device's integrated flash
- */
-typedef enum OMX_WHITEBALCONTROLTYPE {
-    OMX_WhiteBalControlOff = 0,
-    OMX_WhiteBalControlAuto,
-    OMX_WhiteBalControlSunLight,
-    OMX_WhiteBalControlCloudy,
-    OMX_WhiteBalControlShade,
-    OMX_WhiteBalControlTungsten,
-    OMX_WhiteBalControlFluorescent,
-    OMX_WhiteBalControlIncandescent,
-    OMX_WhiteBalControlFlash,
-    OMX_WhiteBalControlHorizon,
-    OMX_WhiteBalControlKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_WhiteBalControlVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_WhiteBalControlMax = 0x7FFFFFFF
-} OMX_WHITEBALCONTROLTYPE;
-
-
-/**
- * White Balance control configuration
- *
- * STRUCT MEMBERS:
- *  nSize            : Size of the structure in bytes
- *  nVersion         : OMX specification version information
- *  nPortIndex       : Port that this structure applies to
- *  eWhiteBalControl : White balance enumeration
- */
-typedef struct OMX_CONFIG_WHITEBALCONTROLTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_WHITEBALCONTROLTYPE eWhiteBalControl;
-} OMX_CONFIG_WHITEBALCONTROLTYPE;
-
-
-/**
- * Exposure control type
- */
-typedef enum OMX_EXPOSURECONTROLTYPE {
-    OMX_ExposureControlOff = 0,
-    OMX_ExposureControlAuto,
-    OMX_ExposureControlNight,
-    OMX_ExposureControlBackLight,
-    OMX_ExposureControlSpotLight,
-    OMX_ExposureControlSports,
-    OMX_ExposureControlSnow,
-    OMX_ExposureControlBeach,
-    OMX_ExposureControlLargeAperture,
-    OMX_ExposureControlSmallApperture,
-    OMX_ExposureControlKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_ExposureControlVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_ExposureControlMax = 0x7FFFFFFF
-} OMX_EXPOSURECONTROLTYPE;
-
-
-/**
- * White Balance control configuration
- *
- * STRUCT MEMBERS:
- *  nSize            : Size of the structure in bytes
- *  nVersion         : OMX specification version information
- *  nPortIndex       : Port that this structure applies to
- *  eExposureControl : Exposure control enumeration
- */
-typedef struct OMX_CONFIG_EXPOSURECONTROLTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_EXPOSURECONTROLTYPE eExposureControl;
-} OMX_CONFIG_EXPOSURECONTROLTYPE;
-
-
-/**
- * Defines sensor supported mode.
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nFrameRate : Single shot mode is indicated by a 0
- *  bOneShot   : Enable for single shot, disable for streaming
- *  sFrameSize : Framesize
- */
-typedef struct OMX_PARAM_SENSORMODETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nFrameRate;
-    OMX_BOOL bOneShot;
-    OMX_FRAMESIZETYPE sFrameSize;
-} OMX_PARAM_SENSORMODETYPE;
-
-
-/**
- * Defines contrast level
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nContrast  : Values allowed for contrast -100 to 100, zero means no change
- */
-typedef struct OMX_CONFIG_CONTRASTTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_S32 nContrast;
-} OMX_CONFIG_CONTRASTTYPE;
-
-
-/**
- * Defines brightness level
- *
- * STRUCT MEMBERS:
- *  nSize       : Size of the structure in bytes
- *  nVersion    : OMX specification version information
- *  nPortIndex  : Port that this structure applies to
- *  nBrightness : 0-100%
- */
-typedef struct OMX_CONFIG_BRIGHTNESSTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nBrightness;
-} OMX_CONFIG_BRIGHTNESSTYPE;
-
-
-/**
- * Defines backlight level configuration for a video sink, e.g. LCD panel
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nBacklight : Values allowed for backlight 0-100%
- *  nTimeout   : Number of milliseconds before backlight automatically turns
- *               off.  A value of 0x0 disables backight timeout
- */
-typedef struct OMX_CONFIG_BACKLIGHTTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nBacklight;
-    OMX_U32 nTimeout;
-} OMX_CONFIG_BACKLIGHTTYPE;
-
-
-/**
- * Defines setting for Gamma
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nGamma     : Values allowed for gamma -100 to 100, zero means no change
- */
-typedef struct OMX_CONFIG_GAMMATYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_S32 nGamma;
-} OMX_CONFIG_GAMMATYPE;
-
-
-/**
- * Define for setting saturation
- *
- * STRUCT MEMBERS:
- *  nSize       : Size of the structure in bytes
- *  nVersion    : OMX specification version information
- *  nPortIndex  : Port that this structure applies to
- *  nSaturation : Values allowed for saturation -100 to 100, zero means
- *                no change
- */
-typedef struct OMX_CONFIG_SATURATIONTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_S32 nSaturation;
-} OMX_CONFIG_SATURATIONTYPE;
-
-
-/**
- * Define for setting Lightness
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nLightness : Values allowed for lightness -100 to 100, zero means no
- *               change
- */
-typedef struct OMX_CONFIG_LIGHTNESSTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_S32 nLightness;
-} OMX_CONFIG_LIGHTNESSTYPE;
-
-
-/**
- * Plane blend configuration
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Index of input port associated with the plane.
- *  nDepth     : Depth of the plane in relation to the screen. Higher
- *               numbered depths are "behind" lower number depths.
- *               This number defaults to the Port Index number.
- *  nAlpha     : Transparency blending component for the entire plane.
- *               See blending modes for more detail.
- */
-typedef struct OMX_CONFIG_PLANEBLENDTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nDepth;
-    OMX_U32 nAlpha;
-} OMX_CONFIG_PLANEBLENDTYPE;
-
-
-/**
- * Define interlace type
- *
- * STRUCT MEMBERS:
- *  nSize                 : Size of the structure in bytes
- *  nVersion              : OMX specification version information
- *  nPortIndex            : Port that this structure applies to
- *  bEnable               : Enable control variable for this functionality
- *                          (see below)
- *  nInterleavePortIndex  : Index of input or output port associated with
- *                          the interleaved plane.
- *  pPlanarPortIndexes[4] : Index of input or output planar ports.
- */
-typedef struct OMX_PARAM_INTERLEAVETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bEnable;
-    OMX_U32 nInterleavePortIndex;
-} OMX_PARAM_INTERLEAVETYPE;
-
-
-/**
- * Defines the picture effect used for an input picture
- */
-typedef enum OMX_TRANSITIONEFFECTTYPE {
-    OMX_EffectNone,
-    OMX_EffectFadeFromBlack,
-    OMX_EffectFadeToBlack,
-    OMX_EffectUnspecifiedThroughConstantColor,
-    OMX_EffectDissolve,
-    OMX_EffectWipe,
-    OMX_EffectUnspecifiedMixOfTwoScenes,
-    OMX_EffectKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_EffectVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_EffectMax = 0x7FFFFFFF
-} OMX_TRANSITIONEFFECTTYPE;
-
-
-/**
- * Structure used to configure current transition effect
- *
- * STRUCT MEMBERS:
- * nSize      : Size of the structure in bytes
- * nVersion   : OMX specification version information
- * nPortIndex : Port that this structure applies to
- * eEffect    : Effect to enable
- */
-typedef struct OMX_CONFIG_TRANSITIONEFFECTTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_TRANSITIONEFFECTTYPE eEffect;
-} OMX_CONFIG_TRANSITIONEFFECTTYPE;
-
-
-/**
- * Defines possible data unit types for encoded video data. The data unit
- * types are used both for encoded video input for playback as well as
- * encoded video output from recording.
- */
-typedef enum OMX_DATAUNITTYPE {
-    OMX_DataUnitCodedPicture,
-    OMX_DataUnitVideoSegment,
-    OMX_DataUnitSeveralSegments,
-    OMX_DataUnitArbitraryStreamSection,
-    OMX_DataUnitKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_DataUnitVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_DataUnitMax = 0x7FFFFFFF
-} OMX_DATAUNITTYPE;
-
-
-/**
- * Defines possible encapsulation types for coded video data unit. The
- * encapsulation information is used both for encoded video input for
- * playback as well as encoded video output from recording.
- */
-typedef enum OMX_DATAUNITENCAPSULATIONTYPE {
-    OMX_DataEncapsulationElementaryStream,
-    OMX_DataEncapsulationGenericPayload,
-    OMX_DataEncapsulationRtpPayload,
-    OMX_DataEncapsulationKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_DataEncapsulationVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_DataEncapsulationMax = 0x7FFFFFFF
-} OMX_DATAUNITENCAPSULATIONTYPE;
-
-
-/**
- * Structure used to configure the type of being decoded/encoded
- */
-typedef struct OMX_PARAM_DATAUNITTYPE {
-    OMX_U32 nSize;            /**< Size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< Port that this structure applies to */
-    OMX_DATAUNITTYPE eUnitType;
-    OMX_DATAUNITENCAPSULATIONTYPE eEncapsulationType;
-} OMX_PARAM_DATAUNITTYPE;
-
-
-/**
- * Defines dither types
- */
-typedef enum OMX_DITHERTYPE {
-    OMX_DitherNone,
-    OMX_DitherOrdered,
-    OMX_DitherErrorDiffusion,
-    OMX_DitherOther,
-    OMX_DitherKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_DitherVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_DitherMax = 0x7FFFFFFF
-} OMX_DITHERTYPE;
-
-
-/**
- * Structure used to configure current type of dithering
- */
-typedef struct OMX_CONFIG_DITHERTYPE {
-    OMX_U32 nSize;            /**< Size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex;       /**< Port that this structure applies to */
-    OMX_DITHERTYPE eDither;   /**< Type of dithering to use */
-} OMX_CONFIG_DITHERTYPE;
-
-typedef struct OMX_CONFIG_CAPTUREMODETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;     /**< Port that this structure applies to */
-    OMX_BOOL bContinuous;   /**< If true then ignore frame rate and emit capture
-                             *   data as fast as possible (otherwise obey port's frame rate). */
-    OMX_BOOL bFrameLimited; /**< If true then terminate capture after the port emits the
-                             *   specified number of frames (otherwise the port does not
-                             *   terminate the capture until instructed to do so by the client).
-                             *   Even if set, the client may manually terminate the capture prior
-                             *   to reaching the limit. */
-    OMX_U32 nFrameLimit;      /**< Limit on number of frames emitted during a capture (only
-                               *   valid if bFrameLimited is set). */
-} OMX_CONFIG_CAPTUREMODETYPE;
-
-typedef enum OMX_METERINGTYPE {
-
-    OMX_MeteringModeAverage,     /**< Center-weighted average metering. */
-    OMX_MeteringModeSpot,        /**< Spot (partial) metering. */
-    OMX_MeteringModeMatrix,      /**< Matrix or evaluative metering. */
-
-    OMX_MeteringKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_MeteringVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_EVModeMax = 0x7fffffff
-} OMX_METERINGTYPE;
-
-typedef struct OMX_CONFIG_EXPOSUREVALUETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_METERINGTYPE eMetering;
-    OMX_S32 xEVCompensation;      /**< Fixed point value stored as Q16 */
-    OMX_U32 nApertureFNumber;     /**< e.g. nApertureFNumber = 2 implies "f/2" - Q16 format */
-    OMX_BOOL bAutoAperture;       /**< Whether aperture number is defined automatically */
-    OMX_U32 nShutterSpeedMsec;    /**< Shutterspeed in milliseconds */
-    OMX_BOOL bAutoShutterSpeed;   /**< Whether shutter speed is defined automatically */
-    OMX_U32 nSensitivity;         /**< e.g. nSensitivity = 100 implies "ISO 100" */
-    OMX_BOOL bAutoSensitivity;    /**< Whether sensitivity is defined automatically */
-} OMX_CONFIG_EXPOSUREVALUETYPE;
-
-/**
- * Focus region configuration
- *
- * STRUCT MEMBERS:
- *  nSize           : Size of the structure in bytes
- *  nVersion        : OMX specification version information
- *  nPortIndex      : Port that this structure applies to
- *  bCenter         : Use center region as focus region of interest
- *  bLeft           : Use left region as focus region of interest
- *  bRight          : Use right region as focus region of interest
- *  bTop            : Use top region as focus region of interest
- *  bBottom         : Use bottom region as focus region of interest
- *  bTopLeft        : Use top left region as focus region of interest
- *  bTopRight       : Use top right region as focus region of interest
- *  bBottomLeft     : Use bottom left region as focus region of interest
- *  bBottomRight    : Use bottom right region as focus region of interest
- */
-typedef struct OMX_CONFIG_FOCUSREGIONTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bCenter;
-    OMX_BOOL bLeft;
-    OMX_BOOL bRight;
-    OMX_BOOL bTop;
-    OMX_BOOL bBottom;
-    OMX_BOOL bTopLeft;
-    OMX_BOOL bTopRight;
-    OMX_BOOL bBottomLeft;
-    OMX_BOOL bBottomRight;
-} OMX_CONFIG_FOCUSREGIONTYPE;
-
-/**
- * Focus Status type
- */
-typedef enum OMX_FOCUSSTATUSTYPE {
-    OMX_FocusStatusOff = 0,
-    OMX_FocusStatusRequest,
-    OMX_FocusStatusReached,
-    OMX_FocusStatusUnableToReach,
-    OMX_FocusStatusLost,
-    OMX_FocusStatusKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_FocusStatusVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_FocusStatusMax = 0x7FFFFFFF
-} OMX_FOCUSSTATUSTYPE;
-
-/**
- * Focus status configuration
- *
- * STRUCT MEMBERS:
- *  nSize               : Size of the structure in bytes
- *  nVersion            : OMX specification version information
- *  nPortIndex          : Port that this structure applies to
- *  eFocusStatus        : Specifies the focus status
- *  bCenterStatus       : Use center region as focus region of interest
- *  bLeftStatus         : Use left region as focus region of interest
- *  bRightStatus        : Use right region as focus region of interest
- *  bTopStatus          : Use top region as focus region of interest
- *  bBottomStatus       : Use bottom region as focus region of interest
- *  bTopLeftStatus      : Use top left region as focus region of interest
- *  bTopRightStatus     : Use top right region as focus region of interest
- *  bBottomLeftStatus   : Use bottom left region as focus region of interest
- *  bBottomRightStatus  : Use bottom right region as focus region of interest
- */
-typedef struct OMX_PARAM_FOCUSSTATUSTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_FOCUSSTATUSTYPE eFocusStatus;
-    OMX_BOOL bCenterStatus;
-    OMX_BOOL bLeftStatus;
-    OMX_BOOL bRightStatus;
-    OMX_BOOL bTopStatus;
-    OMX_BOOL bBottomStatus;
-    OMX_BOOL bTopLeftStatus;
-    OMX_BOOL bTopRightStatus;
-    OMX_BOOL bBottomLeftStatus;
-    OMX_BOOL bBottomRightStatus;
-} OMX_PARAM_FOCUSSTATUSTYPE;
-
-/** @} */
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Image.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_Image.h
deleted file mode 100644
index 23a0209f5d2e2e..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Image.h
+++ /dev/null
@@ -1,345 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/**
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-
-/**
- * @file OMX_Image.h - OpenMax IL version 1.1.2
- * The structures needed by Image components to exchange parameters and
- * configuration data with the components.
- */
-#ifndef OMX_Image_h
-#define OMX_Image_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-
-/**
- * Each OMX header must include all required header files to allow the
- * header to compile without errors.  The includes below are required
- * for this header file to compile successfully
- */
-
-#include <OMX_IVCommon.h>
-
-/** @defgroup imaging OpenMAX IL Imaging Domain
- * @ingroup iv
- * Structures for OpenMAX IL Imaging domain
- * @{
- */
-
-/**
- * Enumeration used to define the possible image compression coding.
- */
-typedef enum OMX_IMAGE_CODINGTYPE {
-    OMX_IMAGE_CodingUnused,      /**< Value when format is N/A */
-    OMX_IMAGE_CodingAutoDetect,  /**< Auto detection of image format */
-    OMX_IMAGE_CodingJPEG,        /**< JPEG/JFIF image format */
-    OMX_IMAGE_CodingJPEG2K,      /**< JPEG 2000 image format */
-    OMX_IMAGE_CodingEXIF,        /**< EXIF image format */
-    OMX_IMAGE_CodingTIFF,        /**< TIFF image format */
-    OMX_IMAGE_CodingGIF,         /**< Graphics image format */
-    OMX_IMAGE_CodingPNG,         /**< PNG image format */
-    OMX_IMAGE_CodingLZW,         /**< LZW image format */
-    OMX_IMAGE_CodingBMP,         /**< Windows Bitmap format */
-    OMX_IMAGE_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_IMAGE_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_IMAGE_CodingMax = 0x7FFFFFFF
-} OMX_IMAGE_CODINGTYPE;
-
-
-/**
- * Data structure used to define an image path. The number of image paths
- * for input and output will vary by type of the image component.
- *
- *  Input (aka Source) : Zero Inputs, one Output,
- *  Splitter           : One Input, 2 or more Outputs,
- *  Processing Element : One Input, one output,
- *  Mixer              : 2 or more inputs, one output,
- *  Output (aka Sink)  : One Input, zero outputs.
- *
- * The PortDefinition structure is used to define all of the parameters
- * necessary for the compliant component to setup an input or an output
- * image path.  If additional vendor specific data is required, it should
- * be transmitted to the component using the CustomCommand function.
- * Compliant components will prepopulate this structure with optimal
- * values during the OMX_GetParameter() command.
- *
- * STRUCT MEMBERS:
- *  cMIMEType             : MIME type of data for the port
- *  pNativeRender         : Platform specific reference for a display if a
- *                          sync, otherwise this field is 0
- *  nFrameWidth           : Width of frame to be used on port if
- *                          uncompressed format is used.  Use 0 for
- *                          unknown, don't care or variable
- *  nFrameHeight          : Height of frame to be used on port if
- *                          uncompressed format is used. Use 0 for
- *                          unknown, don't care or variable
- *  nStride               : Number of bytes per span of an image (i.e.
- *                          indicates the number of bytes to get from
- *                          span N to span N+1, where negative stride
- *                          indicates the image is bottom up
- *  nSliceHeight          : Height used when encoding in slices
- *  bFlagErrorConcealment : Turns on error concealment if it is supported by
- *                          the OMX component
- *  eCompressionFormat    : Compression format used in this instance of
- *                          the component. When OMX_IMAGE_CodingUnused is
- *                          specified, eColorFormat is valid
- *  eColorFormat          : Decompressed format used by this component
- *  pNativeWindow         : Platform specific reference for a window object if a
- *                          display sink , otherwise this field is 0x0.
- */
-typedef struct OMX_IMAGE_PORTDEFINITIONTYPE {
-    OMX_STRING cMIMEType;
-    OMX_NATIVE_DEVICETYPE pNativeRender;
-    OMX_U32 nFrameWidth;
-    OMX_U32 nFrameHeight;
-    OMX_S32 nStride;
-    OMX_U32 nSliceHeight;
-    OMX_BOOL bFlagErrorConcealment;
-    OMX_IMAGE_CODINGTYPE eCompressionFormat;
-    OMX_COLOR_FORMATTYPE eColorFormat;
-    OMX_NATIVE_WINDOWTYPE pNativeWindow;
-} OMX_IMAGE_PORTDEFINITIONTYPE;
-
-
-/**
- * Port format parameter.  This structure is used to enumerate the various
- * data input/output format supported by the port.
- *
- * STRUCT MEMBERS:
- *  nSize              : Size of the structure in bytes
- *  nVersion           : OMX specification version information
- *  nPortIndex         : Indicates which port to set
- *  nIndex             : Indicates the enumeration index for the format from
- *                       0x0 to N-1
- *  eCompressionFormat : Compression format used in this instance of the
- *                       component. When OMX_IMAGE_CodingUnused is specified,
- *                       eColorFormat is valid
- *  eColorFormat       : Decompressed format used by this component
- */
-typedef struct OMX_IMAGE_PARAM_PORTFORMATTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nIndex;
-    OMX_IMAGE_CODINGTYPE eCompressionFormat;
-    OMX_COLOR_FORMATTYPE eColorFormat;
-} OMX_IMAGE_PARAM_PORTFORMATTYPE;
-
-
-/**
- * Flash control type
- *
- * ENUMS
- *  Torch : Flash forced constantly on
- */
-typedef enum OMX_IMAGE_FLASHCONTROLTYPE {
-    OMX_IMAGE_FlashControlOn = 0,
-    OMX_IMAGE_FlashControlOff,
-    OMX_IMAGE_FlashControlAuto,
-    OMX_IMAGE_FlashControlRedEyeReduction,
-    OMX_IMAGE_FlashControlFillin,
-    OMX_IMAGE_FlashControlTorch,
-    OMX_IMAGE_FlashControlKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_IMAGE_FlashControlVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_IMAGE_FlashControlMax = 0x7FFFFFFF
-} OMX_IMAGE_FLASHCONTROLTYPE;
-
-
-/**
- * Flash control configuration
- *
- * STRUCT MEMBERS:
- *  nSize         : Size of the structure in bytes
- *  nVersion      : OMX specification version information
- *  nPortIndex    : Port that this structure applies to
- *  eFlashControl : Flash control type
- */
-typedef struct OMX_IMAGE_PARAM_FLASHCONTROLTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_IMAGE_FLASHCONTROLTYPE eFlashControl;
-} OMX_IMAGE_PARAM_FLASHCONTROLTYPE;
-
-
-/**
- * Focus control type
- */
-typedef enum OMX_IMAGE_FOCUSCONTROLTYPE {
-    OMX_IMAGE_FocusControlOn = 0,
-    OMX_IMAGE_FocusControlOff,
-    OMX_IMAGE_FocusControlAuto,
-    OMX_IMAGE_FocusControlAutoLock,
-    OMX_IMAGE_FocusControlKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_IMAGE_FocusControlVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_IMAGE_FocusControlMax = 0x7FFFFFFF
-} OMX_IMAGE_FOCUSCONTROLTYPE;
-
-
-/**
- * Focus control configuration
- *
- * STRUCT MEMBERS:
- *  nSize           : Size of the structure in bytes
- *  nVersion        : OMX specification version information
- *  nPortIndex      : Port that this structure applies to
- *  eFocusControl   : Focus control
- *  nFocusSteps     : Focus can take on values from 0 mm to infinity.
- *                    Interest is only in number of steps over this range.
- *  nFocusStepIndex : Current focus step index
- */
-typedef struct OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_IMAGE_FOCUSCONTROLTYPE eFocusControl;
-    OMX_U32 nFocusSteps;
-    OMX_U32 nFocusStepIndex;
-} OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE;
-
-
-/**
- * Q Factor for JPEG compression, which controls the tradeoff between image
- * quality and size.  Q Factor provides a more simple means of controlling
- * JPEG compression quality, without directly programming Quantization
- * tables for chroma and luma
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nQFactor   : JPEG Q factor value in the range of 1-100. A factor of 1
- *               produces the smallest, worst quality images, and a factor
- *               of 100 produces the largest, best quality images.  A
- *               typical default is 75 for small good quality images
- */
-typedef struct OMX_IMAGE_PARAM_QFACTORTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nQFactor;
-} OMX_IMAGE_PARAM_QFACTORTYPE;
-
-/**
- * Quantization table type
- */
-
-typedef enum OMX_IMAGE_QUANTIZATIONTABLETYPE {
-    OMX_IMAGE_QuantizationTableLuma = 0,
-    OMX_IMAGE_QuantizationTableChroma,
-    OMX_IMAGE_QuantizationTableChromaCb,
-    OMX_IMAGE_QuantizationTableChromaCr,
-    OMX_IMAGE_QuantizationTableKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_IMAGE_QuantizationTableVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_IMAGE_QuantizationTableMax = 0x7FFFFFFF
-} OMX_IMAGE_QUANTIZATIONTABLETYPE;
-
-/**
- * JPEG quantization tables are used to determine DCT compression for
- * YUV data, as an alternative to specifying Q factor, providing exact
- * control of compression
- *
- * STRUCT MEMBERS:
- *  nSize                   : Size of the structure in bytes
- *  nVersion                : OMX specification version information
- *  nPortIndex              : Port that this structure applies to
- *  eQuantizationTable      : Quantization table type
- *  nQuantizationMatrix[64] : JPEG quantization table of coefficients stored
- *                            in increasing columns then by rows of data (i.e.
- *                            row 1, ... row 8). Quantization values are in
- *                            the range 0-255 and stored in linear order
- *                            (i.e. the component will zig-zag the
- *                            quantization table data if required internally)
- */
-typedef struct OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_IMAGE_QUANTIZATIONTABLETYPE eQuantizationTable;
-    OMX_U8 nQuantizationMatrix[64];
-} OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE;
-
-
-/**
- * Huffman table type, the same Huffman table is applied for chroma and
- * luma component
- */
-typedef enum OMX_IMAGE_HUFFMANTABLETYPE {
-    OMX_IMAGE_HuffmanTableAC = 0,
-    OMX_IMAGE_HuffmanTableDC,
-    OMX_IMAGE_HuffmanTableACLuma,
-    OMX_IMAGE_HuffmanTableACChroma,
-    OMX_IMAGE_HuffmanTableDCLuma,
-    OMX_IMAGE_HuffmanTableDCChroma,
-    OMX_IMAGE_HuffmanTableKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_IMAGE_HuffmanTableVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_IMAGE_HuffmanTableMax = 0x7FFFFFFF
-} OMX_IMAGE_HUFFMANTABLETYPE;
-
-/**
- * JPEG Huffman table
- *
- * STRUCT MEMBERS:
- *  nSize                            : Size of the structure in bytes
- *  nVersion                         : OMX specification version information
- *  nPortIndex                       : Port that this structure applies to
- *  eHuffmanTable                    : Huffman table type
- *  nNumberOfHuffmanCodeOfLength[16] : 0-16, number of Huffman codes of each
- *                                     possible length
- *  nHuffmanTable[256]               : 0-255, the size used for AC and DC
- *                                     HuffmanTable are 16 and 162
- */
-typedef struct OMX_IMAGE_PARAM_HUFFMANTTABLETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_IMAGE_HUFFMANTABLETYPE eHuffmanTable;
-    OMX_U8 nNumberOfHuffmanCodeOfLength[16];
-    OMX_U8 nHuffmanTable[256];
-}OMX_IMAGE_PARAM_HUFFMANTTABLETYPE;
-
-/** @} */
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Index.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_Index.h
deleted file mode 100644
index 1a2a548e88ad84..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Index.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/*
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** @file OMX_Index.h - OpenMax IL version 1.1.2
- *  The OMX_Index header file contains the definitions for both applications
- *  and components .
- */
-
-
-#ifndef OMX_Index_h
-#define OMX_Index_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/* Each OMX header must include all required header files to allow the
- *  header to compile without errors.  The includes below are required
- *  for this header file to compile successfully
- */
-#include <OMX_Types.h>
-
-/** The OMX_INDEXTYPE enumeration is used to select a structure when either
- *  getting or setting parameters and/or configuration data.  Each entry in
- *  this enumeration maps to an OMX specified structure.  When the
- *  OMX_GetParameter, OMX_SetParameter, OMX_GetConfig or OMX_SetConfig methods
- *  are used, the second parameter will always be an entry from this enumeration
- *  and the third entry will be the structure shown in the comments for the entry.
- *  For example, if the application is initializing a cropping function, the
- *  OMX_SetConfig command would have OMX_IndexConfigCommonInputCrop as the second parameter
- *  and would send a pointer to an initialized OMX_RECTTYPE structure as the
- *  third parameter.
- *
- *  The enumeration entries named with the OMX_Config prefix are sent using
- *  the OMX_SetConfig command and the enumeration entries named with the
- *  OMX_PARAM_ prefix are sent using the OMX_SetParameter command.
- */
-typedef enum OMX_INDEXTYPE {
-
-    OMX_IndexComponentStartUnused = 0x01000000,
-    OMX_IndexParamPriorityMgmt,             /**< reference: OMX_PRIORITYMGMTTYPE */
-    OMX_IndexParamAudioInit,                /**< reference: OMX_PORT_PARAM_TYPE */
-    OMX_IndexParamImageInit,                /**< reference: OMX_PORT_PARAM_TYPE */
-    OMX_IndexParamVideoInit,                /**< reference: OMX_PORT_PARAM_TYPE */
-    OMX_IndexParamOtherInit,                /**< reference: OMX_PORT_PARAM_TYPE */
-    OMX_IndexParamNumAvailableStreams,      /**< reference: OMX_PARAM_U32TYPE */
-    OMX_IndexParamActiveStream,             /**< reference: OMX_PARAM_U32TYPE */
-    OMX_IndexParamSuspensionPolicy,         /**< reference: OMX_PARAM_SUSPENSIONPOLICYTYPE */
-    OMX_IndexParamComponentSuspended,       /**< reference: OMX_PARAM_SUSPENSIONTYPE */
-    OMX_IndexConfigCapturing,               /**< reference: OMX_CONFIG_BOOLEANTYPE */
-    OMX_IndexConfigCaptureMode,             /**< reference: OMX_CONFIG_CAPTUREMODETYPE */
-    OMX_IndexAutoPauseAfterCapture,         /**< reference: OMX_CONFIG_BOOLEANTYPE */
-    OMX_IndexParamContentURI,               /**< reference: OMX_PARAM_CONTENTURITYPE */
-    OMX_IndexParamCustomContentPipe,        /**< reference: OMX_PARAM_CONTENTPIPETYPE */
-    OMX_IndexParamDisableResourceConcealment, /**< reference: OMX_RESOURCECONCEALMENTTYPE */
-    OMX_IndexConfigMetadataItemCount,       /**< reference: OMX_CONFIG_METADATAITEMCOUNTTYPE */
-    OMX_IndexConfigContainerNodeCount,      /**< reference: OMX_CONFIG_CONTAINERNODECOUNTTYPE */
-    OMX_IndexConfigMetadataItem,            /**< reference: OMX_CONFIG_METADATAITEMTYPE */
-    OMX_IndexConfigCounterNodeID,           /**< reference: OMX_CONFIG_CONTAINERNODEIDTYPE */
-    OMX_IndexParamMetadataFilterType,       /**< reference: OMX_PARAM_METADATAFILTERTYPE */
-    OMX_IndexParamMetadataKeyFilter,        /**< reference: OMX_PARAM_METADATAFILTERTYPE */
-    OMX_IndexConfigPriorityMgmt,            /**< reference: OMX_PRIORITYMGMTTYPE */
-    OMX_IndexParamStandardComponentRole,    /**< reference: OMX_PARAM_COMPONENTROLETYPE */
-
-    OMX_IndexPortStartUnused = 0x02000000,
-    OMX_IndexParamPortDefinition,           /**< reference: OMX_PARAM_PORTDEFINITIONTYPE */
-    OMX_IndexParamCompBufferSupplier,       /**< reference: OMX_PARAM_BUFFERSUPPLIERTYPE */
-    OMX_IndexReservedStartUnused = 0x03000000,
-
-    /* Audio parameters and configurations */
-    OMX_IndexAudioStartUnused = 0x04000000,
-    OMX_IndexParamAudioPortFormat,          /**< reference: OMX_AUDIO_PARAM_PORTFORMATTYPE */
-    OMX_IndexParamAudioPcm,                 /**< reference: OMX_AUDIO_PARAM_PCMMODETYPE */
-    OMX_IndexParamAudioAac,                 /**< reference: OMX_AUDIO_PARAM_AACPROFILETYPE */
-    OMX_IndexParamAudioRa,                  /**< reference: OMX_AUDIO_PARAM_RATYPE */
-    OMX_IndexParamAudioMp3,                 /**< reference: OMX_AUDIO_PARAM_MP3TYPE */
-    OMX_IndexParamAudioAdpcm,               /**< reference: OMX_AUDIO_PARAM_ADPCMTYPE */
-    OMX_IndexParamAudioG723,                /**< reference: OMX_AUDIO_PARAM_G723TYPE */
-    OMX_IndexParamAudioG729,                /**< reference: OMX_AUDIO_PARAM_G729TYPE */
-    OMX_IndexParamAudioAmr,                 /**< reference: OMX_AUDIO_PARAM_AMRTYPE */
-    OMX_IndexParamAudioWma,                 /**< reference: OMX_AUDIO_PARAM_WMATYPE */
-    OMX_IndexParamAudioSbc,                 /**< reference: OMX_AUDIO_PARAM_SBCTYPE */
-    OMX_IndexParamAudioMidi,                /**< reference: OMX_AUDIO_PARAM_MIDITYPE */
-    OMX_IndexParamAudioGsm_FR,              /**< reference: OMX_AUDIO_PARAM_GSMFRTYPE */
-    OMX_IndexParamAudioMidiLoadUserSound,   /**< reference: OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE */
-    OMX_IndexParamAudioG726,                /**< reference: OMX_AUDIO_PARAM_G726TYPE */
-    OMX_IndexParamAudioGsm_EFR,             /**< reference: OMX_AUDIO_PARAM_GSMEFRTYPE */
-    OMX_IndexParamAudioGsm_HR,              /**< reference: OMX_AUDIO_PARAM_GSMHRTYPE */
-    OMX_IndexParamAudioPdc_FR,              /**< reference: OMX_AUDIO_PARAM_PDCFRTYPE */
-    OMX_IndexParamAudioPdc_EFR,             /**< reference: OMX_AUDIO_PARAM_PDCEFRTYPE */
-    OMX_IndexParamAudioPdc_HR,              /**< reference: OMX_AUDIO_PARAM_PDCHRTYPE */
-    OMX_IndexParamAudioTdma_FR,             /**< reference: OMX_AUDIO_PARAM_TDMAFRTYPE */
-    OMX_IndexParamAudioTdma_EFR,            /**< reference: OMX_AUDIO_PARAM_TDMAEFRTYPE */
-    OMX_IndexParamAudioQcelp8,              /**< reference: OMX_AUDIO_PARAM_QCELP8TYPE */
-    OMX_IndexParamAudioQcelp13,             /**< reference: OMX_AUDIO_PARAM_QCELP13TYPE */
-    OMX_IndexParamAudioEvrc,                /**< reference: OMX_AUDIO_PARAM_EVRCTYPE */
-    OMX_IndexParamAudioSmv,                 /**< reference: OMX_AUDIO_PARAM_SMVTYPE */
-    OMX_IndexParamAudioVorbis,              /**< reference: OMX_AUDIO_PARAM_VORBISTYPE */
-    OMX_IndexParamAudioFlac,                /**< reference: OMX_AUDIO_PARAM_FLACTYPE */
-
-    OMX_IndexConfigAudioMidiImmediateEvent, /**< reference: OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE */
-    OMX_IndexConfigAudioMidiControl,        /**< reference: OMX_AUDIO_CONFIG_MIDICONTROLTYPE */
-    OMX_IndexConfigAudioMidiSoundBankProgram, /**< reference: OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE */
-    OMX_IndexConfigAudioMidiStatus,         /**< reference: OMX_AUDIO_CONFIG_MIDISTATUSTYPE */
-    OMX_IndexConfigAudioMidiMetaEvent,      /**< reference: OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE */
-    OMX_IndexConfigAudioMidiMetaEventData,  /**< reference: OMX_AUDIO_CONFIG_MIDIMETAEVENTDATATYPE */
-    OMX_IndexConfigAudioVolume,             /**< reference: OMX_AUDIO_CONFIG_VOLUMETYPE */
-    OMX_IndexConfigAudioBalance,            /**< reference: OMX_AUDIO_CONFIG_BALANCETYPE */
-    OMX_IndexConfigAudioChannelMute,        /**< reference: OMX_AUDIO_CONFIG_CHANNELMUTETYPE */
-    OMX_IndexConfigAudioMute,               /**< reference: OMX_AUDIO_CONFIG_MUTETYPE */
-    OMX_IndexConfigAudioLoudness,           /**< reference: OMX_AUDIO_CONFIG_LOUDNESSTYPE */
-    OMX_IndexConfigAudioEchoCancelation,    /**< reference: OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE */
-    OMX_IndexConfigAudioNoiseReduction,     /**< reference: OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE */
-    OMX_IndexConfigAudioBass,               /**< reference: OMX_AUDIO_CONFIG_BASSTYPE */
-    OMX_IndexConfigAudioTreble,             /**< reference: OMX_AUDIO_CONFIG_TREBLETYPE */
-    OMX_IndexConfigAudioStereoWidening,     /**< reference: OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE */
-    OMX_IndexConfigAudioChorus,             /**< reference: OMX_AUDIO_CONFIG_CHORUSTYPE */
-    OMX_IndexConfigAudioEqualizer,          /**< reference: OMX_AUDIO_CONFIG_EQUALIZERTYPE */
-    OMX_IndexConfigAudioReverberation,      /**< reference: OMX_AUDIO_CONFIG_REVERBERATIONTYPE */
-    OMX_IndexConfigAudioChannelVolume,      /**< reference: OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE */
-
-    /* Image specific parameters and configurations */
-    OMX_IndexImageStartUnused = 0x05000000,
-    OMX_IndexParamImagePortFormat,          /**< reference: OMX_IMAGE_PARAM_PORTFORMATTYPE */
-    OMX_IndexParamFlashControl,             /**< reference: OMX_IMAGE_PARAM_FLASHCONTROLTYPE */
-    OMX_IndexConfigFocusControl,            /**< reference: OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE */
-    OMX_IndexParamQFactor,                  /**< reference: OMX_IMAGE_PARAM_QFACTORTYPE */
-    OMX_IndexParamQuantizationTable,        /**< reference: OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE */
-    OMX_IndexParamHuffmanTable,             /**< reference: OMX_IMAGE_PARAM_HUFFMANTTABLETYPE */
-    OMX_IndexConfigFlashControl,            /**< reference: OMX_IMAGE_PARAM_FLASHCONTROLTYPE */
-
-    /* Video specific parameters and configurations */
-    OMX_IndexVideoStartUnused = 0x06000000,
-    OMX_IndexParamVideoPortFormat,          /**< reference: OMX_VIDEO_PARAM_PORTFORMATTYPE */
-    OMX_IndexParamVideoQuantization,        /**< reference: OMX_VIDEO_PARAM_QUANTIZATIONTYPE */
-    OMX_IndexParamVideoFastUpdate,          /**< reference: OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE */
-    OMX_IndexParamVideoBitrate,             /**< reference: OMX_VIDEO_PARAM_BITRATETYPE */
-    OMX_IndexParamVideoMotionVector,        /**< reference: OMX_VIDEO_PARAM_MOTIONVECTORTYPE */
-    OMX_IndexParamVideoIntraRefresh,        /**< reference: OMX_VIDEO_PARAM_INTRAREFRESHTYPE */
-    OMX_IndexParamVideoErrorCorrection,     /**< reference: OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE */
-    OMX_IndexParamVideoVBSMC,               /**< reference: OMX_VIDEO_PARAM_VBSMCTYPE */
-    OMX_IndexParamVideoMpeg2,               /**< reference: OMX_VIDEO_PARAM_MPEG2TYPE */
-    OMX_IndexParamVideoMpeg4,               /**< reference: OMX_VIDEO_PARAM_MPEG4TYPE */
-    OMX_IndexParamVideoWmv,                 /**< reference: OMX_VIDEO_PARAM_WMVTYPE */
-    OMX_IndexParamVideoRv,                  /**< reference: OMX_VIDEO_PARAM_RVTYPE */
-    OMX_IndexParamVideoAvc,                 /**< reference: OMX_VIDEO_PARAM_AVCTYPE */
-    OMX_IndexParamVideoH263,                /**< reference: OMX_VIDEO_PARAM_H263TYPE */
-    OMX_IndexParamVideoProfileLevelQuerySupported, /**< reference: OMX_VIDEO_PARAM_PROFILELEVELTYPE */
-    OMX_IndexParamVideoProfileLevelCurrent, /**< reference: OMX_VIDEO_PARAM_PROFILELEVELTYPE */
-    OMX_IndexConfigVideoBitrate,            /**< reference: OMX_VIDEO_CONFIG_BITRATETYPE */
-    OMX_IndexConfigVideoFramerate,          /**< reference: OMX_CONFIG_FRAMERATETYPE */
-    OMX_IndexConfigVideoIntraVOPRefresh,    /**< reference: OMX_CONFIG_INTRAREFRESHVOPTYPE */
-    OMX_IndexConfigVideoIntraMBRefresh,     /**< reference: OMX_CONFIG_MACROBLOCKERRORMAPTYPE */
-    OMX_IndexConfigVideoMBErrorReporting,   /**< reference: OMX_CONFIG_MBERRORREPORTINGTYPE */
-    OMX_IndexParamVideoMacroblocksPerFrame, /**< reference: OMX_PARAM_MACROBLOCKSTYPE */
-    OMX_IndexConfigVideoMacroBlockErrorMap, /**< reference: OMX_CONFIG_MACROBLOCKERRORMAPTYPE */
-    OMX_IndexParamVideoSliceFMO,            /**< reference: OMX_VIDEO_PARAM_AVCSLICEFMO */
-    OMX_IndexConfigVideoAVCIntraPeriod,     /**< reference: OMX_VIDEO_CONFIG_AVCINTRAPERIOD */
-    OMX_IndexConfigVideoNalSize,            /**< reference: OMX_VIDEO_CONFIG_NALSIZE */
-
-    /* Image & Video common Configurations */
-    OMX_IndexCommonStartUnused = 0x07000000,
-    OMX_IndexParamCommonDeblocking,         /**< reference: OMX_PARAM_DEBLOCKINGTYPE */
-    OMX_IndexParamCommonSensorMode,         /**< reference: OMX_PARAM_SENSORMODETYPE */
-    OMX_IndexParamCommonInterleave,         /**< reference: OMX_PARAM_INTERLEAVETYPE */
-    OMX_IndexConfigCommonColorFormatConversion, /**< reference: OMX_CONFIG_COLORCONVERSIONTYPE */
-    OMX_IndexConfigCommonScale,             /**< reference: OMX_CONFIG_SCALEFACTORTYPE */
-    OMX_IndexConfigCommonImageFilter,       /**< reference: OMX_CONFIG_IMAGEFILTERTYPE */
-    OMX_IndexConfigCommonColorEnhancement,  /**< reference: OMX_CONFIG_COLORENHANCEMENTTYPE */
-    OMX_IndexConfigCommonColorKey,          /**< reference: OMX_CONFIG_COLORKEYTYPE */
-    OMX_IndexConfigCommonColorBlend,        /**< reference: OMX_CONFIG_COLORBLENDTYPE */
-    OMX_IndexConfigCommonFrameStabilisation,/**< reference: OMX_CONFIG_FRAMESTABTYPE */
-    OMX_IndexConfigCommonRotate,            /**< reference: OMX_CONFIG_ROTATIONTYPE */
-    OMX_IndexConfigCommonMirror,            /**< reference: OMX_CONFIG_MIRRORTYPE */
-    OMX_IndexConfigCommonOutputPosition,    /**< reference: OMX_CONFIG_POINTTYPE */
-    OMX_IndexConfigCommonInputCrop,         /**< reference: OMX_CONFIG_RECTTYPE */
-    OMX_IndexConfigCommonOutputCrop,        /**< reference: OMX_CONFIG_RECTTYPE */
-    OMX_IndexConfigCommonDigitalZoom,       /**< reference: OMX_CONFIG_SCALEFACTORTYPE */
-    OMX_IndexConfigCommonOpticalZoom,       /**< reference: OMX_CONFIG_SCALEFACTORTYPE*/
-    OMX_IndexConfigCommonWhiteBalance,      /**< reference: OMX_CONFIG_WHITEBALCONTROLTYPE */
-    OMX_IndexConfigCommonExposure,          /**< reference: OMX_CONFIG_EXPOSURECONTROLTYPE */
-    OMX_IndexConfigCommonContrast,          /**< reference: OMX_CONFIG_CONTRASTTYPE */
-    OMX_IndexConfigCommonBrightness,        /**< reference: OMX_CONFIG_BRIGHTNESSTYPE */
-    OMX_IndexConfigCommonBacklight,         /**< reference: OMX_CONFIG_BACKLIGHTTYPE */
-    OMX_IndexConfigCommonGamma,             /**< reference: OMX_CONFIG_GAMMATYPE */
-    OMX_IndexConfigCommonSaturation,        /**< reference: OMX_CONFIG_SATURATIONTYPE */
-    OMX_IndexConfigCommonLightness,         /**< reference: OMX_CONFIG_LIGHTNESSTYPE */
-    OMX_IndexConfigCommonExclusionRect,     /**< reference: OMX_CONFIG_RECTTYPE */
-    OMX_IndexConfigCommonDithering,         /**< reference: OMX_CONFIG_DITHERTYPE */
-    OMX_IndexConfigCommonPlaneBlend,        /**< reference: OMX_CONFIG_PLANEBLENDTYPE */
-    OMX_IndexConfigCommonExposureValue,     /**< reference: OMX_CONFIG_EXPOSUREVALUETYPE */
-    OMX_IndexConfigCommonOutputSize,        /**< reference: OMX_FRAMESIZETYPE */
-    OMX_IndexParamCommonExtraQuantData,     /**< reference: OMX_OTHER_EXTRADATATYPE */
-    OMX_IndexConfigCommonFocusRegion,       /**< reference: OMX_CONFIG_FOCUSREGIONTYPE */
-    OMX_IndexConfigCommonFocusStatus,       /**< reference: OMX_PARAM_FOCUSSTATUSTYPE */
-    OMX_IndexConfigCommonTransitionEffect,  /**< reference: OMX_CONFIG_TRANSITIONEFFECTTYPE */
-
-    /* Reserved Configuration range */
-    OMX_IndexOtherStartUnused = 0x08000000,
-    OMX_IndexParamOtherPortFormat,          /**< reference: OMX_OTHER_PARAM_PORTFORMATTYPE */
-    OMX_IndexConfigOtherPower,              /**< reference: OMX_OTHER_CONFIG_POWERTYPE */
-    OMX_IndexConfigOtherStats,              /**< reference: OMX_OTHER_CONFIG_STATSTYPE */
-
-
-    /* Reserved Time range */
-    OMX_IndexTimeStartUnused = 0x09000000,
-    OMX_IndexConfigTimeScale,               /**< reference: OMX_TIME_CONFIG_SCALETYPE */
-    OMX_IndexConfigTimeClockState,          /**< reference: OMX_TIME_CONFIG_CLOCKSTATETYPE */
-    OMX_IndexConfigTimeActiveRefClock,      /**< reference: OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE */
-    OMX_IndexConfigTimeCurrentMediaTime,    /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (read only) */
-    OMX_IndexConfigTimeCurrentWallTime,     /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (read only) */
-    OMX_IndexConfigTimeCurrentAudioReference, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (write only) */
-    OMX_IndexConfigTimeCurrentVideoReference, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (write only) */
-    OMX_IndexConfigTimeMediaTimeRequest,    /**< reference: OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE (write only) */
-    OMX_IndexConfigTimeClientStartTime,     /**<reference:  OMX_TIME_CONFIG_TIMESTAMPTYPE (write only) */
-    OMX_IndexConfigTimePosition,            /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE */
-    OMX_IndexConfigTimeSeekMode,            /**< reference: OMX_TIME_CONFIG_SEEKMODETYPE */
-
-
-    OMX_IndexKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    /* Vendor specific area */
-    OMX_IndexVendorStartUnused = 0x7F000000,
-    /* Vendor specific structures should be in the range of 0x7F000000
-       to 0x7FFFFFFE.  This range is not broken out by vendor, so
-       private indexes are not guaranteed unique and therefore should
-       only be sent to the appropriate component. */
-
-    OMX_IndexMax = 0x7FFFFFFF
-
-} OMX_INDEXTYPE;
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_IndexExt.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_IndexExt.h
deleted file mode 100644
index 25bea1f9cc3191..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_IndexExt.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (c) 2010 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** @file OMX_IndexExt.h - OpenMax IL version 1.1.2
- * The OMX_IndexExt header file contains extensions to the definitions
- * for both applications and components .
- */
-
-#ifndef OMX_IndexExt_h
-#define OMX_IndexExt_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/* Each OMX header shall include all required header files to allow the
- * header to compile without errors.  The includes below are required
- * for this header file to compile successfully
- */
-#include <OMX_Index.h>
-
-
-/** Khronos standard extension indices.
-
-This enum lists the current Khronos extension indices to OpenMAX IL.
-*/
-typedef enum OMX_INDEXEXTTYPE {
-
-    /* Component parameters and configurations */
-    OMX_IndexExtComponentStartUnused = OMX_IndexKhronosExtensions + 0x00100000,
-    OMX_IndexConfigCallbackRequest,                 /**< reference: OMX_CONFIG_CALLBACKREQUESTTYPE */
-    OMX_IndexConfigCommitMode,                      /**< reference: OMX_CONFIG_COMMITMODETYPE */
-    OMX_IndexConfigCommit,                          /**< reference: OMX_CONFIG_COMMITTYPE */
-
-    /* Port parameters and configurations */
-    OMX_IndexExtPortStartUnused = OMX_IndexKhronosExtensions + 0x00200000,
-
-    /* Audio parameters and configurations */
-    OMX_IndexExtAudioStartUnused = OMX_IndexKhronosExtensions + 0x00400000,
-    OMX_IndexParamAudioAndroidAc3,                  /**< reference: OMX_AUDIO_PARAM_ANDROID_AC3TYPE */
-    OMX_IndexParamAudioAndroidOpus,                 /**< reference: OMX_AUDIO_PARAM_ANDROID_OPUSTYPE */
-    OMX_IndexParamAudioAndroidAacPresentation,      /**< reference: OMX_AUDIO_PARAM_ANDROID_AACPRESENTATIONTYPE */
-    OMX_IndexParamAudioAndroidEac3,                 /**< reference: OMX_AUDIO_PARAM_ANDROID_EAC3TYPE */
-
-    /* Image parameters and configurations */
-    OMX_IndexExtImageStartUnused = OMX_IndexKhronosExtensions + 0x00500000,
-
-    /* Video parameters and configurations */
-    OMX_IndexExtVideoStartUnused = OMX_IndexKhronosExtensions + 0x00600000,
-    OMX_IndexParamNalStreamFormatSupported,         /**< reference: OMX_NALSTREAMFORMATTYPE */
-    OMX_IndexParamNalStreamFormat,                  /**< reference: OMX_NALSTREAMFORMATTYPE */
-    OMX_IndexParamNalStreamFormatSelect,            /**< reference: OMX_NALSTREAMFORMATTYPE */
-    OMX_IndexParamVideoVp8,                         /**< reference: OMX_VIDEO_PARAM_VP8TYPE */
-    OMX_IndexConfigVideoVp8ReferenceFrame,          /**< reference: OMX_VIDEO_VP8REFERENCEFRAMETYPE */
-    OMX_IndexConfigVideoVp8ReferenceFrameType,      /**< reference: OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE */
-    OMX_IndexParamVideoAndroidVp8Encoder,           /**< reference: OMX_VIDEO_PARAM_ANDROID_VP8ENCODERTYPE */
-    OMX_IndexParamVideoHevc,                        /**< reference: OMX_VIDEO_PARAM_HEVCTYPE */
-    OMX_IndexParamSliceSegments,                    /**< reference: OMX_VIDEO_SLICESEGMENTSTYPE */
-
-    /* Image & Video common configurations */
-    OMX_IndexExtCommonStartUnused = OMX_IndexKhronosExtensions + 0x00700000,
-
-    /* Other configurations */
-    OMX_IndexExtOtherStartUnused = OMX_IndexKhronosExtensions + 0x00800000,
-    OMX_IndexConfigAutoFramerateConversion,         /**< reference: OMX_CONFIG_BOOLEANTYPE */
-    OMX_IndexConfigPriority,                        /**< reference: OMX_PARAM_U32TYPE */
-    OMX_IndexConfigOperatingRate,                   /**< reference: OMX_PARAM_U32TYPE in Q16 format for video and in Hz for audio */
-    OMX_IndexParamConsumerUsageBits,                /**< reference: OMX_PARAM_U32TYPE */
-
-    /* Time configurations */
-    OMX_IndexExtTimeStartUnused = OMX_IndexKhronosExtensions + 0x00900000,
-
-    OMX_IndexExtMax = 0x7FFFFFFF
-} OMX_INDEXEXTTYPE;
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif /* OMX_IndexExt_h */
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Other.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_Other.h
deleted file mode 100644
index 6072ef62c8614b..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Other.h
+++ /dev/null
@@ -1,354 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/*
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** @file OMX_Other.h - OpenMax IL version 1.1.2
- *  The structures needed by Other components to exchange
- *  parameters and configuration data with the components.
- */
-
-#ifndef OMX_Other_h
-#define OMX_Other_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-
-/* Each OMX header must include all required header files to allow the
- *  header to compile without errors.  The includes below are required
- *  for this header file to compile successfully
- */
-
-#include <OMX_Core.h>
-
-
-/**
- * Enumeration of possible data types which match to multiple domains or no
- * domain at all.  For types which are vendor specific, a value above
- * OMX_OTHER_VENDORTSTART should be used.
- */
-typedef enum OMX_OTHER_FORMATTYPE {
-    OMX_OTHER_FormatTime = 0, /**< Transmission of various timestamps, elapsed time,
-                                   time deltas, etc */
-    OMX_OTHER_FormatPower,    /**< Perhaps used for enabling/disabling power
-                                   management, setting clocks? */
-    OMX_OTHER_FormatStats,    /**< Could be things such as frame rate, frames
-                                   dropped, etc */
-    OMX_OTHER_FormatBinary,   /**< Arbitrary binary data */
-    OMX_OTHER_FormatVendorReserved = 1000, /**< Starting value for vendor specific
-                                                formats */
-
-    OMX_OTHER_FormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_OTHER_FormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_OTHER_FormatMax = 0x7FFFFFFF
-} OMX_OTHER_FORMATTYPE;
-
-/**
- * Enumeration of seek modes.
- */
-typedef enum OMX_TIME_SEEKMODETYPE {
-    OMX_TIME_SeekModeFast = 0, /**< Prefer seeking to an approximation
-                                * of the requested seek position over
-                                * the actual seek position if it
-                                * results in a faster seek. */
-    OMX_TIME_SeekModeAccurate, /**< Prefer seeking to the actual seek
-                                * position over an approximation
-                                * of the requested seek position even
-                                * if it results in a slower seek. */
-    OMX_TIME_SeekModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_TIME_SeekModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_TIME_SeekModeMax = 0x7FFFFFFF
-} OMX_TIME_SEEKMODETYPE;
-
-/* Structure representing the seekmode of the component */
-typedef struct OMX_TIME_CONFIG_SEEKMODETYPE {
-    OMX_U32 nSize;                  /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;       /**< OMX specification version information */
-    OMX_TIME_SEEKMODETYPE eType;    /**< The seek mode */
-} OMX_TIME_CONFIG_SEEKMODETYPE;
-
-/** Structure representing a time stamp used with the following configs
- * on the Clock Component (CC):
- *
- * OMX_IndexConfigTimeCurrentWallTime: query of the CC's current wall
- *     time
- * OMX_IndexConfigTimeCurrentMediaTime: query of the CC's current media
- *     time
- * OMX_IndexConfigTimeCurrentAudioReference and
- * OMX_IndexConfigTimeCurrentVideoReference: audio/video reference
- *     clock sending SC its reference time
- * OMX_IndexConfigTimeClientStartTime: a Clock Component client sends
- *     this structure to the Clock Component via a SetConfig on its
- *     client port when it receives a buffer with
- *     OMX_BUFFERFLAG_STARTTIME set. It must use the timestamp
- *     specified by that buffer for nStartTimestamp.
- *
- * It's also used with the following config on components in general:
- *
- * OMX_IndexConfigTimePosition: IL client querying component position
- * (GetConfig) or commanding a component to seek to the given location
- * (SetConfig)
- */
-typedef struct OMX_TIME_CONFIG_TIMESTAMPTYPE {
-    OMX_U32 nSize;               /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;    /**< OMX specification version
-                                  *   information */
-    OMX_U32 nPortIndex;          /**< port that this structure applies to */
-    OMX_TICKS nTimestamp;        /**< timestamp .*/
-} OMX_TIME_CONFIG_TIMESTAMPTYPE;
-
-/** Enumeration of possible reference clocks to the media time. */
-typedef enum OMX_TIME_UPDATETYPE {
-      OMX_TIME_UpdateRequestFulfillment,    /**< Update is the fulfillment of a media time request. */
-      OMX_TIME_UpdateScaleChanged,          /**< Update was generated because the scale chagned. */
-      OMX_TIME_UpdateClockStateChanged,     /**< Update was generated because the clock state changed. */
-      OMX_TIME_UpdateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-      OMX_TIME_UpdateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-      OMX_TIME_UpdateMax = 0x7FFFFFFF
-} OMX_TIME_UPDATETYPE;
-
-/** Enumeration of possible reference clocks to the media time. */
-typedef enum OMX_TIME_REFCLOCKTYPE {
-      OMX_TIME_RefClockNone,    /**< Use no references. */
-      OMX_TIME_RefClockAudio,   /**< Use references sent through OMX_IndexConfigTimeCurrentAudioReference */
-      OMX_TIME_RefClockVideo,   /**< Use references sent through OMX_IndexConfigTimeCurrentVideoReference */
-      OMX_TIME_RefClockKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-      OMX_TIME_RefClockVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-      OMX_TIME_RefClockMax = 0x7FFFFFFF
-} OMX_TIME_REFCLOCKTYPE;
-
-/** Enumeration of clock states. */
-typedef enum OMX_TIME_CLOCKSTATE {
-      OMX_TIME_ClockStateRunning,             /**< Clock running. */
-      OMX_TIME_ClockStateWaitingForStartTime, /**< Clock waiting until the
-                                               *   prescribed clients emit their
-                                               *   start time. */
-      OMX_TIME_ClockStateStopped,             /**< Clock stopped. */
-      OMX_TIME_ClockStateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-      OMX_TIME_ClockStateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-      OMX_TIME_ClockStateMax = 0x7FFFFFFF
-} OMX_TIME_CLOCKSTATE;
-
-/** Structure representing a media time request to the clock component.
- *
- *  A client component sends this structure to the Clock Component via a SetConfig
- *  on its client port to specify a media timestamp the Clock Component
- *  should emit.  The Clock Component should fulfill the request by sending a
- *  OMX_TIME_MEDIATIMETYPE when its media clock matches the requested
- *  timestamp.
- *
- *  The client may require a media time request be fulfilled slightly
- *  earlier than the media time specified. In this case the client specifies
- *  an offset which is equal to the difference between wall time corresponding
- *  to the requested media time and the wall time when it will be
- *  fulfilled.
- *
- *  A client component may uses these requests and the OMX_TIME_MEDIATIMETYPE to
- *  time events according to timestamps. If a client must perform an operation O at
- *  a time T (e.g. deliver a video frame at its corresponding timestamp), it makes a
- *  media time request at T (perhaps specifying an offset to ensure the request fulfillment
- *  is a little early). When the clock component passes the resulting OMX_TIME_MEDIATIMETYPE
- *  structure back to the client component, the client may perform operation O (perhaps having
- *  to wait a slight amount more time itself as specified by the return values).
- */
-
-typedef struct OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version information */
-    OMX_U32 nPortIndex;         /**< port that this structure applies to */
-    OMX_PTR pClientPrivate;     /**< Client private data to disabiguate this media time
-                                 *   from others (e.g. the number of the frame to deliver).
-                                 *   Duplicated in the media time structure that fulfills
-                                 *   this request. A value of zero is reserved for time scale
-                                 *   updates. */
-    OMX_TICKS nMediaTimestamp;  /**< Media timestamp requested.*/
-    OMX_TICKS nOffset;          /**< Amount of wall clock time by which this
-                                 *   request should be fulfilled early */
-} OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE;
-
-/**< Structure sent from the clock component client either when fulfilling
- *   a media time request or when the time scale has changed.
- *
- *   In the former case the Clock Component fills this structure and times its emission
- *   to a client component (via the client port) according to the corresponding media
- *   time request sent by the client. The Clock Component should time the emission to occur
- *   when the requested timestamp matches the Clock Component's media time but also the
- *   prescribed offset early.
- *
- *   Upon scale changes the clock component clears the nClientPrivate data, sends the current
- *   media time and sets the nScale to the new scale via the client port. It emits a
- *   OMX_TIME_MEDIATIMETYPE to all clients independent of any requests. This allows clients to
- *   alter processing to accomodate scaling. For instance a video component might skip inter-frames
- *   in the case of extreme fastforward. Likewise an audio component might add or remove samples
- *   from an audio frame to scale audio data.
- *
- *   It is expected that some clock components may not be able to fulfill requests
- *   at exactly the prescribed time. This is acceptable so long as the request is
- *   fulfilled at least as early as described and not later. This structure provides
- *   fields the client may use to wait for the remaining time.
- *
- *   The client may use either the nOffset or nWallTimeAtMedia fields to determine the
- *   wall time until the nMediaTimestamp actually occurs. In the latter case the
- *   client can get a more accurate value for offset by getting the current wall
- *   from the cloc component and subtracting it from nWallTimeAtMedia.
- */
-
-typedef struct OMX_TIME_MEDIATIMETYPE {
-    OMX_U32 nSize;                  /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;       /**< OMX specification version information */
-    OMX_U32 nClientPrivate;         /**< Client private data to disabiguate this media time
-                                     *   from others. Copied from the media time request.
-                                     *   A value of zero is reserved for time scale updates. */
-    OMX_TIME_UPDATETYPE eUpdateType; /**< Reason for the update */
-    OMX_TICKS nMediaTimestamp;      /**< Media time requested. If no media time was
-                                     *   requested then this is the current media time. */
-    OMX_TICKS nOffset;              /**< Amount of wall clock time by which this
-                                     *   request was actually fulfilled early */
-
-    OMX_TICKS nWallTimeAtMediaTime; /**< Wall time corresponding to nMediaTimeStamp.
-                                     *   A client may compare this value to current
-                                     *   media time obtained from the Clock Component to determine
-                                     *   the wall time until the media timestamp is really
-                                     *   current. */
-    OMX_S32 xScale;                 /**< Current media time scale in Q16 format. */
-    OMX_TIME_CLOCKSTATE eState;     /* Seeking Change. Added 7/12.*/
-                                    /**< State of the media time. */
-} OMX_TIME_MEDIATIMETYPE;
-
-/** Structure representing the current media time scale factor. Applicable only to clock
- *  component, other components see scale changes via OMX_TIME_MEDIATIMETYPE buffers sent via
- *  the clock component client ports. Upon recieving this config the clock component changes
- *  the rate by which the media time increases or decreases effectively implementing trick modes.
- */
-typedef struct OMX_TIME_CONFIG_SCALETYPE {
-    OMX_U32 nSize;                  /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;       /**< OMX specification version information */
-    OMX_S32 xScale;                 /**< This is a value in Q16 format which is used for
-                                     * scaling the media time */
-} OMX_TIME_CONFIG_SCALETYPE;
-
-/** Bits used to identify a clock port. Used in OMX_TIME_CONFIG_CLOCKSTATETYPE's nWaitMask field */
-#define OMX_CLOCKPORT0 0x00000001
-#define OMX_CLOCKPORT1 0x00000002
-#define OMX_CLOCKPORT2 0x00000004
-#define OMX_CLOCKPORT3 0x00000008
-#define OMX_CLOCKPORT4 0x00000010
-#define OMX_CLOCKPORT5 0x00000020
-#define OMX_CLOCKPORT6 0x00000040
-#define OMX_CLOCKPORT7 0x00000080
-
-/** Structure representing the current mode of the media clock.
- *  IL Client uses this config to change or query the mode of the
- *  media clock of the clock component. Applicable only to clock
- *  component.
- *
- *  On a SetConfig if eState is OMX_TIME_ClockStateRunning media time
- *  starts immediately at the prescribed start time. If
- *  OMX_TIME_ClockStateWaitingForStartTime the Clock Component ignores
- *  the given nStartTime and waits for all clients specified in the
- *  nWaitMask to send starttimes (via
- *  OMX_IndexConfigTimeClientStartTime). The Clock Component then starts
- *  the media clock using the earliest start time supplied. */
-typedef struct OMX_TIME_CONFIG_CLOCKSTATETYPE {
-    OMX_U32 nSize;              /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;   /**< OMX specification version
-                                 *   information */
-    OMX_TIME_CLOCKSTATE eState; /**< State of the media time. */
-    OMX_TICKS nStartTime;       /**< Start time of the media time. */
-    OMX_TICKS nOffset;          /**< Time to offset the media time by
-                                 * (e.g. preroll). Media time will be
-                                 * reported to be nOffset ticks earlier.
-                                 */
-    OMX_U32 nWaitMask;          /**< Mask of OMX_CLOCKPORT values. */
-} OMX_TIME_CONFIG_CLOCKSTATETYPE;
-
-/** Structure representing the reference clock currently being used to
- *  compute media time. IL client uses this config to change or query the
- *  clock component's active reference clock */
-typedef struct OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE {
-    OMX_U32 nSize;                  /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion;       /**< OMX specification version information */
-    OMX_TIME_REFCLOCKTYPE eClock;   /**< Reference clock used to compute media time */
-} OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE;
-
-/** Descriptor for setting specifics of power type.
- *  Note: this structure is listed for backwards compatibility. */
-typedef struct OMX_OTHER_CONFIG_POWERTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_BOOL bEnablePM;       /**< Flag to enable Power Management */
-} OMX_OTHER_CONFIG_POWERTYPE;
-
-
-/** Descriptor for setting specifics of stats type.
- *  Note: this structure is listed for backwards compatibility. */
-typedef struct OMX_OTHER_CONFIG_STATSTYPE {
-    OMX_U32 nSize;            /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    /* what goes here */
-} OMX_OTHER_CONFIG_STATSTYPE;
-
-
-/**
- * The PortDefinition structure is used to define all of the parameters
- * necessary for the compliant component to setup an input or an output other
- * path.
- */
-typedef struct OMX_OTHER_PORTDEFINITIONTYPE {
-    OMX_OTHER_FORMATTYPE eFormat;  /**< Type of data expected for this channel */
-} OMX_OTHER_PORTDEFINITIONTYPE;
-
-/**  Port format parameter.  This structure is used to enumerate
-  *  the various data input/output format supported by the port.
-  */
-typedef struct OMX_OTHER_PARAM_PORTFORMATTYPE {
-    OMX_U32 nSize; /**< size of the structure in bytes */
-    OMX_VERSIONTYPE nVersion; /**< OMX specification version information */
-    OMX_U32 nPortIndex; /**< Indicates which port to set */
-    OMX_U32 nIndex; /**< Indicates the enumeration index for the format from 0x0 to N-1 */
-    OMX_OTHER_FORMATTYPE eFormat; /**< Type of data expected for this channel */
-} OMX_OTHER_PARAM_PORTFORMATTYPE;
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Types.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_Types.h
deleted file mode 100644
index 5afaba057c7ad4..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Types.h
+++ /dev/null
@@ -1,387 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/*
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** OMX_Types.h - OpenMax IL version 1.1.2
- *  The OMX_Types header file contains the primitive type definitions used by
- *  the core, the application and the component.  This file may need to be
- *  modified to be used on systems that do not have "char" set to 8 bits,
- *  "short" set to 16 bits and "long" set to 32 bits.
- */
-
-#ifndef OMX_Types_h
-#define OMX_Types_h
-
-#include <stdint.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/** The OMX_API and OMX_APIENTRY are platform specific definitions used
- *  to declare OMX function prototypes.  They are modified to meet the
- *  requirements for a particular platform */
-#ifdef __SYMBIAN32__
-#   ifdef __OMX_EXPORTS
-#       define OMX_API __declspec(dllexport)
-#   else
-#       ifdef _WIN32
-#           define OMX_API __declspec(dllexport)
-#       else
-#           define OMX_API __declspec(dllimport)
-#       endif
-#   endif
-#else
-#   ifdef _WIN32
-#      ifdef __OMX_EXPORTS
-#          define OMX_API __declspec(dllexport)
-#      else
-//#          define OMX_API __declspec(dllimport)
-#define OMX_API
-#      endif
-#   else
-#      ifdef __OMX_EXPORTS
-#          define OMX_API
-#      else
-#          define OMX_API extern
-#      endif
-#   endif
-#endif
-
-#ifndef OMX_APIENTRY
-#define OMX_APIENTRY
-#endif
-
-/** OMX_IN is used to identify inputs to an OMX function.  This designation
-    will also be used in the case of a pointer that points to a parameter
-    that is used as an output. */
-#ifndef OMX_IN
-#define OMX_IN
-#endif
-
-/** OMX_OUT is used to identify outputs from an OMX function.  This
-    designation will also be used in the case of a pointer that points
-    to a parameter that is used as an input. */
-#ifndef OMX_OUT
-#define OMX_OUT
-#endif
-
-
-/** OMX_INOUT is used to identify parameters that may be either inputs or
-    outputs from an OMX function at the same time.  This designation will
-    also be used in the case of a pointer that  points to a parameter that
-    is used both as an input and an output. */
-#ifndef OMX_INOUT
-#define OMX_INOUT
-#endif
-
-/** OMX_ALL is used to as a wildcard to select all entities of the same type
- *  when specifying the index, or referring to a object by an index.  (i.e.
- *  use OMX_ALL to indicate all N channels). When used as a port index
- *  for a config or parameter this OMX_ALL denotes that the config or
- *  parameter applies to the entire component not just one port. */
-#define OMX_ALL 0xFFFFFFFF
-
-/** In the following we define groups that help building doxygen documentation */
-
-/** @defgroup core OpenMAX IL core
- * Functions and structure related to the OMX IL core
- */
-
- /** @defgroup comp OpenMAX IL component
- * Functions and structure related to the OMX IL component
- */
-
-/** @defgroup rpm Resource and Policy Management
- * Structures for resource and policy management of components
- */
-
-/** @defgroup buf Buffer Management
- * Buffer handling functions and structures
- */
-
-/** @defgroup tun Tunneling
- * @ingroup core comp
- * Structures and functions to manage tunnels among component ports
- */
-
-/** @defgroup cp Content Pipes
- *  @ingroup core
- */
-
- /** @defgroup metadata Metadata handling
-  *
-  */
-
-/** OMX_U8 is an 8 bit unsigned quantity that is byte aligned */
-typedef unsigned char OMX_U8;
-
-/** OMX_S8 is an 8 bit signed quantity that is byte aligned */
-typedef signed char OMX_S8;
-
-/** OMX_U16 is a 16 bit unsigned quantity that is 16 bit word aligned */
-typedef unsigned short OMX_U16;
-
-/** OMX_S16 is a 16 bit signed quantity that is 16 bit word aligned */
-typedef signed short OMX_S16;
-
-/** OMX_U32 is a 32 bit unsigned quantity that is 32 bit word aligned */
-typedef uint32_t OMX_U32;
-
-/** OMX_S32 is a 32 bit signed quantity that is 32 bit word aligned */
-typedef int32_t OMX_S32;
-
-
-/* Users with compilers that cannot accept the "long long" designation should
-   define the OMX_SKIP64BIT macro.  It should be noted that this may cause
-   some components to fail to compile if the component was written to require
-   64 bit integral types.  However, these components would NOT compile anyway
-   since the compiler does not support the way the component was written.
-*/
-#ifndef OMX_SKIP64BIT
-#ifdef __SYMBIAN32__
-/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */
-typedef unsigned long long OMX_U64;
-
-/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */
-typedef signed long long OMX_S64;
-
-#elif defined(WIN32)
-
-/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */
-typedef unsigned __int64  OMX_U64;
-
-/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */
-typedef signed   __int64  OMX_S64;
-
-#else /* WIN32 */
-
-/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */
-typedef unsigned long long OMX_U64;
-
-/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */
-typedef signed long long OMX_S64;
-
-#endif /* WIN32 */
-#endif
-
-
-/** The OMX_BOOL type is intended to be used to represent a true or a false
-    value when passing parameters to and from the OMX core and components.  The
-    OMX_BOOL is a 32 bit quantity and is aligned on a 32 bit word boundary.
- */
-typedef enum OMX_BOOL {
-    OMX_FALSE = 0,
-    OMX_TRUE = !OMX_FALSE,
-    OMX_BOOL_MAX = 0x7FFFFFFF
-} OMX_BOOL;
-
-/*
- * Temporary Android 64 bit modification
- *
- * #define OMX_ANDROID_COMPILE_AS_32BIT_ON_64BIT_PLATFORMS
- * overrides all OMX pointer types to be uint32_t.
- *
- * After this change, OMX codecs will work in 32 bit only, so 64 bit processes
- * must communicate to a remote 32 bit process for OMX to work.
- */
-
-#ifdef OMX_ANDROID_COMPILE_AS_32BIT_ON_64BIT_PLATFORMS
-
-typedef uint32_t OMX_PTR;
-typedef OMX_PTR OMX_STRING;
-typedef OMX_PTR OMX_BYTE;
-
-#else /* OMX_ANDROID_COMPILE_AS_32BIT_ON_64BIT_PLATFORMS */
-
-/** The OMX_PTR type is intended to be used to pass pointers between the OMX
-    applications and the OMX Core and components.  This is a 32 bit pointer and
-    is aligned on a 32 bit boundary.
- */
-typedef void* OMX_PTR;
-
-/** The OMX_STRING type is intended to be used to pass "C" type strings between
-    the application and the core and component.  The OMX_STRING type is a 32
-    bit pointer to a zero terminated string.  The  pointer is word aligned and
-    the string is byte aligned.
- */
-typedef char* OMX_STRING;
-
-/** The OMX_BYTE type is intended to be used to pass arrays of bytes such as
-    buffers between the application and the component and core.  The OMX_BYTE
-    type is a 32 bit pointer to a zero terminated string.  The  pointer is word
-    aligned and the string is byte aligned.
- */
-typedef unsigned char* OMX_BYTE;
-
-#endif /* OMX_ANDROID_COMPILE_AS_32BIT_ON_64BIT_PLATFORMS */
-
-/** OMX_UUIDTYPE is a very long unique identifier to uniquely identify
-    at runtime.  This identifier should be generated by a component in a way
-    that guarantees that every instance of the identifier running on the system
-    is unique. */
-typedef unsigned char OMX_UUIDTYPE[128];
-
-/** The OMX_DIRTYPE enumeration is used to indicate if a port is an input or
-    an output port.  This enumeration is common across all component types.
- */
-typedef enum OMX_DIRTYPE
-{
-    OMX_DirInput,              /**< Port is an input port */
-    OMX_DirOutput,             /**< Port is an output port */
-    OMX_DirMax = 0x7FFFFFFF
-} OMX_DIRTYPE;
-
-/** The OMX_ENDIANTYPE enumeration is used to indicate the bit ordering
-    for numerical data (i.e. big endian, or little endian).
- */
-typedef enum OMX_ENDIANTYPE
-{
-    OMX_EndianBig, /**< big endian */
-    OMX_EndianLittle, /**< little endian */
-    OMX_EndianMax = 0x7FFFFFFF
-} OMX_ENDIANTYPE;
-
-
-/** The OMX_NUMERICALDATATYPE enumeration is used to indicate if data
-    is signed or unsigned
- */
-typedef enum OMX_NUMERICALDATATYPE
-{
-    OMX_NumericalDataSigned, /**< signed data */
-    OMX_NumericalDataUnsigned, /**< unsigned data */
-    OMX_NumercialDataMax = 0x7FFFFFFF
-} OMX_NUMERICALDATATYPE;
-
-
-/** Unsigned bounded value type */
-typedef struct OMX_BU32 {
-    OMX_U32 nValue; /**< actual value */
-    OMX_U32 nMin;   /**< minimum for value (i.e. nValue >= nMin) */
-    OMX_U32 nMax;   /**< maximum for value (i.e. nValue <= nMax) */
-} OMX_BU32;
-
-
-/** Signed bounded value type */
-typedef struct OMX_BS32 {
-    OMX_S32 nValue; /**< actual value */
-    OMX_S32 nMin;   /**< minimum for value (i.e. nValue >= nMin) */
-    OMX_S32 nMax;   /**< maximum for value (i.e. nValue <= nMax) */
-} OMX_BS32;
-
-
-/** Structure representing some time or duration in microseconds. This structure
-  *  must be interpreted as a signed 64 bit value. The quantity is signed to accommodate
-  *  negative deltas and preroll scenarios. The quantity is represented in microseconds
-  *  to accomodate high resolution timestamps (e.g. DVD presentation timestamps based
-  *  on a 90kHz clock) and to allow more accurate and synchronized delivery (e.g.
-  *  individual audio samples delivered at 192 kHz). The quantity is 64 bit to
-  *  accommodate a large dynamic range (signed 32 bit values would allow only for plus
-  *  or minus 35 minutes).
-  *
-  *  Implementations with limited precision may convert the signed 64 bit value to
-  *  a signed 32 bit value internally but risk loss of precision.
-  */
-#ifndef OMX_SKIP64BIT
-typedef OMX_S64 OMX_TICKS;
-#else
-typedef struct OMX_TICKS
-{
-    OMX_U32 nLowPart;    /** low bits of the signed 64 bit tick value */
-    OMX_U32 nHighPart;   /** high bits of the signed 64 bit tick value */
-} OMX_TICKS;
-#endif
-#define OMX_TICKS_PER_SECOND 1000000
-
-/** Define the public interface for the OMX Handle.  The core will not use
-    this value internally, but the application should only use this value.
- */
-typedef OMX_PTR OMX_HANDLETYPE;
-
-typedef struct OMX_MARKTYPE
-{
-    OMX_HANDLETYPE hMarkTargetComponent;   /**< The component that will
-                                                generate a mark event upon
-                                                processing the mark. */
-    OMX_PTR pMarkData;   /**< Application specific data associated with
-                              the mark sent on a mark event to disambiguate
-                              this mark from others. */
-} OMX_MARKTYPE;
-
-
-/** OMX_NATIVE_DEVICETYPE is used to map a OMX video port to the
- *  platform & operating specific object used to reference the display
- *  or can be used by a audio port for native audio rendering */
-typedef OMX_PTR OMX_NATIVE_DEVICETYPE;
-
-/** OMX_NATIVE_WINDOWTYPE is used to map a OMX video port to the
- *  platform & operating specific object used to reference the window */
-typedef OMX_PTR OMX_NATIVE_WINDOWTYPE;
-
-/** The OMX_VERSIONTYPE union is used to specify the version for
-    a structure or component.  For a component, the version is entirely
-    specified by the component vendor.  Components doing the same function
-    from different vendors may or may not have the same version.  For
-    structures, the version shall be set by the entity that allocates the
-    structure.  For structures specified in the OMX 1.1 specification, the
-    value of the version shall be set to 1.1.0.0 in all cases.  Access to the
-    OMX_VERSIONTYPE can be by a single 32 bit access (e.g. by nVersion) or
-    by accessing one of the structure elements to, for example, check only
-    the Major revision.
- */
-typedef union OMX_VERSIONTYPE
-{
-    struct
-    {
-        OMX_U8 nVersionMajor;   /**< Major version accessor element */
-        OMX_U8 nVersionMinor;   /**< Minor version accessor element */
-        OMX_U8 nRevision;       /**< Revision version accessor element */
-        OMX_U8 nStep;           /**< Step version accessor element */
-    } s;
-    OMX_U32 nVersion;           /**< 32 bit value to make accessing the
-                                    version easily done in a single word
-                                    size copy/compare operation */
-} OMX_VERSIONTYPE;
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Video.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_Video.h
deleted file mode 100644
index decc410ba945a2..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_Video.h
+++ /dev/null
@@ -1,1081 +0,0 @@
-/* ------------------------------------------------------------------
- * Copyright (C) 1998-2009 PacketVideo
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
- * express or implied.
- * See the License for the specific language governing permissions
- * and limitations under the License.
- * -------------------------------------------------------------------
- */
-/**
- * Copyright (c) 2008 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/**
- *  @file OMX_Video.h - OpenMax IL version 1.1.2
- *  The structures is needed by Video components to exchange parameters
- *  and configuration data with OMX components.
- */
-#ifndef OMX_Video_h
-#define OMX_Video_h
-
-/** @defgroup video OpenMAX IL Video Domain
- * @ingroup iv
- * Structures for OpenMAX IL Video domain
- * @{
- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-
-/**
- * Each OMX header must include all required header files to allow the
- * header to compile without errors.  The includes below are required
- * for this header file to compile successfully
- */
-
-#include <OMX_IVCommon.h>
-
-
-/**
- * Enumeration used to define the possible video compression codings.
- * NOTE:  This essentially refers to file extensions. If the coding is
- *        being used to specify the ENCODE type, then additional work
- *        must be done to configure the exact flavor of the compression
- *        to be used.  For decode cases where the user application can
- *        not differentiate between MPEG-4 and H.264 bit streams, it is
- *        up to the codec to handle this.
- */
-typedef enum OMX_VIDEO_CODINGTYPE {
-    OMX_VIDEO_CodingUnused,     /**< Value when coding is N/A */
-    OMX_VIDEO_CodingAutoDetect, /**< Autodetection of coding type */
-    OMX_VIDEO_CodingMPEG2,      /**< AKA: H.262 */
-    OMX_VIDEO_CodingH263,       /**< H.263 */
-    OMX_VIDEO_CodingMPEG4,      /**< MPEG-4 */
-    OMX_VIDEO_CodingWMV,        /**< all versions of Windows Media Video */
-    OMX_VIDEO_CodingRV,         /**< all versions of Real Video */
-    OMX_VIDEO_CodingAVC,        /**< H.264/AVC */
-    OMX_VIDEO_CodingMJPEG,      /**< Motion JPEG */
-    OMX_VIDEO_CodingVP8,        /**< Google VP8, formerly known as On2 VP8 */
-    OMX_VIDEO_CodingVP9,        /**< Google VP9 */
-    OMX_VIDEO_CodingHEVC,       /**< ITU H.265/HEVC */
-    OMX_VIDEO_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_CodingMax = 0x7FFFFFFF
-} OMX_VIDEO_CODINGTYPE;
-
-
-/**
- * Data structure used to define a video path.  The number of Video paths for
- * input and output will vary by type of the Video component.
- *
- *    Input (aka Source) : zero Inputs, one Output,
- *    Splitter           : one Input, 2 or more Outputs,
- *    Processing Element : one Input, one output,
- *    Mixer              : 2 or more inputs, one output,
- *    Output (aka Sink)  : one Input, zero outputs.
- *
- * The PortDefinition structure is used to define all of the parameters
- * necessary for the compliant component to setup an input or an output video
- * path.  If additional vendor specific data is required, it should be
- * transmitted to the component using the CustomCommand function.  Compliant
- * components will prepopulate this structure with optimal values during the
- * GetDefaultInitParams command.
- *
- * STRUCT MEMBERS:
- *  cMIMEType             : MIME type of data for the port
- *  pNativeRender         : Platform specific reference for a display if a
- *                          sync, otherwise this field is 0
- *  nFrameWidth           : Width of frame to be used on channel if
- *                          uncompressed format is used.  Use 0 for unknown,
- *                          don't care or variable
- *  nFrameHeight          : Height of frame to be used on channel if
- *                          uncompressed format is used. Use 0 for unknown,
- *                          don't care or variable
- *  nStride               : Number of bytes per span of an image
- *                          (i.e. indicates the number of bytes to get
- *                          from span N to span N+1, where negative stride
- *                          indicates the image is bottom up
- *  nSliceHeight          : Height used when encoding in slices
- *  nBitrate              : Bit rate of frame to be used on channel if
- *                          compressed format is used. Use 0 for unknown,
- *                          don't care or variable
- *  xFramerate            : Frame rate to be used on channel if uncompressed
- *                          format is used. Use 0 for unknown, don't care or
- *                          variable.  Units are Q16 frames per second.
- *  bFlagErrorConcealment : Turns on error concealment if it is supported by
- *                          the OMX component
- *  eCompressionFormat    : Compression format used in this instance of the
- *                          component. When OMX_VIDEO_CodingUnused is
- *                          specified, eColorFormat is used
- *  eColorFormat : Decompressed format used by this component
- *  pNativeWindow : Platform specific reference for a window object if a
- *                          display sink , otherwise this field is 0x0.
- */
-typedef struct OMX_VIDEO_PORTDEFINITIONTYPE {
-    OMX_STRING cMIMEType;
-    OMX_NATIVE_DEVICETYPE pNativeRender;
-    OMX_U32 nFrameWidth;
-    OMX_U32 nFrameHeight;
-    OMX_S32 nStride;
-    OMX_U32 nSliceHeight;
-    OMX_U32 nBitrate;
-    OMX_U32 xFramerate;
-    OMX_BOOL bFlagErrorConcealment;
-    OMX_VIDEO_CODINGTYPE eCompressionFormat;
-    OMX_COLOR_FORMATTYPE eColorFormat;
-    OMX_NATIVE_WINDOWTYPE pNativeWindow;
-} OMX_VIDEO_PORTDEFINITIONTYPE;
-
-/**
- * Port format parameter.  This structure is used to enumerate the various
- * data input/output format supported by the port.
- *
- * STRUCT MEMBERS:
- *  nSize              : Size of the structure in bytes
- *  nVersion           : OMX specification version information
- *  nPortIndex         : Indicates which port to set
- *  nIndex             : Indicates the enumeration index for the format from
- *                       0x0 to N-1
- *  eCompressionFormat : Compression format used in this instance of the
- *                       component. When OMX_VIDEO_CodingUnused is specified,
- *                       eColorFormat is used
- *  eColorFormat       : Decompressed format used by this component
- *  xFrameRate         : Indicates the video frame rate in Q16 format
- */
-typedef struct OMX_VIDEO_PARAM_PORTFORMATTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nIndex;
-    OMX_VIDEO_CODINGTYPE eCompressionFormat;
-    OMX_COLOR_FORMATTYPE eColorFormat;
-    OMX_U32 xFramerate;
-} OMX_VIDEO_PARAM_PORTFORMATTYPE;
-
-
-/**
- * This is a structure for configuring video compression quantization
- * parameter values.  Codecs may support different QP values for different
- * frame types.
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version info
- *  nPortIndex : Port that this structure applies to
- *  nQpI       : QP value to use for index frames
- *  nQpP       : QP value to use for P frames
- *  nQpB       : QP values to use for bidirectional frames
- */
-typedef struct OMX_VIDEO_PARAM_QUANTIZATIONTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nQpI;
-    OMX_U32 nQpP;
-    OMX_U32 nQpB;
-} OMX_VIDEO_PARAM_QUANTIZATIONTYPE;
-
-
-/**
- * Structure for configuration of video fast update parameters.
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version info
- *  nPortIndex : Port that this structure applies to
- *  bEnableVFU : Enable/Disable video fast update
- *  nFirstGOB  : Specifies the number of the first macroblock row
- *  nFirstMB   : specifies the first MB relative to the specified first GOB
- *  nNumMBs    : Specifies the number of MBs to be refreshed from nFirstGOB
- *               and nFirstMB
- */
-typedef struct OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bEnableVFU;
-    OMX_U32 nFirstGOB;
-    OMX_U32 nFirstMB;
-    OMX_U32 nNumMBs;
-} OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE;
-
-
-/**
- * Enumeration of possible bitrate control types
- */
-typedef enum OMX_VIDEO_CONTROLRATETYPE {
-    OMX_Video_ControlRateDisable,
-    OMX_Video_ControlRateVariable,
-    OMX_Video_ControlRateConstant,
-    OMX_Video_ControlRateVariableSkipFrames,
-    OMX_Video_ControlRateConstantSkipFrames,
-    OMX_Video_ControlRateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_Video_ControlRateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_Video_ControlRateMax = 0x7FFFFFFF
-} OMX_VIDEO_CONTROLRATETYPE;
-
-
-/**
- * Structure for configuring bitrate mode of a codec.
- *
- * STRUCT MEMBERS:
- *  nSize          : Size of the struct in bytes
- *  nVersion       : OMX spec version info
- *  nPortIndex     : Port that this struct applies to
- *  eControlRate   : Control rate type enum
- *  nTargetBitrate : Target bitrate to encode with
- */
-typedef struct OMX_VIDEO_PARAM_BITRATETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_VIDEO_CONTROLRATETYPE eControlRate;
-    OMX_U32 nTargetBitrate;
-} OMX_VIDEO_PARAM_BITRATETYPE;
-
-
-/**
- * Enumeration of possible motion vector (MV) types
- */
-typedef enum OMX_VIDEO_MOTIONVECTORTYPE {
-    OMX_Video_MotionVectorPixel,
-    OMX_Video_MotionVectorHalfPel,
-    OMX_Video_MotionVectorQuarterPel,
-    OMX_Video_MotionVectorEighthPel,
-    OMX_Video_MotionVectorKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_Video_MotionVectorVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_Video_MotionVectorMax = 0x7FFFFFFF
-} OMX_VIDEO_MOTIONVECTORTYPE;
-
-
-/**
- * Structure for configuring the number of motion vectors used as well
- * as their accuracy.
- *
- * STRUCT MEMBERS:
- *  nSize            : Size of the struct in bytes
- *  nVersion         : OMX spec version info
- *  nPortIndex       : port that this structure applies to
- *  eAccuracy        : Enumerated MV accuracy
- *  bUnrestrictedMVs : Allow unrestricted MVs
- *  bFourMV          : Allow use of 4 MVs
- *  sXSearchRange    : Search range in horizontal direction for MVs
- *  sYSearchRange    : Search range in vertical direction for MVs
- */
-typedef struct OMX_VIDEO_PARAM_MOTIONVECTORTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_VIDEO_MOTIONVECTORTYPE eAccuracy;
-    OMX_BOOL bUnrestrictedMVs;
-    OMX_BOOL bFourMV;
-    OMX_S32 sXSearchRange;
-    OMX_S32 sYSearchRange;
-} OMX_VIDEO_PARAM_MOTIONVECTORTYPE;
-
-
-/**
- * Enumeration of possible methods to use for Intra Refresh
- */
-typedef enum OMX_VIDEO_INTRAREFRESHTYPE {
-    OMX_VIDEO_IntraRefreshCyclic,
-    OMX_VIDEO_IntraRefreshAdaptive,
-    OMX_VIDEO_IntraRefreshBoth,
-    OMX_VIDEO_IntraRefreshKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_IntraRefreshVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_IntraRefreshMax = 0x7FFFFFFF
-} OMX_VIDEO_INTRAREFRESHTYPE;
-
-
-/**
- * Structure for configuring intra refresh mode
- *
- * STRUCT MEMBERS:
- *  nSize        : Size of the structure in bytes
- *  nVersion     : OMX specification version information
- *  nPortIndex   : Port that this structure applies to
- *  eRefreshMode : Cyclic, Adaptive, or Both
- *  nAirMBs      : Number of intra macroblocks to refresh in a frame when
- *                 AIR is enabled
- *  nAirRef      : Number of times a motion marked macroblock has to be
- *                 intra coded
- *  nCirMBs      : Number of consecutive macroblocks to be coded as "intra"
- *                 when CIR is enabled
- */
-typedef struct OMX_VIDEO_PARAM_INTRAREFRESHTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_VIDEO_INTRAREFRESHTYPE eRefreshMode;
-    OMX_U32 nAirMBs;
-    OMX_U32 nAirRef;
-    OMX_U32 nCirMBs;
-} OMX_VIDEO_PARAM_INTRAREFRESHTYPE;
-
-
-/**
- * Structure for enabling various error correction methods for video
- * compression.
- *
- * STRUCT MEMBERS:
- *  nSize                   : Size of the structure in bytes
- *  nVersion                : OMX specification version information
- *  nPortIndex              : Port that this structure applies to
- *  bEnableHEC              : Enable/disable header extension codes (HEC)
- *  bEnableResync           : Enable/disable resynchronization markers
- *  nResynchMarkerSpacing   : Resynch markers interval (in bits) to be
- *                            applied in the stream
- *  bEnableDataPartitioning : Enable/disable data partitioning
- *  bEnableRVLC             : Enable/disable reversible variable length
- *                            coding
- */
-typedef struct OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bEnableHEC;
-    OMX_BOOL bEnableResync;
-    OMX_U32  nResynchMarkerSpacing;
-    OMX_BOOL bEnableDataPartitioning;
-    OMX_BOOL bEnableRVLC;
-} OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE;
-
-
-/**
- * Configuration of variable block-size motion compensation (VBSMC)
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  b16x16     : Enable inter block search 16x16
- *  b16x8      : Enable inter block search 16x8
- *  b8x16      : Enable inter block search 8x16
- *  b8x8       : Enable inter block search 8x8
- *  b8x4       : Enable inter block search 8x4
- *  b4x8       : Enable inter block search 4x8
- *  b4x4       : Enable inter block search 4x4
- */
-typedef struct OMX_VIDEO_PARAM_VBSMCTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL b16x16;
-    OMX_BOOL b16x8;
-    OMX_BOOL b8x16;
-    OMX_BOOL b8x8;
-    OMX_BOOL b8x4;
-    OMX_BOOL b4x8;
-    OMX_BOOL b4x4;
-} OMX_VIDEO_PARAM_VBSMCTYPE;
-
-
-/**
- * H.263 profile types, each profile indicates support for various
- * performance bounds and different annexes.
- *
- * ENUMS:
- *  Baseline           : Baseline Profile: H.263 (V1), no optional modes
- *  H320 Coding        : H.320 Coding Efficiency Backward Compatibility
- *                       Profile: H.263+ (V2), includes annexes I, J, L.4
- *                       and T
- *  BackwardCompatible : Backward Compatibility Profile: H.263 (V1),
- *                       includes annex F
- *  ISWV2              : Interactive Streaming Wireless Profile: H.263+
- *                       (V2), includes annexes I, J, K and T
- *  ISWV3              : Interactive Streaming Wireless Profile: H.263++
- *                       (V3), includes profile 3 and annexes V and W.6.3.8
- *  HighCompression    : Conversational High Compression Profile: H.263++
- *                       (V3), includes profiles 1 & 2 and annexes D and U
- *  Internet           : Conversational Internet Profile: H.263++ (V3),
- *                       includes profile 5 and annex K
- *  Interlace          : Conversational Interlace Profile: H.263++ (V3),
- *                       includes profile 5 and annex W.6.3.11
- *  HighLatency        : High Latency Profile: H.263++ (V3), includes
- *                       profile 6 and annexes O.1 and P.5
- */
-typedef enum OMX_VIDEO_H263PROFILETYPE {
-    OMX_VIDEO_H263ProfileBaseline            = 0x01,
-    OMX_VIDEO_H263ProfileH320Coding          = 0x02,
-    OMX_VIDEO_H263ProfileBackwardCompatible  = 0x04,
-    OMX_VIDEO_H263ProfileISWV2               = 0x08,
-    OMX_VIDEO_H263ProfileISWV3               = 0x10,
-    OMX_VIDEO_H263ProfileHighCompression     = 0x20,
-    OMX_VIDEO_H263ProfileInternet            = 0x40,
-    OMX_VIDEO_H263ProfileInterlace           = 0x80,
-    OMX_VIDEO_H263ProfileHighLatency         = 0x100,
-    OMX_VIDEO_H263ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_H263ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_H263ProfileMax                 = 0x7FFFFFFF
-} OMX_VIDEO_H263PROFILETYPE;
-
-
-/**
- * H.263 level types, each level indicates support for various frame sizes,
- * bit rates, decoder frame rates.
- */
-typedef enum OMX_VIDEO_H263LEVELTYPE {
-    OMX_VIDEO_H263Level10  = 0x01,
-    OMX_VIDEO_H263Level20  = 0x02,
-    OMX_VIDEO_H263Level30  = 0x04,
-    OMX_VIDEO_H263Level40  = 0x08,
-    OMX_VIDEO_H263Level45  = 0x10,
-    OMX_VIDEO_H263Level50  = 0x20,
-    OMX_VIDEO_H263Level60  = 0x40,
-    OMX_VIDEO_H263Level70  = 0x80,
-    OMX_VIDEO_H263LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_H263LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_H263LevelMax = 0x7FFFFFFF
-} OMX_VIDEO_H263LEVELTYPE;
-
-
-/**
- * Specifies the picture type. These values should be OR'd to signal all
- * pictures types which are allowed.
- *
- * ENUMS:
- *  Generic Picture Types:          I, P and B
- *  H.263 Specific Picture Types:   SI and SP
- *  H.264 Specific Picture Types:   EI and EP
- *  MPEG-4 Specific Picture Types:  S
- */
-typedef enum OMX_VIDEO_PICTURETYPE {
-    OMX_VIDEO_PictureTypeI   = 0x01,
-    OMX_VIDEO_PictureTypeP   = 0x02,
-    OMX_VIDEO_PictureTypeB   = 0x04,
-    OMX_VIDEO_PictureTypeSI  = 0x08,
-    OMX_VIDEO_PictureTypeSP  = 0x10,
-    OMX_VIDEO_PictureTypeEI  = 0x11,
-    OMX_VIDEO_PictureTypeEP  = 0x12,
-    OMX_VIDEO_PictureTypeS   = 0x14,
-    OMX_VIDEO_PictureTypeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_PictureTypeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_PictureTypeMax = 0x7FFFFFFF
-} OMX_VIDEO_PICTURETYPE;
-
-
-/**
- * H.263 Params
- *
- * STRUCT MEMBERS:
- *  nSize                    : Size of the structure in bytes
- *  nVersion                 : OMX specification version information
- *  nPortIndex               : Port that this structure applies to
- *  nPFrames                 : Number of P frames between each I frame
- *  nBFrames                 : Number of B frames between each I frame
- *  eProfile                 : H.263 profile(s) to use
- *  eLevel                   : H.263 level(s) to use
- *  bPLUSPTYPEAllowed        : Indicating that it is allowed to use PLUSPTYPE
- *                             (specified in the 1998 version of H.263) to
- *                             indicate custom picture sizes or clock
- *                             frequencies
- *  nAllowedPictureTypes     : Specifies the picture types allowed in the
- *                             bitstream
- *  bForceRoundingTypeToZero : value of the RTYPE bit (bit 6 of MPPTYPE) is
- *                             not constrained. It is recommended to change
- *                             the value of the RTYPE bit for each reference
- *                             picture in error-free communication
- *  nPictureHeaderRepetition : Specifies the frequency of picture header
- *                             repetition
- *  nGOBHeaderInterval       : Specifies the interval of non-empty GOB
- *                             headers in units of GOBs
- */
-typedef struct OMX_VIDEO_PARAM_H263TYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nPFrames;
-    OMX_U32 nBFrames;
-    OMX_VIDEO_H263PROFILETYPE eProfile;
-    OMX_VIDEO_H263LEVELTYPE eLevel;
-    OMX_BOOL bPLUSPTYPEAllowed;
-    OMX_U32 nAllowedPictureTypes;
-    OMX_BOOL bForceRoundingTypeToZero;
-    OMX_U32 nPictureHeaderRepetition;
-    OMX_U32 nGOBHeaderInterval;
-} OMX_VIDEO_PARAM_H263TYPE;
-
-
-/**
- * MPEG-2 profile types, each profile indicates support for various
- * performance bounds and different annexes.
- */
-typedef enum OMX_VIDEO_MPEG2PROFILETYPE {
-    OMX_VIDEO_MPEG2ProfileSimple = 0,  /**< Simple Profile */
-    OMX_VIDEO_MPEG2ProfileMain,        /**< Main Profile */
-    OMX_VIDEO_MPEG2Profile422,         /**< 4:2:2 Profile */
-    OMX_VIDEO_MPEG2ProfileSNR,         /**< SNR Profile */
-    OMX_VIDEO_MPEG2ProfileSpatial,     /**< Spatial Profile */
-    OMX_VIDEO_MPEG2ProfileHigh,        /**< High Profile */
-    OMX_VIDEO_MPEG2ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_MPEG2ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_MPEG2ProfileMax = 0x7FFFFFFF
-} OMX_VIDEO_MPEG2PROFILETYPE;
-
-
-/**
- * MPEG-2 level types, each level indicates support for various frame
- * sizes, bit rates, decoder frame rates.  No need
- */
-typedef enum OMX_VIDEO_MPEG2LEVELTYPE {
-    OMX_VIDEO_MPEG2LevelLL = 0,  /**< Low Level */
-    OMX_VIDEO_MPEG2LevelML,      /**< Main Level */
-    OMX_VIDEO_MPEG2LevelH14,     /**< High 1440 */
-    OMX_VIDEO_MPEG2LevelHL,      /**< High Level */
-    OMX_VIDEO_MPEG2LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_MPEG2LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_MPEG2LevelMax = 0x7FFFFFFF
-} OMX_VIDEO_MPEG2LEVELTYPE;
-
-
-/**
- * MPEG-2 params
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nPFrames   : Number of P frames between each I frame
- *  nBFrames   : Number of B frames between each I frame
- *  eProfile   : MPEG-2 profile(s) to use
- *  eLevel     : MPEG-2 levels(s) to use
- */
-typedef struct OMX_VIDEO_PARAM_MPEG2TYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nPFrames;
-    OMX_U32 nBFrames;
-    OMX_VIDEO_MPEG2PROFILETYPE eProfile;
-    OMX_VIDEO_MPEG2LEVELTYPE eLevel;
-} OMX_VIDEO_PARAM_MPEG2TYPE;
-
-
-/**
- * MPEG-4 profile types, each profile indicates support for various
- * performance bounds and different annexes.
- *
- * ENUMS:
- *  - Simple Profile, Levels 1-3
- *  - Simple Scalable Profile, Levels 1-2
- *  - Core Profile, Levels 1-2
- *  - Main Profile, Levels 2-4
- *  - N-bit Profile, Level 2
- *  - Scalable Texture Profile, Level 1
- *  - Simple Face Animation Profile, Levels 1-2
- *  - Simple Face and Body Animation (FBA) Profile, Levels 1-2
- *  - Basic Animated Texture Profile, Levels 1-2
- *  - Hybrid Profile, Levels 1-2
- *  - Advanced Real Time Simple Profiles, Levels 1-4
- *  - Core Scalable Profile, Levels 1-3
- *  - Advanced Coding Efficiency Profile, Levels 1-4
- *  - Advanced Core Profile, Levels 1-2
- *  - Advanced Scalable Texture, Levels 2-3
- */
-typedef enum OMX_VIDEO_MPEG4PROFILETYPE {
-    OMX_VIDEO_MPEG4ProfileSimple           = 0x01,
-    OMX_VIDEO_MPEG4ProfileSimpleScalable   = 0x02,
-    OMX_VIDEO_MPEG4ProfileCore             = 0x04,
-    OMX_VIDEO_MPEG4ProfileMain             = 0x08,
-    OMX_VIDEO_MPEG4ProfileNbit             = 0x10,
-    OMX_VIDEO_MPEG4ProfileScalableTexture  = 0x20,
-    OMX_VIDEO_MPEG4ProfileSimpleFace       = 0x40,
-    OMX_VIDEO_MPEG4ProfileSimpleFBA        = 0x80,
-    OMX_VIDEO_MPEG4ProfileBasicAnimated    = 0x100,
-    OMX_VIDEO_MPEG4ProfileHybrid           = 0x200,
-    OMX_VIDEO_MPEG4ProfileAdvancedRealTime = 0x400,
-    OMX_VIDEO_MPEG4ProfileCoreScalable     = 0x800,
-    OMX_VIDEO_MPEG4ProfileAdvancedCoding   = 0x1000,
-    OMX_VIDEO_MPEG4ProfileAdvancedCore     = 0x2000,
-    OMX_VIDEO_MPEG4ProfileAdvancedScalable = 0x4000,
-    OMX_VIDEO_MPEG4ProfileAdvancedSimple   = 0x8000,
-    OMX_VIDEO_MPEG4ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_MPEG4ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_MPEG4ProfileMax              = 0x7FFFFFFF
-} OMX_VIDEO_MPEG4PROFILETYPE;
-
-
-/**
- * MPEG-4 level types, each level indicates support for various frame
- * sizes, bit rates, decoder frame rates.  No need
- */
-typedef enum OMX_VIDEO_MPEG4LEVELTYPE {
-    OMX_VIDEO_MPEG4Level0  = 0x01,   /**< Level 0 */
-    OMX_VIDEO_MPEG4Level0b = 0x02,   /**< Level 0b */
-    OMX_VIDEO_MPEG4Level1  = 0x04,   /**< Level 1 */
-    OMX_VIDEO_MPEG4Level2  = 0x08,   /**< Level 2 */
-    OMX_VIDEO_MPEG4Level3  = 0x10,   /**< Level 3 */
-    OMX_VIDEO_MPEG4Level4  = 0x20,   /**< Level 4 */
-    OMX_VIDEO_MPEG4Level4a = 0x40,   /**< Level 4a */
-    OMX_VIDEO_MPEG4Level5  = 0x80,   /**< Level 5 */
-    OMX_VIDEO_MPEG4LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_MPEG4LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_MPEG4LevelMax = 0x7FFFFFFF
-} OMX_VIDEO_MPEG4LEVELTYPE;
-
-
-/**
- * MPEG-4 configuration.  This structure handles configuration options
- * which are specific to MPEG4 algorithms
- *
- * STRUCT MEMBERS:
- *  nSize                : Size of the structure in bytes
- *  nVersion             : OMX specification version information
- *  nPortIndex           : Port that this structure applies to
- *  nSliceHeaderSpacing  : Number of macroblocks between slice header (H263+
- *                         Annex K). Put zero if not used
- *  bSVH                 : Enable Short Video Header mode
- *  bGov                 : Flag to enable GOV
- *  nPFrames             : Number of P frames between each I frame (also called
- *                         GOV period)
- *  nBFrames             : Number of B frames between each I frame
- *  nIDCVLCThreshold     : Value of intra DC VLC threshold
- *  bACPred              : Flag to use ac prediction
- *  nMaxPacketSize       : Maximum size of packet in bytes.
- *  nTimeIncRes          : Used to pass VOP time increment resolution for MPEG4.
- *                         Interpreted as described in MPEG4 standard.
- *  eProfile             : MPEG-4 profile(s) to use.
- *  eLevel               : MPEG-4 level(s) to use.
- *  nAllowedPictureTypes : Specifies the picture types allowed in the bitstream
- *  nHeaderExtension     : Specifies the number of consecutive video packet
- *                         headers within a VOP
- *  bReversibleVLC       : Specifies whether reversible variable length coding
- *                         is in use
- */
-typedef struct OMX_VIDEO_PARAM_MPEG4TYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nSliceHeaderSpacing;
-    OMX_BOOL bSVH;
-    OMX_BOOL bGov;
-    OMX_U32 nPFrames;
-    OMX_U32 nBFrames;
-    OMX_U32 nIDCVLCThreshold;
-    OMX_BOOL bACPred;
-    OMX_U32 nMaxPacketSize;
-    OMX_U32 nTimeIncRes;
-    OMX_VIDEO_MPEG4PROFILETYPE eProfile;
-    OMX_VIDEO_MPEG4LEVELTYPE eLevel;
-    OMX_U32 nAllowedPictureTypes;
-    OMX_U32 nHeaderExtension;
-    OMX_BOOL bReversibleVLC;
-} OMX_VIDEO_PARAM_MPEG4TYPE;
-
-
-/**
- * WMV Versions
- */
-typedef enum OMX_VIDEO_WMVFORMATTYPE {
-    OMX_VIDEO_WMVFormatUnused = 0x01,   /**< Format unused or unknown */
-    OMX_VIDEO_WMVFormat7      = 0x02,   /**< Windows Media Video format 7 */
-    OMX_VIDEO_WMVFormat8      = 0x04,   /**< Windows Media Video format 8 */
-    OMX_VIDEO_WMVFormat9      = 0x08,   /**< Windows Media Video format 9 */
-    OMX_VIDEO_WMFFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_WMFFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_WMVFormatMax    = 0x7FFFFFFF
-} OMX_VIDEO_WMVFORMATTYPE;
-
-
-/**
- * WMV Params
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  eFormat    : Version of WMV stream / data
- */
-typedef struct OMX_VIDEO_PARAM_WMVTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_VIDEO_WMVFORMATTYPE eFormat;
-} OMX_VIDEO_PARAM_WMVTYPE;
-
-
-/**
- * Real Video Version
- */
-typedef enum OMX_VIDEO_RVFORMATTYPE {
-    OMX_VIDEO_RVFormatUnused = 0, /**< Format unused or unknown */
-    OMX_VIDEO_RVFormat8,          /**< Real Video format 8 */
-    OMX_VIDEO_RVFormat9,          /**< Real Video format 9 */
-    OMX_VIDEO_RVFormatG2,         /**< Real Video Format G2 */
-    OMX_VIDEO_RVFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_RVFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_RVFormatMax = 0x7FFFFFFF
-} OMX_VIDEO_RVFORMATTYPE;
-
-
-/**
- * Real Video Params
- *
- * STUCT MEMBERS:
- *  nSize              : Size of the structure in bytes
- *  nVersion           : OMX specification version information
- *  nPortIndex         : Port that this structure applies to
- *  eFormat            : Version of RV stream / data
- *  nBitsPerPixel      : Bits per pixel coded in the frame
- *  nPaddedWidth       : Padded width in pixel of a video frame
- *  nPaddedHeight      : Padded Height in pixels of a video frame
- *  nFrameRate         : Rate of video in frames per second
- *  nBitstreamFlags    : Flags which internal information about the bitstream
- *  nBitstreamVersion  : Bitstream version
- *  nMaxEncodeFrameSize: Max encoded frame size
- *  bEnablePostFilter  : Turn on/off post filter
- *  bEnableTemporalInterpolation : Turn on/off temporal interpolation
- *  bEnableLatencyMode : When enabled, the decoder does not display a decoded
- *                       frame until it has detected that no enhancement layer
- *                       frames or dependent B frames will be coming. This
- *                       detection usually occurs when a subsequent non-B
- *                       frame is encountered
- */
-typedef struct OMX_VIDEO_PARAM_RVTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_VIDEO_RVFORMATTYPE eFormat;
-    OMX_U16 nBitsPerPixel;
-    OMX_U16 nPaddedWidth;
-    OMX_U16 nPaddedHeight;
-    OMX_U32 nFrameRate;
-    OMX_U32 nBitstreamFlags;
-    OMX_U32 nBitstreamVersion;
-    OMX_U32 nMaxEncodeFrameSize;
-    OMX_BOOL bEnablePostFilter;
-    OMX_BOOL bEnableTemporalInterpolation;
-    OMX_BOOL bEnableLatencyMode;
-} OMX_VIDEO_PARAM_RVTYPE;
-
-
-/**
- * AVC profile types, each profile indicates support for various
- * performance bounds and different annexes.
- */
-typedef enum OMX_VIDEO_AVCPROFILETYPE {
-    OMX_VIDEO_AVCProfileBaseline = 0x01,   /**< Baseline profile */
-    OMX_VIDEO_AVCProfileMain     = 0x02,   /**< Main profile */
-    OMX_VIDEO_AVCProfileExtended = 0x04,   /**< Extended profile */
-    OMX_VIDEO_AVCProfileHigh     = 0x08,   /**< High profile */
-    OMX_VIDEO_AVCProfileHigh10   = 0x10,   /**< High 10 profile */
-    OMX_VIDEO_AVCProfileHigh422  = 0x20,   /**< High 4:2:2 profile */
-    OMX_VIDEO_AVCProfileHigh444  = 0x40,   /**< High 4:4:4 profile */
-    OMX_VIDEO_AVCProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_AVCProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_AVCProfileMax      = 0x7FFFFFFF
-} OMX_VIDEO_AVCPROFILETYPE;
-
-
-/**
- * AVC level types, each level indicates support for various frame sizes,
- * bit rates, decoder frame rates.  No need
- */
-typedef enum OMX_VIDEO_AVCLEVELTYPE {
-    OMX_VIDEO_AVCLevel1   = 0x01,     /**< Level 1 */
-    OMX_VIDEO_AVCLevel1b  = 0x02,     /**< Level 1b */
-    OMX_VIDEO_AVCLevel11  = 0x04,     /**< Level 1.1 */
-    OMX_VIDEO_AVCLevel12  = 0x08,     /**< Level 1.2 */
-    OMX_VIDEO_AVCLevel13  = 0x10,     /**< Level 1.3 */
-    OMX_VIDEO_AVCLevel2   = 0x20,     /**< Level 2 */
-    OMX_VIDEO_AVCLevel21  = 0x40,     /**< Level 2.1 */
-    OMX_VIDEO_AVCLevel22  = 0x80,     /**< Level 2.2 */
-    OMX_VIDEO_AVCLevel3   = 0x100,    /**< Level 3 */
-    OMX_VIDEO_AVCLevel31  = 0x200,    /**< Level 3.1 */
-    OMX_VIDEO_AVCLevel32  = 0x400,    /**< Level 3.2 */
-    OMX_VIDEO_AVCLevel4   = 0x800,    /**< Level 4 */
-    OMX_VIDEO_AVCLevel41  = 0x1000,   /**< Level 4.1 */
-    OMX_VIDEO_AVCLevel42  = 0x2000,   /**< Level 4.2 */
-    OMX_VIDEO_AVCLevel5   = 0x4000,   /**< Level 5 */
-    OMX_VIDEO_AVCLevel51  = 0x8000,   /**< Level 5.1 */
-    OMX_VIDEO_AVCLevel52  = 0x10000,  /**< Level 5.2 */
-    OMX_VIDEO_AVCLevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_AVCLevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_AVCLevelMax = 0x7FFFFFFF
-} OMX_VIDEO_AVCLEVELTYPE;
-
-
-/**
- * AVC loop filter modes
- *
- * OMX_VIDEO_AVCLoopFilterEnable               : Enable
- * OMX_VIDEO_AVCLoopFilterDisable              : Disable
- * OMX_VIDEO_AVCLoopFilterDisableSliceBoundary : Disabled on slice boundaries
- */
-typedef enum OMX_VIDEO_AVCLOOPFILTERTYPE {
-    OMX_VIDEO_AVCLoopFilterEnable = 0,
-    OMX_VIDEO_AVCLoopFilterDisable,
-    OMX_VIDEO_AVCLoopFilterDisableSliceBoundary,
-    OMX_VIDEO_AVCLoopFilterKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_AVCLoopFilterVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_AVCLoopFilterMax = 0x7FFFFFFF
-} OMX_VIDEO_AVCLOOPFILTERTYPE;
-
-
-/**
- * AVC params
- *
- * STRUCT MEMBERS:
- *  nSize                     : Size of the structure in bytes
- *  nVersion                  : OMX specification version information
- *  nPortIndex                : Port that this structure applies to
- *  nSliceHeaderSpacing       : Number of macroblocks between slice header, put
- *                              zero if not used
- *  nPFrames                  : Number of P frames between each I frame
- *  nBFrames                  : Number of B frames between each I frame
- *  bUseHadamard              : Enable/disable Hadamard transform
- *  nRefFrames                : Max number of reference frames to use for inter
- *                              motion search (1-16)
- *  nRefIdxTrailing           : Pic param set ref frame index (index into ref
- *                              frame buffer of trailing frames list), B frame
- *                              support
- *  nRefIdxForward            : Pic param set ref frame index (index into ref
- *                              frame buffer of forward frames list), B frame
- *                              support
- *  bEnableUEP                : Enable/disable unequal error protection. This
- *                              is only valid of data partitioning is enabled.
- *  bEnableFMO                : Enable/disable flexible macroblock ordering
- *  bEnableASO                : Enable/disable arbitrary slice ordering
- *  bEnableRS                 : Enable/disable sending of redundant slices
- *  eProfile                  : AVC profile(s) to use
- *  eLevel                    : AVC level(s) to use
- *  nAllowedPictureTypes      : Specifies the picture types allowed in the
- *                              bitstream
- *  bFrameMBsOnly             : specifies that every coded picture of the
- *                              coded video sequence is a coded frame
- *                              containing only frame macroblocks
- *  bMBAFF                    : Enable/disable switching between frame and
- *                              field macroblocks within a picture
- *  bEntropyCodingCABAC       : Entropy decoding method to be applied for the
- *                              syntax elements for which two descriptors appear
- *                              in the syntax tables
- *  bWeightedPPrediction      : Enable/disable weighted prediction shall not
- *                              be applied to P and SP slices
- *  nWeightedBipredicitonMode : Default weighted prediction is applied to B
- *                              slices
- *  bconstIpred               : Enable/disable intra prediction
- *  bDirect8x8Inference       : Specifies the method used in the derivation
- *                              process for luma motion vectors for B_Skip,
- *                              B_Direct_16x16 and B_Direct_8x8 as specified
- *                              in subclause 8.4.1.2 of the AVC spec
- *  bDirectSpatialTemporal    : Flag indicating spatial or temporal direct
- *                              mode used in B slice coding (related to
- *                              bDirect8x8Inference) . Spatial direct mode is
- *                              more common and should be the default.
- *  nCabacInitIdx             : Index used to init CABAC contexts
- *  eLoopFilterMode           : Enable/disable loop filter
- */
-typedef struct OMX_VIDEO_PARAM_AVCTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nSliceHeaderSpacing;
-    OMX_U32 nPFrames;
-    OMX_U32 nBFrames;
-    OMX_BOOL bUseHadamard;
-    OMX_U32 nRefFrames;
-    OMX_U32 nRefIdx10ActiveMinus1;
-    OMX_U32 nRefIdx11ActiveMinus1;
-    OMX_BOOL bEnableUEP;
-    OMX_BOOL bEnableFMO;
-    OMX_BOOL bEnableASO;
-    OMX_BOOL bEnableRS;
-    OMX_VIDEO_AVCPROFILETYPE eProfile;
-    OMX_VIDEO_AVCLEVELTYPE eLevel;
-    OMX_U32 nAllowedPictureTypes;
-    OMX_BOOL bFrameMBsOnly;
-    OMX_BOOL bMBAFF;
-    OMX_BOOL bEntropyCodingCABAC;
-    OMX_BOOL bWeightedPPrediction;
-    OMX_U32 nWeightedBipredicitonMode;
-    OMX_BOOL bconstIpred ;
-    OMX_BOOL bDirect8x8Inference;
-    OMX_BOOL bDirectSpatialTemporal;
-    OMX_U32 nCabacInitIdc;
-    OMX_VIDEO_AVCLOOPFILTERTYPE eLoopFilterMode;
-} OMX_VIDEO_PARAM_AVCTYPE;
-
-typedef struct OMX_VIDEO_PARAM_PROFILELEVELTYPE {
-   OMX_U32 nSize;
-   OMX_VERSIONTYPE nVersion;
-   OMX_U32 nPortIndex;
-   OMX_U32 eProfile;      /**< type is OMX_VIDEO_AVCPROFILETYPE, OMX_VIDEO_H263PROFILETYPE,
-                                 or OMX_VIDEO_MPEG4PROFILETYPE depending on context */
-   OMX_U32 eLevel;        /**< type is OMX_VIDEO_AVCLEVELTYPE, OMX_VIDEO_H263LEVELTYPE,
-                                 or OMX_VIDEO_MPEG4PROFILETYPE depending on context */
-   OMX_U32 nProfileIndex; /**< Used to query for individual profile support information,
-                               This parameter is valid only for
-                               OMX_IndexParamVideoProfileLevelQuerySupported index,
-                               For all other indices this parameter is to be ignored. */
-} OMX_VIDEO_PARAM_PROFILELEVELTYPE;
-
-/**
- * Structure for dynamically configuring bitrate mode of a codec.
- *
- * STRUCT MEMBERS:
- *  nSize          : Size of the struct in bytes
- *  nVersion       : OMX spec version info
- *  nPortIndex     : Port that this struct applies to
- *  nEncodeBitrate : Target average bitrate to be generated in bps
- */
-typedef struct OMX_VIDEO_CONFIG_BITRATETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nEncodeBitrate;
-} OMX_VIDEO_CONFIG_BITRATETYPE;
-
-/**
- * Defines Encoder Frame Rate setting
- *
- * STRUCT MEMBERS:
- *  nSize            : Size of the structure in bytes
- *  nVersion         : OMX specification version information
- *  nPortIndex       : Port that this structure applies to
- *  xEncodeFramerate : Encoding framerate represented in Q16 format
- */
-typedef struct OMX_CONFIG_FRAMERATETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 xEncodeFramerate; /* Q16 format */
-} OMX_CONFIG_FRAMERATETYPE;
-
-typedef struct OMX_CONFIG_INTRAREFRESHVOPTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL IntraRefreshVOP;
-} OMX_CONFIG_INTRAREFRESHVOPTYPE;
-
-typedef struct OMX_CONFIG_MACROBLOCKERRORMAPTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nErrMapSize;           /* Size of the Error Map in bytes */
-    OMX_U8  ErrMap[1];             /* Error map hint */
-} OMX_CONFIG_MACROBLOCKERRORMAPTYPE;
-
-typedef struct OMX_CONFIG_MBERRORREPORTINGTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bEnabled;
-} OMX_CONFIG_MBERRORREPORTINGTYPE;
-
-typedef struct OMX_PARAM_MACROBLOCKSTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nMacroblocks;
-} OMX_PARAM_MACROBLOCKSTYPE;
-
-/**
- * AVC Slice Mode modes
- *
- * OMX_VIDEO_SLICEMODE_AVCDefault   : Normal frame encoding, one slice per frame
- * OMX_VIDEO_SLICEMODE_AVCMBSlice   : NAL mode, number of MBs per frame
- * OMX_VIDEO_SLICEMODE_AVCByteSlice : NAL mode, number of bytes per frame
- */
-typedef enum OMX_VIDEO_AVCSLICEMODETYPE {
-    OMX_VIDEO_SLICEMODE_AVCDefault = 0,
-    OMX_VIDEO_SLICEMODE_AVCMBSlice,
-    OMX_VIDEO_SLICEMODE_AVCByteSlice,
-    OMX_VIDEO_SLICEMODE_AVCKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */
-    OMX_VIDEO_SLICEMODE_AVCVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */
-    OMX_VIDEO_SLICEMODE_AVCLevelMax = 0x7FFFFFFF
-} OMX_VIDEO_AVCSLICEMODETYPE;
-
-/**
- * AVC FMO Slice Mode Params
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nNumSliceGroups : Specifies the number of slice groups
- *  nSliceGroupMapType : Specifies the type of slice groups
- *  eSliceMode : Specifies the type of slice
- */
-typedef struct OMX_VIDEO_PARAM_AVCSLICEFMO {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U8 nNumSliceGroups;
-    OMX_U8 nSliceGroupMapType;
-    OMX_VIDEO_AVCSLICEMODETYPE eSliceMode;
-} OMX_VIDEO_PARAM_AVCSLICEFMO;
-
-/**
- * AVC IDR Period Configs
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nIDRPeriod : Specifies periodicity of IDR frames
- *  nPFrames : Specifies internal of coding Intra frames
- */
-typedef struct OMX_VIDEO_CONFIG_AVCINTRAPERIOD {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nIDRPeriod;
-    OMX_U32 nPFrames;
-} OMX_VIDEO_CONFIG_AVCINTRAPERIOD;
-
-/**
- * AVC NAL Size Configs
- *
- * STRUCT MEMBERS:
- *  nSize      : Size of the structure in bytes
- *  nVersion   : OMX specification version information
- *  nPortIndex : Port that this structure applies to
- *  nNaluBytes : Specifies the NAL unit size
- */
-typedef struct OMX_VIDEO_CONFIG_NALSIZE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nNaluBytes;
-} OMX_VIDEO_CONFIG_NALSIZE;
-
-/** @} */
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif
-/* File EOF */
-
diff --git a/phonelibs/android_frameworks_native/include/media/openmax/OMX_VideoExt.h b/phonelibs/android_frameworks_native/include/media/openmax/OMX_VideoExt.h
deleted file mode 100644
index 3971bc5cc366d1..00000000000000
--- a/phonelibs/android_frameworks_native/include/media/openmax/OMX_VideoExt.h
+++ /dev/null
@@ -1,224 +0,0 @@
-/*
- * Copyright (c) 2010 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject
- * to the following conditions:
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
- * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- */
-
-/** OMX_VideoExt.h - OpenMax IL version 1.1.2
- * The OMX_VideoExt header file contains extensions to the
- * definitions used by both the application and the component to
- * access video items.
- */
-
-#ifndef OMX_VideoExt_h
-#define OMX_VideoExt_h
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/* Each OMX header shall include all required header files to allow the
- * header to compile without errors.  The includes below are required
- * for this header file to compile successfully
- */
-#include <OMX_Core.h>
-
-/** NALU Formats */
-typedef enum OMX_NALUFORMATSTYPE {
-    OMX_NaluFormatStartCodes = 1,
-    OMX_NaluFormatOneNaluPerBuffer = 2,
-    OMX_NaluFormatOneByteInterleaveLength = 4,
-    OMX_NaluFormatTwoByteInterleaveLength = 8,
-    OMX_NaluFormatFourByteInterleaveLength = 16,
-    OMX_NaluFormatCodingMax = 0x7FFFFFFF
-} OMX_NALUFORMATSTYPE;
-
-/** NAL Stream Format */
-typedef struct OMX_NALSTREAMFORMATTYPE{
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_NALUFORMATSTYPE eNaluFormat;
-} OMX_NALSTREAMFORMATTYPE;
-
-/** VP8 profiles */
-typedef enum OMX_VIDEO_VP8PROFILETYPE {
-    OMX_VIDEO_VP8ProfileMain = 0x01,
-    OMX_VIDEO_VP8ProfileUnknown = 0x6EFFFFFF,
-    OMX_VIDEO_VP8ProfileMax = 0x7FFFFFFF
-} OMX_VIDEO_VP8PROFILETYPE;
-
-/** VP8 levels */
-typedef enum OMX_VIDEO_VP8LEVELTYPE {
-    OMX_VIDEO_VP8Level_Version0 = 0x01,
-    OMX_VIDEO_VP8Level_Version1 = 0x02,
-    OMX_VIDEO_VP8Level_Version2 = 0x04,
-    OMX_VIDEO_VP8Level_Version3 = 0x08,
-    OMX_VIDEO_VP8LevelUnknown = 0x6EFFFFFF,
-    OMX_VIDEO_VP8LevelMax = 0x7FFFFFFF
-} OMX_VIDEO_VP8LEVELTYPE;
-
-/** VP8 Param */
-typedef struct OMX_VIDEO_PARAM_VP8TYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_VIDEO_VP8PROFILETYPE eProfile;
-    OMX_VIDEO_VP8LEVELTYPE eLevel;
-    OMX_U32 nDCTPartitions;
-    OMX_BOOL bErrorResilientMode;
-} OMX_VIDEO_PARAM_VP8TYPE;
-
-/** Structure for configuring VP8 reference frames */
-typedef struct OMX_VIDEO_VP8REFERENCEFRAMETYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bPreviousFrameRefresh;
-    OMX_BOOL bGoldenFrameRefresh;
-    OMX_BOOL bAlternateFrameRefresh;
-    OMX_BOOL bUsePreviousFrame;
-    OMX_BOOL bUseGoldenFrame;
-    OMX_BOOL bUseAlternateFrame;
-} OMX_VIDEO_VP8REFERENCEFRAMETYPE;
-
-/** Structure for querying VP8 reference frame type */
-typedef struct OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bIsIntraFrame;
-    OMX_BOOL bIsGoldenOrAlternateFrame;
-} OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE;
-
-/** Maximum number of VP8 temporal layers */
-#define OMX_VIDEO_ANDROID_MAXVP8TEMPORALLAYERS 3
-
-/** VP8 temporal layer patterns */
-typedef enum OMX_VIDEO_ANDROID_VPXTEMPORALLAYERPATTERNTYPE {
-    OMX_VIDEO_VPXTemporalLayerPatternNone = 0,
-    OMX_VIDEO_VPXTemporalLayerPatternWebRTC = 1,
-    OMX_VIDEO_VPXTemporalLayerPatternMax = 0x7FFFFFFF
-} OMX_VIDEO_ANDROID_VPXTEMPORALLAYERPATTERNTYPE;
-
-/**
- * Android specific VP8 encoder params
- *
- * STRUCT MEMBERS:
- *  nSize                      : Size of the structure in bytes
- *  nVersion                   : OMX specification version information
- *  nPortIndex                 : Port that this structure applies to
- *  nKeyFrameInterval          : Key frame interval in frames
- *  eTemporalPattern           : Type of temporal layer pattern
- *  nTemporalLayerCount        : Number of temporal coding layers
- *  nTemporalLayerBitrateRatio : Bitrate ratio allocation between temporal
- *                               streams in percentage
- *  nMinQuantizer              : Minimum (best quality) quantizer
- *  nMaxQuantizer              : Maximum (worst quality) quantizer
- */
-typedef struct OMX_VIDEO_PARAM_ANDROID_VP8ENCODERTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_U32 nKeyFrameInterval;
-    OMX_VIDEO_ANDROID_VPXTEMPORALLAYERPATTERNTYPE eTemporalPattern;
-    OMX_U32 nTemporalLayerCount;
-    OMX_U32 nTemporalLayerBitrateRatio[OMX_VIDEO_ANDROID_MAXVP8TEMPORALLAYERS];
-    OMX_U32 nMinQuantizer;
-    OMX_U32 nMaxQuantizer;
-} OMX_VIDEO_PARAM_ANDROID_VP8ENCODERTYPE;
-
-/** HEVC Profile enum type */
-typedef enum OMX_VIDEO_HEVCPROFILETYPE {
-    OMX_VIDEO_HEVCProfileUnknown = 0x0,
-    OMX_VIDEO_HEVCProfileMain    = 0x1,
-    OMX_VIDEO_HEVCProfileMain10  = 0x2,
-    OMX_VIDEO_HEVCProfileMax     = 0x7FFFFFFF
-} OMX_VIDEO_HEVCPROFILETYPE;
-
-/** HEVC Level enum type */
-typedef enum OMX_VIDEO_HEVCLEVELTYPE {
-    OMX_VIDEO_HEVCLevelUnknown    = 0x0,
-    OMX_VIDEO_HEVCMainTierLevel1  = 0x1,
-    OMX_VIDEO_HEVCHighTierLevel1  = 0x2,
-    OMX_VIDEO_HEVCMainTierLevel2  = 0x4,
-    OMX_VIDEO_HEVCHighTierLevel2  = 0x8,
-    OMX_VIDEO_HEVCMainTierLevel21 = 0x10,
-    OMX_VIDEO_HEVCHighTierLevel21 = 0x20,
-    OMX_VIDEO_HEVCMainTierLevel3  = 0x40,
-    OMX_VIDEO_HEVCHighTierLevel3  = 0x80,
-    OMX_VIDEO_HEVCMainTierLevel31 = 0x100,
-    OMX_VIDEO_HEVCHighTierLevel31 = 0x200,
-    OMX_VIDEO_HEVCMainTierLevel4  = 0x400,
-    OMX_VIDEO_HEVCHighTierLevel4  = 0x800,
-    OMX_VIDEO_HEVCMainTierLevel41 = 0x1000,
-    OMX_VIDEO_HEVCHighTierLevel41 = 0x2000,
-    OMX_VIDEO_HEVCMainTierLevel5  = 0x4000,
-    OMX_VIDEO_HEVCHighTierLevel5  = 0x8000,
-    OMX_VIDEO_HEVCMainTierLevel51 = 0x10000,
-    OMX_VIDEO_HEVCHighTierLevel51 = 0x20000,
-    OMX_VIDEO_HEVCMainTierLevel52 = 0x40000,
-    OMX_VIDEO_HEVCHighTierLevel52 = 0x80000,
-    OMX_VIDEO_HEVCMainTierLevel6  = 0x100000,
-    OMX_VIDEO_HEVCHighTierLevel6  = 0x200000,
-    OMX_VIDEO_HEVCMainTierLevel61 = 0x400000,
-    OMX_VIDEO_HEVCHighTierLevel61 = 0x800000,
-    OMX_VIDEO_HEVCMainTierLevel62 = 0x1000000,
-    OMX_VIDEO_HEVCHighTierLevel62 = 0x2000000,
-    OMX_VIDEO_HEVCHighTiermax     = 0x7FFFFFFF
-} OMX_VIDEO_HEVCLEVELTYPE;
-
-/** Structure for controlling HEVC video encoding and decoding */
-typedef struct OMX_VIDEO_PARAM_HEVCTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_VIDEO_HEVCPROFILETYPE eProfile;
-    OMX_VIDEO_HEVCLEVELTYPE eLevel;
-} OMX_VIDEO_PARAM_HEVCTYPE;
-
-/** Structure to define if dependent slice segments should be used */
-typedef struct OMX_VIDEO_SLICESEGMENTSTYPE {
-    OMX_U32 nSize;
-    OMX_VERSIONTYPE nVersion;
-    OMX_U32 nPortIndex;
-    OMX_BOOL bDepedentSegments;
-    OMX_BOOL bEnableLoopFilterAcrossSlices;
-} OMX_VIDEO_SLICESEGMENTSTYPE;
-
-/** Structure to return timestamps of rendered output frames as well as EOS
- *  for tunneled components.
- */
-typedef struct OMX_VIDEO_RENDEREVENTTYPE {
-    OMX_S64 nMediaTimeUs;  // timestamp of rendered video frame
-    OMX_S64 nSystemTimeNs; // system monotonic time at the time frame was rendered
-                           // Use INT64_MAX for nMediaTimeUs to signal that the EOS
-                           // has been reached. In this case, nSystemTimeNs MUST be
-                           // the system time when the last frame was rendered.
-                           // This MUST be done in addition to returning (and
-                           // following) the render information for the last frame.
-} OMX_VIDEO_RENDEREVENTTYPE;
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif /* OMX_VideoExt_h */
-/* File EOF */
diff --git a/phonelibs/android_frameworks_native/include/powermanager/IPowerManager.h b/phonelibs/android_frameworks_native/include/powermanager/IPowerManager.h
deleted file mode 100644
index 91ecc5aa31e372..00000000000000
--- a/phonelibs/android_frameworks_native/include/powermanager/IPowerManager.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
- * Copyright (C) 2011 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_IPOWERMANAGER_H
-#define ANDROID_IPOWERMANAGER_H
-
-#include <utils/Errors.h>
-#include <binder/IInterface.h>
-#include <hardware/power.h>
-
-namespace android {
-
-// ----------------------------------------------------------------------------
-
-// must be kept in sync with interface defined in IPowerManager.aidl
-class IPowerManager : public IInterface
-{
-public:
-    DECLARE_META_INTERFACE(PowerManager);
-
-    // FIXME remove the bool isOneWay parameters as they are not oneway in the .aidl
-    virtual status_t acquireWakeLock(int flags, const sp<IBinder>& lock, const String16& tag,
-            const String16& packageName, bool isOneWay = false) = 0;
-    virtual status_t acquireWakeLockWithUid(int flags, const sp<IBinder>& lock, const String16& tag,
-            const String16& packageName, int uid, bool isOneWay = false) = 0;
-    virtual status_t releaseWakeLock(const sp<IBinder>& lock, int flags, bool isOneWay = false) = 0;
-    virtual status_t updateWakeLockUids(const sp<IBinder>& lock, int len, const int *uids,
-            bool isOneWay = false) = 0;
-    // oneway in the .aidl
-    virtual status_t powerHint(int hintId, int data) = 0;
-};
-
-// ----------------------------------------------------------------------------
-
-}; // namespace android
-
-#endif // ANDROID_IPOWERMANAGER_H
diff --git a/phonelibs/android_frameworks_native/include/powermanager/PowerManager.h b/phonelibs/android_frameworks_native/include/powermanager/PowerManager.h
deleted file mode 100644
index cbddc11536c4e0..00000000000000
--- a/phonelibs/android_frameworks_native/include/powermanager/PowerManager.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * Copyright (C) 2011 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_POWERMANAGER_H
-#define ANDROID_POWERMANAGER_H
-
-namespace android {
-
-// must be kept in sync with definitions in PowerManager.java
-enum {
-    POWERMANAGER_PARTIAL_WAKE_LOCK = 1, // equals PowerManager.PARTIAL_WAKE_LOCK constant
-};
-
-enum {
-    USER_ACTIVITY_EVENT_OTHER = 0,
-    USER_ACTIVITY_EVENT_BUTTON = 1,
-    USER_ACTIVITY_EVENT_TOUCH = 2,
-
-    USER_ACTIVITY_EVENT_LAST = USER_ACTIVITY_EVENT_TOUCH, // Last valid event code.
-};
-
-}; // namespace android
-
-#endif // ANDROID_POWERMANAGER_H
diff --git a/phonelibs/android_frameworks_native/include/private/binder/Static.h b/phonelibs/android_frameworks_native/include/private/binder/Static.h
deleted file mode 100644
index d1046468043166..00000000000000
--- a/phonelibs/android_frameworks_native/include/private/binder/Static.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * Copyright (C) 2008 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-// All static variables go here, to control initialization and
-// destruction order in the library.
-
-#include <utils/threads.h>
-
-#include <binder/IBinder.h>
-#include <binder/IMemory.h>
-#include <binder/ProcessState.h>
-#include <binder/IPermissionController.h>
-#include <binder/IServiceManager.h>
-
-namespace android {
-
-// For TextStream.cpp
-extern Vector<int32_t> gTextBuffers;
-
-// For ProcessState.cpp
-extern Mutex gProcessMutex;
-extern sp<ProcessState> gProcess;
-
-// For IServiceManager.cpp
-extern Mutex gDefaultServiceManagerLock;
-extern sp<IServiceManager> gDefaultServiceManager;
-extern sp<IPermissionController> gPermissionController;
-
-}   // namespace android
diff --git a/phonelibs/android_frameworks_native/include/private/binder/binder_module.h b/phonelibs/android_frameworks_native/include/private/binder/binder_module.h
deleted file mode 100644
index a8dd64f235bbd6..00000000000000
--- a/phonelibs/android_frameworks_native/include/private/binder/binder_module.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright (C) 2008 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef _BINDER_MODULE_H_
-#define _BINDER_MODULE_H_
-
-#ifdef __cplusplus
-namespace android {
-#endif
-
-/* obtain structures and constants from the kernel header */
-
-#include <sys/ioctl.h>
-#include <linux/binder.h>
-
-#ifdef __cplusplus
-}   // namespace android
-#endif
-
-#endif // _BINDER_MODULE_H_
diff --git a/phonelibs/android_frameworks_native/include/private/gui/ComposerService.h b/phonelibs/android_frameworks_native/include/private/gui/ComposerService.h
deleted file mode 100644
index ff2f9bf0f7371e..00000000000000
--- a/phonelibs/android_frameworks_native/include/private/gui/ComposerService.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- * Copyright (C) 2011 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_PRIVATE_GUI_COMPOSER_SERVICE_H
-#define ANDROID_PRIVATE_GUI_COMPOSER_SERVICE_H
-
-#include <stdint.h>
-#include <sys/types.h>
-
-#include <utils/Singleton.h>
-#include <utils/StrongPointer.h>
-
-
-namespace android {
-
-// ---------------------------------------------------------------------------
-
-class IMemoryHeap;
-class ISurfaceComposer;
-
-// ---------------------------------------------------------------------------
-
-// This holds our connection to the composer service (i.e. SurfaceFlinger).
-// If the remote side goes away, we will re-establish the connection.
-// Users of this class should not retain the value from
-// getComposerService() for an extended period.
-//
-// (It's not clear that using Singleton is useful here anymore.)
-class ComposerService : public Singleton<ComposerService>
-{
-    sp<ISurfaceComposer> mComposerService;
-    sp<IBinder::DeathRecipient> mDeathObserver;
-    Mutex mLock;
-
-    ComposerService();
-    void connectLocked();
-    void composerServiceDied();
-    friend class Singleton<ComposerService>;
-public:
-
-    // Get a connection to the Composer Service.  This will block until
-    // a connection is established.
-    static sp<ISurfaceComposer> getComposerService();
-};
-
-// ---------------------------------------------------------------------------
-}; // namespace android
-
-#endif // ANDROID_PRIVATE_GUI_COMPOSER_SERVICE_H
diff --git a/phonelibs/android_frameworks_native/include/private/gui/LayerState.h b/phonelibs/android_frameworks_native/include/private/gui/LayerState.h
deleted file mode 100644
index 9ff840991fa9cb..00000000000000
--- a/phonelibs/android_frameworks_native/include/private/gui/LayerState.h
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
- * Copyright (C) 2008 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_SF_LAYER_STATE_H
-#define ANDROID_SF_LAYER_STATE_H
-
-#include <stdint.h>
-#include <sys/types.h>
-
-#include <utils/Errors.h>
-
-#include <ui/Region.h>
-#include <ui/Rect.h>
-
-namespace android {
-
-class Parcel;
-class ISurfaceComposerClient;
-
-/*
- * Used to communicate layer information between SurfaceFlinger and its clients.
- */
-struct layer_state_t {
-
-
-    enum {
-        eLayerHidden        = 0x01,     // SURFACE_HIDDEN in SurfaceControl.java
-        eLayerOpaque        = 0x02,     // SURFACE_OPAQUE
-        eLayerSecure        = 0x80,     // SECURE
-    };
-
-    enum {
-        ePositionChanged            = 0x00000001,
-        eLayerChanged               = 0x00000002,
-        eSizeChanged                = 0x00000004,
-        eAlphaChanged               = 0x00000008,
-        eMatrixChanged              = 0x00000010,
-        eTransparentRegionChanged   = 0x00000020,
-        eFlagsChanged               = 0x00000040,
-        eLayerStackChanged          = 0x00000080,
-        eCropChanged                = 0x00000100,
-        eBlurChanged                = 0x00400000,
-        eBlurMaskSurfaceChanged     = 0x00800000,
-        eBlurMaskSamplingChanged    = 0x01000000,
-        eBlurMaskAlphaThresholdChanged = 0x02000000,
-    };
-
-    layer_state_t()
-        :   what(0),
-            x(0), y(0), z(0), w(0), h(0), layerStack(0), blur(0),
-            blurMaskSampling(0), blurMaskAlphaThreshold(0), alpha(0), flags(0), mask(0),
-            reserved(0)
-    {
-        matrix.dsdx = matrix.dtdy = 1.0f;
-        matrix.dsdy = matrix.dtdx = 0.0f;
-        crop.makeInvalid();
-    }
-
-    status_t    write(Parcel& output) const;
-    status_t    read(const Parcel& input);
-
-            struct matrix22_t {
-                float   dsdx;
-                float   dtdx;
-                float   dsdy;
-                float   dtdy;
-            };
-            sp<IBinder>     surface;
-            uint32_t        what;
-            float           x;
-            float           y;
-            uint32_t        z;
-            uint32_t        w;
-            uint32_t        h;
-            uint32_t        layerStack;
-            float           blur;
-            sp<IBinder>     blurMaskSurface;
-            uint32_t        blurMaskSampling;
-            float           blurMaskAlphaThreshold;
-            float           alpha;
-            uint8_t         flags;
-            uint8_t         mask;
-            uint8_t         reserved;
-            matrix22_t      matrix;
-            Rect            crop;
-            // non POD must be last. see write/read
-            Region          transparentRegion;
-};
-
-struct ComposerState {
-    sp<ISurfaceComposerClient> client;
-    layer_state_t state;
-    status_t    write(Parcel& output) const;
-    status_t    read(const Parcel& input);
-};
-
-struct DisplayState {
-
-    enum {
-        eOrientationDefault     = 0,
-        eOrientation90          = 1,
-        eOrientation180         = 2,
-        eOrientation270         = 3,
-        eOrientationUnchanged   = 4,
-        eOrientationSwapMask    = 0x01
-    };
-
-    enum {
-        eSurfaceChanged             = 0x01,
-        eLayerStackChanged          = 0x02,
-        eDisplayProjectionChanged   = 0x04,
-        eDisplaySizeChanged         = 0x08
-    };
-
-    uint32_t what;
-    sp<IBinder> token;
-    sp<IGraphicBufferProducer> surface;
-    uint32_t layerStack;
-    uint32_t orientation;
-    Rect viewport;
-    Rect frame;
-    uint32_t width, height;
-    status_t write(Parcel& output) const;
-    status_t read(const Parcel& input);
-};
-
-}; // namespace android
-
-#endif // ANDROID_SF_LAYER_STATE_H
-
diff --git a/phonelibs/android_frameworks_native/include/private/gui/SyncFeatures.h b/phonelibs/android_frameworks_native/include/private/gui/SyncFeatures.h
deleted file mode 100644
index 79fb75bcbeb143..00000000000000
--- a/phonelibs/android_frameworks_native/include/private/gui/SyncFeatures.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * Copyright (C) 2013 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_GUI_SYNC_FEATURES_H
-#define ANDROID_GUI_SYNC_FEATURES_H
-
-#include <utils/Singleton.h>
-#include <utils/String8.h>
-
-
-namespace android {
-// ----------------------------------------------------------------------------
-
-class SyncFeatures : public Singleton<SyncFeatures> {
-    friend class Singleton<SyncFeatures>;
-    bool mHasNativeFenceSync;
-    bool mHasFenceSync;
-    bool mHasWaitSync;
-    String8 mString;
-    SyncFeatures();
-
-public:
-    bool useNativeFenceSync() const;
-    bool useFenceSync() const;
-    bool useWaitSync() const;
-    String8 toString() const;
-};
-
-// ----------------------------------------------------------------------------
-}; // namespace android
-
-#endif // ANDROID_GUI_SYNC_FEATURES_H
diff --git a/phonelibs/android_frameworks_native/include/private/ui/RegionHelper.h b/phonelibs/android_frameworks_native/include/private/ui/RegionHelper.h
deleted file mode 100644
index 8c190dd40b0007..00000000000000
--- a/phonelibs/android_frameworks_native/include/private/ui/RegionHelper.h
+++ /dev/null
@@ -1,301 +0,0 @@
-/*
- * Copyright (C) 2009 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_UI_PRIVATE_REGION_HELPER_H
-#define ANDROID_UI_PRIVATE_REGION_HELPER_H
-
-#include <stdint.h>
-#include <sys/types.h>
-
-namespace android {
-// ----------------------------------------------------------------------------
-
-template<typename RECT>
-class region_operator
-{
-public:
-    typedef typename RECT::value_type TYPE;    
-    static const TYPE max_value = 0x7FFFFFF;
-
-    /* 
-     * Common boolean operations:
-     * value is computed as 0b101 op 0b110
-     *    other boolean operation are possible, simply compute
-     *    their corresponding value with the above formulae and use
-     *    it when instantiating a region_operator.
-     */
-    static const uint32_t LHS = 0x5;  // 0b101
-    static const uint32_t RHS = 0x6;  // 0b110
-    enum {
-        op_nand = LHS & ~RHS,
-        op_and  = LHS &  RHS,
-        op_or   = LHS |  RHS,
-        op_xor  = LHS ^  RHS
-    };
-
-    struct region {
-        RECT const* rects;
-        size_t count;
-        TYPE dx;
-        TYPE dy;
-        inline region(const region& rhs) 
-            : rects(rhs.rects), count(rhs.count), dx(rhs.dx), dy(rhs.dy) { }
-        inline region(RECT const* r, size_t c) 
-            : rects(r), count(c), dx(), dy() { }
-        inline region(RECT const* r, size_t c, TYPE dx, TYPE dy) 
-            : rects(r), count(c), dx(dx), dy(dy) { }
-    };
-
-    class region_rasterizer {
-        friend class region_operator;
-        virtual void operator()(const RECT& rect) = 0;
-    public:
-        virtual ~region_rasterizer() { };
-    };
-    
-    inline region_operator(int op, const region& lhs, const region& rhs) 
-        : op_mask(op), spanner(lhs, rhs) 
-    {
-    }
-
-    void operator()(region_rasterizer& rasterizer) {
-        RECT current;
-        do {
-            SpannerInner spannerInner(spanner.lhs, spanner.rhs);
-            int inside = spanner.next(current.top, current.bottom);
-            spannerInner.prepare(inside);
-            do {
-                TYPE left, right;
-                int inside = spannerInner.next(current.left, current.right);
-                if ((op_mask >> inside) & 1) {
-                    if (current.left < current.right && 
-                            current.top < current.bottom) {
-                        rasterizer(current);
-                    }
-                }
-            } while(!spannerInner.isDone());
-        } while(!spanner.isDone());
-    }
-
-private:    
-    uint32_t op_mask;
-
-    class SpannerBase
-    {
-    public:
-        SpannerBase()
-            : lhs_head(max_value), lhs_tail(max_value),
-              rhs_head(max_value), rhs_tail(max_value) {
-        }
-
-        enum {
-            lhs_before_rhs   = 0,
-            lhs_after_rhs    = 1,
-            lhs_coincide_rhs = 2
-        };
-
-    protected:
-        TYPE lhs_head;
-        TYPE lhs_tail;
-        TYPE rhs_head;
-        TYPE rhs_tail;
-
-        inline int next(TYPE& head, TYPE& tail,
-                bool& more_lhs, bool& more_rhs) 
-        {
-            int inside;
-            more_lhs = false;
-            more_rhs = false;
-            if (lhs_head < rhs_head) {
-                inside = lhs_before_rhs;
-                head = lhs_head;
-                if (lhs_tail <= rhs_head) {
-                    tail = lhs_tail;
-                    more_lhs = true;
-                } else {
-                    lhs_head = rhs_head;
-                    tail = rhs_head;
-                }
-            } else if (rhs_head < lhs_head) {
-                inside = lhs_after_rhs;
-                head = rhs_head;
-                if (rhs_tail <= lhs_head) {
-                    tail = rhs_tail;
-                    more_rhs = true;
-                } else {
-                    rhs_head = lhs_head;
-                    tail = lhs_head;
-                }
-            } else {
-                inside = lhs_coincide_rhs;
-                head = lhs_head;
-                if (lhs_tail <= rhs_tail) {
-                    tail = rhs_head = lhs_tail;
-                    more_lhs = true;
-                }
-                if (rhs_tail <= lhs_tail) {
-                    tail = lhs_head = rhs_tail;
-                    more_rhs = true;
-                }
-            }
-            return inside;
-        }
-    };
-
-    class Spanner : protected SpannerBase 
-    {
-        friend class region_operator;
-        region lhs;
-        region rhs;
-
-    public:
-        inline Spanner(const region& lhs, const region& rhs)
-        : lhs(lhs), rhs(rhs)
-        {
-            if (lhs.count) {
-                SpannerBase::lhs_head = lhs.rects->top      + lhs.dy;
-                SpannerBase::lhs_tail = lhs.rects->bottom   + lhs.dy;
-            }
-            if (rhs.count) {
-                SpannerBase::rhs_head = rhs.rects->top      + rhs.dy;
-                SpannerBase::rhs_tail = rhs.rects->bottom   + rhs.dy;
-            }
-        }
-
-        inline bool isDone() const {
-            return !rhs.count && !lhs.count;
-        }
-
-        inline int next(TYPE& top, TYPE& bottom) 
-        {
-            bool more_lhs = false;
-            bool more_rhs = false;
-            int inside = SpannerBase::next(top, bottom, more_lhs, more_rhs);
-            if (more_lhs) {
-                advance(lhs, SpannerBase::lhs_head, SpannerBase::lhs_tail);
-            }
-            if (more_rhs) {
-                advance(rhs, SpannerBase::rhs_head, SpannerBase::rhs_tail);
-            }
-            return inside;
-        }
-
-    private:
-        static inline 
-        void advance(region& reg, TYPE& aTop, TYPE& aBottom) {
-            // got to next span
-            size_t count = reg.count;
-            RECT const * rects = reg.rects;
-            RECT const * const end = rects + count;
-            const int top = rects->top;
-            while (rects != end && rects->top == top) {
-                rects++;
-                count--;
-            }
-            if (rects != end) {
-                aTop    = rects->top    + reg.dy;
-                aBottom = rects->bottom + reg.dy;
-            } else {
-                aTop    = max_value;
-                aBottom = max_value;
-            }
-            reg.rects = rects;
-            reg.count = count;
-        }
-    };
-
-    class SpannerInner : protected SpannerBase 
-    {
-        region lhs;
-        region rhs;
-        
-    public:
-        inline SpannerInner(const region& lhs, const region& rhs)
-            : lhs(lhs), rhs(rhs) 
-        {
-        }
-
-        inline void prepare(int inside) {
-            if (inside == SpannerBase::lhs_before_rhs) {
-                if (lhs.count) {
-                    SpannerBase::lhs_head = lhs.rects->left  + lhs.dx;
-                    SpannerBase::lhs_tail = lhs.rects->right + lhs.dx;
-                }
-                SpannerBase::rhs_head = max_value;
-                SpannerBase::rhs_tail = max_value;
-            } else if (inside == SpannerBase::lhs_after_rhs) {
-                SpannerBase::lhs_head = max_value;
-                SpannerBase::lhs_tail = max_value;
-                if (rhs.count) {
-                    SpannerBase::rhs_head = rhs.rects->left  + rhs.dx;
-                    SpannerBase::rhs_tail = rhs.rects->right + rhs.dx;
-                }
-            } else {
-                if (lhs.count) {
-                    SpannerBase::lhs_head = lhs.rects->left  + lhs.dx;
-                    SpannerBase::lhs_tail = lhs.rects->right + lhs.dx;
-                }
-                if (rhs.count) {
-                    SpannerBase::rhs_head = rhs.rects->left  + rhs.dx;
-                    SpannerBase::rhs_tail = rhs.rects->right + rhs.dx;
-                }
-            }
-        }
-
-        inline bool isDone() const {
-            return SpannerBase::lhs_head == max_value && 
-                   SpannerBase::rhs_head == max_value;
-        }
-
-        inline int next(TYPE& left, TYPE& right) 
-        {
-            bool more_lhs = false;
-            bool more_rhs = false;
-            int inside = SpannerBase::next(left, right, more_lhs, more_rhs);
-            if (more_lhs) {
-                advance(lhs, SpannerBase::lhs_head, SpannerBase::lhs_tail);
-            }
-            if (more_rhs) {
-                advance(rhs, SpannerBase::rhs_head, SpannerBase::rhs_tail);
-            }
-            return inside;
-        }
-
-    private:
-        static inline 
-        void advance(region& reg, TYPE& left, TYPE& right) {
-            if (reg.rects && reg.count) {
-                const int cur_span_top = reg.rects->top;
-                reg.rects++;
-                reg.count--;
-                if (!reg.count || reg.rects->top != cur_span_top) {
-                    left  = max_value;
-                    right = max_value;
-                } else {
-                    left  = reg.rects->left  + reg.dx;
-                    right = reg.rects->right + reg.dx;
-                }
-            }
-        }
-    };
-
-    Spanner spanner;
-};
-
-// ----------------------------------------------------------------------------
-};
-
-#endif /* ANDROID_UI_PRIVATE_REGION_HELPER_H */
diff --git a/phonelibs/boringssl/LICENSE b/phonelibs/boringssl/LICENSE
deleted file mode 100644
index 2f4dfcdb04c830..00000000000000
--- a/phonelibs/boringssl/LICENSE
+++ /dev/null
@@ -1,274 +0,0 @@
-BoringSSL is a fork of OpenSSL. As such, large parts of it fall under OpenSSL
-licensing. Files that are completely new have a Google copyright and an ISC
-license. This license is reproduced at the bottom of this file.
-
-Contributors to BoringSSL are required to follow the CLA rules for Chromium:
-https://cla.developers.google.com/clas
-
-Files in third_party/ have their own licenses, as described therein. The MIT
-license, for third_party/fiat, which, unlike other third_party directories, is
-compiled into non-test libraries, is included below.
-
-The OpenSSL toolkit stays under a dual license, i.e. both the conditions of the
-OpenSSL License and the original SSLeay license apply to the toolkit. See below
-for the actual license texts. Actually both licenses are BSD-style Open Source
-licenses. In case of any license issues related to OpenSSL please contact
-openssl-core@openssl.org.
-
-The following are Google-internal bug numbers where explicit permission from
-some authors is recorded for use of their work. (This is purely for our own
-record keeping.)
-  27287199
-  27287880
-  27287883
-
-  OpenSSL License
-  ---------------
-
-/* ====================================================================
- * Copyright (c) 1998-2011 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer. 
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-
- Original SSLeay License
- -----------------------
-
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- * 
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- * 
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from 
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- * 
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- * 
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-
-
-ISC license used for completely new code in BoringSSL:
-
-/* Copyright (c) 2015, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-
-The code in third_party/fiat carries the MIT license:
-
-Copyright (c) 2015-2016 the fiat-crypto authors (see
-https://github.com/mit-plv/fiat-crypto/blob/master/AUTHORS).
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-
-The code in third_party/sike also carries the MIT license:
-
-Copyright (c) Microsoft Corporation. All rights reserved.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE
-
-
-Licenses for support code
--------------------------
-
-Parts of the TLS test suite are under the Go license. This code is not included
-in BoringSSL (i.e. libcrypto and libssl) when compiled, however, so
-distributing code linked against BoringSSL does not trigger this license:
-
-Copyright (c) 2009 The Go Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-   * Redistributions of source code must retain the above copyright
-notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above
-copyright notice, this list of conditions and the following disclaimer
-in the documentation and/or other materials provided with the
-distribution.
-   * Neither the name of Google Inc. nor the names of its
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-
-BoringSSL uses the Chromium test infrastructure to run a continuous build,
-trybots etc. The scripts which manage this, and the script for generating build
-metadata, are under the Chromium license. Distributing code linked against
-BoringSSL does not trigger this license.
-
-Copyright 2015 The Chromium Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-   * Redistributions of source code must retain the above copyright
-notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above
-copyright notice, this list of conditions and the following disclaimer
-in the documentation and/or other materials provided with the
-distribution.
-   * Neither the name of Google Inc. nor the names of its
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/phonelibs/boringssl/LICENSE.boringssl b/phonelibs/boringssl/LICENSE.boringssl
deleted file mode 100644
index 0b0b9b3292837f..00000000000000
--- a/phonelibs/boringssl/LICENSE.boringssl
+++ /dev/null
@@ -1,192 +0,0 @@
-BoringSSL is a fork of OpenSSL. As such, large parts of it fall under OpenSSL
-licensing. Files that are completely new have a Google copyright and an ISC
-license. This license is reproduced at the bottom of this file.
-
-Contributors to BoringSSL are required to follow the CLA rules for Chromium:
-https://cla.developers.google.com/clas
-
-Some files from Intel are under yet another license, which is also included
-underneath.
-
-The OpenSSL toolkit stays under a dual license, i.e. both the conditions of the
-OpenSSL License and the original SSLeay license apply to the toolkit. See below
-for the actual license texts. Actually both licenses are BSD-style Open Source
-licenses. In case of any license issues related to OpenSSL please contact
-openssl-core@openssl.org.
-
-The following are Google-internal bug numbers where explicit permission from
-some authors is recorded for use of their work. (This is purely for our own
-record keeping.)
-  27287199
-  27287880
-  27287883
-
-  OpenSSL License
-  ---------------
-
-/* ====================================================================
- * Copyright (c) 1998-2011 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-
- Original SSLeay License
- -----------------------
-
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-
-
-ISC license used for completely new code in BoringSSL:
-
-/* Copyright (c) 2015, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-
-Some files from Intel carry the following license:
-
-# Copyright (c) 2012, Intel Corporation
-#
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are
-# met:
-#
-# *  Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#
-# *  Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in the
-#    documentation and/or other materials provided with the
-#    distribution.
-#
-# *  Neither the name of the Intel Corporation nor the names of its
-#    contributors may be used to endorse or promote products derived from
-#    this software without specific prior written permission.
-#
-#
-# THIS SOFTWARE IS PROVIDED BY INTEL CORPORATION ""AS IS"" AND ANY
-# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL INTEL CORPORATION OR
-# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/phonelibs/boringssl/build.txt b/phonelibs/boringssl/build.txt
deleted file mode 100644
index 0c9cd0d31d244e..00000000000000
--- a/phonelibs/boringssl/build.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-# with neos tree
-cd ~/android/system
-mka libcrypt_static libssl_static
-
-cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libcrypto_static_intermediates/libcrypto_static.a lib/
-cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libssl_static_intermediates/libssl_static.a lib/
-
diff --git a/phonelibs/boringssl/include/openssl/aead.h b/phonelibs/boringssl/include/openssl/aead.h
deleted file mode 100644
index dc453e342d204c..00000000000000
--- a/phonelibs/boringssl/include/openssl/aead.h
+++ /dev/null
@@ -1,315 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_AEAD_H
-#define OPENSSL_HEADER_AEAD_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Authenticated Encryption with Additional Data.
- *
- * AEAD couples confidentiality and integrity in a single primtive. AEAD
- * algorithms take a key and then can seal and open individual messages. Each
- * message has a unique, per-message nonce and, optionally, additional data
- * which is authenticated but not included in the ciphertext.
- *
- * The |EVP_AEAD_CTX_init| function initialises an |EVP_AEAD_CTX| structure and
- * performs any precomputation needed to use |aead| with |key|. The length of
- * the key, |key_len|, is given in bytes.
- *
- * The |tag_len| argument contains the length of the tags, in bytes, and allows
- * for the processing of truncated authenticators. A zero value indicates that
- * the default tag length should be used and this is defined as
- * |EVP_AEAD_DEFAULT_TAG_LENGTH| in order to make the code clear. Using
- * truncated tags increases an attacker's chance of creating a valid forgery.
- * Be aware that the attacker's chance may increase more than exponentially as
- * would naively be expected.
- *
- * When no longer needed, the initialised |EVP_AEAD_CTX| structure must be
- * passed to |EVP_AEAD_CTX_cleanup|, which will deallocate any memory used.
- *
- * With an |EVP_AEAD_CTX| in hand, one can seal and open messages. These
- * operations are intended to meet the standard notions of privacy and
- * authenticity for authenticated encryption. For formal definitions see
- * Bellare and Namprempre, "Authenticated encryption: relations among notions
- * and analysis of the generic composition paradigm," Lecture Notes in Computer
- * Science B<1976> (2000), 531–545,
- * http://www-cse.ucsd.edu/~mihir/papers/oem.html.
- *
- * When sealing messages, a nonce must be given. The length of the nonce is
- * fixed by the AEAD in use and is returned by |EVP_AEAD_nonce_length|. *The
- * nonce must be unique for all messages with the same key*. This is critically
- * important - nonce reuse may completely undermine the security of the AEAD.
- * Nonces may be predictable and public, so long as they are unique. Uniqueness
- * may be achieved with a simple counter or, if large enough, may be generated
- * randomly. The nonce must be passed into the "open" operation by the receiver
- * so must either be implicit (e.g. a counter), or must be transmitted along
- * with the sealed message.
- *
- * The "seal" and "open" operations are atomic - an entire message must be
- * encrypted or decrypted in a single call. Large messages may have to be split
- * up in order to accomodate this. When doing so, be mindful of the need not to
- * repeat nonces and the possibility that an attacker could duplicate, reorder
- * or drop message chunks. For example, using a single key for a given (large)
- * message and sealing chunks with nonces counting from zero would be secure as
- * long as the number of chunks was securely transmitted. (Otherwise an
- * attacker could truncate the message by dropping chunks from the end.)
- *
- * The number of chunks could be transmitted by prefixing it to the plaintext,
- * for example. This also assumes that no other message would ever use the same
- * key otherwise the rule that nonces must be unique for a given key would be
- * violated.
- *
- * The "seal" and "open" operations also permit additional data to be
- * authenticated via the |ad| parameter. This data is not included in the
- * ciphertext and must be identical for both the "seal" and "open" call. This
- * permits implicit context to be authenticated but may be empty if not needed.
- *
- * The "seal" and "open" operations may work in-place if the |out| and |in|
- * arguments are equal. They may also be used to shift the data left inside the
- * same buffer if |out| is less than |in|. However, |out| may not point inside
- * the input data otherwise the input may be overwritten before it has been
- * read. This situation will cause an error.
- *
- * The "seal" and "open" operations return one on success and zero on error. */
-
-
-/* AEAD algorithms. */
-
-/* EVP_aead_aes_128_gcm is AES-128 in Galois Counter Mode. */
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_gcm(void);
-
-/* EVP_aead_aes_256_gcm is AES-256 in Galois Counter Mode. */
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_gcm(void);
-
-/* EVP_aead_chacha20_poly1305 is an AEAD built from ChaCha20 and Poly1305. */
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_chacha20_poly1305(void);
-
-/* EVP_aead_aes_128_key_wrap is AES-128 Key Wrap mode. This should never be
- * used except to interoperate with existing systems that use this mode.
- *
- * If the nonce is empty then the default nonce will be used, otherwise it must
- * be eight bytes long. The input must be a multiple of eight bytes long. No
- * additional data can be given to this mode. */
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_key_wrap(void);
-
-/* EVP_aead_aes_256_key_wrap is AES-256 in Key Wrap mode. This should never be
- * used except to interoperate with existing systems that use this mode.
- *
- * See |EVP_aead_aes_128_key_wrap| for details. */
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_key_wrap(void);
-
-/* EVP_aead_aes_128_ctr_hmac_sha256 is AES-128 in CTR mode with HMAC-SHA256 for
- * authentication. The nonce is 12 bytes; the bottom 32-bits are used as the
- * block counter, thus the maximum plaintext size is 64GB. */
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_ctr_hmac_sha256(void);
-
-/* EVP_aead_aes_128_ctr_hmac_sha256 is AES-256 in CTR mode with HMAC-SHA256 for
- * authentication. See |EVP_aead_aes_128_ctr_hmac_sha256| for details. */
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_ctr_hmac_sha256(void);
-
-/* EVP_has_aes_hardware returns one if we enable hardware support for fast and
- * constant-time AES-GCM. */
-OPENSSL_EXPORT int EVP_has_aes_hardware(void);
-
-
-/* TLS-specific AEAD algorithms.
- *
- * These AEAD primitives do not meet the definition of generic AEADs. They are
- * all specific to TLS and should not be used outside of that context. They must
- * be initialized with |EVP_AEAD_CTX_init_with_direction|, are stateful, and may
- * not be used concurrently. Any nonces are used as IVs, so they must be
- * unpredictable. They only accept an |ad| parameter of length 11 (the standard
- * TLS one with length omitted). */
-
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_rc4_md5_tls(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_rc4_sha1_tls(void);
-
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_cbc_sha1_tls(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_cbc_sha1_tls_implicit_iv(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_cbc_sha256_tls(void);
-
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha1_tls(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha1_tls_implicit_iv(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha256_tls(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha384_tls(void);
-
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_des_ede3_cbc_sha1_tls(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_des_ede3_cbc_sha1_tls_implicit_iv(void);
-
-
-/* SSLv3-specific AEAD algorithms.
- *
- * These AEAD primitives do not meet the definition of generic AEADs. They are
- * all specific to SSLv3 and should not be used outside of that context. They
- * must be initialized with |EVP_AEAD_CTX_init_with_direction|, are stateful,
- * and may not be used concurrently. They only accept an |ad| parameter of
- * length 9 (the standard TLS one with length and version omitted). */
-
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_rc4_md5_ssl3(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_rc4_sha1_ssl3(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_cbc_sha1_ssl3(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha1_ssl3(void);
-OPENSSL_EXPORT const EVP_AEAD *EVP_aead_des_ede3_cbc_sha1_ssl3(void);
-
-
-/* Utility functions. */
-
-/* EVP_AEAD_key_length returns the length, in bytes, of the keys used by
- * |aead|. */
-OPENSSL_EXPORT size_t EVP_AEAD_key_length(const EVP_AEAD *aead);
-
-/* EVP_AEAD_nonce_length returns the length, in bytes, of the per-message nonce
- * for |aead|. */
-OPENSSL_EXPORT size_t EVP_AEAD_nonce_length(const EVP_AEAD *aead);
-
-/* EVP_AEAD_max_overhead returns the maximum number of additional bytes added
- * by the act of sealing data with |aead|. */
-OPENSSL_EXPORT size_t EVP_AEAD_max_overhead(const EVP_AEAD *aead);
-
-/* EVP_AEAD_max_tag_len returns the maximum tag length when using |aead|. This
- * is the largest value that can be passed as |tag_len| to
- * |EVP_AEAD_CTX_init|. */
-OPENSSL_EXPORT size_t EVP_AEAD_max_tag_len(const EVP_AEAD *aead);
-
-
-/* AEAD operations. */
-
-/* An EVP_AEAD_CTX represents an AEAD algorithm configured with a specific key
- * and message-independent IV. */
-typedef struct evp_aead_ctx_st {
-  const EVP_AEAD *aead;
-  /* aead_state is an opaque pointer to whatever state the AEAD needs to
-   * maintain. */
-  void *aead_state;
-} EVP_AEAD_CTX;
-
-/* EVP_AEAD_MAX_KEY_LENGTH contains the maximum key length used by
- * any AEAD defined in this header. */
-#define EVP_AEAD_MAX_KEY_LENGTH 80
-
-/* EVP_AEAD_MAX_NONCE_LENGTH contains the maximum nonce length used by
- * any AEAD defined in this header. */
-#define EVP_AEAD_MAX_NONCE_LENGTH 16
-
-/* EVP_AEAD_MAX_OVERHEAD contains the maximum overhead used by any AEAD
- * defined in this header. */
-#define EVP_AEAD_MAX_OVERHEAD 64
-
-/* EVP_AEAD_DEFAULT_TAG_LENGTH is a magic value that can be passed to
- * EVP_AEAD_CTX_init to indicate that the default tag length for an AEAD should
- * be used. */
-#define EVP_AEAD_DEFAULT_TAG_LENGTH 0
-
-/* evp_aead_direction_t denotes the direction of an AEAD operation. */
-enum evp_aead_direction_t {
-  evp_aead_open,
-  evp_aead_seal,
-};
-
-/* EVP_AEAD_CTX_init initializes |ctx| for the given AEAD algorithm from |impl|.
- * The |impl| argument may be NULL to choose the default implementation.
- * Authentication tags may be truncated by passing a size as |tag_len|. A
- * |tag_len| of zero indicates the default tag length and this is defined as
- * EVP_AEAD_DEFAULT_TAG_LENGTH for readability.
- *
- * Returns 1 on success. Otherwise returns 0 and pushes to the error stack. In
- * the error case, you do not need to call |EVP_AEAD_CTX_cleanup|, but it's
- * harmless to do so. */
-OPENSSL_EXPORT int EVP_AEAD_CTX_init(EVP_AEAD_CTX *ctx, const EVP_AEAD *aead,
-                                     const uint8_t *key, size_t key_len,
-                                     size_t tag_len, ENGINE *impl);
-
-/* EVP_AEAD_CTX_init_with_direction calls |EVP_AEAD_CTX_init| for normal
- * AEADs. For TLS-specific and SSL3-specific AEADs, it initializes |ctx| for a
- * given direction. */
-OPENSSL_EXPORT int EVP_AEAD_CTX_init_with_direction(
-    EVP_AEAD_CTX *ctx, const EVP_AEAD *aead, const uint8_t *key, size_t key_len,
-    size_t tag_len, enum evp_aead_direction_t dir);
-
-/* EVP_AEAD_CTX_cleanup frees any data allocated by |ctx|. It is a no-op to
- * call |EVP_AEAD_CTX_cleanup| on a |EVP_AEAD_CTX| that has been |memset| to
- * all zeros. */
-OPENSSL_EXPORT void EVP_AEAD_CTX_cleanup(EVP_AEAD_CTX *ctx);
-
-/* EVP_AEAD_CTX_seal encrypts and authenticates |in_len| bytes from |in| and
- * authenticates |ad_len| bytes from |ad| and writes the result to |out|. It
- * returns one on success and zero otherwise.
- *
- * This function may be called (with the same |EVP_AEAD_CTX|) concurrently with
- * itself or |EVP_AEAD_CTX_open|.
- *
- * At most |max_out_len| bytes are written to |out| and, in order to ensure
- * success, |max_out_len| should be |in_len| plus the result of
- * |EVP_AEAD_max_overhead|. On successful return, |*out_len| is set to the
- * actual number of bytes written.
- *
- * The length of |nonce|, |nonce_len|, must be equal to the result of
- * |EVP_AEAD_nonce_length| for this AEAD.
- *
- * |EVP_AEAD_CTX_seal| never results in a partial output. If |max_out_len| is
- * insufficient, zero will be returned. (In this case, |*out_len| is set to
- * zero.)
- *
- * If |in| and |out| alias then |out| must be <= |in|. */
-OPENSSL_EXPORT int EVP_AEAD_CTX_seal(const EVP_AEAD_CTX *ctx, uint8_t *out,
-                                     size_t *out_len, size_t max_out_len,
-                                     const uint8_t *nonce, size_t nonce_len,
-                                     const uint8_t *in, size_t in_len,
-                                     const uint8_t *ad, size_t ad_len);
-
-/* EVP_AEAD_CTX_open authenticates |in_len| bytes from |in| and |ad_len| bytes
- * from |ad| and decrypts at most |in_len| bytes into |out|. It returns one on
- * success and zero otherwise.
- *
- * This function may be called (with the same |EVP_AEAD_CTX|) concurrently with
- * itself or |EVP_AEAD_CTX_seal|.
- *
- * At most |in_len| bytes are written to |out|. In order to ensure success,
- * |max_out_len| should be at least |in_len|. On successful return, |*out_len|
- * is set to the the actual number of bytes written.
- *
- * The length of |nonce|, |nonce_len|, must be equal to the result of
- * |EVP_AEAD_nonce_length| for this AEAD.
- *
- * |EVP_AEAD_CTX_open| never results in a partial output. If |max_out_len| is
- * insufficient, zero will be returned. (In this case, |*out_len| is set to
- * zero.)
- *
- * If |in| and |out| alias then |out| must be <= |in|. */
-OPENSSL_EXPORT int EVP_AEAD_CTX_open(const EVP_AEAD_CTX *ctx, uint8_t *out,
-                                     size_t *out_len, size_t max_out_len,
-                                     const uint8_t *nonce, size_t nonce_len,
-                                     const uint8_t *in, size_t in_len,
-                                     const uint8_t *ad, size_t ad_len);
-
-
-/* Obscure functions. */
-
-/* EVP_AEAD_CTX_get_rc4_state sets |*out_key| to point to an RC4 key structure.
- * It returns one on success or zero if |ctx| doesn't have an RC4 key. */
-OPENSSL_EXPORT int EVP_AEAD_CTX_get_rc4_state(const EVP_AEAD_CTX *ctx,
-                                              const RC4_KEY **out_key);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_AEAD_H */
diff --git a/phonelibs/boringssl/include/openssl/aes.h b/phonelibs/boringssl/include/openssl/aes.h
deleted file mode 100644
index 84cde416e64432..00000000000000
--- a/phonelibs/boringssl/include/openssl/aes.h
+++ /dev/null
@@ -1,158 +0,0 @@
-/* ====================================================================
- * Copyright (c) 2002-2006 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer. 
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ==================================================================== */
-
-#ifndef OPENSSL_HEADER_AES_H
-#define OPENSSL_HEADER_AES_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Raw AES functions. */
-
-
-#define AES_ENCRYPT 1
-#define AES_DECRYPT 0
-
-/* AES_MAXNR is the maximum number of AES rounds. */
-#define AES_MAXNR 14
-
-#define AES_BLOCK_SIZE 16
-
-/* aes_key_st should be an opaque type, but EVP requires that the size be
- * known. */
-struct aes_key_st {
-  uint32_t rd_key[4 * (AES_MAXNR + 1)];
-  unsigned rounds;
-};
-typedef struct aes_key_st AES_KEY;
-
-/* AES_set_encrypt_key configures |aeskey| to encrypt with the |bits|-bit key,
- * |key|.
- *
- * WARNING: unlike other OpenSSL functions, this returns zero on success and a
- * negative number on error. */
-OPENSSL_EXPORT int AES_set_encrypt_key(const uint8_t *key, unsigned bits,
-                                       AES_KEY *aeskey);
-
-/* AES_set_decrypt_key configures |aeskey| to decrypt with the |bits|-bit key,
- * |key|.
- *
- * WARNING: unlike other OpenSSL functions, this returns zero on success and a
- * negative number on error. */
-OPENSSL_EXPORT int AES_set_decrypt_key(const uint8_t *key, unsigned bits,
-                                       AES_KEY *aeskey);
-
-/* AES_encrypt encrypts a single block from |in| to |out| with |key|. The |in|
- * and |out| pointers may overlap. */
-OPENSSL_EXPORT void AES_encrypt(const uint8_t *in, uint8_t *out,
-                                const AES_KEY *key);
-
-/* AES_decrypt decrypts a single block from |in| to |out| with |key|. The |in|
- * and |out| pointers may overlap. */
-OPENSSL_EXPORT void AES_decrypt(const uint8_t *in, uint8_t *out,
-                                const AES_KEY *key);
-
-
-/* Block cipher modes. */
-
-/* AES_ctr128_encrypt encrypts (or decrypts, it's the same in CTR mode) |len|
- * bytes from |in| to |out|. The |num| parameter must be set to zero on the
- * first call and |ivec| will be incremented. */
-OPENSSL_EXPORT void AES_ctr128_encrypt(const uint8_t *in, uint8_t *out,
-                                       size_t len, const AES_KEY *key,
-                                       uint8_t ivec[AES_BLOCK_SIZE],
-                                       uint8_t ecount_buf[AES_BLOCK_SIZE],
-                                       unsigned int *num);
-
-/* AES_ecb_encrypt encrypts (or decrypts, if |enc| == |AES_DECRYPT|) a single,
- * 16 byte block from |in| to |out|. */
-OPENSSL_EXPORT void AES_ecb_encrypt(const uint8_t *in, uint8_t *out,
-                                    const AES_KEY *key, const int enc);
-
-/* AES_cbc_encrypt encrypts (or decrypts, if |enc| == |AES_DECRYPT|) |len|
- * bytes from |in| to |out|. The length must be a multiple of the block size. */
-OPENSSL_EXPORT void AES_cbc_encrypt(const uint8_t *in, uint8_t *out, size_t len,
-                                    const AES_KEY *key, uint8_t *ivec,
-                                    const int enc);
-
-/* AES_ofb128_encrypt encrypts (or decrypts, it's the same in CTR mode) |len|
- * bytes from |in| to |out|. The |num| parameter must be set to zero on the
- * first call. */
-OPENSSL_EXPORT void AES_ofb128_encrypt(const uint8_t *in, uint8_t *out,
-                                       size_t len, const AES_KEY *key,
-                                       uint8_t *ivec, int *num);
-
-/* AES_cfb128_encrypt encrypts (or decrypts, if |enc| == |AES_DECRYPT|) |len|
- * bytes from |in| to |out|. The |num| parameter must be set to zero on the
- * first call. */
-OPENSSL_EXPORT void AES_cfb128_encrypt(const uint8_t *in, uint8_t *out,
-                                       size_t len, const AES_KEY *key,
-                                       uint8_t *ivec, int *num, int enc);
-
-
-/* Android compatibility section.
- *
- * These functions are declared, temporarily, for Android because
- * wpa_supplicant will take a little time to sync with upstream. Outside of
- * Android they'll have no definition. */
-
-OPENSSL_EXPORT int AES_wrap_key(AES_KEY *key, const uint8_t *iv, uint8_t *out,
-                                const uint8_t *in, unsigned in_len);
-OPENSSL_EXPORT int AES_unwrap_key(AES_KEY *key, const uint8_t *iv, uint8_t *out,
-                                  const uint8_t *in, unsigned in_len);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_AES_H */
diff --git a/phonelibs/boringssl/include/openssl/asn1.h b/phonelibs/boringssl/include/openssl/asn1.h
deleted file mode 100644
index 4baf81c6bdc442..00000000000000
--- a/phonelibs/boringssl/include/openssl/asn1.h
+++ /dev/null
@@ -1,1234 +0,0 @@
-/* crypto/asn1/asn1.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- * 
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- * 
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from 
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- * 
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- * 
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-
-#ifndef HEADER_ASN1_H
-#define HEADER_ASN1_H
-
-#include <openssl/base.h>
-
-#include <time.h>
-
-#include <openssl/bio.h>
-#include <openssl/stack.h>
-
-#include <openssl/bn.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-#define V_ASN1_UNIVERSAL		0x00
-#define	V_ASN1_APPLICATION		0x40
-#define V_ASN1_CONTEXT_SPECIFIC		0x80
-#define V_ASN1_PRIVATE			0xc0
-
-#define V_ASN1_CONSTRUCTED		0x20
-#define V_ASN1_PRIMITIVE_TAG		0x1f
-#define V_ASN1_PRIMATIVE_TAG		0x1f
-
-#define V_ASN1_APP_CHOOSE		-2	/* let the recipient choose */
-#define V_ASN1_OTHER			-3	/* used in ASN1_TYPE */
-#define V_ASN1_ANY			-4	/* used in ASN1 template code */
-
-#define V_ASN1_NEG			0x100	/* negative flag */
-
-#define V_ASN1_UNDEF			-1
-#define V_ASN1_EOC			0
-#define V_ASN1_BOOLEAN			1	/**/
-#define V_ASN1_INTEGER			2
-#define V_ASN1_NEG_INTEGER		(2 | V_ASN1_NEG)
-#define V_ASN1_BIT_STRING		3
-#define V_ASN1_OCTET_STRING		4
-#define V_ASN1_NULL			5
-#define V_ASN1_OBJECT			6
-#define V_ASN1_OBJECT_DESCRIPTOR	7
-#define V_ASN1_EXTERNAL			8
-#define V_ASN1_REAL			9
-#define V_ASN1_ENUMERATED		10
-#define V_ASN1_NEG_ENUMERATED		(10 | V_ASN1_NEG)
-#define V_ASN1_UTF8STRING		12
-#define V_ASN1_SEQUENCE			16
-#define V_ASN1_SET			17
-#define V_ASN1_NUMERICSTRING		18	/**/
-#define V_ASN1_PRINTABLESTRING		19
-#define V_ASN1_T61STRING		20
-#define V_ASN1_TELETEXSTRING		20	/* alias */
-#define V_ASN1_VIDEOTEXSTRING		21	/**/
-#define V_ASN1_IA5STRING		22
-#define V_ASN1_UTCTIME			23
-#define V_ASN1_GENERALIZEDTIME		24	/**/
-#define V_ASN1_GRAPHICSTRING		25	/**/
-#define V_ASN1_ISO64STRING		26	/**/
-#define V_ASN1_VISIBLESTRING		26	/* alias */
-#define V_ASN1_GENERALSTRING		27	/**/
-#define V_ASN1_UNIVERSALSTRING		28	/**/
-#define V_ASN1_BMPSTRING		30
-
-/* For use with d2i_ASN1_type_bytes() */
-#define B_ASN1_NUMERICSTRING	0x0001
-#define B_ASN1_PRINTABLESTRING	0x0002
-#define B_ASN1_T61STRING	0x0004
-#define B_ASN1_TELETEXSTRING	0x0004
-#define B_ASN1_VIDEOTEXSTRING	0x0008
-#define B_ASN1_IA5STRING	0x0010
-#define B_ASN1_GRAPHICSTRING	0x0020
-#define B_ASN1_ISO64STRING	0x0040
-#define B_ASN1_VISIBLESTRING	0x0040
-#define B_ASN1_GENERALSTRING	0x0080
-#define B_ASN1_UNIVERSALSTRING	0x0100
-#define B_ASN1_OCTET_STRING	0x0200
-#define B_ASN1_BIT_STRING	0x0400
-#define B_ASN1_BMPSTRING	0x0800
-#define B_ASN1_UNKNOWN		0x1000
-#define B_ASN1_UTF8STRING	0x2000
-#define B_ASN1_UTCTIME		0x4000
-#define B_ASN1_GENERALIZEDTIME	0x8000
-#define B_ASN1_SEQUENCE		0x10000
-
-/* For use with ASN1_mbstring_copy() */
-#define MBSTRING_FLAG		0x1000
-#define MBSTRING_UTF8		(MBSTRING_FLAG)
-#define MBSTRING_ASC		(MBSTRING_FLAG|1)
-#define MBSTRING_BMP		(MBSTRING_FLAG|2)
-#define MBSTRING_UNIV		(MBSTRING_FLAG|4)
-
-#define SMIME_OLDMIME		0x400
-#define SMIME_CRLFEOL		0x800
-#define SMIME_STREAM		0x1000
-
-#define DECLARE_ASN1_SET_OF(type) /* filled in by mkstack.pl */
-#define IMPLEMENT_ASN1_SET_OF(type) /* nothing, no longer needed */
-
-/* We MUST make sure that, except for constness, asn1_ctx_st and
-   asn1_const_ctx are exactly the same.  Fortunately, as soon as
-   the old ASN1 parsing macros are gone, we can throw this away
-   as well... */
-typedef struct asn1_ctx_st
-	{
-	unsigned char *p;/* work char pointer */
-	int eos;	/* end of sequence read for indefinite encoding */
-	int error;	/* error code to use when returning an error */
-	int inf;	/* constructed if 0x20, indefinite is 0x21 */
-	int tag;	/* tag from last 'get object' */
-	int xclass;	/* class from last 'get object' */
-	long slen;	/* length of last 'get object' */
-	unsigned char *max; /* largest value of p allowed */
-	unsigned char *q;/* temporary variable */
-	unsigned char **pp;/* variable */
-	int line;	/* used in error processing */
-	} ASN1_CTX;
-
-typedef struct asn1_const_ctx_st
-	{
-	const unsigned char *p;/* work char pointer */
-	int eos;	/* end of sequence read for indefinite encoding */
-	int error;	/* error code to use when returning an error */
-	int inf;	/* constructed if 0x20, indefinite is 0x21 */
-	int tag;	/* tag from last 'get object' */
-	int xclass;	/* class from last 'get object' */
-	long slen;	/* length of last 'get object' */
-	const unsigned char *max; /* largest value of p allowed */
-	const unsigned char *q;/* temporary variable */
-	const unsigned char **pp;/* variable */
-	int line;	/* used in error processing */
-	} ASN1_const_CTX;
-
-/* These are used internally in the ASN1_OBJECT to keep track of
- * whether the names and data need to be free()ed */
-#define ASN1_OBJECT_FLAG_DYNAMIC	 0x01	/* internal use */
-#define ASN1_OBJECT_FLAG_CRITICAL	 0x02	/* critical x509v3 object id */
-#define ASN1_OBJECT_FLAG_DYNAMIC_STRINGS 0x04	/* internal use */
-#define ASN1_OBJECT_FLAG_DYNAMIC_DATA 	 0x08	/* internal use */
-struct asn1_object_st
-	{
-	const char *sn,*ln;
-	int nid;
-	int length;
-	const unsigned char *data;	/* data remains const after init */
-	int flags;	/* Should we free this one */
-	};
-
-#define ASN1_STRING_FLAG_BITS_LEFT 0x08 /* Set if 0x07 has bits left value */
-/* This indicates that the ASN1_STRING is not a real value but just a place
- * holder for the location where indefinite length constructed data should
- * be inserted in the memory buffer 
- */
-#define ASN1_STRING_FLAG_NDEF 0x010 
-
-/* This flag is used by the CMS code to indicate that a string is not
- * complete and is a place holder for content when it had all been 
- * accessed. The flag will be reset when content has been written to it.
- */
-
-#define ASN1_STRING_FLAG_CONT 0x020 
-/* This flag is used by ASN1 code to indicate an ASN1_STRING is an MSTRING
- * type.
- */
-#define ASN1_STRING_FLAG_MSTRING 0x040 
-/* This is the base type that holds just about everything :-) */
-struct asn1_string_st
-	{
-	int length;
-	int type;
-	unsigned char *data;
-	/* The value of the following field depends on the type being
-	 * held.  It is mostly being used for BIT_STRING so if the
-	 * input data has a non-zero 'unused bits' value, it will be
-	 * handled correctly */
-	long flags;
-	};
-
-/* ASN1_ENCODING structure: this is used to save the received
- * encoding of an ASN1 type. This is useful to get round
- * problems with invalid encodings which can break signatures.
- */
-
-typedef struct ASN1_ENCODING_st
-	{
-	unsigned char *enc;	/* DER encoding */
-	long len;		/* Length of encoding */
-	int modified;		 /* set to 1 if 'enc' is invalid */
-	} ASN1_ENCODING;
-
-/* Used with ASN1 LONG type: if a long is set to this it is omitted */
-#define ASN1_LONG_UNDEF	0x7fffffffL
-
-#define STABLE_FLAGS_MALLOC	0x01
-#define STABLE_NO_MASK		0x02
-#define DIRSTRING_TYPE	\
- (B_ASN1_PRINTABLESTRING|B_ASN1_T61STRING|B_ASN1_BMPSTRING|B_ASN1_UTF8STRING)
-#define PKCS9STRING_TYPE (DIRSTRING_TYPE|B_ASN1_IA5STRING)
-
-typedef struct asn1_string_table_st {
-	int nid;
-	long minsize;
-	long maxsize;
-	unsigned long mask;
-	unsigned long flags;
-} ASN1_STRING_TABLE;
-
-/* size limits: this stuff is taken straight from RFC2459 */
-
-#define ub_name				32768
-#define ub_common_name			64
-#define ub_locality_name		128
-#define ub_state_name			128
-#define ub_organization_name		64
-#define ub_organization_unit_name	64
-#define ub_title			64
-#define ub_email_address		128
-
-/* Declarations for template structures: for full definitions
- * see asn1t.h
- */
-typedef struct ASN1_TEMPLATE_st ASN1_TEMPLATE;
-typedef struct ASN1_TLC_st ASN1_TLC;
-/* This is just an opaque pointer */
-typedef struct ASN1_VALUE_st ASN1_VALUE;
-
-/* Declare ASN1 functions: the implement macro in in asn1t.h */
-
-#define DECLARE_ASN1_FUNCTIONS(type) DECLARE_ASN1_FUNCTIONS_name(type, type)
-
-#define DECLARE_ASN1_ALLOC_FUNCTIONS(type) \
-	DECLARE_ASN1_ALLOC_FUNCTIONS_name(type, type)
-
-#define DECLARE_ASN1_FUNCTIONS_name(type, name) \
-	DECLARE_ASN1_ALLOC_FUNCTIONS_name(type, name) \
-	DECLARE_ASN1_ENCODE_FUNCTIONS(type, name, name)
-
-#define DECLARE_ASN1_FUNCTIONS_fname(type, itname, name) \
-	DECLARE_ASN1_ALLOC_FUNCTIONS_name(type, name) \
-	DECLARE_ASN1_ENCODE_FUNCTIONS(type, itname, name)
-
-#define	DECLARE_ASN1_ENCODE_FUNCTIONS(type, itname, name) \
-	OPENSSL_EXPORT type *d2i_##name(type **a, const unsigned char **in, long len); \
-	OPENSSL_EXPORT int i2d_##name(type *a, unsigned char **out); \
-	DECLARE_ASN1_ITEM(itname)
-
-#define	DECLARE_ASN1_ENCODE_FUNCTIONS_const(type, name) \
-	OPENSSL_EXPORT type *d2i_##name(type **a, const unsigned char **in, long len); \
-	OPENSSL_EXPORT int i2d_##name(const type *a, unsigned char **out); \
-	DECLARE_ASN1_ITEM(name)
-
-#define	DECLARE_ASN1_NDEF_FUNCTION(name) \
-	OPENSSL_EXPORT int i2d_##name##_NDEF(name *a, unsigned char **out);
-
-#define DECLARE_ASN1_FUNCTIONS_const(name) \
-	DECLARE_ASN1_ALLOC_FUNCTIONS(name) \
-	DECLARE_ASN1_ENCODE_FUNCTIONS_const(name, name)
-
-#define DECLARE_ASN1_ALLOC_FUNCTIONS_name(type, name) \
-	OPENSSL_EXPORT type *name##_new(void); \
-	OPENSSL_EXPORT void name##_free(type *a);
-
-#define DECLARE_ASN1_PRINT_FUNCTION(stname) \
-	DECLARE_ASN1_PRINT_FUNCTION_fname(stname, stname)
-
-#define DECLARE_ASN1_PRINT_FUNCTION_fname(stname, fname) \
-	OPENSSL_EXPORT int fname##_print_ctx(BIO *out, stname *x, int indent, \
-					 const ASN1_PCTX *pctx);
-
-#define D2I_OF(type) type *(*)(type **,const unsigned char **,long)
-#define I2D_OF(type) int (*)(type *,unsigned char **)
-#define I2D_OF_const(type) int (*)(const type *,unsigned char **)
-
-#define CHECKED_D2I_OF(type, d2i) \
-    ((d2i_of_void*) (1 ? d2i : ((D2I_OF(type))0)))
-#define CHECKED_I2D_OF(type, i2d) \
-    ((i2d_of_void*) (1 ? i2d : ((I2D_OF(type))0)))
-#define CHECKED_NEW_OF(type, xnew) \
-    ((void *(*)(void)) (1 ? xnew : ((type *(*)(void))0)))
-#define CHECKED_PPTR_OF(type, p) \
-    ((void**) (1 ? p : (type**)0))
-
-#define TYPEDEF_D2I_OF(type) typedef type *d2i_of_##type(type **,const unsigned char **,long)
-#define TYPEDEF_I2D_OF(type) typedef int i2d_of_##type(const type *,unsigned char **)
-#define TYPEDEF_D2I2D_OF(type) TYPEDEF_D2I_OF(type); TYPEDEF_I2D_OF(type)
-
-TYPEDEF_D2I2D_OF(void);
-
-/* The following macros and typedefs allow an ASN1_ITEM
- * to be embedded in a structure and referenced. Since
- * the ASN1_ITEM pointers need to be globally accessible
- * (possibly from shared libraries) they may exist in
- * different forms. On platforms that support it the
- * ASN1_ITEM structure itself will be globally exported.
- * Other platforms will export a function that returns
- * an ASN1_ITEM pointer.
- *
- * To handle both cases transparently the macros below
- * should be used instead of hard coding an ASN1_ITEM
- * pointer in a structure.
- *
- * The structure will look like this:
- *
- * typedef struct SOMETHING_st {
- *      ...
- *      ASN1_ITEM_EXP *iptr;
- *      ...
- * } SOMETHING; 
- *
- * It would be initialised as e.g.:
- *
- * SOMETHING somevar = {...,ASN1_ITEM_ref(X509),...};
- *
- * and the actual pointer extracted with:
- *
- * const ASN1_ITEM *it = ASN1_ITEM_ptr(somevar.iptr);
- *
- * Finally an ASN1_ITEM pointer can be extracted from an
- * appropriate reference with: ASN1_ITEM_rptr(X509). This
- * would be used when a function takes an ASN1_ITEM * argument.
- *
- */
-
-/* ASN1_ITEM pointer exported type */
-typedef const ASN1_ITEM ASN1_ITEM_EXP;
-
-/* Macro to obtain ASN1_ITEM pointer from exported type */
-#define ASN1_ITEM_ptr(iptr) (iptr)
-
-/* Macro to include ASN1_ITEM pointer from base type */
-#define ASN1_ITEM_ref(iptr) (&(iptr##_it))
-
-#define ASN1_ITEM_rptr(ref) (&(ref##_it))
-
-#define DECLARE_ASN1_ITEM(name) \
-	extern OPENSSL_EXPORT const ASN1_ITEM name##_it;
-
-/* Parameters used by ASN1_STRING_print_ex() */
-
-/* These determine which characters to escape:
- * RFC2253 special characters, control characters and
- * MSB set characters
- */
-
-#define ASN1_STRFLGS_ESC_2253		1
-#define ASN1_STRFLGS_ESC_CTRL		2
-#define ASN1_STRFLGS_ESC_MSB		4
-
-
-/* This flag determines how we do escaping: normally
- * RC2253 backslash only, set this to use backslash and
- * quote.
- */
-
-#define ASN1_STRFLGS_ESC_QUOTE		8
-
-
-/* These three flags are internal use only. */
-
-/* Character is a valid PrintableString character */
-#define CHARTYPE_PRINTABLESTRING	0x10
-/* Character needs escaping if it is the first character */
-#define CHARTYPE_FIRST_ESC_2253		0x20
-/* Character needs escaping if it is the last character */
-#define CHARTYPE_LAST_ESC_2253		0x40
-
-/* NB the internal flags are safely reused below by flags
- * handled at the top level.
- */
-
-/* If this is set we convert all character strings
- * to UTF8 first 
- */
-
-#define ASN1_STRFLGS_UTF8_CONVERT	0x10
-
-/* If this is set we don't attempt to interpret content:
- * just assume all strings are 1 byte per character. This
- * will produce some pretty odd looking output!
- */
-
-#define ASN1_STRFLGS_IGNORE_TYPE	0x20
-
-/* If this is set we include the string type in the output */
-#define ASN1_STRFLGS_SHOW_TYPE		0x40
-
-/* This determines which strings to display and which to
- * 'dump' (hex dump of content octets or DER encoding). We can
- * only dump non character strings or everything. If we
- * don't dump 'unknown' they are interpreted as character
- * strings with 1 octet per character and are subject to
- * the usual escaping options.
- */
-
-#define ASN1_STRFLGS_DUMP_ALL		0x80
-#define ASN1_STRFLGS_DUMP_UNKNOWN	0x100
-
-/* These determine what 'dumping' does, we can dump the
- * content octets or the DER encoding: both use the
- * RFC2253 #XXXXX notation.
- */
-
-#define ASN1_STRFLGS_DUMP_DER		0x200
-
-/* All the string flags consistent with RFC2253,
- * escaping control characters isn't essential in
- * RFC2253 but it is advisable anyway.
- */
-
-#define ASN1_STRFLGS_RFC2253	(ASN1_STRFLGS_ESC_2253 | \
-				ASN1_STRFLGS_ESC_CTRL | \
-				ASN1_STRFLGS_ESC_MSB | \
-				ASN1_STRFLGS_UTF8_CONVERT | \
-				ASN1_STRFLGS_DUMP_UNKNOWN | \
-				ASN1_STRFLGS_DUMP_DER)
-
-DECLARE_ASN1_SET_OF(ASN1_INTEGER)
-
-typedef struct asn1_type_st
-	{
-	int type;
-	union	{
-		char *ptr;
-		ASN1_BOOLEAN		boolean;
-		ASN1_STRING *		asn1_string;
-		ASN1_OBJECT *		object;
-		ASN1_INTEGER *		integer;
-		ASN1_ENUMERATED *	enumerated;
-		ASN1_BIT_STRING *	bit_string;
-		ASN1_OCTET_STRING *	octet_string;
-		ASN1_PRINTABLESTRING *	printablestring;
-		ASN1_T61STRING *	t61string;
-		ASN1_IA5STRING *	ia5string;
-		ASN1_GENERALSTRING *	generalstring;
-		ASN1_BMPSTRING *	bmpstring;
-		ASN1_UNIVERSALSTRING *	universalstring;
-		ASN1_UTCTIME *		utctime;
-		ASN1_GENERALIZEDTIME *	generalizedtime;
-		ASN1_VISIBLESTRING *	visiblestring;
-		ASN1_UTF8STRING *	utf8string;
-		/* set and sequence are left complete and still
-		 * contain the set or sequence bytes */
-		ASN1_STRING *		set;
-		ASN1_STRING *		sequence;
-		ASN1_VALUE *		asn1_value;
-		} value;
-	} ASN1_TYPE;
-
-DECLARE_ASN1_SET_OF(ASN1_TYPE)
-
-typedef STACK_OF(ASN1_TYPE) ASN1_SEQUENCE_ANY;
-
-DECLARE_ASN1_ENCODE_FUNCTIONS_const(ASN1_SEQUENCE_ANY, ASN1_SEQUENCE_ANY)
-DECLARE_ASN1_ENCODE_FUNCTIONS_const(ASN1_SEQUENCE_ANY, ASN1_SET_ANY)
-
-struct X509_algor_st
-       {
-       ASN1_OBJECT *algorithm;
-       ASN1_TYPE *parameter;
-       } /* X509_ALGOR */;
-DEFINE_STACK_OF(X509_ALGOR);
-
-DECLARE_ASN1_FUNCTIONS(X509_ALGOR)
-
-typedef struct NETSCAPE_X509_st
-	{
-	ASN1_OCTET_STRING *header;
-	X509 *cert;
-	} NETSCAPE_X509;
-
-/* This is used to contain a list of bit names */
-typedef struct BIT_STRING_BITNAME_st {
-	int bitnum;
-	const char *lname;
-	const char *sname;
-} BIT_STRING_BITNAME;
-
-
-#define M_ASN1_STRING_length(x)	((x)->length)
-#define M_ASN1_STRING_length_set(x, n)	((x)->length = (n))
-#define M_ASN1_STRING_type(x)	((x)->type)
-#define M_ASN1_STRING_data(x)	((x)->data)
-
-/* Macros for string operations */
-#define M_ASN1_BIT_STRING_new()	(ASN1_BIT_STRING *)\
-		ASN1_STRING_type_new(V_ASN1_BIT_STRING)
-#define M_ASN1_BIT_STRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_ASN1_BIT_STRING_dup(a) (ASN1_BIT_STRING *)\
-		ASN1_STRING_dup((const ASN1_STRING *)a)
-#define M_ASN1_BIT_STRING_cmp(a,b) ASN1_STRING_cmp(\
-		(const ASN1_STRING *)a,(const ASN1_STRING *)b)
-#define M_ASN1_BIT_STRING_set(a,b,c) ASN1_STRING_set((ASN1_STRING *)a,b,c)
-
-#define M_ASN1_INTEGER_new()	(ASN1_INTEGER *)\
-		ASN1_STRING_type_new(V_ASN1_INTEGER)
-#define M_ASN1_INTEGER_free(a)		ASN1_STRING_free((ASN1_STRING *)a)
-#define M_ASN1_INTEGER_dup(a) (ASN1_INTEGER *)\
-		ASN1_STRING_dup((const ASN1_STRING *)a)
-#define M_ASN1_INTEGER_cmp(a,b)	ASN1_STRING_cmp(\
-		(const ASN1_STRING *)a,(const ASN1_STRING *)b)
-
-#define M_ASN1_ENUMERATED_new()	(ASN1_ENUMERATED *)\
-		ASN1_STRING_type_new(V_ASN1_ENUMERATED)
-#define M_ASN1_ENUMERATED_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_ASN1_ENUMERATED_dup(a) (ASN1_ENUMERATED *)\
-		ASN1_STRING_dup((const ASN1_STRING *)a)
-#define M_ASN1_ENUMERATED_cmp(a,b)	ASN1_STRING_cmp(\
-		(const ASN1_STRING *)a,(const ASN1_STRING *)b)
-
-#define M_ASN1_OCTET_STRING_new()	(ASN1_OCTET_STRING *)\
-		ASN1_STRING_type_new(V_ASN1_OCTET_STRING)
-#define M_ASN1_OCTET_STRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_ASN1_OCTET_STRING_dup(a) (ASN1_OCTET_STRING *)\
-		ASN1_STRING_dup((const ASN1_STRING *)a)
-#define M_ASN1_OCTET_STRING_cmp(a,b) ASN1_STRING_cmp(\
-		(const ASN1_STRING *)a,(const ASN1_STRING *)b)
-#define M_ASN1_OCTET_STRING_set(a,b,c)	ASN1_STRING_set((ASN1_STRING *)a,b,c)
-#define M_ASN1_OCTET_STRING_print(a,b)	ASN1_STRING_print(a,(ASN1_STRING *)b)
-#define M_i2d_ASN1_OCTET_STRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_OCTET_STRING,\
-		V_ASN1_UNIVERSAL)
-
-#define B_ASN1_TIME \
-			B_ASN1_UTCTIME | \
-			B_ASN1_GENERALIZEDTIME
-
-#define B_ASN1_PRINTABLE \
-			B_ASN1_NUMERICSTRING| \
-			B_ASN1_PRINTABLESTRING| \
-			B_ASN1_T61STRING| \
-			B_ASN1_IA5STRING| \
-			B_ASN1_BIT_STRING| \
-			B_ASN1_UNIVERSALSTRING|\
-			B_ASN1_BMPSTRING|\
-			B_ASN1_UTF8STRING|\
-			B_ASN1_SEQUENCE|\
-			B_ASN1_UNKNOWN
-
-#define B_ASN1_DIRECTORYSTRING \
-			B_ASN1_PRINTABLESTRING| \
-			B_ASN1_TELETEXSTRING|\
-			B_ASN1_BMPSTRING|\
-			B_ASN1_UNIVERSALSTRING|\
-			B_ASN1_UTF8STRING
-
-#define B_ASN1_DISPLAYTEXT \
-			B_ASN1_IA5STRING| \
-			B_ASN1_VISIBLESTRING| \
-			B_ASN1_BMPSTRING|\
-			B_ASN1_UTF8STRING
-
-#define M_ASN1_PRINTABLE_new()	ASN1_STRING_type_new(V_ASN1_T61STRING)
-#define M_ASN1_PRINTABLE_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_ASN1_PRINTABLE(a,pp) i2d_ASN1_bytes((ASN1_STRING *)a,\
-		pp,a->type,V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_PRINTABLE(a,pp,l) \
-		d2i_ASN1_type_bytes((ASN1_STRING **)a,pp,l, \
-			B_ASN1_PRINTABLE)
-
-#define M_DIRECTORYSTRING_new() ASN1_STRING_type_new(V_ASN1_PRINTABLESTRING)
-#define M_DIRECTORYSTRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_DIRECTORYSTRING(a,pp) i2d_ASN1_bytes((ASN1_STRING *)a,\
-						pp,a->type,V_ASN1_UNIVERSAL)
-#define M_d2i_DIRECTORYSTRING(a,pp,l) \
-		d2i_ASN1_type_bytes((ASN1_STRING **)a,pp,l, \
-			B_ASN1_DIRECTORYSTRING)
-
-#define M_DISPLAYTEXT_new() ASN1_STRING_type_new(V_ASN1_VISIBLESTRING)
-#define M_DISPLAYTEXT_free(a) ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_DISPLAYTEXT(a,pp) i2d_ASN1_bytes((ASN1_STRING *)a,\
-						pp,a->type,V_ASN1_UNIVERSAL)
-#define M_d2i_DISPLAYTEXT(a,pp,l) \
-		d2i_ASN1_type_bytes((ASN1_STRING **)a,pp,l, \
-			B_ASN1_DISPLAYTEXT)
-
-#define M_ASN1_PRINTABLESTRING_new() (ASN1_PRINTABLESTRING *)\
-		ASN1_STRING_type_new(V_ASN1_PRINTABLESTRING)
-#define M_ASN1_PRINTABLESTRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_ASN1_PRINTABLESTRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_PRINTABLESTRING,\
-		V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_PRINTABLESTRING(a,pp,l) \
-		(ASN1_PRINTABLESTRING *)d2i_ASN1_type_bytes\
-		((ASN1_STRING **)a,pp,l,B_ASN1_PRINTABLESTRING)
-
-#define M_ASN1_T61STRING_new()	(ASN1_T61STRING *)\
-		ASN1_STRING_type_new(V_ASN1_T61STRING)
-#define M_ASN1_T61STRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_ASN1_T61STRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_T61STRING,\
-		V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_T61STRING(a,pp,l) \
-		(ASN1_T61STRING *)d2i_ASN1_type_bytes\
-		((ASN1_STRING **)a,pp,l,B_ASN1_T61STRING)
-
-#define M_ASN1_IA5STRING_new()	(ASN1_IA5STRING *)\
-		ASN1_STRING_type_new(V_ASN1_IA5STRING)
-#define M_ASN1_IA5STRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_ASN1_IA5STRING_dup(a)	\
-		(ASN1_IA5STRING *)ASN1_STRING_dup((const ASN1_STRING *)a)
-#define M_i2d_ASN1_IA5STRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_IA5STRING,\
-			V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_IA5STRING(a,pp,l) \
-		(ASN1_IA5STRING *)d2i_ASN1_type_bytes((ASN1_STRING **)a,pp,l,\
-			B_ASN1_IA5STRING)
-
-#define M_ASN1_UTCTIME_new()	(ASN1_UTCTIME *)\
-		ASN1_STRING_type_new(V_ASN1_UTCTIME)
-#define M_ASN1_UTCTIME_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_ASN1_UTCTIME_dup(a) (ASN1_UTCTIME *)\
-		ASN1_STRING_dup((const ASN1_STRING *)a)
-
-#define M_ASN1_GENERALIZEDTIME_new()	(ASN1_GENERALIZEDTIME *)\
-		ASN1_STRING_type_new(V_ASN1_GENERALIZEDTIME)
-#define M_ASN1_GENERALIZEDTIME_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_ASN1_GENERALIZEDTIME_dup(a) (ASN1_GENERALIZEDTIME *)ASN1_STRING_dup(\
-	(const ASN1_STRING *)a)
-
-#define M_ASN1_TIME_new()	(ASN1_TIME *)\
-		ASN1_STRING_type_new(V_ASN1_UTCTIME)
-#define M_ASN1_TIME_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_ASN1_TIME_dup(a) (ASN1_TIME *)\
-	ASN1_STRING_dup((const ASN1_STRING *)a)
-
-#define M_ASN1_GENERALSTRING_new()	(ASN1_GENERALSTRING *)\
-		ASN1_STRING_type_new(V_ASN1_GENERALSTRING)
-#define M_ASN1_GENERALSTRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_ASN1_GENERALSTRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_GENERALSTRING,\
-			V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_GENERALSTRING(a,pp,l) \
-		(ASN1_GENERALSTRING *)d2i_ASN1_type_bytes\
-		((ASN1_STRING **)a,pp,l,B_ASN1_GENERALSTRING)
-
-#define M_ASN1_UNIVERSALSTRING_new()	(ASN1_UNIVERSALSTRING *)\
-		ASN1_STRING_type_new(V_ASN1_UNIVERSALSTRING)
-#define M_ASN1_UNIVERSALSTRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_ASN1_UNIVERSALSTRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_UNIVERSALSTRING,\
-			V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_UNIVERSALSTRING(a,pp,l) \
-		(ASN1_UNIVERSALSTRING *)d2i_ASN1_type_bytes\
-		((ASN1_STRING **)a,pp,l,B_ASN1_UNIVERSALSTRING)
-
-#define M_ASN1_BMPSTRING_new()	(ASN1_BMPSTRING *)\
-		ASN1_STRING_type_new(V_ASN1_BMPSTRING)
-#define M_ASN1_BMPSTRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_ASN1_BMPSTRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_BMPSTRING,\
-			V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_BMPSTRING(a,pp,l) \
-		(ASN1_BMPSTRING *)d2i_ASN1_type_bytes\
-		((ASN1_STRING **)a,pp,l,B_ASN1_BMPSTRING)
-
-#define M_ASN1_VISIBLESTRING_new()	(ASN1_VISIBLESTRING *)\
-		ASN1_STRING_type_new(V_ASN1_VISIBLESTRING)
-#define M_ASN1_VISIBLESTRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_ASN1_VISIBLESTRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_VISIBLESTRING,\
-			V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_VISIBLESTRING(a,pp,l) \
-		(ASN1_VISIBLESTRING *)d2i_ASN1_type_bytes\
-		((ASN1_STRING **)a,pp,l,B_ASN1_VISIBLESTRING)
-
-#define M_ASN1_UTF8STRING_new()	(ASN1_UTF8STRING *)\
-		ASN1_STRING_type_new(V_ASN1_UTF8STRING)
-#define M_ASN1_UTF8STRING_free(a)	ASN1_STRING_free((ASN1_STRING *)a)
-#define M_i2d_ASN1_UTF8STRING(a,pp) \
-		i2d_ASN1_bytes((ASN1_STRING *)a,pp,V_ASN1_UTF8STRING,\
-			V_ASN1_UNIVERSAL)
-#define M_d2i_ASN1_UTF8STRING(a,pp,l) \
-		(ASN1_UTF8STRING *)d2i_ASN1_type_bytes\
-		((ASN1_STRING **)a,pp,l,B_ASN1_UTF8STRING)
-
-  /* for the is_set parameter to i2d_ASN1_SET */
-#define IS_SEQUENCE	0
-#define IS_SET		1
-
-DECLARE_ASN1_FUNCTIONS_fname(ASN1_TYPE, ASN1_ANY, ASN1_TYPE)
-
-OPENSSL_EXPORT int ASN1_TYPE_get(ASN1_TYPE *a);
-OPENSSL_EXPORT void ASN1_TYPE_set(ASN1_TYPE *a, int type, void *value);
-OPENSSL_EXPORT int ASN1_TYPE_set1(ASN1_TYPE *a, int type, const void *value);
-OPENSSL_EXPORT int ASN1_TYPE_cmp(const ASN1_TYPE *a, const ASN1_TYPE *b);
-
-OPENSSL_EXPORT ASN1_OBJECT *	ASN1_OBJECT_new(void );
-OPENSSL_EXPORT void		ASN1_OBJECT_free(ASN1_OBJECT *a);
-OPENSSL_EXPORT int		i2d_ASN1_OBJECT(ASN1_OBJECT *a,unsigned char **pp);
-OPENSSL_EXPORT ASN1_OBJECT *	c2i_ASN1_OBJECT(ASN1_OBJECT **a,const unsigned char **pp,
-						long length);
-OPENSSL_EXPORT ASN1_OBJECT *	d2i_ASN1_OBJECT(ASN1_OBJECT **a,const unsigned char **pp,
-						long length);
-
-DECLARE_ASN1_ITEM(ASN1_OBJECT)
-
-DECLARE_ASN1_SET_OF(ASN1_OBJECT)
-
-OPENSSL_EXPORT ASN1_STRING *	ASN1_STRING_new(void);
-OPENSSL_EXPORT void		ASN1_STRING_free(ASN1_STRING *a);
-OPENSSL_EXPORT int		ASN1_STRING_copy(ASN1_STRING *dst, const ASN1_STRING *str);
-OPENSSL_EXPORT ASN1_STRING *	ASN1_STRING_dup(const ASN1_STRING *a);
-OPENSSL_EXPORT ASN1_STRING *	ASN1_STRING_type_new(int type );
-OPENSSL_EXPORT int 		ASN1_STRING_cmp(const ASN1_STRING *a, const ASN1_STRING *b);
-  /* Since this is used to store all sorts of things, via macros, for now, make
-     its data void * */
-OPENSSL_EXPORT int 		ASN1_STRING_set(ASN1_STRING *str, const void *data, int len);
-OPENSSL_EXPORT void		ASN1_STRING_set0(ASN1_STRING *str, void *data, int len);
-OPENSSL_EXPORT int ASN1_STRING_length(const ASN1_STRING *x);
-OPENSSL_EXPORT void ASN1_STRING_length_set(ASN1_STRING *x, int n);
-OPENSSL_EXPORT int ASN1_STRING_type(ASN1_STRING *x);
-OPENSSL_EXPORT unsigned char * ASN1_STRING_data(ASN1_STRING *x);
-
-DECLARE_ASN1_FUNCTIONS(ASN1_BIT_STRING)
-OPENSSL_EXPORT int		i2c_ASN1_BIT_STRING(ASN1_BIT_STRING *a,unsigned char **pp);
-OPENSSL_EXPORT ASN1_BIT_STRING *c2i_ASN1_BIT_STRING(ASN1_BIT_STRING **a,const unsigned char **pp, long length);
-OPENSSL_EXPORT int		ASN1_BIT_STRING_set(ASN1_BIT_STRING *a, unsigned char *d, int length );
-OPENSSL_EXPORT int		ASN1_BIT_STRING_set_bit(ASN1_BIT_STRING *a, int n, int value);
-OPENSSL_EXPORT int		ASN1_BIT_STRING_get_bit(ASN1_BIT_STRING *a, int n);
-OPENSSL_EXPORT int            ASN1_BIT_STRING_check(ASN1_BIT_STRING *a, unsigned char *flags, int flags_len);
-
-OPENSSL_EXPORT int ASN1_BIT_STRING_name_print(BIO *out, ASN1_BIT_STRING *bs, BIT_STRING_BITNAME *tbl, int indent);
-OPENSSL_EXPORT int ASN1_BIT_STRING_num_asc(char *name, BIT_STRING_BITNAME *tbl);
-OPENSSL_EXPORT int ASN1_BIT_STRING_set_asc(ASN1_BIT_STRING *bs, char *name, int value, BIT_STRING_BITNAME *tbl);
-
-OPENSSL_EXPORT int		i2d_ASN1_BOOLEAN(int a,unsigned char **pp);
-OPENSSL_EXPORT int 		d2i_ASN1_BOOLEAN(int *a,const unsigned char **pp,long length);
-
-DECLARE_ASN1_FUNCTIONS(ASN1_INTEGER)
-OPENSSL_EXPORT int		i2c_ASN1_INTEGER(ASN1_INTEGER *a,unsigned char **pp);
-OPENSSL_EXPORT ASN1_INTEGER *c2i_ASN1_INTEGER(ASN1_INTEGER **a,const unsigned char **pp, long length);
-OPENSSL_EXPORT ASN1_INTEGER *d2i_ASN1_UINTEGER(ASN1_INTEGER **a,const unsigned char **pp, long length);
-OPENSSL_EXPORT ASN1_INTEGER *	ASN1_INTEGER_dup(const ASN1_INTEGER *x);
-OPENSSL_EXPORT int ASN1_INTEGER_cmp(const ASN1_INTEGER *x, const ASN1_INTEGER *y);
-
-DECLARE_ASN1_FUNCTIONS(ASN1_ENUMERATED)
-
-OPENSSL_EXPORT int ASN1_UTCTIME_check(const ASN1_UTCTIME *a);
-OPENSSL_EXPORT ASN1_UTCTIME *ASN1_UTCTIME_set(ASN1_UTCTIME *s,time_t t);
-OPENSSL_EXPORT ASN1_UTCTIME *ASN1_UTCTIME_adj(ASN1_UTCTIME *s, time_t t, int offset_day, long offset_sec);
-OPENSSL_EXPORT int ASN1_UTCTIME_set_string(ASN1_UTCTIME *s, const char *str);
-OPENSSL_EXPORT int ASN1_UTCTIME_cmp_time_t(const ASN1_UTCTIME *s, time_t t);
-#if 0
-time_t ASN1_UTCTIME_get(const ASN1_UTCTIME *s);
-#endif
-
-OPENSSL_EXPORT int ASN1_GENERALIZEDTIME_check(const ASN1_GENERALIZEDTIME *a);
-OPENSSL_EXPORT ASN1_GENERALIZEDTIME *ASN1_GENERALIZEDTIME_set(ASN1_GENERALIZEDTIME *s,time_t t);
-OPENSSL_EXPORT ASN1_GENERALIZEDTIME *ASN1_GENERALIZEDTIME_adj(ASN1_GENERALIZEDTIME *s, time_t t, int offset_day, long offset_sec);
-OPENSSL_EXPORT int ASN1_GENERALIZEDTIME_set_string(ASN1_GENERALIZEDTIME *s, const char *str);
-OPENSSL_EXPORT int ASN1_TIME_diff(int *pday, int *psec, const ASN1_TIME *from, const ASN1_TIME *to);
-
-DECLARE_ASN1_FUNCTIONS(ASN1_OCTET_STRING)
-OPENSSL_EXPORT ASN1_OCTET_STRING *	ASN1_OCTET_STRING_dup(const ASN1_OCTET_STRING *a);
-OPENSSL_EXPORT int 	ASN1_OCTET_STRING_cmp(const ASN1_OCTET_STRING *a, const ASN1_OCTET_STRING *b);
-OPENSSL_EXPORT int 	ASN1_OCTET_STRING_set(ASN1_OCTET_STRING *str, const unsigned char *data, int len);
-
-DECLARE_ASN1_FUNCTIONS(ASN1_VISIBLESTRING)
-DECLARE_ASN1_FUNCTIONS(ASN1_UNIVERSALSTRING)
-DECLARE_ASN1_FUNCTIONS(ASN1_UTF8STRING)
-DECLARE_ASN1_FUNCTIONS(ASN1_NULL)
-DECLARE_ASN1_FUNCTIONS(ASN1_BMPSTRING)
-
-OPENSSL_EXPORT int UTF8_getc(const unsigned char *str, int len, unsigned long *val);
-OPENSSL_EXPORT int UTF8_putc(unsigned char *str, int len, unsigned long value);
-
-DECLARE_ASN1_FUNCTIONS_name(ASN1_STRING, ASN1_PRINTABLE)
-
-DECLARE_ASN1_FUNCTIONS_name(ASN1_STRING, DIRECTORYSTRING)
-DECLARE_ASN1_FUNCTIONS_name(ASN1_STRING, DISPLAYTEXT)
-DECLARE_ASN1_FUNCTIONS(ASN1_PRINTABLESTRING)
-DECLARE_ASN1_FUNCTIONS(ASN1_T61STRING)
-DECLARE_ASN1_FUNCTIONS(ASN1_IA5STRING)
-DECLARE_ASN1_FUNCTIONS(ASN1_GENERALSTRING)
-DECLARE_ASN1_FUNCTIONS(ASN1_UTCTIME)
-DECLARE_ASN1_FUNCTIONS(ASN1_GENERALIZEDTIME)
-DECLARE_ASN1_FUNCTIONS(ASN1_TIME)
-
-DECLARE_ASN1_ITEM(ASN1_OCTET_STRING_NDEF)
-
-OPENSSL_EXPORT ASN1_TIME *ASN1_TIME_set(ASN1_TIME *s,time_t t);
-OPENSSL_EXPORT ASN1_TIME *ASN1_TIME_adj(ASN1_TIME *s,time_t t, int offset_day, long offset_sec);
-OPENSSL_EXPORT int ASN1_TIME_check(ASN1_TIME *t);
-OPENSSL_EXPORT ASN1_GENERALIZEDTIME *ASN1_TIME_to_generalizedtime(ASN1_TIME *t, ASN1_GENERALIZEDTIME **out);
-OPENSSL_EXPORT int ASN1_TIME_set_string(ASN1_TIME *s, const char *str);
-
-OPENSSL_EXPORT int i2d_ASN1_SET(STACK_OF(OPENSSL_BLOCK) *a, unsigned char **pp, i2d_of_void *i2d, int ex_tag, int ex_class, int is_set);
-OPENSSL_EXPORT STACK_OF(OPENSSL_BLOCK) *d2i_ASN1_SET(STACK_OF(OPENSSL_BLOCK) **a,
-			      const unsigned char **pp,
-			      long length, d2i_of_void *d2i,
-			      void (*free_func)(OPENSSL_BLOCK), int ex_tag,
-			      int ex_class);
-
-OPENSSL_EXPORT int i2a_ASN1_INTEGER(BIO *bp, ASN1_INTEGER *a);
-OPENSSL_EXPORT int a2i_ASN1_INTEGER(BIO *bp,ASN1_INTEGER *bs,char *buf,int size);
-OPENSSL_EXPORT int i2a_ASN1_ENUMERATED(BIO *bp, ASN1_ENUMERATED *a);
-OPENSSL_EXPORT int a2i_ASN1_ENUMERATED(BIO *bp,ASN1_ENUMERATED *bs,char *buf,int size);
-OPENSSL_EXPORT int i2a_ASN1_OBJECT(BIO *bp,ASN1_OBJECT *a);
-OPENSSL_EXPORT int a2i_ASN1_STRING(BIO *bp,ASN1_STRING *bs,char *buf,int size);
-OPENSSL_EXPORT int i2a_ASN1_STRING(BIO *bp, ASN1_STRING *a, int type);
-OPENSSL_EXPORT int i2t_ASN1_OBJECT(char *buf,int buf_len,ASN1_OBJECT *a);
-
-OPENSSL_EXPORT int a2d_ASN1_OBJECT(unsigned char *out,int olen, const char *buf, int num);
-OPENSSL_EXPORT ASN1_OBJECT *ASN1_OBJECT_create(int nid, unsigned char *data,int len, const char *sn, const char *ln);
-
-OPENSSL_EXPORT int ASN1_INTEGER_set(ASN1_INTEGER *a, long v);
-OPENSSL_EXPORT long ASN1_INTEGER_get(const ASN1_INTEGER *a);
-OPENSSL_EXPORT ASN1_INTEGER *BN_to_ASN1_INTEGER(const BIGNUM *bn, ASN1_INTEGER *ai);
-OPENSSL_EXPORT BIGNUM *ASN1_INTEGER_to_BN(const ASN1_INTEGER *ai,BIGNUM *bn);
-
-OPENSSL_EXPORT int ASN1_ENUMERATED_set(ASN1_ENUMERATED *a, long v);
-OPENSSL_EXPORT long ASN1_ENUMERATED_get(ASN1_ENUMERATED *a);
-OPENSSL_EXPORT ASN1_ENUMERATED *BN_to_ASN1_ENUMERATED(BIGNUM *bn, ASN1_ENUMERATED *ai);
-OPENSSL_EXPORT BIGNUM *ASN1_ENUMERATED_to_BN(ASN1_ENUMERATED *ai,BIGNUM *bn);
-
-/* General */
-/* given a string, return the correct type, max is the maximum length */
-OPENSSL_EXPORT int ASN1_PRINTABLE_type(const unsigned char *s, int max);
-
-OPENSSL_EXPORT int i2d_ASN1_bytes(ASN1_STRING *a, unsigned char **pp, int tag, int xclass);
-OPENSSL_EXPORT ASN1_STRING *d2i_ASN1_bytes(ASN1_STRING **a, const unsigned char **pp, long length, int Ptag, int Pclass);
-OPENSSL_EXPORT unsigned long ASN1_tag2bit(int tag);
-/* type is one or more of the B_ASN1_ values. */
-OPENSSL_EXPORT ASN1_STRING *d2i_ASN1_type_bytes(ASN1_STRING **a,const unsigned char **pp, long length,int type);
-
-/* PARSING */
-OPENSSL_EXPORT int asn1_Finish(ASN1_CTX *c);
-OPENSSL_EXPORT int asn1_const_Finish(ASN1_const_CTX *c);
-
-/* SPECIALS */
-OPENSSL_EXPORT int ASN1_get_object(const unsigned char **pp, long *plength, int *ptag, int *pclass, long omax);
-OPENSSL_EXPORT int ASN1_check_infinite_end(unsigned char **p,long len);
-OPENSSL_EXPORT int ASN1_const_check_infinite_end(const unsigned char **p,long len);
-OPENSSL_EXPORT void ASN1_put_object(unsigned char **pp, int constructed, int length, int tag, int xclass);
-OPENSSL_EXPORT int ASN1_put_eoc(unsigned char **pp);
-OPENSSL_EXPORT int ASN1_object_size(int constructed, int length, int tag);
-
-/* Used to implement other functions */
-OPENSSL_EXPORT void *ASN1_dup(i2d_of_void *i2d, d2i_of_void *d2i, void *x);
-
-#define ASN1_dup_of(type,i2d,d2i,x) \
-    ((type*)ASN1_dup(CHECKED_I2D_OF(type, i2d), \
-		     CHECKED_D2I_OF(type, d2i), \
-		     CHECKED_PTR_OF(type, x)))
-
-#define ASN1_dup_of_const(type,i2d,d2i,x) \
-    ((type*)ASN1_dup(CHECKED_I2D_OF(const type, i2d), \
-		     CHECKED_D2I_OF(type, d2i), \
-		     CHECKED_PTR_OF(const type, x)))
-
-OPENSSL_EXPORT void *ASN1_item_dup(const ASN1_ITEM *it, void *x);
-
-/* ASN1 alloc/free macros for when a type is only used internally */
-
-#define M_ASN1_new_of(type) (type *)ASN1_item_new(ASN1_ITEM_rptr(type))
-#define M_ASN1_free_of(x, type) \
-		ASN1_item_free(CHECKED_PTR_OF(type, x), ASN1_ITEM_rptr(type))
-
-#ifndef OPENSSL_NO_FP_API
-OPENSSL_EXPORT void *ASN1_d2i_fp(void *(*xnew)(void), d2i_of_void *d2i, FILE *in, void **x);
-
-#define ASN1_d2i_fp_of(type,xnew,d2i,in,x) \
-    ((type*)ASN1_d2i_fp(CHECKED_NEW_OF(type, xnew), \
-			CHECKED_D2I_OF(type, d2i), \
-			in, \
-			CHECKED_PPTR_OF(type, x)))
-
-OPENSSL_EXPORT void *ASN1_item_d2i_fp(const ASN1_ITEM *it, FILE *in, void *x);
-OPENSSL_EXPORT int ASN1_i2d_fp(i2d_of_void *i2d,FILE *out,void *x);
-
-#define ASN1_i2d_fp_of(type,i2d,out,x) \
-    (ASN1_i2d_fp(CHECKED_I2D_OF(type, i2d), \
-		 out, \
-		 CHECKED_PTR_OF(type, x)))
-
-#define ASN1_i2d_fp_of_const(type,i2d,out,x) \
-    (ASN1_i2d_fp(CHECKED_I2D_OF(const type, i2d), \
-		 out, \
-		 CHECKED_PTR_OF(const type, x)))
-
-OPENSSL_EXPORT int ASN1_item_i2d_fp(const ASN1_ITEM *it, FILE *out, void *x);
-OPENSSL_EXPORT int ASN1_STRING_print_ex_fp(FILE *fp, ASN1_STRING *str, unsigned long flags);
-#endif
-
-OPENSSL_EXPORT int ASN1_STRING_to_UTF8(unsigned char **out, ASN1_STRING *in);
-
-OPENSSL_EXPORT void *ASN1_d2i_bio(void *(*xnew)(void), d2i_of_void *d2i, BIO *in, void **x);
-
-#define ASN1_d2i_bio_of(type,xnew,d2i,in,x) \
-    ((type*)ASN1_d2i_bio( CHECKED_NEW_OF(type, xnew), \
-			  CHECKED_D2I_OF(type, d2i), \
-			  in, \
-			  CHECKED_PPTR_OF(type, x)))
-
-OPENSSL_EXPORT void *ASN1_item_d2i_bio(const ASN1_ITEM *it, BIO *in, void *x);
-OPENSSL_EXPORT int ASN1_i2d_bio(i2d_of_void *i2d,BIO *out, unsigned char *x);
-
-#define ASN1_i2d_bio_of(type,i2d,out,x) \
-    (ASN1_i2d_bio(CHECKED_I2D_OF(type, i2d), \
-		  out, \
-		  CHECKED_PTR_OF(type, x)))
-
-#define ASN1_i2d_bio_of_const(type,i2d,out,x) \
-    (ASN1_i2d_bio(CHECKED_I2D_OF(const type, i2d), \
-		  out, \
-		  CHECKED_PTR_OF(const type, x)))
-
-OPENSSL_EXPORT int ASN1_item_i2d_bio(const ASN1_ITEM *it, BIO *out, void *x);
-OPENSSL_EXPORT int ASN1_UTCTIME_print(BIO *fp, const ASN1_UTCTIME *a);
-OPENSSL_EXPORT int ASN1_GENERALIZEDTIME_print(BIO *fp, const ASN1_GENERALIZEDTIME *a);
-OPENSSL_EXPORT int ASN1_TIME_print(BIO *fp, const ASN1_TIME *a);
-OPENSSL_EXPORT int ASN1_STRING_print(BIO *bp, const ASN1_STRING *v);
-OPENSSL_EXPORT int ASN1_STRING_print_ex(BIO *out, ASN1_STRING *str, unsigned long flags);
-OPENSSL_EXPORT int ASN1_bn_print(BIO *bp, const char *number, const BIGNUM *num, unsigned char *buf, int off);
-OPENSSL_EXPORT int ASN1_parse(BIO *bp,const unsigned char *pp,long len,int indent);
-OPENSSL_EXPORT int ASN1_parse_dump(BIO *bp,const unsigned char *pp,long len,int indent,int dump);
-OPENSSL_EXPORT const char *ASN1_tag2str(int tag);
-
-/* Used to load and write netscape format cert */
-
-DECLARE_ASN1_FUNCTIONS(NETSCAPE_X509)
-
-int ASN1_UNIVERSALSTRING_to_string(ASN1_UNIVERSALSTRING *s);
-
-OPENSSL_EXPORT STACK_OF(OPENSSL_BLOCK) *ASN1_seq_unpack(const unsigned char *buf, int len, d2i_of_void *d2i, void (*free_func)(OPENSSL_BLOCK));
-OPENSSL_EXPORT unsigned char *ASN1_seq_pack(STACK_OF(OPENSSL_BLOCK) *safes, i2d_of_void *i2d, unsigned char **buf, int *len );
-OPENSSL_EXPORT void *ASN1_unpack_string(ASN1_STRING *oct, d2i_of_void *d2i);
-OPENSSL_EXPORT void *ASN1_item_unpack(ASN1_STRING *oct, const ASN1_ITEM *it);
-OPENSSL_EXPORT ASN1_STRING *ASN1_pack_string(void *obj, i2d_of_void *i2d, ASN1_OCTET_STRING **oct);
-
-#define ASN1_pack_string_of(type,obj,i2d,oct) \
-    (ASN1_pack_string(CHECKED_PTR_OF(type, obj), \
-		      CHECKED_I2D_OF(type, i2d), \
-		      oct))
-
-OPENSSL_EXPORT ASN1_STRING *ASN1_item_pack(void *obj, const ASN1_ITEM *it, ASN1_OCTET_STRING **oct);
-
-OPENSSL_EXPORT void ASN1_STRING_set_default_mask(unsigned long mask);
-OPENSSL_EXPORT int ASN1_STRING_set_default_mask_asc(const char *p);
-OPENSSL_EXPORT unsigned long ASN1_STRING_get_default_mask(void);
-OPENSSL_EXPORT int ASN1_mbstring_copy(ASN1_STRING **out, const unsigned char *in, int len, int inform, unsigned long mask);
-OPENSSL_EXPORT int ASN1_mbstring_ncopy(ASN1_STRING **out, const unsigned char *in, int len, int inform, unsigned long mask, long minsize, long maxsize);
-
-OPENSSL_EXPORT ASN1_STRING *ASN1_STRING_set_by_NID(ASN1_STRING **out, const unsigned char *in, int inlen, int inform, int nid);
-OPENSSL_EXPORT ASN1_STRING_TABLE *ASN1_STRING_TABLE_get(int nid);
-OPENSSL_EXPORT int ASN1_STRING_TABLE_add(int, long, long, unsigned long, unsigned long);
-OPENSSL_EXPORT void ASN1_STRING_TABLE_cleanup(void);
-
-/* ASN1 template functions */
-
-/* Old API compatible functions */
-OPENSSL_EXPORT ASN1_VALUE *ASN1_item_new(const ASN1_ITEM *it);
-OPENSSL_EXPORT void ASN1_item_free(ASN1_VALUE *val, const ASN1_ITEM *it);
-OPENSSL_EXPORT ASN1_VALUE * ASN1_item_d2i(ASN1_VALUE **val, const unsigned char **in, long len, const ASN1_ITEM *it);
-OPENSSL_EXPORT int ASN1_item_i2d(ASN1_VALUE *val, unsigned char **out, const ASN1_ITEM *it);
-OPENSSL_EXPORT int ASN1_item_ndef_i2d(ASN1_VALUE *val, unsigned char **out, const ASN1_ITEM *it);
-
-OPENSSL_EXPORT void ASN1_add_oid_module(void);
-
-OPENSSL_EXPORT ASN1_TYPE *ASN1_generate_nconf(char *str, CONF *nconf);
-OPENSSL_EXPORT ASN1_TYPE *ASN1_generate_v3(char *str, X509V3_CTX *cnf);
-
-/* ASN1 Print flags */
-
-/* Indicate missing OPTIONAL fields */
-#define ASN1_PCTX_FLAGS_SHOW_ABSENT		0x001	
-/* Mark start and end of SEQUENCE */
-#define ASN1_PCTX_FLAGS_SHOW_SEQUENCE		0x002
-/* Mark start and end of SEQUENCE/SET OF */
-#define ASN1_PCTX_FLAGS_SHOW_SSOF		0x004
-/* Show the ASN1 type of primitives */
-#define ASN1_PCTX_FLAGS_SHOW_TYPE		0x008
-/* Don't show ASN1 type of ANY */
-#define ASN1_PCTX_FLAGS_NO_ANY_TYPE		0x010
-/* Don't show ASN1 type of MSTRINGs */
-#define ASN1_PCTX_FLAGS_NO_MSTRING_TYPE		0x020
-/* Don't show field names in SEQUENCE */
-#define ASN1_PCTX_FLAGS_NO_FIELD_NAME		0x040
-/* Show structure names of each SEQUENCE field */
-#define ASN1_PCTX_FLAGS_SHOW_FIELD_STRUCT_NAME	0x080
-/* Don't show structure name even at top level */
-#define ASN1_PCTX_FLAGS_NO_STRUCT_NAME		0x100
-
-OPENSSL_EXPORT int ASN1_item_print(BIO *out, ASN1_VALUE *ifld, int indent, const ASN1_ITEM *it, const ASN1_PCTX *pctx);
-OPENSSL_EXPORT ASN1_PCTX *ASN1_PCTX_new(void);
-OPENSSL_EXPORT void ASN1_PCTX_free(ASN1_PCTX *p);
-OPENSSL_EXPORT unsigned long ASN1_PCTX_get_flags(ASN1_PCTX *p);
-OPENSSL_EXPORT void ASN1_PCTX_set_flags(ASN1_PCTX *p, unsigned long flags);
-OPENSSL_EXPORT unsigned long ASN1_PCTX_get_nm_flags(ASN1_PCTX *p);
-OPENSSL_EXPORT void ASN1_PCTX_set_nm_flags(ASN1_PCTX *p, unsigned long flags);
-OPENSSL_EXPORT unsigned long ASN1_PCTX_get_cert_flags(ASN1_PCTX *p);
-OPENSSL_EXPORT void ASN1_PCTX_set_cert_flags(ASN1_PCTX *p, unsigned long flags);
-OPENSSL_EXPORT unsigned long ASN1_PCTX_get_oid_flags(ASN1_PCTX *p);
-OPENSSL_EXPORT void ASN1_PCTX_set_oid_flags(ASN1_PCTX *p, unsigned long flags);
-OPENSSL_EXPORT unsigned long ASN1_PCTX_get_str_flags(ASN1_PCTX *p);
-OPENSSL_EXPORT void ASN1_PCTX_set_str_flags(ASN1_PCTX *p, unsigned long flags);
-
-OPENSSL_EXPORT const BIO_METHOD *BIO_f_asn1(void);
-
-OPENSSL_EXPORT BIO *BIO_new_NDEF(BIO *out, ASN1_VALUE *val, const ASN1_ITEM *it);
-
-OPENSSL_EXPORT int i2d_ASN1_bio_stream(BIO *out, ASN1_VALUE *val, BIO *in, int flags, const ASN1_ITEM *it);
-OPENSSL_EXPORT int PEM_write_bio_ASN1_stream(BIO *out, ASN1_VALUE *val, BIO *in, int flags, const char *hdr, const ASN1_ITEM *it);
-OPENSSL_EXPORT ASN1_VALUE *SMIME_read_ASN1(BIO *bio, BIO **bcont, const ASN1_ITEM *it);
-OPENSSL_EXPORT int SMIME_crlf_copy(BIO *in, BIO *out, int flags);
-OPENSSL_EXPORT int SMIME_text(BIO *in, BIO *out);
-
-/* BEGIN ERROR CODES */
-/* The following lines are auto generated by the script mkerr.pl. Any changes
- * made after this point may be overwritten when the script is next run.
- */
-void ERR_load_ASN1_strings(void);
-
-typedef int asn1_ps_func(BIO *b, unsigned char **pbuf, int *plen, void *parg);
-OPENSSL_EXPORT int BIO_asn1_set_prefix(BIO *b, asn1_ps_func *prefix, asn1_ps_func *prefix_free);
-OPENSSL_EXPORT int BIO_asn1_get_prefix(BIO *b, asn1_ps_func **pprefix, asn1_ps_func **pprefix_free);
-OPENSSL_EXPORT int BIO_asn1_set_suffix(BIO *b, asn1_ps_func *suffix, asn1_ps_func *suffix_free);
-OPENSSL_EXPORT int BIO_asn1_get_suffix(BIO *b, asn1_ps_func **psuffix, asn1_ps_func **psuffix_free);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#define ASN1_F_ASN1_BIT_STRING_set_bit 100
-#define ASN1_F_ASN1_ENUMERATED_set 101
-#define ASN1_F_ASN1_ENUMERATED_to_BN 102
-#define ASN1_F_ASN1_GENERALIZEDTIME_adj 103
-#define ASN1_F_ASN1_INTEGER_set 104
-#define ASN1_F_ASN1_INTEGER_to_BN 105
-#define ASN1_F_ASN1_OBJECT_new 106
-#define ASN1_F_ASN1_PCTX_new 107
-#define ASN1_F_ASN1_STRING_TABLE_add 108
-#define ASN1_F_ASN1_STRING_set 109
-#define ASN1_F_ASN1_STRING_type_new 110
-#define ASN1_F_ASN1_TIME_adj 111
-#define ASN1_F_ASN1_UTCTIME_adj 112
-#define ASN1_F_ASN1_d2i_fp 113
-#define ASN1_F_ASN1_dup 114
-#define ASN1_F_ASN1_generate_v3 115
-#define ASN1_F_ASN1_get_object 116
-#define ASN1_F_ASN1_i2d_bio 117
-#define ASN1_F_ASN1_i2d_fp 118
-#define ASN1_F_ASN1_item_d2i_fp 119
-#define ASN1_F_ASN1_item_dup 120
-#define ASN1_F_ASN1_item_ex_d2i 121
-#define ASN1_F_ASN1_item_i2d_bio 122
-#define ASN1_F_ASN1_item_i2d_fp 123
-#define ASN1_F_ASN1_item_pack 124
-#define ASN1_F_ASN1_item_unpack 125
-#define ASN1_F_ASN1_mbstring_ncopy 126
-#define ASN1_F_ASN1_template_new 127
-#define ASN1_F_BIO_new_NDEF 128
-#define ASN1_F_BN_to_ASN1_ENUMERATED 129
-#define ASN1_F_BN_to_ASN1_INTEGER 130
-#define ASN1_F_a2d_ASN1_OBJECT 131
-#define ASN1_F_a2i_ASN1_ENUMERATED 132
-#define ASN1_F_a2i_ASN1_INTEGER 133
-#define ASN1_F_a2i_ASN1_STRING 134
-#define ASN1_F_append_exp 135
-#define ASN1_F_asn1_cb 136
-#define ASN1_F_asn1_check_tlen 137
-#define ASN1_F_asn1_collate_primitive 138
-#define ASN1_F_asn1_collect 139
-#define ASN1_F_asn1_d2i_ex_primitive 140
-#define ASN1_F_asn1_d2i_read_bio 141
-#define ASN1_F_asn1_do_adb 142
-#define ASN1_F_asn1_ex_c2i 143
-#define ASN1_F_asn1_find_end 144
-#define ASN1_F_asn1_item_ex_combine_new 145
-#define ASN1_F_asn1_str2type 146
-#define ASN1_F_asn1_template_ex_d2i 147
-#define ASN1_F_asn1_template_noexp_d2i 148
-#define ASN1_F_bitstr_cb 149
-#define ASN1_F_c2i_ASN1_BIT_STRING 150
-#define ASN1_F_c2i_ASN1_INTEGER 151
-#define ASN1_F_c2i_ASN1_OBJECT 152
-#define ASN1_F_collect_data 153
-#define ASN1_F_d2i_ASN1_BOOLEAN 154
-#define ASN1_F_d2i_ASN1_OBJECT 155
-#define ASN1_F_d2i_ASN1_UINTEGER 156
-#define ASN1_F_d2i_ASN1_UTCTIME 157
-#define ASN1_F_d2i_ASN1_bytes 158
-#define ASN1_F_d2i_ASN1_type_bytes 159
-#define ASN1_F_i2d_ASN1_TIME 160
-#define ASN1_F_i2d_PrivateKey 161
-#define ASN1_F_long_c2i 162
-#define ASN1_F_parse_tagging 163
-#define ASN1_R_ASN1_LENGTH_MISMATCH 100
-#define ASN1_R_AUX_ERROR 101
-#define ASN1_R_BAD_GET_ASN1_OBJECT_CALL 102
-#define ASN1_R_BAD_OBJECT_HEADER 103
-#define ASN1_R_BMPSTRING_IS_WRONG_LENGTH 104
-#define ASN1_R_BN_LIB 105
-#define ASN1_R_BOOLEAN_IS_WRONG_LENGTH 106
-#define ASN1_R_BUFFER_TOO_SMALL 107
-#define ASN1_R_DECODE_ERROR 108
-#define ASN1_R_DEPTH_EXCEEDED 109
-#define ASN1_R_ENCODE_ERROR 110
-#define ASN1_R_ERROR_GETTING_TIME 111
-#define ASN1_R_EXPECTING_AN_ASN1_SEQUENCE 112
-#define ASN1_R_EXPECTING_AN_INTEGER 113
-#define ASN1_R_EXPECTING_AN_OBJECT 114
-#define ASN1_R_EXPECTING_A_BOOLEAN 115
-#define ASN1_R_EXPECTING_A_TIME 116
-#define ASN1_R_EXPLICIT_LENGTH_MISMATCH 117
-#define ASN1_R_EXPLICIT_TAG_NOT_CONSTRUCTED 118
-#define ASN1_R_FIELD_MISSING 119
-#define ASN1_R_FIRST_NUM_TOO_LARGE 120
-#define ASN1_R_HEADER_TOO_LONG 121
-#define ASN1_R_ILLEGAL_BITSTRING_FORMAT 122
-#define ASN1_R_ILLEGAL_BOOLEAN 123
-#define ASN1_R_ILLEGAL_CHARACTERS 124
-#define ASN1_R_ILLEGAL_FORMAT 125
-#define ASN1_R_ILLEGAL_HEX 126
-#define ASN1_R_ILLEGAL_IMPLICIT_TAG 127
-#define ASN1_R_ILLEGAL_INTEGER 128
-#define ASN1_R_ILLEGAL_NESTED_TAGGING 129
-#define ASN1_R_ILLEGAL_NULL 130
-#define ASN1_R_ILLEGAL_NULL_VALUE 131
-#define ASN1_R_ILLEGAL_OBJECT 132
-#define ASN1_R_ILLEGAL_OPTIONAL_ANY 133
-#define ASN1_R_ILLEGAL_OPTIONS_ON_ITEM_TEMPLATE 134
-#define ASN1_R_ILLEGAL_TAGGED_ANY 135
-#define ASN1_R_ILLEGAL_TIME_VALUE 136
-#define ASN1_R_INTEGER_NOT_ASCII_FORMAT 137
-#define ASN1_R_INTEGER_TOO_LARGE_FOR_LONG 138
-#define ASN1_R_INVALID_BIT_STRING_BITS_LEFT 139
-#define ASN1_R_INVALID_BMPSTRING_LENGTH 140
-#define ASN1_R_INVALID_DIGIT 141
-#define ASN1_R_INVALID_MODIFIER 142
-#define ASN1_R_INVALID_NUMBER 143
-#define ASN1_R_INVALID_OBJECT_ENCODING 144
-#define ASN1_R_INVALID_SEPARATOR 145
-#define ASN1_R_INVALID_TIME_FORMAT 146
-#define ASN1_R_INVALID_UNIVERSALSTRING_LENGTH 147
-#define ASN1_R_INVALID_UTF8STRING 148
-#define ASN1_R_LIST_ERROR 149
-#define ASN1_R_MALLOC_FAILURE 150
-#define ASN1_R_MISSING_ASN1_EOS 151
-#define ASN1_R_MISSING_EOC 152
-#define ASN1_R_MISSING_SECOND_NUMBER 153
-#define ASN1_R_MISSING_VALUE 154
-#define ASN1_R_MSTRING_NOT_UNIVERSAL 155
-#define ASN1_R_MSTRING_WRONG_TAG 156
-#define ASN1_R_NESTED_ASN1_ERROR 157
-#define ASN1_R_NESTED_ASN1_STRING 158
-#define ASN1_R_NON_HEX_CHARACTERS 159
-#define ASN1_R_NOT_ASCII_FORMAT 160
-#define ASN1_R_NOT_ENOUGH_DATA 161
-#define ASN1_R_NO_MATCHING_CHOICE_TYPE 162
-#define ASN1_R_NULL_IS_WRONG_LENGTH 163
-#define ASN1_R_OBJECT_NOT_ASCII_FORMAT 164
-#define ASN1_R_ODD_NUMBER_OF_CHARS 165
-#define ASN1_R_SECOND_NUMBER_TOO_LARGE 166
-#define ASN1_R_SEQUENCE_LENGTH_MISMATCH 167
-#define ASN1_R_SEQUENCE_NOT_CONSTRUCTED 168
-#define ASN1_R_SEQUENCE_OR_SET_NEEDS_CONFIG 169
-#define ASN1_R_SHORT_LINE 170
-#define ASN1_R_STREAMING_NOT_SUPPORTED 171
-#define ASN1_R_STRING_TOO_LONG 172
-#define ASN1_R_STRING_TOO_SHORT 173
-#define ASN1_R_TAG_VALUE_TOO_HIGH 174
-#define ASN1_R_TIME_NOT_ASCII_FORMAT 175
-#define ASN1_R_TOO_LONG 176
-#define ASN1_R_TYPE_NOT_CONSTRUCTED 177
-#define ASN1_R_TYPE_NOT_PRIMITIVE 178
-#define ASN1_R_UNEXPECTED_EOC 179
-#define ASN1_R_UNIVERSALSTRING_IS_WRONG_LENGTH 180
-#define ASN1_R_UNKNOWN_FORMAT 181
-#define ASN1_R_UNKNOWN_TAG 182
-#define ASN1_R_UNSUPPORTED_ANY_DEFINED_BY_TYPE 183
-#define ASN1_R_UNSUPPORTED_PUBLIC_KEY_TYPE 184
-#define ASN1_R_UNSUPPORTED_TYPE 185
-#define ASN1_R_WRONG_TAG 186
-#define ASN1_R_WRONG_TYPE 187
-
-#endif
diff --git a/phonelibs/boringssl/include/openssl/asn1_mac.h b/phonelibs/boringssl/include/openssl/asn1_mac.h
deleted file mode 100644
index 49b2a286b77020..00000000000000
--- a/phonelibs/boringssl/include/openssl/asn1_mac.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/* crypto/asn1/asn1_mac.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- * 
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- * 
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from 
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- * 
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- * 
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-
-#ifndef HEADER_ASN1_MAC_H
-#define HEADER_ASN1_MAC_H
-
-#include <openssl/asn1.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-OPENSSL_EXPORT int asn1_GetSequence(ASN1_const_CTX *c, long *length);
-
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif
diff --git a/phonelibs/boringssl/include/openssl/asn1t.h b/phonelibs/boringssl/include/openssl/asn1t.h
deleted file mode 100644
index 0f2560b7156396..00000000000000
--- a/phonelibs/boringssl/include/openssl/asn1t.h
+++ /dev/null
@@ -1,907 +0,0 @@
-/* asn1t.h */
-/* Written by Dr Stephen N Henson (steve@openssl.org) for the OpenSSL
- * project 2000.
- */
-/* ====================================================================
- * Copyright (c) 2000-2005 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer. 
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.OpenSSL.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    licensing@OpenSSL.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.OpenSSL.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-#ifndef HEADER_ASN1T_H
-#define HEADER_ASN1T_H
-
-#include <openssl/base.h>
-#include <openssl/asn1.h>
-
-#ifdef OPENSSL_BUILD_SHLIBCRYPTO
-# undef OPENSSL_EXTERN
-# define OPENSSL_EXTERN OPENSSL_EXPORT
-#endif
-
-/* ASN1 template defines, structures and functions */
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-/* Macro to obtain ASN1_ADB pointer from a type (only used internally) */
-#define ASN1_ADB_ptr(iptr) ((const ASN1_ADB *)(iptr))
-
-
-/* Macros for start and end of ASN1_ITEM definition */
-
-#define ASN1_ITEM_start(itname) \
-	const ASN1_ITEM itname##_it = {
-
-#define ASN1_ITEM_end(itname) \
-		};
-
-/* Macros to aid ASN1 template writing */
-
-#define ASN1_ITEM_TEMPLATE(tname) \
-	static const ASN1_TEMPLATE tname##_item_tt 
-
-#define ASN1_ITEM_TEMPLATE_END(tname) \
-	;\
-	ASN1_ITEM_start(tname) \
-		ASN1_ITYPE_PRIMITIVE,\
-		-1,\
-		&tname##_item_tt,\
-		0,\
-		NULL,\
-		0,\
-		#tname \
-	ASN1_ITEM_end(tname)
-
-
-/* This is a ASN1 type which just embeds a template */
- 
-/* This pair helps declare a SEQUENCE. We can do:
- *
- * 	ASN1_SEQUENCE(stname) = {
- * 		... SEQUENCE components ...
- * 	} ASN1_SEQUENCE_END(stname)
- *
- * 	This will produce an ASN1_ITEM called stname_it
- *	for a structure called stname.
- *
- * 	If you want the same structure but a different
- *	name then use:
- *
- * 	ASN1_SEQUENCE(itname) = {
- * 		... SEQUENCE components ...
- * 	} ASN1_SEQUENCE_END_name(stname, itname)
- *
- *	This will create an item called itname_it using
- *	a structure called stname.
- */
-
-#define ASN1_SEQUENCE(tname) \
-	static const ASN1_TEMPLATE tname##_seq_tt[] 
-
-#define ASN1_SEQUENCE_END(stname) ASN1_SEQUENCE_END_name(stname, stname)
-
-#define ASN1_SEQUENCE_END_name(stname, tname) \
-	;\
-	ASN1_ITEM_start(tname) \
-		ASN1_ITYPE_SEQUENCE,\
-		V_ASN1_SEQUENCE,\
-		tname##_seq_tt,\
-		sizeof(tname##_seq_tt) / sizeof(ASN1_TEMPLATE),\
-		NULL,\
-		sizeof(stname),\
-		#stname \
-	ASN1_ITEM_end(tname)
-
-#define ASN1_NDEF_SEQUENCE(tname) \
-	ASN1_SEQUENCE(tname)
-
-#define ASN1_NDEF_SEQUENCE_cb(tname, cb) \
-	ASN1_SEQUENCE_cb(tname, cb)
-
-#define ASN1_SEQUENCE_cb(tname, cb) \
-	static const ASN1_AUX tname##_aux = {NULL, 0, 0, cb, 0}; \
-	ASN1_SEQUENCE(tname)
-
-#define ASN1_BROKEN_SEQUENCE(tname) \
-	static const ASN1_AUX tname##_aux = {NULL, ASN1_AFLG_BROKEN, 0, 0, 0}; \
-	ASN1_SEQUENCE(tname)
-
-#define ASN1_SEQUENCE_ref(tname, cb) \
-	static const ASN1_AUX tname##_aux = {NULL, ASN1_AFLG_REFCOUNT, offsetof(tname, references), cb, 0}; \
-	ASN1_SEQUENCE(tname)
-
-#define ASN1_SEQUENCE_enc(tname, enc, cb) \
-	static const ASN1_AUX tname##_aux = {NULL, ASN1_AFLG_ENCODING, 0, cb, offsetof(tname, enc)}; \
-	ASN1_SEQUENCE(tname)
-
-#define ASN1_NDEF_SEQUENCE_END(tname) \
-	;\
-	ASN1_ITEM_start(tname) \
-		ASN1_ITYPE_NDEF_SEQUENCE,\
-		V_ASN1_SEQUENCE,\
-		tname##_seq_tt,\
-		sizeof(tname##_seq_tt) / sizeof(ASN1_TEMPLATE),\
-		NULL,\
-		sizeof(tname),\
-		#tname \
-	ASN1_ITEM_end(tname)
-
-#define ASN1_BROKEN_SEQUENCE_END(stname) ASN1_SEQUENCE_END_ref(stname, stname)
-
-#define ASN1_SEQUENCE_END_enc(stname, tname) ASN1_SEQUENCE_END_ref(stname, tname)
-
-#define ASN1_SEQUENCE_END_cb(stname, tname) ASN1_SEQUENCE_END_ref(stname, tname)
-
-#define ASN1_SEQUENCE_END_ref(stname, tname) \
-	;\
-	ASN1_ITEM_start(tname) \
-		ASN1_ITYPE_SEQUENCE,\
-		V_ASN1_SEQUENCE,\
-		tname##_seq_tt,\
-		sizeof(tname##_seq_tt) / sizeof(ASN1_TEMPLATE),\
-		&tname##_aux,\
-		sizeof(stname),\
-		#stname \
-	ASN1_ITEM_end(tname)
-
-#define ASN1_NDEF_SEQUENCE_END_cb(stname, tname) \
-	;\
-	ASN1_ITEM_start(tname) \
-		ASN1_ITYPE_NDEF_SEQUENCE,\
-		V_ASN1_SEQUENCE,\
-		tname##_seq_tt,\
-		sizeof(tname##_seq_tt) / sizeof(ASN1_TEMPLATE),\
-		&tname##_aux,\
-		sizeof(stname),\
-		#stname \
-	ASN1_ITEM_end(tname)
-
-
-/* This pair helps declare a CHOICE type. We can do:
- *
- * 	ASN1_CHOICE(chname) = {
- * 		... CHOICE options ...
- * 	ASN1_CHOICE_END(chname)
- *
- * 	This will produce an ASN1_ITEM called chname_it
- *	for a structure called chname. The structure
- *	definition must look like this:
- *	typedef struct {
- *		int type;
- *		union {
- *			ASN1_SOMETHING *opt1;
- *			ASN1_SOMEOTHER *opt2;
- *		} value;
- *	} chname;
- *	
- *	the name of the selector must be 'type'.
- * 	to use an alternative selector name use the
- *      ASN1_CHOICE_END_selector() version.
- */
-
-#define ASN1_CHOICE(tname) \
-	static const ASN1_TEMPLATE tname##_ch_tt[] 
-
-#define ASN1_CHOICE_cb(tname, cb) \
-	static const ASN1_AUX tname##_aux = {NULL, 0, 0, cb, 0}; \
-	ASN1_CHOICE(tname)
-
-#define ASN1_CHOICE_END(stname) ASN1_CHOICE_END_name(stname, stname)
-
-#define ASN1_CHOICE_END_name(stname, tname) ASN1_CHOICE_END_selector(stname, tname, type)
-
-#define ASN1_CHOICE_END_selector(stname, tname, selname) \
-	;\
-	ASN1_ITEM_start(tname) \
-		ASN1_ITYPE_CHOICE,\
-		offsetof(stname,selname) ,\
-		tname##_ch_tt,\
-		sizeof(tname##_ch_tt) / sizeof(ASN1_TEMPLATE),\
-		NULL,\
-		sizeof(stname),\
-		#stname \
-	ASN1_ITEM_end(tname)
-
-#define ASN1_CHOICE_END_cb(stname, tname, selname) \
-	;\
-	ASN1_ITEM_start(tname) \
-		ASN1_ITYPE_CHOICE,\
-		offsetof(stname,selname) ,\
-		tname##_ch_tt,\
-		sizeof(tname##_ch_tt) / sizeof(ASN1_TEMPLATE),\
-		&tname##_aux,\
-		sizeof(stname),\
-		#stname \
-	ASN1_ITEM_end(tname)
-
-/* This helps with the template wrapper form of ASN1_ITEM */
-
-#define ASN1_EX_TEMPLATE_TYPE(flags, tag, name, type) { \
-	(flags), (tag), 0,\
-	#name, ASN1_ITEM_ref(type) }
-
-/* These help with SEQUENCE or CHOICE components */
-
-/* used to declare other types */
-
-#define ASN1_EX_TYPE(flags, tag, stname, field, type) { \
-	(flags), (tag), offsetof(stname, field),\
-	#field, ASN1_ITEM_ref(type) }
-
-/* used when the structure is combined with the parent */
-
-#define ASN1_EX_COMBINE(flags, tag, type) { \
-	(flags)|ASN1_TFLG_COMBINE, (tag), 0, NULL, ASN1_ITEM_ref(type) }
-
-/* implicit and explicit helper macros */
-
-#define ASN1_IMP_EX(stname, field, type, tag, ex) \
-		ASN1_EX_TYPE(ASN1_TFLG_IMPLICIT | ex, tag, stname, field, type)
-
-#define ASN1_EXP_EX(stname, field, type, tag, ex) \
-		ASN1_EX_TYPE(ASN1_TFLG_EXPLICIT | ex, tag, stname, field, type)
-
-/* Any defined by macros: the field used is in the table itself */
-
-#define ASN1_ADB_OBJECT(tblname) { ASN1_TFLG_ADB_OID, -1, 0, #tblname, (const ASN1_ITEM *)&(tblname##_adb) }
-#define ASN1_ADB_INTEGER(tblname) { ASN1_TFLG_ADB_INT, -1, 0, #tblname, (const ASN1_ITEM *)&(tblname##_adb) }
-/* Plain simple type */
-#define ASN1_SIMPLE(stname, field, type) ASN1_EX_TYPE(0,0, stname, field, type)
-
-/* OPTIONAL simple type */
-#define ASN1_OPT(stname, field, type) ASN1_EX_TYPE(ASN1_TFLG_OPTIONAL, 0, stname, field, type)
-
-/* IMPLICIT tagged simple type */
-#define ASN1_IMP(stname, field, type, tag) ASN1_IMP_EX(stname, field, type, tag, 0)
-
-/* IMPLICIT tagged OPTIONAL simple type */
-#define ASN1_IMP_OPT(stname, field, type, tag) ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_OPTIONAL)
-
-/* Same as above but EXPLICIT */
-
-#define ASN1_EXP(stname, field, type, tag) ASN1_EXP_EX(stname, field, type, tag, 0)
-#define ASN1_EXP_OPT(stname, field, type, tag) ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_OPTIONAL)
-
-/* SEQUENCE OF type */
-#define ASN1_SEQUENCE_OF(stname, field, type) \
-		ASN1_EX_TYPE(ASN1_TFLG_SEQUENCE_OF, 0, stname, field, type)
-
-/* OPTIONAL SEQUENCE OF */
-#define ASN1_SEQUENCE_OF_OPT(stname, field, type) \
-		ASN1_EX_TYPE(ASN1_TFLG_SEQUENCE_OF|ASN1_TFLG_OPTIONAL, 0, stname, field, type)
-
-/* Same as above but for SET OF */
-
-#define ASN1_SET_OF(stname, field, type) \
-		ASN1_EX_TYPE(ASN1_TFLG_SET_OF, 0, stname, field, type)
-
-#define ASN1_SET_OF_OPT(stname, field, type) \
-		ASN1_EX_TYPE(ASN1_TFLG_SET_OF|ASN1_TFLG_OPTIONAL, 0, stname, field, type)
-
-/* Finally compound types of SEQUENCE, SET, IMPLICIT, EXPLICIT and OPTIONAL */
-
-#define ASN1_IMP_SET_OF(stname, field, type, tag) \
-			ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_SET_OF)
-
-#define ASN1_EXP_SET_OF(stname, field, type, tag) \
-			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_SET_OF)
-
-#define ASN1_IMP_SET_OF_OPT(stname, field, type, tag) \
-			ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_SET_OF|ASN1_TFLG_OPTIONAL)
-
-#define ASN1_EXP_SET_OF_OPT(stname, field, type, tag) \
-			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_SET_OF|ASN1_TFLG_OPTIONAL)
-
-#define ASN1_IMP_SEQUENCE_OF(stname, field, type, tag) \
-			ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_SEQUENCE_OF)
-
-#define ASN1_IMP_SEQUENCE_OF_OPT(stname, field, type, tag) \
-			ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_SEQUENCE_OF|ASN1_TFLG_OPTIONAL)
-
-#define ASN1_EXP_SEQUENCE_OF(stname, field, type, tag) \
-			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_SEQUENCE_OF)
-
-#define ASN1_EXP_SEQUENCE_OF_OPT(stname, field, type, tag) \
-			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_SEQUENCE_OF|ASN1_TFLG_OPTIONAL)
-
-/* EXPLICIT using indefinite length constructed form */
-#define ASN1_NDEF_EXP(stname, field, type, tag) \
-			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_NDEF)
-
-/* EXPLICIT OPTIONAL using indefinite length constructed form */
-#define ASN1_NDEF_EXP_OPT(stname, field, type, tag) \
-			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_OPTIONAL|ASN1_TFLG_NDEF)
-
-/* Macros for the ASN1_ADB structure */
-
-#define ASN1_ADB(name) \
-	static const ASN1_ADB_TABLE name##_adbtbl[] 
-
-#define ASN1_ADB_END(name, flags, field, app_table, def, none) \
-	;\
-	static const ASN1_ADB name##_adb = {\
-		flags,\
-		offsetof(name, field),\
-		app_table,\
-		name##_adbtbl,\
-		sizeof(name##_adbtbl) / sizeof(ASN1_ADB_TABLE),\
-		def,\
-		none\
-	}
-
-#define ADB_ENTRY(val, template) {val, template}
-
-#define ASN1_ADB_TEMPLATE(name) \
-	static const ASN1_TEMPLATE name##_tt 
-
-/* This is the ASN1 template structure that defines
- * a wrapper round the actual type. It determines the
- * actual position of the field in the value structure,
- * various flags such as OPTIONAL and the field name.
- */
-
-struct ASN1_TEMPLATE_st {
-unsigned long flags;		/* Various flags */
-long tag;			/* tag, not used if no tagging */
-unsigned long offset;		/* Offset of this field in structure */
-#ifndef NO_ASN1_FIELD_NAMES
-const char *field_name;		/* Field name */
-#endif
-ASN1_ITEM_EXP *item;		/* Relevant ASN1_ITEM or ASN1_ADB */
-};
-
-/* Macro to extract ASN1_ITEM and ASN1_ADB pointer from ASN1_TEMPLATE */
-
-#define ASN1_TEMPLATE_item(t) (t->item_ptr)
-#define ASN1_TEMPLATE_adb(t) (t->item_ptr)
-
-typedef struct ASN1_ADB_TABLE_st ASN1_ADB_TABLE;
-typedef struct ASN1_ADB_st ASN1_ADB;
-
-struct ASN1_ADB_st {
-	unsigned long flags;	/* Various flags */
-	unsigned long offset;	/* Offset of selector field */
-	STACK_OF(ASN1_ADB_TABLE) **app_items; /* Application defined items */
-	const ASN1_ADB_TABLE *tbl;	/* Table of possible types */
-	long tblcount;		/* Number of entries in tbl */
-	const ASN1_TEMPLATE *default_tt;  /* Type to use if no match */
-	const ASN1_TEMPLATE *null_tt;  /* Type to use if selector is NULL */
-};
-
-struct ASN1_ADB_TABLE_st {
-	long value;		/* NID for an object or value for an int */
-	const ASN1_TEMPLATE tt;		/* item for this value */
-};
-
-/* template flags */
-
-/* Field is optional */
-#define ASN1_TFLG_OPTIONAL	(0x1)
-
-/* Field is a SET OF */
-#define ASN1_TFLG_SET_OF	(0x1 << 1)
-
-/* Field is a SEQUENCE OF */
-#define ASN1_TFLG_SEQUENCE_OF	(0x2 << 1)
-
-/* Special case: this refers to a SET OF that
- * will be sorted into DER order when encoded *and*
- * the corresponding STACK will be modified to match
- * the new order.
- */
-#define ASN1_TFLG_SET_ORDER	(0x3 << 1)
-
-/* Mask for SET OF or SEQUENCE OF */
-#define ASN1_TFLG_SK_MASK	(0x3 << 1)
-
-/* These flags mean the tag should be taken from the
- * tag field. If EXPLICIT then the underlying type
- * is used for the inner tag.
- */
-
-/* IMPLICIT tagging */
-#define ASN1_TFLG_IMPTAG	(0x1 << 3)
-
-
-/* EXPLICIT tagging, inner tag from underlying type */
-#define ASN1_TFLG_EXPTAG	(0x2 << 3)
-
-#define ASN1_TFLG_TAG_MASK	(0x3 << 3)
-
-/* context specific IMPLICIT */
-#define ASN1_TFLG_IMPLICIT	ASN1_TFLG_IMPTAG|ASN1_TFLG_CONTEXT
-
-/* context specific EXPLICIT */
-#define ASN1_TFLG_EXPLICIT	ASN1_TFLG_EXPTAG|ASN1_TFLG_CONTEXT
-
-/* If tagging is in force these determine the
- * type of tag to use. Otherwise the tag is
- * determined by the underlying type. These 
- * values reflect the actual octet format.
- */
-
-/* Universal tag */ 
-#define ASN1_TFLG_UNIVERSAL	(0x0<<6)
-/* Application tag */ 
-#define ASN1_TFLG_APPLICATION	(0x1<<6)
-/* Context specific tag */ 
-#define ASN1_TFLG_CONTEXT	(0x2<<6)
-/* Private tag */ 
-#define ASN1_TFLG_PRIVATE	(0x3<<6)
-
-#define ASN1_TFLG_TAG_CLASS	(0x3<<6)
-
-/* These are for ANY DEFINED BY type. In this case
- * the 'item' field points to an ASN1_ADB structure
- * which contains a table of values to decode the
- * relevant type
- */
-
-#define ASN1_TFLG_ADB_MASK	(0x3<<8)
-
-#define ASN1_TFLG_ADB_OID	(0x1<<8)
-
-#define ASN1_TFLG_ADB_INT	(0x1<<9)
-
-/* This flag means a parent structure is passed
- * instead of the field: this is useful is a
- * SEQUENCE is being combined with a CHOICE for
- * example. Since this means the structure and
- * item name will differ we need to use the
- * ASN1_CHOICE_END_name() macro for example.
- */
-
-#define ASN1_TFLG_COMBINE	(0x1<<10)
-
-/* This flag when present in a SEQUENCE OF, SET OF
- * or EXPLICIT causes indefinite length constructed
- * encoding to be used if required.
- */
-
-#define ASN1_TFLG_NDEF		(0x1<<11)
-
-/* This is the actual ASN1 item itself */
-
-struct ASN1_ITEM_st {
-char itype;			/* The item type, primitive, SEQUENCE, CHOICE or extern */
-long utype;			/* underlying type */
-const ASN1_TEMPLATE *templates;	/* If SEQUENCE or CHOICE this contains the contents */
-long tcount;			/* Number of templates if SEQUENCE or CHOICE */
-const void *funcs;		/* functions that handle this type */
-long size;			/* Structure size (usually)*/
-#ifndef NO_ASN1_FIELD_NAMES
-const char *sname;		/* Structure name */
-#endif
-};
-
-/* These are values for the itype field and
- * determine how the type is interpreted.
- *
- * For PRIMITIVE types the underlying type
- * determines the behaviour if items is NULL.
- *
- * Otherwise templates must contain a single 
- * template and the type is treated in the
- * same way as the type specified in the template.
- *
- * For SEQUENCE types the templates field points
- * to the members, the size field is the
- * structure size.
- *
- * For CHOICE types the templates field points
- * to each possible member (typically a union)
- * and the 'size' field is the offset of the
- * selector.
- *
- * The 'funcs' field is used for application
- * specific functions. 
- *
- * For COMPAT types the funcs field gives a
- * set of functions that handle this type, this
- * supports the old d2i, i2d convention.
- *
- * The EXTERN type uses a new style d2i/i2d.
- * The new style should be used where possible
- * because it avoids things like the d2i IMPLICIT
- * hack.
- *
- * MSTRING is a multiple string type, it is used
- * for a CHOICE of character strings where the
- * actual strings all occupy an ASN1_STRING
- * structure. In this case the 'utype' field
- * has a special meaning, it is used as a mask
- * of acceptable types using the B_ASN1 constants.
- *
- * NDEF_SEQUENCE is the same as SEQUENCE except
- * that it will use indefinite length constructed
- * encoding if requested.
- *
- */
-
-#define ASN1_ITYPE_PRIMITIVE		0x0
-
-#define ASN1_ITYPE_SEQUENCE		0x1
-
-#define ASN1_ITYPE_CHOICE		0x2
-
-#define ASN1_ITYPE_COMPAT		0x3
-
-#define ASN1_ITYPE_EXTERN		0x4
-
-#define ASN1_ITYPE_MSTRING		0x5
-
-#define ASN1_ITYPE_NDEF_SEQUENCE	0x6
-
-/* Cache for ASN1 tag and length, so we
- * don't keep re-reading it for things
- * like CHOICE
- */
-
-struct ASN1_TLC_st{
-	char valid;	/* Values below are valid */
-	int ret;	/* return value */
-	long plen;	/* length */
-	int ptag;	/* class value */
-	int pclass;	/* class value */
-	int hdrlen;	/* header length */
-};
-
-/* Typedefs for ASN1 function pointers */
-
-typedef ASN1_VALUE * ASN1_new_func(void);
-typedef void ASN1_free_func(ASN1_VALUE *a);
-typedef ASN1_VALUE * ASN1_d2i_func(ASN1_VALUE **a, const unsigned char ** in, long length);
-typedef int ASN1_i2d_func(ASN1_VALUE * a, unsigned char **in);
-
-typedef int ASN1_ex_d2i(ASN1_VALUE **pval, const unsigned char **in, long len, const ASN1_ITEM *it,
-					int tag, int aclass, char opt, ASN1_TLC *ctx);
-
-typedef int ASN1_ex_i2d(ASN1_VALUE **pval, unsigned char **out, const ASN1_ITEM *it, int tag, int aclass);
-typedef int ASN1_ex_new_func(ASN1_VALUE **pval, const ASN1_ITEM *it);
-typedef void ASN1_ex_free_func(ASN1_VALUE **pval, const ASN1_ITEM *it);
-
-typedef int ASN1_ex_print_func(BIO *out, ASN1_VALUE **pval, 
-						int indent, const char *fname, 
-						const ASN1_PCTX *pctx);
-
-typedef int ASN1_primitive_i2c(ASN1_VALUE **pval, unsigned char *cont, int *putype, const ASN1_ITEM *it);
-typedef int ASN1_primitive_c2i(ASN1_VALUE **pval, const unsigned char *cont, int len, int utype, char *free_cont, const ASN1_ITEM *it);
-typedef int ASN1_primitive_print(BIO *out, ASN1_VALUE **pval, const ASN1_ITEM *it, int indent, const ASN1_PCTX *pctx);
-
-typedef struct ASN1_COMPAT_FUNCS_st {
-	ASN1_new_func *asn1_new;
-	ASN1_free_func *asn1_free;
-	ASN1_d2i_func *asn1_d2i;
-	ASN1_i2d_func *asn1_i2d;
-} ASN1_COMPAT_FUNCS;
-
-typedef struct ASN1_EXTERN_FUNCS_st {
-	void *app_data;
-	ASN1_ex_new_func *asn1_ex_new;
-	ASN1_ex_free_func *asn1_ex_free;
-	ASN1_ex_free_func *asn1_ex_clear;
-	ASN1_ex_d2i *asn1_ex_d2i;
-	ASN1_ex_i2d *asn1_ex_i2d;
-	ASN1_ex_print_func *asn1_ex_print;
-} ASN1_EXTERN_FUNCS;
-
-typedef struct ASN1_PRIMITIVE_FUNCS_st {
-	void *app_data;
-	unsigned long flags;
-	ASN1_ex_new_func *prim_new;
-	ASN1_ex_free_func *prim_free;
-	ASN1_ex_free_func *prim_clear;
-	ASN1_primitive_c2i *prim_c2i;
-	ASN1_primitive_i2c *prim_i2c;
-	ASN1_primitive_print *prim_print;
-} ASN1_PRIMITIVE_FUNCS;
-
-/* This is the ASN1_AUX structure: it handles various
- * miscellaneous requirements. For example the use of
- * reference counts and an informational callback.
- *
- * The "informational callback" is called at various
- * points during the ASN1 encoding and decoding. It can
- * be used to provide minor customisation of the structures
- * used. This is most useful where the supplied routines
- * *almost* do the right thing but need some extra help
- * at a few points. If the callback returns zero then
- * it is assumed a fatal error has occurred and the 
- * main operation should be abandoned.
- *
- * If major changes in the default behaviour are required
- * then an external type is more appropriate.
- */
-
-typedef int ASN1_aux_cb(int operation, ASN1_VALUE **in, const ASN1_ITEM *it,
-				void *exarg);
-
-typedef struct ASN1_AUX_st {
-	void *app_data;
-	int flags;
-	int ref_offset;		/* Offset of reference value */
-	ASN1_aux_cb *asn1_cb;
-	int enc_offset;		/* Offset of ASN1_ENCODING structure */
-} ASN1_AUX;
-
-/* For print related callbacks exarg points to this structure */
-typedef struct ASN1_PRINT_ARG_st {
-	BIO *out;
-	int indent;
-	const ASN1_PCTX *pctx;
-} ASN1_PRINT_ARG;
-
-/* For streaming related callbacks exarg points to this structure */
-typedef struct ASN1_STREAM_ARG_st {
-	/* BIO to stream through */
-	BIO *out;
-	/* BIO with filters appended */
-	BIO *ndef_bio;
-	/* Streaming I/O boundary */
-	unsigned char **boundary;
-} ASN1_STREAM_ARG;
-
-/* Flags in ASN1_AUX */
-
-/* Use a reference count */
-#define ASN1_AFLG_REFCOUNT	1
-/* Save the encoding of structure (useful for signatures) */
-#define ASN1_AFLG_ENCODING	2
-/* The Sequence length is invalid */
-#define ASN1_AFLG_BROKEN	4
-
-/* operation values for asn1_cb */
-
-#define ASN1_OP_NEW_PRE		0
-#define ASN1_OP_NEW_POST	1
-#define ASN1_OP_FREE_PRE	2
-#define ASN1_OP_FREE_POST	3
-#define ASN1_OP_D2I_PRE		4
-#define ASN1_OP_D2I_POST	5
-#define ASN1_OP_I2D_PRE		6
-#define ASN1_OP_I2D_POST	7
-#define ASN1_OP_PRINT_PRE	8
-#define ASN1_OP_PRINT_POST	9
-#define ASN1_OP_STREAM_PRE	10
-#define ASN1_OP_STREAM_POST	11
-#define ASN1_OP_DETACHED_PRE	12
-#define ASN1_OP_DETACHED_POST	13
-
-/* Macro to implement a primitive type */
-#define IMPLEMENT_ASN1_TYPE(stname) IMPLEMENT_ASN1_TYPE_ex(stname, stname, 0)
-#define IMPLEMENT_ASN1_TYPE_ex(itname, vname, ex) \
-				ASN1_ITEM_start(itname) \
-					ASN1_ITYPE_PRIMITIVE, V_##vname, NULL, 0, NULL, ex, #itname \
-				ASN1_ITEM_end(itname)
-
-/* Macro to implement a multi string type */
-#define IMPLEMENT_ASN1_MSTRING(itname, mask) \
-				ASN1_ITEM_start(itname) \
-					ASN1_ITYPE_MSTRING, mask, NULL, 0, NULL, sizeof(ASN1_STRING), #itname \
-				ASN1_ITEM_end(itname)
-
-/* Macro to implement an ASN1_ITEM in terms of old style funcs */
-
-#define IMPLEMENT_COMPAT_ASN1(sname) IMPLEMENT_COMPAT_ASN1_type(sname, V_ASN1_SEQUENCE)
-
-#define IMPLEMENT_COMPAT_ASN1_type(sname, tag) \
-	static const ASN1_COMPAT_FUNCS sname##_ff = { \
-		(ASN1_new_func *)sname##_new, \
-		(ASN1_free_func *)sname##_free, \
-		(ASN1_d2i_func *)d2i_##sname, \
-		(ASN1_i2d_func *)i2d_##sname, \
-	}; \
-	ASN1_ITEM_start(sname) \
-		ASN1_ITYPE_COMPAT, \
-		tag, \
-		NULL, \
-		0, \
-		&sname##_ff, \
-		0, \
-		#sname \
-	ASN1_ITEM_end(sname)
-
-#define IMPLEMENT_EXTERN_ASN1(sname, tag, fptrs) \
-	ASN1_ITEM_start(sname) \
-		ASN1_ITYPE_EXTERN, \
-		tag, \
-		NULL, \
-		0, \
-		&fptrs, \
-		0, \
-		#sname \
-	ASN1_ITEM_end(sname)
-
-/* Macro to implement standard functions in terms of ASN1_ITEM structures */
-
-#define IMPLEMENT_ASN1_FUNCTIONS(stname) IMPLEMENT_ASN1_FUNCTIONS_fname(stname, stname, stname)
-
-#define IMPLEMENT_ASN1_FUNCTIONS_name(stname, itname) IMPLEMENT_ASN1_FUNCTIONS_fname(stname, itname, itname)
-
-#define IMPLEMENT_ASN1_FUNCTIONS_ENCODE_name(stname, itname) \
-			IMPLEMENT_ASN1_FUNCTIONS_ENCODE_fname(stname, itname, itname)
-
-#define IMPLEMENT_STATIC_ASN1_ALLOC_FUNCTIONS(stname) \
-		IMPLEMENT_ASN1_ALLOC_FUNCTIONS_pfname(static, stname, stname, stname)
-
-#define IMPLEMENT_ASN1_ALLOC_FUNCTIONS(stname) \
-		IMPLEMENT_ASN1_ALLOC_FUNCTIONS_fname(stname, stname, stname)
-
-#define IMPLEMENT_ASN1_ALLOC_FUNCTIONS_pfname(pre, stname, itname, fname) \
-	pre stname *fname##_new(void) \
-	{ \
-		return (stname *)ASN1_item_new(ASN1_ITEM_rptr(itname)); \
-	} \
-	pre void fname##_free(stname *a) \
-	{ \
-		ASN1_item_free((ASN1_VALUE *)a, ASN1_ITEM_rptr(itname)); \
-	}
-
-#define IMPLEMENT_ASN1_ALLOC_FUNCTIONS_fname(stname, itname, fname) \
-	stname *fname##_new(void) \
-	{ \
-		return (stname *)ASN1_item_new(ASN1_ITEM_rptr(itname)); \
-	} \
-	void fname##_free(stname *a) \
-	{ \
-		ASN1_item_free((ASN1_VALUE *)a, ASN1_ITEM_rptr(itname)); \
-	}
-
-#define IMPLEMENT_ASN1_FUNCTIONS_fname(stname, itname, fname) \
-	IMPLEMENT_ASN1_ENCODE_FUNCTIONS_fname(stname, itname, fname) \
-	IMPLEMENT_ASN1_ALLOC_FUNCTIONS_fname(stname, itname, fname)
-
-#define IMPLEMENT_ASN1_ENCODE_FUNCTIONS_fname(stname, itname, fname) \
-	stname *d2i_##fname(stname **a, const unsigned char **in, long len) \
-	{ \
-		return (stname *)ASN1_item_d2i((ASN1_VALUE **)a, in, len, ASN1_ITEM_rptr(itname));\
-	} \
-	int i2d_##fname(stname *a, unsigned char **out) \
-	{ \
-		return ASN1_item_i2d((ASN1_VALUE *)a, out, ASN1_ITEM_rptr(itname));\
-	} 
-
-#define IMPLEMENT_ASN1_NDEF_FUNCTION(stname) \
-	int i2d_##stname##_NDEF(stname *a, unsigned char **out) \
-	{ \
-		return ASN1_item_ndef_i2d((ASN1_VALUE *)a, out, ASN1_ITEM_rptr(stname));\
-	} 
-
-/* This includes evil casts to remove const: they will go away when full
- * ASN1 constification is done.
- */
-#define IMPLEMENT_ASN1_ENCODE_FUNCTIONS_const_fname(stname, itname, fname) \
-	stname *d2i_##fname(stname **a, const unsigned char **in, long len) \
-	{ \
-		return (stname *)ASN1_item_d2i((ASN1_VALUE **)a, in, len, ASN1_ITEM_rptr(itname));\
-	} \
-	int i2d_##fname(const stname *a, unsigned char **out) \
-	{ \
-		return ASN1_item_i2d((ASN1_VALUE *)a, out, ASN1_ITEM_rptr(itname));\
-	} 
-
-#define IMPLEMENT_ASN1_DUP_FUNCTION(stname) \
-	stname * stname##_dup(stname *x) \
-        { \
-        return ASN1_item_dup(ASN1_ITEM_rptr(stname), x); \
-        }
-
-#define IMPLEMENT_ASN1_PRINT_FUNCTION(stname) \
-	IMPLEMENT_ASN1_PRINT_FUNCTION_fname(stname, stname, stname)
-
-#define IMPLEMENT_ASN1_PRINT_FUNCTION_fname(stname, itname, fname) \
-	int fname##_print_ctx(BIO *out, stname *x, int indent, \
-						const ASN1_PCTX *pctx) \
-	{ \
-		return ASN1_item_print(out, (ASN1_VALUE *)x, indent, \
-			ASN1_ITEM_rptr(itname), pctx); \
-	} 
-
-#define IMPLEMENT_ASN1_FUNCTIONS_const(name) \
-		IMPLEMENT_ASN1_FUNCTIONS_const_fname(name, name, name)
-
-#define IMPLEMENT_ASN1_FUNCTIONS_const_fname(stname, itname, fname) \
-	IMPLEMENT_ASN1_ENCODE_FUNCTIONS_const_fname(stname, itname, fname) \
-	IMPLEMENT_ASN1_ALLOC_FUNCTIONS_fname(stname, itname, fname)
-
-/* external definitions for primitive types */
-
-DECLARE_ASN1_ITEM(ASN1_BOOLEAN)
-DECLARE_ASN1_ITEM(ASN1_TBOOLEAN)
-DECLARE_ASN1_ITEM(ASN1_FBOOLEAN)
-DECLARE_ASN1_ITEM(ASN1_SEQUENCE)
-DECLARE_ASN1_ITEM(CBIGNUM)
-DECLARE_ASN1_ITEM(BIGNUM)
-DECLARE_ASN1_ITEM(LONG)
-DECLARE_ASN1_ITEM(ZLONG)
-
-DECLARE_STACK_OF(ASN1_VALUE)
-
-/* Functions used internally by the ASN1 code */
-
-int ASN1_item_ex_new(ASN1_VALUE **pval, const ASN1_ITEM *it);
-void ASN1_item_ex_free(ASN1_VALUE **pval, const ASN1_ITEM *it);
-int ASN1_template_new(ASN1_VALUE **pval, const ASN1_TEMPLATE *tt);
-int ASN1_primitive_new(ASN1_VALUE **pval, const ASN1_ITEM *it);
-
-void ASN1_template_free(ASN1_VALUE **pval, const ASN1_TEMPLATE *tt);
-int ASN1_template_d2i(ASN1_VALUE **pval, const unsigned char **in, long len, const ASN1_TEMPLATE *tt);
-int ASN1_item_ex_d2i(ASN1_VALUE **pval, const unsigned char **in, long len, const ASN1_ITEM *it,
-				int tag, int aclass, char opt, ASN1_TLC *ctx);
-
-int ASN1_item_ex_i2d(ASN1_VALUE **pval, unsigned char **out, const ASN1_ITEM *it, int tag, int aclass);
-int ASN1_template_i2d(ASN1_VALUE **pval, unsigned char **out, const ASN1_TEMPLATE *tt);
-void ASN1_primitive_free(ASN1_VALUE **pval, const ASN1_ITEM *it);
-
-int asn1_ex_i2c(ASN1_VALUE **pval, unsigned char *cont, int *putype, const ASN1_ITEM *it);
-int asn1_ex_c2i(ASN1_VALUE **pval, const unsigned char *cont, int len, int utype, char *free_cont, const ASN1_ITEM *it);
-
-int asn1_get_choice_selector(ASN1_VALUE **pval, const ASN1_ITEM *it);
-int asn1_set_choice_selector(ASN1_VALUE **pval, int value, const ASN1_ITEM *it);
-
-ASN1_VALUE ** asn1_get_field_ptr(ASN1_VALUE **pval, const ASN1_TEMPLATE *tt);
-
-const ASN1_TEMPLATE *asn1_do_adb(ASN1_VALUE **pval, const ASN1_TEMPLATE *tt, int nullerr);
-
-void asn1_refcount_set_one(ASN1_VALUE **pval, const ASN1_ITEM *it);
-int asn1_refcount_dec_and_test_zero(ASN1_VALUE **pval, const ASN1_ITEM *it);
-
-void asn1_enc_init(ASN1_VALUE **pval, const ASN1_ITEM *it);
-void asn1_enc_free(ASN1_VALUE **pval, const ASN1_ITEM *it);
-int asn1_enc_restore(int *len, unsigned char **out, ASN1_VALUE **pval, const ASN1_ITEM *it);
-int asn1_enc_save(ASN1_VALUE **pval, const unsigned char *in, int inlen, const ASN1_ITEM *it);
-
-#ifdef  __cplusplus
-}
-#endif
-#endif
diff --git a/phonelibs/boringssl/include/openssl/base.h b/phonelibs/boringssl/include/openssl/base.h
deleted file mode 100644
index b769ad5348c08a..00000000000000
--- a/phonelibs/boringssl/include/openssl/base.h
+++ /dev/null
@@ -1,233 +0,0 @@
-/* ====================================================================
- * Copyright (c) 1998-2001 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer. 
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef OPENSSL_HEADER_BASE_H
-#define OPENSSL_HEADER_BASE_H
-
-
-/* This file should be the first included by all BoringSSL headers. */
-
-#include <stddef.h>
-#include <stdint.h>
-#include <sys/types.h>
-
-#include <openssl/opensslfeatures.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-#if defined(__x86_64) || defined(_M_AMD64) || defined(_M_X64)
-#define OPENSSL_64_BIT
-#define OPENSSL_X86_64
-#elif defined(__x86) || defined(__i386) || defined(__i386__) || defined(_M_IX86)
-#define OPENSSL_32_BIT
-#define OPENSSL_X86
-#elif defined(__aarch64__)
-#define OPENSSL_64_BIT
-#define OPENSSL_AARCH64
-#elif defined(__arm) || defined(__arm__) || defined(_M_ARM)
-#define OPENSSL_32_BIT
-#define OPENSSL_ARM
-#elif defined(__aarch64__)
-#define OPENSSL_64_BIT
-#define OPENSSL_AARCH64
-#elif defined(__mips__) && !defined(__LP64__)
-#define OPENSSL_32_BIT
-#define OPENSSL_MIPS
-#elif defined(__mips__) && defined(__LP64__)
-#define OPENSSL_64_BIT
-#define OPENSSL_MIPS64
-#elif defined(__pnacl__)
-#define OPENSSL_32_BIT
-#define OPENSSL_PNACL
-#else
-#error "Unknown target CPU"
-#endif
-
-#if defined(__APPLE__)
-#define OPENSSL_APPLE
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-#define OPENSSL_WINDOWS
-#endif
-
-#if defined(TRUSTY)
-#define OPENSSL_TRUSTY
-#define OPENSSL_NO_THREADS
-#endif
-
-#define OPENSSL_IS_BORINGSSL
-#define OPENSSL_VERSION_NUMBER 0x10002000
-
-#if defined(BORINGSSL_SHARED_LIBRARY)
-
-#if defined(OPENSSL_WINDOWS)
-
-#if defined(BORINGSSL_IMPLEMENTATION)
-#define OPENSSL_EXPORT __declspec(dllexport)
-#else
-#define OPENSSL_EXPORT __declspec(dllimport)
-#endif
-
-#else  /* defined(OPENSSL_WINDOWS) */
-
-#if defined(BORINGSSL_IMPLEMENTATION)
-#define OPENSSL_EXPORT __attribute__((visibility("default")))
-#else
-#define OPENSSL_EXPORT
-#endif
-
-#endif  /* defined(OPENSSL_WINDOWS) */
-
-#else  /* defined(BORINGSSL_SHARED_LIBRARY) */
-
-#define OPENSSL_EXPORT
-
-#endif  /* defined(BORINGSSL_SHARED_LIBRARY) */
-
-/* CRYPTO_THREADID is a dummy value. */
-typedef int CRYPTO_THREADID;
-
-typedef int ASN1_BOOLEAN;
-typedef int ASN1_NULL;
-typedef struct ASN1_ITEM_st ASN1_ITEM;
-typedef struct asn1_object_st ASN1_OBJECT;
-typedef struct asn1_pctx_st ASN1_PCTX;
-typedef struct asn1_string_st ASN1_BIT_STRING;
-typedef struct asn1_string_st ASN1_BMPSTRING;
-typedef struct asn1_string_st ASN1_ENUMERATED;
-typedef struct asn1_string_st ASN1_GENERALIZEDTIME;
-typedef struct asn1_string_st ASN1_GENERALSTRING;
-typedef struct asn1_string_st ASN1_IA5STRING;
-typedef struct asn1_string_st ASN1_INTEGER;
-typedef struct asn1_string_st ASN1_OCTET_STRING;
-typedef struct asn1_string_st ASN1_PRINTABLESTRING;
-typedef struct asn1_string_st ASN1_STRING;
-typedef struct asn1_string_st ASN1_T61STRING;
-typedef struct asn1_string_st ASN1_TIME;
-typedef struct asn1_string_st ASN1_UNIVERSALSTRING;
-typedef struct asn1_string_st ASN1_UTCTIME;
-typedef struct asn1_string_st ASN1_UTF8STRING;
-typedef struct asn1_string_st ASN1_VISIBLESTRING;
-
-typedef struct AUTHORITY_KEYID_st AUTHORITY_KEYID;
-typedef struct DIST_POINT_st DIST_POINT;
-typedef struct ISSUING_DIST_POINT_st ISSUING_DIST_POINT;
-typedef struct NAME_CONSTRAINTS_st NAME_CONSTRAINTS;
-typedef struct X509_POLICY_CACHE_st X509_POLICY_CACHE;
-typedef struct X509_POLICY_LEVEL_st X509_POLICY_LEVEL;
-typedef struct X509_POLICY_NODE_st X509_POLICY_NODE;
-typedef struct X509_POLICY_TREE_st X509_POLICY_TREE;
-typedef struct X509_algor_st X509_ALGOR;
-typedef struct X509_crl_st X509_CRL;
-typedef struct X509_pubkey_st X509_PUBKEY;
-typedef struct bignum_ctx BN_CTX;
-typedef struct bignum_st BIGNUM;
-typedef struct bio_method_st BIO_METHOD;
-typedef struct bio_st BIO;
-typedef struct bn_gencb_st BN_GENCB;
-typedef struct bn_mont_ctx_st BN_MONT_CTX;
-typedef struct buf_mem_st BUF_MEM;
-typedef struct cbb_st CBB;
-typedef struct cbs_st CBS;
-typedef struct cmac_ctx_st CMAC_CTX;
-typedef struct conf_st CONF;
-typedef struct conf_value_st CONF_VALUE;
-typedef struct dh_method DH_METHOD;
-typedef struct dh_st DH;
-typedef struct dsa_method DSA_METHOD;
-typedef struct dsa_st DSA;
-typedef struct ec_key_st EC_KEY;
-typedef struct ecdsa_method_st ECDSA_METHOD;
-typedef struct ecdsa_sig_st ECDSA_SIG;
-typedef struct engine_st ENGINE;
-typedef struct env_md_ctx_st EVP_MD_CTX;
-typedef struct env_md_st EVP_MD;
-typedef struct evp_aead_st EVP_AEAD;
-typedef struct evp_cipher_ctx_st EVP_CIPHER_CTX;
-typedef struct evp_cipher_st EVP_CIPHER;
-typedef struct evp_pkey_asn1_method_st EVP_PKEY_ASN1_METHOD;
-typedef struct evp_pkey_ctx_st EVP_PKEY_CTX;
-typedef struct evp_pkey_method_st EVP_PKEY_METHOD;
-typedef struct evp_pkey_st EVP_PKEY;
-typedef struct hmac_ctx_st HMAC_CTX;
-typedef struct md4_state_st MD4_CTX;
-typedef struct md5_state_st MD5_CTX;
-typedef struct pkcs8_priv_key_info_st PKCS8_PRIV_KEY_INFO;
-typedef struct pkcs12_st PKCS12;
-typedef struct rand_meth_st RAND_METHOD;
-typedef struct rc4_key_st RC4_KEY;
-typedef struct rsa_meth_st RSA_METHOD;
-typedef struct rsa_st RSA;
-typedef struct sha256_state_st SHA256_CTX;
-typedef struct sha512_state_st SHA512_CTX;
-typedef struct sha_state_st SHA_CTX;
-typedef struct ssl_ctx_st SSL_CTX;
-typedef struct ssl_st SSL;
-typedef struct st_ERR_FNS ERR_FNS;
-typedef struct v3_ext_ctx X509V3_CTX;
-typedef struct x509_crl_method_st X509_CRL_METHOD;
-typedef struct x509_revoked_st X509_REVOKED;
-typedef struct x509_st X509;
-typedef struct x509_store_ctx_st X509_STORE_CTX;
-typedef struct x509_store_st X509_STORE;
-typedef void *OPENSSL_BLOCK;
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_BASE_H */
diff --git a/phonelibs/boringssl/include/openssl/base64.h b/phonelibs/boringssl/include/openssl/base64.h
deleted file mode 100644
index 7aee9907f9239b..00000000000000
--- a/phonelibs/boringssl/include/openssl/base64.h
+++ /dev/null
@@ -1,179 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_BASE64_H
-#define OPENSSL_HEADER_BASE64_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* base64 functions.
- *
- * For historical reasons, these functions have the EVP_ prefix but just do
- * base64 encoding and decoding. */
-
-
-typedef struct evp_encode_ctx_st EVP_ENCODE_CTX;
-
-
-/* Encoding */
-
-/* EVP_EncodeInit initialises |*ctx|, which is typically stack
- * allocated, for an encoding operation.
- *
- * NOTE: The encoding operation breaks its output with newlines every
- * 64 characters of output (48 characters of input). Use
- * EVP_EncodeBlock to encode raw base64. */
-OPENSSL_EXPORT void EVP_EncodeInit(EVP_ENCODE_CTX *ctx);
-
-/* EVP_EncodeUpdate encodes |in_len| bytes from |in| and writes an encoded
- * version of them to |out| and sets |*out_len| to the number of bytes written.
- * Some state may be contained in |ctx| so |EVP_EncodeFinal| must be used to
- * flush it before using the encoded data. */
-OPENSSL_EXPORT void EVP_EncodeUpdate(EVP_ENCODE_CTX *ctx, uint8_t *out,
-                                     int *out_len, const uint8_t *in,
-                                     size_t in_len);
-
-/* EVP_EncodeFinal flushes any remaining output bytes from |ctx| to |out| and
- * sets |*out_len| to the number of bytes written. */
-OPENSSL_EXPORT void EVP_EncodeFinal(EVP_ENCODE_CTX *ctx, uint8_t *out,
-                                    int *out_len);
-
-/* EVP_EncodeBlock encodes |src_len| bytes from |src| and writes the
- * result to |dst| with a trailing NUL. It returns the number of bytes
- * written, not including this trailing NUL. */
-OPENSSL_EXPORT size_t EVP_EncodeBlock(uint8_t *dst, const uint8_t *src,
-                                      size_t src_len);
-
-/* EVP_EncodedLength sets |*out_len| to the number of bytes that will be needed
- * to call |EVP_EncodeBlock| on an input of length |len|. This includes the
- * final NUL that |EVP_EncodeBlock| writes. It returns one on success or zero
- * on error. */
-OPENSSL_EXPORT int EVP_EncodedLength(size_t *out_len, size_t len);
-
-
-/* Decoding */
-
-/* EVP_DecodedLength sets |*out_len| to the maximum number of bytes
- * that will be needed to call |EVP_DecodeBase64| on an input of
- * length |len|. */
-OPENSSL_EXPORT int EVP_DecodedLength(size_t *out_len, size_t len);
-
-/* EVP_DecodeBase64 decodes |in_len| bytes from base64 and writes
- * |*out_len| bytes to |out|. |max_out| is the size of the output
- * buffer. If it is not enough for the maximum output size, the
- * operation fails. */
-OPENSSL_EXPORT int EVP_DecodeBase64(uint8_t *out, size_t *out_len,
-                                    size_t max_out, const uint8_t *in,
-                                    size_t in_len);
-
-/* EVP_DecodeInit initialises |*ctx|, which is typically stack allocated, for
- * a decoding operation.
- *
- * TODO(davidben): This isn't a straight-up base64 decode either. Document
- * and/or fix exactly what's going on here; maximum line length and such. */
-OPENSSL_EXPORT void EVP_DecodeInit(EVP_ENCODE_CTX *ctx);
-
-/* EVP_DecodeUpdate decodes |in_len| bytes from |in| and writes the decoded
- * data to |out| and sets |*out_len| to the number of bytes written. Some state
- * may be contained in |ctx| so |EVP_DecodeFinal| must be used to flush it
- * before using the encoded data.
- *
- * It returns -1 on error, one if a full line of input was processed and zero
- * if the line was short (i.e. it was the last line). */
-OPENSSL_EXPORT int EVP_DecodeUpdate(EVP_ENCODE_CTX *ctx, uint8_t *out,
-                                    int *out_len, const uint8_t *in,
-                                    size_t in_len);
-
-/* EVP_DecodeFinal flushes any remaining output bytes from |ctx| to |out| and
- * sets |*out_len| to the number of bytes written. It returns one on success
- * and minus one on error. */
-OPENSSL_EXPORT int EVP_DecodeFinal(EVP_ENCODE_CTX *ctx, uint8_t *out,
-                                   int *out_len);
-
-/* Deprecated: EVP_DecodeBlock encodes |src_len| bytes from |src| and
- * writes the result to |dst|. It returns the number of bytes written
- * or -1 on error.
- *
- * WARNING: EVP_DecodeBlock's return value does not take padding into
- * account. It also strips leading whitespace and trailing
- * whitespace. */
-OPENSSL_EXPORT int EVP_DecodeBlock(uint8_t *dst, const uint8_t *src,
-                                   size_t src_len);
-
-
-struct evp_encode_ctx_st {
-  unsigned num;    /* number saved in a partial encode/decode */
-  unsigned length; /* The length is either the output line length
-               * (in input bytes) or the shortest input line
-               * length that is ok.  Once decoding begins,
-               * the length is adjusted up each time a longer
-               * line is decoded */
-  uint8_t enc_data[80]; /* data to encode */
-  unsigned line_num;    /* number read on current line */
-  int expect_nl;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_BASE64_H */
diff --git a/phonelibs/boringssl/include/openssl/bio.h b/phonelibs/boringssl/include/openssl/bio.h
deleted file mode 100644
index 872465750b5aa7..00000000000000
--- a/phonelibs/boringssl/include/openssl/bio.h
+++ /dev/null
@@ -1,910 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_BIO_H
-#define OPENSSL_HEADER_BIO_H
-
-#include <openssl/base.h>
-
-#include <stdio.h>  /* For FILE */
-
-#include <openssl/err.h> /* for ERR_print_errors_fp */
-#include <openssl/ex_data.h>
-#include <openssl/stack.h>
-#include <openssl/thread.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* BIO abstracts over a file-descriptor like interface. */
-
-
-/* Allocation and freeing. */
-
-DEFINE_STACK_OF(BIO);
-
-/* BIO_new creates a new BIO with the given type and a reference count of one.
- * It returns the fresh |BIO|, or NULL on error. */
-OPENSSL_EXPORT BIO *BIO_new(const BIO_METHOD *type);
-
-/* BIO_free decrements the reference count of |bio|. If the reference count
- * drops to zero, it (optionally) calls the BIO's callback with |BIO_CB_FREE|,
- * frees the ex_data and then, if the BIO has a destroy callback for the
- * method, calls it. Finally it frees |bio| itself. It then repeats that for
- * the next BIO in the chain, if any.
- *
- * It returns one on success or zero otherwise. */
-OPENSSL_EXPORT int BIO_free(BIO *bio);
-
-/* BIO_vfree performs the same actions as |BIO_free|, but has a void return
- * value. This is provided for API-compat.
- *
- * TODO(fork): remove. */
-OPENSSL_EXPORT void BIO_vfree(BIO *bio);
-
-/* BIO_up_ref increments the reference count of |bio| and returns it. */
-OPENSSL_EXPORT BIO *BIO_up_ref(BIO *bio);
-
-
-/* Basic I/O. */
-
-/* BIO_read attempts to read |len| bytes into |data|. It returns the number of
- * bytes read, zero on EOF, or a negative number on error. */
-OPENSSL_EXPORT int BIO_read(BIO *bio, void *data, int len);
-
-/* BIO_gets "reads a line" from |bio| and puts at most |size| bytes into |buf|.
- * It returns the number of bytes read or a negative number on error. The
- * phrase "reads a line" is in quotes in the previous sentence because the
- * exact operation depends on the BIO's method. For example, a digest BIO will
- * return the digest in response to a |BIO_gets| call.
- *
- * TODO(fork): audit the set of BIOs that we end up needing. If all actually
- * return a line for this call, remove the warning above. */
-OPENSSL_EXPORT int BIO_gets(BIO *bio, char *buf, int size);
-
-/* BIO_write writes |len| bytes from |data| to BIO. It returns the number of
- * bytes written or a negative number on error. */
-OPENSSL_EXPORT int BIO_write(BIO *bio, const void *data, int len);
-
-/* BIO_puts writes a NUL terminated string from |buf| to |bio|. It returns the
- * number of bytes written or a negative number on error. */
-OPENSSL_EXPORT int BIO_puts(BIO *bio, const char *buf);
-
-/* BIO_flush flushes any buffered output. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int BIO_flush(BIO *bio);
-
-
-/* Low-level control functions.
- *
- * These are generic functions for sending control requests to a BIO. In
- * general one should use the wrapper functions like |BIO_get_close|. */
-
-/* BIO_ctrl sends the control request |cmd| to |bio|. The |cmd| argument should
- * be one of the |BIO_C_*| values. */
-OPENSSL_EXPORT long BIO_ctrl(BIO *bio, int cmd, long larg, void *parg);
-
-/* BIO_ptr_ctrl acts like |BIO_ctrl| but passes the address of a |void*|
- * pointer as |parg| and returns the value that is written to it, or NULL if
- * the control request returns <= 0. */
-OPENSSL_EXPORT char *BIO_ptr_ctrl(BIO *bp, int cmd, long larg);
-
-/* BIO_int_ctrl acts like |BIO_ctrl| but passes the address of a copy of |iarg|
- * as |parg|. */
-OPENSSL_EXPORT long BIO_int_ctrl(BIO *bp, int cmd, long larg, int iarg);
-
-/* BIO_reset resets |bio| to its initial state, the precise meaning of which
- * depends on the concrete type of |bio|. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int BIO_reset(BIO *bio);
-
-/* BIO_set_flags ORs |flags| with |bio->flags|. */
-OPENSSL_EXPORT void BIO_set_flags(BIO *bio, int flags);
-
-/* BIO_test_flags returns |bio->flags| AND |flags|. */
-OPENSSL_EXPORT int BIO_test_flags(const BIO *bio, int flags);
-
-/* BIO_should_read returns non-zero if |bio| encountered a temporary error
- * while reading (i.e. EAGAIN), indicating that the caller should retry the
- * read. */
-OPENSSL_EXPORT int BIO_should_read(const BIO *bio);
-
-/* BIO_should_write returns non-zero if |bio| encountered a temporary error
- * while writing (i.e. EAGAIN), indicating that the caller should retry the
- * write. */
-OPENSSL_EXPORT int BIO_should_write(const BIO *bio);
-
-/* BIO_should_retry returns non-zero if the reason that caused a failed I/O
- * operation is temporary and thus the operation should be retried. Otherwise,
- * it was a permanent error and it returns zero. */
-OPENSSL_EXPORT int BIO_should_retry(const BIO *bio);
-
-/* BIO_should_io_special returns non-zero if |bio| encountered a temporary
- * error while performing a special I/O operation, indicating that the caller
- * should retry. The operation that caused the error is returned by
- * |BIO_get_retry_reason|. */
-OPENSSL_EXPORT int BIO_should_io_special(const BIO *bio);
-
-/* BIO_RR_SSL_X509_LOOKUP indicates that an SSL BIO blocked because the SSL
- * library returned with SSL_ERROR_WANT_X509_LOOKUP.
- *
- * TODO(fork): remove. */
-#define BIO_RR_SSL_X509_LOOKUP 0x01
-
-/* BIO_RR_CONNECT indicates that a connect would have blocked */
-#define BIO_RR_CONNECT 0x02
-
-/* BIO_RR_ACCEPT indicates that an accept would have blocked */
-#define BIO_RR_ACCEPT 0x03
-
-/* BIO_RR_SSL_CHANNEL_ID_LOOKUP indicates that the ChannelID code cannot find
- * a private key for a TLS connection. */
-#define BIO_RR_SSL_CHANNEL_ID_LOOKUP 0x04
-
-/* BIO_get_retry_reason returns the special I/O operation that needs to be
- * retried. The return value is one of the |BIO_RR_*| values. */
-OPENSSL_EXPORT int BIO_get_retry_reason(const BIO *bio);
-
-/* BIO_clear_flags ANDs |bio->flags| with the bitwise-complement of |flags|. */
-OPENSSL_EXPORT void BIO_clear_flags(BIO *bio, int flags);
-
-/* BIO_set_retry_read sets the |BIO_FLAGS_READ| and |BIO_FLAGS_SHOULD_RETRY|
- * flags on |bio|. */
-OPENSSL_EXPORT void BIO_set_retry_read(BIO *bio);
-
-/* BIO_set_retry_read sets the |BIO_FLAGS_WRITE| and |BIO_FLAGS_SHOULD_RETRY|
- * flags on |bio|. */
-OPENSSL_EXPORT void BIO_set_retry_write(BIO *bio);
-
-/* BIO_get_retry_flags gets the |BIO_FLAGS_READ|, |BIO_FLAGS_WRITE|,
- * |BIO_FLAGS_IO_SPECIAL| and |BIO_FLAGS_SHOULD_RETRY| flags from |bio|. */
-OPENSSL_EXPORT int BIO_get_retry_flags(BIO *bio);
-
-/* BIO_clear_retry_flags clears the |BIO_FLAGS_READ|, |BIO_FLAGS_WRITE|,
- * |BIO_FLAGS_IO_SPECIAL| and |BIO_FLAGS_SHOULD_RETRY| flags from |bio|. */
-OPENSSL_EXPORT void BIO_clear_retry_flags(BIO *bio);
-
-/* BIO_method_type returns the type of |bio|, which is one of the |BIO_TYPE_*|
- * values. */
-OPENSSL_EXPORT int BIO_method_type(const BIO *bio);
-
-/* bio_info_cb is the type of a callback function that can be called for most
- * BIO operations. The |event| argument is one of |BIO_CB_*| and can be ORed
- * with |BIO_CB_RETURN| if the callback is being made after the operation in
- * question. In that case, |return_value| will contain the return value from
- * the operation. */
-typedef long (*bio_info_cb)(BIO *bio, int event, const char *parg, int cmd,
-                            long larg, long return_value);
-
-/* BIO_callback_ctrl allows the callback function to be manipulated. The |cmd|
- * arg will generally be |BIO_CTRL_SET_CALLBACK| but arbitary command values
- * can be interpreted by the |BIO|. */
-OPENSSL_EXPORT long BIO_callback_ctrl(BIO *bio, int cmd, bio_info_cb fp);
-
-/* BIO_pending returns the number of bytes pending to be read. */
-OPENSSL_EXPORT size_t BIO_pending(const BIO *bio);
-
-/* BIO_ctrl_pending calls |BIO_pending| and exists only for compatibility with
- * OpenSSL. */
-OPENSSL_EXPORT size_t BIO_ctrl_pending(const BIO *bio);
-
-/* BIO_wpending returns the number of bytes pending to be written. */
-OPENSSL_EXPORT size_t BIO_wpending(const BIO *bio);
-
-/* BIO_set_close sets the close flag for |bio|. The meaning of which depends on
- * the type of |bio| but, for example, a memory BIO interprets the close flag
- * as meaning that it owns its buffer. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int BIO_set_close(BIO *bio, int close_flag);
-
-/* BIO_set_callback sets a callback function that will be called before and
- * after most operations. See the comment above |bio_info_cb|. */
-OPENSSL_EXPORT void BIO_set_callback(BIO *bio, bio_info_cb callback_func);
-
-/* BIO_set_callback_arg sets the opaque pointer value that can be read within a
- * callback with |BIO_get_callback_arg|. */
-OPENSSL_EXPORT void BIO_set_callback_arg(BIO *bio, char *arg);
-
-/* BIO_get_callback_arg returns the last value of the opaque callback pointer
- * set by |BIO_set_callback_arg|. */
-OPENSSL_EXPORT char *BIO_get_callback_arg(const BIO *bio);
-
-/* BIO_number_read returns the number of bytes that have been read from
- * |bio|. */
-OPENSSL_EXPORT size_t BIO_number_read(const BIO *bio);
-
-/* BIO_number_written returns the number of bytes that have been written to
- * |bio|. */
-OPENSSL_EXPORT size_t BIO_number_written(const BIO *bio);
-
-
-/* Managing chains of BIOs.
- *
- * BIOs can be put into chains where the output of one is used as the input of
- * the next etc. The most common case is a buffering BIO, which accepts and
- * buffers writes until flushed into the next BIO in the chain. */
-
-/* BIO_push adds |appended_bio| to the end of the chain with |bio| at the head.
- * It returns |bio|. Note that |appended_bio| may be the head of a chain itself
- * and thus this function can be used to join two chains.
- *
- * BIO_push takes ownership of the caller's reference to |appended_bio|. */
-OPENSSL_EXPORT BIO *BIO_push(BIO *bio, BIO *appended_bio);
-
-/* BIO_pop removes |bio| from the head of a chain and returns the next BIO in
- * the chain, or NULL if there is no next BIO.
- *
- * The caller takes ownership of the chain's reference to |bio|. */
-OPENSSL_EXPORT BIO *BIO_pop(BIO *bio);
-
-/* BIO_next returns the next BIO in the chain after |bio|, or NULL if there is
- * no such BIO. */
-OPENSSL_EXPORT BIO *BIO_next(BIO *bio);
-
-/* BIO_free_all calls |BIO_free|.
- *
- * TODO(fork): update callers and remove. */
-OPENSSL_EXPORT void BIO_free_all(BIO *bio);
-
-/* BIO_find_type walks a chain of BIOs and returns the first that matches
- * |type|, which is one of the |BIO_TYPE_*| values. */
-OPENSSL_EXPORT BIO *BIO_find_type(BIO *bio, int type);
-
-/* BIO_copy_next_retry sets the retry flags and |retry_reason| of |bio| from
- * the next BIO in the chain. */
-OPENSSL_EXPORT void BIO_copy_next_retry(BIO *bio);
-
-
-/* Printf functions.
- *
- * These functions are versions of printf functions that output to a BIO rather
- * than a FILE. */
-#ifdef __GNUC__
-#define __bio_h__attr__ __attribute__
-#else
-#define __bio_h__attr__(x)
-#endif
-OPENSSL_EXPORT int BIO_printf(BIO *bio, const char *format, ...)
-    __bio_h__attr__((__format__(__printf__, 2, 3)));
-#undef __bio_h__attr__
-
-
-/* Utility functions. */
-
-/* BIO_indent prints min(|indent|, |max_indent|) spaces. It returns one on
- * success and zero otherwise. */
-OPENSSL_EXPORT int BIO_indent(BIO *bio, unsigned indent, unsigned max_indent);
-
-/* BIO_hexdump writes a hex dump of |data| to |bio|. Each line will be indented
- * by |indent| spaces. */
-OPENSSL_EXPORT int BIO_hexdump(BIO *bio, const uint8_t *data, size_t len,
-                               unsigned indent);
-
-/* BIO_print_errors prints the current contents of the error stack to |bio|
- * using human readable strings where possible. */
-OPENSSL_EXPORT void BIO_print_errors(BIO *bio);
-
-/* BIO_read_asn1 reads a single ASN.1 object from |bio|. If successful it sets
- * |*out| to be an allocated buffer (that should be freed with |OPENSSL_free|),
- * |*out_size| to the length, in bytes, of that buffer and returns one.
- * Otherwise it returns zero.
- *
- * If the length of the object is greater than |max_len| or 2^32 then the
- * function will fail. Long-form tags are not supported. If the length of the
- * object is indefinite the full contents of |bio| are read, unless it would be
- * greater than |max_len|, in which case the function fails.
- *
- * If the function fails then some unknown amount of data may have been read
- * from |bio|. */
-OPENSSL_EXPORT int BIO_read_asn1(BIO *bio, uint8_t **out, size_t *out_len,
-                                 size_t max_len);
-
-
-/* Memory BIOs.
- *
- * Memory BIOs can be used as a read-only source (with |BIO_new_mem_buf|) or a
- * writable sink (with |BIO_new|, |BIO_s_mem| and |BIO_get_mem_buf|). Data
- * written to a writable, memory BIO can be recalled by reading from it.
- *
- * Calling |BIO_reset| on a read-only BIO resets it to the original contents.
- * On a writable BIO, it clears any data.
- *
- * If the close flag is set to |BIO_NOCLOSE| (not the default) then the
- * underlying |BUF_MEM| will not be freed when the |BIO| is freed.
- *
- * Memory BIOs support |BIO_gets| and |BIO_puts|.
- *
- * |BIO_eof| is true if no data is in the BIO.
- *
- * |BIO_ctrl_pending| returns the number of bytes currently stored. */
-
-/* BIO_s_mem returns a |BIO_METHOD| that uses a in-memory buffer. */
-OPENSSL_EXPORT const BIO_METHOD *BIO_s_mem(void);
-
-/* BIO_new_mem_buf creates BIO that reads and writes from |len| bytes at |buf|.
- * It does not take ownership of |buf|. It returns the BIO or NULL on error.
- *
- * If |len| is negative, then |buf| is treated as a NUL-terminated string, but
- * don't depend on this in new code. */
-OPENSSL_EXPORT BIO *BIO_new_mem_buf(void *buf, int len);
-
-/* BIO_mem_contents sets |*out_contents| to point to the current contents of
- * |bio| and |*out_len| to contain the length of that data. It returns one on
- * success and zero otherwise. */
-OPENSSL_EXPORT int BIO_mem_contents(const BIO *bio,
-                                    const uint8_t **out_contents,
-                                    size_t *out_len);
-
-/* BIO_get_mem_data sets |*contents| to point to the current contents of |bio|
- * and returns the length of the data.
- *
- * WARNING: don't use this, use |BIO_mem_contents|. A return value of zero from
- * this function can mean either that it failed or that the memory buffer is
- * empty. */
-OPENSSL_EXPORT long BIO_get_mem_data(BIO *bio, char **contents);
-
-/* BIO_get_mem_ptr sets |*out| to a BUF_MEM containing the current contents of
- * |bio|. It returns one on success or zero on error. */
-OPENSSL_EXPORT int BIO_get_mem_ptr(BIO *bio, BUF_MEM **out);
-
-/* BIO_set_mem_buf sets |b| as the contents of |bio|. If |take_ownership| is
- * non-zero, then |b| will be freed when |bio| is closed. Returns one on
- * success or zero otherwise. */
-OPENSSL_EXPORT int BIO_set_mem_buf(BIO *bio, BUF_MEM *b, int take_ownership);
-
-/* BIO_set_mem_eof_return sets the value that will be returned from reading
- * |bio| when empty. If |eof_value| is zero then an empty memory BIO will
- * return EOF (that is it will return zero and |BIO_should_retry| will be
- * false). If |eof_value| is non zero then it will return |eof_value| when it
- * is empty and it will set the read retry flag (that is |BIO_read_retry| is
- * true). To avoid ambiguity with a normal positive return value, |eof_value|
- * should be set to a negative value, typically -1.
- *
- * For a read-only BIO, the default is zero (EOF). For a writable BIO, the
- * default is -1 so that additional data can be written once exhausted. */
-OPENSSL_EXPORT int BIO_set_mem_eof_return(BIO *bio, int eof_value);
-
-
-/* File descriptor BIOs.
- *
- * File descriptor BIOs are wrappers around the system's |read| and |write|
- * functions. If the close flag is set then then |close| is called on the
- * underlying file descriptor when the BIO is freed.
- *
- * |BIO_reset| attempts to seek the file pointer to the start of file using
- * |lseek|.
- *
- * |BIO_seek| sets the file pointer to position |off| from start of file using
- * |lseek|.
- *
- * |BIO_tell| returns the current file position. */
-
-/* BIO_s_fd returns a |BIO_METHOD| for file descriptor fds. */
-OPENSSL_EXPORT const BIO_METHOD *BIO_s_fd(void);
-
-/* BIO_new_fd creates a new file descriptor BIO wrapping |fd|. If |close_flag|
- * is non-zero, then |fd| will be closed when the BIO is. */
-OPENSSL_EXPORT BIO *BIO_new_fd(int fd, int close_flag);
-
-/* BIO_set_fd sets the file descriptor of |bio| to |fd|. If |close_flag| is
- * non-zero then |fd| will be closed when |bio| is. It returns one on success
- * or zero on error. */
-OPENSSL_EXPORT int BIO_set_fd(BIO *bio, int fd, int close_flag);
-
-/* BIO_get_fd sets |*out_fd| to the file descriptor currently in use by |bio|.
- * It returns one on success and zero on error. */
-OPENSSL_EXPORT int BIO_get_fd(BIO *bio, int *out_fd);
-
-
-/* File BIOs.
- *
- * File BIOs are wrappers around a C |FILE| object.
- *
- * |BIO_flush| on a file BIO calls |fflush| on the wrapped stream.
- *
- * |BIO_reset| attempts to seek the file pointer to the start of file using
- * |fseek|.
- *
- * |BIO_seek| sets the file pointer to the given position from the start of
- * file using |fseek|.
- *
- * |BIO_eof| calls |feof|.
- *
- * Setting the close flag causes |fclose| to be called on the stream when the
- * BIO is freed. */
-
-/* BIO_s_file returns a BIO_METHOD that wraps a |FILE|. */
-OPENSSL_EXPORT const BIO_METHOD *BIO_s_file(void);
-
-/* BIO_new_file creates a file BIO by opening |filename| with the given mode.
- * See the |fopen| manual page for details of the mode argument. */
-OPENSSL_EXPORT BIO *BIO_new_file(const char *filename, const char *mode);
-
-/* BIO_new_fp creates a new file BIO that wraps the given |FILE|. If
- * |close_flag| is |BIO_CLOSE|, then |fclose| will be called on |stream| when
- * the BIO is closed. */
-OPENSSL_EXPORT BIO *BIO_new_fp(FILE *stream, int close_flag);
-
-/* BIO_get_fp sets |*out_file| to the current |FILE| for |bio|. It returns one
- * on success and zero otherwise. */
-OPENSSL_EXPORT int BIO_get_fp(BIO *bio, FILE **out_file);
-
-/* BIO_set_fp sets the |FILE| for |bio|. If |close_flag| is |BIO_CLOSE| then
- * |fclose| will be called on |file| when |bio| is closed. It returns one on
- * sucess and zero otherwise. */
-OPENSSL_EXPORT int BIO_set_fp(BIO *bio, FILE *file, int close_flag);
-
-/* BIO_read_filename opens |filename| for reading and sets the result as the
- * |FILE| for |bio|. It returns one on success and zero otherwise. The |FILE|
- * will be closed when |bio| is freed. */
-OPENSSL_EXPORT int BIO_read_filename(BIO *bio, const char *filename);
-
-/* BIO_write_filename opens |filename| for writing and sets the result as the
- * |FILE| for |bio|. It returns one on success and zero otherwise. The |FILE|
- * will be closed when |bio| is freed. */
-OPENSSL_EXPORT int BIO_write_filename(BIO *bio, const char *filename);
-
-/* BIO_append_filename opens |filename| for appending and sets the result as
- * the |FILE| for |bio|. It returns one on success and zero otherwise. The
- * |FILE| will be closed when |bio| is freed. */
-OPENSSL_EXPORT int BIO_append_filename(BIO *bio, const char *filename);
-
-/* BIO_rw_filename opens |filename| for reading and writing and sets the result
- * as the |FILE| for |bio|. It returns one on success and zero otherwise. The
- * |FILE| will be closed when |bio| is freed. */
-OPENSSL_EXPORT int BIO_rw_filename(BIO *bio, const char *filename);
-
-
-/* Buffer BIOs.
- *
- * Buffer BIOs are a filter-type BIO, i.e. they are designed to be used in a
- * chain of BIOs. They provide buffering to reduce the number of operations on
- * the underlying BIOs. */
-
-OPENSSL_EXPORT const BIO_METHOD *BIO_f_buffer(void);
-
-/* BIO_set_read_buffer_size sets the size, in bytes, of the read buffer and
- * clears it. It returns one on success and zero on failure. */
-OPENSSL_EXPORT int BIO_set_read_buffer_size(BIO *bio, int buffer_size);
-
-/* BIO_set_write_buffer_size sets the size, in bytes, of the write buffer and
- * clears it. It returns one on success and zero on failure. */
-OPENSSL_EXPORT int BIO_set_write_buffer_size(BIO *bio, int buffer_size);
-
-
-/* Socket BIOs. */
-
-OPENSSL_EXPORT const BIO_METHOD *BIO_s_socket(void);
-
-/* BIO_new_socket allocates and initialises a fresh BIO which will read and
- * write to the socket |fd|. If |close_flag| is |BIO_CLOSE| then closing the
- * BIO will close |fd|. It returns the fresh |BIO| or NULL on error. */
-OPENSSL_EXPORT BIO *BIO_new_socket(int fd, int close_flag);
-
-
-/* Connect BIOs.
- *
- * A connection BIO creates a network connection and transfers data over the
- * resulting socket. */
-
-OPENSSL_EXPORT const BIO_METHOD *BIO_s_connect(void);
-
-/* BIO_new_connect returns a BIO that connects to the given hostname and port.
- * The |host_and_optional_port| argument should be of the form
- * "www.example.com" or "www.example.com:443". If the port is omitted, it must
- * be provided with |BIO_set_conn_port|.
- *
- * It returns the new BIO on success, or NULL on error. */
-OPENSSL_EXPORT BIO *BIO_new_connect(const char *host_and_optional_port);
-
-/* BIO_set_conn_hostname sets |host_and_optional_port| as the hostname and
- * optional port that |bio| will connect to. If the port is omitted, it must be
- * provided with |BIO_set_conn_port|.
- *
- * It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int BIO_set_conn_hostname(BIO *bio,
-                                         const char *host_and_optional_port);
-
-/* BIO_set_conn_port sets |port_str| as the port or service name that |bio|
- * will connect to. It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int BIO_set_conn_port(BIO *bio, const char *port_str);
-
-/* BIO_set_nbio sets whether |bio| will use non-blocking I/O operations. It
- * returns one on success and zero otherwise. */
-OPENSSL_EXPORT int BIO_set_nbio(BIO *bio, int on);
-
-
-/* Datagram BIOs.
- *
- * TODO(fork): not implemented. */
-
-#define BIO_CTRL_DGRAM_QUERY_MTU 40 /* as kernel for current MTU */
-
-#define BIO_CTRL_DGRAM_SET_MTU 42 /* set cached value for  MTU. want to use
-                                     this if asking the kernel fails */
-
-#define BIO_CTRL_DGRAM_MTU_EXCEEDED 43 /* check whether the MTU was exceed in
-                                          the previous write operation. */
-
-#define BIO_CTRL_DGRAM_SET_NEXT_TIMEOUT \
-  45 /* Next DTLS handshake timeout to adjust socket timeouts */
-
-#define BIO_CTRL_DGRAM_GET_PEER           46
-
-#define BIO_CTRL_DGRAM_GET_FALLBACK_MTU   47
-
-
-/* BIO Pairs.
- *
- * BIO pairs provide a "loopback" like system: a pair of BIOs where data
- * written to one can be read from the other and vice versa. */
-
-/* BIO_new_bio_pair sets |*out1| and |*out2| to two freshly created BIOs where
- * data written to one can be read from the other and vice versa. The
- * |writebuf1| argument gives the size of the buffer used in |*out1| and
- * |writebuf2| for |*out2|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int BIO_new_bio_pair(BIO **out1, size_t writebuf1, BIO **out2,
-                                    size_t writebuf2);
-
-/* BIO_new_bio_pair_external_buf is the same as |BIO_new_bio_pair| with the
- * difference that the caller keeps ownership of the write buffers
- * |ext_writebuf1_len| and |ext_writebuf2_len|. This is useful when using zero
- * copy API for read and write operations, in cases where the buffers need to
- * outlive the BIO pairs. It returns one on success and zero on error. */
-OPENSSL_EXPORT int BIO_new_bio_pair_external_buf(BIO** bio1_p,
-                                                 size_t writebuf1_len,
-                                                 uint8_t* ext_writebuf1,
-                                                 BIO** bio2_p,
-                                                 size_t writebuf2_len,
-                                                 uint8_t* ext_writebuf2);
-
-/* BIO_ctrl_get_read_request returns the number of bytes that the other side of
- * |bio| tried (unsuccessfully) to read. */
-OPENSSL_EXPORT size_t BIO_ctrl_get_read_request(BIO *bio);
-
-/* BIO_ctrl_get_write_guarantee returns the number of bytes that |bio| (which
- * must have been returned by |BIO_new_bio_pair|) will accept on the next
- * |BIO_write| call. */
-OPENSSL_EXPORT size_t BIO_ctrl_get_write_guarantee(BIO *bio);
-
-/* BIO_shutdown_wr marks |bio| as closed, from the point of view of the other
- * side of the pair. Future |BIO_write| calls on |bio| will fail. It returns
- * one on success and zero otherwise. */
-OPENSSL_EXPORT int BIO_shutdown_wr(BIO *bio);
-
-
-/* Zero copy versions of BIO_read and BIO_write for BIO pairs. */
-
-/* BIO_zero_copy_get_read_buf initiates a zero copy read operation.
- * |out_read_buf| is set to the internal read buffer, and |out_buf_offset| is
- * set to the current read position of |out_read_buf|. The number of bytes
- * available for read from |out_read_buf| + |out_buf_offset| is returned in
- * |out_available_bytes|. Note that this function might report fewer bytes
- * available than |BIO_pending|, if the internal ring buffer is wrapped. It
- * returns one on success. In case of error it returns zero and pushes to the
- * error stack.
- *
- * The zero copy read operation is completed by calling
- * |BIO_zero_copy_get_read_buf_done|. Neither |BIO_zero_copy_get_read_buf| nor
- * any other I/O read operation may be called while a zero copy read operation
- * is active. */
-OPENSSL_EXPORT int BIO_zero_copy_get_read_buf(BIO* bio,
-                                              uint8_t** out_read_buf,
-                                              size_t* out_buf_offset,
-                                              size_t* out_available_bytes);
-
-/* BIO_zero_copy_get_read_buf_done must be called after reading from a BIO using
- * |BIO_zero_copy_get_read_buf| to finish the read operation. The |bytes_read|
- * argument is the number of bytes read.
- *
- * It returns one on success. In case of error it returns zero and pushes to the
- * error stack. */
-OPENSSL_EXPORT int BIO_zero_copy_get_read_buf_done(BIO* bio, size_t bytes_read);
-
-/* BIO_zero_copy_get_write_buf_done initiates a zero copy write operation.
- * |out_write_buf| is set to to the internal write buffer, and |out_buf_offset|
- * is set to the current write position of |out_write_buf|.
- * The number of bytes available for write from |out_write_buf| +
- * |out_buf_offset| is returned in |out_available_bytes|. Note that this
- * function might report fewer bytes available than
- * |BIO_ctrl_get_write_guarantee|, if the internal buffer is wrapped. It returns
- * one on success. In case of error it returns zero and pushes to the error
- * stack.
- *
- * The zero copy write operation is completed by calling
- * |BIO_zero_copy_write_buf_done|. Neither |BIO_zero_copy_get_write_buf|
- * nor any other I/O write operation may be called while a zero copy write
- * operation is active. */
-OPENSSL_EXPORT int BIO_zero_copy_get_write_buf(BIO* bio,
-                                               uint8_t** out_write_buf,
-                                               size_t* out_buf_offset,
-                                               size_t* out_available_bytes);
-
-/* BIO_zero_copy_write_buf_done must be called after writing to a BIO using
- * |BIO_zero_copy_get_write_buf_done| to finish the write operation. The
- * |bytes_written| argument gives the number of bytes written.
- *
- * It returns one on success. In case of error it returns zero and pushes to the
- * error stack. */
-OPENSSL_EXPORT int BIO_zero_copy_get_write_buf_done(BIO* bio,
-                                                    size_t bytes_written);
-
-
-/* BIO_NOCLOSE and |BIO_CLOSE| can be used as symbolic arguments when a "close
- * flag" is passed to a BIO function. */
-#define BIO_NOCLOSE 0
-#define BIO_CLOSE 1
-
-/* These are passed to the BIO callback */
-#define BIO_CB_FREE 0x01
-#define BIO_CB_READ 0x02
-#define BIO_CB_WRITE 0x03
-#define BIO_CB_PUTS 0x04
-#define BIO_CB_GETS 0x05
-#define BIO_CB_CTRL 0x06
-
-/* The callback is called before and after the underling operation,
- * The BIO_CB_RETURN flag indicates if it is after the call */
-#define BIO_CB_RETURN 0x80
-
-/* These are values of the |cmd| argument to |BIO_ctrl|. */
-#define BIO_CTRL_RESET		1  /* opt - rewind/zero etc */
-#define BIO_CTRL_EOF		2  /* opt - are we at the eof */
-#define BIO_CTRL_INFO		3  /* opt - extra tit-bits */
-#define BIO_CTRL_SET		4  /* man - set the 'IO' type */
-#define BIO_CTRL_GET		5  /* man - get the 'IO' type */
-#define BIO_CTRL_GET_CLOSE	8  /* man - set the 'close' on free */
-#define BIO_CTRL_SET_CLOSE	9  /* man - set the 'close' on free */
-#define BIO_CTRL_PENDING	10  /* opt - is their more data buffered */
-#define BIO_CTRL_FLUSH		11  /* opt - 'flush' buffered output */
-#define BIO_CTRL_WPENDING	13  /* opt - number of bytes still to write */
-/* callback is int cb(BIO *bio,state,ret); */
-#define BIO_CTRL_SET_CALLBACK	14  /* opt - set callback function */
-#define BIO_CTRL_GET_CALLBACK	15  /* opt - set callback function */
-#define BIO_CTRL_SET_FILENAME	30	/* BIO_s_file special */
-
-
-/* Android compatibility section.
- *
- * A previous version of BoringSSL used in Android renamed ERR_print_errors_fp
- * to BIO_print_errors_fp. It has subsequently been renamed back to
- * ERR_print_errors_fp. */
-#define BIO_print_errors_fp ERR_print_errors_fp
-
-
-/* Private functions */
-
-#define BIO_FLAGS_READ 0x01
-#define BIO_FLAGS_WRITE 0x02
-#define BIO_FLAGS_IO_SPECIAL 0x04
-#define BIO_FLAGS_RWS (BIO_FLAGS_READ | BIO_FLAGS_WRITE | BIO_FLAGS_IO_SPECIAL)
-#define BIO_FLAGS_SHOULD_RETRY 0x08
-#define BIO_FLAGS_BASE64_NO_NL 0x100
-/* This is used with memory BIOs: it means we shouldn't free up or change the
- * data in any way. */
-#define BIO_FLAGS_MEM_RDONLY 0x200
-
-/* These are the 'types' of BIOs */
-#define BIO_TYPE_NONE 0
-#define BIO_TYPE_MEM (1 | 0x0400)
-#define BIO_TYPE_FILE (2 | 0x0400)
-#define BIO_TYPE_FD (4 | 0x0400 | 0x0100)
-#define BIO_TYPE_SOCKET (5 | 0x0400 | 0x0100)
-#define BIO_TYPE_NULL (6 | 0x0400)
-#define BIO_TYPE_SSL (7 | 0x0200)
-#define BIO_TYPE_MD (8 | 0x0200)                /* passive filter */
-#define BIO_TYPE_BUFFER (9 | 0x0200)            /* filter */
-#define BIO_TYPE_CIPHER (10 | 0x0200)           /* filter */
-#define BIO_TYPE_BASE64 (11 | 0x0200)           /* filter */
-#define BIO_TYPE_CONNECT (12 | 0x0400 | 0x0100) /* socket - connect */
-#define BIO_TYPE_ACCEPT (13 | 0x0400 | 0x0100)  /* socket for accept */
-#define BIO_TYPE_PROXY_CLIENT (14 | 0x0200)     /* client proxy BIO */
-#define BIO_TYPE_PROXY_SERVER (15 | 0x0200)     /* server proxy BIO */
-#define BIO_TYPE_NBIO_TEST (16 | 0x0200)        /* server proxy BIO */
-#define BIO_TYPE_NULL_FILTER (17 | 0x0200)
-#define BIO_TYPE_BER (18 | 0x0200)        /* BER -> bin filter */
-#define BIO_TYPE_BIO (19 | 0x0400)        /* (half a) BIO pair */
-#define BIO_TYPE_LINEBUFFER (20 | 0x0200) /* filter */
-#define BIO_TYPE_DGRAM (21 | 0x0400 | 0x0100)
-#define BIO_TYPE_ASN1 (22 | 0x0200) /* filter */
-#define BIO_TYPE_COMP (23 | 0x0200) /* filter */
-
-#define BIO_TYPE_DESCRIPTOR 0x0100 /* socket, fd, connect or accept */
-#define BIO_TYPE_FILTER 0x0200
-#define BIO_TYPE_SOURCE_SINK 0x0400
-
-struct bio_method_st {
-  int type;
-  const char *name;
-  int (*bwrite)(BIO *, const char *, int);
-  int (*bread)(BIO *, char *, int);
-  /* TODO(fork): remove bputs. */
-  int (*bputs)(BIO *, const char *);
-  int (*bgets)(BIO *, char *, int);
-  long (*ctrl)(BIO *, int, long, void *);
-  int (*create)(BIO *);
-  int (*destroy)(BIO *);
-  long (*callback_ctrl)(BIO *, int, bio_info_cb);
-};
-
-struct bio_st {
-  const BIO_METHOD *method;
-  /* bio, mode, argp, argi, argl, ret */
-  long (*callback)(struct bio_st *, int, const char *, int, long, long);
-  char *cb_arg; /* first argument for the callback */
-
-  /* init is non-zero if this |BIO| has been initialised. */
-  int init;
-  /* shutdown is often used by specific |BIO_METHOD|s to determine whether
-   * they own some underlying resource. This flag can often by controlled by
-   * |BIO_set_close|. For example, whether an fd BIO closes the underlying fd
-   * when it, itself, is closed. */
-  int shutdown;
-  int flags;
-  int retry_reason;
-  /* num is a BIO-specific value. For example, in fd BIOs it's used to store a
-   * file descriptor. */
-  int num;
-  CRYPTO_refcount_t references;
-  void *ptr;
-  /* next_bio points to the next |BIO| in a chain. This |BIO| owns a reference
-   * to |next_bio|. */
-  struct bio_st *next_bio; /* used by filter BIOs */
-  size_t num_read, num_write;
-};
-
-#define BIO_C_SET_CONNECT			100
-#define BIO_C_DO_STATE_MACHINE			101
-#define BIO_C_SET_NBIO				102
-#define BIO_C_SET_PROXY_PARAM			103
-#define BIO_C_SET_FD				104
-#define BIO_C_GET_FD				105
-#define BIO_C_SET_FILE_PTR			106
-#define BIO_C_GET_FILE_PTR			107
-#define BIO_C_SET_FILENAME			108
-#define BIO_C_SET_SSL				109
-#define BIO_C_GET_SSL				110
-#define BIO_C_SET_MD				111
-#define BIO_C_GET_MD				112
-#define BIO_C_GET_CIPHER_STATUS			113
-#define BIO_C_SET_BUF_MEM			114
-#define BIO_C_GET_BUF_MEM_PTR			115
-#define BIO_C_GET_BUFF_NUM_LINES		116
-#define BIO_C_SET_BUFF_SIZE			117
-#define BIO_C_SET_ACCEPT			118
-#define BIO_C_SSL_MODE				119
-#define BIO_C_GET_MD_CTX			120
-#define BIO_C_GET_PROXY_PARAM			121
-#define BIO_C_SET_BUFF_READ_DATA		122 /* data to read first */
-#define BIO_C_GET_CONNECT			123
-#define BIO_C_GET_ACCEPT			124
-#define BIO_C_SET_SSL_RENEGOTIATE_BYTES		125
-#define BIO_C_GET_SSL_NUM_RENEGOTIATES		126
-#define BIO_C_SET_SSL_RENEGOTIATE_TIMEOUT	127
-#define BIO_C_FILE_SEEK				128
-#define BIO_C_GET_CIPHER_CTX			129
-#define BIO_C_SET_BUF_MEM_EOF_RETURN		130/*return end of input value*/
-#define BIO_C_SET_BIND_MODE			131
-#define BIO_C_GET_BIND_MODE			132
-#define BIO_C_FILE_TELL				133
-#define BIO_C_GET_SOCKS				134
-#define BIO_C_SET_SOCKS				135
-
-#define BIO_C_SET_WRITE_BUF_SIZE		136/* for BIO_s_bio */
-#define BIO_C_GET_WRITE_BUF_SIZE		137
-#define BIO_C_GET_WRITE_GUARANTEE		140
-#define BIO_C_GET_READ_REQUEST			141
-#define BIO_C_SHUTDOWN_WR			142
-#define BIO_C_NREAD0				143
-#define BIO_C_NREAD				144
-#define BIO_C_NWRITE0				145
-#define BIO_C_NWRITE				146
-#define BIO_C_RESET_READ_REQUEST		147
-#define BIO_C_SET_MD_CTX			148
-
-#define BIO_C_SET_PREFIX			149
-#define BIO_C_GET_PREFIX			150
-#define BIO_C_SET_SUFFIX			151
-#define BIO_C_GET_SUFFIX			152
-
-#define BIO_C_SET_EX_ARG			153
-#define BIO_C_GET_EX_ARG			154
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define BIO_F_BIO_callback_ctrl 100
-#define BIO_F_BIO_ctrl 101
-#define BIO_F_BIO_new 102
-#define BIO_F_BIO_new_file 103
-#define BIO_F_BIO_new_mem_buf 104
-#define BIO_F_BIO_zero_copy_get_read_buf 105
-#define BIO_F_BIO_zero_copy_get_read_buf_done 106
-#define BIO_F_BIO_zero_copy_get_write_buf 107
-#define BIO_F_BIO_zero_copy_get_write_buf_done 108
-#define BIO_F_bio_io 109
-#define BIO_F_bio_make_pair 110
-#define BIO_F_bio_write 111
-#define BIO_F_buffer_ctrl 112
-#define BIO_F_conn_ctrl 113
-#define BIO_F_conn_state 114
-#define BIO_F_file_ctrl 115
-#define BIO_F_file_read 116
-#define BIO_F_mem_write 117
-#define BIO_F_BIO_printf 118
-#define BIO_R_BAD_FOPEN_MODE 100
-#define BIO_R_BROKEN_PIPE 101
-#define BIO_R_CONNECT_ERROR 102
-#define BIO_R_ERROR_SETTING_NBIO 103
-#define BIO_R_INVALID_ARGUMENT 104
-#define BIO_R_IN_USE 105
-#define BIO_R_KEEPALIVE 106
-#define BIO_R_NBIO_CONNECT_ERROR 107
-#define BIO_R_NO_HOSTNAME_SPECIFIED 108
-#define BIO_R_NO_PORT_SPECIFIED 109
-#define BIO_R_NO_SUCH_FILE 110
-#define BIO_R_NULL_PARAMETER 111
-#define BIO_R_SYS_LIB 112
-#define BIO_R_UNABLE_TO_CREATE_SOCKET 113
-#define BIO_R_UNINITIALIZED 114
-#define BIO_R_UNSUPPORTED_METHOD 115
-#define BIO_R_WRITE_TO_READ_ONLY_BIO 116
-
-#endif  /* OPENSSL_HEADER_BIO_H */
diff --git a/phonelibs/boringssl/include/openssl/blowfish.h b/phonelibs/boringssl/include/openssl/blowfish.h
deleted file mode 100644
index fa60d5336fcb07..00000000000000
--- a/phonelibs/boringssl/include/openssl/blowfish.h
+++ /dev/null
@@ -1,93 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_BLOWFISH_H
-#define OPENSSL_HEADER_BLOWFISH_H
-
-#include <openssl/base.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-#define BF_ENCRYPT 1
-#define BF_DECRYPT 0
-
-#define BF_ROUNDS 16
-#define BF_BLOCK 8
-
-typedef struct bf_key_st {
-  uint32_t P[BF_ROUNDS + 2];
-  uint32_t S[4 * 256];
-} BF_KEY;
-
-OPENSSL_EXPORT void BF_set_key(BF_KEY *key, size_t len, const uint8_t *data);
-OPENSSL_EXPORT void BF_encrypt(uint32_t *data, const BF_KEY *key);
-OPENSSL_EXPORT void BF_decrypt(uint32_t *data, const BF_KEY *key);
-
-OPENSSL_EXPORT void BF_ecb_encrypt(const uint8_t *in, uint8_t *out,
-                                   const BF_KEY *key, int enc);
-OPENSSL_EXPORT void BF_cbc_encrypt(const uint8_t *in, uint8_t *out, long length,
-                                   const BF_KEY *schedule, uint8_t *ivec,
-                                   int enc);
-
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif  /* OPENSSL_HEADER_BLOWFISH_H */
diff --git a/phonelibs/boringssl/include/openssl/bn.h b/phonelibs/boringssl/include/openssl/bn.h
deleted file mode 100644
index ec1c8ff5c32d1f..00000000000000
--- a/phonelibs/boringssl/include/openssl/bn.h
+++ /dev/null
@@ -1,875 +0,0 @@
-/* Copyright (C) 1995-1997 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-/* ====================================================================
- * Copyright (c) 1998-2006 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-/* ====================================================================
- * Copyright 2002 Sun Microsystems, Inc. ALL RIGHTS RESERVED.
- *
- * Portions of the attached software ("Contribution") are developed by
- * SUN MICROSYSTEMS, INC., and are contributed to the OpenSSL project.
- *
- * The Contribution is licensed pursuant to the Eric Young open source
- * license provided above.
- *
- * The binary polynomial arithmetic software is originally written by
- * Sheueling Chang Shantz and Douglas Stebila of Sun Microsystems
- * Laboratories. */
-
-#ifndef OPENSSL_HEADER_BN_H
-#define OPENSSL_HEADER_BN_H
-
-#include <openssl/base.h>
-#include <openssl/thread.h>
-
-#include <inttypes.h>  /* for PRIu64 and friends */
-#include <stdio.h>  /* for FILE* */
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* BN provides support for working with arbitary sized integers. For example,
- * although the largest integer supported by the compiler might be 64 bits, BN
- * will allow you to work with numbers until you run out of memory. */
-
-
-/* BN_ULONG is the native word size when working with big integers.
- *
- * Note: on some platforms, inttypes.h does not define print format macros in
- * C++ unless |__STDC_FORMAT_MACROS| defined. As this is a public header, bn.h
- * does not define |__STDC_FORMAT_MACROS| itself. C++ source files which use the
- * FMT macros must define it externally. */
-#if defined(OPENSSL_64_BIT)
-#define BN_ULONG uint64_t
-#define BN_BITS2 64
-#define BN_DEC_FMT1	"%" PRIu64
-#define BN_DEC_FMT2	"%019" PRIu64
-#define BN_HEX_FMT1	"%" PRIx64
-#elif defined(OPENSSL_32_BIT)
-#define BN_ULONG uint32_t
-#define BN_BITS2 32
-#define BN_DEC_FMT1	"%" PRIu32
-#define BN_DEC_FMT2	"%09" PRIu32
-#define BN_HEX_FMT1	"%" PRIx32
-#else
-#error "Must define either OPENSSL_32_BIT or OPENSSL_64_BIT"
-#endif
-
-
-/* Allocation and freeing. */
-
-/* BN_new creates a new, allocated BIGNUM and initialises it. */
-OPENSSL_EXPORT BIGNUM *BN_new(void);
-
-/* BN_init initialises a stack allocated |BIGNUM|. */
-OPENSSL_EXPORT void BN_init(BIGNUM *bn);
-
-/* BN_free frees the data referenced by |bn| and, if |bn| was originally
- * allocated on the heap, frees |bn| also. */
-OPENSSL_EXPORT void BN_free(BIGNUM *bn);
-
-/* BN_clear_free erases and frees the data referenced by |bn| and, if |bn| was
- * originally allocated on the heap, frees |bn| also. */
-OPENSSL_EXPORT void BN_clear_free(BIGNUM *bn);
-
-/* BN_dup allocates a new BIGNUM and sets it equal to |src|. It returns the
- * allocated BIGNUM on success or NULL otherwise. */
-OPENSSL_EXPORT BIGNUM *BN_dup(const BIGNUM *src);
-
-/* BN_copy sets |dest| equal to |src| and returns |dest|. */
-OPENSSL_EXPORT BIGNUM *BN_copy(BIGNUM *dest, const BIGNUM *src);
-
-/* BN_clear sets |bn| to zero and erases the old data. */
-OPENSSL_EXPORT void BN_clear(BIGNUM *bn);
-
-/* BN_value_one returns a static BIGNUM with value 1. */
-OPENSSL_EXPORT const BIGNUM *BN_value_one(void);
-
-/* BN_with_flags initialises a stack allocated |BIGNUM| with pointers to the
- * contents of |in| but with |flags| ORed into the flags field.
- *
- * Note: the two BIGNUMs share state and so |out| should /not/ be passed to
- * |BN_free|. */
-OPENSSL_EXPORT void BN_with_flags(BIGNUM *out, const BIGNUM *in, int flags);
-
-
-/* Basic functions. */
-
-/* BN_num_bits returns the minimum number of bits needed to represent the
- * absolute value of |bn|. */
-OPENSSL_EXPORT unsigned BN_num_bits(const BIGNUM *bn);
-
-/* BN_num_bytes returns the minimum number of bytes needed to represent the
- * absolute value of |bn|. */
-OPENSSL_EXPORT unsigned BN_num_bytes(const BIGNUM *bn);
-
-/* BN_zero sets |bn| to zero. */
-OPENSSL_EXPORT void BN_zero(BIGNUM *bn);
-
-/* BN_one sets |bn| to one. It returns one on success or zero on allocation
- * failure. */
-OPENSSL_EXPORT int BN_one(BIGNUM *bn);
-
-/* BN_set_word sets |bn| to |value|. It returns one on success or zero on
- * allocation failure. */
-OPENSSL_EXPORT int BN_set_word(BIGNUM *bn, BN_ULONG value);
-
-/* BN_set_negative sets the sign of |bn|. */
-OPENSSL_EXPORT void BN_set_negative(BIGNUM *bn, int sign);
-
-/* BN_is_negative returns one if |bn| is negative and zero otherwise. */
-OPENSSL_EXPORT int BN_is_negative(const BIGNUM *bn);
-
-/* BN_get_flags returns |bn->flags| & |flags|. */
-OPENSSL_EXPORT int BN_get_flags(const BIGNUM *bn, int flags);
-
-/* BN_set_flags sets |flags| on |bn|. */
-OPENSSL_EXPORT void BN_set_flags(BIGNUM *bn, int flags);
-
-
-/* Conversion functions. */
-
-/* BN_bin2bn sets |*ret| to the value of |len| bytes from |in|, interpreted as
- * a big-endian number, and returns |ret|. If |ret| is NULL then a fresh
- * |BIGNUM| is allocated and returned. It returns NULL on allocation
- * failure. */
-OPENSSL_EXPORT BIGNUM *BN_bin2bn(const uint8_t *in, size_t len, BIGNUM *ret);
-
-/* BN_bn2bin serialises the absolute value of |in| to |out| as a big-endian
- * integer, which must have |BN_num_bytes| of space available. It returns the
- * number of bytes written. */
-OPENSSL_EXPORT size_t BN_bn2bin(const BIGNUM *in, uint8_t *out);
-
-/* BN_bn2bin_padded serialises the absolute value of |in| to |out| as a
- * big-endian integer. The integer is padded with leading zeros up to size
- * |len|. If |len| is smaller than |BN_num_bytes|, the function fails and
- * returns 0. Otherwise, it returns 1. */
-OPENSSL_EXPORT int BN_bn2bin_padded(uint8_t *out, size_t len, const BIGNUM *in);
-
-/* BN_bn2hex returns an allocated string that contains a NUL-terminated, hex
- * representation of |bn|. If |bn| is negative, the first char in the resulting
- * string will be '-'. Returns NULL on allocation failure. */
-OPENSSL_EXPORT char *BN_bn2hex(const BIGNUM *bn);
-
-/* BN_hex2bn parses the leading hex number from |in|, which may be proceeded by
- * a '-' to indicate a negative number and may contain trailing, non-hex data.
- * If |outp| is not NULL, it constructs a BIGNUM equal to the hex number and
- * stores it in |*outp|. If |*outp| is NULL then it allocates a new BIGNUM and
- * updates |*outp|. It returns the number of bytes of |in| processed or zero on
- * error. */
-OPENSSL_EXPORT int BN_hex2bn(BIGNUM **outp, const char *in);
-
-/* BN_bn2dec returns an allocated string that contains a NUL-terminated,
- * decimal representation of |bn|. If |bn| is negative, the first char in the
- * resulting string will be '-'. Returns NULL on allocation failure. */
-OPENSSL_EXPORT char *BN_bn2dec(const BIGNUM *a);
-
-/* BN_dec2bn parses the leading decimal number from |in|, which may be
- * proceeded by a '-' to indicate a negative number and may contain trailing,
- * non-decimal data. If |outp| is not NULL, it constructs a BIGNUM equal to the
- * decimal number and stores it in |*outp|. If |*outp| is NULL then it
- * allocates a new BIGNUM and updates |*outp|. It returns the number of bytes
- * of |in| processed or zero on error. */
-OPENSSL_EXPORT int BN_dec2bn(BIGNUM **outp, const char *in);
-
-/* BN_asc2bn acts like |BN_dec2bn| or |BN_hex2bn| depending on whether |in|
- * begins with "0X" or "0x" (indicating hex) or not (indicating decimal). A
- * leading '-' is still permitted and comes before the optional 0X/0x. It
- * returns one on success or zero on error. */
-OPENSSL_EXPORT int BN_asc2bn(BIGNUM **outp, const char *in);
-
-/* BN_print writes a hex encoding of |a| to |bio|. It returns one on success
- * and zero on error. */
-OPENSSL_EXPORT int BN_print(BIO *bio, const BIGNUM *a);
-
-/* BN_print_fp acts like |BIO_print|, but wraps |fp| in a |BIO| first. */
-OPENSSL_EXPORT int BN_print_fp(FILE *fp, const BIGNUM *a);
-
-/* BN_get_word returns the absolute value of |bn| as a single word. If |bn| is
- * too large to be represented as a single word, the maximum possible value
- * will be returned. */
-OPENSSL_EXPORT BN_ULONG BN_get_word(const BIGNUM *bn);
-
-
-/* Internal functions.
- *
- * These functions are useful for code that is doing low-level manipulations of
- * BIGNUM values. However, be sure that no other function in this file does
- * what you want before turning to these. */
-
-/* bn_correct_top decrements |bn->top| until |bn->d[top-1]| is non-zero or
- * until |top| is zero. */
-OPENSSL_EXPORT void bn_correct_top(BIGNUM *bn);
-
-/* bn_wexpand ensures that |bn| has at least |words| works of space without
- * altering its value. It returns one on success or zero on allocation
- * failure. */
-OPENSSL_EXPORT BIGNUM *bn_wexpand(BIGNUM *bn, unsigned words);
-
-
-/* BIGNUM pools.
- *
- * Certain BIGNUM operations need to use many temporary variables and
- * allocating and freeing them can be quite slow. Thus such opertions typically
- * take a |BN_CTX| parameter, which contains a pool of |BIGNUMs|. The |ctx|
- * argument to a public function may be NULL, in which case a local |BN_CTX|
- * will be created just for the lifetime of that call.
- *
- * A function must call |BN_CTX_start| first. Then, |BN_CTX_get| may be called
- * repeatedly to obtain temporary |BIGNUM|s. All |BN_CTX_get| calls must be made
- * before calling any other functions that use the |ctx| as an argument.
- *
- * Finally, |BN_CTX_end| must be called before returning from the function.
- * When |BN_CTX_end| is called, the |BIGNUM| pointers obtained from
- * |BN_CTX_get| become invalid. */
-
-/* BN_CTX_new returns a new, empty BN_CTX or NULL on allocation failure. */
-OPENSSL_EXPORT BN_CTX *BN_CTX_new(void);
-
-/* BN_CTX_free frees all BIGNUMs contained in |ctx| and then frees |ctx|
- * itself. */
-OPENSSL_EXPORT void BN_CTX_free(BN_CTX *ctx);
-
-/* BN_CTX_start "pushes" a new entry onto the |ctx| stack and allows future
- * calls to |BN_CTX_get|. */
-OPENSSL_EXPORT void BN_CTX_start(BN_CTX *ctx);
-
-/* BN_CTX_get returns a new |BIGNUM|, or NULL on allocation failure. Once
- * |BN_CTX_get| has returned NULL, all future calls will also return NULL until
- * |BN_CTX_end| is called. */
-OPENSSL_EXPORT BIGNUM *BN_CTX_get(BN_CTX *ctx);
-
-/* BN_CTX_end invalidates all |BIGNUM|s returned from |BN_CTX_get| since the
- * matching |BN_CTX_start| call. */
-OPENSSL_EXPORT void BN_CTX_end(BN_CTX *ctx);
-
-
-/* Simple arithmetic */
-
-/* BN_add sets |r| = |a| + |b|, where |r| may be the same pointer as either |a|
- * or |b|. It returns one on success and zero on allocation failure. */
-OPENSSL_EXPORT int BN_add(BIGNUM *r, const BIGNUM *a, const BIGNUM *b);
-
-/* BN_uadd sets |r| = |a| + |b|, where |a| and |b| are non-negative and |r| may
- * be the same pointer as either |a| or |b|. It returns one on success and zero
- * on allocation failure. */
-OPENSSL_EXPORT int BN_uadd(BIGNUM *r, const BIGNUM *a, const BIGNUM *b);
-
-/* BN_add_word adds |w| to |a|. It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int BN_add_word(BIGNUM *a, BN_ULONG w);
-
-/* BN_sub sets |r| = |a| - |b|, where |r| must be a distinct pointer from |a|
- * and |b|. It returns one on success and zero on allocation failure. */
-OPENSSL_EXPORT int BN_sub(BIGNUM *r, const BIGNUM *a, const BIGNUM *b);
-
-/* BN_usub sets |r| = |a| - |b|, where |a| and |b| are non-negative integers,
- * |b| < |a| and |r| must be a distinct pointer from |a| and |b|. It returns
- * one on success and zero on allocation failure. */
-OPENSSL_EXPORT int BN_usub(BIGNUM *r, const BIGNUM *a, const BIGNUM *b);
-
-/* BN_sub_word subtracts |w| from |a|. It returns one on success and zero on
- * allocation failure. */
-OPENSSL_EXPORT int BN_sub_word(BIGNUM *a, BN_ULONG w);
-
-/* BN_mul sets |r| = |a| * |b|, where |r| may be the same pointer as |a| or
- * |b|. Returns one on success and zero otherwise. */
-OPENSSL_EXPORT int BN_mul(BIGNUM *r, const BIGNUM *a, const BIGNUM *b,
-                          BN_CTX *ctx);
-
-/* BN_mul_word sets |bn| = |bn| * |w|. It returns one on success or zero on
- * allocation failure. */
-OPENSSL_EXPORT int BN_mul_word(BIGNUM *bn, BN_ULONG w);
-
-/* BN_sqr sets |r| = |a|^2 (i.e. squares), where |r| may be the same pointer as
- * |a|. Returns one on success and zero otherwise. This is more efficient than
- * BN_mul(r, a, a, ctx). */
-OPENSSL_EXPORT int BN_sqr(BIGNUM *r, const BIGNUM *a, BN_CTX *ctx);
-
-/* BN_div divides |numerator| by |divisor| and places the result in |quotient|
- * and the remainder in |rem|. Either of |quotient| or |rem| may be NULL, in
- * which case the respective value is not returned. The result is rounded
- * towards zero; thus if |numerator| is negative, the remainder will be zero or
- * negative. It returns one on success or zero on error. */
-OPENSSL_EXPORT int BN_div(BIGNUM *quotient, BIGNUM *rem,
-                          const BIGNUM *numerator, const BIGNUM *divisor,
-                          BN_CTX *ctx);
-
-/* BN_div_word sets |numerator| = |numerator|/|divisor| and returns the
- * remainder or (BN_ULONG)-1 on error. */
-OPENSSL_EXPORT BN_ULONG BN_div_word(BIGNUM *numerator, BN_ULONG divisor);
-
-/* BN_sqrt sets |*out_sqrt| (which may be the same |BIGNUM| as |in|) to the
- * square root of |in|, using |ctx|. It returns one on success or zero on
- * error. Negative numbers and non-square numbers will result in an error with
- * appropriate errors on the error queue. */
-OPENSSL_EXPORT int BN_sqrt(BIGNUM *out_sqrt, const BIGNUM *in, BN_CTX *ctx);
-
-
-/* Comparison functions */
-
-/* BN_cmp returns a value less than, equal to or greater than zero if |a| is
- * less than, equal to or greater than |b|, respectively. */
-OPENSSL_EXPORT int BN_cmp(const BIGNUM *a, const BIGNUM *b);
-
-/* BN_ucmp returns a value less than, equal to or greater than zero if the
- * absolute value of |a| is less than, equal to or greater than the absolute
- * value of |b|, respectively. */
-OPENSSL_EXPORT int BN_ucmp(const BIGNUM *a, const BIGNUM *b);
-
-/* BN_abs_is_word returns one if the absolute value of |bn| equals |w| and zero
- * otherwise. */
-OPENSSL_EXPORT int BN_abs_is_word(const BIGNUM *bn, BN_ULONG w);
-
-/* BN_is_zero returns one if |bn| is zero and zero otherwise. */
-OPENSSL_EXPORT int BN_is_zero(const BIGNUM *bn);
-
-/* BN_is_one returns one if |bn| equals one and zero otherwise. */
-OPENSSL_EXPORT int BN_is_one(const BIGNUM *bn);
-
-/* BN_is_word returns one if |bn| is exactly |w| and zero otherwise. */
-OPENSSL_EXPORT int BN_is_word(const BIGNUM *bn, BN_ULONG w);
-
-/* BN_is_odd returns one if |bn| is odd and zero otherwise. */
-OPENSSL_EXPORT int BN_is_odd(const BIGNUM *bn);
-
-
-/* Bitwise operations. */
-
-/* BN_lshift sets |r| equal to |a| << n. The |a| and |r| arguments may be the
- * same |BIGNUM|. It returns one on success and zero on allocation failure. */
-OPENSSL_EXPORT int BN_lshift(BIGNUM *r, const BIGNUM *a, int n);
-
-/* BN_lshift1 sets |r| equal to |a| << 1, where |r| and |a| may be the same
- * pointer. It returns one on success and zero on allocation failure. */
-OPENSSL_EXPORT int BN_lshift1(BIGNUM *r, const BIGNUM *a);
-
-/* BN_rshift sets |r| equal to |a| >> n, where |r| and |a| may be the same
- * pointer. It returns one on success and zero on allocation failure. */
-OPENSSL_EXPORT int BN_rshift(BIGNUM *r, const BIGNUM *a, int n);
-
-/* BN_rshift1 sets |r| equal to |a| >> 1, where |r| and |a| may be the same
- * pointer. It returns one on success and zero on allocation failure. */
-OPENSSL_EXPORT int BN_rshift1(BIGNUM *r, const BIGNUM *a);
-
-/* BN_set_bit sets the |n|th, least-significant bit in |a|. For example, if |a|
- * is 2 then setting bit zero will make it 3. It returns one on success or zero
- * on allocation failure. */
-OPENSSL_EXPORT int BN_set_bit(BIGNUM *a, int n);
-
-/* BN_clear_bit clears the |n|th, least-significant bit in |a|. For example, if
- * |a| is 3, clearing bit zero will make it two. It returns one on success or
- * zero on allocation failure. */
-OPENSSL_EXPORT int BN_clear_bit(BIGNUM *a, int n);
-
-/* BN_is_bit_set returns the value of the |n|th, least-significant bit in |a|,
- * or zero if the bit doesn't exist. */
-OPENSSL_EXPORT int BN_is_bit_set(const BIGNUM *a, int n);
-
-/* BN_mask_bits truncates |a| so that it is only |n| bits long. It returns one
- * on success or zero if |n| is greater than the length of |a| already. */
-OPENSSL_EXPORT int BN_mask_bits(BIGNUM *a, int n);
-
-
-/* Modulo arithmetic. */
-
-/* BN_mod_word returns |a| mod |w|. */
-OPENSSL_EXPORT BN_ULONG BN_mod_word(const BIGNUM *a, BN_ULONG w);
-
-/* BN_mod is a helper macro that calls |BN_div| and discards the quotient. */
-#define BN_mod(rem, numerator, divisor, ctx) \
-  BN_div(NULL, (rem), (numerator), (divisor), (ctx))
-
-/* BN_nnmod is a non-negative modulo function. It acts like |BN_mod|, but 0 <=
- * |rem| < |divisor| is always true. It returns one on success and zero on
- * error. */
-OPENSSL_EXPORT int BN_nnmod(BIGNUM *rem, const BIGNUM *numerator,
-                            const BIGNUM *divisor, BN_CTX *ctx);
-
-/* BN_mod_add sets |r| = |a| + |b| mod |m|. It returns one on success and zero
- * on error. */
-OPENSSL_EXPORT int BN_mod_add(BIGNUM *r, const BIGNUM *a, const BIGNUM *b,
-                              const BIGNUM *m, BN_CTX *ctx);
-
-/* BN_mod_add_quick acts like |BN_mod_add| but requires that |a| and |b| be
- * non-negative and less than |m|. */
-OPENSSL_EXPORT int BN_mod_add_quick(BIGNUM *r, const BIGNUM *a, const BIGNUM *b,
-                                    const BIGNUM *m);
-
-/* BN_mod_sub sets |r| = |a| - |b| mod |m|. It returns one on success and zero
- * on error. */
-OPENSSL_EXPORT int BN_mod_sub(BIGNUM *r, const BIGNUM *a, const BIGNUM *b,
-                              const BIGNUM *m, BN_CTX *ctx);
-
-/* BN_mod_sub_quick acts like |BN_mod_sub| but requires that |a| and |b| be
- * non-negative and less than |m|. */
-OPENSSL_EXPORT int BN_mod_sub_quick(BIGNUM *r, const BIGNUM *a, const BIGNUM *b,
-                                    const BIGNUM *m);
-
-/* BN_mod_mul sets |r| = |a|*|b| mod |m|. It returns one on success and zero
- * on error. */
-OPENSSL_EXPORT int BN_mod_mul(BIGNUM *r, const BIGNUM *a, const BIGNUM *b,
-                              const BIGNUM *m, BN_CTX *ctx);
-
-/* BN_mod_mul sets |r| = |a|^2 mod |m|. It returns one on success and zero
- * on error. */
-OPENSSL_EXPORT int BN_mod_sqr(BIGNUM *r, const BIGNUM *a, const BIGNUM *m,
-                              BN_CTX *ctx);
-
-/* BN_mod_lshift sets |r| = (|a| << n) mod |m|, where |r| and |a| may be the
- * same pointer. It returns one on success and zero on error. */
-OPENSSL_EXPORT int BN_mod_lshift(BIGNUM *r, const BIGNUM *a, int n,
-                                 const BIGNUM *m, BN_CTX *ctx);
-
-/* BN_mod_lshift_quick acts like |BN_mod_lshift| but requires that |a| be
- * non-negative and less than |m|. */
-OPENSSL_EXPORT int BN_mod_lshift_quick(BIGNUM *r, const BIGNUM *a, int n,
-                                       const BIGNUM *m);
-
-/* BN_mod_lshift1 sets |r| = (|a| << 1) mod |m|, where |r| and |a| may be the
- * same pointer. It returns one on success and zero on error. */
-OPENSSL_EXPORT int BN_mod_lshift1(BIGNUM *r, const BIGNUM *a, const BIGNUM *m,
-                                  BN_CTX *ctx);
-
-/* BN_mod_lshift1_quick acts like |BN_mod_lshift1| but requires that |a| be
- * non-negative and less than |m|. */
-OPENSSL_EXPORT int BN_mod_lshift1_quick(BIGNUM *r, const BIGNUM *a,
-                                        const BIGNUM *m);
-
-/* BN_mod_sqrt returns a |BIGNUM|, r, such that r^2 == a (mod p). */
-OPENSSL_EXPORT BIGNUM *BN_mod_sqrt(BIGNUM *in, const BIGNUM *a, const BIGNUM *p,
-                                   BN_CTX *ctx);
-
-
-/* Random and prime number generation. */
-
-/* BN_rand sets |rnd| to a random number of length |bits|. If |top| is zero, the
- * most-significant bit, if any, will be set. If |top| is one, the two most
- * significant bits, if any, will be set.
- *
- * If |top| is -1 then no extra action will be taken and |BN_num_bits(rnd)| may
- * not equal |bits| if the most significant bits randomly ended up as zeros.
- *
- * If |bottom| is non-zero, the least-significant bit, if any, will be set. The
- * function returns one on success or zero otherwise. */
-OPENSSL_EXPORT int BN_rand(BIGNUM *rnd, int bits, int top, int bottom);
-
-/* BN_pseudo_rand is an alias for |BN_rand|. */
-OPENSSL_EXPORT int BN_pseudo_rand(BIGNUM *rnd, int bits, int top, int bottom);
-
-/* BN_rand_range sets |rnd| to a random value [0..range). It returns one on
- * success and zero otherwise. */
-OPENSSL_EXPORT int BN_rand_range(BIGNUM *rnd, const BIGNUM *range);
-
-/* BN_pseudo_rand_range is an alias for BN_rand_range. */
-OPENSSL_EXPORT int BN_pseudo_rand_range(BIGNUM *rnd, const BIGNUM *range);
-
-/* BN_generate_dsa_nonce generates a random number 0 <= out < range. Unlike
- * BN_rand_range, it also includes the contents of |priv| and |message| in the
- * generation so that an RNG failure isn't fatal as long as |priv| remains
- * secret. This is intended for use in DSA and ECDSA where an RNG weakness
- * leads directly to private key exposure unless this function is used.
- * It returns one on success and zero on error. */
-OPENSSL_EXPORT int BN_generate_dsa_nonce(BIGNUM *out, const BIGNUM *range,
-                                         const BIGNUM *priv,
-                                         const uint8_t *message,
-                                         size_t message_len, BN_CTX *ctx);
-
-/* BN_GENCB holds a callback function that is used by generation functions that
- * can take a very long time to complete. Use |BN_GENCB_set| to initialise a
- * |BN_GENCB| structure.
- *
- * The callback receives the address of that |BN_GENCB| structure as its last
- * argument and the user is free to put an arbitary pointer in |arg|. The other
- * arguments are set as follows:
- *   event=BN_GENCB_GENERATED, n=i:   after generating the i'th possible prime
- *                                    number.
- *   event=BN_GENCB_PRIME_TEST, n=-1: when finished trial division primality
- *                                    checks.
- *   event=BN_GENCB_PRIME_TEST, n=i:  when the i'th primality test has finished.
- *
- * The callback can return zero to abort the generation progress or one to
- * allow it to continue.
- *
- * When other code needs to call a BN generation function it will often take a
- * BN_GENCB argument and may call the function with other argument values. */
-#define BN_GENCB_GENERATED 0
-#define BN_GENCB_PRIME_TEST 1
-
-struct bn_gencb_st {
-  void *arg;        /* callback-specific data */
-  int (*callback)(int event, int n, struct bn_gencb_st *);
-};
-
-/* BN_GENCB_set configures |callback| to call |f| and sets |callout->arg| to
- * |arg|. */
-OPENSSL_EXPORT void BN_GENCB_set(BN_GENCB *callback,
-                                 int (*f)(int event, int n,
-                                          struct bn_gencb_st *),
-                                 void *arg);
-
-/* BN_GENCB_call calls |callback|, if not NULL, and returns the return value of
- * the callback, or 1 if |callback| is NULL. */
-OPENSSL_EXPORT int BN_GENCB_call(BN_GENCB *callback, int event, int n);
-
-/* BN_generate_prime_ex sets |ret| to a prime number of |bits| length. If safe
- * is non-zero then the prime will be such that (ret-1)/2 is also a prime.
- * (This is needed for Diffie-Hellman groups to ensure that the only subgroups
- * are of size 2 and (p-1)/2.).
- *
- * If |add| is not NULL, the prime will fulfill the condition |ret| % |add| ==
- * |rem| in order to suit a given generator. (If |rem| is NULL then |ret| %
- * |add| == 1.)
- *
- * If |cb| is not NULL, it will be called during processing to give an
- * indication of progress. See the comments for |BN_GENCB|. It returns one on
- * success and zero otherwise. */
-OPENSSL_EXPORT int BN_generate_prime_ex(BIGNUM *ret, int bits, int safe,
-                                        const BIGNUM *add, const BIGNUM *rem,
-                                        BN_GENCB *cb);
-
-/* BN_prime_checks is magic value that can be used as the |checks| argument to
- * the primality testing functions in order to automatically select a number of
- * Miller-Rabin checks that gives a false positive rate of ~2^{-80}. */
-#define BN_prime_checks 0
-
-/* BN_primality_test sets |*is_probably_prime| to one if |candidate| is
- * probably a prime number by the Miller-Rabin test or zero if it's certainly
- * not.
- *
- * If |do_trial_division| is non-zero then |candidate| will be tested against a
- * list of small primes before Miller-Rabin tests. The probability of this
- * function returning a false positive is 2^{2*checks}. If |checks| is
- * |BN_prime_checks| then a value that results in approximately 2^{-80} false
- * positive probability is used. If |cb| is not NULL then it is called during
- * the checking process. See the comment above |BN_GENCB|.
- *
- * The function returns one on success and zero on error.
- *
- * (If you are unsure whether you want |do_trial_division|, don't set it.) */
-OPENSSL_EXPORT int BN_primality_test(int *is_probably_prime,
-                                     const BIGNUM *candidate, int checks,
-                                     BN_CTX *ctx, int do_trial_division,
-                                     BN_GENCB *cb);
-
-/* BN_is_prime_fasttest_ex returns one if |candidate| is probably a prime
- * number by the Miller-Rabin test, zero if it's certainly not and -1 on error.
- *
- * If |do_trial_division| is non-zero then |candidate| will be tested against a
- * list of small primes before Miller-Rabin tests. The probability of this
- * function returning one when |candidate| is composite is 2^{2*checks}. If
- * |checks| is |BN_prime_checks| then a value that results in approximately
- * 2^{-80} false positive probability is used. If |cb| is not NULL then it is
- * called during the checking process. See the comment above |BN_GENCB|.
- *
- * WARNING: deprecated. Use |BN_primality_test|. */
-OPENSSL_EXPORT int BN_is_prime_fasttest_ex(const BIGNUM *candidate, int checks,
-                                           BN_CTX *ctx, int do_trial_division,
-                                           BN_GENCB *cb);
-
-/* BN_is_prime_ex acts the same as |BN_is_prime_fasttest_ex| with
- * |do_trial_division| set to zero.
- *
- * WARNING: deprecated: Use |BN_primality_test|. */
-OPENSSL_EXPORT int BN_is_prime_ex(const BIGNUM *candidate, int checks,
-                                  BN_CTX *ctx, BN_GENCB *cb);
-
-
-/* Number theory functions */
-
-/* BN_gcd sets |r| = gcd(|a|, |b|). It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int BN_gcd(BIGNUM *r, const BIGNUM *a, const BIGNUM *b,
-                          BN_CTX *ctx);
-
-/* BN_mod_inverse sets |out| equal to |a|^-1, mod |n|. If either of |a| or |n|
- * have |BN_FLG_CONSTTIME| set then the operation is performed in constant
- * time. If |out| is NULL, a fresh BIGNUM is allocated. It returns the result
- * or NULL on error. */
-OPENSSL_EXPORT BIGNUM *BN_mod_inverse(BIGNUM *out, const BIGNUM *a,
-                                      const BIGNUM *n, BN_CTX *ctx);
-
-/* BN_kronecker returns the Kronecker symbol of |a| and |b| (which is -1, 0 or
- * 1), or -2 on error. */
-OPENSSL_EXPORT int BN_kronecker(const BIGNUM *a, const BIGNUM *b, BN_CTX *ctx);
-
-
-/* Montgomery arithmetic. */
-
-/* BN_MONT_CTX contains the precomputed values needed to work in a specific
- * Montgomery domain. */
-
-/* BN_MONT_CTX_new returns a fresh BN_MONT_CTX or NULL on allocation failure. */
-OPENSSL_EXPORT BN_MONT_CTX *BN_MONT_CTX_new(void);
-
-/* BN_MONT_CTX_init initialises a stack allocated |BN_MONT_CTX|. */
-OPENSSL_EXPORT void BN_MONT_CTX_init(BN_MONT_CTX *mont);
-
-/* BN_MONT_CTX_free frees the contexts of |mont| and, if it was originally
- * allocated with |BN_MONT_CTX_new|, |mont| itself. */
-OPENSSL_EXPORT void BN_MONT_CTX_free(BN_MONT_CTX *mont);
-
-/* BN_MONT_CTX_copy sets |to| equal to |from|. It returns |to| on success or
- * NULL on error. */
-OPENSSL_EXPORT BN_MONT_CTX *BN_MONT_CTX_copy(BN_MONT_CTX *to,
-                                             BN_MONT_CTX *from);
-
-/* BN_MONT_CTX_set sets up a Montgomery context given the modulus, |mod|. It
- * returns one on success and zero on error. */
-OPENSSL_EXPORT int BN_MONT_CTX_set(BN_MONT_CTX *mont, const BIGNUM *mod,
-                                   BN_CTX *ctx);
-
-/* BN_MONT_CTX_set_locked takes |lock| and checks whether |*pmont| is NULL. If
- * so, it creates a new |BN_MONT_CTX| and sets the modulus for it to |mod|. It
- * then stores it as |*pmont| and returns it, or NULL on error.
- *
- * If |*pmont| is already non-NULL then the existing value is returned. */
-BN_MONT_CTX *BN_MONT_CTX_set_locked(BN_MONT_CTX **pmont, CRYPTO_MUTEX *lock,
-                                    const BIGNUM *mod, BN_CTX *bn_ctx);
-
-/* BN_to_montgomery sets |ret| equal to |a| in the Montgomery domain. It
- * returns one on success and zero on error. */
-OPENSSL_EXPORT int BN_to_montgomery(BIGNUM *ret, const BIGNUM *a,
-                                    const BN_MONT_CTX *mont, BN_CTX *ctx);
-
-/* BN_from_montgomery sets |ret| equal to |a| * R^-1, i.e. translates values
- * out of the Montgomery domain. It returns one on success or zero on error. */
-OPENSSL_EXPORT int BN_from_montgomery(BIGNUM *ret, const BIGNUM *a,
-                                      const BN_MONT_CTX *mont, BN_CTX *ctx);
-
-/* BN_mod_mul_montgomery set |r| equal to |a| * |b|, in the Montgomery domain.
- * Both |a| and |b| must already be in the Montgomery domain (by
- * |BN_to_montgomery|). It returns one on success or zero on error. */
-OPENSSL_EXPORT int BN_mod_mul_montgomery(BIGNUM *r, const BIGNUM *a,
-                                         const BIGNUM *b,
-                                         const BN_MONT_CTX *mont, BN_CTX *ctx);
-
-
-/* Exponentiation. */
-
-/* BN_exp sets |r| equal to |a|^{|p|}. It does so with a square-and-multiply
- * algorithm that leaks side-channel information. It returns one on success or
- * zero otherwise. */
-OPENSSL_EXPORT int BN_exp(BIGNUM *r, const BIGNUM *a, const BIGNUM *p,
-                          BN_CTX *ctx);
-
-/* BN_mod_exp sets |r| equal to |a|^{|p|} mod |m|. It does so with the best
- * algorithm for the values provided and can run in constant time if
- * |BN_FLG_CONSTTIME| is set for |p|. It returns one on success or zero
- * otherwise. */
-OPENSSL_EXPORT int BN_mod_exp(BIGNUM *r, const BIGNUM *a, const BIGNUM *p,
-                              const BIGNUM *m, BN_CTX *ctx);
-
-OPENSSL_EXPORT int BN_mod_exp_mont(BIGNUM *r, const BIGNUM *a, const BIGNUM *p,
-                                   const BIGNUM *m, BN_CTX *ctx,
-                                   BN_MONT_CTX *m_ctx);
-
-OPENSSL_EXPORT int BN_mod_exp_mont_consttime(BIGNUM *rr, const BIGNUM *a,
-                                             const BIGNUM *p, const BIGNUM *m,
-                                             BN_CTX *ctx, BN_MONT_CTX *in_mont);
-
-OPENSSL_EXPORT int BN_mod_exp_mont_word(BIGNUM *r, BN_ULONG a, const BIGNUM *p,
-                                        const BIGNUM *m, BN_CTX *ctx,
-                                        BN_MONT_CTX *m_ctx);
-OPENSSL_EXPORT int BN_mod_exp2_mont(BIGNUM *r, const BIGNUM *a1,
-                                    const BIGNUM *p1, const BIGNUM *a2,
-                                    const BIGNUM *p2, const BIGNUM *m,
-                                    BN_CTX *ctx, BN_MONT_CTX *m_ctx);
-
-
-/* Private functions */
-
-struct bignum_st {
-  BN_ULONG *d; /* Pointer to an array of 'BN_BITS2' bit chunks in little-endian
-                  order. */
-  int top;   /* Index of last used element in |d|, plus one. */
-  int dmax;  /* Size of |d|, in words. */
-  int neg;   /* one if the number is negative */
-  int flags; /* bitmask of BN_FLG_* values */
-};
-
-struct bn_mont_ctx_st {
-  BIGNUM RR; /* used to convert to montgomery form */
-  BIGNUM N;  /* The modulus */
-  BIGNUM Ni; /* R*(1/R mod N) - N*Ni = 1
-              * (Ni is only stored for bignum algorithm) */
-  BN_ULONG n0[2]; /* least significant word(s) of Ni;
-                     (type changed with 0.9.9, was "BN_ULONG n0;" before) */
-  int flags;
-  int ri;    /* number of bits in R */
-};
-
-OPENSSL_EXPORT unsigned BN_num_bits_word(BN_ULONG l);
-
-#define BN_FLG_MALLOCED 0x01
-#define BN_FLG_STATIC_DATA 0x02
-/* avoid leaking exponent information through timing, BN_mod_exp_mont() will
- * call BN_mod_exp_mont_consttime, BN_div() will call BN_div_no_branch,
- * BN_mod_inverse() will call BN_mod_inverse_no_branch. */
-#define BN_FLG_CONSTTIME 0x04
-
-
-/* Android compatibility section.
- *
- * These functions are declared, temporarily, for Android because
- * wpa_supplicant will take a little time to sync with upstream. Outside of
- * Android they'll have no definition. */
-
-OPENSSL_EXPORT BIGNUM *get_rfc3526_prime_1536(BIGNUM *bn);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define BN_F_BN_CTX_get 100
-#define BN_F_BN_CTX_new 101
-#define BN_F_BN_CTX_start 102
-#define BN_F_BN_bn2dec 103
-#define BN_F_BN_bn2hex 104
-#define BN_F_BN_div 105
-#define BN_F_BN_div_recp 106
-#define BN_F_BN_exp 107
-#define BN_F_BN_generate_dsa_nonce 108
-#define BN_F_BN_generate_prime_ex 109
-#define BN_F_BN_mod_exp2_mont 110
-#define BN_F_BN_mod_exp_mont 111
-#define BN_F_BN_mod_exp_mont_consttime 112
-#define BN_F_BN_mod_exp_mont_word 113
-#define BN_F_BN_mod_inverse 114
-#define BN_F_BN_mod_inverse_no_branch 115
-#define BN_F_BN_mod_lshift_quick 116
-#define BN_F_BN_mod_sqrt 117
-#define BN_F_BN_new 118
-#define BN_F_BN_rand 119
-#define BN_F_BN_rand_range 120
-#define BN_F_BN_sqrt 121
-#define BN_F_BN_usub 122
-#define BN_F_bn_wexpand 123
-#define BN_F_mod_exp_recp 124
-#define BN_F_BN_lshift 125
-#define BN_F_BN_rshift 126
-#define BN_R_ARG2_LT_ARG3 100
-#define BN_R_BAD_RECIPROCAL 101
-#define BN_R_BIGNUM_TOO_LONG 102
-#define BN_R_BITS_TOO_SMALL 103
-#define BN_R_CALLED_WITH_EVEN_MODULUS 104
-#define BN_R_DIV_BY_ZERO 105
-#define BN_R_EXPAND_ON_STATIC_BIGNUM_DATA 106
-#define BN_R_INPUT_NOT_REDUCED 107
-#define BN_R_INVALID_RANGE 108
-#define BN_R_NEGATIVE_NUMBER 109
-#define BN_R_NOT_A_SQUARE 110
-#define BN_R_NOT_INITIALIZED 111
-#define BN_R_NO_INVERSE 112
-#define BN_R_PRIVATE_KEY_TOO_LARGE 113
-#define BN_R_P_IS_NOT_PRIME 114
-#define BN_R_TOO_MANY_ITERATIONS 115
-#define BN_R_TOO_MANY_TEMPORARY_VARIABLES 116
-
-#endif  /* OPENSSL_HEADER_BN_H */
diff --git a/phonelibs/boringssl/include/openssl/buf.h b/phonelibs/boringssl/include/openssl/buf.h
deleted file mode 100644
index 2b36ce40585c33..00000000000000
--- a/phonelibs/boringssl/include/openssl/buf.h
+++ /dev/null
@@ -1,123 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_BUFFER_H
-#define OPENSSL_HEADER_BUFFER_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Memory and string functions, see also mem.h. */
-
-
-/* BUF_MEM is a generic buffer object used by OpenSSL. */
-struct buf_mem_st {
-  size_t length; /* current number of bytes */
-  char *data;
-  size_t max; /* size of buffer */
-};
-
-/* BUF_MEM_new creates a new BUF_MEM which has no allocated data buffer. */
-OPENSSL_EXPORT BUF_MEM *BUF_MEM_new(void);
-
-/* BUF_MEM_free frees |buf->data| if needed and then frees |buf| itself. */
-OPENSSL_EXPORT void BUF_MEM_free(BUF_MEM *buf);
-
-/* BUF_MEM_grow ensures that |buf| has length |len| and allocates memory if
- * needed. If the length of |buf| increased, the new bytes are filled with
- * zeros. It returns the length of |buf|, or zero if there's an error. */
-OPENSSL_EXPORT size_t BUF_MEM_grow(BUF_MEM *buf, size_t len);
-
-/* BUF_MEM_grow_clean acts the same as |BUF_MEM_grow|, but clears the previous
- * contents of memory if reallocing. */
-OPENSSL_EXPORT size_t BUF_MEM_grow_clean(BUF_MEM *str, size_t len);
-
-/* BUF_strdup returns an allocated, duplicate of |str|. */
-OPENSSL_EXPORT char *BUF_strdup(const char *str);
-
-/* BUF_strnlen returns the number of characters in |str|, excluding the NUL
- * byte, but at most |max_len|. This function never reads more than |max_len|
- * bytes from |str|. */
-OPENSSL_EXPORT size_t BUF_strnlen(const char *str, size_t max_len);
-
-/* BUF_strndup returns an allocated, duplicate of |str|, which is, at most,
- * |size| bytes. The result is always NUL terminated. */
-OPENSSL_EXPORT char *BUF_strndup(const char *str, size_t size);
-
-/* BUF_memdup returns an allocated, duplicate of |size| bytes from |data|. */
-OPENSSL_EXPORT void *BUF_memdup(const void *data, size_t size);
-
-/* BUF_strlcpy acts like strlcpy(3). */
-OPENSSL_EXPORT size_t BUF_strlcpy(char *dst, const char *src, size_t dst_size);
-
-/* BUF_strlcat acts like strlcat(3). */
-OPENSSL_EXPORT size_t BUF_strlcat(char *dst, const char *src, size_t size);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define BUF_F_BUF_MEM_new 100
-#define BUF_F_BUF_memdup 101
-#define BUF_F_BUF_strndup 102
-#define BUF_F_buf_mem_grow 103
-
-#endif  /* OPENSSL_HEADER_BUFFER_H */
diff --git a/phonelibs/boringssl/include/openssl/buffer.h b/phonelibs/boringssl/include/openssl/buffer.h
deleted file mode 100644
index c6b721c277b4a9..00000000000000
--- a/phonelibs/boringssl/include/openssl/buffer.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/* Copyright (c) 2015, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
-
-#include "buf.h"
diff --git a/phonelibs/boringssl/include/openssl/bytestring.h b/phonelibs/boringssl/include/openssl/bytestring.h
deleted file mode 100644
index 9963426ca3f1db..00000000000000
--- a/phonelibs/boringssl/include/openssl/bytestring.h
+++ /dev/null
@@ -1,325 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_BYTESTRING_H
-#define OPENSSL_HEADER_BYTESTRING_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Bytestrings are used for parsing and building TLS and ASN.1 messages.
- *
- * A "CBS" (CRYPTO ByteString) represents a string of bytes in memory and
- * provides utility functions for safely parsing length-prefixed structures
- * like TLS and ASN.1 from it.
- *
- * A "CBB" (CRYPTO ByteBuilder) is a memory buffer that grows as needed and
- * provides utility functions for building length-prefixed messages. */
-
-
-/* CRYPTO ByteString */
-
-struct cbs_st {
-  const uint8_t *data;
-  size_t len;
-};
-
-/* CBS_init sets |cbs| to point to |data|. It does not take ownership of
- * |data|. */
-OPENSSL_EXPORT void CBS_init(CBS *cbs, const uint8_t *data, size_t len);
-
-/* CBS_skip advances |cbs| by |len| bytes. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int CBS_skip(CBS *cbs, size_t len);
-
-/* CBS_data returns a pointer to the contents of |cbs|. */
-OPENSSL_EXPORT const uint8_t *CBS_data(const CBS *cbs);
-
-/* CBS_len returns the number of bytes remaining in |cbs|. */
-OPENSSL_EXPORT size_t CBS_len(const CBS *cbs);
-
-/* CBS_stow copies the current contents of |cbs| into |*out_ptr| and
- * |*out_len|. If |*out_ptr| is not NULL, the contents are freed with
- * OPENSSL_free. It returns one on success and zero on allocation failure. On
- * success, |*out_ptr| should be freed with OPENSSL_free. If |cbs| is empty,
- * |*out_ptr| will be NULL. */
-OPENSSL_EXPORT int CBS_stow(const CBS *cbs, uint8_t **out_ptr, size_t *out_len);
-
-/* CBS_strdup copies the current contents of |cbs| into |*out_ptr| as a
- * NUL-terminated C string. If |*out_ptr| is not NULL, the contents are freed
- * with OPENSSL_free. It returns one on success and zero on allocation
- * failure. On success, |*out_ptr| should be freed with OPENSSL_free.
- *
- * NOTE: If |cbs| contains NUL bytes, the string will be truncated. Call
- * |CBS_contains_zero_byte(cbs)| to check for NUL bytes. */
-OPENSSL_EXPORT int CBS_strdup(const CBS *cbs, char **out_ptr);
-
-/* CBS_contains_zero_byte returns one if the current contents of |cbs| contains
- * a NUL byte and zero otherwise. */
-OPENSSL_EXPORT int CBS_contains_zero_byte(const CBS *cbs);
-
-/* CBS_mem_equal compares the current contents of |cbs| with the |len| bytes
- * starting at |data|. If they're equal, it returns one, otherwise zero. If the
- * lengths match, it uses a constant-time comparison. */
-OPENSSL_EXPORT int CBS_mem_equal(const CBS *cbs, const uint8_t *data,
-                                 size_t len);
-
-/* CBS_get_u8 sets |*out| to the next uint8_t from |cbs| and advances |cbs|. It
- * returns one on success and zero on error. */
-OPENSSL_EXPORT int CBS_get_u8(CBS *cbs, uint8_t *out);
-
-/* CBS_get_u16 sets |*out| to the next, big-endian uint16_t from |cbs| and
- * advances |cbs|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int CBS_get_u16(CBS *cbs, uint16_t *out);
-
-/* CBS_get_u24 sets |*out| to the next, big-endian 24-bit value from |cbs| and
- * advances |cbs|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int CBS_get_u24(CBS *cbs, uint32_t *out);
-
-/* CBS_get_u32 sets |*out| to the next, big-endian uint32_t value from |cbs|
- * and advances |cbs|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int CBS_get_u32(CBS *cbs, uint32_t *out);
-
-/* CBS_get_bytes sets |*out| to the next |len| bytes from |cbs| and advances
- * |cbs|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int CBS_get_bytes(CBS *cbs, CBS *out, size_t len);
-
-/* CBS_get_u8_length_prefixed sets |*out| to the contents of an 8-bit,
- * length-prefixed value from |cbs| and advances |cbs| over it. It returns one
- * on success and zero on error. */
-OPENSSL_EXPORT int CBS_get_u8_length_prefixed(CBS *cbs, CBS *out);
-
-/* CBS_get_u16_length_prefixed sets |*out| to the contents of a 16-bit,
- * big-endian, length-prefixed value from |cbs| and advances |cbs| over it. It
- * returns one on success and zero on error. */
-OPENSSL_EXPORT int CBS_get_u16_length_prefixed(CBS *cbs, CBS *out);
-
-/* CBS_get_u24_length_prefixed sets |*out| to the contents of a 24-bit,
- * big-endian, length-prefixed value from |cbs| and advances |cbs| over it. It
- * returns one on success and zero on error. */
-OPENSSL_EXPORT int CBS_get_u24_length_prefixed(CBS *cbs, CBS *out);
-
-
-/* Parsing ASN.1 */
-
-#define CBS_ASN1_BOOLEAN 0x1
-#define CBS_ASN1_INTEGER 0x2
-#define CBS_ASN1_BITSTRING 0x3
-#define CBS_ASN1_OCTETSTRING 0x4
-#define CBS_ASN1_OBJECT 0x6
-#define CBS_ASN1_ENUMERATED 0xa
-#define CBS_ASN1_SEQUENCE (0x10 | CBS_ASN1_CONSTRUCTED)
-#define CBS_ASN1_SET (0x11 | CBS_ASN1_CONSTRUCTED)
-
-#define CBS_ASN1_CONSTRUCTED 0x20
-#define CBS_ASN1_CONTEXT_SPECIFIC 0x80
-
-/* CBS_get_asn1 sets |*out| to the contents of DER-encoded, ASN.1 element (not
- * including tag and length bytes) and advances |cbs| over it. The ASN.1
- * element must match |tag_value|. It returns one on success and zero
- * on error.
- *
- * Tag numbers greater than 30 are not supported (i.e. short form only). */
-OPENSSL_EXPORT int CBS_get_asn1(CBS *cbs, CBS *out, unsigned tag_value);
-
-/* CBS_get_asn1_element acts like |CBS_get_asn1| but |out| will include the
- * ASN.1 header bytes too. */
-OPENSSL_EXPORT int CBS_get_asn1_element(CBS *cbs, CBS *out, unsigned tag_value);
-
-/* CBS_peek_asn1_tag looks ahead at the next ASN.1 tag and returns one
- * if the next ASN.1 element on |cbs| would have tag |tag_value|. If
- * |cbs| is empty or the tag does not match, it returns zero. Note: if
- * it returns one, CBS_get_asn1 may still fail if the rest of the
- * element is malformed. */
-OPENSSL_EXPORT int CBS_peek_asn1_tag(const CBS *cbs, unsigned tag_value);
-
-/* CBS_get_any_asn1_element sets |*out| to contain the next ASN.1 element from
- * |*cbs| (including header bytes) and advances |*cbs|. It sets |*out_tag| to
- * the tag number and |*out_header_len| to the length of the ASN.1 header. Each
- * of |out|, |out_tag|, and |out_header_len| may be NULL to ignore the value.
- *
- * Tag numbers greater than 30 are not supported (i.e. short form only). */
-OPENSSL_EXPORT int CBS_get_any_asn1_element(CBS *cbs, CBS *out,
-                                            unsigned *out_tag,
-                                            size_t *out_header_len);
-
-/* CBS_get_asn1_uint64 gets an ASN.1 INTEGER from |cbs| using |CBS_get_asn1|
- * and sets |*out| to its value. It returns one on success and zero on error,
- * where error includes the integer being negative, or too large to represent
- * in 64 bits. */
-OPENSSL_EXPORT int CBS_get_asn1_uint64(CBS *cbs, uint64_t *out);
-
-/* CBS_get_optional_asn1 gets an optional explicitly-tagged element
- * from |cbs| tagged with |tag| and sets |*out| to its contents. If
- * present, it sets |*out_present| to one, otherwise zero. It returns
- * one on success, whether or not the element was present, and zero on
- * decode failure. */
-OPENSSL_EXPORT int CBS_get_optional_asn1(CBS *cbs, CBS *out, int *out_present,
-                                         unsigned tag);
-
-/* CBS_get_optional_asn1_octet_string gets an optional
- * explicitly-tagged OCTET STRING from |cbs|. If present, it sets
- * |*out| to the string and |*out_present| to one. Otherwise, it sets
- * |*out| to empty and |*out_present| to zero. |out_present| may be
- * NULL. It returns one on success, whether or not the element was
- * present, and zero on decode failure. */
-OPENSSL_EXPORT int CBS_get_optional_asn1_octet_string(CBS *cbs, CBS *out,
-                                                      int *out_present,
-                                                      unsigned tag);
-
-/* CBS_get_optional_asn1_uint64 gets an optional explicitly-tagged
- * INTEGER from |cbs|. If present, it sets |*out| to the
- * value. Otherwise, it sets |*out| to |default_value|. It returns one
- * on success, whether or not the element was present, and zero on
- * decode failure. */
-OPENSSL_EXPORT int CBS_get_optional_asn1_uint64(CBS *cbs, uint64_t *out,
-                                                unsigned tag,
-                                                uint64_t default_value);
-
-/* CBS_get_optional_asn1_bool gets an optional, explicitly-tagged BOOLEAN from
- * |cbs|. If present, it sets |*out| to either zero or one, based on the
- * boolean. Otherwise, it sets |*out| to |default_value|. It returns one on
- * success, whether or not the element was present, and zero on decode
- * failure. */
-OPENSSL_EXPORT int CBS_get_optional_asn1_bool(CBS *cbs, int *out, unsigned tag,
-                                              int default_value);
-
-
-/* CRYPTO ByteBuilder.
- *
- * |CBB| objects allow one to build length-prefixed serialisations. A |CBB|
- * object is associated with a buffer and new buffers are created with
- * |CBB_init|. Several |CBB| objects can point at the same buffer when a
- * length-prefix is pending, however only a single |CBB| can be 'current' at
- * any one time. For example, if one calls |CBB_add_u8_length_prefixed| then
- * the new |CBB| points at the same buffer as the original. But if the original
- * |CBB| is used then the length prefix is written out and the new |CBB| must
- * not be used again.
- *
- * If one needs to force a length prefix to be written out because a |CBB| is
- * going out of scope, use |CBB_flush|. */
-
-struct cbb_buffer_st {
-  uint8_t *buf;
-  size_t len;      /* The number of valid bytes. */
-  size_t cap;      /* The size of buf. */
-  char can_resize; /* One iff |buf| is owned by this object. If not then |buf|
-                      cannot be resized. */
-};
-
-struct cbb_st {
-  struct cbb_buffer_st *base;
-  /* offset is the offset from the start of |base->buf| to the position of any
-   * pending length-prefix. */
-  size_t offset;
-  /* child points to a child CBB if a length-prefix is pending. */
-  struct cbb_st *child;
-  /* pending_len_len contains the number of bytes in a pending length-prefix,
-   * or zero if no length-prefix is pending. */
-  uint8_t pending_len_len;
-  char pending_is_asn1;
-  /* is_top_level is true iff this is a top-level |CBB| (as opposed to a child
-   * |CBB|). Top-level objects are valid arguments for |CBB_finish|. */
-  char is_top_level;
-};
-
-/* CBB_init initialises |cbb| with |initial_capacity|. Since a |CBB| grows as
- * needed, the |initial_capacity| is just a hint. It returns one on success or
- * zero on error. */
-OPENSSL_EXPORT int CBB_init(CBB *cbb, size_t initial_capacity);
-
-/* CBB_init_fixed initialises |cbb| to write to |len| bytes at |buf|. Since
- * |buf| cannot grow, trying to write more than |len| bytes will cause CBB
- * functions to fail. It returns one on success or zero on error. */
-OPENSSL_EXPORT int CBB_init_fixed(CBB *cbb, uint8_t *buf, size_t len);
-
-/* CBB_cleanup frees all resources owned by |cbb| and other |CBB| objects
- * writing to the same buffer. This should be used in an error case where a
- * serialisation is abandoned. */
-OPENSSL_EXPORT void CBB_cleanup(CBB *cbb);
-
-/* CBB_finish completes any pending length prefix and sets |*out_data| to a
- * malloced buffer and |*out_len| to the length of that buffer. The caller
- * takes ownership of the buffer and, unless the buffer was fixed with
- * |CBB_init_fixed|, must call |OPENSSL_free| when done.
- *
- * It can only be called on a "top level" |CBB|, i.e. one initialised with
- * |CBB_init| or |CBB_init_fixed|. It returns one on success and zero on
- * error. */
-OPENSSL_EXPORT int CBB_finish(CBB *cbb, uint8_t **out_data, size_t *out_len);
-
-/* CBB_flush causes any pending length prefixes to be written out and any child
- * |CBB| objects of |cbb| to be invalidated. It returns one on success or zero
- * on error. */
-OPENSSL_EXPORT int CBB_flush(CBB *cbb);
-
-/* CBB_add_u8_length_prefixed sets |*out_contents| to a new child of |cbb|. The
- * data written to |*out_contents| will be prefixed in |cbb| with an 8-bit
- * length. It returns one on success or zero on error. */
-OPENSSL_EXPORT int CBB_add_u8_length_prefixed(CBB *cbb, CBB *out_contents);
-
-/* CBB_add_u16_length_prefixed sets |*out_contents| to a new child of |cbb|.
- * The data written to |*out_contents| will be prefixed in |cbb| with a 16-bit,
- * big-endian length. It returns one on success or zero on error. */
-OPENSSL_EXPORT int CBB_add_u16_length_prefixed(CBB *cbb, CBB *out_contents);
-
-/* CBB_add_u24_length_prefixed sets |*out_contents| to a new child of |cbb|.
- * The data written to |*out_contents| will be prefixed in |cbb| with a 24-bit,
- * big-endian length. It returns one on success or zero on error. */
-OPENSSL_EXPORT int CBB_add_u24_length_prefixed(CBB *cbb, CBB *out_contents);
-
-/* CBB_add_asn sets |*out_contents| to a |CBB| into which the contents of an
- * ASN.1 object can be written. The |tag| argument will be used as the tag for
- * the object. Passing in |tag| number 31 will return in an error since only
- * single octet identifiers are supported. It returns one on success or zero
- * on error. */
-OPENSSL_EXPORT int CBB_add_asn1(CBB *cbb, CBB *out_contents, uint8_t tag);
-
-/* CBB_add_bytes appends |len| bytes from |data| to |cbb|. It returns one on
- * success and zero otherwise. */
-OPENSSL_EXPORT int CBB_add_bytes(CBB *cbb, const uint8_t *data, size_t len);
-
-/* CBB_add_space appends |len| bytes to |cbb| and sets |*out_data| to point to
- * the beginning of that space. The caller must then write |len| bytes of
- * actual contents to |*out_data|. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int CBB_add_space(CBB *cbb, uint8_t **out_data, size_t len);
-
-/* CBB_add_u8 appends an 8-bit number from |value| to |cbb|. It returns one on
- * success and zero otherwise. */
-OPENSSL_EXPORT int CBB_add_u8(CBB *cbb, uint8_t value);
-
-/* CBB_add_u8 appends a 16-bit, big-endian number from |value| to |cbb|. It
- * returns one on success and zero otherwise. */
-OPENSSL_EXPORT int CBB_add_u16(CBB *cbb, uint16_t value);
-
-/* CBB_add_u24 appends a 24-bit, big-endian number from |value| to |cbb|. It
- * returns one on success and zero otherwise. */
-OPENSSL_EXPORT int CBB_add_u24(CBB *cbb, uint32_t value);
-
-/* CBB_add_asn1_uint64 writes an ASN.1 INTEGER into |cbb| using |CBB_add_asn1|
- * and writes |value| in its contents. It returns one on success and zero on
- * error. */
-OPENSSL_EXPORT int CBB_add_asn1_uint64(CBB *cbb, uint64_t value);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_BYTESTRING_H */
diff --git a/phonelibs/boringssl/include/openssl/cast.h b/phonelibs/boringssl/include/openssl/cast.h
deleted file mode 100644
index 802172394e5b12..00000000000000
--- a/phonelibs/boringssl/include/openssl/cast.h
+++ /dev/null
@@ -1,96 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_CAST_H
-#define OPENSSL_HEADER_CAST_H
-
-#include <openssl/base.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-#define CAST_ENCRYPT 1
-#define CAST_DECRYPT 0
-
-#define CAST_BLOCK 8
-#define CAST_KEY_LENGTH 16
-
-typedef struct cast_key_st {
-  uint32_t data[32];
-  int short_key; /* Use reduced rounds for short key */
-} CAST_KEY;
-
-OPENSSL_EXPORT void CAST_set_key(CAST_KEY *key, size_t len,
-                                 const uint8_t *data);
-OPENSSL_EXPORT void CAST_ecb_encrypt(const uint8_t *in, uint8_t *out,
-                                     const CAST_KEY *key, int enc);
-OPENSSL_EXPORT void CAST_encrypt(uint32_t *data, const CAST_KEY *key);
-OPENSSL_EXPORT void CAST_decrypt(uint32_t *data, const CAST_KEY *key);
-OPENSSL_EXPORT void CAST_cbc_encrypt(const uint8_t *in, uint8_t *out,
-                                     long length, const CAST_KEY *ks,
-                                     uint8_t *iv, int enc);
-
-OPENSSL_EXPORT void CAST_cfb64_encrypt(const uint8_t *in, uint8_t *out,
-                                       long length, const CAST_KEY *schedule,
-                                       uint8_t *ivec, int *num, int enc);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif  /* OPENSSL_HEADER_CAST_H */
diff --git a/phonelibs/boringssl/include/openssl/chacha.h b/phonelibs/boringssl/include/openssl/chacha.h
deleted file mode 100644
index ce53d49fdaefed..00000000000000
--- a/phonelibs/boringssl/include/openssl/chacha.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_CHACHA_H
-#define OPENSSL_HEADER_CHACHA_H
-
-#include <openssl/base.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-/* CRYPTO_chacha_20 encrypts |in_len| bytes from |in| with the given key and
- * nonce and writes the result to |out|, which may be equal to |in|. The
- * initial block counter is specified by |counter|. */
-void CRYPTO_chacha_20(uint8_t *out, const uint8_t *in,
-                      size_t in_len, const uint8_t key[32],
-                      const uint8_t nonce[8], size_t counter);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_CHACHA_H */
diff --git a/phonelibs/boringssl/include/openssl/cipher.h b/phonelibs/boringssl/include/openssl/cipher.h
deleted file mode 100644
index 3e496f15b50e9a..00000000000000
--- a/phonelibs/boringssl/include/openssl/cipher.h
+++ /dev/null
@@ -1,598 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_CIPHER_H
-#define OPENSSL_HEADER_CIPHER_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Ciphers. */
-
-
-/* Cipher primitives.
- *
- * The following functions return |EVP_CIPHER| objects that implement the named
- * cipher algorithm. */
-
-OPENSSL_EXPORT const EVP_CIPHER *EVP_rc4(void);
-
-OPENSSL_EXPORT const EVP_CIPHER *EVP_des_cbc(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_des_ecb(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_des_ede3_cbc(void);
-
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_128_ecb(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_128_cbc(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_128_ctr(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_128_ofb(void);
-
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_256_ecb(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_256_cbc(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_256_ctr(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_256_ofb(void);
-
-/* Deprecated AES-GCM implementations that set |EVP_CIPH_FLAG_CUSTOM_CIPHER|.
- * Use |EVP_aead_aes_128_gcm| and |EVP_aead_aes_256_gcm| instead. */
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_128_gcm(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_256_gcm(void);
-
-/* Deprecated 192-bit version of AES. */
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_192_ecb(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_192_cbc(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_192_ctr(void);
-OPENSSL_EXPORT const EVP_CIPHER *EVP_aes_192_gcm(void);
-
-/* EVP_enc_null returns a 'cipher' that passes plaintext through as
- * ciphertext. */
-OPENSSL_EXPORT const EVP_CIPHER *EVP_enc_null(void);
-
-/* EVP_rc2_40_cbc returns a cipher that implements 40-bit RC2 in CBC mode. This
- * is obviously very, very weak and is included only in order to read PKCS#12
- * files, which often encrypt the certificate chain using this cipher. It is
- * deliberately not exported. */
-const EVP_CIPHER *EVP_rc2_40_cbc(void);
-
-/* EVP_get_cipherbynid returns the cipher corresponding to the given NID, or
- * NULL if no such cipher is known. */
-OPENSSL_EXPORT const EVP_CIPHER *EVP_get_cipherbynid(int nid);
-
-
-/* Cipher context allocation.
- *
- * An |EVP_CIPHER_CTX| represents the state of an encryption or decryption in
- * progress. */
-
-/* EVP_CIPHER_CTX_init initialises an, already allocated, |EVP_CIPHER_CTX|. */
-OPENSSL_EXPORT void EVP_CIPHER_CTX_init(EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_new allocates a fresh |EVP_CIPHER_CTX|, calls
- * |EVP_CIPHER_CTX_init| and returns it, or NULL on allocation failure. */
-OPENSSL_EXPORT EVP_CIPHER_CTX *EVP_CIPHER_CTX_new(void);
-
-/* EVP_CIPHER_CTX_cleanup frees any memory referenced by |ctx|. It returns
- * one. */
-OPENSSL_EXPORT int EVP_CIPHER_CTX_cleanup(EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_free calls |EVP_CIPHER_CTX_cleanup| on |ctx| and then frees
- * |ctx| itself. */
-OPENSSL_EXPORT void EVP_CIPHER_CTX_free(EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_copy sets |out| to be a duplicate of the current state of
- * |in|. The |out| argument must have been previously initialised. */
-OPENSSL_EXPORT int EVP_CIPHER_CTX_copy(EVP_CIPHER_CTX *out,
-                                       const EVP_CIPHER_CTX *in);
-
-
-/* Cipher context configuration. */
-
-/* EVP_CipherInit_ex configures |ctx| for a fresh encryption (or decryption, if
- * |enc| is zero) operation using |cipher|. If |ctx| has been previously
- * configured with a cipher then |cipher|, |key| and |iv| may be |NULL| and
- * |enc| may be -1 to reuse the previous values. The operation will use |key|
- * as the key and |iv| as the IV (if any). These should have the correct
- * lengths given by |EVP_CIPHER_key_length| and |EVP_CIPHER_iv_length|. It
- * returns one on success and zero on error. */
-OPENSSL_EXPORT int EVP_CipherInit_ex(EVP_CIPHER_CTX *ctx,
-                                     const EVP_CIPHER *cipher, ENGINE *engine,
-                                     const uint8_t *key, const uint8_t *iv,
-                                     int enc);
-
-/* EVP_EncryptInit_ex calls |EVP_CipherInit_ex| with |enc| equal to one. */
-OPENSSL_EXPORT int EVP_EncryptInit_ex(EVP_CIPHER_CTX *ctx,
-                                      const EVP_CIPHER *cipher, ENGINE *impl,
-                                      const uint8_t *key, const uint8_t *iv);
-
-/* EVP_DecryptInit_ex calls |EVP_CipherInit_ex| with |enc| equal to zero. */
-OPENSSL_EXPORT int EVP_DecryptInit_ex(EVP_CIPHER_CTX *ctx,
-                                      const EVP_CIPHER *cipher, ENGINE *impl,
-                                      const uint8_t *key, const uint8_t *iv);
-
-
-/* Cipher operations. */
-
-/* EVP_EncryptUpdate encrypts |in_len| bytes from |in| to |out|. The number
- * of output bytes may be up to |in_len| plus the block length minus one and
- * |out| must have sufficient space. The number of bytes actually output is
- * written to |*out_len|. It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int EVP_EncryptUpdate(EVP_CIPHER_CTX *ctx, uint8_t *out,
-                                     int *out_len, const uint8_t *in,
-                                     int in_len);
-
-/* EVP_EncryptFinal_ex writes at most a block of ciphertext to |out| and sets
- * |*out_len| to the number of bytes written. If padding is enabled (the
- * default) then standard padding is applied to create the final block. If
- * padding is disabled (with |EVP_CIPHER_CTX_set_padding|) then any partial
- * block remaining will cause an error. The function returns one on success and
- * zero otherwise. */
-OPENSSL_EXPORT int EVP_EncryptFinal_ex(EVP_CIPHER_CTX *ctx, uint8_t *out,
-                                       int *out_len);
-
-/* EVP_DecryptUpdate decrypts |in_len| bytes from |in| to |out|. The number of
- * output bytes may be up to |in_len| plus the block length minus one and |out|
- * must have sufficient space. The number of bytes actually output is written
- * to |*out_len|. It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int EVP_DecryptUpdate(EVP_CIPHER_CTX *ctx, uint8_t *out,
-                                     int *out_len, const uint8_t *in,
-                                     int in_len);
-
-/* EVP_DecryptFinal_ex writes at most a block of ciphertext to |out| and sets
- * |*out_len| to the number of bytes written. If padding is enabled (the
- * default) then padding is removed from the final block.
- *
- * WARNING: it is unsafe to call this function with unauthenticted
- * ciphertext if padding is enabled. */
-OPENSSL_EXPORT int EVP_DecryptFinal_ex(EVP_CIPHER_CTX *ctx, unsigned char *out,
-                                       int *out_len);
-
-/* EVP_Cipher performs a one-shot encryption/decryption operation. No partial
- * blocks are maintained between calls. However, any internal cipher state is
- * still updated. For CBC-mode ciphers, the IV is updated to the final
- * ciphertext block. For stream ciphers, the stream is advanced past the bytes
- * used. It returns one on success and zero otherwise, unless |EVP_CIPHER_flags|
- * has |EVP_CIPH_FLAG_CUSTOM_CIPHER| set. Then it returns the number of bytes
- * written or -1 on error.
- *
- * WARNING: this differs from the usual return value convention when using
- * |EVP_CIPH_FLAG_CUSTOM_CIPHER|.
- *
- * TODO(davidben): The normal ciphers currently never fail, even if, e.g.,
- * |in_len| is not a multiple of the block size for CBC-mode decryption. The
- * input just gets rounded up while the output gets truncated. This should
- * either be officially documented or fail. */
-OPENSSL_EXPORT int EVP_Cipher(EVP_CIPHER_CTX *ctx, uint8_t *out,
-                              const uint8_t *in, size_t in_len);
-
-/* EVP_CipherUpdate calls either |EVP_EncryptUpdate| or |EVP_DecryptUpdate|
- * depending on how |ctx| has been setup. */
-OPENSSL_EXPORT int EVP_CipherUpdate(EVP_CIPHER_CTX *ctx, uint8_t *out,
-                                    int *out_len, const uint8_t *in,
-                                    int in_len);
-
-/* EVP_CipherFinal_ex calls either |EVP_EncryptFinal_ex| or
- * |EVP_DecryptFinal_ex| depending on how |ctx| has been setup. */
-OPENSSL_EXPORT int EVP_CipherFinal_ex(EVP_CIPHER_CTX *ctx, uint8_t *out,
-                                      int *out_len);
-
-
-/* Cipher context accessors. */
-
-/* EVP_CIPHER_CTX_cipher returns the |EVP_CIPHER| underlying |ctx|, or NULL if
- * none has been set. */
-OPENSSL_EXPORT const EVP_CIPHER *EVP_CIPHER_CTX_cipher(
-    const EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_nid returns a NID identifying the |EVP_CIPHER| underlying
- * |ctx| (e.g. |NID_aes_128_gcm|). It will crash if no cipher has been
- * configured. */
-OPENSSL_EXPORT int EVP_CIPHER_CTX_nid(const EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_block_size returns the block size, in bytes, of the cipher
- * underlying |ctx|, or one if the cipher is a stream cipher. It will crash if
- * no cipher has been configured. */
-OPENSSL_EXPORT unsigned EVP_CIPHER_CTX_block_size(const EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_key_length returns the key size, in bytes, of the cipher
- * underlying |ctx| or zero if no cipher has been configured. */
-OPENSSL_EXPORT unsigned EVP_CIPHER_CTX_key_length(const EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_iv_length returns the IV size, in bytes, of the cipher
- * underlying |ctx|. It will crash if no cipher has been configured. */
-OPENSSL_EXPORT unsigned EVP_CIPHER_CTX_iv_length(const EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_get_app_data returns the opaque, application data pointer for
- * |ctx|, or NULL if none has been set. */
-OPENSSL_EXPORT void *EVP_CIPHER_CTX_get_app_data(const EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_set_app_data sets the opaque, application data pointer for
- * |ctx| to |data|. */
-OPENSSL_EXPORT void EVP_CIPHER_CTX_set_app_data(EVP_CIPHER_CTX *ctx,
-                                                void *data);
-
-/* EVP_CIPHER_CTX_flags returns a value which is the OR of zero or more
- * |EVP_CIPH_*| flags. It will crash if no cipher has been configured. */
-OPENSSL_EXPORT uint32_t EVP_CIPHER_CTX_flags(const EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_mode returns one of the |EVP_CIPH_*| cipher mode values
- * enumerated below. It will crash if no cipher has been configured. */
-OPENSSL_EXPORT uint32_t EVP_CIPHER_CTX_mode(const EVP_CIPHER_CTX *ctx);
-
-/* EVP_CIPHER_CTX_ctrl is an |ioctl| like function. The |command| argument
- * should be one of the |EVP_CTRL_*| values. The |arg| and |ptr| arguments are
- * specific to the command in question. */
-OPENSSL_EXPORT int EVP_CIPHER_CTX_ctrl(EVP_CIPHER_CTX *ctx, int command,
-                                       int arg, void *ptr);
-
-/* EVP_CIPHER_CTX_set_padding sets whether padding is enabled for |ctx| and
- * returns one. Pass a non-zero |pad| to enable padding (the default) or zero
- * to disable. */
-OPENSSL_EXPORT int EVP_CIPHER_CTX_set_padding(EVP_CIPHER_CTX *ctx, int pad);
-
-/* EVP_CIPHER_CTX_set_key_length sets the key length for |ctx|. This is only
- * valid for ciphers that can take a variable length key. It returns one on
- * success and zero on error. */
-OPENSSL_EXPORT int EVP_CIPHER_CTX_set_key_length(EVP_CIPHER_CTX *ctx, unsigned key_len);
-
-
-/* Cipher accessors. */
-
-/* EVP_CIPHER_nid returns a NID identifing |cipher|. (For example,
- * |NID_aes_128_gcm|.) */
-OPENSSL_EXPORT int EVP_CIPHER_nid(const EVP_CIPHER *cipher);
-
-/* EVP_CIPHER_block_size returns the block size, in bytes, for |cipher|, or one
- * if |cipher| is a stream cipher. */
-OPENSSL_EXPORT unsigned EVP_CIPHER_block_size(const EVP_CIPHER *cipher);
-
-/* EVP_CIPHER_key_length returns the key size, in bytes, for |cipher|. If
- * |cipher| can take a variable key length then this function returns the
- * default key length and |EVP_CIPHER_flags| will return a value with
- * |EVP_CIPH_VARIABLE_LENGTH| set. */
-OPENSSL_EXPORT unsigned EVP_CIPHER_key_length(const EVP_CIPHER *cipher);
-
-/* EVP_CIPHER_iv_length returns the IV size, in bytes, of |cipher|, or zero if
- * |cipher| doesn't take an IV. */
-OPENSSL_EXPORT unsigned EVP_CIPHER_iv_length(const EVP_CIPHER *cipher);
-
-/* EVP_CIPHER_flags returns a value which is the OR of zero or more
- * |EVP_CIPH_*| flags. */
-OPENSSL_EXPORT uint32_t EVP_CIPHER_flags(const EVP_CIPHER *cipher);
-
-/* EVP_CIPHER_mode returns one of the cipher mode values enumerated below. */
-OPENSSL_EXPORT uint32_t EVP_CIPHER_mode(const EVP_CIPHER *cipher);
-
-
-/* Key derivation. */
-
-/* EVP_BytesToKey generates a key and IV for the cipher |type| by iterating
- * |md| |count| times using |data| and |salt|. On entry, the |key| and |iv|
- * buffers must have enough space to hold a key and IV for |type|. It returns
- * the length of the key on success or zero on error. */
-OPENSSL_EXPORT int EVP_BytesToKey(const EVP_CIPHER *type, const EVP_MD *md,
-                                  const uint8_t *salt, const uint8_t *data,
-                                  size_t data_len, unsigned count, uint8_t *key,
-                                  uint8_t *iv);
-
-
-/* Cipher modes (for |EVP_CIPHER_mode|). */
-
-#define EVP_CIPH_STREAM_CIPHER 0x0
-#define EVP_CIPH_ECB_MODE 0x1
-#define EVP_CIPH_CBC_MODE 0x2
-#define EVP_CIPH_CFB_MODE 0x3
-#define EVP_CIPH_OFB_MODE 0x4
-#define EVP_CIPH_CTR_MODE 0x5
-#define EVP_CIPH_GCM_MODE 0x6
-
-
-/* Cipher flags (for |EVP_CIPHER_flags|). */
-
-/* EVP_CIPH_VARIABLE_LENGTH indicates that the cipher takes a variable length
- * key. */
-#define EVP_CIPH_VARIABLE_LENGTH 0x40
-
-/* EVP_CIPH_ALWAYS_CALL_INIT indicates that the |init| function for the cipher
- * should always be called when initialising a new operation, even if the key
- * is NULL to indicate that the same key is being used. */
-#define EVP_CIPH_ALWAYS_CALL_INIT 0x80
-
-/* EVP_CIPH_CUSTOM_IV indicates that the cipher manages the IV itself rather
- * than keeping it in the |iv| member of |EVP_CIPHER_CTX|. */
-#define EVP_CIPH_CUSTOM_IV 0x100
-
-/* EVP_CIPH_CTRL_INIT indicates that EVP_CTRL_INIT should be used when
- * initialising an |EVP_CIPHER_CTX|. */
-#define EVP_CIPH_CTRL_INIT 0x200
-
-/* EVP_CIPH_FLAG_CUSTOM_CIPHER indicates that the cipher manages blocking
- * itself. This causes EVP_(En|De)crypt_ex to be simple wrapper functions. */
-#define EVP_CIPH_FLAG_CUSTOM_CIPHER 0x400
-
-/* EVP_CIPH_FLAG_AEAD_CIPHER specifies that the cipher is an AEAD. This is an
- * older version of the proper AEAD interface. See aead.h for the current
- * one. */
-#define EVP_CIPH_FLAG_AEAD_CIPHER 0x800
-
-/* EVP_CIPH_CUSTOM_COPY indicates that the |ctrl| callback should be called
- * with |EVP_CTRL_COPY| at the end of normal |EVP_CIPHER_CTX_copy|
- * processing. */
-#define EVP_CIPH_CUSTOM_COPY 0x1000
-
-
-/* Deprecated functions */
-
-/* EVP_CipherInit acts like EVP_CipherInit_ex except that |EVP_CIPHER_CTX_init|
- * is called on |cipher| first, if |cipher| is not NULL. */
-OPENSSL_EXPORT int EVP_CipherInit(EVP_CIPHER_CTX *ctx, const EVP_CIPHER *cipher,
-                                  const uint8_t *key, const uint8_t *iv,
-                                  int enc);
-
-/* EVP_EncryptInit calls |EVP_CipherInit| with |enc| equal to one. */
-OPENSSL_EXPORT int EVP_EncryptInit(EVP_CIPHER_CTX *ctx,
-                                   const EVP_CIPHER *cipher, const uint8_t *key,
-                                   const uint8_t *iv);
-
-/* EVP_DecryptInit calls |EVP_CipherInit| with |enc| equal to zero. */
-OPENSSL_EXPORT int EVP_DecryptInit(EVP_CIPHER_CTX *ctx,
-                                   const EVP_CIPHER *cipher, const uint8_t *key,
-                                   const uint8_t *iv);
-
-/* EVP_add_cipher_alias does nothing and returns one. */
-OPENSSL_EXPORT int EVP_add_cipher_alias(const char *a, const char *b);
-
-/* EVP_get_cipherbyname returns an |EVP_CIPHER| given a human readable name in
- * |name|, or NULL if the name is unknown. */
-OPENSSL_EXPORT const EVP_CIPHER *EVP_get_cipherbyname(const char *name);
-
-
-/* Private functions. */
-
-/* EVP_CIPH_NO_PADDING disables padding in block ciphers. */
-#define EVP_CIPH_NO_PADDING 0x800
-
-/* EVP_CIPHER_CTX_ctrl commands. */
-#define EVP_CTRL_INIT 0x0
-#define EVP_CTRL_SET_KEY_LENGTH 0x1
-#define EVP_CTRL_GET_RC2_KEY_BITS 0x2
-#define EVP_CTRL_SET_RC2_KEY_BITS 0x3
-#define EVP_CTRL_GET_RC5_ROUNDS 0x4
-#define EVP_CTRL_SET_RC5_ROUNDS 0x5
-#define EVP_CTRL_RAND_KEY 0x6
-#define EVP_CTRL_PBE_PRF_NID 0x7
-#define EVP_CTRL_COPY 0x8
-#define EVP_CTRL_GCM_SET_IVLEN 0x9
-#define EVP_CTRL_GCM_GET_TAG 0x10
-#define EVP_CTRL_GCM_SET_TAG 0x11
-#define EVP_CTRL_GCM_SET_IV_FIXED 0x12
-#define EVP_CTRL_GCM_IV_GEN 0x13
-#define EVP_CTRL_AEAD_SET_MAC_KEY 0x17
-/* Set the GCM invocation field, decrypt only */
-#define EVP_CTRL_GCM_SET_IV_INV 0x18
-
-/* GCM TLS constants */
-/* Length of fixed part of IV derived from PRF */
-#define EVP_GCM_TLS_FIXED_IV_LEN 4
-/* Length of explicit part of IV part of TLS records */
-#define EVP_GCM_TLS_EXPLICIT_IV_LEN 8
-/* Length of tag for TLS */
-#define EVP_GCM_TLS_TAG_LEN 16
-
-#define EVP_MAX_KEY_LENGTH 64
-#define EVP_MAX_IV_LENGTH 16
-#define EVP_MAX_BLOCK_LENGTH 32
-
-struct evp_cipher_ctx_st {
-  /* cipher contains the underlying cipher for this context. */
-  const EVP_CIPHER *cipher;
-
-  /* app_data is a pointer to opaque, user data. */
-  void *app_data;      /* application stuff */
-
-  /* cipher_data points to the |cipher| specific state. */
-  void *cipher_data;
-
-  /* key_len contains the length of the key, which may differ from
-   * |cipher->key_len| if the cipher can take a variable key length. */
-  unsigned key_len;
-
-  /* encrypt is one if encrypting and zero if decrypting. */
-  int encrypt;
-
-  /* flags contains the OR of zero or more |EVP_CIPH_*| flags, above. */
-  uint32_t flags;
-
-  /* oiv contains the original IV value. */
-  uint8_t oiv[EVP_MAX_IV_LENGTH];
-
-  /* iv contains the current IV value, which may have been updated. */
-  uint8_t iv[EVP_MAX_IV_LENGTH];
-
-  /* buf contains a partial block which is used by, for example, CTR mode to
-   * store unused keystream bytes. */
-  uint8_t buf[EVP_MAX_BLOCK_LENGTH];
-
-  /* buf_len contains the number of bytes of a partial block contained in
-   * |buf|. */
-  int buf_len;
-
-  /* num contains the number of bytes of |iv| which are valid for modes that
-   * manage partial blocks themselves. */
-  int num;
-
-  /* final_used is non-zero if the |final| buffer contains plaintext. */
-  int final_used;
-
-  /* block_mask contains |cipher->block_size| minus one. (The block size
-   * assumed to be a power of two.) */
-  int block_mask;
-
-  uint8_t final[EVP_MAX_BLOCK_LENGTH]; /* possible final block */
-} /* EVP_CIPHER_CTX */;
-
-typedef struct evp_cipher_info_st {
-  const EVP_CIPHER *cipher;
-  unsigned char iv[EVP_MAX_IV_LENGTH];
-} EVP_CIPHER_INFO;
-
-struct evp_cipher_st {
-  /* type contains a NID identifing the cipher. (e.g. NID_aes_128_gcm.) */
-  int nid;
-
-  /* block_size contains the block size, in bytes, of the cipher, or 1 for a
-   * stream cipher. */
-  unsigned block_size;
-
-  /* key_len contains the key size, in bytes, for the cipher. If the cipher
-   * takes a variable key size then this contains the default size. */
-  unsigned key_len;
-
-  /* iv_len contains the IV size, in bytes, or zero if inapplicable. */
-  unsigned iv_len;
-
-  /* ctx_size contains the size, in bytes, of the per-key context for this
-   * cipher. */
-  unsigned ctx_size;
-
-  /* flags contains the OR of a number of flags. See |EVP_CIPH_*|. */
-  uint32_t flags;
-
-  /* app_data is a pointer to opaque, user data. */
-  void *app_data;
-
-  int (*init)(EVP_CIPHER_CTX *ctx, const uint8_t *key, const uint8_t *iv,
-              int enc);
-
-  int (*cipher)(EVP_CIPHER_CTX *ctx, uint8_t *out, const uint8_t *in,
-                size_t inl);
-
-  /* cleanup, if non-NULL, releases memory associated with the context. It is
-   * called if |EVP_CTRL_INIT| succeeds. Note that |init| may not have been
-   * called at this point. */
-  void (*cleanup)(EVP_CIPHER_CTX *);
-
-  int (*ctrl)(EVP_CIPHER_CTX *, int type, int arg, void *ptr);
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define CIPHER_F_EVP_AEAD_CTX_init 100
-#define CIPHER_F_EVP_AEAD_CTX_open 101
-#define CIPHER_F_EVP_AEAD_CTX_seal 102
-#define CIPHER_F_EVP_CIPHER_CTX_copy 103
-#define CIPHER_F_EVP_CIPHER_CTX_ctrl 104
-#define CIPHER_F_EVP_CIPHER_CTX_set_key_length 105
-#define CIPHER_F_EVP_CipherInit_ex 106
-#define CIPHER_F_EVP_DecryptFinal_ex 107
-#define CIPHER_F_EVP_EncryptFinal_ex 108
-#define CIPHER_F_aead_aes_gcm_init 109
-#define CIPHER_F_aead_aes_gcm_open 110
-#define CIPHER_F_aead_aes_gcm_seal 111
-#define CIPHER_F_aead_aes_key_wrap_init 112
-#define CIPHER_F_aead_aes_key_wrap_open 113
-#define CIPHER_F_aead_aes_key_wrap_seal 114
-#define CIPHER_F_aead_chacha20_poly1305_init 115
-#define CIPHER_F_aead_chacha20_poly1305_open 116
-#define CIPHER_F_aead_chacha20_poly1305_seal 117
-#define CIPHER_F_aead_rc4_md5_tls_init 118
-#define CIPHER_F_aead_rc4_md5_tls_open 119
-#define CIPHER_F_aead_rc4_md5_tls_seal 120
-#define CIPHER_F_aead_ssl3_ensure_cipher_init 121
-#define CIPHER_F_aead_ssl3_init 122
-#define CIPHER_F_aead_ssl3_open 123
-#define CIPHER_F_aead_ssl3_seal 124
-#define CIPHER_F_aead_tls_ensure_cipher_init 125
-#define CIPHER_F_aead_tls_init 126
-#define CIPHER_F_aead_tls_open 127
-#define CIPHER_F_aead_tls_seal 128
-#define CIPHER_F_aes_init_key 129
-#define CIPHER_F_aesni_init_key 130
-#define CIPHER_F_EVP_AEAD_CTX_init_with_direction 131
-#define CIPHER_F_aead_aes_ctr_hmac_sha256_init 132
-#define CIPHER_F_aead_aes_ctr_hmac_sha256_open 133
-#define CIPHER_F_aead_aes_ctr_hmac_sha256_seal 134
-#define CIPHER_R_AES_KEY_SETUP_FAILED 100
-#define CIPHER_R_BAD_DECRYPT 101
-#define CIPHER_R_BAD_KEY_LENGTH 102
-#define CIPHER_R_BUFFER_TOO_SMALL 103
-#define CIPHER_R_CTRL_NOT_IMPLEMENTED 104
-#define CIPHER_R_CTRL_OPERATION_NOT_IMPLEMENTED 105
-#define CIPHER_R_DATA_NOT_MULTIPLE_OF_BLOCK_LENGTH 106
-#define CIPHER_R_INITIALIZATION_ERROR 107
-#define CIPHER_R_INPUT_NOT_INITIALIZED 108
-#define CIPHER_R_INVALID_AD_SIZE 109
-#define CIPHER_R_INVALID_KEY_LENGTH 110
-#define CIPHER_R_INVALID_NONCE_SIZE 111
-#define CIPHER_R_INVALID_OPERATION 112
-#define CIPHER_R_IV_TOO_LARGE 113
-#define CIPHER_R_NO_CIPHER_SET 114
-#define CIPHER_R_OUTPUT_ALIASES_INPUT 115
-#define CIPHER_R_TAG_TOO_LARGE 116
-#define CIPHER_R_TOO_LARGE 117
-#define CIPHER_R_UNSUPPORTED_AD_SIZE 118
-#define CIPHER_R_UNSUPPORTED_INPUT_SIZE 119
-#define CIPHER_R_UNSUPPORTED_KEY_SIZE 120
-#define CIPHER_R_UNSUPPORTED_NONCE_SIZE 121
-#define CIPHER_R_UNSUPPORTED_TAG_SIZE 122
-#define CIPHER_R_WRONG_FINAL_BLOCK_LENGTH 123
-#define CIPHER_R_NO_DIRECTION_SET 124
-
-#endif  /* OPENSSL_HEADER_CIPHER_H */
diff --git a/phonelibs/boringssl/include/openssl/cmac.h b/phonelibs/boringssl/include/openssl/cmac.h
deleted file mode 100644
index 183f41bca05630..00000000000000
--- a/phonelibs/boringssl/include/openssl/cmac.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/* Copyright (c) 2015, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_CMAC_H
-#define OPENSSL_HEADER_CMAC_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* CMAC.
- *
- * CMAC is a MAC based on AES-CBC and defined in
- * https://tools.ietf.org/html/rfc4493#section-2.3. */
-
-
-/* One-shot functions. */
-
-/* AES_CMAC calculates the 16-byte, CMAC authenticator of |in_len| bytes of
- * |in| and writes it to |out|. The |key_len| may be 16 or 32 bytes to select
- * between AES-128 and AES-256. It returns one on success or zero on error. */
-OPENSSL_EXPORT int AES_CMAC(uint8_t out[16], const uint8_t *key, size_t key_len,
-                            const uint8_t *in, size_t in_len);
-
-
-/* Incremental interface. */
-
-/* CMAC_CTX_new allocates a fresh |CMAC_CTX| and returns it, or NULL on
- * error. */
-OPENSSL_EXPORT CMAC_CTX *CMAC_CTX_new(void);
-
-/* CMAC_CTX_free frees a |CMAC_CTX|. */
-OPENSSL_EXPORT void CMAC_CTX_free(CMAC_CTX *ctx);
-
-/* CMAC_Init configures |ctx| to use the given |key| and |cipher|. The CMAC RFC
- * only specifies the use of AES-128 thus |key_len| should be 16 and |cipher|
- * should be |EVP_aes_128_cbc()|. However, this implementation also supports
- * AES-256 by setting |key_len| to 32 and |cipher| to |EVP_aes_256_cbc()|. The
- * |engine| argument is ignored.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int CMAC_Init(CMAC_CTX *ctx, const void *key, size_t key_len,
-                             const EVP_CIPHER *cipher, ENGINE *engine);
-
-
-/* CMAC_Reset resets |ctx| so that a fresh message can be authenticated. */
-OPENSSL_EXPORT int CMAC_Reset(CMAC_CTX *ctx);
-
-/* CMAC_Update processes |in_len| bytes of message from |in|. It returns one on
- * success or zero on error. */
-OPENSSL_EXPORT int CMAC_Update(CMAC_CTX *ctx, const uint8_t *in, size_t in_len);
-
-/* CMAC_Final sets |*out_len| to 16 and, if |out| is not NULL, writes 16 bytes
- * of authenticator to it. It returns one on success or zero on error. */
-OPENSSL_EXPORT int CMAC_Final(CMAC_CTX *ctx, uint8_t *out, size_t *out_len);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_CBC_H */
diff --git a/phonelibs/boringssl/include/openssl/conf.h b/phonelibs/boringssl/include/openssl/conf.h
deleted file mode 100644
index 84fc94f99e5b63..00000000000000
--- a/phonelibs/boringssl/include/openssl/conf.h
+++ /dev/null
@@ -1,149 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_CONF_H
-#define OPENSSL_HEADER_CONF_H
-
-#include <openssl/base.h>
-
-#include <openssl/stack.h>
-#include <openssl/lhash.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Config files look like:
- *
- *   # Comment
- *
- *   # This key is in the default section.
- *   key=value
- *
- *   [section_name]
- *   key2=value2
- *
- * Config files are representated by a |CONF|. */
-
-struct conf_value_st {
-  char *section;
-  char *name;
-  char *value;
-};
-
-struct conf_st {
-  LHASH_OF(CONF_VALUE) *data;
-};
-
-
-/* NCONF_new returns a fresh, empty |CONF|, or NULL on error. The |method|
- * argument must be NULL. */
-CONF *NCONF_new(void *method);
-
-/* NCONF_free frees all the data owned by |conf| and then |conf| itself. */
-void NCONF_free(CONF *conf);
-
-/* NCONF_load parses the file named |filename| and adds the values found to
- * |conf|. It returns one on success and zero on error. In the event of an
- * error, if |out_error_line| is not NULL, |*out_error_line| is set to the
- * number of the line that contained the error. */
-int NCONF_load(CONF *conf, const char *filename, long *out_error_line);
-
-/* NCONF_load_bio acts like |NCONF_load| but reads from |bio| rather than from
- * a named file. */
-int NCONF_load_bio(CONF *conf, BIO *bio, long *out_error_line);
-
-/* NCONF_get_section returns a stack of values for a given section in |conf|.
- * If |section| is NULL, the default section is returned. It returns NULL on
- * error. */
-STACK_OF(CONF_VALUE) *NCONF_get_section(const CONF *conf, const char *section);
-
-/* NCONF_get_string returns the value of the key |name|, in section |section|.
- * The |section| argument may be NULL to indicate the default section. It
- * returns the value or NULL on error. */
-const char *NCONF_get_string(const CONF *conf, const char *section,
-                             const char *name);
-
-
-/* Utility functions */
-
-/* CONF_parse_list takes a list separated by 'sep' and calls |list_cb| giving
- * the start and length of each member, optionally stripping leading and
- * trailing whitespace. This can be used to parse comma separated lists for
- * example. If |list_cb| returns <= 0, then the iteration is halted and that
- * value is returned immediately. Otherwise it returns one. Note that |list_cb|
- * may be called on an empty member. */
-int CONF_parse_list(const char *list, char sep, int remove_whitespace,
-                    int (*list_cb)(const char *elem, int len, void *usr),
-                    void *arg);
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define CONF_F_CONF_parse_list 100
-#define CONF_F_NCONF_load 101
-#define CONF_F_def_load_bio 102
-#define CONF_F_str_copy 103
-#define CONF_R_LIST_CANNOT_BE_NULL 100
-#define CONF_R_MISSING_CLOSE_SQUARE_BRACKET 101
-#define CONF_R_MISSING_EQUAL_SIGN 102
-#define CONF_R_NO_CLOSE_BRACE 103
-#define CONF_R_UNABLE_TO_CREATE_NEW_SECTION 104
-#define CONF_R_VARIABLE_HAS_NO_VALUE 105
-
-#endif  /* OPENSSL_HEADER_THREAD_H */
diff --git a/phonelibs/boringssl/include/openssl/cpu.h b/phonelibs/boringssl/include/openssl/cpu.h
deleted file mode 100644
index 83ec473fabcb8f..00000000000000
--- a/phonelibs/boringssl/include/openssl/cpu.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef OPENSSL_HEADER_CPU_H
-#define OPENSSL_HEADER_CPU_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Runtime CPU feature support */
-
-
-#if defined(OPENSSL_X86) || defined(OPENSSL_X86_64)
-/* OPENSSL_ia32cap_P contains the Intel CPUID bits when running on an x86 or
- * x86-64 system.
- *
- *   Index 0:
- *     EDX for CPUID where EAX = 1
- *     Bit 30 is used to indicate an Intel CPU
- *   Index 1:
- *     ECX for CPUID where EAX = 1
- *   Index 2:
- *     EBX for CPUID where EAX = 7
- *
- * Note: the CPUID bits are pre-adjusted for the OSXSAVE bit and the YMM and XMM
- * bits in XCR0, so it is not necessary to check those. */
-extern uint32_t OPENSSL_ia32cap_P[4];
-#endif
-
-#if defined(OPENSSL_ARM) || defined(OPENSSL_AARCH64)
-/* CRYPTO_is_NEON_capable returns true if the current CPU has a NEON unit. Note
- * that |OPENSSL_armcap_P| also exists and contains the same information in a
- * form that's easier for assembly to use. */
-OPENSSL_EXPORT char CRYPTO_is_NEON_capable(void);
-
-/* CRYPTO_set_NEON_capable sets the return value of |CRYPTO_is_NEON_capable|.
- * By default, unless the code was compiled with |-mfpu=neon|, NEON is assumed
- * not to be present. It is not autodetected. Calling this with a zero
- * argument also causes |CRYPTO_is_NEON_functional| to return false. */
-OPENSSL_EXPORT void CRYPTO_set_NEON_capable(char neon_capable);
-
-/* CRYPTO_is_NEON_functional returns true if the current CPU has a /working/
- * NEON unit. Some phones have a NEON unit, but the Poly1305 NEON code causes
- * it to fail. See https://code.google.com/p/chromium/issues/detail?id=341598 */
-OPENSSL_EXPORT char CRYPTO_is_NEON_functional(void);
-
-/* CRYPTO_set_NEON_functional sets the "NEON functional" flag. For
- * |CRYPTO_is_NEON_functional| to return true, both this flag and the NEON flag
- * must be true. By default NEON is assumed to be functional if the code was
- * compiled with |-mfpu=neon| or if |CRYPTO_set_NEON_capable| has been called
- * with a non-zero argument. */
-OPENSSL_EXPORT void CRYPTO_set_NEON_functional(char neon_functional);
-#endif  /* OPENSSL_ARM */
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_CPU_H */
diff --git a/phonelibs/boringssl/include/openssl/crypto.h b/phonelibs/boringssl/include/openssl/crypto.h
deleted file mode 100644
index 3af1547d87ebbc..00000000000000
--- a/phonelibs/boringssl/include/openssl/crypto.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_CRYPTO_H
-#define OPENSSL_HEADER_CRYPTO_H
-
-#include <openssl/base.h>
-
-/* Upstream OpenSSL defines |OPENSSL_malloc|, etc., in crypto.h rather than
- * mem.h. */
-#include <openssl/mem.h>
-
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* crypto.h contains functions for initializing the crypto library. */
-
-
-/* CRYPTO_library_init initializes the crypto library. It must be called if the
- * library is built with BORINGSSL_NO_STATIC_INITIALIZER. Otherwise, it does
- * nothing and a static initializer is used instead. */
-OPENSSL_EXPORT void CRYPTO_library_init(void);
-
-
-/* Deprecated functions. */
-
-#define OPENSSL_VERSION_TEXT "BoringSSL"
-
-#define SSLEAY_VERSION 0
-
-/* SSLeay_version is a compatibility function that returns the string
- * "BoringSSL". */
-OPENSSL_EXPORT const char *SSLeay_version(int unused);
-
-/* SSLeay is a compatibility function that returns OPENSSL_VERSION_NUMBER from
- * base.h. */
-OPENSSL_EXPORT unsigned long SSLeay(void);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define CRYPTO_F_CRYPTO_get_ex_new_index 100
-#define CRYPTO_F_CRYPTO_set_ex_data 101
-#define CRYPTO_F_get_class 102
-#define CRYPTO_F_get_func_pointers 103
-
-#endif  /* OPENSSL_HEADER_CRYPTO_H */
diff --git a/phonelibs/boringssl/include/openssl/des.h b/phonelibs/boringssl/include/openssl/des.h
deleted file mode 100644
index 6e1b0cfe5f76da..00000000000000
--- a/phonelibs/boringssl/include/openssl/des.h
+++ /dev/null
@@ -1,149 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_DES_H
-#define OPENSSL_HEADER_DES_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* DES. */
-
-
-typedef struct DES_cblock_st {
-  uint8_t bytes[8];
-} DES_cblock;
-
-typedef struct DES_ks {
-  union {
-    DES_cblock cblock;
-    /* make sure things are correct size on machines with
-     * 8 byte longs */
-    uint32_t deslong[2];
-  } ks[16];
-} DES_key_schedule;
-
-
-#define DES_KEY_SZ (sizeof(DES_cblock))
-#define DES_SCHEDULE_SZ (sizeof(DES_key_schedule))
-
-#define DES_ENCRYPT 1
-#define DES_DECRYPT 0
-
-#define DES_CBC_MODE 0
-#define DES_PCBC_MODE 1
-
-/* DES_set_key performs a key schedule and initialises |schedule| with |key|. */
-OPENSSL_EXPORT void DES_set_key(const DES_cblock *key,
-                                DES_key_schedule *schedule);
-
-/* DES_set_odd_parity sets the parity bits (the least-significant bits in each
- * byte) of |key| given the other bits in each byte. */
-OPENSSL_EXPORT void DES_set_odd_parity(DES_cblock *key);
-
-/* DES_ecb_encrypt encrypts (or decrypts, if |is_encrypt| is |DES_DECRYPT|) a
- * single DES block (8 bytes) from in to out, using the key configured in
- * |schedule|. */
-OPENSSL_EXPORT void DES_ecb_encrypt(const DES_cblock *in, DES_cblock *out,
-                                    const DES_key_schedule *schedule,
-                                    int is_encrypt);
-
-/* DES_ncbc_encrypt encrypts (or decrypts, if |enc| is |DES_DECRYPT|) |len|
- * bytes from |in| to |out| with DES in CBC mode. */
-OPENSSL_EXPORT void DES_ncbc_encrypt(const uint8_t *in, uint8_t *out,
-                                     size_t len,
-                                     const DES_key_schedule *schedule,
-                                     DES_cblock *ivec, int enc);
-
-/* DES_ecb3_encrypt encrypts (or decrypts, if |enc| is |DES_DECRYPT|) a single
- * block (8 bytes) of data from |input| to |output| using 3DES. */
-OPENSSL_EXPORT void DES_ecb3_encrypt(const DES_cblock *input,
-                                     DES_cblock *output,
-                                     const DES_key_schedule *ks1,
-                                     const DES_key_schedule *ks2,
-                                     const DES_key_schedule *ks3,
-                                     int enc);
-
-/* DES_ede3_cbc_encrypt encrypts (or decrypts, if |enc| is |DES_DECRYPT|) |len|
- * bytes from |in| to |out| with 3DES in CBC mode. 3DES uses three keys, thus
- * the function takes three different |DES_key_schedule|s. */
-OPENSSL_EXPORT void DES_ede3_cbc_encrypt(const uint8_t *in, uint8_t *out,
-                                         size_t len,
-                                         const DES_key_schedule *ks1,
-                                         const DES_key_schedule *ks2,
-                                         const DES_key_schedule *ks3,
-                                         DES_cblock *ivec, int enc);
-
-/* DES_ede2_cbc_encrypt encrypts (or decrypts, if |enc| is |DES_DECRYPT|) |len|
- * bytes from |in| to |out| with 3DES in CBC mode. With this keying option, the
- * first and third 3DES keys are identical. Thus, this function takes only two
- * different |DES_key_schedule|s. */
-OPENSSL_EXPORT void DES_ede2_cbc_encrypt(const uint8_t *in, uint8_t *out,
-                                         size_t len,
-                                         const DES_key_schedule *ks1,
-                                         const DES_key_schedule *ks2,
-                                         DES_cblock *ivec, int enc);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_DES_H */
diff --git a/phonelibs/boringssl/include/openssl/dh.h b/phonelibs/boringssl/include/openssl/dh.h
deleted file mode 100644
index 17574d51edf5b1..00000000000000
--- a/phonelibs/boringssl/include/openssl/dh.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_DH_H
-#define OPENSSL_HEADER_DH_H
-
-#include <openssl/base.h>
-
-#include <openssl/engine.h>
-#include <openssl/ex_data.h>
-#include <openssl/thread.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* DH contains functions for performing Diffie-Hellman key agreement in
- * multiplicative groups. */
-
-
-/* Allocation and destruction. */
-
-/* DH_new returns a new, empty DH object or NULL on error. */
-OPENSSL_EXPORT DH *DH_new(void);
-
-/* DH_new_method acts the same as |DH_new| but takes an explicit |ENGINE|. */
-OPENSSL_EXPORT DH *DH_new_method(const ENGINE *engine);
-
-/* DH_free decrements the reference count of |dh| and frees it if the reference
- * count drops to zero. */
-OPENSSL_EXPORT void DH_free(DH *dh);
-
-/* DH_up_ref increments the reference count of |dh|. */
-OPENSSL_EXPORT int DH_up_ref(DH *dh);
-
-
-/* Standard parameters.
- *
- * These functions return new DH objects with standard parameters configured
- * that use the given ENGINE, which may be NULL. They return NULL on allocation
- * failure. */
-
-/* These parameters are taken from RFC 5114. */
-
-OPENSSL_EXPORT DH *DH_get_1024_160(const ENGINE *engine);
-OPENSSL_EXPORT DH *DH_get_2048_224(const ENGINE *engine);
-OPENSSL_EXPORT DH *DH_get_2048_256(const ENGINE *engine);
-
-
-/* Parameter generation. */
-
-#define DH_GENERATOR_2 2
-#define DH_GENERATOR_5 5
-
-/* DH_generate_parameters_ex generates a suitable Diffie-Hellman group with a
- * prime that is |prime_bits| long and stores it in |dh|. The generator of the
- * group will be |generator|, which should be |DH_GENERATOR_2| unless there's a
- * good reason to use a different value. The |cb| argument contains a callback
- * function that will be called during the generation. See the documentation in
- * |bn.h| about this. In addition to the callback invocations from |BN|, |cb|
- * will also be called with |event| equal to three when the generation is
- * complete. */
-OPENSSL_EXPORT int DH_generate_parameters_ex(DH *dh, int prime_bits,
-                                             int generator, BN_GENCB *cb);
-
-
-/* Diffie-Hellman operations. */
-
-/* DH_generate_key generates a new, random, private key and stores it in
- * |dh|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int DH_generate_key(DH *dh);
-
-/* DH_compute_key calculates the shared key between |dh| and |peers_key| and
- * writes it as a big-endian integer into |out|, which must have |DH_size|
- * bytes of space. It returns the number of bytes written, or a negative number
- * on error. */
-OPENSSL_EXPORT int DH_compute_key(uint8_t *out, const BIGNUM *peers_key,
-                                  DH *dh);
-
-
-/* Utility functions. */
-
-/* DH_size returns the number of bytes in the DH group's prime. */
-OPENSSL_EXPORT int DH_size(const DH *dh);
-
-/* DH_num_bits returns the minimum number of bits needed to represent the
- * absolute value of the DH group's prime. */
-OPENSSL_EXPORT unsigned DH_num_bits(const DH *dh);
-
-#define DH_CHECK_P_NOT_PRIME 0x01
-#define DH_CHECK_P_NOT_SAFE_PRIME 0x02
-#define DH_CHECK_UNABLE_TO_CHECK_GENERATOR 0x04
-#define DH_CHECK_NOT_SUITABLE_GENERATOR 0x08
-#define DH_CHECK_Q_NOT_PRIME 0x10
-#define DH_CHECK_INVALID_Q_VALUE 0x20
-#define DH_CHECK_INVALID_J_VALUE 0x40
-
-/* These are compatibility defines. */
-#define DH_NOT_SUITABLE_GENERATOR DH_CHECK_NOT_SUITABLE_GENERATOR
-#define DH_UNABLE_TO_CHECK_GENERATOR DH_CHECK_UNABLE_TO_CHECK_GENERATOR
-
-/* DH_check checks the suitability of |dh| as a Diffie-Hellman group. and sets
- * |DH_CHECK_*| flags in |*out_flags| if it finds any errors. It returns one if
- * |*out_flags| was successfully set and zero on error.
- *
- * Note: these checks may be quite computationally expensive. */
-OPENSSL_EXPORT int DH_check(const DH *dh, int *out_flags);
-
-#define DH_CHECK_PUBKEY_TOO_SMALL 1
-#define DH_CHECK_PUBKEY_TOO_LARGE 2
-
-/* DH_check_pub_key checks the suitability of |pub_key| as a public key for the
- * DH group in |dh| and sets |DH_CHECK_PUBKEY_*| flags in |*out_flags| if it
- * finds any errors. It returns one if |*out_flags| was successfully set and
- * zero on error. */
-OPENSSL_EXPORT int DH_check_pub_key(const DH *dh, const BIGNUM *pub_key,
-                                    int *out_flags);
-
-/* DHparams_dup allocates a fresh |DH| and copies the parameters from |dh| into
- * it. It returns the new |DH| or NULL on error. */
-OPENSSL_EXPORT DH *DHparams_dup(const DH *dh);
-
-
-/* ASN.1 functions. */
-
-/* d2i_DHparams parses an ASN.1, DER encoded Diffie-Hellman parameters
- * structure from |len| bytes at |*inp|. If |ret| is not NULL then, on exit, a
- * pointer to the result is in |*ret|. If |*ret| is already non-NULL on entry
- * then the result is written directly into |*ret|, otherwise a fresh |DH| is
- * allocated. On successful exit, |*inp| is advanced past the DER structure. It
- * returns the result or NULL on error. */
-OPENSSL_EXPORT DH *d2i_DHparams(DH **ret, const unsigned char **inp, long len);
-
-/* i2d_DHparams marshals |in| to an ASN.1, DER structure. If |outp| is not NULL
- * then the result is written to |*outp| and |*outp| is advanced just past the
- * output. It returns the number of bytes in the result, whether written or
- * not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_DHparams(const DH *in, unsigned char **outp);
-
-
-/* ex_data functions.
- *
- * See |ex_data.h| for details. */
-
-OPENSSL_EXPORT int DH_get_ex_new_index(long argl, void *argp,
-                                       CRYPTO_EX_new *new_func,
-                                       CRYPTO_EX_dup *dup_func,
-                                       CRYPTO_EX_free *free_func);
-OPENSSL_EXPORT int DH_set_ex_data(DH *d, int idx, void *arg);
-OPENSSL_EXPORT void *DH_get_ex_data(DH *d, int idx);
-
-
-/* dh_method contains function pointers to override the implementation of DH.
- * See |engine.h| for details. */
-struct dh_method {
-  struct openssl_method_common_st common;
-
-  /* app_data is an opaque pointer for the method to use. */
-  void *app_data;
-
-  /* init is called just before the return of |DH_new_method|. It returns one
-   * on success or zero on error. */
-  int (*init)(DH *dh);
-
-  /* finish is called before |dh| is destructed. */
-  void (*finish)(DH *dh);
-
-  /* generate_parameters is called by |DH_generate_parameters_ex|. */
-  int (*generate_parameters)(DH *dh, int prime_bits, int generator,
-                             BN_GENCB *cb);
-
-  /* generate_parameters is called by |DH_generate_key|. */
-  int (*generate_key)(DH *dh);
-
-  /* compute_key is called by |DH_compute_key|. */
-  int (*compute_key)(DH *dh, uint8_t *out, const BIGNUM *pub_key);
-};
-
-struct dh_st {
-  DH_METHOD *meth;
-
-  BIGNUM *p;
-  BIGNUM *g;
-  BIGNUM *pub_key;  /* g^x */
-  BIGNUM *priv_key; /* x */
-
-  /* priv_length contains the length, in bits, of the private value. If zero,
-   * the private value will be the same length as |p|. */
-  unsigned priv_length;
-
-  CRYPTO_MUTEX method_mont_p_lock;
-  BN_MONT_CTX *method_mont_p;
-
-  /* Place holders if we want to do X9.42 DH */
-  BIGNUM *q;
-  BIGNUM *j;
-  unsigned char *seed;
-  int seedlen;
-  BIGNUM *counter;
-
-  int flags;
-  CRYPTO_refcount_t references;
-  CRYPTO_EX_DATA ex_data;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define DH_F_DH_new_method 100
-#define DH_F_compute_key 101
-#define DH_F_generate_key 102
-#define DH_F_generate_parameters 103
-#define DH_R_BAD_GENERATOR 100
-#define DH_R_INVALID_PUBKEY 101
-#define DH_R_MODULUS_TOO_LARGE 102
-#define DH_R_NO_PRIVATE_VALUE 103
-
-#endif  /* OPENSSL_HEADER_DH_H */
diff --git a/phonelibs/boringssl/include/openssl/digest.h b/phonelibs/boringssl/include/openssl/digest.h
deleted file mode 100644
index 2ea4ec4d7d3dda..00000000000000
--- a/phonelibs/boringssl/include/openssl/digest.h
+++ /dev/null
@@ -1,265 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_DIGEST_H
-#define OPENSSL_HEADER_DIGEST_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Digest functions.
- *
- * An EVP_MD abstracts the details of a specific hash function allowing code to
- * deal with the concept of a "hash function" without needing to know exactly
- * which hash function it is. */
-
-
-/* Hash algorithms.
- *
- * The following functions return |EVP_MD| objects that implement the named hash
- * function. */
-
-OPENSSL_EXPORT const EVP_MD *EVP_md4(void);
-OPENSSL_EXPORT const EVP_MD *EVP_md5(void);
-OPENSSL_EXPORT const EVP_MD *EVP_sha1(void);
-OPENSSL_EXPORT const EVP_MD *EVP_sha224(void);
-OPENSSL_EXPORT const EVP_MD *EVP_sha256(void);
-OPENSSL_EXPORT const EVP_MD *EVP_sha384(void);
-OPENSSL_EXPORT const EVP_MD *EVP_sha512(void);
-
-/* EVP_md5_sha1 is a TLS-specific |EVP_MD| which computes the concatenation of
- * MD5 and SHA-1, as used in TLS 1.1 and below. */
-OPENSSL_EXPORT const EVP_MD *EVP_md5_sha1(void);
-
-/* EVP_get_digestbynid returns an |EVP_MD| for the given NID, or NULL if no
- * such digest is known. */
-OPENSSL_EXPORT const EVP_MD *EVP_get_digestbynid(int nid);
-
-/* EVP_get_digestbyobj returns an |EVP_MD| for the given |ASN1_OBJECT|, or NULL
- * if no such digest is known. */
-OPENSSL_EXPORT const EVP_MD *EVP_get_digestbyobj(const ASN1_OBJECT *obj);
-
-
-/* Digest contexts.
- *
- * An EVP_MD_CTX represents the state of a specific digest operation in
- * progress. */
-
-/* EVP_MD_CTX_init initialises an, already allocated, |EVP_MD_CTX|. */
-OPENSSL_EXPORT void EVP_MD_CTX_init(EVP_MD_CTX *ctx);
-
-/* EVP_MD_CTX_create allocates and initialises a fresh |EVP_MD_CTX| and returns
- * it, or NULL on allocation failure. */
-OPENSSL_EXPORT EVP_MD_CTX *EVP_MD_CTX_create(void);
-
-/* EVP_MD_CTX_cleanup frees any resources owned by |ctx| and resets it to a
- * freshly initialised state. It does not free |ctx| itself. It returns one. */
-OPENSSL_EXPORT int EVP_MD_CTX_cleanup(EVP_MD_CTX *ctx);
-
-/* EVP_MD_CTX_destroy calls |EVP_MD_CTX_cleanup| and then frees |ctx| itself. */
-OPENSSL_EXPORT void EVP_MD_CTX_destroy(EVP_MD_CTX *ctx);
-
-/* EVP_MD_CTX_copy_ex sets |out|, which must already be initialised, to be a
- * copy of |in|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int EVP_MD_CTX_copy_ex(EVP_MD_CTX *out, const EVP_MD_CTX *in);
-
-
-/* Digest operations. */
-
-/* EVP_DigestInit_ex configures |ctx|, which must already have been
- * initialised, for a fresh hashing operation using |type|. It returns one on
- * success and zero otherwise. */
-OPENSSL_EXPORT int EVP_DigestInit_ex(EVP_MD_CTX *ctx, const EVP_MD *type,
-                                     ENGINE *engine);
-
-/* EVP_DigestInit acts like |EVP_DigestInit_ex| except that |ctx| is
- * initialised before use. */
-OPENSSL_EXPORT int EVP_DigestInit(EVP_MD_CTX *ctx, const EVP_MD *type);
-
-/* EVP_DigestUpdate hashes |len| bytes from |data| into the hashing operation
- * in |ctx|. It returns one. */
-OPENSSL_EXPORT int EVP_DigestUpdate(EVP_MD_CTX *ctx, const void *data,
-                                    size_t len);
-
-/* EVP_MAX_MD_SIZE is the largest digest size supported. Functions that output
- * a digest generally require the buffer have at least this much space. */
-#define EVP_MAX_MD_SIZE 64 /* SHA-512 is the longest so far. */
-
-/* EVP_DigestFinal_ex finishes the digest in |ctx| and writes the output to
- * |md_out|. At most |EVP_MAX_MD_SIZE| bytes are written. If |out_size| is not
- * NULL then |*out_size| is set to the number of bytes written. It returns one.
- * After this call, the hash cannot be updated or finished again until
- * |EVP_DigestInit_ex| is called to start another hashing operation. */
-OPENSSL_EXPORT int EVP_DigestFinal_ex(EVP_MD_CTX *ctx, uint8_t *md_out,
-                                      unsigned int *out_size);
-
-/* EVP_DigestFinal acts like |EVP_DigestFinal_ex| except that
- * |EVP_MD_CTX_cleanup| is called on |ctx| before returning. */
-OPENSSL_EXPORT int EVP_DigestFinal(EVP_MD_CTX *ctx, uint8_t *md_out,
-                                   unsigned int *out_size);
-
-/* EVP_Digest performs a complete hashing operation in one call. It hashes
- * |len| bytes from |data| and writes the digest to |md_out|. At most
- * |EVP_MAX_MD_SIZE| bytes are written. If |out_size| is not NULL then
- * |*out_size| is set to the number of bytes written. It returns one on success
- * and zero otherwise. */
-OPENSSL_EXPORT int EVP_Digest(const void *data, size_t len, uint8_t *md_out,
-                              unsigned int *md_out_size, const EVP_MD *type,
-                              ENGINE *impl);
-
-
-/* Digest function accessors.
- *
- * These functions allow code to learn details about an abstract hash
- * function. */
-
-/* EVP_MD_type returns a NID identifing |md|. (For example, |NID_sha256|.) */
-OPENSSL_EXPORT int EVP_MD_type(const EVP_MD *md);
-
-/* EVP_MD_flags returns the flags for |md|, which is a set of |EVP_MD_FLAG_*|
- * values, ORed together. */
-OPENSSL_EXPORT uint32_t EVP_MD_flags(const EVP_MD *md);
-
-/* EVP_MD_size returns the digest size of |md|, in bytes. */
-OPENSSL_EXPORT size_t EVP_MD_size(const EVP_MD *md);
-
-/* EVP_MD_block_size returns the native block-size of |md|. */
-OPENSSL_EXPORT size_t EVP_MD_block_size(const EVP_MD *md);
-
-/* EVP_MD_FLAG_PKEY_DIGEST indicates the the digest function is used with a
- * specific public key in order to verify signatures. (For example,
- * EVP_dss1.) */
-#define EVP_MD_FLAG_PKEY_DIGEST 1
-
-/* EVP_MD_FLAG_DIGALGID_ABSENT indicates that the parameter type in an X.509
- * DigestAlgorithmIdentifier representing this digest function should be
- * undefined rather than NULL. */
-#define EVP_MD_FLAG_DIGALGID_ABSENT 2
-
-
-/* Deprecated functions. */
-
-/* EVP_MD_CTX_copy sets |out|, which must /not/ be initialised, to be a copy of
- * |in|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int EVP_MD_CTX_copy(EVP_MD_CTX *out, const EVP_MD_CTX *in);
-
-/* EVP_add_digest does nothing and returns one. It exists only for
- * compatibility with OpenSSL. */
-OPENSSL_EXPORT int EVP_add_digest(const EVP_MD *digest);
-
-/* EVP_get_cipherbyname returns an |EVP_MD| given a human readable name in
- * |name|, or NULL if the name is unknown. */
-OPENSSL_EXPORT const EVP_MD *EVP_get_digestbyname(const char *);
-
-
-/* Digest operation accessors. */
-
-/* EVP_MD_CTX_md returns the underlying digest function, or NULL if one has not
- * been set. */
-OPENSSL_EXPORT const EVP_MD *EVP_MD_CTX_md(const EVP_MD_CTX *ctx);
-
-/* EVP_MD_CTX_size returns the digest size of |ctx|. It will crash if a digest
- * hasn't been set on |ctx|. */
-OPENSSL_EXPORT unsigned EVP_MD_CTX_size(const EVP_MD_CTX *ctx);
-
-/* EVP_MD_CTX_block_size returns the block size of the digest function used by
- * |ctx|. It will crash if a digest hasn't been set on |ctx|. */
-OPENSSL_EXPORT unsigned EVP_MD_CTX_block_size(const EVP_MD_CTX *ctx);
-
-/* EVP_MD_CTX_type returns a NID describing the digest function used by |ctx|.
- * (For example, |NID_sha256|.) It will crash if a digest hasn't been set on
- * |ctx|. */
-OPENSSL_EXPORT int EVP_MD_CTX_type(const EVP_MD_CTX *ctx);
-
-
-struct evp_md_pctx_ops;
-
-struct env_md_ctx_st {
-  /* digest is the underlying digest function, or NULL if not set. */
-  const EVP_MD *digest;
-  /* flags is the OR of a number of |EVP_MD_CTX_FLAG_*| values. */
-  uint32_t flags;
-  /* md_data points to a block of memory that contains the hash-specific
-   * context. */
-  void *md_data;
-  /* update is usually copied from |digest->update| but can differ in some
-   * cases, i.e. HMAC.
-   * TODO(davidben): Remove this hook once |EVP_PKEY_HMAC| is gone. */
-  void (*update)(EVP_MD_CTX *ctx, const void *data, size_t count);
-
-  /* pctx is an opaque (at this layer) pointer to additional context that
-   * EVP_PKEY functions may store in this object. */
-  EVP_PKEY_CTX *pctx;
-
-  /* pctx_ops, if not NULL, points to a vtable that contains functions to
-   * manipulate |pctx|. */
-  const struct evp_md_pctx_ops *pctx_ops;
-} /* EVP_MD_CTX */;
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define DIGEST_F_EVP_DigestInit_ex 100
-#define DIGEST_F_EVP_MD_CTX_copy_ex 101
-#define DIGEST_R_INPUT_NOT_INITIALIZED 100
-
-#endif  /* OPENSSL_HEADER_DIGEST_H */
diff --git a/phonelibs/boringssl/include/openssl/dsa.h b/phonelibs/boringssl/include/openssl/dsa.h
deleted file mode 100644
index 7274e4c8c90d29..00000000000000
--- a/phonelibs/boringssl/include/openssl/dsa.h
+++ /dev/null
@@ -1,379 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- *
- * The DSS routines are based on patches supplied by
- * Steven Schoch <schoch@sheba.arc.nasa.gov>. */
-
-#ifndef OPENSSL_HEADER_DSA_H
-#define OPENSSL_HEADER_DSA_H
-
-#include <openssl/base.h>
-
-#include <openssl/engine.h>
-#include <openssl/ex_data.h>
-#include <openssl/thread.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* DSA contains functions for signing and verifing with the Digital Signature
- * Algorithm. */
-
-
-/* Allocation and destruction. */
-
-/* DSA_new returns a new, empty DSA object or NULL on error. */
-OPENSSL_EXPORT DSA *DSA_new(void);
-
-/* DSA_new_method acts the same as |DH_new| but takes an explicit |ENGINE|. */
-OPENSSL_EXPORT DSA *DSA_new_method(const ENGINE *engine);
-
-/* DSA_free decrements the reference count of |dsa| and frees it if the
- * reference count drops to zero. */
-OPENSSL_EXPORT void DSA_free(DSA *dsa);
-
-/* DSA_up_ref increments the reference count of |dsa|. */
-OPENSSL_EXPORT int DSA_up_ref(DSA *dsa);
-
-
-/* Parameter generation. */
-
-/* DSA_generate_parameters_ex generates a set of DSA parameters by following
- * the procedure given in FIPS 186-4, appendix A.
- * (http://nvlpubs.nist.gov/nistpubs/FIPS/NIST.FIPS.186-4.pdf)
- *
- * The larger prime will have a length of |bits| (e.g. 2048). The |seed| value
- * allows others to generate and verify the same parameters and should be
- * random input which is kept for reference. If |out_counter| or |out_h| are
- * not NULL then the counter and h value used in the generation are written to
- * them.
- *
- * The |cb| argument is passed to |BN_generate_prime_ex| and is thus called
- * during the generation process in order to indicate progress. See the
- * comments for that function for details. In addition to the calls made by
- * |BN_generate_prime_ex|, |DSA_generate_parameters_ex| will call it with
- * |event| equal to 2 and 3 at different stages of the process.
- *
- * It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int DSA_generate_parameters_ex(DSA *dsa, unsigned bits,
-                                              const uint8_t *seed,
-                                              size_t seed_len, int *out_counter,
-                                              unsigned long *out_h,
-                                              BN_GENCB *cb);
-
-/* DSAparams_dup returns a freshly allocated |DSA| that contains a copy of the
- * parameters from |dsa|. It returns NULL on error. */
-OPENSSL_EXPORT DSA *DSAparams_dup(const DSA *dsa);
-
-
-/* Key generation. */
-
-/* DSA_generate_key generates a public/private key pair in |dsa|, which must
- * already have parameters setup. It returns one on success and zero on
- * error. */
-OPENSSL_EXPORT int DSA_generate_key(DSA *dsa);
-
-
-/* Signatures. */
-
-/* DSA_SIG contains a DSA signature as a pair of integers. */
-typedef struct DSA_SIG_st {
-  BIGNUM *r, *s;
-} DSA_SIG;
-
-/* DSA_SIG_new returns a freshly allocated, DIG_SIG structure or NULL on error.
- * Both |r| and |s| in the signature will be NULL. */
-OPENSSL_EXPORT DSA_SIG *DSA_SIG_new(void);
-
-/* DSA_SIG_free frees the contents of |sig| and then frees |sig| itself. */
-OPENSSL_EXPORT void DSA_SIG_free(DSA_SIG *sig);
-
-/* DSA_do_sign returns a signature of the hash in |digest| by the key in |dsa|
- * and returns an allocated, DSA_SIG structure, or NULL on error. */
-OPENSSL_EXPORT DSA_SIG *DSA_do_sign(const uint8_t *digest, size_t digest_len,
-                                    DSA *dsa);
-
-/* DSA_do_verify verifies that |sig| is a valid signature, by the public key in
- * |dsa|, of the hash in |digest|. It returns one if so, zero if invalid and -1
- * on error.
- *
- * WARNING: do not use. This function returns -1 for error, 0 for invalid and 1
- * for valid. However, this is dangerously different to the usual OpenSSL
- * convention and could be a disaster if a user did |if (DSA_do_verify(...))|.
- * Because of this, |DSA_check_signature| is a safer version of this.
- *
- * TODO(fork): deprecate. */
-OPENSSL_EXPORT int DSA_do_verify(const uint8_t *digest, size_t digest_len,
-                                 DSA_SIG *sig, const DSA *dsa);
-
-/* DSA_do_check_signature sets |*out_valid| to zero. Then it verifies that |sig|
- * is a valid signature, by the public key in |dsa| of the hash in |digest|
- * and, if so, it sets |*out_valid| to one.
- *
- * It returns one if it was able to verify the signature as valid or invalid,
- * and zero on error. */
-OPENSSL_EXPORT int DSA_do_check_signature(int *out_valid, const uint8_t *digest,
-                                          size_t digest_len, DSA_SIG *sig,
-                                          const DSA *dsa);
-
-
-/* ASN.1 signatures.
- *
- * These functions also perform DSA signature operations, but deal with ASN.1
- * encoded signatures as opposed to raw |BIGNUM|s. If you don't know what
- * encoding a DSA signature is in, it's probably ASN.1. */
-
-/* DSA_sign signs |digest| with the key in |dsa| and writes the resulting
- * signature, in ASN.1 form, to |out_sig| and the length of the signature to
- * |*out_siglen|. There must be, at least, |DSA_size(dsa)| bytes of space in
- * |out_sig|. It returns one on success and zero otherwise.
- *
- * (The |type| argument is ignored.) */
-OPENSSL_EXPORT int DSA_sign(int type, const uint8_t *digest, size_t digest_len,
-                            uint8_t *out_sig, unsigned int *out_siglen,
-                            DSA *dsa);
-
-/* DSA_verify verifies that |sig| is a valid, ASN.1 signature, by the public
- * key in |dsa|, of the hash in |digest|. It returns one if so, zero if invalid
- * and -1 on error.
- *
- * (The |type| argument is ignored.)
- *
- * WARNING: do not use. This function returns -1 for error, 0 for invalid and 1
- * for valid. However, this is dangerously different to the usual OpenSSL
- * convention and could be a disaster if a user did |if (DSA_do_verify(...))|.
- * Because of this, |DSA_check_signature| is a safer version of this.
- *
- * TODO(fork): deprecate. */
-OPENSSL_EXPORT int DSA_verify(int type, const uint8_t *digest,
-                              size_t digest_len, const uint8_t *sig,
-                              size_t sig_len, const DSA *dsa);
-
-/* DSA_check_signature sets |*out_valid| to zero. Then it verifies that |sig|
- * is a valid, ASN.1 signature, by the public key in |dsa|, of the hash in
- * |digest|. If so, it sets |*out_valid| to one.
- *
- * It returns one if it was able to verify the signature as valid or invalid,
- * and zero on error. */
-OPENSSL_EXPORT int DSA_check_signature(int *out_valid, const uint8_t *digest,
-                                       size_t digest_len, const uint8_t *sig,
-                                       size_t sig_len, const DSA *dsa);
-
-/* DSA_size returns the size, in bytes, of an ASN.1 encoded, DSA signature
- * generated by |dsa|. Parameters must already have been setup in |dsa|. */
-OPENSSL_EXPORT int DSA_size(const DSA *dsa);
-
-
-/* ASN.1 encoding. */
-
-/* d2i_DSA_SIG parses an ASN.1, DER-encoded, DSA signature from |len| bytes at
- * |*inp|. If |out_sig| is not NULL then, on exit, a pointer to the result is
- * in |*out_sig|. If |*out_sig| is already non-NULL on entry then the result is
- * written directly into |*out_sig|, otherwise a fresh |DSA_SIG| is allocated.
- * On successful exit, |*inp| is advanced past the DER structure. It returns
- * the result or NULL on error. */
-OPENSSL_EXPORT DSA_SIG *d2i_DSA_SIG(DSA_SIG **out_sig, const uint8_t **inp,
-                                    long len);
-
-/* i2d_DSA_SIG marshals |in| to an ASN.1, DER structure. If |outp| is not NULL
- * then the result is written to |*outp| and |*outp| is advanced just past the
- * output. It returns the number of bytes in the result, whether written or not,
- * or a negative value on error. */
-OPENSSL_EXPORT int i2d_DSA_SIG(const DSA_SIG *in, uint8_t **outp);
-
-/* d2i_DSAPublicKey parses an ASN.1, DER-encoded, DSA public key from |len|
- * bytes at |*inp|. If |out| is not NULL then, on exit, a pointer to the result
- * is in |*out|. If |*out| is already non-NULL on entry then the result is
- * written directly into |*out|, otherwise a fresh |DSA| is allocated. On
- * successful exit, |*inp| is advanced past the DER structure. It returns the
- * result or NULL on error. */
-OPENSSL_EXPORT DSA *d2i_DSAPublicKey(DSA **out, const uint8_t **inp, long len);
-
-/* i2d_DSAPublicKey marshals a public key from |in| to an ASN.1, DER structure.
- * If |outp| is not NULL then the result is written to |*outp| and |*outp| is
- * advanced just past the output. It returns the number of bytes in the result,
- * whether written or not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_DSAPublicKey(const DSA *in, unsigned char **outp);
-
-/* d2i_DSAPrivateKey parses an ASN.1, DER-encoded, DSA private key from |len|
- * bytes at |*inp|. If |out| is not NULL then, on exit, a pointer to the result
- * is in |*out|. If |*out| is already non-NULL on entry then the result is
- * written directly into |*out|, otherwise a fresh |DSA| is allocated. On
- * successful exit, |*inp| is advanced past the DER structure. It returns the
- * result or NULL on error. */
-OPENSSL_EXPORT DSA *d2i_DSAPrivateKey(DSA **out, const uint8_t **inp, long len);
-
-/* i2d_DSAPrivateKey marshals a private key from |in| to an ASN.1, DER structure.
- * If |outp| is not NULL then the result is written to |*outp| and |*outp| is
- * advanced just past the output. It returns the number of bytes in the result,
- * whether written or not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_DSAPrivateKey(const DSA *in, unsigned char **outp);
-
-/* d2i_DSAparams parses ASN.1, DER-encoded, DSA parameters from |len| bytes at
- * |*inp|. If |out| is not NULL then, on exit, a pointer to the result is in
- * |*out|. If |*out| is already non-NULL on entry then the result is written
- * directly into |*out|, otherwise a fresh |DSA| is allocated. On successful
- * exit, |*inp| is advanced past the DER structure. It returns the result or
- * NULL on error. */
-OPENSSL_EXPORT DSA *d2i_DSAparams(DSA **out, const uint8_t **inp, long len);
-
-/* i2d_DSAparams marshals DSA parameters from |in| to an ASN.1, DER structure.
- * If |outp| is not NULL then the result is written to |*outp| and |*outp| is
- * advanced just past the output. It returns the number of bytes in the result,
- * whether written or not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_DSAparams(const DSA *in, unsigned char **outp);
-
-
-/* Precomputation. */
-
-/* DSA_sign_setup precomputes the message independent part of the DSA signature
- * and writes them to |*out_kinv| and |*out_r|. Returns one on success, zero on
- * error.
- *
- * TODO(fork): decide what to do with this. Since making DSA* opaque there's no
- * way for the user to install them. Also, it forces the DSA* not to be const
- * when passing to the signing function. */
-OPENSSL_EXPORT int DSA_sign_setup(const DSA *dsa, BN_CTX *ctx,
-                                  BIGNUM **out_kinv, BIGNUM **out_r);
-
-
-/* Conversion. */
-
-/* DSA_dup_DH returns a |DH| constructed from the parameters of |dsa|. This is
- * sometimes needed when Diffie-Hellman parameters are stored in the form of
- * DSA parameters. It returns an allocated |DH| on success or NULL on error. */
-OPENSSL_EXPORT DH *DSA_dup_DH(const DSA *dsa);
-
-
-/* ex_data functions.
- *
- * See |ex_data.h| for details. */
-
-OPENSSL_EXPORT int DSA_get_ex_new_index(long argl, void *argp,
-                                        CRYPTO_EX_new *new_func,
-                                        CRYPTO_EX_dup *dup_func,
-                                        CRYPTO_EX_free *free_func);
-OPENSSL_EXPORT int DSA_set_ex_data(DSA *d, int idx, void *arg);
-OPENSSL_EXPORT void *DSA_get_ex_data(const DSA *d, int idx);
-
-
-struct dsa_method {
-  struct openssl_method_common_st common;
-
-  void *app_data;
-
-  int (*init)(DSA *dsa);
-  int (*finish)(DSA *dsa);
-
-  DSA_SIG *(*sign)(const uint8_t *digest, size_t digest_len, DSA *dsa);
-
-  int (*sign_setup)(const DSA *dsa, BN_CTX *ctx_in, BIGNUM **kinvp, BIGNUM **rp,
-                    const uint8_t *digest, size_t digest_len);
-
-  int (*verify)(int *out_valid, const uint8_t *digest, size_t digest_len,
-                DSA_SIG *sig, const DSA *dsa);
-
-  /* generate_parameters, if non-NULL, is used to generate DSA parameters. */
-  int (*generate_parameters)(DSA *dsa, unsigned bits, const uint8_t *seed,
-                             size_t seed_len, int *counter_ret,
-                             unsigned long *h_ret, BN_GENCB *cb);
-
-  /* keygen, if non-NULL, is used to generate DSA keys. */
-  int (*keygen)(DSA *dsa);
-};
-
-struct dsa_st {
-  long version;
-  int write_params;
-  BIGNUM *p;
-  BIGNUM *q; /* == 20 */
-  BIGNUM *g;
-
-  BIGNUM *pub_key;  /* y public key */
-  BIGNUM *priv_key; /* x private key */
-
-  BIGNUM *kinv; /* Signing pre-calc */
-  BIGNUM *r;    /* Signing pre-calc */
-
-  int flags;
-  /* Normally used to cache montgomery values */
-  CRYPTO_MUTEX method_mont_p_lock;
-  BN_MONT_CTX *method_mont_p;
-  CRYPTO_refcount_t references;
-  CRYPTO_EX_DATA ex_data;
-  DSA_METHOD *meth;
-  /* functional reference if 'meth' is ENGINE-provided */
-  ENGINE *engine;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define DSA_F_DSA_new_method 100
-#define DSA_F_dsa_sig_cb 101
-#define DSA_F_sign 102
-#define DSA_F_sign_setup 103
-#define DSA_F_verify 104
-#define DSA_R_BAD_Q_VALUE 100
-#define DSA_R_MISSING_PARAMETERS 101
-#define DSA_R_MODULUS_TOO_LARGE 102
-#define DSA_R_NEED_NEW_SETUP_VALUES 103
-
-#endif  /* OPENSSL_HEADER_DSA_H */
diff --git a/phonelibs/boringssl/include/openssl/dtls1.h b/phonelibs/boringssl/include/openssl/dtls1.h
deleted file mode 100644
index 38ca801cb1044e..00000000000000
--- a/phonelibs/boringssl/include/openssl/dtls1.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/* Copyright (c) 2015, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
diff --git a/phonelibs/boringssl/include/openssl/ec.h b/phonelibs/boringssl/include/openssl/ec.h
deleted file mode 100644
index 25b455185e7503..00000000000000
--- a/phonelibs/boringssl/include/openssl/ec.h
+++ /dev/null
@@ -1,433 +0,0 @@
-/* Originally written by Bodo Moeller for the OpenSSL project.
- * ====================================================================
- * Copyright (c) 1998-2005 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-/* ====================================================================
- * Copyright 2002 Sun Microsystems, Inc. ALL RIGHTS RESERVED.
- *
- * Portions of the attached software ("Contribution") are developed by
- * SUN MICROSYSTEMS, INC., and are contributed to the OpenSSL project.
- *
- * The Contribution is licensed pursuant to the OpenSSL open source
- * license provided above.
- *
- * The elliptic curve binary polynomial software is originally written by
- * Sheueling Chang Shantz and Douglas Stebila of Sun Microsystems
- * Laboratories. */
-
-#ifndef OPENSSL_HEADER_EC_H
-#define OPENSSL_HEADER_EC_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Low-level operations on elliptic curves. */
-
-
-typedef struct ec_group_st EC_GROUP;
-typedef struct ec_point_st EC_POINT;
-
-/** Enum for the point conversion form as defined in X9.62 (ECDSA)
- *  for the encoding of a elliptic curve point (x,y) */
-typedef enum {
-	/** the point is encoded as z||x, where the octet z specifies 
-	 *  which solution of the quadratic equation y is  */
-	POINT_CONVERSION_COMPRESSED = 2,
-	/** the point is encoded as z||x||y, where z is the octet 0x02  */
-	POINT_CONVERSION_UNCOMPRESSED = 4
-} point_conversion_form_t;
-
-
-/* Elliptic curve groups. */
-
-/* EC_GROUP_new_by_curve_name returns a fresh EC_GROUP object for the elliptic
- * curve specified by |nid|, or NULL on error.
- *
- * The supported NIDs are:
- *   NID_secp224r1,
- *   NID_X9_62_prime256v1,
- *   NID_secp384r1,
- *   NID_secp521r1 */
-OPENSSL_EXPORT EC_GROUP *EC_GROUP_new_by_curve_name(int nid);
-
-/* EC_GROUP_free frees |group| and the data that it points to. */
-OPENSSL_EXPORT void EC_GROUP_free(EC_GROUP *group);
-
-/* EC_GROUP_dup returns a fresh |EC_GROUP| which is equal to |a| or NULL on
- * error. */
-OPENSSL_EXPORT EC_GROUP *EC_GROUP_dup(const EC_GROUP *a);
-
-/* EC_GROUP_cmp returns zero if |a| and |b| are the same group and non-zero
- * otherwise. */
-OPENSSL_EXPORT int EC_GROUP_cmp(const EC_GROUP *a, const EC_GROUP *b,
-                                BN_CTX *ignored);
-
-/* EC_GROUP_get0_generator returns a pointer to the internal |EC_POINT| object
- * in |group| that specifies the generator for the group. */
-OPENSSL_EXPORT const EC_POINT *EC_GROUP_get0_generator(const EC_GROUP *group);
-
-/* EC_GROUP_get_order sets |*order| to the order of |group|, if it's not
- * NULL. It returns one on success and zero otherwise. |ctx| is ignored. */
-OPENSSL_EXPORT int EC_GROUP_get_order(const EC_GROUP *group, BIGNUM *order,
-                                      BN_CTX *ctx);
-
-/* EC_GROUP_get_cofactor sets |*cofactor| to the cofactor of |group| using
- * |ctx|, if it's not NULL. It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int EC_GROUP_get_cofactor(const EC_GROUP *group,
-                                         BIGNUM *cofactor, BN_CTX *ctx);
-
-/* EC_GROUP_get_curve_GFp gets various parameters about a group. It sets
- * |*out_p| to the order of the coordinate field and |*out_a| and |*out_b| to
- * the parameters of the curve when expressed as y² = x³ + ax + b. Any of the
- * output parameters can be NULL. It returns one on success and zero on
- * error. */
-OPENSSL_EXPORT int EC_GROUP_get_curve_GFp(const EC_GROUP *group, BIGNUM *out_p,
-                                          BIGNUM *out_a, BIGNUM *out_b,
-                                          BN_CTX *ctx);
-
-/* EC_GROUP_get_curve_name returns a NID that identifies |group|. */
-OPENSSL_EXPORT int EC_GROUP_get_curve_name(const EC_GROUP *group);
-
-/* EC_GROUP_get_degree returns the number of bits needed to represent an
- * element of the field underlying |group|. */
-OPENSSL_EXPORT int EC_GROUP_get_degree(const EC_GROUP *group);
-
-/* EC_GROUP_precompute_mult precomputes multiplies of the generator in order to
- * speed up operations that involve calculating generator multiples. It returns
- * one on sucess and zero otherwise. If |ctx| is not NULL, it may be used. */
-OPENSSL_EXPORT int EC_GROUP_precompute_mult(EC_GROUP *group, BN_CTX *ctx);
-
-/* EC_GROUP_have_precompute_mult returns one if |group| contains precomputed
- * generator multiples. */
-OPENSSL_EXPORT int EC_GROUP_have_precompute_mult(const EC_GROUP *group);
-
-
-/* Points on elliptic curves. */
-
-/* EC_POINT_new returns a fresh |EC_POINT| object in the given group, or NULL
- * on error. */
-OPENSSL_EXPORT EC_POINT *EC_POINT_new(const EC_GROUP *group);
-
-/* EC_POINT_free frees |point| and the data that it points to. */
-OPENSSL_EXPORT void EC_POINT_free(EC_POINT *point);
-
-/* EC_POINT_clear_free clears the data that |point| points to, frees it and
- * then frees |point| itself. */
-OPENSSL_EXPORT void EC_POINT_clear_free(EC_POINT *point);
-
-/* EC_POINT_copy sets |*dest| equal to |*src|. It returns one on success and
- * zero otherwise. */
-OPENSSL_EXPORT int EC_POINT_copy(EC_POINT *dest, const EC_POINT *src);
-
-/* EC_POINT_dup returns a fresh |EC_POINT| that contains the same values as
- * |src|, or NULL on error. */
-OPENSSL_EXPORT EC_POINT *EC_POINT_dup(const EC_POINT *src,
-                                      const EC_GROUP *group);
-
-/* EC_POINT_set_to_infinity sets |point| to be the "point at infinity" for the
- * given group. */
-OPENSSL_EXPORT int EC_POINT_set_to_infinity(const EC_GROUP *group,
-                                            EC_POINT *point);
-
-/* EC_POINT_is_at_infinity returns one iff |point| is the point at infinity and
- * zero otherwise. */
-OPENSSL_EXPORT int EC_POINT_is_at_infinity(const EC_GROUP *group,
-                                           const EC_POINT *point);
-
-/* EC_POINT_is_on_curve returns one if |point| is an element of |group| and
- * zero otheriwse. If |ctx| is non-NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINT_is_on_curve(const EC_GROUP *group,
-                                        const EC_POINT *point, BN_CTX *ctx);
-
-/* EC_POINT_cmp returns zero if |a| is equal to |b|, greater than zero is
- * non-equal and -1 on error. If |ctx| is not NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINT_cmp(const EC_GROUP *group, const EC_POINT *a,
-                                const EC_POINT *b, BN_CTX *ctx);
-
-/* EC_POINT_make_affine converts |point| to affine form, internally. It returns
- * one on success and zero otherwise. If |ctx| is not NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINT_make_affine(const EC_GROUP *group, EC_POINT *point,
-                                        BN_CTX *ctx);
-
-/* EC_POINTs_make_affine converts |num| points from |points| to affine form,
- * internally. It returns one on success and zero otherwise. If |ctx| is not
- * NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINTs_make_affine(const EC_GROUP *group, size_t num,
-                                         EC_POINT *points[], BN_CTX *ctx);
-
-
-/* Point conversion. */
-
-/* EC_POINT_get_affine_coordinates_GFp sets |x| and |y| to the affine value of
- * |point| using |ctx|, if it's not NULL. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int EC_POINT_get_affine_coordinates_GFp(const EC_GROUP *group,
-                                                       const EC_POINT *point,
-                                                       BIGNUM *x, BIGNUM *y,
-                                                       BN_CTX *ctx);
-
-/* EC_POINT_set_affine_coordinates sets the value of |p| to be (|x|, |y|). The
- * |ctx| argument may be used if not NULL. */
-OPENSSL_EXPORT int EC_POINT_set_affine_coordinates_GFp(const EC_GROUP *group,
-                                                       EC_POINT *point,
-                                                       const BIGNUM *x,
-                                                       const BIGNUM *y,
-                                                       BN_CTX *ctx);
-
-/* EC_POINT_point2oct serialises |point| into the X9.62 form given by |form|
- * into, at most, |len| bytes at |buf|. It returns the number of bytes written
- * or zero on error if |buf| is non-NULL, else the number of bytes needed. The
- * |ctx| argument may be used if not NULL. */
-OPENSSL_EXPORT size_t EC_POINT_point2oct(const EC_GROUP *group,
-                                         const EC_POINT *point,
-                                         point_conversion_form_t form,
-                                         uint8_t *buf, size_t len, BN_CTX *ctx);
-
-/* EC_POINT_oct2point sets |point| from |len| bytes of X9.62 format
- * serialisation in |buf|. It returns one on success and zero otherwise. The
- * |ctx| argument may be used if not NULL. */
-OPENSSL_EXPORT int EC_POINT_oct2point(const EC_GROUP *group, EC_POINT *point,
-                                      const uint8_t *buf, size_t len,
-                                      BN_CTX *ctx);
-
-/* EC_POINT_set_compressed_coordinates_GFp sets |point| to equal the point with
- * the given |x| coordinate and the y coordinate specified by |y_bit| (see
- * X9.62). It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int EC_POINT_set_compressed_coordinates_GFp(
-    const EC_GROUP *group, EC_POINT *point, const BIGNUM *x, int y_bit,
-    BN_CTX *ctx);
-
-
-/* Group operations. */
-
-/* EC_POINT_add sets |r| equal to |a| plus |b|. It returns one on success and
- * zero otherwise. If |ctx| is not NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINT_add(const EC_GROUP *group, EC_POINT *r,
-                                const EC_POINT *a, const EC_POINT *b,
-                                BN_CTX *ctx);
-
-/* EC_POINT_dbl sets |r| equal to |a| plus |a|. It returns one on success and
- * zero otherwise. If |ctx| is not NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINT_dbl(const EC_GROUP *group, EC_POINT *r,
-                                const EC_POINT *a, BN_CTX *ctx);
-
-/* EC_POINT_dbl sets |a| equal to minus |a|. It returns one on success and zero
- * otherwise. If |ctx| is not NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINT_invert(const EC_GROUP *group, EC_POINT *a,
-                                   BN_CTX *ctx);
-
-/* EC_POINT_mul sets r = generator*n + q*m. It returns one on success and zero
- * otherwise. If |ctx| is not NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINT_mul(const EC_GROUP *group, EC_POINT *r,
-                                const BIGNUM *n, const EC_POINT *q,
-                                const BIGNUM *m, BN_CTX *ctx);
-
-/* EC_POINTs_mul sets r = generator*n + sum(p[i]*m[i]). It returns one on
- * success and zero otherwise. If |ctx| is not NULL, it may be used. */
-OPENSSL_EXPORT int EC_POINTs_mul(const EC_GROUP *group, EC_POINT *r,
-                                 const BIGNUM *n, size_t num,
-                                 const EC_POINT *p[], const BIGNUM *m[],
-                                 BN_CTX *ctx);
-
-
-/* Deprecated functions. */
-
-/* EC_GROUP_new_curve_GFp creates a new, arbitrary elliptic curve group based
- * on the equation y² = x³ + a·x + b. It returns the new group or NULL on
- * error.
- *
- * |EC_GROUP|s returned by this function will always compare as unequal via
- * |EC_GROUP_cmp| (even to themselves). |EC_GROUP_get_curve_name| will always
- * return |NID_undef|. */
-OPENSSL_EXPORT EC_GROUP *EC_GROUP_new_curve_GFp(const BIGNUM *p,
-                                                const BIGNUM *a,
-                                                const BIGNUM *b, BN_CTX *ctx);
-
-/* EC_GROUP_set_generator sets the generator for |group| to |generator|, which
- * must have the given order and cofactor. This should only be used with
- * |EC_GROUP| objects returned by |EC_GROUP_new_curve_GFp|. */
-OPENSSL_EXPORT int EC_GROUP_set_generator(EC_GROUP *group,
-                                          const EC_POINT *generator,
-                                          const BIGNUM *order,
-                                          const BIGNUM *cofactor);
-
-/* EC_GROUP_set_asn1_flag does nothing. */
-OPENSSL_EXPORT void EC_GROUP_set_asn1_flag(EC_GROUP *group, int flag);
-
-#define OPENSSL_EC_NAMED_CURVE 0
-
-typedef struct ec_method_st EC_METHOD;
-
-/* EC_GROUP_method_of returns NULL. */
-OPENSSL_EXPORT const EC_METHOD *EC_GROUP_method_of(const EC_GROUP *group);
-
-/* EC_METHOD_get_field_type returns NID_X9_62_prime_field. */
-OPENSSL_EXPORT int EC_METHOD_get_field_type(const EC_METHOD *meth);
-
-/* EC_GROUP_set_point_conversion_form aborts the process if |form| is not
- * |POINT_CONVERSION_UNCOMPRESSED| and otherwise does nothing. */
-OPENSSL_EXPORT void EC_GROUP_set_point_conversion_form(
-    EC_GROUP *group, point_conversion_form_t form);
-
-
-/* Old code expects to get EC_KEY from ec.h. */
-#if !defined(OPENSSL_HEADER_EC_KEY_H)
-#include <openssl/ec_key.h>
-#endif
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define EC_F_EC_GROUP_copy 100
-#define EC_F_EC_GROUP_get_curve_GFp 101
-#define EC_F_EC_GROUP_get_degree 102
-#define EC_F_EC_GROUP_new_by_curve_name 103
-#define EC_F_EC_KEY_check_key 104
-#define EC_F_EC_KEY_copy 105
-#define EC_F_EC_KEY_generate_key 106
-#define EC_F_EC_KEY_new_method 107
-#define EC_F_EC_KEY_set_public_key_affine_coordinates 108
-#define EC_F_EC_POINT_add 109
-#define EC_F_EC_POINT_cmp 110
-#define EC_F_EC_POINT_copy 111
-#define EC_F_EC_POINT_dbl 112
-#define EC_F_EC_POINT_dup 113
-#define EC_F_EC_POINT_get_affine_coordinates_GFp 114
-#define EC_F_EC_POINT_invert 115
-#define EC_F_EC_POINT_is_at_infinity 116
-#define EC_F_EC_POINT_is_on_curve 117
-#define EC_F_EC_POINT_make_affine 118
-#define EC_F_EC_POINT_new 119
-#define EC_F_EC_POINT_oct2point 120
-#define EC_F_EC_POINT_point2oct 121
-#define EC_F_EC_POINT_set_affine_coordinates_GFp 122
-#define EC_F_EC_POINT_set_compressed_coordinates_GFp 123
-#define EC_F_EC_POINT_set_to_infinity 124
-#define EC_F_EC_POINTs_make_affine 125
-#define EC_F_compute_wNAF 126
-#define EC_F_d2i_ECPKParameters 127
-#define EC_F_d2i_ECParameters 128
-#define EC_F_d2i_ECPrivateKey 129
-#define EC_F_ec_GFp_mont_field_decode 130
-#define EC_F_ec_GFp_mont_field_encode 131
-#define EC_F_ec_GFp_mont_field_mul 132
-#define EC_F_ec_GFp_mont_field_set_to_one 133
-#define EC_F_ec_GFp_mont_field_sqr 134
-#define EC_F_ec_GFp_mont_group_set_curve 135
-#define EC_F_ec_GFp_simple_group_check_discriminant 136
-#define EC_F_ec_GFp_simple_group_set_curve 137
-#define EC_F_ec_GFp_simple_make_affine 138
-#define EC_F_ec_GFp_simple_oct2point 139
-#define EC_F_ec_GFp_simple_point2oct 140
-#define EC_F_ec_GFp_simple_point_get_affine_coordinates 141
-#define EC_F_ec_GFp_simple_point_set_affine_coordinates 142
-#define EC_F_ec_GFp_simple_points_make_affine 143
-#define EC_F_ec_GFp_simple_set_compressed_coordinates 144
-#define EC_F_ec_asn1_group2pkparameters 145
-#define EC_F_ec_asn1_pkparameters2group 146
-#define EC_F_ec_group_new 147
-#define EC_F_ec_group_new_curve_GFp 148
-#define EC_F_ec_group_new_from_data 149
-#define EC_F_ec_point_set_Jprojective_coordinates_GFp 150
-#define EC_F_ec_pre_comp_new 151
-#define EC_F_ec_wNAF_mul 152
-#define EC_F_ec_wNAF_precompute_mult 153
-#define EC_F_i2d_ECPKParameters 154
-#define EC_F_i2d_ECParameters 155
-#define EC_F_i2d_ECPrivateKey 156
-#define EC_F_i2o_ECPublicKey 157
-#define EC_F_o2i_ECPublicKey 158
-#define EC_F_BN_to_felem 159
-#define EC_F_ec_GFp_nistp256_group_set_curve 160
-#define EC_F_ec_GFp_nistp256_point_get_affine_coordinates 161
-#define EC_F_ec_GFp_nistp256_points_mul 162
-#define EC_F_ec_group_copy 163
-#define EC_F_nistp256_pre_comp_new 164
-#define EC_F_EC_KEY_new_by_curve_name 165
-#define EC_F_EC_GROUP_new_curve_GFp 166
-#define EC_R_BUFFER_TOO_SMALL 100
-#define EC_R_COORDINATES_OUT_OF_RANGE 101
-#define EC_R_D2I_ECPKPARAMETERS_FAILURE 102
-#define EC_R_EC_GROUP_NEW_BY_NAME_FAILURE 103
-#define EC_R_GROUP2PKPARAMETERS_FAILURE 104
-#define EC_R_I2D_ECPKPARAMETERS_FAILURE 105
-#define EC_R_INCOMPATIBLE_OBJECTS 106
-#define EC_R_INVALID_COMPRESSED_POINT 107
-#define EC_R_INVALID_COMPRESSION_BIT 108
-#define EC_R_INVALID_ENCODING 109
-#define EC_R_INVALID_FIELD 110
-#define EC_R_INVALID_FORM 111
-#define EC_R_INVALID_GROUP_ORDER 112
-#define EC_R_INVALID_PRIVATE_KEY 113
-#define EC_R_MISSING_PARAMETERS 114
-#define EC_R_MISSING_PRIVATE_KEY 115
-#define EC_R_NON_NAMED_CURVE 116
-#define EC_R_NOT_INITIALIZED 117
-#define EC_R_PKPARAMETERS2GROUP_FAILURE 118
-#define EC_R_POINT_AT_INFINITY 119
-#define EC_R_POINT_IS_NOT_ON_CURVE 120
-#define EC_R_SLOT_FULL 121
-#define EC_R_UNDEFINED_GENERATOR 122
-#define EC_R_UNKNOWN_GROUP 123
-#define EC_R_UNKNOWN_ORDER 124
-#define EC_R_WRONG_ORDER 125
-#define EC_R_BIGNUM_OUT_OF_RANGE 126
-#define EC_R_WRONG_CURVE_PARAMETERS 127
-
-#endif  /* OPENSSL_HEADER_EC_H */
diff --git a/phonelibs/boringssl/include/openssl/ec_key.h b/phonelibs/boringssl/include/openssl/ec_key.h
deleted file mode 100644
index ee64030b8efca9..00000000000000
--- a/phonelibs/boringssl/include/openssl/ec_key.h
+++ /dev/null
@@ -1,286 +0,0 @@
-/* Originally written by Bodo Moeller for the OpenSSL project.
- * ====================================================================
- * Copyright (c) 1998-2005 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-/* ====================================================================
- * Copyright 2002 Sun Microsystems, Inc. ALL RIGHTS RESERVED.
- *
- * Portions of the attached software ("Contribution") are developed by
- * SUN MICROSYSTEMS, INC., and are contributed to the OpenSSL project.
- *
- * The Contribution is licensed pursuant to the OpenSSL open source
- * license provided above.
- *
- * The elliptic curve binary polynomial software is originally written by
- * Sheueling Chang Shantz and Douglas Stebila of Sun Microsystems
- * Laboratories. */
-
-#ifndef OPENSSL_HEADER_EC_KEY_H
-#define OPENSSL_HEADER_EC_KEY_H
-
-#include <openssl/base.h>
-
-#include <openssl/ec.h>
-#include <openssl/engine.h>
-#include <openssl/ex_data.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* ec_key.h contains functions that handle elliptic-curve points that are
- * public/private keys. */
-
-
-/* EC key objects. */
-
-/* EC_KEY_new returns a fresh |EC_KEY| object or NULL on error. */
-OPENSSL_EXPORT EC_KEY *EC_KEY_new(void);
-
-/* EC_KEY_new_method acts the same as |EC_KEY_new|, but takes an explicit
- * |ENGINE|. */
-OPENSSL_EXPORT EC_KEY *EC_KEY_new_method(const ENGINE *engine);
-
-/* EC_KEY_new_by_curve_name returns a fresh EC_KEY for group specified by |nid|
- * or NULL on error. */
-OPENSSL_EXPORT EC_KEY *EC_KEY_new_by_curve_name(int nid);
-
-/* EC_KEY_free frees all the data owned by |key| and |key| itself. */
-OPENSSL_EXPORT void EC_KEY_free(EC_KEY *key);
-
-/* EC_KEY_copy sets |dst| equal to |src| and returns |dst| or NULL on error. */
-OPENSSL_EXPORT EC_KEY *EC_KEY_copy(EC_KEY *dst, const EC_KEY *src);
-
-/* EC_KEY_dup returns a fresh copy of |src| or NULL on error. */
-OPENSSL_EXPORT EC_KEY *EC_KEY_dup(const EC_KEY *src);
-
-/* EC_KEY_up_ref increases the reference count of |key|. It returns one on
- * success and zero otherwise. */
-OPENSSL_EXPORT int EC_KEY_up_ref(EC_KEY *key);
-
-/* EC_KEY_is_opaque returns one if |key| is opaque and doesn't expose its key
- * material. Otherwise it return zero. */
-OPENSSL_EXPORT int EC_KEY_is_opaque(const EC_KEY *key);
-
-/* EC_KEY_get0_group returns a pointer to the |EC_GROUP| object inside |key|. */
-OPENSSL_EXPORT const EC_GROUP *EC_KEY_get0_group(const EC_KEY *key);
-
-/* EC_KEY_set_group sets the |EC_GROUP| object that |key| will use to |group|.
- * It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int EC_KEY_set_group(EC_KEY *key, const EC_GROUP *group);
-
-/* EC_KEY_get0_private_key returns a pointer to the private key inside |key|. */
-OPENSSL_EXPORT const BIGNUM *EC_KEY_get0_private_key(const EC_KEY *key);
-
-/* EC_KEY_set_private_key sets the private key of |key| to |priv|. It returns
- * one on success and zero otherwise. */
-OPENSSL_EXPORT int EC_KEY_set_private_key(EC_KEY *key, const BIGNUM *prv);
-
-/* EC_KEY_get0_public_key returns a pointer to the public key point inside
- * |key|. */
-OPENSSL_EXPORT const EC_POINT *EC_KEY_get0_public_key(const EC_KEY *key);
-
-/* EC_KEY_set_public_key sets the public key of |key| to |pub|, by copying it.
- * It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int EC_KEY_set_public_key(EC_KEY *key, const EC_POINT *pub);
-
-#define EC_PKEY_NO_PARAMETERS 0x001
-#define EC_PKEY_NO_PUBKEY 0x002
-
-/* EC_KEY_get_enc_flags returns the encoding flags for |key|, which is a
- * bitwise-OR of |EC_PKEY_*| values. */
-OPENSSL_EXPORT unsigned EC_KEY_get_enc_flags(const EC_KEY *key);
-
-/* EC_KEY_set_enc_flags sets the encoding flags for |key|, which is a
- * bitwise-OR of |EC_PKEY_*| values. */
-OPENSSL_EXPORT void EC_KEY_set_enc_flags(EC_KEY *key, unsigned flags);
-
-/* EC_KEY_get_conv_form returns the conversation form that will be used by
- * |key|. */
-OPENSSL_EXPORT point_conversion_form_t EC_KEY_get_conv_form(const EC_KEY *key);
-
-/* EC_KEY_set_conv_form sets the conversion form to be used by |key|. */
-OPENSSL_EXPORT void EC_KEY_set_conv_form(EC_KEY *key,
-                                         point_conversion_form_t cform);
-
-/* EC_KEY_precompute_mult precomputes multiplies of the generator of the
- * underlying group in order to speed up operations that calculate generator
- * multiples. If |ctx| is not NULL, it may be used. It returns one on success
- * and zero otherwise. */
-OPENSSL_EXPORT int EC_KEY_precompute_mult(EC_KEY *key, BN_CTX *ctx);
-
-/* EC_KEY_check_key performs several checks on |key| (possibly including an
- * expensive check that the public key is in the primary subgroup). It returns
- * one if all checks pass and zero otherwise. If it returns zero then detail
- * about the problem can be found on the error stack. */
-OPENSSL_EXPORT int EC_KEY_check_key(const EC_KEY *key);
-
-/* EC_KEY_set_public_key_affine_coordinates sets the public key in |key| to
- * (|x|, |y|). It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int EC_KEY_set_public_key_affine_coordinates(EC_KEY *key,
-                                                            BIGNUM *x,
-                                                            BIGNUM *y);
-
-
-/* Key generation. */
-
-/* EC_KEY_generate_key generates a random, private key, calculates the
- * corresponding public key and stores both in |key|. It returns one on success
- * or zero otherwise. */
-OPENSSL_EXPORT int EC_KEY_generate_key(EC_KEY *key);
-
-
-/* Serialisation. */
-
-/* d2i_ECPrivateKey parses an ASN.1, DER-encoded, private key from |len| bytes
- * at |*inp|. If |out_key| is not NULL then, on exit, a pointer to the result
- * is in |*out_key|. If |*out_key| is already non-NULL on entry then the result
- * is written directly into |*out_key|, otherwise a fresh |EC_KEY| is
- * allocated. On successful exit, |*inp| is advanced past the DER structure. It
- * returns the result or NULL on error. */
-OPENSSL_EXPORT EC_KEY *d2i_ECPrivateKey(EC_KEY **out_key, const uint8_t **inp,
-                                        long len);
-
-/* i2d_ECParameters marshals an EC private key from |key| to an ASN.1, DER
- * structure. If |outp| is not NULL then the result is written to |*outp| and
- * |*outp| is advanced just past the output. It returns the number of bytes in
- * the result, whether written or not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_ECPrivateKey(const EC_KEY *key, uint8_t **outp);
-
-/* d2i_ECParameters parses an ASN.1, DER-encoded, set of EC parameters from
- * |len| bytes at |*inp|. If |out_key| is not NULL then, on exit, a pointer to
- * the result is in |*out_key|. If |*out_key| is already non-NULL on entry then
- * the result is written directly into |*out_key|, otherwise a fresh |EC_KEY|
- * is allocated. On successful exit, |*inp| is advanced past the DER structure.
- * It returns the result or NULL on error. */
-OPENSSL_EXPORT EC_KEY *d2i_ECParameters(EC_KEY **out_key, const uint8_t **inp,
-                                        long len);
-
-/* i2d_ECParameters marshals EC parameters from |key| to an ASN.1, DER
- * structure. If |outp| is not NULL then the result is written to |*outp| and
- * |*outp| is advanced just past the output. It returns the number of bytes in
- * the result, whether written or not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_ECParameters(const EC_KEY *key, uint8_t **outp);
-
-/* o2i_ECPublicKey parses an EC point from |len| bytes at |*inp| into
- * |*out_key|. Note that this differs from the d2i format in that |*out_key|
- * must be non-NULL. On successful exit, |*inp| is advanced past the DER
- * structure. It returns |*out_key| or NULL on error. */
-OPENSSL_EXPORT EC_KEY *o2i_ECPublicKey(EC_KEY **out_key, const uint8_t **inp,
-                                       long len);
-
-/* i2o_ECPublicKey marshals an EC point from |key|. If |outp| is not NULL then
- * the result is written to |*outp| and |*outp| is advanced just past the
- * output. It returns the number of bytes in the result, whether written or
- * not, or a negative value on error. */
-OPENSSL_EXPORT int i2o_ECPublicKey(const EC_KEY *key, unsigned char **outp);
-
-
-/* ex_data functions.
- *
- * These functions are wrappers. See |ex_data.h| for details. */
-
-OPENSSL_EXPORT int EC_KEY_get_ex_new_index(long argl, void *argp,
-                                           CRYPTO_EX_new *new_func,
-                                           CRYPTO_EX_dup *dup_func,
-                                           CRYPTO_EX_free *free_func);
-OPENSSL_EXPORT int EC_KEY_set_ex_data(EC_KEY *r, int idx, void *arg);
-OPENSSL_EXPORT void *EC_KEY_get_ex_data(const EC_KEY *r, int idx);
-
-
-/* ECDSA method. */
-
-/* ECDSA_FLAG_OPAQUE specifies that this ECDSA_METHOD does not expose its key
- * material. This may be set if, for instance, it is wrapping some other crypto
- * API, like a platform key store. */
-#define ECDSA_FLAG_OPAQUE 1
-
-/* ecdsa_method_st is a structure of function pointers for implementing ECDSA.
- * See engine.h. */
-struct ecdsa_method_st {
-  struct openssl_method_common_st common;
-
-  void *app_data;
-
-  int (*init)(EC_KEY *key);
-  int (*finish)(EC_KEY *key);
-
-  /* group_order_size returns the number of bytes needed to represent the order
-   * of the group. This is used to calculate the maximum size of an ECDSA
-   * signature in |ECDSA_size|. */
-  size_t (*group_order_size)(const EC_KEY *key);
-
-  /* sign matches the arguments and behaviour of |ECDSA_sign|. */
-  int (*sign)(const uint8_t *digest, size_t digest_len, uint8_t *sig,
-              unsigned int *sig_len, EC_KEY *eckey);
-
-  /* verify matches the arguments and behaviour of |ECDSA_verify|. */
-  int (*verify)(const uint8_t *digest, size_t digest_len, const uint8_t *sig,
-                size_t sig_len, EC_KEY *eckey);
-
-  int flags;
-};
-
-
-/* Deprecated functions. */
-
-/* EC_KEY_set_asn1_flag does nothing. */
-OPENSSL_EXPORT void EC_KEY_set_asn1_flag(EC_KEY *key, int flag);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_EC_KEY_H */
diff --git a/phonelibs/boringssl/include/openssl/ecdh.h b/phonelibs/boringssl/include/openssl/ecdh.h
deleted file mode 100644
index 27a85781275ddf..00000000000000
--- a/phonelibs/boringssl/include/openssl/ecdh.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/* ====================================================================
- * Copyright 2002 Sun Microsystems, Inc. ALL RIGHTS RESERVED.
- *
- * The Elliptic Curve Public-Key Crypto Library (ECC Code) included
- * herein is developed by SUN MICROSYSTEMS, INC., and is contributed
- * to the OpenSSL project.
- *
- * The ECC Code is licensed pursuant to the OpenSSL open source
- * license provided below.
- *
- * The ECDH software is originally written by Douglas Stebila of
- * Sun Microsystems Laboratories.
- *
- */
-/* ====================================================================
- * Copyright (c) 2000-2002 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.OpenSSL.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    licensing@OpenSSL.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.OpenSSL.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef OPENSSL_HEADER_ECDH_H
-#define OPENSSL_HEADER_ECDH_H
-
-#include <openssl/base.h>
-
-#include <openssl/ec_key.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Elliptic curve Diffie-Hellman. */
-
-
-/* ECDH_compute_key calculates the shared key between |pub_key| and |priv_key|.
- * If |KDF| is not NULL, then it is called with the bytes of the shared key and
- * the parameter |out|. When |KDF| returns, the value of |*outlen| becomes the
- * return value. Otherwise, as many bytes of the shared key as will fit are
- * copied directly to, at most, |outlen| bytes at |out|. It returns the number
- * of bytes written to |out|, or -1 on error. */
-OPENSSL_EXPORT int ECDH_compute_key(void *out, size_t outlen,
-                                    const EC_POINT *pub_key, EC_KEY *priv_key,
-                                    void *(*KDF)(const void *in, size_t inlen,
-                                                 void *out, size_t *outlen));
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define ECDH_F_ECDH_compute_key 100
-#define ECDH_R_KDF_FAILED 100
-#define ECDH_R_NO_PRIVATE_VALUE 101
-#define ECDH_R_POINT_ARITHMETIC_FAILURE 102
-
-#endif  /* OPENSSL_HEADER_ECDH_H */
diff --git a/phonelibs/boringssl/include/openssl/ecdsa.h b/phonelibs/boringssl/include/openssl/ecdsa.h
deleted file mode 100644
index e04546345660c3..00000000000000
--- a/phonelibs/boringssl/include/openssl/ecdsa.h
+++ /dev/null
@@ -1,182 +0,0 @@
-/* ====================================================================
- * Copyright (c) 1998-2005 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.OpenSSL.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@OpenSSL.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.OpenSSL.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef OPENSSL_HEADER_ECDSA_H
-#define OPENSSL_HEADER_ECDSA_H
-
-#include <openssl/base.h>
-
-#include <openssl/ec_key.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* ECDSA contains functions for signing and verifying with the Digital Signature
- * Algorithm over elliptic curves. */
-
-
-/* Signing and verifing. */
-
-/* ECDSA_sign signs |digest_len| bytes from |digest| with |key| and writes the
- * resulting signature to |sig|, which must have |ECDSA_size(key)| bytes of
- * space. On successful exit, |*sig_len| is set to the actual number of bytes
- * written. The |type| argument should be zero. It returns one on success and
- * zero otherwise. */
-OPENSSL_EXPORT int ECDSA_sign(int type, const uint8_t *digest,
-                              size_t digest_len, uint8_t *sig,
-                              unsigned int *sig_len, EC_KEY *key);
-
-/* ECDSA_verify verifies that |sig_len| bytes from |sig| constitute a valid
- * signature by |key| of |digest|. (The |type| argument should be zero.) It
- * returns one on success or zero if the signature is invalid or an error
- * occured. */
-OPENSSL_EXPORT int ECDSA_verify(int type, const uint8_t *digest,
-                                size_t digest_len, const uint8_t *sig,
-                                size_t sig_len, EC_KEY *key);
-
-/* ECDSA_size returns the maximum size of an ECDSA signature using |key|. It
- * returns zero on error. */
-OPENSSL_EXPORT size_t ECDSA_size(const EC_KEY *key);
-
-
-/* Low-level signing and verification.
- *
- * Low-level functions handle signatures as |ECDSA_SIG| structures which allow
- * the two values in an ECDSA signature to be handled separately. */
-
-struct ecdsa_sig_st {
-  BIGNUM *r;
-  BIGNUM *s;
-};
-
-/* ECDSA_SIG_new returns a fresh |ECDSA_SIG| structure or NULL on error. */
-OPENSSL_EXPORT ECDSA_SIG *ECDSA_SIG_new(void);
-
-/* ECDSA_SIG_free frees |sig| its member |BIGNUM|s. */
-OPENSSL_EXPORT void ECDSA_SIG_free(ECDSA_SIG *sig);
-
-/* ECDSA_sign signs |digest_len| bytes from |digest| with |key| and returns the
- * resulting signature structure, or NULL on error. */
-OPENSSL_EXPORT ECDSA_SIG *ECDSA_do_sign(const uint8_t *digest,
-                                        size_t digest_len, EC_KEY *key);
-
-/* ECDSA_verify verifies that |sig| constitutes a valid signature by |key| of
- * |digest|. It returns one on success or zero if the signature is invalid or
- * on error. */
-OPENSSL_EXPORT int ECDSA_do_verify(const uint8_t *digest, size_t digest_len,
-                                   const ECDSA_SIG *sig, EC_KEY *key);
-
-
-/* Signing with precomputation.
- *
- * Parts of the ECDSA signature can be independent of the message to be signed
- * thus it's possible to precompute them and reduce the signing latency.
- *
- * TODO(fork): remove support for this as it cannot support safe-randomness. */
-
-/* ECDSA_sign_setup precomputes parts of an ECDSA signing operation. It sets
- * |*kinv| and |*rp| to the precomputed values and uses the |ctx| argument, if
- * not NULL. It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int ECDSA_sign_setup(EC_KEY *eckey, BN_CTX *ctx, BIGNUM **kinv,
-                                    BIGNUM **rp);
-
-/* ECDSA_do_sign_ex is the same as |ECDSA_do_sign| but takes precomputed values
- * as generated by |ECDSA_sign_setup|. */
-OPENSSL_EXPORT ECDSA_SIG *ECDSA_do_sign_ex(const uint8_t *digest,
-                                           size_t digest_len,
-                                           const BIGNUM *kinv, const BIGNUM *rp,
-                                           EC_KEY *eckey);
-
-/* ECDSA_sign_ex is the same as |ECDSA_sign| but takes precomputed values as
- * generated by |ECDSA_sign_setup|. */
-OPENSSL_EXPORT int ECDSA_sign_ex(int type, const uint8_t *digest,
-                                 size_t digest_len, uint8_t *sig,
-                                 unsigned int *sig_len, const BIGNUM *kinv,
-                                 const BIGNUM *rp, EC_KEY *eckey);
-
-
-/* ASN.1 functions. */
-
-/* d2i_ECDSA_SIG parses an ASN.1, DER-encoded, signature from |len| bytes at
- * |*inp|. If |out| is not NULL then, on exit, a pointer to the result is in
- * |*out|. If |*out| is already non-NULL on entry then the result is written
- * directly into |*out|, otherwise a fresh |ECDSA_SIG| is allocated. On
- * successful exit, |*inp| is advanced past the DER structure. It returns the
- * result or NULL on error. */
-OPENSSL_EXPORT ECDSA_SIG *d2i_ECDSA_SIG(ECDSA_SIG **out, const uint8_t **inp,
-                                        long len);
-
-/* i2d_ECDSA_SIG marshals a signature from |sig| to an ASN.1, DER
- * structure. If |outp| is not NULL then the result is written to |*outp| and
- * |*outp| is advanced just past the output. It returns the number of bytes in
- * the result, whether written or not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_ECDSA_SIG(const ECDSA_SIG *sig, uint8_t **outp);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define ECDSA_F_ECDSA_do_sign_ex 100
-#define ECDSA_F_ECDSA_do_verify 101
-#define ECDSA_F_ECDSA_sign_ex 102
-#define ECDSA_F_digest_to_bn 103
-#define ECDSA_F_ecdsa_sign_setup 104
-#define ECDSA_R_BAD_SIGNATURE 100
-#define ECDSA_R_MISSING_PARAMETERS 101
-#define ECDSA_R_NEED_NEW_SETUP_VALUES 102
-#define ECDSA_R_NOT_IMPLEMENTED 103
-#define ECDSA_R_RANDOM_NUMBER_GENERATION_FAILED 104
-
-#endif  /* OPENSSL_HEADER_ECDSA_H */
diff --git a/phonelibs/boringssl/include/openssl/engine.h b/phonelibs/boringssl/include/openssl/engine.h
deleted file mode 100644
index d3d278a69b77a4..00000000000000
--- a/phonelibs/boringssl/include/openssl/engine.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_ENGINE_H
-#define OPENSSL_HEADER_ENGINE_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Engines are collections of methods. Methods are tables of function pointers,
- * defined for certain algorithms, that allow operations on those algorithms to
- * be overridden via a callback. This can be used, for example, to implement an
- * RSA* that forwards operations to a hardware module.
- *
- * Methods are reference counted but |ENGINE|s are not. When creating a method,
- * you should zero the whole structure and fill in the function pointers that
- * you wish before setting it on an |ENGINE|. Any functions pointers that
- * are NULL indicate that the default behaviour should be used. */
-
-
-/* Allocation and destruction. */
-
-/* ENGINE_new returns an empty ENGINE that uses the default method for all
- * algorithms. */
-OPENSSL_EXPORT ENGINE *ENGINE_new(void);
-
-/* ENGINE_free decrements the reference counts for all methods linked from
- * |engine| and frees |engine| itself. */
-OPENSSL_EXPORT void ENGINE_free(ENGINE *engine);
-
-
-/* Method accessors.
- *
- * Method accessors take a method pointer and the size of the structure. The
- * size allows for ABI compatibility in the case that the method structure is
- * extended with extra elements at the end. Methods are always copied by the
- * set functions.
- *
- * Set functions return one on success and zero on allocation failure. */
-
-OPENSSL_EXPORT int ENGINE_set_DH_method(ENGINE *engine, const DH_METHOD *method,
-                                        size_t method_size);
-OPENSSL_EXPORT DH_METHOD *ENGINE_get_DH_method(const ENGINE *engine);
-
-OPENSSL_EXPORT int ENGINE_set_DSA_method(ENGINE *engine,
-                                         const DSA_METHOD *method,
-                                         size_t method_size);
-OPENSSL_EXPORT DSA_METHOD *ENGINE_get_DSA_method(const ENGINE *engine);
-
-OPENSSL_EXPORT int ENGINE_set_RSA_method(ENGINE *engine,
-                                         const RSA_METHOD *method,
-                                         size_t method_size);
-OPENSSL_EXPORT RSA_METHOD *ENGINE_get_RSA_method(const ENGINE *engine);
-
-OPENSSL_EXPORT int ENGINE_set_ECDSA_method(ENGINE *engine,
-                                           const ECDSA_METHOD *method,
-                                           size_t method_size);
-OPENSSL_EXPORT ECDSA_METHOD *ENGINE_get_ECDSA_method(const ENGINE *engine);
-
-
-/* Generic method functions.
- *
- * These functions take a void* type but actually operate on all method
- * structures. */
-
-/* METHOD_ref increments the reference count of |method|. This is a no-op for
- * now because all methods are currently static. */
-void METHOD_ref(void *method);
-
-/* METHOD_unref decrements the reference count of |method| and frees it if the
- * reference count drops to zero. This is a no-op for now because all methods
- * are currently static. */
-void METHOD_unref(void *method);
-
-
-/* Private functions. */
-
-/* openssl_method_common_st contains the common part of all method structures.
- * This must be the first member of all method structures. */
-struct openssl_method_common_st {
-  int references;  /* dummy – not used. */
-  char is_static;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define ENGINE_R_OPERATION_NOT_SUPPORTED 100
-
-#endif  /* OPENSSL_HEADER_ENGINE_H */
diff --git a/phonelibs/boringssl/include/openssl/err.h b/phonelibs/boringssl/include/openssl/err.h
deleted file mode 100644
index 30dc4afe9b9a54..00000000000000
--- a/phonelibs/boringssl/include/openssl/err.h
+++ /dev/null
@@ -1,509 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-/* ====================================================================
- * Copyright (c) 1998-2006 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef OPENSSL_HEADER_ERR_H
-#define OPENSSL_HEADER_ERR_H
-
-#include <stdio.h>
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Error queue handling functions.
- *
- * Errors in OpenSSL are generally signalled by the return value of a function.
- * When a function fails it may add an entry to a per-thread error queue,
- * which is managed by the functions in this header.
- *
- * Each error contains:
- *   1) The library (i.e. ec, pem, rsa) which created it.
- *   2) A function identifier and reason code.
- *   3) The file and line number of the call that added the error.
- *   4) A pointer to some error specific data, which may be NULL.
- *
- * The library identifier, function identifier and reason code are packed in a
- * uint32_t and there exist various functions for unpacking it.
- *
- * The typical behaviour is that an error will occur deep in a call queue and
- * that code will push an error onto the error queue. As the error queue
- * unwinds, other functions will push their own errors. Thus, the "least
- * recent" error is the most specific and the other errors will provide a
- * backtrace of sorts. */
-
-
-/* Startup and shutdown. */
-
-/* ERR_load_BIO_strings does nothing.
- *
- * TODO(fork): remove. libjingle calls this. */
-OPENSSL_EXPORT void ERR_load_BIO_strings(void);
-
-/* ERR_load_ERR_strings does nothing. */
-OPENSSL_EXPORT void ERR_load_ERR_strings(void);
-
-/* ERR_load_crypto_strings does nothing. */
-OPENSSL_EXPORT void ERR_load_crypto_strings(void);
-
-/* ERR_free_strings does nothing. */
-OPENSSL_EXPORT void ERR_free_strings(void);
-
-
-/* Reading and formatting errors. */
-
-/* ERR_get_error gets the packed error code for the least recent error and
- * removes that error from the queue. If there are no errors in the queue then
- * it returns zero. */
-OPENSSL_EXPORT uint32_t ERR_get_error(void);
-
-/* ERR_get_error_line acts like |ERR_get_error|, except that the file and line
- * number of the call that added the error are also returned. */
-OPENSSL_EXPORT uint32_t ERR_get_error_line(const char **file, int *line);
-
-/* ERR_get_error_line_data acts like |ERR_get_error_line|, but also returns the
- * error-specific data pointer and flags. The flags are a bitwise-OR of
- * |ERR_FLAG_*| values. The error-specific data is owned by the error queue
- * and the pointer becomes invalid after the next call that affects the same
- * thread's error queue. If |*flags| contains |ERR_FLAG_STRING| then |*data| is
- * human-readable. */
-OPENSSL_EXPORT uint32_t ERR_get_error_line_data(const char **file, int *line,
-                                                const char **data, int *flags);
-
-/* The "peek" functions act like the |ERR_get_error| functions, above, but they
- * do not remove the error from the queue. */
-OPENSSL_EXPORT uint32_t ERR_peek_error(void);
-OPENSSL_EXPORT uint32_t ERR_peek_error_line(const char **file, int *line);
-OPENSSL_EXPORT uint32_t ERR_peek_error_line_data(const char **file, int *line,
-                                                 const char **data, int *flags);
-
-/* The "peek last" functions act like the "peek" functions, above, except that
- * they return the most recent error. */
-OPENSSL_EXPORT uint32_t ERR_peek_last_error(void);
-OPENSSL_EXPORT uint32_t ERR_peek_last_error_line(const char **file, int *line);
-OPENSSL_EXPORT uint32_t ERR_peek_last_error_line_data(const char **file,
-                                                      int *line,
-                                                      const char **data,
-                                                      int *flags);
-
-/* ERR_error_string generates a human-readable string representing
- * |packed_error|, places it at |buf| (which must be at least
- * ERR_ERROR_STRING_BUF_LEN bytes long) and returns |buf|. If |buf| is NULL,
- * the error string is placed in a static buffer which is returned. (The static
- * buffer may be overridden by concurrent calls in other threads so this form
- * is deprecated.)
- *
- * The string will have the following format:
- *
- *   error:[error code]:[library name]:[function name]:[reason string]
- *
- * error code is an 8 digit hexadecimal number; library name, function name
- * and reason string are ASCII text.
- *
- * TODO(fork): remove in favour of |ERR_error_string_n|. */
-OPENSSL_EXPORT char *ERR_error_string(uint32_t packed_error, char *buf);
-#define ERR_ERROR_STRING_BUF_LEN 256
-
-/* ERR_error_string_n is a variant of |ERR_error_string| that writes at most
- * len characters (including the terminating NUL) and truncates the string if
- * necessary. If |len| is greater than zero then |buf| is always NUL
- * terminated. */
-OPENSSL_EXPORT void ERR_error_string_n(uint32_t packed_error, char *buf,
-                                       size_t len);
-
-/* ERR_lib_error_string returns a string representation of the library that
- * generated |packed_error|. */
-OPENSSL_EXPORT const char *ERR_lib_error_string(uint32_t packed_error);
-
-/* ERR_func_error_string returns a string representation of the function that
- * generated |packed_error|. */
-OPENSSL_EXPORT const char *ERR_func_error_string(uint32_t packed_error);
-
-/* ERR_reason_error_string returns a string representation of the reason for
- * |packed_error|. */
-OPENSSL_EXPORT const char *ERR_reason_error_string(uint32_t packed_error);
-
-/* ERR_print_errors_callback_t is the type of a function used by
- * |ERR_print_errors_cb|. It takes a pointer to a human readable string (and
- * its length) that describes an entry in the error queue. The |ctx| argument
- * is an opaque pointer given to |ERR_print_errors_cb|.
- *
- * It should return one on success or zero on error, which will stop the
- * iteration over the error queue. */
-typedef int (*ERR_print_errors_callback_t)(const char *str, size_t len,
-                                           void *ctx);
-
-/* ERR_print_errors_cb calls |callback| with a string representation of each
- * error in the current thread's error queue, from the least recent to the most
- * recent error.
- *
- * The string will have the following format (which differs from
- * |ERR_error_string|):
- *
- *   [thread id]:error:[error code]:[library name]:[function name]:
- *   [reason string]:[file]:[line number]:[optional string data]
- *
- * (All in one line.)
- *
- * The callback can return one to continue the iteration or zero to stop it.
- * The |ctx| argument is an opaque value that is passed through to the
- * callback. */
-OPENSSL_EXPORT void ERR_print_errors_cb(ERR_print_errors_callback_t callback,
-                                        void *ctx);
-
-
-/* ERR_print_errors_fp prints the current contents of the error stack to |file|
- * using human readable strings where possible. */
-OPENSSL_EXPORT void ERR_print_errors_fp(FILE *file);
-
-/* Clearing errors. */
-
-/* ERR_clear_error clears the error queue for the current thread. */
-OPENSSL_EXPORT void ERR_clear_error(void);
-
-/* ERR_remove_thread_state clears the error queue for the current thread if
- * |tid| is NULL. Otherwise it calls |assert(0)|, because it's no longer
- * possible to delete the error queue for other threads.
- *
- * Error queues are thread-local data and are deleted automatically. You do not
- * need to call this function. Use |ERR_clear_error|. */
-OPENSSL_EXPORT void ERR_remove_thread_state(const CRYPTO_THREADID *tid);
-
-
-/* Custom errors. */
-
-/* ERR_get_next_error_library returns a value suitable for passing as the
- * |library| argument to |ERR_put_error|. This is intended for code that wishes
- * to push its own, non-standard errors to the error queue. */
-OPENSSL_EXPORT int ERR_get_next_error_library(void);
-
-
-/* Deprecated functions. */
-
-/* |ERR_remove_state| calls |ERR_clear_error|. */
-OPENSSL_EXPORT void ERR_remove_state(unsigned long pid);
-
-
-/* Private functions. */
-
-/* ERR_clear_system_error clears the system's error value (i.e. errno). */
-OPENSSL_EXPORT void ERR_clear_system_error(void);
-
-/* OPENSSL_PUT_ERROR is used by OpenSSL code to add an error to the error
- * queue. */
-#define OPENSSL_PUT_ERROR(library, func, reason)                         \
-  ERR_put_error(ERR_LIB_##library, library##_F_##func, reason, __FILE__, \
-                __LINE__)
-
-/* OPENSSL_PUT_SYSTEM_ERROR is used by OpenSSL code to add an error from the
- * operating system to the error queue. */
-/* TODO(fork): include errno. */
-#define OPENSSL_PUT_SYSTEM_ERROR(func) \
-  ERR_put_error(ERR_LIB_SYS, SYS_F_##func, 0, __FILE__, __LINE__);
-
-/* ERR_put_error adds an error to the error queue, dropping the least recent
- * error if neccessary for space reasons. */
-OPENSSL_EXPORT void ERR_put_error(int library, int func, int reason,
-                                  const char *file, unsigned line);
-
-/* ERR_add_error_data takes a variable number (|count|) of const char*
- * pointers, concatenates them and sets the result as the data on the most
- * recent error. */
-OPENSSL_EXPORT void ERR_add_error_data(unsigned count, ...);
-
-/* ERR_add_error_dataf takes a printf-style format and arguments, and sets the
- * result as the data on the most recent error. */
-OPENSSL_EXPORT void ERR_add_error_dataf(const char *format, ...);
-
-/* ERR_set_mark "marks" the most recent error for use with |ERR_pop_to_mark|.
- * It returns one if an error was marked and zero if there are no errors. */
-OPENSSL_EXPORT int ERR_set_mark(void);
-
-/* ERR_pop_to_mark removes errors from the most recent to the least recent
- * until (and not including) a "marked" error. It returns zero if no marked
- * error was found (and thus all errors were removed) and one otherwise. Errors
- * are marked using |ERR_set_mark|. */
-OPENSSL_EXPORT int ERR_pop_to_mark(void);
-
-struct err_error_st {
-  /* file contains the filename where the error occured. */
-  const char *file;
-  /* data contains optional data. It must be freed with |OPENSSL_free| if
-   * |flags&ERR_FLAG_MALLOCED|. */
-  char *data;
-  /* packed contains the error library, function and reason, as packed by
-   * ERR_PACK. */
-  uint32_t packed;
-  /* line contains the line number where the error occured. */
-  uint16_t line;
-  /* flags contains a bitwise-OR of ERR_FLAG_* values. */
-  uint8_t flags;
-};
-
-/* ERR_FLAG_STRING means that the |data| member is a NUL-terminated string that
- * can be printed. */
-#define ERR_FLAG_STRING 1
-/* ERR_TXT_STRING is provided for compatibility with code that assumes that
- * it's using OpenSSL. */
-#define ERR_TXT_STRING ERR_FLAG_STRING
-
-/* ERR_FLAG_PUBLIC_MASK is applied to the flags field before it is returned
- * from functions like |ERR_get_error_line_data|. */
-#define ERR_FLAG_PUBLIC_MASK 0xf
-
-/* The following flag values are internal and are masked when flags are
- * returned from functions like |ERR_get_error_line_data|. */
-
-/* ERR_FLAG_MALLOCED means the the |data| member must be freed when no longer
- * needed. */
-#define ERR_FLAG_MALLOCED 16
-/* ERR_FLAG_MARK is used to indicate a reversion point in the queue. See
- * |ERR_pop_to_mark|. */
-#define ERR_FLAG_MARK 32
-
-/* ERR_NUM_ERRORS is the limit of the number of errors in the queue. */
-#define ERR_NUM_ERRORS 16
-
-/* ERR_STATE contains the per-thread, error queue. */
-typedef struct err_state_st {
-  /* errors contains the ERR_NUM_ERRORS most recent errors, organised as a ring
-   * buffer. */
-  struct err_error_st errors[ERR_NUM_ERRORS];
-  /* top contains the index one past the most recent error. If |top| equals
-   * |bottom| then the queue is empty. */
-  unsigned top;
-  /* bottom contains the index of the last error in the queue. */
-  unsigned bottom;
-
-  /* to_free, if not NULL, contains a pointer owned by this structure that was
-   * previously a |data| pointer of one of the elements of |errors|. */
-  void *to_free;
-} ERR_STATE;
-
-enum {
-  ERR_LIB_NONE = 1,
-  ERR_LIB_SYS,
-  ERR_LIB_BN,
-  ERR_LIB_RSA,
-  ERR_LIB_DH,
-  ERR_LIB_EVP,
-  ERR_LIB_BUF,
-  ERR_LIB_OBJ,
-  ERR_LIB_PEM,
-  ERR_LIB_DSA,
-  ERR_LIB_X509,
-  ERR_LIB_ASN1,
-  ERR_LIB_CONF,
-  ERR_LIB_CRYPTO,
-  ERR_LIB_EC,
-  ERR_LIB_SSL,
-  ERR_LIB_BIO,
-  ERR_LIB_PKCS7,
-  ERR_LIB_PKCS8,
-  ERR_LIB_X509V3,
-  ERR_LIB_RAND,
-  ERR_LIB_ENGINE,
-  ERR_LIB_OCSP,
-  ERR_LIB_UI,
-  ERR_LIB_COMP,
-  ERR_LIB_ECDSA,
-  ERR_LIB_ECDH,
-  ERR_LIB_HMAC,
-  ERR_LIB_DIGEST,
-  ERR_LIB_CIPHER,
-  ERR_LIB_USER,
-  ERR_LIB_HKDF,
-  ERR_NUM_LIBS
-};
-
-#define ERR_R_SYS_LIB ERR_LIB_SYS
-#define ERR_R_BN_LIB ERR_LIB_BN
-#define ERR_R_RSA_LIB ERR_LIB_RSA
-#define ERR_R_DH_LIB ERR_LIB_DH
-#define ERR_R_EVP_LIB ERR_LIB_EVP
-#define ERR_R_BUF_LIB ERR_LIB_BUF
-#define ERR_R_OBJ_LIB ERR_LIB_OBJ
-#define ERR_R_PEM_LIB ERR_LIB_PEM
-#define ERR_R_DSA_LIB ERR_LIB_DSA
-#define ERR_R_X509_LIB ERR_LIB_X509
-#define ERR_R_ASN1_LIB ERR_LIB_ASN1
-#define ERR_R_CONF_LIB ERR_LIB_CONF
-#define ERR_R_CRYPTO_LIB ERR_LIB_CRYPTO
-#define ERR_R_EC_LIB ERR_LIB_EC
-#define ERR_R_SSL_LIB ERR_LIB_SSL
-#define ERR_R_BIO_LIB ERR_LIB_BIO
-#define ERR_R_PKCS7_LIB ERR_LIB_PKCS7
-#define ERR_R_PKCS8_LIB ERR_LIB_PKCS8
-#define ERR_R_X509V3_LIB ERR_LIB_X509V3
-#define ERR_R_RAND_LIB ERR_LIB_RAND
-#define ERR_R_DSO_LIB ERR_LIB_DSO
-#define ERR_R_ENGINE_LIB ERR_LIB_ENGINE
-#define ERR_R_OCSP_LIB ERR_LIB_OCSP
-#define ERR_R_UI_LIB ERR_LIB_UI
-#define ERR_R_COMP_LIB ERR_LIB_COMP
-#define ERR_R_ECDSA_LIB ERR_LIB_ECDSA
-#define ERR_R_ECDH_LIB ERR_LIB_ECDH
-#define ERR_R_STORE_LIB ERR_LIB_STORE
-#define ERR_R_FIPS_LIB ERR_LIB_FIPS
-#define ERR_R_CMS_LIB ERR_LIB_CMS
-#define ERR_R_TS_LIB ERR_LIB_TS
-#define ERR_R_HMAC_LIB ERR_LIB_HMAC
-#define ERR_R_JPAKE_LIB ERR_LIB_JPAKE
-#define ERR_R_USER_LIB ERR_LIB_USER
-#define ERR_R_DIGEST_LIB ERR_LIB_DIGEST
-#define ERR_R_CIPHER_LIB ERR_LIB_CIPHER
-#define ERR_R_HKDF_LIB ERR_LIB_HKDF
-
-/* Global reasons. */
-#define ERR_R_FATAL 64
-#define ERR_R_MALLOC_FAILURE (1 | ERR_R_FATAL)
-#define ERR_R_SHOULD_NOT_HAVE_BEEN_CALLED (2 | ERR_R_FATAL)
-#define ERR_R_PASSED_NULL_PARAMETER (3 | ERR_R_FATAL)
-#define ERR_R_INTERNAL_ERROR (4 | ERR_R_FATAL)
-#define ERR_R_OVERFLOW (5 | ERR_R_FATAL)
-
-/* System error functions */
-#define SYS_F_fopen 100
-#define SYS_F_fclose 101
-#define SYS_F_fread 102
-#define SYS_F_fwrite 103
-#define SYS_F_socket 104
-#define SYS_F_setsockopt 105
-#define SYS_F_connect 106
-#define SYS_F_getaddrinfo 107
-
-#define ERR_PACK(lib, func, reason)                                        \
-  (((((uint32_t)lib) & 0xff) << 24) | ((((uint32_t)func) & 0xfff) << 12) | \
-   ((((uint32_t)reason) & 0xfff)))
-
-#define ERR_GET_LIB(packed_error) ((int)(((packed_error) >> 24) & 0xff))
-#define ERR_GET_FUNC(packed_error) ((int)(((packed_error) >> 12) & 0xfff))
-#define ERR_GET_REASON(packed_error) ((int)((packed_error) & 0xfff))
-
-/* OPENSSL_DECLARE_ERROR_REASON is used by util/make_errors.h (which generates
- * the error defines) to recognise that an additional reason value is needed.
- * This is needed when the reason value is used outside of an
- * |OPENSSL_PUT_ERROR| macro. The resulting define will be
- * ${lib}_R_${reason}. */
-#define OPENSSL_DECLARE_ERROR_REASON(lib, reason)
-
-/* OPENSSL_DECLARE_ERROR_FUNCTION is used by util/make_errors.h (which
- * generates the error * defines to recognise that an additional function value
- * is needed. This is * needed when the function value is used outside of an
- * |OPENSSL_PUT_ERROR| * macro. The resulting define will be
- * ${lib}_F_${reason}. */
-#define OPENSSL_DECLARE_ERROR_FUNCTION(lib, function_name)
-
-
-#if defined(__cplusplus)
-} /* extern C */
-#endif
-
-#endif /* OPENSSL_HEADER_ERR_H */
diff --git a/phonelibs/boringssl/include/openssl/evp.h b/phonelibs/boringssl/include/openssl/evp.h
deleted file mode 100644
index 490a9514c33281..00000000000000
--- a/phonelibs/boringssl/include/openssl/evp.h
+++ /dev/null
@@ -1,826 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_EVP_H
-#define OPENSSL_HEADER_EVP_H
-
-#include <openssl/base.h>
-
-#include <openssl/thread.h>
-
-/* OpenSSL included digest and cipher functions in this header so we include
- * them for users that still expect that.
- *
- * TODO(fork): clean up callers so that they include what they use. */
-#include <openssl/aead.h>
-#include <openssl/cipher.h>
-#include <openssl/digest.h>
-#include <openssl/obj.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* EVP abstracts over public/private key algorithms. */
-
-
-/* Public key objects. */
-
-/* EVP_PKEY_new creates a new, empty public-key object and returns it or NULL
- * on allocation failure. */
-OPENSSL_EXPORT EVP_PKEY *EVP_PKEY_new(void);
-
-/* EVP_PKEY_free frees all data referenced by |pkey| and then frees |pkey|
- * itself. */
-OPENSSL_EXPORT void EVP_PKEY_free(EVP_PKEY *pkey);
-
-/* EVP_PKEY_up_ref increments the reference count of |pkey| and returns it. */
-OPENSSL_EXPORT EVP_PKEY *EVP_PKEY_up_ref(EVP_PKEY *pkey);
-
-/* EVP_PKEY_is_opaque returns one if |pkey| is opaque. Opaque keys are backed by
- * custom implementations which do not expose key material and parameters. It is
- * an error to attempt to duplicate, export, or compare an opaque key. */
-OPENSSL_EXPORT int EVP_PKEY_is_opaque(const EVP_PKEY *pkey);
-
-/* EVP_PKEY_supports_digest returns one if |pkey| supports digests of
- * type |md|. This is intended for use with EVP_PKEYs backing custom
- * implementations which can't sign all digests. */
-OPENSSL_EXPORT int EVP_PKEY_supports_digest(const EVP_PKEY *pkey,
-                                            const EVP_MD *md);
-
-/* EVP_PKEY_cmp compares |a| and |b| and returns one if they are equal, zero if
- * not and a negative number on error.
- *
- * WARNING: this differs from the traditional return value of a "cmp"
- * function. */
-OPENSSL_EXPORT int EVP_PKEY_cmp(const EVP_PKEY *a, const EVP_PKEY *b);
-
-/* EVP_PKEY_copy_parameters sets the parameters of |to| to equal the parameters
- * of |from|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_copy_parameters(EVP_PKEY *to, const EVP_PKEY *from);
-
-/* EVP_PKEY_missing_parameters returns one if |pkey| is missing needed
- * parameters or zero if not, or if the algorithm doesn't take parameters. */
-OPENSSL_EXPORT int EVP_PKEY_missing_parameters(const EVP_PKEY *pkey);
-
-/* EVP_PKEY_size returns the maximum size, in bytes, of a signature signed by
- * |pkey|. For an RSA key, this returns the number of bytes needed to represent
- * the modulus. For an EC key, this returns the maximum size of a DER-encoded
- * ECDSA signature. */
-OPENSSL_EXPORT int EVP_PKEY_size(const EVP_PKEY *pkey);
-
-/* EVP_PKEY_bits returns the "size", in bits, of |pkey|. For an RSA key, this
- * returns the bit length of the modulus. For an EC key, this returns the bit
- * length of the group order. */
-OPENSSL_EXPORT int EVP_PKEY_bits(EVP_PKEY *pkey);
-
-/* EVP_PKEY_id returns the type of |pkey|, which is one of the |EVP_PKEY_*|
- * values. */
-OPENSSL_EXPORT int EVP_PKEY_id(const EVP_PKEY *pkey);
-
-/* EVP_PKEY_type returns a canonicalised form of |NID|. For example,
- * |EVP_PKEY_RSA2| will be turned into |EVP_PKEY_RSA|. */
-OPENSSL_EXPORT int EVP_PKEY_type(int nid);
-
-/* Deprecated: EVP_PKEY_new_mac_key allocates a fresh |EVP_PKEY| of the given
- * type (e.g. |EVP_PKEY_HMAC|), sets |mac_key| as the MAC key and "generates" a
- * new key, suitable for signing. It returns the fresh |EVP_PKEY|, or NULL on
- * error. Use |HMAC_CTX| directly instead. */
-OPENSSL_EXPORT EVP_PKEY *EVP_PKEY_new_mac_key(int type, ENGINE *engine,
-                                              const uint8_t *mac_key,
-                                              size_t mac_key_len);
-
-
-/* Getting and setting concrete public key types.
- *
- * The following functions get and set the underlying public key in an
- * |EVP_PKEY| object. The |set1| functions take an additional reference to the
- * underlying key and return one on success or zero on error. The |assign|
- * functions adopt the caller's reference. The getters return a fresh reference
- * to the underlying object. */
-
-OPENSSL_EXPORT int EVP_PKEY_set1_RSA(EVP_PKEY *pkey, RSA *key);
-OPENSSL_EXPORT int EVP_PKEY_assign_RSA(EVP_PKEY *pkey, RSA *key);
-OPENSSL_EXPORT RSA *EVP_PKEY_get1_RSA(EVP_PKEY *pkey);
-
-OPENSSL_EXPORT int EVP_PKEY_set1_DSA(EVP_PKEY *pkey, struct dsa_st *key);
-OPENSSL_EXPORT int EVP_PKEY_assign_DSA(EVP_PKEY *pkey, DSA *key);
-OPENSSL_EXPORT struct dsa_st *EVP_PKEY_get1_DSA(EVP_PKEY *pkey);
-
-OPENSSL_EXPORT int EVP_PKEY_set1_EC_KEY(EVP_PKEY *pkey, struct ec_key_st *key);
-OPENSSL_EXPORT int EVP_PKEY_assign_EC_KEY(EVP_PKEY *pkey, EC_KEY *key);
-OPENSSL_EXPORT struct ec_key_st *EVP_PKEY_get1_EC_KEY(EVP_PKEY *pkey);
-
-OPENSSL_EXPORT int EVP_PKEY_set1_DH(EVP_PKEY *pkey, struct dh_st *key);
-OPENSSL_EXPORT int EVP_PKEY_assign_DH(EVP_PKEY *pkey, DH *key);
-OPENSSL_EXPORT struct dh_st *EVP_PKEY_get1_DH(EVP_PKEY *pkey);
-
-#define EVP_PKEY_NONE NID_undef
-#define EVP_PKEY_RSA NID_rsaEncryption
-#define EVP_PKEY_RSA2 NID_rsa
-#define EVP_PKEY_DSA NID_dsa
-#define EVP_PKEY_DH NID_dhKeyAgreement
-#define EVP_PKEY_DHX NID_dhpublicnumber
-#define EVP_PKEY_EC NID_X9_62_id_ecPublicKey
-
-/* Deprecated: Use |HMAC_CTX| directly instead. */
-#define EVP_PKEY_HMAC NID_hmac
-
-/* EVP_PKEY_assign sets the underlying key of |pkey| to |key|, which must be of
- * the given type. The |type| argument should be one of the |EVP_PKEY_*|
- * values. */
-OPENSSL_EXPORT int EVP_PKEY_assign(EVP_PKEY *pkey, int type, void *key);
-
-/* EVP_PKEY_set_type sets the type of |pkey| to |type|, which should be one of
- * the |EVP_PKEY_*| values. It returns one if sucessful or zero otherwise. If
- * |pkey| is NULL, it simply reports whether the type is known. */
-OPENSSL_EXPORT int EVP_PKEY_set_type(EVP_PKEY *pkey, int type);
-
-/* EVP_PKEY_cmp_parameters compares the parameters of |a| and |b|. It returns
- * one if they match, zero if not, or a negative number of on error.
- *
- * WARNING: the return value differs from the usual return value convention. */
-OPENSSL_EXPORT int EVP_PKEY_cmp_parameters(const EVP_PKEY *a,
-                                           const EVP_PKEY *b);
-
-
-/* ASN.1 functions */
-
-/* d2i_PrivateKey parses an ASN.1, DER-encoded, private key from |len| bytes at
- * |*inp|. If |out| is not NULL then, on exit, a pointer to the result is in
- * |*out|. If |*out| is already non-NULL on entry then the result is written
- * directly into |*out|, otherwise a fresh |EVP_PKEY| is allocated. On
- * successful exit, |*inp| is advanced past the DER structure. It returns the
- * result or NULL on error. */
-OPENSSL_EXPORT EVP_PKEY *d2i_PrivateKey(int type, EVP_PKEY **out,
-                                        const uint8_t **inp, long len);
-
-/* d2i_AutoPrivateKey acts the same as |d2i_PrivateKey|, but detects the type
- * of the private key. */
-OPENSSL_EXPORT EVP_PKEY *d2i_AutoPrivateKey(EVP_PKEY **out, const uint8_t **inp,
-                                            long len);
-
-/* i2d_PrivateKey marshals a private key from |key| to an ASN.1, DER
- * structure. If |outp| is not NULL then the result is written to |*outp| and
- * |*outp| is advanced just past the output. It returns the number of bytes in
- * the result, whether written or not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_PrivateKey(const EVP_PKEY *key, uint8_t **outp);
-
-/* i2d_PublicKey marshals a public key from |key| to an ASN.1, DER
- * structure. If |outp| is not NULL then the result is written to |*outp| and
- * |*outp| is advanced just past the output. It returns the number of bytes in
- * the result, whether written or not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_PublicKey(EVP_PKEY *key, uint8_t **outp);
-
-
-/* Signing */
-
-/* EVP_DigestSignInit sets up |ctx| for a signing operation with |type| and
- * |pkey|. The |ctx| argument must have been initialised with
- * |EVP_MD_CTX_init|. If |pctx| is not NULL, the |EVP_PKEY_CTX| of the signing
- * operation will be written to |*pctx|; this can be used to set alternative
- * signing options.
- *
- * It returns one on success, or zero on error. */
-OPENSSL_EXPORT int EVP_DigestSignInit(EVP_MD_CTX *ctx, EVP_PKEY_CTX **pctx,
-                                      const EVP_MD *type, ENGINE *e,
-                                      EVP_PKEY *pkey);
-
-/* EVP_DigestSignUpdate appends |len| bytes from |data| to the data which will
- * be signed in |EVP_DigestSignFinal|. It returns one. */
-OPENSSL_EXPORT int EVP_DigestSignUpdate(EVP_MD_CTX *ctx, const void *data,
-                                        size_t len);
-
-/* EVP_DigestSignFinal signs the data that has been included by one or more
- * calls to |EVP_DigestSignUpdate|. If |out_sig| is NULL then |*out_sig_len| is
- * set to the maximum number of output bytes. Otherwise, on entry,
- * |*out_sig_len| must contain the length of the |out_sig| buffer. If the call
- * is successful, the signature is written to |out_sig| and |*out_sig_len| is
- * set to its length.
- *
- * It returns one on success, or zero on error. */
-OPENSSL_EXPORT int EVP_DigestSignFinal(EVP_MD_CTX *ctx, uint8_t *out_sig,
-                                       size_t *out_sig_len);
-
-/* EVP_DigestSignAlgorithm encodes the signing parameters of |ctx| as an
- * AlgorithmIdentifer and saves the result in |algor|.
- *
- * It returns one on success, or zero on error.
- *
- * TODO(davidben): This API should eventually lose the dependency on
- * crypto/asn1/. */
-OPENSSL_EXPORT int EVP_DigestSignAlgorithm(EVP_MD_CTX *ctx, X509_ALGOR *algor);
-
-
-/* Verifying */
-
-/* EVP_DigestVerifyInit sets up |ctx| for a signature verification operation
- * with |type| and |pkey|. The |ctx| argument must have been initialised with
- * |EVP_MD_CTX_init|. If |pctx| is not NULL, the |EVP_PKEY_CTX| of the signing
- * operation will be written to |*pctx|; this can be used to set alternative
- * signing options.
- *
- * It returns one on success, or zero on error. */
-OPENSSL_EXPORT int EVP_DigestVerifyInit(EVP_MD_CTX *ctx, EVP_PKEY_CTX **pctx,
-                                        const EVP_MD *type, ENGINE *e,
-                                        EVP_PKEY *pkey);
-
-/* EVP_DigestVerifyInitFromAlgorithm sets up |ctx| for a signature verification
- * operation with public key |pkey| and parameters from |algor|. The |ctx|
- * argument must have been initialised with |EVP_MD_CTX_init|.
- *
- * It returns one on success, or zero on error.
- *
- * TODO(davidben): This API should eventually lose the dependency on
- * crypto/asn1/. */
-OPENSSL_EXPORT int EVP_DigestVerifyInitFromAlgorithm(EVP_MD_CTX *ctx,
-                                                     X509_ALGOR *algor,
-                                                     EVP_PKEY *pkey);
-
-/* EVP_DigestVerifyUpdate appends |len| bytes from |data| to the data which
- * will be verified by |EVP_DigestVerifyFinal|. It returns one. */
-OPENSSL_EXPORT int EVP_DigestVerifyUpdate(EVP_MD_CTX *ctx, const void *data,
-                                          size_t len);
-
-/* EVP_DigestVerifyFinal verifies that |sig_len| bytes of |sig| are a valid
- * signature for the data that has been included by one or more calls to
- * |EVP_DigestVerifyUpdate|. It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int EVP_DigestVerifyFinal(EVP_MD_CTX *ctx, const uint8_t *sig,
-                                         size_t sig_len);
-
-
-/* Signing (old functions) */
-
-/* EVP_SignInit_ex configures |ctx|, which must already have been initialised,
- * for a fresh signing operation using the hash function |type|. It returns one
- * on success and zero otherwise.
- *
- * (In order to initialise |ctx|, either obtain it initialised with
- * |EVP_MD_CTX_create|, or use |EVP_MD_CTX_init|.) */
-OPENSSL_EXPORT int EVP_SignInit_ex(EVP_MD_CTX *ctx, const EVP_MD *type,
-                                   ENGINE *impl);
-
-/* EVP_SignInit is a deprecated version of |EVP_SignInit_ex|.
- *
- * TODO(fork): remove. */
-OPENSSL_EXPORT int EVP_SignInit(EVP_MD_CTX *ctx, const EVP_MD *type);
-
-/* EVP_SignUpdate appends |len| bytes from |data| to the data which will be
- * signed in |EVP_SignFinal|. */
-OPENSSL_EXPORT int EVP_SignUpdate(EVP_MD_CTX *ctx, const void *data,
-                                  size_t len);
-
-/* EVP_SignFinal signs the data that has been included by one or more calls to
- * |EVP_SignUpdate|, using the key |pkey|, and writes it to |sig|. On entry,
- * |sig| must point to at least |EVP_PKEY_size(pkey)| bytes of space. The
- * actual size of the signature is written to |*out_sig_len|.
- *
- * It returns one on success and zero otherwise.
- *
- * It does not modify |ctx|, thus it's possible to continue to use |ctx| in
- * order to sign a longer message. */
-OPENSSL_EXPORT int EVP_SignFinal(const EVP_MD_CTX *ctx, uint8_t *sig,
-                                 unsigned int *out_sig_len, EVP_PKEY *pkey);
-
-
-/* Verifying (old functions) */
-
-/* EVP_VerifyInit_ex configures |ctx|, which must already have been
- * initialised, for a fresh signature verification operation using the hash
- * function |type|. It returns one on success and zero otherwise.
- *
- * (In order to initialise |ctx|, either obtain it initialised with
- * |EVP_MD_CTX_create|, or use |EVP_MD_CTX_init|.) */
-OPENSSL_EXPORT int EVP_VerifyInit_ex(EVP_MD_CTX *ctx, const EVP_MD *type,
-                                     ENGINE *impl);
-
-/* EVP_VerifyInit is a deprecated version of |EVP_VerifyInit_ex|.
- *
- * TODO(fork): remove. */
-OPENSSL_EXPORT int EVP_VerifyInit(EVP_MD_CTX *ctx, const EVP_MD *type);
-
-/* EVP_VerifyUpdate appends |len| bytes from |data| to the data which will be
- * signed in |EVP_VerifyFinal|. */
-OPENSSL_EXPORT int EVP_VerifyUpdate(EVP_MD_CTX *ctx, const void *data,
-                                    size_t len);
-
-/* EVP_VerifyFinal verifies that |sig_len| bytes of |sig| are a valid
- * signature, by |pkey|, for the data that has been included by one or more
- * calls to |EVP_VerifyUpdate|.
- *
- * It returns one on success and zero otherwise.
- *
- * It does not modify |ctx|, thus it's possible to continue to use |ctx| in
- * order to sign a longer message. */
-OPENSSL_EXPORT int EVP_VerifyFinal(EVP_MD_CTX *ctx, const uint8_t *sig,
-                                   size_t sig_len, EVP_PKEY *pkey);
-
-
-/* Printing */
-
-/* EVP_PKEY_print_public prints a textual representation of the public key in
- * |pkey| to |out|. Returns one on success or zero otherwise. */
-OPENSSL_EXPORT int EVP_PKEY_print_public(BIO *out, const EVP_PKEY *pkey,
-                                         int indent, ASN1_PCTX *pctx);
-
-/* EVP_PKEY_print_public prints a textual representation of the private key in
- * |pkey| to |out|. Returns one on success or zero otherwise. */
-OPENSSL_EXPORT int EVP_PKEY_print_private(BIO *out, const EVP_PKEY *pkey,
-                                          int indent, ASN1_PCTX *pctx);
-
-/* EVP_PKEY_print_public prints a textual representation of the parameters in
- * |pkey| to |out|. Returns one on success or zero otherwise. */
-OPENSSL_EXPORT int EVP_PKEY_print_params(BIO *out, const EVP_PKEY *pkey,
-                                         int indent, ASN1_PCTX *pctx);
-
-
-/* Password stretching.
- *
- * Password stretching functions take a low-entropy password and apply a slow
- * function that results in a key suitable for use in symmetric
- * cryptography. */
-
-/* PKCS5_PBKDF2_HMAC computes |iterations| iterations of PBKDF2 of |password|
- * and |salt|, using |digest|, and outputs |key_len| bytes to |out_key|. It
- * returns one on success and zero on error. */
-OPENSSL_EXPORT int PKCS5_PBKDF2_HMAC(const char *password, size_t password_len,
-                                     const uint8_t *salt, size_t salt_len,
-                                     unsigned iterations, const EVP_MD *digest,
-                                     size_t key_len, uint8_t *out_key);
-
-/* PKCS5_PBKDF2_HMAC_SHA1 is the same as PKCS5_PBKDF2_HMAC, but with |digest|
- * fixed to |EVP_sha1|. */
-OPENSSL_EXPORT int PKCS5_PBKDF2_HMAC_SHA1(const char *password,
-                                          size_t password_len, const uint8_t *salt,
-                                          size_t salt_len, unsigned iterations,
-                                          size_t key_len, uint8_t *out_key);
-
-
-/* Public key contexts.
- *
- * |EVP_PKEY_CTX| objects hold the context of an operation (e.g. signing or
- * encrypting) that uses a public key. */
-
-/* EVP_PKEY_CTX_new allocates a fresh |EVP_PKEY_CTX| for use with |pkey|. It
- * returns the context or NULL on error. */
-OPENSSL_EXPORT EVP_PKEY_CTX *EVP_PKEY_CTX_new(EVP_PKEY *pkey, ENGINE *e);
-
-/* EVP_PKEY_CTX_new allocates a fresh |EVP_PKEY_CTX| for a key of type |id|
- * (e.g. |EVP_PKEY_HMAC|). This can be used for key generation where
- * |EVP_PKEY_CTX_new| can't be used because there isn't an |EVP_PKEY| to pass
- * it. It returns the context or NULL on error. */
-OPENSSL_EXPORT EVP_PKEY_CTX *EVP_PKEY_CTX_new_id(int id, ENGINE *e);
-
-/* EVP_KEY_CTX_free frees |ctx| and the data it owns. */
-OPENSSL_EXPORT void EVP_PKEY_CTX_free(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_CTX_dup allocates a fresh |EVP_PKEY_CTX| and sets it equal to the
- * state of |ctx|. It returns the fresh |EVP_PKEY_CTX| or NULL on error. */
-OPENSSL_EXPORT EVP_PKEY_CTX *EVP_PKEY_CTX_dup(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_CTX_get0_pkey returns the |EVP_PKEY| associated with |ctx|. */
-OPENSSL_EXPORT EVP_PKEY *EVP_PKEY_CTX_get0_pkey(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_CTX_set_app_data sets an opaque pointer on |ctx|. */
-OPENSSL_EXPORT void EVP_PKEY_CTX_set_app_data(EVP_PKEY_CTX *ctx, void *data);
-
-/* EVP_PKEY_CTX_get_app_data returns the opaque pointer from |ctx| that was
- * previously set with |EVP_PKEY_CTX_set_app_data|, or NULL if none has been
- * set. */
-OPENSSL_EXPORT void *EVP_PKEY_CTX_get_app_data(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_sign_init initialises an |EVP_PKEY_CTX| for a signing operation. It
- * should be called before |EVP_PKEY_sign|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_sign_init(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_sign signs |data_len| bytes from |data| using |ctx|. If |sig| is
- * NULL, the maximum size of the signature is written to
- * |out_sig_len|. Otherwise, |*sig_len| must contain the number of bytes of
- * space available at |sig|. If sufficient, the signature will be written to
- * |sig| and |*sig_len| updated with the true length.
- *
- * WARNING: Setting |sig| to NULL only gives the maximum size of the
- * signature. The actual signature may be smaller.
- *
- * It returns one on success or zero on error. (Note: this differs from
- * OpenSSL, which can also return negative values to indicate an error. ) */
-OPENSSL_EXPORT int EVP_PKEY_sign(EVP_PKEY_CTX *ctx, uint8_t *sig,
-                                 size_t *sig_len, const uint8_t *data,
-                                 size_t data_len);
-
-/* EVP_PKEY_verify_init initialises an |EVP_PKEY_CTX| for a signature
- * verification operation. It should be called before |EVP_PKEY_verify|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_verify_init(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_verify verifies that |sig_len| bytes from |sig| are a valid signature
- * for |data|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_verify(EVP_PKEY_CTX *ctx, const uint8_t *sig,
-                                   size_t sig_len, const uint8_t *data,
-                                   size_t data_len);
-
-/* EVP_PKEY_encrypt_init initialises an |EVP_PKEY_CTX| for an encryption
- * operation. It should be called before |EVP_PKEY_encrypt|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_encrypt_init(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_encrypt encrypts |in_len| bytes from |in|. If |out| is NULL, the
- * maximum size of the ciphertext is written to |out_len|. Otherwise, |*out_len|
- * must contain the number of bytes of space available at |out|. If sufficient,
- * the ciphertext will be written to |out| and |*out_len| updated with the true
- * length.
- *
- * WARNING: Setting |out| to NULL only gives the maximum size of the
- * ciphertext. The actual ciphertext may be smaller.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_encrypt(EVP_PKEY_CTX *ctx, uint8_t *out,
-                                    size_t *out_len, const uint8_t *in,
-                                    size_t in_len);
-
-/* EVP_PKEY_decrypt_init initialises an |EVP_PKEY_CTX| for a decryption
- * operation. It should be called before |EVP_PKEY_decrypt|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_decrypt_init(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_decrypt decrypts |in_len| bytes from |in|. If |out| is NULL, the
- * maximum size of the plaintext is written to |out_len|. Otherwise, |*out_len|
- * must contain the number of bytes of space available at |out|. If sufficient,
- * the ciphertext will be written to |out| and |*out_len| updated with the true
- * length.
- *
- * WARNING: Setting |out| to NULL only gives the maximum size of the
- * plaintext. The actual plaintext may be smaller.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_decrypt(EVP_PKEY_CTX *ctx, uint8_t *out,
-                                    size_t *out_len, const uint8_t *in,
-                                    size_t in_len);
-
-/* EVP_PKEY_derive_init initialises an |EVP_PKEY_CTX| for a key derivation
- * operation. It should be called before |EVP_PKEY_derive_set_peer| and
- * |EVP_PKEY_derive|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_derive_init(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_derive_set_peer sets the peer's key to be used for key derivation
- * by |ctx| to |peer|. It should be called after |EVP_PKEY_derive_init|. (For
- * example, this is used to set the peer's key in (EC)DH.) It returns one on
- * success and zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_derive_set_peer(EVP_PKEY_CTX *ctx, EVP_PKEY *peer);
-
-/* EVP_PKEY_derive derives a shared key between the two keys configured in
- * |ctx|. If |key| is non-NULL then, on entry, |out_key_len| must contain the
- * amount of space at |key|. If sufficient then the shared key will be written
- * to |key| and |*out_key_len| will be set to the length. If |key| is NULL then
- * |out_key_len| will be set to the maximum length.
- *
- * WARNING: Setting |out| to NULL only gives the maximum size of the key. The
- * actual key may be smaller.
- *
- * It returns one on success and zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_derive(EVP_PKEY_CTX *ctx, uint8_t *key,
-                                   size_t *out_key_len);
-
-/* EVP_PKEY_keygen_init initialises an |EVP_PKEY_CTX| for a key generation
- * operation. It should be called before |EVP_PKEY_keygen|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_keygen_init(EVP_PKEY_CTX *ctx);
-
-/* EVP_PKEY_keygen performs a key generation operation using the values from
- * |ctx| and sets |*ppkey| to a fresh |EVP_PKEY| containing the resulting key.
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_keygen(EVP_PKEY_CTX *ctx, EVP_PKEY **ppkey);
-
-
-/* Generic control functions. */
-
-/* EVP_PKEY_CTX_set_signature_md sets |md| as the digest to be used in a
- * signature operation. It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_set_signature_md(EVP_PKEY_CTX *ctx,
-                                                 const EVP_MD *md);
-
-/* EVP_PKEY_CTX_get_signature_md sets |*out_md| to the digest to be used in a
- * signature operation. It returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_get_signature_md(EVP_PKEY_CTX *ctx,
-                                                 const EVP_MD **out_md);
-
-
-/* RSA specific control functions. */
-
-/* EVP_PKEY_CTX_set_rsa_padding sets the padding type to use. It should be one
- * of the |RSA_*_PADDING| values. Returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_set_rsa_padding(EVP_PKEY_CTX *ctx, int padding);
-
-/* EVP_PKEY_CTX_get_rsa_padding sets |*out_padding| to the current padding
- * value, which is one of the |RSA_*_PADDING| values. Returns one on success or
- * zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_get_rsa_padding(EVP_PKEY_CTX *ctx,
-                                                int *out_padding);
-
-/* EVP_PKEY_CTX_set_rsa_pss_saltlen sets the length of the salt in a PSS-padded
- * signature. A value of -1 cause the salt to be the same length as the digest
- * in the signature. A value of -2 causes the salt to be the maximum length
- * that will fit. Otherwise the value gives the size of the salt in bytes.
- *
- * Returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_set_rsa_pss_saltlen(EVP_PKEY_CTX *ctx,
-                                                    int salt_len);
-
-/* EVP_PKEY_CTX_get_rsa_pss_saltlen sets |*out_salt_len| to the salt length of
- * a PSS-padded signature. See the documentation for
- * |EVP_PKEY_CTX_set_rsa_pss_saltlen| for details of the special values that it
- * can take.
- *
- * Returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_get_rsa_pss_saltlen(EVP_PKEY_CTX *ctx,
-                                                    int *out_salt_len);
-
-/* EVP_PKEY_CTX_set_rsa_keygen_bits sets the size of the desired RSA modulus,
- * in bits, for key generation. Returns one on success or zero on
- * error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_set_rsa_keygen_bits(EVP_PKEY_CTX *ctx,
-                                                    int bits);
-
-/* EVP_PKEY_CTX_set_rsa_keygen_pubexp sets |e| as the public exponent for key
- * generation. Returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_set_rsa_keygen_pubexp(EVP_PKEY_CTX *ctx,
-                                                      BIGNUM *e);
-
-/* EVP_PKEY_CTX_set_rsa_oaep_md sets |md| as the digest used in OAEP padding.
- * Returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_set_rsa_oaep_md(EVP_PKEY_CTX *ctx,
-                                                const EVP_MD *md);
-
-/* EVP_PKEY_CTX_get_rsa_oaep_md sets |*out_md| to the digest function used in
- * OAEP padding. Returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_get_rsa_oaep_md(EVP_PKEY_CTX *ctx,
-                                                const EVP_MD **out_md);
-
-/* EVP_PKEY_CTX_set_rsa_mgf1_md sets |md| as the digest used in MGF1. Returns
- * one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_set_rsa_mgf1_md(EVP_PKEY_CTX *ctx,
-                                                const EVP_MD *md);
-
-/* EVP_PKEY_CTX_get_rsa_mgf1_md sets |*out_md| to the digest function used in
- * MGF1. Returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_get_rsa_mgf1_md(EVP_PKEY_CTX *ctx,
-                                                const EVP_MD **out_md);
-
-/* EVP_PKEY_CTX_set0_rsa_oaep_label sets |label_len| bytes from |label| as the
- * label used in OAEP. DANGER: On success, this call takes ownership of |label|
- * and will call |OPENSSL_free| on it when |ctx| is destroyed.
- *
- * Returns one on success or zero on error. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_set0_rsa_oaep_label(EVP_PKEY_CTX *ctx,
-                                                    const uint8_t *label,
-                                                    size_t label_len);
-
-/* EVP_PKEY_CTX_get0_rsa_oaep_label sets |*out_label| to point to the internal
- * buffer containing the OAEP label (which may be NULL) and returns the length
- * of the label or a negative value on error.
- *
- * WARNING: the return value differs from the usual return value convention. */
-OPENSSL_EXPORT int EVP_PKEY_CTX_get0_rsa_oaep_label(EVP_PKEY_CTX *ctx,
-                                                    const uint8_t **out_label);
-
-
-/* Deprecated functions. */
-
-/* EVP_PKEY_dup adds one to the reference count of |pkey| and returns
- * |pkey|.
- *
- * WARNING: this is a |_dup| function that doesn't actually duplicate! Use
- * |EVP_PKEY_up_ref| if you want to increment the reference count without
- * confusion. */
-OPENSSL_EXPORT EVP_PKEY *EVP_PKEY_dup(EVP_PKEY *pkey);
-
-
-/* Private functions */
-
-/* OpenSSL_add_all_algorithms does nothing. */
-OPENSSL_EXPORT void OpenSSL_add_all_algorithms(void);
-
-/* OpenSSL_add_all_ciphers does nothing. */
-OPENSSL_EXPORT void OpenSSL_add_all_ciphers(void);
-
-/* OpenSSL_add_all_digests does nothing. */
-OPENSSL_EXPORT void OpenSSL_add_all_digests(void);
-
-/* EVP_cleanup does nothing. */
-OPENSSL_EXPORT void EVP_cleanup(void);
-
-/* EVP_PKEY_asn1_find returns the ASN.1 method table for the given |nid|, which
- * should be one of the |EVP_PKEY_*| values. It returns NULL if |nid| is
- * unknown. */
-OPENSSL_EXPORT const EVP_PKEY_ASN1_METHOD *EVP_PKEY_asn1_find(ENGINE **pengine,
-                                                              int nid);
-
-/* TODO(fork): move to PEM? */
-OPENSSL_EXPORT const EVP_PKEY_ASN1_METHOD *EVP_PKEY_asn1_find_str(
-    ENGINE **pengine, const char *name, size_t len);
-
-struct evp_pkey_st {
-  CRYPTO_refcount_t references;
-
-  /* type contains one of the EVP_PKEY_* values or NID_undef and determines
-   * which element (if any) of the |pkey| union is valid. */
-  int type;
-
-  union {
-    char *ptr;
-    struct rsa_st *rsa; /* RSA */
-    struct dsa_st *dsa; /* DSA */
-    struct dh_st *dh; /* DH */
-    struct ec_key_st *ec; /* ECC */
-  } pkey;
-
-  /* ameth contains a pointer to a method table that contains many ASN.1
-   * methods for the key type. */
-  const EVP_PKEY_ASN1_METHOD *ameth;
-} /* EVP_PKEY */;
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define EVP_F_EVP_PKEY_derive_init 108
-#define EVP_F_EVP_PKEY_encrypt 110
-#define EVP_F_EVP_PKEY_encrypt_init 111
-#define EVP_F_EVP_PKEY_get1_DH 112
-#define EVP_F_EVP_PKEY_get1_EC_KEY 114
-#define EVP_F_EVP_PKEY_get1_RSA 115
-#define EVP_F_EVP_PKEY_keygen 116
-#define EVP_F_EVP_PKEY_sign 120
-#define EVP_F_EVP_PKEY_sign_init 121
-#define EVP_F_EVP_PKEY_verify 122
-#define EVP_F_EVP_PKEY_verify_init 123
-#define EVP_F_d2i_AutoPrivateKey 125
-#define EVP_F_d2i_PrivateKey 126
-#define EVP_F_do_EC_KEY_print 127
-#define EVP_F_do_sigver_init 129
-#define EVP_F_eckey_param2type 130
-#define EVP_F_eckey_param_decode 131
-#define EVP_F_eckey_priv_decode 132
-#define EVP_F_eckey_priv_encode 133
-#define EVP_F_eckey_pub_decode 134
-#define EVP_F_eckey_pub_encode 135
-#define EVP_F_eckey_type2param 136
-#define EVP_F_evp_pkey_ctx_new 137
-#define EVP_F_hmac_signctx 138
-#define EVP_F_i2d_PublicKey 139
-#define EVP_F_old_ec_priv_decode 140
-#define EVP_F_old_rsa_priv_decode 141
-#define EVP_F_pkey_ec_ctrl 142
-#define EVP_F_pkey_ec_derive 143
-#define EVP_F_pkey_ec_keygen 144
-#define EVP_F_pkey_ec_paramgen 145
-#define EVP_F_pkey_ec_sign 146
-#define EVP_F_pkey_rsa_ctrl 147
-#define EVP_F_pkey_rsa_decrypt 148
-#define EVP_F_pkey_rsa_encrypt 149
-#define EVP_F_pkey_rsa_sign 150
-#define EVP_F_rsa_algor_to_md 151
-#define EVP_F_rsa_digest_verify_init_from_algorithm 152
-#define EVP_F_rsa_mgf1_to_md 153
-#define EVP_F_rsa_priv_decode 154
-#define EVP_F_rsa_priv_encode 155
-#define EVP_F_rsa_pss_to_ctx 156
-#define EVP_F_rsa_pub_decode 157
-#define EVP_F_pkey_hmac_ctrl 158
-#define EVP_F_EVP_PKEY_CTX_get0_rsa_oaep_label 159
-#define EVP_F_EVP_DigestSignAlgorithm 160
-#define EVP_F_EVP_DigestVerifyInitFromAlgorithm 161
-#define EVP_F_EVP_PKEY_CTX_ctrl 162
-#define EVP_F_EVP_PKEY_CTX_dup 163
-#define EVP_F_EVP_PKEY_copy_parameters 164
-#define EVP_F_EVP_PKEY_decrypt 165
-#define EVP_F_EVP_PKEY_decrypt_init 166
-#define EVP_F_EVP_PKEY_derive 167
-#define EVP_F_EVP_PKEY_derive_set_peer 168
-#define EVP_F_EVP_PKEY_get1_DSA 169
-#define EVP_F_EVP_PKEY_keygen_init 170
-#define EVP_F_EVP_PKEY_new 171
-#define EVP_F_EVP_PKEY_set_type 172
-#define EVP_F_check_padding_md 173
-#define EVP_F_do_dsa_print 174
-#define EVP_F_do_rsa_print 175
-#define EVP_F_dsa_param_decode 176
-#define EVP_F_dsa_priv_decode 177
-#define EVP_F_dsa_priv_encode 178
-#define EVP_F_dsa_pub_decode 179
-#define EVP_F_dsa_pub_encode 180
-#define EVP_F_dsa_sig_print 181
-#define EVP_F_old_dsa_priv_decode 182
-#define EVP_R_BUFFER_TOO_SMALL 100
-#define EVP_R_COMMAND_NOT_SUPPORTED 101
-#define EVP_R_DIFFERENT_KEY_TYPES 104
-#define EVP_R_DIFFERENT_PARAMETERS 105
-#define EVP_R_EXPECTING_AN_EC_KEY_KEY 107
-#define EVP_R_EXPECTING_A_DH_KEY 109
-#define EVP_R_EXPECTING_A_DSA_KEY 110
-#define EVP_R_ILLEGAL_OR_UNSUPPORTED_PADDING_MODE 111
-#define EVP_R_INVALID_CURVE 112
-#define EVP_R_INVALID_DIGEST_LENGTH 113
-#define EVP_R_INVALID_DIGEST_TYPE 114
-#define EVP_R_INVALID_KEYBITS 115
-#define EVP_R_INVALID_MGF1_MD 116
-#define EVP_R_INVALID_PADDING_MODE 118
-#define EVP_R_INVALID_PSS_PARAMETERS 119
-#define EVP_R_INVALID_SALT_LENGTH 121
-#define EVP_R_INVALID_TRAILER 122
-#define EVP_R_KEYS_NOT_SET 123
-#define EVP_R_MISSING_PARAMETERS 124
-#define EVP_R_NO_DEFAULT_DIGEST 125
-#define EVP_R_NO_KEY_SET 126
-#define EVP_R_NO_MDC2_SUPPORT 127
-#define EVP_R_NO_NID_FOR_CURVE 128
-#define EVP_R_NO_OPERATION_SET 129
-#define EVP_R_NO_PARAMETERS_SET 130
-#define EVP_R_OPERATION_NOT_SUPPORTED_FOR_THIS_KEYTYPE 131
-#define EVP_R_OPERATON_NOT_INITIALIZED 132
-#define EVP_R_UNKNOWN_DIGEST 133
-#define EVP_R_UNKNOWN_MASK_DIGEST 134
-#define EVP_R_UNSUPPORTED_ALGORITHM 138
-#define EVP_R_UNSUPPORTED_MASK_ALGORITHM 139
-#define EVP_R_UNSUPPORTED_MASK_PARAMETER 140
-#define EVP_R_EXPECTING_AN_RSA_KEY 141
-#define EVP_R_INVALID_OPERATION 142
-#define EVP_R_DECODE_ERROR 143
-#define EVP_R_INVALID_PSS_SALTLEN 144
-#define EVP_R_UNKNOWN_PUBLIC_KEY_TYPE 145
-#define EVP_R_CONTEXT_NOT_INITIALISED 146
-#define EVP_R_DIGEST_AND_KEY_TYPE_NOT_SUPPORTED 147
-#define EVP_R_WRONG_PUBLIC_KEY_TYPE 148
-#define EVP_R_UNKNOWN_SIGNATURE_ALGORITHM 149
-#define EVP_R_UNKNOWN_MESSAGE_DIGEST_ALGORITHM 150
-#define EVP_R_BN_DECODE_ERROR 151
-#define EVP_R_PARAMETER_ENCODING_ERROR 152
-#define EVP_R_UNSUPPORTED_PUBLIC_KEY_TYPE 153
-#define EVP_R_UNSUPPORTED_SIGNATURE_TYPE 154
-
-#endif  /* OPENSSL_HEADER_EVP_H */
diff --git a/phonelibs/boringssl/include/openssl/ex_data.h b/phonelibs/boringssl/include/openssl/ex_data.h
deleted file mode 100644
index 2303eb425014e2..00000000000000
--- a/phonelibs/boringssl/include/openssl/ex_data.h
+++ /dev/null
@@ -1,214 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-/* ====================================================================
- * Copyright (c) 1998-2001 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef OPENSSL_HEADER_EX_DATA_H
-#define OPENSSL_HEADER_EX_DATA_H
-
-#include <openssl/base.h>
-
-#include <openssl/stack.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* ex_data is a mechanism for associating arbitrary extra data with objects.
- * For each type of object that supports ex_data, different users can be
- * assigned indexes in which to store their data. Each index has callback
- * functions that are called when a new object of that type is created, freed
- * and duplicated. */
-
-
-typedef struct crypto_ex_data_st CRYPTO_EX_DATA;
-
-
-/* Type-specific functions.
- *
- * Each type that supports ex_data provides three functions: */
-
-#if 0 /* Sample */
-
-/* |TYPE_get_ex_new_index| allocates a new index for |TYPE|. See the
- * descriptions of the callback typedefs for details of when they are
- * called. Any of the callback arguments may be NULL. The |argl| and |argp|
- * arguments are opaque values that are passed to the callbacks. It returns the
- * new index or a negative number on error.
- *
- * TODO(fork): this should follow the standard calling convention. */
-OPENSSL_EXPORT int TYPE_get_ex_new_index(long argl, void *argp,
-                                         CRYPTO_EX_new *new_func,
-                                         CRYPTO_EX_dup *dup_func,
-                                         CRYPTO_EX_free *free_func);
-
-/* |TYPE_set_ex_data| sets an extra data pointer on |t|. The |index| argument
- * should have been returned from a previous call to |TYPE_get_ex_new_index|. */
-OPENSSL_EXPORT int TYPE_set_ex_data(TYPE *t, int index, void *arg);
-
-/* |TYPE_get_ex_data| returns an extra data pointer for |t|, or NULL if no such
- * pointer exists. The |index| argument should have been returned from a
- * previous call to |TYPE_get_ex_new_index|. */
-OPENSSL_EXPORT void *TYPE_get_ex_data(const TYPE *t, int index);
-
-#endif /* Sample */
-
-
-/* Callback types. */
-
-/* CRYPTO_EX_new is the type of a callback function that is called whenever a
- * new object of a given class is created. For example, if this callback has
- * been passed to |SSL_get_ex_new_index| then it'll be called each time an SSL*
- * is created.
- *
- * The callback is passed the new object (i.e. the SSL*) in |parent|. The
- * arguments |argl| and |argp| contain opaque values that were given to
- * |CRYPTO_get_ex_new_index|. The callback should return one on success, but
- * the value is ignored.
- *
- * TODO(fork): the |ptr| argument is always NULL, no? */
-typedef int CRYPTO_EX_new(void *parent, void *ptr, CRYPTO_EX_DATA *ad,
-                          int index, long argl, void *argp);
-
-/* CRYPTO_EX_free is a callback function that is called when an object of the
- * class is being destroyed. See |CRYPTO_EX_new| for a discussion of the
- * arguments.
- *
- * If |CRYPTO_get_ex_new_index| was called after the creation of objects of the
- * class that this applies to then, when those those objects are destroyed,
- * this callback will be called with a NULL value for |ptr|. */
-typedef void CRYPTO_EX_free(void *parent, void *ptr, CRYPTO_EX_DATA *ad,
-                            int index, long argl, void *argp);
-
-/* CRYPTO_EX_dup is a callback function that is called when an object of the
- * class is being copied and thus the ex_data linked to it also needs to be
- * copied. On entry, |*from_d| points to the data for this index from the
- * original object. When the callback returns, |*from_d| will be set as the
- * data for this index in |to|.
- *
- * If |CRYPTO_get_ex_new_index| was called after the creation of objects of the
- * class that this applies to then, when those those objects are copies, this
- * callback will be called with a NULL value for |*from_d|. */
-typedef int CRYPTO_EX_dup(CRYPTO_EX_DATA *to, const CRYPTO_EX_DATA *from,
-                          void **from_d, int index, long argl, void *argp);
-
-
-/* Deprecated functions. */
-
-/* CRYPTO_cleanup_all_ex_data does nothing. */
-OPENSSL_EXPORT void CRYPTO_cleanup_all_ex_data(void);
-
-struct crypto_ex_data_st {
-  STACK_OF(void) *sk;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_EX_DATA_H */
diff --git a/phonelibs/boringssl/include/openssl/hkdf.h b/phonelibs/boringssl/include/openssl/hkdf.h
deleted file mode 100644
index 4091b84beb8eff..00000000000000
--- a/phonelibs/boringssl/include/openssl/hkdf.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_HKDF_H
-#define OPENSSL_HEADER_HKDF_H
-
-#include <openssl/base.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-/* Computes HKDF (as specified by RFC 5869) of initial keying material |secret|
- * with |salt| and |info| using |digest|, and outputs |out_len| bytes to
- * |out_key|. It returns one on success and zero on error.
- *
- * HKDF is an Extract-and-Expand algorithm. It does not do any key stretching,
- * and as such, is not suited to be used alone to generate a key from a
- * password. */
-OPENSSL_EXPORT int HKDF(uint8_t *out_key, size_t out_len, const EVP_MD *digest,
-                        const uint8_t *secret, size_t secret_len,
-                        const uint8_t *salt, size_t salt_len,
-                        const uint8_t *info, size_t info_len);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define HKDF_F_HKDF 100
-#define HKDF_R_OUTPUT_TOO_LARGE 100
-
-#endif  /* OPENSSL_HEADER_HKDF_H */
diff --git a/phonelibs/boringssl/include/openssl/hmac.h b/phonelibs/boringssl/include/openssl/hmac.h
deleted file mode 100644
index e521212d4cd254..00000000000000
--- a/phonelibs/boringssl/include/openssl/hmac.h
+++ /dev/null
@@ -1,160 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_HMAC_H
-#define OPENSSL_HEADER_HMAC_H
-
-#include <openssl/base.h>
-
-#include <openssl/digest.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* HMAC contains functions for constructing PRFs from Merkle–Damgård hash
- * functions using HMAC. */
-
-
-/* One-shot operation. */
-
-/* HMAC calculates the HMAC of |data_len| bytes of |data|, using the given key
- * and hash function, and writes the result to |out|. On entry, |out| must
- * contain |EVP_MAX_MD_SIZE| bytes of space. The actual length of the result is
- * written to |*out_len|. It returns |out| or NULL on error. */
-OPENSSL_EXPORT uint8_t *HMAC(const EVP_MD *evp_md, const void *key,
-                             size_t key_len, const uint8_t *data,
-                             size_t data_len, uint8_t *out,
-                             unsigned int *out_len);
-
-
-/* Incremental operation. */
-
-/* HMAC_CTX_init initialises |ctx| for use in an HMAC operation. It's assumed
- * that HMAC_CTX objects will be allocated on the stack thus no allocation
- * function is provided. If needed, allocate |sizeof(HMAC_CTX)| and call
- * |HMAC_CTX_init| on it. */
-OPENSSL_EXPORT void HMAC_CTX_init(HMAC_CTX *ctx);
-
-/* HMAC_CTX_cleanup frees data owned by |ctx|. */
-OPENSSL_EXPORT void HMAC_CTX_cleanup(HMAC_CTX *ctx);
-
-/* HMAC_Init_ex sets up an initialised |HMAC_CTX| to use |md| as the hash
- * function and |key| as the key. For a non-initial call, |md| may be NULL, in
- * which case the previous hash function will be used. If the hash function has
- * not changed and |key| is NULL, |ctx| reuses the previous key. It returns one
- * on success or zero otherwise.
- *
- * WARNING: NULL and empty keys are ambiguous on non-initial calls. Passing NULL
- * |key| but repeating the previous |md| reuses the previous key rather than the
- * empty key. */
-OPENSSL_EXPORT int HMAC_Init_ex(HMAC_CTX *ctx, const void *key, size_t key_len,
-                                const EVP_MD *md, ENGINE *impl);
-
-/* HMAC_Update hashes |data_len| bytes from |data| into the current HMAC
- * operation in |ctx|. It returns one. */
-OPENSSL_EXPORT int HMAC_Update(HMAC_CTX *ctx, const uint8_t *data,
-                               size_t data_len);
-
-/* HMAC_Final completes the HMAC operation in |ctx| and writes the result to
- * |out| and the sets |*out_len| to the length of the result. On entry, |out|
- * must contain at least |EVP_MAX_MD_SIZE| bytes of space. It returns one on
- * success or zero on error. */
-OPENSSL_EXPORT int HMAC_Final(HMAC_CTX *ctx, uint8_t *out,
-                              unsigned int *out_len);
-
-
-/* Utility functions. */
-
-/* HMAC_size returns the size, in bytes, of the HMAC that will be produced by
- * |ctx|. On entry, |ctx| must have been setup with |HMAC_Init_ex|. */
-OPENSSL_EXPORT size_t HMAC_size(const HMAC_CTX *ctx);
-
-/* HMAC_CTX_copy_ex sets |dest| equal to |src|. On entry, |dest| must have been
- * initialised by calling |HMAC_CTX_init|. It returns one on success and zero
- * on error. */
-OPENSSL_EXPORT int HMAC_CTX_copy_ex(HMAC_CTX *dest, const HMAC_CTX *src);
-
-
-/* Deprecated functions. */
-
-OPENSSL_EXPORT int HMAC_Init(HMAC_CTX *ctx, const void *key, int key_len,
-                             const EVP_MD *md);
-
-/* HMAC_CTX_copy calls |HMAC_CTX_init| on |dest| and then sets it equal to
- * |src|. On entry, |dest| must /not/ be initialised for an operation with
- * |HMAC_Init_ex|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int HMAC_CTX_copy(HMAC_CTX *dest, const HMAC_CTX *src);
-
-
-/* Private functions */
-
-#define HMAC_MAX_MD_CBLOCK 128 /* largest known is SHA512 */
-
-struct hmac_ctx_st {
-  const EVP_MD *md;
-  EVP_MD_CTX md_ctx;
-  EVP_MD_CTX i_ctx;
-  EVP_MD_CTX o_ctx;
-} /* HMAC_CTX */;
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_HMAC_H */
diff --git a/phonelibs/boringssl/include/openssl/lhash.h b/phonelibs/boringssl/include/openssl/lhash.h
deleted file mode 100644
index d2ee982ebccb4e..00000000000000
--- a/phonelibs/boringssl/include/openssl/lhash.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com) * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_LHASH_H
-#define OPENSSL_HEADER_LHASH_H
-
-#include <openssl/base.h>
-#include <openssl/type_check.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* lhash is a traditional, chaining hash table that automatically expands and
- * contracts as needed. One should not use the lh_* functions directly, rather
- * use the type-safe macro wrappers:
- *
- * A hash table of a specific type of object has type |LHASH_OF(type)|. This
- * can be defined (once) with |DEFINE_LHASH_OF(type)| and declared where needed
- * with |DECLARE_LHASH_OF(type)|. For example:
- *
- *   struct foo {
- *     int bar;
- *   };
- *
- *   DEFINE_LHASH_OF(struct foo);
- *
- * Although note that the hash table will contain /pointers/ to |foo|.
- *
- * A macro will be defined for each of the lh_* functions below. For
- * LHASH_OF(foo), the macros would be lh_foo_new, lh_foo_num_items etc. */
-
-
-#define LHASH_OF(type) struct lhash_st_##type
-
-#define DEFINE_LHASH_OF(type) LHASH_OF(type) { int dummy; }
-
-#define DECLARE_LHASH_OF(type) LHASH_OF(type);
-
-/* The make_macros.sh script in this directory parses the following lines and
- * generates the lhash_macros.h file that contains macros for the following
- * types of stacks:
- *
- * LHASH_OF:ASN1_OBJECT
- * LHASH_OF:CONF_VALUE
- * LHASH_OF:SSL_SESSION */
-
-#define IN_LHASH_H
-#include <openssl/lhash_macros.h>
-#undef IN_LHASH_H
-
-
-/* lhash_item_st is an element of a hash chain. It points to the opaque data
- * for this element and to the next item in the chain. The linked-list is NULL
- * terminated. */
-typedef struct lhash_item_st {
-  void *data;
-  struct lhash_item_st *next;
-  /* hash contains the cached, hash value of |data|. */
-  uint32_t hash;
-} LHASH_ITEM;
-
-/* lhash_cmp_func is a comparison function that returns a value equal, or not
- * equal, to zero depending on whether |*a| is equal, or not equal to |*b|,
- * respectively. Note the difference between this and |stack_cmp_func| in that
- * this takes pointers to the objects directly. */
-typedef int (*lhash_cmp_func)(const void *a, const void *b);
-
-/* lhash_hash_func is a function that maps an object to a uniformly distributed
- * uint32_t. */
-typedef uint32_t (*lhash_hash_func)(const void *a);
-
-typedef struct lhash_st {
-  /* num_items contains the total number of items in the hash table. */
-  size_t num_items;
-  /* buckets is an array of |num_buckets| pointers. Each points to the head of
-   * a chain of LHASH_ITEM objects that have the same hash value, mod
-   * |num_buckets|. */
-  LHASH_ITEM **buckets;
-  /* num_buckets contains the length of |buckets|. This value is always >=
-   * kMinNumBuckets. */
-  size_t num_buckets;
-  /* callback_depth contains the current depth of |lh_doall| or |lh_doall_arg|
-   * calls. If non-zero then this suppresses resizing of the |buckets| array,
-   * which would otherwise disrupt the iteration. */
-  unsigned callback_depth;
-
-  lhash_cmp_func comp;
-  lhash_hash_func hash;
-} _LHASH;
-
-/* lh_new returns a new, empty hash table or NULL on error. If |comp| is NULL,
- * |strcmp| will be used. If |hash| is NULL, a generic hash function will be
- * used. */
-OPENSSL_EXPORT _LHASH *lh_new(lhash_hash_func hash, lhash_cmp_func comp);
-
-/* lh_free frees the hash table itself but none of the elements. See
- * |lh_doall|. */
-OPENSSL_EXPORT void lh_free(_LHASH *lh);
-
-/* lh_num_items returns the number of items in |lh|. */
-OPENSSL_EXPORT size_t lh_num_items(const _LHASH *lh);
-
-/* lh_retrieve finds an element equal to |data| in the hash table and returns
- * it. If no such element exists, it returns NULL. */
-OPENSSL_EXPORT void *lh_retrieve(const _LHASH *lh, const void *data);
-
-/* lh_insert inserts |data| into the hash table. If an existing element is
- * equal to |data| (with respect to the comparison function) then |*old_data|
- * will be set to that value and it will be replaced. Otherwise, or in the
- * event of an error, |*old_data| will be set to NULL. It returns one on
- * success or zero in the case of an allocation error. */
-OPENSSL_EXPORT int lh_insert(_LHASH *lh, void **old_data, void *data);
-
-/* lh_delete removes an element equal to |data| from the hash table and returns
- * it. If no such element is found, it returns NULL. */
-OPENSSL_EXPORT void *lh_delete(_LHASH *lh, const void *data);
-
-/* lh_doall calls |func| on each element of the hash table.
- * TODO(fork): rename this */
-OPENSSL_EXPORT void lh_doall(_LHASH *lh, void (*func)(void *));
-
-/* lh_doall_arg calls |func| on each element of the hash table and also passes
- * |arg| as the second argument.
- * TODO(fork): rename this */
-OPENSSL_EXPORT void lh_doall_arg(_LHASH *lh, void (*func)(void *, void *),
-                                 void *arg);
-
-/* lh_strhash is the default hash function which processes NUL-terminated
- * strings. */
-OPENSSL_EXPORT uint32_t lh_strhash(const char *c);
-
-
-#if defined(__cplusplus)
-} /* extern C */
-#endif
-
-#endif /* OPENSSL_HEADER_STACK_H */
diff --git a/phonelibs/boringssl/include/openssl/lhash_macros.h b/phonelibs/boringssl/include/openssl/lhash_macros.h
deleted file mode 100644
index 1d981073ea9e7c..00000000000000
--- a/phonelibs/boringssl/include/openssl/lhash_macros.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#if !defined(IN_LHASH_H)
-#error "Don't include this file directly. Include lhash.h"
-#endif
-
-/* ASN1_OBJECT */
-#define lh_ASN1_OBJECT_new(hash, comp)                                        \
-  ((LHASH_OF(ASN1_OBJECT) *)lh_new(                                           \
-      CHECKED_CAST(lhash_hash_func, uint32_t (*)(const ASN1_OBJECT *), hash), \
-      CHECKED_CAST(lhash_cmp_func,                                            \
-                   int (*)(const ASN1_OBJECT *a, const ASN1_OBJECT *b),       \
-                   comp)))
-
-#define lh_ASN1_OBJECT_free(lh) \
-  lh_free(CHECKED_CAST(_LHASH *, LHASH_OF(ASN1_OBJECT) *, lh));
-
-#define lh_ASN1_OBJECT_num_items(lh) \
-  lh_num_items(CHECKED_CAST(_LHASH *, LHASH_OF(ASN1_OBJECT) *, lh))
-
-#define lh_ASN1_OBJECT_retrieve(lh, data)                  \
-  ((ASN1_OBJECT *)lh_retrieve(                             \
-      CHECKED_CAST(_LHASH *, LHASH_OF(ASN1_OBJECT) *, lh), \
-      CHECKED_CAST(void *, ASN1_OBJECT *, data)))
-
-#define lh_ASN1_OBJECT_insert(lh, old_data, data)                \
-  lh_insert(CHECKED_CAST(_LHASH *, LHASH_OF(ASN1_OBJECT) *, lh), \
-            CHECKED_CAST(void **, ASN1_OBJECT **, old_data),     \
-            CHECKED_CAST(void *, ASN1_OBJECT *, data))
-
-#define lh_ASN1_OBJECT_delete(lh, data)                    \
-  ((ASN1_OBJECT *)lh_delete(                               \
-      CHECKED_CAST(_LHASH *, LHASH_OF(ASN1_OBJECT) *, lh), \
-      CHECKED_CAST(void *, ASN1_OBJECT *, data)))
-
-#define lh_ASN1_OBJECT_doall(lh, func)                          \
-  lh_doall(CHECKED_CAST(_LHASH *, LHASH_OF(ASN1_OBJECT) *, lh), \
-           CHECKED_CAST(void (*)(void *), void (*)(ASN1_OBJECT *), func));
-
-#define lh_ASN1_OBJECT_doall_arg(lh, func, arg)                     \
-  lh_doall_arg(CHECKED_CAST(_LHASH *, LHASH_OF(ASN1_OBJECT) *, lh), \
-               CHECKED_CAST(void (*)(void *, void *),               \
-                            void (*)(ASN1_OBJECT *, void *), func), \
-               arg);
-
-/* CONF_VALUE */
-#define lh_CONF_VALUE_new(hash, comp)                                        \
-  ((LHASH_OF(CONF_VALUE) *)lh_new(                                           \
-      CHECKED_CAST(lhash_hash_func, uint32_t (*)(const CONF_VALUE *), hash), \
-      CHECKED_CAST(lhash_cmp_func,                                           \
-                   int (*)(const CONF_VALUE *a, const CONF_VALUE *b), comp)))
-
-#define lh_CONF_VALUE_free(lh) \
-  lh_free(CHECKED_CAST(_LHASH *, LHASH_OF(CONF_VALUE) *, lh));
-
-#define lh_CONF_VALUE_num_items(lh) \
-  lh_num_items(CHECKED_CAST(_LHASH *, LHASH_OF(CONF_VALUE) *, lh))
-
-#define lh_CONF_VALUE_retrieve(lh, data)                  \
-  ((CONF_VALUE *)lh_retrieve(                             \
-      CHECKED_CAST(_LHASH *, LHASH_OF(CONF_VALUE) *, lh), \
-      CHECKED_CAST(void *, CONF_VALUE *, data)))
-
-#define lh_CONF_VALUE_insert(lh, old_data, data)                \
-  lh_insert(CHECKED_CAST(_LHASH *, LHASH_OF(CONF_VALUE) *, lh), \
-            CHECKED_CAST(void **, CONF_VALUE **, old_data),     \
-            CHECKED_CAST(void *, CONF_VALUE *, data))
-
-#define lh_CONF_VALUE_delete(lh, data)                                         \
-  ((CONF_VALUE *)lh_delete(CHECKED_CAST(_LHASH *, LHASH_OF(CONF_VALUE) *, lh), \
-                           CHECKED_CAST(void *, CONF_VALUE *, data)))
-
-#define lh_CONF_VALUE_doall(lh, func)                          \
-  lh_doall(CHECKED_CAST(_LHASH *, LHASH_OF(CONF_VALUE) *, lh), \
-           CHECKED_CAST(void (*)(void *), void (*)(CONF_VALUE *), func));
-
-#define lh_CONF_VALUE_doall_arg(lh, func, arg)                     \
-  lh_doall_arg(CHECKED_CAST(_LHASH *, LHASH_OF(CONF_VALUE) *, lh), \
-               CHECKED_CAST(void (*)(void *, void *),              \
-                            void (*)(CONF_VALUE *, void *), func), \
-               arg);
-
-/* SSL_SESSION */
-#define lh_SSL_SESSION_new(hash, comp)                                        \
-  ((LHASH_OF(SSL_SESSION) *)lh_new(                                           \
-      CHECKED_CAST(lhash_hash_func, uint32_t (*)(const SSL_SESSION *), hash), \
-      CHECKED_CAST(lhash_cmp_func,                                            \
-                   int (*)(const SSL_SESSION *a, const SSL_SESSION *b),       \
-                   comp)))
-
-#define lh_SSL_SESSION_free(lh) \
-  lh_free(CHECKED_CAST(_LHASH *, LHASH_OF(SSL_SESSION) *, lh));
-
-#define lh_SSL_SESSION_num_items(lh) \
-  lh_num_items(CHECKED_CAST(_LHASH *, LHASH_OF(SSL_SESSION) *, lh))
-
-#define lh_SSL_SESSION_retrieve(lh, data)                  \
-  ((SSL_SESSION *)lh_retrieve(                             \
-      CHECKED_CAST(_LHASH *, LHASH_OF(SSL_SESSION) *, lh), \
-      CHECKED_CAST(void *, SSL_SESSION *, data)))
-
-#define lh_SSL_SESSION_insert(lh, old_data, data)                \
-  lh_insert(CHECKED_CAST(_LHASH *, LHASH_OF(SSL_SESSION) *, lh), \
-            CHECKED_CAST(void **, SSL_SESSION **, old_data),     \
-            CHECKED_CAST(void *, SSL_SESSION *, data))
-
-#define lh_SSL_SESSION_delete(lh, data)                    \
-  ((SSL_SESSION *)lh_delete(                               \
-      CHECKED_CAST(_LHASH *, LHASH_OF(SSL_SESSION) *, lh), \
-      CHECKED_CAST(void *, SSL_SESSION *, data)))
-
-#define lh_SSL_SESSION_doall(lh, func)                          \
-  lh_doall(CHECKED_CAST(_LHASH *, LHASH_OF(SSL_SESSION) *, lh), \
-           CHECKED_CAST(void (*)(void *), void (*)(SSL_SESSION *), func));
-
-#define lh_SSL_SESSION_doall_arg(lh, func, arg)                     \
-  lh_doall_arg(CHECKED_CAST(_LHASH *, LHASH_OF(SSL_SESSION) *, lh), \
-               CHECKED_CAST(void (*)(void *, void *),               \
-                            void (*)(SSL_SESSION *, void *), func), \
-               arg);
diff --git a/phonelibs/boringssl/include/openssl/md4.h b/phonelibs/boringssl/include/openssl/md4.h
deleted file mode 100644
index ce4fa99bb8c010..00000000000000
--- a/phonelibs/boringssl/include/openssl/md4.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com) * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_MD4_H
-#define OPENSSL_HEADER_MD4_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* MD4. */
-
-/* MD4_CBLOCK is the block size of MD4. */
-#define MD4_CBLOCK 64
-
-/* MD4_DIGEST_LENGTH is the length of an MD4 digest. */
-#define MD4_DIGEST_LENGTH 16
-
-/* MD41_Init initialises |md4| and returns one. */
-OPENSSL_EXPORT int MD4_Init(MD4_CTX *md4);
-
-/* MD4_Update adds |len| bytes from |data| to |md4| and returns one. */
-OPENSSL_EXPORT int MD4_Update(MD4_CTX *md4, const void *data, size_t len);
-
-/* MD4_Final adds the final padding to |md4| and writes the resulting digest to
- * |md|, which must have at least |MD4_DIGEST_LENGTH| bytes of space. It
- * returns one. */
-OPENSSL_EXPORT int MD4_Final(uint8_t *md, MD4_CTX *md4);
-
-/* MD4_Transform is a low-level function that performs a single, MD4 block
- * transformation using the state from |md4| and 64 bytes from |block|. */
-OPENSSL_EXPORT void MD4_Transform(MD4_CTX *md4, const uint8_t *block);
-
-struct md4_state_st {
-  uint32_t A, B, C, D;
-  uint32_t Nl, Nh;
-  uint32_t data[16];
-  unsigned int num;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_MD4_H */
diff --git a/phonelibs/boringssl/include/openssl/md5.h b/phonelibs/boringssl/include/openssl/md5.h
deleted file mode 100644
index efedc983debdcd..00000000000000
--- a/phonelibs/boringssl/include/openssl/md5.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com) * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_MD5_H
-#define OPENSSL_HEADER_MD5_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* MD5. */
-
-
-/* MD5_CBLOCK is the block size of MD5. */
-#define MD5_CBLOCK 64
-
-/* MD5_DIGEST_LENGTH is the length of an MD5 digest. */
-#define MD5_DIGEST_LENGTH 16
-
-/* MD51_Init initialises |md5| and returns one. */
-OPENSSL_EXPORT int MD5_Init(MD5_CTX *md5);
-
-/* MD5_Update adds |len| bytes from |data| to |md5| and returns one. */
-OPENSSL_EXPORT int MD5_Update(MD5_CTX *md5, const void *data, size_t len);
-
-/* MD5_Final adds the final padding to |md5| and writes the resulting digest to
- * |md|, which must have at least |MD5_DIGEST_LENGTH| bytes of space. It
- * returns one. */
-OPENSSL_EXPORT int MD5_Final(uint8_t *md, MD5_CTX *md5);
-
-/* MD5 writes the digest of |len| bytes from |data| to |out| and returns |out|.
- * There must be at least |MD5_DIGEST_LENGTH| bytes of space in |out|. */
-OPENSSL_EXPORT uint8_t *MD5(const uint8_t *data, size_t len, uint8_t *out);
-
-/* MD5_Transform is a low-level function that performs a single, MD5 block
- * transformation using the state from |md5| and 64 bytes from |block|. */
-OPENSSL_EXPORT void MD5_Transform(MD5_CTX *md5, const uint8_t *block);
-
-struct md5_state_st {
-  uint32_t A, B, C, D;
-  uint32_t Nl, Nh;
-  uint32_t data[16];
-  unsigned int num;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_MD5_H */
diff --git a/phonelibs/boringssl/include/openssl/mem.h b/phonelibs/boringssl/include/openssl/mem.h
deleted file mode 100644
index 42ec46a073e19f..00000000000000
--- a/phonelibs/boringssl/include/openssl/mem.h
+++ /dev/null
@@ -1,139 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com) * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_MEM_H
-#define OPENSSL_HEADER_MEM_H
-
-#include <openssl/base.h>
-
-#include <stdlib.h>
-#include <stdarg.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Memory and string functions, see also buf.h.
- *
- * OpenSSL has, historically, had a complex set of malloc debugging options.
- * However, that was written in a time before Valgrind and ASAN. Since we now
- * have those tools, the OpenSSL allocation functions are simply macros around
- * the standard memory functions. */
-
-
-#define OPENSSL_malloc malloc
-#define OPENSSL_realloc realloc
-#define OPENSSL_free free
-
-/* OPENSSL_realloc_clean acts like |realloc|, but clears the previous memory
- * buffer.  Because this is implemented as a wrapper around |malloc|, it needs
- * to be given the size of the buffer pointed to by |ptr|. */
-void *OPENSSL_realloc_clean(void *ptr, size_t old_size, size_t new_size);
-
-/* OPENSSL_cleanse zeros out |len| bytes of memory at |ptr|. This is similar to
- * |memset_s| from C11. */
-OPENSSL_EXPORT void OPENSSL_cleanse(void *ptr, size_t len);
-
-/* CRYPTO_memcmp returns zero iff the |len| bytes at |a| and |b| are equal. It
- * takes an amount of time dependent on |len|, but independent of the contents
- * of |a| and |b|. Unlike memcmp, it cannot be used to put elements into a
- * defined order as the return value when a != b is undefined, other than to be
- * non-zero. */
-OPENSSL_EXPORT int CRYPTO_memcmp(const void *a, const void *b, size_t len);
-
-/* OPENSSL_hash32 implements the 32 bit, FNV-1a hash. */
-OPENSSL_EXPORT uint32_t OPENSSL_hash32(const void *ptr, size_t len);
-
-/* OPENSSL_strdup has the same behaviour as strdup(3). */
-OPENSSL_EXPORT char *OPENSSL_strdup(const char *s);
-
-/* OPENSSL_strnlen has the same behaviour as strnlen(3). */
-OPENSSL_EXPORT size_t OPENSSL_strnlen(const char *s, size_t len);
-
-/* OPENSSL_strcasecmp has the same behaviour as strcasecmp(3). */
-OPENSSL_EXPORT int OPENSSL_strcasecmp(const char *a, const char *b);
-
-/* OPENSSL_strncasecmp has the same behaviour as strncasecmp(3). */
-OPENSSL_EXPORT int OPENSSL_strncasecmp(const char *a, const char *b, size_t n);
-
-/* DECIMAL_SIZE returns an upper bound for the length of the decimal
- * representation of the given type. */
-#define DECIMAL_SIZE(type)	((sizeof(type)*8+2)/3+1)
-
-/* Printf functions.
- *
- * These functions are either OpenSSL wrappers for standard functions (i.e.
- * |BIO_snprintf| and |BIO_vsnprintf|) which don't exist in C89, or are
- * versions of printf functions that output to a BIO rather than a FILE. */
-#ifdef __GNUC__
-#define __bio_h__attr__ __attribute__
-#else
-#define __bio_h__attr__(x)
-#endif
-OPENSSL_EXPORT int BIO_snprintf(char *buf, size_t n, const char *format, ...)
-    __bio_h__attr__((__format__(__printf__, 3, 4)));
-
-OPENSSL_EXPORT int BIO_vsnprintf(char *buf, size_t n, const char *format,
-                                 va_list args)
-    __bio_h__attr__((__format__(__printf__, 3, 0)));
-#undef __bio_h__attr__
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_MEM_H */
diff --git a/phonelibs/boringssl/include/openssl/modes.h b/phonelibs/boringssl/include/openssl/modes.h
deleted file mode 100644
index 220adec552d8be..00000000000000
--- a/phonelibs/boringssl/include/openssl/modes.h
+++ /dev/null
@@ -1,223 +0,0 @@
-/* ====================================================================
- * Copyright (c) 2008 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ==================================================================== */
-
-#ifndef OPENSSL_HEADER_MODES_H
-#define OPENSSL_HEADER_MODES_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* modes.h contains functions that implement various block-cipher modes. */
-
-
-/* block128_f is the type of a 128-bit, block cipher. */
-typedef void (*block128_f)(const uint8_t in[16], uint8_t out[16],
-                           const void *key);
-
-
-/* CTR. */
-
-/* ctr128_f is the type of a function that performs CTR-mode encryption. */
-typedef void (*ctr128_f)(const uint8_t *in, uint8_t *out, size_t blocks,
-                         const void *key, const uint8_t ivec[16]);
-
-/* CRYPTO_ctr128_encrypt encrypts (or decrypts, it's the same in CTR mode)
- * |len| bytes from |in| to |out| using |block| in counter mode. There's no
- * requirement that |len| be a multiple of any value and any partial blocks are
- * stored in |ecount_buf| and |*num|, which must be zeroed before the initial
- * call. The counter is a 128-bit, big-endian value in |ivec| and is
- * incremented by this function. */
-OPENSSL_EXPORT void CRYPTO_ctr128_encrypt(const uint8_t *in, uint8_t *out,
-                                          size_t len, const void *key,
-                                          uint8_t ivec[16],
-                                          uint8_t ecount_buf[16],
-                                          unsigned int *num, block128_f block);
-
-/* CRYPTO_ctr128_encrypt_ctr32 acts like |CRYPTO_ctr128_encrypt| but takes
- * |ctr|, a function that performs CTR mode but only deals with the lower 32
- * bits of the counter. This is useful when |ctr| can be an optimised
- * function. */
-OPENSSL_EXPORT void CRYPTO_ctr128_encrypt_ctr32(
-    const uint8_t *in, uint8_t *out, size_t len, const void *key,
-    uint8_t ivec[16], uint8_t ecount_buf[16], unsigned int *num, ctr128_f ctr);
-
-
-/* GCM. */
-
-typedef struct gcm128_context GCM128_CONTEXT;
-
-/* CRYPTO_gcm128_new allocates a fresh |GCM128_CONTEXT| and calls
- * |CRYPTO_gcm128_init|. It returns the new context, or NULL on error. */
-OPENSSL_EXPORT GCM128_CONTEXT *CRYPTO_gcm128_new(void *key, block128_f block);
-
-/* CRYPTO_gcm128_init initialises |ctx| to use |block| (typically AES) with the
- * given key. */
-OPENSSL_EXPORT void CRYPTO_gcm128_init(GCM128_CONTEXT *ctx, void *key,
-                                       block128_f block);
-
-/* CRYPTO_gcm128_setiv sets the IV (nonce) for |ctx|. */
-OPENSSL_EXPORT void CRYPTO_gcm128_setiv(GCM128_CONTEXT *ctx, const uint8_t *iv,
-                                        size_t len);
-
-/* CRYPTO_gcm128_aad sets the authenticated data for an instance of GCM. This
- * must be called before and data is encrypted. It returns one on success and
- * zero otherwise. */
-OPENSSL_EXPORT int CRYPTO_gcm128_aad(GCM128_CONTEXT *ctx, const uint8_t *aad,
-                                     size_t len);
-
-/* CRYPTO_gcm128_encrypt encrypts |len| bytes from |in| to |out|. It returns
- * one on success and zero otherwise. */
-OPENSSL_EXPORT int CRYPTO_gcm128_encrypt(GCM128_CONTEXT *ctx, const uint8_t *in,
-                                         uint8_t *out, size_t len);
-
-/* CRYPTO_gcm128_decrypt decrypts |len| bytes from |in| to |out|. It returns
- * one on success and zero otherwise. */
-OPENSSL_EXPORT int CRYPTO_gcm128_decrypt(GCM128_CONTEXT *ctx, const uint8_t *in,
-                                         uint8_t *out, size_t len);
-
-/* CRYPTO_gcm128_encrypt_ctr32 encrypts |len| bytes from |in| to |out| using a
- * CTR function that only handles the bottom 32 bits of the nonce, like
- * |CRYPTO_ctr128_encrypt_ctr32|. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int CRYPTO_gcm128_encrypt_ctr32(GCM128_CONTEXT *ctx,
-                                               const uint8_t *in, uint8_t *out,
-                                               size_t len, ctr128_f stream);
-
-/* CRYPTO_gcm128_decrypt_ctr32 decrypts |len| bytes from |in| to |out| using a
- * CTR function that only handles the bottom 32 bits of the nonce, like
- * |CRYPTO_ctr128_encrypt_ctr32|. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int CRYPTO_gcm128_decrypt_ctr32(GCM128_CONTEXT *ctx,
-                                               const uint8_t *in, uint8_t *out,
-                                               size_t len, ctr128_f stream);
-
-/* CRYPTO_gcm128_finish calculates the authenticator and compares it against
- * |len| bytes of |tag|. It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int CRYPTO_gcm128_finish(GCM128_CONTEXT *ctx, const uint8_t *tag,
-                                        size_t len);
-
-/* CRYPTO_gcm128_tag calculates the authenticator and copies it into |tag|. The
- * minimum of |len| and 16 bytes are copied into |tag|. */
-OPENSSL_EXPORT void CRYPTO_gcm128_tag(GCM128_CONTEXT *ctx, uint8_t *tag,
-                                      size_t len);
-
-/* CRYPTO_gcm128_release clears and frees |ctx|. */
-OPENSSL_EXPORT void CRYPTO_gcm128_release(GCM128_CONTEXT *ctx);
-
-
-/* CBC. */
-
-/* cbc128_f is the type of a function that performs CBC-mode encryption. */
-typedef void (*cbc128_f)(const uint8_t *in, uint8_t *out, size_t len,
-                         const void *key, uint8_t ivec[16], int enc);
-
-/* CRYPTO_cbc128_encrypt encrypts |len| bytes from |in| to |out| using the
- * given IV and block cipher in CBC mode. The input need not be a multiple of
- * 128 bits long, but the output will round up to the nearest 128 bit multiple,
- * zero padding the input if needed. The IV will be updated on return. */
-void CRYPTO_cbc128_encrypt(const uint8_t *in, uint8_t *out, size_t len,
-                           const void *key, uint8_t ivec[16], block128_f block);
-
-/* CRYPTO_cbc128_decrypt decrypts |len| bytes from |in| to |out| using the
- * given IV and block cipher in CBC mode. If |len| is not a multiple of 128
- * bits then only that many bytes will be written, but a multiple of 128 bits
- * is always read from |in|. The IV will be updated on return. */
-void CRYPTO_cbc128_decrypt(const uint8_t *in, uint8_t *out, size_t len,
-                           const void *key, uint8_t ivec[16], block128_f block);
-
-
-/* OFB. */
-
-/* CRYPTO_ofb128_encrypt encrypts (or decrypts, it's the same with OFB mode)
- * |len| bytes from |in| to |out| using |block| in OFB mode. There's no
- * requirement that |len| be a multiple of any value and any partial blocks are
- * stored in |ivec| and |*num|, the latter must be zero before the initial
- * call. */
-void CRYPTO_ofb128_encrypt(const uint8_t *in, uint8_t *out,
-                           size_t len, const void *key, uint8_t ivec[16],
-                           int *num, block128_f block);
-
-
-/* CFB. */
-
-/* CRYPTO_cfb128_encrypt encrypts (or decrypts, if |enc| is zero) |len| bytes
- * from |in| to |out| using |block| in CFB mode. There's no requirement that
- * |len| be a multiple of any value and any partial blocks are stored in |ivec|
- * and |*num|, the latter must be zero before the initial call. */
-void CRYPTO_cfb128_encrypt(const uint8_t *in, uint8_t *out, size_t len,
-                           const void *key, uint8_t ivec[16], int *num, int enc,
-                           block128_f block);
-
-/* CRYPTO_cfb128_8_encrypt encrypts (or decrypts, if |enc| is zero) |len| bytes
- * from |in| to |out| using |block| in CFB-8 mode. Prior to the first call
- * |num| should be set to zero. */
-void CRYPTO_cfb128_8_encrypt(const uint8_t *in, uint8_t *out, size_t len,
-                             const void *key, uint8_t ivec[16], int *num,
-                             int enc, block128_f block);
-
-/* CRYPTO_cfb128_1_encrypt encrypts (or decrypts, if |enc| is zero) |len| bytes
- * from |in| to |out| using |block| in CFB-1 mode. Prior to the first call
- * |num| should be set to zero. */
-void CRYPTO_cfb128_1_encrypt(const uint8_t *in, uint8_t *out, size_t bits,
-                             const void *key, uint8_t ivec[16], int *num,
-                             int enc, block128_f block);
-
-size_t CRYPTO_cts128_encrypt_block(const uint8_t *in, uint8_t *out, size_t len,
-                                   const void *key, uint8_t ivec[16],
-                                   block128_f block);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_MODES_H */
diff --git a/phonelibs/boringssl/include/openssl/obj.h b/phonelibs/boringssl/include/openssl/obj.h
deleted file mode 100644
index f476617e18e427..00000000000000
--- a/phonelibs/boringssl/include/openssl/obj.h
+++ /dev/null
@@ -1,202 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_OBJECTS_H
-#define OPENSSL_HEADER_OBJECTS_H
-
-#include <openssl/base.h>
-
-#include <openssl/bytestring.h>
-#include <openssl/obj_mac.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* The objects library deals with the registration and indexing of ASN.1 object
- * identifiers. These values are often written as a dotted sequence of numbers,
- * e.g. 1.2.840.113549.1.9.16.3.9.
- *
- * Internally, OpenSSL likes to deal with these values by numbering them with
- * numbers called "nids". OpenSSL has a large, built-in database of common
- * object identifiers and also has both short and long names for them.
- *
- * This library provides functions for translating between object identifiers,
- * nids, short names and long names.
- *
- * The nid values should not be used outside of a single process: they are not
- * stable identifiers. */
-
-
-/* Basic operations. */
-
-/* OBJ_dup returns a duplicate copy of |obj| or NULL on allocation failure. */
-OPENSSL_EXPORT ASN1_OBJECT *OBJ_dup(const ASN1_OBJECT *obj);
-
-/* OBJ_cmp returns a value less than, equal to or greater than zero if |a| is
- * less than, equal to or greater than |b|, respectively. */
-OPENSSL_EXPORT int OBJ_cmp(const ASN1_OBJECT *a, const ASN1_OBJECT *b);
-
-
-/* Looking up nids. */
-
-/* OBJ_obj2nid returns the nid corresponding to |obj|, or |NID_undef| if no
- * such object is known. */
-OPENSSL_EXPORT int OBJ_obj2nid(const ASN1_OBJECT *obj);
-
-/* OBJ_cbs2nid returns the nid corresponding to the DER data in |cbs|, or
- * |NID_undef| if no such object is known. */
-OPENSSL_EXPORT int OBJ_cbs2nid(const CBS *cbs);
-
-/* OBJ_sn2nid returns the nid corresponding to |short_name|, or |NID_undef| if
- * no such short name is known. */
-OPENSSL_EXPORT int OBJ_sn2nid(const char *short_name);
-
-/* OBJ_ln2nid returns the nid corresponding to |long_name|, or |NID_undef| if
- * no such long name is known. */
-OPENSSL_EXPORT int OBJ_ln2nid(const char *long_name);
-
-/* OBJ_txt2nid returns the nid corresponding to |s|, which may be a short name,
- * long name, or an ASCII string containing a dotted sequence of numbers. It
- * returns the nid or NID_undef if unknown. */
-OPENSSL_EXPORT int OBJ_txt2nid(const char *s);
-
-
-/* Getting information about nids. */
-
-/* OBJ_nid2obj returns the ASN1_OBJECT corresponding to |nid|, or NULL if |nid|
- * is unknown. */
-OPENSSL_EXPORT const ASN1_OBJECT *OBJ_nid2obj(int nid);
-
-/* OBJ_nid2sn returns the short name for |nid|, or NULL if |nid| is unknown. */
-OPENSSL_EXPORT const char *OBJ_nid2sn(int nid);
-
-/* OBJ_nid2sn returns the long name for |nid|, or NULL if |nid| is unknown. */
-OPENSSL_EXPORT const char *OBJ_nid2ln(int nid);
-
-/* OBJ_nid2cbs writes |nid| as an ASN.1 OBJECT IDENTIFIER to |out|. It returns
- * one on success or zero otherwise. */
-OPENSSL_EXPORT int OBJ_nid2cbb(CBB *out, int nid);
-
-
-/* Dealing with textual representations of object identifiers. */
-
-/* OBJ_txt2obj returns an ASN1_OBJECT for the textual respresentation in |s|.
- * If |dont_search_names| is zero, then |s| will be matched against the long
- * and short names of a known objects to find a match. Otherwise |s| must
- * contain an ASCII string with a dotted sequence of numbers. The resulting
- * object need not be previously known. It returns a freshly allocated
- * |ASN1_OBJECT| or NULL on error. */
-OPENSSL_EXPORT ASN1_OBJECT *OBJ_txt2obj(const char *s, int dont_search_names);
-
-/* OBJ_obj2txt converts |obj| to a textual representation. If
- * |dont_return_name| is zero then |obj| will be matched against known objects
- * and the long (preferably) or short name will be used if found. Otherwise
- * |obj| will be converted into a dotted sequence of integers. If |out| is not
- * NULL, then at most |out_len| bytes of the textual form will be written
- * there. If |out_len| is at least one, then string written to |out| will
- * always be NUL terminated. It returns the number of characters that could
- * have been written, not including the final NUL, or -1 on error. */
-OPENSSL_EXPORT int OBJ_obj2txt(char *out, int out_len, const ASN1_OBJECT *obj,
-                               int dont_return_name);
-
-
-/* Adding objects at runtime. */
-
-/* OBJ_create adds a known object and returns the nid of the new object, or
- * NID_undef on error. */
-OPENSSL_EXPORT int OBJ_create(const char *oid, const char *short_name,
-                              const char *long_name);
-
-
-/* Handling signature algorithm identifiers.
- *
- * Some NIDs (e.g. sha256WithRSAEncryption) specify both a digest algorithm and
- * a public key algorithm. The following functions map between pairs of digest
- * and public-key algorithms and the NIDs that specify their combination.
- *
- * Sometimes the combination NID leaves the digest unspecified (e.g.
- * rsassaPss). In these cases, the digest NID is |NID_undef|. */
-
-/* OBJ_find_sigid_algs finds the digest and public-key NIDs that correspond to
- * the signing algorithm |sign_nid|. If successful, it sets |*out_digest_nid|
- * and |*out_pkey_nid| and returns one. Otherwise it returns zero. Any of
- * |out_digest_nid| or |out_pkey_nid| can be NULL if the caller doesn't need
- * that output value. */
-OPENSSL_EXPORT int OBJ_find_sigid_algs(int sign_nid, int *out_digest_nid,
-                                       int *out_pkey_nid);
-
-/* OBJ_find_sigid_by_algs finds the signature NID that corresponds to the
- * combination of |digest_nid| and |pkey_nid|. If success, it sets
- * |*out_sign_nid| and returns one. Otherwise it returns zero. The
- * |out_sign_nid| argument can be NULL if the caller only wishes to learn
- * whether the combination is valid. */
-OPENSSL_EXPORT int OBJ_find_sigid_by_algs(int *out_sign_nid, int digest_nid,
-                                          int pkey_nid);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define OBJ_F_OBJ_create 100
-#define OBJ_F_OBJ_dup 101
-#define OBJ_F_OBJ_nid2obj 102
-#define OBJ_F_OBJ_txt2obj 103
-#define OBJ_R_UNKNOWN_NID 100
-
-#endif  /* OPENSSL_HEADER_OBJECTS_H */
diff --git a/phonelibs/boringssl/include/openssl/obj_mac.h b/phonelibs/boringssl/include/openssl/obj_mac.h
deleted file mode 100644
index 55e1cba2fee7bc..00000000000000
--- a/phonelibs/boringssl/include/openssl/obj_mac.h
+++ /dev/null
@@ -1,4140 +0,0 @@
-/* THIS FILE IS GENERATED FROM objects.txt by objects.pl via the
- * following command:
- * perl objects.pl objects.txt obj_mac.num ../../include/openssl/obj_mac.h */
-
-/* Copyright (C) 1995-1997 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- * 
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- * 
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from 
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- * 
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- * 
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-
-#define SN_undef			"UNDEF"
-#define LN_undef			"undefined"
-#define NID_undef			0
-#define OBJ_undef			0L
-
-#define SN_itu_t		"ITU-T"
-#define LN_itu_t		"itu-t"
-#define NID_itu_t		645
-#define OBJ_itu_t		0L
-
-#define NID_ccitt		404
-#define OBJ_ccitt		OBJ_itu_t
-
-#define SN_iso		"ISO"
-#define LN_iso		"iso"
-#define NID_iso		181
-#define OBJ_iso		1L
-
-#define SN_joint_iso_itu_t		"JOINT-ISO-ITU-T"
-#define LN_joint_iso_itu_t		"joint-iso-itu-t"
-#define NID_joint_iso_itu_t		646
-#define OBJ_joint_iso_itu_t		2L
-
-#define NID_joint_iso_ccitt		393
-#define OBJ_joint_iso_ccitt		OBJ_joint_iso_itu_t
-
-#define SN_member_body		"member-body"
-#define LN_member_body		"ISO Member Body"
-#define NID_member_body		182
-#define OBJ_member_body		OBJ_iso,2L
-
-#define SN_identified_organization		"identified-organization"
-#define NID_identified_organization		676
-#define OBJ_identified_organization		OBJ_iso,3L
-
-#define SN_hmac_md5		"HMAC-MD5"
-#define LN_hmac_md5		"hmac-md5"
-#define NID_hmac_md5		780
-#define OBJ_hmac_md5		OBJ_identified_organization,6L,1L,5L,5L,8L,1L,1L
-
-#define SN_hmac_sha1		"HMAC-SHA1"
-#define LN_hmac_sha1		"hmac-sha1"
-#define NID_hmac_sha1		781
-#define OBJ_hmac_sha1		OBJ_identified_organization,6L,1L,5L,5L,8L,1L,2L
-
-#define SN_certicom_arc		"certicom-arc"
-#define NID_certicom_arc		677
-#define OBJ_certicom_arc		OBJ_identified_organization,132L
-
-#define SN_international_organizations		"international-organizations"
-#define LN_international_organizations		"International Organizations"
-#define NID_international_organizations		647
-#define OBJ_international_organizations		OBJ_joint_iso_itu_t,23L
-
-#define SN_wap		"wap"
-#define NID_wap		678
-#define OBJ_wap		OBJ_international_organizations,43L
-
-#define SN_wap_wsg		"wap-wsg"
-#define NID_wap_wsg		679
-#define OBJ_wap_wsg		OBJ_wap,1L
-
-#define SN_selected_attribute_types		"selected-attribute-types"
-#define LN_selected_attribute_types		"Selected Attribute Types"
-#define NID_selected_attribute_types		394
-#define OBJ_selected_attribute_types		OBJ_joint_iso_itu_t,5L,1L,5L
-
-#define SN_clearance		"clearance"
-#define NID_clearance		395
-#define OBJ_clearance		OBJ_selected_attribute_types,55L
-
-#define SN_ISO_US		"ISO-US"
-#define LN_ISO_US		"ISO US Member Body"
-#define NID_ISO_US		183
-#define OBJ_ISO_US		OBJ_member_body,840L
-
-#define SN_X9_57		"X9-57"
-#define LN_X9_57		"X9.57"
-#define NID_X9_57		184
-#define OBJ_X9_57		OBJ_ISO_US,10040L
-
-#define SN_X9cm		"X9cm"
-#define LN_X9cm		"X9.57 CM ?"
-#define NID_X9cm		185
-#define OBJ_X9cm		OBJ_X9_57,4L
-
-#define SN_dsa		"DSA"
-#define LN_dsa		"dsaEncryption"
-#define NID_dsa		116
-#define OBJ_dsa		OBJ_X9cm,1L
-
-#define SN_dsaWithSHA1		"DSA-SHA1"
-#define LN_dsaWithSHA1		"dsaWithSHA1"
-#define NID_dsaWithSHA1		113
-#define OBJ_dsaWithSHA1		OBJ_X9cm,3L
-
-#define SN_ansi_X9_62		"ansi-X9-62"
-#define LN_ansi_X9_62		"ANSI X9.62"
-#define NID_ansi_X9_62		405
-#define OBJ_ansi_X9_62		OBJ_ISO_US,10045L
-
-#define OBJ_X9_62_id_fieldType		OBJ_ansi_X9_62,1L
-
-#define SN_X9_62_prime_field		"prime-field"
-#define NID_X9_62_prime_field		406
-#define OBJ_X9_62_prime_field		OBJ_X9_62_id_fieldType,1L
-
-#define SN_X9_62_characteristic_two_field		"characteristic-two-field"
-#define NID_X9_62_characteristic_two_field		407
-#define OBJ_X9_62_characteristic_two_field		OBJ_X9_62_id_fieldType,2L
-
-#define SN_X9_62_id_characteristic_two_basis		"id-characteristic-two-basis"
-#define NID_X9_62_id_characteristic_two_basis		680
-#define OBJ_X9_62_id_characteristic_two_basis		OBJ_X9_62_characteristic_two_field,3L
-
-#define SN_X9_62_onBasis		"onBasis"
-#define NID_X9_62_onBasis		681
-#define OBJ_X9_62_onBasis		OBJ_X9_62_id_characteristic_two_basis,1L
-
-#define SN_X9_62_tpBasis		"tpBasis"
-#define NID_X9_62_tpBasis		682
-#define OBJ_X9_62_tpBasis		OBJ_X9_62_id_characteristic_two_basis,2L
-
-#define SN_X9_62_ppBasis		"ppBasis"
-#define NID_X9_62_ppBasis		683
-#define OBJ_X9_62_ppBasis		OBJ_X9_62_id_characteristic_two_basis,3L
-
-#define OBJ_X9_62_id_publicKeyType		OBJ_ansi_X9_62,2L
-
-#define SN_X9_62_id_ecPublicKey		"id-ecPublicKey"
-#define NID_X9_62_id_ecPublicKey		408
-#define OBJ_X9_62_id_ecPublicKey		OBJ_X9_62_id_publicKeyType,1L
-
-#define OBJ_X9_62_ellipticCurve		OBJ_ansi_X9_62,3L
-
-#define OBJ_X9_62_c_TwoCurve		OBJ_X9_62_ellipticCurve,0L
-
-#define SN_X9_62_c2pnb163v1		"c2pnb163v1"
-#define NID_X9_62_c2pnb163v1		684
-#define OBJ_X9_62_c2pnb163v1		OBJ_X9_62_c_TwoCurve,1L
-
-#define SN_X9_62_c2pnb163v2		"c2pnb163v2"
-#define NID_X9_62_c2pnb163v2		685
-#define OBJ_X9_62_c2pnb163v2		OBJ_X9_62_c_TwoCurve,2L
-
-#define SN_X9_62_c2pnb163v3		"c2pnb163v3"
-#define NID_X9_62_c2pnb163v3		686
-#define OBJ_X9_62_c2pnb163v3		OBJ_X9_62_c_TwoCurve,3L
-
-#define SN_X9_62_c2pnb176v1		"c2pnb176v1"
-#define NID_X9_62_c2pnb176v1		687
-#define OBJ_X9_62_c2pnb176v1		OBJ_X9_62_c_TwoCurve,4L
-
-#define SN_X9_62_c2tnb191v1		"c2tnb191v1"
-#define NID_X9_62_c2tnb191v1		688
-#define OBJ_X9_62_c2tnb191v1		OBJ_X9_62_c_TwoCurve,5L
-
-#define SN_X9_62_c2tnb191v2		"c2tnb191v2"
-#define NID_X9_62_c2tnb191v2		689
-#define OBJ_X9_62_c2tnb191v2		OBJ_X9_62_c_TwoCurve,6L
-
-#define SN_X9_62_c2tnb191v3		"c2tnb191v3"
-#define NID_X9_62_c2tnb191v3		690
-#define OBJ_X9_62_c2tnb191v3		OBJ_X9_62_c_TwoCurve,7L
-
-#define SN_X9_62_c2onb191v4		"c2onb191v4"
-#define NID_X9_62_c2onb191v4		691
-#define OBJ_X9_62_c2onb191v4		OBJ_X9_62_c_TwoCurve,8L
-
-#define SN_X9_62_c2onb191v5		"c2onb191v5"
-#define NID_X9_62_c2onb191v5		692
-#define OBJ_X9_62_c2onb191v5		OBJ_X9_62_c_TwoCurve,9L
-
-#define SN_X9_62_c2pnb208w1		"c2pnb208w1"
-#define NID_X9_62_c2pnb208w1		693
-#define OBJ_X9_62_c2pnb208w1		OBJ_X9_62_c_TwoCurve,10L
-
-#define SN_X9_62_c2tnb239v1		"c2tnb239v1"
-#define NID_X9_62_c2tnb239v1		694
-#define OBJ_X9_62_c2tnb239v1		OBJ_X9_62_c_TwoCurve,11L
-
-#define SN_X9_62_c2tnb239v2		"c2tnb239v2"
-#define NID_X9_62_c2tnb239v2		695
-#define OBJ_X9_62_c2tnb239v2		OBJ_X9_62_c_TwoCurve,12L
-
-#define SN_X9_62_c2tnb239v3		"c2tnb239v3"
-#define NID_X9_62_c2tnb239v3		696
-#define OBJ_X9_62_c2tnb239v3		OBJ_X9_62_c_TwoCurve,13L
-
-#define SN_X9_62_c2onb239v4		"c2onb239v4"
-#define NID_X9_62_c2onb239v4		697
-#define OBJ_X9_62_c2onb239v4		OBJ_X9_62_c_TwoCurve,14L
-
-#define SN_X9_62_c2onb239v5		"c2onb239v5"
-#define NID_X9_62_c2onb239v5		698
-#define OBJ_X9_62_c2onb239v5		OBJ_X9_62_c_TwoCurve,15L
-
-#define SN_X9_62_c2pnb272w1		"c2pnb272w1"
-#define NID_X9_62_c2pnb272w1		699
-#define OBJ_X9_62_c2pnb272w1		OBJ_X9_62_c_TwoCurve,16L
-
-#define SN_X9_62_c2pnb304w1		"c2pnb304w1"
-#define NID_X9_62_c2pnb304w1		700
-#define OBJ_X9_62_c2pnb304w1		OBJ_X9_62_c_TwoCurve,17L
-
-#define SN_X9_62_c2tnb359v1		"c2tnb359v1"
-#define NID_X9_62_c2tnb359v1		701
-#define OBJ_X9_62_c2tnb359v1		OBJ_X9_62_c_TwoCurve,18L
-
-#define SN_X9_62_c2pnb368w1		"c2pnb368w1"
-#define NID_X9_62_c2pnb368w1		702
-#define OBJ_X9_62_c2pnb368w1		OBJ_X9_62_c_TwoCurve,19L
-
-#define SN_X9_62_c2tnb431r1		"c2tnb431r1"
-#define NID_X9_62_c2tnb431r1		703
-#define OBJ_X9_62_c2tnb431r1		OBJ_X9_62_c_TwoCurve,20L
-
-#define OBJ_X9_62_primeCurve		OBJ_X9_62_ellipticCurve,1L
-
-#define SN_X9_62_prime192v1		"prime192v1"
-#define NID_X9_62_prime192v1		409
-#define OBJ_X9_62_prime192v1		OBJ_X9_62_primeCurve,1L
-
-#define SN_X9_62_prime192v2		"prime192v2"
-#define NID_X9_62_prime192v2		410
-#define OBJ_X9_62_prime192v2		OBJ_X9_62_primeCurve,2L
-
-#define SN_X9_62_prime192v3		"prime192v3"
-#define NID_X9_62_prime192v3		411
-#define OBJ_X9_62_prime192v3		OBJ_X9_62_primeCurve,3L
-
-#define SN_X9_62_prime239v1		"prime239v1"
-#define NID_X9_62_prime239v1		412
-#define OBJ_X9_62_prime239v1		OBJ_X9_62_primeCurve,4L
-
-#define SN_X9_62_prime239v2		"prime239v2"
-#define NID_X9_62_prime239v2		413
-#define OBJ_X9_62_prime239v2		OBJ_X9_62_primeCurve,5L
-
-#define SN_X9_62_prime239v3		"prime239v3"
-#define NID_X9_62_prime239v3		414
-#define OBJ_X9_62_prime239v3		OBJ_X9_62_primeCurve,6L
-
-#define SN_X9_62_prime256v1		"prime256v1"
-#define NID_X9_62_prime256v1		415
-#define OBJ_X9_62_prime256v1		OBJ_X9_62_primeCurve,7L
-
-#define OBJ_X9_62_id_ecSigType		OBJ_ansi_X9_62,4L
-
-#define SN_ecdsa_with_SHA1		"ecdsa-with-SHA1"
-#define NID_ecdsa_with_SHA1		416
-#define OBJ_ecdsa_with_SHA1		OBJ_X9_62_id_ecSigType,1L
-
-#define SN_ecdsa_with_Recommended		"ecdsa-with-Recommended"
-#define NID_ecdsa_with_Recommended		791
-#define OBJ_ecdsa_with_Recommended		OBJ_X9_62_id_ecSigType,2L
-
-#define SN_ecdsa_with_Specified		"ecdsa-with-Specified"
-#define NID_ecdsa_with_Specified		792
-#define OBJ_ecdsa_with_Specified		OBJ_X9_62_id_ecSigType,3L
-
-#define SN_ecdsa_with_SHA224		"ecdsa-with-SHA224"
-#define NID_ecdsa_with_SHA224		793
-#define OBJ_ecdsa_with_SHA224		OBJ_ecdsa_with_Specified,1L
-
-#define SN_ecdsa_with_SHA256		"ecdsa-with-SHA256"
-#define NID_ecdsa_with_SHA256		794
-#define OBJ_ecdsa_with_SHA256		OBJ_ecdsa_with_Specified,2L
-
-#define SN_ecdsa_with_SHA384		"ecdsa-with-SHA384"
-#define NID_ecdsa_with_SHA384		795
-#define OBJ_ecdsa_with_SHA384		OBJ_ecdsa_with_Specified,3L
-
-#define SN_ecdsa_with_SHA512		"ecdsa-with-SHA512"
-#define NID_ecdsa_with_SHA512		796
-#define OBJ_ecdsa_with_SHA512		OBJ_ecdsa_with_Specified,4L
-
-#define OBJ_secg_ellipticCurve		OBJ_certicom_arc,0L
-
-#define SN_secp112r1		"secp112r1"
-#define NID_secp112r1		704
-#define OBJ_secp112r1		OBJ_secg_ellipticCurve,6L
-
-#define SN_secp112r2		"secp112r2"
-#define NID_secp112r2		705
-#define OBJ_secp112r2		OBJ_secg_ellipticCurve,7L
-
-#define SN_secp128r1		"secp128r1"
-#define NID_secp128r1		706
-#define OBJ_secp128r1		OBJ_secg_ellipticCurve,28L
-
-#define SN_secp128r2		"secp128r2"
-#define NID_secp128r2		707
-#define OBJ_secp128r2		OBJ_secg_ellipticCurve,29L
-
-#define SN_secp160k1		"secp160k1"
-#define NID_secp160k1		708
-#define OBJ_secp160k1		OBJ_secg_ellipticCurve,9L
-
-#define SN_secp160r1		"secp160r1"
-#define NID_secp160r1		709
-#define OBJ_secp160r1		OBJ_secg_ellipticCurve,8L
-
-#define SN_secp160r2		"secp160r2"
-#define NID_secp160r2		710
-#define OBJ_secp160r2		OBJ_secg_ellipticCurve,30L
-
-#define SN_secp192k1		"secp192k1"
-#define NID_secp192k1		711
-#define OBJ_secp192k1		OBJ_secg_ellipticCurve,31L
-
-#define SN_secp224k1		"secp224k1"
-#define NID_secp224k1		712
-#define OBJ_secp224k1		OBJ_secg_ellipticCurve,32L
-
-#define SN_secp224r1		"secp224r1"
-#define NID_secp224r1		713
-#define OBJ_secp224r1		OBJ_secg_ellipticCurve,33L
-
-#define SN_secp256k1		"secp256k1"
-#define NID_secp256k1		714
-#define OBJ_secp256k1		OBJ_secg_ellipticCurve,10L
-
-#define SN_secp384r1		"secp384r1"
-#define NID_secp384r1		715
-#define OBJ_secp384r1		OBJ_secg_ellipticCurve,34L
-
-#define SN_secp521r1		"secp521r1"
-#define NID_secp521r1		716
-#define OBJ_secp521r1		OBJ_secg_ellipticCurve,35L
-
-#define SN_sect113r1		"sect113r1"
-#define NID_sect113r1		717
-#define OBJ_sect113r1		OBJ_secg_ellipticCurve,4L
-
-#define SN_sect113r2		"sect113r2"
-#define NID_sect113r2		718
-#define OBJ_sect113r2		OBJ_secg_ellipticCurve,5L
-
-#define SN_sect131r1		"sect131r1"
-#define NID_sect131r1		719
-#define OBJ_sect131r1		OBJ_secg_ellipticCurve,22L
-
-#define SN_sect131r2		"sect131r2"
-#define NID_sect131r2		720
-#define OBJ_sect131r2		OBJ_secg_ellipticCurve,23L
-
-#define SN_sect163k1		"sect163k1"
-#define NID_sect163k1		721
-#define OBJ_sect163k1		OBJ_secg_ellipticCurve,1L
-
-#define SN_sect163r1		"sect163r1"
-#define NID_sect163r1		722
-#define OBJ_sect163r1		OBJ_secg_ellipticCurve,2L
-
-#define SN_sect163r2		"sect163r2"
-#define NID_sect163r2		723
-#define OBJ_sect163r2		OBJ_secg_ellipticCurve,15L
-
-#define SN_sect193r1		"sect193r1"
-#define NID_sect193r1		724
-#define OBJ_sect193r1		OBJ_secg_ellipticCurve,24L
-
-#define SN_sect193r2		"sect193r2"
-#define NID_sect193r2		725
-#define OBJ_sect193r2		OBJ_secg_ellipticCurve,25L
-
-#define SN_sect233k1		"sect233k1"
-#define NID_sect233k1		726
-#define OBJ_sect233k1		OBJ_secg_ellipticCurve,26L
-
-#define SN_sect233r1		"sect233r1"
-#define NID_sect233r1		727
-#define OBJ_sect233r1		OBJ_secg_ellipticCurve,27L
-
-#define SN_sect239k1		"sect239k1"
-#define NID_sect239k1		728
-#define OBJ_sect239k1		OBJ_secg_ellipticCurve,3L
-
-#define SN_sect283k1		"sect283k1"
-#define NID_sect283k1		729
-#define OBJ_sect283k1		OBJ_secg_ellipticCurve,16L
-
-#define SN_sect283r1		"sect283r1"
-#define NID_sect283r1		730
-#define OBJ_sect283r1		OBJ_secg_ellipticCurve,17L
-
-#define SN_sect409k1		"sect409k1"
-#define NID_sect409k1		731
-#define OBJ_sect409k1		OBJ_secg_ellipticCurve,36L
-
-#define SN_sect409r1		"sect409r1"
-#define NID_sect409r1		732
-#define OBJ_sect409r1		OBJ_secg_ellipticCurve,37L
-
-#define SN_sect571k1		"sect571k1"
-#define NID_sect571k1		733
-#define OBJ_sect571k1		OBJ_secg_ellipticCurve,38L
-
-#define SN_sect571r1		"sect571r1"
-#define NID_sect571r1		734
-#define OBJ_sect571r1		OBJ_secg_ellipticCurve,39L
-
-#define OBJ_wap_wsg_idm_ecid		OBJ_wap_wsg,4L
-
-#define SN_wap_wsg_idm_ecid_wtls1		"wap-wsg-idm-ecid-wtls1"
-#define NID_wap_wsg_idm_ecid_wtls1		735
-#define OBJ_wap_wsg_idm_ecid_wtls1		OBJ_wap_wsg_idm_ecid,1L
-
-#define SN_wap_wsg_idm_ecid_wtls3		"wap-wsg-idm-ecid-wtls3"
-#define NID_wap_wsg_idm_ecid_wtls3		736
-#define OBJ_wap_wsg_idm_ecid_wtls3		OBJ_wap_wsg_idm_ecid,3L
-
-#define SN_wap_wsg_idm_ecid_wtls4		"wap-wsg-idm-ecid-wtls4"
-#define NID_wap_wsg_idm_ecid_wtls4		737
-#define OBJ_wap_wsg_idm_ecid_wtls4		OBJ_wap_wsg_idm_ecid,4L
-
-#define SN_wap_wsg_idm_ecid_wtls5		"wap-wsg-idm-ecid-wtls5"
-#define NID_wap_wsg_idm_ecid_wtls5		738
-#define OBJ_wap_wsg_idm_ecid_wtls5		OBJ_wap_wsg_idm_ecid,5L
-
-#define SN_wap_wsg_idm_ecid_wtls6		"wap-wsg-idm-ecid-wtls6"
-#define NID_wap_wsg_idm_ecid_wtls6		739
-#define OBJ_wap_wsg_idm_ecid_wtls6		OBJ_wap_wsg_idm_ecid,6L
-
-#define SN_wap_wsg_idm_ecid_wtls7		"wap-wsg-idm-ecid-wtls7"
-#define NID_wap_wsg_idm_ecid_wtls7		740
-#define OBJ_wap_wsg_idm_ecid_wtls7		OBJ_wap_wsg_idm_ecid,7L
-
-#define SN_wap_wsg_idm_ecid_wtls8		"wap-wsg-idm-ecid-wtls8"
-#define NID_wap_wsg_idm_ecid_wtls8		741
-#define OBJ_wap_wsg_idm_ecid_wtls8		OBJ_wap_wsg_idm_ecid,8L
-
-#define SN_wap_wsg_idm_ecid_wtls9		"wap-wsg-idm-ecid-wtls9"
-#define NID_wap_wsg_idm_ecid_wtls9		742
-#define OBJ_wap_wsg_idm_ecid_wtls9		OBJ_wap_wsg_idm_ecid,9L
-
-#define SN_wap_wsg_idm_ecid_wtls10		"wap-wsg-idm-ecid-wtls10"
-#define NID_wap_wsg_idm_ecid_wtls10		743
-#define OBJ_wap_wsg_idm_ecid_wtls10		OBJ_wap_wsg_idm_ecid,10L
-
-#define SN_wap_wsg_idm_ecid_wtls11		"wap-wsg-idm-ecid-wtls11"
-#define NID_wap_wsg_idm_ecid_wtls11		744
-#define OBJ_wap_wsg_idm_ecid_wtls11		OBJ_wap_wsg_idm_ecid,11L
-
-#define SN_wap_wsg_idm_ecid_wtls12		"wap-wsg-idm-ecid-wtls12"
-#define NID_wap_wsg_idm_ecid_wtls12		745
-#define OBJ_wap_wsg_idm_ecid_wtls12		OBJ_wap_wsg_idm_ecid,12L
-
-#define SN_cast5_cbc		"CAST5-CBC"
-#define LN_cast5_cbc		"cast5-cbc"
-#define NID_cast5_cbc		108
-#define OBJ_cast5_cbc		OBJ_ISO_US,113533L,7L,66L,10L
-
-#define SN_cast5_ecb		"CAST5-ECB"
-#define LN_cast5_ecb		"cast5-ecb"
-#define NID_cast5_ecb		109
-
-#define SN_cast5_cfb64		"CAST5-CFB"
-#define LN_cast5_cfb64		"cast5-cfb"
-#define NID_cast5_cfb64		110
-
-#define SN_cast5_ofb64		"CAST5-OFB"
-#define LN_cast5_ofb64		"cast5-ofb"
-#define NID_cast5_ofb64		111
-
-#define LN_pbeWithMD5AndCast5_CBC		"pbeWithMD5AndCast5CBC"
-#define NID_pbeWithMD5AndCast5_CBC		112
-#define OBJ_pbeWithMD5AndCast5_CBC		OBJ_ISO_US,113533L,7L,66L,12L
-
-#define SN_id_PasswordBasedMAC		"id-PasswordBasedMAC"
-#define LN_id_PasswordBasedMAC		"password based MAC"
-#define NID_id_PasswordBasedMAC		782
-#define OBJ_id_PasswordBasedMAC		OBJ_ISO_US,113533L,7L,66L,13L
-
-#define SN_id_DHBasedMac		"id-DHBasedMac"
-#define LN_id_DHBasedMac		"Diffie-Hellman based MAC"
-#define NID_id_DHBasedMac		783
-#define OBJ_id_DHBasedMac		OBJ_ISO_US,113533L,7L,66L,30L
-
-#define SN_rsadsi		"rsadsi"
-#define LN_rsadsi		"RSA Data Security, Inc."
-#define NID_rsadsi		1
-#define OBJ_rsadsi		OBJ_ISO_US,113549L
-
-#define SN_pkcs		"pkcs"
-#define LN_pkcs		"RSA Data Security, Inc. PKCS"
-#define NID_pkcs		2
-#define OBJ_pkcs		OBJ_rsadsi,1L
-
-#define SN_pkcs1		"pkcs1"
-#define NID_pkcs1		186
-#define OBJ_pkcs1		OBJ_pkcs,1L
-
-#define LN_rsaEncryption		"rsaEncryption"
-#define NID_rsaEncryption		6
-#define OBJ_rsaEncryption		OBJ_pkcs1,1L
-
-#define SN_md2WithRSAEncryption		"RSA-MD2"
-#define LN_md2WithRSAEncryption		"md2WithRSAEncryption"
-#define NID_md2WithRSAEncryption		7
-#define OBJ_md2WithRSAEncryption		OBJ_pkcs1,2L
-
-#define SN_md4WithRSAEncryption		"RSA-MD4"
-#define LN_md4WithRSAEncryption		"md4WithRSAEncryption"
-#define NID_md4WithRSAEncryption		396
-#define OBJ_md4WithRSAEncryption		OBJ_pkcs1,3L
-
-#define SN_md5WithRSAEncryption		"RSA-MD5"
-#define LN_md5WithRSAEncryption		"md5WithRSAEncryption"
-#define NID_md5WithRSAEncryption		8
-#define OBJ_md5WithRSAEncryption		OBJ_pkcs1,4L
-
-#define SN_sha1WithRSAEncryption		"RSA-SHA1"
-#define LN_sha1WithRSAEncryption		"sha1WithRSAEncryption"
-#define NID_sha1WithRSAEncryption		65
-#define OBJ_sha1WithRSAEncryption		OBJ_pkcs1,5L
-
-#define SN_rsaesOaep		"RSAES-OAEP"
-#define LN_rsaesOaep		"rsaesOaep"
-#define NID_rsaesOaep		919
-#define OBJ_rsaesOaep		OBJ_pkcs1,7L
-
-#define SN_mgf1		"MGF1"
-#define LN_mgf1		"mgf1"
-#define NID_mgf1		911
-#define OBJ_mgf1		OBJ_pkcs1,8L
-
-#define SN_pSpecified		"PSPECIFIED"
-#define LN_pSpecified		"pSpecified"
-#define NID_pSpecified		935
-#define OBJ_pSpecified		OBJ_pkcs1,9L
-
-#define SN_rsassaPss		"RSASSA-PSS"
-#define LN_rsassaPss		"rsassaPss"
-#define NID_rsassaPss		912
-#define OBJ_rsassaPss		OBJ_pkcs1,10L
-
-#define SN_sha256WithRSAEncryption		"RSA-SHA256"
-#define LN_sha256WithRSAEncryption		"sha256WithRSAEncryption"
-#define NID_sha256WithRSAEncryption		668
-#define OBJ_sha256WithRSAEncryption		OBJ_pkcs1,11L
-
-#define SN_sha384WithRSAEncryption		"RSA-SHA384"
-#define LN_sha384WithRSAEncryption		"sha384WithRSAEncryption"
-#define NID_sha384WithRSAEncryption		669
-#define OBJ_sha384WithRSAEncryption		OBJ_pkcs1,12L
-
-#define SN_sha512WithRSAEncryption		"RSA-SHA512"
-#define LN_sha512WithRSAEncryption		"sha512WithRSAEncryption"
-#define NID_sha512WithRSAEncryption		670
-#define OBJ_sha512WithRSAEncryption		OBJ_pkcs1,13L
-
-#define SN_sha224WithRSAEncryption		"RSA-SHA224"
-#define LN_sha224WithRSAEncryption		"sha224WithRSAEncryption"
-#define NID_sha224WithRSAEncryption		671
-#define OBJ_sha224WithRSAEncryption		OBJ_pkcs1,14L
-
-#define SN_pkcs3		"pkcs3"
-#define NID_pkcs3		27
-#define OBJ_pkcs3		OBJ_pkcs,3L
-
-#define LN_dhKeyAgreement		"dhKeyAgreement"
-#define NID_dhKeyAgreement		28
-#define OBJ_dhKeyAgreement		OBJ_pkcs3,1L
-
-#define SN_pkcs5		"pkcs5"
-#define NID_pkcs5		187
-#define OBJ_pkcs5		OBJ_pkcs,5L
-
-#define SN_pbeWithMD2AndDES_CBC		"PBE-MD2-DES"
-#define LN_pbeWithMD2AndDES_CBC		"pbeWithMD2AndDES-CBC"
-#define NID_pbeWithMD2AndDES_CBC		9
-#define OBJ_pbeWithMD2AndDES_CBC		OBJ_pkcs5,1L
-
-#define SN_pbeWithMD5AndDES_CBC		"PBE-MD5-DES"
-#define LN_pbeWithMD5AndDES_CBC		"pbeWithMD5AndDES-CBC"
-#define NID_pbeWithMD5AndDES_CBC		10
-#define OBJ_pbeWithMD5AndDES_CBC		OBJ_pkcs5,3L
-
-#define SN_pbeWithMD2AndRC2_CBC		"PBE-MD2-RC2-64"
-#define LN_pbeWithMD2AndRC2_CBC		"pbeWithMD2AndRC2-CBC"
-#define NID_pbeWithMD2AndRC2_CBC		168
-#define OBJ_pbeWithMD2AndRC2_CBC		OBJ_pkcs5,4L
-
-#define SN_pbeWithMD5AndRC2_CBC		"PBE-MD5-RC2-64"
-#define LN_pbeWithMD5AndRC2_CBC		"pbeWithMD5AndRC2-CBC"
-#define NID_pbeWithMD5AndRC2_CBC		169
-#define OBJ_pbeWithMD5AndRC2_CBC		OBJ_pkcs5,6L
-
-#define SN_pbeWithSHA1AndDES_CBC		"PBE-SHA1-DES"
-#define LN_pbeWithSHA1AndDES_CBC		"pbeWithSHA1AndDES-CBC"
-#define NID_pbeWithSHA1AndDES_CBC		170
-#define OBJ_pbeWithSHA1AndDES_CBC		OBJ_pkcs5,10L
-
-#define SN_pbeWithSHA1AndRC2_CBC		"PBE-SHA1-RC2-64"
-#define LN_pbeWithSHA1AndRC2_CBC		"pbeWithSHA1AndRC2-CBC"
-#define NID_pbeWithSHA1AndRC2_CBC		68
-#define OBJ_pbeWithSHA1AndRC2_CBC		OBJ_pkcs5,11L
-
-#define LN_id_pbkdf2		"PBKDF2"
-#define NID_id_pbkdf2		69
-#define OBJ_id_pbkdf2		OBJ_pkcs5,12L
-
-#define LN_pbes2		"PBES2"
-#define NID_pbes2		161
-#define OBJ_pbes2		OBJ_pkcs5,13L
-
-#define LN_pbmac1		"PBMAC1"
-#define NID_pbmac1		162
-#define OBJ_pbmac1		OBJ_pkcs5,14L
-
-#define SN_pkcs7		"pkcs7"
-#define NID_pkcs7		20
-#define OBJ_pkcs7		OBJ_pkcs,7L
-
-#define LN_pkcs7_data		"pkcs7-data"
-#define NID_pkcs7_data		21
-#define OBJ_pkcs7_data		OBJ_pkcs7,1L
-
-#define LN_pkcs7_signed		"pkcs7-signedData"
-#define NID_pkcs7_signed		22
-#define OBJ_pkcs7_signed		OBJ_pkcs7,2L
-
-#define LN_pkcs7_enveloped		"pkcs7-envelopedData"
-#define NID_pkcs7_enveloped		23
-#define OBJ_pkcs7_enveloped		OBJ_pkcs7,3L
-
-#define LN_pkcs7_signedAndEnveloped		"pkcs7-signedAndEnvelopedData"
-#define NID_pkcs7_signedAndEnveloped		24
-#define OBJ_pkcs7_signedAndEnveloped		OBJ_pkcs7,4L
-
-#define LN_pkcs7_digest		"pkcs7-digestData"
-#define NID_pkcs7_digest		25
-#define OBJ_pkcs7_digest		OBJ_pkcs7,5L
-
-#define LN_pkcs7_encrypted		"pkcs7-encryptedData"
-#define NID_pkcs7_encrypted		26
-#define OBJ_pkcs7_encrypted		OBJ_pkcs7,6L
-
-#define SN_pkcs9		"pkcs9"
-#define NID_pkcs9		47
-#define OBJ_pkcs9		OBJ_pkcs,9L
-
-#define LN_pkcs9_emailAddress		"emailAddress"
-#define NID_pkcs9_emailAddress		48
-#define OBJ_pkcs9_emailAddress		OBJ_pkcs9,1L
-
-#define LN_pkcs9_unstructuredName		"unstructuredName"
-#define NID_pkcs9_unstructuredName		49
-#define OBJ_pkcs9_unstructuredName		OBJ_pkcs9,2L
-
-#define LN_pkcs9_contentType		"contentType"
-#define NID_pkcs9_contentType		50
-#define OBJ_pkcs9_contentType		OBJ_pkcs9,3L
-
-#define LN_pkcs9_messageDigest		"messageDigest"
-#define NID_pkcs9_messageDigest		51
-#define OBJ_pkcs9_messageDigest		OBJ_pkcs9,4L
-
-#define LN_pkcs9_signingTime		"signingTime"
-#define NID_pkcs9_signingTime		52
-#define OBJ_pkcs9_signingTime		OBJ_pkcs9,5L
-
-#define LN_pkcs9_countersignature		"countersignature"
-#define NID_pkcs9_countersignature		53
-#define OBJ_pkcs9_countersignature		OBJ_pkcs9,6L
-
-#define LN_pkcs9_challengePassword		"challengePassword"
-#define NID_pkcs9_challengePassword		54
-#define OBJ_pkcs9_challengePassword		OBJ_pkcs9,7L
-
-#define LN_pkcs9_unstructuredAddress		"unstructuredAddress"
-#define NID_pkcs9_unstructuredAddress		55
-#define OBJ_pkcs9_unstructuredAddress		OBJ_pkcs9,8L
-
-#define LN_pkcs9_extCertAttributes		"extendedCertificateAttributes"
-#define NID_pkcs9_extCertAttributes		56
-#define OBJ_pkcs9_extCertAttributes		OBJ_pkcs9,9L
-
-#define SN_ext_req		"extReq"
-#define LN_ext_req		"Extension Request"
-#define NID_ext_req		172
-#define OBJ_ext_req		OBJ_pkcs9,14L
-
-#define SN_SMIMECapabilities		"SMIME-CAPS"
-#define LN_SMIMECapabilities		"S/MIME Capabilities"
-#define NID_SMIMECapabilities		167
-#define OBJ_SMIMECapabilities		OBJ_pkcs9,15L
-
-#define SN_SMIME		"SMIME"
-#define LN_SMIME		"S/MIME"
-#define NID_SMIME		188
-#define OBJ_SMIME		OBJ_pkcs9,16L
-
-#define SN_id_smime_mod		"id-smime-mod"
-#define NID_id_smime_mod		189
-#define OBJ_id_smime_mod		OBJ_SMIME,0L
-
-#define SN_id_smime_ct		"id-smime-ct"
-#define NID_id_smime_ct		190
-#define OBJ_id_smime_ct		OBJ_SMIME,1L
-
-#define SN_id_smime_aa		"id-smime-aa"
-#define NID_id_smime_aa		191
-#define OBJ_id_smime_aa		OBJ_SMIME,2L
-
-#define SN_id_smime_alg		"id-smime-alg"
-#define NID_id_smime_alg		192
-#define OBJ_id_smime_alg		OBJ_SMIME,3L
-
-#define SN_id_smime_cd		"id-smime-cd"
-#define NID_id_smime_cd		193
-#define OBJ_id_smime_cd		OBJ_SMIME,4L
-
-#define SN_id_smime_spq		"id-smime-spq"
-#define NID_id_smime_spq		194
-#define OBJ_id_smime_spq		OBJ_SMIME,5L
-
-#define SN_id_smime_cti		"id-smime-cti"
-#define NID_id_smime_cti		195
-#define OBJ_id_smime_cti		OBJ_SMIME,6L
-
-#define SN_id_smime_mod_cms		"id-smime-mod-cms"
-#define NID_id_smime_mod_cms		196
-#define OBJ_id_smime_mod_cms		OBJ_id_smime_mod,1L
-
-#define SN_id_smime_mod_ess		"id-smime-mod-ess"
-#define NID_id_smime_mod_ess		197
-#define OBJ_id_smime_mod_ess		OBJ_id_smime_mod,2L
-
-#define SN_id_smime_mod_oid		"id-smime-mod-oid"
-#define NID_id_smime_mod_oid		198
-#define OBJ_id_smime_mod_oid		OBJ_id_smime_mod,3L
-
-#define SN_id_smime_mod_msg_v3		"id-smime-mod-msg-v3"
-#define NID_id_smime_mod_msg_v3		199
-#define OBJ_id_smime_mod_msg_v3		OBJ_id_smime_mod,4L
-
-#define SN_id_smime_mod_ets_eSignature_88		"id-smime-mod-ets-eSignature-88"
-#define NID_id_smime_mod_ets_eSignature_88		200
-#define OBJ_id_smime_mod_ets_eSignature_88		OBJ_id_smime_mod,5L
-
-#define SN_id_smime_mod_ets_eSignature_97		"id-smime-mod-ets-eSignature-97"
-#define NID_id_smime_mod_ets_eSignature_97		201
-#define OBJ_id_smime_mod_ets_eSignature_97		OBJ_id_smime_mod,6L
-
-#define SN_id_smime_mod_ets_eSigPolicy_88		"id-smime-mod-ets-eSigPolicy-88"
-#define NID_id_smime_mod_ets_eSigPolicy_88		202
-#define OBJ_id_smime_mod_ets_eSigPolicy_88		OBJ_id_smime_mod,7L
-
-#define SN_id_smime_mod_ets_eSigPolicy_97		"id-smime-mod-ets-eSigPolicy-97"
-#define NID_id_smime_mod_ets_eSigPolicy_97		203
-#define OBJ_id_smime_mod_ets_eSigPolicy_97		OBJ_id_smime_mod,8L
-
-#define SN_id_smime_ct_receipt		"id-smime-ct-receipt"
-#define NID_id_smime_ct_receipt		204
-#define OBJ_id_smime_ct_receipt		OBJ_id_smime_ct,1L
-
-#define SN_id_smime_ct_authData		"id-smime-ct-authData"
-#define NID_id_smime_ct_authData		205
-#define OBJ_id_smime_ct_authData		OBJ_id_smime_ct,2L
-
-#define SN_id_smime_ct_publishCert		"id-smime-ct-publishCert"
-#define NID_id_smime_ct_publishCert		206
-#define OBJ_id_smime_ct_publishCert		OBJ_id_smime_ct,3L
-
-#define SN_id_smime_ct_TSTInfo		"id-smime-ct-TSTInfo"
-#define NID_id_smime_ct_TSTInfo		207
-#define OBJ_id_smime_ct_TSTInfo		OBJ_id_smime_ct,4L
-
-#define SN_id_smime_ct_TDTInfo		"id-smime-ct-TDTInfo"
-#define NID_id_smime_ct_TDTInfo		208
-#define OBJ_id_smime_ct_TDTInfo		OBJ_id_smime_ct,5L
-
-#define SN_id_smime_ct_contentInfo		"id-smime-ct-contentInfo"
-#define NID_id_smime_ct_contentInfo		209
-#define OBJ_id_smime_ct_contentInfo		OBJ_id_smime_ct,6L
-
-#define SN_id_smime_ct_DVCSRequestData		"id-smime-ct-DVCSRequestData"
-#define NID_id_smime_ct_DVCSRequestData		210
-#define OBJ_id_smime_ct_DVCSRequestData		OBJ_id_smime_ct,7L
-
-#define SN_id_smime_ct_DVCSResponseData		"id-smime-ct-DVCSResponseData"
-#define NID_id_smime_ct_DVCSResponseData		211
-#define OBJ_id_smime_ct_DVCSResponseData		OBJ_id_smime_ct,8L
-
-#define SN_id_smime_ct_compressedData		"id-smime-ct-compressedData"
-#define NID_id_smime_ct_compressedData		786
-#define OBJ_id_smime_ct_compressedData		OBJ_id_smime_ct,9L
-
-#define SN_id_ct_asciiTextWithCRLF		"id-ct-asciiTextWithCRLF"
-#define NID_id_ct_asciiTextWithCRLF		787
-#define OBJ_id_ct_asciiTextWithCRLF		OBJ_id_smime_ct,27L
-
-#define SN_id_smime_aa_receiptRequest		"id-smime-aa-receiptRequest"
-#define NID_id_smime_aa_receiptRequest		212
-#define OBJ_id_smime_aa_receiptRequest		OBJ_id_smime_aa,1L
-
-#define SN_id_smime_aa_securityLabel		"id-smime-aa-securityLabel"
-#define NID_id_smime_aa_securityLabel		213
-#define OBJ_id_smime_aa_securityLabel		OBJ_id_smime_aa,2L
-
-#define SN_id_smime_aa_mlExpandHistory		"id-smime-aa-mlExpandHistory"
-#define NID_id_smime_aa_mlExpandHistory		214
-#define OBJ_id_smime_aa_mlExpandHistory		OBJ_id_smime_aa,3L
-
-#define SN_id_smime_aa_contentHint		"id-smime-aa-contentHint"
-#define NID_id_smime_aa_contentHint		215
-#define OBJ_id_smime_aa_contentHint		OBJ_id_smime_aa,4L
-
-#define SN_id_smime_aa_msgSigDigest		"id-smime-aa-msgSigDigest"
-#define NID_id_smime_aa_msgSigDigest		216
-#define OBJ_id_smime_aa_msgSigDigest		OBJ_id_smime_aa,5L
-
-#define SN_id_smime_aa_encapContentType		"id-smime-aa-encapContentType"
-#define NID_id_smime_aa_encapContentType		217
-#define OBJ_id_smime_aa_encapContentType		OBJ_id_smime_aa,6L
-
-#define SN_id_smime_aa_contentIdentifier		"id-smime-aa-contentIdentifier"
-#define NID_id_smime_aa_contentIdentifier		218
-#define OBJ_id_smime_aa_contentIdentifier		OBJ_id_smime_aa,7L
-
-#define SN_id_smime_aa_macValue		"id-smime-aa-macValue"
-#define NID_id_smime_aa_macValue		219
-#define OBJ_id_smime_aa_macValue		OBJ_id_smime_aa,8L
-
-#define SN_id_smime_aa_equivalentLabels		"id-smime-aa-equivalentLabels"
-#define NID_id_smime_aa_equivalentLabels		220
-#define OBJ_id_smime_aa_equivalentLabels		OBJ_id_smime_aa,9L
-
-#define SN_id_smime_aa_contentReference		"id-smime-aa-contentReference"
-#define NID_id_smime_aa_contentReference		221
-#define OBJ_id_smime_aa_contentReference		OBJ_id_smime_aa,10L
-
-#define SN_id_smime_aa_encrypKeyPref		"id-smime-aa-encrypKeyPref"
-#define NID_id_smime_aa_encrypKeyPref		222
-#define OBJ_id_smime_aa_encrypKeyPref		OBJ_id_smime_aa,11L
-
-#define SN_id_smime_aa_signingCertificate		"id-smime-aa-signingCertificate"
-#define NID_id_smime_aa_signingCertificate		223
-#define OBJ_id_smime_aa_signingCertificate		OBJ_id_smime_aa,12L
-
-#define SN_id_smime_aa_smimeEncryptCerts		"id-smime-aa-smimeEncryptCerts"
-#define NID_id_smime_aa_smimeEncryptCerts		224
-#define OBJ_id_smime_aa_smimeEncryptCerts		OBJ_id_smime_aa,13L
-
-#define SN_id_smime_aa_timeStampToken		"id-smime-aa-timeStampToken"
-#define NID_id_smime_aa_timeStampToken		225
-#define OBJ_id_smime_aa_timeStampToken		OBJ_id_smime_aa,14L
-
-#define SN_id_smime_aa_ets_sigPolicyId		"id-smime-aa-ets-sigPolicyId"
-#define NID_id_smime_aa_ets_sigPolicyId		226
-#define OBJ_id_smime_aa_ets_sigPolicyId		OBJ_id_smime_aa,15L
-
-#define SN_id_smime_aa_ets_commitmentType		"id-smime-aa-ets-commitmentType"
-#define NID_id_smime_aa_ets_commitmentType		227
-#define OBJ_id_smime_aa_ets_commitmentType		OBJ_id_smime_aa,16L
-
-#define SN_id_smime_aa_ets_signerLocation		"id-smime-aa-ets-signerLocation"
-#define NID_id_smime_aa_ets_signerLocation		228
-#define OBJ_id_smime_aa_ets_signerLocation		OBJ_id_smime_aa,17L
-
-#define SN_id_smime_aa_ets_signerAttr		"id-smime-aa-ets-signerAttr"
-#define NID_id_smime_aa_ets_signerAttr		229
-#define OBJ_id_smime_aa_ets_signerAttr		OBJ_id_smime_aa,18L
-
-#define SN_id_smime_aa_ets_otherSigCert		"id-smime-aa-ets-otherSigCert"
-#define NID_id_smime_aa_ets_otherSigCert		230
-#define OBJ_id_smime_aa_ets_otherSigCert		OBJ_id_smime_aa,19L
-
-#define SN_id_smime_aa_ets_contentTimestamp		"id-smime-aa-ets-contentTimestamp"
-#define NID_id_smime_aa_ets_contentTimestamp		231
-#define OBJ_id_smime_aa_ets_contentTimestamp		OBJ_id_smime_aa,20L
-
-#define SN_id_smime_aa_ets_CertificateRefs		"id-smime-aa-ets-CertificateRefs"
-#define NID_id_smime_aa_ets_CertificateRefs		232
-#define OBJ_id_smime_aa_ets_CertificateRefs		OBJ_id_smime_aa,21L
-
-#define SN_id_smime_aa_ets_RevocationRefs		"id-smime-aa-ets-RevocationRefs"
-#define NID_id_smime_aa_ets_RevocationRefs		233
-#define OBJ_id_smime_aa_ets_RevocationRefs		OBJ_id_smime_aa,22L
-
-#define SN_id_smime_aa_ets_certValues		"id-smime-aa-ets-certValues"
-#define NID_id_smime_aa_ets_certValues		234
-#define OBJ_id_smime_aa_ets_certValues		OBJ_id_smime_aa,23L
-
-#define SN_id_smime_aa_ets_revocationValues		"id-smime-aa-ets-revocationValues"
-#define NID_id_smime_aa_ets_revocationValues		235
-#define OBJ_id_smime_aa_ets_revocationValues		OBJ_id_smime_aa,24L
-
-#define SN_id_smime_aa_ets_escTimeStamp		"id-smime-aa-ets-escTimeStamp"
-#define NID_id_smime_aa_ets_escTimeStamp		236
-#define OBJ_id_smime_aa_ets_escTimeStamp		OBJ_id_smime_aa,25L
-
-#define SN_id_smime_aa_ets_certCRLTimestamp		"id-smime-aa-ets-certCRLTimestamp"
-#define NID_id_smime_aa_ets_certCRLTimestamp		237
-#define OBJ_id_smime_aa_ets_certCRLTimestamp		OBJ_id_smime_aa,26L
-
-#define SN_id_smime_aa_ets_archiveTimeStamp		"id-smime-aa-ets-archiveTimeStamp"
-#define NID_id_smime_aa_ets_archiveTimeStamp		238
-#define OBJ_id_smime_aa_ets_archiveTimeStamp		OBJ_id_smime_aa,27L
-
-#define SN_id_smime_aa_signatureType		"id-smime-aa-signatureType"
-#define NID_id_smime_aa_signatureType		239
-#define OBJ_id_smime_aa_signatureType		OBJ_id_smime_aa,28L
-
-#define SN_id_smime_aa_dvcs_dvc		"id-smime-aa-dvcs-dvc"
-#define NID_id_smime_aa_dvcs_dvc		240
-#define OBJ_id_smime_aa_dvcs_dvc		OBJ_id_smime_aa,29L
-
-#define SN_id_smime_alg_ESDHwith3DES		"id-smime-alg-ESDHwith3DES"
-#define NID_id_smime_alg_ESDHwith3DES		241
-#define OBJ_id_smime_alg_ESDHwith3DES		OBJ_id_smime_alg,1L
-
-#define SN_id_smime_alg_ESDHwithRC2		"id-smime-alg-ESDHwithRC2"
-#define NID_id_smime_alg_ESDHwithRC2		242
-#define OBJ_id_smime_alg_ESDHwithRC2		OBJ_id_smime_alg,2L
-
-#define SN_id_smime_alg_3DESwrap		"id-smime-alg-3DESwrap"
-#define NID_id_smime_alg_3DESwrap		243
-#define OBJ_id_smime_alg_3DESwrap		OBJ_id_smime_alg,3L
-
-#define SN_id_smime_alg_RC2wrap		"id-smime-alg-RC2wrap"
-#define NID_id_smime_alg_RC2wrap		244
-#define OBJ_id_smime_alg_RC2wrap		OBJ_id_smime_alg,4L
-
-#define SN_id_smime_alg_ESDH		"id-smime-alg-ESDH"
-#define NID_id_smime_alg_ESDH		245
-#define OBJ_id_smime_alg_ESDH		OBJ_id_smime_alg,5L
-
-#define SN_id_smime_alg_CMS3DESwrap		"id-smime-alg-CMS3DESwrap"
-#define NID_id_smime_alg_CMS3DESwrap		246
-#define OBJ_id_smime_alg_CMS3DESwrap		OBJ_id_smime_alg,6L
-
-#define SN_id_smime_alg_CMSRC2wrap		"id-smime-alg-CMSRC2wrap"
-#define NID_id_smime_alg_CMSRC2wrap		247
-#define OBJ_id_smime_alg_CMSRC2wrap		OBJ_id_smime_alg,7L
-
-#define SN_id_alg_PWRI_KEK		"id-alg-PWRI-KEK"
-#define NID_id_alg_PWRI_KEK		893
-#define OBJ_id_alg_PWRI_KEK		OBJ_id_smime_alg,9L
-
-#define SN_id_smime_cd_ldap		"id-smime-cd-ldap"
-#define NID_id_smime_cd_ldap		248
-#define OBJ_id_smime_cd_ldap		OBJ_id_smime_cd,1L
-
-#define SN_id_smime_spq_ets_sqt_uri		"id-smime-spq-ets-sqt-uri"
-#define NID_id_smime_spq_ets_sqt_uri		249
-#define OBJ_id_smime_spq_ets_sqt_uri		OBJ_id_smime_spq,1L
-
-#define SN_id_smime_spq_ets_sqt_unotice		"id-smime-spq-ets-sqt-unotice"
-#define NID_id_smime_spq_ets_sqt_unotice		250
-#define OBJ_id_smime_spq_ets_sqt_unotice		OBJ_id_smime_spq,2L
-
-#define SN_id_smime_cti_ets_proofOfOrigin		"id-smime-cti-ets-proofOfOrigin"
-#define NID_id_smime_cti_ets_proofOfOrigin		251
-#define OBJ_id_smime_cti_ets_proofOfOrigin		OBJ_id_smime_cti,1L
-
-#define SN_id_smime_cti_ets_proofOfReceipt		"id-smime-cti-ets-proofOfReceipt"
-#define NID_id_smime_cti_ets_proofOfReceipt		252
-#define OBJ_id_smime_cti_ets_proofOfReceipt		OBJ_id_smime_cti,2L
-
-#define SN_id_smime_cti_ets_proofOfDelivery		"id-smime-cti-ets-proofOfDelivery"
-#define NID_id_smime_cti_ets_proofOfDelivery		253
-#define OBJ_id_smime_cti_ets_proofOfDelivery		OBJ_id_smime_cti,3L
-
-#define SN_id_smime_cti_ets_proofOfSender		"id-smime-cti-ets-proofOfSender"
-#define NID_id_smime_cti_ets_proofOfSender		254
-#define OBJ_id_smime_cti_ets_proofOfSender		OBJ_id_smime_cti,4L
-
-#define SN_id_smime_cti_ets_proofOfApproval		"id-smime-cti-ets-proofOfApproval"
-#define NID_id_smime_cti_ets_proofOfApproval		255
-#define OBJ_id_smime_cti_ets_proofOfApproval		OBJ_id_smime_cti,5L
-
-#define SN_id_smime_cti_ets_proofOfCreation		"id-smime-cti-ets-proofOfCreation"
-#define NID_id_smime_cti_ets_proofOfCreation		256
-#define OBJ_id_smime_cti_ets_proofOfCreation		OBJ_id_smime_cti,6L
-
-#define LN_friendlyName		"friendlyName"
-#define NID_friendlyName		156
-#define OBJ_friendlyName		OBJ_pkcs9,20L
-
-#define LN_localKeyID		"localKeyID"
-#define NID_localKeyID		157
-#define OBJ_localKeyID		OBJ_pkcs9,21L
-
-#define SN_ms_csp_name		"CSPName"
-#define LN_ms_csp_name		"Microsoft CSP Name"
-#define NID_ms_csp_name		417
-#define OBJ_ms_csp_name		1L,3L,6L,1L,4L,1L,311L,17L,1L
-
-#define SN_LocalKeySet		"LocalKeySet"
-#define LN_LocalKeySet		"Microsoft Local Key set"
-#define NID_LocalKeySet		856
-#define OBJ_LocalKeySet		1L,3L,6L,1L,4L,1L,311L,17L,2L
-
-#define OBJ_certTypes		OBJ_pkcs9,22L
-
-#define LN_x509Certificate		"x509Certificate"
-#define NID_x509Certificate		158
-#define OBJ_x509Certificate		OBJ_certTypes,1L
-
-#define LN_sdsiCertificate		"sdsiCertificate"
-#define NID_sdsiCertificate		159
-#define OBJ_sdsiCertificate		OBJ_certTypes,2L
-
-#define OBJ_crlTypes		OBJ_pkcs9,23L
-
-#define LN_x509Crl		"x509Crl"
-#define NID_x509Crl		160
-#define OBJ_x509Crl		OBJ_crlTypes,1L
-
-#define OBJ_pkcs12		OBJ_pkcs,12L
-
-#define OBJ_pkcs12_pbeids		OBJ_pkcs12,1L
-
-#define SN_pbe_WithSHA1And128BitRC4		"PBE-SHA1-RC4-128"
-#define LN_pbe_WithSHA1And128BitRC4		"pbeWithSHA1And128BitRC4"
-#define NID_pbe_WithSHA1And128BitRC4		144
-#define OBJ_pbe_WithSHA1And128BitRC4		OBJ_pkcs12_pbeids,1L
-
-#define SN_pbe_WithSHA1And40BitRC4		"PBE-SHA1-RC4-40"
-#define LN_pbe_WithSHA1And40BitRC4		"pbeWithSHA1And40BitRC4"
-#define NID_pbe_WithSHA1And40BitRC4		145
-#define OBJ_pbe_WithSHA1And40BitRC4		OBJ_pkcs12_pbeids,2L
-
-#define SN_pbe_WithSHA1And3_Key_TripleDES_CBC		"PBE-SHA1-3DES"
-#define LN_pbe_WithSHA1And3_Key_TripleDES_CBC		"pbeWithSHA1And3-KeyTripleDES-CBC"
-#define NID_pbe_WithSHA1And3_Key_TripleDES_CBC		146
-#define OBJ_pbe_WithSHA1And3_Key_TripleDES_CBC		OBJ_pkcs12_pbeids,3L
-
-#define SN_pbe_WithSHA1And2_Key_TripleDES_CBC		"PBE-SHA1-2DES"
-#define LN_pbe_WithSHA1And2_Key_TripleDES_CBC		"pbeWithSHA1And2-KeyTripleDES-CBC"
-#define NID_pbe_WithSHA1And2_Key_TripleDES_CBC		147
-#define OBJ_pbe_WithSHA1And2_Key_TripleDES_CBC		OBJ_pkcs12_pbeids,4L
-
-#define SN_pbe_WithSHA1And128BitRC2_CBC		"PBE-SHA1-RC2-128"
-#define LN_pbe_WithSHA1And128BitRC2_CBC		"pbeWithSHA1And128BitRC2-CBC"
-#define NID_pbe_WithSHA1And128BitRC2_CBC		148
-#define OBJ_pbe_WithSHA1And128BitRC2_CBC		OBJ_pkcs12_pbeids,5L
-
-#define SN_pbe_WithSHA1And40BitRC2_CBC		"PBE-SHA1-RC2-40"
-#define LN_pbe_WithSHA1And40BitRC2_CBC		"pbeWithSHA1And40BitRC2-CBC"
-#define NID_pbe_WithSHA1And40BitRC2_CBC		149
-#define OBJ_pbe_WithSHA1And40BitRC2_CBC		OBJ_pkcs12_pbeids,6L
-
-#define OBJ_pkcs12_Version1		OBJ_pkcs12,10L
-
-#define OBJ_pkcs12_BagIds		OBJ_pkcs12_Version1,1L
-
-#define LN_keyBag		"keyBag"
-#define NID_keyBag		150
-#define OBJ_keyBag		OBJ_pkcs12_BagIds,1L
-
-#define LN_pkcs8ShroudedKeyBag		"pkcs8ShroudedKeyBag"
-#define NID_pkcs8ShroudedKeyBag		151
-#define OBJ_pkcs8ShroudedKeyBag		OBJ_pkcs12_BagIds,2L
-
-#define LN_certBag		"certBag"
-#define NID_certBag		152
-#define OBJ_certBag		OBJ_pkcs12_BagIds,3L
-
-#define LN_crlBag		"crlBag"
-#define NID_crlBag		153
-#define OBJ_crlBag		OBJ_pkcs12_BagIds,4L
-
-#define LN_secretBag		"secretBag"
-#define NID_secretBag		154
-#define OBJ_secretBag		OBJ_pkcs12_BagIds,5L
-
-#define LN_safeContentsBag		"safeContentsBag"
-#define NID_safeContentsBag		155
-#define OBJ_safeContentsBag		OBJ_pkcs12_BagIds,6L
-
-#define SN_md2		"MD2"
-#define LN_md2		"md2"
-#define NID_md2		3
-#define OBJ_md2		OBJ_rsadsi,2L,2L
-
-#define SN_md4		"MD4"
-#define LN_md4		"md4"
-#define NID_md4		257
-#define OBJ_md4		OBJ_rsadsi,2L,4L
-
-#define SN_md5		"MD5"
-#define LN_md5		"md5"
-#define NID_md5		4
-#define OBJ_md5		OBJ_rsadsi,2L,5L
-
-#define SN_md5_sha1		"MD5-SHA1"
-#define LN_md5_sha1		"md5-sha1"
-#define NID_md5_sha1		114
-
-#define LN_hmacWithMD5		"hmacWithMD5"
-#define NID_hmacWithMD5		797
-#define OBJ_hmacWithMD5		OBJ_rsadsi,2L,6L
-
-#define LN_hmacWithSHA1		"hmacWithSHA1"
-#define NID_hmacWithSHA1		163
-#define OBJ_hmacWithSHA1		OBJ_rsadsi,2L,7L
-
-#define LN_hmacWithSHA224		"hmacWithSHA224"
-#define NID_hmacWithSHA224		798
-#define OBJ_hmacWithSHA224		OBJ_rsadsi,2L,8L
-
-#define LN_hmacWithSHA256		"hmacWithSHA256"
-#define NID_hmacWithSHA256		799
-#define OBJ_hmacWithSHA256		OBJ_rsadsi,2L,9L
-
-#define LN_hmacWithSHA384		"hmacWithSHA384"
-#define NID_hmacWithSHA384		800
-#define OBJ_hmacWithSHA384		OBJ_rsadsi,2L,10L
-
-#define LN_hmacWithSHA512		"hmacWithSHA512"
-#define NID_hmacWithSHA512		801
-#define OBJ_hmacWithSHA512		OBJ_rsadsi,2L,11L
-
-#define SN_rc2_cbc		"RC2-CBC"
-#define LN_rc2_cbc		"rc2-cbc"
-#define NID_rc2_cbc		37
-#define OBJ_rc2_cbc		OBJ_rsadsi,3L,2L
-
-#define SN_rc2_ecb		"RC2-ECB"
-#define LN_rc2_ecb		"rc2-ecb"
-#define NID_rc2_ecb		38
-
-#define SN_rc2_cfb64		"RC2-CFB"
-#define LN_rc2_cfb64		"rc2-cfb"
-#define NID_rc2_cfb64		39
-
-#define SN_rc2_ofb64		"RC2-OFB"
-#define LN_rc2_ofb64		"rc2-ofb"
-#define NID_rc2_ofb64		40
-
-#define SN_rc2_40_cbc		"RC2-40-CBC"
-#define LN_rc2_40_cbc		"rc2-40-cbc"
-#define NID_rc2_40_cbc		98
-
-#define SN_rc2_64_cbc		"RC2-64-CBC"
-#define LN_rc2_64_cbc		"rc2-64-cbc"
-#define NID_rc2_64_cbc		166
-
-#define SN_rc4		"RC4"
-#define LN_rc4		"rc4"
-#define NID_rc4		5
-#define OBJ_rc4		OBJ_rsadsi,3L,4L
-
-#define SN_rc4_40		"RC4-40"
-#define LN_rc4_40		"rc4-40"
-#define NID_rc4_40		97
-
-#define SN_des_ede3_cbc		"DES-EDE3-CBC"
-#define LN_des_ede3_cbc		"des-ede3-cbc"
-#define NID_des_ede3_cbc		44
-#define OBJ_des_ede3_cbc		OBJ_rsadsi,3L,7L
-
-#define SN_rc5_cbc		"RC5-CBC"
-#define LN_rc5_cbc		"rc5-cbc"
-#define NID_rc5_cbc		120
-#define OBJ_rc5_cbc		OBJ_rsadsi,3L,8L
-
-#define SN_rc5_ecb		"RC5-ECB"
-#define LN_rc5_ecb		"rc5-ecb"
-#define NID_rc5_ecb		121
-
-#define SN_rc5_cfb64		"RC5-CFB"
-#define LN_rc5_cfb64		"rc5-cfb"
-#define NID_rc5_cfb64		122
-
-#define SN_rc5_ofb64		"RC5-OFB"
-#define LN_rc5_ofb64		"rc5-ofb"
-#define NID_rc5_ofb64		123
-
-#define SN_ms_ext_req		"msExtReq"
-#define LN_ms_ext_req		"Microsoft Extension Request"
-#define NID_ms_ext_req		171
-#define OBJ_ms_ext_req		1L,3L,6L,1L,4L,1L,311L,2L,1L,14L
-
-#define SN_ms_code_ind		"msCodeInd"
-#define LN_ms_code_ind		"Microsoft Individual Code Signing"
-#define NID_ms_code_ind		134
-#define OBJ_ms_code_ind		1L,3L,6L,1L,4L,1L,311L,2L,1L,21L
-
-#define SN_ms_code_com		"msCodeCom"
-#define LN_ms_code_com		"Microsoft Commercial Code Signing"
-#define NID_ms_code_com		135
-#define OBJ_ms_code_com		1L,3L,6L,1L,4L,1L,311L,2L,1L,22L
-
-#define SN_ms_ctl_sign		"msCTLSign"
-#define LN_ms_ctl_sign		"Microsoft Trust List Signing"
-#define NID_ms_ctl_sign		136
-#define OBJ_ms_ctl_sign		1L,3L,6L,1L,4L,1L,311L,10L,3L,1L
-
-#define SN_ms_sgc		"msSGC"
-#define LN_ms_sgc		"Microsoft Server Gated Crypto"
-#define NID_ms_sgc		137
-#define OBJ_ms_sgc		1L,3L,6L,1L,4L,1L,311L,10L,3L,3L
-
-#define SN_ms_efs		"msEFS"
-#define LN_ms_efs		"Microsoft Encrypted File System"
-#define NID_ms_efs		138
-#define OBJ_ms_efs		1L,3L,6L,1L,4L,1L,311L,10L,3L,4L
-
-#define SN_ms_smartcard_login		"msSmartcardLogin"
-#define LN_ms_smartcard_login		"Microsoft Smartcardlogin"
-#define NID_ms_smartcard_login		648
-#define OBJ_ms_smartcard_login		1L,3L,6L,1L,4L,1L,311L,20L,2L,2L
-
-#define SN_ms_upn		"msUPN"
-#define LN_ms_upn		"Microsoft Universal Principal Name"
-#define NID_ms_upn		649
-#define OBJ_ms_upn		1L,3L,6L,1L,4L,1L,311L,20L,2L,3L
-
-#define SN_idea_cbc		"IDEA-CBC"
-#define LN_idea_cbc		"idea-cbc"
-#define NID_idea_cbc		34
-#define OBJ_idea_cbc		1L,3L,6L,1L,4L,1L,188L,7L,1L,1L,2L
-
-#define SN_idea_ecb		"IDEA-ECB"
-#define LN_idea_ecb		"idea-ecb"
-#define NID_idea_ecb		36
-
-#define SN_idea_cfb64		"IDEA-CFB"
-#define LN_idea_cfb64		"idea-cfb"
-#define NID_idea_cfb64		35
-
-#define SN_idea_ofb64		"IDEA-OFB"
-#define LN_idea_ofb64		"idea-ofb"
-#define NID_idea_ofb64		46
-
-#define SN_bf_cbc		"BF-CBC"
-#define LN_bf_cbc		"bf-cbc"
-#define NID_bf_cbc		91
-#define OBJ_bf_cbc		1L,3L,6L,1L,4L,1L,3029L,1L,2L
-
-#define SN_bf_ecb		"BF-ECB"
-#define LN_bf_ecb		"bf-ecb"
-#define NID_bf_ecb		92
-
-#define SN_bf_cfb64		"BF-CFB"
-#define LN_bf_cfb64		"bf-cfb"
-#define NID_bf_cfb64		93
-
-#define SN_bf_ofb64		"BF-OFB"
-#define LN_bf_ofb64		"bf-ofb"
-#define NID_bf_ofb64		94
-
-#define SN_id_pkix		"PKIX"
-#define NID_id_pkix		127
-#define OBJ_id_pkix		1L,3L,6L,1L,5L,5L,7L
-
-#define SN_id_pkix_mod		"id-pkix-mod"
-#define NID_id_pkix_mod		258
-#define OBJ_id_pkix_mod		OBJ_id_pkix,0L
-
-#define SN_id_pe		"id-pe"
-#define NID_id_pe		175
-#define OBJ_id_pe		OBJ_id_pkix,1L
-
-#define SN_id_qt		"id-qt"
-#define NID_id_qt		259
-#define OBJ_id_qt		OBJ_id_pkix,2L
-
-#define SN_id_kp		"id-kp"
-#define NID_id_kp		128
-#define OBJ_id_kp		OBJ_id_pkix,3L
-
-#define SN_id_it		"id-it"
-#define NID_id_it		260
-#define OBJ_id_it		OBJ_id_pkix,4L
-
-#define SN_id_pkip		"id-pkip"
-#define NID_id_pkip		261
-#define OBJ_id_pkip		OBJ_id_pkix,5L
-
-#define SN_id_alg		"id-alg"
-#define NID_id_alg		262
-#define OBJ_id_alg		OBJ_id_pkix,6L
-
-#define SN_id_cmc		"id-cmc"
-#define NID_id_cmc		263
-#define OBJ_id_cmc		OBJ_id_pkix,7L
-
-#define SN_id_on		"id-on"
-#define NID_id_on		264
-#define OBJ_id_on		OBJ_id_pkix,8L
-
-#define SN_id_pda		"id-pda"
-#define NID_id_pda		265
-#define OBJ_id_pda		OBJ_id_pkix,9L
-
-#define SN_id_aca		"id-aca"
-#define NID_id_aca		266
-#define OBJ_id_aca		OBJ_id_pkix,10L
-
-#define SN_id_qcs		"id-qcs"
-#define NID_id_qcs		267
-#define OBJ_id_qcs		OBJ_id_pkix,11L
-
-#define SN_id_cct		"id-cct"
-#define NID_id_cct		268
-#define OBJ_id_cct		OBJ_id_pkix,12L
-
-#define SN_id_ppl		"id-ppl"
-#define NID_id_ppl		662
-#define OBJ_id_ppl		OBJ_id_pkix,21L
-
-#define SN_id_ad		"id-ad"
-#define NID_id_ad		176
-#define OBJ_id_ad		OBJ_id_pkix,48L
-
-#define SN_id_pkix1_explicit_88		"id-pkix1-explicit-88"
-#define NID_id_pkix1_explicit_88		269
-#define OBJ_id_pkix1_explicit_88		OBJ_id_pkix_mod,1L
-
-#define SN_id_pkix1_implicit_88		"id-pkix1-implicit-88"
-#define NID_id_pkix1_implicit_88		270
-#define OBJ_id_pkix1_implicit_88		OBJ_id_pkix_mod,2L
-
-#define SN_id_pkix1_explicit_93		"id-pkix1-explicit-93"
-#define NID_id_pkix1_explicit_93		271
-#define OBJ_id_pkix1_explicit_93		OBJ_id_pkix_mod,3L
-
-#define SN_id_pkix1_implicit_93		"id-pkix1-implicit-93"
-#define NID_id_pkix1_implicit_93		272
-#define OBJ_id_pkix1_implicit_93		OBJ_id_pkix_mod,4L
-
-#define SN_id_mod_crmf		"id-mod-crmf"
-#define NID_id_mod_crmf		273
-#define OBJ_id_mod_crmf		OBJ_id_pkix_mod,5L
-
-#define SN_id_mod_cmc		"id-mod-cmc"
-#define NID_id_mod_cmc		274
-#define OBJ_id_mod_cmc		OBJ_id_pkix_mod,6L
-
-#define SN_id_mod_kea_profile_88		"id-mod-kea-profile-88"
-#define NID_id_mod_kea_profile_88		275
-#define OBJ_id_mod_kea_profile_88		OBJ_id_pkix_mod,7L
-
-#define SN_id_mod_kea_profile_93		"id-mod-kea-profile-93"
-#define NID_id_mod_kea_profile_93		276
-#define OBJ_id_mod_kea_profile_93		OBJ_id_pkix_mod,8L
-
-#define SN_id_mod_cmp		"id-mod-cmp"
-#define NID_id_mod_cmp		277
-#define OBJ_id_mod_cmp		OBJ_id_pkix_mod,9L
-
-#define SN_id_mod_qualified_cert_88		"id-mod-qualified-cert-88"
-#define NID_id_mod_qualified_cert_88		278
-#define OBJ_id_mod_qualified_cert_88		OBJ_id_pkix_mod,10L
-
-#define SN_id_mod_qualified_cert_93		"id-mod-qualified-cert-93"
-#define NID_id_mod_qualified_cert_93		279
-#define OBJ_id_mod_qualified_cert_93		OBJ_id_pkix_mod,11L
-
-#define SN_id_mod_attribute_cert		"id-mod-attribute-cert"
-#define NID_id_mod_attribute_cert		280
-#define OBJ_id_mod_attribute_cert		OBJ_id_pkix_mod,12L
-
-#define SN_id_mod_timestamp_protocol		"id-mod-timestamp-protocol"
-#define NID_id_mod_timestamp_protocol		281
-#define OBJ_id_mod_timestamp_protocol		OBJ_id_pkix_mod,13L
-
-#define SN_id_mod_ocsp		"id-mod-ocsp"
-#define NID_id_mod_ocsp		282
-#define OBJ_id_mod_ocsp		OBJ_id_pkix_mod,14L
-
-#define SN_id_mod_dvcs		"id-mod-dvcs"
-#define NID_id_mod_dvcs		283
-#define OBJ_id_mod_dvcs		OBJ_id_pkix_mod,15L
-
-#define SN_id_mod_cmp2000		"id-mod-cmp2000"
-#define NID_id_mod_cmp2000		284
-#define OBJ_id_mod_cmp2000		OBJ_id_pkix_mod,16L
-
-#define SN_info_access		"authorityInfoAccess"
-#define LN_info_access		"Authority Information Access"
-#define NID_info_access		177
-#define OBJ_info_access		OBJ_id_pe,1L
-
-#define SN_biometricInfo		"biometricInfo"
-#define LN_biometricInfo		"Biometric Info"
-#define NID_biometricInfo		285
-#define OBJ_biometricInfo		OBJ_id_pe,2L
-
-#define SN_qcStatements		"qcStatements"
-#define NID_qcStatements		286
-#define OBJ_qcStatements		OBJ_id_pe,3L
-
-#define SN_ac_auditEntity		"ac-auditEntity"
-#define NID_ac_auditEntity		287
-#define OBJ_ac_auditEntity		OBJ_id_pe,4L
-
-#define SN_ac_targeting		"ac-targeting"
-#define NID_ac_targeting		288
-#define OBJ_ac_targeting		OBJ_id_pe,5L
-
-#define SN_aaControls		"aaControls"
-#define NID_aaControls		289
-#define OBJ_aaControls		OBJ_id_pe,6L
-
-#define SN_sbgp_ipAddrBlock		"sbgp-ipAddrBlock"
-#define NID_sbgp_ipAddrBlock		290
-#define OBJ_sbgp_ipAddrBlock		OBJ_id_pe,7L
-
-#define SN_sbgp_autonomousSysNum		"sbgp-autonomousSysNum"
-#define NID_sbgp_autonomousSysNum		291
-#define OBJ_sbgp_autonomousSysNum		OBJ_id_pe,8L
-
-#define SN_sbgp_routerIdentifier		"sbgp-routerIdentifier"
-#define NID_sbgp_routerIdentifier		292
-#define OBJ_sbgp_routerIdentifier		OBJ_id_pe,9L
-
-#define SN_ac_proxying		"ac-proxying"
-#define NID_ac_proxying		397
-#define OBJ_ac_proxying		OBJ_id_pe,10L
-
-#define SN_sinfo_access		"subjectInfoAccess"
-#define LN_sinfo_access		"Subject Information Access"
-#define NID_sinfo_access		398
-#define OBJ_sinfo_access		OBJ_id_pe,11L
-
-#define SN_proxyCertInfo		"proxyCertInfo"
-#define LN_proxyCertInfo		"Proxy Certificate Information"
-#define NID_proxyCertInfo		663
-#define OBJ_proxyCertInfo		OBJ_id_pe,14L
-
-#define SN_id_qt_cps		"id-qt-cps"
-#define LN_id_qt_cps		"Policy Qualifier CPS"
-#define NID_id_qt_cps		164
-#define OBJ_id_qt_cps		OBJ_id_qt,1L
-
-#define SN_id_qt_unotice		"id-qt-unotice"
-#define LN_id_qt_unotice		"Policy Qualifier User Notice"
-#define NID_id_qt_unotice		165
-#define OBJ_id_qt_unotice		OBJ_id_qt,2L
-
-#define SN_textNotice		"textNotice"
-#define NID_textNotice		293
-#define OBJ_textNotice		OBJ_id_qt,3L
-
-#define SN_server_auth		"serverAuth"
-#define LN_server_auth		"TLS Web Server Authentication"
-#define NID_server_auth		129
-#define OBJ_server_auth		OBJ_id_kp,1L
-
-#define SN_client_auth		"clientAuth"
-#define LN_client_auth		"TLS Web Client Authentication"
-#define NID_client_auth		130
-#define OBJ_client_auth		OBJ_id_kp,2L
-
-#define SN_code_sign		"codeSigning"
-#define LN_code_sign		"Code Signing"
-#define NID_code_sign		131
-#define OBJ_code_sign		OBJ_id_kp,3L
-
-#define SN_email_protect		"emailProtection"
-#define LN_email_protect		"E-mail Protection"
-#define NID_email_protect		132
-#define OBJ_email_protect		OBJ_id_kp,4L
-
-#define SN_ipsecEndSystem		"ipsecEndSystem"
-#define LN_ipsecEndSystem		"IPSec End System"
-#define NID_ipsecEndSystem		294
-#define OBJ_ipsecEndSystem		OBJ_id_kp,5L
-
-#define SN_ipsecTunnel		"ipsecTunnel"
-#define LN_ipsecTunnel		"IPSec Tunnel"
-#define NID_ipsecTunnel		295
-#define OBJ_ipsecTunnel		OBJ_id_kp,6L
-
-#define SN_ipsecUser		"ipsecUser"
-#define LN_ipsecUser		"IPSec User"
-#define NID_ipsecUser		296
-#define OBJ_ipsecUser		OBJ_id_kp,7L
-
-#define SN_time_stamp		"timeStamping"
-#define LN_time_stamp		"Time Stamping"
-#define NID_time_stamp		133
-#define OBJ_time_stamp		OBJ_id_kp,8L
-
-#define SN_OCSP_sign		"OCSPSigning"
-#define LN_OCSP_sign		"OCSP Signing"
-#define NID_OCSP_sign		180
-#define OBJ_OCSP_sign		OBJ_id_kp,9L
-
-#define SN_dvcs		"DVCS"
-#define LN_dvcs		"dvcs"
-#define NID_dvcs		297
-#define OBJ_dvcs		OBJ_id_kp,10L
-
-#define SN_id_it_caProtEncCert		"id-it-caProtEncCert"
-#define NID_id_it_caProtEncCert		298
-#define OBJ_id_it_caProtEncCert		OBJ_id_it,1L
-
-#define SN_id_it_signKeyPairTypes		"id-it-signKeyPairTypes"
-#define NID_id_it_signKeyPairTypes		299
-#define OBJ_id_it_signKeyPairTypes		OBJ_id_it,2L
-
-#define SN_id_it_encKeyPairTypes		"id-it-encKeyPairTypes"
-#define NID_id_it_encKeyPairTypes		300
-#define OBJ_id_it_encKeyPairTypes		OBJ_id_it,3L
-
-#define SN_id_it_preferredSymmAlg		"id-it-preferredSymmAlg"
-#define NID_id_it_preferredSymmAlg		301
-#define OBJ_id_it_preferredSymmAlg		OBJ_id_it,4L
-
-#define SN_id_it_caKeyUpdateInfo		"id-it-caKeyUpdateInfo"
-#define NID_id_it_caKeyUpdateInfo		302
-#define OBJ_id_it_caKeyUpdateInfo		OBJ_id_it,5L
-
-#define SN_id_it_currentCRL		"id-it-currentCRL"
-#define NID_id_it_currentCRL		303
-#define OBJ_id_it_currentCRL		OBJ_id_it,6L
-
-#define SN_id_it_unsupportedOIDs		"id-it-unsupportedOIDs"
-#define NID_id_it_unsupportedOIDs		304
-#define OBJ_id_it_unsupportedOIDs		OBJ_id_it,7L
-
-#define SN_id_it_subscriptionRequest		"id-it-subscriptionRequest"
-#define NID_id_it_subscriptionRequest		305
-#define OBJ_id_it_subscriptionRequest		OBJ_id_it,8L
-
-#define SN_id_it_subscriptionResponse		"id-it-subscriptionResponse"
-#define NID_id_it_subscriptionResponse		306
-#define OBJ_id_it_subscriptionResponse		OBJ_id_it,9L
-
-#define SN_id_it_keyPairParamReq		"id-it-keyPairParamReq"
-#define NID_id_it_keyPairParamReq		307
-#define OBJ_id_it_keyPairParamReq		OBJ_id_it,10L
-
-#define SN_id_it_keyPairParamRep		"id-it-keyPairParamRep"
-#define NID_id_it_keyPairParamRep		308
-#define OBJ_id_it_keyPairParamRep		OBJ_id_it,11L
-
-#define SN_id_it_revPassphrase		"id-it-revPassphrase"
-#define NID_id_it_revPassphrase		309
-#define OBJ_id_it_revPassphrase		OBJ_id_it,12L
-
-#define SN_id_it_implicitConfirm		"id-it-implicitConfirm"
-#define NID_id_it_implicitConfirm		310
-#define OBJ_id_it_implicitConfirm		OBJ_id_it,13L
-
-#define SN_id_it_confirmWaitTime		"id-it-confirmWaitTime"
-#define NID_id_it_confirmWaitTime		311
-#define OBJ_id_it_confirmWaitTime		OBJ_id_it,14L
-
-#define SN_id_it_origPKIMessage		"id-it-origPKIMessage"
-#define NID_id_it_origPKIMessage		312
-#define OBJ_id_it_origPKIMessage		OBJ_id_it,15L
-
-#define SN_id_it_suppLangTags		"id-it-suppLangTags"
-#define NID_id_it_suppLangTags		784
-#define OBJ_id_it_suppLangTags		OBJ_id_it,16L
-
-#define SN_id_regCtrl		"id-regCtrl"
-#define NID_id_regCtrl		313
-#define OBJ_id_regCtrl		OBJ_id_pkip,1L
-
-#define SN_id_regInfo		"id-regInfo"
-#define NID_id_regInfo		314
-#define OBJ_id_regInfo		OBJ_id_pkip,2L
-
-#define SN_id_regCtrl_regToken		"id-regCtrl-regToken"
-#define NID_id_regCtrl_regToken		315
-#define OBJ_id_regCtrl_regToken		OBJ_id_regCtrl,1L
-
-#define SN_id_regCtrl_authenticator		"id-regCtrl-authenticator"
-#define NID_id_regCtrl_authenticator		316
-#define OBJ_id_regCtrl_authenticator		OBJ_id_regCtrl,2L
-
-#define SN_id_regCtrl_pkiPublicationInfo		"id-regCtrl-pkiPublicationInfo"
-#define NID_id_regCtrl_pkiPublicationInfo		317
-#define OBJ_id_regCtrl_pkiPublicationInfo		OBJ_id_regCtrl,3L
-
-#define SN_id_regCtrl_pkiArchiveOptions		"id-regCtrl-pkiArchiveOptions"
-#define NID_id_regCtrl_pkiArchiveOptions		318
-#define OBJ_id_regCtrl_pkiArchiveOptions		OBJ_id_regCtrl,4L
-
-#define SN_id_regCtrl_oldCertID		"id-regCtrl-oldCertID"
-#define NID_id_regCtrl_oldCertID		319
-#define OBJ_id_regCtrl_oldCertID		OBJ_id_regCtrl,5L
-
-#define SN_id_regCtrl_protocolEncrKey		"id-regCtrl-protocolEncrKey"
-#define NID_id_regCtrl_protocolEncrKey		320
-#define OBJ_id_regCtrl_protocolEncrKey		OBJ_id_regCtrl,6L
-
-#define SN_id_regInfo_utf8Pairs		"id-regInfo-utf8Pairs"
-#define NID_id_regInfo_utf8Pairs		321
-#define OBJ_id_regInfo_utf8Pairs		OBJ_id_regInfo,1L
-
-#define SN_id_regInfo_certReq		"id-regInfo-certReq"
-#define NID_id_regInfo_certReq		322
-#define OBJ_id_regInfo_certReq		OBJ_id_regInfo,2L
-
-#define SN_id_alg_des40		"id-alg-des40"
-#define NID_id_alg_des40		323
-#define OBJ_id_alg_des40		OBJ_id_alg,1L
-
-#define SN_id_alg_noSignature		"id-alg-noSignature"
-#define NID_id_alg_noSignature		324
-#define OBJ_id_alg_noSignature		OBJ_id_alg,2L
-
-#define SN_id_alg_dh_sig_hmac_sha1		"id-alg-dh-sig-hmac-sha1"
-#define NID_id_alg_dh_sig_hmac_sha1		325
-#define OBJ_id_alg_dh_sig_hmac_sha1		OBJ_id_alg,3L
-
-#define SN_id_alg_dh_pop		"id-alg-dh-pop"
-#define NID_id_alg_dh_pop		326
-#define OBJ_id_alg_dh_pop		OBJ_id_alg,4L
-
-#define SN_id_cmc_statusInfo		"id-cmc-statusInfo"
-#define NID_id_cmc_statusInfo		327
-#define OBJ_id_cmc_statusInfo		OBJ_id_cmc,1L
-
-#define SN_id_cmc_identification		"id-cmc-identification"
-#define NID_id_cmc_identification		328
-#define OBJ_id_cmc_identification		OBJ_id_cmc,2L
-
-#define SN_id_cmc_identityProof		"id-cmc-identityProof"
-#define NID_id_cmc_identityProof		329
-#define OBJ_id_cmc_identityProof		OBJ_id_cmc,3L
-
-#define SN_id_cmc_dataReturn		"id-cmc-dataReturn"
-#define NID_id_cmc_dataReturn		330
-#define OBJ_id_cmc_dataReturn		OBJ_id_cmc,4L
-
-#define SN_id_cmc_transactionId		"id-cmc-transactionId"
-#define NID_id_cmc_transactionId		331
-#define OBJ_id_cmc_transactionId		OBJ_id_cmc,5L
-
-#define SN_id_cmc_senderNonce		"id-cmc-senderNonce"
-#define NID_id_cmc_senderNonce		332
-#define OBJ_id_cmc_senderNonce		OBJ_id_cmc,6L
-
-#define SN_id_cmc_recipientNonce		"id-cmc-recipientNonce"
-#define NID_id_cmc_recipientNonce		333
-#define OBJ_id_cmc_recipientNonce		OBJ_id_cmc,7L
-
-#define SN_id_cmc_addExtensions		"id-cmc-addExtensions"
-#define NID_id_cmc_addExtensions		334
-#define OBJ_id_cmc_addExtensions		OBJ_id_cmc,8L
-
-#define SN_id_cmc_encryptedPOP		"id-cmc-encryptedPOP"
-#define NID_id_cmc_encryptedPOP		335
-#define OBJ_id_cmc_encryptedPOP		OBJ_id_cmc,9L
-
-#define SN_id_cmc_decryptedPOP		"id-cmc-decryptedPOP"
-#define NID_id_cmc_decryptedPOP		336
-#define OBJ_id_cmc_decryptedPOP		OBJ_id_cmc,10L
-
-#define SN_id_cmc_lraPOPWitness		"id-cmc-lraPOPWitness"
-#define NID_id_cmc_lraPOPWitness		337
-#define OBJ_id_cmc_lraPOPWitness		OBJ_id_cmc,11L
-
-#define SN_id_cmc_getCert		"id-cmc-getCert"
-#define NID_id_cmc_getCert		338
-#define OBJ_id_cmc_getCert		OBJ_id_cmc,15L
-
-#define SN_id_cmc_getCRL		"id-cmc-getCRL"
-#define NID_id_cmc_getCRL		339
-#define OBJ_id_cmc_getCRL		OBJ_id_cmc,16L
-
-#define SN_id_cmc_revokeRequest		"id-cmc-revokeRequest"
-#define NID_id_cmc_revokeRequest		340
-#define OBJ_id_cmc_revokeRequest		OBJ_id_cmc,17L
-
-#define SN_id_cmc_regInfo		"id-cmc-regInfo"
-#define NID_id_cmc_regInfo		341
-#define OBJ_id_cmc_regInfo		OBJ_id_cmc,18L
-
-#define SN_id_cmc_responseInfo		"id-cmc-responseInfo"
-#define NID_id_cmc_responseInfo		342
-#define OBJ_id_cmc_responseInfo		OBJ_id_cmc,19L
-
-#define SN_id_cmc_queryPending		"id-cmc-queryPending"
-#define NID_id_cmc_queryPending		343
-#define OBJ_id_cmc_queryPending		OBJ_id_cmc,21L
-
-#define SN_id_cmc_popLinkRandom		"id-cmc-popLinkRandom"
-#define NID_id_cmc_popLinkRandom		344
-#define OBJ_id_cmc_popLinkRandom		OBJ_id_cmc,22L
-
-#define SN_id_cmc_popLinkWitness		"id-cmc-popLinkWitness"
-#define NID_id_cmc_popLinkWitness		345
-#define OBJ_id_cmc_popLinkWitness		OBJ_id_cmc,23L
-
-#define SN_id_cmc_confirmCertAcceptance		"id-cmc-confirmCertAcceptance"
-#define NID_id_cmc_confirmCertAcceptance		346
-#define OBJ_id_cmc_confirmCertAcceptance		OBJ_id_cmc,24L
-
-#define SN_id_on_personalData		"id-on-personalData"
-#define NID_id_on_personalData		347
-#define OBJ_id_on_personalData		OBJ_id_on,1L
-
-#define SN_id_on_permanentIdentifier		"id-on-permanentIdentifier"
-#define LN_id_on_permanentIdentifier		"Permanent Identifier"
-#define NID_id_on_permanentIdentifier		858
-#define OBJ_id_on_permanentIdentifier		OBJ_id_on,3L
-
-#define SN_id_pda_dateOfBirth		"id-pda-dateOfBirth"
-#define NID_id_pda_dateOfBirth		348
-#define OBJ_id_pda_dateOfBirth		OBJ_id_pda,1L
-
-#define SN_id_pda_placeOfBirth		"id-pda-placeOfBirth"
-#define NID_id_pda_placeOfBirth		349
-#define OBJ_id_pda_placeOfBirth		OBJ_id_pda,2L
-
-#define SN_id_pda_gender		"id-pda-gender"
-#define NID_id_pda_gender		351
-#define OBJ_id_pda_gender		OBJ_id_pda,3L
-
-#define SN_id_pda_countryOfCitizenship		"id-pda-countryOfCitizenship"
-#define NID_id_pda_countryOfCitizenship		352
-#define OBJ_id_pda_countryOfCitizenship		OBJ_id_pda,4L
-
-#define SN_id_pda_countryOfResidence		"id-pda-countryOfResidence"
-#define NID_id_pda_countryOfResidence		353
-#define OBJ_id_pda_countryOfResidence		OBJ_id_pda,5L
-
-#define SN_id_aca_authenticationInfo		"id-aca-authenticationInfo"
-#define NID_id_aca_authenticationInfo		354
-#define OBJ_id_aca_authenticationInfo		OBJ_id_aca,1L
-
-#define SN_id_aca_accessIdentity		"id-aca-accessIdentity"
-#define NID_id_aca_accessIdentity		355
-#define OBJ_id_aca_accessIdentity		OBJ_id_aca,2L
-
-#define SN_id_aca_chargingIdentity		"id-aca-chargingIdentity"
-#define NID_id_aca_chargingIdentity		356
-#define OBJ_id_aca_chargingIdentity		OBJ_id_aca,3L
-
-#define SN_id_aca_group		"id-aca-group"
-#define NID_id_aca_group		357
-#define OBJ_id_aca_group		OBJ_id_aca,4L
-
-#define SN_id_aca_role		"id-aca-role"
-#define NID_id_aca_role		358
-#define OBJ_id_aca_role		OBJ_id_aca,5L
-
-#define SN_id_aca_encAttrs		"id-aca-encAttrs"
-#define NID_id_aca_encAttrs		399
-#define OBJ_id_aca_encAttrs		OBJ_id_aca,6L
-
-#define SN_id_qcs_pkixQCSyntax_v1		"id-qcs-pkixQCSyntax-v1"
-#define NID_id_qcs_pkixQCSyntax_v1		359
-#define OBJ_id_qcs_pkixQCSyntax_v1		OBJ_id_qcs,1L
-
-#define SN_id_cct_crs		"id-cct-crs"
-#define NID_id_cct_crs		360
-#define OBJ_id_cct_crs		OBJ_id_cct,1L
-
-#define SN_id_cct_PKIData		"id-cct-PKIData"
-#define NID_id_cct_PKIData		361
-#define OBJ_id_cct_PKIData		OBJ_id_cct,2L
-
-#define SN_id_cct_PKIResponse		"id-cct-PKIResponse"
-#define NID_id_cct_PKIResponse		362
-#define OBJ_id_cct_PKIResponse		OBJ_id_cct,3L
-
-#define SN_id_ppl_anyLanguage		"id-ppl-anyLanguage"
-#define LN_id_ppl_anyLanguage		"Any language"
-#define NID_id_ppl_anyLanguage		664
-#define OBJ_id_ppl_anyLanguage		OBJ_id_ppl,0L
-
-#define SN_id_ppl_inheritAll		"id-ppl-inheritAll"
-#define LN_id_ppl_inheritAll		"Inherit all"
-#define NID_id_ppl_inheritAll		665
-#define OBJ_id_ppl_inheritAll		OBJ_id_ppl,1L
-
-#define SN_Independent		"id-ppl-independent"
-#define LN_Independent		"Independent"
-#define NID_Independent		667
-#define OBJ_Independent		OBJ_id_ppl,2L
-
-#define SN_ad_OCSP		"OCSP"
-#define LN_ad_OCSP		"OCSP"
-#define NID_ad_OCSP		178
-#define OBJ_ad_OCSP		OBJ_id_ad,1L
-
-#define SN_ad_ca_issuers		"caIssuers"
-#define LN_ad_ca_issuers		"CA Issuers"
-#define NID_ad_ca_issuers		179
-#define OBJ_ad_ca_issuers		OBJ_id_ad,2L
-
-#define SN_ad_timeStamping		"ad_timestamping"
-#define LN_ad_timeStamping		"AD Time Stamping"
-#define NID_ad_timeStamping		363
-#define OBJ_ad_timeStamping		OBJ_id_ad,3L
-
-#define SN_ad_dvcs		"AD_DVCS"
-#define LN_ad_dvcs		"ad dvcs"
-#define NID_ad_dvcs		364
-#define OBJ_ad_dvcs		OBJ_id_ad,4L
-
-#define SN_caRepository		"caRepository"
-#define LN_caRepository		"CA Repository"
-#define NID_caRepository		785
-#define OBJ_caRepository		OBJ_id_ad,5L
-
-#define OBJ_id_pkix_OCSP		OBJ_ad_OCSP
-
-#define SN_id_pkix_OCSP_basic		"basicOCSPResponse"
-#define LN_id_pkix_OCSP_basic		"Basic OCSP Response"
-#define NID_id_pkix_OCSP_basic		365
-#define OBJ_id_pkix_OCSP_basic		OBJ_id_pkix_OCSP,1L
-
-#define SN_id_pkix_OCSP_Nonce		"Nonce"
-#define LN_id_pkix_OCSP_Nonce		"OCSP Nonce"
-#define NID_id_pkix_OCSP_Nonce		366
-#define OBJ_id_pkix_OCSP_Nonce		OBJ_id_pkix_OCSP,2L
-
-#define SN_id_pkix_OCSP_CrlID		"CrlID"
-#define LN_id_pkix_OCSP_CrlID		"OCSP CRL ID"
-#define NID_id_pkix_OCSP_CrlID		367
-#define OBJ_id_pkix_OCSP_CrlID		OBJ_id_pkix_OCSP,3L
-
-#define SN_id_pkix_OCSP_acceptableResponses		"acceptableResponses"
-#define LN_id_pkix_OCSP_acceptableResponses		"Acceptable OCSP Responses"
-#define NID_id_pkix_OCSP_acceptableResponses		368
-#define OBJ_id_pkix_OCSP_acceptableResponses		OBJ_id_pkix_OCSP,4L
-
-#define SN_id_pkix_OCSP_noCheck		"noCheck"
-#define LN_id_pkix_OCSP_noCheck		"OCSP No Check"
-#define NID_id_pkix_OCSP_noCheck		369
-#define OBJ_id_pkix_OCSP_noCheck		OBJ_id_pkix_OCSP,5L
-
-#define SN_id_pkix_OCSP_archiveCutoff		"archiveCutoff"
-#define LN_id_pkix_OCSP_archiveCutoff		"OCSP Archive Cutoff"
-#define NID_id_pkix_OCSP_archiveCutoff		370
-#define OBJ_id_pkix_OCSP_archiveCutoff		OBJ_id_pkix_OCSP,6L
-
-#define SN_id_pkix_OCSP_serviceLocator		"serviceLocator"
-#define LN_id_pkix_OCSP_serviceLocator		"OCSP Service Locator"
-#define NID_id_pkix_OCSP_serviceLocator		371
-#define OBJ_id_pkix_OCSP_serviceLocator		OBJ_id_pkix_OCSP,7L
-
-#define SN_id_pkix_OCSP_extendedStatus		"extendedStatus"
-#define LN_id_pkix_OCSP_extendedStatus		"Extended OCSP Status"
-#define NID_id_pkix_OCSP_extendedStatus		372
-#define OBJ_id_pkix_OCSP_extendedStatus		OBJ_id_pkix_OCSP,8L
-
-#define SN_id_pkix_OCSP_valid		"valid"
-#define NID_id_pkix_OCSP_valid		373
-#define OBJ_id_pkix_OCSP_valid		OBJ_id_pkix_OCSP,9L
-
-#define SN_id_pkix_OCSP_path		"path"
-#define NID_id_pkix_OCSP_path		374
-#define OBJ_id_pkix_OCSP_path		OBJ_id_pkix_OCSP,10L
-
-#define SN_id_pkix_OCSP_trustRoot		"trustRoot"
-#define LN_id_pkix_OCSP_trustRoot		"Trust Root"
-#define NID_id_pkix_OCSP_trustRoot		375
-#define OBJ_id_pkix_OCSP_trustRoot		OBJ_id_pkix_OCSP,11L
-
-#define SN_algorithm		"algorithm"
-#define LN_algorithm		"algorithm"
-#define NID_algorithm		376
-#define OBJ_algorithm		1L,3L,14L,3L,2L
-
-#define SN_md5WithRSA		"RSA-NP-MD5"
-#define LN_md5WithRSA		"md5WithRSA"
-#define NID_md5WithRSA		104
-#define OBJ_md5WithRSA		OBJ_algorithm,3L
-
-#define SN_des_ecb		"DES-ECB"
-#define LN_des_ecb		"des-ecb"
-#define NID_des_ecb		29
-#define OBJ_des_ecb		OBJ_algorithm,6L
-
-#define SN_des_cbc		"DES-CBC"
-#define LN_des_cbc		"des-cbc"
-#define NID_des_cbc		31
-#define OBJ_des_cbc		OBJ_algorithm,7L
-
-#define SN_des_ofb64		"DES-OFB"
-#define LN_des_ofb64		"des-ofb"
-#define NID_des_ofb64		45
-#define OBJ_des_ofb64		OBJ_algorithm,8L
-
-#define SN_des_cfb64		"DES-CFB"
-#define LN_des_cfb64		"des-cfb"
-#define NID_des_cfb64		30
-#define OBJ_des_cfb64		OBJ_algorithm,9L
-
-#define SN_rsaSignature		"rsaSignature"
-#define NID_rsaSignature		377
-#define OBJ_rsaSignature		OBJ_algorithm,11L
-
-#define SN_dsa_2		"DSA-old"
-#define LN_dsa_2		"dsaEncryption-old"
-#define NID_dsa_2		67
-#define OBJ_dsa_2		OBJ_algorithm,12L
-
-#define SN_dsaWithSHA		"DSA-SHA"
-#define LN_dsaWithSHA		"dsaWithSHA"
-#define NID_dsaWithSHA		66
-#define OBJ_dsaWithSHA		OBJ_algorithm,13L
-
-#define SN_shaWithRSAEncryption		"RSA-SHA"
-#define LN_shaWithRSAEncryption		"shaWithRSAEncryption"
-#define NID_shaWithRSAEncryption		42
-#define OBJ_shaWithRSAEncryption		OBJ_algorithm,15L
-
-#define SN_des_ede_ecb		"DES-EDE"
-#define LN_des_ede_ecb		"des-ede"
-#define NID_des_ede_ecb		32
-#define OBJ_des_ede_ecb		OBJ_algorithm,17L
-
-#define SN_des_ede3_ecb		"DES-EDE3"
-#define LN_des_ede3_ecb		"des-ede3"
-#define NID_des_ede3_ecb		33
-
-#define SN_des_ede_cbc		"DES-EDE-CBC"
-#define LN_des_ede_cbc		"des-ede-cbc"
-#define NID_des_ede_cbc		43
-
-#define SN_des_ede_cfb64		"DES-EDE-CFB"
-#define LN_des_ede_cfb64		"des-ede-cfb"
-#define NID_des_ede_cfb64		60
-
-#define SN_des_ede3_cfb64		"DES-EDE3-CFB"
-#define LN_des_ede3_cfb64		"des-ede3-cfb"
-#define NID_des_ede3_cfb64		61
-
-#define SN_des_ede_ofb64		"DES-EDE-OFB"
-#define LN_des_ede_ofb64		"des-ede-ofb"
-#define NID_des_ede_ofb64		62
-
-#define SN_des_ede3_ofb64		"DES-EDE3-OFB"
-#define LN_des_ede3_ofb64		"des-ede3-ofb"
-#define NID_des_ede3_ofb64		63
-
-#define SN_desx_cbc		"DESX-CBC"
-#define LN_desx_cbc		"desx-cbc"
-#define NID_desx_cbc		80
-
-#define SN_sha		"SHA"
-#define LN_sha		"sha"
-#define NID_sha		41
-#define OBJ_sha		OBJ_algorithm,18L
-
-#define SN_sha1		"SHA1"
-#define LN_sha1		"sha1"
-#define NID_sha1		64
-#define OBJ_sha1		OBJ_algorithm,26L
-
-#define SN_dsaWithSHA1_2		"DSA-SHA1-old"
-#define LN_dsaWithSHA1_2		"dsaWithSHA1-old"
-#define NID_dsaWithSHA1_2		70
-#define OBJ_dsaWithSHA1_2		OBJ_algorithm,27L
-
-#define SN_sha1WithRSA		"RSA-SHA1-2"
-#define LN_sha1WithRSA		"sha1WithRSA"
-#define NID_sha1WithRSA		115
-#define OBJ_sha1WithRSA		OBJ_algorithm,29L
-
-#define SN_ripemd160		"RIPEMD160"
-#define LN_ripemd160		"ripemd160"
-#define NID_ripemd160		117
-#define OBJ_ripemd160		1L,3L,36L,3L,2L,1L
-
-#define SN_ripemd160WithRSA		"RSA-RIPEMD160"
-#define LN_ripemd160WithRSA		"ripemd160WithRSA"
-#define NID_ripemd160WithRSA		119
-#define OBJ_ripemd160WithRSA		1L,3L,36L,3L,3L,1L,2L
-
-#define SN_sxnet		"SXNetID"
-#define LN_sxnet		"Strong Extranet ID"
-#define NID_sxnet		143
-#define OBJ_sxnet		1L,3L,101L,1L,4L,1L
-
-#define SN_X500		"X500"
-#define LN_X500		"directory services (X.500)"
-#define NID_X500		11
-#define OBJ_X500		2L,5L
-
-#define SN_X509		"X509"
-#define NID_X509		12
-#define OBJ_X509		OBJ_X500,4L
-
-#define SN_commonName		"CN"
-#define LN_commonName		"commonName"
-#define NID_commonName		13
-#define OBJ_commonName		OBJ_X509,3L
-
-#define SN_surname		"SN"
-#define LN_surname		"surname"
-#define NID_surname		100
-#define OBJ_surname		OBJ_X509,4L
-
-#define LN_serialNumber		"serialNumber"
-#define NID_serialNumber		105
-#define OBJ_serialNumber		OBJ_X509,5L
-
-#define SN_countryName		"C"
-#define LN_countryName		"countryName"
-#define NID_countryName		14
-#define OBJ_countryName		OBJ_X509,6L
-
-#define SN_localityName		"L"
-#define LN_localityName		"localityName"
-#define NID_localityName		15
-#define OBJ_localityName		OBJ_X509,7L
-
-#define SN_stateOrProvinceName		"ST"
-#define LN_stateOrProvinceName		"stateOrProvinceName"
-#define NID_stateOrProvinceName		16
-#define OBJ_stateOrProvinceName		OBJ_X509,8L
-
-#define SN_streetAddress		"street"
-#define LN_streetAddress		"streetAddress"
-#define NID_streetAddress		660
-#define OBJ_streetAddress		OBJ_X509,9L
-
-#define SN_organizationName		"O"
-#define LN_organizationName		"organizationName"
-#define NID_organizationName		17
-#define OBJ_organizationName		OBJ_X509,10L
-
-#define SN_organizationalUnitName		"OU"
-#define LN_organizationalUnitName		"organizationalUnitName"
-#define NID_organizationalUnitName		18
-#define OBJ_organizationalUnitName		OBJ_X509,11L
-
-#define SN_title		"title"
-#define LN_title		"title"
-#define NID_title		106
-#define OBJ_title		OBJ_X509,12L
-
-#define LN_description		"description"
-#define NID_description		107
-#define OBJ_description		OBJ_X509,13L
-
-#define LN_searchGuide		"searchGuide"
-#define NID_searchGuide		859
-#define OBJ_searchGuide		OBJ_X509,14L
-
-#define LN_businessCategory		"businessCategory"
-#define NID_businessCategory		860
-#define OBJ_businessCategory		OBJ_X509,15L
-
-#define LN_postalAddress		"postalAddress"
-#define NID_postalAddress		861
-#define OBJ_postalAddress		OBJ_X509,16L
-
-#define LN_postalCode		"postalCode"
-#define NID_postalCode		661
-#define OBJ_postalCode		OBJ_X509,17L
-
-#define LN_postOfficeBox		"postOfficeBox"
-#define NID_postOfficeBox		862
-#define OBJ_postOfficeBox		OBJ_X509,18L
-
-#define LN_physicalDeliveryOfficeName		"physicalDeliveryOfficeName"
-#define NID_physicalDeliveryOfficeName		863
-#define OBJ_physicalDeliveryOfficeName		OBJ_X509,19L
-
-#define LN_telephoneNumber		"telephoneNumber"
-#define NID_telephoneNumber		864
-#define OBJ_telephoneNumber		OBJ_X509,20L
-
-#define LN_telexNumber		"telexNumber"
-#define NID_telexNumber		865
-#define OBJ_telexNumber		OBJ_X509,21L
-
-#define LN_teletexTerminalIdentifier		"teletexTerminalIdentifier"
-#define NID_teletexTerminalIdentifier		866
-#define OBJ_teletexTerminalIdentifier		OBJ_X509,22L
-
-#define LN_facsimileTelephoneNumber		"facsimileTelephoneNumber"
-#define NID_facsimileTelephoneNumber		867
-#define OBJ_facsimileTelephoneNumber		OBJ_X509,23L
-
-#define LN_x121Address		"x121Address"
-#define NID_x121Address		868
-#define OBJ_x121Address		OBJ_X509,24L
-
-#define LN_internationaliSDNNumber		"internationaliSDNNumber"
-#define NID_internationaliSDNNumber		869
-#define OBJ_internationaliSDNNumber		OBJ_X509,25L
-
-#define LN_registeredAddress		"registeredAddress"
-#define NID_registeredAddress		870
-#define OBJ_registeredAddress		OBJ_X509,26L
-
-#define LN_destinationIndicator		"destinationIndicator"
-#define NID_destinationIndicator		871
-#define OBJ_destinationIndicator		OBJ_X509,27L
-
-#define LN_preferredDeliveryMethod		"preferredDeliveryMethod"
-#define NID_preferredDeliveryMethod		872
-#define OBJ_preferredDeliveryMethod		OBJ_X509,28L
-
-#define LN_presentationAddress		"presentationAddress"
-#define NID_presentationAddress		873
-#define OBJ_presentationAddress		OBJ_X509,29L
-
-#define LN_supportedApplicationContext		"supportedApplicationContext"
-#define NID_supportedApplicationContext		874
-#define OBJ_supportedApplicationContext		OBJ_X509,30L
-
-#define SN_member		"member"
-#define NID_member		875
-#define OBJ_member		OBJ_X509,31L
-
-#define SN_owner		"owner"
-#define NID_owner		876
-#define OBJ_owner		OBJ_X509,32L
-
-#define LN_roleOccupant		"roleOccupant"
-#define NID_roleOccupant		877
-#define OBJ_roleOccupant		OBJ_X509,33L
-
-#define SN_seeAlso		"seeAlso"
-#define NID_seeAlso		878
-#define OBJ_seeAlso		OBJ_X509,34L
-
-#define LN_userPassword		"userPassword"
-#define NID_userPassword		879
-#define OBJ_userPassword		OBJ_X509,35L
-
-#define LN_userCertificate		"userCertificate"
-#define NID_userCertificate		880
-#define OBJ_userCertificate		OBJ_X509,36L
-
-#define LN_cACertificate		"cACertificate"
-#define NID_cACertificate		881
-#define OBJ_cACertificate		OBJ_X509,37L
-
-#define LN_authorityRevocationList		"authorityRevocationList"
-#define NID_authorityRevocationList		882
-#define OBJ_authorityRevocationList		OBJ_X509,38L
-
-#define LN_certificateRevocationList		"certificateRevocationList"
-#define NID_certificateRevocationList		883
-#define OBJ_certificateRevocationList		OBJ_X509,39L
-
-#define LN_crossCertificatePair		"crossCertificatePair"
-#define NID_crossCertificatePair		884
-#define OBJ_crossCertificatePair		OBJ_X509,40L
-
-#define SN_name		"name"
-#define LN_name		"name"
-#define NID_name		173
-#define OBJ_name		OBJ_X509,41L
-
-#define SN_givenName		"GN"
-#define LN_givenName		"givenName"
-#define NID_givenName		99
-#define OBJ_givenName		OBJ_X509,42L
-
-#define SN_initials		"initials"
-#define LN_initials		"initials"
-#define NID_initials		101
-#define OBJ_initials		OBJ_X509,43L
-
-#define LN_generationQualifier		"generationQualifier"
-#define NID_generationQualifier		509
-#define OBJ_generationQualifier		OBJ_X509,44L
-
-#define LN_x500UniqueIdentifier		"x500UniqueIdentifier"
-#define NID_x500UniqueIdentifier		503
-#define OBJ_x500UniqueIdentifier		OBJ_X509,45L
-
-#define SN_dnQualifier		"dnQualifier"
-#define LN_dnQualifier		"dnQualifier"
-#define NID_dnQualifier		174
-#define OBJ_dnQualifier		OBJ_X509,46L
-
-#define LN_enhancedSearchGuide		"enhancedSearchGuide"
-#define NID_enhancedSearchGuide		885
-#define OBJ_enhancedSearchGuide		OBJ_X509,47L
-
-#define LN_protocolInformation		"protocolInformation"
-#define NID_protocolInformation		886
-#define OBJ_protocolInformation		OBJ_X509,48L
-
-#define LN_distinguishedName		"distinguishedName"
-#define NID_distinguishedName		887
-#define OBJ_distinguishedName		OBJ_X509,49L
-
-#define LN_uniqueMember		"uniqueMember"
-#define NID_uniqueMember		888
-#define OBJ_uniqueMember		OBJ_X509,50L
-
-#define LN_houseIdentifier		"houseIdentifier"
-#define NID_houseIdentifier		889
-#define OBJ_houseIdentifier		OBJ_X509,51L
-
-#define LN_supportedAlgorithms		"supportedAlgorithms"
-#define NID_supportedAlgorithms		890
-#define OBJ_supportedAlgorithms		OBJ_X509,52L
-
-#define LN_deltaRevocationList		"deltaRevocationList"
-#define NID_deltaRevocationList		891
-#define OBJ_deltaRevocationList		OBJ_X509,53L
-
-#define SN_dmdName		"dmdName"
-#define NID_dmdName		892
-#define OBJ_dmdName		OBJ_X509,54L
-
-#define LN_pseudonym		"pseudonym"
-#define NID_pseudonym		510
-#define OBJ_pseudonym		OBJ_X509,65L
-
-#define SN_role		"role"
-#define LN_role		"role"
-#define NID_role		400
-#define OBJ_role		OBJ_X509,72L
-
-#define SN_X500algorithms		"X500algorithms"
-#define LN_X500algorithms		"directory services - algorithms"
-#define NID_X500algorithms		378
-#define OBJ_X500algorithms		OBJ_X500,8L
-
-#define SN_rsa		"RSA"
-#define LN_rsa		"rsa"
-#define NID_rsa		19
-#define OBJ_rsa		OBJ_X500algorithms,1L,1L
-
-#define SN_mdc2WithRSA		"RSA-MDC2"
-#define LN_mdc2WithRSA		"mdc2WithRSA"
-#define NID_mdc2WithRSA		96
-#define OBJ_mdc2WithRSA		OBJ_X500algorithms,3L,100L
-
-#define SN_mdc2		"MDC2"
-#define LN_mdc2		"mdc2"
-#define NID_mdc2		95
-#define OBJ_mdc2		OBJ_X500algorithms,3L,101L
-
-#define SN_id_ce		"id-ce"
-#define NID_id_ce		81
-#define OBJ_id_ce		OBJ_X500,29L
-
-#define SN_subject_directory_attributes		"subjectDirectoryAttributes"
-#define LN_subject_directory_attributes		"X509v3 Subject Directory Attributes"
-#define NID_subject_directory_attributes		769
-#define OBJ_subject_directory_attributes		OBJ_id_ce,9L
-
-#define SN_subject_key_identifier		"subjectKeyIdentifier"
-#define LN_subject_key_identifier		"X509v3 Subject Key Identifier"
-#define NID_subject_key_identifier		82
-#define OBJ_subject_key_identifier		OBJ_id_ce,14L
-
-#define SN_key_usage		"keyUsage"
-#define LN_key_usage		"X509v3 Key Usage"
-#define NID_key_usage		83
-#define OBJ_key_usage		OBJ_id_ce,15L
-
-#define SN_private_key_usage_period		"privateKeyUsagePeriod"
-#define LN_private_key_usage_period		"X509v3 Private Key Usage Period"
-#define NID_private_key_usage_period		84
-#define OBJ_private_key_usage_period		OBJ_id_ce,16L
-
-#define SN_subject_alt_name		"subjectAltName"
-#define LN_subject_alt_name		"X509v3 Subject Alternative Name"
-#define NID_subject_alt_name		85
-#define OBJ_subject_alt_name		OBJ_id_ce,17L
-
-#define SN_issuer_alt_name		"issuerAltName"
-#define LN_issuer_alt_name		"X509v3 Issuer Alternative Name"
-#define NID_issuer_alt_name		86
-#define OBJ_issuer_alt_name		OBJ_id_ce,18L
-
-#define SN_basic_constraints		"basicConstraints"
-#define LN_basic_constraints		"X509v3 Basic Constraints"
-#define NID_basic_constraints		87
-#define OBJ_basic_constraints		OBJ_id_ce,19L
-
-#define SN_crl_number		"crlNumber"
-#define LN_crl_number		"X509v3 CRL Number"
-#define NID_crl_number		88
-#define OBJ_crl_number		OBJ_id_ce,20L
-
-#define SN_crl_reason		"CRLReason"
-#define LN_crl_reason		"X509v3 CRL Reason Code"
-#define NID_crl_reason		141
-#define OBJ_crl_reason		OBJ_id_ce,21L
-
-#define SN_invalidity_date		"invalidityDate"
-#define LN_invalidity_date		"Invalidity Date"
-#define NID_invalidity_date		142
-#define OBJ_invalidity_date		OBJ_id_ce,24L
-
-#define SN_delta_crl		"deltaCRL"
-#define LN_delta_crl		"X509v3 Delta CRL Indicator"
-#define NID_delta_crl		140
-#define OBJ_delta_crl		OBJ_id_ce,27L
-
-#define SN_issuing_distribution_point		"issuingDistributionPoint"
-#define LN_issuing_distribution_point		"X509v3 Issuing Distribution Point"
-#define NID_issuing_distribution_point		770
-#define OBJ_issuing_distribution_point		OBJ_id_ce,28L
-
-#define SN_certificate_issuer		"certificateIssuer"
-#define LN_certificate_issuer		"X509v3 Certificate Issuer"
-#define NID_certificate_issuer		771
-#define OBJ_certificate_issuer		OBJ_id_ce,29L
-
-#define SN_name_constraints		"nameConstraints"
-#define LN_name_constraints		"X509v3 Name Constraints"
-#define NID_name_constraints		666
-#define OBJ_name_constraints		OBJ_id_ce,30L
-
-#define SN_crl_distribution_points		"crlDistributionPoints"
-#define LN_crl_distribution_points		"X509v3 CRL Distribution Points"
-#define NID_crl_distribution_points		103
-#define OBJ_crl_distribution_points		OBJ_id_ce,31L
-
-#define SN_certificate_policies		"certificatePolicies"
-#define LN_certificate_policies		"X509v3 Certificate Policies"
-#define NID_certificate_policies		89
-#define OBJ_certificate_policies		OBJ_id_ce,32L
-
-#define SN_any_policy		"anyPolicy"
-#define LN_any_policy		"X509v3 Any Policy"
-#define NID_any_policy		746
-#define OBJ_any_policy		OBJ_certificate_policies,0L
-
-#define SN_policy_mappings		"policyMappings"
-#define LN_policy_mappings		"X509v3 Policy Mappings"
-#define NID_policy_mappings		747
-#define OBJ_policy_mappings		OBJ_id_ce,33L
-
-#define SN_authority_key_identifier		"authorityKeyIdentifier"
-#define LN_authority_key_identifier		"X509v3 Authority Key Identifier"
-#define NID_authority_key_identifier		90
-#define OBJ_authority_key_identifier		OBJ_id_ce,35L
-
-#define SN_policy_constraints		"policyConstraints"
-#define LN_policy_constraints		"X509v3 Policy Constraints"
-#define NID_policy_constraints		401
-#define OBJ_policy_constraints		OBJ_id_ce,36L
-
-#define SN_ext_key_usage		"extendedKeyUsage"
-#define LN_ext_key_usage		"X509v3 Extended Key Usage"
-#define NID_ext_key_usage		126
-#define OBJ_ext_key_usage		OBJ_id_ce,37L
-
-#define SN_freshest_crl		"freshestCRL"
-#define LN_freshest_crl		"X509v3 Freshest CRL"
-#define NID_freshest_crl		857
-#define OBJ_freshest_crl		OBJ_id_ce,46L
-
-#define SN_inhibit_any_policy		"inhibitAnyPolicy"
-#define LN_inhibit_any_policy		"X509v3 Inhibit Any Policy"
-#define NID_inhibit_any_policy		748
-#define OBJ_inhibit_any_policy		OBJ_id_ce,54L
-
-#define SN_target_information		"targetInformation"
-#define LN_target_information		"X509v3 AC Targeting"
-#define NID_target_information		402
-#define OBJ_target_information		OBJ_id_ce,55L
-
-#define SN_no_rev_avail		"noRevAvail"
-#define LN_no_rev_avail		"X509v3 No Revocation Available"
-#define NID_no_rev_avail		403
-#define OBJ_no_rev_avail		OBJ_id_ce,56L
-
-#define SN_anyExtendedKeyUsage		"anyExtendedKeyUsage"
-#define LN_anyExtendedKeyUsage		"Any Extended Key Usage"
-#define NID_anyExtendedKeyUsage		910
-#define OBJ_anyExtendedKeyUsage		OBJ_ext_key_usage,0L
-
-#define SN_netscape		"Netscape"
-#define LN_netscape		"Netscape Communications Corp."
-#define NID_netscape		57
-#define OBJ_netscape		2L,16L,840L,1L,113730L
-
-#define SN_netscape_cert_extension		"nsCertExt"
-#define LN_netscape_cert_extension		"Netscape Certificate Extension"
-#define NID_netscape_cert_extension		58
-#define OBJ_netscape_cert_extension		OBJ_netscape,1L
-
-#define SN_netscape_data_type		"nsDataType"
-#define LN_netscape_data_type		"Netscape Data Type"
-#define NID_netscape_data_type		59
-#define OBJ_netscape_data_type		OBJ_netscape,2L
-
-#define SN_netscape_cert_type		"nsCertType"
-#define LN_netscape_cert_type		"Netscape Cert Type"
-#define NID_netscape_cert_type		71
-#define OBJ_netscape_cert_type		OBJ_netscape_cert_extension,1L
-
-#define SN_netscape_base_url		"nsBaseUrl"
-#define LN_netscape_base_url		"Netscape Base Url"
-#define NID_netscape_base_url		72
-#define OBJ_netscape_base_url		OBJ_netscape_cert_extension,2L
-
-#define SN_netscape_revocation_url		"nsRevocationUrl"
-#define LN_netscape_revocation_url		"Netscape Revocation Url"
-#define NID_netscape_revocation_url		73
-#define OBJ_netscape_revocation_url		OBJ_netscape_cert_extension,3L
-
-#define SN_netscape_ca_revocation_url		"nsCaRevocationUrl"
-#define LN_netscape_ca_revocation_url		"Netscape CA Revocation Url"
-#define NID_netscape_ca_revocation_url		74
-#define OBJ_netscape_ca_revocation_url		OBJ_netscape_cert_extension,4L
-
-#define SN_netscape_renewal_url		"nsRenewalUrl"
-#define LN_netscape_renewal_url		"Netscape Renewal Url"
-#define NID_netscape_renewal_url		75
-#define OBJ_netscape_renewal_url		OBJ_netscape_cert_extension,7L
-
-#define SN_netscape_ca_policy_url		"nsCaPolicyUrl"
-#define LN_netscape_ca_policy_url		"Netscape CA Policy Url"
-#define NID_netscape_ca_policy_url		76
-#define OBJ_netscape_ca_policy_url		OBJ_netscape_cert_extension,8L
-
-#define SN_netscape_ssl_server_name		"nsSslServerName"
-#define LN_netscape_ssl_server_name		"Netscape SSL Server Name"
-#define NID_netscape_ssl_server_name		77
-#define OBJ_netscape_ssl_server_name		OBJ_netscape_cert_extension,12L
-
-#define SN_netscape_comment		"nsComment"
-#define LN_netscape_comment		"Netscape Comment"
-#define NID_netscape_comment		78
-#define OBJ_netscape_comment		OBJ_netscape_cert_extension,13L
-
-#define SN_netscape_cert_sequence		"nsCertSequence"
-#define LN_netscape_cert_sequence		"Netscape Certificate Sequence"
-#define NID_netscape_cert_sequence		79
-#define OBJ_netscape_cert_sequence		OBJ_netscape_data_type,5L
-
-#define SN_ns_sgc		"nsSGC"
-#define LN_ns_sgc		"Netscape Server Gated Crypto"
-#define NID_ns_sgc		139
-#define OBJ_ns_sgc		OBJ_netscape,4L,1L
-
-#define SN_org		"ORG"
-#define LN_org		"org"
-#define NID_org		379
-#define OBJ_org		OBJ_iso,3L
-
-#define SN_dod		"DOD"
-#define LN_dod		"dod"
-#define NID_dod		380
-#define OBJ_dod		OBJ_org,6L
-
-#define SN_iana		"IANA"
-#define LN_iana		"iana"
-#define NID_iana		381
-#define OBJ_iana		OBJ_dod,1L
-
-#define OBJ_internet		OBJ_iana
-
-#define SN_Directory		"directory"
-#define LN_Directory		"Directory"
-#define NID_Directory		382
-#define OBJ_Directory		OBJ_internet,1L
-
-#define SN_Management		"mgmt"
-#define LN_Management		"Management"
-#define NID_Management		383
-#define OBJ_Management		OBJ_internet,2L
-
-#define SN_Experimental		"experimental"
-#define LN_Experimental		"Experimental"
-#define NID_Experimental		384
-#define OBJ_Experimental		OBJ_internet,3L
-
-#define SN_Private		"private"
-#define LN_Private		"Private"
-#define NID_Private		385
-#define OBJ_Private		OBJ_internet,4L
-
-#define SN_Security		"security"
-#define LN_Security		"Security"
-#define NID_Security		386
-#define OBJ_Security		OBJ_internet,5L
-
-#define SN_SNMPv2		"snmpv2"
-#define LN_SNMPv2		"SNMPv2"
-#define NID_SNMPv2		387
-#define OBJ_SNMPv2		OBJ_internet,6L
-
-#define LN_Mail		"Mail"
-#define NID_Mail		388
-#define OBJ_Mail		OBJ_internet,7L
-
-#define SN_Enterprises		"enterprises"
-#define LN_Enterprises		"Enterprises"
-#define NID_Enterprises		389
-#define OBJ_Enterprises		OBJ_Private,1L
-
-#define SN_dcObject		"dcobject"
-#define LN_dcObject		"dcObject"
-#define NID_dcObject		390
-#define OBJ_dcObject		OBJ_Enterprises,1466L,344L
-
-#define SN_mime_mhs		"mime-mhs"
-#define LN_mime_mhs		"MIME MHS"
-#define NID_mime_mhs		504
-#define OBJ_mime_mhs		OBJ_Mail,1L
-
-#define SN_mime_mhs_headings		"mime-mhs-headings"
-#define LN_mime_mhs_headings		"mime-mhs-headings"
-#define NID_mime_mhs_headings		505
-#define OBJ_mime_mhs_headings		OBJ_mime_mhs,1L
-
-#define SN_mime_mhs_bodies		"mime-mhs-bodies"
-#define LN_mime_mhs_bodies		"mime-mhs-bodies"
-#define NID_mime_mhs_bodies		506
-#define OBJ_mime_mhs_bodies		OBJ_mime_mhs,2L
-
-#define SN_id_hex_partial_message		"id-hex-partial-message"
-#define LN_id_hex_partial_message		"id-hex-partial-message"
-#define NID_id_hex_partial_message		507
-#define OBJ_id_hex_partial_message		OBJ_mime_mhs_headings,1L
-
-#define SN_id_hex_multipart_message		"id-hex-multipart-message"
-#define LN_id_hex_multipart_message		"id-hex-multipart-message"
-#define NID_id_hex_multipart_message		508
-#define OBJ_id_hex_multipart_message		OBJ_mime_mhs_headings,2L
-
-#define SN_zlib_compression		"ZLIB"
-#define LN_zlib_compression		"zlib compression"
-#define NID_zlib_compression		125
-#define OBJ_zlib_compression		OBJ_id_smime_alg,8L
-
-#define OBJ_csor		2L,16L,840L,1L,101L,3L
-
-#define OBJ_nistAlgorithms		OBJ_csor,4L
-
-#define OBJ_aes		OBJ_nistAlgorithms,1L
-
-#define SN_aes_128_ecb		"AES-128-ECB"
-#define LN_aes_128_ecb		"aes-128-ecb"
-#define NID_aes_128_ecb		418
-#define OBJ_aes_128_ecb		OBJ_aes,1L
-
-#define SN_aes_128_cbc		"AES-128-CBC"
-#define LN_aes_128_cbc		"aes-128-cbc"
-#define NID_aes_128_cbc		419
-#define OBJ_aes_128_cbc		OBJ_aes,2L
-
-#define SN_aes_128_ofb128		"AES-128-OFB"
-#define LN_aes_128_ofb128		"aes-128-ofb"
-#define NID_aes_128_ofb128		420
-#define OBJ_aes_128_ofb128		OBJ_aes,3L
-
-#define SN_aes_128_cfb128		"AES-128-CFB"
-#define LN_aes_128_cfb128		"aes-128-cfb"
-#define NID_aes_128_cfb128		421
-#define OBJ_aes_128_cfb128		OBJ_aes,4L
-
-#define SN_id_aes128_wrap		"id-aes128-wrap"
-#define NID_id_aes128_wrap		788
-#define OBJ_id_aes128_wrap		OBJ_aes,5L
-
-#define SN_aes_128_gcm		"id-aes128-GCM"
-#define LN_aes_128_gcm		"aes-128-gcm"
-#define NID_aes_128_gcm		895
-#define OBJ_aes_128_gcm		OBJ_aes,6L
-
-#define SN_aes_128_ccm		"id-aes128-CCM"
-#define LN_aes_128_ccm		"aes-128-ccm"
-#define NID_aes_128_ccm		896
-#define OBJ_aes_128_ccm		OBJ_aes,7L
-
-#define SN_id_aes128_wrap_pad		"id-aes128-wrap-pad"
-#define NID_id_aes128_wrap_pad		897
-#define OBJ_id_aes128_wrap_pad		OBJ_aes,8L
-
-#define SN_aes_192_ecb		"AES-192-ECB"
-#define LN_aes_192_ecb		"aes-192-ecb"
-#define NID_aes_192_ecb		422
-#define OBJ_aes_192_ecb		OBJ_aes,21L
-
-#define SN_aes_192_cbc		"AES-192-CBC"
-#define LN_aes_192_cbc		"aes-192-cbc"
-#define NID_aes_192_cbc		423
-#define OBJ_aes_192_cbc		OBJ_aes,22L
-
-#define SN_aes_192_ofb128		"AES-192-OFB"
-#define LN_aes_192_ofb128		"aes-192-ofb"
-#define NID_aes_192_ofb128		424
-#define OBJ_aes_192_ofb128		OBJ_aes,23L
-
-#define SN_aes_192_cfb128		"AES-192-CFB"
-#define LN_aes_192_cfb128		"aes-192-cfb"
-#define NID_aes_192_cfb128		425
-#define OBJ_aes_192_cfb128		OBJ_aes,24L
-
-#define SN_id_aes192_wrap		"id-aes192-wrap"
-#define NID_id_aes192_wrap		789
-#define OBJ_id_aes192_wrap		OBJ_aes,25L
-
-#define SN_aes_192_gcm		"id-aes192-GCM"
-#define LN_aes_192_gcm		"aes-192-gcm"
-#define NID_aes_192_gcm		898
-#define OBJ_aes_192_gcm		OBJ_aes,26L
-
-#define SN_aes_192_ccm		"id-aes192-CCM"
-#define LN_aes_192_ccm		"aes-192-ccm"
-#define NID_aes_192_ccm		899
-#define OBJ_aes_192_ccm		OBJ_aes,27L
-
-#define SN_id_aes192_wrap_pad		"id-aes192-wrap-pad"
-#define NID_id_aes192_wrap_pad		900
-#define OBJ_id_aes192_wrap_pad		OBJ_aes,28L
-
-#define SN_aes_256_ecb		"AES-256-ECB"
-#define LN_aes_256_ecb		"aes-256-ecb"
-#define NID_aes_256_ecb		426
-#define OBJ_aes_256_ecb		OBJ_aes,41L
-
-#define SN_aes_256_cbc		"AES-256-CBC"
-#define LN_aes_256_cbc		"aes-256-cbc"
-#define NID_aes_256_cbc		427
-#define OBJ_aes_256_cbc		OBJ_aes,42L
-
-#define SN_aes_256_ofb128		"AES-256-OFB"
-#define LN_aes_256_ofb128		"aes-256-ofb"
-#define NID_aes_256_ofb128		428
-#define OBJ_aes_256_ofb128		OBJ_aes,43L
-
-#define SN_aes_256_cfb128		"AES-256-CFB"
-#define LN_aes_256_cfb128		"aes-256-cfb"
-#define NID_aes_256_cfb128		429
-#define OBJ_aes_256_cfb128		OBJ_aes,44L
-
-#define SN_id_aes256_wrap		"id-aes256-wrap"
-#define NID_id_aes256_wrap		790
-#define OBJ_id_aes256_wrap		OBJ_aes,45L
-
-#define SN_aes_256_gcm		"id-aes256-GCM"
-#define LN_aes_256_gcm		"aes-256-gcm"
-#define NID_aes_256_gcm		901
-#define OBJ_aes_256_gcm		OBJ_aes,46L
-
-#define SN_aes_256_ccm		"id-aes256-CCM"
-#define LN_aes_256_ccm		"aes-256-ccm"
-#define NID_aes_256_ccm		902
-#define OBJ_aes_256_ccm		OBJ_aes,47L
-
-#define SN_id_aes256_wrap_pad		"id-aes256-wrap-pad"
-#define NID_id_aes256_wrap_pad		903
-#define OBJ_id_aes256_wrap_pad		OBJ_aes,48L
-
-#define SN_aes_128_cfb1		"AES-128-CFB1"
-#define LN_aes_128_cfb1		"aes-128-cfb1"
-#define NID_aes_128_cfb1		650
-
-#define SN_aes_192_cfb1		"AES-192-CFB1"
-#define LN_aes_192_cfb1		"aes-192-cfb1"
-#define NID_aes_192_cfb1		651
-
-#define SN_aes_256_cfb1		"AES-256-CFB1"
-#define LN_aes_256_cfb1		"aes-256-cfb1"
-#define NID_aes_256_cfb1		652
-
-#define SN_aes_128_cfb8		"AES-128-CFB8"
-#define LN_aes_128_cfb8		"aes-128-cfb8"
-#define NID_aes_128_cfb8		653
-
-#define SN_aes_192_cfb8		"AES-192-CFB8"
-#define LN_aes_192_cfb8		"aes-192-cfb8"
-#define NID_aes_192_cfb8		654
-
-#define SN_aes_256_cfb8		"AES-256-CFB8"
-#define LN_aes_256_cfb8		"aes-256-cfb8"
-#define NID_aes_256_cfb8		655
-
-#define SN_aes_128_ctr		"AES-128-CTR"
-#define LN_aes_128_ctr		"aes-128-ctr"
-#define NID_aes_128_ctr		904
-
-#define SN_aes_192_ctr		"AES-192-CTR"
-#define LN_aes_192_ctr		"aes-192-ctr"
-#define NID_aes_192_ctr		905
-
-#define SN_aes_256_ctr		"AES-256-CTR"
-#define LN_aes_256_ctr		"aes-256-ctr"
-#define NID_aes_256_ctr		906
-
-#define SN_aes_128_xts		"AES-128-XTS"
-#define LN_aes_128_xts		"aes-128-xts"
-#define NID_aes_128_xts		913
-
-#define SN_aes_256_xts		"AES-256-XTS"
-#define LN_aes_256_xts		"aes-256-xts"
-#define NID_aes_256_xts		914
-
-#define SN_des_cfb1		"DES-CFB1"
-#define LN_des_cfb1		"des-cfb1"
-#define NID_des_cfb1		656
-
-#define SN_des_cfb8		"DES-CFB8"
-#define LN_des_cfb8		"des-cfb8"
-#define NID_des_cfb8		657
-
-#define SN_des_ede3_cfb1		"DES-EDE3-CFB1"
-#define LN_des_ede3_cfb1		"des-ede3-cfb1"
-#define NID_des_ede3_cfb1		658
-
-#define SN_des_ede3_cfb8		"DES-EDE3-CFB8"
-#define LN_des_ede3_cfb8		"des-ede3-cfb8"
-#define NID_des_ede3_cfb8		659
-
-#define OBJ_nist_hashalgs		OBJ_nistAlgorithms,2L
-
-#define SN_sha256		"SHA256"
-#define LN_sha256		"sha256"
-#define NID_sha256		672
-#define OBJ_sha256		OBJ_nist_hashalgs,1L
-
-#define SN_sha384		"SHA384"
-#define LN_sha384		"sha384"
-#define NID_sha384		673
-#define OBJ_sha384		OBJ_nist_hashalgs,2L
-
-#define SN_sha512		"SHA512"
-#define LN_sha512		"sha512"
-#define NID_sha512		674
-#define OBJ_sha512		OBJ_nist_hashalgs,3L
-
-#define SN_sha224		"SHA224"
-#define LN_sha224		"sha224"
-#define NID_sha224		675
-#define OBJ_sha224		OBJ_nist_hashalgs,4L
-
-#define OBJ_dsa_with_sha2		OBJ_nistAlgorithms,3L
-
-#define SN_dsa_with_SHA224		"dsa_with_SHA224"
-#define NID_dsa_with_SHA224		802
-#define OBJ_dsa_with_SHA224		OBJ_dsa_with_sha2,1L
-
-#define SN_dsa_with_SHA256		"dsa_with_SHA256"
-#define NID_dsa_with_SHA256		803
-#define OBJ_dsa_with_SHA256		OBJ_dsa_with_sha2,2L
-
-#define SN_hold_instruction_code		"holdInstructionCode"
-#define LN_hold_instruction_code		"Hold Instruction Code"
-#define NID_hold_instruction_code		430
-#define OBJ_hold_instruction_code		OBJ_id_ce,23L
-
-#define OBJ_holdInstruction		OBJ_X9_57,2L
-
-#define SN_hold_instruction_none		"holdInstructionNone"
-#define LN_hold_instruction_none		"Hold Instruction None"
-#define NID_hold_instruction_none		431
-#define OBJ_hold_instruction_none		OBJ_holdInstruction,1L
-
-#define SN_hold_instruction_call_issuer		"holdInstructionCallIssuer"
-#define LN_hold_instruction_call_issuer		"Hold Instruction Call Issuer"
-#define NID_hold_instruction_call_issuer		432
-#define OBJ_hold_instruction_call_issuer		OBJ_holdInstruction,2L
-
-#define SN_hold_instruction_reject		"holdInstructionReject"
-#define LN_hold_instruction_reject		"Hold Instruction Reject"
-#define NID_hold_instruction_reject		433
-#define OBJ_hold_instruction_reject		OBJ_holdInstruction,3L
-
-#define SN_data		"data"
-#define NID_data		434
-#define OBJ_data		OBJ_itu_t,9L
-
-#define SN_pss		"pss"
-#define NID_pss		435
-#define OBJ_pss		OBJ_data,2342L
-
-#define SN_ucl		"ucl"
-#define NID_ucl		436
-#define OBJ_ucl		OBJ_pss,19200300L
-
-#define SN_pilot		"pilot"
-#define NID_pilot		437
-#define OBJ_pilot		OBJ_ucl,100L
-
-#define LN_pilotAttributeType		"pilotAttributeType"
-#define NID_pilotAttributeType		438
-#define OBJ_pilotAttributeType		OBJ_pilot,1L
-
-#define LN_pilotAttributeSyntax		"pilotAttributeSyntax"
-#define NID_pilotAttributeSyntax		439
-#define OBJ_pilotAttributeSyntax		OBJ_pilot,3L
-
-#define LN_pilotObjectClass		"pilotObjectClass"
-#define NID_pilotObjectClass		440
-#define OBJ_pilotObjectClass		OBJ_pilot,4L
-
-#define LN_pilotGroups		"pilotGroups"
-#define NID_pilotGroups		441
-#define OBJ_pilotGroups		OBJ_pilot,10L
-
-#define LN_iA5StringSyntax		"iA5StringSyntax"
-#define NID_iA5StringSyntax		442
-#define OBJ_iA5StringSyntax		OBJ_pilotAttributeSyntax,4L
-
-#define LN_caseIgnoreIA5StringSyntax		"caseIgnoreIA5StringSyntax"
-#define NID_caseIgnoreIA5StringSyntax		443
-#define OBJ_caseIgnoreIA5StringSyntax		OBJ_pilotAttributeSyntax,5L
-
-#define LN_pilotObject		"pilotObject"
-#define NID_pilotObject		444
-#define OBJ_pilotObject		OBJ_pilotObjectClass,3L
-
-#define LN_pilotPerson		"pilotPerson"
-#define NID_pilotPerson		445
-#define OBJ_pilotPerson		OBJ_pilotObjectClass,4L
-
-#define SN_account		"account"
-#define NID_account		446
-#define OBJ_account		OBJ_pilotObjectClass,5L
-
-#define SN_document		"document"
-#define NID_document		447
-#define OBJ_document		OBJ_pilotObjectClass,6L
-
-#define SN_room		"room"
-#define NID_room		448
-#define OBJ_room		OBJ_pilotObjectClass,7L
-
-#define LN_documentSeries		"documentSeries"
-#define NID_documentSeries		449
-#define OBJ_documentSeries		OBJ_pilotObjectClass,9L
-
-#define SN_Domain		"domain"
-#define LN_Domain		"Domain"
-#define NID_Domain		392
-#define OBJ_Domain		OBJ_pilotObjectClass,13L
-
-#define LN_rFC822localPart		"rFC822localPart"
-#define NID_rFC822localPart		450
-#define OBJ_rFC822localPart		OBJ_pilotObjectClass,14L
-
-#define LN_dNSDomain		"dNSDomain"
-#define NID_dNSDomain		451
-#define OBJ_dNSDomain		OBJ_pilotObjectClass,15L
-
-#define LN_domainRelatedObject		"domainRelatedObject"
-#define NID_domainRelatedObject		452
-#define OBJ_domainRelatedObject		OBJ_pilotObjectClass,17L
-
-#define LN_friendlyCountry		"friendlyCountry"
-#define NID_friendlyCountry		453
-#define OBJ_friendlyCountry		OBJ_pilotObjectClass,18L
-
-#define LN_simpleSecurityObject		"simpleSecurityObject"
-#define NID_simpleSecurityObject		454
-#define OBJ_simpleSecurityObject		OBJ_pilotObjectClass,19L
-
-#define LN_pilotOrganization		"pilotOrganization"
-#define NID_pilotOrganization		455
-#define OBJ_pilotOrganization		OBJ_pilotObjectClass,20L
-
-#define LN_pilotDSA		"pilotDSA"
-#define NID_pilotDSA		456
-#define OBJ_pilotDSA		OBJ_pilotObjectClass,21L
-
-#define LN_qualityLabelledData		"qualityLabelledData"
-#define NID_qualityLabelledData		457
-#define OBJ_qualityLabelledData		OBJ_pilotObjectClass,22L
-
-#define SN_userId		"UID"
-#define LN_userId		"userId"
-#define NID_userId		458
-#define OBJ_userId		OBJ_pilotAttributeType,1L
-
-#define LN_textEncodedORAddress		"textEncodedORAddress"
-#define NID_textEncodedORAddress		459
-#define OBJ_textEncodedORAddress		OBJ_pilotAttributeType,2L
-
-#define SN_rfc822Mailbox		"mail"
-#define LN_rfc822Mailbox		"rfc822Mailbox"
-#define NID_rfc822Mailbox		460
-#define OBJ_rfc822Mailbox		OBJ_pilotAttributeType,3L
-
-#define SN_info		"info"
-#define NID_info		461
-#define OBJ_info		OBJ_pilotAttributeType,4L
-
-#define LN_favouriteDrink		"favouriteDrink"
-#define NID_favouriteDrink		462
-#define OBJ_favouriteDrink		OBJ_pilotAttributeType,5L
-
-#define LN_roomNumber		"roomNumber"
-#define NID_roomNumber		463
-#define OBJ_roomNumber		OBJ_pilotAttributeType,6L
-
-#define SN_photo		"photo"
-#define NID_photo		464
-#define OBJ_photo		OBJ_pilotAttributeType,7L
-
-#define LN_userClass		"userClass"
-#define NID_userClass		465
-#define OBJ_userClass		OBJ_pilotAttributeType,8L
-
-#define SN_host		"host"
-#define NID_host		466
-#define OBJ_host		OBJ_pilotAttributeType,9L
-
-#define SN_manager		"manager"
-#define NID_manager		467
-#define OBJ_manager		OBJ_pilotAttributeType,10L
-
-#define LN_documentIdentifier		"documentIdentifier"
-#define NID_documentIdentifier		468
-#define OBJ_documentIdentifier		OBJ_pilotAttributeType,11L
-
-#define LN_documentTitle		"documentTitle"
-#define NID_documentTitle		469
-#define OBJ_documentTitle		OBJ_pilotAttributeType,12L
-
-#define LN_documentVersion		"documentVersion"
-#define NID_documentVersion		470
-#define OBJ_documentVersion		OBJ_pilotAttributeType,13L
-
-#define LN_documentAuthor		"documentAuthor"
-#define NID_documentAuthor		471
-#define OBJ_documentAuthor		OBJ_pilotAttributeType,14L
-
-#define LN_documentLocation		"documentLocation"
-#define NID_documentLocation		472
-#define OBJ_documentLocation		OBJ_pilotAttributeType,15L
-
-#define LN_homeTelephoneNumber		"homeTelephoneNumber"
-#define NID_homeTelephoneNumber		473
-#define OBJ_homeTelephoneNumber		OBJ_pilotAttributeType,20L
-
-#define SN_secretary		"secretary"
-#define NID_secretary		474
-#define OBJ_secretary		OBJ_pilotAttributeType,21L
-
-#define LN_otherMailbox		"otherMailbox"
-#define NID_otherMailbox		475
-#define OBJ_otherMailbox		OBJ_pilotAttributeType,22L
-
-#define LN_lastModifiedTime		"lastModifiedTime"
-#define NID_lastModifiedTime		476
-#define OBJ_lastModifiedTime		OBJ_pilotAttributeType,23L
-
-#define LN_lastModifiedBy		"lastModifiedBy"
-#define NID_lastModifiedBy		477
-#define OBJ_lastModifiedBy		OBJ_pilotAttributeType,24L
-
-#define SN_domainComponent		"DC"
-#define LN_domainComponent		"domainComponent"
-#define NID_domainComponent		391
-#define OBJ_domainComponent		OBJ_pilotAttributeType,25L
-
-#define LN_aRecord		"aRecord"
-#define NID_aRecord		478
-#define OBJ_aRecord		OBJ_pilotAttributeType,26L
-
-#define LN_pilotAttributeType27		"pilotAttributeType27"
-#define NID_pilotAttributeType27		479
-#define OBJ_pilotAttributeType27		OBJ_pilotAttributeType,27L
-
-#define LN_mXRecord		"mXRecord"
-#define NID_mXRecord		480
-#define OBJ_mXRecord		OBJ_pilotAttributeType,28L
-
-#define LN_nSRecord		"nSRecord"
-#define NID_nSRecord		481
-#define OBJ_nSRecord		OBJ_pilotAttributeType,29L
-
-#define LN_sOARecord		"sOARecord"
-#define NID_sOARecord		482
-#define OBJ_sOARecord		OBJ_pilotAttributeType,30L
-
-#define LN_cNAMERecord		"cNAMERecord"
-#define NID_cNAMERecord		483
-#define OBJ_cNAMERecord		OBJ_pilotAttributeType,31L
-
-#define LN_associatedDomain		"associatedDomain"
-#define NID_associatedDomain		484
-#define OBJ_associatedDomain		OBJ_pilotAttributeType,37L
-
-#define LN_associatedName		"associatedName"
-#define NID_associatedName		485
-#define OBJ_associatedName		OBJ_pilotAttributeType,38L
-
-#define LN_homePostalAddress		"homePostalAddress"
-#define NID_homePostalAddress		486
-#define OBJ_homePostalAddress		OBJ_pilotAttributeType,39L
-
-#define LN_personalTitle		"personalTitle"
-#define NID_personalTitle		487
-#define OBJ_personalTitle		OBJ_pilotAttributeType,40L
-
-#define LN_mobileTelephoneNumber		"mobileTelephoneNumber"
-#define NID_mobileTelephoneNumber		488
-#define OBJ_mobileTelephoneNumber		OBJ_pilotAttributeType,41L
-
-#define LN_pagerTelephoneNumber		"pagerTelephoneNumber"
-#define NID_pagerTelephoneNumber		489
-#define OBJ_pagerTelephoneNumber		OBJ_pilotAttributeType,42L
-
-#define LN_friendlyCountryName		"friendlyCountryName"
-#define NID_friendlyCountryName		490
-#define OBJ_friendlyCountryName		OBJ_pilotAttributeType,43L
-
-#define LN_organizationalStatus		"organizationalStatus"
-#define NID_organizationalStatus		491
-#define OBJ_organizationalStatus		OBJ_pilotAttributeType,45L
-
-#define LN_janetMailbox		"janetMailbox"
-#define NID_janetMailbox		492
-#define OBJ_janetMailbox		OBJ_pilotAttributeType,46L
-
-#define LN_mailPreferenceOption		"mailPreferenceOption"
-#define NID_mailPreferenceOption		493
-#define OBJ_mailPreferenceOption		OBJ_pilotAttributeType,47L
-
-#define LN_buildingName		"buildingName"
-#define NID_buildingName		494
-#define OBJ_buildingName		OBJ_pilotAttributeType,48L
-
-#define LN_dSAQuality		"dSAQuality"
-#define NID_dSAQuality		495
-#define OBJ_dSAQuality		OBJ_pilotAttributeType,49L
-
-#define LN_singleLevelQuality		"singleLevelQuality"
-#define NID_singleLevelQuality		496
-#define OBJ_singleLevelQuality		OBJ_pilotAttributeType,50L
-
-#define LN_subtreeMinimumQuality		"subtreeMinimumQuality"
-#define NID_subtreeMinimumQuality		497
-#define OBJ_subtreeMinimumQuality		OBJ_pilotAttributeType,51L
-
-#define LN_subtreeMaximumQuality		"subtreeMaximumQuality"
-#define NID_subtreeMaximumQuality		498
-#define OBJ_subtreeMaximumQuality		OBJ_pilotAttributeType,52L
-
-#define LN_personalSignature		"personalSignature"
-#define NID_personalSignature		499
-#define OBJ_personalSignature		OBJ_pilotAttributeType,53L
-
-#define LN_dITRedirect		"dITRedirect"
-#define NID_dITRedirect		500
-#define OBJ_dITRedirect		OBJ_pilotAttributeType,54L
-
-#define SN_audio		"audio"
-#define NID_audio		501
-#define OBJ_audio		OBJ_pilotAttributeType,55L
-
-#define LN_documentPublisher		"documentPublisher"
-#define NID_documentPublisher		502
-#define OBJ_documentPublisher		OBJ_pilotAttributeType,56L
-
-#define SN_id_set		"id-set"
-#define LN_id_set		"Secure Electronic Transactions"
-#define NID_id_set		512
-#define OBJ_id_set		OBJ_international_organizations,42L
-
-#define SN_set_ctype		"set-ctype"
-#define LN_set_ctype		"content types"
-#define NID_set_ctype		513
-#define OBJ_set_ctype		OBJ_id_set,0L
-
-#define SN_set_msgExt		"set-msgExt"
-#define LN_set_msgExt		"message extensions"
-#define NID_set_msgExt		514
-#define OBJ_set_msgExt		OBJ_id_set,1L
-
-#define SN_set_attr		"set-attr"
-#define NID_set_attr		515
-#define OBJ_set_attr		OBJ_id_set,3L
-
-#define SN_set_policy		"set-policy"
-#define NID_set_policy		516
-#define OBJ_set_policy		OBJ_id_set,5L
-
-#define SN_set_certExt		"set-certExt"
-#define LN_set_certExt		"certificate extensions"
-#define NID_set_certExt		517
-#define OBJ_set_certExt		OBJ_id_set,7L
-
-#define SN_set_brand		"set-brand"
-#define NID_set_brand		518
-#define OBJ_set_brand		OBJ_id_set,8L
-
-#define SN_setct_PANData		"setct-PANData"
-#define NID_setct_PANData		519
-#define OBJ_setct_PANData		OBJ_set_ctype,0L
-
-#define SN_setct_PANToken		"setct-PANToken"
-#define NID_setct_PANToken		520
-#define OBJ_setct_PANToken		OBJ_set_ctype,1L
-
-#define SN_setct_PANOnly		"setct-PANOnly"
-#define NID_setct_PANOnly		521
-#define OBJ_setct_PANOnly		OBJ_set_ctype,2L
-
-#define SN_setct_OIData		"setct-OIData"
-#define NID_setct_OIData		522
-#define OBJ_setct_OIData		OBJ_set_ctype,3L
-
-#define SN_setct_PI		"setct-PI"
-#define NID_setct_PI		523
-#define OBJ_setct_PI		OBJ_set_ctype,4L
-
-#define SN_setct_PIData		"setct-PIData"
-#define NID_setct_PIData		524
-#define OBJ_setct_PIData		OBJ_set_ctype,5L
-
-#define SN_setct_PIDataUnsigned		"setct-PIDataUnsigned"
-#define NID_setct_PIDataUnsigned		525
-#define OBJ_setct_PIDataUnsigned		OBJ_set_ctype,6L
-
-#define SN_setct_HODInput		"setct-HODInput"
-#define NID_setct_HODInput		526
-#define OBJ_setct_HODInput		OBJ_set_ctype,7L
-
-#define SN_setct_AuthResBaggage		"setct-AuthResBaggage"
-#define NID_setct_AuthResBaggage		527
-#define OBJ_setct_AuthResBaggage		OBJ_set_ctype,8L
-
-#define SN_setct_AuthRevReqBaggage		"setct-AuthRevReqBaggage"
-#define NID_setct_AuthRevReqBaggage		528
-#define OBJ_setct_AuthRevReqBaggage		OBJ_set_ctype,9L
-
-#define SN_setct_AuthRevResBaggage		"setct-AuthRevResBaggage"
-#define NID_setct_AuthRevResBaggage		529
-#define OBJ_setct_AuthRevResBaggage		OBJ_set_ctype,10L
-
-#define SN_setct_CapTokenSeq		"setct-CapTokenSeq"
-#define NID_setct_CapTokenSeq		530
-#define OBJ_setct_CapTokenSeq		OBJ_set_ctype,11L
-
-#define SN_setct_PInitResData		"setct-PInitResData"
-#define NID_setct_PInitResData		531
-#define OBJ_setct_PInitResData		OBJ_set_ctype,12L
-
-#define SN_setct_PI_TBS		"setct-PI-TBS"
-#define NID_setct_PI_TBS		532
-#define OBJ_setct_PI_TBS		OBJ_set_ctype,13L
-
-#define SN_setct_PResData		"setct-PResData"
-#define NID_setct_PResData		533
-#define OBJ_setct_PResData		OBJ_set_ctype,14L
-
-#define SN_setct_AuthReqTBS		"setct-AuthReqTBS"
-#define NID_setct_AuthReqTBS		534
-#define OBJ_setct_AuthReqTBS		OBJ_set_ctype,16L
-
-#define SN_setct_AuthResTBS		"setct-AuthResTBS"
-#define NID_setct_AuthResTBS		535
-#define OBJ_setct_AuthResTBS		OBJ_set_ctype,17L
-
-#define SN_setct_AuthResTBSX		"setct-AuthResTBSX"
-#define NID_setct_AuthResTBSX		536
-#define OBJ_setct_AuthResTBSX		OBJ_set_ctype,18L
-
-#define SN_setct_AuthTokenTBS		"setct-AuthTokenTBS"
-#define NID_setct_AuthTokenTBS		537
-#define OBJ_setct_AuthTokenTBS		OBJ_set_ctype,19L
-
-#define SN_setct_CapTokenData		"setct-CapTokenData"
-#define NID_setct_CapTokenData		538
-#define OBJ_setct_CapTokenData		OBJ_set_ctype,20L
-
-#define SN_setct_CapTokenTBS		"setct-CapTokenTBS"
-#define NID_setct_CapTokenTBS		539
-#define OBJ_setct_CapTokenTBS		OBJ_set_ctype,21L
-
-#define SN_setct_AcqCardCodeMsg		"setct-AcqCardCodeMsg"
-#define NID_setct_AcqCardCodeMsg		540
-#define OBJ_setct_AcqCardCodeMsg		OBJ_set_ctype,22L
-
-#define SN_setct_AuthRevReqTBS		"setct-AuthRevReqTBS"
-#define NID_setct_AuthRevReqTBS		541
-#define OBJ_setct_AuthRevReqTBS		OBJ_set_ctype,23L
-
-#define SN_setct_AuthRevResData		"setct-AuthRevResData"
-#define NID_setct_AuthRevResData		542
-#define OBJ_setct_AuthRevResData		OBJ_set_ctype,24L
-
-#define SN_setct_AuthRevResTBS		"setct-AuthRevResTBS"
-#define NID_setct_AuthRevResTBS		543
-#define OBJ_setct_AuthRevResTBS		OBJ_set_ctype,25L
-
-#define SN_setct_CapReqTBS		"setct-CapReqTBS"
-#define NID_setct_CapReqTBS		544
-#define OBJ_setct_CapReqTBS		OBJ_set_ctype,26L
-
-#define SN_setct_CapReqTBSX		"setct-CapReqTBSX"
-#define NID_setct_CapReqTBSX		545
-#define OBJ_setct_CapReqTBSX		OBJ_set_ctype,27L
-
-#define SN_setct_CapResData		"setct-CapResData"
-#define NID_setct_CapResData		546
-#define OBJ_setct_CapResData		OBJ_set_ctype,28L
-
-#define SN_setct_CapRevReqTBS		"setct-CapRevReqTBS"
-#define NID_setct_CapRevReqTBS		547
-#define OBJ_setct_CapRevReqTBS		OBJ_set_ctype,29L
-
-#define SN_setct_CapRevReqTBSX		"setct-CapRevReqTBSX"
-#define NID_setct_CapRevReqTBSX		548
-#define OBJ_setct_CapRevReqTBSX		OBJ_set_ctype,30L
-
-#define SN_setct_CapRevResData		"setct-CapRevResData"
-#define NID_setct_CapRevResData		549
-#define OBJ_setct_CapRevResData		OBJ_set_ctype,31L
-
-#define SN_setct_CredReqTBS		"setct-CredReqTBS"
-#define NID_setct_CredReqTBS		550
-#define OBJ_setct_CredReqTBS		OBJ_set_ctype,32L
-
-#define SN_setct_CredReqTBSX		"setct-CredReqTBSX"
-#define NID_setct_CredReqTBSX		551
-#define OBJ_setct_CredReqTBSX		OBJ_set_ctype,33L
-
-#define SN_setct_CredResData		"setct-CredResData"
-#define NID_setct_CredResData		552
-#define OBJ_setct_CredResData		OBJ_set_ctype,34L
-
-#define SN_setct_CredRevReqTBS		"setct-CredRevReqTBS"
-#define NID_setct_CredRevReqTBS		553
-#define OBJ_setct_CredRevReqTBS		OBJ_set_ctype,35L
-
-#define SN_setct_CredRevReqTBSX		"setct-CredRevReqTBSX"
-#define NID_setct_CredRevReqTBSX		554
-#define OBJ_setct_CredRevReqTBSX		OBJ_set_ctype,36L
-
-#define SN_setct_CredRevResData		"setct-CredRevResData"
-#define NID_setct_CredRevResData		555
-#define OBJ_setct_CredRevResData		OBJ_set_ctype,37L
-
-#define SN_setct_PCertReqData		"setct-PCertReqData"
-#define NID_setct_PCertReqData		556
-#define OBJ_setct_PCertReqData		OBJ_set_ctype,38L
-
-#define SN_setct_PCertResTBS		"setct-PCertResTBS"
-#define NID_setct_PCertResTBS		557
-#define OBJ_setct_PCertResTBS		OBJ_set_ctype,39L
-
-#define SN_setct_BatchAdminReqData		"setct-BatchAdminReqData"
-#define NID_setct_BatchAdminReqData		558
-#define OBJ_setct_BatchAdminReqData		OBJ_set_ctype,40L
-
-#define SN_setct_BatchAdminResData		"setct-BatchAdminResData"
-#define NID_setct_BatchAdminResData		559
-#define OBJ_setct_BatchAdminResData		OBJ_set_ctype,41L
-
-#define SN_setct_CardCInitResTBS		"setct-CardCInitResTBS"
-#define NID_setct_CardCInitResTBS		560
-#define OBJ_setct_CardCInitResTBS		OBJ_set_ctype,42L
-
-#define SN_setct_MeAqCInitResTBS		"setct-MeAqCInitResTBS"
-#define NID_setct_MeAqCInitResTBS		561
-#define OBJ_setct_MeAqCInitResTBS		OBJ_set_ctype,43L
-
-#define SN_setct_RegFormResTBS		"setct-RegFormResTBS"
-#define NID_setct_RegFormResTBS		562
-#define OBJ_setct_RegFormResTBS		OBJ_set_ctype,44L
-
-#define SN_setct_CertReqData		"setct-CertReqData"
-#define NID_setct_CertReqData		563
-#define OBJ_setct_CertReqData		OBJ_set_ctype,45L
-
-#define SN_setct_CertReqTBS		"setct-CertReqTBS"
-#define NID_setct_CertReqTBS		564
-#define OBJ_setct_CertReqTBS		OBJ_set_ctype,46L
-
-#define SN_setct_CertResData		"setct-CertResData"
-#define NID_setct_CertResData		565
-#define OBJ_setct_CertResData		OBJ_set_ctype,47L
-
-#define SN_setct_CertInqReqTBS		"setct-CertInqReqTBS"
-#define NID_setct_CertInqReqTBS		566
-#define OBJ_setct_CertInqReqTBS		OBJ_set_ctype,48L
-
-#define SN_setct_ErrorTBS		"setct-ErrorTBS"
-#define NID_setct_ErrorTBS		567
-#define OBJ_setct_ErrorTBS		OBJ_set_ctype,49L
-
-#define SN_setct_PIDualSignedTBE		"setct-PIDualSignedTBE"
-#define NID_setct_PIDualSignedTBE		568
-#define OBJ_setct_PIDualSignedTBE		OBJ_set_ctype,50L
-
-#define SN_setct_PIUnsignedTBE		"setct-PIUnsignedTBE"
-#define NID_setct_PIUnsignedTBE		569
-#define OBJ_setct_PIUnsignedTBE		OBJ_set_ctype,51L
-
-#define SN_setct_AuthReqTBE		"setct-AuthReqTBE"
-#define NID_setct_AuthReqTBE		570
-#define OBJ_setct_AuthReqTBE		OBJ_set_ctype,52L
-
-#define SN_setct_AuthResTBE		"setct-AuthResTBE"
-#define NID_setct_AuthResTBE		571
-#define OBJ_setct_AuthResTBE		OBJ_set_ctype,53L
-
-#define SN_setct_AuthResTBEX		"setct-AuthResTBEX"
-#define NID_setct_AuthResTBEX		572
-#define OBJ_setct_AuthResTBEX		OBJ_set_ctype,54L
-
-#define SN_setct_AuthTokenTBE		"setct-AuthTokenTBE"
-#define NID_setct_AuthTokenTBE		573
-#define OBJ_setct_AuthTokenTBE		OBJ_set_ctype,55L
-
-#define SN_setct_CapTokenTBE		"setct-CapTokenTBE"
-#define NID_setct_CapTokenTBE		574
-#define OBJ_setct_CapTokenTBE		OBJ_set_ctype,56L
-
-#define SN_setct_CapTokenTBEX		"setct-CapTokenTBEX"
-#define NID_setct_CapTokenTBEX		575
-#define OBJ_setct_CapTokenTBEX		OBJ_set_ctype,57L
-
-#define SN_setct_AcqCardCodeMsgTBE		"setct-AcqCardCodeMsgTBE"
-#define NID_setct_AcqCardCodeMsgTBE		576
-#define OBJ_setct_AcqCardCodeMsgTBE		OBJ_set_ctype,58L
-
-#define SN_setct_AuthRevReqTBE		"setct-AuthRevReqTBE"
-#define NID_setct_AuthRevReqTBE		577
-#define OBJ_setct_AuthRevReqTBE		OBJ_set_ctype,59L
-
-#define SN_setct_AuthRevResTBE		"setct-AuthRevResTBE"
-#define NID_setct_AuthRevResTBE		578
-#define OBJ_setct_AuthRevResTBE		OBJ_set_ctype,60L
-
-#define SN_setct_AuthRevResTBEB		"setct-AuthRevResTBEB"
-#define NID_setct_AuthRevResTBEB		579
-#define OBJ_setct_AuthRevResTBEB		OBJ_set_ctype,61L
-
-#define SN_setct_CapReqTBE		"setct-CapReqTBE"
-#define NID_setct_CapReqTBE		580
-#define OBJ_setct_CapReqTBE		OBJ_set_ctype,62L
-
-#define SN_setct_CapReqTBEX		"setct-CapReqTBEX"
-#define NID_setct_CapReqTBEX		581
-#define OBJ_setct_CapReqTBEX		OBJ_set_ctype,63L
-
-#define SN_setct_CapResTBE		"setct-CapResTBE"
-#define NID_setct_CapResTBE		582
-#define OBJ_setct_CapResTBE		OBJ_set_ctype,64L
-
-#define SN_setct_CapRevReqTBE		"setct-CapRevReqTBE"
-#define NID_setct_CapRevReqTBE		583
-#define OBJ_setct_CapRevReqTBE		OBJ_set_ctype,65L
-
-#define SN_setct_CapRevReqTBEX		"setct-CapRevReqTBEX"
-#define NID_setct_CapRevReqTBEX		584
-#define OBJ_setct_CapRevReqTBEX		OBJ_set_ctype,66L
-
-#define SN_setct_CapRevResTBE		"setct-CapRevResTBE"
-#define NID_setct_CapRevResTBE		585
-#define OBJ_setct_CapRevResTBE		OBJ_set_ctype,67L
-
-#define SN_setct_CredReqTBE		"setct-CredReqTBE"
-#define NID_setct_CredReqTBE		586
-#define OBJ_setct_CredReqTBE		OBJ_set_ctype,68L
-
-#define SN_setct_CredReqTBEX		"setct-CredReqTBEX"
-#define NID_setct_CredReqTBEX		587
-#define OBJ_setct_CredReqTBEX		OBJ_set_ctype,69L
-
-#define SN_setct_CredResTBE		"setct-CredResTBE"
-#define NID_setct_CredResTBE		588
-#define OBJ_setct_CredResTBE		OBJ_set_ctype,70L
-
-#define SN_setct_CredRevReqTBE		"setct-CredRevReqTBE"
-#define NID_setct_CredRevReqTBE		589
-#define OBJ_setct_CredRevReqTBE		OBJ_set_ctype,71L
-
-#define SN_setct_CredRevReqTBEX		"setct-CredRevReqTBEX"
-#define NID_setct_CredRevReqTBEX		590
-#define OBJ_setct_CredRevReqTBEX		OBJ_set_ctype,72L
-
-#define SN_setct_CredRevResTBE		"setct-CredRevResTBE"
-#define NID_setct_CredRevResTBE		591
-#define OBJ_setct_CredRevResTBE		OBJ_set_ctype,73L
-
-#define SN_setct_BatchAdminReqTBE		"setct-BatchAdminReqTBE"
-#define NID_setct_BatchAdminReqTBE		592
-#define OBJ_setct_BatchAdminReqTBE		OBJ_set_ctype,74L
-
-#define SN_setct_BatchAdminResTBE		"setct-BatchAdminResTBE"
-#define NID_setct_BatchAdminResTBE		593
-#define OBJ_setct_BatchAdminResTBE		OBJ_set_ctype,75L
-
-#define SN_setct_RegFormReqTBE		"setct-RegFormReqTBE"
-#define NID_setct_RegFormReqTBE		594
-#define OBJ_setct_RegFormReqTBE		OBJ_set_ctype,76L
-
-#define SN_setct_CertReqTBE		"setct-CertReqTBE"
-#define NID_setct_CertReqTBE		595
-#define OBJ_setct_CertReqTBE		OBJ_set_ctype,77L
-
-#define SN_setct_CertReqTBEX		"setct-CertReqTBEX"
-#define NID_setct_CertReqTBEX		596
-#define OBJ_setct_CertReqTBEX		OBJ_set_ctype,78L
-
-#define SN_setct_CertResTBE		"setct-CertResTBE"
-#define NID_setct_CertResTBE		597
-#define OBJ_setct_CertResTBE		OBJ_set_ctype,79L
-
-#define SN_setct_CRLNotificationTBS		"setct-CRLNotificationTBS"
-#define NID_setct_CRLNotificationTBS		598
-#define OBJ_setct_CRLNotificationTBS		OBJ_set_ctype,80L
-
-#define SN_setct_CRLNotificationResTBS		"setct-CRLNotificationResTBS"
-#define NID_setct_CRLNotificationResTBS		599
-#define OBJ_setct_CRLNotificationResTBS		OBJ_set_ctype,81L
-
-#define SN_setct_BCIDistributionTBS		"setct-BCIDistributionTBS"
-#define NID_setct_BCIDistributionTBS		600
-#define OBJ_setct_BCIDistributionTBS		OBJ_set_ctype,82L
-
-#define SN_setext_genCrypt		"setext-genCrypt"
-#define LN_setext_genCrypt		"generic cryptogram"
-#define NID_setext_genCrypt		601
-#define OBJ_setext_genCrypt		OBJ_set_msgExt,1L
-
-#define SN_setext_miAuth		"setext-miAuth"
-#define LN_setext_miAuth		"merchant initiated auth"
-#define NID_setext_miAuth		602
-#define OBJ_setext_miAuth		OBJ_set_msgExt,3L
-
-#define SN_setext_pinSecure		"setext-pinSecure"
-#define NID_setext_pinSecure		603
-#define OBJ_setext_pinSecure		OBJ_set_msgExt,4L
-
-#define SN_setext_pinAny		"setext-pinAny"
-#define NID_setext_pinAny		604
-#define OBJ_setext_pinAny		OBJ_set_msgExt,5L
-
-#define SN_setext_track2		"setext-track2"
-#define NID_setext_track2		605
-#define OBJ_setext_track2		OBJ_set_msgExt,7L
-
-#define SN_setext_cv		"setext-cv"
-#define LN_setext_cv		"additional verification"
-#define NID_setext_cv		606
-#define OBJ_setext_cv		OBJ_set_msgExt,8L
-
-#define SN_set_policy_root		"set-policy-root"
-#define NID_set_policy_root		607
-#define OBJ_set_policy_root		OBJ_set_policy,0L
-
-#define SN_setCext_hashedRoot		"setCext-hashedRoot"
-#define NID_setCext_hashedRoot		608
-#define OBJ_setCext_hashedRoot		OBJ_set_certExt,0L
-
-#define SN_setCext_certType		"setCext-certType"
-#define NID_setCext_certType		609
-#define OBJ_setCext_certType		OBJ_set_certExt,1L
-
-#define SN_setCext_merchData		"setCext-merchData"
-#define NID_setCext_merchData		610
-#define OBJ_setCext_merchData		OBJ_set_certExt,2L
-
-#define SN_setCext_cCertRequired		"setCext-cCertRequired"
-#define NID_setCext_cCertRequired		611
-#define OBJ_setCext_cCertRequired		OBJ_set_certExt,3L
-
-#define SN_setCext_tunneling		"setCext-tunneling"
-#define NID_setCext_tunneling		612
-#define OBJ_setCext_tunneling		OBJ_set_certExt,4L
-
-#define SN_setCext_setExt		"setCext-setExt"
-#define NID_setCext_setExt		613
-#define OBJ_setCext_setExt		OBJ_set_certExt,5L
-
-#define SN_setCext_setQualf		"setCext-setQualf"
-#define NID_setCext_setQualf		614
-#define OBJ_setCext_setQualf		OBJ_set_certExt,6L
-
-#define SN_setCext_PGWYcapabilities		"setCext-PGWYcapabilities"
-#define NID_setCext_PGWYcapabilities		615
-#define OBJ_setCext_PGWYcapabilities		OBJ_set_certExt,7L
-
-#define SN_setCext_TokenIdentifier		"setCext-TokenIdentifier"
-#define NID_setCext_TokenIdentifier		616
-#define OBJ_setCext_TokenIdentifier		OBJ_set_certExt,8L
-
-#define SN_setCext_Track2Data		"setCext-Track2Data"
-#define NID_setCext_Track2Data		617
-#define OBJ_setCext_Track2Data		OBJ_set_certExt,9L
-
-#define SN_setCext_TokenType		"setCext-TokenType"
-#define NID_setCext_TokenType		618
-#define OBJ_setCext_TokenType		OBJ_set_certExt,10L
-
-#define SN_setCext_IssuerCapabilities		"setCext-IssuerCapabilities"
-#define NID_setCext_IssuerCapabilities		619
-#define OBJ_setCext_IssuerCapabilities		OBJ_set_certExt,11L
-
-#define SN_setAttr_Cert		"setAttr-Cert"
-#define NID_setAttr_Cert		620
-#define OBJ_setAttr_Cert		OBJ_set_attr,0L
-
-#define SN_setAttr_PGWYcap		"setAttr-PGWYcap"
-#define LN_setAttr_PGWYcap		"payment gateway capabilities"
-#define NID_setAttr_PGWYcap		621
-#define OBJ_setAttr_PGWYcap		OBJ_set_attr,1L
-
-#define SN_setAttr_TokenType		"setAttr-TokenType"
-#define NID_setAttr_TokenType		622
-#define OBJ_setAttr_TokenType		OBJ_set_attr,2L
-
-#define SN_setAttr_IssCap		"setAttr-IssCap"
-#define LN_setAttr_IssCap		"issuer capabilities"
-#define NID_setAttr_IssCap		623
-#define OBJ_setAttr_IssCap		OBJ_set_attr,3L
-
-#define SN_set_rootKeyThumb		"set-rootKeyThumb"
-#define NID_set_rootKeyThumb		624
-#define OBJ_set_rootKeyThumb		OBJ_setAttr_Cert,0L
-
-#define SN_set_addPolicy		"set-addPolicy"
-#define NID_set_addPolicy		625
-#define OBJ_set_addPolicy		OBJ_setAttr_Cert,1L
-
-#define SN_setAttr_Token_EMV		"setAttr-Token-EMV"
-#define NID_setAttr_Token_EMV		626
-#define OBJ_setAttr_Token_EMV		OBJ_setAttr_TokenType,1L
-
-#define SN_setAttr_Token_B0Prime		"setAttr-Token-B0Prime"
-#define NID_setAttr_Token_B0Prime		627
-#define OBJ_setAttr_Token_B0Prime		OBJ_setAttr_TokenType,2L
-
-#define SN_setAttr_IssCap_CVM		"setAttr-IssCap-CVM"
-#define NID_setAttr_IssCap_CVM		628
-#define OBJ_setAttr_IssCap_CVM		OBJ_setAttr_IssCap,3L
-
-#define SN_setAttr_IssCap_T2		"setAttr-IssCap-T2"
-#define NID_setAttr_IssCap_T2		629
-#define OBJ_setAttr_IssCap_T2		OBJ_setAttr_IssCap,4L
-
-#define SN_setAttr_IssCap_Sig		"setAttr-IssCap-Sig"
-#define NID_setAttr_IssCap_Sig		630
-#define OBJ_setAttr_IssCap_Sig		OBJ_setAttr_IssCap,5L
-
-#define SN_setAttr_GenCryptgrm		"setAttr-GenCryptgrm"
-#define LN_setAttr_GenCryptgrm		"generate cryptogram"
-#define NID_setAttr_GenCryptgrm		631
-#define OBJ_setAttr_GenCryptgrm		OBJ_setAttr_IssCap_CVM,1L
-
-#define SN_setAttr_T2Enc		"setAttr-T2Enc"
-#define LN_setAttr_T2Enc		"encrypted track 2"
-#define NID_setAttr_T2Enc		632
-#define OBJ_setAttr_T2Enc		OBJ_setAttr_IssCap_T2,1L
-
-#define SN_setAttr_T2cleartxt		"setAttr-T2cleartxt"
-#define LN_setAttr_T2cleartxt		"cleartext track 2"
-#define NID_setAttr_T2cleartxt		633
-#define OBJ_setAttr_T2cleartxt		OBJ_setAttr_IssCap_T2,2L
-
-#define SN_setAttr_TokICCsig		"setAttr-TokICCsig"
-#define LN_setAttr_TokICCsig		"ICC or token signature"
-#define NID_setAttr_TokICCsig		634
-#define OBJ_setAttr_TokICCsig		OBJ_setAttr_IssCap_Sig,1L
-
-#define SN_setAttr_SecDevSig		"setAttr-SecDevSig"
-#define LN_setAttr_SecDevSig		"secure device signature"
-#define NID_setAttr_SecDevSig		635
-#define OBJ_setAttr_SecDevSig		OBJ_setAttr_IssCap_Sig,2L
-
-#define SN_set_brand_IATA_ATA		"set-brand-IATA-ATA"
-#define NID_set_brand_IATA_ATA		636
-#define OBJ_set_brand_IATA_ATA		OBJ_set_brand,1L
-
-#define SN_set_brand_Diners		"set-brand-Diners"
-#define NID_set_brand_Diners		637
-#define OBJ_set_brand_Diners		OBJ_set_brand,30L
-
-#define SN_set_brand_AmericanExpress		"set-brand-AmericanExpress"
-#define NID_set_brand_AmericanExpress		638
-#define OBJ_set_brand_AmericanExpress		OBJ_set_brand,34L
-
-#define SN_set_brand_JCB		"set-brand-JCB"
-#define NID_set_brand_JCB		639
-#define OBJ_set_brand_JCB		OBJ_set_brand,35L
-
-#define SN_set_brand_Visa		"set-brand-Visa"
-#define NID_set_brand_Visa		640
-#define OBJ_set_brand_Visa		OBJ_set_brand,4L
-
-#define SN_set_brand_MasterCard		"set-brand-MasterCard"
-#define NID_set_brand_MasterCard		641
-#define OBJ_set_brand_MasterCard		OBJ_set_brand,5L
-
-#define SN_set_brand_Novus		"set-brand-Novus"
-#define NID_set_brand_Novus		642
-#define OBJ_set_brand_Novus		OBJ_set_brand,6011L
-
-#define SN_des_cdmf		"DES-CDMF"
-#define LN_des_cdmf		"des-cdmf"
-#define NID_des_cdmf		643
-#define OBJ_des_cdmf		OBJ_rsadsi,3L,10L
-
-#define SN_rsaOAEPEncryptionSET		"rsaOAEPEncryptionSET"
-#define NID_rsaOAEPEncryptionSET		644
-#define OBJ_rsaOAEPEncryptionSET		OBJ_rsadsi,1L,1L,6L
-
-#define SN_ipsec3		"Oakley-EC2N-3"
-#define LN_ipsec3		"ipsec3"
-#define NID_ipsec3		749
-
-#define SN_ipsec4		"Oakley-EC2N-4"
-#define LN_ipsec4		"ipsec4"
-#define NID_ipsec4		750
-
-#define SN_whirlpool		"whirlpool"
-#define NID_whirlpool		804
-#define OBJ_whirlpool		OBJ_iso,0L,10118L,3L,0L,55L
-
-#define SN_cryptopro		"cryptopro"
-#define NID_cryptopro		805
-#define OBJ_cryptopro		OBJ_member_body,643L,2L,2L
-
-#define SN_cryptocom		"cryptocom"
-#define NID_cryptocom		806
-#define OBJ_cryptocom		OBJ_member_body,643L,2L,9L
-
-#define SN_id_GostR3411_94_with_GostR3410_2001		"id-GostR3411-94-with-GostR3410-2001"
-#define LN_id_GostR3411_94_with_GostR3410_2001		"GOST R 34.11-94 with GOST R 34.10-2001"
-#define NID_id_GostR3411_94_with_GostR3410_2001		807
-#define OBJ_id_GostR3411_94_with_GostR3410_2001		OBJ_cryptopro,3L
-
-#define SN_id_GostR3411_94_with_GostR3410_94		"id-GostR3411-94-with-GostR3410-94"
-#define LN_id_GostR3411_94_with_GostR3410_94		"GOST R 34.11-94 with GOST R 34.10-94"
-#define NID_id_GostR3411_94_with_GostR3410_94		808
-#define OBJ_id_GostR3411_94_with_GostR3410_94		OBJ_cryptopro,4L
-
-#define SN_id_GostR3411_94		"md_gost94"
-#define LN_id_GostR3411_94		"GOST R 34.11-94"
-#define NID_id_GostR3411_94		809
-#define OBJ_id_GostR3411_94		OBJ_cryptopro,9L
-
-#define SN_id_HMACGostR3411_94		"id-HMACGostR3411-94"
-#define LN_id_HMACGostR3411_94		"HMAC GOST 34.11-94"
-#define NID_id_HMACGostR3411_94		810
-#define OBJ_id_HMACGostR3411_94		OBJ_cryptopro,10L
-
-#define SN_id_GostR3410_2001		"gost2001"
-#define LN_id_GostR3410_2001		"GOST R 34.10-2001"
-#define NID_id_GostR3410_2001		811
-#define OBJ_id_GostR3410_2001		OBJ_cryptopro,19L
-
-#define SN_id_GostR3410_94		"gost94"
-#define LN_id_GostR3410_94		"GOST R 34.10-94"
-#define NID_id_GostR3410_94		812
-#define OBJ_id_GostR3410_94		OBJ_cryptopro,20L
-
-#define SN_id_Gost28147_89		"gost89"
-#define LN_id_Gost28147_89		"GOST 28147-89"
-#define NID_id_Gost28147_89		813
-#define OBJ_id_Gost28147_89		OBJ_cryptopro,21L
-
-#define SN_gost89_cnt		"gost89-cnt"
-#define NID_gost89_cnt		814
-
-#define SN_id_Gost28147_89_MAC		"gost-mac"
-#define LN_id_Gost28147_89_MAC		"GOST 28147-89 MAC"
-#define NID_id_Gost28147_89_MAC		815
-#define OBJ_id_Gost28147_89_MAC		OBJ_cryptopro,22L
-
-#define SN_id_GostR3411_94_prf		"prf-gostr3411-94"
-#define LN_id_GostR3411_94_prf		"GOST R 34.11-94 PRF"
-#define NID_id_GostR3411_94_prf		816
-#define OBJ_id_GostR3411_94_prf		OBJ_cryptopro,23L
-
-#define SN_id_GostR3410_2001DH		"id-GostR3410-2001DH"
-#define LN_id_GostR3410_2001DH		"GOST R 34.10-2001 DH"
-#define NID_id_GostR3410_2001DH		817
-#define OBJ_id_GostR3410_2001DH		OBJ_cryptopro,98L
-
-#define SN_id_GostR3410_94DH		"id-GostR3410-94DH"
-#define LN_id_GostR3410_94DH		"GOST R 34.10-94 DH"
-#define NID_id_GostR3410_94DH		818
-#define OBJ_id_GostR3410_94DH		OBJ_cryptopro,99L
-
-#define SN_id_Gost28147_89_CryptoPro_KeyMeshing		"id-Gost28147-89-CryptoPro-KeyMeshing"
-#define NID_id_Gost28147_89_CryptoPro_KeyMeshing		819
-#define OBJ_id_Gost28147_89_CryptoPro_KeyMeshing		OBJ_cryptopro,14L,1L
-
-#define SN_id_Gost28147_89_None_KeyMeshing		"id-Gost28147-89-None-KeyMeshing"
-#define NID_id_Gost28147_89_None_KeyMeshing		820
-#define OBJ_id_Gost28147_89_None_KeyMeshing		OBJ_cryptopro,14L,0L
-
-#define SN_id_GostR3411_94_TestParamSet		"id-GostR3411-94-TestParamSet"
-#define NID_id_GostR3411_94_TestParamSet		821
-#define OBJ_id_GostR3411_94_TestParamSet		OBJ_cryptopro,30L,0L
-
-#define SN_id_GostR3411_94_CryptoProParamSet		"id-GostR3411-94-CryptoProParamSet"
-#define NID_id_GostR3411_94_CryptoProParamSet		822
-#define OBJ_id_GostR3411_94_CryptoProParamSet		OBJ_cryptopro,30L,1L
-
-#define SN_id_Gost28147_89_TestParamSet		"id-Gost28147-89-TestParamSet"
-#define NID_id_Gost28147_89_TestParamSet		823
-#define OBJ_id_Gost28147_89_TestParamSet		OBJ_cryptopro,31L,0L
-
-#define SN_id_Gost28147_89_CryptoPro_A_ParamSet		"id-Gost28147-89-CryptoPro-A-ParamSet"
-#define NID_id_Gost28147_89_CryptoPro_A_ParamSet		824
-#define OBJ_id_Gost28147_89_CryptoPro_A_ParamSet		OBJ_cryptopro,31L,1L
-
-#define SN_id_Gost28147_89_CryptoPro_B_ParamSet		"id-Gost28147-89-CryptoPro-B-ParamSet"
-#define NID_id_Gost28147_89_CryptoPro_B_ParamSet		825
-#define OBJ_id_Gost28147_89_CryptoPro_B_ParamSet		OBJ_cryptopro,31L,2L
-
-#define SN_id_Gost28147_89_CryptoPro_C_ParamSet		"id-Gost28147-89-CryptoPro-C-ParamSet"
-#define NID_id_Gost28147_89_CryptoPro_C_ParamSet		826
-#define OBJ_id_Gost28147_89_CryptoPro_C_ParamSet		OBJ_cryptopro,31L,3L
-
-#define SN_id_Gost28147_89_CryptoPro_D_ParamSet		"id-Gost28147-89-CryptoPro-D-ParamSet"
-#define NID_id_Gost28147_89_CryptoPro_D_ParamSet		827
-#define OBJ_id_Gost28147_89_CryptoPro_D_ParamSet		OBJ_cryptopro,31L,4L
-
-#define SN_id_Gost28147_89_CryptoPro_Oscar_1_1_ParamSet		"id-Gost28147-89-CryptoPro-Oscar-1-1-ParamSet"
-#define NID_id_Gost28147_89_CryptoPro_Oscar_1_1_ParamSet		828
-#define OBJ_id_Gost28147_89_CryptoPro_Oscar_1_1_ParamSet		OBJ_cryptopro,31L,5L
-
-#define SN_id_Gost28147_89_CryptoPro_Oscar_1_0_ParamSet		"id-Gost28147-89-CryptoPro-Oscar-1-0-ParamSet"
-#define NID_id_Gost28147_89_CryptoPro_Oscar_1_0_ParamSet		829
-#define OBJ_id_Gost28147_89_CryptoPro_Oscar_1_0_ParamSet		OBJ_cryptopro,31L,6L
-
-#define SN_id_Gost28147_89_CryptoPro_RIC_1_ParamSet		"id-Gost28147-89-CryptoPro-RIC-1-ParamSet"
-#define NID_id_Gost28147_89_CryptoPro_RIC_1_ParamSet		830
-#define OBJ_id_Gost28147_89_CryptoPro_RIC_1_ParamSet		OBJ_cryptopro,31L,7L
-
-#define SN_id_GostR3410_94_TestParamSet		"id-GostR3410-94-TestParamSet"
-#define NID_id_GostR3410_94_TestParamSet		831
-#define OBJ_id_GostR3410_94_TestParamSet		OBJ_cryptopro,32L,0L
-
-#define SN_id_GostR3410_94_CryptoPro_A_ParamSet		"id-GostR3410-94-CryptoPro-A-ParamSet"
-#define NID_id_GostR3410_94_CryptoPro_A_ParamSet		832
-#define OBJ_id_GostR3410_94_CryptoPro_A_ParamSet		OBJ_cryptopro,32L,2L
-
-#define SN_id_GostR3410_94_CryptoPro_B_ParamSet		"id-GostR3410-94-CryptoPro-B-ParamSet"
-#define NID_id_GostR3410_94_CryptoPro_B_ParamSet		833
-#define OBJ_id_GostR3410_94_CryptoPro_B_ParamSet		OBJ_cryptopro,32L,3L
-
-#define SN_id_GostR3410_94_CryptoPro_C_ParamSet		"id-GostR3410-94-CryptoPro-C-ParamSet"
-#define NID_id_GostR3410_94_CryptoPro_C_ParamSet		834
-#define OBJ_id_GostR3410_94_CryptoPro_C_ParamSet		OBJ_cryptopro,32L,4L
-
-#define SN_id_GostR3410_94_CryptoPro_D_ParamSet		"id-GostR3410-94-CryptoPro-D-ParamSet"
-#define NID_id_GostR3410_94_CryptoPro_D_ParamSet		835
-#define OBJ_id_GostR3410_94_CryptoPro_D_ParamSet		OBJ_cryptopro,32L,5L
-
-#define SN_id_GostR3410_94_CryptoPro_XchA_ParamSet		"id-GostR3410-94-CryptoPro-XchA-ParamSet"
-#define NID_id_GostR3410_94_CryptoPro_XchA_ParamSet		836
-#define OBJ_id_GostR3410_94_CryptoPro_XchA_ParamSet		OBJ_cryptopro,33L,1L
-
-#define SN_id_GostR3410_94_CryptoPro_XchB_ParamSet		"id-GostR3410-94-CryptoPro-XchB-ParamSet"
-#define NID_id_GostR3410_94_CryptoPro_XchB_ParamSet		837
-#define OBJ_id_GostR3410_94_CryptoPro_XchB_ParamSet		OBJ_cryptopro,33L,2L
-
-#define SN_id_GostR3410_94_CryptoPro_XchC_ParamSet		"id-GostR3410-94-CryptoPro-XchC-ParamSet"
-#define NID_id_GostR3410_94_CryptoPro_XchC_ParamSet		838
-#define OBJ_id_GostR3410_94_CryptoPro_XchC_ParamSet		OBJ_cryptopro,33L,3L
-
-#define SN_id_GostR3410_2001_TestParamSet		"id-GostR3410-2001-TestParamSet"
-#define NID_id_GostR3410_2001_TestParamSet		839
-#define OBJ_id_GostR3410_2001_TestParamSet		OBJ_cryptopro,35L,0L
-
-#define SN_id_GostR3410_2001_CryptoPro_A_ParamSet		"id-GostR3410-2001-CryptoPro-A-ParamSet"
-#define NID_id_GostR3410_2001_CryptoPro_A_ParamSet		840
-#define OBJ_id_GostR3410_2001_CryptoPro_A_ParamSet		OBJ_cryptopro,35L,1L
-
-#define SN_id_GostR3410_2001_CryptoPro_B_ParamSet		"id-GostR3410-2001-CryptoPro-B-ParamSet"
-#define NID_id_GostR3410_2001_CryptoPro_B_ParamSet		841
-#define OBJ_id_GostR3410_2001_CryptoPro_B_ParamSet		OBJ_cryptopro,35L,2L
-
-#define SN_id_GostR3410_2001_CryptoPro_C_ParamSet		"id-GostR3410-2001-CryptoPro-C-ParamSet"
-#define NID_id_GostR3410_2001_CryptoPro_C_ParamSet		842
-#define OBJ_id_GostR3410_2001_CryptoPro_C_ParamSet		OBJ_cryptopro,35L,3L
-
-#define SN_id_GostR3410_2001_CryptoPro_XchA_ParamSet		"id-GostR3410-2001-CryptoPro-XchA-ParamSet"
-#define NID_id_GostR3410_2001_CryptoPro_XchA_ParamSet		843
-#define OBJ_id_GostR3410_2001_CryptoPro_XchA_ParamSet		OBJ_cryptopro,36L,0L
-
-#define SN_id_GostR3410_2001_CryptoPro_XchB_ParamSet		"id-GostR3410-2001-CryptoPro-XchB-ParamSet"
-#define NID_id_GostR3410_2001_CryptoPro_XchB_ParamSet		844
-#define OBJ_id_GostR3410_2001_CryptoPro_XchB_ParamSet		OBJ_cryptopro,36L,1L
-
-#define SN_id_GostR3410_94_a		"id-GostR3410-94-a"
-#define NID_id_GostR3410_94_a		845
-#define OBJ_id_GostR3410_94_a		OBJ_id_GostR3410_94,1L
-
-#define SN_id_GostR3410_94_aBis		"id-GostR3410-94-aBis"
-#define NID_id_GostR3410_94_aBis		846
-#define OBJ_id_GostR3410_94_aBis		OBJ_id_GostR3410_94,2L
-
-#define SN_id_GostR3410_94_b		"id-GostR3410-94-b"
-#define NID_id_GostR3410_94_b		847
-#define OBJ_id_GostR3410_94_b		OBJ_id_GostR3410_94,3L
-
-#define SN_id_GostR3410_94_bBis		"id-GostR3410-94-bBis"
-#define NID_id_GostR3410_94_bBis		848
-#define OBJ_id_GostR3410_94_bBis		OBJ_id_GostR3410_94,4L
-
-#define SN_id_Gost28147_89_cc		"id-Gost28147-89-cc"
-#define LN_id_Gost28147_89_cc		"GOST 28147-89 Cryptocom ParamSet"
-#define NID_id_Gost28147_89_cc		849
-#define OBJ_id_Gost28147_89_cc		OBJ_cryptocom,1L,6L,1L
-
-#define SN_id_GostR3410_94_cc		"gost94cc"
-#define LN_id_GostR3410_94_cc		"GOST 34.10-94 Cryptocom"
-#define NID_id_GostR3410_94_cc		850
-#define OBJ_id_GostR3410_94_cc		OBJ_cryptocom,1L,5L,3L
-
-#define SN_id_GostR3410_2001_cc		"gost2001cc"
-#define LN_id_GostR3410_2001_cc		"GOST 34.10-2001 Cryptocom"
-#define NID_id_GostR3410_2001_cc		851
-#define OBJ_id_GostR3410_2001_cc		OBJ_cryptocom,1L,5L,4L
-
-#define SN_id_GostR3411_94_with_GostR3410_94_cc		"id-GostR3411-94-with-GostR3410-94-cc"
-#define LN_id_GostR3411_94_with_GostR3410_94_cc		"GOST R 34.11-94 with GOST R 34.10-94 Cryptocom"
-#define NID_id_GostR3411_94_with_GostR3410_94_cc		852
-#define OBJ_id_GostR3411_94_with_GostR3410_94_cc		OBJ_cryptocom,1L,3L,3L
-
-#define SN_id_GostR3411_94_with_GostR3410_2001_cc		"id-GostR3411-94-with-GostR3410-2001-cc"
-#define LN_id_GostR3411_94_with_GostR3410_2001_cc		"GOST R 34.11-94 with GOST R 34.10-2001 Cryptocom"
-#define NID_id_GostR3411_94_with_GostR3410_2001_cc		853
-#define OBJ_id_GostR3411_94_with_GostR3410_2001_cc		OBJ_cryptocom,1L,3L,4L
-
-#define SN_id_GostR3410_2001_ParamSet_cc		"id-GostR3410-2001-ParamSet-cc"
-#define LN_id_GostR3410_2001_ParamSet_cc		"GOST R 3410-2001 Parameter Set Cryptocom"
-#define NID_id_GostR3410_2001_ParamSet_cc		854
-#define OBJ_id_GostR3410_2001_ParamSet_cc		OBJ_cryptocom,1L,8L,1L
-
-#define SN_camellia_128_cbc		"CAMELLIA-128-CBC"
-#define LN_camellia_128_cbc		"camellia-128-cbc"
-#define NID_camellia_128_cbc		751
-#define OBJ_camellia_128_cbc		1L,2L,392L,200011L,61L,1L,1L,1L,2L
-
-#define SN_camellia_192_cbc		"CAMELLIA-192-CBC"
-#define LN_camellia_192_cbc		"camellia-192-cbc"
-#define NID_camellia_192_cbc		752
-#define OBJ_camellia_192_cbc		1L,2L,392L,200011L,61L,1L,1L,1L,3L
-
-#define SN_camellia_256_cbc		"CAMELLIA-256-CBC"
-#define LN_camellia_256_cbc		"camellia-256-cbc"
-#define NID_camellia_256_cbc		753
-#define OBJ_camellia_256_cbc		1L,2L,392L,200011L,61L,1L,1L,1L,4L
-
-#define SN_id_camellia128_wrap		"id-camellia128-wrap"
-#define NID_id_camellia128_wrap		907
-#define OBJ_id_camellia128_wrap		1L,2L,392L,200011L,61L,1L,1L,3L,2L
-
-#define SN_id_camellia192_wrap		"id-camellia192-wrap"
-#define NID_id_camellia192_wrap		908
-#define OBJ_id_camellia192_wrap		1L,2L,392L,200011L,61L,1L,1L,3L,3L
-
-#define SN_id_camellia256_wrap		"id-camellia256-wrap"
-#define NID_id_camellia256_wrap		909
-#define OBJ_id_camellia256_wrap		1L,2L,392L,200011L,61L,1L,1L,3L,4L
-
-#define OBJ_ntt_ds		0L,3L,4401L,5L
-
-#define OBJ_camellia		OBJ_ntt_ds,3L,1L,9L
-
-#define SN_camellia_128_ecb		"CAMELLIA-128-ECB"
-#define LN_camellia_128_ecb		"camellia-128-ecb"
-#define NID_camellia_128_ecb		754
-#define OBJ_camellia_128_ecb		OBJ_camellia,1L
-
-#define SN_camellia_128_ofb128		"CAMELLIA-128-OFB"
-#define LN_camellia_128_ofb128		"camellia-128-ofb"
-#define NID_camellia_128_ofb128		766
-#define OBJ_camellia_128_ofb128		OBJ_camellia,3L
-
-#define SN_camellia_128_cfb128		"CAMELLIA-128-CFB"
-#define LN_camellia_128_cfb128		"camellia-128-cfb"
-#define NID_camellia_128_cfb128		757
-#define OBJ_camellia_128_cfb128		OBJ_camellia,4L
-
-#define SN_camellia_192_ecb		"CAMELLIA-192-ECB"
-#define LN_camellia_192_ecb		"camellia-192-ecb"
-#define NID_camellia_192_ecb		755
-#define OBJ_camellia_192_ecb		OBJ_camellia,21L
-
-#define SN_camellia_192_ofb128		"CAMELLIA-192-OFB"
-#define LN_camellia_192_ofb128		"camellia-192-ofb"
-#define NID_camellia_192_ofb128		767
-#define OBJ_camellia_192_ofb128		OBJ_camellia,23L
-
-#define SN_camellia_192_cfb128		"CAMELLIA-192-CFB"
-#define LN_camellia_192_cfb128		"camellia-192-cfb"
-#define NID_camellia_192_cfb128		758
-#define OBJ_camellia_192_cfb128		OBJ_camellia,24L
-
-#define SN_camellia_256_ecb		"CAMELLIA-256-ECB"
-#define LN_camellia_256_ecb		"camellia-256-ecb"
-#define NID_camellia_256_ecb		756
-#define OBJ_camellia_256_ecb		OBJ_camellia,41L
-
-#define SN_camellia_256_ofb128		"CAMELLIA-256-OFB"
-#define LN_camellia_256_ofb128		"camellia-256-ofb"
-#define NID_camellia_256_ofb128		768
-#define OBJ_camellia_256_ofb128		OBJ_camellia,43L
-
-#define SN_camellia_256_cfb128		"CAMELLIA-256-CFB"
-#define LN_camellia_256_cfb128		"camellia-256-cfb"
-#define NID_camellia_256_cfb128		759
-#define OBJ_camellia_256_cfb128		OBJ_camellia,44L
-
-#define SN_camellia_128_cfb1		"CAMELLIA-128-CFB1"
-#define LN_camellia_128_cfb1		"camellia-128-cfb1"
-#define NID_camellia_128_cfb1		760
-
-#define SN_camellia_192_cfb1		"CAMELLIA-192-CFB1"
-#define LN_camellia_192_cfb1		"camellia-192-cfb1"
-#define NID_camellia_192_cfb1		761
-
-#define SN_camellia_256_cfb1		"CAMELLIA-256-CFB1"
-#define LN_camellia_256_cfb1		"camellia-256-cfb1"
-#define NID_camellia_256_cfb1		762
-
-#define SN_camellia_128_cfb8		"CAMELLIA-128-CFB8"
-#define LN_camellia_128_cfb8		"camellia-128-cfb8"
-#define NID_camellia_128_cfb8		763
-
-#define SN_camellia_192_cfb8		"CAMELLIA-192-CFB8"
-#define LN_camellia_192_cfb8		"camellia-192-cfb8"
-#define NID_camellia_192_cfb8		764
-
-#define SN_camellia_256_cfb8		"CAMELLIA-256-CFB8"
-#define LN_camellia_256_cfb8		"camellia-256-cfb8"
-#define NID_camellia_256_cfb8		765
-
-#define SN_kisa		"KISA"
-#define LN_kisa		"kisa"
-#define NID_kisa		773
-#define OBJ_kisa		OBJ_member_body,410L,200004L
-
-#define SN_seed_ecb		"SEED-ECB"
-#define LN_seed_ecb		"seed-ecb"
-#define NID_seed_ecb		776
-#define OBJ_seed_ecb		OBJ_kisa,1L,3L
-
-#define SN_seed_cbc		"SEED-CBC"
-#define LN_seed_cbc		"seed-cbc"
-#define NID_seed_cbc		777
-#define OBJ_seed_cbc		OBJ_kisa,1L,4L
-
-#define SN_seed_cfb128		"SEED-CFB"
-#define LN_seed_cfb128		"seed-cfb"
-#define NID_seed_cfb128		779
-#define OBJ_seed_cfb128		OBJ_kisa,1L,5L
-
-#define SN_seed_ofb128		"SEED-OFB"
-#define LN_seed_ofb128		"seed-ofb"
-#define NID_seed_ofb128		778
-#define OBJ_seed_ofb128		OBJ_kisa,1L,6L
-
-#define SN_hmac		"HMAC"
-#define LN_hmac		"hmac"
-#define NID_hmac		855
-
-#define SN_cmac		"CMAC"
-#define LN_cmac		"cmac"
-#define NID_cmac		894
-
-#define SN_rc4_hmac_md5		"RC4-HMAC-MD5"
-#define LN_rc4_hmac_md5		"rc4-hmac-md5"
-#define NID_rc4_hmac_md5		915
-
-#define SN_aes_128_cbc_hmac_sha1		"AES-128-CBC-HMAC-SHA1"
-#define LN_aes_128_cbc_hmac_sha1		"aes-128-cbc-hmac-sha1"
-#define NID_aes_128_cbc_hmac_sha1		916
-
-#define SN_aes_192_cbc_hmac_sha1		"AES-192-CBC-HMAC-SHA1"
-#define LN_aes_192_cbc_hmac_sha1		"aes-192-cbc-hmac-sha1"
-#define NID_aes_192_cbc_hmac_sha1		917
-
-#define SN_aes_256_cbc_hmac_sha1		"AES-256-CBC-HMAC-SHA1"
-#define LN_aes_256_cbc_hmac_sha1		"aes-256-cbc-hmac-sha1"
-#define NID_aes_256_cbc_hmac_sha1		918
-
-#define SN_dhpublicnumber		"dhpublicnumber"
-#define LN_dhpublicnumber		"X9.42 DH"
-#define NID_dhpublicnumber		920
-#define OBJ_dhpublicnumber		OBJ_ISO_US,10046L,2L,1L
-
-#define SN_brainpoolP160r1		"brainpoolP160r1"
-#define NID_brainpoolP160r1		921
-#define OBJ_brainpoolP160r1		1L,3L,36L,3L,3L,2L,8L,1L,1L,1L
-
-#define SN_brainpoolP160t1		"brainpoolP160t1"
-#define NID_brainpoolP160t1		922
-#define OBJ_brainpoolP160t1		1L,3L,36L,3L,3L,2L,8L,1L,1L,2L
-
-#define SN_brainpoolP192r1		"brainpoolP192r1"
-#define NID_brainpoolP192r1		923
-#define OBJ_brainpoolP192r1		1L,3L,36L,3L,3L,2L,8L,1L,1L,3L
-
-#define SN_brainpoolP192t1		"brainpoolP192t1"
-#define NID_brainpoolP192t1		924
-#define OBJ_brainpoolP192t1		1L,3L,36L,3L,3L,2L,8L,1L,1L,4L
-
-#define SN_brainpoolP224r1		"brainpoolP224r1"
-#define NID_brainpoolP224r1		925
-#define OBJ_brainpoolP224r1		1L,3L,36L,3L,3L,2L,8L,1L,1L,5L
-
-#define SN_brainpoolP224t1		"brainpoolP224t1"
-#define NID_brainpoolP224t1		926
-#define OBJ_brainpoolP224t1		1L,3L,36L,3L,3L,2L,8L,1L,1L,6L
-
-#define SN_brainpoolP256r1		"brainpoolP256r1"
-#define NID_brainpoolP256r1		927
-#define OBJ_brainpoolP256r1		1L,3L,36L,3L,3L,2L,8L,1L,1L,7L
-
-#define SN_brainpoolP256t1		"brainpoolP256t1"
-#define NID_brainpoolP256t1		928
-#define OBJ_brainpoolP256t1		1L,3L,36L,3L,3L,2L,8L,1L,1L,8L
-
-#define SN_brainpoolP320r1		"brainpoolP320r1"
-#define NID_brainpoolP320r1		929
-#define OBJ_brainpoolP320r1		1L,3L,36L,3L,3L,2L,8L,1L,1L,9L
-
-#define SN_brainpoolP320t1		"brainpoolP320t1"
-#define NID_brainpoolP320t1		930
-#define OBJ_brainpoolP320t1		1L,3L,36L,3L,3L,2L,8L,1L,1L,10L
-
-#define SN_brainpoolP384r1		"brainpoolP384r1"
-#define NID_brainpoolP384r1		931
-#define OBJ_brainpoolP384r1		1L,3L,36L,3L,3L,2L,8L,1L,1L,11L
-
-#define SN_brainpoolP384t1		"brainpoolP384t1"
-#define NID_brainpoolP384t1		932
-#define OBJ_brainpoolP384t1		1L,3L,36L,3L,3L,2L,8L,1L,1L,12L
-
-#define SN_brainpoolP512r1		"brainpoolP512r1"
-#define NID_brainpoolP512r1		933
-#define OBJ_brainpoolP512r1		1L,3L,36L,3L,3L,2L,8L,1L,1L,13L
-
-#define SN_brainpoolP512t1		"brainpoolP512t1"
-#define NID_brainpoolP512t1		934
-#define OBJ_brainpoolP512t1		1L,3L,36L,3L,3L,2L,8L,1L,1L,14L
-
-#define OBJ_x9_63_scheme		1L,3L,133L,16L,840L,63L,0L
-
-#define OBJ_secg_scheme		OBJ_certicom_arc,1L
-
-#define SN_dhSinglePass_stdDH_sha1kdf_scheme		"dhSinglePass-stdDH-sha1kdf-scheme"
-#define NID_dhSinglePass_stdDH_sha1kdf_scheme		936
-#define OBJ_dhSinglePass_stdDH_sha1kdf_scheme		OBJ_x9_63_scheme,2L
-
-#define SN_dhSinglePass_stdDH_sha224kdf_scheme		"dhSinglePass-stdDH-sha224kdf-scheme"
-#define NID_dhSinglePass_stdDH_sha224kdf_scheme		937
-#define OBJ_dhSinglePass_stdDH_sha224kdf_scheme		OBJ_secg_scheme,11L,0L
-
-#define SN_dhSinglePass_stdDH_sha256kdf_scheme		"dhSinglePass-stdDH-sha256kdf-scheme"
-#define NID_dhSinglePass_stdDH_sha256kdf_scheme		938
-#define OBJ_dhSinglePass_stdDH_sha256kdf_scheme		OBJ_secg_scheme,11L,1L
-
-#define SN_dhSinglePass_stdDH_sha384kdf_scheme		"dhSinglePass-stdDH-sha384kdf-scheme"
-#define NID_dhSinglePass_stdDH_sha384kdf_scheme		939
-#define OBJ_dhSinglePass_stdDH_sha384kdf_scheme		OBJ_secg_scheme,11L,2L
-
-#define SN_dhSinglePass_stdDH_sha512kdf_scheme		"dhSinglePass-stdDH-sha512kdf-scheme"
-#define NID_dhSinglePass_stdDH_sha512kdf_scheme		940
-#define OBJ_dhSinglePass_stdDH_sha512kdf_scheme		OBJ_secg_scheme,11L,3L
-
-#define SN_dhSinglePass_cofactorDH_sha1kdf_scheme		"dhSinglePass-cofactorDH-sha1kdf-scheme"
-#define NID_dhSinglePass_cofactorDH_sha1kdf_scheme		941
-#define OBJ_dhSinglePass_cofactorDH_sha1kdf_scheme		OBJ_x9_63_scheme,3L
-
-#define SN_dhSinglePass_cofactorDH_sha224kdf_scheme		"dhSinglePass-cofactorDH-sha224kdf-scheme"
-#define NID_dhSinglePass_cofactorDH_sha224kdf_scheme		942
-#define OBJ_dhSinglePass_cofactorDH_sha224kdf_scheme		OBJ_secg_scheme,14L,0L
-
-#define SN_dhSinglePass_cofactorDH_sha256kdf_scheme		"dhSinglePass-cofactorDH-sha256kdf-scheme"
-#define NID_dhSinglePass_cofactorDH_sha256kdf_scheme		943
-#define OBJ_dhSinglePass_cofactorDH_sha256kdf_scheme		OBJ_secg_scheme,14L,1L
-
-#define SN_dhSinglePass_cofactorDH_sha384kdf_scheme		"dhSinglePass-cofactorDH-sha384kdf-scheme"
-#define NID_dhSinglePass_cofactorDH_sha384kdf_scheme		944
-#define OBJ_dhSinglePass_cofactorDH_sha384kdf_scheme		OBJ_secg_scheme,14L,2L
-
-#define SN_dhSinglePass_cofactorDH_sha512kdf_scheme		"dhSinglePass-cofactorDH-sha512kdf-scheme"
-#define NID_dhSinglePass_cofactorDH_sha512kdf_scheme		945
-#define OBJ_dhSinglePass_cofactorDH_sha512kdf_scheme		OBJ_secg_scheme,14L,3L
-
-#define SN_dh_std_kdf		"dh-std-kdf"
-#define NID_dh_std_kdf		946
-
-#define SN_dh_cofactor_kdf		"dh-cofactor-kdf"
-#define NID_dh_cofactor_kdf		947
-
diff --git a/phonelibs/boringssl/include/openssl/objects.h b/phonelibs/boringssl/include/openssl/objects.h
deleted file mode 100644
index dd6556f26489c5..00000000000000
--- a/phonelibs/boringssl/include/openssl/objects.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
-
-#include "obj.h"
diff --git a/phonelibs/boringssl/include/openssl/opensslfeatures.h b/phonelibs/boringssl/include/openssl/opensslfeatures.h
deleted file mode 100644
index c3f97d5a48e620..00000000000000
--- a/phonelibs/boringssl/include/openssl/opensslfeatures.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
-
-#ifndef OPENSSL_HEADER_OPENSSLFEATURES_H
-#define OPENSSL_HEADER_OPENSSLFEATURES_H
-
-
-#define OPENSSL_NO_BF
-#define OPENSSL_NO_BUF_FREELISTS
-#define OPENSSL_NO_CAMELLIA
-#define OPENSSL_NO_CAPIENG
-#define OPENSSL_NO_CAST
-#define OPENSSL_NO_CMS
-#define OPENSSL_NO_COMP
-#define OPENSSL_NO_DANE
-#define OPENSSL_NO_DEPRECATED
-#define OPENSSL_NO_DYNAMIC_ENGINE
-#define OPENSSL_NO_EC_NISTP_64_GCC_128
-#define OPENSSL_NO_EC2M
-#define OPENSSL_NO_ENGINE
-#define OPENSSL_NO_GMP
-#define OPENSSL_NO_GOST
-#define OPENSSL_NO_HEARTBEATS
-#define OPENSSL_NO_HW
-#define OPENSSL_NO_IDEA
-#define OPENSSL_NO_JPAKE
-#define OPENSSL_NO_KRB5
-#define OPENSSL_NO_MD2
-#define OPENSSL_NO_MDC2
-#define OPENSSL_NO_OCB
-#define OPENSSL_NO_OCSP
-#define OPENSSL_NO_RC2
-#define OPENSSL_NO_RC5
-#define OPENSSL_NO_RFC3779
-#define OPENSSL_NO_RIPEMD
-#define OPENSSL_NO_RMD160
-#define OPENSSL_NO_SCTP
-#define OPENSSL_NO_SEED
-#define OPENSSL_NO_SRP
-#define OPENSSL_NO_SSL2
-#define OPENSSL_NO_STATIC_ENGINE
-#define OPENSSL_NO_STORE
-#define OPENSSL_NO_WHIRLPOOL
-
-
-#endif  /* OPENSSL_HEADER_OPENSSLFEATURES_H */
diff --git a/phonelibs/boringssl/include/openssl/opensslv.h b/phonelibs/boringssl/include/openssl/opensslv.h
deleted file mode 100644
index a3555d4f8b0027..00000000000000
--- a/phonelibs/boringssl/include/openssl/opensslv.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
-
-#include "crypto.h"
diff --git a/phonelibs/boringssl/include/openssl/ossl_typ.h b/phonelibs/boringssl/include/openssl/ossl_typ.h
deleted file mode 100644
index c2b3fe7c500965..00000000000000
--- a/phonelibs/boringssl/include/openssl/ossl_typ.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
-
-#include "base.h"
diff --git a/phonelibs/boringssl/include/openssl/pem.h b/phonelibs/boringssl/include/openssl/pem.h
deleted file mode 100644
index 7756e45ed3e73c..00000000000000
--- a/phonelibs/boringssl/include/openssl/pem.h
+++ /dev/null
@@ -1,545 +0,0 @@
-/* Copyright (C) 1995-1997 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_PEM_H
-#define OPENSSL_HEADER_PEM_H
-
-#include <openssl/base64.h>
-#include <openssl/bio.h>
-#include <openssl/cipher.h>
-#include <openssl/digest.h>
-#include <openssl/evp.h>
-#include <openssl/stack.h>
-#include <openssl/x509.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-#define PEM_BUFSIZE		1024
-
-#define PEM_OBJ_UNDEF		0
-#define PEM_OBJ_X509		1
-#define PEM_OBJ_X509_REQ	2
-#define PEM_OBJ_CRL		3
-#define PEM_OBJ_SSL_SESSION	4
-#define PEM_OBJ_PRIV_KEY	10
-#define PEM_OBJ_PRIV_RSA	11
-#define PEM_OBJ_PRIV_DSA	12
-#define PEM_OBJ_PRIV_DH		13
-#define PEM_OBJ_PUB_RSA		14
-#define PEM_OBJ_PUB_DSA		15
-#define PEM_OBJ_PUB_DH		16
-#define PEM_OBJ_DHPARAMS	17
-#define PEM_OBJ_DSAPARAMS	18
-#define PEM_OBJ_PRIV_RSA_PUBLIC	19
-#define PEM_OBJ_PRIV_ECDSA	20
-#define PEM_OBJ_PUB_ECDSA	21
-#define PEM_OBJ_ECPARAMETERS	22
-
-#define PEM_ERROR		30
-#define PEM_DEK_DES_CBC         40
-#define PEM_DEK_IDEA_CBC        45
-#define PEM_DEK_DES_EDE         50
-#define PEM_DEK_DES_ECB         60
-#define PEM_DEK_RSA             70
-#define PEM_DEK_RSA_MD2         80
-#define PEM_DEK_RSA_MD5         90
-
-#define PEM_MD_MD2		NID_md2
-#define PEM_MD_MD5		NID_md5
-#define PEM_MD_SHA		NID_sha
-#define PEM_MD_MD2_RSA		NID_md2WithRSAEncryption
-#define PEM_MD_MD5_RSA		NID_md5WithRSAEncryption
-#define PEM_MD_SHA_RSA		NID_sha1WithRSAEncryption
-
-#define PEM_STRING_X509_OLD	"X509 CERTIFICATE"
-#define PEM_STRING_X509		"CERTIFICATE"
-#define PEM_STRING_X509_PAIR	"CERTIFICATE PAIR"
-#define PEM_STRING_X509_TRUSTED	"TRUSTED CERTIFICATE"
-#define PEM_STRING_X509_REQ_OLD	"NEW CERTIFICATE REQUEST"
-#define PEM_STRING_X509_REQ	"CERTIFICATE REQUEST"
-#define PEM_STRING_X509_CRL	"X509 CRL"
-#define PEM_STRING_EVP_PKEY	"ANY PRIVATE KEY"
-#define PEM_STRING_PUBLIC	"PUBLIC KEY"
-#define PEM_STRING_RSA		"RSA PRIVATE KEY"
-#define PEM_STRING_RSA_PUBLIC	"RSA PUBLIC KEY"
-#define PEM_STRING_DSA		"DSA PRIVATE KEY"
-#define PEM_STRING_DSA_PUBLIC	"DSA PUBLIC KEY"
-#define PEM_STRING_PKCS7	"PKCS7"
-#define PEM_STRING_PKCS7_SIGNED	"PKCS #7 SIGNED DATA"
-#define PEM_STRING_PKCS8	"ENCRYPTED PRIVATE KEY"
-#define PEM_STRING_PKCS8INF	"PRIVATE KEY"
-#define PEM_STRING_DHPARAMS	"DH PARAMETERS"
-#define PEM_STRING_DHXPARAMS	"X9.42 DH PARAMETERS"
-#define PEM_STRING_SSL_SESSION	"SSL SESSION PARAMETERS"
-#define PEM_STRING_DSAPARAMS	"DSA PARAMETERS"
-#define PEM_STRING_ECDSA_PUBLIC "ECDSA PUBLIC KEY"
-#define PEM_STRING_ECPARAMETERS "EC PARAMETERS"
-#define PEM_STRING_ECPRIVATEKEY	"EC PRIVATE KEY"
-#define PEM_STRING_PARAMETERS	"PARAMETERS"
-#define PEM_STRING_CMS		"CMS"
-
-  /* Note that this structure is initialised by PEM_SealInit and cleaned up
-     by PEM_SealFinal (at least for now) */
-typedef struct PEM_Encode_Seal_st
-	{
-	EVP_ENCODE_CTX encode;
-	EVP_MD_CTX md;
-	EVP_CIPHER_CTX cipher;
-	} PEM_ENCODE_SEAL_CTX;
-
-/* enc_type is one off */
-#define PEM_TYPE_ENCRYPTED      10
-#define PEM_TYPE_MIC_ONLY       20
-#define PEM_TYPE_MIC_CLEAR      30
-#define PEM_TYPE_CLEAR		40
-
-typedef struct pem_recip_st
-	{
-	char *name;
-	X509_NAME *dn;
-
-	int cipher;
-	int key_enc;
-	/*	char iv[8]; unused and wrong size */
-	} PEM_USER;
-
-typedef struct pem_ctx_st
-	{
-	int type;		/* what type of object */
-
-	struct	{
-		int version;	
-		int mode;		
-		} proc_type;
-
-	char *domain;
-
-	struct	{
-		int cipher;
-	/* unused, and wrong size
-	   unsigned char iv[8]; */
-		} DEK_info;
-		
-	PEM_USER *originator;
-
-	int num_recipient;
-	PEM_USER **recipient;
-
-	EVP_MD *md;		/* signature type */
-
-	int md_enc;		/* is the md encrypted or not? */
-	int md_len;		/* length of md_data */
-	char *md_data;		/* message digest, could be pkey encrypted */
-
-	EVP_CIPHER *dec;	/* date encryption cipher */
-	int key_len;		/* key length */
-	unsigned char *key;	/* key */
-	/* unused, and wrong size
-	   unsigned char iv[8]; */
-
-	
-	int  data_enc;		/* is the data encrypted */
-	int data_len;
-	unsigned char *data;
-	} PEM_CTX;
-
-/* These macros make the PEM_read/PEM_write functions easier to maintain and
- * write. Now they are all implemented with either:
- * IMPLEMENT_PEM_rw(...) or IMPLEMENT_PEM_rw_cb(...)
- */
-
-#ifdef OPENSSL_NO_FP_API
-
-#define IMPLEMENT_PEM_read_fp(name, type, str, asn1) /**/
-#define IMPLEMENT_PEM_write_fp(name, type, str, asn1) /**/
-#define IMPLEMENT_PEM_write_fp_const(name, type, str, asn1) /**/
-#define IMPLEMENT_PEM_write_cb_fp(name, type, str, asn1) /**/
-#define IMPLEMENT_PEM_write_cb_fp_const(name, type, str, asn1) /**/
-
-#else
-
-#define IMPLEMENT_PEM_read_fp(name, type, str, asn1) \
-OPENSSL_EXPORT type *PEM_read_##name(FILE *fp, type **x, pem_password_cb *cb, void *u)\
-{ \
-return PEM_ASN1_read((d2i_of_void *)d2i_##asn1, str,fp,(void **)x,cb,u); \
-} 
-
-#define IMPLEMENT_PEM_write_fp(name, type, str, asn1) \
-OPENSSL_EXPORT int PEM_write_##name(FILE *fp, type *x) \
-{ \
-return PEM_ASN1_write((i2d_of_void *)i2d_##asn1,str,fp,x,NULL,NULL,0,NULL,NULL); \
-}
-
-#define IMPLEMENT_PEM_write_fp_const(name, type, str, asn1) \
-OPENSSL_EXPORT int PEM_write_##name(FILE *fp, const type *x) \
-{ \
-return PEM_ASN1_write((i2d_of_void *)i2d_##asn1,str,fp,(void *)x,NULL,NULL,0,NULL,NULL); \
-}
-
-#define IMPLEMENT_PEM_write_cb_fp(name, type, str, asn1) \
-OPENSSL_EXPORT int PEM_write_##name(FILE *fp, type *x, const EVP_CIPHER *enc, \
-	     unsigned char *kstr, int klen, pem_password_cb *cb, \
-		  void *u) \
-	{ \
-	return PEM_ASN1_write((i2d_of_void *)i2d_##asn1,str,fp,x,enc,kstr,klen,cb,u); \
-	}
-
-#define IMPLEMENT_PEM_write_cb_fp_const(name, type, str, asn1) \
-OPENSSL_EXPORT int PEM_write_##name(FILE *fp, type *x, const EVP_CIPHER *enc, \
-	     unsigned char *kstr, int klen, pem_password_cb *cb, \
-		  void *u) \
-	{ \
-	return PEM_ASN1_write((i2d_of_void *)i2d_##asn1,str,fp,x,enc,kstr,klen,cb,u); \
-	}
-
-#endif
-
-#define IMPLEMENT_PEM_read_bio(name, type, str, asn1) \
-OPENSSL_EXPORT type *PEM_read_bio_##name(BIO *bp, type **x, pem_password_cb *cb, void *u)\
-{ \
-return PEM_ASN1_read_bio((d2i_of_void *)d2i_##asn1, str,bp,(void **)x,cb,u); \
-}
-
-#define IMPLEMENT_PEM_write_bio(name, type, str, asn1) \
-OPENSSL_EXPORT int PEM_write_bio_##name(BIO *bp, type *x) \
-{ \
-return PEM_ASN1_write_bio((i2d_of_void *)i2d_##asn1,str,bp,x,NULL,NULL,0,NULL,NULL); \
-}
-
-#define IMPLEMENT_PEM_write_bio_const(name, type, str, asn1) \
-OPENSSL_EXPORT int PEM_write_bio_##name(BIO *bp, const type *x) \
-{ \
-return PEM_ASN1_write_bio((i2d_of_void *)i2d_##asn1,str,bp,(void *)x,NULL,NULL,0,NULL,NULL); \
-}
-
-#define IMPLEMENT_PEM_write_cb_bio(name, type, str, asn1) \
-OPENSSL_EXPORT int PEM_write_bio_##name(BIO *bp, type *x, const EVP_CIPHER *enc, \
-	     unsigned char *kstr, int klen, pem_password_cb *cb, void *u) \
-	{ \
-	return PEM_ASN1_write_bio((i2d_of_void *)i2d_##asn1,str,bp,x,enc,kstr,klen,cb,u); \
-	}
-
-#define IMPLEMENT_PEM_write_cb_bio_const(name, type, str, asn1) \
-OPENSSL_EXPORT int PEM_write_bio_##name(BIO *bp, type *x, const EVP_CIPHER *enc, \
-	     unsigned char *kstr, int klen, pem_password_cb *cb, void *u) \
-	{ \
-	return PEM_ASN1_write_bio((i2d_of_void *)i2d_##asn1,str,bp,(void *)x,enc,kstr,klen,cb,u); \
-	}
-
-#define IMPLEMENT_PEM_write(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_bio(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_fp(name, type, str, asn1) 
-
-#define IMPLEMENT_PEM_write_const(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_bio_const(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_fp_const(name, type, str, asn1) 
-
-#define IMPLEMENT_PEM_write_cb(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_cb_bio(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_cb_fp(name, type, str, asn1) 
-
-#define IMPLEMENT_PEM_write_cb_const(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_cb_bio_const(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_cb_fp_const(name, type, str, asn1) 
-
-#define IMPLEMENT_PEM_read(name, type, str, asn1) \
-	IMPLEMENT_PEM_read_bio(name, type, str, asn1) \
-	IMPLEMENT_PEM_read_fp(name, type, str, asn1) 
-
-#define IMPLEMENT_PEM_rw(name, type, str, asn1) \
-	IMPLEMENT_PEM_read(name, type, str, asn1) \
-	IMPLEMENT_PEM_write(name, type, str, asn1)
-
-#define IMPLEMENT_PEM_rw_const(name, type, str, asn1) \
-	IMPLEMENT_PEM_read(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_const(name, type, str, asn1)
-
-#define IMPLEMENT_PEM_rw_cb(name, type, str, asn1) \
-	IMPLEMENT_PEM_read(name, type, str, asn1) \
-	IMPLEMENT_PEM_write_cb(name, type, str, asn1)
-
-/* These are the same except they are for the declarations */
-
-#if defined(OPENSSL_NO_FP_API)
-
-#define DECLARE_PEM_read_fp(name, type) /**/
-#define DECLARE_PEM_write_fp(name, type) /**/
-#define DECLARE_PEM_write_cb_fp(name, type) /**/
-
-#else
-
-#define DECLARE_PEM_read_fp(name, type) \
-	OPENSSL_EXPORT type *PEM_read_##name(FILE *fp, type **x, pem_password_cb *cb, void *u);
-
-#define DECLARE_PEM_write_fp(name, type) \
-	OPENSSL_EXPORT int PEM_write_##name(FILE *fp, type *x);
-
-#define DECLARE_PEM_write_fp_const(name, type) \
-	OPENSSL_EXPORT int PEM_write_##name(FILE *fp, const type *x);
-
-#define DECLARE_PEM_write_cb_fp(name, type) \
-	OPENSSL_EXPORT int PEM_write_##name(FILE *fp, type *x, const EVP_CIPHER *enc, \
-	     unsigned char *kstr, int klen, pem_password_cb *cb, void *u);
-
-#endif
-
-#define DECLARE_PEM_read_bio(name, type) \
-	OPENSSL_EXPORT type *PEM_read_bio_##name(BIO *bp, type **x, pem_password_cb *cb, void *u);
-
-#define DECLARE_PEM_write_bio(name, type) \
-	OPENSSL_EXPORT int PEM_write_bio_##name(BIO *bp, type *x);
-
-#define DECLARE_PEM_write_bio_const(name, type) \
-	OPENSSL_EXPORT int PEM_write_bio_##name(BIO *bp, const type *x);
-
-#define DECLARE_PEM_write_cb_bio(name, type) \
-	OPENSSL_EXPORT int PEM_write_bio_##name(BIO *bp, type *x, const EVP_CIPHER *enc, \
-	     unsigned char *kstr, int klen, pem_password_cb *cb, void *u);
-
-
-#define DECLARE_PEM_write(name, type) \
-	DECLARE_PEM_write_bio(name, type) \
-	DECLARE_PEM_write_fp(name, type) 
-
-#define DECLARE_PEM_write_const(name, type) \
-	DECLARE_PEM_write_bio_const(name, type) \
-	DECLARE_PEM_write_fp_const(name, type)
-
-#define DECLARE_PEM_write_cb(name, type) \
-	DECLARE_PEM_write_cb_bio(name, type) \
-	DECLARE_PEM_write_cb_fp(name, type) 
-
-#define DECLARE_PEM_read(name, type) \
-	DECLARE_PEM_read_bio(name, type) \
-	DECLARE_PEM_read_fp(name, type)
-
-#define DECLARE_PEM_rw(name, type) \
-	DECLARE_PEM_read(name, type) \
-	DECLARE_PEM_write(name, type)
-
-#define DECLARE_PEM_rw_const(name, type) \
-	DECLARE_PEM_read(name, type) \
-	DECLARE_PEM_write_const(name, type)
-
-#define DECLARE_PEM_rw_cb(name, type) \
-	DECLARE_PEM_read(name, type) \
-	DECLARE_PEM_write_cb(name, type)
-
-/* "userdata": new with OpenSSL 0.9.4 */
-typedef int pem_password_cb(char *buf, int size, int rwflag, void *userdata);
-
-OPENSSL_EXPORT int	PEM_get_EVP_CIPHER_INFO(char *header, EVP_CIPHER_INFO *cipher);
-OPENSSL_EXPORT int	PEM_do_header (EVP_CIPHER_INFO *cipher, unsigned char *data,long *len, pem_password_cb *callback,void *u);
-
-OPENSSL_EXPORT int	PEM_read_bio(BIO *bp, char **name, char **header, unsigned char **data,long *len);
-OPENSSL_EXPORT int	PEM_write_bio(BIO *bp,const char *name, const char *hdr, const unsigned char *data, long len);
-OPENSSL_EXPORT int PEM_bytes_read_bio(unsigned char **pdata, long *plen, char **pnm, const char *name, BIO *bp, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT void *	PEM_ASN1_read_bio(d2i_of_void *d2i, const char *name, BIO *bp, void **x, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT int	PEM_ASN1_write_bio(i2d_of_void *i2d,const char *name,BIO *bp, void *x, const EVP_CIPHER *enc,unsigned char *kstr,int klen, pem_password_cb *cb, void *u);
-
-OPENSSL_EXPORT STACK_OF(X509_INFO) *	PEM_X509_INFO_read_bio(BIO *bp, STACK_OF(X509_INFO) *sk, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT int	PEM_X509_INFO_write_bio(BIO *bp,X509_INFO *xi, EVP_CIPHER *enc, unsigned char *kstr, int klen, pem_password_cb *cd, void *u);
-
-OPENSSL_EXPORT int	PEM_read(FILE *fp, char **name, char **header, unsigned char **data,long *len);
-OPENSSL_EXPORT int	PEM_write(FILE *fp, const char *name, const char *hdr, const unsigned char *data, long len);
-OPENSSL_EXPORT void *  PEM_ASN1_read(d2i_of_void *d2i, const char *name, FILE *fp, void **x, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT int	PEM_ASN1_write(i2d_of_void *i2d,const char *name,FILE *fp, void *x,const EVP_CIPHER *enc,unsigned char *kstr, int klen,pem_password_cb *callback, void *u);
-OPENSSL_EXPORT STACK_OF(X509_INFO) *	PEM_X509_INFO_read(FILE *fp, STACK_OF(X509_INFO) *sk, pem_password_cb *cb, void *u);
-
-OPENSSL_EXPORT int	PEM_SealInit(PEM_ENCODE_SEAL_CTX *ctx, EVP_CIPHER *type, EVP_MD *md_type, unsigned char **ek, int *ekl, unsigned char *iv, EVP_PKEY **pubk, int npubk);
-OPENSSL_EXPORT void	PEM_SealUpdate(PEM_ENCODE_SEAL_CTX *ctx, unsigned char *out, int *outl, unsigned char *in, int inl);
-OPENSSL_EXPORT int	PEM_SealFinal(PEM_ENCODE_SEAL_CTX *ctx, unsigned char *sig,int *sigl, unsigned char *out, int *outl, EVP_PKEY *priv);
-
-OPENSSL_EXPORT void    PEM_SignInit(EVP_MD_CTX *ctx, EVP_MD *type);
-OPENSSL_EXPORT void    PEM_SignUpdate(EVP_MD_CTX *ctx,unsigned char *d,unsigned int cnt);
-OPENSSL_EXPORT int	PEM_SignFinal(EVP_MD_CTX *ctx, unsigned char *sigret, unsigned int *siglen, EVP_PKEY *pkey);
-
-/* |PEM_def_callback| treats |userdata| as a string and copies it into |buf|,
- * assuming its |size| is sufficient. Returns the length of the string, or 0
- * if there is not enough room. If either |buf| or |userdata| is NULL, 0 is
- * returned. Note that this is different from OpenSSL, which prompts for a
- * password. */
-OPENSSL_EXPORT int	PEM_def_callback(char *buf, int size, int rwflag, void *userdata);
-OPENSSL_EXPORT void	PEM_proc_type(char *buf, int type);
-OPENSSL_EXPORT void	PEM_dek_info(char *buf, const char *type, int len, char *str);
-
-
-DECLARE_PEM_rw(X509, X509)
-
-DECLARE_PEM_rw(X509_AUX, X509)
-
-DECLARE_PEM_rw(X509_CERT_PAIR, X509_CERT_PAIR)
-
-DECLARE_PEM_rw(X509_REQ, X509_REQ)
-DECLARE_PEM_write(X509_REQ_NEW, X509_REQ)
-
-DECLARE_PEM_rw(X509_CRL, X509_CRL)
-
-/* DECLARE_PEM_rw(PKCS7, PKCS7) */
-
-DECLARE_PEM_rw(NETSCAPE_CERT_SEQUENCE, NETSCAPE_CERT_SEQUENCE)
-
-DECLARE_PEM_rw(PKCS8, X509_SIG)
-
-DECLARE_PEM_rw(PKCS8_PRIV_KEY_INFO, PKCS8_PRIV_KEY_INFO)
-
-DECLARE_PEM_rw_cb(RSAPrivateKey, RSA)
-
-DECLARE_PEM_rw_const(RSAPublicKey, RSA)
-DECLARE_PEM_rw(RSA_PUBKEY, RSA)
-
-#ifndef OPENSSL_NO_DSA
-
-DECLARE_PEM_rw_cb(DSAPrivateKey, DSA)
-
-DECLARE_PEM_rw(DSA_PUBKEY, DSA)
-
-DECLARE_PEM_rw_const(DSAparams, DSA)
-
-#endif
-
-DECLARE_PEM_rw_const(ECPKParameters, EC_GROUP)
-DECLARE_PEM_rw_cb(ECPrivateKey, EC_KEY)
-DECLARE_PEM_rw(EC_PUBKEY, EC_KEY)
-
-
-DECLARE_PEM_rw_const(DHparams, DH)
-DECLARE_PEM_write_const(DHxparams, DH)
-
-
-DECLARE_PEM_rw_cb(PrivateKey, EVP_PKEY)
-
-DECLARE_PEM_rw(PUBKEY, EVP_PKEY)
-
-OPENSSL_EXPORT int PEM_write_bio_PKCS8PrivateKey_nid(BIO *bp, EVP_PKEY *x, int nid, char *kstr, int klen, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT int PEM_write_bio_PKCS8PrivateKey(BIO *, EVP_PKEY *, const EVP_CIPHER *, char *, int, pem_password_cb *, void *);
-OPENSSL_EXPORT int i2d_PKCS8PrivateKey_bio(BIO *bp, EVP_PKEY *x, const EVP_CIPHER *enc, char *kstr, int klen, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT int i2d_PKCS8PrivateKey_nid_bio(BIO *bp, EVP_PKEY *x, int nid, char *kstr, int klen, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT EVP_PKEY *d2i_PKCS8PrivateKey_bio(BIO *bp, EVP_PKEY **x, pem_password_cb *cb, void *u);
-
-OPENSSL_EXPORT int i2d_PKCS8PrivateKey_fp(FILE *fp, EVP_PKEY *x, const EVP_CIPHER *enc, char *kstr, int klen, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT int i2d_PKCS8PrivateKey_nid_fp(FILE *fp, EVP_PKEY *x, int nid, char *kstr, int klen, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT int PEM_write_PKCS8PrivateKey_nid(FILE *fp, EVP_PKEY *x, int nid, char *kstr, int klen, pem_password_cb *cb, void *u);
-
-OPENSSL_EXPORT EVP_PKEY *d2i_PKCS8PrivateKey_fp(FILE *fp, EVP_PKEY **x, pem_password_cb *cb, void *u);
-
-OPENSSL_EXPORT int PEM_write_PKCS8PrivateKey(FILE *fp,EVP_PKEY *x,const EVP_CIPHER *enc, char *kstr,int klen, pem_password_cb *cd, void *u);
-
-OPENSSL_EXPORT EVP_PKEY *PEM_read_bio_Parameters(BIO *bp, EVP_PKEY **x);
-OPENSSL_EXPORT int PEM_write_bio_Parameters(BIO *bp, EVP_PKEY *x);
-
-
-OPENSSL_EXPORT EVP_PKEY *b2i_PrivateKey(const unsigned char **in, long length);
-OPENSSL_EXPORT EVP_PKEY *b2i_PublicKey(const unsigned char **in, long length);
-OPENSSL_EXPORT EVP_PKEY *b2i_PrivateKey_bio(BIO *in);
-OPENSSL_EXPORT EVP_PKEY *b2i_PublicKey_bio(BIO *in);
-OPENSSL_EXPORT int i2b_PrivateKey_bio(BIO *out, EVP_PKEY *pk);
-OPENSSL_EXPORT int i2b_PublicKey_bio(BIO *out, EVP_PKEY *pk);
-OPENSSL_EXPORT EVP_PKEY *b2i_PVK_bio(BIO *in, pem_password_cb *cb, void *u);
-OPENSSL_EXPORT int i2b_PVK_bio(BIO *out, EVP_PKEY *pk, int enclevel, pem_password_cb *cb, void *u);
-
-
-void ERR_load_PEM_strings(void);
-
-
-#ifdef  __cplusplus
-}
-#endif
-
-#define PEM_F_PEM_ASN1_read 100
-#define PEM_F_PEM_ASN1_read_bio 101
-#define PEM_F_PEM_ASN1_write 102
-#define PEM_F_PEM_ASN1_write_bio 103
-#define PEM_F_PEM_X509_INFO_read 104
-#define PEM_F_PEM_X509_INFO_read_bio 105
-#define PEM_F_PEM_X509_INFO_write_bio 106
-#define PEM_F_PEM_do_header 107
-#define PEM_F_PEM_get_EVP_CIPHER_INFO 108
-#define PEM_F_PEM_read 109
-#define PEM_F_PEM_read_DHparams 110
-#define PEM_F_PEM_read_PrivateKey 111
-#define PEM_F_PEM_read_bio 112
-#define PEM_F_PEM_read_bio_DHparams 113
-#define PEM_F_PEM_read_bio_Parameters 114
-#define PEM_F_PEM_read_bio_PrivateKey 115
-#define PEM_F_PEM_write 116
-#define PEM_F_PEM_write_PrivateKey 117
-#define PEM_F_PEM_write_bio 118
-#define PEM_F_d2i_PKCS8PrivateKey_bio 119
-#define PEM_F_d2i_PKCS8PrivateKey_fp 120
-#define PEM_F_do_pk8pkey 121
-#define PEM_F_do_pk8pkey_fp 122
-#define PEM_F_load_iv 123
-#define PEM_R_BAD_BASE64_DECODE 100
-#define PEM_R_BAD_DECRYPT 101
-#define PEM_R_BAD_END_LINE 102
-#define PEM_R_BAD_IV_CHARS 103
-#define PEM_R_BAD_PASSWORD_READ 104
-#define PEM_R_CIPHER_IS_NULL 105
-#define PEM_R_ERROR_CONVERTING_PRIVATE_KEY 106
-#define PEM_R_NOT_DEK_INFO 107
-#define PEM_R_NOT_ENCRYPTED 108
-#define PEM_R_NOT_PROC_TYPE 109
-#define PEM_R_NO_START_LINE 110
-#define PEM_R_READ_KEY 111
-#define PEM_R_SHORT_HEADER 112
-#define PEM_R_UNSUPPORTED_CIPHER 113
-#define PEM_R_UNSUPPORTED_ENCRYPTION 114
-
-#endif  /* OPENSSL_HEADER_PEM_H */
diff --git a/phonelibs/boringssl/include/openssl/pkcs12.h b/phonelibs/boringssl/include/openssl/pkcs12.h
deleted file mode 100644
index b5e951638275f8..00000000000000
--- a/phonelibs/boringssl/include/openssl/pkcs12.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
-
-#include "pkcs8.h"
diff --git a/phonelibs/boringssl/include/openssl/pkcs7.h b/phonelibs/boringssl/include/openssl/pkcs7.h
deleted file mode 100644
index 6e5e433074f867..00000000000000
--- a/phonelibs/boringssl/include/openssl/pkcs7.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
diff --git a/phonelibs/boringssl/include/openssl/pkcs8.h b/phonelibs/boringssl/include/openssl/pkcs8.h
deleted file mode 100644
index 8dc7731bf5f349..00000000000000
--- a/phonelibs/boringssl/include/openssl/pkcs8.h
+++ /dev/null
@@ -1,217 +0,0 @@
-/* Written by Dr Stephen N Henson (steve@openssl.org) for the OpenSSL
- * project 1999.
- */
-/* ====================================================================
- * Copyright (c) 1999 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.OpenSSL.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    licensing@OpenSSL.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.OpenSSL.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-
-#ifndef OPENSSL_HEADER_PKCS8_H
-#define OPENSSL_HEADER_PKCS8_H
-
-#include <openssl/base.h>
-#include <openssl/x509.h>
-
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* PKCS8_encrypt_pbe serializes and encrypts a PKCS8_PRIV_KEY_INFO with PBES1 as
- * defined in PKCS #5. Only pbeWithSHAAnd128BitRC4,
- * pbeWithSHAAnd3-KeyTripleDES-CBC and pbeWithSHA1And40BitRC2, defined in PKCS
- * #12, are supported. The |pass_raw_len| bytes pointed to by |pass_raw| are
- * used as the password. Note that any conversions from the password as
- * supplied in a text string (such as those specified in B.1 of PKCS #12) must
- * be performed by the caller.
- *
- * If |salt| is NULL, a random salt of |salt_len| bytes is generated. If
- * |salt_len| is zero, a default salt length is used instead.
- *
- * The resulting structure is stored in an X509_SIG which must be freed by the
- * caller.
- *
- * TODO(davidben): Really? An X509_SIG? OpenSSL probably did that because it has
- * the same structure as EncryptedPrivateKeyInfo. */
-OPENSSL_EXPORT X509_SIG *PKCS8_encrypt_pbe(int pbe_nid,
-                                           const uint8_t *pass_raw,
-                                           size_t pass_raw_len,
-                                           uint8_t *salt, size_t salt_len,
-                                           int iterations,
-                                           PKCS8_PRIV_KEY_INFO *p8inf);
-
-/* PKCS8_decrypt_pbe decrypts and decodes a PKCS8_PRIV_KEY_INFO with PBES1 as
- * defined in PKCS #5. Only pbeWithSHAAnd128BitRC4,
- * pbeWithSHAAnd3-KeyTripleDES-CBC and pbeWithSHA1And40BitRC2, defined in PKCS
- * #12, are supported. The |pass_raw_len| bytes pointed to by |pass_raw| are
- * used as the password. Note that any conversions from the password as
- * supplied in a text string (such as those specified in B.1 of PKCS #12) must
- * be performed by the caller.
- *
- * The resulting structure must be freed by the caller. */
-OPENSSL_EXPORT PKCS8_PRIV_KEY_INFO *PKCS8_decrypt_pbe(X509_SIG *pkcs8,
-                                                      const uint8_t *pass_raw,
-                                                      size_t pass_raw_len);
-
-
-/* Deprecated functions. */
-
-/* PKCS8_encrypt calls PKCS8_encrypt_pbe after treating |pass| as an ASCII
- * string, appending U+0000, and converting to UCS-2. (So the empty password
- * encodes as two NUL bytes.) The |cipher| argument is ignored. */
-OPENSSL_EXPORT X509_SIG *PKCS8_encrypt(int pbe_nid, const EVP_CIPHER *cipher,
-                                       const char *pass, int pass_len,
-                                       uint8_t *salt, size_t salt_len,
-                                       int iterations,
-                                       PKCS8_PRIV_KEY_INFO *p8inf);
-
-/* PKCS8_decrypt calls PKCS8_decrypt_pbe after treating |pass| as an ASCII
- * string, appending U+0000, and converting to UCS-2. (So the empty password
- * encodes as two NUL bytes.) */
-OPENSSL_EXPORT PKCS8_PRIV_KEY_INFO *PKCS8_decrypt(X509_SIG *pkcs8,
-                                                  const char *pass,
-                                                  int pass_len);
-
-/* PKCS12_get_key_and_certs parses a PKCS#12 structure from |in|, authenticates
- * and decrypts it using |password|, sets |*out_key| to the included private
- * key and appends the included certificates to |out_certs|. It returns one on
- * success and zero on error. The caller takes ownership of the outputs. */
-OPENSSL_EXPORT int PKCS12_get_key_and_certs(EVP_PKEY **out_key,
-                                            STACK_OF(X509) *out_certs,
-                                            CBS *in, const char *password);
-
-
-/* Deprecated functions. */
-
-/* PKCS12_PBE_add does nothing. It exists for compatibility with OpenSSL. */
-OPENSSL_EXPORT void PKCS12_PBE_add(void);
-
-/* d2i_PKCS12 is a dummy function that copies |*ber_bytes| into a
- * |PKCS12| structure. The |out_p12| argument must be NULL. On exit,
- * |*ber_bytes| will be advanced by |ber_len|. It returns a fresh |PKCS12|
- * structure or NULL on error.
- *
- * Note: unlike other d2i functions, |d2i_PKCS12| will always consume |ber_len|
- * bytes.*/
-OPENSSL_EXPORT PKCS12 *d2i_PKCS12(PKCS12 **out_p12, const uint8_t **ber_bytes,
-                                  size_t ber_len);
-
-/* d2i_PKCS12_bio acts like |d2i_PKCS12| but reads from a |BIO|. */
-OPENSSL_EXPORT PKCS12* d2i_PKCS12_bio(BIO *bio, PKCS12 **out_p12);
-
-/* d2i_PKCS12_fp acts like |d2i_PKCS12| but reads from a |FILE|. */
-OPENSSL_EXPORT PKCS12* d2i_PKCS12_fp(FILE *fp, PKCS12 **out_p12);
-
-/* PKCS12_parse calls |PKCS12_get_key_and_certs| on the ASN.1 data stored in
- * |p12|. The |out_pkey| and |out_cert| arguments must not be NULL and, on
- * successful exit, the private key and first certificate will be stored in
- * them. The |out_ca_certs| argument may be NULL but, if not, then any extra
- * certificates will be appended to |*out_ca_certs|. If |*out_ca_certs| is NULL
- * then it will be set to a freshly allocated stack containing the extra certs.
- *
- * It returns one on success and zero on error. */
-OPENSSL_EXPORT int PKCS12_parse(const PKCS12 *p12, const char *password,
-                                EVP_PKEY **out_pkey, X509 **out_cert,
-                                STACK_OF(X509) **out_ca_certs);
-
-/* PKCS12_free frees |p12| and its contents. */
-OPENSSL_EXPORT void PKCS12_free(PKCS12 *p12);
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define PKCS8_F_EVP_PKCS82PKEY 100
-#define PKCS8_F_EVP_PKEY2PKCS8 101
-#define PKCS8_F_PKCS12_get_key_and_certs 102
-#define PKCS8_F_PKCS12_handle_content_info 103
-#define PKCS8_F_PKCS12_handle_content_infos 104
-#define PKCS8_F_PKCS5_pbe2_set_iv 105
-#define PKCS8_F_PKCS5_pbe_set 106
-#define PKCS8_F_PKCS5_pbe_set0_algor 107
-#define PKCS8_F_PKCS5_pbkdf2_set 108
-#define PKCS8_F_PKCS8_decrypt 109
-#define PKCS8_F_PKCS8_encrypt 110
-#define PKCS8_F_PKCS8_encrypt_pbe 111
-#define PKCS8_F_pbe_cipher_init 112
-#define PKCS8_F_pbe_crypt 113
-#define PKCS8_F_pkcs12_item_decrypt_d2i 114
-#define PKCS8_F_pkcs12_item_i2d_encrypt 115
-#define PKCS8_F_pkcs12_key_gen_raw 116
-#define PKCS8_F_pkcs12_pbe_keyivgen 117
-#define PKCS8_R_BAD_PKCS12_DATA 100
-#define PKCS8_R_BAD_PKCS12_VERSION 101
-#define PKCS8_R_CIPHER_HAS_NO_OBJECT_IDENTIFIER 102
-#define PKCS8_R_CRYPT_ERROR 103
-#define PKCS8_R_DECODE_ERROR 104
-#define PKCS8_R_ENCODE_ERROR 105
-#define PKCS8_R_ENCRYPT_ERROR 106
-#define PKCS8_R_ERROR_SETTING_CIPHER_PARAMS 107
-#define PKCS8_R_INCORRECT_PASSWORD 108
-#define PKCS8_R_KEYGEN_FAILURE 109
-#define PKCS8_R_KEY_GEN_ERROR 110
-#define PKCS8_R_METHOD_NOT_SUPPORTED 111
-#define PKCS8_R_MISSING_MAC 112
-#define PKCS8_R_MULTIPLE_PRIVATE_KEYS_IN_PKCS12 113
-#define PKCS8_R_PKCS12_PUBLIC_KEY_INTEGRITY_NOT_SUPPORTED 114
-#define PKCS8_R_PKCS12_TOO_DEEPLY_NESTED 115
-#define PKCS8_R_PRIVATE_KEY_DECODE_ERROR 116
-#define PKCS8_R_PRIVATE_KEY_ENCODE_ERROR 117
-#define PKCS8_R_TOO_LONG 118
-#define PKCS8_R_UNKNOWN_ALGORITHM 119
-#define PKCS8_R_UNKNOWN_CIPHER 120
-#define PKCS8_R_UNKNOWN_CIPHER_ALGORITHM 121
-#define PKCS8_R_UNKNOWN_DIGEST 122
-#define PKCS8_R_UNKNOWN_HASH 123
-#define PKCS8_R_UNSUPPORTED_PRIVATE_KEY_ALGORITHM 124
-
-#endif  /* OPENSSL_HEADER_PKCS8_H */
diff --git a/phonelibs/boringssl/include/openssl/poly1305.h b/phonelibs/boringssl/include/openssl/poly1305.h
deleted file mode 100644
index aa904869ce5f17..00000000000000
--- a/phonelibs/boringssl/include/openssl/poly1305.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_POLY1305_H
-#define OPENSSL_HEADER_POLY1305_H
-
-#include <openssl/base.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-typedef unsigned char poly1305_state[512];
-
-/* poly1305_init sets up |state| so that it can be used to calculate an
- * authentication tag with the one-time key |key|. Note that |key| is a
- * one-time key and therefore there is no `reset' method because that would
- * enable several messages to be authenticated with the same key. */
-extern void CRYPTO_poly1305_init(poly1305_state* state, const uint8_t key[32]);
-
-/* poly1305_update processes |in_len| bytes from |in|. It can be called zero or
- * more times after poly1305_init. */
-extern void CRYPTO_poly1305_update(poly1305_state* state, const uint8_t* in,
-                                   size_t in_len);
-
-/* poly1305_finish completes the poly1305 calculation and writes a 16 byte
- * authentication tag to |mac|. The |mac| address must be 16-byte aligned. */
-extern void CRYPTO_poly1305_finish(poly1305_state* state, uint8_t mac[16]);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_POLY1305_H */
diff --git a/phonelibs/boringssl/include/openssl/pqueue.h b/phonelibs/boringssl/include/openssl/pqueue.h
deleted file mode 100644
index ceb1fa2a749757..00000000000000
--- a/phonelibs/boringssl/include/openssl/pqueue.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
- * DTLS implementation written by Nagendra Modadugu
- * (nagendra@cs.stanford.edu) for the OpenSSL project 2005.
- */
-/* ====================================================================
- * Copyright (c) 1999-2005 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.OpenSSL.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@OpenSSL.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.OpenSSL.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef OPENSSL_HEADER_PQUEUE_H
-#define OPENSSL_HEADER_PQUEUE_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Priority queue.
- *
- * The priority queue maintains a linked-list of nodes, each with a unique,
- * 64-bit priority, in ascending priority order. */
-
-typedef struct _pqueue *pqueue;
-
-typedef struct _pitem {
-  uint8_t priority[8]; /* 64-bit value in big-endian encoding */
-  void *data;
-  struct _pitem *next;
-} pitem;
-
-typedef struct _pitem *piterator;
-
-
-/* Creating and freeing queues. */
-
-/* pqueue_new allocates a fresh, empty priority queue object and returns it, or
- * NULL on error. */
-OPENSSL_EXPORT pqueue pqueue_new(void);
-
-/* pqueue_free frees |pq| but not any of the items it points to. Thus |pq| must
- * be empty or a memory leak will occur. */
-OPENSSL_EXPORT void pqueue_free(pqueue pq);
-
-
-/* Creating and freeing items. */
-
-/* pitem_new allocates a fresh priority queue item that points at |data| and
- * has a priority given by |prio64be|, which is a 64-bit, unsigned number
- * expressed in big-endian form. It returns the fresh item, or NULL on
- * error. */
-OPENSSL_EXPORT pitem *pitem_new(uint8_t prio64be[8], void *data);
-
-/* pitem_free frees |item|, but not any data that it points to. */
-OPENSSL_EXPORT void pitem_free(pitem *item);
-
-
-/* Queue accessor functions */
-
-/* pqueue_peek returns the item with the smallest priority from |pq|, or NULL
- * if empty. */
-OPENSSL_EXPORT pitem *pqueue_peek(pqueue pq);
-
-/* pqueue_find returns the item whose priority matches |prio64be| or NULL if no
- * such item exists. */
-OPENSSL_EXPORT pitem *pqueue_find(pqueue pq, uint8_t *prio64be);
-
-
-/* Queue mutation functions */
-
-/* pqueue_insert inserts |item| into |pq| and returns item. */
-OPENSSL_EXPORT pitem *pqueue_insert(pqueue pq, pitem *item);
-
-/* pqueue_pop takes the item with the least priority from |pq| and returns it,
- * or NULL if |pq| is empty. */
-OPENSSL_EXPORT pitem *pqueue_pop(pqueue pq);
-
-/* pqueue_size returns the number of items in |pq|. */
-OPENSSL_EXPORT size_t pqueue_size(pqueue pq);
-
-
-/* Iterating */
-
-/* pqueue_iterator returns an iterator that can be used to iterate over the
- * contents of the queue. */
-OPENSSL_EXPORT piterator pqueue_iterator(pqueue pq);
-
-/* pqueue_next returns the current value of |iter| and advances it to the next
- * position. If the iterator has advanced over all the elements, it returns
- * NULL. */
-OPENSSL_EXPORT pitem *pqueue_next(piterator *iter);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_PQUEUE_H */
diff --git a/phonelibs/boringssl/include/openssl/rand.h b/phonelibs/boringssl/include/openssl/rand.h
deleted file mode 100644
index 300bf422877c6a..00000000000000
--- a/phonelibs/boringssl/include/openssl/rand.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#ifndef OPENSSL_HEADER_RAND_H
-#define OPENSSL_HEADER_RAND_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Random number generation. */
-
-
-/* RAND_bytes writes |len| bytes of random data to |buf| and returns one. */
-OPENSSL_EXPORT int RAND_bytes(uint8_t *buf, size_t len);
-
-/* RAND_cleanup frees any resources used by the RNG. This is not safe if other
- * threads might still be calling |RAND_bytes|. */
-OPENSSL_EXPORT void RAND_cleanup(void);
-
-
-/* Deprecated functions */
-
-/* RAND_pseudo_bytes is a wrapper around |RAND_bytes|. */
-OPENSSL_EXPORT int RAND_pseudo_bytes(uint8_t *buf, size_t len);
-
-/* RAND_seed does nothing. */
-OPENSSL_EXPORT void RAND_seed(const void *buf, int num);
-
-/* RAND_load_file returns a nonnegative number. */
-OPENSSL_EXPORT int RAND_load_file(const char *path, long num);
-
-/* RAND_add does nothing. */
-OPENSSL_EXPORT void RAND_add(const void *buf, int num, double entropy);
-
-/* RAND_poll returns one. */
-OPENSSL_EXPORT int RAND_poll(void);
-
-/* RAND_status returns one. */
-OPENSSL_EXPORT int RAND_status(void);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_RAND_H */
diff --git a/phonelibs/boringssl/include/openssl/rc4.h b/phonelibs/boringssl/include/openssl/rc4.h
deleted file mode 100644
index 0619cac35507fc..00000000000000
--- a/phonelibs/boringssl/include/openssl/rc4.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_RC4_H
-#define OPENSSL_HEADER_RC4_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* RC4. */
-
-
-struct rc4_key_st {
-  uint32_t x, y;
-  uint32_t data[256];
-} /* RC4_KEY */;
-
-/* RC4_set_key performs an RC4 key schedule and initialises |rc4key| with |len|
- * bytes of key material from |key|. */
-OPENSSL_EXPORT void RC4_set_key(RC4_KEY *rc4key, unsigned len,
-                                const uint8_t *key);
-
-/* RC4 encrypts (or decrypts, it's the same with RC4) |len| bytes from |in| to
- * |out|. */
-OPENSSL_EXPORT void RC4(RC4_KEY *key, size_t len, const uint8_t *in,
-                        uint8_t *out);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_RC4_H */
diff --git a/phonelibs/boringssl/include/openssl/rsa.h b/phonelibs/boringssl/include/openssl/rsa.h
deleted file mode 100644
index 9b415d75e1b141..00000000000000
--- a/phonelibs/boringssl/include/openssl/rsa.h
+++ /dev/null
@@ -1,575 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_RSA_H
-#define OPENSSL_HEADER_RSA_H
-
-#include <openssl/base.h>
-
-#include <openssl/engine.h>
-#include <openssl/ex_data.h>
-#include <openssl/thread.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* rsa.h contains functions for handling encryption and signature using RSA. */
-
-
-/* Allocation and destruction. */
-
-/* RSA_new returns a new, empty RSA object or NULL on error. */
-OPENSSL_EXPORT RSA *RSA_new(void);
-
-/* RSA_new_method acts the same as |RSA_new| but takes an explicit |ENGINE|. */
-OPENSSL_EXPORT RSA *RSA_new_method(const ENGINE *engine);
-
-/* RSA_free decrements the reference count of |rsa| and frees it if the
- * reference count drops to zero. */
-OPENSSL_EXPORT void RSA_free(RSA *rsa);
-
-/* RSA_up_ref increments the reference count of |rsa|. */
-OPENSSL_EXPORT int RSA_up_ref(RSA *rsa);
-
-
-/* Key generation. */
-
-/* RSA_generate_key_ex generates a new RSA key where the modulus has size
- * |bits| and the public exponent is |e|. If unsure, |RSA_F4| is a good value
- * for |e|. If |cb| is not NULL then it is called during the key generation
- * process. In addition to the calls documented for |BN_generate_prime_ex|, it
- * is called with event=2 when the n'th prime is rejected as unsuitable and
- * with event=3 when a suitable value for |p| is found.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int RSA_generate_key_ex(RSA *rsa, int bits, BIGNUM *e,
-                                       BN_GENCB *cb);
-
-
-/* Encryption / Decryption */
-
-/* Padding types for encryption. */
-#define RSA_PKCS1_PADDING 1
-#define RSA_NO_PADDING 3
-#define RSA_PKCS1_OAEP_PADDING 4
-/* RSA_PKCS1_PSS_PADDING can only be used via the EVP interface. */
-#define RSA_PKCS1_PSS_PADDING 6
-
-/* RSA_encrypt encrypts |in_len| bytes from |in| to the public key from |rsa|
- * and writes, at most, |max_out| bytes of encrypted data to |out|. The
- * |max_out| argument must be, at least, |RSA_size| in order to ensure success.
- *
- * It returns 1 on success or zero on error.
- *
- * The |padding| argument must be one of the |RSA_*_PADDING| values. If in
- * doubt, |RSA_PKCS1_PADDING| is the most common but |RSA_PKCS1_OAEP_PADDING|
- * is the most secure. */
-OPENSSL_EXPORT int RSA_encrypt(RSA *rsa, size_t *out_len, uint8_t *out,
-                               size_t max_out, const uint8_t *in, size_t in_len,
-                               int padding);
-
-/* RSA_decrypt decrypts |in_len| bytes from |in| with the private key from
- * |rsa| and writes, at most, |max_out| bytes of plaintext to |out|. The
- * |max_out| argument must be, at least, |RSA_size| in order to ensure success.
- *
- * It returns 1 on success or zero on error.
- *
- * The |padding| argument must be one of the |RSA_*_PADDING| values. If in
- * doubt, |RSA_PKCS1_PADDING| is the most common but |RSA_PKCS1_OAEP_PADDING|
- * is the most secure. */
-OPENSSL_EXPORT int RSA_decrypt(RSA *rsa, size_t *out_len, uint8_t *out,
-                               size_t max_out, const uint8_t *in, size_t in_len,
-                               int padding);
-
-/* RSA_public_encrypt encrypts |flen| bytes from |from| to the public key in
- * |rsa| and writes the encrypted data to |to|. The |to| buffer must have at
- * least |RSA_size| bytes of space. It returns the number of bytes written, or
- * -1 on error. The |padding| argument must be one of the |RSA_*_PADDING|
- * values. If in doubt, |RSA_PKCS1_PADDING| is the most common but
- * |RSA_PKCS1_OAEP_PADDING| is the most secure.
- *
- * WARNING: this function is dangerous because it breaks the usual return value
- * convention. Use |RSA_encrypt| instead. */
-OPENSSL_EXPORT int RSA_public_encrypt(int flen, const uint8_t *from,
-                                      uint8_t *to, RSA *rsa, int padding);
-
-/* RSA_private_decrypt decrypts |flen| bytes from |from| with the public key in
- * |rsa| and writes the plaintext to |to|. The |to| buffer must have at
- * least |RSA_size| bytes of space. It returns the number of bytes written, or
- * -1 on error. The |padding| argument must be one of the |RSA_*_PADDING|
- * values. If in doubt, |RSA_PKCS1_PADDING| is the most common but
- * |RSA_PKCS1_OAEP_PADDING| is the most secure.
- *
- * WARNING: this function is dangerous because it breaks the usual return value
- * convention. Use |RSA_decrypt| instead. */
-OPENSSL_EXPORT int RSA_private_decrypt(int flen, const uint8_t *from,
-                                       uint8_t *to, RSA *rsa, int padding);
-
-/* RSA_message_index_PKCS1_type_2 performs the first step of a PKCS #1 padding
- * check for decryption. If the |from_len| bytes pointed to at |from| are a
- * valid PKCS #1 message, it returns one and sets |*out_index| to the start of
- * the unpadded message. The unpadded message is a suffix of the input and has
- * length |from_len - *out_index|. Otherwise, it returns zero and sets
- * |*out_index| to zero. This function runs in time independent of the input
- * data and is intended to be used directly to avoid Bleichenbacher's attack.
- *
- * WARNING: This function behaves differently from the usual OpenSSL convention
- * in that it does NOT put an error on the queue in the error case. */
-OPENSSL_EXPORT int RSA_message_index_PKCS1_type_2(const uint8_t *from,
-                                                  size_t from_len,
-                                                  size_t *out_index);
-
-
-/* Signing / Verification */
-
-/* RSA_sign signs |in_len| bytes of digest from |in| with |rsa| and writes, at
- * most, |RSA_size(rsa)| bytes to |out|. On successful return, the actual
- * number of bytes written is written to |*out_len|.
- *
- * The |hash_nid| argument identifies the hash function used to calculate |in|
- * and is embedded in the resulting signature. For example, it might be
- * |NID_sha256|.
- *
- * It returns 1 on success and zero on error. */
-OPENSSL_EXPORT int RSA_sign(int hash_nid, const uint8_t *in,
-                            unsigned int in_len, uint8_t *out,
-                            unsigned int *out_len, RSA *rsa);
-
-/* RSA_sign_raw signs |in_len| bytes from |in| with the public key from |rsa|
- * and writes, at most, |max_out| bytes of signature data to |out|. The
- * |max_out| argument must be, at least, |RSA_size| in order to ensure success.
- *
- * It returns 1 on success or zero on error.
- *
- * The |padding| argument must be one of the |RSA_*_PADDING| values. If in
- * doubt, |RSA_PKCS1_PADDING| is the most common. */
-OPENSSL_EXPORT int RSA_sign_raw(RSA *rsa, size_t *out_len, uint8_t *out,
-                                size_t max_out, const uint8_t *in,
-                                size_t in_len, int padding);
-
-/* RSA_verify verifies that |sig_len| bytes from |sig| are a valid, PKCS#1
- * signature of |msg_len| bytes at |msg| by |rsa|.
- *
- * The |hash_nid| argument identifies the hash function used to calculate |in|
- * and is embedded in the resulting signature in order to prevent hash
- * confusion attacks. For example, it might be |NID_sha256|.
- *
- * It returns one if the signature is valid and zero otherwise.
- *
- * WARNING: this differs from the original, OpenSSL function which additionally
- * returned -1 on error. */
-OPENSSL_EXPORT int RSA_verify(int hash_nid, const uint8_t *msg, size_t msg_len,
-                              const uint8_t *sig, size_t sig_len, RSA *rsa);
-
-/* RSA_verify_raw verifies |in_len| bytes of signature from |in| using the
- * public key from |rsa| and writes, at most, |max_out| bytes of plaintext to
- * |out|. The |max_out| argument must be, at least, |RSA_size| in order to
- * ensure success.
- *
- * It returns 1 on success or zero on error.
- *
- * The |padding| argument must be one of the |RSA_*_PADDING| values. If in
- * doubt, |RSA_PKCS1_PADDING| is the most common. */
-OPENSSL_EXPORT int RSA_verify_raw(RSA *rsa, size_t *out_len, uint8_t *out,
-                                  size_t max_out, const uint8_t *in,
-                                  size_t in_len, int padding);
-
-/* RSA_private_encrypt encrypts |flen| bytes from |from| with the private key in
- * |rsa| and writes the encrypted data to |to|. The |to| buffer must have at
- * least |RSA_size| bytes of space. It returns the number of bytes written, or
- * -1 on error. The |padding| argument must be one of the |RSA_*_PADDING|
- * values. If in doubt, |RSA_PKCS1_PADDING| is the most common.
- *
- * WARNING: this function is dangerous because it breaks the usual return value
- * convention. Use |RSA_sign_raw| instead. */
-OPENSSL_EXPORT int RSA_private_encrypt(int flen, const uint8_t *from,
-                                       uint8_t *to, RSA *rsa, int padding);
-
-/* RSA_private_encrypt verifies |flen| bytes of signature from |from| using the
- * public key in |rsa| and writes the plaintext to |to|. The |to| buffer must
- * have at least |RSA_size| bytes of space. It returns the number of bytes
- * written, or -1 on error. The |padding| argument must be one of the
- * |RSA_*_PADDING| values. If in doubt, |RSA_PKCS1_PADDING| is the most common.
- *
- * WARNING: this function is dangerous because it breaks the usual return value
- * convention. Use |RSA_verify_raw| instead. */
-OPENSSL_EXPORT int RSA_public_decrypt(int flen, const uint8_t *from,
-                                      uint8_t *to, RSA *rsa, int padding);
-
-
-/* Utility functions. */
-
-/* RSA_size returns the number of bytes in the modulus, which is also the size
- * of a signature or encrypted value using |rsa|. */
-OPENSSL_EXPORT unsigned RSA_size(const RSA *rsa);
-
-/* RSA_is_opaque returns one if |rsa| is opaque and doesn't expose its key
- * material. Otherwise it returns zero. */
-OPENSSL_EXPORT int RSA_is_opaque(const RSA *rsa);
-
-/* RSA_supports_digest returns one if |rsa| supports signing digests
- * of type |md|. Otherwise it returns zero. */
-OPENSSL_EXPORT int RSA_supports_digest(const RSA *rsa, const EVP_MD *md);
-
-/* RSAPublicKey_dup allocates a fresh |RSA| and copies the private key from
- * |rsa| into it. It returns the fresh |RSA| object, or NULL on error. */
-OPENSSL_EXPORT RSA *RSAPublicKey_dup(const RSA *rsa);
-
-/* RSAPrivateKey_dup allocates a fresh |RSA| and copies the private key from
- * |rsa| into it. It returns the fresh |RSA| object, or NULL on error. */
-OPENSSL_EXPORT RSA *RSAPrivateKey_dup(const RSA *rsa);
-
-/* RSA_check_key performs basic validatity tests on |rsa|. It returns one if
- * they pass and zero otherwise. Opaque keys and public keys always pass. If it
- * returns zero then a more detailed error is available on the error queue. */
-OPENSSL_EXPORT int RSA_check_key(const RSA *rsa);
-
-/* RSA_recover_crt_params uses |rsa->n|, |rsa->d| and |rsa->e| in order to
- * calculate the two primes used and thus the precomputed, CRT values. These
- * values are set in the |p|, |q|, |dmp1|, |dmq1| and |iqmp| members of |rsa|,
- * which must be |NULL| on entry. It returns one on success and zero
- * otherwise. */
-OPENSSL_EXPORT int RSA_recover_crt_params(RSA *rsa);
-
-/* RSA_verify_PKCS1_PSS_mgf1 verifies that |EM| is a correct PSS padding of
- * |mHash|, where |mHash| is a digest produced by |Hash|. |EM| must point to
- * exactly |RSA_size(rsa)| bytes of data. The |mgf1Hash| argument specifies the
- * hash function for generating the mask. If NULL, |Hash| is used. The |sLen|
- * argument specifies the expected salt length in bytes. If |sLen| is -1 then
- * the salt length is the same as the hash length. If -2, then the salt length
- * is maximal and is taken from the size of |EM|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int RSA_verify_PKCS1_PSS_mgf1(RSA *rsa, const uint8_t *mHash,
-                                             const EVP_MD *Hash,
-                                             const EVP_MD *mgf1Hash,
-                                             const uint8_t *EM, int sLen);
-
-/* RSA_padding_add_PKCS1_PSS_mgf1 writes a PSS padding of |mHash| to |EM|,
- * where |mHash| is a digest produced by |Hash|. |RSA_size(rsa)| bytes of
- * output will be written to |EM|. The |mgf1Hash| argument specifies the hash
- * function for generating the mask. If NULL, |Hash| is used. The |sLen|
- * argument specifies the expected salt length in bytes. If |sLen| is -1 then
- * the salt length is the same as the hash length. If -2, then the salt length
- * is maximal given the space in |EM|.
- *
- * It returns one on success or zero on error. */
-OPENSSL_EXPORT int RSA_padding_add_PKCS1_PSS_mgf1(RSA *rsa, uint8_t *EM,
-                                                  const uint8_t *mHash,
-                                                  const EVP_MD *Hash,
-                                                  const EVP_MD *mgf1Hash,
-                                                  int sLen);
-
-
-/* ASN.1 functions. */
-
-/* d2i_RSAPublicKey parses an ASN.1, DER-encoded, RSA public key from |len|
- * bytes at |*inp|. If |out| is not NULL then, on exit, a pointer to the result
- * is in |*out|. If |*out| is already non-NULL on entry then the result is
- * written directly into |*out|, otherwise a fresh |RSA| is allocated. On
- * successful exit, |*inp| is advanced past the DER structure. It returns the
- * result or NULL on error. */
-OPENSSL_EXPORT RSA *d2i_RSAPublicKey(RSA **out, const uint8_t **inp, long len);
-
-/* i2d_RSAPublicKey marshals |in| to an ASN.1, DER structure. If |outp| is not
- * NULL then the result is written to |*outp| and |*outp| is advanced just past
- * the output. It returns the number of bytes in the result, whether written or
- * not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_RSAPublicKey(const RSA *in, uint8_t **outp);
-
-/* d2i_RSAPrivateKey parses an ASN.1, DER-encoded, RSA private key from |len|
- * bytes at |*inp|. If |out| is not NULL then, on exit, a pointer to the result
- * is in |*out|. If |*out| is already non-NULL on entry then the result is
- * written directly into |*out|, otherwise a fresh |RSA| is allocated. On
- * successful exit, |*inp| is advanced past the DER structure. It returns the
- * result or NULL on error. */
-OPENSSL_EXPORT RSA *d2i_RSAPrivateKey(RSA **out, const uint8_t **inp, long len);
-
-/* i2d_RSAPrivateKey marshals |in| to an ASN.1, DER structure. If |outp| is not
- * NULL then the result is written to |*outp| and |*outp| is advanced just past
- * the output. It returns the number of bytes in the result, whether written or
- * not, or a negative value on error. */
-OPENSSL_EXPORT int i2d_RSAPrivateKey(const RSA *in, uint8_t **outp);
-
-
-/* ex_data functions.
- *
- * See |ex_data.h| for details. */
-
-OPENSSL_EXPORT int RSA_get_ex_new_index(long argl, void *argp,
-                                        CRYPTO_EX_new *new_func,
-                                        CRYPTO_EX_dup *dup_func,
-                                        CRYPTO_EX_free *free_func);
-OPENSSL_EXPORT int RSA_set_ex_data(RSA *r, int idx, void *arg);
-OPENSSL_EXPORT void *RSA_get_ex_data(const RSA *r, int idx);
-
-/* RSA_FLAG_OPAQUE specifies that this RSA_METHOD does not expose its key
- * material. This may be set if, for instance, it is wrapping some other crypto
- * API, like a platform key store. */
-#define RSA_FLAG_OPAQUE 1
-
-/* RSA_FLAG_CACHE_PUBLIC causes a precomputed Montgomery context to be created,
- * on demand, for the public key operations. */
-#define RSA_FLAG_CACHE_PUBLIC 2
-
-/* RSA_FLAG_CACHE_PRIVATE causes a precomputed Montgomery context to be
- * created, on demand, for the private key operations. */
-#define RSA_FLAG_CACHE_PRIVATE 4
-
-/* RSA_FLAG_NO_BLINDING disables blinding of private operations. */
-#define RSA_FLAG_NO_BLINDING 8
-
-/* RSA_FLAG_EXT_PKEY means that private key operations will be handled by
- * |mod_exp| and that they do not depend on the private key components being
- * present: for example a key stored in external hardware. */
-#define RSA_FLAG_EXT_PKEY 0x20
-
-/* RSA_FLAG_SIGN_VER causes the |sign| and |verify| functions of |rsa_meth_st|
- * to be called when set. */
-#define RSA_FLAG_SIGN_VER 0x40
-
-
-/* RSA public exponent values. */
-
-#define RSA_3 0x3
-#define RSA_F4 0x10001
-
-
-/* Deprecated functions. */
-
-/* RSA_blinding_on returns one. */
-OPENSSL_EXPORT int RSA_blinding_on(RSA *rsa, BN_CTX *ctx);
-
-
-struct rsa_meth_st {
-  struct openssl_method_common_st common;
-
-  void *app_data;
-
-  int (*init)(RSA *rsa);
-  int (*finish)(RSA *rsa);
-
-  /* size returns the size of the RSA modulus in bytes. */
-  size_t (*size)(const RSA *rsa);
-
-  int (*sign)(int type, const uint8_t *m, unsigned int m_length,
-              uint8_t *sigret, unsigned int *siglen, const RSA *rsa);
-
-  int (*verify)(int dtype, const uint8_t *m, unsigned int m_length,
-                const uint8_t *sigbuf, unsigned int siglen, const RSA *rsa);
-
-
-  /* These functions mirror the |RSA_*| functions of the same name. */
-  int (*encrypt)(RSA *rsa, size_t *out_len, uint8_t *out, size_t max_out,
-                 const uint8_t *in, size_t in_len, int padding);
-  int (*sign_raw)(RSA *rsa, size_t *out_len, uint8_t *out, size_t max_out,
-                  const uint8_t *in, size_t in_len, int padding);
-
-  int (*decrypt)(RSA *rsa, size_t *out_len, uint8_t *out, size_t max_out,
-                 const uint8_t *in, size_t in_len, int padding);
-  int (*verify_raw)(RSA *rsa, size_t *out_len, uint8_t *out, size_t max_out,
-                    const uint8_t *in, size_t in_len, int padding);
-
-  /* private_transform takes a big-endian integer from |in|, calculates the
-   * d'th power of it, modulo the RSA modulus and writes the result as a
-   * big-endian integer to |out|. Both |in| and |out| are |len| bytes long and
-   * |len| is always equal to |RSA_size(rsa)|. If the result of the transform
-   * can be represented in fewer than |len| bytes, then |out| must be zero
-   * padded on the left.
-   *
-   * It returns one on success and zero otherwise.
-   *
-   * RSA decrypt and sign operations will call this, thus an ENGINE might wish
-   * to override it in order to avoid having to implement the padding
-   * functionality demanded by those, higher level, operations. */
-  int (*private_transform)(RSA *rsa, uint8_t *out, const uint8_t *in,
-                           size_t len);
-
-  int (*mod_exp)(BIGNUM *r0, const BIGNUM *I, RSA *rsa,
-                 BN_CTX *ctx); /* Can be null */
-  int (*bn_mod_exp)(BIGNUM *r, const BIGNUM *a, const BIGNUM *p,
-                    const BIGNUM *m, BN_CTX *ctx,
-                    BN_MONT_CTX *m_ctx);
-
-  int flags;
-
-  int (*keygen)(RSA *rsa, int bits, BIGNUM *e, BN_GENCB *cb);
-
-  /* supports_digest returns one if |rsa| supports digests of type
-   * |md|. If null, it is assumed that all digests are supported. */
-  int (*supports_digest)(const RSA *rsa, const EVP_MD *md);
-};
-
-
-/* Private functions. */
-
-typedef struct bn_blinding_st BN_BLINDING;
-
-struct rsa_st {
-  /* version is only used during ASN.1 (de)serialisation. */
-  long version;
-  RSA_METHOD *meth;
-
-  BIGNUM *n;
-  BIGNUM *e;
-  BIGNUM *d;
-  BIGNUM *p;
-  BIGNUM *q;
-  BIGNUM *dmp1;
-  BIGNUM *dmq1;
-  BIGNUM *iqmp;
-  /* be careful using this if the RSA structure is shared */
-  CRYPTO_EX_DATA ex_data;
-  CRYPTO_refcount_t references;
-  int flags;
-
-  CRYPTO_MUTEX lock;
-
-  /* Used to cache montgomery values. The creation of these values is protected
-   * by |lock|. */
-  BN_MONT_CTX *_method_mod_n;
-  BN_MONT_CTX *_method_mod_p;
-  BN_MONT_CTX *_method_mod_q;
-
-  /* num_blindings contains the size of the |blindings| and |blindings_inuse|
-   * arrays. This member and the |blindings_inuse| array are protected by
-   * |lock|. */
-  unsigned num_blindings;
-  /* blindings is an array of BN_BLINDING structures that can be reserved by a
-   * thread by locking |lock| and changing the corresponding element in
-   * |blindings_inuse| from 0 to 1. */
-  BN_BLINDING **blindings;
-  unsigned char *blindings_inuse;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#define RSA_F_BN_BLINDING_convert_ex 100
-#define RSA_F_BN_BLINDING_create_param 101
-#define RSA_F_BN_BLINDING_invert_ex 102
-#define RSA_F_BN_BLINDING_new 103
-#define RSA_F_BN_BLINDING_update 104
-#define RSA_F_RSA_check_key 105
-#define RSA_F_RSA_new_method 106
-#define RSA_F_RSA_padding_add_PKCS1_OAEP_mgf1 107
-#define RSA_F_RSA_padding_add_PKCS1_PSS_mgf1 108
-#define RSA_F_RSA_padding_add_PKCS1_type_1 109
-#define RSA_F_RSA_padding_add_PKCS1_type_2 110
-#define RSA_F_RSA_padding_add_none 111
-#define RSA_F_RSA_padding_check_PKCS1_OAEP_mgf1 112
-#define RSA_F_RSA_padding_check_PKCS1_type_1 113
-#define RSA_F_RSA_padding_check_PKCS1_type_2 114
-#define RSA_F_RSA_padding_check_none 115
-#define RSA_F_RSA_recover_crt_params 116
-#define RSA_F_RSA_sign 117
-#define RSA_F_RSA_verify 118
-#define RSA_F_RSA_verify_PKCS1_PSS_mgf1 119
-#define RSA_F_decrypt 120
-#define RSA_F_encrypt 121
-#define RSA_F_keygen 122
-#define RSA_F_pkcs1_prefixed_msg 123
-#define RSA_F_private_transform 124
-#define RSA_F_rsa_setup_blinding 125
-#define RSA_F_sign_raw 126
-#define RSA_F_verify_raw 127
-#define RSA_R_BAD_E_VALUE 100
-#define RSA_R_BAD_FIXED_HEADER_DECRYPT 101
-#define RSA_R_BAD_PAD_BYTE_COUNT 102
-#define RSA_R_BAD_RSA_PARAMETERS 103
-#define RSA_R_BAD_SIGNATURE 104
-#define RSA_R_BLOCK_TYPE_IS_NOT_01 105
-#define RSA_R_BN_NOT_INITIALIZED 106
-#define RSA_R_CRT_PARAMS_ALREADY_GIVEN 107
-#define RSA_R_CRT_VALUES_INCORRECT 108
-#define RSA_R_DATA_LEN_NOT_EQUAL_TO_MOD_LEN 109
-#define RSA_R_DATA_TOO_LARGE 110
-#define RSA_R_DATA_TOO_LARGE_FOR_KEY_SIZE 111
-#define RSA_R_DATA_TOO_LARGE_FOR_MODULUS 112
-#define RSA_R_DATA_TOO_SMALL 113
-#define RSA_R_DATA_TOO_SMALL_FOR_KEY_SIZE 114
-#define RSA_R_DIGEST_TOO_BIG_FOR_RSA_KEY 115
-#define RSA_R_D_E_NOT_CONGRUENT_TO_1 116
-#define RSA_R_EMPTY_PUBLIC_KEY 117
-#define RSA_R_FIRST_OCTET_INVALID 118
-#define RSA_R_INCONSISTENT_SET_OF_CRT_VALUES 119
-#define RSA_R_INTERNAL_ERROR 120
-#define RSA_R_INVALID_MESSAGE_LENGTH 121
-#define RSA_R_KEY_SIZE_TOO_SMALL 122
-#define RSA_R_LAST_OCTET_INVALID 123
-#define RSA_R_MODULUS_TOO_LARGE 124
-#define RSA_R_NO_PUBLIC_EXPONENT 125
-#define RSA_R_NULL_BEFORE_BLOCK_MISSING 126
-#define RSA_R_N_NOT_EQUAL_P_Q 127
-#define RSA_R_OAEP_DECODING_ERROR 128
-#define RSA_R_ONLY_ONE_OF_P_Q_GIVEN 129
-#define RSA_R_OUTPUT_BUFFER_TOO_SMALL 130
-#define RSA_R_PADDING_CHECK_FAILED 131
-#define RSA_R_PKCS_DECODING_ERROR 132
-#define RSA_R_SLEN_CHECK_FAILED 133
-#define RSA_R_SLEN_RECOVERY_FAILED 134
-#define RSA_R_TOO_LONG 135
-#define RSA_R_TOO_MANY_ITERATIONS 136
-#define RSA_R_UNKNOWN_ALGORITHM_TYPE 137
-#define RSA_R_UNKNOWN_PADDING_TYPE 138
-#define RSA_R_VALUE_MISSING 139
-#define RSA_R_WRONG_SIGNATURE_LENGTH 140
-
-#endif  /* OPENSSL_HEADER_RSA_H */
diff --git a/phonelibs/boringssl/include/openssl/safestack.h b/phonelibs/boringssl/include/openssl/safestack.h
deleted file mode 100644
index 6e5e433074f867..00000000000000
--- a/phonelibs/boringssl/include/openssl/safestack.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-/* This header is provided in order to make compiling against code that expects
-   OpenSSL easier. */
diff --git a/phonelibs/boringssl/include/openssl/sha.h b/phonelibs/boringssl/include/openssl/sha.h
deleted file mode 100644
index ac2ab758b41a85..00000000000000
--- a/phonelibs/boringssl/include/openssl/sha.h
+++ /dev/null
@@ -1,241 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_SHA_H
-#define OPENSSL_HEADER_SHA_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* The SHA family of hash functions (SHA-1 and SHA-2). */
-
-
-/* SHA_CBLOCK is the block size of SHA-1. */
-#define SHA_CBLOCK 64
-
-/* SHA_DIGEST_LENGTH is the length of a SHA-1 digest. */
-#define SHA_DIGEST_LENGTH 20
-
-/* TODO(fork): remove */
-#define SHA_LBLOCK 16
-#define SHA_LONG uint32_t
-
-/* SHA1_Init initialises |sha| and returns one. */
-OPENSSL_EXPORT int SHA1_Init(SHA_CTX *sha);
-
-/* SHA1_Update adds |len| bytes from |data| to |sha| and returns one. */
-OPENSSL_EXPORT int SHA1_Update(SHA_CTX *sha, const void *data, size_t len);
-
-/* SHA1_Final adds the final padding to |sha| and writes the resulting digest
- * to |md|, which must have at least |SHA_DIGEST_LENGTH| bytes of space. It
- * returns one. */
-OPENSSL_EXPORT int SHA1_Final(uint8_t *md, SHA_CTX *sha);
-
-/* SHA1 writes the digest of |len| bytes from |data| to |out| and returns
- * |out|. There must be at least |SHA_DIGEST_LENGTH| bytes of space in
- * |out|. */
-OPENSSL_EXPORT uint8_t *SHA1(const uint8_t *data, size_t len, uint8_t *out);
-
-/* SHA1_Transform is a low-level function that performs a single, SHA-1 block
- * transformation using the state from |sha| and 64 bytes from |block|. */
-OPENSSL_EXPORT void SHA1_Transform(SHA_CTX *sha, const uint8_t *block);
-
-struct sha_state_st {
-  uint32_t h0, h1, h2, h3, h4;
-  uint32_t Nl, Nh;
-  uint32_t data[16];
-  unsigned int num;
-};
-
-
-/* SHA-224. */
-
-/* SHA224_CBLOCK is the block size of SHA-224. */
-#define SHA224_CBLOCK 64
-
-/* SHA224_DIGEST_LENGTH is the length of a SHA-224 digest. */
-#define SHA224_DIGEST_LENGTH 28
-
-/* SHA224_Init initialises |sha| and returns 1. */
-OPENSSL_EXPORT int SHA224_Init(SHA256_CTX *sha);
-
-/* SHA224_Update adds |len| bytes from |data| to |sha| and returns 1. */
-OPENSSL_EXPORT int SHA224_Update(SHA256_CTX *sha, const void *data, size_t len);
-
-/* SHA224_Final adds the final padding to |sha| and writes the resulting digest
- * to |md|, which must have at least |SHA224_DIGEST_LENGTH| bytes of space. It
- * returns one on success and zero on programmer error. */
-OPENSSL_EXPORT int SHA224_Final(uint8_t *md, SHA256_CTX *sha);
-
-/* SHA224 writes the digest of |len| bytes from |data| to |out| and returns
- * |out|. There must be at least |SHA224_DIGEST_LENGTH| bytes of space in
- * |out|. */
-OPENSSL_EXPORT uint8_t *SHA224(const uint8_t *data, size_t len, uint8_t *out);
-
-
-/* SHA-256. */
-
-/* SHA256_CBLOCK is the block size of SHA-256. */
-#define SHA256_CBLOCK 64
-
-/* SHA256_DIGEST_LENGTH is the length of a SHA-256 digest. */
-#define SHA256_DIGEST_LENGTH 32
-
-/* SHA256_Init initialises |sha| and returns 1. */
-OPENSSL_EXPORT int SHA256_Init(SHA256_CTX *sha);
-
-/* SHA256_Update adds |len| bytes from |data| to |sha| and returns 1. */
-OPENSSL_EXPORT int SHA256_Update(SHA256_CTX *sha, const void *data, size_t len);
-
-/* SHA256_Final adds the final padding to |sha| and writes the resulting digest
- * to |md|, which must have at least |SHA256_DIGEST_LENGTH| bytes of space. It
- * returns one on success and zero on programmer error. */
-OPENSSL_EXPORT int SHA256_Final(uint8_t *md, SHA256_CTX *sha);
-
-/* SHA256 writes the digest of |len| bytes from |data| to |out| and returns
- * |out|. There must be at least |SHA256_DIGEST_LENGTH| bytes of space in
- * |out|. */
-OPENSSL_EXPORT uint8_t *SHA256(const uint8_t *data, size_t len, uint8_t *out);
-
-/* SHA256_Transform is a low-level function that performs a single, SHA-1 block
- * transformation using the state from |sha| and 64 bytes from |block|. */
-OPENSSL_EXPORT void SHA256_Transform(SHA256_CTX *sha, const uint8_t *data);
-
-struct sha256_state_st {
-  uint32_t h[8];
-  uint32_t Nl, Nh;
-  uint32_t data[16];
-  unsigned int num, md_len;
-};
-
-
-/* SHA-384. */
-
-/* SHA384_CBLOCK is the block size of SHA-384. */
-#define SHA384_CBLOCK 128
-
-/* SHA384_DIGEST_LENGTH is the length of a SHA-384 digest. */
-#define SHA384_DIGEST_LENGTH 48
-
-/* SHA384_Init initialises |sha| and returns 1. */
-OPENSSL_EXPORT int SHA384_Init(SHA512_CTX *sha);
-
-/* SHA384_Update adds |len| bytes from |data| to |sha| and returns 1. */
-OPENSSL_EXPORT int SHA384_Update(SHA512_CTX *sha, const void *data, size_t len);
-
-/* SHA384_Final adds the final padding to |sha| and writes the resulting digest
- * to |md|, which must have at least |SHA384_DIGEST_LENGTH| bytes of space. It
- * returns one on success and zero on programmer error. */
-OPENSSL_EXPORT int SHA384_Final(uint8_t *md, SHA512_CTX *sha);
-
-/* SHA384 writes the digest of |len| bytes from |data| to |out| and returns
- * |out|. There must be at least |SHA384_DIGEST_LENGTH| bytes of space in
- * |out|. */
-OPENSSL_EXPORT uint8_t *SHA384(const uint8_t *data, size_t len, uint8_t *out);
-
-/* SHA384_Transform is a low-level function that performs a single, SHA-1 block
- * transformation using the state from |sha| and 64 bytes from |block|. */
-OPENSSL_EXPORT void SHA384_Transform(SHA512_CTX *sha, const uint8_t *data);
-
-
-/* SHA-512. */
-
-/* SHA512_CBLOCK is the block size of SHA-512. */
-#define SHA512_CBLOCK 128
-
-/* SHA512_DIGEST_LENGTH is the length of a SHA-512 digest. */
-#define SHA512_DIGEST_LENGTH 64
-
-/* SHA512_Init initialises |sha| and returns 1. */
-OPENSSL_EXPORT int SHA512_Init(SHA512_CTX *sha);
-
-/* SHA512_Update adds |len| bytes from |data| to |sha| and returns 1. */
-OPENSSL_EXPORT int SHA512_Update(SHA512_CTX *sha, const void *data, size_t len);
-
-/* SHA512_Final adds the final padding to |sha| and writes the resulting digest
- * to |md|, which must have at least |SHA512_DIGEST_LENGTH| bytes of space. It
- * returns one on success and zero on programmer error. */
-OPENSSL_EXPORT int SHA512_Final(uint8_t *md, SHA512_CTX *sha);
-
-/* SHA512 writes the digest of |len| bytes from |data| to |out| and returns
- * |out|. There must be at least |SHA512_DIGEST_LENGTH| bytes of space in
- * |out|. */
-OPENSSL_EXPORT uint8_t *SHA512(const uint8_t *data, size_t len, uint8_t *out);
-
-/* SHA512_Transform is a low-level function that performs a single, SHA-1 block
- * transformation using the state from |sha| and 64 bytes from |block|. */
-OPENSSL_EXPORT void SHA512_Transform(SHA512_CTX *sha, const uint8_t *data);
-
-struct sha512_state_st {
-  uint64_t h[8];
-  uint64_t Nl, Nh;
-  union {
-    uint64_t d[16];
-    uint8_t p[128];
-  } u;
-  unsigned int num, md_len;
-};
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_SHA_H */
diff --git a/phonelibs/boringssl/include/openssl/srtp.h b/phonelibs/boringssl/include/openssl/srtp.h
deleted file mode 100644
index 3f5a53e2c1e1de..00000000000000
--- a/phonelibs/boringssl/include/openssl/srtp.h
+++ /dev/null
@@ -1,178 +0,0 @@
-/* ssl/tls1.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- * 
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- * 
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from 
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- * 
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- * 
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-/* ====================================================================
- * Copyright (c) 1998-2006 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer. 
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-/*
-  DTLS code by Eric Rescorla <ekr@rtfm.com>
-
-  Copyright (C) 2006, Network Resonance, Inc.
-  Copyright (C) 2011, RTFM, Inc.
-*/
-
-#ifndef OPENSSL_HEADER_SRTP_H
-#define OPENSSL_HEADER_SRTP_H
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-/* Constants for SRTP profiles */
-#define SRTP_AES128_CM_SHA1_80 0x0001
-#define SRTP_AES128_CM_SHA1_32 0x0002
-#define SRTP_AES128_F8_SHA1_80 0x0003
-#define SRTP_AES128_F8_SHA1_32 0x0004
-#define SRTP_NULL_SHA1_80      0x0005
-#define SRTP_NULL_SHA1_32      0x0006
-
-/* SSL_CTX_set_srtp_profiles enables SRTP for all SSL objects created from
- * |ctx|. |profile| contains a colon-separated list of profile names. It returns
- * one on success and zero on failure. */
-OPENSSL_EXPORT int SSL_CTX_set_srtp_profiles(SSL_CTX *ctx,
-                                             const char *profiles);
-
-/* SSL_set_srtp_profiles enables SRTP for |ssl|.  |profile| contains a
- * colon-separated list of profile names. It returns one on success and zero on
- * failure. */
-OPENSSL_EXPORT int SSL_set_srtp_profiles(SSL *ctx, const char *profiles);
-
-/* SSL_get_srtp_profiles returns the SRTP profiles supported by |ssl|. */
-OPENSSL_EXPORT STACK_OF(SRTP_PROTECTION_PROFILE) *SSL_get_srtp_profiles(
-    SSL *ssl);
-
-/* SSL_get_selected_srtp_profile returns the selected SRTP profile, or NULL if
- * SRTP was not negotiated. */
-OPENSSL_EXPORT const SRTP_PROTECTION_PROFILE *SSL_get_selected_srtp_profile(
-    SSL *s);
-
-
-/* Deprecated functions */
-
-/* SSL_CTX_set_tlsext_use_srtp calls SSL_CTX_set_srtp_profiles. It returns zero
- * on success and one on failure.
- *
- * WARNING: this function is dangerous because it breaks the usual return value
- * convention. Use SSL_CTX_set_srtp_profiles instead. */
-OPENSSL_EXPORT int SSL_CTX_set_tlsext_use_srtp(SSL_CTX *ctx,
-                                               const char *profiles);
-
-/* SSL_set_tlsext_use_srtp calls SSL_set_srtp_profiles. It returns zero on
- * success and one on failure.
- *
- * WARNING: this function is dangerous because it breaks the usual return value
- * convention. Use SSL_set_srtp_profiles instead. */
-OPENSSL_EXPORT int SSL_set_tlsext_use_srtp(SSL *ctx, const char *profiles);
-
-
-#ifdef  __cplusplus
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_SRTP_H */
-
diff --git a/phonelibs/boringssl/include/openssl/ssl.h b/phonelibs/boringssl/include/openssl/ssl.h
deleted file mode 100644
index 217dbaf2f45173..00000000000000
--- a/phonelibs/boringssl/include/openssl/ssl.h
+++ /dev/null
@@ -1,2959 +0,0 @@
-/* ssl/ssl.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-/* ====================================================================
- * Copyright (c) 1998-2007 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-/* ====================================================================
- * Copyright 2002 Sun Microsystems, Inc. ALL RIGHTS RESERVED.
- * ECC cipher suite support in OpenSSL originally developed by
- * SUN MICROSYSTEMS, INC., and contributed to the OpenSSL project.
- */
-/* ====================================================================
- * Copyright 2005 Nokia. All rights reserved.
- *
- * The portions of the attached software ("Contribution") is developed by
- * Nokia Corporation and is licensed pursuant to the OpenSSL open source
- * license.
- *
- * The Contribution, originally written by Mika Kousa and Pasi Eronen of
- * Nokia Corporation, consists of the "PSK" (Pre-Shared Key) ciphersuites
- * support (see RFC 4279) to OpenSSL.
- *
- * No patent licenses or other rights except those expressly stated in
- * the OpenSSL open source license shall be deemed granted or received
- * expressly, by implication, estoppel, or otherwise.
- *
- * No assurances are provided by Nokia that the Contribution does not
- * infringe the patent or other intellectual property rights of any third
- * party or that the license provides you with all the necessary rights
- * to make use of the Contribution.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND. IN
- * ADDITION TO THE DISCLAIMERS INCLUDED IN THE LICENSE, NOKIA
- * SPECIFICALLY DISCLAIMS ANY LIABILITY FOR CLAIMS BROUGHT BY YOU OR ANY
- * OTHER ENTITY BASED ON INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS OR
- * OTHERWISE.
- */
-
-#ifndef OPENSSL_HEADER_SSL_H
-#define OPENSSL_HEADER_SSL_H
-
-#include <openssl/base.h>
-
-#include <openssl/bio.h>
-#include <openssl/buf.h>
-#include <openssl/hmac.h>
-#include <openssl/lhash.h>
-#include <openssl/pem.h>
-#include <openssl/thread.h>
-#include <openssl/x509.h>
-
-#if !defined(OPENSSL_WINDOWS)
-#include <sys/time.h>
-#endif
-
-/* wpa_supplicant expects to get the version functions from ssl.h */
-#include <openssl/crypto.h>
-
-/* Forward-declare struct timeval. On Windows, it is defined in winsock2.h and
- * Windows headers define too many macros to be included in public headers.
- * However, only a forward declaration is needed. */
-struct timeval;
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* SSL implementation. */
-
-
-/* Initialization. */
-
-/* SSL_library_init initializes the crypto and SSL libraries and returns one. */
-OPENSSL_EXPORT int SSL_library_init(void);
-
-
-/* Cipher suites. */
-
-/* An SSL_CIPHER represents a cipher suite. */
-typedef struct ssl_cipher_st {
-  /* name is the OpenSSL name for the cipher. */
-  const char *name;
-  /* id is the cipher suite value bitwise OR-d with 0x03000000. */
-  uint32_t id;
-
-  /* The following are internal fields. See ssl/internal.h for their values. */
-
-  uint32_t algorithm_mkey;
-  uint32_t algorithm_auth;
-  uint32_t algorithm_enc;
-  uint32_t algorithm_mac;
-  uint32_t algorithm_ssl;
-  uint32_t algo_strength;
-
-  /* algorithm2 contains extra flags. See ssl/internal.h. */
-  uint32_t algorithm2;
-
-  /* strength_bits is the strength of the cipher in bits. */
-  int strength_bits;
-  /* alg_bits is the number of bits of key material used by the algorithm. */
-  int alg_bits;
-} SSL_CIPHER;
-
-DECLARE_STACK_OF(SSL_CIPHER)
-
-/* SSL_get_cipher_by_value returns the structure representing a TLS cipher
- * suite based on its assigned number, or NULL if unknown. See
- * https://www.iana.org/assignments/tls-parameters/tls-parameters.xhtml#tls-parameters-4. */
-OPENSSL_EXPORT const SSL_CIPHER *SSL_get_cipher_by_value(uint16_t value);
-
-/* SSL_CIPHER_get_id returns |cipher|'s id. It may be cast to a |uint16_t| to
- * get the cipher suite value. */
-OPENSSL_EXPORT uint32_t SSL_CIPHER_get_id(const SSL_CIPHER *cipher);
-
-/* SSL_CIPHER_is_AES returns one if |cipher| uses AES (either GCM or CBC
- * mode). */
-OPENSSL_EXPORT int SSL_CIPHER_is_AES(const SSL_CIPHER *cipher);
-
-/* SSL_CIPHER_has_MD5_HMAC returns one if |cipher| uses HMAC-MD5. */
-OPENSSL_EXPORT int SSL_CIPHER_has_MD5_HMAC(const SSL_CIPHER *cipher);
-
-/* SSL_CIPHER_is_AESGCM returns one if |cipher| uses AES-GCM. */
-OPENSSL_EXPORT int SSL_CIPHER_is_AESGCM(const SSL_CIPHER *cipher);
-
-/* SSL_CIPHER_is_CHACHA20POLY1305 returns one if |cipher| uses
- * CHACHA20_POLY1305. */
-OPENSSL_EXPORT int SSL_CIPHER_is_CHACHA20POLY1305(const SSL_CIPHER *cipher);
-
-/* SSL_CIPHER_get_name returns the OpenSSL name of |cipher|. */
-OPENSSL_EXPORT const char *SSL_CIPHER_get_name(const SSL_CIPHER *cipher);
-
-/* SSL_CIPHER_get_kx_name returns a string that describes the key-exchange
- * method used by |cipher|. For example, "ECDHE_ECDSA". */
-OPENSSL_EXPORT const char *SSL_CIPHER_get_kx_name(const SSL_CIPHER *cipher);
-
-/* SSL_CIPHER_get_rfc_name returns a newly-allocated string with the standard
- * name for |cipher| or NULL on error. For example,
- * "TLS_ECDHE_RSA_WITH_AES_128_GCM_SHA256". The caller is responsible for
- * calling |OPENSSL_free| on the result. */
-OPENSSL_EXPORT char *SSL_CIPHER_get_rfc_name(const SSL_CIPHER *cipher);
-
-/* SSL_CIPHER_get_bits returns the strength, in bits, of |cipher|. If
- * |out_alg_bits| is not NULL, it writes the number of bits consumed by the
- * symmetric algorithm to |*out_alg_bits|. */
-OPENSSL_EXPORT int SSL_CIPHER_get_bits(const SSL_CIPHER *cipher,
-                                       int *out_alg_bits);
-
-
-/* SSL contexts. */
-
-/* An SSL_METHOD selects whether to use TLS or DTLS. */
-typedef struct ssl_method_st SSL_METHOD;
-
-/* TLS_method is the |SSL_METHOD| used for TLS (and SSLv3) connections. */
-OPENSSL_EXPORT const SSL_METHOD *TLS_method(void);
-
-/* DTLS_method is the |SSL_METHOD| used for DTLS connections. */
-OPENSSL_EXPORT const SSL_METHOD *DTLS_method(void);
-
-/* SSL_CTX_new returns a newly-allocated |SSL_CTX| with default settings or NULL
- * on error. An |SSL_CTX| manages shared state and configuration between
- * multiple TLS or DTLS connections. */
-OPENSSL_EXPORT SSL_CTX *SSL_CTX_new(const SSL_METHOD *method);
-
-/* SSL_CTX_free releases memory associated with |ctx|. */
-OPENSSL_EXPORT void SSL_CTX_free(SSL_CTX *ctx);
-
-
-/* SSL connections. */
-
-/* SSL_new returns a newly-allocated |SSL| using |ctx| or NULL on error. An
- * |SSL| object represents a single TLS or DTLS connection. It inherits settings
- * from |ctx| at the time of creation. Settings may also be individually
- * configured on the connection.
- *
- * On creation, an |SSL| is not configured to be either a client or server. Call
- * |SSL_set_connect_state| or |SSL_set_accept_state| to set this. */
-OPENSSL_EXPORT SSL *SSL_new(SSL_CTX *ctx);
-
-/* SSL_free releases memory associated with |ssl|. */
-OPENSSL_EXPORT void SSL_free(SSL *ssl);
-
-/* SSL_set_connect_state configures |ssl| to be a client. */
-OPENSSL_EXPORT void SSL_set_connect_state(SSL *ssl);
-
-/* SSL_set_accept_state configures |ssl| to be a server. */
-OPENSSL_EXPORT void SSL_set_accept_state(SSL *ssl);
-
-
-/* Protocol versions. */
-
-#define SSL3_VERSION_MAJOR 0x03
-
-#define SSL3_VERSION 0x0300
-#define TLS1_VERSION 0x0301
-#define TLS1_1_VERSION 0x0302
-#define TLS1_2_VERSION 0x0303
-
-#define DTLS1_VERSION 0xfeff
-#define DTLS1_2_VERSION 0xfefd
-
-/* SSL_CTX_set_min_version sets the minimum protocol version for |ctx| to
- * |version|. */
-OPENSSL_EXPORT void SSL_CTX_set_min_version(SSL_CTX *ctx, uint16_t version);
-
-/* SSL_CTX_set_max_version sets the maximum protocol version for |ctx| to
- * |version|. */
-OPENSSL_EXPORT void SSL_CTX_set_max_version(SSL_CTX *ctx, uint16_t version);
-
-/* SSL_set_min_version sets the minimum protocol version for |ssl| to
- * |version|. */
-OPENSSL_EXPORT void SSL_set_min_version(SSL *ssl, uint16_t version);
-
-/* SSL_set_max_version sets the maximum protocol version for |ssl| to
- * |version|. */
-OPENSSL_EXPORT void SSL_set_max_version(SSL *ssl, uint16_t version);
-
-
-/* Options.
- *
- * Options configure protocol behavior. */
-
-/* SSL_OP_LEGACY_SERVER_CONNECT allows initial connections to servers that don't
- * support the renegotiation_info extension (RFC 5746). It is on by default. */
-#define SSL_OP_LEGACY_SERVER_CONNECT 0x00000004L
-
-/* SSL_OP_MICROSOFT_BIG_SSLV3_BUFFER allows for record sizes |SSL3_RT_MAX_EXTRA|
- * bytes above the maximum record size. */
-#define SSL_OP_MICROSOFT_BIG_SSLV3_BUFFER 0x00000020L
-
-/* SSL_OP_TLS_D5_BUG accepts an RSAClientKeyExchange in TLS encoded as in SSL3
- * (i.e. without a length prefix). */
-#define SSL_OP_TLS_D5_BUG 0x00000100L
-
-/* SSL_OP_ALL enables the above bug workarounds that are enabled by many
- * consumers.
- * TODO(davidben): Determine which of the remaining may be removed now. */
-#define SSL_OP_ALL 0x00000BFFL
-
-/* SSL_OP_NO_QUERY_MTU, in DTLS, disables querying the MTU from the underlying
- * |BIO|. Instead, the MTU is configured with |SSL_set_mtu|. */
-#define SSL_OP_NO_QUERY_MTU 0x00001000L
-
-/* SSL_OP_NO_TICKET disables session ticket support (RFC 4507). */
-#define SSL_OP_NO_TICKET 0x00004000L
-
-/* SSL_OP_ALLOW_UNSAFE_LEGACY_RENEGOTIATION permits unsafe legacy renegotiation
- * without renegotiation_info (RFC 5746) support. */
-#define SSL_OP_ALLOW_UNSAFE_LEGACY_RENEGOTIATION 0x00040000L
-
-/* SSL_OP_CIPHER_SERVER_PREFERENCE configures servers to select ciphers and
- * ECDHE curves according to the server's preferences instead of the
- * client's. */
-#define SSL_OP_CIPHER_SERVER_PREFERENCE 0x00400000L
-
-/* The following flags toggle individual protocol versions. This is deprecated.
- * Use |SSL_CTX_set_min_version| and |SSL_CTX_set_max_version| instead. */
-#define SSL_OP_NO_SSLv3 0x02000000L
-#define SSL_OP_NO_TLSv1 0x04000000L
-#define SSL_OP_NO_TLSv1_2 0x08000000L
-#define SSL_OP_NO_TLSv1_1 0x10000000L
-#define SSL_OP_NO_DTLSv1 SSL_OP_NO_TLSv1
-#define SSL_OP_NO_DTLSv1_2 SSL_OP_NO_TLSv1_2
-
-/* The following flags do nothing and are included only to make it easier to
- * compile code with BoringSSL. */
-#define SSL_OP_DONT_INSERT_EMPTY_FRAGMENTS 0
-#define SSL_OP_MICROSOFT_SESS_ID_BUG 0
-#define SSL_OP_NETSCAPE_CHALLENGE_BUG 0
-#define SSL_OP_NO_COMPRESSION 0
-#define SSL_OP_NO_SESSION_RESUMPTION_ON_RENEGOTIATION 0
-#define SSL_OP_NO_SSLv2 0
-#define SSL_OP_SINGLE_DH_USE 0
-#define SSL_OP_SINGLE_ECDH_USE 0
-#define SSL_OP_SSLREF2_REUSE_CERT_TYPE_BUG 0
-#define SSL_OP_TLS_BLOCK_PADDING_BUG 0
-#define SSL_OP_TLS_ROLLBACK_BUG 0
-
-/* SSL_CTX_set_options enables all options set in |options| (which should be one
- * or more of the |SSL_OP_*| values, ORed together) in |ctx|. It returns a
- * bitmask representing the resulting enabled options. */
-OPENSSL_EXPORT uint32_t SSL_CTX_set_options(SSL_CTX *ctx, uint32_t options);
-
-/* SSL_CTX_clear_options disables all options set in |options| (which should be
- * one or more of the |SSL_OP_*| values, ORed together) in |ctx|. It returns a
- * bitmask representing the resulting enabled options. */
-OPENSSL_EXPORT uint32_t SSL_CTX_clear_options(SSL_CTX *ctx, uint32_t options);
-
-/* SSL_CTX_get_options returns a bitmask of |SSL_OP_*| values that represent all
- * the options enabled for |ctx|. */
-OPENSSL_EXPORT uint32_t SSL_CTX_get_options(const SSL_CTX *ctx);
-
-/* SSL_set_options enables all options set in |options| (which should be one or
- * more of the |SSL_OP_*| values, ORed together) in |ssl|. It returns a bitmask
- * representing the resulting enabled options. */
-OPENSSL_EXPORT uint32_t SSL_set_options(SSL *ssl, uint32_t options);
-
-/* SSL_clear_options disables all options set in |options| (which should be one
- * or more of the |SSL_OP_*| values, ORed together) in |ssl|. It returns a
- * bitmask representing the resulting enabled options. */
-OPENSSL_EXPORT uint32_t SSL_clear_options(SSL *ssl, uint32_t options);
-
-/* SSL_get_options returns a bitmask of |SSL_OP_*| values that represent all the
- * options enabled for |ssl|. */
-OPENSSL_EXPORT uint32_t SSL_get_options(const SSL *ssl);
-
-
-/* Modes.
- *
- * Modes configure API behavior. */
-
-/* SSL_MODE_ENABLE_PARTIAL_WRITE allows |SSL_write| to complete with a partial
- * result when the only part of the input was written in a single record. */
-#define SSL_MODE_ENABLE_PARTIAL_WRITE 0x00000001L
-
-/* SSL_MODE_ACCEPT_MOVING_WRITE_BUFFER allows retrying an incomplete |SSL_write|
- * with a different buffer. However, |SSL_write| still assumes the buffer
- * contents are unchanged. This is not the default to avoid the misconception
- * that non-blocking |SSL_write| behaves like non-blocking |write|. */
-#define SSL_MODE_ACCEPT_MOVING_WRITE_BUFFER 0x00000002L
-
-/* SSL_MODE_NO_AUTO_CHAIN disables automatically building a certificate chain
- * before sending certificates to the peer.
- * TODO(davidben): Remove this behavior. https://crbug.com/486295. */
-#define SSL_MODE_NO_AUTO_CHAIN 0x00000008L
-
-/* SSL_MODE_ENABLE_FALSE_START allows clients to send application data before
- * receipt of CCS and Finished. This mode enables full-handshakes to 'complete'
- * in one RTT. See draft-bmoeller-tls-falsestart-01. */
-#define SSL_MODE_ENABLE_FALSE_START 0x00000080L
-
-/* Deprecated: SSL_MODE_HANDSHAKE_CUTTHROUGH is the same as
- * SSL_MODE_ENABLE_FALSE_START. */
-#define SSL_MODE_HANDSHAKE_CUTTHROUGH SSL_MODE_ENABLE_FALSE_START
-
-/* SSL_MODE_CBC_RECORD_SPLITTING causes multi-byte CBC records in SSL 3.0 and
- * TLS 1.0 to be split in two: the first record will contain a single byte and
- * the second will contain the remainder. This effectively randomises the IV and
- * prevents BEAST attacks. */
-#define SSL_MODE_CBC_RECORD_SPLITTING 0x00000100L
-
-/* SSL_MODE_NO_SESSION_CREATION will cause any attempts to create a session to
- * fail with SSL_R_SESSION_MAY_NOT_BE_CREATED. This can be used to enforce that
- * session resumption is used for a given SSL*. */
-#define SSL_MODE_NO_SESSION_CREATION 0x00000200L
-
-/* SSL_MODE_SEND_FALLBACK_SCSV sends TLS_FALLBACK_SCSV in the ClientHello.
- * To be set only by applications that reconnect with a downgraded protocol
- * version; see https://tools.ietf.org/html/draft-ietf-tls-downgrade-scsv-05
- * for details.
- *
- * DO NOT ENABLE THIS if your application attempts a normal handshake. Only use
- * this in explicit fallback retries, following the guidance in
- * draft-ietf-tls-downgrade-scsv-05. */
-#define SSL_MODE_SEND_FALLBACK_SCSV 0x00000400L
-
-/* The following flags do nothing and are included only to make it easier to
- * compile code with BoringSSL. */
-#define SSL_MODE_AUTO_RETRY 0
-#define SSL_MODE_RELEASE_BUFFERS 0
-#define SSL_MODE_SEND_CLIENTHELLO_TIME 0
-#define SSL_MODE_SEND_SERVERHELLO_TIME 0
-
-/* SSL_CTX_set_mode enables all modes set in |mode| (which should be one or more
- * of the |SSL_MODE_*| values, ORed together) in |ctx|. It returns a bitmask
- * representing the resulting enabled modes. */
-OPENSSL_EXPORT uint32_t SSL_CTX_set_mode(SSL_CTX *ctx, uint32_t mode);
-
-/* SSL_CTX_clear_mode disables all modes set in |mode| (which should be one or
- * more of the |SSL_MODE_*| values, ORed together) in |ctx|. It returns a
- * bitmask representing the resulting enabled modes. */
-OPENSSL_EXPORT uint32_t SSL_CTX_clear_mode(SSL_CTX *ctx, uint32_t mode);
-
-/* SSL_CTX_get_mode returns a bitmask of |SSL_MODE_*| values that represent all
- * the modes enabled for |ssl|. */
-OPENSSL_EXPORT uint32_t SSL_CTX_get_mode(const SSL_CTX *ctx);
-
-/* SSL_set_mode enables all modes set in |mode| (which should be one or more of
- * the |SSL_MODE_*| values, ORed together) in |ssl|. It returns a bitmask
- * representing the resulting enabled modes. */
-OPENSSL_EXPORT uint32_t SSL_set_mode(SSL *ssl, uint32_t mode);
-
-/* SSL_clear_mode disables all modes set in |mode| (which should be one or more
- * of the |SSL_MODE_*| values, ORed together) in |ssl|. It returns a bitmask
- * representing the resulting enabled modes. */
-OPENSSL_EXPORT uint32_t SSL_clear_mode(SSL *ssl, uint32_t mode);
-
-/* SSL_get_mode returns a bitmask of |SSL_MODE_*| values that represent all the
- * modes enabled for |ssl|. */
-OPENSSL_EXPORT uint32_t SSL_get_mode(const SSL *ssl);
-
-
-/* Connection information. */
-
-/* SSL_get_tls_unique writes at most |max_out| bytes of the tls-unique value
- * for |ssl| to |out| and sets |*out_len| to the number of bytes written. It
- * returns one on success or zero on error. In general |max_out| should be at
- * least 12.
- *
- * This function will always fail if the initial handshake has not completed.
- * The tls-unique value will change after a renegotiation but, since
- * renegotiations can be initiated by the server at any point, the higher-level
- * protocol must either leave them disabled or define states in which the
- * tls-unique value can be read.
- *
- * The tls-unique value is defined by
- * https://tools.ietf.org/html/rfc5929#section-3.1. Due to a weakness in the
- * TLS protocol, tls-unique is broken for resumed connections unless the
- * Extended Master Secret extension is negotiated. Thus this function will
- * return zero if |ssl| performed session resumption unless EMS was used when
- * negotiating the original session. */
-OPENSSL_EXPORT int SSL_get_tls_unique(const SSL *ssl, uint8_t *out,
-                                      size_t *out_len, size_t max_out);
-
-
-/* Underdocumented functions.
- *
- * Functions below here haven't been touched up and may be underdocumented. */
-
-/* SSLeay version number for ASN.1 encoding of the session information */
-/* Version 0 - initial version
- * Version 1 - added the optional peer certificate. */
-#define SSL_SESSION_ASN1_VERSION 0x0001
-
-#define SSL_MAX_SSL_SESSION_ID_LENGTH 32
-#define SSL_MAX_SID_CTX_LENGTH 32
-#define SSL_MAX_MASTER_KEY_LENGTH 48
-
-/* These are used to specify which ciphers to use and not to use */
-
-#define SSL_TXT_MEDIUM "MEDIUM"
-#define SSL_TXT_HIGH "HIGH"
-#define SSL_TXT_FIPS "FIPS"
-
-#define SSL_TXT_kRSA "kRSA"
-#define SSL_TXT_kDHE "kDHE"
-#define SSL_TXT_kEDH "kEDH" /* same as "kDHE" */
-#define SSL_TXT_kECDHE "kECDHE"
-#define SSL_TXT_kEECDH "kEECDH" /* same as "kECDHE" */
-#define SSL_TXT_kPSK "kPSK"
-
-#define SSL_TXT_aRSA "aRSA"
-#define SSL_TXT_aECDSA "aECDSA"
-#define SSL_TXT_aPSK "aPSK"
-
-#define SSL_TXT_DH "DH"
-#define SSL_TXT_DHE "DHE" /* same as "kDHE" */
-#define SSL_TXT_EDH "EDH" /* same as "DHE" */
-#define SSL_TXT_RSA "RSA"
-#define SSL_TXT_ECDH "ECDH"
-#define SSL_TXT_ECDHE "ECDHE" /* same as "kECDHE" */
-#define SSL_TXT_EECDH "EECDH" /* same as "ECDHE" */
-#define SSL_TXT_ECDSA "ECDSA"
-#define SSL_TXT_PSK "PSK"
-
-#define SSL_TXT_3DES "3DES"
-#define SSL_TXT_RC4 "RC4"
-#define SSL_TXT_AES128 "AES128"
-#define SSL_TXT_AES256 "AES256"
-#define SSL_TXT_AES "AES"
-#define SSL_TXT_AES_GCM "AESGCM"
-#define SSL_TXT_CHACHA20 "CHACHA20"
-
-#define SSL_TXT_MD5 "MD5"
-#define SSL_TXT_SHA1 "SHA1"
-#define SSL_TXT_SHA "SHA" /* same as "SHA1" */
-#define SSL_TXT_SHA256 "SHA256"
-#define SSL_TXT_SHA384 "SHA384"
-
-#define SSL_TXT_SSLV3 "SSLv3"
-#define SSL_TXT_TLSV1 "TLSv1"
-#define SSL_TXT_TLSV1_1 "TLSv1.1"
-#define SSL_TXT_TLSV1_2 "TLSv1.2"
-
-#define SSL_TXT_ALL "ALL"
-
-/* COMPLEMENTOF* definitions. These identifiers are used to (de-select) ciphers
- * normally not being used.
- *
- * Example: "RC4" will activate all ciphers using RC4 including ciphers without
- * authentication, which would normally disabled by DEFAULT (due the "!ADH"
- * being part of default). Therefore "RC4:!COMPLEMENTOFDEFAULT" will make sure
- * that it is also disabled in the specific selection. COMPLEMENTOF*
- * identifiers are portable between version, as adjustments to the default
- * cipher setup will also be included here.
- *
- * COMPLEMENTOFDEFAULT does not experience the same special treatment that
- * DEFAULT gets, as only selection is being done and no sorting as needed for
- * DEFAULT. */
-#define SSL_TXT_CMPDEF "COMPLEMENTOFDEFAULT"
-
-/* The following cipher list is used by default. It also is substituted when an
- * application-defined cipher list string starts with 'DEFAULT'. */
-#define SSL_DEFAULT_CIPHER_LIST "ALL"
-
-/* As of OpenSSL 1.0.0, ssl_create_cipher_list() in ssl/ssl_ciph.c always
- * starts with a reasonable order, and all we have to do for DEFAULT is
- * throwing out anonymous and unencrypted ciphersuites! (The latter are not
- * actually enabled by ALL, but "ALL:RSA" would enable some of them.) */
-
-/* Used in SSL_set_shutdown()/SSL_get_shutdown(); */
-#define SSL_SENT_SHUTDOWN 1
-#define SSL_RECEIVED_SHUTDOWN 2
-
-#define SSL_FILETYPE_ASN1 X509_FILETYPE_ASN1
-#define SSL_FILETYPE_PEM X509_FILETYPE_PEM
-
-typedef struct ssl_protocol_method_st SSL_PROTOCOL_METHOD;
-typedef struct ssl_session_st SSL_SESSION;
-typedef struct tls_sigalgs_st TLS_SIGALGS;
-typedef struct ssl_conf_ctx_st SSL_CONF_CTX;
-typedef struct ssl3_enc_method SSL3_ENC_METHOD;
-
-/* SRTP protection profiles for use with the use_srtp extension (RFC 5764). */
-typedef struct srtp_protection_profile_st {
-  const char *name;
-  unsigned long id;
-} SRTP_PROTECTION_PROFILE;
-
-DECLARE_STACK_OF(SRTP_PROTECTION_PROFILE)
-
-/* An SSL_SESSION represents an SSL session that may be resumed in an
- * abbreviated handshake. */
-struct ssl_session_st {
-  int ssl_version; /* what ssl version session info is being kept in here? */
-
-  int master_key_length;
-  uint8_t master_key[SSL_MAX_MASTER_KEY_LENGTH];
-  /* session_id - valid? */
-  unsigned int session_id_length;
-  uint8_t session_id[SSL_MAX_SSL_SESSION_ID_LENGTH];
-  /* this is used to determine whether the session is being reused in
-   * the appropriate context. It is up to the application to set this,
-   * via SSL_new */
-  unsigned int sid_ctx_length;
-  uint8_t sid_ctx[SSL_MAX_SID_CTX_LENGTH];
-
-  char *psk_identity;
-  /* Used to indicate that session resumption is not allowed. Applications can
-   * also set this bit for a new session via not_resumable_session_cb to
-   * disable session caching and tickets. */
-  int not_resumable;
-
-  /* The cert is the certificate used to establish this connection */
-  struct sess_cert_st /* SESS_CERT */ *sess_cert;
-
-  /* This is the cert for the other end. On clients, it will be the same as
-   * sess_cert->peer_key->x509 (the latter is not enough as sess_cert is not
-   * retained in the external representation of sessions, see ssl_asn1.c). */
-  X509 *peer;
-  /* when app_verify_callback accepts a session where the peer's certificate is
-   * not ok, we must remember the error for session reuse: */
-  long verify_result; /* only for servers */
-
-  CRYPTO_refcount_t references;
-  long timeout;
-  long time;
-
-  const SSL_CIPHER *cipher;
-
-  CRYPTO_EX_DATA ex_data; /* application specific data */
-
-  /* These are used to make removal of session-ids more efficient and to
-   * implement a maximum cache size. */
-  SSL_SESSION *prev, *next;
-  char *tlsext_hostname;
-  /* RFC4507 info */
-  uint8_t *tlsext_tick;               /* Session ticket */
-  size_t tlsext_ticklen;              /* Session ticket length */
-  uint32_t tlsext_tick_lifetime_hint; /* Session lifetime hint in seconds */
-
-  size_t tlsext_signed_cert_timestamp_list_length;
-  uint8_t *tlsext_signed_cert_timestamp_list; /* Server's list. */
-
-  /* The OCSP response that came with the session. */
-  size_t ocsp_response_length;
-  uint8_t *ocsp_response;
-
-  char peer_sha256_valid; /* Non-zero if peer_sha256 is valid */
-  uint8_t
-      peer_sha256[SHA256_DIGEST_LENGTH]; /* SHA256 of peer certificate */
-
-  /* original_handshake_hash contains the handshake hash (either SHA-1+MD5 or
-   * SHA-2, depending on TLS version) for the original, full handshake that
-   * created a session. This is used by Channel IDs during resumption. */
-  uint8_t original_handshake_hash[EVP_MAX_MD_SIZE];
-  unsigned int original_handshake_hash_len;
-
-  /* extended_master_secret is true if the master secret in this session was
-   * generated using EMS and thus isn't vulnerable to the Triple Handshake
-   * attack. */
-  char extended_master_secret;
-};
-
-
-/* Cert related flags */
-/* Many implementations ignore some aspects of the TLS standards such as
- * enforcing certifcate chain algorithms. When this is set we enforce them. */
-#define SSL_CERT_FLAG_TLS_STRICT 0x00000001L
-
-/* Flags for building certificate chains */
-/* Treat any existing certificates as untrusted CAs */
-#define SSL_BUILD_CHAIN_FLAG_UNTRUSTED 0x1
-/* Don't include root CA in chain */
-#define SSL_BUILD_CHAIN_FLAG_NO_ROOT 0x2
-/* Just check certificates already there */
-#define SSL_BUILD_CHAIN_FLAG_CHECK 0x4
-/* Ignore verification errors */
-#define SSL_BUILD_CHAIN_FLAG_IGNORE_ERROR 0x8
-/* Clear verification errors from queue */
-#define SSL_BUILD_CHAIN_FLAG_CLEAR_ERROR 0x10
-
-/* SSL_set_mtu sets the |ssl|'s MTU in DTLS to |mtu|. It returns one on success
- * and zero on failure. */
-OPENSSL_EXPORT int SSL_set_mtu(SSL *ssl, unsigned mtu);
-
-/* SSL_get_secure_renegotiation_support returns one if the peer supports secure
- * renegotiation (RFC 5746) and zero otherwise. */
-OPENSSL_EXPORT int SSL_get_secure_renegotiation_support(const SSL *ssl);
-
-/* SSL_CTX_set_msg_callback installs |cb| as the message callback for |ctx|.
- * This callback will be called when sending or receiving low-level record
- * headers, complete handshake messages, ChangeCipherSpec, and alerts.
- * |write_p| is one for outgoing messages and zero for incoming messages.
- *
- * For each record header, |cb| is called with |version| = 0 and |content_type|
- * = |SSL3_RT_HEADER|. The |len| bytes from |buf| contain the header. Note that
- * this does not include the record body. If the record is sealed, the length
- * in the header is the length of the ciphertext.
- *
- * For each handshake message, ChangeCipherSpec, and alert, |version| is the
- * protocol version and |content_type| is the corresponding record type. The
- * |len| bytes from |buf| contain the handshake message, one-byte
- * ChangeCipherSpec body, and two-byte alert, respectively. */
-OPENSSL_EXPORT void SSL_CTX_set_msg_callback(
-    SSL_CTX *ctx, void (*cb)(int write_p, int version, int content_type,
-                             const void *buf, size_t len, SSL *ssl, void *arg));
-
-/* SSL_CTX_set_msg_callback_arg sets the |arg| parameter of the message
- * callback. */
-OPENSSL_EXPORT void SSL_CTX_set_msg_callback_arg(SSL_CTX *ctx, void *arg);
-
-/* SSL_set_msg_callback installs |cb| as the message callback of |ssl|. See
- * |SSL_CTX_set_msg_callback| for when this callback is called. */
-OPENSSL_EXPORT void SSL_set_msg_callback(
-    SSL *ssl, void (*cb)(int write_p, int version, int content_type,
-                         const void *buf, size_t len, SSL *ssl, void *arg));
-
-/* SSL_set_msg_callback_arg sets the |arg| parameter of the message callback. */
-OPENSSL_EXPORT void SSL_set_msg_callback_arg(SSL *ssl, void *arg);
-
-/* SSL_CTX_set_keylog_bio sets configures all SSL objects attached to |ctx| to
- * log session material to |keylog_bio|. This is intended for debugging use
- * with tools like Wireshark. |ctx| takes ownership of |keylog_bio|.
- *
- * The format is described in
- * https://developer.mozilla.org/en-US/docs/Mozilla/Projects/NSS/Key_Log_Format. */
-OPENSSL_EXPORT void SSL_CTX_set_keylog_bio(SSL_CTX *ctx, BIO *keylog_bio);
-
-
-struct ssl_aead_ctx_st;
-typedef struct ssl_aead_ctx_st SSL_AEAD_CTX;
-
-#define SSL_MAX_CERT_LIST_DEFAULT 1024 * 100 /* 100k max cert list */
-
-#define SSL_SESSION_CACHE_MAX_SIZE_DEFAULT (1024 * 20)
-
-#define SSL_DEFAULT_SESSION_TIMEOUT (2 * 60 * 60)
-
-/* This callback type is used inside SSL_CTX, SSL, and in the functions that
- * set them. It is used to override the generation of SSL/TLS session IDs in a
- * server. Return value should be zero on an error, non-zero to proceed. Also,
- * callbacks should themselves check if the id they generate is unique
- * otherwise the SSL handshake will fail with an error - callbacks can do this
- * using the 'ssl' value they're passed by;
- *      SSL_has_matching_session_id(ssl, id, *id_len)
- * The length value passed in is set at the maximum size the session ID can be.
- * In SSLv2 this is 16 bytes, whereas SSLv3/TLSv1 it is 32 bytes. The callback
- * can alter this length to be less if desired, but under SSLv2 session IDs are
- * supposed to be fixed at 16 bytes so the id will be padded after the callback
- * returns in this case. It is also an error for the callback to set the size
- * to zero. */
-typedef int (*GEN_SESSION_CB)(const SSL *ssl, uint8_t *id,
-                              unsigned int *id_len);
-
-/* ssl_early_callback_ctx is passed to certain callbacks that are called very
- * early on during the server handshake. At this point, much of the SSL* hasn't
- * been filled out and only the ClientHello can be depended on. */
-struct ssl_early_callback_ctx {
-  SSL *ssl;
-  const uint8_t *client_hello;
-  size_t client_hello_len;
-  const uint8_t *session_id;
-  size_t session_id_len;
-  const uint8_t *cipher_suites;
-  size_t cipher_suites_len;
-  const uint8_t *compression_methods;
-  size_t compression_methods_len;
-  const uint8_t *extensions;
-  size_t extensions_len;
-};
-
-/* SSL_early_callback_ctx_extension_get searches the extensions in |ctx| for an
- * extension of the given type. If not found, it returns zero. Otherwise it
- * sets |out_data| to point to the extension contents (not including the type
- * and length bytes), sets |out_len| to the length of the extension contents
- * and returns one. */
-OPENSSL_EXPORT char SSL_early_callback_ctx_extension_get(
-    const struct ssl_early_callback_ctx *ctx, uint16_t extension_type,
-    const uint8_t **out_data, size_t *out_len);
-
-typedef struct ssl_comp_st SSL_COMP;
-
-struct ssl_comp_st {
-  int id;
-  const char *name;
-  char *method;
-};
-
-DECLARE_STACK_OF(SSL_COMP)
-DECLARE_LHASH_OF(SSL_SESSION)
-
-/* ssl_cipher_preference_list_st contains a list of SSL_CIPHERs with
- * equal-preference groups. For TLS clients, the groups are moot because the
- * server picks the cipher and groups cannot be expressed on the wire. However,
- * for servers, the equal-preference groups allow the client's preferences to
- * be partially respected. (This only has an effect with
- * SSL_OP_CIPHER_SERVER_PREFERENCE).
- *
- * The equal-preference groups are expressed by grouping SSL_CIPHERs together.
- * All elements of a group have the same priority: no ordering is expressed
- * within a group.
- *
- * The values in |ciphers| are in one-to-one correspondence with
- * |in_group_flags|. (That is, sk_SSL_CIPHER_num(ciphers) is the number of
- * bytes in |in_group_flags|.) The bytes in |in_group_flags| are either 1, to
- * indicate that the corresponding SSL_CIPHER is not the last element of a
- * group, or 0 to indicate that it is.
- *
- * For example, if |in_group_flags| contains all zeros then that indicates a
- * traditional, fully-ordered preference. Every SSL_CIPHER is the last element
- * of the group (i.e. they are all in a one-element group).
- *
- * For a more complex example, consider:
- *   ciphers:        A  B  C  D  E  F
- *   in_group_flags: 1  1  0  0  1  0
- *
- * That would express the following, order:
- *
- *    A         E
- *    B -> D -> F
- *    C
- */
-struct ssl_cipher_preference_list_st {
-  STACK_OF(SSL_CIPHER) *ciphers;
-  uint8_t *in_group_flags;
-};
-
-struct ssl_ctx_st {
-  const SSL_PROTOCOL_METHOD *method;
-
-  /* lock is used to protect various operations on this object. */
-  CRYPTO_MUTEX lock;
-
-  /* max_version is the maximum acceptable protocol version. If zero, the
-   * maximum supported version, currently (D)TLS 1.2, is used. */
-  uint16_t max_version;
-
-  /* min_version is the minimum acceptable protocl version. If zero, the
-   * minimum supported version, currently SSL 3.0 and DTLS 1.0, is used */
-  uint16_t min_version;
-
-  struct ssl_cipher_preference_list_st *cipher_list;
-  /* same as above but sorted for lookup */
-  STACK_OF(SSL_CIPHER) *cipher_list_by_id;
-  /* cipher_list_tls11 is the list of ciphers when TLS 1.1 or greater is in
-   * use. This only applies to server connections as, for clients, the version
-   * number is known at connect time and so the cipher list can be set then. */
-  struct ssl_cipher_preference_list_st *cipher_list_tls11;
-
-  X509_STORE *cert_store;
-  LHASH_OF(SSL_SESSION) *sessions;
-  /* Most session-ids that will be cached, default is
-   * SSL_SESSION_CACHE_MAX_SIZE_DEFAULT. 0 is unlimited. */
-  unsigned long session_cache_size;
-  SSL_SESSION *session_cache_head;
-  SSL_SESSION *session_cache_tail;
-
-  /* handshakes_since_cache_flush is the number of successful handshakes since
-   * the last cache flush. */
-  int handshakes_since_cache_flush;
-
-  /* This can have one of 2 values, ored together,
-   * SSL_SESS_CACHE_CLIENT,
-   * SSL_SESS_CACHE_SERVER,
-   * Default is SSL_SESSION_CACHE_SERVER, which means only
-   * SSL_accept which cache SSL_SESSIONS. */
-  int session_cache_mode;
-
-  /* If timeout is not 0, it is the default timeout value set when SSL_new() is
-   * called.  This has been put in to make life easier to set things up */
-  long session_timeout;
-
-  /* If this callback is not null, it will be called each time a session id is
-   * added to the cache.  If this function returns 1, it means that the
-   * callback will do a SSL_SESSION_free() when it has finished using it.
-   * Otherwise, on 0, it means the callback has finished with it. If
-   * remove_session_cb is not null, it will be called when a session-id is
-   * removed from the cache.  After the call, OpenSSL will SSL_SESSION_free()
-   * it. */
-  int (*new_session_cb)(SSL *ssl, SSL_SESSION *sess);
-  void (*remove_session_cb)(SSL_CTX *ctx, SSL_SESSION *sess);
-  SSL_SESSION *(*get_session_cb)(SSL *ssl, uint8_t *data, int len,
-                                 int *copy);
-
-  CRYPTO_refcount_t references;
-
-  /* if defined, these override the X509_verify_cert() calls */
-  int (*app_verify_callback)(X509_STORE_CTX *, void *);
-  void *app_verify_arg;
-  /* before OpenSSL 0.9.7, 'app_verify_arg' was ignored ('app_verify_callback'
-   * was called with just one argument) */
-
-  /* Default password callback. */
-  pem_password_cb *default_passwd_callback;
-
-  /* Default password callback user data. */
-  void *default_passwd_callback_userdata;
-
-  /* get client cert callback */
-  int (*client_cert_cb)(SSL *ssl, X509 **x509, EVP_PKEY **pkey);
-
-  /* get channel id callback */
-  void (*channel_id_cb)(SSL *ssl, EVP_PKEY **pkey);
-
-  CRYPTO_EX_DATA ex_data;
-
-  STACK_OF(X509) *extra_certs;
-
-
-  /* Default values used when no per-SSL value is defined follow */
-
-  void (*info_callback)(const SSL *ssl, int type,
-                        int val); /* used if SSL's info_callback is NULL */
-
-  /* what we put in client cert requests */
-  STACK_OF(X509_NAME) *client_CA;
-
-
-  /* Default values to use in SSL structures follow (these are copied by
-   * SSL_new) */
-
-  uint32_t options;
-  uint32_t mode;
-  uint32_t max_cert_list;
-
-  struct cert_st /* CERT */ *cert;
-
-  /* callback that allows applications to peek at protocol messages */
-  void (*msg_callback)(int write_p, int version, int content_type,
-                       const void *buf, size_t len, SSL *ssl, void *arg);
-  void *msg_callback_arg;
-
-  int verify_mode;
-  unsigned int sid_ctx_length;
-  uint8_t sid_ctx[SSL_MAX_SID_CTX_LENGTH];
-  int (*default_verify_callback)(
-      int ok, X509_STORE_CTX *ctx); /* called 'verify_callback' in the SSL */
-
-  /* Default generate session ID callback. */
-  GEN_SESSION_CB generate_session_id;
-
-  X509_VERIFY_PARAM *param;
-
-  /* select_certificate_cb is called before most ClientHello processing and
-   * before the decision whether to resume a session is made. It may return one
-   * to continue the handshake or zero to cause the handshake loop to return
-   * with an error and cause SSL_get_error to return
-   * SSL_ERROR_PENDING_CERTIFICATE. Note: when the handshake loop is resumed, it
-   * will not call the callback a second time. */
-  int (*select_certificate_cb)(const struct ssl_early_callback_ctx *);
-
-  /* dos_protection_cb is called once the resumption decision for a ClientHello
-   * has been made. It returns one to continue the handshake or zero to
-   * abort. */
-  int (*dos_protection_cb) (const struct ssl_early_callback_ctx *);
-
-  /* quiet_shutdown is true if the connection should not send a close_notify on
-   * shutdown. */
-  int quiet_shutdown;
-
-  /* Maximum amount of data to send in one fragment. actual record size can be
-   * more than this due to padding and MAC overheads. */
-  uint16_t max_send_fragment;
-
-  /* TLS extensions servername callback */
-  int (*tlsext_servername_callback)(SSL *, int *, void *);
-  void *tlsext_servername_arg;
-  /* RFC 4507 session ticket keys */
-  uint8_t tlsext_tick_key_name[16];
-  uint8_t tlsext_tick_hmac_key[16];
-  uint8_t tlsext_tick_aes_key[16];
-  /* Callback to support customisation of ticket key setting */
-  int (*tlsext_ticket_key_cb)(SSL *ssl, uint8_t *name, uint8_t *iv,
-                              EVP_CIPHER_CTX *ectx, HMAC_CTX *hctx, int enc);
-
-  /* Server-only: psk_identity_hint is the default identity hint to send in
-   * PSK-based key exchanges. */
-  char *psk_identity_hint;
-
-  unsigned int (*psk_client_callback)(SSL *ssl, const char *hint,
-                                      char *identity,
-                                      unsigned int max_identity_len,
-                                      uint8_t *psk, unsigned int max_psk_len);
-  unsigned int (*psk_server_callback)(SSL *ssl, const char *identity,
-                                      uint8_t *psk, unsigned int max_psk_len);
-
-
-  /* retain_only_sha256_of_client_certs is true if we should compute the SHA256
-   * hash of the peer's certifiate and then discard it to save memory and
-   * session space. Only effective on the server side. */
-  char retain_only_sha256_of_client_certs;
-
-  /* Next protocol negotiation information */
-  /* (for experimental NPN extension). */
-
-  /* For a server, this contains a callback function by which the set of
-   * advertised protocols can be provided. */
-  int (*next_protos_advertised_cb)(SSL *s, const uint8_t **buf,
-                                   unsigned int *len, void *arg);
-  void *next_protos_advertised_cb_arg;
-  /* For a client, this contains a callback function that selects the
-   * next protocol from the list provided by the server. */
-  int (*next_proto_select_cb)(SSL *s, uint8_t **out, uint8_t *outlen,
-                              const uint8_t *in, unsigned int inlen, void *arg);
-  void *next_proto_select_cb_arg;
-
-  /* ALPN information
-   * (we are in the process of transitioning from NPN to ALPN.) */
-
-  /* For a server, this contains a callback function that allows the
-   * server to select the protocol for the connection.
-   *   out: on successful return, this must point to the raw protocol
-   *        name (without the length prefix).
-   *   outlen: on successful return, this contains the length of |*out|.
-   *   in: points to the client's list of supported protocols in
-   *       wire-format.
-   *   inlen: the length of |in|. */
-  int (*alpn_select_cb)(SSL *s, const uint8_t **out, uint8_t *outlen,
-                        const uint8_t *in, unsigned int inlen, void *arg);
-  void *alpn_select_cb_arg;
-
-  /* For a client, this contains the list of supported protocols in wire
-   * format. */
-  uint8_t *alpn_client_proto_list;
-  unsigned alpn_client_proto_list_len;
-
-  /* SRTP profiles we are willing to do from RFC 5764 */
-  STACK_OF(SRTP_PROTECTION_PROFILE) *srtp_profiles;
-
-  /* EC extension values inherited by SSL structure */
-  size_t tlsext_ecpointformatlist_length;
-  uint8_t *tlsext_ecpointformatlist;
-  size_t tlsext_ellipticcurvelist_length;
-  uint16_t *tlsext_ellipticcurvelist;
-
-  /* If true, a client will advertise the Channel ID extension and a server
-   * will echo it. */
-  char tlsext_channel_id_enabled;
-  /* tlsext_channel_id_enabled_new is a hack to support both old and new
-   * ChannelID signatures. It indicates that a client should advertise the new
-   * ChannelID extension number. */
-  char tlsext_channel_id_enabled_new;
-  /* The client's Channel ID private key. */
-  EVP_PKEY *tlsext_channel_id_private;
-
-  /* If true, a client will request certificate timestamps. */
-  char signed_cert_timestamps_enabled;
-
-  /* If true, a client will request a stapled OCSP response. */
-  char ocsp_stapling_enabled;
-
-  /* If not NULL, session key material will be logged to this BIO for debugging
-   * purposes. The format matches NSS's and is readable by Wireshark. */
-  BIO *keylog_bio;
-
-  /* current_time_cb, if not NULL, is the function to use to get the current
-   * time. It sets |*out_clock| to the current time. */
-  void (*current_time_cb)(const SSL *ssl, struct timeval *out_clock);
-};
-
-OPENSSL_EXPORT LHASH_OF(SSL_SESSION) *SSL_CTX_sessions(SSL_CTX *ctx);
-
-/* SSL_CTX_sess_number returns the number of sessions in |ctx|'s internal
- * session cache. */
-OPENSSL_EXPORT size_t SSL_CTX_sess_number(const SSL_CTX *ctx);
-
-OPENSSL_EXPORT void SSL_CTX_sess_set_new_cb(
-    SSL_CTX *ctx, int (*new_session_cb)(SSL *ssl, SSL_SESSION *sess));
-OPENSSL_EXPORT int (*SSL_CTX_sess_get_new_cb(SSL_CTX *ctx))(SSL *ssl,
-                                                            SSL_SESSION *sess);
-OPENSSL_EXPORT void SSL_CTX_sess_set_remove_cb(
-    SSL_CTX *ctx,
-    void (*remove_session_cb)(SSL_CTX *ctx, SSL_SESSION *sess));
-OPENSSL_EXPORT void (*SSL_CTX_sess_get_remove_cb(SSL_CTX *ctx))(
-    SSL_CTX *ctx, SSL_SESSION *sess);
-OPENSSL_EXPORT void SSL_CTX_sess_set_get_cb(
-    SSL_CTX *ctx,
-    SSL_SESSION *(*get_session_cb)(SSL *ssl, uint8_t *data, int len,
-                                   int *copy));
-OPENSSL_EXPORT SSL_SESSION *(*SSL_CTX_sess_get_get_cb(SSL_CTX *ctx))(
-    SSL *ssl, uint8_t *data, int len, int *copy);
-/* SSL_magic_pending_session_ptr returns a magic SSL_SESSION* which indicates
- * that the session isn't currently unavailable. SSL_get_error will then return
- * SSL_ERROR_PENDING_SESSION and the handshake can be retried later when the
- * lookup has completed. */
-OPENSSL_EXPORT SSL_SESSION *SSL_magic_pending_session_ptr(void);
-OPENSSL_EXPORT void SSL_CTX_set_info_callback(SSL_CTX *ctx,
-                                              void (*cb)(const SSL *ssl,
-                                                         int type, int val));
-OPENSSL_EXPORT void (*SSL_CTX_get_info_callback(SSL_CTX *ctx))(const SSL *ssl,
-                                                               int type,
-                                                               int val);
-OPENSSL_EXPORT void SSL_CTX_set_client_cert_cb(
-    SSL_CTX *ctx,
-    int (*client_cert_cb)(SSL *ssl, X509 **x509, EVP_PKEY **pkey));
-OPENSSL_EXPORT int (*SSL_CTX_get_client_cert_cb(SSL_CTX *ctx))(SSL *ssl,
-                                                               X509 **x509,
-                                                               EVP_PKEY **pkey);
-OPENSSL_EXPORT void SSL_CTX_set_channel_id_cb(
-    SSL_CTX *ctx, void (*channel_id_cb)(SSL *ssl, EVP_PKEY **pkey));
-OPENSSL_EXPORT void (*SSL_CTX_get_channel_id_cb(SSL_CTX *ctx))(SSL *ssl,
-                                                               EVP_PKEY **pkey);
-
-/* SSL_enable_signed_cert_timestamps causes |ssl| (which must be the client end
- * of a connection) to request SCTs from the server. See
- * https://tools.ietf.org/html/rfc6962. It returns one. */
-OPENSSL_EXPORT int SSL_enable_signed_cert_timestamps(SSL *ssl);
-
-/* SSL_CTX_enable_signed_cert_timestamps enables SCT requests on all client SSL
- * objects created from |ctx|. */
-OPENSSL_EXPORT void SSL_CTX_enable_signed_cert_timestamps(SSL_CTX *ctx);
-
-/* SSL_enable_ocsp_stapling causes |ssl| (which must be the client end of a
- * connection) to request a stapled OCSP response from the server. It returns
- * one. */
-OPENSSL_EXPORT int SSL_enable_ocsp_stapling(SSL *ssl);
-
-/* SSL_CTX_enable_ocsp_stapling enables OCSP stapling on all client SSL objects
- * created from |ctx|. */
-OPENSSL_EXPORT void SSL_CTX_enable_ocsp_stapling(SSL_CTX *ctx);
-
-/* SSL_get0_signed_cert_timestamp_list sets |*out| and |*out_len| to point to
- * |*out_len| bytes of SCT information from the server. This is only valid if
- * |ssl| is a client. The SCT information is a SignedCertificateTimestampList
- * (including the two leading length bytes).
- * See https://tools.ietf.org/html/rfc6962#section-3.3
- * If no SCT was received then |*out_len| will be zero on return.
- *
- * WARNING: the returned data is not guaranteed to be well formed. */
-OPENSSL_EXPORT void SSL_get0_signed_cert_timestamp_list(const SSL *ssl,
-                                                        const uint8_t **out,
-                                                        size_t *out_len);
-
-/* SSL_get0_ocsp_response sets |*out| and |*out_len| to point to |*out_len|
- * bytes of an OCSP response from the server. This is the DER encoding of an
- * OCSPResponse type as defined in RFC 2560.
- *
- * WARNING: the returned data is not guaranteed to be well formed. */
-OPENSSL_EXPORT void SSL_get0_ocsp_response(const SSL *ssl, const uint8_t **out,
-                                           size_t *out_len);
-
-OPENSSL_EXPORT void SSL_CTX_set_next_protos_advertised_cb(
-    SSL_CTX *s,
-    int (*cb)(SSL *ssl, const uint8_t **out, unsigned int *outlen, void *arg),
-    void *arg);
-OPENSSL_EXPORT void SSL_CTX_set_next_proto_select_cb(
-    SSL_CTX *s, int (*cb)(SSL *ssl, uint8_t **out, uint8_t *outlen,
-                          const uint8_t *in, unsigned int inlen, void *arg),
-    void *arg);
-OPENSSL_EXPORT void SSL_get0_next_proto_negotiated(const SSL *s,
-                                                   const uint8_t **data,
-                                                   unsigned *len);
-
-OPENSSL_EXPORT int SSL_select_next_proto(uint8_t **out, uint8_t *outlen,
-                                         const uint8_t *in, unsigned int inlen,
-                                         const uint8_t *client,
-                                         unsigned int client_len);
-
-#define OPENSSL_NPN_UNSUPPORTED 0
-#define OPENSSL_NPN_NEGOTIATED 1
-#define OPENSSL_NPN_NO_OVERLAP 2
-
-/* SSL_CTX_set_alpn_protos sets the ALPN protocol list on |ctx| to |protos|.
- * |protos| must be in wire-format (i.e. a series of non-empty, 8-bit
- * length-prefixed strings). It returns zero on success and one on failure.
- *
- * WARNING: this function is dangerous because it breaks the usual return value
- * convention. */
-OPENSSL_EXPORT int SSL_CTX_set_alpn_protos(SSL_CTX *ctx, const uint8_t *protos,
-                                           unsigned protos_len);
-
-/* SSL_set_alpn_protos sets the ALPN protocol list on |ssl| to |protos|.
- * |protos| must be in wire-format (i.e. a series of non-empty, 8-bit
- * length-prefixed strings). It returns zero on success and one on failure.
- *
- * WARNING: this function is dangerous because it breaks the usual return value
- * convention. */
-OPENSSL_EXPORT int SSL_set_alpn_protos(SSL *ssl, const uint8_t *protos,
-                                       unsigned protos_len);
-
-OPENSSL_EXPORT void SSL_CTX_set_alpn_select_cb(
-    SSL_CTX *ctx, int (*cb)(SSL *ssl, const uint8_t **out, uint8_t *outlen,
-                            const uint8_t *in, unsigned int inlen, void *arg),
-    void *arg);
-OPENSSL_EXPORT void SSL_get0_alpn_selected(const SSL *ssl, const uint8_t **data,
-                                           unsigned *len);
-
-/* SSL_enable_fastradio_padding controls whether fastradio padding is enabled
- * on |ssl|. If it is, ClientHello messages are padded to 1024 bytes. This
- * causes 3G radios to switch to DCH mode (high data rate). */
-OPENSSL_EXPORT void SSL_enable_fastradio_padding(SSL *ssl, char on_off);
-
-/* SSL_set_reject_peer_renegotiations controls whether renegotiation attempts by
- * the peer are rejected. It may be set at any point in a connection's lifetime
- * to control future renegotiations programmatically. By default, renegotiations
- * are rejected. (Renegotiations requested by a client are always rejected.) */
-OPENSSL_EXPORT void SSL_set_reject_peer_renegotiations(SSL *ssl, int reject);
-
-/* the maximum length of the buffer given to callbacks containing the resulting
- * identity/psk */
-#define PSK_MAX_IDENTITY_LEN 128
-#define PSK_MAX_PSK_LEN 256
-OPENSSL_EXPORT void SSL_CTX_set_psk_client_callback(
-    SSL_CTX *ctx,
-    unsigned int (*psk_client_callback)(
-        SSL *ssl, const char *hint, char *identity,
-        unsigned int max_identity_len, uint8_t *psk, unsigned int max_psk_len));
-OPENSSL_EXPORT void SSL_set_psk_client_callback(
-    SSL *ssl, unsigned int (*psk_client_callback)(SSL *ssl, const char *hint,
-                                                  char *identity,
-                                                  unsigned int max_identity_len,
-                                                  uint8_t *psk,
-                                                  unsigned int max_psk_len));
-OPENSSL_EXPORT void SSL_CTX_set_psk_server_callback(
-    SSL_CTX *ctx,
-    unsigned int (*psk_server_callback)(SSL *ssl, const char *identity,
-                                        uint8_t *psk,
-                                        unsigned int max_psk_len));
-OPENSSL_EXPORT void SSL_set_psk_server_callback(
-    SSL *ssl,
-    unsigned int (*psk_server_callback)(SSL *ssl, const char *identity,
-                                        uint8_t *psk,
-                                        unsigned int max_psk_len));
-OPENSSL_EXPORT int SSL_CTX_use_psk_identity_hint(SSL_CTX *ctx,
-                                                 const char *identity_hint);
-OPENSSL_EXPORT int SSL_use_psk_identity_hint(SSL *s, const char *identity_hint);
-OPENSSL_EXPORT const char *SSL_get_psk_identity_hint(const SSL *s);
-OPENSSL_EXPORT const char *SSL_get_psk_identity(const SSL *s);
-
-#define SSL_NOTHING 1
-#define SSL_WRITING 2
-#define SSL_READING 3
-#define SSL_X509_LOOKUP 4
-#define SSL_CHANNEL_ID_LOOKUP 5
-#define SSL_PENDING_SESSION 7
-#define SSL_CERTIFICATE_SELECTION_PENDING 8
-
-/* These will only be used when doing non-blocking IO */
-#define SSL_want_nothing(s) (SSL_want(s) == SSL_NOTHING)
-#define SSL_want_read(s) (SSL_want(s) == SSL_READING)
-#define SSL_want_write(s) (SSL_want(s) == SSL_WRITING)
-#define SSL_want_x509_lookup(s) (SSL_want(s) == SSL_X509_LOOKUP)
-#define SSL_want_channel_id_lookup(s) (SSL_want(s) == SSL_CHANNEL_ID_LOOKUP)
-#define SSL_want_session(s) (SSL_want(s) == SSL_PENDING_SESSION)
-#define SSL_want_certificate(s) \
-  (SSL_want(s) == SSL_CERTIFICATE_SELECTION_PENDING)
-
-struct ssl_st {
-  /* version is the protocol version. */
-  int version;
-
-  /* method is the method table corresponding to the current protocol (DTLS or
-   * TLS). */
-  const SSL_PROTOCOL_METHOD *method;
-
-  /* enc_method is the method table corresponding to the current protocol
-   * version. */
-  const SSL3_ENC_METHOD *enc_method;
-
-  /* max_version is the maximum acceptable protocol version. If zero, the
-   * maximum supported version, currently (D)TLS 1.2, is used. */
-  uint16_t max_version;
-
-  /* min_version is the minimum acceptable protocl version. If zero, the
-   * minimum supported version, currently SSL 3.0 and DTLS 1.0, is used */
-  uint16_t min_version;
-
-  /* There are 2 BIO's even though they are normally both the same. This is so
-   * data can be read and written to different handlers */
-
-  BIO *rbio; /* used by SSL_read */
-  BIO *wbio; /* used by SSL_write */
-  BIO *bbio; /* used during session-id reuse to concatenate
-              * messages */
-
-  /* This holds a variable that indicates what we were doing when a 0 or -1 is
-   * returned.  This is needed for non-blocking IO so we know what request
-   * needs re-doing when in SSL_accept or SSL_connect */
-  int rwstate;
-
-  /* true when we are actually in SSL_accept() or SSL_connect() */
-  int in_handshake;
-  int (*handshake_func)(SSL *);
-
-  /* Imagine that here's a boolean member "init" that is switched as soon as
-   * SSL_set_{accept/connect}_state is called for the first time, so that
-   * "state" and "handshake_func" are properly initialized.  But as
-   * handshake_func is == 0 until then, we use this test instead of an "init"
-   * member. */
-
-  /* server is true iff the this SSL* is the server half. Note: before the SSL*
-   * is initialized by either SSL_set_accept_state or SSL_set_connect_state,
-   * the side is not determined. In this state, server is always false. */
-  int server;
-
-  /* quiet_shutdown is true if the connection should not send a close_notify on
-   * shutdown. */
-  int quiet_shutdown;
-
-  int shutdown; /* we have shut things down, 0x01 sent, 0x02
-                 * for received */
-  int state;    /* where we are */
-  int rstate;   /* where we are when reading */
-
-  BUF_MEM *init_buf; /* buffer used during init */
-  uint8_t *init_msg; /* pointer to handshake message body, set by
-                        ssl3_get_message() */
-  int init_num;      /* amount read/written */
-  int init_off;      /* amount read/written */
-
-  /* used internally to point at a raw packet */
-  uint8_t *packet;
-  unsigned int packet_length;
-
-  struct ssl3_state_st *s3;  /* SSLv3 variables */
-  struct dtls1_state_st *d1; /* DTLSv1 variables */
-
-  /* callback that allows applications to peek at protocol messages */
-  void (*msg_callback)(int write_p, int version, int content_type,
-                       const void *buf, size_t len, SSL *ssl, void *arg);
-  void *msg_callback_arg;
-
-  int hit; /* reusing a previous session */
-
-  X509_VERIFY_PARAM *param;
-
-  /* crypto */
-  struct ssl_cipher_preference_list_st *cipher_list;
-  STACK_OF(SSL_CIPHER) *cipher_list_by_id;
-
-  SSL_AEAD_CTX *aead_read_ctx;
-  SSL_AEAD_CTX *aead_write_ctx;
-
-  /* session info */
-
-  /* client cert? */
-  /* This is used to hold the server certificate used */
-  struct cert_st /* CERT */ *cert;
-
-  /* the session_id_context is used to ensure sessions are only reused
-   * in the appropriate context */
-  unsigned int sid_ctx_length;
-  uint8_t sid_ctx[SSL_MAX_SID_CTX_LENGTH];
-
-  /* This can also be in the session once a session is established */
-  SSL_SESSION *session;
-
-  /* Default generate session ID callback. */
-  GEN_SESSION_CB generate_session_id;
-
-  /* Used in SSL2 and SSL3 */
-  int verify_mode; /* 0 don't care about verify failure.
-                    * 1 fail if verify fails */
-  int (*verify_callback)(int ok,
-                         X509_STORE_CTX *ctx); /* fail if callback returns 0 */
-
-  void (*info_callback)(const SSL *ssl, int type,
-                        int val); /* optional informational callback */
-
-  /* Server-only: psk_identity_hint is the identity hint to send in
-   * PSK-based key exchanges. */
-  char *psk_identity_hint;
-
-  unsigned int (*psk_client_callback)(SSL *ssl, const char *hint,
-                                      char *identity,
-                                      unsigned int max_identity_len,
-                                      uint8_t *psk, unsigned int max_psk_len);
-  unsigned int (*psk_server_callback)(SSL *ssl, const char *identity,
-                                      uint8_t *psk, unsigned int max_psk_len);
-
-  SSL_CTX *ctx;
-
-  /* extra application data */
-  long verify_result;
-  CRYPTO_EX_DATA ex_data;
-
-  /* for server side, keep the list of CA_dn we can use */
-  STACK_OF(X509_NAME) *client_CA;
-
-  uint32_t options; /* protocol behaviour */
-  uint32_t mode;    /* API behaviour */
-  uint32_t max_cert_list;
-  int client_version; /* what was passed, used for
-                       * SSLv3/TLS rollback check */
-  uint16_t max_send_fragment;
-  char *tlsext_hostname;
-  /* should_ack_sni is true if the SNI extension should be acked. This is
-   * only used by a server. */
-  char should_ack_sni;
-  /* RFC4507 session ticket expected to be received or sent */
-  int tlsext_ticket_expected;
-  size_t tlsext_ecpointformatlist_length;
-  uint8_t *tlsext_ecpointformatlist; /* our list */
-  size_t tlsext_ellipticcurvelist_length;
-  uint16_t *tlsext_ellipticcurvelist; /* our list */
-
-  SSL_CTX *initial_ctx; /* initial ctx, used to store sessions */
-
-  /* Next protocol negotiation. For the client, this is the protocol that we
-   * sent in NextProtocol and is set when handling ServerHello extensions.
-   *
-   * For a server, this is the client's selected_protocol from NextProtocol and
-   * is set when handling the NextProtocol message, before the Finished
-   * message. */
-  uint8_t *next_proto_negotiated;
-  size_t next_proto_negotiated_len;
-
-  /* srtp_profiles is the list of configured SRTP protection profiles for
-   * DTLS-SRTP. */
-  STACK_OF(SRTP_PROTECTION_PROFILE) *srtp_profiles;
-
-  /* srtp_profile is the selected SRTP protection profile for
-   * DTLS-SRTP. */
-  const SRTP_PROTECTION_PROFILE *srtp_profile;
-
-  /* Copied from the SSL_CTX. For a server, means that we'll accept Channel IDs
-   * from clients. For a client, means that we'll advertise support. */
-  char tlsext_channel_id_enabled;
-  /* The client's Channel ID private key. */
-  EVP_PKEY *tlsext_channel_id_private;
-
-  /* Enable signed certificate time stamps. Currently client only. */
-  char signed_cert_timestamps_enabled;
-
-  /* Enable OCSP stapling. Currently client only.
-   * TODO(davidben): Add a server-side implementation when it becomes
-   * necesary. */
-  char ocsp_stapling_enabled;
-
-  /* For a client, this contains the list of supported protocols in wire
-   * format. */
-  uint8_t *alpn_client_proto_list;
-  unsigned alpn_client_proto_list_len;
-
-  /* fastradio_padding, if true, causes ClientHellos to be padded to 1024
-   * bytes. This ensures that the cellular radio is fast forwarded to DCH (high
-   * data rate) state in 3G networks. */
-  char fastradio_padding;
-
-  /* accept_peer_renegotiations, if one, accepts renegotiation attempts from the
-   * peer. Otherwise, they will be rejected with a fatal error. */
-  char accept_peer_renegotiations;
-
-  /* These fields are always NULL and exist only to keep wpa_supplicant happy
-   * about the change to EVP_AEAD. They are only needed for EAP-FAST, which we
-   * don't support. */
-  EVP_CIPHER_CTX *enc_read_ctx;
-  EVP_MD_CTX *read_hash;
-};
-
-/* compatibility */
-#define SSL_set_app_data(s, arg) (SSL_set_ex_data(s, 0, (char *)arg))
-#define SSL_get_app_data(s) (SSL_get_ex_data(s, 0))
-#define SSL_SESSION_set_app_data(s, a) \
-  (SSL_SESSION_set_ex_data(s, 0, (char *)a))
-#define SSL_SESSION_get_app_data(s) (SSL_SESSION_get_ex_data(s, 0))
-#define SSL_CTX_get_app_data(ctx) (SSL_CTX_get_ex_data(ctx, 0))
-#define SSL_CTX_set_app_data(ctx, arg) \
-  (SSL_CTX_set_ex_data(ctx, 0, (char *)arg))
-
-/* The following are the possible values for ssl->state are are used to
- * indicate where we are up to in the SSL connection establishment. The macros
- * that follow are about the only things you should need to use and even then,
- * only when using non-blocking IO. It can also be useful to work out where you
- * were when the connection failed */
-
-#define SSL_ST_CONNECT 0x1000
-#define SSL_ST_ACCEPT 0x2000
-#define SSL_ST_MASK 0x0FFF
-#define SSL_ST_INIT (SSL_ST_CONNECT | SSL_ST_ACCEPT)
-#define SSL_ST_OK 0x03
-#define SSL_ST_RENEGOTIATE (0x04 | SSL_ST_INIT)
-
-#define SSL_CB_LOOP 0x01
-#define SSL_CB_EXIT 0x02
-#define SSL_CB_READ 0x04
-#define SSL_CB_WRITE 0x08
-#define SSL_CB_ALERT 0x4000 /* used in callback */
-#define SSL_CB_READ_ALERT (SSL_CB_ALERT | SSL_CB_READ)
-#define SSL_CB_WRITE_ALERT (SSL_CB_ALERT | SSL_CB_WRITE)
-#define SSL_CB_ACCEPT_LOOP (SSL_ST_ACCEPT | SSL_CB_LOOP)
-#define SSL_CB_ACCEPT_EXIT (SSL_ST_ACCEPT | SSL_CB_EXIT)
-#define SSL_CB_CONNECT_LOOP (SSL_ST_CONNECT | SSL_CB_LOOP)
-#define SSL_CB_CONNECT_EXIT (SSL_ST_CONNECT | SSL_CB_EXIT)
-#define SSL_CB_HANDSHAKE_START 0x10
-#define SSL_CB_HANDSHAKE_DONE 0x20
-
-/* Is the SSL_connection established? */
-#define SSL_get_state(a) SSL_state(a)
-#define SSL_is_init_finished(a) (SSL_state(a) == SSL_ST_OK)
-#define SSL_in_init(a) (SSL_state(a) & SSL_ST_INIT)
-#define SSL_in_connect_init(a) (SSL_state(a) & SSL_ST_CONNECT)
-#define SSL_in_accept_init(a) (SSL_state(a) & SSL_ST_ACCEPT)
-
-/* SSL_in_false_start returns one if |s| has a pending unfinished handshake that
- * is in False Start. |SSL_write| may be called at this point without waiting
- * for the peer, but |SSL_read| will require the handshake to be completed. */
-OPENSSL_EXPORT int SSL_in_false_start(const SSL *s);
-
-/* The following 2 states are kept in ssl->rstate when reads fail,
- * you should not need these */
-#define SSL_ST_READ_HEADER 0xF0
-#define SSL_ST_READ_BODY 0xF1
-#define SSL_ST_READ_DONE 0xF2
-
-/* Obtain latest Finished message
- *   -- that we sent (SSL_get_finished)
- *   -- that we expected from peer (SSL_get_peer_finished).
- * Returns length (0 == no Finished so far), copies up to 'count' bytes. */
-OPENSSL_EXPORT size_t SSL_get_finished(const SSL *s, void *buf, size_t count);
-OPENSSL_EXPORT size_t SSL_get_peer_finished(const SSL *s, void *buf, size_t count);
-
-/* use either SSL_VERIFY_NONE or SSL_VERIFY_PEER, the last 3 options
- * are 'ored' with SSL_VERIFY_PEER if they are desired */
-#define SSL_VERIFY_NONE 0x00
-#define SSL_VERIFY_PEER 0x01
-#define SSL_VERIFY_FAIL_IF_NO_PEER_CERT 0x02
-/* SSL_VERIFY_CLIENT_ONCE does nothing. */
-#define SSL_VERIFY_CLIENT_ONCE 0x04
-#define SSL_VERIFY_PEER_IF_NO_OBC 0x08
-
-#define OpenSSL_add_ssl_algorithms() SSL_library_init()
-#define SSLeay_add_ssl_algorithms() SSL_library_init()
-
-/* For backward compatibility */
-#define SSL_get_cipher(s) SSL_CIPHER_get_name(SSL_get_current_cipher(s))
-#define SSL_get_cipher_bits(s, np) \
-  SSL_CIPHER_get_bits(SSL_get_current_cipher(s), np)
-#define SSL_get_cipher_version(s) \
-  SSL_CIPHER_get_version(SSL_get_current_cipher(s))
-#define SSL_get_cipher_name(s) SSL_CIPHER_get_name(SSL_get_current_cipher(s))
-#define SSL_get_time(a) SSL_SESSION_get_time(a)
-#define SSL_set_time(a, b) SSL_SESSION_set_time((a), (b))
-#define SSL_get_timeout(a) SSL_SESSION_get_timeout(a)
-#define SSL_set_timeout(a, b) SSL_SESSION_set_timeout((a), (b))
-
-#define d2i_SSL_SESSION_bio(bp, s_id) \
-  ASN1_d2i_bio_of(SSL_SESSION, SSL_SESSION_new, d2i_SSL_SESSION, bp, s_id)
-#define i2d_SSL_SESSION_bio(bp, s_id) \
-  ASN1_i2d_bio_of(SSL_SESSION, i2d_SSL_SESSION, bp, s_id)
-
-DECLARE_PEM_rw(SSL_SESSION, SSL_SESSION)
-
-/* make_errors.go reserves error codes above 1000 for manually-assigned errors.
- * This value must be kept in sync with reservedReasonCode in make_errors.h */
-#define SSL_AD_REASON_OFFSET \
-  1000 /* offset to get SSL_R_... value from SSL_AD_... */
-
-/* These alert types are for SSLv3 and TLSv1 */
-#define SSL_AD_CLOSE_NOTIFY SSL3_AD_CLOSE_NOTIFY
-#define SSL_AD_UNEXPECTED_MESSAGE SSL3_AD_UNEXPECTED_MESSAGE /* fatal */
-#define SSL_AD_BAD_RECORD_MAC SSL3_AD_BAD_RECORD_MAC         /* fatal */
-#define SSL_AD_DECRYPTION_FAILED TLS1_AD_DECRYPTION_FAILED
-#define SSL_AD_RECORD_OVERFLOW TLS1_AD_RECORD_OVERFLOW
-#define SSL_AD_DECOMPRESSION_FAILURE SSL3_AD_DECOMPRESSION_FAILURE /* fatal */
-#define SSL_AD_HANDSHAKE_FAILURE SSL3_AD_HANDSHAKE_FAILURE         /* fatal */
-#define SSL_AD_NO_CERTIFICATE SSL3_AD_NO_CERTIFICATE /* Not for TLS */
-#define SSL_AD_BAD_CERTIFICATE SSL3_AD_BAD_CERTIFICATE
-#define SSL_AD_UNSUPPORTED_CERTIFICATE SSL3_AD_UNSUPPORTED_CERTIFICATE
-#define SSL_AD_CERTIFICATE_REVOKED SSL3_AD_CERTIFICATE_REVOKED
-#define SSL_AD_CERTIFICATE_EXPIRED SSL3_AD_CERTIFICATE_EXPIRED
-#define SSL_AD_CERTIFICATE_UNKNOWN SSL3_AD_CERTIFICATE_UNKNOWN
-#define SSL_AD_ILLEGAL_PARAMETER SSL3_AD_ILLEGAL_PARAMETER /* fatal */
-#define SSL_AD_UNKNOWN_CA TLS1_AD_UNKNOWN_CA               /* fatal */
-#define SSL_AD_ACCESS_DENIED TLS1_AD_ACCESS_DENIED         /* fatal */
-#define SSL_AD_DECODE_ERROR TLS1_AD_DECODE_ERROR           /* fatal */
-#define SSL_AD_DECRYPT_ERROR TLS1_AD_DECRYPT_ERROR
-#define SSL_AD_EXPORT_RESTRICTION TLS1_AD_EXPORT_RESTRICTION       /* fatal */
-#define SSL_AD_PROTOCOL_VERSION TLS1_AD_PROTOCOL_VERSION           /* fatal */
-#define SSL_AD_INSUFFICIENT_SECURITY TLS1_AD_INSUFFICIENT_SECURITY /* fatal */
-#define SSL_AD_INTERNAL_ERROR TLS1_AD_INTERNAL_ERROR               /* fatal */
-#define SSL_AD_USER_CANCELLED TLS1_AD_USER_CANCELLED
-#define SSL_AD_NO_RENEGOTIATION TLS1_AD_NO_RENEGOTIATION
-#define SSL_AD_UNSUPPORTED_EXTENSION TLS1_AD_UNSUPPORTED_EXTENSION
-#define SSL_AD_CERTIFICATE_UNOBTAINABLE TLS1_AD_CERTIFICATE_UNOBTAINABLE
-#define SSL_AD_UNRECOGNIZED_NAME TLS1_AD_UNRECOGNIZED_NAME
-#define SSL_AD_BAD_CERTIFICATE_STATUS_RESPONSE \
-  TLS1_AD_BAD_CERTIFICATE_STATUS_RESPONSE
-#define SSL_AD_BAD_CERTIFICATE_HASH_VALUE TLS1_AD_BAD_CERTIFICATE_HASH_VALUE
-#define SSL_AD_UNKNOWN_PSK_IDENTITY TLS1_AD_UNKNOWN_PSK_IDENTITY     /* fatal */
-#define SSL_AD_INAPPROPRIATE_FALLBACK SSL3_AD_INAPPROPRIATE_FALLBACK /* fatal */
-
-#define SSL_ERROR_NONE 0
-#define SSL_ERROR_SSL 1
-#define SSL_ERROR_WANT_READ 2
-#define SSL_ERROR_WANT_WRITE 3
-#define SSL_ERROR_WANT_X509_LOOKUP 4
-#define SSL_ERROR_SYSCALL 5 /* look at error stack/return value/errno */
-#define SSL_ERROR_ZERO_RETURN 6
-#define SSL_ERROR_WANT_CONNECT 7
-#define SSL_ERROR_WANT_ACCEPT 8
-#define SSL_ERROR_WANT_CHANNEL_ID_LOOKUP 9
-#define SSL_ERROR_PENDING_SESSION 11
-#define SSL_ERROR_PENDING_CERTIFICATE 12
-
-#define SSL_CTRL_EXTRA_CHAIN_CERT 14
-
-/* see tls1.h for macros based on these */
-#define SSL_CTRL_GET_TLSEXT_TICKET_KEYS 58
-#define SSL_CTRL_SET_TLSEXT_TICKET_KEYS 59
-
-#define SSL_CTRL_SET_SRP_ARG 78
-#define SSL_CTRL_SET_TLS_EXT_SRP_USERNAME 79
-#define SSL_CTRL_SET_TLS_EXT_SRP_STRENGTH 80
-#define SSL_CTRL_SET_TLS_EXT_SRP_PASSWORD 81
-
-#define SSL_CTRL_GET_EXTRA_CHAIN_CERTS 82
-#define SSL_CTRL_CLEAR_EXTRA_CHAIN_CERTS 83
-
-#define SSL_CTRL_CHAIN 88
-#define SSL_CTRL_CHAIN_CERT 89
-
-#define SSL_CTRL_GET_CURVES 90
-#define SSL_CTRL_SET_CURVES 91
-#define SSL_CTRL_SET_CURVES_LIST 92
-#define SSL_CTRL_SET_SIGALGS 97
-#define SSL_CTRL_SET_SIGALGS_LIST 98
-#define SSL_CTRL_SET_CLIENT_SIGALGS 101
-#define SSL_CTRL_SET_CLIENT_SIGALGS_LIST 102
-#define SSL_CTRL_GET_CLIENT_CERT_TYPES 103
-#define SSL_CTRL_SET_CLIENT_CERT_TYPES 104
-#define SSL_CTRL_BUILD_CERT_CHAIN 105
-#define SSL_CTRL_SET_VERIFY_CERT_STORE 106
-#define SSL_CTRL_SET_CHAIN_CERT_STORE 107
-#define SSL_CTRL_GET_SERVER_TMP_KEY 109
-#define SSL_CTRL_GET_EC_POINT_FORMATS 111
-
-#define SSL_CTRL_GET_CHAIN_CERTS 115
-#define SSL_CTRL_SELECT_CURRENT_CERT 116
-
-/* DTLSv1_get_timeout queries the next DTLS handshake timeout. If there is a
- * timeout in progress, it sets |*out| to the time remaining and returns one.
- * Otherwise, it returns zero.
- *
- * When the timeout expires, call |DTLSv1_handle_timeout| to handle the
- * retransmit behavior.
- *
- * NOTE: This function must be queried again whenever the handshake state
- * machine changes, including when |DTLSv1_handle_timeout| is called. */
-OPENSSL_EXPORT int DTLSv1_get_timeout(const SSL *ssl, struct timeval *out);
-
-/* DTLSv1_handle_timeout is called when a DTLS handshake timeout expires. If no
- * timeout had expired, it returns 0. Otherwise, it retransmits the previous
- * flight of handshake messages and returns 1. If too many timeouts had expired
- * without progress or an error occurs, it returns -1.
- *
- * NOTE: The caller's external timer should be compatible with the one |ssl|
- * queries within some fudge factor. Otherwise, the call will be a no-op, but
- * |DTLSv1_get_timeout| will return an updated timeout.
- *
- * WARNING: This function breaks the usual return value convention. */
-OPENSSL_EXPORT int DTLSv1_handle_timeout(SSL *ssl);
-
-/* SSL_session_reused returns one if |ssl| performed an abbreviated handshake
- * and zero otherwise.
- *
- * TODO(davidben): Hammer down the semantics of this API while a handshake,
- * initial or renego, is in progress. */
-OPENSSL_EXPORT int SSL_session_reused(const SSL *ssl);
-
-/* SSL_total_renegotiations returns the total number of renegotiation handshakes
- * peformed by |ssl|. This includes the pending renegotiation, if any. */
-OPENSSL_EXPORT int SSL_total_renegotiations(const SSL *ssl);
-
-/* SSL_CTX_set_tmp_dh configures |ctx| to use the group from |dh| as the group
- * for DHE. Only the group is used, so |dh| needn't have a keypair. It returns
- * one on success and zero on error. */
-OPENSSL_EXPORT int SSL_CTX_set_tmp_dh(SSL_CTX *ctx, const DH *dh);
-
-/* SSL_set_tmp_dh configures |ssl| to use the group from |dh| as the group for
- * DHE. Only the group is used, so |dh| needn't have a keypair. It returns one
- * on success and zero on error. */
-OPENSSL_EXPORT int SSL_set_tmp_dh(SSL *ssl, const DH *dh);
-
-/* SSL_CTX_set_tmp_ecdh configures |ctx| to use the curve from |ecdh| as the
- * curve for ephemeral ECDH keys. For historical reasons, this API expects an
- * |EC_KEY|, but only the curve is used. It returns one on success and zero on
- * error. If unset, an appropriate curve will be chosen automatically. (This is
- * recommended.) */
-OPENSSL_EXPORT int SSL_CTX_set_tmp_ecdh(SSL_CTX *ctx, const EC_KEY *ec_key);
-
-/* SSL_set_tmp_ecdh configures |ssl| to use the curve from |ecdh| as the curve
- * for ephemeral ECDH keys. For historical reasons, this API expects an
- * |EC_KEY|, but only the curve is used. It returns one on success and zero on
- * error. If unset, an appropriate curve will be chosen automatically. (This is
- * recommended.) */
-OPENSSL_EXPORT int SSL_set_tmp_ecdh(SSL *ssl, const EC_KEY *ec_key);
-
-/* SSL_CTX_enable_tls_channel_id either configures a TLS server to accept TLS
- * client IDs from clients, or configures a client to send TLS client IDs to
- * a server. It returns one. */
-OPENSSL_EXPORT int SSL_CTX_enable_tls_channel_id(SSL_CTX *ctx);
-
-/* SSL_enable_tls_channel_id either configures a TLS server to accept TLS
- * client IDs from clients, or configure a client to send TLS client IDs to
- * server. It returns one. */
-OPENSSL_EXPORT int SSL_enable_tls_channel_id(SSL *ssl);
-
-/* SSL_CTX_set1_tls_channel_id configures a TLS client to send a TLS Channel ID
- * to compatible servers. |private_key| must be a P-256 EC key. It returns one
- * on success and zero on error. */
-OPENSSL_EXPORT int SSL_CTX_set1_tls_channel_id(SSL_CTX *ctx,
-                                               EVP_PKEY *private_key);
-
-/* SSL_set1_tls_channel_id configures a TLS client to send a TLS Channel ID to
- * compatible servers. |private_key| must be a P-256 EC key. It returns one on
- * success and zero on error. */
-OPENSSL_EXPORT int SSL_set1_tls_channel_id(SSL *ssl, EVP_PKEY *private_key);
-
-/* SSL_get_tls_channel_id gets the client's TLS Channel ID from a server SSL*
- * and copies up to the first |max_out| bytes into |out|. The Channel ID
- * consists of the client's P-256 public key as an (x,y) pair where each is a
- * 32-byte, big-endian field element. It returns 0 if the client didn't offer a
- * Channel ID and the length of the complete Channel ID otherwise. */
-OPENSSL_EXPORT size_t SSL_get_tls_channel_id(SSL *ssl, uint8_t *out,
-                                             size_t max_out);
-
-#define SSL_CTX_add_extra_chain_cert(ctx, x509) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_EXTRA_CHAIN_CERT, 0, (char *)x509)
-#define SSL_CTX_get_extra_chain_certs(ctx, px509) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_GET_EXTRA_CHAIN_CERTS, 0, px509)
-#define SSL_CTX_get_extra_chain_certs_only(ctx, px509) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_GET_EXTRA_CHAIN_CERTS, 1, px509)
-#define SSL_CTX_clear_extra_chain_certs(ctx) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_CLEAR_EXTRA_CHAIN_CERTS, 0, NULL)
-
-#define SSL_CTX_set0_chain(ctx, sk) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_CHAIN, 0, (char *)sk)
-#define SSL_CTX_set1_chain(ctx, sk) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_CHAIN, 1, (char *)sk)
-#define SSL_CTX_add0_chain_cert(ctx, x509) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_CHAIN_CERT, 0, (char *)x509)
-#define SSL_CTX_add1_chain_cert(ctx, x509) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_CHAIN_CERT, 1, (char *)x509)
-#define SSL_CTX_get0_chain_certs(ctx, px509) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_GET_CHAIN_CERTS, 0, px509)
-#define SSL_CTX_clear_chain_certs(ctx) SSL_CTX_set0_chain(ctx, NULL)
-#define SSL_CTX_build_cert_chain(ctx, flags) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_BUILD_CERT_CHAIN, flags, NULL)
-#define SSL_CTX_select_current_cert(ctx, x509) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SELECT_CURRENT_CERT, 0, (char *)x509)
-
-#define SSL_CTX_set0_verify_cert_store(ctx, st) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_VERIFY_CERT_STORE, 0, (char *)st)
-#define SSL_CTX_set1_verify_cert_store(ctx, st) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_VERIFY_CERT_STORE, 1, (char *)st)
-#define SSL_CTX_set0_chain_cert_store(ctx, st) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_CHAIN_CERT_STORE, 0, (char *)st)
-#define SSL_CTX_set1_chain_cert_store(ctx, st) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_CHAIN_CERT_STORE, 1, (char *)st)
-
-#define SSL_set0_chain(ctx, sk) SSL_ctrl(ctx, SSL_CTRL_CHAIN, 0, (char *)sk)
-#define SSL_set1_chain(ctx, sk) SSL_ctrl(ctx, SSL_CTRL_CHAIN, 1, (char *)sk)
-#define SSL_add0_chain_cert(ctx, x509) \
-  SSL_ctrl(ctx, SSL_CTRL_CHAIN_CERT, 0, (char *)x509)
-#define SSL_add1_chain_cert(ctx, x509) \
-  SSL_ctrl(ctx, SSL_CTRL_CHAIN_CERT, 1, (char *)x509)
-#define SSL_get0_chain_certs(ctx, px509) \
-  SSL_ctrl(ctx, SSL_CTRL_GET_CHAIN_CERTS, 0, px509)
-#define SSL_clear_chain_certs(ctx) SSL_set0_chain(ctx, NULL)
-#define SSL_build_cert_chain(s, flags) \
-  SSL_ctrl(s, SSL_CTRL_BUILD_CERT_CHAIN, flags, NULL)
-#define SSL_select_current_cert(ctx, x509) \
-  SSL_ctrl(ctx, SSL_CTRL_SELECT_CURRENT_CERT, 0, (char *)x509)
-
-#define SSL_set0_verify_cert_store(s, st) \
-  SSL_ctrl(s, SSL_CTRL_SET_VERIFY_CERT_STORE, 0, (char *)st)
-#define SSL_set1_verify_cert_store(s, st) \
-  SSL_ctrl(s, SSL_CTRL_SET_VERIFY_CERT_STORE, 1, (char *)st)
-#define SSL_set0_chain_cert_store(s, st) \
-  SSL_ctrl(s, SSL_CTRL_SET_CHAIN_CERT_STORE, 0, (char *)st)
-#define SSL_set1_chain_cert_store(s, st) \
-  SSL_ctrl(s, SSL_CTRL_SET_CHAIN_CERT_STORE, 1, (char *)st)
-
-#define SSL_get1_curves(ctx, s) SSL_ctrl(ctx, SSL_CTRL_GET_CURVES, 0, (char *)s)
-#define SSL_CTX_set1_curves(ctx, clist, clistlen) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_CURVES, clistlen, (char *)clist)
-#define SSL_CTX_set1_curves_list(ctx, s) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_CURVES_LIST, 0, (char *)s)
-#define SSL_set1_curves(ctx, clist, clistlen) \
-  SSL_ctrl(ctx, SSL_CTRL_SET_CURVES, clistlen, (char *)clist)
-#define SSL_set1_curves_list(ctx, s) \
-  SSL_ctrl(ctx, SSL_CTRL_SET_CURVES_LIST, 0, (char *)s)
-
-#define SSL_CTX_set1_sigalgs(ctx, slist, slistlen) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_SIGALGS, slistlen, (int *)slist)
-#define SSL_CTX_set1_sigalgs_list(ctx, s) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_SIGALGS_LIST, 0, (char *)s)
-#define SSL_set1_sigalgs(ctx, slist, slistlen) \
-  SSL_ctrl(ctx, SSL_CTRL_SET_SIGALGS, clistlen, (int *)slist)
-#define SSL_set1_sigalgs_list(ctx, s) \
-  SSL_ctrl(ctx, SSL_CTRL_SET_SIGALGS_LIST, 0, (char *)s)
-
-#define SSL_CTX_set1_client_sigalgs(ctx, slist, slistlen) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_CLIENT_SIGALGS, slistlen, (int *)slist)
-#define SSL_CTX_set1_client_sigalgs_list(ctx, s) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_CLIENT_SIGALGS_LIST, 0, (char *)s)
-#define SSL_set1_client_sigalgs(ctx, slist, slistlen) \
-  SSL_ctrl(ctx, SSL_CTRL_SET_CLIENT_SIGALGS, clistlen, (int *)slist)
-#define SSL_set1_client_sigalgs_list(ctx, s) \
-  SSL_ctrl(ctx, SSL_CTRL_SET_CLIENT_SIGALGS_LIST, 0, (char *)s)
-
-#define SSL_get0_certificate_types(s, clist) \
-  SSL_ctrl(s, SSL_CTRL_GET_CLIENT_CERT_TYPES, 0, (char *)clist)
-
-#define SSL_CTX_set1_client_certificate_types(ctx, clist, clistlen) \
-  SSL_CTX_ctrl(ctx, SSL_CTRL_SET_CLIENT_CERT_TYPES, clistlen, (char *)clist)
-#define SSL_set1_client_certificate_types(s, clist, clistlen) \
-  SSL_ctrl(s, SSL_CTRL_SET_CLIENT_CERT_TYPES, clistlen, (char *)clist)
-
-#define SSL_get_server_tmp_key(s, pk) \
-  SSL_ctrl(s, SSL_CTRL_GET_SERVER_TMP_KEY, 0, pk)
-
-#define SSL_get0_ec_point_formats(s, plst) \
-  SSL_ctrl(s, SSL_CTRL_GET_EC_POINT_FORMATS, 0, (char *)plst)
-
-OPENSSL_EXPORT int SSL_CTX_set_cipher_list(SSL_CTX *, const char *str);
-OPENSSL_EXPORT int SSL_CTX_set_cipher_list_tls11(SSL_CTX *, const char *str);
-OPENSSL_EXPORT long SSL_CTX_set_timeout(SSL_CTX *ctx, long t);
-OPENSSL_EXPORT long SSL_CTX_get_timeout(const SSL_CTX *ctx);
-OPENSSL_EXPORT X509_STORE *SSL_CTX_get_cert_store(const SSL_CTX *);
-OPENSSL_EXPORT void SSL_CTX_set_cert_store(SSL_CTX *, X509_STORE *);
-OPENSSL_EXPORT int SSL_want(const SSL *s);
-
-OPENSSL_EXPORT void SSL_CTX_flush_sessions(SSL_CTX *ctx, long tm);
-
-/* SSL_get_current_cipher returns the cipher used in the current outgoing
- * connection state, or NULL if the null cipher is active. */
-OPENSSL_EXPORT const SSL_CIPHER *SSL_get_current_cipher(const SSL *s);
-
-OPENSSL_EXPORT int SSL_get_fd(const SSL *s);
-OPENSSL_EXPORT int SSL_get_rfd(const SSL *s);
-OPENSSL_EXPORT int SSL_get_wfd(const SSL *s);
-OPENSSL_EXPORT const char *SSL_get_cipher_list(const SSL *s, int n);
-OPENSSL_EXPORT int SSL_pending(const SSL *s);
-OPENSSL_EXPORT int SSL_set_fd(SSL *s, int fd);
-OPENSSL_EXPORT int SSL_set_rfd(SSL *s, int fd);
-OPENSSL_EXPORT int SSL_set_wfd(SSL *s, int fd);
-OPENSSL_EXPORT void SSL_set_bio(SSL *s, BIO *rbio, BIO *wbio);
-OPENSSL_EXPORT BIO *SSL_get_rbio(const SSL *s);
-OPENSSL_EXPORT BIO *SSL_get_wbio(const SSL *s);
-OPENSSL_EXPORT int SSL_set_cipher_list(SSL *s, const char *str);
-OPENSSL_EXPORT int SSL_get_verify_mode(const SSL *s);
-OPENSSL_EXPORT int SSL_get_verify_depth(const SSL *s);
-OPENSSL_EXPORT int (*SSL_get_verify_callback(const SSL *s))(int,
-                                                            X509_STORE_CTX *);
-OPENSSL_EXPORT void SSL_set_verify(SSL *s, int mode,
-                                   int (*callback)(int ok,
-                                                   X509_STORE_CTX *ctx));
-OPENSSL_EXPORT void SSL_set_verify_depth(SSL *s, int depth);
-OPENSSL_EXPORT void SSL_set_cert_cb(SSL *s, int (*cb)(SSL *ssl, void *arg),
-                                    void *arg);
-OPENSSL_EXPORT int SSL_use_RSAPrivateKey(SSL *ssl, RSA *rsa);
-OPENSSL_EXPORT int SSL_use_RSAPrivateKey_ASN1(SSL *ssl, uint8_t *d, long len);
-OPENSSL_EXPORT int SSL_use_PrivateKey(SSL *ssl, EVP_PKEY *pkey);
-OPENSSL_EXPORT int SSL_use_PrivateKey_ASN1(int pk, SSL *ssl, const uint8_t *d,
-                                           long len);
-OPENSSL_EXPORT int SSL_use_certificate(SSL *ssl, X509 *x);
-OPENSSL_EXPORT int SSL_use_certificate_ASN1(SSL *ssl, const uint8_t *d,
-                                            int len);
-
-OPENSSL_EXPORT int SSL_use_RSAPrivateKey_file(SSL *ssl, const char *file,
-                                              int type);
-OPENSSL_EXPORT int SSL_use_PrivateKey_file(SSL *ssl, const char *file,
-                                           int type);
-OPENSSL_EXPORT int SSL_use_certificate_file(SSL *ssl, const char *file,
-                                            int type);
-OPENSSL_EXPORT int SSL_CTX_use_RSAPrivateKey_file(SSL_CTX *ctx,
-                                                  const char *file, int type);
-OPENSSL_EXPORT int SSL_CTX_use_PrivateKey_file(SSL_CTX *ctx, const char *file,
-                                               int type);
-OPENSSL_EXPORT int SSL_CTX_use_certificate_file(SSL_CTX *ctx, const char *file,
-                                                int type);
-OPENSSL_EXPORT int SSL_CTX_use_certificate_chain_file(
-    SSL_CTX *ctx, const char *file); /* PEM type */
-OPENSSL_EXPORT STACK_OF(X509_NAME) *SSL_load_client_CA_file(const char *file);
-OPENSSL_EXPORT int SSL_add_file_cert_subjects_to_stack(STACK_OF(X509_NAME) *
-                                                           stackCAs,
-                                                       const char *file);
-OPENSSL_EXPORT int SSL_add_dir_cert_subjects_to_stack(STACK_OF(X509_NAME) *
-                                                          stackCAs,
-                                                      const char *dir);
-
-/* SSL_load_error_strings does nothing. */
-OPENSSL_EXPORT void SSL_load_error_strings(void);
-
-OPENSSL_EXPORT const char *SSL_state_string(const SSL *s);
-OPENSSL_EXPORT const char *SSL_rstate_string(const SSL *s);
-OPENSSL_EXPORT const char *SSL_state_string_long(const SSL *s);
-OPENSSL_EXPORT const char *SSL_rstate_string_long(const SSL *s);
-OPENSSL_EXPORT long SSL_SESSION_get_time(const SSL_SESSION *s);
-OPENSSL_EXPORT long SSL_SESSION_set_time(SSL_SESSION *s, long t);
-OPENSSL_EXPORT long SSL_SESSION_get_timeout(const SSL_SESSION *s);
-OPENSSL_EXPORT long SSL_SESSION_set_timeout(SSL_SESSION *s, long t);
-OPENSSL_EXPORT X509 *SSL_SESSION_get0_peer(SSL_SESSION *s);
-OPENSSL_EXPORT int SSL_SESSION_set1_id_context(SSL_SESSION *s,
-                                               const uint8_t *sid_ctx,
-                                               unsigned int sid_ctx_len);
-
-OPENSSL_EXPORT SSL_SESSION *SSL_SESSION_new(void);
-OPENSSL_EXPORT const uint8_t *SSL_SESSION_get_id(const SSL_SESSION *s,
-                                                 unsigned int *len);
-OPENSSL_EXPORT int SSL_SESSION_print_fp(FILE *fp, const SSL_SESSION *ses);
-OPENSSL_EXPORT int SSL_SESSION_print(BIO *fp, const SSL_SESSION *ses);
-
-/* SSL_SESSION_up_ref, if |session| is not NULL, increments the reference count
- * of |session|. It then returns |session|. */
-OPENSSL_EXPORT SSL_SESSION *SSL_SESSION_up_ref(SSL_SESSION *session);
-
-/* SSL_SESSION_free decrements the reference count of |session|. If it reaches
- * zero, all data referenced by |session| and |session| itself are released. */
-OPENSSL_EXPORT void SSL_SESSION_free(SSL_SESSION *session);
-
-OPENSSL_EXPORT int SSL_set_session(SSL *to, SSL_SESSION *session);
-OPENSSL_EXPORT int SSL_CTX_add_session(SSL_CTX *s, SSL_SESSION *c);
-OPENSSL_EXPORT int SSL_CTX_remove_session(SSL_CTX *, SSL_SESSION *c);
-OPENSSL_EXPORT int SSL_CTX_set_generate_session_id(SSL_CTX *, GEN_SESSION_CB);
-OPENSSL_EXPORT int SSL_set_generate_session_id(SSL *, GEN_SESSION_CB);
-OPENSSL_EXPORT int SSL_has_matching_session_id(const SSL *ssl,
-                                               const uint8_t *id,
-                                               unsigned int id_len);
-
-/* SSL_SESSION_to_bytes serializes |in| into a newly allocated buffer and sets
- * |*out_data| to that buffer and |*out_len| to its length. The caller takes
- * ownership of the buffer and must call |OPENSSL_free| when done. It returns
- * one on success and zero on error. */
-OPENSSL_EXPORT int SSL_SESSION_to_bytes(SSL_SESSION *in, uint8_t **out_data,
-                                        size_t *out_len);
-
-/* SSL_SESSION_to_bytes_for_ticket serializes |in|, but excludes the session ID
- * which is not necessary in a session ticket. */
-OPENSSL_EXPORT int SSL_SESSION_to_bytes_for_ticket(SSL_SESSION *in,
-                                                   uint8_t **out_data,
-                                                   size_t *out_len);
-
-/* Deprecated: i2d_SSL_SESSION serializes |in| to the bytes pointed to by
- * |*pp|. On success, it returns the number of bytes written and advances |*pp|
- * by that many bytes. On failure, it returns -1. If |pp| is NULL, no bytes are
- * written and only the length is returned.
- *
- * Use SSL_SESSION_to_bytes instead. */
-OPENSSL_EXPORT int i2d_SSL_SESSION(SSL_SESSION *in, uint8_t **pp);
-
-/* d2i_SSL_SESSION deserializes a serialized buffer contained in the |length|
- * bytes pointed to by |*pp|. It returns the new SSL_SESSION and advances |*pp|
- * by the number of bytes consumed on success and NULL on failure. If |a| is
- * NULL, the caller takes ownership of the new session and must call
- * |SSL_SESSION_free| when done.
- *
- * If |a| and |*a| are not NULL, the SSL_SESSION at |*a| is overridden with the
- * deserialized session rather than allocating a new one. In addition, |a| is
- * not NULL, but |*a| is, |*a| is set to the new SSL_SESSION.
- *
- * Passing a value other than NULL to |a| is deprecated. */
-OPENSSL_EXPORT SSL_SESSION *d2i_SSL_SESSION(SSL_SESSION **a, const uint8_t **pp,
-                                            long length);
-
-OPENSSL_EXPORT X509 *SSL_get_peer_certificate(const SSL *s);
-
-OPENSSL_EXPORT STACK_OF(X509) *SSL_get_peer_cert_chain(const SSL *s);
-
-OPENSSL_EXPORT int SSL_CTX_get_verify_mode(const SSL_CTX *ctx);
-OPENSSL_EXPORT int SSL_CTX_get_verify_depth(const SSL_CTX *ctx);
-OPENSSL_EXPORT int (*SSL_CTX_get_verify_callback(const SSL_CTX *ctx))(
-    int, X509_STORE_CTX *);
-OPENSSL_EXPORT void SSL_CTX_set_verify(SSL_CTX *ctx, int mode,
-                                       int (*callback)(int, X509_STORE_CTX *));
-OPENSSL_EXPORT void SSL_CTX_set_verify_depth(SSL_CTX *ctx, int depth);
-OPENSSL_EXPORT void SSL_CTX_set_cert_verify_callback(
-    SSL_CTX *ctx, int (*cb)(X509_STORE_CTX *, void *), void *arg);
-OPENSSL_EXPORT void SSL_CTX_set_cert_cb(SSL_CTX *c,
-                                        int (*cb)(SSL *ssl, void *arg),
-                                        void *arg);
-OPENSSL_EXPORT int SSL_CTX_use_RSAPrivateKey(SSL_CTX *ctx, RSA *rsa);
-OPENSSL_EXPORT int SSL_CTX_use_RSAPrivateKey_ASN1(SSL_CTX *ctx,
-                                                  const uint8_t *d, long len);
-OPENSSL_EXPORT int SSL_CTX_use_PrivateKey(SSL_CTX *ctx, EVP_PKEY *pkey);
-OPENSSL_EXPORT int SSL_CTX_use_PrivateKey_ASN1(int pk, SSL_CTX *ctx,
-                                               const uint8_t *d, long len);
-OPENSSL_EXPORT int SSL_CTX_use_certificate(SSL_CTX *ctx, X509 *x);
-OPENSSL_EXPORT int SSL_CTX_use_certificate_ASN1(SSL_CTX *ctx, int len,
-                                                const uint8_t *d);
-
-OPENSSL_EXPORT void SSL_CTX_set_default_passwd_cb(SSL_CTX *ctx,
-                                                  pem_password_cb *cb);
-OPENSSL_EXPORT void SSL_CTX_set_default_passwd_cb_userdata(SSL_CTX *ctx,
-                                                           void *u);
-
-OPENSSL_EXPORT int SSL_CTX_check_private_key(const SSL_CTX *ctx);
-OPENSSL_EXPORT int SSL_check_private_key(const SSL *ctx);
-
-OPENSSL_EXPORT int SSL_CTX_set_session_id_context(SSL_CTX *ctx,
-                                                  const uint8_t *sid_ctx,
-                                                  unsigned int sid_ctx_len);
-
-OPENSSL_EXPORT int SSL_set_session_id_context(SSL *ssl, const uint8_t *sid_ctx,
-                                              unsigned int sid_ctx_len);
-
-OPENSSL_EXPORT int SSL_CTX_set_purpose(SSL_CTX *s, int purpose);
-OPENSSL_EXPORT int SSL_set_purpose(SSL *s, int purpose);
-OPENSSL_EXPORT int SSL_CTX_set_trust(SSL_CTX *s, int trust);
-OPENSSL_EXPORT int SSL_set_trust(SSL *s, int trust);
-
-OPENSSL_EXPORT int SSL_CTX_set1_param(SSL_CTX *ctx, X509_VERIFY_PARAM *vpm);
-OPENSSL_EXPORT int SSL_set1_param(SSL *ssl, X509_VERIFY_PARAM *vpm);
-
-OPENSSL_EXPORT X509_VERIFY_PARAM *SSL_CTX_get0_param(SSL_CTX *ctx);
-OPENSSL_EXPORT X509_VERIFY_PARAM *SSL_get0_param(SSL *ssl);
-
-OPENSSL_EXPORT void SSL_certs_clear(SSL *s);
-OPENSSL_EXPORT int SSL_accept(SSL *ssl);
-OPENSSL_EXPORT int SSL_connect(SSL *ssl);
-OPENSSL_EXPORT int SSL_read(SSL *ssl, void *buf, int num);
-OPENSSL_EXPORT int SSL_peek(SSL *ssl, void *buf, int num);
-OPENSSL_EXPORT int SSL_write(SSL *ssl, const void *buf, int num);
-OPENSSL_EXPORT long SSL_ctrl(SSL *ssl, int cmd, long larg, void *parg);
-OPENSSL_EXPORT long SSL_CTX_ctrl(SSL_CTX *ctx, int cmd, long larg, void *parg);
-
-OPENSSL_EXPORT int SSL_get_error(const SSL *s, int ret_code);
-/* SSL_get_version returns a string describing the TLS version used by |s|. For
- * example, "TLSv1.2" or "SSLv3". */
-OPENSSL_EXPORT const char *SSL_get_version(const SSL *s);
-/* SSL_SESSION_get_version returns a string describing the TLS version used by
- * |sess|. For example, "TLSv1.2" or "SSLv3". */
-OPENSSL_EXPORT const char *SSL_SESSION_get_version(const SSL_SESSION *sess);
-
-OPENSSL_EXPORT STACK_OF(SSL_CIPHER) *SSL_get_ciphers(const SSL *s);
-
-OPENSSL_EXPORT int SSL_do_handshake(SSL *s);
-
-/* SSL_renegotiate_pending returns one if |ssl| is in the middle of a
- * renegotiation. */
-OPENSSL_EXPORT int SSL_renegotiate_pending(SSL *ssl);
-
-OPENSSL_EXPORT int SSL_shutdown(SSL *s);
-
-OPENSSL_EXPORT const char *SSL_alert_type_string_long(int value);
-OPENSSL_EXPORT const char *SSL_alert_type_string(int value);
-OPENSSL_EXPORT const char *SSL_alert_desc_string_long(int value);
-OPENSSL_EXPORT const char *SSL_alert_desc_string(int value);
-
-OPENSSL_EXPORT void SSL_set_client_CA_list(SSL *s,
-                                           STACK_OF(X509_NAME) *name_list);
-OPENSSL_EXPORT void SSL_CTX_set_client_CA_list(SSL_CTX *ctx,
-                                               STACK_OF(X509_NAME) *name_list);
-OPENSSL_EXPORT STACK_OF(X509_NAME) *SSL_get_client_CA_list(const SSL *s);
-OPENSSL_EXPORT STACK_OF(X509_NAME) *
-    SSL_CTX_get_client_CA_list(const SSL_CTX *s);
-OPENSSL_EXPORT int SSL_add_client_CA(SSL *ssl, X509 *x);
-OPENSSL_EXPORT int SSL_CTX_add_client_CA(SSL_CTX *ctx, X509 *x);
-
-OPENSSL_EXPORT long SSL_get_default_timeout(const SSL *s);
-
-OPENSSL_EXPORT STACK_OF(X509_NAME) *SSL_dup_CA_list(STACK_OF(X509_NAME) *sk);
-
-OPENSSL_EXPORT X509 *SSL_get_certificate(const SSL *ssl);
-OPENSSL_EXPORT EVP_PKEY *SSL_get_privatekey(const SSL *ssl);
-
-OPENSSL_EXPORT X509 *SSL_CTX_get0_certificate(const SSL_CTX *ctx);
-OPENSSL_EXPORT EVP_PKEY *SSL_CTX_get0_privatekey(const SSL_CTX *ctx);
-
-OPENSSL_EXPORT void SSL_CTX_set_quiet_shutdown(SSL_CTX *ctx, int mode);
-OPENSSL_EXPORT int SSL_CTX_get_quiet_shutdown(const SSL_CTX *ctx);
-OPENSSL_EXPORT void SSL_set_quiet_shutdown(SSL *ssl, int mode);
-OPENSSL_EXPORT int SSL_get_quiet_shutdown(const SSL *ssl);
-OPENSSL_EXPORT void SSL_set_shutdown(SSL *ssl, int mode);
-OPENSSL_EXPORT int SSL_get_shutdown(const SSL *ssl);
-OPENSSL_EXPORT int SSL_version(const SSL *ssl);
-OPENSSL_EXPORT int SSL_CTX_set_default_verify_paths(SSL_CTX *ctx);
-OPENSSL_EXPORT int SSL_CTX_load_verify_locations(SSL_CTX *ctx,
-                                                 const char *CAfile,
-                                                 const char *CApath);
-#define SSL_get0_session SSL_get_session /* just peek at pointer */
-OPENSSL_EXPORT SSL_SESSION *SSL_get_session(const SSL *ssl);
-OPENSSL_EXPORT SSL_SESSION *SSL_get1_session(
-    SSL *ssl); /* obtain a reference count */
-OPENSSL_EXPORT SSL_CTX *SSL_get_SSL_CTX(const SSL *ssl);
-OPENSSL_EXPORT SSL_CTX *SSL_set_SSL_CTX(SSL *ssl, SSL_CTX *ctx);
-OPENSSL_EXPORT void SSL_set_info_callback(SSL *ssl,
-                                          void (*cb)(const SSL *ssl, int type,
-                                                     int val));
-OPENSSL_EXPORT void (*SSL_get_info_callback(const SSL *ssl))(const SSL *ssl,
-                                                             int type, int val);
-OPENSSL_EXPORT int SSL_state(const SSL *ssl);
-
-OPENSSL_EXPORT void SSL_set_verify_result(SSL *ssl, long v);
-OPENSSL_EXPORT long SSL_get_verify_result(const SSL *ssl);
-
-OPENSSL_EXPORT int SSL_set_ex_data(SSL *ssl, int idx, void *data);
-OPENSSL_EXPORT void *SSL_get_ex_data(const SSL *ssl, int idx);
-OPENSSL_EXPORT int SSL_get_ex_new_index(long argl, void *argp,
-                                        CRYPTO_EX_new *new_func,
-                                        CRYPTO_EX_dup *dup_func,
-                                        CRYPTO_EX_free *free_func);
-
-OPENSSL_EXPORT int SSL_SESSION_set_ex_data(SSL_SESSION *ss, int idx,
-                                           void *data);
-OPENSSL_EXPORT void *SSL_SESSION_get_ex_data(const SSL_SESSION *ss, int idx);
-OPENSSL_EXPORT int SSL_SESSION_get_ex_new_index(long argl, void *argp,
-                                                CRYPTO_EX_new *new_func,
-                                                CRYPTO_EX_dup *dup_func,
-                                                CRYPTO_EX_free *free_func);
-
-OPENSSL_EXPORT int SSL_CTX_set_ex_data(SSL_CTX *ssl, int idx, void *data);
-OPENSSL_EXPORT void *SSL_CTX_get_ex_data(const SSL_CTX *ssl, int idx);
-OPENSSL_EXPORT int SSL_CTX_get_ex_new_index(long argl, void *argp,
-                                            CRYPTO_EX_new *new_func,
-                                            CRYPTO_EX_dup *dup_func,
-                                            CRYPTO_EX_free *free_func);
-
-OPENSSL_EXPORT int SSL_get_ex_data_X509_STORE_CTX_idx(void);
-
-/* SSL_CTX_sess_set_cache_size sets the maximum size of |ctx|'s session cache to
- * |size|. It returns the previous value. */
-OPENSSL_EXPORT unsigned long SSL_CTX_sess_set_cache_size(SSL_CTX *ctx,
-                                                         unsigned long size);
-
-/* SSL_CTX_sess_get_cache_size returns the maximum size of |ctx|'s session
- * cache. */
-OPENSSL_EXPORT unsigned long SSL_CTX_sess_get_cache_size(const SSL_CTX *ctx);
-
-/* SSL_SESS_CACHE_* are the possible session cache mode bits.
- * TODO(davidben): Document. */
-#define SSL_SESS_CACHE_OFF 0x0000
-#define SSL_SESS_CACHE_CLIENT 0x0001
-#define SSL_SESS_CACHE_SERVER 0x0002
-#define SSL_SESS_CACHE_BOTH (SSL_SESS_CACHE_CLIENT | SSL_SESS_CACHE_SERVER)
-#define SSL_SESS_CACHE_NO_AUTO_CLEAR 0x0080
-#define SSL_SESS_CACHE_NO_INTERNAL_LOOKUP 0x0100
-#define SSL_SESS_CACHE_NO_INTERNAL_STORE 0x0200
-#define SSL_SESS_CACHE_NO_INTERNAL \
-  (SSL_SESS_CACHE_NO_INTERNAL_LOOKUP | SSL_SESS_CACHE_NO_INTERNAL_STORE)
-
-/* SSL_CTX_set_session_cache_mode sets the session cache mode bits for |ctx| to
- * |mode|. It returns the previous value. */
-OPENSSL_EXPORT int SSL_CTX_set_session_cache_mode(SSL_CTX *ctx, int mode);
-
-/* SSL_CTX_get_session_cache_mode returns the session cache mode bits for
- * |ctx| */
-OPENSSL_EXPORT int SSL_CTX_get_session_cache_mode(const SSL_CTX *ctx);
-
-/* SSL_CTX_get_max_cert_list returns the maximum length, in bytes, of a peer
- * certificate chain accepted by |ctx|. */
-OPENSSL_EXPORT size_t SSL_CTX_get_max_cert_list(const SSL_CTX *ctx);
-
-/* SSL_CTX_set_max_cert_list sets the maximum length, in bytes, of a peer
- * certificate chain to |max_cert_list|. This affects how much memory may be
- * consumed during the handshake. */
-OPENSSL_EXPORT void SSL_CTX_set_max_cert_list(SSL_CTX *ctx,
-                                              size_t max_cert_list);
-
-/* SSL_get_max_cert_list returns the maximum length, in bytes, of a peer
- * certificate chain accepted by |ssl|. */
-OPENSSL_EXPORT size_t SSL_get_max_cert_list(const SSL *ssl);
-
-/* SSL_set_max_cert_list sets the maximum length, in bytes, of a peer
- * certificate chain to |max_cert_list|. This affects how much memory may be
- * consumed during the handshake. */
-OPENSSL_EXPORT void SSL_set_max_cert_list(SSL *ssl, size_t max_cert_list);
-
-/* SSL_CTX_set_max_send_fragment sets the maximum length, in bytes, of records
- * sent by |ctx|. Beyond this length, handshake messages and application data
- * will be split into multiple records. */
-OPENSSL_EXPORT void SSL_CTX_set_max_send_fragment(SSL_CTX *ctx,
-                                                  size_t max_send_fragment);
-
-/* SSL_set_max_send_fragment sets the maximum length, in bytes, of records
- * sent by |ssl|. Beyond this length, handshake messages and application data
- * will be split into multiple records. */
-OPENSSL_EXPORT void SSL_set_max_send_fragment(SSL *ssl,
-                                              size_t max_send_fragment);
-
-/* SSL_CTX_set_tmp_dh_callback configures |ctx| to use |callback| to determine
- * the group for DHE ciphers. |callback| should ignore |is_export| and
- * |keylength| and return a |DH| of the selected group or NULL on error. Only
- * the parameters are used, so the |DH| needn't have a generated keypair.
- *
- * WARNING: The caller does not take ownership of the resulting |DH|, so
- * |callback| must save and release the object elsewhere. */
-OPENSSL_EXPORT void SSL_CTX_set_tmp_dh_callback(
-    SSL_CTX *ctx, DH *(*callback)(SSL *ssl, int is_export, int keylength));
-
-/* SSL_set_tmp_dh_callback configures |ssl| to use |callback| to determine the
- * group for DHE ciphers. |callback| should ignore |is_export| and |keylength|
- * and return a |DH| of the selected group or NULL on error. Only the
- * parameters are used, so the |DH| needn't have a generated keypair.
- *
- * WARNING: The caller does not take ownership of the resulting |DH|, so
- * |callback| must save and release the object elsewhere. */
-OPENSSL_EXPORT void SSL_set_tmp_dh_callback(SSL *ssl,
-                                            DH *(*dh)(SSL *ssl, int is_export,
-                                                      int keylength));
-
-/* SSL_CTX_set_tmp_ecdh_callback configures |ctx| to use |callback| to determine
- * the curve for ephemeral ECDH keys. |callback| should ignore |is_export| and
- * |keylength| and return an |EC_KEY| of the selected curve or NULL on
- * error. Only the curve is used, so the |EC_KEY| needn't have a generated
- * keypair.
- *
- * If the callback is unset, an appropriate curve will be chosen automatically.
- * (This is recommended.)
- *
- * WARNING: The caller does not take ownership of the resulting |EC_KEY|, so
- * |callback| must save and release the object elsewhere. */
-OPENSSL_EXPORT void SSL_CTX_set_tmp_ecdh_callback(
-    SSL_CTX *ctx, EC_KEY *(*callback)(SSL *ssl, int is_export, int keylength));
-
-/* SSL_set_tmp_ecdh_callback configures |ssl| to use |callback| to determine the
- * curve for ephemeral ECDH keys. |callback| should ignore |is_export| and
- * |keylength| and return an |EC_KEY| of the selected curve or NULL on
- * error. Only the curve is used, so the |EC_KEY| needn't have a generated
- * keypair.
- *
- * If the callback is unset, an appropriate curve will be chosen automatically.
- * (This is recommended.)
- *
- * WARNING: The caller does not take ownership of the resulting |EC_KEY|, so
- * |callback| must save and release the object elsewhere. */
-OPENSSL_EXPORT void SSL_set_tmp_ecdh_callback(
-    SSL *ssl, EC_KEY *(*callback)(SSL *ssl, int is_export, int keylength));
-
-OPENSSL_EXPORT const void *SSL_get_current_compression(SSL *s);
-OPENSSL_EXPORT const void *SSL_get_current_expansion(SSL *s);
-
-OPENSSL_EXPORT int SSL_cache_hit(SSL *s);
-OPENSSL_EXPORT int SSL_is_server(SSL *s);
-
-/* SSL_CTX_set_dos_protection_cb sets a callback that is called once the
- * resumption decision for a ClientHello has been made. It can return 1 to
- * allow the handshake to continue or zero to cause the handshake to abort. */
-OPENSSL_EXPORT void SSL_CTX_set_dos_protection_cb(
-    SSL_CTX *ctx, int (*cb)(const struct ssl_early_callback_ctx *));
-
-/* SSL_get_structure_sizes returns the sizes of the SSL, SSL_CTX and
- * SSL_SESSION structures so that a test can ensure that outside code agrees on
- * these values. */
-OPENSSL_EXPORT void SSL_get_structure_sizes(size_t *ssl_size,
-                                            size_t *ssl_ctx_size,
-                                            size_t *ssl_session_size);
-
-OPENSSL_EXPORT void ERR_load_SSL_strings(void);
-
-/* SSL_get_rc4_state sets |*read_key| and |*write_key| to the RC4 states for
- * the read and write directions. It returns one on success or zero if |ssl|
- * isn't using an RC4-based cipher suite. */
-OPENSSL_EXPORT int SSL_get_rc4_state(const SSL *ssl, const RC4_KEY **read_key,
-                                     const RC4_KEY **write_key);
-
-
-/* Deprecated functions. */
-
-/* SSL_CIPHER_description writes a description of |cipher| into |buf| and
- * returns |buf|. If |buf| is NULL, it returns a newly allocated string, to be
- * freed with |OPENSSL_free|, or NULL on error.
- *
- * The description includes a trailing newline and has the form:
- * AES128-SHA              SSLv3 Kx=RSA      Au=RSA  Enc=AES(128)  Mac=SHA1
- *
- * Consider |SSL_CIPHER_get_name| or |SSL_CIPHER_get_rfc_name| instead. */
-OPENSSL_EXPORT const char *SSL_CIPHER_description(const SSL_CIPHER *cipher,
-                                                  char *buf, int len);
-
-/* SSL_CIPHER_get_version returns the string "TLSv1/SSLv3". */
-OPENSSL_EXPORT const char *SSL_CIPHER_get_version(const SSL_CIPHER *cipher);
-
-/* SSL_COMP_get_compression_methods returns NULL. */
-OPENSSL_EXPORT void *SSL_COMP_get_compression_methods(void);
-
-/* SSL_COMP_add_compression_method returns one. */
-OPENSSL_EXPORT int SSL_COMP_add_compression_method(int id, void *cm);
-
-/* SSL_COMP_get_name returns NULL. */
-OPENSSL_EXPORT const char *SSL_COMP_get_name(const void *comp);
-
-/* SSLv23_method calls |TLS_method|. */
-OPENSSL_EXPORT const SSL_METHOD *SSLv23_method(void);
-
-/* Version-specific methods behave exactly like |TLS_method| and |DTLS_method|
- * except they also call |SSL_CTX_set_min_version| and |SSL_CTX_set_max_version|
- * to lock connections to that protocol version. */
-OPENSSL_EXPORT const SSL_METHOD *SSLv3_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_1_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_2_method(void);
-OPENSSL_EXPORT const SSL_METHOD *DTLSv1_method(void);
-OPENSSL_EXPORT const SSL_METHOD *DTLSv1_2_method(void);
-
-/* Client- and server-specific methods call their corresponding generic
- * methods. */
-OPENSSL_EXPORT const SSL_METHOD *SSLv23_server_method(void);
-OPENSSL_EXPORT const SSL_METHOD *SSLv23_client_method(void);
-OPENSSL_EXPORT const SSL_METHOD *SSLv3_server_method(void);
-OPENSSL_EXPORT const SSL_METHOD *SSLv3_client_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_server_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_client_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_1_server_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_1_client_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_2_server_method(void);
-OPENSSL_EXPORT const SSL_METHOD *TLSv1_2_client_method(void);
-OPENSSL_EXPORT const SSL_METHOD *DTLS_server_method(void);
-OPENSSL_EXPORT const SSL_METHOD *DTLS_client_method(void);
-OPENSSL_EXPORT const SSL_METHOD *DTLSv1_server_method(void);
-OPENSSL_EXPORT const SSL_METHOD *DTLSv1_client_method(void);
-OPENSSL_EXPORT const SSL_METHOD *DTLSv1_2_server_method(void);
-OPENSSL_EXPORT const SSL_METHOD *DTLSv1_2_client_method(void);
-
-/* SSL_clear resets |ssl| to allow another connection and returns one on success
- * or zero on failure. It returns most configuration state but releases memory
- * associated with the current connection.
- *
- * Free |ssl| and create a new one instead. */
-OPENSSL_EXPORT int SSL_clear(SSL *ssl);
-
-/* SSL_CTX_set_tmp_rsa_callback does nothing. */
-OPENSSL_EXPORT void SSL_CTX_set_tmp_rsa_callback(
-    SSL_CTX *ctx, RSA *(*cb)(SSL *ssl, int is_export, int keylength));
-
-/* SSL_set_tmp_rsa_callback does nothing. */
-OPENSSL_EXPORT void SSL_set_tmp_rsa_callback(SSL *ssl,
-                                             RSA *(*cb)(SSL *ssl, int is_export,
-                                                        int keylength));
-
-/* SSL_CTX_sess_connect returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_connect(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_connect_good returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_connect_good(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_connect_renegotiate returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_connect_renegotiate(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_accept returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_accept(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_accept_renegotiate returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_accept_renegotiate(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_accept_good returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_accept_good(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_hits returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_hits(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_cb_hits returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_cb_hits(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_misses returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_misses(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_timeouts returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_timeouts(const SSL_CTX *ctx);
-
-/* SSL_CTX_sess_cache_full returns zero. */
-OPENSSL_EXPORT int SSL_CTX_sess_cache_full(const SSL_CTX *ctx);
-
-/* SSL_cutthrough_complete calls |SSL_in_false_start|. */
-OPENSSL_EXPORT int SSL_cutthrough_complete(const SSL *s);
-
-/* SSL_num_renegotiations calls |SSL_total_renegotiations|. */
-OPENSSL_EXPORT int SSL_num_renegotiations(const SSL *ssl);
-
-/* SSL_CTX_need_tmp_RSA returns zero. */
-OPENSSL_EXPORT int SSL_CTX_need_tmp_RSA(const SSL_CTX *ctx);
-
-/* SSL_need_tmp_RSA returns zero. */
-OPENSSL_EXPORT int SSL_need_tmp_RSA(const SSL *ssl);
-
-/* SSL_CTX_set_tmp_rsa returns one. */
-OPENSSL_EXPORT int SSL_CTX_set_tmp_rsa(SSL_CTX *ctx, const RSA *rsa);
-
-/* SSL_set_tmp_rsa returns one. */
-OPENSSL_EXPORT int SSL_set_tmp_rsa(SSL *ssl, const RSA *rsa);
-
-/* SSL_CTX_get_read_head returns zero. */
-OPENSSL_EXPORT int SSL_CTX_get_read_ahead(const SSL_CTX *ctx);
-
-/* SSL_CTX_set_read_ahead does nothing. */
-OPENSSL_EXPORT void SSL_CTX_set_read_ahead(SSL_CTX *ctx, int yes);
-
-/* SSL_get_read_head returns zero. */
-OPENSSL_EXPORT int SSL_get_read_ahead(const SSL *s);
-
-/* SSL_set_read_ahead does nothing. */
-OPENSSL_EXPORT void SSL_set_read_ahead(SSL *s, int yes);
-
-/* SSL_renegotiate put an error on the error queue and returns zero. */
-OPENSSL_EXPORT int SSL_renegotiate(SSL *ssl);
-
-/* SSL_set_state does nothing. */
-OPENSSL_EXPORT void SSL_set_state(SSL *ssl, int state);
-
-
-/* Android compatibility section.
- *
- * These functions are declared, temporarily, for Android because
- * wpa_supplicant will take a little time to sync with upstream. Outside of
- * Android they'll have no definition. */
-
-#define SSL_F_SSL_SET_SESSION_TICKET_EXT doesnt_exist
-
-OPENSSL_EXPORT int SSL_set_session_ticket_ext(SSL *s, void *ext_data,
-                                              int ext_len);
-OPENSSL_EXPORT int SSL_set_session_secret_cb(SSL *s, void *cb, void *arg);
-OPENSSL_EXPORT int SSL_set_session_ticket_ext_cb(SSL *s, void *cb, void *arg);
-OPENSSL_EXPORT int SSL_set_ssl_method(SSL *s, const SSL_METHOD *method);
-
-#define OPENSSL_VERSION_TEXT "BoringSSL"
-
-#define SSLEAY_VERSION 0
-
-/* SSLeay_version is a compatibility function that returns the string
- * "BoringSSL". */
-OPENSSL_EXPORT const char *SSLeay_version(int unused);
-
-
-/* Preprocessor compatibility section.
- *
- * Historically, a number of APIs were implemented in OpenSSL as macros and
- * constants to 'ctrl' functions. To avoid breaking #ifdefs in consumers, this
- * section defines a number of legacy macros. */
-
-#define SSL_CTRL_NEED_TMP_RSA doesnt_exist
-#define SSL_CTRL_SET_TMP_RSA doesnt_exist
-#define SSL_CTRL_SET_TMP_DH doesnt_exist
-#define SSL_CTRL_SET_TMP_ECDH doesnt_exist
-#define SSL_CTRL_SET_TMP_RSA_CB doesnt_exist
-#define SSL_CTRL_SET_TMP_DH_CB doesnt_exist
-#define SSL_CTRL_SET_TMP_ECDH_CB doesnt_exist
-#define SSL_CTRL_GET_SESSION_REUSED doesnt_exist
-#define SSL_CTRL_GET_NUM_RENEGOTIATIONS doesnt_exist
-#define SSL_CTRL_GET_TOTAL_RENEGOTIATIONS doesnt_exist
-#define SSL_CTRL_SET_MSG_CALLBACK doesnt_exist
-#define SSL_CTRL_SET_MSG_CALLBACK_ARG doesnt_exist
-#define SSL_CTRL_SET_MTU doesnt_exist
-#define SSL_CTRL_SESS_NUMBER doesnt_exist
-#define SSL_CTRL_OPTIONS doesnt_exist
-#define SSL_CTRL_MODE doesnt_exist
-#define SSL_CTRL_GET_READ_AHEAD doesnt_exist
-#define SSL_CTRL_SET_READ_AHEAD doesnt_exist
-#define SSL_CTRL_SET_SESS_CACHE_SIZE doesnt_exist
-#define SSL_CTRL_GET_SESS_CACHE_SIZE doesnt_exist
-#define SSL_CTRL_SET_SESS_CACHE_MODE doesnt_exist
-#define SSL_CTRL_GET_SESS_CACHE_MODE doesnt_exist
-#define SSL_CTRL_GET_MAX_CERT_LIST doesnt_exist
-#define SSL_CTRL_SET_MAX_CERT_LIST doesnt_exist
-#define SSL_CTRL_SET_MAX_SEND_FRAGMENT doesnt_exist
-#define SSL_CTRL_SET_TLSEXT_SERVERNAME_CB doesnt_exist
-#define SSL_CTRL_SET_TLSEXT_SERVERNAME_ARG doesnt_exist
-#define SSL_CTRL_SET_TLSEXT_HOSTNAME doesnt_exist
-#define SSL_CTRL_SET_TLSEXT_TICKET_KEY_CB doesnt_exist
-#define DTLS_CTRL_GET_TIMEOUT doesnt_exist
-#define DTLS_CTRL_HANDLE_TIMEOUT doesnt_exist
-#define SSL_CTRL_GET_RI_SUPPORT doesnt_exist
-#define SSL_CTRL_CLEAR_OPTIONS doesnt_exist
-#define SSL_CTRL_CLEAR_MODE doesnt_exist
-#define SSL_CTRL_CHANNEL_ID doesnt_exist
-#define SSL_CTRL_GET_CHANNEL_ID doesnt_exist
-#define SSL_CTRL_SET_CHANNEL_ID doesnt_exist
-
-#define SSL_CTX_need_tmp_RSA SSL_CTX_need_tmp_RSA
-#define SSL_need_tmp_RSA SSL_need_tmp_RSA
-#define SSL_CTX_set_tmp_rsa SSL_CTX_set_tmp_rsa
-#define SSL_set_tmp_rsa SSL_set_tmp_rsa
-#define SSL_CTX_set_tmp_dh SSL_CTX_set_tmp_dh
-#define SSL_set_tmp_dh SSL_set_tmp_dh
-#define SSL_CTX_set_tmp_ecdh SSL_CTX_set_tmp_ecdh
-#define SSL_set_tmp_ecdh SSL_set_tmp_ecdh
-#define SSL_session_reused SSL_session_reused
-#define SSL_num_renegotiations SSL_num_renegotiations
-#define SSL_total_renegotiations SSL_total_renegotiations
-#define SSL_CTX_set_msg_callback_arg SSL_CTX_set_msg_callback_arg
-#define SSL_set_msg_callback_arg SSL_set_msg_callback_arg
-#define SSL_set_mtu SSL_set_mtu
-#define SSL_CTX_sess_number SSL_CTX_sess_number
-#define SSL_CTX_get_options SSL_CTX_get_options
-#define SSL_CTX_set_options SSL_CTX_set_options
-#define SSL_get_options SSL_get_options
-#define SSL_set_options SSL_set_options
-#define SSL_CTX_get_mode SSL_CTX_get_mode
-#define SSL_CTX_set_mode SSL_CTX_set_mode
-#define SSL_get_mode SSL_get_mode
-#define SSL_set_mode SSL_set_mode
-#define SSL_CTX_get_read_ahead SSL_CTX_get_read_ahead
-#define SSL_CTX_set_read_ahead SSL_CTX_set_read_ahead
-#define SSL_CTX_sess_set_cache_size SSL_CTX_sess_set_cache_size
-#define SSL_CTX_sess_get_cache_size SSL_CTX_sess_get_cache_size
-#define SSL_CTX_set_session_cache_mode SSL_CTX_set_session_cache_mode
-#define SSL_CTX_get_session_cache_mode SSL_CTX_get_session_cache_mode
-#define SSL_CTX_get_max_cert_list SSL_CTX_get_max_cert_list
-#define SSL_get_max_cert_list SSL_get_max_cert_list
-#define SSL_CTX_set_max_cert_list SSL_CTX_set_max_cert_list
-#define SSL_set_max_cert_list SSL_set_max_cert_list
-#define SSL_CTX_set_max_send_fragment SSL_CTX_set_max_send_fragment
-#define SSL_set_max_send_fragment SSL_set_max_send_fragment
-#define SSL_CTX_set_tlsext_servername_callback \
-    SSL_CTX_set_tlsext_servername_callback
-#define SSL_CTX_set_tlsext_servername_arg SSL_CTX_set_tlsext_servername_arg
-#define SSL_set_tlsext_host_name SSL_set_tlsext_host_name
-#define SSL_CTX_set_tlsext_ticket_key_cb SSL_CTX_set_tlsext_ticket_key_cb
-#define DTLSv1_get_timeout DTLSv1_get_timeout
-#define DTLSv1_handle_timeout DTLSv1_handle_timeout
-#define SSL_get_secure_renegotiation_support \
-    SSL_get_secure_renegotiation_support
-#define SSL_CTX_clear_options SSL_CTX_clear_options
-#define SSL_clear_options SSL_clear_options
-#define SSL_CTX_clear_mode SSL_CTX_clear_mode
-#define SSL_clear_mode SSL_clear_mode
-#define SSL_CTX_enable_tls_channel_id SSL_CTX_enable_tls_channel_id
-#define SSL_enable_tls_channel_id SSL_enable_tls_channel_id
-#define SSL_set1_tls_channel_id SSL_set1_tls_channel_id
-#define SSL_CTX_set1_tls_channel_id SSL_CTX_set1_tls_channel_id
-#define SSL_get_tls_channel_id SSL_get_tls_channel_id
-
-
-#if defined(__cplusplus)
-} /* extern C */
-#endif
-
-
-/* Library consumers assume these headers are included by ssl.h, but they depend
- * on ssl.h, so include them after all declarations.
- *
- * TODO(davidben): The separation between ssl.h and these version-specific
- * headers introduces circular dependencies and is inconsistent. The function
- * declarations should move to ssl.h. Many of the constants can probably be
- * pruned or unexported. */
-#include <openssl/ssl2.h>
-#include <openssl/ssl3.h>
-#include <openssl/tls1.h> /* This is mostly sslv3 with a few tweaks */
-#include <openssl/ssl23.h>
-#include <openssl/srtp.h>  /* Support for the use_srtp extension */
-
-
-/* BEGIN ERROR CODES */
-/* The following lines are auto generated by the script make_errors.go. Any
- * changes made after this point may be overwritten when the script is next run.
- */
-#define SSL_F_SSL_CTX_check_private_key 100
-#define SSL_F_SSL_CTX_new 101
-#define SSL_F_SSL_CTX_set_cipher_list 102
-#define SSL_F_SSL_CTX_set_cipher_list_tls11 103
-#define SSL_F_SSL_CTX_set_session_id_context 104
-#define SSL_F_SSL_CTX_use_PrivateKey 105
-#define SSL_F_SSL_CTX_use_PrivateKey_ASN1 106
-#define SSL_F_SSL_CTX_use_PrivateKey_file 107
-#define SSL_F_SSL_CTX_use_RSAPrivateKey 108
-#define SSL_F_SSL_CTX_use_RSAPrivateKey_ASN1 109
-#define SSL_F_SSL_CTX_use_RSAPrivateKey_file 110
-#define SSL_F_SSL_CTX_use_certificate 111
-#define SSL_F_SSL_CTX_use_certificate_ASN1 112
-#define SSL_F_SSL_CTX_use_certificate_chain_file 113
-#define SSL_F_SSL_CTX_use_certificate_file 114
-#define SSL_F_SSL_CTX_use_psk_identity_hint 115
-#define SSL_F_SSL_SESSION_new 116
-#define SSL_F_SSL_SESSION_print_fp 117
-#define SSL_F_SSL_SESSION_set1_id_context 118
-#define SSL_F_SSL_SESSION_to_bytes_full 119
-#define SSL_F_SSL_accept 120
-#define SSL_F_SSL_add_dir_cert_subjects_to_stack 121
-#define SSL_F_SSL_add_file_cert_subjects_to_stack 122
-#define SSL_F_SSL_check_private_key 123
-#define SSL_F_SSL_clear 124
-#define SSL_F_SSL_connect 125
-#define SSL_F_SSL_do_handshake 126
-#define SSL_F_SSL_load_client_CA_file 127
-#define SSL_F_SSL_new 128
-#define SSL_F_SSL_peek 129
-#define SSL_F_SSL_read 130
-#define SSL_F_SSL_renegotiate 131
-#define SSL_F_SSL_set_cipher_list 132
-#define SSL_F_SSL_set_fd 133
-#define SSL_F_SSL_set_rfd 134
-#define SSL_F_SSL_set_session_id_context 135
-#define SSL_F_SSL_set_wfd 136
-#define SSL_F_SSL_shutdown 137
-#define SSL_F_SSL_use_PrivateKey 138
-#define SSL_F_SSL_use_PrivateKey_ASN1 139
-#define SSL_F_SSL_use_PrivateKey_file 140
-#define SSL_F_SSL_use_RSAPrivateKey 141
-#define SSL_F_SSL_use_RSAPrivateKey_ASN1 142
-#define SSL_F_SSL_use_RSAPrivateKey_file 143
-#define SSL_F_SSL_use_certificate 144
-#define SSL_F_SSL_use_certificate_ASN1 145
-#define SSL_F_SSL_use_certificate_file 146
-#define SSL_F_SSL_use_psk_identity_hint 147
-#define SSL_F_SSL_write 148
-#define SSL_F_d2i_SSL_SESSION 149
-#define SSL_F_d2i_SSL_SESSION_get_octet_string 150
-#define SSL_F_d2i_SSL_SESSION_get_string 151
-#define SSL_F_do_ssl3_write 152
-#define SSL_F_dtls1_accept 153
-#define SSL_F_dtls1_buffer_record 154
-#define SSL_F_dtls1_check_timeout_num 155
-#define SSL_F_dtls1_connect 156
-#define SSL_F_dtls1_do_write 157
-#define SSL_F_dtls1_get_hello_verify 158
-#define SSL_F_dtls1_get_message 159
-#define SSL_F_dtls1_get_message_fragment 160
-#define SSL_F_dtls1_preprocess_fragment 161
-#define SSL_F_dtls1_process_record 162
-#define SSL_F_dtls1_read_bytes 163
-#define SSL_F_dtls1_send_hello_verify_request 164
-#define SSL_F_dtls1_write_app_data 165
-#define SSL_F_i2d_SSL_SESSION 166
-#define SSL_F_ssl3_accept 167
-#define SSL_F_ssl3_cert_verify_hash 169
-#define SSL_F_ssl3_check_cert_and_algorithm 170
-#define SSL_F_ssl3_connect 171
-#define SSL_F_ssl3_ctrl 172
-#define SSL_F_ssl3_ctx_ctrl 173
-#define SSL_F_ssl3_digest_cached_records 174
-#define SSL_F_ssl3_do_change_cipher_spec 175
-#define SSL_F_ssl3_expect_change_cipher_spec 176
-#define SSL_F_ssl3_get_cert_status 177
-#define SSL_F_ssl3_get_cert_verify 178
-#define SSL_F_ssl3_get_certificate_request 179
-#define SSL_F_ssl3_get_channel_id 180
-#define SSL_F_ssl3_get_client_certificate 181
-#define SSL_F_ssl3_get_client_hello 182
-#define SSL_F_ssl3_get_client_key_exchange 183
-#define SSL_F_ssl3_get_finished 184
-#define SSL_F_ssl3_get_initial_bytes 185
-#define SSL_F_ssl3_get_message 186
-#define SSL_F_ssl3_get_new_session_ticket 187
-#define SSL_F_ssl3_get_next_proto 188
-#define SSL_F_ssl3_get_record 189
-#define SSL_F_ssl3_get_server_certificate 190
-#define SSL_F_ssl3_get_server_done 191
-#define SSL_F_ssl3_get_server_hello 192
-#define SSL_F_ssl3_get_server_key_exchange 193
-#define SSL_F_ssl3_get_v2_client_hello 194
-#define SSL_F_ssl3_handshake_mac 195
-#define SSL_F_ssl3_prf 196
-#define SSL_F_ssl3_read_bytes 197
-#define SSL_F_ssl3_read_n 198
-#define SSL_F_ssl3_send_cert_verify 199
-#define SSL_F_ssl3_send_certificate_request 200
-#define SSL_F_ssl3_send_channel_id 201
-#define SSL_F_ssl3_send_client_certificate 202
-#define SSL_F_ssl3_send_client_hello 203
-#define SSL_F_ssl3_send_client_key_exchange 204
-#define SSL_F_ssl3_send_server_certificate 205
-#define SSL_F_ssl3_send_server_hello 206
-#define SSL_F_ssl3_send_server_key_exchange 207
-#define SSL_F_ssl3_setup_read_buffer 208
-#define SSL_F_ssl3_setup_write_buffer 209
-#define SSL_F_ssl3_write_bytes 210
-#define SSL_F_ssl3_write_pending 211
-#define SSL_F_ssl_add_cert_chain 212
-#define SSL_F_ssl_add_cert_to_buf 213
-#define SSL_F_ssl_add_clienthello_renegotiate_ext 214
-#define SSL_F_ssl_add_clienthello_tlsext 215
-#define SSL_F_ssl_add_clienthello_use_srtp_ext 216
-#define SSL_F_ssl_add_serverhello_renegotiate_ext 217
-#define SSL_F_ssl_add_serverhello_tlsext 218
-#define SSL_F_ssl_add_serverhello_use_srtp_ext 219
-#define SSL_F_ssl_build_cert_chain 220
-#define SSL_F_ssl_bytes_to_cipher_list 221
-#define SSL_F_ssl_cert_dup 222
-#define SSL_F_ssl_cert_inst 223
-#define SSL_F_ssl_cert_new 224
-#define SSL_F_ssl_check_serverhello_tlsext 225
-#define SSL_F_ssl_check_srvr_ecc_cert_and_alg 226
-#define SSL_F_ssl_cipher_process_rulestr 227
-#define SSL_F_ssl_cipher_strength_sort 228
-#define SSL_F_ssl_create_cipher_list 229
-#define SSL_F_ssl_ctx_log_master_secret 230
-#define SSL_F_ssl_ctx_log_rsa_client_key_exchange 231
-#define SSL_F_ssl_ctx_make_profiles 232
-#define SSL_F_ssl_get_new_session 233
-#define SSL_F_ssl_get_prev_session 234
-#define SSL_F_ssl_get_server_cert_index 235
-#define SSL_F_ssl_get_sign_pkey 236
-#define SSL_F_ssl_init_wbio_buffer 237
-#define SSL_F_ssl_parse_clienthello_renegotiate_ext 238
-#define SSL_F_ssl_parse_clienthello_tlsext 239
-#define SSL_F_ssl_parse_clienthello_use_srtp_ext 240
-#define SSL_F_ssl_parse_serverhello_renegotiate_ext 241
-#define SSL_F_ssl_parse_serverhello_tlsext 242
-#define SSL_F_ssl_parse_serverhello_use_srtp_ext 243
-#define SSL_F_ssl_scan_clienthello_tlsext 244
-#define SSL_F_ssl_scan_serverhello_tlsext 245
-#define SSL_F_ssl_sess_cert_new 246
-#define SSL_F_ssl_set_cert 247
-#define SSL_F_ssl_set_pkey 248
-#define SSL_F_ssl_verify_cert_chain 252
-#define SSL_F_tls12_check_peer_sigalg 253
-#define SSL_F_tls1_aead_ctx_init 254
-#define SSL_F_tls1_cert_verify_mac 255
-#define SSL_F_tls1_change_cipher_state 256
-#define SSL_F_tls1_change_cipher_state_aead 257
-#define SSL_F_tls1_check_duplicate_extensions 258
-#define SSL_F_tls1_enc 259
-#define SSL_F_tls1_export_keying_material 260
-#define SSL_F_tls1_prf 261
-#define SSL_F_tls1_setup_key_block 262
-#define SSL_F_dtls1_get_buffered_message 263
-#define SSL_F_dtls1_process_fragment 264
-#define SSL_F_dtls1_hm_fragment_new 265
-#define SSL_F_ssl3_seal_record 266
-#define SSL_F_ssl3_record_sequence_update 267
-#define SSL_F_SSL_CTX_set_tmp_dh 268
-#define SSL_F_SSL_CTX_set_tmp_ecdh 269
-#define SSL_F_SSL_set_tmp_dh 270
-#define SSL_F_SSL_set_tmp_ecdh 271
-#define SSL_F_SSL_CTX_set1_tls_channel_id 272
-#define SSL_F_SSL_set1_tls_channel_id 273
-#define SSL_F_SSL_set_tlsext_host_name 274
-#define SSL_F_ssl3_output_cert_chain 275
-#define SSL_F_SSL_AEAD_CTX_new 276
-#define SSL_F_SSL_AEAD_CTX_open 277
-#define SSL_F_SSL_AEAD_CTX_seal 278
-#define SSL_F_dtls1_seal_record 279
-#define SSL_R_APP_DATA_IN_HANDSHAKE 100
-#define SSL_R_ATTEMPT_TO_REUSE_SESSION_IN_DIFFERENT_CONTEXT 101
-#define SSL_R_BAD_ALERT 102
-#define SSL_R_BAD_CHANGE_CIPHER_SPEC 103
-#define SSL_R_BAD_DATA_RETURNED_BY_CALLBACK 104
-#define SSL_R_BAD_DH_P_LENGTH 105
-#define SSL_R_BAD_DIGEST_LENGTH 106
-#define SSL_R_BAD_ECC_CERT 107
-#define SSL_R_BAD_ECPOINT 108
-#define SSL_R_BAD_HANDSHAKE_LENGTH 109
-#define SSL_R_BAD_HANDSHAKE_RECORD 110
-#define SSL_R_BAD_HELLO_REQUEST 111
-#define SSL_R_BAD_LENGTH 112
-#define SSL_R_BAD_PACKET_LENGTH 113
-#define SSL_R_BAD_RSA_ENCRYPT 114
-#define SSL_R_BAD_SIGNATURE 115
-#define SSL_R_BAD_SRTP_MKI_VALUE 116
-#define SSL_R_BAD_SRTP_PROTECTION_PROFILE_LIST 117
-#define SSL_R_BAD_SSL_FILETYPE 118
-#define SSL_R_BAD_WRITE_RETRY 119
-#define SSL_R_BIO_NOT_SET 120
-#define SSL_R_BN_LIB 121
-#define SSL_R_CANNOT_SERIALIZE_PUBLIC_KEY 122
-#define SSL_R_CA_DN_LENGTH_MISMATCH 123
-#define SSL_R_CA_DN_TOO_LONG 124
-#define SSL_R_CCS_RECEIVED_EARLY 125
-#define SSL_R_CERTIFICATE_VERIFY_FAILED 126
-#define SSL_R_CERT_CB_ERROR 127
-#define SSL_R_CERT_LENGTH_MISMATCH 128
-#define SSL_R_CHANNEL_ID_NOT_P256 129
-#define SSL_R_CHANNEL_ID_SIGNATURE_INVALID 130
-#define SSL_R_CIPHER_CODE_WRONG_LENGTH 131
-#define SSL_R_CIPHER_OR_HASH_UNAVAILABLE 132
-#define SSL_R_CLIENTHELLO_PARSE_FAILED 133
-#define SSL_R_CLIENTHELLO_TLSEXT 134
-#define SSL_R_CONNECTION_REJECTED 135
-#define SSL_R_CONNECTION_TYPE_NOT_SET 136
-#define SSL_R_COOKIE_MISMATCH 137
-#define SSL_R_D2I_ECDSA_SIG 138
-#define SSL_R_DATA_BETWEEN_CCS_AND_FINISHED 139
-#define SSL_R_DATA_LENGTH_TOO_LONG 140
-#define SSL_R_DECODE_ERROR 141
-#define SSL_R_DECRYPTION_FAILED 142
-#define SSL_R_DECRYPTION_FAILED_OR_BAD_RECORD_MAC 143
-#define SSL_R_DH_PUBLIC_VALUE_LENGTH_IS_WRONG 144
-#define SSL_R_DIGEST_CHECK_FAILED 145
-#define SSL_R_DTLS_MESSAGE_TOO_BIG 146
-#define SSL_R_ECC_CERT_NOT_FOR_SIGNING 147
-#define SSL_R_EMPTY_SRTP_PROTECTION_PROFILE_LIST 148
-#define SSL_R_ENCRYPTED_LENGTH_TOO_LONG 149
-#define SSL_R_ERROR_IN_RECEIVED_CIPHER_LIST 150
-#define SSL_R_EVP_DIGESTSIGNFINAL_FAILED 151
-#define SSL_R_EVP_DIGESTSIGNINIT_FAILED 152
-#define SSL_R_EXCESSIVE_MESSAGE_SIZE 153
-#define SSL_R_EXTRA_DATA_IN_MESSAGE 154
-#define SSL_R_GOT_A_FIN_BEFORE_A_CCS 155
-#define SSL_R_GOT_CHANNEL_ID_BEFORE_A_CCS 156
-#define SSL_R_GOT_NEXT_PROTO_BEFORE_A_CCS 157
-#define SSL_R_GOT_NEXT_PROTO_WITHOUT_EXTENSION 158
-#define SSL_R_HANDSHAKE_FAILURE_ON_CLIENT_HELLO 159
-#define SSL_R_HANDSHAKE_RECORD_BEFORE_CCS 160
-#define SSL_R_HTTPS_PROXY_REQUEST 161
-#define SSL_R_HTTP_REQUEST 162
-#define SSL_R_INAPPROPRIATE_FALLBACK 163
-#define SSL_R_INVALID_COMMAND 164
-#define SSL_R_INVALID_MESSAGE 165
-#define SSL_R_INVALID_SSL_SESSION 166
-#define SSL_R_INVALID_TICKET_KEYS_LENGTH 167
-#define SSL_R_LENGTH_MISMATCH 168
-#define SSL_R_LIBRARY_HAS_NO_CIPHERS 169
-#define SSL_R_MISSING_DH_KEY 170
-#define SSL_R_MISSING_ECDSA_SIGNING_CERT 171
-#define SSL_R_MISSING_RSA_CERTIFICATE 172
-#define SSL_R_MISSING_RSA_ENCRYPTING_CERT 173
-#define SSL_R_MISSING_RSA_SIGNING_CERT 174
-#define SSL_R_MISSING_TMP_DH_KEY 175
-#define SSL_R_MISSING_TMP_ECDH_KEY 176
-#define SSL_R_MIXED_SPECIAL_OPERATOR_WITH_GROUPS 177
-#define SSL_R_MTU_TOO_SMALL 178
-#define SSL_R_NESTED_GROUP 179
-#define SSL_R_NO_CERTIFICATES_RETURNED 180
-#define SSL_R_NO_CERTIFICATE_ASSIGNED 181
-#define SSL_R_NO_CERTIFICATE_SET 182
-#define SSL_R_NO_CIPHERS_AVAILABLE 183
-#define SSL_R_NO_CIPHERS_PASSED 184
-#define SSL_R_NO_CIPHERS_SPECIFIED 185
-#define SSL_R_NO_CIPHER_MATCH 186
-#define SSL_R_NO_COMPRESSION_SPECIFIED 187
-#define SSL_R_NO_METHOD_SPECIFIED 188
-#define SSL_R_NO_P256_SUPPORT 189
-#define SSL_R_NO_PRIVATE_KEY_ASSIGNED 190
-#define SSL_R_NO_RENEGOTIATION 191
-#define SSL_R_NO_REQUIRED_DIGEST 192
-#define SSL_R_NO_SHARED_CIPHER 193
-#define SSL_R_NO_SHARED_SIGATURE_ALGORITHMS 194
-#define SSL_R_NO_SRTP_PROFILES 195
-#define SSL_R_NULL_SSL_CTX 196
-#define SSL_R_NULL_SSL_METHOD_PASSED 197
-#define SSL_R_OLD_SESSION_CIPHER_NOT_RETURNED 198
-#define SSL_R_PACKET_LENGTH_TOO_LONG 199
-#define SSL_R_PARSE_TLSEXT 200
-#define SSL_R_PATH_TOO_LONG 201
-#define SSL_R_PEER_DID_NOT_RETURN_A_CERTIFICATE 202
-#define SSL_R_PEER_ERROR_UNSUPPORTED_CERTIFICATE_TYPE 203
-#define SSL_R_PROTOCOL_IS_SHUTDOWN 204
-#define SSL_R_PSK_IDENTITY_NOT_FOUND 205
-#define SSL_R_PSK_NO_CLIENT_CB 206
-#define SSL_R_PSK_NO_SERVER_CB 207
-#define SSL_R_READ_BIO_NOT_SET 208
-#define SSL_R_READ_TIMEOUT_EXPIRED 209
-#define SSL_R_RECORD_LENGTH_MISMATCH 210
-#define SSL_R_RECORD_TOO_LARGE 211
-#define SSL_R_RENEGOTIATE_EXT_TOO_LONG 212
-#define SSL_R_RENEGOTIATION_ENCODING_ERR 213
-#define SSL_R_RENEGOTIATION_MISMATCH 214
-#define SSL_R_REQUIRED_CIPHER_MISSING 215
-#define SSL_R_SCSV_RECEIVED_WHEN_RENEGOTIATING 216
-#define SSL_R_SERVERHELLO_TLSEXT 217
-#define SSL_R_SESSION_ID_CONTEXT_UNINITIALIZED 218
-#define SSL_R_SESSION_MAY_NOT_BE_CREATED 219
-#define SSL_R_SIGNATURE_ALGORITHMS_ERROR 220
-#define SSL_R_SRTP_COULD_NOT_ALLOCATE_PROFILES 221
-#define SSL_R_SRTP_PROTECTION_PROFILE_LIST_TOO_LONG 222
-#define SSL_R_SRTP_UNKNOWN_PROTECTION_PROFILE 223
-#define SSL_R_SSL3_EXT_INVALID_SERVERNAME 224
-#define SSL_R_SSL3_EXT_INVALID_SERVERNAME_TYPE 225
-#define SSL_R_SSL_CTX_HAS_NO_DEFAULT_SSL_VERSION 226
-#define SSL_R_SSL_HANDSHAKE_FAILURE 227
-#define SSL_R_SSL_SESSION_ID_CALLBACK_FAILED 228
-#define SSL_R_SSL_SESSION_ID_CONFLICT 229
-#define SSL_R_SSL_SESSION_ID_CONTEXT_TOO_LONG 230
-#define SSL_R_SSL_SESSION_ID_HAS_BAD_LENGTH 231
-#define SSL_R_TLS_CLIENT_CERT_REQ_WITH_ANON_CIPHER 232
-#define SSL_R_TLS_ILLEGAL_EXPORTER_LABEL 233
-#define SSL_R_TLS_INVALID_ECPOINTFORMAT_LIST 234
-#define SSL_R_TLS_PEER_DID_NOT_RESPOND_WITH_CERTIFICATE_LIST 235
-#define SSL_R_TLS_RSA_ENCRYPTED_VALUE_LENGTH_IS_WRONG 236
-#define SSL_R_TOO_MANY_EMPTY_FRAGMENTS 237
-#define SSL_R_UNABLE_TO_FIND_ECDH_PARAMETERS 238
-#define SSL_R_UNABLE_TO_FIND_PUBLIC_KEY_PARAMETERS 239
-#define SSL_R_UNEXPECTED_GROUP_CLOSE 240
-#define SSL_R_UNEXPECTED_MESSAGE 241
-#define SSL_R_UNEXPECTED_OPERATOR_IN_GROUP 242
-#define SSL_R_UNEXPECTED_RECORD 243
-#define SSL_R_UNINITIALIZED 244
-#define SSL_R_UNKNOWN_ALERT_TYPE 245
-#define SSL_R_UNKNOWN_CERTIFICATE_TYPE 246
-#define SSL_R_UNKNOWN_CIPHER_RETURNED 247
-#define SSL_R_UNKNOWN_CIPHER_TYPE 248
-#define SSL_R_UNKNOWN_DIGEST 249
-#define SSL_R_UNKNOWN_KEY_EXCHANGE_TYPE 250
-#define SSL_R_UNKNOWN_PROTOCOL 251
-#define SSL_R_UNKNOWN_SSL_VERSION 252
-#define SSL_R_UNKNOWN_STATE 253
-#define SSL_R_UNPROCESSED_HANDSHAKE_DATA 254
-#define SSL_R_UNSAFE_LEGACY_RENEGOTIATION_DISABLED 255
-#define SSL_R_UNSUPPORTED_CIPHER 256
-#define SSL_R_UNSUPPORTED_COMPRESSION_ALGORITHM 257
-#define SSL_R_UNSUPPORTED_ELLIPTIC_CURVE 258
-#define SSL_R_UNSUPPORTED_PROTOCOL 259
-#define SSL_R_UNSUPPORTED_SSL_VERSION 260
-#define SSL_R_USE_SRTP_NOT_NEGOTIATED 261
-#define SSL_R_WRONG_CERTIFICATE_TYPE 262
-#define SSL_R_WRONG_CIPHER_RETURNED 263
-#define SSL_R_WRONG_CURVE 264
-#define SSL_R_WRONG_MESSAGE_TYPE 265
-#define SSL_R_WRONG_SIGNATURE_TYPE 266
-#define SSL_R_WRONG_SSL_VERSION 267
-#define SSL_R_WRONG_VERSION_NUMBER 268
-#define SSL_R_X509_LIB 269
-#define SSL_R_X509_VERIFICATION_SETUP_PROBLEMS 270
-#define SSL_R_FRAGMENT_MISMATCH 271
-#define SSL_R_BUFFER_TOO_SMALL 272
-#define SSL_R_OLD_SESSION_VERSION_NOT_RETURNED 273
-#define SSL_R_OUTPUT_ALIASES_INPUT 274
-#define SSL_R_RESUMED_EMS_SESSION_WITHOUT_EMS_EXTENSION 275
-#define SSL_R_EMS_STATE_INCONSISTENT 276
-#define SSL_R_RESUMED_NON_EMS_SESSION_WITH_EMS_EXTENSION 277
-#define SSL_R_SSLV3_ALERT_CLOSE_NOTIFY 1000
-#define SSL_R_SSLV3_ALERT_UNEXPECTED_MESSAGE 1010
-#define SSL_R_SSLV3_ALERT_BAD_RECORD_MAC 1020
-#define SSL_R_TLSV1_ALERT_DECRYPTION_FAILED 1021
-#define SSL_R_TLSV1_ALERT_RECORD_OVERFLOW 1022
-#define SSL_R_SSLV3_ALERT_DECOMPRESSION_FAILURE 1030
-#define SSL_R_SSLV3_ALERT_HANDSHAKE_FAILURE 1040
-#define SSL_R_SSLV3_ALERT_NO_CERTIFICATE 1041
-#define SSL_R_SSLV3_ALERT_BAD_CERTIFICATE 1042
-#define SSL_R_SSLV3_ALERT_UNSUPPORTED_CERTIFICATE 1043
-#define SSL_R_SSLV3_ALERT_CERTIFICATE_REVOKED 1044
-#define SSL_R_SSLV3_ALERT_CERTIFICATE_EXPIRED 1045
-#define SSL_R_SSLV3_ALERT_CERTIFICATE_UNKNOWN 1046
-#define SSL_R_SSLV3_ALERT_ILLEGAL_PARAMETER 1047
-#define SSL_R_TLSV1_ALERT_UNKNOWN_CA 1048
-#define SSL_R_TLSV1_ALERT_ACCESS_DENIED 1049
-#define SSL_R_TLSV1_ALERT_DECODE_ERROR 1050
-#define SSL_R_TLSV1_ALERT_DECRYPT_ERROR 1051
-#define SSL_R_TLSV1_ALERT_EXPORT_RESTRICTION 1060
-#define SSL_R_TLSV1_ALERT_PROTOCOL_VERSION 1070
-#define SSL_R_TLSV1_ALERT_INSUFFICIENT_SECURITY 1071
-#define SSL_R_TLSV1_ALERT_INTERNAL_ERROR 1080
-#define SSL_R_TLSV1_ALERT_INAPPROPRIATE_FALLBACK 1086
-#define SSL_R_TLSV1_ALERT_USER_CANCELLED 1090
-#define SSL_R_TLSV1_ALERT_NO_RENEGOTIATION 1100
-#define SSL_R_TLSV1_UNSUPPORTED_EXTENSION 1110
-#define SSL_R_TLSV1_CERTIFICATE_UNOBTAINABLE 1111
-#define SSL_R_TLSV1_UNRECOGNIZED_NAME 1112
-#define SSL_R_TLSV1_BAD_CERTIFICATE_STATUS_RESPONSE 1113
-#define SSL_R_TLSV1_BAD_CERTIFICATE_HASH_VALUE 1114
-
-#endif /* OPENSSL_HEADER_SSL_H */
diff --git a/phonelibs/boringssl/include/openssl/ssl2.h b/phonelibs/boringssl/include/openssl/ssl2.h
deleted file mode 100644
index b8401faaf6684a..00000000000000
--- a/phonelibs/boringssl/include/openssl/ssl2.h
+++ /dev/null
@@ -1,268 +0,0 @@
-/* ssl/ssl2.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- * 
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- * 
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from 
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- * 
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- * 
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-
-#ifndef HEADER_SSL2_H 
-#define HEADER_SSL2_H 
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/* Protocol Version Codes */
-#define SSL2_VERSION		0x0002
-#define SSL2_VERSION_MAJOR	0x00
-#define SSL2_VERSION_MINOR	0x02
-/* #define SSL2_CLIENT_VERSION	0x0002 */
-/* #define SSL2_SERVER_VERSION	0x0002 */
-
-/* Protocol Message Codes */
-#define SSL2_MT_ERROR			0
-#define SSL2_MT_CLIENT_HELLO		1
-#define SSL2_MT_CLIENT_MASTER_KEY	2
-#define SSL2_MT_CLIENT_FINISHED		3
-#define SSL2_MT_SERVER_HELLO		4
-#define SSL2_MT_SERVER_VERIFY		5
-#define SSL2_MT_SERVER_FINISHED		6
-#define SSL2_MT_REQUEST_CERTIFICATE	7
-#define SSL2_MT_CLIENT_CERTIFICATE	8
-
-/* Error Message Codes */
-#define SSL2_PE_UNDEFINED_ERROR		0x0000
-#define SSL2_PE_NO_CIPHER		0x0001
-#define SSL2_PE_NO_CERTIFICATE		0x0002
-#define SSL2_PE_BAD_CERTIFICATE		0x0004
-#define SSL2_PE_UNSUPPORTED_CERTIFICATE_TYPE 0x0006
-
-/* Cipher Kind Values */
-#define SSL2_CK_NULL_WITH_MD5			0x02000000 /* v3 */
-#define SSL2_CK_RC4_128_WITH_MD5		0x02010080
-#define SSL2_CK_RC4_128_EXPORT40_WITH_MD5	0x02020080
-#define SSL2_CK_RC2_128_CBC_WITH_MD5		0x02030080
-#define SSL2_CK_RC2_128_CBC_EXPORT40_WITH_MD5	0x02040080
-#define SSL2_CK_IDEA_128_CBC_WITH_MD5		0x02050080
-#define SSL2_CK_DES_64_CBC_WITH_MD5		0x02060040
-#define SSL2_CK_DES_64_CBC_WITH_SHA		0x02060140 /* v3 */
-#define SSL2_CK_DES_192_EDE3_CBC_WITH_MD5	0x020700c0
-#define SSL2_CK_DES_192_EDE3_CBC_WITH_SHA	0x020701c0 /* v3 */
-#define SSL2_CK_RC4_64_WITH_MD5			0x02080080 /* MS hack */
- 
-#define SSL2_CK_DES_64_CFB64_WITH_MD5_1		0x02ff0800 /* SSLeay */
-#define SSL2_CK_NULL				0x02ff0810 /* SSLeay */
-
-#define SSL2_TXT_DES_64_CFB64_WITH_MD5_1	"DES-CFB-M1"
-#define SSL2_TXT_NULL_WITH_MD5			"NULL-MD5"
-#define SSL2_TXT_RC4_128_WITH_MD5		"RC4-MD5"
-#define SSL2_TXT_RC4_128_EXPORT40_WITH_MD5	"EXP-RC4-MD5"
-#define SSL2_TXT_RC2_128_CBC_WITH_MD5		"RC2-CBC-MD5"
-#define SSL2_TXT_RC2_128_CBC_EXPORT40_WITH_MD5	"EXP-RC2-CBC-MD5"
-#define SSL2_TXT_IDEA_128_CBC_WITH_MD5		"IDEA-CBC-MD5"
-#define SSL2_TXT_DES_64_CBC_WITH_MD5		"DES-CBC-MD5"
-#define SSL2_TXT_DES_64_CBC_WITH_SHA		"DES-CBC-SHA"
-#define SSL2_TXT_DES_192_EDE3_CBC_WITH_MD5	"DES-CBC3-MD5"
-#define SSL2_TXT_DES_192_EDE3_CBC_WITH_SHA	"DES-CBC3-SHA"
-#define SSL2_TXT_RC4_64_WITH_MD5		"RC4-64-MD5"
-
-#define SSL2_TXT_NULL				"NULL"
-
-/* Flags for the SSL_CIPHER.algorithm2 field */
-#define SSL2_CF_5_BYTE_ENC			0x01
-#define SSL2_CF_8_BYTE_ENC			0x02
-
-/* Certificate Type Codes */
-#define SSL2_CT_X509_CERTIFICATE		0x01
-
-/* Authentication Type Code */
-#define SSL2_AT_MD5_WITH_RSA_ENCRYPTION		0x01
-
-#define SSL2_MAX_SSL_SESSION_ID_LENGTH		32
-
-/* Upper/Lower Bounds */
-#define SSL2_MAX_MASTER_KEY_LENGTH_IN_BITS	256
-#ifdef OPENSSL_SYS_MPE
-#define SSL2_MAX_RECORD_LENGTH_2_BYTE_HEADER	29998u
-#else
-#define SSL2_MAX_RECORD_LENGTH_2_BYTE_HEADER	32767u  /* 2^15-1 */
-#endif
-#define SSL2_MAX_RECORD_LENGTH_3_BYTE_HEADER	16383 /* 2^14-1 */
-
-#define SSL2_CHALLENGE_LENGTH	16
-/*#define SSL2_CHALLENGE_LENGTH	32 */
-#define SSL2_MIN_CHALLENGE_LENGTH	16
-#define SSL2_MAX_CHALLENGE_LENGTH	32
-#define SSL2_CONNECTION_ID_LENGTH	16
-#define SSL2_MAX_CONNECTION_ID_LENGTH	16
-#define SSL2_SSL_SESSION_ID_LENGTH	16
-#define SSL2_MAX_CERT_CHALLENGE_LENGTH	32
-#define SSL2_MIN_CERT_CHALLENGE_LENGTH	16
-#define SSL2_MAX_KEY_MATERIAL_LENGTH	24
-
-#ifndef OPENSSL_NO_SSL_INTERN
-
-typedef struct ssl2_state_st
-	{
-	int three_byte_header;
-	int clear_text;		/* clear text */
-	int escape;		/* not used in SSLv2 */
-	int ssl2_rollback;	/* used if SSLv23 rolled back to SSLv2 */
-
-	/* non-blocking io info, used to make sure the same
-	 * args were passwd */
-	unsigned int wnum;	/* number of bytes sent so far */
-	int wpend_tot;
-	const unsigned char *wpend_buf;
-
-	int wpend_off;	/* offset to data to write */
-	int wpend_len; 	/* number of bytes passwd to write */
-	int wpend_ret; 	/* number of bytes to return to caller */
-
-	/* buffer raw data */
-	int rbuf_left;
-	int rbuf_offs;
-	unsigned char *rbuf;
-	unsigned char *wbuf;
-
-	unsigned char *write_ptr;/* used to point to the start due to
-				  * 2/3 byte header. */
-
-	unsigned int padding;
-	unsigned int rlength; /* passed to ssl2_enc */
-	int ract_data_length; /* Set when things are encrypted. */
-	unsigned int wlength; /* passed to ssl2_enc */
-	int wact_data_length; /* Set when things are decrypted. */
-	unsigned char *ract_data;
-	unsigned char *wact_data;
-	unsigned char *mac_data;
-
-	unsigned char *read_key;
-	unsigned char *write_key;
-
-		/* Stuff specifically to do with this SSL session */
-	unsigned int challenge_length;
-	unsigned char challenge[SSL2_MAX_CHALLENGE_LENGTH];
-	unsigned int conn_id_length;
-	unsigned char conn_id[SSL2_MAX_CONNECTION_ID_LENGTH];
-	unsigned int key_material_length;
-	unsigned char key_material[SSL2_MAX_KEY_MATERIAL_LENGTH*2];
-
-	unsigned long read_sequence;
-	unsigned long write_sequence;
-
-	struct	{
-		unsigned int conn_id_length;
-		unsigned int cert_type;	
-		unsigned int cert_length;
-		unsigned int csl; 
-		unsigned int clear;
-		unsigned int enc; 
-		unsigned char ccl[SSL2_MAX_CERT_CHALLENGE_LENGTH];
-		unsigned int cipher_spec_length;
-		unsigned int session_id_length;
-		unsigned int clen;
-		unsigned int rlen;
-		} tmp;
-	} SSL2_STATE;
-
-#endif
-
-/* SSLv2 */
-/* client */
-#define SSL2_ST_SEND_CLIENT_HELLO_A		(0x10|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_HELLO_B		(0x11|SSL_ST_CONNECT)
-#define SSL2_ST_GET_SERVER_HELLO_A		(0x20|SSL_ST_CONNECT)
-#define SSL2_ST_GET_SERVER_HELLO_B		(0x21|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_MASTER_KEY_A	(0x30|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_MASTER_KEY_B	(0x31|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_FINISHED_A		(0x40|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_FINISHED_B		(0x41|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_CERTIFICATE_A	(0x50|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_CERTIFICATE_B	(0x51|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_CERTIFICATE_C	(0x52|SSL_ST_CONNECT)
-#define SSL2_ST_SEND_CLIENT_CERTIFICATE_D	(0x53|SSL_ST_CONNECT)
-#define SSL2_ST_GET_SERVER_VERIFY_A		(0x60|SSL_ST_CONNECT)
-#define SSL2_ST_GET_SERVER_VERIFY_B		(0x61|SSL_ST_CONNECT)
-#define SSL2_ST_GET_SERVER_FINISHED_A		(0x70|SSL_ST_CONNECT)
-#define SSL2_ST_GET_SERVER_FINISHED_B		(0x71|SSL_ST_CONNECT)
-#define SSL2_ST_CLIENT_START_ENCRYPTION		(0x80|SSL_ST_CONNECT)
-#define SSL2_ST_X509_GET_CLIENT_CERTIFICATE	(0x90|SSL_ST_CONNECT)
-/* server */
-#define SSL2_ST_GET_CLIENT_HELLO_A		(0x10|SSL_ST_ACCEPT)
-#define SSL2_ST_GET_CLIENT_HELLO_B		(0x11|SSL_ST_ACCEPT)
-#define SSL2_ST_GET_CLIENT_HELLO_C		(0x12|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_SERVER_HELLO_A		(0x20|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_SERVER_HELLO_B		(0x21|SSL_ST_ACCEPT)
-#define SSL2_ST_GET_CLIENT_MASTER_KEY_A		(0x30|SSL_ST_ACCEPT)
-#define SSL2_ST_GET_CLIENT_MASTER_KEY_B		(0x31|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_SERVER_VERIFY_A		(0x40|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_SERVER_VERIFY_B		(0x41|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_SERVER_VERIFY_C		(0x42|SSL_ST_ACCEPT)
-#define SSL2_ST_GET_CLIENT_FINISHED_A		(0x50|SSL_ST_ACCEPT)
-#define SSL2_ST_GET_CLIENT_FINISHED_B		(0x51|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_SERVER_FINISHED_A		(0x60|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_SERVER_FINISHED_B		(0x61|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_REQUEST_CERTIFICATE_A	(0x70|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_REQUEST_CERTIFICATE_B	(0x71|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_REQUEST_CERTIFICATE_C	(0x72|SSL_ST_ACCEPT)
-#define SSL2_ST_SEND_REQUEST_CERTIFICATE_D	(0x73|SSL_ST_ACCEPT)
-#define SSL2_ST_SERVER_START_ENCRYPTION		(0x80|SSL_ST_ACCEPT)
-#define SSL2_ST_X509_GET_SERVER_CERTIFICATE	(0x90|SSL_ST_ACCEPT)
-
-#ifdef  __cplusplus
-}
-#endif
-#endif
-
diff --git a/phonelibs/boringssl/include/openssl/ssl23.h b/phonelibs/boringssl/include/openssl/ssl23.h
deleted file mode 100644
index df395a8e978df7..00000000000000
--- a/phonelibs/boringssl/include/openssl/ssl23.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/* ssl/ssl23.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-
-#ifndef HEADER_SSL23_H
-#define HEADER_SSL23_H
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-/*client */
-/* write to server */
-#define SSL23_ST_CW_CLNT_HELLO_A (0x210 | SSL_ST_CONNECT)
-#define SSL23_ST_CW_CLNT_HELLO_B (0x211 | SSL_ST_CONNECT)
-/* read from server */
-#define SSL23_ST_CR_SRVR_HELLO_A (0x220 | SSL_ST_CONNECT)
-#define SSL23_ST_CR_SRVR_HELLO_B (0x221 | SSL_ST_CONNECT)
-
-/* server */
-/* read from client */
-#define SSL23_ST_SR_CLNT_HELLO (0x210 | SSL_ST_ACCEPT)
-#define SSL23_ST_SR_V2_CLNT_HELLO (0x220 | SSL_ST_ACCEPT)
-#define SSL23_ST_SR_SWITCH_VERSION (0x230 | SSL_ST_ACCEPT)
-
-
-#ifdef  __cplusplus
-}
-#endif
-#endif
diff --git a/phonelibs/boringssl/include/openssl/ssl3.h b/phonelibs/boringssl/include/openssl/ssl3.h
deleted file mode 100644
index 640a22826ec1c1..00000000000000
--- a/phonelibs/boringssl/include/openssl/ssl3.h
+++ /dev/null
@@ -1,681 +0,0 @@
-/* ssl/ssl3.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-/* ====================================================================
- * Copyright (c) 1998-2002 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-/* ====================================================================
- * Copyright 2002 Sun Microsystems, Inc. ALL RIGHTS RESERVED.
- * ECC cipher suite support in OpenSSL originally developed by
- * SUN MICROSYSTEMS, INC., and contributed to the OpenSSL project.
- */
-
-#ifndef HEADER_SSL3_H
-#define HEADER_SSL3_H
-
-#include <openssl/aead.h>
-#include <openssl/buf.h>
-#include <openssl/evp.h>
-#include <openssl/ssl.h>
-#include <openssl/type_check.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-/* Signalling cipher suite value: from RFC5746 */
-#define SSL3_CK_SCSV 0x030000FF
-/* Fallback signalling cipher suite value: not IANA assigned.
- * See https://tools.ietf.org/html/draft-bmoeller-tls-downgrade-scsv-01 */
-#define SSL3_CK_FALLBACK_SCSV 0x03005600
-
-#define SSL3_CK_RSA_NULL_MD5 0x03000001
-#define SSL3_CK_RSA_NULL_SHA 0x03000002
-#define SSL3_CK_RSA_RC4_40_MD5 0x03000003
-#define SSL3_CK_RSA_RC4_128_MD5 0x03000004
-#define SSL3_CK_RSA_RC4_128_SHA 0x03000005
-#define SSL3_CK_RSA_RC2_40_MD5 0x03000006
-#define SSL3_CK_RSA_IDEA_128_SHA 0x03000007
-#define SSL3_CK_RSA_DES_40_CBC_SHA 0x03000008
-#define SSL3_CK_RSA_DES_64_CBC_SHA 0x03000009
-#define SSL3_CK_RSA_DES_192_CBC3_SHA 0x0300000A
-
-#define SSL3_CK_DH_DSS_DES_40_CBC_SHA 0x0300000B
-#define SSL3_CK_DH_DSS_DES_64_CBC_SHA 0x0300000C
-#define SSL3_CK_DH_DSS_DES_192_CBC3_SHA 0x0300000D
-#define SSL3_CK_DH_RSA_DES_40_CBC_SHA 0x0300000E
-#define SSL3_CK_DH_RSA_DES_64_CBC_SHA 0x0300000F
-#define SSL3_CK_DH_RSA_DES_192_CBC3_SHA 0x03000010
-
-#define SSL3_CK_EDH_DSS_DES_40_CBC_SHA 0x03000011
-#define SSL3_CK_EDH_DSS_DES_64_CBC_SHA 0x03000012
-#define SSL3_CK_EDH_DSS_DES_192_CBC3_SHA 0x03000013
-#define SSL3_CK_EDH_RSA_DES_40_CBC_SHA 0x03000014
-#define SSL3_CK_EDH_RSA_DES_64_CBC_SHA 0x03000015
-#define SSL3_CK_EDH_RSA_DES_192_CBC3_SHA 0x03000016
-
-#define SSL3_CK_ADH_RC4_40_MD5 0x03000017
-#define SSL3_CK_ADH_RC4_128_MD5 0x03000018
-#define SSL3_CK_ADH_DES_40_CBC_SHA 0x03000019
-#define SSL3_CK_ADH_DES_64_CBC_SHA 0x0300001A
-#define SSL3_CK_ADH_DES_192_CBC_SHA 0x0300001B
-
-#define SSL3_TXT_RSA_NULL_MD5 "NULL-MD5"
-#define SSL3_TXT_RSA_NULL_SHA "NULL-SHA"
-#define SSL3_TXT_RSA_RC4_40_MD5 "EXP-RC4-MD5"
-#define SSL3_TXT_RSA_RC4_128_MD5 "RC4-MD5"
-#define SSL3_TXT_RSA_RC4_128_SHA "RC4-SHA"
-#define SSL3_TXT_RSA_RC2_40_MD5 "EXP-RC2-CBC-MD5"
-#define SSL3_TXT_RSA_IDEA_128_SHA "IDEA-CBC-SHA"
-#define SSL3_TXT_RSA_DES_40_CBC_SHA "EXP-DES-CBC-SHA"
-#define SSL3_TXT_RSA_DES_64_CBC_SHA "DES-CBC-SHA"
-#define SSL3_TXT_RSA_DES_192_CBC3_SHA "DES-CBC3-SHA"
-
-#define SSL3_TXT_DH_DSS_DES_40_CBC_SHA "EXP-DH-DSS-DES-CBC-SHA"
-#define SSL3_TXT_DH_DSS_DES_64_CBC_SHA "DH-DSS-DES-CBC-SHA"
-#define SSL3_TXT_DH_DSS_DES_192_CBC3_SHA "DH-DSS-DES-CBC3-SHA"
-#define SSL3_TXT_DH_RSA_DES_40_CBC_SHA "EXP-DH-RSA-DES-CBC-SHA"
-#define SSL3_TXT_DH_RSA_DES_64_CBC_SHA "DH-RSA-DES-CBC-SHA"
-#define SSL3_TXT_DH_RSA_DES_192_CBC3_SHA "DH-RSA-DES-CBC3-SHA"
-
-#define SSL3_TXT_EDH_DSS_DES_40_CBC_SHA "EXP-EDH-DSS-DES-CBC-SHA"
-#define SSL3_TXT_EDH_DSS_DES_64_CBC_SHA "EDH-DSS-DES-CBC-SHA"
-#define SSL3_TXT_EDH_DSS_DES_192_CBC3_SHA "EDH-DSS-DES-CBC3-SHA"
-#define SSL3_TXT_EDH_RSA_DES_40_CBC_SHA "EXP-EDH-RSA-DES-CBC-SHA"
-#define SSL3_TXT_EDH_RSA_DES_64_CBC_SHA "EDH-RSA-DES-CBC-SHA"
-#define SSL3_TXT_EDH_RSA_DES_192_CBC3_SHA "EDH-RSA-DES-CBC3-SHA"
-
-#define SSL3_TXT_ADH_RC4_40_MD5 "EXP-ADH-RC4-MD5"
-#define SSL3_TXT_ADH_RC4_128_MD5 "ADH-RC4-MD5"
-#define SSL3_TXT_ADH_DES_40_CBC_SHA "EXP-ADH-DES-CBC-SHA"
-#define SSL3_TXT_ADH_DES_64_CBC_SHA "ADH-DES-CBC-SHA"
-#define SSL3_TXT_ADH_DES_192_CBC_SHA "ADH-DES-CBC3-SHA"
-
-#define SSL3_SSL_SESSION_ID_LENGTH 32
-#define SSL3_MAX_SSL_SESSION_ID_LENGTH 32
-
-#define SSL3_MASTER_SECRET_SIZE 48
-#define SSL3_RANDOM_SIZE 32
-#define SSL3_SESSION_ID_SIZE 32
-#define SSL3_RT_HEADER_LENGTH 5
-
-#define SSL3_HM_HEADER_LENGTH 4
-
-#ifndef SSL3_ALIGN_PAYLOAD
-/* Some will argue that this increases memory footprint, but it's not actually
- * true. Point is that malloc has to return at least 64-bit aligned pointers,
- * meaning that allocating 5 bytes wastes 3 bytes in either case. Suggested
- * pre-gaping simply moves these wasted bytes from the end of allocated region
- * to its front, but makes data payload aligned, which improves performance. */
-#define SSL3_ALIGN_PAYLOAD 8
-#else
-#if (SSL3_ALIGN_PAYLOAD & (SSL3_ALIGN_PAYLOAD - 1)) != 0
-#error "insane SSL3_ALIGN_PAYLOAD"
-#undef SSL3_ALIGN_PAYLOAD
-#endif
-#endif
-
-/* This is the maximum MAC (digest) size used by the SSL library. Currently
- * maximum of 20 is used by SHA1, but we reserve for future extension for
- * 512-bit hashes. */
-
-#define SSL3_RT_MAX_MD_SIZE 64
-
-/* Maximum block size used in all ciphersuites. Currently 16 for AES. */
-
-#define SSL_RT_MAX_CIPHER_BLOCK_SIZE 16
-
-#define SSL3_RT_MAX_EXTRA (16384)
-
-/* Maximum plaintext length: defined by SSL/TLS standards */
-#define SSL3_RT_MAX_PLAIN_LENGTH 16384
-/* Maximum compression overhead: defined by SSL/TLS standards */
-#define SSL3_RT_MAX_COMPRESSED_OVERHEAD 1024
-
-/* The standards give a maximum encryption overhead of 1024 bytes. In practice
- * the value is lower than this. The overhead is the maximum number of padding
- * bytes (256) plus the mac size.
- *
- * TODO(davidben): This derivation doesn't take AEADs into account, or TLS 1.1
- * explicit nonces. It happens to work because |SSL3_RT_MAX_MD_SIZE| is larger
- * than necessary and no true AEAD has variable overhead in TLS 1.2. */
-#define SSL3_RT_MAX_ENCRYPTED_OVERHEAD (256 + SSL3_RT_MAX_MD_SIZE)
-
-/* SSL3_RT_SEND_MAX_ENCRYPTED_OVERHEAD is the maximum overhead in encrypting a
- * record. This does not include the record header. Some ciphers use explicit
- * nonces, so it includes both the AEAD overhead as well as the nonce. */
-#define SSL3_RT_SEND_MAX_ENCRYPTED_OVERHEAD \
-    (EVP_AEAD_MAX_OVERHEAD + EVP_AEAD_MAX_NONCE_LENGTH)
-
-OPENSSL_COMPILE_ASSERT(
-    SSL3_RT_MAX_ENCRYPTED_OVERHEAD >= SSL3_RT_SEND_MAX_ENCRYPTED_OVERHEAD,
-    max_overheads_are_consistent);
-
-/* SSL3_RT_MAX_COMPRESSED_LENGTH is an alias for
- * |SSL3_RT_MAX_PLAIN_LENGTH|. Compression is gone, so don't include the
- * compression overhead. */
-#define SSL3_RT_MAX_COMPRESSED_LENGTH SSL3_RT_MAX_PLAIN_LENGTH
-
-#define SSL3_RT_MAX_ENCRYPTED_LENGTH \
-  (SSL3_RT_MAX_ENCRYPTED_OVERHEAD + SSL3_RT_MAX_COMPRESSED_LENGTH)
-#define SSL3_RT_MAX_PACKET_SIZE \
-  (SSL3_RT_MAX_ENCRYPTED_LENGTH + SSL3_RT_HEADER_LENGTH)
-
-#define SSL3_MD_CLIENT_FINISHED_CONST "\x43\x4C\x4E\x54"
-#define SSL3_MD_SERVER_FINISHED_CONST "\x53\x52\x56\x52"
-
-#define SSL3_VERSION 0x0300
-#define SSL3_VERSION_MAJOR 0x03
-#define SSL3_VERSION_MINOR 0x00
-
-#define SSL3_RT_CHANGE_CIPHER_SPEC 20
-#define SSL3_RT_ALERT 21
-#define SSL3_RT_HANDSHAKE 22
-#define SSL3_RT_APPLICATION_DATA 23
-
-/* Pseudo content types to indicate additional parameters */
-#define TLS1_RT_CRYPTO 0x1000
-#define TLS1_RT_CRYPTO_PREMASTER (TLS1_RT_CRYPTO | 0x1)
-#define TLS1_RT_CRYPTO_CLIENT_RANDOM (TLS1_RT_CRYPTO | 0x2)
-#define TLS1_RT_CRYPTO_SERVER_RANDOM (TLS1_RT_CRYPTO | 0x3)
-#define TLS1_RT_CRYPTO_MASTER (TLS1_RT_CRYPTO | 0x4)
-
-#define TLS1_RT_CRYPTO_READ 0x0000
-#define TLS1_RT_CRYPTO_WRITE 0x0100
-#define TLS1_RT_CRYPTO_MAC (TLS1_RT_CRYPTO | 0x5)
-#define TLS1_RT_CRYPTO_KEY (TLS1_RT_CRYPTO | 0x6)
-#define TLS1_RT_CRYPTO_IV (TLS1_RT_CRYPTO | 0x7)
-#define TLS1_RT_CRYPTO_FIXED_IV (TLS1_RT_CRYPTO | 0x8)
-
-/* Pseudo content type for SSL/TLS header info */
-#define SSL3_RT_HEADER 0x100
-
-#define SSL3_AL_WARNING 1
-#define SSL3_AL_FATAL 2
-
-#define SSL3_AD_CLOSE_NOTIFY 0
-#define SSL3_AD_UNEXPECTED_MESSAGE 10    /* fatal */
-#define SSL3_AD_BAD_RECORD_MAC 20        /* fatal */
-#define SSL3_AD_DECOMPRESSION_FAILURE 30 /* fatal */
-#define SSL3_AD_HANDSHAKE_FAILURE 40     /* fatal */
-#define SSL3_AD_NO_CERTIFICATE 41
-#define SSL3_AD_BAD_CERTIFICATE 42
-#define SSL3_AD_UNSUPPORTED_CERTIFICATE 43
-#define SSL3_AD_CERTIFICATE_REVOKED 44
-#define SSL3_AD_CERTIFICATE_EXPIRED 45
-#define SSL3_AD_CERTIFICATE_UNKNOWN 46
-#define SSL3_AD_ILLEGAL_PARAMETER 47      /* fatal */
-#define SSL3_AD_INAPPROPRIATE_FALLBACK 86 /* fatal */
-
-typedef struct ssl3_record_st {
-  /* type is the record type. */
-  uint8_t type;
-  /* length is the number of unconsumed bytes of |data|. */
-  uint16_t length;
-  /* off is the number of consumed bytes of |data|. */
-  uint16_t off;
-  /* data is a non-owning pointer to the record contents. The total length of
-   * the buffer is |off| + |length|. */
-  uint8_t *data;
-  /* epoch, in DTLS, is the epoch number of the record. */
-  uint16_t epoch;
-  /* seq_num, in DTLS, is the sequence number of the record. The top two bytes
-   * are always zero.
-   *
-   * TODO(davidben): This is confusing. They should include the epoch or the
-   * field should be six bytes. */
-  uint8_t seq_num[8];
-} SSL3_RECORD;
-
-typedef struct ssl3_buffer_st {
-  uint8_t *buf;       /* at least SSL3_RT_MAX_PACKET_SIZE bytes, see
-                         ssl3_setup_buffers() */
-  size_t len;         /* buffer size */
-  int offset;         /* where to 'copy from' */
-  int left;           /* how many bytes left */
-} SSL3_BUFFER;
-
-#define SSL3_CT_RSA_SIGN 1
-#define SSL3_CT_DSS_SIGN 2
-#define SSL3_CT_RSA_FIXED_DH 3
-#define SSL3_CT_DSS_FIXED_DH 4
-#define SSL3_CT_RSA_EPHEMERAL_DH 5
-#define SSL3_CT_DSS_EPHEMERAL_DH 6
-#define SSL3_CT_FORTEZZA_DMS 20
-
-
-/* TODO(davidben): This flag can probably be merged into s3->change_cipher_spec
- * to something tri-state. (Normal / Expect CCS / Between CCS and Finished). */
-#define SSL3_FLAGS_EXPECT_CCS 0x0080
-
-typedef struct ssl3_state_st {
-  long flags;
-
-  uint8_t read_sequence[8];
-  int read_mac_secret_size;
-  uint8_t read_mac_secret[EVP_MAX_MD_SIZE];
-  uint8_t write_sequence[8];
-  int write_mac_secret_size;
-  uint8_t write_mac_secret[EVP_MAX_MD_SIZE];
-
-  uint8_t server_random[SSL3_RANDOM_SIZE];
-  uint8_t client_random[SSL3_RANDOM_SIZE];
-
-  /* flags for countermeasure against known-IV weakness */
-  int need_record_splitting;
-
-  /* The value of 'extra' when the buffers were initialized */
-  int init_extra;
-
-  /* have_version is true if the connection's final version is known. Otherwise
-   * the version has not been negotiated yet. */
-  char have_version;
-
-  /* initial_handshake_complete is true if the initial handshake has
-   * completed. */
-  char initial_handshake_complete;
-
-  /* sniff_buffer is used by the server in the initial handshake to read a
-   * V2ClientHello before the record layer is initialized. */
-  BUF_MEM *sniff_buffer;
-  size_t sniff_buffer_len;
-
-  SSL3_BUFFER rbuf; /* read IO goes into here */
-  SSL3_BUFFER wbuf; /* write IO goes into here */
-
-  SSL3_RECORD rrec; /* each decoded record goes in here */
-
-  /* storage for Handshake protocol data received but not yet processed by
-   * ssl3_read_bytes: */
-  uint8_t handshake_fragment[4];
-  unsigned int handshake_fragment_len;
-
-  /* partial write - check the numbers match */
-  unsigned int wnum; /* number of bytes sent so far */
-  int wpend_tot;     /* number bytes written */
-  int wpend_type;
-  int wpend_ret; /* number of bytes submitted */
-  const uint8_t *wpend_buf;
-
-  /* used during startup, digest all incoming/outgoing packets */
-  BIO *handshake_buffer;
-  /* When set of handshake digests is determined, buffer is hashed and freed
-   * and MD_CTX-es for all required digests are stored in this array */
-  EVP_MD_CTX **handshake_dgst;
-  /* this is set whenerver we see a change_cipher_spec message come in when we
-   * are not looking for one */
-  int change_cipher_spec;
-
-  int warn_alert;
-  int fatal_alert;
-  /* we allow one fatal and one warning alert to be outstanding, send close
-   * alert via the warning alert */
-  int alert_dispatch;
-  uint8_t send_alert[2];
-
-  int total_renegotiations;
-
-  /* State pertaining to the pending handshake.
-   *
-   * TODO(davidben): State is current spread all over the place. Move
-   * pending handshake state here so it can be managed separately from
-   * established connection state in case of renegotiations. */
-  struct {
-    /* actually only need to be 16+20 for SSLv3 and 12 for TLS */
-    uint8_t finish_md[EVP_MAX_MD_SIZE * 2];
-    int finish_md_len;
-    uint8_t peer_finish_md[EVP_MAX_MD_SIZE * 2];
-    int peer_finish_md_len;
-
-    unsigned long message_size;
-    int message_type;
-
-    /* used to hold the new cipher we are going to use */
-    const SSL_CIPHER *new_cipher;
-    DH *dh;
-
-    EC_KEY *ecdh; /* holds short lived ECDH key */
-
-    /* used when SSL_ST_FLUSH_DATA is entered */
-    int next_state;
-
-    int reuse_message;
-
-    /* Client-only: cert_req determines if a client certificate is to be sent.
-     * This is 0 if no client Certificate message is to be sent, 1 if there is
-     * a client certificate, and 2 to send an empty client Certificate
-     * message. */
-    int cert_req;
-
-    /* Client-only: ca_names contains the list of CAs received in a
-     * CertificateRequest message. */
-    STACK_OF(X509_NAME) *ca_names;
-
-    /* Client-only: certificate_types contains the set of certificate types
-     * received in a CertificateRequest message. */
-    uint8_t *certificate_types;
-    size_t num_certificate_types;
-
-    int key_block_length;
-    uint8_t *key_block;
-
-    const EVP_AEAD *new_aead;
-    uint8_t new_mac_secret_len;
-    uint8_t new_fixed_iv_len;
-    uint8_t new_variable_iv_len;
-
-    /* Server-only: cert_request is true if a client certificate was
-     * requested. */
-    int cert_request;
-
-    /* certificate_status_expected is true if OCSP stapling was negotiated and
-     * the server is expected to send a CertificateStatus message. */
-    char certificate_status_expected;
-
-    /* peer_ecpointformatlist contains the EC point formats advertised by the
-     * peer. */
-    uint8_t *peer_ecpointformatlist;
-    size_t peer_ecpointformatlist_length;
-
-    /* Server-only: peer_ellipticcurvelist contains the EC curve IDs advertised
-     * by the peer. This is only set on the server's end. The server does not
-     * advertise this extension to the client. */
-    uint16_t *peer_ellipticcurvelist;
-    size_t peer_ellipticcurvelist_length;
-
-    /* extended_master_secret indicates whether the extended master secret
-     * computation is used in this handshake. Note that this is different from
-     * whether it was used for the current session. If this is a resumption
-     * handshake then EMS might be negotiated in the client and server hello
-     * messages, but it doesn't matter if the session that's being resumed
-     * didn't use it to create the master secret initially. */
-    char extended_master_secret;
-
-    /* Client-only: peer_psk_identity_hint is the psk_identity_hint sent by the
-     * server when using a PSK key exchange. */
-    char *peer_psk_identity_hint;
-
-    /* new_mac_secret_size is unused and exists only until wpa_supplicant can
-     * be updated. It is only needed for EAP-FAST, which we don't support. */
-    uint8_t new_mac_secret_size;
-
-    /* Client-only: in_false_start is one if there is a pending handshake in
-     * False Start. The client may write data at this point. */
-    char in_false_start;
-  } tmp;
-
-  /* Connection binding to prevent renegotiation attacks */
-  uint8_t previous_client_finished[EVP_MAX_MD_SIZE];
-  uint8_t previous_client_finished_len;
-  uint8_t previous_server_finished[EVP_MAX_MD_SIZE];
-  uint8_t previous_server_finished_len;
-  int send_connection_binding; /* TODOEKR */
-
-  /* Set if we saw the Next Protocol Negotiation extension from our peer. */
-  int next_proto_neg_seen;
-
-  /* ALPN information
-   * (we are in the process of transitioning from NPN to ALPN.) */
-
-  /* In a server these point to the selected ALPN protocol after the
-   * ClientHello has been processed. In a client these contain the protocol
-   * that the server selected once the ServerHello has been processed. */
-  uint8_t *alpn_selected;
-  size_t alpn_selected_len;
-
-  /* In a client, this means that the server supported Channel ID and that a
-   * Channel ID was sent. In a server it means that we echoed support for
-   * Channel IDs and that tlsext_channel_id will be valid after the
-   * handshake. */
-  char tlsext_channel_id_valid;
-  /* tlsext_channel_id_new means that the updated Channel ID extension was
-   * negotiated. This is a temporary hack in the code to support both forms of
-   * Channel ID extension while we transition to the new format, which fixed a
-   * security issue. */
-  char tlsext_channel_id_new;
-  /* For a server:
-   *     If |tlsext_channel_id_valid| is true, then this contains the
-   *     verified Channel ID from the client: a P256 point, (x,y), where
-   *     each are big-endian values. */
-  uint8_t tlsext_channel_id[64];
-} SSL3_STATE;
-
-/* SSLv3 */
-/* client */
-/* extra state */
-#define SSL3_ST_CW_FLUSH (0x100 | SSL_ST_CONNECT)
-#define SSL3_ST_FALSE_START (0x101 | SSL_ST_CONNECT)
-/* write to server */
-#define SSL3_ST_CW_CLNT_HELLO_A (0x110 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CLNT_HELLO_B (0x111 | SSL_ST_CONNECT)
-/* read from server */
-#define SSL3_ST_CR_SRVR_HELLO_A (0x120 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_SRVR_HELLO_B (0x121 | SSL_ST_CONNECT)
-#define DTLS1_ST_CR_HELLO_VERIFY_REQUEST_A (0x126 | SSL_ST_CONNECT)
-#define DTLS1_ST_CR_HELLO_VERIFY_REQUEST_B (0x127 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_CERT_A (0x130 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_CERT_B (0x131 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_KEY_EXCH_A (0x140 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_KEY_EXCH_B (0x141 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_CERT_REQ_A (0x150 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_CERT_REQ_B (0x151 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_SRVR_DONE_A (0x160 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_SRVR_DONE_B (0x161 | SSL_ST_CONNECT)
-/* write to server */
-#define SSL3_ST_CW_CERT_A (0x170 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CERT_B (0x171 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CERT_C (0x172 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CERT_D (0x173 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_KEY_EXCH_A (0x180 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_KEY_EXCH_B (0x181 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CERT_VRFY_A (0x190 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CERT_VRFY_B (0x191 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CHANGE_A (0x1A0 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CHANGE_B (0x1A1 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_NEXT_PROTO_A (0x200 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_NEXT_PROTO_B (0x201 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CHANNEL_ID_A (0x220 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_CHANNEL_ID_B (0x221 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_FINISHED_A (0x1B0 | SSL_ST_CONNECT)
-#define SSL3_ST_CW_FINISHED_B (0x1B1 | SSL_ST_CONNECT)
-/* read from server */
-#define SSL3_ST_CR_CHANGE (0x1C0 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_FINISHED_A (0x1D0 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_FINISHED_B (0x1D1 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_SESSION_TICKET_A (0x1E0 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_SESSION_TICKET_B (0x1E1 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_CERT_STATUS_A (0x1F0 | SSL_ST_CONNECT)
-#define SSL3_ST_CR_CERT_STATUS_B (0x1F1 | SSL_ST_CONNECT)
-
-/* server */
-/* extra state */
-#define SSL3_ST_SW_FLUSH (0x100 | SSL_ST_ACCEPT)
-/* read from client */
-#define SSL3_ST_SR_INITIAL_BYTES (0x240 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_V2_CLIENT_HELLO (0x241 | SSL_ST_ACCEPT)
-/* Do not change the number values, they do matter */
-#define SSL3_ST_SR_CLNT_HELLO_A (0x110 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CLNT_HELLO_B (0x111 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CLNT_HELLO_C (0x112 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CLNT_HELLO_D (0x115 | SSL_ST_ACCEPT)
-/* write to client */
-#define SSL3_ST_SW_HELLO_REQ_A (0x120 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_HELLO_REQ_B (0x121 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_HELLO_REQ_C (0x122 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_SRVR_HELLO_A (0x130 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_SRVR_HELLO_B (0x131 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_CERT_A (0x140 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_CERT_B (0x141 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_KEY_EXCH_A (0x150 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_KEY_EXCH_B (0x151 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_CERT_REQ_A (0x160 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_CERT_REQ_B (0x161 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_SRVR_DONE_A (0x170 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_SRVR_DONE_B (0x171 | SSL_ST_ACCEPT)
-/* read from client */
-#define SSL3_ST_SR_CERT_A (0x180 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CERT_B (0x181 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_KEY_EXCH_A (0x190 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_KEY_EXCH_B (0x191 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CERT_VRFY_A (0x1A0 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CERT_VRFY_B (0x1A1 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CHANGE (0x1B0 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_NEXT_PROTO_A (0x210 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_NEXT_PROTO_B (0x211 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CHANNEL_ID_A (0x230 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_CHANNEL_ID_B (0x231 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_FINISHED_A (0x1C0 | SSL_ST_ACCEPT)
-#define SSL3_ST_SR_FINISHED_B (0x1C1 | SSL_ST_ACCEPT)
-
-/* write to client */
-#define SSL3_ST_SW_CHANGE_A (0x1D0 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_CHANGE_B (0x1D1 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_FINISHED_A (0x1E0 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_FINISHED_B (0x1E1 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_SESSION_TICKET_A (0x1F0 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_SESSION_TICKET_B (0x1F1 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_CERT_STATUS_A (0x200 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_CERT_STATUS_B (0x201 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_SUPPLEMENTAL_DATA_A (0x220 | SSL_ST_ACCEPT)
-#define SSL3_ST_SW_SUPPLEMENTAL_DATA_B (0x221 | SSL_ST_ACCEPT)
-
-#define SSL3_MT_HELLO_REQUEST 0
-#define SSL3_MT_CLIENT_HELLO 1
-#define SSL3_MT_SERVER_HELLO 2
-#define SSL3_MT_NEWSESSION_TICKET 4
-#define SSL3_MT_CERTIFICATE 11
-#define SSL3_MT_SERVER_KEY_EXCHANGE 12
-#define SSL3_MT_CERTIFICATE_REQUEST 13
-#define SSL3_MT_SERVER_DONE 14
-#define SSL3_MT_CERTIFICATE_VERIFY 15
-#define SSL3_MT_CLIENT_KEY_EXCHANGE 16
-#define SSL3_MT_FINISHED 20
-#define SSL3_MT_CERTIFICATE_STATUS 22
-#define SSL3_MT_SUPPLEMENTAL_DATA 23
-#define SSL3_MT_NEXT_PROTO 67
-#define SSL3_MT_ENCRYPTED_EXTENSIONS 203
-#define DTLS1_MT_HELLO_VERIFY_REQUEST 3
-
-
-#define SSL3_MT_CCS 1
-
-/* These are used when changing over to a new cipher */
-#define SSL3_CC_READ 0x01
-#define SSL3_CC_WRITE 0x02
-#define SSL3_CC_CLIENT 0x10
-#define SSL3_CC_SERVER 0x20
-#define SSL3_CHANGE_CIPHER_CLIENT_WRITE (SSL3_CC_CLIENT | SSL3_CC_WRITE)
-#define SSL3_CHANGE_CIPHER_SERVER_READ (SSL3_CC_SERVER | SSL3_CC_READ)
-#define SSL3_CHANGE_CIPHER_CLIENT_READ (SSL3_CC_CLIENT | SSL3_CC_READ)
-#define SSL3_CHANGE_CIPHER_SERVER_WRITE (SSL3_CC_SERVER | SSL3_CC_WRITE)
-
-
-#ifdef  __cplusplus
-}
-#endif
-#endif
diff --git a/phonelibs/boringssl/include/openssl/stack.h b/phonelibs/boringssl/include/openssl/stack.h
deleted file mode 100644
index 350fa145781ea4..00000000000000
--- a/phonelibs/boringssl/include/openssl/stack.h
+++ /dev/null
@@ -1,301 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_STACK_H
-#define OPENSSL_HEADER_STACK_H
-
-#include <openssl/base.h>
-
-#include <openssl/type_check.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* A stack, in OpenSSL, is an array of pointers. They are the most commonly
- * used collection object.
- *
- * This file defines macros for type safe use of the stack functions. A stack
- * of a specific type of object has type |STACK_OF(type)|. This can be defined
- * (once) with |DEFINE_STACK_OF(type)| and declared where needed with
- * |DECLARE_STACK_OF(type)|. For example:
- *
- *   struct foo {
- *     int bar;
- *   };
- *
- *   DEFINE_STACK_OF(struct foo);
- *
- * Although note that the stack will contain /pointers/ to |foo|.
- *
- * A macro will be defined for each of the sk_* functions below. For
- * STACK_OF(foo), the macros would be sk_foo_new, sk_foo_pop etc. */
-
-
-/* stack_cmp_func is a comparison function that returns a value < 0, 0 or > 0
- * if |*a| is less than, equal to or greater than |*b|, respectively.  Note the
- * extra indirection - the function is given a pointer to a pointer to the
- * element. This differs from the usual qsort/bsearch comparison function. */
-typedef int (*stack_cmp_func)(const void **a, const void **b);
-
-/* stack_st contains an array of pointers. It is not designed to be used
- * directly, rather the wrapper macros should be used. */
-typedef struct stack_st {
-  /* num contains the number of valid pointers in |data|. */
-  size_t num;
-  void **data;
-  /* sorted is non-zero if the values pointed to by |data| are in ascending
-   * order, based on |comp|. */
-  size_t sorted;
-  /* num_alloc contains the number of pointers allocated in the buffer pointed
-   * to by |data|, which may be larger than |num|. */
-  size_t num_alloc;
-  /* comp is an optional comparison function. */
-  stack_cmp_func comp;
-} _STACK;
-
-
-#define STACK_OF(type) struct stack_st_##type
-
-#define DEFINE_STACK_OF(type) \
-STACK_OF(type) {\
-  _STACK stack; \
-}
-
-#define DECLARE_STACK_OF(type) STACK_OF(type);
-
-/* The make_macros.sh script in this directory parses the following lines and
- * generates the stack_macros.h file that contains macros for the following
- * types of stacks:
- *
- * STACK_OF:ACCESS_DESCRIPTION
- * STACK_OF:ASN1_ADB_TABLE
- * STACK_OF:ASN1_GENERALSTRING
- * STACK_OF:ASN1_INTEGER
- * STACK_OF:ASN1_OBJECT
- * STACK_OF:ASN1_STRING_TABLE
- * STACK_OF:ASN1_TYPE
- * STACK_OF:ASN1_VALUE
- * STACK_OF:BIO
- * STACK_OF:BY_DIR_ENTRY
- * STACK_OF:BY_DIR_HASH
- * STACK_OF:CONF_VALUE
- * STACK_OF:CRYPTO_EX_DATA_FUNCS
- * STACK_OF:DIST_POINT
- * STACK_OF:GENERAL_NAME
- * STACK_OF:GENERAL_NAMES
- * STACK_OF:GENERAL_SUBTREE
- * STACK_OF:MIME_HEADER
- * STACK_OF:PKCS7_SIGNER_INFO
- * STACK_OF:PKCS7_RECIP_INFO
- * STACK_OF:POLICYINFO
- * STACK_OF:POLICYQUALINFO
- * STACK_OF:POLICY_MAPPING
- * STACK_OF:SSL_COMP
- * STACK_OF:STACK_OF_X509_NAME_ENTRY
- * STACK_OF:SXNETID
- * STACK_OF:X509
- * STACK_OF:X509V3_EXT_METHOD
- * STACK_OF:X509_ALGOR
- * STACK_OF:X509_ATTRIBUTE
- * STACK_OF:X509_CRL
- * STACK_OF:X509_EXTENSION
- * STACK_OF:X509_INFO
- * STACK_OF:X509_LOOKUP
- * STACK_OF:X509_NAME
- * STACK_OF:X509_NAME_ENTRY
- * STACK_OF:X509_OBJECT
- * STACK_OF:X509_POLICY_DATA
- * STACK_OF:X509_POLICY_NODE
- * STACK_OF:X509_PURPOSE
- * STACK_OF:X509_REVOKED
- * STACK_OF:X509_TRUST
- * STACK_OF:X509_VERIFY_PARAM
- * STACK_OF:void
- *
- * Some stacks contain only const structures, so the stack should return const
- * pointers to retain type-checking.
- *
- * CONST_STACK_OF:SRTP_PROTECTION_PROFILE
- * CONST_STACK_OF:SSL_CIPHER */
-
-
-/* Some stacks are special because, although we would like STACK_OF(char *),
- * that would actually be a stack of pointers to char*, but we just want to
- * point to the string directly. In this case we call them "special" and use
- * |DEFINE_SPECIAL_STACK_OF(type)| */
-#define DEFINE_SPECIAL_STACK_OF(type, inner)             \
-  STACK_OF(type) { _STACK special_stack; };              \
-  OPENSSL_COMPILE_ASSERT(sizeof(type) == sizeof(void *), \
-                         special_stack_of_non_pointer_##type);
-
-typedef char *OPENSSL_STRING;
-
-DEFINE_SPECIAL_STACK_OF(OPENSSL_STRING, char)
-DEFINE_SPECIAL_STACK_OF(OPENSSL_BLOCK, uint8_t)
-
-/* The make_macros.sh script in this directory parses the following lines and
- * generates the stack_macros.h file that contains macros for the following
- * types of stacks:
- *
- * SPECIAL_STACK_OF:OPENSSL_STRING
- * SPECIAL_STACK_OF:OPENSSL_BLOCK */
-
-#define IN_STACK_H
-#include <openssl/stack_macros.h>
-#undef IN_STACK_H
-
-
-/* These are the raw stack functions, you shouldn't be using them. Rather you
- * should be using the type stack macros implemented above. */
-
-/* sk_new creates a new, empty stack with the given comparison function, which
- * may be zero. It returns the new stack or NULL on allocation failure. */
-OPENSSL_EXPORT _STACK *sk_new(stack_cmp_func comp);
-
-/* sk_new_null creates a new, empty stack. It returns the new stack or NULL on
- * allocation failure. */
-OPENSSL_EXPORT _STACK *sk_new_null(void);
-
-/* sk_num returns the number of elements in |s|. */
-OPENSSL_EXPORT size_t sk_num(const _STACK *sk);
-
-/* sk_zero resets |sk| to the empty state but does nothing to free the
- * individual elements themselves. */
-OPENSSL_EXPORT void sk_zero(_STACK *sk);
-
-/* sk_value returns the |i|th pointer in |sk|, or NULL if |i| is out of
- * range. */
-OPENSSL_EXPORT void *sk_value(const _STACK *sk, size_t i);
-
-/* sk_set sets the |i|th pointer in |sk| to |p| and returns |p|. If |i| is out
- * of range, it returns NULL. */
-OPENSSL_EXPORT void *sk_set(_STACK *sk, size_t i, void *p);
-
-/* sk_free frees the given stack and array of pointers, but does nothing to
- * free the individual elements. Also see |sk_pop_free|. */
-OPENSSL_EXPORT void sk_free(_STACK *sk);
-
-/* sk_pop_free calls |free_func| on each element in the stack and then frees
- * the stack itself. */
-OPENSSL_EXPORT void sk_pop_free(_STACK *sk, void (*free_func)(void *));
-
-/* sk_insert inserts |p| into the stack at index |where|, moving existing
- * elements if needed. It returns the length of the new stack, or zero on
- * error. */
-OPENSSL_EXPORT size_t sk_insert(_STACK *sk, void *p, size_t where);
-
-/* sk_delete removes the pointer at index |where|, moving other elements down
- * if needed. It returns the removed pointer, or NULL if |where| is out of
- * range. */
-OPENSSL_EXPORT void *sk_delete(_STACK *sk, size_t where);
-
-/* sk_delete_ptr removes, at most, one instance of |p| from the stack based on
- * pointer equality. If an instance of |p| is found then |p| is returned,
- * otherwise it returns NULL. */
-OPENSSL_EXPORT void *sk_delete_ptr(_STACK *sk, void *p);
-
-/* sk_find returns the first value in the stack equal to |p|. If a comparison
- * function has been set on the stack, then equality is defined by it and the
- * stack will be sorted if need be so that a binary search can be used.
- * Otherwise pointer equality is used. If a matching element is found, its
- * index is written to |*out_index| (if |out_index| is not NULL) and one is
- * returned. Otherwise zero is returned. */
-OPENSSL_EXPORT int sk_find(_STACK *sk, size_t *out_index, void *p);
-
-/* sk_shift removes and returns the first element in the stack, or returns NULL
- * if the stack is empty. */
-OPENSSL_EXPORT void *sk_shift(_STACK *sk);
-
-/* sk_push appends |p| to the stack and returns the length of the new stack, or
- * 0 on allocation failure. */
-OPENSSL_EXPORT size_t sk_push(_STACK *sk, void *p);
-
-/* sk_pop returns and removes the last element on the stack, or NULL if the
- * stack is empty. */
-OPENSSL_EXPORT void *sk_pop(_STACK *sk);
-
-/* sk_dup performs a shallow copy of a stack and returns the new stack, or NULL
- * on error. */
-OPENSSL_EXPORT _STACK *sk_dup(const _STACK *sk);
-
-/* sk_sort sorts the elements of |sk| into ascending order based on the
- * comparison function. The stack maintains a |sorted| flag and sorting an
- * already sorted stack is a no-op. */
-OPENSSL_EXPORT void sk_sort(_STACK *sk);
-
-/* sk_is_sorted returns one if |sk| is known to be sorted and zero
- * otherwise. */
-OPENSSL_EXPORT int sk_is_sorted(const _STACK *sk);
-
-/* sk_set_cmp_func sets the comparison function to be used by |sk| and returns
- * the previous one. */
-OPENSSL_EXPORT stack_cmp_func sk_set_cmp_func(_STACK *sk, stack_cmp_func comp);
-
-/* sk_deep_copy performs a copy of |sk| and of each of the non-NULL elements in
- * |sk| by using |copy_func|. If an error occurs, |free_func| is used to free
- * any copies already made and NULL is returned. */
-OPENSSL_EXPORT _STACK *sk_deep_copy(const _STACK *sk,
-                                    void *(*copy_func)(void *),
-                                    void (*free_func)(void *));
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_STACK_H */
diff --git a/phonelibs/boringssl/include/openssl/stack_macros.h b/phonelibs/boringssl/include/openssl/stack_macros.h
deleted file mode 100644
index dadcf6bec5d818..00000000000000
--- a/phonelibs/boringssl/include/openssl/stack_macros.h
+++ /dev/null
@@ -1,4004 +0,0 @@
-/* Copyright (c) 2014, Google Inc.
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
- * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
- * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
- * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
-
-#if !defined(IN_STACK_H)
-#error "Don't include this file directly. Include stack.h."
-#endif
-
-/* ACCESS_DESCRIPTION */
-#define sk_ACCESS_DESCRIPTION_new(comp)                                    \
-  ((STACK_OF(ACCESS_DESCRIPTION) *)sk_new(CHECKED_CAST(                    \
-      stack_cmp_func,                                                      \
-      int (*)(const ACCESS_DESCRIPTION **a, const ACCESS_DESCRIPTION **b), \
-      comp)))
-
-#define sk_ACCESS_DESCRIPTION_new_null() \
-  ((STACK_OF(ACCESS_DESCRIPTION) *)sk_new_null())
-
-#define sk_ACCESS_DESCRIPTION_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk))
-
-#define sk_ACCESS_DESCRIPTION_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk));
-
-#define sk_ACCESS_DESCRIPTION_value(sk, i) \
-  ((ACCESS_DESCRIPTION *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(ACCESS_DESCRIPTION) *, sk), (i)))
-
-#define sk_ACCESS_DESCRIPTION_set(sk, i, p)                            \
-  ((ACCESS_DESCRIPTION *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk), (i), \
-      CHECKED_CAST(void *, ACCESS_DESCRIPTION *, p)))
-
-#define sk_ACCESS_DESCRIPTION_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk))
-
-#define sk_ACCESS_DESCRIPTION_pop_free(sk, free_func)                        \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk),    \
-              CHECKED_CAST(void (*)(void *), void (*)(ACCESS_DESCRIPTION *), \
-                           free_func))
-
-#define sk_ACCESS_DESCRIPTION_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk), \
-            CHECKED_CAST(void *, ACCESS_DESCRIPTION *, p), (where))
-
-#define sk_ACCESS_DESCRIPTION_delete(sk, where) \
-  ((ACCESS_DESCRIPTION *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk), (where)))
-
-#define sk_ACCESS_DESCRIPTION_delete_ptr(sk, p)                   \
-  ((ACCESS_DESCRIPTION *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk), \
-      CHECKED_CAST(void *, ACCESS_DESCRIPTION *, p)))
-
-#define sk_ACCESS_DESCRIPTION_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk), \
-          (out_index), CHECKED_CAST(void *, ACCESS_DESCRIPTION *, p))
-
-#define sk_ACCESS_DESCRIPTION_shift(sk) \
-  ((ACCESS_DESCRIPTION *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk)))
-
-#define sk_ACCESS_DESCRIPTION_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk), \
-          CHECKED_CAST(void *, ACCESS_DESCRIPTION *, p))
-
-#define sk_ACCESS_DESCRIPTION_pop(sk) \
-  ((ACCESS_DESCRIPTION *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk)))
-
-#define sk_ACCESS_DESCRIPTION_dup(sk)      \
-  ((STACK_OF(ACCESS_DESCRIPTION) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(ACCESS_DESCRIPTION) *, sk)))
-
-#define sk_ACCESS_DESCRIPTION_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk))
-
-#define sk_ACCESS_DESCRIPTION_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(ACCESS_DESCRIPTION) *, sk))
-
-#define sk_ACCESS_DESCRIPTION_set_cmp_func(sk, comp)                           \
-  ((int (*)(const ACCESS_DESCRIPTION **a, const ACCESS_DESCRIPTION **b))       \
-       sk_set_cmp_func(                                                        \
-           CHECKED_CAST(_STACK *, STACK_OF(ACCESS_DESCRIPTION) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const ACCESS_DESCRIPTION **a,  \
-                                                const ACCESS_DESCRIPTION **b), \
-                        comp)))
-
-#define sk_ACCESS_DESCRIPTION_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(ACCESS_DESCRIPTION) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(ACCESS_DESCRIPTION) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                         \
-                   ACCESS_DESCRIPTION *(*)(ACCESS_DESCRIPTION *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(ACCESS_DESCRIPTION *),          \
-                   free_func)))
-
-/* ASN1_ADB_TABLE */
-#define sk_ASN1_ADB_TABLE_new(comp)                 \
-  ((STACK_OF(ASN1_ADB_TABLE) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                               \
-      int (*)(const ASN1_ADB_TABLE **a, const ASN1_ADB_TABLE **b), comp)))
-
-#define sk_ASN1_ADB_TABLE_new_null() ((STACK_OF(ASN1_ADB_TABLE) *)sk_new_null())
-
-#define sk_ASN1_ADB_TABLE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk))
-
-#define sk_ASN1_ADB_TABLE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk));
-
-#define sk_ASN1_ADB_TABLE_value(sk, i) \
-  ((ASN1_ADB_TABLE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_ADB_TABLE) *, sk), (i)))
-
-#define sk_ASN1_ADB_TABLE_set(sk, i, p)                            \
-  ((ASN1_ADB_TABLE *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk), (i), \
-      CHECKED_CAST(void *, ASN1_ADB_TABLE *, p)))
-
-#define sk_ASN1_ADB_TABLE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk))
-
-#define sk_ASN1_ADB_TABLE_pop_free(sk, free_func)             \
-  sk_pop_free(                                                \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_ADB_TABLE *), free_func))
-
-#define sk_ASN1_ADB_TABLE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk), \
-            CHECKED_CAST(void *, ASN1_ADB_TABLE *, p), (where))
-
-#define sk_ASN1_ADB_TABLE_delete(sk, where) \
-  ((ASN1_ADB_TABLE *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk), (where)))
-
-#define sk_ASN1_ADB_TABLE_delete_ptr(sk, p)                   \
-  ((ASN1_ADB_TABLE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk), \
-      CHECKED_CAST(void *, ASN1_ADB_TABLE *, p)))
-
-#define sk_ASN1_ADB_TABLE_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk), (out_index), \
-          CHECKED_CAST(void *, ASN1_ADB_TABLE *, p))
-
-#define sk_ASN1_ADB_TABLE_shift(sk) \
-  ((ASN1_ADB_TABLE *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk)))
-
-#define sk_ASN1_ADB_TABLE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk), \
-          CHECKED_CAST(void *, ASN1_ADB_TABLE *, p))
-
-#define sk_ASN1_ADB_TABLE_pop(sk) \
-  ((ASN1_ADB_TABLE *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk)))
-
-#define sk_ASN1_ADB_TABLE_dup(sk)      \
-  ((STACK_OF(ASN1_ADB_TABLE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_ADB_TABLE) *, sk)))
-
-#define sk_ASN1_ADB_TABLE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk))
-
-#define sk_ASN1_ADB_TABLE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(ASN1_ADB_TABLE) *, sk))
-
-#define sk_ASN1_ADB_TABLE_set_cmp_func(sk, comp)                           \
-  ((int (*)(const ASN1_ADB_TABLE **a, const ASN1_ADB_TABLE **b))           \
-       sk_set_cmp_func(                                                    \
-           CHECKED_CAST(_STACK *, STACK_OF(ASN1_ADB_TABLE) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const ASN1_ADB_TABLE **a,  \
-                                                const ASN1_ADB_TABLE **b), \
-                        comp)))
-
-#define sk_ASN1_ADB_TABLE_deep_copy(sk, copy_func, free_func)                \
-  ((STACK_OF(ASN1_ADB_TABLE) *)sk_deep_copy(                                 \
-      CHECKED_CAST(const _STACK *, const STACK_OF(ASN1_ADB_TABLE) *, sk),    \
-      CHECKED_CAST(void *(*)(void *), ASN1_ADB_TABLE *(*)(ASN1_ADB_TABLE *), \
-                   copy_func),                                               \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_ADB_TABLE *), free_func)))
-
-/* ASN1_GENERALSTRING */
-#define sk_ASN1_GENERALSTRING_new(comp)                                    \
-  ((STACK_OF(ASN1_GENERALSTRING) *)sk_new(CHECKED_CAST(                    \
-      stack_cmp_func,                                                      \
-      int (*)(const ASN1_GENERALSTRING **a, const ASN1_GENERALSTRING **b), \
-      comp)))
-
-#define sk_ASN1_GENERALSTRING_new_null() \
-  ((STACK_OF(ASN1_GENERALSTRING) *)sk_new_null())
-
-#define sk_ASN1_GENERALSTRING_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk))
-
-#define sk_ASN1_GENERALSTRING_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk));
-
-#define sk_ASN1_GENERALSTRING_value(sk, i) \
-  ((ASN1_GENERALSTRING *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_GENERALSTRING) *, sk), (i)))
-
-#define sk_ASN1_GENERALSTRING_set(sk, i, p)                            \
-  ((ASN1_GENERALSTRING *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk), (i), \
-      CHECKED_CAST(void *, ASN1_GENERALSTRING *, p)))
-
-#define sk_ASN1_GENERALSTRING_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk))
-
-#define sk_ASN1_GENERALSTRING_pop_free(sk, free_func)                        \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk),    \
-              CHECKED_CAST(void (*)(void *), void (*)(ASN1_GENERALSTRING *), \
-                           free_func))
-
-#define sk_ASN1_GENERALSTRING_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk), \
-            CHECKED_CAST(void *, ASN1_GENERALSTRING *, p), (where))
-
-#define sk_ASN1_GENERALSTRING_delete(sk, where) \
-  ((ASN1_GENERALSTRING *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk), (where)))
-
-#define sk_ASN1_GENERALSTRING_delete_ptr(sk, p)                   \
-  ((ASN1_GENERALSTRING *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk), \
-      CHECKED_CAST(void *, ASN1_GENERALSTRING *, p)))
-
-#define sk_ASN1_GENERALSTRING_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk), \
-          (out_index), CHECKED_CAST(void *, ASN1_GENERALSTRING *, p))
-
-#define sk_ASN1_GENERALSTRING_shift(sk) \
-  ((ASN1_GENERALSTRING *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk)))
-
-#define sk_ASN1_GENERALSTRING_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk), \
-          CHECKED_CAST(void *, ASN1_GENERALSTRING *, p))
-
-#define sk_ASN1_GENERALSTRING_pop(sk) \
-  ((ASN1_GENERALSTRING *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk)))
-
-#define sk_ASN1_GENERALSTRING_dup(sk)      \
-  ((STACK_OF(ASN1_GENERALSTRING) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_GENERALSTRING) *, sk)))
-
-#define sk_ASN1_GENERALSTRING_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk))
-
-#define sk_ASN1_GENERALSTRING_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(ASN1_GENERALSTRING) *, sk))
-
-#define sk_ASN1_GENERALSTRING_set_cmp_func(sk, comp)                           \
-  ((int (*)(const ASN1_GENERALSTRING **a, const ASN1_GENERALSTRING **b))       \
-       sk_set_cmp_func(                                                        \
-           CHECKED_CAST(_STACK *, STACK_OF(ASN1_GENERALSTRING) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const ASN1_GENERALSTRING **a,  \
-                                                const ASN1_GENERALSTRING **b), \
-                        comp)))
-
-#define sk_ASN1_GENERALSTRING_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(ASN1_GENERALSTRING) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(ASN1_GENERALSTRING) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                         \
-                   ASN1_GENERALSTRING *(*)(ASN1_GENERALSTRING *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_GENERALSTRING *),          \
-                   free_func)))
-
-/* ASN1_INTEGER */
-#define sk_ASN1_INTEGER_new(comp)                                              \
-  ((STACK_OF(ASN1_INTEGER) *)sk_new(CHECKED_CAST(                              \
-      stack_cmp_func, int (*)(const ASN1_INTEGER **a, const ASN1_INTEGER **b), \
-      comp)))
-
-#define sk_ASN1_INTEGER_new_null() ((STACK_OF(ASN1_INTEGER) *)sk_new_null())
-
-#define sk_ASN1_INTEGER_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk))
-
-#define sk_ASN1_INTEGER_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk));
-
-#define sk_ASN1_INTEGER_value(sk, i) \
-  ((ASN1_INTEGER *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_INTEGER) *, sk), (i)))
-
-#define sk_ASN1_INTEGER_set(sk, i, p)                            \
-  ((ASN1_INTEGER *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk), (i), \
-      CHECKED_CAST(void *, ASN1_INTEGER *, p)))
-
-#define sk_ASN1_INTEGER_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk))
-
-#define sk_ASN1_INTEGER_pop_free(sk, free_func)             \
-  sk_pop_free(                                              \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_INTEGER *), free_func))
-
-#define sk_ASN1_INTEGER_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk), \
-            CHECKED_CAST(void *, ASN1_INTEGER *, p), (where))
-
-#define sk_ASN1_INTEGER_delete(sk, where) \
-  ((ASN1_INTEGER *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk), (where)))
-
-#define sk_ASN1_INTEGER_delete_ptr(sk, p)                   \
-  ((ASN1_INTEGER *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk), \
-      CHECKED_CAST(void *, ASN1_INTEGER *, p)))
-
-#define sk_ASN1_INTEGER_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk), (out_index), \
-          CHECKED_CAST(void *, ASN1_INTEGER *, p))
-
-#define sk_ASN1_INTEGER_shift(sk) \
-  ((ASN1_INTEGER *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk)))
-
-#define sk_ASN1_INTEGER_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk), \
-          CHECKED_CAST(void *, ASN1_INTEGER *, p))
-
-#define sk_ASN1_INTEGER_pop(sk) \
-  ((ASN1_INTEGER *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk)))
-
-#define sk_ASN1_INTEGER_dup(sk)      \
-  ((STACK_OF(ASN1_INTEGER) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_INTEGER) *, sk)))
-
-#define sk_ASN1_INTEGER_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk))
-
-#define sk_ASN1_INTEGER_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(ASN1_INTEGER) *, sk))
-
-#define sk_ASN1_INTEGER_set_cmp_func(sk, comp)                               \
-  ((int (*)(const ASN1_INTEGER **a, const ASN1_INTEGER **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_INTEGER) *, sk),                  \
-      CHECKED_CAST(stack_cmp_func,                                           \
-                   int (*)(const ASN1_INTEGER **a, const ASN1_INTEGER **b),  \
-                   comp)))
-
-#define sk_ASN1_INTEGER_deep_copy(sk, copy_func, free_func)              \
-  ((STACK_OF(ASN1_INTEGER) *)sk_deep_copy(                               \
-      CHECKED_CAST(const _STACK *, const STACK_OF(ASN1_INTEGER) *, sk),  \
-      CHECKED_CAST(void *(*)(void *), ASN1_INTEGER *(*)(ASN1_INTEGER *), \
-                   copy_func),                                           \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_INTEGER *), free_func)))
-
-/* ASN1_OBJECT */
-#define sk_ASN1_OBJECT_new(comp)                                             \
-  ((STACK_OF(ASN1_OBJECT) *)sk_new(CHECKED_CAST(                             \
-      stack_cmp_func, int (*)(const ASN1_OBJECT **a, const ASN1_OBJECT **b), \
-      comp)))
-
-#define sk_ASN1_OBJECT_new_null() ((STACK_OF(ASN1_OBJECT) *)sk_new_null())
-
-#define sk_ASN1_OBJECT_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk))
-
-#define sk_ASN1_OBJECT_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk));
-
-#define sk_ASN1_OBJECT_value(sk, i) \
-  ((ASN1_OBJECT *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_OBJECT) *, sk), (i)))
-
-#define sk_ASN1_OBJECT_set(sk, i, p)                                          \
-  ((ASN1_OBJECT *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk), \
-                         (i), CHECKED_CAST(void *, ASN1_OBJECT *, p)))
-
-#define sk_ASN1_OBJECT_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk))
-
-#define sk_ASN1_OBJECT_pop_free(sk, free_func)             \
-  sk_pop_free(                                             \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_OBJECT *), free_func))
-
-#define sk_ASN1_OBJECT_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk), \
-            CHECKED_CAST(void *, ASN1_OBJECT *, p), (where))
-
-#define sk_ASN1_OBJECT_delete(sk, where) \
-  ((ASN1_OBJECT *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk), (where)))
-
-#define sk_ASN1_OBJECT_delete_ptr(sk, p)                   \
-  ((ASN1_OBJECT *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk), \
-      CHECKED_CAST(void *, ASN1_OBJECT *, p)))
-
-#define sk_ASN1_OBJECT_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk), (out_index), \
-          CHECKED_CAST(void *, ASN1_OBJECT *, p))
-
-#define sk_ASN1_OBJECT_shift(sk) \
-  ((ASN1_OBJECT *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk)))
-
-#define sk_ASN1_OBJECT_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk), \
-          CHECKED_CAST(void *, ASN1_OBJECT *, p))
-
-#define sk_ASN1_OBJECT_pop(sk) \
-  ((ASN1_OBJECT *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk)))
-
-#define sk_ASN1_OBJECT_dup(sk)      \
-  ((STACK_OF(ASN1_OBJECT) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_OBJECT) *, sk)))
-
-#define sk_ASN1_OBJECT_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk))
-
-#define sk_ASN1_OBJECT_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(ASN1_OBJECT) *, sk))
-
-#define sk_ASN1_OBJECT_set_cmp_func(sk, comp)                              \
-  ((int (*)(const ASN1_OBJECT **a, const ASN1_OBJECT **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_OBJECT) *, sk),                 \
-      CHECKED_CAST(stack_cmp_func,                                         \
-                   int (*)(const ASN1_OBJECT **a, const ASN1_OBJECT **b),  \
-                   comp)))
-
-#define sk_ASN1_OBJECT_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(ASN1_OBJECT) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(ASN1_OBJECT) *, sk), \
-      CHECKED_CAST(void *(*)(void *), ASN1_OBJECT *(*)(ASN1_OBJECT *), \
-                   copy_func),                                         \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_OBJECT *), free_func)))
-
-/* ASN1_STRING_TABLE */
-#define sk_ASN1_STRING_TABLE_new(comp)                                   \
-  ((STACK_OF(ASN1_STRING_TABLE) *)sk_new(CHECKED_CAST(                   \
-      stack_cmp_func,                                                    \
-      int (*)(const ASN1_STRING_TABLE **a, const ASN1_STRING_TABLE **b), \
-      comp)))
-
-#define sk_ASN1_STRING_TABLE_new_null() \
-  ((STACK_OF(ASN1_STRING_TABLE) *)sk_new_null())
-
-#define sk_ASN1_STRING_TABLE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk))
-
-#define sk_ASN1_STRING_TABLE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk));
-
-#define sk_ASN1_STRING_TABLE_value(sk, i) \
-  ((ASN1_STRING_TABLE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_STRING_TABLE) *, sk), (i)))
-
-#define sk_ASN1_STRING_TABLE_set(sk, i, p)                            \
-  ((ASN1_STRING_TABLE *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk), (i), \
-      CHECKED_CAST(void *, ASN1_STRING_TABLE *, p)))
-
-#define sk_ASN1_STRING_TABLE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk))
-
-#define sk_ASN1_STRING_TABLE_pop_free(sk, free_func)                        \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk),    \
-              CHECKED_CAST(void (*)(void *), void (*)(ASN1_STRING_TABLE *), \
-                           free_func))
-
-#define sk_ASN1_STRING_TABLE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk), \
-            CHECKED_CAST(void *, ASN1_STRING_TABLE *, p), (where))
-
-#define sk_ASN1_STRING_TABLE_delete(sk, where) \
-  ((ASN1_STRING_TABLE *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk), (where)))
-
-#define sk_ASN1_STRING_TABLE_delete_ptr(sk, p)                   \
-  ((ASN1_STRING_TABLE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk), \
-      CHECKED_CAST(void *, ASN1_STRING_TABLE *, p)))
-
-#define sk_ASN1_STRING_TABLE_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk), \
-          (out_index), CHECKED_CAST(void *, ASN1_STRING_TABLE *, p))
-
-#define sk_ASN1_STRING_TABLE_shift(sk) \
-  ((ASN1_STRING_TABLE *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk)))
-
-#define sk_ASN1_STRING_TABLE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk), \
-          CHECKED_CAST(void *, ASN1_STRING_TABLE *, p))
-
-#define sk_ASN1_STRING_TABLE_pop(sk) \
-  ((ASN1_STRING_TABLE *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk)))
-
-#define sk_ASN1_STRING_TABLE_dup(sk)      \
-  ((STACK_OF(ASN1_STRING_TABLE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_STRING_TABLE) *, sk)))
-
-#define sk_ASN1_STRING_TABLE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk))
-
-#define sk_ASN1_STRING_TABLE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(ASN1_STRING_TABLE) *, sk))
-
-#define sk_ASN1_STRING_TABLE_set_cmp_func(sk, comp)                           \
-  ((int (*)(const ASN1_STRING_TABLE **a, const ASN1_STRING_TABLE **b))        \
-       sk_set_cmp_func(                                                       \
-           CHECKED_CAST(_STACK *, STACK_OF(ASN1_STRING_TABLE) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const ASN1_STRING_TABLE **a,  \
-                                                const ASN1_STRING_TABLE **b), \
-                        comp)))
-
-#define sk_ASN1_STRING_TABLE_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(ASN1_STRING_TABLE) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(ASN1_STRING_TABLE) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                        \
-                   ASN1_STRING_TABLE *(*)(ASN1_STRING_TABLE *), copy_func),  \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_STRING_TABLE *),          \
-                   free_func)))
-
-/* ASN1_TYPE */
-#define sk_ASN1_TYPE_new(comp)     \
-  ((STACK_OF(ASN1_TYPE) *)sk_new(  \
-      CHECKED_CAST(stack_cmp_func, \
-                   int (*)(const ASN1_TYPE **a, const ASN1_TYPE **b), comp)))
-
-#define sk_ASN1_TYPE_new_null() ((STACK_OF(ASN1_TYPE) *)sk_new_null())
-
-#define sk_ASN1_TYPE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk))
-
-#define sk_ASN1_TYPE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk));
-
-#define sk_ASN1_TYPE_value(sk, i) \
-  ((ASN1_TYPE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_TYPE) *, sk), (i)))
-
-#define sk_ASN1_TYPE_set(sk, i, p)                                             \
-  ((ASN1_TYPE *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk), (i), \
-                       CHECKED_CAST(void *, ASN1_TYPE *, p)))
-
-#define sk_ASN1_TYPE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk))
-
-#define sk_ASN1_TYPE_pop_free(sk, free_func)             \
-  sk_pop_free(                                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_TYPE *), free_func))
-
-#define sk_ASN1_TYPE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk), \
-            CHECKED_CAST(void *, ASN1_TYPE *, p), (where))
-
-#define sk_ASN1_TYPE_delete(sk, where)                                       \
-  ((ASN1_TYPE *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk), \
-                          (where)))
-
-#define sk_ASN1_TYPE_delete_ptr(sk, p)                   \
-  ((ASN1_TYPE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk), \
-      CHECKED_CAST(void *, ASN1_TYPE *, p)))
-
-#define sk_ASN1_TYPE_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk), (out_index), \
-          CHECKED_CAST(void *, ASN1_TYPE *, p))
-
-#define sk_ASN1_TYPE_shift(sk) \
-  ((ASN1_TYPE *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk)))
-
-#define sk_ASN1_TYPE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk), \
-          CHECKED_CAST(void *, ASN1_TYPE *, p))
-
-#define sk_ASN1_TYPE_pop(sk) \
-  ((ASN1_TYPE *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk)))
-
-#define sk_ASN1_TYPE_dup(sk)      \
-  ((STACK_OF(ASN1_TYPE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_TYPE) *, sk)))
-
-#define sk_ASN1_TYPE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk))
-
-#define sk_ASN1_TYPE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(ASN1_TYPE) *, sk))
-
-#define sk_ASN1_TYPE_set_cmp_func(sk, comp)                            \
-  ((int (*)(const ASN1_TYPE **a, const ASN1_TYPE **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_TYPE) *, sk),               \
-      CHECKED_CAST(stack_cmp_func,                                     \
-                   int (*)(const ASN1_TYPE **a, const ASN1_TYPE **b), comp)))
-
-#define sk_ASN1_TYPE_deep_copy(sk, copy_func, free_func)                       \
-  ((STACK_OF(ASN1_TYPE) *)sk_deep_copy(                                        \
-      CHECKED_CAST(const _STACK *, const STACK_OF(ASN1_TYPE) *, sk),           \
-      CHECKED_CAST(void *(*)(void *), ASN1_TYPE *(*)(ASN1_TYPE *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_TYPE *), free_func)))
-
-/* ASN1_VALUE */
-#define sk_ASN1_VALUE_new(comp)                                            \
-  ((STACK_OF(ASN1_VALUE) *)sk_new(CHECKED_CAST(                            \
-      stack_cmp_func, int (*)(const ASN1_VALUE **a, const ASN1_VALUE **b), \
-      comp)))
-
-#define sk_ASN1_VALUE_new_null() ((STACK_OF(ASN1_VALUE) *)sk_new_null())
-
-#define sk_ASN1_VALUE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk))
-
-#define sk_ASN1_VALUE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk));
-
-#define sk_ASN1_VALUE_value(sk, i) \
-  ((ASN1_VALUE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_VALUE) *, sk), (i)))
-
-#define sk_ASN1_VALUE_set(sk, i, p)                                         \
-  ((ASN1_VALUE *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk), \
-                        (i), CHECKED_CAST(void *, ASN1_VALUE *, p)))
-
-#define sk_ASN1_VALUE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk))
-
-#define sk_ASN1_VALUE_pop_free(sk, free_func)             \
-  sk_pop_free(                                            \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_VALUE *), free_func))
-
-#define sk_ASN1_VALUE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk), \
-            CHECKED_CAST(void *, ASN1_VALUE *, p), (where))
-
-#define sk_ASN1_VALUE_delete(sk, where)                                        \
-  ((ASN1_VALUE *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk), \
-                           (where)))
-
-#define sk_ASN1_VALUE_delete_ptr(sk, p)                   \
-  ((ASN1_VALUE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk), \
-      CHECKED_CAST(void *, ASN1_VALUE *, p)))
-
-#define sk_ASN1_VALUE_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk), (out_index), \
-          CHECKED_CAST(void *, ASN1_VALUE *, p))
-
-#define sk_ASN1_VALUE_shift(sk) \
-  ((ASN1_VALUE *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk)))
-
-#define sk_ASN1_VALUE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk), \
-          CHECKED_CAST(void *, ASN1_VALUE *, p))
-
-#define sk_ASN1_VALUE_pop(sk) \
-  ((ASN1_VALUE *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk)))
-
-#define sk_ASN1_VALUE_dup(sk)      \
-  ((STACK_OF(ASN1_VALUE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(ASN1_VALUE) *, sk)))
-
-#define sk_ASN1_VALUE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk))
-
-#define sk_ASN1_VALUE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(ASN1_VALUE) *, sk))
-
-#define sk_ASN1_VALUE_set_cmp_func(sk, comp)                             \
-  ((int (*)(const ASN1_VALUE **a, const ASN1_VALUE **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(ASN1_VALUE) *, sk),                \
-      CHECKED_CAST(stack_cmp_func,                                       \
-                   int (*)(const ASN1_VALUE **a, const ASN1_VALUE **b),  \
-                   comp)))
-
-#define sk_ASN1_VALUE_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(ASN1_VALUE) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(ASN1_VALUE) *, sk), \
-      CHECKED_CAST(void *(*)(void *), ASN1_VALUE *(*)(ASN1_VALUE *),  \
-                   copy_func),                                        \
-      CHECKED_CAST(void (*)(void *), void (*)(ASN1_VALUE *), free_func)))
-
-/* BIO */
-#define sk_BIO_new(comp)                 \
-  ((STACK_OF(BIO) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func, int (*)(const BIO **a, const BIO **b), comp)))
-
-#define sk_BIO_new_null() ((STACK_OF(BIO) *)sk_new_null())
-
-#define sk_BIO_num(sk) sk_num(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk))
-
-#define sk_BIO_zero(sk) sk_zero(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk));
-
-#define sk_BIO_value(sk, i) \
-  ((BIO *)sk_value(CHECKED_CAST(_STACK *, const STACK_OF(BIO) *, sk), (i)))
-
-#define sk_BIO_set(sk, i, p)                                       \
-  ((BIO *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk), (i), \
-                 CHECKED_CAST(void *, BIO *, p)))
-
-#define sk_BIO_free(sk) sk_free(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk))
-
-#define sk_BIO_pop_free(sk, free_func)                     \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk), \
-              CHECKED_CAST(void (*)(void *), void (*)(BIO *), free_func))
-
-#define sk_BIO_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk), \
-            CHECKED_CAST(void *, BIO *, p), (where))
-
-#define sk_BIO_delete(sk, where) \
-  ((BIO *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk), (where)))
-
-#define sk_BIO_delete_ptr(sk, p)                                     \
-  ((BIO *)sk_delete_ptr(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk), \
-                        CHECKED_CAST(void *, BIO *, p)))
-
-#define sk_BIO_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk), (out_index), \
-          CHECKED_CAST(void *, BIO *, p))
-
-#define sk_BIO_shift(sk) \
-  ((BIO *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk)))
-
-#define sk_BIO_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk), \
-          CHECKED_CAST(void *, BIO *, p))
-
-#define sk_BIO_pop(sk) \
-  ((BIO *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk)))
-
-#define sk_BIO_dup(sk) \
-  ((STACK_OF(BIO) *)sk_dup(CHECKED_CAST(_STACK *, const STACK_OF(BIO) *, sk)))
-
-#define sk_BIO_sort(sk) sk_sort(CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk))
-
-#define sk_BIO_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(BIO) *, sk))
-
-#define sk_BIO_set_cmp_func(sk, comp)                                     \
-  ((int (*)(const BIO **a, const BIO **b))sk_set_cmp_func(                \
-      CHECKED_CAST(_STACK *, STACK_OF(BIO) *, sk),                        \
-      CHECKED_CAST(stack_cmp_func, int (*)(const BIO **a, const BIO **b), \
-                   comp)))
-
-#define sk_BIO_deep_copy(sk, copy_func, free_func)                 \
-  ((STACK_OF(BIO) *)sk_deep_copy(                                  \
-      CHECKED_CAST(const _STACK *, const STACK_OF(BIO) *, sk),     \
-      CHECKED_CAST(void *(*)(void *), BIO *(*)(BIO *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(BIO *), free_func)))
-
-/* BY_DIR_ENTRY */
-#define sk_BY_DIR_ENTRY_new(comp)                                              \
-  ((STACK_OF(BY_DIR_ENTRY) *)sk_new(CHECKED_CAST(                              \
-      stack_cmp_func, int (*)(const BY_DIR_ENTRY **a, const BY_DIR_ENTRY **b), \
-      comp)))
-
-#define sk_BY_DIR_ENTRY_new_null() ((STACK_OF(BY_DIR_ENTRY) *)sk_new_null())
-
-#define sk_BY_DIR_ENTRY_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk))
-
-#define sk_BY_DIR_ENTRY_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk));
-
-#define sk_BY_DIR_ENTRY_value(sk, i) \
-  ((BY_DIR_ENTRY *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(BY_DIR_ENTRY) *, sk), (i)))
-
-#define sk_BY_DIR_ENTRY_set(sk, i, p)                            \
-  ((BY_DIR_ENTRY *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk), (i), \
-      CHECKED_CAST(void *, BY_DIR_ENTRY *, p)))
-
-#define sk_BY_DIR_ENTRY_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk))
-
-#define sk_BY_DIR_ENTRY_pop_free(sk, free_func)             \
-  sk_pop_free(                                              \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(BY_DIR_ENTRY *), free_func))
-
-#define sk_BY_DIR_ENTRY_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk), \
-            CHECKED_CAST(void *, BY_DIR_ENTRY *, p), (where))
-
-#define sk_BY_DIR_ENTRY_delete(sk, where) \
-  ((BY_DIR_ENTRY *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk), (where)))
-
-#define sk_BY_DIR_ENTRY_delete_ptr(sk, p)                   \
-  ((BY_DIR_ENTRY *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk), \
-      CHECKED_CAST(void *, BY_DIR_ENTRY *, p)))
-
-#define sk_BY_DIR_ENTRY_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk), (out_index), \
-          CHECKED_CAST(void *, BY_DIR_ENTRY *, p))
-
-#define sk_BY_DIR_ENTRY_shift(sk) \
-  ((BY_DIR_ENTRY *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk)))
-
-#define sk_BY_DIR_ENTRY_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk), \
-          CHECKED_CAST(void *, BY_DIR_ENTRY *, p))
-
-#define sk_BY_DIR_ENTRY_pop(sk) \
-  ((BY_DIR_ENTRY *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk)))
-
-#define sk_BY_DIR_ENTRY_dup(sk)      \
-  ((STACK_OF(BY_DIR_ENTRY) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(BY_DIR_ENTRY) *, sk)))
-
-#define sk_BY_DIR_ENTRY_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk))
-
-#define sk_BY_DIR_ENTRY_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(BY_DIR_ENTRY) *, sk))
-
-#define sk_BY_DIR_ENTRY_set_cmp_func(sk, comp)                               \
-  ((int (*)(const BY_DIR_ENTRY **a, const BY_DIR_ENTRY **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_ENTRY) *, sk),                  \
-      CHECKED_CAST(stack_cmp_func,                                           \
-                   int (*)(const BY_DIR_ENTRY **a, const BY_DIR_ENTRY **b),  \
-                   comp)))
-
-#define sk_BY_DIR_ENTRY_deep_copy(sk, copy_func, free_func)              \
-  ((STACK_OF(BY_DIR_ENTRY) *)sk_deep_copy(                               \
-      CHECKED_CAST(const _STACK *, const STACK_OF(BY_DIR_ENTRY) *, sk),  \
-      CHECKED_CAST(void *(*)(void *), BY_DIR_ENTRY *(*)(BY_DIR_ENTRY *), \
-                   copy_func),                                           \
-      CHECKED_CAST(void (*)(void *), void (*)(BY_DIR_ENTRY *), free_func)))
-
-/* BY_DIR_HASH */
-#define sk_BY_DIR_HASH_new(comp)                                             \
-  ((STACK_OF(BY_DIR_HASH) *)sk_new(CHECKED_CAST(                             \
-      stack_cmp_func, int (*)(const BY_DIR_HASH **a, const BY_DIR_HASH **b), \
-      comp)))
-
-#define sk_BY_DIR_HASH_new_null() ((STACK_OF(BY_DIR_HASH) *)sk_new_null())
-
-#define sk_BY_DIR_HASH_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk))
-
-#define sk_BY_DIR_HASH_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk));
-
-#define sk_BY_DIR_HASH_value(sk, i) \
-  ((BY_DIR_HASH *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(BY_DIR_HASH) *, sk), (i)))
-
-#define sk_BY_DIR_HASH_set(sk, i, p)                                          \
-  ((BY_DIR_HASH *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk), \
-                         (i), CHECKED_CAST(void *, BY_DIR_HASH *, p)))
-
-#define sk_BY_DIR_HASH_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk))
-
-#define sk_BY_DIR_HASH_pop_free(sk, free_func)             \
-  sk_pop_free(                                             \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(BY_DIR_HASH *), free_func))
-
-#define sk_BY_DIR_HASH_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk), \
-            CHECKED_CAST(void *, BY_DIR_HASH *, p), (where))
-
-#define sk_BY_DIR_HASH_delete(sk, where) \
-  ((BY_DIR_HASH *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk), (where)))
-
-#define sk_BY_DIR_HASH_delete_ptr(sk, p)                   \
-  ((BY_DIR_HASH *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk), \
-      CHECKED_CAST(void *, BY_DIR_HASH *, p)))
-
-#define sk_BY_DIR_HASH_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk), (out_index), \
-          CHECKED_CAST(void *, BY_DIR_HASH *, p))
-
-#define sk_BY_DIR_HASH_shift(sk) \
-  ((BY_DIR_HASH *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk)))
-
-#define sk_BY_DIR_HASH_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk), \
-          CHECKED_CAST(void *, BY_DIR_HASH *, p))
-
-#define sk_BY_DIR_HASH_pop(sk) \
-  ((BY_DIR_HASH *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk)))
-
-#define sk_BY_DIR_HASH_dup(sk)      \
-  ((STACK_OF(BY_DIR_HASH) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(BY_DIR_HASH) *, sk)))
-
-#define sk_BY_DIR_HASH_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk))
-
-#define sk_BY_DIR_HASH_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(BY_DIR_HASH) *, sk))
-
-#define sk_BY_DIR_HASH_set_cmp_func(sk, comp)                              \
-  ((int (*)(const BY_DIR_HASH **a, const BY_DIR_HASH **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(BY_DIR_HASH) *, sk),                 \
-      CHECKED_CAST(stack_cmp_func,                                         \
-                   int (*)(const BY_DIR_HASH **a, const BY_DIR_HASH **b),  \
-                   comp)))
-
-#define sk_BY_DIR_HASH_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(BY_DIR_HASH) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(BY_DIR_HASH) *, sk), \
-      CHECKED_CAST(void *(*)(void *), BY_DIR_HASH *(*)(BY_DIR_HASH *), \
-                   copy_func),                                         \
-      CHECKED_CAST(void (*)(void *), void (*)(BY_DIR_HASH *), free_func)))
-
-/* CONF_VALUE */
-#define sk_CONF_VALUE_new(comp)                                            \
-  ((STACK_OF(CONF_VALUE) *)sk_new(CHECKED_CAST(                            \
-      stack_cmp_func, int (*)(const CONF_VALUE **a, const CONF_VALUE **b), \
-      comp)))
-
-#define sk_CONF_VALUE_new_null() ((STACK_OF(CONF_VALUE) *)sk_new_null())
-
-#define sk_CONF_VALUE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk))
-
-#define sk_CONF_VALUE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk));
-
-#define sk_CONF_VALUE_value(sk, i) \
-  ((CONF_VALUE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(CONF_VALUE) *, sk), (i)))
-
-#define sk_CONF_VALUE_set(sk, i, p)                                         \
-  ((CONF_VALUE *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk), \
-                        (i), CHECKED_CAST(void *, CONF_VALUE *, p)))
-
-#define sk_CONF_VALUE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk))
-
-#define sk_CONF_VALUE_pop_free(sk, free_func)             \
-  sk_pop_free(                                            \
-      CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(CONF_VALUE *), free_func))
-
-#define sk_CONF_VALUE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk), \
-            CHECKED_CAST(void *, CONF_VALUE *, p), (where))
-
-#define sk_CONF_VALUE_delete(sk, where)                                        \
-  ((CONF_VALUE *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk), \
-                           (where)))
-
-#define sk_CONF_VALUE_delete_ptr(sk, p)                   \
-  ((CONF_VALUE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk), \
-      CHECKED_CAST(void *, CONF_VALUE *, p)))
-
-#define sk_CONF_VALUE_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk), (out_index), \
-          CHECKED_CAST(void *, CONF_VALUE *, p))
-
-#define sk_CONF_VALUE_shift(sk) \
-  ((CONF_VALUE *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk)))
-
-#define sk_CONF_VALUE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk), \
-          CHECKED_CAST(void *, CONF_VALUE *, p))
-
-#define sk_CONF_VALUE_pop(sk) \
-  ((CONF_VALUE *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk)))
-
-#define sk_CONF_VALUE_dup(sk)      \
-  ((STACK_OF(CONF_VALUE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(CONF_VALUE) *, sk)))
-
-#define sk_CONF_VALUE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk))
-
-#define sk_CONF_VALUE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(CONF_VALUE) *, sk))
-
-#define sk_CONF_VALUE_set_cmp_func(sk, comp)                             \
-  ((int (*)(const CONF_VALUE **a, const CONF_VALUE **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(CONF_VALUE) *, sk),                \
-      CHECKED_CAST(stack_cmp_func,                                       \
-                   int (*)(const CONF_VALUE **a, const CONF_VALUE **b),  \
-                   comp)))
-
-#define sk_CONF_VALUE_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(CONF_VALUE) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(CONF_VALUE) *, sk), \
-      CHECKED_CAST(void *(*)(void *), CONF_VALUE *(*)(CONF_VALUE *),  \
-                   copy_func),                                        \
-      CHECKED_CAST(void (*)(void *), void (*)(CONF_VALUE *), free_func)))
-
-/* CRYPTO_EX_DATA_FUNCS */
-#define sk_CRYPTO_EX_DATA_FUNCS_new(comp)                                      \
-  ((STACK_OF(CRYPTO_EX_DATA_FUNCS) *)sk_new(CHECKED_CAST(                      \
-      stack_cmp_func,                                                          \
-      int (*)(const CRYPTO_EX_DATA_FUNCS **a, const CRYPTO_EX_DATA_FUNCS **b), \
-      comp)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_new_null() \
-  ((STACK_OF(CRYPTO_EX_DATA_FUNCS) *)sk_new_null())
-
-#define sk_CRYPTO_EX_DATA_FUNCS_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk));
-
-#define sk_CRYPTO_EX_DATA_FUNCS_value(sk, i)                              \
-  ((CRYPTO_EX_DATA_FUNCS *)sk_value(                                      \
-      CHECKED_CAST(_STACK *, const STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk), \
-      (i)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_set(sk, i, p)                            \
-  ((CRYPTO_EX_DATA_FUNCS *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk), (i), \
-      CHECKED_CAST(void *, CRYPTO_EX_DATA_FUNCS *, p)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_pop_free(sk, free_func)                        \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk),    \
-              CHECKED_CAST(void (*)(void *), void (*)(CRYPTO_EX_DATA_FUNCS *), \
-                           free_func))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk), \
-            CHECKED_CAST(void *, CRYPTO_EX_DATA_FUNCS *, p), (where))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_delete(sk, where) \
-  ((CRYPTO_EX_DATA_FUNCS *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk), (where)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_delete_ptr(sk, p)                   \
-  ((CRYPTO_EX_DATA_FUNCS *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk), \
-      CHECKED_CAST(void *, CRYPTO_EX_DATA_FUNCS *, p)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk), \
-          (out_index), CHECKED_CAST(void *, CRYPTO_EX_DATA_FUNCS *, p))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_shift(sk) \
-  ((CRYPTO_EX_DATA_FUNCS *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk), \
-          CHECKED_CAST(void *, CRYPTO_EX_DATA_FUNCS *, p))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_pop(sk) \
-  ((CRYPTO_EX_DATA_FUNCS *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_dup(sk)      \
-  ((STACK_OF(CRYPTO_EX_DATA_FUNCS) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_is_sorted(sk) \
-  sk_is_sorted(                               \
-      CHECKED_CAST(_STACK *, const STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_set_cmp_func(sk, comp)                       \
-  ((int (*)(const CRYPTO_EX_DATA_FUNCS **a, const CRYPTO_EX_DATA_FUNCS **b)) \
-       sk_set_cmp_func(                                                      \
-           CHECKED_CAST(_STACK *, STACK_OF(CRYPTO_EX_DATA_FUNCS) *, sk),     \
-           CHECKED_CAST(stack_cmp_func,                                      \
-                        int (*)(const CRYPTO_EX_DATA_FUNCS **a,              \
-                                const CRYPTO_EX_DATA_FUNCS **b),             \
-                        comp)))
-
-#define sk_CRYPTO_EX_DATA_FUNCS_deep_copy(sk, copy_func, free_func)        \
-  ((STACK_OF(CRYPTO_EX_DATA_FUNCS) *)sk_deep_copy(                         \
-      CHECKED_CAST(const _STACK *, const STACK_OF(CRYPTO_EX_DATA_FUNCS) *, \
-                   sk),                                                    \
-      CHECKED_CAST(void *(*)(void *),                                      \
-                   CRYPTO_EX_DATA_FUNCS *(*)(CRYPTO_EX_DATA_FUNCS *),      \
-                   copy_func),                                             \
-      CHECKED_CAST(void (*)(void *), void (*)(CRYPTO_EX_DATA_FUNCS *),     \
-                   free_func)))
-
-/* DIST_POINT */
-#define sk_DIST_POINT_new(comp)                                            \
-  ((STACK_OF(DIST_POINT) *)sk_new(CHECKED_CAST(                            \
-      stack_cmp_func, int (*)(const DIST_POINT **a, const DIST_POINT **b), \
-      comp)))
-
-#define sk_DIST_POINT_new_null() ((STACK_OF(DIST_POINT) *)sk_new_null())
-
-#define sk_DIST_POINT_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk))
-
-#define sk_DIST_POINT_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk));
-
-#define sk_DIST_POINT_value(sk, i) \
-  ((DIST_POINT *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(DIST_POINT) *, sk), (i)))
-
-#define sk_DIST_POINT_set(sk, i, p)                                         \
-  ((DIST_POINT *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk), \
-                        (i), CHECKED_CAST(void *, DIST_POINT *, p)))
-
-#define sk_DIST_POINT_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk))
-
-#define sk_DIST_POINT_pop_free(sk, free_func)             \
-  sk_pop_free(                                            \
-      CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(DIST_POINT *), free_func))
-
-#define sk_DIST_POINT_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk), \
-            CHECKED_CAST(void *, DIST_POINT *, p), (where))
-
-#define sk_DIST_POINT_delete(sk, where)                                        \
-  ((DIST_POINT *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk), \
-                           (where)))
-
-#define sk_DIST_POINT_delete_ptr(sk, p)                   \
-  ((DIST_POINT *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk), \
-      CHECKED_CAST(void *, DIST_POINT *, p)))
-
-#define sk_DIST_POINT_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk), (out_index), \
-          CHECKED_CAST(void *, DIST_POINT *, p))
-
-#define sk_DIST_POINT_shift(sk) \
-  ((DIST_POINT *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk)))
-
-#define sk_DIST_POINT_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk), \
-          CHECKED_CAST(void *, DIST_POINT *, p))
-
-#define sk_DIST_POINT_pop(sk) \
-  ((DIST_POINT *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk)))
-
-#define sk_DIST_POINT_dup(sk)      \
-  ((STACK_OF(DIST_POINT) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(DIST_POINT) *, sk)))
-
-#define sk_DIST_POINT_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk))
-
-#define sk_DIST_POINT_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(DIST_POINT) *, sk))
-
-#define sk_DIST_POINT_set_cmp_func(sk, comp)                             \
-  ((int (*)(const DIST_POINT **a, const DIST_POINT **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(DIST_POINT) *, sk),                \
-      CHECKED_CAST(stack_cmp_func,                                       \
-                   int (*)(const DIST_POINT **a, const DIST_POINT **b),  \
-                   comp)))
-
-#define sk_DIST_POINT_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(DIST_POINT) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(DIST_POINT) *, sk), \
-      CHECKED_CAST(void *(*)(void *), DIST_POINT *(*)(DIST_POINT *),  \
-                   copy_func),                                        \
-      CHECKED_CAST(void (*)(void *), void (*)(DIST_POINT *), free_func)))
-
-/* GENERAL_NAME */
-#define sk_GENERAL_NAME_new(comp)                                              \
-  ((STACK_OF(GENERAL_NAME) *)sk_new(CHECKED_CAST(                              \
-      stack_cmp_func, int (*)(const GENERAL_NAME **a, const GENERAL_NAME **b), \
-      comp)))
-
-#define sk_GENERAL_NAME_new_null() ((STACK_OF(GENERAL_NAME) *)sk_new_null())
-
-#define sk_GENERAL_NAME_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk))
-
-#define sk_GENERAL_NAME_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk));
-
-#define sk_GENERAL_NAME_value(sk, i) \
-  ((GENERAL_NAME *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_NAME) *, sk), (i)))
-
-#define sk_GENERAL_NAME_set(sk, i, p)                            \
-  ((GENERAL_NAME *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk), (i), \
-      CHECKED_CAST(void *, GENERAL_NAME *, p)))
-
-#define sk_GENERAL_NAME_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk))
-
-#define sk_GENERAL_NAME_pop_free(sk, free_func)             \
-  sk_pop_free(                                              \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(GENERAL_NAME *), free_func))
-
-#define sk_GENERAL_NAME_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk), \
-            CHECKED_CAST(void *, GENERAL_NAME *, p), (where))
-
-#define sk_GENERAL_NAME_delete(sk, where) \
-  ((GENERAL_NAME *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk), (where)))
-
-#define sk_GENERAL_NAME_delete_ptr(sk, p)                   \
-  ((GENERAL_NAME *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk), \
-      CHECKED_CAST(void *, GENERAL_NAME *, p)))
-
-#define sk_GENERAL_NAME_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk), (out_index), \
-          CHECKED_CAST(void *, GENERAL_NAME *, p))
-
-#define sk_GENERAL_NAME_shift(sk) \
-  ((GENERAL_NAME *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk)))
-
-#define sk_GENERAL_NAME_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk), \
-          CHECKED_CAST(void *, GENERAL_NAME *, p))
-
-#define sk_GENERAL_NAME_pop(sk) \
-  ((GENERAL_NAME *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk)))
-
-#define sk_GENERAL_NAME_dup(sk)      \
-  ((STACK_OF(GENERAL_NAME) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_NAME) *, sk)))
-
-#define sk_GENERAL_NAME_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk))
-
-#define sk_GENERAL_NAME_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_NAME) *, sk))
-
-#define sk_GENERAL_NAME_set_cmp_func(sk, comp)                               \
-  ((int (*)(const GENERAL_NAME **a, const GENERAL_NAME **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAME) *, sk),                  \
-      CHECKED_CAST(stack_cmp_func,                                           \
-                   int (*)(const GENERAL_NAME **a, const GENERAL_NAME **b),  \
-                   comp)))
-
-#define sk_GENERAL_NAME_deep_copy(sk, copy_func, free_func)              \
-  ((STACK_OF(GENERAL_NAME) *)sk_deep_copy(                               \
-      CHECKED_CAST(const _STACK *, const STACK_OF(GENERAL_NAME) *, sk),  \
-      CHECKED_CAST(void *(*)(void *), GENERAL_NAME *(*)(GENERAL_NAME *), \
-                   copy_func),                                           \
-      CHECKED_CAST(void (*)(void *), void (*)(GENERAL_NAME *), free_func)))
-
-/* GENERAL_NAMES */
-#define sk_GENERAL_NAMES_new(comp)                 \
-  ((STACK_OF(GENERAL_NAMES) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                              \
-      int (*)(const GENERAL_NAMES **a, const GENERAL_NAMES **b), comp)))
-
-#define sk_GENERAL_NAMES_new_null() ((STACK_OF(GENERAL_NAMES) *)sk_new_null())
-
-#define sk_GENERAL_NAMES_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk))
-
-#define sk_GENERAL_NAMES_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk));
-
-#define sk_GENERAL_NAMES_value(sk, i) \
-  ((GENERAL_NAMES *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_NAMES) *, sk), (i)))
-
-#define sk_GENERAL_NAMES_set(sk, i, p)                            \
-  ((GENERAL_NAMES *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk), (i), \
-      CHECKED_CAST(void *, GENERAL_NAMES *, p)))
-
-#define sk_GENERAL_NAMES_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk))
-
-#define sk_GENERAL_NAMES_pop_free(sk, free_func)             \
-  sk_pop_free(                                               \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(GENERAL_NAMES *), free_func))
-
-#define sk_GENERAL_NAMES_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk), \
-            CHECKED_CAST(void *, GENERAL_NAMES *, p), (where))
-
-#define sk_GENERAL_NAMES_delete(sk, where) \
-  ((GENERAL_NAMES *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk), (where)))
-
-#define sk_GENERAL_NAMES_delete_ptr(sk, p)                   \
-  ((GENERAL_NAMES *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk), \
-      CHECKED_CAST(void *, GENERAL_NAMES *, p)))
-
-#define sk_GENERAL_NAMES_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk), (out_index), \
-          CHECKED_CAST(void *, GENERAL_NAMES *, p))
-
-#define sk_GENERAL_NAMES_shift(sk) \
-  ((GENERAL_NAMES *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk)))
-
-#define sk_GENERAL_NAMES_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk), \
-          CHECKED_CAST(void *, GENERAL_NAMES *, p))
-
-#define sk_GENERAL_NAMES_pop(sk) \
-  ((GENERAL_NAMES *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk)))
-
-#define sk_GENERAL_NAMES_dup(sk)      \
-  ((STACK_OF(GENERAL_NAMES) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_NAMES) *, sk)))
-
-#define sk_GENERAL_NAMES_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk))
-
-#define sk_GENERAL_NAMES_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_NAMES) *, sk))
-
-#define sk_GENERAL_NAMES_set_cmp_func(sk, comp)                                \
-  ((int (*)(const GENERAL_NAMES **a, const GENERAL_NAMES **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_NAMES) *, sk),                   \
-      CHECKED_CAST(stack_cmp_func,                                             \
-                   int (*)(const GENERAL_NAMES **a, const GENERAL_NAMES **b),  \
-                   comp)))
-
-#define sk_GENERAL_NAMES_deep_copy(sk, copy_func, free_func)               \
-  ((STACK_OF(GENERAL_NAMES) *)sk_deep_copy(                                \
-      CHECKED_CAST(const _STACK *, const STACK_OF(GENERAL_NAMES) *, sk),   \
-      CHECKED_CAST(void *(*)(void *), GENERAL_NAMES *(*)(GENERAL_NAMES *), \
-                   copy_func),                                             \
-      CHECKED_CAST(void (*)(void *), void (*)(GENERAL_NAMES *), free_func)))
-
-/* GENERAL_SUBTREE */
-#define sk_GENERAL_SUBTREE_new(comp)                 \
-  ((STACK_OF(GENERAL_SUBTREE) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                                \
-      int (*)(const GENERAL_SUBTREE **a, const GENERAL_SUBTREE **b), comp)))
-
-#define sk_GENERAL_SUBTREE_new_null() \
-  ((STACK_OF(GENERAL_SUBTREE) *)sk_new_null())
-
-#define sk_GENERAL_SUBTREE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk))
-
-#define sk_GENERAL_SUBTREE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk));
-
-#define sk_GENERAL_SUBTREE_value(sk, i) \
-  ((GENERAL_SUBTREE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_SUBTREE) *, sk), (i)))
-
-#define sk_GENERAL_SUBTREE_set(sk, i, p)                            \
-  ((GENERAL_SUBTREE *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk), (i), \
-      CHECKED_CAST(void *, GENERAL_SUBTREE *, p)))
-
-#define sk_GENERAL_SUBTREE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk))
-
-#define sk_GENERAL_SUBTREE_pop_free(sk, free_func)             \
-  sk_pop_free(                                                 \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(GENERAL_SUBTREE *), free_func))
-
-#define sk_GENERAL_SUBTREE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk), \
-            CHECKED_CAST(void *, GENERAL_SUBTREE *, p), (where))
-
-#define sk_GENERAL_SUBTREE_delete(sk, where) \
-  ((GENERAL_SUBTREE *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk), (where)))
-
-#define sk_GENERAL_SUBTREE_delete_ptr(sk, p)                   \
-  ((GENERAL_SUBTREE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk), \
-      CHECKED_CAST(void *, GENERAL_SUBTREE *, p)))
-
-#define sk_GENERAL_SUBTREE_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk), \
-          (out_index), CHECKED_CAST(void *, GENERAL_SUBTREE *, p))
-
-#define sk_GENERAL_SUBTREE_shift(sk) \
-  ((GENERAL_SUBTREE *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk)))
-
-#define sk_GENERAL_SUBTREE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk), \
-          CHECKED_CAST(void *, GENERAL_SUBTREE *, p))
-
-#define sk_GENERAL_SUBTREE_pop(sk) \
-  ((GENERAL_SUBTREE *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk)))
-
-#define sk_GENERAL_SUBTREE_dup(sk)      \
-  ((STACK_OF(GENERAL_SUBTREE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_SUBTREE) *, sk)))
-
-#define sk_GENERAL_SUBTREE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk))
-
-#define sk_GENERAL_SUBTREE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(GENERAL_SUBTREE) *, sk))
-
-#define sk_GENERAL_SUBTREE_set_cmp_func(sk, comp)                           \
-  ((int (*)(const GENERAL_SUBTREE **a, const GENERAL_SUBTREE **b))          \
-       sk_set_cmp_func(                                                     \
-           CHECKED_CAST(_STACK *, STACK_OF(GENERAL_SUBTREE) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const GENERAL_SUBTREE **a,  \
-                                                const GENERAL_SUBTREE **b), \
-                        comp)))
-
-#define sk_GENERAL_SUBTREE_deep_copy(sk, copy_func, free_func)                 \
-  ((STACK_OF(GENERAL_SUBTREE) *)sk_deep_copy(                                  \
-      CHECKED_CAST(const _STACK *, const STACK_OF(GENERAL_SUBTREE) *, sk),     \
-      CHECKED_CAST(void *(*)(void *), GENERAL_SUBTREE *(*)(GENERAL_SUBTREE *), \
-                   copy_func),                                                 \
-      CHECKED_CAST(void (*)(void *), void (*)(GENERAL_SUBTREE *), free_func)))
-
-/* MIME_HEADER */
-#define sk_MIME_HEADER_new(comp)                                             \
-  ((STACK_OF(MIME_HEADER) *)sk_new(CHECKED_CAST(                             \
-      stack_cmp_func, int (*)(const MIME_HEADER **a, const MIME_HEADER **b), \
-      comp)))
-
-#define sk_MIME_HEADER_new_null() ((STACK_OF(MIME_HEADER) *)sk_new_null())
-
-#define sk_MIME_HEADER_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk))
-
-#define sk_MIME_HEADER_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk));
-
-#define sk_MIME_HEADER_value(sk, i) \
-  ((MIME_HEADER *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(MIME_HEADER) *, sk), (i)))
-
-#define sk_MIME_HEADER_set(sk, i, p)                                          \
-  ((MIME_HEADER *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk), \
-                         (i), CHECKED_CAST(void *, MIME_HEADER *, p)))
-
-#define sk_MIME_HEADER_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk))
-
-#define sk_MIME_HEADER_pop_free(sk, free_func)             \
-  sk_pop_free(                                             \
-      CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(MIME_HEADER *), free_func))
-
-#define sk_MIME_HEADER_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk), \
-            CHECKED_CAST(void *, MIME_HEADER *, p), (where))
-
-#define sk_MIME_HEADER_delete(sk, where) \
-  ((MIME_HEADER *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk), (where)))
-
-#define sk_MIME_HEADER_delete_ptr(sk, p)                   \
-  ((MIME_HEADER *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk), \
-      CHECKED_CAST(void *, MIME_HEADER *, p)))
-
-#define sk_MIME_HEADER_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk), (out_index), \
-          CHECKED_CAST(void *, MIME_HEADER *, p))
-
-#define sk_MIME_HEADER_shift(sk) \
-  ((MIME_HEADER *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk)))
-
-#define sk_MIME_HEADER_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk), \
-          CHECKED_CAST(void *, MIME_HEADER *, p))
-
-#define sk_MIME_HEADER_pop(sk) \
-  ((MIME_HEADER *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk)))
-
-#define sk_MIME_HEADER_dup(sk)      \
-  ((STACK_OF(MIME_HEADER) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(MIME_HEADER) *, sk)))
-
-#define sk_MIME_HEADER_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk))
-
-#define sk_MIME_HEADER_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(MIME_HEADER) *, sk))
-
-#define sk_MIME_HEADER_set_cmp_func(sk, comp)                              \
-  ((int (*)(const MIME_HEADER **a, const MIME_HEADER **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(MIME_HEADER) *, sk),                 \
-      CHECKED_CAST(stack_cmp_func,                                         \
-                   int (*)(const MIME_HEADER **a, const MIME_HEADER **b),  \
-                   comp)))
-
-#define sk_MIME_HEADER_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(MIME_HEADER) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(MIME_HEADER) *, sk), \
-      CHECKED_CAST(void *(*)(void *), MIME_HEADER *(*)(MIME_HEADER *), \
-                   copy_func),                                         \
-      CHECKED_CAST(void (*)(void *), void (*)(MIME_HEADER *), free_func)))
-
-/* PKCS7_SIGNER_INFO */
-#define sk_PKCS7_SIGNER_INFO_new(comp)                                   \
-  ((STACK_OF(PKCS7_SIGNER_INFO) *)sk_new(CHECKED_CAST(                   \
-      stack_cmp_func,                                                    \
-      int (*)(const PKCS7_SIGNER_INFO **a, const PKCS7_SIGNER_INFO **b), \
-      comp)))
-
-#define sk_PKCS7_SIGNER_INFO_new_null() \
-  ((STACK_OF(PKCS7_SIGNER_INFO) *)sk_new_null())
-
-#define sk_PKCS7_SIGNER_INFO_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk))
-
-#define sk_PKCS7_SIGNER_INFO_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk));
-
-#define sk_PKCS7_SIGNER_INFO_value(sk, i) \
-  ((PKCS7_SIGNER_INFO *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(PKCS7_SIGNER_INFO) *, sk), (i)))
-
-#define sk_PKCS7_SIGNER_INFO_set(sk, i, p)                            \
-  ((PKCS7_SIGNER_INFO *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk), (i), \
-      CHECKED_CAST(void *, PKCS7_SIGNER_INFO *, p)))
-
-#define sk_PKCS7_SIGNER_INFO_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk))
-
-#define sk_PKCS7_SIGNER_INFO_pop_free(sk, free_func)                        \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk),    \
-              CHECKED_CAST(void (*)(void *), void (*)(PKCS7_SIGNER_INFO *), \
-                           free_func))
-
-#define sk_PKCS7_SIGNER_INFO_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk), \
-            CHECKED_CAST(void *, PKCS7_SIGNER_INFO *, p), (where))
-
-#define sk_PKCS7_SIGNER_INFO_delete(sk, where) \
-  ((PKCS7_SIGNER_INFO *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk), (where)))
-
-#define sk_PKCS7_SIGNER_INFO_delete_ptr(sk, p)                   \
-  ((PKCS7_SIGNER_INFO *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk), \
-      CHECKED_CAST(void *, PKCS7_SIGNER_INFO *, p)))
-
-#define sk_PKCS7_SIGNER_INFO_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk), \
-          (out_index), CHECKED_CAST(void *, PKCS7_SIGNER_INFO *, p))
-
-#define sk_PKCS7_SIGNER_INFO_shift(sk) \
-  ((PKCS7_SIGNER_INFO *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk)))
-
-#define sk_PKCS7_SIGNER_INFO_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk), \
-          CHECKED_CAST(void *, PKCS7_SIGNER_INFO *, p))
-
-#define sk_PKCS7_SIGNER_INFO_pop(sk) \
-  ((PKCS7_SIGNER_INFO *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk)))
-
-#define sk_PKCS7_SIGNER_INFO_dup(sk)      \
-  ((STACK_OF(PKCS7_SIGNER_INFO) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(PKCS7_SIGNER_INFO) *, sk)))
-
-#define sk_PKCS7_SIGNER_INFO_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk))
-
-#define sk_PKCS7_SIGNER_INFO_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(PKCS7_SIGNER_INFO) *, sk))
-
-#define sk_PKCS7_SIGNER_INFO_set_cmp_func(sk, comp)                           \
-  ((int (*)(const PKCS7_SIGNER_INFO **a, const PKCS7_SIGNER_INFO **b))        \
-       sk_set_cmp_func(                                                       \
-           CHECKED_CAST(_STACK *, STACK_OF(PKCS7_SIGNER_INFO) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const PKCS7_SIGNER_INFO **a,  \
-                                                const PKCS7_SIGNER_INFO **b), \
-                        comp)))
-
-#define sk_PKCS7_SIGNER_INFO_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(PKCS7_SIGNER_INFO) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(PKCS7_SIGNER_INFO) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                        \
-                   PKCS7_SIGNER_INFO *(*)(PKCS7_SIGNER_INFO *), copy_func),  \
-      CHECKED_CAST(void (*)(void *), void (*)(PKCS7_SIGNER_INFO *),          \
-                   free_func)))
-
-/* PKCS7_RECIP_INFO */
-#define sk_PKCS7_RECIP_INFO_new(comp)                 \
-  ((STACK_OF(PKCS7_RECIP_INFO) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                                 \
-      int (*)(const PKCS7_RECIP_INFO **a, const PKCS7_RECIP_INFO **b), comp)))
-
-#define sk_PKCS7_RECIP_INFO_new_null() \
-  ((STACK_OF(PKCS7_RECIP_INFO) *)sk_new_null())
-
-#define sk_PKCS7_RECIP_INFO_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk))
-
-#define sk_PKCS7_RECIP_INFO_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk));
-
-#define sk_PKCS7_RECIP_INFO_value(sk, i) \
-  ((PKCS7_RECIP_INFO *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(PKCS7_RECIP_INFO) *, sk), (i)))
-
-#define sk_PKCS7_RECIP_INFO_set(sk, i, p)                            \
-  ((PKCS7_RECIP_INFO *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk), (i), \
-      CHECKED_CAST(void *, PKCS7_RECIP_INFO *, p)))
-
-#define sk_PKCS7_RECIP_INFO_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk))
-
-#define sk_PKCS7_RECIP_INFO_pop_free(sk, free_func)             \
-  sk_pop_free(                                                  \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(PKCS7_RECIP_INFO *), free_func))
-
-#define sk_PKCS7_RECIP_INFO_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk), \
-            CHECKED_CAST(void *, PKCS7_RECIP_INFO *, p), (where))
-
-#define sk_PKCS7_RECIP_INFO_delete(sk, where) \
-  ((PKCS7_RECIP_INFO *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk), (where)))
-
-#define sk_PKCS7_RECIP_INFO_delete_ptr(sk, p)                   \
-  ((PKCS7_RECIP_INFO *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk), \
-      CHECKED_CAST(void *, PKCS7_RECIP_INFO *, p)))
-
-#define sk_PKCS7_RECIP_INFO_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk), \
-          (out_index), CHECKED_CAST(void *, PKCS7_RECIP_INFO *, p))
-
-#define sk_PKCS7_RECIP_INFO_shift(sk) \
-  ((PKCS7_RECIP_INFO *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk)))
-
-#define sk_PKCS7_RECIP_INFO_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk), \
-          CHECKED_CAST(void *, PKCS7_RECIP_INFO *, p))
-
-#define sk_PKCS7_RECIP_INFO_pop(sk) \
-  ((PKCS7_RECIP_INFO *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk)))
-
-#define sk_PKCS7_RECIP_INFO_dup(sk)      \
-  ((STACK_OF(PKCS7_RECIP_INFO) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(PKCS7_RECIP_INFO) *, sk)))
-
-#define sk_PKCS7_RECIP_INFO_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk))
-
-#define sk_PKCS7_RECIP_INFO_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(PKCS7_RECIP_INFO) *, sk))
-
-#define sk_PKCS7_RECIP_INFO_set_cmp_func(sk, comp)                           \
-  ((int (*)(const PKCS7_RECIP_INFO **a, const PKCS7_RECIP_INFO **b))         \
-       sk_set_cmp_func(                                                      \
-           CHECKED_CAST(_STACK *, STACK_OF(PKCS7_RECIP_INFO) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const PKCS7_RECIP_INFO **a,  \
-                                                const PKCS7_RECIP_INFO **b), \
-                        comp)))
-
-#define sk_PKCS7_RECIP_INFO_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(PKCS7_RECIP_INFO) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(PKCS7_RECIP_INFO) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                       \
-                   PKCS7_RECIP_INFO *(*)(PKCS7_RECIP_INFO *), copy_func),   \
-      CHECKED_CAST(void (*)(void *), void (*)(PKCS7_RECIP_INFO *),          \
-                   free_func)))
-
-/* POLICYINFO */
-#define sk_POLICYINFO_new(comp)                                            \
-  ((STACK_OF(POLICYINFO) *)sk_new(CHECKED_CAST(                            \
-      stack_cmp_func, int (*)(const POLICYINFO **a, const POLICYINFO **b), \
-      comp)))
-
-#define sk_POLICYINFO_new_null() ((STACK_OF(POLICYINFO) *)sk_new_null())
-
-#define sk_POLICYINFO_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk))
-
-#define sk_POLICYINFO_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk));
-
-#define sk_POLICYINFO_value(sk, i) \
-  ((POLICYINFO *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(POLICYINFO) *, sk), (i)))
-
-#define sk_POLICYINFO_set(sk, i, p)                                         \
-  ((POLICYINFO *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk), \
-                        (i), CHECKED_CAST(void *, POLICYINFO *, p)))
-
-#define sk_POLICYINFO_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk))
-
-#define sk_POLICYINFO_pop_free(sk, free_func)             \
-  sk_pop_free(                                            \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(POLICYINFO *), free_func))
-
-#define sk_POLICYINFO_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk), \
-            CHECKED_CAST(void *, POLICYINFO *, p), (where))
-
-#define sk_POLICYINFO_delete(sk, where)                                        \
-  ((POLICYINFO *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk), \
-                           (where)))
-
-#define sk_POLICYINFO_delete_ptr(sk, p)                   \
-  ((POLICYINFO *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk), \
-      CHECKED_CAST(void *, POLICYINFO *, p)))
-
-#define sk_POLICYINFO_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk), (out_index), \
-          CHECKED_CAST(void *, POLICYINFO *, p))
-
-#define sk_POLICYINFO_shift(sk) \
-  ((POLICYINFO *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk)))
-
-#define sk_POLICYINFO_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk), \
-          CHECKED_CAST(void *, POLICYINFO *, p))
-
-#define sk_POLICYINFO_pop(sk) \
-  ((POLICYINFO *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk)))
-
-#define sk_POLICYINFO_dup(sk)      \
-  ((STACK_OF(POLICYINFO) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(POLICYINFO) *, sk)))
-
-#define sk_POLICYINFO_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk))
-
-#define sk_POLICYINFO_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(POLICYINFO) *, sk))
-
-#define sk_POLICYINFO_set_cmp_func(sk, comp)                             \
-  ((int (*)(const POLICYINFO **a, const POLICYINFO **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYINFO) *, sk),                \
-      CHECKED_CAST(stack_cmp_func,                                       \
-                   int (*)(const POLICYINFO **a, const POLICYINFO **b),  \
-                   comp)))
-
-#define sk_POLICYINFO_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(POLICYINFO) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(POLICYINFO) *, sk), \
-      CHECKED_CAST(void *(*)(void *), POLICYINFO *(*)(POLICYINFO *),  \
-                   copy_func),                                        \
-      CHECKED_CAST(void (*)(void *), void (*)(POLICYINFO *), free_func)))
-
-/* POLICYQUALINFO */
-#define sk_POLICYQUALINFO_new(comp)                 \
-  ((STACK_OF(POLICYQUALINFO) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                               \
-      int (*)(const POLICYQUALINFO **a, const POLICYQUALINFO **b), comp)))
-
-#define sk_POLICYQUALINFO_new_null() ((STACK_OF(POLICYQUALINFO) *)sk_new_null())
-
-#define sk_POLICYQUALINFO_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk))
-
-#define sk_POLICYQUALINFO_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk));
-
-#define sk_POLICYQUALINFO_value(sk, i) \
-  ((POLICYQUALINFO *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(POLICYQUALINFO) *, sk), (i)))
-
-#define sk_POLICYQUALINFO_set(sk, i, p)                            \
-  ((POLICYQUALINFO *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk), (i), \
-      CHECKED_CAST(void *, POLICYQUALINFO *, p)))
-
-#define sk_POLICYQUALINFO_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk))
-
-#define sk_POLICYQUALINFO_pop_free(sk, free_func)             \
-  sk_pop_free(                                                \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(POLICYQUALINFO *), free_func))
-
-#define sk_POLICYQUALINFO_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk), \
-            CHECKED_CAST(void *, POLICYQUALINFO *, p), (where))
-
-#define sk_POLICYQUALINFO_delete(sk, where) \
-  ((POLICYQUALINFO *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk), (where)))
-
-#define sk_POLICYQUALINFO_delete_ptr(sk, p)                   \
-  ((POLICYQUALINFO *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk), \
-      CHECKED_CAST(void *, POLICYQUALINFO *, p)))
-
-#define sk_POLICYQUALINFO_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk), (out_index), \
-          CHECKED_CAST(void *, POLICYQUALINFO *, p))
-
-#define sk_POLICYQUALINFO_shift(sk) \
-  ((POLICYQUALINFO *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk)))
-
-#define sk_POLICYQUALINFO_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk), \
-          CHECKED_CAST(void *, POLICYQUALINFO *, p))
-
-#define sk_POLICYQUALINFO_pop(sk) \
-  ((POLICYQUALINFO *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk)))
-
-#define sk_POLICYQUALINFO_dup(sk)      \
-  ((STACK_OF(POLICYQUALINFO) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(POLICYQUALINFO) *, sk)))
-
-#define sk_POLICYQUALINFO_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk))
-
-#define sk_POLICYQUALINFO_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(POLICYQUALINFO) *, sk))
-
-#define sk_POLICYQUALINFO_set_cmp_func(sk, comp)                           \
-  ((int (*)(const POLICYQUALINFO **a, const POLICYQUALINFO **b))           \
-       sk_set_cmp_func(                                                    \
-           CHECKED_CAST(_STACK *, STACK_OF(POLICYQUALINFO) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const POLICYQUALINFO **a,  \
-                                                const POLICYQUALINFO **b), \
-                        comp)))
-
-#define sk_POLICYQUALINFO_deep_copy(sk, copy_func, free_func)                \
-  ((STACK_OF(POLICYQUALINFO) *)sk_deep_copy(                                 \
-      CHECKED_CAST(const _STACK *, const STACK_OF(POLICYQUALINFO) *, sk),    \
-      CHECKED_CAST(void *(*)(void *), POLICYQUALINFO *(*)(POLICYQUALINFO *), \
-                   copy_func),                                               \
-      CHECKED_CAST(void (*)(void *), void (*)(POLICYQUALINFO *), free_func)))
-
-/* POLICY_MAPPING */
-#define sk_POLICY_MAPPING_new(comp)                 \
-  ((STACK_OF(POLICY_MAPPING) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                               \
-      int (*)(const POLICY_MAPPING **a, const POLICY_MAPPING **b), comp)))
-
-#define sk_POLICY_MAPPING_new_null() ((STACK_OF(POLICY_MAPPING) *)sk_new_null())
-
-#define sk_POLICY_MAPPING_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk))
-
-#define sk_POLICY_MAPPING_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk));
-
-#define sk_POLICY_MAPPING_value(sk, i) \
-  ((POLICY_MAPPING *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(POLICY_MAPPING) *, sk), (i)))
-
-#define sk_POLICY_MAPPING_set(sk, i, p)                            \
-  ((POLICY_MAPPING *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk), (i), \
-      CHECKED_CAST(void *, POLICY_MAPPING *, p)))
-
-#define sk_POLICY_MAPPING_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk))
-
-#define sk_POLICY_MAPPING_pop_free(sk, free_func)             \
-  sk_pop_free(                                                \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(POLICY_MAPPING *), free_func))
-
-#define sk_POLICY_MAPPING_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk), \
-            CHECKED_CAST(void *, POLICY_MAPPING *, p), (where))
-
-#define sk_POLICY_MAPPING_delete(sk, where) \
-  ((POLICY_MAPPING *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk), (where)))
-
-#define sk_POLICY_MAPPING_delete_ptr(sk, p)                   \
-  ((POLICY_MAPPING *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk), \
-      CHECKED_CAST(void *, POLICY_MAPPING *, p)))
-
-#define sk_POLICY_MAPPING_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk), (out_index), \
-          CHECKED_CAST(void *, POLICY_MAPPING *, p))
-
-#define sk_POLICY_MAPPING_shift(sk) \
-  ((POLICY_MAPPING *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk)))
-
-#define sk_POLICY_MAPPING_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk), \
-          CHECKED_CAST(void *, POLICY_MAPPING *, p))
-
-#define sk_POLICY_MAPPING_pop(sk) \
-  ((POLICY_MAPPING *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk)))
-
-#define sk_POLICY_MAPPING_dup(sk)      \
-  ((STACK_OF(POLICY_MAPPING) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(POLICY_MAPPING) *, sk)))
-
-#define sk_POLICY_MAPPING_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk))
-
-#define sk_POLICY_MAPPING_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(POLICY_MAPPING) *, sk))
-
-#define sk_POLICY_MAPPING_set_cmp_func(sk, comp)                           \
-  ((int (*)(const POLICY_MAPPING **a, const POLICY_MAPPING **b))           \
-       sk_set_cmp_func(                                                    \
-           CHECKED_CAST(_STACK *, STACK_OF(POLICY_MAPPING) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const POLICY_MAPPING **a,  \
-                                                const POLICY_MAPPING **b), \
-                        comp)))
-
-#define sk_POLICY_MAPPING_deep_copy(sk, copy_func, free_func)                \
-  ((STACK_OF(POLICY_MAPPING) *)sk_deep_copy(                                 \
-      CHECKED_CAST(const _STACK *, const STACK_OF(POLICY_MAPPING) *, sk),    \
-      CHECKED_CAST(void *(*)(void *), POLICY_MAPPING *(*)(POLICY_MAPPING *), \
-                   copy_func),                                               \
-      CHECKED_CAST(void (*)(void *), void (*)(POLICY_MAPPING *), free_func)))
-
-/* SSL_COMP */
-#define sk_SSL_COMP_new(comp)                 \
-  ((STACK_OF(SSL_COMP) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func, int (*)(const SSL_COMP **a, const SSL_COMP **b), comp)))
-
-#define sk_SSL_COMP_new_null() ((STACK_OF(SSL_COMP) *)sk_new_null())
-
-#define sk_SSL_COMP_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk))
-
-#define sk_SSL_COMP_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk));
-
-#define sk_SSL_COMP_value(sk, i) \
-  ((SSL_COMP *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(SSL_COMP) *, sk), (i)))
-
-#define sk_SSL_COMP_set(sk, i, p)                                            \
-  ((SSL_COMP *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk), (i), \
-                      CHECKED_CAST(void *, SSL_COMP *, p)))
-
-#define sk_SSL_COMP_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk))
-
-#define sk_SSL_COMP_pop_free(sk, free_func)                     \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk), \
-              CHECKED_CAST(void (*)(void *), void (*)(SSL_COMP *), free_func))
-
-#define sk_SSL_COMP_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk), \
-            CHECKED_CAST(void *, SSL_COMP *, p), (where))
-
-#define sk_SSL_COMP_delete(sk, where)                                      \
-  ((SSL_COMP *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk), \
-                         (where)))
-
-#define sk_SSL_COMP_delete_ptr(sk, p)                                          \
-  ((SSL_COMP *)sk_delete_ptr(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk), \
-                             CHECKED_CAST(void *, SSL_COMP *, p)))
-
-#define sk_SSL_COMP_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk), (out_index), \
-          CHECKED_CAST(void *, SSL_COMP *, p))
-
-#define sk_SSL_COMP_shift(sk) \
-  ((SSL_COMP *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk)))
-
-#define sk_SSL_COMP_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk), \
-          CHECKED_CAST(void *, SSL_COMP *, p))
-
-#define sk_SSL_COMP_pop(sk) \
-  ((SSL_COMP *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk)))
-
-#define sk_SSL_COMP_dup(sk)      \
-  ((STACK_OF(SSL_COMP) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(SSL_COMP) *, sk)))
-
-#define sk_SSL_COMP_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk))
-
-#define sk_SSL_COMP_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(SSL_COMP) *, sk))
-
-#define sk_SSL_COMP_set_cmp_func(sk, comp)                           \
-  ((int (*)(const SSL_COMP **a, const SSL_COMP **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(SSL_COMP) *, sk),              \
-      CHECKED_CAST(stack_cmp_func,                                   \
-                   int (*)(const SSL_COMP **a, const SSL_COMP **b), comp)))
-
-#define sk_SSL_COMP_deep_copy(sk, copy_func, free_func)                      \
-  ((STACK_OF(SSL_COMP) *)sk_deep_copy(                                       \
-      CHECKED_CAST(const _STACK *, const STACK_OF(SSL_COMP) *, sk),          \
-      CHECKED_CAST(void *(*)(void *), SSL_COMP *(*)(SSL_COMP *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(SSL_COMP *), free_func)))
-
-/* STACK_OF_X509_NAME_ENTRY */
-#define sk_STACK_OF_X509_NAME_ENTRY_new(comp)                      \
-  ((STACK_OF(STACK_OF_X509_NAME_ENTRY) *)sk_new(CHECKED_CAST(      \
-      stack_cmp_func, int (*)(const STACK_OF_X509_NAME_ENTRY **a,  \
-                              const STACK_OF_X509_NAME_ENTRY **b), \
-      comp)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_new_null() \
-  ((STACK_OF(STACK_OF_X509_NAME_ENTRY) *)sk_new_null())
-
-#define sk_STACK_OF_X509_NAME_ENTRY_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk));
-
-#define sk_STACK_OF_X509_NAME_ENTRY_value(sk, i)                              \
-  ((STACK_OF_X509_NAME_ENTRY *)sk_value(                                      \
-      CHECKED_CAST(_STACK *, const STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk), \
-      (i)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_set(sk, i, p)                            \
-  ((STACK_OF_X509_NAME_ENTRY *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk), (i), \
-      CHECKED_CAST(void *, STACK_OF_X509_NAME_ENTRY *, p)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_pop_free(sk, free_func)                \
-  sk_pop_free(                                                             \
-      CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk),    \
-      CHECKED_CAST(void (*)(void *), void (*)(STACK_OF_X509_NAME_ENTRY *), \
-                   free_func))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk), \
-            CHECKED_CAST(void *, STACK_OF_X509_NAME_ENTRY *, p), (where))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_delete(sk, where)                   \
-  ((STACK_OF_X509_NAME_ENTRY *)sk_delete(                               \
-      CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk), \
-      (where)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_delete_ptr(sk, p)                   \
-  ((STACK_OF_X509_NAME_ENTRY *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk), \
-      CHECKED_CAST(void *, STACK_OF_X509_NAME_ENTRY *, p)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk), \
-          (out_index), CHECKED_CAST(void *, STACK_OF_X509_NAME_ENTRY *, p))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_shift(sk) \
-  ((STACK_OF_X509_NAME_ENTRY *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk), \
-          CHECKED_CAST(void *, STACK_OF_X509_NAME_ENTRY *, p))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_pop(sk) \
-  ((STACK_OF_X509_NAME_ENTRY *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_dup(sk)      \
-  ((STACK_OF(STACK_OF_X509_NAME_ENTRY) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_is_sorted(sk) \
-  sk_is_sorted(                                   \
-      CHECKED_CAST(_STACK *, const STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_set_cmp_func(sk, comp)                   \
-  ((int (*)(const STACK_OF_X509_NAME_ENTRY **a,                              \
-            const STACK_OF_X509_NAME_ENTRY **b))                             \
-       sk_set_cmp_func(                                                      \
-           CHECKED_CAST(_STACK *, STACK_OF(STACK_OF_X509_NAME_ENTRY) *, sk), \
-           CHECKED_CAST(stack_cmp_func,                                      \
-                        int (*)(const STACK_OF_X509_NAME_ENTRY **a,          \
-                                const STACK_OF_X509_NAME_ENTRY **b),         \
-                        comp)))
-
-#define sk_STACK_OF_X509_NAME_ENTRY_deep_copy(sk, copy_func, free_func)        \
-  ((STACK_OF(STACK_OF_X509_NAME_ENTRY) *)sk_deep_copy(                         \
-      CHECKED_CAST(const _STACK *, const STACK_OF(STACK_OF_X509_NAME_ENTRY) *, \
-                   sk),                                                        \
-      CHECKED_CAST(void *(*)(void *),                                          \
-                   STACK_OF_X509_NAME_ENTRY *(*)(STACK_OF_X509_NAME_ENTRY *),  \
-                   copy_func),                                                 \
-      CHECKED_CAST(void (*)(void *), void (*)(STACK_OF_X509_NAME_ENTRY *),     \
-                   free_func)))
-
-/* SXNETID */
-#define sk_SXNETID_new(comp)                 \
-  ((STACK_OF(SXNETID) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func, int (*)(const SXNETID **a, const SXNETID **b), comp)))
-
-#define sk_SXNETID_new_null() ((STACK_OF(SXNETID) *)sk_new_null())
-
-#define sk_SXNETID_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk))
-
-#define sk_SXNETID_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk));
-
-#define sk_SXNETID_value(sk, i)                                               \
-  ((SXNETID *)sk_value(CHECKED_CAST(_STACK *, const STACK_OF(SXNETID) *, sk), \
-                       (i)))
-
-#define sk_SXNETID_set(sk, i, p)                                           \
-  ((SXNETID *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk), (i), \
-                     CHECKED_CAST(void *, SXNETID *, p)))
-
-#define sk_SXNETID_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk))
-
-#define sk_SXNETID_pop_free(sk, free_func)                     \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk), \
-              CHECKED_CAST(void (*)(void *), void (*)(SXNETID *), free_func))
-
-#define sk_SXNETID_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk), \
-            CHECKED_CAST(void *, SXNETID *, p), (where))
-
-#define sk_SXNETID_delete(sk, where)                                     \
-  ((SXNETID *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk), \
-                        (where)))
-
-#define sk_SXNETID_delete_ptr(sk, p)                                         \
-  ((SXNETID *)sk_delete_ptr(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk), \
-                            CHECKED_CAST(void *, SXNETID *, p)))
-
-#define sk_SXNETID_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk), (out_index), \
-          CHECKED_CAST(void *, SXNETID *, p))
-
-#define sk_SXNETID_shift(sk) \
-  ((SXNETID *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk)))
-
-#define sk_SXNETID_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk), \
-          CHECKED_CAST(void *, SXNETID *, p))
-
-#define sk_SXNETID_pop(sk) \
-  ((SXNETID *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk)))
-
-#define sk_SXNETID_dup(sk)      \
-  ((STACK_OF(SXNETID) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(SXNETID) *, sk)))
-
-#define sk_SXNETID_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk))
-
-#define sk_SXNETID_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(SXNETID) *, sk))
-
-#define sk_SXNETID_set_cmp_func(sk, comp)                          \
-  ((int (*)(const SXNETID **a, const SXNETID **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(SXNETID) *, sk),             \
-      CHECKED_CAST(stack_cmp_func,                                 \
-                   int (*)(const SXNETID **a, const SXNETID **b), comp)))
-
-#define sk_SXNETID_deep_copy(sk, copy_func, free_func)                     \
-  ((STACK_OF(SXNETID) *)sk_deep_copy(                                      \
-      CHECKED_CAST(const _STACK *, const STACK_OF(SXNETID) *, sk),         \
-      CHECKED_CAST(void *(*)(void *), SXNETID *(*)(SXNETID *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(SXNETID *), free_func)))
-
-/* X509 */
-#define sk_X509_new(comp)                 \
-  ((STACK_OF(X509) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func, int (*)(const X509 **a, const X509 **b), comp)))
-
-#define sk_X509_new_null() ((STACK_OF(X509) *)sk_new_null())
-
-#define sk_X509_num(sk) sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk))
-
-#define sk_X509_zero(sk) sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk));
-
-#define sk_X509_value(sk, i) \
-  ((X509 *)sk_value(CHECKED_CAST(_STACK *, const STACK_OF(X509) *, sk), (i)))
-
-#define sk_X509_set(sk, i, p)                                        \
-  ((X509 *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk), (i), \
-                  CHECKED_CAST(void *, X509 *, p)))
-
-#define sk_X509_free(sk) sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk))
-
-#define sk_X509_pop_free(sk, free_func)                     \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk), \
-              CHECKED_CAST(void (*)(void *), void (*)(X509 *), free_func))
-
-#define sk_X509_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk), \
-            CHECKED_CAST(void *, X509 *, p), (where))
-
-#define sk_X509_delete(sk, where) \
-  ((X509 *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk), (where)))
-
-#define sk_X509_delete_ptr(sk, p)                                      \
-  ((X509 *)sk_delete_ptr(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk), \
-                         CHECKED_CAST(void *, X509 *, p)))
-
-#define sk_X509_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509 *, p))
-
-#define sk_X509_shift(sk) \
-  ((X509 *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk)))
-
-#define sk_X509_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk), \
-          CHECKED_CAST(void *, X509 *, p))
-
-#define sk_X509_pop(sk) \
-  ((X509 *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk)))
-
-#define sk_X509_dup(sk) \
-  ((STACK_OF(X509) *)sk_dup(CHECKED_CAST(_STACK *, const STACK_OF(X509) *, sk)))
-
-#define sk_X509_sort(sk) sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk))
-
-#define sk_X509_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509) *, sk))
-
-#define sk_X509_set_cmp_func(sk, comp)                                      \
-  ((int (*)(const X509 **a, const X509 **b))sk_set_cmp_func(                \
-      CHECKED_CAST(_STACK *, STACK_OF(X509) *, sk),                         \
-      CHECKED_CAST(stack_cmp_func, int (*)(const X509 **a, const X509 **b), \
-                   comp)))
-
-#define sk_X509_deep_copy(sk, copy_func, free_func)                  \
-  ((STACK_OF(X509) *)sk_deep_copy(                                   \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509) *, sk),      \
-      CHECKED_CAST(void *(*)(void *), X509 *(*)(X509 *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509 *), free_func)))
-
-/* X509V3_EXT_METHOD */
-#define sk_X509V3_EXT_METHOD_new(comp)                                   \
-  ((STACK_OF(X509V3_EXT_METHOD) *)sk_new(CHECKED_CAST(                   \
-      stack_cmp_func,                                                    \
-      int (*)(const X509V3_EXT_METHOD **a, const X509V3_EXT_METHOD **b), \
-      comp)))
-
-#define sk_X509V3_EXT_METHOD_new_null() \
-  ((STACK_OF(X509V3_EXT_METHOD) *)sk_new_null())
-
-#define sk_X509V3_EXT_METHOD_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk))
-
-#define sk_X509V3_EXT_METHOD_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk));
-
-#define sk_X509V3_EXT_METHOD_value(sk, i) \
-  ((X509V3_EXT_METHOD *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509V3_EXT_METHOD) *, sk), (i)))
-
-#define sk_X509V3_EXT_METHOD_set(sk, i, p)                            \
-  ((X509V3_EXT_METHOD *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk), (i), \
-      CHECKED_CAST(void *, X509V3_EXT_METHOD *, p)))
-
-#define sk_X509V3_EXT_METHOD_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk))
-
-#define sk_X509V3_EXT_METHOD_pop_free(sk, free_func)                        \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk),    \
-              CHECKED_CAST(void (*)(void *), void (*)(X509V3_EXT_METHOD *), \
-                           free_func))
-
-#define sk_X509V3_EXT_METHOD_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk), \
-            CHECKED_CAST(void *, X509V3_EXT_METHOD *, p), (where))
-
-#define sk_X509V3_EXT_METHOD_delete(sk, where) \
-  ((X509V3_EXT_METHOD *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk), (where)))
-
-#define sk_X509V3_EXT_METHOD_delete_ptr(sk, p)                   \
-  ((X509V3_EXT_METHOD *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk), \
-      CHECKED_CAST(void *, X509V3_EXT_METHOD *, p)))
-
-#define sk_X509V3_EXT_METHOD_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk), \
-          (out_index), CHECKED_CAST(void *, X509V3_EXT_METHOD *, p))
-
-#define sk_X509V3_EXT_METHOD_shift(sk) \
-  ((X509V3_EXT_METHOD *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk)))
-
-#define sk_X509V3_EXT_METHOD_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk), \
-          CHECKED_CAST(void *, X509V3_EXT_METHOD *, p))
-
-#define sk_X509V3_EXT_METHOD_pop(sk) \
-  ((X509V3_EXT_METHOD *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk)))
-
-#define sk_X509V3_EXT_METHOD_dup(sk)      \
-  ((STACK_OF(X509V3_EXT_METHOD) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509V3_EXT_METHOD) *, sk)))
-
-#define sk_X509V3_EXT_METHOD_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk))
-
-#define sk_X509V3_EXT_METHOD_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509V3_EXT_METHOD) *, sk))
-
-#define sk_X509V3_EXT_METHOD_set_cmp_func(sk, comp)                           \
-  ((int (*)(const X509V3_EXT_METHOD **a, const X509V3_EXT_METHOD **b))        \
-       sk_set_cmp_func(                                                       \
-           CHECKED_CAST(_STACK *, STACK_OF(X509V3_EXT_METHOD) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const X509V3_EXT_METHOD **a,  \
-                                                const X509V3_EXT_METHOD **b), \
-                        comp)))
-
-#define sk_X509V3_EXT_METHOD_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(X509V3_EXT_METHOD) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509V3_EXT_METHOD) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                        \
-                   X509V3_EXT_METHOD *(*)(X509V3_EXT_METHOD *), copy_func),  \
-      CHECKED_CAST(void (*)(void *), void (*)(X509V3_EXT_METHOD *),          \
-                   free_func)))
-
-/* X509_ALGOR */
-#define sk_X509_ALGOR_new(comp)                                            \
-  ((STACK_OF(X509_ALGOR) *)sk_new(CHECKED_CAST(                            \
-      stack_cmp_func, int (*)(const X509_ALGOR **a, const X509_ALGOR **b), \
-      comp)))
-
-#define sk_X509_ALGOR_new_null() ((STACK_OF(X509_ALGOR) *)sk_new_null())
-
-#define sk_X509_ALGOR_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk))
-
-#define sk_X509_ALGOR_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk));
-
-#define sk_X509_ALGOR_value(sk, i) \
-  ((X509_ALGOR *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_ALGOR) *, sk), (i)))
-
-#define sk_X509_ALGOR_set(sk, i, p)                                         \
-  ((X509_ALGOR *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk), \
-                        (i), CHECKED_CAST(void *, X509_ALGOR *, p)))
-
-#define sk_X509_ALGOR_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk))
-
-#define sk_X509_ALGOR_pop_free(sk, free_func)             \
-  sk_pop_free(                                            \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_ALGOR *), free_func))
-
-#define sk_X509_ALGOR_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk), \
-            CHECKED_CAST(void *, X509_ALGOR *, p), (where))
-
-#define sk_X509_ALGOR_delete(sk, where)                                        \
-  ((X509_ALGOR *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk), \
-                           (where)))
-
-#define sk_X509_ALGOR_delete_ptr(sk, p)                   \
-  ((X509_ALGOR *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk), \
-      CHECKED_CAST(void *, X509_ALGOR *, p)))
-
-#define sk_X509_ALGOR_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_ALGOR *, p))
-
-#define sk_X509_ALGOR_shift(sk) \
-  ((X509_ALGOR *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk)))
-
-#define sk_X509_ALGOR_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk), \
-          CHECKED_CAST(void *, X509_ALGOR *, p))
-
-#define sk_X509_ALGOR_pop(sk) \
-  ((X509_ALGOR *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk)))
-
-#define sk_X509_ALGOR_dup(sk)      \
-  ((STACK_OF(X509_ALGOR) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_ALGOR) *, sk)))
-
-#define sk_X509_ALGOR_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk))
-
-#define sk_X509_ALGOR_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_ALGOR) *, sk))
-
-#define sk_X509_ALGOR_set_cmp_func(sk, comp)                             \
-  ((int (*)(const X509_ALGOR **a, const X509_ALGOR **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ALGOR) *, sk),                \
-      CHECKED_CAST(stack_cmp_func,                                       \
-                   int (*)(const X509_ALGOR **a, const X509_ALGOR **b),  \
-                   comp)))
-
-#define sk_X509_ALGOR_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(X509_ALGOR) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_ALGOR) *, sk), \
-      CHECKED_CAST(void *(*)(void *), X509_ALGOR *(*)(X509_ALGOR *),  \
-                   copy_func),                                        \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_ALGOR *), free_func)))
-
-/* X509_ATTRIBUTE */
-#define sk_X509_ATTRIBUTE_new(comp)                 \
-  ((STACK_OF(X509_ATTRIBUTE) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                               \
-      int (*)(const X509_ATTRIBUTE **a, const X509_ATTRIBUTE **b), comp)))
-
-#define sk_X509_ATTRIBUTE_new_null() ((STACK_OF(X509_ATTRIBUTE) *)sk_new_null())
-
-#define sk_X509_ATTRIBUTE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk))
-
-#define sk_X509_ATTRIBUTE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk));
-
-#define sk_X509_ATTRIBUTE_value(sk, i) \
-  ((X509_ATTRIBUTE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_ATTRIBUTE) *, sk), (i)))
-
-#define sk_X509_ATTRIBUTE_set(sk, i, p)                            \
-  ((X509_ATTRIBUTE *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk), (i), \
-      CHECKED_CAST(void *, X509_ATTRIBUTE *, p)))
-
-#define sk_X509_ATTRIBUTE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk))
-
-#define sk_X509_ATTRIBUTE_pop_free(sk, free_func)             \
-  sk_pop_free(                                                \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_ATTRIBUTE *), free_func))
-
-#define sk_X509_ATTRIBUTE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk), \
-            CHECKED_CAST(void *, X509_ATTRIBUTE *, p), (where))
-
-#define sk_X509_ATTRIBUTE_delete(sk, where) \
-  ((X509_ATTRIBUTE *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk), (where)))
-
-#define sk_X509_ATTRIBUTE_delete_ptr(sk, p)                   \
-  ((X509_ATTRIBUTE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk), \
-      CHECKED_CAST(void *, X509_ATTRIBUTE *, p)))
-
-#define sk_X509_ATTRIBUTE_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_ATTRIBUTE *, p))
-
-#define sk_X509_ATTRIBUTE_shift(sk) \
-  ((X509_ATTRIBUTE *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk)))
-
-#define sk_X509_ATTRIBUTE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk), \
-          CHECKED_CAST(void *, X509_ATTRIBUTE *, p))
-
-#define sk_X509_ATTRIBUTE_pop(sk) \
-  ((X509_ATTRIBUTE *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk)))
-
-#define sk_X509_ATTRIBUTE_dup(sk)      \
-  ((STACK_OF(X509_ATTRIBUTE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_ATTRIBUTE) *, sk)))
-
-#define sk_X509_ATTRIBUTE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk))
-
-#define sk_X509_ATTRIBUTE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_ATTRIBUTE) *, sk))
-
-#define sk_X509_ATTRIBUTE_set_cmp_func(sk, comp)                           \
-  ((int (*)(const X509_ATTRIBUTE **a, const X509_ATTRIBUTE **b))           \
-       sk_set_cmp_func(                                                    \
-           CHECKED_CAST(_STACK *, STACK_OF(X509_ATTRIBUTE) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const X509_ATTRIBUTE **a,  \
-                                                const X509_ATTRIBUTE **b), \
-                        comp)))
-
-#define sk_X509_ATTRIBUTE_deep_copy(sk, copy_func, free_func)                \
-  ((STACK_OF(X509_ATTRIBUTE) *)sk_deep_copy(                                 \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_ATTRIBUTE) *, sk),    \
-      CHECKED_CAST(void *(*)(void *), X509_ATTRIBUTE *(*)(X509_ATTRIBUTE *), \
-                   copy_func),                                               \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_ATTRIBUTE *), free_func)))
-
-/* X509_CRL */
-#define sk_X509_CRL_new(comp)                 \
-  ((STACK_OF(X509_CRL) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func, int (*)(const X509_CRL **a, const X509_CRL **b), comp)))
-
-#define sk_X509_CRL_new_null() ((STACK_OF(X509_CRL) *)sk_new_null())
-
-#define sk_X509_CRL_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk))
-
-#define sk_X509_CRL_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk));
-
-#define sk_X509_CRL_value(sk, i) \
-  ((X509_CRL *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_CRL) *, sk), (i)))
-
-#define sk_X509_CRL_set(sk, i, p)                                            \
-  ((X509_CRL *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk), (i), \
-                      CHECKED_CAST(void *, X509_CRL *, p)))
-
-#define sk_X509_CRL_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk))
-
-#define sk_X509_CRL_pop_free(sk, free_func)                     \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk), \
-              CHECKED_CAST(void (*)(void *), void (*)(X509_CRL *), free_func))
-
-#define sk_X509_CRL_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk), \
-            CHECKED_CAST(void *, X509_CRL *, p), (where))
-
-#define sk_X509_CRL_delete(sk, where)                                      \
-  ((X509_CRL *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk), \
-                         (where)))
-
-#define sk_X509_CRL_delete_ptr(sk, p)                                          \
-  ((X509_CRL *)sk_delete_ptr(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk), \
-                             CHECKED_CAST(void *, X509_CRL *, p)))
-
-#define sk_X509_CRL_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_CRL *, p))
-
-#define sk_X509_CRL_shift(sk) \
-  ((X509_CRL *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk)))
-
-#define sk_X509_CRL_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk), \
-          CHECKED_CAST(void *, X509_CRL *, p))
-
-#define sk_X509_CRL_pop(sk) \
-  ((X509_CRL *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk)))
-
-#define sk_X509_CRL_dup(sk)      \
-  ((STACK_OF(X509_CRL) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_CRL) *, sk)))
-
-#define sk_X509_CRL_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk))
-
-#define sk_X509_CRL_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_CRL) *, sk))
-
-#define sk_X509_CRL_set_cmp_func(sk, comp)                           \
-  ((int (*)(const X509_CRL **a, const X509_CRL **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_CRL) *, sk),              \
-      CHECKED_CAST(stack_cmp_func,                                   \
-                   int (*)(const X509_CRL **a, const X509_CRL **b), comp)))
-
-#define sk_X509_CRL_deep_copy(sk, copy_func, free_func)                      \
-  ((STACK_OF(X509_CRL) *)sk_deep_copy(                                       \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_CRL) *, sk),          \
-      CHECKED_CAST(void *(*)(void *), X509_CRL *(*)(X509_CRL *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_CRL *), free_func)))
-
-/* X509_EXTENSION */
-#define sk_X509_EXTENSION_new(comp)                 \
-  ((STACK_OF(X509_EXTENSION) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                               \
-      int (*)(const X509_EXTENSION **a, const X509_EXTENSION **b), comp)))
-
-#define sk_X509_EXTENSION_new_null() ((STACK_OF(X509_EXTENSION) *)sk_new_null())
-
-#define sk_X509_EXTENSION_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk))
-
-#define sk_X509_EXTENSION_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk));
-
-#define sk_X509_EXTENSION_value(sk, i) \
-  ((X509_EXTENSION *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_EXTENSION) *, sk), (i)))
-
-#define sk_X509_EXTENSION_set(sk, i, p)                            \
-  ((X509_EXTENSION *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk), (i), \
-      CHECKED_CAST(void *, X509_EXTENSION *, p)))
-
-#define sk_X509_EXTENSION_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk))
-
-#define sk_X509_EXTENSION_pop_free(sk, free_func)             \
-  sk_pop_free(                                                \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_EXTENSION *), free_func))
-
-#define sk_X509_EXTENSION_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk), \
-            CHECKED_CAST(void *, X509_EXTENSION *, p), (where))
-
-#define sk_X509_EXTENSION_delete(sk, where) \
-  ((X509_EXTENSION *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk), (where)))
-
-#define sk_X509_EXTENSION_delete_ptr(sk, p)                   \
-  ((X509_EXTENSION *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk), \
-      CHECKED_CAST(void *, X509_EXTENSION *, p)))
-
-#define sk_X509_EXTENSION_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_EXTENSION *, p))
-
-#define sk_X509_EXTENSION_shift(sk) \
-  ((X509_EXTENSION *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk)))
-
-#define sk_X509_EXTENSION_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk), \
-          CHECKED_CAST(void *, X509_EXTENSION *, p))
-
-#define sk_X509_EXTENSION_pop(sk) \
-  ((X509_EXTENSION *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk)))
-
-#define sk_X509_EXTENSION_dup(sk)      \
-  ((STACK_OF(X509_EXTENSION) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_EXTENSION) *, sk)))
-
-#define sk_X509_EXTENSION_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk))
-
-#define sk_X509_EXTENSION_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_EXTENSION) *, sk))
-
-#define sk_X509_EXTENSION_set_cmp_func(sk, comp)                           \
-  ((int (*)(const X509_EXTENSION **a, const X509_EXTENSION **b))           \
-       sk_set_cmp_func(                                                    \
-           CHECKED_CAST(_STACK *, STACK_OF(X509_EXTENSION) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const X509_EXTENSION **a,  \
-                                                const X509_EXTENSION **b), \
-                        comp)))
-
-#define sk_X509_EXTENSION_deep_copy(sk, copy_func, free_func)                \
-  ((STACK_OF(X509_EXTENSION) *)sk_deep_copy(                                 \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_EXTENSION) *, sk),    \
-      CHECKED_CAST(void *(*)(void *), X509_EXTENSION *(*)(X509_EXTENSION *), \
-                   copy_func),                                               \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_EXTENSION *), free_func)))
-
-/* X509_INFO */
-#define sk_X509_INFO_new(comp)     \
-  ((STACK_OF(X509_INFO) *)sk_new(  \
-      CHECKED_CAST(stack_cmp_func, \
-                   int (*)(const X509_INFO **a, const X509_INFO **b), comp)))
-
-#define sk_X509_INFO_new_null() ((STACK_OF(X509_INFO) *)sk_new_null())
-
-#define sk_X509_INFO_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk))
-
-#define sk_X509_INFO_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk));
-
-#define sk_X509_INFO_value(sk, i) \
-  ((X509_INFO *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_INFO) *, sk), (i)))
-
-#define sk_X509_INFO_set(sk, i, p)                                             \
-  ((X509_INFO *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk), (i), \
-                       CHECKED_CAST(void *, X509_INFO *, p)))
-
-#define sk_X509_INFO_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk))
-
-#define sk_X509_INFO_pop_free(sk, free_func)             \
-  sk_pop_free(                                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_INFO *), free_func))
-
-#define sk_X509_INFO_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk), \
-            CHECKED_CAST(void *, X509_INFO *, p), (where))
-
-#define sk_X509_INFO_delete(sk, where)                                       \
-  ((X509_INFO *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk), \
-                          (where)))
-
-#define sk_X509_INFO_delete_ptr(sk, p)                   \
-  ((X509_INFO *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk), \
-      CHECKED_CAST(void *, X509_INFO *, p)))
-
-#define sk_X509_INFO_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_INFO *, p))
-
-#define sk_X509_INFO_shift(sk) \
-  ((X509_INFO *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk)))
-
-#define sk_X509_INFO_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk), \
-          CHECKED_CAST(void *, X509_INFO *, p))
-
-#define sk_X509_INFO_pop(sk) \
-  ((X509_INFO *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk)))
-
-#define sk_X509_INFO_dup(sk)      \
-  ((STACK_OF(X509_INFO) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_INFO) *, sk)))
-
-#define sk_X509_INFO_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk))
-
-#define sk_X509_INFO_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_INFO) *, sk))
-
-#define sk_X509_INFO_set_cmp_func(sk, comp)                            \
-  ((int (*)(const X509_INFO **a, const X509_INFO **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_INFO) *, sk),               \
-      CHECKED_CAST(stack_cmp_func,                                     \
-                   int (*)(const X509_INFO **a, const X509_INFO **b), comp)))
-
-#define sk_X509_INFO_deep_copy(sk, copy_func, free_func)                       \
-  ((STACK_OF(X509_INFO) *)sk_deep_copy(                                        \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_INFO) *, sk),           \
-      CHECKED_CAST(void *(*)(void *), X509_INFO *(*)(X509_INFO *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_INFO *), free_func)))
-
-/* X509_LOOKUP */
-#define sk_X509_LOOKUP_new(comp)                                             \
-  ((STACK_OF(X509_LOOKUP) *)sk_new(CHECKED_CAST(                             \
-      stack_cmp_func, int (*)(const X509_LOOKUP **a, const X509_LOOKUP **b), \
-      comp)))
-
-#define sk_X509_LOOKUP_new_null() ((STACK_OF(X509_LOOKUP) *)sk_new_null())
-
-#define sk_X509_LOOKUP_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk))
-
-#define sk_X509_LOOKUP_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk));
-
-#define sk_X509_LOOKUP_value(sk, i) \
-  ((X509_LOOKUP *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_LOOKUP) *, sk), (i)))
-
-#define sk_X509_LOOKUP_set(sk, i, p)                                          \
-  ((X509_LOOKUP *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk), \
-                         (i), CHECKED_CAST(void *, X509_LOOKUP *, p)))
-
-#define sk_X509_LOOKUP_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk))
-
-#define sk_X509_LOOKUP_pop_free(sk, free_func)             \
-  sk_pop_free(                                             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_LOOKUP *), free_func))
-
-#define sk_X509_LOOKUP_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk), \
-            CHECKED_CAST(void *, X509_LOOKUP *, p), (where))
-
-#define sk_X509_LOOKUP_delete(sk, where) \
-  ((X509_LOOKUP *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk), (where)))
-
-#define sk_X509_LOOKUP_delete_ptr(sk, p)                   \
-  ((X509_LOOKUP *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk), \
-      CHECKED_CAST(void *, X509_LOOKUP *, p)))
-
-#define sk_X509_LOOKUP_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_LOOKUP *, p))
-
-#define sk_X509_LOOKUP_shift(sk) \
-  ((X509_LOOKUP *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk)))
-
-#define sk_X509_LOOKUP_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk), \
-          CHECKED_CAST(void *, X509_LOOKUP *, p))
-
-#define sk_X509_LOOKUP_pop(sk) \
-  ((X509_LOOKUP *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk)))
-
-#define sk_X509_LOOKUP_dup(sk)      \
-  ((STACK_OF(X509_LOOKUP) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_LOOKUP) *, sk)))
-
-#define sk_X509_LOOKUP_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk))
-
-#define sk_X509_LOOKUP_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_LOOKUP) *, sk))
-
-#define sk_X509_LOOKUP_set_cmp_func(sk, comp)                              \
-  ((int (*)(const X509_LOOKUP **a, const X509_LOOKUP **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_LOOKUP) *, sk),                 \
-      CHECKED_CAST(stack_cmp_func,                                         \
-                   int (*)(const X509_LOOKUP **a, const X509_LOOKUP **b),  \
-                   comp)))
-
-#define sk_X509_LOOKUP_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(X509_LOOKUP) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_LOOKUP) *, sk), \
-      CHECKED_CAST(void *(*)(void *), X509_LOOKUP *(*)(X509_LOOKUP *), \
-                   copy_func),                                         \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_LOOKUP *), free_func)))
-
-/* X509_NAME */
-#define sk_X509_NAME_new(comp)     \
-  ((STACK_OF(X509_NAME) *)sk_new(  \
-      CHECKED_CAST(stack_cmp_func, \
-                   int (*)(const X509_NAME **a, const X509_NAME **b), comp)))
-
-#define sk_X509_NAME_new_null() ((STACK_OF(X509_NAME) *)sk_new_null())
-
-#define sk_X509_NAME_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk))
-
-#define sk_X509_NAME_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk));
-
-#define sk_X509_NAME_value(sk, i) \
-  ((X509_NAME *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_NAME) *, sk), (i)))
-
-#define sk_X509_NAME_set(sk, i, p)                                             \
-  ((X509_NAME *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk), (i), \
-                       CHECKED_CAST(void *, X509_NAME *, p)))
-
-#define sk_X509_NAME_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk))
-
-#define sk_X509_NAME_pop_free(sk, free_func)             \
-  sk_pop_free(                                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_NAME *), free_func))
-
-#define sk_X509_NAME_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk), \
-            CHECKED_CAST(void *, X509_NAME *, p), (where))
-
-#define sk_X509_NAME_delete(sk, where)                                       \
-  ((X509_NAME *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk), \
-                          (where)))
-
-#define sk_X509_NAME_delete_ptr(sk, p)                   \
-  ((X509_NAME *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk), \
-      CHECKED_CAST(void *, X509_NAME *, p)))
-
-#define sk_X509_NAME_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_NAME *, p))
-
-#define sk_X509_NAME_shift(sk) \
-  ((X509_NAME *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk)))
-
-#define sk_X509_NAME_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk), \
-          CHECKED_CAST(void *, X509_NAME *, p))
-
-#define sk_X509_NAME_pop(sk) \
-  ((X509_NAME *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk)))
-
-#define sk_X509_NAME_dup(sk)      \
-  ((STACK_OF(X509_NAME) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_NAME) *, sk)))
-
-#define sk_X509_NAME_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk))
-
-#define sk_X509_NAME_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_NAME) *, sk))
-
-#define sk_X509_NAME_set_cmp_func(sk, comp)                            \
-  ((int (*)(const X509_NAME **a, const X509_NAME **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME) *, sk),               \
-      CHECKED_CAST(stack_cmp_func,                                     \
-                   int (*)(const X509_NAME **a, const X509_NAME **b), comp)))
-
-#define sk_X509_NAME_deep_copy(sk, copy_func, free_func)                       \
-  ((STACK_OF(X509_NAME) *)sk_deep_copy(                                        \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_NAME) *, sk),           \
-      CHECKED_CAST(void *(*)(void *), X509_NAME *(*)(X509_NAME *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_NAME *), free_func)))
-
-/* X509_NAME_ENTRY */
-#define sk_X509_NAME_ENTRY_new(comp)                 \
-  ((STACK_OF(X509_NAME_ENTRY) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                                \
-      int (*)(const X509_NAME_ENTRY **a, const X509_NAME_ENTRY **b), comp)))
-
-#define sk_X509_NAME_ENTRY_new_null() \
-  ((STACK_OF(X509_NAME_ENTRY) *)sk_new_null())
-
-#define sk_X509_NAME_ENTRY_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk))
-
-#define sk_X509_NAME_ENTRY_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk));
-
-#define sk_X509_NAME_ENTRY_value(sk, i) \
-  ((X509_NAME_ENTRY *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_NAME_ENTRY) *, sk), (i)))
-
-#define sk_X509_NAME_ENTRY_set(sk, i, p)                            \
-  ((X509_NAME_ENTRY *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk), (i), \
-      CHECKED_CAST(void *, X509_NAME_ENTRY *, p)))
-
-#define sk_X509_NAME_ENTRY_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk))
-
-#define sk_X509_NAME_ENTRY_pop_free(sk, free_func)             \
-  sk_pop_free(                                                 \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_NAME_ENTRY *), free_func))
-
-#define sk_X509_NAME_ENTRY_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk), \
-            CHECKED_CAST(void *, X509_NAME_ENTRY *, p), (where))
-
-#define sk_X509_NAME_ENTRY_delete(sk, where) \
-  ((X509_NAME_ENTRY *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk), (where)))
-
-#define sk_X509_NAME_ENTRY_delete_ptr(sk, p)                   \
-  ((X509_NAME_ENTRY *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk), \
-      CHECKED_CAST(void *, X509_NAME_ENTRY *, p)))
-
-#define sk_X509_NAME_ENTRY_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk), \
-          (out_index), CHECKED_CAST(void *, X509_NAME_ENTRY *, p))
-
-#define sk_X509_NAME_ENTRY_shift(sk) \
-  ((X509_NAME_ENTRY *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk)))
-
-#define sk_X509_NAME_ENTRY_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk), \
-          CHECKED_CAST(void *, X509_NAME_ENTRY *, p))
-
-#define sk_X509_NAME_ENTRY_pop(sk) \
-  ((X509_NAME_ENTRY *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk)))
-
-#define sk_X509_NAME_ENTRY_dup(sk)      \
-  ((STACK_OF(X509_NAME_ENTRY) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_NAME_ENTRY) *, sk)))
-
-#define sk_X509_NAME_ENTRY_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk))
-
-#define sk_X509_NAME_ENTRY_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_NAME_ENTRY) *, sk))
-
-#define sk_X509_NAME_ENTRY_set_cmp_func(sk, comp)                           \
-  ((int (*)(const X509_NAME_ENTRY **a, const X509_NAME_ENTRY **b))          \
-       sk_set_cmp_func(                                                     \
-           CHECKED_CAST(_STACK *, STACK_OF(X509_NAME_ENTRY) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const X509_NAME_ENTRY **a,  \
-                                                const X509_NAME_ENTRY **b), \
-                        comp)))
-
-#define sk_X509_NAME_ENTRY_deep_copy(sk, copy_func, free_func)                 \
-  ((STACK_OF(X509_NAME_ENTRY) *)sk_deep_copy(                                  \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_NAME_ENTRY) *, sk),     \
-      CHECKED_CAST(void *(*)(void *), X509_NAME_ENTRY *(*)(X509_NAME_ENTRY *), \
-                   copy_func),                                                 \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_NAME_ENTRY *), free_func)))
-
-/* X509_OBJECT */
-#define sk_X509_OBJECT_new(comp)                                             \
-  ((STACK_OF(X509_OBJECT) *)sk_new(CHECKED_CAST(                             \
-      stack_cmp_func, int (*)(const X509_OBJECT **a, const X509_OBJECT **b), \
-      comp)))
-
-#define sk_X509_OBJECT_new_null() ((STACK_OF(X509_OBJECT) *)sk_new_null())
-
-#define sk_X509_OBJECT_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk))
-
-#define sk_X509_OBJECT_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk));
-
-#define sk_X509_OBJECT_value(sk, i) \
-  ((X509_OBJECT *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_OBJECT) *, sk), (i)))
-
-#define sk_X509_OBJECT_set(sk, i, p)                                          \
-  ((X509_OBJECT *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk), \
-                         (i), CHECKED_CAST(void *, X509_OBJECT *, p)))
-
-#define sk_X509_OBJECT_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk))
-
-#define sk_X509_OBJECT_pop_free(sk, free_func)             \
-  sk_pop_free(                                             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_OBJECT *), free_func))
-
-#define sk_X509_OBJECT_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk), \
-            CHECKED_CAST(void *, X509_OBJECT *, p), (where))
-
-#define sk_X509_OBJECT_delete(sk, where) \
-  ((X509_OBJECT *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk), (where)))
-
-#define sk_X509_OBJECT_delete_ptr(sk, p)                   \
-  ((X509_OBJECT *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk), \
-      CHECKED_CAST(void *, X509_OBJECT *, p)))
-
-#define sk_X509_OBJECT_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_OBJECT *, p))
-
-#define sk_X509_OBJECT_shift(sk) \
-  ((X509_OBJECT *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk)))
-
-#define sk_X509_OBJECT_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk), \
-          CHECKED_CAST(void *, X509_OBJECT *, p))
-
-#define sk_X509_OBJECT_pop(sk) \
-  ((X509_OBJECT *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk)))
-
-#define sk_X509_OBJECT_dup(sk)      \
-  ((STACK_OF(X509_OBJECT) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_OBJECT) *, sk)))
-
-#define sk_X509_OBJECT_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk))
-
-#define sk_X509_OBJECT_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_OBJECT) *, sk))
-
-#define sk_X509_OBJECT_set_cmp_func(sk, comp)                              \
-  ((int (*)(const X509_OBJECT **a, const X509_OBJECT **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_OBJECT) *, sk),                 \
-      CHECKED_CAST(stack_cmp_func,                                         \
-                   int (*)(const X509_OBJECT **a, const X509_OBJECT **b),  \
-                   comp)))
-
-#define sk_X509_OBJECT_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(X509_OBJECT) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_OBJECT) *, sk), \
-      CHECKED_CAST(void *(*)(void *), X509_OBJECT *(*)(X509_OBJECT *), \
-                   copy_func),                                         \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_OBJECT *), free_func)))
-
-/* X509_POLICY_DATA */
-#define sk_X509_POLICY_DATA_new(comp)                 \
-  ((STACK_OF(X509_POLICY_DATA) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                                 \
-      int (*)(const X509_POLICY_DATA **a, const X509_POLICY_DATA **b), comp)))
-
-#define sk_X509_POLICY_DATA_new_null() \
-  ((STACK_OF(X509_POLICY_DATA) *)sk_new_null())
-
-#define sk_X509_POLICY_DATA_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk))
-
-#define sk_X509_POLICY_DATA_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk));
-
-#define sk_X509_POLICY_DATA_value(sk, i) \
-  ((X509_POLICY_DATA *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_POLICY_DATA) *, sk), (i)))
-
-#define sk_X509_POLICY_DATA_set(sk, i, p)                            \
-  ((X509_POLICY_DATA *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk), (i), \
-      CHECKED_CAST(void *, X509_POLICY_DATA *, p)))
-
-#define sk_X509_POLICY_DATA_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk))
-
-#define sk_X509_POLICY_DATA_pop_free(sk, free_func)             \
-  sk_pop_free(                                                  \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_POLICY_DATA *), free_func))
-
-#define sk_X509_POLICY_DATA_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk), \
-            CHECKED_CAST(void *, X509_POLICY_DATA *, p), (where))
-
-#define sk_X509_POLICY_DATA_delete(sk, where) \
-  ((X509_POLICY_DATA *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk), (where)))
-
-#define sk_X509_POLICY_DATA_delete_ptr(sk, p)                   \
-  ((X509_POLICY_DATA *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk), \
-      CHECKED_CAST(void *, X509_POLICY_DATA *, p)))
-
-#define sk_X509_POLICY_DATA_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk), \
-          (out_index), CHECKED_CAST(void *, X509_POLICY_DATA *, p))
-
-#define sk_X509_POLICY_DATA_shift(sk) \
-  ((X509_POLICY_DATA *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk)))
-
-#define sk_X509_POLICY_DATA_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk), \
-          CHECKED_CAST(void *, X509_POLICY_DATA *, p))
-
-#define sk_X509_POLICY_DATA_pop(sk) \
-  ((X509_POLICY_DATA *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk)))
-
-#define sk_X509_POLICY_DATA_dup(sk)      \
-  ((STACK_OF(X509_POLICY_DATA) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_POLICY_DATA) *, sk)))
-
-#define sk_X509_POLICY_DATA_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk))
-
-#define sk_X509_POLICY_DATA_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_POLICY_DATA) *, sk))
-
-#define sk_X509_POLICY_DATA_set_cmp_func(sk, comp)                           \
-  ((int (*)(const X509_POLICY_DATA **a, const X509_POLICY_DATA **b))         \
-       sk_set_cmp_func(                                                      \
-           CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_DATA) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const X509_POLICY_DATA **a,  \
-                                                const X509_POLICY_DATA **b), \
-                        comp)))
-
-#define sk_X509_POLICY_DATA_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(X509_POLICY_DATA) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_POLICY_DATA) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                       \
-                   X509_POLICY_DATA *(*)(X509_POLICY_DATA *), copy_func),   \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_POLICY_DATA *),          \
-                   free_func)))
-
-/* X509_POLICY_NODE */
-#define sk_X509_POLICY_NODE_new(comp)                 \
-  ((STACK_OF(X509_POLICY_NODE) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                                 \
-      int (*)(const X509_POLICY_NODE **a, const X509_POLICY_NODE **b), comp)))
-
-#define sk_X509_POLICY_NODE_new_null() \
-  ((STACK_OF(X509_POLICY_NODE) *)sk_new_null())
-
-#define sk_X509_POLICY_NODE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk))
-
-#define sk_X509_POLICY_NODE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk));
-
-#define sk_X509_POLICY_NODE_value(sk, i) \
-  ((X509_POLICY_NODE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_POLICY_NODE) *, sk), (i)))
-
-#define sk_X509_POLICY_NODE_set(sk, i, p)                            \
-  ((X509_POLICY_NODE *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk), (i), \
-      CHECKED_CAST(void *, X509_POLICY_NODE *, p)))
-
-#define sk_X509_POLICY_NODE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk))
-
-#define sk_X509_POLICY_NODE_pop_free(sk, free_func)             \
-  sk_pop_free(                                                  \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_POLICY_NODE *), free_func))
-
-#define sk_X509_POLICY_NODE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk), \
-            CHECKED_CAST(void *, X509_POLICY_NODE *, p), (where))
-
-#define sk_X509_POLICY_NODE_delete(sk, where) \
-  ((X509_POLICY_NODE *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk), (where)))
-
-#define sk_X509_POLICY_NODE_delete_ptr(sk, p)                   \
-  ((X509_POLICY_NODE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk), \
-      CHECKED_CAST(void *, X509_POLICY_NODE *, p)))
-
-#define sk_X509_POLICY_NODE_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk), \
-          (out_index), CHECKED_CAST(void *, X509_POLICY_NODE *, p))
-
-#define sk_X509_POLICY_NODE_shift(sk) \
-  ((X509_POLICY_NODE *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk)))
-
-#define sk_X509_POLICY_NODE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk), \
-          CHECKED_CAST(void *, X509_POLICY_NODE *, p))
-
-#define sk_X509_POLICY_NODE_pop(sk) \
-  ((X509_POLICY_NODE *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk)))
-
-#define sk_X509_POLICY_NODE_dup(sk)      \
-  ((STACK_OF(X509_POLICY_NODE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_POLICY_NODE) *, sk)))
-
-#define sk_X509_POLICY_NODE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk))
-
-#define sk_X509_POLICY_NODE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_POLICY_NODE) *, sk))
-
-#define sk_X509_POLICY_NODE_set_cmp_func(sk, comp)                           \
-  ((int (*)(const X509_POLICY_NODE **a, const X509_POLICY_NODE **b))         \
-       sk_set_cmp_func(                                                      \
-           CHECKED_CAST(_STACK *, STACK_OF(X509_POLICY_NODE) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const X509_POLICY_NODE **a,  \
-                                                const X509_POLICY_NODE **b), \
-                        comp)))
-
-#define sk_X509_POLICY_NODE_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(X509_POLICY_NODE) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_POLICY_NODE) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                       \
-                   X509_POLICY_NODE *(*)(X509_POLICY_NODE *), copy_func),   \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_POLICY_NODE *),          \
-                   free_func)))
-
-/* X509_PURPOSE */
-#define sk_X509_PURPOSE_new(comp)                                              \
-  ((STACK_OF(X509_PURPOSE) *)sk_new(CHECKED_CAST(                              \
-      stack_cmp_func, int (*)(const X509_PURPOSE **a, const X509_PURPOSE **b), \
-      comp)))
-
-#define sk_X509_PURPOSE_new_null() ((STACK_OF(X509_PURPOSE) *)sk_new_null())
-
-#define sk_X509_PURPOSE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk))
-
-#define sk_X509_PURPOSE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk));
-
-#define sk_X509_PURPOSE_value(sk, i) \
-  ((X509_PURPOSE *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_PURPOSE) *, sk), (i)))
-
-#define sk_X509_PURPOSE_set(sk, i, p)                            \
-  ((X509_PURPOSE *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk), (i), \
-      CHECKED_CAST(void *, X509_PURPOSE *, p)))
-
-#define sk_X509_PURPOSE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk))
-
-#define sk_X509_PURPOSE_pop_free(sk, free_func)             \
-  sk_pop_free(                                              \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_PURPOSE *), free_func))
-
-#define sk_X509_PURPOSE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk), \
-            CHECKED_CAST(void *, X509_PURPOSE *, p), (where))
-
-#define sk_X509_PURPOSE_delete(sk, where) \
-  ((X509_PURPOSE *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk), (where)))
-
-#define sk_X509_PURPOSE_delete_ptr(sk, p)                   \
-  ((X509_PURPOSE *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk), \
-      CHECKED_CAST(void *, X509_PURPOSE *, p)))
-
-#define sk_X509_PURPOSE_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_PURPOSE *, p))
-
-#define sk_X509_PURPOSE_shift(sk) \
-  ((X509_PURPOSE *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk)))
-
-#define sk_X509_PURPOSE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk), \
-          CHECKED_CAST(void *, X509_PURPOSE *, p))
-
-#define sk_X509_PURPOSE_pop(sk) \
-  ((X509_PURPOSE *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk)))
-
-#define sk_X509_PURPOSE_dup(sk)      \
-  ((STACK_OF(X509_PURPOSE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_PURPOSE) *, sk)))
-
-#define sk_X509_PURPOSE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk))
-
-#define sk_X509_PURPOSE_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_PURPOSE) *, sk))
-
-#define sk_X509_PURPOSE_set_cmp_func(sk, comp)                               \
-  ((int (*)(const X509_PURPOSE **a, const X509_PURPOSE **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_PURPOSE) *, sk),                  \
-      CHECKED_CAST(stack_cmp_func,                                           \
-                   int (*)(const X509_PURPOSE **a, const X509_PURPOSE **b),  \
-                   comp)))
-
-#define sk_X509_PURPOSE_deep_copy(sk, copy_func, free_func)              \
-  ((STACK_OF(X509_PURPOSE) *)sk_deep_copy(                               \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_PURPOSE) *, sk),  \
-      CHECKED_CAST(void *(*)(void *), X509_PURPOSE *(*)(X509_PURPOSE *), \
-                   copy_func),                                           \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_PURPOSE *), free_func)))
-
-/* X509_REVOKED */
-#define sk_X509_REVOKED_new(comp)                                              \
-  ((STACK_OF(X509_REVOKED) *)sk_new(CHECKED_CAST(                              \
-      stack_cmp_func, int (*)(const X509_REVOKED **a, const X509_REVOKED **b), \
-      comp)))
-
-#define sk_X509_REVOKED_new_null() ((STACK_OF(X509_REVOKED) *)sk_new_null())
-
-#define sk_X509_REVOKED_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk))
-
-#define sk_X509_REVOKED_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk));
-
-#define sk_X509_REVOKED_value(sk, i) \
-  ((X509_REVOKED *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_REVOKED) *, sk), (i)))
-
-#define sk_X509_REVOKED_set(sk, i, p)                            \
-  ((X509_REVOKED *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk), (i), \
-      CHECKED_CAST(void *, X509_REVOKED *, p)))
-
-#define sk_X509_REVOKED_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk))
-
-#define sk_X509_REVOKED_pop_free(sk, free_func)             \
-  sk_pop_free(                                              \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_REVOKED *), free_func))
-
-#define sk_X509_REVOKED_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk), \
-            CHECKED_CAST(void *, X509_REVOKED *, p), (where))
-
-#define sk_X509_REVOKED_delete(sk, where) \
-  ((X509_REVOKED *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk), (where)))
-
-#define sk_X509_REVOKED_delete_ptr(sk, p)                   \
-  ((X509_REVOKED *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk), \
-      CHECKED_CAST(void *, X509_REVOKED *, p)))
-
-#define sk_X509_REVOKED_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_REVOKED *, p))
-
-#define sk_X509_REVOKED_shift(sk) \
-  ((X509_REVOKED *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk)))
-
-#define sk_X509_REVOKED_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk), \
-          CHECKED_CAST(void *, X509_REVOKED *, p))
-
-#define sk_X509_REVOKED_pop(sk) \
-  ((X509_REVOKED *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk)))
-
-#define sk_X509_REVOKED_dup(sk)      \
-  ((STACK_OF(X509_REVOKED) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_REVOKED) *, sk)))
-
-#define sk_X509_REVOKED_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk))
-
-#define sk_X509_REVOKED_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_REVOKED) *, sk))
-
-#define sk_X509_REVOKED_set_cmp_func(sk, comp)                               \
-  ((int (*)(const X509_REVOKED **a, const X509_REVOKED **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_REVOKED) *, sk),                  \
-      CHECKED_CAST(stack_cmp_func,                                           \
-                   int (*)(const X509_REVOKED **a, const X509_REVOKED **b),  \
-                   comp)))
-
-#define sk_X509_REVOKED_deep_copy(sk, copy_func, free_func)              \
-  ((STACK_OF(X509_REVOKED) *)sk_deep_copy(                               \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_REVOKED) *, sk),  \
-      CHECKED_CAST(void *(*)(void *), X509_REVOKED *(*)(X509_REVOKED *), \
-                   copy_func),                                           \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_REVOKED *), free_func)))
-
-/* X509_TRUST */
-#define sk_X509_TRUST_new(comp)                                            \
-  ((STACK_OF(X509_TRUST) *)sk_new(CHECKED_CAST(                            \
-      stack_cmp_func, int (*)(const X509_TRUST **a, const X509_TRUST **b), \
-      comp)))
-
-#define sk_X509_TRUST_new_null() ((STACK_OF(X509_TRUST) *)sk_new_null())
-
-#define sk_X509_TRUST_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk))
-
-#define sk_X509_TRUST_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk));
-
-#define sk_X509_TRUST_value(sk, i) \
-  ((X509_TRUST *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_TRUST) *, sk), (i)))
-
-#define sk_X509_TRUST_set(sk, i, p)                                         \
-  ((X509_TRUST *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk), \
-                        (i), CHECKED_CAST(void *, X509_TRUST *, p)))
-
-#define sk_X509_TRUST_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk))
-
-#define sk_X509_TRUST_pop_free(sk, free_func)             \
-  sk_pop_free(                                            \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_TRUST *), free_func))
-
-#define sk_X509_TRUST_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk), \
-            CHECKED_CAST(void *, X509_TRUST *, p), (where))
-
-#define sk_X509_TRUST_delete(sk, where)                                        \
-  ((X509_TRUST *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk), \
-                           (where)))
-
-#define sk_X509_TRUST_delete_ptr(sk, p)                   \
-  ((X509_TRUST *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk), \
-      CHECKED_CAST(void *, X509_TRUST *, p)))
-
-#define sk_X509_TRUST_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk), (out_index), \
-          CHECKED_CAST(void *, X509_TRUST *, p))
-
-#define sk_X509_TRUST_shift(sk) \
-  ((X509_TRUST *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk)))
-
-#define sk_X509_TRUST_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk), \
-          CHECKED_CAST(void *, X509_TRUST *, p))
-
-#define sk_X509_TRUST_pop(sk) \
-  ((X509_TRUST *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk)))
-
-#define sk_X509_TRUST_dup(sk)      \
-  ((STACK_OF(X509_TRUST) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_TRUST) *, sk)))
-
-#define sk_X509_TRUST_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk))
-
-#define sk_X509_TRUST_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_TRUST) *, sk))
-
-#define sk_X509_TRUST_set_cmp_func(sk, comp)                             \
-  ((int (*)(const X509_TRUST **a, const X509_TRUST **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_TRUST) *, sk),                \
-      CHECKED_CAST(stack_cmp_func,                                       \
-                   int (*)(const X509_TRUST **a, const X509_TRUST **b),  \
-                   comp)))
-
-#define sk_X509_TRUST_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(X509_TRUST) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_TRUST) *, sk), \
-      CHECKED_CAST(void *(*)(void *), X509_TRUST *(*)(X509_TRUST *),  \
-                   copy_func),                                        \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_TRUST *), free_func)))
-
-/* X509_VERIFY_PARAM */
-#define sk_X509_VERIFY_PARAM_new(comp)                                   \
-  ((STACK_OF(X509_VERIFY_PARAM) *)sk_new(CHECKED_CAST(                   \
-      stack_cmp_func,                                                    \
-      int (*)(const X509_VERIFY_PARAM **a, const X509_VERIFY_PARAM **b), \
-      comp)))
-
-#define sk_X509_VERIFY_PARAM_new_null() \
-  ((STACK_OF(X509_VERIFY_PARAM) *)sk_new_null())
-
-#define sk_X509_VERIFY_PARAM_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk))
-
-#define sk_X509_VERIFY_PARAM_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk));
-
-#define sk_X509_VERIFY_PARAM_value(sk, i) \
-  ((X509_VERIFY_PARAM *)sk_value(         \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_VERIFY_PARAM) *, sk), (i)))
-
-#define sk_X509_VERIFY_PARAM_set(sk, i, p)                            \
-  ((X509_VERIFY_PARAM *)sk_set(                                       \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk), (i), \
-      CHECKED_CAST(void *, X509_VERIFY_PARAM *, p)))
-
-#define sk_X509_VERIFY_PARAM_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk))
-
-#define sk_X509_VERIFY_PARAM_pop_free(sk, free_func)                        \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk),    \
-              CHECKED_CAST(void (*)(void *), void (*)(X509_VERIFY_PARAM *), \
-                           free_func))
-
-#define sk_X509_VERIFY_PARAM_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk), \
-            CHECKED_CAST(void *, X509_VERIFY_PARAM *, p), (where))
-
-#define sk_X509_VERIFY_PARAM_delete(sk, where) \
-  ((X509_VERIFY_PARAM *)sk_delete(             \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk), (where)))
-
-#define sk_X509_VERIFY_PARAM_delete_ptr(sk, p)                   \
-  ((X509_VERIFY_PARAM *)sk_delete_ptr(                           \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk), \
-      CHECKED_CAST(void *, X509_VERIFY_PARAM *, p)))
-
-#define sk_X509_VERIFY_PARAM_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk), \
-          (out_index), CHECKED_CAST(void *, X509_VERIFY_PARAM *, p))
-
-#define sk_X509_VERIFY_PARAM_shift(sk) \
-  ((X509_VERIFY_PARAM *)sk_shift(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk)))
-
-#define sk_X509_VERIFY_PARAM_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk), \
-          CHECKED_CAST(void *, X509_VERIFY_PARAM *, p))
-
-#define sk_X509_VERIFY_PARAM_pop(sk) \
-  ((X509_VERIFY_PARAM *)sk_pop(      \
-      CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk)))
-
-#define sk_X509_VERIFY_PARAM_dup(sk)      \
-  ((STACK_OF(X509_VERIFY_PARAM) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(X509_VERIFY_PARAM) *, sk)))
-
-#define sk_X509_VERIFY_PARAM_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk))
-
-#define sk_X509_VERIFY_PARAM_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(X509_VERIFY_PARAM) *, sk))
-
-#define sk_X509_VERIFY_PARAM_set_cmp_func(sk, comp)                           \
-  ((int (*)(const X509_VERIFY_PARAM **a, const X509_VERIFY_PARAM **b))        \
-       sk_set_cmp_func(                                                       \
-           CHECKED_CAST(_STACK *, STACK_OF(X509_VERIFY_PARAM) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const X509_VERIFY_PARAM **a,  \
-                                                const X509_VERIFY_PARAM **b), \
-                        comp)))
-
-#define sk_X509_VERIFY_PARAM_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(X509_VERIFY_PARAM) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(X509_VERIFY_PARAM) *, sk), \
-      CHECKED_CAST(void *(*)(void *),                                        \
-                   X509_VERIFY_PARAM *(*)(X509_VERIFY_PARAM *), copy_func),  \
-      CHECKED_CAST(void (*)(void *), void (*)(X509_VERIFY_PARAM *),          \
-                   free_func)))
-
-/* void */
-#define sk_void_new(comp)                \
-  ((STACK_OF(void)*)sk_new(CHECKED_CAST( \
-      stack_cmp_func, int (*)(const void **a, const void **b), comp)))
-
-#define sk_void_new_null() ((STACK_OF(void)*)sk_new_null())
-
-#define sk_void_num(sk) sk_num(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk))
-
-#define sk_void_zero(sk) sk_zero(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk));
-
-#define sk_void_value(sk, i) \
-  ((void *)sk_value(CHECKED_CAST(_STACK *, const STACK_OF(void)*, sk), (i)))
-
-#define sk_void_set(sk, i, p)                                       \
-  ((void *)sk_set(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk), (i), \
-                  CHECKED_CAST(void *, void *, p)))
-
-#define sk_void_free(sk) sk_free(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk))
-
-#define sk_void_pop_free(sk, free_func)                    \
-  sk_pop_free(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk), \
-              CHECKED_CAST(void (*)(void *), void (*)(void *), free_func))
-
-#define sk_void_insert(sk, p, where)                     \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk), \
-            CHECKED_CAST(void *, void *, p), (where))
-
-#define sk_void_delete(sk, where) \
-  ((void *)sk_delete(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk), (where)))
-
-#define sk_void_delete_ptr(sk, p)                                     \
-  ((void *)sk_delete_ptr(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk), \
-                         CHECKED_CAST(void *, void *, p)))
-
-#define sk_void_find(sk, out_index, p)                              \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk), (out_index), \
-          CHECKED_CAST(void *, void *, p))
-
-#define sk_void_shift(sk) \
-  ((void *)sk_shift(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk)))
-
-#define sk_void_push(sk, p)                            \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk), \
-          CHECKED_CAST(void *, void *, p))
-
-#define sk_void_pop(sk) \
-  ((void *)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk)))
-
-#define sk_void_dup(sk) \
-  ((STACK_OF(void)*)sk_dup(CHECKED_CAST(_STACK *, const STACK_OF(void)*, sk)))
-
-#define sk_void_sort(sk) sk_sort(CHECKED_CAST(_STACK *, STACK_OF(void)*, sk))
-
-#define sk_void_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(void)*, sk))
-
-#define sk_void_set_cmp_func(sk, comp)                                      \
-  ((int (*)(const void **a, const void **b))sk_set_cmp_func(                \
-      CHECKED_CAST(_STACK *, STACK_OF(void)*, sk),                          \
-      CHECKED_CAST(stack_cmp_func, int (*)(const void **a, const void **b), \
-                   comp)))
-
-#define sk_void_deep_copy(sk, copy_func, free_func)                  \
-  ((STACK_OF(void)*)sk_deep_copy(                                    \
-      CHECKED_CAST(const _STACK *, const STACK_OF(void)*, sk),       \
-      CHECKED_CAST(void *(*)(void *), void *(*)(void *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(void *), free_func)))
-
-/* SRTP_PROTECTION_PROFILE */
-#define sk_SRTP_PROTECTION_PROFILE_new(comp)                            \
-  ((STACK_OF(SRTP_PROTECTION_PROFILE) *)sk_new(CHECKED_CAST(            \
-      stack_cmp_func, int (*)(const const SRTP_PROTECTION_PROFILE **a,  \
-                              const const SRTP_PROTECTION_PROFILE **b), \
-      comp)))
-
-#define sk_SRTP_PROTECTION_PROFILE_new_null() \
-  ((STACK_OF(SRTP_PROTECTION_PROFILE) *)sk_new_null())
-
-#define sk_SRTP_PROTECTION_PROFILE_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk))
-
-#define sk_SRTP_PROTECTION_PROFILE_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk));
-
-#define sk_SRTP_PROTECTION_PROFILE_value(sk, i)                              \
-  ((const SRTP_PROTECTION_PROFILE *)sk_value(                                \
-      CHECKED_CAST(_STACK *, const STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), \
-      (i)))
-
-#define sk_SRTP_PROTECTION_PROFILE_set(sk, i, p)                            \
-  ((const SRTP_PROTECTION_PROFILE *)sk_set(                                 \
-      CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), (i), \
-      CHECKED_CAST(void *, const SRTP_PROTECTION_PROFILE *, p)))
-
-#define sk_SRTP_PROTECTION_PROFILE_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk))
-
-#define sk_SRTP_PROTECTION_PROFILE_pop_free(sk, free_func)             \
-  sk_pop_free(                                                         \
-      CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), \
-      CHECKED_CAST(void (*)(void *),                                   \
-                   void (*)(const SRTP_PROTECTION_PROFILE *), free_func))
-
-#define sk_SRTP_PROTECTION_PROFILE_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), \
-            CHECKED_CAST(void *, const SRTP_PROTECTION_PROFILE *, p), (where))
-
-#define sk_SRTP_PROTECTION_PROFILE_delete(sk, where)                   \
-  ((const SRTP_PROTECTION_PROFILE *)sk_delete(                         \
-      CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), \
-      (where)))
-
-#define sk_SRTP_PROTECTION_PROFILE_delete_ptr(sk, p)                   \
-  ((const SRTP_PROTECTION_PROFILE *)sk_delete_ptr(                     \
-      CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), \
-      CHECKED_CAST(void *, const SRTP_PROTECTION_PROFILE *, p)))
-
-#define sk_SRTP_PROTECTION_PROFILE_find(sk, out_index, p)                  \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), \
-          (out_index),                                                     \
-          CHECKED_CAST(void *, const SRTP_PROTECTION_PROFILE *, p))
-
-#define sk_SRTP_PROTECTION_PROFILE_shift(sk)  \
-  ((const SRTP_PROTECTION_PROFILE *)sk_shift( \
-      CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk)))
-
-#define sk_SRTP_PROTECTION_PROFILE_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), \
-          CHECKED_CAST(void *, const SRTP_PROTECTION_PROFILE *, p))
-
-#define sk_SRTP_PROTECTION_PROFILE_pop(sk)  \
-  ((const SRTP_PROTECTION_PROFILE *)sk_pop( \
-      CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk)))
-
-#define sk_SRTP_PROTECTION_PROFILE_dup(sk)      \
-  ((STACK_OF(SRTP_PROTECTION_PROFILE) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(SRTP_PROTECTION_PROFILE) *, sk)))
-
-#define sk_SRTP_PROTECTION_PROFILE_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk))
-
-#define sk_SRTP_PROTECTION_PROFILE_is_sorted(sk) \
-  sk_is_sorted(                                  \
-      CHECKED_CAST(_STACK *, const STACK_OF(SRTP_PROTECTION_PROFILE) *, sk))
-
-#define sk_SRTP_PROTECTION_PROFILE_set_cmp_func(sk, comp)                   \
-  ((int (*)(const SRTP_PROTECTION_PROFILE **a,                              \
-            const SRTP_PROTECTION_PROFILE **b))                             \
-       sk_set_cmp_func(                                                     \
-           CHECKED_CAST(_STACK *, STACK_OF(SRTP_PROTECTION_PROFILE) *, sk), \
-           CHECKED_CAST(stack_cmp_func,                                     \
-                        int (*)(const SRTP_PROTECTION_PROFILE **a,          \
-                                const SRTP_PROTECTION_PROFILE **b),         \
-                        comp)))
-
-#define sk_SRTP_PROTECTION_PROFILE_deep_copy(sk, copy_func, free_func)        \
-  ((STACK_OF(SRTP_PROTECTION_PROFILE) *)sk_deep_copy(                         \
-      CHECKED_CAST(const _STACK *, const STACK_OF(SRTP_PROTECTION_PROFILE) *, \
-                   sk),                                                       \
-      CHECKED_CAST(void *(*)(void *), const SRTP_PROTECTION_PROFILE *(*)(     \
-                                          const SRTP_PROTECTION_PROFILE *),   \
-                   copy_func),                                                \
-      CHECKED_CAST(void (*)(void *),                                          \
-                   void (*)(const SRTP_PROTECTION_PROFILE *), free_func)))
-
-/* SSL_CIPHER */
-#define sk_SSL_CIPHER_new(comp)                 \
-  ((STACK_OF(SSL_CIPHER) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                           \
-      int (*)(const const SSL_CIPHER **a, const const SSL_CIPHER **b), comp)))
-
-#define sk_SSL_CIPHER_new_null() ((STACK_OF(SSL_CIPHER) *)sk_new_null())
-
-#define sk_SSL_CIPHER_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk))
-
-#define sk_SSL_CIPHER_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk));
-
-#define sk_SSL_CIPHER_value(sk, i) \
-  ((const SSL_CIPHER *)sk_value(   \
-      CHECKED_CAST(_STACK *, const STACK_OF(SSL_CIPHER) *, sk), (i)))
-
-#define sk_SSL_CIPHER_set(sk, i, p)                            \
-  ((const SSL_CIPHER *)sk_set(                                 \
-      CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk), (i), \
-      CHECKED_CAST(void *, const SSL_CIPHER *, p)))
-
-#define sk_SSL_CIPHER_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk))
-
-#define sk_SSL_CIPHER_pop_free(sk, free_func)             \
-  sk_pop_free(                                            \
-      CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(const SSL_CIPHER *), free_func))
-
-#define sk_SSL_CIPHER_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk), \
-            CHECKED_CAST(void *, const SSL_CIPHER *, p), (where))
-
-#define sk_SSL_CIPHER_delete(sk, where) \
-  ((const SSL_CIPHER *)sk_delete(       \
-      CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk), (where)))
-
-#define sk_SSL_CIPHER_delete_ptr(sk, p)                   \
-  ((const SSL_CIPHER *)sk_delete_ptr(                     \
-      CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk), \
-      CHECKED_CAST(void *, const SSL_CIPHER *, p)))
-
-#define sk_SSL_CIPHER_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk), (out_index), \
-          CHECKED_CAST(void *, const SSL_CIPHER *, p))
-
-#define sk_SSL_CIPHER_shift(sk)  \
-  ((const SSL_CIPHER *)sk_shift( \
-      CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk)))
-
-#define sk_SSL_CIPHER_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk), \
-          CHECKED_CAST(void *, const SSL_CIPHER *, p))
-
-#define sk_SSL_CIPHER_pop(sk)  \
-  ((const SSL_CIPHER *)sk_pop( \
-      CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk)))
-
-#define sk_SSL_CIPHER_dup(sk)      \
-  ((STACK_OF(SSL_CIPHER) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(SSL_CIPHER) *, sk)))
-
-#define sk_SSL_CIPHER_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk))
-
-#define sk_SSL_CIPHER_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(SSL_CIPHER) *, sk))
-
-#define sk_SSL_CIPHER_set_cmp_func(sk, comp)                             \
-  ((int (*)(const SSL_CIPHER **a, const SSL_CIPHER **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(SSL_CIPHER) *, sk),                \
-      CHECKED_CAST(stack_cmp_func,                                       \
-                   int (*)(const SSL_CIPHER **a, const SSL_CIPHER **b),  \
-                   comp)))
-
-#define sk_SSL_CIPHER_deep_copy(sk, copy_func, free_func)                 \
-  ((STACK_OF(SSL_CIPHER) *)sk_deep_copy(                                  \
-      CHECKED_CAST(const _STACK *, const STACK_OF(SSL_CIPHER) *, sk),     \
-      CHECKED_CAST(void *(*)(void *),                                     \
-                   const SSL_CIPHER *(*)(const SSL_CIPHER *), copy_func), \
-      CHECKED_CAST(void (*)(void *), void (*)(const SSL_CIPHER *),        \
-                   free_func)))
-
-/* OPENSSL_STRING */
-#define sk_OPENSSL_STRING_new(comp)                 \
-  ((STACK_OF(OPENSSL_STRING) *)sk_new(CHECKED_CAST( \
-      stack_cmp_func,                               \
-      int (*)(const OPENSSL_STRING *a, const OPENSSL_STRING *b), comp)))
-
-#define sk_OPENSSL_STRING_new_null() ((STACK_OF(OPENSSL_STRING) *)sk_new_null())
-
-#define sk_OPENSSL_STRING_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk))
-
-#define sk_OPENSSL_STRING_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk));
-
-#define sk_OPENSSL_STRING_value(sk, i) \
-  ((OPENSSL_STRING)sk_value(           \
-      CHECKED_CAST(_STACK *, const STACK_OF(OPENSSL_STRING) *, sk), (i)))
-
-#define sk_OPENSSL_STRING_set(sk, i, p)                            \
-  ((OPENSSL_STRING)sk_set(                                         \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk), (i), \
-      CHECKED_CAST(void *, OPENSSL_STRING, p)))
-
-#define sk_OPENSSL_STRING_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk))
-
-#define sk_OPENSSL_STRING_pop_free(sk, free_func)             \
-  sk_pop_free(                                                \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(OPENSSL_STRING), free_func))
-
-#define sk_OPENSSL_STRING_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk), \
-            CHECKED_CAST(void *, OPENSSL_STRING, p), (where))
-
-#define sk_OPENSSL_STRING_delete(sk, where) \
-  ((OPENSSL_STRING)sk_delete(               \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk), (where)))
-
-#define sk_OPENSSL_STRING_delete_ptr(sk, p)                   \
-  ((OPENSSL_STRING)sk_delete_ptr(                             \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk), \
-      CHECKED_CAST(void *, OPENSSL_STRING, p)))
-
-#define sk_OPENSSL_STRING_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk), (out_index), \
-          CHECKED_CAST(void *, OPENSSL_STRING, p))
-
-#define sk_OPENSSL_STRING_shift(sk) \
-  ((OPENSSL_STRING)sk_shift(        \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk)))
-
-#define sk_OPENSSL_STRING_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk), \
-          CHECKED_CAST(void *, OPENSSL_STRING, p))
-
-#define sk_OPENSSL_STRING_pop(sk) \
-  ((OPENSSL_STRING)sk_pop(        \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk)))
-
-#define sk_OPENSSL_STRING_dup(sk)      \
-  ((STACK_OF(OPENSSL_STRING) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(OPENSSL_STRING) *, sk)))
-
-#define sk_OPENSSL_STRING_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk))
-
-#define sk_OPENSSL_STRING_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(OPENSSL_STRING) *, sk))
-
-#define sk_OPENSSL_STRING_set_cmp_func(sk, comp)                           \
-  ((int (*)(const OPENSSL_STRING **a, const OPENSSL_STRING **b))           \
-       sk_set_cmp_func(                                                    \
-           CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_STRING) *, sk),         \
-           CHECKED_CAST(stack_cmp_func, int (*)(const OPENSSL_STRING **a,  \
-                                                const OPENSSL_STRING **b), \
-                        comp)))
-
-#define sk_OPENSSL_STRING_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(OPENSSL_STRING) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(OPENSSL_STRING) *, sk), \
-      CHECKED_CAST(void *(*)(void *), OPENSSL_STRING (*)(OPENSSL_STRING), \
-                   copy_func),                                            \
-      CHECKED_CAST(void (*)(void *), void (*)(OPENSSL_STRING), free_func)))
-
-/* OPENSSL_BLOCK */
-#define sk_OPENSSL_BLOCK_new(comp)                                             \
-  ((STACK_OF(OPENSSL_BLOCK) *)sk_new(CHECKED_CAST(                             \
-      stack_cmp_func, int (*)(const OPENSSL_BLOCK *a, const OPENSSL_BLOCK *b), \
-      comp)))
-
-#define sk_OPENSSL_BLOCK_new_null() ((STACK_OF(OPENSSL_BLOCK) *)sk_new_null())
-
-#define sk_OPENSSL_BLOCK_num(sk) \
-  sk_num(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk))
-
-#define sk_OPENSSL_BLOCK_zero(sk) \
-  sk_zero(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk));
-
-#define sk_OPENSSL_BLOCK_value(sk, i) \
-  ((OPENSSL_BLOCK)sk_value(           \
-      CHECKED_CAST(_STACK *, const STACK_OF(OPENSSL_BLOCK) *, sk), (i)))
-
-#define sk_OPENSSL_BLOCK_set(sk, i, p)                            \
-  ((OPENSSL_BLOCK)sk_set(                                         \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk), (i), \
-      CHECKED_CAST(void *, OPENSSL_BLOCK, p)))
-
-#define sk_OPENSSL_BLOCK_free(sk) \
-  sk_free(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk))
-
-#define sk_OPENSSL_BLOCK_pop_free(sk, free_func)             \
-  sk_pop_free(                                               \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk), \
-      CHECKED_CAST(void (*)(void *), void (*)(OPENSSL_BLOCK), free_func))
-
-#define sk_OPENSSL_BLOCK_insert(sk, p, where)                      \
-  sk_insert(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk), \
-            CHECKED_CAST(void *, OPENSSL_BLOCK, p), (where))
-
-#define sk_OPENSSL_BLOCK_delete(sk, where) \
-  ((OPENSSL_BLOCK)sk_delete(               \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk), (where)))
-
-#define sk_OPENSSL_BLOCK_delete_ptr(sk, p)                   \
-  ((OPENSSL_BLOCK)sk_delete_ptr(                             \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk), \
-      CHECKED_CAST(void *, OPENSSL_BLOCK, p)))
-
-#define sk_OPENSSL_BLOCK_find(sk, out_index, p)                               \
-  sk_find(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk), (out_index), \
-          CHECKED_CAST(void *, OPENSSL_BLOCK, p))
-
-#define sk_OPENSSL_BLOCK_shift(sk) \
-  ((OPENSSL_BLOCK)sk_shift(        \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk)))
-
-#define sk_OPENSSL_BLOCK_push(sk, p)                             \
-  sk_push(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk), \
-          CHECKED_CAST(void *, OPENSSL_BLOCK, p))
-
-#define sk_OPENSSL_BLOCK_pop(sk) \
-  ((OPENSSL_BLOCK)sk_pop(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk)))
-
-#define sk_OPENSSL_BLOCK_dup(sk)      \
-  ((STACK_OF(OPENSSL_BLOCK) *)sk_dup( \
-      CHECKED_CAST(_STACK *, const STACK_OF(OPENSSL_BLOCK) *, sk)))
-
-#define sk_OPENSSL_BLOCK_sort(sk) \
-  sk_sort(CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk))
-
-#define sk_OPENSSL_BLOCK_is_sorted(sk) \
-  sk_is_sorted(CHECKED_CAST(_STACK *, const STACK_OF(OPENSSL_BLOCK) *, sk))
-
-#define sk_OPENSSL_BLOCK_set_cmp_func(sk, comp)                                \
-  ((int (*)(const OPENSSL_BLOCK **a, const OPENSSL_BLOCK **b))sk_set_cmp_func( \
-      CHECKED_CAST(_STACK *, STACK_OF(OPENSSL_BLOCK) *, sk),                   \
-      CHECKED_CAST(stack_cmp_func,                                             \
-                   int (*)(const OPENSSL_BLOCK **a, const OPENSSL_BLOCK **b),  \
-                   comp)))
-
-#define sk_OPENSSL_BLOCK_deep_copy(sk, copy_func, free_func)             \
-  ((STACK_OF(OPENSSL_BLOCK) *)sk_deep_copy(                              \
-      CHECKED_CAST(const _STACK *, const STACK_OF(OPENSSL_BLOCK) *, sk), \
-      CHECKED_CAST(void *(*)(void *), OPENSSL_BLOCK (*)(OPENSSL_BLOCK),  \
-                   copy_func),                                           \
-      CHECKED_CAST(void (*)(void *), void (*)(OPENSSL_BLOCK), free_func)))
diff --git a/phonelibs/boringssl/include/openssl/thread.h b/phonelibs/boringssl/include/openssl/thread.h
deleted file mode 100644
index 568a858332ac8c..00000000000000
--- a/phonelibs/boringssl/include/openssl/thread.h
+++ /dev/null
@@ -1,173 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_THREAD_H
-#define OPENSSL_HEADER_THREAD_H
-
-#include <sys/types.h>
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-#if defined(OPENSSL_NO_THREADS)
-typedef struct crypto_mutex_st {} CRYPTO_MUTEX;
-#elif defined(OPENSSL_WINDOWS)
-/* CRYPTO_MUTEX can appear in public header files so we really don't want to
- * pull in windows.h. It's statically asserted that this structure is large
- * enough to contain a Windows CRITICAL_SECTION by thread_win.c. */
-typedef union crypto_mutex_st {
-  double alignment;
-  uint8_t padding[4*sizeof(void*) + 2*sizeof(int)];
-} CRYPTO_MUTEX;
-#elif defined(__MACH__) && defined(__APPLE__)
-typedef pthread_rwlock_t CRYPTO_MUTEX;
-#else
-/* It is reasonable to include pthread.h on non-Windows systems, however the
- * |pthread_rwlock_t| that we need is hidden under feature flags, and we can't
- * ensure that we'll be able to get it. It's statically asserted that this
- * structure is large enough to contain a |pthread_rwlock_t| by
- * thread_pthread.c. */
-typedef union crypto_mutex_st {
-  double alignment;
-  uint8_t padding[3*sizeof(int) + 5*sizeof(unsigned) + 16 + 8];
-} CRYPTO_MUTEX;
-#endif
-
-/* CRYPTO_refcount_t is the type of a reference count.
- *
- * Since some platforms use C11 atomics to access this, it should have the
- * _Atomic qualifier. However, this header is included by C++ programs as well
- * as C code that might not set -std=c11. So, in practice, it's not possible to
- * do that. Instead we statically assert that the size and native alignment of
- * a plain uint32_t and an _Atomic uint32_t are equal in refcount_c11.c. */
-typedef uint32_t CRYPTO_refcount_t;
-
-
-/* Deprecated functions */
-
-/* These defines do nothing but are provided to make old code easier to
- * compile. */
-#define CRYPTO_LOCK 1
-#define CRYPTO_UNLOCK 2
-#define CRYPTO_READ 4
-#define CRYPTO_WRITE 8
-
-/* CRYPTO_num_locks returns one. (This is non-zero that callers who allocate
- * sizeof(lock) times this value don't get zero and then fail because malloc(0)
- * returned NULL.) */
-OPENSSL_EXPORT int CRYPTO_num_locks(void);
-
-/* CRYPTO_set_locking_callback does nothing. */
-OPENSSL_EXPORT void CRYPTO_set_locking_callback(
-    void (*func)(int mode, int lock_num, const char *file, int line));
-
-/* CRYPTO_set_add_lock_callback does nothing. */
-OPENSSL_EXPORT void CRYPTO_set_add_lock_callback(int (*func)(
-    int *num, int amount, int lock_num, const char *file, int line));
-
-/* CRYPTO_get_lock_name returns a fixed, dummy string. */
-OPENSSL_EXPORT const char *CRYPTO_get_lock_name(int lock_num);
-
-/* CRYPTO_THREADID_set_callback returns one. */
-OPENSSL_EXPORT int CRYPTO_THREADID_set_callback(
-    void (*threadid_func)(CRYPTO_THREADID *threadid));
-
-/* CRYPTO_THREADID_set_numeric does nothing. */
-OPENSSL_EXPORT void CRYPTO_THREADID_set_numeric(CRYPTO_THREADID *id,
-                                                unsigned long val);
-
-/* CRYPTO_THREADID_set_pointer does nothing. */
-OPENSSL_EXPORT void CRYPTO_THREADID_set_pointer(CRYPTO_THREADID *id, void *ptr);
-
-/* CRYPTO_THREADID_current does nothing. */
-OPENSSL_EXPORT void CRYPTO_THREADID_current(CRYPTO_THREADID *id);
-
-
-/* Private functions.
- *
- * Some old code calls these functions and so no-op implementations are
- * provided.
- *
- * TODO(fork): cleanup callers and remove. */
-
-OPENSSL_EXPORT void CRYPTO_set_id_callback(unsigned long (*func)(void));
-
-typedef struct {
-  int references;
-  struct CRYPTO_dynlock_value *data;
-} CRYPTO_dynlock;
-
-OPENSSL_EXPORT void CRYPTO_set_dynlock_create_callback(
-    struct CRYPTO_dynlock_value *(*dyn_create_function)(const char *file,
-                                                        int line));
-
-OPENSSL_EXPORT void CRYPTO_set_dynlock_lock_callback(void (*dyn_lock_function)(
-    int mode, struct CRYPTO_dynlock_value *l, const char *file, int line));
-
-OPENSSL_EXPORT void CRYPTO_set_dynlock_destroy_callback(
-    void (*dyn_destroy_function)(struct CRYPTO_dynlock_value *l,
-                                 const char *file, int line));
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_THREAD_H */
diff --git a/phonelibs/boringssl/include/openssl/time_support.h b/phonelibs/boringssl/include/openssl/time_support.h
deleted file mode 100644
index 912e6724152f7a..00000000000000
--- a/phonelibs/boringssl/include/openssl/time_support.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/* Written by Richard Levitte (richard@levitte.org) for the OpenSSL
- * project 2001.
- * Written by Dr Stephen N Henson (steve@openssl.org) for the OpenSSL
- * project 2008.
- */
-/* ====================================================================
- * Copyright (c) 2001 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.OpenSSL.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    licensing@OpenSSL.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.OpenSSL.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef OPENSSL_HEADER_TIME_H
-#define OPENSSL_HEADER_TIME_H
-
-#include <openssl/base.h>
-
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* Wrapper functions for time functions. */
-
-
-/* OPENSSL_gmtime wraps |gmtime_r|. See the manual page for that function. */
-struct tm *OPENSSL_gmtime(const time_t *timer, struct tm *result);
-
-/* OPENSSL_gmtime_adj updates |tm| by adding |offset_day| days and |offset_sec|
- * seconds. */
-int OPENSSL_gmtime_adj(struct tm *tm, int offset_day, long offset_sec);
-
-/* OPENSSL_gmtime_diff calculates the difference between |from| and |to| and
- * outputs the difference as a number of days and seconds in |*out_days| and
- * |*out_secs|. */
-int OPENSSL_gmtime_diff(int *out_days, int *out_secs, const struct tm *from,
-                        const struct tm *to);
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_TIME_H */
diff --git a/phonelibs/boringssl/include/openssl/tls1.h b/phonelibs/boringssl/include/openssl/tls1.h
deleted file mode 100644
index f2bee2738f956e..00000000000000
--- a/phonelibs/boringssl/include/openssl/tls1.h
+++ /dev/null
@@ -1,714 +0,0 @@
-/* ssl/tls1.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-/* ====================================================================
- * Copyright (c) 1998-2006 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    openssl-core@openssl.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com).
- *
- */
-/* ====================================================================
- * Copyright 2002 Sun Microsystems, Inc. ALL RIGHTS RESERVED.
- *
- * Portions of the attached software ("Contribution") are developed by
- * SUN MICROSYSTEMS, INC., and are contributed to the OpenSSL project.
- *
- * The Contribution is licensed pursuant to the OpenSSL open source
- * license provided above.
- *
- * ECC cipher suite support in OpenSSL originally written by
- * Vipul Gupta and Sumit Gupta of Sun Microsystems Laboratories.
- *
- */
-/* ====================================================================
- * Copyright 2005 Nokia. All rights reserved.
- *
- * The portions of the attached software ("Contribution") is developed by
- * Nokia Corporation and is licensed pursuant to the OpenSSL open source
- * license.
- *
- * The Contribution, originally written by Mika Kousa and Pasi Eronen of
- * Nokia Corporation, consists of the "PSK" (Pre-Shared Key) ciphersuites
- * support (see RFC 4279) to OpenSSL.
- *
- * No patent licenses or other rights except those expressly stated in
- * the OpenSSL open source license shall be deemed granted or received
- * expressly, by implication, estoppel, or otherwise.
- *
- * No assurances are provided by Nokia that the Contribution does not
- * infringe the patent or other intellectual property rights of any third
- * party or that the license provides you with all the necessary rights
- * to make use of the Contribution.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND. IN
- * ADDITION TO THE DISCLAIMERS INCLUDED IN THE LICENSE, NOKIA
- * SPECIFICALLY DISCLAIMS ANY LIABILITY FOR CLAIMS BROUGHT BY YOU OR ANY
- * OTHER ENTITY BASED ON INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS OR
- * OTHERWISE.
- */
-
-#ifndef HEADER_TLS1_H
-#define HEADER_TLS1_H
-
-#include <openssl/buf.h>
-#include <openssl/stack.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-#define TLS1_ALLOW_EXPERIMENTAL_CIPHERSUITES 0
-
-#define TLS1_AD_DECRYPTION_FAILED 21
-#define TLS1_AD_RECORD_OVERFLOW 22
-#define TLS1_AD_UNKNOWN_CA 48    /* fatal */
-#define TLS1_AD_ACCESS_DENIED 49 /* fatal */
-#define TLS1_AD_DECODE_ERROR 50  /* fatal */
-#define TLS1_AD_DECRYPT_ERROR 51
-#define TLS1_AD_EXPORT_RESTRICTION 60    /* fatal */
-#define TLS1_AD_PROTOCOL_VERSION 70      /* fatal */
-#define TLS1_AD_INSUFFICIENT_SECURITY 71 /* fatal */
-#define TLS1_AD_INTERNAL_ERROR 80        /* fatal */
-#define TLS1_AD_USER_CANCELLED 90
-#define TLS1_AD_NO_RENEGOTIATION 100
-/* codes 110-114 are from RFC3546 */
-#define TLS1_AD_UNSUPPORTED_EXTENSION 110
-#define TLS1_AD_CERTIFICATE_UNOBTAINABLE 111
-#define TLS1_AD_UNRECOGNIZED_NAME 112
-#define TLS1_AD_BAD_CERTIFICATE_STATUS_RESPONSE 113
-#define TLS1_AD_BAD_CERTIFICATE_HASH_VALUE 114
-#define TLS1_AD_UNKNOWN_PSK_IDENTITY 115 /* fatal */
-
-/* ExtensionType values from RFC3546 / RFC4366 / RFC6066 */
-#define TLSEXT_TYPE_server_name 0
-#define TLSEXT_TYPE_max_fragment_length 1
-#define TLSEXT_TYPE_client_certificate_url 2
-#define TLSEXT_TYPE_trusted_ca_keys 3
-#define TLSEXT_TYPE_truncated_hmac 4
-#define TLSEXT_TYPE_status_request 5
-/* ExtensionType values from RFC4681 */
-#define TLSEXT_TYPE_user_mapping 6
-
-/* ExtensionType values from RFC5878 */
-#define TLSEXT_TYPE_client_authz 7
-#define TLSEXT_TYPE_server_authz 8
-
-/* ExtensionType values from RFC6091 */
-#define TLSEXT_TYPE_cert_type 9
-
-/* ExtensionType values from RFC4492 */
-#define TLSEXT_TYPE_elliptic_curves 10
-#define TLSEXT_TYPE_ec_point_formats 11
-
-/* ExtensionType value from RFC5054 */
-#define TLSEXT_TYPE_srp 12
-
-/* ExtensionType values from RFC5246 */
-#define TLSEXT_TYPE_signature_algorithms 13
-
-/* ExtensionType value from RFC5764 */
-#define TLSEXT_TYPE_use_srtp 14
-
-/* ExtensionType value from RFC5620 */
-#define TLSEXT_TYPE_heartbeat 15
-
-/* ExtensionType value from RFC7301 */
-#define TLSEXT_TYPE_application_layer_protocol_negotiation 16
-
-/* ExtensionType value for TLS padding extension.
- * http://www.iana.org/assignments/tls-extensiontype-values/tls-extensiontype-values.xhtml
- * http://tools.ietf.org/html/draft-agl-tls-padding-03
- */
-#define TLSEXT_TYPE_padding 21
-
-/* https://tools.ietf.org/html/draft-ietf-tls-session-hash-01 */
-#define TLSEXT_TYPE_extended_master_secret 23
-
-/* ExtensionType value from RFC4507 */
-#define TLSEXT_TYPE_session_ticket 35
-
-/* ExtensionType value from RFC5746 */
-#define TLSEXT_TYPE_renegotiate 0xff01
-
-/* ExtensionType value from RFC6962 */
-#define TLSEXT_TYPE_certificate_timestamp 18
-
-/* This is not an IANA defined extension number */
-#define TLSEXT_TYPE_next_proto_neg 13172
-
-/* This is not an IANA defined extension number */
-#define TLSEXT_TYPE_channel_id 30031
-#define TLSEXT_TYPE_channel_id_new 30032
-
-/* NameType value from RFC 3546 */
-#define TLSEXT_NAMETYPE_host_name 0
-/* status request value from RFC 3546 */
-#define TLSEXT_STATUSTYPE_ocsp 1
-
-/* ECPointFormat values from RFC 4492 */
-#define TLSEXT_ECPOINTFORMAT_uncompressed 0
-#define TLSEXT_ECPOINTFORMAT_ansiX962_compressed_prime 1
-#define TLSEXT_ECPOINTFORMAT_ansiX962_compressed_char2 2
-
-/* Signature and hash algorithms from RFC 5246 */
-
-#define TLSEXT_signature_anonymous 0
-#define TLSEXT_signature_rsa 1
-#define TLSEXT_signature_dsa 2
-#define TLSEXT_signature_ecdsa 3
-
-#define TLSEXT_hash_none 0
-#define TLSEXT_hash_md5 1
-#define TLSEXT_hash_sha1 2
-#define TLSEXT_hash_sha224 3
-#define TLSEXT_hash_sha256 4
-#define TLSEXT_hash_sha384 5
-#define TLSEXT_hash_sha512 6
-
-/* Flag set for unrecognised algorithms */
-#define TLSEXT_nid_unknown 0x1000000
-
-/* ECC curves */
-
-#define TLSEXT_curve_P_256 23
-#define TLSEXT_curve_P_384 24
-
-
-#define TLSEXT_MAXLEN_host_name 255
-
-OPENSSL_EXPORT const char *SSL_get_servername(const SSL *s, const int type);
-OPENSSL_EXPORT int SSL_get_servername_type(const SSL *s);
-
-/* SSL_export_keying_material exports a value derived from the master secret, as
- * specified in RFC 5705. It writes |out_len| bytes to |out| given a label and
- * optional context. (Since a zero length context is allowed, the |use_context|
- * flag controls whether a context is included.)
- *
- * It returns one on success and zero otherwise. */
-OPENSSL_EXPORT int SSL_export_keying_material(
-    SSL *s, uint8_t *out, size_t out_len, const char *label, size_t label_len,
-    const uint8_t *context, size_t context_len, int use_context);
-
-OPENSSL_EXPORT int SSL_get_sigalgs(SSL *s, int idx, int *psign, int *phash,
-                                   int *psignandhash, uint8_t *rsig,
-                                   uint8_t *rhash);
-
-OPENSSL_EXPORT int SSL_get_shared_sigalgs(SSL *s, int idx, int *psign,
-                                          int *phash, int *psignandhash,
-                                          uint8_t *rsig, uint8_t *rhash);
-
-/* SSL_set_tlsext_host_name, for a client, configures |ssl| to advertise |name|
- * in the server_name extension. It returns one on success and zero on error. */
-OPENSSL_EXPORT int SSL_set_tlsext_host_name(SSL *ssl, const char *name);
-
-/* SSL_CTX_set_tlsext_servername_callback configures |callback| to be called on
- * the server after ClientHello extensions have been parsed and returns one.
- * |callback| may use |SSL_get_servername| to examine the server_name extension
- * and return a |SSL_TLSEXT_ERR_*| value. If it returns |SSL_TLSEXT_ERR_NOACK|,
- * the server_name extension is not acknowledged in the ServerHello. If the
- * return value signals an alert, |callback| should set |*out_alert| to the
- * alert to send. */
-OPENSSL_EXPORT int SSL_CTX_set_tlsext_servername_callback(
-    SSL_CTX *ctx, int (*callback)(SSL *ssl, int *out_alert, void *arg));
-
-#define SSL_TLSEXT_ERR_OK 0
-#define SSL_TLSEXT_ERR_ALERT_WARNING 1
-#define SSL_TLSEXT_ERR_ALERT_FATAL 2
-#define SSL_TLSEXT_ERR_NOACK 3
-
-/* SSL_CTX_set_tlsext_servername_arg sets the argument to the servername
- * callback and returns one. See |SSL_CTX_set_tlsext_servername_callback|. */
-OPENSSL_EXPORT int SSL_CTX_set_tlsext_servername_arg(SSL_CTX *ctx, void *arg);
-
-#define SSL_CTX_get_tlsext_ticket_keys(ctx, keys, keylen) \
-  SSL_CTX_ctrl((ctx), SSL_CTRL_GET_TLSEXT_TICKET_KEYS, (keylen), (keys))
-#define SSL_CTX_set_tlsext_ticket_keys(ctx, keys, keylen) \
-  SSL_CTX_ctrl((ctx), SSL_CTRL_SET_TLSEXT_TICKET_KEYS, (keylen), (keys))
-
-/* SSL_CTX_set_tlsext_ticket_key_cb sets the ticket callback to |callback| and
- * returns one. |callback| will be called when encrypting a new ticket and when
- * decrypting a ticket from the client.
- *
- * In both modes, |ctx| and |hmac_ctx| will already have been initialized with
- * |EVP_CIPHER_CTX_init| and |HMAC_CTX_init|, respectively. |callback|
- * configures |hmac_ctx| with an HMAC digest and key, and configures |ctx|
- * for encryption or decryption, based on the mode.
- *
- * When encrypting a new ticket, |encrypt| will be one. It writes a public
- * 16-byte key name to |key_name| and a fresh IV to |iv|. The output IV length
- * must match |EVP_CIPHER_CTX_iv_length| of the cipher selected. In this mode,
- * |callback| returns 1 on success and -1 on error.
- *
- * When decrypting a ticket, |encrypt| will be zero. |key_name| will point to a
- * 16-byte key name and |iv| points to an IV. The length of the IV consumed must
- * match |EVP_CIPHER_CTX_iv_length| of the cipher selected. In this mode,
- * |callback| returns -1 to abort the handshake, 0 if decrypting the ticket
- * failed, and 1 or 2 on success. If it returns 2, the ticket will be renewed.
- * This may be used to re-key the ticket.
- *
- * WARNING: |callback| wildly breaks the usual return value convention and is
- * called in two different modes. */
-OPENSSL_EXPORT int SSL_CTX_set_tlsext_ticket_key_cb(
-    SSL_CTX *ctx, int (*callback)(SSL *ssl, uint8_t *key_name, uint8_t *iv,
-                                  EVP_CIPHER_CTX *ctx, HMAC_CTX *hmac_ctx,
-                                  int encrypt));
-
-/* PSK ciphersuites from 4279 */
-#define TLS1_CK_PSK_WITH_RC4_128_SHA                    0x0300008A
-#define TLS1_CK_PSK_WITH_3DES_EDE_CBC_SHA               0x0300008B
-#define TLS1_CK_PSK_WITH_AES_128_CBC_SHA                0x0300008C
-#define TLS1_CK_PSK_WITH_AES_256_CBC_SHA                0x0300008D
-
-/* PSK ciphersuites from RFC 5489 */
-#define TLS1_CK_ECDHE_PSK_WITH_AES_128_CBC_SHA          0x0300C035
-#define TLS1_CK_ECDHE_PSK_WITH_AES_256_CBC_SHA          0x0300C036
-
-/* Additional TLS ciphersuites from expired Internet Draft
- * draft-ietf-tls-56-bit-ciphersuites-01.txt
- * (available if TLS1_ALLOW_EXPERIMENTAL_CIPHERSUITES is defined, see
- * s3_lib.c).  We actually treat them like SSL 3.0 ciphers, which we probably
- * shouldn't.  Note that the first two are actually not in the IDs. */
-#define TLS1_CK_RSA_EXPORT1024_WITH_RC4_56_MD5 0x03000060     /* not in ID */
-#define TLS1_CK_RSA_EXPORT1024_WITH_RC2_CBC_56_MD5 0x03000061 /* not in ID */
-#define TLS1_CK_RSA_EXPORT1024_WITH_DES_CBC_SHA 0x03000062
-#define TLS1_CK_DHE_DSS_EXPORT1024_WITH_DES_CBC_SHA 0x03000063
-#define TLS1_CK_RSA_EXPORT1024_WITH_RC4_56_SHA 0x03000064
-#define TLS1_CK_DHE_DSS_EXPORT1024_WITH_RC4_56_SHA 0x03000065
-#define TLS1_CK_DHE_DSS_WITH_RC4_128_SHA 0x03000066
-
-/* AES ciphersuites from RFC3268 */
-
-#define TLS1_CK_RSA_WITH_AES_128_SHA 0x0300002F
-#define TLS1_CK_DH_DSS_WITH_AES_128_SHA 0x03000030
-#define TLS1_CK_DH_RSA_WITH_AES_128_SHA 0x03000031
-#define TLS1_CK_DHE_DSS_WITH_AES_128_SHA 0x03000032
-#define TLS1_CK_DHE_RSA_WITH_AES_128_SHA 0x03000033
-#define TLS1_CK_ADH_WITH_AES_128_SHA 0x03000034
-
-#define TLS1_CK_RSA_WITH_AES_256_SHA 0x03000035
-#define TLS1_CK_DH_DSS_WITH_AES_256_SHA 0x03000036
-#define TLS1_CK_DH_RSA_WITH_AES_256_SHA 0x03000037
-#define TLS1_CK_DHE_DSS_WITH_AES_256_SHA 0x03000038
-#define TLS1_CK_DHE_RSA_WITH_AES_256_SHA 0x03000039
-#define TLS1_CK_ADH_WITH_AES_256_SHA 0x0300003A
-
-/* TLS v1.2 ciphersuites */
-#define TLS1_CK_RSA_WITH_NULL_SHA256 0x0300003B
-#define TLS1_CK_RSA_WITH_AES_128_SHA256 0x0300003C
-#define TLS1_CK_RSA_WITH_AES_256_SHA256 0x0300003D
-#define TLS1_CK_DH_DSS_WITH_AES_128_SHA256 0x0300003E
-#define TLS1_CK_DH_RSA_WITH_AES_128_SHA256 0x0300003F
-#define TLS1_CK_DHE_DSS_WITH_AES_128_SHA256 0x03000040
-
-/* Camellia ciphersuites from RFC4132 */
-#define TLS1_CK_RSA_WITH_CAMELLIA_128_CBC_SHA 0x03000041
-#define TLS1_CK_DH_DSS_WITH_CAMELLIA_128_CBC_SHA 0x03000042
-#define TLS1_CK_DH_RSA_WITH_CAMELLIA_128_CBC_SHA 0x03000043
-#define TLS1_CK_DHE_DSS_WITH_CAMELLIA_128_CBC_SHA 0x03000044
-#define TLS1_CK_DHE_RSA_WITH_CAMELLIA_128_CBC_SHA 0x03000045
-#define TLS1_CK_ADH_WITH_CAMELLIA_128_CBC_SHA 0x03000046
-
-/* TLS v1.2 ciphersuites */
-#define TLS1_CK_DHE_RSA_WITH_AES_128_SHA256 0x03000067
-#define TLS1_CK_DH_DSS_WITH_AES_256_SHA256 0x03000068
-#define TLS1_CK_DH_RSA_WITH_AES_256_SHA256 0x03000069
-#define TLS1_CK_DHE_DSS_WITH_AES_256_SHA256 0x0300006A
-#define TLS1_CK_DHE_RSA_WITH_AES_256_SHA256 0x0300006B
-#define TLS1_CK_ADH_WITH_AES_128_SHA256 0x0300006C
-#define TLS1_CK_ADH_WITH_AES_256_SHA256 0x0300006D
-
-/* Camellia ciphersuites from RFC4132 */
-#define TLS1_CK_RSA_WITH_CAMELLIA_256_CBC_SHA 0x03000084
-#define TLS1_CK_DH_DSS_WITH_CAMELLIA_256_CBC_SHA 0x03000085
-#define TLS1_CK_DH_RSA_WITH_CAMELLIA_256_CBC_SHA 0x03000086
-#define TLS1_CK_DHE_DSS_WITH_CAMELLIA_256_CBC_SHA 0x03000087
-#define TLS1_CK_DHE_RSA_WITH_CAMELLIA_256_CBC_SHA 0x03000088
-#define TLS1_CK_ADH_WITH_CAMELLIA_256_CBC_SHA 0x03000089
-
-/* SEED ciphersuites from RFC4162 */
-#define TLS1_CK_RSA_WITH_SEED_SHA 0x03000096
-#define TLS1_CK_DH_DSS_WITH_SEED_SHA 0x03000097
-#define TLS1_CK_DH_RSA_WITH_SEED_SHA 0x03000098
-#define TLS1_CK_DHE_DSS_WITH_SEED_SHA 0x03000099
-#define TLS1_CK_DHE_RSA_WITH_SEED_SHA 0x0300009A
-#define TLS1_CK_ADH_WITH_SEED_SHA 0x0300009B
-
-/* TLS v1.2 GCM ciphersuites from RFC5288 */
-#define TLS1_CK_RSA_WITH_AES_128_GCM_SHA256 0x0300009C
-#define TLS1_CK_RSA_WITH_AES_256_GCM_SHA384 0x0300009D
-#define TLS1_CK_DHE_RSA_WITH_AES_128_GCM_SHA256 0x0300009E
-#define TLS1_CK_DHE_RSA_WITH_AES_256_GCM_SHA384 0x0300009F
-#define TLS1_CK_DH_RSA_WITH_AES_128_GCM_SHA256 0x030000A0
-#define TLS1_CK_DH_RSA_WITH_AES_256_GCM_SHA384 0x030000A1
-#define TLS1_CK_DHE_DSS_WITH_AES_128_GCM_SHA256 0x030000A2
-#define TLS1_CK_DHE_DSS_WITH_AES_256_GCM_SHA384 0x030000A3
-#define TLS1_CK_DH_DSS_WITH_AES_128_GCM_SHA256 0x030000A4
-#define TLS1_CK_DH_DSS_WITH_AES_256_GCM_SHA384 0x030000A5
-#define TLS1_CK_ADH_WITH_AES_128_GCM_SHA256 0x030000A6
-#define TLS1_CK_ADH_WITH_AES_256_GCM_SHA384 0x030000A7
-
-/* ECC ciphersuites from RFC4492 */
-#define TLS1_CK_ECDH_ECDSA_WITH_NULL_SHA 0x0300C001
-#define TLS1_CK_ECDH_ECDSA_WITH_RC4_128_SHA 0x0300C002
-#define TLS1_CK_ECDH_ECDSA_WITH_DES_192_CBC3_SHA 0x0300C003
-#define TLS1_CK_ECDH_ECDSA_WITH_AES_128_CBC_SHA 0x0300C004
-#define TLS1_CK_ECDH_ECDSA_WITH_AES_256_CBC_SHA 0x0300C005
-
-#define TLS1_CK_ECDHE_ECDSA_WITH_NULL_SHA 0x0300C006
-#define TLS1_CK_ECDHE_ECDSA_WITH_RC4_128_SHA 0x0300C007
-#define TLS1_CK_ECDHE_ECDSA_WITH_DES_192_CBC3_SHA 0x0300C008
-#define TLS1_CK_ECDHE_ECDSA_WITH_AES_128_CBC_SHA 0x0300C009
-#define TLS1_CK_ECDHE_ECDSA_WITH_AES_256_CBC_SHA 0x0300C00A
-
-#define TLS1_CK_ECDH_RSA_WITH_NULL_SHA 0x0300C00B
-#define TLS1_CK_ECDH_RSA_WITH_RC4_128_SHA 0x0300C00C
-#define TLS1_CK_ECDH_RSA_WITH_DES_192_CBC3_SHA 0x0300C00D
-#define TLS1_CK_ECDH_RSA_WITH_AES_128_CBC_SHA 0x0300C00E
-#define TLS1_CK_ECDH_RSA_WITH_AES_256_CBC_SHA 0x0300C00F
-
-#define TLS1_CK_ECDHE_RSA_WITH_NULL_SHA 0x0300C010
-#define TLS1_CK_ECDHE_RSA_WITH_RC4_128_SHA 0x0300C011
-#define TLS1_CK_ECDHE_RSA_WITH_DES_192_CBC3_SHA 0x0300C012
-#define TLS1_CK_ECDHE_RSA_WITH_AES_128_CBC_SHA 0x0300C013
-#define TLS1_CK_ECDHE_RSA_WITH_AES_256_CBC_SHA 0x0300C014
-
-#define TLS1_CK_ECDH_anon_WITH_NULL_SHA 0x0300C015
-#define TLS1_CK_ECDH_anon_WITH_RC4_128_SHA 0x0300C016
-#define TLS1_CK_ECDH_anon_WITH_DES_192_CBC3_SHA 0x0300C017
-#define TLS1_CK_ECDH_anon_WITH_AES_128_CBC_SHA 0x0300C018
-#define TLS1_CK_ECDH_anon_WITH_AES_256_CBC_SHA 0x0300C019
-
-/* SRP ciphersuites from RFC 5054 */
-#define TLS1_CK_SRP_SHA_WITH_3DES_EDE_CBC_SHA 0x0300C01A
-#define TLS1_CK_SRP_SHA_RSA_WITH_3DES_EDE_CBC_SHA 0x0300C01B
-#define TLS1_CK_SRP_SHA_DSS_WITH_3DES_EDE_CBC_SHA 0x0300C01C
-#define TLS1_CK_SRP_SHA_WITH_AES_128_CBC_SHA 0x0300C01D
-#define TLS1_CK_SRP_SHA_RSA_WITH_AES_128_CBC_SHA 0x0300C01E
-#define TLS1_CK_SRP_SHA_DSS_WITH_AES_128_CBC_SHA 0x0300C01F
-#define TLS1_CK_SRP_SHA_WITH_AES_256_CBC_SHA 0x0300C020
-#define TLS1_CK_SRP_SHA_RSA_WITH_AES_256_CBC_SHA 0x0300C021
-#define TLS1_CK_SRP_SHA_DSS_WITH_AES_256_CBC_SHA 0x0300C022
-
-/* ECDH HMAC based ciphersuites from RFC5289 */
-
-#define TLS1_CK_ECDHE_ECDSA_WITH_AES_128_SHA256 0x0300C023
-#define TLS1_CK_ECDHE_ECDSA_WITH_AES_256_SHA384 0x0300C024
-#define TLS1_CK_ECDH_ECDSA_WITH_AES_128_SHA256 0x0300C025
-#define TLS1_CK_ECDH_ECDSA_WITH_AES_256_SHA384 0x0300C026
-#define TLS1_CK_ECDHE_RSA_WITH_AES_128_SHA256 0x0300C027
-#define TLS1_CK_ECDHE_RSA_WITH_AES_256_SHA384 0x0300C028
-#define TLS1_CK_ECDH_RSA_WITH_AES_128_SHA256 0x0300C029
-#define TLS1_CK_ECDH_RSA_WITH_AES_256_SHA384 0x0300C02A
-
-/* ECDH GCM based ciphersuites from RFC5289 */
-#define TLS1_CK_ECDHE_ECDSA_WITH_AES_128_GCM_SHA256 0x0300C02B
-#define TLS1_CK_ECDHE_ECDSA_WITH_AES_256_GCM_SHA384 0x0300C02C
-#define TLS1_CK_ECDH_ECDSA_WITH_AES_128_GCM_SHA256 0x0300C02D
-#define TLS1_CK_ECDH_ECDSA_WITH_AES_256_GCM_SHA384 0x0300C02E
-#define TLS1_CK_ECDHE_RSA_WITH_AES_128_GCM_SHA256 0x0300C02F
-#define TLS1_CK_ECDHE_RSA_WITH_AES_256_GCM_SHA384 0x0300C030
-#define TLS1_CK_ECDH_RSA_WITH_AES_128_GCM_SHA256 0x0300C031
-#define TLS1_CK_ECDH_RSA_WITH_AES_256_GCM_SHA384 0x0300C032
-
-#define TLS1_CK_ECDHE_RSA_CHACHA20_POLY1305 0x0300CC13
-#define TLS1_CK_ECDHE_ECDSA_CHACHA20_POLY1305 0x0300CC14
-#define TLS1_CK_DHE_RSA_CHACHA20_POLY1305 0x0300CC15
-
-/* XXX
- * Inconsistency alert:
- * The OpenSSL names of ciphers with ephemeral DH here include the string
- * "DHE", while elsewhere it has always been "EDH".
- * (The alias for the list of all such ciphers also is "EDH".)
- * The specifications speak of "EDH"; maybe we should allow both forms
- * for everything. */
-#define TLS1_TXT_RSA_EXPORT1024_WITH_RC4_56_MD5 "EXP1024-RC4-MD5"
-#define TLS1_TXT_RSA_EXPORT1024_WITH_RC2_CBC_56_MD5 "EXP1024-RC2-CBC-MD5"
-#define TLS1_TXT_RSA_EXPORT1024_WITH_DES_CBC_SHA "EXP1024-DES-CBC-SHA"
-#define TLS1_TXT_DHE_DSS_EXPORT1024_WITH_DES_CBC_SHA \
-  "EXP1024-DHE-DSS-DES-CBC-SHA"
-#define TLS1_TXT_RSA_EXPORT1024_WITH_RC4_56_SHA "EXP1024-RC4-SHA"
-#define TLS1_TXT_DHE_DSS_EXPORT1024_WITH_RC4_56_SHA "EXP1024-DHE-DSS-RC4-SHA"
-#define TLS1_TXT_DHE_DSS_WITH_RC4_128_SHA "DHE-DSS-RC4-SHA"
-
-/* AES ciphersuites from RFC3268 */
-#define TLS1_TXT_RSA_WITH_AES_128_SHA "AES128-SHA"
-#define TLS1_TXT_DH_DSS_WITH_AES_128_SHA "DH-DSS-AES128-SHA"
-#define TLS1_TXT_DH_RSA_WITH_AES_128_SHA "DH-RSA-AES128-SHA"
-#define TLS1_TXT_DHE_DSS_WITH_AES_128_SHA "DHE-DSS-AES128-SHA"
-#define TLS1_TXT_DHE_RSA_WITH_AES_128_SHA "DHE-RSA-AES128-SHA"
-#define TLS1_TXT_ADH_WITH_AES_128_SHA "ADH-AES128-SHA"
-
-#define TLS1_TXT_RSA_WITH_AES_256_SHA "AES256-SHA"
-#define TLS1_TXT_DH_DSS_WITH_AES_256_SHA "DH-DSS-AES256-SHA"
-#define TLS1_TXT_DH_RSA_WITH_AES_256_SHA "DH-RSA-AES256-SHA"
-#define TLS1_TXT_DHE_DSS_WITH_AES_256_SHA "DHE-DSS-AES256-SHA"
-#define TLS1_TXT_DHE_RSA_WITH_AES_256_SHA "DHE-RSA-AES256-SHA"
-#define TLS1_TXT_ADH_WITH_AES_256_SHA "ADH-AES256-SHA"
-
-/* ECC ciphersuites from RFC4492 */
-#define TLS1_TXT_ECDH_ECDSA_WITH_NULL_SHA "ECDH-ECDSA-NULL-SHA"
-#define TLS1_TXT_ECDH_ECDSA_WITH_RC4_128_SHA "ECDH-ECDSA-RC4-SHA"
-#define TLS1_TXT_ECDH_ECDSA_WITH_DES_192_CBC3_SHA "ECDH-ECDSA-DES-CBC3-SHA"
-#define TLS1_TXT_ECDH_ECDSA_WITH_AES_128_CBC_SHA "ECDH-ECDSA-AES128-SHA"
-#define TLS1_TXT_ECDH_ECDSA_WITH_AES_256_CBC_SHA "ECDH-ECDSA-AES256-SHA"
-
-#define TLS1_TXT_ECDHE_ECDSA_WITH_NULL_SHA "ECDHE-ECDSA-NULL-SHA"
-#define TLS1_TXT_ECDHE_ECDSA_WITH_RC4_128_SHA "ECDHE-ECDSA-RC4-SHA"
-#define TLS1_TXT_ECDHE_ECDSA_WITH_DES_192_CBC3_SHA "ECDHE-ECDSA-DES-CBC3-SHA"
-#define TLS1_TXT_ECDHE_ECDSA_WITH_AES_128_CBC_SHA "ECDHE-ECDSA-AES128-SHA"
-#define TLS1_TXT_ECDHE_ECDSA_WITH_AES_256_CBC_SHA "ECDHE-ECDSA-AES256-SHA"
-
-#define TLS1_TXT_ECDH_RSA_WITH_NULL_SHA "ECDH-RSA-NULL-SHA"
-#define TLS1_TXT_ECDH_RSA_WITH_RC4_128_SHA "ECDH-RSA-RC4-SHA"
-#define TLS1_TXT_ECDH_RSA_WITH_DES_192_CBC3_SHA "ECDH-RSA-DES-CBC3-SHA"
-#define TLS1_TXT_ECDH_RSA_WITH_AES_128_CBC_SHA "ECDH-RSA-AES128-SHA"
-#define TLS1_TXT_ECDH_RSA_WITH_AES_256_CBC_SHA "ECDH-RSA-AES256-SHA"
-
-#define TLS1_TXT_ECDHE_RSA_WITH_NULL_SHA "ECDHE-RSA-NULL-SHA"
-#define TLS1_TXT_ECDHE_RSA_WITH_RC4_128_SHA "ECDHE-RSA-RC4-SHA"
-#define TLS1_TXT_ECDHE_RSA_WITH_DES_192_CBC3_SHA "ECDHE-RSA-DES-CBC3-SHA"
-#define TLS1_TXT_ECDHE_RSA_WITH_AES_128_CBC_SHA "ECDHE-RSA-AES128-SHA"
-#define TLS1_TXT_ECDHE_RSA_WITH_AES_256_CBC_SHA "ECDHE-RSA-AES256-SHA"
-
-#define TLS1_TXT_ECDH_anon_WITH_NULL_SHA "AECDH-NULL-SHA"
-#define TLS1_TXT_ECDH_anon_WITH_RC4_128_SHA "AECDH-RC4-SHA"
-#define TLS1_TXT_ECDH_anon_WITH_DES_192_CBC3_SHA "AECDH-DES-CBC3-SHA"
-#define TLS1_TXT_ECDH_anon_WITH_AES_128_CBC_SHA "AECDH-AES128-SHA"
-#define TLS1_TXT_ECDH_anon_WITH_AES_256_CBC_SHA "AECDH-AES256-SHA"
-
-/* PSK ciphersuites from RFC 4279 */
-#define TLS1_TXT_PSK_WITH_RC4_128_SHA "PSK-RC4-SHA"
-#define TLS1_TXT_PSK_WITH_3DES_EDE_CBC_SHA "PSK-3DES-EDE-CBC-SHA"
-#define TLS1_TXT_PSK_WITH_AES_128_CBC_SHA "PSK-AES128-CBC-SHA"
-#define TLS1_TXT_PSK_WITH_AES_256_CBC_SHA "PSK-AES256-CBC-SHA"
-
-/* PSK ciphersuites from RFC 5489 */
-#define TLS1_TXT_ECDHE_PSK_WITH_AES_128_CBC_SHA "ECDHE-PSK-AES128-CBC-SHA"
-#define TLS1_TXT_ECDHE_PSK_WITH_AES_256_CBC_SHA "ECDHE-PSK-AES256-CBC-SHA"
-
-/* SRP ciphersuite from RFC 5054 */
-#define TLS1_TXT_SRP_SHA_WITH_3DES_EDE_CBC_SHA "SRP-3DES-EDE-CBC-SHA"
-#define TLS1_TXT_SRP_SHA_RSA_WITH_3DES_EDE_CBC_SHA "SRP-RSA-3DES-EDE-CBC-SHA"
-#define TLS1_TXT_SRP_SHA_DSS_WITH_3DES_EDE_CBC_SHA "SRP-DSS-3DES-EDE-CBC-SHA"
-#define TLS1_TXT_SRP_SHA_WITH_AES_128_CBC_SHA "SRP-AES-128-CBC-SHA"
-#define TLS1_TXT_SRP_SHA_RSA_WITH_AES_128_CBC_SHA "SRP-RSA-AES-128-CBC-SHA"
-#define TLS1_TXT_SRP_SHA_DSS_WITH_AES_128_CBC_SHA "SRP-DSS-AES-128-CBC-SHA"
-#define TLS1_TXT_SRP_SHA_WITH_AES_256_CBC_SHA "SRP-AES-256-CBC-SHA"
-#define TLS1_TXT_SRP_SHA_RSA_WITH_AES_256_CBC_SHA "SRP-RSA-AES-256-CBC-SHA"
-#define TLS1_TXT_SRP_SHA_DSS_WITH_AES_256_CBC_SHA "SRP-DSS-AES-256-CBC-SHA"
-
-/* Camellia ciphersuites from RFC4132 */
-#define TLS1_TXT_RSA_WITH_CAMELLIA_128_CBC_SHA "CAMELLIA128-SHA"
-#define TLS1_TXT_DH_DSS_WITH_CAMELLIA_128_CBC_SHA "DH-DSS-CAMELLIA128-SHA"
-#define TLS1_TXT_DH_RSA_WITH_CAMELLIA_128_CBC_SHA "DH-RSA-CAMELLIA128-SHA"
-#define TLS1_TXT_DHE_DSS_WITH_CAMELLIA_128_CBC_SHA "DHE-DSS-CAMELLIA128-SHA"
-#define TLS1_TXT_DHE_RSA_WITH_CAMELLIA_128_CBC_SHA "DHE-RSA-CAMELLIA128-SHA"
-#define TLS1_TXT_ADH_WITH_CAMELLIA_128_CBC_SHA "ADH-CAMELLIA128-SHA"
-
-#define TLS1_TXT_RSA_WITH_CAMELLIA_256_CBC_SHA "CAMELLIA256-SHA"
-#define TLS1_TXT_DH_DSS_WITH_CAMELLIA_256_CBC_SHA "DH-DSS-CAMELLIA256-SHA"
-#define TLS1_TXT_DH_RSA_WITH_CAMELLIA_256_CBC_SHA "DH-RSA-CAMELLIA256-SHA"
-#define TLS1_TXT_DHE_DSS_WITH_CAMELLIA_256_CBC_SHA "DHE-DSS-CAMELLIA256-SHA"
-#define TLS1_TXT_DHE_RSA_WITH_CAMELLIA_256_CBC_SHA "DHE-RSA-CAMELLIA256-SHA"
-#define TLS1_TXT_ADH_WITH_CAMELLIA_256_CBC_SHA "ADH-CAMELLIA256-SHA"
-
-/* SEED ciphersuites from RFC4162 */
-#define TLS1_TXT_RSA_WITH_SEED_SHA "SEED-SHA"
-#define TLS1_TXT_DH_DSS_WITH_SEED_SHA "DH-DSS-SEED-SHA"
-#define TLS1_TXT_DH_RSA_WITH_SEED_SHA "DH-RSA-SEED-SHA"
-#define TLS1_TXT_DHE_DSS_WITH_SEED_SHA "DHE-DSS-SEED-SHA"
-#define TLS1_TXT_DHE_RSA_WITH_SEED_SHA "DHE-RSA-SEED-SHA"
-#define TLS1_TXT_ADH_WITH_SEED_SHA "ADH-SEED-SHA"
-
-/* TLS v1.2 ciphersuites */
-#define TLS1_TXT_RSA_WITH_NULL_SHA256 "NULL-SHA256"
-#define TLS1_TXT_RSA_WITH_AES_128_SHA256 "AES128-SHA256"
-#define TLS1_TXT_RSA_WITH_AES_256_SHA256 "AES256-SHA256"
-#define TLS1_TXT_DH_DSS_WITH_AES_128_SHA256 "DH-DSS-AES128-SHA256"
-#define TLS1_TXT_DH_RSA_WITH_AES_128_SHA256 "DH-RSA-AES128-SHA256"
-#define TLS1_TXT_DHE_DSS_WITH_AES_128_SHA256 "DHE-DSS-AES128-SHA256"
-#define TLS1_TXT_DHE_RSA_WITH_AES_128_SHA256 "DHE-RSA-AES128-SHA256"
-#define TLS1_TXT_DH_DSS_WITH_AES_256_SHA256 "DH-DSS-AES256-SHA256"
-#define TLS1_TXT_DH_RSA_WITH_AES_256_SHA256 "DH-RSA-AES256-SHA256"
-#define TLS1_TXT_DHE_DSS_WITH_AES_256_SHA256 "DHE-DSS-AES256-SHA256"
-#define TLS1_TXT_DHE_RSA_WITH_AES_256_SHA256 "DHE-RSA-AES256-SHA256"
-#define TLS1_TXT_ADH_WITH_AES_128_SHA256 "ADH-AES128-SHA256"
-#define TLS1_TXT_ADH_WITH_AES_256_SHA256 "ADH-AES256-SHA256"
-
-/* TLS v1.2 GCM ciphersuites from RFC5288 */
-#define TLS1_TXT_RSA_WITH_AES_128_GCM_SHA256 "AES128-GCM-SHA256"
-#define TLS1_TXT_RSA_WITH_AES_256_GCM_SHA384 "AES256-GCM-SHA384"
-#define TLS1_TXT_DHE_RSA_WITH_AES_128_GCM_SHA256 "DHE-RSA-AES128-GCM-SHA256"
-#define TLS1_TXT_DHE_RSA_WITH_AES_256_GCM_SHA384 "DHE-RSA-AES256-GCM-SHA384"
-#define TLS1_TXT_DH_RSA_WITH_AES_128_GCM_SHA256 "DH-RSA-AES128-GCM-SHA256"
-#define TLS1_TXT_DH_RSA_WITH_AES_256_GCM_SHA384 "DH-RSA-AES256-GCM-SHA384"
-#define TLS1_TXT_DHE_DSS_WITH_AES_128_GCM_SHA256 "DHE-DSS-AES128-GCM-SHA256"
-#define TLS1_TXT_DHE_DSS_WITH_AES_256_GCM_SHA384 "DHE-DSS-AES256-GCM-SHA384"
-#define TLS1_TXT_DH_DSS_WITH_AES_128_GCM_SHA256 "DH-DSS-AES128-GCM-SHA256"
-#define TLS1_TXT_DH_DSS_WITH_AES_256_GCM_SHA384 "DH-DSS-AES256-GCM-SHA384"
-#define TLS1_TXT_ADH_WITH_AES_128_GCM_SHA256 "ADH-AES128-GCM-SHA256"
-#define TLS1_TXT_ADH_WITH_AES_256_GCM_SHA384 "ADH-AES256-GCM-SHA384"
-
-/* ECDH HMAC based ciphersuites from RFC5289 */
-
-#define TLS1_TXT_ECDHE_ECDSA_WITH_AES_128_SHA256 "ECDHE-ECDSA-AES128-SHA256"
-#define TLS1_TXT_ECDHE_ECDSA_WITH_AES_256_SHA384 "ECDHE-ECDSA-AES256-SHA384"
-#define TLS1_TXT_ECDH_ECDSA_WITH_AES_128_SHA256 "ECDH-ECDSA-AES128-SHA256"
-#define TLS1_TXT_ECDH_ECDSA_WITH_AES_256_SHA384 "ECDH-ECDSA-AES256-SHA384"
-#define TLS1_TXT_ECDHE_RSA_WITH_AES_128_SHA256 "ECDHE-RSA-AES128-SHA256"
-#define TLS1_TXT_ECDHE_RSA_WITH_AES_256_SHA384 "ECDHE-RSA-AES256-SHA384"
-#define TLS1_TXT_ECDH_RSA_WITH_AES_128_SHA256 "ECDH-RSA-AES128-SHA256"
-#define TLS1_TXT_ECDH_RSA_WITH_AES_256_SHA384 "ECDH-RSA-AES256-SHA384"
-
-/* ECDH GCM based ciphersuites from RFC5289 */
-#define TLS1_TXT_ECDHE_ECDSA_WITH_AES_128_GCM_SHA256 \
-  "ECDHE-ECDSA-AES128-GCM-SHA256"
-#define TLS1_TXT_ECDHE_ECDSA_WITH_AES_256_GCM_SHA384 \
-  "ECDHE-ECDSA-AES256-GCM-SHA384"
-#define TLS1_TXT_ECDH_ECDSA_WITH_AES_128_GCM_SHA256 \
-  "ECDH-ECDSA-AES128-GCM-SHA256"
-#define TLS1_TXT_ECDH_ECDSA_WITH_AES_256_GCM_SHA384 \
-  "ECDH-ECDSA-AES256-GCM-SHA384"
-#define TLS1_TXT_ECDHE_RSA_WITH_AES_128_GCM_SHA256 "ECDHE-RSA-AES128-GCM-SHA256"
-#define TLS1_TXT_ECDHE_RSA_WITH_AES_256_GCM_SHA384 "ECDHE-RSA-AES256-GCM-SHA384"
-#define TLS1_TXT_ECDH_RSA_WITH_AES_128_GCM_SHA256 "ECDH-RSA-AES128-GCM-SHA256"
-#define TLS1_TXT_ECDH_RSA_WITH_AES_256_GCM_SHA384 "ECDH-RSA-AES256-GCM-SHA384"
-
-#define TLS1_TXT_ECDHE_RSA_WITH_CHACHA20_POLY1305 "ECDHE-RSA-CHACHA20-POLY1305"
-#define TLS1_TXT_ECDHE_ECDSA_WITH_CHACHA20_POLY1305 \
-  "ECDHE-ECDSA-CHACHA20-POLY1305"
-#define TLS1_TXT_DHE_RSA_WITH_CHACHA20_POLY1305 "DHE-RSA-CHACHA20-POLY1305"
-
-#define TLS_CT_RSA_SIGN 1
-#define TLS_CT_DSS_SIGN 2
-#define TLS_CT_RSA_FIXED_DH 3
-#define TLS_CT_DSS_FIXED_DH 4
-#define TLS_CT_ECDSA_SIGN 64
-#define TLS_CT_RSA_FIXED_ECDH 65
-#define TLS_CT_ECDSA_FIXED_ECDH 66
-
-#define TLS_MD_MAX_CONST_SIZE 20
-#define TLS_MD_CLIENT_FINISH_CONST "client finished"
-#define TLS_MD_CLIENT_FINISH_CONST_SIZE 15
-#define TLS_MD_SERVER_FINISH_CONST "server finished"
-#define TLS_MD_SERVER_FINISH_CONST_SIZE 15
-#define TLS_MD_KEY_EXPANSION_CONST "key expansion"
-#define TLS_MD_KEY_EXPANSION_CONST_SIZE 13
-#define TLS_MD_CLIENT_WRITE_KEY_CONST "client write key"
-#define TLS_MD_CLIENT_WRITE_KEY_CONST_SIZE 16
-#define TLS_MD_SERVER_WRITE_KEY_CONST "server write key"
-#define TLS_MD_SERVER_WRITE_KEY_CONST_SIZE 16
-#define TLS_MD_IV_BLOCK_CONST "IV block"
-#define TLS_MD_IV_BLOCK_CONST_SIZE 8
-#define TLS_MD_MASTER_SECRET_CONST "master secret"
-#define TLS_MD_MASTER_SECRET_CONST_SIZE 13
-#define TLS_MD_EXTENDED_MASTER_SECRET_CONST "extended master secret"
-#define TLS_MD_EXTENDED_MASTER_SECRET_CONST_SIZE 22
-
-
-#ifdef  __cplusplus
-}
-#endif
-#endif
diff --git a/phonelibs/boringssl/include/openssl/type_check.h b/phonelibs/boringssl/include/openssl/type_check.h
deleted file mode 100644
index 674913a354a04c..00000000000000
--- a/phonelibs/boringssl/include/openssl/type_check.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- *
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- *
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- *
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- *
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.] */
-
-#ifndef OPENSSL_HEADER_TYPE_CHECK_H
-#define OPENSSL_HEADER_TYPE_CHECK_H
-
-#include <openssl/base.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-/* This header file contains some common macros for enforcing type checking.
- * Several, common OpenSSL structures (i.e. stack and lhash) operate on void
- * pointers, but we wish to have type checking when they are used with a
- * specific type. */
-
-/* CHECKED_CAST casts |p| from type |from| to type |to|. */
-#define CHECKED_CAST(to, from, p) ((to) (1 ? (p) : (from)0))
-
-/* CHECKED_PTR_OF casts a given pointer to void* and statically checks that it
- * was a pointer to |type|. */
-#define CHECKED_PTR_OF(type, p) CHECKED_CAST(void*, type*, (p))
-
-#if defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
-#define OPENSSL_COMPILE_ASSERT(cond, msg) _Static_assert(cond, #msg)
-#else
-#define OPENSSL_COMPILE_ASSERT(cond, msg) \
-  typedef char OPENSSL_COMPILE_ASSERT_##msg[((cond) ? 1 : -1)]
-#endif
-
-
-#if defined(__cplusplus)
-}  /* extern C */
-#endif
-
-#endif  /* OPENSSL_HEADER_TYPE_CHECK_H */
diff --git a/phonelibs/boringssl/include/openssl/x509.h b/phonelibs/boringssl/include/openssl/x509.h
deleted file mode 100644
index 69c7da64e840d7..00000000000000
--- a/phonelibs/boringssl/include/openssl/x509.h
+++ /dev/null
@@ -1,1317 +0,0 @@
-/* crypto/x509/x509.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- * 
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- * 
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from 
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- * 
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- * 
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-/* ====================================================================
- * Copyright 2002 Sun Microsystems, Inc. ALL RIGHTS RESERVED.
- * ECDH support in OpenSSL originally developed by 
- * SUN MICROSYSTEMS, INC., and contributed to the OpenSSL project.
- */
-
-#ifndef HEADER_X509_H
-#define HEADER_X509_H
-
-#include <openssl/base.h>
-
-#include <time.h>
-
-#include <openssl/asn1.h>
-#include <openssl/bio.h>
-#include <openssl/cipher.h>
-#include <openssl/dh.h>
-#include <openssl/dsa.h>
-#include <openssl/ecdh.h>
-#include <openssl/ecdsa.h>
-#include <openssl/ec.h>
-#include <openssl/evp.h>
-#include <openssl/rsa.h>
-#include <openssl/sha.h>
-#include <openssl/stack.h>
-#include <openssl/thread.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-
-#define X509_FILETYPE_PEM	1
-#define X509_FILETYPE_ASN1	2
-#define X509_FILETYPE_DEFAULT	3
-
-#define X509v3_KU_DIGITAL_SIGNATURE	0x0080
-#define X509v3_KU_NON_REPUDIATION	0x0040
-#define X509v3_KU_KEY_ENCIPHERMENT	0x0020
-#define X509v3_KU_DATA_ENCIPHERMENT	0x0010
-#define X509v3_KU_KEY_AGREEMENT		0x0008
-#define X509v3_KU_KEY_CERT_SIGN		0x0004
-#define X509v3_KU_CRL_SIGN		0x0002
-#define X509v3_KU_ENCIPHER_ONLY		0x0001
-#define X509v3_KU_DECIPHER_ONLY		0x8000
-#define X509v3_KU_UNDEF			0xffff
-
-typedef struct X509_objects_st
-	{
-	int nid;
-	int (*a2i)(void);
-	int (*i2a)(void);
-	} X509_OBJECTS;
-
-DECLARE_ASN1_SET_OF(X509_ALGOR)
-
-typedef STACK_OF(X509_ALGOR) X509_ALGORS;
-
-typedef struct X509_val_st
-	{
-	ASN1_TIME *notBefore;
-	ASN1_TIME *notAfter;
-	} X509_VAL;
-
-struct X509_pubkey_st
-	{
-	X509_ALGOR *algor;
-	ASN1_BIT_STRING *public_key;
-	EVP_PKEY *pkey;
-	};
-
-typedef struct X509_sig_st
-	{
-	X509_ALGOR *algor;
-	ASN1_OCTET_STRING *digest;
-	} X509_SIG;
-
-typedef struct X509_name_entry_st
-	{
-	ASN1_OBJECT *object;
-	ASN1_STRING *value;
-	int set;
-	int size; 	/* temp variable */
-	} X509_NAME_ENTRY;
-
-DECLARE_STACK_OF(X509_NAME_ENTRY)
-DECLARE_ASN1_SET_OF(X509_NAME_ENTRY)
-
-/* we always keep X509_NAMEs in 2 forms. */
-typedef struct X509_name_st
-	{
-	STACK_OF(X509_NAME_ENTRY) *entries;
-	int modified;	/* true if 'bytes' needs to be built */
-#ifndef OPENSSL_NO_BUFFER
-	BUF_MEM *bytes;
-#else
-	char *bytes;
-#endif
-/*	unsigned long hash; Keep the hash around for lookups */
-	unsigned char *canon_enc;
-	int canon_enclen;
-	} X509_NAME;
-
-DECLARE_STACK_OF(X509_NAME)
-
-#define X509_EX_V_NETSCAPE_HACK		0x8000
-#define X509_EX_V_INIT			0x0001
-typedef struct X509_extension_st
-	{
-	ASN1_OBJECT *object;
-	ASN1_BOOLEAN critical;
-	ASN1_OCTET_STRING *value;
-	} X509_EXTENSION;
-
-typedef STACK_OF(X509_EXTENSION) X509_EXTENSIONS;
-
-DECLARE_STACK_OF(X509_EXTENSION)
-DECLARE_ASN1_SET_OF(X509_EXTENSION)
-
-/* a sequence of these are used */
-typedef struct x509_attributes_st
-	{
-	ASN1_OBJECT *object;
-	int single; /* 0 for a set, 1 for a single item (which is wrong) */
-	union	{
-		char		*ptr;
-/* 0 */		STACK_OF(ASN1_TYPE) *set;
-/* 1 */		ASN1_TYPE	*single;
-		} value;
-	} X509_ATTRIBUTE;
-
-DECLARE_STACK_OF(X509_ATTRIBUTE)
-DECLARE_ASN1_SET_OF(X509_ATTRIBUTE)
-
-
-typedef struct X509_req_info_st
-	{
-	ASN1_ENCODING enc;
-	ASN1_INTEGER *version;
-	X509_NAME *subject;
-	X509_PUBKEY *pubkey;
-	/*  d=2 hl=2 l=  0 cons: cont: 00 */
-	STACK_OF(X509_ATTRIBUTE) *attributes; /* [ 0 ] */
-	} X509_REQ_INFO;
-
-typedef struct X509_req_st
-	{
-	X509_REQ_INFO *req_info;
-	X509_ALGOR *sig_alg;
-	ASN1_BIT_STRING *signature;
-	CRYPTO_refcount_t references;
-	} X509_REQ;
-
-typedef struct x509_cinf_st
-	{
-	ASN1_INTEGER *version;		/* [ 0 ] default of v1 */
-	ASN1_INTEGER *serialNumber;
-	X509_ALGOR *signature;
-	X509_NAME *issuer;
-	X509_VAL *validity;
-	X509_NAME *subject;
-	X509_PUBKEY *key;
-	ASN1_BIT_STRING *issuerUID;		/* [ 1 ] optional in v2 */
-	ASN1_BIT_STRING *subjectUID;		/* [ 2 ] optional in v2 */
-	STACK_OF(X509_EXTENSION) *extensions;	/* [ 3 ] optional in v3 */
-	ASN1_ENCODING enc;
-	} X509_CINF;
-
-/* This stuff is certificate "auxiliary info"
- * it contains details which are useful in certificate
- * stores and databases. When used this is tagged onto
- * the end of the certificate itself
- */
-
-typedef struct x509_cert_aux_st
-	{
-	STACK_OF(ASN1_OBJECT) *trust;		/* trusted uses */
-	STACK_OF(ASN1_OBJECT) *reject;		/* rejected uses */
-	ASN1_UTF8STRING *alias;			/* "friendly name" */
-	ASN1_OCTET_STRING *keyid;		/* key id of private key */
-	STACK_OF(X509_ALGOR) *other;		/* other unspecified info */
-	} X509_CERT_AUX;
-
-struct x509_st
-	{
-	X509_CINF *cert_info;
-	X509_ALGOR *sig_alg;
-	ASN1_BIT_STRING *signature;
-	int valid;
-	CRYPTO_refcount_t references;
-	char *name;
-	CRYPTO_EX_DATA ex_data;
-	/* These contain copies of various extension values */
-	long ex_pathlen;
-	long ex_pcpathlen;
-	unsigned long ex_flags;
-	unsigned long ex_kusage;
-	unsigned long ex_xkusage;
-	unsigned long ex_nscert;
-	ASN1_OCTET_STRING *skid;
-	AUTHORITY_KEYID *akid;
-	X509_POLICY_CACHE *policy_cache;
-	STACK_OF(DIST_POINT) *crldp;
-	STACK_OF(GENERAL_NAME) *altname;
-	NAME_CONSTRAINTS *nc;
-	unsigned char sha1_hash[SHA_DIGEST_LENGTH];
-	X509_CERT_AUX *aux;
-	} /* X509 */;
-
-DECLARE_STACK_OF(X509)
-DECLARE_ASN1_SET_OF(X509)
-
-/* This is used for a table of trust checking functions */
-
-typedef struct x509_trust_st {
-	int trust;
-	int flags;
-	int (*check_trust)(struct x509_trust_st *, X509 *, int);
-	char *name;
-	int arg1;
-	void *arg2;
-} X509_TRUST;
-
-DECLARE_STACK_OF(X509_TRUST)
-
-typedef struct x509_cert_pair_st {
-	X509 *forward;
-	X509 *reverse;
-} X509_CERT_PAIR;
-
-/* standard trust ids */
-
-#define X509_TRUST_DEFAULT	-1	/* Only valid in purpose settings */
-
-#define X509_TRUST_COMPAT	1
-#define X509_TRUST_SSL_CLIENT	2
-#define X509_TRUST_SSL_SERVER	3
-#define X509_TRUST_EMAIL	4
-#define X509_TRUST_OBJECT_SIGN	5
-#define X509_TRUST_OCSP_SIGN	6
-#define X509_TRUST_OCSP_REQUEST	7
-#define X509_TRUST_TSA		8
-
-/* Keep these up to date! */
-#define X509_TRUST_MIN		1
-#define X509_TRUST_MAX		8
-
-
-/* trust_flags values */
-#define	X509_TRUST_DYNAMIC 	1
-#define	X509_TRUST_DYNAMIC_NAME	2
-
-/* check_trust return codes */
-
-#define X509_TRUST_TRUSTED	1
-#define X509_TRUST_REJECTED	2
-#define X509_TRUST_UNTRUSTED	3
-
-/* Flags for X509_print_ex() */
-
-#define	X509_FLAG_COMPAT		0
-#define	X509_FLAG_NO_HEADER		1L
-#define	X509_FLAG_NO_VERSION		(1L << 1)
-#define	X509_FLAG_NO_SERIAL		(1L << 2)
-#define	X509_FLAG_NO_SIGNAME		(1L << 3)
-#define	X509_FLAG_NO_ISSUER		(1L << 4)
-#define	X509_FLAG_NO_VALIDITY		(1L << 5)
-#define	X509_FLAG_NO_SUBJECT		(1L << 6)
-#define	X509_FLAG_NO_PUBKEY		(1L << 7)
-#define	X509_FLAG_NO_EXTENSIONS		(1L << 8)
-#define	X509_FLAG_NO_SIGDUMP		(1L << 9)
-#define	X509_FLAG_NO_AUX		(1L << 10)
-#define	X509_FLAG_NO_ATTRIBUTES		(1L << 11)
-#define	X509_FLAG_NO_IDS		(1L << 12)
-
-/* Flags specific to X509_NAME_print_ex() */	
-
-/* The field separator information */
-
-#define XN_FLAG_SEP_MASK	(0xf << 16)
-
-#define XN_FLAG_COMPAT		0		/* Traditional SSLeay: use old X509_NAME_print */
-#define XN_FLAG_SEP_COMMA_PLUS	(1 << 16)	/* RFC2253 ,+ */
-#define XN_FLAG_SEP_CPLUS_SPC	(2 << 16)	/* ,+ spaced: more readable */
-#define XN_FLAG_SEP_SPLUS_SPC	(3 << 16)	/* ;+ spaced */
-#define XN_FLAG_SEP_MULTILINE	(4 << 16)	/* One line per field */
-
-#define XN_FLAG_DN_REV		(1 << 20)	/* Reverse DN order */
-
-/* How the field name is shown */
-
-#define XN_FLAG_FN_MASK		(0x3 << 21)
-
-#define XN_FLAG_FN_SN		0		/* Object short name */
-#define XN_FLAG_FN_LN		(1 << 21)	/* Object long name */
-#define XN_FLAG_FN_OID		(2 << 21)	/* Always use OIDs */
-#define XN_FLAG_FN_NONE		(3 << 21)	/* No field names */
-
-#define XN_FLAG_SPC_EQ		(1 << 23)	/* Put spaces round '=' */
-
-/* This determines if we dump fields we don't recognise:
- * RFC2253 requires this.
- */
-
-#define XN_FLAG_DUMP_UNKNOWN_FIELDS (1 << 24)
-
-#define XN_FLAG_FN_ALIGN	(1 << 25)	/* Align field names to 20 characters */
-
-/* Complete set of RFC2253 flags */
-
-#define XN_FLAG_RFC2253 (ASN1_STRFLGS_RFC2253 | \
-			XN_FLAG_SEP_COMMA_PLUS | \
-			XN_FLAG_DN_REV | \
-			XN_FLAG_FN_SN | \
-			XN_FLAG_DUMP_UNKNOWN_FIELDS)
-
-/* readable oneline form */
-
-#define XN_FLAG_ONELINE (ASN1_STRFLGS_RFC2253 | \
-			ASN1_STRFLGS_ESC_QUOTE | \
-			XN_FLAG_SEP_CPLUS_SPC | \
-			XN_FLAG_SPC_EQ | \
-			XN_FLAG_FN_SN)
-
-/* readable multiline form */
-
-#define XN_FLAG_MULTILINE (ASN1_STRFLGS_ESC_CTRL | \
-			ASN1_STRFLGS_ESC_MSB | \
-			XN_FLAG_SEP_MULTILINE | \
-			XN_FLAG_SPC_EQ | \
-			XN_FLAG_FN_LN | \
-			XN_FLAG_FN_ALIGN)
-
-struct x509_revoked_st
-	{
-	ASN1_INTEGER *serialNumber;
-	ASN1_TIME *revocationDate;
-	STACK_OF(X509_EXTENSION) /* optional */ *extensions;
-	/* Set up if indirect CRL */
-	STACK_OF(GENERAL_NAME) *issuer;
-	/* Revocation reason */
-	int reason;
-	int sequence; /* load sequence */
-	};
-
-DECLARE_STACK_OF(X509_REVOKED)
-DECLARE_ASN1_SET_OF(X509_REVOKED)
-
-typedef struct X509_crl_info_st
-	{
-	ASN1_INTEGER *version;
-	X509_ALGOR *sig_alg;
-	X509_NAME *issuer;
-	ASN1_TIME *lastUpdate;
-	ASN1_TIME *nextUpdate;
-	STACK_OF(X509_REVOKED) *revoked;
-	STACK_OF(X509_EXTENSION) /* [0] */ *extensions;
-	ASN1_ENCODING enc;
-	} X509_CRL_INFO;
-
-struct X509_crl_st
-	{
-	/* actual signature */
-	X509_CRL_INFO *crl;
-	X509_ALGOR *sig_alg;
-	ASN1_BIT_STRING *signature;
-	CRYPTO_refcount_t references;
-	int flags;
-	/* Copies of various extensions */
-	AUTHORITY_KEYID *akid;
-	ISSUING_DIST_POINT *idp;
-	/* Convenient breakdown of IDP */
-	int idp_flags;
-	int idp_reasons;
-	/* CRL and base CRL numbers for delta processing */
-	ASN1_INTEGER *crl_number;
-	ASN1_INTEGER *base_crl_number;
-	unsigned char sha1_hash[SHA_DIGEST_LENGTH];
-	STACK_OF(GENERAL_NAMES) *issuers;
-	const X509_CRL_METHOD *meth;
-	void *meth_data;
-	} /* X509_CRL */;
-
-DECLARE_STACK_OF(X509_CRL)
-DECLARE_ASN1_SET_OF(X509_CRL)
-
-typedef struct private_key_st
-	{
-	int version;
-	/* The PKCS#8 data types */
-	X509_ALGOR *enc_algor;
-	ASN1_OCTET_STRING *enc_pkey;	/* encrypted pub key */
-
-	/* When decrypted, the following will not be NULL */
-	EVP_PKEY *dec_pkey;
-
-	/* used to encrypt and decrypt */
-	int key_length;
-	char *key_data;
-	int key_free;	/* true if we should auto free key_data */
-
-	/* expanded version of 'enc_algor' */
-	EVP_CIPHER_INFO cipher;
-	} X509_PKEY;
-
-#ifndef OPENSSL_NO_EVP
-typedef struct X509_info_st
-	{
-	X509 *x509;
-	X509_CRL *crl;
-	X509_PKEY *x_pkey;
-
-	EVP_CIPHER_INFO enc_cipher;
-	int enc_len;
-	char *enc_data;
-
-	} X509_INFO;
-
-DECLARE_STACK_OF(X509_INFO)
-#endif
-
-/* The next 2 structures and their 8 routines were sent to me by
- * Pat Richard <patr@x509.com> and are used to manipulate
- * Netscapes spki structures - useful if you are writing a CA web page
- */
-typedef struct Netscape_spkac_st
-	{
-	X509_PUBKEY *pubkey;
-	ASN1_IA5STRING *challenge;	/* challenge sent in atlas >= PR2 */
-	} NETSCAPE_SPKAC;
-
-typedef struct Netscape_spki_st
-	{
-	NETSCAPE_SPKAC *spkac;	/* signed public key and challenge */
-	X509_ALGOR *sig_algor;
-	ASN1_BIT_STRING *signature;
-	} NETSCAPE_SPKI;
-
-/* Netscape certificate sequence structure */
-typedef struct Netscape_certificate_sequence
-	{
-	ASN1_OBJECT *type;
-	STACK_OF(X509) *certs;
-	} NETSCAPE_CERT_SEQUENCE;
-
-/* Unused (and iv length is wrong)
-typedef struct CBCParameter_st
-	{
-	unsigned char iv[8];
-	} CBC_PARAM;
-*/
-
-/* Password based encryption structure */
-
-typedef struct PBEPARAM_st {
-ASN1_OCTET_STRING *salt;
-ASN1_INTEGER *iter;
-} PBEPARAM;
-
-/* Password based encryption V2 structures */
-
-typedef struct PBE2PARAM_st {
-X509_ALGOR *keyfunc;
-X509_ALGOR *encryption;
-} PBE2PARAM;
-
-typedef struct PBKDF2PARAM_st {
-ASN1_TYPE *salt;	/* Usually OCTET STRING but could be anything */
-ASN1_INTEGER *iter;
-ASN1_INTEGER *keylength;
-X509_ALGOR *prf;
-} PBKDF2PARAM;
-
-
-/* PKCS#8 private key info structure */
-
-struct pkcs8_priv_key_info_st
-        {
-        int broken;     /* Flag for various broken formats */
-#define PKCS8_OK		0
-#define PKCS8_NO_OCTET		1
-#define PKCS8_EMBEDDED_PARAM	2
-#define PKCS8_NS_DB		3
-#define PKCS8_NEG_PRIVKEY	4
-        ASN1_INTEGER *version;
-        X509_ALGOR *pkeyalg;
-        ASN1_TYPE *pkey; /* Should be OCTET STRING but some are broken */
-        STACK_OF(X509_ATTRIBUTE) *attributes;
-        };
-
-#ifdef  __cplusplus
-}
-#endif
-
-#include <openssl/x509_vfy.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-#define X509_EXT_PACK_UNKNOWN	1
-#define X509_EXT_PACK_STRING	2
-
-#define		X509_get_version(x) ASN1_INTEGER_get((x)->cert_info->version)
-/* #define	X509_get_serialNumber(x) ((x)->cert_info->serialNumber) */
-#define		X509_get_notBefore(x) ((x)->cert_info->validity->notBefore)
-#define		X509_get_notAfter(x) ((x)->cert_info->validity->notAfter)
-#define		X509_get_cert_info(x) ((x)->cert_info)
-#define		X509_extract_key(x)	X509_get_pubkey(x) /*****/
-#define		X509_REQ_get_version(x) ASN1_INTEGER_get((x)->req_info->version)
-#define		X509_REQ_get_subject_name(x) ((x)->req_info->subject)
-#define		X509_REQ_extract_key(a)	X509_REQ_get_pubkey(a)
-#define		X509_name_cmp(a,b)	X509_NAME_cmp((a),(b))
-#define		X509_get_signature_type(x) EVP_PKEY_type(OBJ_obj2nid((x)->sig_alg->algorithm))
-
-#define		X509_CRL_get_version(x) ASN1_INTEGER_get((x)->crl->version)
-#define 	X509_CRL_get_lastUpdate(x) ((x)->crl->lastUpdate)
-#define 	X509_CRL_get_nextUpdate(x) ((x)->crl->nextUpdate)
-#define		X509_CRL_get_issuer(x) ((x)->crl->issuer)
-#define		X509_CRL_get_REVOKED(x) ((x)->crl->revoked)
-
-#define		X509_CINF_set_modified(c) ((c)->enc.modified = 1)
-#define		X509_CINF_get_issuer(c) (&(c)->issuer)
-#define		X509_CINF_get_extensions(c) ((c)->extensions)
-#define		X509_CINF_get_signature(c) ((c)->signature)
-
-OPENSSL_EXPORT void X509_CRL_set_default_method(const X509_CRL_METHOD *meth);
-OPENSSL_EXPORT X509_CRL_METHOD *X509_CRL_METHOD_new(
-	int (*crl_init)(X509_CRL *crl),
-	int (*crl_free)(X509_CRL *crl),
-	int (*crl_lookup)(X509_CRL *crl, X509_REVOKED **ret,
-				ASN1_INTEGER *ser, X509_NAME *issuer),
-	int (*crl_verify)(X509_CRL *crl, EVP_PKEY *pk));
-OPENSSL_EXPORT void X509_CRL_METHOD_free(X509_CRL_METHOD *m);
-
-OPENSSL_EXPORT void X509_CRL_set_meth_data(X509_CRL *crl, void *dat);
-OPENSSL_EXPORT void *X509_CRL_get_meth_data(X509_CRL *crl);
-
-/* This one is only used so that a binary form can output, as in
- * i2d_X509_NAME(X509_get_X509_PUBKEY(x),&buf) */
-#define 	X509_get_X509_PUBKEY(x) ((x)->cert_info->key)
-
-
-OPENSSL_EXPORT const char *X509_verify_cert_error_string(long n);
-
-#ifndef OPENSSL_NO_EVP
-OPENSSL_EXPORT int X509_verify(X509 *a, EVP_PKEY *r);
-
-OPENSSL_EXPORT int X509_REQ_verify(X509_REQ *a, EVP_PKEY *r);
-OPENSSL_EXPORT int X509_CRL_verify(X509_CRL *a, EVP_PKEY *r);
-OPENSSL_EXPORT int NETSCAPE_SPKI_verify(NETSCAPE_SPKI *a, EVP_PKEY *r);
-
-OPENSSL_EXPORT NETSCAPE_SPKI * NETSCAPE_SPKI_b64_decode(const char *str, int len);
-OPENSSL_EXPORT char * NETSCAPE_SPKI_b64_encode(NETSCAPE_SPKI *x);
-OPENSSL_EXPORT EVP_PKEY *NETSCAPE_SPKI_get_pubkey(NETSCAPE_SPKI *x);
-OPENSSL_EXPORT int NETSCAPE_SPKI_set_pubkey(NETSCAPE_SPKI *x, EVP_PKEY *pkey);
-
-OPENSSL_EXPORT int NETSCAPE_SPKI_print(BIO *out, NETSCAPE_SPKI *spki);
-
-OPENSSL_EXPORT int X509_signature_dump(BIO *bp,const ASN1_STRING *sig, int indent);
-OPENSSL_EXPORT int X509_signature_print(BIO *bp,X509_ALGOR *alg, ASN1_STRING *sig);
-
-OPENSSL_EXPORT int X509_sign(X509 *x, EVP_PKEY *pkey, const EVP_MD *md);
-OPENSSL_EXPORT int X509_sign_ctx(X509 *x, EVP_MD_CTX *ctx);
-/* int X509_http_nbio(OCSP_REQ_CTX *rctx, X509 **pcert); */
-OPENSSL_EXPORT int X509_REQ_sign(X509_REQ *x, EVP_PKEY *pkey, const EVP_MD *md);
-OPENSSL_EXPORT int X509_REQ_sign_ctx(X509_REQ *x, EVP_MD_CTX *ctx);
-OPENSSL_EXPORT int X509_CRL_sign(X509_CRL *x, EVP_PKEY *pkey, const EVP_MD *md);
-OPENSSL_EXPORT int X509_CRL_sign_ctx(X509_CRL *x, EVP_MD_CTX *ctx);
-/* int X509_CRL_http_nbio(OCSP_REQ_CTX *rctx, X509_CRL **pcrl); */
-OPENSSL_EXPORT int NETSCAPE_SPKI_sign(NETSCAPE_SPKI *x, EVP_PKEY *pkey, const EVP_MD *md);
-
-OPENSSL_EXPORT int X509_pubkey_digest(const X509 *data,const EVP_MD *type,
-		unsigned char *md, unsigned int *len);
-OPENSSL_EXPORT int X509_digest(const X509 *data,const EVP_MD *type,
-		unsigned char *md, unsigned int *len);
-OPENSSL_EXPORT int X509_CRL_digest(const X509_CRL *data,const EVP_MD *type,
-		unsigned char *md, unsigned int *len);
-OPENSSL_EXPORT int X509_REQ_digest(const X509_REQ *data,const EVP_MD *type,
-		unsigned char *md, unsigned int *len);
-OPENSSL_EXPORT int X509_NAME_digest(const X509_NAME *data,const EVP_MD *type,
-		unsigned char *md, unsigned int *len);
-#endif
-
-#ifndef OPENSSL_NO_FP_API
-OPENSSL_EXPORT X509 *d2i_X509_fp(FILE *fp, X509 **x509);
-OPENSSL_EXPORT int i2d_X509_fp(FILE *fp,X509 *x509);
-OPENSSL_EXPORT X509_CRL *d2i_X509_CRL_fp(FILE *fp,X509_CRL **crl);
-OPENSSL_EXPORT int i2d_X509_CRL_fp(FILE *fp,X509_CRL *crl);
-OPENSSL_EXPORT X509_REQ *d2i_X509_REQ_fp(FILE *fp,X509_REQ **req);
-OPENSSL_EXPORT int i2d_X509_REQ_fp(FILE *fp,X509_REQ *req);
-OPENSSL_EXPORT RSA *d2i_RSAPrivateKey_fp(FILE *fp,RSA **rsa);
-OPENSSL_EXPORT int i2d_RSAPrivateKey_fp(FILE *fp,RSA *rsa);
-OPENSSL_EXPORT RSA *d2i_RSAPublicKey_fp(FILE *fp,RSA **rsa);
-OPENSSL_EXPORT int i2d_RSAPublicKey_fp(FILE *fp,RSA *rsa);
-OPENSSL_EXPORT RSA *d2i_RSA_PUBKEY_fp(FILE *fp,RSA **rsa);
-OPENSSL_EXPORT int i2d_RSA_PUBKEY_fp(FILE *fp,RSA *rsa);
-#ifndef OPENSSL_NO_DSA
-OPENSSL_EXPORT DSA *d2i_DSA_PUBKEY_fp(FILE *fp, DSA **dsa);
-OPENSSL_EXPORT int i2d_DSA_PUBKEY_fp(FILE *fp, DSA *dsa);
-OPENSSL_EXPORT DSA *d2i_DSAPrivateKey_fp(FILE *fp, DSA **dsa);
-OPENSSL_EXPORT int i2d_DSAPrivateKey_fp(FILE *fp, DSA *dsa);
-#endif
-OPENSSL_EXPORT EC_KEY *d2i_EC_PUBKEY_fp(FILE *fp, EC_KEY **eckey);
-OPENSSL_EXPORT int   i2d_EC_PUBKEY_fp(FILE *fp, EC_KEY *eckey);
-OPENSSL_EXPORT EC_KEY *d2i_ECPrivateKey_fp(FILE *fp, EC_KEY **eckey);
-OPENSSL_EXPORT int   i2d_ECPrivateKey_fp(FILE *fp, EC_KEY *eckey);
-OPENSSL_EXPORT X509_SIG *d2i_PKCS8_fp(FILE *fp,X509_SIG **p8);
-OPENSSL_EXPORT int i2d_PKCS8_fp(FILE *fp,X509_SIG *p8);
-OPENSSL_EXPORT PKCS8_PRIV_KEY_INFO *d2i_PKCS8_PRIV_KEY_INFO_fp(FILE *fp,
-						PKCS8_PRIV_KEY_INFO **p8inf);
-OPENSSL_EXPORT int i2d_PKCS8_PRIV_KEY_INFO_fp(FILE *fp,PKCS8_PRIV_KEY_INFO *p8inf);
-OPENSSL_EXPORT int i2d_PKCS8PrivateKeyInfo_fp(FILE *fp, EVP_PKEY *key);
-OPENSSL_EXPORT int i2d_PrivateKey_fp(FILE *fp, EVP_PKEY *pkey);
-OPENSSL_EXPORT EVP_PKEY *d2i_PrivateKey_fp(FILE *fp, EVP_PKEY **a);
-OPENSSL_EXPORT int i2d_PUBKEY_fp(FILE *fp, EVP_PKEY *pkey);
-OPENSSL_EXPORT EVP_PKEY *d2i_PUBKEY_fp(FILE *fp, EVP_PKEY **a);
-#endif
-
-OPENSSL_EXPORT X509 *d2i_X509_bio(BIO *bp,X509 **x509);
-OPENSSL_EXPORT int i2d_X509_bio(BIO *bp,X509 *x509);
-OPENSSL_EXPORT X509_CRL *d2i_X509_CRL_bio(BIO *bp,X509_CRL **crl);
-OPENSSL_EXPORT int i2d_X509_CRL_bio(BIO *bp,X509_CRL *crl);
-OPENSSL_EXPORT X509_REQ *d2i_X509_REQ_bio(BIO *bp,X509_REQ **req);
-OPENSSL_EXPORT int i2d_X509_REQ_bio(BIO *bp,X509_REQ *req);
-OPENSSL_EXPORT RSA *d2i_RSAPrivateKey_bio(BIO *bp,RSA **rsa);
-OPENSSL_EXPORT int i2d_RSAPrivateKey_bio(BIO *bp,RSA *rsa);
-OPENSSL_EXPORT RSA *d2i_RSAPublicKey_bio(BIO *bp,RSA **rsa);
-OPENSSL_EXPORT int i2d_RSAPublicKey_bio(BIO *bp,RSA *rsa);
-OPENSSL_EXPORT RSA *d2i_RSA_PUBKEY_bio(BIO *bp,RSA **rsa);
-OPENSSL_EXPORT int i2d_RSA_PUBKEY_bio(BIO *bp,RSA *rsa);
-#ifndef OPENSSL_NO_DSA
-OPENSSL_EXPORT DSA *d2i_DSA_PUBKEY_bio(BIO *bp, DSA **dsa);
-OPENSSL_EXPORT int i2d_DSA_PUBKEY_bio(BIO *bp, DSA *dsa);
-OPENSSL_EXPORT DSA *d2i_DSAPrivateKey_bio(BIO *bp, DSA **dsa);
-OPENSSL_EXPORT int i2d_DSAPrivateKey_bio(BIO *bp, DSA *dsa);
-#endif
-OPENSSL_EXPORT EC_KEY *d2i_EC_PUBKEY_bio(BIO *bp, EC_KEY **eckey);
-OPENSSL_EXPORT int   i2d_EC_PUBKEY_bio(BIO *bp, EC_KEY *eckey);
-OPENSSL_EXPORT EC_KEY *d2i_ECPrivateKey_bio(BIO *bp, EC_KEY **eckey);
-OPENSSL_EXPORT int   i2d_ECPrivateKey_bio(BIO *bp, EC_KEY *eckey);
-OPENSSL_EXPORT X509_SIG *d2i_PKCS8_bio(BIO *bp,X509_SIG **p8);
-OPENSSL_EXPORT int i2d_PKCS8_bio(BIO *bp,X509_SIG *p8);
-OPENSSL_EXPORT PKCS8_PRIV_KEY_INFO *d2i_PKCS8_PRIV_KEY_INFO_bio(BIO *bp,
-						PKCS8_PRIV_KEY_INFO **p8inf);
-OPENSSL_EXPORT int i2d_PKCS8_PRIV_KEY_INFO_bio(BIO *bp,PKCS8_PRIV_KEY_INFO *p8inf);
-OPENSSL_EXPORT int i2d_PKCS8PrivateKeyInfo_bio(BIO *bp, EVP_PKEY *key);
-OPENSSL_EXPORT int i2d_PrivateKey_bio(BIO *bp, EVP_PKEY *pkey);
-OPENSSL_EXPORT EVP_PKEY *d2i_PrivateKey_bio(BIO *bp, EVP_PKEY **a);
-OPENSSL_EXPORT int i2d_PUBKEY_bio(BIO *bp, EVP_PKEY *pkey);
-OPENSSL_EXPORT EVP_PKEY *d2i_PUBKEY_bio(BIO *bp, EVP_PKEY **a);
-
-OPENSSL_EXPORT X509 *X509_dup(X509 *x509);
-OPENSSL_EXPORT X509_ATTRIBUTE *X509_ATTRIBUTE_dup(X509_ATTRIBUTE *xa);
-OPENSSL_EXPORT X509_EXTENSION *X509_EXTENSION_dup(X509_EXTENSION *ex);
-OPENSSL_EXPORT X509_CRL *X509_CRL_dup(X509_CRL *crl);
-OPENSSL_EXPORT X509_REVOKED *X509_REVOKED_dup(X509_REVOKED *rev);
-OPENSSL_EXPORT X509_REQ *X509_REQ_dup(X509_REQ *req);
-OPENSSL_EXPORT X509_ALGOR *X509_ALGOR_dup(X509_ALGOR *xn);
-OPENSSL_EXPORT int X509_ALGOR_set0(X509_ALGOR *alg, const ASN1_OBJECT *aobj, int ptype, void *pval);
-OPENSSL_EXPORT void X509_ALGOR_get0(ASN1_OBJECT **paobj, int *pptype, void **ppval,
-						X509_ALGOR *algor);
-OPENSSL_EXPORT void X509_ALGOR_set_md(X509_ALGOR *alg, const EVP_MD *md);
-OPENSSL_EXPORT int X509_ALGOR_cmp(const X509_ALGOR *a, const X509_ALGOR *b);
-
-OPENSSL_EXPORT X509_NAME *X509_NAME_dup(X509_NAME *xn);
-OPENSSL_EXPORT X509_NAME_ENTRY *X509_NAME_ENTRY_dup(X509_NAME_ENTRY *ne);
-
-OPENSSL_EXPORT int		X509_cmp_time(const ASN1_TIME *s, time_t *t);
-OPENSSL_EXPORT int		X509_cmp_current_time(const ASN1_TIME *s);
-OPENSSL_EXPORT ASN1_TIME *	X509_time_adj(ASN1_TIME *s, long adj, time_t *t);
-OPENSSL_EXPORT ASN1_TIME *	X509_time_adj_ex(ASN1_TIME *s, int offset_day, long offset_sec, time_t *t);
-OPENSSL_EXPORT ASN1_TIME *	X509_gmtime_adj(ASN1_TIME *s, long adj);
-
-OPENSSL_EXPORT const char *	X509_get_default_cert_area(void );
-OPENSSL_EXPORT const char *	X509_get_default_cert_dir(void );
-OPENSSL_EXPORT const char *	X509_get_default_cert_file(void );
-OPENSSL_EXPORT const char *	X509_get_default_cert_dir_env(void );
-OPENSSL_EXPORT const char *	X509_get_default_cert_file_env(void );
-OPENSSL_EXPORT const char *	X509_get_default_private_dir(void );
-
-OPENSSL_EXPORT X509_REQ *	X509_to_X509_REQ(X509 *x, EVP_PKEY *pkey, const EVP_MD *md);
-OPENSSL_EXPORT X509 *		X509_REQ_to_X509(X509_REQ *r, int days,EVP_PKEY *pkey);
-
-DECLARE_ASN1_ENCODE_FUNCTIONS(X509_ALGORS, X509_ALGORS, X509_ALGORS)
-DECLARE_ASN1_FUNCTIONS(X509_VAL)
-
-DECLARE_ASN1_FUNCTIONS(X509_PUBKEY)
-
-OPENSSL_EXPORT int		X509_PUBKEY_set(X509_PUBKEY **x, EVP_PKEY *pkey);
-OPENSSL_EXPORT EVP_PKEY *	X509_PUBKEY_get(X509_PUBKEY *key);
-OPENSSL_EXPORT int		i2d_PUBKEY(const EVP_PKEY *a,unsigned char **pp);
-OPENSSL_EXPORT EVP_PKEY *	d2i_PUBKEY(EVP_PKEY **a,const unsigned char **pp,
-			long length);
-OPENSSL_EXPORT int		i2d_RSA_PUBKEY(const RSA *a,unsigned char **pp);
-OPENSSL_EXPORT RSA *		d2i_RSA_PUBKEY(RSA **a,const unsigned char **pp,
-			long length);
-#ifndef OPENSSL_NO_DSA
-OPENSSL_EXPORT int		i2d_DSA_PUBKEY(const DSA *a,unsigned char **pp);
-OPENSSL_EXPORT DSA *		d2i_DSA_PUBKEY(DSA **a,const unsigned char **pp,
-			long length);
-#endif
-OPENSSL_EXPORT int		i2d_EC_PUBKEY(const EC_KEY *a, unsigned char **pp);
-OPENSSL_EXPORT EC_KEY 		*d2i_EC_PUBKEY(EC_KEY **a, const unsigned char **pp,
-			long length);
-
-DECLARE_ASN1_FUNCTIONS(X509_SIG)
-DECLARE_ASN1_FUNCTIONS(X509_REQ_INFO)
-DECLARE_ASN1_FUNCTIONS(X509_REQ)
-
-DECLARE_ASN1_FUNCTIONS(X509_ATTRIBUTE)
-OPENSSL_EXPORT X509_ATTRIBUTE *X509_ATTRIBUTE_create(int nid, int atrtype, void *value);
-
-DECLARE_ASN1_FUNCTIONS(X509_EXTENSION)
-DECLARE_ASN1_ENCODE_FUNCTIONS(X509_EXTENSIONS, X509_EXTENSIONS, X509_EXTENSIONS)
-
-DECLARE_ASN1_FUNCTIONS(X509_NAME_ENTRY)
-
-DECLARE_ASN1_FUNCTIONS(X509_NAME)
-
-OPENSSL_EXPORT int		X509_NAME_set(X509_NAME **xn, X509_NAME *name);
-
-DECLARE_ASN1_FUNCTIONS(X509_CINF)
-
-DECLARE_ASN1_FUNCTIONS(X509)
-DECLARE_ASN1_FUNCTIONS(X509_CERT_AUX)
-
-DECLARE_ASN1_FUNCTIONS(X509_CERT_PAIR)
-
-/* X509_up_ref adds one to the reference count of |x| and returns
- * |x|. */
-OPENSSL_EXPORT X509 *X509_up_ref(X509 *x);
-
-OPENSSL_EXPORT int X509_get_ex_new_index(long argl, void *argp, CRYPTO_EX_new *new_func,
-	     CRYPTO_EX_dup *dup_func, CRYPTO_EX_free *free_func);
-OPENSSL_EXPORT int X509_set_ex_data(X509 *r, int idx, void *arg);
-OPENSSL_EXPORT void *X509_get_ex_data(X509 *r, int idx);
-OPENSSL_EXPORT int		i2d_X509_AUX(X509 *a,unsigned char **pp);
-OPENSSL_EXPORT X509 *		d2i_X509_AUX(X509 **a,const unsigned char **pp,long length);
-
-OPENSSL_EXPORT void X509_get0_signature(ASN1_BIT_STRING **psig, X509_ALGOR **palg,
-								const X509 *x);
-OPENSSL_EXPORT int X509_get_signature_nid(const X509 *x);
-
-OPENSSL_EXPORT int X509_alias_set1(X509 *x, unsigned char *name, int len);
-OPENSSL_EXPORT int X509_keyid_set1(X509 *x, unsigned char *id, int len);
-OPENSSL_EXPORT unsigned char * X509_alias_get0(X509 *x, int *len);
-OPENSSL_EXPORT unsigned char * X509_keyid_get0(X509 *x, int *len);
-OPENSSL_EXPORT int (*X509_TRUST_set_default(int (*trust)(int , X509 *, int)))(int, X509 *, int);
-OPENSSL_EXPORT int X509_TRUST_set(int *t, int trust);
-OPENSSL_EXPORT int X509_add1_trust_object(X509 *x, ASN1_OBJECT *obj);
-OPENSSL_EXPORT int X509_add1_reject_object(X509 *x, ASN1_OBJECT *obj);
-OPENSSL_EXPORT void X509_trust_clear(X509 *x);
-OPENSSL_EXPORT void X509_reject_clear(X509 *x);
-
-DECLARE_ASN1_FUNCTIONS(X509_REVOKED)
-DECLARE_ASN1_FUNCTIONS(X509_CRL_INFO)
-DECLARE_ASN1_FUNCTIONS(X509_CRL)
-
-OPENSSL_EXPORT int X509_CRL_add0_revoked(X509_CRL *crl, X509_REVOKED *rev);
-OPENSSL_EXPORT int X509_CRL_get0_by_serial(X509_CRL *crl,
-		X509_REVOKED **ret, ASN1_INTEGER *serial);
-OPENSSL_EXPORT int X509_CRL_get0_by_cert(X509_CRL *crl, X509_REVOKED **ret, X509 *x);
-
-OPENSSL_EXPORT X509_PKEY *	X509_PKEY_new(void );
-OPENSSL_EXPORT void		X509_PKEY_free(X509_PKEY *a);
-
-DECLARE_ASN1_FUNCTIONS(NETSCAPE_SPKI)
-DECLARE_ASN1_FUNCTIONS(NETSCAPE_SPKAC)
-DECLARE_ASN1_FUNCTIONS(NETSCAPE_CERT_SEQUENCE)
-
-#ifndef OPENSSL_NO_EVP
-OPENSSL_EXPORT X509_INFO *	X509_INFO_new(void);
-OPENSSL_EXPORT void		X509_INFO_free(X509_INFO *a);
-OPENSSL_EXPORT char *		X509_NAME_oneline(X509_NAME *a,char *buf,int size);
-
-OPENSSL_EXPORT int ASN1_digest(i2d_of_void *i2d,const EVP_MD *type,char *data,
-		unsigned char *md,unsigned int *len);
-
-OPENSSL_EXPORT int ASN1_item_digest(const ASN1_ITEM *it,const EVP_MD *type,void *data,
-	unsigned char *md,unsigned int *len);
-
-OPENSSL_EXPORT int ASN1_item_verify(const ASN1_ITEM *it, X509_ALGOR *algor1,
-	ASN1_BIT_STRING *signature,void *data,EVP_PKEY *pkey);
-
-OPENSSL_EXPORT int ASN1_item_sign(const ASN1_ITEM *it, X509_ALGOR *algor1, X509_ALGOR *algor2,
-	ASN1_BIT_STRING *signature,
-	void *data, EVP_PKEY *pkey, const EVP_MD *type);
-OPENSSL_EXPORT int ASN1_item_sign_ctx(const ASN1_ITEM *it,
-		X509_ALGOR *algor1, X509_ALGOR *algor2,
-	     	ASN1_BIT_STRING *signature, void *asn, EVP_MD_CTX *ctx);
-#endif
-
-OPENSSL_EXPORT int 		X509_set_version(X509 *x,long version);
-OPENSSL_EXPORT int 		X509_set_serialNumber(X509 *x, ASN1_INTEGER *serial);
-OPENSSL_EXPORT ASN1_INTEGER *	X509_get_serialNumber(X509 *x);
-OPENSSL_EXPORT int 		X509_set_issuer_name(X509 *x, X509_NAME *name);
-OPENSSL_EXPORT X509_NAME *	X509_get_issuer_name(X509 *a);
-OPENSSL_EXPORT int 		X509_set_subject_name(X509 *x, X509_NAME *name);
-OPENSSL_EXPORT X509_NAME *	X509_get_subject_name(X509 *a);
-OPENSSL_EXPORT int 		X509_set_notBefore(X509 *x, const ASN1_TIME *tm);
-OPENSSL_EXPORT int 		X509_set_notAfter(X509 *x, const ASN1_TIME *tm);
-OPENSSL_EXPORT int 		X509_set_pubkey(X509 *x, EVP_PKEY *pkey);
-OPENSSL_EXPORT EVP_PKEY *	X509_get_pubkey(X509 *x);
-OPENSSL_EXPORT ASN1_BIT_STRING * X509_get0_pubkey_bitstr(const X509 *x);
-OPENSSL_EXPORT int		X509_certificate_type(X509 *x,EVP_PKEY *pubkey /* optional */);
-
-OPENSSL_EXPORT int		X509_REQ_set_version(X509_REQ *x,long version);
-OPENSSL_EXPORT int		X509_REQ_set_subject_name(X509_REQ *req,X509_NAME *name);
-OPENSSL_EXPORT int		X509_REQ_set_pubkey(X509_REQ *x, EVP_PKEY *pkey);
-OPENSSL_EXPORT EVP_PKEY *	X509_REQ_get_pubkey(X509_REQ *req);
-OPENSSL_EXPORT int		X509_REQ_extension_nid(int nid);
-OPENSSL_EXPORT const int *	X509_REQ_get_extension_nids(void);
-OPENSSL_EXPORT void		X509_REQ_set_extension_nids(const int *nids);
-OPENSSL_EXPORT STACK_OF(X509_EXTENSION) *X509_REQ_get_extensions(X509_REQ *req);
-OPENSSL_EXPORT int X509_REQ_add_extensions_nid(X509_REQ *req, STACK_OF(X509_EXTENSION) *exts,
-				int nid);
-OPENSSL_EXPORT int X509_REQ_add_extensions(X509_REQ *req, STACK_OF(X509_EXTENSION) *exts);
-OPENSSL_EXPORT int X509_REQ_get_attr_count(const X509_REQ *req);
-OPENSSL_EXPORT int X509_REQ_get_attr_by_NID(const X509_REQ *req, int nid,
-			  int lastpos);
-OPENSSL_EXPORT int X509_REQ_get_attr_by_OBJ(const X509_REQ *req, ASN1_OBJECT *obj,
-			  int lastpos);
-OPENSSL_EXPORT X509_ATTRIBUTE *X509_REQ_get_attr(const X509_REQ *req, int loc);
-OPENSSL_EXPORT X509_ATTRIBUTE *X509_REQ_delete_attr(X509_REQ *req, int loc);
-OPENSSL_EXPORT int X509_REQ_add1_attr(X509_REQ *req, X509_ATTRIBUTE *attr);
-OPENSSL_EXPORT int X509_REQ_add1_attr_by_OBJ(X509_REQ *req,
-			const ASN1_OBJECT *obj, int type,
-			const unsigned char *bytes, int len);
-OPENSSL_EXPORT int X509_REQ_add1_attr_by_NID(X509_REQ *req,
-			int nid, int type,
-			const unsigned char *bytes, int len);
-OPENSSL_EXPORT int X509_REQ_add1_attr_by_txt(X509_REQ *req,
-			const char *attrname, int type,
-			const unsigned char *bytes, int len);
-
-OPENSSL_EXPORT int X509_CRL_set_version(X509_CRL *x, long version);
-OPENSSL_EXPORT int X509_CRL_set_issuer_name(X509_CRL *x, X509_NAME *name);
-OPENSSL_EXPORT int X509_CRL_set_lastUpdate(X509_CRL *x, const ASN1_TIME *tm);
-OPENSSL_EXPORT int X509_CRL_set_nextUpdate(X509_CRL *x, const ASN1_TIME *tm);
-OPENSSL_EXPORT int X509_CRL_sort(X509_CRL *crl);
-
-OPENSSL_EXPORT int X509_REVOKED_set_serialNumber(X509_REVOKED *x, ASN1_INTEGER *serial);
-OPENSSL_EXPORT int X509_REVOKED_set_revocationDate(X509_REVOKED *r, ASN1_TIME *tm);
-
-OPENSSL_EXPORT X509_CRL *X509_CRL_diff(X509_CRL *base, X509_CRL *newer,
-			EVP_PKEY *skey, const EVP_MD *md, unsigned int flags);
-
-OPENSSL_EXPORT int		X509_REQ_check_private_key(X509_REQ *x509,EVP_PKEY *pkey);
-
-OPENSSL_EXPORT int		X509_check_private_key(X509 *x509,EVP_PKEY *pkey);
-OPENSSL_EXPORT int 		X509_chain_check_suiteb(int *perror_depth,
-						X509 *x, STACK_OF(X509) *chain,
-						unsigned long flags);
-OPENSSL_EXPORT int 		X509_CRL_check_suiteb(X509_CRL *crl, EVP_PKEY *pk,
-						unsigned long flags);
-OPENSSL_EXPORT STACK_OF(X509) *X509_chain_up_ref(STACK_OF(X509) *chain);
-
-OPENSSL_EXPORT int		X509_issuer_and_serial_cmp(const X509 *a, const X509 *b);
-OPENSSL_EXPORT unsigned long	X509_issuer_and_serial_hash(X509 *a);
-
-OPENSSL_EXPORT int		X509_issuer_name_cmp(const X509 *a, const X509 *b);
-OPENSSL_EXPORT unsigned long	X509_issuer_name_hash(X509 *a);
-
-OPENSSL_EXPORT int		X509_subject_name_cmp(const X509 *a, const X509 *b);
-OPENSSL_EXPORT unsigned long	X509_subject_name_hash(X509 *x);
-
-OPENSSL_EXPORT unsigned long	X509_issuer_name_hash_old(X509 *a);
-OPENSSL_EXPORT unsigned long	X509_subject_name_hash_old(X509 *x);
-
-OPENSSL_EXPORT int		X509_cmp(const X509 *a, const X509 *b);
-OPENSSL_EXPORT int		X509_NAME_cmp(const X509_NAME *a, const X509_NAME *b);
-OPENSSL_EXPORT unsigned long	X509_NAME_hash(X509_NAME *x);
-OPENSSL_EXPORT unsigned long	X509_NAME_hash_old(X509_NAME *x);
-
-OPENSSL_EXPORT int		X509_CRL_cmp(const X509_CRL *a, const X509_CRL *b);
-OPENSSL_EXPORT int		X509_CRL_match(const X509_CRL *a, const X509_CRL *b);
-#ifndef OPENSSL_NO_FP_API
-OPENSSL_EXPORT int		X509_print_ex_fp(FILE *bp,X509 *x, unsigned long nmflag, unsigned long cflag);
-OPENSSL_EXPORT int		X509_print_fp(FILE *bp,X509 *x);
-OPENSSL_EXPORT int		X509_CRL_print_fp(FILE *bp,X509_CRL *x);
-OPENSSL_EXPORT int		X509_REQ_print_fp(FILE *bp,X509_REQ *req);
-OPENSSL_EXPORT int X509_NAME_print_ex_fp(FILE *fp, X509_NAME *nm, int indent, unsigned long flags);
-#endif
-
-OPENSSL_EXPORT int		X509_NAME_print(BIO *bp, X509_NAME *name, int obase);
-OPENSSL_EXPORT int X509_NAME_print_ex(BIO *out, X509_NAME *nm, int indent, unsigned long flags);
-OPENSSL_EXPORT int		X509_print_ex(BIO *bp,X509 *x, unsigned long nmflag, unsigned long cflag);
-OPENSSL_EXPORT int		X509_print(BIO *bp,X509 *x);
-OPENSSL_EXPORT int		X509_ocspid_print(BIO *bp,X509 *x);
-OPENSSL_EXPORT int		X509_CERT_AUX_print(BIO *bp,X509_CERT_AUX *x, int indent);
-OPENSSL_EXPORT int		X509_CRL_print(BIO *bp,X509_CRL *x);
-OPENSSL_EXPORT int		X509_REQ_print_ex(BIO *bp, X509_REQ *x, unsigned long nmflag, unsigned long cflag);
-OPENSSL_EXPORT int		X509_REQ_print(BIO *bp,X509_REQ *req);
-
-OPENSSL_EXPORT int 		X509_NAME_entry_count(X509_NAME *name);
-OPENSSL_EXPORT int 		X509_NAME_get_text_by_NID(X509_NAME *name, int nid,
-			char *buf,int len);
-OPENSSL_EXPORT int		X509_NAME_get_text_by_OBJ(X509_NAME *name, const ASN1_OBJECT *obj,
-			char *buf,int len);
-
-/* NOTE: you should be passsing -1, not 0 as lastpos.  The functions that use
- * lastpos, search after that position on. */
-OPENSSL_EXPORT int 		X509_NAME_get_index_by_NID(X509_NAME *name,int nid,int lastpos);
-OPENSSL_EXPORT int 		X509_NAME_get_index_by_OBJ(X509_NAME *name, const ASN1_OBJECT *obj,
-			int lastpos);
-OPENSSL_EXPORT X509_NAME_ENTRY *X509_NAME_get_entry(X509_NAME *name, int loc);
-OPENSSL_EXPORT X509_NAME_ENTRY *X509_NAME_delete_entry(X509_NAME *name, int loc);
-OPENSSL_EXPORT int 		X509_NAME_add_entry(X509_NAME *name,X509_NAME_ENTRY *ne,
-			int loc, int set);
-OPENSSL_EXPORT int X509_NAME_add_entry_by_OBJ(X509_NAME *name, ASN1_OBJECT *obj, int type,
-			unsigned char *bytes, int len, int loc, int set);
-OPENSSL_EXPORT int X509_NAME_add_entry_by_NID(X509_NAME *name, int nid, int type,
-			unsigned char *bytes, int len, int loc, int set);
-OPENSSL_EXPORT X509_NAME_ENTRY *X509_NAME_ENTRY_create_by_txt(X509_NAME_ENTRY **ne,
-		const char *field, int type, const unsigned char *bytes, int len);
-OPENSSL_EXPORT X509_NAME_ENTRY *X509_NAME_ENTRY_create_by_NID(X509_NAME_ENTRY **ne, int nid,
-			int type,unsigned char *bytes, int len);
-OPENSSL_EXPORT int X509_NAME_add_entry_by_txt(X509_NAME *name, const char *field, int type,
-			const unsigned char *bytes, int len, int loc, int set);
-OPENSSL_EXPORT X509_NAME_ENTRY *X509_NAME_ENTRY_create_by_OBJ(X509_NAME_ENTRY **ne,
-			const ASN1_OBJECT *obj, int type,const unsigned char *bytes,
-			int len);
-OPENSSL_EXPORT int 		X509_NAME_ENTRY_set_object(X509_NAME_ENTRY *ne,
-			const ASN1_OBJECT *obj);
-OPENSSL_EXPORT int 		X509_NAME_ENTRY_set_data(X509_NAME_ENTRY *ne, int type,
-			const unsigned char *bytes, int len);
-OPENSSL_EXPORT ASN1_OBJECT *	X509_NAME_ENTRY_get_object(X509_NAME_ENTRY *ne);
-OPENSSL_EXPORT ASN1_STRING *	X509_NAME_ENTRY_get_data(X509_NAME_ENTRY *ne);
-
-OPENSSL_EXPORT int		X509v3_get_ext_count(const STACK_OF(X509_EXTENSION) *x);
-OPENSSL_EXPORT int		X509v3_get_ext_by_NID(const STACK_OF(X509_EXTENSION) *x,
-				      int nid, int lastpos);
-OPENSSL_EXPORT int		X509v3_get_ext_by_OBJ(const STACK_OF(X509_EXTENSION) *x,
-				      const ASN1_OBJECT *obj,int lastpos);
-OPENSSL_EXPORT int		X509v3_get_ext_by_critical(const STACK_OF(X509_EXTENSION) *x,
-					   int crit, int lastpos);
-OPENSSL_EXPORT X509_EXTENSION *X509v3_get_ext(const STACK_OF(X509_EXTENSION) *x, int loc);
-OPENSSL_EXPORT X509_EXTENSION *X509v3_delete_ext(STACK_OF(X509_EXTENSION) *x, int loc);
-OPENSSL_EXPORT STACK_OF(X509_EXTENSION) *X509v3_add_ext(STACK_OF(X509_EXTENSION) **x,
-					 X509_EXTENSION *ex, int loc);
-
-OPENSSL_EXPORT int		X509_get_ext_count(X509 *x);
-OPENSSL_EXPORT int		X509_get_ext_by_NID(X509 *x, int nid, int lastpos);
-OPENSSL_EXPORT int		X509_get_ext_by_OBJ(X509 *x,ASN1_OBJECT *obj,int lastpos);
-OPENSSL_EXPORT int		X509_get_ext_by_critical(X509 *x, int crit, int lastpos);
-OPENSSL_EXPORT X509_EXTENSION *X509_get_ext(X509 *x, int loc);
-OPENSSL_EXPORT X509_EXTENSION *X509_delete_ext(X509 *x, int loc);
-OPENSSL_EXPORT int		X509_add_ext(X509 *x, X509_EXTENSION *ex, int loc);
-OPENSSL_EXPORT void	*	X509_get_ext_d2i(X509 *x, int nid, int *crit, int *idx);
-OPENSSL_EXPORT int		X509_add1_ext_i2d(X509 *x, int nid, void *value, int crit,
-							unsigned long flags);
-
-OPENSSL_EXPORT int		X509_CRL_get_ext_count(X509_CRL *x);
-OPENSSL_EXPORT int		X509_CRL_get_ext_by_NID(X509_CRL *x, int nid, int lastpos);
-OPENSSL_EXPORT int		X509_CRL_get_ext_by_OBJ(X509_CRL *x,ASN1_OBJECT *obj,int lastpos);
-OPENSSL_EXPORT int		X509_CRL_get_ext_by_critical(X509_CRL *x, int crit, int lastpos);
-OPENSSL_EXPORT X509_EXTENSION *X509_CRL_get_ext(X509_CRL *x, int loc);
-OPENSSL_EXPORT X509_EXTENSION *X509_CRL_delete_ext(X509_CRL *x, int loc);
-OPENSSL_EXPORT int		X509_CRL_add_ext(X509_CRL *x, X509_EXTENSION *ex, int loc);
-OPENSSL_EXPORT void	*	X509_CRL_get_ext_d2i(X509_CRL *x, int nid, int *crit, int *idx);
-OPENSSL_EXPORT int		X509_CRL_add1_ext_i2d(X509_CRL *x, int nid, void *value, int crit,
-							unsigned long flags);
-
-OPENSSL_EXPORT int		X509_REVOKED_get_ext_count(X509_REVOKED *x);
-OPENSSL_EXPORT int		X509_REVOKED_get_ext_by_NID(X509_REVOKED *x, int nid, int lastpos);
-OPENSSL_EXPORT int		X509_REVOKED_get_ext_by_OBJ(X509_REVOKED *x,ASN1_OBJECT *obj,int lastpos);
-OPENSSL_EXPORT int		X509_REVOKED_get_ext_by_critical(X509_REVOKED *x, int crit, int lastpos);
-OPENSSL_EXPORT X509_EXTENSION *X509_REVOKED_get_ext(X509_REVOKED *x, int loc);
-OPENSSL_EXPORT X509_EXTENSION *X509_REVOKED_delete_ext(X509_REVOKED *x, int loc);
-OPENSSL_EXPORT int		X509_REVOKED_add_ext(X509_REVOKED *x, X509_EXTENSION *ex, int loc);
-OPENSSL_EXPORT void	*	X509_REVOKED_get_ext_d2i(X509_REVOKED *x, int nid, int *crit, int *idx);
-OPENSSL_EXPORT int		X509_REVOKED_add1_ext_i2d(X509_REVOKED *x, int nid, void *value, int crit,
-							unsigned long flags);
-
-OPENSSL_EXPORT X509_EXTENSION *X509_EXTENSION_create_by_NID(X509_EXTENSION **ex,
-			int nid, int crit, ASN1_OCTET_STRING *data);
-OPENSSL_EXPORT X509_EXTENSION *X509_EXTENSION_create_by_OBJ(X509_EXTENSION **ex,
-			const ASN1_OBJECT *obj,int crit,ASN1_OCTET_STRING *data);
-OPENSSL_EXPORT int		X509_EXTENSION_set_object(X509_EXTENSION *ex,const ASN1_OBJECT *obj);
-OPENSSL_EXPORT int		X509_EXTENSION_set_critical(X509_EXTENSION *ex, int crit);
-OPENSSL_EXPORT int		X509_EXTENSION_set_data(X509_EXTENSION *ex,
-			ASN1_OCTET_STRING *data);
-OPENSSL_EXPORT ASN1_OBJECT *	X509_EXTENSION_get_object(X509_EXTENSION *ex);
-OPENSSL_EXPORT ASN1_OCTET_STRING *X509_EXTENSION_get_data(X509_EXTENSION *ne);
-OPENSSL_EXPORT int		X509_EXTENSION_get_critical(X509_EXTENSION *ex);
-
-OPENSSL_EXPORT int X509at_get_attr_count(const STACK_OF(X509_ATTRIBUTE) *x);
-OPENSSL_EXPORT int X509at_get_attr_by_NID(const STACK_OF(X509_ATTRIBUTE) *x, int nid,
-			  int lastpos);
-OPENSSL_EXPORT int X509at_get_attr_by_OBJ(const STACK_OF(X509_ATTRIBUTE) *sk, const ASN1_OBJECT *obj,
-			  int lastpos);
-OPENSSL_EXPORT X509_ATTRIBUTE *X509at_get_attr(const STACK_OF(X509_ATTRIBUTE) *x, int loc);
-OPENSSL_EXPORT X509_ATTRIBUTE *X509at_delete_attr(STACK_OF(X509_ATTRIBUTE) *x, int loc);
-OPENSSL_EXPORT STACK_OF(X509_ATTRIBUTE) *X509at_add1_attr(STACK_OF(X509_ATTRIBUTE) **x,
-					 X509_ATTRIBUTE *attr);
-OPENSSL_EXPORT STACK_OF(X509_ATTRIBUTE) *X509at_add1_attr_by_OBJ(STACK_OF(X509_ATTRIBUTE) **x,
-			const ASN1_OBJECT *obj, int type,
-			const unsigned char *bytes, int len);
-OPENSSL_EXPORT STACK_OF(X509_ATTRIBUTE) *X509at_add1_attr_by_NID(STACK_OF(X509_ATTRIBUTE) **x,
-			int nid, int type,
-			const unsigned char *bytes, int len);
-OPENSSL_EXPORT STACK_OF(X509_ATTRIBUTE) *X509at_add1_attr_by_txt(STACK_OF(X509_ATTRIBUTE) **x,
-			const char *attrname, int type,
-			const unsigned char *bytes, int len);
-OPENSSL_EXPORT void *X509at_get0_data_by_OBJ(STACK_OF(X509_ATTRIBUTE) *x,
-				ASN1_OBJECT *obj, int lastpos, int type);
-OPENSSL_EXPORT X509_ATTRIBUTE *X509_ATTRIBUTE_create_by_NID(X509_ATTRIBUTE **attr, int nid,
-	     int atrtype, const void *data, int len);
-OPENSSL_EXPORT X509_ATTRIBUTE *X509_ATTRIBUTE_create_by_OBJ(X509_ATTRIBUTE **attr,
-	     const ASN1_OBJECT *obj, int atrtype, const void *data, int len);
-OPENSSL_EXPORT X509_ATTRIBUTE *X509_ATTRIBUTE_create_by_txt(X509_ATTRIBUTE **attr,
-		const char *atrname, int type, const unsigned char *bytes, int len);
-OPENSSL_EXPORT int X509_ATTRIBUTE_set1_object(X509_ATTRIBUTE *attr, const ASN1_OBJECT *obj);
-OPENSSL_EXPORT int X509_ATTRIBUTE_set1_data(X509_ATTRIBUTE *attr, int attrtype, const void *data, int len);
-OPENSSL_EXPORT void *X509_ATTRIBUTE_get0_data(X509_ATTRIBUTE *attr, int idx,
-					int atrtype, void *data);
-OPENSSL_EXPORT int X509_ATTRIBUTE_count(X509_ATTRIBUTE *attr);
-OPENSSL_EXPORT ASN1_OBJECT *X509_ATTRIBUTE_get0_object(X509_ATTRIBUTE *attr);
-OPENSSL_EXPORT ASN1_TYPE *X509_ATTRIBUTE_get0_type(X509_ATTRIBUTE *attr, int idx);
-
-OPENSSL_EXPORT int EVP_PKEY_get_attr_count(const EVP_PKEY *key);
-OPENSSL_EXPORT int EVP_PKEY_get_attr_by_NID(const EVP_PKEY *key, int nid,
-			  int lastpos);
-OPENSSL_EXPORT int EVP_PKEY_get_attr_by_OBJ(const EVP_PKEY *key, ASN1_OBJECT *obj,
-			  int lastpos);
-OPENSSL_EXPORT X509_ATTRIBUTE *EVP_PKEY_get_attr(const EVP_PKEY *key, int loc);
-OPENSSL_EXPORT X509_ATTRIBUTE *EVP_PKEY_delete_attr(EVP_PKEY *key, int loc);
-OPENSSL_EXPORT int EVP_PKEY_add1_attr(EVP_PKEY *key, X509_ATTRIBUTE *attr);
-OPENSSL_EXPORT int EVP_PKEY_add1_attr_by_OBJ(EVP_PKEY *key,
-			const ASN1_OBJECT *obj, int type,
-			const unsigned char *bytes, int len);
-OPENSSL_EXPORT int EVP_PKEY_add1_attr_by_NID(EVP_PKEY *key,
-			int nid, int type,
-			const unsigned char *bytes, int len);
-OPENSSL_EXPORT int EVP_PKEY_add1_attr_by_txt(EVP_PKEY *key,
-			const char *attrname, int type,
-			const unsigned char *bytes, int len);
-
-OPENSSL_EXPORT int		X509_verify_cert(X509_STORE_CTX *ctx);
-
-/* lookup a cert from a X509 STACK */
-OPENSSL_EXPORT X509 *X509_find_by_issuer_and_serial(STACK_OF(X509) *sk,X509_NAME *name,
-				     ASN1_INTEGER *serial);
-OPENSSL_EXPORT X509 *X509_find_by_subject(STACK_OF(X509) *sk,X509_NAME *name);
-
-DECLARE_ASN1_FUNCTIONS(PBEPARAM)
-DECLARE_ASN1_FUNCTIONS(PBE2PARAM)
-DECLARE_ASN1_FUNCTIONS(PBKDF2PARAM)
-
-OPENSSL_EXPORT int PKCS5_pbe_set0_algor(X509_ALGOR *algor, int alg, int iter,
-				const unsigned char *salt, int saltlen);
-
-OPENSSL_EXPORT X509_ALGOR *PKCS5_pbe_set(int alg, int iter,
-				const unsigned char *salt, int saltlen);
-OPENSSL_EXPORT X509_ALGOR *PKCS5_pbe2_set(const EVP_CIPHER *cipher, int iter,
-					 unsigned char *salt, int saltlen);
-OPENSSL_EXPORT X509_ALGOR *PKCS5_pbe2_set_iv(const EVP_CIPHER *cipher, int iter,
-				 unsigned char *salt, int saltlen,
-				 unsigned char *aiv, int prf_nid);
-
-OPENSSL_EXPORT X509_ALGOR *PKCS5_pbkdf2_set(int iter, unsigned char *salt, int saltlen,
-				int prf_nid, int keylen);
-
-/* PKCS#8 utilities */
-
-DECLARE_ASN1_FUNCTIONS(PKCS8_PRIV_KEY_INFO)
-
-OPENSSL_EXPORT EVP_PKEY *EVP_PKCS82PKEY(PKCS8_PRIV_KEY_INFO *p8);
-OPENSSL_EXPORT PKCS8_PRIV_KEY_INFO *EVP_PKEY2PKCS8(EVP_PKEY *pkey);
-OPENSSL_EXPORT PKCS8_PRIV_KEY_INFO *EVP_PKEY2PKCS8_broken(EVP_PKEY *pkey, int broken);
-OPENSSL_EXPORT PKCS8_PRIV_KEY_INFO *PKCS8_set_broken(PKCS8_PRIV_KEY_INFO *p8, int broken);
-
-OPENSSL_EXPORT int PKCS8_pkey_set0(PKCS8_PRIV_KEY_INFO *priv, ASN1_OBJECT *aobj,
-			int version, int ptype, void *pval,
-				unsigned char *penc, int penclen);
-OPENSSL_EXPORT int PKCS8_pkey_get0(ASN1_OBJECT **ppkalg,
-		const unsigned char **pk, int *ppklen,
-		X509_ALGOR **pa,
-		PKCS8_PRIV_KEY_INFO *p8);
-
-OPENSSL_EXPORT int X509_PUBKEY_set0_param(X509_PUBKEY *pub, const ASN1_OBJECT *aobj,
-					int ptype, void *pval,
-					unsigned char *penc, int penclen);
-OPENSSL_EXPORT int X509_PUBKEY_get0_param(ASN1_OBJECT **ppkalg,
-		const unsigned char **pk, int *ppklen,
-		X509_ALGOR **pa,
-		X509_PUBKEY *pub);
-
-OPENSSL_EXPORT int X509_check_trust(X509 *x, int id, int flags);
-OPENSSL_EXPORT int X509_TRUST_get_count(void);
-OPENSSL_EXPORT X509_TRUST * X509_TRUST_get0(int idx);
-OPENSSL_EXPORT int X509_TRUST_get_by_id(int id);
-OPENSSL_EXPORT int X509_TRUST_add(int id, int flags, int (*ck)(X509_TRUST *, X509 *, int),
-					char *name, int arg1, void *arg2);
-OPENSSL_EXPORT void X509_TRUST_cleanup(void);
-OPENSSL_EXPORT int X509_TRUST_get_flags(X509_TRUST *xp);
-OPENSSL_EXPORT char *X509_TRUST_get0_name(X509_TRUST *xp);
-OPENSSL_EXPORT int X509_TRUST_get_trust(X509_TRUST *xp);
-
-/* PKCS7_get_certificates parses a PKCS#7, SignedData structure from |cbs| and
- * appends the included certificates to |out_certs|. It returns one on success
- * and zero on error. */
-OPENSSL_EXPORT int PKCS7_get_certificates(STACK_OF(X509) *out_certs, CBS *cbs);
-
-/* PKCS7_bundle_certificates appends a PKCS#7, SignedData structure containing
- * |certs| to |out|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int PKCS7_bundle_certificates(
-    CBB *out, const STACK_OF(X509) *certs);
-
-/* PKCS7_get_CRLs parses a PKCS#7, SignedData structure from |cbs| and appends
- * the included CRLs to |out_crls|. It returns one on success and zero on
- * error. */
-OPENSSL_EXPORT int PKCS7_get_CRLs(STACK_OF(X509_CRL) *out_crls, CBS *cbs);
-
-/* PKCS7_bundle_CRLs appends a PKCS#7, SignedData structure containing
- * |crls| to |out|. It returns one on success and zero on error. */
-OPENSSL_EXPORT int PKCS7_bundle_CRLs(CBB *out, const STACK_OF(X509_CRL) *crls);
-
-/* PKCS7_get_PEM_certificates reads a PEM-encoded, PKCS#7, SignedData structure
- * from |pem_bio| and appends the included certificates to |out_certs|. It
- * returns one on success and zero on error. */
-OPENSSL_EXPORT int PKCS7_get_PEM_certificates(STACK_OF(X509) *out_certs,
-                                              BIO *pem_bio);
-
-/* PKCS7_get_PEM_CRLs reads a PEM-encoded, PKCS#7, SignedData structure from
- * |pem_bio| and appends the included CRLs to |out_crls|. It returns one on
- * success and zero on error. */
-OPENSSL_EXPORT int PKCS7_get_PEM_CRLs(STACK_OF(X509_CRL) *out_crls,
-                                      BIO *pem_bio);
-
-/* EVP_PK values indicate the algorithm of the public key in a certificate. */
-
-#define EVP_PK_RSA	0x0001
-#define EVP_PK_DSA	0x0002
-#define EVP_PK_DH	0x0004
-#define EVP_PK_EC	0x0008
-
-/* EVP_PKS values indicate the algorithm used to sign a certificate. */
-
-#define EVP_PKS_RSA 0x0100
-#define EVP_PKS_DSA 0x0200
-#define EVP_PKS_EC 0x0400
-
-/* EVP_PKT values are flags that define what public-key operations can be
- * performed with the public key from a certificate. */
-
-/* EVP_PKT_SIGN indicates that the public key can be used for signing. */
-#define EVP_PKT_SIGN 0x0010
-/* EVP_PKT_ENC indicates that a session key can be encrypted to the public
- * key. */
-#define EVP_PKT_ENC 0x0020
-/* EVP_PKT_EXCH indicates that key-agreement can be performed. */
-#define EVP_PKT_EXCH 0x0040
-/* EVP_PKT_EXP indicates that key is weak (i.e. "export"). */
-#define EVP_PKT_EXP 0x1000
-
-
-#ifdef  __cplusplus
-}
-#endif
-
-#define X509_F_ASN1_digest 100
-#define X509_F_ASN1_item_sign_ctx 101
-#define X509_F_ASN1_item_verify 102
-#define X509_F_NETSCAPE_SPKI_b64_decode 103
-#define X509_F_NETSCAPE_SPKI_b64_encode 104
-#define X509_F_PKCS7_get_certificates 105
-#define X509_F_X509_ATTRIBUTE_create_by_NID 106
-#define X509_F_X509_ATTRIBUTE_create_by_OBJ 107
-#define X509_F_X509_ATTRIBUTE_create_by_txt 108
-#define X509_F_X509_ATTRIBUTE_get0_data 109
-#define X509_F_X509_ATTRIBUTE_set1_data 110
-#define X509_F_X509_CRL_add0_revoked 111
-#define X509_F_X509_CRL_diff 112
-#define X509_F_X509_CRL_print_fp 113
-#define X509_F_X509_EXTENSION_create_by_NID 114
-#define X509_F_X509_EXTENSION_create_by_OBJ 115
-#define X509_F_X509_INFO_new 116
-#define X509_F_X509_NAME_ENTRY_create_by_NID 117
-#define X509_F_X509_NAME_ENTRY_create_by_txt 118
-#define X509_F_X509_NAME_ENTRY_set_object 119
-#define X509_F_X509_NAME_add_entry 120
-#define X509_F_X509_NAME_oneline 121
-#define X509_F_X509_NAME_print 122
-#define X509_F_X509_PKEY_new 123
-#define X509_F_X509_PUBKEY_get 124
-#define X509_F_X509_PUBKEY_set 125
-#define X509_F_X509_REQ_check_private_key 126
-#define X509_F_X509_REQ_to_X509 127
-#define X509_F_X509_STORE_CTX_get1_issuer 128
-#define X509_F_X509_STORE_CTX_init 129
-#define X509_F_X509_STORE_CTX_new 130
-#define X509_F_X509_STORE_CTX_purpose_inherit 131
-#define X509_F_X509_STORE_add_cert 132
-#define X509_F_X509_STORE_add_crl 133
-#define X509_F_X509_TRUST_add 134
-#define X509_F_X509_TRUST_set 135
-#define X509_F_X509_check_private_key 136
-#define X509_F_X509_get_pubkey_parameters 137
-#define X509_F_X509_load_cert_crl_file 138
-#define X509_F_X509_load_cert_file 139
-#define X509_F_X509_load_crl_file 140
-#define X509_F_X509_print_ex_fp 141
-#define X509_F_X509_to_X509_REQ 142
-#define X509_F_X509_verify_cert 143
-#define X509_F_X509at_add1_attr 144
-#define X509_F_X509v3_add_ext 145
-#define X509_F_add_cert_dir 146
-#define X509_F_by_file_ctrl 147
-#define X509_F_check_policy 148
-#define X509_F_dir_ctrl 149
-#define X509_F_get_cert_by_subject 150
-#define X509_F_i2d_DSA_PUBKEY 151
-#define X509_F_i2d_EC_PUBKEY 152
-#define X509_F_i2d_RSA_PUBKEY 153
-#define X509_F_x509_name_encode 154
-#define X509_F_x509_name_ex_d2i 155
-#define X509_F_x509_name_ex_new 156
-#define X509_F_pkcs7_parse_header 157
-#define X509_F_PKCS7_get_CRLs 158
-#define X509_R_AKID_MISMATCH 100
-#define X509_R_BAD_PKCS7_VERSION 101
-#define X509_R_BAD_X509_FILETYPE 102
-#define X509_R_BASE64_DECODE_ERROR 103
-#define X509_R_CANT_CHECK_DH_KEY 104
-#define X509_R_CERT_ALREADY_IN_HASH_TABLE 105
-#define X509_R_CRL_ALREADY_DELTA 106
-#define X509_R_CRL_VERIFY_FAILURE 107
-#define X509_R_IDP_MISMATCH 108
-#define X509_R_INVALID_BIT_STRING_BITS_LEFT 109
-#define X509_R_INVALID_DIRECTORY 110
-#define X509_R_INVALID_FIELD_NAME 111
-#define X509_R_INVALID_TRUST 112
-#define X509_R_ISSUER_MISMATCH 113
-#define X509_R_KEY_TYPE_MISMATCH 114
-#define X509_R_KEY_VALUES_MISMATCH 115
-#define X509_R_LOADING_CERT_DIR 116
-#define X509_R_LOADING_DEFAULTS 117
-#define X509_R_METHOD_NOT_SUPPORTED 118
-#define X509_R_NEWER_CRL_NOT_NEWER 119
-#define X509_R_NOT_PKCS7_SIGNED_DATA 120
-#define X509_R_NO_CERTIFICATES_INCLUDED 121
-#define X509_R_NO_CERT_SET_FOR_US_TO_VERIFY 122
-#define X509_R_NO_CRL_NUMBER 123
-#define X509_R_PUBLIC_KEY_DECODE_ERROR 124
-#define X509_R_PUBLIC_KEY_ENCODE_ERROR 125
-#define X509_R_SHOULD_RETRY 126
-#define X509_R_UNABLE_TO_FIND_PARAMETERS_IN_CHAIN 127
-#define X509_R_UNABLE_TO_GET_CERTS_PUBLIC_KEY 128
-#define X509_R_UNKNOWN_KEY_TYPE 129
-#define X509_R_UNKNOWN_NID 130
-#define X509_R_UNKNOWN_PURPOSE_ID 131
-#define X509_R_UNKNOWN_TRUST_ID 132
-#define X509_R_UNSUPPORTED_ALGORITHM 133
-#define X509_R_WRONG_LOOKUP_TYPE 134
-#define X509_R_WRONG_TYPE 135
-#define X509_R_NO_CRLS_INCLUDED 136
-
-#endif
diff --git a/phonelibs/boringssl/include/openssl/x509_vfy.h b/phonelibs/boringssl/include/openssl/x509_vfy.h
deleted file mode 100644
index 146e047a6d7d4d..00000000000000
--- a/phonelibs/boringssl/include/openssl/x509_vfy.h
+++ /dev/null
@@ -1,612 +0,0 @@
-/* crypto/x509/x509_vfy.h */
-/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
- * All rights reserved.
- *
- * This package is an SSL implementation written
- * by Eric Young (eay@cryptsoft.com).
- * The implementation was written so as to conform with Netscapes SSL.
- * 
- * This library is free for commercial and non-commercial use as long as
- * the following conditions are aheared to.  The following conditions
- * apply to all code found in this distribution, be it the RC4, RSA,
- * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
- * included with this distribution is covered by the same copyright terms
- * except that the holder is Tim Hudson (tjh@cryptsoft.com).
- * 
- * Copyright remains Eric Young's, and as such any Copyright notices in
- * the code are not to be removed.
- * If this package is used in a product, Eric Young should be given attribution
- * as the author of the parts of the library used.
- * This can be in the form of a textual message at program startup or
- * in documentation (online or textual) provided with the package.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- * 3. All advertising materials mentioning features or use of this software
- *    must display the following acknowledgement:
- *    "This product includes cryptographic software written by
- *     Eric Young (eay@cryptsoft.com)"
- *    The word 'cryptographic' can be left out if the rouines from the library
- *    being used are not cryptographic related :-).
- * 4. If you include any Windows specific code (or a derivative thereof) from 
- *    the apps directory (application code) you must include an acknowledgement:
- *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
- * 
- * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
- * 
- * The licence and distribution terms for any publically available version or
- * derivative of this code cannot be changed.  i.e. this code cannot simply be
- * copied and put under another distribution licence
- * [including the GNU Public Licence.]
- */
-
-#ifndef HEADER_X509_H
-#include <openssl/x509.h>
-/* openssl/x509.h ends up #include-ing this file at about the only
- * appropriate moment. */
-#endif
-
-#ifndef HEADER_X509_VFY_H
-#define HEADER_X509_VFY_H
-
-#include <openssl/bio.h>
-#include <openssl/lhash.h>
-#include <openssl/thread.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-#if 0
-/* Outer object */
-typedef struct x509_hash_dir_st
-	{
-	int num_dirs;
-	char **dirs;
-	int *dirs_type;
-	int num_dirs_alloced;
-	} X509_HASH_DIR_CTX;
-#endif
-
-typedef struct x509_file_st
-	{
-	int num_paths;	/* number of paths to files or directories */
-	int num_alloced;
-	char **paths;	/* the list of paths or directories */
-	int *path_type;
-	} X509_CERT_FILE_CTX;
-
-/*******************************/
-/*
-SSL_CTX -> X509_STORE    
-		-> X509_LOOKUP
-			->X509_LOOKUP_METHOD
-		-> X509_LOOKUP
-			->X509_LOOKUP_METHOD
- 
-SSL	-> X509_STORE_CTX
-		->X509_STORE    
-
-The X509_STORE holds the tables etc for verification stuff.
-A X509_STORE_CTX is used while validating a single certificate.
-The X509_STORE has X509_LOOKUPs for looking up certs.
-The X509_STORE then calls a function to actually verify the
-certificate chain.
-*/
-
-#define X509_LU_RETRY		-1
-#define X509_LU_FAIL		0
-#define X509_LU_X509		1
-#define X509_LU_CRL		2
-#define X509_LU_PKEY		3
-
-typedef struct x509_object_st
-	{
-	/* one of the above types */
-	int type;
-	union	{
-		char *ptr;
-		X509 *x509;
-		X509_CRL *crl;
-		EVP_PKEY *pkey;
-		} data;
-	} X509_OBJECT;
-
-typedef struct x509_lookup_st X509_LOOKUP;
-
-DECLARE_STACK_OF(X509_LOOKUP)
-DECLARE_STACK_OF(X509_OBJECT)
-
-/* This is a static that defines the function interface */
-typedef struct x509_lookup_method_st
-	{
-	const char *name;
-	int (*new_item)(X509_LOOKUP *ctx);
-	void (*free)(X509_LOOKUP *ctx);
-	int (*init)(X509_LOOKUP *ctx);
-	int (*shutdown)(X509_LOOKUP *ctx);
-	int (*ctrl)(X509_LOOKUP *ctx,int cmd,const char *argc,long argl,
-			char **ret);
-	int (*get_by_subject)(X509_LOOKUP *ctx,int type,X509_NAME *name,
-			      X509_OBJECT *ret);
-	int (*get_by_issuer_serial)(X509_LOOKUP *ctx,int type,X509_NAME *name,
-				    ASN1_INTEGER *serial,X509_OBJECT *ret);
-	int (*get_by_fingerprint)(X509_LOOKUP *ctx,int type,
-				  unsigned char *bytes,int len,
-				  X509_OBJECT *ret);
-	int (*get_by_alias)(X509_LOOKUP *ctx,int type,char *str,int len,
-			    X509_OBJECT *ret);
-	} X509_LOOKUP_METHOD;
-
-typedef struct X509_VERIFY_PARAM_ID_st X509_VERIFY_PARAM_ID;
-
-/* This structure hold all parameters associated with a verify operation
- * by including an X509_VERIFY_PARAM structure in related structures the
- * parameters used can be customized
- */
-
-typedef struct X509_VERIFY_PARAM_st
-	{
-	char *name;
-	time_t check_time;	/* Time to use */
-	unsigned long inh_flags; /* Inheritance flags */
-	unsigned long flags;	/* Various verify flags */
-	int purpose;		/* purpose to check untrusted certificates */
-	int trust;		/* trust setting to check */
-	int depth;		/* Verify depth */
-	STACK_OF(ASN1_OBJECT) *policies;	/* Permissible policies */
-	X509_VERIFY_PARAM_ID *id;	/* opaque ID data */
-	} X509_VERIFY_PARAM;
-
-DECLARE_STACK_OF(X509_VERIFY_PARAM)
-
-/* This is used to hold everything.  It is used for all certificate
- * validation.  Once we have a certificate chain, the 'verify'
- * function is then called to actually check the cert chain. */
-struct x509_store_st
-	{
-	/* The following is a cache of trusted certs */
-	int cache; 	/* if true, stash any hits */
-	STACK_OF(X509_OBJECT) *objs;	/* Cache of all objects */
-	CRYPTO_MUTEX objs_lock;
-
-	/* These are external lookup methods */
-	STACK_OF(X509_LOOKUP) *get_cert_methods;
-
-	X509_VERIFY_PARAM *param;
-
-	/* Callbacks for various operations */
-	int (*verify)(X509_STORE_CTX *ctx);	/* called to verify a certificate */
-	int (*verify_cb)(int ok,X509_STORE_CTX *ctx);	/* error callback */
-	int (*get_issuer)(X509 **issuer, X509_STORE_CTX *ctx, X509 *x);	/* get issuers cert from ctx */
-	int (*check_issued)(X509_STORE_CTX *ctx, X509 *x, X509 *issuer); /* check issued */
-	int (*check_revocation)(X509_STORE_CTX *ctx); /* Check revocation status of chain */
-	int (*get_crl)(X509_STORE_CTX *ctx, X509_CRL **crl, X509 *x); /* retrieve CRL */
-	int (*check_crl)(X509_STORE_CTX *ctx, X509_CRL *crl); /* Check CRL validity */
-	int (*cert_crl)(X509_STORE_CTX *ctx, X509_CRL *crl, X509 *x); /* Check certificate against CRL */
-	STACK_OF(X509) * (*lookup_certs)(X509_STORE_CTX *ctx, X509_NAME *nm);
-	STACK_OF(X509_CRL) * (*lookup_crls)(X509_STORE_CTX *ctx, X509_NAME *nm);
-	int (*cleanup)(X509_STORE_CTX *ctx);
-
-	CRYPTO_refcount_t references;
-	} /* X509_STORE */;
-
-OPENSSL_EXPORT int X509_STORE_set_depth(X509_STORE *store, int depth);
-
-#define X509_STORE_set_verify_cb_func(ctx,func) ((ctx)->verify_cb=(func))
-#define X509_STORE_set_verify_func(ctx,func)	((ctx)->verify=(func))
-
-/* This is the functions plus an instance of the local variables. */
-struct x509_lookup_st
-	{
-	int init;			/* have we been started */
-	int skip;			/* don't use us. */
-	X509_LOOKUP_METHOD *method;	/* the functions */
-	char *method_data;		/* method data */
-
-	X509_STORE *store_ctx;	/* who owns us */
-	} /* X509_LOOKUP */;
-
-/* This is a used when verifying cert chains.  Since the
- * gathering of the cert chain can take some time (and have to be
- * 'retried', this needs to be kept and passed around. */
-struct x509_store_ctx_st      /* X509_STORE_CTX */
-	{
-	X509_STORE *ctx;
-	int current_method;	/* used when looking up certs */
-
-	/* The following are set by the caller */
-	X509 *cert;		/* The cert to check */
-	STACK_OF(X509) *untrusted;	/* chain of X509s - untrusted - passed in */
-	STACK_OF(X509_CRL) *crls;	/* set of CRLs passed in */
-
-	X509_VERIFY_PARAM *param;
-	void *other_ctx;	/* Other info for use with get_issuer() */
-
-	/* Callbacks for various operations */
-	int (*verify)(X509_STORE_CTX *ctx);	/* called to verify a certificate */
-	int (*verify_cb)(int ok,X509_STORE_CTX *ctx);		/* error callback */
-	int (*get_issuer)(X509 **issuer, X509_STORE_CTX *ctx, X509 *x);	/* get issuers cert from ctx */
-	int (*check_issued)(X509_STORE_CTX *ctx, X509 *x, X509 *issuer); /* check issued */
-	int (*check_revocation)(X509_STORE_CTX *ctx); /* Check revocation status of chain */
-	int (*get_crl)(X509_STORE_CTX *ctx, X509_CRL **crl, X509 *x); /* retrieve CRL */
-	int (*check_crl)(X509_STORE_CTX *ctx, X509_CRL *crl); /* Check CRL validity */
-	int (*cert_crl)(X509_STORE_CTX *ctx, X509_CRL *crl, X509 *x); /* Check certificate against CRL */
-	int (*check_policy)(X509_STORE_CTX *ctx);
-	STACK_OF(X509) * (*lookup_certs)(X509_STORE_CTX *ctx, X509_NAME *nm);
-	STACK_OF(X509_CRL) * (*lookup_crls)(X509_STORE_CTX *ctx, X509_NAME *nm);
-	int (*cleanup)(X509_STORE_CTX *ctx);
-
-	/* The following is built up */
-	int valid;		/* if 0, rebuild chain */
-	int last_untrusted;	/* index of last untrusted cert */
-	STACK_OF(X509) *chain; 		/* chain of X509s - built up and trusted */
-	X509_POLICY_TREE *tree;	/* Valid policy tree */
-
-	int explicit_policy;	/* Require explicit policy value */
-
-	/* When something goes wrong, this is why */
-	int error_depth;
-	int error;
-	X509 *current_cert;
-	X509 *current_issuer;	/* cert currently being tested as valid issuer */
-	X509_CRL *current_crl;	/* current CRL */
-
-	int current_crl_score;  /* score of current CRL */
-	unsigned int current_reasons;  /* Reason mask */
-
-	X509_STORE_CTX *parent; /* For CRL path validation: parent context */
-
-	CRYPTO_EX_DATA ex_data;
-	} /* X509_STORE_CTX */;
-
-OPENSSL_EXPORT void X509_STORE_CTX_set_depth(X509_STORE_CTX *ctx, int depth);
-
-#define X509_STORE_CTX_set_app_data(ctx,data) \
-	X509_STORE_CTX_set_ex_data(ctx,0,data)
-#define X509_STORE_CTX_get_app_data(ctx) \
-	X509_STORE_CTX_get_ex_data(ctx,0)
-
-#define X509_L_FILE_LOAD	1
-#define X509_L_ADD_DIR		2
-
-#define X509_LOOKUP_load_file(x,name,type) \
-		X509_LOOKUP_ctrl((x),X509_L_FILE_LOAD,(name),(long)(type),NULL)
-
-#define X509_LOOKUP_add_dir(x,name,type) \
-		X509_LOOKUP_ctrl((x),X509_L_ADD_DIR,(name),(long)(type),NULL)
-
-#define		X509_V_OK					0
-/* illegal error (for uninitialized values, to avoid X509_V_OK): 1 */
-
-#define		X509_V_ERR_UNABLE_TO_GET_ISSUER_CERT		2
-#define		X509_V_ERR_UNABLE_TO_GET_CRL			3
-#define		X509_V_ERR_UNABLE_TO_DECRYPT_CERT_SIGNATURE	4
-#define		X509_V_ERR_UNABLE_TO_DECRYPT_CRL_SIGNATURE	5
-#define		X509_V_ERR_UNABLE_TO_DECODE_ISSUER_PUBLIC_KEY	6
-#define		X509_V_ERR_CERT_SIGNATURE_FAILURE		7
-#define		X509_V_ERR_CRL_SIGNATURE_FAILURE		8
-#define		X509_V_ERR_CERT_NOT_YET_VALID			9
-#define		X509_V_ERR_CERT_HAS_EXPIRED			10
-#define		X509_V_ERR_CRL_NOT_YET_VALID			11
-#define		X509_V_ERR_CRL_HAS_EXPIRED			12
-#define		X509_V_ERR_ERROR_IN_CERT_NOT_BEFORE_FIELD	13
-#define		X509_V_ERR_ERROR_IN_CERT_NOT_AFTER_FIELD	14
-#define		X509_V_ERR_ERROR_IN_CRL_LAST_UPDATE_FIELD	15
-#define		X509_V_ERR_ERROR_IN_CRL_NEXT_UPDATE_FIELD	16
-#define		X509_V_ERR_OUT_OF_MEM				17
-#define		X509_V_ERR_DEPTH_ZERO_SELF_SIGNED_CERT		18
-#define		X509_V_ERR_SELF_SIGNED_CERT_IN_CHAIN		19
-#define		X509_V_ERR_UNABLE_TO_GET_ISSUER_CERT_LOCALLY	20
-#define		X509_V_ERR_UNABLE_TO_VERIFY_LEAF_SIGNATURE	21
-#define		X509_V_ERR_CERT_CHAIN_TOO_LONG			22
-#define		X509_V_ERR_CERT_REVOKED				23
-#define		X509_V_ERR_INVALID_CA				24
-#define		X509_V_ERR_PATH_LENGTH_EXCEEDED			25
-#define		X509_V_ERR_INVALID_PURPOSE			26
-#define		X509_V_ERR_CERT_UNTRUSTED			27
-#define		X509_V_ERR_CERT_REJECTED			28
-/* These are 'informational' when looking for issuer cert */
-#define		X509_V_ERR_SUBJECT_ISSUER_MISMATCH		29
-#define		X509_V_ERR_AKID_SKID_MISMATCH			30
-#define		X509_V_ERR_AKID_ISSUER_SERIAL_MISMATCH		31
-#define		X509_V_ERR_KEYUSAGE_NO_CERTSIGN			32
-
-#define		X509_V_ERR_UNABLE_TO_GET_CRL_ISSUER		33
-#define		X509_V_ERR_UNHANDLED_CRITICAL_EXTENSION		34
-#define		X509_V_ERR_KEYUSAGE_NO_CRL_SIGN			35
-#define		X509_V_ERR_UNHANDLED_CRITICAL_CRL_EXTENSION	36
-#define		X509_V_ERR_INVALID_NON_CA			37
-#define		X509_V_ERR_PROXY_PATH_LENGTH_EXCEEDED		38
-#define		X509_V_ERR_KEYUSAGE_NO_DIGITAL_SIGNATURE	39
-#define		X509_V_ERR_PROXY_CERTIFICATES_NOT_ALLOWED	40
-
-#define		X509_V_ERR_INVALID_EXTENSION			41
-#define		X509_V_ERR_INVALID_POLICY_EXTENSION		42
-#define		X509_V_ERR_NO_EXPLICIT_POLICY			43
-#define		X509_V_ERR_DIFFERENT_CRL_SCOPE			44
-#define		X509_V_ERR_UNSUPPORTED_EXTENSION_FEATURE	45
-
-#define		X509_V_ERR_UNNESTED_RESOURCE			46
-
-#define		X509_V_ERR_PERMITTED_VIOLATION			47
-#define		X509_V_ERR_EXCLUDED_VIOLATION			48
-#define		X509_V_ERR_SUBTREE_MINMAX			49
-#define		X509_V_ERR_UNSUPPORTED_CONSTRAINT_TYPE		51
-#define		X509_V_ERR_UNSUPPORTED_CONSTRAINT_SYNTAX	52
-#define		X509_V_ERR_UNSUPPORTED_NAME_SYNTAX		53
-#define		X509_V_ERR_CRL_PATH_VALIDATION_ERROR		54
-
-/* Suite B mode algorithm violation */
-#define		X509_V_ERR_SUITE_B_INVALID_VERSION		56
-#define		X509_V_ERR_SUITE_B_INVALID_ALGORITHM		57
-#define		X509_V_ERR_SUITE_B_INVALID_CURVE		58
-#define		X509_V_ERR_SUITE_B_INVALID_SIGNATURE_ALGORITHM	59
-#define		X509_V_ERR_SUITE_B_LOS_NOT_ALLOWED		60
-#define		X509_V_ERR_SUITE_B_CANNOT_SIGN_P_384_WITH_P_256	61
-
-/* Host, email and IP check errors */
-#define		X509_V_ERR_HOSTNAME_MISMATCH			62
-#define		X509_V_ERR_EMAIL_MISMATCH			63
-#define		X509_V_ERR_IP_ADDRESS_MISMATCH			64
-
-/* The application is not happy */
-#define		X509_V_ERR_APPLICATION_VERIFICATION		50
-
-/* Certificate verify flags */
-
-/* Send issuer+subject checks to verify_cb */
-#define	X509_V_FLAG_CB_ISSUER_CHECK		0x1
-/* Use check time instead of current time */
-#define	X509_V_FLAG_USE_CHECK_TIME		0x2
-/* Lookup CRLs */
-#define	X509_V_FLAG_CRL_CHECK			0x4
-/* Lookup CRLs for whole chain */
-#define	X509_V_FLAG_CRL_CHECK_ALL		0x8
-/* Ignore unhandled critical extensions */
-#define	X509_V_FLAG_IGNORE_CRITICAL		0x10
-/* Disable workarounds for broken certificates */
-#define	X509_V_FLAG_X509_STRICT			0x20
-/* Enable proxy certificate validation */
-#define	X509_V_FLAG_ALLOW_PROXY_CERTS		0x40
-/* Enable policy checking */
-#define X509_V_FLAG_POLICY_CHECK		0x80
-/* Policy variable require-explicit-policy */
-#define X509_V_FLAG_EXPLICIT_POLICY		0x100
-/* Policy variable inhibit-any-policy */
-#define	X509_V_FLAG_INHIBIT_ANY			0x200
-/* Policy variable inhibit-policy-mapping */
-#define X509_V_FLAG_INHIBIT_MAP			0x400
-/* Notify callback that policy is OK */
-#define X509_V_FLAG_NOTIFY_POLICY		0x800
-/* Extended CRL features such as indirect CRLs, alternate CRL signing keys */
-#define X509_V_FLAG_EXTENDED_CRL_SUPPORT	0x1000
-/* Delta CRL support */
-#define X509_V_FLAG_USE_DELTAS			0x2000
-/* Check selfsigned CA signature */
-#define X509_V_FLAG_CHECK_SS_SIGNATURE		0x4000
-/* Use trusted store first */
-#define X509_V_FLAG_TRUSTED_FIRST		0x8000
-/* Suite B 128 bit only mode: not normally used */
-#define X509_V_FLAG_SUITEB_128_LOS_ONLY		0x10000
-/* Suite B 192 bit only mode */
-#define X509_V_FLAG_SUITEB_192_LOS		0x20000
-/* Suite B 128 bit mode allowing 192 bit algorithms */
-#define X509_V_FLAG_SUITEB_128_LOS		0x30000
-
-/* Allow partial chains if at least one certificate is in trusted store */
-#define X509_V_FLAG_PARTIAL_CHAIN		0x80000
-
-#define X509_VP_FLAG_DEFAULT			0x1
-#define X509_VP_FLAG_OVERWRITE			0x2
-#define X509_VP_FLAG_RESET_FLAGS		0x4
-#define X509_VP_FLAG_LOCKED			0x8
-#define X509_VP_FLAG_ONCE			0x10
-
-/* Internal use: mask of policy related options */
-#define X509_V_FLAG_POLICY_MASK (X509_V_FLAG_POLICY_CHECK \
-				| X509_V_FLAG_EXPLICIT_POLICY \
-				| X509_V_FLAG_INHIBIT_ANY \
-				| X509_V_FLAG_INHIBIT_MAP)
-
-OPENSSL_EXPORT int X509_OBJECT_idx_by_subject(STACK_OF(X509_OBJECT) *h, int type,
-	     X509_NAME *name);
-OPENSSL_EXPORT X509_OBJECT *X509_OBJECT_retrieve_by_subject(STACK_OF(X509_OBJECT) *h,int type,X509_NAME *name);
-OPENSSL_EXPORT X509_OBJECT *X509_OBJECT_retrieve_match(STACK_OF(X509_OBJECT) *h, X509_OBJECT *x);
-OPENSSL_EXPORT void X509_OBJECT_up_ref_count(X509_OBJECT *a);
-OPENSSL_EXPORT void X509_OBJECT_free_contents(X509_OBJECT *a);
-OPENSSL_EXPORT X509_STORE *X509_STORE_new(void );
-OPENSSL_EXPORT void X509_STORE_free(X509_STORE *v);
-
-OPENSSL_EXPORT STACK_OF(X509)* X509_STORE_get1_certs(X509_STORE_CTX *st, X509_NAME *nm);
-OPENSSL_EXPORT STACK_OF(X509_CRL)* X509_STORE_get1_crls(X509_STORE_CTX *st, X509_NAME *nm);
-OPENSSL_EXPORT int X509_STORE_set_flags(X509_STORE *ctx, unsigned long flags);
-OPENSSL_EXPORT int X509_STORE_set_purpose(X509_STORE *ctx, int purpose);
-OPENSSL_EXPORT int X509_STORE_set_trust(X509_STORE *ctx, int trust);
-OPENSSL_EXPORT int X509_STORE_set1_param(X509_STORE *ctx, X509_VERIFY_PARAM *pm);
-
-OPENSSL_EXPORT void X509_STORE_set_verify_cb(X509_STORE *ctx,
-				  int (*verify_cb)(int, X509_STORE_CTX *));
-
-OPENSSL_EXPORT void X509_STORE_set_lookup_crls_cb(X509_STORE *ctx,
-		STACK_OF(X509_CRL)* (*cb)(X509_STORE_CTX *ctx, X509_NAME *nm));
-
-OPENSSL_EXPORT X509_STORE_CTX *X509_STORE_CTX_new(void);
-
-OPENSSL_EXPORT int X509_STORE_CTX_get1_issuer(X509 **issuer, X509_STORE_CTX *ctx, X509 *x);
-
-OPENSSL_EXPORT void X509_STORE_CTX_free(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT int X509_STORE_CTX_init(X509_STORE_CTX *ctx, X509_STORE *store,
-			 X509 *x509, STACK_OF(X509) *chain);
-OPENSSL_EXPORT void X509_STORE_CTX_trusted_stack(X509_STORE_CTX *ctx, STACK_OF(X509) *sk);
-OPENSSL_EXPORT void X509_STORE_CTX_cleanup(X509_STORE_CTX *ctx);
-
-OPENSSL_EXPORT X509_STORE *X509_STORE_CTX_get0_store(X509_STORE_CTX *ctx);
-
-OPENSSL_EXPORT X509_LOOKUP *X509_STORE_add_lookup(X509_STORE *v, X509_LOOKUP_METHOD *m);
-
-OPENSSL_EXPORT X509_LOOKUP_METHOD *X509_LOOKUP_hash_dir(void);
-OPENSSL_EXPORT X509_LOOKUP_METHOD *X509_LOOKUP_file(void);
-
-OPENSSL_EXPORT int X509_STORE_add_cert(X509_STORE *ctx, X509 *x);
-OPENSSL_EXPORT int X509_STORE_add_crl(X509_STORE *ctx, X509_CRL *x);
-
-OPENSSL_EXPORT int X509_STORE_get_by_subject(X509_STORE_CTX *vs,int type,X509_NAME *name,
-	X509_OBJECT *ret);
-
-OPENSSL_EXPORT int X509_LOOKUP_ctrl(X509_LOOKUP *ctx, int cmd, const char *argc,
-	long argl, char **ret);
-
-#ifndef OPENSSL_NO_STDIO
-OPENSSL_EXPORT int X509_load_cert_file(X509_LOOKUP *ctx, const char *file, int type);
-OPENSSL_EXPORT int X509_load_crl_file(X509_LOOKUP *ctx, const char *file, int type);
-OPENSSL_EXPORT int X509_load_cert_crl_file(X509_LOOKUP *ctx, const char *file, int type);
-#endif
-
-
-OPENSSL_EXPORT X509_LOOKUP *X509_LOOKUP_new(X509_LOOKUP_METHOD *method);
-OPENSSL_EXPORT void X509_LOOKUP_free(X509_LOOKUP *ctx);
-OPENSSL_EXPORT int X509_LOOKUP_init(X509_LOOKUP *ctx);
-OPENSSL_EXPORT int X509_LOOKUP_by_subject(X509_LOOKUP *ctx, int type, X509_NAME *name,
-	X509_OBJECT *ret);
-OPENSSL_EXPORT int X509_LOOKUP_by_issuer_serial(X509_LOOKUP *ctx, int type, X509_NAME *name,
-	ASN1_INTEGER *serial, X509_OBJECT *ret);
-OPENSSL_EXPORT int X509_LOOKUP_by_fingerprint(X509_LOOKUP *ctx, int type,
-	unsigned char *bytes, int len, X509_OBJECT *ret);
-OPENSSL_EXPORT int X509_LOOKUP_by_alias(X509_LOOKUP *ctx, int type, char *str,
-	int len, X509_OBJECT *ret);
-OPENSSL_EXPORT int X509_LOOKUP_shutdown(X509_LOOKUP *ctx);
-
-#ifndef OPENSSL_NO_STDIO
-OPENSSL_EXPORT int	X509_STORE_load_locations (X509_STORE *ctx,
-		const char *file, const char *dir);
-OPENSSL_EXPORT int	X509_STORE_set_default_paths(X509_STORE *ctx);
-#endif
-
-OPENSSL_EXPORT int X509_STORE_CTX_get_ex_new_index(long argl, void *argp, CRYPTO_EX_new *new_func,
-	CRYPTO_EX_dup *dup_func, CRYPTO_EX_free *free_func);
-OPENSSL_EXPORT int	X509_STORE_CTX_set_ex_data(X509_STORE_CTX *ctx,int idx,void *data);
-OPENSSL_EXPORT void *	X509_STORE_CTX_get_ex_data(X509_STORE_CTX *ctx,int idx);
-OPENSSL_EXPORT int	X509_STORE_CTX_get_error(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT void	X509_STORE_CTX_set_error(X509_STORE_CTX *ctx,int s);
-OPENSSL_EXPORT int	X509_STORE_CTX_get_error_depth(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT X509 *	X509_STORE_CTX_get_current_cert(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT X509 *X509_STORE_CTX_get0_current_issuer(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT X509_CRL *X509_STORE_CTX_get0_current_crl(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT X509_STORE_CTX *X509_STORE_CTX_get0_parent_ctx(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT STACK_OF(X509) *X509_STORE_CTX_get_chain(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT STACK_OF(X509) *X509_STORE_CTX_get1_chain(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT void	X509_STORE_CTX_set_cert(X509_STORE_CTX *c,X509 *x);
-OPENSSL_EXPORT void	X509_STORE_CTX_set_chain(X509_STORE_CTX *c,STACK_OF(X509) *sk);
-OPENSSL_EXPORT void	X509_STORE_CTX_set0_crls(X509_STORE_CTX *c,STACK_OF(X509_CRL) *sk);
-OPENSSL_EXPORT int X509_STORE_CTX_set_purpose(X509_STORE_CTX *ctx, int purpose);
-OPENSSL_EXPORT int X509_STORE_CTX_set_trust(X509_STORE_CTX *ctx, int trust);
-OPENSSL_EXPORT int X509_STORE_CTX_purpose_inherit(X509_STORE_CTX *ctx, int def_purpose,
-				int purpose, int trust);
-OPENSSL_EXPORT void X509_STORE_CTX_set_flags(X509_STORE_CTX *ctx, unsigned long flags);
-OPENSSL_EXPORT void X509_STORE_CTX_set_time(X509_STORE_CTX *ctx, unsigned long flags,
-								time_t t);
-OPENSSL_EXPORT void X509_STORE_CTX_set_verify_cb(X509_STORE_CTX *ctx,
-				  int (*verify_cb)(int, X509_STORE_CTX *));
-  
-OPENSSL_EXPORT X509_POLICY_TREE *X509_STORE_CTX_get0_policy_tree(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT int X509_STORE_CTX_get_explicit_policy(X509_STORE_CTX *ctx);
-
-OPENSSL_EXPORT X509_VERIFY_PARAM *X509_STORE_CTX_get0_param(X509_STORE_CTX *ctx);
-OPENSSL_EXPORT void X509_STORE_CTX_set0_param(X509_STORE_CTX *ctx, X509_VERIFY_PARAM *param);
-OPENSSL_EXPORT int X509_STORE_CTX_set_default(X509_STORE_CTX *ctx, const char *name);
-
-/* X509_VERIFY_PARAM functions */
-
-OPENSSL_EXPORT X509_VERIFY_PARAM *X509_VERIFY_PARAM_new(void);
-OPENSSL_EXPORT void X509_VERIFY_PARAM_free(X509_VERIFY_PARAM *param);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_inherit(X509_VERIFY_PARAM *to,
-						const X509_VERIFY_PARAM *from);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set1(X509_VERIFY_PARAM *to, 
-						const X509_VERIFY_PARAM *from);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set1_name(X509_VERIFY_PARAM *param, const char *name);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set_flags(X509_VERIFY_PARAM *param, unsigned long flags);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_clear_flags(X509_VERIFY_PARAM *param,
-							unsigned long flags);
-OPENSSL_EXPORT unsigned long X509_VERIFY_PARAM_get_flags(X509_VERIFY_PARAM *param);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set_purpose(X509_VERIFY_PARAM *param, int purpose);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set_trust(X509_VERIFY_PARAM *param, int trust);
-OPENSSL_EXPORT void X509_VERIFY_PARAM_set_depth(X509_VERIFY_PARAM *param, int depth);
-OPENSSL_EXPORT void X509_VERIFY_PARAM_set_time(X509_VERIFY_PARAM *param, time_t t);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_add0_policy(X509_VERIFY_PARAM *param,
-						ASN1_OBJECT *policy);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set1_policies(X509_VERIFY_PARAM *param, 
-					STACK_OF(ASN1_OBJECT) *policies);
-
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set1_host(X509_VERIFY_PARAM *param,
-				const char *name, size_t namelen);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_add1_host(X509_VERIFY_PARAM *param,
-					       const char *name,
-					       size_t namelen);
-OPENSSL_EXPORT void X509_VERIFY_PARAM_set_hostflags(X509_VERIFY_PARAM *param,
-					unsigned int flags);
-OPENSSL_EXPORT char *X509_VERIFY_PARAM_get0_peername(X509_VERIFY_PARAM *);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set1_email(X509_VERIFY_PARAM *param,
-				const char *email, size_t emaillen);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set1_ip(X509_VERIFY_PARAM *param,
-					const unsigned char *ip, size_t iplen);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_set1_ip_asc(X509_VERIFY_PARAM *param, const char *ipasc);
-
-OPENSSL_EXPORT int X509_VERIFY_PARAM_get_depth(const X509_VERIFY_PARAM *param);
-OPENSSL_EXPORT const char *X509_VERIFY_PARAM_get0_name(const X509_VERIFY_PARAM *param);
-
-OPENSSL_EXPORT int X509_VERIFY_PARAM_add0_table(X509_VERIFY_PARAM *param);
-OPENSSL_EXPORT int X509_VERIFY_PARAM_get_count(void);
-OPENSSL_EXPORT const X509_VERIFY_PARAM *X509_VERIFY_PARAM_get0(int id);
-OPENSSL_EXPORT const X509_VERIFY_PARAM *X509_VERIFY_PARAM_lookup(const char *name);
-OPENSSL_EXPORT void X509_VERIFY_PARAM_table_cleanup(void);
-
-OPENSSL_EXPORT int X509_policy_check(X509_POLICY_TREE **ptree, int *pexplicit_policy,
-			STACK_OF(X509) *certs,
-			STACK_OF(ASN1_OBJECT) *policy_oids,
-			unsigned int flags);
-
-OPENSSL_EXPORT void X509_policy_tree_free(X509_POLICY_TREE *tree);
-
-OPENSSL_EXPORT int X509_policy_tree_level_count(const X509_POLICY_TREE *tree);
-OPENSSL_EXPORT X509_POLICY_LEVEL *
-	X509_policy_tree_get0_level(const X509_POLICY_TREE *tree, int i);
-
-OPENSSL_EXPORT STACK_OF(X509_POLICY_NODE) *
-	X509_policy_tree_get0_policies(const X509_POLICY_TREE *tree);
-
-OPENSSL_EXPORT STACK_OF(X509_POLICY_NODE) *
-	X509_policy_tree_get0_user_policies(const X509_POLICY_TREE *tree);
-
-OPENSSL_EXPORT int X509_policy_level_node_count(X509_POLICY_LEVEL *level);
-
-OPENSSL_EXPORT X509_POLICY_NODE *X509_policy_level_get0_node(X509_POLICY_LEVEL *level, int i);
-
-OPENSSL_EXPORT const ASN1_OBJECT *X509_policy_node_get0_policy(const X509_POLICY_NODE *node);
-
-OPENSSL_EXPORT STACK_OF(POLICYQUALINFO) *
-	X509_policy_node_get0_qualifiers(const X509_POLICY_NODE *node);
-OPENSSL_EXPORT const X509_POLICY_NODE *
-	X509_policy_node_get0_parent(const X509_POLICY_NODE *node);
-
-#ifdef  __cplusplus
-}
-#endif
-#endif
-
diff --git a/phonelibs/boringssl/include/openssl/x509v3.h b/phonelibs/boringssl/include/openssl/x509v3.h
deleted file mode 100644
index 5caa5c1f4e348b..00000000000000
--- a/phonelibs/boringssl/include/openssl/x509v3.h
+++ /dev/null
@@ -1,855 +0,0 @@
-/* Written by Dr Stephen N Henson (steve@openssl.org) for the OpenSSL
- * project 1999. */
-/* ====================================================================
- * Copyright (c) 1999-2004 The OpenSSL Project.  All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer. 
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *
- * 3. All advertising materials mentioning features or use of this
- *    software must display the following acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit. (http://www.OpenSSL.org/)"
- *
- * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
- *    endorse or promote products derived from this software without
- *    prior written permission. For written permission, please contact
- *    licensing@OpenSSL.org.
- *
- * 5. Products derived from this software may not be called "OpenSSL"
- *    nor may "OpenSSL" appear in their names without prior written
- *    permission of the OpenSSL Project.
- *
- * 6. Redistributions of any form whatsoever must retain the following
- *    acknowledgment:
- *    "This product includes software developed by the OpenSSL Project
- *    for use in the OpenSSL Toolkit (http://www.OpenSSL.org/)"
- *
- * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
- * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
- * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
- * OF THE POSSIBILITY OF SUCH DAMAGE.
- * ====================================================================
- *
- * This product includes cryptographic software written by Eric Young
- * (eay@cryptsoft.com).  This product includes software written by Tim
- * Hudson (tjh@cryptsoft.com). */
-
-#ifndef HEADER_X509V3_H
-#define HEADER_X509V3_H
-
-#include <openssl/bio.h>
-#include <openssl/conf.h>
-#include <openssl/x509.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Forward reference */
-struct v3_ext_method;
-struct v3_ext_ctx;
-
-/* Useful typedefs */
-
-typedef void * (*X509V3_EXT_NEW)(void);
-typedef void (*X509V3_EXT_FREE)(void *);
-typedef void * (*X509V3_EXT_D2I)(void *, const unsigned char ** , long);
-typedef int (*X509V3_EXT_I2D)(void *, unsigned char **);
-typedef STACK_OF(CONF_VALUE) *
-  (*X509V3_EXT_I2V)(const struct v3_ext_method *method, void *ext,
-		    STACK_OF(CONF_VALUE) *extlist);
-typedef void * (*X509V3_EXT_V2I)(const struct v3_ext_method *method,
-				 struct v3_ext_ctx *ctx,
-				 STACK_OF(CONF_VALUE) *values);
-typedef char * (*X509V3_EXT_I2S)(const struct v3_ext_method *method, void *ext);
-typedef void * (*X509V3_EXT_S2I)(const struct v3_ext_method *method,
-				 struct v3_ext_ctx *ctx, const char *str);
-typedef int (*X509V3_EXT_I2R)(const struct v3_ext_method *method, void *ext,
-			      BIO *out, int indent);
-typedef void * (*X509V3_EXT_R2I)(const struct v3_ext_method *method,
-				 struct v3_ext_ctx *ctx, const char *str);
-
-/* V3 extension structure */
-
-struct v3_ext_method {
-int ext_nid;
-int ext_flags;
-/* If this is set the following four fields are ignored */
-ASN1_ITEM_EXP *it;
-/* Old style ASN1 calls */
-X509V3_EXT_NEW ext_new;
-X509V3_EXT_FREE ext_free;
-X509V3_EXT_D2I d2i;
-X509V3_EXT_I2D i2d;
-
-/* The following pair is used for string extensions */
-X509V3_EXT_I2S i2s;
-X509V3_EXT_S2I s2i;
-
-/* The following pair is used for multi-valued extensions */
-X509V3_EXT_I2V i2v;
-X509V3_EXT_V2I v2i;
-
-/* The following are used for raw extensions */
-X509V3_EXT_I2R i2r;
-X509V3_EXT_R2I r2i;
-
-void *usr_data;	/* Any extension specific data */
-};
-
-typedef struct X509V3_CONF_METHOD_st {
-char * (*get_string)(void *db, char *section, char *value);
-STACK_OF(CONF_VALUE) * (*get_section)(void *db, char *section);
-void (*free_string)(void *db, char * string);
-void (*free_section)(void *db, STACK_OF(CONF_VALUE) *section);
-} X509V3_CONF_METHOD;
-
-/* Context specific info */
-struct v3_ext_ctx {
-#define CTX_TEST 0x1
-int flags;
-X509 *issuer_cert;
-X509 *subject_cert;
-X509_REQ *subject_req;
-X509_CRL *crl;
-const X509V3_CONF_METHOD *db_meth;
-void *db;
-/* Maybe more here */
-};
-
-typedef struct v3_ext_method X509V3_EXT_METHOD;
-
-DECLARE_STACK_OF(X509V3_EXT_METHOD)
-
-/* ext_flags values */
-#define X509V3_EXT_DYNAMIC	0x1
-#define X509V3_EXT_CTX_DEP	0x2
-#define X509V3_EXT_MULTILINE	0x4
-
-typedef BIT_STRING_BITNAME ENUMERATED_NAMES;
-
-typedef struct BASIC_CONSTRAINTS_st {
-int ca;
-ASN1_INTEGER *pathlen;
-} BASIC_CONSTRAINTS;
-
-
-typedef struct PKEY_USAGE_PERIOD_st {
-ASN1_GENERALIZEDTIME *notBefore;
-ASN1_GENERALIZEDTIME *notAfter;
-} PKEY_USAGE_PERIOD;
-
-typedef struct otherName_st {
-ASN1_OBJECT *type_id;
-ASN1_TYPE *value;
-} OTHERNAME;
-
-typedef struct EDIPartyName_st {
-	ASN1_STRING *nameAssigner;
-	ASN1_STRING *partyName;
-} EDIPARTYNAME;
-
-typedef struct GENERAL_NAME_st {
-
-#define GEN_OTHERNAME	0
-#define GEN_EMAIL	1
-#define GEN_DNS		2
-#define GEN_X400	3
-#define GEN_DIRNAME	4
-#define GEN_EDIPARTY	5
-#define GEN_URI		6
-#define GEN_IPADD	7
-#define GEN_RID		8
-
-int type;
-union {
-	char *ptr;
-	OTHERNAME *otherName; /* otherName */
-	ASN1_IA5STRING *rfc822Name;
-	ASN1_IA5STRING *dNSName;
-	ASN1_TYPE *x400Address;
-	X509_NAME *directoryName;
-	EDIPARTYNAME *ediPartyName;
-	ASN1_IA5STRING *uniformResourceIdentifier;
-	ASN1_OCTET_STRING *iPAddress;
-	ASN1_OBJECT *registeredID;
-
-	/* Old names */
-	ASN1_OCTET_STRING *ip; /* iPAddress */
-	X509_NAME *dirn;		/* dirn */
-	ASN1_IA5STRING *ia5;/* rfc822Name, dNSName, uniformResourceIdentifier */
-	ASN1_OBJECT *rid; /* registeredID */
-	ASN1_TYPE *other; /* x400Address */
-} d;
-} GENERAL_NAME;
-
-typedef STACK_OF(GENERAL_NAME) GENERAL_NAMES;
-
-typedef struct ACCESS_DESCRIPTION_st {
-	ASN1_OBJECT *method;
-	GENERAL_NAME *location;
-} ACCESS_DESCRIPTION;
-
-typedef STACK_OF(ACCESS_DESCRIPTION) AUTHORITY_INFO_ACCESS;
-
-typedef STACK_OF(ASN1_OBJECT) EXTENDED_KEY_USAGE;
-
-DECLARE_STACK_OF(GENERAL_NAME)
-DECLARE_ASN1_SET_OF(GENERAL_NAME)
-
-DECLARE_STACK_OF(ACCESS_DESCRIPTION)
-DECLARE_ASN1_SET_OF(ACCESS_DESCRIPTION)
-
-typedef struct DIST_POINT_NAME_st {
-int type;
-union {
-	GENERAL_NAMES *fullname;
-	STACK_OF(X509_NAME_ENTRY) *relativename;
-} name;
-/* If relativename then this contains the full distribution point name */
-X509_NAME *dpname;
-} DIST_POINT_NAME;
-/* All existing reasons */
-#define CRLDP_ALL_REASONS	0x807f
-
-#define CRL_REASON_NONE				-1
-#define CRL_REASON_UNSPECIFIED			0
-#define CRL_REASON_KEY_COMPROMISE		1
-#define CRL_REASON_CA_COMPROMISE		2
-#define CRL_REASON_AFFILIATION_CHANGED		3
-#define CRL_REASON_SUPERSEDED			4
-#define CRL_REASON_CESSATION_OF_OPERATION	5
-#define CRL_REASON_CERTIFICATE_HOLD		6
-#define CRL_REASON_REMOVE_FROM_CRL		8
-#define CRL_REASON_PRIVILEGE_WITHDRAWN		9
-#define CRL_REASON_AA_COMPROMISE		10
-
-struct DIST_POINT_st {
-DIST_POINT_NAME	*distpoint;
-ASN1_BIT_STRING *reasons;
-GENERAL_NAMES *CRLissuer;
-int dp_reasons;
-};
-
-typedef STACK_OF(DIST_POINT) CRL_DIST_POINTS;
-
-DECLARE_STACK_OF(DIST_POINT)
-DECLARE_ASN1_SET_OF(DIST_POINT)
-
-struct AUTHORITY_KEYID_st {
-ASN1_OCTET_STRING *keyid;
-GENERAL_NAMES *issuer;
-ASN1_INTEGER *serial;
-};
-
-/* Strong extranet structures */
-
-typedef struct SXNET_ID_st {
-	ASN1_INTEGER *zone;
-	ASN1_OCTET_STRING *user;
-} SXNETID;
-
-DECLARE_STACK_OF(SXNETID)
-DECLARE_ASN1_SET_OF(SXNETID)
-
-typedef struct SXNET_st {
-	ASN1_INTEGER *version;
-	STACK_OF(SXNETID) *ids;
-} SXNET;
-
-typedef struct NOTICEREF_st {
-	ASN1_STRING *organization;
-	STACK_OF(ASN1_INTEGER) *noticenos;
-} NOTICEREF;
-
-typedef struct USERNOTICE_st {
-	NOTICEREF *noticeref;
-	ASN1_STRING *exptext;
-} USERNOTICE;
-
-typedef struct POLICYQUALINFO_st {
-	ASN1_OBJECT *pqualid;
-	union {
-		ASN1_IA5STRING *cpsuri;
-		USERNOTICE *usernotice;
-		ASN1_TYPE *other;
-	} d;
-} POLICYQUALINFO;
-
-DECLARE_STACK_OF(POLICYQUALINFO)
-DECLARE_ASN1_SET_OF(POLICYQUALINFO)
-
-typedef struct POLICYINFO_st {
-	ASN1_OBJECT *policyid;
-	STACK_OF(POLICYQUALINFO) *qualifiers;
-} POLICYINFO;
-
-typedef STACK_OF(POLICYINFO) CERTIFICATEPOLICIES;
-
-DECLARE_STACK_OF(POLICYINFO)
-DECLARE_ASN1_SET_OF(POLICYINFO)
-
-typedef struct POLICY_MAPPING_st {
-	ASN1_OBJECT *issuerDomainPolicy;
-	ASN1_OBJECT *subjectDomainPolicy;
-} POLICY_MAPPING;
-
-DECLARE_STACK_OF(POLICY_MAPPING)
-
-typedef STACK_OF(POLICY_MAPPING) POLICY_MAPPINGS;
-
-typedef struct GENERAL_SUBTREE_st {
-	GENERAL_NAME *base;
-	ASN1_INTEGER *minimum;
-	ASN1_INTEGER *maximum;
-} GENERAL_SUBTREE;
-
-DECLARE_STACK_OF(GENERAL_SUBTREE)
-
-struct NAME_CONSTRAINTS_st {
-	STACK_OF(GENERAL_SUBTREE) *permittedSubtrees;
-	STACK_OF(GENERAL_SUBTREE) *excludedSubtrees;
-};
-
-typedef struct POLICY_CONSTRAINTS_st {
-	ASN1_INTEGER *requireExplicitPolicy;
-	ASN1_INTEGER *inhibitPolicyMapping;
-} POLICY_CONSTRAINTS;
-
-/* Proxy certificate structures, see RFC 3820 */
-typedef struct PROXY_POLICY_st
-	{
-	ASN1_OBJECT *policyLanguage;
-	ASN1_OCTET_STRING *policy;
-	} PROXY_POLICY;
-
-typedef struct PROXY_CERT_INFO_EXTENSION_st
-	{
-	ASN1_INTEGER *pcPathLengthConstraint;
-	PROXY_POLICY *proxyPolicy;
-	} PROXY_CERT_INFO_EXTENSION;
-
-DECLARE_ASN1_FUNCTIONS(PROXY_POLICY)
-DECLARE_ASN1_FUNCTIONS(PROXY_CERT_INFO_EXTENSION)
-
-struct ISSUING_DIST_POINT_st
-	{
-	DIST_POINT_NAME *distpoint;
-	int onlyuser;
-	int onlyCA;
-	ASN1_BIT_STRING *onlysomereasons;
-	int indirectCRL;
-	int onlyattr;
-	};
-
-/* Values in idp_flags field */
-/* IDP present */
-#define	IDP_PRESENT	0x1
-/* IDP values inconsistent */
-#define IDP_INVALID	0x2
-/* onlyuser true */
-#define	IDP_ONLYUSER	0x4
-/* onlyCA true */
-#define	IDP_ONLYCA	0x8
-/* onlyattr true */
-#define IDP_ONLYATTR	0x10
-/* indirectCRL true */
-#define IDP_INDIRECT	0x20
-/* onlysomereasons present */
-#define IDP_REASONS	0x40
-
-#define X509V3_conf_err(val) ERR_add_error_data(6, "section:", val->section, \
-",name:", val->name, ",value:", val->value);
-
-#define X509V3_set_ctx_test(ctx) \
-			X509V3_set_ctx(ctx, NULL, NULL, NULL, NULL, CTX_TEST)
-#define X509V3_set_ctx_nodb(ctx) (ctx)->db = NULL;
-
-#define EXT_BITSTRING(nid, table) { nid, 0, ASN1_ITEM_ref(ASN1_BIT_STRING), \
-			0,0,0,0, \
-			0,0, \
-			(X509V3_EXT_I2V)i2v_ASN1_BIT_STRING, \
-			(X509V3_EXT_V2I)v2i_ASN1_BIT_STRING, \
-			NULL, NULL, \
-			(void *)table}
-
-#define EXT_IA5STRING(nid) { nid, 0, ASN1_ITEM_ref(ASN1_IA5STRING), \
-			0,0,0,0, \
-			(X509V3_EXT_I2S)i2s_ASN1_IA5STRING, \
-			(X509V3_EXT_S2I)s2i_ASN1_IA5STRING, \
-			0,0,0,0, \
-			NULL}
-
-#define EXT_END { -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-
-
-/* X509_PURPOSE stuff */
-
-#define EXFLAG_BCONS		0x1
-#define EXFLAG_KUSAGE		0x2
-#define EXFLAG_XKUSAGE		0x4
-#define EXFLAG_NSCERT		0x8
-
-#define EXFLAG_CA		0x10
-/* Really self issued not necessarily self signed */
-#define EXFLAG_SI		0x20
-#define EXFLAG_V1		0x40
-#define EXFLAG_INVALID		0x80
-#define EXFLAG_SET		0x100
-#define EXFLAG_CRITICAL		0x200
-#define EXFLAG_PROXY		0x400
-
-#define EXFLAG_INVALID_POLICY	0x800
-#define EXFLAG_FRESHEST		0x1000
-/* Self signed */
-#define EXFLAG_SS		0x2000
-
-#define KU_DIGITAL_SIGNATURE	0x0080
-#define KU_NON_REPUDIATION	0x0040
-#define KU_KEY_ENCIPHERMENT	0x0020
-#define KU_DATA_ENCIPHERMENT	0x0010
-#define KU_KEY_AGREEMENT	0x0008
-#define KU_KEY_CERT_SIGN	0x0004
-#define KU_CRL_SIGN		0x0002
-#define KU_ENCIPHER_ONLY	0x0001
-#define KU_DECIPHER_ONLY	0x8000
-
-#define NS_SSL_CLIENT		0x80
-#define NS_SSL_SERVER		0x40
-#define NS_SMIME		0x20
-#define NS_OBJSIGN		0x10
-#define NS_SSL_CA		0x04
-#define NS_SMIME_CA		0x02
-#define NS_OBJSIGN_CA		0x01
-#define NS_ANY_CA		(NS_SSL_CA|NS_SMIME_CA|NS_OBJSIGN_CA)
-
-#define XKU_SSL_SERVER		0x1	
-#define XKU_SSL_CLIENT		0x2
-#define XKU_SMIME		0x4
-#define XKU_CODE_SIGN		0x8
-#define XKU_SGC			0x10
-#define XKU_OCSP_SIGN		0x20
-#define XKU_TIMESTAMP		0x40
-#define XKU_DVCS		0x80
-#define XKU_ANYEKU		0x100
-
-#define X509_PURPOSE_DYNAMIC	0x1
-#define X509_PURPOSE_DYNAMIC_NAME	0x2
-
-typedef struct x509_purpose_st {
-	int purpose;
-	int trust;		/* Default trust ID */
-	int flags;
-	int (*check_purpose)(const struct x509_purpose_st *,
-				const X509 *, int);
-	char *name;
-	char *sname;
-	void *usr_data;
-} X509_PURPOSE;
-
-#define X509_PURPOSE_SSL_CLIENT		1
-#define X509_PURPOSE_SSL_SERVER		2
-#define X509_PURPOSE_NS_SSL_SERVER	3
-#define X509_PURPOSE_SMIME_SIGN		4
-#define X509_PURPOSE_SMIME_ENCRYPT	5
-#define X509_PURPOSE_CRL_SIGN		6
-#define X509_PURPOSE_ANY		7
-#define X509_PURPOSE_OCSP_HELPER	8
-#define X509_PURPOSE_TIMESTAMP_SIGN	9
-
-#define X509_PURPOSE_MIN		1
-#define X509_PURPOSE_MAX		9
-
-/* Flags for X509V3_EXT_print() */
-
-#define X509V3_EXT_UNKNOWN_MASK		(0xfL << 16)
-/* Return error for unknown extensions */
-#define X509V3_EXT_DEFAULT		0
-/* Print error for unknown extensions */
-#define X509V3_EXT_ERROR_UNKNOWN	(1L << 16)
-/* ASN1 parse unknown extensions */
-#define X509V3_EXT_PARSE_UNKNOWN	(2L << 16)
-/* BIO_dump unknown extensions */
-#define X509V3_EXT_DUMP_UNKNOWN		(3L << 16)
-
-/* Flags for X509V3_add1_i2d */
-
-#define X509V3_ADD_OP_MASK		0xfL
-#define X509V3_ADD_DEFAULT		0L
-#define X509V3_ADD_APPEND		1L
-#define X509V3_ADD_REPLACE		2L
-#define X509V3_ADD_REPLACE_EXISTING	3L
-#define X509V3_ADD_KEEP_EXISTING	4L
-#define X509V3_ADD_DELETE		5L
-#define X509V3_ADD_SILENT		0x10
-
-DECLARE_STACK_OF(X509_PURPOSE)
-
-DECLARE_ASN1_FUNCTIONS(BASIC_CONSTRAINTS)
-
-DECLARE_ASN1_FUNCTIONS(SXNET)
-DECLARE_ASN1_FUNCTIONS(SXNETID)
-
-int SXNET_add_id_asc(SXNET **psx, char *zone, char *user, int userlen); 
-int SXNET_add_id_ulong(SXNET **psx, unsigned long lzone, char *user, int userlen); 
-int SXNET_add_id_INTEGER(SXNET **psx, ASN1_INTEGER *izone, char *user, int userlen); 
-
-ASN1_OCTET_STRING *SXNET_get_id_asc(SXNET *sx, char *zone);
-ASN1_OCTET_STRING *SXNET_get_id_ulong(SXNET *sx, unsigned long lzone);
-ASN1_OCTET_STRING *SXNET_get_id_INTEGER(SXNET *sx, ASN1_INTEGER *zone);
-
-DECLARE_ASN1_FUNCTIONS(AUTHORITY_KEYID)
-
-DECLARE_ASN1_FUNCTIONS(PKEY_USAGE_PERIOD)
-
-DECLARE_ASN1_FUNCTIONS(GENERAL_NAME)
-OPENSSL_EXPORT GENERAL_NAME *GENERAL_NAME_dup(GENERAL_NAME *a);
-OPENSSL_EXPORT int GENERAL_NAME_cmp(GENERAL_NAME *a, GENERAL_NAME *b);
-
-
-
-OPENSSL_EXPORT ASN1_BIT_STRING *v2i_ASN1_BIT_STRING(X509V3_EXT_METHOD *method,
-				X509V3_CTX *ctx, STACK_OF(CONF_VALUE) *nval);
-OPENSSL_EXPORT STACK_OF(CONF_VALUE) *i2v_ASN1_BIT_STRING(X509V3_EXT_METHOD *method,
-				ASN1_BIT_STRING *bits,
-				STACK_OF(CONF_VALUE) *extlist);
-
-OPENSSL_EXPORT STACK_OF(CONF_VALUE) *i2v_GENERAL_NAME(X509V3_EXT_METHOD *method, GENERAL_NAME *gen, STACK_OF(CONF_VALUE) *ret);
-OPENSSL_EXPORT int GENERAL_NAME_print(BIO *out, GENERAL_NAME *gen);
-
-DECLARE_ASN1_FUNCTIONS(GENERAL_NAMES)
-
-OPENSSL_EXPORT STACK_OF(CONF_VALUE) *i2v_GENERAL_NAMES(X509V3_EXT_METHOD *method,
-		GENERAL_NAMES *gen, STACK_OF(CONF_VALUE) *extlist);
-OPENSSL_EXPORT GENERAL_NAMES *v2i_GENERAL_NAMES(const X509V3_EXT_METHOD *method,
-				 X509V3_CTX *ctx, STACK_OF(CONF_VALUE) *nval);
-
-DECLARE_ASN1_FUNCTIONS(OTHERNAME)
-DECLARE_ASN1_FUNCTIONS(EDIPARTYNAME)
-OPENSSL_EXPORT int OTHERNAME_cmp(OTHERNAME *a, OTHERNAME *b);
-OPENSSL_EXPORT void GENERAL_NAME_set0_value(GENERAL_NAME *a, int type, void *value);
-OPENSSL_EXPORT void *GENERAL_NAME_get0_value(GENERAL_NAME *a, int *ptype);
-OPENSSL_EXPORT int GENERAL_NAME_set0_othername(GENERAL_NAME *gen,
-				ASN1_OBJECT *oid, ASN1_TYPE *value);
-OPENSSL_EXPORT int GENERAL_NAME_get0_otherName(GENERAL_NAME *gen, 
-				ASN1_OBJECT **poid, ASN1_TYPE **pvalue);
-
-OPENSSL_EXPORT char *i2s_ASN1_OCTET_STRING(X509V3_EXT_METHOD *method, ASN1_OCTET_STRING *ia5);
-OPENSSL_EXPORT ASN1_OCTET_STRING *s2i_ASN1_OCTET_STRING(X509V3_EXT_METHOD *method, X509V3_CTX *ctx, char *str);
-
-DECLARE_ASN1_FUNCTIONS(EXTENDED_KEY_USAGE)
-OPENSSL_EXPORT int i2a_ACCESS_DESCRIPTION(BIO *bp, ACCESS_DESCRIPTION* a);
-
-DECLARE_ASN1_FUNCTIONS(CERTIFICATEPOLICIES)
-DECLARE_ASN1_FUNCTIONS(POLICYINFO)
-DECLARE_ASN1_FUNCTIONS(POLICYQUALINFO)
-DECLARE_ASN1_FUNCTIONS(USERNOTICE)
-DECLARE_ASN1_FUNCTIONS(NOTICEREF)
-
-DECLARE_ASN1_FUNCTIONS(CRL_DIST_POINTS)
-DECLARE_ASN1_FUNCTIONS(DIST_POINT)
-DECLARE_ASN1_FUNCTIONS(DIST_POINT_NAME)
-DECLARE_ASN1_FUNCTIONS(ISSUING_DIST_POINT)
-
-OPENSSL_EXPORT int DIST_POINT_set_dpname(DIST_POINT_NAME *dpn, X509_NAME *iname);
-
-OPENSSL_EXPORT int NAME_CONSTRAINTS_check(X509 *x, NAME_CONSTRAINTS *nc);
-
-DECLARE_ASN1_FUNCTIONS(ACCESS_DESCRIPTION)
-DECLARE_ASN1_FUNCTIONS(AUTHORITY_INFO_ACCESS)
-
-DECLARE_ASN1_ITEM(POLICY_MAPPING)
-DECLARE_ASN1_ALLOC_FUNCTIONS(POLICY_MAPPING)
-DECLARE_ASN1_ITEM(POLICY_MAPPINGS)
-
-DECLARE_ASN1_ITEM(GENERAL_SUBTREE)
-DECLARE_ASN1_ALLOC_FUNCTIONS(GENERAL_SUBTREE)
-
-DECLARE_ASN1_ITEM(NAME_CONSTRAINTS)
-DECLARE_ASN1_ALLOC_FUNCTIONS(NAME_CONSTRAINTS)
-
-DECLARE_ASN1_ALLOC_FUNCTIONS(POLICY_CONSTRAINTS)
-DECLARE_ASN1_ITEM(POLICY_CONSTRAINTS)
-
-OPENSSL_EXPORT GENERAL_NAME *a2i_GENERAL_NAME(GENERAL_NAME *out,
-			       const X509V3_EXT_METHOD *method, X509V3_CTX *ctx,
-			       int gen_type, char *value, int is_nc);
-
-OPENSSL_EXPORT GENERAL_NAME *v2i_GENERAL_NAME(const X509V3_EXT_METHOD *method, X509V3_CTX *ctx,
-			       CONF_VALUE *cnf);
-OPENSSL_EXPORT GENERAL_NAME *v2i_GENERAL_NAME_ex(GENERAL_NAME *out,
-				  const X509V3_EXT_METHOD *method,
-				  X509V3_CTX *ctx, CONF_VALUE *cnf, int is_nc);
-OPENSSL_EXPORT void X509V3_conf_free(CONF_VALUE *val);
-
-OPENSSL_EXPORT X509_EXTENSION *X509V3_EXT_nconf_nid(CONF *conf, X509V3_CTX *ctx, int ext_nid, char *value);
-OPENSSL_EXPORT X509_EXTENSION *X509V3_EXT_nconf(CONF *conf, X509V3_CTX *ctx, char *name, char *value);
-OPENSSL_EXPORT int X509V3_EXT_add_nconf_sk(CONF *conf, X509V3_CTX *ctx, char *section, STACK_OF(X509_EXTENSION) **sk);
-OPENSSL_EXPORT int X509V3_EXT_add_nconf(CONF *conf, X509V3_CTX *ctx, char *section, X509 *cert);
-OPENSSL_EXPORT int X509V3_EXT_REQ_add_nconf(CONF *conf, X509V3_CTX *ctx, char *section, X509_REQ *req);
-OPENSSL_EXPORT int X509V3_EXT_CRL_add_nconf(CONF *conf, X509V3_CTX *ctx, char *section, X509_CRL *crl);
-
-OPENSSL_EXPORT int X509V3_EXT_CRL_add_conf(LHASH_OF(CONF_VALUE) *conf, X509V3_CTX *ctx,
-			    char *section, X509_CRL *crl);
-
-OPENSSL_EXPORT int X509V3_add_value_bool_nf(char *name, int asn1_bool,
-			     STACK_OF(CONF_VALUE) **extlist);
-OPENSSL_EXPORT int X509V3_get_value_bool(CONF_VALUE *value, int *asn1_bool);
-OPENSSL_EXPORT int X509V3_get_value_int(CONF_VALUE *value, ASN1_INTEGER **aint);
-OPENSSL_EXPORT void X509V3_set_nconf(X509V3_CTX *ctx, CONF *conf);
-
-OPENSSL_EXPORT char * X509V3_get_string(X509V3_CTX *ctx, char *name, char *section);
-OPENSSL_EXPORT STACK_OF(CONF_VALUE) * X509V3_get_section(X509V3_CTX *ctx, char *section);
-OPENSSL_EXPORT void X509V3_string_free(X509V3_CTX *ctx, char *str);
-OPENSSL_EXPORT void X509V3_section_free( X509V3_CTX *ctx, STACK_OF(CONF_VALUE) *section);
-OPENSSL_EXPORT void X509V3_set_ctx(X509V3_CTX *ctx, X509 *issuer, X509 *subject,
-				 X509_REQ *req, X509_CRL *crl, int flags);
-
-OPENSSL_EXPORT int X509V3_add_value(const char *name, const char *value,
-						STACK_OF(CONF_VALUE) **extlist);
-OPENSSL_EXPORT int X509V3_add_value_uchar(const char *name, const unsigned char *value,
-						STACK_OF(CONF_VALUE) **extlist);
-OPENSSL_EXPORT int X509V3_add_value_bool(const char *name, int asn1_bool,
-						STACK_OF(CONF_VALUE) **extlist);
-OPENSSL_EXPORT int X509V3_add_value_int(const char *name, ASN1_INTEGER *aint,
-						STACK_OF(CONF_VALUE) **extlist);
-OPENSSL_EXPORT char * i2s_ASN1_INTEGER(X509V3_EXT_METHOD *meth, ASN1_INTEGER *aint);
-OPENSSL_EXPORT ASN1_INTEGER * s2i_ASN1_INTEGER(X509V3_EXT_METHOD *meth, char *value);
-OPENSSL_EXPORT char * i2s_ASN1_ENUMERATED(X509V3_EXT_METHOD *meth, ASN1_ENUMERATED *aint);
-OPENSSL_EXPORT char * i2s_ASN1_ENUMERATED_TABLE(X509V3_EXT_METHOD *meth, ASN1_ENUMERATED *aint);
-OPENSSL_EXPORT int X509V3_EXT_add(X509V3_EXT_METHOD *ext);
-OPENSSL_EXPORT int X509V3_EXT_add_list(X509V3_EXT_METHOD *extlist);
-OPENSSL_EXPORT int X509V3_EXT_add_alias(int nid_to, int nid_from);
-OPENSSL_EXPORT void X509V3_EXT_cleanup(void);
-
-OPENSSL_EXPORT const X509V3_EXT_METHOD *X509V3_EXT_get(X509_EXTENSION *ext);
-OPENSSL_EXPORT const X509V3_EXT_METHOD *X509V3_EXT_get_nid(int nid);
-OPENSSL_EXPORT int X509V3_add_standard_extensions(void);
-OPENSSL_EXPORT STACK_OF(CONF_VALUE) *X509V3_parse_list(const char *line);
-OPENSSL_EXPORT void *X509V3_EXT_d2i(X509_EXTENSION *ext);
-OPENSSL_EXPORT void *X509V3_get_d2i(STACK_OF(X509_EXTENSION) *x, int nid, int *crit, int *idx);
-
-
-OPENSSL_EXPORT X509_EXTENSION *X509V3_EXT_i2d(int ext_nid, int crit, void *ext_struc);
-OPENSSL_EXPORT int X509V3_add1_i2d(STACK_OF(X509_EXTENSION) **x, int nid, void *value, int crit, unsigned long flags);
-
-char *hex_to_string(const unsigned char *buffer, long len);
-unsigned char *string_to_hex(const char *str, long *len);
-int name_cmp(const char *name, const char *cmp);
-
-OPENSSL_EXPORT void X509V3_EXT_val_prn(BIO *out, STACK_OF(CONF_VALUE) *val, int indent,
-								 int ml);
-OPENSSL_EXPORT int X509V3_EXT_print(BIO *out, X509_EXTENSION *ext, unsigned long flag, int indent);
-OPENSSL_EXPORT int X509V3_EXT_print_fp(FILE *out, X509_EXTENSION *ext, int flag, int indent);
-
-OPENSSL_EXPORT int X509V3_extensions_print(BIO *out, const char *title, STACK_OF(X509_EXTENSION) *exts, unsigned long flag, int indent);
-
-OPENSSL_EXPORT int X509_check_ca(X509 *x);
-OPENSSL_EXPORT int X509_check_purpose(X509 *x, int id, int ca);
-OPENSSL_EXPORT int X509_supported_extension(X509_EXTENSION *ex);
-OPENSSL_EXPORT int X509_PURPOSE_set(int *p, int purpose);
-OPENSSL_EXPORT int X509_check_issued(X509 *issuer, X509 *subject);
-OPENSSL_EXPORT int X509_check_akid(X509 *issuer, AUTHORITY_KEYID *akid);
-OPENSSL_EXPORT int X509_PURPOSE_get_count(void);
-OPENSSL_EXPORT X509_PURPOSE * X509_PURPOSE_get0(int idx);
-OPENSSL_EXPORT int X509_PURPOSE_get_by_sname(char *sname);
-OPENSSL_EXPORT int X509_PURPOSE_get_by_id(int id);
-OPENSSL_EXPORT int X509_PURPOSE_add(int id, int trust, int flags,
-			int (*ck)(const X509_PURPOSE *, const X509 *, int),
-				char *name, char *sname, void *arg);
-OPENSSL_EXPORT char *X509_PURPOSE_get0_name(X509_PURPOSE *xp);
-OPENSSL_EXPORT char *X509_PURPOSE_get0_sname(X509_PURPOSE *xp);
-OPENSSL_EXPORT int X509_PURPOSE_get_trust(X509_PURPOSE *xp);
-OPENSSL_EXPORT void X509_PURPOSE_cleanup(void);
-OPENSSL_EXPORT int X509_PURPOSE_get_id(X509_PURPOSE *);
-
-OPENSSL_EXPORT STACK_OF(OPENSSL_STRING) *X509_get1_email(X509 *x);
-OPENSSL_EXPORT STACK_OF(OPENSSL_STRING) *X509_REQ_get1_email(X509_REQ *x);
-OPENSSL_EXPORT void X509_email_free(STACK_OF(OPENSSL_STRING) *sk);
-OPENSSL_EXPORT STACK_OF(OPENSSL_STRING) *X509_get1_ocsp(X509 *x);
-/* Flags for X509_check_* functions */
-
-/* Always check subject name for host match even if subject alt names present */
-#define X509_CHECK_FLAG_ALWAYS_CHECK_SUBJECT	0x1
-/* Disable wildcard matching for dnsName fields and common name. */
-#define X509_CHECK_FLAG_NO_WILDCARDS	0x2
-/* Wildcards must not match a partial label. */
-#define X509_CHECK_FLAG_NO_PARTIAL_WILDCARDS 0x4
-/* Allow (non-partial) wildcards to match multiple labels. */
-#define X509_CHECK_FLAG_MULTI_LABEL_WILDCARDS 0x8
-/* Constraint verifier subdomain patterns to match a single labels. */
-#define X509_CHECK_FLAG_SINGLE_LABEL_SUBDOMAINS 0x10
-/*
- * Match reference identifiers starting with "." to any sub-domain.
- * This is a non-public flag, turned on implicitly when the subject
- * reference identity is a DNS name.
- */
-#define _X509_CHECK_FLAG_DOT_SUBDOMAINS 0x8000
-
-OPENSSL_EXPORT int X509_check_host(X509 *x, const char *chk, size_t chklen,
-					unsigned int flags, char **peername);
-OPENSSL_EXPORT int X509_check_email(X509 *x, const char *chk, size_t chklen,
-					unsigned int flags);
-OPENSSL_EXPORT int X509_check_ip(X509 *x, const unsigned char *chk, size_t chklen,
-					unsigned int flags);
-OPENSSL_EXPORT int X509_check_ip_asc(X509 *x, const char *ipasc, unsigned int flags);
-
-OPENSSL_EXPORT ASN1_OCTET_STRING *a2i_IPADDRESS(const char *ipasc);
-OPENSSL_EXPORT ASN1_OCTET_STRING *a2i_IPADDRESS_NC(const char *ipasc);
-OPENSSL_EXPORT int a2i_ipadd(unsigned char *ipout, const char *ipasc);
-OPENSSL_EXPORT int X509V3_NAME_from_section(X509_NAME *nm, STACK_OF(CONF_VALUE)*dn_sk,
-						unsigned long chtype);
-
-OPENSSL_EXPORT void X509_POLICY_NODE_print(BIO *out, X509_POLICY_NODE *node, int indent);
-DECLARE_STACK_OF(X509_POLICY_NODE)
-
-/* BEGIN ERROR CODES */
-/* The following lines are auto generated by the script mkerr.pl. Any changes
- * made after this point may be overwritten when the script is next run.
- */
-void ERR_load_X509V3_strings(void);
-
-
-#ifdef  __cplusplus
-}
-#endif
-#define X509V3_F_SXNET_add_id_INTEGER 100
-#define X509V3_F_SXNET_add_id_asc 101
-#define X509V3_F_SXNET_add_id_ulong 102
-#define X509V3_F_SXNET_get_id_asc 103
-#define X509V3_F_SXNET_get_id_ulong 104
-#define X509V3_F_X509V3_EXT_add 105
-#define X509V3_F_X509V3_EXT_add_alias 106
-#define X509V3_F_X509V3_EXT_free 107
-#define X509V3_F_X509V3_EXT_i2d 108
-#define X509V3_F_X509V3_EXT_nconf 109
-#define X509V3_F_X509V3_add1_i2d 110
-#define X509V3_F_X509V3_add_value 111
-#define X509V3_F_X509V3_get_section 112
-#define X509V3_F_X509V3_get_string 113
-#define X509V3_F_X509V3_get_value_bool 114
-#define X509V3_F_X509V3_parse_list 115
-#define X509V3_F_X509_PURPOSE_add 116
-#define X509V3_F_X509_PURPOSE_set 117
-#define X509V3_F_a2i_GENERAL_NAME 118
-#define X509V3_F_copy_email 119
-#define X509V3_F_copy_issuer 120
-#define X509V3_F_do_dirname 121
-#define X509V3_F_do_ext_i2d 122
-#define X509V3_F_do_ext_nconf 123
-#define X509V3_F_gnames_from_sectname 124
-#define X509V3_F_hex_to_string 125
-#define X509V3_F_i2s_ASN1_ENUMERATED 126
-#define X509V3_F_i2s_ASN1_IA5STRING 127
-#define X509V3_F_i2s_ASN1_INTEGER 128
-#define X509V3_F_i2v_AUTHORITY_INFO_ACCESS 129
-#define X509V3_F_notice_section 130
-#define X509V3_F_nref_nos 131
-#define X509V3_F_policy_section 132
-#define X509V3_F_process_pci_value 133
-#define X509V3_F_r2i_certpol 134
-#define X509V3_F_r2i_pci 135
-#define X509V3_F_s2i_ASN1_IA5STRING 136
-#define X509V3_F_s2i_ASN1_INTEGER 137
-#define X509V3_F_s2i_ASN1_OCTET_STRING 138
-#define X509V3_F_s2i_skey_id 139
-#define X509V3_F_set_dist_point_name 140
-#define X509V3_F_string_to_hex 141
-#define X509V3_F_v2i_ASN1_BIT_STRING 142
-#define X509V3_F_v2i_AUTHORITY_INFO_ACCESS 143
-#define X509V3_F_v2i_AUTHORITY_KEYID 144
-#define X509V3_F_v2i_BASIC_CONSTRAINTS 145
-#define X509V3_F_v2i_EXTENDED_KEY_USAGE 146
-#define X509V3_F_v2i_GENERAL_NAMES 147
-#define X509V3_F_v2i_GENERAL_NAME_ex 148
-#define X509V3_F_v2i_NAME_CONSTRAINTS 149
-#define X509V3_F_v2i_POLICY_CONSTRAINTS 150
-#define X509V3_F_v2i_POLICY_MAPPINGS 151
-#define X509V3_F_v2i_crld 152
-#define X509V3_F_v2i_idp 153
-#define X509V3_F_v2i_issuer_alt 154
-#define X509V3_F_v2i_subject_alt 155
-#define X509V3_F_v3_generic_extension 156
-#define X509V3_R_BAD_IP_ADDRESS 100
-#define X509V3_R_BAD_OBJECT 101
-#define X509V3_R_BN_DEC2BN_ERROR 102
-#define X509V3_R_BN_TO_ASN1_INTEGER_ERROR 103
-#define X509V3_R_CANNOT_FIND_FREE_FUNCTION 104
-#define X509V3_R_DIRNAME_ERROR 105
-#define X509V3_R_DISTPOINT_ALREADY_SET 106
-#define X509V3_R_DUPLICATE_ZONE_ID 107
-#define X509V3_R_ERROR_CONVERTING_ZONE 108
-#define X509V3_R_ERROR_CREATING_EXTENSION 109
-#define X509V3_R_ERROR_IN_EXTENSION 110
-#define X509V3_R_EXPECTED_A_SECTION_NAME 111
-#define X509V3_R_EXTENSION_EXISTS 112
-#define X509V3_R_EXTENSION_NAME_ERROR 113
-#define X509V3_R_EXTENSION_NOT_FOUND 114
-#define X509V3_R_EXTENSION_SETTING_NOT_SUPPORTED 115
-#define X509V3_R_EXTENSION_VALUE_ERROR 116
-#define X509V3_R_ILLEGAL_EMPTY_EXTENSION 117
-#define X509V3_R_ILLEGAL_HEX_DIGIT 118
-#define X509V3_R_INCORRECT_POLICY_SYNTAX_TAG 119
-#define X509V3_R_INVALID_BOOLEAN_STRING 120
-#define X509V3_R_INVALID_EXTENSION_STRING 121
-#define X509V3_R_INVALID_MULTIPLE_RDNS 122
-#define X509V3_R_INVALID_NAME 123
-#define X509V3_R_INVALID_NULL_ARGUMENT 124
-#define X509V3_R_INVALID_NULL_NAME 125
-#define X509V3_R_INVALID_NULL_VALUE 126
-#define X509V3_R_INVALID_NUMBER 127
-#define X509V3_R_INVALID_NUMBERS 128
-#define X509V3_R_INVALID_OBJECT_IDENTIFIER 129
-#define X509V3_R_INVALID_OPTION 130
-#define X509V3_R_INVALID_POLICY_IDENTIFIER 131
-#define X509V3_R_INVALID_PROXY_POLICY_SETTING 132
-#define X509V3_R_INVALID_PURPOSE 133
-#define X509V3_R_INVALID_SECTION 134
-#define X509V3_R_INVALID_SYNTAX 135
-#define X509V3_R_ISSUER_DECODE_ERROR 136
-#define X509V3_R_MISSING_VALUE 137
-#define X509V3_R_NEED_ORGANIZATION_AND_NUMBERS 138
-#define X509V3_R_NO_CONFIG_DATABASE 139
-#define X509V3_R_NO_ISSUER_CERTIFICATE 140
-#define X509V3_R_NO_ISSUER_DETAILS 141
-#define X509V3_R_NO_POLICY_IDENTIFIER 142
-#define X509V3_R_NO_PROXY_CERT_POLICY_LANGUAGE_DEFINED 143
-#define X509V3_R_NO_PUBLIC_KEY 144
-#define X509V3_R_NO_SUBJECT_DETAILS 145
-#define X509V3_R_ODD_NUMBER_OF_DIGITS 146
-#define X509V3_R_OPERATION_NOT_DEFINED 147
-#define X509V3_R_OTHERNAME_ERROR 148
-#define X509V3_R_POLICY_LANGUAGE_ALREADY_DEFINED 149
-#define X509V3_R_POLICY_PATH_LENGTH 150
-#define X509V3_R_POLICY_PATH_LENGTH_ALREADY_DEFINED 151
-#define X509V3_R_POLICY_WHEN_PROXY_LANGUAGE_REQUIRES_NO_POLICY 152
-#define X509V3_R_SECTION_NOT_FOUND 153
-#define X509V3_R_UNABLE_TO_GET_ISSUER_DETAILS 154
-#define X509V3_R_UNABLE_TO_GET_ISSUER_KEYID 155
-#define X509V3_R_UNKNOWN_BIT_STRING_ARGUMENT 156
-#define X509V3_R_UNKNOWN_EXTENSION 157
-#define X509V3_R_UNKNOWN_EXTENSION_NAME 158
-#define X509V3_R_UNKNOWN_OPTION 159
-#define X509V3_R_UNSUPPORTED_OPTION 160
-#define X509V3_R_UNSUPPORTED_TYPE 161
-#define X509V3_R_USER_TOO_LONG 162
-
-#endif
diff --git a/phonelibs/boringssl/lib/libcrypto_static.a b/phonelibs/boringssl/lib/libcrypto_static.a
deleted file mode 100644
index f683cb11d42ead..00000000000000
Binary files a/phonelibs/boringssl/lib/libcrypto_static.a and /dev/null differ
diff --git a/phonelibs/boringssl/lib/libssl_static.a b/phonelibs/boringssl/lib/libssl_static.a
deleted file mode 100644
index b6c52d03a04e8c..00000000000000
Binary files a/phonelibs/boringssl/lib/libssl_static.a and /dev/null differ
diff --git a/phonelibs/curl/build.txt b/phonelibs/curl/build.txt
deleted file mode 100644
index def0763b46f828..00000000000000
--- a/phonelibs/curl/build.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-# with neos tree
-cd ~/android/system
-mka libcurl
-
-cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libcurl_intermediates/libcurl.a lib/
diff --git a/phonelibs/curl/include/Makefile.am b/phonelibs/curl/include/Makefile.am
deleted file mode 100644
index 3b24860299525e..00000000000000
--- a/phonelibs/curl/include/Makefile.am
+++ /dev/null
@@ -1,5 +0,0 @@
-SUBDIRS = curl
-
-EXTRA_DIST = README
-
-AUTOMAKE_OPTIONS = foreign no-dependencies
diff --git a/phonelibs/curl/include/README b/phonelibs/curl/include/README
deleted file mode 100644
index 3e52a1d0a6cb13..00000000000000
--- a/phonelibs/curl/include/README
+++ /dev/null
@@ -1,55 +0,0 @@
-                                  _   _ ____  _
-                              ___| | | |  _ \| |
-                             / __| | | | |_) | |
-                            | (__| |_| |  _ <| |___
-                             \___|\___/|_| \_\_____|
-
-Include files for libcurl, external users.
-
-They're all placed in the curl subdirectory here for better fit in any kind
-of environment. You must include files from here using...
-
-        #include <curl/curl.h>
-
-... style and point the compiler's include path to the directory holding the
-curl subdirectory. It makes it more likely to survive future modifications.
-
-NOTE FOR LIBCURL HACKERS
-
-The following notes apply to libcurl version 7.19.0 and later.
-
-* The distributed curl/curlbuild.h file is only intended to be used on systems
-  which can not run the also distributed configure script.
-
-* The distributed curlbuild.h file is generated as a copy of curlbuild.h.dist
-  when the libcurl source code distribution archive file is originally created.
-
-* If you check out from git on a non-configure platform, you must run the
-  appropriate buildconf* script to set up curlbuild.h and other local files
-  before being able of compiling the library.
-
-* On systems capable of running the configure script, the configure process
-  will overwrite the distributed include/curl/curlbuild.h file with one that
-  is suitable and specific to the library being configured and built, which
-  is generated from the include/curl/curlbuild.h.in template file.
-
-* If you intend to distribute an already compiled libcurl library you _MUST_
-  also distribute along with it the generated curl/curlbuild.h which has been
-  used to compile it. Otherwise the library will be of no use for the users of
-  the library that you have built. It is _your_ responsibility to provide this
-  file. No one at the cURL project can know how you have built the library.
-
-* File curl/curlbuild.h includes platform and configuration dependent info,
-  and must not be modified by anyone. Configure script generates it for you.
-
-* We cannot assume anything else but very basic compiler features being
-  present. While libcurl requires an ANSI C compiler to build, some of the
-  earlier ANSI compilers clearly can't deal with some preprocessor operators.
-
-* Newlines must remain unix-style for older compilers' sake.
-
-* Comments must be written in the old-style /* unnested C-fashion */
-
-To figure out how to do good and portable checks for features, operating
-systems or specific hardwarare, a very good resource is Bjorn Reese's
-collection at http://predef.sf.net/
diff --git a/phonelibs/curl/include/curl/.gitignore b/phonelibs/curl/include/curl/.gitignore
deleted file mode 100644
index 5f3bc3ce01b9a6..00000000000000
--- a/phonelibs/curl/include/curl/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-stamp-h2
-stamp-h3
-curlver.h.dist
diff --git a/phonelibs/curl/include/curl/Makefile.am b/phonelibs/curl/include/curl/Makefile.am
deleted file mode 100644
index 86e8b78344de31..00000000000000
--- a/phonelibs/curl/include/curl/Makefile.am
+++ /dev/null
@@ -1,53 +0,0 @@
-#***************************************************************************
-#                                  _   _ ____  _
-#  Project                     ___| | | |  _ \| |
-#                             / __| | | | |_) | |
-#                            | (__| |_| |  _ <| |___
-#                             \___|\___/|_| \_\_____|
-#
-# Copyright (C) 1998 - 2011, Daniel Stenberg, <daniel@haxx.se>, et al.
-#
-# This software is licensed as described in the file COPYING, which
-# you should have received as part of this distribution. The terms
-# are also available at http://curl.haxx.se/docs/copyright.html.
-#
-# You may opt to use, copy, modify, merge, publish, distribute and/or sell
-# copies of the Software, and permit persons to whom the Software is
-# furnished to do so, under the terms of the COPYING file.
-#
-# This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
-# KIND, either express or implied.
-#
-###########################################################################
-pkginclude_HEADERS = \
-	curl.h curlver.h easy.h mprintf.h stdcheaders.h multi.h \
-	typecheck-gcc.h curlbuild.h curlrules.h
-
-pkgincludedir= $(includedir)/curl
-
-# curlbuild.h does not exist in the git tree. When the original libcurl
-# source code distribution archive file is created, curlbuild.h.dist is
-# renamed to curlbuild.h and included in the tarball so that it can be
-# used directly on non-configure systems.
-#
-# The distributed curlbuild.h will be overwritten on configure systems
-# when the configure script runs, with one that is suitable and specific
-# to the library being configured and built.
-#
-# curlbuild.h.in is the distributed template file from which the configure
-# script creates curlbuild.h at library configuration time, overwiting the
-# one included in the distribution archive.
-#
-# curlbuild.h.dist is not included in the source code distribution archive.
-
-EXTRA_DIST = curlbuild.h.in
-
-DISTCLEANFILES = curlbuild.h
-
-checksrc:
-	@@PERL@ $(top_srcdir)/lib/checksrc.pl -Wcurlbuild.h -D$(top_srcdir)/include/curl $(pkginclude_HEADERS) $(EXTRA_DIST)
-
-if CURLDEBUG
-# for debug builds, we scan the sources on all regular make invokes
-all-local: checksrc
-endif
diff --git a/phonelibs/curl/include/curl/curl.h b/phonelibs/curl/include/curl/curl.h
deleted file mode 100644
index eab2f6e99a541c..00000000000000
--- a/phonelibs/curl/include/curl/curl.h
+++ /dev/null
@@ -1,2376 +0,0 @@
-#ifndef __CURL_CURL_H
-#define __CURL_CURL_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/*
- * If you have libcurl problems, all docs and details are found here:
- *   http://curl.haxx.se/libcurl/
- *
- * curl-library mailing list subscription and unsubscription web interface:
- *   http://cool.haxx.se/mailman/listinfo/curl-library/
- */
-
-#include "curlver.h"         /* libcurl version defines   */
-#include "curlbuild.h"       /* libcurl build definitions */
-#include "curlrules.h"       /* libcurl rules enforcement */
-
-/*
- * Define WIN32 when build target is Win32 API
- */
-
-#if (defined(_WIN32) || defined(__WIN32__)) && \
-     !defined(WIN32) && !defined(__SYMBIAN32__)
-#define WIN32
-#endif
-
-#include <stdio.h>
-#include <limits.h>
-
-#if defined(__FreeBSD__) && (__FreeBSD__ >= 2)
-/* Needed for __FreeBSD_version symbol definition */
-#include <osreldate.h>
-#endif
-
-/* The include stuff here below is mainly for time_t! */
-#include <sys/types.h>
-#include <time.h>
-
-#if defined(WIN32) && !defined(_WIN32_WCE) && !defined(__CYGWIN__)
-#if !(defined(_WINSOCKAPI_) || defined(_WINSOCK_H) || defined(__LWIP_OPT_H__))
-/* The check above prevents the winsock2 inclusion if winsock.h already was
-   included, since they can't co-exist without problems */
-#include <winsock2.h>
-#include <ws2tcpip.h>
-#endif
-#endif
-
-/* HP-UX systems version 9, 10 and 11 lack sys/select.h and so does oldish
-   libc5-based Linux systems. Only include it on systems that are known to
-   require it! */
-#if defined(_AIX) || defined(__NOVELL_LIBC__) || defined(__NetBSD__) || \
-    defined(__minix) || defined(__SYMBIAN32__) || defined(__INTEGRITY) || \
-    defined(ANDROID) || defined(__ANDROID__) || defined(__OpenBSD__) || \
-   (defined(__FreeBSD_version) && (__FreeBSD_version < 800000))
-#include <sys/select.h>
-#endif
-
-#if !defined(WIN32) && !defined(_WIN32_WCE)
-#include <sys/socket.h>
-#endif
-
-#if !defined(WIN32) && !defined(__WATCOMC__) && !defined(__VXWORKS__)
-#include <sys/time.h>
-#endif
-
-#ifdef __BEOS__
-#include <support/SupportDefs.h>
-#endif
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-typedef void CURL;
-
-/*
- * libcurl external API function linkage decorations.
- */
-
-#ifdef CURL_STATICLIB
-#  define CURL_EXTERN
-#elif defined(WIN32) || defined(_WIN32) || defined(__SYMBIAN32__)
-#  if defined(BUILDING_LIBCURL)
-#    define CURL_EXTERN  __declspec(dllexport)
-#  else
-#    define CURL_EXTERN  __declspec(dllimport)
-#  endif
-#elif defined(BUILDING_LIBCURL) && defined(CURL_HIDDEN_SYMBOLS)
-#  define CURL_EXTERN CURL_EXTERN_SYMBOL
-#else
-#  define CURL_EXTERN
-#endif
-
-#ifndef curl_socket_typedef
-/* socket typedef */
-#if defined(WIN32) && !defined(__LWIP_OPT_H__)
-typedef SOCKET curl_socket_t;
-#define CURL_SOCKET_BAD INVALID_SOCKET
-#else
-typedef int curl_socket_t;
-#define CURL_SOCKET_BAD -1
-#endif
-#define curl_socket_typedef
-#endif /* curl_socket_typedef */
-
-struct curl_httppost {
-  struct curl_httppost *next;       /* next entry in the list */
-  char *name;                       /* pointer to allocated name */
-  long namelength;                  /* length of name length */
-  char *contents;                   /* pointer to allocated data contents */
-  long contentslength;              /* length of contents field */
-  char *buffer;                     /* pointer to allocated buffer contents */
-  long bufferlength;                /* length of buffer field */
-  char *contenttype;                /* Content-Type */
-  struct curl_slist* contentheader; /* list of extra headers for this form */
-  struct curl_httppost *more;       /* if one field name has more than one
-                                       file, this link should link to following
-                                       files */
-  long flags;                       /* as defined below */
-#define HTTPPOST_FILENAME (1<<0)    /* specified content is a file name */
-#define HTTPPOST_READFILE (1<<1)    /* specified content is a file name */
-#define HTTPPOST_PTRNAME (1<<2)     /* name is only stored pointer
-                                       do not free in formfree */
-#define HTTPPOST_PTRCONTENTS (1<<3) /* contents is only stored pointer
-                                       do not free in formfree */
-#define HTTPPOST_BUFFER (1<<4)      /* upload file from buffer */
-#define HTTPPOST_PTRBUFFER (1<<5)   /* upload file from pointer contents */
-#define HTTPPOST_CALLBACK (1<<6)    /* upload file contents by using the
-                                       regular read callback to get the data
-                                       and pass the given pointer as custom
-                                       pointer */
-
-  char *showfilename;               /* The file name to show. If not set, the
-                                       actual file name will be used (if this
-                                       is a file part) */
-  void *userp;                      /* custom pointer used for
-                                       HTTPPOST_CALLBACK posts */
-};
-
-/* This is the CURLOPT_PROGRESSFUNCTION callback proto. It is now considered
-   deprecated but was the only choice up until 7.31.0 */
-typedef int (*curl_progress_callback)(void *clientp,
-                                      double dltotal,
-                                      double dlnow,
-                                      double ultotal,
-                                      double ulnow);
-
-/* This is the CURLOPT_XFERINFOFUNCTION callback proto. It was introduced in
-   7.32.0, it avoids floating point and provides more detailed information. */
-typedef int (*curl_xferinfo_callback)(void *clientp,
-                                      curl_off_t dltotal,
-                                      curl_off_t dlnow,
-                                      curl_off_t ultotal,
-                                      curl_off_t ulnow);
-
-#ifndef CURL_MAX_WRITE_SIZE
-  /* Tests have proven that 20K is a very bad buffer size for uploads on
-     Windows, while 16K for some odd reason performed a lot better.
-     We do the ifndef check to allow this value to easier be changed at build
-     time for those who feel adventurous. The practical minimum is about
-     400 bytes since libcurl uses a buffer of this size as a scratch area
-     (unrelated to network send operations). */
-#define CURL_MAX_WRITE_SIZE 16384
-#endif
-
-#ifndef CURL_MAX_HTTP_HEADER
-/* The only reason to have a max limit for this is to avoid the risk of a bad
-   server feeding libcurl with a never-ending header that will cause reallocs
-   infinitely */
-#define CURL_MAX_HTTP_HEADER (100*1024)
-#endif
-
-/* This is a magic return code for the write callback that, when returned,
-   will signal libcurl to pause receiving on the current transfer. */
-#define CURL_WRITEFUNC_PAUSE 0x10000001
-
-typedef size_t (*curl_write_callback)(char *buffer,
-                                      size_t size,
-                                      size_t nitems,
-                                      void *outstream);
-
-
-
-/* enumeration of file types */
-typedef enum {
-  CURLFILETYPE_FILE = 0,
-  CURLFILETYPE_DIRECTORY,
-  CURLFILETYPE_SYMLINK,
-  CURLFILETYPE_DEVICE_BLOCK,
-  CURLFILETYPE_DEVICE_CHAR,
-  CURLFILETYPE_NAMEDPIPE,
-  CURLFILETYPE_SOCKET,
-  CURLFILETYPE_DOOR, /* is possible only on Sun Solaris now */
-
-  CURLFILETYPE_UNKNOWN /* should never occur */
-} curlfiletype;
-
-#define CURLFINFOFLAG_KNOWN_FILENAME    (1<<0)
-#define CURLFINFOFLAG_KNOWN_FILETYPE    (1<<1)
-#define CURLFINFOFLAG_KNOWN_TIME        (1<<2)
-#define CURLFINFOFLAG_KNOWN_PERM        (1<<3)
-#define CURLFINFOFLAG_KNOWN_UID         (1<<4)
-#define CURLFINFOFLAG_KNOWN_GID         (1<<5)
-#define CURLFINFOFLAG_KNOWN_SIZE        (1<<6)
-#define CURLFINFOFLAG_KNOWN_HLINKCOUNT  (1<<7)
-
-/* Content of this structure depends on information which is known and is
-   achievable (e.g. by FTP LIST parsing). Please see the url_easy_setopt(3) man
-   page for callbacks returning this structure -- some fields are mandatory,
-   some others are optional. The FLAG field has special meaning. */
-struct curl_fileinfo {
-  char *filename;
-  curlfiletype filetype;
-  time_t time;
-  unsigned int perm;
-  int uid;
-  int gid;
-  curl_off_t size;
-  long int hardlinks;
-
-  struct {
-    /* If some of these fields is not NULL, it is a pointer to b_data. */
-    char *time;
-    char *perm;
-    char *user;
-    char *group;
-    char *target; /* pointer to the target filename of a symlink */
-  } strings;
-
-  unsigned int flags;
-
-  /* used internally */
-  char * b_data;
-  size_t b_size;
-  size_t b_used;
-};
-
-/* return codes for CURLOPT_CHUNK_BGN_FUNCTION */
-#define CURL_CHUNK_BGN_FUNC_OK      0
-#define CURL_CHUNK_BGN_FUNC_FAIL    1 /* tell the lib to end the task */
-#define CURL_CHUNK_BGN_FUNC_SKIP    2 /* skip this chunk over */
-
-/* if splitting of data transfer is enabled, this callback is called before
-   download of an individual chunk started. Note that parameter "remains" works
-   only for FTP wildcard downloading (for now), otherwise is not used */
-typedef long (*curl_chunk_bgn_callback)(const void *transfer_info,
-                                        void *ptr,
-                                        int remains);
-
-/* return codes for CURLOPT_CHUNK_END_FUNCTION */
-#define CURL_CHUNK_END_FUNC_OK      0
-#define CURL_CHUNK_END_FUNC_FAIL    1 /* tell the lib to end the task */
-
-/* If splitting of data transfer is enabled this callback is called after
-   download of an individual chunk finished.
-   Note! After this callback was set then it have to be called FOR ALL chunks.
-   Even if downloading of this chunk was skipped in CHUNK_BGN_FUNC.
-   This is the reason why we don't need "transfer_info" parameter in this
-   callback and we are not interested in "remains" parameter too. */
-typedef long (*curl_chunk_end_callback)(void *ptr);
-
-/* return codes for FNMATCHFUNCTION */
-#define CURL_FNMATCHFUNC_MATCH    0 /* string corresponds to the pattern */
-#define CURL_FNMATCHFUNC_NOMATCH  1 /* pattern doesn't match the string */
-#define CURL_FNMATCHFUNC_FAIL     2 /* an error occurred */
-
-/* callback type for wildcard downloading pattern matching. If the
-   string matches the pattern, return CURL_FNMATCHFUNC_MATCH value, etc. */
-typedef int (*curl_fnmatch_callback)(void *ptr,
-                                     const char *pattern,
-                                     const char *string);
-
-/* These are the return codes for the seek callbacks */
-#define CURL_SEEKFUNC_OK       0
-#define CURL_SEEKFUNC_FAIL     1 /* fail the entire transfer */
-#define CURL_SEEKFUNC_CANTSEEK 2 /* tell libcurl seeking can't be done, so
-                                    libcurl might try other means instead */
-typedef int (*curl_seek_callback)(void *instream,
-                                  curl_off_t offset,
-                                  int origin); /* 'whence' */
-
-/* This is a return code for the read callback that, when returned, will
-   signal libcurl to immediately abort the current transfer. */
-#define CURL_READFUNC_ABORT 0x10000000
-/* This is a return code for the read callback that, when returned, will
-   signal libcurl to pause sending data on the current transfer. */
-#define CURL_READFUNC_PAUSE 0x10000001
-
-typedef size_t (*curl_read_callback)(char *buffer,
-                                      size_t size,
-                                      size_t nitems,
-                                      void *instream);
-
-typedef enum  {
-  CURLSOCKTYPE_IPCXN,  /* socket created for a specific IP connection */
-  CURLSOCKTYPE_ACCEPT, /* socket created by accept() call */
-  CURLSOCKTYPE_LAST    /* never use */
-} curlsocktype;
-
-/* The return code from the sockopt_callback can signal information back
-   to libcurl: */
-#define CURL_SOCKOPT_OK 0
-#define CURL_SOCKOPT_ERROR 1 /* causes libcurl to abort and return
-                                CURLE_ABORTED_BY_CALLBACK */
-#define CURL_SOCKOPT_ALREADY_CONNECTED 2
-
-typedef int (*curl_sockopt_callback)(void *clientp,
-                                     curl_socket_t curlfd,
-                                     curlsocktype purpose);
-
-struct curl_sockaddr {
-  int family;
-  int socktype;
-  int protocol;
-  unsigned int addrlen; /* addrlen was a socklen_t type before 7.18.0 but it
-                           turned really ugly and painful on the systems that
-                           lack this type */
-  struct sockaddr addr;
-};
-
-typedef curl_socket_t
-(*curl_opensocket_callback)(void *clientp,
-                            curlsocktype purpose,
-                            struct curl_sockaddr *address);
-
-typedef int
-(*curl_closesocket_callback)(void *clientp, curl_socket_t item);
-
-typedef enum {
-  CURLIOE_OK,            /* I/O operation successful */
-  CURLIOE_UNKNOWNCMD,    /* command was unknown to callback */
-  CURLIOE_FAILRESTART,   /* failed to restart the read */
-  CURLIOE_LAST           /* never use */
-} curlioerr;
-
-typedef enum  {
-  CURLIOCMD_NOP,         /* no operation */
-  CURLIOCMD_RESTARTREAD, /* restart the read stream from start */
-  CURLIOCMD_LAST         /* never use */
-} curliocmd;
-
-typedef curlioerr (*curl_ioctl_callback)(CURL *handle,
-                                         int cmd,
-                                         void *clientp);
-
-/*
- * The following typedef's are signatures of malloc, free, realloc, strdup and
- * calloc respectively.  Function pointers of these types can be passed to the
- * curl_global_init_mem() function to set user defined memory management
- * callback routines.
- */
-typedef void *(*curl_malloc_callback)(size_t size);
-typedef void (*curl_free_callback)(void *ptr);
-typedef void *(*curl_realloc_callback)(void *ptr, size_t size);
-typedef char *(*curl_strdup_callback)(const char *str);
-typedef void *(*curl_calloc_callback)(size_t nmemb, size_t size);
-
-/* the kind of data that is passed to information_callback*/
-typedef enum {
-  CURLINFO_TEXT = 0,
-  CURLINFO_HEADER_IN,    /* 1 */
-  CURLINFO_HEADER_OUT,   /* 2 */
-  CURLINFO_DATA_IN,      /* 3 */
-  CURLINFO_DATA_OUT,     /* 4 */
-  CURLINFO_SSL_DATA_IN,  /* 5 */
-  CURLINFO_SSL_DATA_OUT, /* 6 */
-  CURLINFO_END
-} curl_infotype;
-
-typedef int (*curl_debug_callback)
-       (CURL *handle,      /* the handle/transfer this concerns */
-        curl_infotype type, /* what kind of data */
-        char *data,        /* points to the data */
-        size_t size,       /* size of the data pointed to */
-        void *userptr);    /* whatever the user please */
-
-/* All possible error codes from all sorts of curl functions. Future versions
-   may return other values, stay prepared.
-
-   Always add new return codes last. Never *EVER* remove any. The return
-   codes must remain the same!
- */
-
-typedef enum {
-  CURLE_OK = 0,
-  CURLE_UNSUPPORTED_PROTOCOL,    /* 1 */
-  CURLE_FAILED_INIT,             /* 2 */
-  CURLE_URL_MALFORMAT,           /* 3 */
-  CURLE_NOT_BUILT_IN,            /* 4 - [was obsoleted in August 2007 for
-                                    7.17.0, reused in April 2011 for 7.21.5] */
-  CURLE_COULDNT_RESOLVE_PROXY,   /* 5 */
-  CURLE_COULDNT_RESOLVE_HOST,    /* 6 */
-  CURLE_COULDNT_CONNECT,         /* 7 */
-  CURLE_FTP_WEIRD_SERVER_REPLY,  /* 8 */
-  CURLE_REMOTE_ACCESS_DENIED,    /* 9 a service was denied by the server
-                                    due to lack of access - when login fails
-                                    this is not returned. */
-  CURLE_FTP_ACCEPT_FAILED,       /* 10 - [was obsoleted in April 2006 for
-                                    7.15.4, reused in Dec 2011 for 7.24.0]*/
-  CURLE_FTP_WEIRD_PASS_REPLY,    /* 11 */
-  CURLE_FTP_ACCEPT_TIMEOUT,      /* 12 - timeout occurred accepting server
-                                    [was obsoleted in August 2007 for 7.17.0,
-                                    reused in Dec 2011 for 7.24.0]*/
-  CURLE_FTP_WEIRD_PASV_REPLY,    /* 13 */
-  CURLE_FTP_WEIRD_227_FORMAT,    /* 14 */
-  CURLE_FTP_CANT_GET_HOST,       /* 15 */
-  CURLE_HTTP2,                   /* 16 - A problem in the http2 framing layer.
-                                    [was obsoleted in August 2007 for 7.17.0,
-                                    reused in July 2014 for 7.38.0] */
-  CURLE_FTP_COULDNT_SET_TYPE,    /* 17 */
-  CURLE_PARTIAL_FILE,            /* 18 */
-  CURLE_FTP_COULDNT_RETR_FILE,   /* 19 */
-  CURLE_OBSOLETE20,              /* 20 - NOT USED */
-  CURLE_QUOTE_ERROR,             /* 21 - quote command failure */
-  CURLE_HTTP_RETURNED_ERROR,     /* 22 */
-  CURLE_WRITE_ERROR,             /* 23 */
-  CURLE_OBSOLETE24,              /* 24 - NOT USED */
-  CURLE_UPLOAD_FAILED,           /* 25 - failed upload "command" */
-  CURLE_READ_ERROR,              /* 26 - couldn't open/read from file */
-  CURLE_OUT_OF_MEMORY,           /* 27 */
-  /* Note: CURLE_OUT_OF_MEMORY may sometimes indicate a conversion error
-           instead of a memory allocation error if CURL_DOES_CONVERSIONS
-           is defined
-  */
-  CURLE_OPERATION_TIMEDOUT,      /* 28 - the timeout time was reached */
-  CURLE_OBSOLETE29,              /* 29 - NOT USED */
-  CURLE_FTP_PORT_FAILED,         /* 30 - FTP PORT operation failed */
-  CURLE_FTP_COULDNT_USE_REST,    /* 31 - the REST command failed */
-  CURLE_OBSOLETE32,              /* 32 - NOT USED */
-  CURLE_RANGE_ERROR,             /* 33 - RANGE "command" didn't work */
-  CURLE_HTTP_POST_ERROR,         /* 34 */
-  CURLE_SSL_CONNECT_ERROR,       /* 35 - wrong when connecting with SSL */
-  CURLE_BAD_DOWNLOAD_RESUME,     /* 36 - couldn't resume download */
-  CURLE_FILE_COULDNT_READ_FILE,  /* 37 */
-  CURLE_LDAP_CANNOT_BIND,        /* 38 */
-  CURLE_LDAP_SEARCH_FAILED,      /* 39 */
-  CURLE_OBSOLETE40,              /* 40 - NOT USED */
-  CURLE_FUNCTION_NOT_FOUND,      /* 41 */
-  CURLE_ABORTED_BY_CALLBACK,     /* 42 */
-  CURLE_BAD_FUNCTION_ARGUMENT,   /* 43 */
-  CURLE_OBSOLETE44,              /* 44 - NOT USED */
-  CURLE_INTERFACE_FAILED,        /* 45 - CURLOPT_INTERFACE failed */
-  CURLE_OBSOLETE46,              /* 46 - NOT USED */
-  CURLE_TOO_MANY_REDIRECTS ,     /* 47 - catch endless re-direct loops */
-  CURLE_UNKNOWN_OPTION,          /* 48 - User specified an unknown option */
-  CURLE_TELNET_OPTION_SYNTAX ,   /* 49 - Malformed telnet option */
-  CURLE_OBSOLETE50,              /* 50 - NOT USED */
-  CURLE_PEER_FAILED_VERIFICATION, /* 51 - peer's certificate or fingerprint
-                                     wasn't verified fine */
-  CURLE_GOT_NOTHING,             /* 52 - when this is a specific error */
-  CURLE_SSL_ENGINE_NOTFOUND,     /* 53 - SSL crypto engine not found */
-  CURLE_SSL_ENGINE_SETFAILED,    /* 54 - can not set SSL crypto engine as
-                                    default */
-  CURLE_SEND_ERROR,              /* 55 - failed sending network data */
-  CURLE_RECV_ERROR,              /* 56 - failure in receiving network data */
-  CURLE_OBSOLETE57,              /* 57 - NOT IN USE */
-  CURLE_SSL_CERTPROBLEM,         /* 58 - problem with the local certificate */
-  CURLE_SSL_CIPHER,              /* 59 - couldn't use specified cipher */
-  CURLE_SSL_CACERT,              /* 60 - problem with the CA cert (path?) */
-  CURLE_BAD_CONTENT_ENCODING,    /* 61 - Unrecognized/bad encoding */
-  CURLE_LDAP_INVALID_URL,        /* 62 - Invalid LDAP URL */
-  CURLE_FILESIZE_EXCEEDED,       /* 63 - Maximum file size exceeded */
-  CURLE_USE_SSL_FAILED,          /* 64 - Requested FTP SSL level failed */
-  CURLE_SEND_FAIL_REWIND,        /* 65 - Sending the data requires a rewind
-                                    that failed */
-  CURLE_SSL_ENGINE_INITFAILED,   /* 66 - failed to initialise ENGINE */
-  CURLE_LOGIN_DENIED,            /* 67 - user, password or similar was not
-                                    accepted and we failed to login */
-  CURLE_TFTP_NOTFOUND,           /* 68 - file not found on server */
-  CURLE_TFTP_PERM,               /* 69 - permission problem on server */
-  CURLE_REMOTE_DISK_FULL,        /* 70 - out of disk space on server */
-  CURLE_TFTP_ILLEGAL,            /* 71 - Illegal TFTP operation */
-  CURLE_TFTP_UNKNOWNID,          /* 72 - Unknown transfer ID */
-  CURLE_REMOTE_FILE_EXISTS,      /* 73 - File already exists */
-  CURLE_TFTP_NOSUCHUSER,         /* 74 - No such user */
-  CURLE_CONV_FAILED,             /* 75 - conversion failed */
-  CURLE_CONV_REQD,               /* 76 - caller must register conversion
-                                    callbacks using curl_easy_setopt options
-                                    CURLOPT_CONV_FROM_NETWORK_FUNCTION,
-                                    CURLOPT_CONV_TO_NETWORK_FUNCTION, and
-                                    CURLOPT_CONV_FROM_UTF8_FUNCTION */
-  CURLE_SSL_CACERT_BADFILE,      /* 77 - could not load CACERT file, missing
-                                    or wrong format */
-  CURLE_REMOTE_FILE_NOT_FOUND,   /* 78 - remote file not found */
-  CURLE_SSH,                     /* 79 - error from the SSH layer, somewhat
-                                    generic so the error message will be of
-                                    interest when this has happened */
-
-  CURLE_SSL_SHUTDOWN_FAILED,     /* 80 - Failed to shut down the SSL
-                                    connection */
-  CURLE_AGAIN,                   /* 81 - socket is not ready for send/recv,
-                                    wait till it's ready and try again (Added
-                                    in 7.18.2) */
-  CURLE_SSL_CRL_BADFILE,         /* 82 - could not load CRL file, missing or
-                                    wrong format (Added in 7.19.0) */
-  CURLE_SSL_ISSUER_ERROR,        /* 83 - Issuer check failed.  (Added in
-                                    7.19.0) */
-  CURLE_FTP_PRET_FAILED,         /* 84 - a PRET command failed */
-  CURLE_RTSP_CSEQ_ERROR,         /* 85 - mismatch of RTSP CSeq numbers */
-  CURLE_RTSP_SESSION_ERROR,      /* 86 - mismatch of RTSP Session Ids */
-  CURLE_FTP_BAD_FILE_LIST,       /* 87 - unable to parse FTP file list */
-  CURLE_CHUNK_FAILED,            /* 88 - chunk callback reported error */
-  CURLE_NO_CONNECTION_AVAILABLE, /* 89 - No connection available, the
-                                    session will be queued */
-  CURLE_SSL_PINNEDPUBKEYNOTMATCH, /* 90 - specified pinned public key did not
-                                     match */
-  CURLE_SSL_INVALIDCERTSTATUS,   /* 91 - invalid certificate status */
-  CURL_LAST /* never use! */
-} CURLcode;
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Previously obsolete error code re-used in 7.38.0 */
-#define CURLE_OBSOLETE16 CURLE_HTTP2
-
-/* Previously obsolete error codes re-used in 7.24.0 */
-#define CURLE_OBSOLETE10 CURLE_FTP_ACCEPT_FAILED
-#define CURLE_OBSOLETE12 CURLE_FTP_ACCEPT_TIMEOUT
-
-/*  compatibility with older names */
-#define CURLOPT_ENCODING CURLOPT_ACCEPT_ENCODING
-
-/* The following were added in 7.21.5, April 2011 */
-#define CURLE_UNKNOWN_TELNET_OPTION CURLE_UNKNOWN_OPTION
-
-/* The following were added in 7.17.1 */
-/* These are scheduled to disappear by 2009 */
-#define CURLE_SSL_PEER_CERTIFICATE CURLE_PEER_FAILED_VERIFICATION
-
-/* The following were added in 7.17.0 */
-/* These are scheduled to disappear by 2009 */
-#define CURLE_OBSOLETE CURLE_OBSOLETE50 /* no one should be using this! */
-#define CURLE_BAD_PASSWORD_ENTERED CURLE_OBSOLETE46
-#define CURLE_BAD_CALLING_ORDER CURLE_OBSOLETE44
-#define CURLE_FTP_USER_PASSWORD_INCORRECT CURLE_OBSOLETE10
-#define CURLE_FTP_CANT_RECONNECT CURLE_OBSOLETE16
-#define CURLE_FTP_COULDNT_GET_SIZE CURLE_OBSOLETE32
-#define CURLE_FTP_COULDNT_SET_ASCII CURLE_OBSOLETE29
-#define CURLE_FTP_WEIRD_USER_REPLY CURLE_OBSOLETE12
-#define CURLE_FTP_WRITE_ERROR CURLE_OBSOLETE20
-#define CURLE_LIBRARY_NOT_FOUND CURLE_OBSOLETE40
-#define CURLE_MALFORMAT_USER CURLE_OBSOLETE24
-#define CURLE_SHARE_IN_USE CURLE_OBSOLETE57
-#define CURLE_URL_MALFORMAT_USER CURLE_NOT_BUILT_IN
-
-#define CURLE_FTP_ACCESS_DENIED CURLE_REMOTE_ACCESS_DENIED
-#define CURLE_FTP_COULDNT_SET_BINARY CURLE_FTP_COULDNT_SET_TYPE
-#define CURLE_FTP_QUOTE_ERROR CURLE_QUOTE_ERROR
-#define CURLE_TFTP_DISKFULL CURLE_REMOTE_DISK_FULL
-#define CURLE_TFTP_EXISTS CURLE_REMOTE_FILE_EXISTS
-#define CURLE_HTTP_RANGE_ERROR CURLE_RANGE_ERROR
-#define CURLE_FTP_SSL_FAILED CURLE_USE_SSL_FAILED
-
-/* The following were added earlier */
-
-#define CURLE_OPERATION_TIMEOUTED CURLE_OPERATION_TIMEDOUT
-
-#define CURLE_HTTP_NOT_FOUND CURLE_HTTP_RETURNED_ERROR
-#define CURLE_HTTP_PORT_FAILED CURLE_INTERFACE_FAILED
-#define CURLE_FTP_COULDNT_STOR_FILE CURLE_UPLOAD_FAILED
-
-#define CURLE_FTP_PARTIAL_FILE CURLE_PARTIAL_FILE
-#define CURLE_FTP_BAD_DOWNLOAD_RESUME CURLE_BAD_DOWNLOAD_RESUME
-
-/* This was the error code 50 in 7.7.3 and a few earlier versions, this
-   is no longer used by libcurl but is instead #defined here only to not
-   make programs break */
-#define CURLE_ALREADY_COMPLETE 99999
-
-/* Provide defines for really old option names */
-#define CURLOPT_FILE CURLOPT_WRITEDATA /* name changed in 7.9.7 */
-#define CURLOPT_INFILE CURLOPT_READDATA /* name changed in 7.9.7 */
-#define CURLOPT_WRITEHEADER CURLOPT_HEADERDATA
-
-/* Since long deprecated options with no code in the lib that does anything
-   with them. */
-#define CURLOPT_WRITEINFO CURLOPT_OBSOLETE40
-#define CURLOPT_CLOSEPOLICY CURLOPT_OBSOLETE72
-
-#endif /*!CURL_NO_OLDIES*/
-
-/* This prototype applies to all conversion callbacks */
-typedef CURLcode (*curl_conv_callback)(char *buffer, size_t length);
-
-typedef CURLcode (*curl_ssl_ctx_callback)(CURL *curl,    /* easy handle */
-                                          void *ssl_ctx, /* actually an
-                                                            OpenSSL SSL_CTX */
-                                          void *userptr);
-
-typedef enum {
-  CURLPROXY_HTTP = 0,   /* added in 7.10, new in 7.19.4 default is to use
-                           CONNECT HTTP/1.1 */
-  CURLPROXY_HTTP_1_0 = 1,   /* added in 7.19.4, force to use CONNECT
-                               HTTP/1.0  */
-  CURLPROXY_SOCKS4 = 4, /* support added in 7.15.2, enum existed already
-                           in 7.10 */
-  CURLPROXY_SOCKS5 = 5, /* added in 7.10 */
-  CURLPROXY_SOCKS4A = 6, /* added in 7.18.0 */
-  CURLPROXY_SOCKS5_HOSTNAME = 7 /* Use the SOCKS5 protocol but pass along the
-                                   host name rather than the IP address. added
-                                   in 7.18.0 */
-} curl_proxytype;  /* this enum was added in 7.10 */
-
-/*
- * Bitmasks for CURLOPT_HTTPAUTH and CURLOPT_PROXYAUTH options:
- *
- * CURLAUTH_NONE         - No HTTP authentication
- * CURLAUTH_BASIC        - HTTP Basic authentication (default)
- * CURLAUTH_DIGEST       - HTTP Digest authentication
- * CURLAUTH_NEGOTIATE    - HTTP Negotiate (SPNEGO) authentication
- * CURLAUTH_GSSNEGOTIATE - Alias for CURLAUTH_NEGOTIATE (deprecated)
- * CURLAUTH_NTLM         - HTTP NTLM authentication
- * CURLAUTH_DIGEST_IE    - HTTP Digest authentication with IE flavour
- * CURLAUTH_NTLM_WB      - HTTP NTLM authentication delegated to winbind helper
- * CURLAUTH_ONLY         - Use together with a single other type to force no
- *                         authentication or just that single type
- * CURLAUTH_ANY          - All fine types set
- * CURLAUTH_ANYSAFE      - All fine types except Basic
- */
-
-#define CURLAUTH_NONE         ((unsigned long)0)
-#define CURLAUTH_BASIC        (((unsigned long)1)<<0)
-#define CURLAUTH_DIGEST       (((unsigned long)1)<<1)
-#define CURLAUTH_NEGOTIATE    (((unsigned long)1)<<2)
-/* Deprecated since the advent of CURLAUTH_NEGOTIATE */
-#define CURLAUTH_GSSNEGOTIATE CURLAUTH_NEGOTIATE
-#define CURLAUTH_NTLM         (((unsigned long)1)<<3)
-#define CURLAUTH_DIGEST_IE    (((unsigned long)1)<<4)
-#define CURLAUTH_NTLM_WB      (((unsigned long)1)<<5)
-#define CURLAUTH_ONLY         (((unsigned long)1)<<31)
-#define CURLAUTH_ANY          (~CURLAUTH_DIGEST_IE)
-#define CURLAUTH_ANYSAFE      (~(CURLAUTH_BASIC|CURLAUTH_DIGEST_IE))
-
-#define CURLSSH_AUTH_ANY       ~0     /* all types supported by the server */
-#define CURLSSH_AUTH_NONE      0      /* none allowed, silly but complete */
-#define CURLSSH_AUTH_PUBLICKEY (1<<0) /* public/private key files */
-#define CURLSSH_AUTH_PASSWORD  (1<<1) /* password */
-#define CURLSSH_AUTH_HOST      (1<<2) /* host key files */
-#define CURLSSH_AUTH_KEYBOARD  (1<<3) /* keyboard interactive */
-#define CURLSSH_AUTH_AGENT     (1<<4) /* agent (ssh-agent, pageant...) */
-#define CURLSSH_AUTH_DEFAULT CURLSSH_AUTH_ANY
-
-#define CURLGSSAPI_DELEGATION_NONE        0      /* no delegation (default) */
-#define CURLGSSAPI_DELEGATION_POLICY_FLAG (1<<0) /* if permitted by policy */
-#define CURLGSSAPI_DELEGATION_FLAG        (1<<1) /* delegate always */
-
-#define CURL_ERROR_SIZE 256
-
-enum curl_khtype {
-  CURLKHTYPE_UNKNOWN,
-  CURLKHTYPE_RSA1,
-  CURLKHTYPE_RSA,
-  CURLKHTYPE_DSS
-};
-
-struct curl_khkey {
-  const char *key; /* points to a zero-terminated string encoded with base64
-                      if len is zero, otherwise to the "raw" data */
-  size_t len;
-  enum curl_khtype keytype;
-};
-
-/* this is the set of return values expected from the curl_sshkeycallback
-   callback */
-enum curl_khstat {
-  CURLKHSTAT_FINE_ADD_TO_FILE,
-  CURLKHSTAT_FINE,
-  CURLKHSTAT_REJECT, /* reject the connection, return an error */
-  CURLKHSTAT_DEFER,  /* do not accept it, but we can't answer right now so
-                        this causes a CURLE_DEFER error but otherwise the
-                        connection will be left intact etc */
-  CURLKHSTAT_LAST    /* not for use, only a marker for last-in-list */
-};
-
-/* this is the set of status codes pass in to the callback */
-enum curl_khmatch {
-  CURLKHMATCH_OK,       /* match */
-  CURLKHMATCH_MISMATCH, /* host found, key mismatch! */
-  CURLKHMATCH_MISSING,  /* no matching host/key found */
-  CURLKHMATCH_LAST      /* not for use, only a marker for last-in-list */
-};
-
-typedef int
-  (*curl_sshkeycallback) (CURL *easy,     /* easy handle */
-                          const struct curl_khkey *knownkey, /* known */
-                          const struct curl_khkey *foundkey, /* found */
-                          enum curl_khmatch, /* libcurl's view on the keys */
-                          void *clientp); /* custom pointer passed from app */
-
-/* parameter for the CURLOPT_USE_SSL option */
-typedef enum {
-  CURLUSESSL_NONE,    /* do not attempt to use SSL */
-  CURLUSESSL_TRY,     /* try using SSL, proceed anyway otherwise */
-  CURLUSESSL_CONTROL, /* SSL for the control connection or fail */
-  CURLUSESSL_ALL,     /* SSL for all communication or fail */
-  CURLUSESSL_LAST     /* not an option, never use */
-} curl_usessl;
-
-/* Definition of bits for the CURLOPT_SSL_OPTIONS argument: */
-
-/* - ALLOW_BEAST tells libcurl to allow the BEAST SSL vulnerability in the
-   name of improving interoperability with older servers. Some SSL libraries
-   have introduced work-arounds for this flaw but those work-arounds sometimes
-   make the SSL communication fail. To regain functionality with those broken
-   servers, a user can this way allow the vulnerability back. */
-#define CURLSSLOPT_ALLOW_BEAST (1<<0)
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Backwards compatibility with older names */
-/* These are scheduled to disappear by 2009 */
-
-#define CURLFTPSSL_NONE CURLUSESSL_NONE
-#define CURLFTPSSL_TRY CURLUSESSL_TRY
-#define CURLFTPSSL_CONTROL CURLUSESSL_CONTROL
-#define CURLFTPSSL_ALL CURLUSESSL_ALL
-#define CURLFTPSSL_LAST CURLUSESSL_LAST
-#define curl_ftpssl curl_usessl
-#endif /*!CURL_NO_OLDIES*/
-
-/* parameter for the CURLOPT_FTP_SSL_CCC option */
-typedef enum {
-  CURLFTPSSL_CCC_NONE,    /* do not send CCC */
-  CURLFTPSSL_CCC_PASSIVE, /* Let the server initiate the shutdown */
-  CURLFTPSSL_CCC_ACTIVE,  /* Initiate the shutdown */
-  CURLFTPSSL_CCC_LAST     /* not an option, never use */
-} curl_ftpccc;
-
-/* parameter for the CURLOPT_FTPSSLAUTH option */
-typedef enum {
-  CURLFTPAUTH_DEFAULT, /* let libcurl decide */
-  CURLFTPAUTH_SSL,     /* use "AUTH SSL" */
-  CURLFTPAUTH_TLS,     /* use "AUTH TLS" */
-  CURLFTPAUTH_LAST /* not an option, never use */
-} curl_ftpauth;
-
-/* parameter for the CURLOPT_FTP_CREATE_MISSING_DIRS option */
-typedef enum {
-  CURLFTP_CREATE_DIR_NONE,  /* do NOT create missing dirs! */
-  CURLFTP_CREATE_DIR,       /* (FTP/SFTP) if CWD fails, try MKD and then CWD
-                               again if MKD succeeded, for SFTP this does
-                               similar magic */
-  CURLFTP_CREATE_DIR_RETRY, /* (FTP only) if CWD fails, try MKD and then CWD
-                               again even if MKD failed! */
-  CURLFTP_CREATE_DIR_LAST   /* not an option, never use */
-} curl_ftpcreatedir;
-
-/* parameter for the CURLOPT_FTP_FILEMETHOD option */
-typedef enum {
-  CURLFTPMETHOD_DEFAULT,   /* let libcurl pick */
-  CURLFTPMETHOD_MULTICWD,  /* single CWD operation for each path part */
-  CURLFTPMETHOD_NOCWD,     /* no CWD at all */
-  CURLFTPMETHOD_SINGLECWD, /* one CWD to full dir, then work on file */
-  CURLFTPMETHOD_LAST       /* not an option, never use */
-} curl_ftpmethod;
-
-/* bitmask defines for CURLOPT_HEADEROPT */
-#define CURLHEADER_UNIFIED  0
-#define CURLHEADER_SEPARATE (1<<0)
-
-/* CURLPROTO_ defines are for the CURLOPT_*PROTOCOLS options */
-#define CURLPROTO_HTTP   (1<<0)
-#define CURLPROTO_HTTPS  (1<<1)
-#define CURLPROTO_FTP    (1<<2)
-#define CURLPROTO_FTPS   (1<<3)
-#define CURLPROTO_SCP    (1<<4)
-#define CURLPROTO_SFTP   (1<<5)
-#define CURLPROTO_TELNET (1<<6)
-#define CURLPROTO_LDAP   (1<<7)
-#define CURLPROTO_LDAPS  (1<<8)
-#define CURLPROTO_DICT   (1<<9)
-#define CURLPROTO_FILE   (1<<10)
-#define CURLPROTO_TFTP   (1<<11)
-#define CURLPROTO_IMAP   (1<<12)
-#define CURLPROTO_IMAPS  (1<<13)
-#define CURLPROTO_POP3   (1<<14)
-#define CURLPROTO_POP3S  (1<<15)
-#define CURLPROTO_SMTP   (1<<16)
-#define CURLPROTO_SMTPS  (1<<17)
-#define CURLPROTO_RTSP   (1<<18)
-#define CURLPROTO_RTMP   (1<<19)
-#define CURLPROTO_RTMPT  (1<<20)
-#define CURLPROTO_RTMPE  (1<<21)
-#define CURLPROTO_RTMPTE (1<<22)
-#define CURLPROTO_RTMPS  (1<<23)
-#define CURLPROTO_RTMPTS (1<<24)
-#define CURLPROTO_GOPHER (1<<25)
-#define CURLPROTO_SMB    (1<<26)
-#define CURLPROTO_SMBS   (1<<27)
-#define CURLPROTO_ALL    (~0) /* enable everything */
-
-/* long may be 32 or 64 bits, but we should never depend on anything else
-   but 32 */
-#define CURLOPTTYPE_LONG          0
-#define CURLOPTTYPE_OBJECTPOINT   10000
-#define CURLOPTTYPE_FUNCTIONPOINT 20000
-#define CURLOPTTYPE_OFF_T         30000
-
-/* name is uppercase CURLOPT_<name>,
-   type is one of the defined CURLOPTTYPE_<type>
-   number is unique identifier */
-#ifdef CINIT
-#undef CINIT
-#endif
-
-#ifdef CURL_ISOCPP
-#define CINIT(na,t,nu) CURLOPT_ ## na = CURLOPTTYPE_ ## t + nu
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define LONG          CURLOPTTYPE_LONG
-#define OBJECTPOINT   CURLOPTTYPE_OBJECTPOINT
-#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT
-#define OFF_T         CURLOPTTYPE_OFF_T
-#define CINIT(name,type,number) CURLOPT_/**/name = type + number
-#endif
-
-/*
- * This macro-mania below setups the CURLOPT_[what] enum, to be used with
- * curl_easy_setopt(). The first argument in the CINIT() macro is the [what]
- * word.
- */
-
-typedef enum {
-  /* This is the FILE * or void * the regular output should be written to. */
-  CINIT(WRITEDATA, OBJECTPOINT, 1),
-
-  /* The full URL to get/put */
-  CINIT(URL, OBJECTPOINT, 2),
-
-  /* Port number to connect to, if other than default. */
-  CINIT(PORT, LONG, 3),
-
-  /* Name of proxy to use. */
-  CINIT(PROXY, OBJECTPOINT, 4),
-
-  /* "user:password;options" to use when fetching. */
-  CINIT(USERPWD, OBJECTPOINT, 5),
-
-  /* "user:password" to use with proxy. */
-  CINIT(PROXYUSERPWD, OBJECTPOINT, 6),
-
-  /* Range to get, specified as an ASCII string. */
-  CINIT(RANGE, OBJECTPOINT, 7),
-
-  /* not used */
-
-  /* Specified file stream to upload from (use as input): */
-  CINIT(READDATA, OBJECTPOINT, 9),
-
-  /* Buffer to receive error messages in, must be at least CURL_ERROR_SIZE
-   * bytes big. If this is not used, error messages go to stderr instead: */
-  CINIT(ERRORBUFFER, OBJECTPOINT, 10),
-
-  /* Function that will be called to store the output (instead of fwrite). The
-   * parameters will use fwrite() syntax, make sure to follow them. */
-  CINIT(WRITEFUNCTION, FUNCTIONPOINT, 11),
-
-  /* Function that will be called to read the input (instead of fread). The
-   * parameters will use fread() syntax, make sure to follow them. */
-  CINIT(READFUNCTION, FUNCTIONPOINT, 12),
-
-  /* Time-out the read operation after this amount of seconds */
-  CINIT(TIMEOUT, LONG, 13),
-
-  /* If the CURLOPT_INFILE is used, this can be used to inform libcurl about
-   * how large the file being sent really is. That allows better error
-   * checking and better verifies that the upload was successful. -1 means
-   * unknown size.
-   *
-   * For large file support, there is also a _LARGE version of the key
-   * which takes an off_t type, allowing platforms with larger off_t
-   * sizes to handle larger files.  See below for INFILESIZE_LARGE.
-   */
-  CINIT(INFILESIZE, LONG, 14),
-
-  /* POST static input fields. */
-  CINIT(POSTFIELDS, OBJECTPOINT, 15),
-
-  /* Set the referrer page (needed by some CGIs) */
-  CINIT(REFERER, OBJECTPOINT, 16),
-
-  /* Set the FTP PORT string (interface name, named or numerical IP address)
-     Use i.e '-' to use default address. */
-  CINIT(FTPPORT, OBJECTPOINT, 17),
-
-  /* Set the User-Agent string (examined by some CGIs) */
-  CINIT(USERAGENT, OBJECTPOINT, 18),
-
-  /* If the download receives less than "low speed limit" bytes/second
-   * during "low speed time" seconds, the operations is aborted.
-   * You could i.e if you have a pretty high speed connection, abort if
-   * it is less than 2000 bytes/sec during 20 seconds.
-   */
-
-  /* Set the "low speed limit" */
-  CINIT(LOW_SPEED_LIMIT, LONG, 19),
-
-  /* Set the "low speed time" */
-  CINIT(LOW_SPEED_TIME, LONG, 20),
-
-  /* Set the continuation offset.
-   *
-   * Note there is also a _LARGE version of this key which uses
-   * off_t types, allowing for large file offsets on platforms which
-   * use larger-than-32-bit off_t's.  Look below for RESUME_FROM_LARGE.
-   */
-  CINIT(RESUME_FROM, LONG, 21),
-
-  /* Set cookie in request: */
-  CINIT(COOKIE, OBJECTPOINT, 22),
-
-  /* This points to a linked list of headers, struct curl_slist kind. This
-     list is also used for RTSP (in spite of its name) */
-  CINIT(HTTPHEADER, OBJECTPOINT, 23),
-
-  /* This points to a linked list of post entries, struct curl_httppost */
-  CINIT(HTTPPOST, OBJECTPOINT, 24),
-
-  /* name of the file keeping your private SSL-certificate */
-  CINIT(SSLCERT, OBJECTPOINT, 25),
-
-  /* password for the SSL or SSH private key */
-  CINIT(KEYPASSWD, OBJECTPOINT, 26),
-
-  /* send TYPE parameter? */
-  CINIT(CRLF, LONG, 27),
-
-  /* send linked-list of QUOTE commands */
-  CINIT(QUOTE, OBJECTPOINT, 28),
-
-  /* send FILE * or void * to store headers to, if you use a callback it
-     is simply passed to the callback unmodified */
-  CINIT(HEADERDATA, OBJECTPOINT, 29),
-
-  /* point to a file to read the initial cookies from, also enables
-     "cookie awareness" */
-  CINIT(COOKIEFILE, OBJECTPOINT, 31),
-
-  /* What version to specifically try to use.
-     See CURL_SSLVERSION defines below. */
-  CINIT(SSLVERSION, LONG, 32),
-
-  /* What kind of HTTP time condition to use, see defines */
-  CINIT(TIMECONDITION, LONG, 33),
-
-  /* Time to use with the above condition. Specified in number of seconds
-     since 1 Jan 1970 */
-  CINIT(TIMEVALUE, LONG, 34),
-
-  /* 35 = OBSOLETE */
-
-  /* Custom request, for customizing the get command like
-     HTTP: DELETE, TRACE and others
-     FTP: to use a different list command
-     */
-  CINIT(CUSTOMREQUEST, OBJECTPOINT, 36),
-
-  /* HTTP request, for odd commands like DELETE, TRACE and others */
-  CINIT(STDERR, OBJECTPOINT, 37),
-
-  /* 38 is not used */
-
-  /* send linked-list of post-transfer QUOTE commands */
-  CINIT(POSTQUOTE, OBJECTPOINT, 39),
-
-  CINIT(OBSOLETE40, OBJECTPOINT, 40), /* OBSOLETE, do not use! */
-
-  CINIT(VERBOSE, LONG, 41),      /* talk a lot */
-  CINIT(HEADER, LONG, 42),       /* throw the header out too */
-  CINIT(NOPROGRESS, LONG, 43),   /* shut off the progress meter */
-  CINIT(NOBODY, LONG, 44),       /* use HEAD to get http document */
-  CINIT(FAILONERROR, LONG, 45),  /* no output on http error codes >= 400 */
-  CINIT(UPLOAD, LONG, 46),       /* this is an upload */
-  CINIT(POST, LONG, 47),         /* HTTP POST method */
-  CINIT(DIRLISTONLY, LONG, 48),  /* bare names when listing directories */
-
-  CINIT(APPEND, LONG, 50),       /* Append instead of overwrite on upload! */
-
-  /* Specify whether to read the user+password from the .netrc or the URL.
-   * This must be one of the CURL_NETRC_* enums below. */
-  CINIT(NETRC, LONG, 51),
-
-  CINIT(FOLLOWLOCATION, LONG, 52),  /* use Location: Luke! */
-
-  CINIT(TRANSFERTEXT, LONG, 53), /* transfer data in text/ASCII format */
-  CINIT(PUT, LONG, 54),          /* HTTP PUT */
-
-  /* 55 = OBSOLETE */
-
-  /* DEPRECATED
-   * Function that will be called instead of the internal progress display
-   * function. This function should be defined as the curl_progress_callback
-   * prototype defines. */
-  CINIT(PROGRESSFUNCTION, FUNCTIONPOINT, 56),
-
-  /* Data passed to the CURLOPT_PROGRESSFUNCTION and CURLOPT_XFERINFOFUNCTION
-     callbacks */
-  CINIT(PROGRESSDATA, OBJECTPOINT, 57),
-#define CURLOPT_XFERINFODATA CURLOPT_PROGRESSDATA
-
-  /* We want the referrer field set automatically when following locations */
-  CINIT(AUTOREFERER, LONG, 58),
-
-  /* Port of the proxy, can be set in the proxy string as well with:
-     "[host]:[port]" */
-  CINIT(PROXYPORT, LONG, 59),
-
-  /* size of the POST input data, if strlen() is not good to use */
-  CINIT(POSTFIELDSIZE, LONG, 60),
-
-  /* tunnel non-http operations through a HTTP proxy */
-  CINIT(HTTPPROXYTUNNEL, LONG, 61),
-
-  /* Set the interface string to use as outgoing network interface */
-  CINIT(INTERFACE, OBJECTPOINT, 62),
-
-  /* Set the krb4/5 security level, this also enables krb4/5 awareness.  This
-   * is a string, 'clear', 'safe', 'confidential' or 'private'.  If the string
-   * is set but doesn't match one of these, 'private' will be used.  */
-  CINIT(KRBLEVEL, OBJECTPOINT, 63),
-
-  /* Set if we should verify the peer in ssl handshake, set 1 to verify. */
-  CINIT(SSL_VERIFYPEER, LONG, 64),
-
-  /* The CApath or CAfile used to validate the peer certificate
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(CAINFO, OBJECTPOINT, 65),
-
-  /* 66 = OBSOLETE */
-  /* 67 = OBSOLETE */
-
-  /* Maximum number of http redirects to follow */
-  CINIT(MAXREDIRS, LONG, 68),
-
-  /* Pass a long set to 1 to get the date of the requested document (if
-     possible)! Pass a zero to shut it off. */
-  CINIT(FILETIME, LONG, 69),
-
-  /* This points to a linked list of telnet options */
-  CINIT(TELNETOPTIONS, OBJECTPOINT, 70),
-
-  /* Max amount of cached alive connections */
-  CINIT(MAXCONNECTS, LONG, 71),
-
-  CINIT(OBSOLETE72, LONG, 72), /* OBSOLETE, do not use! */
-
-  /* 73 = OBSOLETE */
-
-  /* Set to explicitly use a new connection for the upcoming transfer.
-     Do not use this unless you're absolutely sure of this, as it makes the
-     operation slower and is less friendly for the network. */
-  CINIT(FRESH_CONNECT, LONG, 74),
-
-  /* Set to explicitly forbid the upcoming transfer's connection to be re-used
-     when done. Do not use this unless you're absolutely sure of this, as it
-     makes the operation slower and is less friendly for the network. */
-  CINIT(FORBID_REUSE, LONG, 75),
-
-  /* Set to a file name that contains random data for libcurl to use to
-     seed the random engine when doing SSL connects. */
-  CINIT(RANDOM_FILE, OBJECTPOINT, 76),
-
-  /* Set to the Entropy Gathering Daemon socket pathname */
-  CINIT(EGDSOCKET, OBJECTPOINT, 77),
-
-  /* Time-out connect operations after this amount of seconds, if connects are
-     OK within this time, then fine... This only aborts the connect phase. */
-  CINIT(CONNECTTIMEOUT, LONG, 78),
-
-  /* Function that will be called to store headers (instead of fwrite). The
-   * parameters will use fwrite() syntax, make sure to follow them. */
-  CINIT(HEADERFUNCTION, FUNCTIONPOINT, 79),
-
-  /* Set this to force the HTTP request to get back to GET. Only really usable
-     if POST, PUT or a custom request have been used first.
-   */
-  CINIT(HTTPGET, LONG, 80),
-
-  /* Set if we should verify the Common name from the peer certificate in ssl
-   * handshake, set 1 to check existence, 2 to ensure that it matches the
-   * provided hostname. */
-  CINIT(SSL_VERIFYHOST, LONG, 81),
-
-  /* Specify which file name to write all known cookies in after completed
-     operation. Set file name to "-" (dash) to make it go to stdout. */
-  CINIT(COOKIEJAR, OBJECTPOINT, 82),
-
-  /* Specify which SSL ciphers to use */
-  CINIT(SSL_CIPHER_LIST, OBJECTPOINT, 83),
-
-  /* Specify which HTTP version to use! This must be set to one of the
-     CURL_HTTP_VERSION* enums set below. */
-  CINIT(HTTP_VERSION, LONG, 84),
-
-  /* Specifically switch on or off the FTP engine's use of the EPSV command. By
-     default, that one will always be attempted before the more traditional
-     PASV command. */
-  CINIT(FTP_USE_EPSV, LONG, 85),
-
-  /* type of the file keeping your SSL-certificate ("DER", "PEM", "ENG") */
-  CINIT(SSLCERTTYPE, OBJECTPOINT, 86),
-
-  /* name of the file keeping your private SSL-key */
-  CINIT(SSLKEY, OBJECTPOINT, 87),
-
-  /* type of the file keeping your private SSL-key ("DER", "PEM", "ENG") */
-  CINIT(SSLKEYTYPE, OBJECTPOINT, 88),
-
-  /* crypto engine for the SSL-sub system */
-  CINIT(SSLENGINE, OBJECTPOINT, 89),
-
-  /* set the crypto engine for the SSL-sub system as default
-     the param has no meaning...
-   */
-  CINIT(SSLENGINE_DEFAULT, LONG, 90),
-
-  /* Non-zero value means to use the global dns cache */
-  CINIT(DNS_USE_GLOBAL_CACHE, LONG, 91), /* DEPRECATED, do not use! */
-
-  /* DNS cache timeout */
-  CINIT(DNS_CACHE_TIMEOUT, LONG, 92),
-
-  /* send linked-list of pre-transfer QUOTE commands */
-  CINIT(PREQUOTE, OBJECTPOINT, 93),
-
-  /* set the debug function */
-  CINIT(DEBUGFUNCTION, FUNCTIONPOINT, 94),
-
-  /* set the data for the debug function */
-  CINIT(DEBUGDATA, OBJECTPOINT, 95),
-
-  /* mark this as start of a cookie session */
-  CINIT(COOKIESESSION, LONG, 96),
-
-  /* The CApath directory used to validate the peer certificate
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(CAPATH, OBJECTPOINT, 97),
-
-  /* Instruct libcurl to use a smaller receive buffer */
-  CINIT(BUFFERSIZE, LONG, 98),
-
-  /* Instruct libcurl to not use any signal/alarm handlers, even when using
-     timeouts. This option is useful for multi-threaded applications.
-     See libcurl-the-guide for more background information. */
-  CINIT(NOSIGNAL, LONG, 99),
-
-  /* Provide a CURLShare for mutexing non-ts data */
-  CINIT(SHARE, OBJECTPOINT, 100),
-
-  /* indicates type of proxy. accepted values are CURLPROXY_HTTP (default),
-     CURLPROXY_SOCKS4, CURLPROXY_SOCKS4A and CURLPROXY_SOCKS5. */
-  CINIT(PROXYTYPE, LONG, 101),
-
-  /* Set the Accept-Encoding string. Use this to tell a server you would like
-     the response to be compressed. Before 7.21.6, this was known as
-     CURLOPT_ENCODING */
-  CINIT(ACCEPT_ENCODING, OBJECTPOINT, 102),
-
-  /* Set pointer to private data */
-  CINIT(PRIVATE, OBJECTPOINT, 103),
-
-  /* Set aliases for HTTP 200 in the HTTP Response header */
-  CINIT(HTTP200ALIASES, OBJECTPOINT, 104),
-
-  /* Continue to send authentication (user+password) when following locations,
-     even when hostname changed. This can potentially send off the name
-     and password to whatever host the server decides. */
-  CINIT(UNRESTRICTED_AUTH, LONG, 105),
-
-  /* Specifically switch on or off the FTP engine's use of the EPRT command (
-     it also disables the LPRT attempt). By default, those ones will always be
-     attempted before the good old traditional PORT command. */
-  CINIT(FTP_USE_EPRT, LONG, 106),
-
-  /* Set this to a bitmask value to enable the particular authentications
-     methods you like. Use this in combination with CURLOPT_USERPWD.
-     Note that setting multiple bits may cause extra network round-trips. */
-  CINIT(HTTPAUTH, LONG, 107),
-
-  /* Set the ssl context callback function, currently only for OpenSSL ssl_ctx
-     in second argument. The function must be matching the
-     curl_ssl_ctx_callback proto. */
-  CINIT(SSL_CTX_FUNCTION, FUNCTIONPOINT, 108),
-
-  /* Set the userdata for the ssl context callback function's third
-     argument */
-  CINIT(SSL_CTX_DATA, OBJECTPOINT, 109),
-
-  /* FTP Option that causes missing dirs to be created on the remote server.
-     In 7.19.4 we introduced the convenience enums for this option using the
-     CURLFTP_CREATE_DIR prefix.
-  */
-  CINIT(FTP_CREATE_MISSING_DIRS, LONG, 110),
-
-  /* Set this to a bitmask value to enable the particular authentications
-     methods you like. Use this in combination with CURLOPT_PROXYUSERPWD.
-     Note that setting multiple bits may cause extra network round-trips. */
-  CINIT(PROXYAUTH, LONG, 111),
-
-  /* FTP option that changes the timeout, in seconds, associated with
-     getting a response.  This is different from transfer timeout time and
-     essentially places a demand on the FTP server to acknowledge commands
-     in a timely manner. */
-  CINIT(FTP_RESPONSE_TIMEOUT, LONG, 112),
-#define CURLOPT_SERVER_RESPONSE_TIMEOUT CURLOPT_FTP_RESPONSE_TIMEOUT
-
-  /* Set this option to one of the CURL_IPRESOLVE_* defines (see below) to
-     tell libcurl to resolve names to those IP versions only. This only has
-     affect on systems with support for more than one, i.e IPv4 _and_ IPv6. */
-  CINIT(IPRESOLVE, LONG, 113),
-
-  /* Set this option to limit the size of a file that will be downloaded from
-     an HTTP or FTP server.
-
-     Note there is also _LARGE version which adds large file support for
-     platforms which have larger off_t sizes.  See MAXFILESIZE_LARGE below. */
-  CINIT(MAXFILESIZE, LONG, 114),
-
-  /* See the comment for INFILESIZE above, but in short, specifies
-   * the size of the file being uploaded.  -1 means unknown.
-   */
-  CINIT(INFILESIZE_LARGE, OFF_T, 115),
-
-  /* Sets the continuation offset.  There is also a LONG version of this;
-   * look above for RESUME_FROM.
-   */
-  CINIT(RESUME_FROM_LARGE, OFF_T, 116),
-
-  /* Sets the maximum size of data that will be downloaded from
-   * an HTTP or FTP server.  See MAXFILESIZE above for the LONG version.
-   */
-  CINIT(MAXFILESIZE_LARGE, OFF_T, 117),
-
-  /* Set this option to the file name of your .netrc file you want libcurl
-     to parse (using the CURLOPT_NETRC option). If not set, libcurl will do
-     a poor attempt to find the user's home directory and check for a .netrc
-     file in there. */
-  CINIT(NETRC_FILE, OBJECTPOINT, 118),
-
-  /* Enable SSL/TLS for FTP, pick one of:
-     CURLUSESSL_TRY     - try using SSL, proceed anyway otherwise
-     CURLUSESSL_CONTROL - SSL for the control connection or fail
-     CURLUSESSL_ALL     - SSL for all communication or fail
-  */
-  CINIT(USE_SSL, LONG, 119),
-
-  /* The _LARGE version of the standard POSTFIELDSIZE option */
-  CINIT(POSTFIELDSIZE_LARGE, OFF_T, 120),
-
-  /* Enable/disable the TCP Nagle algorithm */
-  CINIT(TCP_NODELAY, LONG, 121),
-
-  /* 122 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 123 OBSOLETE. Gone in 7.16.0 */
-  /* 124 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 125 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 126 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 127 OBSOLETE. Gone in 7.16.0 */
-  /* 128 OBSOLETE. Gone in 7.16.0 */
-
-  /* When FTP over SSL/TLS is selected (with CURLOPT_USE_SSL), this option
-     can be used to change libcurl's default action which is to first try
-     "AUTH SSL" and then "AUTH TLS" in this order, and proceed when a OK
-     response has been received.
-
-     Available parameters are:
-     CURLFTPAUTH_DEFAULT - let libcurl decide
-     CURLFTPAUTH_SSL     - try "AUTH SSL" first, then TLS
-     CURLFTPAUTH_TLS     - try "AUTH TLS" first, then SSL
-  */
-  CINIT(FTPSSLAUTH, LONG, 129),
-
-  CINIT(IOCTLFUNCTION, FUNCTIONPOINT, 130),
-  CINIT(IOCTLDATA, OBJECTPOINT, 131),
-
-  /* 132 OBSOLETE. Gone in 7.16.0 */
-  /* 133 OBSOLETE. Gone in 7.16.0 */
-
-  /* zero terminated string for pass on to the FTP server when asked for
-     "account" info */
-  CINIT(FTP_ACCOUNT, OBJECTPOINT, 134),
-
-  /* feed cookies into cookie engine */
-  CINIT(COOKIELIST, OBJECTPOINT, 135),
-
-  /* ignore Content-Length */
-  CINIT(IGNORE_CONTENT_LENGTH, LONG, 136),
-
-  /* Set to non-zero to skip the IP address received in a 227 PASV FTP server
-     response. Typically used for FTP-SSL purposes but is not restricted to
-     that. libcurl will then instead use the same IP address it used for the
-     control connection. */
-  CINIT(FTP_SKIP_PASV_IP, LONG, 137),
-
-  /* Select "file method" to use when doing FTP, see the curl_ftpmethod
-     above. */
-  CINIT(FTP_FILEMETHOD, LONG, 138),
-
-  /* Local port number to bind the socket to */
-  CINIT(LOCALPORT, LONG, 139),
-
-  /* Number of ports to try, including the first one set with LOCALPORT.
-     Thus, setting it to 1 will make no additional attempts but the first.
-  */
-  CINIT(LOCALPORTRANGE, LONG, 140),
-
-  /* no transfer, set up connection and let application use the socket by
-     extracting it with CURLINFO_LASTSOCKET */
-  CINIT(CONNECT_ONLY, LONG, 141),
-
-  /* Function that will be called to convert from the
-     network encoding (instead of using the iconv calls in libcurl) */
-  CINIT(CONV_FROM_NETWORK_FUNCTION, FUNCTIONPOINT, 142),
-
-  /* Function that will be called to convert to the
-     network encoding (instead of using the iconv calls in libcurl) */
-  CINIT(CONV_TO_NETWORK_FUNCTION, FUNCTIONPOINT, 143),
-
-  /* Function that will be called to convert from UTF8
-     (instead of using the iconv calls in libcurl)
-     Note that this is used only for SSL certificate processing */
-  CINIT(CONV_FROM_UTF8_FUNCTION, FUNCTIONPOINT, 144),
-
-  /* if the connection proceeds too quickly then need to slow it down */
-  /* limit-rate: maximum number of bytes per second to send or receive */
-  CINIT(MAX_SEND_SPEED_LARGE, OFF_T, 145),
-  CINIT(MAX_RECV_SPEED_LARGE, OFF_T, 146),
-
-  /* Pointer to command string to send if USER/PASS fails. */
-  CINIT(FTP_ALTERNATIVE_TO_USER, OBJECTPOINT, 147),
-
-  /* callback function for setting socket options */
-  CINIT(SOCKOPTFUNCTION, FUNCTIONPOINT, 148),
-  CINIT(SOCKOPTDATA, OBJECTPOINT, 149),
-
-  /* set to 0 to disable session ID re-use for this transfer, default is
-     enabled (== 1) */
-  CINIT(SSL_SESSIONID_CACHE, LONG, 150),
-
-  /* allowed SSH authentication methods */
-  CINIT(SSH_AUTH_TYPES, LONG, 151),
-
-  /* Used by scp/sftp to do public/private key authentication */
-  CINIT(SSH_PUBLIC_KEYFILE, OBJECTPOINT, 152),
-  CINIT(SSH_PRIVATE_KEYFILE, OBJECTPOINT, 153),
-
-  /* Send CCC (Clear Command Channel) after authentication */
-  CINIT(FTP_SSL_CCC, LONG, 154),
-
-  /* Same as TIMEOUT and CONNECTTIMEOUT, but with ms resolution */
-  CINIT(TIMEOUT_MS, LONG, 155),
-  CINIT(CONNECTTIMEOUT_MS, LONG, 156),
-
-  /* set to zero to disable the libcurl's decoding and thus pass the raw body
-     data to the application even when it is encoded/compressed */
-  CINIT(HTTP_TRANSFER_DECODING, LONG, 157),
-  CINIT(HTTP_CONTENT_DECODING, LONG, 158),
-
-  /* Permission used when creating new files and directories on the remote
-     server for protocols that support it, SFTP/SCP/FILE */
-  CINIT(NEW_FILE_PERMS, LONG, 159),
-  CINIT(NEW_DIRECTORY_PERMS, LONG, 160),
-
-  /* Set the behaviour of POST when redirecting. Values must be set to one
-     of CURL_REDIR* defines below. This used to be called CURLOPT_POST301 */
-  CINIT(POSTREDIR, LONG, 161),
-
-  /* used by scp/sftp to verify the host's public key */
-  CINIT(SSH_HOST_PUBLIC_KEY_MD5, OBJECTPOINT, 162),
-
-  /* Callback function for opening socket (instead of socket(2)). Optionally,
-     callback is able change the address or refuse to connect returning
-     CURL_SOCKET_BAD.  The callback should have type
-     curl_opensocket_callback */
-  CINIT(OPENSOCKETFUNCTION, FUNCTIONPOINT, 163),
-  CINIT(OPENSOCKETDATA, OBJECTPOINT, 164),
-
-  /* POST volatile input fields. */
-  CINIT(COPYPOSTFIELDS, OBJECTPOINT, 165),
-
-  /* set transfer mode (;type=<a|i>) when doing FTP via an HTTP proxy */
-  CINIT(PROXY_TRANSFER_MODE, LONG, 166),
-
-  /* Callback function for seeking in the input stream */
-  CINIT(SEEKFUNCTION, FUNCTIONPOINT, 167),
-  CINIT(SEEKDATA, OBJECTPOINT, 168),
-
-  /* CRL file */
-  CINIT(CRLFILE, OBJECTPOINT, 169),
-
-  /* Issuer certificate */
-  CINIT(ISSUERCERT, OBJECTPOINT, 170),
-
-  /* (IPv6) Address scope */
-  CINIT(ADDRESS_SCOPE, LONG, 171),
-
-  /* Collect certificate chain info and allow it to get retrievable with
-     CURLINFO_CERTINFO after the transfer is complete. */
-  CINIT(CERTINFO, LONG, 172),
-
-  /* "name" and "pwd" to use when fetching. */
-  CINIT(USERNAME, OBJECTPOINT, 173),
-  CINIT(PASSWORD, OBJECTPOINT, 174),
-
-    /* "name" and "pwd" to use with Proxy when fetching. */
-  CINIT(PROXYUSERNAME, OBJECTPOINT, 175),
-  CINIT(PROXYPASSWORD, OBJECTPOINT, 176),
-
-  /* Comma separated list of hostnames defining no-proxy zones. These should
-     match both hostnames directly, and hostnames within a domain. For
-     example, local.com will match local.com and www.local.com, but NOT
-     notlocal.com or www.notlocal.com. For compatibility with other
-     implementations of this, .local.com will be considered to be the same as
-     local.com. A single * is the only valid wildcard, and effectively
-     disables the use of proxy. */
-  CINIT(NOPROXY, OBJECTPOINT, 177),
-
-  /* block size for TFTP transfers */
-  CINIT(TFTP_BLKSIZE, LONG, 178),
-
-  /* Socks Service */
-  CINIT(SOCKS5_GSSAPI_SERVICE, OBJECTPOINT, 179),
-
-  /* Socks Service */
-  CINIT(SOCKS5_GSSAPI_NEC, LONG, 180),
-
-  /* set the bitmask for the protocols that are allowed to be used for the
-     transfer, which thus helps the app which takes URLs from users or other
-     external inputs and want to restrict what protocol(s) to deal
-     with. Defaults to CURLPROTO_ALL. */
-  CINIT(PROTOCOLS, LONG, 181),
-
-  /* set the bitmask for the protocols that libcurl is allowed to follow to,
-     as a subset of the CURLOPT_PROTOCOLS ones. That means the protocol needs
-     to be set in both bitmasks to be allowed to get redirected to. Defaults
-     to all protocols except FILE and SCP. */
-  CINIT(REDIR_PROTOCOLS, LONG, 182),
-
-  /* set the SSH knownhost file name to use */
-  CINIT(SSH_KNOWNHOSTS, OBJECTPOINT, 183),
-
-  /* set the SSH host key callback, must point to a curl_sshkeycallback
-     function */
-  CINIT(SSH_KEYFUNCTION, FUNCTIONPOINT, 184),
-
-  /* set the SSH host key callback custom pointer */
-  CINIT(SSH_KEYDATA, OBJECTPOINT, 185),
-
-  /* set the SMTP mail originator */
-  CINIT(MAIL_FROM, OBJECTPOINT, 186),
-
-  /* set the SMTP mail receiver(s) */
-  CINIT(MAIL_RCPT, OBJECTPOINT, 187),
-
-  /* FTP: send PRET before PASV */
-  CINIT(FTP_USE_PRET, LONG, 188),
-
-  /* RTSP request method (OPTIONS, SETUP, PLAY, etc...) */
-  CINIT(RTSP_REQUEST, LONG, 189),
-
-  /* The RTSP session identifier */
-  CINIT(RTSP_SESSION_ID, OBJECTPOINT, 190),
-
-  /* The RTSP stream URI */
-  CINIT(RTSP_STREAM_URI, OBJECTPOINT, 191),
-
-  /* The Transport: header to use in RTSP requests */
-  CINIT(RTSP_TRANSPORT, OBJECTPOINT, 192),
-
-  /* Manually initialize the client RTSP CSeq for this handle */
-  CINIT(RTSP_CLIENT_CSEQ, LONG, 193),
-
-  /* Manually initialize the server RTSP CSeq for this handle */
-  CINIT(RTSP_SERVER_CSEQ, LONG, 194),
-
-  /* The stream to pass to INTERLEAVEFUNCTION. */
-  CINIT(INTERLEAVEDATA, OBJECTPOINT, 195),
-
-  /* Let the application define a custom write method for RTP data */
-  CINIT(INTERLEAVEFUNCTION, FUNCTIONPOINT, 196),
-
-  /* Turn on wildcard matching */
-  CINIT(WILDCARDMATCH, LONG, 197),
-
-  /* Directory matching callback called before downloading of an
-     individual file (chunk) started */
-  CINIT(CHUNK_BGN_FUNCTION, FUNCTIONPOINT, 198),
-
-  /* Directory matching callback called after the file (chunk)
-     was downloaded, or skipped */
-  CINIT(CHUNK_END_FUNCTION, FUNCTIONPOINT, 199),
-
-  /* Change match (fnmatch-like) callback for wildcard matching */
-  CINIT(FNMATCH_FUNCTION, FUNCTIONPOINT, 200),
-
-  /* Let the application define custom chunk data pointer */
-  CINIT(CHUNK_DATA, OBJECTPOINT, 201),
-
-  /* FNMATCH_FUNCTION user pointer */
-  CINIT(FNMATCH_DATA, OBJECTPOINT, 202),
-
-  /* send linked-list of name:port:address sets */
-  CINIT(RESOLVE, OBJECTPOINT, 203),
-
-  /* Set a username for authenticated TLS */
-  CINIT(TLSAUTH_USERNAME, OBJECTPOINT, 204),
-
-  /* Set a password for authenticated TLS */
-  CINIT(TLSAUTH_PASSWORD, OBJECTPOINT, 205),
-
-  /* Set authentication type for authenticated TLS */
-  CINIT(TLSAUTH_TYPE, OBJECTPOINT, 206),
-
-  /* Set to 1 to enable the "TE:" header in HTTP requests to ask for
-     compressed transfer-encoded responses. Set to 0 to disable the use of TE:
-     in outgoing requests. The current default is 0, but it might change in a
-     future libcurl release.
-
-     libcurl will ask for the compressed methods it knows of, and if that
-     isn't any, it will not ask for transfer-encoding at all even if this
-     option is set to 1.
-
-  */
-  CINIT(TRANSFER_ENCODING, LONG, 207),
-
-  /* Callback function for closing socket (instead of close(2)). The callback
-     should have type curl_closesocket_callback */
-  CINIT(CLOSESOCKETFUNCTION, FUNCTIONPOINT, 208),
-  CINIT(CLOSESOCKETDATA, OBJECTPOINT, 209),
-
-  /* allow GSSAPI credential delegation */
-  CINIT(GSSAPI_DELEGATION, LONG, 210),
-
-  /* Set the name servers to use for DNS resolution */
-  CINIT(DNS_SERVERS, OBJECTPOINT, 211),
-
-  /* Time-out accept operations (currently for FTP only) after this amount
-     of miliseconds. */
-  CINIT(ACCEPTTIMEOUT_MS, LONG, 212),
-
-  /* Set TCP keepalive */
-  CINIT(TCP_KEEPALIVE, LONG, 213),
-
-  /* non-universal keepalive knobs (Linux, AIX, HP-UX, more) */
-  CINIT(TCP_KEEPIDLE, LONG, 214),
-  CINIT(TCP_KEEPINTVL, LONG, 215),
-
-  /* Enable/disable specific SSL features with a bitmask, see CURLSSLOPT_* */
-  CINIT(SSL_OPTIONS, LONG, 216),
-
-  /* Set the SMTP auth originator */
-  CINIT(MAIL_AUTH, OBJECTPOINT, 217),
-
-  /* Enable/disable SASL initial response */
-  CINIT(SASL_IR, LONG, 218),
-
-  /* Function that will be called instead of the internal progress display
-   * function. This function should be defined as the curl_xferinfo_callback
-   * prototype defines. (Deprecates CURLOPT_PROGRESSFUNCTION) */
-  CINIT(XFERINFOFUNCTION, FUNCTIONPOINT, 219),
-
-  /* The XOAUTH2 bearer token */
-  CINIT(XOAUTH2_BEARER, OBJECTPOINT, 220),
-
-  /* Set the interface string to use as outgoing network
-   * interface for DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_INTERFACE, OBJECTPOINT, 221),
-
-  /* Set the local IPv4 address to use for outgoing DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_LOCAL_IP4, OBJECTPOINT, 222),
-
-  /* Set the local IPv4 address to use for outgoing DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_LOCAL_IP6, OBJECTPOINT, 223),
-
-  /* Set authentication options directly */
-  CINIT(LOGIN_OPTIONS, OBJECTPOINT, 224),
-
-  /* Enable/disable TLS NPN extension (http2 over ssl might fail without) */
-  CINIT(SSL_ENABLE_NPN, LONG, 225),
-
-  /* Enable/disable TLS ALPN extension (http2 over ssl might fail without) */
-  CINIT(SSL_ENABLE_ALPN, LONG, 226),
-
-  /* Time to wait for a response to a HTTP request containing an
-   * Expect: 100-continue header before sending the data anyway. */
-  CINIT(EXPECT_100_TIMEOUT_MS, LONG, 227),
-
-  /* This points to a linked list of headers used for proxy requests only,
-     struct curl_slist kind */
-  CINIT(PROXYHEADER, OBJECTPOINT, 228),
-
-  /* Pass in a bitmask of "header options" */
-  CINIT(HEADEROPT, LONG, 229),
-
-  /* The public key in DER form used to validate the peer public key
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(PINNEDPUBLICKEY, OBJECTPOINT, 230),
-
-  /* Path to Unix domain socket */
-  CINIT(UNIX_SOCKET_PATH, OBJECTPOINT, 231),
-
-  /* Set if we should verify the certificate status. */
-  CINIT(SSL_VERIFYSTATUS, LONG, 232),
-
-  /* Set if we should enable TLS false start. */
-  CINIT(SSL_FALSESTART, LONG, 233),
-
-  /* Do not squash dot-dot sequences */
-  CINIT(PATH_AS_IS, LONG, 234),
-
-  /* Proxy Service Name */
-  CINIT(PROXY_SERVICE_NAME, OBJECTPOINT, 235),
-
-  /* Service Name */
-  CINIT(SERVICE_NAME, OBJECTPOINT, 236),
-
-  /* Wait/don't wait for pipe/mutex to clarify */
-  CINIT(PIPEWAIT, LONG, 237),
-
-  CURLOPT_LASTENTRY /* the last unused */
-} CURLoption;
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Backwards compatibility with older names */
-/* These are scheduled to disappear by 2011 */
-
-/* This was added in version 7.19.1 */
-#define CURLOPT_POST301 CURLOPT_POSTREDIR
-
-/* These are scheduled to disappear by 2009 */
-
-/* The following were added in 7.17.0 */
-#define CURLOPT_SSLKEYPASSWD CURLOPT_KEYPASSWD
-#define CURLOPT_FTPAPPEND CURLOPT_APPEND
-#define CURLOPT_FTPLISTONLY CURLOPT_DIRLISTONLY
-#define CURLOPT_FTP_SSL CURLOPT_USE_SSL
-
-/* The following were added earlier */
-
-#define CURLOPT_SSLCERTPASSWD CURLOPT_KEYPASSWD
-#define CURLOPT_KRB4LEVEL CURLOPT_KRBLEVEL
-
-#else
-/* This is set if CURL_NO_OLDIES is defined at compile-time */
-#undef CURLOPT_DNS_USE_GLOBAL_CACHE /* soon obsolete */
-#endif
-
-
-  /* Below here follows defines for the CURLOPT_IPRESOLVE option. If a host
-     name resolves addresses using more than one IP protocol version, this
-     option might be handy to force libcurl to use a specific IP version. */
-#define CURL_IPRESOLVE_WHATEVER 0 /* default, resolves addresses to all IP
-                                     versions that your system allows */
-#define CURL_IPRESOLVE_V4       1 /* resolve to IPv4 addresses */
-#define CURL_IPRESOLVE_V6       2 /* resolve to IPv6 addresses */
-
-  /* three convenient "aliases" that follow the name scheme better */
-#define CURLOPT_RTSPHEADER CURLOPT_HTTPHEADER
-
-  /* These enums are for use with the CURLOPT_HTTP_VERSION option. */
-enum {
-  CURL_HTTP_VERSION_NONE, /* setting this means we don't care, and that we'd
-                             like the library to choose the best possible
-                             for us! */
-  CURL_HTTP_VERSION_1_0,  /* please use HTTP 1.0 in the request */
-  CURL_HTTP_VERSION_1_1,  /* please use HTTP 1.1 in the request */
-  CURL_HTTP_VERSION_2_0,  /* please use HTTP 2.0 in the request */
-
-  CURL_HTTP_VERSION_LAST /* *ILLEGAL* http version */
-};
-
-/* Convenience definition simple because the name of the version is HTTP/2 and
-   not 2.0. The 2_0 version of the enum name was set while the version was
-   still planned to be 2.0 and we stick to it for compatibility. */
-#define CURL_HTTP_VERSION_2 CURL_HTTP_VERSION_2_0
-
-/*
- * Public API enums for RTSP requests
- */
-enum {
-    CURL_RTSPREQ_NONE, /* first in list */
-    CURL_RTSPREQ_OPTIONS,
-    CURL_RTSPREQ_DESCRIBE,
-    CURL_RTSPREQ_ANNOUNCE,
-    CURL_RTSPREQ_SETUP,
-    CURL_RTSPREQ_PLAY,
-    CURL_RTSPREQ_PAUSE,
-    CURL_RTSPREQ_TEARDOWN,
-    CURL_RTSPREQ_GET_PARAMETER,
-    CURL_RTSPREQ_SET_PARAMETER,
-    CURL_RTSPREQ_RECORD,
-    CURL_RTSPREQ_RECEIVE,
-    CURL_RTSPREQ_LAST /* last in list */
-};
-
-  /* These enums are for use with the CURLOPT_NETRC option. */
-enum CURL_NETRC_OPTION {
-  CURL_NETRC_IGNORED,     /* The .netrc will never be read.
-                           * This is the default. */
-  CURL_NETRC_OPTIONAL,    /* A user:password in the URL will be preferred
-                           * to one in the .netrc. */
-  CURL_NETRC_REQUIRED,    /* A user:password in the URL will be ignored.
-                           * Unless one is set programmatically, the .netrc
-                           * will be queried. */
-  CURL_NETRC_LAST
-};
-
-enum {
-  CURL_SSLVERSION_DEFAULT,
-  CURL_SSLVERSION_TLSv1, /* TLS 1.x */
-  CURL_SSLVERSION_SSLv2,
-  CURL_SSLVERSION_SSLv3,
-  CURL_SSLVERSION_TLSv1_0,
-  CURL_SSLVERSION_TLSv1_1,
-  CURL_SSLVERSION_TLSv1_2,
-
-  CURL_SSLVERSION_LAST /* never use, keep last */
-};
-
-enum CURL_TLSAUTH {
-  CURL_TLSAUTH_NONE,
-  CURL_TLSAUTH_SRP,
-  CURL_TLSAUTH_LAST /* never use, keep last */
-};
-
-/* symbols to use with CURLOPT_POSTREDIR.
-   CURL_REDIR_POST_301, CURL_REDIR_POST_302 and CURL_REDIR_POST_303
-   can be bitwise ORed so that CURL_REDIR_POST_301 | CURL_REDIR_POST_302
-   | CURL_REDIR_POST_303 == CURL_REDIR_POST_ALL */
-
-#define CURL_REDIR_GET_ALL  0
-#define CURL_REDIR_POST_301 1
-#define CURL_REDIR_POST_302 2
-#define CURL_REDIR_POST_303 4
-#define CURL_REDIR_POST_ALL \
-    (CURL_REDIR_POST_301|CURL_REDIR_POST_302|CURL_REDIR_POST_303)
-
-typedef enum {
-  CURL_TIMECOND_NONE,
-
-  CURL_TIMECOND_IFMODSINCE,
-  CURL_TIMECOND_IFUNMODSINCE,
-  CURL_TIMECOND_LASTMOD,
-
-  CURL_TIMECOND_LAST
-} curl_TimeCond;
-
-
-/* curl_strequal() and curl_strnequal() are subject for removal in a future
-   libcurl, see lib/README.curlx for details */
-CURL_EXTERN int (curl_strequal)(const char *s1, const char *s2);
-CURL_EXTERN int (curl_strnequal)(const char *s1, const char *s2, size_t n);
-
-/* name is uppercase CURLFORM_<name> */
-#ifdef CFINIT
-#undef CFINIT
-#endif
-
-#ifdef CURL_ISOCPP
-#define CFINIT(name) CURLFORM_ ## name
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define CFINIT(name) CURLFORM_/**/name
-#endif
-
-typedef enum {
-  CFINIT(NOTHING),        /********* the first one is unused ************/
-
-  /*  */
-  CFINIT(COPYNAME),
-  CFINIT(PTRNAME),
-  CFINIT(NAMELENGTH),
-  CFINIT(COPYCONTENTS),
-  CFINIT(PTRCONTENTS),
-  CFINIT(CONTENTSLENGTH),
-  CFINIT(FILECONTENT),
-  CFINIT(ARRAY),
-  CFINIT(OBSOLETE),
-  CFINIT(FILE),
-
-  CFINIT(BUFFER),
-  CFINIT(BUFFERPTR),
-  CFINIT(BUFFERLENGTH),
-
-  CFINIT(CONTENTTYPE),
-  CFINIT(CONTENTHEADER),
-  CFINIT(FILENAME),
-  CFINIT(END),
-  CFINIT(OBSOLETE2),
-
-  CFINIT(STREAM),
-
-  CURLFORM_LASTENTRY /* the last unused */
-} CURLformoption;
-
-#undef CFINIT /* done */
-
-/* structure to be used as parameter for CURLFORM_ARRAY */
-struct curl_forms {
-  CURLformoption option;
-  const char     *value;
-};
-
-/* use this for multipart formpost building */
-/* Returns code for curl_formadd()
- *
- * Returns:
- * CURL_FORMADD_OK             on success
- * CURL_FORMADD_MEMORY         if the FormInfo allocation fails
- * CURL_FORMADD_OPTION_TWICE   if one option is given twice for one Form
- * CURL_FORMADD_NULL           if a null pointer was given for a char
- * CURL_FORMADD_MEMORY         if the allocation of a FormInfo struct failed
- * CURL_FORMADD_UNKNOWN_OPTION if an unknown option was used
- * CURL_FORMADD_INCOMPLETE     if the some FormInfo is not complete (or error)
- * CURL_FORMADD_MEMORY         if a curl_httppost struct cannot be allocated
- * CURL_FORMADD_MEMORY         if some allocation for string copying failed.
- * CURL_FORMADD_ILLEGAL_ARRAY  if an illegal option is used in an array
- *
- ***************************************************************************/
-typedef enum {
-  CURL_FORMADD_OK, /* first, no error */
-
-  CURL_FORMADD_MEMORY,
-  CURL_FORMADD_OPTION_TWICE,
-  CURL_FORMADD_NULL,
-  CURL_FORMADD_UNKNOWN_OPTION,
-  CURL_FORMADD_INCOMPLETE,
-  CURL_FORMADD_ILLEGAL_ARRAY,
-  CURL_FORMADD_DISABLED, /* libcurl was built with this disabled */
-
-  CURL_FORMADD_LAST /* last */
-} CURLFORMcode;
-
-/*
- * NAME curl_formadd()
- *
- * DESCRIPTION
- *
- * Pretty advanced function for building multi-part formposts. Each invoke
- * adds one part that together construct a full post. Then use
- * CURLOPT_HTTPPOST to send it off to libcurl.
- */
-CURL_EXTERN CURLFORMcode curl_formadd(struct curl_httppost **httppost,
-                                      struct curl_httppost **last_post,
-                                      ...);
-
-/*
- * callback function for curl_formget()
- * The void *arg pointer will be the one passed as second argument to
- *   curl_formget().
- * The character buffer passed to it must not be freed.
- * Should return the buffer length passed to it as the argument "len" on
- *   success.
- */
-typedef size_t (*curl_formget_callback)(void *arg, const char *buf,
-                                        size_t len);
-
-/*
- * NAME curl_formget()
- *
- * DESCRIPTION
- *
- * Serialize a curl_httppost struct built with curl_formadd().
- * Accepts a void pointer as second argument which will be passed to
- * the curl_formget_callback function.
- * Returns 0 on success.
- */
-CURL_EXTERN int curl_formget(struct curl_httppost *form, void *arg,
-                             curl_formget_callback append);
-/*
- * NAME curl_formfree()
- *
- * DESCRIPTION
- *
- * Free a multipart formpost previously built with curl_formadd().
- */
-CURL_EXTERN void curl_formfree(struct curl_httppost *form);
-
-/*
- * NAME curl_getenv()
- *
- * DESCRIPTION
- *
- * Returns a malloc()'ed string that MUST be curl_free()ed after usage is
- * complete. DEPRECATED - see lib/README.curlx
- */
-CURL_EXTERN char *curl_getenv(const char *variable);
-
-/*
- * NAME curl_version()
- *
- * DESCRIPTION
- *
- * Returns a static ascii string of the libcurl version.
- */
-CURL_EXTERN char *curl_version(void);
-
-/*
- * NAME curl_easy_escape()
- *
- * DESCRIPTION
- *
- * Escapes URL strings (converts all letters consider illegal in URLs to their
- * %XX versions). This function returns a new allocated string or NULL if an
- * error occurred.
- */
-CURL_EXTERN char *curl_easy_escape(CURL *handle,
-                                   const char *string,
-                                   int length);
-
-/* the previous version: */
-CURL_EXTERN char *curl_escape(const char *string,
-                              int length);
-
-
-/*
- * NAME curl_easy_unescape()
- *
- * DESCRIPTION
- *
- * Unescapes URL encoding in strings (converts all %XX codes to their 8bit
- * versions). This function returns a new allocated string or NULL if an error
- * occurred.
- * Conversion Note: On non-ASCII platforms the ASCII %XX codes are
- * converted into the host encoding.
- */
-CURL_EXTERN char *curl_easy_unescape(CURL *handle,
-                                     const char *string,
-                                     int length,
-                                     int *outlength);
-
-/* the previous version */
-CURL_EXTERN char *curl_unescape(const char *string,
-                                int length);
-
-/*
- * NAME curl_free()
- *
- * DESCRIPTION
- *
- * Provided for de-allocation in the same translation unit that did the
- * allocation. Added in libcurl 7.10
- */
-CURL_EXTERN void curl_free(void *p);
-
-/*
- * NAME curl_global_init()
- *
- * DESCRIPTION
- *
- * curl_global_init() should be invoked exactly once for each application that
- * uses libcurl and before any call of other libcurl functions.
- *
- * This function is not thread-safe!
- */
-CURL_EXTERN CURLcode curl_global_init(long flags);
-
-/*
- * NAME curl_global_init_mem()
- *
- * DESCRIPTION
- *
- * curl_global_init() or curl_global_init_mem() should be invoked exactly once
- * for each application that uses libcurl.  This function can be used to
- * initialize libcurl and set user defined memory management callback
- * functions.  Users can implement memory management routines to check for
- * memory leaks, check for mis-use of the curl library etc.  User registered
- * callback routines with be invoked by this library instead of the system
- * memory management routines like malloc, free etc.
- */
-CURL_EXTERN CURLcode curl_global_init_mem(long flags,
-                                          curl_malloc_callback m,
-                                          curl_free_callback f,
-                                          curl_realloc_callback r,
-                                          curl_strdup_callback s,
-                                          curl_calloc_callback c);
-
-/*
- * NAME curl_global_cleanup()
- *
- * DESCRIPTION
- *
- * curl_global_cleanup() should be invoked exactly once for each application
- * that uses libcurl
- */
-CURL_EXTERN void curl_global_cleanup(void);
-
-/* linked-list structure for the CURLOPT_QUOTE option (and other) */
-struct curl_slist {
-  char *data;
-  struct curl_slist *next;
-};
-
-/*
- * NAME curl_slist_append()
- *
- * DESCRIPTION
- *
- * Appends a string to a linked list. If no list exists, it will be created
- * first. Returns the new list, after appending.
- */
-CURL_EXTERN struct curl_slist *curl_slist_append(struct curl_slist *,
-                                                 const char *);
-
-/*
- * NAME curl_slist_free_all()
- *
- * DESCRIPTION
- *
- * free a previously built curl_slist.
- */
-CURL_EXTERN void curl_slist_free_all(struct curl_slist *);
-
-/*
- * NAME curl_getdate()
- *
- * DESCRIPTION
- *
- * Returns the time, in seconds since 1 Jan 1970 of the time string given in
- * the first argument. The time argument in the second parameter is unused
- * and should be set to NULL.
- */
-CURL_EXTERN time_t curl_getdate(const char *p, const time_t *unused);
-
-/* info about the certificate chain, only for OpenSSL builds. Asked
-   for with CURLOPT_CERTINFO / CURLINFO_CERTINFO */
-struct curl_certinfo {
-  int num_of_certs;             /* number of certificates with information */
-  struct curl_slist **certinfo; /* for each index in this array, there's a
-                                   linked list with textual information in the
-                                   format "name: value" */
-};
-
-/* enum for the different supported SSL backends */
-typedef enum {
-  CURLSSLBACKEND_NONE = 0,
-  CURLSSLBACKEND_OPENSSL = 1,
-  CURLSSLBACKEND_GNUTLS = 2,
-  CURLSSLBACKEND_NSS = 3,
-  CURLSSLBACKEND_OBSOLETE4 = 4,  /* Was QSOSSL. */
-  CURLSSLBACKEND_GSKIT = 5,
-  CURLSSLBACKEND_POLARSSL = 6,
-  CURLSSLBACKEND_CYASSL = 7,
-  CURLSSLBACKEND_SCHANNEL = 8,
-  CURLSSLBACKEND_DARWINSSL = 9,
-  CURLSSLBACKEND_AXTLS = 10
-} curl_sslbackend;
-
-/* Information about the SSL library used and the respective internal SSL
-   handle, which can be used to obtain further information regarding the
-   connection. Asked for with CURLINFO_TLS_SESSION. */
-struct curl_tlssessioninfo {
-  curl_sslbackend backend;
-  void *internals;
-};
-
-#define CURLINFO_STRING   0x100000
-#define CURLINFO_LONG     0x200000
-#define CURLINFO_DOUBLE   0x300000
-#define CURLINFO_SLIST    0x400000
-#define CURLINFO_MASK     0x0fffff
-#define CURLINFO_TYPEMASK 0xf00000
-
-typedef enum {
-  CURLINFO_NONE, /* first, never use this */
-  CURLINFO_EFFECTIVE_URL    = CURLINFO_STRING + 1,
-  CURLINFO_RESPONSE_CODE    = CURLINFO_LONG   + 2,
-  CURLINFO_TOTAL_TIME       = CURLINFO_DOUBLE + 3,
-  CURLINFO_NAMELOOKUP_TIME  = CURLINFO_DOUBLE + 4,
-  CURLINFO_CONNECT_TIME     = CURLINFO_DOUBLE + 5,
-  CURLINFO_PRETRANSFER_TIME = CURLINFO_DOUBLE + 6,
-  CURLINFO_SIZE_UPLOAD      = CURLINFO_DOUBLE + 7,
-  CURLINFO_SIZE_DOWNLOAD    = CURLINFO_DOUBLE + 8,
-  CURLINFO_SPEED_DOWNLOAD   = CURLINFO_DOUBLE + 9,
-  CURLINFO_SPEED_UPLOAD     = CURLINFO_DOUBLE + 10,
-  CURLINFO_HEADER_SIZE      = CURLINFO_LONG   + 11,
-  CURLINFO_REQUEST_SIZE     = CURLINFO_LONG   + 12,
-  CURLINFO_SSL_VERIFYRESULT = CURLINFO_LONG   + 13,
-  CURLINFO_FILETIME         = CURLINFO_LONG   + 14,
-  CURLINFO_CONTENT_LENGTH_DOWNLOAD   = CURLINFO_DOUBLE + 15,
-  CURLINFO_CONTENT_LENGTH_UPLOAD     = CURLINFO_DOUBLE + 16,
-  CURLINFO_STARTTRANSFER_TIME = CURLINFO_DOUBLE + 17,
-  CURLINFO_CONTENT_TYPE     = CURLINFO_STRING + 18,
-  CURLINFO_REDIRECT_TIME    = CURLINFO_DOUBLE + 19,
-  CURLINFO_REDIRECT_COUNT   = CURLINFO_LONG   + 20,
-  CURLINFO_PRIVATE          = CURLINFO_STRING + 21,
-  CURLINFO_HTTP_CONNECTCODE = CURLINFO_LONG   + 22,
-  CURLINFO_HTTPAUTH_AVAIL   = CURLINFO_LONG   + 23,
-  CURLINFO_PROXYAUTH_AVAIL  = CURLINFO_LONG   + 24,
-  CURLINFO_OS_ERRNO         = CURLINFO_LONG   + 25,
-  CURLINFO_NUM_CONNECTS     = CURLINFO_LONG   + 26,
-  CURLINFO_SSL_ENGINES      = CURLINFO_SLIST  + 27,
-  CURLINFO_COOKIELIST       = CURLINFO_SLIST  + 28,
-  CURLINFO_LASTSOCKET       = CURLINFO_LONG   + 29,
-  CURLINFO_FTP_ENTRY_PATH   = CURLINFO_STRING + 30,
-  CURLINFO_REDIRECT_URL     = CURLINFO_STRING + 31,
-  CURLINFO_PRIMARY_IP       = CURLINFO_STRING + 32,
-  CURLINFO_APPCONNECT_TIME  = CURLINFO_DOUBLE + 33,
-  CURLINFO_CERTINFO         = CURLINFO_SLIST  + 34,
-  CURLINFO_CONDITION_UNMET  = CURLINFO_LONG   + 35,
-  CURLINFO_RTSP_SESSION_ID  = CURLINFO_STRING + 36,
-  CURLINFO_RTSP_CLIENT_CSEQ = CURLINFO_LONG   + 37,
-  CURLINFO_RTSP_SERVER_CSEQ = CURLINFO_LONG   + 38,
-  CURLINFO_RTSP_CSEQ_RECV   = CURLINFO_LONG   + 39,
-  CURLINFO_PRIMARY_PORT     = CURLINFO_LONG   + 40,
-  CURLINFO_LOCAL_IP         = CURLINFO_STRING + 41,
-  CURLINFO_LOCAL_PORT       = CURLINFO_LONG   + 42,
-  CURLINFO_TLS_SESSION      = CURLINFO_SLIST  + 43,
-  /* Fill in new entries below here! */
-
-  CURLINFO_LASTONE          = 43
-} CURLINFO;
-
-/* CURLINFO_RESPONSE_CODE is the new name for the option previously known as
-   CURLINFO_HTTP_CODE */
-#define CURLINFO_HTTP_CODE CURLINFO_RESPONSE_CODE
-
-typedef enum {
-  CURLCLOSEPOLICY_NONE, /* first, never use this */
-
-  CURLCLOSEPOLICY_OLDEST,
-  CURLCLOSEPOLICY_LEAST_RECENTLY_USED,
-  CURLCLOSEPOLICY_LEAST_TRAFFIC,
-  CURLCLOSEPOLICY_SLOWEST,
-  CURLCLOSEPOLICY_CALLBACK,
-
-  CURLCLOSEPOLICY_LAST /* last, never use this */
-} curl_closepolicy;
-
-#define CURL_GLOBAL_SSL (1<<0)
-#define CURL_GLOBAL_WIN32 (1<<1)
-#define CURL_GLOBAL_ALL (CURL_GLOBAL_SSL|CURL_GLOBAL_WIN32)
-#define CURL_GLOBAL_NOTHING 0
-#define CURL_GLOBAL_DEFAULT CURL_GLOBAL_ALL
-#define CURL_GLOBAL_ACK_EINTR (1<<2)
-
-
-/*****************************************************************************
- * Setup defines, protos etc for the sharing stuff.
- */
-
-/* Different data locks for a single share */
-typedef enum {
-  CURL_LOCK_DATA_NONE = 0,
-  /*  CURL_LOCK_DATA_SHARE is used internally to say that
-   *  the locking is just made to change the internal state of the share
-   *  itself.
-   */
-  CURL_LOCK_DATA_SHARE,
-  CURL_LOCK_DATA_COOKIE,
-  CURL_LOCK_DATA_DNS,
-  CURL_LOCK_DATA_SSL_SESSION,
-  CURL_LOCK_DATA_CONNECT,
-  CURL_LOCK_DATA_LAST
-} curl_lock_data;
-
-/* Different lock access types */
-typedef enum {
-  CURL_LOCK_ACCESS_NONE = 0,   /* unspecified action */
-  CURL_LOCK_ACCESS_SHARED = 1, /* for read perhaps */
-  CURL_LOCK_ACCESS_SINGLE = 2, /* for write perhaps */
-  CURL_LOCK_ACCESS_LAST        /* never use */
-} curl_lock_access;
-
-typedef void (*curl_lock_function)(CURL *handle,
-                                   curl_lock_data data,
-                                   curl_lock_access locktype,
-                                   void *userptr);
-typedef void (*curl_unlock_function)(CURL *handle,
-                                     curl_lock_data data,
-                                     void *userptr);
-
-typedef void CURLSH;
-
-typedef enum {
-  CURLSHE_OK,  /* all is fine */
-  CURLSHE_BAD_OPTION, /* 1 */
-  CURLSHE_IN_USE,     /* 2 */
-  CURLSHE_INVALID,    /* 3 */
-  CURLSHE_NOMEM,      /* 4 out of memory */
-  CURLSHE_NOT_BUILT_IN, /* 5 feature not present in lib */
-  CURLSHE_LAST        /* never use */
-} CURLSHcode;
-
-typedef enum {
-  CURLSHOPT_NONE,  /* don't use */
-  CURLSHOPT_SHARE,   /* specify a data type to share */
-  CURLSHOPT_UNSHARE, /* specify which data type to stop sharing */
-  CURLSHOPT_LOCKFUNC,   /* pass in a 'curl_lock_function' pointer */
-  CURLSHOPT_UNLOCKFUNC, /* pass in a 'curl_unlock_function' pointer */
-  CURLSHOPT_USERDATA,   /* pass in a user data pointer used in the lock/unlock
-                           callback functions */
-  CURLSHOPT_LAST  /* never use */
-} CURLSHoption;
-
-CURL_EXTERN CURLSH *curl_share_init(void);
-CURL_EXTERN CURLSHcode curl_share_setopt(CURLSH *, CURLSHoption option, ...);
-CURL_EXTERN CURLSHcode curl_share_cleanup(CURLSH *);
-
-/****************************************************************************
- * Structures for querying information about the curl library at runtime.
- */
-
-typedef enum {
-  CURLVERSION_FIRST,
-  CURLVERSION_SECOND,
-  CURLVERSION_THIRD,
-  CURLVERSION_FOURTH,
-  CURLVERSION_LAST /* never actually use this */
-} CURLversion;
-
-/* The 'CURLVERSION_NOW' is the symbolic name meant to be used by
-   basically all programs ever that want to get version information. It is
-   meant to be a built-in version number for what kind of struct the caller
-   expects. If the struct ever changes, we redefine the NOW to another enum
-   from above. */
-#define CURLVERSION_NOW CURLVERSION_FOURTH
-
-typedef struct {
-  CURLversion age;          /* age of the returned struct */
-  const char *version;      /* LIBCURL_VERSION */
-  unsigned int version_num; /* LIBCURL_VERSION_NUM */
-  const char *host;         /* OS/host/cpu/machine when configured */
-  int features;             /* bitmask, see defines below */
-  const char *ssl_version;  /* human readable string */
-  long ssl_version_num;     /* not used anymore, always 0 */
-  const char *libz_version; /* human readable string */
-  /* protocols is terminated by an entry with a NULL protoname */
-  const char * const *protocols;
-
-  /* The fields below this were added in CURLVERSION_SECOND */
-  const char *ares;
-  int ares_num;
-
-  /* This field was added in CURLVERSION_THIRD */
-  const char *libidn;
-
-  /* These field were added in CURLVERSION_FOURTH */
-
-  /* Same as '_libiconv_version' if built with HAVE_ICONV */
-  int iconv_ver_num;
-
-  const char *libssh_version; /* human readable string */
-
-} curl_version_info_data;
-
-#define CURL_VERSION_IPV6         (1<<0)  /* IPv6-enabled */
-#define CURL_VERSION_KERBEROS4    (1<<1)  /* Kerberos V4 auth is supported
-                                             (deprecated) */
-#define CURL_VERSION_SSL          (1<<2)  /* SSL options are present */
-#define CURL_VERSION_LIBZ         (1<<3)  /* libz features are present */
-#define CURL_VERSION_NTLM         (1<<4)  /* NTLM auth is supported */
-#define CURL_VERSION_GSSNEGOTIATE (1<<5)  /* Negotiate auth is supported
-                                             (deprecated) */
-#define CURL_VERSION_DEBUG        (1<<6)  /* Built with debug capabilities */
-#define CURL_VERSION_ASYNCHDNS    (1<<7)  /* Asynchronous DNS resolves */
-#define CURL_VERSION_SPNEGO       (1<<8)  /* SPNEGO auth is supported */
-#define CURL_VERSION_LARGEFILE    (1<<9)  /* Supports files larger than 2GB */
-#define CURL_VERSION_IDN          (1<<10) /* Internationized Domain Names are
-                                             supported */
-#define CURL_VERSION_SSPI         (1<<11) /* Built against Windows SSPI */
-#define CURL_VERSION_CONV         (1<<12) /* Character conversions supported */
-#define CURL_VERSION_CURLDEBUG    (1<<13) /* Debug memory tracking supported */
-#define CURL_VERSION_TLSAUTH_SRP  (1<<14) /* TLS-SRP auth is supported */
-#define CURL_VERSION_NTLM_WB      (1<<15) /* NTLM delegation to winbind helper
-                                             is suported */
-#define CURL_VERSION_HTTP2        (1<<16) /* HTTP2 support built-in */
-#define CURL_VERSION_GSSAPI       (1<<17) /* Built against a GSS-API library */
-#define CURL_VERSION_KERBEROS5    (1<<18) /* Kerberos V5 auth is supported */
-#define CURL_VERSION_UNIX_SOCKETS (1<<19) /* Unix domain sockets support */
-
- /*
- * NAME curl_version_info()
- *
- * DESCRIPTION
- *
- * This function returns a pointer to a static copy of the version info
- * struct. See above.
- */
-CURL_EXTERN curl_version_info_data *curl_version_info(CURLversion);
-
-/*
- * NAME curl_easy_strerror()
- *
- * DESCRIPTION
- *
- * The curl_easy_strerror function may be used to turn a CURLcode value
- * into the equivalent human readable error string.  This is useful
- * for printing meaningful error messages.
- */
-CURL_EXTERN const char *curl_easy_strerror(CURLcode);
-
-/*
- * NAME curl_share_strerror()
- *
- * DESCRIPTION
- *
- * The curl_share_strerror function may be used to turn a CURLSHcode value
- * into the equivalent human readable error string.  This is useful
- * for printing meaningful error messages.
- */
-CURL_EXTERN const char *curl_share_strerror(CURLSHcode);
-
-/*
- * NAME curl_easy_pause()
- *
- * DESCRIPTION
- *
- * The curl_easy_pause function pauses or unpauses transfers. Select the new
- * state by setting the bitmask, use the convenience defines below.
- *
- */
-CURL_EXTERN CURLcode curl_easy_pause(CURL *handle, int bitmask);
-
-#define CURLPAUSE_RECV      (1<<0)
-#define CURLPAUSE_RECV_CONT (0)
-
-#define CURLPAUSE_SEND      (1<<2)
-#define CURLPAUSE_SEND_CONT (0)
-
-#define CURLPAUSE_ALL       (CURLPAUSE_RECV|CURLPAUSE_SEND)
-#define CURLPAUSE_CONT      (CURLPAUSE_RECV_CONT|CURLPAUSE_SEND_CONT)
-
-#ifdef  __cplusplus
-}
-#endif
-
-/* unfortunately, the easy.h and multi.h include files need options and info
-  stuff before they can be included! */
-#include "easy.h" /* nothing in curl is fun without the easy stuff */
-#include "multi.h"
-
-/* the typechecker doesn't work in C++ (yet) */
-#if defined(__GNUC__) && defined(__GNUC_MINOR__) && \
-    ((__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) && \
-    !defined(__cplusplus) && !defined(CURL_DISABLE_TYPECHECK)
-#include "typecheck-gcc.h"
-#else
-#if defined(__STDC__) && (__STDC__ >= 1)
-/* This preprocessor magic that replaces a call with the exact same call is
-   only done to make sure application authors pass exactly three arguments
-   to these functions. */
-#define curl_easy_setopt(handle,opt,param) curl_easy_setopt(handle,opt,param)
-#define curl_easy_getinfo(handle,info,arg) curl_easy_getinfo(handle,info,arg)
-#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param)
-#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param)
-#endif /* __STDC__ >= 1 */
-#endif /* gcc >= 4.3 && !__cplusplus */
-
-#endif /* __CURL_CURL_H */
diff --git a/phonelibs/curl/include/curl/curlbuild.h b/phonelibs/curl/include/curl/curlbuild.h
deleted file mode 100644
index 2bf01cf37c520d..00000000000000
--- a/phonelibs/curl/include/curl/curlbuild.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/* include/curl/curlbuild.h.  Generated from curlbuild.h.in by configure.  */
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-/* #undef CURL_PULL_WS2TCPIP_H */
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#define CURL_PULL_SYS_TYPES_H 1
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#define CURL_PULL_STDINT_H 1
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#define CURL_PULL_INTTYPES_H 1
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#define CURL_PULL_SYS_SOCKET_H 1
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-/* #undef CURL_PULL_SYS_POLL_H */
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* Integral data type used for curl_socklen_t. */
-#define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#define CURL_TYPEOF_CURL_OFF_T int64_t
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_T "lld"
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_TU "llu"
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#define CURL_FORMAT_OFF_T "%lld"
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_OFF_T 8
-
-/* curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_T LL
-
-/* unsigned curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_TU ULL
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/phonelibs/curl/include/curl/curlbuild.h.cmake b/phonelibs/curl/include/curl/curlbuild.h.cmake
deleted file mode 100644
index 60bc7a70ec547e..00000000000000
--- a/phonelibs/curl/include/curl/curlbuild.h.cmake
+++ /dev/null
@@ -1,197 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2008, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-#cmakedefine CURL_PULL_WS2TCPIP_H
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_TYPES_H
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#cmakedefine CURL_PULL_STDINT_H
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#cmakedefine CURL_PULL_INTTYPES_H
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_SOCKET_H
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_POLL_H
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* The size of `long', as computed by sizeof. */
-#define CURL_SIZEOF_LONG ${CURL_SIZEOF_LONG}
-
-/* Integral data type used for curl_socklen_t. */
-#define CURL_TYPEOF_CURL_SOCKLEN_T ${CURL_TYPEOF_CURL_SOCKLEN_T}
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_SOCKLEN_T ${CURL_SIZEOF_CURL_SOCKLEN_T}
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#define CURL_TYPEOF_CURL_OFF_T ${CURL_TYPEOF_CURL_OFF_T}
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_T "${CURL_FORMAT_CURL_OFF_T}"
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_TU "${CURL_FORMAT_CURL_OFF_TU}"
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#define CURL_FORMAT_OFF_T "${CURL_FORMAT_OFF_T}"
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_OFF_T ${CURL_SIZEOF_CURL_OFF_T}
-
-/* curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_T ${CURL_SUFFIX_CURL_OFF_T}
-
-/* unsigned curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_TU ${CURL_SUFFIX_CURL_OFF_TU}
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/phonelibs/curl/include/curl/curlbuild.h.dist b/phonelibs/curl/include/curl/curlbuild.h.dist
deleted file mode 100644
index f09419a8439151..00000000000000
--- a/phonelibs/curl/include/curl/curlbuild.h.dist
+++ /dev/null
@@ -1,585 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2013, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * See file include/curl/curlbuild.h.in, run configure, and forget
- * that this file exists it is only used for non-configure systems.
- * But you can keep reading if you want ;-)
- *
- */
-
-/* ================================================================ */
-/*                 NOTES FOR NON-CONFIGURE SYSTEMS                  */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * Try to keep one section per platform, compiler and architecture,
- * otherwise, if an existing section is reused for a different one and
- * later on the original is adjusted, probably the piggybacking one can
- * be adversely changed.
- *
- * In order to differentiate between platforms/compilers/architectures
- * use only compiler built in predefined preprocessor symbols.
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * For any given platform/compiler curl_off_t must be typedef'ed to a
- * 64-bit wide signed integral data type. The width of this data type
- * must remain constant and independent of any possible large file
- * support settings.
- *
- * As an exception to the above, curl_off_t shall be typedef'ed to a
- * 32-bit wide signed integral data type if there is no 64-bit type.
- *
- * As a general rule, curl_off_t shall not be mapped to off_t. This
- * rule shall only be violated if off_t is the only 64-bit data type
- * available and the size of off_t is independent of large file support
- * settings. Keep your build on the safe side avoiding an off_t gating.
- * If you have a 64-bit off_t then take for sure that another 64-bit
- * data type exists, dig deeper and you will find it.
- *
- * NOTE 3:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.dist or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- * file include/curl/curlbuild.h.dist is renamed to include/curl/curlbuild.h
- * when the libcurl source code distribution archive file is created.
- *
- * File include/curl/curlbuild.h.dist is not included in the distribution
- * archive. File include/curl/curlbuild.h is not present in the git tree.
- *
- * The distributed include/curl/curlbuild.h file is only intended to be used
- * on systems which can not run the also distributed configure script.
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- * If you check out from git on a non-configure platform, you must run the
- * appropriate buildconf* script to set up curlbuild.h and other local files.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#  error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#  error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#  error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#  error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#  error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#  error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#  error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#  error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#  error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#  error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*    EXTERNAL INTERFACE SETTINGS FOR NON-CONFIGURE SYSTEMS ONLY    */
-/* ================================================================ */
-
-#if defined(__DJGPP__) || defined(__GO32__)
-#  if defined(__DJGPP__) && (__DJGPP__ > 1)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__SALFORDC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__BORLANDC__)
-#  if (__BORLANDC__ < 0x520)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__TURBOC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__WATCOMC__)
-#  if defined(__386__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__POCC__)
-#  if (__POCC__ < 280)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  elif defined(_MSC_VER)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__LCC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__SYMBIAN32__)
-#  if defined(__EABI__)  /* Treat all ARM compilers equally */
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__CW32__)
-#    pragma longlong on
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__VC32__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__MWERKS__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long long
-#  define CURL_FORMAT_CURL_OFF_T     "lld"
-#  define CURL_FORMAT_CURL_OFF_TU    "llu"
-#  define CURL_FORMAT_OFF_T          "%lld"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     LL
-#  define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(_WIN32_WCE)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     __int64
-#  define CURL_FORMAT_CURL_OFF_T     "I64d"
-#  define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#  define CURL_FORMAT_OFF_T          "%I64d"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     i64
-#  define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__MINGW32__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long long
-#  define CURL_FORMAT_CURL_OFF_T     "I64d"
-#  define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#  define CURL_FORMAT_OFF_T          "%I64d"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     LL
-#  define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__VMS)
-#  if defined(__VAX)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__OS400__)
-#  if defined(__ILEC400__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(__MVS__)
-#  if defined(__IBMC__) || defined(__IBMCPP__)
-#    if defined(_ILP32)
-#      define CURL_SIZEOF_LONG           4
-#    elif defined(_LP64)
-#      define CURL_SIZEOF_LONG           8
-#    endif
-#    if defined(_LONG_LONG)
-#      define CURL_TYPEOF_CURL_OFF_T     long long
-#      define CURL_FORMAT_CURL_OFF_T     "lld"
-#      define CURL_FORMAT_CURL_OFF_TU    "llu"
-#      define CURL_FORMAT_OFF_T          "%lld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     LL
-#      define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    elif defined(_LP64)
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    else
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     4
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    endif
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(__370__)
-#  if defined(__IBMC__) || defined(__IBMCPP__)
-#    if defined(_ILP32)
-#      define CURL_SIZEOF_LONG           4
-#    elif defined(_LP64)
-#      define CURL_SIZEOF_LONG           8
-#    endif
-#    if defined(_LONG_LONG)
-#      define CURL_TYPEOF_CURL_OFF_T     long long
-#      define CURL_FORMAT_CURL_OFF_T     "lld"
-#      define CURL_FORMAT_CURL_OFF_TU    "llu"
-#      define CURL_FORMAT_OFF_T          "%lld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     LL
-#      define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    elif defined(_LP64)
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    else
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     4
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    endif
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(TPF)
-#  define CURL_SIZEOF_LONG           8
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* ===================================== */
-/*    KEEP MSVC THE PENULTIMATE ENTRY    */
-/* ===================================== */
-
-#elif defined(_MSC_VER)
-#  if (_MSC_VER >= 900) && (_INTEGRAL_MAX_BITS >= 64)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* ===================================== */
-/*    KEEP GENERIC GCC THE LAST ENTRY    */
-/* ===================================== */
-
-#elif defined(__GNUC__)
-#  if defined(__ILP32__) || \
-      defined(__i386__) || defined(__ppc__) || defined(__arm__) || defined(__sparc__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__LP64__) || \
-        defined(__x86_64__) || defined(__ppc64__) || defined(__sparc64__)
-#    define CURL_SIZEOF_LONG           8
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#  define CURL_PULL_SYS_TYPES_H      1
-#  define CURL_PULL_SYS_SOCKET_H     1
-
-#else
-#  error "Unknown non-configure build target!"
-   Error Compilation_aborted_Unknown_non_configure_build_target
-#endif
-
-/* CURL_PULL_SYS_TYPES_H is defined above when inclusion of header file  */
-/* sys/types.h is required here to properly make type definitions below. */
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* CURL_PULL_SYS_SOCKET_H is defined above when inclusion of header file  */
-/* sys/socket.h is required here to properly make type definitions below. */
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Data type definition of curl_socklen_t. */
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-  typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-#endif
-
-/* Data type definition of curl_off_t. */
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-  typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-#endif
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/phonelibs/curl/include/curl/curlbuild.h.in b/phonelibs/curl/include/curl/curlbuild.h.in
deleted file mode 100644
index 7cb2b6ef7eb1c7..00000000000000
--- a/phonelibs/curl/include/curl/curlbuild.h.in
+++ /dev/null
@@ -1,194 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-#undef CURL_PULL_WS2TCPIP_H
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#undef CURL_PULL_SYS_TYPES_H
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#undef CURL_PULL_STDINT_H
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#undef CURL_PULL_INTTYPES_H
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#undef CURL_PULL_SYS_SOCKET_H
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-#undef CURL_PULL_SYS_POLL_H
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* Integral data type used for curl_socklen_t. */
-#undef CURL_TYPEOF_CURL_SOCKLEN_T
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#undef CURL_SIZEOF_CURL_SOCKLEN_T
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#undef CURL_TYPEOF_CURL_OFF_T
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#undef CURL_FORMAT_CURL_OFF_T
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#undef CURL_FORMAT_CURL_OFF_TU
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#undef CURL_FORMAT_OFF_T
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#undef CURL_SIZEOF_CURL_OFF_T
-
-/* curl_off_t constant suffix. */
-#undef CURL_SUFFIX_CURL_OFF_T
-
-/* unsigned curl_off_t constant suffix. */
-#undef CURL_SUFFIX_CURL_OFF_TU
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/phonelibs/curl/include/curl/curlrules.h b/phonelibs/curl/include/curl/curlrules.h
deleted file mode 100644
index 1163e95f48ac87..00000000000000
--- a/phonelibs/curl/include/curl/curlrules.h
+++ /dev/null
@@ -1,248 +0,0 @@
-#ifndef __CURL_CURLRULES_H
-#define __CURL_CURLRULES_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*                    COMPILE TIME SANITY CHECKS                    */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * All checks done in this file are intentionally placed in a public
- * header file which is pulled by curl/curl.h when an application is
- * being built using an already built libcurl library. Additionally
- * this file is also included and used when building the library.
- *
- * If compilation fails on this file it is certainly sure that the
- * problem is elsewhere. It could be a problem in the curlbuild.h
- * header file, or simply that you are using different compilation
- * settings than those used to build the library.
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * Do not deactivate any check, these are done to make sure that the
- * library is properly built and used.
- *
- * You can find further help on the libcurl development mailing list:
- * http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * NOTE 2
- * ------
- *
- * Some of the following compile time checks are based on the fact
- * that the dimension of a constant array can not be a negative one.
- * In this way if the compile time verification fails, the compilation
- * will fail issuing an error. The error description wording is compiler
- * dependent but it will be quite similar to one of the following:
- *
- *   "negative subscript or subscript is too large"
- *   "array must have at least one element"
- *   "-1 is an illegal array size"
- *   "size of array is negative"
- *
- * If you are building an application which tries to use an already
- * built libcurl library and you are getting this kind of errors on
- * this file, it is a clear indication that there is a mismatch between
- * how the library was built and how you are trying to use it for your
- * application. Your already compiled or binary library provider is the
- * only one who can give you the details you need to properly use it.
- */
-
-/*
- * Verify that some macros are actually defined.
- */
-
-#ifndef CURL_TYPEOF_CURL_SOCKLEN_T
-#  error "CURL_TYPEOF_CURL_SOCKLEN_T definition is missing!"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_is_missing
-#endif
-
-#ifndef CURL_SIZEOF_CURL_SOCKLEN_T
-#  error "CURL_SIZEOF_CURL_SOCKLEN_T definition is missing!"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_is_missing
-#endif
-
-#ifndef CURL_TYPEOF_CURL_OFF_T
-#  error "CURL_TYPEOF_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_FORMAT_CURL_OFF_T
-#  error "CURL_FORMAT_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_FORMAT_CURL_OFF_TU
-#  error "CURL_FORMAT_CURL_OFF_TU definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_is_missing
-#endif
-
-#ifndef CURL_FORMAT_OFF_T
-#  error "CURL_FORMAT_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SIZEOF_CURL_OFF_T
-#  error "CURL_SIZEOF_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SUFFIX_CURL_OFF_T
-#  error "CURL_SUFFIX_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SUFFIX_CURL_OFF_TU
-#  error "CURL_SUFFIX_CURL_OFF_TU definition is missing!"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_is_missing
-#endif
-
-/*
- * Macros private to this header file.
- */
-
-#define CurlchkszEQ(t, s) sizeof(t) == s ? 1 : -1
-
-#define CurlchkszGE(t1, t2) sizeof(t1) >= sizeof(t2) ? 1 : -1
-
-/*
- * Verify that the size previously defined and expected for
- * curl_off_t is actually the the same as the one reported
- * by sizeof() at compile time.
- */
-
-typedef char
-  __curl_rule_02__
-    [CurlchkszEQ(curl_off_t, CURL_SIZEOF_CURL_OFF_T)];
-
-/*
- * Verify at compile time that the size of curl_off_t as reported
- * by sizeof() is greater or equal than the one reported for long
- * for the current compilation.
- */
-
-typedef char
-  __curl_rule_03__
-    [CurlchkszGE(curl_off_t, long)];
-
-/*
- * Verify that the size previously defined and expected for
- * curl_socklen_t is actually the the same as the one reported
- * by sizeof() at compile time.
- */
-
-typedef char
-  __curl_rule_04__
-    [CurlchkszEQ(curl_socklen_t, CURL_SIZEOF_CURL_SOCKLEN_T)];
-
-/*
- * Verify at compile time that the size of curl_socklen_t as reported
- * by sizeof() is greater or equal than the one reported for int for
- * the current compilation.
- */
-
-typedef char
-  __curl_rule_05__
-    [CurlchkszGE(curl_socklen_t, int)];
-
-/* ================================================================ */
-/*          EXTERNALLY AND INTERNALLY VISIBLE DEFINITIONS           */
-/* ================================================================ */
-
-/*
- * CURL_ISOCPP and CURL_OFF_T_C definitions are done here in order to allow
- * these to be visible and exported by the external libcurl interface API,
- * while also making them visible to the library internals, simply including
- * curl_setup.h, without actually needing to include curl.h internally.
- * If some day this section would grow big enough, all this should be moved
- * to its own header file.
- */
-
-/*
- * Figure out if we can use the ## preprocessor operator, which is supported
- * by ISO/ANSI C and C++. Some compilers support it without setting __STDC__
- * or  __cplusplus so we need to carefully check for them too.
- */
-
-#if defined(__STDC__) || defined(_MSC_VER) || defined(__cplusplus) || \
-  defined(__HP_aCC) || defined(__BORLANDC__) || defined(__LCC__) || \
-  defined(__POCC__) || defined(__SALFORDC__) || defined(__HIGHC__) || \
-  defined(__ILEC400__)
-  /* This compiler is believed to have an ISO compatible preprocessor */
-#define CURL_ISOCPP
-#else
-  /* This compiler is believed NOT to have an ISO compatible preprocessor */
-#undef CURL_ISOCPP
-#endif
-
-/*
- * Macros for minimum-width signed and unsigned curl_off_t integer constants.
- */
-
-#if defined(__BORLANDC__) && (__BORLANDC__ == 0x0551)
-#  define __CURL_OFF_T_C_HLPR2(x) x
-#  define __CURL_OFF_T_C_HLPR1(x) __CURL_OFF_T_C_HLPR2(x)
-#  define CURL_OFF_T_C(Val)  __CURL_OFF_T_C_HLPR1(Val) ## \
-                             __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_T)
-#  define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \
-                             __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_TU)
-#else
-#  ifdef CURL_ISOCPP
-#    define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val ## Suffix
-#  else
-#    define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val/**/Suffix
-#  endif
-#  define __CURL_OFF_T_C_HLPR1(Val,Suffix) __CURL_OFF_T_C_HLPR2(Val,Suffix)
-#  define CURL_OFF_T_C(Val)  __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_T)
-#  define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_TU)
-#endif
-
-/*
- * Get rid of macros private to this header file.
- */
-
-#undef CurlchkszEQ
-#undef CurlchkszGE
-
-/*
- * Get rid of macros not intended to exist beyond this point.
- */
-
-#undef CURL_PULL_WS2TCPIP_H
-#undef CURL_PULL_SYS_TYPES_H
-#undef CURL_PULL_SYS_SOCKET_H
-#undef CURL_PULL_SYS_POLL_H
-#undef CURL_PULL_STDINT_H
-#undef CURL_PULL_INTTYPES_H
-
-#undef CURL_TYPEOF_CURL_SOCKLEN_T
-#undef CURL_TYPEOF_CURL_OFF_T
-
-#ifdef CURL_NO_OLDIES
-#undef CURL_FORMAT_OFF_T /* not required since 7.19.0 - obsoleted in 7.20.0 */
-#endif
-
-#endif /* __CURL_CURLRULES_H */
diff --git a/phonelibs/curl/include/curl/curlver.h b/phonelibs/curl/include/curl/curlver.h
deleted file mode 100644
index be442eff8f6441..00000000000000
--- a/phonelibs/curl/include/curl/curlver.h
+++ /dev/null
@@ -1,77 +0,0 @@
-#ifndef __CURL_CURLVER_H
-#define __CURL_CURLVER_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* This header file contains nothing but libcurl version info, generated by
-   a script at release-time. This was made its own header file in 7.11.2 */
-
-/* This is the global package copyright */
-#define LIBCURL_COPYRIGHT "1996 - 2015 Daniel Stenberg, <daniel@haxx.se>."
-
-/* This is the version number of the libcurl package from which this header
-   file origins: */
-#define LIBCURL_VERSION "7.43.0-DEV"
-
-/* The numeric version number is also available "in parts" by using these
-   defines: */
-#define LIBCURL_VERSION_MAJOR 7
-#define LIBCURL_VERSION_MINOR 43
-#define LIBCURL_VERSION_PATCH 0
-
-/* This is the numeric version of the libcurl version number, meant for easier
-   parsing and comparions by programs. The LIBCURL_VERSION_NUM define will
-   always follow this syntax:
-
-         0xXXYYZZ
-
-   Where XX, YY and ZZ are the main version, release and patch numbers in
-   hexadecimal (using 8 bits each). All three numbers are always represented
-   using two digits.  1.2 would appear as "0x010200" while version 9.11.7
-   appears as "0x090b07".
-
-   This 6-digit (24 bits) hexadecimal number does not show pre-release number,
-   and it is always a greater number in a more recent release. It makes
-   comparisons with greater than and less than work.
-
-   Note: This define is the full hex number and _does not_ use the
-   CURL_VERSION_BITS() macro since curl's own configure script greps for it
-   and needs it to contain the full number.
-*/
-#define LIBCURL_VERSION_NUM 0x072B00
-
-/*
- * This is the date and time when the full source package was created. The
- * timestamp is not stored in git, as the timestamp is properly set in the
- * tarballs by the maketgz script.
- *
- * The format of the date should follow this template:
- *
- * "Mon Feb 12 11:35:33 UTC 2007"
- */
-#define LIBCURL_TIMESTAMP "DEV"
-
-#define CURL_VERSION_BITS(x,y,z) ((x)<<16|(y)<<8|z)
-#define CURL_AT_LEAST_VERSION(x,y,z) \
-  (LIBCURL_VERSION_NUM >= CURL_VERSION_BITS(x, y, z))
-
-#endif /* __CURL_CURLVER_H */
diff --git a/phonelibs/curl/include/curl/easy.h b/phonelibs/curl/include/curl/easy.h
deleted file mode 100644
index c1e3e76096e392..00000000000000
--- a/phonelibs/curl/include/curl/easy.h
+++ /dev/null
@@ -1,102 +0,0 @@
-#ifndef __CURL_EASY_H
-#define __CURL_EASY_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2008, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-CURL_EXTERN CURL *curl_easy_init(void);
-CURL_EXTERN CURLcode curl_easy_setopt(CURL *curl, CURLoption option, ...);
-CURL_EXTERN CURLcode curl_easy_perform(CURL *curl);
-CURL_EXTERN void curl_easy_cleanup(CURL *curl);
-
-/*
- * NAME curl_easy_getinfo()
- *
- * DESCRIPTION
- *
- * Request internal information from the curl session with this function.  The
- * third argument MUST be a pointer to a long, a pointer to a char * or a
- * pointer to a double (as the documentation describes elsewhere).  The data
- * pointed to will be filled in accordingly and can be relied upon only if the
- * function returns CURLE_OK.  This function is intended to get used *AFTER* a
- * performed transfer, all results from this function are undefined until the
- * transfer is completed.
- */
-CURL_EXTERN CURLcode curl_easy_getinfo(CURL *curl, CURLINFO info, ...);
-
-
-/*
- * NAME curl_easy_duphandle()
- *
- * DESCRIPTION
- *
- * Creates a new curl session handle with the same options set for the handle
- * passed in. Duplicating a handle could only be a matter of cloning data and
- * options, internal state info and things like persistent connections cannot
- * be transferred. It is useful in multithreaded applications when you can run
- * curl_easy_duphandle() for each new thread to avoid a series of identical
- * curl_easy_setopt() invokes in every thread.
- */
-CURL_EXTERN CURL* curl_easy_duphandle(CURL *curl);
-
-/*
- * NAME curl_easy_reset()
- *
- * DESCRIPTION
- *
- * Re-initializes a CURL handle to the default values. This puts back the
- * handle to the same state as it was in when it was just created.
- *
- * It does keep: live connections, the Session ID cache, the DNS cache and the
- * cookies.
- */
-CURL_EXTERN void curl_easy_reset(CURL *curl);
-
-/*
- * NAME curl_easy_recv()
- *
- * DESCRIPTION
- *
- * Receives data from the connected socket. Use after successful
- * curl_easy_perform() with CURLOPT_CONNECT_ONLY option.
- */
-CURL_EXTERN CURLcode curl_easy_recv(CURL *curl, void *buffer, size_t buflen,
-                                    size_t *n);
-
-/*
- * NAME curl_easy_send()
- *
- * DESCRIPTION
- *
- * Sends data over the connected socket. Use after successful
- * curl_easy_perform() with CURLOPT_CONNECT_ONLY option.
- */
-CURL_EXTERN CURLcode curl_easy_send(CURL *curl, const void *buffer,
-                                    size_t buflen, size_t *n);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif
diff --git a/phonelibs/curl/include/curl/mprintf.h b/phonelibs/curl/include/curl/mprintf.h
deleted file mode 100644
index c6b0d7679a6cf9..00000000000000
--- a/phonelibs/curl/include/curl/mprintf.h
+++ /dev/null
@@ -1,74 +0,0 @@
-#ifndef __CURL_MPRINTF_H
-#define __CURL_MPRINTF_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-#include <stdarg.h>
-#include <stdio.h> /* needed for FILE */
-
-#include "curl.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-CURL_EXTERN int curl_mprintf(const char *format, ...);
-CURL_EXTERN int curl_mfprintf(FILE *fd, const char *format, ...);
-CURL_EXTERN int curl_msprintf(char *buffer, const char *format, ...);
-CURL_EXTERN int curl_msnprintf(char *buffer, size_t maxlength,
-                               const char *format, ...);
-CURL_EXTERN int curl_mvprintf(const char *format, va_list args);
-CURL_EXTERN int curl_mvfprintf(FILE *fd, const char *format, va_list args);
-CURL_EXTERN int curl_mvsprintf(char *buffer, const char *format, va_list args);
-CURL_EXTERN int curl_mvsnprintf(char *buffer, size_t maxlength,
-                                const char *format, va_list args);
-CURL_EXTERN char *curl_maprintf(const char *format, ...);
-CURL_EXTERN char *curl_mvaprintf(const char *format, va_list args);
-
-#ifdef _MPRINTF_REPLACE
-# undef printf
-# undef fprintf
-# undef sprintf
-# undef vsprintf
-# undef snprintf
-# undef vprintf
-# undef vfprintf
-# undef vsnprintf
-# undef aprintf
-# undef vaprintf
-# define printf curl_mprintf
-# define fprintf curl_mfprintf
-# define sprintf curl_msprintf
-# define vsprintf curl_mvsprintf
-# define snprintf curl_msnprintf
-# define vprintf curl_mvprintf
-# define vfprintf curl_mvfprintf
-# define vsnprintf curl_mvsnprintf
-# define aprintf curl_maprintf
-# define vaprintf curl_mvaprintf
-#endif
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __CURL_MPRINTF_H */
diff --git a/phonelibs/curl/include/curl/multi.h b/phonelibs/curl/include/curl/multi.h
deleted file mode 100644
index 0d859f8fd98c50..00000000000000
--- a/phonelibs/curl/include/curl/multi.h
+++ /dev/null
@@ -1,404 +0,0 @@
-#ifndef __CURL_MULTI_H
-#define __CURL_MULTI_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-/*
-  This is an "external" header file. Don't give away any internals here!
-
-  GOALS
-
-  o Enable a "pull" interface. The application that uses libcurl decides where
-    and when to ask libcurl to get/send data.
-
-  o Enable multiple simultaneous transfers in the same thread without making it
-    complicated for the application.
-
-  o Enable the application to select() on its own file descriptors and curl's
-    file descriptors simultaneous easily.
-
-*/
-
-/*
- * This header file should not really need to include "curl.h" since curl.h
- * itself includes this file and we expect user applications to do #include
- * <curl/curl.h> without the need for especially including multi.h.
- *
- * For some reason we added this include here at one point, and rather than to
- * break existing (wrongly written) libcurl applications, we leave it as-is
- * but with this warning attached.
- */
-#include "curl.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-typedef void CURLM;
-
-typedef enum {
-  CURLM_CALL_MULTI_PERFORM = -1, /* please call curl_multi_perform() or
-                                    curl_multi_socket*() soon */
-  CURLM_OK,
-  CURLM_BAD_HANDLE,      /* the passed-in handle is not a valid CURLM handle */
-  CURLM_BAD_EASY_HANDLE, /* an easy handle was not good/valid */
-  CURLM_OUT_OF_MEMORY,   /* if you ever get this, you're in deep sh*t */
-  CURLM_INTERNAL_ERROR,  /* this is a libcurl bug */
-  CURLM_BAD_SOCKET,      /* the passed in socket argument did not match */
-  CURLM_UNKNOWN_OPTION,  /* curl_multi_setopt() with unsupported option */
-  CURLM_ADDED_ALREADY,   /* an easy handle already added to a multi handle was
-                            attempted to get added - again */
-  CURLM_LAST
-} CURLMcode;
-
-/* just to make code nicer when using curl_multi_socket() you can now check
-   for CURLM_CALL_MULTI_SOCKET too in the same style it works for
-   curl_multi_perform() and CURLM_CALL_MULTI_PERFORM */
-#define CURLM_CALL_MULTI_SOCKET CURLM_CALL_MULTI_PERFORM
-
-/* bitmask bits for CURLMOPT_PIPELINING */
-#define CURLPIPE_NOTHING   0L
-#define CURLPIPE_HTTP1     1L
-#define CURLPIPE_MULTIPLEX 2L
-
-typedef enum {
-  CURLMSG_NONE, /* first, not used */
-  CURLMSG_DONE, /* This easy handle has completed. 'result' contains
-                   the CURLcode of the transfer */
-  CURLMSG_LAST /* last, not used */
-} CURLMSG;
-
-struct CURLMsg {
-  CURLMSG msg;       /* what this message means */
-  CURL *easy_handle; /* the handle it concerns */
-  union {
-    void *whatever;    /* message-specific data */
-    CURLcode result;   /* return code for transfer */
-  } data;
-};
-typedef struct CURLMsg CURLMsg;
-
-/* Based on poll(2) structure and values.
- * We don't use pollfd and POLL* constants explicitly
- * to cover platforms without poll(). */
-#define CURL_WAIT_POLLIN    0x0001
-#define CURL_WAIT_POLLPRI   0x0002
-#define CURL_WAIT_POLLOUT   0x0004
-
-struct curl_waitfd {
-  curl_socket_t fd;
-  short events;
-  short revents; /* not supported yet */
-};
-
-/*
- * Name:    curl_multi_init()
- *
- * Desc:    inititalize multi-style curl usage
- *
- * Returns: a new CURLM handle to use in all 'curl_multi' functions.
- */
-CURL_EXTERN CURLM *curl_multi_init(void);
-
-/*
- * Name:    curl_multi_add_handle()
- *
- * Desc:    add a standard curl handle to the multi stack
- *
- * Returns: CURLMcode type, general multi error code.
- */
-CURL_EXTERN CURLMcode curl_multi_add_handle(CURLM *multi_handle,
-                                            CURL *curl_handle);
-
- /*
-  * Name:    curl_multi_remove_handle()
-  *
-  * Desc:    removes a curl handle from the multi stack again
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_remove_handle(CURLM *multi_handle,
-                                               CURL *curl_handle);
-
- /*
-  * Name:    curl_multi_fdset()
-  *
-  * Desc:    Ask curl for its fd_set sets. The app can use these to select() or
-  *          poll() on. We want curl_multi_perform() called as soon as one of
-  *          them are ready.
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_fdset(CURLM *multi_handle,
-                                       fd_set *read_fd_set,
-                                       fd_set *write_fd_set,
-                                       fd_set *exc_fd_set,
-                                       int *max_fd);
-
-/*
- * Name:     curl_multi_wait()
- *
- * Desc:     Poll on all fds within a CURLM set as well as any
- *           additional fds passed to the function.
- *
- * Returns:  CURLMcode type, general multi error code.
- */
-CURL_EXTERN CURLMcode curl_multi_wait(CURLM *multi_handle,
-                                      struct curl_waitfd extra_fds[],
-                                      unsigned int extra_nfds,
-                                      int timeout_ms,
-                                      int *ret);
-
- /*
-  * Name:    curl_multi_perform()
-  *
-  * Desc:    When the app thinks there's data available for curl it calls this
-  *          function to read/write whatever there is right now. This returns
-  *          as soon as the reads and writes are done. This function does not
-  *          require that there actually is data available for reading or that
-  *          data can be written, it can be called just in case. It returns
-  *          the number of handles that still transfer data in the second
-  *          argument's integer-pointer.
-  *
-  * Returns: CURLMcode type, general multi error code. *NOTE* that this only
-  *          returns errors etc regarding the whole multi stack. There might
-  *          still have occurred problems on invidual transfers even when this
-  *          returns OK.
-  */
-CURL_EXTERN CURLMcode curl_multi_perform(CURLM *multi_handle,
-                                         int *running_handles);
-
- /*
-  * Name:    curl_multi_cleanup()
-  *
-  * Desc:    Cleans up and removes a whole multi stack. It does not free or
-  *          touch any individual easy handles in any way. We need to define
-  *          in what state those handles will be if this function is called
-  *          in the middle of a transfer.
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_cleanup(CURLM *multi_handle);
-
-/*
- * Name:    curl_multi_info_read()
- *
- * Desc:    Ask the multi handle if there's any messages/informationals from
- *          the individual transfers. Messages include informationals such as
- *          error code from the transfer or just the fact that a transfer is
- *          completed. More details on these should be written down as well.
- *
- *          Repeated calls to this function will return a new struct each
- *          time, until a special "end of msgs" struct is returned as a signal
- *          that there is no more to get at this point.
- *
- *          The data the returned pointer points to will not survive calling
- *          curl_multi_cleanup().
- *
- *          The 'CURLMsg' struct is meant to be very simple and only contain
- *          very basic informations. If more involved information is wanted,
- *          we will provide the particular "transfer handle" in that struct
- *          and that should/could/would be used in subsequent
- *          curl_easy_getinfo() calls (or similar). The point being that we
- *          must never expose complex structs to applications, as then we'll
- *          undoubtably get backwards compatibility problems in the future.
- *
- * Returns: A pointer to a filled-in struct, or NULL if it failed or ran out
- *          of structs. It also writes the number of messages left in the
- *          queue (after this read) in the integer the second argument points
- *          to.
- */
-CURL_EXTERN CURLMsg *curl_multi_info_read(CURLM *multi_handle,
-                                          int *msgs_in_queue);
-
-/*
- * Name:    curl_multi_strerror()
- *
- * Desc:    The curl_multi_strerror function may be used to turn a CURLMcode
- *          value into the equivalent human readable error string.  This is
- *          useful for printing meaningful error messages.
- *
- * Returns: A pointer to a zero-terminated error message.
- */
-CURL_EXTERN const char *curl_multi_strerror(CURLMcode);
-
-/*
- * Name:    curl_multi_socket() and
- *          curl_multi_socket_all()
- *
- * Desc:    An alternative version of curl_multi_perform() that allows the
- *          application to pass in one of the file descriptors that have been
- *          detected to have "action" on them and let libcurl perform.
- *          See man page for details.
- */
-#define CURL_POLL_NONE   0
-#define CURL_POLL_IN     1
-#define CURL_POLL_OUT    2
-#define CURL_POLL_INOUT  3
-#define CURL_POLL_REMOVE 4
-
-#define CURL_SOCKET_TIMEOUT CURL_SOCKET_BAD
-
-#define CURL_CSELECT_IN   0x01
-#define CURL_CSELECT_OUT  0x02
-#define CURL_CSELECT_ERR  0x04
-
-typedef int (*curl_socket_callback)(CURL *easy,      /* easy handle */
-                                    curl_socket_t s, /* socket */
-                                    int what,        /* see above */
-                                    void *userp,     /* private callback
-                                                        pointer */
-                                    void *socketp);  /* private socket
-                                                        pointer */
-/*
- * Name:    curl_multi_timer_callback
- *
- * Desc:    Called by libcurl whenever the library detects a change in the
- *          maximum number of milliseconds the app is allowed to wait before
- *          curl_multi_socket() or curl_multi_perform() must be called
- *          (to allow libcurl's timed events to take place).
- *
- * Returns: The callback should return zero.
- */
-typedef int (*curl_multi_timer_callback)(CURLM *multi,    /* multi handle */
-                                         long timeout_ms, /* see above */
-                                         void *userp);    /* private callback
-                                                             pointer */
-
-CURL_EXTERN CURLMcode curl_multi_socket(CURLM *multi_handle, curl_socket_t s,
-                                        int *running_handles);
-
-CURL_EXTERN CURLMcode curl_multi_socket_action(CURLM *multi_handle,
-                                               curl_socket_t s,
-                                               int ev_bitmask,
-                                               int *running_handles);
-
-CURL_EXTERN CURLMcode curl_multi_socket_all(CURLM *multi_handle,
-                                            int *running_handles);
-
-#ifndef CURL_ALLOW_OLD_MULTI_SOCKET
-/* This macro below was added in 7.16.3 to push users who recompile to use
-   the new curl_multi_socket_action() instead of the old curl_multi_socket()
-*/
-#define curl_multi_socket(x,y,z) curl_multi_socket_action(x,y,0,z)
-#endif
-
-/*
- * Name:    curl_multi_timeout()
- *
- * Desc:    Returns the maximum number of milliseconds the app is allowed to
- *          wait before curl_multi_socket() or curl_multi_perform() must be
- *          called (to allow libcurl's timed events to take place).
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_timeout(CURLM *multi_handle,
-                                         long *milliseconds);
-
-#undef CINIT /* re-using the same name as in curl.h */
-
-#ifdef CURL_ISOCPP
-#define CINIT(name,type,num) CURLMOPT_ ## name = CURLOPTTYPE_ ## type + num
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define LONG          CURLOPTTYPE_LONG
-#define OBJECTPOINT   CURLOPTTYPE_OBJECTPOINT
-#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT
-#define OFF_T         CURLOPTTYPE_OFF_T
-#define CINIT(name,type,number) CURLMOPT_/**/name = type + number
-#endif
-
-typedef enum {
-  /* This is the socket callback function pointer */
-  CINIT(SOCKETFUNCTION, FUNCTIONPOINT, 1),
-
-  /* This is the argument passed to the socket callback */
-  CINIT(SOCKETDATA, OBJECTPOINT, 2),
-
-    /* set to 1 to enable pipelining for this multi handle */
-  CINIT(PIPELINING, LONG, 3),
-
-   /* This is the timer callback function pointer */
-  CINIT(TIMERFUNCTION, FUNCTIONPOINT, 4),
-
-  /* This is the argument passed to the timer callback */
-  CINIT(TIMERDATA, OBJECTPOINT, 5),
-
-  /* maximum number of entries in the connection cache */
-  CINIT(MAXCONNECTS, LONG, 6),
-
-  /* maximum number of (pipelining) connections to one host */
-  CINIT(MAX_HOST_CONNECTIONS, LONG, 7),
-
-  /* maximum number of requests in a pipeline */
-  CINIT(MAX_PIPELINE_LENGTH, LONG, 8),
-
-  /* a connection with a content-length longer than this
-     will not be considered for pipelining */
-  CINIT(CONTENT_LENGTH_PENALTY_SIZE, OFF_T, 9),
-
-  /* a connection with a chunk length longer than this
-     will not be considered for pipelining */
-  CINIT(CHUNK_LENGTH_PENALTY_SIZE, OFF_T, 10),
-
-  /* a list of site names(+port) that are blacklisted from
-     pipelining */
-  CINIT(PIPELINING_SITE_BL, OBJECTPOINT, 11),
-
-  /* a list of server types that are blacklisted from
-     pipelining */
-  CINIT(PIPELINING_SERVER_BL, OBJECTPOINT, 12),
-
-  /* maximum number of open connections in total */
-  CINIT(MAX_TOTAL_CONNECTIONS, LONG, 13),
-
-  CURLMOPT_LASTENTRY /* the last unused */
-} CURLMoption;
-
-
-/*
- * Name:    curl_multi_setopt()
- *
- * Desc:    Sets options for the multi handle.
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_setopt(CURLM *multi_handle,
-                                        CURLMoption option, ...);
-
-
-/*
- * Name:    curl_multi_assign()
- *
- * Desc:    This function sets an association in the multi handle between the
- *          given socket and a private pointer of the application. This is
- *          (only) useful for curl_multi_socket uses.
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_assign(CURLM *multi_handle,
-                                        curl_socket_t sockfd, void *sockp);
-
-#ifdef __cplusplus
-} /* end of extern "C" */
-#endif
-
-#endif
diff --git a/phonelibs/curl/include/curl/stdcheaders.h b/phonelibs/curl/include/curl/stdcheaders.h
deleted file mode 100644
index ad82ef6335d616..00000000000000
--- a/phonelibs/curl/include/curl/stdcheaders.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef __STDC_HEADERS_H
-#define __STDC_HEADERS_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2010, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-#include <sys/types.h>
-
-size_t fread (void *, size_t, size_t, FILE *);
-size_t fwrite (const void *, size_t, size_t, FILE *);
-
-int strcasecmp(const char *, const char *);
-int strncasecmp(const char *, const char *, size_t);
-
-#endif /* __STDC_HEADERS_H */
diff --git a/phonelibs/curl/include/curl/typecheck-gcc.h b/phonelibs/curl/include/curl/typecheck-gcc.h
deleted file mode 100644
index 13fb0fa9ee3d21..00000000000000
--- a/phonelibs/curl/include/curl/typecheck-gcc.h
+++ /dev/null
@@ -1,612 +0,0 @@
-#ifndef __CURL_TYPECHECK_GCC_H
-#define __CURL_TYPECHECK_GCC_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2014, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* wraps curl_easy_setopt() with typechecking */
-
-/* To add a new kind of warning, add an
- *   if(_curl_is_sometype_option(_curl_opt))
- *     if(!_curl_is_sometype(value))
- *       _curl_easy_setopt_err_sometype();
- * block and define _curl_is_sometype_option, _curl_is_sometype and
- * _curl_easy_setopt_err_sometype below
- *
- * NOTE: We use two nested 'if' statements here instead of the && operator, in
- *       order to work around gcc bug #32061.  It affects only gcc 4.3.x/4.4.x
- *       when compiling with -Wlogical-op.
- *
- * To add an option that uses the same type as an existing option, you'll just
- * need to extend the appropriate _curl_*_option macro
- */
-#define curl_easy_setopt(handle, option, value)                               \
-__extension__ ({                                                              \
-  __typeof__ (option) _curl_opt = option;                                     \
-  if(__builtin_constant_p(_curl_opt)) {                                       \
-    if(_curl_is_long_option(_curl_opt))                                       \
-      if(!_curl_is_long(value))                                               \
-        _curl_easy_setopt_err_long();                                         \
-    if(_curl_is_off_t_option(_curl_opt))                                      \
-      if(!_curl_is_off_t(value))                                              \
-        _curl_easy_setopt_err_curl_off_t();                                   \
-    if(_curl_is_string_option(_curl_opt))                                     \
-      if(!_curl_is_string(value))                                             \
-        _curl_easy_setopt_err_string();                                       \
-    if(_curl_is_write_cb_option(_curl_opt))                                   \
-      if(!_curl_is_write_cb(value))                                           \
-        _curl_easy_setopt_err_write_callback();                               \
-    if((_curl_opt) == CURLOPT_READFUNCTION)                                   \
-      if(!_curl_is_read_cb(value))                                            \
-        _curl_easy_setopt_err_read_cb();                                      \
-    if((_curl_opt) == CURLOPT_IOCTLFUNCTION)                                  \
-      if(!_curl_is_ioctl_cb(value))                                           \
-        _curl_easy_setopt_err_ioctl_cb();                                     \
-    if((_curl_opt) == CURLOPT_SOCKOPTFUNCTION)                                \
-      if(!_curl_is_sockopt_cb(value))                                         \
-        _curl_easy_setopt_err_sockopt_cb();                                   \
-    if((_curl_opt) == CURLOPT_OPENSOCKETFUNCTION)                             \
-      if(!_curl_is_opensocket_cb(value))                                      \
-        _curl_easy_setopt_err_opensocket_cb();                                \
-    if((_curl_opt) == CURLOPT_PROGRESSFUNCTION)                               \
-      if(!_curl_is_progress_cb(value))                                        \
-        _curl_easy_setopt_err_progress_cb();                                  \
-    if((_curl_opt) == CURLOPT_DEBUGFUNCTION)                                  \
-      if(!_curl_is_debug_cb(value))                                           \
-        _curl_easy_setopt_err_debug_cb();                                     \
-    if((_curl_opt) == CURLOPT_SSL_CTX_FUNCTION)                               \
-      if(!_curl_is_ssl_ctx_cb(value))                                         \
-        _curl_easy_setopt_err_ssl_ctx_cb();                                   \
-    if(_curl_is_conv_cb_option(_curl_opt))                                    \
-      if(!_curl_is_conv_cb(value))                                            \
-        _curl_easy_setopt_err_conv_cb();                                      \
-    if((_curl_opt) == CURLOPT_SEEKFUNCTION)                                   \
-      if(!_curl_is_seek_cb(value))                                            \
-        _curl_easy_setopt_err_seek_cb();                                      \
-    if(_curl_is_cb_data_option(_curl_opt))                                    \
-      if(!_curl_is_cb_data(value))                                            \
-        _curl_easy_setopt_err_cb_data();                                      \
-    if((_curl_opt) == CURLOPT_ERRORBUFFER)                                    \
-      if(!_curl_is_error_buffer(value))                                       \
-        _curl_easy_setopt_err_error_buffer();                                 \
-    if((_curl_opt) == CURLOPT_STDERR)                                         \
-      if(!_curl_is_FILE(value))                                               \
-        _curl_easy_setopt_err_FILE();                                         \
-    if(_curl_is_postfields_option(_curl_opt))                                 \
-      if(!_curl_is_postfields(value))                                         \
-        _curl_easy_setopt_err_postfields();                                   \
-    if((_curl_opt) == CURLOPT_HTTPPOST)                                       \
-      if(!_curl_is_arr((value), struct curl_httppost))                        \
-        _curl_easy_setopt_err_curl_httpost();                                 \
-    if(_curl_is_slist_option(_curl_opt))                                      \
-      if(!_curl_is_arr((value), struct curl_slist))                           \
-        _curl_easy_setopt_err_curl_slist();                                   \
-    if((_curl_opt) == CURLOPT_SHARE)                                          \
-      if(!_curl_is_ptr((value), CURLSH))                                      \
-        _curl_easy_setopt_err_CURLSH();                                       \
-  }                                                                           \
-  curl_easy_setopt(handle, _curl_opt, value);                                 \
-})
-
-/* wraps curl_easy_getinfo() with typechecking */
-/* FIXME: don't allow const pointers */
-#define curl_easy_getinfo(handle, info, arg)                                  \
-__extension__ ({                                                              \
-  __typeof__ (info) _curl_info = info;                                        \
-  if(__builtin_constant_p(_curl_info)) {                                      \
-    if(_curl_is_string_info(_curl_info))                                      \
-      if(!_curl_is_arr((arg), char *))                                        \
-        _curl_easy_getinfo_err_string();                                      \
-    if(_curl_is_long_info(_curl_info))                                        \
-      if(!_curl_is_arr((arg), long))                                          \
-        _curl_easy_getinfo_err_long();                                        \
-    if(_curl_is_double_info(_curl_info))                                      \
-      if(!_curl_is_arr((arg), double))                                        \
-        _curl_easy_getinfo_err_double();                                      \
-    if(_curl_is_slist_info(_curl_info))                                       \
-      if(!_curl_is_arr((arg), struct curl_slist *))                           \
-        _curl_easy_getinfo_err_curl_slist();                                  \
-  }                                                                           \
-  curl_easy_getinfo(handle, _curl_info, arg);                                 \
-})
-
-/* TODO: typechecking for curl_share_setopt() and curl_multi_setopt(),
- * for now just make sure that the functions are called with three
- * arguments
- */
-#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param)
-#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param)
-
-
-/* the actual warnings, triggered by calling the _curl_easy_setopt_err*
- * functions */
-
-/* To define a new warning, use _CURL_WARNING(identifier, "message") */
-#define _CURL_WARNING(id, message)                                            \
-  static void __attribute__((__warning__(message)))                           \
-  __attribute__((__unused__)) __attribute__((__noinline__))                   \
-  id(void) { __asm__(""); }
-
-_CURL_WARNING(_curl_easy_setopt_err_long,
-  "curl_easy_setopt expects a long argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_off_t,
-  "curl_easy_setopt expects a curl_off_t argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_string,
-              "curl_easy_setopt expects a "
-              "string (char* or char[]) argument for this option"
-  )
-_CURL_WARNING(_curl_easy_setopt_err_write_callback,
-  "curl_easy_setopt expects a curl_write_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_read_cb,
-  "curl_easy_setopt expects a curl_read_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_ioctl_cb,
-  "curl_easy_setopt expects a curl_ioctl_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_sockopt_cb,
-  "curl_easy_setopt expects a curl_sockopt_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_opensocket_cb,
-              "curl_easy_setopt expects a "
-              "curl_opensocket_callback argument for this option"
-  )
-_CURL_WARNING(_curl_easy_setopt_err_progress_cb,
-  "curl_easy_setopt expects a curl_progress_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_debug_cb,
-  "curl_easy_setopt expects a curl_debug_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_ssl_ctx_cb,
-  "curl_easy_setopt expects a curl_ssl_ctx_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_conv_cb,
-  "curl_easy_setopt expects a curl_conv_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_seek_cb,
-  "curl_easy_setopt expects a curl_seek_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_cb_data,
-              "curl_easy_setopt expects a "
-              "private data pointer as argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_error_buffer,
-              "curl_easy_setopt expects a "
-              "char buffer of CURL_ERROR_SIZE as argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_FILE,
-  "curl_easy_setopt expects a FILE* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_postfields,
-  "curl_easy_setopt expects a void* or char* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_httpost,
-  "curl_easy_setopt expects a struct curl_httppost* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_slist,
-  "curl_easy_setopt expects a struct curl_slist* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_CURLSH,
-  "curl_easy_setopt expects a CURLSH* argument for this option")
-
-_CURL_WARNING(_curl_easy_getinfo_err_string,
-  "curl_easy_getinfo expects a pointer to char * for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_long,
-  "curl_easy_getinfo expects a pointer to long for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_double,
-  "curl_easy_getinfo expects a pointer to double for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_curl_slist,
-  "curl_easy_getinfo expects a pointer to struct curl_slist * for this info")
-
-/* groups of curl_easy_setops options that take the same type of argument */
-
-/* To add a new option to one of the groups, just add
- *   (option) == CURLOPT_SOMETHING
- * to the or-expression. If the option takes a long or curl_off_t, you don't
- * have to do anything
- */
-
-/* evaluates to true if option takes a long argument */
-#define _curl_is_long_option(option)                                          \
-  (0 < (option) && (option) < CURLOPTTYPE_OBJECTPOINT)
-
-#define _curl_is_off_t_option(option)                                         \
-  ((option) > CURLOPTTYPE_OFF_T)
-
-/* evaluates to true if option takes a char* argument */
-#define _curl_is_string_option(option)                                        \
-  ((option) == CURLOPT_URL ||                                                 \
-   (option) == CURLOPT_PROXY ||                                               \
-   (option) == CURLOPT_INTERFACE ||                                           \
-   (option) == CURLOPT_NETRC_FILE ||                                          \
-   (option) == CURLOPT_USERPWD ||                                             \
-   (option) == CURLOPT_USERNAME ||                                            \
-   (option) == CURLOPT_PASSWORD ||                                            \
-   (option) == CURLOPT_PROXYUSERPWD ||                                        \
-   (option) == CURLOPT_PROXYUSERNAME ||                                       \
-   (option) == CURLOPT_PROXYPASSWORD ||                                       \
-   (option) == CURLOPT_NOPROXY ||                                             \
-   (option) == CURLOPT_ACCEPT_ENCODING ||                                     \
-   (option) == CURLOPT_REFERER ||                                             \
-   (option) == CURLOPT_USERAGENT ||                                           \
-   (option) == CURLOPT_COOKIE ||                                              \
-   (option) == CURLOPT_COOKIEFILE ||                                          \
-   (option) == CURLOPT_COOKIEJAR ||                                           \
-   (option) == CURLOPT_COOKIELIST ||                                          \
-   (option) == CURLOPT_FTPPORT ||                                             \
-   (option) == CURLOPT_FTP_ALTERNATIVE_TO_USER ||                             \
-   (option) == CURLOPT_FTP_ACCOUNT ||                                         \
-   (option) == CURLOPT_RANGE ||                                               \
-   (option) == CURLOPT_CUSTOMREQUEST ||                                       \
-   (option) == CURLOPT_SSLCERT ||                                             \
-   (option) == CURLOPT_SSLCERTTYPE ||                                         \
-   (option) == CURLOPT_SSLKEY ||                                              \
-   (option) == CURLOPT_SSLKEYTYPE ||                                          \
-   (option) == CURLOPT_KEYPASSWD ||                                           \
-   (option) == CURLOPT_SSLENGINE ||                                           \
-   (option) == CURLOPT_CAINFO ||                                              \
-   (option) == CURLOPT_CAPATH ||                                              \
-   (option) == CURLOPT_RANDOM_FILE ||                                         \
-   (option) == CURLOPT_EGDSOCKET ||                                           \
-   (option) == CURLOPT_SSL_CIPHER_LIST ||                                     \
-   (option) == CURLOPT_KRBLEVEL ||                                            \
-   (option) == CURLOPT_SSH_HOST_PUBLIC_KEY_MD5 ||                             \
-   (option) == CURLOPT_SSH_PUBLIC_KEYFILE ||                                  \
-   (option) == CURLOPT_SSH_PRIVATE_KEYFILE ||                                 \
-   (option) == CURLOPT_CRLFILE ||                                             \
-   (option) == CURLOPT_ISSUERCERT ||                                          \
-   (option) == CURLOPT_SOCKS5_GSSAPI_SERVICE ||                               \
-   (option) == CURLOPT_SSH_KNOWNHOSTS ||                                      \
-   (option) == CURLOPT_MAIL_FROM ||                                           \
-   (option) == CURLOPT_RTSP_SESSION_ID ||                                     \
-   (option) == CURLOPT_RTSP_STREAM_URI ||                                     \
-   (option) == CURLOPT_RTSP_TRANSPORT ||                                      \
-   (option) == CURLOPT_XOAUTH2_BEARER ||                                      \
-   (option) == CURLOPT_DNS_SERVERS ||                                         \
-   (option) == CURLOPT_DNS_INTERFACE ||                                       \
-   (option) == CURLOPT_DNS_LOCAL_IP4 ||                                       \
-   (option) == CURLOPT_DNS_LOCAL_IP6 ||                                       \
-   (option) == CURLOPT_LOGIN_OPTIONS ||                                       \
-   (option) == CURLOPT_PROXY_SERVICE_NAME ||                                  \
-   (option) == CURLOPT_SERVICE_NAME ||                                        \
-   0)
-
-/* evaluates to true if option takes a curl_write_callback argument */
-#define _curl_is_write_cb_option(option)                                      \
-  ((option) == CURLOPT_HEADERFUNCTION ||                                      \
-   (option) == CURLOPT_WRITEFUNCTION)
-
-/* evaluates to true if option takes a curl_conv_callback argument */
-#define _curl_is_conv_cb_option(option)                                       \
-  ((option) == CURLOPT_CONV_TO_NETWORK_FUNCTION ||                            \
-   (option) == CURLOPT_CONV_FROM_NETWORK_FUNCTION ||                          \
-   (option) == CURLOPT_CONV_FROM_UTF8_FUNCTION)
-
-/* evaluates to true if option takes a data argument to pass to a callback */
-#define _curl_is_cb_data_option(option)                                       \
-  ((option) == CURLOPT_WRITEDATA ||                                           \
-   (option) == CURLOPT_READDATA ||                                            \
-   (option) == CURLOPT_IOCTLDATA ||                                           \
-   (option) == CURLOPT_SOCKOPTDATA ||                                         \
-   (option) == CURLOPT_OPENSOCKETDATA ||                                      \
-   (option) == CURLOPT_PROGRESSDATA ||                                        \
-   (option) == CURLOPT_HEADERDATA ||                                         \
-   (option) == CURLOPT_DEBUGDATA ||                                           \
-   (option) == CURLOPT_SSL_CTX_DATA ||                                        \
-   (option) == CURLOPT_SEEKDATA ||                                            \
-   (option) == CURLOPT_PRIVATE ||                                             \
-   (option) == CURLOPT_SSH_KEYDATA ||                                         \
-   (option) == CURLOPT_INTERLEAVEDATA ||                                      \
-   (option) == CURLOPT_CHUNK_DATA ||                                          \
-   (option) == CURLOPT_FNMATCH_DATA ||                                        \
-   0)
-
-/* evaluates to true if option takes a POST data argument (void* or char*) */
-#define _curl_is_postfields_option(option)                                    \
-  ((option) == CURLOPT_POSTFIELDS ||                                          \
-   (option) == CURLOPT_COPYPOSTFIELDS ||                                      \
-   0)
-
-/* evaluates to true if option takes a struct curl_slist * argument */
-#define _curl_is_slist_option(option)                                         \
-  ((option) == CURLOPT_HTTPHEADER ||                                          \
-   (option) == CURLOPT_HTTP200ALIASES ||                                      \
-   (option) == CURLOPT_QUOTE ||                                               \
-   (option) == CURLOPT_POSTQUOTE ||                                           \
-   (option) == CURLOPT_PREQUOTE ||                                            \
-   (option) == CURLOPT_TELNETOPTIONS ||                                       \
-   (option) == CURLOPT_MAIL_RCPT ||                                           \
-   0)
-
-/* groups of curl_easy_getinfo infos that take the same type of argument */
-
-/* evaluates to true if info expects a pointer to char * argument */
-#define _curl_is_string_info(info)                                            \
-  (CURLINFO_STRING < (info) && (info) < CURLINFO_LONG)
-
-/* evaluates to true if info expects a pointer to long argument */
-#define _curl_is_long_info(info)                                              \
-  (CURLINFO_LONG < (info) && (info) < CURLINFO_DOUBLE)
-
-/* evaluates to true if info expects a pointer to double argument */
-#define _curl_is_double_info(info)                                            \
-  (CURLINFO_DOUBLE < (info) && (info) < CURLINFO_SLIST)
-
-/* true if info expects a pointer to struct curl_slist * argument */
-#define _curl_is_slist_info(info)                                             \
-  (CURLINFO_SLIST < (info))
-
-
-/* typecheck helpers -- check whether given expression has requested type*/
-
-/* For pointers, you can use the _curl_is_ptr/_curl_is_arr macros,
- * otherwise define a new macro. Search for __builtin_types_compatible_p
- * in the GCC manual.
- * NOTE: these macros MUST NOT EVALUATE their arguments! The argument is
- * the actual expression passed to the curl_easy_setopt macro. This
- * means that you can only apply the sizeof and __typeof__ operators, no
- * == or whatsoever.
- */
-
-/* XXX: should evaluate to true iff expr is a pointer */
-#define _curl_is_any_ptr(expr)                                                \
-  (sizeof(expr) == sizeof(void*))
-
-/* evaluates to true if expr is NULL */
-/* XXX: must not evaluate expr, so this check is not accurate */
-#define _curl_is_NULL(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), __typeof__(NULL)))
-
-/* evaluates to true if expr is type*, const type* or NULL */
-#define _curl_is_ptr(expr, type)                                              \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), type *) ||                  \
-   __builtin_types_compatible_p(__typeof__(expr), const type *))
-
-/* evaluates to true if expr is one of type[], type*, NULL or const type* */
-#define _curl_is_arr(expr, type)                                              \
-  (_curl_is_ptr((expr), type) ||                                              \
-   __builtin_types_compatible_p(__typeof__(expr), type []))
-
-/* evaluates to true if expr is a string */
-#define _curl_is_string(expr)                                                 \
-  (_curl_is_arr((expr), char) ||                                              \
-   _curl_is_arr((expr), signed char) ||                                       \
-   _curl_is_arr((expr), unsigned char))
-
-/* evaluates to true if expr is a long (no matter the signedness)
- * XXX: for now, int is also accepted (and therefore short and char, which
- * are promoted to int when passed to a variadic function) */
-#define _curl_is_long(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), long) ||                    \
-   __builtin_types_compatible_p(__typeof__(expr), signed long) ||             \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned long) ||           \
-   __builtin_types_compatible_p(__typeof__(expr), int) ||                     \
-   __builtin_types_compatible_p(__typeof__(expr), signed int) ||              \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned int) ||            \
-   __builtin_types_compatible_p(__typeof__(expr), short) ||                   \
-   __builtin_types_compatible_p(__typeof__(expr), signed short) ||            \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned short) ||          \
-   __builtin_types_compatible_p(__typeof__(expr), char) ||                    \
-   __builtin_types_compatible_p(__typeof__(expr), signed char) ||             \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned char))
-
-/* evaluates to true if expr is of type curl_off_t */
-#define _curl_is_off_t(expr)                                                  \
-  (__builtin_types_compatible_p(__typeof__(expr), curl_off_t))
-
-/* evaluates to true if expr is abuffer suitable for CURLOPT_ERRORBUFFER */
-/* XXX: also check size of an char[] array? */
-#define _curl_is_error_buffer(expr)                                           \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), char *) ||                  \
-   __builtin_types_compatible_p(__typeof__(expr), char[]))
-
-/* evaluates to true if expr is of type (const) void* or (const) FILE* */
-#if 0
-#define _curl_is_cb_data(expr)                                                \
-  (_curl_is_ptr((expr), void) ||                                              \
-   _curl_is_ptr((expr), FILE))
-#else /* be less strict */
-#define _curl_is_cb_data(expr)                                                \
-  _curl_is_any_ptr(expr)
-#endif
-
-/* evaluates to true if expr is of type FILE* */
-#define _curl_is_FILE(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), FILE *))
-
-/* evaluates to true if expr can be passed as POST data (void* or char*) */
-#define _curl_is_postfields(expr)                                             \
-  (_curl_is_ptr((expr), void) ||                                              \
-   _curl_is_arr((expr), char))
-
-/* FIXME: the whole callback checking is messy...
- * The idea is to tolerate char vs. void and const vs. not const
- * pointers in arguments at least
- */
-/* helper: __builtin_types_compatible_p distinguishes between functions and
- * function pointers, hide it */
-#define _curl_callback_compatible(func, type)                                 \
-  (__builtin_types_compatible_p(__typeof__(func), type) ||                    \
-   __builtin_types_compatible_p(__typeof__(func), type*))
-
-/* evaluates to true if expr is of type curl_read_callback or "similar" */
-#define _curl_is_read_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), __typeof__(fread)) ||       \
-   __builtin_types_compatible_p(__typeof__(expr), curl_read_callback) ||      \
-   _curl_callback_compatible((expr), _curl_read_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback2) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback3) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback4) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback5) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback6))
-typedef size_t (_curl_read_callback1)(char *, size_t, size_t, void*);
-typedef size_t (_curl_read_callback2)(char *, size_t, size_t, const void*);
-typedef size_t (_curl_read_callback3)(char *, size_t, size_t, FILE*);
-typedef size_t (_curl_read_callback4)(void *, size_t, size_t, void*);
-typedef size_t (_curl_read_callback5)(void *, size_t, size_t, const void*);
-typedef size_t (_curl_read_callback6)(void *, size_t, size_t, FILE*);
-
-/* evaluates to true if expr is of type curl_write_callback or "similar" */
-#define _curl_is_write_cb(expr)                                               \
-  (_curl_is_read_cb(expr) ||                                            \
-   __builtin_types_compatible_p(__typeof__(expr), __typeof__(fwrite)) ||      \
-   __builtin_types_compatible_p(__typeof__(expr), curl_write_callback) ||     \
-   _curl_callback_compatible((expr), _curl_write_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback4) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback5) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback6))
-typedef size_t (_curl_write_callback1)(const char *, size_t, size_t, void*);
-typedef size_t (_curl_write_callback2)(const char *, size_t, size_t,
-                                       const void*);
-typedef size_t (_curl_write_callback3)(const char *, size_t, size_t, FILE*);
-typedef size_t (_curl_write_callback4)(const void *, size_t, size_t, void*);
-typedef size_t (_curl_write_callback5)(const void *, size_t, size_t,
-                                       const void*);
-typedef size_t (_curl_write_callback6)(const void *, size_t, size_t, FILE*);
-
-/* evaluates to true if expr is of type curl_ioctl_callback or "similar" */
-#define _curl_is_ioctl_cb(expr)                                         \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_ioctl_callback) ||     \
-   _curl_callback_compatible((expr), _curl_ioctl_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback4))
-typedef curlioerr (_curl_ioctl_callback1)(CURL *, int, void*);
-typedef curlioerr (_curl_ioctl_callback2)(CURL *, int, const void*);
-typedef curlioerr (_curl_ioctl_callback3)(CURL *, curliocmd, void*);
-typedef curlioerr (_curl_ioctl_callback4)(CURL *, curliocmd, const void*);
-
-/* evaluates to true if expr is of type curl_sockopt_callback or "similar" */
-#define _curl_is_sockopt_cb(expr)                                       \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_sockopt_callback) ||   \
-   _curl_callback_compatible((expr), _curl_sockopt_callback1) ||              \
-   _curl_callback_compatible((expr), _curl_sockopt_callback2))
-typedef int (_curl_sockopt_callback1)(void *, curl_socket_t, curlsocktype);
-typedef int (_curl_sockopt_callback2)(const void *, curl_socket_t,
-                                      curlsocktype);
-
-/* evaluates to true if expr is of type curl_opensocket_callback or
-   "similar" */
-#define _curl_is_opensocket_cb(expr)                                    \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_opensocket_callback) ||\
-   _curl_callback_compatible((expr), _curl_opensocket_callback1) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback2) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback3) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback4))
-typedef curl_socket_t (_curl_opensocket_callback1)
-  (void *, curlsocktype, struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback2)
-  (void *, curlsocktype, const struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback3)
-  (const void *, curlsocktype, struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback4)
-  (const void *, curlsocktype, const struct curl_sockaddr *);
-
-/* evaluates to true if expr is of type curl_progress_callback or "similar" */
-#define _curl_is_progress_cb(expr)                                      \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_progress_callback) ||  \
-   _curl_callback_compatible((expr), _curl_progress_callback1) ||             \
-   _curl_callback_compatible((expr), _curl_progress_callback2))
-typedef int (_curl_progress_callback1)(void *,
-    double, double, double, double);
-typedef int (_curl_progress_callback2)(const void *,
-    double, double, double, double);
-
-/* evaluates to true if expr is of type curl_debug_callback or "similar" */
-#define _curl_is_debug_cb(expr)                                         \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_debug_callback) ||     \
-   _curl_callback_compatible((expr), _curl_debug_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback4) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback5) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback6) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback7) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback8))
-typedef int (_curl_debug_callback1) (CURL *,
-    curl_infotype, char *, size_t, void *);
-typedef int (_curl_debug_callback2) (CURL *,
-    curl_infotype, char *, size_t, const void *);
-typedef int (_curl_debug_callback3) (CURL *,
-    curl_infotype, const char *, size_t, void *);
-typedef int (_curl_debug_callback4) (CURL *,
-    curl_infotype, const char *, size_t, const void *);
-typedef int (_curl_debug_callback5) (CURL *,
-    curl_infotype, unsigned char *, size_t, void *);
-typedef int (_curl_debug_callback6) (CURL *,
-    curl_infotype, unsigned char *, size_t, const void *);
-typedef int (_curl_debug_callback7) (CURL *,
-    curl_infotype, const unsigned char *, size_t, void *);
-typedef int (_curl_debug_callback8) (CURL *,
-    curl_infotype, const unsigned char *, size_t, const void *);
-
-/* evaluates to true if expr is of type curl_ssl_ctx_callback or "similar" */
-/* this is getting even messier... */
-#define _curl_is_ssl_ctx_cb(expr)                                       \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_ssl_ctx_callback) ||   \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback1) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback2) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback3) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback4) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback5) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback6) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback7) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback8))
-typedef CURLcode (_curl_ssl_ctx_callback1)(CURL *, void *, void *);
-typedef CURLcode (_curl_ssl_ctx_callback2)(CURL *, void *, const void *);
-typedef CURLcode (_curl_ssl_ctx_callback3)(CURL *, const void *, void *);
-typedef CURLcode (_curl_ssl_ctx_callback4)(CURL *, const void *, const void *);
-#ifdef HEADER_SSL_H
-/* hack: if we included OpenSSL's ssl.h, we know about SSL_CTX
- * this will of course break if we're included before OpenSSL headers...
- */
-typedef CURLcode (_curl_ssl_ctx_callback5)(CURL *, SSL_CTX, void *);
-typedef CURLcode (_curl_ssl_ctx_callback6)(CURL *, SSL_CTX, const void *);
-typedef CURLcode (_curl_ssl_ctx_callback7)(CURL *, const SSL_CTX, void *);
-typedef CURLcode (_curl_ssl_ctx_callback8)(CURL *, const SSL_CTX,
-                                           const void *);
-#else
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback5;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback6;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback7;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback8;
-#endif
-
-/* evaluates to true if expr is of type curl_conv_callback or "similar" */
-#define _curl_is_conv_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_conv_callback) ||      \
-   _curl_callback_compatible((expr), _curl_conv_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback2) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback3) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback4))
-typedef CURLcode (*_curl_conv_callback1)(char *, size_t length);
-typedef CURLcode (*_curl_conv_callback2)(const char *, size_t length);
-typedef CURLcode (*_curl_conv_callback3)(void *, size_t length);
-typedef CURLcode (*_curl_conv_callback4)(const void *, size_t length);
-
-/* evaluates to true if expr is of type curl_seek_callback or "similar" */
-#define _curl_is_seek_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_seek_callback) ||      \
-   _curl_callback_compatible((expr), _curl_seek_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_seek_callback2))
-typedef CURLcode (*_curl_seek_callback1)(void *, curl_off_t, int);
-typedef CURLcode (*_curl_seek_callback2)(const void *, curl_off_t, int);
-
-
-#endif /* __CURL_TYPECHECK_GCC_H */
diff --git a/phonelibs/curl/lib/libcurl.a b/phonelibs/curl/lib/libcurl.a
deleted file mode 100644
index 494ac6c043c192..00000000000000
Binary files a/phonelibs/curl/lib/libcurl.a and /dev/null differ
diff --git a/phonelibs/eigen/COPYING.BSD b/phonelibs/eigen/COPYING.BSD
deleted file mode 100644
index 11971ffe25ba29..00000000000000
--- a/phonelibs/eigen/COPYING.BSD
+++ /dev/null
@@ -1,26 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
\ No newline at end of file
diff --git a/phonelibs/eigen/COPYING.GPL b/phonelibs/eigen/COPYING.GPL
deleted file mode 100644
index 94a9ed024d3859..00000000000000
--- a/phonelibs/eigen/COPYING.GPL
+++ /dev/null
@@ -1,674 +0,0 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-                            Preamble
-
-  The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
-  The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works.  By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users.  We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors.  You can apply it to
-your programs, too.
-
-  When we speak of free software, we are referring to freedom, not
-price.  Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
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-  To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights.  Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
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-  For example, if you distribute copies of such a program, whether
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-freedoms that you received.  You must make sure that they, too, receive
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-know their rights.
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-  Developers that use the GNU GPL protect your rights with two steps:
-(1) assert copyright on the software, and (2) offer you this License
-giving you legal permission to copy, distribute and/or modify it.
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-  For the developers' and authors' protection, the GPL clearly explains
-that there is no warranty for this free software.  For both users' and
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-changed, so that their problems will not be attributed erroneously to
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diff --git a/phonelibs/eigen/COPYING.LGPL b/phonelibs/eigen/COPYING.LGPL
deleted file mode 100644
index 4362b49151d7b3..00000000000000
--- a/phonelibs/eigen/COPYING.LGPL
+++ /dev/null
@@ -1,502 +0,0 @@
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-FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
-SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
-DAMAGES.
-
-                     END OF TERMS AND CONDITIONS
-
-           How to Apply These Terms to Your New Libraries
-
-  If you develop a new library, and you want it to be of the greatest
-possible use to the public, we recommend making it free software that
-everyone can redistribute and change.  You can do so by permitting
-redistribution under these terms (or, alternatively, under the terms of the
-ordinary General Public License).
-
-  To apply these terms, attach the following notices to the library.  It is
-safest to attach them to the start of each source file to most effectively
-convey the exclusion of warranty; and each file should have at least the
-"copyright" line and a pointer to where the full notice is found.
-
-    <one line to give the library's name and a brief idea of what it does.>
-    Copyright (C) <year>  <name of author>
-
-    This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-    This library is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-    Lesser General Public License for more details.
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-
-Also add information on how to contact you by electronic and paper mail.
-
-You should also get your employer (if you work as a programmer) or your
-school, if any, to sign a "copyright disclaimer" for the library, if
-necessary.  Here is a sample; alter the names:
-
-  Yoyodyne, Inc., hereby disclaims all copyright interest in the
-  library `Frob' (a library for tweaking knobs) written by James Random Hacker.
-
-  <signature of Ty Coon>, 1 April 1990
-  Ty Coon, President of Vice
-
-That's all there is to it!
diff --git a/phonelibs/eigen/COPYING.MINPACK b/phonelibs/eigen/COPYING.MINPACK
deleted file mode 100644
index ae7984daec98f7..00000000000000
--- a/phonelibs/eigen/COPYING.MINPACK
+++ /dev/null
@@ -1,52 +0,0 @@
-Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
-
-Redistribution and use in source and binary forms, with or
-without modification, are permitted provided that the
-following conditions are met:
-
-1. Redistributions of source code must retain the above
-copyright notice, this list of conditions and the following
-disclaimer.
-
-2. Redistributions in binary form must reproduce the above
-copyright notice, this list of conditions and the following
-disclaimer in the documentation and/or other materials
-provided with the distribution.
-
-3. The end-user documentation included with the
-redistribution, if any, must include the following
-acknowledgment:
-
-   "This product includes software developed by the
-   University of Chicago, as Operator of Argonne National
-   Laboratory.
-
-Alternately, this acknowledgment may appear in the software
-itself, if and wherever such third-party acknowledgments
-normally appear.
-
-4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
-WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
-UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
-THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
-OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
-OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
-USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
-THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
-DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
-UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
-BE CORRECTED.
-
-5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
-HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
-ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
-INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
-ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
-PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
-SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
-(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
-EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
-POSSIBILITY OF SUCH LOSS OR DAMAGES.
-
diff --git a/phonelibs/eigen/COPYING.MPL2 b/phonelibs/eigen/COPYING.MPL2
deleted file mode 100644
index 14e2f777f6c395..00000000000000
--- a/phonelibs/eigen/COPYING.MPL2
+++ /dev/null
@@ -1,373 +0,0 @@
-Mozilla Public License Version 2.0
-==================================
-
-1. Definitions
---------------
-
-1.1. "Contributor"
-    means each individual or legal entity that creates, contributes to
-    the creation of, or owns Covered Software.
-
-1.2. "Contributor Version"
-    means the combination of the Contributions of others (if any) used
-    by a Contributor and that particular Contributor's Contribution.
-
-1.3. "Contribution"
-    means Covered Software of a particular Contributor.
-
-1.4. "Covered Software"
-    means Source Code Form to which the initial Contributor has attached
-    the notice in Exhibit A, the Executable Form of such Source Code
-    Form, and Modifications of such Source Code Form, in each case
-    including portions thereof.
-
-1.5. "Incompatible With Secondary Licenses"
-    means
-
-    (a) that the initial Contributor has attached the notice described
-        in Exhibit B to the Covered Software; or
-
-    (b) that the Covered Software was made available under the terms of
-        version 1.1 or earlier of the License, but not also under the
-        terms of a Secondary License.
-
-1.6. "Executable Form"
-    means any form of the work other than Source Code Form.
-
-1.7. "Larger Work"
-    means a work that combines Covered Software with other material, in 
-    a separate file or files, that is not Covered Software.
-
-1.8. "License"
-    means this document.
-
-1.9. "Licensable"
-    means having the right to grant, to the maximum extent possible,
-    whether at the time of the initial grant or subsequently, any and
-    all of the rights conveyed by this License.
-
-1.10. "Modifications"
-    means any of the following:
-
-    (a) any file in Source Code Form that results from an addition to,
-        deletion from, or modification of the contents of Covered
-        Software; or
-
-    (b) any new file in Source Code Form that contains any Covered
-        Software.
-
-1.11. "Patent Claims" of a Contributor
-    means any patent claim(s), including without limitation, method,
-    process, and apparatus claims, in any patent Licensable by such
-    Contributor that would be infringed, but for the grant of the
-    License, by the making, using, selling, offering for sale, having
-    made, import, or transfer of either its Contributions or its
-    Contributor Version.
-
-1.12. "Secondary License"
-    means either the GNU General Public License, Version 2.0, the GNU
-    Lesser General Public License, Version 2.1, the GNU Affero General
-    Public License, Version 3.0, or any later versions of those
-    licenses.
-
-1.13. "Source Code Form"
-    means the form of the work preferred for making modifications.
-
-1.14. "You" (or "Your")
-    means an individual or a legal entity exercising rights under this
-    License. For legal entities, "You" includes any entity that
-    controls, is controlled by, or is under common control with You. For
-    purposes of this definition, "control" means (a) the power, direct
-    or indirect, to cause the direction or management of such entity,
-    whether by contract or otherwise, or (b) ownership of more than
-    fifty percent (50%) of the outstanding shares or beneficial
-    ownership of such entity.
-
-2. License Grants and Conditions
---------------------------------
-
-2.1. Grants
-
-Each Contributor hereby grants You a world-wide, royalty-free,
-non-exclusive license:
-
-(a) under intellectual property rights (other than patent or trademark)
-    Licensable by such Contributor to use, reproduce, make available,
-    modify, display, perform, distribute, and otherwise exploit its
-    Contributions, either on an unmodified basis, with Modifications, or
-    as part of a Larger Work; and
-
-(b) under Patent Claims of such Contributor to make, use, sell, offer
-    for sale, have made, import, and otherwise transfer either its
-    Contributions or its Contributor Version.
-
-2.2. Effective Date
-
-The licenses granted in Section 2.1 with respect to any Contribution
-become effective for each Contribution on the date the Contributor first
-distributes such Contribution.
-
-2.3. Limitations on Grant Scope
-
-The licenses granted in this Section 2 are the only rights granted under
-this License. No additional rights or licenses will be implied from the
-distribution or licensing of Covered Software under this License.
-Notwithstanding Section 2.1(b) above, no patent license is granted by a
-Contributor:
-
-(a) for any code that a Contributor has removed from Covered Software;
-    or
-
-(b) for infringements caused by: (i) Your and any other third party's
-    modifications of Covered Software, or (ii) the combination of its
-    Contributions with other software (except as part of its Contributor
-    Version); or
-
-(c) under Patent Claims infringed by Covered Software in the absence of
-    its Contributions.
-
-This License does not grant any rights in the trademarks, service marks,
-or logos of any Contributor (except as may be necessary to comply with
-the notice requirements in Section 3.4).
-
-2.4. Subsequent Licenses
-
-No Contributor makes additional grants as a result of Your choice to
-distribute the Covered Software under a subsequent version of this
-License (see Section 10.2) or under the terms of a Secondary License (if
-permitted under the terms of Section 3.3).
-
-2.5. Representation
-
-Each Contributor represents that the Contributor believes its
-Contributions are its original creation(s) or it has sufficient rights
-to grant the rights to its Contributions conveyed by this License.
-
-2.6. Fair Use
-
-This License is not intended to limit any rights You have under
-applicable copyright doctrines of fair use, fair dealing, or other
-equivalents.
-
-2.7. Conditions
-
-Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
-in Section 2.1.
-
-3. Responsibilities
--------------------
-
-3.1. Distribution of Source Form
-
-All distribution of Covered Software in Source Code Form, including any
-Modifications that You create or to which You contribute, must be under
-the terms of this License. You must inform recipients that the Source
-Code Form of the Covered Software is governed by the terms of this
-License, and how they can obtain a copy of this License. You may not
-attempt to alter or restrict the recipients' rights in the Source Code
-Form.
-
-3.2. Distribution of Executable Form
-
-If You distribute Covered Software in Executable Form then:
-
-(a) such Covered Software must also be made available in Source Code
-    Form, as described in Section 3.1, and You must inform recipients of
-    the Executable Form how they can obtain a copy of such Source Code
-    Form by reasonable means in a timely manner, at a charge no more
-    than the cost of distribution to the recipient; and
-
-(b) You may distribute such Executable Form under the terms of this
-    License, or sublicense it under different terms, provided that the
-    license for the Executable Form does not attempt to limit or alter
-    the recipients' rights in the Source Code Form under this License.
-
-3.3. Distribution of a Larger Work
-
-You may create and distribute a Larger Work under terms of Your choice,
-provided that You also comply with the requirements of this License for
-the Covered Software. If the Larger Work is a combination of Covered
-Software with a work governed by one or more Secondary Licenses, and the
-Covered Software is not Incompatible With Secondary Licenses, this
-License permits You to additionally distribute such Covered Software
-under the terms of such Secondary License(s), so that the recipient of
-the Larger Work may, at their option, further distribute the Covered
-Software under the terms of either this License or such Secondary
-License(s).
-
-3.4. Notices
-
-You may not remove or alter the substance of any license notices
-(including copyright notices, patent notices, disclaimers of warranty,
-or limitations of liability) contained within the Source Code Form of
-the Covered Software, except that You may alter any license notices to
-the extent required to remedy known factual inaccuracies.
-
-3.5. Application of Additional Terms
-
-You may choose to offer, and to charge a fee for, warranty, support,
-indemnity or liability obligations to one or more recipients of Covered
-Software. However, You may do so only on Your own behalf, and not on
-behalf of any Contributor. You must make it absolutely clear that any
-such warranty, support, indemnity, or liability obligation is offered by
-You alone, and You hereby agree to indemnify every Contributor for any
-liability incurred by such Contributor as a result of warranty, support,
-indemnity or liability terms You offer. You may include additional
-disclaimers of warranty and limitations of liability specific to any
-jurisdiction.
-
-4. Inability to Comply Due to Statute or Regulation
----------------------------------------------------
-
-If it is impossible for You to comply with any of the terms of this
-License with respect to some or all of the Covered Software due to
-statute, judicial order, or regulation then You must: (a) comply with
-the terms of this License to the maximum extent possible; and (b)
-describe the limitations and the code they affect. Such description must
-be placed in a text file included with all distributions of the Covered
-Software under this License. Except to the extent prohibited by statute
-or regulation, such description must be sufficiently detailed for a
-recipient of ordinary skill to be able to understand it.
-
-5. Termination
---------------
-
-5.1. The rights granted under this License will terminate automatically
-if You fail to comply with any of its terms. However, if You become
-compliant, then the rights granted under this License from a particular
-Contributor are reinstated (a) provisionally, unless and until such
-Contributor explicitly and finally terminates Your grants, and (b) on an
-ongoing basis, if such Contributor fails to notify You of the
-non-compliance by some reasonable means prior to 60 days after You have
-come back into compliance. Moreover, Your grants from a particular
-Contributor are reinstated on an ongoing basis if such Contributor
-notifies You of the non-compliance by some reasonable means, this is the
-first time You have received notice of non-compliance with this License
-from such Contributor, and You become compliant prior to 30 days after
-Your receipt of the notice.
-
-5.2. If You initiate litigation against any entity by asserting a patent
-infringement claim (excluding declaratory judgment actions,
-counter-claims, and cross-claims) alleging that a Contributor Version
-directly or indirectly infringes any patent, then the rights granted to
-You by any and all Contributors for the Covered Software under Section
-2.1 of this License shall terminate.
-
-5.3. In the event of termination under Sections 5.1 or 5.2 above, all
-end user license agreements (excluding distributors and resellers) which
-have been validly granted by You or Your distributors under this License
-prior to termination shall survive termination.
-
-************************************************************************
-*                                                                      *
-*  6. Disclaimer of Warranty                                           *
-*  -------------------------                                           *
-*                                                                      *
-*  Covered Software is provided under this License on an "as is"       *
-*  basis, without warranty of any kind, either expressed, implied, or  *
-*  statutory, including, without limitation, warranties that the       *
-*  Covered Software is free of defects, merchantable, fit for a        *
-*  particular purpose or non-infringing. The entire risk as to the     *
-*  quality and performance of the Covered Software is with You.        *
-*  Should any Covered Software prove defective in any respect, You     *
-*  (not any Contributor) assume the cost of any necessary servicing,   *
-*  repair, or correction. This disclaimer of warranty constitutes an   *
-*  essential part of this License. No use of any Covered Software is   *
-*  authorized under this License except under this disclaimer.         *
-*                                                                      *
-************************************************************************
-
-************************************************************************
-*                                                                      *
-*  7. Limitation of Liability                                          *
-*  --------------------------                                          *
-*                                                                      *
-*  Under no circumstances and under no legal theory, whether tort      *
-*  (including negligence), contract, or otherwise, shall any           *
-*  Contributor, or anyone who distributes Covered Software as          *
-*  permitted above, be liable to You for any direct, indirect,         *
-*  special, incidental, or consequential damages of any character      *
-*  including, without limitation, damages for lost profits, loss of    *
-*  goodwill, work stoppage, computer failure or malfunction, or any    *
-*  and all other commercial damages or losses, even if such party      *
-*  shall have been informed of the possibility of such damages. This   *
-*  limitation of liability shall not apply to liability for death or   *
-*  personal injury resulting from such party's negligence to the       *
-*  extent applicable law prohibits such limitation. Some               *
-*  jurisdictions do not allow the exclusion or limitation of           *
-*  incidental or consequential damages, so this exclusion and          *
-*  limitation may not apply to You.                                    *
-*                                                                      *
-************************************************************************
-
-8. Litigation
--------------
-
-Any litigation relating to this License may be brought only in the
-courts of a jurisdiction where the defendant maintains its principal
-place of business and such litigation shall be governed by laws of that
-jurisdiction, without reference to its conflict-of-law provisions.
-Nothing in this Section shall prevent a party's ability to bring
-cross-claims or counter-claims.
-
-9. Miscellaneous
-----------------
-
-This License represents the complete agreement concerning the subject
-matter hereof. If any provision of this License is held to be
-unenforceable, such provision shall be reformed only to the extent
-necessary to make it enforceable. Any law or regulation which provides
-that the language of a contract shall be construed against the drafter
-shall not be used to construe this License against a Contributor.
-
-10. Versions of the License
----------------------------
-
-10.1. New Versions
-
-Mozilla Foundation is the license steward. Except as provided in Section
-10.3, no one other than the license steward has the right to modify or
-publish new versions of this License. Each version will be given a
-distinguishing version number.
-
-10.2. Effect of New Versions
-
-You may distribute the Covered Software under the terms of the version
-of the License under which You originally received the Covered Software,
-or under the terms of any subsequent version published by the license
-steward.
-
-10.3. Modified Versions
-
-If you create software not governed by this License, and you want to
-create a new license for such software, you may create and use a
-modified version of this License if you rename the license and remove
-any references to the name of the license steward (except to note that
-such modified license differs from this License).
-
-10.4. Distributing Source Code Form that is Incompatible With Secondary
-Licenses
-
-If You choose to distribute Source Code Form that is Incompatible With
-Secondary Licenses under the terms of this version of the License, the
-notice described in Exhibit B of this License must be attached.
-
-Exhibit A - Source Code Form License Notice
--------------------------------------------
-
-  This Source Code Form is subject to the terms of the Mozilla Public
-  License, v. 2.0. If a copy of the MPL was not distributed with this
-  file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-If it is not possible or desirable to put the notice in a particular
-file, then You may include the notice in a location (such as a LICENSE
-file in a relevant directory) where a recipient would be likely to look
-for such a notice.
-
-You may add additional accurate notices of copyright ownership.
-
-Exhibit B - "Incompatible With Secondary Licenses" Notice
----------------------------------------------------------
-
-  This Source Code Form is "Incompatible With Secondary Licenses", as
-  defined by the Mozilla Public License, v. 2.0.
diff --git a/phonelibs/eigen/COPYING.README b/phonelibs/eigen/COPYING.README
deleted file mode 100644
index de5b6321582327..00000000000000
--- a/phonelibs/eigen/COPYING.README
+++ /dev/null
@@ -1,18 +0,0 @@
-Eigen is primarily MPL2 licensed. See COPYING.MPL2 and these links:
-  http://www.mozilla.org/MPL/2.0/
-  http://www.mozilla.org/MPL/2.0/FAQ.html
-
-Some files contain third-party code under BSD or LGPL licenses, whence the other
-COPYING.* files here.
-
-All the LGPL code is either LGPL 2.1-only, or LGPL 2.1-or-later.
-For this reason, the COPYING.LGPL file contains the LGPL 2.1 text.
-
-If you want to guarantee that the Eigen code that you are #including is licensed
-under the MPL2 and possibly more permissive licenses (like BSD), #define this
-preprocessor symbol:
-  EIGEN_MPL2_ONLY
-For example, with most compilers, you could add this to your project CXXFLAGS:
-  -DEIGEN_MPL2_ONLY
-This will cause a compilation error to be generated if you #include any code that is
-LGPL licensed.
diff --git a/phonelibs/eigen/Eigen/CMakeLists.txt b/phonelibs/eigen/Eigen/CMakeLists.txt
deleted file mode 100644
index 9eb502b792d4a9..00000000000000
--- a/phonelibs/eigen/Eigen/CMakeLists.txt
+++ /dev/null
@@ -1,19 +0,0 @@
-include(RegexUtils)
-test_escape_string_as_regex()
-
-file(GLOB Eigen_directory_files "*")
-
-escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-
-foreach(f ${Eigen_directory_files})
-  if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/src")
-    list(APPEND Eigen_directory_files_to_install ${f})
-  endif()
-endforeach(f ${Eigen_directory_files})
-
-install(FILES
-  ${Eigen_directory_files_to_install}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel
-  )
-
-install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h")
diff --git a/phonelibs/eigen/Eigen/Cholesky b/phonelibs/eigen/Eigen/Cholesky
deleted file mode 100644
index 369d1f5ec9bae8..00000000000000
--- a/phonelibs/eigen/Eigen/Cholesky
+++ /dev/null
@@ -1,41 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CHOLESKY_MODULE_H
-#define EIGEN_CHOLESKY_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup Cholesky_Module Cholesky module
-  *
-  *
-  *
-  * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
-  * Those decompositions are also accessible via the following methods:
-  *  - MatrixBase::llt()
-  *  - MatrixBase::ldlt()
-  *  - SelfAdjointView::llt()
-  *  - SelfAdjointView::ldlt()
-  *
-  * \code
-  * #include <Eigen/Cholesky>
-  * \endcode
-  */
-
-#include "src/Cholesky/LLT.h"
-#include "src/Cholesky/LDLT.h"
-#ifdef EIGEN_USE_LAPACKE
-#include "src/misc/lapacke.h"
-#include "src/Cholesky/LLT_LAPACKE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_CHOLESKY_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/Eigen/CholmodSupport b/phonelibs/eigen/Eigen/CholmodSupport
deleted file mode 100644
index bed8924d31e0b3..00000000000000
--- a/phonelibs/eigen/Eigen/CholmodSupport
+++ /dev/null
@@ -1,48 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CHOLMODSUPPORT_MODULE_H
-#define EIGEN_CHOLMODSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-extern "C" {
-  #include <cholmod.h>
-}
-
-/** \ingroup Support_modules
-  * \defgroup CholmodSupport_Module CholmodSupport module
-  *
-  * This module provides an interface to the Cholmod library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
-  * It provides the two following main factorization classes:
-  * - class CholmodSupernodalLLT: a supernodal LLT Cholesky factorization.
-  * - class CholmodDecomposiiton: a general L(D)LT Cholesky factorization with automatic or explicit runtime selection of the underlying factorization method (supernodal or simplicial).
-  *
-  * For the sake of completeness, this module also propose the two following classes:
-  * - class CholmodSimplicialLLT
-  * - class CholmodSimplicialLDLT
-  * Note that these classes does not bring any particular advantage compared to the built-in
-  * SimplicialLLT and SimplicialLDLT factorization classes.
-  *
-  * \code
-  * #include <Eigen/CholmodSupport>
-  * \endcode
-  *
-  * In order to use this module, the cholmod headers must be accessible from the include paths, and your binary must be linked to the cholmod library and its dependencies.
-  * The dependencies depend on how cholmod has been compiled.
-  * For a cmake based project, you can use our FindCholmod.cmake module to help you in this task.
-  *
-  */
-
-#include "src/CholmodSupport/CholmodSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_CHOLMODSUPPORT_MODULE_H
-
diff --git a/phonelibs/eigen/Eigen/Core b/phonelibs/eigen/Eigen/Core
deleted file mode 100644
index 0f7fa630ddfc5d..00000000000000
--- a/phonelibs/eigen/Eigen/Core
+++ /dev/null
@@ -1,516 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2007-2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CORE_H
-#define EIGEN_CORE_H
-
-// first thing Eigen does: stop the compiler from committing suicide
-#include "src/Core/util/DisableStupidWarnings.h"
-
-// Handle NVCC/CUDA/SYCL
-#if defined(__CUDACC__) || defined(__SYCL_DEVICE_ONLY__)
-  // Do not try asserts on CUDA and SYCL!
-  #ifndef EIGEN_NO_DEBUG
-  #define EIGEN_NO_DEBUG
-  #endif
-
-  #ifdef EIGEN_INTERNAL_DEBUGGING
-  #undef EIGEN_INTERNAL_DEBUGGING
-  #endif
-
-  #ifdef EIGEN_EXCEPTIONS
-  #undef EIGEN_EXCEPTIONS
-  #endif
-
-  // All functions callable from CUDA code must be qualified with __device__
-  #ifdef __CUDACC__
-    // Do not try to vectorize on CUDA and SYCL!
-    #ifndef EIGEN_DONT_VECTORIZE
-    #define EIGEN_DONT_VECTORIZE
-    #endif
-
-    #define EIGEN_DEVICE_FUNC __host__ __device__
-    // We need math_functions.hpp to ensure that that EIGEN_USING_STD_MATH macro
-    // works properly on the device side
-    #include <math_functions.hpp>
-  #else
-    #define EIGEN_DEVICE_FUNC
-  #endif
-
-#else
-  #define EIGEN_DEVICE_FUNC
-
-#endif
-
-// When compiling CUDA device code with NVCC, pull in math functions from the
-// global namespace.  In host mode, and when device doee with clang, use the
-// std versions.
-#if defined(__CUDA_ARCH__) && defined(__NVCC__)
-  #define EIGEN_USING_STD_MATH(FUNC) using ::FUNC;
-#else
-  #define EIGEN_USING_STD_MATH(FUNC) using std::FUNC;
-#endif
-
-#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(__CUDA_ARCH__) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL)
-  #define EIGEN_EXCEPTIONS
-#endif
-
-#ifdef EIGEN_EXCEPTIONS
-  #include <new>
-#endif
-
-// then include this file where all our macros are defined. It's really important to do it first because
-// it's where we do all the alignment settings (platform detection and honoring the user's will if he
-// defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization.
-#include "src/Core/util/Macros.h"
-
-// Disable the ipa-cp-clone optimization flag with MinGW 6.x or newer (enabled by default with -O3)
-// See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 for details.
-#if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6)
-  #pragma GCC optimize ("-fno-ipa-cp-clone")
-#endif
-
-#include <complex>
-
-// this include file manages BLAS and MKL related macros
-// and inclusion of their respective header files
-#include "src/Core/util/MKL_support.h"
-
-// if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into
-// account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks
-#if EIGEN_MAX_ALIGN_BYTES==0
-  #ifndef EIGEN_DONT_VECTORIZE
-    #define EIGEN_DONT_VECTORIZE
-  #endif
-#endif
-
-#if EIGEN_COMP_MSVC
-  #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
-  #if (EIGEN_COMP_MSVC >= 1500) // 2008 or later
-    // Remember that usage of defined() in a #define is undefined by the standard.
-    // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
-    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || EIGEN_ARCH_x86_64
-      #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
-    #endif
-  #endif
-#else
-  // Remember that usage of defined() in a #define is undefined by the standard
-  #if (defined __SSE2__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || EIGEN_GNUC_AT_LEAST(4,2) )
-    #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC
-  #endif
-#endif
-
-#ifndef EIGEN_DONT_VECTORIZE
-
-  #if defined (EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER)
-
-    // Defines symbols for compile-time detection of which instructions are
-    // used.
-    // EIGEN_VECTORIZE_YY is defined if and only if the instruction set YY is used
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_SSE
-    #define EIGEN_VECTORIZE_SSE2
-
-    // Detect sse3/ssse3/sse4:
-    // gcc and icc defines __SSE3__, ...
-    // there is no way to know about this on msvc. You can define EIGEN_VECTORIZE_SSE* if you
-    // want to force the use of those instructions with msvc.
-    #ifdef __SSE3__
-      #define EIGEN_VECTORIZE_SSE3
-    #endif
-    #ifdef __SSSE3__
-      #define EIGEN_VECTORIZE_SSSE3
-    #endif
-    #ifdef __SSE4_1__
-      #define EIGEN_VECTORIZE_SSE4_1
-    #endif
-    #ifdef __SSE4_2__
-      #define EIGEN_VECTORIZE_SSE4_2
-    #endif
-    #ifdef __AVX__
-      #define EIGEN_VECTORIZE_AVX
-      #define EIGEN_VECTORIZE_SSE3
-      #define EIGEN_VECTORIZE_SSSE3
-      #define EIGEN_VECTORIZE_SSE4_1
-      #define EIGEN_VECTORIZE_SSE4_2
-    #endif
-    #ifdef __AVX2__
-      #define EIGEN_VECTORIZE_AVX2
-    #endif
-    #ifdef __FMA__
-      #define EIGEN_VECTORIZE_FMA
-    #endif
-    #if defined(__AVX512F__) && defined(EIGEN_ENABLE_AVX512)
-      #define EIGEN_VECTORIZE_AVX512
-      #define EIGEN_VECTORIZE_AVX2
-      #define EIGEN_VECTORIZE_AVX
-      #define EIGEN_VECTORIZE_FMA
-      #ifdef __AVX512DQ__
-        #define EIGEN_VECTORIZE_AVX512DQ
-      #endif
-    #endif
-
-    // include files
-
-    // This extern "C" works around a MINGW-w64 compilation issue
-    // https://sourceforge.net/tracker/index.php?func=detail&aid=3018394&group_id=202880&atid=983354
-    // In essence, intrin.h is included by windows.h and also declares intrinsics (just as emmintrin.h etc. below do).
-    // However, intrin.h uses an extern "C" declaration, and g++ thus complains of duplicate declarations
-    // with conflicting linkage.  The linkage for intrinsics doesn't matter, but at that stage the compiler doesn't know;
-    // so, to avoid compile errors when windows.h is included after Eigen/Core, ensure intrinsics are extern "C" here too.
-    // notice that since these are C headers, the extern "C" is theoretically needed anyways.
-    extern "C" {
-      // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly.
-      // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus:
-      #if EIGEN_COMP_ICC >= 1110
-        #include <immintrin.h>
-      #else
-        #include <mmintrin.h>
-        #include <emmintrin.h>
-        #include <xmmintrin.h>
-        #ifdef  EIGEN_VECTORIZE_SSE3
-        #include <pmmintrin.h>
-        #endif
-        #ifdef EIGEN_VECTORIZE_SSSE3
-        #include <tmmintrin.h>
-        #endif
-        #ifdef EIGEN_VECTORIZE_SSE4_1
-        #include <smmintrin.h>
-        #endif
-        #ifdef EIGEN_VECTORIZE_SSE4_2
-        #include <nmmintrin.h>
-        #endif
-        #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512)
-        #include <immintrin.h>
-        #endif
-      #endif
-    } // end extern "C"
-  #elif defined __VSX__
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_VSX
-    #include <altivec.h>
-    // We need to #undef all these ugly tokens defined in <altivec.h>
-    // => use __vector instead of vector
-    #undef bool
-    #undef vector
-    #undef pixel
-  #elif defined __ALTIVEC__
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_ALTIVEC
-    #include <altivec.h>
-    // We need to #undef all these ugly tokens defined in <altivec.h>
-    // => use __vector instead of vector
-    #undef bool
-    #undef vector
-    #undef pixel
-  #elif (defined  __ARM_NEON) || (defined __ARM_NEON__)
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_NEON
-    #include <arm_neon.h>
-  #elif (defined __s390x__ && defined __VEC__)
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_ZVECTOR
-    #include <vecintrin.h>
-  #endif
-#endif
-
-#if defined(__F16C__) && !defined(EIGEN_COMP_CLANG)
-  // We can use the optimized fp16 to float and float to fp16 conversion routines
-  #define EIGEN_HAS_FP16_C
-#endif
-
-#if defined __CUDACC__
-  #define EIGEN_VECTORIZE_CUDA
-  #include <vector_types.h>
-  #if defined __CUDACC_VER__ && __CUDACC_VER__ >= 70500
-    #define EIGEN_HAS_CUDA_FP16
-  #endif
-#endif
-
-#if defined EIGEN_HAS_CUDA_FP16
-  #include <host_defines.h>
-  #include <cuda_fp16.h>
-#endif
-
-#if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
-  #define EIGEN_HAS_OPENMP
-#endif
-
-#ifdef EIGEN_HAS_OPENMP
-#include <omp.h>
-#endif
-
-// MSVC for windows mobile does not have the errno.h file
-#if !(EIGEN_COMP_MSVC && EIGEN_OS_WINCE) && !EIGEN_COMP_ARM
-#define EIGEN_HAS_ERRNO
-#endif
-
-#ifdef EIGEN_HAS_ERRNO
-#include <cerrno>
-#endif
-#include <cstddef>
-#include <cstdlib>
-#include <cmath>
-#include <cassert>
-#include <functional>
-#include <iosfwd>
-#include <cstring>
-#include <string>
-#include <limits>
-#include <climits> // for CHAR_BIT
-// for min/max:
-#include <algorithm>
-
-// for std::is_nothrow_move_assignable
-#ifdef EIGEN_INCLUDE_TYPE_TRAITS
-#include <type_traits>
-#endif
-
-// for outputting debug info
-#ifdef EIGEN_DEBUG_ASSIGN
-#include <iostream>
-#endif
-
-// required for __cpuid, needs to be included after cmath
-#if EIGEN_COMP_MSVC && EIGEN_ARCH_i386_OR_x86_64 && !EIGEN_OS_WINCE
-  #include <intrin.h>
-#endif
-
-/** \brief Namespace containing all symbols from the %Eigen library. */
-namespace Eigen {
-
-inline static const char *SimdInstructionSetsInUse(void) {
-#if defined(EIGEN_VECTORIZE_AVX512)
-  return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
-#elif defined(EIGEN_VECTORIZE_AVX)
-  return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
-#elif defined(EIGEN_VECTORIZE_SSE4_2)
-  return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
-#elif defined(EIGEN_VECTORIZE_SSE4_1)
-  return "SSE, SSE2, SSE3, SSSE3, SSE4.1";
-#elif defined(EIGEN_VECTORIZE_SSSE3)
-  return "SSE, SSE2, SSE3, SSSE3";
-#elif defined(EIGEN_VECTORIZE_SSE3)
-  return "SSE, SSE2, SSE3";
-#elif defined(EIGEN_VECTORIZE_SSE2)
-  return "SSE, SSE2";
-#elif defined(EIGEN_VECTORIZE_ALTIVEC)
-  return "AltiVec";
-#elif defined(EIGEN_VECTORIZE_VSX)
-  return "VSX";
-#elif defined(EIGEN_VECTORIZE_NEON)
-  return "ARM NEON";
-#elif defined(EIGEN_VECTORIZE_ZVECTOR)
-  return "S390X ZVECTOR";
-#else
-  return "None";
-#endif
-}
-
-} // end namespace Eigen
-
-#if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS || defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API || defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS || defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API || defined EIGEN2_SUPPORT
-// This will generate an error message:
-#error Eigen2-support is only available up to version 3.2. Please go to "http://eigen.tuxfamily.org/index.php?title=Eigen2" for further information
-#endif
-
-namespace Eigen {
-
-// we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
-// ensure QNX/QCC support
-using std::size_t;
-// gcc 4.6.0 wants std:: for ptrdiff_t
-using std::ptrdiff_t;
-
-}
-
-/** \defgroup Core_Module Core module
-  * This is the main module of Eigen providing dense matrix and vector support
-  * (both fixed and dynamic size) with all the features corresponding to a BLAS library
-  * and much more...
-  *
-  * \code
-  * #include <Eigen/Core>
-  * \endcode
-  */
-
-#include "src/Core/util/Constants.h"
-#include "src/Core/util/Meta.h"
-#include "src/Core/util/ForwardDeclarations.h"
-#include "src/Core/util/StaticAssert.h"
-#include "src/Core/util/XprHelper.h"
-#include "src/Core/util/Memory.h"
-
-#include "src/Core/NumTraits.h"
-#include "src/Core/MathFunctions.h"
-#include "src/Core/GenericPacketMath.h"
-#include "src/Core/MathFunctionsImpl.h"
-
-#if defined EIGEN_VECTORIZE_AVX512
-  #include "src/Core/arch/SSE/PacketMath.h"
-  #include "src/Core/arch/AVX/PacketMath.h"
-  #include "src/Core/arch/AVX512/PacketMath.h"
-  #include "src/Core/arch/AVX512/MathFunctions.h"
-#elif defined EIGEN_VECTORIZE_AVX
-  // Use AVX for floats and doubles, SSE for integers
-  #include "src/Core/arch/SSE/PacketMath.h"
-  #include "src/Core/arch/SSE/Complex.h"
-  #include "src/Core/arch/SSE/MathFunctions.h"
-  #include "src/Core/arch/AVX/PacketMath.h"
-  #include "src/Core/arch/AVX/MathFunctions.h"
-  #include "src/Core/arch/AVX/Complex.h"
-  #include "src/Core/arch/AVX/TypeCasting.h"
-#elif defined EIGEN_VECTORIZE_SSE
-  #include "src/Core/arch/SSE/PacketMath.h"
-  #include "src/Core/arch/SSE/MathFunctions.h"
-  #include "src/Core/arch/SSE/Complex.h"
-  #include "src/Core/arch/SSE/TypeCasting.h"
-#elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX)
-  #include "src/Core/arch/AltiVec/PacketMath.h"
-  #include "src/Core/arch/AltiVec/MathFunctions.h"
-  #include "src/Core/arch/AltiVec/Complex.h"
-#elif defined EIGEN_VECTORIZE_NEON
-  #include "src/Core/arch/NEON/PacketMath.h"
-  #include "src/Core/arch/NEON/MathFunctions.h"
-  #include "src/Core/arch/NEON/Complex.h"
-#elif defined EIGEN_VECTORIZE_ZVECTOR
-  #include "src/Core/arch/ZVector/PacketMath.h"
-  #include "src/Core/arch/ZVector/MathFunctions.h"
-  #include "src/Core/arch/ZVector/Complex.h"
-#endif
-
-// Half float support
-#include "src/Core/arch/CUDA/Half.h"
-#include "src/Core/arch/CUDA/PacketMathHalf.h"
-#include "src/Core/arch/CUDA/TypeCasting.h"
-
-#if defined EIGEN_VECTORIZE_CUDA
-  #include "src/Core/arch/CUDA/PacketMath.h"
-  #include "src/Core/arch/CUDA/MathFunctions.h"
-#endif
-
-#include "src/Core/arch/Default/Settings.h"
-
-#include "src/Core/functors/TernaryFunctors.h"
-#include "src/Core/functors/BinaryFunctors.h"
-#include "src/Core/functors/UnaryFunctors.h"
-#include "src/Core/functors/NullaryFunctors.h"
-#include "src/Core/functors/StlFunctors.h"
-#include "src/Core/functors/AssignmentFunctors.h"
-
-// Specialized functors to enable the processing of complex numbers
-// on CUDA devices
-#include "src/Core/arch/CUDA/Complex.h"
-
-#include "src/Core/IO.h"
-#include "src/Core/DenseCoeffsBase.h"
-#include "src/Core/DenseBase.h"
-#include "src/Core/MatrixBase.h"
-#include "src/Core/EigenBase.h"
-
-#include "src/Core/Product.h"
-#include "src/Core/CoreEvaluators.h"
-#include "src/Core/AssignEvaluator.h"
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
-                                // at least confirmed with Doxygen 1.5.5 and 1.5.6
-  #include "src/Core/Assign.h"
-#endif
-
-#include "src/Core/ArrayBase.h"
-#include "src/Core/util/BlasUtil.h"
-#include "src/Core/DenseStorage.h"
-#include "src/Core/NestByValue.h"
-
-// #include "src/Core/ForceAlignedAccess.h"
-
-#include "src/Core/ReturnByValue.h"
-#include "src/Core/NoAlias.h"
-#include "src/Core/PlainObjectBase.h"
-#include "src/Core/Matrix.h"
-#include "src/Core/Array.h"
-#include "src/Core/CwiseTernaryOp.h"
-#include "src/Core/CwiseBinaryOp.h"
-#include "src/Core/CwiseUnaryOp.h"
-#include "src/Core/CwiseNullaryOp.h"
-#include "src/Core/CwiseUnaryView.h"
-#include "src/Core/SelfCwiseBinaryOp.h"
-#include "src/Core/Dot.h"
-#include "src/Core/StableNorm.h"
-#include "src/Core/Stride.h"
-#include "src/Core/MapBase.h"
-#include "src/Core/Map.h"
-#include "src/Core/Ref.h"
-#include "src/Core/Block.h"
-#include "src/Core/VectorBlock.h"
-#include "src/Core/Transpose.h"
-#include "src/Core/DiagonalMatrix.h"
-#include "src/Core/Diagonal.h"
-#include "src/Core/DiagonalProduct.h"
-#include "src/Core/Redux.h"
-#include "src/Core/Visitor.h"
-#include "src/Core/Fuzzy.h"
-#include "src/Core/Swap.h"
-#include "src/Core/CommaInitializer.h"
-#include "src/Core/GeneralProduct.h"
-#include "src/Core/Solve.h"
-#include "src/Core/Inverse.h"
-#include "src/Core/SolverBase.h"
-#include "src/Core/PermutationMatrix.h"
-#include "src/Core/Transpositions.h"
-#include "src/Core/TriangularMatrix.h"
-#include "src/Core/SelfAdjointView.h"
-#include "src/Core/products/GeneralBlockPanelKernel.h"
-#include "src/Core/products/Parallelizer.h"
-#include "src/Core/ProductEvaluators.h"
-#include "src/Core/products/GeneralMatrixVector.h"
-#include "src/Core/products/GeneralMatrixMatrix.h"
-#include "src/Core/SolveTriangular.h"
-#include "src/Core/products/GeneralMatrixMatrixTriangular.h"
-#include "src/Core/products/SelfadjointMatrixVector.h"
-#include "src/Core/products/SelfadjointMatrixMatrix.h"
-#include "src/Core/products/SelfadjointProduct.h"
-#include "src/Core/products/SelfadjointRank2Update.h"
-#include "src/Core/products/TriangularMatrixVector.h"
-#include "src/Core/products/TriangularMatrixMatrix.h"
-#include "src/Core/products/TriangularSolverMatrix.h"
-#include "src/Core/products/TriangularSolverVector.h"
-#include "src/Core/BandMatrix.h"
-#include "src/Core/CoreIterators.h"
-#include "src/Core/ConditionEstimator.h"
-
-#include "src/Core/BooleanRedux.h"
-#include "src/Core/Select.h"
-#include "src/Core/VectorwiseOp.h"
-#include "src/Core/Random.h"
-#include "src/Core/Replicate.h"
-#include "src/Core/Reverse.h"
-#include "src/Core/ArrayWrapper.h"
-
-#ifdef EIGEN_USE_BLAS
-#include "src/Core/products/GeneralMatrixMatrix_BLAS.h"
-#include "src/Core/products/GeneralMatrixVector_BLAS.h"
-#include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h"
-#include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h"
-#include "src/Core/products/SelfadjointMatrixVector_BLAS.h"
-#include "src/Core/products/TriangularMatrixMatrix_BLAS.h"
-#include "src/Core/products/TriangularMatrixVector_BLAS.h"
-#include "src/Core/products/TriangularSolverMatrix_BLAS.h"
-#endif // EIGEN_USE_BLAS
-
-#ifdef EIGEN_USE_MKL_VML
-#include "src/Core/Assign_MKL.h"
-#endif
-
-#include "src/Core/GlobalFunctions.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_CORE_H
diff --git a/phonelibs/eigen/Eigen/Dense b/phonelibs/eigen/Eigen/Dense
deleted file mode 100644
index 5768910bd88c43..00000000000000
--- a/phonelibs/eigen/Eigen/Dense
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "Core"
-#include "LU"
-#include "Cholesky"
-#include "QR"
-#include "SVD"
-#include "Geometry"
-#include "Eigenvalues"
diff --git a/phonelibs/eigen/Eigen/Eigen b/phonelibs/eigen/Eigen/Eigen
deleted file mode 100644
index 654c8dc6380f7b..00000000000000
--- a/phonelibs/eigen/Eigen/Eigen
+++ /dev/null
@@ -1,2 +0,0 @@
-#include "Dense"
-#include "Sparse"
diff --git a/phonelibs/eigen/Eigen/Eigenvalues b/phonelibs/eigen/Eigen/Eigenvalues
deleted file mode 100644
index 009e529e193dce..00000000000000
--- a/phonelibs/eigen/Eigen/Eigenvalues
+++ /dev/null
@@ -1,57 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EIGENVALUES_MODULE_H
-#define EIGEN_EIGENVALUES_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "Cholesky"
-#include "Jacobi"
-#include "Householder"
-#include "LU"
-#include "Geometry"
-
-/** \defgroup Eigenvalues_Module Eigenvalues module
-  *
-  *
-  *
-  * This module mainly provides various eigenvalue solvers.
-  * This module also provides some MatrixBase methods, including:
-  *  - MatrixBase::eigenvalues(),
-  *  - MatrixBase::operatorNorm()
-  *
-  * \code
-  * #include <Eigen/Eigenvalues>
-  * \endcode
-  */
-
-#include "src/misc/RealSvd2x2.h"
-#include "src/Eigenvalues/Tridiagonalization.h"
-#include "src/Eigenvalues/RealSchur.h"
-#include "src/Eigenvalues/EigenSolver.h"
-#include "src/Eigenvalues/SelfAdjointEigenSolver.h"
-#include "src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h"
-#include "src/Eigenvalues/HessenbergDecomposition.h"
-#include "src/Eigenvalues/ComplexSchur.h"
-#include "src/Eigenvalues/ComplexEigenSolver.h"
-#include "src/Eigenvalues/RealQZ.h"
-#include "src/Eigenvalues/GeneralizedEigenSolver.h"
-#include "src/Eigenvalues/MatrixBaseEigenvalues.h"
-#ifdef EIGEN_USE_LAPACKE
-#include "src/misc/lapacke.h"
-#include "src/Eigenvalues/RealSchur_LAPACKE.h"
-#include "src/Eigenvalues/ComplexSchur_LAPACKE.h"
-#include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_EIGENVALUES_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/Eigen/Geometry b/phonelibs/eigen/Eigen/Geometry
deleted file mode 100644
index 716d529529a7fa..00000000000000
--- a/phonelibs/eigen/Eigen/Geometry
+++ /dev/null
@@ -1,62 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GEOMETRY_MODULE_H
-#define EIGEN_GEOMETRY_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "SVD"
-#include "LU"
-#include <limits>
-
-/** \defgroup Geometry_Module Geometry module
-  *
-  * This module provides support for:
-  *  - fixed-size homogeneous transformations
-  *  - translation, scaling, 2D and 3D rotations
-  *  - \link Quaternion quaternions \endlink
-  *  - cross products (\ref MatrixBase::cross, \ref MatrixBase::cross3)
-  *  - orthognal vector generation (\ref MatrixBase::unitOrthogonal)
-  *  - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes \endlink
-  *  - \link AlignedBox axis aligned bounding boxes \endlink
-  *  - \link umeyama least-square transformation fitting \endlink
-  *
-  * \code
-  * #include <Eigen/Geometry>
-  * \endcode
-  */
-
-#include "src/Geometry/OrthoMethods.h"
-#include "src/Geometry/EulerAngles.h"
-
-#include "src/Geometry/Homogeneous.h"
-#include "src/Geometry/RotationBase.h"
-#include "src/Geometry/Rotation2D.h"
-#include "src/Geometry/Quaternion.h"
-#include "src/Geometry/AngleAxis.h"
-#include "src/Geometry/Transform.h"
-#include "src/Geometry/Translation.h"
-#include "src/Geometry/Scaling.h"
-#include "src/Geometry/Hyperplane.h"
-#include "src/Geometry/ParametrizedLine.h"
-#include "src/Geometry/AlignedBox.h"
-#include "src/Geometry/Umeyama.h"
-
-// Use the SSE optimized version whenever possible. At the moment the
-// SSE version doesn't compile when AVX is enabled
-#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
-#include "src/Geometry/arch/Geometry_SSE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_GEOMETRY_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
-
diff --git a/phonelibs/eigen/Eigen/Householder b/phonelibs/eigen/Eigen/Householder
deleted file mode 100644
index 89cd81b1afbcff..00000000000000
--- a/phonelibs/eigen/Eigen/Householder
+++ /dev/null
@@ -1,30 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HOUSEHOLDER_MODULE_H
-#define EIGEN_HOUSEHOLDER_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup Householder_Module Householder module
-  * This module provides Householder transformations.
-  *
-  * \code
-  * #include <Eigen/Householder>
-  * \endcode
-  */
-
-#include "src/Householder/Householder.h"
-#include "src/Householder/HouseholderSequence.h"
-#include "src/Householder/BlockHouseholder.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_HOUSEHOLDER_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/Eigen/IterativeLinearSolvers b/phonelibs/eigen/Eigen/IterativeLinearSolvers
deleted file mode 100644
index 957d5750b2cd6f..00000000000000
--- a/phonelibs/eigen/Eigen/IterativeLinearSolvers
+++ /dev/null
@@ -1,48 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
-#define EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
-
-#include "SparseCore"
-#include "OrderingMethods"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** 
-  * \defgroup IterativeLinearSolvers_Module IterativeLinearSolvers module
-  *
-  * This module currently provides iterative methods to solve problems of the form \c A \c x = \c b, where \c A is a squared matrix, usually very large and sparse.
-  * Those solvers are accessible via the following classes:
-  *  - ConjugateGradient for selfadjoint (hermitian) matrices,
-  *  - LeastSquaresConjugateGradient for rectangular least-square problems,
-  *  - BiCGSTAB for general square matrices.
-  *
-  * These iterative solvers are associated with some preconditioners:
-  *  - IdentityPreconditioner - not really useful
-  *  - DiagonalPreconditioner - also called Jacobi preconditioner, work very well on diagonal dominant matrices.
-  *  - IncompleteLUT - incomplete LU factorization with dual thresholding
-  *
-  * Such problems can also be solved using the direct sparse decomposition modules: SparseCholesky, CholmodSupport, UmfPackSupport, SuperLUSupport.
-  *
-    \code
-    #include <Eigen/IterativeLinearSolvers>
-    \endcode
-  */
-
-#include "src/IterativeLinearSolvers/SolveWithGuess.h"
-#include "src/IterativeLinearSolvers/IterativeSolverBase.h"
-#include "src/IterativeLinearSolvers/BasicPreconditioners.h"
-#include "src/IterativeLinearSolvers/ConjugateGradient.h"
-#include "src/IterativeLinearSolvers/LeastSquareConjugateGradient.h"
-#include "src/IterativeLinearSolvers/BiCGSTAB.h"
-#include "src/IterativeLinearSolvers/IncompleteLUT.h"
-#include "src/IterativeLinearSolvers/IncompleteCholesky.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
diff --git a/phonelibs/eigen/Eigen/Jacobi b/phonelibs/eigen/Eigen/Jacobi
deleted file mode 100644
index 17c1d785a16280..00000000000000
--- a/phonelibs/eigen/Eigen/Jacobi
+++ /dev/null
@@ -1,33 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_JACOBI_MODULE_H
-#define EIGEN_JACOBI_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup Jacobi_Module Jacobi module
-  * This module provides Jacobi and Givens rotations.
-  *
-  * \code
-  * #include <Eigen/Jacobi>
-  * \endcode
-  *
-  * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation:
-  *  - MatrixBase::applyOnTheLeft()
-  *  - MatrixBase::applyOnTheRight().
-  */
-
-#include "src/Jacobi/Jacobi.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_JACOBI_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
-
diff --git a/phonelibs/eigen/Eigen/LU b/phonelibs/eigen/Eigen/LU
deleted file mode 100644
index 6f6c55629cbd0d..00000000000000
--- a/phonelibs/eigen/Eigen/LU
+++ /dev/null
@@ -1,46 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LU_MODULE_H
-#define EIGEN_LU_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup LU_Module LU module
-  * This module includes %LU decomposition and related notions such as matrix inversion and determinant.
-  * This module defines the following MatrixBase methods:
-  *  - MatrixBase::inverse()
-  *  - MatrixBase::determinant()
-  *
-  * \code
-  * #include <Eigen/LU>
-  * \endcode
-  */
-
-#include "src/misc/Kernel.h"
-#include "src/misc/Image.h"
-#include "src/LU/FullPivLU.h"
-#include "src/LU/PartialPivLU.h"
-#ifdef EIGEN_USE_LAPACKE
-#include "src/misc/lapacke.h"
-#include "src/LU/PartialPivLU_LAPACKE.h"
-#endif
-#include "src/LU/Determinant.h"
-#include "src/LU/InverseImpl.h"
-
-// Use the SSE optimized version whenever possible. At the moment the
-// SSE version doesn't compile when AVX is enabled
-#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
-  #include "src/LU/arch/Inverse_SSE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_LU_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/Eigen/MetisSupport b/phonelibs/eigen/Eigen/MetisSupport
deleted file mode 100644
index 85c41bf340013e..00000000000000
--- a/phonelibs/eigen/Eigen/MetisSupport
+++ /dev/null
@@ -1,35 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_METISSUPPORT_MODULE_H
-#define EIGEN_METISSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-extern "C" {
-#include <metis.h>
-}
-
-
-/** \ingroup Support_modules
-  * \defgroup MetisSupport_Module MetisSupport module
-  *
-  * \code
-  * #include <Eigen/MetisSupport>
-  * \endcode
-  * This module defines an interface to the METIS reordering package (http://glaros.dtc.umn.edu/gkhome/views/metis). 
-  * It can be used just as any other built-in method as explained in \link OrderingMethods_Module here. \endlink
-  */
-
-
-#include "src/MetisSupport/MetisSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_METISSUPPORT_MODULE_H
diff --git a/phonelibs/eigen/Eigen/OrderingMethods b/phonelibs/eigen/Eigen/OrderingMethods
deleted file mode 100644
index d8ea36193666f8..00000000000000
--- a/phonelibs/eigen/Eigen/OrderingMethods
+++ /dev/null
@@ -1,73 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ORDERINGMETHODS_MODULE_H
-#define EIGEN_ORDERINGMETHODS_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** 
-  * \defgroup OrderingMethods_Module OrderingMethods module
-  *
-  * This module is currently for internal use only
-  * 
-  * It defines various built-in and external ordering methods for sparse matrices. 
-  * They are typically used to reduce the number of elements during 
-  * the sparse matrix decomposition (LLT, LU, QR).
-  * Precisely, in a preprocessing step, a permutation matrix P is computed using 
-  * those ordering methods and applied to the columns of the matrix. 
-  * Using for instance the sparse Cholesky decomposition, it is expected that 
-  * the nonzeros elements in LLT(A*P) will be much smaller than that in LLT(A).
-  * 
-  * 
-  * Usage : 
-  * \code
-  * #include <Eigen/OrderingMethods>
-  * \endcode
-  * 
-  * A simple usage is as a template parameter in the sparse decomposition classes : 
-  * 
-  * \code 
-  * SparseLU<MatrixType, COLAMDOrdering<int> > solver;
-  * \endcode 
-  * 
-  * \code 
-  * SparseQR<MatrixType, COLAMDOrdering<int> > solver;
-  * \endcode
-  * 
-  * It is possible as well to call directly a particular ordering method for your own purpose, 
-  * \code 
-  * AMDOrdering<int> ordering;
-  * PermutationMatrix<Dynamic, Dynamic, int> perm;
-  * SparseMatrix<double> A; 
-  * //Fill the matrix ...
-  * 
-  * ordering(A, perm); // Call AMD
-  * \endcode
-  * 
-  * \note Some of these methods (like AMD or METIS), need the sparsity pattern 
-  * of the input matrix to be symmetric. When the matrix is structurally unsymmetric, 
-  * Eigen computes internally the pattern of \f$A^T*A\f$ before calling the method.
-  * If your matrix is already symmetric (at leat in structure), you can avoid that
-  * by calling the method with a SelfAdjointView type.
-  * 
-  * \code
-  *  // Call the ordering on the pattern of the lower triangular matrix A
-  * ordering(A.selfadjointView<Lower>(), perm);
-  * \endcode
-  */
-
-#ifndef EIGEN_MPL2_ONLY
-#include "src/OrderingMethods/Amd.h"
-#endif
-
-#include "src/OrderingMethods/Ordering.h"
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_ORDERINGMETHODS_MODULE_H
diff --git a/phonelibs/eigen/Eigen/PaStiXSupport b/phonelibs/eigen/Eigen/PaStiXSupport
deleted file mode 100644
index de3a63b4d1264e..00000000000000
--- a/phonelibs/eigen/Eigen/PaStiXSupport
+++ /dev/null
@@ -1,48 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PASTIXSUPPORT_MODULE_H
-#define EIGEN_PASTIXSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-extern "C" {
-#include <pastix_nompi.h>
-#include <pastix.h>
-}
-
-#ifdef complex
-#undef complex
-#endif
-
-/** \ingroup Support_modules
-  * \defgroup PaStiXSupport_Module PaStiXSupport module
-  * 
-  * This module provides an interface to the <a href="http://pastix.gforge.inria.fr/">PaSTiX</a> library.
-  * PaSTiX is a general \b supernodal, \b parallel and \b opensource sparse solver.
-  * It provides the two following main factorization classes:
-  * - class PastixLLT : a supernodal, parallel LLt Cholesky factorization.
-  * - class PastixLDLT: a supernodal, parallel LDLt Cholesky factorization.
-  * - class PastixLU : a supernodal, parallel LU factorization (optimized for a symmetric pattern).
-  * 
-  * \code
-  * #include <Eigen/PaStiXSupport>
-  * \endcode
-  *
-  * In order to use this module, the PaSTiX headers must be accessible from the include paths, and your binary must be linked to the PaSTiX library and its dependencies.
-  * The dependencies depend on how PaSTiX has been compiled.
-  * For a cmake based project, you can use our FindPaSTiX.cmake module to help you in this task.
-  *
-  */
-
-#include "src/PaStiXSupport/PaStiXSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_PASTIXSUPPORT_MODULE_H
diff --git a/phonelibs/eigen/Eigen/PardisoSupport b/phonelibs/eigen/Eigen/PardisoSupport
deleted file mode 100755
index 340edf51fe2d67..00000000000000
--- a/phonelibs/eigen/Eigen/PardisoSupport
+++ /dev/null
@@ -1,35 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PARDISOSUPPORT_MODULE_H
-#define EIGEN_PARDISOSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include <mkl_pardiso.h>
-
-/** \ingroup Support_modules
-  * \defgroup PardisoSupport_Module PardisoSupport module
-  *
-  * This module brings support for the Intel(R) MKL PARDISO direct sparse solvers.
-  *
-  * \code
-  * #include <Eigen/PardisoSupport>
-  * \endcode
-  *
-  * In order to use this module, the MKL headers must be accessible from the include paths, and your binary must be linked to the MKL library and its dependencies.
-  * See this \ref TopicUsingIntelMKL "page" for more information on MKL-Eigen integration.
-  * 
-  */
-
-#include "src/PardisoSupport/PardisoSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_PARDISOSUPPORT_MODULE_H
diff --git a/phonelibs/eigen/Eigen/QR b/phonelibs/eigen/Eigen/QR
deleted file mode 100644
index 80838e3bdd6b8c..00000000000000
--- a/phonelibs/eigen/Eigen/QR
+++ /dev/null
@@ -1,47 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_QR_MODULE_H
-#define EIGEN_QR_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "Cholesky"
-#include "Jacobi"
-#include "Householder"
-
-/** \defgroup QR_Module QR module
-  *
-  *
-  *
-  * This module provides various QR decompositions
-  * This module also provides some MatrixBase methods, including:
-  *  - MatrixBase::householderQr()
-  *  - MatrixBase::colPivHouseholderQr()
-  *  - MatrixBase::fullPivHouseholderQr()
-  *
-  * \code
-  * #include <Eigen/QR>
-  * \endcode
-  */
-
-#include "src/QR/HouseholderQR.h"
-#include "src/QR/FullPivHouseholderQR.h"
-#include "src/QR/ColPivHouseholderQR.h"
-#include "src/QR/CompleteOrthogonalDecomposition.h"
-#ifdef EIGEN_USE_LAPACKE
-#include "src/misc/lapacke.h"
-#include "src/QR/HouseholderQR_LAPACKE.h"
-#include "src/QR/ColPivHouseholderQR_LAPACKE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_QR_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/Eigen/QtAlignedMalloc b/phonelibs/eigen/Eigen/QtAlignedMalloc
deleted file mode 100644
index c6571f1291912f..00000000000000
--- a/phonelibs/eigen/Eigen/QtAlignedMalloc
+++ /dev/null
@@ -1,40 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_QTMALLOC_MODULE_H
-#define EIGEN_QTMALLOC_MODULE_H
-
-#include "Core"
-
-#if (!EIGEN_MALLOC_ALREADY_ALIGNED)
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-void *qMalloc(std::size_t size)
-{
-  return Eigen::internal::aligned_malloc(size);
-}
-
-void qFree(void *ptr)
-{
-  Eigen::internal::aligned_free(ptr);
-}
-
-void *qRealloc(void *ptr, std::size_t size)
-{
-  void* newPtr = Eigen::internal::aligned_malloc(size);
-  memcpy(newPtr, ptr, size);
-  Eigen::internal::aligned_free(ptr);
-  return newPtr;
-}
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif
-
-#endif // EIGEN_QTMALLOC_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/Eigen/SPQRSupport b/phonelibs/eigen/Eigen/SPQRSupport
deleted file mode 100644
index f70390c17661f1..00000000000000
--- a/phonelibs/eigen/Eigen/SPQRSupport
+++ /dev/null
@@ -1,34 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPQRSUPPORT_MODULE_H
-#define EIGEN_SPQRSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "SuiteSparseQR.hpp"
-
-/** \ingroup Support_modules
-  * \defgroup SPQRSupport_Module SuiteSparseQR module
-  * 
-  * This module provides an interface to the SPQR library, which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
-  *
-  * \code
-  * #include <Eigen/SPQRSupport>
-  * \endcode
-  *
-  * In order to use this module, the SPQR headers must be accessible from the include paths, and your binary must be linked to the SPQR library and its dependencies (Cholmod, AMD, COLAMD,...).
-  * For a cmake based project, you can use our FindSPQR.cmake and FindCholmod.Cmake modules
-  *
-  */
-
-#include "src/CholmodSupport/CholmodSupport.h"
-#include "src/SPQRSupport/SuiteSparseQRSupport.h"
-
-#endif
diff --git a/phonelibs/eigen/Eigen/SVD b/phonelibs/eigen/Eigen/SVD
deleted file mode 100644
index 86143c23d70351..00000000000000
--- a/phonelibs/eigen/Eigen/SVD
+++ /dev/null
@@ -1,47 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SVD_MODULE_H
-#define EIGEN_SVD_MODULE_H
-
-#include "QR"
-#include "Householder"
-#include "Jacobi"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup SVD_Module SVD module
-  *
-  *
-  *
-  * This module provides SVD decomposition for matrices (both real and complex).
-  * Two decomposition algorithms are provided:
-  *  - JacobiSVD implementing two-sided Jacobi iterations is numerically very accurate, fast for small matrices, but very slow for larger ones.
-  *  - BDCSVD implementing a recursive divide & conquer strategy on top of an upper-bidiagonalization which remains fast for large problems.
-  * These decompositions are accessible via the respective classes and following MatrixBase methods:
-  *  - MatrixBase::jacobiSvd()
-  *  - MatrixBase::bdcSvd()
-  *
-  * \code
-  * #include <Eigen/SVD>
-  * \endcode
-  */
-
-#include "src/misc/RealSvd2x2.h"
-#include "src/SVD/UpperBidiagonalization.h"
-#include "src/SVD/SVDBase.h"
-#include "src/SVD/JacobiSVD.h"
-#include "src/SVD/BDCSVD.h"
-#if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT)
-#include "src/misc/lapacke.h"
-#include "src/SVD/JacobiSVD_LAPACKE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SVD_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/Eigen/Sparse b/phonelibs/eigen/Eigen/Sparse
deleted file mode 100644
index 136e681a1f66cc..00000000000000
--- a/phonelibs/eigen/Eigen/Sparse
+++ /dev/null
@@ -1,36 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_MODULE_H
-#define EIGEN_SPARSE_MODULE_H
-
-/** \defgroup Sparse_Module Sparse meta-module
-  *
-  * Meta-module including all related modules:
-  * - \ref SparseCore_Module
-  * - \ref OrderingMethods_Module
-  * - \ref SparseCholesky_Module
-  * - \ref SparseLU_Module
-  * - \ref SparseQR_Module
-  * - \ref IterativeLinearSolvers_Module
-  *
-    \code
-    #include <Eigen/Sparse>
-    \endcode
-  */
-
-#include "SparseCore"
-#include "OrderingMethods"
-#ifndef EIGEN_MPL2_ONLY
-#include "SparseCholesky"
-#endif
-#include "SparseLU"
-#include "SparseQR"
-#include "IterativeLinearSolvers"
-
-#endif // EIGEN_SPARSE_MODULE_H
-
diff --git a/phonelibs/eigen/Eigen/SparseCholesky b/phonelibs/eigen/Eigen/SparseCholesky
deleted file mode 100644
index b6a320c4027b4a..00000000000000
--- a/phonelibs/eigen/Eigen/SparseCholesky
+++ /dev/null
@@ -1,45 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2013 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSECHOLESKY_MODULE_H
-#define EIGEN_SPARSECHOLESKY_MODULE_H
-
-#include "SparseCore"
-#include "OrderingMethods"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** 
-  * \defgroup SparseCholesky_Module SparseCholesky module
-  *
-  * This module currently provides two variants of the direct sparse Cholesky decomposition for selfadjoint (hermitian) matrices.
-  * Those decompositions are accessible via the following classes:
-  *  - SimplicialLLt,
-  *  - SimplicialLDLt
-  *
-  * Such problems can also be solved using the ConjugateGradient solver from the IterativeLinearSolvers module.
-  *
-  * \code
-  * #include <Eigen/SparseCholesky>
-  * \endcode
-  */
-
-#ifdef EIGEN_MPL2_ONLY
-#error The SparseCholesky module has nothing to offer in MPL2 only mode
-#endif
-
-#include "src/SparseCholesky/SimplicialCholesky.h"
-
-#ifndef EIGEN_MPL2_ONLY
-#include "src/SparseCholesky/SimplicialCholesky_impl.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SPARSECHOLESKY_MODULE_H
diff --git a/phonelibs/eigen/Eigen/SparseCore b/phonelibs/eigen/Eigen/SparseCore
deleted file mode 100644
index 76966c4c4cb12d..00000000000000
--- a/phonelibs/eigen/Eigen/SparseCore
+++ /dev/null
@@ -1,69 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSECORE_MODULE_H
-#define EIGEN_SPARSECORE_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include <vector>
-#include <map>
-#include <cstdlib>
-#include <cstring>
-#include <algorithm>
-
-/** 
-  * \defgroup SparseCore_Module SparseCore module
-  *
-  * This module provides a sparse matrix representation, and basic associated matrix manipulations
-  * and operations.
-  *
-  * See the \ref TutorialSparse "Sparse tutorial"
-  *
-  * \code
-  * #include <Eigen/SparseCore>
-  * \endcode
-  *
-  * This module depends on: Core.
-  */
-
-#include "src/SparseCore/SparseUtil.h"
-#include "src/SparseCore/SparseMatrixBase.h"
-#include "src/SparseCore/SparseAssign.h"
-#include "src/SparseCore/CompressedStorage.h"
-#include "src/SparseCore/AmbiVector.h"
-#include "src/SparseCore/SparseCompressedBase.h"
-#include "src/SparseCore/SparseMatrix.h"
-#include "src/SparseCore/SparseMap.h"
-#include "src/SparseCore/MappedSparseMatrix.h"
-#include "src/SparseCore/SparseVector.h"
-#include "src/SparseCore/SparseRef.h"
-#include "src/SparseCore/SparseCwiseUnaryOp.h"
-#include "src/SparseCore/SparseCwiseBinaryOp.h"
-#include "src/SparseCore/SparseTranspose.h"
-#include "src/SparseCore/SparseBlock.h"
-#include "src/SparseCore/SparseDot.h"
-#include "src/SparseCore/SparseRedux.h"
-#include "src/SparseCore/SparseView.h"
-#include "src/SparseCore/SparseDiagonalProduct.h"
-#include "src/SparseCore/ConservativeSparseSparseProduct.h"
-#include "src/SparseCore/SparseSparseProductWithPruning.h"
-#include "src/SparseCore/SparseProduct.h"
-#include "src/SparseCore/SparseDenseProduct.h"
-#include "src/SparseCore/SparseSelfAdjointView.h"
-#include "src/SparseCore/SparseTriangularView.h"
-#include "src/SparseCore/TriangularSolver.h"
-#include "src/SparseCore/SparsePermutation.h"
-#include "src/SparseCore/SparseFuzzy.h"
-#include "src/SparseCore/SparseSolverBase.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SPARSECORE_MODULE_H
-
diff --git a/phonelibs/eigen/Eigen/SparseLU b/phonelibs/eigen/Eigen/SparseLU
deleted file mode 100644
index 38b38b531d1c87..00000000000000
--- a/phonelibs/eigen/Eigen/SparseLU
+++ /dev/null
@@ -1,46 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSELU_MODULE_H
-#define EIGEN_SPARSELU_MODULE_H
-
-#include "SparseCore"
-
-/** 
-  * \defgroup SparseLU_Module SparseLU module
-  * This module defines a supernodal factorization of general sparse matrices.
-  * The code is fully optimized for supernode-panel updates with specialized kernels.
-  * Please, see the documentation of the SparseLU class for more details.
-  */
-
-// Ordering interface
-#include "OrderingMethods"
-
-#include "src/SparseLU/SparseLU_gemm_kernel.h"
-
-#include "src/SparseLU/SparseLU_Structs.h"
-#include "src/SparseLU/SparseLU_SupernodalMatrix.h"
-#include "src/SparseLU/SparseLUImpl.h"
-#include "src/SparseCore/SparseColEtree.h"
-#include "src/SparseLU/SparseLU_Memory.h"
-#include "src/SparseLU/SparseLU_heap_relax_snode.h"
-#include "src/SparseLU/SparseLU_relax_snode.h"
-#include "src/SparseLU/SparseLU_pivotL.h"
-#include "src/SparseLU/SparseLU_panel_dfs.h"
-#include "src/SparseLU/SparseLU_kernel_bmod.h"
-#include "src/SparseLU/SparseLU_panel_bmod.h"
-#include "src/SparseLU/SparseLU_column_dfs.h"
-#include "src/SparseLU/SparseLU_column_bmod.h"
-#include "src/SparseLU/SparseLU_copy_to_ucol.h"
-#include "src/SparseLU/SparseLU_pruneL.h"
-#include "src/SparseLU/SparseLU_Utils.h"
-#include "src/SparseLU/SparseLU.h"
-
-#endif // EIGEN_SPARSELU_MODULE_H
diff --git a/phonelibs/eigen/Eigen/SparseQR b/phonelibs/eigen/Eigen/SparseQR
deleted file mode 100644
index a6f3b7f7d75c4e..00000000000000
--- a/phonelibs/eigen/Eigen/SparseQR
+++ /dev/null
@@ -1,37 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEQR_MODULE_H
-#define EIGEN_SPARSEQR_MODULE_H
-
-#include "SparseCore"
-#include "OrderingMethods"
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup SparseQR_Module SparseQR module
-  * \brief Provides QR decomposition for sparse matrices
-  * 
-  * This module provides a simplicial version of the left-looking Sparse QR decomposition. 
-  * The columns of the input matrix should be reordered to limit the fill-in during the 
-  * decomposition. Built-in methods (COLAMD, AMD) or external  methods (METIS) can be used to this end.
-  * See the \link OrderingMethods_Module OrderingMethods\endlink module for the list 
-  * of built-in and external ordering methods.
-  * 
-  * \code
-  * #include <Eigen/SparseQR>
-  * \endcode
-  * 
-  * 
-  */
-
-#include "OrderingMethods"
-#include "src/SparseCore/SparseColEtree.h"
-#include "src/SparseQR/SparseQR.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif
diff --git a/phonelibs/eigen/Eigen/StdDeque b/phonelibs/eigen/Eigen/StdDeque
deleted file mode 100644
index bc68397be259fa..00000000000000
--- a/phonelibs/eigen/Eigen/StdDeque
+++ /dev/null
@@ -1,27 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDDEQUE_MODULE_H
-#define EIGEN_STDDEQUE_MODULE_H
-
-#include "Core"
-#include <deque>
-
-#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
-
-#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...)
-
-#else
-
-#include "src/StlSupport/StdDeque.h"
-
-#endif
-
-#endif // EIGEN_STDDEQUE_MODULE_H
diff --git a/phonelibs/eigen/Eigen/StdList b/phonelibs/eigen/Eigen/StdList
deleted file mode 100644
index 4c6262c08cc26b..00000000000000
--- a/phonelibs/eigen/Eigen/StdList
+++ /dev/null
@@ -1,26 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDLIST_MODULE_H
-#define EIGEN_STDLIST_MODULE_H
-
-#include "Core"
-#include <list>
-
-#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
-
-#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...)
-
-#else
-
-#include "src/StlSupport/StdList.h"
-
-#endif
-
-#endif // EIGEN_STDLIST_MODULE_H
diff --git a/phonelibs/eigen/Eigen/StdVector b/phonelibs/eigen/Eigen/StdVector
deleted file mode 100644
index 0c4697ad5bed58..00000000000000
--- a/phonelibs/eigen/Eigen/StdVector
+++ /dev/null
@@ -1,27 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDVECTOR_MODULE_H
-#define EIGEN_STDVECTOR_MODULE_H
-
-#include "Core"
-#include <vector>
-
-#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
-
-#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...)
-
-#else
-
-#include "src/StlSupport/StdVector.h"
-
-#endif
-
-#endif // EIGEN_STDVECTOR_MODULE_H
diff --git a/phonelibs/eigen/Eigen/SuperLUSupport b/phonelibs/eigen/Eigen/SuperLUSupport
deleted file mode 100644
index 59312a82db0703..00000000000000
--- a/phonelibs/eigen/Eigen/SuperLUSupport
+++ /dev/null
@@ -1,64 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SUPERLUSUPPORT_MODULE_H
-#define EIGEN_SUPERLUSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#ifdef EMPTY
-#define EIGEN_EMPTY_WAS_ALREADY_DEFINED
-#endif
-
-typedef int int_t;
-#include <slu_Cnames.h>
-#include <supermatrix.h>
-#include <slu_util.h>
-
-// slu_util.h defines a preprocessor token named EMPTY which is really polluting,
-// so we remove it in favor of a SUPERLU_EMPTY token.
-// If EMPTY was already defined then we don't undef it.
-
-#if defined(EIGEN_EMPTY_WAS_ALREADY_DEFINED)
-# undef EIGEN_EMPTY_WAS_ALREADY_DEFINED
-#elif defined(EMPTY)
-# undef EMPTY
-#endif
-
-#define SUPERLU_EMPTY (-1)
-
-namespace Eigen { struct SluMatrix; }
-
-/** \ingroup Support_modules
-  * \defgroup SuperLUSupport_Module SuperLUSupport module
-  *
-  * This module provides an interface to the <a href="http://crd-legacy.lbl.gov/~xiaoye/SuperLU/">SuperLU</a> library.
-  * It provides the following factorization class:
-  * - class SuperLU: a supernodal sequential LU factorization.
-  * - class SuperILU: a supernodal sequential incomplete LU factorization (to be used as a preconditioner for iterative methods).
-  *
-  * \warning This wrapper requires at least versions 4.0 of SuperLU. The 3.x versions are not supported.
-  *
-  * \warning When including this module, you have to use SUPERLU_EMPTY instead of EMPTY which is no longer defined because it is too polluting.
-  *
-  * \code
-  * #include <Eigen/SuperLUSupport>
-  * \endcode
-  *
-  * In order to use this module, the superlu headers must be accessible from the include paths, and your binary must be linked to the superlu library and its dependencies.
-  * The dependencies depend on how superlu has been compiled.
-  * For a cmake based project, you can use our FindSuperLU.cmake module to help you in this task.
-  *
-  */
-
-#include "src/SuperLUSupport/SuperLUSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SUPERLUSUPPORT_MODULE_H
diff --git a/phonelibs/eigen/Eigen/UmfPackSupport b/phonelibs/eigen/Eigen/UmfPackSupport
deleted file mode 100644
index 00eec80875fcb2..00000000000000
--- a/phonelibs/eigen/Eigen/UmfPackSupport
+++ /dev/null
@@ -1,40 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_UMFPACKSUPPORT_MODULE_H
-#define EIGEN_UMFPACKSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-extern "C" {
-#include <umfpack.h>
-}
-
-/** \ingroup Support_modules
-  * \defgroup UmfPackSupport_Module UmfPackSupport module
-  *
-  * This module provides an interface to the UmfPack library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
-  * It provides the following factorization class:
-  * - class UmfPackLU: a multifrontal sequential LU factorization.
-  *
-  * \code
-  * #include <Eigen/UmfPackSupport>
-  * \endcode
-  *
-  * In order to use this module, the umfpack headers must be accessible from the include paths, and your binary must be linked to the umfpack library and its dependencies.
-  * The dependencies depend on how umfpack has been compiled.
-  * For a cmake based project, you can use our FindUmfPack.cmake module to help you in this task.
-  *
-  */
-
-#include "src/UmfPackSupport/UmfPackSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_UMFPACKSUPPORT_MODULE_H
diff --git a/phonelibs/eigen/Eigen/src/Cholesky/LDLT.h b/phonelibs/eigen/Eigen/src/Cholesky/LDLT.h
deleted file mode 100644
index fcee7b2e3ff8f8..00000000000000
--- a/phonelibs/eigen/Eigen/src/Cholesky/LDLT.h
+++ /dev/null
@@ -1,669 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Keir Mierle <mierle@gmail.com>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2011 Timothy E. Holy <tim.holy@gmail.com >
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LDLT_H
-#define EIGEN_LDLT_H
-
-namespace Eigen {
-
-namespace internal {
-  template<typename MatrixType, int UpLo> struct LDLT_Traits;
-
-  // PositiveSemiDef means positive semi-definite and non-zero; same for NegativeSemiDef
-  enum SignMatrix { PositiveSemiDef, NegativeSemiDef, ZeroSign, Indefinite };
-}
-
-/** \ingroup Cholesky_Module
-  *
-  * \class LDLT
-  *
-  * \brief Robust Cholesky decomposition of a matrix with pivoting
-  *
-  * \tparam _MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition
-  * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
-  *             The other triangular part won't be read.
-  *
-  * Perform a robust Cholesky decomposition of a positive semidefinite or negative semidefinite
-  * matrix \f$ A \f$ such that \f$ A =  P^TLDL^*P \f$, where P is a permutation matrix, L
-  * is lower triangular with a unit diagonal and D is a diagonal matrix.
-  *
-  * The decomposition uses pivoting to ensure stability, so that L will have
-  * zeros in the bottom right rank(A) - n submatrix. Avoiding the square root
-  * on D also stabilizes the computation.
-  *
-  * Remember that Cholesky decompositions are not rank-revealing. Also, do not use a Cholesky
-  * decomposition to determine whether a system of equations has a solution.
-  *
-  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
-  * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt(), class LLT
-  */
-template<typename _MatrixType, int _UpLo> class LDLT
-{
-  public:
-    typedef _MatrixType MatrixType;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-      UpLo = _UpLo
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef Matrix<Scalar, RowsAtCompileTime, 1, 0, MaxRowsAtCompileTime, 1> TmpMatrixType;
-
-    typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
-    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
-
-    typedef internal::LDLT_Traits<MatrixType,UpLo> Traits;
-
-    /** \brief Default Constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via LDLT::compute(const MatrixType&).
-      */
-    LDLT()
-      : m_matrix(),
-        m_transpositions(),
-        m_sign(internal::ZeroSign),
-        m_isInitialized(false)
-    {}
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa LDLT()
-      */
-    explicit LDLT(Index size)
-      : m_matrix(size, size),
-        m_transpositions(size),
-        m_temporary(size),
-        m_sign(internal::ZeroSign),
-        m_isInitialized(false)
-    {}
-
-    /** \brief Constructor with decomposition
-      *
-      * This calculates the decomposition for the input \a matrix.
-      *
-      * \sa LDLT(Index size)
-      */
-    template<typename InputType>
-    explicit LDLT(const EigenBase<InputType>& matrix)
-      : m_matrix(matrix.rows(), matrix.cols()),
-        m_transpositions(matrix.rows()),
-        m_temporary(matrix.rows()),
-        m_sign(internal::ZeroSign),
-        m_isInitialized(false)
-    {
-      compute(matrix.derived());
-    }
-
-    /** \brief Constructs a LDLT factorization from a given matrix
-      *
-      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
-      *
-      * \sa LDLT(const EigenBase&)
-      */
-    template<typename InputType>
-    explicit LDLT(EigenBase<InputType>& matrix)
-      : m_matrix(matrix.derived()),
-        m_transpositions(matrix.rows()),
-        m_temporary(matrix.rows()),
-        m_sign(internal::ZeroSign),
-        m_isInitialized(false)
-    {
-      compute(matrix.derived());
-    }
-
-    /** Clear any existing decomposition
-     * \sa rankUpdate(w,sigma)
-     */
-    void setZero()
-    {
-      m_isInitialized = false;
-    }
-
-    /** \returns a view of the upper triangular matrix U */
-    inline typename Traits::MatrixU matrixU() const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return Traits::getU(m_matrix);
-    }
-
-    /** \returns a view of the lower triangular matrix L */
-    inline typename Traits::MatrixL matrixL() const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return Traits::getL(m_matrix);
-    }
-
-    /** \returns the permutation matrix P as a transposition sequence.
-      */
-    inline const TranspositionType& transpositionsP() const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return m_transpositions;
-    }
-
-    /** \returns the coefficients of the diagonal matrix D */
-    inline Diagonal<const MatrixType> vectorD() const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return m_matrix.diagonal();
-    }
-
-    /** \returns true if the matrix is positive (semidefinite) */
-    inline bool isPositive() const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return m_sign == internal::PositiveSemiDef || m_sign == internal::ZeroSign;
-    }
-
-    /** \returns true if the matrix is negative (semidefinite) */
-    inline bool isNegative(void) const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return m_sign == internal::NegativeSemiDef || m_sign == internal::ZeroSign;
-    }
-
-    /** \returns a solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * This function also supports in-place solves using the syntax <tt>x = decompositionObject.solve(x)</tt> .
-      *
-      * \note_about_checking_solutions
-      *
-      * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$
-      * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$,
-      * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then
-      * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the
-      * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function
-      * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular.
-      *
-      * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt()
-      */
-    template<typename Rhs>
-    inline const Solve<LDLT, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      eigen_assert(m_matrix.rows()==b.rows()
-                && "LDLT::solve(): invalid number of rows of the right hand side matrix b");
-      return Solve<LDLT, Rhs>(*this, b.derived());
-    }
-
-    template<typename Derived>
-    bool solveInPlace(MatrixBase<Derived> &bAndX) const;
-
-    template<typename InputType>
-    LDLT& compute(const EigenBase<InputType>& matrix);
-
-    /** \returns an estimate of the reciprocal condition number of the matrix of
-     *  which \c *this is the LDLT decomposition.
-     */
-    RealScalar rcond() const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return internal::rcond_estimate_helper(m_l1_norm, *this);
-    }
-
-    template <typename Derived>
-    LDLT& rankUpdate(const MatrixBase<Derived>& w, const RealScalar& alpha=1);
-
-    /** \returns the internal LDLT decomposition matrix
-      *
-      * TODO: document the storage layout
-      */
-    inline const MatrixType& matrixLDLT() const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return m_matrix;
-    }
-
-    MatrixType reconstructedMatrix() const;
-
-    /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint.
-      *
-      * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
-      * \code x = decomposition.adjoint().solve(b) \endcode
-      */
-    const LDLT& adjoint() const { return *this; };
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix.appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return m_info;
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl(const RhsType &rhs, DstType &dst) const;
-    #endif
-
-  protected:
-
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-
-    /** \internal
-      * Used to compute and store the Cholesky decomposition A = L D L^* = U^* D U.
-      * The strict upper part is used during the decomposition, the strict lower
-      * part correspond to the coefficients of L (its diagonal is equal to 1 and
-      * is not stored), and the diagonal entries correspond to D.
-      */
-    MatrixType m_matrix;
-    RealScalar m_l1_norm;
-    TranspositionType m_transpositions;
-    TmpMatrixType m_temporary;
-    internal::SignMatrix m_sign;
-    bool m_isInitialized;
-    ComputationInfo m_info;
-};
-
-namespace internal {
-
-template<int UpLo> struct ldlt_inplace;
-
-template<> struct ldlt_inplace<Lower>
-{
-  template<typename MatrixType, typename TranspositionType, typename Workspace>
-  static bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, SignMatrix& sign)
-  {
-    using std::abs;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename TranspositionType::StorageIndex IndexType;
-    eigen_assert(mat.rows()==mat.cols());
-    const Index size = mat.rows();
-    bool found_zero_pivot = false;
-    bool ret = true;
-
-    if (size <= 1)
-    {
-      transpositions.setIdentity();
-      if (numext::real(mat.coeff(0,0)) > static_cast<RealScalar>(0) ) sign = PositiveSemiDef;
-      else if (numext::real(mat.coeff(0,0)) < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
-      else sign = ZeroSign;
-      return true;
-    }
-
-    for (Index k = 0; k < size; ++k)
-    {
-      // Find largest diagonal element
-      Index index_of_biggest_in_corner;
-      mat.diagonal().tail(size-k).cwiseAbs().maxCoeff(&index_of_biggest_in_corner);
-      index_of_biggest_in_corner += k;
-
-      transpositions.coeffRef(k) = IndexType(index_of_biggest_in_corner);
-      if(k != index_of_biggest_in_corner)
-      {
-        // apply the transposition while taking care to consider only
-        // the lower triangular part
-        Index s = size-index_of_biggest_in_corner-1; // trailing size after the biggest element
-        mat.row(k).head(k).swap(mat.row(index_of_biggest_in_corner).head(k));
-        mat.col(k).tail(s).swap(mat.col(index_of_biggest_in_corner).tail(s));
-        std::swap(mat.coeffRef(k,k),mat.coeffRef(index_of_biggest_in_corner,index_of_biggest_in_corner));
-        for(Index i=k+1;i<index_of_biggest_in_corner;++i)
-        {
-          Scalar tmp = mat.coeffRef(i,k);
-          mat.coeffRef(i,k) = numext::conj(mat.coeffRef(index_of_biggest_in_corner,i));
-          mat.coeffRef(index_of_biggest_in_corner,i) = numext::conj(tmp);
-        }
-        if(NumTraits<Scalar>::IsComplex)
-          mat.coeffRef(index_of_biggest_in_corner,k) = numext::conj(mat.coeff(index_of_biggest_in_corner,k));
-      }
-
-      // partition the matrix:
-      //       A00 |  -  |  -
-      // lu  = A10 | A11 |  -
-      //       A20 | A21 | A22
-      Index rs = size - k - 1;
-      Block<MatrixType,Dynamic,1> A21(mat,k+1,k,rs,1);
-      Block<MatrixType,1,Dynamic> A10(mat,k,0,1,k);
-      Block<MatrixType,Dynamic,Dynamic> A20(mat,k+1,0,rs,k);
-
-      if(k>0)
-      {
-        temp.head(k) = mat.diagonal().real().head(k).asDiagonal() * A10.adjoint();
-        mat.coeffRef(k,k) -= (A10 * temp.head(k)).value();
-        if(rs>0)
-          A21.noalias() -= A20 * temp.head(k);
-      }
-
-      // In some previous versions of Eigen (e.g., 3.2.1), the scaling was omitted if the pivot
-      // was smaller than the cutoff value. However, since LDLT is not rank-revealing
-      // we should only make sure that we do not introduce INF or NaN values.
-      // Remark that LAPACK also uses 0 as the cutoff value.
-      RealScalar realAkk = numext::real(mat.coeffRef(k,k));
-      bool pivot_is_valid = (abs(realAkk) > RealScalar(0));
-
-      if(k==0 && !pivot_is_valid)
-      {
-        // The entire diagonal is zero, there is nothing more to do
-        // except filling the transpositions, and checking whether the matrix is zero.
-        sign = ZeroSign;
-        for(Index j = 0; j<size; ++j)
-        {
-          transpositions.coeffRef(j) = IndexType(j);
-          ret = ret && (mat.col(j).tail(size-j-1).array()==Scalar(0)).all();
-        }
-        return ret;
-      }
-
-      if((rs>0) && pivot_is_valid)
-        A21 /= realAkk;
-
-      if(found_zero_pivot && pivot_is_valid) ret = false; // factorization failed
-      else if(!pivot_is_valid) found_zero_pivot = true;
-
-      if (sign == PositiveSemiDef) {
-        if (realAkk < static_cast<RealScalar>(0)) sign = Indefinite;
-      } else if (sign == NegativeSemiDef) {
-        if (realAkk > static_cast<RealScalar>(0)) sign = Indefinite;
-      } else if (sign == ZeroSign) {
-        if (realAkk > static_cast<RealScalar>(0)) sign = PositiveSemiDef;
-        else if (realAkk < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
-      }
-    }
-
-    return ret;
-  }
-
-  // Reference for the algorithm: Davis and Hager, "Multiple Rank
-  // Modifications of a Sparse Cholesky Factorization" (Algorithm 1)
-  // Trivial rearrangements of their computations (Timothy E. Holy)
-  // allow their algorithm to work for rank-1 updates even if the
-  // original matrix is not of full rank.
-  // Here only rank-1 updates are implemented, to reduce the
-  // requirement for intermediate storage and improve accuracy
-  template<typename MatrixType, typename WDerived>
-  static bool updateInPlace(MatrixType& mat, MatrixBase<WDerived>& w, const typename MatrixType::RealScalar& sigma=1)
-  {
-    using numext::isfinite;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-
-    const Index size = mat.rows();
-    eigen_assert(mat.cols() == size && w.size()==size);
-
-    RealScalar alpha = 1;
-
-    // Apply the update
-    for (Index j = 0; j < size; j++)
-    {
-      // Check for termination due to an original decomposition of low-rank
-      if (!(isfinite)(alpha))
-        break;
-
-      // Update the diagonal terms
-      RealScalar dj = numext::real(mat.coeff(j,j));
-      Scalar wj = w.coeff(j);
-      RealScalar swj2 = sigma*numext::abs2(wj);
-      RealScalar gamma = dj*alpha + swj2;
-
-      mat.coeffRef(j,j) += swj2/alpha;
-      alpha += swj2/dj;
-
-
-      // Update the terms of L
-      Index rs = size-j-1;
-      w.tail(rs) -= wj * mat.col(j).tail(rs);
-      if(gamma != 0)
-        mat.col(j).tail(rs) += (sigma*numext::conj(wj)/gamma)*w.tail(rs);
-    }
-    return true;
-  }
-
-  template<typename MatrixType, typename TranspositionType, typename Workspace, typename WType>
-  static bool update(MatrixType& mat, const TranspositionType& transpositions, Workspace& tmp, const WType& w, const typename MatrixType::RealScalar& sigma=1)
-  {
-    // Apply the permutation to the input w
-    tmp = transpositions * w;
-
-    return ldlt_inplace<Lower>::updateInPlace(mat,tmp,sigma);
-  }
-};
-
-template<> struct ldlt_inplace<Upper>
-{
-  template<typename MatrixType, typename TranspositionType, typename Workspace>
-  static EIGEN_STRONG_INLINE bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, SignMatrix& sign)
-  {
-    Transpose<MatrixType> matt(mat);
-    return ldlt_inplace<Lower>::unblocked(matt, transpositions, temp, sign);
-  }
-
-  template<typename MatrixType, typename TranspositionType, typename Workspace, typename WType>
-  static EIGEN_STRONG_INLINE bool update(MatrixType& mat, TranspositionType& transpositions, Workspace& tmp, WType& w, const typename MatrixType::RealScalar& sigma=1)
-  {
-    Transpose<MatrixType> matt(mat);
-    return ldlt_inplace<Lower>::update(matt, transpositions, tmp, w.conjugate(), sigma);
-  }
-};
-
-template<typename MatrixType> struct LDLT_Traits<MatrixType,Lower>
-{
-  typedef const TriangularView<const MatrixType, UnitLower> MatrixL;
-  typedef const TriangularView<const typename MatrixType::AdjointReturnType, UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
-  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
-};
-
-template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
-{
-  typedef const TriangularView<const typename MatrixType::AdjointReturnType, UnitLower> MatrixL;
-  typedef const TriangularView<const MatrixType, UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); }
-  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); }
-};
-
-} // end namespace internal
-
-/** Compute / recompute the LDLT decomposition A = L D L^* = U^* D U of \a matrix
-  */
-template<typename MatrixType, int _UpLo>
-template<typename InputType>
-LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>& a)
-{
-  check_template_parameters();
-
-  eigen_assert(a.rows()==a.cols());
-  const Index size = a.rows();
-
-  m_matrix = a.derived();
-
-  // Compute matrix L1 norm = max abs column sum.
-  m_l1_norm = RealScalar(0);
-  // TODO move this code to SelfAdjointView
-  for (Index col = 0; col < size; ++col) {
-    RealScalar abs_col_sum;
-    if (_UpLo == Lower)
-      abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>();
-    else
-      abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>();
-    if (abs_col_sum > m_l1_norm)
-      m_l1_norm = abs_col_sum;
-  }
-
-  m_transpositions.resize(size);
-  m_isInitialized = false;
-  m_temporary.resize(size);
-  m_sign = internal::ZeroSign;
-
-  m_info = internal::ldlt_inplace<UpLo>::unblocked(m_matrix, m_transpositions, m_temporary, m_sign) ? Success : NumericalIssue;
-
-  m_isInitialized = true;
-  return *this;
-}
-
-/** Update the LDLT decomposition:  given A = L D L^T, efficiently compute the decomposition of A + sigma w w^T.
- * \param w a vector to be incorporated into the decomposition.
- * \param sigma a scalar, +1 for updates and -1 for "downdates," which correspond to removing previously-added column vectors. Optional; default value is +1.
- * \sa setZero()
-  */
-template<typename MatrixType, int _UpLo>
-template<typename Derived>
-LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::rankUpdate(const MatrixBase<Derived>& w, const typename LDLT<MatrixType,_UpLo>::RealScalar& sigma)
-{
-  typedef typename TranspositionType::StorageIndex IndexType;
-  const Index size = w.rows();
-  if (m_isInitialized)
-  {
-    eigen_assert(m_matrix.rows()==size);
-  }
-  else
-  {
-    m_matrix.resize(size,size);
-    m_matrix.setZero();
-    m_transpositions.resize(size);
-    for (Index i = 0; i < size; i++)
-      m_transpositions.coeffRef(i) = IndexType(i);
-    m_temporary.resize(size);
-    m_sign = sigma>=0 ? internal::PositiveSemiDef : internal::NegativeSemiDef;
-    m_isInitialized = true;
-  }
-
-  internal::ldlt_inplace<UpLo>::update(m_matrix, m_transpositions, m_temporary, w, sigma);
-
-  return *this;
-}
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename _MatrixType, int _UpLo>
-template<typename RhsType, typename DstType>
-void LDLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
-{
-  eigen_assert(rhs.rows() == rows());
-  // dst = P b
-  dst = m_transpositions * rhs;
-
-  // dst = L^-1 (P b)
-  matrixL().solveInPlace(dst);
-
-  // dst = D^-1 (L^-1 P b)
-  // more precisely, use pseudo-inverse of D (see bug 241)
-  using std::abs;
-  const typename Diagonal<const MatrixType>::RealReturnType vecD(vectorD());
-  // In some previous versions, tolerance was set to the max of 1/highest and the maximal diagonal entry * epsilon
-  // as motivated by LAPACK's xGELSS:
-  // RealScalar tolerance = numext::maxi(vecD.array().abs().maxCoeff() * NumTraits<RealScalar>::epsilon(),RealScalar(1) / NumTraits<RealScalar>::highest());
-  // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest
-  // diagonal element is not well justified and leads to numerical issues in some cases.
-  // Moreover, Lapack's xSYTRS routines use 0 for the tolerance.
-  RealScalar tolerance = RealScalar(1) / NumTraits<RealScalar>::highest();
-
-  for (Index i = 0; i < vecD.size(); ++i)
-  {
-    if(abs(vecD(i)) > tolerance)
-      dst.row(i) /= vecD(i);
-    else
-      dst.row(i).setZero();
-  }
-
-  // dst = L^-T (D^-1 L^-1 P b)
-  matrixU().solveInPlace(dst);
-
-  // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
-  dst = m_transpositions.transpose() * dst;
-}
-#endif
-
-/** \internal use x = ldlt_object.solve(x);
-  *
-  * This is the \em in-place version of solve().
-  *
-  * \param bAndX represents both the right-hand side matrix b and result x.
-  *
-  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
-  *
-  * This version avoids a copy when the right hand side matrix b is not
-  * needed anymore.
-  *
-  * \sa LDLT::solve(), MatrixBase::ldlt()
-  */
-template<typename MatrixType,int _UpLo>
-template<typename Derived>
-bool LDLT<MatrixType,_UpLo>::solveInPlace(MatrixBase<Derived> &bAndX) const
-{
-  eigen_assert(m_isInitialized && "LDLT is not initialized.");
-  eigen_assert(m_matrix.rows() == bAndX.rows());
-
-  bAndX = this->solve(bAndX);
-
-  return true;
-}
-
-/** \returns the matrix represented by the decomposition,
- * i.e., it returns the product: P^T L D L^* P.
- * This function is provided for debug purpose. */
-template<typename MatrixType, int _UpLo>
-MatrixType LDLT<MatrixType,_UpLo>::reconstructedMatrix() const
-{
-  eigen_assert(m_isInitialized && "LDLT is not initialized.");
-  const Index size = m_matrix.rows();
-  MatrixType res(size,size);
-
-  // P
-  res.setIdentity();
-  res = transpositionsP() * res;
-  // L^* P
-  res = matrixU() * res;
-  // D(L^*P)
-  res = vectorD().real().asDiagonal() * res;
-  // L(DL^*P)
-  res = matrixL() * res;
-  // P^T (LDL^*P)
-  res = transpositionsP().transpose() * res;
-
-  return res;
-}
-
-/** \cholesky_module
-  * \returns the Cholesky decomposition with full pivoting without square root of \c *this
-  * \sa MatrixBase::ldlt()
-  */
-template<typename MatrixType, unsigned int UpLo>
-inline const LDLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
-SelfAdjointView<MatrixType, UpLo>::ldlt() const
-{
-  return LDLT<PlainObject,UpLo>(m_matrix);
-}
-
-/** \cholesky_module
-  * \returns the Cholesky decomposition with full pivoting without square root of \c *this
-  * \sa SelfAdjointView::ldlt()
-  */
-template<typename Derived>
-inline const LDLT<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::ldlt() const
-{
-  return LDLT<PlainObject>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LDLT_H
diff --git a/phonelibs/eigen/Eigen/src/Cholesky/LLT.h b/phonelibs/eigen/Eigen/src/Cholesky/LLT.h
deleted file mode 100644
index 87ca8d42361023..00000000000000
--- a/phonelibs/eigen/Eigen/src/Cholesky/LLT.h
+++ /dev/null
@@ -1,534 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LLT_H
-#define EIGEN_LLT_H
-
-namespace Eigen {
-
-namespace internal{
-template<typename MatrixType, int UpLo> struct LLT_Traits;
-}
-
-/** \ingroup Cholesky_Module
-  *
-  * \class LLT
-  *
-  * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
-  * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
-  *             The other triangular part won't be read.
-  *
-  * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite
-  * matrix A such that A = LL^* = U^*U, where L is lower triangular.
-  *
-  * While the Cholesky decomposition is particularly useful to solve selfadjoint problems like  D^*D x = b,
-  * for that purpose, we recommend the Cholesky decomposition without square root which is more stable
-  * and even faster. Nevertheless, this standard Cholesky decomposition remains useful in many other
-  * situations like generalised eigen problems with hermitian matrices.
-  *
-  * Remember that Cholesky decompositions are not rank-revealing. This LLT decomposition is only stable on positive definite matrices,
-  * use LDLT instead for the semidefinite case. Also, do not use a Cholesky decomposition to determine whether a system of equations
-  * has a solution.
-  *
-  * Example: \include LLT_example.cpp
-  * Output: \verbinclude LLT_example.out
-  *
-  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  *
-  * \sa MatrixBase::llt(), SelfAdjointView::llt(), class LDLT
-  */
- /* HEY THIS DOX IS DISABLED BECAUSE THERE's A BUG EITHER HERE OR IN LDLT ABOUT THAT (OR BOTH)
-  * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
-  * the strict lower part does not have to store correct values.
-  */
-template<typename _MatrixType, int _UpLo> class LLT
-{
-  public:
-    typedef _MatrixType MatrixType;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    typedef typename MatrixType::StorageIndex StorageIndex;
-
-    enum {
-      PacketSize = internal::packet_traits<Scalar>::size,
-      AlignmentMask = int(PacketSize)-1,
-      UpLo = _UpLo
-    };
-
-    typedef internal::LLT_Traits<MatrixType,UpLo> Traits;
-
-    /**
-      * \brief Default Constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via LLT::compute(const MatrixType&).
-      */
-    LLT() : m_matrix(), m_isInitialized(false) {}
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa LLT()
-      */
-    explicit LLT(Index size) : m_matrix(size, size),
-                    m_isInitialized(false) {}
-
-    template<typename InputType>
-    explicit LLT(const EigenBase<InputType>& matrix)
-      : m_matrix(matrix.rows(), matrix.cols()),
-        m_isInitialized(false)
-    {
-      compute(matrix.derived());
-    }
-
-    /** \brief Constructs a LDLT factorization from a given matrix
-      *
-      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
-      * \c MatrixType is a Eigen::Ref.
-      *
-      * \sa LLT(const EigenBase&)
-      */
-    template<typename InputType>
-    explicit LLT(EigenBase<InputType>& matrix)
-      : m_matrix(matrix.derived()),
-        m_isInitialized(false)
-    {
-      compute(matrix.derived());
-    }
-
-    /** \returns a view of the upper triangular matrix U */
-    inline typename Traits::MatrixU matrixU() const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      return Traits::getU(m_matrix);
-    }
-
-    /** \returns a view of the lower triangular matrix L */
-    inline typename Traits::MatrixL matrixL() const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      return Traits::getL(m_matrix);
-    }
-
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * Since this LLT class assumes anyway that the matrix A is invertible, the solution
-      * theoretically exists and is unique regardless of b.
-      *
-      * Example: \include LLT_solve.cpp
-      * Output: \verbinclude LLT_solve.out
-      *
-      * \sa solveInPlace(), MatrixBase::llt(), SelfAdjointView::llt()
-      */
-    template<typename Rhs>
-    inline const Solve<LLT, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      eigen_assert(m_matrix.rows()==b.rows()
-                && "LLT::solve(): invalid number of rows of the right hand side matrix b");
-      return Solve<LLT, Rhs>(*this, b.derived());
-    }
-
-    template<typename Derived>
-    void solveInPlace(MatrixBase<Derived> &bAndX) const;
-
-    template<typename InputType>
-    LLT& compute(const EigenBase<InputType>& matrix);
-
-    /** \returns an estimate of the reciprocal condition number of the matrix of
-      *  which \c *this is the Cholesky decomposition.
-      */
-    RealScalar rcond() const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      eigen_assert(m_info == Success && "LLT failed because matrix appears to be negative");
-      return internal::rcond_estimate_helper(m_l1_norm, *this);
-    }
-
-    /** \returns the LLT decomposition matrix
-      *
-      * TODO: document the storage layout
-      */
-    inline const MatrixType& matrixLLT() const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      return m_matrix;
-    }
-
-    MatrixType reconstructedMatrix() const;
-
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix.appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      return m_info;
-    }
-
-    /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint.
-      *
-      * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
-      * \code x = decomposition.adjoint().solve(b) \endcode
-      */
-    const LLT& adjoint() const { return *this; };
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-
-    template<typename VectorType>
-    LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1);
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl(const RhsType &rhs, DstType &dst) const;
-    #endif
-
-  protected:
-
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-
-    /** \internal
-      * Used to compute and store L
-      * The strict upper part is not used and even not initialized.
-      */
-    MatrixType m_matrix;
-    RealScalar m_l1_norm;
-    bool m_isInitialized;
-    ComputationInfo m_info;
-};
-
-namespace internal {
-
-template<typename Scalar, int UpLo> struct llt_inplace;
-
-template<typename MatrixType, typename VectorType>
-static Index llt_rank_update_lower(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma)
-{
-  using std::sqrt;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename MatrixType::ColXpr ColXpr;
-  typedef typename internal::remove_all<ColXpr>::type ColXprCleaned;
-  typedef typename ColXprCleaned::SegmentReturnType ColXprSegment;
-  typedef Matrix<Scalar,Dynamic,1> TempVectorType;
-  typedef typename TempVectorType::SegmentReturnType TempVecSegment;
-
-  Index n = mat.cols();
-  eigen_assert(mat.rows()==n && vec.size()==n);
-
-  TempVectorType temp;
-
-  if(sigma>0)
-  {
-    // This version is based on Givens rotations.
-    // It is faster than the other one below, but only works for updates,
-    // i.e., for sigma > 0
-    temp = sqrt(sigma) * vec;
-
-    for(Index i=0; i<n; ++i)
-    {
-      JacobiRotation<Scalar> g;
-      g.makeGivens(mat(i,i), -temp(i), &mat(i,i));
-
-      Index rs = n-i-1;
-      if(rs>0)
-      {
-        ColXprSegment x(mat.col(i).tail(rs));
-        TempVecSegment y(temp.tail(rs));
-        apply_rotation_in_the_plane(x, y, g);
-      }
-    }
-  }
-  else
-  {
-    temp = vec;
-    RealScalar beta = 1;
-    for(Index j=0; j<n; ++j)
-    {
-      RealScalar Ljj = numext::real(mat.coeff(j,j));
-      RealScalar dj = numext::abs2(Ljj);
-      Scalar wj = temp.coeff(j);
-      RealScalar swj2 = sigma*numext::abs2(wj);
-      RealScalar gamma = dj*beta + swj2;
-
-      RealScalar x = dj + swj2/beta;
-      if (x<=RealScalar(0))
-        return j;
-      RealScalar nLjj = sqrt(x);
-      mat.coeffRef(j,j) = nLjj;
-      beta += swj2/dj;
-
-      // Update the terms of L
-      Index rs = n-j-1;
-      if(rs)
-      {
-        temp.tail(rs) -= (wj/Ljj) * mat.col(j).tail(rs);
-        if(gamma != 0)
-          mat.col(j).tail(rs) = (nLjj/Ljj) * mat.col(j).tail(rs) + (nLjj * sigma*numext::conj(wj)/gamma)*temp.tail(rs);
-      }
-    }
-  }
-  return -1;
-}
-
-template<typename Scalar> struct llt_inplace<Scalar, Lower>
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename MatrixType>
-  static Index unblocked(MatrixType& mat)
-  {
-    using std::sqrt;
-
-    eigen_assert(mat.rows()==mat.cols());
-    const Index size = mat.rows();
-    for(Index k = 0; k < size; ++k)
-    {
-      Index rs = size-k-1; // remaining size
-
-      Block<MatrixType,Dynamic,1> A21(mat,k+1,k,rs,1);
-      Block<MatrixType,1,Dynamic> A10(mat,k,0,1,k);
-      Block<MatrixType,Dynamic,Dynamic> A20(mat,k+1,0,rs,k);
-
-      RealScalar x = numext::real(mat.coeff(k,k));
-      if (k>0) x -= A10.squaredNorm();
-      if (x<=RealScalar(0))
-        return k;
-      mat.coeffRef(k,k) = x = sqrt(x);
-      if (k>0 && rs>0) A21.noalias() -= A20 * A10.adjoint();
-      if (rs>0) A21 /= x;
-    }
-    return -1;
-  }
-
-  template<typename MatrixType>
-  static Index blocked(MatrixType& m)
-  {
-    eigen_assert(m.rows()==m.cols());
-    Index size = m.rows();
-    if(size<32)
-      return unblocked(m);
-
-    Index blockSize = size/8;
-    blockSize = (blockSize/16)*16;
-    blockSize = (std::min)((std::max)(blockSize,Index(8)), Index(128));
-
-    for (Index k=0; k<size; k+=blockSize)
-    {
-      // partition the matrix:
-      //       A00 |  -  |  -
-      // lu  = A10 | A11 |  -
-      //       A20 | A21 | A22
-      Index bs = (std::min)(blockSize, size-k);
-      Index rs = size - k - bs;
-      Block<MatrixType,Dynamic,Dynamic> A11(m,k,   k,   bs,bs);
-      Block<MatrixType,Dynamic,Dynamic> A21(m,k+bs,k,   rs,bs);
-      Block<MatrixType,Dynamic,Dynamic> A22(m,k+bs,k+bs,rs,rs);
-
-      Index ret;
-      if((ret=unblocked(A11))>=0) return k+ret;
-      if(rs>0) A11.adjoint().template triangularView<Upper>().template solveInPlace<OnTheRight>(A21);
-      if(rs>0) A22.template selfadjointView<Lower>().rankUpdate(A21,typename NumTraits<RealScalar>::Literal(-1)); // bottleneck
-    }
-    return -1;
-  }
-
-  template<typename MatrixType, typename VectorType>
-  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
-  {
-    return Eigen::internal::llt_rank_update_lower(mat, vec, sigma);
-  }
-};
-
-template<typename Scalar> struct llt_inplace<Scalar, Upper>
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-
-  template<typename MatrixType>
-  static EIGEN_STRONG_INLINE Index unblocked(MatrixType& mat)
-  {
-    Transpose<MatrixType> matt(mat);
-    return llt_inplace<Scalar, Lower>::unblocked(matt);
-  }
-  template<typename MatrixType>
-  static EIGEN_STRONG_INLINE Index blocked(MatrixType& mat)
-  {
-    Transpose<MatrixType> matt(mat);
-    return llt_inplace<Scalar, Lower>::blocked(matt);
-  }
-  template<typename MatrixType, typename VectorType>
-  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
-  {
-    Transpose<MatrixType> matt(mat);
-    return llt_inplace<Scalar, Lower>::rankUpdate(matt, vec.conjugate(), sigma);
-  }
-};
-
-template<typename MatrixType> struct LLT_Traits<MatrixType,Lower>
-{
-  typedef const TriangularView<const MatrixType, Lower> MatrixL;
-  typedef const TriangularView<const typename MatrixType::AdjointReturnType, Upper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
-  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
-  static bool inplace_decomposition(MatrixType& m)
-  { return llt_inplace<typename MatrixType::Scalar, Lower>::blocked(m)==-1; }
-};
-
-template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
-{
-  typedef const TriangularView<const typename MatrixType::AdjointReturnType, Lower> MatrixL;
-  typedef const TriangularView<const MatrixType, Upper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); }
-  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); }
-  static bool inplace_decomposition(MatrixType& m)
-  { return llt_inplace<typename MatrixType::Scalar, Upper>::blocked(m)==-1; }
-};
-
-} // end namespace internal
-
-/** Computes / recomputes the Cholesky decomposition A = LL^* = U^*U of \a matrix
-  *
-  * \returns a reference to *this
-  *
-  * Example: \include TutorialLinAlgComputeTwice.cpp
-  * Output: \verbinclude TutorialLinAlgComputeTwice.out
-  */
-template<typename MatrixType, int _UpLo>
-template<typename InputType>
-LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>& a)
-{
-  check_template_parameters();
-
-  eigen_assert(a.rows()==a.cols());
-  const Index size = a.rows();
-  m_matrix.resize(size, size);
-  m_matrix = a.derived();
-
-  // Compute matrix L1 norm = max abs column sum.
-  m_l1_norm = RealScalar(0);
-  // TODO move this code to SelfAdjointView
-  for (Index col = 0; col < size; ++col) {
-    RealScalar abs_col_sum;
-    if (_UpLo == Lower)
-      abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>();
-    else
-      abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>();
-    if (abs_col_sum > m_l1_norm)
-      m_l1_norm = abs_col_sum;
-  }
-
-  m_isInitialized = true;
-  bool ok = Traits::inplace_decomposition(m_matrix);
-  m_info = ok ? Success : NumericalIssue;
-
-  return *this;
-}
-
-/** Performs a rank one update (or dowdate) of the current decomposition.
-  * If A = LL^* before the rank one update,
-  * then after it we have LL^* = A + sigma * v v^* where \a v must be a vector
-  * of same dimension.
-  */
-template<typename _MatrixType, int _UpLo>
-template<typename VectorType>
-LLT<_MatrixType,_UpLo> LLT<_MatrixType,_UpLo>::rankUpdate(const VectorType& v, const RealScalar& sigma)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType);
-  eigen_assert(v.size()==m_matrix.cols());
-  eigen_assert(m_isInitialized);
-  if(internal::llt_inplace<typename MatrixType::Scalar, UpLo>::rankUpdate(m_matrix,v,sigma)>=0)
-    m_info = NumericalIssue;
-  else
-    m_info = Success;
-
-  return *this;
-}
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename _MatrixType,int _UpLo>
-template<typename RhsType, typename DstType>
-void LLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
-{
-  dst = rhs;
-  solveInPlace(dst);
-}
-#endif
-
-/** \internal use x = llt_object.solve(x);
-  *
-  * This is the \em in-place version of solve().
-  *
-  * \param bAndX represents both the right-hand side matrix b and result x.
-  *
-  * This version avoids a copy when the right hand side matrix b is not needed anymore.
-  *
-  * \sa LLT::solve(), MatrixBase::llt()
-  */
-template<typename MatrixType, int _UpLo>
-template<typename Derived>
-void LLT<MatrixType,_UpLo>::solveInPlace(MatrixBase<Derived> &bAndX) const
-{
-  eigen_assert(m_isInitialized && "LLT is not initialized.");
-  eigen_assert(m_matrix.rows()==bAndX.rows());
-  matrixL().solveInPlace(bAndX);
-  matrixU().solveInPlace(bAndX);
-}
-
-/** \returns the matrix represented by the decomposition,
- * i.e., it returns the product: L L^*.
- * This function is provided for debug purpose. */
-template<typename MatrixType, int _UpLo>
-MatrixType LLT<MatrixType,_UpLo>::reconstructedMatrix() const
-{
-  eigen_assert(m_isInitialized && "LLT is not initialized.");
-  return matrixL() * matrixL().adjoint().toDenseMatrix();
-}
-
-/** \cholesky_module
-  * \returns the LLT decomposition of \c *this
-  * \sa SelfAdjointView::llt()
-  */
-template<typename Derived>
-inline const LLT<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::llt() const
-{
-  return LLT<PlainObject>(derived());
-}
-
-/** \cholesky_module
-  * \returns the LLT decomposition of \c *this
-  * \sa SelfAdjointView::llt()
-  */
-template<typename MatrixType, unsigned int UpLo>
-inline const LLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
-SelfAdjointView<MatrixType, UpLo>::llt() const
-{
-  return LLT<PlainObject,UpLo>(m_matrix);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LLT_H
diff --git a/phonelibs/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h b/phonelibs/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h
deleted file mode 100644
index bc6489e69a9832..00000000000000
--- a/phonelibs/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to LAPACKe
- *     LLt decomposition based on LAPACKE_?potrf function.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_LLT_LAPACKE_H
-#define EIGEN_LLT_LAPACKE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Scalar> struct lapacke_llt;
-
-#define EIGEN_LAPACKE_LLT(EIGTYPE, BLASTYPE, LAPACKE_PREFIX) \
-template<> struct lapacke_llt<EIGTYPE> \
-{ \
-  template<typename MatrixType> \
-  static inline Index potrf(MatrixType& m, char uplo) \
-  { \
-    lapack_int matrix_order; \
-    lapack_int size, lda, info, StorageOrder; \
-    EIGTYPE* a; \
-    eigen_assert(m.rows()==m.cols()); \
-    /* Set up parameters for ?potrf */ \
-    size = convert_index<lapack_int>(m.rows()); \
-    StorageOrder = MatrixType::Flags&RowMajorBit?RowMajor:ColMajor; \
-    matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
-    a = &(m.coeffRef(0,0)); \
-    lda = convert_index<lapack_int>(m.outerStride()); \
-\
-    info = LAPACKE_##LAPACKE_PREFIX##potrf( matrix_order, uplo, size, (BLASTYPE*)a, lda ); \
-    info = (info==0) ? -1 : info>0 ? info-1 : size; \
-    return info; \
-  } \
-}; \
-template<> struct llt_inplace<EIGTYPE, Lower> \
-{ \
-  template<typename MatrixType> \
-  static Index blocked(MatrixType& m) \
-  { \
-    return lapacke_llt<EIGTYPE>::potrf(m, 'L'); \
-  } \
-  template<typename MatrixType, typename VectorType> \
-  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \
-  { return Eigen::internal::llt_rank_update_lower(mat, vec, sigma); } \
-}; \
-template<> struct llt_inplace<EIGTYPE, Upper> \
-{ \
-  template<typename MatrixType> \
-  static Index blocked(MatrixType& m) \
-  { \
-    return lapacke_llt<EIGTYPE>::potrf(m, 'U'); \
-  } \
-  template<typename MatrixType, typename VectorType> \
-  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \
-  { \
-    Transpose<MatrixType> matt(mat); \
-    return llt_inplace<EIGTYPE, Lower>::rankUpdate(matt, vec.conjugate(), sigma); \
-  } \
-};
-
-EIGEN_LAPACKE_LLT(double, double, d)
-EIGEN_LAPACKE_LLT(float, float, s)
-EIGEN_LAPACKE_LLT(dcomplex, lapack_complex_double, z)
-EIGEN_LAPACKE_LLT(scomplex, lapack_complex_float, c)
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_LLT_LAPACKE_H
diff --git a/phonelibs/eigen/Eigen/src/CholmodSupport/CholmodSupport.h b/phonelibs/eigen/Eigen/src/CholmodSupport/CholmodSupport.h
deleted file mode 100644
index 57197202383a6d..00000000000000
--- a/phonelibs/eigen/Eigen/src/CholmodSupport/CholmodSupport.h
+++ /dev/null
@@ -1,639 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CHOLMODSUPPORT_H
-#define EIGEN_CHOLMODSUPPORT_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Scalar> struct cholmod_configure_matrix;
-
-template<> struct cholmod_configure_matrix<double> {
-  template<typename CholmodType>
-  static void run(CholmodType& mat) {
-    mat.xtype = CHOLMOD_REAL;
-    mat.dtype = CHOLMOD_DOUBLE;
-  }
-};
-
-template<> struct cholmod_configure_matrix<std::complex<double> > {
-  template<typename CholmodType>
-  static void run(CholmodType& mat) {
-    mat.xtype = CHOLMOD_COMPLEX;
-    mat.dtype = CHOLMOD_DOUBLE;
-  }
-};
-
-// Other scalar types are not yet suppotred by Cholmod
-// template<> struct cholmod_configure_matrix<float> {
-//   template<typename CholmodType>
-//   static void run(CholmodType& mat) {
-//     mat.xtype = CHOLMOD_REAL;
-//     mat.dtype = CHOLMOD_SINGLE;
-//   }
-// };
-//
-// template<> struct cholmod_configure_matrix<std::complex<float> > {
-//   template<typename CholmodType>
-//   static void run(CholmodType& mat) {
-//     mat.xtype = CHOLMOD_COMPLEX;
-//     mat.dtype = CHOLMOD_SINGLE;
-//   }
-// };
-
-} // namespace internal
-
-/** Wraps the Eigen sparse matrix \a mat into a Cholmod sparse matrix object.
-  * Note that the data are shared.
-  */
-template<typename _Scalar, int _Options, typename _StorageIndex>
-cholmod_sparse viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_StorageIndex> > mat)
-{
-  cholmod_sparse res;
-  res.nzmax   = mat.nonZeros();
-  res.nrow    = mat.rows();
-  res.ncol    = mat.cols();
-  res.p       = mat.outerIndexPtr();
-  res.i       = mat.innerIndexPtr();
-  res.x       = mat.valuePtr();
-  res.z       = 0;
-  res.sorted  = 1;
-  if(mat.isCompressed())
-  {
-    res.packed  = 1;
-    res.nz = 0;
-  }
-  else
-  {
-    res.packed  = 0;
-    res.nz = mat.innerNonZeroPtr();
-  }
-
-  res.dtype   = 0;
-  res.stype   = -1;
-  
-  if (internal::is_same<_StorageIndex,int>::value)
-  {
-    res.itype = CHOLMOD_INT;
-  }
-  else if (internal::is_same<_StorageIndex,long>::value)
-  {
-    res.itype = CHOLMOD_LONG;
-  }
-  else
-  {
-    eigen_assert(false && "Index type not supported yet");
-  }
-
-  // setup res.xtype
-  internal::cholmod_configure_matrix<_Scalar>::run(res);
-  
-  res.stype = 0;
-  
-  return res;
-}
-
-template<typename _Scalar, int _Options, typename _Index>
-const cholmod_sparse viewAsCholmod(const SparseMatrix<_Scalar,_Options,_Index>& mat)
-{
-  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.const_cast_derived()));
-  return res;
-}
-
-template<typename _Scalar, int _Options, typename _Index>
-const cholmod_sparse viewAsCholmod(const SparseVector<_Scalar,_Options,_Index>& mat)
-{
-  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.const_cast_derived()));
-  return res;
-}
-
-/** Returns a view of the Eigen sparse matrix \a mat as Cholmod sparse matrix.
-  * The data are not copied but shared. */
-template<typename _Scalar, int _Options, typename _Index, unsigned int UpLo>
-cholmod_sparse viewAsCholmod(const SparseSelfAdjointView<const SparseMatrix<_Scalar,_Options,_Index>, UpLo>& mat)
-{
-  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.matrix().const_cast_derived()));
-  
-  if(UpLo==Upper) res.stype =  1;
-  if(UpLo==Lower) res.stype = -1;
-
-  return res;
-}
-
-/** Returns a view of the Eigen \b dense matrix \a mat as Cholmod dense matrix.
-  * The data are not copied but shared. */
-template<typename Derived>
-cholmod_dense viewAsCholmod(MatrixBase<Derived>& mat)
-{
-  EIGEN_STATIC_ASSERT((internal::traits<Derived>::Flags&RowMajorBit)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
-  typedef typename Derived::Scalar Scalar;
-
-  cholmod_dense res;
-  res.nrow   = mat.rows();
-  res.ncol   = mat.cols();
-  res.nzmax  = res.nrow * res.ncol;
-  res.d      = Derived::IsVectorAtCompileTime ? mat.derived().size() : mat.derived().outerStride();
-  res.x      = (void*)(mat.derived().data());
-  res.z      = 0;
-
-  internal::cholmod_configure_matrix<Scalar>::run(res);
-
-  return res;
-}
-
-/** Returns a view of the Cholmod sparse matrix \a cm as an Eigen sparse matrix.
-  * The data are not copied but shared. */
-template<typename Scalar, int Flags, typename StorageIndex>
-MappedSparseMatrix<Scalar,Flags,StorageIndex> viewAsEigen(cholmod_sparse& cm)
-{
-  return MappedSparseMatrix<Scalar,Flags,StorageIndex>
-         (cm.nrow, cm.ncol, static_cast<StorageIndex*>(cm.p)[cm.ncol],
-          static_cast<StorageIndex*>(cm.p), static_cast<StorageIndex*>(cm.i),static_cast<Scalar*>(cm.x) );
-}
-
-enum CholmodMode {
-  CholmodAuto, CholmodSimplicialLLt, CholmodSupernodalLLt, CholmodLDLt
-};
-
-
-/** \ingroup CholmodSupport_Module
-  * \class CholmodBase
-  * \brief The base class for the direct Cholesky factorization of Cholmod
-  * \sa class CholmodSupernodalLLT, class CholmodSimplicialLDLT, class CholmodSimplicialLLT
-  */
-template<typename _MatrixType, int _UpLo, typename Derived>
-class CholmodBase : public SparseSolverBase<Derived>
-{
-  protected:
-    typedef SparseSolverBase<Derived> Base;
-    using Base::derived;
-    using Base::m_isInitialized;
-  public:
-    typedef _MatrixType MatrixType;
-    enum { UpLo = _UpLo };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef MatrixType CholMatrixType;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    enum {
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-
-  public:
-
-    CholmodBase()
-      : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<double,RealScalar>::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY);
-      m_shiftOffset[0] = m_shiftOffset[1] = 0.0;
-      cholmod_start(&m_cholmod);
-    }
-
-    explicit CholmodBase(const MatrixType& matrix)
-      : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<double,RealScalar>::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY);
-      m_shiftOffset[0] = m_shiftOffset[1] = 0.0;
-      cholmod_start(&m_cholmod);
-      compute(matrix);
-    }
-
-    ~CholmodBase()
-    {
-      if(m_cholmodFactor)
-        cholmod_free_factor(&m_cholmodFactor, &m_cholmod);
-      cholmod_finish(&m_cholmod);
-    }
-    
-    inline StorageIndex cols() const { return internal::convert_index<StorageIndex, Index>(m_cholmodFactor->n); }
-    inline StorageIndex rows() const { return internal::convert_index<StorageIndex, Index>(m_cholmodFactor->n); }
-    
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix.appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-
-    /** Computes the sparse Cholesky decomposition of \a matrix */
-    Derived& compute(const MatrixType& matrix)
-    {
-      analyzePattern(matrix);
-      factorize(matrix);
-      return derived();
-    }
-    
-    /** Performs a symbolic decomposition on the sparsity pattern of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      * 
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& matrix)
-    {
-      if(m_cholmodFactor)
-      {
-        cholmod_free_factor(&m_cholmodFactor, &m_cholmod);
-        m_cholmodFactor = 0;
-      }
-      cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView<UpLo>());
-      m_cholmodFactor = cholmod_analyze(&A, &m_cholmod);
-      
-      this->m_isInitialized = true;
-      this->m_info = Success;
-      m_analysisIsOk = true;
-      m_factorizationIsOk = false;
-    }
-    
-    /** Performs a numeric decomposition of \a matrix
-      *
-      * The given matrix must have the same sparsity pattern as the matrix on which the symbolic decomposition has been performed.
-      *
-      * \sa analyzePattern()
-      */
-    void factorize(const MatrixType& matrix)
-    {
-      eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
-      cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView<UpLo>());
-      cholmod_factorize_p(&A, m_shiftOffset, 0, 0, m_cholmodFactor, &m_cholmod);
-
-      // If the factorization failed, minor is the column at which it did. On success minor == n.
-      this->m_info = (m_cholmodFactor->minor == m_cholmodFactor->n ? Success : NumericalIssue);
-      m_factorizationIsOk = true;
-    }
-    
-    /** Returns a reference to the Cholmod's configuration structure to get a full control over the performed operations.
-     *  See the Cholmod user guide for details. */
-    cholmod_common& cholmod() { return m_cholmod; }
-    
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal */
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
-    {
-      eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
-      const Index size = m_cholmodFactor->n;
-      EIGEN_UNUSED_VARIABLE(size);
-      eigen_assert(size==b.rows());
-      
-      // Cholmod needs column-major stoarge without inner-stride, which corresponds to the default behavior of Ref.
-      Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b.derived());
-
-      cholmod_dense b_cd = viewAsCholmod(b_ref);
-      cholmod_dense* x_cd = cholmod_solve(CHOLMOD_A, m_cholmodFactor, &b_cd, &m_cholmod);
-      if(!x_cd)
-      {
-        this->m_info = NumericalIssue;
-        return;
-      }
-      // TODO optimize this copy by swapping when possible (be careful with alignment, etc.)
-      dest = Matrix<Scalar,Dest::RowsAtCompileTime,Dest::ColsAtCompileTime>::Map(reinterpret_cast<Scalar*>(x_cd->x),b.rows(),b.cols());
-      cholmod_free_dense(&x_cd, &m_cholmod);
-    }
-    
-    /** \internal */
-    template<typename RhsDerived, typename DestDerived>
-    void _solve_impl(const SparseMatrixBase<RhsDerived> &b, SparseMatrixBase<DestDerived> &dest) const
-    {
-      eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
-      const Index size = m_cholmodFactor->n;
-      EIGEN_UNUSED_VARIABLE(size);
-      eigen_assert(size==b.rows());
-
-      // note: cs stands for Cholmod Sparse
-      Ref<SparseMatrix<typename RhsDerived::Scalar,ColMajor,typename RhsDerived::StorageIndex> > b_ref(b.const_cast_derived());
-      cholmod_sparse b_cs = viewAsCholmod(b_ref);
-      cholmod_sparse* x_cs = cholmod_spsolve(CHOLMOD_A, m_cholmodFactor, &b_cs, &m_cholmod);
-      if(!x_cs)
-      {
-        this->m_info = NumericalIssue;
-        return;
-      }
-      // TODO optimize this copy by swapping when possible (be careful with alignment, etc.)
-      dest.derived() = viewAsEigen<typename DestDerived::Scalar,ColMajor,typename DestDerived::StorageIndex>(*x_cs);
-      cholmod_free_sparse(&x_cs, &m_cholmod);
-    }
-    #endif // EIGEN_PARSED_BY_DOXYGEN
-    
-    
-    /** Sets the shift parameter that will be used to adjust the diagonal coefficients during the numerical factorization.
-      *
-      * During the numerical factorization, an offset term is added to the diagonal coefficients:\n
-      * \c d_ii = \a offset + \c d_ii
-      *
-      * The default is \a offset=0.
-      *
-      * \returns a reference to \c *this.
-      */
-    Derived& setShift(const RealScalar& offset)
-    {
-      m_shiftOffset[0] = double(offset);
-      return derived();
-    }
-    
-    /** \returns the determinant of the underlying matrix from the current factorization */
-    Scalar determinant() const
-    {
-      using std::exp;
-      return exp(logDeterminant());
-    }
-
-    /** \returns the log determinant of the underlying matrix from the current factorization */
-    Scalar logDeterminant() const
-    {
-      using std::log;
-      using numext::real;
-      eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
-
-      RealScalar logDet = 0;
-      Scalar *x = static_cast<Scalar*>(m_cholmodFactor->x);
-      if (m_cholmodFactor->is_super)
-      {
-        // Supernodal factorization stored as a packed list of dense column-major blocs,
-        // as described by the following structure:
-
-        // super[k] == index of the first column of the j-th super node
-        StorageIndex *super = static_cast<StorageIndex*>(m_cholmodFactor->super);
-        // pi[k] == offset to the description of row indices
-        StorageIndex *pi = static_cast<StorageIndex*>(m_cholmodFactor->pi);
-        // px[k] == offset to the respective dense block
-        StorageIndex *px = static_cast<StorageIndex*>(m_cholmodFactor->px);
-
-        Index nb_super_nodes = m_cholmodFactor->nsuper;
-        for (Index k=0; k < nb_super_nodes; ++k)
-        {
-          StorageIndex ncols = super[k + 1] - super[k];
-          StorageIndex nrows = pi[k + 1] - pi[k];
-
-          Map<const Array<Scalar,1,Dynamic>, 0, InnerStride<> > sk(x + px[k], ncols, InnerStride<>(nrows+1));
-          logDet += sk.real().log().sum();
-        }
-      }
-      else
-      {
-        // Simplicial factorization stored as standard CSC matrix.
-        StorageIndex *p = static_cast<StorageIndex*>(m_cholmodFactor->p);
-        Index size = m_cholmodFactor->n;
-        for (Index k=0; k<size; ++k)
-          logDet += log(real( x[p[k]] ));
-      }
-      if (m_cholmodFactor->is_ll)
-        logDet *= 2.0;
-      return logDet;
-    };
-
-    template<typename Stream>
-    void dumpMemory(Stream& /*s*/)
-    {}
-    
-  protected:
-    mutable cholmod_common m_cholmod;
-    cholmod_factor* m_cholmodFactor;
-    double m_shiftOffset[2];
-    mutable ComputationInfo m_info;
-    int m_factorizationIsOk;
-    int m_analysisIsOk;
-};
-
-/** \ingroup CholmodSupport_Module
-  * \class CholmodSimplicialLLT
-  * \brief A simplicial direct Cholesky (LLT) factorization and solver based on Cholmod
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a simplicial LL^T Cholesky factorization
-  * using the Cholmod library.
-  * This simplicial variant is equivalent to Eigen's built-in SimplicialLLT class. Therefore, it has little practical interest.
-  * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices
-  * X and B can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-  *               or Upper. Default is Lower.
-  *
-  * \implsparsesolverconcept
-  *
-  * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
-  *
-  * \warning Only double precision real and complex scalar types are supported by Cholmod.
-  *
-  * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLLT
-  */
-template<typename _MatrixType, int _UpLo = Lower>
-class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT<_MatrixType, _UpLo> >
-{
-    typedef CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT> Base;
-    using Base::m_cholmod;
-    
-  public:
-    
-    typedef _MatrixType MatrixType;
-    
-    CholmodSimplicialLLT() : Base() { init(); }
-
-    CholmodSimplicialLLT(const MatrixType& matrix) : Base()
-    {
-      init();
-      this->compute(matrix);
-    }
-
-    ~CholmodSimplicialLLT() {}
-  protected:
-    void init()
-    {
-      m_cholmod.final_asis = 0;
-      m_cholmod.supernodal = CHOLMOD_SIMPLICIAL;
-      m_cholmod.final_ll = 1;
-    }
-};
-
-
-/** \ingroup CholmodSupport_Module
-  * \class CholmodSimplicialLDLT
-  * \brief A simplicial direct Cholesky (LDLT) factorization and solver based on Cholmod
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a simplicial LDL^T Cholesky factorization
-  * using the Cholmod library.
-  * This simplicial variant is equivalent to Eigen's built-in SimplicialLDLT class. Therefore, it has little practical interest.
-  * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices
-  * X and B can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-  *               or Upper. Default is Lower.
-  *
-  * \implsparsesolverconcept
-  *
-  * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
-  *
-  * \warning Only double precision real and complex scalar types are supported by Cholmod.
-  *
-  * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLDLT
-  */
-template<typename _MatrixType, int _UpLo = Lower>
-class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT<_MatrixType, _UpLo> >
-{
-    typedef CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT> Base;
-    using Base::m_cholmod;
-    
-  public:
-    
-    typedef _MatrixType MatrixType;
-    
-    CholmodSimplicialLDLT() : Base() { init(); }
-
-    CholmodSimplicialLDLT(const MatrixType& matrix) : Base()
-    {
-      init();
-      this->compute(matrix);
-    }
-
-    ~CholmodSimplicialLDLT() {}
-  protected:
-    void init()
-    {
-      m_cholmod.final_asis = 1;
-      m_cholmod.supernodal = CHOLMOD_SIMPLICIAL;
-    }
-};
-
-/** \ingroup CholmodSupport_Module
-  * \class CholmodSupernodalLLT
-  * \brief A supernodal Cholesky (LLT) factorization and solver based on Cholmod
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a supernodal LL^T Cholesky factorization
-  * using the Cholmod library.
-  * This supernodal variant performs best on dense enough problems, e.g., 3D FEM, or very high order 2D FEM.
-  * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices
-  * X and B can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-  *               or Upper. Default is Lower.
-  *
-  * \implsparsesolverconcept
-  *
-  * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
-  *
-  * \warning Only double precision real and complex scalar types are supported by Cholmod.
-  *
-  * \sa \ref TutorialSparseSolverConcept
-  */
-template<typename _MatrixType, int _UpLo = Lower>
-class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT<_MatrixType, _UpLo> >
-{
-    typedef CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT> Base;
-    using Base::m_cholmod;
-    
-  public:
-    
-    typedef _MatrixType MatrixType;
-    
-    CholmodSupernodalLLT() : Base() { init(); }
-
-    CholmodSupernodalLLT(const MatrixType& matrix) : Base()
-    {
-      init();
-      this->compute(matrix);
-    }
-
-    ~CholmodSupernodalLLT() {}
-  protected:
-    void init()
-    {
-      m_cholmod.final_asis = 1;
-      m_cholmod.supernodal = CHOLMOD_SUPERNODAL;
-    }
-};
-
-/** \ingroup CholmodSupport_Module
-  * \class CholmodDecomposition
-  * \brief A general Cholesky factorization and solver based on Cholmod
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a LL^T or LDL^T Cholesky factorization
-  * using the Cholmod library. The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices
-  * X and B can be either dense or sparse.
-  *
-  * This variant permits to change the underlying Cholesky method at runtime.
-  * On the other hand, it does not provide access to the result of the factorization.
-  * The default is to let Cholmod automatically choose between a simplicial and supernodal factorization.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-  *               or Upper. Default is Lower.
-  *
-  * \implsparsesolverconcept
-  *
-  * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
-  *
-  * \warning Only double precision real and complex scalar types are supported by Cholmod.
-  *
-  * \sa \ref TutorialSparseSolverConcept
-  */
-template<typename _MatrixType, int _UpLo = Lower>
-class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecomposition<_MatrixType, _UpLo> >
-{
-    typedef CholmodBase<_MatrixType, _UpLo, CholmodDecomposition> Base;
-    using Base::m_cholmod;
-    
-  public:
-    
-    typedef _MatrixType MatrixType;
-    
-    CholmodDecomposition() : Base() { init(); }
-
-    CholmodDecomposition(const MatrixType& matrix) : Base()
-    {
-      init();
-      this->compute(matrix);
-    }
-
-    ~CholmodDecomposition() {}
-    
-    void setMode(CholmodMode mode)
-    {
-      switch(mode)
-      {
-        case CholmodAuto:
-          m_cholmod.final_asis = 1;
-          m_cholmod.supernodal = CHOLMOD_AUTO;
-          break;
-        case CholmodSimplicialLLt:
-          m_cholmod.final_asis = 0;
-          m_cholmod.supernodal = CHOLMOD_SIMPLICIAL;
-          m_cholmod.final_ll = 1;
-          break;
-        case CholmodSupernodalLLt:
-          m_cholmod.final_asis = 1;
-          m_cholmod.supernodal = CHOLMOD_SUPERNODAL;
-          break;
-        case CholmodLDLt:
-          m_cholmod.final_asis = 1;
-          m_cholmod.supernodal = CHOLMOD_SIMPLICIAL;
-          break;
-        default:
-          break;
-      }
-    }
-  protected:
-    void init()
-    {
-      m_cholmod.final_asis = 1;
-      m_cholmod.supernodal = CHOLMOD_AUTO;
-    }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CHOLMODSUPPORT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Array.h b/phonelibs/eigen/Eigen/src/Core/Array.h
deleted file mode 100644
index 0d34269fd43107..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Array.h
+++ /dev/null
@@ -1,325 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ARRAY_H
-#define EIGEN_ARRAY_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct traits<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > : traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  typedef ArrayXpr XprKind;
-  typedef ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > XprBase;
-};
-}
-
-/** \class Array
-  * \ingroup Core_Module
-  *
-  * \brief General-purpose arrays with easy API for coefficient-wise operations
-  *
-  * The %Array class is very similar to the Matrix class. It provides
-  * general-purpose one- and two-dimensional arrays. The difference between the
-  * %Array and the %Matrix class is primarily in the API: the API for the
-  * %Array class provides easy access to coefficient-wise operations, while the
-  * API for the %Matrix class provides easy access to linear-algebra
-  * operations.
-  *
-  * See documentation of class Matrix for detailed information on the template parameters
-  * storage layout.
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN.
-  *
-  * \sa \blank \ref TutorialArrayClass, \ref TopicClassHierarchy
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-class Array
-  : public PlainObjectBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  public:
-
-    typedef PlainObjectBase<Array> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Array)
-
-    enum { Options = _Options };
-    typedef typename Base::PlainObject PlainObject;
-
-  protected:
-    template <typename Derived, typename OtherDerived, bool IsVector>
-    friend struct internal::conservative_resize_like_impl;
-
-    using Base::m_storage;
-
-  public:
-
-    using Base::base;
-    using Base::coeff;
-    using Base::coeffRef;
-
-    /**
-      * The usage of
-      *   using Base::operator=;
-      * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped
-      * the usage of 'using'. This should be done only for operator=.
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array& operator=(const EigenBase<OtherDerived> &other)
-    {
-      return Base::operator=(other);
-    }
-
-    /** Set all the entries to \a value.
-      * \sa DenseBase::setConstant(), DenseBase::fill()
-      */
-    /* This overload is needed because the usage of
-      *   using Base::operator=;
-      * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped
-      * the usage of 'using'. This should be done only for operator=.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array& operator=(const Scalar &value)
-    {
-      Base::setConstant(value);
-      return *this;
-    }
-
-    /** Copies the value of the expression \a other into \c *this with automatic resizing.
-      *
-      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
-      * it will be initialized.
-      *
-      * Note that copying a row-vector into a vector (and conversely) is allowed.
-      * The resizing, if any, is then done in the appropriate way so that row-vectors
-      * remain row-vectors and vectors remain vectors.
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array& operator=(const DenseBase<OtherDerived>& other)
-    {
-      return Base::_set(other);
-    }
-
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array& operator=(const Array& other)
-    {
-      return Base::_set(other);
-    }
-    
-    /** Default constructor.
-      *
-      * For fixed-size matrices, does nothing.
-      *
-      * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
-      * is called a null matrix. This constructor is the unique way to create null matrices: resizing
-      * a matrix to 0 is not supported.
-      *
-      * \sa resize(Index,Index)
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array() : Base()
-    {
-      Base::_check_template_params();
-      EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    // FIXME is it still needed ??
-    /** \internal */
-    EIGEN_DEVICE_FUNC
-    Array(internal::constructor_without_unaligned_array_assert)
-      : Base(internal::constructor_without_unaligned_array_assert())
-    {
-      Base::_check_template_params();
-      EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    }
-#endif
-
-#if EIGEN_HAS_RVALUE_REFERENCES
-    EIGEN_DEVICE_FUNC
-    Array(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
-      : Base(std::move(other))
-    {
-      Base::_check_template_params();
-      if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic)
-        Base::_set_noalias(other);
-    }
-    EIGEN_DEVICE_FUNC
-    Array& operator=(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
-    {
-      other.swap(*this);
-      return *this;
-    }
-#endif
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE explicit Array(const T& x)
-    {
-      Base::_check_template_params();
-      Base::template _init1<T>(x);
-    }
-
-    template<typename T0, typename T1>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array(const T0& val0, const T1& val1)
-    {
-      Base::_check_template_params();
-      this->template _init2<T0,T1>(val0, val1);
-    }
-    #else
-    /** \brief Constructs a fixed-sized array initialized with coefficients starting at \a data */
-    EIGEN_DEVICE_FUNC explicit Array(const Scalar *data);
-    /** Constructs a vector or row-vector with given dimension. \only_for_vectors
-      *
-      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
-      * it is redundant to pass the dimension here, so it makes more sense to use the default
-      * constructor Array() instead.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE explicit Array(Index dim);
-    /** constructs an initialized 1x1 Array with the given coefficient */
-    Array(const Scalar& value);
-    /** constructs an uninitialized array with \a rows rows and \a cols columns.
-      *
-      * This is useful for dynamic-size arrays. For fixed-size arrays,
-      * it is redundant to pass these parameters, so one should use the default constructor
-      * Array() instead. */
-    Array(Index rows, Index cols);
-    /** constructs an initialized 2D vector with given coefficients */
-    Array(const Scalar& val0, const Scalar& val1);
-    #endif
-
-    /** constructs an initialized 3D vector with given coefficients */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2)
-    {
-      Base::_check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 3)
-      m_storage.data()[0] = val0;
-      m_storage.data()[1] = val1;
-      m_storage.data()[2] = val2;
-    }
-    /** constructs an initialized 4D vector with given coefficients */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2, const Scalar& val3)
-    {
-      Base::_check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 4)
-      m_storage.data()[0] = val0;
-      m_storage.data()[1] = val1;
-      m_storage.data()[2] = val2;
-      m_storage.data()[3] = val3;
-    }
-
-    /** Copy constructor */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array(const Array& other)
-            : Base(other)
-    { }
-
-    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Array(const EigenBase<OtherDerived> &other)
-      : Base(other.derived())
-    { }
-
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
-
-    #ifdef EIGEN_ARRAY_PLUGIN
-    #include EIGEN_ARRAY_PLUGIN
-    #endif
-
-  private:
-
-    template<typename MatrixType, typename OtherDerived, bool SwapPointers>
-    friend struct internal::matrix_swap_impl;
-};
-
-/** \defgroup arraytypedefs Global array typedefs
-  * \ingroup Core_Module
-  *
-  * Eigen defines several typedef shortcuts for most common 1D and 2D array types.
-  *
-  * The general patterns are the following:
-  *
-  * \c ArrayRowsColsType where \c Rows and \c Cols can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
-  * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
-  * for complex double.
-  *
-  * For example, \c Array33d is a fixed-size 3x3 array type of doubles, and \c ArrayXXf is a dynamic-size matrix of floats.
-  *
-  * There are also \c ArraySizeType which are self-explanatory. For example, \c Array4cf is
-  * a fixed-size 1D array of 4 complex floats.
-  *
-  * \sa class Array
-  */
-
-#define EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)   \
-/** \ingroup arraytypedefs */                                    \
-typedef Array<Type, Size, Size> Array##SizeSuffix##SizeSuffix##TypeSuffix;  \
-/** \ingroup arraytypedefs */                                    \
-typedef Array<Type, Size, 1>    Array##SizeSuffix##TypeSuffix;
-
-#define EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, Size)         \
-/** \ingroup arraytypedefs */                                    \
-typedef Array<Type, Size, Dynamic> Array##Size##X##TypeSuffix;  \
-/** \ingroup arraytypedefs */                                    \
-typedef Array<Type, Dynamic, Size> Array##X##Size##TypeSuffix;
-
-#define EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
-EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 2, 2) \
-EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 3, 3) \
-EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 4, 4) \
-EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
-EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
-EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
-EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
-
-EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(int,                  i)
-EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(float,                f)
-EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(double,               d)
-EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex<float>,  cf)
-EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
-
-#undef EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES
-#undef EIGEN_MAKE_ARRAY_TYPEDEFS
-
-#undef EIGEN_MAKE_ARRAY_TYPEDEFS_LARGE
-
-#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
-using Eigen::Matrix##SizeSuffix##TypeSuffix; \
-using Eigen::Vector##SizeSuffix##TypeSuffix; \
-using Eigen::RowVector##SizeSuffix##TypeSuffix;
-
-#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(TypeSuffix) \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
-
-#define EIGEN_USING_ARRAY_TYPEDEFS \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(i) \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(f) \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(d) \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cf) \
-EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cd)
-
-} // end namespace Eigen
-
-#endif // EIGEN_ARRAY_H
diff --git a/phonelibs/eigen/Eigen/src/Core/ArrayBase.h b/phonelibs/eigen/Eigen/src/Core/ArrayBase.h
deleted file mode 100644
index f0232f65ef926f..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/ArrayBase.h
+++ /dev/null
@@ -1,226 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ARRAYBASE_H
-#define EIGEN_ARRAYBASE_H
-
-namespace Eigen { 
-
-template<typename ExpressionType> class MatrixWrapper;
-
-/** \class ArrayBase
-  * \ingroup Core_Module
-  *
-  * \brief Base class for all 1D and 2D array, and related expressions
-  *
-  * An array is similar to a dense vector or matrix. While matrices are mathematical
-  * objects with well defined linear algebra operators, an array is just a collection
-  * of scalar values arranged in a one or two dimensionnal fashion. As the main consequence,
-  * all operations applied to an array are performed coefficient wise. Furthermore,
-  * arrays support scalar math functions of the c++ standard library (e.g., std::sin(x)), and convenient
-  * constructors allowing to easily write generic code working for both scalar values
-  * and arrays.
-  *
-  * This class is the base that is inherited by all array expression types.
-  *
-  * \tparam Derived is the derived type, e.g., an array or an expression type.
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN.
-  *
-  * \sa class MatrixBase, \ref TopicClassHierarchy
-  */
-template<typename Derived> class ArrayBase
-  : public DenseBase<Derived>
-{
-  public:
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** The base class for a given storage type. */
-    typedef ArrayBase StorageBaseType;
-
-    typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl;
-
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    typedef DenseBase<Derived> Base;
-    using Base::RowsAtCompileTime;
-    using Base::ColsAtCompileTime;
-    using Base::SizeAtCompileTime;
-    using Base::MaxRowsAtCompileTime;
-    using Base::MaxColsAtCompileTime;
-    using Base::MaxSizeAtCompileTime;
-    using Base::IsVectorAtCompileTime;
-    using Base::Flags;
-    
-    using Base::derived;
-    using Base::const_cast_derived;
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::coeff;
-    using Base::coeffRef;
-    using Base::lazyAssign;
-    using Base::operator=;
-    using Base::operator+=;
-    using Base::operator-=;
-    using Base::operator*=;
-    using Base::operator/=;
-
-    typedef typename Base::CoeffReturnType CoeffReturnType;
-
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef typename Base::PlainObject PlainObject;
-
-    /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::ArrayBase
-#define EIGEN_DOC_UNARY_ADDONS(X,Y)
-#   include "../plugins/CommonCwiseUnaryOps.h"
-#   include "../plugins/MatrixCwiseUnaryOps.h"
-#   include "../plugins/ArrayCwiseUnaryOps.h"
-#   include "../plugins/CommonCwiseBinaryOps.h"
-#   include "../plugins/MatrixCwiseBinaryOps.h"
-#   include "../plugins/ArrayCwiseBinaryOps.h"
-#   ifdef EIGEN_ARRAYBASE_PLUGIN
-#     include EIGEN_ARRAYBASE_PLUGIN
-#   endif
-#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
-#undef EIGEN_DOC_UNARY_ADDONS
-
-    /** Special case of the template operator=, in order to prevent the compiler
-      * from generating a default operator= (issue hit with g++ 4.1)
-      */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator=(const ArrayBase& other)
-    {
-      internal::call_assignment(derived(), other.derived());
-      return derived();
-    }
-    
-    /** Set all the entries to \a value.
-      * \sa DenseBase::setConstant(), DenseBase::fill() */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator=(const Scalar &value)
-    { Base::setConstant(value); return derived(); }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator+=(const Scalar& scalar);
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator-=(const Scalar& scalar);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator+=(const ArrayBase<OtherDerived>& other);
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator-=(const ArrayBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator*=(const ArrayBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator/=(const ArrayBase<OtherDerived>& other);
-
-  public:
-    EIGEN_DEVICE_FUNC
-    ArrayBase<Derived>& array() { return *this; }
-    EIGEN_DEVICE_FUNC
-    const ArrayBase<Derived>& array() const { return *this; }
-
-    /** \returns an \link Eigen::MatrixBase Matrix \endlink expression of this array
-      * \sa MatrixBase::array() */
-    EIGEN_DEVICE_FUNC
-    MatrixWrapper<Derived> matrix() { return MatrixWrapper<Derived>(derived()); }
-    EIGEN_DEVICE_FUNC
-    const MatrixWrapper<const Derived> matrix() const { return MatrixWrapper<const Derived>(derived()); }
-
-//     template<typename Dest>
-//     inline void evalTo(Dest& dst) const { dst = matrix(); }
-
-  protected:
-    EIGEN_DEVICE_FUNC
-    ArrayBase() : Base() {}
-
-  private:
-    explicit ArrayBase(Index);
-    ArrayBase(Index,Index);
-    template<typename OtherDerived> explicit ArrayBase(const ArrayBase<OtherDerived>&);
-  protected:
-    // mixing arrays and matrices is not legal
-    template<typename OtherDerived> Derived& operator+=(const MatrixBase<OtherDerived>& )
-    {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;}
-    // mixing arrays and matrices is not legal
-    template<typename OtherDerived> Derived& operator-=(const MatrixBase<OtherDerived>& )
-    {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;}
-};
-
-/** replaces \c *this by \c *this - \a other.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-ArrayBase<Derived>::operator-=(const ArrayBase<OtherDerived> &other)
-{
-  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-/** replaces \c *this by \c *this + \a other.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-ArrayBase<Derived>::operator+=(const ArrayBase<OtherDerived>& other)
-{
-  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-/** replaces \c *this by \c *this * \a other coefficient wise.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-ArrayBase<Derived>::operator*=(const ArrayBase<OtherDerived>& other)
-{
-  call_assignment(derived(), other.derived(), internal::mul_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-/** replaces \c *this by \c *this / \a other coefficient wise.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-ArrayBase<Derived>::operator/=(const ArrayBase<OtherDerived>& other)
-{
-  call_assignment(derived(), other.derived(), internal::div_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ARRAYBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/ArrayWrapper.h b/phonelibs/eigen/Eigen/src/Core/ArrayWrapper.h
deleted file mode 100644
index a04521a161e9d0..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/ArrayWrapper.h
+++ /dev/null
@@ -1,207 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ARRAYWRAPPER_H
-#define EIGEN_ARRAYWRAPPER_H
-
-namespace Eigen { 
-
-/** \class ArrayWrapper
-  * \ingroup Core_Module
-  *
-  * \brief Expression of a mathematical vector or matrix as an array object
-  *
-  * This class is the return type of MatrixBase::array(), and most of the time
-  * this is the only way it is use.
-  *
-  * \sa MatrixBase::array(), class MatrixWrapper
-  */
-
-namespace internal {
-template<typename ExpressionType>
-struct traits<ArrayWrapper<ExpressionType> >
-  : public traits<typename remove_all<typename ExpressionType::Nested>::type >
-{
-  typedef ArrayXpr XprKind;
-  // Let's remove NestByRefBit
-  enum {
-    Flags0 = traits<typename remove_all<typename ExpressionType::Nested>::type >::Flags,
-    Flags = Flags0 & ~NestByRefBit
-  };
-};
-}
-
-template<typename ExpressionType>
-class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
-{
-  public:
-    typedef ArrayBase<ArrayWrapper> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(ArrayWrapper)
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ArrayWrapper)
-    typedef typename internal::remove_all<ExpressionType>::type NestedExpression;
-
-    typedef typename internal::conditional<
-                       internal::is_lvalue<ExpressionType>::value,
-                       Scalar,
-                       const Scalar
-                     >::type ScalarWithConstIfNotLvalue;
-
-    typedef typename internal::ref_selector<ExpressionType>::non_const_type NestedExpressionType;
-
-    using Base::coeffRef;
-
-    EIGEN_DEVICE_FUNC
-    explicit EIGEN_STRONG_INLINE ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {}
-
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_expression.rows(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_expression.cols(); }
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return m_expression.innerStride(); }
-
-    EIGEN_DEVICE_FUNC
-    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
-    EIGEN_DEVICE_FUNC
-    inline const Scalar* data() const { return m_expression.data(); }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index rowId, Index colId) const
-    {
-      return m_expression.coeffRef(rowId, colId);
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index index) const
-    {
-      return m_expression.coeffRef(index);
-    }
-
-    template<typename Dest>
-    EIGEN_DEVICE_FUNC
-    inline void evalTo(Dest& dst) const { dst = m_expression; }
-
-    const typename internal::remove_all<NestedExpressionType>::type& 
-    EIGEN_DEVICE_FUNC
-    nestedExpression() const 
-    {
-      return m_expression;
-    }
-
-    /** Forwards the resizing request to the nested expression
-      * \sa DenseBase::resize(Index)  */
-    EIGEN_DEVICE_FUNC
-    void resize(Index newSize) { m_expression.resize(newSize); }
-    /** Forwards the resizing request to the nested expression
-      * \sa DenseBase::resize(Index,Index)*/
-    EIGEN_DEVICE_FUNC
-    void resize(Index rows, Index cols) { m_expression.resize(rows,cols); }
-
-  protected:
-    NestedExpressionType m_expression;
-};
-
-/** \class MatrixWrapper
-  * \ingroup Core_Module
-  *
-  * \brief Expression of an array as a mathematical vector or matrix
-  *
-  * This class is the return type of ArrayBase::matrix(), and most of the time
-  * this is the only way it is use.
-  *
-  * \sa MatrixBase::matrix(), class ArrayWrapper
-  */
-
-namespace internal {
-template<typename ExpressionType>
-struct traits<MatrixWrapper<ExpressionType> >
- : public traits<typename remove_all<typename ExpressionType::Nested>::type >
-{
-  typedef MatrixXpr XprKind;
-  // Let's remove NestByRefBit
-  enum {
-    Flags0 = traits<typename remove_all<typename ExpressionType::Nested>::type >::Flags,
-    Flags = Flags0 & ~NestByRefBit
-  };
-};
-}
-
-template<typename ExpressionType>
-class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
-{
-  public:
-    typedef MatrixBase<MatrixWrapper<ExpressionType> > Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(MatrixWrapper)
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(MatrixWrapper)
-    typedef typename internal::remove_all<ExpressionType>::type NestedExpression;
-
-    typedef typename internal::conditional<
-                       internal::is_lvalue<ExpressionType>::value,
-                       Scalar,
-                       const Scalar
-                     >::type ScalarWithConstIfNotLvalue;
-
-    typedef typename internal::ref_selector<ExpressionType>::non_const_type NestedExpressionType;
-
-    using Base::coeffRef;
-
-    EIGEN_DEVICE_FUNC
-    explicit inline MatrixWrapper(ExpressionType& matrix) : m_expression(matrix) {}
-
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_expression.rows(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_expression.cols(); }
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return m_expression.innerStride(); }
-
-    EIGEN_DEVICE_FUNC
-    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
-    EIGEN_DEVICE_FUNC
-    inline const Scalar* data() const { return m_expression.data(); }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index rowId, Index colId) const
-    {
-      return m_expression.derived().coeffRef(rowId, colId);
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index index) const
-    {
-      return m_expression.coeffRef(index);
-    }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<NestedExpressionType>::type& 
-    nestedExpression() const 
-    {
-      return m_expression;
-    }
-
-    /** Forwards the resizing request to the nested expression
-      * \sa DenseBase::resize(Index)  */
-    EIGEN_DEVICE_FUNC
-    void resize(Index newSize) { m_expression.resize(newSize); }
-    /** Forwards the resizing request to the nested expression
-      * \sa DenseBase::resize(Index,Index)*/
-    EIGEN_DEVICE_FUNC
-    void resize(Index rows, Index cols) { m_expression.resize(rows,cols); }
-
-  protected:
-    NestedExpressionType m_expression;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_ARRAYWRAPPER_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Assign.h b/phonelibs/eigen/Eigen/src/Core/Assign.h
deleted file mode 100644
index 53806ba33c4abb..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Assign.h
+++ /dev/null
@@ -1,90 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007 Michael Olbrich <michael.olbrich@gmx.net>
-// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ASSIGN_H
-#define EIGEN_ASSIGN_H
-
-namespace Eigen {
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
-  ::lazyAssign(const DenseBase<OtherDerived>& other)
-{
-  enum{
-    SameType = internal::is_same<typename Derived::Scalar,typename OtherDerived::Scalar>::value
-  };
-
-  EIGEN_STATIC_ASSERT_LVALUE(Derived)
-  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-  eigen_assert(rows() == other.rows() && cols() == other.cols());
-  internal::call_assignment_no_alias(derived(),other.derived());
-  
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
-{
-  internal::call_assignment(derived(), other.derived());
-  return derived();
-}
-
-template<typename Derived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase& other)
-{
-  internal::call_assignment(derived(), other.derived());
-  return derived();
-}
-
-template<typename Derived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
-{
-  internal::call_assignment(derived(), other.derived());
-  return derived();
-}
-
-template<typename Derived>
-template <typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
-{
-  internal::call_assignment(derived(), other.derived());
-  return derived();
-}
-
-template<typename Derived>
-template <typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const EigenBase<OtherDerived>& other)
-{
-  internal::call_assignment(derived(), other.derived());
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
-{
-  other.derived().evalTo(derived());
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ASSIGN_H
diff --git a/phonelibs/eigen/Eigen/src/Core/AssignEvaluator.h b/phonelibs/eigen/Eigen/src/Core/AssignEvaluator.h
deleted file mode 100644
index b0ec7b7cadfa64..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/AssignEvaluator.h
+++ /dev/null
@@ -1,935 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2011-2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ASSIGN_EVALUATOR_H
-#define EIGEN_ASSIGN_EVALUATOR_H
-
-namespace Eigen {
-
-// This implementation is based on Assign.h
-
-namespace internal {
-  
-/***************************************************************************
-* Part 1 : the logic deciding a strategy for traversal and unrolling       *
-***************************************************************************/
-
-// copy_using_evaluator_traits is based on assign_traits
-
-template <typename DstEvaluator, typename SrcEvaluator, typename AssignFunc>
-struct copy_using_evaluator_traits
-{
-  typedef typename DstEvaluator::XprType Dst;
-  typedef typename Dst::Scalar DstScalar;
-  
-  enum {
-    DstFlags = DstEvaluator::Flags,
-    SrcFlags = SrcEvaluator::Flags
-  };
-  
-public:
-  enum {
-    DstAlignment = DstEvaluator::Alignment,
-    SrcAlignment = SrcEvaluator::Alignment,
-    DstHasDirectAccess = DstFlags & DirectAccessBit,
-    JointAlignment = EIGEN_PLAIN_ENUM_MIN(DstAlignment,SrcAlignment)
-  };
-
-private:
-  enum {
-    InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
-              : int(DstFlags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
-              : int(Dst::RowsAtCompileTime),
-    InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime)
-              : int(DstFlags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime)
-              : int(Dst::MaxRowsAtCompileTime),
-    OuterStride = int(outer_stride_at_compile_time<Dst>::ret),
-    MaxSizeAtCompileTime = Dst::SizeAtCompileTime
-  };
-
-  // TODO distinguish between linear traversal and inner-traversals
-  typedef typename find_best_packet<DstScalar,Dst::SizeAtCompileTime>::type LinearPacketType;
-  typedef typename find_best_packet<DstScalar,InnerSize>::type InnerPacketType;
-
-  enum {
-    LinearPacketSize = unpacket_traits<LinearPacketType>::size,
-    InnerPacketSize = unpacket_traits<InnerPacketType>::size
-  };
-
-public:
-  enum {
-    LinearRequiredAlignment = unpacket_traits<LinearPacketType>::alignment,
-    InnerRequiredAlignment = unpacket_traits<InnerPacketType>::alignment
-  };
-
-private:
-  enum {
-    DstIsRowMajor = DstFlags&RowMajorBit,
-    SrcIsRowMajor = SrcFlags&RowMajorBit,
-    StorageOrdersAgree = (int(DstIsRowMajor) == int(SrcIsRowMajor)),
-    MightVectorize = bool(StorageOrdersAgree)
-                  && (int(DstFlags) & int(SrcFlags) & ActualPacketAccessBit)
-                  && bool(functor_traits<AssignFunc>::PacketAccess),
-    MayInnerVectorize  = MightVectorize
-                       && int(InnerSize)!=Dynamic && int(InnerSize)%int(InnerPacketSize)==0
-                       && int(OuterStride)!=Dynamic && int(OuterStride)%int(InnerPacketSize)==0
-                       && (EIGEN_UNALIGNED_VECTORIZE  || int(JointAlignment)>=int(InnerRequiredAlignment)),
-    MayLinearize = bool(StorageOrdersAgree) && (int(DstFlags) & int(SrcFlags) & LinearAccessBit),
-    MayLinearVectorize = bool(MightVectorize) && MayLinearize && DstHasDirectAccess
-                       && (EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)) || MaxSizeAtCompileTime == Dynamic),
-      /* If the destination isn't aligned, we have to do runtime checks and we don't unroll,
-         so it's only good for large enough sizes. */
-    MaySliceVectorize  = bool(MightVectorize) && bool(DstHasDirectAccess)
-                       && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=(EIGEN_UNALIGNED_VECTORIZE?InnerPacketSize:(3*InnerPacketSize)))
-      /* slice vectorization can be slow, so we only want it if the slices are big, which is
-         indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block
-         in a fixed-size matrix
-         However, with EIGEN_UNALIGNED_VECTORIZE and unrolling, slice vectorization is still worth it */
-  };
-
-public:
-  enum {
-    Traversal = int(MayLinearVectorize) && (LinearPacketSize>InnerPacketSize) ? int(LinearVectorizedTraversal)
-              : int(MayInnerVectorize)   ? int(InnerVectorizedTraversal)
-              : int(MayLinearVectorize)  ? int(LinearVectorizedTraversal)
-              : int(MaySliceVectorize)   ? int(SliceVectorizedTraversal)
-              : int(MayLinearize)        ? int(LinearTraversal)
-                                         : int(DefaultTraversal),
-    Vectorized = int(Traversal) == InnerVectorizedTraversal
-              || int(Traversal) == LinearVectorizedTraversal
-              || int(Traversal) == SliceVectorizedTraversal
-  };
-
-  typedef typename conditional<int(Traversal)==LinearVectorizedTraversal, LinearPacketType, InnerPacketType>::type PacketType;
-
-private:
-  enum {
-    ActualPacketSize    = int(Traversal)==LinearVectorizedTraversal ? LinearPacketSize
-                        : Vectorized ? InnerPacketSize
-                        : 1,
-    UnrollingLimit      = EIGEN_UNROLLING_LIMIT * ActualPacketSize,
-    MayUnrollCompletely = int(Dst::SizeAtCompileTime) != Dynamic
-                       && int(Dst::SizeAtCompileTime) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit),
-    MayUnrollInner      = int(InnerSize) != Dynamic
-                       && int(InnerSize) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit)
-  };
-
-public:
-  enum {
-    Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal))
-                ? (
-                    int(MayUnrollCompletely) ? int(CompleteUnrolling)
-                  : int(MayUnrollInner)      ? int(InnerUnrolling)
-                                             : int(NoUnrolling)
-                  )
-              : int(Traversal) == int(LinearVectorizedTraversal)
-                ? ( bool(MayUnrollCompletely) && ( EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)))
-                          ? int(CompleteUnrolling)
-                          : int(NoUnrolling) )
-              : int(Traversal) == int(LinearTraversal)
-                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) 
-                                              : int(NoUnrolling) )
-#if EIGEN_UNALIGNED_VECTORIZE
-              : int(Traversal) == int(SliceVectorizedTraversal)
-                ? ( bool(MayUnrollInner) ? int(InnerUnrolling)
-                                         : int(NoUnrolling) )
-#endif
-              : int(NoUnrolling)
-  };
-
-#ifdef EIGEN_DEBUG_ASSIGN
-  static void debug()
-  {
-    std::cerr << "DstXpr: " << typeid(typename DstEvaluator::XprType).name() << std::endl;
-    std::cerr << "SrcXpr: " << typeid(typename SrcEvaluator::XprType).name() << std::endl;
-    std::cerr.setf(std::ios::hex, std::ios::basefield);
-    std::cerr << "DstFlags" << " = " << DstFlags << " (" << demangle_flags(DstFlags) << " )" << std::endl;
-    std::cerr << "SrcFlags" << " = " << SrcFlags << " (" << demangle_flags(SrcFlags) << " )" << std::endl;
-    std::cerr.unsetf(std::ios::hex);
-    EIGEN_DEBUG_VAR(DstAlignment)
-    EIGEN_DEBUG_VAR(SrcAlignment)
-    EIGEN_DEBUG_VAR(LinearRequiredAlignment)
-    EIGEN_DEBUG_VAR(InnerRequiredAlignment)
-    EIGEN_DEBUG_VAR(JointAlignment)
-    EIGEN_DEBUG_VAR(InnerSize)
-    EIGEN_DEBUG_VAR(InnerMaxSize)
-    EIGEN_DEBUG_VAR(LinearPacketSize)
-    EIGEN_DEBUG_VAR(InnerPacketSize)
-    EIGEN_DEBUG_VAR(ActualPacketSize)
-    EIGEN_DEBUG_VAR(StorageOrdersAgree)
-    EIGEN_DEBUG_VAR(MightVectorize)
-    EIGEN_DEBUG_VAR(MayLinearize)
-    EIGEN_DEBUG_VAR(MayInnerVectorize)
-    EIGEN_DEBUG_VAR(MayLinearVectorize)
-    EIGEN_DEBUG_VAR(MaySliceVectorize)
-    std::cerr << "Traversal" << " = " << Traversal << " (" << demangle_traversal(Traversal) << ")" << std::endl;
-    EIGEN_DEBUG_VAR(SrcEvaluator::CoeffReadCost)
-    EIGEN_DEBUG_VAR(UnrollingLimit)
-    EIGEN_DEBUG_VAR(MayUnrollCompletely)
-    EIGEN_DEBUG_VAR(MayUnrollInner)
-    std::cerr << "Unrolling" << " = " << Unrolling << " (" << demangle_unrolling(Unrolling) << ")" << std::endl;
-    std::cerr << std::endl;
-  }
-#endif
-};
-
-/***************************************************************************
-* Part 2 : meta-unrollers
-***************************************************************************/
-
-/************************
-*** Default traversal ***
-************************/
-
-template<typename Kernel, int Index, int Stop>
-struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling
-{
-  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
-  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
-  typedef typename DstEvaluatorType::XprType DstXprType;
-  
-  enum {
-    outer = Index / DstXprType::InnerSizeAtCompileTime,
-    inner = Index % DstXprType::InnerSizeAtCompileTime
-  };
-
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    kernel.assignCoeffByOuterInner(outer, inner);
-    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Index+1, Stop>::run(kernel);
-  }
-};
-
-template<typename Kernel, int Stop>
-struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Stop, Stop>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
-};
-
-template<typename Kernel, int Index_, int Stop>
-struct copy_using_evaluator_DefaultTraversal_InnerUnrolling
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer)
-  {
-    kernel.assignCoeffByOuterInner(outer, Index_);
-    copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, Index_+1, Stop>::run(kernel, outer);
-  }
-};
-
-template<typename Kernel, int Stop>
-struct copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, Stop, Stop>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index) { }
-};
-
-/***********************
-*** Linear traversal ***
-***********************/
-
-template<typename Kernel, int Index, int Stop>
-struct copy_using_evaluator_LinearTraversal_CompleteUnrolling
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel)
-  {
-    kernel.assignCoeff(Index);
-    copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, Index+1, Stop>::run(kernel);
-  }
-};
-
-template<typename Kernel, int Stop>
-struct copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, Stop, Stop>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
-};
-
-/**************************
-*** Inner vectorization ***
-**************************/
-
-template<typename Kernel, int Index, int Stop>
-struct copy_using_evaluator_innervec_CompleteUnrolling
-{
-  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
-  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
-  typedef typename DstEvaluatorType::XprType DstXprType;
-  typedef typename Kernel::PacketType PacketType;
-  
-  enum {
-    outer = Index / DstXprType::InnerSizeAtCompileTime,
-    inner = Index % DstXprType::InnerSizeAtCompileTime,
-    SrcAlignment = Kernel::AssignmentTraits::SrcAlignment,
-    DstAlignment = Kernel::AssignmentTraits::DstAlignment
-  };
-
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
-    enum { NextIndex = Index + unpacket_traits<PacketType>::size };
-    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, NextIndex, Stop>::run(kernel);
-  }
-};
-
-template<typename Kernel, int Stop>
-struct copy_using_evaluator_innervec_CompleteUnrolling<Kernel, Stop, Stop>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
-};
-
-template<typename Kernel, int Index_, int Stop, int SrcAlignment, int DstAlignment>
-struct copy_using_evaluator_innervec_InnerUnrolling
-{
-  typedef typename Kernel::PacketType PacketType;
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer)
-  {
-    kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, Index_);
-    enum { NextIndex = Index_ + unpacket_traits<PacketType>::size };
-    copy_using_evaluator_innervec_InnerUnrolling<Kernel, NextIndex, Stop, SrcAlignment, DstAlignment>::run(kernel, outer);
-  }
-};
-
-template<typename Kernel, int Stop, int SrcAlignment, int DstAlignment>
-struct copy_using_evaluator_innervec_InnerUnrolling<Kernel, Stop, Stop, SrcAlignment, DstAlignment>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &, Index) { }
-};
-
-/***************************************************************************
-* Part 3 : implementation of all cases
-***************************************************************************/
-
-// dense_assignment_loop is based on assign_impl
-
-template<typename Kernel,
-         int Traversal = Kernel::AssignmentTraits::Traversal,
-         int Unrolling = Kernel::AssignmentTraits::Unrolling>
-struct dense_assignment_loop;
-
-/************************
-*** Default traversal ***
-************************/
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>
-{
-  EIGEN_DEVICE_FUNC static void EIGEN_STRONG_INLINE run(Kernel &kernel)
-  {
-    for(Index outer = 0; outer < kernel.outerSize(); ++outer) {
-      for(Index inner = 0; inner < kernel.innerSize(); ++inner) {
-        kernel.assignCoeffByOuterInner(outer, inner);
-      }
-    }
-  }
-};
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, DefaultTraversal, CompleteUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
-    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
-  }
-};
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, DefaultTraversal, InnerUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
-
-    const Index outerSize = kernel.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer)
-      copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, 0, DstXprType::InnerSizeAtCompileTime>::run(kernel, outer);
-  }
-};
-
-/***************************
-*** Linear vectorization ***
-***************************/
-
-
-// The goal of unaligned_dense_assignment_loop is simply to factorize the handling
-// of the non vectorizable beginning and ending parts
-
-template <bool IsAligned = false>
-struct unaligned_dense_assignment_loop
-{
-  // if IsAligned = true, then do nothing
-  template <typename Kernel>
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index, Index) {}
-};
-
-template <>
-struct unaligned_dense_assignment_loop<false>
-{
-  // MSVC must not inline this functions. If it does, it fails to optimize the
-  // packet access path.
-  // FIXME check which version exhibits this issue
-#if EIGEN_COMP_MSVC
-  template <typename Kernel>
-  static EIGEN_DONT_INLINE void run(Kernel &kernel,
-                                    Index start,
-                                    Index end)
-#else
-  template <typename Kernel>
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel,
-                                      Index start,
-                                      Index end)
-#endif
-  {
-    for (Index index = start; index < end; ++index)
-      kernel.assignCoeff(index);
-  }
-};
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, NoUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    const Index size = kernel.size();
-    typedef typename Kernel::Scalar Scalar;
-    typedef typename Kernel::PacketType PacketType;
-    enum {
-      requestedAlignment = Kernel::AssignmentTraits::LinearRequiredAlignment,
-      packetSize = unpacket_traits<PacketType>::size,
-      dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment),
-      dstAlignment = packet_traits<Scalar>::AlignedOnScalar ? int(requestedAlignment)
-                                                            : int(Kernel::AssignmentTraits::DstAlignment),
-      srcAlignment = Kernel::AssignmentTraits::JointAlignment
-    };
-    const Index alignedStart = dstIsAligned ? 0 : internal::first_aligned<requestedAlignment>(kernel.dstDataPtr(), size);
-    const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
-
-    unaligned_dense_assignment_loop<dstIsAligned!=0>::run(kernel, 0, alignedStart);
-
-    for(Index index = alignedStart; index < alignedEnd; index += packetSize)
-      kernel.template assignPacket<dstAlignment, srcAlignment, PacketType>(index);
-
-    unaligned_dense_assignment_loop<>::run(kernel, alignedEnd, size);
-  }
-};
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, CompleteUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
-    typedef typename Kernel::PacketType PacketType;
-    
-    enum { size = DstXprType::SizeAtCompileTime,
-           packetSize =unpacket_traits<PacketType>::size,
-           alignedSize = (size/packetSize)*packetSize };
-
-    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
-    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
-  }
-};
-
-/**************************
-*** Inner vectorization ***
-**************************/
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, NoUnrolling>
-{
-  typedef typename Kernel::PacketType PacketType;
-  enum {
-    SrcAlignment = Kernel::AssignmentTraits::SrcAlignment,
-    DstAlignment = Kernel::AssignmentTraits::DstAlignment
-  };
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    const Index innerSize = kernel.innerSize();
-    const Index outerSize = kernel.outerSize();
-    const Index packetSize = unpacket_traits<PacketType>::size;
-    for(Index outer = 0; outer < outerSize; ++outer)
-      for(Index inner = 0; inner < innerSize; inner+=packetSize)
-        kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
-  }
-};
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, CompleteUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
-    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
-  }
-};
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, InnerUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
-    typedef typename Kernel::AssignmentTraits Traits;
-    const Index outerSize = kernel.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer)
-      copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, DstXprType::InnerSizeAtCompileTime,
-                                                   Traits::SrcAlignment, Traits::DstAlignment>::run(kernel, outer);
-  }
-};
-
-/***********************
-*** Linear traversal ***
-***********************/
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, LinearTraversal, NoUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    const Index size = kernel.size();
-    for(Index i = 0; i < size; ++i)
-      kernel.assignCoeff(i);
-  }
-};
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
-    copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
-  }
-};
-
-/**************************
-*** Slice vectorization ***
-***************************/
-
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, NoUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    typedef typename Kernel::Scalar Scalar;
-    typedef typename Kernel::PacketType PacketType;
-    enum {
-      packetSize = unpacket_traits<PacketType>::size,
-      requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
-      alignable = packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment)>=sizeof(Scalar),
-      dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment),
-      dstAlignment = alignable ? int(requestedAlignment)
-                               : int(Kernel::AssignmentTraits::DstAlignment)
-    };
-    const Scalar *dst_ptr = kernel.dstDataPtr();
-    if((!bool(dstIsAligned)) && (UIntPtr(dst_ptr) % sizeof(Scalar))>0)
-    {
-      // the pointer is not aligend-on scalar, so alignment is not possible
-      return dense_assignment_loop<Kernel,DefaultTraversal,NoUnrolling>::run(kernel);
-    }
-    const Index packetAlignedMask = packetSize - 1;
-    const Index innerSize = kernel.innerSize();
-    const Index outerSize = kernel.outerSize();
-    const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
-    Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
-
-    for(Index outer = 0; outer < outerSize; ++outer)
-    {
-      const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
-      // do the non-vectorizable part of the assignment
-      for(Index inner = 0; inner<alignedStart ; ++inner)
-        kernel.assignCoeffByOuterInner(outer, inner);
-
-      // do the vectorizable part of the assignment
-      for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize)
-        kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
-
-      // do the non-vectorizable part of the assignment
-      for(Index inner = alignedEnd; inner<innerSize ; ++inner)
-        kernel.assignCoeffByOuterInner(outer, inner);
-
-      alignedStart = numext::mini((alignedStart+alignedStep)%packetSize, innerSize);
-    }
-  }
-};
-
-#if EIGEN_UNALIGNED_VECTORIZE
-template<typename Kernel>
-struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, InnerUnrolling>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
-  {
-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
-    typedef typename Kernel::PacketType PacketType;
-
-    enum { size = DstXprType::InnerSizeAtCompileTime,
-           packetSize =unpacket_traits<PacketType>::size,
-           vectorizableSize = (size/packetSize)*packetSize };
-
-    for(Index outer = 0; outer < kernel.outerSize(); ++outer)
-    {
-      copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, vectorizableSize, 0, 0>::run(kernel, outer);
-      copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, vectorizableSize, size>::run(kernel, outer);
-    }
-  }
-};
-#endif
-
-
-/***************************************************************************
-* Part 4 : Generic dense assignment kernel
-***************************************************************************/
-
-// This class generalize the assignment of a coefficient (or packet) from one dense evaluator
-// to another dense writable evaluator.
-// It is parametrized by the two evaluators, and the actual assignment functor.
-// This abstraction level permits to keep the evaluation loops as simple and as generic as possible.
-// One can customize the assignment using this generic dense_assignment_kernel with different
-// functors, or by completely overloading it, by-passing a functor.
-template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version = Specialized>
-class generic_dense_assignment_kernel
-{
-protected:
-  typedef typename DstEvaluatorTypeT::XprType DstXprType;
-  typedef typename SrcEvaluatorTypeT::XprType SrcXprType;
-public:
-  
-  typedef DstEvaluatorTypeT DstEvaluatorType;
-  typedef SrcEvaluatorTypeT SrcEvaluatorType;
-  typedef typename DstEvaluatorType::Scalar Scalar;
-  typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor> AssignmentTraits;
-  typedef typename AssignmentTraits::PacketType PacketType;
-  
-  
-  EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
-    : m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr)
-  {
-    #ifdef EIGEN_DEBUG_ASSIGN
-    AssignmentTraits::debug();
-    #endif
-  }
-  
-  EIGEN_DEVICE_FUNC Index size() const        { return m_dstExpr.size(); }
-  EIGEN_DEVICE_FUNC Index innerSize() const   { return m_dstExpr.innerSize(); }
-  EIGEN_DEVICE_FUNC Index outerSize() const   { return m_dstExpr.outerSize(); }
-  EIGEN_DEVICE_FUNC Index rows() const        { return m_dstExpr.rows(); }
-  EIGEN_DEVICE_FUNC Index cols() const        { return m_dstExpr.cols(); }
-  EIGEN_DEVICE_FUNC Index outerStride() const { return m_dstExpr.outerStride(); }
-  
-  EIGEN_DEVICE_FUNC DstEvaluatorType& dstEvaluator() { return m_dst; }
-  EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const { return m_src; }
-  
-  /// Assign src(row,col) to dst(row,col) through the assignment functor.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col)
-  {
-    m_functor.assignCoeff(m_dst.coeffRef(row,col), m_src.coeff(row,col));
-  }
-  
-  /// \sa assignCoeff(Index,Index)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index index)
-  {
-    m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
-  }
-  
-  /// \sa assignCoeff(Index,Index)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner)
-  {
-    Index row = rowIndexByOuterInner(outer, inner); 
-    Index col = colIndexByOuterInner(outer, inner); 
-    assignCoeff(row, col);
-  }
-  
-  
-  template<int StoreMode, int LoadMode, typename PacketType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index row, Index col)
-  {
-    m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(row,col), m_src.template packet<LoadMode,PacketType>(row,col));
-  }
-  
-  template<int StoreMode, int LoadMode, typename PacketType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index index)
-  {
-    m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(index), m_src.template packet<LoadMode,PacketType>(index));
-  }
-  
-  template<int StoreMode, int LoadMode, typename PacketType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacketByOuterInner(Index outer, Index inner)
-  {
-    Index row = rowIndexByOuterInner(outer, inner); 
-    Index col = colIndexByOuterInner(outer, inner);
-    assignPacket<StoreMode,LoadMode,PacketType>(row, col);
-  }
-  
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner)
-  {
-    typedef typename DstEvaluatorType::ExpressionTraits Traits;
-    return int(Traits::RowsAtCompileTime) == 1 ? 0
-      : int(Traits::ColsAtCompileTime) == 1 ? inner
-      : int(DstEvaluatorType::Flags)&RowMajorBit ? outer
-      : inner;
-  }
-
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner)
-  {
-    typedef typename DstEvaluatorType::ExpressionTraits Traits;
-    return int(Traits::ColsAtCompileTime) == 1 ? 0
-      : int(Traits::RowsAtCompileTime) == 1 ? inner
-      : int(DstEvaluatorType::Flags)&RowMajorBit ? inner
-      : outer;
-  }
-
-  EIGEN_DEVICE_FUNC const Scalar* dstDataPtr() const
-  {
-    return m_dstExpr.data();
-  }
-  
-protected:
-  DstEvaluatorType& m_dst;
-  const SrcEvaluatorType& m_src;
-  const Functor &m_functor;
-  // TODO find a way to avoid the needs of the original expression
-  DstXprType& m_dstExpr;
-};
-
-/***************************************************************************
-* Part 5 : Entry point for dense rectangular assignment
-***************************************************************************/
-
-template<typename DstXprType,typename SrcXprType, typename Functor>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void resize_if_allowed(DstXprType &dst, const SrcXprType& src, const Functor &/*func*/)
-{
-  EIGEN_ONLY_USED_FOR_DEBUG(dst);
-  EIGEN_ONLY_USED_FOR_DEBUG(src);
-  eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
-}
-
-template<typename DstXprType,typename SrcXprType, typename T1, typename T2>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void resize_if_allowed(DstXprType &dst, const SrcXprType& src, const internal::assign_op<T1,T2> &/*func*/)
-{
-  Index dstRows = src.rows();
-  Index dstCols = src.cols();
-  if(((dst.rows()!=dstRows) || (dst.cols()!=dstCols)))
-    dst.resize(dstRows, dstCols);
-  eigen_assert(dst.rows() == dstRows && dst.cols() == dstCols);
-}
-
-template<typename DstXprType, typename SrcXprType, typename Functor>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func)
-{
-  typedef evaluator<DstXprType> DstEvaluatorType;
-  typedef evaluator<SrcXprType> SrcEvaluatorType;
-
-  SrcEvaluatorType srcEvaluator(src);
-
-  // NOTE To properly handle A = (A*A.transpose())/s with A rectangular,
-  // we need to resize the destination after the source evaluator has been created.
-  resize_if_allowed(dst, src, func);
-
-  DstEvaluatorType dstEvaluator(dst);
-    
-  typedef generic_dense_assignment_kernel<DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
-  Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
-
-  dense_assignment_loop<Kernel>::run(kernel);
-}
-
-template<typename DstXprType, typename SrcXprType>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src)
-{
-  call_dense_assignment_loop(dst, src, internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>());
-}
-
-/***************************************************************************
-* Part 6 : Generic assignment
-***************************************************************************/
-
-// Based on the respective shapes of the destination and source,
-// the class AssignmentKind determine the kind of assignment mechanism.
-// AssignmentKind must define a Kind typedef.
-template<typename DstShape, typename SrcShape> struct AssignmentKind;
-
-// Assignement kind defined in this file:
-struct Dense2Dense {};
-struct EigenBase2EigenBase {};
-
-template<typename,typename> struct AssignmentKind { typedef EigenBase2EigenBase Kind; };
-template<> struct AssignmentKind<DenseShape,DenseShape> { typedef Dense2Dense Kind; };
-    
-// This is the main assignment class
-template< typename DstXprType, typename SrcXprType, typename Functor,
-          typename Kind = typename AssignmentKind< typename evaluator_traits<DstXprType>::Shape , typename evaluator_traits<SrcXprType>::Shape >::Kind,
-          typename EnableIf = void>
-struct Assignment;
-
-
-// The only purpose of this call_assignment() function is to deal with noalias() / "assume-aliasing" and automatic transposition.
-// Indeed, I (Gael) think that this concept of "assume-aliasing" was a mistake, and it makes thing quite complicated.
-// So this intermediate function removes everything related to "assume-aliasing" such that Assignment
-// does not has to bother about these annoying details.
-
-template<typename Dst, typename Src>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment(Dst& dst, const Src& src)
-{
-  call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
-}
-template<typename Dst, typename Src>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment(const Dst& dst, const Src& src)
-{
-  call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
-}
-                     
-// Deal with "assume-aliasing"
-template<typename Dst, typename Src, typename Func>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if< evaluator_assume_aliasing<Src>::value, void*>::type = 0)
-{
-  typename plain_matrix_type<Src>::type tmp(src);
-  call_assignment_no_alias(dst, tmp, func);
-}
-
-template<typename Dst, typename Src, typename Func>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if<!evaluator_assume_aliasing<Src>::value, void*>::type = 0)
-{
-  call_assignment_no_alias(dst, src, func);
-}
-
-// by-pass "assume-aliasing"
-// When there is no aliasing, we require that 'dst' has been properly resized
-template<typename Dst, template <typename> class StorageBase, typename Src, typename Func>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment(NoAlias<Dst,StorageBase>& dst, const Src& src, const Func& func)
-{
-  call_assignment_no_alias(dst.expression(), src, func);
-}
-
-
-template<typename Dst, typename Src, typename Func>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment_no_alias(Dst& dst, const Src& src, const Func& func)
-{
-  enum {
-    NeedToTranspose = (    (int(Dst::RowsAtCompileTime) == 1 && int(Src::ColsAtCompileTime) == 1)
-                        || (int(Dst::ColsAtCompileTime) == 1 && int(Src::RowsAtCompileTime) == 1)
-                      ) && int(Dst::SizeAtCompileTime) != 1
-  };
-
-  typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst>::type ActualDstTypeCleaned;
-  typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst&>::type ActualDstType;
-  ActualDstType actualDst(dst);
-  
-  // TODO check whether this is the right place to perform these checks:
-  EIGEN_STATIC_ASSERT_LVALUE(Dst)
-  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)
-  EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
-  
-  Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
-}
-template<typename Dst, typename Src>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment_no_alias(Dst& dst, const Src& src)
-{
-  call_assignment_no_alias(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
-}
-
-template<typename Dst, typename Src, typename Func>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src, const Func& func)
-{
-  // TODO check whether this is the right place to perform these checks:
-  EIGEN_STATIC_ASSERT_LVALUE(Dst)
-  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Dst,Src)
-  EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename Dst::Scalar,typename Src::Scalar);
-
-  Assignment<Dst,Src,Func>::run(dst, src, func);
-}
-template<typename Dst, typename Src>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src)
-{
-  call_assignment_no_alias_no_transpose(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
-}
-
-// forward declaration
-template<typename Dst, typename Src> void check_for_aliasing(const Dst &dst, const Src &src);
-
-// Generic Dense to Dense assignment
-// Note that the last template argument "Weak" is needed to make it possible to perform
-// both partial specialization+SFINAE without ambiguous specialization
-template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
-struct Assignment<DstXprType, SrcXprType, Functor, Dense2Dense, Weak>
-{
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
-  {
-#ifndef EIGEN_NO_DEBUG
-    internal::check_for_aliasing(dst, src);
-#endif
-    
-    call_dense_assignment_loop(dst, src, func);
-  }
-};
-
-// Generic assignment through evalTo.
-// TODO: not sure we have to keep that one, but it helps porting current code to new evaluator mechanism.
-// Note that the last template argument "Weak" is needed to make it possible to perform
-// both partial specialization+SFINAE without ambiguous specialization
-template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
-struct Assignment<DstXprType, SrcXprType, Functor, EigenBase2EigenBase, Weak>
-{
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
-    src.evalTo(dst);
-  }
-
-  // NOTE The following two functions are templated to avoid their instanciation if not needed
-  //      This is needed because some expressions supports evalTo only and/or have 'void' as scalar type.
-  template<typename SrcScalarType>
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,SrcScalarType> &/*func*/)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
-    src.addTo(dst);
-  }
-
-  template<typename SrcScalarType>
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,SrcScalarType> &/*func*/)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
-    src.subTo(dst);
-  }
-};
-
-} // namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_ASSIGN_EVALUATOR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Assign_MKL.h b/phonelibs/eigen/Eigen/src/Core/Assign_MKL.h
deleted file mode 100755
index 6c2ab9264891dd..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Assign_MKL.h
+++ /dev/null
@@ -1,176 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
- Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
- 
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
- *   MKL VML support for coefficient-wise unary Eigen expressions like a=b.sin()
- ********************************************************************************
-*/
-
-#ifndef EIGEN_ASSIGN_VML_H
-#define EIGEN_ASSIGN_VML_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Dst, typename Src>
-class vml_assign_traits
-{
-  private:
-    enum {
-      DstHasDirectAccess = Dst::Flags & DirectAccessBit,
-      SrcHasDirectAccess = Src::Flags & DirectAccessBit,
-      StorageOrdersAgree = (int(Dst::IsRowMajor) == int(Src::IsRowMajor)),
-      InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
-                : int(Dst::Flags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
-                : int(Dst::RowsAtCompileTime),
-      InnerMaxSize  = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime)
-                    : int(Dst::Flags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime)
-                    : int(Dst::MaxRowsAtCompileTime),
-      MaxSizeAtCompileTime = Dst::SizeAtCompileTime,
-
-      MightEnableVml = StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1,
-      MightLinearize = MightEnableVml && (int(Dst::Flags) & int(Src::Flags) & LinearAccessBit),
-      VmlSize = MightLinearize ? MaxSizeAtCompileTime : InnerMaxSize,
-      LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD
-    };
-  public:
-    enum {
-      EnableVml = MightEnableVml && LargeEnough,
-      Traversal = MightLinearize ? LinearTraversal : DefaultTraversal
-    };
-};
-
-#define EIGEN_PP_EXPAND(ARG) ARG
-#if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1)
-#define EIGEN_VMLMODE_EXPAND_LA , VML_HA
-#else
-#define EIGEN_VMLMODE_EXPAND_LA , VML_LA
-#endif
-
-#define EIGEN_VMLMODE_EXPAND__ 
-
-#define EIGEN_VMLMODE_PREFIX_LA vm
-#define EIGEN_VMLMODE_PREFIX__  v
-#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE)                                           \
-  template< typename DstXprType, typename SrcXprNested>                                                                         \
-  struct Assignment<DstXprType, CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested>, assign_op<EIGENTYPE,EIGENTYPE>,   \
-                   Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> {              \
-    typedef CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested> SrcXprType;                                            \
-    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &/*func*/) {                   \
-      eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());                                                       \
-      if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal) {                                              \
-        VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(),                                                        \
-              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) );                                           \
-      } else {                                                                                                                  \
-        const Index outerSize = dst.outerSize();                                                                                \
-        for(Index outer = 0; outer < outerSize; ++outer) {                                                                      \
-          const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.nestedExpression().coeffRef(outer,0)) :                             \
-                                                      &(src.nestedExpression().coeffRef(0, outer));                             \
-          EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));                           \
-          VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr,                                                                      \
-                (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE));                                             \
-        }                                                                                                                       \
-      }                                                                                                                         \
-    }                                                                                                                           \
-  };                                                                                                                            \
-
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE)                                                         \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),s##VMLOP), float, float, VMLMODE)           \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),d##VMLOP), double, double, VMLMODE)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE)                                                         \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),c##VMLOP), scomplex, MKL_Complex8, VMLMODE) \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),z##VMLOP), dcomplex, MKL_Complex16, VMLMODE)
-  
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP, VMLMODE)                                                              \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE)                                                               \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE)
-
-  
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sin,   Sin,   LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(asin,  Asin,  LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sinh,  Sinh,  LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cos,   Cos,   LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(acos,  Acos,  LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cosh,  Cosh,  LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tan,   Tan,   LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(atan,  Atan,  LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tanh,  Tanh,  LA)
-// EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs,   Abs,    _)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(exp,   Exp,   LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log,   Ln,    LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log10, Log10, LA)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sqrt,  Sqrt,  _)
-
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr,   _)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(arg, Arg,      _)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(round, Round,  _)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(floor, Floor,  _)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil,  Ceil,   _)
-
-#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE)                                           \
-  template< typename DstXprType, typename SrcXprNested, typename Plain>                                                       \
-  struct Assignment<DstXprType, CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested,                       \
-                    const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> >, assign_op<EIGENTYPE,EIGENTYPE>,    \
-                   Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> {            \
-    typedef CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested,                                           \
-                    const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> > SrcXprType;                         \
-    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &/*func*/) {                 \
-      eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());                                                     \
-      VMLTYPE exponent = reinterpret_cast<const VMLTYPE&>(src.rhs().functor().m_other);                                       \
-      if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal)                                              \
-      {                                                                                                                       \
-        VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent,                                                        \
-              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) );                                         \
-      } else {                                                                                                                \
-        const Index outerSize = dst.outerSize();                                                                              \
-        for(Index outer = 0; outer < outerSize; ++outer) {                                                                    \
-          const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.lhs().coeffRef(outer,0)) :                                        \
-                                                      &(src.lhs().coeffRef(0, outer));                                        \
-          EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));                         \
-          VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent,                                                          \
-                 (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE));                                          \
-        }                                                                                                                     \
-      }                                                                                                                       \
-    }                                                                                                                         \
-  };
-  
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmsPowx, float,    float,         LA)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdPowx, double,   double,        LA)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcPowx, scomplex, MKL_Complex8,  LA)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzPowx, dcomplex, MKL_Complex16, LA)
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_ASSIGN_VML_H
diff --git a/phonelibs/eigen/Eigen/src/Core/BandMatrix.h b/phonelibs/eigen/Eigen/src/Core/BandMatrix.h
deleted file mode 100644
index 4978c914057f41..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/BandMatrix.h
+++ /dev/null
@@ -1,353 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BANDMATRIX_H
-#define EIGEN_BANDMATRIX_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Derived>
-class BandMatrixBase : public EigenBase<Derived>
-{
-  public:
-
-    enum {
-      Flags = internal::traits<Derived>::Flags,
-      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
-      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
-      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
-      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
-      Supers = internal::traits<Derived>::Supers,
-      Subs   = internal::traits<Derived>::Subs,
-      Options = internal::traits<Derived>::Options
-    };
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
-    typedef typename DenseMatrixType::StorageIndex StorageIndex;
-    typedef typename internal::traits<Derived>::CoefficientsType CoefficientsType;
-    typedef EigenBase<Derived> Base;
-
-  protected:
-    enum {
-      DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic))
-                            ? 1 + Supers + Subs
-                            : Dynamic,
-      SizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime)
-    };
-
-  public:
-    
-    using Base::derived;
-    using Base::rows;
-    using Base::cols;
-
-    /** \returns the number of super diagonals */
-    inline Index supers() const { return derived().supers(); }
-
-    /** \returns the number of sub diagonals */
-    inline Index subs() const { return derived().subs(); }
-    
-    /** \returns an expression of the underlying coefficient matrix */
-    inline const CoefficientsType& coeffs() const { return derived().coeffs(); }
-    
-    /** \returns an expression of the underlying coefficient matrix */
-    inline CoefficientsType& coeffs() { return derived().coeffs(); }
-
-    /** \returns a vector expression of the \a i -th column,
-      * only the meaningful part is returned.
-      * \warning the internal storage must be column major. */
-    inline Block<CoefficientsType,Dynamic,1> col(Index i)
-    {
-      EIGEN_STATIC_ASSERT((Options&RowMajor)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
-      Index start = 0;
-      Index len = coeffs().rows();
-      if (i<=supers())
-      {
-        start = supers()-i;
-        len = (std::min)(rows(),std::max<Index>(0,coeffs().rows() - (supers()-i)));
-      }
-      else if (i>=rows()-subs())
-        len = std::max<Index>(0,coeffs().rows() - (i + 1 - rows() + subs()));
-      return Block<CoefficientsType,Dynamic,1>(coeffs(), start, i, len, 1);
-    }
-
-    /** \returns a vector expression of the main diagonal */
-    inline Block<CoefficientsType,1,SizeAtCompileTime> diagonal()
-    { return Block<CoefficientsType,1,SizeAtCompileTime>(coeffs(),supers(),0,1,(std::min)(rows(),cols())); }
-
-    /** \returns a vector expression of the main diagonal (const version) */
-    inline const Block<const CoefficientsType,1,SizeAtCompileTime> diagonal() const
-    { return Block<const CoefficientsType,1,SizeAtCompileTime>(coeffs(),supers(),0,1,(std::min)(rows(),cols())); }
-
-    template<int Index> struct DiagonalIntReturnType {
-      enum {
-        ReturnOpposite = (Options&SelfAdjoint) && (((Index)>0 && Supers==0) || ((Index)<0 && Subs==0)),
-        Conjugate = ReturnOpposite && NumTraits<Scalar>::IsComplex,
-        ActualIndex = ReturnOpposite ? -Index : Index,
-        DiagonalSize = (RowsAtCompileTime==Dynamic || ColsAtCompileTime==Dynamic)
-                     ? Dynamic
-                     : (ActualIndex<0
-                     ? EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime, RowsAtCompileTime + ActualIndex)
-                     : EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime - ActualIndex))
-      };
-      typedef Block<CoefficientsType,1, DiagonalSize> BuildType;
-      typedef typename internal::conditional<Conjugate,
-                 CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>,BuildType >,
-                 BuildType>::type Type;
-    };
-
-    /** \returns a vector expression of the \a N -th sub or super diagonal */
-    template<int N> inline typename DiagonalIntReturnType<N>::Type diagonal()
-    {
-      return typename DiagonalIntReturnType<N>::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N));
-    }
-
-    /** \returns a vector expression of the \a N -th sub or super diagonal */
-    template<int N> inline const typename DiagonalIntReturnType<N>::Type diagonal() const
-    {
-      return typename DiagonalIntReturnType<N>::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N));
-    }
-
-    /** \returns a vector expression of the \a i -th sub or super diagonal */
-    inline Block<CoefficientsType,1,Dynamic> diagonal(Index i)
-    {
-      eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers()));
-      return Block<CoefficientsType,1,Dynamic>(coeffs(), supers()-i, std::max<Index>(0,i), 1, diagonalLength(i));
-    }
-
-    /** \returns a vector expression of the \a i -th sub or super diagonal */
-    inline const Block<const CoefficientsType,1,Dynamic> diagonal(Index i) const
-    {
-      eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers()));
-      return Block<const CoefficientsType,1,Dynamic>(coeffs(), supers()-i, std::max<Index>(0,i), 1, diagonalLength(i));
-    }
-    
-    template<typename Dest> inline void evalTo(Dest& dst) const
-    {
-      dst.resize(rows(),cols());
-      dst.setZero();
-      dst.diagonal() = diagonal();
-      for (Index i=1; i<=supers();++i)
-        dst.diagonal(i) = diagonal(i);
-      for (Index i=1; i<=subs();++i)
-        dst.diagonal(-i) = diagonal(-i);
-    }
-
-    DenseMatrixType toDenseMatrix() const
-    {
-      DenseMatrixType res(rows(),cols());
-      evalTo(res);
-      return res;
-    }
-
-  protected:
-
-    inline Index diagonalLength(Index i) const
-    { return i<0 ? (std::min)(cols(),rows()+i) : (std::min)(rows(),cols()-i); }
-};
-
-/**
-  * \class BandMatrix
-  * \ingroup Core_Module
-  *
-  * \brief Represents a rectangular matrix with a banded storage
-  *
-  * \tparam _Scalar Numeric type, i.e. float, double, int
-  * \tparam _Rows Number of rows, or \b Dynamic
-  * \tparam _Cols Number of columns, or \b Dynamic
-  * \tparam _Supers Number of super diagonal
-  * \tparam _Subs Number of sub diagonal
-  * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint
-  *                  The former controls \ref TopicStorageOrders "storage order", and defaults to
-  *                  column-major. The latter controls whether the matrix represents a selfadjoint
-  *                  matrix in which case either Supers of Subs have to be null.
-  *
-  * \sa class TridiagonalMatrix
-  */
-
-template<typename _Scalar, int _Rows, int _Cols, int _Supers, int _Subs, int _Options>
-struct traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
-{
-  typedef _Scalar Scalar;
-  typedef Dense StorageKind;
-  typedef Eigen::Index StorageIndex;
-  enum {
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    RowsAtCompileTime = _Rows,
-    ColsAtCompileTime = _Cols,
-    MaxRowsAtCompileTime = _Rows,
-    MaxColsAtCompileTime = _Cols,
-    Flags = LvalueBit,
-    Supers = _Supers,
-    Subs = _Subs,
-    Options = _Options,
-    DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
-  };
-  typedef Matrix<Scalar,DataRowsAtCompileTime,ColsAtCompileTime,Options&RowMajor?RowMajor:ColMajor> CoefficientsType;
-};
-
-template<typename _Scalar, int Rows, int Cols, int Supers, int Subs, int Options>
-class BandMatrix : public BandMatrixBase<BandMatrix<_Scalar,Rows,Cols,Supers,Subs,Options> >
-{
-  public:
-
-    typedef typename internal::traits<BandMatrix>::Scalar Scalar;
-    typedef typename internal::traits<BandMatrix>::StorageIndex StorageIndex;
-    typedef typename internal::traits<BandMatrix>::CoefficientsType CoefficientsType;
-
-    explicit inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs)
-      : m_coeffs(1+supers+subs,cols),
-        m_rows(rows), m_supers(supers), m_subs(subs)
-    {
-    }
-
-    /** \returns the number of columns */
-    inline Index rows() const { return m_rows.value(); }
-
-    /** \returns the number of rows */
-    inline Index cols() const { return m_coeffs.cols(); }
-
-    /** \returns the number of super diagonals */
-    inline Index supers() const { return m_supers.value(); }
-
-    /** \returns the number of sub diagonals */
-    inline Index subs() const { return m_subs.value(); }
-
-    inline const CoefficientsType& coeffs() const { return m_coeffs; }
-    inline CoefficientsType& coeffs() { return m_coeffs; }
-
-  protected:
-
-    CoefficientsType m_coeffs;
-    internal::variable_if_dynamic<Index, Rows>   m_rows;
-    internal::variable_if_dynamic<Index, Supers> m_supers;
-    internal::variable_if_dynamic<Index, Subs>   m_subs;
-};
-
-template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
-class BandMatrixWrapper;
-
-template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
-struct traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
-{
-  typedef typename _CoefficientsType::Scalar Scalar;
-  typedef typename _CoefficientsType::StorageKind StorageKind;
-  typedef typename _CoefficientsType::StorageIndex StorageIndex;
-  enum {
-    CoeffReadCost = internal::traits<_CoefficientsType>::CoeffReadCost,
-    RowsAtCompileTime = _Rows,
-    ColsAtCompileTime = _Cols,
-    MaxRowsAtCompileTime = _Rows,
-    MaxColsAtCompileTime = _Cols,
-    Flags = LvalueBit,
-    Supers = _Supers,
-    Subs = _Subs,
-    Options = _Options,
-    DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
-  };
-  typedef _CoefficientsType CoefficientsType;
-};
-
-template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
-class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
-{
-  public:
-
-    typedef typename internal::traits<BandMatrixWrapper>::Scalar Scalar;
-    typedef typename internal::traits<BandMatrixWrapper>::CoefficientsType CoefficientsType;
-    typedef typename internal::traits<BandMatrixWrapper>::StorageIndex StorageIndex;
-
-    explicit inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs)
-      : m_coeffs(coeffs),
-        m_rows(rows), m_supers(supers), m_subs(subs)
-    {
-      EIGEN_UNUSED_VARIABLE(cols);
-      //internal::assert(coeffs.cols()==cols() && (supers()+subs()+1)==coeffs.rows());
-    }
-
-    /** \returns the number of columns */
-    inline Index rows() const { return m_rows.value(); }
-
-    /** \returns the number of rows */
-    inline Index cols() const { return m_coeffs.cols(); }
-
-    /** \returns the number of super diagonals */
-    inline Index supers() const { return m_supers.value(); }
-
-    /** \returns the number of sub diagonals */
-    inline Index subs() const { return m_subs.value(); }
-
-    inline const CoefficientsType& coeffs() const { return m_coeffs; }
-
-  protected:
-
-    const CoefficientsType& m_coeffs;
-    internal::variable_if_dynamic<Index, _Rows>   m_rows;
-    internal::variable_if_dynamic<Index, _Supers> m_supers;
-    internal::variable_if_dynamic<Index, _Subs>   m_subs;
-};
-
-/**
-  * \class TridiagonalMatrix
-  * \ingroup Core_Module
-  *
-  * \brief Represents a tridiagonal matrix with a compact banded storage
-  *
-  * \tparam Scalar Numeric type, i.e. float, double, int
-  * \tparam Size Number of rows and cols, or \b Dynamic
-  * \tparam Options Can be 0 or \b SelfAdjoint
-  *
-  * \sa class BandMatrix
-  */
-template<typename Scalar, int Size, int Options>
-class TridiagonalMatrix : public BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor>
-{
-    typedef BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor> Base;
-    typedef typename Base::StorageIndex StorageIndex;
-  public:
-    explicit TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {}
-
-    inline typename Base::template DiagonalIntReturnType<1>::Type super()
-    { return Base::template diagonal<1>(); }
-    inline const typename Base::template DiagonalIntReturnType<1>::Type super() const
-    { return Base::template diagonal<1>(); }
-    inline typename Base::template DiagonalIntReturnType<-1>::Type sub()
-    { return Base::template diagonal<-1>(); }
-    inline const typename Base::template DiagonalIntReturnType<-1>::Type sub() const
-    { return Base::template diagonal<-1>(); }
-  protected:
-};
-
-
-struct BandShape {};
-
-template<typename _Scalar, int _Rows, int _Cols, int _Supers, int _Subs, int _Options>
-struct evaluator_traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
-  : public evaluator_traits_base<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
-{
-  typedef BandShape Shape;
-};
-
-template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
-struct evaluator_traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
-  : public evaluator_traits_base<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
-{
-  typedef BandShape Shape;
-};
-
-template<> struct AssignmentKind<DenseShape,BandShape> { typedef EigenBase2EigenBase Kind; };
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_BANDMATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Block.h b/phonelibs/eigen/Eigen/src/Core/Block.h
deleted file mode 100644
index 11de45c2ecbc8c..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Block.h
+++ /dev/null
@@ -1,452 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BLOCK_H
-#define EIGEN_BLOCK_H
-
-namespace Eigen { 
-
-namespace internal {
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
-struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprType>
-{
-  typedef typename traits<XprType>::Scalar Scalar;
-  typedef typename traits<XprType>::StorageKind StorageKind;
-  typedef typename traits<XprType>::XprKind XprKind;
-  typedef typename ref_selector<XprType>::type XprTypeNested;
-  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
-  enum{
-    MatrixRows = traits<XprType>::RowsAtCompileTime,
-    MatrixCols = traits<XprType>::ColsAtCompileTime,
-    RowsAtCompileTime = MatrixRows == 0 ? 0 : BlockRows,
-    ColsAtCompileTime = MatrixCols == 0 ? 0 : BlockCols,
-    MaxRowsAtCompileTime = BlockRows==0 ? 0
-                         : RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime)
-                         : int(traits<XprType>::MaxRowsAtCompileTime),
-    MaxColsAtCompileTime = BlockCols==0 ? 0
-                         : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime)
-                         : int(traits<XprType>::MaxColsAtCompileTime),
-
-    XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
-    IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
-               : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
-               : XprTypeIsRowMajor,
-    HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor),
-    InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
-    InnerStrideAtCompileTime = HasSameStorageOrderAsXprType
-                             ? int(inner_stride_at_compile_time<XprType>::ret)
-                             : int(outer_stride_at_compile_time<XprType>::ret),
-    OuterStrideAtCompileTime = HasSameStorageOrderAsXprType
-                             ? int(outer_stride_at_compile_time<XprType>::ret)
-                             : int(inner_stride_at_compile_time<XprType>::ret),
-
-    // FIXME, this traits is rather specialized for dense object and it needs to be cleaned further
-    FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
-    FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
-    Flags = (traits<XprType>::Flags & (DirectAccessBit | (InnerPanel?CompressedAccessBit:0))) | FlagsLvalueBit | FlagsRowMajorBit,
-    // FIXME DirectAccessBit should not be handled by expressions
-    // 
-    // Alignment is needed by MapBase's assertions
-    // We can sefely set it to false here. Internal alignment errors will be detected by an eigen_internal_assert in the respective evaluator
-    Alignment = 0
-  };
-};
-
-template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false,
-         bool HasDirectAccess = internal::has_direct_access<XprType>::ret> class BlockImpl_dense;
-         
-} // end namespace internal
-
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, typename StorageKind> class BlockImpl;
-
-/** \class Block
-  * \ingroup Core_Module
-  *
-  * \brief Expression of a fixed-size or dynamic-size block
-  *
-  * \tparam XprType the type of the expression in which we are taking a block
-  * \tparam BlockRows the number of rows of the block we are taking at compile time (optional)
-  * \tparam BlockCols the number of columns of the block we are taking at compile time (optional)
-  * \tparam InnerPanel is true, if the block maps to a set of rows of a row major matrix or
-  *         to set of columns of a column major matrix (optional). The parameter allows to determine
-  *         at compile time whether aligned access is possible on the block expression.
-  *
-  * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
-  * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block<int,int>(Index,Index) and
-  * most of the time this is the only way it is used.
-  *
-  * However, if you want to directly maniputate block expressions,
-  * for instance if you want to write a function returning such an expression, you
-  * will need to use this class.
-  *
-  * Here is an example illustrating the dynamic case:
-  * \include class_Block.cpp
-  * Output: \verbinclude class_Block.out
-  *
-  * \note Even though this expression has dynamic size, in the case where \a XprType
-  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
-  * it does not cause a dynamic memory allocation.
-  *
-  * Here is an example illustrating the fixed-size case:
-  * \include class_FixedBlock.cpp
-  * Output: \verbinclude class_FixedBlock.out
-  *
-  * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock
-  */
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
-  : public BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, typename internal::traits<XprType>::StorageKind>
-{
-    typedef BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, typename internal::traits<XprType>::StorageKind> Impl;
-  public:
-    //typedef typename Impl::Base Base;
-    typedef Impl Base;
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Block)
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
-    
-    typedef typename internal::remove_all<XprType>::type NestedExpression;
-  
-    /** Column or Row constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline Block(XprType& xpr, Index i) : Impl(xpr,i)
-    {
-      eigen_assert( (i>=0) && (
-          ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows())
-        ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols())));
-    }
-
-    /** Fixed-size constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline Block(XprType& xpr, Index startRow, Index startCol)
-      : Impl(xpr, startRow, startCol)
-    {
-      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
-      eigen_assert(startRow >= 0 && BlockRows >= 0 && startRow + BlockRows <= xpr.rows()
-             && startCol >= 0 && BlockCols >= 0 && startCol + BlockCols <= xpr.cols());
-    }
-
-    /** Dynamic-size constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline Block(XprType& xpr,
-          Index startRow, Index startCol,
-          Index blockRows, Index blockCols)
-      : Impl(xpr, startRow, startCol, blockRows, blockCols)
-    {
-      eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
-          && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
-      eigen_assert(startRow >= 0 && blockRows >= 0 && startRow  <= xpr.rows() - blockRows
-          && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols);
-    }
-};
-         
-// The generic default implementation for dense block simplu forward to the internal::BlockImpl_dense
-// that must be specialized for direct and non-direct access...
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
-class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
-  : public internal::BlockImpl_dense<XprType, BlockRows, BlockCols, InnerPanel>
-{
-    typedef internal::BlockImpl_dense<XprType, BlockRows, BlockCols, InnerPanel> Impl;
-    typedef typename XprType::StorageIndex StorageIndex;
-  public:
-    typedef Impl Base;
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
-    EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {}
-    EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index startRow, Index startCol) : Impl(xpr, startRow, startCol) {}
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
-      : Impl(xpr, startRow, startCol, blockRows, blockCols) {}
-};
-
-namespace internal {
-
-/** \internal Internal implementation of dense Blocks in the general case. */
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class BlockImpl_dense
-  : public internal::dense_xpr_base<Block<XprType, BlockRows, BlockCols, InnerPanel> >::type
-{
-    typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
-    typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
-  public:
-
-    typedef typename internal::dense_xpr_base<BlockType>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(BlockType)
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense)
-
-    // class InnerIterator; // FIXME apparently never used
-
-    /** Column or Row constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr, Index i)
-      : m_xpr(xpr),
-        // It is a row if and only if BlockRows==1 and BlockCols==XprType::ColsAtCompileTime,
-        // and it is a column if and only if BlockRows==XprType::RowsAtCompileTime and BlockCols==1,
-        // all other cases are invalid.
-        // The case a 1x1 matrix seems ambiguous, but the result is the same anyway.
-        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
-        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
-        m_blockRows(BlockRows==1 ? 1 : xpr.rows()),
-        m_blockCols(BlockCols==1 ? 1 : xpr.cols())
-    {}
-
-    /** Fixed-size constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
-      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
-                    m_blockRows(BlockRows), m_blockCols(BlockCols)
-    {}
-
-    /** Dynamic-size constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr,
-          Index startRow, Index startCol,
-          Index blockRows, Index blockCols)
-      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
-                    m_blockRows(blockRows), m_blockCols(blockCols)
-    {}
-
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_blockRows.value(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_blockCols.value(); }
-
-    EIGEN_DEVICE_FUNC
-    inline Scalar& coeffRef(Index rowId, Index colId)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(XprType)
-      return m_xpr.coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index rowId, Index colId) const
-    {
-      return m_xpr.derived().coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index rowId, Index colId) const
-    {
-      return m_xpr.coeff(rowId + m_startRow.value(), colId + m_startCol.value());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Scalar& coeffRef(Index index)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(XprType)
-      return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index index) const
-    {
-      return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const CoeffReturnType coeff(Index index) const
-    {
-      return m_xpr.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                         m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    template<int LoadMode>
-    inline PacketScalar packet(Index rowId, Index colId) const
-    {
-      return m_xpr.template packet<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value());
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
-    {
-      m_xpr.template writePacket<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value(), val);
-    }
-
-    template<int LoadMode>
-    inline PacketScalar packet(Index index) const
-    {
-      return m_xpr.template packet<Unaligned>
-              (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-               m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& val)
-    {
-      m_xpr.template writePacket<Unaligned>
-         (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-          m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), val);
-    }
-
-    #ifdef EIGEN_PARSED_BY_DOXYGEN
-    /** \sa MapBase::data() */
-    EIGEN_DEVICE_FUNC inline const Scalar* data() const;
-    EIGEN_DEVICE_FUNC inline Index innerStride() const;
-    EIGEN_DEVICE_FUNC inline Index outerStride() const;
-    #endif
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
-    { 
-      return m_xpr; 
-    }
-
-    EIGEN_DEVICE_FUNC
-    XprType& nestedExpression() { return m_xpr; }
-      
-    EIGEN_DEVICE_FUNC
-    StorageIndex startRow() const
-    { 
-      return m_startRow.value(); 
-    }
-      
-    EIGEN_DEVICE_FUNC
-    StorageIndex startCol() const
-    { 
-      return m_startCol.value(); 
-    }
-
-  protected:
-
-    XprTypeNested m_xpr;
-    const internal::variable_if_dynamic<StorageIndex, (XprType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
-    const internal::variable_if_dynamic<StorageIndex, (XprType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
-    const internal::variable_if_dynamic<StorageIndex, RowsAtCompileTime> m_blockRows;
-    const internal::variable_if_dynamic<StorageIndex, ColsAtCompileTime> m_blockCols;
-};
-
-/** \internal Internal implementation of dense Blocks in the direct access case.*/
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
-class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
-  : public MapBase<Block<XprType, BlockRows, BlockCols, InnerPanel> >
-{
-    typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
-    typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
-    enum {
-      XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0
-    };
-  public:
-
-    typedef MapBase<BlockType> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(BlockType)
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense)
-
-    /** Column or Row constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr, Index i)
-      : Base(xpr.data() + i * (    ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && (!XprTypeIsRowMajor)) 
-                                || ((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && ( XprTypeIsRowMajor)) ? xpr.innerStride() : xpr.outerStride()),
-             BlockRows==1 ? 1 : xpr.rows(),
-             BlockCols==1 ? 1 : xpr.cols()),
-        m_xpr(xpr),
-        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
-        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0)
-    {
-      init();
-    }
-
-    /** Fixed-size constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
-      : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol)),
-        m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
-    {
-      init();
-    }
-
-    /** Dynamic-size constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr,
-          Index startRow, Index startCol,
-          Index blockRows, Index blockCols)
-      : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols),
-        m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
-    {
-      init();
-    }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
-    { 
-      return m_xpr; 
-    }
-
-    EIGEN_DEVICE_FUNC
-    XprType& nestedExpression() { return m_xpr; }
-      
-    /** \sa MapBase::innerStride() */
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const
-    {
-      return internal::traits<BlockType>::HasSameStorageOrderAsXprType
-             ? m_xpr.innerStride()
-             : m_xpr.outerStride();
-    }
-
-    /** \sa MapBase::outerStride() */
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const
-    {
-      return m_outerStride;
-    }
-
-    EIGEN_DEVICE_FUNC
-    StorageIndex startRow() const
-    {
-      return m_startRow.value();
-    }
-
-    EIGEN_DEVICE_FUNC
-    StorageIndex startCol() const
-    {
-      return m_startCol.value();
-    }
-
-  #ifndef __SUNPRO_CC
-  // FIXME sunstudio is not friendly with the above friend...
-  // META-FIXME there is no 'friend' keyword around here. Is this obsolete?
-  protected:
-  #endif
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal used by allowAligned() */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols)
-      : Base(data, blockRows, blockCols), m_xpr(xpr)
-    {
-      init();
-    }
-    #endif
-
-  protected:
-    EIGEN_DEVICE_FUNC
-    void init()
-    {
-      m_outerStride = internal::traits<BlockType>::HasSameStorageOrderAsXprType
-                    ? m_xpr.outerStride()
-                    : m_xpr.innerStride();
-    }
-
-    XprTypeNested m_xpr;
-    const internal::variable_if_dynamic<StorageIndex, (XprType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
-    const internal::variable_if_dynamic<StorageIndex, (XprType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
-    Index m_outerStride;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_BLOCK_H
diff --git a/phonelibs/eigen/Eigen/src/Core/BooleanRedux.h b/phonelibs/eigen/Eigen/src/Core/BooleanRedux.h
deleted file mode 100644
index 8409d8749adc9f..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/BooleanRedux.h
+++ /dev/null
@@ -1,164 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ALLANDANY_H
-#define EIGEN_ALLANDANY_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Derived, int UnrollCount>
-struct all_unroller
-{
-  typedef typename Derived::ExpressionTraits Traits;
-  enum {
-    col = (UnrollCount-1) / Traits::RowsAtCompileTime,
-    row = (UnrollCount-1) % Traits::RowsAtCompileTime
-  };
-
-  static inline bool run(const Derived &mat)
-  {
-    return all_unroller<Derived, UnrollCount-1>::run(mat) && mat.coeff(row, col);
-  }
-};
-
-template<typename Derived>
-struct all_unroller<Derived, 0>
-{
-  static inline bool run(const Derived &/*mat*/) { return true; }
-};
-
-template<typename Derived>
-struct all_unroller<Derived, Dynamic>
-{
-  static inline bool run(const Derived &) { return false; }
-};
-
-template<typename Derived, int UnrollCount>
-struct any_unroller
-{
-  typedef typename Derived::ExpressionTraits Traits;
-  enum {
-    col = (UnrollCount-1) / Traits::RowsAtCompileTime,
-    row = (UnrollCount-1) % Traits::RowsAtCompileTime
-  };
-  
-  static inline bool run(const Derived &mat)
-  {
-    return any_unroller<Derived, UnrollCount-1>::run(mat) || mat.coeff(row, col);
-  }
-};
-
-template<typename Derived>
-struct any_unroller<Derived, 0>
-{
-  static inline bool run(const Derived & /*mat*/) { return false; }
-};
-
-template<typename Derived>
-struct any_unroller<Derived, Dynamic>
-{
-  static inline bool run(const Derived &) { return false; }
-};
-
-} // end namespace internal
-
-/** \returns true if all coefficients are true
-  *
-  * Example: \include MatrixBase_all.cpp
-  * Output: \verbinclude MatrixBase_all.out
-  *
-  * \sa any(), Cwise::operator<()
-  */
-template<typename Derived>
-inline bool DenseBase<Derived>::all() const
-{
-  typedef internal::evaluator<Derived> Evaluator;
-  enum {
-    unroll = SizeAtCompileTime != Dynamic
-          && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
-  };
-  Evaluator evaluator(derived());
-  if(unroll)
-    return internal::all_unroller<Evaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(evaluator);
-  else
-  {
-    for(Index j = 0; j < cols(); ++j)
-      for(Index i = 0; i < rows(); ++i)
-        if (!evaluator.coeff(i, j)) return false;
-    return true;
-  }
-}
-
-/** \returns true if at least one coefficient is true
-  *
-  * \sa all()
-  */
-template<typename Derived>
-inline bool DenseBase<Derived>::any() const
-{
-  typedef internal::evaluator<Derived> Evaluator;
-  enum {
-    unroll = SizeAtCompileTime != Dynamic
-          && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
-  };
-  Evaluator evaluator(derived());
-  if(unroll)
-    return internal::any_unroller<Evaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(evaluator);
-  else
-  {
-    for(Index j = 0; j < cols(); ++j)
-      for(Index i = 0; i < rows(); ++i)
-        if (evaluator.coeff(i, j)) return true;
-    return false;
-  }
-}
-
-/** \returns the number of coefficients which evaluate to true
-  *
-  * \sa all(), any()
-  */
-template<typename Derived>
-inline Eigen::Index DenseBase<Derived>::count() const
-{
-  return derived().template cast<bool>().template cast<Index>().sum();
-}
-
-/** \returns true is \c *this contains at least one Not A Number (NaN).
-  *
-  * \sa allFinite()
-  */
-template<typename Derived>
-inline bool DenseBase<Derived>::hasNaN() const
-{
-#if EIGEN_COMP_MSVC || (defined __FAST_MATH__)
-  return derived().array().isNaN().any();
-#else
-  return !((derived().array()==derived().array()).all());
-#endif
-}
-
-/** \returns true if \c *this contains only finite numbers, i.e., no NaN and no +/-INF values.
-  *
-  * \sa hasNaN()
-  */
-template<typename Derived>
-inline bool DenseBase<Derived>::allFinite() const
-{
-#if EIGEN_COMP_MSVC || (defined __FAST_MATH__)
-  return derived().array().isFinite().all();
-#else
-  return !((derived()-derived()).hasNaN());
-#endif
-}
-    
-} // end namespace Eigen
-
-#endif // EIGEN_ALLANDANY_H
diff --git a/phonelibs/eigen/Eigen/src/Core/CommaInitializer.h b/phonelibs/eigen/Eigen/src/Core/CommaInitializer.h
deleted file mode 100644
index d218e98143f40e..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/CommaInitializer.h
+++ /dev/null
@@ -1,160 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMMAINITIALIZER_H
-#define EIGEN_COMMAINITIALIZER_H
-
-namespace Eigen { 
-
-/** \class CommaInitializer
-  * \ingroup Core_Module
-  *
-  * \brief Helper class used by the comma initializer operator
-  *
-  * This class is internally used to implement the comma initializer feature. It is
-  * the return type of MatrixBase::operator<<, and most of the time this is the only
-  * way it is used.
-  *
-  * \sa \blank \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
-  */
-template<typename XprType>
-struct CommaInitializer
-{
-  typedef typename XprType::Scalar Scalar;
-
-  EIGEN_DEVICE_FUNC
-  inline CommaInitializer(XprType& xpr, const Scalar& s)
-    : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1)
-  {
-    m_xpr.coeffRef(0,0) = s;
-  }
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC
-  inline CommaInitializer(XprType& xpr, const DenseBase<OtherDerived>& other)
-    : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows())
-  {
-    m_xpr.block(0, 0, other.rows(), other.cols()) = other;
-  }
-
-  /* Copy/Move constructor which transfers ownership. This is crucial in 
-   * absence of return value optimization to avoid assertions during destruction. */
-  // FIXME in C++11 mode this could be replaced by a proper RValue constructor
-  EIGEN_DEVICE_FUNC
-  inline CommaInitializer(const CommaInitializer& o)
-  : m_xpr(o.m_xpr), m_row(o.m_row), m_col(o.m_col), m_currentBlockRows(o.m_currentBlockRows) {
-    // Mark original object as finished. In absence of R-value references we need to const_cast:
-    const_cast<CommaInitializer&>(o).m_row = m_xpr.rows();
-    const_cast<CommaInitializer&>(o).m_col = m_xpr.cols();
-    const_cast<CommaInitializer&>(o).m_currentBlockRows = 0;
-  }
-
-  /* inserts a scalar value in the target matrix */
-  EIGEN_DEVICE_FUNC
-  CommaInitializer& operator,(const Scalar& s)
-  {
-    if (m_col==m_xpr.cols())
-    {
-      m_row+=m_currentBlockRows;
-      m_col = 0;
-      m_currentBlockRows = 1;
-      eigen_assert(m_row<m_xpr.rows()
-        && "Too many rows passed to comma initializer (operator<<)");
-    }
-    eigen_assert(m_col<m_xpr.cols()
-      && "Too many coefficients passed to comma initializer (operator<<)");
-    eigen_assert(m_currentBlockRows==1);
-    m_xpr.coeffRef(m_row, m_col++) = s;
-    return *this;
-  }
-
-  /* inserts a matrix expression in the target matrix */
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC
-  CommaInitializer& operator,(const DenseBase<OtherDerived>& other)
-  {
-    if (m_col==m_xpr.cols() && (other.cols()!=0 || other.rows()!=m_currentBlockRows))
-    {
-      m_row+=m_currentBlockRows;
-      m_col = 0;
-      m_currentBlockRows = other.rows();
-      eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows()
-        && "Too many rows passed to comma initializer (operator<<)");
-    }
-    eigen_assert((m_col + other.cols() <= m_xpr.cols())
-      && "Too many coefficients passed to comma initializer (operator<<)");
-    eigen_assert(m_currentBlockRows==other.rows());
-    m_xpr.template block<OtherDerived::RowsAtCompileTime, OtherDerived::ColsAtCompileTime>
-                    (m_row, m_col, other.rows(), other.cols()) = other;
-    m_col += other.cols();
-    return *this;
-  }
-
-  EIGEN_DEVICE_FUNC
-  inline ~CommaInitializer()
-#if defined VERIFY_RAISES_ASSERT && (!defined EIGEN_NO_ASSERTION_CHECKING) && defined EIGEN_EXCEPTIONS
-  EIGEN_EXCEPTION_SPEC(Eigen::eigen_assert_exception)
-#endif
-  {
-      finished();
-  }
-
-  /** \returns the built matrix once all its coefficients have been set.
-    * Calling finished is 100% optional. Its purpose is to write expressions
-    * like this:
-    * \code
-    * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished());
-    * \endcode
-    */
-  EIGEN_DEVICE_FUNC
-  inline XprType& finished() {
-      eigen_assert(((m_row+m_currentBlockRows) == m_xpr.rows() || m_xpr.cols() == 0)
-           && m_col == m_xpr.cols()
-           && "Too few coefficients passed to comma initializer (operator<<)");
-      return m_xpr;
-  }
-
-  XprType& m_xpr;           // target expression
-  Index m_row;              // current row id
-  Index m_col;              // current col id
-  Index m_currentBlockRows; // current block height
-};
-
-/** \anchor MatrixBaseCommaInitRef
-  * Convenient operator to set the coefficients of a matrix.
-  *
-  * The coefficients must be provided in a row major order and exactly match
-  * the size of the matrix. Otherwise an assertion is raised.
-  *
-  * Example: \include MatrixBase_set.cpp
-  * Output: \verbinclude MatrixBase_set.out
-  * 
-  * \note According the c++ standard, the argument expressions of this comma initializer are evaluated in arbitrary order.
-  *
-  * \sa CommaInitializer::finished(), class CommaInitializer
-  */
-template<typename Derived>
-inline CommaInitializer<Derived> DenseBase<Derived>::operator<< (const Scalar& s)
-{
-  return CommaInitializer<Derived>(*static_cast<Derived*>(this), s);
-}
-
-/** \sa operator<<(const Scalar&) */
-template<typename Derived>
-template<typename OtherDerived>
-inline CommaInitializer<Derived>
-DenseBase<Derived>::operator<<(const DenseBase<OtherDerived>& other)
-{
-  return CommaInitializer<Derived>(*static_cast<Derived *>(this), other);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMMAINITIALIZER_H
diff --git a/phonelibs/eigen/Eigen/src/Core/ConditionEstimator.h b/phonelibs/eigen/Eigen/src/Core/ConditionEstimator.h
deleted file mode 100644
index aa7efdc7657e13..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/ConditionEstimator.h
+++ /dev/null
@@ -1,175 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Rasmus Munk Larsen (rmlarsen@google.com)
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CONDITIONESTIMATOR_H
-#define EIGEN_CONDITIONESTIMATOR_H
-
-namespace Eigen {
-
-namespace internal {
-
-template <typename Vector, typename RealVector, bool IsComplex>
-struct rcond_compute_sign {
-  static inline Vector run(const Vector& v) {
-    const RealVector v_abs = v.cwiseAbs();
-    return (v_abs.array() == static_cast<typename Vector::RealScalar>(0))
-            .select(Vector::Ones(v.size()), v.cwiseQuotient(v_abs));
-  }
-};
-
-// Partial specialization to avoid elementwise division for real vectors.
-template <typename Vector>
-struct rcond_compute_sign<Vector, Vector, false> {
-  static inline Vector run(const Vector& v) {
-    return (v.array() < static_cast<typename Vector::RealScalar>(0))
-           .select(-Vector::Ones(v.size()), Vector::Ones(v.size()));
-  }
-};
-
-/**
-  * \returns an estimate of ||inv(matrix)||_1 given a decomposition of
-  * \a matrix that implements .solve() and .adjoint().solve() methods.
-  *
-  * This function implements Algorithms 4.1 and 5.1 from
-  *   http://www.maths.manchester.ac.uk/~higham/narep/narep135.pdf
-  * which also forms the basis for the condition number estimators in
-  * LAPACK. Since at most 10 calls to the solve method of dec are
-  * performed, the total cost is O(dims^2), as opposed to O(dims^3)
-  * needed to compute the inverse matrix explicitly.
-  *
-  * The most common usage is in estimating the condition number
-  * ||matrix||_1 * ||inv(matrix)||_1. The first term ||matrix||_1 can be
-  * computed directly in O(n^2) operations.
-  *
-  * Supports the following decompositions: FullPivLU, PartialPivLU, LDLT, and
-  * LLT.
-  *
-  * \sa FullPivLU, PartialPivLU, LDLT, LLT.
-  */
-template <typename Decomposition>
-typename Decomposition::RealScalar rcond_invmatrix_L1_norm_estimate(const Decomposition& dec)
-{
-  typedef typename Decomposition::MatrixType MatrixType;
-  typedef typename Decomposition::Scalar Scalar;
-  typedef typename Decomposition::RealScalar RealScalar;
-  typedef typename internal::plain_col_type<MatrixType>::type Vector;
-  typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVector;
-  const bool is_complex = (NumTraits<Scalar>::IsComplex != 0);
-
-  eigen_assert(dec.rows() == dec.cols());
-  const Index n = dec.rows();
-  if (n == 0)
-    return 0;
-
-  // Disable Index to float conversion warning
-#ifdef __INTEL_COMPILER
-  #pragma warning push
-  #pragma warning ( disable : 2259 )
-#endif
-  Vector v = dec.solve(Vector::Ones(n) / Scalar(n));
-#ifdef __INTEL_COMPILER
-  #pragma warning pop
-#endif
-
-  // lower_bound is a lower bound on
-  //   ||inv(matrix)||_1  = sup_v ||inv(matrix) v||_1 / ||v||_1
-  // and is the objective maximized by the ("super-") gradient ascent
-  // algorithm below.
-  RealScalar lower_bound = v.template lpNorm<1>();
-  if (n == 1)
-    return lower_bound;
-
-  // Gradient ascent algorithm follows: We know that the optimum is achieved at
-  // one of the simplices v = e_i, so in each iteration we follow a
-  // super-gradient to move towards the optimal one.
-  RealScalar old_lower_bound = lower_bound;
-  Vector sign_vector(n);
-  Vector old_sign_vector;
-  Index v_max_abs_index = -1;
-  Index old_v_max_abs_index = v_max_abs_index;
-  for (int k = 0; k < 4; ++k)
-  {
-    sign_vector = internal::rcond_compute_sign<Vector, RealVector, is_complex>::run(v);
-    if (k > 0 && !is_complex && sign_vector == old_sign_vector) {
-      // Break if the solution stagnated.
-      break;
-    }
-    // v_max_abs_index = argmax |real( inv(matrix)^T * sign_vector )|
-    v = dec.adjoint().solve(sign_vector);
-    v.real().cwiseAbs().maxCoeff(&v_max_abs_index);
-    if (v_max_abs_index == old_v_max_abs_index) {
-      // Break if the solution stagnated.
-      break;
-    }
-    // Move to the new simplex e_j, where j = v_max_abs_index.
-    v = dec.solve(Vector::Unit(n, v_max_abs_index));  // v = inv(matrix) * e_j.
-    lower_bound = v.template lpNorm<1>();
-    if (lower_bound <= old_lower_bound) {
-      // Break if the gradient step did not increase the lower_bound.
-      break;
-    }
-    if (!is_complex) {
-      old_sign_vector = sign_vector;
-    }
-    old_v_max_abs_index = v_max_abs_index;
-    old_lower_bound = lower_bound;
-  }
-  // The following calculates an independent estimate of ||matrix||_1 by
-  // multiplying matrix by a vector with entries of slowly increasing
-  // magnitude and alternating sign:
-  //   v_i = (-1)^{i} (1 + (i / (dim-1))), i = 0,...,dim-1.
-  // This improvement to Hager's algorithm above is due to Higham. It was
-  // added to make the algorithm more robust in certain corner cases where
-  // large elements in the matrix might otherwise escape detection due to
-  // exact cancellation (especially when op and op_adjoint correspond to a
-  // sequence of backsubstitutions and permutations), which could cause
-  // Hager's algorithm to vastly underestimate ||matrix||_1.
-  Scalar alternating_sign(RealScalar(1));
-  for (Index i = 0; i < n; ++i) {
-    // The static_cast is needed when Scalar is a complex and RealScalar implements expression templates
-    v[i] = alternating_sign * static_cast<RealScalar>(RealScalar(1) + (RealScalar(i) / (RealScalar(n - 1))));
-    alternating_sign = -alternating_sign;
-  }
-  v = dec.solve(v);
-  const RealScalar alternate_lower_bound = (2 * v.template lpNorm<1>()) / (3 * RealScalar(n));
-  return numext::maxi(lower_bound, alternate_lower_bound);
-}
-
-/** \brief Reciprocal condition number estimator.
-  *
-  * Computing a decomposition of a dense matrix takes O(n^3) operations, while
-  * this method estimates the condition number quickly and reliably in O(n^2)
-  * operations.
-  *
-  * \returns an estimate of the reciprocal condition number
-  * (1 / (||matrix||_1 * ||inv(matrix)||_1)) of matrix, given ||matrix||_1 and
-  * its decomposition. Supports the following decompositions: FullPivLU,
-  * PartialPivLU, LDLT, and LLT.
-  *
-  * \sa FullPivLU, PartialPivLU, LDLT, LLT.
-  */
-template <typename Decomposition>
-typename Decomposition::RealScalar
-rcond_estimate_helper(typename Decomposition::RealScalar matrix_norm, const Decomposition& dec)
-{
-  typedef typename Decomposition::RealScalar RealScalar;
-  eigen_assert(dec.rows() == dec.cols());
-  if (dec.rows() == 0)              return RealScalar(1);
-  if (matrix_norm == RealScalar(0)) return RealScalar(0);
-  if (dec.rows() == 1)              return RealScalar(1);
-  const RealScalar inverse_matrix_norm = rcond_invmatrix_L1_norm_estimate(dec);
-  return (inverse_matrix_norm == RealScalar(0) ? RealScalar(0)
-                                               : (RealScalar(1) / inverse_matrix_norm) / matrix_norm);
-}
-
-}  // namespace internal
-
-}  // namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/Core/CoreEvaluators.h b/phonelibs/eigen/Eigen/src/Core/CoreEvaluators.h
deleted file mode 100644
index f7c1effca7edc7..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/CoreEvaluators.h
+++ /dev/null
@@ -1,1671 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2011-2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#ifndef EIGEN_COREEVALUATORS_H
-#define EIGEN_COREEVALUATORS_H
-
-namespace Eigen {
-  
-namespace internal {
-
-// This class returns the evaluator kind from the expression storage kind.
-// Default assumes index based accessors
-template<typename StorageKind>
-struct storage_kind_to_evaluator_kind {
-  typedef IndexBased Kind;
-};
-
-// This class returns the evaluator shape from the expression storage kind.
-// It can be Dense, Sparse, Triangular, Diagonal, SelfAdjoint, Band, etc.
-template<typename StorageKind> struct storage_kind_to_shape;
-
-template<> struct storage_kind_to_shape<Dense>                  { typedef DenseShape Shape;           };
-template<> struct storage_kind_to_shape<SolverStorage>          { typedef SolverShape Shape;           };
-template<> struct storage_kind_to_shape<PermutationStorage>     { typedef PermutationShape Shape;     };
-template<> struct storage_kind_to_shape<TranspositionsStorage>  { typedef TranspositionsShape Shape;  };
-
-// Evaluators have to be specialized with respect to various criteria such as:
-//  - storage/structure/shape
-//  - scalar type
-//  - etc.
-// Therefore, we need specialization of evaluator providing additional template arguments for each kind of evaluators.
-// We currently distinguish the following kind of evaluators:
-// - unary_evaluator    for expressions taking only one arguments (CwiseUnaryOp, CwiseUnaryView, Transpose, MatrixWrapper, ArrayWrapper, Reverse, Replicate)
-// - binary_evaluator   for expression taking two arguments (CwiseBinaryOp)
-// - ternary_evaluator   for expression taking three arguments (CwiseTernaryOp)
-// - product_evaluator  for linear algebra products (Product); special case of binary_evaluator because it requires additional tags for dispatching.
-// - mapbase_evaluator  for Map, Block, Ref
-// - block_evaluator    for Block (special dispatching to a mapbase_evaluator or unary_evaluator)
-
-template< typename T,
-          typename Arg1Kind   = typename evaluator_traits<typename T::Arg1>::Kind,
-          typename Arg2Kind   = typename evaluator_traits<typename T::Arg2>::Kind,
-          typename Arg3Kind   = typename evaluator_traits<typename T::Arg3>::Kind,
-          typename Arg1Scalar = typename traits<typename T::Arg1>::Scalar,
-          typename Arg2Scalar = typename traits<typename T::Arg2>::Scalar,
-          typename Arg3Scalar = typename traits<typename T::Arg3>::Scalar> struct ternary_evaluator;
-
-template< typename T,
-          typename LhsKind   = typename evaluator_traits<typename T::Lhs>::Kind,
-          typename RhsKind   = typename evaluator_traits<typename T::Rhs>::Kind,
-          typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
-          typename RhsScalar = typename traits<typename T::Rhs>::Scalar> struct binary_evaluator;
-
-template< typename T,
-          typename Kind   = typename evaluator_traits<typename T::NestedExpression>::Kind,
-          typename Scalar = typename T::Scalar> struct unary_evaluator;
-          
-// evaluator_traits<T> contains traits for evaluator<T> 
-
-template<typename T>
-struct evaluator_traits_base
-{
-  // by default, get evaluator kind and shape from storage
-  typedef typename storage_kind_to_evaluator_kind<typename traits<T>::StorageKind>::Kind Kind;
-  typedef typename storage_kind_to_shape<typename traits<T>::StorageKind>::Shape Shape;
-};
-
-// Default evaluator traits
-template<typename T>
-struct evaluator_traits : public evaluator_traits_base<T>
-{
-};
-
-template<typename T, typename Shape = typename evaluator_traits<T>::Shape >
-struct evaluator_assume_aliasing {
-  static const bool value = false;
-};
-
-// By default, we assume a unary expression:
-template<typename T>
-struct evaluator : public unary_evaluator<T>
-{
-  typedef unary_evaluator<T> Base;
-  EIGEN_DEVICE_FUNC explicit evaluator(const T& xpr) : Base(xpr) {}
-};
-
-
-// TODO: Think about const-correctness
-template<typename T>
-struct evaluator<const T>
-  : evaluator<T>
-{
-  EIGEN_DEVICE_FUNC
-  explicit evaluator(const T& xpr) : evaluator<T>(xpr) {}
-};
-
-// ---------- base class for all evaluators ----------
-
-template<typename ExpressionType>
-struct evaluator_base : public noncopyable
-{
-  // TODO that's not very nice to have to propagate all these traits. They are currently only needed to handle outer,inner indices.
-  typedef traits<ExpressionType> ExpressionTraits;
-  
-  enum {
-    Alignment = 0
-  };
-};
-
-// -------------------- Matrix and Array --------------------
-//
-// evaluator<PlainObjectBase> is a common base class for the
-// Matrix and Array evaluators.
-// Here we directly specialize evaluator. This is not really a unary expression, and it is, by definition, dense,
-// so no need for more sophisticated dispatching.
-
-template<typename Derived>
-struct evaluator<PlainObjectBase<Derived> >
-  : evaluator_base<Derived>
-{
-  typedef PlainObjectBase<Derived> PlainObjectType;
-  typedef typename PlainObjectType::Scalar Scalar;
-  typedef typename PlainObjectType::CoeffReturnType CoeffReturnType;
-
-  enum {
-    IsRowMajor = PlainObjectType::IsRowMajor,
-    IsVectorAtCompileTime = PlainObjectType::IsVectorAtCompileTime,
-    RowsAtCompileTime = PlainObjectType::RowsAtCompileTime,
-    ColsAtCompileTime = PlainObjectType::ColsAtCompileTime,
-    
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    Flags = traits<Derived>::EvaluatorFlags,
-    Alignment = traits<Derived>::Alignment
-  };
-  
-  EIGEN_DEVICE_FUNC evaluator()
-    : m_data(0),
-      m_outerStride(IsVectorAtCompileTime  ? 0 
-                                           : int(IsRowMajor) ? ColsAtCompileTime 
-                                           : RowsAtCompileTime)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const PlainObjectType& m)
-    : m_data(m.data()), m_outerStride(IsVectorAtCompileTime ? 0 : m.outerStride()) 
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    if (IsRowMajor)
-      return m_data[row * m_outerStride.value() + col];
-    else
-      return m_data[row + col * m_outerStride.value()];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_data[index];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index row, Index col)
-  {
-    if (IsRowMajor)
-      return const_cast<Scalar*>(m_data)[row * m_outerStride.value() + col];
-    else
-      return const_cast<Scalar*>(m_data)[row + col * m_outerStride.value()];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index index)
-  {
-    return const_cast<Scalar*>(m_data)[index];
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    if (IsRowMajor)
-      return ploadt<PacketType, LoadMode>(m_data + row * m_outerStride.value() + col);
-    else
-      return ploadt<PacketType, LoadMode>(m_data + row + col * m_outerStride.value());
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    return ploadt<PacketType, LoadMode>(m_data + index);
-  }
-
-  template<int StoreMode,typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index row, Index col, const PacketType& x)
-  {
-    if (IsRowMajor)
-      return pstoret<Scalar, PacketType, StoreMode>
-	            (const_cast<Scalar*>(m_data) + row * m_outerStride.value() + col, x);
-    else
-      return pstoret<Scalar, PacketType, StoreMode>
-                    (const_cast<Scalar*>(m_data) + row + col * m_outerStride.value(), x);
-  }
-
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketType& x)
-  {
-    return pstoret<Scalar, PacketType, StoreMode>(const_cast<Scalar*>(m_data) + index, x);
-  }
-
-protected:
-  const Scalar *m_data;
-
-  // We do not need to know the outer stride for vectors
-  variable_if_dynamic<Index, IsVectorAtCompileTime  ? 0 
-                                                    : int(IsRowMajor) ? ColsAtCompileTime 
-                                                    : RowsAtCompileTime> m_outerStride;
-};
-
-template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-struct evaluator<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
-  : evaluator<PlainObjectBase<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
-{
-  typedef Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
-  
-  EIGEN_DEVICE_FUNC evaluator() {}
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
-    : evaluator<PlainObjectBase<XprType> >(m) 
-  { }
-};
-
-template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-struct evaluator<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
-  : evaluator<PlainObjectBase<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
-{
-  typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
-
-  EIGEN_DEVICE_FUNC evaluator() {}
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
-    : evaluator<PlainObjectBase<XprType> >(m) 
-  { }
-};
-
-// -------------------- Transpose --------------------
-
-template<typename ArgType>
-struct unary_evaluator<Transpose<ArgType>, IndexBased>
-  : evaluator_base<Transpose<ArgType> >
-{
-  typedef Transpose<ArgType> XprType;
-  
-  enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,    
-    Flags = evaluator<ArgType>::Flags ^ RowMajorBit,
-    Alignment = evaluator<ArgType>::Alignment
-  };
-
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& t) : m_argImpl(t.nestedExpression()) {}
-
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    return m_argImpl.coeff(col, row);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_argImpl.coeff(index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index row, Index col)
-  {
-    return m_argImpl.coeffRef(col, row);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  typename XprType::Scalar& coeffRef(Index index)
-  {
-    return m_argImpl.coeffRef(index);
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    return m_argImpl.template packet<LoadMode,PacketType>(col, row);
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    return m_argImpl.template packet<LoadMode,PacketType>(index);
-  }
-
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index row, Index col, const PacketType& x)
-  {
-    m_argImpl.template writePacket<StoreMode,PacketType>(col, row, x);
-  }
-
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketType& x)
-  {
-    m_argImpl.template writePacket<StoreMode,PacketType>(index, x);
-  }
-
-protected:
-  evaluator<ArgType> m_argImpl;
-};
-
-// -------------------- CwiseNullaryOp --------------------
-// Like Matrix and Array, this is not really a unary expression, so we directly specialize evaluator.
-// Likewise, there is not need to more sophisticated dispatching here.
-
-template<typename Scalar,typename NullaryOp,
-         bool has_nullary = has_nullary_operator<NullaryOp>::value,
-         bool has_unary   = has_unary_operator<NullaryOp>::value,
-         bool has_binary  = has_binary_operator<NullaryOp>::value>
-struct nullary_wrapper
-{
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { return op(i,j); }
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); }
-
-  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { return op.template packetOp<T>(i,j); }
-  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp<T>(i); }
-};
-
-template<typename Scalar,typename NullaryOp>
-struct nullary_wrapper<Scalar,NullaryOp,true,false,false>
-{
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType=0, IndexType=0) const { return op(); }
-  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType=0, IndexType=0) const { return op.template packetOp<T>(); }
-};
-
-template<typename Scalar,typename NullaryOp>
-struct nullary_wrapper<Scalar,NullaryOp,false,false,true>
-{
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j=0) const { return op(i,j); }
-  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j=0) const { return op.template packetOp<T>(i,j); }
-};
-
-// We need the following specialization for vector-only functors assigned to a runtime vector,
-// for instance, using linspace and assigning a RowVectorXd to a MatrixXd or even a row of a MatrixXd.
-// In this case, i==0 and j is used for the actual iteration.
-template<typename Scalar,typename NullaryOp>
-struct nullary_wrapper<Scalar,NullaryOp,false,true,false>
-{
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const {
-    eigen_assert(i==0 || j==0);
-    return op(i+j);
-  }
-  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const {
-    eigen_assert(i==0 || j==0);
-    return op.template packetOp<T>(i+j);
-  }
-
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); }
-  template <typename T, typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp<T>(i); }
-};
-
-template<typename Scalar,typename NullaryOp>
-struct nullary_wrapper<Scalar,NullaryOp,false,false,false> {};
-
-#if 0 && EIGEN_COMP_MSVC>0
-// Disable this ugly workaround. This is now handled in traits<Ref>::match,
-// but this piece of code might still become handly if some other weird compilation
-// erros pop up again.
-
-// MSVC exhibits a weird compilation error when
-// compiling:
-//    Eigen::MatrixXf A = MatrixXf::Random(3,3);
-//    Ref<const MatrixXf> R = 2.f*A;
-// and that has_*ary_operator<scalar_constant_op<float>> have not been instantiated yet.
-// The "problem" is that evaluator<2.f*A> is instantiated by traits<Ref>::match<2.f*A>
-// and at that time has_*ary_operator<T> returns true regardless of T.
-// Then nullary_wrapper is badly instantiated as nullary_wrapper<.,.,true,true,true>.
-// The trick is thus to defer the proper instantiation of nullary_wrapper when coeff(),
-// and packet() are really instantiated as implemented below:
-
-// This is a simple wrapper around Index to enforce the re-instantiation of
-// has_*ary_operator when needed.
-template<typename T> struct nullary_wrapper_workaround_msvc {
-  nullary_wrapper_workaround_msvc(const T&);
-  operator T()const;
-};
-
-template<typename Scalar,typename NullaryOp>
-struct nullary_wrapper<Scalar,NullaryOp,true,true,true>
-{
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const {
-    return nullary_wrapper<Scalar,NullaryOp,
-    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
-    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
-    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().operator()(op,i,j);
-  }
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const {
-    return nullary_wrapper<Scalar,NullaryOp,
-    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
-    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
-    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().operator()(op,i);
-  }
-
-  template <typename T, typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const {
-    return nullary_wrapper<Scalar,NullaryOp,
-    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
-    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
-    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().template packetOp<T>(op,i,j);
-  }
-  template <typename T, typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const {
-    return nullary_wrapper<Scalar,NullaryOp,
-    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
-    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
-    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().template packetOp<T>(op,i);
-  }
-};
-#endif // MSVC workaround
-
-template<typename NullaryOp, typename PlainObjectType>
-struct evaluator<CwiseNullaryOp<NullaryOp,PlainObjectType> >
-  : evaluator_base<CwiseNullaryOp<NullaryOp,PlainObjectType> >
-{
-  typedef CwiseNullaryOp<NullaryOp,PlainObjectType> XprType;
-  typedef typename internal::remove_all<PlainObjectType>::type PlainObjectTypeCleaned;
-  
-  enum {
-    CoeffReadCost = internal::functor_traits<NullaryOp>::Cost,
-    
-    Flags = (evaluator<PlainObjectTypeCleaned>::Flags
-          &  (  HereditaryBits
-              | (functor_has_linear_access<NullaryOp>::ret  ? LinearAccessBit : 0)
-              | (functor_traits<NullaryOp>::PacketAccess    ? PacketAccessBit : 0)))
-          | (functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
-    Alignment = AlignedMax
-  };
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& n)
-    : m_functor(n.functor()), m_wrapper()
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(IndexType row, IndexType col) const
-  {
-    return m_wrapper(m_functor, row, col);
-  }
-
-  template <typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(IndexType index) const
-  {
-    return m_wrapper(m_functor,index);
-  }
-
-  template<int LoadMode, typename PacketType, typename IndexType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(IndexType row, IndexType col) const
-  {
-    return m_wrapper.template packetOp<PacketType>(m_functor, row, col);
-  }
-
-  template<int LoadMode, typename PacketType, typename IndexType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(IndexType index) const
-  {
-    return m_wrapper.template packetOp<PacketType>(m_functor, index);
-  }
-
-protected:
-  const NullaryOp m_functor;
-  const internal::nullary_wrapper<CoeffReturnType,NullaryOp> m_wrapper;
-};
-
-// -------------------- CwiseUnaryOp --------------------
-
-template<typename UnaryOp, typename ArgType>
-struct unary_evaluator<CwiseUnaryOp<UnaryOp, ArgType>, IndexBased >
-  : evaluator_base<CwiseUnaryOp<UnaryOp, ArgType> >
-{
-  typedef CwiseUnaryOp<UnaryOp, ArgType> XprType;
-  
-  enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
-    
-    Flags = evaluator<ArgType>::Flags
-          & (HereditaryBits | LinearAccessBit | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
-    Alignment = evaluator<ArgType>::Alignment
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  explicit unary_evaluator(const XprType& op)
-    : m_functor(op.functor()), 
-      m_argImpl(op.nestedExpression()) 
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    return m_functor(m_argImpl.coeff(row, col));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_functor(m_argImpl.coeff(index));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(row, col));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(index));
-  }
-
-protected:
-  const UnaryOp m_functor;
-  evaluator<ArgType> m_argImpl;
-};
-
-// -------------------- CwiseTernaryOp --------------------
-
-// this is a ternary expression
-template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
-struct evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
-  : public ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
-{
-  typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
-  typedef ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
-};
-
-template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
-struct ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3>, IndexBased, IndexBased>
-  : evaluator_base<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
-{
-  typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
-  
-  enum {
-    CoeffReadCost = evaluator<Arg1>::CoeffReadCost + evaluator<Arg2>::CoeffReadCost + evaluator<Arg3>::CoeffReadCost + functor_traits<TernaryOp>::Cost,
-    
-    Arg1Flags = evaluator<Arg1>::Flags,
-    Arg2Flags = evaluator<Arg2>::Flags,
-    Arg3Flags = evaluator<Arg3>::Flags,
-    SameType = is_same<typename Arg1::Scalar,typename Arg2::Scalar>::value && is_same<typename Arg1::Scalar,typename Arg3::Scalar>::value,
-    StorageOrdersAgree = (int(Arg1Flags)&RowMajorBit)==(int(Arg2Flags)&RowMajorBit) && (int(Arg1Flags)&RowMajorBit)==(int(Arg3Flags)&RowMajorBit),
-    Flags0 = (int(Arg1Flags) | int(Arg2Flags) | int(Arg3Flags)) & (
-        HereditaryBits
-        | (int(Arg1Flags) & int(Arg2Flags) & int(Arg3Flags) &
-           ( (StorageOrdersAgree ? LinearAccessBit : 0)
-           | (functor_traits<TernaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
-           )
-        )
-     ),
-    Flags = (Flags0 & ~RowMajorBit) | (Arg1Flags & RowMajorBit),
-    Alignment = EIGEN_PLAIN_ENUM_MIN(
-        EIGEN_PLAIN_ENUM_MIN(evaluator<Arg1>::Alignment, evaluator<Arg2>::Alignment),
-        evaluator<Arg3>::Alignment)
-  };
-
-  EIGEN_DEVICE_FUNC explicit ternary_evaluator(const XprType& xpr)
-    : m_functor(xpr.functor()),
-      m_arg1Impl(xpr.arg1()), 
-      m_arg2Impl(xpr.arg2()), 
-      m_arg3Impl(xpr.arg3())  
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<TernaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    return m_functor(m_arg1Impl.coeff(row, col), m_arg2Impl.coeff(row, col), m_arg3Impl.coeff(row, col));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_functor(m_arg1Impl.coeff(index), m_arg2Impl.coeff(index), m_arg3Impl.coeff(index));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    return m_functor.packetOp(m_arg1Impl.template packet<LoadMode,PacketType>(row, col),
-                              m_arg2Impl.template packet<LoadMode,PacketType>(row, col),
-                              m_arg3Impl.template packet<LoadMode,PacketType>(row, col));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    return m_functor.packetOp(m_arg1Impl.template packet<LoadMode,PacketType>(index),
-                              m_arg2Impl.template packet<LoadMode,PacketType>(index),
-                              m_arg3Impl.template packet<LoadMode,PacketType>(index));
-  }
-
-protected:
-  const TernaryOp m_functor;
-  evaluator<Arg1> m_arg1Impl;
-  evaluator<Arg2> m_arg2Impl;
-  evaluator<Arg3> m_arg3Impl;
-};
-
-// -------------------- CwiseBinaryOp --------------------
-
-// this is a binary expression
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-  : public binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
-  typedef binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> > Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
-};
-
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IndexBased>
-  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
-  
-  enum {
-    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
-    
-    LhsFlags = evaluator<Lhs>::Flags,
-    RhsFlags = evaluator<Rhs>::Flags,
-    SameType = is_same<typename Lhs::Scalar,typename Rhs::Scalar>::value,
-    StorageOrdersAgree = (int(LhsFlags)&RowMajorBit)==(int(RhsFlags)&RowMajorBit),
-    Flags0 = (int(LhsFlags) | int(RhsFlags)) & (
-        HereditaryBits
-      | (int(LhsFlags) & int(RhsFlags) &
-           ( (StorageOrdersAgree ? LinearAccessBit : 0)
-           | (functor_traits<BinaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
-           )
-        )
-     ),
-    Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit),
-    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<Lhs>::Alignment,evaluator<Rhs>::Alignment)
-  };
-
-  EIGEN_DEVICE_FUNC explicit binary_evaluator(const XprType& xpr)
-    : m_functor(xpr.functor()),
-      m_lhsImpl(xpr.lhs()), 
-      m_rhsImpl(xpr.rhs())  
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    return m_functor(m_lhsImpl.coeff(row, col), m_rhsImpl.coeff(row, col));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_functor(m_lhsImpl.coeff(index), m_rhsImpl.coeff(index));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(row, col),
-                              m_rhsImpl.template packet<LoadMode,PacketType>(row, col));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(index),
-                              m_rhsImpl.template packet<LoadMode,PacketType>(index));
-  }
-
-protected:
-  const BinaryOp m_functor;
-  evaluator<Lhs> m_lhsImpl;
-  evaluator<Rhs> m_rhsImpl;
-};
-
-// -------------------- CwiseUnaryView --------------------
-
-template<typename UnaryOp, typename ArgType>
-struct unary_evaluator<CwiseUnaryView<UnaryOp, ArgType>, IndexBased>
-  : evaluator_base<CwiseUnaryView<UnaryOp, ArgType> >
-{
-  typedef CwiseUnaryView<UnaryOp, ArgType> XprType;
-  
-  enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
-    
-    Flags = (evaluator<ArgType>::Flags & (HereditaryBits | LinearAccessBit | DirectAccessBit)),
-    
-    Alignment = 0 // FIXME it is not very clear why alignment is necessarily lost...
-  };
-
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op)
-    : m_unaryOp(op.functor()), 
-      m_argImpl(op.nestedExpression()) 
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    return m_unaryOp(m_argImpl.coeff(row, col));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_unaryOp(m_argImpl.coeff(index));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index row, Index col)
-  {
-    return m_unaryOp(m_argImpl.coeffRef(row, col));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index index)
-  {
-    return m_unaryOp(m_argImpl.coeffRef(index));
-  }
-
-protected:
-  const UnaryOp m_unaryOp;
-  evaluator<ArgType> m_argImpl;
-};
-
-// -------------------- Map --------------------
-
-// FIXME perhaps the PlainObjectType could be provided by Derived::PlainObject ?
-// but that might complicate template specialization
-template<typename Derived, typename PlainObjectType>
-struct mapbase_evaluator;
-
-template<typename Derived, typename PlainObjectType>
-struct mapbase_evaluator : evaluator_base<Derived>
-{
-  typedef Derived  XprType;
-  typedef typename XprType::PointerType PointerType;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  
-  enum {
-    IsRowMajor = XprType::RowsAtCompileTime,
-    ColsAtCompileTime = XprType::ColsAtCompileTime,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost
-  };
-
-  EIGEN_DEVICE_FUNC explicit mapbase_evaluator(const XprType& map)
-    : m_data(const_cast<PointerType>(map.data())),
-      m_innerStride(map.innerStride()),
-      m_outerStride(map.outerStride())
-  {
-    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(evaluator<Derived>::Flags&PacketAccessBit, internal::inner_stride_at_compile_time<Derived>::ret==1),
-                        PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    return m_data[col * colStride() + row * rowStride()];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_data[index * m_innerStride.value()];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index row, Index col)
-  {
-    return m_data[col * colStride() + row * rowStride()];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index index)
-  {
-    return m_data[index * m_innerStride.value()];
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    PointerType ptr = m_data + row * rowStride() + col * colStride();
-    return internal::ploadt<PacketType, LoadMode>(ptr);
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    return internal::ploadt<PacketType, LoadMode>(m_data + index * m_innerStride.value());
-  }
-
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index row, Index col, const PacketType& x)
-  {
-    PointerType ptr = m_data + row * rowStride() + col * colStride();
-    return internal::pstoret<Scalar, PacketType, StoreMode>(ptr, x);
-  }
-
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketType& x)
-  {
-    internal::pstoret<Scalar, PacketType, StoreMode>(m_data + index * m_innerStride.value(), x);
-  }
-protected:
-  EIGEN_DEVICE_FUNC
-  inline Index rowStride() const { return XprType::IsRowMajor ? m_outerStride.value() : m_innerStride.value(); }
-  EIGEN_DEVICE_FUNC
-  inline Index colStride() const { return XprType::IsRowMajor ? m_innerStride.value() : m_outerStride.value(); }
-
-  PointerType m_data;
-  const internal::variable_if_dynamic<Index, XprType::InnerStrideAtCompileTime> m_innerStride;
-  const internal::variable_if_dynamic<Index, XprType::OuterStrideAtCompileTime> m_outerStride;
-};
-
-template<typename PlainObjectType, int MapOptions, typename StrideType> 
-struct evaluator<Map<PlainObjectType, MapOptions, StrideType> >
-  : public mapbase_evaluator<Map<PlainObjectType, MapOptions, StrideType>, PlainObjectType>
-{
-  typedef Map<PlainObjectType, MapOptions, StrideType> XprType;
-  typedef typename XprType::Scalar Scalar;
-  // TODO: should check for smaller packet types once we can handle multi-sized packet types
-  typedef typename packet_traits<Scalar>::type PacketScalar;
-  
-  enum {
-    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
-                             ? int(PlainObjectType::InnerStrideAtCompileTime)
-                             : int(StrideType::InnerStrideAtCompileTime),
-    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
-                             ? int(PlainObjectType::OuterStrideAtCompileTime)
-                             : int(StrideType::OuterStrideAtCompileTime),
-    HasNoInnerStride = InnerStrideAtCompileTime == 1,
-    HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
-    HasNoStride = HasNoInnerStride && HasNoOuterStride,
-    IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
-    
-    PacketAccessMask = bool(HasNoInnerStride) ? ~int(0) : ~int(PacketAccessBit),
-    LinearAccessMask = bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime) ? ~int(0) : ~int(LinearAccessBit),
-    Flags = int( evaluator<PlainObjectType>::Flags) & (LinearAccessMask&PacketAccessMask),
-    
-    Alignment = int(MapOptions)&int(AlignedMask)
-  };
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& map)
-    : mapbase_evaluator<XprType, PlainObjectType>(map) 
-  { }
-};
-
-// -------------------- Ref --------------------
-
-template<typename PlainObjectType, int RefOptions, typename StrideType> 
-struct evaluator<Ref<PlainObjectType, RefOptions, StrideType> >
-  : public mapbase_evaluator<Ref<PlainObjectType, RefOptions, StrideType>, PlainObjectType>
-{
-  typedef Ref<PlainObjectType, RefOptions, StrideType> XprType;
-  
-  enum {
-    Flags = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Flags,
-    Alignment = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Alignment
-  };
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& ref)
-    : mapbase_evaluator<XprType, PlainObjectType>(ref) 
-  { }
-};
-
-// -------------------- Block --------------------
-
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel,
-         bool HasDirectAccess = internal::has_direct_access<ArgType>::ret> struct block_evaluator;
-         
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel> 
-struct evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
-  : block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel>
-{
-  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
-  typedef typename XprType::Scalar Scalar;
-  // TODO: should check for smaller packet types once we can handle multi-sized packet types
-  typedef typename packet_traits<Scalar>::type PacketScalar;
-  
-  enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-    
-    RowsAtCompileTime = traits<XprType>::RowsAtCompileTime,
-    ColsAtCompileTime = traits<XprType>::ColsAtCompileTime,
-    MaxRowsAtCompileTime = traits<XprType>::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = traits<XprType>::MaxColsAtCompileTime,
-    
-    ArgTypeIsRowMajor = (int(evaluator<ArgType>::Flags)&RowMajorBit) != 0,
-    IsRowMajor = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? 1
-               : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
-               : ArgTypeIsRowMajor,
-    HasSameStorageOrderAsArgType = (IsRowMajor == ArgTypeIsRowMajor),
-    InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
-    InnerStrideAtCompileTime = HasSameStorageOrderAsArgType
-                             ? int(inner_stride_at_compile_time<ArgType>::ret)
-                             : int(outer_stride_at_compile_time<ArgType>::ret),
-    OuterStrideAtCompileTime = HasSameStorageOrderAsArgType
-                             ? int(outer_stride_at_compile_time<ArgType>::ret)
-                             : int(inner_stride_at_compile_time<ArgType>::ret),
-    MaskPacketAccessBit = (InnerStrideAtCompileTime == 1) ? PacketAccessBit : 0,
-    
-    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (evaluator<ArgType>::Flags&LinearAccessBit))) ? LinearAccessBit : 0,    
-    FlagsRowMajorBit = XprType::Flags&RowMajorBit,
-    Flags0 = evaluator<ArgType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
-                                           DirectAccessBit |
-                                           MaskPacketAccessBit),
-    Flags = Flags0 | FlagsLinearAccessBit | FlagsRowMajorBit,
-    
-    PacketAlignment = unpacket_traits<PacketScalar>::alignment,
-    Alignment0 = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % int(PacketAlignment)) == 0)) ? int(PacketAlignment) : 0,
-    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ArgType>::Alignment, Alignment0)
-  };
-  typedef block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel> block_evaluator_type;
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& block) : block_evaluator_type(block)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-};
-
-// no direct-access => dispatch to a unary evaluator
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
-struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /*HasDirectAccess*/ false>
-  : unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
-{
-  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
-
-  EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
-    : unary_evaluator<XprType>(block) 
-  {}
-};
-
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
-struct unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>, IndexBased>
-  : evaluator_base<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
-{
-  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
-
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& block)
-    : m_argImpl(block.nestedExpression()), 
-      m_startRow(block.startRow()), 
-      m_startCol(block.startCol()) 
-  { }
- 
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  enum {
-    RowsAtCompileTime = XprType::RowsAtCompileTime
-  };
- 
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  { 
-    return m_argImpl.coeff(m_startRow.value() + row, m_startCol.value() + col); 
-  }
-  
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  { 
-    return coeff(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index row, Index col)
-  { 
-    return m_argImpl.coeffRef(m_startRow.value() + row, m_startCol.value() + col); 
-  }
-  
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index index)
-  { 
-    return coeffRef(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
-  }
- 
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const 
-  { 
-    return m_argImpl.template packet<LoadMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col); 
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const 
-  { 
-    return packet<LoadMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
-                                       RowsAtCompileTime == 1 ? index : 0);
-  }
-  
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index row, Index col, const PacketType& x) 
-  {
-    return m_argImpl.template writePacket<StoreMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col, x); 
-  }
-  
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketType& x) 
-  {
-    return writePacket<StoreMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
-                                             RowsAtCompileTime == 1 ? index : 0,
-                                             x);
-  }
- 
-protected:
-  evaluator<ArgType> m_argImpl;
-  const variable_if_dynamic<Index, (ArgType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
-  const variable_if_dynamic<Index, (ArgType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
-};
-
-// TODO: This evaluator does not actually use the child evaluator; 
-// all action is via the data() as returned by the Block expression.
-
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel> 
-struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /* HasDirectAccess */ true>
-  : mapbase_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>,
-                      typename Block<ArgType, BlockRows, BlockCols, InnerPanel>::PlainObject>
-{
-  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
-  typedef typename XprType::Scalar Scalar;
-
-  EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
-    : mapbase_evaluator<XprType, typename XprType::PlainObject>(block) 
-  {
-    // TODO: for the 3.3 release, this should be turned to an internal assertion, but let's keep it as is for the beta lifetime
-    eigen_assert(((internal::UIntPtr(block.data()) % EIGEN_PLAIN_ENUM_MAX(1,evaluator<XprType>::Alignment)) == 0) && "data is not aligned");
-  }
-};
-
-
-// -------------------- Select --------------------
-// NOTE shall we introduce a ternary_evaluator?
-
-// TODO enable vectorization for Select
-template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
-struct evaluator<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
-  : evaluator_base<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
-{
-  typedef Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> XprType;
-  enum {
-    CoeffReadCost = evaluator<ConditionMatrixType>::CoeffReadCost
-                  + EIGEN_PLAIN_ENUM_MAX(evaluator<ThenMatrixType>::CoeffReadCost,
-                                         evaluator<ElseMatrixType>::CoeffReadCost),
-
-    Flags = (unsigned int)evaluator<ThenMatrixType>::Flags & evaluator<ElseMatrixType>::Flags & HereditaryBits,
-    
-    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ThenMatrixType>::Alignment, evaluator<ElseMatrixType>::Alignment)
-  };
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& select)
-    : m_conditionImpl(select.conditionMatrix()),
-      m_thenImpl(select.thenMatrix()),
-      m_elseImpl(select.elseMatrix())
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
- 
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    if (m_conditionImpl.coeff(row, col))
-      return m_thenImpl.coeff(row, col);
-    else
-      return m_elseImpl.coeff(row, col);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    if (m_conditionImpl.coeff(index))
-      return m_thenImpl.coeff(index);
-    else
-      return m_elseImpl.coeff(index);
-  }
- 
-protected:
-  evaluator<ConditionMatrixType> m_conditionImpl;
-  evaluator<ThenMatrixType> m_thenImpl;
-  evaluator<ElseMatrixType> m_elseImpl;
-};
-
-
-// -------------------- Replicate --------------------
-
-template<typename ArgType, int RowFactor, int ColFactor> 
-struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
-  : evaluator_base<Replicate<ArgType, RowFactor, ColFactor> >
-{
-  typedef Replicate<ArgType, RowFactor, ColFactor> XprType;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  enum {
-    Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor
-  };
-  typedef typename internal::nested_eval<ArgType,Factor>::type ArgTypeNested;
-  typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
-  
-  enum {
-    CoeffReadCost = evaluator<ArgTypeNestedCleaned>::CoeffReadCost,
-    LinearAccessMask = XprType::IsVectorAtCompileTime ? LinearAccessBit : 0,
-    Flags = (evaluator<ArgTypeNestedCleaned>::Flags & (HereditaryBits|LinearAccessMask) & ~RowMajorBit) | (traits<XprType>::Flags & RowMajorBit),
-    
-    Alignment = evaluator<ArgTypeNestedCleaned>::Alignment
-  };
-
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& replicate)
-    : m_arg(replicate.nestedExpression()),
-      m_argImpl(m_arg),
-      m_rows(replicate.nestedExpression().rows()),
-      m_cols(replicate.nestedExpression().cols())
-  {}
- 
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    // try to avoid using modulo; this is a pure optimization strategy
-    const Index actual_row = internal::traits<XprType>::RowsAtCompileTime==1 ? 0
-                           : RowFactor==1 ? row
-                           : row % m_rows.value();
-    const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
-                           : ColFactor==1 ? col
-                           : col % m_cols.value();
-    
-    return m_argImpl.coeff(actual_row, actual_col);
-  }
-  
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    // try to avoid using modulo; this is a pure optimization strategy
-    const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
-                                  ? (ColFactor==1 ?  index : index%m_cols.value())
-                                  : (RowFactor==1 ?  index : index%m_rows.value());
-    
-    return m_argImpl.coeff(actual_index);
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    const Index actual_row = internal::traits<XprType>::RowsAtCompileTime==1 ? 0
-                           : RowFactor==1 ? row
-                           : row % m_rows.value();
-    const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
-                           : ColFactor==1 ? col
-                           : col % m_cols.value();
-
-    return m_argImpl.template packet<LoadMode,PacketType>(actual_row, actual_col);
-  }
-  
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
-                                  ? (ColFactor==1 ?  index : index%m_cols.value())
-                                  : (RowFactor==1 ?  index : index%m_rows.value());
-
-    return m_argImpl.template packet<LoadMode,PacketType>(actual_index);
-  }
- 
-protected:
-  const ArgTypeNested m_arg;
-  evaluator<ArgTypeNestedCleaned> m_argImpl;
-  const variable_if_dynamic<Index, ArgType::RowsAtCompileTime> m_rows;
-  const variable_if_dynamic<Index, ArgType::ColsAtCompileTime> m_cols;
-};
-
-
-// -------------------- PartialReduxExpr --------------------
-
-template< typename ArgType, typename MemberOp, int Direction>
-struct evaluator<PartialReduxExpr<ArgType, MemberOp, Direction> >
-  : evaluator_base<PartialReduxExpr<ArgType, MemberOp, Direction> >
-{
-  typedef PartialReduxExpr<ArgType, MemberOp, Direction> XprType;
-  typedef typename internal::nested_eval<ArgType,1>::type ArgTypeNested;
-  typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
-  typedef typename ArgType::Scalar InputScalar;
-  typedef typename XprType::Scalar Scalar;
-  enum {
-    TraversalSize = Direction==int(Vertical) ? int(ArgType::RowsAtCompileTime) :  int(ArgType::ColsAtCompileTime)
-  };
-  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
-  enum {
-    CoeffReadCost = TraversalSize==Dynamic ? HugeCost
-                  : TraversalSize * evaluator<ArgType>::CoeffReadCost + int(CostOpType::value),
-    
-    Flags = (traits<XprType>::Flags&RowMajorBit) | (evaluator<ArgType>::Flags&(HereditaryBits&(~RowMajorBit))) | LinearAccessBit,
-    
-    Alignment = 0 // FIXME this will need to be improved once PartialReduxExpr is vectorized
-  };
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType xpr)
-    : m_arg(xpr.nestedExpression()), m_functor(xpr.functor())
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(TraversalSize==Dynamic ? HugeCost : int(CostOpType::value));
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Scalar coeff(Index i, Index j) const
-  {
-    if (Direction==Vertical)
-      return m_functor(m_arg.col(j));
-    else
-      return m_functor(m_arg.row(i));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Scalar coeff(Index index) const
-  {
-    if (Direction==Vertical)
-      return m_functor(m_arg.col(index));
-    else
-      return m_functor(m_arg.row(index));
-  }
-
-protected:
-  typename internal::add_const_on_value_type<ArgTypeNested>::type m_arg;
-  const MemberOp m_functor;
-};
-
-
-// -------------------- MatrixWrapper and ArrayWrapper --------------------
-//
-// evaluator_wrapper_base<T> is a common base class for the
-// MatrixWrapper and ArrayWrapper evaluators.
-
-template<typename XprType>
-struct evaluator_wrapper_base
-  : evaluator_base<XprType>
-{
-  typedef typename remove_all<typename XprType::NestedExpressionType>::type ArgType;
-  enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-    Flags = evaluator<ArgType>::Flags,
-    Alignment = evaluator<ArgType>::Alignment
-  };
-
-  EIGEN_DEVICE_FUNC explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {}
-
-  typedef typename ArgType::Scalar Scalar;
-  typedef typename ArgType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    return m_argImpl.coeff(row, col);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_argImpl.coeff(index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index row, Index col)
-  {
-    return m_argImpl.coeffRef(row, col);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index index)
-  {
-    return m_argImpl.coeffRef(index);
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    return m_argImpl.template packet<LoadMode,PacketType>(row, col);
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    return m_argImpl.template packet<LoadMode,PacketType>(index);
-  }
-
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index row, Index col, const PacketType& x)
-  {
-    m_argImpl.template writePacket<StoreMode>(row, col, x);
-  }
-
-  template<int StoreMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketType& x)
-  {
-    m_argImpl.template writePacket<StoreMode>(index, x);
-  }
-
-protected:
-  evaluator<ArgType> m_argImpl;
-};
-
-template<typename TArgType>
-struct unary_evaluator<MatrixWrapper<TArgType> >
-  : evaluator_wrapper_base<MatrixWrapper<TArgType> >
-{
-  typedef MatrixWrapper<TArgType> XprType;
-
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
-    : evaluator_wrapper_base<MatrixWrapper<TArgType> >(wrapper.nestedExpression())
-  { }
-};
-
-template<typename TArgType>
-struct unary_evaluator<ArrayWrapper<TArgType> >
-  : evaluator_wrapper_base<ArrayWrapper<TArgType> >
-{
-  typedef ArrayWrapper<TArgType> XprType;
-
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
-    : evaluator_wrapper_base<ArrayWrapper<TArgType> >(wrapper.nestedExpression())
-  { }
-};
-
-
-// -------------------- Reverse --------------------
-
-// defined in Reverse.h:
-template<typename PacketType, bool ReversePacket> struct reverse_packet_cond;
-
-template<typename ArgType, int Direction>
-struct unary_evaluator<Reverse<ArgType, Direction> >
-  : evaluator_base<Reverse<ArgType, Direction> >
-{
-  typedef Reverse<ArgType, Direction> XprType;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  enum {
-    IsRowMajor = XprType::IsRowMajor,
-    IsColMajor = !IsRowMajor,
-    ReverseRow = (Direction == Vertical)   || (Direction == BothDirections),
-    ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
-    ReversePacket = (Direction == BothDirections)
-                    || ((Direction == Vertical)   && IsColMajor)
-                    || ((Direction == Horizontal) && IsRowMajor),
-                    
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-    
-    // let's enable LinearAccess only with vectorization because of the product overhead
-    // FIXME enable DirectAccess with negative strides?
-    Flags0 = evaluator<ArgType>::Flags,
-    LinearAccess = ( (Direction==BothDirections) && (int(Flags0)&PacketAccessBit) )
-                  || ((ReverseRow && XprType::ColsAtCompileTime==1) || (ReverseCol && XprType::RowsAtCompileTime==1))
-                 ? LinearAccessBit : 0,
-
-    Flags = int(Flags0) & (HereditaryBits | PacketAccessBit | LinearAccess),
-    
-    Alignment = 0 // FIXME in some rare cases, Alignment could be preserved, like a Vector4f.
-  };
-
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& reverse)
-    : m_argImpl(reverse.nestedExpression()),
-      m_rows(ReverseRow ? reverse.nestedExpression().rows() : 1),
-      m_cols(ReverseCol ? reverse.nestedExpression().cols() : 1)
-  { }
- 
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index col) const
-  {
-    return m_argImpl.coeff(ReverseRow ? m_rows.value() - row - 1 : row,
-                           ReverseCol ? m_cols.value() - col - 1 : col);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_argImpl.coeff(m_rows.value() * m_cols.value() - index - 1);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index row, Index col)
-  {
-    return m_argImpl.coeffRef(ReverseRow ? m_rows.value() - row - 1 : row,
-                              ReverseCol ? m_cols.value() - col - 1 : col);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index index)
-  {
-    return m_argImpl.coeffRef(m_rows.value() * m_cols.value() - index - 1);
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const
-  {
-    enum {
-      PacketSize = unpacket_traits<PacketType>::size,
-      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
-      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1
-    };
-    typedef internal::reverse_packet_cond<PacketType,ReversePacket> reverse_packet;
-    return reverse_packet::run(m_argImpl.template packet<LoadMode,PacketType>(
-                                  ReverseRow ? m_rows.value() - row - OffsetRow : row,
-                                  ReverseCol ? m_cols.value() - col - OffsetCol : col));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const
-  {
-    enum { PacketSize = unpacket_traits<PacketType>::size };
-    return preverse(m_argImpl.template packet<LoadMode,PacketType>(m_rows.value() * m_cols.value() - index - PacketSize));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index row, Index col, const PacketType& x)
-  {
-    // FIXME we could factorize some code with packet(i,j)
-    enum {
-      PacketSize = unpacket_traits<PacketType>::size,
-      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
-      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1
-    };
-    typedef internal::reverse_packet_cond<PacketType,ReversePacket> reverse_packet;
-    m_argImpl.template writePacket<LoadMode>(
-                                  ReverseRow ? m_rows.value() - row - OffsetRow : row,
-                                  ReverseCol ? m_cols.value() - col - OffsetCol : col,
-                                  reverse_packet::run(x));
-  }
-
-  template<int LoadMode, typename PacketType>
-  EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketType& x)
-  {
-    enum { PacketSize = unpacket_traits<PacketType>::size };
-    m_argImpl.template writePacket<LoadMode>
-      (m_rows.value() * m_cols.value() - index - PacketSize, preverse(x));
-  }
- 
-protected:
-  evaluator<ArgType> m_argImpl;
-
-  // If we do not reverse rows, then we do not need to know the number of rows; same for columns
-  // Nonetheless, in this case it is important to set to 1 such that the coeff(index) method works fine for vectors.
-  const variable_if_dynamic<Index, ReverseRow ? ArgType::RowsAtCompileTime : 1> m_rows;
-  const variable_if_dynamic<Index, ReverseCol ? ArgType::ColsAtCompileTime : 1> m_cols;
-};
-
-
-// -------------------- Diagonal --------------------
-
-template<typename ArgType, int DiagIndex>
-struct evaluator<Diagonal<ArgType, DiagIndex> >
-  : evaluator_base<Diagonal<ArgType, DiagIndex> >
-{
-  typedef Diagonal<ArgType, DiagIndex> XprType;
-  
-  enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-    
-    Flags = (unsigned int)(evaluator<ArgType>::Flags & (HereditaryBits | DirectAccessBit) & ~RowMajorBit) | LinearAccessBit,
-    
-    Alignment = 0
-  };
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& diagonal)
-    : m_argImpl(diagonal.nestedExpression()),
-      m_index(diagonal.index())
-  { }
- 
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index row, Index) const
-  {
-    return m_argImpl.coeff(row + rowOffset(), row + colOffset());
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  CoeffReturnType coeff(Index index) const
-  {
-    return m_argImpl.coeff(index + rowOffset(), index + colOffset());
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index row, Index)
-  {
-    return m_argImpl.coeffRef(row + rowOffset(), row + colOffset());
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Scalar& coeffRef(Index index)
-  {
-    return m_argImpl.coeffRef(index + rowOffset(), index + colOffset());
-  }
-
-protected:
-  evaluator<ArgType> m_argImpl;
-  const internal::variable_if_dynamicindex<Index, XprType::DiagIndex> m_index;
-
-private:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value() > 0 ? 0 : -m_index.value(); }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value() > 0 ? m_index.value() : 0; }
-};
-
-
-//----------------------------------------------------------------------
-// deprecated code
-//----------------------------------------------------------------------
-
-// -------------------- EvalToTemp --------------------
-
-// expression class for evaluating nested expression to a temporary
-
-template<typename ArgType> class EvalToTemp;
-
-template<typename ArgType>
-struct traits<EvalToTemp<ArgType> >
-  : public traits<ArgType>
-{ };
-
-template<typename ArgType>
-class EvalToTemp
-  : public dense_xpr_base<EvalToTemp<ArgType> >::type
-{
- public:
- 
-  typedef typename dense_xpr_base<EvalToTemp>::type Base;
-  EIGEN_GENERIC_PUBLIC_INTERFACE(EvalToTemp)
- 
-  explicit EvalToTemp(const ArgType& arg)
-    : m_arg(arg)
-  { }
- 
-  const ArgType& arg() const
-  {
-    return m_arg;
-  }
-
-  Index rows() const 
-  {
-    return m_arg.rows();
-  }
-
-  Index cols() const 
-  {
-    return m_arg.cols();
-  }
-
- private:
-  const ArgType& m_arg;
-};
- 
-template<typename ArgType>
-struct evaluator<EvalToTemp<ArgType> >
-  : public evaluator<typename ArgType::PlainObject>
-{
-  typedef EvalToTemp<ArgType>                   XprType;
-  typedef typename ArgType::PlainObject         PlainObject;
-  typedef evaluator<PlainObject> Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
-    : m_result(xpr.arg())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-  }
-
-  // This constructor is used when nesting an EvalTo evaluator in another evaluator
-  EIGEN_DEVICE_FUNC evaluator(const ArgType& arg)
-    : m_result(arg)
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-  }
-
-protected:
-  PlainObject m_result;
-};
-
-} // namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COREEVALUATORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/CoreIterators.h b/phonelibs/eigen/Eigen/src/Core/CoreIterators.h
deleted file mode 100644
index 4eb42b93af18d0..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/CoreIterators.h
+++ /dev/null
@@ -1,127 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COREITERATORS_H
-#define EIGEN_COREITERATORS_H
-
-namespace Eigen { 
-
-/* This file contains the respective InnerIterator definition of the expressions defined in Eigen/Core
- */
-
-namespace internal {
-
-template<typename XprType, typename EvaluatorKind>
-class inner_iterator_selector;
-
-}
-
-/** \class InnerIterator
-  * \brief An InnerIterator allows to loop over the element of any matrix expression.
-  * 
-  * \warning To be used with care because an evaluator is constructed every time an InnerIterator iterator is constructed.
-  * 
-  * TODO: add a usage example
-  */
-template<typename XprType>
-class InnerIterator
-{
-protected:
-  typedef internal::inner_iterator_selector<XprType, typename internal::evaluator_traits<XprType>::Kind> IteratorType;
-  typedef internal::evaluator<XprType> EvaluatorType;
-  typedef typename internal::traits<XprType>::Scalar Scalar;
-public:
-  /** Construct an iterator over the \a outerId -th row or column of \a xpr */
-  InnerIterator(const XprType &xpr, const Index &outerId)
-    : m_eval(xpr), m_iter(m_eval, outerId, xpr.innerSize())
-  {}
-  
-  /// \returns the value of the current coefficient.
-  EIGEN_STRONG_INLINE Scalar value() const          { return m_iter.value(); }
-  /** Increment the iterator \c *this to the next non-zero coefficient.
-    * Explicit zeros are not skipped over. To skip explicit zeros, see class SparseView
-    */
-  EIGEN_STRONG_INLINE InnerIterator& operator++()   { m_iter.operator++(); return *this; }
-  /// \returns the column or row index of the current coefficient.
-  EIGEN_STRONG_INLINE Index index() const           { return m_iter.index(); }
-  /// \returns the row index of the current coefficient.
-  EIGEN_STRONG_INLINE Index row() const             { return m_iter.row(); }
-  /// \returns the column index of the current coefficient.
-  EIGEN_STRONG_INLINE Index col() const             { return m_iter.col(); }
-  /// \returns \c true if the iterator \c *this still references a valid coefficient.
-  EIGEN_STRONG_INLINE operator bool() const         { return m_iter; }
-  
-protected:
-  EvaluatorType m_eval;
-  IteratorType m_iter;
-private:
-  // If you get here, then you're not using the right InnerIterator type, e.g.:
-  //   SparseMatrix<double,RowMajor> A;
-  //   SparseMatrix<double>::InnerIterator it(A,0);
-  template<typename T> InnerIterator(const EigenBase<T>&,Index outer);
-};
-
-namespace internal {
-
-// Generic inner iterator implementation for dense objects
-template<typename XprType>
-class inner_iterator_selector<XprType, IndexBased>
-{
-protected:
-  typedef evaluator<XprType> EvaluatorType;
-  typedef typename traits<XprType>::Scalar Scalar;
-  enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit };
-  
-public:
-  EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &innerSize)
-    : m_eval(eval), m_inner(0), m_outer(outerId), m_end(innerSize)
-  {}
-
-  EIGEN_STRONG_INLINE Scalar value() const
-  {
-    return (IsRowMajor) ? m_eval.coeff(m_outer, m_inner)
-                        : m_eval.coeff(m_inner, m_outer);
-  }
-
-  EIGEN_STRONG_INLINE inner_iterator_selector& operator++() { m_inner++; return *this; }
-
-  EIGEN_STRONG_INLINE Index index() const { return m_inner; }
-  inline Index row() const { return IsRowMajor ? m_outer : index(); }
-  inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-  EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
-
-protected:
-  const EvaluatorType& m_eval;
-  Index m_inner;
-  const Index m_outer;
-  const Index m_end;
-};
-
-// For iterator-based evaluator, inner-iterator is already implemented as
-// evaluator<>::InnerIterator
-template<typename XprType>
-class inner_iterator_selector<XprType, IteratorBased>
- : public evaluator<XprType>::InnerIterator
-{
-protected:
-  typedef typename evaluator<XprType>::InnerIterator Base;
-  typedef evaluator<XprType> EvaluatorType;
-  
-public:
-  EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &/*innerSize*/)
-    : Base(eval, outerId)
-  {}  
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COREITERATORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/CwiseBinaryOp.h b/phonelibs/eigen/Eigen/src/Core/CwiseBinaryOp.h
deleted file mode 100644
index a36765e396bd43..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/CwiseBinaryOp.h
+++ /dev/null
@@ -1,184 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CWISE_BINARY_OP_H
-#define EIGEN_CWISE_BINARY_OP_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-  // we must not inherit from traits<Lhs> since it has
-  // the potential to cause problems with MSVC
-  typedef typename remove_all<Lhs>::type Ancestor;
-  typedef typename traits<Ancestor>::XprKind XprKind;
-  enum {
-    RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
-    ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
-    MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
-  };
-
-  // even though we require Lhs and Rhs to have the same scalar type (see CwiseBinaryOp constructor),
-  // we still want to handle the case when the result type is different.
-  typedef typename result_of<
-                     BinaryOp(
-                       const typename Lhs::Scalar&,
-                       const typename Rhs::Scalar&
-                     )
-                   >::type Scalar;
-  typedef typename cwise_promote_storage_type<typename traits<Lhs>::StorageKind,
-                                              typename traits<Rhs>::StorageKind,
-                                              BinaryOp>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<Lhs>::StorageIndex,
-                                      typename traits<Rhs>::StorageIndex>::type StorageIndex;
-  typedef typename Lhs::Nested LhsNested;
-  typedef typename Rhs::Nested RhsNested;
-  typedef typename remove_reference<LhsNested>::type _LhsNested;
-  typedef typename remove_reference<RhsNested>::type _RhsNested;
-  enum {
-    Flags = cwise_promote_storage_order<typename traits<Lhs>::StorageKind,typename traits<Rhs>::StorageKind,_LhsNested::Flags & RowMajorBit,_RhsNested::Flags & RowMajorBit>::value
-  };
-};
-} // end namespace internal
-
-template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
-class CwiseBinaryOpImpl;
-
-/** \class CwiseBinaryOp
-  * \ingroup Core_Module
-  *
-  * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
-  *
-  * \tparam BinaryOp template functor implementing the operator
-  * \tparam LhsType the type of the left-hand side
-  * \tparam RhsType the type of the right-hand side
-  *
-  * This class represents an expression  where a coefficient-wise binary operator is applied to two expressions.
-  * It is the return type of binary operators, by which we mean only those binary operators where
-  * both the left-hand side and the right-hand side are Eigen expressions.
-  * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
-  *
-  * Most of the time, this is the only way that it is used, so you typically don't have to name
-  * CwiseBinaryOp types explicitly.
-  *
-  * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
-  */
-template<typename BinaryOp, typename LhsType, typename RhsType>
-class CwiseBinaryOp : 
-  public CwiseBinaryOpImpl<
-          BinaryOp, LhsType, RhsType,
-          typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
-                                                        typename internal::traits<RhsType>::StorageKind,
-                                                        BinaryOp>::ret>,
-  internal::no_assignment_operator
-{
-  public:
-    
-    typedef typename internal::remove_all<BinaryOp>::type Functor;
-    typedef typename internal::remove_all<LhsType>::type Lhs;
-    typedef typename internal::remove_all<RhsType>::type Rhs;
-
-    typedef typename CwiseBinaryOpImpl<
-        BinaryOp, LhsType, RhsType,
-        typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
-                                                      typename internal::traits<Rhs>::StorageKind,
-                                                      BinaryOp>::ret>::Base Base;
-    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp)
-
-    typedef typename internal::ref_selector<LhsType>::type LhsNested;
-    typedef typename internal::ref_selector<RhsType>::type RhsNested;
-    typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
-    typedef typename internal::remove_reference<RhsNested>::type _RhsNested;
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs, const BinaryOp& func = BinaryOp())
-      : m_lhs(aLhs), m_rhs(aRhs), m_functor(func)
-    {
-      EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename Rhs::Scalar);
-      // require the sizes to match
-      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)
-      eigen_assert(aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rows() const {
-      // return the fixed size type if available to enable compile time optimizations
-      if (internal::traits<typename internal::remove_all<LhsNested>::type>::RowsAtCompileTime==Dynamic)
-        return m_rhs.rows();
-      else
-        return m_lhs.rows();
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index cols() const {
-      // return the fixed size type if available to enable compile time optimizations
-      if (internal::traits<typename internal::remove_all<LhsNested>::type>::ColsAtCompileTime==Dynamic)
-        return m_rhs.cols();
-      else
-        return m_lhs.cols();
-    }
-
-    /** \returns the left hand side nested expression */
-    EIGEN_DEVICE_FUNC
-    const _LhsNested& lhs() const { return m_lhs; }
-    /** \returns the right hand side nested expression */
-    EIGEN_DEVICE_FUNC
-    const _RhsNested& rhs() const { return m_rhs; }
-    /** \returns the functor representing the binary operation */
-    EIGEN_DEVICE_FUNC
-    const BinaryOp& functor() const { return m_functor; }
-
-  protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-    const BinaryOp m_functor;
-};
-
-// Generic API dispatcher
-template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
-class CwiseBinaryOpImpl
-  : public internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
-{
-public:
-  typedef typename internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type Base;
-};
-
-/** replaces \c *this by \c *this - \a other.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-MatrixBase<Derived>::operator-=(const MatrixBase<OtherDerived> &other)
-{
-  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-/** replaces \c *this by \c *this + \a other.
-  *
-  * \returns a reference to \c *this
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-MatrixBase<Derived>::operator+=(const MatrixBase<OtherDerived>& other)
-{
-  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_CWISE_BINARY_OP_H
-
diff --git a/phonelibs/eigen/Eigen/src/Core/CwiseNullaryOp.h b/phonelibs/eigen/Eigen/src/Core/CwiseNullaryOp.h
deleted file mode 100644
index dd498f758df0e1..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/CwiseNullaryOp.h
+++ /dev/null
@@ -1,866 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CWISE_NULLARY_OP_H
-#define EIGEN_CWISE_NULLARY_OP_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename NullaryOp, typename PlainObjectType>
-struct traits<CwiseNullaryOp<NullaryOp, PlainObjectType> > : traits<PlainObjectType>
-{
-  enum {
-    Flags = traits<PlainObjectType>::Flags & RowMajorBit
-  };
-};
-
-} // namespace internal
-
-/** \class CwiseNullaryOp
-  * \ingroup Core_Module
-  *
-  * \brief Generic expression of a matrix where all coefficients are defined by a functor
-  *
-  * \tparam NullaryOp template functor implementing the operator
-  * \tparam PlainObjectType the underlying plain matrix/array type
-  *
-  * This class represents an expression of a generic nullary operator.
-  * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() methods,
-  * and most of the time this is the only way it is used.
-  *
-  * However, if you want to write a function returning such an expression, you
-  * will need to use this class.
-  *
-  * The functor NullaryOp must expose one of the following method:
-    <table class="manual">
-    <tr            ><td>\c operator()() </td><td>if the procedural generation does not depend on the coefficient entries (e.g., random numbers)</td></tr>
-    <tr class="alt"><td>\c operator()(Index i)</td><td>if the procedural generation makes sense for vectors only and that it depends on the coefficient index \c i (e.g., linspace) </td></tr>
-    <tr            ><td>\c operator()(Index i,Index j)</td><td>if the procedural generation depends on the matrix coordinates \c i, \c j (e.g., to generate a checkerboard with 0 and 1)</td></tr>
-    </table>
-  * It is also possible to expose the last two operators if the generation makes sense for matrices but can be optimized for vectors.
-  *
-  * See DenseBase::NullaryExpr(Index,const CustomNullaryOp&) for an example binding
-  * C++11 random number generators.
-  *
-  * A nullary expression can also be used to implement custom sophisticated matrix manipulations
-  * that cannot be covered by the existing set of natively supported matrix manipulations.
-  * See this \ref TopicCustomizing_NullaryExpr "page" for some examples and additional explanations
-  * on the behavior of CwiseNullaryOp.
-  *
-  * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr
-  */
-template<typename NullaryOp, typename PlainObjectType>
-class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
-{
-  public:
-
-    typedef typename internal::dense_xpr_base<CwiseNullaryOp>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(CwiseNullaryOp)
-
-    EIGEN_DEVICE_FUNC
-    CwiseNullaryOp(Index rows, Index cols, const NullaryOp& func = NullaryOp())
-      : m_rows(rows), m_cols(cols), m_functor(func)
-    {
-      eigen_assert(rows >= 0
-            && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
-            &&  cols >= 0
-            && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); }
-
-    /** \returns the functor representing the nullary operation */
-    EIGEN_DEVICE_FUNC
-    const NullaryOp& functor() const { return m_functor; }
-
-  protected:
-    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
-    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
-    const NullaryOp m_functor;
-};
-
-
-/** \returns an expression of a matrix defined by a custom functor \a func
-  *
-  * The parameters \a rows and \a cols are the number of rows and of columns of
-  * the returned matrix. Must be compatible with this MatrixBase type.
-  *
-  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
-  * instead.
-  *
-  * The template parameter \a CustomNullaryOp is the type of the functor.
-  *
-  * \sa class CwiseNullaryOp
-  */
-template<typename Derived>
-template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
-DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func)
-{
-  return CwiseNullaryOp<CustomNullaryOp, PlainObject>(rows, cols, func);
-}
-
-/** \returns an expression of a matrix defined by a custom functor \a func
-  *
-  * The parameter \a size is the size of the returned vector.
-  * Must be compatible with this MatrixBase type.
-  *
-  * \only_for_vectors
-  *
-  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
-  * it is redundant to pass \a size as argument, so Zero() should be used
-  * instead.
-  *
-  * The template parameter \a CustomNullaryOp is the type of the functor.
-  *
-  * Here is an example with C++11 random generators: \include random_cpp11.cpp
-  * Output: \verbinclude random_cpp11.out
-  * 
-  * \sa class CwiseNullaryOp
-  */
-template<typename Derived>
-template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
-DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, PlainObject>(1, size, func);
-  else return CwiseNullaryOp<CustomNullaryOp, PlainObject>(size, 1, func);
-}
-
-/** \returns an expression of a matrix defined by a custom functor \a func
-  *
-  * This variant is only for fixed-size DenseBase types. For dynamic-size types, you
-  * need to use the variants taking size arguments.
-  *
-  * The template parameter \a CustomNullaryOp is the type of the functor.
-  *
-  * \sa class CwiseNullaryOp
-  */
-template<typename Derived>
-template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
-DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
-{
-  return CwiseNullaryOp<CustomNullaryOp, PlainObject>(RowsAtCompileTime, ColsAtCompileTime, func);
-}
-
-/** \returns an expression of a constant matrix of value \a value
-  *
-  * The parameters \a rows and \a cols are the number of rows and of columns of
-  * the returned matrix. Must be compatible with this DenseBase type.
-  *
-  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
-  * instead.
-  *
-  * The template parameter \a CustomNullaryOp is the type of the functor.
-  *
-  * \sa class CwiseNullaryOp
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Constant(Index rows, Index cols, const Scalar& value)
-{
-  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_constant_op<Scalar>(value));
-}
-
-/** \returns an expression of a constant matrix of value \a value
-  *
-  * The parameter \a size is the size of the returned vector.
-  * Must be compatible with this DenseBase type.
-  *
-  * \only_for_vectors
-  *
-  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
-  * it is redundant to pass \a size as argument, so Zero() should be used
-  * instead.
-  *
-  * The template parameter \a CustomNullaryOp is the type of the functor.
-  *
-  * \sa class CwiseNullaryOp
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Constant(Index size, const Scalar& value)
-{
-  return DenseBase<Derived>::NullaryExpr(size, internal::scalar_constant_op<Scalar>(value));
-}
-
-/** \returns an expression of a constant matrix of value \a value
-  *
-  * This variant is only for fixed-size DenseBase types. For dynamic-size types, you
-  * need to use the variants taking size arguments.
-  *
-  * The template parameter \a CustomNullaryOp is the type of the functor.
-  *
-  * \sa class CwiseNullaryOp
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Constant(const Scalar& value)
-{
-  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return DenseBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op<Scalar>(value));
-}
-
-/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&)
-  *
-  * \sa LinSpaced(Index,Scalar,Scalar), setLinSpaced(Index,const Scalar&,const Scalar&)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
-DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
-}
-
-/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&)
-  *
-  * \sa LinSpaced(Scalar,Scalar)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
-DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,PacketScalar>(low,high,Derived::SizeAtCompileTime));
-}
-
-/**
-  * \brief Sets a linearly spaced vector.
-  *
-  * The function generates 'size' equally spaced values in the closed interval [low,high].
-  * When size is set to 1, a vector of length 1 containing 'high' is returned.
-  *
-  * \only_for_vectors
-  *
-  * Example: \include DenseBase_LinSpaced.cpp
-  * Output: \verbinclude DenseBase_LinSpaced.out
-  *
-  * For integer scalar types, an even spacing is possible if and only if the length of the range,
-  * i.e., \c high-low is a scalar multiple of \c size-1, or if \c size is a scalar multiple of the
-  * number of values \c high-low+1 (meaning each value can be repeated the same number of time).
-  * If one of these two considions is not satisfied, then \c high is lowered to the largest value
-  * satisfying one of this constraint.
-  * Here are some examples:
-  *
-  * Example: \include DenseBase_LinSpacedInt.cpp
-  * Output: \verbinclude DenseBase_LinSpacedInt.out
-  *
-  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
-DenseBase<Derived>::LinSpaced(Index size, const Scalar& low, const Scalar& high)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
-}
-
-/**
-  * \copydoc DenseBase::LinSpaced(Index, const Scalar&, const Scalar&)
-  * Special version for fixed size types which does not require the size parameter.
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
-DenseBase<Derived>::LinSpaced(const Scalar& low, const Scalar& high)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,PacketScalar>(low,high,Derived::SizeAtCompileTime));
-}
-
-/** \returns true if all coefficients in this matrix are approximately equal to \a val, to within precision \a prec */
-template<typename Derived>
-bool DenseBase<Derived>::isApproxToConstant
-(const Scalar& val, const RealScalar& prec) const
-{
-  typename internal::nested_eval<Derived,1>::type self(derived());
-  for(Index j = 0; j < cols(); ++j)
-    for(Index i = 0; i < rows(); ++i)
-      if(!internal::isApprox(self.coeff(i, j), val, prec))
-        return false;
-  return true;
-}
-
-/** This is just an alias for isApproxToConstant().
-  *
-  * \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
-template<typename Derived>
-bool DenseBase<Derived>::isConstant
-(const Scalar& val, const RealScalar& prec) const
-{
-  return isApproxToConstant(val, prec);
-}
-
-/** Alias for setConstant(): sets all coefficients in this expression to \a val.
-  *
-  * \sa setConstant(), Constant(), class CwiseNullaryOp
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE void DenseBase<Derived>::fill(const Scalar& val)
-{
-  setConstant(val);
-}
-
-/** Sets all coefficients in this expression to value \a val.
-  *
-  * \sa fill(), setConstant(Index,const Scalar&), setConstant(Index,Index,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setConstant(const Scalar& val)
-{
-  return derived() = Constant(rows(), cols(), val);
-}
-
-/** Resizes to the given \a size, and sets all coefficients in this expression to the given value \a val.
-  *
-  * \only_for_vectors
-  *
-  * Example: \include Matrix_setConstant_int.cpp
-  * Output: \verbinclude Matrix_setConstant_int.out
-  *
-  * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setConstant(Index size, const Scalar& val)
-{
-  resize(size);
-  return setConstant(val);
-}
-
-/** Resizes to the given size, and sets all coefficients in this expression to the given value \a val.
-  *
-  * \param rows the new number of rows
-  * \param cols the new number of columns
-  * \param val the value to which all coefficients are set
-  *
-  * Example: \include Matrix_setConstant_int_int.cpp
-  * Output: \verbinclude Matrix_setConstant_int_int.out
-  *
-  * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setConstant(Index rows, Index cols, const Scalar& val)
-{
-  resize(rows, cols);
-  return setConstant(val);
-}
-
-/**
-  * \brief Sets a linearly spaced vector.
-  *
-  * The function generates 'size' equally spaced values in the closed interval [low,high].
-  * When size is set to 1, a vector of length 1 containing 'high' is returned.
-  *
-  * \only_for_vectors
-  *
-  * Example: \include DenseBase_setLinSpaced.cpp
-  * Output: \verbinclude DenseBase_setLinSpaced.out
-  *
-  * For integer scalar types, do not miss the explanations on the definition
-  * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink.
-  *
-  * \sa LinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(Index newSize, const Scalar& low, const Scalar& high)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op<Scalar,PacketScalar>(low,high,newSize));
-}
-
-/**
-  * \brief Sets a linearly spaced vector.
-  *
-  * The function fills \c *this with equally spaced values in the closed interval [low,high].
-  * When size is set to 1, a vector of length 1 containing 'high' is returned.
-  *
-  * \only_for_vectors
-  *
-  * For integer scalar types, do not miss the explanations on the definition
-  * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink.
-  *
-  * \sa LinSpaced(Index,const Scalar&,const Scalar&), setLinSpaced(Index, const Scalar&, const Scalar&), CwiseNullaryOp
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(const Scalar& low, const Scalar& high)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return setLinSpaced(size(), low, high);
-}
-
-// zero:
-
-/** \returns an expression of a zero matrix.
-  *
-  * The parameters \a rows and \a cols are the number of rows and of columns of
-  * the returned matrix. Must be compatible with this MatrixBase type.
-  *
-  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
-  * instead.
-  *
-  * Example: \include MatrixBase_zero_int_int.cpp
-  * Output: \verbinclude MatrixBase_zero_int_int.out
-  *
-  * \sa Zero(), Zero(Index)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Zero(Index rows, Index cols)
-{
-  return Constant(rows, cols, Scalar(0));
-}
-
-/** \returns an expression of a zero vector.
-  *
-  * The parameter \a size is the size of the returned vector.
-  * Must be compatible with this MatrixBase type.
-  *
-  * \only_for_vectors
-  *
-  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
-  * it is redundant to pass \a size as argument, so Zero() should be used
-  * instead.
-  *
-  * Example: \include MatrixBase_zero_int.cpp
-  * Output: \verbinclude MatrixBase_zero_int.out
-  *
-  * \sa Zero(), Zero(Index,Index)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Zero(Index size)
-{
-  return Constant(size, Scalar(0));
-}
-
-/** \returns an expression of a fixed-size zero matrix or vector.
-  *
-  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
-  * need to use the variants taking size arguments.
-  *
-  * Example: \include MatrixBase_zero.cpp
-  * Output: \verbinclude MatrixBase_zero.out
-  *
-  * \sa Zero(Index), Zero(Index,Index)
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Zero()
-{
-  return Constant(Scalar(0));
-}
-
-/** \returns true if *this is approximately equal to the zero matrix,
-  *          within the precision given by \a prec.
-  *
-  * Example: \include MatrixBase_isZero.cpp
-  * Output: \verbinclude MatrixBase_isZero.out
-  *
-  * \sa class CwiseNullaryOp, Zero()
-  */
-template<typename Derived>
-bool DenseBase<Derived>::isZero(const RealScalar& prec) const
-{
-  typename internal::nested_eval<Derived,1>::type self(derived());
-  for(Index j = 0; j < cols(); ++j)
-    for(Index i = 0; i < rows(); ++i)
-      if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast<Scalar>(1), prec))
-        return false;
-  return true;
-}
-
-/** Sets all coefficients in this expression to zero.
-  *
-  * Example: \include MatrixBase_setZero.cpp
-  * Output: \verbinclude MatrixBase_setZero.out
-  *
-  * \sa class CwiseNullaryOp, Zero()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setZero()
-{
-  return setConstant(Scalar(0));
-}
-
-/** Resizes to the given \a size, and sets all coefficients in this expression to zero.
-  *
-  * \only_for_vectors
-  *
-  * Example: \include Matrix_setZero_int.cpp
-  * Output: \verbinclude Matrix_setZero_int.out
-  *
-  * \sa DenseBase::setZero(), setZero(Index,Index), class CwiseNullaryOp, DenseBase::Zero()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setZero(Index newSize)
-{
-  resize(newSize);
-  return setConstant(Scalar(0));
-}
-
-/** Resizes to the given size, and sets all coefficients in this expression to zero.
-  *
-  * \param rows the new number of rows
-  * \param cols the new number of columns
-  *
-  * Example: \include Matrix_setZero_int_int.cpp
-  * Output: \verbinclude Matrix_setZero_int_int.out
-  *
-  * \sa DenseBase::setZero(), setZero(Index), class CwiseNullaryOp, DenseBase::Zero()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setZero(Index rows, Index cols)
-{
-  resize(rows, cols);
-  return setConstant(Scalar(0));
-}
-
-// ones:
-
-/** \returns an expression of a matrix where all coefficients equal one.
-  *
-  * The parameters \a rows and \a cols are the number of rows and of columns of
-  * the returned matrix. Must be compatible with this MatrixBase type.
-  *
-  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a rows and \a cols as arguments, so Ones() should be used
-  * instead.
-  *
-  * Example: \include MatrixBase_ones_int_int.cpp
-  * Output: \verbinclude MatrixBase_ones_int_int.out
-  *
-  * \sa Ones(), Ones(Index), isOnes(), class Ones
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Ones(Index rows, Index cols)
-{
-  return Constant(rows, cols, Scalar(1));
-}
-
-/** \returns an expression of a vector where all coefficients equal one.
-  *
-  * The parameter \a newSize is the size of the returned vector.
-  * Must be compatible with this MatrixBase type.
-  *
-  * \only_for_vectors
-  *
-  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
-  * it is redundant to pass \a size as argument, so Ones() should be used
-  * instead.
-  *
-  * Example: \include MatrixBase_ones_int.cpp
-  * Output: \verbinclude MatrixBase_ones_int.out
-  *
-  * \sa Ones(), Ones(Index,Index), isOnes(), class Ones
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Ones(Index newSize)
-{
-  return Constant(newSize, Scalar(1));
-}
-
-/** \returns an expression of a fixed-size matrix or vector where all coefficients equal one.
-  *
-  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
-  * need to use the variants taking size arguments.
-  *
-  * Example: \include MatrixBase_ones.cpp
-  * Output: \verbinclude MatrixBase_ones.out
-  *
-  * \sa Ones(Index), Ones(Index,Index), isOnes(), class Ones
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Ones()
-{
-  return Constant(Scalar(1));
-}
-
-/** \returns true if *this is approximately equal to the matrix where all coefficients
-  *          are equal to 1, within the precision given by \a prec.
-  *
-  * Example: \include MatrixBase_isOnes.cpp
-  * Output: \verbinclude MatrixBase_isOnes.out
-  *
-  * \sa class CwiseNullaryOp, Ones()
-  */
-template<typename Derived>
-bool DenseBase<Derived>::isOnes
-(const RealScalar& prec) const
-{
-  return isApproxToConstant(Scalar(1), prec);
-}
-
-/** Sets all coefficients in this expression to one.
-  *
-  * Example: \include MatrixBase_setOnes.cpp
-  * Output: \verbinclude MatrixBase_setOnes.out
-  *
-  * \sa class CwiseNullaryOp, Ones()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setOnes()
-{
-  return setConstant(Scalar(1));
-}
-
-/** Resizes to the given \a newSize, and sets all coefficients in this expression to one.
-  *
-  * \only_for_vectors
-  *
-  * Example: \include Matrix_setOnes_int.cpp
-  * Output: \verbinclude Matrix_setOnes_int.out
-  *
-  * \sa MatrixBase::setOnes(), setOnes(Index,Index), class CwiseNullaryOp, MatrixBase::Ones()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setOnes(Index newSize)
-{
-  resize(newSize);
-  return setConstant(Scalar(1));
-}
-
-/** Resizes to the given size, and sets all coefficients in this expression to one.
-  *
-  * \param rows the new number of rows
-  * \param cols the new number of columns
-  *
-  * Example: \include Matrix_setOnes_int_int.cpp
-  * Output: \verbinclude Matrix_setOnes_int_int.out
-  *
-  * \sa MatrixBase::setOnes(), setOnes(Index), class CwiseNullaryOp, MatrixBase::Ones()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setOnes(Index rows, Index cols)
-{
-  resize(rows, cols);
-  return setConstant(Scalar(1));
-}
-
-// Identity:
-
-/** \returns an expression of the identity matrix (not necessarily square).
-  *
-  * The parameters \a rows and \a cols are the number of rows and of columns of
-  * the returned matrix. Must be compatible with this MatrixBase type.
-  *
-  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a rows and \a cols as arguments, so Identity() should be used
-  * instead.
-  *
-  * Example: \include MatrixBase_identity_int_int.cpp
-  * Output: \verbinclude MatrixBase_identity_int_int.out
-  *
-  * \sa Identity(), setIdentity(), isIdentity()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
-MatrixBase<Derived>::Identity(Index rows, Index cols)
-{
-  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_identity_op<Scalar>());
-}
-
-/** \returns an expression of the identity matrix (not necessarily square).
-  *
-  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
-  * need to use the variant taking size arguments.
-  *
-  * Example: \include MatrixBase_identity.cpp
-  * Output: \verbinclude MatrixBase_identity.out
-  *
-  * \sa Identity(Index,Index), setIdentity(), isIdentity()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
-MatrixBase<Derived>::Identity()
-{
-  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return MatrixBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_identity_op<Scalar>());
-}
-
-/** \returns true if *this is approximately equal to the identity matrix
-  *          (not necessarily square),
-  *          within the precision given by \a prec.
-  *
-  * Example: \include MatrixBase_isIdentity.cpp
-  * Output: \verbinclude MatrixBase_isIdentity.out
-  *
-  * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), setIdentity()
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isIdentity
-(const RealScalar& prec) const
-{
-  typename internal::nested_eval<Derived,1>::type self(derived());
-  for(Index j = 0; j < cols(); ++j)
-  {
-    for(Index i = 0; i < rows(); ++i)
-    {
-      if(i == j)
-      {
-        if(!internal::isApprox(self.coeff(i, j), static_cast<Scalar>(1), prec))
-          return false;
-      }
-      else
-      {
-        if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast<RealScalar>(1), prec))
-          return false;
-      }
-    }
-  }
-  return true;
-}
-
-namespace internal {
-
-template<typename Derived, bool Big = (Derived::SizeAtCompileTime>=16)>
-struct setIdentity_impl
-{
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Derived& run(Derived& m)
-  {
-    return m = Derived::Identity(m.rows(), m.cols());
-  }
-};
-
-template<typename Derived>
-struct setIdentity_impl<Derived, true>
-{
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Derived& run(Derived& m)
-  {
-    m.setZero();
-    const Index size = numext::mini(m.rows(), m.cols());
-    for(Index i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1);
-    return m;
-  }
-};
-
-} // end namespace internal
-
-/** Writes the identity expression (not necessarily square) into *this.
-  *
-  * Example: \include MatrixBase_setIdentity.cpp
-  * Output: \verbinclude MatrixBase_setIdentity.out
-  *
-  * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), isIdentity()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
-{
-  return internal::setIdentity_impl<Derived>::run(derived());
-}
-
-/** \brief Resizes to the given size, and writes the identity expression (not necessarily square) into *this.
-  *
-  * \param rows the new number of rows
-  * \param cols the new number of columns
-  *
-  * Example: \include Matrix_setIdentity_int_int.cpp
-  * Output: \verbinclude Matrix_setIdentity_int_int.out
-  *
-  * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index rows, Index cols)
-{
-  derived().resize(rows, cols);
-  return setIdentity();
-}
-
-/** \returns an expression of the i-th unit (basis) vector.
-  *
-  * \only_for_vectors
-  *
-  * \sa MatrixBase::Unit(Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index newSize, Index i)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return BasisReturnType(SquareMatrixType::Identity(newSize,newSize), i);
-}
-
-/** \returns an expression of the i-th unit (basis) vector.
-  *
-  * \only_for_vectors
-  *
-  * This variant is for fixed-size vector only.
-  *
-  * \sa MatrixBase::Unit(Index,Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index i)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return BasisReturnType(SquareMatrixType::Identity(),i);
-}
-
-/** \returns an expression of the X axis unit vector (1{,0}^*)
-  *
-  * \only_for_vectors
-  *
-  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitX()
-{ return Derived::Unit(0); }
-
-/** \returns an expression of the Y axis unit vector (0,1{,0}^*)
-  *
-  * \only_for_vectors
-  *
-  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitY()
-{ return Derived::Unit(1); }
-
-/** \returns an expression of the Z axis unit vector (0,0,1{,0}^*)
-  *
-  * \only_for_vectors
-  *
-  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitZ()
-{ return Derived::Unit(2); }
-
-/** \returns an expression of the W axis unit vector (0,0,0,1)
-  *
-  * \only_for_vectors
-  *
-  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitW()
-{ return Derived::Unit(3); }
-
-} // end namespace Eigen
-
-#endif // EIGEN_CWISE_NULLARY_OP_H
diff --git a/phonelibs/eigen/Eigen/src/Core/CwiseTernaryOp.h b/phonelibs/eigen/Eigen/src/Core/CwiseTernaryOp.h
deleted file mode 100644
index 9f3576fecefb90..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/CwiseTernaryOp.h
+++ /dev/null
@@ -1,197 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CWISE_TERNARY_OP_H
-#define EIGEN_CWISE_TERNARY_OP_H
-
-namespace Eigen {
-
-namespace internal {
-template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
-struct traits<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > {
-  // we must not inherit from traits<Arg1> since it has
-  // the potential to cause problems with MSVC
-  typedef typename remove_all<Arg1>::type Ancestor;
-  typedef typename traits<Ancestor>::XprKind XprKind;
-  enum {
-    RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
-    ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
-    MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
-  };
-
-  // even though we require Arg1, Arg2, and Arg3 to have the same scalar type
-  // (see CwiseTernaryOp constructor),
-  // we still want to handle the case when the result type is different.
-  typedef typename result_of<TernaryOp(
-      const typename Arg1::Scalar&, const typename Arg2::Scalar&,
-      const typename Arg3::Scalar&)>::type Scalar;
-
-  typedef typename internal::traits<Arg1>::StorageKind StorageKind;
-  typedef typename internal::traits<Arg1>::StorageIndex StorageIndex;
-
-  typedef typename Arg1::Nested Arg1Nested;
-  typedef typename Arg2::Nested Arg2Nested;
-  typedef typename Arg3::Nested Arg3Nested;
-  typedef typename remove_reference<Arg1Nested>::type _Arg1Nested;
-  typedef typename remove_reference<Arg2Nested>::type _Arg2Nested;
-  typedef typename remove_reference<Arg3Nested>::type _Arg3Nested;
-  enum { Flags = _Arg1Nested::Flags & RowMajorBit };
-};
-}  // end namespace internal
-
-template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3,
-          typename StorageKind>
-class CwiseTernaryOpImpl;
-
-/** \class CwiseTernaryOp
-  * \ingroup Core_Module
-  *
-  * \brief Generic expression where a coefficient-wise ternary operator is
- * applied to two expressions
-  *
-  * \tparam TernaryOp template functor implementing the operator
-  * \tparam Arg1Type the type of the first argument
-  * \tparam Arg2Type the type of the second argument
-  * \tparam Arg3Type the type of the third argument
-  *
-  * This class represents an expression where a coefficient-wise ternary
- * operator is applied to three expressions.
-  * It is the return type of ternary operators, by which we mean only those
- * ternary operators where
-  * all three arguments are Eigen expressions.
-  * For example, the return type of betainc(matrix1, matrix2, matrix3) is a
- * CwiseTernaryOp.
-  *
-  * Most of the time, this is the only way that it is used, so you typically
- * don't have to name
-  * CwiseTernaryOp types explicitly.
-  *
-  * \sa MatrixBase::ternaryExpr(const MatrixBase<Argument2> &, const
- * MatrixBase<Argument3> &, const CustomTernaryOp &) const, class CwiseBinaryOp,
- * class CwiseUnaryOp, class CwiseNullaryOp
-  */
-template <typename TernaryOp, typename Arg1Type, typename Arg2Type,
-          typename Arg3Type>
-class CwiseTernaryOp : public CwiseTernaryOpImpl<
-                           TernaryOp, Arg1Type, Arg2Type, Arg3Type,
-                           typename internal::traits<Arg1Type>::StorageKind>,
-                       internal::no_assignment_operator
-{
- public:
-  typedef typename internal::remove_all<Arg1Type>::type Arg1;
-  typedef typename internal::remove_all<Arg2Type>::type Arg2;
-  typedef typename internal::remove_all<Arg3Type>::type Arg3;
-
-  typedef typename CwiseTernaryOpImpl<
-      TernaryOp, Arg1Type, Arg2Type, Arg3Type,
-      typename internal::traits<Arg1Type>::StorageKind>::Base Base;
-  EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseTernaryOp)
-
-  typedef typename internal::ref_selector<Arg1Type>::type Arg1Nested;
-  typedef typename internal::ref_selector<Arg2Type>::type Arg2Nested;
-  typedef typename internal::ref_selector<Arg3Type>::type Arg3Nested;
-  typedef typename internal::remove_reference<Arg1Nested>::type _Arg1Nested;
-  typedef typename internal::remove_reference<Arg2Nested>::type _Arg2Nested;
-  typedef typename internal::remove_reference<Arg3Nested>::type _Arg3Nested;
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE CwiseTernaryOp(const Arg1& a1, const Arg2& a2,
-                                     const Arg3& a3,
-                                     const TernaryOp& func = TernaryOp())
-      : m_arg1(a1), m_arg2(a2), m_arg3(a3), m_functor(func) {
-    // require the sizes to match
-    EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg2)
-    EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg3)
-
-    // The index types should match
-    EIGEN_STATIC_ASSERT((internal::is_same<
-                         typename internal::traits<Arg1Type>::StorageKind,
-                         typename internal::traits<Arg2Type>::StorageKind>::value),
-                        STORAGE_KIND_MUST_MATCH)
-    EIGEN_STATIC_ASSERT((internal::is_same<
-                         typename internal::traits<Arg1Type>::StorageKind,
-                         typename internal::traits<Arg3Type>::StorageKind>::value),
-                        STORAGE_KIND_MUST_MATCH)
-
-    eigen_assert(a1.rows() == a2.rows() && a1.cols() == a2.cols() &&
-                 a1.rows() == a3.rows() && a1.cols() == a3.cols());
-  }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE Index rows() const {
-    // return the fixed size type if available to enable compile time
-    // optimizations
-    if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
-                RowsAtCompileTime == Dynamic &&
-        internal::traits<typename internal::remove_all<Arg2Nested>::type>::
-                RowsAtCompileTime == Dynamic)
-      return m_arg3.rows();
-    else if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
-                     RowsAtCompileTime == Dynamic &&
-             internal::traits<typename internal::remove_all<Arg3Nested>::type>::
-                     RowsAtCompileTime == Dynamic)
-      return m_arg2.rows();
-    else
-      return m_arg1.rows();
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE Index cols() const {
-    // return the fixed size type if available to enable compile time
-    // optimizations
-    if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
-                ColsAtCompileTime == Dynamic &&
-        internal::traits<typename internal::remove_all<Arg2Nested>::type>::
-                ColsAtCompileTime == Dynamic)
-      return m_arg3.cols();
-    else if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
-                     ColsAtCompileTime == Dynamic &&
-             internal::traits<typename internal::remove_all<Arg3Nested>::type>::
-                     ColsAtCompileTime == Dynamic)
-      return m_arg2.cols();
-    else
-      return m_arg1.cols();
-  }
-
-  /** \returns the first argument nested expression */
-  EIGEN_DEVICE_FUNC
-  const _Arg1Nested& arg1() const { return m_arg1; }
-  /** \returns the first argument nested expression */
-  EIGEN_DEVICE_FUNC
-  const _Arg2Nested& arg2() const { return m_arg2; }
-  /** \returns the third argument nested expression */
-  EIGEN_DEVICE_FUNC
-  const _Arg3Nested& arg3() const { return m_arg3; }
-  /** \returns the functor representing the ternary operation */
-  EIGEN_DEVICE_FUNC
-  const TernaryOp& functor() const { return m_functor; }
-
- protected:
-  Arg1Nested m_arg1;
-  Arg2Nested m_arg2;
-  Arg3Nested m_arg3;
-  const TernaryOp m_functor;
-};
-
-// Generic API dispatcher
-template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3,
-          typename StorageKind>
-class CwiseTernaryOpImpl
-    : public internal::generic_xpr_base<
-          CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >::type {
- public:
-  typedef typename internal::generic_xpr_base<
-      CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >::type Base;
-};
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_CWISE_TERNARY_OP_H
diff --git a/phonelibs/eigen/Eigen/src/Core/CwiseUnaryOp.h b/phonelibs/eigen/Eigen/src/Core/CwiseUnaryOp.h
deleted file mode 100644
index 1d2dd19f2b1158..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/CwiseUnaryOp.h
+++ /dev/null
@@ -1,103 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CWISE_UNARY_OP_H
-#define EIGEN_CWISE_UNARY_OP_H
-
-namespace Eigen { 
-
-namespace internal {
-template<typename UnaryOp, typename XprType>
-struct traits<CwiseUnaryOp<UnaryOp, XprType> >
- : traits<XprType>
-{
-  typedef typename result_of<
-                     UnaryOp(const typename XprType::Scalar&)
-                   >::type Scalar;
-  typedef typename XprType::Nested XprTypeNested;
-  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
-  enum {
-    Flags = _XprTypeNested::Flags & RowMajorBit 
-  };
-};
-}
-
-template<typename UnaryOp, typename XprType, typename StorageKind>
-class CwiseUnaryOpImpl;
-
-/** \class CwiseUnaryOp
-  * \ingroup Core_Module
-  *
-  * \brief Generic expression where a coefficient-wise unary operator is applied to an expression
-  *
-  * \tparam UnaryOp template functor implementing the operator
-  * \tparam XprType the type of the expression to which we are applying the unary operator
-  *
-  * This class represents an expression where a unary operator is applied to an expression.
-  * It is the return type of all operations taking exactly 1 input expression, regardless of the
-  * presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix
-  * is considered unary, because only the right-hand side is an expression, and its
-  * return type is a specialization of CwiseUnaryOp.
-  *
-  * Most of the time, this is the only way that it is used, so you typically don't have to name
-  * CwiseUnaryOp types explicitly.
-  *
-  * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
-  */
-template<typename UnaryOp, typename XprType>
-class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
-{
-  public:
-
-    typedef typename CwiseUnaryOpImpl<UnaryOp, XprType,typename internal::traits<XprType>::StorageKind>::Base Base;
-    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp)
-    typedef typename internal::ref_selector<XprType>::type XprTypeNested;
-    typedef typename internal::remove_all<XprType>::type NestedExpression;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    explicit CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
-      : m_xpr(xpr), m_functor(func) {}
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Index rows() const { return m_xpr.rows(); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Index cols() const { return m_xpr.cols(); }
-
-    /** \returns the functor representing the unary operation */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const UnaryOp& functor() const { return m_functor; }
-
-    /** \returns the nested expression */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const typename internal::remove_all<XprTypeNested>::type&
-    nestedExpression() const { return m_xpr; }
-
-    /** \returns the nested expression */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    typename internal::remove_all<XprTypeNested>::type&
-    nestedExpression() { return m_xpr; }
-
-  protected:
-    XprTypeNested m_xpr;
-    const UnaryOp m_functor;
-};
-
-// Generic API dispatcher
-template<typename UnaryOp, typename XprType, typename StorageKind>
-class CwiseUnaryOpImpl
-  : public internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
-{
-public:
-  typedef typename internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CWISE_UNARY_OP_H
diff --git a/phonelibs/eigen/Eigen/src/Core/CwiseUnaryView.h b/phonelibs/eigen/Eigen/src/Core/CwiseUnaryView.h
deleted file mode 100644
index 27103305629474..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/CwiseUnaryView.h
+++ /dev/null
@@ -1,128 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CWISE_UNARY_VIEW_H
-#define EIGEN_CWISE_UNARY_VIEW_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename ViewOp, typename MatrixType>
-struct traits<CwiseUnaryView<ViewOp, MatrixType> >
- : traits<MatrixType>
-{
-  typedef typename result_of<
-                     ViewOp(const typename traits<MatrixType>::Scalar&)
-                   >::type Scalar;
-  typedef typename MatrixType::Nested MatrixTypeNested;
-  typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags = traits<_MatrixTypeNested>::Flags & (RowMajorBit | FlagsLvalueBit | DirectAccessBit), // FIXME DirectAccessBit should not be handled by expressions
-    MatrixTypeInnerStride =  inner_stride_at_compile_time<MatrixType>::ret,
-    // need to cast the sizeof's from size_t to int explicitly, otherwise:
-    // "error: no integral type can represent all of the enumerator values
-    InnerStrideAtCompileTime = MatrixTypeInnerStride == Dynamic
-                             ? int(Dynamic)
-                             : int(MatrixTypeInnerStride) * int(sizeof(typename traits<MatrixType>::Scalar) / sizeof(Scalar)),
-    OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret == Dynamic
-                             ? int(Dynamic)
-                             : outer_stride_at_compile_time<MatrixType>::ret * int(sizeof(typename traits<MatrixType>::Scalar) / sizeof(Scalar))
-  };
-};
-}
-
-template<typename ViewOp, typename MatrixType, typename StorageKind>
-class CwiseUnaryViewImpl;
-
-/** \class CwiseUnaryView
-  * \ingroup Core_Module
-  *
-  * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector
-  *
-  * \tparam ViewOp template functor implementing the view
-  * \tparam MatrixType the type of the matrix we are applying the unary operator
-  *
-  * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector.
-  * It is the return type of real() and imag(), and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp
-  */
-template<typename ViewOp, typename MatrixType>
-class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename internal::traits<MatrixType>::StorageKind>
-{
-  public:
-
-    typedef typename CwiseUnaryViewImpl<ViewOp, MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
-    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryView)
-    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
-    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
-
-    explicit inline CwiseUnaryView(MatrixType& mat, const ViewOp& func = ViewOp())
-      : m_matrix(mat), m_functor(func) {}
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryView)
-
-    EIGEN_STRONG_INLINE Index rows() const { return m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_matrix.cols(); }
-
-    /** \returns the functor representing unary operation */
-    const ViewOp& functor() const { return m_functor; }
-
-    /** \returns the nested expression */
-    const typename internal::remove_all<MatrixTypeNested>::type&
-    nestedExpression() const { return m_matrix; }
-
-    /** \returns the nested expression */
-    typename internal::remove_reference<MatrixTypeNested>::type&
-    nestedExpression() { return m_matrix.const_cast_derived(); }
-
-  protected:
-    MatrixTypeNested m_matrix;
-    ViewOp m_functor;
-};
-
-// Generic API dispatcher
-template<typename ViewOp, typename XprType, typename StorageKind>
-class CwiseUnaryViewImpl
-  : public internal::generic_xpr_base<CwiseUnaryView<ViewOp, XprType> >::type
-{
-public:
-  typedef typename internal::generic_xpr_base<CwiseUnaryView<ViewOp, XprType> >::type Base;
-};
-
-template<typename ViewOp, typename MatrixType>
-class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
-  : public internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type
-{
-  public:
-
-    typedef CwiseUnaryView<ViewOp, MatrixType> Derived;
-    typedef typename internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type Base;
-
-    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryViewImpl)
-    
-    EIGEN_DEVICE_FUNC inline Scalar* data() { return &(this->coeffRef(0)); }
-    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return &(this->coeff(0)); }
-
-    EIGEN_DEVICE_FUNC inline Index innerStride() const
-    {
-      return derived().nestedExpression().innerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
-    }
-
-    EIGEN_DEVICE_FUNC inline Index outerStride() const
-    {
-      return derived().nestedExpression().outerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
-    }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CWISE_UNARY_VIEW_H
diff --git a/phonelibs/eigen/Eigen/src/Core/DenseBase.h b/phonelibs/eigen/Eigen/src/Core/DenseBase.h
deleted file mode 100644
index 46fe5193c22c3d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/DenseBase.h
+++ /dev/null
@@ -1,611 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DENSEBASE_H
-#define EIGEN_DENSEBASE_H
-
-namespace Eigen {
-
-namespace internal {
-  
-// The index type defined by EIGEN_DEFAULT_DENSE_INDEX_TYPE must be a signed type.
-// This dummy function simply aims at checking that at compile time.
-static inline void check_DenseIndex_is_signed() {
-  EIGEN_STATIC_ASSERT(NumTraits<DenseIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE); 
-}
-
-} // end namespace internal
-  
-/** \class DenseBase
-  * \ingroup Core_Module
-  *
-  * \brief Base class for all dense matrices, vectors, and arrays
-  *
-  * This class is the base that is inherited by all dense objects (matrix, vector, arrays,
-  * and related expression types). The common Eigen API for dense objects is contained in this class.
-  *
-  * \tparam Derived is the derived type, e.g., a matrix type or an expression.
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
-  *
-  * \sa \blank \ref TopicClassHierarchy
-  */
-template<typename Derived> class DenseBase
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-  : public DenseCoeffsBase<Derived>
-#else
-  : public DenseCoeffsBase<Derived,DirectWriteAccessors>
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-{
-  public:
-
-    /** Inner iterator type to iterate over the coefficients of a row or column.
-      * \sa class InnerIterator
-      */
-    typedef Eigen::InnerIterator<Derived> InnerIterator;
-
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-
-    /**
-      * \brief The type used to store indices
-      * \details This typedef is relevant for types that store multiple indices such as
-      *          PermutationMatrix or Transpositions, otherwise it defaults to Eigen::Index
-      * \sa \blank \ref TopicPreprocessorDirectives, Eigen::Index, SparseMatrixBase.
-     */
-    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
-
-    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc. */
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    
-    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc.
-      *
-      * It is an alias for the Scalar type */
-    typedef Scalar value_type;
-    
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef DenseCoeffsBase<Derived> Base;
-
-    using Base::derived;
-    using Base::const_cast_derived;
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::rowIndexByOuterInner;
-    using Base::colIndexByOuterInner;
-    using Base::coeff;
-    using Base::coeffByOuterInner;
-    using Base::operator();
-    using Base::operator[];
-    using Base::x;
-    using Base::y;
-    using Base::z;
-    using Base::w;
-    using Base::stride;
-    using Base::innerStride;
-    using Base::outerStride;
-    using Base::rowStride;
-    using Base::colStride;
-    typedef typename Base::CoeffReturnType CoeffReturnType;
-
-    enum {
-
-      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
-        /**< The number of rows at compile-time. This is just a copy of the value provided
-          * by the \a Derived type. If a value is not known at compile-time,
-          * it is set to the \a Dynamic constant.
-          * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
-
-      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
-        /**< The number of columns at compile-time. This is just a copy of the value provided
-          * by the \a Derived type. If a value is not known at compile-time,
-          * it is set to the \a Dynamic constant.
-          * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
-
-
-      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
-                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
-        /**< This is equal to the number of coefficients, i.e. the number of
-          * rows times the number of columns, or to \a Dynamic if this is not
-          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
-
-      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
-        /**< This value is equal to the maximum possible number of rows that this expression
-          * might have. If this expression might have an arbitrarily high number of rows,
-          * this value is set to \a Dynamic.
-          *
-          * This value is useful to know when evaluating an expression, in order to determine
-          * whether it is possible to avoid doing a dynamic memory allocation.
-          *
-          * \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime
-          */
-
-      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
-        /**< This value is equal to the maximum possible number of columns that this expression
-          * might have. If this expression might have an arbitrarily high number of columns,
-          * this value is set to \a Dynamic.
-          *
-          * This value is useful to know when evaluating an expression, in order to determine
-          * whether it is possible to avoid doing a dynamic memory allocation.
-          *
-          * \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime
-          */
-
-      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
-                                                      internal::traits<Derived>::MaxColsAtCompileTime>::ret),
-        /**< This value is equal to the maximum possible number of coefficients that this expression
-          * might have. If this expression might have an arbitrarily high number of coefficients,
-          * this value is set to \a Dynamic.
-          *
-          * This value is useful to know when evaluating an expression, in order to determine
-          * whether it is possible to avoid doing a dynamic memory allocation.
-          *
-          * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime
-          */
-
-      IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
-                           || internal::traits<Derived>::MaxColsAtCompileTime == 1,
-        /**< This is set to true if either the number of rows or the number of
-          * columns is known at compile-time to be equal to 1. Indeed, in that case,
-          * we are dealing with a column-vector (if there is only one column) or with
-          * a row-vector (if there is only one row). */
-
-      Flags = internal::traits<Derived>::Flags,
-        /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
-          * constructed from this one. See the \ref flags "list of flags".
-          */
-
-      IsRowMajor = int(Flags) & RowMajorBit, /**< True if this expression has row-major storage order. */
-
-      InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
-                             : int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
-
-      InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
-      OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
-    };
-    
-    typedef typename internal::find_best_packet<Scalar,SizeAtCompileTime>::type PacketScalar;
-
-    enum { IsPlainObjectBase = 0 };
-    
-    /** The plain matrix type corresponding to this expression.
-      * \sa PlainObject */
-    typedef Matrix<typename internal::traits<Derived>::Scalar,
-                internal::traits<Derived>::RowsAtCompileTime,
-                internal::traits<Derived>::ColsAtCompileTime,
-                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
-                internal::traits<Derived>::MaxRowsAtCompileTime,
-                internal::traits<Derived>::MaxColsAtCompileTime
-          > PlainMatrix;
-    
-    /** The plain array type corresponding to this expression.
-      * \sa PlainObject */
-    typedef Array<typename internal::traits<Derived>::Scalar,
-                internal::traits<Derived>::RowsAtCompileTime,
-                internal::traits<Derived>::ColsAtCompileTime,
-                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
-                internal::traits<Derived>::MaxRowsAtCompileTime,
-                internal::traits<Derived>::MaxColsAtCompileTime
-          > PlainArray;
-
-    /** \brief The plain matrix or array type corresponding to this expression.
-      *
-      * This is not necessarily exactly the return type of eval(). In the case of plain matrices,
-      * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed
-      * that the return type of eval() is either PlainObject or const PlainObject&.
-      */
-    typedef typename internal::conditional<internal::is_same<typename internal::traits<Derived>::XprKind,MatrixXpr >::value,
-                                 PlainMatrix, PlainArray>::type PlainObject;
-
-    /** \returns the number of nonzero coefficients which is in practice the number
-      * of stored coefficients. */
-    EIGEN_DEVICE_FUNC
-    inline Index nonZeros() const { return size(); }
-
-    /** \returns the outer size.
-      *
-      * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension
-      * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a
-      * column-major matrix, and the number of rows for a row-major matrix. */
-    EIGEN_DEVICE_FUNC
-    Index outerSize() const
-    {
-      return IsVectorAtCompileTime ? 1
-           : int(IsRowMajor) ? this->rows() : this->cols();
-    }
-
-    /** \returns the inner size.
-      *
-      * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension
-      * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a 
-      * column-major matrix, and the number of columns for a row-major matrix. */
-    EIGEN_DEVICE_FUNC
-    Index innerSize() const
-    {
-      return IsVectorAtCompileTime ? this->size()
-           : int(IsRowMajor) ? this->cols() : this->rows();
-    }
-
-    /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
-      * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
-      * nothing else.
-      */
-    EIGEN_DEVICE_FUNC
-    void resize(Index newSize)
-    {
-      EIGEN_ONLY_USED_FOR_DEBUG(newSize);
-      eigen_assert(newSize == this->size()
-                && "DenseBase::resize() does not actually allow to resize.");
-    }
-    /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
-      * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
-      * nothing else.
-      */
-    EIGEN_DEVICE_FUNC
-    void resize(Index rows, Index cols)
-    {
-      EIGEN_ONLY_USED_FOR_DEBUG(rows);
-      EIGEN_ONLY_USED_FOR_DEBUG(cols);
-      eigen_assert(rows == this->rows() && cols == this->cols()
-                && "DenseBase::resize() does not actually allow to resize.");
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
-    /** \internal \deprecated Represents a vector with linearly spaced coefficients that allows sequential access only. */
-    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> SequentialLinSpacedReturnType;
-    /** \internal Represents a vector with linearly spaced coefficients that allows random access. */
-    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> RandomAccessLinSpacedReturnType;
-    /** \internal the return type of MatrixBase::eigenvalues() */
-    typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
-
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    /** Copies \a other into *this. \returns a reference to *this. */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator=(const DenseBase<OtherDerived>& other);
-
-    /** Special case of the template operator=, in order to prevent the compiler
-      * from generating a default operator= (issue hit with g++ 4.1)
-      */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator=(const DenseBase& other);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    Derived& operator=(const EigenBase<OtherDerived> &other);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    Derived& operator+=(const EigenBase<OtherDerived> &other);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    Derived& operator-=(const EigenBase<OtherDerived> &other);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    Derived& operator=(const ReturnByValue<OtherDerived>& func);
-
-    /** \ínternal
-      * Copies \a other into *this without evaluating other. \returns a reference to *this.
-      * \deprecated */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    Derived& lazyAssign(const DenseBase<OtherDerived>& other);
-
-    EIGEN_DEVICE_FUNC
-    CommaInitializer<Derived> operator<< (const Scalar& s);
-
-    /** \deprecated it now returns \c *this */
-    template<unsigned int Added,unsigned int Removed>
-    EIGEN_DEPRECATED
-    const Derived& flagged() const
-    { return derived(); }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    CommaInitializer<Derived> operator<< (const DenseBase<OtherDerived>& other);
-
-    typedef Transpose<Derived> TransposeReturnType;
-    EIGEN_DEVICE_FUNC
-    TransposeReturnType transpose();
-    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
-    EIGEN_DEVICE_FUNC
-    ConstTransposeReturnType transpose() const;
-    EIGEN_DEVICE_FUNC
-    void transposeInPlace();
-
-    EIGEN_DEVICE_FUNC static const ConstantReturnType
-    Constant(Index rows, Index cols, const Scalar& value);
-    EIGEN_DEVICE_FUNC static const ConstantReturnType
-    Constant(Index size, const Scalar& value);
-    EIGEN_DEVICE_FUNC static const ConstantReturnType
-    Constant(const Scalar& value);
-
-    EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
-    LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
-    EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
-    LinSpaced(Index size, const Scalar& low, const Scalar& high);
-    EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
-    LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
-    EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
-    LinSpaced(const Scalar& low, const Scalar& high);
-
-    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
-    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
-    NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func);
-    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
-    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
-    NullaryExpr(Index size, const CustomNullaryOp& func);
-    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
-    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
-    NullaryExpr(const CustomNullaryOp& func);
-
-    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index rows, Index cols);
-    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index size);
-    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero();
-    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index rows, Index cols);
-    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index size);
-    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones();
-
-    EIGEN_DEVICE_FUNC void fill(const Scalar& value);
-    EIGEN_DEVICE_FUNC Derived& setConstant(const Scalar& value);
-    EIGEN_DEVICE_FUNC Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
-    EIGEN_DEVICE_FUNC Derived& setLinSpaced(const Scalar& low, const Scalar& high);
-    EIGEN_DEVICE_FUNC Derived& setZero();
-    EIGEN_DEVICE_FUNC Derived& setOnes();
-    EIGEN_DEVICE_FUNC Derived& setRandom();
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC
-    bool isApprox(const DenseBase<OtherDerived>& other,
-                  const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    EIGEN_DEVICE_FUNC 
-    bool isMuchSmallerThan(const RealScalar& other,
-                           const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC
-    bool isMuchSmallerThan(const DenseBase<OtherDerived>& other,
-                           const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-
-    EIGEN_DEVICE_FUNC bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    EIGEN_DEVICE_FUNC bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    EIGEN_DEVICE_FUNC bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    EIGEN_DEVICE_FUNC bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    
-    inline bool hasNaN() const;
-    inline bool allFinite() const;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator*=(const Scalar& other);
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator/=(const Scalar& other);
-
-    typedef typename internal::add_const_on_value_type<typename internal::eval<Derived>::type>::type EvalReturnType;
-    /** \returns the matrix or vector obtained by evaluating this expression.
-      *
-      * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
-      * a const reference, in order to avoid a useless copy.
-      * 
-      * \warning Be carefull with eval() and the auto C++ keyword, as detailed in this \link TopicPitfalls_auto_keyword page \endlink.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE EvalReturnType eval() const
-    {
-      // Even though MSVC does not honor strong inlining when the return type
-      // is a dynamic matrix, we desperately need strong inlining for fixed
-      // size types on MSVC.
-      return typename internal::eval<Derived>::type(derived());
-    }
-    
-    /** swaps *this with the expression \a other.
-      *
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void swap(const DenseBase<OtherDerived>& other)
-    {
-      EIGEN_STATIC_ASSERT(!OtherDerived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
-      eigen_assert(rows()==other.rows() && cols()==other.cols());
-      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
-    }
-
-    /** swaps *this with the matrix or array \a other.
-      *
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void swap(PlainObjectBase<OtherDerived>& other)
-    {
-      eigen_assert(rows()==other.rows() && cols()==other.cols());
-      call_assignment(derived(), other.derived(), internal::swap_assign_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC inline const NestByValue<Derived> nestByValue() const;
-    EIGEN_DEVICE_FUNC inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
-    EIGEN_DEVICE_FUNC inline ForceAlignedAccess<Derived> forceAlignedAccess();
-    template<bool Enable> EIGEN_DEVICE_FUNC
-    inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
-    template<bool Enable> EIGEN_DEVICE_FUNC
-    inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
-
-    EIGEN_DEVICE_FUNC Scalar sum() const;
-    EIGEN_DEVICE_FUNC Scalar mean() const;
-    EIGEN_DEVICE_FUNC Scalar trace() const;
-
-    EIGEN_DEVICE_FUNC Scalar prod() const;
-
-    EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar minCoeff() const;
-    EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar maxCoeff() const;
-
-    template<typename IndexType> EIGEN_DEVICE_FUNC
-    typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
-    template<typename IndexType> EIGEN_DEVICE_FUNC
-    typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
-    template<typename IndexType> EIGEN_DEVICE_FUNC
-    typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
-    template<typename IndexType> EIGEN_DEVICE_FUNC
-    typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
-
-    template<typename BinaryOp>
-    EIGEN_DEVICE_FUNC
-    Scalar redux(const BinaryOp& func) const;
-
-    template<typename Visitor>
-    EIGEN_DEVICE_FUNC
-    void visit(Visitor& func) const;
-
-    /** \returns a WithFormat proxy object allowing to print a matrix the with given
-      * format \a fmt.
-      *
-      * See class IOFormat for some examples.
-      *
-      * \sa class IOFormat, class WithFormat
-      */
-    inline const WithFormat<Derived> format(const IOFormat& fmt) const
-    {
-      return WithFormat<Derived>(derived(), fmt);
-    }
-
-    /** \returns the unique coefficient of a 1x1 expression */
-    EIGEN_DEVICE_FUNC
-    CoeffReturnType value() const
-    {
-      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
-      eigen_assert(this->rows() == 1 && this->cols() == 1);
-      return derived().coeff(0,0);
-    }
-
-    bool all() const;
-    bool any() const;
-    Index count() const;
-
-    typedef VectorwiseOp<Derived, Horizontal> RowwiseReturnType;
-    typedef const VectorwiseOp<const Derived, Horizontal> ConstRowwiseReturnType;
-    typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
-    typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
-
-    /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
-    *
-    * Example: \include MatrixBase_rowwise.cpp
-    * Output: \verbinclude MatrixBase_rowwise.out
-    *
-    * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
-    */
-    //Code moved here due to a CUDA compiler bug
-    EIGEN_DEVICE_FUNC inline ConstRowwiseReturnType rowwise() const {
-      return ConstRowwiseReturnType(derived());
-    }
-    EIGEN_DEVICE_FUNC RowwiseReturnType rowwise();
-
-    /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
-    *
-    * Example: \include MatrixBase_colwise.cpp
-    * Output: \verbinclude MatrixBase_colwise.out
-    *
-    * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
-    */
-    EIGEN_DEVICE_FUNC inline ConstColwiseReturnType colwise() const {
-      return ConstColwiseReturnType(derived());
-    }
-    EIGEN_DEVICE_FUNC ColwiseReturnType colwise();
-
-    typedef CwiseNullaryOp<internal::scalar_random_op<Scalar>,PlainObject> RandomReturnType;
-    static const RandomReturnType Random(Index rows, Index cols);
-    static const RandomReturnType Random(Index size);
-    static const RandomReturnType Random();
-
-    template<typename ThenDerived,typename ElseDerived>
-    const Select<Derived,ThenDerived,ElseDerived>
-    select(const DenseBase<ThenDerived>& thenMatrix,
-           const DenseBase<ElseDerived>& elseMatrix) const;
-
-    template<typename ThenDerived>
-    inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
-    select(const DenseBase<ThenDerived>& thenMatrix, const typename ThenDerived::Scalar& elseScalar) const;
-
-    template<typename ElseDerived>
-    inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
-    select(const typename ElseDerived::Scalar& thenScalar, const DenseBase<ElseDerived>& elseMatrix) const;
-
-    template<int p> RealScalar lpNorm() const;
-
-    template<int RowFactor, int ColFactor>
-    EIGEN_DEVICE_FUNC
-    const Replicate<Derived,RowFactor,ColFactor> replicate() const;
-    /**
-    * \return an expression of the replication of \c *this
-    *
-    * Example: \include MatrixBase_replicate_int_int.cpp
-    * Output: \verbinclude MatrixBase_replicate_int_int.out
-    *
-    * \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
-    */
-    //Code moved here due to a CUDA compiler bug
-    EIGEN_DEVICE_FUNC
-    const Replicate<Derived, Dynamic, Dynamic> replicate(Index rowFactor, Index colFactor) const
-    {
-      return Replicate<Derived, Dynamic, Dynamic>(derived(), rowFactor, colFactor);
-    }
-
-    typedef Reverse<Derived, BothDirections> ReverseReturnType;
-    typedef const Reverse<const Derived, BothDirections> ConstReverseReturnType;
-    EIGEN_DEVICE_FUNC ReverseReturnType reverse();
-    /** This is the const version of reverse(). */
-    //Code moved here due to a CUDA compiler bug
-    EIGEN_DEVICE_FUNC ConstReverseReturnType reverse() const
-    {
-      return ConstReverseReturnType(derived());
-    }
-    EIGEN_DEVICE_FUNC void reverseInPlace();
-
-#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
-#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND)
-#   include "../plugins/BlockMethods.h"
-#   ifdef EIGEN_DENSEBASE_PLUGIN
-#     include EIGEN_DENSEBASE_PLUGIN
-#   endif
-#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
-#undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-#undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF
-
-    // disable the use of evalTo for dense objects with a nice compilation error
-    template<typename Dest>
-    EIGEN_DEVICE_FUNC
-    inline void evalTo(Dest& ) const
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<Dest,void>::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS);
-    }
-
-  protected:
-    /** Default constructor. Do nothing. */
-    EIGEN_DEVICE_FUNC DenseBase()
-    {
-      /* Just checks for self-consistency of the flags.
-       * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
-       */
-#ifdef EIGEN_INTERNAL_DEBUGGING
-      EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor))
-                        && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, int(!IsRowMajor))),
-                          INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION)
-#endif
-    }
-
-  private:
-    EIGEN_DEVICE_FUNC explicit DenseBase(int);
-    EIGEN_DEVICE_FUNC DenseBase(int,int);
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC explicit DenseBase(const DenseBase<OtherDerived>&);
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_DENSEBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/DenseCoeffsBase.h b/phonelibs/eigen/Eigen/src/Core/DenseCoeffsBase.h
deleted file mode 100644
index c4af48ab699f43..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/DenseCoeffsBase.h
+++ /dev/null
@@ -1,681 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DENSECOEFFSBASE_H
-#define EIGEN_DENSECOEFFSBASE_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename T> struct add_const_on_value_type_if_arithmetic
-{
-  typedef typename conditional<is_arithmetic<T>::value, T, typename add_const_on_value_type<T>::type>::type type;
-};
-}
-
-/** \brief Base class providing read-only coefficient access to matrices and arrays.
-  * \ingroup Core_Module
-  * \tparam Derived Type of the derived class
-  * \tparam #ReadOnlyAccessors Constant indicating read-only access
-  *
-  * This class defines the \c operator() \c const function and friends, which can be used to read specific
-  * entries of a matrix or array.
-  * 
-  * \sa DenseCoeffsBase<Derived, WriteAccessors>, DenseCoeffsBase<Derived, DirectAccessors>,
-  *     \ref TopicClassHierarchy
-  */
-template<typename Derived>
-class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
-{
-  public:
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
-
-    // Explanation for this CoeffReturnType typedef.
-    // - This is the return type of the coeff() method.
-    // - The LvalueBit means exactly that we can offer a coeffRef() method, which means exactly that we can get references
-    // to coeffs, which means exactly that we can have coeff() return a const reference (as opposed to returning a value).
-    // - The is_artihmetic check is required since "const int", "const double", etc. will cause warnings on some systems
-    // while the declaration of "const T", where T is a non arithmetic type does not. Always returning "const Scalar&" is
-    // not possible, since the underlying expressions might not offer a valid address the reference could be referring to.
-    typedef typename internal::conditional<bool(internal::traits<Derived>::Flags&LvalueBit),
-                         const Scalar&,
-                         typename internal::conditional<internal::is_arithmetic<Scalar>::value, Scalar, const Scalar>::type
-                     >::type CoeffReturnType;
-
-    typedef typename internal::add_const_on_value_type_if_arithmetic<
-                         typename internal::packet_traits<Scalar>::type
-                     >::type PacketReturnType;
-
-    typedef EigenBase<Derived> Base;
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::derived;
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) const
-    {
-      return int(Derived::RowsAtCompileTime) == 1 ? 0
-          : int(Derived::ColsAtCompileTime) == 1 ? inner
-          : int(Derived::Flags)&RowMajorBit ? outer
-          : inner;
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) const
-    {
-      return int(Derived::ColsAtCompileTime) == 1 ? 0
-          : int(Derived::RowsAtCompileTime) == 1 ? inner
-          : int(Derived::Flags)&RowMajorBit ? inner
-          : outer;
-    }
-
-    /** Short version: don't use this function, use
-      * \link operator()(Index,Index) const \endlink instead.
-      *
-      * Long version: this function is similar to
-      * \link operator()(Index,Index) const \endlink, but without the assertion.
-      * Use this for limiting the performance cost of debugging code when doing
-      * repeated coefficient access. Only use this when it is guaranteed that the
-      * parameters \a row and \a col are in range.
-      *
-      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
-      * function equivalent to \link operator()(Index,Index) const \endlink.
-      *
-      * \sa operator()(Index,Index) const, coeffRef(Index,Index), coeff(Index) const
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
-    {
-      eigen_internal_assert(row >= 0 && row < rows()
-                         && col >= 0 && col < cols());
-      return internal::evaluator<Derived>(derived()).coeff(row,col);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
-    {
-      return coeff(rowIndexByOuterInner(outer, inner),
-                   colIndexByOuterInner(outer, inner));
-    }
-
-    /** \returns the coefficient at given the given row and column.
-      *
-      * \sa operator()(Index,Index), operator[](Index)
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType operator()(Index row, Index col) const
-    {
-      eigen_assert(row >= 0 && row < rows()
-          && col >= 0 && col < cols());
-      return coeff(row, col);
-    }
-
-    /** Short version: don't use this function, use
-      * \link operator[](Index) const \endlink instead.
-      *
-      * Long version: this function is similar to
-      * \link operator[](Index) const \endlink, but without the assertion.
-      * Use this for limiting the performance cost of debugging code when doing
-      * repeated coefficient access. Only use this when it is guaranteed that the
-      * parameter \a index is in range.
-      *
-      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
-      * function equivalent to \link operator[](Index) const \endlink.
-      *
-      * \sa operator[](Index) const, coeffRef(Index), coeff(Index,Index) const
-      */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType
-    coeff(Index index) const
-    {
-      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
-                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
-      eigen_internal_assert(index >= 0 && index < size());
-      return internal::evaluator<Derived>(derived()).coeff(index);
-    }
-
-
-    /** \returns the coefficient at given index.
-      *
-      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
-      *
-      * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const,
-      * z() const, w() const
-      */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType
-    operator[](Index index) const
-    {
-      EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
-                          THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
-      eigen_assert(index >= 0 && index < size());
-      return coeff(index);
-    }
-
-    /** \returns the coefficient at given index.
-      *
-      * This is synonymous to operator[](Index) const.
-      *
-      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
-      *
-      * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const,
-      * z() const, w() const
-      */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType
-    operator()(Index index) const
-    {
-      eigen_assert(index >= 0 && index < size());
-      return coeff(index);
-    }
-
-    /** equivalent to operator[](0).  */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType
-    x() const { return (*this)[0]; }
-
-    /** equivalent to operator[](1).  */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType
-    y() const
-    {
-      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS);
-      return (*this)[1];
-    }
-
-    /** equivalent to operator[](2).  */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType
-    z() const
-    {
-      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS);
-      return (*this)[2];
-    }
-
-    /** equivalent to operator[](3).  */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CoeffReturnType
-    w() const
-    {
-      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS);
-      return (*this)[3];
-    }
-
-    /** \internal
-      * \returns the packet of coefficients starting at the given row and column. It is your responsibility
-      * to ensure that a packet really starts there. This method is only available on expressions having the
-      * PacketAccessBit.
-      *
-      * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
-      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-      * starting at an address which is a multiple of the packet size.
-      */
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketReturnType packet(Index row, Index col) const
-    {
-      typedef typename internal::packet_traits<Scalar>::type DefaultPacketType;
-      eigen_internal_assert(row >= 0 && row < rows() && col >= 0 && col < cols());
-      return internal::evaluator<Derived>(derived()).template packet<LoadMode,DefaultPacketType>(row,col);
-    }
-
-
-    /** \internal */
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketReturnType packetByOuterInner(Index outer, Index inner) const
-    {
-      return packet<LoadMode>(rowIndexByOuterInner(outer, inner),
-                              colIndexByOuterInner(outer, inner));
-    }
-
-    /** \internal
-      * \returns the packet of coefficients starting at the given index. It is your responsibility
-      * to ensure that a packet really starts there. This method is only available on expressions having the
-      * PacketAccessBit and the LinearAccessBit.
-      *
-      * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
-      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-      * starting at an address which is a multiple of the packet size.
-      */
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-    {
-      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
-                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
-      typedef typename internal::packet_traits<Scalar>::type DefaultPacketType;
-      eigen_internal_assert(index >= 0 && index < size());
-      return internal::evaluator<Derived>(derived()).template packet<LoadMode,DefaultPacketType>(index);
-    }
-
-  protected:
-    // explanation: DenseBase is doing "using ..." on the methods from DenseCoeffsBase.
-    // But some methods are only available in the DirectAccess case.
-    // So we add dummy methods here with these names, so that "using... " doesn't fail.
-    // It's not private so that the child class DenseBase can access them, and it's not public
-    // either since it's an implementation detail, so has to be protected.
-    void coeffRef();
-    void coeffRefByOuterInner();
-    void writePacket();
-    void writePacketByOuterInner();
-    void copyCoeff();
-    void copyCoeffByOuterInner();
-    void copyPacket();
-    void copyPacketByOuterInner();
-    void stride();
-    void innerStride();
-    void outerStride();
-    void rowStride();
-    void colStride();
-};
-
-/** \brief Base class providing read/write coefficient access to matrices and arrays.
-  * \ingroup Core_Module
-  * \tparam Derived Type of the derived class
-  * \tparam #WriteAccessors Constant indicating read/write access
-  *
-  * This class defines the non-const \c operator() function and friends, which can be used to write specific
-  * entries of a matrix or array. This class inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which
-  * defines the const variant for reading specific entries.
-  * 
-  * \sa DenseCoeffsBase<Derived, DirectAccessors>, \ref TopicClassHierarchy
-  */
-template<typename Derived>
-class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
-{
-  public:
-
-    typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
-
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    using Base::coeff;
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::derived;
-    using Base::rowIndexByOuterInner;
-    using Base::colIndexByOuterInner;
-    using Base::operator[];
-    using Base::operator();
-    using Base::x;
-    using Base::y;
-    using Base::z;
-    using Base::w;
-
-    /** Short version: don't use this function, use
-      * \link operator()(Index,Index) \endlink instead.
-      *
-      * Long version: this function is similar to
-      * \link operator()(Index,Index) \endlink, but without the assertion.
-      * Use this for limiting the performance cost of debugging code when doing
-      * repeated coefficient access. Only use this when it is guaranteed that the
-      * parameters \a row and \a col are in range.
-      *
-      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
-      * function equivalent to \link operator()(Index,Index) \endlink.
-      *
-      * \sa operator()(Index,Index), coeff(Index, Index) const, coeffRef(Index)
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
-    {
-      eigen_internal_assert(row >= 0 && row < rows()
-                         && col >= 0 && col < cols());
-      return internal::evaluator<Derived>(derived()).coeffRef(row,col);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    coeffRefByOuterInner(Index outer, Index inner)
-    {
-      return coeffRef(rowIndexByOuterInner(outer, inner),
-                      colIndexByOuterInner(outer, inner));
-    }
-
-    /** \returns a reference to the coefficient at given the given row and column.
-      *
-      * \sa operator[](Index)
-      */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    operator()(Index row, Index col)
-    {
-      eigen_assert(row >= 0 && row < rows()
-          && col >= 0 && col < cols());
-      return coeffRef(row, col);
-    }
-
-
-    /** Short version: don't use this function, use
-      * \link operator[](Index) \endlink instead.
-      *
-      * Long version: this function is similar to
-      * \link operator[](Index) \endlink, but without the assertion.
-      * Use this for limiting the performance cost of debugging code when doing
-      * repeated coefficient access. Only use this when it is guaranteed that the
-      * parameters \a row and \a col are in range.
-      *
-      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
-      * function equivalent to \link operator[](Index) \endlink.
-      *
-      * \sa operator[](Index), coeff(Index) const, coeffRef(Index,Index)
-      */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    coeffRef(Index index)
-    {
-      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
-                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
-      eigen_internal_assert(index >= 0 && index < size());
-      return internal::evaluator<Derived>(derived()).coeffRef(index);
-    }
-
-    /** \returns a reference to the coefficient at given index.
-      *
-      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
-      *
-      * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
-      */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    operator[](Index index)
-    {
-      EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
-                          THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
-      eigen_assert(index >= 0 && index < size());
-      return coeffRef(index);
-    }
-
-    /** \returns a reference to the coefficient at given index.
-      *
-      * This is synonymous to operator[](Index).
-      *
-      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
-      *
-      * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
-      */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    operator()(Index index)
-    {
-      eigen_assert(index >= 0 && index < size());
-      return coeffRef(index);
-    }
-
-    /** equivalent to operator[](0).  */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    x() { return (*this)[0]; }
-
-    /** equivalent to operator[](1).  */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    y()
-    {
-      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS);
-      return (*this)[1];
-    }
-
-    /** equivalent to operator[](2).  */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    z()
-    {
-      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS);
-      return (*this)[2];
-    }
-
-    /** equivalent to operator[](3).  */
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar&
-    w()
-    {
-      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS);
-      return (*this)[3];
-    }
-};
-
-/** \brief Base class providing direct read-only coefficient access to matrices and arrays.
-  * \ingroup Core_Module
-  * \tparam Derived Type of the derived class
-  * \tparam #DirectAccessors Constant indicating direct access
-  *
-  * This class defines functions to work with strides which can be used to access entries directly. This class
-  * inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which defines functions to access entries read-only using
-  * \c operator() .
-  *
-  * \sa \blank \ref TopicClassHierarchy
-  */
-template<typename Derived>
-class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
-{
-  public:
-
-    typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::derived;
-
-    /** \returns the pointer increment between two consecutive elements within a slice in the inner direction.
-      *
-      * \sa outerStride(), rowStride(), colStride()
-      */
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const
-    {
-      return derived().innerStride();
-    }
-
-    /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns
-      *          in a column-major matrix).
-      *
-      * \sa innerStride(), rowStride(), colStride()
-      */
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const
-    {
-      return derived().outerStride();
-    }
-
-    // FIXME shall we remove it ?
-    inline Index stride() const
-    {
-      return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
-    }
-
-    /** \returns the pointer increment between two consecutive rows.
-      *
-      * \sa innerStride(), outerStride(), colStride()
-      */
-    EIGEN_DEVICE_FUNC
-    inline Index rowStride() const
-    {
-      return Derived::IsRowMajor ? outerStride() : innerStride();
-    }
-
-    /** \returns the pointer increment between two consecutive columns.
-      *
-      * \sa innerStride(), outerStride(), rowStride()
-      */
-    EIGEN_DEVICE_FUNC
-    inline Index colStride() const
-    {
-      return Derived::IsRowMajor ? innerStride() : outerStride();
-    }
-};
-
-/** \brief Base class providing direct read/write coefficient access to matrices and arrays.
-  * \ingroup Core_Module
-  * \tparam Derived Type of the derived class
-  * \tparam #DirectWriteAccessors Constant indicating direct access
-  *
-  * This class defines functions to work with strides which can be used to access entries directly. This class
-  * inherits DenseCoeffsBase<Derived, WriteAccessors> which defines functions to access entries read/write using
-  * \c operator().
-  *
-  * \sa \blank \ref TopicClassHierarchy
-  */
-template<typename Derived>
-class DenseCoeffsBase<Derived, DirectWriteAccessors>
-  : public DenseCoeffsBase<Derived, WriteAccessors>
-{
-  public:
-
-    typedef DenseCoeffsBase<Derived, WriteAccessors> Base;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::derived;
-
-    /** \returns the pointer increment between two consecutive elements within a slice in the inner direction.
-      *
-      * \sa outerStride(), rowStride(), colStride()
-      */
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const
-    {
-      return derived().innerStride();
-    }
-
-    /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns
-      *          in a column-major matrix).
-      *
-      * \sa innerStride(), rowStride(), colStride()
-      */
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const
-    {
-      return derived().outerStride();
-    }
-
-    // FIXME shall we remove it ?
-    inline Index stride() const
-    {
-      return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
-    }
-
-    /** \returns the pointer increment between two consecutive rows.
-      *
-      * \sa innerStride(), outerStride(), colStride()
-      */
-    EIGEN_DEVICE_FUNC
-    inline Index rowStride() const
-    {
-      return Derived::IsRowMajor ? outerStride() : innerStride();
-    }
-
-    /** \returns the pointer increment between two consecutive columns.
-      *
-      * \sa innerStride(), outerStride(), rowStride()
-      */
-    EIGEN_DEVICE_FUNC
-    inline Index colStride() const
-    {
-      return Derived::IsRowMajor ? innerStride() : outerStride();
-    }
-};
-
-namespace internal {
-
-template<int Alignment, typename Derived, bool JustReturnZero>
-struct first_aligned_impl
-{
-  static inline Index run(const Derived&)
-  { return 0; }
-};
-
-template<int Alignment, typename Derived>
-struct first_aligned_impl<Alignment, Derived, false>
-{
-  static inline Index run(const Derived& m)
-  {
-    return internal::first_aligned<Alignment>(m.data(), m.size());
-  }
-};
-
-/** \internal \returns the index of the first element of the array stored by \a m that is properly aligned with respect to \a Alignment for vectorization.
-  *
-  * \tparam Alignment requested alignment in Bytes.
-  *
-  * There is also the variant first_aligned(const Scalar*, Integer) defined in Memory.h. See it for more
-  * documentation.
-  */
-template<int Alignment, typename Derived>
-static inline Index first_aligned(const DenseBase<Derived>& m)
-{
-  enum { ReturnZero = (int(evaluator<Derived>::Alignment) >= Alignment) || !(Derived::Flags & DirectAccessBit) };
-  return first_aligned_impl<Alignment, Derived, ReturnZero>::run(m.derived());
-}
-
-template<typename Derived>
-static inline Index first_default_aligned(const DenseBase<Derived>& m)
-{
-  typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type DefaultPacketType;
-  return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
-}
-
-template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
-struct inner_stride_at_compile_time
-{
-  enum { ret = traits<Derived>::InnerStrideAtCompileTime };
-};
-
-template<typename Derived>
-struct inner_stride_at_compile_time<Derived, false>
-{
-  enum { ret = 0 };
-};
-
-template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
-struct outer_stride_at_compile_time
-{
-  enum { ret = traits<Derived>::OuterStrideAtCompileTime };
-};
-
-template<typename Derived>
-struct outer_stride_at_compile_time<Derived, false>
-{
-  enum { ret = 0 };
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_DENSECOEFFSBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/DenseStorage.h b/phonelibs/eigen/Eigen/src/Core/DenseStorage.h
deleted file mode 100644
index 7958feeb9c01ed..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/DenseStorage.h
+++ /dev/null
@@ -1,570 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2010-2013 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIXSTORAGE_H
-#define EIGEN_MATRIXSTORAGE_H
-
-#ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(X) X; EIGEN_DENSE_STORAGE_CTOR_PLUGIN;
-#else
-  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(X)
-#endif
-
-namespace Eigen {
-
-namespace internal {
-
-struct constructor_without_unaligned_array_assert {};
-
-template<typename T, int Size>
-EIGEN_DEVICE_FUNC
-void check_static_allocation_size()
-{
-  // if EIGEN_STACK_ALLOCATION_LIMIT is defined to 0, then no limit
-  #if EIGEN_STACK_ALLOCATION_LIMIT
-  EIGEN_STATIC_ASSERT(Size * sizeof(T) <= EIGEN_STACK_ALLOCATION_LIMIT, OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG);
-  #endif
-}
-
-/** \internal
-  * Static array. If the MatrixOrArrayOptions require auto-alignment, the array will be automatically aligned:
-  * to 16 bytes boundary if the total size is a multiple of 16 bytes.
-  */
-template <typename T, int Size, int MatrixOrArrayOptions,
-          int Alignment = (MatrixOrArrayOptions&DontAlign) ? 0
-                        : compute_default_alignment<T,Size>::value >
-struct plain_array
-{
-  T array[Size];
-
-  EIGEN_DEVICE_FUNC
-  plain_array()
-  { 
-    check_static_allocation_size<T,Size>();
-  }
-
-  EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert)
-  { 
-    check_static_allocation_size<T,Size>();
-  }
-};
-
-#if defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
-  #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask)
-#elif EIGEN_GNUC_AT_LEAST(4,7) 
-  // GCC 4.7 is too aggressive in its optimizations and remove the alignement test based on the fact the array is declared to be aligned.
-  // See this bug report: http://gcc.gnu.org/bugzilla/show_bug.cgi?id=53900
-  // Hiding the origin of the array pointer behind a function argument seems to do the trick even if the function is inlined:
-  template<typename PtrType>
-  EIGEN_ALWAYS_INLINE PtrType eigen_unaligned_array_assert_workaround_gcc47(PtrType array) { return array; }
-  #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
-    eigen_assert((internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (sizemask)) == 0 \
-              && "this assertion is explained here: " \
-              "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \
-              " **** READ THIS WEB PAGE !!! ****");
-#else
-  #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
-    eigen_assert((internal::UIntPtr(array) & (sizemask)) == 0 \
-              && "this assertion is explained here: " \
-              "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \
-              " **** READ THIS WEB PAGE !!! ****");
-#endif
-
-template <typename T, int Size, int MatrixOrArrayOptions>
-struct plain_array<T, Size, MatrixOrArrayOptions, 8>
-{
-  EIGEN_ALIGN_TO_BOUNDARY(8) T array[Size];
-
-  EIGEN_DEVICE_FUNC
-  plain_array() 
-  {
-    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(7);
-    check_static_allocation_size<T,Size>();
-  }
-
-  EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert) 
-  { 
-    check_static_allocation_size<T,Size>();
-  }
-};
-
-template <typename T, int Size, int MatrixOrArrayOptions>
-struct plain_array<T, Size, MatrixOrArrayOptions, 16>
-{
-  EIGEN_ALIGN_TO_BOUNDARY(16) T array[Size];
-
-  EIGEN_DEVICE_FUNC
-  plain_array() 
-  { 
-    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(15);
-    check_static_allocation_size<T,Size>();
-  }
-
-  EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert) 
-  { 
-    check_static_allocation_size<T,Size>();
-  }
-};
-
-template <typename T, int Size, int MatrixOrArrayOptions>
-struct plain_array<T, Size, MatrixOrArrayOptions, 32>
-{
-  EIGEN_ALIGN_TO_BOUNDARY(32) T array[Size];
-
-  EIGEN_DEVICE_FUNC
-  plain_array() 
-  {
-    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(31);
-    check_static_allocation_size<T,Size>();
-  }
-
-  EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert) 
-  { 
-    check_static_allocation_size<T,Size>();
-  }
-};
-
-template <typename T, int Size, int MatrixOrArrayOptions>
-struct plain_array<T, Size, MatrixOrArrayOptions, 64>
-{
-  EIGEN_ALIGN_TO_BOUNDARY(64) T array[Size];
-
-  EIGEN_DEVICE_FUNC
-  plain_array() 
-  { 
-    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(63);
-    check_static_allocation_size<T,Size>();
-  }
-
-  EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert) 
-  { 
-    check_static_allocation_size<T,Size>();
-  }
-};
-
-template <typename T, int MatrixOrArrayOptions, int Alignment>
-struct plain_array<T, 0, MatrixOrArrayOptions, Alignment>
-{
-  T array[1];
-  EIGEN_DEVICE_FUNC plain_array() {}
-  EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) {}
-};
-
-} // end namespace internal
-
-/** \internal
-  *
-  * \class DenseStorage
-  * \ingroup Core_Module
-  *
-  * \brief Stores the data of a matrix
-  *
-  * This class stores the data of fixed-size, dynamic-size or mixed matrices
-  * in a way as compact as possible.
-  *
-  * \sa Matrix
-  */
-template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseStorage;
-
-// purely fixed-size matrix
-template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseStorage
-{
-    internal::plain_array<T,Size,_Options> m_data;
-  public:
-    EIGEN_DEVICE_FUNC DenseStorage() {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size)
-    }
-    EIGEN_DEVICE_FUNC
-    explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
-      : m_data(internal::constructor_without_unaligned_array_assert()) {}
-    EIGEN_DEVICE_FUNC 
-    DenseStorage(const DenseStorage& other) : m_data(other.m_data) {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size)
-    }
-    EIGEN_DEVICE_FUNC 
-    DenseStorage& operator=(const DenseStorage& other)
-    { 
-      if (this != &other) m_data = other.m_data;
-      return *this; 
-    }
-    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
-      eigen_internal_assert(size==rows*cols && rows==_Rows && cols==_Cols);
-      EIGEN_UNUSED_VARIABLE(size);
-      EIGEN_UNUSED_VARIABLE(rows);
-      EIGEN_UNUSED_VARIABLE(cols);
-    }
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
-    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
-    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
-    EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
-    EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
-    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
-    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
-};
-
-// null matrix
-template<typename T, int _Rows, int _Cols, int _Options> class DenseStorage<T, 0, _Rows, _Cols, _Options>
-{
-  public:
-    EIGEN_DEVICE_FUNC DenseStorage() {}
-    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) {}
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage&) {}
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage&) { return *this; }
-    EIGEN_DEVICE_FUNC DenseStorage(Index,Index,Index) {}
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& ) {}
-    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
-    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
-    EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
-    EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
-    EIGEN_DEVICE_FUNC const T *data() const { return 0; }
-    EIGEN_DEVICE_FUNC T *data() { return 0; }
-};
-
-// more specializations for null matrices; these are necessary to resolve ambiguities
-template<typename T, int _Options> class DenseStorage<T, 0, Dynamic, Dynamic, _Options>
-: public DenseStorage<T, 0, 0, 0, _Options> { };
-
-template<typename T, int _Rows, int _Options> class DenseStorage<T, 0, _Rows, Dynamic, _Options>
-: public DenseStorage<T, 0, 0, 0, _Options> { };
-
-template<typename T, int _Cols, int _Options> class DenseStorage<T, 0, Dynamic, _Cols, _Options>
-: public DenseStorage<T, 0, 0, 0, _Options> { };
-
-// dynamic-size matrix with fixed-size storage
-template<typename T, int Size, int _Options> class DenseStorage<T, Size, Dynamic, Dynamic, _Options>
-{
-    internal::plain_array<T,Size,_Options> m_data;
-    Index m_rows;
-    Index m_cols;
-  public:
-    EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0), m_cols(0) {}
-    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
-      : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows), m_cols(other.m_cols) {}
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) 
-    { 
-      if (this != &other)
-      {
-        m_data = other.m_data;
-        m_rows = other.m_rows;
-        m_cols = other.m_cols;
-      }
-      return *this; 
-    }
-    EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index cols) : m_rows(rows), m_cols(cols) {}
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
-    { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
-    EIGEN_DEVICE_FUNC Index rows() const {return m_rows;}
-    EIGEN_DEVICE_FUNC Index cols() const {return m_cols;}
-    EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
-    EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
-    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
-    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
-};
-
-// dynamic-size matrix with fixed-size storage and fixed width
-template<typename T, int Size, int _Cols, int _Options> class DenseStorage<T, Size, Dynamic, _Cols, _Options>
-{
-    internal::plain_array<T,Size,_Options> m_data;
-    Index m_rows;
-  public:
-    EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0) {}
-    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
-      : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {}
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) 
-    {
-      if (this != &other)
-      {
-        m_data = other.m_data;
-        m_rows = other.m_rows;
-      }
-      return *this; 
-    }
-    EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index) : m_rows(rows) {}
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
-    EIGEN_DEVICE_FUNC Index cols(void) const {return _Cols;}
-    EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index) { m_rows = rows; }
-    EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index) { m_rows = rows; }
-    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
-    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
-};
-
-// dynamic-size matrix with fixed-size storage and fixed height
-template<typename T, int Size, int _Rows, int _Options> class DenseStorage<T, Size, _Rows, Dynamic, _Options>
-{
-    internal::plain_array<T,Size,_Options> m_data;
-    Index m_cols;
-  public:
-    EIGEN_DEVICE_FUNC DenseStorage() : m_cols(0) {}
-    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
-      : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {}
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
-    {
-      if (this != &other)
-      {
-        m_data = other.m_data;
-        m_cols = other.m_cols;
-      }
-      return *this;
-    }
-    EIGEN_DEVICE_FUNC DenseStorage(Index, Index, Index cols) : m_cols(cols) {}
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    EIGEN_DEVICE_FUNC Index rows(void) const {return _Rows;}
-    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
-    void conservativeResize(Index, Index, Index cols) { m_cols = cols; }
-    void resize(Index, Index, Index cols) { m_cols = cols; }
-    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
-    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
-};
-
-// purely dynamic matrix.
-template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynamic, _Options>
-{
-    T *m_data;
-    Index m_rows;
-    Index m_cols;
-  public:
-    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0), m_cols(0) {}
-    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
-       : m_data(0), m_rows(0), m_cols(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols)
-      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows), m_cols(cols)
-    {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
-      eigen_internal_assert(size==rows*cols && rows>=0 && cols >=0);
-    }
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
-      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(other.m_rows*other.m_cols))
-      , m_rows(other.m_rows)
-      , m_cols(other.m_cols)
-    {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_rows*m_cols)
-      internal::smart_copy(other.m_data, other.m_data+other.m_rows*other.m_cols, m_data);
-    }
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
-    {
-      if (this != &other)
-      {
-        DenseStorage tmp(other);
-        this->swap(tmp);
-      }
-      return *this;
-    }
-#if EIGEN_HAS_RVALUE_REFERENCES
-    EIGEN_DEVICE_FUNC
-    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
-      : m_data(std::move(other.m_data))
-      , m_rows(std::move(other.m_rows))
-      , m_cols(std::move(other.m_cols))
-    {
-      other.m_data = nullptr;
-      other.m_rows = 0;
-      other.m_cols = 0;
-    }
-    EIGEN_DEVICE_FUNC
-    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
-    {
-      using std::swap;
-      swap(m_data, other.m_data);
-      swap(m_rows, other.m_rows);
-      swap(m_cols, other.m_cols);
-      return *this;
-    }
-#endif
-    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
-    { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
-    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
-    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
-    void conservativeResize(Index size, Index rows, Index cols)
-    {
-      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*m_cols);
-      m_rows = rows;
-      m_cols = cols;
-    }
-    EIGEN_DEVICE_FUNC void resize(Index size, Index rows, Index cols)
-    {
-      if(size != m_rows*m_cols)
-      {
-        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols);
-        if (size)
-          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
-        else
-          m_data = 0;
-        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
-      }
-      m_rows = rows;
-      m_cols = cols;
-    }
-    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
-    EIGEN_DEVICE_FUNC T *data() { return m_data; }
-};
-
-// matrix with dynamic width and fixed height (so that matrix has dynamic size).
-template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Rows, Dynamic, _Options>
-{
-    T *m_data;
-    Index m_cols;
-  public:
-    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_cols(0) {}
-    explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_cols(cols)
-    {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
-      eigen_internal_assert(size==rows*cols && rows==_Rows && cols >=0);
-      EIGEN_UNUSED_VARIABLE(rows);
-    }
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
-      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(_Rows*other.m_cols))
-      , m_cols(other.m_cols)
-    {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_cols*_Rows)
-      internal::smart_copy(other.m_data, other.m_data+_Rows*m_cols, m_data);
-    }
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
-    {
-      if (this != &other)
-      {
-        DenseStorage tmp(other);
-        this->swap(tmp);
-      }
-      return *this;
-    }    
-#if EIGEN_HAS_RVALUE_REFERENCES
-    EIGEN_DEVICE_FUNC
-    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
-      : m_data(std::move(other.m_data))
-      , m_cols(std::move(other.m_cols))
-    {
-      other.m_data = nullptr;
-      other.m_cols = 0;
-    }
-    EIGEN_DEVICE_FUNC
-    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
-    {
-      using std::swap;
-      swap(m_data, other.m_data);
-      swap(m_cols, other.m_cols);
-      return *this;
-    }
-#endif
-    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
-    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
-    EIGEN_DEVICE_FUNC void conservativeResize(Index size, Index, Index cols)
-    {
-      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, _Rows*m_cols);
-      m_cols = cols;
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index, Index cols)
-    {
-      if(size != _Rows*m_cols)
-      {
-        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols);
-        if (size)
-          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
-        else
-          m_data = 0;
-        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
-      }
-      m_cols = cols;
-    }
-    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
-    EIGEN_DEVICE_FUNC T *data() { return m_data; }
-};
-
-// matrix with dynamic height and fixed width (so that matrix has dynamic size).
-template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dynamic, _Cols, _Options>
-{
-    T *m_data;
-    Index m_rows;
-  public:
-    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0) {}
-    explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows)
-    {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
-      eigen_internal_assert(size==rows*cols && rows>=0 && cols == _Cols);
-      EIGEN_UNUSED_VARIABLE(cols);
-    }
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
-      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(other.m_rows*_Cols))
-      , m_rows(other.m_rows)
-    {
-      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_rows*_Cols)
-      internal::smart_copy(other.m_data, other.m_data+other.m_rows*_Cols, m_data);
-    }
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
-    {
-      if (this != &other)
-      {
-        DenseStorage tmp(other);
-        this->swap(tmp);
-      }
-      return *this;
-    }    
-#if EIGEN_HAS_RVALUE_REFERENCES
-    EIGEN_DEVICE_FUNC
-    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
-      : m_data(std::move(other.m_data))
-      , m_rows(std::move(other.m_rows))
-    {
-      other.m_data = nullptr;
-      other.m_rows = 0;
-    }
-    EIGEN_DEVICE_FUNC
-    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
-    {
-      using std::swap;
-      swap(m_data, other.m_data);
-      swap(m_rows, other.m_rows);
-      return *this;
-    }
-#endif
-    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
-    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
-    void conservativeResize(Index size, Index rows, Index)
-    {
-      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*_Cols);
-      m_rows = rows;
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index rows, Index)
-    {
-      if(size != m_rows*_Cols)
-      {
-        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows);
-        if (size)
-          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
-        else
-          m_data = 0;
-        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
-      }
-      m_rows = rows;
-    }
-    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
-    EIGEN_DEVICE_FUNC T *data() { return m_data; }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Diagonal.h b/phonelibs/eigen/Eigen/src/Core/Diagonal.h
deleted file mode 100644
index 49e711257167a2..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Diagonal.h
+++ /dev/null
@@ -1,257 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DIAGONAL_H
-#define EIGEN_DIAGONAL_H
-
-namespace Eigen { 
-
-/** \class Diagonal
-  * \ingroup Core_Module
-  *
-  * \brief Expression of a diagonal/subdiagonal/superdiagonal in a matrix
-  *
-  * \param MatrixType the type of the object in which we are taking a sub/main/super diagonal
-  * \param DiagIndex the index of the sub/super diagonal. The default is 0 and it means the main diagonal.
-  *              A positive value means a superdiagonal, a negative value means a subdiagonal.
-  *              You can also use DynamicIndex so the index can be set at runtime.
-  *
-  * The matrix is not required to be square.
-  *
-  * This class represents an expression of the main diagonal, or any sub/super diagonal
-  * of a square matrix. It is the return type of MatrixBase::diagonal() and MatrixBase::diagonal(Index) and most of the
-  * time this is the only way it is used.
-  *
-  * \sa MatrixBase::diagonal(), MatrixBase::diagonal(Index)
-  */
-
-namespace internal {
-template<typename MatrixType, int DiagIndex>
-struct traits<Diagonal<MatrixType,DiagIndex> >
- : traits<MatrixType>
-{
-  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
-  typedef typename MatrixType::StorageKind StorageKind;
-  enum {
-    RowsAtCompileTime = (int(DiagIndex) == DynamicIndex || int(MatrixType::SizeAtCompileTime) == Dynamic) ? Dynamic
-                      : (EIGEN_PLAIN_ENUM_MIN(MatrixType::RowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0),
-                                              MatrixType::ColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))),
-    ColsAtCompileTime = 1,
-    MaxRowsAtCompileTime = int(MatrixType::MaxSizeAtCompileTime) == Dynamic ? Dynamic
-                         : DiagIndex == DynamicIndex ? EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime,
-                                                                              MatrixType::MaxColsAtCompileTime)
-                         : (EIGEN_PLAIN_ENUM_MIN(MatrixType::MaxRowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0),
-                                                 MatrixType::MaxColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))),
-    MaxColsAtCompileTime = 1,
-    MaskLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags = (unsigned int)_MatrixTypeNested::Flags & (RowMajorBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit, // FIXME DirectAccessBit should not be handled by expressions
-    MatrixTypeOuterStride = outer_stride_at_compile_time<MatrixType>::ret,
-    InnerStrideAtCompileTime = MatrixTypeOuterStride == Dynamic ? Dynamic : MatrixTypeOuterStride+1,
-    OuterStrideAtCompileTime = 0
-  };
-};
-}
-
-template<typename MatrixType, int _DiagIndex> class Diagonal
-   : public internal::dense_xpr_base< Diagonal<MatrixType,_DiagIndex> >::type
-{
-  public:
-
-    enum { DiagIndex = _DiagIndex };
-    typedef typename internal::dense_xpr_base<Diagonal>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal)
-
-    EIGEN_DEVICE_FUNC
-    explicit inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index) {}
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal)
-
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const
-    {
-      return m_index.value()<0 ? numext::mini<Index>(m_matrix.cols(),m_matrix.rows()+m_index.value())
-                               : numext::mini<Index>(m_matrix.rows(),m_matrix.cols()-m_index.value());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return 1; }
-
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const
-    {
-      return m_matrix.outerStride() + 1;
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const
-    {
-      return 0;
-    }
-
-    typedef typename internal::conditional<
-                       internal::is_lvalue<MatrixType>::value,
-                       Scalar,
-                       const Scalar
-                     >::type ScalarWithConstIfNotLvalue;
-
-    EIGEN_DEVICE_FUNC
-    inline ScalarWithConstIfNotLvalue* data() { return &(m_matrix.coeffRef(rowOffset(), colOffset())); }
-    EIGEN_DEVICE_FUNC
-    inline const Scalar* data() const { return &(m_matrix.coeffRef(rowOffset(), colOffset())); }
-
-    EIGEN_DEVICE_FUNC
-    inline Scalar& coeffRef(Index row, Index)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return m_matrix.coeffRef(row+rowOffset(), row+colOffset());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index row, Index) const
-    {
-      return m_matrix.coeffRef(row+rowOffset(), row+colOffset());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline CoeffReturnType coeff(Index row, Index) const
-    {
-      return m_matrix.coeff(row+rowOffset(), row+colOffset());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Scalar& coeffRef(Index idx)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index idx) const
-    {
-      return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline CoeffReturnType coeff(Index idx) const
-    {
-      return m_matrix.coeff(idx+rowOffset(), idx+colOffset());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const typename internal::remove_all<typename MatrixType::Nested>::type& 
-    nestedExpression() const 
-    {
-      return m_matrix;
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Index index() const
-    {
-      return m_index.value();
-    }
-
-  protected:
-    typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
-    const internal::variable_if_dynamicindex<Index, DiagIndex> m_index;
-
-  private:
-    // some compilers may fail to optimize std::max etc in case of compile-time constants...
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; }
-    // trigger a compile-time error if someone try to call packet
-    template<int LoadMode> typename MatrixType::PacketReturnType packet(Index) const;
-    template<int LoadMode> typename MatrixType::PacketReturnType packet(Index,Index) const;
-};
-
-/** \returns an expression of the main diagonal of the matrix \c *this
-  *
-  * \c *this is not required to be square.
-  *
-  * Example: \include MatrixBase_diagonal.cpp
-  * Output: \verbinclude MatrixBase_diagonal.out
-  *
-  * \sa class Diagonal */
-template<typename Derived>
-inline typename MatrixBase<Derived>::DiagonalReturnType
-MatrixBase<Derived>::diagonal()
-{
-  return DiagonalReturnType(derived());
-}
-
-/** This is the const version of diagonal(). */
-template<typename Derived>
-inline typename MatrixBase<Derived>::ConstDiagonalReturnType
-MatrixBase<Derived>::diagonal() const
-{
-  return ConstDiagonalReturnType(derived());
-}
-
-/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this
-  *
-  * \c *this is not required to be square.
-  *
-  * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0
-  * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal.
-  *
-  * Example: \include MatrixBase_diagonal_int.cpp
-  * Output: \verbinclude MatrixBase_diagonal_int.out
-  *
-  * \sa MatrixBase::diagonal(), class Diagonal */
-template<typename Derived>
-inline typename MatrixBase<Derived>::DiagonalDynamicIndexReturnType
-MatrixBase<Derived>::diagonal(Index index)
-{
-  return DiagonalDynamicIndexReturnType(derived(), index);
-}
-
-/** This is the const version of diagonal(Index). */
-template<typename Derived>
-inline typename MatrixBase<Derived>::ConstDiagonalDynamicIndexReturnType
-MatrixBase<Derived>::diagonal(Index index) const
-{
-  return ConstDiagonalDynamicIndexReturnType(derived(), index);
-}
-
-/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this
-  *
-  * \c *this is not required to be square.
-  *
-  * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0
-  * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal.
-  *
-  * Example: \include MatrixBase_diagonal_template_int.cpp
-  * Output: \verbinclude MatrixBase_diagonal_template_int.out
-  *
-  * \sa MatrixBase::diagonal(), class Diagonal */
-template<typename Derived>
-template<int Index_>
-inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Index_>::Type
-MatrixBase<Derived>::diagonal()
-{
-  return typename DiagonalIndexReturnType<Index_>::Type(derived());
-}
-
-/** This is the const version of diagonal<int>(). */
-template<typename Derived>
-template<int Index_>
-inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Index_>::Type
-MatrixBase<Derived>::diagonal() const
-{
-  return typename ConstDiagonalIndexReturnType<Index_>::Type(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_DIAGONAL_H
diff --git a/phonelibs/eigen/Eigen/src/Core/DiagonalMatrix.h b/phonelibs/eigen/Eigen/src/Core/DiagonalMatrix.h
deleted file mode 100644
index ecfdce8efa1c9b..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/DiagonalMatrix.h
+++ /dev/null
@@ -1,343 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DIAGONALMATRIX_H
-#define EIGEN_DIAGONALMATRIX_H
-
-namespace Eigen { 
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename Derived>
-class DiagonalBase : public EigenBase<Derived>
-{
-  public:
-    typedef typename internal::traits<Derived>::DiagonalVectorType DiagonalVectorType;
-    typedef typename DiagonalVectorType::Scalar Scalar;
-    typedef typename DiagonalVectorType::RealScalar RealScalar;
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
-
-    enum {
-      RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-      ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-      MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
-      MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
-      IsVectorAtCompileTime = 0,
-      Flags = NoPreferredStorageOrderBit
-    };
-
-    typedef Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, 0, MaxRowsAtCompileTime, MaxColsAtCompileTime> DenseMatrixType;
-    typedef DenseMatrixType DenseType;
-    typedef DiagonalMatrix<Scalar,DiagonalVectorType::SizeAtCompileTime,DiagonalVectorType::MaxSizeAtCompileTime> PlainObject;
-
-    EIGEN_DEVICE_FUNC
-    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    EIGEN_DEVICE_FUNC
-    inline Derived& derived() { return *static_cast<Derived*>(this); }
-
-    EIGEN_DEVICE_FUNC
-    DenseMatrixType toDenseMatrix() const { return derived(); }
-    
-    EIGEN_DEVICE_FUNC
-    inline const DiagonalVectorType& diagonal() const { return derived().diagonal(); }
-    EIGEN_DEVICE_FUNC
-    inline DiagonalVectorType& diagonal() { return derived().diagonal(); }
-
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return diagonal().size(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return diagonal().size(); }
-
-    template<typename MatrixDerived>
-    EIGEN_DEVICE_FUNC
-    const Product<Derived,MatrixDerived,LazyProduct>
-    operator*(const MatrixBase<MatrixDerived> &matrix) const
-    {
-      return Product<Derived, MatrixDerived, LazyProduct>(derived(),matrix.derived());
-    }
-
-    typedef DiagonalWrapper<const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const DiagonalVectorType> > InverseReturnType;
-    EIGEN_DEVICE_FUNC
-    inline const InverseReturnType
-    inverse() const
-    {
-      return InverseReturnType(diagonal().cwiseInverse());
-    }
-    
-    EIGEN_DEVICE_FUNC
-    inline const DiagonalWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DiagonalVectorType,Scalar,product) >
-    operator*(const Scalar& scalar) const
-    {
-      return DiagonalWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DiagonalVectorType,Scalar,product) >(diagonal() * scalar);
-    }
-    EIGEN_DEVICE_FUNC
-    friend inline const DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >
-    operator*(const Scalar& scalar, const DiagonalBase& other)
-    {
-      return DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >(scalar * other.diagonal());
-    }
-};
-
-#endif
-
-/** \class DiagonalMatrix
-  * \ingroup Core_Module
-  *
-  * \brief Represents a diagonal matrix with its storage
-  *
-  * \param _Scalar the type of coefficients
-  * \param SizeAtCompileTime the dimension of the matrix, or Dynamic
-  * \param MaxSizeAtCompileTime the dimension of the matrix, or Dynamic. This parameter is optional and defaults
-  *        to SizeAtCompileTime. Most of the time, you do not need to specify it.
-  *
-  * \sa class DiagonalWrapper
-  */
-
-namespace internal {
-template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime>
-struct traits<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
- : traits<Matrix<_Scalar,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
-{
-  typedef Matrix<_Scalar,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1> DiagonalVectorType;
-  typedef DiagonalShape StorageKind;
-  enum {
-    Flags = LvalueBit | NoPreferredStorageOrderBit
-  };
-};
-}
-template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime>
-class DiagonalMatrix
-  : public DiagonalBase<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
-{
-  public:
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef typename internal::traits<DiagonalMatrix>::DiagonalVectorType DiagonalVectorType;
-    typedef const DiagonalMatrix& Nested;
-    typedef _Scalar Scalar;
-    typedef typename internal::traits<DiagonalMatrix>::StorageKind StorageKind;
-    typedef typename internal::traits<DiagonalMatrix>::StorageIndex StorageIndex;
-    #endif
-
-  protected:
-
-    DiagonalVectorType m_diagonal;
-
-  public:
-
-    /** const version of diagonal(). */
-    EIGEN_DEVICE_FUNC
-    inline const DiagonalVectorType& diagonal() const { return m_diagonal; }
-    /** \returns a reference to the stored vector of diagonal coefficients. */
-    EIGEN_DEVICE_FUNC
-    inline DiagonalVectorType& diagonal() { return m_diagonal; }
-
-    /** Default constructor without initialization */
-    EIGEN_DEVICE_FUNC
-    inline DiagonalMatrix() {}
-
-    /** Constructs a diagonal matrix with given dimension  */
-    EIGEN_DEVICE_FUNC
-    explicit inline DiagonalMatrix(Index dim) : m_diagonal(dim) {}
-
-    /** 2D constructor. */
-    EIGEN_DEVICE_FUNC
-    inline DiagonalMatrix(const Scalar& x, const Scalar& y) : m_diagonal(x,y) {}
-
-    /** 3D constructor. */
-    EIGEN_DEVICE_FUNC
-    inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {}
-
-    /** Copy constructor. */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    inline DiagonalMatrix(const DiagonalBase<OtherDerived>& other) : m_diagonal(other.diagonal()) {}
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** copy constructor. prevent a default copy constructor from hiding the other templated constructor */
-    inline DiagonalMatrix(const DiagonalMatrix& other) : m_diagonal(other.diagonal()) {}
-    #endif
-
-    /** generic constructor from expression of the diagonal coefficients */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    explicit inline DiagonalMatrix(const MatrixBase<OtherDerived>& other) : m_diagonal(other)
-    {}
-
-    /** Copy operator. */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    DiagonalMatrix& operator=(const DiagonalBase<OtherDerived>& other)
-    {
-      m_diagonal = other.diagonal();
-      return *this;
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    EIGEN_DEVICE_FUNC
-    DiagonalMatrix& operator=(const DiagonalMatrix& other)
-    {
-      m_diagonal = other.diagonal();
-      return *this;
-    }
-    #endif
-
-    /** Resizes to given size. */
-    EIGEN_DEVICE_FUNC
-    inline void resize(Index size) { m_diagonal.resize(size); }
-    /** Sets all coefficients to zero. */
-    EIGEN_DEVICE_FUNC
-    inline void setZero() { m_diagonal.setZero(); }
-    /** Resizes and sets all coefficients to zero. */
-    EIGEN_DEVICE_FUNC
-    inline void setZero(Index size) { m_diagonal.setZero(size); }
-    /** Sets this matrix to be the identity matrix of the current size. */
-    EIGEN_DEVICE_FUNC
-    inline void setIdentity() { m_diagonal.setOnes(); }
-    /** Sets this matrix to be the identity matrix of the given size. */
-    EIGEN_DEVICE_FUNC
-    inline void setIdentity(Index size) { m_diagonal.setOnes(size); }
-};
-
-/** \class DiagonalWrapper
-  * \ingroup Core_Module
-  *
-  * \brief Expression of a diagonal matrix
-  *
-  * \param _DiagonalVectorType the type of the vector of diagonal coefficients
-  *
-  * This class is an expression of a diagonal matrix, but not storing its own vector of diagonal coefficients,
-  * instead wrapping an existing vector expression. It is the return type of MatrixBase::asDiagonal()
-  * and most of the time this is the only way that it is used.
-  *
-  * \sa class DiagonalMatrix, class DiagonalBase, MatrixBase::asDiagonal()
-  */
-
-namespace internal {
-template<typename _DiagonalVectorType>
-struct traits<DiagonalWrapper<_DiagonalVectorType> >
-{
-  typedef _DiagonalVectorType DiagonalVectorType;
-  typedef typename DiagonalVectorType::Scalar Scalar;
-  typedef typename DiagonalVectorType::StorageIndex StorageIndex;
-  typedef DiagonalShape StorageKind;
-  typedef typename traits<DiagonalVectorType>::XprKind XprKind;
-  enum {
-    RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-    ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-    MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
-    MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
-    Flags =  (traits<DiagonalVectorType>::Flags & LvalueBit) | NoPreferredStorageOrderBit
-  };
-};
-}
-
-template<typename _DiagonalVectorType>
-class DiagonalWrapper
-  : public DiagonalBase<DiagonalWrapper<_DiagonalVectorType> >, internal::no_assignment_operator
-{
-  public:
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef _DiagonalVectorType DiagonalVectorType;
-    typedef DiagonalWrapper Nested;
-    #endif
-
-    /** Constructor from expression of diagonal coefficients to wrap. */
-    EIGEN_DEVICE_FUNC
-    explicit inline DiagonalWrapper(DiagonalVectorType& a_diagonal) : m_diagonal(a_diagonal) {}
-
-    /** \returns a const reference to the wrapped expression of diagonal coefficients. */
-    EIGEN_DEVICE_FUNC
-    const DiagonalVectorType& diagonal() const { return m_diagonal; }
-
-  protected:
-    typename DiagonalVectorType::Nested m_diagonal;
-};
-
-/** \returns a pseudo-expression of a diagonal matrix with *this as vector of diagonal coefficients
-  *
-  * \only_for_vectors
-  *
-  * Example: \include MatrixBase_asDiagonal.cpp
-  * Output: \verbinclude MatrixBase_asDiagonal.out
-  *
-  * \sa class DiagonalWrapper, class DiagonalMatrix, diagonal(), isDiagonal()
-  **/
-template<typename Derived>
-inline const DiagonalWrapper<const Derived>
-MatrixBase<Derived>::asDiagonal() const
-{
-  return DiagonalWrapper<const Derived>(derived());
-}
-
-/** \returns true if *this is approximately equal to a diagonal matrix,
-  *          within the precision given by \a prec.
-  *
-  * Example: \include MatrixBase_isDiagonal.cpp
-  * Output: \verbinclude MatrixBase_isDiagonal.out
-  *
-  * \sa asDiagonal()
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isDiagonal(const RealScalar& prec) const
-{
-  if(cols() != rows()) return false;
-  RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);
-  for(Index j = 0; j < cols(); ++j)
-  {
-    RealScalar absOnDiagonal = numext::abs(coeff(j,j));
-    if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal;
-  }
-  for(Index j = 0; j < cols(); ++j)
-    for(Index i = 0; i < j; ++i)
-    {
-      if(!internal::isMuchSmallerThan(coeff(i, j), maxAbsOnDiagonal, prec)) return false;
-      if(!internal::isMuchSmallerThan(coeff(j, i), maxAbsOnDiagonal, prec)) return false;
-    }
-  return true;
-}
-
-namespace internal {
-
-template<> struct storage_kind_to_shape<DiagonalShape> { typedef DiagonalShape Shape; };
-
-struct Diagonal2Dense {};
-
-template<> struct AssignmentKind<DenseShape,DiagonalShape> { typedef Diagonal2Dense Kind; };
-
-// Diagonal matrix to Dense assignment
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, Diagonal2Dense>
-{
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-    
-    dst.setZero();
-    dst.diagonal() = src.diagonal();
-  }
-  
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  { dst.diagonal() += src.diagonal(); }
-  
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  { dst.diagonal() -= src.diagonal(); }
-};
-
-} // namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_DIAGONALMATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/DiagonalProduct.h b/phonelibs/eigen/Eigen/src/Core/DiagonalProduct.h
deleted file mode 100644
index d372b938f656c0..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/DiagonalProduct.h
+++ /dev/null
@@ -1,28 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DIAGONALPRODUCT_H
-#define EIGEN_DIAGONALPRODUCT_H
-
-namespace Eigen { 
-
-/** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal.
-  */
-template<typename Derived>
-template<typename DiagonalDerived>
-inline const Product<Derived, DiagonalDerived, LazyProduct>
-MatrixBase<Derived>::operator*(const DiagonalBase<DiagonalDerived> &a_diagonal) const
-{
-  return Product<Derived, DiagonalDerived, LazyProduct>(derived(),a_diagonal.derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_DIAGONALPRODUCT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Dot.h b/phonelibs/eigen/Eigen/src/Core/Dot.h
deleted file mode 100644
index 06ef18b8be8bd2..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Dot.h
+++ /dev/null
@@ -1,315 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008, 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DOT_H
-#define EIGEN_DOT_H
-
-namespace Eigen { 
-
-namespace internal {
-
-// helper function for dot(). The problem is that if we put that in the body of dot(), then upon calling dot
-// with mismatched types, the compiler emits errors about failing to instantiate cwiseProduct BEFORE
-// looking at the static assertions. Thus this is a trick to get better compile errors.
-template<typename T, typename U,
-// the NeedToTranspose condition here is taken straight from Assign.h
-         bool NeedToTranspose = T::IsVectorAtCompileTime
-                && U::IsVectorAtCompileTime
-                && ((int(T::RowsAtCompileTime) == 1 && int(U::ColsAtCompileTime) == 1)
-                      |  // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
-                         // revert to || as soon as not needed anymore.
-                    (int(T::ColsAtCompileTime) == 1 && int(U::RowsAtCompileTime) == 1))
->
-struct dot_nocheck
-{
-  typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
-  typedef typename conj_prod::result_type ResScalar;
-  EIGEN_DEVICE_FUNC
-  static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
-  {
-    return a.template binaryExpr<conj_prod>(b).sum();
-  }
-};
-
-template<typename T, typename U>
-struct dot_nocheck<T, U, true>
-{
-  typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
-  typedef typename conj_prod::result_type ResScalar;
-  EIGEN_DEVICE_FUNC
-  static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
-  {
-    return a.transpose().template binaryExpr<conj_prod>(b).sum();
-  }
-};
-
-} // end namespace internal
-
-/** \fn MatrixBase::dot
-  * \returns the dot product of *this with other.
-  *
-  * \only_for_vectors
-  *
-  * \note If the scalar type is complex numbers, then this function returns the hermitian
-  * (sesquilinear) dot product, conjugate-linear in the first variable and linear in the
-  * second variable.
-  *
-  * \sa squaredNorm(), norm()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
-MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-#if !(defined(EIGEN_NO_STATIC_ASSERT) && defined(EIGEN_NO_DEBUG))
-  typedef internal::scalar_conj_product_op<Scalar,typename OtherDerived::Scalar> func;
-  EIGEN_CHECK_BINARY_COMPATIBILIY(func,Scalar,typename OtherDerived::Scalar);
-#endif
-  
-  eigen_assert(size() == other.size());
-
-  return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
-}
-
-//---------- implementation of L2 norm and related functions ----------
-
-/** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the Frobenius norm.
-  * In both cases, it consists in the sum of the square of all the matrix entries.
-  * For vectors, this is also equals to the dot product of \c *this with itself.
-  *
-  * \sa dot(), norm(), lpNorm()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::squaredNorm() const
-{
-  return numext::real((*this).cwiseAbs2().sum());
-}
-
-/** \returns, for vectors, the \em l2 norm of \c *this, and for matrices the Frobenius norm.
-  * In both cases, it consists in the square root of the sum of the square of all the matrix entries.
-  * For vectors, this is also equals to the square root of the dot product of \c *this with itself.
-  *
-  * \sa lpNorm(), dot(), squaredNorm()
-  */
-template<typename Derived>
-inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
-{
-  return numext::sqrt(squaredNorm());
-}
-
-/** \returns an expression of the quotient of \c *this by its own norm.
-  *
-  * \warning If the input vector is too small (i.e., this->norm()==0),
-  *          then this function returns a copy of the input.
-  *
-  * \only_for_vectors
-  *
-  * \sa norm(), normalize()
-  */
-template<typename Derived>
-inline const typename MatrixBase<Derived>::PlainObject
-MatrixBase<Derived>::normalized() const
-{
-  typedef typename internal::nested_eval<Derived,2>::type _Nested;
-  _Nested n(derived());
-  RealScalar z = n.squaredNorm();
-  // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
-  if(z>RealScalar(0))
-    return n / numext::sqrt(z);
-  else
-    return n;
-}
-
-/** Normalizes the vector, i.e. divides it by its own norm.
-  *
-  * \only_for_vectors
-  *
-  * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged.
-  *
-  * \sa norm(), normalized()
-  */
-template<typename Derived>
-inline void MatrixBase<Derived>::normalize()
-{
-  RealScalar z = squaredNorm();
-  // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
-  if(z>RealScalar(0))
-    derived() /= numext::sqrt(z);
-}
-
-/** \returns an expression of the quotient of \c *this by its own norm while avoiding underflow and overflow.
-  *
-  * \only_for_vectors
-  *
-  * This method is analogue to the normalized() method, but it reduces the risk of
-  * underflow and overflow when computing the norm.
-  *
-  * \warning If the input vector is too small (i.e., this->norm()==0),
-  *          then this function returns a copy of the input.
-  *
-  * \sa stableNorm(), stableNormalize(), normalized()
-  */
-template<typename Derived>
-inline const typename MatrixBase<Derived>::PlainObject
-MatrixBase<Derived>::stableNormalized() const
-{
-  typedef typename internal::nested_eval<Derived,3>::type _Nested;
-  _Nested n(derived());
-  RealScalar w = n.cwiseAbs().maxCoeff();
-  RealScalar z = (n/w).squaredNorm();
-  if(z>RealScalar(0))
-    return n / (numext::sqrt(z)*w);
-  else
-    return n;
-}
-
-/** Normalizes the vector while avoid underflow and overflow
-  *
-  * \only_for_vectors
-  *
-  * This method is analogue to the normalize() method, but it reduces the risk of
-  * underflow and overflow when computing the norm.
-  *
-  * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged.
-  *
-  * \sa stableNorm(), stableNormalized(), normalize()
-  */
-template<typename Derived>
-inline void MatrixBase<Derived>::stableNormalize()
-{
-  RealScalar w = cwiseAbs().maxCoeff();
-  RealScalar z = (derived()/w).squaredNorm();
-  if(z>RealScalar(0))
-    derived() /= numext::sqrt(z)*w;
-}
-
-//---------- implementation of other norms ----------
-
-namespace internal {
-
-template<typename Derived, int p>
-struct lpNorm_selector
-{
-  typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const MatrixBase<Derived>& m)
-  {
-    EIGEN_USING_STD_MATH(pow)
-    return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p);
-  }
-};
-
-template<typename Derived>
-struct lpNorm_selector<Derived, 1>
-{
-  EIGEN_DEVICE_FUNC
-  static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
-  {
-    return m.cwiseAbs().sum();
-  }
-};
-
-template<typename Derived>
-struct lpNorm_selector<Derived, 2>
-{
-  EIGEN_DEVICE_FUNC
-  static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
-  {
-    return m.norm();
-  }
-};
-
-template<typename Derived>
-struct lpNorm_selector<Derived, Infinity>
-{
-  typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const MatrixBase<Derived>& m)
-  {
-    if(Derived::SizeAtCompileTime==0 || (Derived::SizeAtCompileTime==Dynamic && m.size()==0))
-      return RealScalar(0);
-    return m.cwiseAbs().maxCoeff();
-  }
-};
-
-} // end namespace internal
-
-/** \returns the \b coefficient-wise \f$ \ell^p \f$ norm of \c *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
-  *          of the coefficients of \c *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$
-  *          norm, that is the maximum of the absolute values of the coefficients of \c *this.
-  *
-  * In all cases, if \c *this is empty, then the value 0 is returned.
-  *
-  * \note For matrices, this function does not compute the <a href="https://en.wikipedia.org/wiki/Operator_norm">operator-norm</a>. That is, if \c *this is a matrix, then its coefficients are interpreted as a 1D vector. Nonetheless, you can easily compute the 1-norm and \f$\infty\f$-norm matrix operator norms using \link TutorialReductionsVisitorsBroadcastingReductionsNorm partial reductions \endlink.
-  *
-  * \sa norm()
-  */
-template<typename Derived>
-template<int p>
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
-#else
-MatrixBase<Derived>::RealScalar
-#endif
-MatrixBase<Derived>::lpNorm() const
-{
-  return internal::lpNorm_selector<Derived, p>::run(*this);
-}
-
-//---------- implementation of isOrthogonal / isUnitary ----------
-
-/** \returns true if *this is approximately orthogonal to \a other,
-  *          within the precision given by \a prec.
-  *
-  * Example: \include MatrixBase_isOrthogonal.cpp
-  * Output: \verbinclude MatrixBase_isOrthogonal.out
-  */
-template<typename Derived>
-template<typename OtherDerived>
-bool MatrixBase<Derived>::isOrthogonal
-(const MatrixBase<OtherDerived>& other, const RealScalar& prec) const
-{
-  typename internal::nested_eval<Derived,2>::type nested(derived());
-  typename internal::nested_eval<OtherDerived,2>::type otherNested(other.derived());
-  return numext::abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm();
-}
-
-/** \returns true if *this is approximately an unitary matrix,
-  *          within the precision given by \a prec. In the case where the \a Scalar
-  *          type is real numbers, a unitary matrix is an orthogonal matrix, whence the name.
-  *
-  * \note This can be used to check whether a family of vectors forms an orthonormal basis.
-  *       Indeed, \c m.isUnitary() returns true if and only if the columns (equivalently, the rows) of m form an
-  *       orthonormal basis.
-  *
-  * Example: \include MatrixBase_isUnitary.cpp
-  * Output: \verbinclude MatrixBase_isUnitary.out
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isUnitary(const RealScalar& prec) const
-{
-  typename internal::nested_eval<Derived,1>::type self(derived());
-  for(Index i = 0; i < cols(); ++i)
-  {
-    if(!internal::isApprox(self.col(i).squaredNorm(), static_cast<RealScalar>(1), prec))
-      return false;
-    for(Index j = 0; j < i; ++j)
-      if(!internal::isMuchSmallerThan(self.col(i).dot(self.col(j)), static_cast<Scalar>(1), prec))
-        return false;
-  }
-  return true;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_DOT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/EigenBase.h b/phonelibs/eigen/Eigen/src/Core/EigenBase.h
deleted file mode 100644
index f76995af907847..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/EigenBase.h
+++ /dev/null
@@ -1,155 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EIGENBASE_H
-#define EIGEN_EIGENBASE_H
-
-namespace Eigen {
-
-/** \class EigenBase
-  * 
-  * Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
-  *
-  * In other words, an EigenBase object is an object that can be copied into a MatrixBase.
-  *
-  * Besides MatrixBase-derived classes, this also includes special matrix classes such as diagonal matrices, etc.
-  *
-  * Notice that this class is trivial, it is only used to disambiguate overloaded functions.
-  *
-  * \sa \blank \ref TopicClassHierarchy
-  */
-template<typename Derived> struct EigenBase
-{
-//   typedef typename internal::plain_matrix_type<Derived>::type PlainObject;
-  
-  /** \brief The interface type of indices
-    * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
-    * \deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead.
-    * \sa StorageIndex, \ref TopicPreprocessorDirectives.
-    */
-  typedef Eigen::Index Index;
-
-  // FIXME is it needed?
-  typedef typename internal::traits<Derived>::StorageKind StorageKind;
-
-  /** \returns a reference to the derived object */
-  EIGEN_DEVICE_FUNC
-  Derived& derived() { return *static_cast<Derived*>(this); }
-  /** \returns a const reference to the derived object */
-  EIGEN_DEVICE_FUNC
-  const Derived& derived() const { return *static_cast<const Derived*>(this); }
-
-  EIGEN_DEVICE_FUNC
-  inline Derived& const_cast_derived() const
-  { return *static_cast<Derived*>(const_cast<EigenBase*>(this)); }
-  EIGEN_DEVICE_FUNC
-  inline const Derived& const_derived() const
-  { return *static_cast<const Derived*>(this); }
-
-  /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
-  EIGEN_DEVICE_FUNC
-  inline Index rows() const { return derived().rows(); }
-  /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
-  EIGEN_DEVICE_FUNC
-  inline Index cols() const { return derived().cols(); }
-  /** \returns the number of coefficients, which is rows()*cols().
-    * \sa rows(), cols(), SizeAtCompileTime. */
-  EIGEN_DEVICE_FUNC
-  inline Index size() const { return rows() * cols(); }
-
-  /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */
-  template<typename Dest>
-  EIGEN_DEVICE_FUNC
-  inline void evalTo(Dest& dst) const
-  { derived().evalTo(dst); }
-
-  /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */
-  template<typename Dest>
-  EIGEN_DEVICE_FUNC
-  inline void addTo(Dest& dst) const
-  {
-    // This is the default implementation,
-    // derived class can reimplement it in a more optimized way.
-    typename Dest::PlainObject res(rows(),cols());
-    evalTo(res);
-    dst += res;
-  }
-
-  /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */
-  template<typename Dest>
-  EIGEN_DEVICE_FUNC
-  inline void subTo(Dest& dst) const
-  {
-    // This is the default implementation,
-    // derived class can reimplement it in a more optimized way.
-    typename Dest::PlainObject res(rows(),cols());
-    evalTo(res);
-    dst -= res;
-  }
-
-  /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */
-  template<typename Dest>
-  EIGEN_DEVICE_FUNC inline void applyThisOnTheRight(Dest& dst) const
-  {
-    // This is the default implementation,
-    // derived class can reimplement it in a more optimized way.
-    dst = dst * this->derived();
-  }
-
-  /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */
-  template<typename Dest>
-  EIGEN_DEVICE_FUNC inline void applyThisOnTheLeft(Dest& dst) const
-  {
-    // This is the default implementation,
-    // derived class can reimplement it in a more optimized way.
-    dst = this->derived() * dst;
-  }
-
-};
-
-/***************************************************************************
-* Implementation of matrix base methods
-***************************************************************************/
-
-/** \brief Copies the generic expression \a other into *this.
-  *
-  * \details The expression must provide a (templated) evalTo(Derived& dst) const
-  * function which does the actual job. In practice, this allows any user to write
-  * its own special matrix without having to modify MatrixBase
-  *
-  * \returns a reference to *this.
-  */
-template<typename Derived>
-template<typename OtherDerived>
-Derived& DenseBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
-{
-  call_assignment(derived(), other.derived());
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-Derived& DenseBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
-{
-  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-Derived& DenseBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
-{
-  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_EIGENBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/ForceAlignedAccess.h b/phonelibs/eigen/Eigen/src/Core/ForceAlignedAccess.h
deleted file mode 100644
index 7b08b45e67c8bd..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/ForceAlignedAccess.h
+++ /dev/null
@@ -1,146 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FORCEALIGNEDACCESS_H
-#define EIGEN_FORCEALIGNEDACCESS_H
-
-namespace Eigen {
-
-/** \class ForceAlignedAccess
-  * \ingroup Core_Module
-  *
-  * \brief Enforce aligned packet loads and stores regardless of what is requested
-  *
-  * \param ExpressionType the type of the object of which we are forcing aligned packet access
-  *
-  * This class is the return type of MatrixBase::forceAlignedAccess()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::forceAlignedAccess()
-  */
-
-namespace internal {
-template<typename ExpressionType>
-struct traits<ForceAlignedAccess<ExpressionType> > : public traits<ExpressionType>
-{};
-}
-
-template<typename ExpressionType> class ForceAlignedAccess
-  : public internal::dense_xpr_base< ForceAlignedAccess<ExpressionType> >::type
-{
-  public:
-
-    typedef typename internal::dense_xpr_base<ForceAlignedAccess>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(ForceAlignedAccess)
-
-    EIGEN_DEVICE_FUNC explicit inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
-
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
-
-    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
-    {
-      return m_expression.coeff(row, col);
-    }
-
-    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_expression.const_cast_derived().coeffRef(row, col);
-    }
-
-    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
-    {
-      return m_expression.coeff(index);
-    }
-
-    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index row, Index col) const
-    {
-      return m_expression.template packet<Aligned>(row, col);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index row, Index col, const PacketScalar& x)
-    {
-      m_expression.const_cast_derived().template writePacket<Aligned>(row, col, x);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return m_expression.template packet<Aligned>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& x)
-    {
-      m_expression.const_cast_derived().template writePacket<Aligned>(index, x);
-    }
-
-    EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
-
-  protected:
-    const ExpressionType& m_expression;
-
-  private:
-    ForceAlignedAccess& operator=(const ForceAlignedAccess&);
-};
-
-/** \returns an expression of *this with forced aligned access
-  * \sa forceAlignedAccessIf(),class ForceAlignedAccess
-  */
-template<typename Derived>
-inline const ForceAlignedAccess<Derived>
-MatrixBase<Derived>::forceAlignedAccess() const
-{
-  return ForceAlignedAccess<Derived>(derived());
-}
-
-/** \returns an expression of *this with forced aligned access
-  * \sa forceAlignedAccessIf(), class ForceAlignedAccess
-  */
-template<typename Derived>
-inline ForceAlignedAccess<Derived>
-MatrixBase<Derived>::forceAlignedAccess()
-{
-  return ForceAlignedAccess<Derived>(derived());
-}
-
-/** \returns an expression of *this with forced aligned access if \a Enable is true.
-  * \sa forceAlignedAccess(), class ForceAlignedAccess
-  */
-template<typename Derived>
-template<bool Enable>
-inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type
-MatrixBase<Derived>::forceAlignedAccessIf() const
-{
-  return derived();  // FIXME This should not work but apparently is never used
-}
-
-/** \returns an expression of *this with forced aligned access if \a Enable is true.
-  * \sa forceAlignedAccess(), class ForceAlignedAccess
-  */
-template<typename Derived>
-template<bool Enable>
-inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type
-MatrixBase<Derived>::forceAlignedAccessIf()
-{
-  return derived();  // FIXME This should not work but apparently is never used
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_FORCEALIGNEDACCESS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Fuzzy.h b/phonelibs/eigen/Eigen/src/Core/Fuzzy.h
deleted file mode 100644
index 3e403a09d92fc0..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Fuzzy.h
+++ /dev/null
@@ -1,155 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FUZZY_H
-#define EIGEN_FUZZY_H
-
-namespace Eigen { 
-
-namespace internal
-{
-
-template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
-struct isApprox_selector
-{
-  EIGEN_DEVICE_FUNC
-  static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec)
-  {
-    typename internal::nested_eval<Derived,2>::type nested(x);
-    typename internal::nested_eval<OtherDerived,2>::type otherNested(y);
-    return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * numext::mini(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum());
-  }
-};
-
-template<typename Derived, typename OtherDerived>
-struct isApprox_selector<Derived, OtherDerived, true>
-{
-  EIGEN_DEVICE_FUNC
-  static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar&)
-  {
-    return x.matrix() == y.matrix();
-  }
-};
-
-template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
-struct isMuchSmallerThan_object_selector
-{
-  EIGEN_DEVICE_FUNC
-  static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec)
-  {
-    return x.cwiseAbs2().sum() <= numext::abs2(prec) * y.cwiseAbs2().sum();
-  }
-};
-
-template<typename Derived, typename OtherDerived>
-struct isMuchSmallerThan_object_selector<Derived, OtherDerived, true>
-{
-  EIGEN_DEVICE_FUNC
-  static bool run(const Derived& x, const OtherDerived&, const typename Derived::RealScalar&)
-  {
-    return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
-  }
-};
-
-template<typename Derived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
-struct isMuchSmallerThan_scalar_selector
-{
-  EIGEN_DEVICE_FUNC
-  static bool run(const Derived& x, const typename Derived::RealScalar& y, const typename Derived::RealScalar& prec)
-  {
-    return x.cwiseAbs2().sum() <= numext::abs2(prec * y);
-  }
-};
-
-template<typename Derived>
-struct isMuchSmallerThan_scalar_selector<Derived, true>
-{
-  EIGEN_DEVICE_FUNC
-  static bool run(const Derived& x, const typename Derived::RealScalar&, const typename Derived::RealScalar&)
-  {
-    return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
-  }
-};
-
-} // end namespace internal
-
-
-/** \returns \c true if \c *this is approximately equal to \a other, within the precision
-  * determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$
-  * are considered to be approximately equal within precision \f$ p \f$ if
-  * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f]
-  * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm
-  * L2 norm).
-  *
-  * \note Because of the multiplicativeness of this comparison, one can't use this function
-  * to check whether \c *this is approximately equal to the zero matrix or vector.
-  * Indeed, \c isApprox(zero) returns false unless \c *this itself is exactly the zero matrix
-  * or vector. If you want to test whether \c *this is zero, use internal::isMuchSmallerThan(const
-  * RealScalar&, RealScalar) instead.
-  *
-  * \sa internal::isMuchSmallerThan(const RealScalar&, RealScalar) const
-  */
-template<typename Derived>
-template<typename OtherDerived>
-bool DenseBase<Derived>::isApprox(
-  const DenseBase<OtherDerived>& other,
-  const RealScalar& prec
-) const
-{
-  return internal::isApprox_selector<Derived, OtherDerived>::run(derived(), other.derived(), prec);
-}
-
-/** \returns \c true if the norm of \c *this is much smaller than \a other,
-  * within the precision determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
-  * considered to be much smaller than \f$ x \f$ within precision \f$ p \f$ if
-  * \f[ \Vert v \Vert \leqslant p\,\vert x\vert. \f]
-  *
-  * For matrices, the comparison is done using the Hilbert-Schmidt norm. For this reason,
-  * the value of the reference scalar \a other should come from the Hilbert-Schmidt norm
-  * of a reference matrix of same dimensions.
-  *
-  * \sa isApprox(), isMuchSmallerThan(const DenseBase<OtherDerived>&, RealScalar) const
-  */
-template<typename Derived>
-bool DenseBase<Derived>::isMuchSmallerThan(
-  const typename NumTraits<Scalar>::Real& other,
-  const RealScalar& prec
-) const
-{
-  return internal::isMuchSmallerThan_scalar_selector<Derived>::run(derived(), other, prec);
-}
-
-/** \returns \c true if the norm of \c *this is much smaller than the norm of \a other,
-  * within the precision determined by \a prec.
-  *
-  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
-  * considered to be much smaller than a vector \f$ w \f$ within precision \f$ p \f$ if
-  * \f[ \Vert v \Vert \leqslant p\,\Vert w\Vert. \f]
-  * For matrices, the comparison is done using the Hilbert-Schmidt norm.
-  *
-  * \sa isApprox(), isMuchSmallerThan(const RealScalar&, RealScalar) const
-  */
-template<typename Derived>
-template<typename OtherDerived>
-bool DenseBase<Derived>::isMuchSmallerThan(
-  const DenseBase<OtherDerived>& other,
-  const RealScalar& prec
-) const
-{
-  return internal::isMuchSmallerThan_object_selector<Derived, OtherDerived>::run(derived(), other.derived(), prec);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_FUZZY_H
diff --git a/phonelibs/eigen/Eigen/src/Core/GeneralProduct.h b/phonelibs/eigen/Eigen/src/Core/GeneralProduct.h
deleted file mode 100644
index 0f16cd8e39c601..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/GeneralProduct.h
+++ /dev/null
@@ -1,454 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GENERAL_PRODUCT_H
-#define EIGEN_GENERAL_PRODUCT_H
-
-namespace Eigen {
-
-enum {
-  Large = 2,
-  Small = 3
-};
-
-namespace internal {
-
-template<int Rows, int Cols, int Depth> struct product_type_selector;
-
-template<int Size, int MaxSize> struct product_size_category
-{
-  enum { is_large = MaxSize == Dynamic ||
-                    Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD ||
-                    (Size==Dynamic && MaxSize>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD),
-         value = is_large  ? Large
-               : Size == 1 ? 1
-                           : Small
-  };
-};
-
-template<typename Lhs, typename Rhs> struct product_type
-{
-  typedef typename remove_all<Lhs>::type _Lhs;
-  typedef typename remove_all<Rhs>::type _Rhs;
-  enum {
-    MaxRows = traits<_Lhs>::MaxRowsAtCompileTime,
-    Rows    = traits<_Lhs>::RowsAtCompileTime,
-    MaxCols = traits<_Rhs>::MaxColsAtCompileTime,
-    Cols    = traits<_Rhs>::ColsAtCompileTime,
-    MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::MaxColsAtCompileTime,
-                                           traits<_Rhs>::MaxRowsAtCompileTime),
-    Depth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::ColsAtCompileTime,
-                                        traits<_Rhs>::RowsAtCompileTime)
-  };
-
-  // the splitting into different lines of code here, introducing the _select enums and the typedef below,
-  // is to work around an internal compiler error with gcc 4.1 and 4.2.
-private:
-  enum {
-    rows_select = product_size_category<Rows,MaxRows>::value,
-    cols_select = product_size_category<Cols,MaxCols>::value,
-    depth_select = product_size_category<Depth,MaxDepth>::value
-  };
-  typedef product_type_selector<rows_select, cols_select, depth_select> selector;
-
-public:
-  enum {
-    value = selector::ret,
-    ret = selector::ret
-  };
-#ifdef EIGEN_DEBUG_PRODUCT
-  static void debug()
-  {
-      EIGEN_DEBUG_VAR(Rows);
-      EIGEN_DEBUG_VAR(Cols);
-      EIGEN_DEBUG_VAR(Depth);
-      EIGEN_DEBUG_VAR(rows_select);
-      EIGEN_DEBUG_VAR(cols_select);
-      EIGEN_DEBUG_VAR(depth_select);
-      EIGEN_DEBUG_VAR(value);
-  }
-#endif
-};
-
-/* The following allows to select the kind of product at compile time
- * based on the three dimensions of the product.
- * This is a compile time mapping from {1,Small,Large}^3 -> {product types} */
-// FIXME I'm not sure the current mapping is the ideal one.
-template<int M, int N>  struct product_type_selector<M,N,1>              { enum { ret = OuterProduct }; };
-template<int M>         struct product_type_selector<M, 1, 1>            { enum { ret = LazyCoeffBasedProductMode }; };
-template<int N>         struct product_type_selector<1, N, 1>            { enum { ret = LazyCoeffBasedProductMode }; };
-template<int Depth>     struct product_type_selector<1,    1,    Depth>  { enum { ret = InnerProduct }; };
-template<>              struct product_type_selector<1,    1,    1>      { enum { ret = InnerProduct }; };
-template<>              struct product_type_selector<Small,1,    Small>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<1,    Small,Small>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<Small,Small,Small>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<Small, Small, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
-template<>              struct product_type_selector<Small, Large, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
-template<>              struct product_type_selector<Large, Small, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
-template<>              struct product_type_selector<1,    Large,Small>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<1,    Large,Large>  { enum { ret = GemvProduct }; };
-template<>              struct product_type_selector<1,    Small,Large>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<Large,1,    Small>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<Large,1,    Large>  { enum { ret = GemvProduct }; };
-template<>              struct product_type_selector<Small,1,    Large>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<Small,Small,Large>  { enum { ret = GemmProduct }; };
-template<>              struct product_type_selector<Large,Small,Large>  { enum { ret = GemmProduct }; };
-template<>              struct product_type_selector<Small,Large,Large>  { enum { ret = GemmProduct }; };
-template<>              struct product_type_selector<Large,Large,Large>  { enum { ret = GemmProduct }; };
-template<>              struct product_type_selector<Large,Small,Small>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<Small,Large,Small>  { enum { ret = CoeffBasedProductMode }; };
-template<>              struct product_type_selector<Large,Large,Small>  { enum { ret = GemmProduct }; };
-
-} // end namespace internal
-
-/***********************************************************************
-*  Implementation of Inner Vector Vector Product
-***********************************************************************/
-
-// FIXME : maybe the "inner product" could return a Scalar
-// instead of a 1x1 matrix ??
-// Pro: more natural for the user
-// Cons: this could be a problem if in a meta unrolled algorithm a matrix-matrix
-// product ends up to a row-vector times col-vector product... To tackle this use
-// case, we could have a specialization for Block<MatrixType,1,1> with: operator=(Scalar x);
-
-/***********************************************************************
-*  Implementation of Outer Vector Vector Product
-***********************************************************************/
-
-/***********************************************************************
-*  Implementation of General Matrix Vector Product
-***********************************************************************/
-
-/*  According to the shape/flags of the matrix we have to distinghish 3 different cases:
- *   1 - the matrix is col-major, BLAS compatible and M is large => call fast BLAS-like colmajor routine
- *   2 - the matrix is row-major, BLAS compatible and N is large => call fast BLAS-like rowmajor routine
- *   3 - all other cases are handled using a simple loop along the outer-storage direction.
- *  Therefore we need a lower level meta selector.
- *  Furthermore, if the matrix is the rhs, then the product has to be transposed.
- */
-namespace internal {
-
-template<int Side, int StorageOrder, bool BlasCompatible>
-struct gemv_dense_selector;
-
-} // end namespace internal
-
-namespace internal {
-
-template<typename Scalar,int Size,int MaxSize,bool Cond> struct gemv_static_vector_if;
-
-template<typename Scalar,int Size,int MaxSize>
-struct gemv_static_vector_if<Scalar,Size,MaxSize,false>
-{
-  EIGEN_STRONG_INLINE  Scalar* data() { eigen_internal_assert(false && "should never be called"); return 0; }
-};
-
-template<typename Scalar,int Size>
-struct gemv_static_vector_if<Scalar,Size,Dynamic,true>
-{
-  EIGEN_STRONG_INLINE Scalar* data() { return 0; }
-};
-
-template<typename Scalar,int Size,int MaxSize>
-struct gemv_static_vector_if<Scalar,Size,MaxSize,true>
-{
-  enum {
-    ForceAlignment  = internal::packet_traits<Scalar>::Vectorizable,
-    PacketSize      = internal::packet_traits<Scalar>::size
-  };
-  #if EIGEN_MAX_STATIC_ALIGN_BYTES!=0
-  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize),0,EIGEN_PLAIN_ENUM_MIN(AlignedMax,PacketSize)> m_data;
-  EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; }
-  #else
-  // Some architectures cannot align on the stack,
-  // => let's manually enforce alignment by allocating more data and return the address of the first aligned element.
-  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize)+(ForceAlignment?EIGEN_MAX_ALIGN_BYTES:0),0> m_data;
-  EIGEN_STRONG_INLINE Scalar* data() {
-    return ForceAlignment
-            ? reinterpret_cast<Scalar*>((internal::UIntPtr(m_data.array) & ~(std::size_t(EIGEN_MAX_ALIGN_BYTES-1))) + EIGEN_MAX_ALIGN_BYTES)
-            : m_data.array;
-  }
-  #endif
-};
-
-// The vector is on the left => transposition
-template<int StorageOrder, bool BlasCompatible>
-struct gemv_dense_selector<OnTheLeft,StorageOrder,BlasCompatible>
-{
-  template<typename Lhs, typename Rhs, typename Dest>
-  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
-  {
-    Transpose<Dest> destT(dest);
-    enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor };
-    gemv_dense_selector<OnTheRight,OtherStorageOrder,BlasCompatible>
-      ::run(rhs.transpose(), lhs.transpose(), destT, alpha);
-  }
-};
-
-template<> struct gemv_dense_selector<OnTheRight,ColMajor,true>
-{
-  template<typename Lhs, typename Rhs, typename Dest>
-  static inline void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
-  {
-    typedef typename Lhs::Scalar   LhsScalar;
-    typedef typename Rhs::Scalar   RhsScalar;
-    typedef typename Dest::Scalar  ResScalar;
-    typedef typename Dest::RealScalar  RealScalar;
-    
-    typedef internal::blas_traits<Lhs> LhsBlasTraits;
-    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-    typedef internal::blas_traits<Rhs> RhsBlasTraits;
-    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-  
-    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
-
-    ActualLhsType actualLhs = LhsBlasTraits::extract(lhs);
-    ActualRhsType actualRhs = RhsBlasTraits::extract(rhs);
-
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
-                                  * RhsBlasTraits::extractScalarFactor(rhs);
-
-    // make sure Dest is a compile-time vector type (bug 1166)
-    typedef typename conditional<Dest::IsVectorAtCompileTime, Dest, typename Dest::ColXpr>::type ActualDest;
-
-    enum {
-      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
-      // on, the other hand it is good for the cache to pack the vector anyways...
-      EvalToDestAtCompileTime = (ActualDest::InnerStrideAtCompileTime==1),
-      ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
-      MightCannotUseDest = (!EvalToDestAtCompileTime) || ComplexByReal
-    };
-
-    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
-    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
-    RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
-
-    if(!MightCannotUseDest)
-    {
-      // shortcut if we are sure to be able to use dest directly,
-      // this ease the compiler to generate cleaner and more optimzized code for most common cases
-      general_matrix_vector_product
-          <Index,LhsScalar,LhsMapper,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
-          actualLhs.rows(), actualLhs.cols(),
-          LhsMapper(actualLhs.data(), actualLhs.outerStride()),
-          RhsMapper(actualRhs.data(), actualRhs.innerStride()),
-          dest.data(), 1,
-          compatibleAlpha);
-    }
-    else
-    {
-      gemv_static_vector_if<ResScalar,ActualDest::SizeAtCompileTime,ActualDest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
-
-      const bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
-      const bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
-
-      ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
-                                                    evalToDest ? dest.data() : static_dest.data());
-
-      if(!evalToDest)
-      {
-        #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-        Index size = dest.size();
-        EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-        #endif
-        if(!alphaIsCompatible)
-        {
-          MappedDest(actualDestPtr, dest.size()).setZero();
-          compatibleAlpha = RhsScalar(1);
-        }
-        else
-          MappedDest(actualDestPtr, dest.size()) = dest;
-      }
-
-      general_matrix_vector_product
-          <Index,LhsScalar,LhsMapper,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
-          actualLhs.rows(), actualLhs.cols(),
-          LhsMapper(actualLhs.data(), actualLhs.outerStride()),
-          RhsMapper(actualRhs.data(), actualRhs.innerStride()),
-          actualDestPtr, 1,
-          compatibleAlpha);
-
-      if (!evalToDest)
-      {
-        if(!alphaIsCompatible)
-          dest.matrix() += actualAlpha * MappedDest(actualDestPtr, dest.size());
-        else
-          dest = MappedDest(actualDestPtr, dest.size());
-      }
-    }
-  }
-};
-
-template<> struct gemv_dense_selector<OnTheRight,RowMajor,true>
-{
-  template<typename Lhs, typename Rhs, typename Dest>
-  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
-  {
-    typedef typename Lhs::Scalar   LhsScalar;
-    typedef typename Rhs::Scalar   RhsScalar;
-    typedef typename Dest::Scalar  ResScalar;
-    
-    typedef internal::blas_traits<Lhs> LhsBlasTraits;
-    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-    typedef internal::blas_traits<Rhs> RhsBlasTraits;
-    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
-
-    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
-    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
-
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
-                                  * RhsBlasTraits::extractScalarFactor(rhs);
-
-    enum {
-      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
-      // on, the other hand it is good for the cache to pack the vector anyways...
-      DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
-    };
-
-    gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
-
-    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
-        DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
-
-    if(!DirectlyUseRhs)
-    {
-      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      Index size = actualRhs.size();
-      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      #endif
-      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
-    }
-
-    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
-    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
-    general_matrix_vector_product
-        <Index,LhsScalar,LhsMapper,RowMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
-        actualLhs.rows(), actualLhs.cols(),
-        LhsMapper(actualLhs.data(), actualLhs.outerStride()),
-        RhsMapper(actualRhsPtr, 1),
-        dest.data(), dest.col(0).innerStride(), //NOTE  if dest is not a vector at compile-time, then dest.innerStride() might be wrong. (bug 1166)
-        actualAlpha);
-  }
-};
-
-template<> struct gemv_dense_selector<OnTheRight,ColMajor,false>
-{
-  template<typename Lhs, typename Rhs, typename Dest>
-  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
-  {
-    EIGEN_STATIC_ASSERT((!nested_eval<Lhs,1>::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE);
-    // TODO if rhs is large enough it might be beneficial to make sure that dest is sequentially stored in memory, otherwise use a temp
-    typename nested_eval<Rhs,1>::type actual_rhs(rhs);
-    const Index size = rhs.rows();
-    for(Index k=0; k<size; ++k)
-      dest += (alpha*actual_rhs.coeff(k)) * lhs.col(k);
-  }
-};
-
-template<> struct gemv_dense_selector<OnTheRight,RowMajor,false>
-{
-  template<typename Lhs, typename Rhs, typename Dest>
-  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
-  {
-    EIGEN_STATIC_ASSERT((!nested_eval<Lhs,1>::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE);
-    typename nested_eval<Rhs,Lhs::RowsAtCompileTime>::type actual_rhs(rhs);
-    const Index rows = dest.rows();
-    for(Index i=0; i<rows; ++i)
-      dest.coeffRef(i) += alpha * (lhs.row(i).cwiseProduct(actual_rhs.transpose())).sum();
-  }
-};
-
-} // end namespace internal
-
-/***************************************************************************
-* Implementation of matrix base methods
-***************************************************************************/
-
-/** \returns the matrix product of \c *this and \a other.
-  *
-  * \note If instead of the matrix product you want the coefficient-wise product, see Cwise::operator*().
-  *
-  * \sa lazyProduct(), operator*=(const MatrixBase&), Cwise::operator*()
-  */
-#ifndef __CUDACC__
-
-template<typename Derived>
-template<typename OtherDerived>
-inline const Product<Derived, OtherDerived>
-MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
-{
-  // A note regarding the function declaration: In MSVC, this function will sometimes
-  // not be inlined since DenseStorage is an unwindable object for dynamic
-  // matrices and product types are holding a member to store the result.
-  // Thus it does not help tagging this function with EIGEN_STRONG_INLINE.
-  enum {
-    ProductIsValid =  Derived::ColsAtCompileTime==Dynamic
-                   || OtherDerived::RowsAtCompileTime==Dynamic
-                   || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
-    AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
-    SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
-  };
-  // note to the lost user:
-  //    * for a dot product use: v1.dot(v2)
-  //    * for a coeff-wise product use: v1.cwiseProduct(v2)
-  EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
-    INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
-  EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
-    INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
-  EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
-#ifdef EIGEN_DEBUG_PRODUCT
-  internal::product_type<Derived,OtherDerived>::debug();
-#endif
-
-  return Product<Derived, OtherDerived>(derived(), other.derived());
-}
-
-#endif // __CUDACC__
-
-/** \returns an expression of the matrix product of \c *this and \a other without implicit evaluation.
-  *
-  * The returned product will behave like any other expressions: the coefficients of the product will be
-  * computed once at a time as requested. This might be useful in some extremely rare cases when only
-  * a small and no coherent fraction of the result's coefficients have to be computed.
-  *
-  * \warning This version of the matrix product can be much much slower. So use it only if you know
-  * what you are doing and that you measured a true speed improvement.
-  *
-  * \sa operator*(const MatrixBase&)
-  */
-template<typename Derived>
-template<typename OtherDerived>
-const Product<Derived,OtherDerived,LazyProduct>
-MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
-{
-  enum {
-    ProductIsValid =  Derived::ColsAtCompileTime==Dynamic
-                   || OtherDerived::RowsAtCompileTime==Dynamic
-                   || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
-    AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
-    SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
-  };
-  // note to the lost user:
-  //    * for a dot product use: v1.dot(v2)
-  //    * for a coeff-wise product use: v1.cwiseProduct(v2)
-  EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
-    INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
-  EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
-    INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
-  EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
-
-  return Product<Derived,OtherDerived,LazyProduct>(derived(), other.derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_PRODUCT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/GenericPacketMath.h b/phonelibs/eigen/Eigen/src/Core/GenericPacketMath.h
deleted file mode 100644
index 27033a2dd0b730..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/GenericPacketMath.h
+++ /dev/null
@@ -1,593 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GENERIC_PACKET_MATH_H
-#define EIGEN_GENERIC_PACKET_MATH_H
-
-namespace Eigen {
-
-namespace internal {
-
-/** \internal
-  * \file GenericPacketMath.h
-  *
-  * Default implementation for types not supported by the vectorization.
-  * In practice these functions are provided to make easier the writing
-  * of generic vectorized code.
-  */
-
-#ifndef EIGEN_DEBUG_ALIGNED_LOAD
-#define EIGEN_DEBUG_ALIGNED_LOAD
-#endif
-
-#ifndef EIGEN_DEBUG_UNALIGNED_LOAD
-#define EIGEN_DEBUG_UNALIGNED_LOAD
-#endif
-
-#ifndef EIGEN_DEBUG_ALIGNED_STORE
-#define EIGEN_DEBUG_ALIGNED_STORE
-#endif
-
-#ifndef EIGEN_DEBUG_UNALIGNED_STORE
-#define EIGEN_DEBUG_UNALIGNED_STORE
-#endif
-
-struct default_packet_traits
-{
-  enum {
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasNegate = 1,
-    HasAbs    = 1,
-    HasArg    = 0,
-    HasAbs2   = 1,
-    HasMin    = 1,
-    HasMax    = 1,
-    HasConj   = 1,
-    HasSetLinear = 1,
-    HasBlend  = 0,
-
-    HasDiv    = 0,
-    HasSqrt   = 0,
-    HasRsqrt  = 0,
-    HasExp    = 0,
-    HasLog    = 0,
-    HasLog1p  = 0,
-    HasLog10  = 0,
-    HasPow    = 0,
-
-    HasSin    = 0,
-    HasCos    = 0,
-    HasTan    = 0,
-    HasASin   = 0,
-    HasACos   = 0,
-    HasATan   = 0,
-    HasSinh   = 0,
-    HasCosh   = 0,
-    HasTanh   = 0,
-    HasLGamma = 0,
-    HasDiGamma = 0,
-    HasZeta = 0,
-    HasPolygamma = 0,
-    HasErf = 0,
-    HasErfc = 0,
-    HasIGamma = 0,
-    HasIGammac = 0,
-    HasBetaInc = 0,
-
-    HasRound  = 0,
-    HasFloor  = 0,
-    HasCeil   = 0,
-
-    HasSign   = 0
-  };
-};
-
-template<typename T> struct packet_traits : default_packet_traits
-{
-  typedef T type;
-  typedef T half;
-  enum {
-    Vectorizable = 0,
-    size = 1,
-    AlignedOnScalar = 0,
-    HasHalfPacket = 0
-  };
-  enum {
-    HasAdd    = 0,
-    HasSub    = 0,
-    HasMul    = 0,
-    HasNegate = 0,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasConj   = 0,
-    HasSetLinear = 0
-  };
-};
-
-template<typename T> struct packet_traits<const T> : packet_traits<T> { };
-
-template <typename Src, typename Tgt> struct type_casting_traits {
-  enum {
-    VectorizedCast = 0,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-
-/** \internal \returns static_cast<TgtType>(a) (coeff-wise) */
-template <typename SrcPacket, typename TgtPacket>
-EIGEN_DEVICE_FUNC inline TgtPacket
-pcast(const SrcPacket& a) {
-  return static_cast<TgtPacket>(a);
-}
-template <typename SrcPacket, typename TgtPacket>
-EIGEN_DEVICE_FUNC inline TgtPacket
-pcast(const SrcPacket& a, const SrcPacket& /*b*/) {
-  return static_cast<TgtPacket>(a);
-}
-
-template <typename SrcPacket, typename TgtPacket>
-EIGEN_DEVICE_FUNC inline TgtPacket
-pcast(const SrcPacket& a, const SrcPacket& /*b*/, const SrcPacket& /*c*/, const SrcPacket& /*d*/) {
-  return static_cast<TgtPacket>(a);
-}
-
-/** \internal \returns a + b (coeff-wise) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-padd(const Packet& a,
-        const Packet& b) { return a+b; }
-
-/** \internal \returns a - b (coeff-wise) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-psub(const Packet& a,
-        const Packet& b) { return a-b; }
-
-/** \internal \returns -a (coeff-wise) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pnegate(const Packet& a) { return -a; }
-
-/** \internal \returns conj(a) (coeff-wise) */
-
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pconj(const Packet& a) { return numext::conj(a); }
-
-/** \internal \returns a * b (coeff-wise) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pmul(const Packet& a,
-        const Packet& b) { return a*b; }
-
-/** \internal \returns a / b (coeff-wise) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pdiv(const Packet& a,
-        const Packet& b) { return a/b; }
-
-/** \internal \returns the min of \a a and \a b  (coeff-wise) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pmin(const Packet& a,
-        const Packet& b) { return numext::mini(a, b); }
-
-/** \internal \returns the max of \a a and \a b  (coeff-wise) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pmax(const Packet& a,
-        const Packet& b) { return numext::maxi(a, b); }
-
-/** \internal \returns the absolute value of \a a */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pabs(const Packet& a) { using std::abs; return abs(a); }
-
-/** \internal \returns the phase angle of \a a */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-parg(const Packet& a) { using numext::arg; return arg(a); }
-
-/** \internal \returns the bitwise and of \a a and \a b */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pand(const Packet& a, const Packet& b) { return a & b; }
-
-/** \internal \returns the bitwise or of \a a and \a b */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-por(const Packet& a, const Packet& b) { return a | b; }
-
-/** \internal \returns the bitwise xor of \a a and \a b */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pxor(const Packet& a, const Packet& b) { return a ^ b; }
-
-/** \internal \returns the bitwise andnot of \a a and \a b */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pandnot(const Packet& a, const Packet& b) { return a & (!b); }
-
-/** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pload(const typename unpacket_traits<Packet>::type* from) { return *from; }
-
-/** \internal \returns a packet version of \a *from, (un-aligned load) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-ploadu(const typename unpacket_traits<Packet>::type* from) { return *from; }
-
-/** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pset1(const typename unpacket_traits<Packet>::type& a) { return a; }
-
-/** \internal \returns a packet with constant coefficients \a a[0], e.g.: (a[0],a[0],a[0],a[0]) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pload1(const typename unpacket_traits<Packet>::type  *a) { return pset1<Packet>(*a); }
-
-/** \internal \returns a packet with elements of \a *from duplicated.
-  * For instance, for a packet of 8 elements, 4 scalars will be read from \a *from and
-  * duplicated to form: {from[0],from[0],from[1],from[1],from[2],from[2],from[3],from[3]}
-  * Currently, this function is only used for scalar * complex products.
-  */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-ploaddup(const typename unpacket_traits<Packet>::type* from) { return *from; }
-
-/** \internal \returns a packet with elements of \a *from quadrupled.
-  * For instance, for a packet of 8 elements, 2 scalars will be read from \a *from and
-  * replicated to form: {from[0],from[0],from[0],from[0],from[1],from[1],from[1],from[1]}
-  * Currently, this function is only used in matrix products.
-  * For packet-size smaller or equal to 4, this function is equivalent to pload1 
-  */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-ploadquad(const typename unpacket_traits<Packet>::type* from)
-{ return pload1<Packet>(from); }
-
-/** \internal equivalent to
-  * \code
-  * a0 = pload1(a+0);
-  * a1 = pload1(a+1);
-  * a2 = pload1(a+2);
-  * a3 = pload1(a+3);
-  * \endcode
-  * \sa pset1, pload1, ploaddup, pbroadcast2
-  */
-template<typename Packet> EIGEN_DEVICE_FUNC
-inline void pbroadcast4(const typename unpacket_traits<Packet>::type *a,
-                        Packet& a0, Packet& a1, Packet& a2, Packet& a3)
-{
-  a0 = pload1<Packet>(a+0);
-  a1 = pload1<Packet>(a+1);
-  a2 = pload1<Packet>(a+2);
-  a3 = pload1<Packet>(a+3);
-}
-
-/** \internal equivalent to
-  * \code
-  * a0 = pload1(a+0);
-  * a1 = pload1(a+1);
-  * \endcode
-  * \sa pset1, pload1, ploaddup, pbroadcast4
-  */
-template<typename Packet> EIGEN_DEVICE_FUNC
-inline void pbroadcast2(const typename unpacket_traits<Packet>::type *a,
-                        Packet& a0, Packet& a1)
-{
-  a0 = pload1<Packet>(a+0);
-  a1 = pload1<Packet>(a+1);
-}
-
-/** \internal \brief Returns a packet with coefficients (a,a+1,...,a+packet_size-1). */
-template<typename Packet> inline Packet
-plset(const typename unpacket_traits<Packet>::type& a) { return a; }
-
-/** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */
-template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstore(Scalar* to, const Packet& from)
-{ (*to) = from; }
-
-/** \internal copy the packet \a from to \a *to, (un-aligned store) */
-template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstoreu(Scalar* to, const Packet& from)
-{  (*to) = from; }
-
- template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline Packet pgather(const Scalar* from, Index /*stride*/)
- { return ploadu<Packet>(from); }
-
- template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pscatter(Scalar* to, const Packet& from, Index /*stride*/)
- { pstore(to, from); }
-
-/** \internal tries to do cache prefetching of \a addr */
-template<typename Scalar> EIGEN_DEVICE_FUNC inline void prefetch(const Scalar* addr)
-{
-#ifdef __CUDA_ARCH__
-#if defined(__LP64__)
-  // 64-bit pointer operand constraint for inlined asm
-  asm(" prefetch.L1 [ %1 ];" : "=l"(addr) : "l"(addr));
-#else
-  // 32-bit pointer operand constraint for inlined asm
-  asm(" prefetch.L1 [ %1 ];" : "=r"(addr) : "r"(addr));
-#endif
-#elif (!EIGEN_COMP_MSVC) && (EIGEN_COMP_GNUC || EIGEN_COMP_CLANG || EIGEN_COMP_ICC)
-  __builtin_prefetch(addr);
-#endif
-}
-
-/** \internal \returns the first element of a packet */
-template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type pfirst(const Packet& a)
-{ return a; }
-
-/** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-preduxp(const Packet* vecs) { return vecs[0]; }
-
-/** \internal \returns the sum of the elements of \a a*/
-template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux(const Packet& a)
-{ return a; }
-
-/** \internal \returns the sum of the elements of \a a by block of 4 elements.
-  * For a packet {a0, a1, a2, a3, a4, a5, a6, a7}, it returns a half packet {a0+a4, a1+a5, a2+a6, a3+a7}
-  * For packet-size smaller or equal to 4, this boils down to a noop.
-  */
-template<typename Packet> EIGEN_DEVICE_FUNC inline
-typename conditional<(unpacket_traits<Packet>::size%8)==0,typename unpacket_traits<Packet>::half,Packet>::type
-predux_downto4(const Packet& a)
-{ return a; }
-
-/** \internal \returns the product of the elements of \a a*/
-template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_mul(const Packet& a)
-{ return a; }
-
-/** \internal \returns the min of the elements of \a a*/
-template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_min(const Packet& a)
-{ return a; }
-
-/** \internal \returns the max of the elements of \a a*/
-template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
-{ return a; }
-
-/** \internal \returns the reversed elements of \a a*/
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet preverse(const Packet& a)
-{ return a; }
-
-/** \internal \returns \a a with real and imaginary part flipped (for complex type only) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pcplxflip(const Packet& a)
-{
-  // FIXME: uncomment the following in case we drop the internal imag and real functions.
-//   using std::imag;
-//   using std::real;
-  return Packet(imag(a),real(a));
-}
-
-/**************************
-* Special math functions
-***************************/
-
-/** \internal \returns the sine of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet psin(const Packet& a) { using std::sin; return sin(a); }
-
-/** \internal \returns the cosine of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pcos(const Packet& a) { using std::cos; return cos(a); }
-
-/** \internal \returns the tan of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet ptan(const Packet& a) { using std::tan; return tan(a); }
-
-/** \internal \returns the arc sine of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pasin(const Packet& a) { using std::asin; return asin(a); }
-
-/** \internal \returns the arc cosine of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pacos(const Packet& a) { using std::acos; return acos(a); }
-
-/** \internal \returns the arc tangent of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet patan(const Packet& a) { using std::atan; return atan(a); }
-
-/** \internal \returns the hyperbolic sine of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet psinh(const Packet& a) { using std::sinh; return sinh(a); }
-
-/** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pcosh(const Packet& a) { using std::cosh; return cosh(a); }
-
-/** \internal \returns the hyperbolic tan of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet ptanh(const Packet& a) { using std::tanh; return tanh(a); }
-
-/** \internal \returns the exp of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pexp(const Packet& a) { using std::exp; return exp(a); }
-
-/** \internal \returns the log of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet plog(const Packet& a) { using std::log; return log(a); }
-
-/** \internal \returns the log1p of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet plog1p(const Packet& a) { return numext::log1p(a); }
-
-/** \internal \returns the log10 of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet plog10(const Packet& a) { using std::log10; return log10(a); }
-
-/** \internal \returns the square-root of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet psqrt(const Packet& a) { using std::sqrt; return sqrt(a); }
-
-/** \internal \returns the reciprocal square-root of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet prsqrt(const Packet& a) {
-  return pdiv(pset1<Packet>(1), psqrt(a));
-}
-
-/** \internal \returns the rounded value of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pround(const Packet& a) { using numext::round; return round(a); }
-
-/** \internal \returns the floor of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pfloor(const Packet& a) { using numext::floor; return floor(a); }
-
-/** \internal \returns the ceil of \a a (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pceil(const Packet& a) { using numext::ceil; return ceil(a); }
-
-/***************************************************************************
-* The following functions might not have to be overwritten for vectorized types
-***************************************************************************/
-
-/** \internal copy a packet with constant coeficient \a a (e.g., [a,a,a,a]) to \a *to. \a to must be 16 bytes aligned */
-// NOTE: this function must really be templated on the packet type (think about different packet types for the same scalar type)
-template<typename Packet>
-inline void pstore1(typename unpacket_traits<Packet>::type* to, const typename unpacket_traits<Packet>::type& a)
-{
-  pstore(to, pset1<Packet>(a));
-}
-
-/** \internal \returns a * b + c (coeff-wise) */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pmadd(const Packet&  a,
-         const Packet&  b,
-         const Packet&  c)
-{ return padd(pmul(a, b),c); }
-
-/** \internal \returns a packet version of \a *from.
-  * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
-template<typename Packet, int Alignment>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt(const typename unpacket_traits<Packet>::type* from)
-{
-  if(Alignment >= unpacket_traits<Packet>::alignment)
-    return pload<Packet>(from);
-  else
-    return ploadu<Packet>(from);
-}
-
-/** \internal copy the packet \a from to \a *to.
-  * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
-template<typename Scalar, typename Packet, int Alignment>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstoret(Scalar* to, const Packet& from)
-{
-  if(Alignment >= unpacket_traits<Packet>::alignment)
-    pstore(to, from);
-  else
-    pstoreu(to, from);
-}
-
-/** \internal \returns a packet version of \a *from.
-  * Unlike ploadt, ploadt_ro takes advantage of the read-only memory path on the
-  * hardware if available to speedup the loading of data that won't be modified
-  * by the current computation.
-  */
-template<typename Packet, int LoadMode>
-inline Packet ploadt_ro(const typename unpacket_traits<Packet>::type* from)
-{
-  return ploadt<Packet, LoadMode>(from);
-}
-
-/** \internal default implementation of palign() allowing partial specialization */
-template<int Offset,typename PacketType>
-struct palign_impl
-{
-  // by default data are aligned, so there is nothing to be done :)
-  static inline void run(PacketType&, const PacketType&) {}
-};
-
-/** \internal update \a first using the concatenation of the packet_size minus \a Offset last elements
-  * of \a first and \a Offset first elements of \a second.
-  * 
-  * This function is currently only used to optimize matrix-vector products on unligned matrices.
-  * It takes 2 packets that represent a contiguous memory array, and returns a packet starting
-  * at the position \a Offset. For instance, for packets of 4 elements, we have:
-  *  Input:
-  *  - first = {f0,f1,f2,f3}
-  *  - second = {s0,s1,s2,s3}
-  * Output: 
-  *   - if Offset==0 then {f0,f1,f2,f3}
-  *   - if Offset==1 then {f1,f2,f3,s0}
-  *   - if Offset==2 then {f2,f3,s0,s1}
-  *   - if Offset==3 then {f3,s0,s1,s3}
-  */
-template<int Offset,typename PacketType>
-inline void palign(PacketType& first, const PacketType& second)
-{
-  palign_impl<Offset,PacketType>::run(first,second);
-}
-
-/***************************************************************************
-* Fast complex products (GCC generates a function call which is very slow)
-***************************************************************************/
-
-// Eigen+CUDA does not support complexes.
-#ifndef __CUDACC__
-
-template<> inline std::complex<float> pmul(const std::complex<float>& a, const std::complex<float>& b)
-{ return std::complex<float>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
-
-template<> inline std::complex<double> pmul(const std::complex<double>& a, const std::complex<double>& b)
-{ return std::complex<double>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
-
-#endif
-
-
-/***************************************************************************
- * PacketBlock, that is a collection of N packets where the number of words
- * in the packet is a multiple of N.
-***************************************************************************/
-template <typename Packet,int N=unpacket_traits<Packet>::size> struct PacketBlock {
-  Packet packet[N];
-};
-
-template<typename Packet> EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet,1>& /*kernel*/) {
-  // Nothing to do in the scalar case, i.e. a 1x1 matrix.
-}
-
-/***************************************************************************
- * Selector, i.e. vector of N boolean values used to select (i.e. blend)
- * words from 2 packets.
-***************************************************************************/
-template <size_t N> struct Selector {
-  bool select[N];
-};
-
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pblend(const Selector<unpacket_traits<Packet>::size>& ifPacket, const Packet& thenPacket, const Packet& elsePacket) {
-  return ifPacket.select[0] ? thenPacket : elsePacket;
-}
-
-/** \internal \returns \a a with the first coefficient replaced by the scalar b */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pinsertfirst(const Packet& a, typename unpacket_traits<Packet>::type b)
-{
-  // Default implementation based on pblend.
-  // It must be specialized for higher performance.
-  Selector<unpacket_traits<Packet>::size> mask;
-  mask.select[0] = true;
-  // This for loop should be optimized away by the compiler.
-  for(Index i=1; i<unpacket_traits<Packet>::size; ++i)
-    mask.select[i] = false;
-  return pblend(mask, pset1<Packet>(b), a);
-}
-
-/** \internal \returns \a a with the last coefficient replaced by the scalar b */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pinsertlast(const Packet& a, typename unpacket_traits<Packet>::type b)
-{
-  // Default implementation based on pblend.
-  // It must be specialized for higher performance.
-  Selector<unpacket_traits<Packet>::size> mask;
-  // This for loop should be optimized away by the compiler.
-  for(Index i=0; i<unpacket_traits<Packet>::size-1; ++i)
-    mask.select[i] = false;
-  mask.select[unpacket_traits<Packet>::size-1] = true;
-  return pblend(mask, pset1<Packet>(b), a);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERIC_PACKET_MATH_H
diff --git a/phonelibs/eigen/Eigen/src/Core/GlobalFunctions.h b/phonelibs/eigen/Eigen/src/Core/GlobalFunctions.h
deleted file mode 100644
index 769dc255c207c3..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/GlobalFunctions.h
+++ /dev/null
@@ -1,187 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GLOBAL_FUNCTIONS_H
-#define EIGEN_GLOBAL_FUNCTIONS_H
-
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-
-#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
-  /** \returns an expression of the coefficient-wise DOC_OP of \a x
-
-    DOC_DETAILS
-
-    \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_##NAME">Math functions</a>, class CwiseUnaryOp
-    */ \
-  template<typename Derived> \
-  inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
-  NAME(const Eigen::ArrayBase<Derived>& x);
-
-#else
-
-#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
-  template<typename Derived> \
-  inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
-  (NAME)(const Eigen::ArrayBase<Derived>& x) { \
-    return Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived>(x.derived()); \
-  }
-
-#endif // EIGEN_PARSED_BY_DOXYGEN
-
-#define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \
-  \
-  template<typename Derived> \
-  struct NAME##_retval<ArrayBase<Derived> > \
-  { \
-    typedef const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> type; \
-  }; \
-  template<typename Derived> \
-  struct NAME##_impl<ArrayBase<Derived> > \
-  { \
-    static inline typename NAME##_retval<ArrayBase<Derived> >::type run(const Eigen::ArrayBase<Derived>& x) \
-    { \
-      return typename NAME##_retval<ArrayBase<Derived> >::type(x.derived()); \
-    } \
-  };
-
-namespace Eigen
-{
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op,real part,\sa ArrayBase::real)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op,imaginary part,\sa ArrayBase::imag)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op,complex conjugate,\sa ArrayBase::conjugate)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(inverse,scalar_inverse_op,inverse,\sa ArrayBase::inverse)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op,sine,\sa ArrayBase::sin)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op,cosine,\sa ArrayBase::cos)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op,tangent,\sa ArrayBase::tan)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(atan,scalar_atan_op,arc-tangent,\sa ArrayBase::atan)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op,arc-sine,\sa ArrayBase::asin)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op,arc-consine,\sa ArrayBase::acos)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sinh,scalar_sinh_op,hyperbolic sine,\sa ArrayBase::sinh)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cosh,scalar_cosh_op,hyperbolic cosine,\sa ArrayBase::cosh)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tanh,scalar_tanh_op,hyperbolic tangent,\sa ArrayBase::tanh)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(lgamma,scalar_lgamma_op,natural logarithm of the gamma function,\sa ArrayBase::lgamma)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(digamma,scalar_digamma_op,derivative of lgamma,\sa ArrayBase::digamma)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erf,scalar_erf_op,error function,\sa ArrayBase::erf)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erfc,scalar_erfc_op,complement error function,\sa ArrayBase::erfc)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op,exponential,\sa ArrayBase::exp)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op,natural logarithm,\sa Eigen::log10 DOXCOMMA ArrayBase::log)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log1p,scalar_log1p_op,natural logarithm of 1 plus the value,\sa ArrayBase::log1p)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op,absolute value,\sa ArrayBase::abs DOXCOMMA MatrixBase::cwiseAbs)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs2,scalar_abs2_op,squared absolute value,\sa ArrayBase::abs2 DOXCOMMA MatrixBase::cwiseAbs2)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op,square root,\sa ArrayBase::sqrt DOXCOMMA MatrixBase::cwiseSqrt)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rsqrt,scalar_rsqrt_op,reciprocal square root,\sa ArrayBase::rsqrt)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(square,scalar_square_op,square (power 2),\sa Eigen::abs2 DOXCOMMA Eigen::pow DOXCOMMA ArrayBase::square)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cube,scalar_cube_op,cube (power 3),\sa Eigen::pow DOXCOMMA ArrayBase::cube)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(round,scalar_round_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(floor,scalar_floor_op,nearest integer not greater than the giben value,\sa Eigen::ceil DOXCOMMA ArrayBase::floor)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ceil,scalar_ceil_op,nearest integer not less than the giben value,\sa Eigen::floor DOXCOMMA ArrayBase::ceil)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isnan,scalar_isnan_op,not-a-number test,\sa Eigen::isinf DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isnan)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isinf,scalar_isinf_op,infinite value test,\sa Eigen::isnan DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isinf)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isfinite,scalar_isfinite_op,finite value test,\sa Eigen::isinf DOXCOMMA Eigen::isnan DOXCOMMA ArrayBase::isfinite)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sign,scalar_sign_op,sign (or 0),\sa ArrayBase::sign)
-  
-  /** \returns an expression of the coefficient-wise power of \a x to the given constant \a exponent.
-    *
-    * \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression (\c Derived::Scalar).
-    *
-    * \sa ArrayBase::pow()
-    *
-    * \relates ArrayBase
-    */
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-  template<typename Derived,typename ScalarExponent>
-  inline const CwiseBinaryOp<internal::scalar_pow_op<Derived::Scalar,ScalarExponent>,Derived,Constant<ScalarExponent> >
-  pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent);
-#else
-  template<typename Derived,typename ScalarExponent>
-  inline typename internal::enable_if<   !(internal::is_same<typename Derived::Scalar,ScalarExponent>::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,typename Derived::Scalar,ScalarExponent),
-          const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,ScalarExponent,pow) >::type
-  pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent) {
-    return x.derived().pow(exponent);
-  }
-
-  template<typename Derived>
-  inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename Derived::Scalar,pow)
-  pow(const Eigen::ArrayBase<Derived>& x, const typename Derived::Scalar& exponent) {
-    return x.derived().pow(exponent);
-  }
-#endif
-
-  /** \returns an expression of the coefficient-wise power of \a x to the given array of \a exponents.
-    *
-    * This function computes the coefficient-wise power.
-    *
-    * Example: \include Cwise_array_power_array.cpp
-    * Output: \verbinclude Cwise_array_power_array.out
-    * 
-    * \sa ArrayBase::pow()
-    *
-    * \relates ArrayBase
-    */
-  template<typename Derived,typename ExponentDerived>
-  inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>
-  pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<ExponentDerived>& exponents) 
-  {
-    return Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>(
-      x.derived(),
-      exponents.derived()
-    );
-  }
-  
-  /** \returns an expression of the coefficient-wise power of the scalar \a x to the given array of \a exponents.
-    *
-    * This function computes the coefficient-wise power between a scalar and an array of exponents.
-    *
-    * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
-    *
-    * Example: \include Cwise_scalar_power_array.cpp
-    * Output: \verbinclude Cwise_scalar_power_array.out
-    * 
-    * \sa ArrayBase::pow()
-    *
-    * \relates ArrayBase
-    */
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-  template<typename Scalar,typename Derived>
-  inline const CwiseBinaryOp<internal::scalar_pow_op<Scalar,Derived::Scalar>,Constant<Scalar>,Derived>
-  pow(const Scalar& x,const Eigen::ArrayBase<Derived>& x);
-#else
-  template<typename Scalar, typename Derived>
-  inline typename internal::enable_if<   !(internal::is_same<typename Derived::Scalar,Scalar>::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,Scalar,typename Derived::Scalar),
-          const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow) >::type
-  pow(const Scalar& x, const Eigen::ArrayBase<Derived>& exponents)
-  {
-    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow)(
-            typename internal::plain_constant_type<Derived,Scalar>::type(exponents.rows(), exponents.cols(), x), exponents.derived() );
-  }
-
-  template<typename Derived>
-  inline const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)
-  pow(const typename Derived::Scalar& x, const Eigen::ArrayBase<Derived>& exponents)
-  {
-    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)(
-      typename internal::plain_constant_type<Derived,typename Derived::Scalar>::type(exponents.rows(), exponents.cols(), x), exponents.derived() );
-  }
-#endif
-
-
-  namespace internal
-  {
-    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op)
-    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(imag,scalar_imag_op)
-    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs2,scalar_abs2_op)
-  }
-}
-
-// TODO: cleanly disable those functions that are not supported on Array (numext::real_ref, internal::random, internal::isApprox...)
-
-#endif // EIGEN_GLOBAL_FUNCTIONS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/IO.h b/phonelibs/eigen/Eigen/src/Core/IO.h
deleted file mode 100644
index da7fd6cce2e811..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/IO.h
+++ /dev/null
@@ -1,225 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_IO_H
-#define EIGEN_IO_H
-
-namespace Eigen { 
-
-enum { DontAlignCols = 1 };
-enum { StreamPrecision = -1,
-       FullPrecision = -2 };
-
-namespace internal {
-template<typename Derived>
-std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt);
-}
-
-/** \class IOFormat
-  * \ingroup Core_Module
-  *
-  * \brief Stores a set of parameters controlling the way matrices are printed
-  *
-  * List of available parameters:
-  *  - \b precision number of digits for floating point values, or one of the special constants \c StreamPrecision and \c FullPrecision.
-  *                 The default is the special value \c StreamPrecision which means to use the
-  *                 stream's own precision setting, as set for instance using \c cout.precision(3). The other special value
-  *                 \c FullPrecision means that the number of digits will be computed to match the full precision of each floating-point
-  *                 type.
-  *  - \b flags an OR-ed combination of flags, the default value is 0, the only currently available flag is \c DontAlignCols which
-  *             allows to disable the alignment of columns, resulting in faster code.
-  *  - \b coeffSeparator string printed between two coefficients of the same row
-  *  - \b rowSeparator string printed between two rows
-  *  - \b rowPrefix string printed at the beginning of each row
-  *  - \b rowSuffix string printed at the end of each row
-  *  - \b matPrefix string printed at the beginning of the matrix
-  *  - \b matSuffix string printed at the end of the matrix
-  *
-  * Example: \include IOFormat.cpp
-  * Output: \verbinclude IOFormat.out
-  *
-  * \sa DenseBase::format(), class WithFormat
-  */
-struct IOFormat
-{
-  /** Default constructor, see class IOFormat for the meaning of the parameters */
-  IOFormat(int _precision = StreamPrecision, int _flags = 0,
-    const std::string& _coeffSeparator = " ",
-    const std::string& _rowSeparator = "\n", const std::string& _rowPrefix="", const std::string& _rowSuffix="",
-    const std::string& _matPrefix="", const std::string& _matSuffix="")
-  : matPrefix(_matPrefix), matSuffix(_matSuffix), rowPrefix(_rowPrefix), rowSuffix(_rowSuffix), rowSeparator(_rowSeparator),
-    rowSpacer(""), coeffSeparator(_coeffSeparator), precision(_precision), flags(_flags)
-  {
-    // TODO check if rowPrefix, rowSuffix or rowSeparator contains a newline
-    // don't add rowSpacer if columns are not to be aligned
-    if((flags & DontAlignCols))
-      return;
-    int i = int(matSuffix.length())-1;
-    while (i>=0 && matSuffix[i]!='\n')
-    {
-      rowSpacer += ' ';
-      i--;
-    }
-  }
-  std::string matPrefix, matSuffix;
-  std::string rowPrefix, rowSuffix, rowSeparator, rowSpacer;
-  std::string coeffSeparator;
-  int precision;
-  int flags;
-};
-
-/** \class WithFormat
-  * \ingroup Core_Module
-  *
-  * \brief Pseudo expression providing matrix output with given format
-  *
-  * \tparam ExpressionType the type of the object on which IO stream operations are performed
-  *
-  * This class represents an expression with stream operators controlled by a given IOFormat.
-  * It is the return type of DenseBase::format()
-  * and most of the time this is the only way it is used.
-  *
-  * See class IOFormat for some examples.
-  *
-  * \sa DenseBase::format(), class IOFormat
-  */
-template<typename ExpressionType>
-class WithFormat
-{
-  public:
-
-    WithFormat(const ExpressionType& matrix, const IOFormat& format)
-      : m_matrix(matrix), m_format(format)
-    {}
-
-    friend std::ostream & operator << (std::ostream & s, const WithFormat& wf)
-    {
-      return internal::print_matrix(s, wf.m_matrix.eval(), wf.m_format);
-    }
-
-  protected:
-    typename ExpressionType::Nested m_matrix;
-    IOFormat m_format;
-};
-
-namespace internal {
-
-// NOTE: This helper is kept for backward compatibility with previous code specializing
-//       this internal::significant_decimals_impl structure. In the future we should directly
-//       call digits10() which has been introduced in July 2016 in 3.3.
-template<typename Scalar>
-struct significant_decimals_impl
-{
-  static inline int run()
-  {
-    return NumTraits<Scalar>::digits10();
-  }
-};
-
-/** \internal
-  * print the matrix \a _m to the output stream \a s using the output format \a fmt */
-template<typename Derived>
-std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt)
-{
-  if(_m.size() == 0)
-  {
-    s << fmt.matPrefix << fmt.matSuffix;
-    return s;
-  }
-  
-  typename Derived::Nested m = _m;
-  typedef typename Derived::Scalar Scalar;
-
-  Index width = 0;
-
-  std::streamsize explicit_precision;
-  if(fmt.precision == StreamPrecision)
-  {
-    explicit_precision = 0;
-  }
-  else if(fmt.precision == FullPrecision)
-  {
-    if (NumTraits<Scalar>::IsInteger)
-    {
-      explicit_precision = 0;
-    }
-    else
-    {
-      explicit_precision = significant_decimals_impl<Scalar>::run();
-    }
-  }
-  else
-  {
-    explicit_precision = fmt.precision;
-  }
-
-  std::streamsize old_precision = 0;
-  if(explicit_precision) old_precision = s.precision(explicit_precision);
-
-  bool align_cols = !(fmt.flags & DontAlignCols);
-  if(align_cols)
-  {
-    // compute the largest width
-    for(Index j = 0; j < m.cols(); ++j)
-      for(Index i = 0; i < m.rows(); ++i)
-      {
-        std::stringstream sstr;
-        sstr.copyfmt(s);
-        sstr << m.coeff(i,j);
-        width = std::max<Index>(width, Index(sstr.str().length()));
-      }
-  }
-  s << fmt.matPrefix;
-  for(Index i = 0; i < m.rows(); ++i)
-  {
-    if (i)
-      s << fmt.rowSpacer;
-    s << fmt.rowPrefix;
-    if(width) s.width(width);
-    s << m.coeff(i, 0);
-    for(Index j = 1; j < m.cols(); ++j)
-    {
-      s << fmt.coeffSeparator;
-      if (width) s.width(width);
-      s << m.coeff(i, j);
-    }
-    s << fmt.rowSuffix;
-    if( i < m.rows() - 1)
-      s << fmt.rowSeparator;
-  }
-  s << fmt.matSuffix;
-  if(explicit_precision) s.precision(old_precision);
-  return s;
-}
-
-} // end namespace internal
-
-/** \relates DenseBase
-  *
-  * Outputs the matrix, to the given stream.
-  *
-  * If you wish to print the matrix with a format different than the default, use DenseBase::format().
-  *
-  * It is also possible to change the default format by defining EIGEN_DEFAULT_IO_FORMAT before including Eigen headers.
-  * If not defined, this will automatically be defined to Eigen::IOFormat(), that is the Eigen::IOFormat with default parameters.
-  *
-  * \sa DenseBase::format()
-  */
-template<typename Derived>
-std::ostream & operator <<
-(std::ostream & s,
- const DenseBase<Derived> & m)
-{
-  return internal::print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_IO_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Inverse.h b/phonelibs/eigen/Eigen/src/Core/Inverse.h
deleted file mode 100644
index b76f0439d80f1e..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Inverse.h
+++ /dev/null
@@ -1,118 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_INVERSE_H
-#define EIGEN_INVERSE_H
-
-namespace Eigen { 
-
-template<typename XprType,typename StorageKind> class InverseImpl;
-
-namespace internal {
-
-template<typename XprType>
-struct traits<Inverse<XprType> >
-  : traits<typename XprType::PlainObject>
-{
-  typedef typename XprType::PlainObject PlainObject;
-  typedef traits<PlainObject> BaseTraits;
-  enum {
-    Flags = BaseTraits::Flags & RowMajorBit
-  };
-};
-
-} // end namespace internal
-
-/** \class Inverse
-  *
-  * \brief Expression of the inverse of another expression
-  *
-  * \tparam XprType the type of the expression we are taking the inverse
-  *
-  * This class represents an abstract expression of A.inverse()
-  * and most of the time this is the only way it is used.
-  *
-  */
-template<typename XprType>
-class Inverse : public InverseImpl<XprType,typename internal::traits<XprType>::StorageKind>
-{
-public:
-  typedef typename XprType::StorageIndex StorageIndex;
-  typedef typename XprType::PlainObject                       PlainObject;
-  typedef typename XprType::Scalar                            Scalar;
-  typedef typename internal::ref_selector<XprType>::type      XprTypeNested;
-  typedef typename internal::remove_all<XprTypeNested>::type  XprTypeNestedCleaned;
-  typedef typename internal::ref_selector<Inverse>::type Nested;
-  typedef typename internal::remove_all<XprType>::type NestedExpression;
-  
-  explicit EIGEN_DEVICE_FUNC Inverse(const XprType &xpr)
-    : m_xpr(xpr)
-  {}
-
-  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
-
-  EIGEN_DEVICE_FUNC const XprTypeNestedCleaned& nestedExpression() const { return m_xpr; }
-
-protected:
-  XprTypeNested m_xpr;
-};
-
-// Generic API dispatcher
-template<typename XprType, typename StorageKind>
-class InverseImpl
-  : public internal::generic_xpr_base<Inverse<XprType> >::type
-{
-public:
-  typedef typename internal::generic_xpr_base<Inverse<XprType> >::type Base;
-  typedef typename XprType::Scalar Scalar;
-private:
-
-  Scalar coeff(Index row, Index col) const;
-  Scalar coeff(Index i) const;
-};
-
-namespace internal {
-
-/** \internal
-  * \brief Default evaluator for Inverse expression.
-  * 
-  * This default evaluator for Inverse expression simply evaluate the inverse into a temporary
-  * by a call to internal::call_assignment_no_alias.
-  * Therefore, inverse implementers only have to specialize Assignment<Dst,Inverse<...>, ...> for
-  * there own nested expression.
-  *
-  * \sa class Inverse
-  */
-template<typename ArgType>
-struct unary_evaluator<Inverse<ArgType> >
-  : public evaluator<typename Inverse<ArgType>::PlainObject>
-{
-  typedef Inverse<ArgType> InverseType;
-  typedef typename InverseType::PlainObject PlainObject;
-  typedef evaluator<PlainObject> Base;
-  
-  enum { Flags = Base::Flags | EvalBeforeNestingBit };
-
-  unary_evaluator(const InverseType& inv_xpr)
-    : m_result(inv_xpr.rows(), inv_xpr.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    internal::call_assignment_no_alias(m_result, inv_xpr);
-  }
-  
-protected:
-  PlainObject m_result;
-};
-  
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_INVERSE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Map.h b/phonelibs/eigen/Eigen/src/Core/Map.h
deleted file mode 100644
index 06d1967024c035..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Map.h
+++ /dev/null
@@ -1,164 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MAP_H
-#define EIGEN_MAP_H
-
-namespace Eigen { 
-
-namespace internal {
-template<typename PlainObjectType, int MapOptions, typename StrideType>
-struct traits<Map<PlainObjectType, MapOptions, StrideType> >
-  : public traits<PlainObjectType>
-{
-  typedef traits<PlainObjectType> TraitsBase;
-  enum {
-    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
-                             ? int(PlainObjectType::InnerStrideAtCompileTime)
-                             : int(StrideType::InnerStrideAtCompileTime),
-    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
-                             ? int(PlainObjectType::OuterStrideAtCompileTime)
-                             : int(StrideType::OuterStrideAtCompileTime),
-    Alignment = int(MapOptions)&int(AlignedMask),
-    Flags0 = TraitsBase::Flags & (~NestByRefBit),
-    Flags = is_lvalue<PlainObjectType>::value ? int(Flags0) : (int(Flags0) & ~LvalueBit)
-  };
-private:
-  enum { Options }; // Expressions don't have Options
-};
-}
-
-/** \class Map
-  * \ingroup Core_Module
-  *
-  * \brief A matrix or vector expression mapping an existing array of data.
-  *
-  * \tparam PlainObjectType the equivalent matrix type of the mapped data
-  * \tparam MapOptions specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
-  *                The default is \c #Unaligned.
-  * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout
-  *                   of an ordinary, contiguous array. This can be overridden by specifying strides.
-  *                   The type passed here must be a specialization of the Stride template, see examples below.
-  *
-  * This class represents a matrix or vector expression mapping an existing array of data.
-  * It can be used to let Eigen interface without any overhead with non-Eigen data structures,
-  * such as plain C arrays or structures from other libraries. By default, it assumes that the
-  * data is laid out contiguously in memory. You can however override this by explicitly specifying
-  * inner and outer strides.
-  *
-  * Here's an example of simply mapping a contiguous array as a \ref TopicStorageOrders "column-major" matrix:
-  * \include Map_simple.cpp
-  * Output: \verbinclude Map_simple.out
-  *
-  * If you need to map non-contiguous arrays, you can do so by specifying strides:
-  *
-  * Here's an example of mapping an array as a vector, specifying an inner stride, that is, the pointer
-  * increment between two consecutive coefficients. Here, we're specifying the inner stride as a compile-time
-  * fixed value.
-  * \include Map_inner_stride.cpp
-  * Output: \verbinclude Map_inner_stride.out
-  *
-  * Here's an example of mapping an array while specifying an outer stride. Here, since we're mapping
-  * as a column-major matrix, 'outer stride' means the pointer increment between two consecutive columns.
-  * Here, we're specifying the outer stride as a runtime parameter. Note that here \c OuterStride<> is
-  * a short version of \c OuterStride<Dynamic> because the default template parameter of OuterStride
-  * is  \c Dynamic
-  * \include Map_outer_stride.cpp
-  * Output: \verbinclude Map_outer_stride.out
-  *
-  * For more details and for an example of specifying both an inner and an outer stride, see class Stride.
-  *
-  * \b Tip: to change the array of data mapped by a Map object, you can use the C++
-  * placement new syntax:
-  *
-  * Example: \include Map_placement_new.cpp
-  * Output: \verbinclude Map_placement_new.out
-  *
-  * This class is the return type of PlainObjectBase::Map() but can also be used directly.
-  *
-  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
-  */
-template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
-  : public MapBase<Map<PlainObjectType, MapOptions, StrideType> >
-{
-  public:
-
-    typedef MapBase<Map> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Map)
-
-    typedef typename Base::PointerType PointerType;
-    typedef PointerType PointerArgType;
-    EIGEN_DEVICE_FUNC
-    inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; }
-
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const
-    {
-      return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const
-    {
-      return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
-           : IsVectorAtCompileTime ? this->size()
-           : int(Flags)&RowMajorBit ? this->cols()
-           : this->rows();
-    }
-
-    /** Constructor in the fixed-size case.
-      *
-      * \param dataPtr pointer to the array to map
-      * \param stride optional Stride object, passing the strides.
-      */
-    EIGEN_DEVICE_FUNC
-    explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr)), m_stride(stride)
-    {
-      PlainObjectType::Base::_check_template_params();
-    }
-
-    /** Constructor in the dynamic-size vector case.
-      *
-      * \param dataPtr pointer to the array to map
-      * \param size the size of the vector expression
-      * \param stride optional Stride object, passing the strides.
-      */
-    EIGEN_DEVICE_FUNC
-    inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr), size), m_stride(stride)
-    {
-      PlainObjectType::Base::_check_template_params();
-    }
-
-    /** Constructor in the dynamic-size matrix case.
-      *
-      * \param dataPtr pointer to the array to map
-      * \param rows the number of rows of the matrix expression
-      * \param cols the number of columns of the matrix expression
-      * \param stride optional Stride object, passing the strides.
-      */
-    EIGEN_DEVICE_FUNC
-    inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr), rows, cols), m_stride(stride)
-    {
-      PlainObjectType::Base::_check_template_params();
-    }
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
-
-  protected:
-    StrideType m_stride;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_MAP_H
diff --git a/phonelibs/eigen/Eigen/src/Core/MapBase.h b/phonelibs/eigen/Eigen/src/Core/MapBase.h
deleted file mode 100644
index 020f939ad6e13a..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/MapBase.h
+++ /dev/null
@@ -1,299 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MAPBASE_H
-#define EIGEN_MAPBASE_H
-
-#define EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) \
-      EIGEN_STATIC_ASSERT((int(internal::evaluator<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
-                          YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT)
-
-namespace Eigen { 
-
-/** \ingroup Core_Module
-  *
-  * \brief Base class for dense Map and Block expression with direct access
-  *
-  * This base class provides the const low-level accessors (e.g. coeff, coeffRef) of dense
-  * Map and Block objects with direct access.
-  * Typical users do not have to directly deal with this class.
-  *
-  * This class can be extended by through the macro plugin \c EIGEN_MAPBASE_PLUGIN.
-  * See \link TopicCustomizing_Plugins customizing Eigen \endlink for details.
-  *
-  * The \c Derived class has to provide the following two methods describing the memory layout:
-  *  \code Index innerStride() const; \endcode
-  *  \code Index outerStride() const; \endcode
-  *
-  * \sa class Map, class Block
-  */
-template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
-  : public internal::dense_xpr_base<Derived>::type
-{
-  public:
-
-    typedef typename internal::dense_xpr_base<Derived>::type Base;
-    enum {
-      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
-      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
-      SizeAtCompileTime = Base::SizeAtCompileTime
-    };
-
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename internal::conditional<
-                         bool(internal::is_lvalue<Derived>::value),
-                         Scalar *,
-                         const Scalar *>::type
-                     PointerType;
-
-    using Base::derived;
-//    using Base::RowsAtCompileTime;
-//    using Base::ColsAtCompileTime;
-//    using Base::SizeAtCompileTime;
-    using Base::MaxRowsAtCompileTime;
-    using Base::MaxColsAtCompileTime;
-    using Base::MaxSizeAtCompileTime;
-    using Base::IsVectorAtCompileTime;
-    using Base::Flags;
-    using Base::IsRowMajor;
-
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::coeff;
-    using Base::coeffRef;
-    using Base::lazyAssign;
-    using Base::eval;
-
-    using Base::innerStride;
-    using Base::outerStride;
-    using Base::rowStride;
-    using Base::colStride;
-
-    // bug 217 - compile error on ICC 11.1
-    using Base::operator=;
-
-    typedef typename Base::CoeffReturnType CoeffReturnType;
-
-    /** \copydoc DenseBase::rows() */
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_rows.value(); }
-    /** \copydoc DenseBase::cols() */
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_cols.value(); }
-
-    /** Returns a pointer to the first coefficient of the matrix or vector.
-      *
-      * \note When addressing this data, make sure to honor the strides returned by innerStride() and outerStride().
-      *
-      * \sa innerStride(), outerStride()
-      */
-    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_data; }
-
-    /** \copydoc PlainObjectBase::coeff(Index,Index) const */
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeff(Index rowId, Index colId) const
-    {
-      return m_data[colId * colStride() + rowId * rowStride()];
-    }
-
-    /** \copydoc PlainObjectBase::coeff(Index) const */
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeff(Index index) const
-    {
-      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
-      return m_data[index * innerStride()];
-    }
-
-    /** \copydoc PlainObjectBase::coeffRef(Index,Index) const */
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index rowId, Index colId) const
-    {
-      return this->m_data[colId * colStride() + rowId * rowStride()];
-    }
-
-    /** \copydoc PlainObjectBase::coeffRef(Index) const */
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index index) const
-    {
-      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
-      return this->m_data[index * innerStride()];
-    }
-
-    /** \internal */
-    template<int LoadMode>
-    inline PacketScalar packet(Index rowId, Index colId) const
-    {
-      return internal::ploadt<PacketScalar, LoadMode>
-               (m_data + (colId * colStride() + rowId * rowStride()));
-    }
-
-    /** \internal */
-    template<int LoadMode>
-    inline PacketScalar packet(Index index) const
-    {
-      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
-      return internal::ploadt<PacketScalar, LoadMode>(m_data + index * innerStride());
-    }
-
-    /** \internal Constructor for fixed size matrices or vectors */
-    EIGEN_DEVICE_FUNC
-    explicit inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
-    {
-      EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-      checkSanity<Derived>();
-    }
-
-    /** \internal Constructor for dynamically sized vectors */
-    EIGEN_DEVICE_FUNC
-    inline MapBase(PointerType dataPtr, Index vecSize)
-            : m_data(dataPtr),
-              m_rows(RowsAtCompileTime == Dynamic ? vecSize : Index(RowsAtCompileTime)),
-              m_cols(ColsAtCompileTime == Dynamic ? vecSize : Index(ColsAtCompileTime))
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-      eigen_assert(vecSize >= 0);
-      eigen_assert(dataPtr == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == vecSize);
-      checkSanity<Derived>();
-    }
-
-    /** \internal Constructor for dynamically sized matrices */
-    EIGEN_DEVICE_FUNC
-    inline MapBase(PointerType dataPtr, Index rows, Index cols)
-            : m_data(dataPtr), m_rows(rows), m_cols(cols)
-    {
-      eigen_assert( (dataPtr == 0)
-              || (   rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
-                  && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
-      checkSanity<Derived>();
-    }
-
-    #ifdef EIGEN_MAPBASE_PLUGIN
-    #include EIGEN_MAPBASE_PLUGIN
-    #endif
-
-  protected:
-
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    void checkSanity(typename internal::enable_if<(internal::traits<T>::Alignment>0),void*>::type = 0) const
-    {
-#if EIGEN_MAX_ALIGN_BYTES>0
-      eigen_assert((   ((internal::UIntPtr(m_data) % internal::traits<Derived>::Alignment) == 0)
-                    || (cols() * rows() * innerStride() * sizeof(Scalar)) < internal::traits<Derived>::Alignment ) && "data is not aligned");
-#endif
-    }
-
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    void checkSanity(typename internal::enable_if<internal::traits<T>::Alignment==0,void*>::type = 0) const
-    {}
-
-    PointerType m_data;
-    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
-    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
-};
-
-/** \ingroup Core_Module
-  *
-  * \brief Base class for non-const dense Map and Block expression with direct access
-  *
-  * This base class provides the non-const low-level accessors (e.g. coeff and coeffRef) of
-  * dense Map and Block objects with direct access.
-  * It inherits MapBase<Derived, ReadOnlyAccessors> which defines the const variant for reading specific entries.
-  *
-  * \sa class Map, class Block
-  */
-template<typename Derived> class MapBase<Derived, WriteAccessors>
-  : public MapBase<Derived, ReadOnlyAccessors>
-{
-    typedef MapBase<Derived, ReadOnlyAccessors> ReadOnlyMapBase;
-  public:
-
-    typedef MapBase<Derived, ReadOnlyAccessors> Base;
-
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::PacketScalar PacketScalar;
-    typedef typename Base::StorageIndex StorageIndex;
-    typedef typename Base::PointerType PointerType;
-
-    using Base::derived;
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::coeff;
-    using Base::coeffRef;
-
-    using Base::innerStride;
-    using Base::outerStride;
-    using Base::rowStride;
-    using Base::colStride;
-
-    typedef typename internal::conditional<
-                    internal::is_lvalue<Derived>::value,
-                    Scalar,
-                    const Scalar
-                  >::type ScalarWithConstIfNotLvalue;
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar* data() const { return this->m_data; }
-    EIGEN_DEVICE_FUNC
-    inline ScalarWithConstIfNotLvalue* data() { return this->m_data; } // no const-cast here so non-const-correct code will give a compile error
-
-    EIGEN_DEVICE_FUNC
-    inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col)
-    {
-      return this->m_data[col * colStride() + row * rowStride()];
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
-    {
-      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
-      return this->m_data[index * innerStride()];
-    }
-
-    template<int StoreMode>
-    inline void writePacket(Index row, Index col, const PacketScalar& val)
-    {
-      internal::pstoret<Scalar, PacketScalar, StoreMode>
-               (this->m_data + (col * colStride() + row * rowStride()), val);
-    }
-
-    template<int StoreMode>
-    inline void writePacket(Index index, const PacketScalar& val)
-    {
-      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
-      internal::pstoret<Scalar, PacketScalar, StoreMode>
-                (this->m_data + index * innerStride(), val);
-    }
-
-    EIGEN_DEVICE_FUNC explicit inline MapBase(PointerType dataPtr) : Base(dataPtr) {}
-    EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index vecSize) : Base(dataPtr, vecSize) {}
-    EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index rows, Index cols) : Base(dataPtr, rows, cols) {}
-
-    EIGEN_DEVICE_FUNC
-    Derived& operator=(const MapBase& other)
-    {
-      ReadOnlyMapBase::Base::operator=(other);
-      return derived();
-    }
-
-    // In theory we could simply refer to Base:Base::operator=, but MSVC does not like Base::Base,
-    // see bugs 821 and 920.
-    using ReadOnlyMapBase::Base::operator=;
-};
-
-#undef EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS
-
-} // end namespace Eigen
-
-#endif // EIGEN_MAPBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/MathFunctions.h b/phonelibs/eigen/Eigen/src/Core/MathFunctions.h
deleted file mode 100644
index 8d47fb8a46032a..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/MathFunctions.h
+++ /dev/null
@@ -1,1418 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATHFUNCTIONS_H
-#define EIGEN_MATHFUNCTIONS_H
-
-// source: http://www.geom.uiuc.edu/~huberty/math5337/groupe/digits.html
-// TODO this should better be moved to NumTraits
-#define EIGEN_PI 3.141592653589793238462643383279502884197169399375105820974944592307816406L
-
-
-namespace Eigen {
-
-// On WINCE, std::abs is defined for int only, so let's defined our own overloads:
-// This issue has been confirmed with MSVC 2008 only, but the issue might exist for more recent versions too.
-#if EIGEN_OS_WINCE && EIGEN_COMP_MSVC && EIGEN_COMP_MSVC<=1500
-long        abs(long        x) { return (labs(x));  }
-double      abs(double      x) { return (fabs(x));  }
-float       abs(float       x) { return (fabsf(x)); }
-long double abs(long double x) { return (fabsl(x)); }
-#endif
-
-namespace internal {
-
-/** \internal \class global_math_functions_filtering_base
-  *
-  * What it does:
-  * Defines a typedef 'type' as follows:
-  * - if type T has a member typedef Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl, then
-  *   global_math_functions_filtering_base<T>::type is a typedef for it.
-  * - otherwise, global_math_functions_filtering_base<T>::type is a typedef for T.
-  *
-  * How it's used:
-  * To allow to defined the global math functions (like sin...) in certain cases, like the Array expressions.
-  * When you do sin(array1+array2), the object array1+array2 has a complicated expression type, all what you want to know
-  * is that it inherits ArrayBase. So we implement a partial specialization of sin_impl for ArrayBase<Derived>.
-  * So we must make sure to use sin_impl<ArrayBase<Derived> > and not sin_impl<Derived>, otherwise our partial specialization
-  * won't be used. How does sin know that? That's exactly what global_math_functions_filtering_base tells it.
-  *
-  * How it's implemented:
-  * SFINAE in the style of enable_if. Highly susceptible of breaking compilers. With GCC, it sure does work, but if you replace
-  * the typename dummy by an integer template parameter, it doesn't work anymore!
-  */
-
-template<typename T, typename dummy = void>
-struct global_math_functions_filtering_base
-{
-  typedef T type;
-};
-
-template<typename T> struct always_void { typedef void type; };
-
-template<typename T>
-struct global_math_functions_filtering_base
-  <T,
-   typename always_void<typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl>::type
-  >
-{
-  typedef typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl type;
-};
-
-#define EIGEN_MATHFUNC_IMPL(func, scalar) Eigen::internal::func##_impl<typename Eigen::internal::global_math_functions_filtering_base<scalar>::type>
-#define EIGEN_MATHFUNC_RETVAL(func, scalar) typename Eigen::internal::func##_retval<typename Eigen::internal::global_math_functions_filtering_base<scalar>::type>::type
-
-/****************************************************************************
-* Implementation of real                                                 *
-****************************************************************************/
-
-template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
-struct real_default_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const Scalar& x)
-  {
-    return x;
-  }
-};
-
-template<typename Scalar>
-struct real_default_impl<Scalar,true>
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const Scalar& x)
-  {
-    using std::real;
-    return real(x);
-  }
-};
-
-template<typename Scalar> struct real_impl : real_default_impl<Scalar> {};
-
-#ifdef __CUDA_ARCH__
-template<typename T>
-struct real_impl<std::complex<T> >
-{
-  typedef T RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline T run(const std::complex<T>& x)
-  {
-    return x.real();
-  }
-};
-#endif
-
-template<typename Scalar>
-struct real_retval
-{
-  typedef typename NumTraits<Scalar>::Real type;
-};
-
-/****************************************************************************
-* Implementation of imag                                                 *
-****************************************************************************/
-
-template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
-struct imag_default_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const Scalar&)
-  {
-    return RealScalar(0);
-  }
-};
-
-template<typename Scalar>
-struct imag_default_impl<Scalar,true>
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const Scalar& x)
-  {
-    using std::imag;
-    return imag(x);
-  }
-};
-
-template<typename Scalar> struct imag_impl : imag_default_impl<Scalar> {};
-
-#ifdef __CUDA_ARCH__
-template<typename T>
-struct imag_impl<std::complex<T> >
-{
-  typedef T RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline T run(const std::complex<T>& x)
-  {
-    return x.imag();
-  }
-};
-#endif
-
-template<typename Scalar>
-struct imag_retval
-{
-  typedef typename NumTraits<Scalar>::Real type;
-};
-
-/****************************************************************************
-* Implementation of real_ref                                             *
-****************************************************************************/
-
-template<typename Scalar>
-struct real_ref_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar& run(Scalar& x)
-  {
-    return reinterpret_cast<RealScalar*>(&x)[0];
-  }
-  EIGEN_DEVICE_FUNC
-  static inline const RealScalar& run(const Scalar& x)
-  {
-    return reinterpret_cast<const RealScalar*>(&x)[0];
-  }
-};
-
-template<typename Scalar>
-struct real_ref_retval
-{
-  typedef typename NumTraits<Scalar>::Real & type;
-};
-
-/****************************************************************************
-* Implementation of imag_ref                                             *
-****************************************************************************/
-
-template<typename Scalar, bool IsComplex>
-struct imag_ref_default_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar& run(Scalar& x)
-  {
-    return reinterpret_cast<RealScalar*>(&x)[1];
-  }
-  EIGEN_DEVICE_FUNC
-  static inline const RealScalar& run(const Scalar& x)
-  {
-    return reinterpret_cast<RealScalar*>(&x)[1];
-  }
-};
-
-template<typename Scalar>
-struct imag_ref_default_impl<Scalar, false>
-{
-  EIGEN_DEVICE_FUNC
-  static inline Scalar run(Scalar&)
-  {
-    return Scalar(0);
-  }
-  EIGEN_DEVICE_FUNC
-  static inline const Scalar run(const Scalar&)
-  {
-    return Scalar(0);
-  }
-};
-
-template<typename Scalar>
-struct imag_ref_impl : imag_ref_default_impl<Scalar, NumTraits<Scalar>::IsComplex> {};
-
-template<typename Scalar>
-struct imag_ref_retval
-{
-  typedef typename NumTraits<Scalar>::Real & type;
-};
-
-/****************************************************************************
-* Implementation of conj                                                 *
-****************************************************************************/
-
-template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
-struct conj_impl
-{
-  EIGEN_DEVICE_FUNC
-  static inline Scalar run(const Scalar& x)
-  {
-    return x;
-  }
-};
-
-template<typename Scalar>
-struct conj_impl<Scalar,true>
-{
-  EIGEN_DEVICE_FUNC
-  static inline Scalar run(const Scalar& x)
-  {
-    using std::conj;
-    return conj(x);
-  }
-};
-
-template<typename Scalar>
-struct conj_retval
-{
-  typedef Scalar type;
-};
-
-/****************************************************************************
-* Implementation of abs2                                                 *
-****************************************************************************/
-
-template<typename Scalar,bool IsComplex>
-struct abs2_impl_default
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const Scalar& x)
-  {
-    return x*x;
-  }
-};
-
-template<typename Scalar>
-struct abs2_impl_default<Scalar, true> // IsComplex
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const Scalar& x)
-  {
-    return real(x)*real(x) + imag(x)*imag(x);
-  }
-};
-
-template<typename Scalar>
-struct abs2_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const Scalar& x)
-  {
-    return abs2_impl_default<Scalar,NumTraits<Scalar>::IsComplex>::run(x);
-  }
-};
-
-template<typename Scalar>
-struct abs2_retval
-{
-  typedef typename NumTraits<Scalar>::Real type;
-};
-
-/****************************************************************************
-* Implementation of norm1                                                *
-****************************************************************************/
-
-template<typename Scalar, bool IsComplex>
-struct norm1_default_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar run(const Scalar& x)
-  {
-    EIGEN_USING_STD_MATH(abs);
-    return abs(real(x)) + abs(imag(x));
-  }
-};
-
-template<typename Scalar>
-struct norm1_default_impl<Scalar, false>
-{
-  EIGEN_DEVICE_FUNC
-  static inline Scalar run(const Scalar& x)
-  {
-    EIGEN_USING_STD_MATH(abs);
-    return abs(x);
-  }
-};
-
-template<typename Scalar>
-struct norm1_impl : norm1_default_impl<Scalar, NumTraits<Scalar>::IsComplex> {};
-
-template<typename Scalar>
-struct norm1_retval
-{
-  typedef typename NumTraits<Scalar>::Real type;
-};
-
-/****************************************************************************
-* Implementation of hypot                                                *
-****************************************************************************/
-
-template<typename Scalar>
-struct hypot_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  static inline RealScalar run(const Scalar& x, const Scalar& y)
-  {
-    EIGEN_USING_STD_MATH(abs);
-    EIGEN_USING_STD_MATH(sqrt);
-    RealScalar _x = abs(x);
-    RealScalar _y = abs(y);
-    Scalar p, qp;
-    if(_x>_y)
-    {
-      p = _x;
-      qp = _y / p;
-    }
-    else
-    {
-      p = _y;
-      qp = _x / p;
-    }
-    if(p==RealScalar(0)) return RealScalar(0);
-    return p * sqrt(RealScalar(1) + qp*qp);
-  }
-};
-
-template<typename Scalar>
-struct hypot_retval
-{
-  typedef typename NumTraits<Scalar>::Real type;
-};
-
-/****************************************************************************
-* Implementation of cast                                                 *
-****************************************************************************/
-
-template<typename OldType, typename NewType>
-struct cast_impl
-{
-  EIGEN_DEVICE_FUNC
-  static inline NewType run(const OldType& x)
-  {
-    return static_cast<NewType>(x);
-  }
-};
-
-// here, for once, we're plainly returning NewType: we don't want cast to do weird things.
-
-template<typename OldType, typename NewType>
-EIGEN_DEVICE_FUNC
-inline NewType cast(const OldType& x)
-{
-  return cast_impl<OldType, NewType>::run(x);
-}
-
-/****************************************************************************
-* Implementation of round                                                   *
-****************************************************************************/
-
-#if EIGEN_HAS_CXX11_MATH
-  template<typename Scalar>
-  struct round_impl {
-    static inline Scalar run(const Scalar& x)
-    {
-      EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
-      using std::round;
-      return round(x);
-    }
-  };
-#else
-  template<typename Scalar>
-  struct round_impl
-  {
-    static inline Scalar run(const Scalar& x)
-    {
-      EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
-      EIGEN_USING_STD_MATH(floor);
-      EIGEN_USING_STD_MATH(ceil);
-      return (x > Scalar(0)) ? floor(x + Scalar(0.5)) : ceil(x - Scalar(0.5));
-    }
-  };
-#endif
-
-template<typename Scalar>
-struct round_retval
-{
-  typedef Scalar type;
-};
-
-/****************************************************************************
-* Implementation of arg                                                     *
-****************************************************************************/
-
-#if EIGEN_HAS_CXX11_MATH
-  template<typename Scalar>
-  struct arg_impl {
-    static inline Scalar run(const Scalar& x)
-    {
-      EIGEN_USING_STD_MATH(arg);
-      return arg(x);
-    }
-  };
-#else
-  template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
-  struct arg_default_impl
-  {
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    EIGEN_DEVICE_FUNC
-    static inline RealScalar run(const Scalar& x)
-    {
-      return (x < Scalar(0)) ? Scalar(EIGEN_PI) : Scalar(0); }
-  };
-
-  template<typename Scalar>
-  struct arg_default_impl<Scalar,true>
-  {
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    EIGEN_DEVICE_FUNC
-    static inline RealScalar run(const Scalar& x)
-    {
-      EIGEN_USING_STD_MATH(arg);
-      return arg(x);
-    }
-  };
-
-  template<typename Scalar> struct arg_impl : arg_default_impl<Scalar> {};
-#endif
-
-template<typename Scalar>
-struct arg_retval
-{
-  typedef typename NumTraits<Scalar>::Real type;
-};
-
-/****************************************************************************
-* Implementation of log1p                                                   *
-****************************************************************************/
-
-namespace std_fallback {
-  // fallback log1p implementation in case there is no log1p(Scalar) function in namespace of Scalar,
-  // or that there is no suitable std::log1p function available
-  template<typename Scalar>
-  EIGEN_DEVICE_FUNC inline Scalar log1p(const Scalar& x) {
-    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    EIGEN_USING_STD_MATH(log);
-    Scalar x1p = RealScalar(1) + x;
-    return ( x1p == Scalar(1) ) ? x : x * ( log(x1p) / (x1p - RealScalar(1)) );
-  }
-}
-
-template<typename Scalar>
-struct log1p_impl {
-  static inline Scalar run(const Scalar& x)
-  {
-    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
-    #if EIGEN_HAS_CXX11_MATH
-    using std::log1p;
-    #endif
-    using std_fallback::log1p;
-    return log1p(x);
-  }
-};
-
-
-template<typename Scalar>
-struct log1p_retval
-{
-  typedef Scalar type;
-};
-
-/****************************************************************************
-* Implementation of pow                                                  *
-****************************************************************************/
-
-template<typename ScalarX,typename ScalarY, bool IsInteger = NumTraits<ScalarX>::IsInteger&&NumTraits<ScalarY>::IsInteger>
-struct pow_impl
-{
-  //typedef Scalar retval;
-  typedef typename ScalarBinaryOpTraits<ScalarX,ScalarY,internal::scalar_pow_op<ScalarX,ScalarY> >::ReturnType result_type;
-  static EIGEN_DEVICE_FUNC inline result_type run(const ScalarX& x, const ScalarY& y)
-  {
-    EIGEN_USING_STD_MATH(pow);
-    return pow(x, y);
-  }
-};
-
-template<typename ScalarX,typename ScalarY>
-struct pow_impl<ScalarX,ScalarY, true>
-{
-  typedef ScalarX result_type;
-  static EIGEN_DEVICE_FUNC inline ScalarX run(ScalarX x, ScalarY y)
-  {
-    ScalarX res(1);
-    eigen_assert(!NumTraits<ScalarY>::IsSigned || y >= 0);
-    if(y & 1) res *= x;
-    y >>= 1;
-    while(y)
-    {
-      x *= x;
-      if(y&1) res *= x;
-      y >>= 1;
-    }
-    return res;
-  }
-};
-
-/****************************************************************************
-* Implementation of random                                               *
-****************************************************************************/
-
-template<typename Scalar,
-         bool IsComplex,
-         bool IsInteger>
-struct random_default_impl {};
-
-template<typename Scalar>
-struct random_impl : random_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
-
-template<typename Scalar>
-struct random_retval
-{
-  typedef Scalar type;
-};
-
-template<typename Scalar> inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y);
-template<typename Scalar> inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random();
-
-template<typename Scalar>
-struct random_default_impl<Scalar, false, false>
-{
-  static inline Scalar run(const Scalar& x, const Scalar& y)
-  {
-    return x + (y-x) * Scalar(std::rand()) / Scalar(RAND_MAX);
-  }
-  static inline Scalar run()
-  {
-    return run(Scalar(NumTraits<Scalar>::IsSigned ? -1 : 0), Scalar(1));
-  }
-};
-
-enum {
-  meta_floor_log2_terminate,
-  meta_floor_log2_move_up,
-  meta_floor_log2_move_down,
-  meta_floor_log2_bogus
-};
-
-template<unsigned int n, int lower, int upper> struct meta_floor_log2_selector
-{
-  enum { middle = (lower + upper) / 2,
-         value = (upper <= lower + 1) ? int(meta_floor_log2_terminate)
-               : (n < (1 << middle)) ? int(meta_floor_log2_move_down)
-               : (n==0) ? int(meta_floor_log2_bogus)
-               : int(meta_floor_log2_move_up)
-  };
-};
-
-template<unsigned int n,
-         int lower = 0,
-         int upper = sizeof(unsigned int) * CHAR_BIT - 1,
-         int selector = meta_floor_log2_selector<n, lower, upper>::value>
-struct meta_floor_log2 {};
-
-template<unsigned int n, int lower, int upper>
-struct meta_floor_log2<n, lower, upper, meta_floor_log2_move_down>
-{
-  enum { value = meta_floor_log2<n, lower, meta_floor_log2_selector<n, lower, upper>::middle>::value };
-};
-
-template<unsigned int n, int lower, int upper>
-struct meta_floor_log2<n, lower, upper, meta_floor_log2_move_up>
-{
-  enum { value = meta_floor_log2<n, meta_floor_log2_selector<n, lower, upper>::middle, upper>::value };
-};
-
-template<unsigned int n, int lower, int upper>
-struct meta_floor_log2<n, lower, upper, meta_floor_log2_terminate>
-{
-  enum { value = (n >= ((unsigned int)(1) << (lower+1))) ? lower+1 : lower };
-};
-
-template<unsigned int n, int lower, int upper>
-struct meta_floor_log2<n, lower, upper, meta_floor_log2_bogus>
-{
-  // no value, error at compile time
-};
-
-template<typename Scalar>
-struct random_default_impl<Scalar, false, true>
-{
-  static inline Scalar run(const Scalar& x, const Scalar& y)
-  { 
-    typedef typename conditional<NumTraits<Scalar>::IsSigned,std::ptrdiff_t,std::size_t>::type ScalarX;
-    if(y<x)
-      return x;
-    // the following difference might overflow on a 32 bits system,
-    // but since y>=x the result converted to an unsigned long is still correct.
-    std::size_t range = ScalarX(y)-ScalarX(x);
-    std::size_t offset = 0;
-    // rejection sampling
-    std::size_t divisor = 1;
-    std::size_t multiplier = 1;
-    if(range<RAND_MAX) divisor = (std::size_t(RAND_MAX)+1)/(range+1);
-    else               multiplier = 1 + range/(std::size_t(RAND_MAX)+1);
-    do {
-      offset = (std::size_t(std::rand()) * multiplier) / divisor;
-    } while (offset > range);
-    return Scalar(ScalarX(x) + offset);
-  }
-
-  static inline Scalar run()
-  {
-#ifdef EIGEN_MAKING_DOCS
-    return run(Scalar(NumTraits<Scalar>::IsSigned ? -10 : 0), Scalar(10));
-#else
-    enum { rand_bits = meta_floor_log2<(unsigned int)(RAND_MAX)+1>::value,
-           scalar_bits = sizeof(Scalar) * CHAR_BIT,
-           shift = EIGEN_PLAIN_ENUM_MAX(0, int(rand_bits) - int(scalar_bits)),
-           offset = NumTraits<Scalar>::IsSigned ? (1 << (EIGEN_PLAIN_ENUM_MIN(rand_bits,scalar_bits)-1)) : 0
-    };
-    return Scalar((std::rand() >> shift) - offset);
-#endif
-  }
-};
-
-template<typename Scalar>
-struct random_default_impl<Scalar, true, false>
-{
-  static inline Scalar run(const Scalar& x, const Scalar& y)
-  {
-    return Scalar(random(real(x), real(y)),
-                  random(imag(x), imag(y)));
-  }
-  static inline Scalar run()
-  {
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    return Scalar(random<RealScalar>(), random<RealScalar>());
-  }
-};
-
-template<typename Scalar>
-inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y)
-{
-  return EIGEN_MATHFUNC_IMPL(random, Scalar)::run(x, y);
-}
-
-template<typename Scalar>
-inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random()
-{
-  return EIGEN_MATHFUNC_IMPL(random, Scalar)::run();
-}
-
-// Implementatin of is* functions
-
-// std::is* do not work with fast-math and gcc, std::is* are available on MSVC 2013 and newer, as well as in clang.
-#if (EIGEN_HAS_CXX11_MATH && !(EIGEN_COMP_GNUC_STRICT && __FINITE_MATH_ONLY__)) || (EIGEN_COMP_MSVC>=1800) || (EIGEN_COMP_CLANG)
-#define EIGEN_USE_STD_FPCLASSIFY 1
-#else
-#define EIGEN_USE_STD_FPCLASSIFY 0
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-typename internal::enable_if<internal::is_integral<T>::value,bool>::type
-isnan_impl(const T&) { return false; }
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-typename internal::enable_if<internal::is_integral<T>::value,bool>::type
-isinf_impl(const T&) { return false; }
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-typename internal::enable_if<internal::is_integral<T>::value,bool>::type
-isfinite_impl(const T&) { return true; }
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
-isfinite_impl(const T& x)
-{
-  #ifdef __CUDA_ARCH__
-    return (::isfinite)(x);
-  #elif EIGEN_USE_STD_FPCLASSIFY
-    using std::isfinite;
-    return isfinite EIGEN_NOT_A_MACRO (x);
-  #else
-    return x<=NumTraits<T>::highest() && x>=NumTraits<T>::lowest();
-  #endif
-}
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
-isinf_impl(const T& x)
-{
-  #ifdef __CUDA_ARCH__
-    return (::isinf)(x);
-  #elif EIGEN_USE_STD_FPCLASSIFY
-    using std::isinf;
-    return isinf EIGEN_NOT_A_MACRO (x);
-  #else
-    return x>NumTraits<T>::highest() || x<NumTraits<T>::lowest();
-  #endif
-}
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
-isnan_impl(const T& x)
-{
-  #ifdef __CUDA_ARCH__
-    return (::isnan)(x);
-  #elif EIGEN_USE_STD_FPCLASSIFY
-    using std::isnan;
-    return isnan EIGEN_NOT_A_MACRO (x);
-  #else
-    return x != x;
-  #endif
-}
-
-#if (!EIGEN_USE_STD_FPCLASSIFY)
-
-#if EIGEN_COMP_MSVC
-
-template<typename T> EIGEN_DEVICE_FUNC bool isinf_msvc_helper(T x)
-{
-  return _fpclass(x)==_FPCLASS_NINF || _fpclass(x)==_FPCLASS_PINF;
-}
-
-//MSVC defines a _isnan builtin function, but for double only
-EIGEN_DEVICE_FUNC inline bool isnan_impl(const long double& x) { return _isnan(x)!=0; }
-EIGEN_DEVICE_FUNC inline bool isnan_impl(const double& x)      { return _isnan(x)!=0; }
-EIGEN_DEVICE_FUNC inline bool isnan_impl(const float& x)       { return _isnan(x)!=0; }
-
-EIGEN_DEVICE_FUNC inline bool isinf_impl(const long double& x) { return isinf_msvc_helper(x); }
-EIGEN_DEVICE_FUNC inline bool isinf_impl(const double& x)      { return isinf_msvc_helper(x); }
-EIGEN_DEVICE_FUNC inline bool isinf_impl(const float& x)       { return isinf_msvc_helper(x); }
-
-#elif (defined __FINITE_MATH_ONLY__ && __FINITE_MATH_ONLY__ && EIGEN_COMP_GNUC)
-
-#if EIGEN_GNUC_AT_LEAST(5,0)
-  #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((optimize("no-finite-math-only")))
-#else
-  // NOTE the inline qualifier and noinline attribute are both needed: the former is to avoid linking issue (duplicate symbol),
-  //      while the second prevent too aggressive optimizations in fast-math mode:
-  #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((noinline,optimize("no-finite-math-only")))
-#endif
-
-template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const long double& x) { return __builtin_isnan(x); }
-template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const double& x)      { return __builtin_isnan(x); }
-template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const float& x)       { return __builtin_isnan(x); }
-template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const double& x)      { return __builtin_isinf(x); }
-template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const float& x)       { return __builtin_isinf(x); }
-template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const long double& x) { return __builtin_isinf(x); }
-
-#undef EIGEN_TMP_NOOPT_ATTRIB
-
-#endif
-
-#endif
-
-// The following overload are defined at the end of this file
-template<typename T> EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex<T>& x);
-template<typename T> EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x);
-template<typename T> EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x);
-
-template<typename T> T generic_fast_tanh_float(const T& a_x);
-
-} // end namespace internal
-
-/****************************************************************************
-* Generic math functions                                                    *
-****************************************************************************/
-
-namespace numext {
-
-#ifndef __CUDA_ARCH__
-template<typename T>
-EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
-{
-  EIGEN_USING_STD_MATH(min);
-  return min EIGEN_NOT_A_MACRO (x,y);
-}
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
-{
-  EIGEN_USING_STD_MATH(max);
-  return max EIGEN_NOT_A_MACRO (x,y);
-}
-#else
-template<typename T>
-EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
-{
-  return y < x ? y : x;
-}
-template<>
-EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y)
-{
-  return fminf(x, y);
-}
-template<typename T>
-EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
-{
-  return x < y ? y : x;
-}
-template<>
-EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y)
-{
-  return fmaxf(x, y);
-}
-#endif
-
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(real, Scalar) real(const Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(real, Scalar)::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) >::type real_ref(const Scalar& x)
-{
-  return internal::real_ref_impl<Scalar>::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) real_ref(Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(real_ref, Scalar)::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(imag, Scalar) imag(const Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(imag, Scalar)::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(arg, Scalar) arg(const Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(arg, Scalar)::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) >::type imag_ref(const Scalar& x)
-{
-  return internal::imag_ref_impl<Scalar>::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) imag_ref(Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(imag_ref, Scalar)::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(conj, Scalar) conj(const Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(conj, Scalar)::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(abs2, Scalar)::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(norm1, Scalar)::run(x);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar& y)
-{
-  return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y);
-}
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(log1p, Scalar) log1p(const Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(log1p, Scalar)::run(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float log1p(const float &x) { return ::log1pf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double log1p(const double &x) { return ::log1p(x); }
-#endif
-
-template<typename ScalarX,typename ScalarY>
-EIGEN_DEVICE_FUNC
-inline typename internal::pow_impl<ScalarX,ScalarY>::result_type pow(const ScalarX& x, const ScalarY& y)
-{
-  return internal::pow_impl<ScalarX,ScalarY>::run(x, y);
-}
-
-template<typename T> EIGEN_DEVICE_FUNC bool (isnan)   (const T &x) { return internal::isnan_impl(x); }
-template<typename T> EIGEN_DEVICE_FUNC bool (isinf)   (const T &x) { return internal::isinf_impl(x); }
-template<typename T> EIGEN_DEVICE_FUNC bool (isfinite)(const T &x) { return internal::isfinite_impl(x); }
-
-template<typename Scalar>
-EIGEN_DEVICE_FUNC
-inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x)
-{
-  return EIGEN_MATHFUNC_IMPL(round, Scalar)::run(x);
-}
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-T (floor)(const T& x)
-{
-  EIGEN_USING_STD_MATH(floor);
-  return floor(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float floor(const float &x) { return ::floorf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double floor(const double &x) { return ::floor(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-T (ceil)(const T& x)
-{
-  EIGEN_USING_STD_MATH(ceil);
-  return ceil(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float ceil(const float &x) { return ::ceilf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double ceil(const double &x) { return ::ceil(x); }
-#endif
-
-
-/** Log base 2 for 32 bits positive integers.
-  * Conveniently returns 0 for x==0. */
-inline int log2(int x)
-{
-  eigen_assert(x>=0);
-  unsigned int v(x);
-  static const int table[32] = { 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30, 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31 };
-  v |= v >> 1;
-  v |= v >> 2;
-  v |= v >> 4;
-  v |= v >> 8;
-  v |= v >> 16;
-  return table[(v * 0x07C4ACDDU) >> 27];
-}
-
-/** \returns the square root of \a x.
-  *
-  * It is essentially equivalent to \code using std::sqrt; return sqrt(x); \endcode,
-  * but slightly faster for float/double and some compilers (e.g., gcc), thanks to
-  * specializations when SSE is enabled.
-  *
-  * It's usage is justified in performance critical functions, like norm/normalize.
-  */
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T sqrt(const T &x)
-{
-  EIGEN_USING_STD_MATH(sqrt);
-  return sqrt(x);
-}
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T log(const T &x) {
-  EIGEN_USING_STD_MATH(log);
-  return log(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float log(const float &x) { return ::logf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double log(const double &x) { return ::log(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-typename NumTraits<T>::Real abs(const T &x) {
-  EIGEN_USING_STD_MATH(abs);
-  return abs(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float abs(const float &x) { return ::fabsf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double abs(const double &x) { return ::fabs(x); }
-
-template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float abs(const std::complex<float>& x) {
-  return ::hypotf(x.real(), x.imag());
-}
-
-template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double abs(const std::complex<double>& x) {
-  return ::hypot(x.real(), x.imag());
-}
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T exp(const T &x) {
-  EIGEN_USING_STD_MATH(exp);
-  return exp(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float exp(const float &x) { return ::expf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double exp(const double &x) { return ::exp(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T cos(const T &x) {
-  EIGEN_USING_STD_MATH(cos);
-  return cos(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float cos(const float &x) { return ::cosf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double cos(const double &x) { return ::cos(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T sin(const T &x) {
-  EIGEN_USING_STD_MATH(sin);
-  return sin(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float sin(const float &x) { return ::sinf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double sin(const double &x) { return ::sin(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T tan(const T &x) {
-  EIGEN_USING_STD_MATH(tan);
-  return tan(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float tan(const float &x) { return ::tanf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double tan(const double &x) { return ::tan(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T acos(const T &x) {
-  EIGEN_USING_STD_MATH(acos);
-  return acos(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float acos(const float &x) { return ::acosf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double acos(const double &x) { return ::acos(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T asin(const T &x) {
-  EIGEN_USING_STD_MATH(asin);
-  return asin(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float asin(const float &x) { return ::asinf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double asin(const double &x) { return ::asin(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T atan(const T &x) {
-  EIGEN_USING_STD_MATH(atan);
-  return atan(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float atan(const float &x) { return ::atanf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double atan(const double &x) { return ::atan(x); }
-#endif
-
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T cosh(const T &x) {
-  EIGEN_USING_STD_MATH(cosh);
-  return cosh(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float cosh(const float &x) { return ::coshf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double cosh(const double &x) { return ::cosh(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T sinh(const T &x) {
-  EIGEN_USING_STD_MATH(sinh);
-  return sinh(x);
-}
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float sinh(const float &x) { return ::sinhf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double sinh(const double &x) { return ::sinh(x); }
-#endif
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T tanh(const T &x) {
-  EIGEN_USING_STD_MATH(tanh);
-  return tanh(x);
-}
-
-#if (!defined(__CUDACC__)) && EIGEN_FAST_MATH
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float tanh(float x) { return internal::generic_fast_tanh_float(x); }
-#endif
-
-#ifdef __CUDACC__
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float tanh(const float &x) { return ::tanhf(x); }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double tanh(const double &x) { return ::tanh(x); }
-#endif
-
-template <typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T fmod(const T& a, const T& b) {
-  EIGEN_USING_STD_MATH(fmod);
-  return fmod(a, b);
-}
-
-#ifdef __CUDACC__
-template <>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float fmod(const float& a, const float& b) {
-  return ::fmodf(a, b);
-}
-
-template <>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double fmod(const double& a, const double& b) {
-  return ::fmod(a, b);
-}
-#endif
-
-} // end namespace numext
-
-namespace internal {
-
-template<typename T>
-EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex<T>& x)
-{
-  return (numext::isfinite)(numext::real(x)) && (numext::isfinite)(numext::imag(x));
-}
-
-template<typename T>
-EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x)
-{
-  return (numext::isnan)(numext::real(x)) || (numext::isnan)(numext::imag(x));
-}
-
-template<typename T>
-EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x)
-{
-  return ((numext::isinf)(numext::real(x)) || (numext::isinf)(numext::imag(x))) && (!(numext::isnan)(x));
-}
-
-/****************************************************************************
-* Implementation of fuzzy comparisons                                       *
-****************************************************************************/
-
-template<typename Scalar,
-         bool IsComplex,
-         bool IsInteger>
-struct scalar_fuzzy_default_impl {};
-
-template<typename Scalar>
-struct scalar_fuzzy_default_impl<Scalar, false, false>
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar> EIGEN_DEVICE_FUNC
-  static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
-  {
-    return numext::abs(x) <= numext::abs(y) * prec;
-  }
-  EIGEN_DEVICE_FUNC
-  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
-  {
-    return numext::abs(x - y) <= numext::mini(numext::abs(x), numext::abs(y)) * prec;
-  }
-  EIGEN_DEVICE_FUNC
-  static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar& prec)
-  {
-    return x <= y || isApprox(x, y, prec);
-  }
-};
-
-template<typename Scalar>
-struct scalar_fuzzy_default_impl<Scalar, false, true>
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar> EIGEN_DEVICE_FUNC
-  static inline bool isMuchSmallerThan(const Scalar& x, const Scalar&, const RealScalar&)
-  {
-    return x == Scalar(0);
-  }
-  EIGEN_DEVICE_FUNC
-  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar&)
-  {
-    return x == y;
-  }
-  EIGEN_DEVICE_FUNC
-  static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar&)
-  {
-    return x <= y;
-  }
-};
-
-template<typename Scalar>
-struct scalar_fuzzy_default_impl<Scalar, true, false>
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar> EIGEN_DEVICE_FUNC
-  static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
-  {
-    return numext::abs2(x) <= numext::abs2(y) * prec * prec;
-  }
-  EIGEN_DEVICE_FUNC
-  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
-  {
-    return numext::abs2(x - y) <= numext::mini(numext::abs2(x), numext::abs2(y)) * prec * prec;
-  }
-};
-
-template<typename Scalar>
-struct scalar_fuzzy_impl : scalar_fuzzy_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
-
-template<typename Scalar, typename OtherScalar> EIGEN_DEVICE_FUNC
-inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
-                              const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
-{
-  return scalar_fuzzy_impl<Scalar>::template isMuchSmallerThan<OtherScalar>(x, y, precision);
-}
-
-template<typename Scalar> EIGEN_DEVICE_FUNC
-inline bool isApprox(const Scalar& x, const Scalar& y,
-                     const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
-{
-  return scalar_fuzzy_impl<Scalar>::isApprox(x, y, precision);
-}
-
-template<typename Scalar> EIGEN_DEVICE_FUNC
-inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y,
-                               const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
-{
-  return scalar_fuzzy_impl<Scalar>::isApproxOrLessThan(x, y, precision);
-}
-
-/******************************************
-***  The special case of the  bool type ***
-******************************************/
-
-template<> struct random_impl<bool>
-{
-  static inline bool run()
-  {
-    return random<int>(0,1)==0 ? false : true;
-  }
-};
-
-template<> struct scalar_fuzzy_impl<bool>
-{
-  typedef bool RealScalar;
-  
-  template<typename OtherScalar> EIGEN_DEVICE_FUNC
-  static inline bool isMuchSmallerThan(const bool& x, const bool&, const bool&)
-  {
-    return !x;
-  }
-  
-  EIGEN_DEVICE_FUNC
-  static inline bool isApprox(bool x, bool y, bool)
-  {
-    return x == y;
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline bool isApproxOrLessThan(const bool& x, const bool& y, const bool&)
-  {
-    return (!x) || y;
-  }
-  
-};
-
-  
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATHFUNCTIONS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/MathFunctionsImpl.h b/phonelibs/eigen/Eigen/src/Core/MathFunctionsImpl.h
deleted file mode 100644
index 3c9ef22fa6d630..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/MathFunctionsImpl.h
+++ /dev/null
@@ -1,78 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com)
-// Copyright (C) 2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATHFUNCTIONSIMPL_H
-#define EIGEN_MATHFUNCTIONSIMPL_H
-
-namespace Eigen {
-
-namespace internal {
-
-/** \internal \returns the hyperbolic tan of \a a (coeff-wise)
-    Doesn't do anything fancy, just a 13/6-degree rational interpolant which
-    is accurate up to a couple of ulp in the range [-9, 9], outside of which
-    the tanh(x) = +/-1.
-
-    This implementation works on both scalars and packets.
-*/
-template<typename T>
-T generic_fast_tanh_float(const T& a_x)
-{
-  // Clamp the inputs to the range [-9, 9] since anything outside
-  // this range is +/-1.0f in single-precision.
-  const T plus_9 = pset1<T>(9.f);
-  const T minus_9 = pset1<T>(-9.f);
-  // NOTE GCC prior to 6.3 might improperly optimize this max/min
-  //      step such that if a_x is nan, x will be either 9 or -9,
-  //      and tanh will return 1 or -1 instead of nan.
-  //      This is supposed to be fixed in gcc6.3,
-  //      see: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
-  const T x = pmax(minus_9,pmin(plus_9,a_x));
-  // The monomial coefficients of the numerator polynomial (odd).
-  const T alpha_1 = pset1<T>(4.89352455891786e-03f);
-  const T alpha_3 = pset1<T>(6.37261928875436e-04f);
-  const T alpha_5 = pset1<T>(1.48572235717979e-05f);
-  const T alpha_7 = pset1<T>(5.12229709037114e-08f);
-  const T alpha_9 = pset1<T>(-8.60467152213735e-11f);
-  const T alpha_11 = pset1<T>(2.00018790482477e-13f);
-  const T alpha_13 = pset1<T>(-2.76076847742355e-16f);
-
-  // The monomial coefficients of the denominator polynomial (even).
-  const T beta_0 = pset1<T>(4.89352518554385e-03f);
-  const T beta_2 = pset1<T>(2.26843463243900e-03f);
-  const T beta_4 = pset1<T>(1.18534705686654e-04f);
-  const T beta_6 = pset1<T>(1.19825839466702e-06f);
-
-  // Since the polynomials are odd/even, we need x^2.
-  const T x2 = pmul(x, x);
-
-  // Evaluate the numerator polynomial p.
-  T p = pmadd(x2, alpha_13, alpha_11);
-  p = pmadd(x2, p, alpha_9);
-  p = pmadd(x2, p, alpha_7);
-  p = pmadd(x2, p, alpha_5);
-  p = pmadd(x2, p, alpha_3);
-  p = pmadd(x2, p, alpha_1);
-  p = pmul(x, p);
-
-  // Evaluate the denominator polynomial p.
-  T q = pmadd(x2, beta_6, beta_4);
-  q = pmadd(x2, q, beta_2);
-  q = pmadd(x2, q, beta_0);
-
-  // Divide the numerator by the denominator.
-  return pdiv(p, q);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATHFUNCTIONSIMPL_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Matrix.h b/phonelibs/eigen/Eigen/src/Core/Matrix.h
deleted file mode 100644
index 90c336d8cad38f..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Matrix.h
+++ /dev/null
@@ -1,461 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_H
-#define EIGEN_MATRIX_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-private:
-  enum { size = internal::size_at_compile_time<_Rows,_Cols>::ret };
-  typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
-  enum {
-      row_major_bit = _Options&RowMajor ? RowMajorBit : 0,
-      is_dynamic_size_storage = _MaxRows==Dynamic || _MaxCols==Dynamic,
-      max_size = is_dynamic_size_storage ? Dynamic : _MaxRows*_MaxCols,
-      default_alignment = compute_default_alignment<_Scalar,max_size>::value,
-      actual_alignment = ((_Options&DontAlign)==0) ? default_alignment : 0,
-      required_alignment = unpacket_traits<PacketScalar>::alignment,
-      packet_access_bit = (packet_traits<_Scalar>::Vectorizable && (EIGEN_UNALIGNED_VECTORIZE || (actual_alignment>=required_alignment))) ? PacketAccessBit : 0
-    };
-    
-public:
-  typedef _Scalar Scalar;
-  typedef Dense StorageKind;
-  typedef Eigen::Index StorageIndex;
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = _Rows,
-    ColsAtCompileTime = _Cols,
-    MaxRowsAtCompileTime = _MaxRows,
-    MaxColsAtCompileTime = _MaxCols,
-    Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
-    Options = _Options,
-    InnerStrideAtCompileTime = 1,
-    OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime,
-    
-    // FIXME, the following flag in only used to define NeedsToAlign in PlainObjectBase
-    EvaluatorFlags = LinearAccessBit | DirectAccessBit | packet_access_bit | row_major_bit,
-    Alignment = actual_alignment
-  };
-};
-}
-
-/** \class Matrix
-  * \ingroup Core_Module
-  *
-  * \brief The matrix class, also used for vectors and row-vectors
-  *
-  * The %Matrix class is the work-horse for all \em dense (\ref dense "note") matrices and vectors within Eigen.
-  * Vectors are matrices with one column, and row-vectors are matrices with one row.
-  *
-  * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note").
-  *
-  * The first three template parameters are required:
-  * \tparam _Scalar Numeric type, e.g. float, double, int or std::complex<float>.
-  *                 User defined scalar types are supported as well (see \ref user_defined_scalars "here").
-  * \tparam _Rows Number of rows, or \b Dynamic
-  * \tparam _Cols Number of columns, or \b Dynamic
-  *
-  * The remaining template parameters are optional -- in most cases you don't have to worry about them.
-  * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of either
-  *                 \b #AutoAlign or \b #DontAlign.
-  *                 The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required
-  *                 for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size.
-  * \tparam _MaxRows Maximum number of rows. Defaults to \a _Rows (\ref maxrows "note").
-  * \tparam _MaxCols Maximum number of columns. Defaults to \a _Cols (\ref maxrows "note").
-  *
-  * Eigen provides a number of typedefs covering the usual cases. Here are some examples:
-  *
-  * \li \c Matrix2d is a 2x2 square matrix of doubles (\c Matrix<double, 2, 2>)
-  * \li \c Vector4f is a vector of 4 floats (\c Matrix<float, 4, 1>)
-  * \li \c RowVector3i is a row-vector of 3 ints (\c Matrix<int, 1, 3>)
-  *
-  * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix<float, Dynamic, Dynamic>)
-  * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix<float, Dynamic, 1>)
-  *
-  * \li \c Matrix2Xf is a partially fixed-size (dynamic-size) matrix of floats (\c Matrix<float, 2, Dynamic>)
-  * \li \c MatrixX3d is a partially dynamic-size (fixed-size) matrix of double (\c Matrix<double, Dynamic, 3>)
-  *
-  * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs.
-  *
-  * You can access elements of vectors and matrices using normal subscripting:
-  *
-  * \code
-  * Eigen::VectorXd v(10);
-  * v[0] = 0.1;
-  * v[1] = 0.2;
-  * v(0) = 0.3;
-  * v(1) = 0.4;
-  *
-  * Eigen::MatrixXi m(10, 10);
-  * m(0, 1) = 1;
-  * m(0, 2) = 2;
-  * m(0, 3) = 3;
-  * \endcode
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN.
-  *
-  * <i><b>Some notes:</b></i>
-  *
-  * <dl>
-  * <dt><b>\anchor dense Dense versus sparse:</b></dt>
-  * <dd>This %Matrix class handles dense, not sparse matrices and vectors. For sparse matrices and vectors, see the Sparse module.
-  *
-  * Dense matrices and vectors are plain usual arrays of coefficients. All the coefficients are stored, in an ordinary contiguous array.
-  * This is unlike Sparse matrices and vectors where the coefficients are stored as a list of nonzero coefficients.</dd>
-  *
-  * <dt><b>\anchor fixedsize Fixed-size versus dynamic-size:</b></dt>
-  * <dd>Fixed-size means that the numbers of rows and columns are known are compile-time. In this case, Eigen allocates the array
-  * of coefficients as a fixed-size array, as a class member. This makes sense for very small matrices, typically up to 4x4, sometimes up
-  * to 16x16. Larger matrices should be declared as dynamic-size even if one happens to know their size at compile-time.
-  *
-  * Dynamic-size means that the numbers of rows or columns are not necessarily known at compile-time. In this case they are runtime
-  * variables, and the array of coefficients is allocated dynamically on the heap.
-  *
-  * Note that \em dense matrices, be they Fixed-size or Dynamic-size, <em>do not</em> expand dynamically in the sense of a std::map.
-  * If you want this behavior, see the Sparse module.</dd>
-  *
-  * <dt><b>\anchor maxrows _MaxRows and _MaxCols:</b></dt>
-  * <dd>In most cases, one just leaves these parameters to the default values.
-  * These parameters mean the maximum size of rows and columns that the matrix may have. They are useful in cases
-  * when the exact numbers of rows and columns are not known are compile-time, but it is known at compile-time that they cannot
-  * exceed a certain value. This happens when taking dynamic-size blocks inside fixed-size matrices: in this case _MaxRows and _MaxCols
-  * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.</dd>
-  * </dl>
-  *
-  * <i><b>ABI and storage layout</b></i>
-  *
-  * The table below summarizes the ABI of some possible Matrix instances which is fixed thorough the lifetime of Eigen 3.
-  * <table  class="manual">
-  * <tr><th>Matrix type</th><th>Equivalent C structure</th></tr>
-  * <tr><td>\code Matrix<T,Dynamic,Dynamic> \endcode</td><td>\code
-  * struct {
-  *   T *data;                  // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0
-  *   Eigen::Index rows, cols;
-  *  };
-  * \endcode</td></tr>
-  * <tr class="alt"><td>\code
-  * Matrix<T,Dynamic,1>
-  * Matrix<T,1,Dynamic> \endcode</td><td>\code
-  * struct {
-  *   T *data;                  // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0
-  *   Eigen::Index size;
-  *  };
-  * \endcode</td></tr>
-  * <tr><td>\code Matrix<T,Rows,Cols> \endcode</td><td>\code
-  * struct {
-  *   T data[Rows*Cols];        // with (size_t(data)%A(Rows*Cols*sizeof(T)))==0
-  *  };
-  * \endcode</td></tr>
-  * <tr class="alt"><td>\code Matrix<T,Dynamic,Dynamic,0,MaxRows,MaxCols> \endcode</td><td>\code
-  * struct {
-  *   T data[MaxRows*MaxCols];  // with (size_t(data)%A(MaxRows*MaxCols*sizeof(T)))==0
-  *   Eigen::Index rows, cols;
-  *  };
-  * \endcode</td></tr>
-  * </table>
-  * Note that in this table Rows, Cols, MaxRows and MaxCols are all positive integers. A(S) is defined to the largest possible power-of-two
-  * smaller to EIGEN_MAX_STATIC_ALIGN_BYTES.
-  *
-  * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy,
-  * \ref TopicStorageOrders
-  */
-
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-class Matrix
-  : public PlainObjectBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  public:
-
-    /** \brief Base class typedef.
-      * \sa PlainObjectBase
-      */
-    typedef PlainObjectBase<Matrix> Base;
-
-    enum { Options = _Options };
-
-    EIGEN_DENSE_PUBLIC_INTERFACE(Matrix)
-
-    typedef typename Base::PlainObject PlainObject;
-
-    using Base::base;
-    using Base::coeffRef;
-
-    /**
-      * \brief Assigns matrices to each other.
-      *
-      * \note This is a special case of the templated operator=. Its purpose is
-      * to prevent a default operator= from hiding the templated operator=.
-      *
-      * \callgraph
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other)
-    {
-      return Base::_set(other);
-    }
-
-    /** \internal
-      * \brief Copies the value of the expression \a other into \c *this with automatic resizing.
-      *
-      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
-      * it will be initialized.
-      *
-      * Note that copying a row-vector into a vector (and conversely) is allowed.
-      * The resizing, if any, is then done in the appropriate way so that row-vectors
-      * remain row-vectors and vectors remain vectors.
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix& operator=(const DenseBase<OtherDerived>& other)
-    {
-      return Base::_set(other);
-    }
-
-    /* Here, doxygen failed to copy the brief information when using \copydoc */
-
-    /**
-      * \brief Copies the generic expression \a other into *this.
-      * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase<OtherDerived> &other)
-    {
-      return Base::operator=(other);
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue<OtherDerived>& func)
-    {
-      return Base::operator=(func);
-    }
-
-    /** \brief Default constructor.
-      *
-      * For fixed-size matrices, does nothing.
-      *
-      * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
-      * is called a null matrix. This constructor is the unique way to create null matrices: resizing
-      * a matrix to 0 is not supported.
-      *
-      * \sa resize(Index,Index)
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix() : Base()
-    {
-      Base::_check_template_params();
-      EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    }
-
-    // FIXME is it still needed
-    EIGEN_DEVICE_FUNC
-    explicit Matrix(internal::constructor_without_unaligned_array_assert)
-      : Base(internal::constructor_without_unaligned_array_assert())
-    { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED }
-
-#if EIGEN_HAS_RVALUE_REFERENCES
-    EIGEN_DEVICE_FUNC
-    Matrix(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
-      : Base(std::move(other))
-    {
-      Base::_check_template_params();
-      if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic)
-        Base::_set_noalias(other);
-    }
-    EIGEN_DEVICE_FUNC
-    Matrix& operator=(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
-    {
-      other.swap(*this);
-      return *this;
-    }
-#endif
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-
-    // This constructor is for both 1x1 matrices and dynamic vectors
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE explicit Matrix(const T& x)
-    {
-      Base::_check_template_params();
-      Base::template _init1<T>(x);
-    }
-
-    template<typename T0, typename T1>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y)
-    {
-      Base::_check_template_params();
-      Base::template _init2<T0,T1>(x, y);
-    }
-    #else
-    /** \brief Constructs a fixed-sized matrix initialized with coefficients starting at \a data */
-    EIGEN_DEVICE_FUNC
-    explicit Matrix(const Scalar *data);
-
-    /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors
-      *
-      * This is useful for dynamic-size vectors. For fixed-size vectors,
-      * it is redundant to pass these parameters, so one should use the default constructor
-      * Matrix() instead.
-      * 
-      * \warning This constructor is disabled for fixed-size \c 1x1 matrices. For instance,
-      * calling Matrix<double,1,1>(1) will call the initialization constructor: Matrix(const Scalar&).
-      * For fixed-size \c 1x1 matrices it is therefore recommended to use the default
-      * constructor Matrix() instead, especially when using one of the non standard
-      * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
-      */
-    EIGEN_STRONG_INLINE explicit Matrix(Index dim);
-    /** \brief Constructs an initialized 1x1 matrix with the given coefficient */
-    Matrix(const Scalar& x);
-    /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns.
-      *
-      * This is useful for dynamic-size matrices. For fixed-size matrices,
-      * it is redundant to pass these parameters, so one should use the default constructor
-      * Matrix() instead.
-      * 
-      * \warning This constructor is disabled for fixed-size \c 1x2 and \c 2x1 vectors. For instance,
-      * calling Matrix2f(2,1) will call the initialization constructor: Matrix(const Scalar& x, const Scalar& y).
-      * For fixed-size \c 1x2 or \c 2x1 vectors it is therefore recommended to use the default
-      * constructor Matrix() instead, especially when using one of the non standard
-      * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
-      */
-    EIGEN_DEVICE_FUNC
-    Matrix(Index rows, Index cols);
-    
-    /** \brief Constructs an initialized 2D vector with given coefficients */
-    Matrix(const Scalar& x, const Scalar& y);
-    #endif
-
-    /** \brief Constructs an initialized 3D vector with given coefficients */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z)
-    {
-      Base::_check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 3)
-      m_storage.data()[0] = x;
-      m_storage.data()[1] = y;
-      m_storage.data()[2] = z;
-    }
-    /** \brief Constructs an initialized 4D vector with given coefficients */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
-    {
-      Base::_check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 4)
-      m_storage.data()[0] = x;
-      m_storage.data()[1] = y;
-      m_storage.data()[2] = z;
-      m_storage.data()[3] = w;
-    }
-
-
-    /** \brief Copy constructor */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix(const Matrix& other) : Base(other)
-    { }
-
-    /** \brief Copy constructor for generic expressions.
-      * \sa MatrixBase::operator=(const EigenBase<OtherDerived>&)
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix(const EigenBase<OtherDerived> &other)
-      : Base(other.derived())
-    { }
-
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
-
-    /////////// Geometry module ///////////
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    explicit Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
-
-    // allow to extend Matrix outside Eigen
-    #ifdef EIGEN_MATRIX_PLUGIN
-    #include EIGEN_MATRIX_PLUGIN
-    #endif
-
-  protected:
-    template <typename Derived, typename OtherDerived, bool IsVector>
-    friend struct internal::conservative_resize_like_impl;
-
-    using Base::m_storage;
-};
-
-/** \defgroup matrixtypedefs Global matrix typedefs
-  *
-  * \ingroup Core_Module
-  *
-  * Eigen defines several typedef shortcuts for most common matrix and vector types.
-  *
-  * The general patterns are the following:
-  *
-  * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
-  * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
-  * for complex double.
-  *
-  * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats.
-  *
-  * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is
-  * a fixed-size vector of 4 complex floats.
-  *
-  * \sa class Matrix
-  */
-
-#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)   \
-/** \ingroup matrixtypedefs */                                    \
-typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix;  \
-/** \ingroup matrixtypedefs */                                    \
-typedef Matrix<Type, Size, 1>    Vector##SizeSuffix##TypeSuffix;  \
-/** \ingroup matrixtypedefs */                                    \
-typedef Matrix<Type, 1, Size>    RowVector##SizeSuffix##TypeSuffix;
-
-#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size)         \
-/** \ingroup matrixtypedefs */                                    \
-typedef Matrix<Type, Size, Dynamic> Matrix##Size##X##TypeSuffix;  \
-/** \ingroup matrixtypedefs */                                    \
-typedef Matrix<Type, Dynamic, Size> Matrix##X##Size##TypeSuffix;
-
-#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
-EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
-EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
-EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
-
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int,                  i)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float,                f)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double,               d)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<float>,  cf)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
-
-#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
-#undef EIGEN_MAKE_TYPEDEFS
-#undef EIGEN_MAKE_FIXED_TYPEDEFS
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/MatrixBase.h b/phonelibs/eigen/Eigen/src/Core/MatrixBase.h
deleted file mode 100644
index f7cf04cde3b128..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/MatrixBase.h
+++ /dev/null
@@ -1,530 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIXBASE_H
-#define EIGEN_MATRIXBASE_H
-
-namespace Eigen {
-
-/** \class MatrixBase
-  * \ingroup Core_Module
-  *
-  * \brief Base class for all dense matrices, vectors, and expressions
-  *
-  * This class is the base that is inherited by all matrix, vector, and related expression
-  * types. Most of the Eigen API is contained in this class, and its base classes. Other important
-  * classes for the Eigen API are Matrix, and VectorwiseOp.
-  *
-  * Note that some methods are defined in other modules such as the \ref LU_Module LU module
-  * for all functions related to matrix inversions.
-  *
-  * \tparam Derived is the derived type, e.g. a matrix type, or an expression, etc.
-  *
-  * When writing a function taking Eigen objects as argument, if you want your function
-  * to take as argument any matrix, vector, or expression, just let it take a
-  * MatrixBase argument. As an example, here is a function printFirstRow which, given
-  * a matrix, vector, or expression \a x, prints the first row of \a x.
-  *
-  * \code
-    template<typename Derived>
-    void printFirstRow(const Eigen::MatrixBase<Derived>& x)
-    {
-      cout << x.row(0) << endl;
-    }
-  * \endcode
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN.
-  *
-  * \sa \blank \ref TopicClassHierarchy
-  */
-template<typename Derived> class MatrixBase
-  : public DenseBase<Derived>
-{
-  public:
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef MatrixBase StorageBaseType;
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    typedef DenseBase<Derived> Base;
-    using Base::RowsAtCompileTime;
-    using Base::ColsAtCompileTime;
-    using Base::SizeAtCompileTime;
-    using Base::MaxRowsAtCompileTime;
-    using Base::MaxColsAtCompileTime;
-    using Base::MaxSizeAtCompileTime;
-    using Base::IsVectorAtCompileTime;
-    using Base::Flags;
-
-    using Base::derived;
-    using Base::const_cast_derived;
-    using Base::rows;
-    using Base::cols;
-    using Base::size;
-    using Base::coeff;
-    using Base::coeffRef;
-    using Base::lazyAssign;
-    using Base::eval;
-    using Base::operator+=;
-    using Base::operator-=;
-    using Base::operator*=;
-    using Base::operator/=;
-
-    typedef typename Base::CoeffReturnType CoeffReturnType;
-    typedef typename Base::ConstTransposeReturnType ConstTransposeReturnType;
-    typedef typename Base::RowXpr RowXpr;
-    typedef typename Base::ColXpr ColXpr;
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** type of the equivalent square matrix */
-    typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
-                          EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    /** \returns the size of the main diagonal, which is min(rows(),cols()).
-      * \sa rows(), cols(), SizeAtCompileTime. */
-    EIGEN_DEVICE_FUNC
-    inline Index diagonalSize() const { return (numext::mini)(rows(),cols()); }
-
-    typedef typename Base::PlainObject PlainObject;
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
-    /** \internal the return type of MatrixBase::adjoint() */
-    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
-                        ConstTransposeReturnType
-                     >::type AdjointReturnType;
-    /** \internal Return type of eigenvalues() */
-    typedef Matrix<std::complex<RealScalar>, internal::traits<Derived>::ColsAtCompileTime, 1, ColMajor> EigenvaluesReturnType;
-    /** \internal the return type of identity */
-    typedef CwiseNullaryOp<internal::scalar_identity_op<Scalar>,PlainObject> IdentityReturnType;
-    /** \internal the return type of unit vectors */
-    typedef Block<const CwiseNullaryOp<internal::scalar_identity_op<Scalar>, SquareMatrixType>,
-                  internal::traits<Derived>::RowsAtCompileTime,
-                  internal::traits<Derived>::ColsAtCompileTime> BasisReturnType;
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::MatrixBase
-#define EIGEN_DOC_UNARY_ADDONS(X,Y)
-#   include "../plugins/CommonCwiseUnaryOps.h"
-#   include "../plugins/CommonCwiseBinaryOps.h"
-#   include "../plugins/MatrixCwiseUnaryOps.h"
-#   include "../plugins/MatrixCwiseBinaryOps.h"
-#   ifdef EIGEN_MATRIXBASE_PLUGIN
-#     include EIGEN_MATRIXBASE_PLUGIN
-#   endif
-#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
-#undef EIGEN_DOC_UNARY_ADDONS
-
-    /** Special case of the template operator=, in order to prevent the compiler
-      * from generating a default operator= (issue hit with g++ 4.1)
-      */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator=(const MatrixBase& other);
-
-    // We cannot inherit here via Base::operator= since it is causing
-    // trouble with MSVC.
-
-    template <typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator=(const DenseBase<OtherDerived>& other);
-
-    template <typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    Derived& operator=(const EigenBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    Derived& operator=(const ReturnByValue<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator+=(const MatrixBase<OtherDerived>& other);
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator-=(const MatrixBase<OtherDerived>& other);
-
-#ifdef __CUDACC__
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    const Product<Derived,OtherDerived,LazyProduct>
-    operator*(const MatrixBase<OtherDerived> &other) const
-    { return this->lazyProduct(other); }
-#else
-
-    template<typename OtherDerived>
-    const Product<Derived,OtherDerived>
-    operator*(const MatrixBase<OtherDerived> &other) const;
-
-#endif
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    const Product<Derived,OtherDerived,LazyProduct>
-    lazyProduct(const MatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    Derived& operator*=(const EigenBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    void applyOnTheLeft(const EigenBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    void applyOnTheRight(const EigenBase<OtherDerived>& other);
-
-    template<typename DiagonalDerived>
-    EIGEN_DEVICE_FUNC
-    const Product<Derived, DiagonalDerived, LazyProduct>
-    operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
-    dot(const MatrixBase<OtherDerived>& other) const;
-
-    EIGEN_DEVICE_FUNC RealScalar squaredNorm() const;
-    EIGEN_DEVICE_FUNC RealScalar norm() const;
-    RealScalar stableNorm() const;
-    RealScalar blueNorm() const;
-    RealScalar hypotNorm() const;
-    EIGEN_DEVICE_FUNC const PlainObject normalized() const;
-    EIGEN_DEVICE_FUNC const PlainObject stableNormalized() const;
-    EIGEN_DEVICE_FUNC void normalize();
-    EIGEN_DEVICE_FUNC void stableNormalize();
-
-    EIGEN_DEVICE_FUNC const AdjointReturnType adjoint() const;
-    EIGEN_DEVICE_FUNC void adjointInPlace();
-
-    typedef Diagonal<Derived> DiagonalReturnType;
-    EIGEN_DEVICE_FUNC
-    DiagonalReturnType diagonal();
-
-    typedef typename internal::add_const<Diagonal<const Derived> >::type ConstDiagonalReturnType;
-    EIGEN_DEVICE_FUNC
-    ConstDiagonalReturnType diagonal() const;
-
-    template<int Index> struct DiagonalIndexReturnType { typedef Diagonal<Derived,Index> Type; };
-    template<int Index> struct ConstDiagonalIndexReturnType { typedef const Diagonal<const Derived,Index> Type; };
-
-    template<int Index>
-    EIGEN_DEVICE_FUNC
-    typename DiagonalIndexReturnType<Index>::Type diagonal();
-
-    template<int Index>
-    EIGEN_DEVICE_FUNC
-    typename ConstDiagonalIndexReturnType<Index>::Type diagonal() const;
-
-    typedef Diagonal<Derived,DynamicIndex> DiagonalDynamicIndexReturnType;
-    typedef typename internal::add_const<Diagonal<const Derived,DynamicIndex> >::type ConstDiagonalDynamicIndexReturnType;
-
-    EIGEN_DEVICE_FUNC
-    DiagonalDynamicIndexReturnType diagonal(Index index);
-    EIGEN_DEVICE_FUNC
-    ConstDiagonalDynamicIndexReturnType diagonal(Index index) const;
-
-    template<unsigned int Mode> struct TriangularViewReturnType { typedef TriangularView<Derived, Mode> Type; };
-    template<unsigned int Mode> struct ConstTriangularViewReturnType { typedef const TriangularView<const Derived, Mode> Type; };
-
-    template<unsigned int Mode>
-    EIGEN_DEVICE_FUNC
-    typename TriangularViewReturnType<Mode>::Type triangularView();
-    template<unsigned int Mode>
-    EIGEN_DEVICE_FUNC
-    typename ConstTriangularViewReturnType<Mode>::Type triangularView() const;
-
-    template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SelfAdjointView<Derived, UpLo> Type; };
-    template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SelfAdjointView<const Derived, UpLo> Type; };
-
-    template<unsigned int UpLo>
-    EIGEN_DEVICE_FUNC
-    typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
-    template<unsigned int UpLo>
-    EIGEN_DEVICE_FUNC
-    typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
-
-    const SparseView<Derived> sparseView(const Scalar& m_reference = Scalar(0),
-                                         const typename NumTraits<Scalar>::Real& m_epsilon = NumTraits<Scalar>::dummy_precision()) const;
-    EIGEN_DEVICE_FUNC static const IdentityReturnType Identity();
-    EIGEN_DEVICE_FUNC static const IdentityReturnType Identity(Index rows, Index cols);
-    EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index size, Index i);
-    EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index i);
-    EIGEN_DEVICE_FUNC static const BasisReturnType UnitX();
-    EIGEN_DEVICE_FUNC static const BasisReturnType UnitY();
-    EIGEN_DEVICE_FUNC static const BasisReturnType UnitZ();
-    EIGEN_DEVICE_FUNC static const BasisReturnType UnitW();
-
-    EIGEN_DEVICE_FUNC
-    const DiagonalWrapper<const Derived> asDiagonal() const;
-    const PermutationWrapper<const Derived> asPermutation() const;
-
-    EIGEN_DEVICE_FUNC
-    Derived& setIdentity();
-    EIGEN_DEVICE_FUNC
-    Derived& setIdentity(Index rows, Index cols);
-
-    bool isIdentity(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isDiagonal(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-
-    bool isUpperTriangular(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isLowerTriangular(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-
-    template<typename OtherDerived>
-    bool isOrthogonal(const MatrixBase<OtherDerived>& other,
-                      const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isUnitary(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-
-    /** \returns true if each coefficients of \c *this and \a other are all exactly equal.
-      * \warning When using floating point scalar values you probably should rather use a
-      *          fuzzy comparison such as isApprox()
-      * \sa isApprox(), operator!= */
-    template<typename OtherDerived>
-    inline bool operator==(const MatrixBase<OtherDerived>& other) const
-    { return cwiseEqual(other).all(); }
-
-    /** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other.
-      * \warning When using floating point scalar values you probably should rather use a
-      *          fuzzy comparison such as isApprox()
-      * \sa isApprox(), operator== */
-    template<typename OtherDerived>
-    inline bool operator!=(const MatrixBase<OtherDerived>& other) const
-    { return cwiseNotEqual(other).any(); }
-
-    NoAlias<Derived,Eigen::MatrixBase > noalias();
-
-    // TODO forceAlignedAccess is temporarily disabled
-    // Need to find a nicer workaround.
-    inline const Derived& forceAlignedAccess() const { return derived(); }
-    inline Derived& forceAlignedAccess() { return derived(); }
-    template<bool Enable> inline const Derived& forceAlignedAccessIf() const { return derived(); }
-    template<bool Enable> inline Derived& forceAlignedAccessIf() { return derived(); }
-
-    EIGEN_DEVICE_FUNC Scalar trace() const;
-
-    template<int p> EIGEN_DEVICE_FUNC RealScalar lpNorm() const;
-
-    EIGEN_DEVICE_FUNC MatrixBase<Derived>& matrix() { return *this; }
-    EIGEN_DEVICE_FUNC const MatrixBase<Derived>& matrix() const { return *this; }
-
-    /** \returns an \link Eigen::ArrayBase Array \endlink expression of this matrix
-      * \sa ArrayBase::matrix() */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ArrayWrapper<Derived> array() { return ArrayWrapper<Derived>(derived()); }
-    /** \returns a const \link Eigen::ArrayBase Array \endlink expression of this matrix
-      * \sa ArrayBase::matrix() */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const ArrayWrapper<const Derived> array() const { return ArrayWrapper<const Derived>(derived()); }
-
-/////////// LU module ///////////
-
-    inline const FullPivLU<PlainObject> fullPivLu() const;
-    inline const PartialPivLU<PlainObject> partialPivLu() const;
-
-    inline const PartialPivLU<PlainObject> lu() const;
-
-    inline const Inverse<Derived> inverse() const;
-
-    template<typename ResultType>
-    inline void computeInverseAndDetWithCheck(
-      ResultType& inverse,
-      typename ResultType::Scalar& determinant,
-      bool& invertible,
-      const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
-    ) const;
-    template<typename ResultType>
-    inline void computeInverseWithCheck(
-      ResultType& inverse,
-      bool& invertible,
-      const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
-    ) const;
-    Scalar determinant() const;
-
-/////////// Cholesky module ///////////
-
-    inline const LLT<PlainObject>  llt() const;
-    inline const LDLT<PlainObject> ldlt() const;
-
-/////////// QR module ///////////
-
-    inline const HouseholderQR<PlainObject> householderQr() const;
-    inline const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
-    inline const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
-    inline const CompleteOrthogonalDecomposition<PlainObject> completeOrthogonalDecomposition() const;
-
-/////////// Eigenvalues module ///////////
-
-    inline EigenvaluesReturnType eigenvalues() const;
-    inline RealScalar operatorNorm() const;
-
-/////////// SVD module ///////////
-
-    inline JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
-    inline BDCSVD<PlainObject>    bdcSvd(unsigned int computationOptions = 0) const;
-
-/////////// Geometry module ///////////
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /// \internal helper struct to form the return type of the cross product
-    template<typename OtherDerived> struct cross_product_return_type {
-      typedef typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
-      typedef Matrix<Scalar,MatrixBase::RowsAtCompileTime,MatrixBase::ColsAtCompileTime> type;
-    };
-    #endif // EIGEN_PARSED_BY_DOXYGEN
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    inline typename cross_product_return_type<OtherDerived>::type
-#else
-    inline PlainObject
-#endif
-    cross(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    inline PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
-
-    EIGEN_DEVICE_FUNC
-    inline PlainObject unitOrthogonal(void) const;
-
-    EIGEN_DEVICE_FUNC
-    inline Matrix<Scalar,3,1> eulerAngles(Index a0, Index a1, Index a2) const;
-
-    // put this as separate enum value to work around possible GCC 4.3 bug (?)
-    enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1&&RowsAtCompileTime==1 ? ((internal::traits<Derived>::Flags&RowMajorBit)==RowMajorBit ? Horizontal : Vertical)
-                                          : ColsAtCompileTime==1 ? Vertical : Horizontal };
-    typedef Homogeneous<Derived, HomogeneousReturnTypeDirection> HomogeneousReturnType;
-    EIGEN_DEVICE_FUNC
-    inline HomogeneousReturnType homogeneous() const;
-
-    enum {
-      SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1
-    };
-    typedef Block<const Derived,
-                  internal::traits<Derived>::ColsAtCompileTime==1 ? SizeMinusOne : 1,
-                  internal::traits<Derived>::ColsAtCompileTime==1 ? 1 : SizeMinusOne> ConstStartMinusOne;
-    typedef EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(ConstStartMinusOne,Scalar,quotient) HNormalizedReturnType;
-    EIGEN_DEVICE_FUNC
-    inline const HNormalizedReturnType hnormalized() const;
-
-////////// Householder module ///////////
-
-    void makeHouseholderInPlace(Scalar& tau, RealScalar& beta);
-    template<typename EssentialPart>
-    void makeHouseholder(EssentialPart& essential,
-                         Scalar& tau, RealScalar& beta) const;
-    template<typename EssentialPart>
-    void applyHouseholderOnTheLeft(const EssentialPart& essential,
-                                   const Scalar& tau,
-                                   Scalar* workspace);
-    template<typename EssentialPart>
-    void applyHouseholderOnTheRight(const EssentialPart& essential,
-                                    const Scalar& tau,
-                                    Scalar* workspace);
-
-///////// Jacobi module /////////
-
-    template<typename OtherScalar>
-    void applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j);
-    template<typename OtherScalar>
-    void applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j);
-
-///////// SparseCore module /////////
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE const typename SparseMatrixBase<OtherDerived>::template CwiseProductDenseReturnType<Derived>::Type
-    cwiseProduct(const SparseMatrixBase<OtherDerived> &other) const
-    {
-      return other.cwiseProduct(derived());
-    }
-
-///////// MatrixFunctions module /////////
-
-    typedef typename internal::stem_function<Scalar>::type StemFunction;
-    const MatrixExponentialReturnValue<Derived> exp() const;
-    const MatrixFunctionReturnValue<Derived> matrixFunction(StemFunction f) const;
-    const MatrixFunctionReturnValue<Derived> cosh() const;
-    const MatrixFunctionReturnValue<Derived> sinh() const;
-    const MatrixFunctionReturnValue<Derived> cos() const;
-    const MatrixFunctionReturnValue<Derived> sin() const;
-    const MatrixSquareRootReturnValue<Derived> sqrt() const;
-    const MatrixLogarithmReturnValue<Derived> log() const;
-    const MatrixPowerReturnValue<Derived> pow(const RealScalar& p) const;
-    const MatrixComplexPowerReturnValue<Derived> pow(const std::complex<RealScalar>& p) const;
-
-  protected:
-    EIGEN_DEVICE_FUNC MatrixBase() : Base() {}
-
-  private:
-    EIGEN_DEVICE_FUNC explicit MatrixBase(int);
-    EIGEN_DEVICE_FUNC MatrixBase(int,int);
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC explicit MatrixBase(const MatrixBase<OtherDerived>&);
-  protected:
-    // mixing arrays and matrices is not legal
-    template<typename OtherDerived> Derived& operator+=(const ArrayBase<OtherDerived>& )
-    {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;}
-    // mixing arrays and matrices is not legal
-    template<typename OtherDerived> Derived& operator-=(const ArrayBase<OtherDerived>& )
-    {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;}
-};
-
-
-/***************************************************************************
-* Implementation of matrix base methods
-***************************************************************************/
-
-/** replaces \c *this by \c *this * \a other.
-  *
-  * \returns a reference to \c *this
-  *
-  * Example: \include MatrixBase_applyOnTheRight.cpp
-  * Output: \verbinclude MatrixBase_applyOnTheRight.out
-  */
-template<typename Derived>
-template<typename OtherDerived>
-inline Derived&
-MatrixBase<Derived>::operator*=(const EigenBase<OtherDerived> &other)
-{
-  other.derived().applyThisOnTheRight(derived());
-  return derived();
-}
-
-/** replaces \c *this by \c *this * \a other. It is equivalent to MatrixBase::operator*=().
-  *
-  * Example: \include MatrixBase_applyOnTheRight.cpp
-  * Output: \verbinclude MatrixBase_applyOnTheRight.out
-  */
-template<typename Derived>
-template<typename OtherDerived>
-inline void MatrixBase<Derived>::applyOnTheRight(const EigenBase<OtherDerived> &other)
-{
-  other.derived().applyThisOnTheRight(derived());
-}
-
-/** replaces \c *this by \a other * \c *this.
-  *
-  * Example: \include MatrixBase_applyOnTheLeft.cpp
-  * Output: \verbinclude MatrixBase_applyOnTheLeft.out
-  */
-template<typename Derived>
-template<typename OtherDerived>
-inline void MatrixBase<Derived>::applyOnTheLeft(const EigenBase<OtherDerived> &other)
-{
-  other.derived().applyThisOnTheLeft(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIXBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/NestByValue.h b/phonelibs/eigen/Eigen/src/Core/NestByValue.h
deleted file mode 100644
index 13adf070e8987c..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/NestByValue.h
+++ /dev/null
@@ -1,110 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NESTBYVALUE_H
-#define EIGEN_NESTBYVALUE_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename ExpressionType>
-struct traits<NestByValue<ExpressionType> > : public traits<ExpressionType>
-{};
-}
-
-/** \class NestByValue
-  * \ingroup Core_Module
-  *
-  * \brief Expression which must be nested by value
-  *
-  * \tparam ExpressionType the type of the object of which we are requiring nesting-by-value
-  *
-  * This class is the return type of MatrixBase::nestByValue()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::nestByValue()
-  */
-template<typename ExpressionType> class NestByValue
-  : public internal::dense_xpr_base< NestByValue<ExpressionType> >::type
-{
-  public:
-
-    typedef typename internal::dense_xpr_base<NestByValue>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(NestByValue)
-
-    EIGEN_DEVICE_FUNC explicit inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
-
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
-
-    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
-    {
-      return m_expression.coeff(row, col);
-    }
-
-    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_expression.const_cast_derived().coeffRef(row, col);
-    }
-
-    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
-    {
-      return m_expression.coeff(index);
-    }
-
-    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index row, Index col) const
-    {
-      return m_expression.template packet<LoadMode>(row, col);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index row, Index col, const PacketScalar& x)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return m_expression.template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& x)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
-    }
-
-    EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
-
-  protected:
-    const ExpressionType m_expression;
-};
-
-/** \returns an expression of the temporary version of *this.
-  */
-template<typename Derived>
-inline const NestByValue<Derived>
-DenseBase<Derived>::nestByValue() const
-{
-  return NestByValue<Derived>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_NESTBYVALUE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/NoAlias.h b/phonelibs/eigen/Eigen/src/Core/NoAlias.h
deleted file mode 100644
index 33908010b4f136..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/NoAlias.h
+++ /dev/null
@@ -1,108 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NOALIAS_H
-#define EIGEN_NOALIAS_H
-
-namespace Eigen {
-
-/** \class NoAlias
-  * \ingroup Core_Module
-  *
-  * \brief Pseudo expression providing an operator = assuming no aliasing
-  *
-  * \tparam ExpressionType the type of the object on which to do the lazy assignment
-  *
-  * This class represents an expression with special assignment operators
-  * assuming no aliasing between the target expression and the source expression.
-  * More precisely it alloas to bypass the EvalBeforeAssignBit flag of the source expression.
-  * It is the return type of MatrixBase::noalias()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::noalias()
-  */
-template<typename ExpressionType, template <typename> class StorageBase>
-class NoAlias
-{
-  public:
-    typedef typename ExpressionType::Scalar Scalar;
-    
-    explicit NoAlias(ExpressionType& expression) : m_expression(expression) {}
-    
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase<OtherDerived>& other)
-    {
-      call_assignment_no_alias(m_expression, other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
-      return m_expression;
-    }
-    
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase<OtherDerived>& other)
-    {
-      call_assignment_no_alias(m_expression, other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
-      return m_expression;
-    }
-    
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase<OtherDerived>& other)
-    {
-      call_assignment_no_alias(m_expression, other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
-      return m_expression;
-    }
-
-    EIGEN_DEVICE_FUNC
-    ExpressionType& expression() const
-    {
-      return m_expression;
-    }
-
-  protected:
-    ExpressionType& m_expression;
-};
-
-/** \returns a pseudo expression of \c *this with an operator= assuming
-  * no aliasing between \c *this and the source expression.
-  *
-  * More precisely, noalias() allows to bypass the EvalBeforeAssignBit flag.
-  * Currently, even though several expressions may alias, only product
-  * expressions have this flag. Therefore, noalias() is only usefull when
-  * the source expression contains a matrix product.
-  *
-  * Here are some examples where noalias is usefull:
-  * \code
-  * D.noalias()  = A * B;
-  * D.noalias() += A.transpose() * B;
-  * D.noalias() -= 2 * A * B.adjoint();
-  * \endcode
-  *
-  * On the other hand the following example will lead to a \b wrong result:
-  * \code
-  * A.noalias() = A * B;
-  * \endcode
-  * because the result matrix A is also an operand of the matrix product. Therefore,
-  * there is no alternative than evaluating A * B in a temporary, that is the default
-  * behavior when you write:
-  * \code
-  * A = A * B;
-  * \endcode
-  *
-  * \sa class NoAlias
-  */
-template<typename Derived>
-NoAlias<Derived,MatrixBase> MatrixBase<Derived>::noalias()
-{
-  return NoAlias<Derived, Eigen::MatrixBase >(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_NOALIAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/NumTraits.h b/phonelibs/eigen/Eigen/src/Core/NumTraits.h
deleted file mode 100644
index dd61195bc200ed..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/NumTraits.h
+++ /dev/null
@@ -1,246 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NUMTRAITS_H
-#define EIGEN_NUMTRAITS_H
-
-namespace Eigen {
-
-namespace internal {
-
-// default implementation of digits10(), based on numeric_limits if specialized,
-// 0 for integer types, and log10(epsilon()) otherwise.
-template< typename T,
-          bool use_numeric_limits = std::numeric_limits<T>::is_specialized,
-          bool is_integer = NumTraits<T>::IsInteger>
-struct default_digits10_impl
-{
-  static int run() { return std::numeric_limits<T>::digits10; }
-};
-
-template<typename T>
-struct default_digits10_impl<T,false,false> // Floating point
-{
-  static int run() {
-    using std::log10;
-    using std::ceil;
-    typedef typename NumTraits<T>::Real Real;
-    return int(ceil(-log10(NumTraits<Real>::epsilon())));
-  }
-};
-
-template<typename T>
-struct default_digits10_impl<T,false,true> // Integer
-{
-  static int run() { return 0; }
-};
-
-} // end namespace internal
-
-/** \class NumTraits
-  * \ingroup Core_Module
-  *
-  * \brief Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
-  *
-  * \tparam T the numeric type at hand
-  *
-  * This class stores enums, typedefs and static methods giving information about a numeric type.
-  *
-  * The provided data consists of:
-  * \li A typedef \c Real, giving the "real part" type of \a T. If \a T is already real,
-  *     then \c Real is just a typedef to \a T. If \a T is \c std::complex<U> then \c Real
-  *     is a typedef to \a U.
-  * \li A typedef \c NonInteger, giving the type that should be used for operations producing non-integral values,
-  *     such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives
-  *     \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to
-  *     take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is
-  *     only intended as a helper for code that needs to explicitly promote types.
-  * \li A typedef \c Literal giving the type to use for numeric literals such as "2" or "0.5". For instance, for \c std::complex<U>, Literal is defined as \c U.
-  *     Of course, this type must be fully compatible with \a T. In doubt, just use \a T here.
-  * \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you don't know what
-  *     this means, just use \a T here.
-  * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex
-  *     type, and to 0 otherwise.
-  * \li An enum value \a IsInteger. It is equal to \c 1 if \a T is an integer type such as \c int,
-  *     and to \c 0 otherwise.
-  * \li Enum values ReadCost, AddCost and MulCost representing a rough estimate of the number of CPU cycles needed
-  *     to by move / add / mul instructions respectively, assuming the data is already stored in CPU registers.
-  *     Stay vague here. No need to do architecture-specific stuff.
-  * \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned.
-  * \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must
-  *     be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise.
-  * \li An epsilon() function which, unlike <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/epsilon">std::numeric_limits::epsilon()</a>,
-  *     it returns a \a Real instead of a \a T.
-  * \li A dummy_precision() function returning a weak epsilon value. It is mainly used as a default
-  *     value by the fuzzy comparison operators.
-  * \li highest() and lowest() functions returning the highest and lowest possible values respectively.
-  * \li digits10() function returning the number of decimal digits that can be represented without change. This is
-  *     the analogue of <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/digits10">std::numeric_limits<T>::digits10</a>
-  *     which is used as the default implementation if specialized.
-  */
-
-template<typename T> struct GenericNumTraits
-{
-  enum {
-    IsInteger = std::numeric_limits<T>::is_integer,
-    IsSigned = std::numeric_limits<T>::is_signed,
-    IsComplex = 0,
-    RequireInitialization = internal::is_arithmetic<T>::value ? 0 : 1,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-
-  typedef T Real;
-  typedef typename internal::conditional<
-                     IsInteger,
-                     typename internal::conditional<sizeof(T)<=2, float, double>::type,
-                     T
-                   >::type NonInteger;
-  typedef T Nested;
-  typedef T Literal;
-
-  EIGEN_DEVICE_FUNC
-  static inline Real epsilon()
-  {
-    return numext::numeric_limits<T>::epsilon();
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline int digits10()
-  {
-    return internal::default_digits10_impl<T>::run();
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline Real dummy_precision()
-  {
-    // make sure to override this for floating-point types
-    return Real(0);
-  }
-
-
-  EIGEN_DEVICE_FUNC
-  static inline T highest() {
-    return (numext::numeric_limits<T>::max)();
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline T lowest()  {
-    return IsInteger ? (numext::numeric_limits<T>::min)() : (-(numext::numeric_limits<T>::max)());
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline T infinity() {
-    return numext::numeric_limits<T>::infinity();
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline T quiet_NaN() {
-    return numext::numeric_limits<T>::quiet_NaN();
-  }
-};
-
-template<typename T> struct NumTraits : GenericNumTraits<T>
-{};
-
-template<> struct NumTraits<float>
-  : GenericNumTraits<float>
-{
-  EIGEN_DEVICE_FUNC
-  static inline float dummy_precision() { return 1e-5f; }
-};
-
-template<> struct NumTraits<double> : GenericNumTraits<double>
-{
-  EIGEN_DEVICE_FUNC
-  static inline double dummy_precision() { return 1e-12; }
-};
-
-template<> struct NumTraits<long double>
-  : GenericNumTraits<long double>
-{
-  static inline long double dummy_precision() { return 1e-15l; }
-};
-
-template<typename _Real> struct NumTraits<std::complex<_Real> >
-  : GenericNumTraits<std::complex<_Real> >
-{
-  typedef _Real Real;
-  typedef typename NumTraits<_Real>::Literal Literal;
-  enum {
-    IsComplex = 1,
-    RequireInitialization = NumTraits<_Real>::RequireInitialization,
-    ReadCost = 2 * NumTraits<_Real>::ReadCost,
-    AddCost = 2 * NumTraits<Real>::AddCost,
-    MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
-  };
-
-  EIGEN_DEVICE_FUNC
-  static inline Real epsilon() { return NumTraits<Real>::epsilon(); }
-  EIGEN_DEVICE_FUNC
-  static inline Real dummy_precision() { return NumTraits<Real>::dummy_precision(); }
-  EIGEN_DEVICE_FUNC
-  static inline int digits10() { return NumTraits<Real>::digits10(); }
-};
-
-template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-struct NumTraits<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
-{
-  typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> ArrayType;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Array<RealScalar, Rows, Cols, Options, MaxRows, MaxCols> Real;
-  typedef typename NumTraits<Scalar>::NonInteger NonIntegerScalar;
-  typedef Array<NonIntegerScalar, Rows, Cols, Options, MaxRows, MaxCols> NonInteger;
-  typedef ArrayType & Nested;
-  typedef typename NumTraits<Scalar>::Literal Literal;
-
-  enum {
-    IsComplex = NumTraits<Scalar>::IsComplex,
-    IsInteger = NumTraits<Scalar>::IsInteger,
-    IsSigned  = NumTraits<Scalar>::IsSigned,
-    RequireInitialization = 1,
-    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
-    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
-    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
-  };
-
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar epsilon() { return NumTraits<RealScalar>::epsilon(); }
-  EIGEN_DEVICE_FUNC
-  static inline RealScalar dummy_precision() { return NumTraits<RealScalar>::dummy_precision(); }
-};
-
-template<> struct NumTraits<std::string>
-  : GenericNumTraits<std::string>
-{
-  enum {
-    RequireInitialization = 1,
-    ReadCost = HugeCost,
-    AddCost  = HugeCost,
-    MulCost  = HugeCost
-  };
-
-  static inline int digits10() { return 0; }
-
-private:
-  static inline std::string epsilon();
-  static inline std::string dummy_precision();
-  static inline std::string lowest();
-  static inline std::string highest();
-  static inline std::string infinity();
-  static inline std::string quiet_NaN();
-};
-
-// Empty specialization for void to allow template specialization based on NumTraits<T>::Real with T==void and SFINAE.
-template<> struct NumTraits<void> {};
-
-} // end namespace Eigen
-
-#endif // EIGEN_NUMTRAITS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/PermutationMatrix.h b/phonelibs/eigen/Eigen/src/Core/PermutationMatrix.h
deleted file mode 100644
index b1fb455b98c236..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/PermutationMatrix.h
+++ /dev/null
@@ -1,633 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PERMUTATIONMATRIX_H
-#define EIGEN_PERMUTATIONMATRIX_H
-
-namespace Eigen { 
-
-namespace internal {
-
-enum PermPermProduct_t {PermPermProduct};
-
-} // end namespace internal
-
-/** \class PermutationBase
-  * \ingroup Core_Module
-  *
-  * \brief Base class for permutations
-  *
-  * \tparam Derived the derived class
-  *
-  * This class is the base class for all expressions representing a permutation matrix,
-  * internally stored as a vector of integers.
-  * The convention followed here is that if \f$ \sigma \f$ is a permutation, the corresponding permutation matrix
-  * \f$ P_\sigma \f$ is such that if \f$ (e_1,\ldots,e_p) \f$ is the canonical basis, we have:
-  *  \f[ P_\sigma(e_i) = e_{\sigma(i)}. \f]
-  * This convention ensures that for any two permutations \f$ \sigma, \tau \f$, we have:
-  *  \f[ P_{\sigma\circ\tau} = P_\sigma P_\tau. \f]
-  *
-  * Permutation matrices are square and invertible.
-  *
-  * Notice that in addition to the member functions and operators listed here, there also are non-member
-  * operator* to multiply any kind of permutation object with any kind of matrix expression (MatrixBase)
-  * on either side.
-  *
-  * \sa class PermutationMatrix, class PermutationWrapper
-  */
-template<typename Derived>
-class PermutationBase : public EigenBase<Derived>
-{
-    typedef internal::traits<Derived> Traits;
-    typedef EigenBase<Derived> Base;
-  public:
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef typename Traits::IndicesType IndicesType;
-    enum {
-      Flags = Traits::Flags,
-      RowsAtCompileTime = Traits::RowsAtCompileTime,
-      ColsAtCompileTime = Traits::ColsAtCompileTime,
-      MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
-    };
-    typedef typename Traits::StorageIndex StorageIndex;
-    typedef Matrix<StorageIndex,RowsAtCompileTime,ColsAtCompileTime,0,MaxRowsAtCompileTime,MaxColsAtCompileTime>
-            DenseMatrixType;
-    typedef PermutationMatrix<IndicesType::SizeAtCompileTime,IndicesType::MaxSizeAtCompileTime,StorageIndex>
-            PlainPermutationType;
-    typedef PlainPermutationType PlainObject;
-    using Base::derived;
-    typedef Inverse<Derived> InverseReturnType;
-    typedef void Scalar;
-    #endif
-
-    /** Copies the other permutation into *this */
-    template<typename OtherDerived>
-    Derived& operator=(const PermutationBase<OtherDerived>& other)
-    {
-      indices() = other.indices();
-      return derived();
-    }
-
-    /** Assignment from the Transpositions \a tr */
-    template<typename OtherDerived>
-    Derived& operator=(const TranspositionsBase<OtherDerived>& tr)
-    {
-      setIdentity(tr.size());
-      for(Index k=size()-1; k>=0; --k)
-        applyTranspositionOnTheRight(k,tr.coeff(k));
-      return derived();
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    Derived& operator=(const PermutationBase& other)
-    {
-      indices() = other.indices();
-      return derived();
-    }
-    #endif
-
-    /** \returns the number of rows */
-    inline Index rows() const { return Index(indices().size()); }
-
-    /** \returns the number of columns */
-    inline Index cols() const { return Index(indices().size()); }
-
-    /** \returns the size of a side of the respective square matrix, i.e., the number of indices */
-    inline Index size() const { return Index(indices().size()); }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename DenseDerived>
-    void evalTo(MatrixBase<DenseDerived>& other) const
-    {
-      other.setZero();
-      for (Index i=0; i<rows(); ++i)
-        other.coeffRef(indices().coeff(i),i) = typename DenseDerived::Scalar(1);
-    }
-    #endif
-
-    /** \returns a Matrix object initialized from this permutation matrix. Notice that it
-      * is inefficient to return this Matrix object by value. For efficiency, favor using
-      * the Matrix constructor taking EigenBase objects.
-      */
-    DenseMatrixType toDenseMatrix() const
-    {
-      return derived();
-    }
-
-    /** const version of indices(). */
-    const IndicesType& indices() const { return derived().indices(); }
-    /** \returns a reference to the stored array representing the permutation. */
-    IndicesType& indices() { return derived().indices(); }
-
-    /** Resizes to given size.
-      */
-    inline void resize(Index newSize)
-    {
-      indices().resize(newSize);
-    }
-
-    /** Sets *this to be the identity permutation matrix */
-    void setIdentity()
-    {
-      StorageIndex n = StorageIndex(size());
-      for(StorageIndex i = 0; i < n; ++i)
-        indices().coeffRef(i) = i;
-    }
-
-    /** Sets *this to be the identity permutation matrix of given size.
-      */
-    void setIdentity(Index newSize)
-    {
-      resize(newSize);
-      setIdentity();
-    }
-
-    /** Multiplies *this by the transposition \f$(ij)\f$ on the left.
-      *
-      * \returns a reference to *this.
-      *
-      * \warning This is much slower than applyTranspositionOnTheRight(Index,Index):
-      * this has linear complexity and requires a lot of branching.
-      *
-      * \sa applyTranspositionOnTheRight(Index,Index)
-      */
-    Derived& applyTranspositionOnTheLeft(Index i, Index j)
-    {
-      eigen_assert(i>=0 && j>=0 && i<size() && j<size());
-      for(Index k = 0; k < size(); ++k)
-      {
-        if(indices().coeff(k) == i) indices().coeffRef(k) = StorageIndex(j);
-        else if(indices().coeff(k) == j) indices().coeffRef(k) = StorageIndex(i);
-      }
-      return derived();
-    }
-
-    /** Multiplies *this by the transposition \f$(ij)\f$ on the right.
-      *
-      * \returns a reference to *this.
-      *
-      * This is a fast operation, it only consists in swapping two indices.
-      *
-      * \sa applyTranspositionOnTheLeft(Index,Index)
-      */
-    Derived& applyTranspositionOnTheRight(Index i, Index j)
-    {
-      eigen_assert(i>=0 && j>=0 && i<size() && j<size());
-      std::swap(indices().coeffRef(i), indices().coeffRef(j));
-      return derived();
-    }
-
-    /** \returns the inverse permutation matrix.
-      *
-      * \note \blank \note_try_to_help_rvo
-      */
-    inline InverseReturnType inverse() const
-    { return InverseReturnType(derived()); }
-    /** \returns the tranpose permutation matrix.
-      *
-      * \note \blank \note_try_to_help_rvo
-      */
-    inline InverseReturnType transpose() const
-    { return InverseReturnType(derived()); }
-
-    /**** multiplication helpers to hopefully get RVO ****/
-
-  
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-  protected:
-    template<typename OtherDerived>
-    void assignTranspose(const PermutationBase<OtherDerived>& other)
-    {
-      for (Index i=0; i<rows();++i) indices().coeffRef(other.indices().coeff(i)) = i;
-    }
-    template<typename Lhs,typename Rhs>
-    void assignProduct(const Lhs& lhs, const Rhs& rhs)
-    {
-      eigen_assert(lhs.cols() == rhs.rows());
-      for (Index i=0; i<rows();++i) indices().coeffRef(i) = lhs.indices().coeff(rhs.indices().coeff(i));
-    }
-#endif
-
-  public:
-
-    /** \returns the product permutation matrix.
-      *
-      * \note \blank \note_try_to_help_rvo
-      */
-    template<typename Other>
-    inline PlainPermutationType operator*(const PermutationBase<Other>& other) const
-    { return PlainPermutationType(internal::PermPermProduct, derived(), other.derived()); }
-
-    /** \returns the product of a permutation with another inverse permutation.
-      *
-      * \note \blank \note_try_to_help_rvo
-      */
-    template<typename Other>
-    inline PlainPermutationType operator*(const InverseImpl<Other,PermutationStorage>& other) const
-    { return PlainPermutationType(internal::PermPermProduct, *this, other.eval()); }
-
-    /** \returns the product of an inverse permutation with another permutation.
-      *
-      * \note \blank \note_try_to_help_rvo
-      */
-    template<typename Other> friend
-    inline PlainPermutationType operator*(const InverseImpl<Other, PermutationStorage>& other, const PermutationBase& perm)
-    { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); }
-    
-    /** \returns the determinant of the permutation matrix, which is either 1 or -1 depending on the parity of the permutation.
-      *
-      * This function is O(\c n) procedure allocating a buffer of \c n booleans.
-      */
-    Index determinant() const
-    {
-      Index res = 1;
-      Index n = size();
-      Matrix<bool,RowsAtCompileTime,1,0,MaxRowsAtCompileTime> mask(n);
-      mask.fill(false);
-      Index r = 0;
-      while(r < n)
-      {
-        // search for the next seed
-        while(r<n && mask[r]) r++;
-        if(r>=n)
-          break;
-        // we got one, let's follow it until we are back to the seed
-        Index k0 = r++;
-        mask.coeffRef(k0) = true;
-        for(Index k=indices().coeff(k0); k!=k0; k=indices().coeff(k))
-        {
-          mask.coeffRef(k) = true;
-          res = -res;
-        }
-      }
-      return res;
-    }
-
-  protected:
-
-};
-
-namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
-struct traits<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex> >
- : traits<Matrix<_StorageIndex,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
-{
-  typedef PermutationStorage StorageKind;
-  typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
-  typedef _StorageIndex StorageIndex;
-  typedef void Scalar;
-};
-}
-
-/** \class PermutationMatrix
-  * \ingroup Core_Module
-  *
-  * \brief Permutation matrix
-  *
-  * \tparam SizeAtCompileTime the number of rows/cols, or Dynamic
-  * \tparam MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
-  * \tparam _StorageIndex the integer type of the indices
-  *
-  * This class represents a permutation matrix, internally stored as a vector of integers.
-  *
-  * \sa class PermutationBase, class PermutationWrapper, class DiagonalMatrix
-  */
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
-class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex> >
-{
-    typedef PermutationBase<PermutationMatrix> Base;
-    typedef internal::traits<PermutationMatrix> Traits;
-  public:
-
-    typedef const PermutationMatrix& Nested;
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef typename Traits::IndicesType IndicesType;
-    typedef typename Traits::StorageIndex StorageIndex;
-    #endif
-
-    inline PermutationMatrix()
-    {}
-
-    /** Constructs an uninitialized permutation matrix of given size.
-      */
-    explicit inline PermutationMatrix(Index size) : m_indices(size)
-    {
-      eigen_internal_assert(size <= NumTraits<StorageIndex>::highest());
-    }
-
-    /** Copy constructor. */
-    template<typename OtherDerived>
-    inline PermutationMatrix(const PermutationBase<OtherDerived>& other)
-      : m_indices(other.indices()) {}
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** Standard copy constructor. Defined only to prevent a default copy constructor
-      * from hiding the other templated constructor */
-    inline PermutationMatrix(const PermutationMatrix& other) : m_indices(other.indices()) {}
-    #endif
-
-    /** Generic constructor from expression of the indices. The indices
-      * array has the meaning that the permutations sends each integer i to indices[i].
-      *
-      * \warning It is your responsibility to check that the indices array that you passes actually
-      * describes a permutation, i.e., each value between 0 and n-1 occurs exactly once, where n is the
-      * array's size.
-      */
-    template<typename Other>
-    explicit inline PermutationMatrix(const MatrixBase<Other>& indices) : m_indices(indices)
-    {}
-
-    /** Convert the Transpositions \a tr to a permutation matrix */
-    template<typename Other>
-    explicit PermutationMatrix(const TranspositionsBase<Other>& tr)
-      : m_indices(tr.size())
-    {
-      *this = tr;
-    }
-
-    /** Copies the other permutation into *this */
-    template<typename Other>
-    PermutationMatrix& operator=(const PermutationBase<Other>& other)
-    {
-      m_indices = other.indices();
-      return *this;
-    }
-
-    /** Assignment from the Transpositions \a tr */
-    template<typename Other>
-    PermutationMatrix& operator=(const TranspositionsBase<Other>& tr)
-    {
-      return Base::operator=(tr.derived());
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    PermutationMatrix& operator=(const PermutationMatrix& other)
-    {
-      m_indices = other.m_indices;
-      return *this;
-    }
-    #endif
-
-    /** const version of indices(). */
-    const IndicesType& indices() const { return m_indices; }
-    /** \returns a reference to the stored array representing the permutation. */
-    IndicesType& indices() { return m_indices; }
-
-
-    /**** multiplication helpers to hopefully get RVO ****/
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename Other>
-    PermutationMatrix(const InverseImpl<Other,PermutationStorage>& other)
-      : m_indices(other.derived().nestedExpression().size())
-    {
-      eigen_internal_assert(m_indices.size() <= NumTraits<StorageIndex>::highest());
-      StorageIndex end = StorageIndex(m_indices.size());
-      for (StorageIndex i=0; i<end;++i)
-        m_indices.coeffRef(other.derived().nestedExpression().indices().coeff(i)) = i;
-    }
-    template<typename Lhs,typename Rhs>
-    PermutationMatrix(internal::PermPermProduct_t, const Lhs& lhs, const Rhs& rhs)
-      : m_indices(lhs.indices().size())
-    {
-      Base::assignProduct(lhs,rhs);
-    }
-#endif
-
-  protected:
-
-    IndicesType m_indices;
-};
-
-
-namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
-struct traits<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess> >
- : traits<Matrix<_StorageIndex,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
-{
-  typedef PermutationStorage StorageKind;
-  typedef Map<const Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1>, _PacketAccess> IndicesType;
-  typedef _StorageIndex StorageIndex;
-  typedef void Scalar;
-};
-}
-
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
-class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess>
-  : public PermutationBase<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess> >
-{
-    typedef PermutationBase<Map> Base;
-    typedef internal::traits<Map> Traits;
-  public:
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar StorageIndex;
-    #endif
-
-    inline Map(const StorageIndex* indicesPtr)
-      : m_indices(indicesPtr)
-    {}
-
-    inline Map(const StorageIndex* indicesPtr, Index size)
-      : m_indices(indicesPtr,size)
-    {}
-
-    /** Copies the other permutation into *this */
-    template<typename Other>
-    Map& operator=(const PermutationBase<Other>& other)
-    { return Base::operator=(other.derived()); }
-
-    /** Assignment from the Transpositions \a tr */
-    template<typename Other>
-    Map& operator=(const TranspositionsBase<Other>& tr)
-    { return Base::operator=(tr.derived()); }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    Map& operator=(const Map& other)
-    {
-      m_indices = other.m_indices;
-      return *this;
-    }
-    #endif
-
-    /** const version of indices(). */
-    const IndicesType& indices() const { return m_indices; }
-    /** \returns a reference to the stored array representing the permutation. */
-    IndicesType& indices() { return m_indices; }
-
-  protected:
-
-    IndicesType m_indices;
-};
-
-template<typename _IndicesType> class TranspositionsWrapper;
-namespace internal {
-template<typename _IndicesType>
-struct traits<PermutationWrapper<_IndicesType> >
-{
-  typedef PermutationStorage StorageKind;
-  typedef void Scalar;
-  typedef typename _IndicesType::Scalar StorageIndex;
-  typedef _IndicesType IndicesType;
-  enum {
-    RowsAtCompileTime = _IndicesType::SizeAtCompileTime,
-    ColsAtCompileTime = _IndicesType::SizeAtCompileTime,
-    MaxRowsAtCompileTime = IndicesType::MaxSizeAtCompileTime,
-    MaxColsAtCompileTime = IndicesType::MaxSizeAtCompileTime,
-    Flags = 0
-  };
-};
-}
-
-/** \class PermutationWrapper
-  * \ingroup Core_Module
-  *
-  * \brief Class to view a vector of integers as a permutation matrix
-  *
-  * \tparam _IndicesType the type of the vector of integer (can be any compatible expression)
-  *
-  * This class allows to view any vector expression of integers as a permutation matrix.
-  *
-  * \sa class PermutationBase, class PermutationMatrix
-  */
-template<typename _IndicesType>
-class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesType> >
-{
-    typedef PermutationBase<PermutationWrapper> Base;
-    typedef internal::traits<PermutationWrapper> Traits;
-  public:
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef typename Traits::IndicesType IndicesType;
-    #endif
-
-    inline PermutationWrapper(const IndicesType& indices)
-      : m_indices(indices)
-    {}
-
-    /** const version of indices(). */
-    const typename internal::remove_all<typename IndicesType::Nested>::type&
-    indices() const { return m_indices; }
-
-  protected:
-
-    typename IndicesType::Nested m_indices;
-};
-
-
-/** \returns the matrix with the permutation applied to the columns.
-  */
-template<typename MatrixDerived, typename PermutationDerived>
-EIGEN_DEVICE_FUNC
-const Product<MatrixDerived, PermutationDerived, AliasFreeProduct>
-operator*(const MatrixBase<MatrixDerived> &matrix,
-          const PermutationBase<PermutationDerived>& permutation)
-{
-  return Product<MatrixDerived, PermutationDerived, AliasFreeProduct>
-            (matrix.derived(), permutation.derived());
-}
-
-/** \returns the matrix with the permutation applied to the rows.
-  */
-template<typename PermutationDerived, typename MatrixDerived>
-EIGEN_DEVICE_FUNC
-const Product<PermutationDerived, MatrixDerived, AliasFreeProduct>
-operator*(const PermutationBase<PermutationDerived> &permutation,
-          const MatrixBase<MatrixDerived>& matrix)
-{
-  return Product<PermutationDerived, MatrixDerived, AliasFreeProduct>
-            (permutation.derived(), matrix.derived());
-}
-
-
-template<typename PermutationType>
-class InverseImpl<PermutationType, PermutationStorage>
-  : public EigenBase<Inverse<PermutationType> >
-{
-    typedef typename PermutationType::PlainPermutationType PlainPermutationType;
-    typedef internal::traits<PermutationType> PermTraits;
-  protected:
-    InverseImpl() {}
-  public:
-    typedef Inverse<PermutationType> InverseType;
-    using EigenBase<Inverse<PermutationType> >::derived;
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef typename PermutationType::DenseMatrixType DenseMatrixType;
-    enum {
-      RowsAtCompileTime = PermTraits::RowsAtCompileTime,
-      ColsAtCompileTime = PermTraits::ColsAtCompileTime,
-      MaxRowsAtCompileTime = PermTraits::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = PermTraits::MaxColsAtCompileTime
-    };
-    #endif
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename DenseDerived>
-    void evalTo(MatrixBase<DenseDerived>& other) const
-    {
-      other.setZero();
-      for (Index i=0; i<derived().rows();++i)
-        other.coeffRef(i, derived().nestedExpression().indices().coeff(i)) = typename DenseDerived::Scalar(1);
-    }
-    #endif
-
-    /** \return the equivalent permutation matrix */
-    PlainPermutationType eval() const { return derived(); }
-
-    DenseMatrixType toDenseMatrix() const { return derived(); }
-
-    /** \returns the matrix with the inverse permutation applied to the columns.
-      */
-    template<typename OtherDerived> friend
-    const Product<OtherDerived, InverseType, AliasFreeProduct>
-    operator*(const MatrixBase<OtherDerived>& matrix, const InverseType& trPerm)
-    {
-      return Product<OtherDerived, InverseType, AliasFreeProduct>(matrix.derived(), trPerm.derived());
-    }
-
-    /** \returns the matrix with the inverse permutation applied to the rows.
-      */
-    template<typename OtherDerived>
-    const Product<InverseType, OtherDerived, AliasFreeProduct>
-    operator*(const MatrixBase<OtherDerived>& matrix) const
-    {
-      return Product<InverseType, OtherDerived, AliasFreeProduct>(derived(), matrix.derived());
-    }
-};
-
-template<typename Derived>
-const PermutationWrapper<const Derived> MatrixBase<Derived>::asPermutation() const
-{
-  return derived();
-}
-
-namespace internal {
-
-template<> struct AssignmentKind<DenseShape,PermutationShape> { typedef EigenBase2EigenBase Kind; };
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PERMUTATIONMATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/PlainObjectBase.h b/phonelibs/eigen/Eigen/src/Core/PlainObjectBase.h
deleted file mode 100644
index 77f4f606678c12..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/PlainObjectBase.h
+++ /dev/null
@@ -1,1031 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DENSESTORAGEBASE_H
-#define EIGEN_DENSESTORAGEBASE_H
-
-#if defined(EIGEN_INITIALIZE_MATRICES_BY_ZERO)
-# define EIGEN_INITIALIZE_COEFFS
-# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(int i=0;i<base().size();++i) coeffRef(i)=Scalar(0);
-#elif defined(EIGEN_INITIALIZE_MATRICES_BY_NAN)
-# define EIGEN_INITIALIZE_COEFFS
-# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(int i=0;i<base().size();++i) coeffRef(i)=std::numeric_limits<Scalar>::quiet_NaN();
-#else
-# undef EIGEN_INITIALIZE_COEFFS
-# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-#endif
-
-namespace Eigen {
-
-namespace internal {
-
-template<int MaxSizeAtCompileTime> struct check_rows_cols_for_overflow {
-  template<typename Index>
-  EIGEN_DEVICE_FUNC
-  static EIGEN_ALWAYS_INLINE void run(Index, Index)
-  {
-  }
-};
-
-template<> struct check_rows_cols_for_overflow<Dynamic> {
-  template<typename Index>
-  EIGEN_DEVICE_FUNC
-  static EIGEN_ALWAYS_INLINE void run(Index rows, Index cols)
-  {
-    // http://hg.mozilla.org/mozilla-central/file/6c8a909977d3/xpcom/ds/CheckedInt.h#l242
-    // we assume Index is signed
-    Index max_index = (std::size_t(1) << (8 * sizeof(Index) - 1)) - 1; // assume Index is signed
-    bool error = (rows == 0 || cols == 0) ? false
-               : (rows > max_index / cols);
-    if (error)
-      throw_std_bad_alloc();
-  }
-};
-
-template <typename Derived,
-          typename OtherDerived = Derived,
-          bool IsVector = bool(Derived::IsVectorAtCompileTime) && bool(OtherDerived::IsVectorAtCompileTime)>
-struct conservative_resize_like_impl;
-
-template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers> struct matrix_swap_impl;
-
-} // end namespace internal
-
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-namespace doxygen {
-
-// This is a workaround to doxygen not being able to understand the inheritance logic
-// when it is hidden by the dense_xpr_base helper struct.
-// Moreover, doxygen fails to include members that are not documented in the declaration body of
-// MatrixBase if we inherits MatrixBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >,
-// this is why we simply inherits MatrixBase, though this does not make sense.
-
-/** This class is just a workaround for Doxygen and it does not not actually exist. */
-template<typename Derived> struct dense_xpr_base_dispatcher;
-/** This class is just a workaround for Doxygen and it does not not actually exist. */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct dense_xpr_base_dispatcher<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-    : public MatrixBase {};
-/** This class is just a workaround for Doxygen and it does not not actually exist. */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct dense_xpr_base_dispatcher<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-    : public ArrayBase {};
-
-} // namespace doxygen
-
-/** \class PlainObjectBase
-  * \ingroup Core_Module
-  * \brief %Dense storage base class for matrices and arrays.
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN.
-  *
-  * \tparam Derived is the derived type, e.g., a Matrix or Array
-  *
-  * \sa \ref TopicClassHierarchy
-  */
-template<typename Derived>
-class PlainObjectBase : public doxygen::dense_xpr_base_dispatcher<Derived>
-#else
-template<typename Derived>
-class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
-#endif
-{
-  public:
-    enum { Options = internal::traits<Derived>::Options };
-    typedef typename internal::dense_xpr_base<Derived>::type Base;
-
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef Derived DenseType;
-
-    using Base::RowsAtCompileTime;
-    using Base::ColsAtCompileTime;
-    using Base::SizeAtCompileTime;
-    using Base::MaxRowsAtCompileTime;
-    using Base::MaxColsAtCompileTime;
-    using Base::MaxSizeAtCompileTime;
-    using Base::IsVectorAtCompileTime;
-    using Base::Flags;
-
-    template<typename PlainObjectType, int MapOptions, typename StrideType> friend class Eigen::Map;
-    friend  class Eigen::Map<Derived, Unaligned>;
-    typedef Eigen::Map<Derived, Unaligned>  MapType;
-    friend  class Eigen::Map<const Derived, Unaligned>;
-    typedef const Eigen::Map<const Derived, Unaligned> ConstMapType;
-#if EIGEN_MAX_ALIGN_BYTES>0
-    // for EIGEN_MAX_ALIGN_BYTES==0, AlignedMax==Unaligned, and many compilers generate warnings for friend-ing a class twice.
-    friend  class Eigen::Map<Derived, AlignedMax>;
-    friend  class Eigen::Map<const Derived, AlignedMax>;
-#endif
-    typedef Eigen::Map<Derived, AlignedMax> AlignedMapType;
-    typedef const Eigen::Map<const Derived, AlignedMax> ConstAlignedMapType;
-    template<typename StrideType> struct StridedMapType { typedef Eigen::Map<Derived, Unaligned, StrideType> type; };
-    template<typename StrideType> struct StridedConstMapType { typedef Eigen::Map<const Derived, Unaligned, StrideType> type; };
-    template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, AlignedMax, StrideType> type; };
-    template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, AlignedMax, StrideType> type; };
-
-  protected:
-    DenseStorage<Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options> m_storage;
-
-  public:
-    enum { NeedsToAlign = (SizeAtCompileTime != Dynamic) && (internal::traits<Derived>::Alignment>0) };
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
-
-    EIGEN_DEVICE_FUNC
-    Base& base() { return *static_cast<Base*>(this); }
-    EIGEN_DEVICE_FUNC
-    const Base& base() const { return *static_cast<const Base*>(this); }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); }
-
-    /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index,Index) const
-      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
-      *
-      * See DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const for details. */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& coeff(Index rowId, Index colId) const
-    {
-      if(Flags & RowMajorBit)
-        return m_storage.data()[colId + rowId * m_storage.cols()];
-      else // column-major
-        return m_storage.data()[rowId + colId * m_storage.rows()];
-    }
-
-    /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const
-      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
-      *
-      * See DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const for details. */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const
-    {
-      return m_storage.data()[index];
-    }
-
-    /** This is an overloaded version of DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index,Index) const
-      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
-      *
-      * See DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index,Index) const for details. */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index rowId, Index colId)
-    {
-      if(Flags & RowMajorBit)
-        return m_storage.data()[colId + rowId * m_storage.cols()];
-      else // column-major
-        return m_storage.data()[rowId + colId * m_storage.rows()];
-    }
-
-    /** This is an overloaded version of DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index) const
-      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
-      *
-      * See DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index) const for details. */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
-    {
-      return m_storage.data()[index];
-    }
-
-    /** This is the const version of coeffRef(Index,Index) which is thus synonym of coeff(Index,Index).
-      * It is provided for convenience. */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& coeffRef(Index rowId, Index colId) const
-    {
-      if(Flags & RowMajorBit)
-        return m_storage.data()[colId + rowId * m_storage.cols()];
-      else // column-major
-        return m_storage.data()[rowId + colId * m_storage.rows()];
-    }
-
-    /** This is the const version of coeffRef(Index) which is thus synonym of coeff(Index).
-      * It is provided for convenience. */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const
-    {
-      return m_storage.data()[index];
-    }
-
-    /** \internal */
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const
-    {
-      return internal::ploadt<PacketScalar, LoadMode>
-               (m_storage.data() + (Flags & RowMajorBit
-                                   ? colId + rowId * m_storage.cols()
-                                   : rowId + colId * m_storage.rows()));
-    }
-
-    /** \internal */
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
-    {
-      return internal::ploadt<PacketScalar, LoadMode>(m_storage.data() + index);
-    }
-
-    /** \internal */
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacket(Index rowId, Index colId, const PacketScalar& val)
-    {
-      internal::pstoret<Scalar, PacketScalar, StoreMode>
-              (m_storage.data() + (Flags & RowMajorBit
-                                   ? colId + rowId * m_storage.cols()
-                                   : rowId + colId * m_storage.rows()), val);
-    }
-
-    /** \internal */
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacket(Index index, const PacketScalar& val)
-    {
-      internal::pstoret<Scalar, PacketScalar, StoreMode>(m_storage.data() + index, val);
-    }
-
-    /** \returns a const pointer to the data array of this matrix */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *data() const
-    { return m_storage.data(); }
-
-    /** \returns a pointer to the data array of this matrix */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *data()
-    { return m_storage.data(); }
-
-    /** Resizes \c *this to a \a rows x \a cols matrix.
-      *
-      * This method is intended for dynamic-size matrices, although it is legal to call it on any
-      * matrix as long as fixed dimensions are left unchanged. If you only want to change the number
-      * of rows and/or of columns, you can use resize(NoChange_t, Index), resize(Index, NoChange_t).
-      *
-      * If the current number of coefficients of \c *this exactly matches the
-      * product \a rows * \a cols, then no memory allocation is performed and
-      * the current values are left unchanged. In all other cases, including
-      * shrinking, the data is reallocated and all previous values are lost.
-      *
-      * Example: \include Matrix_resize_int_int.cpp
-      * Output: \verbinclude Matrix_resize_int_int.out
-      *
-      * \sa resize(Index) for vectors, resize(NoChange_t, Index), resize(Index, NoChange_t)
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void resize(Index rows, Index cols)
-    {
-      eigen_assert(   EIGEN_IMPLIES(RowsAtCompileTime!=Dynamic,rows==RowsAtCompileTime)
-                   && EIGEN_IMPLIES(ColsAtCompileTime!=Dynamic,cols==ColsAtCompileTime)
-                   && EIGEN_IMPLIES(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic,rows<=MaxRowsAtCompileTime)
-                   && EIGEN_IMPLIES(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic,cols<=MaxColsAtCompileTime)
-                   && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array.");
-      internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(rows, cols);
-      #ifdef EIGEN_INITIALIZE_COEFFS
-        Index size = rows*cols;
-        bool size_changed = size != this->size();
-        m_storage.resize(size, rows, cols);
-        if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-      #else
-        m_storage.resize(rows*cols, rows, cols);
-      #endif
-    }
-
-    /** Resizes \c *this to a vector of length \a size
-      *
-      * \only_for_vectors. This method does not work for
-      * partially dynamic matrices when the static dimension is anything other
-      * than 1. For example it will not work with Matrix<double, 2, Dynamic>.
-      *
-      * Example: \include Matrix_resize_int.cpp
-      * Output: \verbinclude Matrix_resize_int.out
-      *
-      * \sa resize(Index,Index), resize(NoChange_t, Index), resize(Index, NoChange_t)
-      */
-    EIGEN_DEVICE_FUNC
-    inline void resize(Index size)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(PlainObjectBase)
-      eigen_assert(((SizeAtCompileTime == Dynamic && (MaxSizeAtCompileTime==Dynamic || size<=MaxSizeAtCompileTime)) || SizeAtCompileTime == size) && size>=0);
-      #ifdef EIGEN_INITIALIZE_COEFFS
-        bool size_changed = size != this->size();
-      #endif
-      if(RowsAtCompileTime == 1)
-        m_storage.resize(size, 1, size);
-      else
-        m_storage.resize(size, size, 1);
-      #ifdef EIGEN_INITIALIZE_COEFFS
-        if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-      #endif
-    }
-
-    /** Resizes the matrix, changing only the number of columns. For the parameter of type NoChange_t, just pass the special value \c NoChange
-      * as in the example below.
-      *
-      * Example: \include Matrix_resize_NoChange_int.cpp
-      * Output: \verbinclude Matrix_resize_NoChange_int.out
-      *
-      * \sa resize(Index,Index)
-      */
-    EIGEN_DEVICE_FUNC
-    inline void resize(NoChange_t, Index cols)
-    {
-      resize(rows(), cols);
-    }
-
-    /** Resizes the matrix, changing only the number of rows. For the parameter of type NoChange_t, just pass the special value \c NoChange
-      * as in the example below.
-      *
-      * Example: \include Matrix_resize_int_NoChange.cpp
-      * Output: \verbinclude Matrix_resize_int_NoChange.out
-      *
-      * \sa resize(Index,Index)
-      */
-    EIGEN_DEVICE_FUNC
-    inline void resize(Index rows, NoChange_t)
-    {
-      resize(rows, cols());
-    }
-
-    /** Resizes \c *this to have the same dimensions as \a other.
-      * Takes care of doing all the checking that's needed.
-      *
-      * Note that copying a row-vector into a vector (and conversely) is allowed.
-      * The resizing, if any, is then done in the appropriate way so that row-vectors
-      * remain row-vectors and vectors remain vectors.
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
-    EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
-    {
-      const OtherDerived& other = _other.derived();
-      internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(other.rows(), other.cols());
-      const Index othersize = other.rows()*other.cols();
-      if(RowsAtCompileTime == 1)
-      {
-        eigen_assert(other.rows() == 1 || other.cols() == 1);
-        resize(1, othersize);
-      }
-      else if(ColsAtCompileTime == 1)
-      {
-        eigen_assert(other.rows() == 1 || other.cols() == 1);
-        resize(othersize, 1);
-      }
-      else resize(other.rows(), other.cols());
-    }
-
-    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
-      *
-      * The method is intended for matrices of dynamic size. If you only want to change the number
-      * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or
-      * conservativeResize(Index, NoChange_t).
-      *
-      * Matrices are resized relative to the top-left element. In case values need to be 
-      * appended to the matrix they will be uninitialized.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void conservativeResize(Index rows, Index cols)
-    {
-      internal::conservative_resize_like_impl<Derived>::run(*this, rows, cols);
-    }
-
-    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
-      *
-      * As opposed to conservativeResize(Index rows, Index cols), this version leaves
-      * the number of columns unchanged.
-      *
-      * In case the matrix is growing, new rows will be uninitialized.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void conservativeResize(Index rows, NoChange_t)
-    {
-      // Note: see the comment in conservativeResize(Index,Index)
-      conservativeResize(rows, cols());
-    }
-
-    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
-      *
-      * As opposed to conservativeResize(Index rows, Index cols), this version leaves
-      * the number of rows unchanged.
-      *
-      * In case the matrix is growing, new columns will be uninitialized.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index cols)
-    {
-      // Note: see the comment in conservativeResize(Index,Index)
-      conservativeResize(rows(), cols);
-    }
-
-    /** Resizes the vector to \a size while retaining old values.
-      *
-      * \only_for_vectors. This method does not work for
-      * partially dynamic matrices when the static dimension is anything other
-      * than 1. For example it will not work with Matrix<double, 2, Dynamic>.
-      *
-      * When values are appended, they will be uninitialized.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void conservativeResize(Index size)
-    {
-      internal::conservative_resize_like_impl<Derived>::run(*this, size);
-    }
-
-    /** Resizes the matrix to \a rows x \a cols of \c other, while leaving old values untouched.
-      *
-      * The method is intended for matrices of dynamic size. If you only want to change the number
-      * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or
-      * conservativeResize(Index, NoChange_t).
-      *
-      * Matrices are resized relative to the top-left element. In case values need to be 
-      * appended to the matrix they will copied from \c other.
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void conservativeResizeLike(const DenseBase<OtherDerived>& other)
-    {
-      internal::conservative_resize_like_impl<Derived,OtherDerived>::run(*this, other);
-    }
-
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& operator=(const PlainObjectBase& other)
-    {
-      return _set(other);
-    }
-
-    /** \sa MatrixBase::lazyAssign() */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& lazyAssign(const DenseBase<OtherDerived>& other)
-    {
-      _resize_to_match(other);
-      return Base::lazyAssign(other.derived());
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& operator=(const ReturnByValue<OtherDerived>& func)
-    {
-      resize(func.rows(), func.cols());
-      return Base::operator=(func);
-    }
-
-    // Prevent user from trying to instantiate PlainObjectBase objects
-    // by making all its constructor protected. See bug 1074.
-  protected:
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE PlainObjectBase() : m_storage()
-    {
-//       _check_template_params();
-//       EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    // FIXME is it still needed ?
-    /** \internal */
-    EIGEN_DEVICE_FUNC
-    explicit PlainObjectBase(internal::constructor_without_unaligned_array_assert)
-      : m_storage(internal::constructor_without_unaligned_array_assert())
-    {
-//       _check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    }
-#endif
-
-#if EIGEN_HAS_RVALUE_REFERENCES
-    EIGEN_DEVICE_FUNC
-    PlainObjectBase(PlainObjectBase&& other) EIGEN_NOEXCEPT
-      : m_storage( std::move(other.m_storage) )
-    {
-    }
-
-    EIGEN_DEVICE_FUNC
-    PlainObjectBase& operator=(PlainObjectBase&& other) EIGEN_NOEXCEPT
-    {
-      using std::swap;
-      swap(m_storage, other.m_storage);
-      return *this;
-    }
-#endif
-
-    /** Copy constructor */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE PlainObjectBase(const PlainObjectBase& other)
-      : Base(), m_storage(other.m_storage) { }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE PlainObjectBase(Index size, Index rows, Index cols)
-      : m_storage(size, rows, cols)
-    {
-//       _check_template_params();
-//       EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    }
-
-    /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE PlainObjectBase(const DenseBase<OtherDerived> &other)
-      : m_storage()
-    {
-      _check_template_params();
-      resizeLike(other);
-      _set_noalias(other);
-    }
-
-    /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase<OtherDerived> &other)
-      : m_storage()
-    {
-      _check_template_params();
-      resizeLike(other);
-      *this = other.derived();
-    }
-    /** \brief Copy constructor with in-place evaluation */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE PlainObjectBase(const ReturnByValue<OtherDerived>& other)
-    {
-      _check_template_params();
-      // FIXME this does not automatically transpose vectors if necessary
-      resize(other.rows(), other.cols());
-      other.evalTo(this->derived());
-    }
-
-  public:
-
-    /** \brief Copies the generic expression \a other into *this.
-      * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
-    EIGEN_STRONG_INLINE Derived& operator=(const EigenBase<OtherDerived> &other)
-    {
-      _resize_to_match(other);
-      Base::operator=(other.derived());
-      return this->derived();
-    }
-
-    /** \name Map
-      * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects,
-      * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
-      * \a data pointers.
-      *
-      * \see class Map
-      */
-    //@{
-    static inline ConstMapType Map(const Scalar* data)
-    { return ConstMapType(data); }
-    static inline MapType Map(Scalar* data)
-    { return MapType(data); }
-    static inline ConstMapType Map(const Scalar* data, Index size)
-    { return ConstMapType(data, size); }
-    static inline MapType Map(Scalar* data, Index size)
-    { return MapType(data, size); }
-    static inline ConstMapType Map(const Scalar* data, Index rows, Index cols)
-    { return ConstMapType(data, rows, cols); }
-    static inline MapType Map(Scalar* data, Index rows, Index cols)
-    { return MapType(data, rows, cols); }
-
-    static inline ConstAlignedMapType MapAligned(const Scalar* data)
-    { return ConstAlignedMapType(data); }
-    static inline AlignedMapType MapAligned(Scalar* data)
-    { return AlignedMapType(data); }
-    static inline ConstAlignedMapType MapAligned(const Scalar* data, Index size)
-    { return ConstAlignedMapType(data, size); }
-    static inline AlignedMapType MapAligned(Scalar* data, Index size)
-    { return AlignedMapType(data, size); }
-    static inline ConstAlignedMapType MapAligned(const Scalar* data, Index rows, Index cols)
-    { return ConstAlignedMapType(data, rows, cols); }
-    static inline AlignedMapType MapAligned(Scalar* data, Index rows, Index cols)
-    { return AlignedMapType(data, rows, cols); }
-
-    template<int Outer, int Inner>
-    static inline typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, const Stride<Outer, Inner>& stride)
-    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, const Stride<Outer, Inner>& stride)
-    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, Index size, const Stride<Outer, Inner>& stride)
-    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, size, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, Index size, const Stride<Outer, Inner>& stride)
-    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
-    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
-    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
-
-    template<int Outer, int Inner>
-    static inline typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, const Stride<Outer, Inner>& stride)
-    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, const Stride<Outer, Inner>& stride)
-    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, Index size, const Stride<Outer, Inner>& stride)
-    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, Index size, const Stride<Outer, Inner>& stride)
-    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
-    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
-    template<int Outer, int Inner>
-    static inline typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
-    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
-    //@}
-
-    using Base::setConstant;
-    EIGEN_DEVICE_FUNC Derived& setConstant(Index size, const Scalar& val);
-    EIGEN_DEVICE_FUNC Derived& setConstant(Index rows, Index cols, const Scalar& val);
-
-    using Base::setZero;
-    EIGEN_DEVICE_FUNC Derived& setZero(Index size);
-    EIGEN_DEVICE_FUNC Derived& setZero(Index rows, Index cols);
-
-    using Base::setOnes;
-    EIGEN_DEVICE_FUNC Derived& setOnes(Index size);
-    EIGEN_DEVICE_FUNC Derived& setOnes(Index rows, Index cols);
-
-    using Base::setRandom;
-    Derived& setRandom(Index size);
-    Derived& setRandom(Index rows, Index cols);
-
-    #ifdef EIGEN_PLAINOBJECTBASE_PLUGIN
-    #include EIGEN_PLAINOBJECTBASE_PLUGIN
-    #endif
-
-  protected:
-    /** \internal Resizes *this in preparation for assigning \a other to it.
-      * Takes care of doing all the checking that's needed.
-      *
-      * Note that copying a row-vector into a vector (and conversely) is allowed.
-      * The resizing, if any, is then done in the appropriate way so that row-vectors
-      * remain row-vectors and vectors remain vectors.
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
-    EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase<OtherDerived>& other)
-    {
-      #ifdef EIGEN_NO_AUTOMATIC_RESIZING
-      eigen_assert((this->size()==0 || (IsVectorAtCompileTime ? (this->size() == other.size())
-                 : (rows() == other.rows() && cols() == other.cols())))
-        && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined");
-      EIGEN_ONLY_USED_FOR_DEBUG(other);
-      #else
-      resizeLike(other);
-      #endif
-    }
-
-    /**
-      * \brief Copies the value of the expression \a other into \c *this with automatic resizing.
-      *
-      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
-      * it will be initialized.
-      *
-      * Note that copying a row-vector into a vector (and conversely) is allowed.
-      * The resizing, if any, is then done in the appropriate way so that row-vectors
-      * remain row-vectors and vectors remain vectors.
-      *
-      * \sa operator=(const MatrixBase<OtherDerived>&), _set_noalias()
-      *
-      * \internal
-      */
-    // aliasing is dealt once in internall::call_assignment
-    // so at this stage we have to assume aliasing... and resising has to be done later.
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
-    EIGEN_STRONG_INLINE Derived& _set(const DenseBase<OtherDerived>& other)
-    {
-      internal::call_assignment(this->derived(), other.derived());
-      return this->derived();
-    }
-
-    /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which
-      * is the case when creating a new matrix) so one can enforce lazy evaluation.
-      *
-      * \sa operator=(const MatrixBase<OtherDerived>&), _set()
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
-    EIGEN_STRONG_INLINE Derived& _set_noalias(const DenseBase<OtherDerived>& other)
-    {
-      // I don't think we need this resize call since the lazyAssign will anyways resize
-      // and lazyAssign will be called by the assign selector.
-      //_resize_to_match(other);
-      // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because
-      // it wouldn't allow to copy a row-vector into a column-vector.
-      internal::call_assignment_no_alias(this->derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
-      return this->derived();
-    }
-
-    template<typename T0, typename T1>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
-    {
-      EIGEN_STATIC_ASSERT(bool(NumTraits<T0>::IsInteger) &&
-                          bool(NumTraits<T1>::IsInteger),
-                          FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
-      resize(rows,cols);
-    }
-    
-    template<typename T0, typename T1>
-    EIGEN_DEVICE_FUNC 
-    EIGEN_STRONG_INLINE void _init2(const T0& val0, const T1& val1, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
-      m_storage.data()[0] = Scalar(val0);
-      m_storage.data()[1] = Scalar(val1);
-    }
-    
-    template<typename T0, typename T1>
-    EIGEN_DEVICE_FUNC 
-    EIGEN_STRONG_INLINE void _init2(const Index& val0, const Index& val1,
-                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
-                                                                  && (internal::is_same<T0,Index>::value)
-                                                                  && (internal::is_same<T1,Index>::value)
-                                                                  && Base::SizeAtCompileTime==2,T1>::type* = 0)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
-      m_storage.data()[0] = Scalar(val0);
-      m_storage.data()[1] = Scalar(val1);
-    }
-
-    // The argument is convertible to the Index type and we either have a non 1x1 Matrix, or a dynamic-sized Array,
-    // then the argument is meant to be the size of the object.
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(Index size, typename internal::enable_if<    (Base::SizeAtCompileTime!=1 || !internal::is_convertible<T, Scalar>::value)
-                                                                              && ((!internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value || Base::SizeAtCompileTime==Dynamic)),T>::type* = 0)
-    {
-      // NOTE MSVC 2008 complains if we directly put bool(NumTraits<T>::IsInteger) as the EIGEN_STATIC_ASSERT argument.
-      const bool is_integer = NumTraits<T>::IsInteger;
-      EIGEN_UNUSED_VARIABLE(is_integer);
-      EIGEN_STATIC_ASSERT(is_integer,
-                          FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
-      resize(size);
-    }
-    
-    // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type can be implicitely converted)
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if<Base::SizeAtCompileTime==1 && internal::is_convertible<T, Scalar>::value,T>::type* = 0)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
-      m_storage.data()[0] = val0;
-    }
-    
-    // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type match the index type)
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const Index& val0,
-                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
-                                                                  && (internal::is_same<Index,T>::value)
-                                                                  && Base::SizeAtCompileTime==1
-                                                                  && internal::is_convertible<T, Scalar>::value,T*>::type* = 0)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
-      m_storage.data()[0] = Scalar(val0);
-    }
-
-    // Initialize a fixed size matrix from a pointer to raw data
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const Scalar* data){
-      this->_set_noalias(ConstMapType(data));
-    }
-
-    // Initialize an arbitrary matrix from a dense expression
-    template<typename T, typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const DenseBase<OtherDerived>& other){
-      this->_set_noalias(other);
-    }
-
-    // Initialize an arbitrary matrix from an object convertible to the Derived type.
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const Derived& other){
-      this->_set_noalias(other);
-    }
-
-    // Initialize an arbitrary matrix from a generic Eigen expression
-    template<typename T, typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const EigenBase<OtherDerived>& other){
-      this->derived() = other;
-    }
-
-    template<typename T, typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const ReturnByValue<OtherDerived>& other)
-    {
-      resize(other.rows(), other.cols());
-      other.evalTo(this->derived());
-    }
-
-    template<typename T, typename OtherDerived, int ColsAtCompileTime>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-    {
-      this->derived() = r;
-    }
-    
-    // For fixed-size Array<Scalar,...>
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const Scalar& val0,
-                                    typename internal::enable_if<    Base::SizeAtCompileTime!=Dynamic
-                                                                  && Base::SizeAtCompileTime!=1
-                                                                  && internal::is_convertible<T, Scalar>::value
-                                                                  && internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value,T>::type* = 0)
-    {
-      Base::setConstant(val0);
-    }
-    
-    // For fixed-size Array<Index,...>
-    template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _init1(const Index& val0,
-                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
-                                                                  && (internal::is_same<Index,T>::value)
-                                                                  && Base::SizeAtCompileTime!=Dynamic
-                                                                  && Base::SizeAtCompileTime!=1
-                                                                  && internal::is_convertible<T, Scalar>::value
-                                                                  && internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value,T*>::type* = 0)
-    {
-      Base::setConstant(val0);
-    }
-    
-    template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
-    friend struct internal::matrix_swap_impl;
-
-  public:
-    
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal
-      * \brief Override DenseBase::swap() since for dynamic-sized matrices
-      * of same type it is enough to swap the data pointers.
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void swap(DenseBase<OtherDerived> & other)
-    {
-      enum { SwapPointers = internal::is_same<Derived, OtherDerived>::value && Base::SizeAtCompileTime==Dynamic };
-      internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.derived());
-    }
-    
-    /** \internal
-      * \brief const version forwarded to DenseBase::swap
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void swap(DenseBase<OtherDerived> const & other)
-    { Base::swap(other.derived()); }
-    
-    EIGEN_DEVICE_FUNC 
-    static EIGEN_STRONG_INLINE void _check_template_params()
-    {
-      EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (Options&RowMajor)==RowMajor)
-                        && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, (Options&RowMajor)==0)
-                        && ((RowsAtCompileTime == Dynamic) || (RowsAtCompileTime >= 0))
-                        && ((ColsAtCompileTime == Dynamic) || (ColsAtCompileTime >= 0))
-                        && ((MaxRowsAtCompileTime == Dynamic) || (MaxRowsAtCompileTime >= 0))
-                        && ((MaxColsAtCompileTime == Dynamic) || (MaxColsAtCompileTime >= 0))
-                        && (MaxRowsAtCompileTime == RowsAtCompileTime || RowsAtCompileTime==Dynamic)
-                        && (MaxColsAtCompileTime == ColsAtCompileTime || ColsAtCompileTime==Dynamic)
-                        && (Options & (DontAlign|RowMajor)) == Options),
-        INVALID_MATRIX_TEMPLATE_PARAMETERS)
-    }
-
-    enum { IsPlainObjectBase = 1 };
-#endif
-};
-
-namespace internal {
-
-template <typename Derived, typename OtherDerived, bool IsVector>
-struct conservative_resize_like_impl
-{
-  static void run(DenseBase<Derived>& _this, Index rows, Index cols)
-  {
-    if (_this.rows() == rows && _this.cols() == cols) return;
-    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived)
-
-    if ( ( Derived::IsRowMajor && _this.cols() == cols) || // row-major and we change only the number of rows
-         (!Derived::IsRowMajor && _this.rows() == rows) )  // column-major and we change only the number of columns
-    {
-      internal::check_rows_cols_for_overflow<Derived::MaxSizeAtCompileTime>::run(rows, cols);
-      _this.derived().m_storage.conservativeResize(rows*cols,rows,cols);
-    }
-    else
-    {
-      // The storage order does not allow us to use reallocation.
-      typename Derived::PlainObject tmp(rows,cols);
-      const Index common_rows = numext::mini(rows, _this.rows());
-      const Index common_cols = numext::mini(cols, _this.cols());
-      tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
-      _this.derived().swap(tmp);
-    }
-  }
-
-  static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
-  {
-    if (_this.rows() == other.rows() && _this.cols() == other.cols()) return;
-
-    // Note: Here is space for improvement. Basically, for conservativeResize(Index,Index),
-    // neither RowsAtCompileTime or ColsAtCompileTime must be Dynamic. If only one of the
-    // dimensions is dynamic, one could use either conservativeResize(Index rows, NoChange_t) or
-    // conservativeResize(NoChange_t, Index cols). For these methods new static asserts like
-    // EIGEN_STATIC_ASSERT_DYNAMIC_ROWS and EIGEN_STATIC_ASSERT_DYNAMIC_COLS would be good.
-    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived)
-    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(OtherDerived)
-
-    if ( ( Derived::IsRowMajor && _this.cols() == other.cols()) || // row-major and we change only the number of rows
-         (!Derived::IsRowMajor && _this.rows() == other.rows()) )  // column-major and we change only the number of columns
-    {
-      const Index new_rows = other.rows() - _this.rows();
-      const Index new_cols = other.cols() - _this.cols();
-      _this.derived().m_storage.conservativeResize(other.size(),other.rows(),other.cols());
-      if (new_rows>0)
-        _this.bottomRightCorner(new_rows, other.cols()) = other.bottomRows(new_rows);
-      else if (new_cols>0)
-        _this.bottomRightCorner(other.rows(), new_cols) = other.rightCols(new_cols);
-    }
-    else
-    {
-      // The storage order does not allow us to use reallocation.
-      typename Derived::PlainObject tmp(other);
-      const Index common_rows = numext::mini(tmp.rows(), _this.rows());
-      const Index common_cols = numext::mini(tmp.cols(), _this.cols());
-      tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
-      _this.derived().swap(tmp);
-    }
-  }
-};
-
-// Here, the specialization for vectors inherits from the general matrix case
-// to allow calling .conservativeResize(rows,cols) on vectors.
-template <typename Derived, typename OtherDerived>
-struct conservative_resize_like_impl<Derived,OtherDerived,true>
-  : conservative_resize_like_impl<Derived,OtherDerived,false>
-{
-  using conservative_resize_like_impl<Derived,OtherDerived,false>::run;
-  
-  static void run(DenseBase<Derived>& _this, Index size)
-  {
-    const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : size;
-    const Index new_cols = Derived::RowsAtCompileTime==1 ? size : 1;
-    _this.derived().m_storage.conservativeResize(size,new_rows,new_cols);
-  }
-
-  static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
-  {
-    if (_this.rows() == other.rows() && _this.cols() == other.cols()) return;
-
-    const Index num_new_elements = other.size() - _this.size();
-
-    const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : other.rows();
-    const Index new_cols = Derived::RowsAtCompileTime==1 ? other.cols() : 1;
-    _this.derived().m_storage.conservativeResize(other.size(),new_rows,new_cols);
-
-    if (num_new_elements > 0)
-      _this.tail(num_new_elements) = other.tail(num_new_elements);
-  }
-};
-
-template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
-struct matrix_swap_impl
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(MatrixTypeA& a, MatrixTypeB& b)
-  {
-    a.base().swap(b);
-  }
-};
-
-template<typename MatrixTypeA, typename MatrixTypeB>
-struct matrix_swap_impl<MatrixTypeA, MatrixTypeB, true>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(MatrixTypeA& a, MatrixTypeB& b)
-  {
-    static_cast<typename MatrixTypeA::Base&>(a).m_storage.swap(static_cast<typename MatrixTypeB::Base&>(b).m_storage);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_DENSESTORAGEBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Product.h b/phonelibs/eigen/Eigen/src/Core/Product.h
deleted file mode 100644
index ae0c94b38e7981..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Product.h
+++ /dev/null
@@ -1,186 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PRODUCT_H
-#define EIGEN_PRODUCT_H
-
-namespace Eigen {
-
-template<typename Lhs, typename Rhs, int Option, typename StorageKind> class ProductImpl;
-
-namespace internal {
-
-template<typename Lhs, typename Rhs, int Option>
-struct traits<Product<Lhs, Rhs, Option> >
-{
-  typedef typename remove_all<Lhs>::type LhsCleaned;
-  typedef typename remove_all<Rhs>::type RhsCleaned;
-  typedef traits<LhsCleaned> LhsTraits;
-  typedef traits<RhsCleaned> RhsTraits;
-  
-  typedef MatrixXpr XprKind;
-  
-  typedef typename ScalarBinaryOpTraits<typename traits<LhsCleaned>::Scalar, typename traits<RhsCleaned>::Scalar>::ReturnType Scalar;
-  typedef typename product_promote_storage_type<typename LhsTraits::StorageKind,
-                                                typename RhsTraits::StorageKind,
-                                                internal::product_type<Lhs,Rhs>::ret>::ret StorageKind;
-  typedef typename promote_index_type<typename LhsTraits::StorageIndex,
-                                      typename RhsTraits::StorageIndex>::type StorageIndex;
-  
-  enum {
-    RowsAtCompileTime    = LhsTraits::RowsAtCompileTime,
-    ColsAtCompileTime    = RhsTraits::ColsAtCompileTime,
-    MaxRowsAtCompileTime = LhsTraits::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = RhsTraits::MaxColsAtCompileTime,
-    
-    // FIXME: only needed by GeneralMatrixMatrixTriangular
-    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsTraits::ColsAtCompileTime, RhsTraits::RowsAtCompileTime),
-    
-    // The storage order is somewhat arbitrary here. The correct one will be determined through the evaluator.
-    Flags = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? RowMajorBit
-          : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
-          : (   ((LhsTraits::Flags&NoPreferredStorageOrderBit) && (RhsTraits::Flags&RowMajorBit))
-             || ((RhsTraits::Flags&NoPreferredStorageOrderBit) && (LhsTraits::Flags&RowMajorBit)) ) ? RowMajorBit
-          : NoPreferredStorageOrderBit
-  };
-};
-
-} // end namespace internal
-
-/** \class Product
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the product of two arbitrary matrices or vectors
-  *
-  * \tparam _Lhs the type of the left-hand side expression
-  * \tparam _Rhs the type of the right-hand side expression
-  *
-  * This class represents an expression of the product of two arbitrary matrices.
-  *
-  * The other template parameters are:
-  * \tparam Option     can be DefaultProduct, AliasFreeProduct, or LazyProduct
-  *
-  */
-template<typename _Lhs, typename _Rhs, int Option>
-class Product : public ProductImpl<_Lhs,_Rhs,Option,
-                                   typename internal::product_promote_storage_type<typename internal::traits<_Lhs>::StorageKind,
-                                                                                   typename internal::traits<_Rhs>::StorageKind,
-                                                                                   internal::product_type<_Lhs,_Rhs>::ret>::ret>
-{
-  public:
-    
-    typedef _Lhs Lhs;
-    typedef _Rhs Rhs;
-    
-    typedef typename ProductImpl<
-        Lhs, Rhs, Option,
-        typename internal::product_promote_storage_type<typename internal::traits<Lhs>::StorageKind,
-                                                        typename internal::traits<Rhs>::StorageKind,
-                                                        internal::product_type<Lhs,Rhs>::ret>::ret>::Base Base;
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Product)
-
-    typedef typename internal::ref_selector<Lhs>::type LhsNested;
-    typedef typename internal::ref_selector<Rhs>::type RhsNested;
-    typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
-    typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
-
-    EIGEN_DEVICE_FUNC Product(const Lhs& lhs, const Rhs& rhs) : m_lhs(lhs), m_rhs(rhs)
-    {
-      eigen_assert(lhs.cols() == rhs.rows()
-        && "invalid matrix product"
-        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
-    }
-
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
-
-    EIGEN_DEVICE_FUNC const LhsNestedCleaned& lhs() const { return m_lhs; }
-    EIGEN_DEVICE_FUNC const RhsNestedCleaned& rhs() const { return m_rhs; }
-
-  protected:
-
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-};
-
-namespace internal {
-  
-template<typename Lhs, typename Rhs, int Option, int ProductTag = internal::product_type<Lhs,Rhs>::ret>
-class dense_product_base
- : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
-{};
-
-/** Convertion to scalar for inner-products */
-template<typename Lhs, typename Rhs, int Option>
-class dense_product_base<Lhs, Rhs, Option, InnerProduct>
- : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
-{
-  typedef Product<Lhs,Rhs,Option> ProductXpr;
-  typedef typename internal::dense_xpr_base<ProductXpr>::type Base;
-public:
-  using Base::derived;
-  typedef typename Base::Scalar Scalar;
-  
-  operator const Scalar() const
-  {
-    return internal::evaluator<ProductXpr>(derived()).coeff(0,0);
-  }
-};
-
-} // namespace internal
-
-// Generic API dispatcher
-template<typename Lhs, typename Rhs, int Option, typename StorageKind>
-class ProductImpl : public internal::generic_xpr_base<Product<Lhs,Rhs,Option>, MatrixXpr, StorageKind>::type
-{
-  public:
-    typedef typename internal::generic_xpr_base<Product<Lhs,Rhs,Option>, MatrixXpr, StorageKind>::type Base;
-};
-
-template<typename Lhs, typename Rhs, int Option>
-class ProductImpl<Lhs,Rhs,Option,Dense>
-  : public internal::dense_product_base<Lhs,Rhs,Option>
-{
-    typedef Product<Lhs, Rhs, Option> Derived;
-    
-  public:
-    
-    typedef typename internal::dense_product_base<Lhs, Rhs, Option> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
-  protected:
-    enum {
-      IsOneByOne = (RowsAtCompileTime == 1 || RowsAtCompileTime == Dynamic) && 
-                   (ColsAtCompileTime == 1 || ColsAtCompileTime == Dynamic),
-      EnableCoeff = IsOneByOne || Option==LazyProduct
-    };
-    
-  public:
-  
-    EIGEN_DEVICE_FUNC Scalar coeff(Index row, Index col) const
-    {
-      EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
-      eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
-      
-      return internal::evaluator<Derived>(derived()).coeff(row,col);
-    }
-
-    EIGEN_DEVICE_FUNC Scalar coeff(Index i) const
-    {
-      EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
-      eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
-      
-      return internal::evaluator<Derived>(derived()).coeff(i);
-    }
-    
-  
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_PRODUCT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/ProductEvaluators.h b/phonelibs/eigen/Eigen/src/Core/ProductEvaluators.h
deleted file mode 100644
index 583b7f59e32a5d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/ProductEvaluators.h
+++ /dev/null
@@ -1,1099 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#ifndef EIGEN_PRODUCTEVALUATORS_H
-#define EIGEN_PRODUCTEVALUATORS_H
-
-namespace Eigen {
-  
-namespace internal {
-
-/** \internal
-  * Evaluator of a product expression.
-  * Since products require special treatments to handle all possible cases,
-  * we simply deffer the evaluation logic to a product_evaluator class
-  * which offers more partial specialization possibilities.
-  * 
-  * \sa class product_evaluator
-  */
-template<typename Lhs, typename Rhs, int Options>
-struct evaluator<Product<Lhs, Rhs, Options> > 
- : public product_evaluator<Product<Lhs, Rhs, Options> >
-{
-  typedef Product<Lhs, Rhs, Options> XprType;
-  typedef product_evaluator<XprType> Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
-};
- 
-// Catch "scalar * ( A * B )" and transform it to "(A*scalar) * B"
-// TODO we should apply that rule only if that's really helpful
-template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
-struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
-                                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
-                                               const Product<Lhs, Rhs, DefaultProduct> > >
-{
-  static const bool value = true;
-};
-template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
-struct evaluator<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
-                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
-                               const Product<Lhs, Rhs, DefaultProduct> > >
- : public evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> >
-{
-  typedef CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
-                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
-                               const Product<Lhs, Rhs, DefaultProduct> > XprType;
-  typedef evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> > Base;
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
-    : Base(xpr.lhs().functor().m_other * xpr.rhs().lhs() * xpr.rhs().rhs())
-  {}
-};
-
-
-template<typename Lhs, typename Rhs, int DiagIndex>
-struct evaluator<Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> > 
- : public evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> >
-{
-  typedef Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> XprType;
-  typedef evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> > Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
-    : Base(Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex>(
-        Product<Lhs, Rhs, LazyProduct>(xpr.nestedExpression().lhs(), xpr.nestedExpression().rhs()),
-        xpr.index() ))
-  {}
-};
-
-
-// Helper class to perform a matrix product with the destination at hand.
-// Depending on the sizes of the factors, there are different evaluation strategies
-// as controlled by internal::product_type.
-template< typename Lhs, typename Rhs,
-          typename LhsShape = typename evaluator_traits<Lhs>::Shape,
-          typename RhsShape = typename evaluator_traits<Rhs>::Shape,
-          int ProductType = internal::product_type<Lhs,Rhs>::value>
-struct generic_product_impl;
-
-template<typename Lhs, typename Rhs>
-struct evaluator_assume_aliasing<Product<Lhs, Rhs, DefaultProduct> > {
-  static const bool value = true;
-};
-
-// This is the default evaluator implementation for products:
-// It creates a temporary and call generic_product_impl
-template<typename Lhs, typename Rhs, int Options, int ProductTag, typename LhsShape, typename RhsShape>
-struct product_evaluator<Product<Lhs, Rhs, Options>, ProductTag, LhsShape, RhsShape>
-  : public evaluator<typename Product<Lhs, Rhs, Options>::PlainObject>
-{
-  typedef Product<Lhs, Rhs, Options> XprType;
-  typedef typename XprType::PlainObject PlainObject;
-  typedef evaluator<PlainObject> Base;
-  enum {
-    Flags = Base::Flags | EvalBeforeNestingBit
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  explicit product_evaluator(const XprType& xpr)
-    : m_result(xpr.rows(), xpr.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    
-// FIXME shall we handle nested_eval here?,
-// if so, then we must take care at removing the call to nested_eval in the specializations (e.g., in permutation_matrix_product, transposition_matrix_product, etc.)
-//     typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
-//     typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-//     typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
-//     typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
-//     
-//     const LhsNested lhs(xpr.lhs());
-//     const RhsNested rhs(xpr.rhs());
-//   
-//     generic_product_impl<LhsNestedCleaned, RhsNestedCleaned>::evalTo(m_result, lhs, rhs);
-
-    generic_product_impl<Lhs, Rhs, LhsShape, RhsShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
-  }
-  
-protected:  
-  PlainObject m_result;
-};
-
-// The following three shortcuts are enabled only if the scalar types match excatly.
-// TODO: we could enable them for different scalar types when the product is not vectorized.
-
-// Dense = Product
-template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
-struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::assign_op<Scalar,Scalar>, Dense2Dense,
-  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
-{
-  typedef Product<Lhs,Rhs,Options> SrcXprType;
-  static EIGEN_STRONG_INLINE
-  void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-    // FIXME shall we handle nested_eval here?
-    generic_product_impl<Lhs, Rhs>::evalTo(dst, src.lhs(), src.rhs());
-  }
-};
-
-// Dense += Product
-template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
-struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::add_assign_op<Scalar,Scalar>, Dense2Dense,
-  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
-{
-  typedef Product<Lhs,Rhs,Options> SrcXprType;
-  static EIGEN_STRONG_INLINE
-  void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,Scalar> &)
-  {
-    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
-    // FIXME shall we handle nested_eval here?
-    generic_product_impl<Lhs, Rhs>::addTo(dst, src.lhs(), src.rhs());
-  }
-};
-
-// Dense -= Product
-template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
-struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::sub_assign_op<Scalar,Scalar>, Dense2Dense,
-  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
-{
-  typedef Product<Lhs,Rhs,Options> SrcXprType;
-  static EIGEN_STRONG_INLINE
-  void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,Scalar> &)
-  {
-    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
-    // FIXME shall we handle nested_eval here?
-    generic_product_impl<Lhs, Rhs>::subTo(dst, src.lhs(), src.rhs());
-  }
-};
-
-
-// Dense ?= scalar * Product
-// TODO we should apply that rule if that's really helpful
-// for instance, this is not good for inner products
-template< typename DstXprType, typename Lhs, typename Rhs, typename AssignFunc, typename Scalar, typename ScalarBis, typename Plain>
-struct Assignment<DstXprType, CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>, const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
-                                           const Product<Lhs,Rhs,DefaultProduct> >, AssignFunc, Dense2Dense>
-{
-  typedef CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>,
-                        const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
-                        const Product<Lhs,Rhs,DefaultProduct> > SrcXprType;
-  static EIGEN_STRONG_INLINE
-  void run(DstXprType &dst, const SrcXprType &src, const AssignFunc& func)
-  {
-    call_assignment_no_alias(dst, (src.lhs().functor().m_other * src.rhs().lhs())*src.rhs().rhs(), func);
-  }
-};
-
-//----------------------------------------
-// Catch "Dense ?= xpr + Product<>" expression to save one temporary
-// FIXME we could probably enable these rules for any product, i.e., not only Dense and DefaultProduct
-
-template<typename OtherXpr, typename Lhs, typename Rhs>
-struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_sum_op<typename OtherXpr::Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, const OtherXpr,
-                                               const Product<Lhs,Rhs,DefaultProduct> >, DenseShape > {
-  static const bool value = true;
-};
-
-template<typename DstXprType, typename OtherXpr, typename ProductType, typename Func1, typename Func2>
-struct assignment_from_xpr_op_product
-{
-  template<typename SrcXprType, typename InitialFunc>
-  static EIGEN_STRONG_INLINE
-  void run(DstXprType &dst, const SrcXprType &src, const InitialFunc& /*func*/)
-  {
-    call_assignment_no_alias(dst, src.lhs(), Func1());
-    call_assignment_no_alias(dst, src.rhs(), Func2());
-  }
-};
-
-#define EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(ASSIGN_OP,BINOP,ASSIGN_OP2) \
-  template< typename DstXprType, typename OtherXpr, typename Lhs, typename Rhs, typename DstScalar, typename SrcScalar, typename OtherScalar,typename ProdScalar> \
-  struct Assignment<DstXprType, CwiseBinaryOp<internal::BINOP<OtherScalar,ProdScalar>, const OtherXpr, \
-                                            const Product<Lhs,Rhs,DefaultProduct> >, internal::ASSIGN_OP<DstScalar,SrcScalar>, Dense2Dense> \
-    : assignment_from_xpr_op_product<DstXprType, OtherXpr, Product<Lhs,Rhs,DefaultProduct>, internal::ASSIGN_OP<DstScalar,OtherScalar>, internal::ASSIGN_OP2<DstScalar,ProdScalar> > \
-  {}
-
-EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op,    scalar_sum_op,add_assign_op);
-EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_sum_op,add_assign_op);
-EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_sum_op,sub_assign_op);
-
-EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op,    scalar_difference_op,sub_assign_op);
-EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_difference_op,sub_assign_op);
-EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_difference_op,add_assign_op);
-
-//----------------------------------------
-
-template<typename Lhs, typename Rhs>
-struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,InnerProduct>
-{
-  template<typename Dst>
-  static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    dst.coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
-  }
-  
-  template<typename Dst>
-  static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    dst.coeffRef(0,0) += (lhs.transpose().cwiseProduct(rhs)).sum();
-  }
-  
-  template<typename Dst>
-  static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  { dst.coeffRef(0,0) -= (lhs.transpose().cwiseProduct(rhs)).sum(); }
-};
-
-
-/***********************************************************************
-*  Implementation of outer dense * dense vector product
-***********************************************************************/
-
-// Column major result
-template<typename Dst, typename Lhs, typename Rhs, typename Func>
-void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const false_type&)
-{
-  evaluator<Rhs> rhsEval(rhs);
-  typename nested_eval<Lhs,Rhs::SizeAtCompileTime>::type actual_lhs(lhs);
-  // FIXME if cols is large enough, then it might be useful to make sure that lhs is sequentially stored
-  // FIXME not very good if rhs is real and lhs complex while alpha is real too
-  const Index cols = dst.cols();
-  for (Index j=0; j<cols; ++j)
-    func(dst.col(j), rhsEval.coeff(Index(0),j) * actual_lhs);
-}
-
-// Row major result
-template<typename Dst, typename Lhs, typename Rhs, typename Func>
-void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const true_type&)
-{
-  evaluator<Lhs> lhsEval(lhs);
-  typename nested_eval<Rhs,Lhs::SizeAtCompileTime>::type actual_rhs(rhs);
-  // FIXME if rows is large enough, then it might be useful to make sure that rhs is sequentially stored
-  // FIXME not very good if lhs is real and rhs complex while alpha is real too
-  const Index rows = dst.rows();
-  for (Index i=0; i<rows; ++i)
-    func(dst.row(i), lhsEval.coeff(i,Index(0)) * actual_rhs);
-}
-
-template<typename Lhs, typename Rhs>
-struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,OuterProduct>
-{
-  template<typename T> struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {};
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  // TODO it would be nice to be able to exploit our *_assign_op functors for that purpose
-  struct set  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived()  = src; } };
-  struct add  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } };
-  struct sub  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } };
-  struct adds {
-    Scalar m_scale;
-    explicit adds(const Scalar& s) : m_scale(s) {}
-    template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const {
-      dst.const_cast_derived() += m_scale * src;
-    }
-  };
-  
-  template<typename Dst>
-  static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    internal::outer_product_selector_run(dst, lhs, rhs, set(), is_row_major<Dst>());
-  }
-  
-  template<typename Dst>
-  static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    internal::outer_product_selector_run(dst, lhs, rhs, add(), is_row_major<Dst>());
-  }
-  
-  template<typename Dst>
-  static inline void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    internal::outer_product_selector_run(dst, lhs, rhs, sub(), is_row_major<Dst>());
-  }
-  
-  template<typename Dst>
-  static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  {
-    internal::outer_product_selector_run(dst, lhs, rhs, adds(alpha), is_row_major<Dst>());
-  }
-  
-};
-
-
-// This base class provides default implementations for evalTo, addTo, subTo, in terms of scaleAndAddTo
-template<typename Lhs, typename Rhs, typename Derived>
-struct generic_product_impl_base
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  template<typename Dst>
-  static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); }
-
-  template<typename Dst>
-  static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  { scaleAndAddTo(dst,lhs, rhs, Scalar(1)); }
-
-  template<typename Dst>
-  static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
-  
-  template<typename Dst>
-  static EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
-
-};
-
-template<typename Lhs, typename Rhs>
-struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct>
-  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct> >
-{
-  typedef typename nested_eval<Lhs,1>::type LhsNested;
-  typedef typename nested_eval<Rhs,1>::type RhsNested;
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight };
-  typedef typename internal::remove_all<typename internal::conditional<int(Side)==OnTheRight,LhsNested,RhsNested>::type>::type MatrixType;
-
-  template<typename Dest>
-  static EIGEN_STRONG_INLINE void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  {
-    LhsNested actual_lhs(lhs);
-    RhsNested actual_rhs(rhs);
-    internal::gemv_dense_selector<Side,
-                            (int(MatrixType::Flags)&RowMajorBit) ? RowMajor : ColMajor,
-                            bool(internal::blas_traits<MatrixType>::HasUsableDirectAccess)
-                           >::run(actual_lhs, actual_rhs, dst, alpha);
-  }
-};
-
-template<typename Lhs, typename Rhs>
-struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> 
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  template<typename Dst>
-  static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    // Same as: dst.noalias() = lhs.lazyProduct(rhs);
-    // but easier on the compiler side
-    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::assign_op<typename Dst::Scalar,Scalar>());
-  }
-  
-  template<typename Dst>
-  static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    // dst.noalias() += lhs.lazyProduct(rhs);
-    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::add_assign_op<typename Dst::Scalar,Scalar>());
-  }
-  
-  template<typename Dst>
-  static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    // dst.noalias() -= lhs.lazyProduct(rhs);
-    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::sub_assign_op<typename Dst::Scalar,Scalar>());
-  }
-  
-//   template<typename Dst>
-//   static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-//   { dst.noalias() += alpha * lhs.lazyProduct(rhs); }
-};
-
-// This specialization enforces the use of a coefficient-based evaluation strategy
-template<typename Lhs, typename Rhs>
-struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,LazyCoeffBasedProductMode>
-  : generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> {};
-
-// Case 2: Evaluate coeff by coeff
-//
-// This is mostly taken from CoeffBasedProduct.h
-// The main difference is that we add an extra argument to the etor_product_*_impl::run() function
-// for the inner dimension of the product, because evaluator object do not know their size.
-
-template<int Traversal, int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
-struct etor_product_coeff_impl;
-
-template<int StorageOrder, int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl;
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, DenseShape>
-    : evaluator_base<Product<Lhs, Rhs, LazyProduct> >
-{
-  typedef Product<Lhs, Rhs, LazyProduct> XprType;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  explicit product_evaluator(const XprType& xpr)
-    : m_lhs(xpr.lhs()),
-      m_rhs(xpr.rhs()),
-      m_lhsImpl(m_lhs),     // FIXME the creation of the evaluator objects should result in a no-op, but check that!
-      m_rhsImpl(m_rhs),     //       Moreover, they are only useful for the packet path, so we could completely disable them when not needed,
-                            //       or perhaps declare them on the fly on the packet method... We have experiment to check what's best.
-      m_innerDim(xpr.lhs().cols())
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::AddCost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-#if 0
-    std::cerr << "LhsOuterStrideBytes=  " << LhsOuterStrideBytes << "\n";
-    std::cerr << "RhsOuterStrideBytes=  " << RhsOuterStrideBytes << "\n";
-    std::cerr << "LhsAlignment=         " << LhsAlignment << "\n";
-    std::cerr << "RhsAlignment=         " << RhsAlignment << "\n";
-    std::cerr << "CanVectorizeLhs=      " << CanVectorizeLhs << "\n";
-    std::cerr << "CanVectorizeRhs=      " << CanVectorizeRhs << "\n";
-    std::cerr << "CanVectorizeInner=    " << CanVectorizeInner << "\n";
-    std::cerr << "EvalToRowMajor=       " << EvalToRowMajor << "\n";
-    std::cerr << "Alignment=            " << Alignment << "\n";
-    std::cerr << "Flags=                " << Flags << "\n";
-#endif
-  }
-
-  // Everything below here is taken from CoeffBasedProduct.h
-
-  typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
-  typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-  
-  typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
-  typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
-
-  typedef evaluator<LhsNestedCleaned> LhsEtorType;
-  typedef evaluator<RhsNestedCleaned> RhsEtorType;
-
-  enum {
-    RowsAtCompileTime = LhsNestedCleaned::RowsAtCompileTime,
-    ColsAtCompileTime = RhsNestedCleaned::ColsAtCompileTime,
-    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsNestedCleaned::ColsAtCompileTime, RhsNestedCleaned::RowsAtCompileTime),
-    MaxRowsAtCompileTime = LhsNestedCleaned::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = RhsNestedCleaned::MaxColsAtCompileTime
-  };
-
-  typedef typename find_best_packet<Scalar,RowsAtCompileTime>::type LhsVecPacketType;
-  typedef typename find_best_packet<Scalar,ColsAtCompileTime>::type RhsVecPacketType;
-
-  enum {
-      
-    LhsCoeffReadCost = LhsEtorType::CoeffReadCost,
-    RhsCoeffReadCost = RhsEtorType::CoeffReadCost,
-    CoeffReadCost = InnerSize==0 ? NumTraits<Scalar>::ReadCost
-                  : InnerSize == Dynamic ? HugeCost
-                  : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
-                    + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
-
-    Unroll = CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
-    
-    LhsFlags = LhsEtorType::Flags,
-    RhsFlags = RhsEtorType::Flags,
-    
-    LhsRowMajor = LhsFlags & RowMajorBit,
-    RhsRowMajor = RhsFlags & RowMajorBit,
-
-    LhsVecPacketSize = unpacket_traits<LhsVecPacketType>::size,
-    RhsVecPacketSize = unpacket_traits<RhsVecPacketType>::size,
-
-    // Here, we don't care about alignment larger than the usable packet size.
-    LhsAlignment = EIGEN_PLAIN_ENUM_MIN(LhsEtorType::Alignment,LhsVecPacketSize*int(sizeof(typename LhsNestedCleaned::Scalar))),
-    RhsAlignment = EIGEN_PLAIN_ENUM_MIN(RhsEtorType::Alignment,RhsVecPacketSize*int(sizeof(typename RhsNestedCleaned::Scalar))),
-      
-    SameType = is_same<typename LhsNestedCleaned::Scalar,typename RhsNestedCleaned::Scalar>::value,
-
-    CanVectorizeRhs = bool(RhsRowMajor) && (RhsFlags & PacketAccessBit) && (ColsAtCompileTime!=1),
-    CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit) && (RowsAtCompileTime!=1),
-
-    EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
-                    : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
-                    : (bool(RhsRowMajor) && !CanVectorizeLhs),
-
-    Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit)
-          | (EvalToRowMajor ? RowMajorBit : 0)
-          // TODO enable vectorization for mixed types
-          | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0)
-          | (XprType::IsVectorAtCompileTime ? LinearAccessBit : 0),
-          
-    LhsOuterStrideBytes = int(LhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename LhsNestedCleaned::Scalar)),
-    RhsOuterStrideBytes = int(RhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename RhsNestedCleaned::Scalar)),
-
-    Alignment = bool(CanVectorizeLhs) ? (LhsOuterStrideBytes<=0 || (int(LhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,LhsAlignment))!=0 ? 0 : LhsAlignment)
-              : bool(CanVectorizeRhs) ? (RhsOuterStrideBytes<=0 || (int(RhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,RhsAlignment))!=0 ? 0 : RhsAlignment)
-              : 0,
-
-    /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside
-     * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner
-     * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect
-     * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI.
-     */
-    CanVectorizeInner =    SameType
-                        && LhsRowMajor
-                        && (!RhsRowMajor)
-                        && (LhsFlags & RhsFlags & ActualPacketAccessBit)
-                        && (InnerSize % packet_traits<Scalar>::size == 0)
-  };
-  
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const
-  {
-    return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
-  }
-
-  /* Allow index-based non-packet access. It is impossible though to allow index-based packed access,
-   * which is why we don't set the LinearAccessBit.
-   * TODO: this seems possible when the result is a vector
-   */
-  EIGEN_DEVICE_FUNC const CoeffReturnType coeff(Index index) const
-  {
-    const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
-    const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
-    return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
-  }
-
-  template<int LoadMode, typename PacketType>
-  const PacketType packet(Index row, Index col) const
-  {
-    PacketType res;
-    typedef etor_product_packet_impl<bool(int(Flags)&RowMajorBit) ? RowMajor : ColMajor,
-                                     Unroll ? int(InnerSize) : Dynamic,
-                                     LhsEtorType, RhsEtorType, PacketType, LoadMode> PacketImpl;
-    PacketImpl::run(row, col, m_lhsImpl, m_rhsImpl, m_innerDim, res);
-    return res;
-  }
-
-  template<int LoadMode, typename PacketType>
-  const PacketType packet(Index index) const
-  {
-    const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
-    const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
-    return packet<LoadMode,PacketType>(row,col);
-  }
-
-protected:
-  typename internal::add_const_on_value_type<LhsNested>::type m_lhs;
-  typename internal::add_const_on_value_type<RhsNested>::type m_rhs;
-  
-  LhsEtorType m_lhsImpl;
-  RhsEtorType m_rhsImpl;
-
-  // TODO: Get rid of m_innerDim if known at compile time
-  Index m_innerDim;
-};
-
-template<typename Lhs, typename Rhs>
-struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, LazyCoeffBasedProductMode, DenseShape, DenseShape>
-  : product_evaluator<Product<Lhs, Rhs, LazyProduct>, CoeffBasedProductMode, DenseShape, DenseShape>
-{
-  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
-  typedef Product<Lhs, Rhs, LazyProduct> BaseProduct;
-  typedef product_evaluator<BaseProduct, CoeffBasedProductMode, DenseShape, DenseShape> Base;
-  enum {
-    Flags = Base::Flags | EvalBeforeNestingBit
-  };
-  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
-    : Base(BaseProduct(xpr.lhs(),xpr.rhs()))
-  {}
-};
-
-/****************************************
-*** Coeff based product, Packet path  ***
-****************************************/
-
-template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
-{
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
-  {
-    etor_product_packet_impl<RowMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
-    res =  pmadd(pset1<Packet>(lhs.coeff(row, Index(UnrollingIndex-1))), rhs.template packet<LoadMode,Packet>(Index(UnrollingIndex-1), col), res);
-  }
-};
-
-template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
-{
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
-  {
-    etor_product_packet_impl<ColMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
-    res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl<RowMajor, 1, Lhs, Rhs, Packet, LoadMode>
-{
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
-  {
-    res = pmul(pset1<Packet>(lhs.coeff(row, Index(0))),rhs.template packet<LoadMode,Packet>(Index(0), col));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl<ColMajor, 1, Lhs, Rhs, Packet, LoadMode>
-{
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
-  {
-    res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
-{
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
-  {
-    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
-{
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
-  {
-    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
-{
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
-  {
-    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
-    for(Index i = 0; i < innerDim; ++i)
-      res =  pmadd(pset1<Packet>(lhs.coeff(row, i)), rhs.template packet<LoadMode,Packet>(i, col), res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct etor_product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
-{
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
-  {
-    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
-    for(Index i = 0; i < innerDim; ++i)
-      res =  pmadd(lhs.template packet<LoadMode,Packet>(row, i), pset1<Packet>(rhs.coeff(i, col)), res);
-  }
-};
-
-
-/***************************************************************************
-* Triangular products
-***************************************************************************/
-template<int Mode, bool LhsIsTriangular,
-         typename Lhs, bool LhsIsVector,
-         typename Rhs, bool RhsIsVector>
-struct triangular_product_impl;
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag>
-  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag> >
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  {
-    triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
-        ::run(dst, lhs.nestedExpression(), rhs, alpha);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag>
-: generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag> >
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  {
-    triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
-  }
-};
-
-
-/***************************************************************************
-* SelfAdjoint products
-***************************************************************************/
-template <typename Lhs, int LhsMode, bool LhsIsVector,
-          typename Rhs, int RhsMode, bool RhsIsVector>
-struct selfadjoint_product_impl;
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag>
-  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag> >
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  {
-    selfadjoint_product_impl<typename Lhs::MatrixType,Lhs::Mode,false,Rhs,0,Rhs::IsVectorAtCompileTime>::run(dst, lhs.nestedExpression(), rhs, alpha);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag>
-: generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag> >
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  {
-    selfadjoint_product_impl<Lhs,0,Lhs::IsVectorAtCompileTime,typename Rhs::MatrixType,Rhs::Mode,false>::run(dst, lhs, rhs.nestedExpression(), alpha);
-  }
-};
-
-
-/***************************************************************************
-* Diagonal products
-***************************************************************************/
-  
-template<typename MatrixType, typename DiagonalType, typename Derived, int ProductOrder>
-struct diagonal_product_evaluator_base
-  : evaluator_base<Derived>
-{
-   typedef typename ScalarBinaryOpTraits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
-public:
-  enum {
-    CoeffReadCost = NumTraits<Scalar>::MulCost + evaluator<MatrixType>::CoeffReadCost + evaluator<DiagonalType>::CoeffReadCost,
-    
-    MatrixFlags = evaluator<MatrixType>::Flags,
-    DiagFlags = evaluator<DiagonalType>::Flags,
-    _StorageOrder = MatrixFlags & RowMajorBit ? RowMajor : ColMajor,
-    _ScalarAccessOnDiag =  !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft)
-                           ||(int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheRight)),
-    _SameTypes = is_same<typename MatrixType::Scalar, typename DiagonalType::Scalar>::value,
-    // FIXME currently we need same types, but in the future the next rule should be the one
-    //_Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagFlags)&PacketAccessBit))),
-    _Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagFlags)&PacketAccessBit))),
-    _LinearAccessMask = (MatrixType::RowsAtCompileTime==1 || MatrixType::ColsAtCompileTime==1) ? LinearAccessBit : 0,
-    Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixFlags)) | (_Vectorizable ? PacketAccessBit : 0),
-    Alignment = evaluator<MatrixType>::Alignment
-  };
-  
-  diagonal_product_evaluator_base(const MatrixType &mat, const DiagonalType &diag)
-    : m_diagImpl(diag), m_matImpl(mat)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const
-  {
-    return m_diagImpl.coeff(idx) * m_matImpl.coeff(idx);
-  }
-  
-protected:
-  template<int LoadMode,typename PacketType>
-  EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::true_type) const
-  {
-    return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
-                          internal::pset1<PacketType>(m_diagImpl.coeff(id)));
-  }
-  
-  template<int LoadMode,typename PacketType>
-  EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::false_type) const
-  {
-    enum {
-      InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime,
-      DiagonalPacketLoadMode = EIGEN_PLAIN_ENUM_MIN(LoadMode,((InnerSize%16) == 0) ? int(Aligned16) : int(evaluator<DiagonalType>::Alignment)) // FIXME hardcoded 16!!
-    };
-    return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
-                          m_diagImpl.template packet<DiagonalPacketLoadMode,PacketType>(id));
-  }
-  
-  evaluator<DiagonalType> m_diagImpl;
-  evaluator<MatrixType>   m_matImpl;
-};
-
-// diagonal * dense
-template<typename Lhs, typename Rhs, int ProductKind, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DiagonalShape, DenseShape>
-  : diagonal_product_evaluator_base<Rhs, typename Lhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheLeft>
-{
-  typedef diagonal_product_evaluator_base<Rhs, typename Lhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheLeft> Base;
-  using Base::m_diagImpl;
-  using Base::m_matImpl;
-  using Base::coeff;
-  typedef typename Base::Scalar Scalar;
-  
-  typedef Product<Lhs, Rhs, ProductKind> XprType;
-  typedef typename XprType::PlainObject PlainObject;
-  
-  enum {
-    StorageOrder = int(Rhs::Flags) & RowMajorBit ? RowMajor : ColMajor
-  };
-
-  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
-    : Base(xpr.rhs(), xpr.lhs().diagonal())
-  {
-  }
-  
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
-  {
-    return m_diagImpl.coeff(row) * m_matImpl.coeff(row, col);
-  }
-  
-#ifndef __CUDACC__
-  template<int LoadMode,typename PacketType>
-  EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
-  {
-    // FIXME: NVCC used to complain about the template keyword, but we have to check whether this is still the case.
-    // See also similar calls below.
-    return this->template packet_impl<LoadMode,PacketType>(row,col, row,
-                                 typename internal::conditional<int(StorageOrder)==RowMajor, internal::true_type, internal::false_type>::type());
-  }
-  
-  template<int LoadMode,typename PacketType>
-  EIGEN_STRONG_INLINE PacketType packet(Index idx) const
-  {
-    return packet<LoadMode,PacketType>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
-  }
-#endif
-};
-
-// dense * diagonal
-template<typename Lhs, typename Rhs, int ProductKind, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DenseShape, DiagonalShape>
-  : diagonal_product_evaluator_base<Lhs, typename Rhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheRight>
-{
-  typedef diagonal_product_evaluator_base<Lhs, typename Rhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheRight> Base;
-  using Base::m_diagImpl;
-  using Base::m_matImpl;
-  using Base::coeff;
-  typedef typename Base::Scalar Scalar;
-  
-  typedef Product<Lhs, Rhs, ProductKind> XprType;
-  typedef typename XprType::PlainObject PlainObject;
-  
-  enum { StorageOrder = int(Lhs::Flags) & RowMajorBit ? RowMajor : ColMajor };
-
-  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
-    : Base(xpr.lhs(), xpr.rhs().diagonal())
-  {
-  }
-  
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
-  {
-    return m_matImpl.coeff(row, col) * m_diagImpl.coeff(col);
-  }
-  
-#ifndef __CUDACC__
-  template<int LoadMode,typename PacketType>
-  EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
-  {
-    return this->template packet_impl<LoadMode,PacketType>(row,col, col,
-                                 typename internal::conditional<int(StorageOrder)==ColMajor, internal::true_type, internal::false_type>::type());
-  }
-  
-  template<int LoadMode,typename PacketType>
-  EIGEN_STRONG_INLINE PacketType packet(Index idx) const
-  {
-    return packet<LoadMode,PacketType>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
-  }
-#endif
-};
-
-/***************************************************************************
-* Products with permutation matrices
-***************************************************************************/
-
-/** \internal
-  * \class permutation_matrix_product
-  * Internal helper class implementing the product between a permutation matrix and a matrix.
-  * This class is specialized for DenseShape below and for SparseShape in SparseCore/SparsePermutation.h
-  */
-template<typename ExpressionType, int Side, bool Transposed, typename ExpressionShape>
-struct permutation_matrix_product;
-
-template<typename ExpressionType, int Side, bool Transposed>
-struct permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
-{
-    typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
-    typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
-
-    template<typename Dest, typename PermutationType>
-    static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
-    {
-      MatrixType mat(xpr);
-      const Index n = Side==OnTheLeft ? mat.rows() : mat.cols();
-      // FIXME we need an is_same for expression that is not sensitive to constness. For instance
-      // is_same_xpr<Block<const Matrix>, Block<Matrix> >::value should be true.
-      //if(is_same<MatrixTypeCleaned,Dest>::value && extract_data(dst) == extract_data(mat))
-      if(is_same_dense(dst, mat))
-      {
-        // apply the permutation inplace
-        Matrix<bool,PermutationType::RowsAtCompileTime,1,0,PermutationType::MaxRowsAtCompileTime> mask(perm.size());
-        mask.fill(false);
-        Index r = 0;
-        while(r < perm.size())
-        {
-          // search for the next seed
-          while(r<perm.size() && mask[r]) r++;
-          if(r>=perm.size())
-            break;
-          // we got one, let's follow it until we are back to the seed
-          Index k0 = r++;
-          Index kPrev = k0;
-          mask.coeffRef(k0) = true;
-          for(Index k=perm.indices().coeff(k0); k!=k0; k=perm.indices().coeff(k))
-          {
-                  Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>(dst, k)
-            .swap(Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
-                       (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev));
-
-            mask.coeffRef(k) = true;
-            kPrev = k;
-          }
-        }
-      }
-      else
-      {
-        for(Index i = 0; i < n; ++i)
-        {
-          Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
-               (dst, ((Side==OnTheLeft) ^ Transposed) ? perm.indices().coeff(i) : i)
-
-          =
-
-          Block<const MatrixTypeCleaned,Side==OnTheLeft ? 1 : MatrixTypeCleaned::RowsAtCompileTime,Side==OnTheRight ? 1 : MatrixTypeCleaned::ColsAtCompileTime>
-               (mat, ((Side==OnTheRight) ^ Transposed) ? perm.indices().coeff(i) : i);
-        }
-      }
-    }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
-struct generic_product_impl<Lhs, Rhs, PermutationShape, MatrixShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    permutation_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
-struct generic_product_impl<Lhs, Rhs, MatrixShape, PermutationShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    permutation_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
-struct generic_product_impl<Inverse<Lhs>, Rhs, PermutationShape, MatrixShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Inverse<Lhs>& lhs, const Rhs& rhs)
-  {
-    permutation_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
-struct generic_product_impl<Lhs, Inverse<Rhs>, MatrixShape, PermutationShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Inverse<Rhs>& rhs)
-  {
-    permutation_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
-  }
-};
-
-
-/***************************************************************************
-* Products with transpositions matrices
-***************************************************************************/
-
-// FIXME could we unify Transpositions and Permutation into a single "shape"??
-
-/** \internal
-  * \class transposition_matrix_product
-  * Internal helper class implementing the product between a permutation matrix and a matrix.
-  */
-template<typename ExpressionType, int Side, bool Transposed, typename ExpressionShape>
-struct transposition_matrix_product
-{
-  typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
-  typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
-  
-  template<typename Dest, typename TranspositionType>
-  static inline void run(Dest& dst, const TranspositionType& tr, const ExpressionType& xpr)
-  {
-    MatrixType mat(xpr);
-    typedef typename TranspositionType::StorageIndex StorageIndex;
-    const Index size = tr.size();
-    StorageIndex j = 0;
-
-    if(!is_same_dense(dst,mat))
-      dst = mat;
-
-    for(Index k=(Transposed?size-1:0) ; Transposed?k>=0:k<size ; Transposed?--k:++k)
-      if(Index(j=tr.coeff(k))!=k)
-      {
-        if(Side==OnTheLeft)        dst.row(k).swap(dst.row(j));
-        else if(Side==OnTheRight)  dst.col(k).swap(dst.col(j));
-      }
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
-struct generic_product_impl<Lhs, Rhs, TranspositionsShape, MatrixShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    transposition_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
-struct generic_product_impl<Lhs, Rhs, MatrixShape, TranspositionsShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    transposition_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
-  }
-};
-
-
-template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
-struct generic_product_impl<Transpose<Lhs>, Rhs, TranspositionsShape, MatrixShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Transpose<Lhs>& lhs, const Rhs& rhs)
-  {
-    transposition_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
-struct generic_product_impl<Lhs, Transpose<Rhs>, MatrixShape, TranspositionsShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Transpose<Rhs>& rhs)
-  {
-    transposition_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PRODUCT_EVALUATORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Random.h b/phonelibs/eigen/Eigen/src/Core/Random.h
deleted file mode 100644
index 6faf789c7618d9..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Random.h
+++ /dev/null
@@ -1,182 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_RANDOM_H
-#define EIGEN_RANDOM_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Scalar> struct scalar_random_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_random_op)
-  inline const Scalar operator() () const { return random<Scalar>(); }
-};
-
-template<typename Scalar>
-struct functor_traits<scalar_random_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false, IsRepeatable = false }; };
-
-} // end namespace internal
-
-/** \returns a random matrix expression
-  *
-  * Numbers are uniformly spread through their whole definition range for integer types,
-  * and in the [-1:1] range for floating point scalar types.
-  * 
-  * The parameters \a rows and \a cols are the number of rows and of columns of
-  * the returned matrix. Must be compatible with this MatrixBase type.
-  *
-  * \not_reentrant
-  * 
-  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a rows and \a cols as arguments, so Random() should be used
-  * instead.
-  * 
-  *
-  * Example: \include MatrixBase_random_int_int.cpp
-  * Output: \verbinclude MatrixBase_random_int_int.out
-  *
-  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
-  * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
-  * behavior with expressions involving random matrices.
-  * 
-  * See DenseBase::NullaryExpr(Index, const CustomNullaryOp&) for an example using C++11 random generators.
-  *
-  * \sa DenseBase::setRandom(), DenseBase::Random(Index), DenseBase::Random()
-  */
-template<typename Derived>
-inline const typename DenseBase<Derived>::RandomReturnType
-DenseBase<Derived>::Random(Index rows, Index cols)
-{
-  return NullaryExpr(rows, cols, internal::scalar_random_op<Scalar>());
-}
-
-/** \returns a random vector expression
-  *
-  * Numbers are uniformly spread through their whole definition range for integer types,
-  * and in the [-1:1] range for floating point scalar types.
-  *
-  * The parameter \a size is the size of the returned vector.
-  * Must be compatible with this MatrixBase type.
-  *
-  * \only_for_vectors
-  * \not_reentrant
-  *
-  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
-  * it is redundant to pass \a size as argument, so Random() should be used
-  * instead.
-  *
-  * Example: \include MatrixBase_random_int.cpp
-  * Output: \verbinclude MatrixBase_random_int.out
-  *
-  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
-  * a temporary vector whenever it is nested in a larger expression. This prevents unexpected
-  * behavior with expressions involving random matrices.
-  *
-  * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random()
-  */
-template<typename Derived>
-inline const typename DenseBase<Derived>::RandomReturnType
-DenseBase<Derived>::Random(Index size)
-{
-  return NullaryExpr(size, internal::scalar_random_op<Scalar>());
-}
-
-/** \returns a fixed-size random matrix or vector expression
-  *
-  * Numbers are uniformly spread through their whole definition range for integer types,
-  * and in the [-1:1] range for floating point scalar types.
-  * 
-  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
-  * need to use the variants taking size arguments.
-  *
-  * Example: \include MatrixBase_random.cpp
-  * Output: \verbinclude MatrixBase_random.out
-  *
-  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
-  * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
-  * behavior with expressions involving random matrices.
-  * 
-  * \not_reentrant
-  *
-  * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random(Index)
-  */
-template<typename Derived>
-inline const typename DenseBase<Derived>::RandomReturnType
-DenseBase<Derived>::Random()
-{
-  return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_random_op<Scalar>());
-}
-
-/** Sets all coefficients in this expression to random values.
-  *
-  * Numbers are uniformly spread through their whole definition range for integer types,
-  * and in the [-1:1] range for floating point scalar types.
-  * 
-  * \not_reentrant
-  * 
-  * Example: \include MatrixBase_setRandom.cpp
-  * Output: \verbinclude MatrixBase_setRandom.out
-  *
-  * \sa class CwiseNullaryOp, setRandom(Index), setRandom(Index,Index)
-  */
-template<typename Derived>
-inline Derived& DenseBase<Derived>::setRandom()
-{
-  return *this = Random(rows(), cols());
-}
-
-/** Resizes to the given \a newSize, and sets all coefficients in this expression to random values.
-  *
-  * Numbers are uniformly spread through their whole definition range for integer types,
-  * and in the [-1:1] range for floating point scalar types.
-  * 
-  * \only_for_vectors
-  * \not_reentrant
-  *
-  * Example: \include Matrix_setRandom_int.cpp
-  * Output: \verbinclude Matrix_setRandom_int.out
-  *
-  * \sa DenseBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, DenseBase::Random()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setRandom(Index newSize)
-{
-  resize(newSize);
-  return setRandom();
-}
-
-/** Resizes to the given size, and sets all coefficients in this expression to random values.
-  *
-  * Numbers are uniformly spread through their whole definition range for integer types,
-  * and in the [-1:1] range for floating point scalar types.
-  *
-  * \not_reentrant
-  * 
-  * \param rows the new number of rows
-  * \param cols the new number of columns
-  *
-  * Example: \include Matrix_setRandom_int_int.cpp
-  * Output: \verbinclude Matrix_setRandom_int_int.out
-  *
-  * \sa DenseBase::setRandom(), setRandom(Index), class CwiseNullaryOp, DenseBase::Random()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setRandom(Index rows, Index cols)
-{
-  resize(rows, cols);
-  return setRandom();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_RANDOM_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Redux.h b/phonelibs/eigen/Eigen/src/Core/Redux.h
deleted file mode 100644
index b6e8f888708e2b..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Redux.h
+++ /dev/null
@@ -1,505 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_REDUX_H
-#define EIGEN_REDUX_H
-
-namespace Eigen { 
-
-namespace internal {
-
-// TODO
-//  * implement other kind of vectorization
-//  * factorize code
-
-/***************************************************************************
-* Part 1 : the logic deciding a strategy for vectorization and unrolling
-***************************************************************************/
-
-template<typename Func, typename Derived>
-struct redux_traits
-{
-public:
-    typedef typename find_best_packet<typename Derived::Scalar,Derived::SizeAtCompileTime>::type PacketType;
-  enum {
-    PacketSize = unpacket_traits<PacketType>::size,
-    InnerMaxSize = int(Derived::IsRowMajor)
-                 ? Derived::MaxColsAtCompileTime
-                 : Derived::MaxRowsAtCompileTime
-  };
-
-  enum {
-    MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit)
-                  && (functor_traits<Func>::PacketAccess),
-    MayLinearVectorize = bool(MightVectorize) && (int(Derived::Flags)&LinearAccessBit),
-    MaySliceVectorize  = bool(MightVectorize) && int(InnerMaxSize)>=3*PacketSize
-  };
-
-public:
-  enum {
-    Traversal = int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
-              : int(MaySliceVectorize)  ? int(SliceVectorizedTraversal)
-                                        : int(DefaultTraversal)
-  };
-
-public:
-  enum {
-    Cost = Derived::SizeAtCompileTime == Dynamic ? HugeCost
-         : Derived::SizeAtCompileTime * Derived::CoeffReadCost + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
-    UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize))
-  };
-
-public:
-  enum {
-    Unrolling = Cost <= UnrollingLimit ? CompleteUnrolling : NoUnrolling
-  };
-  
-#ifdef EIGEN_DEBUG_ASSIGN
-  static void debug()
-  {
-    std::cerr << "Xpr: " << typeid(typename Derived::XprType).name() << std::endl;
-    std::cerr.setf(std::ios::hex, std::ios::basefield);
-    EIGEN_DEBUG_VAR(Derived::Flags)
-    std::cerr.unsetf(std::ios::hex);
-    EIGEN_DEBUG_VAR(InnerMaxSize)
-    EIGEN_DEBUG_VAR(PacketSize)
-    EIGEN_DEBUG_VAR(MightVectorize)
-    EIGEN_DEBUG_VAR(MayLinearVectorize)
-    EIGEN_DEBUG_VAR(MaySliceVectorize)
-    EIGEN_DEBUG_VAR(Traversal)
-    EIGEN_DEBUG_VAR(UnrollingLimit)
-    EIGEN_DEBUG_VAR(Unrolling)
-    std::cerr << std::endl;
-  }
-#endif
-};
-
-/***************************************************************************
-* Part 2 : unrollers
-***************************************************************************/
-
-/*** no vectorization ***/
-
-template<typename Func, typename Derived, int Start, int Length>
-struct redux_novec_unroller
-{
-  enum {
-    HalfLength = Length/2
-  };
-
-  typedef typename Derived::Scalar Scalar;
-
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
-  {
-    return func(redux_novec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
-                redux_novec_unroller<Func, Derived, Start+HalfLength, Length-HalfLength>::run(mat,func));
-  }
-};
-
-template<typename Func, typename Derived, int Start>
-struct redux_novec_unroller<Func, Derived, Start, 1>
-{
-  enum {
-    outer = Start / Derived::InnerSizeAtCompileTime,
-    inner = Start % Derived::InnerSizeAtCompileTime
-  };
-
-  typedef typename Derived::Scalar Scalar;
-
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func&)
-  {
-    return mat.coeffByOuterInner(outer, inner);
-  }
-};
-
-// This is actually dead code and will never be called. It is required
-// to prevent false warnings regarding failed inlining though
-// for 0 length run() will never be called at all.
-template<typename Func, typename Derived, int Start>
-struct redux_novec_unroller<Func, Derived, Start, 0>
-{
-  typedef typename Derived::Scalar Scalar;
-  EIGEN_DEVICE_FUNC 
-  static EIGEN_STRONG_INLINE Scalar run(const Derived&, const Func&) { return Scalar(); }
-};
-
-/*** vectorization ***/
-
-template<typename Func, typename Derived, int Start, int Length>
-struct redux_vec_unroller
-{
-  enum {
-    PacketSize = redux_traits<Func, Derived>::PacketSize,
-    HalfLength = Length/2
-  };
-
-  typedef typename Derived::Scalar Scalar;
-  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
-
-  static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func& func)
-  {
-    return func.packetOp(
-            redux_vec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
-            redux_vec_unroller<Func, Derived, Start+HalfLength, Length-HalfLength>::run(mat,func) );
-  }
-};
-
-template<typename Func, typename Derived, int Start>
-struct redux_vec_unroller<Func, Derived, Start, 1>
-{
-  enum {
-    index = Start * redux_traits<Func, Derived>::PacketSize,
-    outer = index / int(Derived::InnerSizeAtCompileTime),
-    inner = index % int(Derived::InnerSizeAtCompileTime),
-    alignment = Derived::Alignment
-  };
-
-  typedef typename Derived::Scalar Scalar;
-  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
-
-  static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func&)
-  {
-    return mat.template packetByOuterInner<alignment,PacketScalar>(outer, inner);
-  }
-};
-
-/***************************************************************************
-* Part 3 : implementation of all cases
-***************************************************************************/
-
-template<typename Func, typename Derived,
-         int Traversal = redux_traits<Func, Derived>::Traversal,
-         int Unrolling = redux_traits<Func, Derived>::Unrolling
->
-struct redux_impl;
-
-template<typename Func, typename Derived>
-struct redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>
-{
-  typedef typename Derived::Scalar Scalar;
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
-  {
-    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
-    Scalar res;
-    res = mat.coeffByOuterInner(0, 0);
-    for(Index i = 1; i < mat.innerSize(); ++i)
-      res = func(res, mat.coeffByOuterInner(0, i));
-    for(Index i = 1; i < mat.outerSize(); ++i)
-      for(Index j = 0; j < mat.innerSize(); ++j)
-        res = func(res, mat.coeffByOuterInner(i, j));
-    return res;
-  }
-};
-
-template<typename Func, typename Derived>
-struct redux_impl<Func,Derived, DefaultTraversal, CompleteUnrolling>
-  : public redux_novec_unroller<Func,Derived, 0, Derived::SizeAtCompileTime>
-{};
-
-template<typename Func, typename Derived>
-struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
-{
-  typedef typename Derived::Scalar Scalar;
-  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
-
-  static Scalar run(const Derived &mat, const Func& func)
-  {
-    const Index size = mat.size();
-    
-    const Index packetSize = redux_traits<Func, Derived>::PacketSize;
-    const int packetAlignment = unpacket_traits<PacketScalar>::alignment;
-    enum {
-      alignment0 = (bool(Derived::Flags & DirectAccessBit) && bool(packet_traits<Scalar>::AlignedOnScalar)) ? int(packetAlignment) : int(Unaligned),
-      alignment = EIGEN_PLAIN_ENUM_MAX(alignment0, Derived::Alignment)
-    };
-    const Index alignedStart = internal::first_default_aligned(mat.nestedExpression());
-    const Index alignedSize2 = ((size-alignedStart)/(2*packetSize))*(2*packetSize);
-    const Index alignedSize = ((size-alignedStart)/(packetSize))*(packetSize);
-    const Index alignedEnd2 = alignedStart + alignedSize2;
-    const Index alignedEnd  = alignedStart + alignedSize;
-    Scalar res;
-    if(alignedSize)
-    {
-      PacketScalar packet_res0 = mat.template packet<alignment,PacketScalar>(alignedStart);
-      if(alignedSize>packetSize) // we have at least two packets to partly unroll the loop
-      {
-        PacketScalar packet_res1 = mat.template packet<alignment,PacketScalar>(alignedStart+packetSize);
-        for(Index index = alignedStart + 2*packetSize; index < alignedEnd2; index += 2*packetSize)
-        {
-          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(index));
-          packet_res1 = func.packetOp(packet_res1, mat.template packet<alignment,PacketScalar>(index+packetSize));
-        }
-
-        packet_res0 = func.packetOp(packet_res0,packet_res1);
-        if(alignedEnd>alignedEnd2)
-          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(alignedEnd2));
-      }
-      res = func.predux(packet_res0);
-
-      for(Index index = 0; index < alignedStart; ++index)
-        res = func(res,mat.coeff(index));
-
-      for(Index index = alignedEnd; index < size; ++index)
-        res = func(res,mat.coeff(index));
-    }
-    else // too small to vectorize anything.
-         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
-    {
-      res = mat.coeff(0);
-      for(Index index = 1; index < size; ++index)
-        res = func(res,mat.coeff(index));
-    }
-
-    return res;
-  }
-};
-
-// NOTE: for SliceVectorizedTraversal we simply bypass unrolling
-template<typename Func, typename Derived, int Unrolling>
-struct redux_impl<Func, Derived, SliceVectorizedTraversal, Unrolling>
-{
-  typedef typename Derived::Scalar Scalar;
-  typedef typename redux_traits<Func, Derived>::PacketType PacketType;
-
-  EIGEN_DEVICE_FUNC static Scalar run(const Derived &mat, const Func& func)
-  {
-    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
-    const Index innerSize = mat.innerSize();
-    const Index outerSize = mat.outerSize();
-    enum {
-      packetSize = redux_traits<Func, Derived>::PacketSize
-    };
-    const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize;
-    Scalar res;
-    if(packetedInnerSize)
-    {
-      PacketType packet_res = mat.template packet<Unaligned,PacketType>(0,0);
-      for(Index j=0; j<outerSize; ++j)
-        for(Index i=(j==0?packetSize:0); i<packetedInnerSize; i+=Index(packetSize))
-          packet_res = func.packetOp(packet_res, mat.template packetByOuterInner<Unaligned,PacketType>(j,i));
-
-      res = func.predux(packet_res);
-      for(Index j=0; j<outerSize; ++j)
-        for(Index i=packetedInnerSize; i<innerSize; ++i)
-          res = func(res, mat.coeffByOuterInner(j,i));
-    }
-    else // too small to vectorize anything.
-         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
-    {
-      res = redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>::run(mat, func);
-    }
-
-    return res;
-  }
-};
-
-template<typename Func, typename Derived>
-struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
-{
-  typedef typename Derived::Scalar Scalar;
-
-  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
-  enum {
-    PacketSize = redux_traits<Func, Derived>::PacketSize,
-    Size = Derived::SizeAtCompileTime,
-    VectorizedSize = (Size / PacketSize) * PacketSize
-  };
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
-  {
-    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
-    if (VectorizedSize > 0) {
-      Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
-      if (VectorizedSize != Size)
-        res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
-      return res;
-    }
-    else {
-      return redux_novec_unroller<Func, Derived, 0, Size>::run(mat,func);
-    }
-  }
-};
-
-// evaluator adaptor
-template<typename _XprType>
-class redux_evaluator
-{
-public:
-  typedef _XprType XprType;
-  EIGEN_DEVICE_FUNC explicit redux_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
-  
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename XprType::PacketScalar PacketScalar;
-  typedef typename XprType::PacketReturnType PacketReturnType;
-  
-  enum {
-    MaxRowsAtCompileTime = XprType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = XprType::MaxColsAtCompileTime,
-    // TODO we should not remove DirectAccessBit and rather find an elegant way to query the alignment offset at runtime from the evaluator
-    Flags = evaluator<XprType>::Flags & ~DirectAccessBit,
-    IsRowMajor = XprType::IsRowMajor,
-    SizeAtCompileTime = XprType::SizeAtCompileTime,
-    InnerSizeAtCompileTime = XprType::InnerSizeAtCompileTime,
-    CoeffReadCost = evaluator<XprType>::CoeffReadCost,
-    Alignment = evaluator<XprType>::Alignment
-  };
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
-  EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
-  EIGEN_DEVICE_FUNC Index innerSize() const { return m_xpr.innerSize(); }
-  EIGEN_DEVICE_FUNC Index outerSize() const { return m_xpr.outerSize(); }
-
-  EIGEN_DEVICE_FUNC
-  CoeffReturnType coeff(Index row, Index col) const
-  { return m_evaluator.coeff(row, col); }
-
-  EIGEN_DEVICE_FUNC
-  CoeffReturnType coeff(Index index) const
-  { return m_evaluator.coeff(index); }
-
-  template<int LoadMode, typename PacketType>
-  PacketType packet(Index row, Index col) const
-  { return m_evaluator.template packet<LoadMode,PacketType>(row, col); }
-
-  template<int LoadMode, typename PacketType>
-  PacketType packet(Index index) const
-  { return m_evaluator.template packet<LoadMode,PacketType>(index); }
-  
-  EIGEN_DEVICE_FUNC
-  CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
-  { return m_evaluator.coeff(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
-  
-  template<int LoadMode, typename PacketType>
-  PacketType packetByOuterInner(Index outer, Index inner) const
-  { return m_evaluator.template packet<LoadMode,PacketType>(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
-  
-  const XprType & nestedExpression() const { return m_xpr; }
-  
-protected:
-  internal::evaluator<XprType> m_evaluator;
-  const XprType &m_xpr;
-};
-
-} // end namespace internal
-
-/***************************************************************************
-* Part 4 : public API
-***************************************************************************/
-
-
-/** \returns the result of a full redux operation on the whole matrix or vector using \a func
-  *
-  * The template parameter \a BinaryOp is the type of the functor \a func which must be
-  * an associative operator. Both current C++98 and C++11 functor styles are handled.
-  *
-  * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
-  */
-template<typename Derived>
-template<typename Func>
-typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::redux(const Func& func) const
-{
-  eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
-
-  typedef typename internal::redux_evaluator<Derived> ThisEvaluator;
-  ThisEvaluator thisEval(derived());
-  
-  return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func);
-}
-
-/** \returns the minimum of all coefficients of \c *this.
-  * \warning the result is undefined if \c *this contains NaN.
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::minCoeff() const
-{
-  return derived().redux(Eigen::internal::scalar_min_op<Scalar,Scalar>());
-}
-
-/** \returns the maximum of all coefficients of \c *this.
-  * \warning the result is undefined if \c *this contains NaN.
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::maxCoeff() const
-{
-  return derived().redux(Eigen::internal::scalar_max_op<Scalar,Scalar>());
-}
-
-/** \returns the sum of all coefficients of \c *this
-  *
-  * If \c *this is empty, then the value 0 is returned.
-  *
-  * \sa trace(), prod(), mean()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::sum() const
-{
-  if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
-    return Scalar(0);
-  return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
-}
-
-/** \returns the mean of all coefficients of *this
-*
-* \sa trace(), prod(), sum()
-*/
-template<typename Derived>
-EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::mean() const
-{
-#ifdef __INTEL_COMPILER
-  #pragma warning push
-  #pragma warning ( disable : 2259 )
-#endif
-  return Scalar(derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>())) / Scalar(this->size());
-#ifdef __INTEL_COMPILER
-  #pragma warning pop
-#endif
-}
-
-/** \returns the product of all coefficients of *this
-  *
-  * Example: \include MatrixBase_prod.cpp
-  * Output: \verbinclude MatrixBase_prod.out
-  *
-  * \sa sum(), mean(), trace()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::prod() const
-{
-  if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
-    return Scalar(1);
-  return derived().redux(Eigen::internal::scalar_product_op<Scalar>());
-}
-
-/** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal.
-  *
-  * \c *this can be any matrix, not necessarily square.
-  *
-  * \sa diagonal(), sum()
-  */
-template<typename Derived>
-EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
-MatrixBase<Derived>::trace() const
-{
-  return derived().diagonal().sum();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_REDUX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Ref.h b/phonelibs/eigen/Eigen/src/Core/Ref.h
deleted file mode 100644
index bdf24f52ad1078..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Ref.h
+++ /dev/null
@@ -1,281 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_REF_H
-#define EIGEN_REF_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename _PlainObjectType, int _Options, typename _StrideType>
-struct traits<Ref<_PlainObjectType, _Options, _StrideType> >
-  : public traits<Map<_PlainObjectType, _Options, _StrideType> >
-{
-  typedef _PlainObjectType PlainObjectType;
-  typedef _StrideType StrideType;
-  enum {
-    Options = _Options,
-    Flags = traits<Map<_PlainObjectType, _Options, _StrideType> >::Flags | NestByRefBit,
-    Alignment = traits<Map<_PlainObjectType, _Options, _StrideType> >::Alignment
-  };
-
-  template<typename Derived> struct match {
-    enum {
-      HasDirectAccess = internal::has_direct_access<Derived>::ret,
-      StorageOrderMatch = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)),
-      InnerStrideMatch = int(StrideType::InnerStrideAtCompileTime)==int(Dynamic)
-                      || int(StrideType::InnerStrideAtCompileTime)==int(Derived::InnerStrideAtCompileTime)
-                      || (int(StrideType::InnerStrideAtCompileTime)==0 && int(Derived::InnerStrideAtCompileTime)==1),
-      OuterStrideMatch = Derived::IsVectorAtCompileTime
-                      || int(StrideType::OuterStrideAtCompileTime)==int(Dynamic) || int(StrideType::OuterStrideAtCompileTime)==int(Derived::OuterStrideAtCompileTime),
-      // NOTE, this indirection of evaluator<Derived>::Alignment is needed
-      // to workaround a very strange bug in MSVC related to the instantiation
-      // of has_*ary_operator in evaluator<CwiseNullaryOp>.
-      // This line is surprisingly very sensitive. For instance, simply adding parenthesis
-      // as "DerivedAlignment = (int(evaluator<Derived>::Alignment))," will make MSVC fail...
-      DerivedAlignment = int(evaluator<Derived>::Alignment),
-      AlignmentMatch = (int(traits<PlainObjectType>::Alignment)==int(Unaligned)) || (DerivedAlignment >= int(Alignment)), // FIXME the first condition is not very clear, it should be replaced by the required alignment
-      ScalarTypeMatch = internal::is_same<typename PlainObjectType::Scalar, typename Derived::Scalar>::value,
-      MatchAtCompileTime = HasDirectAccess && StorageOrderMatch && InnerStrideMatch && OuterStrideMatch && AlignmentMatch && ScalarTypeMatch
-    };
-    typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
-  };
-  
-};
-
-template<typename Derived>
-struct traits<RefBase<Derived> > : public traits<Derived> {};
-
-}
-
-template<typename Derived> class RefBase
- : public MapBase<Derived>
-{
-  typedef typename internal::traits<Derived>::PlainObjectType PlainObjectType;
-  typedef typename internal::traits<Derived>::StrideType StrideType;
-
-public:
-
-  typedef MapBase<Derived> Base;
-  EIGEN_DENSE_PUBLIC_INTERFACE(RefBase)
-
-  EIGEN_DEVICE_FUNC inline Index innerStride() const
-  {
-    return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
-  }
-
-  EIGEN_DEVICE_FUNC inline Index outerStride() const
-  {
-    return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
-         : IsVectorAtCompileTime ? this->size()
-         : int(Flags)&RowMajorBit ? this->cols()
-         : this->rows();
-  }
-
-  EIGEN_DEVICE_FUNC RefBase()
-    : Base(0,RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime),
-      // Stride<> does not allow default ctor for Dynamic strides, so let' initialize it with dummy values:
-      m_stride(StrideType::OuterStrideAtCompileTime==Dynamic?0:StrideType::OuterStrideAtCompileTime,
-               StrideType::InnerStrideAtCompileTime==Dynamic?0:StrideType::InnerStrideAtCompileTime)
-  {}
-  
-  EIGEN_INHERIT_ASSIGNMENT_OPERATORS(RefBase)
-
-protected:
-
-  typedef Stride<StrideType::OuterStrideAtCompileTime,StrideType::InnerStrideAtCompileTime> StrideBase;
-
-  template<typename Expression>
-  EIGEN_DEVICE_FUNC void construct(Expression& expr)
-  {
-    if(PlainObjectType::RowsAtCompileTime==1)
-    {
-      eigen_assert(expr.rows()==1 || expr.cols()==1);
-      ::new (static_cast<Base*>(this)) Base(expr.data(), 1, expr.size());
-    }
-    else if(PlainObjectType::ColsAtCompileTime==1)
-    {
-      eigen_assert(expr.rows()==1 || expr.cols()==1);
-      ::new (static_cast<Base*>(this)) Base(expr.data(), expr.size(), 1);
-    }
-    else
-      ::new (static_cast<Base*>(this)) Base(expr.data(), expr.rows(), expr.cols());
-    
-    if(Expression::IsVectorAtCompileTime && (!PlainObjectType::IsVectorAtCompileTime) && ((Expression::Flags&RowMajorBit)!=(PlainObjectType::Flags&RowMajorBit)))
-      ::new (&m_stride) StrideBase(expr.innerStride(), StrideType::InnerStrideAtCompileTime==0?0:1);
-    else
-      ::new (&m_stride) StrideBase(StrideType::OuterStrideAtCompileTime==0?0:expr.outerStride(),
-                                   StrideType::InnerStrideAtCompileTime==0?0:expr.innerStride());    
-  }
-
-  StrideBase m_stride;
-};
-
-/** \class Ref
-  * \ingroup Core_Module
-  *
-  * \brief A matrix or vector expression mapping an existing expression
-  *
-  * \tparam PlainObjectType the equivalent matrix type of the mapped data
-  * \tparam Options specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
-  *                 The default is \c #Unaligned.
-  * \tparam StrideType optionally specifies strides. By default, Ref implies a contiguous storage along the inner dimension (inner stride==1),
-  *                   but accepts a variable outer stride (leading dimension).
-  *                   This can be overridden by specifying strides.
-  *                   The type passed here must be a specialization of the Stride template, see examples below.
-  *
-  * This class provides a way to write non-template functions taking Eigen objects as parameters while limiting the number of copies.
-  * A Ref<> object can represent either a const expression or a l-value:
-  * \code
-  * // in-out argument:
-  * void foo1(Ref<VectorXf> x);
-  *
-  * // read-only const argument:
-  * void foo2(const Ref<const VectorXf>& x);
-  * \endcode
-  *
-  * In the in-out case, the input argument must satisfy the constraints of the actual Ref<> type, otherwise a compilation issue will be triggered.
-  * By default, a Ref<VectorXf> can reference any dense vector expression of float having a contiguous memory layout.
-  * Likewise, a Ref<MatrixXf> can reference any column-major dense matrix expression of float whose column's elements are contiguously stored with
-  * the possibility to have a constant space in-between each column, i.e. the inner stride must be equal to 1, but the outer stride (or leading dimension)
-  * can be greater than the number of rows.
-  *
-  * In the const case, if the input expression does not match the above requirement, then it is evaluated into a temporary before being passed to the function.
-  * Here are some examples:
-  * \code
-  * MatrixXf A;
-  * VectorXf a;
-  * foo1(a.head());             // OK
-  * foo1(A.col());              // OK
-  * foo1(A.row());              // Compilation error because here innerstride!=1
-  * foo2(A.row());              // Compilation error because A.row() is a 1xN object while foo2 is expecting a Nx1 object
-  * foo2(A.row().transpose());  // The row is copied into a contiguous temporary
-  * foo2(2*a);                  // The expression is evaluated into a temporary
-  * foo2(A.col().segment(2,4)); // No temporary
-  * \endcode
-  *
-  * The range of inputs that can be referenced without temporary can be enlarged using the last two template parameters.
-  * Here is an example accepting an innerstride!=1:
-  * \code
-  * // in-out argument:
-  * void foo3(Ref<VectorXf,0,InnerStride<> > x);
-  * foo3(A.row());              // OK
-  * \endcode
-  * The downside here is that the function foo3 might be significantly slower than foo1 because it won't be able to exploit vectorization, and will involve more
-  * expensive address computations even if the input is contiguously stored in memory. To overcome this issue, one might propose to overload internally calling a
-  * template function, e.g.:
-  * \code
-  * // in the .h:
-  * void foo(const Ref<MatrixXf>& A);
-  * void foo(const Ref<MatrixXf,0,Stride<> >& A);
-  *
-  * // in the .cpp:
-  * template<typename TypeOfA> void foo_impl(const TypeOfA& A) {
-  *     ... // crazy code goes here
-  * }
-  * void foo(const Ref<MatrixXf>& A) { foo_impl(A); }
-  * void foo(const Ref<MatrixXf,0,Stride<> >& A) { foo_impl(A); }
-  * \endcode
-  *
-  *
-  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
-  */
-template<typename PlainObjectType, int Options, typename StrideType> class Ref
-  : public RefBase<Ref<PlainObjectType, Options, StrideType> >
-{
-  private:
-    typedef internal::traits<Ref> Traits;
-    template<typename Derived>
-    EIGEN_DEVICE_FUNC inline Ref(const PlainObjectBase<Derived>& expr,
-                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0);
-  public:
-
-    typedef RefBase<Ref> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Ref)
-
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename Derived>
-    EIGEN_DEVICE_FUNC inline Ref(PlainObjectBase<Derived>& expr,
-                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
-    {
-      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      Base::construct(expr.derived());
-    }
-    template<typename Derived>
-    EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
-                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
-    #else
-    /** Implicit constructor from any dense expression */
-    template<typename Derived>
-    inline Ref(DenseBase<Derived>& expr)
-    #endif
-    {
-      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
-      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      EIGEN_STATIC_ASSERT(!Derived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
-      Base::construct(expr.const_cast_derived());
-    }
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Ref)
-
-};
-
-// this is the const ref version
-template<typename TPlainObjectType, int Options, typename StrideType> class Ref<const TPlainObjectType, Options, StrideType>
-  : public RefBase<Ref<const TPlainObjectType, Options, StrideType> >
-{
-    typedef internal::traits<Ref> Traits;
-  public:
-
-    typedef RefBase<Ref> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Ref)
-
-    template<typename Derived>
-    EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
-                                 typename internal::enable_if<bool(Traits::template match<Derived>::ScalarTypeMatch),Derived>::type* = 0)
-    {
-//      std::cout << match_helper<Derived>::HasDirectAccess << "," << match_helper<Derived>::OuterStrideMatch << "," << match_helper<Derived>::InnerStrideMatch << "\n";
-//      std::cout << int(StrideType::OuterStrideAtCompileTime) << " - " << int(Derived::OuterStrideAtCompileTime) << "\n";
-//      std::cout << int(StrideType::InnerStrideAtCompileTime) << " - " << int(Derived::InnerStrideAtCompileTime) << "\n";
-      construct(expr.derived(), typename Traits::template match<Derived>::type());
-    }
-
-    EIGEN_DEVICE_FUNC inline Ref(const Ref& other) : Base(other) {
-      // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
-    }
-
-    template<typename OtherRef>
-    EIGEN_DEVICE_FUNC inline Ref(const RefBase<OtherRef>& other) {
-      construct(other.derived(), typename Traits::template match<OtherRef>::type());
-    }
-
-  protected:
-
-    template<typename Expression>
-    EIGEN_DEVICE_FUNC void construct(const Expression& expr,internal::true_type)
-    {
-      Base::construct(expr);
-    }
-
-    template<typename Expression>
-    EIGEN_DEVICE_FUNC void construct(const Expression& expr, internal::false_type)
-    {
-      internal::call_assignment_no_alias(m_object,expr,internal::assign_op<Scalar,Scalar>());
-      Base::construct(m_object);
-    }
-
-  protected:
-    TPlainObjectType m_object;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_REF_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Replicate.h b/phonelibs/eigen/Eigen/src/Core/Replicate.h
deleted file mode 100644
index 9960ef884ef68f..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Replicate.h
+++ /dev/null
@@ -1,142 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_REPLICATE_H
-#define EIGEN_REPLICATE_H
-
-namespace Eigen { 
-
-namespace internal {
-template<typename MatrixType,int RowFactor,int ColFactor>
-struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
- : traits<MatrixType>
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename traits<MatrixType>::StorageKind StorageKind;
-  typedef typename traits<MatrixType>::XprKind XprKind;
-  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic
-                      ? Dynamic
-                      : RowFactor * MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = ColFactor==Dynamic || int(MatrixType::ColsAtCompileTime)==Dynamic
-                      ? Dynamic
-                      : ColFactor * MatrixType::ColsAtCompileTime,
-   //FIXME we don't propagate the max sizes !!!
-    MaxRowsAtCompileTime = RowsAtCompileTime,
-    MaxColsAtCompileTime = ColsAtCompileTime,
-    IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1
-               : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0
-               : (MatrixType::Flags & RowMajorBit) ? 1 : 0,
-    
-    // FIXME enable DirectAccess with negative strides?
-    Flags = IsRowMajor ? RowMajorBit : 0
-  };
-};
-}
-
-/**
-  * \class Replicate
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the multiple replication of a matrix or vector
-  *
-  * \tparam MatrixType the type of the object we are replicating
-  * \tparam RowFactor number of repetitions at compile time along the vertical direction, can be Dynamic.
-  * \tparam ColFactor number of repetitions at compile time along the horizontal direction, can be Dynamic.
-  *
-  * This class represents an expression of the multiple replication of a matrix or vector.
-  * It is the return type of DenseBase::replicate() and most of the time
-  * this is the only way it is used.
-  *
-  * \sa DenseBase::replicate()
-  */
-template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
-  : public internal::dense_xpr_base< Replicate<MatrixType,RowFactor,ColFactor> >::type
-{
-    typedef typename internal::traits<Replicate>::MatrixTypeNested MatrixTypeNested;
-    typedef typename internal::traits<Replicate>::_MatrixTypeNested _MatrixTypeNested;
-  public:
-
-    typedef typename internal::dense_xpr_base<Replicate>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Replicate)
-    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
-
-    template<typename OriginalMatrixType>
-    EIGEN_DEVICE_FUNC
-    inline explicit Replicate(const OriginalMatrixType& matrix)
-      : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
-                          THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
-      eigen_assert(RowFactor!=Dynamic && ColFactor!=Dynamic);
-    }
-
-    template<typename OriginalMatrixType>
-    EIGEN_DEVICE_FUNC
-    inline Replicate(const OriginalMatrixType& matrix, Index rowFactor, Index colFactor)
-      : m_matrix(matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
-                          THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); }
-
-    EIGEN_DEVICE_FUNC
-    const _MatrixTypeNested& nestedExpression() const
-    { 
-      return m_matrix; 
-    }
-
-  protected:
-    MatrixTypeNested m_matrix;
-    const internal::variable_if_dynamic<Index, RowFactor> m_rowFactor;
-    const internal::variable_if_dynamic<Index, ColFactor> m_colFactor;
-};
-
-/**
-  * \return an expression of the replication of \c *this
-  *
-  * Example: \include MatrixBase_replicate.cpp
-  * Output: \verbinclude MatrixBase_replicate.out
-  *
-  * \sa VectorwiseOp::replicate(), DenseBase::replicate(Index,Index), class Replicate
-  */
-template<typename Derived>
-template<int RowFactor, int ColFactor>
-const Replicate<Derived,RowFactor,ColFactor>
-DenseBase<Derived>::replicate() const
-{
-  return Replicate<Derived,RowFactor,ColFactor>(derived());
-}
-
-/**
-  * \return an expression of the replication of each column (or row) of \c *this
-  *
-  * Example: \include DirectionWise_replicate_int.cpp
-  * Output: \verbinclude DirectionWise_replicate_int.out
-  *
-  * \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate
-  */
-template<typename ExpressionType, int Direction>
-const typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
-VectorwiseOp<ExpressionType,Direction>::replicate(Index factor) const
-{
-  return typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
-          (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_REPLICATE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/ReturnByValue.h b/phonelibs/eigen/Eigen/src/Core/ReturnByValue.h
deleted file mode 100644
index c44b7673bb3ef6..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/ReturnByValue.h
+++ /dev/null
@@ -1,117 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_RETURNBYVALUE_H
-#define EIGEN_RETURNBYVALUE_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename Derived>
-struct traits<ReturnByValue<Derived> >
-  : public traits<typename traits<Derived>::ReturnType>
-{
-  enum {
-    // We're disabling the DirectAccess because e.g. the constructor of
-    // the Block-with-DirectAccess expression requires to have a coeffRef method.
-    // Also, we don't want to have to implement the stride stuff.
-    Flags = (traits<typename traits<Derived>::ReturnType>::Flags
-             | EvalBeforeNestingBit) & ~DirectAccessBit
-  };
-};
-
-/* The ReturnByValue object doesn't even have a coeff() method.
- * So the only way that nesting it in an expression can work, is by evaluating it into a plain matrix.
- * So internal::nested always gives the plain return matrix type.
- *
- * FIXME: I don't understand why we need this specialization: isn't this taken care of by the EvalBeforeNestingBit ??
- * Answer: EvalBeforeNestingBit should be deprecated since we have the evaluators
- */
-template<typename Derived,int n,typename PlainObject>
-struct nested_eval<ReturnByValue<Derived>, n, PlainObject>
-{
-  typedef typename traits<Derived>::ReturnType type;
-};
-
-} // end namespace internal
-
-/** \class ReturnByValue
-  * \ingroup Core_Module
-  *
-  */
-template<typename Derived> class ReturnByValue
-  : public internal::dense_xpr_base< ReturnByValue<Derived> >::type, internal::no_assignment_operator
-{
-  public:
-    typedef typename internal::traits<Derived>::ReturnType ReturnType;
-
-    typedef typename internal::dense_xpr_base<ReturnByValue>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(ReturnByValue)
-
-    template<typename Dest>
-    EIGEN_DEVICE_FUNC
-    inline void evalTo(Dest& dst) const
-    { static_cast<const Derived*>(this)->evalTo(dst); }
-    EIGEN_DEVICE_FUNC inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-#define Unusable YOU_ARE_TRYING_TO_ACCESS_A_SINGLE_COEFFICIENT_IN_A_SPECIAL_EXPRESSION_WHERE_THAT_IS_NOT_ALLOWED_BECAUSE_THAT_WOULD_BE_INEFFICIENT
-    class Unusable{
-      Unusable(const Unusable&) {}
-      Unusable& operator=(const Unusable&) {return *this;}
-    };
-    const Unusable& coeff(Index) const { return *reinterpret_cast<const Unusable*>(this); }
-    const Unusable& coeff(Index,Index) const { return *reinterpret_cast<const Unusable*>(this); }
-    Unusable& coeffRef(Index) { return *reinterpret_cast<Unusable*>(this); }
-    Unusable& coeffRef(Index,Index) { return *reinterpret_cast<Unusable*>(this); }
-#undef Unusable
-#endif
-};
-
-template<typename Derived>
-template<typename OtherDerived>
-Derived& DenseBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
-{
-  other.evalTo(derived());
-  return derived();
-}
-
-namespace internal {
-
-// Expression is evaluated in a temporary; default implementation of Assignment is bypassed so that
-// when a ReturnByValue expression is assigned, the evaluator is not constructed.
-// TODO: Finalize port to new regime; ReturnByValue should not exist in the expression world
-  
-template<typename Derived>
-struct evaluator<ReturnByValue<Derived> >
-  : public evaluator<typename internal::traits<Derived>::ReturnType>
-{
-  typedef ReturnByValue<Derived> XprType;
-  typedef typename internal::traits<Derived>::ReturnType PlainObject;
-  typedef evaluator<PlainObject> Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
-    : m_result(xpr.rows(), xpr.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    xpr.evalTo(m_result);
-  }
-
-protected:
-  PlainObject m_result;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_RETURNBYVALUE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Reverse.h b/phonelibs/eigen/Eigen/src/Core/Reverse.h
deleted file mode 100644
index 0640cda2a1509e..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Reverse.h
+++ /dev/null
@@ -1,211 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Ricard Marxer <email@ricardmarxer.com>
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_REVERSE_H
-#define EIGEN_REVERSE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename MatrixType, int Direction>
-struct traits<Reverse<MatrixType, Direction> >
- : traits<MatrixType>
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename traits<MatrixType>::StorageKind StorageKind;
-  typedef typename traits<MatrixType>::XprKind XprKind;
-  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    Flags = _MatrixTypeNested::Flags & (RowMajorBit | LvalueBit)
-  };
-};
-
-template<typename PacketType, bool ReversePacket> struct reverse_packet_cond
-{
-  static inline PacketType run(const PacketType& x) { return preverse(x); }
-};
-
-template<typename PacketType> struct reverse_packet_cond<PacketType,false>
-{
-  static inline PacketType run(const PacketType& x) { return x; }
-};
-
-} // end namespace internal 
-
-/** \class Reverse
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the reverse of a vector or matrix
-  *
-  * \tparam MatrixType the type of the object of which we are taking the reverse
-  * \tparam Direction defines the direction of the reverse operation, can be Vertical, Horizontal, or BothDirections
-  *
-  * This class represents an expression of the reverse of a vector.
-  * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
-  */
-template<typename MatrixType, int Direction> class Reverse
-  : public internal::dense_xpr_base< Reverse<MatrixType, Direction> >::type
-{
-  public:
-
-    typedef typename internal::dense_xpr_base<Reverse>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Reverse)
-    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
-    using Base::IsRowMajor;
-
-  protected:
-    enum {
-      PacketSize = internal::packet_traits<Scalar>::size,
-      IsColMajor = !IsRowMajor,
-      ReverseRow = (Direction == Vertical)   || (Direction == BothDirections),
-      ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
-      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
-      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1,
-      ReversePacket = (Direction == BothDirections)
-                    || ((Direction == Vertical)   && IsColMajor)
-                    || ((Direction == Horizontal) && IsRowMajor)
-    };
-    typedef internal::reverse_packet_cond<PacketScalar,ReversePacket> reverse_packet;
-  public:
-
-    EIGEN_DEVICE_FUNC explicit inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { }
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse)
-
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols(); }
-
-    EIGEN_DEVICE_FUNC inline Index innerStride() const
-    {
-      return -m_matrix.innerStride();
-    }
-
-    EIGEN_DEVICE_FUNC const typename internal::remove_all<typename MatrixType::Nested>::type&
-    nestedExpression() const 
-    {
-      return m_matrix;
-    }
-
-  protected:
-    typename MatrixType::Nested m_matrix;
-};
-
-/** \returns an expression of the reverse of *this.
-  *
-  * Example: \include MatrixBase_reverse.cpp
-  * Output: \verbinclude MatrixBase_reverse.out
-  *
-  */
-template<typename Derived>
-inline typename DenseBase<Derived>::ReverseReturnType
-DenseBase<Derived>::reverse()
-{
-  return ReverseReturnType(derived());
-}
-
-
-//reverse const overload moved DenseBase.h due to a CUDA compiler bug
-
-/** This is the "in place" version of reverse: it reverses \c *this.
-  *
-  * In most cases it is probably better to simply use the reversed expression
-  * of a matrix. However, when reversing the matrix data itself is really needed,
-  * then this "in-place" version is probably the right choice because it provides
-  * the following additional benefits:
-  *  - less error prone: doing the same operation with .reverse() requires special care:
-  *    \code m = m.reverse().eval(); \endcode
-  *  - this API enables reverse operations without the need for a temporary
-  *  - it allows future optimizations (cache friendliness, etc.)
-  *
-  * \sa VectorwiseOp::reverseInPlace(), reverse() */
-template<typename Derived>
-inline void DenseBase<Derived>::reverseInPlace()
-{
-  if(cols()>rows())
-  {
-    Index half = cols()/2;
-    leftCols(half).swap(rightCols(half).reverse());
-    if((cols()%2)==1)
-    {
-      Index half2 = rows()/2;
-      col(half).head(half2).swap(col(half).tail(half2).reverse());
-    }
-  }
-  else
-  {
-    Index half = rows()/2;
-    topRows(half).swap(bottomRows(half).reverse());
-    if((rows()%2)==1)
-    {
-      Index half2 = cols()/2;
-      row(half).head(half2).swap(row(half).tail(half2).reverse());
-    }
-  }
-}
-
-namespace internal {
-  
-template<int Direction>
-struct vectorwise_reverse_inplace_impl;
-
-template<>
-struct vectorwise_reverse_inplace_impl<Vertical>
-{
-  template<typename ExpressionType>
-  static void run(ExpressionType &xpr)
-  {
-    Index half = xpr.rows()/2;
-    xpr.topRows(half).swap(xpr.bottomRows(half).colwise().reverse());
-  }
-};
-
-template<>
-struct vectorwise_reverse_inplace_impl<Horizontal>
-{
-  template<typename ExpressionType>
-  static void run(ExpressionType &xpr)
-  {
-    Index half = xpr.cols()/2;
-    xpr.leftCols(half).swap(xpr.rightCols(half).rowwise().reverse());
-  }
-};
-
-} // end namespace internal
-
-/** This is the "in place" version of VectorwiseOp::reverse: it reverses each column or row of \c *this.
-  *
-  * In most cases it is probably better to simply use the reversed expression
-  * of a matrix. However, when reversing the matrix data itself is really needed,
-  * then this "in-place" version is probably the right choice because it provides
-  * the following additional benefits:
-  *  - less error prone: doing the same operation with .reverse() requires special care:
-  *    \code m = m.reverse().eval(); \endcode
-  *  - this API enables reverse operations without the need for a temporary
-  *
-  * \sa DenseBase::reverseInPlace(), reverse() */
-template<typename ExpressionType, int Direction>
-void VectorwiseOp<ExpressionType,Direction>::reverseInPlace()
-{
-  internal::vectorwise_reverse_inplace_impl<Direction>::run(_expression().const_cast_derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_REVERSE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Select.h b/phonelibs/eigen/Eigen/src/Core/Select.h
deleted file mode 100644
index 79eec1b5b0e08a..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Select.h
+++ /dev/null
@@ -1,162 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SELECT_H
-#define EIGEN_SELECT_H
-
-namespace Eigen { 
-
-/** \class Select
-  * \ingroup Core_Module
-  *
-  * \brief Expression of a coefficient wise version of the C++ ternary operator ?:
-  *
-  * \param ConditionMatrixType the type of the \em condition expression which must be a boolean matrix
-  * \param ThenMatrixType the type of the \em then expression
-  * \param ElseMatrixType the type of the \em else expression
-  *
-  * This class represents an expression of a coefficient wise version of the C++ ternary operator ?:.
-  * It is the return type of DenseBase::select() and most of the time this is the only way it is used.
-  *
-  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const
-  */
-
-namespace internal {
-template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
-struct traits<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
- : traits<ThenMatrixType>
-{
-  typedef typename traits<ThenMatrixType>::Scalar Scalar;
-  typedef Dense StorageKind;
-  typedef typename traits<ThenMatrixType>::XprKind XprKind;
-  typedef typename ConditionMatrixType::Nested ConditionMatrixNested;
-  typedef typename ThenMatrixType::Nested ThenMatrixNested;
-  typedef typename ElseMatrixType::Nested ElseMatrixNested;
-  enum {
-    RowsAtCompileTime = ConditionMatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = ConditionMatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = ConditionMatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = ConditionMatrixType::MaxColsAtCompileTime,
-    Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & RowMajorBit
-  };
-};
-}
-
-template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
-class Select : public internal::dense_xpr_base< Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >::type,
-               internal::no_assignment_operator
-{
-  public:
-
-    typedef typename internal::dense_xpr_base<Select>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Select)
-
-    inline EIGEN_DEVICE_FUNC
-    Select(const ConditionMatrixType& a_conditionMatrix,
-           const ThenMatrixType& a_thenMatrix,
-           const ElseMatrixType& a_elseMatrix)
-      : m_condition(a_conditionMatrix), m_then(a_thenMatrix), m_else(a_elseMatrix)
-    {
-      eigen_assert(m_condition.rows() == m_then.rows() && m_condition.rows() == m_else.rows());
-      eigen_assert(m_condition.cols() == m_then.cols() && m_condition.cols() == m_else.cols());
-    }
-
-    inline EIGEN_DEVICE_FUNC Index rows() const { return m_condition.rows(); }
-    inline EIGEN_DEVICE_FUNC Index cols() const { return m_condition.cols(); }
-
-    inline EIGEN_DEVICE_FUNC
-    const Scalar coeff(Index i, Index j) const
-    {
-      if (m_condition.coeff(i,j))
-        return m_then.coeff(i,j);
-      else
-        return m_else.coeff(i,j);
-    }
-
-    inline EIGEN_DEVICE_FUNC
-    const Scalar coeff(Index i) const
-    {
-      if (m_condition.coeff(i))
-        return m_then.coeff(i);
-      else
-        return m_else.coeff(i);
-    }
-
-    inline EIGEN_DEVICE_FUNC const ConditionMatrixType& conditionMatrix() const
-    {
-      return m_condition;
-    }
-
-    inline EIGEN_DEVICE_FUNC const ThenMatrixType& thenMatrix() const
-    {
-      return m_then;
-    }
-
-    inline EIGEN_DEVICE_FUNC const ElseMatrixType& elseMatrix() const
-    {
-      return m_else;
-    }
-
-  protected:
-    typename ConditionMatrixType::Nested m_condition;
-    typename ThenMatrixType::Nested m_then;
-    typename ElseMatrixType::Nested m_else;
-};
-
-
-/** \returns a matrix where each coefficient (i,j) is equal to \a thenMatrix(i,j)
-  * if \c *this(i,j), and \a elseMatrix(i,j) otherwise.
-  *
-  * Example: \include MatrixBase_select.cpp
-  * Output: \verbinclude MatrixBase_select.out
-  *
-  * \sa class Select
-  */
-template<typename Derived>
-template<typename ThenDerived,typename ElseDerived>
-inline const Select<Derived,ThenDerived,ElseDerived>
-DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
-                            const DenseBase<ElseDerived>& elseMatrix) const
-{
-  return Select<Derived,ThenDerived,ElseDerived>(derived(), thenMatrix.derived(), elseMatrix.derived());
-}
-
-/** Version of DenseBase::select(const DenseBase&, const DenseBase&) with
-  * the \em else expression being a scalar value.
-  *
-  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const, class Select
-  */
-template<typename Derived>
-template<typename ThenDerived>
-inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
-DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
-                           const typename ThenDerived::Scalar& elseScalar) const
-{
-  return Select<Derived,ThenDerived,typename ThenDerived::ConstantReturnType>(
-    derived(), thenMatrix.derived(), ThenDerived::Constant(rows(),cols(),elseScalar));
-}
-
-/** Version of DenseBase::select(const DenseBase&, const DenseBase&) with
-  * the \em then expression being a scalar value.
-  *
-  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const, class Select
-  */
-template<typename Derived>
-template<typename ElseDerived>
-inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
-DenseBase<Derived>::select(const typename ElseDerived::Scalar& thenScalar,
-                           const DenseBase<ElseDerived>& elseMatrix) const
-{
-  return Select<Derived,typename ElseDerived::ConstantReturnType,ElseDerived>(
-    derived(), ElseDerived::Constant(rows(),cols(),thenScalar), elseMatrix.derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELECT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/SelfAdjointView.h b/phonelibs/eigen/Eigen/src/Core/SelfAdjointView.h
deleted file mode 100644
index 504c98f0ec9ae6..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/SelfAdjointView.h
+++ /dev/null
@@ -1,350 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SELFADJOINTMATRIX_H
-#define EIGEN_SELFADJOINTMATRIX_H
-
-namespace Eigen { 
-
-/** \class SelfAdjointView
-  * \ingroup Core_Module
-  *
-  *
-  * \brief Expression of a selfadjoint matrix from a triangular part of a dense matrix
-  *
-  * \param MatrixType the type of the dense matrix storing the coefficients
-  * \param TriangularPart can be either \c #Lower or \c #Upper
-  *
-  * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
-  * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
-  * and most of the time this is the only way that it is used.
-  *
-  * \sa class TriangularBase, MatrixBase::selfadjointView()
-  */
-
-namespace internal {
-template<typename MatrixType, unsigned int UpLo>
-struct traits<SelfAdjointView<MatrixType, UpLo> > : traits<MatrixType>
-{
-  typedef typename ref_selector<MatrixType>::non_const_type MatrixTypeNested;
-  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
-  typedef MatrixType ExpressionType;
-  typedef typename MatrixType::PlainObject FullMatrixType;
-  enum {
-    Mode = UpLo | SelfAdjoint,
-    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags =  MatrixTypeNestedCleaned::Flags & (HereditaryBits|FlagsLvalueBit)
-           & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)) // FIXME these flags should be preserved
-  };
-};
-}
-
-
-template<typename _MatrixType, unsigned int UpLo> class SelfAdjointView
-  : public TriangularBase<SelfAdjointView<_MatrixType, UpLo> >
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    typedef TriangularBase<SelfAdjointView> Base;
-    typedef typename internal::traits<SelfAdjointView>::MatrixTypeNested MatrixTypeNested;
-    typedef typename internal::traits<SelfAdjointView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
-    typedef MatrixTypeNestedCleaned NestedExpression;
-
-    /** \brief The type of coefficients in this matrix */
-    typedef typename internal::traits<SelfAdjointView>::Scalar Scalar; 
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
-
-    enum {
-      Mode = internal::traits<SelfAdjointView>::Mode,
-      Flags = internal::traits<SelfAdjointView>::Flags,
-      TransposeMode = ((Mode & Upper) ? Lower : 0) | ((Mode & Lower) ? Upper : 0)
-    };
-    typedef typename MatrixType::PlainObject PlainObject;
-
-    EIGEN_DEVICE_FUNC
-    explicit inline SelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
-    {}
-
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_matrix.rows(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_matrix.cols(); }
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return m_matrix.outerStride(); }
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return m_matrix.innerStride(); }
-
-    /** \sa MatrixBase::coeff()
-      * \warning the coordinates must fit into the referenced triangular part
-      */
-    EIGEN_DEVICE_FUNC
-    inline Scalar coeff(Index row, Index col) const
-    {
-      Base::check_coordinates_internal(row, col);
-      return m_matrix.coeff(row, col);
-    }
-
-    /** \sa MatrixBase::coeffRef()
-      * \warning the coordinates must fit into the referenced triangular part
-      */
-    EIGEN_DEVICE_FUNC
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(SelfAdjointView);
-      Base::check_coordinates_internal(row, col);
-      return m_matrix.coeffRef(row, col);
-    }
-
-    /** \internal */
-    EIGEN_DEVICE_FUNC
-    const MatrixTypeNestedCleaned& _expression() const { return m_matrix; }
-
-    EIGEN_DEVICE_FUNC
-    const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
-    EIGEN_DEVICE_FUNC
-    MatrixTypeNestedCleaned& nestedExpression() { return m_matrix; }
-
-    /** Efficient triangular matrix times vector/matrix product */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    const Product<SelfAdjointView,OtherDerived>
-    operator*(const MatrixBase<OtherDerived>& rhs) const
-    {
-      return Product<SelfAdjointView,OtherDerived>(*this, rhs.derived());
-    }
-
-    /** Efficient vector/matrix times triangular matrix product */
-    template<typename OtherDerived> friend
-    EIGEN_DEVICE_FUNC
-    const Product<OtherDerived,SelfAdjointView>
-    operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView& rhs)
-    {
-      return Product<OtherDerived,SelfAdjointView>(lhs.derived(),rhs);
-    }
-    
-    friend EIGEN_DEVICE_FUNC
-    const SelfAdjointView<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,MatrixType,product),UpLo>
-    operator*(const Scalar& s, const SelfAdjointView& mat)
-    {
-      return (s*mat.nestedExpression()).template selfadjointView<UpLo>();
-    }
-
-    /** Perform a symmetric rank 2 update of the selfadjoint matrix \c *this:
-      * \f$ this = this + \alpha u v^* + conj(\alpha) v u^* \f$
-      * \returns a reference to \c *this
-      *
-      * The vectors \a u and \c v \b must be column vectors, however they can be
-      * a adjoint expression without any overhead. Only the meaningful triangular
-      * part of the matrix is updated, the rest is left unchanged.
-      *
-      * \sa rankUpdate(const MatrixBase<DerivedU>&, Scalar)
-      */
-    template<typename DerivedU, typename DerivedV>
-    EIGEN_DEVICE_FUNC
-    SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, const Scalar& alpha = Scalar(1));
-
-    /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
-      * \f$ this = this + \alpha ( u u^* ) \f$ where \a u is a vector or matrix.
-      *
-      * \returns a reference to \c *this
-      *
-      * Note that to perform \f$ this = this + \alpha ( u^* u ) \f$ you can simply
-      * call this function with u.adjoint().
-      *
-      * \sa rankUpdate(const MatrixBase<DerivedU>&, const MatrixBase<DerivedV>&, Scalar)
-      */
-    template<typename DerivedU>
-    EIGEN_DEVICE_FUNC
-    SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const Scalar& alpha = Scalar(1));
-
-    /** \returns an expression of a triangular view extracted from the current selfadjoint view of a given triangular part
-      *
-      * The parameter \a TriMode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
-      * \c #Lower, \c #StrictlyLower, \c #UnitLower.
-      *
-      * If \c TriMode references the same triangular part than \c *this, then this method simply return a \c TriangularView of the nested expression,
-      * otherwise, the nested expression is first transposed, thus returning a \c TriangularView<Transpose<MatrixType>> object.
-      *
-      * \sa MatrixBase::triangularView(), class TriangularView
-      */
-    template<unsigned int TriMode>
-    EIGEN_DEVICE_FUNC
-    typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)),
-                                   TriangularView<MatrixType,TriMode>,
-                                   TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type
-    triangularView() const
-    {
-      typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)), MatrixType&, typename MatrixType::ConstTransposeReturnType>::type tmp1(m_matrix);
-      typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)), MatrixType&, typename MatrixType::AdjointReturnType>::type tmp2(tmp1);
-      return typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)),
-                                   TriangularView<MatrixType,TriMode>,
-                                   TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type(tmp2);
-    }
-
-    typedef SelfAdjointView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
-    /** \sa MatrixBase::conjugate() const */
-    EIGEN_DEVICE_FUNC
-    inline const ConjugateReturnType conjugate() const
-    { return ConjugateReturnType(m_matrix.conjugate()); }
-
-    typedef SelfAdjointView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
-    /** \sa MatrixBase::adjoint() const */
-    EIGEN_DEVICE_FUNC
-    inline const AdjointReturnType adjoint() const
-    { return AdjointReturnType(m_matrix.adjoint()); }
-
-    typedef SelfAdjointView<typename MatrixType::TransposeReturnType,TransposeMode> TransposeReturnType;
-     /** \sa MatrixBase::transpose() */
-    EIGEN_DEVICE_FUNC
-    inline TransposeReturnType transpose()
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      typename MatrixType::TransposeReturnType tmp(m_matrix);
-      return TransposeReturnType(tmp);
-    }
-
-    typedef SelfAdjointView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
-    /** \sa MatrixBase::transpose() const */
-    EIGEN_DEVICE_FUNC
-    inline const ConstTransposeReturnType transpose() const
-    {
-      return ConstTransposeReturnType(m_matrix.transpose());
-    }
-
-    /** \returns a const expression of the main diagonal of the matrix \c *this
-      *
-      * This method simply returns the diagonal of the nested expression, thus by-passing the SelfAdjointView decorator.
-      *
-      * \sa MatrixBase::diagonal(), class Diagonal */
-    EIGEN_DEVICE_FUNC
-    typename MatrixType::ConstDiagonalReturnType diagonal() const
-    {
-      return typename MatrixType::ConstDiagonalReturnType(m_matrix);
-    }
-
-/////////// Cholesky module ///////////
-
-    const LLT<PlainObject, UpLo> llt() const;
-    const LDLT<PlainObject, UpLo> ldlt() const;
-
-/////////// Eigenvalue module ///////////
-
-    /** Real part of #Scalar */
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    /** Return type of eigenvalues() */
-    typedef Matrix<RealScalar, internal::traits<MatrixType>::ColsAtCompileTime, 1> EigenvaluesReturnType;
-
-    EIGEN_DEVICE_FUNC
-    EigenvaluesReturnType eigenvalues() const;
-    EIGEN_DEVICE_FUNC
-    RealScalar operatorNorm() const;
-
-  protected:
-    MatrixTypeNested m_matrix;
-};
-
-
-// template<typename OtherDerived, typename MatrixType, unsigned int UpLo>
-// internal::selfadjoint_matrix_product_returntype<OtherDerived,SelfAdjointView<MatrixType,UpLo> >
-// operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView<MatrixType,UpLo>& rhs)
-// {
-//   return internal::matrix_selfadjoint_product_returntype<OtherDerived,SelfAdjointView<MatrixType,UpLo> >(lhs.derived(),rhs);
-// }
-
-// selfadjoint to dense matrix
-
-namespace internal {
-
-// TODO currently a selfadjoint expression has the form SelfAdjointView<.,.>
-//      in the future selfadjoint-ness should be defined by the expression traits
-//      such that Transpose<SelfAdjointView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
-template<typename MatrixType, unsigned int Mode>
-struct evaluator_traits<SelfAdjointView<MatrixType,Mode> >
-{
-  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
-  typedef SelfAdjointShape Shape;
-};
-
-template<int UpLo, int SetOpposite, typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version>
-class triangular_dense_assignment_kernel<UpLo,SelfAdjoint,SetOpposite,DstEvaluatorTypeT,SrcEvaluatorTypeT,Functor,Version>
-  : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>
-{
-protected:
-  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version> Base;
-  typedef typename Base::DstXprType DstXprType;
-  typedef typename Base::SrcXprType SrcXprType;
-  using Base::m_dst;
-  using Base::m_src;
-  using Base::m_functor;
-public:
-  
-  typedef typename Base::DstEvaluatorType DstEvaluatorType;
-  typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
-  typedef typename Base::Scalar Scalar;
-  typedef typename Base::AssignmentTraits AssignmentTraits;
-  
-  
-  EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
-    : Base(dst, src, func, dstExpr)
-  {}
-  
-  EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
-  {
-    eigen_internal_assert(row!=col);
-    Scalar tmp = m_src.coeff(row,col);
-    m_functor.assignCoeff(m_dst.coeffRef(row,col), tmp);
-    m_functor.assignCoeff(m_dst.coeffRef(col,row), numext::conj(tmp));
-  }
-  
-  EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
-  {
-    Base::assignCoeff(id,id);
-  }
-  
-  EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index, Index)
-  { eigen_internal_assert(false && "should never be called"); }
-};
-
-} // end namespace internal
-
-/***************************************************************************
-* Implementation of MatrixBase methods
-***************************************************************************/
-
-/** This is the const version of MatrixBase::selfadjointView() */
-template<typename Derived>
-template<unsigned int UpLo>
-typename MatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type
-MatrixBase<Derived>::selfadjointView() const
-{
-  return typename ConstSelfAdjointViewReturnType<UpLo>::Type(derived());
-}
-
-/** \returns an expression of a symmetric/self-adjoint view extracted from the upper or lower triangular part of the current matrix
-  *
-  * The parameter \a UpLo can be either \c #Upper or \c #Lower
-  *
-  * Example: \include MatrixBase_selfadjointView.cpp
-  * Output: \verbinclude MatrixBase_selfadjointView.out
-  *
-  * \sa class SelfAdjointView
-  */
-template<typename Derived>
-template<unsigned int UpLo>
-typename MatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type
-MatrixBase<Derived>::selfadjointView()
-{
-  return typename SelfAdjointViewReturnType<UpLo>::Type(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINTMATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/SelfCwiseBinaryOp.h b/phonelibs/eigen/Eigen/src/Core/SelfCwiseBinaryOp.h
deleted file mode 100644
index 719ed72a527340..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/SelfCwiseBinaryOp.h
+++ /dev/null
@@ -1,51 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SELFCWISEBINARYOP_H
-#define EIGEN_SELFCWISEBINARYOP_H
-
-namespace Eigen { 
-
-// TODO generalize the scalar type of 'other'
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator*=(const Scalar& other)
-{
-  typedef typename Derived::PlainObject PlainObject;
-  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
-  return derived();
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator+=(const Scalar& other)
-{
-  typedef typename Derived::PlainObject PlainObject;
-  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::add_assign_op<Scalar,Scalar>());
-  return derived();
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator-=(const Scalar& other)
-{
-  typedef typename Derived::PlainObject PlainObject;
-  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::sub_assign_op<Scalar,Scalar>());
-  return derived();
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator/=(const Scalar& other)
-{
-  typedef typename Derived::PlainObject PlainObject;
-  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::div_assign_op<Scalar,Scalar>());
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFCWISEBINARYOP_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Solve.h b/phonelibs/eigen/Eigen/src/Core/Solve.h
deleted file mode 100644
index 960a585970b008..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Solve.h
+++ /dev/null
@@ -1,188 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SOLVE_H
-#define EIGEN_SOLVE_H
-
-namespace Eigen {
-
-template<typename Decomposition, typename RhsType, typename StorageKind> class SolveImpl;
-  
-/** \class Solve
-  * \ingroup Core_Module
-  *
-  * \brief Pseudo expression representing a solving operation
-  *
-  * \tparam Decomposition the type of the matrix or decomposion object
-  * \tparam Rhstype the type of the right-hand side
-  *
-  * This class represents an expression of A.solve(B)
-  * and most of the time this is the only way it is used.
-  *
-  */
-namespace internal {
-
-// this solve_traits class permits to determine the evaluation type with respect to storage kind (Dense vs Sparse)
-template<typename Decomposition, typename RhsType,typename StorageKind> struct solve_traits;
-
-template<typename Decomposition, typename RhsType>
-struct solve_traits<Decomposition,RhsType,Dense>
-{
-  typedef Matrix<typename RhsType::Scalar,
-                 Decomposition::ColsAtCompileTime,
-                 RhsType::ColsAtCompileTime,
-                 RhsType::PlainObject::Options,
-                 Decomposition::MaxColsAtCompileTime,
-                 RhsType::MaxColsAtCompileTime> PlainObject;  
-};
-
-template<typename Decomposition, typename RhsType>
-struct traits<Solve<Decomposition, RhsType> >
-  : traits<typename solve_traits<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>::PlainObject>
-{
-  typedef typename solve_traits<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>::PlainObject PlainObject;
-  typedef typename promote_index_type<typename Decomposition::StorageIndex, typename RhsType::StorageIndex>::type StorageIndex;
-  typedef traits<PlainObject> BaseTraits;
-  enum {
-    Flags = BaseTraits::Flags & RowMajorBit,
-    CoeffReadCost = HugeCost
-  };
-};
-
-}
-
-
-template<typename Decomposition, typename RhsType>
-class Solve : public SolveImpl<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>
-{
-public:
-  typedef typename internal::traits<Solve>::PlainObject PlainObject;
-  typedef typename internal::traits<Solve>::StorageIndex StorageIndex;
-  
-  Solve(const Decomposition &dec, const RhsType &rhs)
-    : m_dec(dec), m_rhs(rhs)
-  {}
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
-
-  EIGEN_DEVICE_FUNC const Decomposition& dec() const { return m_dec; }
-  EIGEN_DEVICE_FUNC const RhsType&       rhs() const { return m_rhs; }
-
-protected:
-  const Decomposition &m_dec;
-  const RhsType       &m_rhs;
-};
-
-
-// Specialization of the Solve expression for dense results
-template<typename Decomposition, typename RhsType>
-class SolveImpl<Decomposition,RhsType,Dense>
-  : public MatrixBase<Solve<Decomposition,RhsType> >
-{
-  typedef Solve<Decomposition,RhsType> Derived;
-  
-public:
-  
-  typedef MatrixBase<Solve<Decomposition,RhsType> > Base;
-  EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
-
-private:
-  
-  Scalar coeff(Index row, Index col) const;
-  Scalar coeff(Index i) const;
-};
-
-// Generic API dispatcher
-template<typename Decomposition, typename RhsType, typename StorageKind>
-class SolveImpl : public internal::generic_xpr_base<Solve<Decomposition,RhsType>, MatrixXpr, StorageKind>::type
-{
-  public:
-    typedef typename internal::generic_xpr_base<Solve<Decomposition,RhsType>, MatrixXpr, StorageKind>::type Base;
-};
-
-namespace internal {
-
-// Evaluator of Solve -> eval into a temporary
-template<typename Decomposition, typename RhsType>
-struct evaluator<Solve<Decomposition,RhsType> >
-  : public evaluator<typename Solve<Decomposition,RhsType>::PlainObject>
-{
-  typedef Solve<Decomposition,RhsType> SolveType;
-  typedef typename SolveType::PlainObject PlainObject;
-  typedef evaluator<PlainObject> Base;
-
-  enum { Flags = Base::Flags | EvalBeforeNestingBit };
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const SolveType& solve)
-    : m_result(solve.rows(), solve.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    solve.dec()._solve_impl(solve.rhs(), m_result);
-  }
-  
-protected:  
-  PlainObject m_result;
-};
-
-// Specialization for "dst = dec.solve(rhs)"
-// NOTE we need to specialize it for Dense2Dense to avoid ambiguous specialization error and a Sparse2Sparse specialization must exist somewhere
-template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
-struct Assignment<DstXprType, Solve<DecType,RhsType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
-{
-  typedef Solve<DecType,RhsType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    src.dec()._solve_impl(src.rhs(), dst);
-  }
-};
-
-// Specialization for "dst = dec.transpose().solve(rhs)"
-template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
-struct Assignment<DstXprType, Solve<Transpose<const DecType>,RhsType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
-{
-  typedef Solve<Transpose<const DecType>,RhsType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    src.dec().nestedExpression().template _solve_impl_transposed<false>(src.rhs(), dst);
-  }
-};
-
-// Specialization for "dst = dec.adjoint().solve(rhs)"
-template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
-struct Assignment<DstXprType, Solve<CwiseUnaryOp<internal::scalar_conjugate_op<typename DecType::Scalar>, const Transpose<const DecType> >,RhsType>,
-                  internal::assign_op<Scalar,Scalar>, Dense2Dense>
-{
-  typedef Solve<CwiseUnaryOp<internal::scalar_conjugate_op<typename DecType::Scalar>, const Transpose<const DecType> >,RhsType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-    
-    src.dec().nestedExpression().nestedExpression().template _solve_impl_transposed<true>(src.rhs(), dst);
-  }
-};
-
-} // end namepsace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SOLVE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/SolveTriangular.h b/phonelibs/eigen/Eigen/src/Core/SolveTriangular.h
deleted file mode 100644
index 049890b2507fa8..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/SolveTriangular.h
+++ /dev/null
@@ -1,232 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SOLVETRIANGULAR_H
-#define EIGEN_SOLVETRIANGULAR_H
-
-namespace Eigen { 
-
-namespace internal {
-
-// Forward declarations:
-// The following two routines are implemented in the products/TriangularSolver*.h files
-template<typename LhsScalar, typename RhsScalar, typename Index, int Side, int Mode, bool Conjugate, int StorageOrder>
-struct triangular_solve_vector;
-
-template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder, int OtherStorageOrder>
-struct triangular_solve_matrix;
-
-// small helper struct extracting some traits on the underlying solver operation
-template<typename Lhs, typename Rhs, int Side>
-class trsolve_traits
-{
-  private:
-    enum {
-      RhsIsVectorAtCompileTime = (Side==OnTheLeft ? Rhs::ColsAtCompileTime : Rhs::RowsAtCompileTime)==1
-    };
-  public:
-    enum {
-      Unrolling   = (RhsIsVectorAtCompileTime && Rhs::SizeAtCompileTime != Dynamic && Rhs::SizeAtCompileTime <= 8)
-                  ? CompleteUnrolling : NoUnrolling,
-      RhsVectors  = RhsIsVectorAtCompileTime ? 1 : Dynamic
-    };
-};
-
-template<typename Lhs, typename Rhs,
-  int Side, // can be OnTheLeft/OnTheRight
-  int Mode, // can be Upper/Lower | UnitDiag
-  int Unrolling = trsolve_traits<Lhs,Rhs,Side>::Unrolling,
-  int RhsVectors = trsolve_traits<Lhs,Rhs,Side>::RhsVectors
-  >
-struct triangular_solver_selector;
-
-template<typename Lhs, typename Rhs, int Side, int Mode>
-struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,1>
-{
-  typedef typename Lhs::Scalar LhsScalar;
-  typedef typename Rhs::Scalar RhsScalar;
-  typedef blas_traits<Lhs> LhsProductTraits;
-  typedef typename LhsProductTraits::ExtractType ActualLhsType;
-  typedef Map<Matrix<RhsScalar,Dynamic,1>, Aligned> MappedRhs;
-  static void run(const Lhs& lhs, Rhs& rhs)
-  {
-    ActualLhsType actualLhs = LhsProductTraits::extract(lhs);
-
-    // FIXME find a way to allow an inner stride if packet_traits<Scalar>::size==1
-
-    bool useRhsDirectly = Rhs::InnerStrideAtCompileTime==1 || rhs.innerStride()==1;
-
-    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhs,rhs.size(),
-                                                  (useRhsDirectly ? rhs.data() : 0));
-                                                  
-    if(!useRhsDirectly)
-      MappedRhs(actualRhs,rhs.size()) = rhs;
-
-    triangular_solve_vector<LhsScalar, RhsScalar, Index, Side, Mode, LhsProductTraits::NeedToConjugate,
-                            (int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor>
-      ::run(actualLhs.cols(), actualLhs.data(), actualLhs.outerStride(), actualRhs);
-
-    if(!useRhsDirectly)
-      rhs = MappedRhs(actualRhs, rhs.size());
-  }
-};
-
-// the rhs is a matrix
-template<typename Lhs, typename Rhs, int Side, int Mode>
-struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
-{
-  typedef typename Rhs::Scalar Scalar;
-  typedef blas_traits<Lhs> LhsProductTraits;
-  typedef typename LhsProductTraits::DirectLinearAccessType ActualLhsType;
-
-  static void run(const Lhs& lhs, Rhs& rhs)
-  {
-    typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsProductTraits::extract(lhs);
-
-    const Index size = lhs.rows();
-    const Index othersize = Side==OnTheLeft? rhs.cols() : rhs.rows();
-
-    typedef internal::gemm_blocking_space<(Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
-              Rhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxRowsAtCompileTime,4> BlockingType;
-
-    BlockingType blocking(rhs.rows(), rhs.cols(), size, 1, false);
-
-    triangular_solve_matrix<Scalar,Index,Side,Mode,LhsProductTraits::NeedToConjugate,(int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor,
-                               (Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor>
-      ::run(size, othersize, &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &rhs.coeffRef(0,0), rhs.outerStride(), blocking);
-  }
-};
-
-/***************************************************************************
-* meta-unrolling implementation
-***************************************************************************/
-
-template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size,
-         bool Stop = LoopIndex==Size>
-struct triangular_solver_unroller;
-
-template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
-struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,false> {
-  enum {
-    IsLower = ((Mode&Lower)==Lower),
-    DiagIndex  = IsLower ? LoopIndex : Size - LoopIndex - 1,
-    StartIndex = IsLower ? 0         : DiagIndex+1
-  };
-  static void run(const Lhs& lhs, Rhs& rhs)
-  {
-    if (LoopIndex>0)
-      rhs.coeffRef(DiagIndex) -= lhs.row(DiagIndex).template segment<LoopIndex>(StartIndex).transpose()
-                                .cwiseProduct(rhs.template segment<LoopIndex>(StartIndex)).sum();
-
-    if(!(Mode & UnitDiag))
-      rhs.coeffRef(DiagIndex) /= lhs.coeff(DiagIndex,DiagIndex);
-
-    triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex+1,Size>::run(lhs,rhs);
-  }
-};
-
-template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
-struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,true> {
-  static void run(const Lhs&, Rhs&) {}
-};
-
-template<typename Lhs, typename Rhs, int Mode>
-struct triangular_solver_selector<Lhs,Rhs,OnTheLeft,Mode,CompleteUnrolling,1> {
-  static void run(const Lhs& lhs, Rhs& rhs)
-  { triangular_solver_unroller<Lhs,Rhs,Mode,0,Rhs::SizeAtCompileTime>::run(lhs,rhs); }
-};
-
-template<typename Lhs, typename Rhs, int Mode>
-struct triangular_solver_selector<Lhs,Rhs,OnTheRight,Mode,CompleteUnrolling,1> {
-  static void run(const Lhs& lhs, Rhs& rhs)
-  {
-    Transpose<const Lhs> trLhs(lhs);
-    Transpose<Rhs> trRhs(rhs);
-    
-    triangular_solver_unroller<Transpose<const Lhs>,Transpose<Rhs>,
-                              ((Mode&Upper)==Upper ? Lower : Upper) | (Mode&UnitDiag),
-                              0,Rhs::SizeAtCompileTime>::run(trLhs,trRhs);
-  }
-};
-
-} // end namespace internal
-
-/***************************************************************************
-* TriangularView methods
-***************************************************************************/
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename MatrixType, unsigned int Mode>
-template<int Side, typename OtherDerived>
-void TriangularViewImpl<MatrixType,Mode,Dense>::solveInPlace(const MatrixBase<OtherDerived>& _other) const
-{
-  OtherDerived& other = _other.const_cast_derived();
-  eigen_assert( derived().cols() == derived().rows() && ((Side==OnTheLeft && derived().cols() == other.rows()) || (Side==OnTheRight && derived().cols() == other.cols())) );
-  eigen_assert((!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
-
-  enum { copy = (internal::traits<OtherDerived>::Flags & RowMajorBit)  && OtherDerived::IsVectorAtCompileTime && OtherDerived::SizeAtCompileTime!=1};
-  typedef typename internal::conditional<copy,
-    typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
-  OtherCopy otherCopy(other);
-
-  internal::triangular_solver_selector<MatrixType, typename internal::remove_reference<OtherCopy>::type,
-    Side, Mode>::run(derived().nestedExpression(), otherCopy);
-
-  if (copy)
-    other = otherCopy;
-}
-
-template<typename Derived, unsigned int Mode>
-template<int Side, typename Other>
-const internal::triangular_solve_retval<Side,TriangularView<Derived,Mode>,Other>
-TriangularViewImpl<Derived,Mode,Dense>::solve(const MatrixBase<Other>& other) const
-{
-  return internal::triangular_solve_retval<Side,TriangularViewType,Other>(derived(), other.derived());
-}
-#endif
-
-namespace internal {
-
-
-template<int Side, typename TriangularType, typename Rhs>
-struct traits<triangular_solve_retval<Side, TriangularType, Rhs> >
-{
-  typedef typename internal::plain_matrix_type_column_major<Rhs>::type ReturnType;
-};
-
-template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval
- : public ReturnByValue<triangular_solve_retval<Side, TriangularType, Rhs> >
-{
-  typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
-  typedef ReturnByValue<triangular_solve_retval> Base;
-
-  triangular_solve_retval(const TriangularType& tri, const Rhs& rhs)
-    : m_triangularMatrix(tri), m_rhs(rhs)
-  {}
-
-  inline Index rows() const { return m_rhs.rows(); }
-  inline Index cols() const { return m_rhs.cols(); }
-
-  template<typename Dest> inline void evalTo(Dest& dst) const
-  {
-    if(!is_same_dense(dst,m_rhs))
-      dst = m_rhs;
-    m_triangularMatrix.template solveInPlace<Side>(dst);
-  }
-
-  protected:
-    const TriangularType& m_triangularMatrix;
-    typename Rhs::Nested m_rhs;
-};
-
-} // namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SOLVETRIANGULAR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/SolverBase.h b/phonelibs/eigen/Eigen/src/Core/SolverBase.h
deleted file mode 100644
index 8a4adc22973768..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/SolverBase.h
+++ /dev/null
@@ -1,130 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SOLVERBASE_H
-#define EIGEN_SOLVERBASE_H
-
-namespace Eigen {
-
-namespace internal {
-
-
-
-} // end namespace internal
-
-/** \class SolverBase
-  * \brief A base class for matrix decomposition and solvers
-  *
-  * \tparam Derived the actual type of the decomposition/solver.
-  *
-  * Any matrix decomposition inheriting this base class provide the following API:
-  *
-  * \code
-  * MatrixType A, b, x;
-  * DecompositionType dec(A);
-  * x = dec.solve(b);             // solve A   * x = b
-  * x = dec.transpose().solve(b); // solve A^T * x = b
-  * x = dec.adjoint().solve(b);   // solve A'  * x = b
-  * \endcode
-  *
-  * \warning Currently, any other usage of transpose() and adjoint() are not supported and will produce compilation errors.
-  *
-  * \sa class PartialPivLU, class FullPivLU
-  */
-template<typename Derived>
-class SolverBase : public EigenBase<Derived>
-{
-  public:
-
-    typedef EigenBase<Derived> Base;
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef Scalar CoeffReturnType;
-
-    enum {
-      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
-      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
-      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
-                                                          internal::traits<Derived>::ColsAtCompileTime>::ret),
-      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
-      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
-                                                             internal::traits<Derived>::MaxColsAtCompileTime>::ret),
-      IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
-                           || internal::traits<Derived>::MaxColsAtCompileTime == 1
-    };
-
-    /** Default constructor */
-    SolverBase()
-    {}
-
-    ~SolverBase()
-    {}
-
-    using Base::derived;
-
-    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      */
-    template<typename Rhs>
-    inline const Solve<Derived, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
-      return Solve<Derived, Rhs>(derived(), b.derived());
-    }
-
-    /** \internal the return type of transpose() */
-    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
-    /** \returns an expression of the transposed of the factored matrix.
-      *
-      * A typical usage is to solve for the transposed problem A^T x = b:
-      * \code x = dec.transpose().solve(b); \endcode
-      *
-      * \sa adjoint(), solve()
-      */
-    inline ConstTransposeReturnType transpose() const
-    {
-      return ConstTransposeReturnType(derived());
-    }
-
-    /** \internal the return type of adjoint() */
-    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
-                        ConstTransposeReturnType
-                     >::type AdjointReturnType;
-    /** \returns an expression of the adjoint of the factored matrix
-      *
-      * A typical usage is to solve for the adjoint problem A' x = b:
-      * \code x = dec.adjoint().solve(b); \endcode
-      *
-      * For real scalar types, this function is equivalent to transpose().
-      *
-      * \sa transpose(), solve()
-      */
-    inline AdjointReturnType adjoint() const
-    {
-      return AdjointReturnType(derived().transpose());
-    }
-
-  protected:
-};
-
-namespace internal {
-
-template<typename Derived>
-struct generic_xpr_base<Derived, MatrixXpr, SolverStorage>
-{
-  typedef SolverBase<Derived> type;
-
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SOLVERBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/StableNorm.h b/phonelibs/eigen/Eigen/src/Core/StableNorm.h
deleted file mode 100644
index d2fe1e1998e237..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/StableNorm.h
+++ /dev/null
@@ -1,220 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STABLENORM_H
-#define EIGEN_STABLENORM_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename ExpressionType, typename Scalar>
-inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& scale, Scalar& invScale)
-{
-  Scalar maxCoeff = bl.cwiseAbs().maxCoeff();
-  
-  if(maxCoeff>scale)
-  {
-    ssq = ssq * numext::abs2(scale/maxCoeff);
-    Scalar tmp = Scalar(1)/maxCoeff;
-    if(tmp > NumTraits<Scalar>::highest())
-    {
-      invScale = NumTraits<Scalar>::highest();
-      scale = Scalar(1)/invScale;
-    }
-    else if(maxCoeff>NumTraits<Scalar>::highest()) // we got a INF
-    {
-      invScale = Scalar(1);
-      scale = maxCoeff;
-    }
-    else
-    {
-      scale = maxCoeff;
-      invScale = tmp;
-    }
-  }
-  else if(maxCoeff!=maxCoeff) // we got a NaN
-  {
-    scale = maxCoeff;
-  }
-  
-  // TODO if the maxCoeff is much much smaller than the current scale,
-  // then we can neglect this sub vector
-  if(scale>Scalar(0)) // if scale==0, then bl is 0 
-    ssq += (bl*invScale).squaredNorm();
-}
-
-template<typename Derived>
-inline typename NumTraits<typename traits<Derived>::Scalar>::Real
-blueNorm_impl(const EigenBase<Derived>& _vec)
-{
-  typedef typename Derived::RealScalar RealScalar;  
-  using std::pow;
-  using std::sqrt;
-  using std::abs;
-  const Derived& vec(_vec.derived());
-  static bool initialized = false;
-  static RealScalar b1, b2, s1m, s2m, rbig, relerr;
-  if(!initialized)
-  {
-    int ibeta, it, iemin, iemax, iexp;
-    RealScalar eps;
-    // This program calculates the machine-dependent constants
-    // bl, b2, slm, s2m, relerr overfl
-    // from the "basic" machine-dependent numbers
-    // nbig, ibeta, it, iemin, iemax, rbig.
-    // The following define the basic machine-dependent constants.
-    // For portability, the PORT subprograms "ilmaeh" and "rlmach"
-    // are used. For any specific computer, each of the assignment
-    // statements can be replaced
-    ibeta = std::numeric_limits<RealScalar>::radix;                 // base for floating-point numbers
-    it    = std::numeric_limits<RealScalar>::digits;                // number of base-beta digits in mantissa
-    iemin = std::numeric_limits<RealScalar>::min_exponent;          // minimum exponent
-    iemax = std::numeric_limits<RealScalar>::max_exponent;          // maximum exponent
-    rbig  = (std::numeric_limits<RealScalar>::max)();               // largest floating-point number
-
-    iexp  = -((1-iemin)/2);
-    b1    = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));    // lower boundary of midrange
-    iexp  = (iemax + 1 - it)/2;
-    b2    = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));    // upper boundary of midrange
-
-    iexp  = (2-iemin)/2;
-    s1m   = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));    // scaling factor for lower range
-    iexp  = - ((iemax+it)/2);
-    s2m   = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));    // scaling factor for upper range
-
-    eps     = RealScalar(pow(double(ibeta), 1-it));
-    relerr  = sqrt(eps);                                            // tolerance for neglecting asml
-    initialized = true;
-  }
-  Index n = vec.size();
-  RealScalar ab2 = b2 / RealScalar(n);
-  RealScalar asml = RealScalar(0);
-  RealScalar amed = RealScalar(0);
-  RealScalar abig = RealScalar(0);
-  for(typename Derived::InnerIterator it(vec, 0); it; ++it)
-  {
-    RealScalar ax = abs(it.value());
-    if(ax > ab2)     abig += numext::abs2(ax*s2m);
-    else if(ax < b1) asml += numext::abs2(ax*s1m);
-    else             amed += numext::abs2(ax);
-  }
-  if(amed!=amed)
-    return amed;  // we got a NaN
-  if(abig > RealScalar(0))
-  {
-    abig = sqrt(abig);
-    if(abig > rbig) // overflow, or *this contains INF values
-      return abig;  // return INF
-    if(amed > RealScalar(0))
-    {
-      abig = abig/s2m;
-      amed = sqrt(amed);
-    }
-    else
-      return abig/s2m;
-  }
-  else if(asml > RealScalar(0))
-  {
-    if (amed > RealScalar(0))
-    {
-      abig = sqrt(amed);
-      amed = sqrt(asml) / s1m;
-    }
-    else
-      return sqrt(asml)/s1m;
-  }
-  else
-    return sqrt(amed);
-  asml = numext::mini(abig, amed);
-  abig = numext::maxi(abig, amed);
-  if(asml <= abig*relerr)
-    return abig;
-  else
-    return abig * sqrt(RealScalar(1) + numext::abs2(asml/abig));
-}
-
-} // end namespace internal
-
-/** \returns the \em l2 norm of \c *this avoiding underflow and overflow.
-  * This version use a blockwise two passes algorithm:
-  *  1 - find the absolute largest coefficient \c s
-  *  2 - compute \f$ s \Vert \frac{*this}{s} \Vert \f$ in a standard way
-  *
-  * For architecture/scalar types supporting vectorization, this version
-  * is faster than blueNorm(). Otherwise the blueNorm() is much faster.
-  *
-  * \sa norm(), blueNorm(), hypotNorm()
-  */
-template<typename Derived>
-inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
-MatrixBase<Derived>::stableNorm() const
-{
-  using std::sqrt;
-  using std::abs;
-  const Index blockSize = 4096;
-  RealScalar scale(0);
-  RealScalar invScale(1);
-  RealScalar ssq(0); // sum of square
-  
-  typedef typename internal::nested_eval<Derived,2>::type DerivedCopy;
-  typedef typename internal::remove_all<DerivedCopy>::type DerivedCopyClean;
-  DerivedCopy copy(derived());
-  
-  enum {
-    CanAlign = (   (int(DerivedCopyClean::Flags)&DirectAccessBit)
-                || (int(internal::evaluator<DerivedCopyClean>::Alignment)>0) // FIXME Alignment)>0 might not be enough
-               ) && (blockSize*sizeof(Scalar)*2<EIGEN_STACK_ALLOCATION_LIMIT) // ifwe cannot allocate on the stack, then let's not bother about this optimization
-  };
-  typedef typename internal::conditional<CanAlign, Ref<const Matrix<Scalar,Dynamic,1,0,blockSize,1>, internal::evaluator<DerivedCopyClean>::Alignment>,
-                                                   typename DerivedCopyClean::ConstSegmentReturnType>::type SegmentWrapper;
-  Index n = size();
-  
-  if(n==1)
-    return abs(this->coeff(0));
-  
-  Index bi = internal::first_default_aligned(copy);
-  if (bi>0)
-    internal::stable_norm_kernel(copy.head(bi), ssq, scale, invScale);
-  for (; bi<n; bi+=blockSize)
-    internal::stable_norm_kernel(SegmentWrapper(copy.segment(bi,numext::mini(blockSize, n - bi))), ssq, scale, invScale);
-  return scale * sqrt(ssq);
-}
-
-/** \returns the \em l2 norm of \c *this using the Blue's algorithm.
-  * A Portable Fortran Program to Find the Euclidean Norm of a Vector,
-  * ACM TOMS, Vol 4, Issue 1, 1978.
-  *
-  * For architecture/scalar types without vectorization, this version
-  * is much faster than stableNorm(). Otherwise the stableNorm() is faster.
-  *
-  * \sa norm(), stableNorm(), hypotNorm()
-  */
-template<typename Derived>
-inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
-MatrixBase<Derived>::blueNorm() const
-{
-  return internal::blueNorm_impl(*this);
-}
-
-/** \returns the \em l2 norm of \c *this avoiding undeflow and overflow.
-  * This version use a concatenation of hypot() calls, and it is very slow.
-  *
-  * \sa norm(), stableNorm()
-  */
-template<typename Derived>
-inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
-MatrixBase<Derived>::hypotNorm() const
-{
-  return this->cwiseAbs().redux(internal::scalar_hypot_op<RealScalar>());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_STABLENORM_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Stride.h b/phonelibs/eigen/Eigen/src/Core/Stride.h
deleted file mode 100644
index 513742f34b9acd..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Stride.h
+++ /dev/null
@@ -1,111 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STRIDE_H
-#define EIGEN_STRIDE_H
-
-namespace Eigen { 
-
-/** \class Stride
-  * \ingroup Core_Module
-  *
-  * \brief Holds strides information for Map
-  *
-  * This class holds the strides information for mapping arrays with strides with class Map.
-  *
-  * It holds two values: the inner stride and the outer stride.
-  *
-  * The inner stride is the pointer increment between two consecutive entries within a given row of a
-  * row-major matrix or within a given column of a column-major matrix.
-  *
-  * The outer stride is the pointer increment between two consecutive rows of a row-major matrix or
-  * between two consecutive columns of a column-major matrix.
-  *
-  * These two values can be passed either at compile-time as template parameters, or at runtime as
-  * arguments to the constructor.
-  *
-  * Indeed, this class takes two template parameters:
-  *  \tparam _OuterStrideAtCompileTime the outer stride, or Dynamic if you want to specify it at runtime.
-  *  \tparam _InnerStrideAtCompileTime the inner stride, or Dynamic if you want to specify it at runtime.
-  *
-  * Here is an example:
-  * \include Map_general_stride.cpp
-  * Output: \verbinclude Map_general_stride.out
-  *
-  * \sa class InnerStride, class OuterStride, \ref TopicStorageOrders
-  */
-template<int _OuterStrideAtCompileTime, int _InnerStrideAtCompileTime>
-class Stride
-{
-  public:
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    enum {
-      InnerStrideAtCompileTime = _InnerStrideAtCompileTime,
-      OuterStrideAtCompileTime = _OuterStrideAtCompileTime
-    };
-
-    /** Default constructor, for use when strides are fixed at compile time */
-    EIGEN_DEVICE_FUNC
-    Stride()
-      : m_outer(OuterStrideAtCompileTime), m_inner(InnerStrideAtCompileTime)
-    {
-      eigen_assert(InnerStrideAtCompileTime != Dynamic && OuterStrideAtCompileTime != Dynamic);
-    }
-
-    /** Constructor allowing to pass the strides at runtime */
-    EIGEN_DEVICE_FUNC
-    Stride(Index outerStride, Index innerStride)
-      : m_outer(outerStride), m_inner(innerStride)
-    {
-      eigen_assert(innerStride>=0 && outerStride>=0);
-    }
-
-    /** Copy constructor */
-    EIGEN_DEVICE_FUNC
-    Stride(const Stride& other)
-      : m_outer(other.outer()), m_inner(other.inner())
-    {}
-
-    /** \returns the outer stride */
-    EIGEN_DEVICE_FUNC
-    inline Index outer() const { return m_outer.value(); }
-    /** \returns the inner stride */
-    EIGEN_DEVICE_FUNC
-    inline Index inner() const { return m_inner.value(); }
-
-  protected:
-    internal::variable_if_dynamic<Index, OuterStrideAtCompileTime> m_outer;
-    internal::variable_if_dynamic<Index, InnerStrideAtCompileTime> m_inner;
-};
-
-/** \brief Convenience specialization of Stride to specify only an inner stride
-  * See class Map for some examples */
-template<int Value>
-class InnerStride : public Stride<0, Value>
-{
-    typedef Stride<0, Value> Base;
-  public:
-    EIGEN_DEVICE_FUNC InnerStride() : Base() {}
-    EIGEN_DEVICE_FUNC InnerStride(Index v) : Base(0, v) {} // FIXME making this explicit could break valid code
-};
-
-/** \brief Convenience specialization of Stride to specify only an outer stride
-  * See class Map for some examples */
-template<int Value>
-class OuterStride : public Stride<Value, 0>
-{
-    typedef Stride<Value, 0> Base;
-  public:
-    EIGEN_DEVICE_FUNC OuterStride() : Base() {}
-    EIGEN_DEVICE_FUNC OuterStride(Index v) : Base(v,0) {} // FIXME making this explicit could break valid code
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_STRIDE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Swap.h b/phonelibs/eigen/Eigen/src/Core/Swap.h
deleted file mode 100644
index d702009185ec79..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Swap.h
+++ /dev/null
@@ -1,67 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SWAP_H
-#define EIGEN_SWAP_H
-
-namespace Eigen { 
-
-namespace internal {
-
-// Overload default assignPacket behavior for swapping them
-template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT>
-class generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, Specialized>
- : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, BuiltIn>
-{
-protected:
-  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, BuiltIn> Base;
-  using Base::m_dst;
-  using Base::m_src;
-  using Base::m_functor;
-  
-public:
-  typedef typename Base::Scalar Scalar;
-  typedef typename Base::DstXprType DstXprType;
-  typedef swap_assign_op<Scalar> Functor;
-  
-  EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorTypeT &dst, const SrcEvaluatorTypeT &src, const Functor &func, DstXprType& dstExpr)
-    : Base(dst, src, func, dstExpr)
-  {}
-  
-  template<int StoreMode, int LoadMode, typename PacketType>
-  void assignPacket(Index row, Index col)
-  {
-    PacketType tmp = m_src.template packet<LoadMode,PacketType>(row,col);
-    const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(row,col, m_dst.template packet<StoreMode,PacketType>(row,col));
-    m_dst.template writePacket<StoreMode>(row,col,tmp);
-  }
-  
-  template<int StoreMode, int LoadMode, typename PacketType>
-  void assignPacket(Index index)
-  {
-    PacketType tmp = m_src.template packet<LoadMode,PacketType>(index);
-    const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(index, m_dst.template packet<StoreMode,PacketType>(index));
-    m_dst.template writePacket<StoreMode>(index,tmp);
-  }
-  
-  // TODO find a simple way not to have to copy/paste this function from generic_dense_assignment_kernel, by simple I mean no CRTP (Gael)
-  template<int StoreMode, int LoadMode, typename PacketType>
-  void assignPacketByOuterInner(Index outer, Index inner)
-  {
-    Index row = Base::rowIndexByOuterInner(outer, inner); 
-    Index col = Base::colIndexByOuterInner(outer, inner);
-    assignPacket<StoreMode,LoadMode,PacketType>(row, col);
-  }
-};
-
-} // namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SWAP_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Transpose.h b/phonelibs/eigen/Eigen/src/Core/Transpose.h
deleted file mode 100644
index 79b767bccae332..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Transpose.h
+++ /dev/null
@@ -1,403 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRANSPOSE_H
-#define EIGEN_TRANSPOSE_H
-
-namespace Eigen { 
-
-namespace internal {
-template<typename MatrixType>
-struct traits<Transpose<MatrixType> > : public traits<MatrixType>
-{
-  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedPlain;
-  enum {
-    RowsAtCompileTime = MatrixType::ColsAtCompileTime,
-    ColsAtCompileTime = MatrixType::RowsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags0 = traits<MatrixTypeNestedPlain>::Flags & ~(LvalueBit | NestByRefBit),
-    Flags1 = Flags0 | FlagsLvalueBit,
-    Flags = Flags1 ^ RowMajorBit,
-    InnerStrideAtCompileTime = inner_stride_at_compile_time<MatrixType>::ret,
-    OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
-  };
-};
-}
-
-template<typename MatrixType, typename StorageKind> class TransposeImpl;
-
-/** \class Transpose
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the transpose of a matrix
-  *
-  * \tparam MatrixType the type of the object of which we are taking the transpose
-  *
-  * This class represents an expression of the transpose of a matrix.
-  * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::transpose(), MatrixBase::adjoint()
-  */
-template<typename MatrixType> class Transpose
-  : public TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>
-{
-  public:
-
-    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
-
-    typedef typename TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
-    EIGEN_GENERIC_PUBLIC_INTERFACE(Transpose)
-    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
-
-    EIGEN_DEVICE_FUNC
-    explicit inline Transpose(MatrixType& matrix) : m_matrix(matrix) {}
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)
-
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.cols(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.rows(); }
-
-    /** \returns the nested expression */
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<MatrixTypeNested>::type&
-    nestedExpression() const { return m_matrix; }
-
-    /** \returns the nested expression */
-    EIGEN_DEVICE_FUNC
-    typename internal::remove_reference<MatrixTypeNested>::type&
-    nestedExpression() { return m_matrix; }
-
-    /** \internal */
-    void resize(Index nrows, Index ncols) {
-      m_matrix.resize(ncols,nrows);
-    }
-
-  protected:
-    typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
-};
-
-namespace internal {
-
-template<typename MatrixType, bool HasDirectAccess = has_direct_access<MatrixType>::ret>
-struct TransposeImpl_base
-{
-  typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
-};
-
-template<typename MatrixType>
-struct TransposeImpl_base<MatrixType, false>
-{
-  typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
-};
-
-} // end namespace internal
-
-// Generic API dispatcher
-template<typename XprType, typename StorageKind>
-class TransposeImpl
-  : public internal::generic_xpr_base<Transpose<XprType> >::type
-{
-public:
-  typedef typename internal::generic_xpr_base<Transpose<XprType> >::type Base;
-};
-
-template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
-  : public internal::TransposeImpl_base<MatrixType>::type
-{
-  public:
-
-    typedef typename internal::TransposeImpl_base<MatrixType>::type Base;
-    using Base::coeffRef;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(TransposeImpl)
-
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
-
-    typedef typename internal::conditional<
-                       internal::is_lvalue<MatrixType>::value,
-                       Scalar,
-                       const Scalar
-                     >::type ScalarWithConstIfNotLvalue;
-
-    EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
-    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return derived().nestedExpression().data(); }
-
-    // FIXME: shall we keep the const version of coeffRef?
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index rowId, Index colId) const
-    {
-      return derived().nestedExpression().coeffRef(colId, rowId);
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index index) const
-    {
-      return derived().nestedExpression().coeffRef(index);
-    }
-};
-
-/** \returns an expression of the transpose of *this.
-  *
-  * Example: \include MatrixBase_transpose.cpp
-  * Output: \verbinclude MatrixBase_transpose.out
-  *
-  * \warning If you want to replace a matrix by its own transpose, do \b NOT do this:
-  * \code
-  * m = m.transpose(); // bug!!! caused by aliasing effect
-  * \endcode
-  * Instead, use the transposeInPlace() method:
-  * \code
-  * m.transposeInPlace();
-  * \endcode
-  * which gives Eigen good opportunities for optimization, or alternatively you can also do:
-  * \code
-  * m = m.transpose().eval();
-  * \endcode
-  *
-  * \sa transposeInPlace(), adjoint() */
-template<typename Derived>
-inline Transpose<Derived>
-DenseBase<Derived>::transpose()
-{
-  return TransposeReturnType(derived());
-}
-
-/** This is the const version of transpose().
-  *
-  * Make sure you read the warning for transpose() !
-  *
-  * \sa transposeInPlace(), adjoint() */
-template<typename Derived>
-inline typename DenseBase<Derived>::ConstTransposeReturnType
-DenseBase<Derived>::transpose() const
-{
-  return ConstTransposeReturnType(derived());
-}
-
-/** \returns an expression of the adjoint (i.e. conjugate transpose) of *this.
-  *
-  * Example: \include MatrixBase_adjoint.cpp
-  * Output: \verbinclude MatrixBase_adjoint.out
-  *
-  * \warning If you want to replace a matrix by its own adjoint, do \b NOT do this:
-  * \code
-  * m = m.adjoint(); // bug!!! caused by aliasing effect
-  * \endcode
-  * Instead, use the adjointInPlace() method:
-  * \code
-  * m.adjointInPlace();
-  * \endcode
-  * which gives Eigen good opportunities for optimization, or alternatively you can also do:
-  * \code
-  * m = m.adjoint().eval();
-  * \endcode
-  *
-  * \sa adjointInPlace(), transpose(), conjugate(), class Transpose, class internal::scalar_conjugate_op */
-template<typename Derived>
-inline const typename MatrixBase<Derived>::AdjointReturnType
-MatrixBase<Derived>::adjoint() const
-{
-  return AdjointReturnType(this->transpose());
-}
-
-/***************************************************************************
-* "in place" transpose implementation
-***************************************************************************/
-
-namespace internal {
-
-template<typename MatrixType,
-  bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic,
-  bool MatchPacketSize =
-        (int(MatrixType::RowsAtCompileTime) == int(internal::packet_traits<typename MatrixType::Scalar>::size))
-    &&  (internal::evaluator<MatrixType>::Flags&PacketAccessBit) >
-struct inplace_transpose_selector;
-
-template<typename MatrixType>
-struct inplace_transpose_selector<MatrixType,true,false> { // square matrix
-  static void run(MatrixType& m) {
-    m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
-  }
-};
-
-// TODO: vectorized path is currently limited to LargestPacketSize x LargestPacketSize cases only.
-template<typename MatrixType>
-struct inplace_transpose_selector<MatrixType,true,true> { // PacketSize x PacketSize
-  static void run(MatrixType& m) {
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename internal::packet_traits<typename MatrixType::Scalar>::type Packet;
-    const Index PacketSize = internal::packet_traits<Scalar>::size;
-    const Index Alignment = internal::evaluator<MatrixType>::Alignment;
-    PacketBlock<Packet> A;
-    for (Index i=0; i<PacketSize; ++i)
-      A.packet[i] = m.template packetByOuterInner<Alignment>(i,0);
-    internal::ptranspose(A);
-    for (Index i=0; i<PacketSize; ++i)
-      m.template writePacket<Alignment>(m.rowIndexByOuterInner(i,0), m.colIndexByOuterInner(i,0), A.packet[i]);
-  }
-};
-
-template<typename MatrixType,bool MatchPacketSize>
-struct inplace_transpose_selector<MatrixType,false,MatchPacketSize> { // non square matrix
-  static void run(MatrixType& m) {
-    if (m.rows()==m.cols())
-      m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
-    else
-      m = m.transpose().eval();
-  }
-};
-
-} // end namespace internal
-
-/** This is the "in place" version of transpose(): it replaces \c *this by its own transpose.
-  * Thus, doing
-  * \code
-  * m.transposeInPlace();
-  * \endcode
-  * has the same effect on m as doing
-  * \code
-  * m = m.transpose().eval();
-  * \endcode
-  * and is faster and also safer because in the latter line of code, forgetting the eval() results
-  * in a bug caused by \ref TopicAliasing "aliasing".
-  *
-  * Notice however that this method is only useful if you want to replace a matrix by its own transpose.
-  * If you just need the transpose of a matrix, use transpose().
-  *
-  * \note if the matrix is not square, then \c *this must be a resizable matrix. 
-  * This excludes (non-square) fixed-size matrices, block-expressions and maps.
-  *
-  * \sa transpose(), adjoint(), adjointInPlace() */
-template<typename Derived>
-inline void DenseBase<Derived>::transposeInPlace()
-{
-  eigen_assert((rows() == cols() || (RowsAtCompileTime == Dynamic && ColsAtCompileTime == Dynamic))
-               && "transposeInPlace() called on a non-square non-resizable matrix");
-  internal::inplace_transpose_selector<Derived>::run(derived());
-}
-
-/***************************************************************************
-* "in place" adjoint implementation
-***************************************************************************/
-
-/** This is the "in place" version of adjoint(): it replaces \c *this by its own transpose.
-  * Thus, doing
-  * \code
-  * m.adjointInPlace();
-  * \endcode
-  * has the same effect on m as doing
-  * \code
-  * m = m.adjoint().eval();
-  * \endcode
-  * and is faster and also safer because in the latter line of code, forgetting the eval() results
-  * in a bug caused by aliasing.
-  *
-  * Notice however that this method is only useful if you want to replace a matrix by its own adjoint.
-  * If you just need the adjoint of a matrix, use adjoint().
-  *
-  * \note if the matrix is not square, then \c *this must be a resizable matrix.
-  * This excludes (non-square) fixed-size matrices, block-expressions and maps.
-  *
-  * \sa transpose(), adjoint(), transposeInPlace() */
-template<typename Derived>
-inline void MatrixBase<Derived>::adjointInPlace()
-{
-  derived() = adjoint().eval();
-}
-
-#ifndef EIGEN_NO_DEBUG
-
-// The following is to detect aliasing problems in most common cases.
-
-namespace internal {
-
-template<bool DestIsTransposed, typename OtherDerived>
-struct check_transpose_aliasing_compile_time_selector
-{
-  enum { ret = bool(blas_traits<OtherDerived>::IsTransposed) != DestIsTransposed };
-};
-
-template<bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
-struct check_transpose_aliasing_compile_time_selector<DestIsTransposed,CwiseBinaryOp<BinOp,DerivedA,DerivedB> >
-{
-  enum { ret =    bool(blas_traits<DerivedA>::IsTransposed) != DestIsTransposed
-               || bool(blas_traits<DerivedB>::IsTransposed) != DestIsTransposed
-  };
-};
-
-template<typename Scalar, bool DestIsTransposed, typename OtherDerived>
-struct check_transpose_aliasing_run_time_selector
-{
-  static bool run(const Scalar* dest, const OtherDerived& src)
-  {
-    return (bool(blas_traits<OtherDerived>::IsTransposed) != DestIsTransposed) && (dest!=0 && dest==(const Scalar*)extract_data(src));
-  }
-};
-
-template<typename Scalar, bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
-struct check_transpose_aliasing_run_time_selector<Scalar,DestIsTransposed,CwiseBinaryOp<BinOp,DerivedA,DerivedB> >
-{
-  static bool run(const Scalar* dest, const CwiseBinaryOp<BinOp,DerivedA,DerivedB>& src)
-  {
-    return ((blas_traits<DerivedA>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(const Scalar*)extract_data(src.lhs())))
-        || ((blas_traits<DerivedB>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(const Scalar*)extract_data(src.rhs())));
-  }
-};
-
-// the following selector, checkTransposeAliasing_impl, based on MightHaveTransposeAliasing,
-// is because when the condition controlling the assert is known at compile time, ICC emits a warning.
-// This is actually a good warning: in expressions that don't have any transposing, the condition is
-// known at compile time to be false, and using that, we can avoid generating the code of the assert again
-// and again for all these expressions that don't need it.
-
-template<typename Derived, typename OtherDerived,
-         bool MightHaveTransposeAliasing
-                 = check_transpose_aliasing_compile_time_selector
-                     <blas_traits<Derived>::IsTransposed,OtherDerived>::ret
-        >
-struct checkTransposeAliasing_impl
-{
-    static void run(const Derived& dst, const OtherDerived& other)
-    {
-        eigen_assert((!check_transpose_aliasing_run_time_selector
-                      <typename Derived::Scalar,blas_traits<Derived>::IsTransposed,OtherDerived>
-                      ::run(extract_data(dst), other))
-          && "aliasing detected during transposition, use transposeInPlace() "
-             "or evaluate the rhs into a temporary using .eval()");
-
-    }
-};
-
-template<typename Derived, typename OtherDerived>
-struct checkTransposeAliasing_impl<Derived, OtherDerived, false>
-{
-    static void run(const Derived&, const OtherDerived&)
-    {
-    }
-};
-
-template<typename Dst, typename Src>
-void check_for_aliasing(const Dst &dst, const Src &src)
-{
-  internal::checkTransposeAliasing_impl<Dst, Src>::run(dst, src);
-}
-
-} // end namespace internal
-
-#endif // EIGEN_NO_DEBUG
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRANSPOSE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Transpositions.h b/phonelibs/eigen/Eigen/src/Core/Transpositions.h
deleted file mode 100644
index 19c17bb4a6f179..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Transpositions.h
+++ /dev/null
@@ -1,407 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRANSPOSITIONS_H
-#define EIGEN_TRANSPOSITIONS_H
-
-namespace Eigen { 
-
-template<typename Derived>
-class TranspositionsBase
-{
-    typedef internal::traits<Derived> Traits;
-    
-  public:
-
-    typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar StorageIndex;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-    Derived& derived() { return *static_cast<Derived*>(this); }
-    const Derived& derived() const { return *static_cast<const Derived*>(this); }
-
-    /** Copies the \a other transpositions into \c *this */
-    template<typename OtherDerived>
-    Derived& operator=(const TranspositionsBase<OtherDerived>& other)
-    {
-      indices() = other.indices();
-      return derived();
-    }
-    
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    Derived& operator=(const TranspositionsBase& other)
-    {
-      indices() = other.indices();
-      return derived();
-    }
-    #endif
-
-    /** \returns the number of transpositions */
-    Index size() const { return indices().size(); }
-    /** \returns the number of rows of the equivalent permutation matrix */
-    Index rows() const { return indices().size(); }
-    /** \returns the number of columns of the equivalent permutation matrix */
-    Index cols() const { return indices().size(); }
-
-    /** Direct access to the underlying index vector */
-    inline const StorageIndex& coeff(Index i) const { return indices().coeff(i); }
-    /** Direct access to the underlying index vector */
-    inline StorageIndex& coeffRef(Index i) { return indices().coeffRef(i); }
-    /** Direct access to the underlying index vector */
-    inline const StorageIndex& operator()(Index i) const { return indices()(i); }
-    /** Direct access to the underlying index vector */
-    inline StorageIndex& operator()(Index i) { return indices()(i); }
-    /** Direct access to the underlying index vector */
-    inline const StorageIndex& operator[](Index i) const { return indices()(i); }
-    /** Direct access to the underlying index vector */
-    inline StorageIndex& operator[](Index i) { return indices()(i); }
-
-    /** const version of indices(). */
-    const IndicesType& indices() const { return derived().indices(); }
-    /** \returns a reference to the stored array representing the transpositions. */
-    IndicesType& indices() { return derived().indices(); }
-
-    /** Resizes to given size. */
-    inline void resize(Index newSize)
-    {
-      indices().resize(newSize);
-    }
-
-    /** Sets \c *this to represents an identity transformation */
-    void setIdentity()
-    {
-      for(StorageIndex i = 0; i < indices().size(); ++i)
-        coeffRef(i) = i;
-    }
-
-    // FIXME: do we want such methods ?
-    // might be usefull when the target matrix expression is complex, e.g.:
-    // object.matrix().block(..,..,..,..) = trans * object.matrix().block(..,..,..,..);
-    /*
-    template<typename MatrixType>
-    void applyForwardToRows(MatrixType& mat) const
-    {
-      for(Index k=0 ; k<size() ; ++k)
-        if(m_indices(k)!=k)
-          mat.row(k).swap(mat.row(m_indices(k)));
-    }
-
-    template<typename MatrixType>
-    void applyBackwardToRows(MatrixType& mat) const
-    {
-      for(Index k=size()-1 ; k>=0 ; --k)
-        if(m_indices(k)!=k)
-          mat.row(k).swap(mat.row(m_indices(k)));
-    }
-    */
-
-    /** \returns the inverse transformation */
-    inline Transpose<TranspositionsBase> inverse() const
-    { return Transpose<TranspositionsBase>(derived()); }
-
-    /** \returns the tranpose transformation */
-    inline Transpose<TranspositionsBase> transpose() const
-    { return Transpose<TranspositionsBase>(derived()); }
-
-  protected:
-};
-
-namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
-struct traits<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
- : traits<PermutationMatrix<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
-{
-  typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
-  typedef TranspositionsStorage StorageKind;
-};
-}
-
-/** \class Transpositions
-  * \ingroup Core_Module
-  *
-  * \brief Represents a sequence of transpositions (row/column interchange)
-  *
-  * \tparam SizeAtCompileTime the number of transpositions, or Dynamic
-  * \tparam MaxSizeAtCompileTime the maximum number of transpositions, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
-  *
-  * This class represents a permutation transformation as a sequence of \em n transpositions
-  * \f$[T_{n-1} \ldots T_{i} \ldots T_{0}]\f$. It is internally stored as a vector of integers \c indices.
-  * Each transposition \f$ T_{i} \f$ applied on the left of a matrix (\f$ T_{i} M\f$) interchanges
-  * the rows \c i and \c indices[i] of the matrix \c M.
-  * A transposition applied on the right (e.g., \f$ M T_{i}\f$) yields a column interchange.
-  *
-  * Compared to the class PermutationMatrix, such a sequence of transpositions is what is
-  * computed during a decomposition with pivoting, and it is faster when applying the permutation in-place.
-  *
-  * To apply a sequence of transpositions to a matrix, simply use the operator * as in the following example:
-  * \code
-  * Transpositions tr;
-  * MatrixXf mat;
-  * mat = tr * mat;
-  * \endcode
-  * In this example, we detect that the matrix appears on both side, and so the transpositions
-  * are applied in-place without any temporary or extra copy.
-  *
-  * \sa class PermutationMatrix
-  */
-
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
-class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
-{
-    typedef internal::traits<Transpositions> Traits;
-  public:
-
-    typedef TranspositionsBase<Transpositions> Base;
-    typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar StorageIndex;
-
-    inline Transpositions() {}
-
-    /** Copy constructor. */
-    template<typename OtherDerived>
-    inline Transpositions(const TranspositionsBase<OtherDerived>& other)
-      : m_indices(other.indices()) {}
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** Standard copy constructor. Defined only to prevent a default copy constructor
-      * from hiding the other templated constructor */
-    inline Transpositions(const Transpositions& other) : m_indices(other.indices()) {}
-    #endif
-
-    /** Generic constructor from expression of the transposition indices. */
-    template<typename Other>
-    explicit inline Transpositions(const MatrixBase<Other>& indices) : m_indices(indices)
-    {}
-
-    /** Copies the \a other transpositions into \c *this */
-    template<typename OtherDerived>
-    Transpositions& operator=(const TranspositionsBase<OtherDerived>& other)
-    {
-      return Base::operator=(other);
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    Transpositions& operator=(const Transpositions& other)
-    {
-      m_indices = other.m_indices;
-      return *this;
-    }
-    #endif
-
-    /** Constructs an uninitialized permutation matrix of given size.
-      */
-    inline Transpositions(Index size) : m_indices(size)
-    {}
-
-    /** const version of indices(). */
-    const IndicesType& indices() const { return m_indices; }
-    /** \returns a reference to the stored array representing the transpositions. */
-    IndicesType& indices() { return m_indices; }
-
-  protected:
-
-    IndicesType m_indices;
-};
-
-
-namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
-struct traits<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,_PacketAccess> >
- : traits<PermutationMatrix<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
-{
-  typedef Map<const Matrix<_StorageIndex,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1>, _PacketAccess> IndicesType;
-  typedef _StorageIndex StorageIndex;
-  typedef TranspositionsStorage StorageKind;
-};
-}
-
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int PacketAccess>
-class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,PacketAccess>
- : public TranspositionsBase<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,PacketAccess> >
-{
-    typedef internal::traits<Map> Traits;
-  public:
-
-    typedef TranspositionsBase<Map> Base;
-    typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar StorageIndex;
-
-    explicit inline Map(const StorageIndex* indicesPtr)
-      : m_indices(indicesPtr)
-    {}
-
-    inline Map(const StorageIndex* indicesPtr, Index size)
-      : m_indices(indicesPtr,size)
-    {}
-
-    /** Copies the \a other transpositions into \c *this */
-    template<typename OtherDerived>
-    Map& operator=(const TranspositionsBase<OtherDerived>& other)
-    {
-      return Base::operator=(other);
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    Map& operator=(const Map& other)
-    {
-      m_indices = other.m_indices;
-      return *this;
-    }
-    #endif
-
-    /** const version of indices(). */
-    const IndicesType& indices() const { return m_indices; }
-    
-    /** \returns a reference to the stored array representing the transpositions. */
-    IndicesType& indices() { return m_indices; }
-
-  protected:
-
-    IndicesType m_indices;
-};
-
-namespace internal {
-template<typename _IndicesType>
-struct traits<TranspositionsWrapper<_IndicesType> >
- : traits<PermutationWrapper<_IndicesType> >
-{
-  typedef TranspositionsStorage StorageKind;
-};
-}
-
-template<typename _IndicesType>
-class TranspositionsWrapper
- : public TranspositionsBase<TranspositionsWrapper<_IndicesType> >
-{
-    typedef internal::traits<TranspositionsWrapper> Traits;
-  public:
-
-    typedef TranspositionsBase<TranspositionsWrapper> Base;
-    typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar StorageIndex;
-
-    explicit inline TranspositionsWrapper(IndicesType& indices)
-      : m_indices(indices)
-    {}
-
-    /** Copies the \a other transpositions into \c *this */
-    template<typename OtherDerived>
-    TranspositionsWrapper& operator=(const TranspositionsBase<OtherDerived>& other)
-    {
-      return Base::operator=(other);
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is a special case of the templated operator=. Its purpose is to
-      * prevent a default operator= from hiding the templated operator=.
-      */
-    TranspositionsWrapper& operator=(const TranspositionsWrapper& other)
-    {
-      m_indices = other.m_indices;
-      return *this;
-    }
-    #endif
-
-    /** const version of indices(). */
-    const IndicesType& indices() const { return m_indices; }
-
-    /** \returns a reference to the stored array representing the transpositions. */
-    IndicesType& indices() { return m_indices; }
-
-  protected:
-
-    typename IndicesType::Nested m_indices;
-};
-
-
-
-/** \returns the \a matrix with the \a transpositions applied to the columns.
-  */
-template<typename MatrixDerived, typename TranspositionsDerived>
-EIGEN_DEVICE_FUNC
-const Product<MatrixDerived, TranspositionsDerived, AliasFreeProduct>
-operator*(const MatrixBase<MatrixDerived> &matrix,
-          const TranspositionsBase<TranspositionsDerived>& transpositions)
-{
-  return Product<MatrixDerived, TranspositionsDerived, AliasFreeProduct>
-            (matrix.derived(), transpositions.derived());
-}
-
-/** \returns the \a matrix with the \a transpositions applied to the rows.
-  */
-template<typename TranspositionsDerived, typename MatrixDerived>
-EIGEN_DEVICE_FUNC
-const Product<TranspositionsDerived, MatrixDerived, AliasFreeProduct>
-operator*(const TranspositionsBase<TranspositionsDerived> &transpositions,
-          const MatrixBase<MatrixDerived>& matrix)
-{
-  return Product<TranspositionsDerived, MatrixDerived, AliasFreeProduct>
-            (transpositions.derived(), matrix.derived());
-}
-
-// Template partial specialization for transposed/inverse transpositions
-
-namespace internal {
-
-template<typename Derived>
-struct traits<Transpose<TranspositionsBase<Derived> > >
- : traits<Derived>
-{};
-
-} // end namespace internal
-
-template<typename TranspositionsDerived>
-class Transpose<TranspositionsBase<TranspositionsDerived> >
-{
-    typedef TranspositionsDerived TranspositionType;
-    typedef typename TranspositionType::IndicesType IndicesType;
-  public:
-
-    explicit Transpose(const TranspositionType& t) : m_transpositions(t) {}
-
-    Index size() const { return m_transpositions.size(); }
-    Index rows() const { return m_transpositions.size(); }
-    Index cols() const { return m_transpositions.size(); }
-
-    /** \returns the \a matrix with the inverse transpositions applied to the columns.
-      */
-    template<typename OtherDerived> friend
-    const Product<OtherDerived, Transpose, AliasFreeProduct>
-    operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trt)
-    {
-      return Product<OtherDerived, Transpose, AliasFreeProduct>(matrix.derived(), trt.derived());
-    }
-
-    /** \returns the \a matrix with the inverse transpositions applied to the rows.
-      */
-    template<typename OtherDerived>
-    const Product<Transpose, OtherDerived, AliasFreeProduct>
-    operator*(const MatrixBase<OtherDerived>& matrix) const
-    {
-      return Product<Transpose, OtherDerived, AliasFreeProduct>(*this, matrix.derived());
-    }
-    
-    const TranspositionType& nestedExpression() const { return m_transpositions; }
-
-  protected:
-    const TranspositionType& m_transpositions;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRANSPOSITIONS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/TriangularMatrix.h b/phonelibs/eigen/Eigen/src/Core/TriangularMatrix.h
deleted file mode 100644
index 667ef09dc1a719..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/TriangularMatrix.h
+++ /dev/null
@@ -1,983 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRIANGULARMATRIX_H
-#define EIGEN_TRIANGULARMATRIX_H
-
-namespace Eigen { 
-
-namespace internal {
-  
-template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval;
-  
-}
-
-/** \class TriangularBase
-  * \ingroup Core_Module
-  *
-  * \brief Base class for triangular part in a matrix
-  */
-template<typename Derived> class TriangularBase : public EigenBase<Derived>
-{
-  public:
-
-    enum {
-      Mode = internal::traits<Derived>::Mode,
-      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
-      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
-      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
-      
-      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
-                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
-      /**< This is equal to the number of coefficients, i.e. the number of
-          * rows times the number of columns, or to \a Dynamic if this is not
-          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
-      
-      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
-                                                   internal::traits<Derived>::MaxColsAtCompileTime>::ret)
-        
-    };
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
-    typedef typename internal::traits<Derived>::FullMatrixType DenseMatrixType;
-    typedef DenseMatrixType DenseType;
-    typedef Derived const& Nested;
-
-    EIGEN_DEVICE_FUNC
-    inline TriangularBase() { eigen_assert(!((Mode&UnitDiag) && (Mode&ZeroDiag))); }
-
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return derived().rows(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return derived().cols(); }
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return derived().outerStride(); }
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return derived().innerStride(); }
-    
-    // dummy resize function
-    void resize(Index rows, Index cols)
-    {
-      EIGEN_UNUSED_VARIABLE(rows);
-      EIGEN_UNUSED_VARIABLE(cols);
-      eigen_assert(rows==this->rows() && cols==this->cols());
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Scalar coeff(Index row, Index col) const  { return derived().coeff(row,col); }
-    EIGEN_DEVICE_FUNC
-    inline Scalar& coeffRef(Index row, Index col) { return derived().coeffRef(row,col); }
-
-    /** \see MatrixBase::copyCoeff(row,col)
-      */
-    template<typename Other>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, Other& other)
-    {
-      derived().coeffRef(row, col) = other.coeff(row, col);
-    }
-
-    EIGEN_DEVICE_FUNC
-    inline Scalar operator()(Index row, Index col) const
-    {
-      check_coordinates(row, col);
-      return coeff(row,col);
-    }
-    EIGEN_DEVICE_FUNC
-    inline Scalar& operator()(Index row, Index col)
-    {
-      check_coordinates(row, col);
-      return coeffRef(row,col);
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    EIGEN_DEVICE_FUNC
-    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    EIGEN_DEVICE_FUNC
-    inline Derived& derived() { return *static_cast<Derived*>(this); }
-    #endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    template<typename DenseDerived>
-    EIGEN_DEVICE_FUNC
-    void evalTo(MatrixBase<DenseDerived> &other) const;
-    template<typename DenseDerived>
-    EIGEN_DEVICE_FUNC
-    void evalToLazy(MatrixBase<DenseDerived> &other) const;
-
-    EIGEN_DEVICE_FUNC
-    DenseMatrixType toDenseMatrix() const
-    {
-      DenseMatrixType res(rows(), cols());
-      evalToLazy(res);
-      return res;
-    }
-
-  protected:
-
-    void check_coordinates(Index row, Index col) const
-    {
-      EIGEN_ONLY_USED_FOR_DEBUG(row);
-      EIGEN_ONLY_USED_FOR_DEBUG(col);
-      eigen_assert(col>=0 && col<cols() && row>=0 && row<rows());
-      const int mode = int(Mode) & ~SelfAdjoint;
-      EIGEN_ONLY_USED_FOR_DEBUG(mode);
-      eigen_assert((mode==Upper && col>=row)
-                || (mode==Lower && col<=row)
-                || ((mode==StrictlyUpper || mode==UnitUpper) && col>row)
-                || ((mode==StrictlyLower || mode==UnitLower) && col<row));
-    }
-
-    #ifdef EIGEN_INTERNAL_DEBUGGING
-    void check_coordinates_internal(Index row, Index col) const
-    {
-      check_coordinates(row, col);
-    }
-    #else
-    void check_coordinates_internal(Index , Index ) const {}
-    #endif
-
-};
-
-/** \class TriangularView
-  * \ingroup Core_Module
-  *
-  * \brief Expression of a triangular part in a matrix
-  *
-  * \param MatrixType the type of the object in which we are taking the triangular part
-  * \param Mode the kind of triangular matrix expression to construct. Can be #Upper,
-  *             #Lower, #UnitUpper, #UnitLower, #StrictlyUpper, or #StrictlyLower.
-  *             This is in fact a bit field; it must have either #Upper or #Lower, 
-  *             and additionally it may have #UnitDiag or #ZeroDiag or neither.
-  *
-  * This class represents a triangular part of a matrix, not necessarily square. Strictly speaking, for rectangular
-  * matrices one should speak of "trapezoid" parts. This class is the return type
-  * of MatrixBase::triangularView() and SparseMatrixBase::triangularView(), and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::triangularView()
-  */
-namespace internal {
-template<typename MatrixType, unsigned int _Mode>
-struct traits<TriangularView<MatrixType, _Mode> > : traits<MatrixType>
-{
-  typedef typename ref_selector<MatrixType>::non_const_type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
-  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
-  typedef typename MatrixType::PlainObject FullMatrixType;
-  typedef MatrixType ExpressionType;
-  enum {
-    Mode = _Mode,
-    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags = (MatrixTypeNestedCleaned::Flags & (HereditaryBits | FlagsLvalueBit) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)))
-  };
-};
-}
-
-template<typename _MatrixType, unsigned int _Mode, typename StorageKind> class TriangularViewImpl;
-
-template<typename _MatrixType, unsigned int _Mode> class TriangularView
-  : public TriangularViewImpl<_MatrixType, _Mode, typename internal::traits<_MatrixType>::StorageKind >
-{
-  public:
-
-    typedef TriangularViewImpl<_MatrixType, _Mode, typename internal::traits<_MatrixType>::StorageKind > Base;
-    typedef typename internal::traits<TriangularView>::Scalar Scalar;
-    typedef _MatrixType MatrixType;
-
-  protected:
-    typedef typename internal::traits<TriangularView>::MatrixTypeNested MatrixTypeNested;
-    typedef typename internal::traits<TriangularView>::MatrixTypeNestedNonRef MatrixTypeNestedNonRef;
-
-    typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
-    
-  public:
-
-    typedef typename internal::traits<TriangularView>::StorageKind StorageKind;
-    typedef typename internal::traits<TriangularView>::MatrixTypeNestedCleaned NestedExpression;
-
-    enum {
-      Mode = _Mode,
-      Flags = internal::traits<TriangularView>::Flags,
-      TransposeMode = (Mode & Upper ? Lower : 0)
-                    | (Mode & Lower ? Upper : 0)
-                    | (Mode & (UnitDiag))
-                    | (Mode & (ZeroDiag)),
-      IsVectorAtCompileTime = false
-    };
-
-    EIGEN_DEVICE_FUNC
-    explicit inline TriangularView(MatrixType& matrix) : m_matrix(matrix)
-    {}
-    
-    using Base::operator=;
-    TriangularView& operator=(const TriangularView &other)
-    { return Base::operator=(other); }
-
-    /** \copydoc EigenBase::rows() */
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_matrix.rows(); }
-    /** \copydoc EigenBase::cols() */
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_matrix.cols(); }
-
-    /** \returns a const reference to the nested expression */
-    EIGEN_DEVICE_FUNC
-    const NestedExpression& nestedExpression() const { return m_matrix; }
-
-    /** \returns a reference to the nested expression */
-    EIGEN_DEVICE_FUNC
-    NestedExpression& nestedExpression() { return m_matrix; }
-    
-    typedef TriangularView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
-    /** \sa MatrixBase::conjugate() const */
-    EIGEN_DEVICE_FUNC
-    inline const ConjugateReturnType conjugate() const
-    { return ConjugateReturnType(m_matrix.conjugate()); }
-
-    typedef TriangularView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
-    /** \sa MatrixBase::adjoint() const */
-    EIGEN_DEVICE_FUNC
-    inline const AdjointReturnType adjoint() const
-    { return AdjointReturnType(m_matrix.adjoint()); }
-
-    typedef TriangularView<typename MatrixType::TransposeReturnType,TransposeMode> TransposeReturnType;
-     /** \sa MatrixBase::transpose() */
-    EIGEN_DEVICE_FUNC
-    inline TransposeReturnType transpose()
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      typename MatrixType::TransposeReturnType tmp(m_matrix);
-      return TransposeReturnType(tmp);
-    }
-    
-    typedef TriangularView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
-    /** \sa MatrixBase::transpose() const */
-    EIGEN_DEVICE_FUNC
-    inline const ConstTransposeReturnType transpose() const
-    {
-      return ConstTransposeReturnType(m_matrix.transpose());
-    }
-
-    template<typename Other>
-    EIGEN_DEVICE_FUNC
-    inline const Solve<TriangularView, Other> 
-    solve(const MatrixBase<Other>& other) const
-    { return Solve<TriangularView, Other>(*this, other.derived()); }
-    
-  // workaround MSVC ICE
-  #if EIGEN_COMP_MSVC
-    template<int Side, typename Other>
-    EIGEN_DEVICE_FUNC
-    inline const internal::triangular_solve_retval<Side,TriangularView, Other>
-    solve(const MatrixBase<Other>& other) const
-    { return Base::template solve<Side>(other); }
-  #else
-    using Base::solve;
-  #endif
-
-    /** \returns a selfadjoint view of the referenced triangular part which must be either \c #Upper or \c #Lower.
-      *
-      * This is a shortcut for \code this->nestedExpression().selfadjointView<(*this)::Mode>() \endcode
-      * \sa MatrixBase::selfadjointView() */
-    EIGEN_DEVICE_FUNC
-    SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView()
-    {
-      EIGEN_STATIC_ASSERT((Mode&(UnitDiag|ZeroDiag))==0,PROGRAMMING_ERROR);
-      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
-    }
-
-    /** This is the const version of selfadjointView() */
-    EIGEN_DEVICE_FUNC
-    const SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView() const
-    {
-      EIGEN_STATIC_ASSERT((Mode&(UnitDiag|ZeroDiag))==0,PROGRAMMING_ERROR);
-      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
-    }
-
-
-    /** \returns the determinant of the triangular matrix
-      * \sa MatrixBase::determinant() */
-    EIGEN_DEVICE_FUNC
-    Scalar determinant() const
-    {
-      if (Mode & UnitDiag)
-        return 1;
-      else if (Mode & ZeroDiag)
-        return 0;
-      else
-        return m_matrix.diagonal().prod();
-    }
-      
-  protected:
-
-    MatrixTypeNested m_matrix;
-};
-
-/** \ingroup Core_Module
-  *
-  * \brief Base class for a triangular part in a \b dense matrix
-  *
-  * This class is an abstract base class of class TriangularView, and objects of type TriangularViewImpl cannot be instantiated.
-  * It extends class TriangularView with additional methods which available for dense expressions only.
-  *
-  * \sa class TriangularView, MatrixBase::triangularView()
-  */
-template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_MatrixType,_Mode,Dense>
-  : public TriangularBase<TriangularView<_MatrixType, _Mode> >
-{
-  public:
-
-    typedef TriangularView<_MatrixType, _Mode> TriangularViewType;
-    typedef TriangularBase<TriangularViewType> Base;
-    typedef typename internal::traits<TriangularViewType>::Scalar Scalar;
-
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::PlainObject DenseMatrixType;
-    typedef DenseMatrixType PlainObject;
-
-  public:
-    using Base::evalToLazy;
-    using Base::derived;
-
-    typedef typename internal::traits<TriangularViewType>::StorageKind StorageKind;
-
-    enum {
-      Mode = _Mode,
-      Flags = internal::traits<TriangularViewType>::Flags
-    };
-
-    /** \returns the outer-stride of the underlying dense matrix
-      * \sa DenseCoeffsBase::outerStride() */
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
-    /** \returns the inner-stride of the underlying dense matrix
-      * \sa DenseCoeffsBase::innerStride() */
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
-
-    /** \sa MatrixBase::operator+=() */
-    template<typename Other>
-    EIGEN_DEVICE_FUNC
-    TriangularViewType&  operator+=(const DenseBase<Other>& other) {
-      internal::call_assignment_no_alias(derived(), other.derived(), internal::add_assign_op<Scalar,typename Other::Scalar>());
-      return derived();
-    }
-    /** \sa MatrixBase::operator-=() */
-    template<typename Other>
-    EIGEN_DEVICE_FUNC
-    TriangularViewType&  operator-=(const DenseBase<Other>& other) {
-      internal::call_assignment_no_alias(derived(), other.derived(), internal::sub_assign_op<Scalar,typename Other::Scalar>());
-      return derived();
-    }
-    
-    /** \sa MatrixBase::operator*=() */
-    EIGEN_DEVICE_FUNC
-    TriangularViewType&  operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() * other; }
-    /** \sa DenseBase::operator/=() */
-    EIGEN_DEVICE_FUNC
-    TriangularViewType&  operator/=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() / other; }
-
-    /** \sa MatrixBase::fill() */
-    EIGEN_DEVICE_FUNC
-    void fill(const Scalar& value) { setConstant(value); }
-    /** \sa MatrixBase::setConstant() */
-    EIGEN_DEVICE_FUNC
-    TriangularViewType& setConstant(const Scalar& value)
-    { return *this = MatrixType::Constant(derived().rows(), derived().cols(), value); }
-    /** \sa MatrixBase::setZero() */
-    EIGEN_DEVICE_FUNC
-    TriangularViewType& setZero() { return setConstant(Scalar(0)); }
-    /** \sa MatrixBase::setOnes() */
-    EIGEN_DEVICE_FUNC
-    TriangularViewType& setOnes() { return setConstant(Scalar(1)); }
-
-    /** \sa MatrixBase::coeff()
-      * \warning the coordinates must fit into the referenced triangular part
-      */
-    EIGEN_DEVICE_FUNC
-    inline Scalar coeff(Index row, Index col) const
-    {
-      Base::check_coordinates_internal(row, col);
-      return derived().nestedExpression().coeff(row, col);
-    }
-
-    /** \sa MatrixBase::coeffRef()
-      * \warning the coordinates must fit into the referenced triangular part
-      */
-    EIGEN_DEVICE_FUNC
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(TriangularViewType);
-      Base::check_coordinates_internal(row, col);
-      return derived().nestedExpression().coeffRef(row, col);
-    }
-
-    /** Assigns a triangular matrix to a triangular part of a dense matrix */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    TriangularViewType& operator=(const TriangularBase<OtherDerived>& other);
-
-    /** Shortcut for\code *this = other.other.triangularView<(*this)::Mode>() \endcode */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    TriangularViewType& operator=(const MatrixBase<OtherDerived>& other);
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    EIGEN_DEVICE_FUNC
-    TriangularViewType& operator=(const TriangularViewImpl& other)
-    { return *this = other.derived().nestedExpression(); }
-
-    /** \deprecated */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void lazyAssign(const TriangularBase<OtherDerived>& other);
-
-    /** \deprecated */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void lazyAssign(const MatrixBase<OtherDerived>& other);
-#endif
-
-    /** Efficient triangular matrix times vector/matrix product */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    const Product<TriangularViewType,OtherDerived>
-    operator*(const MatrixBase<OtherDerived>& rhs) const
-    {
-      return Product<TriangularViewType,OtherDerived>(derived(), rhs.derived());
-    }
-
-    /** Efficient vector/matrix times triangular matrix product */
-    template<typename OtherDerived> friend
-    EIGEN_DEVICE_FUNC
-    const Product<OtherDerived,TriangularViewType>
-    operator*(const MatrixBase<OtherDerived>& lhs, const TriangularViewImpl& rhs)
-    {
-      return Product<OtherDerived,TriangularViewType>(lhs.derived(),rhs.derived());
-    }
-
-    /** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
-      *
-      * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other if
-      * \a Side==OnTheLeft (the default), or the right-inverse-multiply  \a other * inverse(\c *this) if
-      * \a Side==OnTheRight.
-      *
-      * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
-      *
-      * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
-      * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
-      * is an upper (resp. lower) triangular matrix.
-      *
-      * Example: \include Triangular_solve.cpp
-      * Output: \verbinclude Triangular_solve.out
-      *
-      * This function returns an expression of the inverse-multiply and can works in-place if it is assigned
-      * to the same matrix or vector \a other.
-      *
-      * For users coming from BLAS, this function (and more specifically solveInPlace()) offer
-      * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
-      *
-      * \sa TriangularView::solveInPlace()
-      */
-    template<int Side, typename Other>
-    EIGEN_DEVICE_FUNC
-    inline const internal::triangular_solve_retval<Side,TriangularViewType, Other>
-    solve(const MatrixBase<Other>& other) const;
-
-    /** "in-place" version of TriangularView::solve() where the result is written in \a other
-      *
-      * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
-      * This function will const_cast it, so constness isn't honored here.
-      *
-      * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
-      *
-      * See TriangularView:solve() for the details.
-      */
-    template<int Side, typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void solveInPlace(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void solveInPlace(const MatrixBase<OtherDerived>& other) const
-    { return solveInPlace<OnTheLeft>(other); }
-
-    /** Swaps the coefficients of the common triangular parts of two matrices */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-    void swap(TriangularBase<OtherDerived> &other)
-#else
-    void swap(TriangularBase<OtherDerived> const & other)
-#endif
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
-      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
-    }
-
-    /** \deprecated
-      * Shortcut for \code (*this).swap(other.triangularView<(*this)::Mode>()) \endcode */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    void swap(MatrixBase<OtherDerived> const & other)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
-      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
-    }
-
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _solve_impl(const RhsType &rhs, DstType &dst) const {
-      if(!internal::is_same_dense(dst,rhs))
-        dst = rhs;
-      this->solveInPlace(dst);
-    }
-
-    template<typename ProductType>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TriangularViewType& _assignProduct(const ProductType& prod, const Scalar& alpha, bool beta);
-};
-
-/***************************************************************************
-* Implementation of triangular evaluation/assignment
-***************************************************************************/
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-// FIXME should we keep that possibility
-template<typename MatrixType, unsigned int Mode>
-template<typename OtherDerived>
-inline TriangularView<MatrixType, Mode>&
-TriangularViewImpl<MatrixType, Mode, Dense>::operator=(const MatrixBase<OtherDerived>& other)
-{
-  internal::call_assignment_no_alias(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-// FIXME should we keep that possibility
-template<typename MatrixType, unsigned int Mode>
-template<typename OtherDerived>
-void TriangularViewImpl<MatrixType, Mode, Dense>::lazyAssign(const MatrixBase<OtherDerived>& other)
-{
-  internal::call_assignment_no_alias(derived(), other.template triangularView<Mode>());
-}
-
-
-
-template<typename MatrixType, unsigned int Mode>
-template<typename OtherDerived>
-inline TriangularView<MatrixType, Mode>&
-TriangularViewImpl<MatrixType, Mode, Dense>::operator=(const TriangularBase<OtherDerived>& other)
-{
-  eigen_assert(Mode == int(OtherDerived::Mode));
-  internal::call_assignment(derived(), other.derived());
-  return derived();
-}
-
-template<typename MatrixType, unsigned int Mode>
-template<typename OtherDerived>
-void TriangularViewImpl<MatrixType, Mode, Dense>::lazyAssign(const TriangularBase<OtherDerived>& other)
-{
-  eigen_assert(Mode == int(OtherDerived::Mode));
-  internal::call_assignment_no_alias(derived(), other.derived());
-}
-#endif
-
-/***************************************************************************
-* Implementation of TriangularBase methods
-***************************************************************************/
-
-/** Assigns a triangular or selfadjoint matrix to a dense matrix.
-  * If the matrix is triangular, the opposite part is set to zero. */
-template<typename Derived>
-template<typename DenseDerived>
-void TriangularBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
-{
-  evalToLazy(other.derived());
-}
-
-/***************************************************************************
-* Implementation of TriangularView methods
-***************************************************************************/
-
-/***************************************************************************
-* Implementation of MatrixBase methods
-***************************************************************************/
-
-/**
-  * \returns an expression of a triangular view extracted from the current matrix
-  *
-  * The parameter \a Mode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
-  * \c #Lower, \c #StrictlyLower, \c #UnitLower.
-  *
-  * Example: \include MatrixBase_triangularView.cpp
-  * Output: \verbinclude MatrixBase_triangularView.out
-  *
-  * \sa class TriangularView
-  */
-template<typename Derived>
-template<unsigned int Mode>
-typename MatrixBase<Derived>::template TriangularViewReturnType<Mode>::Type
-MatrixBase<Derived>::triangularView()
-{
-  return typename TriangularViewReturnType<Mode>::Type(derived());
-}
-
-/** This is the const version of MatrixBase::triangularView() */
-template<typename Derived>
-template<unsigned int Mode>
-typename MatrixBase<Derived>::template ConstTriangularViewReturnType<Mode>::Type
-MatrixBase<Derived>::triangularView() const
-{
-  return typename ConstTriangularViewReturnType<Mode>::Type(derived());
-}
-
-/** \returns true if *this is approximately equal to an upper triangular matrix,
-  *          within the precision given by \a prec.
-  *
-  * \sa isLowerTriangular()
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isUpperTriangular(const RealScalar& prec) const
-{
-  RealScalar maxAbsOnUpperPart = static_cast<RealScalar>(-1);
-  for(Index j = 0; j < cols(); ++j)
-  {
-    Index maxi = numext::mini(j, rows()-1);
-    for(Index i = 0; i <= maxi; ++i)
-    {
-      RealScalar absValue = numext::abs(coeff(i,j));
-      if(absValue > maxAbsOnUpperPart) maxAbsOnUpperPart = absValue;
-    }
-  }
-  RealScalar threshold = maxAbsOnUpperPart * prec;
-  for(Index j = 0; j < cols(); ++j)
-    for(Index i = j+1; i < rows(); ++i)
-      if(numext::abs(coeff(i, j)) > threshold) return false;
-  return true;
-}
-
-/** \returns true if *this is approximately equal to a lower triangular matrix,
-  *          within the precision given by \a prec.
-  *
-  * \sa isUpperTriangular()
-  */
-template<typename Derived>
-bool MatrixBase<Derived>::isLowerTriangular(const RealScalar& prec) const
-{
-  RealScalar maxAbsOnLowerPart = static_cast<RealScalar>(-1);
-  for(Index j = 0; j < cols(); ++j)
-    for(Index i = j; i < rows(); ++i)
-    {
-      RealScalar absValue = numext::abs(coeff(i,j));
-      if(absValue > maxAbsOnLowerPart) maxAbsOnLowerPart = absValue;
-    }
-  RealScalar threshold = maxAbsOnLowerPart * prec;
-  for(Index j = 1; j < cols(); ++j)
-  {
-    Index maxi = numext::mini(j, rows()-1);
-    for(Index i = 0; i < maxi; ++i)
-      if(numext::abs(coeff(i, j)) > threshold) return false;
-  }
-  return true;
-}
-
-
-/***************************************************************************
-****************************************************************************
-* Evaluators and Assignment of triangular expressions
-***************************************************************************
-***************************************************************************/
-
-namespace internal {
-
-  
-// TODO currently a triangular expression has the form TriangularView<.,.>
-//      in the future triangular-ness should be defined by the expression traits
-//      such that Transpose<TriangularView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
-template<typename MatrixType, unsigned int Mode>
-struct evaluator_traits<TriangularView<MatrixType,Mode> >
-{
-  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
-  typedef typename glue_shapes<typename evaluator_traits<MatrixType>::Shape, TriangularShape>::type Shape;
-};
-
-template<typename MatrixType, unsigned int Mode>
-struct unary_evaluator<TriangularView<MatrixType,Mode>, IndexBased>
- : evaluator<typename internal::remove_all<MatrixType>::type>
-{
-  typedef TriangularView<MatrixType,Mode> XprType;
-  typedef evaluator<typename internal::remove_all<MatrixType>::type> Base;
-  unary_evaluator(const XprType &xpr) : Base(xpr.nestedExpression()) {}
-};
-
-// Additional assignment kinds:
-struct Triangular2Triangular    {};
-struct Triangular2Dense         {};
-struct Dense2Triangular         {};
-
-
-template<typename Kernel, unsigned int Mode, int UnrollCount, bool ClearOpposite> struct triangular_assignment_loop;
-
- 
-/** \internal Specialization of the dense assignment kernel for triangular matrices.
-  * The main difference is that the triangular, diagonal, and opposite parts are processed through three different functions.
-  * \tparam UpLo must be either Lower or Upper
-  * \tparam Mode must be either 0, UnitDiag, ZeroDiag, or SelfAdjoint
-  */
-template<int UpLo, int Mode, int SetOpposite, typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version = Specialized>
-class triangular_dense_assignment_kernel : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>
-{
-protected:
-  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version> Base;
-  typedef typename Base::DstXprType DstXprType;
-  typedef typename Base::SrcXprType SrcXprType;
-  using Base::m_dst;
-  using Base::m_src;
-  using Base::m_functor;
-public:
-  
-  typedef typename Base::DstEvaluatorType DstEvaluatorType;
-  typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
-  typedef typename Base::Scalar Scalar;
-  typedef typename Base::AssignmentTraits AssignmentTraits;
-  
-  
-  EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
-    : Base(dst, src, func, dstExpr)
-  {}
-  
-#ifdef EIGEN_INTERNAL_DEBUGGING
-  EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
-  {
-    eigen_internal_assert(row!=col);
-    Base::assignCoeff(row,col);
-  }
-#else
-  using Base::assignCoeff;
-#endif
-  
-  EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
-  {
-         if(Mode==UnitDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(1));
-    else if(Mode==ZeroDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(0));
-    else if(Mode==0)                       Base::assignCoeff(id,id);
-  }
-  
-  EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index row, Index col)
-  { 
-    eigen_internal_assert(row!=col);
-    if(SetOpposite)
-      m_functor.assignCoeff(m_dst.coeffRef(row,col), Scalar(0));
-  }
-};
-
-template<int Mode, bool SetOpposite, typename DstXprType, typename SrcXprType, typename Functor>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func)
-{
-  typedef evaluator<DstXprType> DstEvaluatorType;
-  typedef evaluator<SrcXprType> SrcEvaluatorType;
-
-  SrcEvaluatorType srcEvaluator(src);
-
-  Index dstRows = src.rows();
-  Index dstCols = src.cols();
-  if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-    dst.resize(dstRows, dstCols);
-  DstEvaluatorType dstEvaluator(dst);
-    
-  typedef triangular_dense_assignment_kernel< Mode&(Lower|Upper),Mode&(UnitDiag|ZeroDiag|SelfAdjoint),SetOpposite,
-                                              DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
-  Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
-  
-  enum {
-      unroll = DstXprType::SizeAtCompileTime != Dynamic
-            && SrcEvaluatorType::CoeffReadCost < HugeCost
-            && DstXprType::SizeAtCompileTime * (DstEvaluatorType::CoeffReadCost+SrcEvaluatorType::CoeffReadCost) / 2 <= EIGEN_UNROLLING_LIMIT
-    };
-  
-  triangular_assignment_loop<Kernel, Mode, unroll ? int(DstXprType::SizeAtCompileTime) : Dynamic, SetOpposite>::run(kernel);
-}
-
-template<int Mode, bool SetOpposite, typename DstXprType, typename SrcXprType>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src)
-{
-  call_triangular_assignment_loop<Mode,SetOpposite>(dst, src, internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>());
-}
-
-template<> struct AssignmentKind<TriangularShape,TriangularShape> { typedef Triangular2Triangular Kind; };
-template<> struct AssignmentKind<DenseShape,TriangularShape>      { typedef Triangular2Dense      Kind; };
-template<> struct AssignmentKind<TriangularShape,DenseShape>      { typedef Dense2Triangular      Kind; };
-
-
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Triangular>
-{
-  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
-  {
-    eigen_assert(int(DstXprType::Mode) == int(SrcXprType::Mode));
-    
-    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);  
-  }
-};
-
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Dense>
-{
-  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
-  {
-    call_triangular_assignment_loop<SrcXprType::Mode, (SrcXprType::Mode&SelfAdjoint)==0>(dst, src, func);  
-  }
-};
-
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, Dense2Triangular>
-{
-  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
-  {
-    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);  
-  }
-};
-
-
-template<typename Kernel, unsigned int Mode, int UnrollCount, bool SetOpposite>
-struct triangular_assignment_loop
-{
-  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
-  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
-  typedef typename DstEvaluatorType::XprType DstXprType;
-  
-  enum {
-    col = (UnrollCount-1) / DstXprType::RowsAtCompileTime,
-    row = (UnrollCount-1) % DstXprType::RowsAtCompileTime
-  };
-  
-  typedef typename Kernel::Scalar Scalar;
-
-  EIGEN_DEVICE_FUNC
-  static inline void run(Kernel &kernel)
-  {
-    triangular_assignment_loop<Kernel, Mode, UnrollCount-1, SetOpposite>::run(kernel);
-    
-    if(row==col)
-      kernel.assignDiagonalCoeff(row);
-    else if( ((Mode&Lower) && row>col) || ((Mode&Upper) && row<col) )
-      kernel.assignCoeff(row,col);
-    else if(SetOpposite)
-      kernel.assignOppositeCoeff(row,col);
-  }
-};
-
-// prevent buggy user code from causing an infinite recursion
-template<typename Kernel, unsigned int Mode, bool SetOpposite>
-struct triangular_assignment_loop<Kernel, Mode, 0, SetOpposite>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(Kernel &) {}
-};
-
-
-
-// TODO: experiment with a recursive assignment procedure splitting the current
-//       triangular part into one rectangular and two triangular parts.
-
-
-template<typename Kernel, unsigned int Mode, bool SetOpposite>
-struct triangular_assignment_loop<Kernel, Mode, Dynamic, SetOpposite>
-{
-  typedef typename Kernel::Scalar Scalar;
-  EIGEN_DEVICE_FUNC
-  static inline void run(Kernel &kernel)
-  {
-    for(Index j = 0; j < kernel.cols(); ++j)
-    {
-      Index maxi = numext::mini(j, kernel.rows());
-      Index i = 0;
-      if (((Mode&Lower) && SetOpposite) || (Mode&Upper))
-      {
-        for(; i < maxi; ++i)
-          if(Mode&Upper) kernel.assignCoeff(i, j);
-          else           kernel.assignOppositeCoeff(i, j);
-      }
-      else
-        i = maxi;
-      
-      if(i<kernel.rows()) // then i==j
-        kernel.assignDiagonalCoeff(i++);
-      
-      if (((Mode&Upper) && SetOpposite) || (Mode&Lower))
-      {
-        for(; i < kernel.rows(); ++i)
-          if(Mode&Lower) kernel.assignCoeff(i, j);
-          else           kernel.assignOppositeCoeff(i, j);
-      }
-    }
-  }
-};
-
-} // end namespace internal
-
-/** Assigns a triangular or selfadjoint matrix to a dense matrix.
-  * If the matrix is triangular, the opposite part is set to zero. */
-template<typename Derived>
-template<typename DenseDerived>
-void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
-{
-  other.derived().resize(this->rows(), this->cols());
-  internal::call_triangular_assignment_loop<Derived::Mode,(Derived::Mode&SelfAdjoint)==0 /* SetOpposite */>(other.derived(), derived().nestedExpression());
-}
-
-namespace internal {
-  
-// Triangular = Product
-template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
-struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
-{
-  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename SrcXprType::Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    dst._assignProduct(src, 1, 0);
-  }
-};
-
-// Triangular += Product
-template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
-struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::add_assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
-{
-  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,typename SrcXprType::Scalar> &)
-  {
-    dst._assignProduct(src, 1, 1);
-  }
-};
-
-// Triangular -= Product
-template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
-struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::sub_assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
-{
-  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,typename SrcXprType::Scalar> &)
-  {
-    dst._assignProduct(src, -1, 1);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIANGULARMATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/VectorBlock.h b/phonelibs/eigen/Eigen/src/Core/VectorBlock.h
deleted file mode 100644
index d72fbf7e99de59..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/VectorBlock.h
+++ /dev/null
@@ -1,96 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_VECTORBLOCK_H
-#define EIGEN_VECTORBLOCK_H
-
-namespace Eigen { 
-
-namespace internal {
-template<typename VectorType, int Size>
-struct traits<VectorBlock<VectorType, Size> >
-  : public traits<Block<VectorType,
-                     traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
-                     traits<VectorType>::Flags & RowMajorBit ? Size : 1> >
-{
-};
-}
-
-/** \class VectorBlock
-  * \ingroup Core_Module
-  *
-  * \brief Expression of a fixed-size or dynamic-size sub-vector
-  *
-  * \tparam VectorType the type of the object in which we are taking a sub-vector
-  * \tparam Size size of the sub-vector we are taking at compile time (optional)
-  *
-  * This class represents an expression of either a fixed-size or dynamic-size sub-vector.
-  * It is the return type of DenseBase::segment(Index,Index) and DenseBase::segment<int>(Index) and
-  * most of the time this is the only way it is used.
-  *
-  * However, if you want to directly maniputate sub-vector expressions,
-  * for instance if you want to write a function returning such an expression, you
-  * will need to use this class.
-  *
-  * Here is an example illustrating the dynamic case:
-  * \include class_VectorBlock.cpp
-  * Output: \verbinclude class_VectorBlock.out
-  *
-  * \note Even though this expression has dynamic size, in the case where \a VectorType
-  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
-  * it does not cause a dynamic memory allocation.
-  *
-  * Here is an example illustrating the fixed-size case:
-  * \include class_FixedVectorBlock.cpp
-  * Output: \verbinclude class_FixedVectorBlock.out
-  *
-  * \sa class Block, DenseBase::segment(Index,Index,Index,Index), DenseBase::segment(Index,Index)
-  */
-template<typename VectorType, int Size> class VectorBlock
-  : public Block<VectorType,
-                     internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
-                     internal::traits<VectorType>::Flags & RowMajorBit ? Size : 1>
-{
-    typedef Block<VectorType,
-                     internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
-                     internal::traits<VectorType>::Flags & RowMajorBit ? Size : 1> Base;
-    enum {
-      IsColVector = !(internal::traits<VectorType>::Flags & RowMajorBit)
-    };
-  public:
-    EIGEN_DENSE_PUBLIC_INTERFACE(VectorBlock)
-
-    using Base::operator=;
-
-    /** Dynamic-size constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline VectorBlock(VectorType& vector, Index start, Index size)
-      : Base(vector,
-             IsColVector ? start : 0, IsColVector ? 0 : start,
-             IsColVector ? size  : 1, IsColVector ? 1 : size)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
-    }
-
-    /** Fixed-size constructor
-      */
-    EIGEN_DEVICE_FUNC
-    inline VectorBlock(VectorType& vector, Index start)
-      : Base(vector, IsColVector ? start : 0, IsColVector ? 0 : start)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
-    }
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_VECTORBLOCK_H
diff --git a/phonelibs/eigen/Eigen/src/Core/VectorwiseOp.h b/phonelibs/eigen/Eigen/src/Core/VectorwiseOp.h
deleted file mode 100644
index 4fe267e9f11f6e..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/VectorwiseOp.h
+++ /dev/null
@@ -1,695 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PARTIAL_REDUX_H
-#define EIGEN_PARTIAL_REDUX_H
-
-namespace Eigen {
-
-/** \class PartialReduxExpr
-  * \ingroup Core_Module
-  *
-  * \brief Generic expression of a partially reduxed matrix
-  *
-  * \tparam MatrixType the type of the matrix we are applying the redux operation
-  * \tparam MemberOp type of the member functor
-  * \tparam Direction indicates the direction of the redux (#Vertical or #Horizontal)
-  *
-  * This class represents an expression of a partial redux operator of a matrix.
-  * It is the return type of some VectorwiseOp functions,
-  * and most of the time this is the only way it is used.
-  *
-  * \sa class VectorwiseOp
-  */
-
-template< typename MatrixType, typename MemberOp, int Direction>
-class PartialReduxExpr;
-
-namespace internal {
-template<typename MatrixType, typename MemberOp, int Direction>
-struct traits<PartialReduxExpr<MatrixType, MemberOp, Direction> >
- : traits<MatrixType>
-{
-  typedef typename MemberOp::result_type Scalar;
-  typedef typename traits<MatrixType>::StorageKind StorageKind;
-  typedef typename traits<MatrixType>::XprKind XprKind;
-  typedef typename MatrixType::Scalar InputScalar;
-  enum {
-    RowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::MaxColsAtCompileTime,
-    Flags = RowsAtCompileTime == 1 ? RowMajorBit : 0,
-    TraversalSize = Direction==Vertical ? MatrixType::RowsAtCompileTime :  MatrixType::ColsAtCompileTime
-  };
-};
-}
-
-template< typename MatrixType, typename MemberOp, int Direction>
-class PartialReduxExpr : public internal::dense_xpr_base< PartialReduxExpr<MatrixType, MemberOp, Direction> >::type,
-                         internal::no_assignment_operator
-{
-  public:
-
-    typedef typename internal::dense_xpr_base<PartialReduxExpr>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(PartialReduxExpr)
-
-    EIGEN_DEVICE_FUNC
-    explicit PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
-      : m_matrix(mat), m_functor(func) {}
-
-    EIGEN_DEVICE_FUNC
-    Index rows() const { return (Direction==Vertical   ? 1 : m_matrix.rows()); }
-    EIGEN_DEVICE_FUNC
-    Index cols() const { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
-
-    EIGEN_DEVICE_FUNC
-    typename MatrixType::Nested nestedExpression() const { return m_matrix; }
-
-    EIGEN_DEVICE_FUNC
-    const MemberOp& functor() const { return m_functor; }
-
-  protected:
-    typename MatrixType::Nested m_matrix;
-    const MemberOp m_functor;
-};
-
-#define EIGEN_MEMBER_FUNCTOR(MEMBER,COST)                               \
-  template <typename ResultType>                                        \
-  struct member_##MEMBER {                                              \
-    EIGEN_EMPTY_STRUCT_CTOR(member_##MEMBER)                            \
-    typedef ResultType result_type;                                     \
-    template<typename Scalar, int Size> struct Cost                     \
-    { enum { value = COST }; };                                         \
-    template<typename XprType>                                          \
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                               \
-    ResultType operator()(const XprType& mat) const                     \
-    { return mat.MEMBER(); } \
-  }
-
-namespace internal {
-
-EIGEN_MEMBER_FUNCTOR(squaredNorm, Size * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(norm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(stableNorm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(blueNorm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(hypotNorm, (Size-1) * functor_traits<scalar_hypot_op<Scalar> >::Cost );
-EIGEN_MEMBER_FUNCTOR(sum, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(mean, (Size-1)*NumTraits<Scalar>::AddCost + NumTraits<Scalar>::MulCost);
-EIGEN_MEMBER_FUNCTOR(minCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(maxCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(all, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(any, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(count, (Size-1)*NumTraits<Scalar>::AddCost);
-EIGEN_MEMBER_FUNCTOR(prod, (Size-1)*NumTraits<Scalar>::MulCost);
-
-template <int p, typename ResultType>
-struct member_lpnorm {
-  typedef ResultType result_type;
-  template<typename Scalar, int Size> struct Cost
-  { enum { value = (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost }; };
-  EIGEN_DEVICE_FUNC member_lpnorm() {}
-  template<typename XprType>
-  EIGEN_DEVICE_FUNC inline ResultType operator()(const XprType& mat) const
-  { return mat.template lpNorm<p>(); }
-};
-
-template <typename BinaryOp, typename Scalar>
-struct member_redux {
-  typedef typename result_of<
-                     BinaryOp(const Scalar&,const Scalar&)
-                   >::type  result_type;
-  template<typename _Scalar, int Size> struct Cost
-  { enum { value = (Size-1) * functor_traits<BinaryOp>::Cost }; };
-  EIGEN_DEVICE_FUNC explicit member_redux(const BinaryOp func) : m_functor(func) {}
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline result_type operator()(const DenseBase<Derived>& mat) const
-  { return mat.redux(m_functor); }
-  const BinaryOp m_functor;
-};
-}
-
-/** \class VectorwiseOp
-  * \ingroup Core_Module
-  *
-  * \brief Pseudo expression providing partial reduction operations
-  *
-  * \tparam ExpressionType the type of the object on which to do partial reductions
-  * \tparam Direction indicates the direction of the redux (#Vertical or #Horizontal)
-  *
-  * This class represents a pseudo expression with partial reduction features.
-  * It is the return type of DenseBase::colwise() and DenseBase::rowwise()
-  * and most of the time this is the only way it is used.
-  *
-  * Example: \include MatrixBase_colwise.cpp
-  * Output: \verbinclude MatrixBase_colwise.out
-  *
-  * \sa DenseBase::colwise(), DenseBase::rowwise(), class PartialReduxExpr
-  */
-template<typename ExpressionType, int Direction> class VectorwiseOp
-{
-  public:
-
-    typedef typename ExpressionType::Scalar Scalar;
-    typedef typename ExpressionType::RealScalar RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    typedef typename internal::ref_selector<ExpressionType>::non_const_type ExpressionTypeNested;
-    typedef typename internal::remove_all<ExpressionTypeNested>::type ExpressionTypeNestedCleaned;
-
-    template<template<typename _Scalar> class Functor,
-                      typename Scalar_=Scalar> struct ReturnType
-    {
-      typedef PartialReduxExpr<ExpressionType,
-                               Functor<Scalar_>,
-                               Direction
-                              > Type;
-    };
-
-    template<typename BinaryOp> struct ReduxReturnType
-    {
-      typedef PartialReduxExpr<ExpressionType,
-                               internal::member_redux<BinaryOp,Scalar>,
-                               Direction
-                              > Type;
-    };
-
-    enum {
-      isVertical   = (Direction==Vertical) ? 1 : 0,
-      isHorizontal = (Direction==Horizontal) ? 1 : 0
-    };
-
-  protected:
-
-    typedef typename internal::conditional<isVertical,
-                               typename ExpressionType::ColXpr,
-                               typename ExpressionType::RowXpr>::type SubVector;
-    /** \internal
-      * \returns the i-th subvector according to the \c Direction */
-    EIGEN_DEVICE_FUNC
-    SubVector subVector(Index i)
-    {
-      return SubVector(m_matrix.derived(),i);
-    }
-
-    /** \internal
-      * \returns the number of subvectors in the direction \c Direction */
-    EIGEN_DEVICE_FUNC
-    Index subVectors() const
-    { return isVertical?m_matrix.cols():m_matrix.rows(); }
-
-    template<typename OtherDerived> struct ExtendedType {
-      typedef Replicate<OtherDerived,
-                        isVertical   ? 1 : ExpressionType::RowsAtCompileTime,
-                        isHorizontal ? 1 : ExpressionType::ColsAtCompileTime> Type;
-    };
-
-    /** \internal
-      * Replicates a vector to match the size of \c *this */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    typename ExtendedType<OtherDerived>::Type
-    extendedTo(const DenseBase<OtherDerived>& other) const
-    {
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isVertical, OtherDerived::MaxColsAtCompileTime==1),
-                          YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED)
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isHorizontal, OtherDerived::MaxRowsAtCompileTime==1),
-                          YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED)
-      return typename ExtendedType<OtherDerived>::Type
-                      (other.derived(),
-                       isVertical   ? 1 : m_matrix.rows(),
-                       isHorizontal ? 1 : m_matrix.cols());
-    }
-
-    template<typename OtherDerived> struct OppositeExtendedType {
-      typedef Replicate<OtherDerived,
-                        isHorizontal ? 1 : ExpressionType::RowsAtCompileTime,
-                        isVertical   ? 1 : ExpressionType::ColsAtCompileTime> Type;
-    };
-
-    /** \internal
-      * Replicates a vector in the opposite direction to match the size of \c *this */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    typename OppositeExtendedType<OtherDerived>::Type
-    extendedToOpposite(const DenseBase<OtherDerived>& other) const
-    {
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isHorizontal, OtherDerived::MaxColsAtCompileTime==1),
-                          YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED)
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isVertical, OtherDerived::MaxRowsAtCompileTime==1),
-                          YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED)
-      return typename OppositeExtendedType<OtherDerived>::Type
-                      (other.derived(),
-                       isHorizontal  ? 1 : m_matrix.rows(),
-                       isVertical    ? 1 : m_matrix.cols());
-    }
-
-  public:
-    EIGEN_DEVICE_FUNC
-    explicit inline VectorwiseOp(ExpressionType& matrix) : m_matrix(matrix) {}
-
-    /** \internal */
-    EIGEN_DEVICE_FUNC
-    inline const ExpressionType& _expression() const { return m_matrix; }
-
-    /** \returns a row or column vector expression of \c *this reduxed by \a func
-      *
-      * The template parameter \a BinaryOp is the type of the functor
-      * of the custom redux operator. Note that func must be an associative operator.
-      *
-      * \sa class VectorwiseOp, DenseBase::colwise(), DenseBase::rowwise()
-      */
-    template<typename BinaryOp>
-    EIGEN_DEVICE_FUNC
-    const typename ReduxReturnType<BinaryOp>::Type
-    redux(const BinaryOp& func = BinaryOp()) const
-    { return typename ReduxReturnType<BinaryOp>::Type(_expression(), internal::member_redux<BinaryOp,Scalar>(func)); }
-
-    typedef typename ReturnType<internal::member_minCoeff>::Type MinCoeffReturnType;
-    typedef typename ReturnType<internal::member_maxCoeff>::Type MaxCoeffReturnType;
-    typedef typename ReturnType<internal::member_squaredNorm,RealScalar>::Type SquaredNormReturnType;
-    typedef typename ReturnType<internal::member_norm,RealScalar>::Type NormReturnType;
-    typedef typename ReturnType<internal::member_blueNorm,RealScalar>::Type BlueNormReturnType;
-    typedef typename ReturnType<internal::member_stableNorm,RealScalar>::Type StableNormReturnType;
-    typedef typename ReturnType<internal::member_hypotNorm,RealScalar>::Type HypotNormReturnType;
-    typedef typename ReturnType<internal::member_sum>::Type SumReturnType;
-    typedef typename ReturnType<internal::member_mean>::Type MeanReturnType;
-    typedef typename ReturnType<internal::member_all>::Type AllReturnType;
-    typedef typename ReturnType<internal::member_any>::Type AnyReturnType;
-    typedef PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> CountReturnType;
-    typedef typename ReturnType<internal::member_prod>::Type ProdReturnType;
-    typedef Reverse<const ExpressionType, Direction> ConstReverseReturnType;
-    typedef Reverse<ExpressionType, Direction> ReverseReturnType;
-
-    template<int p> struct LpNormReturnType {
-      typedef PartialReduxExpr<ExpressionType, internal::member_lpnorm<p,RealScalar>,Direction> Type;
-    };
-
-    /** \returns a row (or column) vector expression of the smallest coefficient
-      * of each column (or row) of the referenced expression.
-      *
-      * \warning the result is undefined if \c *this contains NaN.
-      *
-      * Example: \include PartialRedux_minCoeff.cpp
-      * Output: \verbinclude PartialRedux_minCoeff.out
-      *
-      * \sa DenseBase::minCoeff() */
-    EIGEN_DEVICE_FUNC
-    const MinCoeffReturnType minCoeff() const
-    { return MinCoeffReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression of the largest coefficient
-      * of each column (or row) of the referenced expression.
-      *
-      * \warning the result is undefined if \c *this contains NaN.
-      *
-      * Example: \include PartialRedux_maxCoeff.cpp
-      * Output: \verbinclude PartialRedux_maxCoeff.out
-      *
-      * \sa DenseBase::maxCoeff() */
-    EIGEN_DEVICE_FUNC
-    const MaxCoeffReturnType maxCoeff() const
-    { return MaxCoeffReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression of the squared norm
-      * of each column (or row) of the referenced expression.
-      * This is a vector with real entries, even if the original matrix has complex entries.
-      *
-      * Example: \include PartialRedux_squaredNorm.cpp
-      * Output: \verbinclude PartialRedux_squaredNorm.out
-      *
-      * \sa DenseBase::squaredNorm() */
-    EIGEN_DEVICE_FUNC
-    const SquaredNormReturnType squaredNorm() const
-    { return SquaredNormReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression of the norm
-      * of each column (or row) of the referenced expression.
-      * This is a vector with real entries, even if the original matrix has complex entries.
-      *
-      * Example: \include PartialRedux_norm.cpp
-      * Output: \verbinclude PartialRedux_norm.out
-      *
-      * \sa DenseBase::norm() */
-    EIGEN_DEVICE_FUNC
-    const NormReturnType norm() const
-    { return NormReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression of the norm
-      * of each column (or row) of the referenced expression.
-      * This is a vector with real entries, even if the original matrix has complex entries.
-      *
-      * Example: \include PartialRedux_norm.cpp
-      * Output: \verbinclude PartialRedux_norm.out
-      *
-      * \sa DenseBase::norm() */
-    template<int p>
-    EIGEN_DEVICE_FUNC
-    const typename LpNormReturnType<p>::Type lpNorm() const
-    { return typename LpNormReturnType<p>::Type(_expression()); }
-
-
-    /** \returns a row (or column) vector expression of the norm
-      * of each column (or row) of the referenced expression, using
-      * Blue's algorithm.
-      * This is a vector with real entries, even if the original matrix has complex entries.
-      *
-      * \sa DenseBase::blueNorm() */
-    EIGEN_DEVICE_FUNC
-    const BlueNormReturnType blueNorm() const
-    { return BlueNormReturnType(_expression()); }
-
-
-    /** \returns a row (or column) vector expression of the norm
-      * of each column (or row) of the referenced expression, avoiding
-      * underflow and overflow.
-      * This is a vector with real entries, even if the original matrix has complex entries.
-      *
-      * \sa DenseBase::stableNorm() */
-    EIGEN_DEVICE_FUNC
-    const StableNormReturnType stableNorm() const
-    { return StableNormReturnType(_expression()); }
-
-
-    /** \returns a row (or column) vector expression of the norm
-      * of each column (or row) of the referenced expression, avoiding
-      * underflow and overflow using a concatenation of hypot() calls.
-      * This is a vector with real entries, even if the original matrix has complex entries.
-      *
-      * \sa DenseBase::hypotNorm() */
-    EIGEN_DEVICE_FUNC
-    const HypotNormReturnType hypotNorm() const
-    { return HypotNormReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression of the sum
-      * of each column (or row) of the referenced expression.
-      *
-      * Example: \include PartialRedux_sum.cpp
-      * Output: \verbinclude PartialRedux_sum.out
-      *
-      * \sa DenseBase::sum() */
-    EIGEN_DEVICE_FUNC
-    const SumReturnType sum() const
-    { return SumReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression of the mean
-    * of each column (or row) of the referenced expression.
-    *
-    * \sa DenseBase::mean() */
-    EIGEN_DEVICE_FUNC
-    const MeanReturnType mean() const
-    { return MeanReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression representing
-      * whether \b all coefficients of each respective column (or row) are \c true.
-      * This expression can be assigned to a vector with entries of type \c bool.
-      *
-      * \sa DenseBase::all() */
-    EIGEN_DEVICE_FUNC
-    const AllReturnType all() const
-    { return AllReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression representing
-      * whether \b at \b least one coefficient of each respective column (or row) is \c true.
-      * This expression can be assigned to a vector with entries of type \c bool.
-      *
-      * \sa DenseBase::any() */
-    EIGEN_DEVICE_FUNC
-    const AnyReturnType any() const
-    { return AnyReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression representing
-      * the number of \c true coefficients of each respective column (or row).
-      * This expression can be assigned to a vector whose entries have the same type as is used to
-      * index entries of the original matrix; for dense matrices, this is \c std::ptrdiff_t .
-      *
-      * Example: \include PartialRedux_count.cpp
-      * Output: \verbinclude PartialRedux_count.out
-      *
-      * \sa DenseBase::count() */
-    EIGEN_DEVICE_FUNC
-    const CountReturnType count() const
-    { return CountReturnType(_expression()); }
-
-    /** \returns a row (or column) vector expression of the product
-      * of each column (or row) of the referenced expression.
-      *
-      * Example: \include PartialRedux_prod.cpp
-      * Output: \verbinclude PartialRedux_prod.out
-      *
-      * \sa DenseBase::prod() */
-    EIGEN_DEVICE_FUNC
-    const ProdReturnType prod() const
-    { return ProdReturnType(_expression()); }
-
-
-    /** \returns a matrix expression
-      * where each column (or row) are reversed.
-      *
-      * Example: \include Vectorwise_reverse.cpp
-      * Output: \verbinclude Vectorwise_reverse.out
-      *
-      * \sa DenseBase::reverse() */
-    EIGEN_DEVICE_FUNC
-    const ConstReverseReturnType reverse() const
-    { return ConstReverseReturnType( _expression() ); }
-
-    /** \returns a writable matrix expression
-      * where each column (or row) are reversed.
-      *
-      * \sa reverse() const */
-    EIGEN_DEVICE_FUNC
-    ReverseReturnType reverse()
-    { return ReverseReturnType( _expression() ); }
-
-    typedef Replicate<ExpressionType,(isVertical?Dynamic:1),(isHorizontal?Dynamic:1)> ReplicateReturnType;
-    EIGEN_DEVICE_FUNC
-    const ReplicateReturnType replicate(Index factor) const;
-
-    /**
-      * \return an expression of the replication of each column (or row) of \c *this
-      *
-      * Example: \include DirectionWise_replicate.cpp
-      * Output: \verbinclude DirectionWise_replicate.out
-      *
-      * \sa VectorwiseOp::replicate(Index), DenseBase::replicate(), class Replicate
-      */
-    // NOTE implemented here because of sunstudio's compilation errors
-    // isVertical*Factor+isHorizontal instead of (isVertical?Factor:1) to handle CUDA bug with ternary operator
-    template<int Factor> const Replicate<ExpressionType,isVertical*Factor+isHorizontal,isHorizontal*Factor+isVertical>
-    EIGEN_DEVICE_FUNC
-    replicate(Index factor = Factor) const
-    {
-      return Replicate<ExpressionType,(isVertical?Factor:1),(isHorizontal?Factor:1)>
-          (_expression(),isVertical?factor:1,isHorizontal?factor:1);
-    }
-
-/////////// Artithmetic operators ///////////
-
-    /** Copies the vector \a other to each subvector of \c *this */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    ExpressionType& operator=(const DenseBase<OtherDerived>& other)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      //eigen_assert((m_matrix.isNull()) == (other.isNull())); FIXME
-      return const_cast<ExpressionType&>(m_matrix = extendedTo(other.derived()));
-    }
-
-    /** Adds the vector \a other to each subvector of \c *this */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    ExpressionType& operator+=(const DenseBase<OtherDerived>& other)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      return const_cast<ExpressionType&>(m_matrix += extendedTo(other.derived()));
-    }
-
-    /** Substracts the vector \a other to each subvector of \c *this */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    ExpressionType& operator-=(const DenseBase<OtherDerived>& other)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      return const_cast<ExpressionType&>(m_matrix -= extendedTo(other.derived()));
-    }
-
-    /** Multiples each subvector of \c *this by the vector \a other */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    ExpressionType& operator*=(const DenseBase<OtherDerived>& other)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      m_matrix *= extendedTo(other.derived());
-      return const_cast<ExpressionType&>(m_matrix);
-    }
-
-    /** Divides each subvector of \c *this by the vector \a other */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    ExpressionType& operator/=(const DenseBase<OtherDerived>& other)
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      m_matrix /= extendedTo(other.derived());
-      return const_cast<ExpressionType&>(m_matrix);
-    }
-
-    /** Returns the expression of the sum of the vector \a other to each subvector of \c *this */
-    template<typename OtherDerived> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
-    CwiseBinaryOp<internal::scalar_sum_op<Scalar,typename OtherDerived::Scalar>,
-                  const ExpressionTypeNestedCleaned,
-                  const typename ExtendedType<OtherDerived>::Type>
-    operator+(const DenseBase<OtherDerived>& other) const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      return m_matrix + extendedTo(other.derived());
-    }
-
-    /** Returns the expression of the difference between each subvector of \c *this and the vector \a other */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    CwiseBinaryOp<internal::scalar_difference_op<Scalar,typename OtherDerived::Scalar>,
-                  const ExpressionTypeNestedCleaned,
-                  const typename ExtendedType<OtherDerived>::Type>
-    operator-(const DenseBase<OtherDerived>& other) const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      return m_matrix - extendedTo(other.derived());
-    }
-
-    /** Returns the expression where each subvector is the product of the vector \a other
-      * by the corresponding subvector of \c *this */
-    template<typename OtherDerived> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
-    CwiseBinaryOp<internal::scalar_product_op<Scalar>,
-                  const ExpressionTypeNestedCleaned,
-                  const typename ExtendedType<OtherDerived>::Type>
-    EIGEN_DEVICE_FUNC
-    operator*(const DenseBase<OtherDerived>& other) const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      return m_matrix * extendedTo(other.derived());
-    }
-
-    /** Returns the expression where each subvector is the quotient of the corresponding
-      * subvector of \c *this by the vector \a other */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
-                  const ExpressionTypeNestedCleaned,
-                  const typename ExtendedType<OtherDerived>::Type>
-    operator/(const DenseBase<OtherDerived>& other) const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-      EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
-      EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      return m_matrix / extendedTo(other.derived());
-    }
-
-    /** \returns an expression where each column (or row) of the referenced matrix are normalized.
-      * The referenced matrix is \b not modified.
-      * \sa MatrixBase::normalized(), normalize()
-      */
-    EIGEN_DEVICE_FUNC
-    CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
-                  const ExpressionTypeNestedCleaned,
-                  const typename OppositeExtendedType<typename ReturnType<internal::member_norm,RealScalar>::Type>::Type>
-    normalized() const { return m_matrix.cwiseQuotient(extendedToOpposite(this->norm())); }
-
-
-    /** Normalize in-place each row or columns of the referenced matrix.
-      * \sa MatrixBase::normalize(), normalized()
-      */
-    EIGEN_DEVICE_FUNC void normalize() {
-      m_matrix = this->normalized();
-    }
-
-    EIGEN_DEVICE_FUNC inline void reverseInPlace();
-
-/////////// Geometry module ///////////
-
-    typedef Homogeneous<ExpressionType,Direction> HomogeneousReturnType;
-    EIGEN_DEVICE_FUNC
-    HomogeneousReturnType homogeneous() const;
-
-    typedef typename ExpressionType::PlainObject CrossReturnType;
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const;
-
-    enum {
-      HNormalized_Size = Direction==Vertical ? internal::traits<ExpressionType>::RowsAtCompileTime
-                                             : internal::traits<ExpressionType>::ColsAtCompileTime,
-      HNormalized_SizeMinusOne = HNormalized_Size==Dynamic ? Dynamic : HNormalized_Size-1
-    };
-    typedef Block<const ExpressionType,
-                  Direction==Vertical   ? int(HNormalized_SizeMinusOne)
-                                        : int(internal::traits<ExpressionType>::RowsAtCompileTime),
-                  Direction==Horizontal ? int(HNormalized_SizeMinusOne)
-                                        : int(internal::traits<ExpressionType>::ColsAtCompileTime)>
-            HNormalized_Block;
-    typedef Block<const ExpressionType,
-                  Direction==Vertical   ? 1 : int(internal::traits<ExpressionType>::RowsAtCompileTime),
-                  Direction==Horizontal ? 1 : int(internal::traits<ExpressionType>::ColsAtCompileTime)>
-            HNormalized_Factors;
-    typedef CwiseBinaryOp<internal::scalar_quotient_op<typename internal::traits<ExpressionType>::Scalar>,
-                const HNormalized_Block,
-                const Replicate<HNormalized_Factors,
-                  Direction==Vertical   ? HNormalized_SizeMinusOne : 1,
-                  Direction==Horizontal ? HNormalized_SizeMinusOne : 1> >
-            HNormalizedReturnType;
-
-    EIGEN_DEVICE_FUNC
-    const HNormalizedReturnType hnormalized() const;
-
-  protected:
-    ExpressionTypeNested m_matrix;
-};
-
-//const colwise moved to DenseBase.h due to CUDA compiler bug
-
-
-/** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
-  *
-  * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
-  */
-template<typename Derived>
-inline typename DenseBase<Derived>::ColwiseReturnType
-DenseBase<Derived>::colwise()
-{
-  return ColwiseReturnType(derived());
-}
-
-//const rowwise moved to DenseBase.h due to CUDA compiler bug
-
-
-/** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
-  *
-  * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
-  */
-template<typename Derived>
-inline typename DenseBase<Derived>::RowwiseReturnType
-DenseBase<Derived>::rowwise()
-{
-  return RowwiseReturnType(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_PARTIAL_REDUX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/Visitor.h b/phonelibs/eigen/Eigen/src/Core/Visitor.h
deleted file mode 100644
index 54c1883d98f85c..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/Visitor.h
+++ /dev/null
@@ -1,273 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_VISITOR_H
-#define EIGEN_VISITOR_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Visitor, typename Derived, int UnrollCount>
-struct visitor_impl
-{
-  enum {
-    col = (UnrollCount-1) / Derived::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived::RowsAtCompileTime
-  };
-
-  EIGEN_DEVICE_FUNC
-  static inline void run(const Derived &mat, Visitor& visitor)
-  {
-    visitor_impl<Visitor, Derived, UnrollCount-1>::run(mat, visitor);
-    visitor(mat.coeff(row, col), row, col);
-  }
-};
-
-template<typename Visitor, typename Derived>
-struct visitor_impl<Visitor, Derived, 1>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(const Derived &mat, Visitor& visitor)
-  {
-    return visitor.init(mat.coeff(0, 0), 0, 0);
-  }
-};
-
-template<typename Visitor, typename Derived>
-struct visitor_impl<Visitor, Derived, Dynamic>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(const Derived& mat, Visitor& visitor)
-  {
-    visitor.init(mat.coeff(0,0), 0, 0);
-    for(Index i = 1; i < mat.rows(); ++i)
-      visitor(mat.coeff(i, 0), i, 0);
-    for(Index j = 1; j < mat.cols(); ++j)
-      for(Index i = 0; i < mat.rows(); ++i)
-        visitor(mat.coeff(i, j), i, j);
-  }
-};
-
-// evaluator adaptor
-template<typename XprType>
-class visitor_evaluator
-{
-public:
-  EIGEN_DEVICE_FUNC
-  explicit visitor_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
-  
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  
-  enum {
-    RowsAtCompileTime = XprType::RowsAtCompileTime,
-    CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
-  };
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
-  EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index row, Index col) const
-  { return m_evaluator.coeff(row, col); }
-  
-protected:
-  internal::evaluator<XprType> m_evaluator;
-  const XprType &m_xpr;
-};
-} // end namespace internal
-
-/** Applies the visitor \a visitor to the whole coefficients of the matrix or vector.
-  *
-  * The template parameter \a Visitor is the type of the visitor and provides the following interface:
-  * \code
-  * struct MyVisitor {
-  *   // called for the first coefficient
-  *   void init(const Scalar& value, Index i, Index j);
-  *   // called for all other coefficients
-  *   void operator() (const Scalar& value, Index i, Index j);
-  * };
-  * \endcode
-  *
-  * \note compared to one or two \em for \em loops, visitors offer automatic
-  * unrolling for small fixed size matrix.
-  *
-  * \sa minCoeff(Index*,Index*), maxCoeff(Index*,Index*), DenseBase::redux()
-  */
-template<typename Derived>
-template<typename Visitor>
-EIGEN_DEVICE_FUNC
-void DenseBase<Derived>::visit(Visitor& visitor) const
-{
-  typedef typename internal::visitor_evaluator<Derived> ThisEvaluator;
-  ThisEvaluator thisEval(derived());
-  
-  enum {
-    unroll =  SizeAtCompileTime != Dynamic
-           && SizeAtCompileTime * ThisEvaluator::CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost <= EIGEN_UNROLLING_LIMIT
-  };
-  return internal::visitor_impl<Visitor, ThisEvaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(thisEval, visitor);
-}
-
-namespace internal {
-
-/** \internal
-  * \brief Base class to implement min and max visitors
-  */
-template <typename Derived>
-struct coeff_visitor
-{
-  typedef typename Derived::Scalar Scalar;
-  Index row, col;
-  Scalar res;
-  EIGEN_DEVICE_FUNC
-  inline void init(const Scalar& value, Index i, Index j)
-  {
-    res = value;
-    row = i;
-    col = j;
-  }
-};
-
-/** \internal
-  * \brief Visitor computing the min coefficient with its value and coordinates
-  *
-  * \sa DenseBase::minCoeff(Index*, Index*)
-  */
-template <typename Derived>
-struct min_coeff_visitor : coeff_visitor<Derived>
-{
-  typedef typename Derived::Scalar Scalar;
-  EIGEN_DEVICE_FUNC
-  void operator() (const Scalar& value, Index i, Index j)
-  {
-    if(value < this->res)
-    {
-      this->res = value;
-      this->row = i;
-      this->col = j;
-    }
-  }
-};
-
-template<typename Scalar>
-struct functor_traits<min_coeff_visitor<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost
-  };
-};
-
-/** \internal
-  * \brief Visitor computing the max coefficient with its value and coordinates
-  *
-  * \sa DenseBase::maxCoeff(Index*, Index*)
-  */
-template <typename Derived>
-struct max_coeff_visitor : coeff_visitor<Derived>
-{
-  typedef typename Derived::Scalar Scalar; 
-  EIGEN_DEVICE_FUNC
-  void operator() (const Scalar& value, Index i, Index j)
-  {
-    if(value > this->res)
-    {
-      this->res = value;
-      this->row = i;
-      this->col = j;
-    }
-  }
-};
-
-template<typename Scalar>
-struct functor_traits<max_coeff_visitor<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost
-  };
-};
-
-} // end namespace internal
-
-/** \fn DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
-  * \returns the minimum of all coefficients of *this and puts in *row and *col its location.
-  * \warning the result is undefined if \c *this contains NaN.
-  *
-  * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visit(), DenseBase::minCoeff()
-  */
-template<typename Derived>
-template<typename IndexType>
-EIGEN_DEVICE_FUNC
-typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
-{
-  internal::min_coeff_visitor<Derived> minVisitor;
-  this->visit(minVisitor);
-  *rowId = minVisitor.row;
-  if (colId) *colId = minVisitor.col;
-  return minVisitor.res;
-}
-
-/** \returns the minimum of all coefficients of *this and puts in *index its location.
-  * \warning the result is undefined if \c *this contains NaN. 
-  *
-  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::minCoeff()
-  */
-template<typename Derived>
-template<typename IndexType>
-EIGEN_DEVICE_FUNC
-typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::minCoeff(IndexType* index) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  internal::min_coeff_visitor<Derived> minVisitor;
-  this->visit(minVisitor);
-  *index = IndexType((RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row);
-  return minVisitor.res;
-}
-
-/** \fn DenseBase<Derived>::maxCoeff(IndexType* rowId, IndexType* colId) const
-  * \returns the maximum of all coefficients of *this and puts in *row and *col its location.
-  * \warning the result is undefined if \c *this contains NaN. 
-  *
-  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::maxCoeff()
-  */
-template<typename Derived>
-template<typename IndexType>
-EIGEN_DEVICE_FUNC
-typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::maxCoeff(IndexType* rowPtr, IndexType* colPtr) const
-{
-  internal::max_coeff_visitor<Derived> maxVisitor;
-  this->visit(maxVisitor);
-  *rowPtr = maxVisitor.row;
-  if (colPtr) *colPtr = maxVisitor.col;
-  return maxVisitor.res;
-}
-
-/** \returns the maximum of all coefficients of *this and puts in *index its location.
-  * \warning the result is undefined if \c *this contains NaN.
-  *
-  * \sa DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
-  */
-template<typename Derived>
-template<typename IndexType>
-EIGEN_DEVICE_FUNC
-typename internal::traits<Derived>::Scalar
-DenseBase<Derived>::maxCoeff(IndexType* index) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  internal::max_coeff_visitor<Derived> maxVisitor;
-  this->visit(maxVisitor);
-  *index = (RowsAtCompileTime==1) ? maxVisitor.col : maxVisitor.row;
-  return maxVisitor.res;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_VISITOR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AVX/Complex.h b/phonelibs/eigen/Eigen/src/Core/arch/AVX/Complex.h
deleted file mode 100644
index 99439c8aa19729..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AVX/Complex.h
+++ /dev/null
@@ -1,483 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner (benoit.steiner.goog@gmail.com)
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLEX_AVX_H
-#define EIGEN_COMPLEX_AVX_H
-
-namespace Eigen {
-
-namespace internal {
-
-//---------- float ----------
-struct Packet4cf
-{
-  EIGEN_STRONG_INLINE Packet4cf() {}
-  EIGEN_STRONG_INLINE explicit Packet4cf(const __m256& a) : v(a) {}
-  __m256  v;
-};
-
-template<> struct packet_traits<std::complex<float> >  : default_packet_traits
-{
-  typedef Packet4cf type;
-  typedef Packet2cf half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 4,
-    HasHalfPacket = 1,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasSetLinear = 0
-  };
-};
-
-template<> struct unpacket_traits<Packet4cf> { typedef std::complex<float> type; enum {size=4, alignment=Aligned32}; typedef Packet2cf half; };
-
-template<> EIGEN_STRONG_INLINE Packet4cf padd<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_add_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet4cf psub<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_sub_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet4cf pnegate(const Packet4cf& a)
-{
-  return Packet4cf(pnegate(a.v));
-}
-template<> EIGEN_STRONG_INLINE Packet4cf pconj(const Packet4cf& a)
-{
-  const __m256 mask = _mm256_castsi256_ps(_mm256_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000));
-  return Packet4cf(_mm256_xor_ps(a.v,mask));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4cf pmul<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
-{
-  __m256 tmp1 = _mm256_mul_ps(_mm256_moveldup_ps(a.v), b.v);
-  __m256 tmp2 = _mm256_mul_ps(_mm256_movehdup_ps(a.v), _mm256_permute_ps(b.v, _MM_SHUFFLE(2,3,0,1)));
-  __m256 result = _mm256_addsub_ps(tmp1, tmp2);
-  return Packet4cf(result);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4cf pand   <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_and_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet4cf por    <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_or_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet4cf pxor   <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_xor_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet4cf pandnot<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_andnot_ps(a.v,b.v)); }
-
-template<> EIGEN_STRONG_INLINE Packet4cf pload <Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet4cf(pload<Packet8f>(&numext::real_ref(*from))); }
-template<> EIGEN_STRONG_INLINE Packet4cf ploadu<Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet4cf(ploadu<Packet8f>(&numext::real_ref(*from))); }
-
-
-template<> EIGEN_STRONG_INLINE Packet4cf pset1<Packet4cf>(const std::complex<float>& from)
-{
-  return Packet4cf(_mm256_castpd_ps(_mm256_broadcast_sd((const double*)(const void*)&from)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4cf ploaddup<Packet4cf>(const std::complex<float>* from)
-{
-  // FIXME The following might be optimized using _mm256_movedup_pd
-  Packet2cf a = ploaddup<Packet2cf>(from);
-  Packet2cf b = ploaddup<Packet2cf>(from+1);
-  return  Packet4cf(_mm256_insertf128_ps(_mm256_castps128_ps256(a.v), b.v, 1));
-}
-
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float>* to, const Packet4cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float>* to, const Packet4cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), from.v); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet4cf pgather<std::complex<float>, Packet4cf>(const std::complex<float>* from, Index stride)
-{
-  return Packet4cf(_mm256_set_ps(std::imag(from[3*stride]), std::real(from[3*stride]),
-                                 std::imag(from[2*stride]), std::real(from[2*stride]),
-                                 std::imag(from[1*stride]), std::real(from[1*stride]),
-                                 std::imag(from[0*stride]), std::real(from[0*stride])));
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet4cf>(std::complex<float>* to, const Packet4cf& from, Index stride)
-{
-  __m128 low = _mm256_extractf128_ps(from.v, 0);
-  to[stride*0] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(low, low, 0)),
-                                     _mm_cvtss_f32(_mm_shuffle_ps(low, low, 1)));
-  to[stride*1] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(low, low, 2)),
-                                     _mm_cvtss_f32(_mm_shuffle_ps(low, low, 3)));
-
-  __m128 high = _mm256_extractf128_ps(from.v, 1);
-  to[stride*2] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(high, high, 0)),
-                                     _mm_cvtss_f32(_mm_shuffle_ps(high, high, 1)));
-  to[stride*3] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(high, high, 2)),
-                                     _mm_cvtss_f32(_mm_shuffle_ps(high, high, 3)));
-
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet4cf>(const Packet4cf& a)
-{
-  return pfirst(Packet2cf(_mm256_castps256_ps128(a.v)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4cf preverse(const Packet4cf& a) {
-  __m128 low  = _mm256_extractf128_ps(a.v, 0);
-  __m128 high = _mm256_extractf128_ps(a.v, 1);
-  __m128d lowd  = _mm_castps_pd(low);
-  __m128d highd = _mm_castps_pd(high);
-  low  = _mm_castpd_ps(_mm_shuffle_pd(lowd,lowd,0x1));
-  high = _mm_castpd_ps(_mm_shuffle_pd(highd,highd,0x1));
-  __m256 result = _mm256_setzero_ps();
-  result = _mm256_insertf128_ps(result, low, 1);
-  result = _mm256_insertf128_ps(result, high, 0);
-  return Packet4cf(result);
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet4cf>(const Packet4cf& a)
-{
-  return predux(padd(Packet2cf(_mm256_extractf128_ps(a.v,0)),
-                     Packet2cf(_mm256_extractf128_ps(a.v,1))));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4cf preduxp<Packet4cf>(const Packet4cf* vecs)
-{
-  Packet8f t0 = _mm256_shuffle_ps(vecs[0].v, vecs[0].v, _MM_SHUFFLE(3, 1, 2 ,0));
-  Packet8f t1 = _mm256_shuffle_ps(vecs[1].v, vecs[1].v, _MM_SHUFFLE(3, 1, 2 ,0));
-  t0 = _mm256_hadd_ps(t0,t1);
-  Packet8f t2 = _mm256_shuffle_ps(vecs[2].v, vecs[2].v, _MM_SHUFFLE(3, 1, 2 ,0));
-  Packet8f t3 = _mm256_shuffle_ps(vecs[3].v, vecs[3].v, _MM_SHUFFLE(3, 1, 2 ,0));
-  t2 = _mm256_hadd_ps(t2,t3);
-  
-  t1 = _mm256_permute2f128_ps(t0,t2, 0 + (2<<4));
-  t3 = _mm256_permute2f128_ps(t0,t2, 1 + (3<<4));
-
-  return Packet4cf(_mm256_add_ps(t1,t3));
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet4cf>(const Packet4cf& a)
-{
-  return predux_mul(pmul(Packet2cf(_mm256_extractf128_ps(a.v, 0)),
-                         Packet2cf(_mm256_extractf128_ps(a.v, 1))));
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet4cf>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4cf& first, const Packet4cf& second)
-  {
-    if (Offset==0) return;
-    palign_impl<Offset*2,Packet8f>::run(first.v, second.v);
-  }
-};
-
-template<> struct conj_helper<Packet4cf, Packet4cf, false,true>
-{
-  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet4cf, Packet4cf, true,false>
-{
-  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet4cf, Packet4cf, true,true>
-{
-  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
-template<> struct conj_helper<Packet8f, Packet4cf, false,false>
-{
-  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet8f& x, const Packet4cf& y, const Packet4cf& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet8f& x, const Packet4cf& y) const
-  { return Packet4cf(Eigen::internal::pmul(x, y.v)); }
-};
-
-template<> struct conj_helper<Packet4cf, Packet8f, false,false>
-{
-  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet8f& y, const Packet4cf& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& x, const Packet8f& y) const
-  { return Packet4cf(Eigen::internal::pmul(x.v, y)); }
-};
-
-template<> EIGEN_STRONG_INLINE Packet4cf pdiv<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
-{
-  Packet4cf num = pmul(a, pconj(b));
-  __m256 tmp = _mm256_mul_ps(b.v, b.v);
-  __m256 tmp2    = _mm256_shuffle_ps(tmp,tmp,0xB1);
-  __m256 denom = _mm256_add_ps(tmp, tmp2);
-  return Packet4cf(_mm256_div_ps(num.v, denom));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4cf pcplxflip<Packet4cf>(const Packet4cf& x)
-{
-  return Packet4cf(_mm256_shuffle_ps(x.v, x.v, _MM_SHUFFLE(2, 3, 0 ,1)));
-}
-
-//---------- double ----------
-struct Packet2cd
-{
-  EIGEN_STRONG_INLINE Packet2cd() {}
-  EIGEN_STRONG_INLINE explicit Packet2cd(const __m256d& a) : v(a) {}
-  __m256d  v;
-};
-
-template<> struct packet_traits<std::complex<double> >  : default_packet_traits
-{
-  typedef Packet2cd type;
-  typedef Packet1cd half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 0,
-    size = 2,
-    HasHalfPacket = 1,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasSetLinear = 0
-  };
-};
-
-template<> struct unpacket_traits<Packet2cd> { typedef std::complex<double> type; enum {size=2, alignment=Aligned32}; typedef Packet1cd half; };
-
-template<> EIGEN_STRONG_INLINE Packet2cd padd<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_add_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cd psub<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_sub_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cd pnegate(const Packet2cd& a) { return Packet2cd(pnegate(a.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cd pconj(const Packet2cd& a)
-{
-  const __m256d mask = _mm256_castsi256_pd(_mm256_set_epi32(0x80000000,0x0,0x0,0x0,0x80000000,0x0,0x0,0x0));
-  return Packet2cd(_mm256_xor_pd(a.v,mask));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd pmul<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
-{
-  __m256d tmp1 = _mm256_shuffle_pd(a.v,a.v,0x0);
-  __m256d even = _mm256_mul_pd(tmp1, b.v);
-  __m256d tmp2 = _mm256_shuffle_pd(a.v,a.v,0xF);
-  __m256d tmp3 = _mm256_shuffle_pd(b.v,b.v,0x5);
-  __m256d odd  = _mm256_mul_pd(tmp2, tmp3);
-  return Packet2cd(_mm256_addsub_pd(even, odd));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd pand   <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_and_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cd por    <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_or_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cd pxor   <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_xor_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cd pandnot<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_andnot_pd(a.v,b.v)); }
-
-template<> EIGEN_STRONG_INLINE Packet2cd pload <Packet2cd>(const std::complex<double>* from)
-{ EIGEN_DEBUG_ALIGNED_LOAD return Packet2cd(pload<Packet4d>((const double*)from)); }
-template<> EIGEN_STRONG_INLINE Packet2cd ploadu<Packet2cd>(const std::complex<double>* from)
-{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cd(ploadu<Packet4d>((const double*)from)); }
-
-template<> EIGEN_STRONG_INLINE Packet2cd pset1<Packet2cd>(const std::complex<double>& from)
-{
-  // in case casting to a __m128d* is really not safe, then we can still fallback to this version: (much slower though)
-//   return Packet2cd(_mm256_loadu2_m128d((const double*)&from,(const double*)&from));
-    return Packet2cd(_mm256_broadcast_pd((const __m128d*)(const void*)&from));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd ploaddup<Packet2cd>(const std::complex<double>* from) { return pset1<Packet2cd>(*from); }
-
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet2cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet2cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet2cd pgather<std::complex<double>, Packet2cd>(const std::complex<double>* from, Index stride)
-{
-  return Packet2cd(_mm256_set_pd(std::imag(from[1*stride]), std::real(from[1*stride]),
-				 std::imag(from[0*stride]), std::real(from[0*stride])));
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet2cd>(std::complex<double>* to, const Packet2cd& from, Index stride)
-{
-  __m128d low = _mm256_extractf128_pd(from.v, 0);
-  to[stride*0] = std::complex<double>(_mm_cvtsd_f64(low), _mm_cvtsd_f64(_mm_shuffle_pd(low, low, 1)));
-  __m128d high = _mm256_extractf128_pd(from.v, 1);
-  to[stride*1] = std::complex<double>(_mm_cvtsd_f64(high), _mm_cvtsd_f64(_mm_shuffle_pd(high, high, 1)));
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet2cd>(const Packet2cd& a)
-{
-  __m128d low = _mm256_extractf128_pd(a.v, 0);
-  EIGEN_ALIGN16 double res[2];
-  _mm_store_pd(res, low);
-  return std::complex<double>(res[0],res[1]);
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd preverse(const Packet2cd& a) {
-  __m256d result = _mm256_permute2f128_pd(a.v, a.v, 1);
-  return Packet2cd(result);
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet2cd>(const Packet2cd& a)
-{
-  return predux(padd(Packet1cd(_mm256_extractf128_pd(a.v,0)),
-                     Packet1cd(_mm256_extractf128_pd(a.v,1))));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd preduxp<Packet2cd>(const Packet2cd* vecs)
-{
-  Packet4d t0 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 0 + (2<<4));
-  Packet4d t1 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 1 + (3<<4));
-
-  return Packet2cd(_mm256_add_pd(t0,t1));
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet2cd>(const Packet2cd& a)
-{
-  return predux(pmul(Packet1cd(_mm256_extractf128_pd(a.v,0)),
-                     Packet1cd(_mm256_extractf128_pd(a.v,1))));
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet2cd>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2cd& first, const Packet2cd& second)
-  {
-    if (Offset==0) return;
-    palign_impl<Offset*2,Packet4d>::run(first.v, second.v);
-  }
-};
-
-template<> struct conj_helper<Packet2cd, Packet2cd, false,true>
-{
-  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet2cd, Packet2cd, true,false>
-{
-  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet2cd, Packet2cd, true,true>
-{
-  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
-template<> struct conj_helper<Packet4d, Packet2cd, false,false>
-{
-  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet4d& x, const Packet2cd& y, const Packet2cd& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet4d& x, const Packet2cd& y) const
-  { return Packet2cd(Eigen::internal::pmul(x, y.v)); }
-};
-
-template<> struct conj_helper<Packet2cd, Packet4d, false,false>
-{
-  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet4d& y, const Packet2cd& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& x, const Packet4d& y) const
-  { return Packet2cd(Eigen::internal::pmul(x.v, y)); }
-};
-
-template<> EIGEN_STRONG_INLINE Packet2cd pdiv<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
-{
-  Packet2cd num = pmul(a, pconj(b));
-  __m256d tmp = _mm256_mul_pd(b.v, b.v);
-  __m256d denom = _mm256_hadd_pd(tmp, tmp);
-  return Packet2cd(_mm256_div_pd(num.v, denom));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd pcplxflip<Packet2cd>(const Packet2cd& x)
-{
-  return Packet2cd(_mm256_shuffle_pd(x.v, x.v, 0x5));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4cf,4>& kernel) {
-  __m256d P0 = _mm256_castps_pd(kernel.packet[0].v);
-  __m256d P1 = _mm256_castps_pd(kernel.packet[1].v);
-  __m256d P2 = _mm256_castps_pd(kernel.packet[2].v);
-  __m256d P3 = _mm256_castps_pd(kernel.packet[3].v);
-
-  __m256d T0 = _mm256_shuffle_pd(P0, P1, 15);
-  __m256d T1 = _mm256_shuffle_pd(P0, P1, 0);
-  __m256d T2 = _mm256_shuffle_pd(P2, P3, 15);
-  __m256d T3 = _mm256_shuffle_pd(P2, P3, 0);
-
-  kernel.packet[1].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T0, T2, 32));
-  kernel.packet[3].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T0, T2, 49));
-  kernel.packet[0].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T1, T3, 32));
-  kernel.packet[2].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T1, T3, 49));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2cd,2>& kernel) {
-  __m256d tmp = _mm256_permute2f128_pd(kernel.packet[0].v, kernel.packet[1].v, 0+(2<<4));
-  kernel.packet[1].v = _mm256_permute2f128_pd(kernel.packet[0].v, kernel.packet[1].v, 1+(3<<4));
- kernel.packet[0].v = tmp;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4cf pinsertfirst(const Packet4cf& a, std::complex<float> b)
-{
-  return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,1|2));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd pinsertfirst(const Packet2cd& a, std::complex<double> b)
-{
-  return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,1|2));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4cf pinsertlast(const Packet4cf& a, std::complex<float> b)
-{
-  return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,(1<<7)|(1<<6)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd pinsertlast(const Packet2cd& a, std::complex<double> b)
-{
-  return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,(1<<3)|(1<<2)));
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX_AVX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AVX/MathFunctions.h b/phonelibs/eigen/Eigen/src/Core/arch/AVX/MathFunctions.h
deleted file mode 100644
index 6af67ce2d65062..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AVX/MathFunctions.h
+++ /dev/null
@@ -1,439 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com)
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATH_FUNCTIONS_AVX_H
-#define EIGEN_MATH_FUNCTIONS_AVX_H
-
-/* The sin, cos, exp, and log functions of this file are loosely derived from
- * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
- */
-
-namespace Eigen {
-
-namespace internal {
-
-inline Packet8i pshiftleft(Packet8i v, int n)
-{
-#ifdef EIGEN_VECTORIZE_AVX2
-  return _mm256_slli_epi32(v, n);
-#else
-  __m128i lo = _mm_slli_epi32(_mm256_extractf128_si256(v, 0), n);
-  __m128i hi = _mm_slli_epi32(_mm256_extractf128_si256(v, 1), n);
-  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
-#endif
-}
-
-inline Packet8f pshiftright(Packet8f v, int n)
-{
-#ifdef EIGEN_VECTORIZE_AVX2
-  return _mm256_cvtepi32_ps(_mm256_srli_epi32(_mm256_castps_si256(v), n));
-#else
-  __m128i lo = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 0), n);
-  __m128i hi = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 1), n);
-  return _mm256_cvtepi32_ps(_mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1));
-#endif
-}
-
-// Sine function
-// Computes sin(x) by wrapping x to the interval [-Pi/4,3*Pi/4] and
-// evaluating interpolants in [-Pi/4,Pi/4] or [Pi/4,3*Pi/4]. The interpolants
-// are (anti-)symmetric and thus have only odd/even coefficients
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-psin<Packet8f>(const Packet8f& _x) {
-  Packet8f x = _x;
-
-  // Some useful values.
-  _EIGEN_DECLARE_CONST_Packet8i(one, 1);
-  _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet8f(two, 2.0f);
-  _EIGEN_DECLARE_CONST_Packet8f(one_over_four, 0.25f);
-  _EIGEN_DECLARE_CONST_Packet8f(one_over_pi, 3.183098861837907e-01f);
-  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_first, -3.140625000000000e+00f);
-  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_second, -9.670257568359375e-04f);
-  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_third, -6.278329571784980e-07f);
-  _EIGEN_DECLARE_CONST_Packet8f(four_over_pi, 1.273239544735163e+00f);
-
-  // Map x from [-Pi/4,3*Pi/4] to z in [-1,3] and subtract the shifted period.
-  Packet8f z = pmul(x, p8f_one_over_pi);
-  Packet8f shift = _mm256_floor_ps(padd(z, p8f_one_over_four));
-  x = pmadd(shift, p8f_neg_pi_first, x);
-  x = pmadd(shift, p8f_neg_pi_second, x);
-  x = pmadd(shift, p8f_neg_pi_third, x);
-  z = pmul(x, p8f_four_over_pi);
-
-  // Make a mask for the entries that need flipping, i.e. wherever the shift
-  // is odd.
-  Packet8i shift_ints = _mm256_cvtps_epi32(shift);
-  Packet8i shift_isodd = _mm256_castps_si256(_mm256_and_ps(_mm256_castsi256_ps(shift_ints), _mm256_castsi256_ps(p8i_one)));
-  Packet8i sign_flip_mask = pshiftleft(shift_isodd, 31);
-
-  // Create a mask for which interpolant to use, i.e. if z > 1, then the mask
-  // is set to ones for that entry.
-  Packet8f ival_mask = _mm256_cmp_ps(z, p8f_one, _CMP_GT_OQ);
-
-  // Evaluate the polynomial for the interval [1,3] in z.
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_0, 9.999999724233232e-01f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_2, -3.084242535619928e-01f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_4, 1.584991525700324e-02f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_6, -3.188805084631342e-04f);
-  Packet8f z_minus_two = psub(z, p8f_two);
-  Packet8f z_minus_two2 = pmul(z_minus_two, z_minus_two);
-  Packet8f right = pmadd(p8f_coeff_right_6, z_minus_two2, p8f_coeff_right_4);
-  right = pmadd(right, z_minus_two2, p8f_coeff_right_2);
-  right = pmadd(right, z_minus_two2, p8f_coeff_right_0);
-
-  // Evaluate the polynomial for the interval [-1,1] in z.
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_1, 7.853981525427295e-01f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_3, -8.074536727092352e-02f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_5, 2.489871967827018e-03f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_7, -3.587725841214251e-05f);
-  Packet8f z2 = pmul(z, z);
-  Packet8f left = pmadd(p8f_coeff_left_7, z2, p8f_coeff_left_5);
-  left = pmadd(left, z2, p8f_coeff_left_3);
-  left = pmadd(left, z2, p8f_coeff_left_1);
-  left = pmul(left, z);
-
-  // Assemble the results, i.e. select the left and right polynomials.
-  left = _mm256_andnot_ps(ival_mask, left);
-  right = _mm256_and_ps(ival_mask, right);
-  Packet8f res = _mm256_or_ps(left, right);
-
-  // Flip the sign on the odd intervals and return the result.
-  res = _mm256_xor_ps(res, _mm256_castsi256_ps(sign_flip_mask));
-  return res;
-}
-
-// Natural logarithm
-// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
-// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
-// be easily approximated by a polynomial centered on m=1 for stability.
-// TODO(gonnet): Further reduce the interval allowing for lower-degree
-//               polynomial interpolants -> ... -> profit!
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-plog<Packet8f>(const Packet8f& _x) {
-  Packet8f x = _x;
-  _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet8f(126f, 126.0f);
-
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inv_mant_mask, ~0x7f800000);
-
-  // The smallest non denormalized float number.
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(min_norm_pos, 0x00800000);
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(minus_inf, 0xff800000);
-
-  // Polynomial coefficients.
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_SQRTHF, 0.707106781186547524f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p0, 7.0376836292E-2f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p1, -1.1514610310E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p2, 1.1676998740E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p3, -1.2420140846E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p4, +1.4249322787E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p5, -1.6668057665E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p6, +2.0000714765E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p7, -2.4999993993E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p8, +3.3333331174E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q1, -2.12194440e-4f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q2, 0.693359375f);
-
-  Packet8f invalid_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_NGE_UQ); // not greater equal is true if x is NaN
-  Packet8f iszero_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_EQ_OQ);
-
-  // Truncate input values to the minimum positive normal.
-  x = pmax(x, p8f_min_norm_pos);
-
-  Packet8f emm0 = pshiftright(x,23);
-  Packet8f e = _mm256_sub_ps(emm0, p8f_126f);
-
-  // Set the exponents to -1, i.e. x are in the range [0.5,1).
-  x = _mm256_and_ps(x, p8f_inv_mant_mask);
-  x = _mm256_or_ps(x, p8f_half);
-
-  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
-  // and shift by -1. The values are then centered around 0, which improves
-  // the stability of the polynomial evaluation.
-  //   if( x < SQRTHF ) {
-  //     e -= 1;
-  //     x = x + x - 1.0;
-  //   } else { x = x - 1.0; }
-  Packet8f mask = _mm256_cmp_ps(x, p8f_cephes_SQRTHF, _CMP_LT_OQ);
-  Packet8f tmp = _mm256_and_ps(x, mask);
-  x = psub(x, p8f_1);
-  e = psub(e, _mm256_and_ps(p8f_1, mask));
-  x = padd(x, tmp);
-
-  Packet8f x2 = pmul(x, x);
-  Packet8f x3 = pmul(x2, x);
-
-  // Evaluate the polynomial approximant of degree 8 in three parts, probably
-  // to improve instruction-level parallelism.
-  Packet8f y, y1, y2;
-  y = pmadd(p8f_cephes_log_p0, x, p8f_cephes_log_p1);
-  y1 = pmadd(p8f_cephes_log_p3, x, p8f_cephes_log_p4);
-  y2 = pmadd(p8f_cephes_log_p6, x, p8f_cephes_log_p7);
-  y = pmadd(y, x, p8f_cephes_log_p2);
-  y1 = pmadd(y1, x, p8f_cephes_log_p5);
-  y2 = pmadd(y2, x, p8f_cephes_log_p8);
-  y = pmadd(y, x3, y1);
-  y = pmadd(y, x3, y2);
-  y = pmul(y, x3);
-
-  // Add the logarithm of the exponent back to the result of the interpolation.
-  y1 = pmul(e, p8f_cephes_log_q1);
-  tmp = pmul(x2, p8f_half);
-  y = padd(y, y1);
-  x = psub(x, tmp);
-  y2 = pmul(e, p8f_cephes_log_q2);
-  x = padd(x, y);
-  x = padd(x, y2);
-
-  // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
-  return _mm256_or_ps(
-      _mm256_andnot_ps(iszero_mask, _mm256_or_ps(x, invalid_mask)),
-      _mm256_and_ps(iszero_mask, p8f_minus_inf));
-}
-
-// Exponential function. Works by writing "x = m*log(2) + r" where
-// "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
-// "exp(x) = 2^m*exp(r)" where exp(r) is in the range [-1,1).
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-pexp<Packet8f>(const Packet8f& _x) {
-  _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet8f(127, 127.0f);
-
-  _EIGEN_DECLARE_CONST_Packet8f(exp_hi, 88.3762626647950f);
-  _EIGEN_DECLARE_CONST_Packet8f(exp_lo, -88.3762626647949f);
-
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_LOG2EF, 1.44269504088896341f);
-
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p0, 1.9875691500E-4f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p1, 1.3981999507E-3f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p2, 8.3334519073E-3f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p3, 4.1665795894E-2f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p4, 1.6666665459E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p5, 5.0000001201E-1f);
-
-  // Clamp x.
-  Packet8f x = pmax(pmin(_x, p8f_exp_hi), p8f_exp_lo);
-
-  // Express exp(x) as exp(m*ln(2) + r), start by extracting
-  // m = floor(x/ln(2) + 0.5).
-  Packet8f m = _mm256_floor_ps(pmadd(x, p8f_cephes_LOG2EF, p8f_half));
-
-// Get r = x - m*ln(2). If no FMA instructions are available, m*ln(2) is
-// subtracted out in two parts, m*C1+m*C2 = m*ln(2), to avoid accumulating
-// truncation errors. Note that we don't use the "pmadd" function here to
-// ensure that a precision-preserving FMA instruction is used.
-#ifdef EIGEN_VECTORIZE_FMA
-  _EIGEN_DECLARE_CONST_Packet8f(nln2, -0.6931471805599453f);
-  Packet8f r = _mm256_fmadd_ps(m, p8f_nln2, x);
-#else
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C1, 0.693359375f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C2, -2.12194440e-4f);
-  Packet8f r = psub(x, pmul(m, p8f_cephes_exp_C1));
-  r = psub(r, pmul(m, p8f_cephes_exp_C2));
-#endif
-
-  Packet8f r2 = pmul(r, r);
-
-  // TODO(gonnet): Split into odd/even polynomials and try to exploit
-  //               instruction-level parallelism.
-  Packet8f y = p8f_cephes_exp_p0;
-  y = pmadd(y, r, p8f_cephes_exp_p1);
-  y = pmadd(y, r, p8f_cephes_exp_p2);
-  y = pmadd(y, r, p8f_cephes_exp_p3);
-  y = pmadd(y, r, p8f_cephes_exp_p4);
-  y = pmadd(y, r, p8f_cephes_exp_p5);
-  y = pmadd(y, r2, r);
-  y = padd(y, p8f_1);
-
-  // Build emm0 = 2^m.
-  Packet8i emm0 = _mm256_cvttps_epi32(padd(m, p8f_127));
-  emm0 = pshiftleft(emm0, 23);
-
-  // Return 2^m * exp(r).
-  return pmax(pmul(y, _mm256_castsi256_ps(emm0)), _x);
-}
-
-// Hyperbolic Tangent function.
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-ptanh<Packet8f>(const Packet8f& x) {
-  return internal::generic_fast_tanh_float(x);
-}
-
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4d
-pexp<Packet4d>(const Packet4d& _x) {
-  Packet4d x = _x;
-
-  _EIGEN_DECLARE_CONST_Packet4d(1, 1.0);
-  _EIGEN_DECLARE_CONST_Packet4d(2, 2.0);
-  _EIGEN_DECLARE_CONST_Packet4d(half, 0.5);
-
-  _EIGEN_DECLARE_CONST_Packet4d(exp_hi, 709.437);
-  _EIGEN_DECLARE_CONST_Packet4d(exp_lo, -709.436139303);
-
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_LOG2EF, 1.4426950408889634073599);
-
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p0, 1.26177193074810590878e-4);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p1, 3.02994407707441961300e-2);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q0, 3.00198505138664455042e-6);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q1, 2.52448340349684104192e-3);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q2, 2.27265548208155028766e-1);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q3, 2.00000000000000000009e0);
-
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C1, 0.693145751953125);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C2, 1.42860682030941723212e-6);
-  _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
-
-  Packet4d tmp, fx;
-
-  // clamp x
-  x = pmax(pmin(x, p4d_exp_hi), p4d_exp_lo);
-  // Express exp(x) as exp(g + n*log(2)).
-  fx = pmadd(p4d_cephes_LOG2EF, x, p4d_half);
-
-  // Get the integer modulus of log(2), i.e. the "n" described above.
-  fx = _mm256_floor_pd(fx);
-
-  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
-  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
-  // digits right.
-  tmp = pmul(fx, p4d_cephes_exp_C1);
-  Packet4d z = pmul(fx, p4d_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  Packet4d x2 = pmul(x, x);
-
-  // Evaluate the numerator polynomial of the rational interpolant.
-  Packet4d px = p4d_cephes_exp_p0;
-  px = pmadd(px, x2, p4d_cephes_exp_p1);
-  px = pmadd(px, x2, p4d_cephes_exp_p2);
-  px = pmul(px, x);
-
-  // Evaluate the denominator polynomial of the rational interpolant.
-  Packet4d qx = p4d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p4d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p4d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p4d_cephes_exp_q3);
-
-  // I don't really get this bit, copied from the SSE2 routines, so...
-  // TODO(gonnet): Figure out what is going on here, perhaps find a better
-  // rational interpolant?
-  x = _mm256_div_pd(px, psub(qx, px));
-  x = pmadd(p4d_2, x, p4d_1);
-
-  // Build e=2^n by constructing the exponents in a 128-bit vector and
-  // shifting them to where they belong in double-precision values.
-  __m128i emm0 = _mm256_cvtpd_epi32(fx);
-  emm0 = _mm_add_epi32(emm0, p4i_1023);
-  emm0 = _mm_shuffle_epi32(emm0, _MM_SHUFFLE(3, 1, 2, 0));
-  __m128i lo = _mm_slli_epi64(emm0, 52);
-  __m128i hi = _mm_slli_epi64(_mm_srli_epi64(emm0, 32), 52);
-  __m256i e = _mm256_insertf128_si256(_mm256_setzero_si256(), lo, 0);
-  e = _mm256_insertf128_si256(e, hi, 1);
-
-  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
-  // non-finite values in the input.
-  return pmax(pmul(x, _mm256_castsi256_pd(e)), _x);
-}
-
-// Functions for sqrt.
-// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
-// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
-// exact solution. It does not handle +inf, or denormalized numbers correctly.
-// The main advantage of this approach is not just speed, but also the fact that
-// it can be inlined and pipelined with other computations, further reducing its
-// effective latency. This is similar to Quake3's fast inverse square root.
-// For detail see here: http://www.beyond3d.com/content/articles/8/
-#if EIGEN_FAST_MATH
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-psqrt<Packet8f>(const Packet8f& _x) {
-  Packet8f half = pmul(_x, pset1<Packet8f>(.5f));
-  Packet8f denormal_mask = _mm256_and_ps(
-      _mm256_cmp_ps(_x, pset1<Packet8f>((std::numeric_limits<float>::min)()),
-                    _CMP_LT_OQ),
-      _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_GE_OQ));
-
-  // Compute approximate reciprocal sqrt.
-  Packet8f x = _mm256_rsqrt_ps(_x);
-  // Do a single step of Newton's iteration.
-  x = pmul(x, psub(pset1<Packet8f>(1.5f), pmul(half, pmul(x,x))));
-  // Flush results for denormals to zero.
-  return _mm256_andnot_ps(denormal_mask, pmul(_x,x));
-}
-#else
-template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet8f psqrt<Packet8f>(const Packet8f& x) {
-  return _mm256_sqrt_ps(x);
-}
-#endif
-template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4d psqrt<Packet4d>(const Packet4d& x) {
-  return _mm256_sqrt_pd(x);
-}
-#if EIGEN_FAST_MATH
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet8f prsqrt<Packet8f>(const Packet8f& _x) {
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inf, 0x7f800000);
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(nan, 0x7fc00000);
-  _EIGEN_DECLARE_CONST_Packet8f(one_point_five, 1.5f);
-  _EIGEN_DECLARE_CONST_Packet8f(minus_half, -0.5f);
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(flt_min, 0x00800000);
-
-  Packet8f neg_half = pmul(_x, p8f_minus_half);
-
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  Packet8f le_zero_mask = _mm256_cmp_ps(_x, p8f_flt_min, _CMP_LT_OQ);
-  Packet8f x = _mm256_andnot_ps(le_zero_mask, _mm256_rsqrt_ps(_x));
-
-  // Fill in NaNs and Infs for the negative/zero entries.
-  Packet8f neg_mask = _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_LT_OQ);
-  Packet8f zero_mask = _mm256_andnot_ps(neg_mask, le_zero_mask);
-  Packet8f infs_and_nans = _mm256_or_ps(_mm256_and_ps(neg_mask, p8f_nan),
-                                        _mm256_and_ps(zero_mask, p8f_inf));
-
-  // Do a single step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8f_one_point_five));
-
-  // Insert NaNs and Infs in all the right places.
-  return _mm256_or_ps(x, infs_and_nans);
-}
-
-#else
-template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet8f prsqrt<Packet8f>(const Packet8f& x) {
-  _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
-  return _mm256_div_ps(p8f_one, _mm256_sqrt_ps(x));
-}
-#endif
-
-template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4d prsqrt<Packet4d>(const Packet4d& x) {
-  _EIGEN_DECLARE_CONST_Packet4d(one, 1.0);
-  return _mm256_div_pd(p4d_one, _mm256_sqrt_pd(x));
-}
-
-
-}  // end namespace internal
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_MATH_FUNCTIONS_AVX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AVX/PacketMath.h b/phonelibs/eigen/Eigen/src/Core/arch/AVX/PacketMath.h
deleted file mode 100644
index 195d40fb4c5d92..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AVX/PacketMath.h
+++ /dev/null
@@ -1,633 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner (benoit.steiner.goog@gmail.com)
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_AVX_H
-#define EIGEN_PACKET_MATH_AVX_H
-
-namespace Eigen {
-
-namespace internal {
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
-#endif
-
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
-#endif
-
-#ifdef __FMA__
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#endif
-#endif
-
-typedef __m256  Packet8f;
-typedef __m256i Packet8i;
-typedef __m256d Packet4d;
-
-template<> struct is_arithmetic<__m256>  { enum { value = true }; };
-template<> struct is_arithmetic<__m256i> { enum { value = true }; };
-template<> struct is_arithmetic<__m256d> { enum { value = true }; };
-
-#define _EIGEN_DECLARE_CONST_Packet8f(NAME,X) \
-  const Packet8f p8f_##NAME = pset1<Packet8f>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet4d(NAME,X) \
-  const Packet4d p4d_##NAME = pset1<Packet4d>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(NAME,X) \
-  const Packet8f p8f_##NAME = _mm256_castsi256_ps(pset1<Packet8i>(X))
-
-#define _EIGEN_DECLARE_CONST_Packet8i(NAME,X) \
-  const Packet8i p8i_##NAME = pset1<Packet8i>(X)
-
-// Use the packet_traits defined in AVX512/PacketMath.h instead if we're going
-// to leverage AVX512 instructions.
-#ifndef EIGEN_VECTORIZE_AVX512
-template<> struct packet_traits<float>  : default_packet_traits
-{
-  typedef Packet8f type;
-  typedef Packet4f half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=8,
-    HasHalfPacket = 1,
-
-    HasDiv  = 1,
-    HasSin  = EIGEN_FAST_MATH,
-    HasCos  = 0,
-    HasLog  = 1,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasTanh  = EIGEN_FAST_MATH,
-    HasBlend = 1,
-    HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1
-  };
-};
-template<> struct packet_traits<double> : default_packet_traits
-{
-  typedef Packet4d type;
-  typedef Packet2d half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-    HasHalfPacket = 1,
-
-    HasDiv  = 1,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasBlend = 1,
-    HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1
-  };
-};
-#endif
-
-template<> struct scalar_div_cost<float,true> { enum { value = 14 }; };
-template<> struct scalar_div_cost<double,true> { enum { value = 16 }; };
-
-/* Proper support for integers is only provided by AVX2. In the meantime, we'll
-   use SSE instructions and packets to deal with integers.
-template<> struct packet_traits<int>    : default_packet_traits
-{
-  typedef Packet8i type;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=8
-  };
-};
-*/
-
-template<> struct unpacket_traits<Packet8f> { typedef float  type; typedef Packet4f half; enum {size=8, alignment=Aligned32}; };
-template<> struct unpacket_traits<Packet4d> { typedef double type; typedef Packet2d half; enum {size=4, alignment=Aligned32}; };
-template<> struct unpacket_traits<Packet8i> { typedef int    type; typedef Packet4i half; enum {size=8, alignment=Aligned32}; };
-
-template<> EIGEN_STRONG_INLINE Packet8f pset1<Packet8f>(const float&  from) { return _mm256_set1_ps(from); }
-template<> EIGEN_STRONG_INLINE Packet4d pset1<Packet4d>(const double& from) { return _mm256_set1_pd(from); }
-template<> EIGEN_STRONG_INLINE Packet8i pset1<Packet8i>(const int&    from) { return _mm256_set1_epi32(from); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pload1<Packet8f>(const float*  from) { return _mm256_broadcast_ss(from); }
-template<> EIGEN_STRONG_INLINE Packet4d pload1<Packet4d>(const double* from) { return _mm256_broadcast_sd(from); }
-
-template<> EIGEN_STRONG_INLINE Packet8f plset<Packet8f>(const float& a) { return _mm256_add_ps(_mm256_set1_ps(a), _mm256_set_ps(7.0,6.0,5.0,4.0,3.0,2.0,1.0,0.0)); }
-template<> EIGEN_STRONG_INLINE Packet4d plset<Packet4d>(const double& a) { return _mm256_add_pd(_mm256_set1_pd(a), _mm256_set_pd(3.0,2.0,1.0,0.0)); }
-
-template<> EIGEN_STRONG_INLINE Packet8f padd<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_add_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d padd<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_add_pd(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet8f psub<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_sub_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d psub<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_sub_pd(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pnegate(const Packet8f& a)
-{
-  return _mm256_sub_ps(_mm256_set1_ps(0.0),a);
-}
-template<> EIGEN_STRONG_INLINE Packet4d pnegate(const Packet4d& a)
-{
-  return _mm256_sub_pd(_mm256_set1_pd(0.0),a);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8f pconj(const Packet8f& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4d pconj(const Packet4d& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet8i pconj(const Packet8i& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet8f pmul<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_mul_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d pmul<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_mul_pd(a,b); }
-
-
-template<> EIGEN_STRONG_INLINE Packet8f pdiv<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_div_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d pdiv<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_div_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet8i pdiv<Packet8i>(const Packet8i& /*a*/, const Packet8i& /*b*/)
-{ eigen_assert(false && "packet integer division are not supported by AVX");
-  return pset1<Packet8i>(0);
-}
-
-#ifdef __FMA__
-template<> EIGEN_STRONG_INLINE Packet8f pmadd(const Packet8f& a, const Packet8f& b, const Packet8f& c) {
-#if ( EIGEN_COMP_GNUC_STRICT || (EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<308)) )
-  // clang stupidly generates a vfmadd213ps instruction plus some vmovaps on registers,
-  // and gcc stupidly generates a vfmadd132ps instruction,
-  // so let's enforce it to generate a vfmadd231ps instruction since the most common use case is to accumulate
-  // the result of the product.
-  Packet8f res = c;
-  __asm__("vfmadd231ps %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
-  return res;
-#else
-  return _mm256_fmadd_ps(a,b,c);
-#endif
-}
-template<> EIGEN_STRONG_INLINE Packet4d pmadd(const Packet4d& a, const Packet4d& b, const Packet4d& c) {
-#if ( EIGEN_COMP_GNUC_STRICT || (EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<308)) )
-  // see above
-  Packet4d res = c;
-  __asm__("vfmadd231pd %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
-  return res;
-#else
-  return _mm256_fmadd_pd(a,b,c);
-#endif
-}
-#endif
-
-template<> EIGEN_STRONG_INLINE Packet8f pmin<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_min_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d pmin<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_min_pd(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pmax<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_max_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d pmax<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_max_pd(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pround<Packet8f>(const Packet8f& a) { return _mm256_round_ps(a, _MM_FROUND_CUR_DIRECTION); }
-template<> EIGEN_STRONG_INLINE Packet4d pround<Packet4d>(const Packet4d& a) { return _mm256_round_pd(a, _MM_FROUND_CUR_DIRECTION); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pceil<Packet8f>(const Packet8f& a) { return _mm256_ceil_ps(a); }
-template<> EIGEN_STRONG_INLINE Packet4d pceil<Packet4d>(const Packet4d& a) { return _mm256_ceil_pd(a); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pfloor<Packet8f>(const Packet8f& a) { return _mm256_floor_ps(a); }
-template<> EIGEN_STRONG_INLINE Packet4d pfloor<Packet4d>(const Packet4d& a) { return _mm256_floor_pd(a); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pand<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_and_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d pand<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_and_pd(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet8f por<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_or_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d por<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_or_pd(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pxor<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_xor_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d pxor<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_xor_pd(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pandnot<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_andnot_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d pandnot<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_andnot_pd(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet8f pload<Packet8f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_ps(from); }
-template<> EIGEN_STRONG_INLINE Packet4d pload<Packet4d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_pd(from); }
-template<> EIGEN_STRONG_INLINE Packet8i pload<Packet8i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_si256(reinterpret_cast<const __m256i*>(from)); }
-
-template<> EIGEN_STRONG_INLINE Packet8f ploadu<Packet8f>(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_ps(from); }
-template<> EIGEN_STRONG_INLINE Packet4d ploadu<Packet4d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_pd(from); }
-template<> EIGEN_STRONG_INLINE Packet8i ploadu<Packet8i>(const int* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from)); }
-
-// Loads 4 floats from memory a returns the packet {a0, a0  a1, a1, a2, a2, a3, a3}
-template<> EIGEN_STRONG_INLINE Packet8f ploaddup<Packet8f>(const float* from)
-{
-  // TODO try to find a way to avoid the need of a temporary register
-//   Packet8f tmp  = _mm256_castps128_ps256(_mm_loadu_ps(from));
-//   tmp = _mm256_insertf128_ps(tmp, _mm_movehl_ps(_mm256_castps256_ps128(tmp),_mm256_castps256_ps128(tmp)), 1);
-//   return _mm256_unpacklo_ps(tmp,tmp);
-  
-  // _mm256_insertf128_ps is very slow on Haswell, thus:
-  Packet8f tmp = _mm256_broadcast_ps((const __m128*)(const void*)from);
-  // mimic an "inplace" permutation of the lower 128bits using a blend
-  tmp = _mm256_blend_ps(tmp,_mm256_castps128_ps256(_mm_permute_ps( _mm256_castps256_ps128(tmp), _MM_SHUFFLE(1,0,1,0))), 15);
-  // then we can perform a consistent permutation on the global register to get everything in shape:
-  return  _mm256_permute_ps(tmp, _MM_SHUFFLE(3,3,2,2));
-}
-// Loads 2 doubles from memory a returns the packet {a0, a0  a1, a1}
-template<> EIGEN_STRONG_INLINE Packet4d ploaddup<Packet4d>(const double* from)
-{
-  Packet4d tmp = _mm256_broadcast_pd((const __m128d*)(const void*)from);
-  return  _mm256_permute_pd(tmp, 3<<2);
-}
-
-// Loads 2 floats from memory a returns the packet {a0, a0  a0, a0, a1, a1, a1, a1}
-template<> EIGEN_STRONG_INLINE Packet8f ploadquad<Packet8f>(const float* from)
-{
-  Packet8f tmp = _mm256_castps128_ps256(_mm_broadcast_ss(from));
-  return _mm256_insertf128_ps(tmp, _mm_broadcast_ss(from+1), 1);
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet8f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_store_ps(to, from); }
-template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_store_pd(to, from); }
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet8i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
-
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet8f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_ps(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_pd(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet8i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
-
-// NOTE: leverage _mm256_i32gather_ps and _mm256_i32gather_pd if AVX2 instructions are available
-// NOTE: for the record the following seems to be slower: return _mm256_i32gather_ps(from, _mm256_set1_epi32(stride), 4);
-template<> EIGEN_DEVICE_FUNC inline Packet8f pgather<float, Packet8f>(const float* from, Index stride)
-{
-  return _mm256_set_ps(from[7*stride], from[6*stride], from[5*stride], from[4*stride],
-                       from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
-}
-template<> EIGEN_DEVICE_FUNC inline Packet4d pgather<double, Packet4d>(const double* from, Index stride)
-{
-  return _mm256_set_pd(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet8f>(float* to, const Packet8f& from, Index stride)
-{
-  __m128 low = _mm256_extractf128_ps(from, 0);
-  to[stride*0] = _mm_cvtss_f32(low);
-  to[stride*1] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 1));
-  to[stride*2] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 2));
-  to[stride*3] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 3));
-
-  __m128 high = _mm256_extractf128_ps(from, 1);
-  to[stride*4] = _mm_cvtss_f32(high);
-  to[stride*5] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 1));
-  to[stride*6] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 2));
-  to[stride*7] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 3));
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet4d>(double* to, const Packet4d& from, Index stride)
-{
-  __m128d low = _mm256_extractf128_pd(from, 0);
-  to[stride*0] = _mm_cvtsd_f64(low);
-  to[stride*1] = _mm_cvtsd_f64(_mm_shuffle_pd(low, low, 1));
-  __m128d high = _mm256_extractf128_pd(from, 1);
-  to[stride*2] = _mm_cvtsd_f64(high);
-  to[stride*3] = _mm_cvtsd_f64(_mm_shuffle_pd(high, high, 1));
-}
-
-template<> EIGEN_STRONG_INLINE void pstore1<Packet8f>(float* to, const float& a)
-{
-  Packet8f pa = pset1<Packet8f>(a);
-  pstore(to, pa);
-}
-template<> EIGEN_STRONG_INLINE void pstore1<Packet4d>(double* to, const double& a)
-{
-  Packet4d pa = pset1<Packet4d>(a);
-  pstore(to, pa);
-}
-template<> EIGEN_STRONG_INLINE void pstore1<Packet8i>(int* to, const int& a)
-{
-  Packet8i pa = pset1<Packet8i>(a);
-  pstore(to, pa);
-}
-
-#ifndef EIGEN_VECTORIZE_AVX512
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-#endif
-
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet8f>(const Packet8f& a) {
-  return _mm_cvtss_f32(_mm256_castps256_ps128(a));
-}
-template<> EIGEN_STRONG_INLINE double pfirst<Packet4d>(const Packet4d& a) {
-  return _mm_cvtsd_f64(_mm256_castpd256_pd128(a));
-}
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet8i>(const Packet8i& a) {
-  return _mm_cvtsi128_si32(_mm256_castsi256_si128(a));
-}
-
-
-template<> EIGEN_STRONG_INLINE Packet8f preverse(const Packet8f& a)
-{
-  __m256 tmp = _mm256_shuffle_ps(a,a,0x1b);
-  return _mm256_permute2f128_ps(tmp, tmp, 1);
-}
-template<> EIGEN_STRONG_INLINE Packet4d preverse(const Packet4d& a)
-{
-   __m256d tmp = _mm256_shuffle_pd(a,a,5);
-  return _mm256_permute2f128_pd(tmp, tmp, 1);
-
-  __m256d swap_halves = _mm256_permute2f128_pd(a,a,1);
-    return _mm256_permute_pd(swap_halves,5);
-}
-
-// pabs should be ok
-template<> EIGEN_STRONG_INLINE Packet8f pabs(const Packet8f& a)
-{
-  const Packet8f mask = _mm256_castsi256_ps(_mm256_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
-  return _mm256_and_ps(a,mask);
-}
-template<> EIGEN_STRONG_INLINE Packet4d pabs(const Packet4d& a)
-{
-  const Packet4d mask = _mm256_castsi256_pd(_mm256_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
-  return _mm256_and_pd(a,mask);
-}
-
-// preduxp should be ok
-// FIXME: why is this ok? why isn't the simply implementation working as expected?
-template<> EIGEN_STRONG_INLINE Packet8f preduxp<Packet8f>(const Packet8f* vecs)
-{
-    __m256 hsum1 = _mm256_hadd_ps(vecs[0], vecs[1]);
-    __m256 hsum2 = _mm256_hadd_ps(vecs[2], vecs[3]);
-    __m256 hsum3 = _mm256_hadd_ps(vecs[4], vecs[5]);
-    __m256 hsum4 = _mm256_hadd_ps(vecs[6], vecs[7]);
-
-    __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-    __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-    __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-    __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-    __m256 perm1 =  _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-    __m256 perm2 =  _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-    __m256 perm3 =  _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-    __m256 perm4 =  _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-    __m256 sum1 = _mm256_add_ps(perm1, hsum5);
-    __m256 sum2 = _mm256_add_ps(perm2, hsum6);
-    __m256 sum3 = _mm256_add_ps(perm3, hsum7);
-    __m256 sum4 = _mm256_add_ps(perm4, hsum8);
-
-    __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-    __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-    __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
-    return final;
-}
-template<> EIGEN_STRONG_INLINE Packet4d preduxp<Packet4d>(const Packet4d* vecs)
-{
- Packet4d tmp0, tmp1;
-
-  tmp0 = _mm256_hadd_pd(vecs[0], vecs[1]);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs[2], vecs[3]);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  return _mm256_blend_pd(tmp0, tmp1, 0xC);
-}
-
-template<> EIGEN_STRONG_INLINE float predux<Packet8f>(const Packet8f& a)
-{
-  return predux(Packet4f(_mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1))));
-}
-template<> EIGEN_STRONG_INLINE double predux<Packet4d>(const Packet4d& a)
-{
-  return predux(Packet2d(_mm_add_pd(_mm256_castpd256_pd128(a),_mm256_extractf128_pd(a,1))));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f predux_downto4<Packet8f>(const Packet8f& a)
-{
-  return _mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1));
-}
-
-template<> EIGEN_STRONG_INLINE float predux_mul<Packet8f>(const Packet8f& a)
-{
-  Packet8f tmp;
-  tmp = _mm256_mul_ps(a, _mm256_permute2f128_ps(a,a,1));
-  tmp = _mm256_mul_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
-  return pfirst(_mm256_mul_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
-}
-template<> EIGEN_STRONG_INLINE double predux_mul<Packet4d>(const Packet4d& a)
-{
-  Packet4d tmp;
-  tmp = _mm256_mul_pd(a, _mm256_permute2f128_pd(a,a,1));
-  return pfirst(_mm256_mul_pd(tmp, _mm256_shuffle_pd(tmp,tmp,1)));
-}
-
-template<> EIGEN_STRONG_INLINE float predux_min<Packet8f>(const Packet8f& a)
-{
-  Packet8f tmp = _mm256_min_ps(a, _mm256_permute2f128_ps(a,a,1));
-  tmp = _mm256_min_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
-  return pfirst(_mm256_min_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
-}
-template<> EIGEN_STRONG_INLINE double predux_min<Packet4d>(const Packet4d& a)
-{
-  Packet4d tmp = _mm256_min_pd(a, _mm256_permute2f128_pd(a,a,1));
-  return pfirst(_mm256_min_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
-}
-
-template<> EIGEN_STRONG_INLINE float predux_max<Packet8f>(const Packet8f& a)
-{
-  Packet8f tmp = _mm256_max_ps(a, _mm256_permute2f128_ps(a,a,1));
-  tmp = _mm256_max_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
-  return pfirst(_mm256_max_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
-}
-
-template<> EIGEN_STRONG_INLINE double predux_max<Packet4d>(const Packet4d& a)
-{
-  Packet4d tmp = _mm256_max_pd(a, _mm256_permute2f128_pd(a,a,1));
-  return pfirst(_mm256_max_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
-}
-
-
-template<int Offset>
-struct palign_impl<Offset,Packet8f>
-{
-  static EIGEN_STRONG_INLINE void run(Packet8f& first, const Packet8f& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm256_blend_ps(first, second, 1);
-      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
-      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
-      first = _mm256_blend_ps(tmp1, tmp2, 0x88);
-    }
-    else if (Offset==2)
-    {
-      first = _mm256_blend_ps(first, second, 3);
-      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
-      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
-      first = _mm256_blend_ps(tmp1, tmp2, 0xcc);
-    }
-    else if (Offset==3)
-    {
-      first = _mm256_blend_ps(first, second, 7);
-      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
-      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
-      first = _mm256_blend_ps(tmp1, tmp2, 0xee);
-    }
-    else if (Offset==4)
-    {
-      first = _mm256_blend_ps(first, second, 15);
-      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(3,2,1,0));
-      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
-      first = _mm256_permute_ps(tmp2, _MM_SHUFFLE(3,2,1,0));
-    }
-    else if (Offset==5)
-    {
-      first = _mm256_blend_ps(first, second, 31);
-      first = _mm256_permute2f128_ps(first, first, 1);
-      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
-      first = _mm256_permute2f128_ps(tmp, tmp, 1);
-      first = _mm256_blend_ps(tmp, first, 0x88);
-    }
-    else if (Offset==6)
-    {
-      first = _mm256_blend_ps(first, second, 63);
-      first = _mm256_permute2f128_ps(first, first, 1);
-      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
-      first = _mm256_permute2f128_ps(tmp, tmp, 1);
-      first = _mm256_blend_ps(tmp, first, 0xcc);
-    }
-    else if (Offset==7)
-    {
-      first = _mm256_blend_ps(first, second, 127);
-      first = _mm256_permute2f128_ps(first, first, 1);
-      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
-      first = _mm256_permute2f128_ps(tmp, tmp, 1);
-      first = _mm256_blend_ps(tmp, first, 0xee);
-    }
-  }
-};
-
-template<int Offset>
-struct palign_impl<Offset,Packet4d>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4d& first, const Packet4d& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm256_blend_pd(first, second, 1);
-      __m256d tmp = _mm256_permute_pd(first, 5);
-      first = _mm256_permute2f128_pd(tmp, tmp, 1);
-      first = _mm256_blend_pd(tmp, first, 0xA);
-    }
-    else if (Offset==2)
-    {
-      first = _mm256_blend_pd(first, second, 3);
-      first = _mm256_permute2f128_pd(first, first, 1);
-    }
-    else if (Offset==3)
-    {
-      first = _mm256_blend_pd(first, second, 7);
-      __m256d tmp = _mm256_permute_pd(first, 5);
-      first = _mm256_permute2f128_pd(tmp, tmp, 1);
-      first = _mm256_blend_pd(tmp, first, 5);
-    }
-  }
-};
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet8f,8>& kernel) {
-  __m256 T0 = _mm256_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
-  __m256 T1 = _mm256_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
-  __m256 T2 = _mm256_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
-  __m256 T3 = _mm256_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
-  __m256 T4 = _mm256_unpacklo_ps(kernel.packet[4], kernel.packet[5]);
-  __m256 T5 = _mm256_unpackhi_ps(kernel.packet[4], kernel.packet[5]);
-  __m256 T6 = _mm256_unpacklo_ps(kernel.packet[6], kernel.packet[7]);
-  __m256 T7 = _mm256_unpackhi_ps(kernel.packet[6], kernel.packet[7]);
-  __m256 S0 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(1,0,1,0));
-  __m256 S1 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(3,2,3,2));
-  __m256 S2 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(1,0,1,0));
-  __m256 S3 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(3,2,3,2));
-  __m256 S4 = _mm256_shuffle_ps(T4,T6,_MM_SHUFFLE(1,0,1,0));
-  __m256 S5 = _mm256_shuffle_ps(T4,T6,_MM_SHUFFLE(3,2,3,2));
-  __m256 S6 = _mm256_shuffle_ps(T5,T7,_MM_SHUFFLE(1,0,1,0));
-  __m256 S7 = _mm256_shuffle_ps(T5,T7,_MM_SHUFFLE(3,2,3,2));
-  kernel.packet[0] = _mm256_permute2f128_ps(S0, S4, 0x20);
-  kernel.packet[1] = _mm256_permute2f128_ps(S1, S5, 0x20);
-  kernel.packet[2] = _mm256_permute2f128_ps(S2, S6, 0x20);
-  kernel.packet[3] = _mm256_permute2f128_ps(S3, S7, 0x20);
-  kernel.packet[4] = _mm256_permute2f128_ps(S0, S4, 0x31);
-  kernel.packet[5] = _mm256_permute2f128_ps(S1, S5, 0x31);
-  kernel.packet[6] = _mm256_permute2f128_ps(S2, S6, 0x31);
-  kernel.packet[7] = _mm256_permute2f128_ps(S3, S7, 0x31);
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet8f,4>& kernel) {
-  __m256 T0 = _mm256_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
-  __m256 T1 = _mm256_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
-  __m256 T2 = _mm256_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
-  __m256 T3 = _mm256_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
-
-  __m256 S0 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(1,0,1,0));
-  __m256 S1 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(3,2,3,2));
-  __m256 S2 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(1,0,1,0));
-  __m256 S3 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(3,2,3,2));
-
-  kernel.packet[0] = _mm256_permute2f128_ps(S0, S1, 0x20);
-  kernel.packet[1] = _mm256_permute2f128_ps(S2, S3, 0x20);
-  kernel.packet[2] = _mm256_permute2f128_ps(S0, S1, 0x31);
-  kernel.packet[3] = _mm256_permute2f128_ps(S2, S3, 0x31);
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4d,4>& kernel) {
-  __m256d T0 = _mm256_shuffle_pd(kernel.packet[0], kernel.packet[1], 15);
-  __m256d T1 = _mm256_shuffle_pd(kernel.packet[0], kernel.packet[1], 0);
-  __m256d T2 = _mm256_shuffle_pd(kernel.packet[2], kernel.packet[3], 15);
-  __m256d T3 = _mm256_shuffle_pd(kernel.packet[2], kernel.packet[3], 0);
-
-  kernel.packet[1] = _mm256_permute2f128_pd(T0, T2, 32);
-  kernel.packet[3] = _mm256_permute2f128_pd(T0, T2, 49);
-  kernel.packet[0] = _mm256_permute2f128_pd(T1, T3, 32);
-  kernel.packet[2] = _mm256_permute2f128_pd(T1, T3, 49);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8f pblend(const Selector<8>& ifPacket, const Packet8f& thenPacket, const Packet8f& elsePacket) {
-  const __m256 zero = _mm256_setzero_ps();
-  const __m256 select = _mm256_set_ps(ifPacket.select[7], ifPacket.select[6], ifPacket.select[5], ifPacket.select[4], ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
-  __m256 false_mask = _mm256_cmp_ps(select, zero, _CMP_EQ_UQ);
-  return _mm256_blendv_ps(thenPacket, elsePacket, false_mask);
-}
-template<> EIGEN_STRONG_INLINE Packet4d pblend(const Selector<4>& ifPacket, const Packet4d& thenPacket, const Packet4d& elsePacket) {
-  const __m256d zero = _mm256_setzero_pd();
-  const __m256d select = _mm256_set_pd(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
-  __m256d false_mask = _mm256_cmp_pd(select, zero, _CMP_EQ_UQ);
-  return _mm256_blendv_pd(thenPacket, elsePacket, false_mask);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8f pinsertfirst(const Packet8f& a, float b)
-{
-  return _mm256_blend_ps(a,pset1<Packet8f>(b),1);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4d pinsertfirst(const Packet4d& a, double b)
-{
-  return _mm256_blend_pd(a,pset1<Packet4d>(b),1);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8f pinsertlast(const Packet8f& a, float b)
-{
-  return _mm256_blend_ps(a,pset1<Packet8f>(b),(1<<7));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4d pinsertlast(const Packet4d& a, double b)
-{
-  return _mm256_blend_pd(a,pset1<Packet4d>(b),(1<<3));
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PACKET_MATH_AVX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AVX/TypeCasting.h b/phonelibs/eigen/Eigen/src/Core/arch/AVX/TypeCasting.h
deleted file mode 100644
index 83bfdc604bec57..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AVX/TypeCasting.h
+++ /dev/null
@@ -1,51 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TYPE_CASTING_AVX_H
-#define EIGEN_TYPE_CASTING_AVX_H
-
-namespace Eigen {
-
-namespace internal {
-
-// For now we use SSE to handle integers, so we can't use AVX instructions to cast
-// from int to float
-template <>
-struct type_casting_traits<float, int> {
-  enum {
-    VectorizedCast = 0,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template <>
-struct type_casting_traits<int, float> {
-  enum {
-    VectorizedCast = 0,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-
-
-template<> EIGEN_STRONG_INLINE Packet8i pcast<Packet8f, Packet8i>(const Packet8f& a) {
-  return _mm256_cvtps_epi32(a);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8i, Packet8f>(const Packet8i& a) {
-  return _mm256_cvtepi32_ps(a);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TYPE_CASTING_AVX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AVX512/MathFunctions.h b/phonelibs/eigen/Eigen/src/Core/arch/AVX512/MathFunctions.h
deleted file mode 100644
index 399be0ee4b9b34..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AVX512/MathFunctions.h
+++ /dev/null
@@ -1,396 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Pedro Gonnet (pedro.gonnet@gmail.com)
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
-#define THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
-
-namespace Eigen {
-
-namespace internal {
-
-// Disable the code for older versions of gcc that don't support many of the required avx512 instrinsics.
-#if EIGEN_GNUC_AT_LEAST(5, 3)
-
-#define _EIGEN_DECLARE_CONST_Packet16f(NAME, X) \
-  const Packet16f p16f_##NAME = pset1<Packet16f>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(NAME, X) \
-  const Packet16f p16f_##NAME = (__m512)pset1<Packet16i>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet8d(NAME, X) \
-  const Packet8d p8d_##NAME = pset1<Packet8d>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(NAME, X) \
-  const Packet8d p8d_##NAME = _mm512_castsi512_pd(_mm512_set1_epi64(X))
-
-// Natural logarithm
-// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
-// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
-// be easily approximated by a polynomial centered on m=1 for stability.
-#if defined(EIGEN_VECTORIZE_AVX512DQ)
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
-plog<Packet16f>(const Packet16f& _x) {
-  Packet16f x = _x;
-  _EIGEN_DECLARE_CONST_Packet16f(1, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet16f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet16f(126f, 126.0f);
-
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(inv_mant_mask, ~0x7f800000);
-
-  // The smallest non denormalized float number.
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(min_norm_pos, 0x00800000);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(minus_inf, 0xff800000);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(nan, 0x7fc00000);
-
-  // Polynomial coefficients.
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_SQRTHF, 0.707106781186547524f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p0, 7.0376836292E-2f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p1, -1.1514610310E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p2, 1.1676998740E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p3, -1.2420140846E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p4, +1.4249322787E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p5, -1.6668057665E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p6, +2.0000714765E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p7, -2.4999993993E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p8, +3.3333331174E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_q1, -2.12194440e-4f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_q2, 0.693359375f);
-
-  // invalid_mask is set to true when x is NaN
-  __mmask16 invalid_mask =
-      _mm512_cmp_ps_mask(x, _mm512_setzero_ps(), _CMP_NGE_UQ);
-  __mmask16 iszero_mask =
-      _mm512_cmp_ps_mask(x, _mm512_setzero_ps(), _CMP_EQ_UQ);
-
-  // Truncate input values to the minimum positive normal.
-  x = pmax(x, p16f_min_norm_pos);
-
-  // Extract the shifted exponents.
-  Packet16f emm0 = _mm512_cvtepi32_ps(_mm512_srli_epi32((__m512i)x, 23));
-  Packet16f e = _mm512_sub_ps(emm0, p16f_126f);
-
-  // Set the exponents to -1, i.e. x are in the range [0.5,1).
-  x = _mm512_and_ps(x, p16f_inv_mant_mask);
-  x = _mm512_or_ps(x, p16f_half);
-
-  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
-  // and shift by -1. The values are then centered around 0, which improves
-  // the stability of the polynomial evaluation.
-  //   if( x < SQRTHF ) {
-  //     e -= 1;
-  //     x = x + x - 1.0;
-  //   } else { x = x - 1.0; }
-  __mmask16 mask = _mm512_cmp_ps_mask(x, p16f_cephes_SQRTHF, _CMP_LT_OQ);
-  Packet16f tmp = _mm512_mask_blend_ps(mask, x, _mm512_setzero_ps());
-  x = psub(x, p16f_1);
-  e = psub(e, _mm512_mask_blend_ps(mask, p16f_1, _mm512_setzero_ps()));
-  x = padd(x, tmp);
-
-  Packet16f x2 = pmul(x, x);
-  Packet16f x3 = pmul(x2, x);
-
-  // Evaluate the polynomial approximant of degree 8 in three parts, probably
-  // to improve instruction-level parallelism.
-  Packet16f y, y1, y2;
-  y = pmadd(p16f_cephes_log_p0, x, p16f_cephes_log_p1);
-  y1 = pmadd(p16f_cephes_log_p3, x, p16f_cephes_log_p4);
-  y2 = pmadd(p16f_cephes_log_p6, x, p16f_cephes_log_p7);
-  y = pmadd(y, x, p16f_cephes_log_p2);
-  y1 = pmadd(y1, x, p16f_cephes_log_p5);
-  y2 = pmadd(y2, x, p16f_cephes_log_p8);
-  y = pmadd(y, x3, y1);
-  y = pmadd(y, x3, y2);
-  y = pmul(y, x3);
-
-  // Add the logarithm of the exponent back to the result of the interpolation.
-  y1 = pmul(e, p16f_cephes_log_q1);
-  tmp = pmul(x2, p16f_half);
-  y = padd(y, y1);
-  x = psub(x, tmp);
-  y2 = pmul(e, p16f_cephes_log_q2);
-  x = padd(x, y);
-  x = padd(x, y2);
-
-  // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
-  return _mm512_mask_blend_ps(iszero_mask, p16f_minus_inf,
-                              _mm512_mask_blend_ps(invalid_mask, p16f_nan, x));
-}
-#endif
-
-// Exponential function. Works by writing "x = m*log(2) + r" where
-// "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
-// "exp(x) = 2^m*exp(r)" where exp(r) is in the range [-1,1).
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
-pexp<Packet16f>(const Packet16f& _x) {
-  _EIGEN_DECLARE_CONST_Packet16f(1, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet16f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet16f(127, 127.0f);
-
-  _EIGEN_DECLARE_CONST_Packet16f(exp_hi, 88.3762626647950f);
-  _EIGEN_DECLARE_CONST_Packet16f(exp_lo, -88.3762626647949f);
-
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_LOG2EF, 1.44269504088896341f);
-
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p0, 1.9875691500E-4f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p1, 1.3981999507E-3f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p2, 8.3334519073E-3f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p3, 4.1665795894E-2f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p4, 1.6666665459E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p5, 5.0000001201E-1f);
-
-  // Clamp x.
-  Packet16f x = pmax(pmin(_x, p16f_exp_hi), p16f_exp_lo);
-
-  // Express exp(x) as exp(m*ln(2) + r), start by extracting
-  // m = floor(x/ln(2) + 0.5).
-  Packet16f m = _mm512_floor_ps(pmadd(x, p16f_cephes_LOG2EF, p16f_half));
-
-  // Get r = x - m*ln(2). Note that we can do this without losing more than one
-  // ulp precision due to the FMA instruction.
-  _EIGEN_DECLARE_CONST_Packet16f(nln2, -0.6931471805599453f);
-  Packet16f r = _mm512_fmadd_ps(m, p16f_nln2, x);
-  Packet16f r2 = pmul(r, r);
-
-  // TODO(gonnet): Split into odd/even polynomials and try to exploit
-  //               instruction-level parallelism.
-  Packet16f y = p16f_cephes_exp_p0;
-  y = pmadd(y, r, p16f_cephes_exp_p1);
-  y = pmadd(y, r, p16f_cephes_exp_p2);
-  y = pmadd(y, r, p16f_cephes_exp_p3);
-  y = pmadd(y, r, p16f_cephes_exp_p4);
-  y = pmadd(y, r, p16f_cephes_exp_p5);
-  y = pmadd(y, r2, r);
-  y = padd(y, p16f_1);
-
-  // Build emm0 = 2^m.
-  Packet16i emm0 = _mm512_cvttps_epi32(padd(m, p16f_127));
-  emm0 = _mm512_slli_epi32(emm0, 23);
-
-  // Return 2^m * exp(r).
-  return pmax(pmul(y, _mm512_castsi512_ps(emm0)), _x);
-}
-
-/*template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
-pexp<Packet8d>(const Packet8d& _x) {
-  Packet8d x = _x;
-
-  _EIGEN_DECLARE_CONST_Packet8d(1, 1.0);
-  _EIGEN_DECLARE_CONST_Packet8d(2, 2.0);
-
-  _EIGEN_DECLARE_CONST_Packet8d(exp_hi, 709.437);
-  _EIGEN_DECLARE_CONST_Packet8d(exp_lo, -709.436139303);
-
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_LOG2EF, 1.4426950408889634073599);
-
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p0, 1.26177193074810590878e-4);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p1, 3.02994407707441961300e-2);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q0, 3.00198505138664455042e-6);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q1, 2.52448340349684104192e-3);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q2, 2.27265548208155028766e-1);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q3, 2.00000000000000000009e0);
-
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_C1, 0.693145751953125);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_C2, 1.42860682030941723212e-6);
-
-  // clamp x
-  x = pmax(pmin(x, p8d_exp_hi), p8d_exp_lo);
-
-  // Express exp(x) as exp(g + n*log(2)).
-  const Packet8d n =
-      _mm512_mul_round_pd(p8d_cephes_LOG2EF, x, _MM_FROUND_TO_NEAREST_INT);
-
-  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
-  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
-  // digits right.
-  const Packet8d nC1 = pmul(n, p8d_cephes_exp_C1);
-  const Packet8d nC2 = pmul(n, p8d_cephes_exp_C2);
-  x = psub(x, nC1);
-  x = psub(x, nC2);
-
-  const Packet8d x2 = pmul(x, x);
-
-  // Evaluate the numerator polynomial of the rational interpolant.
-  Packet8d px = p8d_cephes_exp_p0;
-  px = pmadd(px, x2, p8d_cephes_exp_p1);
-  px = pmadd(px, x2, p8d_cephes_exp_p2);
-  px = pmul(px, x);
-
-  // Evaluate the denominator polynomial of the rational interpolant.
-  Packet8d qx = p8d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p8d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p8d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p8d_cephes_exp_q3);
-
-  // I don't really get this bit, copied from the SSE2 routines, so...
-  // TODO(gonnet): Figure out what is going on here, perhaps find a better
-  // rational interpolant?
-  x = _mm512_div_pd(px, psub(qx, px));
-  x = pmadd(p8d_2, x, p8d_1);
-
-  // Build e=2^n.
-  const Packet8d e = _mm512_castsi512_pd(_mm512_slli_epi64(
-      _mm512_add_epi64(_mm512_cvtpd_epi64(n), _mm512_set1_epi64(1023)), 52));
-
-  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
-  // non-finite values in the input.
-  return pmax(pmul(x, e), _x);
-  }*/
-
-// Functions for sqrt.
-// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
-// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
-// exact solution. The main advantage of this approach is not just speed, but
-// also the fact that it can be inlined and pipelined with other computations,
-// further reducing its effective latency.
-#if EIGEN_FAST_MATH
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
-psqrt<Packet16f>(const Packet16f& _x) {
-  _EIGEN_DECLARE_CONST_Packet16f(one_point_five, 1.5f);
-  _EIGEN_DECLARE_CONST_Packet16f(minus_half, -0.5f);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(flt_min, 0x00800000);
-
-  Packet16f neg_half = pmul(_x, p16f_minus_half);
-
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  __mmask16 non_zero_mask = _mm512_cmp_ps_mask(_x, p16f_flt_min, _CMP_GE_OQ);
-  Packet16f x = _mm512_mask_blend_ps(non_zero_mask, _mm512_rsqrt14_ps(_x),
-                                     _mm512_setzero_ps());
-
-  // Do a single step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p16f_one_point_five));
-
-  // Multiply the original _x by it's reciprocal square root to extract the
-  // square root.
-  return pmul(_x, x);
-}
-
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
-psqrt<Packet8d>(const Packet8d& _x) {
-  _EIGEN_DECLARE_CONST_Packet8d(one_point_five, 1.5);
-  _EIGEN_DECLARE_CONST_Packet8d(minus_half, -0.5);
-  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(dbl_min, 0x0010000000000000LL);
-
-  Packet8d neg_half = pmul(_x, p8d_minus_half);
-
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  __mmask8 non_zero_mask = _mm512_cmp_pd_mask(_x, p8d_dbl_min, _CMP_GE_OQ);
-  Packet8d x = _mm512_mask_blend_pd(non_zero_mask, _mm512_rsqrt14_pd(_x),
-                                    _mm512_setzero_pd());
-
-  // Do a first step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
-
-  // Do a second step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
-
-  // Multiply the original _x by it's reciprocal square root to extract the
-  // square root.
-  return pmul(_x, x);
-}
-#else
-template <>
-EIGEN_STRONG_INLINE Packet16f psqrt<Packet16f>(const Packet16f& x) {
-  return _mm512_sqrt_ps(x);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d psqrt<Packet8d>(const Packet8d& x) {
-  return _mm512_sqrt_pd(x);
-}
-#endif
-
-// Functions for rsqrt.
-// Almost identical to the sqrt routine, just leave out the last multiplication
-// and fill in NaN/Inf where needed. Note that this function only exists as an
-// iterative version for doubles since there is no instruction for diretly
-// computing the reciprocal square root in AVX-512.
-#ifdef EIGEN_FAST_MATH
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
-prsqrt<Packet16f>(const Packet16f& _x) {
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(inf, 0x7f800000);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(nan, 0x7fc00000);
-  _EIGEN_DECLARE_CONST_Packet16f(one_point_five, 1.5f);
-  _EIGEN_DECLARE_CONST_Packet16f(minus_half, -0.5f);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(flt_min, 0x00800000);
-
-  Packet16f neg_half = pmul(_x, p16f_minus_half);
-
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  __mmask16 le_zero_mask = _mm512_cmp_ps_mask(_x, p16f_flt_min, _CMP_LT_OQ);
-  Packet16f x = _mm512_mask_blend_ps(le_zero_mask, _mm512_setzero_ps(),
-                                     _mm512_rsqrt14_ps(_x));
-
-  // Fill in NaNs and Infs for the negative/zero entries.
-  __mmask16 neg_mask = _mm512_cmp_ps_mask(_x, _mm512_setzero_ps(), _CMP_LT_OQ);
-  Packet16f infs_and_nans = _mm512_mask_blend_ps(
-      neg_mask, p16f_nan,
-      _mm512_mask_blend_ps(le_zero_mask, p16f_inf, _mm512_setzero_ps()));
-
-  // Do a single step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p16f_one_point_five));
-
-  // Insert NaNs and Infs in all the right places.
-  return _mm512_mask_blend_ps(le_zero_mask, infs_and_nans, x);
-}
-
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
-prsqrt<Packet8d>(const Packet8d& _x) {
-  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(inf, 0x7ff0000000000000LL);
-  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(nan, 0x7ff1000000000000LL);
-  _EIGEN_DECLARE_CONST_Packet8d(one_point_five, 1.5);
-  _EIGEN_DECLARE_CONST_Packet8d(minus_half, -0.5);
-  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(dbl_min, 0x0010000000000000LL);
-
-  Packet8d neg_half = pmul(_x, p8d_minus_half);
-
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  __mmask8 le_zero_mask = _mm512_cmp_pd_mask(_x, p8d_dbl_min, _CMP_LT_OQ);
-  Packet8d x = _mm512_mask_blend_pd(le_zero_mask, _mm512_setzero_pd(),
-                                    _mm512_rsqrt14_pd(_x));
-
-  // Fill in NaNs and Infs for the negative/zero entries.
-  __mmask8 neg_mask = _mm512_cmp_pd_mask(_x, _mm512_setzero_pd(), _CMP_LT_OQ);
-  Packet8d infs_and_nans = _mm512_mask_blend_pd(
-      neg_mask, p8d_nan,
-      _mm512_mask_blend_pd(le_zero_mask, p8d_inf, _mm512_setzero_pd()));
-
-  // Do a first step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
-
-  // Do a second step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
-
-  // Insert NaNs and Infs in all the right places.
-  return _mm512_mask_blend_pd(le_zero_mask, infs_and_nans, x);
-}
-#else
-template <>
-EIGEN_STRONG_INLINE Packet16f prsqrt<Packet16f>(const Packet16f& x) {
-  return _mm512_rsqrt28_ps(x);
-}
-#endif
-#endif
-
-}  // end namespace internal
-
-}  // end namespace Eigen
-
-#endif  // THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AVX512/PacketMath.h b/phonelibs/eigen/Eigen/src/Core/arch/AVX512/PacketMath.h
deleted file mode 100644
index f6500a16e62a4f..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AVX512/PacketMath.h
+++ /dev/null
@@ -1,1316 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner (benoit.steiner.goog@gmail.com)
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_AVX512_H
-#define EIGEN_PACKET_MATH_AVX512_H
-
-namespace Eigen {
-
-namespace internal {
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
-#endif
-
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
-#endif
-
-#ifdef __FMA__
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#endif
-#endif
-
-typedef __m512 Packet16f;
-typedef __m512i Packet16i;
-typedef __m512d Packet8d;
-
-template <>
-struct is_arithmetic<__m512> {
-  enum { value = true };
-};
-template <>
-struct is_arithmetic<__m512i> {
-  enum { value = true };
-};
-template <>
-struct is_arithmetic<__m512d> {
-  enum { value = true };
-};
-
-template<> struct packet_traits<float>  : default_packet_traits
-{
-  typedef Packet16f type;
-  typedef Packet8f half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 16,
-    HasHalfPacket = 1,
-#if EIGEN_GNUC_AT_LEAST(5, 3)
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-    HasLog = 1,
-#endif
-    HasExp = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-#endif
-    HasDiv = 1
-  };
- };
-template<> struct packet_traits<double> : default_packet_traits
-{
-  typedef Packet8d type;
-  typedef Packet4d half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 8,
-    HasHalfPacket = 1,
-#if EIGEN_GNUC_AT_LEAST(5, 3)
-    HasSqrt = 1,
-    HasRsqrt = EIGEN_FAST_MATH,
-#endif
-    HasDiv = 1
-  };
-};
-
-/* TODO Implement AVX512 for integers
-template<> struct packet_traits<int>    : default_packet_traits
-{
-  typedef Packet16i type;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=8
-  };
-};
-*/
-
-template <>
-struct unpacket_traits<Packet16f> {
-  typedef float type;
-  typedef Packet8f half;
-  enum { size = 16, alignment=Aligned64 };
-};
-template <>
-struct unpacket_traits<Packet8d> {
-  typedef double type;
-  typedef Packet4d half;
-  enum { size = 8, alignment=Aligned64 };
-};
-template <>
-struct unpacket_traits<Packet16i> {
-  typedef int type;
-  typedef Packet8i half;
-  enum { size = 16, alignment=Aligned64 };
-};
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pset1<Packet16f>(const float& from) {
-  return _mm512_set1_ps(from);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pset1<Packet8d>(const double& from) {
-  return _mm512_set1_pd(from);
-}
-template <>
-EIGEN_STRONG_INLINE Packet16i pset1<Packet16i>(const int& from) {
-  return _mm512_set1_epi32(from);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pload1<Packet16f>(const float* from) {
-  return _mm512_broadcastss_ps(_mm_load_ps1(from));
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pload1<Packet8d>(const double* from) {
-  return _mm512_broadcastsd_pd(_mm_load_pd1(from));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f plset<Packet16f>(const float& a) {
-  return _mm512_add_ps(
-      _mm512_set1_ps(a),
-      _mm512_set_ps(15.0f, 14.0f, 13.0f, 12.0f, 11.0f, 10.0f, 9.0f, 8.0f, 7.0f, 6.0f, 5.0f,
-                    4.0f, 3.0f, 2.0f, 1.0f, 0.0f));
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d plset<Packet8d>(const double& a) {
-  return _mm512_add_pd(_mm512_set1_pd(a),
-                       _mm512_set_pd(7.0, 6.0, 5.0, 4.0, 3.0, 2.0, 1.0, 0.0));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f padd<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
-  return _mm512_add_ps(a, b);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d padd<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
-  return _mm512_add_pd(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f psub<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
-  return _mm512_sub_ps(a, b);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d psub<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
-  return _mm512_sub_pd(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pnegate(const Packet16f& a) {
-  return _mm512_sub_ps(_mm512_set1_ps(0.0), a);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pnegate(const Packet8d& a) {
-  return _mm512_sub_pd(_mm512_set1_pd(0.0), a);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pconj(const Packet16f& a) {
-  return a;
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pconj(const Packet8d& a) {
-  return a;
-}
-template <>
-EIGEN_STRONG_INLINE Packet16i pconj(const Packet16i& a) {
-  return a;
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pmul<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
-  return _mm512_mul_ps(a, b);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pmul<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
-  return _mm512_mul_pd(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pdiv<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
-  return _mm512_div_ps(a, b);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pdiv<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
-  return _mm512_div_pd(a, b);
-}
-
-#ifdef __FMA__
-template <>
-EIGEN_STRONG_INLINE Packet16f pmadd(const Packet16f& a, const Packet16f& b,
-                                    const Packet16f& c) {
-  return _mm512_fmadd_ps(a, b, c);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pmadd(const Packet8d& a, const Packet8d& b,
-                                   const Packet8d& c) {
-  return _mm512_fmadd_pd(a, b, c);
-}
-#endif
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pmin<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
-  return _mm512_min_ps(a, b);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pmin<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
-  return _mm512_min_pd(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pmax<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
-  return _mm512_max_ps(a, b);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pmax<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
-  return _mm512_max_pd(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pand<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_and_ps(a, b);
-#else
-  Packet16f res = _mm512_undefined_ps();
-  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
-  res = _mm512_insertf32x4(res, _mm_and_ps(lane0_a, lane0_b), 0);
-
-  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
-  res = _mm512_insertf32x4(res, _mm_and_ps(lane1_a, lane1_b), 1);
-
-  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
-  res = _mm512_insertf32x4(res, _mm_and_ps(lane2_a, lane2_b), 2);
-
-  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
-  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
-  res = _mm512_insertf32x4(res, _mm_and_ps(lane3_a, lane3_b), 3);
-
-  return res;
-#endif
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pand<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_and_pd(a, b);
-#else
-  Packet8d res = _mm512_undefined_pd();
-  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
-  res = _mm512_insertf64x4(res, _mm256_and_pd(lane0_a, lane0_b), 0);
-
-  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
-  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
-  res = _mm512_insertf64x4(res, _mm256_and_pd(lane1_a, lane1_b), 1);
-
-  return res;
-#endif
-}
-template <>
-EIGEN_STRONG_INLINE Packet16f por<Packet16f>(const Packet16f& a,
-                                             const Packet16f& b) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_or_ps(a, b);
-#else
-  Packet16f res = _mm512_undefined_ps();
-  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
-  res = _mm512_insertf32x4(res, _mm_or_ps(lane0_a, lane0_b), 0);
-
-  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
-  res = _mm512_insertf32x4(res, _mm_or_ps(lane1_a, lane1_b), 1);
-
-  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
-  res = _mm512_insertf32x4(res, _mm_or_ps(lane2_a, lane2_b), 2);
-
-  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
-  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
-  res = _mm512_insertf32x4(res, _mm_or_ps(lane3_a, lane3_b), 3);
-
-  return res;
-#endif
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8d por<Packet8d>(const Packet8d& a,
-                                           const Packet8d& b) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_or_pd(a, b);
-#else
-  Packet8d res = _mm512_undefined_pd();
-  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
-  res = _mm512_insertf64x4(res, _mm256_or_pd(lane0_a, lane0_b), 0);
-
-  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
-  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
-  res = _mm512_insertf64x4(res, _mm256_or_pd(lane1_a, lane1_b), 1);
-
-  return res;
-#endif
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pxor<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_xor_ps(a, b);
-#else
-  Packet16f res = _mm512_undefined_ps();
-  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
-  res = _mm512_insertf32x4(res, _mm_xor_ps(lane0_a, lane0_b), 0);
-
-  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
-  res = _mm512_insertf32x4(res, _mm_xor_ps(lane1_a, lane1_b), 1);
-
-  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
-  res = _mm512_insertf32x4(res, _mm_xor_ps(lane2_a, lane2_b), 2);
-
-  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
-  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
-  res = _mm512_insertf32x4(res, _mm_xor_ps(lane3_a, lane3_b), 3);
-
-  return res;
-#endif
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pxor<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_xor_pd(a, b);
-#else
-  Packet8d res = _mm512_undefined_pd();
-  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
-  res = _mm512_insertf64x4(res, _mm256_xor_pd(lane0_a, lane0_b), 0);
-
-  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
-  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
-  res = _mm512_insertf64x4(res, _mm256_xor_pd(lane1_a, lane1_b), 1);
-
-  return res;
-#endif
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pandnot<Packet16f>(const Packet16f& a,
-                                                 const Packet16f& b) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_andnot_ps(a, b);
-#else
-  Packet16f res = _mm512_undefined_ps();
-  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
-  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane0_a, lane0_b), 0);
-
-  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
-  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane1_a, lane1_b), 1);
-
-  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
-  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane2_a, lane2_b), 2);
-
-  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
-  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
-  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane3_a, lane3_b), 3);
-
-  return res;
-#endif
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pandnot<Packet8d>(const Packet8d& a,
-                                               const Packet8d& b) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_andnot_pd(a, b);
-#else
-  Packet8d res = _mm512_undefined_pd();
-  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
-  res = _mm512_insertf64x4(res, _mm256_andnot_pd(lane0_a, lane0_b), 0);
-
-  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
-  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
-  res = _mm512_insertf64x4(res, _mm256_andnot_pd(lane1_a, lane1_b), 1);
-
-  return res;
-#endif
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f pload<Packet16f>(const float* from) {
-  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_ps(from);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pload<Packet8d>(const double* from) {
-  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_pd(from);
-}
-template <>
-EIGEN_STRONG_INLINE Packet16i pload<Packet16i>(const int* from) {
-  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_si512(
-      reinterpret_cast<const __m512i*>(from));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16f ploadu<Packet16f>(const float* from) {
-  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_ps(from);
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d ploadu<Packet8d>(const double* from) {
-  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_pd(from);
-}
-template <>
-EIGEN_STRONG_INLINE Packet16i ploadu<Packet16i>(const int* from) {
-  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_si512(
-      reinterpret_cast<const __m512i*>(from));
-}
-
-// Loads 8 floats from memory a returns the packet
-// {a0, a0  a1, a1, a2, a2, a3, a3, a4, a4, a5, a5, a6, a6, a7, a7}
-template <>
-EIGEN_STRONG_INLINE Packet16f ploaddup<Packet16f>(const float* from) {
-  Packet8f lane0 = _mm256_broadcast_ps((const __m128*)(const void*)from);
-  // mimic an "inplace" permutation of the lower 128bits using a blend
-  lane0 = _mm256_blend_ps(
-      lane0, _mm256_castps128_ps256(_mm_permute_ps(
-                 _mm256_castps256_ps128(lane0), _MM_SHUFFLE(1, 0, 1, 0))),
-      15);
-  // then we can perform a consistent permutation on the global register to get
-  // everything in shape:
-  lane0 = _mm256_permute_ps(lane0, _MM_SHUFFLE(3, 3, 2, 2));
-
-  Packet8f lane1 = _mm256_broadcast_ps((const __m128*)(const void*)(from + 4));
-  // mimic an "inplace" permutation of the lower 128bits using a blend
-  lane1 = _mm256_blend_ps(
-      lane1, _mm256_castps128_ps256(_mm_permute_ps(
-                 _mm256_castps256_ps128(lane1), _MM_SHUFFLE(1, 0, 1, 0))),
-      15);
-  // then we can perform a consistent permutation on the global register to get
-  // everything in shape:
-  lane1 = _mm256_permute_ps(lane1, _MM_SHUFFLE(3, 3, 2, 2));
-
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  Packet16f res = _mm512_undefined_ps();
-  return _mm512_insertf32x8(res, lane0, 0);
-  return _mm512_insertf32x8(res, lane1, 1);
-  return res;
-#else
-  Packet16f res = _mm512_undefined_ps();
-  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane0, 0), 0);
-  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane0, 1), 1);
-  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane1, 0), 2);
-  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane1, 1), 3);
-  return res;
-#endif
-}
-// Loads 4 doubles from memory a returns the packet {a0, a0  a1, a1, a2, a2, a3,
-// a3}
-template <>
-EIGEN_STRONG_INLINE Packet8d ploaddup<Packet8d>(const double* from) {
-  Packet4d lane0 = _mm256_broadcast_pd((const __m128d*)(const void*)from);
-  lane0 = _mm256_permute_pd(lane0, 3 << 2);
-
-  Packet4d lane1 = _mm256_broadcast_pd((const __m128d*)(const void*)(from + 2));
-  lane1 = _mm256_permute_pd(lane1, 3 << 2);
-
-  Packet8d res = _mm512_undefined_pd();
-  res = _mm512_insertf64x4(res, lane0, 0);
-  return _mm512_insertf64x4(res, lane1, 1);
-}
-
-// Loads 4 floats from memory a returns the packet
-// {a0, a0  a0, a0, a1, a1, a1, a1, a2, a2, a2, a2, a3, a3, a3, a3}
-template <>
-EIGEN_STRONG_INLINE Packet16f ploadquad<Packet16f>(const float* from) {
-  Packet16f tmp = _mm512_undefined_ps();
-  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from), 0);
-  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 1), 1);
-  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 2), 2);
-  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 3), 3);
-  return tmp;
-}
-// Loads 2 doubles from memory a returns the packet
-// {a0, a0  a0, a0, a1, a1, a1, a1}
-template <>
-EIGEN_STRONG_INLINE Packet8d ploadquad<Packet8d>(const double* from) {
-  Packet8d tmp = _mm512_undefined_pd();
-  Packet2d tmp0 = _mm_load_pd1(from);
-  Packet2d tmp1 = _mm_load_pd1(from + 1);
-  Packet4d lane0 = _mm256_broadcastsd_pd(tmp0);
-  Packet4d lane1 = _mm256_broadcastsd_pd(tmp1);
-  tmp = _mm512_insertf64x4(tmp, lane0, 0);
-  return _mm512_insertf64x4(tmp, lane1, 1);
-}
-
-template <>
-EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet16f& from) {
-  EIGEN_DEBUG_ALIGNED_STORE _mm512_store_ps(to, from);
-}
-template <>
-EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet8d& from) {
-  EIGEN_DEBUG_ALIGNED_STORE _mm512_store_pd(to, from);
-}
-template <>
-EIGEN_STRONG_INLINE void pstore<int>(int* to, const Packet16i& from) {
-  EIGEN_DEBUG_ALIGNED_STORE _mm512_storeu_si512(reinterpret_cast<__m512i*>(to),
-                                                from);
-}
-
-template <>
-EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet16f& from) {
-  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_ps(to, from);
-}
-template <>
-EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet8d& from) {
-  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_pd(to, from);
-}
-template <>
-EIGEN_STRONG_INLINE void pstoreu<int>(int* to, const Packet16i& from) {
-  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_si512(
-      reinterpret_cast<__m512i*>(to), from);
-}
-
-template <>
-EIGEN_DEVICE_FUNC inline Packet16f pgather<float, Packet16f>(const float* from,
-                                                             Index stride) {
-  Packet16i stride_vector = _mm512_set1_epi32(stride);
-  Packet16i stride_multiplier =
-      _mm512_set_epi32(15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0);
-  Packet16i indices = _mm512_mullo_epi32(stride_vector, stride_multiplier);
-
-  return _mm512_i32gather_ps(indices, from, 4);
-}
-template <>
-EIGEN_DEVICE_FUNC inline Packet8d pgather<double, Packet8d>(const double* from,
-                                                            Index stride) {
-  Packet8i stride_vector = _mm256_set1_epi32(stride);
-  Packet8i stride_multiplier = _mm256_set_epi32(7, 6, 5, 4, 3, 2, 1, 0);
-  Packet8i indices = _mm256_mullo_epi32(stride_vector, stride_multiplier);
-
-  return _mm512_i32gather_pd(indices, from, 8);
-}
-
-template <>
-EIGEN_DEVICE_FUNC inline void pscatter<float, Packet16f>(float* to,
-                                                         const Packet16f& from,
-                                                         Index stride) {
-  Packet16i stride_vector = _mm512_set1_epi32(stride);
-  Packet16i stride_multiplier =
-      _mm512_set_epi32(15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0);
-  Packet16i indices = _mm512_mullo_epi32(stride_vector, stride_multiplier);
-  _mm512_i32scatter_ps(to, indices, from, 4);
-}
-template <>
-EIGEN_DEVICE_FUNC inline void pscatter<double, Packet8d>(double* to,
-                                                         const Packet8d& from,
-                                                         Index stride) {
-  Packet8i stride_vector = _mm256_set1_epi32(stride);
-  Packet8i stride_multiplier = _mm256_set_epi32(7, 6, 5, 4, 3, 2, 1, 0);
-  Packet8i indices = _mm256_mullo_epi32(stride_vector, stride_multiplier);
-  _mm512_i32scatter_pd(to, indices, from, 8);
-}
-
-template <>
-EIGEN_STRONG_INLINE void pstore1<Packet16f>(float* to, const float& a) {
-  Packet16f pa = pset1<Packet16f>(a);
-  pstore(to, pa);
-}
-template <>
-EIGEN_STRONG_INLINE void pstore1<Packet8d>(double* to, const double& a) {
-  Packet8d pa = pset1<Packet8d>(a);
-  pstore(to, pa);
-}
-template <>
-EIGEN_STRONG_INLINE void pstore1<Packet16i>(int* to, const int& a) {
-  Packet16i pa = pset1<Packet16i>(a);
-  pstore(to, pa);
-}
-
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-
-template <>
-EIGEN_STRONG_INLINE float pfirst<Packet16f>(const Packet16f& a) {
-  return _mm_cvtss_f32(_mm512_extractf32x4_ps(a, 0));
-}
-template <>
-EIGEN_STRONG_INLINE double pfirst<Packet8d>(const Packet8d& a) {
-  return _mm_cvtsd_f64(_mm256_extractf128_pd(_mm512_extractf64x4_pd(a, 0), 0));
-}
-template <>
-EIGEN_STRONG_INLINE int pfirst<Packet16i>(const Packet16i& a) {
-  return _mm_extract_epi32(_mm512_extracti32x4_epi32(a, 0), 0);
-}
-
-template<> EIGEN_STRONG_INLINE Packet16f preverse(const Packet16f& a)
-{
-  return _mm512_permutexvar_ps(_mm512_set_epi32(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15), a);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8d preverse(const Packet8d& a)
-{
-  return _mm512_permutexvar_pd(_mm512_set_epi32(0, 0, 0, 1, 0, 2, 0, 3, 0, 4, 0, 5, 0, 6, 0, 7), a);
-}
-
-template<> EIGEN_STRONG_INLINE Packet16f pabs(const Packet16f& a)
-{
-  // _mm512_abs_ps intrinsic not found, so hack around it
-  return (__m512)_mm512_and_si512((__m512i)a, _mm512_set1_epi32(0x7fffffff));
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pabs(const Packet8d& a) {
-  // _mm512_abs_ps intrinsic not found, so hack around it
-  return (__m512d)_mm512_and_si512((__m512i)a,
-                                   _mm512_set1_epi64(0x7fffffffffffffff));
-}
-
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-// AVX512F does not define _mm512_extractf32x8_ps to extract _m256 from _m512
-#define EIGEN_EXTRACT_8f_FROM_16f(INPUT, OUTPUT)                           \
-  __m256 OUTPUT##_0 = _mm512_extractf32x8_ps(INPUT, 0) __m256 OUTPUT##_1 = \
-      _mm512_extractf32x8_ps(INPUT, 1)
-#else
-#define EIGEN_EXTRACT_8f_FROM_16f(INPUT, OUTPUT)                \
-  __m256 OUTPUT##_0 = _mm256_insertf128_ps(                     \
-      _mm256_castps128_ps256(_mm512_extractf32x4_ps(INPUT, 0)), \
-      _mm512_extractf32x4_ps(INPUT, 1), 1);                     \
-  __m256 OUTPUT##_1 = _mm256_insertf128_ps(                     \
-      _mm256_castps128_ps256(_mm512_extractf32x4_ps(INPUT, 2)), \
-      _mm512_extractf32x4_ps(INPUT, 3), 1);
-#endif
-
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-#define EIGEN_INSERT_8f_INTO_16f(OUTPUT, INPUTA, INPUTB) \
-  OUTPUT = _mm512_insertf32x8(OUTPUT, INPUTA, 0);        \
-  OUTPUT = _mm512_insertf32x8(OUTPUT, INPUTB, 1);
-#else
-#define EIGEN_INSERT_8f_INTO_16f(OUTPUT, INPUTA, INPUTB)                    \
-  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTA, 0), 0); \
-  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTA, 1), 1); \
-  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTB, 0), 2); \
-  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTB, 1), 3);
-#endif
-template<> EIGEN_STRONG_INLINE Packet16f preduxp<Packet16f>(const Packet16f*
-vecs)
-{
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[0], vecs0);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[1], vecs1);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[2], vecs2);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[3], vecs3);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[4], vecs4);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[5], vecs5);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[6], vecs6);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[7], vecs7);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[8], vecs8);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[9], vecs9);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[10], vecs10);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[11], vecs11);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[12], vecs12);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[13], vecs13);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[14], vecs14);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[15], vecs15);
-
-  __m256 hsum1 = _mm256_hadd_ps(vecs0_0, vecs1_0);
-  __m256 hsum2 = _mm256_hadd_ps(vecs2_0, vecs3_0);
-  __m256 hsum3 = _mm256_hadd_ps(vecs4_0, vecs5_0);
-  __m256 hsum4 = _mm256_hadd_ps(vecs6_0, vecs7_0);
-
-  __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-  __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-  __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-  __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-  __m256 perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-  __m256 perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-  __m256 perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-  __m256 perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-  __m256 sum1 = _mm256_add_ps(perm1, hsum5);
-  __m256 sum2 = _mm256_add_ps(perm2, hsum6);
-  __m256 sum3 = _mm256_add_ps(perm3, hsum7);
-  __m256 sum4 = _mm256_add_ps(perm4, hsum8);
-
-  __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-  __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-  __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
-
-  hsum1 = _mm256_hadd_ps(vecs0_1, vecs1_1);
-  hsum2 = _mm256_hadd_ps(vecs2_1, vecs3_1);
-  hsum3 = _mm256_hadd_ps(vecs4_1, vecs5_1);
-  hsum4 = _mm256_hadd_ps(vecs6_1, vecs7_1);
-
-  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-  sum1 = _mm256_add_ps(perm1, hsum5);
-  sum2 = _mm256_add_ps(perm2, hsum6);
-  sum3 = _mm256_add_ps(perm3, hsum7);
-  sum4 = _mm256_add_ps(perm4, hsum8);
-
-  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-  final = padd(final, _mm256_blend_ps(blend1, blend2, 0xf0));
-
-  hsum1 = _mm256_hadd_ps(vecs8_0, vecs9_0);
-  hsum2 = _mm256_hadd_ps(vecs10_0, vecs11_0);
-  hsum3 = _mm256_hadd_ps(vecs12_0, vecs13_0);
-  hsum4 = _mm256_hadd_ps(vecs14_0, vecs15_0);
-
-  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-  sum1 = _mm256_add_ps(perm1, hsum5);
-  sum2 = _mm256_add_ps(perm2, hsum6);
-  sum3 = _mm256_add_ps(perm3, hsum7);
-  sum4 = _mm256_add_ps(perm4, hsum8);
-
-  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-  __m256 final_1 = _mm256_blend_ps(blend1, blend2, 0xf0);
-
-  hsum1 = _mm256_hadd_ps(vecs8_1, vecs9_1);
-  hsum2 = _mm256_hadd_ps(vecs10_1, vecs11_1);
-  hsum3 = _mm256_hadd_ps(vecs12_1, vecs13_1);
-  hsum4 = _mm256_hadd_ps(vecs14_1, vecs15_1);
-
-  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-  sum1 = _mm256_add_ps(perm1, hsum5);
-  sum2 = _mm256_add_ps(perm2, hsum6);
-  sum3 = _mm256_add_ps(perm3, hsum7);
-  sum4 = _mm256_add_ps(perm4, hsum8);
-
-  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-  final_1 = padd(final_1, _mm256_blend_ps(blend1, blend2, 0xf0));
-
-  __m512 final_output;
-
-  EIGEN_INSERT_8f_INTO_16f(final_output, final, final_1);
-  return final_output;
-}
-
-template<> EIGEN_STRONG_INLINE Packet8d preduxp<Packet8d>(const Packet8d* vecs)
-{
-  Packet4d vecs0_0 = _mm512_extractf64x4_pd(vecs[0], 0);
-  Packet4d vecs0_1 = _mm512_extractf64x4_pd(vecs[0], 1);
-
-  Packet4d vecs1_0 = _mm512_extractf64x4_pd(vecs[1], 0);
-  Packet4d vecs1_1 = _mm512_extractf64x4_pd(vecs[1], 1);
-
-  Packet4d vecs2_0 = _mm512_extractf64x4_pd(vecs[2], 0);
-  Packet4d vecs2_1 = _mm512_extractf64x4_pd(vecs[2], 1);
-
-  Packet4d vecs3_0 = _mm512_extractf64x4_pd(vecs[3], 0);
-  Packet4d vecs3_1 = _mm512_extractf64x4_pd(vecs[3], 1);
-
-  Packet4d vecs4_0 = _mm512_extractf64x4_pd(vecs[4], 0);
-  Packet4d vecs4_1 = _mm512_extractf64x4_pd(vecs[4], 1);
-
-  Packet4d vecs5_0 = _mm512_extractf64x4_pd(vecs[5], 0);
-  Packet4d vecs5_1 = _mm512_extractf64x4_pd(vecs[5], 1);
-
-  Packet4d vecs6_0 = _mm512_extractf64x4_pd(vecs[6], 0);
-  Packet4d vecs6_1 = _mm512_extractf64x4_pd(vecs[6], 1);
-
-  Packet4d vecs7_0 = _mm512_extractf64x4_pd(vecs[7], 0);
-  Packet4d vecs7_1 = _mm512_extractf64x4_pd(vecs[7], 1);
-
-  Packet4d tmp0, tmp1;
-
-  tmp0 = _mm256_hadd_pd(vecs0_0, vecs1_0);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs2_0, vecs3_0);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  __m256d final_0 = _mm256_blend_pd(tmp0, tmp1, 0xC);
-
-  tmp0 = _mm256_hadd_pd(vecs0_1, vecs1_1);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs2_1, vecs3_1);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  final_0 = padd(final_0, _mm256_blend_pd(tmp0, tmp1, 0xC));
-
-  tmp0 = _mm256_hadd_pd(vecs4_0, vecs5_0);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs6_0, vecs7_0);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  __m256d final_1 = _mm256_blend_pd(tmp0, tmp1, 0xC);
-
-  tmp0 = _mm256_hadd_pd(vecs4_1, vecs5_1);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs6_1, vecs7_1);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  final_1 = padd(final_1, _mm256_blend_pd(tmp0, tmp1, 0xC));
-
-  __m512d final_output = _mm512_insertf64x4(final_output, final_0, 0);
-
-  return _mm512_insertf64x4(final_output, final_1, 1);
-}
-
-template <>
-EIGEN_STRONG_INLINE float predux<Packet16f>(const Packet16f& a) {
-  //#ifdef EIGEN_VECTORIZE_AVX512DQ
-#if 0
-  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
-  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
-  Packet8f sum = padd(lane0, lane1);
-  Packet8f tmp0 = _mm256_hadd_ps(sum, _mm256_permute2f128_ps(a, a, 1));
-  tmp0 = _mm256_hadd_ps(tmp0, tmp0);
-  return pfirst(_mm256_hadd_ps(tmp0, tmp0));
-#else
-  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
-  Packet4f sum = padd(padd(lane0, lane1), padd(lane2, lane3));
-  sum = _mm_hadd_ps(sum, sum);
-  sum = _mm_hadd_ps(sum, _mm_permute_ps(sum, 1));
-  return pfirst(sum);
-#endif
-}
-template <>
-EIGEN_STRONG_INLINE double predux<Packet8d>(const Packet8d& a) {
-  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
-  Packet4d sum = padd(lane0, lane1);
-  Packet4d tmp0 = _mm256_hadd_pd(sum, _mm256_permute2f128_pd(sum, sum, 1));
-  return pfirst(_mm256_hadd_pd(tmp0, tmp0));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8f predux_downto4<Packet16f>(const Packet16f& a) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
-  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
-  return padd(lane0, lane1);
-#else
-  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
-  Packet4f sum0 = padd(lane0, lane2);
-  Packet4f sum1 = padd(lane1, lane3);
-  return _mm256_insertf128_ps(_mm256_castps128_ps256(sum0), sum1, 1);
-#endif
-}
-template <>
-EIGEN_STRONG_INLINE Packet4d predux_downto4<Packet8d>(const Packet8d& a) {
-  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
-  Packet4d res = padd(lane0, lane1);
-  return res;
-}
-
-template <>
-EIGEN_STRONG_INLINE float predux_mul<Packet16f>(const Packet16f& a) {
-//#ifdef EIGEN_VECTORIZE_AVX512DQ
-#if 0
-  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
-  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
-  Packet8f res = pmul(lane0, lane1);
-  res = pmul(res, _mm256_permute2f128_ps(res, res, 1));
-  res = pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
-  return pfirst(pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
-#else
-  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
-  Packet4f res = pmul(pmul(lane0, lane1), pmul(lane2, lane3));
-  res = pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
-  return pfirst(pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
-#endif
-}
-template <>
-EIGEN_STRONG_INLINE double predux_mul<Packet8d>(const Packet8d& a) {
-  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
-  Packet4d res = pmul(lane0, lane1);
-  res = pmul(res, _mm256_permute2f128_pd(res, res, 1));
-  return pfirst(pmul(res, _mm256_shuffle_pd(res, res, 1)));
-}
-
-template <>
-EIGEN_STRONG_INLINE float predux_min<Packet16f>(const Packet16f& a) {
-  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
-  Packet4f res = _mm_min_ps(_mm_min_ps(lane0, lane1), _mm_min_ps(lane2, lane3));
-  res = _mm_min_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
-  return pfirst(_mm_min_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
-}
-template <>
-EIGEN_STRONG_INLINE double predux_min<Packet8d>(const Packet8d& a) {
-  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
-  Packet4d res = _mm256_min_pd(lane0, lane1);
-  res = _mm256_min_pd(res, _mm256_permute2f128_pd(res, res, 1));
-  return pfirst(_mm256_min_pd(res, _mm256_shuffle_pd(res, res, 1)));
-}
-
-template <>
-EIGEN_STRONG_INLINE float predux_max<Packet16f>(const Packet16f& a) {
-  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
-  Packet4f res = _mm_max_ps(_mm_max_ps(lane0, lane1), _mm_max_ps(lane2, lane3));
-  res = _mm_max_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
-  return pfirst(_mm_max_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
-}
-template <>
-EIGEN_STRONG_INLINE double predux_max<Packet8d>(const Packet8d& a) {
-  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
-  Packet4d res = _mm256_max_pd(lane0, lane1);
-  res = _mm256_max_pd(res, _mm256_permute2f128_pd(res, res, 1));
-  return pfirst(_mm256_max_pd(res, _mm256_shuffle_pd(res, res, 1)));
-}
-
-template <int Offset>
-struct palign_impl<Offset, Packet16f> {
-  static EIGEN_STRONG_INLINE void run(Packet16f& first,
-                                      const Packet16f& second) {
-    if (Offset != 0) {
-      __m512i first_idx = _mm512_set_epi32(
-          Offset + 15, Offset + 14, Offset + 13, Offset + 12, Offset + 11,
-          Offset + 10, Offset + 9, Offset + 8, Offset + 7, Offset + 6,
-          Offset + 5, Offset + 4, Offset + 3, Offset + 2, Offset + 1, Offset);
-
-      __m512i second_idx =
-          _mm512_set_epi32(Offset - 1, Offset - 2, Offset - 3, Offset - 4,
-                           Offset - 5, Offset - 6, Offset - 7, Offset - 8,
-                           Offset - 9, Offset - 10, Offset - 11, Offset - 12,
-                           Offset - 13, Offset - 14, Offset - 15, Offset - 16);
-
-      unsigned short mask = 0xFFFF;
-      mask <<= (16 - Offset);
-
-      first = _mm512_permutexvar_ps(first_idx, first);
-      Packet16f tmp = _mm512_permutexvar_ps(second_idx, second);
-      first = _mm512_mask_blend_ps(mask, first, tmp);
-    }
-  }
-};
-template <int Offset>
-struct palign_impl<Offset, Packet8d> {
-  static EIGEN_STRONG_INLINE void run(Packet8d& first, const Packet8d& second) {
-    if (Offset != 0) {
-      __m512i first_idx = _mm512_set_epi32(
-          0, Offset + 7, 0, Offset + 6, 0, Offset + 5, 0, Offset + 4, 0,
-          Offset + 3, 0, Offset + 2, 0, Offset + 1, 0, Offset);
-
-      __m512i second_idx = _mm512_set_epi32(
-          0, Offset - 1, 0, Offset - 2, 0, Offset - 3, 0, Offset - 4, 0,
-          Offset - 5, 0, Offset - 6, 0, Offset - 7, 0, Offset - 8);
-
-      unsigned char mask = 0xFF;
-      mask <<= (8 - Offset);
-
-      first = _mm512_permutexvar_pd(first_idx, first);
-      Packet8d tmp = _mm512_permutexvar_pd(second_idx, second);
-      first = _mm512_mask_blend_pd(mask, first, tmp);
-    }
-  }
-};
-
-
-#define PACK_OUTPUT(OUTPUT, INPUT, INDEX, STRIDE) \
-  EIGEN_INSERT_8f_INTO_16f(OUTPUT[INDEX], INPUT[INDEX], INPUT[INDEX + STRIDE]);
-
-EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet16f, 16>& kernel) {
-  __m512 T0 = _mm512_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
-  __m512 T1 = _mm512_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
-  __m512 T2 = _mm512_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
-  __m512 T3 = _mm512_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
-  __m512 T4 = _mm512_unpacklo_ps(kernel.packet[4], kernel.packet[5]);
-  __m512 T5 = _mm512_unpackhi_ps(kernel.packet[4], kernel.packet[5]);
-  __m512 T6 = _mm512_unpacklo_ps(kernel.packet[6], kernel.packet[7]);
-  __m512 T7 = _mm512_unpackhi_ps(kernel.packet[6], kernel.packet[7]);
-  __m512 T8 = _mm512_unpacklo_ps(kernel.packet[8], kernel.packet[9]);
-  __m512 T9 = _mm512_unpackhi_ps(kernel.packet[8], kernel.packet[9]);
-  __m512 T10 = _mm512_unpacklo_ps(kernel.packet[10], kernel.packet[11]);
-  __m512 T11 = _mm512_unpackhi_ps(kernel.packet[10], kernel.packet[11]);
-  __m512 T12 = _mm512_unpacklo_ps(kernel.packet[12], kernel.packet[13]);
-  __m512 T13 = _mm512_unpackhi_ps(kernel.packet[12], kernel.packet[13]);
-  __m512 T14 = _mm512_unpacklo_ps(kernel.packet[14], kernel.packet[15]);
-  __m512 T15 = _mm512_unpackhi_ps(kernel.packet[14], kernel.packet[15]);
-  __m512 S0 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S1 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(3, 2, 3, 2));
-  __m512 S2 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S3 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(3, 2, 3, 2));
-  __m512 S4 = _mm512_shuffle_ps(T4, T6, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S5 = _mm512_shuffle_ps(T4, T6, _MM_SHUFFLE(3, 2, 3, 2));
-  __m512 S6 = _mm512_shuffle_ps(T5, T7, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S7 = _mm512_shuffle_ps(T5, T7, _MM_SHUFFLE(3, 2, 3, 2));
-  __m512 S8 = _mm512_shuffle_ps(T8, T10, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S9 = _mm512_shuffle_ps(T8, T10, _MM_SHUFFLE(3, 2, 3, 2));
-  __m512 S10 = _mm512_shuffle_ps(T9, T11, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S11 = _mm512_shuffle_ps(T9, T11, _MM_SHUFFLE(3, 2, 3, 2));
-  __m512 S12 = _mm512_shuffle_ps(T12, T14, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S13 = _mm512_shuffle_ps(T12, T14, _MM_SHUFFLE(3, 2, 3, 2));
-  __m512 S14 = _mm512_shuffle_ps(T13, T15, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S15 = _mm512_shuffle_ps(T13, T15, _MM_SHUFFLE(3, 2, 3, 2));
-
-  EIGEN_EXTRACT_8f_FROM_16f(S0, S0);
-  EIGEN_EXTRACT_8f_FROM_16f(S1, S1);
-  EIGEN_EXTRACT_8f_FROM_16f(S2, S2);
-  EIGEN_EXTRACT_8f_FROM_16f(S3, S3);
-  EIGEN_EXTRACT_8f_FROM_16f(S4, S4);
-  EIGEN_EXTRACT_8f_FROM_16f(S5, S5);
-  EIGEN_EXTRACT_8f_FROM_16f(S6, S6);
-  EIGEN_EXTRACT_8f_FROM_16f(S7, S7);
-  EIGEN_EXTRACT_8f_FROM_16f(S8, S8);
-  EIGEN_EXTRACT_8f_FROM_16f(S9, S9);
-  EIGEN_EXTRACT_8f_FROM_16f(S10, S10);
-  EIGEN_EXTRACT_8f_FROM_16f(S11, S11);
-  EIGEN_EXTRACT_8f_FROM_16f(S12, S12);
-  EIGEN_EXTRACT_8f_FROM_16f(S13, S13);
-  EIGEN_EXTRACT_8f_FROM_16f(S14, S14);
-  EIGEN_EXTRACT_8f_FROM_16f(S15, S15);
-
-  PacketBlock<Packet8f, 32> tmp;
-
-  tmp.packet[0] = _mm256_permute2f128_ps(S0_0, S4_0, 0x20);
-  tmp.packet[1] = _mm256_permute2f128_ps(S1_0, S5_0, 0x20);
-  tmp.packet[2] = _mm256_permute2f128_ps(S2_0, S6_0, 0x20);
-  tmp.packet[3] = _mm256_permute2f128_ps(S3_0, S7_0, 0x20);
-  tmp.packet[4] = _mm256_permute2f128_ps(S0_0, S4_0, 0x31);
-  tmp.packet[5] = _mm256_permute2f128_ps(S1_0, S5_0, 0x31);
-  tmp.packet[6] = _mm256_permute2f128_ps(S2_0, S6_0, 0x31);
-  tmp.packet[7] = _mm256_permute2f128_ps(S3_0, S7_0, 0x31);
-
-  tmp.packet[8] = _mm256_permute2f128_ps(S0_1, S4_1, 0x20);
-  tmp.packet[9] = _mm256_permute2f128_ps(S1_1, S5_1, 0x20);
-  tmp.packet[10] = _mm256_permute2f128_ps(S2_1, S6_1, 0x20);
-  tmp.packet[11] = _mm256_permute2f128_ps(S3_1, S7_1, 0x20);
-  tmp.packet[12] = _mm256_permute2f128_ps(S0_1, S4_1, 0x31);
-  tmp.packet[13] = _mm256_permute2f128_ps(S1_1, S5_1, 0x31);
-  tmp.packet[14] = _mm256_permute2f128_ps(S2_1, S6_1, 0x31);
-  tmp.packet[15] = _mm256_permute2f128_ps(S3_1, S7_1, 0x31);
-
-  // Second set of _m256 outputs
-  tmp.packet[16] = _mm256_permute2f128_ps(S8_0, S12_0, 0x20);
-  tmp.packet[17] = _mm256_permute2f128_ps(S9_0, S13_0, 0x20);
-  tmp.packet[18] = _mm256_permute2f128_ps(S10_0, S14_0, 0x20);
-  tmp.packet[19] = _mm256_permute2f128_ps(S11_0, S15_0, 0x20);
-  tmp.packet[20] = _mm256_permute2f128_ps(S8_0, S12_0, 0x31);
-  tmp.packet[21] = _mm256_permute2f128_ps(S9_0, S13_0, 0x31);
-  tmp.packet[22] = _mm256_permute2f128_ps(S10_0, S14_0, 0x31);
-  tmp.packet[23] = _mm256_permute2f128_ps(S11_0, S15_0, 0x31);
-
-  tmp.packet[24] = _mm256_permute2f128_ps(S8_1, S12_1, 0x20);
-  tmp.packet[25] = _mm256_permute2f128_ps(S9_1, S13_1, 0x20);
-  tmp.packet[26] = _mm256_permute2f128_ps(S10_1, S14_1, 0x20);
-  tmp.packet[27] = _mm256_permute2f128_ps(S11_1, S15_1, 0x20);
-  tmp.packet[28] = _mm256_permute2f128_ps(S8_1, S12_1, 0x31);
-  tmp.packet[29] = _mm256_permute2f128_ps(S9_1, S13_1, 0x31);
-  tmp.packet[30] = _mm256_permute2f128_ps(S10_1, S14_1, 0x31);
-  tmp.packet[31] = _mm256_permute2f128_ps(S11_1, S15_1, 0x31);
-
-  // Pack them into the output
-  PACK_OUTPUT(kernel.packet, tmp.packet, 0, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 1, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 2, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 3, 16);
-
-  PACK_OUTPUT(kernel.packet, tmp.packet, 4, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 5, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 6, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 7, 16);
-
-  PACK_OUTPUT(kernel.packet, tmp.packet, 8, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 9, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 10, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 11, 16);
-
-  PACK_OUTPUT(kernel.packet, tmp.packet, 12, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 13, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 14, 16);
-  PACK_OUTPUT(kernel.packet, tmp.packet, 15, 16);
-}
-#define PACK_OUTPUT_2(OUTPUT, INPUT, INDEX, STRIDE)         \
-  EIGEN_INSERT_8f_INTO_16f(OUTPUT[INDEX], INPUT[2 * INDEX], \
-                           INPUT[2 * INDEX + STRIDE]);
-
-EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet16f, 4>& kernel) {
-  __m512 T0 = _mm512_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
-  __m512 T1 = _mm512_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
-  __m512 T2 = _mm512_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
-  __m512 T3 = _mm512_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
-
-  __m512 S0 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S1 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(3, 2, 3, 2));
-  __m512 S2 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(1, 0, 1, 0));
-  __m512 S3 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(3, 2, 3, 2));
-
-  EIGEN_EXTRACT_8f_FROM_16f(S0, S0);
-  EIGEN_EXTRACT_8f_FROM_16f(S1, S1);
-  EIGEN_EXTRACT_8f_FROM_16f(S2, S2);
-  EIGEN_EXTRACT_8f_FROM_16f(S3, S3);
-
-  PacketBlock<Packet8f, 8> tmp;
-
-  tmp.packet[0] = _mm256_permute2f128_ps(S0_0, S1_0, 0x20);
-  tmp.packet[1] = _mm256_permute2f128_ps(S2_0, S3_0, 0x20);
-  tmp.packet[2] = _mm256_permute2f128_ps(S0_0, S1_0, 0x31);
-  tmp.packet[3] = _mm256_permute2f128_ps(S2_0, S3_0, 0x31);
-
-  tmp.packet[4] = _mm256_permute2f128_ps(S0_1, S1_1, 0x20);
-  tmp.packet[5] = _mm256_permute2f128_ps(S2_1, S3_1, 0x20);
-  tmp.packet[6] = _mm256_permute2f128_ps(S0_1, S1_1, 0x31);
-  tmp.packet[7] = _mm256_permute2f128_ps(S2_1, S3_1, 0x31);
-
-  PACK_OUTPUT_2(kernel.packet, tmp.packet, 0, 1);
-  PACK_OUTPUT_2(kernel.packet, tmp.packet, 1, 1);
-  PACK_OUTPUT_2(kernel.packet, tmp.packet, 2, 1);
-  PACK_OUTPUT_2(kernel.packet, tmp.packet, 3, 1);
-}
-
-#define PACK_OUTPUT_SQ_D(OUTPUT, INPUT, INDEX, STRIDE)                \
-  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[INDEX], 0); \
-  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[INDEX + STRIDE], 1);
-
-#define PACK_OUTPUT_D(OUTPUT, INPUT, INDEX, STRIDE)                         \
-  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[(2 * INDEX)], 0); \
-  OUTPUT[INDEX] =                                                           \
-      _mm512_insertf64x4(OUTPUT[INDEX], INPUT[(2 * INDEX) + STRIDE], 1);
-
-EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet8d, 4>& kernel) {
-  __m512d T0 = _mm512_shuffle_pd(kernel.packet[0], kernel.packet[1], 0);
-  __m512d T1 = _mm512_shuffle_pd(kernel.packet[0], kernel.packet[1], 0xff);
-  __m512d T2 = _mm512_shuffle_pd(kernel.packet[2], kernel.packet[3], 0);
-  __m512d T3 = _mm512_shuffle_pd(kernel.packet[2], kernel.packet[3], 0xff);
-
-  PacketBlock<Packet4d, 8> tmp;
-
-  tmp.packet[0] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
-                                         _mm512_extractf64x4_pd(T2, 0), 0x20);
-  tmp.packet[1] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
-                                         _mm512_extractf64x4_pd(T3, 0), 0x20);
-  tmp.packet[2] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
-                                         _mm512_extractf64x4_pd(T2, 0), 0x31);
-  tmp.packet[3] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
-                                         _mm512_extractf64x4_pd(T3, 0), 0x31);
-
-  tmp.packet[4] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
-                                         _mm512_extractf64x4_pd(T2, 1), 0x20);
-  tmp.packet[5] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
-                                         _mm512_extractf64x4_pd(T3, 1), 0x20);
-  tmp.packet[6] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
-                                         _mm512_extractf64x4_pd(T2, 1), 0x31);
-  tmp.packet[7] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
-                                         _mm512_extractf64x4_pd(T3, 1), 0x31);
-
-  PACK_OUTPUT_D(kernel.packet, tmp.packet, 0, 1);
-  PACK_OUTPUT_D(kernel.packet, tmp.packet, 1, 1);
-  PACK_OUTPUT_D(kernel.packet, tmp.packet, 2, 1);
-  PACK_OUTPUT_D(kernel.packet, tmp.packet, 3, 1);
-}
-
-EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet8d, 8>& kernel) {
-  __m512d T0 = _mm512_unpacklo_pd(kernel.packet[0], kernel.packet[1]);
-  __m512d T1 = _mm512_unpackhi_pd(kernel.packet[0], kernel.packet[1]);
-  __m512d T2 = _mm512_unpacklo_pd(kernel.packet[2], kernel.packet[3]);
-  __m512d T3 = _mm512_unpackhi_pd(kernel.packet[2], kernel.packet[3]);
-  __m512d T4 = _mm512_unpacklo_pd(kernel.packet[4], kernel.packet[5]);
-  __m512d T5 = _mm512_unpackhi_pd(kernel.packet[4], kernel.packet[5]);
-  __m512d T6 = _mm512_unpacklo_pd(kernel.packet[6], kernel.packet[7]);
-  __m512d T7 = _mm512_unpackhi_pd(kernel.packet[6], kernel.packet[7]);
-
-  PacketBlock<Packet4d, 16> tmp;
-
-  tmp.packet[0] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
-                                         _mm512_extractf64x4_pd(T2, 0), 0x20);
-  tmp.packet[1] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
-                                         _mm512_extractf64x4_pd(T3, 0), 0x20);
-  tmp.packet[2] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
-                                         _mm512_extractf64x4_pd(T2, 0), 0x31);
-  tmp.packet[3] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
-                                         _mm512_extractf64x4_pd(T3, 0), 0x31);
-
-  tmp.packet[4] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
-                                         _mm512_extractf64x4_pd(T2, 1), 0x20);
-  tmp.packet[5] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
-                                         _mm512_extractf64x4_pd(T3, 1), 0x20);
-  tmp.packet[6] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
-                                         _mm512_extractf64x4_pd(T2, 1), 0x31);
-  tmp.packet[7] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
-                                         _mm512_extractf64x4_pd(T3, 1), 0x31);
-
-  tmp.packet[8] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 0),
-                                         _mm512_extractf64x4_pd(T6, 0), 0x20);
-  tmp.packet[9] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 0),
-                                         _mm512_extractf64x4_pd(T7, 0), 0x20);
-  tmp.packet[10] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 0),
-                                          _mm512_extractf64x4_pd(T6, 0), 0x31);
-  tmp.packet[11] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 0),
-                                          _mm512_extractf64x4_pd(T7, 0), 0x31);
-
-  tmp.packet[12] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 1),
-                                          _mm512_extractf64x4_pd(T6, 1), 0x20);
-  tmp.packet[13] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 1),
-                                          _mm512_extractf64x4_pd(T7, 1), 0x20);
-  tmp.packet[14] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 1),
-                                          _mm512_extractf64x4_pd(T6, 1), 0x31);
-  tmp.packet[15] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 1),
-                                          _mm512_extractf64x4_pd(T7, 1), 0x31);
-
-  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 0, 8);
-  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 1, 8);
-  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 2, 8);
-  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 3, 8);
-
-  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 4, 8);
-  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 5, 8);
-  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 6, 8);
-  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 7, 8);
-}
-template <>
-EIGEN_STRONG_INLINE Packet16f pblend(const Selector<16>& /*ifPacket*/,
-                                     const Packet16f& /*thenPacket*/,
-                                     const Packet16f& /*elsePacket*/) {
-  assert(false && "To be implemented");
-  return Packet16f();
-}
-template <>
-EIGEN_STRONG_INLINE Packet8d pblend(const Selector<8>& /*ifPacket*/,
-                                    const Packet8d& /*thenPacket*/,
-                                    const Packet8d& /*elsePacket*/) {
-  assert(false && "To be implemented");
-  return Packet8d();
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PACKET_MATH_AVX512_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/Complex.h b/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/Complex.h
deleted file mode 100644
index 67db2f8ee97a06..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/Complex.h
+++ /dev/null
@@ -1,461 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010-2016 Konstantinos Margaritis <markos@freevec.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLEX32_ALTIVEC_H
-#define EIGEN_COMPLEX32_ALTIVEC_H
-
-namespace Eigen {
-
-namespace internal {
-
-static Packet4ui  p4ui_CONJ_XOR = vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_MZERO);//{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
-#ifdef __VSX__
-#if defined(_BIG_ENDIAN)
-static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2d_MZERO, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
-static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_MZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
-#else
-static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_MZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
-static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2d_MZERO, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
-#endif
-#endif
-
-//---------- float ----------
-struct Packet2cf
-{
-  EIGEN_STRONG_INLINE explicit Packet2cf() : v(p4f_ZERO) {}
-  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
-  Packet4f  v;
-};
-
-template<> struct packet_traits<std::complex<float> >  : default_packet_traits
-{
-  typedef Packet2cf type;
-  typedef Packet2cf half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 2,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-#ifdef __VSX__
-    HasBlend  = 1,
-#endif
-    HasSetLinear = 0
-  };
-};
-
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
-
-template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
-{
-  Packet2cf res;
-  if((std::ptrdiff_t(&from) % 16) == 0)
-    res.v = pload<Packet4f>((const float *)&from);
-  else
-    res.v = ploadu<Packet4f>((const float *)&from);
-  res.v = vec_perm(res.v, res.v, p16uc_PSET64_HI);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>*        from) { return Packet2cf(pload<Packet4f>((const float *) from)); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>*       from) { return Packet2cf(ploadu<Packet4f>((const float*) from)); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*     from) { return pset1<Packet2cf>(*from); }
-
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { pstore((float*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { pstoreu((float*)to, from.v); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
-{
-  std::complex<float> EIGEN_ALIGN16 af[2];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
-  return pload<Packet2cf>(af);
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
-{
-  std::complex<float> EIGEN_ALIGN16 af[2];
-  pstore<std::complex<float> >((std::complex<float> *) af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(a.v + b.v); }
-template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(a.v - b.v); }
-template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(a.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) { return Packet2cf(pxor<Packet4f>(a.v, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR))); }
-
-template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  Packet4f v1, v2;
-
-  // Permute and multiply the real parts of a and b
-  v1 = vec_perm(a.v, a.v, p16uc_PSET32_WODD);
-  // Get the imaginary parts of a
-  v2 = vec_perm(a.v, a.v, p16uc_PSET32_WEVEN);
-  // multiply a_re * b 
-  v1 = vec_madd(v1, b.v, p4f_ZERO);
-  // multiply a_im * b and get the conjugate result
-  v2 = vec_madd(v2, b.v, p4f_ZERO);
-  v2 = reinterpret_cast<Packet4f>(pxor(v2, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR)));
-  // permute back to a proper order
-  v2 = vec_perm(v2, v2, p16uc_COMPLEX32_REV);
-  
-  return Packet2cf(padd<Packet4f>(v1, v2));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v, b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v, b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v, b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pandnot<Packet4f>(a.v, b.v)); }
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> * addr)    { EIGEN_PPC_PREFETCH(addr); }
-
-template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
-{
-  std::complex<float> EIGEN_ALIGN16 res[2];
-  pstore((float *)&res, a.v);
-
-  return res[0];
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
-{
-  Packet4f rev_a;
-  rev_a = vec_perm(a.v, a.v, p16uc_COMPLEX32_REV2);
-  return Packet2cf(rev_a);
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
-{
-  Packet4f b;
-  b = vec_sld(a.v, a.v, 8);
-  b = padd<Packet4f>(a.v, b);
-  return pfirst<Packet2cf>(Packet2cf(b));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
-{
-  Packet4f b1, b2;
-#ifdef _BIG_ENDIAN  
-  b1 = vec_sld(vecs[0].v, vecs[1].v, 8);
-  b2 = vec_sld(vecs[1].v, vecs[0].v, 8);
-#else
-  b1 = vec_sld(vecs[1].v, vecs[0].v, 8);
-  b2 = vec_sld(vecs[0].v, vecs[1].v, 8);
-#endif
-  b2 = vec_sld(b2, b2, 8);
-  b2 = padd<Packet4f>(b1, b2);
-
-  return Packet2cf(b2);
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
-{
-  Packet4f b;
-  Packet2cf prod;
-  b = vec_sld(a.v, a.v, 8);
-  prod = pmul<Packet2cf>(a, Packet2cf(b));
-
-  return pfirst<Packet2cf>(prod);
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet2cf>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2cf& first, const Packet2cf& second)
-  {
-    if (Offset==1)
-    {
-#ifdef _BIG_ENDIAN
-      first.v = vec_sld(first.v, second.v, 8);
-#else
-      first.v = vec_sld(second.v, first.v, 8);
-#endif
-    }
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
-template<> struct conj_helper<Packet4f, Packet2cf, false,false>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet4f& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet4f& x, const Packet2cf& y) const
-  { return Packet2cf(internal::pmul<Packet4f>(x, y.v)); }
-};
-
-template<> struct conj_helper<Packet2cf, Packet4f, false,false>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet4f& y, const Packet2cf& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& x, const Packet4f& y) const
-  { return Packet2cf(internal::pmul<Packet4f>(x.v, y)); }
-};
-
-template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  // TODO optimize it for AltiVec
-  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a, b);
-  Packet4f s = pmul<Packet4f>(b.v, b.v);
-  return Packet2cf(pdiv(res.v, padd<Packet4f>(s, vec_perm(s, s, p16uc_COMPLEX32_REV))));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& x)
-{
-  return Packet2cf(vec_perm(x.v, x.v, p16uc_COMPLEX32_REV));
-}
-
-EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
-{
-  Packet4f tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
-  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
-  kernel.packet[0].v = tmp;
-}
-
-#ifdef __VSX__
-template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
-  Packet2cf result;
-  result.v = reinterpret_cast<Packet4f>(pblend<Packet2d>(ifPacket, reinterpret_cast<Packet2d>(thenPacket.v), reinterpret_cast<Packet2d>(elsePacket.v)));
-  return result;
-}
-#endif
-
-//---------- double ----------
-#ifdef __VSX__
-struct Packet1cd
-{
-  EIGEN_STRONG_INLINE Packet1cd() {}
-  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
-  Packet2d v;
-};
-
-template<> struct packet_traits<std::complex<double> >  : default_packet_traits
-{
-  typedef Packet1cd type;
-  typedef Packet1cd half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 0,
-    size = 1,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasSetLinear = 0
-  };
-};
-
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
-
-template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from) { return Packet1cd(pload<Packet2d>((const double*)from)); }
-template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { return Packet1cd(ploadu<Packet2d>((const double*)from)); }
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { pstore((double*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { pstoreu((double*)to, from.v); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
-{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
-{
-  std::complex<double> EIGEN_ALIGN16 af[2];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
-  return pload<Packet1cd>(af);
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
-{
-  std::complex<double> EIGEN_ALIGN16 af[2];
-  pstore<std::complex<double> >(af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v + b.v); }
-template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v - b.v); }
-template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
-template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(pxor(a.v, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR2))); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  Packet2d a_re, a_im, v1, v2;
-
-  // Permute and multiply the real parts of a and b
-  a_re = vec_perm(a.v, a.v, p16uc_PSET64_HI);
-  // Get the imaginary parts of a
-  a_im = vec_perm(a.v, a.v, p16uc_PSET64_LO);
-  // multiply a_re * b
-  v1 = vec_madd(a_re, b.v, p2d_ZERO);
-  // multiply a_im * b and get the conjugate result
-  v2 = vec_madd(a_im, b.v, p2d_ZERO);
-  v2 = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v2), reinterpret_cast<Packet4ui>(v2), 8));
-  v2 = pxor(v2, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR1));
-
-  return Packet1cd(padd<Packet2d>(v1, v2));
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pand(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(por(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pxor(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pandnot(a.v, b.v)); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>*     from)  { return pset1<Packet1cd>(*from); }
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> * addr)    { EIGEN_PPC_PREFETCH(addr); }
-
-template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
-{
-  std::complex<double> EIGEN_ALIGN16 res[2];
-  pstore<std::complex<double> >(res, a);
-
-  return res[0];
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
-template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)        { return vecs[0]; }
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
-
-template<int Offset>
-struct palign_impl<Offset,Packet1cd>
-{
-  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
-  {
-    // FIXME is it sure we never have to align a Packet1cd?
-    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-template<> struct conj_helper<Packet2d, Packet1cd, false,false>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet2d& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet2d& x, const Packet1cd& y) const
-  { return Packet1cd(internal::pmul<Packet2d>(x, y.v)); }
-};
-
-template<> struct conj_helper<Packet1cd, Packet2d, false,false>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet2d& y, const Packet1cd& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& x, const Packet2d& y) const
-  { return Packet1cd(internal::pmul<Packet2d>(x.v, y)); }
-};
-
-template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  // TODO optimize it for AltiVec
-  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
-  Packet2d s = pmul<Packet2d>(b.v, b.v);
-  return Packet1cd(pdiv(res.v, padd<Packet2d>(s, vec_perm(s, s, p16uc_REVERSE64))));
-}
-
-EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
-{
-  return Packet1cd(preverse(Packet2d(x.v)));
-}
-
-EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
-{
-  Packet2d tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
-  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
-  kernel.packet[0].v = tmp;
-}
-#endif // __VSX__
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX32_ALTIVEC_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/MathFunctions.h b/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/MathFunctions.h
deleted file mode 100644
index c5e4bede74d7a8..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/MathFunctions.h
+++ /dev/null
@@ -1,322 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007 Julien Pommier
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2016 Konstantinos Margaritis <markos@freevec.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* The sin, cos, exp, and log functions of this file come from
- * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
- */
-
-#ifndef EIGEN_MATH_FUNCTIONS_ALTIVEC_H
-#define EIGEN_MATH_FUNCTIONS_ALTIVEC_H
-
-namespace Eigen {
-
-namespace internal {
-
-static _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
-static _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
-static _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
-static _EIGEN_DECLARE_CONST_Packet4i(23, 23);
-
-static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
-
-/* the smallest non denormalized float number */
-static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
-static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000); // -1.f/0.f
-static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_nan,     0xffffffff);
-  
-/* natural logarithm computed for 4 simultaneous float
-  return NaN for x <= 0
-*/
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
-
-static _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
-static _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
-
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
-
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
-
-#ifdef __VSX__
-static _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
-static _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
-static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
-
-static _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
-static _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
-
-#ifdef __POWER8_VECTOR__
-static Packet2l p2l_1023 = { 1023, 1023 };
-static Packet2ul p2ul_52 = { 52, 52 };
-#endif
-
-#endif
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f plog<Packet4f>(const Packet4f& _x)
-{
-  Packet4f x = _x;
-
-  Packet4i emm0;
-
-  /* isvalid_mask is 0 if x < 0 or x is NaN. */
-  Packet4ui isvalid_mask = reinterpret_cast<Packet4ui>(vec_cmpge(x, p4f_ZERO));
-  Packet4ui iszero_mask = reinterpret_cast<Packet4ui>(vec_cmpeq(x, p4f_ZERO));
-
-  x = pmax(x, p4f_min_norm_pos);  /* cut off denormalized stuff */
-  emm0 = vec_sr(reinterpret_cast<Packet4i>(x),
-                reinterpret_cast<Packet4ui>(p4i_23));
-
-  /* keep only the fractional part */
-  x = pand(x, p4f_inv_mant_mask);
-  x = por(x, p4f_half);
-
-  emm0 = psub(emm0, p4i_0x7f);
-  Packet4f e = padd(vec_ctf(emm0, 0), p4f_1);
-
-  /* part2:
-     if( x < SQRTHF ) {
-       e -= 1;
-       x = x + x - 1.0;
-     } else { x = x - 1.0; }
-  */
-  Packet4f mask = reinterpret_cast<Packet4f>(vec_cmplt(x, p4f_cephes_SQRTHF));
-  Packet4f tmp = pand(x, mask);
-  x = psub(x, p4f_1);
-  e = psub(e, pand(p4f_1, mask));
-  x = padd(x, tmp);
-
-  Packet4f x2 = pmul(x,x);
-  Packet4f x3 = pmul(x2,x);
-
-  Packet4f y, y1, y2;
-  y  = pmadd(p4f_cephes_log_p0, x, p4f_cephes_log_p1);
-  y1 = pmadd(p4f_cephes_log_p3, x, p4f_cephes_log_p4);
-  y2 = pmadd(p4f_cephes_log_p6, x, p4f_cephes_log_p7);
-  y  = pmadd(y , x, p4f_cephes_log_p2);
-  y1 = pmadd(y1, x, p4f_cephes_log_p5);
-  y2 = pmadd(y2, x, p4f_cephes_log_p8);
-  y = pmadd(y, x3, y1);
-  y = pmadd(y, x3, y2);
-  y = pmul(y, x3);
-
-  y1 = pmul(e, p4f_cephes_log_q1);
-  tmp = pmul(x2, p4f_half);
-  y = padd(y, y1);
-  x = psub(x, tmp);
-  y2 = pmul(e, p4f_cephes_log_q2);
-  x = padd(x, y);
-  x = padd(x, y2);
-  // negative arg will be NAN, 0 will be -INF
-  x = vec_sel(x, p4f_minus_inf, iszero_mask);
-  x = vec_sel(p4f_minus_nan, x, isvalid_mask);
-  return x;
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f pexp<Packet4f>(const Packet4f& _x)
-{
-  Packet4f x = _x;
-
-  Packet4f tmp, fx;
-  Packet4i emm0;
-
-  // clamp x
-  x = pmax(pmin(x, p4f_exp_hi), p4f_exp_lo);
-
-  // express exp(x) as exp(g + n*log(2))
-  fx = pmadd(x, p4f_cephes_LOG2EF, p4f_half);
-
-  fx = pfloor(fx);
-
-  tmp = pmul(fx, p4f_cephes_exp_C1);
-  Packet4f z = pmul(fx, p4f_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  z = pmul(x,x);
-
-  Packet4f y = p4f_cephes_exp_p0;
-  y = pmadd(y, x, p4f_cephes_exp_p1);
-  y = pmadd(y, x, p4f_cephes_exp_p2);
-  y = pmadd(y, x, p4f_cephes_exp_p3);
-  y = pmadd(y, x, p4f_cephes_exp_p4);
-  y = pmadd(y, x, p4f_cephes_exp_p5);
-  y = pmadd(y, z, x);
-  y = padd(y, p4f_1);
-
-  // build 2^n
-  emm0 = vec_cts(fx, 0);
-  emm0 = vec_add(emm0, p4i_0x7f);
-  emm0 = vec_sl(emm0, reinterpret_cast<Packet4ui>(p4i_23));
-
-  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
-  // inputs and return them unmodified.
-  Packet4ui isnumber_mask = reinterpret_cast<Packet4ui>(vec_cmpeq(_x, _x));
-  return vec_sel(_x, pmax(pmul(y, reinterpret_cast<Packet4f>(emm0)), _x),
-                 isnumber_mask);
-}
-
-#ifndef EIGEN_COMP_CLANG
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f prsqrt<Packet4f>(const Packet4f& x)
-{
-  return  vec_rsqrt(x);
-}
-#endif
-
-#ifdef __VSX__
-#ifndef EIGEN_COMP_CLANG
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d prsqrt<Packet2d>(const Packet2d& x)
-{
-  return  vec_rsqrt(x);
-}
-#endif
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f psqrt<Packet4f>(const Packet4f& x)
-{
-  return  vec_sqrt(x);
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d psqrt<Packet2d>(const Packet2d& x)
-{
-  return  vec_sqrt(x);
-}
-
-// VSX support varies between different compilers and even different
-// versions of the same compiler.  For gcc version >= 4.9.3, we can use
-// vec_cts to efficiently convert Packet2d to Packet2l.  Otherwise, use
-// a slow version that works with older compilers. 
-// Update: apparently vec_cts/vec_ctf intrinsics for 64-bit doubles
-// are buggy, https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70963
-static inline Packet2l ConvertToPacket2l(const Packet2d& x) {
-#if EIGEN_GNUC_AT_LEAST(5, 4) || \
-    (EIGEN_GNUC_AT(6, 1) && __GNUC_PATCHLEVEL__ >= 1)
-  return vec_cts(x, 0);    // TODO: check clang version.
-#else
-  double tmp[2];
-  memcpy(tmp, &x, sizeof(tmp));
-  Packet2l l = { static_cast<long long>(tmp[0]),
-                 static_cast<long long>(tmp[1]) };
-  return l;
-#endif
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d pexp<Packet2d>(const Packet2d& _x)
-{
-  Packet2d x = _x;
-
-  Packet2d tmp, fx;
-  Packet2l emm0;
-
-  // clamp x
-  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
-
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = pmadd(x, p2d_cephes_LOG2EF, p2d_half);
-
-  fx = pfloor(fx);
-
-  tmp = pmul(fx, p2d_cephes_exp_C1);
-  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  Packet2d x2 = pmul(x,x);
-
-  Packet2d px = p2d_cephes_exp_p0;
-  px = pmadd(px, x2, p2d_cephes_exp_p1);
-  px = pmadd(px, x2, p2d_cephes_exp_p2);
-  px = pmul (px, x);
-
-  Packet2d qx = p2d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
-
-  x = pdiv(px,psub(qx,px));
-  x = pmadd(p2d_2,x,p2d_1);
-
-  // build 2^n
-  emm0 = ConvertToPacket2l(fx);
-
-#ifdef __POWER8_VECTOR__ 
-  emm0 = vec_add(emm0, p2l_1023);
-  emm0 = vec_sl(emm0, p2ul_52);
-#else
-  // Code is a bit complex for POWER7.  There is actually a
-  // vec_xxsldi intrinsic but it is not supported by some gcc versions.
-  // So we shift (52-32) bits and do a word swap with zeros.
-  _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
-  _EIGEN_DECLARE_CONST_Packet4i(20, 20);    // 52 - 32
-
-  Packet4i emm04i = reinterpret_cast<Packet4i>(emm0);
-  emm04i = vec_add(emm04i, p4i_1023);
-  emm04i = vec_sl(emm04i, reinterpret_cast<Packet4ui>(p4i_20));
-  static const Packet16uc perm = {
-    0x14, 0x15, 0x16, 0x17, 0x00, 0x01, 0x02, 0x03, 
-    0x1c, 0x1d, 0x1e, 0x1f, 0x08, 0x09, 0x0a, 0x0b };
-#ifdef  _BIG_ENDIAN
-  emm0 = reinterpret_cast<Packet2l>(vec_perm(p4i_ZERO, emm04i, perm));
-#else
-  emm0 = reinterpret_cast<Packet2l>(vec_perm(emm04i, p4i_ZERO, perm));
-#endif
-
-#endif
-
-  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
-  // inputs and return them unmodified.
-  Packet2ul isnumber_mask = reinterpret_cast<Packet2ul>(vec_cmpeq(_x, _x));
-  return vec_sel(_x, pmax(pmul(x, reinterpret_cast<Packet2d>(emm0)), _x),
-                 isnumber_mask);
-}
-#endif
-
-}  // end namespace internal
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_MATH_FUNCTIONS_ALTIVEC_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h b/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h
deleted file mode 100755
index b3f1ea199cd170..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h
+++ /dev/null
@@ -1,1033 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2016 Konstantinos Margaritis <markos@freevec.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_ALTIVEC_H
-#define EIGEN_PACKET_MATH_ALTIVEC_H
-
-namespace Eigen {
-
-namespace internal {
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
-#endif
-
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#endif
-
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#endif
-
-// NOTE Altivec has 32 registers, but Eigen only accepts a value of 8 or 16
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS  32
-#endif
-
-typedef __vector float          Packet4f;
-typedef __vector int            Packet4i;
-typedef __vector unsigned int   Packet4ui;
-typedef __vector __bool int     Packet4bi;
-typedef __vector short int      Packet8i;
-typedef __vector unsigned char  Packet16uc;
-
-// We don't want to write the same code all the time, but we need to reuse the constants
-// and it doesn't really work to declare them global, so we define macros instead
-
-#define _EIGEN_DECLARE_CONST_FAST_Packet4f(NAME,X) \
-  Packet4f p4f_##NAME = reinterpret_cast<Packet4f>(vec_splat_s32(X))
-
-#define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
-  Packet4i p4i_##NAME = vec_splat_s32(X)
-
-#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
-  Packet4f p4f_##NAME = pset1<Packet4f>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
-  Packet4i p4i_##NAME = pset1<Packet4i>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet2d(NAME,X) \
-  Packet2d p2d_##NAME = pset1<Packet2d>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet2l(NAME,X) \
-  Packet2l p2l_##NAME = pset1<Packet2l>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
-  const Packet4f p4f_##NAME = reinterpret_cast<Packet4f>(pset1<Packet4i>(X))
-
-#define DST_CHAN 1
-#define DST_CTRL(size, count, stride) (((size) << 24) | ((count) << 16) | (stride))
-
-
-// These constants are endian-agnostic
-static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0); //{ 0.0, 0.0, 0.0, 0.0}
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE,1); //{ 1, 1, 1, 1}
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS16,-16); //{ -16, -16, -16, -16}
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1); //{ -1, -1, -1, -1}
-static Packet4f p4f_MZERO = (Packet4f) vec_sl((Packet4ui)p4i_MINUS1, (Packet4ui)p4i_MINUS1); //{ 0x80000000, 0x80000000, 0x80000000, 0x80000000}
-#ifndef __VSX__
-static Packet4f p4f_ONE = vec_ctf(p4i_ONE, 0); //{ 1.0, 1.0, 1.0, 1.0}
-#endif
-
-static Packet4f p4f_COUNTDOWN = { 0.0, 1.0, 2.0, 3.0 };
-static Packet4i p4i_COUNTDOWN = { 0, 1, 2, 3 };
-
-static Packet16uc p16uc_REVERSE32 = { 12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3 };
-static Packet16uc p16uc_DUPLICATE32_HI = { 0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7 };
-
-// Mask alignment
-#ifdef __PPC64__
-#define _EIGEN_MASK_ALIGNMENT	0xfffffffffffffff0
-#else
-#define _EIGEN_MASK_ALIGNMENT	0xfffffff0
-#endif
-
-#define _EIGEN_ALIGNED_PTR(x)	((std::ptrdiff_t)(x) & _EIGEN_MASK_ALIGNMENT)
-
-// Handle endianness properly while loading constants
-// Define global static constants:
-#ifdef _BIG_ENDIAN
-static Packet16uc p16uc_FORWARD = vec_lvsl(0, (float*)0);
-#ifdef __VSX__
-static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
-#endif
-static Packet16uc p16uc_PSET32_WODD   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
-static Packet16uc p16uc_PSET32_WEVEN  = vec_sld(p16uc_DUPLICATE32_HI, (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
-static Packet16uc p16uc_HALF64_0_16 = vec_sld((Packet16uc)p4i_ZERO, vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 3), 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
-#else
-static Packet16uc p16uc_FORWARD = p16uc_REVERSE32; 
-static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
-static Packet16uc p16uc_PSET32_WODD = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 1), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
-static Packet16uc p16uc_PSET32_WEVEN = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
-static Packet16uc p16uc_HALF64_0_16 = vec_sld(vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 0), (Packet16uc)p4i_ZERO, 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
-#endif // _BIG_ENDIAN
-
-static Packet16uc p16uc_PSET64_HI = (Packet16uc) vec_mergeh((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
-static Packet16uc p16uc_PSET64_LO = (Packet16uc) vec_mergel((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
-static Packet16uc p16uc_TRANSPOSE64_HI = p16uc_PSET64_HI + p16uc_HALF64_0_16;                                         //{ 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
-static Packet16uc p16uc_TRANSPOSE64_LO = p16uc_PSET64_LO + p16uc_HALF64_0_16;                                         //{ 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};
-
-static Packet16uc p16uc_COMPLEX32_REV = vec_sld(p16uc_REVERSE32, p16uc_REVERSE32, 8);                                         //{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
-
-#ifdef _BIG_ENDIAN
-static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
-#else
-static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_PSET64_HI, p16uc_PSET64_LO, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
-#endif // _BIG_ENDIAN
-
-#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
-  #define EIGEN_PPC_PREFETCH(ADDR) __builtin_prefetch(ADDR);
-#else
-  #define EIGEN_PPC_PREFETCH(ADDR) asm( "   dcbt [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
-#endif
-
-template<> struct packet_traits<float>  : default_packet_traits
-{
-  typedef Packet4f type;
-  typedef Packet4f half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-    HasHalfPacket = 1,
-
-    HasAdd  = 1,
-    HasSub  = 1,
-    HasMul  = 1,
-    HasDiv  = 1,
-    HasMin  = 1,
-    HasMax  = 1,
-    HasAbs  = 1,
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 1,
-#ifdef __VSX__
-    HasSqrt = 1,
-#if !EIGEN_COMP_CLANG
-    HasRsqrt = 1,
-#else
-    HasRsqrt = 0,
-#endif
-#else
-    HasSqrt = 0,
-    HasRsqrt = 0,
-#endif
-    HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1,
-    HasNegate = 1,
-    HasBlend = 1
-  };
-};
-template<> struct packet_traits<int>    : default_packet_traits
-{
-  typedef Packet4i type;
-  typedef Packet4i half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 4,
-    HasHalfPacket = 0,
-
-    HasAdd  = 1,
-    HasSub  = 1,
-    HasMul  = 1,
-    HasDiv  = 0,
-    HasBlend = 1
-  };
-};
-
-
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
-
-inline std::ostream & operator <<(std::ostream & s, const Packet16uc & v)
-{
-  union {
-    Packet16uc   v;
-    unsigned char n[16];
-  } vt;
-  vt.v = v;
-  for (int i=0; i< 16; i++)
-    s << (int)vt.n[i] << ", ";
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const Packet4f & v)
-{
-  union {
-    Packet4f   v;
-    float n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const Packet4i & v)
-{
-  union {
-    Packet4i   v;
-    int n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
-{
-  union {
-    Packet4ui   v;
-    unsigned int n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
-}
-
-// Need to define them first or we get specialization after instantiation errors
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from)
-{
-  EIGEN_DEBUG_ALIGNED_LOAD
-#ifdef __VSX__
-  return vec_vsx_ld(0, from);
-#else
-  return vec_ld(0, from);
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
-{
-  EIGEN_DEBUG_ALIGNED_LOAD
-#ifdef __VSX__
-  return vec_vsx_ld(0, from);
-#else
-  return vec_ld(0, from);
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
-{
-  EIGEN_DEBUG_ALIGNED_STORE
-#ifdef __VSX__
-  vec_vsx_st(from, 0, to);
-#else
-  vec_st(from, 0, to);
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from)
-{
-  EIGEN_DEBUG_ALIGNED_STORE
-#ifdef __VSX__
-  vec_vsx_st(from, 0, to);
-#else
-  vec_st(from, 0, to);
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) {
-  Packet4f v = {from, from, from, from};
-  return v;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
-  Packet4i v = {from, from, from, from};
-  return v;
-}
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet4f>(const float *a,
-                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
-{
-  a3 = pload<Packet4f>(a);
-  a0 = vec_splat(a3, 0);
-  a1 = vec_splat(a3, 1);
-  a2 = vec_splat(a3, 2);
-  a3 = vec_splat(a3, 3);
-}
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet4i>(const int *a,
-                      Packet4i& a0, Packet4i& a1, Packet4i& a2, Packet4i& a3)
-{
-  a3 = pload<Packet4i>(a);
-  a0 = vec_splat(a3, 0);
-  a1 = vec_splat(a3, 1);
-  a2 = vec_splat(a3, 2);
-  a3 = vec_splat(a3, 3);
-}
-
-template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
-{
-  float EIGEN_ALIGN16 af[4];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
-  af[2] = from[2*stride];
-  af[3] = from[3*stride];
- return pload<Packet4f>(af);
-}
-template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
-{
-  int EIGEN_ALIGN16 ai[4];
-  ai[0] = from[0*stride];
-  ai[1] = from[1*stride];
-  ai[2] = from[2*stride];
-  ai[3] = from[3*stride];
- return pload<Packet4i>(ai);
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
-{
-  float EIGEN_ALIGN16 af[4];
-  pstore<float>(af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
-  to[2*stride] = af[2];
-  to[3*stride] = af[3];
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
-{
-  int EIGEN_ALIGN16 ai[4];
-  pstore<int>((int *)ai, from);
-  to[0*stride] = ai[0];
-  to[1*stride] = ai[1];
-  to[2*stride] = ai[2];
-  to[3*stride] = ai[3];
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) { return pset1<Packet4f>(a) + p4f_COUNTDOWN; }
-template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)   { return pset1<Packet4i>(a) + p4i_COUNTDOWN; }
-
-template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return a + b; }
-template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return a + b; }
-
-template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return a - b; }
-template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return a - b; }
-
-template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return p4f_ZERO - a; }
-template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return p4i_ZERO - a; }
-
-template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_madd(a,b, p4f_MZERO); }
-template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return a * b; }
-
-template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-#ifndef __VSX__  // VSX actually provides a div instruction
-  Packet4f t, y_0, y_1;
-
-  // Altivec does not offer a divide instruction, we have to do a reciprocal approximation
-  y_0 = vec_re(b);
-
-  // Do one Newton-Raphson iteration to get the needed accuracy
-  t   = vec_nmsub(y_0, b, p4f_ONE);
-  y_1 = vec_madd(y_0, t, y_0);
-
-  return vec_madd(a, y_1, p4f_MZERO);
-#else
-  return vec_div(a, b);
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
-{ eigen_assert(false && "packet integer division are not supported by AltiVec");
-  return pset1<Packet4i>(0);
-}
-
-// for some weird raisons, it has to be overloaded for packet of integers
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vec_madd(a,b,c); }
-template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return a*b + c; }
-
-template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_min(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_max(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_or(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_or(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_xor(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_xor(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, vec_nor(b, b)); }
-template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, vec_nor(b, b)); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return vec_round(a); }
-template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a) { return vec_ceil(a); }
-template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return vec_floor(a); }
-
-#ifdef _BIG_ENDIAN
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
-{
-  EIGEN_DEBUG_ALIGNED_LOAD
-  Packet16uc MSQ, LSQ;
-  Packet16uc mask;
-  MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
-  LSQ = vec_ld(15, (unsigned char *)from);         // least significant quadword
-  mask = vec_lvsl(0, from);                        // create the permute mask
-  return (Packet4f) vec_perm(MSQ, LSQ, mask);           // align the data
-
-}
-template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
-{
-  EIGEN_DEBUG_ALIGNED_LOAD
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  Packet16uc MSQ, LSQ;
-  Packet16uc mask;
-  MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
-  LSQ = vec_ld(15, (unsigned char *)from);         // least significant quadword
-  mask = vec_lvsl(0, from);                        // create the permute mask
-  return (Packet4i) vec_perm(MSQ, LSQ, mask);    // align the data
-}
-#else
-// We also need ot redefine little endian loading of Packet4i/Packet4f using VSX
-template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
-{
-  EIGEN_DEBUG_UNALIGNED_LOAD
-  return (Packet4i) vec_vsx_ld((long)from & 15, (const int*) _EIGEN_ALIGNED_PTR(from));
-}
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
-{
-  EIGEN_DEBUG_UNALIGNED_LOAD
-  return (Packet4f) vec_vsx_ld((long)from & 15, (const float*) _EIGEN_ALIGNED_PTR(from));
-}
-#endif
-
-template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
-{
-  Packet4f p;
-  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet4f>(from);
-  else                                  p = ploadu<Packet4f>(from);
-  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
-}
-template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
-{
-  Packet4i p;
-  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet4i>(from);
-  else                                  p = ploadu<Packet4i>(from);
-  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
-}
-
-#ifdef _BIG_ENDIAN
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from)
-{
-  EIGEN_DEBUG_UNALIGNED_STORE
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  // Warning: not thread safe!
-  Packet16uc MSQ, LSQ, edges;
-  Packet16uc edgeAlign, align;
-
-  MSQ = vec_ld(0, (unsigned char *)to);                     // most significant quadword
-  LSQ = vec_ld(15, (unsigned char *)to);                    // least significant quadword
-  edgeAlign = vec_lvsl(0, to);                              // permute map to extract edges
-  edges=vec_perm(LSQ,MSQ,edgeAlign);                        // extract the edges
-  align = vec_lvsr( 0, to );                                // permute map to misalign data
-  MSQ = vec_perm(edges,(Packet16uc)from,align);             // misalign the data (MSQ)
-  LSQ = vec_perm((Packet16uc)from,edges,align);             // misalign the data (LSQ)
-  vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
-  vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
-}
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from)
-{
-  EIGEN_DEBUG_UNALIGNED_STORE
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  // Warning: not thread safe!
-  Packet16uc MSQ, LSQ, edges;
-  Packet16uc edgeAlign, align;
-
-  MSQ = vec_ld(0, (unsigned char *)to);                     // most significant quadword
-  LSQ = vec_ld(15, (unsigned char *)to);                    // least significant quadword
-  edgeAlign = vec_lvsl(0, to);                              // permute map to extract edges
-  edges=vec_perm(LSQ, MSQ, edgeAlign);                      // extract the edges
-  align = vec_lvsr( 0, to );                                // permute map to misalign data
-  MSQ = vec_perm(edges, (Packet16uc) from, align);          // misalign the data (MSQ)
-  LSQ = vec_perm((Packet16uc) from, edges, align);          // misalign the data (LSQ)
-  vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
-  vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
-}
-#else
-// We also need ot redefine little endian loading of Packet4i/Packet4f using VSX
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet4i& from)
-{
-  EIGEN_DEBUG_ALIGNED_STORE
-  vec_vsx_st(from, (long)to & 15, (int*) _EIGEN_ALIGNED_PTR(to));
-}
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet4f& from)
-{
-  EIGEN_DEBUG_ALIGNED_STORE
-  vec_vsx_st(from, (long)to & 15, (float*) _EIGEN_ALIGNED_PTR(to));
-}
-#endif
-
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr)    { EIGEN_PPC_PREFETCH(addr); }
-template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr)    { EIGEN_PPC_PREFETCH(addr); }
-
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x; vec_ste(a, 0, &x); return x; }
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x; vec_ste(a, 0, &x); return x; }
-
-template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
-{
-  return reinterpret_cast<Packet4f>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32));
-}
-template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
-{
-  return reinterpret_cast<Packet4i>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32)); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vec_abs(a); }
-template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vec_abs(a); }
-
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  Packet4f b, sum;
-  b   = vec_sld(a, a, 8);
-  sum = a + b;
-  b   = vec_sld(sum, sum, 4);
-  sum += b;
-  return pfirst(sum);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
-{
-  Packet4f v[4], sum[4];
-
-  // It's easier and faster to transpose then add as columns
-  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
-  // Do the transpose, first set of moves
-  v[0] = vec_mergeh(vecs[0], vecs[2]);
-  v[1] = vec_mergel(vecs[0], vecs[2]);
-  v[2] = vec_mergeh(vecs[1], vecs[3]);
-  v[3] = vec_mergel(vecs[1], vecs[3]);
-  // Get the resulting vectors
-  sum[0] = vec_mergeh(v[0], v[2]);
-  sum[1] = vec_mergel(v[0], v[2]);
-  sum[2] = vec_mergeh(v[1], v[3]);
-  sum[3] = vec_mergel(v[1], v[3]);
-
-  // Now do the summation:
-  // Lines 0+1
-  sum[0] = sum[0] + sum[1];
-  // Lines 2+3
-  sum[1] = sum[2] + sum[3];
-  // Add the results
-  sum[0] = sum[0] + sum[1];
-
-  return sum[0];
-}
-
-template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
-{
-  Packet4i sum;
-  sum = vec_sums(a, p4i_ZERO);
-#ifdef _BIG_ENDIAN
-  sum = vec_sld(sum, p4i_ZERO, 12);
-#else
-  sum = vec_sld(p4i_ZERO, sum, 4);
-#endif
-  return pfirst(sum);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
-{
-  Packet4i v[4], sum[4];
-
-  // It's easier and faster to transpose then add as columns
-  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
-  // Do the transpose, first set of moves
-  v[0] = vec_mergeh(vecs[0], vecs[2]);
-  v[1] = vec_mergel(vecs[0], vecs[2]);
-  v[2] = vec_mergeh(vecs[1], vecs[3]);
-  v[3] = vec_mergel(vecs[1], vecs[3]);
-  // Get the resulting vectors
-  sum[0] = vec_mergeh(v[0], v[2]);
-  sum[1] = vec_mergel(v[0], v[2]);
-  sum[2] = vec_mergeh(v[1], v[3]);
-  sum[3] = vec_mergel(v[1], v[3]);
-
-  // Now do the summation:
-  // Lines 0+1
-  sum[0] = sum[0] + sum[1];
-  // Lines 2+3
-  sum[1] = sum[2] + sum[3];
-  // Add the results
-  sum[0] = sum[0] + sum[1];
-
-  return sum[0];
-}
-
-// Other reduction functions:
-// mul
-template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
-{
-  Packet4f prod;
-  prod = pmul(a, vec_sld(a, a, 8));
-  return pfirst(pmul(prod, vec_sld(prod, prod, 4)));
-}
-
-template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
-{
-  EIGEN_ALIGN16 int aux[4];
-  pstore(aux, a);
-  return aux[0] * aux[1] * aux[2] * aux[3];
-}
-
-// min
-template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
-{
-  Packet4f b, res;
-  b = vec_min(a, vec_sld(a, a, 8));
-  res = vec_min(b, vec_sld(b, b, 4));
-  return pfirst(res);
-}
-
-template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
-{
-  Packet4i b, res;
-  b = vec_min(a, vec_sld(a, a, 8));
-  res = vec_min(b, vec_sld(b, b, 4));
-  return pfirst(res);
-}
-
-// max
-template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
-{
-  Packet4f b, res;
-  b = vec_max(a, vec_sld(a, a, 8));
-  res = vec_max(b, vec_sld(b, b, 4));
-  return pfirst(res);
-}
-
-template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
-{
-  Packet4i b, res;
-  b = vec_max(a, vec_sld(a, a, 8));
-  res = vec_max(b, vec_sld(b, b, 4));
-  return pfirst(res);
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet4f>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
-  {
-#ifdef _BIG_ENDIAN
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(first, second, 4); break;
-    case 2:
-      first = vec_sld(first, second, 8); break;
-    case 3:
-      first = vec_sld(first, second, 12); break;
-    }
-#else
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(second, first, 12); break;
-    case 2:
-      first = vec_sld(second, first, 8); break;
-    case 3:
-      first = vec_sld(second, first, 4); break;
-    }
-#endif
-  }
-};
-
-template<int Offset>
-struct palign_impl<Offset,Packet4i>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
-  {
-#ifdef _BIG_ENDIAN
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(first, second, 4); break;
-    case 2:
-      first = vec_sld(first, second, 8); break;
-    case 3:
-      first = vec_sld(first, second, 12); break;
-    }
-#else
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(second, first, 12); break;
-    case 2:
-      first = vec_sld(second, first, 8); break;
-    case 3:
-      first = vec_sld(second, first, 4); break;
-    }
-#endif
-  }
-};
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4f,4>& kernel) {
-  Packet4f t0, t1, t2, t3;
-  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
-  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
-  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
-  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
-  kernel.packet[0] = vec_mergeh(t0, t2);
-  kernel.packet[1] = vec_mergel(t0, t2);
-  kernel.packet[2] = vec_mergeh(t1, t3);
-  kernel.packet[3] = vec_mergel(t1, t3);
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4i,4>& kernel) {
-  Packet4i t0, t1, t2, t3;
-  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
-  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
-  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
-  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
-  kernel.packet[0] = vec_mergeh(t0, t2);
-  kernel.packet[1] = vec_mergel(t0, t2);
-  kernel.packet[2] = vec_mergeh(t1, t3);
-  kernel.packet[3] = vec_mergel(t1, t3);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
-  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
-  Packet4ui mask = reinterpret_cast<Packet4ui>(vec_cmpeq(reinterpret_cast<Packet4ui>(select), reinterpret_cast<Packet4ui>(p4i_ONE)));
-  return vec_sel(elsePacket, thenPacket, mask);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
-  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
-  Packet4ui mask = reinterpret_cast<Packet4ui>(vec_cmpeq(reinterpret_cast<Packet4ui>(select), reinterpret_cast<Packet4ui>(p4i_ONE)));
-  return vec_sel(elsePacket, thenPacket, mask);
-}
-
-
-//---------- double ----------
-#ifdef __VSX__
-typedef __vector double              Packet2d;
-typedef __vector unsigned long long  Packet2ul;
-typedef __vector long long           Packet2l;
-#if EIGEN_COMP_CLANG
-typedef Packet2ul                    Packet2bl;
-#else
-typedef __vector __bool long         Packet2bl;
-#endif
-
-static Packet2l  p2l_ONE  = { 1, 1 };
-static Packet2l  p2l_ZERO = reinterpret_cast<Packet2l>(p4i_ZERO);
-static Packet2d  p2d_ONE  = { 1.0, 1.0 }; 
-static Packet2d  p2d_ZERO = reinterpret_cast<Packet2d>(p4f_ZERO);
-static Packet2d  p2d_MZERO = { -0.0, -0.0 };
-
-#ifdef _BIG_ENDIAN
-static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(p2d_ZERO), reinterpret_cast<Packet4f>(p2d_ONE), 8));
-#else
-static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(p2d_ONE), reinterpret_cast<Packet4f>(p2d_ZERO), 8));
-#endif
-
-template<int index> Packet2d vec_splat_dbl(Packet2d& a);
-
-template<> EIGEN_STRONG_INLINE Packet2d vec_splat_dbl<0>(Packet2d& a)
-{
-  return reinterpret_cast<Packet2d>(vec_perm(a, a, p16uc_PSET64_HI));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d vec_splat_dbl<1>(Packet2d& a)
-{
-  return reinterpret_cast<Packet2d>(vec_perm(a, a, p16uc_PSET64_LO));
-}
-
-template<> struct packet_traits<double> : default_packet_traits
-{
-  typedef Packet2d type;
-  typedef Packet2d half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=2,
-    HasHalfPacket = 1,
-
-    HasAdd  = 1,
-    HasSub  = 1,
-    HasMul  = 1,
-    HasDiv  = 1,
-    HasMin  = 1,
-    HasMax  = 1,
-    HasAbs  = 1,
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1,
-    HasNegate = 1,
-    HasBlend = 1
-  };
-};
-
-template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
-
-inline std::ostream & operator <<(std::ostream & s, const Packet2l & v)
-{
-  union {
-    Packet2l   v;
-    int64_t n[2];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const Packet2d & v)
-{
-  union {
-    Packet2d   v;
-    double n[2];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1];
-  return s;
-}
-
-// Need to define them first or we get specialization after instantiation errors
-template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
-{
-  EIGEN_DEBUG_ALIGNED_LOAD
-#ifdef __VSX__
-  return vec_vsx_ld(0, from);
-#else
-  return vec_ld(0, from);
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from)
-{
-  EIGEN_DEBUG_ALIGNED_STORE
-#ifdef __VSX__
-  vec_vsx_st(from, 0, to);
-#else
-  vec_st(from, 0, to);
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) {
-  Packet2d v = {from, from};
-  return v;
-}
-
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet2d>(const double *a,
-                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
-{
-  a1 = pload<Packet2d>(a);
-  a0 = vec_splat_dbl<0>(a1);
-  a1 = vec_splat_dbl<1>(a1);
-  a3 = pload<Packet2d>(a+2);
-  a2 = vec_splat_dbl<0>(a3);
-  a3 = vec_splat_dbl<1>(a3);
-}
-
-template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
-{
-  double EIGEN_ALIGN16 af[2];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
- return pload<Packet2d>(af);
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
-{
-  double EIGEN_ALIGN16 af[2];
-  pstore<double>(af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return pset1<Packet2d>(a) + p2d_COUNTDOWN; }
-
-template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return a + b; }
-
-template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return a - b; }
-
-template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return p2d_ZERO - a; }
-
-template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_madd(a,b,p2d_MZERO); }
-template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_div(a,b); }
-
-// for some weird raisons, it has to be overloaded for packet of integers
-template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vec_madd(a, b, c); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_min(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_max(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_or(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_xor(a, b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, vec_nor(b, b)); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return vec_round(a); }
-template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const  Packet2d& a) { return vec_ceil(a); }
-template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return vec_floor(a); }
-
-template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
-{
-  EIGEN_DEBUG_ALIGNED_LOAD
-  return (Packet2d) vec_vsx_ld((long)from & 15, (const double*) _EIGEN_ALIGNED_PTR(from));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
-{
-  Packet2d p;
-  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet2d>(from);
-  else                                  p = ploadu<Packet2d>(from);
-  return vec_splat_dbl<0>(p);
-}
-
-template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from)
-{
-  EIGEN_DEBUG_ALIGNED_STORE
-  vec_vsx_st((Packet4f)from, (long)to & 15, (float*) _EIGEN_ALIGNED_PTR(to));
-}
-
-template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_PPC_PREFETCH(addr); }
-
-template<> EIGEN_STRONG_INLINE double  pfirst<Packet2d>(const Packet2d& a) { double EIGEN_ALIGN16 x[2]; pstore<double>(x, a); return x[0]; }
-
-template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
-{
-  return reinterpret_cast<Packet2d>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE64));
-}
-template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vec_abs(a); }
-
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
-{
-  Packet2d b, sum;
-  b   = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(a), reinterpret_cast<Packet4f>(a), 8));
-  sum = a + b;
-  return pfirst<Packet2d>(sum);
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
-{
-  Packet2d v[2], sum;
-  v[0] = vecs[0] + reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(vecs[0]), reinterpret_cast<Packet4f>(vecs[0]), 8));
-  v[1] = vecs[1] + reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(vecs[1]), reinterpret_cast<Packet4f>(vecs[1]), 8));
- 
-#ifdef _BIG_ENDIAN
-  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(v[0]), reinterpret_cast<Packet4f>(v[1]), 8));
-#else
-  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(v[1]), reinterpret_cast<Packet4f>(v[0]), 8));
-#endif
-
-  return sum;
-}
-// Other reduction functions:
-// mul
-template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
-{
-  return pfirst(pmul(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
-}
-
-// min
-template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
-{
-  return pfirst(pmin(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
-}
-
-// max
-template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
-{
-  return pfirst(pmax(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet2d>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
-  {
-    if (Offset == 1)
-#ifdef _BIG_ENDIAN
-      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(first), reinterpret_cast<Packet4ui>(second), 8));
-#else
-      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(second), reinterpret_cast<Packet4ui>(first), 8));
-#endif
-  }
-};
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2d,2>& kernel) {
-  Packet2d t0, t1;
-  t0 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_HI);
-  t1 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_LO);
-  kernel.packet[0] = t0;
-  kernel.packet[1] = t1;
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
-  Packet2l select = { ifPacket.select[0], ifPacket.select[1] };
-  Packet2bl mask = vec_cmpeq(reinterpret_cast<Packet2d>(select), reinterpret_cast<Packet2d>(p2l_ONE));
-  return vec_sel(elsePacket, thenPacket, mask);
-}
-#endif // __VSX__
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PACKET_MATH_ALTIVEC_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/Complex.h b/phonelibs/eigen/Eigen/src/Core/arch/CUDA/Complex.h
deleted file mode 100644
index 9c25365090bb88..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/Complex.h
+++ /dev/null
@@ -1,103 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLEX_CUDA_H
-#define EIGEN_COMPLEX_CUDA_H
-
-// clang-format off
-
-namespace Eigen {
-
-namespace internal {
-
-#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
-
-// Many std::complex methods such as operator+, operator-, operator* and
-// operator/ are not constexpr. Due to this, clang does not treat them as device
-// functions and thus Eigen functors making use of these operators fail to
-// compile. Here, we manually specialize these functors for complex types when
-// building for CUDA to avoid non-constexpr methods.
-
-// Sum
-template<typename T> struct scalar_sum_op<const std::complex<T>, const std::complex<T> > : binary_op_base<const std::complex<T>, const std::complex<T> > {
-  typedef typename std::complex<T> result_type;
-
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
-    return std::complex<T>(numext::real(a) + numext::real(b),
-                           numext::imag(a) + numext::imag(b));
-  }
-};
-
-template<typename T> struct scalar_sum_op<std::complex<T>, std::complex<T> > : scalar_sum_op<const std::complex<T>, const std::complex<T> > {};
-
-
-// Difference
-template<typename T> struct scalar_difference_op<const std::complex<T>, const std::complex<T> >  : binary_op_base<const std::complex<T>, const std::complex<T> > {
-  typedef typename std::complex<T> result_type;
-
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
-    return std::complex<T>(numext::real(a) - numext::real(b),
-                           numext::imag(a) - numext::imag(b));
-  }
-};
-
-template<typename T> struct scalar_difference_op<std::complex<T>, std::complex<T> > : scalar_difference_op<const std::complex<T>, const std::complex<T> > {};
-
-
-// Product
-template<typename T> struct scalar_product_op<const std::complex<T>, const std::complex<T> >  : binary_op_base<const std::complex<T>, const std::complex<T> > {
-  enum {
-    Vectorizable = packet_traits<std::complex<T>>::HasMul
-  };
-  typedef typename std::complex<T> result_type;
-
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
-    const T a_real = numext::real(a);
-    const T a_imag = numext::imag(a);
-    const T b_real = numext::real(b);
-    const T b_imag = numext::imag(b);
-    return std::complex<T>(a_real * b_real - a_imag * b_imag,
-                           a_real * b_imag + a_imag * b_real);
-  }
-};
-
-template<typename T> struct scalar_product_op<std::complex<T>, std::complex<T> > : scalar_product_op<const std::complex<T>, const std::complex<T> > {};
-
-
-// Quotient
-template<typename T> struct scalar_quotient_op<const std::complex<T>, const std::complex<T> > : binary_op_base<const std::complex<T>, const std::complex<T> > {
-  enum {
-    Vectorizable = packet_traits<std::complex<T>>::HasDiv
-  };
-  typedef typename std::complex<T> result_type;
-
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
-    const T a_real = numext::real(a);
-    const T a_imag = numext::imag(a);
-    const T b_real = numext::real(b);
-    const T b_imag = numext::imag(b);
-    const T norm = T(1) / (b_real * b_real + b_imag * b_imag);
-    return std::complex<T>((a_real * b_real + a_imag * b_imag) * norm,
-                           (a_imag * b_real - a_real * b_imag) * norm);
-  }
-};
-
-template<typename T> struct scalar_quotient_op<std::complex<T>, std::complex<T> > : scalar_quotient_op<const std::complex<T>, const std::complex<T> > {};
-
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX_CUDA_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/Half.h b/phonelibs/eigen/Eigen/src/Core/arch/CUDA/Half.h
deleted file mode 100644
index 52892db385a452..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/Half.h
+++ /dev/null
@@ -1,585 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-//
-// The conversion routines are Copyright (c) Fabian Giesen, 2016.
-// The original license follows:
-//
-// Copyright (c) Fabian Giesen, 2016
-// All rights reserved.
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted.
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-// “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-
-// Standard 16-bit float type, mostly useful for GPUs. Defines a new
-// type Eigen::half (inheriting from CUDA's __half struct) with
-// operator overloads such that it behaves basically as an arithmetic
-// type. It will be quite slow on CPUs (so it is recommended to stay
-// in fp32 for CPUs, except for simple parameter conversions, I/O
-// to disk and the likes), but fast on GPUs.
-
-
-#ifndef EIGEN_HALF_CUDA_H
-#define EIGEN_HALF_CUDA_H
-
-#if __cplusplus > 199711L
-#define EIGEN_EXPLICIT_CAST(tgt_type) explicit operator tgt_type()
-#else
-#define EIGEN_EXPLICIT_CAST(tgt_type) operator tgt_type()
-#endif
-
-
-namespace Eigen {
-
-struct half;
-
-namespace half_impl {
-
-#if !defined(EIGEN_HAS_CUDA_FP16)
-
-// Make our own __half definition that is similar to CUDA's.
-struct __half {
-  EIGEN_DEVICE_FUNC __half() {}
-  explicit EIGEN_DEVICE_FUNC __half(unsigned short raw) : x(raw) {}
-  unsigned short x;
-};
-
-#endif
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half raw_uint16_to_half(unsigned short x);
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half float_to_half_rtne(float ff);
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half h);
-
-struct half_base : public __half {
-  EIGEN_DEVICE_FUNC half_base() {}
-  EIGEN_DEVICE_FUNC half_base(const half_base& h) : __half(h) {}
-  EIGEN_DEVICE_FUNC half_base(const __half& h) : __half(h) {}
-};
-
-} // namespace half_impl
-
-// Class definition.
-struct half : public half_impl::half_base {
-  #if !defined(EIGEN_HAS_CUDA_FP16)
-    typedef half_impl::__half __half;
-  #endif
-
-  EIGEN_DEVICE_FUNC half() {}
-
-  EIGEN_DEVICE_FUNC half(const __half& h) : half_impl::half_base(h) {}
-  EIGEN_DEVICE_FUNC half(const half& h) : half_impl::half_base(h) {}
-
-  explicit EIGEN_DEVICE_FUNC half(bool b)
-      : half_impl::half_base(half_impl::raw_uint16_to_half(b ? 0x3c00 : 0)) {}
-  template<class T>
-  explicit EIGEN_DEVICE_FUNC half(const T& val)
-      : half_impl::half_base(half_impl::float_to_half_rtne(static_cast<float>(val))) {}
-  explicit EIGEN_DEVICE_FUNC half(float f)
-      : half_impl::half_base(half_impl::float_to_half_rtne(f)) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(bool) const {
-    // +0.0 and -0.0 become false, everything else becomes true.
-    return (x & 0x7fff) != 0;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(signed char) const {
-    return static_cast<signed char>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned char) const {
-    return static_cast<unsigned char>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(short) const {
-    return static_cast<short>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned short) const {
-    return static_cast<unsigned short>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(int) const {
-    return static_cast<int>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned int) const {
-    return static_cast<unsigned int>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(long) const {
-    return static_cast<long>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned long) const {
-    return static_cast<unsigned long>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(long long) const {
-    return static_cast<long long>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned long long) const {
-    return static_cast<unsigned long long>(half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(float) const {
-    return half_impl::half_to_float(*this);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(double) const {
-    return static_cast<double>(half_impl::half_to_float(*this));
-  }
-
-  EIGEN_DEVICE_FUNC half& operator=(const half& other) {
-    x = other.x;
-    return *this;
-  }
-};
-
-namespace half_impl {
-
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
-
-// Intrinsics for native fp16 support. Note that on current hardware,
-// these are no faster than fp32 arithmetic (you need to use the half2
-// versions to get the ALU speed increased), but you do save the
-// conversion steps back and forth.
-
-__device__ half operator + (const half& a, const half& b) {
-  return __hadd(a, b);
-}
-__device__ half operator * (const half& a, const half& b) {
-  return __hmul(a, b);
-}
-__device__ half operator - (const half& a, const half& b) {
-  return __hsub(a, b);
-}
-__device__ half operator / (const half& a, const half& b) {
-  float num = __half2float(a);
-  float denom = __half2float(b);
-  return __float2half(num / denom);
-}
-__device__ half operator - (const half& a) {
-  return __hneg(a);
-}
-__device__ half& operator += (half& a, const half& b) {
-  a = a + b;
-  return a;
-}
-__device__ half& operator *= (half& a, const half& b) {
-  a = a * b;
-  return a;
-}
-__device__ half& operator -= (half& a, const half& b) {
-  a = a - b;
-  return a;
-}
-__device__ half& operator /= (half& a, const half& b) {
-  a = a / b;
-  return a;
-}
-__device__ bool operator == (const half& a, const half& b) {
-  return __heq(a, b);
-}
-__device__ bool operator != (const half& a, const half& b) {
-  return __hne(a, b);
-}
-__device__ bool operator < (const half& a, const half& b) {
-  return __hlt(a, b);
-}
-__device__ bool operator <= (const half& a, const half& b) {
-  return __hle(a, b);
-}
-__device__ bool operator > (const half& a, const half& b) {
-  return __hgt(a, b);
-}
-__device__ bool operator >= (const half& a, const half& b) {
-  return __hge(a, b);
-}
-
-#else  // Emulate support for half floats
-
-// Definitions for CPUs and older CUDA, mostly working through conversion
-// to/from fp32.
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator + (const half& a, const half& b) {
-  return half(float(a) + float(b));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator * (const half& a, const half& b) {
-  return half(float(a) * float(b));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a, const half& b) {
-  return half(float(a) - float(b));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, const half& b) {
-  return half(float(a) / float(b));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a) {
-  half result;
-  result.x = a.x ^ 0x8000;
-  return result;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator += (half& a, const half& b) {
-  a = half(float(a) + float(b));
-  return a;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator *= (half& a, const half& b) {
-  a = half(float(a) * float(b));
-  return a;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator -= (half& a, const half& b) {
-  a = half(float(a) - float(b));
-  return a;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator /= (half& a, const half& b) {
-  a = half(float(a) / float(b));
-  return a;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator == (const half& a, const half& b) {
-  return float(a) == float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator != (const half& a, const half& b) {
-  return float(a) != float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator < (const half& a, const half& b) {
-  return float(a) < float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator <= (const half& a, const half& b) {
-  return float(a) <= float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator > (const half& a, const half& b) {
-  return float(a) > float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator >= (const half& a, const half& b) {
-  return float(a) >= float(b);
-}
-
-#endif  // Emulate support for half floats
-
-// Division by an index. Do it in full float precision to avoid accuracy
-// issues in converting the denominator to half.
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, Index b) {
-  return half(static_cast<float>(a) / static_cast<float>(b));
-}
-
-// Conversion routines, including fallbacks for the host or older CUDA.
-// Note that newer Intel CPUs (Haswell or newer) have vectorized versions of
-// these in hardware. If we need more performance on older/other CPUs, they are
-// also possible to vectorize directly.
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half raw_uint16_to_half(unsigned short x) {
-  __half h;
-  h.x = x;
-  return h;
-}
-
-union FP32 {
-  unsigned int u;
-  float f;
-};
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half float_to_half_rtne(float ff) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
-  return __float2half(ff);
-
-#elif defined(EIGEN_HAS_FP16_C)
-  __half h;
-  h.x = _cvtss_sh(ff, 0);
-  return h;
-
-#else
-  FP32 f; f.f = ff;
-
-  const FP32 f32infty = { 255 << 23 };
-  const FP32 f16max = { (127 + 16) << 23 };
-  const FP32 denorm_magic = { ((127 - 15) + (23 - 10) + 1) << 23 };
-  unsigned int sign_mask = 0x80000000u;
-  __half o;
-  o.x = static_cast<unsigned short>(0x0u);
-
-  unsigned int sign = f.u & sign_mask;
-  f.u ^= sign;
-
-  // NOTE all the integer compares in this function can be safely
-  // compiled into signed compares since all operands are below
-  // 0x80000000. Important if you want fast straight SSE2 code
-  // (since there's no unsigned PCMPGTD).
-
-  if (f.u >= f16max.u) {  // result is Inf or NaN (all exponent bits set)
-    o.x = (f.u > f32infty.u) ? 0x7e00 : 0x7c00; // NaN->qNaN and Inf->Inf
-  } else {  // (De)normalized number or zero
-    if (f.u < (113 << 23)) {  // resulting FP16 is subnormal or zero
-      // use a magic value to align our 10 mantissa bits at the bottom of
-      // the float. as long as FP addition is round-to-nearest-even this
-      // just works.
-      f.f += denorm_magic.f;
-
-      // and one integer subtract of the bias later, we have our final float!
-      o.x = static_cast<unsigned short>(f.u - denorm_magic.u);
-    } else {
-      unsigned int mant_odd = (f.u >> 13) & 1; // resulting mantissa is odd
-
-      // update exponent, rounding bias part 1
-      f.u += ((unsigned int)(15 - 127) << 23) + 0xfff;
-      // rounding bias part 2
-      f.u += mant_odd;
-      // take the bits!
-      o.x = static_cast<unsigned short>(f.u >> 13);
-    }
-  }
-
-  o.x |= static_cast<unsigned short>(sign >> 16);
-  return o;
-#endif
-}
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half h) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
-  return __half2float(h);
-
-#elif defined(EIGEN_HAS_FP16_C)
-  return _cvtsh_ss(h.x);
-
-#else
-  const FP32 magic = { 113 << 23 };
-  const unsigned int shifted_exp = 0x7c00 << 13; // exponent mask after shift
-  FP32 o;
-
-  o.u = (h.x & 0x7fff) << 13;             // exponent/mantissa bits
-  unsigned int exp = shifted_exp & o.u;   // just the exponent
-  o.u += (127 - 15) << 23;                // exponent adjust
-
-  // handle exponent special cases
-  if (exp == shifted_exp) {     // Inf/NaN?
-    o.u += (128 - 16) << 23;    // extra exp adjust
-  } else if (exp == 0) {        // Zero/Denormal?
-    o.u += 1 << 23;             // extra exp adjust
-    o.f -= magic.f;             // renormalize
-  }
-
-  o.u |= (h.x & 0x8000) << 16;    // sign bit
-  return o.f;
-#endif
-}
-
-// --- standard functions ---
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isinf)(const half& a) {
-  return (a.x & 0x7fff) == 0x7c00;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isnan)(const half& a) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
-  return __hisnan(a);
-#else
-  return (a.x & 0x7fff) > 0x7c00;
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isfinite)(const half& a) {
-  return !(isinf EIGEN_NOT_A_MACRO (a)) && !(isnan EIGEN_NOT_A_MACRO (a));
-}
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half abs(const half& a) {
-  half result;
-  result.x = a.x & 0x7FFF;
-  return result;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half exp(const half& a) {
-  return half(::expf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log(const half& a) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
-  return Eigen::half(::hlog(a));
-#else
-  return half(::logf(float(a)));
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log1p(const half& a) {
-  return half(numext::log1p(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log10(const half& a) {
-  return half(::log10f(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sqrt(const half& a) {
-  return half(::sqrtf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half pow(const half& a, const half& b) {
-  return half(::powf(float(a), float(b)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sin(const half& a) {
-  return half(::sinf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half cos(const half& a) {
-  return half(::cosf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tan(const half& a) {
-  return half(::tanf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tanh(const half& a) {
-  return half(::tanhf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half floor(const half& a) {
-  return half(::floorf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half ceil(const half& a) {
-  return half(::ceilf(float(a)));
-}
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (min)(const half& a, const half& b) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
-  return __hlt(b, a) ? b : a;
-#else
-  const float f1 = static_cast<float>(a);
-  const float f2 = static_cast<float>(b);
-  return f2 < f1 ? b : a;
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (max)(const half& a, const half& b) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
-  return __hlt(a, b) ? b : a;
-#else
-  const float f1 = static_cast<float>(a);
-  const float f2 = static_cast<float>(b);
-  return f1 < f2 ? b : a;
-#endif
-}
-
-EIGEN_ALWAYS_INLINE std::ostream& operator << (std::ostream& os, const half& v) {
-  os << static_cast<float>(v);
-  return os;
-}
-
-} // end namespace half_impl
-
-// import Eigen::half_impl::half into Eigen namespace
-// using half_impl::half;
-
-namespace internal {
-
-template<>
-struct random_default_impl<half, false, false>
-{
-  static inline half run(const half& x, const half& y)
-  {
-    return x + (y-x) * half(float(std::rand()) / float(RAND_MAX));
-  }
-  static inline half run()
-  {
-    return run(half(-1.f), half(1.f));
-  }
-};
-
-template<> struct is_arithmetic<half> { enum { value = true }; };
-
-} // end namespace internal
-
-template<> struct NumTraits<Eigen::half>
-    : GenericNumTraits<Eigen::half>
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half epsilon() {
-    return half_impl::raw_uint16_to_half(0x0800);
-  }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half dummy_precision() { return Eigen::half(1e-2f); }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half highest() {
-    return half_impl::raw_uint16_to_half(0x7bff);
-  }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half lowest() {
-    return half_impl::raw_uint16_to_half(0xfbff);
-  }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half infinity() {
-    return half_impl::raw_uint16_to_half(0x7c00);
-  }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half quiet_NaN() {
-    return half_impl::raw_uint16_to_half(0x7c01);
-  }
-};
-
-} // end namespace Eigen
-
-// C-like standard mathematical functions and trancendentals.
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half fabsh(const Eigen::half& a) {
-  Eigen::half result;
-  result.x = a.x & 0x7FFF;
-  return result;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half exph(const Eigen::half& a) {
-  return Eigen::half(::expf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half logh(const Eigen::half& a) {
-#if defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
-  return Eigen::half(::hlog(a));
-#else
-  return Eigen::half(::logf(float(a)));
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half sqrth(const Eigen::half& a) {
-  return Eigen::half(::sqrtf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half powh(const Eigen::half& a, const Eigen::half& b) {
-  return Eigen::half(::powf(float(a), float(b)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half floorh(const Eigen::half& a) {
-  return Eigen::half(::floorf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half ceilh(const Eigen::half& a) {
-  return Eigen::half(::ceilf(float(a)));
-}
-
-namespace std {
-
-#if __cplusplus > 199711L
-template <>
-struct hash<Eigen::half> {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t operator()(const Eigen::half& a) const {
-    return static_cast<std::size_t>(a.x);
-  }
-};
-#endif
-
-} // end namespace std
-
-
-// Add the missing shfl_xor intrinsic
-#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
-__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_xor(Eigen::half var, int laneMask, int width=warpSize) {
-  return static_cast<Eigen::half>(__shfl_xor(static_cast<float>(var), laneMask, width));
-}
-#endif
-
-// ldg() has an overload for __half, but we also need one for Eigen::half.
-#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half __ldg(const Eigen::half* ptr) {
-  return Eigen::half_impl::raw_uint16_to_half(
-      __ldg(reinterpret_cast<const unsigned short*>(ptr)));
-}
-#endif
-
-
-#if defined(__CUDA_ARCH__)
-namespace Eigen {
-namespace numext {
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool (isnan)(const Eigen::half& h) {
-  return (half_impl::isnan)(h);
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool (isinf)(const Eigen::half& h) {
-  return (half_impl::isinf)(h);
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool (isfinite)(const Eigen::half& h) {
-  return (half_impl::isfinite)(h);
-}
-
-} // namespace Eigen
-}  // namespace numext
-#endif
-
-#endif // EIGEN_HALF_CUDA_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/MathFunctions.h b/phonelibs/eigen/Eigen/src/Core/arch/CUDA/MathFunctions.h
deleted file mode 100644
index 0348b41db05b7d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/MathFunctions.h
+++ /dev/null
@@ -1,91 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATH_FUNCTIONS_CUDA_H
-#define EIGEN_MATH_FUNCTIONS_CUDA_H
-
-namespace Eigen {
-
-namespace internal {
-
-// Make sure this is only available when targeting a GPU: we don't want to
-// introduce conflicts between these packet_traits definitions and the ones
-// we'll use on the host side (SSE, AVX, ...)
-#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 plog<float4>(const float4& a)
-{
-  return make_float4(logf(a.x), logf(a.y), logf(a.z), logf(a.w));
-}
-
-template<>  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 plog<double2>(const double2& a)
-{
-  using ::log;
-  return make_double2(log(a.x), log(a.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 plog1p<float4>(const float4& a)
-{
-  return make_float4(log1pf(a.x), log1pf(a.y), log1pf(a.z), log1pf(a.w));
-}
-
-template<>  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 plog1p<double2>(const double2& a)
-{
-  return make_double2(log1p(a.x), log1p(a.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 pexp<float4>(const float4& a)
-{
-  return make_float4(expf(a.x), expf(a.y), expf(a.z), expf(a.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 pexp<double2>(const double2& a)
-{
-  using ::exp;
-  return make_double2(exp(a.x), exp(a.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 psqrt<float4>(const float4& a)
-{
-  return make_float4(sqrtf(a.x), sqrtf(a.y), sqrtf(a.z), sqrtf(a.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 psqrt<double2>(const double2& a)
-{
-  using ::sqrt;
-  return make_double2(sqrt(a.x), sqrt(a.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 prsqrt<float4>(const float4& a)
-{
-  return make_float4(rsqrtf(a.x), rsqrtf(a.y), rsqrtf(a.z), rsqrtf(a.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 prsqrt<double2>(const double2& a)
-{
-  return make_double2(rsqrt(a.x), rsqrt(a.y));
-}
-
-
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATH_FUNCTIONS_CUDA_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/PacketMath.h b/phonelibs/eigen/Eigen/src/Core/arch/CUDA/PacketMath.h
deleted file mode 100644
index ad66399e0e2aa1..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/PacketMath.h
+++ /dev/null
@@ -1,333 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_CUDA_H
-#define EIGEN_PACKET_MATH_CUDA_H
-
-namespace Eigen {
-
-namespace internal {
-
-// Make sure this is only available when targeting a GPU: we don't want to
-// introduce conflicts between these packet_traits definitions and the ones
-// we'll use on the host side (SSE, AVX, ...)
-#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
-template<> struct is_arithmetic<float4>  { enum { value = true }; };
-template<> struct is_arithmetic<double2> { enum { value = true }; };
-
-template<> struct packet_traits<float> : default_packet_traits
-{
-  typedef float4 type;
-  typedef float4 half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-    HasHalfPacket = 0,
-
-    HasDiv  = 1,
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 1,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasLGamma = 1,
-    HasDiGamma = 1,
-    HasZeta = 1,
-    HasPolygamma = 1,
-    HasErf = 1,
-    HasErfc = 1,
-    HasIGamma = 1,
-    HasIGammac = 1,
-    HasBetaInc = 1,
-
-    HasBlend = 0,
-  };
-};
-
-template<> struct packet_traits<double> : default_packet_traits
-{
-  typedef double2 type;
-  typedef double2 half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=2,
-    HasHalfPacket = 0,
-
-    HasDiv  = 1,
-    HasLog  = 1,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasLGamma = 1,
-    HasDiGamma = 1,
-    HasZeta = 1,
-    HasPolygamma = 1,
-    HasErf = 1,
-    HasErfc = 1,
-    HasIGamma = 1,
-    HasIGammac = 1,
-    HasBetaInc = 1,
-
-    HasBlend = 0,
-  };
-};
-
-
-template<> struct unpacket_traits<float4>  { typedef float  type; enum {size=4, alignment=Aligned16}; typedef float4 half; };
-template<> struct unpacket_traits<double2> { typedef double type; enum {size=2, alignment=Aligned16}; typedef double2 half; };
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pset1<float4>(const float&  from) {
-  return make_float4(from, from, from, from);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pset1<double2>(const double& from) {
-  return make_double2(from, from);
-}
-
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 plset<float4>(const float& a) {
-  return make_float4(a, a+1, a+2, a+3);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 plset<double2>(const double& a) {
-  return make_double2(a, a+1);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 padd<float4>(const float4& a, const float4& b) {
-  return make_float4(a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 padd<double2>(const double2& a, const double2& b) {
-  return make_double2(a.x+b.x, a.y+b.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 psub<float4>(const float4& a, const float4& b) {
-  return make_float4(a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 psub<double2>(const double2& a, const double2& b) {
-  return make_double2(a.x-b.x, a.y-b.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pnegate(const float4& a) {
-  return make_float4(-a.x, -a.y, -a.z, -a.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pnegate(const double2& a) {
-  return make_double2(-a.x, -a.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pconj(const float4& a) { return a; }
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pconj(const double2& a) { return a; }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmul<float4>(const float4& a, const float4& b) {
-  return make_float4(a.x*b.x, a.y*b.y, a.z*b.z, a.w*b.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmul<double2>(const double2& a, const double2& b) {
-  return make_double2(a.x*b.x, a.y*b.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pdiv<float4>(const float4& a, const float4& b) {
-  return make_float4(a.x/b.x, a.y/b.y, a.z/b.z, a.w/b.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pdiv<double2>(const double2& a, const double2& b) {
-  return make_double2(a.x/b.x, a.y/b.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmin<float4>(const float4& a, const float4& b) {
-  return make_float4(fminf(a.x, b.x), fminf(a.y, b.y), fminf(a.z, b.z), fminf(a.w, b.w));
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmin<double2>(const double2& a, const double2& b) {
-  return make_double2(fmin(a.x, b.x), fmin(a.y, b.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmax<float4>(const float4& a, const float4& b) {
-  return make_float4(fmaxf(a.x, b.x), fmaxf(a.y, b.y), fmaxf(a.z, b.z), fmaxf(a.w, b.w));
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmax<double2>(const double2& a, const double2& b) {
-  return make_double2(fmax(a.x, b.x), fmax(a.y, b.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pload<float4>(const float* from) {
-  return *reinterpret_cast<const float4*>(from);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pload<double2>(const double* from) {
-  return *reinterpret_cast<const double2*>(from);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 ploadu<float4>(const float* from) {
-  return make_float4(from[0], from[1], from[2], from[3]);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 ploadu<double2>(const double* from) {
-  return make_double2(from[0], from[1]);
-}
-
-template<> EIGEN_STRONG_INLINE float4 ploaddup<float4>(const float*   from) {
-  return make_float4(from[0], from[0], from[1], from[1]);
-}
-template<> EIGEN_STRONG_INLINE double2 ploaddup<double2>(const double*  from) {
-  return make_double2(from[0], from[0]);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<float>(float*   to, const float4& from) {
-  *reinterpret_cast<float4*>(to) = from;
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<double>(double* to, const double2& from) {
-  *reinterpret_cast<double2*>(to) = from;
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const float4& from) {
-  to[0] = from.x;
-  to[1] = from.y;
-  to[2] = from.z;
-  to[3] = from.w;
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const double2& from) {
-  to[0] = from.x;
-  to[1] = from.y;
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Aligned>(const float* from) {
-#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
-  return __ldg((const float4*)from);
-#else
-  return make_float4(from[0], from[1], from[2], from[3]);
-#endif
-}
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Aligned>(const double* from) {
-#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
-  return __ldg((const double2*)from);
-#else
-  return make_double2(from[0], from[1]);
-#endif
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Unaligned>(const float* from) {
-#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
-  return make_float4(__ldg(from+0), __ldg(from+1), __ldg(from+2), __ldg(from+3));
-#else
-  return make_float4(from[0], from[1], from[2], from[3]);
-#endif
-}
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Unaligned>(const double* from) {
-#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
-  return make_double2(__ldg(from+0), __ldg(from+1));
-#else
-  return make_double2(from[0], from[1]);
-#endif
-}
-
-template<> EIGEN_DEVICE_FUNC inline float4 pgather<float, float4>(const float* from, Index stride) {
-  return make_float4(from[0*stride], from[1*stride], from[2*stride], from[3*stride]);
-}
-
-template<> EIGEN_DEVICE_FUNC inline double2 pgather<double, double2>(const double* from, Index stride) {
-  return make_double2(from[0*stride], from[1*stride]);
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, float4>(float* to, const float4& from, Index stride) {
-  to[stride*0] = from.x;
-  to[stride*1] = from.y;
-  to[stride*2] = from.z;
-  to[stride*3] = from.w;
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<double, double2>(double* to, const double2& from, Index stride) {
-  to[stride*0] = from.x;
-  to[stride*1] = from.y;
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  pfirst<float4>(const float4& a) {
-  return a.x;
-}
-template<> EIGEN_DEVICE_FUNC inline double pfirst<double2>(const double2& a) {
-  return a.x;
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  predux<float4>(const float4& a) {
-  return a.x + a.y + a.z + a.w;
-}
-template<> EIGEN_DEVICE_FUNC inline double predux<double2>(const double2& a) {
-  return a.x + a.y;
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  predux_max<float4>(const float4& a) {
-  return fmaxf(fmaxf(a.x, a.y), fmaxf(a.z, a.w));
-}
-template<> EIGEN_DEVICE_FUNC inline double predux_max<double2>(const double2& a) {
-  return fmax(a.x, a.y);
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  predux_min<float4>(const float4& a) {
-  return fminf(fminf(a.x, a.y), fminf(a.z, a.w));
-}
-template<> EIGEN_DEVICE_FUNC inline double predux_min<double2>(const double2& a) {
-  return fmin(a.x, a.y);
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  predux_mul<float4>(const float4& a) {
-  return a.x * a.y * a.z * a.w;
-}
-template<> EIGEN_DEVICE_FUNC inline double predux_mul<double2>(const double2& a) {
-  return a.x * a.y;
-}
-
-template<> EIGEN_DEVICE_FUNC inline float4  pabs<float4>(const float4& a) {
-  return make_float4(fabsf(a.x), fabsf(a.y), fabsf(a.z), fabsf(a.w));
-}
-template<> EIGEN_DEVICE_FUNC inline double2 pabs<double2>(const double2& a) {
-  return make_double2(fabs(a.x), fabs(a.y));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<float4,4>& kernel) {
-  double tmp = kernel.packet[0].y;
-  kernel.packet[0].y = kernel.packet[1].x;
-  kernel.packet[1].x = tmp;
-
-  tmp = kernel.packet[0].z;
-  kernel.packet[0].z = kernel.packet[2].x;
-  kernel.packet[2].x = tmp;
-
-  tmp = kernel.packet[0].w;
-  kernel.packet[0].w = kernel.packet[3].x;
-  kernel.packet[3].x = tmp;
-
-  tmp = kernel.packet[1].z;
-  kernel.packet[1].z = kernel.packet[2].y;
-  kernel.packet[2].y = tmp;
-
-  tmp = kernel.packet[1].w;
-  kernel.packet[1].w = kernel.packet[3].y;
-  kernel.packet[3].y = tmp;
-
-  tmp = kernel.packet[2].w;
-  kernel.packet[2].w = kernel.packet[3].z;
-  kernel.packet[3].z = tmp;
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<double2,2>& kernel) {
-  double tmp = kernel.packet[0].y;
-  kernel.packet[0].y = kernel.packet[1].x;
-  kernel.packet[1].x = tmp;
-}
-
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-
-#endif // EIGEN_PACKET_MATH_CUDA_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/PacketMathHalf.h b/phonelibs/eigen/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
deleted file mode 100644
index ae54225f8e0860..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
+++ /dev/null
@@ -1,1123 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_HALF_CUDA_H
-#define EIGEN_PACKET_MATH_HALF_CUDA_H
-
-
-namespace Eigen {
-namespace internal {
-
-// Most of the following operations require arch >= 3.0
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDACC__) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
-
-template<> struct is_arithmetic<half2> { enum { value = true }; };
-
-template<> struct packet_traits<Eigen::half> : default_packet_traits
-{
-  typedef half2 type;
-  typedef half2 half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=2,
-    HasHalfPacket = 0,
-    HasAdd    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasSqrt   = 1,
-    HasRsqrt  = 1,
-    HasExp    = 1,
-    HasLog    = 1,
-    HasLog1p  = 1
-  };
-};
-
-template<> struct unpacket_traits<half2> { typedef Eigen::half type; enum {size=2, alignment=Aligned16}; typedef half2 half; };
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pset1<half2>(const Eigen::half& from) {
-  return __half2half2(from);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pload<half2>(const Eigen::half* from) {
-  return *reinterpret_cast<const half2*>(from);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 ploadu<half2>(const Eigen::half* from) {
-  return __halves2half2(from[0], from[1]);
-}
-
-template<> EIGEN_STRONG_INLINE half2 ploaddup<half2>(const Eigen::half*  from) {
-  return __halves2half2(from[0], from[0]);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const half2& from) {
-  *reinterpret_cast<half2*>(to) = from;
-}
-
-template<> __device__ EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const half2& from) {
-  to[0] = __low2half(from);
-  to[1] = __high2half(from);
-}
-
-template<>
- __device__ EIGEN_ALWAYS_INLINE half2 ploadt_ro<half2, Aligned>(const Eigen::half* from) {
-#if __CUDA_ARCH__ >= 350
-   return __ldg((const half2*)from);
-#else
-  return __halves2half2(*(from+0), *(from+1));
-#endif
-}
-
-template<>
-__device__ EIGEN_ALWAYS_INLINE half2 ploadt_ro<half2, Unaligned>(const Eigen::half* from) {
-#if __CUDA_ARCH__ >= 350
-   return __halves2half2(__ldg(from+0), __ldg(from+1));
-#else
-  return __halves2half2(*(from+0), *(from+1));
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pgather<Eigen::half, half2>(const Eigen::half* from, Index stride) {
-  return __halves2half2(from[0*stride], from[1*stride]);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE void pscatter<Eigen::half, half2>(Eigen::half* to, const half2& from, Index stride) {
-  to[stride*0] = __low2half(from);
-  to[stride*1] = __high2half(from);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half pfirst<half2>(const half2& a) {
-  return __low2half(a);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pabs<half2>(const half2& a) {
-  half2 result;
-  result.x = a.x & 0x7FFF7FFF;
-  return result;
-}
-
-
-__device__ EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<half2,2>& kernel) {
-  __half a1 = __low2half(kernel.packet[0]);
-  __half a2 = __high2half(kernel.packet[0]);
-  __half b1 = __low2half(kernel.packet[1]);
-  __half b2 = __high2half(kernel.packet[1]);
-  kernel.packet[0] = __halves2half2(a1, b1);
-  kernel.packet[1] = __halves2half2(a2, b2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 plset<half2>(const Eigen::half& a) {
-#if __CUDA_ARCH__ >= 530
-  return __halves2half2(a, __hadd(a, __float2half(1.0f)));
-#else
-  float f = __half2float(a) + 1.0f;
-  return __halves2half2(a, __float2half(f));
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 padd<half2>(const half2& a, const half2& b) {
-#if __CUDA_ARCH__ >= 530
-  return __hadd2(a, b);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float r1 = a1 + b1;
-  float r2 = a2 + b2;
-  return __floats2half2_rn(r1, r2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 psub<half2>(const half2& a, const half2& b) {
-#if __CUDA_ARCH__ >= 530
-  return __hsub2(a, b);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float r1 = a1 - b1;
-  float r2 = a2 - b2;
-  return __floats2half2_rn(r1, r2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pnegate(const half2& a) {
-#if __CUDA_ARCH__ >= 530
-  return __hneg2(a);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return __floats2half2_rn(-a1, -a2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pconj(const half2& a) { return a; }
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pmul<half2>(const half2& a, const half2& b) {
-#if __CUDA_ARCH__ >= 530
-  return __hmul2(a, b);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float r1 = a1 * b1;
-  float r2 = a2 * b2;
-  return __floats2half2_rn(r1, r2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pmadd<half2>(const half2& a, const half2& b, const half2& c) {
-#if __CUDA_ARCH__ >= 530
-   return __hfma2(a, b, c);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float c1 = __low2float(c);
-  float c2 = __high2float(c);
-  float r1 = a1 * b1 + c1;
-  float r2 = a2 * b2 + c2;
-  return __floats2half2_rn(r1, r2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pdiv<half2>(const half2& a, const half2& b) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float r1 = a1 / b1;
-  float r2 = a2 / b2;
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pmin<half2>(const half2& a, const half2& b) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  __half r1 = a1 < b1 ? __low2half(a) : __low2half(b);
-  __half r2 = a2 < b2 ? __high2half(a) : __high2half(b);
-  return __halves2half2(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pmax<half2>(const half2& a, const half2& b) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  __half r1 = a1 > b1 ? __low2half(a) : __low2half(b);
-  __half r2 = a2 > b2 ? __high2half(a) : __high2half(b);
-  return __halves2half2(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux<half2>(const half2& a) {
-#if __CUDA_ARCH__ >= 530
-  return __hadd(__low2half(a), __high2half(a));
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return Eigen::half(half_impl::raw_uint16_to_half(__float2half_rn(a1 + a2)));
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_max<half2>(const half2& a) {
-#if __CUDA_ARCH__ >= 530
-  __half first = __low2half(a);
-  __half second = __high2half(a);
-  return __hgt(first, second) ? first : second;
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return a1 > a2 ? __low2half(a) : __high2half(a);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_min<half2>(const half2& a) {
-#if __CUDA_ARCH__ >= 530
-  __half first = __low2half(a);
-  __half second = __high2half(a);
-  return __hlt(first, second) ? first : second;
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return a1 < a2 ? __low2half(a) : __high2half(a);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_mul<half2>(const half2& a) {
-#if __CUDA_ARCH__ >= 530
-  return __hmul(__low2half(a), __high2half(a));
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return Eigen::half(half_impl::raw_uint16_to_half(__float2half_rn(a1 * a2)));
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 plog1p<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = log1pf(a1);
-  float r2 = log1pf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-#if defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined __CUDA_ARCH__ && __CUDA_ARCH__ >= 530
-
-template<>  __device__ EIGEN_STRONG_INLINE
-half2 plog<half2>(const half2& a) {
-  return h2log(a);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE
-half2 pexp<half2>(const half2& a) {
-  return h2exp(a);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE
-half2 psqrt<half2>(const half2& a) {
-  return h2sqrt(a);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE
-half2 prsqrt<half2>(const half2& a) {
-  return h2rsqrt(a);
-}
-
-#else
-
-template<> __device__ EIGEN_STRONG_INLINE half2 plog<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = logf(a1);
-  float r2 = logf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pexp<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = expf(a1);
-  float r2 = expf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 psqrt<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = sqrtf(a1);
-  float r2 = sqrtf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 prsqrt<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = rsqrtf(a1);
-  float r2 = rsqrtf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-#endif
-
-#elif defined EIGEN_VECTORIZE_AVX512
-
-typedef struct {
-  __m256i x;
-} Packet16h;
-
-
-template<> struct is_arithmetic<Packet16h> { enum { value = true }; };
-
-template <>
-struct packet_traits<half> : default_packet_traits {
-  typedef Packet16h type;
-  // There is no half-size packet for Packet16h.
-  typedef Packet16h half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 16,
-    HasHalfPacket = 0,
-    HasAdd    = 0,
-    HasSub    = 0,
-    HasMul    = 0,
-    HasNegate = 0,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasConj   = 0,
-    HasSetLinear = 0,
-    HasDiv = 0,
-    HasSqrt = 0,
-    HasRsqrt = 0,
-    HasExp = 0,
-    HasLog = 0,
-    HasBlend = 0
-  };
-};
-
-
-template<> struct unpacket_traits<Packet16h> { typedef Eigen::half type; enum {size=16, alignment=Aligned32}; typedef Packet16h half; };
-
-template<> EIGEN_STRONG_INLINE Packet16h pset1<Packet16h>(const Eigen::half& from) {
-  Packet16h result;
-  result.x = _mm256_set1_epi16(from.x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet16h>(const Packet16h& from) {
-  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm256_extract_epi16(from.x, 0)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h pload<Packet16h>(const Eigen::half* from) {
-  Packet16h result;
-  result.x = _mm256_load_si256(reinterpret_cast<const __m256i*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h ploadu<Packet16h>(const Eigen::half* from) {
-  Packet16h result;
-  result.x = _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<half>(Eigen::half* to, const Packet16h& from) {
-  _mm256_store_si256((__m256i*)to, from.x);
-}
-
-template<> EIGEN_STRONG_INLINE void pstoreu<half>(Eigen::half* to, const Packet16h& from) {
-  _mm256_storeu_si256((__m256i*)to, from.x);
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h
-ploadquad(const Eigen::half* from) {
-  Packet16h result;
-  unsigned short a = from[0].x;
-  unsigned short b = from[1].x;
-  unsigned short c = from[2].x;
-  unsigned short d = from[3].x;
-  result.x = _mm256_set_epi16(d, d, d, d, c, c, c, c, b, b, b, b, a, a, a, a);
-  return result;
-}
-
-EIGEN_STRONG_INLINE Packet16f half2float(const Packet16h& a) {
-#ifdef EIGEN_HAS_FP16_C
-  return _mm512_cvtph_ps(a.x);
-#else
-  EIGEN_ALIGN64 half aux[16];
-  pstore(aux, a);
-  float f0(aux[0]);
-  float f1(aux[1]);
-  float f2(aux[2]);
-  float f3(aux[3]);
-  float f4(aux[4]);
-  float f5(aux[5]);
-  float f6(aux[6]);
-  float f7(aux[7]);
-  float f8(aux[8]);
-  float f9(aux[9]);
-  float fa(aux[10]);
-  float fb(aux[11]);
-  float fc(aux[12]);
-  float fd(aux[13]);
-  float fe(aux[14]);
-  float ff(aux[15]);
-
-  return _mm512_set_ps(
-      ff, fe, fd, fc, fb, fa, f9, f8, f7, f6, f5, f4, f3, f2, f1, f0);
-#endif
-}
-
-EIGEN_STRONG_INLINE Packet16h float2half(const Packet16f& a) {
-#ifdef EIGEN_HAS_FP16_C
-  Packet16h result;
-  result.x = _mm512_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
-  return result;
-#else
-  EIGEN_ALIGN64 float aux[16];
-  pstore(aux, a);
-  half h0(aux[0]);
-  half h1(aux[1]);
-  half h2(aux[2]);
-  half h3(aux[3]);
-  half h4(aux[4]);
-  half h5(aux[5]);
-  half h6(aux[6]);
-  half h7(aux[7]);
-  half h8(aux[8]);
-  half h9(aux[9]);
-  half ha(aux[10]);
-  half hb(aux[11]);
-  half hc(aux[12]);
-  half hd(aux[13]);
-  half he(aux[14]);
-  half hf(aux[15]);
-
-  Packet16h result;
-  result.x = _mm256_set_epi16(
-      hf.x, he.x, hd.x, hc.x, hb.x, ha.x, h9.x, h8.x,
-      h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
-  return result;
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h padd<Packet16h>(const Packet16h& a, const Packet16h& b) {
-  Packet16f af = half2float(a);
-  Packet16f bf = half2float(b);
-  Packet16f rf = padd(af, bf);
-  return float2half(rf);
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h pmul<Packet16h>(const Packet16h& a, const Packet16h& b) {
-  Packet16f af = half2float(a);
-  Packet16f bf = half2float(b);
-  Packet16f rf = pmul(af, bf);
-  return float2half(rf);
-}
-
-template<> EIGEN_STRONG_INLINE half predux<Packet16h>(const Packet16h& from) {
-  Packet16f from_float = half2float(from);
-  return half(predux(from_float));
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h pgather<Eigen::half, Packet16h>(const Eigen::half* from, Index stride)
-{
-  Packet16h result;
-  result.x = _mm256_set_epi16(
-      from[15*stride].x, from[14*stride].x, from[13*stride].x, from[12*stride].x,
-      from[11*stride].x, from[10*stride].x, from[9*stride].x, from[8*stride].x,
-      from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x,
-      from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pscatter<half, Packet16h>(half* to, const Packet16h& from, Index stride)
-{
-  EIGEN_ALIGN64 half aux[16];
-  pstore(aux, from);
-  to[stride*0].x = aux[0].x;
-  to[stride*1].x = aux[1].x;
-  to[stride*2].x = aux[2].x;
-  to[stride*3].x = aux[3].x;
-  to[stride*4].x = aux[4].x;
-  to[stride*5].x = aux[5].x;
-  to[stride*6].x = aux[6].x;
-  to[stride*7].x = aux[7].x;
-  to[stride*8].x = aux[8].x;
-  to[stride*9].x = aux[9].x;
-  to[stride*10].x = aux[10].x;
-  to[stride*11].x = aux[11].x;
-  to[stride*12].x = aux[12].x;
-  to[stride*13].x = aux[13].x;
-  to[stride*14].x = aux[14].x;
-  to[stride*15].x = aux[15].x;
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet16h,16>& kernel) {
-  __m256i a = kernel.packet[0].x;
-  __m256i b = kernel.packet[1].x;
-  __m256i c = kernel.packet[2].x;
-  __m256i d = kernel.packet[3].x;
-  __m256i e = kernel.packet[4].x;
-  __m256i f = kernel.packet[5].x;
-  __m256i g = kernel.packet[6].x;
-  __m256i h = kernel.packet[7].x;
-  __m256i i = kernel.packet[8].x;
-  __m256i j = kernel.packet[9].x;
-  __m256i k = kernel.packet[10].x;
-  __m256i l = kernel.packet[11].x;
-  __m256i m = kernel.packet[12].x;
-  __m256i n = kernel.packet[13].x;
-  __m256i o = kernel.packet[14].x;
-  __m256i p = kernel.packet[15].x;
-
-  __m256i ab_07 = _mm256_unpacklo_epi16(a, b);
-  __m256i cd_07 = _mm256_unpacklo_epi16(c, d);
-  __m256i ef_07 = _mm256_unpacklo_epi16(e, f);
-  __m256i gh_07 = _mm256_unpacklo_epi16(g, h);
-  __m256i ij_07 = _mm256_unpacklo_epi16(i, j);
-  __m256i kl_07 = _mm256_unpacklo_epi16(k, l);
-  __m256i mn_07 = _mm256_unpacklo_epi16(m, n);
-  __m256i op_07 = _mm256_unpacklo_epi16(o, p);
-
-  __m256i ab_8f = _mm256_unpackhi_epi16(a, b);
-  __m256i cd_8f = _mm256_unpackhi_epi16(c, d);
-  __m256i ef_8f = _mm256_unpackhi_epi16(e, f);
-  __m256i gh_8f = _mm256_unpackhi_epi16(g, h);
-  __m256i ij_8f = _mm256_unpackhi_epi16(i, j);
-  __m256i kl_8f = _mm256_unpackhi_epi16(k, l);
-  __m256i mn_8f = _mm256_unpackhi_epi16(m, n);
-  __m256i op_8f = _mm256_unpackhi_epi16(o, p);
-
-  __m256i abcd_03 = _mm256_unpacklo_epi32(ab_07, cd_07);
-  __m256i abcd_47 = _mm256_unpackhi_epi32(ab_07, cd_07);
-  __m256i efgh_03 = _mm256_unpacklo_epi32(ef_07, gh_07);
-  __m256i efgh_47 = _mm256_unpackhi_epi32(ef_07, gh_07);
-  __m256i ijkl_03 = _mm256_unpacklo_epi32(ij_07, kl_07);
-  __m256i ijkl_47 = _mm256_unpackhi_epi32(ij_07, kl_07);
-  __m256i mnop_03 = _mm256_unpacklo_epi32(mn_07, op_07);
-  __m256i mnop_47 = _mm256_unpackhi_epi32(mn_07, op_07);
-
-  __m256i abcd_8b = _mm256_unpacklo_epi32(ab_8f, cd_8f);
-  __m256i abcd_cf = _mm256_unpackhi_epi32(ab_8f, cd_8f);
-  __m256i efgh_8b = _mm256_unpacklo_epi32(ef_8f, gh_8f);
-  __m256i efgh_cf = _mm256_unpackhi_epi32(ef_8f, gh_8f);
-  __m256i ijkl_8b = _mm256_unpacklo_epi32(ij_8f, kl_8f);
-  __m256i ijkl_cf = _mm256_unpackhi_epi32(ij_8f, kl_8f);
-  __m256i mnop_8b = _mm256_unpacklo_epi32(mn_8f, op_8f);
-  __m256i mnop_cf = _mm256_unpackhi_epi32(mn_8f, op_8f);
-
-  __m256i abcdefgh_01 = _mm256_unpacklo_epi64(abcd_03, efgh_03);
-  __m256i abcdefgh_23 = _mm256_unpackhi_epi64(abcd_03, efgh_03);
-  __m256i ijklmnop_01 = _mm256_unpacklo_epi64(ijkl_03, mnop_03);
-  __m256i ijklmnop_23 = _mm256_unpackhi_epi64(ijkl_03, mnop_03);
-  __m256i abcdefgh_45 = _mm256_unpacklo_epi64(abcd_47, efgh_47);
-  __m256i abcdefgh_67 = _mm256_unpackhi_epi64(abcd_47, efgh_47);
-  __m256i ijklmnop_45 = _mm256_unpacklo_epi64(ijkl_47, mnop_47);
-  __m256i ijklmnop_67 = _mm256_unpackhi_epi64(ijkl_47, mnop_47);
-  __m256i abcdefgh_89 = _mm256_unpacklo_epi64(abcd_8b, efgh_8b);
-  __m256i abcdefgh_ab = _mm256_unpackhi_epi64(abcd_8b, efgh_8b);
-  __m256i ijklmnop_89 = _mm256_unpacklo_epi64(ijkl_8b, mnop_8b);
-  __m256i ijklmnop_ab = _mm256_unpackhi_epi64(ijkl_8b, mnop_8b);
-  __m256i abcdefgh_cd = _mm256_unpacklo_epi64(abcd_cf, efgh_cf);
-  __m256i abcdefgh_ef = _mm256_unpackhi_epi64(abcd_cf, efgh_cf);
-  __m256i ijklmnop_cd = _mm256_unpacklo_epi64(ijkl_cf, mnop_cf);
-  __m256i ijklmnop_ef = _mm256_unpackhi_epi64(ijkl_cf, mnop_cf);
-
-  // NOTE: no unpacklo/hi instr in this case, so using permute instr.
-  __m256i a_p_0 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x20);
-  __m256i a_p_1 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x31);
-  __m256i a_p_2 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x20);
-  __m256i a_p_3 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x31);
-  __m256i a_p_4 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x20);
-  __m256i a_p_5 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x31);
-  __m256i a_p_6 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x20);
-  __m256i a_p_7 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x31);
-  __m256i a_p_8 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x20);
-  __m256i a_p_9 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x31);
-  __m256i a_p_a = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x20);
-  __m256i a_p_b = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x31);
-  __m256i a_p_c = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x20);
-  __m256i a_p_d = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x31);
-  __m256i a_p_e = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x20);
-  __m256i a_p_f = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x31);
-
-  kernel.packet[0].x = a_p_0;
-  kernel.packet[1].x = a_p_1;
-  kernel.packet[2].x = a_p_2;
-  kernel.packet[3].x = a_p_3;
-  kernel.packet[4].x = a_p_4;
-  kernel.packet[5].x = a_p_5;
-  kernel.packet[6].x = a_p_6;
-  kernel.packet[7].x = a_p_7;
-  kernel.packet[8].x = a_p_8;
-  kernel.packet[9].x = a_p_9;
-  kernel.packet[10].x = a_p_a;
-  kernel.packet[11].x = a_p_b;
-  kernel.packet[12].x = a_p_c;
-  kernel.packet[13].x = a_p_d;
-  kernel.packet[14].x = a_p_e;
-  kernel.packet[15].x = a_p_f;
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet16h,8>& kernel) {
-  EIGEN_ALIGN64 half in[8][16];
-  pstore<half>(in[0], kernel.packet[0]);
-  pstore<half>(in[1], kernel.packet[1]);
-  pstore<half>(in[2], kernel.packet[2]);
-  pstore<half>(in[3], kernel.packet[3]);
-  pstore<half>(in[4], kernel.packet[4]);
-  pstore<half>(in[5], kernel.packet[5]);
-  pstore<half>(in[6], kernel.packet[6]);
-  pstore<half>(in[7], kernel.packet[7]);
-
-  EIGEN_ALIGN64 half out[8][16];
-
-  for (int i = 0; i < 8; ++i) {
-    for (int j = 0; j < 8; ++j) {
-      out[i][j] = in[j][2*i];
-    }
-    for (int j = 0; j < 8; ++j) {
-      out[i][j+8] = in[j][2*i+1];
-    }
-  }
-
-  kernel.packet[0] = pload<Packet16h>(out[0]);
-  kernel.packet[1] = pload<Packet16h>(out[1]);
-  kernel.packet[2] = pload<Packet16h>(out[2]);
-  kernel.packet[3] = pload<Packet16h>(out[3]);
-  kernel.packet[4] = pload<Packet16h>(out[4]);
-  kernel.packet[5] = pload<Packet16h>(out[5]);
-  kernel.packet[6] = pload<Packet16h>(out[6]);
-  kernel.packet[7] = pload<Packet16h>(out[7]);
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet16h,4>& kernel) {
-  EIGEN_ALIGN64 half in[4][16];
-  pstore<half>(in[0], kernel.packet[0]);
-  pstore<half>(in[1], kernel.packet[1]);
-  pstore<half>(in[2], kernel.packet[2]);
-  pstore<half>(in[3], kernel.packet[3]);
-
-  EIGEN_ALIGN64 half out[4][16];
-
-  for (int i = 0; i < 4; ++i) {
-    for (int j = 0; j < 4; ++j) {
-      out[i][j] = in[j][4*i];
-    }
-    for (int j = 0; j < 4; ++j) {
-      out[i][j+4] = in[j][4*i+1];
-    }
-    for (int j = 0; j < 4; ++j) {
-      out[i][j+8] = in[j][4*i+2];
-    }
-    for (int j = 0; j < 4; ++j) {
-      out[i][j+12] = in[j][4*i+3];
-    }
-  }
-
-  kernel.packet[0] = pload<Packet16h>(out[0]);
-  kernel.packet[1] = pload<Packet16h>(out[1]);
-  kernel.packet[2] = pload<Packet16h>(out[2]);
-  kernel.packet[3] = pload<Packet16h>(out[3]);
-}
-
-
-#elif defined EIGEN_VECTORIZE_AVX
-
-typedef struct {
-  __m128i x;
-} Packet8h;
-
-
-template<> struct is_arithmetic<Packet8h> { enum { value = true }; };
-
-template <>
-struct packet_traits<Eigen::half> : default_packet_traits {
-  typedef Packet8h type;
-  // There is no half-size packet for Packet8h.
-  typedef Packet8h half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 8,
-    HasHalfPacket = 0,
-    HasAdd    = 0,
-    HasSub    = 0,
-    HasMul    = 0,
-    HasNegate = 0,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasConj   = 0,
-    HasSetLinear = 0,
-    HasDiv = 0,
-    HasSqrt = 0,
-    HasRsqrt = 0,
-    HasExp = 0,
-    HasLog = 0,
-    HasBlend = 0
-  };
-};
-
-
-template<> struct unpacket_traits<Packet8h> { typedef Eigen::half type; enum {size=8, alignment=Aligned16}; typedef Packet8h half; };
-
-template<> EIGEN_STRONG_INLINE Packet8h pset1<Packet8h>(const Eigen::half& from) {
-  Packet8h result;
-  result.x = _mm_set1_epi16(from.x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet8h>(const Packet8h& from) {
-  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_extract_epi16(from.x, 0)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h pload<Packet8h>(const Eigen::half* from) {
-  Packet8h result;
-  result.x = _mm_load_si128(reinterpret_cast<const __m128i*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h ploadu<Packet8h>(const Eigen::half* from) {
-  Packet8h result;
-  result.x = _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet8h& from) {
-  _mm_store_si128(reinterpret_cast<__m128i*>(to), from.x);
-}
-
-template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet8h& from) {
-  _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from.x);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h
-ploadquad<Packet8h>(const Eigen::half* from) {
-  Packet8h result;
-  unsigned short a = from[0].x;
-  unsigned short b = from[1].x;
-  result.x = _mm_set_epi16(b, b, b, b, a, a, a, a);
-  return result;
-}
-
-EIGEN_STRONG_INLINE Packet8f half2float(const Packet8h& a) {
-#ifdef EIGEN_HAS_FP16_C
-  return _mm256_cvtph_ps(a.x);
-#else
-  EIGEN_ALIGN32 Eigen::half aux[8];
-  pstore(aux, a);
-  float f0(aux[0]);
-  float f1(aux[1]);
-  float f2(aux[2]);
-  float f3(aux[3]);
-  float f4(aux[4]);
-  float f5(aux[5]);
-  float f6(aux[6]);
-  float f7(aux[7]);
-
-  return _mm256_set_ps(f7, f6, f5, f4, f3, f2, f1, f0);
-#endif
-}
-
-EIGEN_STRONG_INLINE Packet8h float2half(const Packet8f& a) {
-#ifdef EIGEN_HAS_FP16_C
-  Packet8h result;
-  result.x = _mm256_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
-  return result;
-#else
-  EIGEN_ALIGN32 float aux[8];
-  pstore(aux, a);
-  Eigen::half h0(aux[0]);
-  Eigen::half h1(aux[1]);
-  Eigen::half h2(aux[2]);
-  Eigen::half h3(aux[3]);
-  Eigen::half h4(aux[4]);
-  Eigen::half h5(aux[5]);
-  Eigen::half h6(aux[6]);
-  Eigen::half h7(aux[7]);
-
-  Packet8h result;
-  result.x = _mm_set_epi16(h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
-  return result;
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h pconj(const Packet8h& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet8h padd<Packet8h>(const Packet8h& a, const Packet8h& b) {
-  Packet8f af = half2float(a);
-  Packet8f bf = half2float(b);
-  Packet8f rf = padd(af, bf);
-  return float2half(rf);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h pmul<Packet8h>(const Packet8h& a, const Packet8h& b) {
-  Packet8f af = half2float(a);
-  Packet8f bf = half2float(b);
-  Packet8f rf = pmul(af, bf);
-  return float2half(rf);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h pgather<Eigen::half, Packet8h>(const Eigen::half* from, Index stride)
-{
-  Packet8h result;
-  result.x = _mm_set_epi16(from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x, from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet8h>(Eigen::half* to, const Packet8h& from, Index stride)
-{
-  EIGEN_ALIGN32 Eigen::half aux[8];
-  pstore(aux, from);
-  to[stride*0].x = aux[0].x;
-  to[stride*1].x = aux[1].x;
-  to[stride*2].x = aux[2].x;
-  to[stride*3].x = aux[3].x;
-  to[stride*4].x = aux[4].x;
-  to[stride*5].x = aux[5].x;
-  to[stride*6].x = aux[6].x;
-  to[stride*7].x = aux[7].x;
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half predux<Packet8h>(const Packet8h& a) {
-  Packet8f af = half2float(a);
-  float reduced = predux<Packet8f>(af);
-  return Eigen::half(reduced);
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half predux_max<Packet8h>(const Packet8h& a) {
-  Packet8f af = half2float(a);
-  float reduced = predux_max<Packet8f>(af);
-  return Eigen::half(reduced);
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half predux_min<Packet8h>(const Packet8h& a) {
-  Packet8f af = half2float(a);
-  float reduced = predux_min<Packet8f>(af);
-  return Eigen::half(reduced);
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half predux_mul<Packet8h>(const Packet8h& a) {
-  Packet8f af = half2float(a);
-  float reduced = predux_mul<Packet8f>(af);
-  return Eigen::half(reduced);
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet8h,8>& kernel) {
-  __m128i a = kernel.packet[0].x;
-  __m128i b = kernel.packet[1].x;
-  __m128i c = kernel.packet[2].x;
-  __m128i d = kernel.packet[3].x;
-  __m128i e = kernel.packet[4].x;
-  __m128i f = kernel.packet[5].x;
-  __m128i g = kernel.packet[6].x;
-  __m128i h = kernel.packet[7].x;
-
-  __m128i a03b03 = _mm_unpacklo_epi16(a, b);
-  __m128i c03d03 = _mm_unpacklo_epi16(c, d);
-  __m128i e03f03 = _mm_unpacklo_epi16(e, f);
-  __m128i g03h03 = _mm_unpacklo_epi16(g, h);
-  __m128i a47b47 = _mm_unpackhi_epi16(a, b);
-  __m128i c47d47 = _mm_unpackhi_epi16(c, d);
-  __m128i e47f47 = _mm_unpackhi_epi16(e, f);
-  __m128i g47h47 = _mm_unpackhi_epi16(g, h);
-
-  __m128i a01b01c01d01 = _mm_unpacklo_epi32(a03b03, c03d03);
-  __m128i a23b23c23d23 = _mm_unpackhi_epi32(a03b03, c03d03);
-  __m128i e01f01g01h01 = _mm_unpacklo_epi32(e03f03, g03h03);
-  __m128i e23f23g23h23 = _mm_unpackhi_epi32(e03f03, g03h03);
-  __m128i a45b45c45d45 = _mm_unpacklo_epi32(a47b47, c47d47);
-  __m128i a67b67c67d67 = _mm_unpackhi_epi32(a47b47, c47d47);
-  __m128i e45f45g45h45 = _mm_unpacklo_epi32(e47f47, g47h47);
-  __m128i e67f67g67h67 = _mm_unpackhi_epi32(e47f47, g47h47);
-
-  __m128i a0b0c0d0e0f0g0h0 = _mm_unpacklo_epi64(a01b01c01d01, e01f01g01h01);
-  __m128i a1b1c1d1e1f1g1h1 = _mm_unpackhi_epi64(a01b01c01d01, e01f01g01h01);
-  __m128i a2b2c2d2e2f2g2h2 = _mm_unpacklo_epi64(a23b23c23d23, e23f23g23h23);
-  __m128i a3b3c3d3e3f3g3h3 = _mm_unpackhi_epi64(a23b23c23d23, e23f23g23h23);
-  __m128i a4b4c4d4e4f4g4h4 = _mm_unpacklo_epi64(a45b45c45d45, e45f45g45h45);
-  __m128i a5b5c5d5e5f5g5h5 = _mm_unpackhi_epi64(a45b45c45d45, e45f45g45h45);
-  __m128i a6b6c6d6e6f6g6h6 = _mm_unpacklo_epi64(a67b67c67d67, e67f67g67h67);
-  __m128i a7b7c7d7e7f7g7h7 = _mm_unpackhi_epi64(a67b67c67d67, e67f67g67h67);
-
-  kernel.packet[0].x = a0b0c0d0e0f0g0h0;
-  kernel.packet[1].x = a1b1c1d1e1f1g1h1;
-  kernel.packet[2].x = a2b2c2d2e2f2g2h2;
-  kernel.packet[3].x = a3b3c3d3e3f3g3h3;
-  kernel.packet[4].x = a4b4c4d4e4f4g4h4;
-  kernel.packet[5].x = a5b5c5d5e5f5g5h5;
-  kernel.packet[6].x = a6b6c6d6e6f6g6h6;
-  kernel.packet[7].x = a7b7c7d7e7f7g7h7;
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet8h,4>& kernel) {
-  EIGEN_ALIGN32 Eigen::half in[4][8];
-  pstore<Eigen::half>(in[0], kernel.packet[0]);
-  pstore<Eigen::half>(in[1], kernel.packet[1]);
-  pstore<Eigen::half>(in[2], kernel.packet[2]);
-  pstore<Eigen::half>(in[3], kernel.packet[3]);
-
-  EIGEN_ALIGN32 Eigen::half out[4][8];
-
-  for (int i = 0; i < 4; ++i) {
-    for (int j = 0; j < 4; ++j) {
-      out[i][j] = in[j][2*i];
-    }
-    for (int j = 0; j < 4; ++j) {
-      out[i][j+4] = in[j][2*i+1];
-    }
-  }
-
-  kernel.packet[0] = pload<Packet8h>(out[0]);
-  kernel.packet[1] = pload<Packet8h>(out[1]);
-  kernel.packet[2] = pload<Packet8h>(out[2]);
-  kernel.packet[3] = pload<Packet8h>(out[3]);
-}
-
-
-// Disable the following code since it's broken on too many platforms / compilers.
-//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
-#elif 0
-
-typedef struct {
-  __m64 x;
-} Packet4h;
-
-
-template<> struct is_arithmetic<Packet4h> { enum { value = true }; };
-
-template <>
-struct packet_traits<Eigen::half> : default_packet_traits {
-  typedef Packet4h type;
-  // There is no half-size packet for Packet4h.
-  typedef Packet4h half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 4,
-    HasHalfPacket = 0,
-    HasAdd    = 0,
-    HasSub    = 0,
-    HasMul    = 0,
-    HasNegate = 0,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasConj   = 0,
-    HasSetLinear = 0,
-    HasDiv = 0,
-    HasSqrt = 0,
-    HasRsqrt = 0,
-    HasExp = 0,
-    HasLog = 0,
-    HasBlend = 0
-  };
-};
-
-
-template<> struct unpacket_traits<Packet4h> { typedef Eigen::half type; enum {size=4, alignment=Aligned16}; typedef Packet4h half; };
-
-template<> EIGEN_STRONG_INLINE Packet4h pset1<Packet4h>(const Eigen::half& from) {
-  Packet4h result;
-  result.x = _mm_set1_pi16(from.x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet4h>(const Packet4h& from) {
-  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_cvtsi64_si32(from.x)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h pconj(const Packet4h& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet4h padd<Packet4h>(const Packet4h& a, const Packet4h& b) {
-  __int64_t a64 = _mm_cvtm64_si64(a.x);
-  __int64_t b64 = _mm_cvtm64_si64(b.x);
-
-  Eigen::half h[4];
-
-  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
-  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
-  h[0] = ha + hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
-  h[1] = ha + hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
-  h[2] = ha + hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
-  h[3] = ha + hb;
-  Packet4h result;
-  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h pmul<Packet4h>(const Packet4h& a, const Packet4h& b) {
-  __int64_t a64 = _mm_cvtm64_si64(a.x);
-  __int64_t b64 = _mm_cvtm64_si64(b.x);
-
-  Eigen::half h[4];
-
-  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
-  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
-  h[0] = ha * hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
-  h[1] = ha * hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
-  h[2] = ha * hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
-  h[3] = ha * hb;
-  Packet4h result;
-  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h pload<Packet4h>(const Eigen::half* from) {
-  Packet4h result;
-  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h ploadu<Packet4h>(const Eigen::half* from) {
-  Packet4h result;
-  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet4h& from) {
-  __int64_t r = _mm_cvtm64_si64(from.x);
-  *(reinterpret_cast<__int64_t*>(to)) = r;
-}
-
-template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet4h& from) {
-  __int64_t r = _mm_cvtm64_si64(from.x);
-  *(reinterpret_cast<__int64_t*>(to)) = r;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h
-ploadquad<Packet4h>(const Eigen::half* from) {
-  return pset1<Packet4h>(*from);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h pgather<Eigen::half, Packet4h>(const Eigen::half* from, Index stride)
-{
-  Packet4h result;
-  result.x = _mm_set_pi16(from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet4h>(Eigen::half* to, const Packet4h& from, Index stride)
-{
-  __int64_t a = _mm_cvtm64_si64(from.x);
-  to[stride*0].x = static_cast<unsigned short>(a);
-  to[stride*1].x = static_cast<unsigned short>(a >> 16);
-  to[stride*2].x = static_cast<unsigned short>(a >> 32);
-  to[stride*3].x = static_cast<unsigned short>(a >> 48);
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet4h,4>& kernel) {
-  __m64 T0 = _mm_unpacklo_pi16(kernel.packet[0].x, kernel.packet[1].x);
-  __m64 T1 = _mm_unpacklo_pi16(kernel.packet[2].x, kernel.packet[3].x);
-  __m64 T2 = _mm_unpackhi_pi16(kernel.packet[0].x, kernel.packet[1].x);
-  __m64 T3 = _mm_unpackhi_pi16(kernel.packet[2].x, kernel.packet[3].x);
-
-  kernel.packet[0].x = _mm_unpacklo_pi32(T0, T1);
-  kernel.packet[1].x = _mm_unpackhi_pi32(T0, T1);
-  kernel.packet[2].x = _mm_unpacklo_pi32(T2, T3);
-  kernel.packet[3].x = _mm_unpackhi_pi32(T2, T3);
-}
-
-#endif
-
-}
-}
-
-#endif // EIGEN_PACKET_MATH_HALF_CUDA_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/TypeCasting.h b/phonelibs/eigen/Eigen/src/Core/arch/CUDA/TypeCasting.h
deleted file mode 100644
index aa5fbce8eac475..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/CUDA/TypeCasting.h
+++ /dev/null
@@ -1,212 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TYPE_CASTING_CUDA_H
-#define EIGEN_TYPE_CASTING_CUDA_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<>
-struct scalar_cast_op<float, Eigen::half> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
-  typedef Eigen::half result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const float& a) const {
-    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
-      return __float2half(a);
-    #else
-      return Eigen::half(a);
-    #endif
-  }
-};
-
-template<>
-struct functor_traits<scalar_cast_op<float, Eigen::half> >
-{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
-
-
-template<>
-struct scalar_cast_op<int, Eigen::half> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
-  typedef Eigen::half result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const int& a) const {
-    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
-      return __float2half(static_cast<float>(a));
-    #else
-      return Eigen::half(static_cast<float>(a));
-    #endif
-  }
-};
-
-template<>
-struct functor_traits<scalar_cast_op<int, Eigen::half> >
-{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
-
-
-template<>
-struct scalar_cast_op<Eigen::half, float> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
-  typedef float result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float operator() (const Eigen::half& a) const {
-    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
-      return __half2float(a);
-    #else
-      return static_cast<float>(a);
-    #endif
-  }
-};
-
-template<>
-struct functor_traits<scalar_cast_op<Eigen::half, float> >
-{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
-
-
-
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
-
-template <>
-struct type_casting_traits<Eigen::half, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 2,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pcast<half2, float4>(const half2& a, const half2& b) {
-  float2 r1 = __half22float2(a);
-  float2 r2 = __half22float2(b);
-  return make_float4(r1.x, r1.y, r2.x, r2.y);
-}
-
-template <>
-struct type_casting_traits<float, Eigen::half> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 2
-  };
-};
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pcast<float4, half2>(const float4& a) {
-  // Simply discard the second half of the input
-  return __floats2half2_rn(a.x, a.y);
-}
-
-#elif defined EIGEN_VECTORIZE_AVX512
-template <>
-struct type_casting_traits<half, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet16f pcast<Packet16h, Packet16f>(const Packet16h& a) {
-  return half2float(a);
-}
-
-template <>
-struct type_casting_traits<float, half> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet16h pcast<Packet16f, Packet16h>(const Packet16f& a) {
-  return float2half(a);
-}
-
-#elif defined EIGEN_VECTORIZE_AVX
-
-template <>
-struct type_casting_traits<Eigen::half, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8h, Packet8f>(const Packet8h& a) {
-  return half2float(a);
-}
-
-template <>
-struct type_casting_traits<float, Eigen::half> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet8h pcast<Packet8f, Packet8h>(const Packet8f& a) {
-  return float2half(a);
-}
-
-// Disable the following code since it's broken on too many platforms / compilers.
-//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
-#elif 0
-
-template <>
-struct type_casting_traits<Eigen::half, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4h, Packet4f>(const Packet4h& a) {
-  __int64_t a64 = _mm_cvtm64_si64(a.x);
-  Eigen::half h = raw_uint16_to_half(static_cast<unsigned short>(a64));
-  float f1 = static_cast<float>(h);
-  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
-  float f2 = static_cast<float>(h);
-  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
-  float f3 = static_cast<float>(h);
-  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
-  float f4 = static_cast<float>(h);
-  return _mm_set_ps(f4, f3, f2, f1);
-}
-
-template <>
-struct type_casting_traits<float, Eigen::half> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet4h pcast<Packet4f, Packet4h>(const Packet4f& a) {
-  EIGEN_ALIGN16 float aux[4];
-  pstore(aux, a);
-  Eigen::half h0(aux[0]);
-  Eigen::half h1(aux[1]);
-  Eigen::half h2(aux[2]);
-  Eigen::half h3(aux[3]);
-
-  Packet4h result;
-  result.x = _mm_set_pi16(h3.x, h2.x, h1.x, h0.x);
-  return result;
-}
-
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TYPE_CASTING_CUDA_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/Default/Settings.h b/phonelibs/eigen/Eigen/src/Core/arch/Default/Settings.h
deleted file mode 100644
index 097373c84dc0ba..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/Default/Settings.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-/* All the parameters defined in this file can be specialized in the
- * architecture specific files, and/or by the user.
- * More to come... */
-
-#ifndef EIGEN_DEFAULT_SETTINGS_H
-#define EIGEN_DEFAULT_SETTINGS_H
-
-/** Defines the maximal loop size to enable meta unrolling of loops.
-  * Note that the value here is expressed in Eigen's own notion of "number of FLOPS",
-  * it does not correspond to the number of iterations or the number of instructions
-  */
-#ifndef EIGEN_UNROLLING_LIMIT
-#define EIGEN_UNROLLING_LIMIT 100
-#endif
-
-/** Defines the threshold between a "small" and a "large" matrix.
-  * This threshold is mainly used to select the proper product implementation.
-  */
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
-#endif
-
-/** Defines the maximal width of the blocks used in the triangular product and solver
-  * for vectors (level 2 blas xTRMV and xTRSV). The default is 8.
-  */
-#ifndef EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH
-#define EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH 8
-#endif
-
-
-/** Defines the default number of registers available for that architecture.
-  * Currently it must be 8 or 16. Other values will fail.
-  */
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8
-#endif
-
-#endif // EIGEN_DEFAULT_SETTINGS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/NEON/Complex.h b/phonelibs/eigen/Eigen/src/Core/arch/NEON/Complex.h
deleted file mode 100644
index 57e9b431f203df..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/NEON/Complex.h
+++ /dev/null
@@ -1,486 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Konstantinos Margaritis <markos@freevec.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLEX_NEON_H
-#define EIGEN_COMPLEX_NEON_H
-
-namespace Eigen {
-
-namespace internal {
-
-inline uint32x4_t p4ui_CONJ_XOR() {
-// See bug 1325, clang fails to call vld1q_u64.
-#if EIGEN_COMP_CLANG
-  uint32x4_t ret = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
-  return ret;
-#else
-  static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
-  return vld1q_u32( conj_XOR_DATA );
-#endif
-}
-
-inline uint32x2_t p2ui_CONJ_XOR() {
-  static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000 };
-  return vld1_u32( conj_XOR_DATA );
-}
-
-//---------- float ----------
-struct Packet2cf
-{
-  EIGEN_STRONG_INLINE Packet2cf() {}
-  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
-  Packet4f  v;
-};
-
-template<> struct packet_traits<std::complex<float> >  : default_packet_traits
-{
-  typedef Packet2cf type;
-  typedef Packet2cf half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 2,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasSetLinear = 0
-  };
-};
-
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
-
-template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
-{
-  float32x2_t r64;
-  r64 = vld1_f32((float *)&from);
-
-  return Packet2cf(vcombine_f32(r64, r64));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(padd<Packet4f>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(psub<Packet4f>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate<Packet4f>(a.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
-{
-  Packet4ui b = vreinterpretq_u32_f32(a.v);
-  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR())));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  Packet4f v1, v2;
-
-  // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
-  v1 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 0), vdup_lane_f32(vget_high_f32(a.v), 0));
-  // Get the imag values of a | a1_im | a1_im | a2_im | a2_im |
-  v2 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 1), vdup_lane_f32(vget_high_f32(a.v), 1));
-  // Multiply the real a with b
-  v1 = vmulq_f32(v1, b.v);
-  // Multiply the imag a with b
-  v2 = vmulq_f32(v2, b.v);
-  // Conjugate v2 
-  v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR()));
-  // Swap real/imag elements in v2.
-  v2 = vrev64q_f32(v2);
-  // Add and return the result
-  return Packet2cf(vaddq_f32(v1, v2));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  return Packet2cf(vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
-}
-template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  return Packet2cf(vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
-}
-template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
-}
-template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  return Packet2cf(vreinterpretq_f32_u32(vbicq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
-
-template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
-
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
-{
-  Packet4f res = pset1<Packet4f>(0.f);
-  res = vsetq_lane_f32(std::real(from[0*stride]), res, 0);
-  res = vsetq_lane_f32(std::imag(from[0*stride]), res, 1);
-  res = vsetq_lane_f32(std::real(from[1*stride]), res, 2);
-  res = vsetq_lane_f32(std::imag(from[1*stride]), res, 3);
-  return Packet2cf(res);
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
-{
-  to[stride*0] = std::complex<float>(vgetq_lane_f32(from.v, 0), vgetq_lane_f32(from.v, 1));
-  to[stride*1] = std::complex<float>(vgetq_lane_f32(from.v, 2), vgetq_lane_f32(from.v, 3));
-}
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { EIGEN_ARM_PREFETCH((float *)addr); }
-
-template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
-{
-  std::complex<float> EIGEN_ALIGN16 x[2];
-  vst1q_f32((float *)x, a.v);
-  return x[0];
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
-{
-  float32x2_t a_lo, a_hi;
-  Packet4f a_r128;
-
-  a_lo = vget_low_f32(a.v);
-  a_hi = vget_high_f32(a.v);
-  a_r128 = vcombine_f32(a_hi, a_lo);
-
-  return Packet2cf(a_r128);
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& a)
-{
-  return Packet2cf(vrev64q_f32(a.v));
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
-{
-  float32x2_t a1, a2;
-  std::complex<float> s;
-
-  a1 = vget_low_f32(a.v);
-  a2 = vget_high_f32(a.v);
-  a2 = vadd_f32(a1, a2);
-  vst1_f32((float *)&s, a2);
-
-  return s;
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
-{
-  Packet4f sum1, sum2, sum;
-
-  // Add the first two 64-bit float32x2_t of vecs[0]
-  sum1 = vcombine_f32(vget_low_f32(vecs[0].v), vget_low_f32(vecs[1].v));
-  sum2 = vcombine_f32(vget_high_f32(vecs[0].v), vget_high_f32(vecs[1].v));
-  sum = vaddq_f32(sum1, sum2);
-
-  return Packet2cf(sum);
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
-{
-  float32x2_t a1, a2, v1, v2, prod;
-  std::complex<float> s;
-
-  a1 = vget_low_f32(a.v);
-  a2 = vget_high_f32(a.v);
-   // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
-  v1 = vdup_lane_f32(a1, 0);
-  // Get the real values of a | a1_im | a1_im | a2_im | a2_im |
-  v2 = vdup_lane_f32(a1, 1);
-  // Multiply the real a with b
-  v1 = vmul_f32(v1, a2);
-  // Multiply the imag a with b
-  v2 = vmul_f32(v2, a2);
-  // Conjugate v2 
-  v2 = vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(v2), p2ui_CONJ_XOR()));
-  // Swap real/imag elements in v2.
-  v2 = vrev64_f32(v2);
-  // Add v1, v2
-  prod = vadd_f32(v1, v2);
-
-  vst1_f32((float *)&s, prod);
-
-  return s;
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet2cf>
-{
-  EIGEN_STRONG_INLINE static void run(Packet2cf& first, const Packet2cf& second)
-  {
-    if (Offset==1)
-    {
-      first.v = vextq_f32(first.v, second.v, 2);
-    }
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
-template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  // TODO optimize it for NEON
-  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
-  Packet4f s, rev_s;
-
-  // this computes the norm
-  s = vmulq_f32(b.v, b.v);
-  rev_s = vrev64q_f32(s);
-
-  return Packet2cf(pdiv(res.v, vaddq_f32(s,rev_s)));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2cf,2>& kernel) {
-  Packet4f tmp = vcombine_f32(vget_high_f32(kernel.packet[0].v), vget_high_f32(kernel.packet[1].v));
-  kernel.packet[0].v = vcombine_f32(vget_low_f32(kernel.packet[0].v), vget_low_f32(kernel.packet[1].v));
-  kernel.packet[1].v = tmp;
-}
-
-//---------- double ----------
-#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
-
-// See bug 1325, clang fails to call vld1q_u64.
-#if EIGEN_COMP_CLANG
-  static uint64x2_t p2ul_CONJ_XOR = {0x0, 0x8000000000000000};
-#else
-  const uint64_t  p2ul_conj_XOR_DATA[] = { 0x0, 0x8000000000000000 };
-  static uint64x2_t p2ul_CONJ_XOR = vld1q_u64( p2ul_conj_XOR_DATA );
-#endif
-
-struct Packet1cd
-{
-  EIGEN_STRONG_INLINE Packet1cd() {}
-  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
-  Packet2d v;
-};
-
-template<> struct packet_traits<std::complex<double> >  : default_packet_traits
-{
-  typedef Packet1cd type;
-  typedef Packet1cd half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 0,
-    size = 1,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasSetLinear = 0
-  };
-};
-
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
-
-template<> EIGEN_STRONG_INLINE Packet1cd pload<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
-template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
-{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(padd<Packet2d>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(psub<Packet2d>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate<Packet2d>(a.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v), p2ul_CONJ_XOR))); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  Packet2d v1, v2;
-
-  // Get the real values of a 
-  v1 = vdupq_lane_f64(vget_low_f64(a.v), 0);
-  // Get the imag values of a
-  v2 = vdupq_lane_f64(vget_high_f64(a.v), 0);
-  // Multiply the real a with b
-  v1 = vmulq_f64(v1, b.v);
-  // Multiply the imag a with b
-  v2 = vmulq_f64(v2, b.v);
-  // Conjugate v2 
-  v2 = vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(v2), p2ul_CONJ_XOR));
-  // Swap real/imag elements in v2.
-  v2 = preverse<Packet2d>(v2);
-  // Add and return the result
-  return Packet1cd(vaddq_f64(v1, v2));
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  return Packet1cd(vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
-}
-template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  return Packet1cd(vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
-}
-template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
-}
-template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  return Packet1cd(vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
-
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { EIGEN_ARM_PREFETCH((double *)addr); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
-{
-  Packet2d res = pset1<Packet2d>(0.0);
-  res = vsetq_lane_f64(std::real(from[0*stride]), res, 0);
-  res = vsetq_lane_f64(std::imag(from[0*stride]), res, 1);
-  return Packet1cd(res);
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
-{
-  to[stride*0] = std::complex<double>(vgetq_lane_f64(from.v, 0), vgetq_lane_f64(from.v, 1));
-}
-
-
-template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
-{
-  std::complex<double> EIGEN_ALIGN16 res;
-  pstore<std::complex<double> >(&res, a);
-
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs) { return vecs[0]; }
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
-
-template<int Offset>
-struct palign_impl<Offset,Packet1cd>
-{
-  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
-  {
-    // FIXME is it sure we never have to align a Packet1cd?
-    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
-template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  // TODO optimize it for NEON
-  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
-  Packet2d s = pmul<Packet2d>(b.v, b.v);
-  Packet2d rev_s = preverse<Packet2d>(s);
-
-  return Packet1cd(pdiv(res.v, padd<Packet2d>(s,rev_s)));
-}
-
-EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
-{
-  return Packet1cd(preverse(Packet2d(x.v)));
-}
-
-EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
-{
-  Packet2d tmp = vcombine_f64(vget_high_f64(kernel.packet[0].v), vget_high_f64(kernel.packet[1].v));
-  kernel.packet[0].v = vcombine_f64(vget_low_f64(kernel.packet[0].v), vget_low_f64(kernel.packet[1].v));
-  kernel.packet[1].v = tmp;
-}
-#endif // EIGEN_ARCH_ARM64
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX_NEON_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/NEON/MathFunctions.h b/phonelibs/eigen/Eigen/src/Core/arch/NEON/MathFunctions.h
deleted file mode 100644
index 6bb05bb922aafa..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/NEON/MathFunctions.h
+++ /dev/null
@@ -1,91 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* The sin, cos, exp, and log functions of this file come from
- * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
- */
-
-#ifndef EIGEN_MATH_FUNCTIONS_NEON_H
-#define EIGEN_MATH_FUNCTIONS_NEON_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f pexp<Packet4f>(const Packet4f& _x)
-{
-  Packet4f x = _x;
-  Packet4f tmp, fx;
-
-  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
-  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
-  _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
-  _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
-
-  x = vminq_f32(x, p4f_exp_hi);
-  x = vmaxq_f32(x, p4f_exp_lo);
-
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = vmlaq_f32(p4f_half, x, p4f_cephes_LOG2EF);
-
-  /* perform a floorf */
-  tmp = vcvtq_f32_s32(vcvtq_s32_f32(fx));
-
-  /* if greater, substract 1 */
-  Packet4ui mask = vcgtq_f32(tmp, fx);
-  mask = vandq_u32(mask, vreinterpretq_u32_f32(p4f_1));
-
-  fx = vsubq_f32(tmp, vreinterpretq_f32_u32(mask));
-
-  tmp = vmulq_f32(fx, p4f_cephes_exp_C1);
-  Packet4f z = vmulq_f32(fx, p4f_cephes_exp_C2);
-  x = vsubq_f32(x, tmp);
-  x = vsubq_f32(x, z);
-
-  Packet4f y = vmulq_f32(p4f_cephes_exp_p0, x);
-  z = vmulq_f32(x, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p1);
-  y = vmulq_f32(y, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p2);
-  y = vmulq_f32(y, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p3);
-  y = vmulq_f32(y, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p4);
-  y = vmulq_f32(y, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p5);
-
-  y = vmulq_f32(y, z);
-  y = vaddq_f32(y, x);
-  y = vaddq_f32(y, p4f_1);
-
-  /* build 2^n */
-  int32x4_t mm;
-  mm = vcvtq_s32_f32(fx);
-  mm = vaddq_s32(mm, p4i_0x7f);
-  mm = vshlq_n_s32(mm, 23);
-  Packet4f pow2n = vreinterpretq_f32_s32(mm);
-
-  y = vmulq_f32(y, pow2n);
-  return y;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATH_FUNCTIONS_NEON_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/NEON/PacketMath.h b/phonelibs/eigen/Eigen/src/Core/arch/NEON/PacketMath.h
deleted file mode 100644
index 84a56bdcc6d39a..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/NEON/PacketMath.h
+++ /dev/null
@@ -1,726 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Konstantinos Margaritis <markos@freevec.org>
-// Heavily based on Gael's SSE version.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_NEON_H
-#define EIGEN_PACKET_MATH_NEON_H
-
-namespace Eigen {
-
-namespace internal {
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
-#endif
-
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#endif
-
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#endif
-
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#if EIGEN_ARCH_ARM64
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 32
-#else
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16 
-#endif
-#endif
-
-typedef float32x2_t Packet2f;
-typedef float32x4_t Packet4f;
-typedef int32x4_t   Packet4i;
-typedef int32x2_t   Packet2i;
-typedef uint32x4_t  Packet4ui;
-
-#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
-  const Packet4f p4f_##NAME = pset1<Packet4f>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
-  const Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int32_t>(X))
-
-#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
-  const Packet4i p4i_##NAME = pset1<Packet4i>(X)
-
-// arm64 does have the pld instruction. If available, let's trust the __builtin_prefetch built-in function
-// which available on LLVM and GCC (at least)
-#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
-  #define EIGEN_ARM_PREFETCH(ADDR) __builtin_prefetch(ADDR);
-#elif defined __pld
-  #define EIGEN_ARM_PREFETCH(ADDR) __pld(ADDR)
-#elif !EIGEN_ARCH_ARM64
-  #define EIGEN_ARM_PREFETCH(ADDR) __asm__ __volatile__ ( "   pld [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
-#else
-  // by default no explicit prefetching
-  #define EIGEN_ARM_PREFETCH(ADDR)
-#endif
-
-template<> struct packet_traits<float>  : default_packet_traits
-{
-  typedef Packet4f type;
-  typedef Packet4f half; // Packet2f intrinsics not implemented yet
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 4,
-    HasHalfPacket=0, // Packet2f intrinsics not implemented yet
-   
-    HasDiv  = 1,
-    // FIXME check the Has*
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 1,
-    HasSqrt = 0
-  };
-};
-template<> struct packet_traits<int32_t>    : default_packet_traits
-{
-  typedef Packet4i type;
-  typedef Packet4i half; // Packet2i intrinsics not implemented yet
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-    HasHalfPacket=0 // Packet2i intrinsics not implemented yet
-    // FIXME check the Has*
-  };
-};
-
-#if EIGEN_GNUC_AT_MOST(4,4) && !EIGEN_COMP_LLVM
-// workaround gcc 4.2, 4.3 and 4.4 compilatin issue
-EIGEN_STRONG_INLINE float32x4_t vld1q_f32(const float* x) { return ::vld1q_f32((const float32_t*)x); }
-EIGEN_STRONG_INLINE float32x2_t vld1_f32 (const float* x) { return ::vld1_f32 ((const float32_t*)x); }
-EIGEN_STRONG_INLINE float32x2_t vld1_dup_f32 (const float* x) { return ::vld1_dup_f32 ((const float32_t*)x); }
-EIGEN_STRONG_INLINE void        vst1q_f32(float* to, float32x4_t from) { ::vst1q_f32((float32_t*)to,from); }
-EIGEN_STRONG_INLINE void        vst1_f32 (float* to, float32x2_t from) { ::vst1_f32 ((float32_t*)to,from); }
-#endif
-
-template<> struct unpacket_traits<Packet4f> { typedef float   type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
-template<> struct unpacket_traits<Packet4i> { typedef int32_t type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
-
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return vdupq_n_f32(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int32_t&    from)   { return vdupq_n_s32(from); }
-
-template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)
-{
-  const float32_t f[] = {0, 1, 2, 3};
-  Packet4f countdown = vld1q_f32(f);
-  return vaddq_f32(pset1<Packet4f>(a), countdown);
-}
-template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int32_t& a)
-{
-  const int32_t i[] = {0, 1, 2, 3};
-  Packet4i countdown = vld1q_s32(i);
-  return vaddq_s32(pset1<Packet4i>(a), countdown);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vaddq_f32(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vaddq_s32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vsubq_f32(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vsubq_s32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return vnegq_f32(a); }
-template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return vnegq_s32(a); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmulq_f32(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmulq_s32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-#if EIGEN_ARCH_ARM64
-  return vdivq_f32(a,b);
-#else
-  Packet4f inv, restep, div;
-
-  // NEON does not offer a divide instruction, we have to do a reciprocal approximation
-  // However NEON in contrast to other SIMD engines (AltiVec/SSE), offers
-  // a reciprocal estimate AND a reciprocal step -which saves a few instructions
-  // vrecpeq_f32() returns an estimate to 1/b, which we will finetune with
-  // Newton-Raphson and vrecpsq_f32()
-  inv = vrecpeq_f32(b);
-
-  // This returns a differential, by which we will have to multiply inv to get a better
-  // approximation of 1/b.
-  restep = vrecpsq_f32(b, inv);
-  inv = vmulq_f32(restep, inv);
-
-  // Finally, multiply a by 1/b and get the wanted result of the division.
-  div = vmulq_f32(a, inv);
-
-  return div;
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
-{ eigen_assert(false && "packet integer division are not supported by NEON");
-  return pset1<Packet4i>(0);
-}
-
-// Clang/ARM wrongly advertises __ARM_FEATURE_FMA even when it's not available,
-// then implements a slow software scalar fallback calling fmaf()!
-// Filed LLVM bug:
-//     https://llvm.org/bugs/show_bug.cgi?id=27216
-#if (defined __ARM_FEATURE_FMA) && !(EIGEN_COMP_CLANG && EIGEN_ARCH_ARM)
-// See bug 936.
-// FMA is available on VFPv4 i.e. when compiling with -mfpu=neon-vfpv4.
-// FMA is a true fused multiply-add i.e. only 1 rounding at the end, no intermediate rounding.
-// MLA is not fused i.e. does 2 roundings.
-// In addition to giving better accuracy, FMA also gives better performance here on a Krait (Nexus 4):
-// MLA: 10 GFlop/s ; FMA: 12 GFlops/s.
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vfmaq_f32(c,a,b); }
-#else
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) {
-#if EIGEN_COMP_CLANG && EIGEN_ARCH_ARM
-  // Clang/ARM will replace VMLA by VMUL+VADD at least for some values of -mcpu,
-  // at least -mcpu=cortex-a8 and -mcpu=cortex-a7. Since the former is the default on
-  // -march=armv7-a, that is a very common case.
-  // See e.g. this thread:
-  //     http://lists.llvm.org/pipermail/llvm-dev/2013-December/068806.html
-  // Filed LLVM bug:
-  //     https://llvm.org/bugs/show_bug.cgi?id=27219
-  Packet4f r = c;
-  asm volatile(
-    "vmla.f32 %q[r], %q[a], %q[b]"
-    : [r] "+w" (r)
-    : [a] "w" (a),
-      [b] "w" (b)
-    : );
-  return r;
-#else
-  return vmlaq_f32(c,a,b);
-#endif
-}
-#endif
-
-// No FMA instruction for int, so use MLA unconditionally.
-template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return vmlaq_s32(c,a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vminq_f32(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vminq_s32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmaxq_f32(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmaxq_s32(a,b); }
-
-// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
-template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  return vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
-}
-template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vandq_s32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  return vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
-}
-template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vorrq_s32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  return vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
-}
-template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return veorq_s32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  return vreinterpretq_f32_u32(vbicq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
-}
-template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vbicq_s32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*    from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int32_t*  from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from); }
-
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*   from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f32(from); }
-template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int32_t* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s32(from); }
-
-template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from)
-{
-  float32x2_t lo, hi;
-  lo = vld1_dup_f32(from);
-  hi = vld1_dup_f32(from+1);
-  return vcombine_f32(lo, hi);
-}
-template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int32_t* from)
-{
-  int32x2_t lo, hi;
-  lo = vld1_dup_s32(from);
-  hi = vld1_dup_s32(from+1);
-  return vcombine_s32(lo, hi);
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<float>  (float*    to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f32(to, from); }
-template<> EIGEN_STRONG_INLINE void pstore<int32_t>(int32_t*  to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to, from); }
-
-template<> EIGEN_STRONG_INLINE void pstoreu<float>  (float*   to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f32(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<int32_t>(int32_t* to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to, from); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
-{
-  Packet4f res = pset1<Packet4f>(0.f);
-  res = vsetq_lane_f32(from[0*stride], res, 0);
-  res = vsetq_lane_f32(from[1*stride], res, 1);
-  res = vsetq_lane_f32(from[2*stride], res, 2);
-  res = vsetq_lane_f32(from[3*stride], res, 3);
-  return res;
-}
-template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int32_t, Packet4i>(const int32_t* from, Index stride)
-{
-  Packet4i res = pset1<Packet4i>(0);
-  res = vsetq_lane_s32(from[0*stride], res, 0);
-  res = vsetq_lane_s32(from[1*stride], res, 1);
-  res = vsetq_lane_s32(from[2*stride], res, 2);
-  res = vsetq_lane_s32(from[3*stride], res, 3);
-  return res;
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
-{
-  to[stride*0] = vgetq_lane_f32(from, 0);
-  to[stride*1] = vgetq_lane_f32(from, 1);
-  to[stride*2] = vgetq_lane_f32(from, 2);
-  to[stride*3] = vgetq_lane_f32(from, 3);
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<int32_t, Packet4i>(int32_t* to, const Packet4i& from, Index stride)
-{
-  to[stride*0] = vgetq_lane_s32(from, 0);
-  to[stride*1] = vgetq_lane_s32(from, 1);
-  to[stride*2] = vgetq_lane_s32(from, 2);
-  to[stride*3] = vgetq_lane_s32(from, 3);
-}
-
-template<> EIGEN_STRONG_INLINE void prefetch<float>  (const float*    addr) { EIGEN_ARM_PREFETCH(addr); }
-template<> EIGEN_STRONG_INLINE void prefetch<int32_t>(const int32_t*  addr) { EIGEN_ARM_PREFETCH(addr); }
-
-// FIXME only store the 2 first elements ?
-template<> EIGEN_STRONG_INLINE float   pfirst<Packet4f>(const Packet4f& a) { float   EIGEN_ALIGN16 x[4]; vst1q_f32(x, a); return x[0]; }
-template<> EIGEN_STRONG_INLINE int32_t pfirst<Packet4i>(const Packet4i& a) { int32_t EIGEN_ALIGN16 x[4]; vst1q_s32(x, a); return x[0]; }
-
-template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) {
-  float32x2_t a_lo, a_hi;
-  Packet4f a_r64;
-
-  a_r64 = vrev64q_f32(a);
-  a_lo = vget_low_f32(a_r64);
-  a_hi = vget_high_f32(a_r64);
-  return vcombine_f32(a_hi, a_lo);
-}
-template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) {
-  int32x2_t a_lo, a_hi;
-  Packet4i a_r64;
-
-  a_r64 = vrev64q_s32(a);
-  a_lo = vget_low_s32(a_r64);
-  a_hi = vget_high_s32(a_r64);
-  return vcombine_s32(a_hi, a_lo);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vabsq_f32(a); }
-template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vabsq_s32(a); }
-
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  float32x2_t a_lo, a_hi, sum;
-
-  a_lo = vget_low_f32(a);
-  a_hi = vget_high_f32(a);
-  sum = vpadd_f32(a_lo, a_hi);
-  sum = vpadd_f32(sum, sum);
-  return vget_lane_f32(sum, 0);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
-{
-  float32x4x2_t vtrn1, vtrn2, res1, res2;
-  Packet4f sum1, sum2, sum;
-
-  // NEON zip performs interleaving of the supplied vectors.
-  // We perform two interleaves in a row to acquire the transposed vector
-  vtrn1 = vzipq_f32(vecs[0], vecs[2]);
-  vtrn2 = vzipq_f32(vecs[1], vecs[3]);
-  res1 = vzipq_f32(vtrn1.val[0], vtrn2.val[0]);
-  res2 = vzipq_f32(vtrn1.val[1], vtrn2.val[1]);
-
-  // Do the addition of the resulting vectors
-  sum1 = vaddq_f32(res1.val[0], res1.val[1]);
-  sum2 = vaddq_f32(res2.val[0], res2.val[1]);
-  sum = vaddq_f32(sum1, sum2);
-
-  return sum;
-}
-
-template<> EIGEN_STRONG_INLINE int32_t predux<Packet4i>(const Packet4i& a)
-{
-  int32x2_t a_lo, a_hi, sum;
-
-  a_lo = vget_low_s32(a);
-  a_hi = vget_high_s32(a);
-  sum = vpadd_s32(a_lo, a_hi);
-  sum = vpadd_s32(sum, sum);
-  return vget_lane_s32(sum, 0);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
-{
-  int32x4x2_t vtrn1, vtrn2, res1, res2;
-  Packet4i sum1, sum2, sum;
-
-  // NEON zip performs interleaving of the supplied vectors.
-  // We perform two interleaves in a row to acquire the transposed vector
-  vtrn1 = vzipq_s32(vecs[0], vecs[2]);
-  vtrn2 = vzipq_s32(vecs[1], vecs[3]);
-  res1 = vzipq_s32(vtrn1.val[0], vtrn2.val[0]);
-  res2 = vzipq_s32(vtrn1.val[1], vtrn2.val[1]);
-
-  // Do the addition of the resulting vectors
-  sum1 = vaddq_s32(res1.val[0], res1.val[1]);
-  sum2 = vaddq_s32(res2.val[0], res2.val[1]);
-  sum = vaddq_s32(sum1, sum2);
-
-  return sum;
-}
-
-// Other reduction functions:
-// mul
-template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
-{
-  float32x2_t a_lo, a_hi, prod;
-
-  // Get a_lo = |a1|a2| and a_hi = |a3|a4|
-  a_lo = vget_low_f32(a);
-  a_hi = vget_high_f32(a);
-  // Get the product of a_lo * a_hi -> |a1*a3|a2*a4|
-  prod = vmul_f32(a_lo, a_hi);
-  // Multiply prod with its swapped value |a2*a4|a1*a3|
-  prod = vmul_f32(prod, vrev64_f32(prod));
-
-  return vget_lane_f32(prod, 0);
-}
-template<> EIGEN_STRONG_INLINE int32_t predux_mul<Packet4i>(const Packet4i& a)
-{
-  int32x2_t a_lo, a_hi, prod;
-
-  // Get a_lo = |a1|a2| and a_hi = |a3|a4|
-  a_lo = vget_low_s32(a);
-  a_hi = vget_high_s32(a);
-  // Get the product of a_lo * a_hi -> |a1*a3|a2*a4|
-  prod = vmul_s32(a_lo, a_hi);
-  // Multiply prod with its swapped value |a2*a4|a1*a3|
-  prod = vmul_s32(prod, vrev64_s32(prod));
-
-  return vget_lane_s32(prod, 0);
-}
-
-// min
-template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
-{
-  float32x2_t a_lo, a_hi, min;
-
-  a_lo = vget_low_f32(a);
-  a_hi = vget_high_f32(a);
-  min = vpmin_f32(a_lo, a_hi);
-  min = vpmin_f32(min, min);
-
-  return vget_lane_f32(min, 0);
-}
-
-template<> EIGEN_STRONG_INLINE int32_t predux_min<Packet4i>(const Packet4i& a)
-{
-  int32x2_t a_lo, a_hi, min;
-
-  a_lo = vget_low_s32(a);
-  a_hi = vget_high_s32(a);
-  min = vpmin_s32(a_lo, a_hi);
-  min = vpmin_s32(min, min);
-  
-  return vget_lane_s32(min, 0);
-}
-
-// max
-template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
-{
-  float32x2_t a_lo, a_hi, max;
-
-  a_lo = vget_low_f32(a);
-  a_hi = vget_high_f32(a);
-  max = vpmax_f32(a_lo, a_hi);
-  max = vpmax_f32(max, max);
-
-  return vget_lane_f32(max, 0);
-}
-
-template<> EIGEN_STRONG_INLINE int32_t predux_max<Packet4i>(const Packet4i& a)
-{
-  int32x2_t a_lo, a_hi, max;
-
-  a_lo = vget_low_s32(a);
-  a_hi = vget_high_s32(a);
-  max = vpmax_s32(a_lo, a_hi);
-  max = vpmax_s32(max, max);
-
-  return vget_lane_s32(max, 0);
-}
-
-// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
-// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
-#define PALIGN_NEON(Offset,Type,Command) \
-template<>\
-struct palign_impl<Offset,Type>\
-{\
-    EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
-    {\
-        if (Offset!=0)\
-            first = Command(first, second, Offset);\
-    }\
-};\
-
-PALIGN_NEON(0,Packet4f,vextq_f32)
-PALIGN_NEON(1,Packet4f,vextq_f32)
-PALIGN_NEON(2,Packet4f,vextq_f32)
-PALIGN_NEON(3,Packet4f,vextq_f32)
-PALIGN_NEON(0,Packet4i,vextq_s32)
-PALIGN_NEON(1,Packet4i,vextq_s32)
-PALIGN_NEON(2,Packet4i,vextq_s32)
-PALIGN_NEON(3,Packet4i,vextq_s32)
-
-#undef PALIGN_NEON
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4f,4>& kernel) {
-  float32x4x2_t tmp1 = vzipq_f32(kernel.packet[0], kernel.packet[1]);
-  float32x4x2_t tmp2 = vzipq_f32(kernel.packet[2], kernel.packet[3]);
-
-  kernel.packet[0] = vcombine_f32(vget_low_f32(tmp1.val[0]), vget_low_f32(tmp2.val[0]));
-  kernel.packet[1] = vcombine_f32(vget_high_f32(tmp1.val[0]), vget_high_f32(tmp2.val[0]));
-  kernel.packet[2] = vcombine_f32(vget_low_f32(tmp1.val[1]), vget_low_f32(tmp2.val[1]));
-  kernel.packet[3] = vcombine_f32(vget_high_f32(tmp1.val[1]), vget_high_f32(tmp2.val[1]));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4i,4>& kernel) {
-  int32x4x2_t tmp1 = vzipq_s32(kernel.packet[0], kernel.packet[1]);
-  int32x4x2_t tmp2 = vzipq_s32(kernel.packet[2], kernel.packet[3]);
-  kernel.packet[0] = vcombine_s32(vget_low_s32(tmp1.val[0]), vget_low_s32(tmp2.val[0]));
-  kernel.packet[1] = vcombine_s32(vget_high_s32(tmp1.val[0]), vget_high_s32(tmp2.val[0]));
-  kernel.packet[2] = vcombine_s32(vget_low_s32(tmp1.val[1]), vget_low_s32(tmp2.val[1]));
-  kernel.packet[3] = vcombine_s32(vget_high_s32(tmp1.val[1]), vget_high_s32(tmp2.val[1]));
-}
-
-//---------- double ----------
-
-// Clang 3.5 in the iOS toolchain has an ICE triggered by NEON intrisics for double.
-// Confirmed at least with __apple_build_version__ = 6000054.
-#ifdef __apple_build_version__
-// Let's hope that by the time __apple_build_version__ hits the 601* range, the bug will be fixed.
-// https://gist.github.com/yamaya/2924292 suggests that the 3 first digits are only updated with
-// major toolchain updates.
-#define EIGEN_APPLE_DOUBLE_NEON_BUG (__apple_build_version__ < 6010000)
-#else
-#define EIGEN_APPLE_DOUBLE_NEON_BUG 0
-#endif
-
-#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
-
-// Bug 907: workaround missing declarations of the following two functions in the ADK
-// Defining these functions as templates ensures that if these intrinsics are
-// already defined in arm_neon.h, then our workaround doesn't cause a conflict
-// and has lower priority in overload resolution.
-template <typename T>
-uint64x2_t vreinterpretq_u64_f64(T a)
-{
-  return (uint64x2_t) a;
-}
-
-template <typename T>
-float64x2_t vreinterpretq_f64_u64(T a)
-{
-  return (float64x2_t) a;
-}
-
-typedef float64x2_t Packet2d;
-typedef float64x1_t Packet1d;
-
-template<> struct packet_traits<double>  : default_packet_traits
-{
-  typedef Packet2d type;
-  typedef Packet2d half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 2,
-    HasHalfPacket=0,
-   
-    HasDiv  = 1,
-    // FIXME check the Has*
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 0,
-    HasSqrt = 0
-  };
-};
-
-template<> struct unpacket_traits<Packet2d> { typedef double  type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
-
-template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) { return vdupq_n_f64(from); }
-
-template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a)
-{
-  const double countdown_raw[] = {0.0,1.0};
-  const Packet2d countdown = vld1q_f64(countdown_raw);
-  return vaddq_f64(pset1<Packet2d>(a), countdown);
-}
-template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return vaddq_f64(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return vsubq_f64(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return vnegq_f64(a); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmulq_f64(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vdivq_f64(a,b); }
-
-#ifdef __ARM_FEATURE_FMA
-// See bug 936. See above comment about FMA for float.
-template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vfmaq_f64(c,a,b); }
-#else
-template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vmlaq_f64(c,a,b); }
-#endif
-
-template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vminq_f64(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmaxq_f64(a,b); }
-
-// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
-template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b)
-{
-  return vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b)
-{
-  return vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b)
-{
-  return vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b)
-{
-  return vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f64(from); }
-
-template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f64(from); }
-
-template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
-{
-  return vld1q_dup_f64(from);
-}
-template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f64(to, from); }
-
-template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f64(to, from); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
-{
-  Packet2d res = pset1<Packet2d>(0.0);
-  res = vsetq_lane_f64(from[0*stride], res, 0);
-  res = vsetq_lane_f64(from[1*stride], res, 1);
-  return res;
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
-{
-  to[stride*0] = vgetq_lane_f64(from, 0);
-  to[stride*1] = vgetq_lane_f64(from, 1);
-}
-template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ARM_PREFETCH(addr); }
-
-// FIXME only store the 2 first elements ?
-template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(a, 0); }
-
-template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a) { return vcombine_f64(vget_high_f64(a), vget_low_f64(a)); }
-
-template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vabsq_f64(a); }
-
-#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
-// workaround ICE, see bug 907
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) + vget_high_f64(a))[0]; }
-#else
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) + vget_high_f64(a), 0); }
-#endif
-
-template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
-{
-  float64x2_t trn1, trn2;
-
-  // NEON zip performs interleaving of the supplied vectors.
-  // We perform two interleaves in a row to acquire the transposed vector
-  trn1 = vzip1q_f64(vecs[0], vecs[1]);
-  trn2 = vzip2q_f64(vecs[0], vecs[1]);
-
-  // Do the addition of the resulting vectors
-  return vaddq_f64(trn1, trn2);
-}
-// Other reduction functions:
-// mul
-#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
-template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) * vget_high_f64(a))[0]; }
-#else
-template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) * vget_high_f64(a), 0); }
-#endif
-
-// min
-template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpminq_f64(a, a), 0); }
-
-// max
-template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpmaxq_f64(a, a), 0); }
-
-// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
-// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
-#define PALIGN_NEON(Offset,Type,Command) \
-template<>\
-struct palign_impl<Offset,Type>\
-{\
-    EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
-    {\
-        if (Offset!=0)\
-            first = Command(first, second, Offset);\
-    }\
-};\
-
-PALIGN_NEON(0,Packet2d,vextq_f64)
-PALIGN_NEON(1,Packet2d,vextq_f64)
-#undef PALIGN_NEON
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2d,2>& kernel) {
-  float64x2_t trn1 = vzip1q_f64(kernel.packet[0], kernel.packet[1]);
-  float64x2_t trn2 = vzip2q_f64(kernel.packet[0], kernel.packet[1]);
-
-  kernel.packet[0] = trn1;
-  kernel.packet[1] = trn2;
-}
-#endif // EIGEN_ARCH_ARM64 
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PACKET_MATH_NEON_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/SSE/Complex.h b/phonelibs/eigen/Eigen/src/Core/arch/SSE/Complex.h
deleted file mode 100644
index 5607fe0abb4860..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/SSE/Complex.h
+++ /dev/null
@@ -1,503 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLEX_SSE_H
-#define EIGEN_COMPLEX_SSE_H
-
-namespace Eigen {
-
-namespace internal {
-
-//---------- float ----------
-struct Packet2cf
-{
-  EIGEN_STRONG_INLINE Packet2cf() {}
-  EIGEN_STRONG_INLINE explicit Packet2cf(const __m128& a) : v(a) {}
-  __m128  v;
-};
-
-// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
-// to leverage AVX instructions.
-#ifndef EIGEN_VECTORIZE_AVX
-template<> struct packet_traits<std::complex<float> >  : default_packet_traits
-{
-  typedef Packet2cf type;
-  typedef Packet2cf half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 2,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasSetLinear = 0,
-    HasBlend = 1
-  };
-};
-#endif
-
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
-
-template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_add_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_sub_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a)
-{
-  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
-  return Packet2cf(_mm_xor_ps(a.v,mask));
-}
-template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
-{
-  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
-  return Packet2cf(_mm_xor_ps(a.v,mask));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  #ifdef EIGEN_VECTORIZE_SSE3
-  return Packet2cf(_mm_addsub_ps(_mm_mul_ps(_mm_moveldup_ps(a.v), b.v),
-                                 _mm_mul_ps(_mm_movehdup_ps(a.v),
-                                            vec4f_swizzle1(b.v, 1, 0, 3, 2))));
-//   return Packet2cf(_mm_addsub_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
-//                                  _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
-//                                             vec4f_swizzle1(b.v, 1, 0, 3, 2))));
-  #else
-  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x00000000,0x80000000,0x00000000));
-  return Packet2cf(_mm_add_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
-                              _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
-                                                    vec4f_swizzle1(b.v, 1, 0, 3, 2)), mask)));
-  #endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_and_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_or_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_xor_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_andnot_ps(a.v,b.v)); }
-
-template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>(&numext::real_ref(*from))); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>(&numext::real_ref(*from))); }
-
-template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
-{
-  Packet2cf res;
-#if EIGEN_GNUC_AT_MOST(4,2)
-  // Workaround annoying "may be used uninitialized in this function" warning with gcc 4.2
-  res.v = _mm_loadl_pi(_mm_set1_ps(0.0f), reinterpret_cast<const __m64*>(&from));
-#elif EIGEN_GNUC_AT_LEAST(4,6)
-  // Suppress annoying "may be used uninitialized in this function" warning with gcc >= 4.6
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wuninitialized"
-  res.v = _mm_loadl_pi(res.v, (const __m64*)&from);
-  #pragma GCC diagnostic pop
-#else
-  res.v = _mm_loadl_pi(res.v, (const __m64*)&from);
-#endif
-  return Packet2cf(_mm_movelh_ps(res.v,res.v));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
-
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), Packet4f(from.v)); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), Packet4f(from.v)); }
-
-
-template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
-{
-  return Packet2cf(_mm_set_ps(std::imag(from[1*stride]), std::real(from[1*stride]),
-                              std::imag(from[0*stride]), std::real(from[0*stride])));
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
-{
-  to[stride*0] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 0)),
-                                     _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 1)));
-  to[stride*1] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 2)),
-                                     _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 3)));
-}
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-
-template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
-{
-  #if EIGEN_GNUC_AT_MOST(4,3)
-  // Workaround gcc 4.2 ICE - this is not performance wise ideal, but who cares...
-  // This workaround also fix invalid code generation with gcc 4.3
-  EIGEN_ALIGN16 std::complex<float> res[2];
-  _mm_store_ps((float*)res, a.v);
-  return res[0];
-  #else
-  std::complex<float> res;
-  _mm_storel_pi((__m64*)&res, a.v);
-  return res;
-  #endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) { return Packet2cf(_mm_castpd_ps(preverse(Packet2d(_mm_castps_pd(a.v))))); }
-
-template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
-{
-  return pfirst(Packet2cf(_mm_add_ps(a.v, _mm_movehl_ps(a.v,a.v))));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
-{
-  return Packet2cf(_mm_add_ps(_mm_movelh_ps(vecs[0].v,vecs[1].v), _mm_movehl_ps(vecs[1].v,vecs[0].v)));
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
-{
-  return pfirst(pmul(a, Packet2cf(_mm_movehl_ps(a.v,a.v))));
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet2cf>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2cf& first, const Packet2cf& second)
-  {
-    if (Offset==1)
-    {
-      first.v = _mm_movehl_ps(first.v, first.v);
-      first.v = _mm_movelh_ps(first.v, second.v);
-    }
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    #ifdef EIGEN_VECTORIZE_SSE3
-    return internal::pmul(a, pconj(b));
-    #else
-    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
-    return Packet2cf(_mm_add_ps(_mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v), mask),
-                                _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
-                                           vec4f_swizzle1(b.v, 1, 0, 3, 2))));
-    #endif
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    #ifdef EIGEN_VECTORIZE_SSE3
-    return internal::pmul(pconj(a), b);
-    #else
-    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
-    return Packet2cf(_mm_add_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
-                                _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
-                                                      vec4f_swizzle1(b.v, 1, 0, 3, 2)), mask)));
-    #endif
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    #ifdef EIGEN_VECTORIZE_SSE3
-    return pconj(internal::pmul(a, b));
-    #else
-    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
-    return Packet2cf(_mm_sub_ps(_mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v), mask),
-                                _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
-                                           vec4f_swizzle1(b.v, 1, 0, 3, 2))));
-    #endif
-  }
-};
-
-template<> struct conj_helper<Packet4f, Packet2cf, false,false>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet4f& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet4f& x, const Packet2cf& y) const
-  { return Packet2cf(Eigen::internal::pmul<Packet4f>(x, y.v)); }
-};
-
-template<> struct conj_helper<Packet2cf, Packet4f, false,false>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet4f& y, const Packet2cf& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& x, const Packet4f& y) const
-  { return Packet2cf(Eigen::internal::pmul<Packet4f>(x.v, y)); }
-};
-
-template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  // TODO optimize it for SSE3 and 4
-  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
-  __m128 s = _mm_mul_ps(b.v,b.v);
-  return Packet2cf(_mm_div_ps(res.v,_mm_add_ps(s,_mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(s), 0xb1)))));
-}
-
-EIGEN_STRONG_INLINE Packet2cf pcplxflip/* <Packet2cf> */(const Packet2cf& x)
-{
-  return Packet2cf(vec4f_swizzle1(x.v, 1, 0, 3, 2));
-}
-
-
-//---------- double ----------
-struct Packet1cd
-{
-  EIGEN_STRONG_INLINE Packet1cd() {}
-  EIGEN_STRONG_INLINE explicit Packet1cd(const __m128d& a) : v(a) {}
-  __m128d  v;
-};
-
-// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
-// to leverage AVX instructions.
-#ifndef EIGEN_VECTORIZE_AVX
-template<> struct packet_traits<std::complex<double> >  : default_packet_traits
-{
-  typedef Packet1cd type;
-  typedef Packet1cd half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 0,
-    size = 1,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasSetLinear = 0
-  };
-};
-#endif
-
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
-
-template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_add_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_sub_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
-template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
-{
-  const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
-  return Packet1cd(_mm_xor_pd(a.v,mask));
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  #ifdef EIGEN_VECTORIZE_SSE3
-  return Packet1cd(_mm_addsub_pd(_mm_mul_pd(_mm_movedup_pd(a.v), b.v),
-                                 _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
-                                            vec2d_swizzle1(b.v, 1, 0))));
-  #else
-  const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
-  return Packet1cd(_mm_add_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
-                              _mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
-                                                    vec2d_swizzle1(b.v, 1, 0)), mask)));
-  #endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_and_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_or_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_xor_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_andnot_pd(a.v,b.v)); }
-
-// FIXME force unaligned load, this is a temporary fix
-template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from)
-{ EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
-template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from)
-{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
-{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
-
-// FIXME force unaligned store, this is a temporary fix
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, Packet2d(from.v)); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, Packet2d(from.v)); }
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-
-template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
-{
-  EIGEN_ALIGN16 double res[2];
-  _mm_store_pd(res, a.v);
-  return std::complex<double>(res[0],res[1]);
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
-{
-  return pfirst(a);
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)
-{
-  return vecs[0];
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
-{
-  return pfirst(a);
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet1cd>
-{
-  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
-  {
-    // FIXME is it sure we never have to align a Packet1cd?
-    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    #ifdef EIGEN_VECTORIZE_SSE3
-    return internal::pmul(a, pconj(b));
-    #else
-    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
-    return Packet1cd(_mm_add_pd(_mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v), mask),
-                                _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
-                                           vec2d_swizzle1(b.v, 1, 0))));
-    #endif
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    #ifdef EIGEN_VECTORIZE_SSE3
-    return internal::pmul(pconj(a), b);
-    #else
-    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
-    return Packet1cd(_mm_add_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
-                                _mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
-                                                      vec2d_swizzle1(b.v, 1, 0)), mask)));
-    #endif
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    #ifdef EIGEN_VECTORIZE_SSE3
-    return pconj(internal::pmul(a, b));
-    #else
-    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
-    return Packet1cd(_mm_sub_pd(_mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v), mask),
-                                _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
-                                           vec2d_swizzle1(b.v, 1, 0))));
-    #endif
-  }
-};
-
-template<> struct conj_helper<Packet2d, Packet1cd, false,false>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet2d& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet2d& x, const Packet1cd& y) const
-  { return Packet1cd(Eigen::internal::pmul<Packet2d>(x, y.v)); }
-};
-
-template<> struct conj_helper<Packet1cd, Packet2d, false,false>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet2d& y, const Packet1cd& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& x, const Packet2d& y) const
-  { return Packet1cd(Eigen::internal::pmul<Packet2d>(x.v, y)); }
-};
-
-template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  // TODO optimize it for SSE3 and 4
-  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
-  __m128d s = _mm_mul_pd(b.v,b.v);
-  return Packet1cd(_mm_div_pd(res.v, _mm_add_pd(s,_mm_shuffle_pd(s, s, 0x1))));
-}
-
-EIGEN_STRONG_INLINE Packet1cd pcplxflip/* <Packet1cd> */(const Packet1cd& x)
-{
-  return Packet1cd(preverse(Packet2d(x.v)));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2cf,2>& kernel) {
-  __m128d w1 = _mm_castps_pd(kernel.packet[0].v);
-  __m128d w2 = _mm_castps_pd(kernel.packet[1].v);
-
-  __m128 tmp = _mm_castpd_ps(_mm_unpackhi_pd(w1, w2));
-  kernel.packet[0].v = _mm_castpd_ps(_mm_unpacklo_pd(w1, w2));
-  kernel.packet[1].v = tmp;
-}
-
-template<>  EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
-  __m128d result = pblend<Packet2d>(ifPacket, _mm_castps_pd(thenPacket.v), _mm_castps_pd(elsePacket.v));
-  return Packet2cf(_mm_castpd_ps(result));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pinsertfirst(const Packet2cf& a, std::complex<float> b)
-{
-  return Packet2cf(_mm_loadl_pi(a.v, reinterpret_cast<const __m64*>(&b)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pinsertfirst(const Packet1cd&, std::complex<double> b)
-{
-  return pset1<Packet1cd>(b);
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pinsertlast(const Packet2cf& a, std::complex<float> b)
-{
-  return Packet2cf(_mm_loadh_pi(a.v, reinterpret_cast<const __m64*>(&b)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pinsertlast(const Packet1cd&, std::complex<double> b)
-{
-  return pset1<Packet1cd>(b);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX_SSE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/SSE/MathFunctions.h b/phonelibs/eigen/Eigen/src/Core/arch/SSE/MathFunctions.h
deleted file mode 100644
index 7b5f948e119958..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/SSE/MathFunctions.h
+++ /dev/null
@@ -1,562 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007 Julien Pommier
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* The sin, cos, exp, and log functions of this file come from
- * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
- */
-
-#ifndef EIGEN_MATH_FUNCTIONS_SSE_H
-#define EIGEN_MATH_FUNCTIONS_SSE_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f plog<Packet4f>(const Packet4f& _x)
-{
-  Packet4f x = _x;
-  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
-  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
-
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
-
-  /* the smallest non denormalized float number */
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000);//-1.f/0.f);
-
-  /* natural logarithm computed for 4 simultaneous float
-    return NaN for x <= 0
-  */
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
-
-
-  Packet4i emm0;
-
-  Packet4f invalid_mask = _mm_cmpnge_ps(x, _mm_setzero_ps()); // not greater equal is true if x is NaN
-  Packet4f iszero_mask = _mm_cmpeq_ps(x, _mm_setzero_ps());
-
-  x = pmax(x, p4f_min_norm_pos);  /* cut off denormalized stuff */
-  emm0 = _mm_srli_epi32(_mm_castps_si128(x), 23);
-
-  /* keep only the fractional part */
-  x = _mm_and_ps(x, p4f_inv_mant_mask);
-  x = _mm_or_ps(x, p4f_half);
-
-  emm0 = _mm_sub_epi32(emm0, p4i_0x7f);
-  Packet4f e = padd(Packet4f(_mm_cvtepi32_ps(emm0)), p4f_1);
-
-  /* part2:
-     if( x < SQRTHF ) {
-       e -= 1;
-       x = x + x - 1.0;
-     } else { x = x - 1.0; }
-  */
-  Packet4f mask = _mm_cmplt_ps(x, p4f_cephes_SQRTHF);
-  Packet4f tmp = pand(x, mask);
-  x = psub(x, p4f_1);
-  e = psub(e, pand(p4f_1, mask));
-  x = padd(x, tmp);
-
-  Packet4f x2 = pmul(x,x);
-  Packet4f x3 = pmul(x2,x);
-
-  Packet4f y, y1, y2;
-  y  = pmadd(p4f_cephes_log_p0, x, p4f_cephes_log_p1);
-  y1 = pmadd(p4f_cephes_log_p3, x, p4f_cephes_log_p4);
-  y2 = pmadd(p4f_cephes_log_p6, x, p4f_cephes_log_p7);
-  y  = pmadd(y , x, p4f_cephes_log_p2);
-  y1 = pmadd(y1, x, p4f_cephes_log_p5);
-  y2 = pmadd(y2, x, p4f_cephes_log_p8);
-  y = pmadd(y, x3, y1);
-  y = pmadd(y, x3, y2);
-  y = pmul(y, x3);
-
-  y1 = pmul(e, p4f_cephes_log_q1);
-  tmp = pmul(x2, p4f_half);
-  y = padd(y, y1);
-  x = psub(x, tmp);
-  y2 = pmul(e, p4f_cephes_log_q2);
-  x = padd(x, y);
-  x = padd(x, y2);
-  // negative arg will be NAN, 0 will be -INF
-  return _mm_or_ps(_mm_andnot_ps(iszero_mask, _mm_or_ps(x, invalid_mask)),
-                   _mm_and_ps(iszero_mask, p4f_minus_inf));
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f pexp<Packet4f>(const Packet4f& _x)
-{
-  Packet4f x = _x;
-  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
-  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
-
-
-  _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
-  _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
-
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
-
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
-
-  Packet4f tmp, fx;
-  Packet4i emm0;
-
-  // clamp x
-  x = pmax(pmin(x, p4f_exp_hi), p4f_exp_lo);
-
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = pmadd(x, p4f_cephes_LOG2EF, p4f_half);
-
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  fx = _mm_floor_ps(fx);
-#else
-  emm0 = _mm_cvttps_epi32(fx);
-  tmp  = _mm_cvtepi32_ps(emm0);
-  /* if greater, substract 1 */
-  Packet4f mask = _mm_cmpgt_ps(tmp, fx);
-  mask = _mm_and_ps(mask, p4f_1);
-  fx = psub(tmp, mask);
-#endif
-
-  tmp = pmul(fx, p4f_cephes_exp_C1);
-  Packet4f z = pmul(fx, p4f_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  z = pmul(x,x);
-
-  Packet4f y = p4f_cephes_exp_p0;
-  y = pmadd(y, x, p4f_cephes_exp_p1);
-  y = pmadd(y, x, p4f_cephes_exp_p2);
-  y = pmadd(y, x, p4f_cephes_exp_p3);
-  y = pmadd(y, x, p4f_cephes_exp_p4);
-  y = pmadd(y, x, p4f_cephes_exp_p5);
-  y = pmadd(y, z, x);
-  y = padd(y, p4f_1);
-
-  // build 2^n
-  emm0 = _mm_cvttps_epi32(fx);
-  emm0 = _mm_add_epi32(emm0, p4i_0x7f);
-  emm0 = _mm_slli_epi32(emm0, 23);
-  return pmax(pmul(y, Packet4f(_mm_castsi128_ps(emm0))), _x);
-}
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d pexp<Packet2d>(const Packet2d& _x)
-{
-  Packet2d x = _x;
-
-  _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
-  _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
-  _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
-
-  _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
-  _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
-
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
-
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
-
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
-  static const __m128i p4i_1023_0 = _mm_setr_epi32(1023, 1023, 0, 0);
-
-  Packet2d tmp, fx;
-  Packet4i emm0;
-
-  // clamp x
-  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = pmadd(p2d_cephes_LOG2EF, x, p2d_half);
-
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  fx = _mm_floor_pd(fx);
-#else
-  emm0 = _mm_cvttpd_epi32(fx);
-  tmp  = _mm_cvtepi32_pd(emm0);
-  /* if greater, substract 1 */
-  Packet2d mask = _mm_cmpgt_pd(tmp, fx);
-  mask = _mm_and_pd(mask, p2d_1);
-  fx = psub(tmp, mask);
-#endif
-
-  tmp = pmul(fx, p2d_cephes_exp_C1);
-  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  Packet2d x2 = pmul(x,x);
-
-  Packet2d px = p2d_cephes_exp_p0;
-  px = pmadd(px, x2, p2d_cephes_exp_p1);
-  px = pmadd(px, x2, p2d_cephes_exp_p2);
-  px = pmul (px, x);
-
-  Packet2d qx = p2d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
-
-  x = pdiv(px,psub(qx,px));
-  x = pmadd(p2d_2,x,p2d_1);
-
-  // build 2^n
-  emm0 = _mm_cvttpd_epi32(fx);
-  emm0 = _mm_add_epi32(emm0, p4i_1023_0);
-  emm0 = _mm_slli_epi32(emm0, 20);
-  emm0 = _mm_shuffle_epi32(emm0, _MM_SHUFFLE(1,2,0,3));
-  return pmax(pmul(x, Packet2d(_mm_castsi128_pd(emm0))), _x);
-}
-
-/* evaluation of 4 sines at onces, using SSE2 intrinsics.
-
-   The code is the exact rewriting of the cephes sinf function.
-   Precision is excellent as long as x < 8192 (I did not bother to
-   take into account the special handling they have for greater values
-   -- it does not return garbage for arguments over 8192, though, but
-   the extra precision is missing).
-
-   Note that it is such that sinf((float)M_PI) = 8.74e-8, which is the
-   surprising but correct result.
-*/
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f psin<Packet4f>(const Packet4f& _x)
-{
-  Packet4f x = _x;
-  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
-  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
-
-  _EIGEN_DECLARE_CONST_Packet4i(1, 1);
-  _EIGEN_DECLARE_CONST_Packet4i(not1, ~1);
-  _EIGEN_DECLARE_CONST_Packet4i(2, 2);
-  _EIGEN_DECLARE_CONST_Packet4i(4, 4);
-
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(sign_mask, 0x80000000);
-
-  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1,-0.78515625f);
-  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
-  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
-  _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891E-4f);
-  _EIGEN_DECLARE_CONST_Packet4f(sincof_p1,  8.3321608736E-3f);
-  _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(coscof_p0,  2.443315711809948E-005f);
-  _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765E-003f);
-  _EIGEN_DECLARE_CONST_Packet4f(coscof_p2,  4.166664568298827E-002f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
-
-  Packet4f xmm1, xmm2, xmm3, sign_bit, y;
-
-  Packet4i emm0, emm2;
-  sign_bit = x;
-  /* take the absolute value */
-  x = pabs(x);
-
-  /* take the modulo */
-
-  /* extract the sign bit (upper one) */
-  sign_bit = _mm_and_ps(sign_bit, p4f_sign_mask);
-
-  /* scale by 4/Pi */
-  y = pmul(x, p4f_cephes_FOPI);
-
-  /* store the integer part of y in mm0 */
-  emm2 = _mm_cvttps_epi32(y);
-  /* j=(j+1) & (~1) (see the cephes sources) */
-  emm2 = _mm_add_epi32(emm2, p4i_1);
-  emm2 = _mm_and_si128(emm2, p4i_not1);
-  y = _mm_cvtepi32_ps(emm2);
-  /* get the swap sign flag */
-  emm0 = _mm_and_si128(emm2, p4i_4);
-  emm0 = _mm_slli_epi32(emm0, 29);
-  /* get the polynom selection mask
-     there is one polynom for 0 <= x <= Pi/4
-     and another one for Pi/4<x<=Pi/2
-
-     Both branches will be computed.
-  */
-  emm2 = _mm_and_si128(emm2, p4i_2);
-  emm2 = _mm_cmpeq_epi32(emm2, _mm_setzero_si128());
-
-  Packet4f swap_sign_bit = _mm_castsi128_ps(emm0);
-  Packet4f poly_mask = _mm_castsi128_ps(emm2);
-  sign_bit = _mm_xor_ps(sign_bit, swap_sign_bit);
-
-  /* The magic pass: "Extended precision modular arithmetic"
-     x = ((x - y * DP1) - y * DP2) - y * DP3; */
-  xmm1 = pmul(y, p4f_minus_cephes_DP1);
-  xmm2 = pmul(y, p4f_minus_cephes_DP2);
-  xmm3 = pmul(y, p4f_minus_cephes_DP3);
-  x = padd(x, xmm1);
-  x = padd(x, xmm2);
-  x = padd(x, xmm3);
-
-  /* Evaluate the first polynom  (0 <= x <= Pi/4) */
-  y = p4f_coscof_p0;
-  Packet4f z = _mm_mul_ps(x,x);
-
-  y = pmadd(y, z, p4f_coscof_p1);
-  y = pmadd(y, z, p4f_coscof_p2);
-  y = pmul(y, z);
-  y = pmul(y, z);
-  Packet4f tmp = pmul(z, p4f_half);
-  y = psub(y, tmp);
-  y = padd(y, p4f_1);
-
-  /* Evaluate the second polynom  (Pi/4 <= x <= 0) */
-
-  Packet4f y2 = p4f_sincof_p0;
-  y2 = pmadd(y2, z, p4f_sincof_p1);
-  y2 = pmadd(y2, z, p4f_sincof_p2);
-  y2 = pmul(y2, z);
-  y2 = pmul(y2, x);
-  y2 = padd(y2, x);
-
-  /* select the correct result from the two polynoms */
-  y2 = _mm_and_ps(poly_mask, y2);
-  y = _mm_andnot_ps(poly_mask, y);
-  y = _mm_or_ps(y,y2);
-  /* update the sign */
-  return _mm_xor_ps(y, sign_bit);
-}
-
-/* almost the same as psin */
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f pcos<Packet4f>(const Packet4f& _x)
-{
-  Packet4f x = _x;
-  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
-  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
-
-  _EIGEN_DECLARE_CONST_Packet4i(1, 1);
-  _EIGEN_DECLARE_CONST_Packet4i(not1, ~1);
-  _EIGEN_DECLARE_CONST_Packet4i(2, 2);
-  _EIGEN_DECLARE_CONST_Packet4i(4, 4);
-
-  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1,-0.78515625f);
-  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
-  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
-  _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891E-4f);
-  _EIGEN_DECLARE_CONST_Packet4f(sincof_p1,  8.3321608736E-3f);
-  _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611E-1f);
-  _EIGEN_DECLARE_CONST_Packet4f(coscof_p0,  2.443315711809948E-005f);
-  _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765E-003f);
-  _EIGEN_DECLARE_CONST_Packet4f(coscof_p2,  4.166664568298827E-002f);
-  _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
-
-  Packet4f xmm1, xmm2, xmm3, y;
-  Packet4i emm0, emm2;
-
-  x = pabs(x);
-
-  /* scale by 4/Pi */
-  y = pmul(x, p4f_cephes_FOPI);
-
-  /* get the integer part of y */
-  emm2 = _mm_cvttps_epi32(y);
-  /* j=(j+1) & (~1) (see the cephes sources) */
-  emm2 = _mm_add_epi32(emm2, p4i_1);
-  emm2 = _mm_and_si128(emm2, p4i_not1);
-  y = _mm_cvtepi32_ps(emm2);
-
-  emm2 = _mm_sub_epi32(emm2, p4i_2);
-
-  /* get the swap sign flag */
-  emm0 = _mm_andnot_si128(emm2, p4i_4);
-  emm0 = _mm_slli_epi32(emm0, 29);
-  /* get the polynom selection mask */
-  emm2 = _mm_and_si128(emm2, p4i_2);
-  emm2 = _mm_cmpeq_epi32(emm2, _mm_setzero_si128());
-
-  Packet4f sign_bit = _mm_castsi128_ps(emm0);
-  Packet4f poly_mask = _mm_castsi128_ps(emm2);
-
-  /* The magic pass: "Extended precision modular arithmetic"
-     x = ((x - y * DP1) - y * DP2) - y * DP3; */
-  xmm1 = pmul(y, p4f_minus_cephes_DP1);
-  xmm2 = pmul(y, p4f_minus_cephes_DP2);
-  xmm3 = pmul(y, p4f_minus_cephes_DP3);
-  x = padd(x, xmm1);
-  x = padd(x, xmm2);
-  x = padd(x, xmm3);
-
-  /* Evaluate the first polynom  (0 <= x <= Pi/4) */
-  y = p4f_coscof_p0;
-  Packet4f z = pmul(x,x);
-
-  y = pmadd(y,z,p4f_coscof_p1);
-  y = pmadd(y,z,p4f_coscof_p2);
-  y = pmul(y, z);
-  y = pmul(y, z);
-  Packet4f tmp = _mm_mul_ps(z, p4f_half);
-  y = psub(y, tmp);
-  y = padd(y, p4f_1);
-
-  /* Evaluate the second polynom  (Pi/4 <= x <= 0) */
-  Packet4f y2 = p4f_sincof_p0;
-  y2 = pmadd(y2, z, p4f_sincof_p1);
-  y2 = pmadd(y2, z, p4f_sincof_p2);
-  y2 = pmul(y2, z);
-  y2 = pmadd(y2, x, x);
-
-  /* select the correct result from the two polynoms */
-  y2 = _mm_and_ps(poly_mask, y2);
-  y  = _mm_andnot_ps(poly_mask, y);
-  y  = _mm_or_ps(y,y2);
-
-  /* update the sign */
-  return _mm_xor_ps(y, sign_bit);
-}
-
-#if EIGEN_FAST_MATH
-
-// Functions for sqrt.
-// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
-// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
-// exact solution. It does not handle +inf, or denormalized numbers correctly.
-// The main advantage of this approach is not just speed, but also the fact that
-// it can be inlined and pipelined with other computations, further reducing its
-// effective latency. This is similar to Quake3's fast inverse square root.
-// For detail see here: http://www.beyond3d.com/content/articles/8/
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f psqrt<Packet4f>(const Packet4f& _x)
-{
-  Packet4f half = pmul(_x, pset1<Packet4f>(.5f));
-  Packet4f denormal_mask = _mm_and_ps(
-      _mm_cmpge_ps(_x, _mm_setzero_ps()),
-      _mm_cmplt_ps(_x, pset1<Packet4f>((std::numeric_limits<float>::min)())));
-
-  // Compute approximate reciprocal sqrt.
-  Packet4f x = _mm_rsqrt_ps(_x);
-  // Do a single step of Newton's iteration.
-  x = pmul(x, psub(pset1<Packet4f>(1.5f), pmul(half, pmul(x,x))));
-  // Flush results for denormals to zero.
-  return _mm_andnot_ps(denormal_mask, pmul(_x,x));
-}
-
-#else
-
-template<>EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f psqrt<Packet4f>(const Packet4f& x) { return _mm_sqrt_ps(x); }
-
-#endif
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d psqrt<Packet2d>(const Packet2d& x) { return _mm_sqrt_pd(x); }
-
-#if EIGEN_FAST_MATH
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f prsqrt<Packet4f>(const Packet4f& _x) {
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inf, 0x7f800000);
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(nan, 0x7fc00000);
-  _EIGEN_DECLARE_CONST_Packet4f(one_point_five, 1.5f);
-  _EIGEN_DECLARE_CONST_Packet4f(minus_half, -0.5f);
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(flt_min, 0x00800000);
-
-  Packet4f neg_half = pmul(_x, p4f_minus_half);
-
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  Packet4f le_zero_mask = _mm_cmple_ps(_x, p4f_flt_min);
-  Packet4f x = _mm_andnot_ps(le_zero_mask, _mm_rsqrt_ps(_x));
-
-  // Fill in NaNs and Infs for the negative/zero entries.
-  Packet4f neg_mask = _mm_cmplt_ps(_x, _mm_setzero_ps());
-  Packet4f zero_mask = _mm_andnot_ps(neg_mask, le_zero_mask);
-  Packet4f infs_and_nans = _mm_or_ps(_mm_and_ps(neg_mask, p4f_nan),
-                                     _mm_and_ps(zero_mask, p4f_inf));
-
-  // Do a single step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p4f_one_point_five));
-
-  // Insert NaNs and Infs in all the right places.
-  return _mm_or_ps(x, infs_and_nans);
-}
-
-#else
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f prsqrt<Packet4f>(const Packet4f& x) {
-  // Unfortunately we can't use the much faster mm_rqsrt_ps since it only provides an approximation.
-  return _mm_div_ps(pset1<Packet4f>(1.0f), _mm_sqrt_ps(x));
-}
-
-#endif
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d prsqrt<Packet2d>(const Packet2d& x) {
-  // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
-  return _mm_div_pd(pset1<Packet2d>(1.0), _mm_sqrt_pd(x));
-}
-
-// Hyperbolic Tangent function.
-template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
-ptanh<Packet4f>(const Packet4f& x) {
-  return internal::generic_fast_tanh_float(x);
-}
-
-} // end namespace internal
-
-namespace numext {
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float sqrt(const float &x)
-{
-  return internal::pfirst(internal::Packet4f(_mm_sqrt_ss(_mm_set_ss(x))));
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double sqrt(const double &x)
-{
-#if EIGEN_COMP_GNUC_STRICT
-  // This works around a GCC bug generating poor code for _mm_sqrt_pd
-  // See https://bitbucket.org/eigen/eigen/commits/14f468dba4d350d7c19c9b93072e19f7b3df563b
-  return internal::pfirst(internal::Packet2d(__builtin_ia32_sqrtsd(_mm_set_sd(x))));
-#else
-  return internal::pfirst(internal::Packet2d(_mm_sqrt_pd(_mm_set_sd(x))));
-#endif
-}
-
-} // end namespace numex
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATH_FUNCTIONS_SSE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/SSE/PacketMath.h b/phonelibs/eigen/Eigen/src/Core/arch/SSE/PacketMath.h
deleted file mode 100755
index 3832de147b92c2..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/SSE/PacketMath.h
+++ /dev/null
@@ -1,879 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_SSE_H
-#define EIGEN_PACKET_MATH_SSE_H
-
-namespace Eigen {
-
-namespace internal {
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
-#endif
-
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
-#endif
-
-#ifdef __FMA__
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD 1
-#endif
-#endif
-
-#if (defined EIGEN_VECTORIZE_AVX) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_MINGW) && (__GXX_ABI_VERSION < 1004)
-// With GCC's default ABI version, a __m128 or __m256 are the same types and therefore we cannot
-// have overloads for both types without linking error.
-// One solution is to increase ABI version using -fabi-version=4 (or greater).
-// Otherwise, we workaround this inconvenience by wrapping 128bit types into the following helper
-// structure:
-template<typename T>
-struct eigen_packet_wrapper
-{
-  EIGEN_ALWAYS_INLINE operator T&() { return m_val; }
-  EIGEN_ALWAYS_INLINE operator const T&() const { return m_val; }
-  EIGEN_ALWAYS_INLINE eigen_packet_wrapper() {}
-  EIGEN_ALWAYS_INLINE eigen_packet_wrapper(const T &v) : m_val(v) {}
-  EIGEN_ALWAYS_INLINE eigen_packet_wrapper& operator=(const T &v) {
-    m_val = v;
-    return *this;
-  }
-  
-  T m_val;
-};
-typedef eigen_packet_wrapper<__m128>  Packet4f;
-typedef eigen_packet_wrapper<__m128i> Packet4i;
-typedef eigen_packet_wrapper<__m128d> Packet2d;
-#else
-typedef __m128  Packet4f;
-typedef __m128i Packet4i;
-typedef __m128d Packet2d;
-#endif
-
-template<> struct is_arithmetic<__m128>  { enum { value = true }; };
-template<> struct is_arithmetic<__m128i> { enum { value = true }; };
-template<> struct is_arithmetic<__m128d> { enum { value = true }; };
-
-#define vec4f_swizzle1(v,p,q,r,s) \
-  (_mm_castsi128_ps(_mm_shuffle_epi32( _mm_castps_si128(v), ((s)<<6|(r)<<4|(q)<<2|(p)))))
-
-#define vec4i_swizzle1(v,p,q,r,s) \
-  (_mm_shuffle_epi32( v, ((s)<<6|(r)<<4|(q)<<2|(p))))
-
-#define vec2d_swizzle1(v,p,q) \
-  (_mm_castsi128_pd(_mm_shuffle_epi32( _mm_castpd_si128(v), ((q*2+1)<<6|(q*2)<<4|(p*2+1)<<2|(p*2)))))
-  
-#define vec4f_swizzle2(a,b,p,q,r,s) \
-  (_mm_shuffle_ps( (a), (b), ((s)<<6|(r)<<4|(q)<<2|(p))))
-
-#define vec4i_swizzle2(a,b,p,q,r,s) \
-  (_mm_castps_si128( (_mm_shuffle_ps( _mm_castsi128_ps(a), _mm_castsi128_ps(b), ((s)<<6|(r)<<4|(q)<<2|(p))))))
-
-#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
-  const Packet4f p4f_##NAME = pset1<Packet4f>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet2d(NAME,X) \
-  const Packet2d p2d_##NAME = pset1<Packet2d>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
-  const Packet4f p4f_##NAME = _mm_castsi128_ps(pset1<Packet4i>(X))
-
-#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
-  const Packet4i p4i_##NAME = pset1<Packet4i>(X)
-
-
-// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
-// to leverage AVX instructions.
-#ifndef EIGEN_VECTORIZE_AVX
-template<> struct packet_traits<float>  : default_packet_traits
-{
-  typedef Packet4f type;
-  typedef Packet4f half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-    HasHalfPacket = 0,
-
-    HasDiv  = 1,
-    HasSin  = EIGEN_FAST_MATH,
-    HasCos  = EIGEN_FAST_MATH,
-    HasLog  = 1,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasTanh  = EIGEN_FAST_MATH,
-    HasBlend = 1
-
-#ifdef EIGEN_VECTORIZE_SSE4_1
-    ,
-    HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1
-#endif
-  };
-};
-template<> struct packet_traits<double> : default_packet_traits
-{
-  typedef Packet2d type;
-  typedef Packet2d half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=2,
-    HasHalfPacket = 0,
-
-    HasDiv  = 1,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasBlend = 1
-
-#ifdef EIGEN_VECTORIZE_SSE4_1
-    ,
-    HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1
-#endif
-  };
-};
-#endif
-template<> struct packet_traits<int>    : default_packet_traits
-{
-  typedef Packet4i type;
-  typedef Packet4i half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-
-    HasBlend = 1
-  };
-};
-
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
-template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
-
-#ifndef EIGEN_VECTORIZE_AVX
-template<> struct scalar_div_cost<float,true> { enum { value = 7 }; };
-template<> struct scalar_div_cost<double,true> { enum { value = 8 }; };
-#endif
-
-#if EIGEN_COMP_MSVC==1500
-// Workaround MSVC 9 internal compiler error.
-// TODO: It has been detected with win64 builds (amd64), so let's check whether it also happens in 32bits+SSE mode
-// TODO: let's check whether there does not exist a better fix, like adding a pset0() function. (it crashed on pset1(0)).
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set_ps(from,from,from,from); }
-template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set_pd(from,from); }
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set_epi32(from,from,from,from); }
-#else
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set_ps1(from); }
-template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set1_pd(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set1_epi32(from); }
-#endif
-
-// GCC generates a shufps instruction for _mm_set1_ps/_mm_load1_ps instead of the more efficient pshufd instruction.
-// However, using inrinsics for pset1 makes gcc to generate crappy code in some cases (see bug 203)
-// Using inline assembly is also not an option because then gcc fails to reorder properly the instructions.
-// Therefore, we introduced the pload1 functions to be used in product kernels for which bug 203 does not apply.
-// Also note that with AVX, we want it to generate a vbroadcastss.
-#if EIGEN_COMP_GNUC_STRICT && (!defined __AVX__)
-template<> EIGEN_STRONG_INLINE Packet4f pload1<Packet4f>(const float *from) {
-  return vec4f_swizzle1(_mm_load_ss(from),0,0,0,0);
-}
-#endif
-  
-template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
-template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
-template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
-
-template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_add_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_add_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_add_epi32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_sub_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_sub_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_sub_epi32(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
-{
-  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
-  return _mm_xor_ps(a,mask);
-}
-template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a)
-{
-  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x80000000,0x0,0x80000000));
-  return _mm_xor_pd(a,mask);
-}
-template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
-{
-  return psub(Packet4i(_mm_setr_epi32(0,0,0,0)), a);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_mul_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_mul_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_mullo_epi32(a,b);
-#else
-  // this version is slightly faster than 4 scalar products
-  return vec4i_swizzle1(
-            vec4i_swizzle2(
-              _mm_mul_epu32(a,b),
-              _mm_mul_epu32(vec4i_swizzle1(a,1,0,3,2),
-                            vec4i_swizzle1(b,1,0,3,2)),
-              0,2,0,2),
-            0,2,1,3);
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_div_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_div_pd(a,b); }
-
-// for some weird raisons, it has to be overloaded for packet of integers
-template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
-#ifdef __FMA__
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return _mm_fmadd_ps(a,b,c); }
-template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return _mm_fmadd_pd(a,b,c); }
-#endif
-
-template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_min_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_min_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_min_epi32(a,b);
-#else
-  // after some bench, this version *is* faster than a scalar implementation
-  Packet4i mask = _mm_cmplt_epi32(a,b);
-  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_max_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_max_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_max_epi32(a,b);
-#else
-  // after some bench, this version *is* faster than a scalar implementation
-  Packet4i mask = _mm_cmpgt_epi32(a,b);
-  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
-#endif
-}
-
-#ifdef EIGEN_VECTORIZE_SSE4_1
-template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return _mm_round_ps(a, 0); }
-template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return _mm_round_pd(a, 0); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a) { return _mm_ceil_ps(a); }
-template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const Packet2d& a) { return _mm_ceil_pd(a); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return _mm_floor_ps(a); }
-template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return _mm_floor_pd(a); }
-#endif
-
-template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_and_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_and_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_and_si128(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_or_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_or_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_or_si128(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_xor_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_xor_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_xor_si128(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_andnot_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_andnot_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_andnot_si128(a,b); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_ps(from); }
-template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const __m128i*>(from)); }
-
-#if EIGEN_COMP_MSVC
-  template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*  from) {
-    EIGEN_DEBUG_UNALIGNED_LOAD
-    #if (EIGEN_COMP_MSVC==1600)
-    // NOTE Some version of MSVC10 generates bad code when using _mm_loadu_ps
-    // (i.e., it does not generate an unaligned load!!
-    __m128 res = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)(from));
-    res = _mm_loadh_pi(res, (const __m64*)(from+2));
-    return res;
-    #else
-    return _mm_loadu_ps(from);
-    #endif
-  }
-#else
-// NOTE: with the code below, MSVC's compiler crashes!
-
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
-{
-  EIGEN_DEBUG_UNALIGNED_LOAD
-  return _mm_loadu_ps(from);
-}
-#endif
-
-template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
-{
-  EIGEN_DEBUG_UNALIGNED_LOAD
-  return _mm_loadu_pd(from);
-}
-template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
-{
-  EIGEN_DEBUG_UNALIGNED_LOAD
-  return _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
-}
-
-
-template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
-{
-  return vec4f_swizzle1(_mm_castpd_ps(_mm_load_sd(reinterpret_cast<const double*>(from))), 0, 0, 1, 1);
-}
-template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*  from)
-{ return pset1<Packet2d>(from[0]); }
-template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
-{
-  Packet4i tmp;
-  tmp = _mm_loadl_epi64(reinterpret_cast<const __m128i*>(from));
-  return vec4i_swizzle1(tmp, 0, 0, 1, 1);
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_ps(to, from); }
-template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_pd(to, from); }
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<__m128i*>(to), from); }
-
-template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_pd(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_ps(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from); }
-
-template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
-{
- return _mm_set_ps(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
-}
-template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
-{
- return _mm_set_pd(from[1*stride], from[0*stride]);
-}
-template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
-{
- return _mm_set_epi32(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
- }
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
-{
-  to[stride*0] = _mm_cvtss_f32(from);
-  to[stride*1] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 1));
-  to[stride*2] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 2));
-  to[stride*3] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 3));
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
-{
-  to[stride*0] = _mm_cvtsd_f64(from);
-  to[stride*1] = _mm_cvtsd_f64(_mm_shuffle_pd(from, from, 1));
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
-{
-  to[stride*0] = _mm_cvtsi128_si32(from);
-  to[stride*1] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 1));
-  to[stride*2] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 2));
-  to[stride*3] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 3));
-}
-
-// some compilers might be tempted to perform multiple moves instead of using a vector path.
-template<> EIGEN_STRONG_INLINE void pstore1<Packet4f>(float* to, const float& a)
-{
-  Packet4f pa = _mm_set_ss(a);
-  pstore(to, Packet4f(vec4f_swizzle1(pa,0,0,0,0)));
-}
-// some compilers might be tempted to perform multiple moves instead of using a vector path.
-template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double& a)
-{
-  Packet2d pa = _mm_set_sd(a);
-  pstore(to, Packet2d(vec2d_swizzle1(pa,0,0)));
-}
-
-#ifndef EIGEN_VECTORIZE_AVX
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
-#endif
-
-#if EIGEN_COMP_MSVC_STRICT && EIGEN_OS_WIN64
-// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
-// Direct of the struct members fixed bug #62.
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
-template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
-#elif EIGEN_COMP_MSVC_STRICT
-// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
-template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
-#else
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return _mm_cvtss_f32(a); }
-template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return _mm_cvtsd_f64(a); }
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { return _mm_cvtsi128_si32(a); }
-#endif
-
-template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
-{ return _mm_shuffle_ps(a,a,0x1B); }
-template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
-{ return _mm_shuffle_pd(a,a,0x1); }
-template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
-{ return _mm_shuffle_epi32(a,0x1B); }
-
-template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a)
-{
-  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
-  return _mm_and_ps(a,mask);
-}
-template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a)
-{
-  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
-  return _mm_and_pd(a,mask);
-}
-template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a)
-{
-  #ifdef EIGEN_VECTORIZE_SSSE3
-  return _mm_abs_epi32(a);
-  #else
-  Packet4i aux = _mm_srai_epi32(a,31);
-  return _mm_sub_epi32(_mm_xor_si128(a,aux),aux);
-  #endif
-}
-
-// with AVX, the default implementations based on pload1 are faster
-#ifndef __AVX__
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet4f>(const float *a,
-                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
-{
-  a3 = pload<Packet4f>(a);
-  a0 = vec4f_swizzle1(a3, 0,0,0,0);
-  a1 = vec4f_swizzle1(a3, 1,1,1,1);
-  a2 = vec4f_swizzle1(a3, 2,2,2,2);
-  a3 = vec4f_swizzle1(a3, 3,3,3,3);
-}
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet2d>(const double *a,
-                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
-{
-#ifdef EIGEN_VECTORIZE_SSE3
-  a0 = _mm_loaddup_pd(a+0);
-  a1 = _mm_loaddup_pd(a+1);
-  a2 = _mm_loaddup_pd(a+2);
-  a3 = _mm_loaddup_pd(a+3);
-#else
-  a1 = pload<Packet2d>(a);
-  a0 = vec2d_swizzle1(a1, 0,0);
-  a1 = vec2d_swizzle1(a1, 1,1);
-  a3 = pload<Packet2d>(a+2);
-  a2 = vec2d_swizzle1(a3, 0,0);
-  a3 = vec2d_swizzle1(a3, 1,1);
-#endif
-}
-#endif
-
-EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
-{
-  vecs[1] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x55));
-  vecs[2] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xAA));
-  vecs[3] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xFF));
-  vecs[0] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x00));
-}
-
-#ifdef EIGEN_VECTORIZE_SSE3
-template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
-{
-  return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
-{
-  return _mm_hadd_pd(vecs[0], vecs[1]);
-}
-
-#else
-template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
-{
-  Packet4f tmp0, tmp1, tmp2;
-  tmp0 = _mm_unpacklo_ps(vecs[0], vecs[1]);
-  tmp1 = _mm_unpackhi_ps(vecs[0], vecs[1]);
-  tmp2 = _mm_unpackhi_ps(vecs[2], vecs[3]);
-  tmp0 = _mm_add_ps(tmp0, tmp1);
-  tmp1 = _mm_unpacklo_ps(vecs[2], vecs[3]);
-  tmp1 = _mm_add_ps(tmp1, tmp2);
-  tmp2 = _mm_movehl_ps(tmp1, tmp0);
-  tmp0 = _mm_movelh_ps(tmp0, tmp1);
-  return _mm_add_ps(tmp0, tmp2);
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
-{
-  return _mm_add_pd(_mm_unpacklo_pd(vecs[0], vecs[1]), _mm_unpackhi_pd(vecs[0], vecs[1]));
-}
-#endif  // SSE3
-
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
-  // (from Nehalem to Haswell)
-// #ifdef EIGEN_VECTORIZE_SSE3
-//   Packet4f tmp = _mm_add_ps(a, vec4f_swizzle1(a,2,3,2,3));
-//   return pfirst<Packet4f>(_mm_hadd_ps(tmp, tmp));
-// #else
-  Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
-  return pfirst<Packet4f>(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
-// #endif
-}
-
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
-{
-  // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
-  // (from Nehalem to Haswell)
-// #ifdef EIGEN_VECTORIZE_SSE3
-//   return pfirst<Packet2d>(_mm_hadd_pd(a, a));
-// #else
-  return pfirst<Packet2d>(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
-// #endif
-}
-
-#ifdef EIGEN_VECTORIZE_SSSE3
-template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
-{
-  return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
-}
-template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
-{
-  Packet4i tmp0 = _mm_hadd_epi32(a,a);
-  return pfirst<Packet4i>(_mm_hadd_epi32(tmp0,tmp0));
-}
-#else
-template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
-{
-  Packet4i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
-  return pfirst(tmp) + pfirst<Packet4i>(_mm_shuffle_epi32(tmp, 1));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
-{
-  Packet4i tmp0, tmp1, tmp2;
-  tmp0 = _mm_unpacklo_epi32(vecs[0], vecs[1]);
-  tmp1 = _mm_unpackhi_epi32(vecs[0], vecs[1]);
-  tmp2 = _mm_unpackhi_epi32(vecs[2], vecs[3]);
-  tmp0 = _mm_add_epi32(tmp0, tmp1);
-  tmp1 = _mm_unpacklo_epi32(vecs[2], vecs[3]);
-  tmp1 = _mm_add_epi32(tmp1, tmp2);
-  tmp2 = _mm_unpacklo_epi64(tmp0, tmp1);
-  tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
-  return _mm_add_epi32(tmp0, tmp2);
-}
-#endif
-// Other reduction functions:
-
-// mul
-template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
-{
-  Packet4f tmp = _mm_mul_ps(a, _mm_movehl_ps(a,a));
-  return pfirst<Packet4f>(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
-}
-template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
-{
-  return pfirst<Packet2d>(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
-}
-template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
-{
-  // after some experiments, it is seems this is the fastest way to implement it
-  // for GCC (eg., reusing pmul is very slow !)
-  // TODO try to call _mm_mul_epu32 directly
-  EIGEN_ALIGN16 int aux[4];
-  pstore(aux, a);
-  return  (aux[0] * aux[1]) * (aux[2] * aux[3]);;
-}
-
-// min
-template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
-{
-  Packet4f tmp = _mm_min_ps(a, _mm_movehl_ps(a,a));
-  return pfirst<Packet4f>(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
-}
-template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
-{
-  return pfirst<Packet2d>(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
-}
-template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  Packet4i tmp = _mm_min_epi32(a, _mm_shuffle_epi32(a, _MM_SHUFFLE(0,0,3,2)));
-  return pfirst<Packet4i>(_mm_min_epi32(tmp,_mm_shuffle_epi32(tmp, 1)));
-#else
-  // after some experiments, it is seems this is the fastest way to implement it
-  // for GCC (eg., it does not like using std::min after the pstore !!)
-  EIGEN_ALIGN16 int aux[4];
-  pstore(aux, a);
-  int aux0 = aux[0]<aux[1] ? aux[0] : aux[1];
-  int aux2 = aux[2]<aux[3] ? aux[2] : aux[3];
-  return aux0<aux2 ? aux0 : aux2;
-#endif // EIGEN_VECTORIZE_SSE4_1
-}
-
-// max
-template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
-{
-  Packet4f tmp = _mm_max_ps(a, _mm_movehl_ps(a,a));
-  return pfirst<Packet4f>(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
-}
-template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
-{
-  return pfirst<Packet2d>(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
-}
-template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  Packet4i tmp = _mm_max_epi32(a, _mm_shuffle_epi32(a, _MM_SHUFFLE(0,0,3,2)));
-  return pfirst<Packet4i>(_mm_max_epi32(tmp,_mm_shuffle_epi32(tmp, 1)));
-#else
-  // after some experiments, it is seems this is the fastest way to implement it
-  // for GCC (eg., it does not like using std::min after the pstore !!)
-  EIGEN_ALIGN16 int aux[4];
-  pstore(aux, a);
-  int aux0 = aux[0]>aux[1] ? aux[0] : aux[1];
-  int aux2 = aux[2]>aux[3] ? aux[2] : aux[3];
-  return aux0>aux2 ? aux0 : aux2;
-#endif // EIGEN_VECTORIZE_SSE4_1
-}
-
-#if EIGEN_COMP_GNUC
-// template <> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f&  a, const Packet4f&  b, const Packet4f&  c)
-// {
-//   Packet4f res = b;
-//   asm("mulps %[a], %[b] \n\taddps %[c], %[b]" : [b] "+x" (res) : [a] "x" (a), [c] "x" (c));
-//   return res;
-// }
-// EIGEN_STRONG_INLINE Packet4i _mm_alignr_epi8(const Packet4i&  a, const Packet4i&  b, const int i)
-// {
-//   Packet4i res = a;
-//   asm("palignr %[i], %[a], %[b] " : [b] "+x" (res) : [a] "x" (a), [i] "i" (i));
-//   return res;
-// }
-#endif
-
-#ifdef EIGEN_VECTORIZE_SSSE3
-// SSSE3 versions
-template<int Offset>
-struct palign_impl<Offset,Packet4f>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
-  {
-    if (Offset!=0)
-      first = _mm_castsi128_ps(_mm_alignr_epi8(_mm_castps_si128(second), _mm_castps_si128(first), Offset*4));
-  }
-};
-
-template<int Offset>
-struct palign_impl<Offset,Packet4i>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
-  {
-    if (Offset!=0)
-      first = _mm_alignr_epi8(second,first, Offset*4);
-  }
-};
-
-template<int Offset>
-struct palign_impl<Offset,Packet2d>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
-  {
-    if (Offset==1)
-      first = _mm_castsi128_pd(_mm_alignr_epi8(_mm_castpd_si128(second), _mm_castpd_si128(first), 8));
-  }
-};
-#else
-// SSE2 versions
-template<int Offset>
-struct palign_impl<Offset,Packet4f>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm_move_ss(first,second);
-      first = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(first),0x39));
-    }
-    else if (Offset==2)
-    {
-      first = _mm_movehl_ps(first,first);
-      first = _mm_movelh_ps(first,second);
-    }
-    else if (Offset==3)
-    {
-      first = _mm_move_ss(first,second);
-      first = _mm_shuffle_ps(first,second,0x93);
-    }
-  }
-};
-
-template<int Offset>
-struct palign_impl<Offset,Packet4i>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
-      first = _mm_shuffle_epi32(first,0x39);
-    }
-    else if (Offset==2)
-    {
-      first = _mm_castps_si128(_mm_movehl_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(first)));
-      first = _mm_castps_si128(_mm_movelh_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
-    }
-    else if (Offset==3)
-    {
-      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
-      first = _mm_castps_si128(_mm_shuffle_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second),0x93));
-    }
-  }
-};
-
-template<int Offset>
-struct palign_impl<Offset,Packet2d>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm_castps_pd(_mm_movehl_ps(_mm_castpd_ps(first),_mm_castpd_ps(first)));
-      first = _mm_castps_pd(_mm_movelh_ps(_mm_castpd_ps(first),_mm_castpd_ps(second)));
-    }
-  }
-};
-#endif
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4f,4>& kernel) {
-  _MM_TRANSPOSE4_PS(kernel.packet[0], kernel.packet[1], kernel.packet[2], kernel.packet[3]);
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2d,2>& kernel) {
-  __m128d tmp = _mm_unpackhi_pd(kernel.packet[0], kernel.packet[1]);
-  kernel.packet[0] = _mm_unpacklo_pd(kernel.packet[0], kernel.packet[1]);
-  kernel.packet[1] = tmp;
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4i,4>& kernel) {
-  __m128i T0 = _mm_unpacklo_epi32(kernel.packet[0], kernel.packet[1]);
-  __m128i T1 = _mm_unpacklo_epi32(kernel.packet[2], kernel.packet[3]);
-  __m128i T2 = _mm_unpackhi_epi32(kernel.packet[0], kernel.packet[1]);
-  __m128i T3 = _mm_unpackhi_epi32(kernel.packet[2], kernel.packet[3]);
-
-  kernel.packet[0] = _mm_unpacklo_epi64(T0, T1);
-  kernel.packet[1] = _mm_unpackhi_epi64(T0, T1);
-  kernel.packet[2] = _mm_unpacklo_epi64(T2, T3);
-  kernel.packet[3] = _mm_unpackhi_epi64(T2, T3);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
-  const __m128i zero = _mm_setzero_si128();
-  const __m128i select = _mm_set_epi32(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
-  __m128i false_mask = _mm_cmpeq_epi32(select, zero);
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blendv_epi8(thenPacket, elsePacket, false_mask);
-#else
-  return _mm_or_si128(_mm_andnot_si128(false_mask, thenPacket), _mm_and_si128(false_mask, elsePacket));
-#endif
-}
-template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
-  const __m128 zero = _mm_setzero_ps();
-  const __m128 select = _mm_set_ps(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
-  __m128 false_mask = _mm_cmpeq_ps(select, zero);
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blendv_ps(thenPacket, elsePacket, false_mask);
-#else
-  return _mm_or_ps(_mm_andnot_ps(false_mask, thenPacket), _mm_and_ps(false_mask, elsePacket));
-#endif
-}
-template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
-  const __m128d zero = _mm_setzero_pd();
-  const __m128d select = _mm_set_pd(ifPacket.select[1], ifPacket.select[0]);
-  __m128d false_mask = _mm_cmpeq_pd(select, zero);
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blendv_pd(thenPacket, elsePacket, false_mask);
-#else
-  return _mm_or_pd(_mm_andnot_pd(false_mask, thenPacket), _mm_and_pd(false_mask, elsePacket));
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pinsertfirst(const Packet4f& a, float b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blend_ps(a,pset1<Packet4f>(b),1);
-#else
-  return _mm_move_ss(a, _mm_load_ss(&b));
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pinsertfirst(const Packet2d& a, double b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blend_pd(a,pset1<Packet2d>(b),1);
-#else
-  return _mm_move_sd(a, _mm_load_sd(&b));
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pinsertlast(const Packet4f& a, float b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blend_ps(a,pset1<Packet4f>(b),(1<<3));
-#else
-  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x0,0x0,0x0,0xFFFFFFFF));
-  return _mm_or_ps(_mm_andnot_ps(mask, a), _mm_and_ps(mask, pset1<Packet4f>(b)));
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pinsertlast(const Packet2d& a, double b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blend_pd(a,pset1<Packet2d>(b),(1<<1));
-#else
-  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x0,0xFFFFFFFF,0xFFFFFFFF));
-  return _mm_or_pd(_mm_andnot_pd(mask, a), _mm_and_pd(mask, pset1<Packet2d>(b)));
-#endif
-}
-
-// Scalar path for pmadd with FMA to ensure consistency with vectorized path.
-#ifdef __FMA__
-template<> EIGEN_STRONG_INLINE float pmadd(const float& a, const float& b, const float& c) {
-  return ::fmaf(a,b,c);
-}
-template<> EIGEN_STRONG_INLINE double pmadd(const double& a, const double& b, const double& c) {
-  return ::fma(a,b,c);
-}
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PACKET_MATH_SSE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/SSE/TypeCasting.h b/phonelibs/eigen/Eigen/src/Core/arch/SSE/TypeCasting.h
deleted file mode 100644
index c848932306969e..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/SSE/TypeCasting.h
+++ /dev/null
@@ -1,77 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TYPE_CASTING_SSE_H
-#define EIGEN_TYPE_CASTING_SSE_H
-
-namespace Eigen {
-
-namespace internal {
-
-template <>
-struct type_casting_traits<float, int> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet4i pcast<Packet4f, Packet4i>(const Packet4f& a) {
-  return _mm_cvttps_epi32(a);
-}
-
-
-template <>
-struct type_casting_traits<int, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4i, Packet4f>(const Packet4i& a) {
-  return _mm_cvtepi32_ps(a);
-}
-
-
-template <>
-struct type_casting_traits<double, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 2,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet2d, Packet4f>(const Packet2d& a, const Packet2d& b) {
-  return _mm_shuffle_ps(_mm_cvtpd_ps(a), _mm_cvtpd_ps(b), (1 << 2) | (1 << 6));
-}
-
-template <>
-struct type_casting_traits<float, double> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 2
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet2d pcast<Packet4f, Packet2d>(const Packet4f& a) {
-  // Simply discard the second half of the input
-  return _mm_cvtps_pd(a);
-}
-
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TYPE_CASTING_SSE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/ZVector/Complex.h b/phonelibs/eigen/Eigen/src/Core/arch/ZVector/Complex.h
deleted file mode 100644
index d39d2d105e4261..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/ZVector/Complex.h
+++ /dev/null
@@ -1,394 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2016 Konstantinos Margaritis <markos@freevec.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLEX32_ALTIVEC_H
-#define EIGEN_COMPLEX32_ALTIVEC_H
-
-namespace Eigen {
-
-namespace internal {
-
-static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2d_ZERO_, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
-static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_ZERO_, 8);//{ 0x8000000000000000, 0x0000000000000000 };
-
-struct Packet1cd
-{
-  EIGEN_STRONG_INLINE Packet1cd() {}
-  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
-  Packet2d v;
-};
-
-struct Packet2cf
-{
-  EIGEN_STRONG_INLINE Packet2cf() {}
-  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
-  union {
-    Packet4f v;
-    Packet1cd cd[2];
-  };
-};
-
-template<> struct packet_traits<std::complex<float> >  : default_packet_traits
-{
-  typedef Packet2cf type;
-  typedef Packet2cf half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 2,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasBlend  = 1,
-    HasSetLinear = 0
-  };
-};
-
-
-template<> struct packet_traits<std::complex<double> >  : default_packet_traits
-{
-  typedef Packet1cd type;
-  typedef Packet1cd half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 1,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasSetLinear = 0
-  };
-};
-
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float>  type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
-
-/* Forward declaration */
-EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel);
-
-template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from)  { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from)  { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
-template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *     to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *     to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
-{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
-
-template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
-{
-  Packet2cf res;
-  res.cd[0] = Packet1cd(vec_ld2f((const float *)&from));
-  res.cd[1] = res.cd[0];
-  return res;
-}
-template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
-{
-  std::complex<float> EIGEN_ALIGN16 af[2];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
-  return pload<Packet2cf>(af);
-}
-template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride EIGEN_UNUSED)
-{
-  return pload<Packet1cd>(from);
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
-{
-  std::complex<float> EIGEN_ALIGN16 af[2];
-  pstore<std::complex<float> >((std::complex<float> *) af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride EIGEN_UNUSED)
-{
-  pstore<std::complex<double> >(to, from);
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(padd<Packet4f>(a.v, b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v + b.v); }
-template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(psub<Packet4f>(a.v, b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v - b.v); }
-template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
-template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(Packet4f(a.v))); }
-template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd((Packet2d)vec_xor((Packet2d)a.v, (Packet2d)p2ul_CONJ_XOR2)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
-{
-  Packet2cf res;
-  res.v.v4f[0] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0]))).v;
-  res.v.v4f[1] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1]))).v;
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  Packet2d a_re, a_im, v1, v2;
-
-  // Permute and multiply the real parts of a and b
-  a_re = vec_perm(a.v, a.v, p16uc_PSET64_HI);
-  // Get the imaginary parts of a
-  a_im = vec_perm(a.v, a.v, p16uc_PSET64_LO);
-  // multiply a_re * b
-  v1 = vec_madd(a_re, b.v, p2d_ZERO);
-  // multiply a_im * b and get the conjugate result
-  v2 = vec_madd(a_im, b.v, p2d_ZERO);
-  v2 = (Packet2d) vec_sld((Packet4ui)v2, (Packet4ui)v2, 8);
-  v2 = (Packet2d) vec_xor((Packet2d)v2, (Packet2d) p2ul_CONJ_XOR1);
-
-  return Packet1cd(v1 + v2);
-}
-template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  Packet2cf res;
-  res.v.v4f[0] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[0]))).v;
-  res.v.v4f[1] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[1]))).v;
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_or(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_xor(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v, vec_nor(b.v,b.v))); }
-template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pandnot<Packet4f>(a.v,b.v)); }
-
-template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>*     from) {  return pset1<Packet1cd>(*from); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*      from) {  return pset1<Packet2cf>(*from); }
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *     addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
-
-template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
-{
-  std::complex<double> EIGEN_ALIGN16 res;
-  pstore<std::complex<double> >(&res, a);
-
-  return res;
-}
-template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
-{
-  std::complex<float> EIGEN_ALIGN16 res[2];
-  pstore<std::complex<float> >(res, a);
-
-  return res[0];
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
-{
-  Packet2cf res;
-  res.cd[0] = a.cd[1];
-  res.cd[1] = a.cd[0];
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
-{
-  return pfirst(a);
-}
-template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
-{
-  std::complex<float> res;
-  Packet1cd b = padd<Packet1cd>(a.cd[0], a.cd[1]);
-  vec_st2f(b.v, (float*)&res);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)
-{
-  return vecs[0];
-}
-template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
-{
-  PacketBlock<Packet2cf,2> transpose;
-  transpose.packet[0] = vecs[0];
-  transpose.packet[1] = vecs[1];
-  ptranspose(transpose);
-
-  return padd<Packet2cf>(transpose.packet[0], transpose.packet[1]);
-} 
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
-{
-  return pfirst(a);
-}
-template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
-{
-  std::complex<float> res;
-  Packet1cd b = pmul<Packet1cd>(a.cd[0], a.cd[1]);
-  vec_st2f(b.v, (float*)&res);
-  return res;
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet1cd>
-{
-  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
-  {
-    // FIXME is it sure we never have to align a Packet1cd?
-    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
-  }
-};
-
-template<int Offset>
-struct palign_impl<Offset,Packet2cf>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2cf& first, const Packet2cf& second)
-  {
-    if (Offset == 1) {
-      first.cd[0] = first.cd[1];
-      first.cd[1] = second.cd[0];
-    }
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
-{
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
-{
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
-template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  // TODO optimize it for AltiVec
-  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
-  Packet2d s = vec_madd(b.v, b.v, p2d_ZERO_);
-  return Packet1cd(pdiv(res.v, s + vec_perm(s, s, p16uc_REVERSE64)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  // TODO optimize it for AltiVec
-  Packet2cf res;
-  res.cd[0] = pdiv<Packet1cd>(a.cd[0], b.cd[0]);
-  res.cd[1] = pdiv<Packet1cd>(a.cd[1], b.cd[1]);
-  return res;
-}
-
-EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
-{
-  return Packet1cd(preverse(Packet2d(x.v)));
-}
-
-EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
-{
-  Packet2cf res;
-  res.cd[0] = pcplxflip(x.cd[0]);
-  res.cd[1] = pcplxflip(x.cd[1]);
-  return res;
-}
-
-EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
-{
-  Packet2d tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
-  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
-  kernel.packet[0].v = tmp;
-}
-
-EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
-{
-  Packet1cd tmp = kernel.packet[0].cd[1];
-  kernel.packet[0].cd[1] = kernel.packet[1].cd[0];
-  kernel.packet[1].cd[0] = tmp;
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
-  Packet2cf result;
-  const Selector<4> ifPacket4 = { ifPacket.select[0], ifPacket.select[0], ifPacket.select[1], ifPacket.select[1] };
-  result.v = pblend<Packet4f>(ifPacket4, thenPacket.v, elsePacket.v);
-  return result;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX32_ALTIVEC_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/ZVector/MathFunctions.h b/phonelibs/eigen/Eigen/src/Core/arch/ZVector/MathFunctions.h
deleted file mode 100644
index 5c7aa7256782a7..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/ZVector/MathFunctions.h
+++ /dev/null
@@ -1,137 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007 Julien Pommier
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2016 Konstantinos Margaritis <markos@freevec.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* The sin, cos, exp, and log functions of this file come from
- * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
- */
-
-#ifndef EIGEN_MATH_FUNCTIONS_ALTIVEC_H
-#define EIGEN_MATH_FUNCTIONS_ALTIVEC_H
-
-namespace Eigen {
-
-namespace internal {
-
-static _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
-static _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
-static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
-
-static _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
-static _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d pexp<Packet2d>(const Packet2d& _x)
-{
-  Packet2d x = _x;
-
-  Packet2d tmp, fx;
-  Packet2l emm0;
-
-  // clamp x
-  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = pmadd(p2d_cephes_LOG2EF, x, p2d_half);
-
-  fx = vec_floor(fx);
-
-  tmp = pmul(fx, p2d_cephes_exp_C1);
-  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  Packet2d x2 = pmul(x,x);
-
-  Packet2d px = p2d_cephes_exp_p0;
-  px = pmadd(px, x2, p2d_cephes_exp_p1);
-  px = pmadd(px, x2, p2d_cephes_exp_p2);
-  px = pmul (px, x);
-
-  Packet2d qx = p2d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
-
-  x = pdiv(px,psub(qx,px));
-  x = pmadd(p2d_2,x,p2d_1);
-
-  // build 2^n
-  emm0 = vec_ctsl(fx, 0);
-
-  static const Packet2l p2l_1023 = { 1023, 1023 };
-  static const Packet2ul p2ul_52 = { 52, 52 };
-
-  emm0 = emm0 + p2l_1023;
-  emm0 = emm0 << reinterpret_cast<Packet2l>(p2ul_52);
-
-  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
-  // inputs and return them unmodified.
-  Packet2ul isnumber_mask = reinterpret_cast<Packet2ul>(vec_cmpeq(_x, _x));
-  return vec_sel(_x, pmax(pmul(x, reinterpret_cast<Packet2d>(emm0)), _x),
-                 isnumber_mask);
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f pexp<Packet4f>(const Packet4f& x)
-{
-  Packet4f res;
-  res.v4f[0] = pexp<Packet2d>(x.v4f[0]);
-  res.v4f[1] = pexp<Packet2d>(x.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d psqrt<Packet2d>(const Packet2d& x)
-{
-  return  __builtin_s390_vfsqdb(x);
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f psqrt<Packet4f>(const Packet4f& x)
-{
-  Packet4f res;
-  res.v4f[0] = psqrt<Packet2d>(x.v4f[0]);
-  res.v4f[1] = psqrt<Packet2d>(x.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d prsqrt<Packet2d>(const Packet2d& x) {
-  // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
-  return pset1<Packet2d>(1.0) / psqrt<Packet2d>(x);
-}
-
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f prsqrt<Packet4f>(const Packet4f& x) {
-  Packet4f res;
-  res.v4f[0] = prsqrt<Packet2d>(x.v4f[0]);
-  res.v4f[1] = prsqrt<Packet2d>(x.v4f[1]);
-  return res;
-}
-
-}  // end namespace internal
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_MATH_FUNCTIONS_ALTIVEC_H
diff --git a/phonelibs/eigen/Eigen/src/Core/arch/ZVector/PacketMath.h b/phonelibs/eigen/Eigen/src/Core/arch/ZVector/PacketMath.h
deleted file mode 100755
index 57b01fc634d638..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/arch/ZVector/PacketMath.h
+++ /dev/null
@@ -1,945 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Konstantinos Margaritis <markos@freevec.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_ZVECTOR_H
-#define EIGEN_PACKET_MATH_ZVECTOR_H
-
-#include <stdint.h>
-
-namespace Eigen {
-
-namespace internal {
-
-#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
-#endif
-
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#endif
-
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#endif
-
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS  16
-#endif
-
-typedef __vector int                 Packet4i;
-typedef __vector unsigned int        Packet4ui;
-typedef __vector __bool int          Packet4bi;
-typedef __vector short int           Packet8i;
-typedef __vector unsigned char       Packet16uc;
-typedef __vector double              Packet2d;
-typedef __vector unsigned long long  Packet2ul;
-typedef __vector long long           Packet2l;
-
-typedef struct {
-	Packet2d  v4f[2];
-} Packet4f;
-
-typedef union {
-  int32_t   i[4];
-  uint32_t ui[4];
-  int64_t   l[2];
-  uint64_t ul[2];
-  double    d[2];
-  Packet4i  v4i;
-  Packet4ui v4ui;
-  Packet2l  v2l;
-  Packet2ul v2ul;
-  Packet2d  v2d;
-} Packet;
-
-// We don't want to write the same code all the time, but we need to reuse the constants
-// and it doesn't really work to declare them global, so we define macros instead
-
-#define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
-  Packet4i p4i_##NAME = reinterpret_cast<Packet4i>(vec_splat_s32(X))
-
-#define _EIGEN_DECLARE_CONST_FAST_Packet2d(NAME,X) \
-  Packet2d p2d_##NAME = reinterpret_cast<Packet2d>(vec_splat_s64(X))
-
-#define _EIGEN_DECLARE_CONST_FAST_Packet2l(NAME,X) \
-  Packet2l p2l_##NAME = reinterpret_cast<Packet2l>(vec_splat_s64(X))
-
-#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
-  Packet4i p4i_##NAME = pset1<Packet4i>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet2d(NAME,X) \
-  Packet2d p2d_##NAME = pset1<Packet2d>(X)
-
-#define _EIGEN_DECLARE_CONST_Packet2l(NAME,X) \
-  Packet2l p2l_##NAME = pset1<Packet2l>(X)
-
-// These constants are endian-agnostic
-//static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE, 1); //{ 1, 1, 1, 1}
-
-static _EIGEN_DECLARE_CONST_FAST_Packet2d(ZERO, 0);
-static _EIGEN_DECLARE_CONST_FAST_Packet2l(ZERO, 0);
-static _EIGEN_DECLARE_CONST_FAST_Packet2l(ONE, 1);
-
-static Packet2d p2d_ONE = { 1.0, 1.0 }; 
-static Packet2d p2d_ZERO_ = { -0.0, -0.0 };
-
-static Packet4i p4i_COUNTDOWN = { 0, 1, 2, 3 };
-static Packet4f p4f_COUNTDOWN = { 0.0, 1.0, 2.0, 3.0 };
-static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet16uc>(p2d_ZERO), reinterpret_cast<Packet16uc>(p2d_ONE), 8));
-
-static Packet16uc p16uc_PSET64_HI = { 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
-static Packet16uc p16uc_DUPLICATE32_HI = { 0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7 };
-
-// Mask alignment
-#define _EIGEN_MASK_ALIGNMENT	0xfffffffffffffff0
-
-#define _EIGEN_ALIGNED_PTR(x)	((std::ptrdiff_t)(x) & _EIGEN_MASK_ALIGNMENT)
-
-// Handle endianness properly while loading constants
-// Define global static constants:
-
-static Packet16uc p16uc_FORWARD =   { 0,1,2,3, 4,5,6,7, 8,9,10,11, 12,13,14,15 };
-static Packet16uc p16uc_REVERSE32 = { 12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3 };
-static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
-
-static Packet16uc p16uc_PSET32_WODD   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
-static Packet16uc p16uc_PSET32_WEVEN  = vec_sld(p16uc_DUPLICATE32_HI, (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
-/*static Packet16uc p16uc_HALF64_0_16 = vec_sld((Packet16uc)p4i_ZERO, vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 3), 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
-
-static Packet16uc p16uc_PSET64_HI = (Packet16uc) vec_mergeh((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };*/
-static Packet16uc p16uc_PSET64_LO = (Packet16uc) vec_mergel((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
-/*static Packet16uc p16uc_TRANSPOSE64_HI = vec_add(p16uc_PSET64_HI, p16uc_HALF64_0_16);                                         //{ 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
-static Packet16uc p16uc_TRANSPOSE64_LO = vec_add(p16uc_PSET64_LO, p16uc_HALF64_0_16);                                         //{ 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};*/
-static Packet16uc p16uc_TRANSPOSE64_HI = { 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
-static Packet16uc p16uc_TRANSPOSE64_LO = { 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};
-
-//static Packet16uc p16uc_COMPLEX32_REV = vec_sld(p16uc_REVERSE32, p16uc_REVERSE32, 8);                                         //{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
-
-//static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
-
-
-#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
-  #define EIGEN_ZVECTOR_PREFETCH(ADDR) __builtin_prefetch(ADDR);
-#else
-  #define EIGEN_ZVECTOR_PREFETCH(ADDR) asm( "   pfd [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
-#endif
-
-template<> struct packet_traits<int>    : default_packet_traits
-{
-  typedef Packet4i type;
-  typedef Packet4i half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 4,
-    HasHalfPacket = 0,
-
-    HasAdd  = 1,
-    HasSub  = 1,
-    HasMul  = 1,
-    HasDiv  = 1,
-    HasBlend = 1
-  };
-};
-
-template<> struct packet_traits<float> : default_packet_traits
-{
-  typedef Packet4f type;
-  typedef Packet4f half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-    HasHalfPacket = 0,
-
-    HasAdd  = 1,
-    HasSub  = 1,
-    HasMul  = 1,
-    HasDiv  = 1,
-    HasMin  = 1,
-    HasMax  = 1,
-    HasAbs  = 1,
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1,
-    HasNegate = 1,
-    HasBlend = 1
-  };
-};
-
-template<> struct packet_traits<double> : default_packet_traits
-{
-  typedef Packet2d type;
-  typedef Packet2d half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=2,
-    HasHalfPacket = 1,
-
-    HasAdd  = 1,
-    HasSub  = 1,
-    HasMul  = 1,
-    HasDiv  = 1,
-    HasMin  = 1,
-    HasMax  = 1,
-    HasAbs  = 1,
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1,
-    HasNegate = 1,
-    HasBlend = 1
-  };
-};
-
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
-template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
-
-/* Forward declaration */
-EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet4f,4>& kernel);
- 
-inline std::ostream & operator <<(std::ostream & s, const Packet4i & v)
-{
-  Packet vt;
-  vt.v4i = v;
-  s << vt.i[0] << ", " << vt.i[1] << ", " << vt.i[2] << ", " << vt.i[3];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
-{
-  Packet vt;
-  vt.v4ui = v;
-  s << vt.ui[0] << ", " << vt.ui[1] << ", " << vt.ui[2] << ", " << vt.ui[3];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const Packet2l & v)
-{
-  Packet vt;
-  vt.v2l = v;
-  s << vt.l[0] << ", " << vt.l[1];
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const Packet2ul & v)
-{
-  Packet vt;
-  vt.v2ul = v;
-  s << vt.ul[0] << ", " << vt.ul[1] ;
-  return s;
-}
-
-inline std::ostream & operator <<(std::ostream & s, const Packet2d & v)
-{
-  Packet vt;
-  vt.v2d = v;
-  s << vt.d[0] << ", " << vt.d[1];
-  return s;
-}
-
-/* Helper function to simulate a vec_splat_packet4f
- */
-template<int element> EIGEN_STRONG_INLINE Packet4f vec_splat_packet4f(const Packet4f&   from)
-{
-  Packet4f splat;
-  switch (element) {
-  case 0:
-    splat.v4f[0] = vec_splat(from.v4f[0], 0);
-    splat.v4f[1] = splat.v4f[0];
-    break;
-  case 1:
-    splat.v4f[0] = vec_splat(from.v4f[0], 1);
-    splat.v4f[1] = splat.v4f[0];
-    break;
-  case 2:
-    splat.v4f[0] = vec_splat(from.v4f[1], 0);
-    splat.v4f[1] = splat.v4f[0];
-    break;
-  case 3:
-    splat.v4f[0] = vec_splat(from.v4f[1], 1);
-    splat.v4f[1] = splat.v4f[0];
-    break;
-  }
-  return splat;
-}
-
-template<int Offset>
-struct palign_impl<Offset,Packet4i>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
-  {
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(first, second, 4); break;
-    case 2:
-      first = vec_sld(first, second, 8); break;
-    case 3:
-      first = vec_sld(first, second, 12); break;
-    }
-  }
-};
-
-/* This is a tricky one, we have to translate float alignment to vector elements of sizeof double
- */
-template<int Offset>
-struct palign_impl<Offset,Packet4f>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
-  {
-    switch (Offset % 4) {
-    case 1:
-      first.v4f[0] = vec_sld(first.v4f[0], first.v4f[1], 8);
-      first.v4f[1] = vec_sld(first.v4f[1], second.v4f[0], 8);
-      break;
-    case 2:
-      first.v4f[0] = first.v4f[1];
-      first.v4f[1] = second.v4f[0];
-      break;
-    case 3:
-      first.v4f[0] = vec_sld(first.v4f[1],  second.v4f[0], 8);
-      first.v4f[1] = vec_sld(second.v4f[0], second.v4f[1], 8);
-      break;
-    }
-  }
-};
-
-
-template<int Offset>
-struct palign_impl<Offset,Packet2d>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
-  {
-    if (Offset == 1)
-      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(first), reinterpret_cast<Packet4i>(second), 8));
-  }
-};
-
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
-{
-  // FIXME: No intrinsic yet
-  EIGEN_DEBUG_ALIGNED_LOAD
-  Packet *vfrom;
-  vfrom = (Packet *) from;
-  return vfrom->v4i;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from)
-{
-  // FIXME: No intrinsic yet
-  EIGEN_DEBUG_ALIGNED_LOAD
-  Packet4f vfrom;
-  vfrom.v4f[0] = vec_ld2f(&from[0]);
-  vfrom.v4f[1] = vec_ld2f(&from[2]);
-  return vfrom;
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
-{
-  // FIXME: No intrinsic yet
-  EIGEN_DEBUG_ALIGNED_LOAD
-  Packet *vfrom;
-  vfrom = (Packet *) from;
-  return vfrom->v2d;
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from)
-{
-  // FIXME: No intrinsic yet
-  EIGEN_DEBUG_ALIGNED_STORE
-  Packet *vto;
-  vto = (Packet *) to;
-  vto->v4i = from;
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
-{
-  // FIXME: No intrinsic yet
-  EIGEN_DEBUG_ALIGNED_STORE
-  vec_st2f(from.v4f[0], &to[0]);
-  vec_st2f(from.v4f[1], &to[2]);
-}
-
-
-template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from)
-{
-  // FIXME: No intrinsic yet
-  EIGEN_DEBUG_ALIGNED_STORE
-  Packet *vto;
-  vto = (Packet *) to;
-  vto->v2d = from;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)
-{
-  return vec_splats(from);
-}
-template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) {
-  return vec_splats(from);
-}
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&    from)
-{
-  Packet4f to;
-  to.v4f[0] = pset1<Packet2d>(static_cast<const double&>(from));
-  to.v4f[1] = to.v4f[0];
-  return to;
-}
-
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet4i>(const int *a,
-                      Packet4i& a0, Packet4i& a1, Packet4i& a2, Packet4i& a3)
-{
-  a3 = pload<Packet4i>(a);
-  a0 = vec_splat(a3, 0);
-  a1 = vec_splat(a3, 1);
-  a2 = vec_splat(a3, 2);
-  a3 = vec_splat(a3, 3);
-}
-
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet4f>(const float *a,
-                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
-{
-  a3 = pload<Packet4f>(a);
-  a0 = vec_splat_packet4f<0>(a3);
-  a1 = vec_splat_packet4f<1>(a3);
-  a2 = vec_splat_packet4f<2>(a3);
-  a3 = vec_splat_packet4f<3>(a3);
-}
-
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet2d>(const double *a,
-                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
-{
-  a1 = pload<Packet2d>(a);
-  a0 = vec_splat(a1, 0);
-  a1 = vec_splat(a1, 1);
-  a3 = pload<Packet2d>(a+2);
-  a2 = vec_splat(a3, 0);
-  a3 = vec_splat(a3, 1);
-}
-
-template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
-{
-  int EIGEN_ALIGN16 ai[4];
-  ai[0] = from[0*stride];
-  ai[1] = from[1*stride];
-  ai[2] = from[2*stride];
-  ai[3] = from[3*stride];
- return pload<Packet4i>(ai);
-}
-
-template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
-{
-  float EIGEN_ALIGN16 ai[4];
-  ai[0] = from[0*stride];
-  ai[1] = from[1*stride];
-  ai[2] = from[2*stride];
-  ai[3] = from[3*stride];
- return pload<Packet4f>(ai);
-}
-
-template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
-{
-  double EIGEN_ALIGN16 af[2];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
- return pload<Packet2d>(af);
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
-{
-  int EIGEN_ALIGN16 ai[4];
-  pstore<int>((int *)ai, from);
-  to[0*stride] = ai[0];
-  to[1*stride] = ai[1];
-  to[2*stride] = ai[2];
-  to[3*stride] = ai[3];
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
-{
-  float EIGEN_ALIGN16 ai[4];
-  pstore<float>((float *)ai, from);
-  to[0*stride] = ai[0];
-  to[1*stride] = ai[1];
-  to[2*stride] = ai[2];
-  to[3*stride] = ai[3];
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
-{
-  double EIGEN_ALIGN16 af[2];
-  pstore<double>(af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a + b); }
-template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f c;
-  c.v4f[0] = a.v4f[0] + b.v4f[0];
-  c.v4f[1] = a.v4f[1] + b.v4f[1];
-  return c;
-}
-template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a + b); }
-
-template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a - b); }
-template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f c;
-  c.v4f[0] = a.v4f[0] - b.v4f[0];
-  c.v4f[1] = a.v4f[1] - b.v4f[1];
-  return c;
-}
-template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a - b); }
-
-template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a * b); }
-template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f c;
-  c.v4f[0] = a.v4f[0] * b.v4f[0];
-  c.v4f[1] = a.v4f[1] * b.v4f[1];
-  return c;
-}
-template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a * b); }
-
-template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a / b); }
-template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f c;
-  c.v4f[0] = a.v4f[0] / b.v4f[0];
-  c.v4f[1] = a.v4f[1] / b.v4f[1];
-  return c;
-}
-template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a / b); }
-
-template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return (-a); }
-template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
-{
-  Packet4f c;
-  c.v4f[0] = -a.v4f[0];
-  c.v4f[1] = -a.v4f[1];
-  return c;
-}
-template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return (-a); }
-
-template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd<Packet4i>(pmul<Packet4i>(a, b), c); }
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
-{
-  Packet4f res;
-  res.v4f[0] = vec_madd(a.v4f[0], b.v4f[0], c.v4f[0]);
-  res.v4f[1] = vec_madd(a.v4f[1], b.v4f[1], c.v4f[1]);
-  return res;
-}
-template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vec_madd(a, b, c); }
-
-template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)    { return padd<Packet4i>(pset1<Packet4i>(a), p4i_COUNTDOWN); }
-template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)  { return padd<Packet4f>(pset1<Packet4f>(a), p4f_COUNTDOWN); }
-template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return padd<Packet2d>(pset1<Packet2d>(a), p2d_COUNTDOWN); }
-
-template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
-template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_min(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pmin(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pmin(a.v4f[1], b.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
-template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_max(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pmax(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pmax(a.v4f[1], b.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
-template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_or(a, b); }
-template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_or(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_xor(a, b); }
-template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_xor(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return pand<Packet4i>(a, vec_nor(b, b)); }
-template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, vec_nor(b, b)); }
-template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pandnot(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pandnot(a.v4f[1], b.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a)
-{
-  Packet4f res;
-  res.v4f[0] = vec_round(a.v4f[0]);
-  res.v4f[1] = vec_round(a.v4f[1]);
-  return res;
-}
-template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return vec_round(a); }
-template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a)
-{
-  Packet4f res;
-  res.v4f[0] = vec_ceil(a.v4f[0]);
-  res.v4f[1] = vec_ceil(a.v4f[1]);
-  return res;
-}
-template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const  Packet2d& a) { return vec_ceil(a); }
-template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a)
-{
-  Packet4f res;
-  res.v4f[0] = vec_floor(a.v4f[0]);
-  res.v4f[1] = vec_floor(a.v4f[1]);
-  return res;
-}
-template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return vec_floor(a); }
-
-template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int*       from) { return pload<Packet4i>(from); }
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*     from) { return pload<Packet4f>(from); }
-template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double*    from) { return pload<Packet2d>(from); }
-
-
-template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
-{
-  Packet4i p = pload<Packet4i>(from);
-  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*    from)
-{
-  Packet4f p = pload<Packet4f>(from);
-  p.v4f[1] = vec_splat(p.v4f[0], 1);
-  p.v4f[0] = vec_splat(p.v4f[0], 0);
-  return p;
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
-{
-  Packet2d p = pload<Packet2d>(from);
-  return vec_perm(p, p, p16uc_PSET64_HI);
-}
-
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*        to, const Packet4i& from) { pstore<int>(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*    to, const Packet4f& from) { pstore<float>(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from) { pstore<double>(to, from); }
-
-template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
-template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
-
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int    EIGEN_ALIGN16 x[4]; pstore(x, a); return x[0]; }
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float  EIGEN_ALIGN16 x[2]; vec_st2f(a.v4f[0], &x[0]); return x[0]; }
-template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double EIGEN_ALIGN16 x[2]; pstore(x, a); return x[0]; }
-
-template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
-{
-  return reinterpret_cast<Packet4i>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
-{
-  return reinterpret_cast<Packet2d>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE64));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
-{
-  Packet4f rev;
-  rev.v4f[0] = preverse<Packet2d>(a.v4f[1]);
-  rev.v4f[1] = preverse<Packet2d>(a.v4f[0]);
-  return rev;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pabs<Packet4i>(const Packet4i& a) { return vec_abs(a); }
-template<> EIGEN_STRONG_INLINE Packet2d pabs<Packet2d>(const Packet2d& a) { return vec_abs(a); }
-template<> EIGEN_STRONG_INLINE Packet4f pabs<Packet4f>(const Packet4f& a)
-{
-  Packet4f res;
-  res.v4f[0] = pabs(a.v4f[0]);
-  res.v4f[1] = pabs(a.v4f[1]);
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
-{
-  Packet4i b, sum;
-  b   = vec_sld(a, a, 8);
-  sum = padd<Packet4i>(a, b);
-  b   = vec_sld(sum, sum, 4);
-  sum = padd<Packet4i>(sum, b);
-  return pfirst(sum);
-}
-
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
-{
-  Packet2d b, sum;
-  b   = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8));
-  sum = padd<Packet2d>(a, b);
-  return pfirst(sum);
-}
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  Packet2d sum;
-  sum = padd<Packet2d>(a.v4f[0], a.v4f[1]);
-  double first = predux<Packet2d>(sum);
-  return static_cast<float>(first);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
-{
-  Packet4i v[4], sum[4];
-
-  // It's easier and faster to transpose then add as columns
-  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
-  // Do the transpose, first set of moves
-  v[0] = vec_mergeh(vecs[0], vecs[2]);
-  v[1] = vec_mergel(vecs[0], vecs[2]);
-  v[2] = vec_mergeh(vecs[1], vecs[3]);
-  v[3] = vec_mergel(vecs[1], vecs[3]);
-  // Get the resulting vectors
-  sum[0] = vec_mergeh(v[0], v[2]);
-  sum[1] = vec_mergel(v[0], v[2]);
-  sum[2] = vec_mergeh(v[1], v[3]);
-  sum[3] = vec_mergel(v[1], v[3]);
-
-  // Now do the summation:
-  // Lines 0+1
-  sum[0] = padd<Packet4i>(sum[0], sum[1]);
-  // Lines 2+3
-  sum[1] = padd<Packet4i>(sum[2], sum[3]);
-  // Add the results
-  sum[0] = padd<Packet4i>(sum[0], sum[1]);
-
-  return sum[0];
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
-{
-  Packet2d v[2], sum;
-  v[0] = padd<Packet2d>(vecs[0], reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(vecs[0]), reinterpret_cast<Packet4ui>(vecs[0]), 8)));
-  v[1] = padd<Packet2d>(vecs[1], reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(vecs[1]), reinterpret_cast<Packet4ui>(vecs[1]), 8)));
- 
-  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v[0]), reinterpret_cast<Packet4ui>(v[1]), 8));
-
-  return sum;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
-{
-  PacketBlock<Packet4f,4> transpose;
-  transpose.packet[0] = vecs[0];
-  transpose.packet[1] = vecs[1];
-  transpose.packet[2] = vecs[2];
-  transpose.packet[3] = vecs[3];
-  ptranspose(transpose);
-
-  Packet4f sum = padd(transpose.packet[0], transpose.packet[1]);
-  sum = padd(sum, transpose.packet[2]);
-  sum = padd(sum, transpose.packet[3]);
-  return sum;
-}
-
-// Other reduction functions:
-// mul
-template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
-{
-  EIGEN_ALIGN16 int aux[4];
-  pstore(aux, a);
-  return aux[0] * aux[1] * aux[2] * aux[3];
-}
-
-template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
-{
-  return pfirst(pmul(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
-}
-
-template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
-{
-  // Return predux_mul<Packet2d> of the subvectors product
-  return static_cast<float>(pfirst(predux_mul(pmul(a.v4f[0], a.v4f[1]))));
-}
-
-// min
-template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
-{
-  Packet4i b, res;
-  b   = pmin<Packet4i>(a, vec_sld(a, a, 8));
-  res = pmin<Packet4i>(b, vec_sld(b, b, 4));
-  return pfirst(res);
-}
-
-template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
-{
-  return pfirst(pmin<Packet2d>(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
-}
-
-template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
-{
-  Packet2d b, res;
-  b   = pmin<Packet2d>(a.v4f[0], a.v4f[1]);
-  res = pmin<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
-  return static_cast<float>(pfirst(res));
-}
-
-// max
-template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
-{
-  Packet4i b, res;
-  b = pmax<Packet4i>(a, vec_sld(a, a, 8));
-  res = pmax<Packet4i>(b, vec_sld(b, b, 4));
-  return pfirst(res);
-}
-
-// max
-template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
-{
-  return pfirst(pmax<Packet2d>(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
-}
-
-template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
-{
-  Packet2d b, res;
-  b   = pmax<Packet2d>(a.v4f[0], a.v4f[1]);
-  res = pmax<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
-  return static_cast<float>(pfirst(res));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4i,4>& kernel) {
-  Packet4i t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
-  Packet4i t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
-  Packet4i t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
-  Packet4i t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
-  kernel.packet[0] = vec_mergeh(t0, t2);
-  kernel.packet[1] = vec_mergel(t0, t2);
-  kernel.packet[2] = vec_mergeh(t1, t3);
-  kernel.packet[3] = vec_mergel(t1, t3);
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2d,2>& kernel) {
-  Packet2d t0 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_HI);
-  Packet2d t1 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_LO);
-  kernel.packet[0] = t0;
-  kernel.packet[1] = t1;
-}
-
-/* Split the Packet4f PacketBlock into 4 Packet2d PacketBlocks and transpose each one
- */
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4f,4>& kernel) {
-  PacketBlock<Packet2d,2> t0,t1,t2,t3;
-  // copy top-left 2x2 Packet2d block
-  t0.packet[0] = kernel.packet[0].v4f[0];
-  t0.packet[1] = kernel.packet[1].v4f[0];
-
-  // copy top-right 2x2 Packet2d block
-  t1.packet[0] = kernel.packet[0].v4f[1];
-  t1.packet[1] = kernel.packet[1].v4f[1];
-
-  // copy bottom-left 2x2 Packet2d block
-  t2.packet[0] = kernel.packet[2].v4f[0];
-  t2.packet[1] = kernel.packet[3].v4f[0];
-
-  // copy bottom-right 2x2 Packet2d block
-  t3.packet[0] = kernel.packet[2].v4f[1];
-  t3.packet[1] = kernel.packet[3].v4f[1];
-
-  // Transpose all 2x2 blocks
-  ptranspose(t0);
-  ptranspose(t1);
-  ptranspose(t2);
-  ptranspose(t3);
-
-  // Copy back transposed blocks, but exchange t1 and t2 due to transposition
-  kernel.packet[0].v4f[0] = t0.packet[0];
-  kernel.packet[0].v4f[1] = t2.packet[0];
-  kernel.packet[1].v4f[0] = t0.packet[1];
-  kernel.packet[1].v4f[1] = t2.packet[1];
-  kernel.packet[2].v4f[0] = t1.packet[0];
-  kernel.packet[2].v4f[1] = t3.packet[0];
-  kernel.packet[3].v4f[0] = t1.packet[1];
-  kernel.packet[3].v4f[1] = t3.packet[1];
-}
-
-template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
-  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
-  Packet4ui mask = vec_cmpeq(select, reinterpret_cast<Packet4ui>(p4i_ONE));
-  return vec_sel(elsePacket, thenPacket, mask);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
-  Packet2ul select_hi = { ifPacket.select[0], ifPacket.select[1] };
-  Packet2ul select_lo = { ifPacket.select[2], ifPacket.select[3] };
-  Packet2ul mask_hi = vec_cmpeq(select_hi, reinterpret_cast<Packet2ul>(p2l_ONE));
-  Packet2ul mask_lo = vec_cmpeq(select_lo, reinterpret_cast<Packet2ul>(p2l_ONE));
-  Packet4f result;
-  result.v4f[0] = vec_sel(elsePacket.v4f[0], thenPacket.v4f[0], mask_hi);
-  result.v4f[1] = vec_sel(elsePacket.v4f[1], thenPacket.v4f[1], mask_lo);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
-  Packet2ul select = { ifPacket.select[0], ifPacket.select[1] };
-  Packet2ul mask = vec_cmpeq(select, reinterpret_cast<Packet2ul>(p2l_ONE));
-  return vec_sel(elsePacket, thenPacket, mask);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PACKET_MATH_ZVECTOR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/functors/AssignmentFunctors.h b/phonelibs/eigen/Eigen/src/Core/functors/AssignmentFunctors.h
deleted file mode 100644
index 4153b877cffd64..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/functors/AssignmentFunctors.h
+++ /dev/null
@@ -1,168 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ASSIGNMENT_FUNCTORS_H
-#define EIGEN_ASSIGNMENT_FUNCTORS_H
-
-namespace Eigen {
-
-namespace internal {
-  
-/** \internal
-  * \brief Template functor for scalar/packet assignment
-  *
-  */
-template<typename DstScalar,typename SrcScalar> struct assign_op {
-
-  EIGEN_EMPTY_STRUCT_CTOR(assign_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
-  
-  template<int Alignment, typename Packet>
-  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
-  { internal::pstoret<DstScalar,Packet,Alignment>(a,b); }
-};
-
-// Empty overload for void type (used by PermutationMatrix)
-template<typename DstScalar> struct assign_op<DstScalar,void> {};
-
-template<typename DstScalar,typename SrcScalar>
-struct functor_traits<assign_op<DstScalar,SrcScalar> > {
-  enum {
-    Cost = NumTraits<DstScalar>::ReadCost,
-    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::Vectorizable && packet_traits<SrcScalar>::Vectorizable
-  };
-};
-
-/** \internal
-  * \brief Template functor for scalar/packet assignment with addition
-  *
-  */
-template<typename DstScalar,typename SrcScalar> struct add_assign_op {
-
-  EIGEN_EMPTY_STRUCT_CTOR(add_assign_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a += b; }
-  
-  template<int Alignment, typename Packet>
-  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
-  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::padd(internal::ploadt<Packet,Alignment>(a),b)); }
-};
-template<typename DstScalar,typename SrcScalar>
-struct functor_traits<add_assign_op<DstScalar,SrcScalar> > {
-  enum {
-    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::AddCost,
-    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasAdd
-  };
-};
-
-/** \internal
-  * \brief Template functor for scalar/packet assignment with subtraction
-  *
-  */
-template<typename DstScalar,typename SrcScalar> struct sub_assign_op {
-
-  EIGEN_EMPTY_STRUCT_CTOR(sub_assign_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a -= b; }
-  
-  template<int Alignment, typename Packet>
-  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
-  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::psub(internal::ploadt<Packet,Alignment>(a),b)); }
-};
-template<typename DstScalar,typename SrcScalar>
-struct functor_traits<sub_assign_op<DstScalar,SrcScalar> > {
-  enum {
-    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::AddCost,
-    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasSub
-  };
-};
-
-/** \internal
-  * \brief Template functor for scalar/packet assignment with multiplication
-  *
-  */
-template<typename DstScalar, typename SrcScalar=DstScalar>
-struct mul_assign_op {
-
-  EIGEN_EMPTY_STRUCT_CTOR(mul_assign_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a *= b; }
-  
-  template<int Alignment, typename Packet>
-  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
-  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::pmul(internal::ploadt<Packet,Alignment>(a),b)); }
-};
-template<typename DstScalar, typename SrcScalar>
-struct functor_traits<mul_assign_op<DstScalar,SrcScalar> > {
-  enum {
-    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::MulCost,
-    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasMul
-  };
-};
-
-/** \internal
-  * \brief Template functor for scalar/packet assignment with diviving
-  *
-  */
-template<typename DstScalar, typename SrcScalar=DstScalar> struct div_assign_op {
-
-  EIGEN_EMPTY_STRUCT_CTOR(div_assign_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a /= b; }
-  
-  template<int Alignment, typename Packet>
-  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
-  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::pdiv(internal::ploadt<Packet,Alignment>(a),b)); }
-};
-template<typename DstScalar, typename SrcScalar>
-struct functor_traits<div_assign_op<DstScalar,SrcScalar> > {
-  enum {
-    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::MulCost,
-    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasDiv
-  };
-};
-
-/** \internal
-  * \brief Template functor for scalar/packet assignment with swapping
-  *
-  * It works as follow. For a non-vectorized evaluation loop, we have:
-  *   for(i) func(A.coeffRef(i), B.coeff(i));
-  * where B is a SwapWrapper expression. The trick is to make SwapWrapper::coeff behaves like a non-const coeffRef.
-  * Actually, SwapWrapper might not even be needed since even if B is a plain expression, since it has to be writable
-  * B.coeff already returns a const reference to the underlying scalar value.
-  * 
-  * The case of a vectorized loop is more tricky:
-  *   for(i,j) func.assignPacket<A_Align>(&A.coeffRef(i,j), B.packet<B_Align>(i,j));
-  * Here, B must be a SwapWrapper whose packet function actually returns a proxy object holding a Scalar*,
-  * the actual alignment and Packet type.
-  *
-  */
-template<typename Scalar> struct swap_assign_op {
-
-  EIGEN_EMPTY_STRUCT_CTOR(swap_assign_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Scalar& a, const Scalar& b) const
-  {
-#ifdef __CUDACC__
-    // FIXME is there some kind of cuda::swap?
-    Scalar t=b; const_cast<Scalar&>(b)=a; a=t;
-#else
-    using std::swap;
-    swap(a,const_cast<Scalar&>(b));
-#endif
-  }
-};
-template<typename Scalar>
-struct functor_traits<swap_assign_op<Scalar> > {
-  enum {
-    Cost = 3 * NumTraits<Scalar>::ReadCost,
-    PacketAccess = packet_traits<Scalar>::Vectorizable
-  };
-};
-
-} // namespace internal
-
-} // namespace Eigen
-
-#endif // EIGEN_ASSIGNMENT_FUNCTORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/functors/BinaryFunctors.h b/phonelibs/eigen/Eigen/src/Core/functors/BinaryFunctors.h
deleted file mode 100644
index 96747bac784f17..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/functors/BinaryFunctors.h
+++ /dev/null
@@ -1,482 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BINARY_FUNCTORS_H
-#define EIGEN_BINARY_FUNCTORS_H
-
-namespace Eigen {
-
-namespace internal {
-
-//---------- associative binary functors ----------
-
-template<typename Arg1, typename Arg2>
-struct binary_op_base
-{
-  typedef Arg1 first_argument_type;
-  typedef Arg2 second_argument_type;
-};
-
-/** \internal
-  * \brief Template functor to compute the sum of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator+, class VectorwiseOp, DenseBase::sum()
-  */
-template<typename LhsScalar,typename RhsScalar>
-struct scalar_sum_op : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_sum_op>::ReturnType result_type;
-#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
-#else
-  scalar_sum_op() {
-    EIGEN_SCALAR_BINARY_OP_PLUGIN
-  }
-#endif
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a + b; }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::padd(a,b); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
-  { return internal::predux(a); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_sum_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2, // rough estimate!
-    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasAdd && packet_traits<RhsScalar>::HasAdd
-    // TODO vectorize mixed sum
-  };
-};
-
-/** \internal
-  * \brief Template specialization to deprecate the summation of boolean expressions.
-  * This is required to solve Bug 426.
-  * \sa DenseBase::count(), DenseBase::any(), ArrayBase::cast(), MatrixBase::cast()
-  */
-template<> struct scalar_sum_op<bool,bool> : scalar_sum_op<int,int> {
-  EIGEN_DEPRECATED
-  scalar_sum_op() {}
-};
-
-
-/** \internal
-  * \brief Template functor to compute the product of two scalars
-  *
-  * \sa class CwiseBinaryOp, Cwise::operator*(), class VectorwiseOp, MatrixBase::redux()
-  */
-template<typename LhsScalar,typename RhsScalar>
-struct scalar_product_op  : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_product_op>::ReturnType result_type;
-#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
-#else
-  scalar_product_op() {
-    EIGEN_SCALAR_BINARY_OP_PLUGIN
-  }
-#endif
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pmul(a,b); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
-  { return internal::predux_mul(a); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_product_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = (NumTraits<LhsScalar>::MulCost + NumTraits<RhsScalar>::MulCost)/2, // rough estimate!
-    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasMul && packet_traits<RhsScalar>::HasMul
-    // TODO vectorize mixed product
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the conjugate product of two scalars
-  *
-  * This is a short cut for conj(x) * y which is needed for optimization purpose; in Eigen2 support mode, this becomes x * conj(y)
-  */
-template<typename LhsScalar,typename RhsScalar>
-struct scalar_conj_product_op  : binary_op_base<LhsScalar,RhsScalar>
-{
-
-  enum {
-    Conj = NumTraits<LhsScalar>::IsComplex
-  };
-  
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_conj_product_op>::ReturnType result_type;
-  
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_conj_product_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
-  { return conj_helper<LhsScalar,RhsScalar,Conj,false>().pmul(a,b); }
-  
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return conj_helper<Packet,Packet,Conj,false>().pmul(a,b); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_conj_product_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = NumTraits<LhsScalar>::MulCost,
-    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMul
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the min of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class VectorwiseOp, MatrixBase::minCoeff()
-  */
-template<typename LhsScalar,typename RhsScalar>
-struct scalar_min_op : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_min_op>::ReturnType result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_min_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::mini(a, b); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pmin(a,b); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
-  { return internal::predux_min(a); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_min_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
-    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMin
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the max of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class VectorwiseOp, MatrixBase::maxCoeff()
-  */
-template<typename LhsScalar,typename RhsScalar>
-struct scalar_max_op  : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_max_op>::ReturnType result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_max_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::maxi(a, b); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pmax(a,b); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
-  { return internal::predux_max(a); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_max_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
-    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMax
-  };
-};
-
-/** \internal
-  * \brief Template functors for comparison of two scalars
-  * \todo Implement packet-comparisons
-  */
-template<typename LhsScalar, typename RhsScalar, ComparisonName cmp> struct scalar_cmp_op;
-
-template<typename LhsScalar, typename RhsScalar, ComparisonName cmp>
-struct functor_traits<scalar_cmp_op<LhsScalar,RhsScalar, cmp> > {
-  enum {
-    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
-    PacketAccess = false
-  };
-};
-
-template<ComparisonName Cmp, typename LhsScalar, typename RhsScalar>
-struct result_of<scalar_cmp_op<LhsScalar, RhsScalar, Cmp>(LhsScalar,RhsScalar)> {
-  typedef bool type;
-};
-
-
-template<typename LhsScalar, typename RhsScalar>
-struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_EQ> : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef bool result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a==b;}
-};
-template<typename LhsScalar, typename RhsScalar>
-struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_LT> : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef bool result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a<b;}
-};
-template<typename LhsScalar, typename RhsScalar>
-struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_LE> : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef bool result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a<=b;}
-};
-template<typename LhsScalar, typename RhsScalar>
-struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_GT> : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef bool result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a>b;}
-};
-template<typename LhsScalar, typename RhsScalar>
-struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_GE> : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef bool result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a>=b;}
-};
-template<typename LhsScalar, typename RhsScalar>
-struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_UNORD> : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef bool result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return !(a<=b || b<=a);}
-};
-template<typename LhsScalar, typename RhsScalar>
-struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_NEQ> : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef bool result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a!=b;}
-};
-
-
-/** \internal
-  * \brief Template functor to compute the hypot of two scalars
-  *
-  * \sa MatrixBase::stableNorm(), class Redux
-  */
-template<typename Scalar>
-struct scalar_hypot_op<Scalar,Scalar> : binary_op_base<Scalar,Scalar>
-{
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_hypot_op)
-//   typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& _x, const Scalar& _y) const
-  {
-    EIGEN_USING_STD_MATH(sqrt)
-    Scalar p, qp;
-    if(_x>_y)
-    {
-      p = _x;
-      qp = _y / p;
-    }
-    else
-    {
-      p = _y;
-      qp = _x / p;
-    }
-    return p * sqrt(Scalar(1) + qp*qp);
-  }
-};
-template<typename Scalar>
-struct functor_traits<scalar_hypot_op<Scalar,Scalar> > {
-  enum
-  {
-    Cost = 3 * NumTraits<Scalar>::AddCost +
-           2 * NumTraits<Scalar>::MulCost +
-           2 * scalar_div_cost<Scalar,false>::value,
-    PacketAccess = false
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the pow of two scalars
-  */
-template<typename Scalar, typename Exponent>
-struct scalar_pow_op  : binary_op_base<Scalar,Exponent>
-{
-  typedef typename ScalarBinaryOpTraits<Scalar,Exponent,scalar_pow_op>::ReturnType result_type;
-#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_pow_op)
-#else
-  scalar_pow_op() {
-    typedef Scalar LhsScalar;
-    typedef Exponent RhsScalar;
-    EIGEN_SCALAR_BINARY_OP_PLUGIN
-  }
-#endif
-  EIGEN_DEVICE_FUNC
-  inline result_type operator() (const Scalar& a, const Exponent& b) const { return numext::pow(a, b); }
-};
-template<typename Scalar, typename Exponent>
-struct functor_traits<scalar_pow_op<Scalar,Exponent> > {
-  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
-};
-
-
-
-//---------- non associative binary functors ----------
-
-/** \internal
-  * \brief Template functor to compute the difference of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator-
-  */
-template<typename LhsScalar,typename RhsScalar>
-struct scalar_difference_op : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_difference_op>::ReturnType result_type;
-#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
-#else
-  scalar_difference_op() {
-    EIGEN_SCALAR_BINARY_OP_PLUGIN
-  }
-#endif
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a - b; }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::psub(a,b); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_difference_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
-    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasSub && packet_traits<RhsScalar>::HasSub
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the quotient of two scalars
-  *
-  * \sa class CwiseBinaryOp, Cwise::operator/()
-  */
-template<typename LhsScalar,typename RhsScalar>
-struct scalar_quotient_op  : binary_op_base<LhsScalar,RhsScalar>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_quotient_op>::ReturnType result_type;
-#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
-#else
-  scalar_quotient_op() {
-    EIGEN_SCALAR_BINARY_OP_PLUGIN
-  }
-#endif
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a / b; }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pdiv(a,b); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_quotient_op<LhsScalar,RhsScalar> > {
-  typedef typename scalar_quotient_op<LhsScalar,RhsScalar>::result_type result_type;
-  enum {
-    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasDiv && packet_traits<RhsScalar>::HasDiv,
-    Cost = scalar_div_cost<result_type,PacketAccess>::value
-  };
-};
-
-
-
-/** \internal
-  * \brief Template functor to compute the and of two booleans
-  *
-  * \sa class CwiseBinaryOp, ArrayBase::operator&&
-  */
-struct scalar_boolean_and_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_and_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a && b; }
-};
-template<> struct functor_traits<scalar_boolean_and_op> {
-  enum {
-    Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the or of two booleans
-  *
-  * \sa class CwiseBinaryOp, ArrayBase::operator||
-  */
-struct scalar_boolean_or_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_or_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a || b; }
-};
-template<> struct functor_traits<scalar_boolean_or_op> {
-  enum {
-    Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
-  };
-};
-
-/** \internal
- * \brief Template functor to compute the xor of two booleans
- *
- * \sa class CwiseBinaryOp, ArrayBase::operator^
- */
-struct scalar_boolean_xor_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_xor_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a ^ b; }
-};
-template<> struct functor_traits<scalar_boolean_xor_op> {
-  enum {
-    Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
-  };
-};
-
-
-
-//---------- binary functors bound to a constant, thus appearing as a unary functor ----------
-
-// The following two classes permits to turn any binary functor into a unary one with one argument bound to a constant value.
-// They are analogues to std::binder1st/binder2nd but with the following differences:
-//  - they are compatible with packetOp
-//  - they are portable across C++ versions (the std::binder* are deprecated in C++11)
-template<typename BinaryOp> struct bind1st_op : BinaryOp {
-
-  typedef typename BinaryOp::first_argument_type  first_argument_type;
-  typedef typename BinaryOp::second_argument_type second_argument_type;
-  typedef typename BinaryOp::result_type          result_type;
-
-  bind1st_op(const first_argument_type &val) : m_value(val) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const second_argument_type& b) const { return BinaryOp::operator()(m_value,b); }
-
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& b) const
-  { return BinaryOp::packetOp(internal::pset1<Packet>(m_value), b); }
-
-  first_argument_type m_value;
-};
-template<typename BinaryOp> struct functor_traits<bind1st_op<BinaryOp> > : functor_traits<BinaryOp> {};
-
-
-template<typename BinaryOp> struct bind2nd_op : BinaryOp {
-
-  typedef typename BinaryOp::first_argument_type  first_argument_type;
-  typedef typename BinaryOp::second_argument_type second_argument_type;
-  typedef typename BinaryOp::result_type          result_type;
-
-  bind2nd_op(const second_argument_type &val) : m_value(val) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const first_argument_type& a) const { return BinaryOp::operator()(a,m_value); }
-
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return BinaryOp::packetOp(a,internal::pset1<Packet>(m_value)); }
-
-  second_argument_type m_value;
-};
-template<typename BinaryOp> struct functor_traits<bind2nd_op<BinaryOp> > : functor_traits<BinaryOp> {};
-
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_BINARY_FUNCTORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/functors/NullaryFunctors.h b/phonelibs/eigen/Eigen/src/Core/functors/NullaryFunctors.h
deleted file mode 100644
index 6a30466fb9f63c..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/functors/NullaryFunctors.h
+++ /dev/null
@@ -1,189 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NULLARY_FUNCTORS_H
-#define EIGEN_NULLARY_FUNCTORS_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename Scalar>
-struct scalar_constant_op {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_constant_op(const scalar_constant_op& other) : m_other(other.m_other) { }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_constant_op(const Scalar& other) : m_other(other) { }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() () const { return m_other; }
-  template<typename PacketType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const PacketType packetOp() const { return internal::pset1<PacketType>(m_other); }
-  const Scalar m_other;
-};
-template<typename Scalar>
-struct functor_traits<scalar_constant_op<Scalar> >
-{ enum { Cost = 0 /* as the constant value should be loaded in register only once for the whole expression */,
-         PacketAccess = packet_traits<Scalar>::Vectorizable, IsRepeatable = true }; };
-
-template<typename Scalar> struct scalar_identity_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_identity_op)
-  template<typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType row, IndexType col) const { return row==col ? Scalar(1) : Scalar(0); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_identity_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
-
-template <typename Scalar, typename Packet, bool IsInteger> struct linspaced_op_impl;
-
-template <typename Scalar, typename Packet>
-struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/false>
-{
-  linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
-    m_low(low), m_high(high), m_size1(num_steps==1 ? 1 : num_steps-1), m_step(num_steps==1 ? Scalar() : (high-low)/Scalar(num_steps-1)),
-    m_interPacket(plset<Packet>(0)),
-    m_flip(numext::abs(high)<numext::abs(low))
-  {}
-
-  template<typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const {
-    if(m_flip)
-      return (i==0)? m_low : (m_high - (m_size1-i)*m_step);
-    else
-      return (i==m_size1)? m_high : (m_low + i*m_step);
-  }
-
-  template<typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const
-  {
-    // Principle:
-    // [low, ..., low] + ( [step, ..., step] * ( [i, ..., i] + [0, ..., size] ) )
-    if(m_flip)
-    {
-      Packet pi = padd(pset1<Packet>(Scalar(i-m_size1)),m_interPacket);
-      Packet res = padd(pset1<Packet>(m_high), pmul(pset1<Packet>(m_step), pi));
-      if(i==0)
-        res = pinsertfirst(res, m_low);
-      return res;
-    }
-    else
-    {
-      Packet pi = padd(pset1<Packet>(Scalar(i)),m_interPacket);
-      Packet res = padd(pset1<Packet>(m_low), pmul(pset1<Packet>(m_step), pi));
-      if(i==m_size1-unpacket_traits<Packet>::size+1)
-        res = pinsertlast(res, m_high);
-      return res;
-    }
-  }
-
-  const Scalar m_low;
-  const Scalar m_high;
-  const Index m_size1;
-  const Scalar m_step;
-  const Packet m_interPacket;
-  const bool m_flip;
-};
-
-template <typename Scalar, typename Packet>
-struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/true>
-{
-  linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
-    m_low(low),
-    m_multiplier((high-low)/convert_index<Scalar>(num_steps<=1 ? 1 : num_steps-1)),
-    m_divisor(convert_index<Scalar>((high>=low?num_steps:-num_steps)+(high-low))/((numext::abs(high-low)+1)==0?1:(numext::abs(high-low)+1))),
-    m_use_divisor(num_steps>1 && (numext::abs(high-low)+1)<num_steps)
-  {}
-
-  template<typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Scalar operator() (IndexType i) const
-  {
-    if(m_use_divisor) return m_low + convert_index<Scalar>(i)/m_divisor;
-    else              return m_low + convert_index<Scalar>(i)*m_multiplier;
-  }
-
-  const Scalar m_low;
-  const Scalar m_multiplier;
-  const Scalar m_divisor;
-  const bool m_use_divisor;
-};
-
-// ----- Linspace functor ----------------------------------------------------------------
-
-// Forward declaration (we default to random access which does not really give
-// us a speed gain when using packet access but it allows to use the functor in
-// nested expressions).
-template <typename Scalar, typename PacketType> struct linspaced_op;
-template <typename Scalar, typename PacketType> struct functor_traits< linspaced_op<Scalar,PacketType> >
-{
-  enum
-  {
-    Cost = 1,
-    PacketAccess =   (!NumTraits<Scalar>::IsInteger) && packet_traits<Scalar>::HasSetLinear && packet_traits<Scalar>::HasBlend,
-                  /*&& ((!NumTraits<Scalar>::IsInteger) || packet_traits<Scalar>::HasDiv),*/ // <- vectorization for integer is currently disabled
-    IsRepeatable = true
-  };
-};
-template <typename Scalar, typename PacketType> struct linspaced_op
-{
-  linspaced_op(const Scalar& low, const Scalar& high, Index num_steps)
-    : impl((num_steps==1 ? high : low),high,num_steps)
-  {}
-
-  template<typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const { return impl(i); }
-
-  template<typename Packet,typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const { return impl.packetOp(i); }
-
-  // This proxy object handles the actual required temporaries and the different
-  // implementations (integer vs. floating point).
-  const linspaced_op_impl<Scalar,PacketType,NumTraits<Scalar>::IsInteger> impl;
-};
-
-// Linear access is automatically determined from the operator() prototypes available for the given functor.
-// If it exposes an operator()(i,j), then we assume the i and j coefficients are required independently
-// and linear access is not possible. In all other cases, linear access is enabled.
-// Users should not have to deal with this structure.
-template<typename Functor> struct functor_has_linear_access { enum { ret = !has_binary_operator<Functor>::value }; };
-
-// For unreliable compilers, let's specialize the has_*ary_operator
-// helpers so that at least built-in nullary functors work fine.
-#if !( (EIGEN_COMP_MSVC>1600) || (EIGEN_GNUC_AT_LEAST(4,8)) || (EIGEN_COMP_ICC>=1600))
-template<typename Scalar,typename IndexType>
-struct has_nullary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 1}; };
-template<typename Scalar,typename IndexType>
-struct has_unary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 0}; };
-template<typename Scalar,typename IndexType>
-struct has_binary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 0}; };
-
-template<typename Scalar,typename IndexType>
-struct has_nullary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 0}; };
-template<typename Scalar,typename IndexType>
-struct has_unary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 0}; };
-template<typename Scalar,typename IndexType>
-struct has_binary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 1}; };
-
-template<typename Scalar, typename PacketType,typename IndexType>
-struct has_nullary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
-template<typename Scalar, typename PacketType,typename IndexType>
-struct has_unary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 1}; };
-template<typename Scalar, typename PacketType,typename IndexType>
-struct has_binary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
-
-template<typename Scalar,typename IndexType>
-struct has_nullary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 1}; };
-template<typename Scalar,typename IndexType>
-struct has_unary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 0}; };
-template<typename Scalar,typename IndexType>
-struct has_binary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 0}; };
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_NULLARY_FUNCTORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/functors/StlFunctors.h b/phonelibs/eigen/Eigen/src/Core/functors/StlFunctors.h
deleted file mode 100644
index 6df3fa501be776..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/functors/StlFunctors.h
+++ /dev/null
@@ -1,132 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STL_FUNCTORS_H
-#define EIGEN_STL_FUNCTORS_H
-
-namespace Eigen {
-
-namespace internal {
-
-// default functor traits for STL functors:
-
-template<typename T>
-struct functor_traits<std::multiplies<T> >
-{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::divides<T> >
-{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::plus<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::minus<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::negate<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::logical_or<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::logical_and<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::logical_not<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::greater<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::less<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::greater_equal<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::less_equal<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::equal_to<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::not_equal_to<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-#if (__cplusplus < 201103L) && (EIGEN_COMP_MSVC <= 1900)
-// std::binder* are deprecated since c++11 and will be removed in c++17
-template<typename T>
-struct functor_traits<std::binder2nd<T> >
-{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::binder1st<T> >
-{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
-#endif
-
-template<typename T>
-struct functor_traits<std::unary_negate<T> >
-{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::binary_negate<T> >
-{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
-
-#ifdef EIGEN_STDEXT_SUPPORT
-
-template<typename T0,typename T1>
-struct functor_traits<std::project1st<T0,T1> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct functor_traits<std::project2nd<T0,T1> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct functor_traits<std::select2nd<std::pair<T0,T1> > >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct functor_traits<std::select1st<std::pair<T0,T1> > >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct functor_traits<std::unary_compose<T0,T1> >
-{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost, PacketAccess = false }; };
-
-template<typename T0,typename T1,typename T2>
-struct functor_traits<std::binary_compose<T0,T1,T2> >
-{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost + functor_traits<T2>::Cost, PacketAccess = false }; };
-
-#endif // EIGEN_STDEXT_SUPPORT
-
-// allow to add new functors and specializations of functor_traits from outside Eigen.
-// this macro is really needed because functor_traits must be specialized after it is declared but before it is used...
-#ifdef EIGEN_FUNCTORS_PLUGIN
-#include EIGEN_FUNCTORS_PLUGIN
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_STL_FUNCTORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/functors/TernaryFunctors.h b/phonelibs/eigen/Eigen/src/Core/functors/TernaryFunctors.h
deleted file mode 100644
index b254e96c6adf42..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/functors/TernaryFunctors.h
+++ /dev/null
@@ -1,25 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TERNARY_FUNCTORS_H
-#define EIGEN_TERNARY_FUNCTORS_H
-
-namespace Eigen {
-
-namespace internal {
-
-//---------- associative ternary functors ----------
-
-
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TERNARY_FUNCTORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/functors/UnaryFunctors.h b/phonelibs/eigen/Eigen/src/Core/functors/UnaryFunctors.h
deleted file mode 100644
index 2e6a00ffd1bb57..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/functors/UnaryFunctors.h
+++ /dev/null
@@ -1,792 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_UNARY_FUNCTORS_H
-#define EIGEN_UNARY_FUNCTORS_H
-
-namespace Eigen {
-
-namespace internal {
-
-/** \internal
-  * \brief Template functor to compute the opposite of a scalar
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::operator-
-  */
-template<typename Scalar> struct scalar_opposite_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_opposite_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return -a; }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pnegate(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_opposite_op<Scalar> >
-{ enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasNegate };
-};
-
-/** \internal
-  * \brief Template functor to compute the absolute value of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::abs
-  */
-template<typename Scalar> struct scalar_abs_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs(a); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pabs(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_abs_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasAbs
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the score of a scalar, to chose a pivot
-  *
-  * \sa class CwiseUnaryOp
-  */
-template<typename Scalar> struct scalar_score_coeff_op : scalar_abs_op<Scalar>
-{
-  typedef void Score_is_abs;
-};
-template<typename Scalar>
-struct functor_traits<scalar_score_coeff_op<Scalar> > : functor_traits<scalar_abs_op<Scalar> > {};
-
-/* Avoid recomputing abs when we know the score and they are the same. Not a true Eigen functor.  */
-template<typename Scalar, typename=void> struct abs_knowing_score
-{
-  EIGEN_EMPTY_STRUCT_CTOR(abs_knowing_score)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  template<typename Score>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a, const Score&) const { return numext::abs(a); }
-};
-template<typename Scalar> struct abs_knowing_score<Scalar, typename scalar_score_coeff_op<Scalar>::Score_is_abs>
-{
-  EIGEN_EMPTY_STRUCT_CTOR(abs_knowing_score)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  template<typename Scal>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scal&, const result_type& a) const { return a; }
-};
-
-/** \internal
-  * \brief Template functor to compute the squared absolute value of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::abs2
-  */
-template<typename Scalar> struct scalar_abs2_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs2_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs2(a); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pmul(a,a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_abs2_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasAbs2 }; };
-
-/** \internal
-  * \brief Template functor to compute the conjugate of a complex value
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::conjugate()
-  */
-template<typename Scalar> struct scalar_conjugate_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_conjugate_op)
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { using numext::conj; return conj(a); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const { return internal::pconj(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_conjugate_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
-    PacketAccess = packet_traits<Scalar>::HasConj
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the phase angle of a complex
-  *
-  * \sa class CwiseUnaryOp, Cwise::arg
-  */
-template<typename Scalar> struct scalar_arg_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_arg_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { using numext::arg; return arg(a); }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::parg(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_arg_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::IsComplex ? 5 * NumTraits<Scalar>::MulCost : NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasArg
-  };
-};
-/** \internal
-  * \brief Template functor to cast a scalar to another type
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::cast()
-  */
-template<typename Scalar, typename NewType>
-struct scalar_cast_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
-  typedef NewType result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const NewType operator() (const Scalar& a) const { return cast<Scalar, NewType>(a); }
-};
-template<typename Scalar, typename NewType>
-struct functor_traits<scalar_cast_op<Scalar,NewType> >
-{ enum { Cost = is_same<Scalar, NewType>::value ? 0 : NumTraits<NewType>::AddCost, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the real part of a complex
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::real()
-  */
-template<typename Scalar>
-struct scalar_real_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::real(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_real_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the imaginary part of a complex
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::imag()
-  */
-template<typename Scalar>
-struct scalar_imag_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::imag(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_imag_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the real part of a complex as a reference
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::real()
-  */
-template<typename Scalar>
-struct scalar_real_ref_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_ref_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::real_ref(*const_cast<Scalar*>(&a)); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_real_ref_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the imaginary part of a complex as a reference
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::imag()
-  */
-template<typename Scalar>
-struct scalar_imag_ref_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_ref_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::imag_ref(*const_cast<Scalar*>(&a)); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_imag_ref_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  *
-  * \brief Template functor to compute the exponential of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::exp()
-  */
-template<typename Scalar> struct scalar_exp_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_exp_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::exp(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pexp(a); }
-};
-template <typename Scalar>
-struct functor_traits<scalar_exp_op<Scalar> > {
-  enum {
-    PacketAccess = packet_traits<Scalar>::HasExp,
-    // The following numbers are based on the AVX implementation.
-#ifdef EIGEN_VECTORIZE_FMA
-    // Haswell can issue 2 add/mul/madd per cycle.
-    Cost =
-    (sizeof(Scalar) == 4
-     // float: 8 pmadd, 4 pmul, 2 padd/psub, 6 other
-     ? (8 * NumTraits<Scalar>::AddCost + 6 * NumTraits<Scalar>::MulCost)
-     // double: 7 pmadd, 5 pmul, 3 padd/psub, 1 div,  13 other
-     : (14 * NumTraits<Scalar>::AddCost +
-        6 * NumTraits<Scalar>::MulCost +
-        scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value))
-#else
-    Cost =
-    (sizeof(Scalar) == 4
-     // float: 7 pmadd, 6 pmul, 4 padd/psub, 10 other
-     ? (21 * NumTraits<Scalar>::AddCost + 13 * NumTraits<Scalar>::MulCost)
-     // double: 7 pmadd, 5 pmul, 3 padd/psub, 1 div,  13 other
-     : (23 * NumTraits<Scalar>::AddCost +
-        12 * NumTraits<Scalar>::MulCost +
-        scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value))
-#endif
-  };
-};
-
-/** \internal
-  *
-  * \brief Template functor to compute the logarithm of a scalar
-  *
-  * \sa class CwiseUnaryOp, ArrayBase::log()
-  */
-template<typename Scalar> struct scalar_log_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_log_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::log(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog(a); }
-};
-template <typename Scalar>
-struct functor_traits<scalar_log_op<Scalar> > {
-  enum {
-    PacketAccess = packet_traits<Scalar>::HasLog,
-    Cost =
-    (PacketAccess
-     // The following numbers are based on the AVX implementation.
-#ifdef EIGEN_VECTORIZE_FMA
-     // 8 pmadd, 6 pmul, 8 padd/psub, 16 other, can issue 2 add/mul/madd per cycle.
-     ? (20 * NumTraits<Scalar>::AddCost + 7 * NumTraits<Scalar>::MulCost)
-#else
-     // 8 pmadd, 6 pmul, 8 padd/psub, 20 other
-     ? (36 * NumTraits<Scalar>::AddCost + 14 * NumTraits<Scalar>::MulCost)
-#endif
-     // Measured cost of std::log.
-     : sizeof(Scalar)==4 ? 40 : 85)
-  };
-};
-
-/** \internal
-  *
-  * \brief Template functor to compute the logarithm of 1 plus a scalar value
-  *
-  * \sa class CwiseUnaryOp, ArrayBase::log1p()
-  */
-template<typename Scalar> struct scalar_log1p_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_log1p_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::log1p(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog1p(a); }
-};
-template <typename Scalar>
-struct functor_traits<scalar_log1p_op<Scalar> > {
-  enum {
-    PacketAccess = packet_traits<Scalar>::HasLog1p,
-    Cost = functor_traits<scalar_log_op<Scalar> >::Cost // TODO measure cost of log1p
-  };
-};
-
-/** \internal
-  *
-  * \brief Template functor to compute the base-10 logarithm of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::log10()
-  */
-template<typename Scalar> struct scalar_log10_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_log10_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { EIGEN_USING_STD_MATH(log10) return log10(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog10(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_log10_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog10 }; };
-
-/** \internal
-  * \brief Template functor to compute the square root of a scalar
-  * \sa class CwiseUnaryOp, Cwise::sqrt()
-  */
-template<typename Scalar> struct scalar_sqrt_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sqrt_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sqrt(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psqrt(a); }
-};
-template <typename Scalar>
-struct functor_traits<scalar_sqrt_op<Scalar> > {
-  enum {
-#if EIGEN_FAST_MATH
-    // The following numbers are based on the AVX implementation.
-    Cost = (sizeof(Scalar) == 8 ? 28
-                                // 4 pmul, 1 pmadd, 3 other
-                                : (3 * NumTraits<Scalar>::AddCost +
-                                   5 * NumTraits<Scalar>::MulCost)),
-#else
-    // The following numbers are based on min VSQRT throughput on Haswell.
-    Cost = (sizeof(Scalar) == 8 ? 28 : 14),
-#endif
-    PacketAccess = packet_traits<Scalar>::HasSqrt
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the reciprocal square root of a scalar
-  * \sa class CwiseUnaryOp, Cwise::rsqrt()
-  */
-template<typename Scalar> struct scalar_rsqrt_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_rsqrt_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return Scalar(1)/numext::sqrt(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::prsqrt(a); }
-};
-
-template<typename Scalar>
-struct functor_traits<scalar_rsqrt_op<Scalar> >
-{ enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasRsqrt
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the cosine of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::cos()
-  */
-template<typename Scalar> struct scalar_cos_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cos_op)
-  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return numext::cos(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pcos(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_cos_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasCos
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the sine of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::sin()
-  */
-template<typename Scalar> struct scalar_sin_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sin_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sin(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psin(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_sin_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasSin
-  };
-};
-
-
-/** \internal
-  * \brief Template functor to compute the tan of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::tan()
-  */
-template<typename Scalar> struct scalar_tan_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_tan_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::tan(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::ptan(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_tan_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasTan
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the arc cosine of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::acos()
-  */
-template<typename Scalar> struct scalar_acos_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_acos_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::acos(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pacos(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_acos_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasACos
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the arc sine of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::asin()
-  */
-template<typename Scalar> struct scalar_asin_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_asin_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::asin(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pasin(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_asin_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasASin
-  };
-};
-
-
-/** \internal
-  * \brief Template functor to compute the atan of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::atan()
-  */
-template<typename Scalar> struct scalar_atan_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_atan_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::atan(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::patan(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_atan_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasATan
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the tanh of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::tanh()
-  */
-template <typename Scalar>
-struct scalar_tanh_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_tanh_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator()(const Scalar& a) const { return numext::tanh(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& x) const { return ptanh(x); }
-};
-
-template <typename Scalar>
-struct functor_traits<scalar_tanh_op<Scalar> > {
-  enum {
-    PacketAccess = packet_traits<Scalar>::HasTanh,
-    Cost = ( (EIGEN_FAST_MATH && is_same<Scalar,float>::value)
-// The following numbers are based on the AVX implementation,
-#ifdef EIGEN_VECTORIZE_FMA
-                // Haswell can issue 2 add/mul/madd per cycle.
-                // 9 pmadd, 2 pmul, 1 div, 2 other
-                ? (2 * NumTraits<Scalar>::AddCost +
-                   6 * NumTraits<Scalar>::MulCost +
-                   scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value)
-#else
-                ? (11 * NumTraits<Scalar>::AddCost +
-                   11 * NumTraits<Scalar>::MulCost +
-                   scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value)
-#endif
-                // This number assumes a naive implementation of tanh
-                : (6 * NumTraits<Scalar>::AddCost +
-                   3 * NumTraits<Scalar>::MulCost +
-                   2 * scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value +
-                   functor_traits<scalar_exp_op<Scalar> >::Cost))
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the sinh of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::sinh()
-  */
-template<typename Scalar> struct scalar_sinh_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sinh_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sinh(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psinh(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_sinh_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasSinh
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the cosh of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::cosh()
-  */
-template<typename Scalar> struct scalar_cosh_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cosh_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::cosh(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pcosh(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_cosh_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasCosh
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the inverse of a scalar
-  * \sa class CwiseUnaryOp, Cwise::inverse()
-  */
-template<typename Scalar>
-struct scalar_inverse_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_inverse_op)
-  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return Scalar(1)/a; }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
-  { return internal::pdiv(pset1<Packet>(Scalar(1)),a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_inverse_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
-
-/** \internal
-  * \brief Template functor to compute the square of a scalar
-  * \sa class CwiseUnaryOp, Cwise::square()
-  */
-template<typename Scalar>
-struct scalar_square_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_square_op)
-  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a*a; }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
-  { return internal::pmul(a,a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_square_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
-
-/** \internal
-  * \brief Template functor to compute the cube of a scalar
-  * \sa class CwiseUnaryOp, Cwise::cube()
-  */
-template<typename Scalar>
-struct scalar_cube_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cube_op)
-  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a*a*a; }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
-  { return internal::pmul(a,pmul(a,a)); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_cube_op<Scalar> >
-{ enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
-
-/** \internal
-  * \brief Template functor to compute the rounded value of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::round()
-  */
-template<typename Scalar> struct scalar_round_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_round_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::round(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pround(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_round_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasRound
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the floor of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::floor()
-  */
-template<typename Scalar> struct scalar_floor_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_floor_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::floor(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pfloor(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_floor_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasFloor
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the ceil of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::ceil()
-  */
-template<typename Scalar> struct scalar_ceil_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_ceil_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::ceil(a); }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pceil(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_ceil_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasCeil
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute whether a scalar is NaN
-  * \sa class CwiseUnaryOp, ArrayBase::isnan()
-  */
-template<typename Scalar> struct scalar_isnan_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_isnan_op)
-  typedef bool result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isnan)(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_isnan_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::MulCost,
-    PacketAccess = false
-  };
-};
-
-/** \internal
-  * \brief Template functor to check whether a scalar is +/-inf
-  * \sa class CwiseUnaryOp, ArrayBase::isinf()
-  */
-template<typename Scalar> struct scalar_isinf_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_isinf_op)
-  typedef bool result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isinf)(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_isinf_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::MulCost,
-    PacketAccess = false
-  };
-};
-
-/** \internal
-  * \brief Template functor to check whether a scalar has a finite value
-  * \sa class CwiseUnaryOp, ArrayBase::isfinite()
-  */
-template<typename Scalar> struct scalar_isfinite_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_isfinite_op)
-  typedef bool result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isfinite)(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_isfinite_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::MulCost,
-    PacketAccess = false
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the logical not of a boolean
-  *
-  * \sa class CwiseUnaryOp, ArrayBase::operator!
-  */
-template<typename Scalar> struct scalar_boolean_not_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_not_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a) const { return !a; }
-};
-template<typename Scalar>
-struct functor_traits<scalar_boolean_not_op<Scalar> > {
-  enum {
-    Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the signum of a scalar
-  * \sa class CwiseUnaryOp, Cwise::sign()
-  */
-template<typename Scalar,bool iscpx=(NumTraits<Scalar>::IsComplex!=0) > struct scalar_sign_op;
-template<typename Scalar>
-struct scalar_sign_op<Scalar,false> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
-  {
-      return Scalar( (a>Scalar(0)) - (a<Scalar(0)) );
-  }
-  //TODO
-  //template <typename Packet>
-  //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
-};
-template<typename Scalar>
-struct scalar_sign_op<Scalar,true> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
-  {
-    typedef typename NumTraits<Scalar>::Real real_type;
-    real_type aa = numext::abs(a);
-    if (aa==real_type(0))
-      return Scalar(0);
-    aa = real_type(1)/aa;
-    return Scalar(real(a)*aa, imag(a)*aa );
-  }
-  //TODO
-  //template <typename Packet>
-  //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_sign_op<Scalar> >
-{ enum {
-    Cost = 
-        NumTraits<Scalar>::IsComplex
-        ? ( 8*NumTraits<Scalar>::MulCost  ) // roughly
-        : ( 3*NumTraits<Scalar>::AddCost),
-    PacketAccess = packet_traits<Scalar>::HasSign
-  };
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_FUNCTORS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/phonelibs/eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
deleted file mode 100644
index 45230bce5e11d1..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+++ /dev/null
@@ -1,2149 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GENERAL_BLOCK_PANEL_H
-#define EIGEN_GENERAL_BLOCK_PANEL_H
-
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false>
-class gebp_traits;
-
-
-/** \internal \returns b if a<=0, and returns a otherwise. */
-inline std::ptrdiff_t manage_caching_sizes_helper(std::ptrdiff_t a, std::ptrdiff_t b)
-{
-  return a<=0 ? b : a;
-}
-
-#if EIGEN_ARCH_i386_OR_x86_64
-const std::ptrdiff_t defaultL1CacheSize = 32*1024;
-const std::ptrdiff_t defaultL2CacheSize = 256*1024;
-const std::ptrdiff_t defaultL3CacheSize = 2*1024*1024;
-#else
-const std::ptrdiff_t defaultL1CacheSize = 16*1024;
-const std::ptrdiff_t defaultL2CacheSize = 512*1024;
-const std::ptrdiff_t defaultL3CacheSize = 512*1024;
-#endif
-
-/** \internal */
-struct CacheSizes {
-  CacheSizes(): m_l1(-1),m_l2(-1),m_l3(-1) {
-    int l1CacheSize, l2CacheSize, l3CacheSize;
-    queryCacheSizes(l1CacheSize, l2CacheSize, l3CacheSize);
-    m_l1 = manage_caching_sizes_helper(l1CacheSize, defaultL1CacheSize);
-    m_l2 = manage_caching_sizes_helper(l2CacheSize, defaultL2CacheSize);
-    m_l3 = manage_caching_sizes_helper(l3CacheSize, defaultL3CacheSize);
-  }
-
-  std::ptrdiff_t m_l1;
-  std::ptrdiff_t m_l2;
-  std::ptrdiff_t m_l3;
-};
-
-
-/** \internal */
-inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1, std::ptrdiff_t* l2, std::ptrdiff_t* l3)
-{
-  static CacheSizes m_cacheSizes;
-
-  if(action==SetAction)
-  {
-    // set the cpu cache size and cache all block sizes from a global cache size in byte
-    eigen_internal_assert(l1!=0 && l2!=0);
-    m_cacheSizes.m_l1 = *l1;
-    m_cacheSizes.m_l2 = *l2;
-    m_cacheSizes.m_l3 = *l3;
-  }
-  else if(action==GetAction)
-  {
-    eigen_internal_assert(l1!=0 && l2!=0);
-    *l1 = m_cacheSizes.m_l1;
-    *l2 = m_cacheSizes.m_l2;
-    *l3 = m_cacheSizes.m_l3;
-  }
-  else
-  {
-    eigen_internal_assert(false);
-  }
-}
-
-/* Helper for computeProductBlockingSizes.
- *
- * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
- * this function computes the blocking size parameters along the respective dimensions
- * for matrix products and related algorithms. The blocking sizes depends on various
- * parameters:
- * - the L1 and L2 cache sizes,
- * - the register level blocking sizes defined by gebp_traits,
- * - the number of scalars that fit into a packet (when vectorization is enabled).
- *
- * \sa setCpuCacheSizes */
-
-template<typename LhsScalar, typename RhsScalar, int KcFactor, typename Index>
-void evaluateProductBlockingSizesHeuristic(Index& k, Index& m, Index& n, Index num_threads = 1)
-{
-  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
-
-  // Explanations:
-  // Let's recall that the product algorithms form mc x kc vertical panels A' on the lhs and
-  // kc x nc blocks B' on the rhs. B' has to fit into L2/L3 cache. Moreover, A' is processed
-  // per mr x kc horizontal small panels where mr is the blocking size along the m dimension
-  // at the register level. This small horizontal panel has to stay within L1 cache.
-  std::ptrdiff_t l1, l2, l3;
-  manage_caching_sizes(GetAction, &l1, &l2, &l3);
-
-  if (num_threads > 1) {
-    typedef typename Traits::ResScalar ResScalar;
-    enum {
-      kdiv = KcFactor * (Traits::mr * sizeof(LhsScalar) + Traits::nr * sizeof(RhsScalar)),
-      ksub = Traits::mr * Traits::nr * sizeof(ResScalar),
-      kr = 8,
-      mr = Traits::mr,
-      nr = Traits::nr
-    };
-    // Increasing k gives us more time to prefetch the content of the "C"
-    // registers. However once the latency is hidden there is no point in
-    // increasing the value of k, so we'll cap it at 320 (value determined
-    // experimentally).
-    const Index k_cache = (numext::mini<Index>)((l1-ksub)/kdiv, 320);
-    if (k_cache < k) {
-      k = k_cache - (k_cache % kr);
-      eigen_internal_assert(k > 0);
-    }
-
-    const Index n_cache = (l2-l1) / (nr * sizeof(RhsScalar) * k);
-    const Index n_per_thread = numext::div_ceil(n, num_threads);
-    if (n_cache <= n_per_thread) {
-      // Don't exceed the capacity of the l2 cache.
-      eigen_internal_assert(n_cache >= static_cast<Index>(nr));
-      n = n_cache - (n_cache % nr);
-      eigen_internal_assert(n > 0);
-    } else {
-      n = (numext::mini<Index>)(n, (n_per_thread + nr - 1) - ((n_per_thread + nr - 1) % nr));
-    }
-
-    if (l3 > l2) {
-      // l3 is shared between all cores, so we'll give each thread its own chunk of l3.
-      const Index m_cache = (l3-l2) / (sizeof(LhsScalar) * k * num_threads);
-      const Index m_per_thread = numext::div_ceil(m, num_threads);
-      if(m_cache < m_per_thread && m_cache >= static_cast<Index>(mr)) {
-        m = m_cache - (m_cache % mr);
-        eigen_internal_assert(m > 0);
-      } else {
-        m = (numext::mini<Index>)(m, (m_per_thread + mr - 1) - ((m_per_thread + mr - 1) % mr));
-      }
-    }
-  }
-  else {
-    // In unit tests we do not want to use extra large matrices,
-    // so we reduce the cache size to check the blocking strategy is not flawed
-#ifdef EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS
-    l1 = 9*1024;
-    l2 = 32*1024;
-    l3 = 512*1024;
-#endif
-
-    // Early return for small problems because the computation below are time consuming for small problems.
-    // Perhaps it would make more sense to consider k*n*m??
-    // Note that for very tiny problem, this function should be bypassed anyway
-    // because we use the coefficient-based implementation for them.
-    if((numext::maxi)(k,(numext::maxi)(m,n))<48)
-      return;
-
-    typedef typename Traits::ResScalar ResScalar;
-    enum {
-      k_peeling = 8,
-      k_div = KcFactor * (Traits::mr * sizeof(LhsScalar) + Traits::nr * sizeof(RhsScalar)),
-      k_sub = Traits::mr * Traits::nr * sizeof(ResScalar)
-    };
-
-    // ---- 1st level of blocking on L1, yields kc ----
-
-    // Blocking on the third dimension (i.e., k) is chosen so that an horizontal panel
-    // of size mr x kc of the lhs plus a vertical panel of kc x nr of the rhs both fits within L1 cache.
-    // We also include a register-level block of the result (mx x nr).
-    // (In an ideal world only the lhs panel would stay in L1)
-    // Moreover, kc has to be a multiple of 8 to be compatible with loop peeling, leading to a maximum blocking size of:
-    const Index max_kc = numext::maxi<Index>(((l1-k_sub)/k_div) & (~(k_peeling-1)),1);
-    const Index old_k = k;
-    if(k>max_kc)
-    {
-      // We are really blocking on the third dimension:
-      // -> reduce blocking size to make sure the last block is as large as possible
-      //    while keeping the same number of sweeps over the result.
-      k = (k%max_kc)==0 ? max_kc
-                        : max_kc - k_peeling * ((max_kc-1-(k%max_kc))/(k_peeling*(k/max_kc+1)));
-
-      eigen_internal_assert(((old_k/k) == (old_k/max_kc)) && "the number of sweeps has to remain the same");
-    }
-
-    // ---- 2nd level of blocking on max(L2,L3), yields nc ----
-
-    // TODO find a reliable way to get the actual amount of cache per core to use for 2nd level blocking, that is:
-    //      actual_l2 = max(l2, l3/nb_core_sharing_l3)
-    // The number below is quite conservative: it is better to underestimate the cache size rather than overestimating it)
-    // For instance, it corresponds to 6MB of L3 shared among 4 cores.
-    #ifdef EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS
-    const Index actual_l2 = l3;
-    #else
-    const Index actual_l2 = 1572864; // == 1.5 MB
-    #endif
-
-    // Here, nc is chosen such that a block of kc x nc of the rhs fit within half of L2.
-    // The second half is implicitly reserved to access the result and lhs coefficients.
-    // When k<max_kc, then nc can arbitrarily growth. In practice, it seems to be fruitful
-    // to limit this growth: we bound nc to growth by a factor x1.5.
-    // However, if the entire lhs block fit within L1, then we are not going to block on the rows at all,
-    // and it becomes fruitful to keep the packed rhs blocks in L1 if there is enough remaining space.
-    Index max_nc;
-    const Index lhs_bytes = m * k * sizeof(LhsScalar);
-    const Index remaining_l1 = l1- k_sub - lhs_bytes;
-    if(remaining_l1 >= Index(Traits::nr*sizeof(RhsScalar))*k)
-    {
-      // L1 blocking
-      max_nc = remaining_l1 / (k*sizeof(RhsScalar));
-    }
-    else
-    {
-      // L2 blocking
-      max_nc = (3*actual_l2)/(2*2*max_kc*sizeof(RhsScalar));
-    }
-    // WARNING Below, we assume that Traits::nr is a power of two.
-    Index nc = numext::mini<Index>(actual_l2/(2*k*sizeof(RhsScalar)), max_nc) & (~(Traits::nr-1));
-    if(n>nc)
-    {
-      // We are really blocking over the columns:
-      // -> reduce blocking size to make sure the last block is as large as possible
-      //    while keeping the same number of sweeps over the packed lhs.
-      //    Here we allow one more sweep if this gives us a perfect match, thus the commented "-1"
-      n = (n%nc)==0 ? nc
-                    : (nc - Traits::nr * ((nc/*-1*/-(n%nc))/(Traits::nr*(n/nc+1))));
-    }
-    else if(old_k==k)
-    {
-      // So far, no blocking at all, i.e., kc==k, and nc==n.
-      // In this case, let's perform a blocking over the rows such that the packed lhs data is kept in cache L1/L2
-      // TODO: part of this blocking strategy is now implemented within the kernel itself, so the L1-based heuristic here should be obsolete.
-      Index problem_size = k*n*sizeof(LhsScalar);
-      Index actual_lm = actual_l2;
-      Index max_mc = m;
-      if(problem_size<=1024)
-      {
-        // problem is small enough to keep in L1
-        // Let's choose m such that lhs's block fit in 1/3 of L1
-        actual_lm = l1;
-      }
-      else if(l3!=0 && problem_size<=32768)
-      {
-        // we have both L2 and L3, and problem is small enough to be kept in L2
-        // Let's choose m such that lhs's block fit in 1/3 of L2
-        actual_lm = l2;
-        max_mc = (numext::mini<Index>)(576,max_mc);
-      }
-      Index mc = (numext::mini<Index>)(actual_lm/(3*k*sizeof(LhsScalar)), max_mc);
-      if (mc > Traits::mr) mc -= mc % Traits::mr;
-      else if (mc==0) return;
-      m = (m%mc)==0 ? mc
-                    : (mc - Traits::mr * ((mc/*-1*/-(m%mc))/(Traits::mr*(m/mc+1))));
-    }
-  }
-}
-
-template <typename Index>
-inline bool useSpecificBlockingSizes(Index& k, Index& m, Index& n)
-{
-#ifdef EIGEN_TEST_SPECIFIC_BLOCKING_SIZES
-  if (EIGEN_TEST_SPECIFIC_BLOCKING_SIZES) {
-    k = numext::mini<Index>(k, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_K);
-    m = numext::mini<Index>(m, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_M);
-    n = numext::mini<Index>(n, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_N);
-    return true;
-  }
-#else
-  EIGEN_UNUSED_VARIABLE(k)
-  EIGEN_UNUSED_VARIABLE(m)
-  EIGEN_UNUSED_VARIABLE(n)
-#endif
-  return false;
-}
-
-/** \brief Computes the blocking parameters for a m x k times k x n matrix product
-  *
-  * \param[in,out] k Input: the third dimension of the product. Output: the blocking size along the same dimension.
-  * \param[in,out] m Input: the number of rows of the left hand side. Output: the blocking size along the same dimension.
-  * \param[in,out] n Input: the number of columns of the right hand side. Output: the blocking size along the same dimension.
-  *
-  * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
-  * this function computes the blocking size parameters along the respective dimensions
-  * for matrix products and related algorithms.
-  *
-  * The blocking size parameters may be evaluated:
-  *   - either by a heuristic based on cache sizes;
-  *   - or using fixed prescribed values (for testing purposes).
-  *
-  * \sa setCpuCacheSizes */
-
-template<typename LhsScalar, typename RhsScalar, int KcFactor, typename Index>
-void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_threads = 1)
-{
-  if (!useSpecificBlockingSizes(k, m, n)) {
-    evaluateProductBlockingSizesHeuristic<LhsScalar, RhsScalar, KcFactor, Index>(k, m, n, num_threads);
-  }
-}
-
-template<typename LhsScalar, typename RhsScalar, typename Index>
-inline void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_threads = 1)
-{
-  computeProductBlockingSizes<LhsScalar,RhsScalar,1,Index>(k, m, n, num_threads);
-}
-
-#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-  #define CJMADD(CJ,A,B,C,T)  C = CJ.pmadd(A,B,C);
-#else
-
-  // FIXME (a bit overkill maybe ?)
-
-  template<typename CJ, typename A, typename B, typename C, typename T> struct gebp_madd_selector {
-    EIGEN_ALWAYS_INLINE static void run(const CJ& cj, A& a, B& b, C& c, T& /*t*/)
-    {
-      c = cj.pmadd(a,b,c);
-    }
-  };
-
-  template<typename CJ, typename T> struct gebp_madd_selector<CJ,T,T,T,T> {
-    EIGEN_ALWAYS_INLINE static void run(const CJ& cj, T& a, T& b, T& c, T& t)
-    {
-      t = b; t = cj.pmul(a,t); c = padd(c,t);
-    }
-  };
-
-  template<typename CJ, typename A, typename B, typename C, typename T>
-  EIGEN_STRONG_INLINE void gebp_madd(const CJ& cj, A& a, B& b, C& c, T& t)
-  {
-    gebp_madd_selector<CJ,A,B,C,T>::run(cj,a,b,c,t);
-  }
-
-  #define CJMADD(CJ,A,B,C,T)  gebp_madd(CJ,A,B,C,T);
-//   #define CJMADD(CJ,A,B,C,T)  T = B; T = CJ.pmul(A,T); C = padd(C,T);
-#endif
-
-/* Vectorization logic
- *  real*real: unpack rhs to constant packets, ...
- * 
- *  cd*cd : unpack rhs to (b_r,b_r), (b_i,b_i), mul to get (a_r b_r,a_i b_r) (a_r b_i,a_i b_i),
- *          storing each res packet into two packets (2x2),
- *          at the end combine them: swap the second and addsub them 
- *  cf*cf : same but with 2x4 blocks
- *  cplx*real : unpack rhs to constant packets, ...
- *  real*cplx : load lhs as (a0,a0,a1,a1), and mul as usual
- */
-template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs, bool _ConjRhs>
-class gebp_traits
-{
-public:
-  typedef _LhsScalar LhsScalar;
-  typedef _RhsScalar RhsScalar;
-  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-
-  enum {
-    ConjLhs = _ConjLhs,
-    ConjRhs = _ConjRhs,
-    Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable,
-    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
-    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
-    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
-    
-    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
-
-    // register block size along the N direction must be 1 or 4
-    nr = 4,
-
-    // register block size along the M direction (currently, this one cannot be modified)
-    default_mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
-#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
-    // we assume 16 registers
-    // See bug 992, if the scalar type is not vectorizable but that EIGEN_HAS_SINGLE_INSTRUCTION_MADD is defined,
-    // then using 3*LhsPacketSize triggers non-implemented paths in syrk.
-    mr = Vectorizable ? 3*LhsPacketSize : default_mr,
-#else
-    mr = default_mr,
-#endif
-    
-    LhsProgress = LhsPacketSize,
-    RhsProgress = 1
-  };
-
-  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
-  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
-  typedef typename packet_traits<ResScalar>::type  _ResPacket;
-
-  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
-  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
-  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
-
-  typedef ResPacket AccPacket;
-  
-  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
-  {
-    p = pset1<ResPacket>(ResScalar(0));
-  }
-  
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
-  {
-    pbroadcast4(b, b0, b1, b2, b3);
-  }
-  
-//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
-//   {
-//     pbroadcast2(b, b0, b1);
-//   }
-  
-  template<typename RhsPacketType>
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketType& dest) const
-  {
-    dest = pset1<RhsPacketType>(*b);
-  }
-  
-  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
-  {
-    dest = ploadquad<RhsPacket>(b);
-  }
-
-  template<typename LhsPacketType>
-  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacketType& dest) const
-  {
-    dest = pload<LhsPacketType>(a);
-  }
-
-  template<typename LhsPacketType>
-  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacketType& dest) const
-  {
-    dest = ploadu<LhsPacketType>(a);
-  }
-
-  template<typename LhsPacketType, typename RhsPacketType, typename AccPacketType>
-  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, AccPacketType& tmp) const
-  {
-    conj_helper<LhsPacketType,RhsPacketType,ConjLhs,ConjRhs> cj;
-    // It would be a lot cleaner to call pmadd all the time. Unfortunately if we
-    // let gcc allocate the register in which to store the result of the pmul
-    // (in the case where there is no FMA) gcc fails to figure out how to avoid
-    // spilling register.
-#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-    EIGEN_UNUSED_VARIABLE(tmp);
-    c = cj.pmadd(a,b,c);
-#else
-    tmp = b; tmp = cj.pmul(a,tmp); c = padd(c,tmp);
-#endif
-  }
-
-  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
-  {
-    r = pmadd(c,alpha,r);
-  }
-  
-  template<typename ResPacketHalf>
-  EIGEN_STRONG_INLINE void acc(const ResPacketHalf& c, const ResPacketHalf& alpha, ResPacketHalf& r) const
-  {
-    r = pmadd(c,alpha,r);
-  }
-
-};
-
-template<typename RealScalar, bool _ConjLhs>
-class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
-{
-public:
-  typedef std::complex<RealScalar> LhsScalar;
-  typedef RealScalar RhsScalar;
-  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-
-  enum {
-    ConjLhs = _ConjLhs,
-    ConjRhs = false,
-    Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable,
-    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
-    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
-    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
-    
-    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
-    nr = 4,
-#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
-    // we assume 16 registers
-    mr = 3*LhsPacketSize,
-#else
-    mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
-#endif
-
-    LhsProgress = LhsPacketSize,
-    RhsProgress = 1
-  };
-
-  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
-  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
-  typedef typename packet_traits<ResScalar>::type  _ResPacket;
-
-  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
-  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
-  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
-
-  typedef ResPacket AccPacket;
-
-  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
-  {
-    p = pset1<ResPacket>(ResScalar(0));
-  }
-
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
-  {
-    dest = pset1<RhsPacket>(*b);
-  }
-  
-  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
-  {
-    dest = pset1<RhsPacket>(*b);
-  }
-
-  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
-  {
-    dest = pload<LhsPacket>(a);
-  }
-
-  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
-  {
-    dest = ploadu<LhsPacket>(a);
-  }
-
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
-  {
-    pbroadcast4(b, b0, b1, b2, b3);
-  }
-  
-//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
-//   {
-//     pbroadcast2(b, b0, b1);
-//   }
-
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
-  {
-    madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
-  }
-
-  EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
-  {
-#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-    EIGEN_UNUSED_VARIABLE(tmp);
-    c.v = pmadd(a.v,b,c.v);
-#else
-    tmp = b; tmp = pmul(a.v,tmp); c.v = padd(c.v,tmp);
-#endif
-  }
-
-  EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
-  {
-    c += a * b;
-  }
-
-  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
-  {
-    r = cj.pmadd(c,alpha,r);
-  }
-
-protected:
-  conj_helper<ResPacket,ResPacket,ConjLhs,false> cj;
-};
-
-template<typename Packet>
-struct DoublePacket
-{
-  Packet first;
-  Packet second;
-};
-
-template<typename Packet>
-DoublePacket<Packet> padd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
-{
-  DoublePacket<Packet> res;
-  res.first  = padd(a.first, b.first);
-  res.second = padd(a.second,b.second);
-  return res;
-}
-
-template<typename Packet>
-const DoublePacket<Packet>& predux_downto4(const DoublePacket<Packet> &a)
-{
-  return a;
-}
-
-template<typename Packet> struct unpacket_traits<DoublePacket<Packet> > { typedef DoublePacket<Packet> half; };
-// template<typename Packet>
-// DoublePacket<Packet> pmadd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
-// {
-//   DoublePacket<Packet> res;
-//   res.first  = padd(a.first, b.first);
-//   res.second = padd(a.second,b.second);
-//   return res;
-// }
-
-template<typename RealScalar, bool _ConjLhs, bool _ConjRhs>
-class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs, _ConjRhs >
-{
-public:
-  typedef std::complex<RealScalar>  Scalar;
-  typedef std::complex<RealScalar>  LhsScalar;
-  typedef std::complex<RealScalar>  RhsScalar;
-  typedef std::complex<RealScalar>  ResScalar;
-  
-  enum {
-    ConjLhs = _ConjLhs,
-    ConjRhs = _ConjRhs,
-    Vectorizable = packet_traits<RealScalar>::Vectorizable
-                && packet_traits<Scalar>::Vectorizable,
-    RealPacketSize  = Vectorizable ? packet_traits<RealScalar>::size : 1,
-    ResPacketSize   = Vectorizable ? packet_traits<ResScalar>::size : 1,
-    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
-    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
-
-    // FIXME: should depend on NumberOfRegisters
-    nr = 4,
-    mr = ResPacketSize,
-
-    LhsProgress = ResPacketSize,
-    RhsProgress = 1
-  };
-  
-  typedef typename packet_traits<RealScalar>::type RealPacket;
-  typedef typename packet_traits<Scalar>::type     ScalarPacket;
-  typedef DoublePacket<RealPacket> DoublePacketType;
-
-  typedef typename conditional<Vectorizable,RealPacket,  Scalar>::type LhsPacket;
-  typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type RhsPacket;
-  typedef typename conditional<Vectorizable,ScalarPacket,Scalar>::type ResPacket;
-  typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type AccPacket;
-  
-  EIGEN_STRONG_INLINE void initAcc(Scalar& p) { p = Scalar(0); }
-
-  EIGEN_STRONG_INLINE void initAcc(DoublePacketType& p)
-  {
-    p.first   = pset1<RealPacket>(RealScalar(0));
-    p.second  = pset1<RealPacket>(RealScalar(0));
-  }
-
-  // Scalar path
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const
-  {
-    dest = pset1<ResPacket>(*b);
-  }
-
-  // Vectorized path
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacketType& dest) const
-  {
-    dest.first  = pset1<RealPacket>(real(*b));
-    dest.second = pset1<RealPacket>(imag(*b));
-  }
-  
-  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, ResPacket& dest) const
-  {
-    loadRhs(b,dest);
-  }
-  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, DoublePacketType& dest) const
-  {
-    eigen_internal_assert(unpacket_traits<ScalarPacket>::size<=4);
-    loadRhs(b,dest);
-  }
-  
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
-  {
-    // FIXME not sure that's the best way to implement it!
-    loadRhs(b+0, b0);
-    loadRhs(b+1, b1);
-    loadRhs(b+2, b2);
-    loadRhs(b+3, b3);
-  }
-  
-  // Vectorized path
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, DoublePacketType& b0, DoublePacketType& b1)
-  {
-    // FIXME not sure that's the best way to implement it!
-    loadRhs(b+0, b0);
-    loadRhs(b+1, b1);
-  }
-  
-  // Scalar path
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsScalar& b0, RhsScalar& b1)
-  {
-    // FIXME not sure that's the best way to implement it!
-    loadRhs(b+0, b0);
-    loadRhs(b+1, b1);
-  }
-
-  // nothing special here
-  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
-  {
-    dest = pload<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
-  }
-
-  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
-  {
-    dest = ploadu<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
-  }
-
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacketType& c, RhsPacket& /*tmp*/) const
-  {
-    c.first   = padd(pmul(a,b.first), c.first);
-    c.second  = padd(pmul(a,b.second),c.second);
-  }
-
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, ResPacket& c, RhsPacket& /*tmp*/) const
-  {
-    c = cj.pmadd(a,b,c);
-  }
-  
-  EIGEN_STRONG_INLINE void acc(const Scalar& c, const Scalar& alpha, Scalar& r) const { r += alpha * c; }
-  
-  EIGEN_STRONG_INLINE void acc(const DoublePacketType& c, const ResPacket& alpha, ResPacket& r) const
-  {
-    // assemble c
-    ResPacket tmp;
-    if((!ConjLhs)&&(!ConjRhs))
-    {
-      tmp = pcplxflip(pconj(ResPacket(c.second)));
-      tmp = padd(ResPacket(c.first),tmp);
-    }
-    else if((!ConjLhs)&&(ConjRhs))
-    {
-      tmp = pconj(pcplxflip(ResPacket(c.second)));
-      tmp = padd(ResPacket(c.first),tmp);
-    }
-    else if((ConjLhs)&&(!ConjRhs))
-    {
-      tmp = pcplxflip(ResPacket(c.second));
-      tmp = padd(pconj(ResPacket(c.first)),tmp);
-    }
-    else if((ConjLhs)&&(ConjRhs))
-    {
-      tmp = pcplxflip(ResPacket(c.second));
-      tmp = psub(pconj(ResPacket(c.first)),tmp);
-    }
-    
-    r = pmadd(tmp,alpha,r);
-  }
-
-protected:
-  conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
-};
-
-template<typename RealScalar, bool _ConjRhs>
-class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
-{
-public:
-  typedef std::complex<RealScalar>  Scalar;
-  typedef RealScalar  LhsScalar;
-  typedef Scalar      RhsScalar;
-  typedef Scalar      ResScalar;
-
-  enum {
-    ConjLhs = false,
-    ConjRhs = _ConjRhs,
-    Vectorizable = packet_traits<RealScalar>::Vectorizable
-                && packet_traits<Scalar>::Vectorizable,
-    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
-    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
-    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
-    
-    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
-    // FIXME: should depend on NumberOfRegisters
-    nr = 4,
-    mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*ResPacketSize,
-
-    LhsProgress = ResPacketSize,
-    RhsProgress = 1
-  };
-
-  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
-  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
-  typedef typename packet_traits<ResScalar>::type  _ResPacket;
-
-  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
-  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
-  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
-
-  typedef ResPacket AccPacket;
-
-  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
-  {
-    p = pset1<ResPacket>(ResScalar(0));
-  }
-
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
-  {
-    dest = pset1<RhsPacket>(*b);
-  }
-  
-  void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
-  {
-    pbroadcast4(b, b0, b1, b2, b3);
-  }
-  
-//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
-//   {
-//     // FIXME not sure that's the best way to implement it!
-//     b0 = pload1<RhsPacket>(b+0);
-//     b1 = pload1<RhsPacket>(b+1);
-//   }
-
-  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
-  {
-    dest = ploaddup<LhsPacket>(a);
-  }
-  
-  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
-  {
-    eigen_internal_assert(unpacket_traits<RhsPacket>::size<=4);
-    loadRhs(b,dest);
-  }
-
-  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
-  {
-    dest = ploaddup<LhsPacket>(a);
-  }
-
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
-  {
-    madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
-  }
-
-  EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
-  {
-#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-    EIGEN_UNUSED_VARIABLE(tmp);
-    c.v = pmadd(a,b.v,c.v);
-#else
-    tmp = b; tmp.v = pmul(a,tmp.v); c = padd(c,tmp);
-#endif
-    
-  }
-
-  EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
-  {
-    c += a * b;
-  }
-
-  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
-  {
-    r = cj.pmadd(alpha,c,r);
-  }
-
-protected:
-  conj_helper<ResPacket,ResPacket,false,ConjRhs> cj;
-};
-
-/* optimized GEneral packed Block * packed Panel product kernel
- *
- * Mixing type logic: C += A * B
- *  |  A  |  B  | comments
- *  |real |cplx | no vectorization yet, would require to pack A with duplication
- *  |cplx |real | easy vectorization
- */
-template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
-struct gebp_kernel
-{
-  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> Traits;
-  typedef typename Traits::ResScalar ResScalar;
-  typedef typename Traits::LhsPacket LhsPacket;
-  typedef typename Traits::RhsPacket RhsPacket;
-  typedef typename Traits::ResPacket ResPacket;
-  typedef typename Traits::AccPacket AccPacket;
-
-  typedef gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs> SwappedTraits;
-  typedef typename SwappedTraits::ResScalar SResScalar;
-  typedef typename SwappedTraits::LhsPacket SLhsPacket;
-  typedef typename SwappedTraits::RhsPacket SRhsPacket;
-  typedef typename SwappedTraits::ResPacket SResPacket;
-  typedef typename SwappedTraits::AccPacket SAccPacket;
-
-  typedef typename DataMapper::LinearMapper LinearMapper;
-
-  enum {
-    Vectorizable  = Traits::Vectorizable,
-    LhsProgress   = Traits::LhsProgress,
-    RhsProgress   = Traits::RhsProgress,
-    ResPacketSize = Traits::ResPacketSize
-  };
-
-  EIGEN_DONT_INLINE
-  void operator()(const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB,
-                  Index rows, Index depth, Index cols, ResScalar alpha,
-                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
-};
-
-template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
-EIGEN_DONT_INLINE
-void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,ConjugateRhs>
-  ::operator()(const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB,
-               Index rows, Index depth, Index cols, ResScalar alpha,
-               Index strideA, Index strideB, Index offsetA, Index offsetB)
-  {
-    Traits traits;
-    SwappedTraits straits;
-    
-    if(strideA==-1) strideA = depth;
-    if(strideB==-1) strideB = depth;
-    conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
-    Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
-    const Index peeled_mc3 = mr>=3*Traits::LhsProgress ? (rows/(3*LhsProgress))*(3*LhsProgress) : 0;
-    const Index peeled_mc2 = mr>=2*Traits::LhsProgress ? peeled_mc3+((rows-peeled_mc3)/(2*LhsProgress))*(2*LhsProgress) : 0;
-    const Index peeled_mc1 = mr>=1*Traits::LhsProgress ? (rows/(1*LhsProgress))*(1*LhsProgress) : 0;
-    enum { pk = 8 }; // NOTE Such a large peeling factor is important for large matrices (~ +5% when >1000 on Haswell)
-    const Index peeled_kc  = depth & ~(pk-1);
-    const Index prefetch_res_offset = 32/sizeof(ResScalar);    
-//     const Index depth2     = depth & ~1;
-
-    //---------- Process 3 * LhsProgress rows at once ----------
-    // This corresponds to 3*LhsProgress x nr register blocks.
-    // Usually, make sense only with FMA
-    if(mr>=3*Traits::LhsProgress)
-    {
-      // Here, the general idea is to loop on each largest micro horizontal panel of the lhs (3*Traits::LhsProgress x depth)
-      // and on each largest micro vertical panel of the rhs (depth * nr).
-      // Blocking sizes, i.e., 'depth' has been computed so that the micro horizontal panel of the lhs fit in L1.
-      // However, if depth is too small, we can extend the number of rows of these horizontal panels.
-      // This actual number of rows is computed as follow:
-      const Index l1 = defaultL1CacheSize; // in Bytes, TODO, l1 should be passed to this function.
-      // The max(1, ...) here is needed because we may be using blocking params larger than what our known l1 cache size
-      // suggests we should be using: either because our known l1 cache size is inaccurate (e.g. on Android, we can only guess),
-      // or because we are testing specific blocking sizes.
-      const Index actual_panel_rows = (3*LhsProgress) * std::max<Index>(1,( (l1 - sizeof(ResScalar)*mr*nr - depth*nr*sizeof(RhsScalar)) / (depth * sizeof(LhsScalar) * 3*LhsProgress) ));
-      for(Index i1=0; i1<peeled_mc3; i1+=actual_panel_rows)
-      {
-        const Index actual_panel_end = (std::min)(i1+actual_panel_rows, peeled_mc3);
-        for(Index j2=0; j2<packet_cols4; j2+=nr)
-        {
-          for(Index i=i1; i<actual_panel_end; i+=3*LhsProgress)
-          {
-          
-          // We selected a 3*Traits::LhsProgress x nr micro block of res which is entirely
-          // stored into 3 x nr registers.
-          
-          const LhsScalar* blA = &blockA[i*strideA+offsetA*(3*LhsProgress)];
-          prefetch(&blA[0]);
-
-          // gets res block as register
-          AccPacket C0, C1, C2,  C3,
-                    C4, C5, C6,  C7,
-                    C8, C9, C10, C11;
-          traits.initAcc(C0);  traits.initAcc(C1);  traits.initAcc(C2);  traits.initAcc(C3);
-          traits.initAcc(C4);  traits.initAcc(C5);  traits.initAcc(C6);  traits.initAcc(C7);
-          traits.initAcc(C8);  traits.initAcc(C9);  traits.initAcc(C10); traits.initAcc(C11);
-
-          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
-          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
-          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
-          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
-
-          r0.prefetch(0);
-          r1.prefetch(0);
-          r2.prefetch(0);
-          r3.prefetch(0);
-
-          // performs "inner" products
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
-          prefetch(&blB[0]);
-          LhsPacket A0, A1;
-
-          for(Index k=0; k<peeled_kc; k+=pk)
-          {
-            EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX4");
-            RhsPacket B_0, T0;
-            LhsPacket A2;
-
-#define EIGEN_GEBP_ONESTEP(K) \
-            do { \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX4"); \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              internal::prefetch(blA+(3*K+16)*LhsProgress); \
-              if (EIGEN_ARCH_ARM) { internal::prefetch(blB+(4*K+16)*RhsProgress); } /* Bug 953 */ \
-              traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0);  \
-              traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1);  \
-              traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2);  \
-              traits.loadRhs(blB + (0+4*K)*Traits::RhsProgress, B_0); \
-              traits.madd(A0, B_0, C0, T0); \
-              traits.madd(A1, B_0, C4, T0); \
-              traits.madd(A2, B_0, C8, B_0); \
-              traits.loadRhs(blB + (1+4*K)*Traits::RhsProgress, B_0); \
-              traits.madd(A0, B_0, C1, T0); \
-              traits.madd(A1, B_0, C5, T0); \
-              traits.madd(A2, B_0, C9, B_0); \
-              traits.loadRhs(blB + (2+4*K)*Traits::RhsProgress, B_0); \
-              traits.madd(A0, B_0, C2,  T0); \
-              traits.madd(A1, B_0, C6,  T0); \
-              traits.madd(A2, B_0, C10, B_0); \
-              traits.loadRhs(blB + (3+4*K)*Traits::RhsProgress, B_0); \
-              traits.madd(A0, B_0, C3 , T0); \
-              traits.madd(A1, B_0, C7,  T0); \
-              traits.madd(A2, B_0, C11, B_0); \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX4"); \
-            } while(false)
-
-            internal::prefetch(blB);
-            EIGEN_GEBP_ONESTEP(0);
-            EIGEN_GEBP_ONESTEP(1);
-            EIGEN_GEBP_ONESTEP(2);
-            EIGEN_GEBP_ONESTEP(3);
-            EIGEN_GEBP_ONESTEP(4);
-            EIGEN_GEBP_ONESTEP(5);
-            EIGEN_GEBP_ONESTEP(6);
-            EIGEN_GEBP_ONESTEP(7);
-
-            blB += pk*4*RhsProgress;
-            blA += pk*3*Traits::LhsProgress;
-
-            EIGEN_ASM_COMMENT("end gebp micro kernel 3pX4");
-          }
-          // process remaining peeled loop
-          for(Index k=peeled_kc; k<depth; k++)
-          {
-            RhsPacket B_0, T0;
-            LhsPacket A2;
-            EIGEN_GEBP_ONESTEP(0);
-            blB += 4*RhsProgress;
-            blA += 3*Traits::LhsProgress;
-          }
-
-#undef EIGEN_GEBP_ONESTEP
-
-          ResPacket R0, R1, R2;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r0.loadPacket(2 * Traits::ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          traits.acc(C4, alphav, R1);
-          traits.acc(C8, alphav, R2);
-          r0.storePacket(0 * Traits::ResPacketSize, R0);
-          r0.storePacket(1 * Traits::ResPacketSize, R1);
-          r0.storePacket(2 * Traits::ResPacketSize, R2);
-
-          R0 = r1.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r1.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r1.loadPacket(2 * Traits::ResPacketSize);
-          traits.acc(C1, alphav, R0);
-          traits.acc(C5, alphav, R1);
-          traits.acc(C9, alphav, R2);
-          r1.storePacket(0 * Traits::ResPacketSize, R0);
-          r1.storePacket(1 * Traits::ResPacketSize, R1);
-          r1.storePacket(2 * Traits::ResPacketSize, R2);
-
-          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r2.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r2.loadPacket(2 * Traits::ResPacketSize);
-          traits.acc(C2, alphav, R0);
-          traits.acc(C6, alphav, R1);
-          traits.acc(C10, alphav, R2);
-          r2.storePacket(0 * Traits::ResPacketSize, R0);
-          r2.storePacket(1 * Traits::ResPacketSize, R1);
-          r2.storePacket(2 * Traits::ResPacketSize, R2);
-
-          R0 = r3.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r3.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r3.loadPacket(2 * Traits::ResPacketSize);
-          traits.acc(C3, alphav, R0);
-          traits.acc(C7, alphav, R1);
-          traits.acc(C11, alphav, R2);
-          r3.storePacket(0 * Traits::ResPacketSize, R0);
-          r3.storePacket(1 * Traits::ResPacketSize, R1);
-          r3.storePacket(2 * Traits::ResPacketSize, R2);          
-          }
-        }
-
-        // Deal with remaining columns of the rhs
-        for(Index j2=packet_cols4; j2<cols; j2++)
-        {
-          for(Index i=i1; i<actual_panel_end; i+=3*LhsProgress)
-          {
-          // One column at a time
-          const LhsScalar* blA = &blockA[i*strideA+offsetA*(3*Traits::LhsProgress)];
-          prefetch(&blA[0]);
-
-          // gets res block as register
-          AccPacket C0, C4, C8;
-          traits.initAcc(C0);
-          traits.initAcc(C4);
-          traits.initAcc(C8);
-
-          LinearMapper r0 = res.getLinearMapper(i, j2);
-          r0.prefetch(0);
-
-          // performs "inner" products
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
-          LhsPacket A0, A1, A2;
-          
-          for(Index k=0; k<peeled_kc; k+=pk)
-          {
-            EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX1");
-            RhsPacket B_0;
-#define EIGEN_GEBGP_ONESTEP(K) \
-            do { \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX1"); \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0);  \
-              traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1);  \
-              traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2);  \
-              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);   \
-              traits.madd(A0, B_0, C0, B_0); \
-              traits.madd(A1, B_0, C4, B_0); \
-              traits.madd(A2, B_0, C8, B_0); \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX1"); \
-            } while(false)
-        
-            EIGEN_GEBGP_ONESTEP(0);
-            EIGEN_GEBGP_ONESTEP(1);
-            EIGEN_GEBGP_ONESTEP(2);
-            EIGEN_GEBGP_ONESTEP(3);
-            EIGEN_GEBGP_ONESTEP(4);
-            EIGEN_GEBGP_ONESTEP(5);
-            EIGEN_GEBGP_ONESTEP(6);
-            EIGEN_GEBGP_ONESTEP(7);
-
-            blB += pk*RhsProgress;
-            blA += pk*3*Traits::LhsProgress;
-
-            EIGEN_ASM_COMMENT("end gebp micro kernel 3pX1");
-          }
-
-          // process remaining peeled loop
-          for(Index k=peeled_kc; k<depth; k++)
-          {
-            RhsPacket B_0;
-            EIGEN_GEBGP_ONESTEP(0);
-            blB += RhsProgress;
-            blA += 3*Traits::LhsProgress;
-          }
-#undef EIGEN_GEBGP_ONESTEP
-          ResPacket R0, R1, R2;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r0.loadPacket(2 * Traits::ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          traits.acc(C4, alphav, R1);
-          traits.acc(C8, alphav, R2);
-          r0.storePacket(0 * Traits::ResPacketSize, R0);
-          r0.storePacket(1 * Traits::ResPacketSize, R1);
-          r0.storePacket(2 * Traits::ResPacketSize, R2);          
-          }
-        }
-      }
-    }
-
-    //---------- Process 2 * LhsProgress rows at once ----------
-    if(mr>=2*Traits::LhsProgress)
-    {
-      const Index l1 = defaultL1CacheSize; // in Bytes, TODO, l1 should be passed to this function.
-      // The max(1, ...) here is needed because we may be using blocking params larger than what our known l1 cache size
-      // suggests we should be using: either because our known l1 cache size is inaccurate (e.g. on Android, we can only guess),
-      // or because we are testing specific blocking sizes.
-      Index actual_panel_rows = (2*LhsProgress) * std::max<Index>(1,( (l1 - sizeof(ResScalar)*mr*nr - depth*nr*sizeof(RhsScalar)) / (depth * sizeof(LhsScalar) * 2*LhsProgress) ));
-
-      for(Index i1=peeled_mc3; i1<peeled_mc2; i1+=actual_panel_rows)
-      {
-        Index actual_panel_end = (std::min)(i1+actual_panel_rows, peeled_mc2);
-        for(Index j2=0; j2<packet_cols4; j2+=nr)
-        {
-          for(Index i=i1; i<actual_panel_end; i+=2*LhsProgress)
-          {
-          
-          // We selected a 2*Traits::LhsProgress x nr micro block of res which is entirely
-          // stored into 2 x nr registers.
-          
-          const LhsScalar* blA = &blockA[i*strideA+offsetA*(2*Traits::LhsProgress)];
-          prefetch(&blA[0]);
-
-          // gets res block as register
-          AccPacket C0, C1, C2, C3,
-                    C4, C5, C6, C7;
-          traits.initAcc(C0); traits.initAcc(C1); traits.initAcc(C2); traits.initAcc(C3);
-          traits.initAcc(C4); traits.initAcc(C5); traits.initAcc(C6); traits.initAcc(C7);
-
-          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
-          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
-          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
-          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
-
-          r0.prefetch(prefetch_res_offset);
-          r1.prefetch(prefetch_res_offset);
-          r2.prefetch(prefetch_res_offset);
-          r3.prefetch(prefetch_res_offset);
-
-          // performs "inner" products
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
-          prefetch(&blB[0]);
-          LhsPacket A0, A1;
-
-          for(Index k=0; k<peeled_kc; k+=pk)
-          {
-            EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX4");
-            RhsPacket B_0, B1, B2, B3, T0;
-
-   #define EIGEN_GEBGP_ONESTEP(K) \
-            do {                                                                \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX4");        \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0);                    \
-              traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1);                    \
-              traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3);  \
-              traits.madd(A0, B_0, C0, T0);                                     \
-              traits.madd(A1, B_0, C4, B_0);                                    \
-              traits.madd(A0, B1,  C1, T0);                                     \
-              traits.madd(A1, B1,  C5, B1);                                     \
-              traits.madd(A0, B2,  C2, T0);                                     \
-              traits.madd(A1, B2,  C6, B2);                                     \
-              traits.madd(A0, B3,  C3, T0);                                     \
-              traits.madd(A1, B3,  C7, B3);                                     \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX4");          \
-            } while(false)
-            
-            internal::prefetch(blB+(48+0));
-            EIGEN_GEBGP_ONESTEP(0);
-            EIGEN_GEBGP_ONESTEP(1);
-            EIGEN_GEBGP_ONESTEP(2);
-            EIGEN_GEBGP_ONESTEP(3);
-            internal::prefetch(blB+(48+16));
-            EIGEN_GEBGP_ONESTEP(4);
-            EIGEN_GEBGP_ONESTEP(5);
-            EIGEN_GEBGP_ONESTEP(6);
-            EIGEN_GEBGP_ONESTEP(7);
-
-            blB += pk*4*RhsProgress;
-            blA += pk*(2*Traits::LhsProgress);
-
-            EIGEN_ASM_COMMENT("end gebp micro kernel 2pX4");
-          }
-          // process remaining peeled loop
-          for(Index k=peeled_kc; k<depth; k++)
-          {
-            RhsPacket B_0, B1, B2, B3, T0;
-            EIGEN_GEBGP_ONESTEP(0);
-            blB += 4*RhsProgress;
-            blA += 2*Traits::LhsProgress;
-          }
-#undef EIGEN_GEBGP_ONESTEP
-
-          ResPacket R0, R1, R2, R3;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r1.loadPacket(0 * Traits::ResPacketSize);
-          R3 = r1.loadPacket(1 * Traits::ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          traits.acc(C4, alphav, R1);
-          traits.acc(C1, alphav, R2);
-          traits.acc(C5, alphav, R3);
-          r0.storePacket(0 * Traits::ResPacketSize, R0);
-          r0.storePacket(1 * Traits::ResPacketSize, R1);
-          r1.storePacket(0 * Traits::ResPacketSize, R2);
-          r1.storePacket(1 * Traits::ResPacketSize, R3);
-
-          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r2.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r3.loadPacket(0 * Traits::ResPacketSize);
-          R3 = r3.loadPacket(1 * Traits::ResPacketSize);
-          traits.acc(C2,  alphav, R0);
-          traits.acc(C6,  alphav, R1);
-          traits.acc(C3,  alphav, R2);
-          traits.acc(C7,  alphav, R3);
-          r2.storePacket(0 * Traits::ResPacketSize, R0);
-          r2.storePacket(1 * Traits::ResPacketSize, R1);
-          r3.storePacket(0 * Traits::ResPacketSize, R2);
-          r3.storePacket(1 * Traits::ResPacketSize, R3);
-          }
-        }
-      
-        // Deal with remaining columns of the rhs
-        for(Index j2=packet_cols4; j2<cols; j2++)
-        {
-          for(Index i=i1; i<actual_panel_end; i+=2*LhsProgress)
-          {
-          // One column at a time
-          const LhsScalar* blA = &blockA[i*strideA+offsetA*(2*Traits::LhsProgress)];
-          prefetch(&blA[0]);
-
-          // gets res block as register
-          AccPacket C0, C4;
-          traits.initAcc(C0);
-          traits.initAcc(C4);
-
-          LinearMapper r0 = res.getLinearMapper(i, j2);
-          r0.prefetch(prefetch_res_offset);
-
-          // performs "inner" products
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
-          LhsPacket A0, A1;
-
-          for(Index k=0; k<peeled_kc; k+=pk)
-          {
-            EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX1");
-            RhsPacket B_0, B1;
-        
-#define EIGEN_GEBGP_ONESTEP(K) \
-            do {                                                                  \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX1");          \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0);                      \
-              traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1);                      \
-              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);                       \
-              traits.madd(A0, B_0, C0, B1);                                       \
-              traits.madd(A1, B_0, C4, B_0);                                      \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX1");            \
-            } while(false)
-        
-            EIGEN_GEBGP_ONESTEP(0);
-            EIGEN_GEBGP_ONESTEP(1);
-            EIGEN_GEBGP_ONESTEP(2);
-            EIGEN_GEBGP_ONESTEP(3);
-            EIGEN_GEBGP_ONESTEP(4);
-            EIGEN_GEBGP_ONESTEP(5);
-            EIGEN_GEBGP_ONESTEP(6);
-            EIGEN_GEBGP_ONESTEP(7);
-
-            blB += pk*RhsProgress;
-            blA += pk*2*Traits::LhsProgress;
-
-            EIGEN_ASM_COMMENT("end gebp micro kernel 2pX1");
-          }
-
-          // process remaining peeled loop
-          for(Index k=peeled_kc; k<depth; k++)
-          {
-            RhsPacket B_0, B1;
-            EIGEN_GEBGP_ONESTEP(0);
-            blB += RhsProgress;
-            blA += 2*Traits::LhsProgress;
-          }
-#undef EIGEN_GEBGP_ONESTEP
-          ResPacket R0, R1;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          traits.acc(C4, alphav, R1);
-          r0.storePacket(0 * Traits::ResPacketSize, R0);
-          r0.storePacket(1 * Traits::ResPacketSize, R1);
-          }
-        }
-      }
-    }
-    //---------- Process 1 * LhsProgress rows at once ----------
-    if(mr>=1*Traits::LhsProgress)
-    {
-      // loops on each largest micro horizontal panel of lhs (1*LhsProgress x depth)
-      for(Index i=peeled_mc2; i<peeled_mc1; i+=1*LhsProgress)
-      {
-        // loops on each largest micro vertical panel of rhs (depth * nr)
-        for(Index j2=0; j2<packet_cols4; j2+=nr)
-        {
-          // We select a 1*Traits::LhsProgress x nr micro block of res which is entirely
-          // stored into 1 x nr registers.
-          
-          const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
-          prefetch(&blA[0]);
-
-          // gets res block as register
-          AccPacket C0, C1, C2, C3;
-          traits.initAcc(C0);
-          traits.initAcc(C1);
-          traits.initAcc(C2);
-          traits.initAcc(C3);
-
-          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
-          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
-          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
-          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
-
-          r0.prefetch(prefetch_res_offset);
-          r1.prefetch(prefetch_res_offset);
-          r2.prefetch(prefetch_res_offset);
-          r3.prefetch(prefetch_res_offset);
-
-          // performs "inner" products
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
-          prefetch(&blB[0]);
-          LhsPacket A0;
-
-          for(Index k=0; k<peeled_kc; k+=pk)
-          {
-            EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX4");
-            RhsPacket B_0, B1, B2, B3;
-               
-#define EIGEN_GEBGP_ONESTEP(K) \
-            do {                                                                \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX4");        \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0);                    \
-              traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3);  \
-              traits.madd(A0, B_0, C0, B_0);                                    \
-              traits.madd(A0, B1,  C1, B1);                                     \
-              traits.madd(A0, B2,  C2, B2);                                     \
-              traits.madd(A0, B3,  C3, B3);                                     \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX4");          \
-            } while(false)
-            
-            internal::prefetch(blB+(48+0));
-            EIGEN_GEBGP_ONESTEP(0);
-            EIGEN_GEBGP_ONESTEP(1);
-            EIGEN_GEBGP_ONESTEP(2);
-            EIGEN_GEBGP_ONESTEP(3);
-            internal::prefetch(blB+(48+16));
-            EIGEN_GEBGP_ONESTEP(4);
-            EIGEN_GEBGP_ONESTEP(5);
-            EIGEN_GEBGP_ONESTEP(6);
-            EIGEN_GEBGP_ONESTEP(7);
-
-            blB += pk*4*RhsProgress;
-            blA += pk*1*LhsProgress;
-
-            EIGEN_ASM_COMMENT("end gebp micro kernel 1pX4");
-          }
-          // process remaining peeled loop
-          for(Index k=peeled_kc; k<depth; k++)
-          {
-            RhsPacket B_0, B1, B2, B3;
-            EIGEN_GEBGP_ONESTEP(0);
-            blB += 4*RhsProgress;
-            blA += 1*LhsProgress;
-          }
-#undef EIGEN_GEBGP_ONESTEP
-
-          ResPacket R0, R1;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r1.loadPacket(0 * Traits::ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          traits.acc(C1,  alphav, R1);
-          r0.storePacket(0 * Traits::ResPacketSize, R0);
-          r1.storePacket(0 * Traits::ResPacketSize, R1);
-
-          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r3.loadPacket(0 * Traits::ResPacketSize);
-          traits.acc(C2,  alphav, R0);
-          traits.acc(C3,  alphav, R1);
-          r2.storePacket(0 * Traits::ResPacketSize, R0);
-          r3.storePacket(0 * Traits::ResPacketSize, R1);
-        }
-
-        // Deal with remaining columns of the rhs
-        for(Index j2=packet_cols4; j2<cols; j2++)
-        {
-          // One column at a time
-          const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
-          prefetch(&blA[0]);
-
-          // gets res block as register
-          AccPacket C0;
-          traits.initAcc(C0);
-
-          LinearMapper r0 = res.getLinearMapper(i, j2);
-
-          // performs "inner" products
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
-          LhsPacket A0;
-
-          for(Index k=0; k<peeled_kc; k+=pk)
-          {
-            EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX1");
-            RhsPacket B_0;
-        
-#define EIGEN_GEBGP_ONESTEP(K) \
-            do {                                                                \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX1");        \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0);                    \
-              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);                     \
-              traits.madd(A0, B_0, C0, B_0);                                    \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX1");          \
-            } while(false);
-
-            EIGEN_GEBGP_ONESTEP(0);
-            EIGEN_GEBGP_ONESTEP(1);
-            EIGEN_GEBGP_ONESTEP(2);
-            EIGEN_GEBGP_ONESTEP(3);
-            EIGEN_GEBGP_ONESTEP(4);
-            EIGEN_GEBGP_ONESTEP(5);
-            EIGEN_GEBGP_ONESTEP(6);
-            EIGEN_GEBGP_ONESTEP(7);
-
-            blB += pk*RhsProgress;
-            blA += pk*1*Traits::LhsProgress;
-
-            EIGEN_ASM_COMMENT("end gebp micro kernel 1pX1");
-          }
-
-          // process remaining peeled loop
-          for(Index k=peeled_kc; k<depth; k++)
-          {
-            RhsPacket B_0;
-            EIGEN_GEBGP_ONESTEP(0);
-            blB += RhsProgress;
-            blA += 1*Traits::LhsProgress;
-          }
-#undef EIGEN_GEBGP_ONESTEP
-          ResPacket R0;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          r0.storePacket(0 * Traits::ResPacketSize, R0);
-        }
-      }
-    }
-    //---------- Process remaining rows, 1 at once ----------
-    if(peeled_mc1<rows)
-    {
-      // loop on each panel of the rhs
-      for(Index j2=0; j2<packet_cols4; j2+=nr)
-      {
-        // loop on each row of the lhs (1*LhsProgress x depth)
-        for(Index i=peeled_mc1; i<rows; i+=1)
-        {
-          const LhsScalar* blA = &blockA[i*strideA+offsetA];
-          prefetch(&blA[0]);
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
-
-          // The following piece of code wont work for 512 bit registers
-          // Moreover, if LhsProgress==8 it assumes that there is a half packet of the same size
-          // as nr (which is currently 4) for the return type.
-          typedef typename unpacket_traits<SResPacket>::half SResPacketHalf;
-          if ((SwappedTraits::LhsProgress % 4) == 0 &&
-              (SwappedTraits::LhsProgress <= 8) &&
-              (SwappedTraits::LhsProgress!=8 || unpacket_traits<SResPacketHalf>::size==nr))
-          {
-            SAccPacket C0, C1, C2, C3;
-            straits.initAcc(C0);
-            straits.initAcc(C1);
-            straits.initAcc(C2);
-            straits.initAcc(C3);
-
-            const Index spk   = (std::max)(1,SwappedTraits::LhsProgress/4);
-            const Index endk  = (depth/spk)*spk;
-            const Index endk4 = (depth/(spk*4))*(spk*4);
-
-            Index k=0;
-            for(; k<endk4; k+=4*spk)
-            {
-              SLhsPacket A0,A1;
-              SRhsPacket B_0,B_1;
-
-              straits.loadLhsUnaligned(blB+0*SwappedTraits::LhsProgress, A0);
-              straits.loadLhsUnaligned(blB+1*SwappedTraits::LhsProgress, A1);
-
-              straits.loadRhsQuad(blA+0*spk, B_0);
-              straits.loadRhsQuad(blA+1*spk, B_1);
-              straits.madd(A0,B_0,C0,B_0);
-              straits.madd(A1,B_1,C1,B_1);
-
-              straits.loadLhsUnaligned(blB+2*SwappedTraits::LhsProgress, A0);
-              straits.loadLhsUnaligned(blB+3*SwappedTraits::LhsProgress, A1);
-              straits.loadRhsQuad(blA+2*spk, B_0);
-              straits.loadRhsQuad(blA+3*spk, B_1);
-              straits.madd(A0,B_0,C2,B_0);
-              straits.madd(A1,B_1,C3,B_1);
-
-              blB += 4*SwappedTraits::LhsProgress;
-              blA += 4*spk;
-            }
-            C0 = padd(padd(C0,C1),padd(C2,C3));
-            for(; k<endk; k+=spk)
-            {
-              SLhsPacket A0;
-              SRhsPacket B_0;
-
-              straits.loadLhsUnaligned(blB, A0);
-              straits.loadRhsQuad(blA, B_0);
-              straits.madd(A0,B_0,C0,B_0);
-
-              blB += SwappedTraits::LhsProgress;
-              blA += spk;
-            }
-            if(SwappedTraits::LhsProgress==8)
-            {
-              // Special case where we have to first reduce the accumulation register C0
-              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SResPacket>::half,SResPacket>::type SResPacketHalf;
-              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SLhsPacket>::type SLhsPacketHalf;
-              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SRhsPacket>::type SRhsPacketHalf;
-              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SAccPacket>::half,SAccPacket>::type SAccPacketHalf;
-
-              SResPacketHalf R = res.template gatherPacket<SResPacketHalf>(i, j2);
-              SResPacketHalf alphav = pset1<SResPacketHalf>(alpha);
-
-              if(depth-endk>0)
-              {
-                // We have to handle the last row of the rhs which corresponds to a half-packet
-                SLhsPacketHalf a0;
-                SRhsPacketHalf b0;
-                straits.loadLhsUnaligned(blB, a0);
-                straits.loadRhs(blA, b0);
-                SAccPacketHalf c0 = predux_downto4(C0);
-                straits.madd(a0,b0,c0,b0);
-                straits.acc(c0, alphav, R);
-              }
-              else
-              {
-                straits.acc(predux_downto4(C0), alphav, R);
-              }
-              res.scatterPacket(i, j2, R);
-            }
-            else
-            {
-              SResPacket R = res.template gatherPacket<SResPacket>(i, j2);
-              SResPacket alphav = pset1<SResPacket>(alpha);
-              straits.acc(C0, alphav, R);
-              res.scatterPacket(i, j2, R);
-            }
-          }
-          else // scalar path
-          {
-            // get a 1 x 4 res block as registers
-            ResScalar C0(0), C1(0), C2(0), C3(0);
-
-            for(Index k=0; k<depth; k++)
-            {
-              LhsScalar A0;
-              RhsScalar B_0, B_1;
-
-              A0 = blA[k];
-
-              B_0 = blB[0];
-              B_1 = blB[1];
-              CJMADD(cj,A0,B_0,C0,  B_0);
-              CJMADD(cj,A0,B_1,C1,  B_1);
-              
-              B_0 = blB[2];
-              B_1 = blB[3];
-              CJMADD(cj,A0,B_0,C2,  B_0);
-              CJMADD(cj,A0,B_1,C3,  B_1);
-              
-              blB += 4;
-            }
-            res(i, j2 + 0) += alpha * C0;
-            res(i, j2 + 1) += alpha * C1;
-            res(i, j2 + 2) += alpha * C2;
-            res(i, j2 + 3) += alpha * C3;
-          }
-        }
-      }
-      // remaining columns
-      for(Index j2=packet_cols4; j2<cols; j2++)
-      {
-        // loop on each row of the lhs (1*LhsProgress x depth)
-        for(Index i=peeled_mc1; i<rows; i+=1)
-        {
-          const LhsScalar* blA = &blockA[i*strideA+offsetA];
-          prefetch(&blA[0]);
-          // gets a 1 x 1 res block as registers
-          ResScalar C0(0);
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
-          for(Index k=0; k<depth; k++)
-          {
-            LhsScalar A0 = blA[k];
-            RhsScalar B_0 = blB[k];
-            CJMADD(cj, A0, B_0, C0, B_0);
-          }
-          res(i, j2) += alpha * C0;
-        }
-      }
-    }
-  }
-
-
-#undef CJMADD
-
-// pack a block of the lhs
-// The traversal is as follow (mr==4):
-//   0  4  8 12 ...
-//   1  5  9 13 ...
-//   2  6 10 14 ...
-//   3  7 11 15 ...
-//
-//  16 20 24 28 ...
-//  17 21 25 29 ...
-//  18 22 26 30 ...
-//  19 23 27 31 ...
-//
-//  32 33 34 35 ...
-//  36 36 38 39 ...
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
-struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
-{
-  typedef typename DataMapper::LinearMapper LinearMapper;
-  EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
-};
-
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
-{
-  typedef typename packet_traits<Scalar>::type Packet;
-  enum { PacketSize = packet_traits<Scalar>::size };
-
-  EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
-  EIGEN_UNUSED_VARIABLE(stride);
-  EIGEN_UNUSED_VARIABLE(offset);
-  eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
-  eigen_assert( ((Pack1%PacketSize)==0 && Pack1<=4*PacketSize) || (Pack1<=4) );
-  conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index count = 0;
-
-  const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
-  const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
-  const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
-  const Index peeled_mc0 = Pack2>=1*PacketSize ? peeled_mc1
-                         : Pack2>1             ? (rows/Pack2)*Pack2 : 0;
-
-  Index i=0;
-
-  // Pack 3 packets
-  if(Pack1>=3*PacketSize)
-  {
-    for(; i<peeled_mc3; i+=3*PacketSize)
-    {
-      if(PanelMode) count += (3*PacketSize) * offset;
-
-      for(Index k=0; k<depth; k++)
-      {
-        Packet A, B, C;
-        A = lhs.loadPacket(i+0*PacketSize, k);
-        B = lhs.loadPacket(i+1*PacketSize, k);
-        C = lhs.loadPacket(i+2*PacketSize, k);
-        pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
-        pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
-        pstore(blockA+count, cj.pconj(C)); count+=PacketSize;
-      }
-      if(PanelMode) count += (3*PacketSize) * (stride-offset-depth);
-    }
-  }
-  // Pack 2 packets
-  if(Pack1>=2*PacketSize)
-  {
-    for(; i<peeled_mc2; i+=2*PacketSize)
-    {
-      if(PanelMode) count += (2*PacketSize) * offset;
-
-      for(Index k=0; k<depth; k++)
-      {
-        Packet A, B;
-        A = lhs.loadPacket(i+0*PacketSize, k);
-        B = lhs.loadPacket(i+1*PacketSize, k);
-        pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
-        pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
-      }
-      if(PanelMode) count += (2*PacketSize) * (stride-offset-depth);
-    }
-  }
-  // Pack 1 packets
-  if(Pack1>=1*PacketSize)
-  {
-    for(; i<peeled_mc1; i+=1*PacketSize)
-    {
-      if(PanelMode) count += (1*PacketSize) * offset;
-
-      for(Index k=0; k<depth; k++)
-      {
-        Packet A;
-        A = lhs.loadPacket(i+0*PacketSize, k);
-        pstore(blockA+count, cj.pconj(A));
-        count+=PacketSize;
-      }
-      if(PanelMode) count += (1*PacketSize) * (stride-offset-depth);
-    }
-  }
-  // Pack scalars
-  if(Pack2<PacketSize && Pack2>1)
-  {
-    for(; i<peeled_mc0; i+=Pack2)
-    {
-      if(PanelMode) count += Pack2 * offset;
-
-      for(Index k=0; k<depth; k++)
-        for(Index w=0; w<Pack2; w++)
-          blockA[count++] = cj(lhs(i+w, k));
-
-      if(PanelMode) count += Pack2 * (stride-offset-depth);
-    }
-  }
-  for(; i<rows; i++)
-  {
-    if(PanelMode) count += offset;
-    for(Index k=0; k<depth; k++)
-      blockA[count++] = cj(lhs(i, k));
-    if(PanelMode) count += (stride-offset-depth);
-  }
-}
-
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
-struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
-{
-  typedef typename DataMapper::LinearMapper LinearMapper;
-  EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
-};
-
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
-{
-  typedef typename packet_traits<Scalar>::type Packet;
-  enum { PacketSize = packet_traits<Scalar>::size };
-
-  EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
-  EIGEN_UNUSED_VARIABLE(stride);
-  EIGEN_UNUSED_VARIABLE(offset);
-  eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
-  conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index count = 0;
-
-//   const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
-//   const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
-//   const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
-
-  int pack = Pack1;
-  Index i = 0;
-  while(pack>0)
-  {
-    Index remaining_rows = rows-i;
-    Index peeled_mc = i+(remaining_rows/pack)*pack;
-    for(; i<peeled_mc; i+=pack)
-    {
-      if(PanelMode) count += pack * offset;
-
-      const Index peeled_k = (depth/PacketSize)*PacketSize;
-      Index k=0;
-      if(pack>=PacketSize)
-      {
-        for(; k<peeled_k; k+=PacketSize)
-        {
-          for (Index m = 0; m < pack; m += PacketSize)
-          {
-            PacketBlock<Packet> kernel;
-            for (int p = 0; p < PacketSize; ++p) kernel.packet[p] = lhs.loadPacket(i+p+m, k);
-            ptranspose(kernel);
-            for (int p = 0; p < PacketSize; ++p) pstore(blockA+count+m+(pack)*p, cj.pconj(kernel.packet[p]));
-          }
-          count += PacketSize*pack;
-        }
-      }
-      for(; k<depth; k++)
-      {
-        Index w=0;
-        for(; w<pack-3; w+=4)
-        {
-          Scalar a(cj(lhs(i+w+0, k))),
-                 b(cj(lhs(i+w+1, k))),
-                 c(cj(lhs(i+w+2, k))),
-                 d(cj(lhs(i+w+3, k)));
-          blockA[count++] = a;
-          blockA[count++] = b;
-          blockA[count++] = c;
-          blockA[count++] = d;
-        }
-        if(pack%4)
-          for(;w<pack;++w)
-            blockA[count++] = cj(lhs(i+w, k));
-      }
-
-      if(PanelMode) count += pack * (stride-offset-depth);
-    }
-
-    pack -= PacketSize;
-    if(pack<Pack2 && (pack+PacketSize)!=Pack2)
-      pack = Pack2;
-  }
-
-  for(; i<rows; i++)
-  {
-    if(PanelMode) count += offset;
-    for(Index k=0; k<depth; k++)
-      blockA[count++] = cj(lhs(i, k));
-    if(PanelMode) count += (stride-offset-depth);
-  }
-}
-
-// copy a complete panel of the rhs
-// this version is optimized for column major matrices
-// The traversal order is as follow: (nr==4):
-//  0  1  2  3   12 13 14 15   24 27
-//  4  5  6  7   16 17 18 19   25 28
-//  8  9 10 11   20 21 22 23   26 29
-//  .  .  .  .    .  .  .  .    .  .
-template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
-struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
-{
-  typedef typename packet_traits<Scalar>::type Packet;
-  typedef typename DataMapper::LinearMapper LinearMapper;
-  enum { PacketSize = packet_traits<Scalar>::size };
-  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
-};
-
-template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
-{
-  EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS COLMAJOR");
-  EIGEN_UNUSED_VARIABLE(stride);
-  EIGEN_UNUSED_VARIABLE(offset);
-  eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
-  conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
-  Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
-  Index count = 0;
-  const Index peeled_k = (depth/PacketSize)*PacketSize;
-//   if(nr>=8)
-//   {
-//     for(Index j2=0; j2<packet_cols8; j2+=8)
-//     {
-//       // skip what we have before
-//       if(PanelMode) count += 8 * offset;
-//       const Scalar* b0 = &rhs[(j2+0)*rhsStride];
-//       const Scalar* b1 = &rhs[(j2+1)*rhsStride];
-//       const Scalar* b2 = &rhs[(j2+2)*rhsStride];
-//       const Scalar* b3 = &rhs[(j2+3)*rhsStride];
-//       const Scalar* b4 = &rhs[(j2+4)*rhsStride];
-//       const Scalar* b5 = &rhs[(j2+5)*rhsStride];
-//       const Scalar* b6 = &rhs[(j2+6)*rhsStride];
-//       const Scalar* b7 = &rhs[(j2+7)*rhsStride];
-//       Index k=0;
-//       if(PacketSize==8) // TODO enbale vectorized transposition for PacketSize==4
-//       {
-//         for(; k<peeled_k; k+=PacketSize) {
-//           PacketBlock<Packet> kernel;
-//           for (int p = 0; p < PacketSize; ++p) {
-//             kernel.packet[p] = ploadu<Packet>(&rhs[(j2+p)*rhsStride+k]);
-//           }
-//           ptranspose(kernel);
-//           for (int p = 0; p < PacketSize; ++p) {
-//             pstoreu(blockB+count, cj.pconj(kernel.packet[p]));
-//             count+=PacketSize;
-//           }
-//         }
-//       }
-//       for(; k<depth; k++)
-//       {
-//         blockB[count+0] = cj(b0[k]);
-//         blockB[count+1] = cj(b1[k]);
-//         blockB[count+2] = cj(b2[k]);
-//         blockB[count+3] = cj(b3[k]);
-//         blockB[count+4] = cj(b4[k]);
-//         blockB[count+5] = cj(b5[k]);
-//         blockB[count+6] = cj(b6[k]);
-//         blockB[count+7] = cj(b7[k]);
-//         count += 8;
-//       }
-//       // skip what we have after
-//       if(PanelMode) count += 8 * (stride-offset-depth);
-//     }
-//   }
-
-  if(nr>=4)
-  {
-    for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
-    {
-      // skip what we have before
-      if(PanelMode) count += 4 * offset;
-      const LinearMapper dm0 = rhs.getLinearMapper(0, j2 + 0);
-      const LinearMapper dm1 = rhs.getLinearMapper(0, j2 + 1);
-      const LinearMapper dm2 = rhs.getLinearMapper(0, j2 + 2);
-      const LinearMapper dm3 = rhs.getLinearMapper(0, j2 + 3);
-
-      Index k=0;
-      if((PacketSize%4)==0) // TODO enable vectorized transposition for PacketSize==2 ??
-      {
-        for(; k<peeled_k; k+=PacketSize) {
-          PacketBlock<Packet,(PacketSize%4)==0?4:PacketSize> kernel;
-          kernel.packet[0] = dm0.loadPacket(k);
-          kernel.packet[1%PacketSize] = dm1.loadPacket(k);
-          kernel.packet[2%PacketSize] = dm2.loadPacket(k);
-          kernel.packet[3%PacketSize] = dm3.loadPacket(k);
-          ptranspose(kernel);
-          pstoreu(blockB+count+0*PacketSize, cj.pconj(kernel.packet[0]));
-          pstoreu(blockB+count+1*PacketSize, cj.pconj(kernel.packet[1%PacketSize]));
-          pstoreu(blockB+count+2*PacketSize, cj.pconj(kernel.packet[2%PacketSize]));
-          pstoreu(blockB+count+3*PacketSize, cj.pconj(kernel.packet[3%PacketSize]));
-          count+=4*PacketSize;
-        }
-      }
-      for(; k<depth; k++)
-      {
-        blockB[count+0] = cj(dm0(k));
-        blockB[count+1] = cj(dm1(k));
-        blockB[count+2] = cj(dm2(k));
-        blockB[count+3] = cj(dm3(k));
-        count += 4;
-      }
-      // skip what we have after
-      if(PanelMode) count += 4 * (stride-offset-depth);
-    }
-  }
-
-  // copy the remaining columns one at a time (nr==1)
-  for(Index j2=packet_cols4; j2<cols; ++j2)
-  {
-    if(PanelMode) count += offset;
-    const LinearMapper dm0 = rhs.getLinearMapper(0, j2);
-    for(Index k=0; k<depth; k++)
-    {
-      blockB[count] = cj(dm0(k));
-      count += 1;
-    }
-    if(PanelMode) count += (stride-offset-depth);
-  }
-}
-
-// this version is optimized for row major matrices
-template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
-struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
-{
-  typedef typename packet_traits<Scalar>::type Packet;
-  typedef typename DataMapper::LinearMapper LinearMapper;
-  enum { PacketSize = packet_traits<Scalar>::size };
-  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
-};
-
-template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
-{
-  EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS ROWMAJOR");
-  EIGEN_UNUSED_VARIABLE(stride);
-  EIGEN_UNUSED_VARIABLE(offset);
-  eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
-  conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
-  Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
-  Index count = 0;
-
-//   if(nr>=8)
-//   {
-//     for(Index j2=0; j2<packet_cols8; j2+=8)
-//     {
-//       // skip what we have before
-//       if(PanelMode) count += 8 * offset;
-//       for(Index k=0; k<depth; k++)
-//       {
-//         if (PacketSize==8) {
-//           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
-//           pstoreu(blockB+count, cj.pconj(A));
-//         } else if (PacketSize==4) {
-//           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
-//           Packet B = ploadu<Packet>(&rhs[k*rhsStride + j2 + PacketSize]);
-//           pstoreu(blockB+count, cj.pconj(A));
-//           pstoreu(blockB+count+PacketSize, cj.pconj(B));
-//         } else {
-//           const Scalar* b0 = &rhs[k*rhsStride + j2];
-//           blockB[count+0] = cj(b0[0]);
-//           blockB[count+1] = cj(b0[1]);
-//           blockB[count+2] = cj(b0[2]);
-//           blockB[count+3] = cj(b0[3]);
-//           blockB[count+4] = cj(b0[4]);
-//           blockB[count+5] = cj(b0[5]);
-//           blockB[count+6] = cj(b0[6]);
-//           blockB[count+7] = cj(b0[7]);
-//         }
-//         count += 8;
-//       }
-//       // skip what we have after
-//       if(PanelMode) count += 8 * (stride-offset-depth);
-//     }
-//   }
-  if(nr>=4)
-  {
-    for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
-    {
-      // skip what we have before
-      if(PanelMode) count += 4 * offset;
-      for(Index k=0; k<depth; k++)
-      {
-        if (PacketSize==4) {
-          Packet A = rhs.loadPacket(k, j2);
-          pstoreu(blockB+count, cj.pconj(A));
-          count += PacketSize;
-        } else {
-          const LinearMapper dm0 = rhs.getLinearMapper(k, j2);
-          blockB[count+0] = cj(dm0(0));
-          blockB[count+1] = cj(dm0(1));
-          blockB[count+2] = cj(dm0(2));
-          blockB[count+3] = cj(dm0(3));
-          count += 4;
-        }
-      }
-      // skip what we have after
-      if(PanelMode) count += 4 * (stride-offset-depth);
-    }
-  }
-  // copy the remaining columns one at a time (nr==1)
-  for(Index j2=packet_cols4; j2<cols; ++j2)
-  {
-    if(PanelMode) count += offset;
-    for(Index k=0; k<depth; k++)
-    {
-      blockB[count] = cj(rhs(k, j2));
-      count += 1;
-    }
-    if(PanelMode) count += stride-offset-depth;
-  }
-}
-
-} // end namespace internal
-
-/** \returns the currently set level 1 cpu cache size (in bytes) used to estimate the ideal blocking size parameters.
-  * \sa setCpuCacheSize */
-inline std::ptrdiff_t l1CacheSize()
-{
-  std::ptrdiff_t l1, l2, l3;
-  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
-  return l1;
-}
-
-/** \returns the currently set level 2 cpu cache size (in bytes) used to estimate the ideal blocking size parameters.
-  * \sa setCpuCacheSize */
-inline std::ptrdiff_t l2CacheSize()
-{
-  std::ptrdiff_t l1, l2, l3;
-  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
-  return l2;
-}
-
-/** \returns the currently set level 3 cpu cache size (in bytes) used to estimate the ideal blocking size paramete\
-rs.                                                                                                                
-* \sa setCpuCacheSize */
-inline std::ptrdiff_t l3CacheSize()
-{
-  std::ptrdiff_t l1, l2, l3;
-  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
-  return l3;
-}
-
-/** Set the cpu L1 and L2 cache sizes (in bytes).
-  * These values are use to adjust the size of the blocks
-  * for the algorithms working per blocks.
-  *
-  * \sa computeProductBlockingSizes */
-inline void setCpuCacheSizes(std::ptrdiff_t l1, std::ptrdiff_t l2, std::ptrdiff_t l3)
-{
-  internal::manage_caching_sizes(SetAction, &l1, &l2, &l3);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERAL_BLOCK_PANEL_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h b/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h
deleted file mode 100644
index 6440e1d09c7448..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h
+++ /dev/null
@@ -1,492 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GENERAL_MATRIX_MATRIX_H
-#define EIGEN_GENERAL_MATRIX_MATRIX_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename _LhsScalar, typename _RhsScalar> class level3_blocking;
-
-/* Specialization for a row-major destination matrix => simple transposition of the product */
-template<
-  typename Index,
-  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
-  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
-struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor>
-{
-  typedef gebp_traits<RhsScalar,LhsScalar> Traits;
-
-  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-  static EIGEN_STRONG_INLINE void run(
-    Index rows, Index cols, Index depth,
-    const LhsScalar* lhs, Index lhsStride,
-    const RhsScalar* rhs, Index rhsStride,
-    ResScalar* res, Index resStride,
-    ResScalar alpha,
-    level3_blocking<RhsScalar,LhsScalar>& blocking,
-    GemmParallelInfo<Index>* info = 0)
-  {
-    // transpose the product such that the result is column major
-    general_matrix_matrix_product<Index,
-      RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
-      LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
-      ColMajor>
-    ::run(cols,rows,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha,blocking,info);
-  }
-};
-
-/*  Specialization for a col-major destination matrix
- *    => Blocking algorithm following Goto's paper */
-template<
-  typename Index,
-  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
-  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
-struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor>
-{
-
-typedef gebp_traits<LhsScalar,RhsScalar> Traits;
-
-typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-static void run(Index rows, Index cols, Index depth,
-  const LhsScalar* _lhs, Index lhsStride,
-  const RhsScalar* _rhs, Index rhsStride,
-  ResScalar* _res, Index resStride,
-  ResScalar alpha,
-  level3_blocking<LhsScalar,RhsScalar>& blocking,
-  GemmParallelInfo<Index>* info = 0)
-{
-  typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
-  typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
-  typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
-  LhsMapper lhs(_lhs,lhsStride);
-  RhsMapper rhs(_rhs,rhsStride);
-  ResMapper res(_res, resStride);
-
-  Index kc = blocking.kc();                   // cache block size along the K direction
-  Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
-  Index nc = (std::min)(cols,blocking.nc());  // cache block size along the N direction
-
-  gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-  gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
-  gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
-
-#ifdef EIGEN_HAS_OPENMP
-  if(info)
-  {
-    // this is the parallel version!
-    int tid = omp_get_thread_num();
-    int threads = omp_get_num_threads();
-
-    LhsScalar* blockA = blocking.blockA();
-    eigen_internal_assert(blockA!=0);
-
-    std::size_t sizeB = kc*nc;
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, 0);
-
-    // For each horizontal panel of the rhs, and corresponding vertical panel of the lhs...
-    for(Index k=0; k<depth; k+=kc)
-    {
-      const Index actual_kc = (std::min)(k+kc,depth)-k; // => rows of B', and cols of the A'
-
-      // In order to reduce the chance that a thread has to wait for the other,
-      // let's start by packing B'.
-      pack_rhs(blockB, rhs.getSubMapper(k,0), actual_kc, nc);
-
-      // Pack A_k to A' in a parallel fashion:
-      // each thread packs the sub block A_k,i to A'_i where i is the thread id.
-
-      // However, before copying to A'_i, we have to make sure that no other thread is still using it,
-      // i.e., we test that info[tid].users equals 0.
-      // Then, we set info[tid].users to the number of threads to mark that all other threads are going to use it.
-      while(info[tid].users!=0) {}
-      info[tid].users += threads;
-
-      pack_lhs(blockA+info[tid].lhs_start*actual_kc, lhs.getSubMapper(info[tid].lhs_start,k), actual_kc, info[tid].lhs_length);
-
-      // Notify the other threads that the part A'_i is ready to go.
-      info[tid].sync = k;
-
-      // Computes C_i += A' * B' per A'_i
-      for(int shift=0; shift<threads; ++shift)
-      {
-        int i = (tid+shift)%threads;
-
-        // At this point we have to make sure that A'_i has been updated by the thread i,
-        // we use testAndSetOrdered to mimic a volatile access.
-        // However, no need to wait for the B' part which has been updated by the current thread!
-        if (shift>0) {
-          while(info[i].sync!=k) {
-          }
-        }
-
-        gebp(res.getSubMapper(info[i].lhs_start, 0), blockA+info[i].lhs_start*actual_kc, blockB, info[i].lhs_length, actual_kc, nc, alpha);
-      }
-
-      // Then keep going as usual with the remaining B'
-      for(Index j=nc; j<cols; j+=nc)
-      {
-        const Index actual_nc = (std::min)(j+nc,cols)-j;
-
-        // pack B_k,j to B'
-        pack_rhs(blockB, rhs.getSubMapper(k,j), actual_kc, actual_nc);
-
-        // C_j += A' * B'
-        gebp(res.getSubMapper(0, j), blockA, blockB, rows, actual_kc, actual_nc, alpha);
-      }
-
-      // Release all the sub blocks A'_i of A' for the current thread,
-      // i.e., we simply decrement the number of users by 1
-      for(Index i=0; i<threads; ++i)
-        #pragma omp atomic
-        info[i].users -= 1;
-    }
-  }
-  else
-#endif // EIGEN_HAS_OPENMP
-  {
-    EIGEN_UNUSED_VARIABLE(info);
-
-    // this is the sequential version!
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*nc;
-
-    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
-
-    const bool pack_rhs_once = mc!=rows && kc==depth && nc==cols;
-
-    // For each horizontal panel of the rhs, and corresponding panel of the lhs...
-    for(Index i2=0; i2<rows; i2+=mc)
-    {
-      const Index actual_mc = (std::min)(i2+mc,rows)-i2;
-
-      for(Index k2=0; k2<depth; k2+=kc)
-      {
-        const Index actual_kc = (std::min)(k2+kc,depth)-k2;
-
-        // OK, here we have selected one horizontal panel of rhs and one vertical panel of lhs.
-        // => Pack lhs's panel into a sequential chunk of memory (L2/L3 caching)
-        // Note that this panel will be read as many times as the number of blocks in the rhs's
-        // horizontal panel which is, in practice, a very low number.
-        pack_lhs(blockA, lhs.getSubMapper(i2,k2), actual_kc, actual_mc);
-
-        // For each kc x nc block of the rhs's horizontal panel...
-        for(Index j2=0; j2<cols; j2+=nc)
-        {
-          const Index actual_nc = (std::min)(j2+nc,cols)-j2;
-
-          // We pack the rhs's block into a sequential chunk of memory (L2 caching)
-          // Note that this block will be read a very high number of times, which is equal to the number of
-          // micro horizontal panel of the large rhs's panel (e.g., rows/12 times).
-          if((!pack_rhs_once) || i2==0)
-            pack_rhs(blockB, rhs.getSubMapper(k2,j2), actual_kc, actual_nc);
-
-          // Everything is packed, we can now call the panel * block kernel:
-          gebp(res.getSubMapper(i2, j2), blockA, blockB, actual_mc, actual_kc, actual_nc, alpha);
-        }
-      }
-    }
-  }
-}
-
-};
-
-/*********************************************************************************
-*  Specialization of generic_product_impl for "large" GEMM, i.e.,
-*  implementation of the high level wrapper to general_matrix_matrix_product
-**********************************************************************************/
-
-template<typename Scalar, typename Index, typename Gemm, typename Lhs, typename Rhs, typename Dest, typename BlockingType>
-struct gemm_functor
-{
-  gemm_functor(const Lhs& lhs, const Rhs& rhs, Dest& dest, const Scalar& actualAlpha, BlockingType& blocking)
-    : m_lhs(lhs), m_rhs(rhs), m_dest(dest), m_actualAlpha(actualAlpha), m_blocking(blocking)
-  {}
-
-  void initParallelSession(Index num_threads) const
-  {
-    m_blocking.initParallel(m_lhs.rows(), m_rhs.cols(), m_lhs.cols(), num_threads);
-    m_blocking.allocateA();
-  }
-
-  void operator() (Index row, Index rows, Index col=0, Index cols=-1, GemmParallelInfo<Index>* info=0) const
-  {
-    if(cols==-1)
-      cols = m_rhs.cols();
-
-    Gemm::run(rows, cols, m_lhs.cols(),
-              &m_lhs.coeffRef(row,0), m_lhs.outerStride(),
-              &m_rhs.coeffRef(0,col), m_rhs.outerStride(),
-              (Scalar*)&(m_dest.coeffRef(row,col)), m_dest.outerStride(),
-              m_actualAlpha, m_blocking, info);
-  }
-
-  typedef typename Gemm::Traits Traits;
-
-  protected:
-    const Lhs& m_lhs;
-    const Rhs& m_rhs;
-    Dest& m_dest;
-    Scalar m_actualAlpha;
-    BlockingType& m_blocking;
-};
-
-template<int StorageOrder, typename LhsScalar, typename RhsScalar, int MaxRows, int MaxCols, int MaxDepth, int KcFactor=1,
-bool FiniteAtCompileTime = MaxRows!=Dynamic && MaxCols!=Dynamic && MaxDepth != Dynamic> class gemm_blocking_space;
-
-template<typename _LhsScalar, typename _RhsScalar>
-class level3_blocking
-{
-    typedef _LhsScalar LhsScalar;
-    typedef _RhsScalar RhsScalar;
-
-  protected:
-    LhsScalar* m_blockA;
-    RhsScalar* m_blockB;
-
-    Index m_mc;
-    Index m_nc;
-    Index m_kc;
-
-  public:
-
-    level3_blocking()
-      : m_blockA(0), m_blockB(0), m_mc(0), m_nc(0), m_kc(0)
-    {}
-
-    inline Index mc() const { return m_mc; }
-    inline Index nc() const { return m_nc; }
-    inline Index kc() const { return m_kc; }
-
-    inline LhsScalar* blockA() { return m_blockA; }
-    inline RhsScalar* blockB() { return m_blockB; }
-};
-
-template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth, int KcFactor>
-class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, KcFactor, true /* == FiniteAtCompileTime */>
-  : public level3_blocking<
-      typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
-      typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
-{
-    enum {
-      Transpose = StorageOrder==RowMajor,
-      ActualRows = Transpose ? MaxCols : MaxRows,
-      ActualCols = Transpose ? MaxRows : MaxCols
-    };
-    typedef typename conditional<Transpose,_RhsScalar,_LhsScalar>::type LhsScalar;
-    typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
-    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
-    enum {
-      SizeA = ActualRows * MaxDepth,
-      SizeB = ActualCols * MaxDepth
-    };
-
-#if EIGEN_MAX_STATIC_ALIGN_BYTES >= EIGEN_DEFAULT_ALIGN_BYTES
-    EIGEN_ALIGN_MAX LhsScalar m_staticA[SizeA];
-    EIGEN_ALIGN_MAX RhsScalar m_staticB[SizeB];
-#else
-    EIGEN_ALIGN_MAX char m_staticA[SizeA * sizeof(LhsScalar) + EIGEN_DEFAULT_ALIGN_BYTES-1];
-    EIGEN_ALIGN_MAX char m_staticB[SizeB * sizeof(RhsScalar) + EIGEN_DEFAULT_ALIGN_BYTES-1];
-#endif
-
-  public:
-
-    gemm_blocking_space(Index /*rows*/, Index /*cols*/, Index /*depth*/, Index /*num_threads*/, bool /*full_rows = false*/)
-    {
-      this->m_mc = ActualRows;
-      this->m_nc = ActualCols;
-      this->m_kc = MaxDepth;
-#if EIGEN_MAX_STATIC_ALIGN_BYTES >= EIGEN_DEFAULT_ALIGN_BYTES
-      this->m_blockA = m_staticA;
-      this->m_blockB = m_staticB;
-#else
-      this->m_blockA = reinterpret_cast<LhsScalar*>((internal::UIntPtr(m_staticA) + (EIGEN_DEFAULT_ALIGN_BYTES-1)) & ~std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1));
-      this->m_blockB = reinterpret_cast<RhsScalar*>((internal::UIntPtr(m_staticB) + (EIGEN_DEFAULT_ALIGN_BYTES-1)) & ~std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1));
-#endif
-    }
-
-    void initParallel(Index, Index, Index, Index)
-    {}
-
-    inline void allocateA() {}
-    inline void allocateB() {}
-    inline void allocateAll() {}
-};
-
-template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth, int KcFactor>
-class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, KcFactor, false>
-  : public level3_blocking<
-      typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
-      typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
-{
-    enum {
-      Transpose = StorageOrder==RowMajor
-    };
-    typedef typename conditional<Transpose,_RhsScalar,_LhsScalar>::type LhsScalar;
-    typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
-    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
-
-    Index m_sizeA;
-    Index m_sizeB;
-
-  public:
-
-    gemm_blocking_space(Index rows, Index cols, Index depth, Index num_threads, bool l3_blocking)
-    {
-      this->m_mc = Transpose ? cols : rows;
-      this->m_nc = Transpose ? rows : cols;
-      this->m_kc = depth;
-
-      if(l3_blocking)
-      {
-        computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, this->m_nc, num_threads);
-      }
-      else  // no l3 blocking
-      {
-        Index n = this->m_nc;
-        computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, n, num_threads);
-      }
-
-      m_sizeA = this->m_mc * this->m_kc;
-      m_sizeB = this->m_kc * this->m_nc;
-    }
-
-    void initParallel(Index rows, Index cols, Index depth, Index num_threads)
-    {
-      this->m_mc = Transpose ? cols : rows;
-      this->m_nc = Transpose ? rows : cols;
-      this->m_kc = depth;
-
-      eigen_internal_assert(this->m_blockA==0 && this->m_blockB==0);
-      Index m = this->m_mc;
-      computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, m, this->m_nc, num_threads);
-      m_sizeA = this->m_mc * this->m_kc;
-      m_sizeB = this->m_kc * this->m_nc;
-    }
-
-    void allocateA()
-    {
-      if(this->m_blockA==0)
-        this->m_blockA = aligned_new<LhsScalar>(m_sizeA);
-    }
-
-    void allocateB()
-    {
-      if(this->m_blockB==0)
-        this->m_blockB = aligned_new<RhsScalar>(m_sizeB);
-    }
-
-    void allocateAll()
-    {
-      allocateA();
-      allocateB();
-    }
-
-    ~gemm_blocking_space()
-    {
-      aligned_delete(this->m_blockA, m_sizeA);
-      aligned_delete(this->m_blockB, m_sizeB);
-    }
-};
-
-} // end namespace internal
-
-namespace internal {
-
-template<typename Lhs, typename Rhs>
-struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
-  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct> >
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  typedef typename Lhs::Scalar LhsScalar;
-  typedef typename Rhs::Scalar RhsScalar;
-
-  typedef internal::blas_traits<Lhs> LhsBlasTraits;
-  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-  typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
-
-  typedef internal::blas_traits<Rhs> RhsBlasTraits;
-  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-  typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
-
-  enum {
-    MaxDepthAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(Lhs::MaxColsAtCompileTime,Rhs::MaxRowsAtCompileTime)
-  };
-
-  typedef generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> lazyproduct;
-
-  template<typename Dst>
-  static void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
-      lazyproduct::evalTo(dst, lhs, rhs);
-    else
-    {
-      dst.setZero();
-      scaleAndAddTo(dst, lhs, rhs, Scalar(1));
-    }
-  }
-
-  template<typename Dst>
-  static void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
-      lazyproduct::addTo(dst, lhs, rhs);
-    else
-      scaleAndAddTo(dst,lhs, rhs, Scalar(1));
-  }
-
-  template<typename Dst>
-  static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
-      lazyproduct::subTo(dst, lhs, rhs);
-    else
-      scaleAndAddTo(dst, lhs, rhs, Scalar(-1));
-  }
-
-  template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const Lhs& a_lhs, const Rhs& a_rhs, const Scalar& alpha)
-  {
-    eigen_assert(dst.rows()==a_lhs.rows() && dst.cols()==a_rhs.cols());
-    if(a_lhs.cols()==0 || a_lhs.rows()==0 || a_rhs.cols()==0)
-      return;
-
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
-
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
-                               * RhsBlasTraits::extractScalarFactor(a_rhs);
-
-    typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
-            Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
-
-    typedef internal::gemm_functor<
-      Scalar, Index,
-      internal::general_matrix_matrix_product<
-        Index,
-        LhsScalar, (ActualLhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
-        RhsScalar, (ActualRhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
-        (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
-      ActualLhsTypeCleaned, ActualRhsTypeCleaned, Dest, BlockingType> GemmFunctor;
-
-    BlockingType blocking(dst.rows(), dst.cols(), lhs.cols(), 1, true);
-    internal::parallelize_gemm<(Dest::MaxRowsAtCompileTime>32 || Dest::MaxRowsAtCompileTime==Dynamic)>
-        (GemmFunctor(lhs, rhs, dst, actualAlpha, blocking), a_lhs.rows(), a_rhs.cols(), a_lhs.cols(), Dest::Flags&RowMajorBit);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERAL_MATRIX_MATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
deleted file mode 100644
index 7122efa605c8f7..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
+++ /dev/null
@@ -1,306 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
-#define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
-
-namespace Eigen { 
-
-template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjLhs, bool ConjRhs>
-struct selfadjoint_rank1_update;
-
-namespace internal {
-
-/**********************************************************************
-* This file implements a general A * B product while
-* evaluating only one triangular part of the product.
-* This is a more general version of self adjoint product (C += A A^T)
-* as the level 3 SYRK Blas routine.
-**********************************************************************/
-
-// forward declarations (defined at the end of this file)
-template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int UpLo>
-struct tribb_kernel;
-  
-/* Optimized matrix-matrix product evaluating only one triangular half */
-template <typename Index,
-          typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
-          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
-                              int ResStorageOrder, int  UpLo, int Version = Specialized>
-struct general_matrix_matrix_triangular_product;
-
-// as usual if the result is row major => we transpose the product
-template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
-                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo, int Version>
-struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,UpLo,Version>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* lhs, Index lhsStride,
-                                      const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resStride,
-                                      const ResScalar& alpha, level3_blocking<RhsScalar,LhsScalar>& blocking)
-  {
-    general_matrix_matrix_triangular_product<Index,
-        RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
-        LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
-        ColMajor, UpLo==Lower?Upper:Lower>
-      ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha,blocking);
-  }
-};
-
-template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
-                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo, int Version>
-struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Version>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* _lhs, Index lhsStride,
-                                      const RhsScalar* _rhs, Index rhsStride, ResScalar* _res, Index resStride,
-                                      const ResScalar& alpha, level3_blocking<LhsScalar,RhsScalar>& blocking)
-  {
-    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
-
-    typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
-    typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
-    LhsMapper lhs(_lhs,lhsStride);
-    RhsMapper rhs(_rhs,rhsStride);
-    ResMapper res(_res, resStride);
-
-    Index kc = blocking.kc();
-    Index mc = (std::min)(size,blocking.mc());
-
-    // !!! mc must be a multiple of nr:
-    if(mc > Traits::nr)
-      mc = (mc/Traits::nr)*Traits::nr;
-
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*size;
-
-    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
-
-    gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
-    gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
-    tribb_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs, UpLo> sybb;
-
-    for(Index k2=0; k2<depth; k2+=kc)
-    {
-      const Index actual_kc = (std::min)(k2+kc,depth)-k2;
-
-      // note that the actual rhs is the transpose/adjoint of mat
-      pack_rhs(blockB, rhs.getSubMapper(k2,0), actual_kc, size);
-
-      for(Index i2=0; i2<size; i2+=mc)
-      {
-        const Index actual_mc = (std::min)(i2+mc,size)-i2;
-
-        pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
-
-        // the selected actual_mc * size panel of res is split into three different part:
-        //  1 - before the diagonal => processed with gebp or skipped
-        //  2 - the actual_mc x actual_mc symmetric block => processed with a special kernel
-        //  3 - after the diagonal => processed with gebp or skipped
-        if (UpLo==Lower)
-          gebp(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc,
-               (std::min)(size,i2), alpha, -1, -1, 0, 0);
-
-
-        sybb(_res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha);
-
-        if (UpLo==Upper)
-        {
-          Index j2 = i2+actual_mc;
-          gebp(res.getSubMapper(i2, j2), blockA, blockB+actual_kc*j2, actual_mc,
-               actual_kc, (std::max)(Index(0), size-j2), alpha, -1, -1, 0, 0);
-        }
-      }
-    }
-  }
-};
-
-// Optimized packed Block * packed Block product kernel evaluating only one given triangular part
-// This kernel is built on top of the gebp kernel:
-// - the current destination block is processed per panel of actual_mc x BlockSize
-//   where BlockSize is set to the minimal value allowing gebp to be as fast as possible
-// - then, as usual, each panel is split into three parts along the diagonal,
-//   the sub blocks above and below the diagonal are processed as usual,
-//   while the triangular block overlapping the diagonal is evaluated into a
-//   small temporary buffer which is then accumulated into the result using a
-//   triangular traversal.
-template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int UpLo>
-struct tribb_kernel
-{
-  typedef gebp_traits<LhsScalar,RhsScalar,ConjLhs,ConjRhs> Traits;
-  typedef typename Traits::ResScalar ResScalar;
-
-  enum {
-    BlockSize  = meta_least_common_multiple<EIGEN_PLAIN_ENUM_MAX(mr,nr),EIGEN_PLAIN_ENUM_MIN(mr,nr)>::ret
-  };
-  void operator()(ResScalar* _res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, const ResScalar& alpha)
-  {
-    typedef blas_data_mapper<ResScalar, Index, ColMajor> ResMapper;
-    ResMapper res(_res, resStride);
-    gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
-
-    Matrix<ResScalar,BlockSize,BlockSize,ColMajor> buffer((internal::constructor_without_unaligned_array_assert()));
-
-    // let's process the block per panel of actual_mc x BlockSize,
-    // again, each is split into three parts, etc.
-    for (Index j=0; j<size; j+=BlockSize)
-    {
-      Index actualBlockSize = std::min<Index>(BlockSize,size - j);
-      const RhsScalar* actual_b = blockB+j*depth;
-
-      if(UpLo==Upper)
-        gebp_kernel(res.getSubMapper(0, j), blockA, actual_b, j, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0);
-
-      // selfadjoint micro block
-      {
-        Index i = j;
-        buffer.setZero();
-        // 1 - apply the kernel on the temporary buffer
-        gebp_kernel(ResMapper(buffer.data(), BlockSize), blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0);
-        // 2 - triangular accumulation
-        for(Index j1=0; j1<actualBlockSize; ++j1)
-        {
-          ResScalar* r = &res(i, j + j1);
-          for(Index i1=UpLo==Lower ? j1 : 0;
-              UpLo==Lower ? i1<actualBlockSize : i1<=j1; ++i1)
-            r[i1] += buffer(i1,j1);
-        }
-      }
-
-      if(UpLo==Lower)
-      {
-        Index i = j+actualBlockSize;
-        gebp_kernel(res.getSubMapper(i, j), blockA+depth*i, actual_b, size-i, 
-                    depth, actualBlockSize, alpha, -1, -1, 0, 0);
-      }
-    }
-  }
-};
-
-} // end namespace internal
-
-// high level API
-
-template<typename MatrixType, typename ProductType, int UpLo, bool IsOuterProduct>
-struct general_product_to_triangular_selector;
-
-
-template<typename MatrixType, typename ProductType, int UpLo>
-struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,true>
-{
-  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha, bool beta)
-  {
-    typedef typename MatrixType::Scalar Scalar;
-    
-    typedef typename internal::remove_all<typename ProductType::LhsNested>::type Lhs;
-    typedef internal::blas_traits<Lhs> LhsBlasTraits;
-    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhs;
-    typedef typename internal::remove_all<ActualLhs>::type _ActualLhs;
-    typename internal::add_const_on_value_type<ActualLhs>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
-    
-    typedef typename internal::remove_all<typename ProductType::RhsNested>::type Rhs;
-    typedef internal::blas_traits<Rhs> RhsBlasTraits;
-    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhs;
-    typedef typename internal::remove_all<ActualRhs>::type _ActualRhs;
-    typename internal::add_const_on_value_type<ActualRhs>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
-
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
-
-    if(!beta)
-      mat.template triangularView<UpLo>().setZero();
-
-    enum {
-      StorageOrder = (internal::traits<MatrixType>::Flags&RowMajorBit) ? RowMajor : ColMajor,
-      UseLhsDirectly = _ActualLhs::InnerStrideAtCompileTime==1,
-      UseRhsDirectly = _ActualRhs::InnerStrideAtCompileTime==1
-    };
-    
-    internal::gemv_static_vector_if<Scalar,Lhs::SizeAtCompileTime,Lhs::MaxSizeAtCompileTime,!UseLhsDirectly> static_lhs;
-    ei_declare_aligned_stack_constructed_variable(Scalar, actualLhsPtr, actualLhs.size(),
-      (UseLhsDirectly ? const_cast<Scalar*>(actualLhs.data()) : static_lhs.data()));
-    if(!UseLhsDirectly) Map<typename _ActualLhs::PlainObject>(actualLhsPtr, actualLhs.size()) = actualLhs;
-    
-    internal::gemv_static_vector_if<Scalar,Rhs::SizeAtCompileTime,Rhs::MaxSizeAtCompileTime,!UseRhsDirectly> static_rhs;
-    ei_declare_aligned_stack_constructed_variable(Scalar, actualRhsPtr, actualRhs.size(),
-      (UseRhsDirectly ? const_cast<Scalar*>(actualRhs.data()) : static_rhs.data()));
-    if(!UseRhsDirectly) Map<typename _ActualRhs::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
-    
-    
-    selfadjoint_rank1_update<Scalar,Index,StorageOrder,UpLo,
-                              LhsBlasTraits::NeedToConjugate && NumTraits<Scalar>::IsComplex,
-                              RhsBlasTraits::NeedToConjugate && NumTraits<Scalar>::IsComplex>
-          ::run(actualLhs.size(), mat.data(), mat.outerStride(), actualLhsPtr, actualRhsPtr, actualAlpha);
-  }
-};
-
-template<typename MatrixType, typename ProductType, int UpLo>
-struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,false>
-{
-  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha, bool beta)
-  {
-    typedef typename internal::remove_all<typename ProductType::LhsNested>::type Lhs;
-    typedef internal::blas_traits<Lhs> LhsBlasTraits;
-    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhs;
-    typedef typename internal::remove_all<ActualLhs>::type _ActualLhs;
-    typename internal::add_const_on_value_type<ActualLhs>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
-    
-    typedef typename internal::remove_all<typename ProductType::RhsNested>::type Rhs;
-    typedef internal::blas_traits<Rhs> RhsBlasTraits;
-    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhs;
-    typedef typename internal::remove_all<ActualRhs>::type _ActualRhs;
-    typename internal::add_const_on_value_type<ActualRhs>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
-
-    typename ProductType::Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
-
-    if(!beta)
-      mat.template triangularView<UpLo>().setZero();
-
-    enum {
-      IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0,
-      LhsIsRowMajor = _ActualLhs::Flags&RowMajorBit ? 1 : 0,
-      RhsIsRowMajor = _ActualRhs::Flags&RowMajorBit ? 1 : 0
-    };
-
-    Index size = mat.cols();
-    Index depth = actualLhs.cols();
-
-    typedef internal::gemm_blocking_space<IsRowMajor ? RowMajor : ColMajor,typename Lhs::Scalar,typename Rhs::Scalar,
-          MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime, _ActualRhs::MaxColsAtCompileTime> BlockingType;
-
-    BlockingType blocking(size, size, depth, 1, false);
-
-    internal::general_matrix_matrix_triangular_product<Index,
-      typename Lhs::Scalar, LhsIsRowMajor ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
-      typename Rhs::Scalar, RhsIsRowMajor ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
-      IsRowMajor ? RowMajor : ColMajor, UpLo>
-      ::run(size, depth,
-            &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &actualRhs.coeffRef(0,0), actualRhs.outerStride(),
-            mat.data(), mat.outerStride(), actualAlpha, blocking);
-  }
-};
-
-template<typename MatrixType, unsigned int UpLo>
-template<typename ProductType>
-TriangularView<MatrixType,UpLo>& TriangularViewImpl<MatrixType,UpLo,Dense>::_assignProduct(const ProductType& prod, const Scalar& alpha, bool beta)
-{
-  eigen_assert(derived().nestedExpression().rows() == prod.rows() && derived().cols() == prod.cols());
-  
-  general_product_to_triangular_selector<MatrixType, ProductType, UpLo, internal::traits<ProductType>::InnerSize==1>::run(derived().nestedExpression().const_cast_derived(), prod, alpha, beta);
-  
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h b/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
deleted file mode 100644
index 5b7c15ccab1400..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to BLAS F77
- *   Level 3 BLAS SYRK/HERK implementation.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
-#define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
-
-namespace Eigen {
-
-namespace internal {
-
-template <typename Index, typename Scalar, int AStorageOrder, bool ConjugateA, int ResStorageOrder, int  UpLo>
-struct general_matrix_matrix_rankupdate :
-       general_matrix_matrix_triangular_product<
-         Index,Scalar,AStorageOrder,ConjugateA,Scalar,AStorageOrder,ConjugateA,ResStorageOrder,UpLo,BuiltIn> {};
-
-
-// try to go to BLAS specialization
-#define EIGEN_BLAS_RANKUPDATE_SPECIALIZE(Scalar) \
-template <typename Index, int LhsStorageOrder, bool ConjugateLhs, \
-                          int RhsStorageOrder, bool ConjugateRhs, int  UpLo> \
-struct general_matrix_matrix_triangular_product<Index,Scalar,LhsStorageOrder,ConjugateLhs, \
-               Scalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Specialized> { \
-  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const Scalar* lhs, Index lhsStride, \
-                          const Scalar* rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha, level3_blocking<Scalar, Scalar>& blocking) \
-  { \
-    if (lhs==rhs) { \
-      general_matrix_matrix_rankupdate<Index,Scalar,LhsStorageOrder,ConjugateLhs,ColMajor,UpLo> \
-      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha,blocking); \
-    } else { \
-      general_matrix_matrix_triangular_product<Index, \
-        Scalar, LhsStorageOrder, ConjugateLhs, \
-        Scalar, RhsStorageOrder, ConjugateRhs, \
-        ColMajor, UpLo, BuiltIn> \
-      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha,blocking); \
-    } \
-  } \
-};
-
-EIGEN_BLAS_RANKUPDATE_SPECIALIZE(double)
-EIGEN_BLAS_RANKUPDATE_SPECIALIZE(float)
-// TODO handle complex cases
-// EIGEN_BLAS_RANKUPDATE_SPECIALIZE(dcomplex)
-// EIGEN_BLAS_RANKUPDATE_SPECIALIZE(scomplex)
-
-// SYRK for float/double
-#define EIGEN_BLAS_RANKUPDATE_R(EIGTYPE, BLASTYPE, BLASFUNC) \
-template <typename Index, int AStorageOrder, bool ConjugateA, int  UpLo> \
-struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,ColMajor,UpLo> { \
-  enum { \
-    IsLower = (UpLo&Lower) == Lower, \
-    LowUp = IsLower ? Lower : Upper, \
-    conjA = ((AStorageOrder==ColMajor) && ConjugateA) ? 1 : 0 \
-  }; \
-  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const EIGTYPE* lhs, Index lhsStride, \
-                          const EIGTYPE* /*rhs*/, Index /*rhsStride*/, EIGTYPE* res, Index resStride, EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
-  { \
-  /* typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs;*/ \
-\
-   BlasIndex lda=convert_index<BlasIndex>(lhsStride), ldc=convert_index<BlasIndex>(resStride), n=convert_index<BlasIndex>(size), k=convert_index<BlasIndex>(depth); \
-   char uplo=((IsLower) ? 'L' : 'U'), trans=((AStorageOrder==RowMajor) ? 'T':'N'); \
-   EIGTYPE beta(1); \
-   BLASFUNC(&uplo, &trans, &n, &k, &numext::real_ref(alpha), lhs, &lda, &numext::real_ref(beta), res, &ldc); \
-  } \
-};
-
-// HERK for complex data
-#define EIGEN_BLAS_RANKUPDATE_C(EIGTYPE, BLASTYPE, RTYPE, BLASFUNC) \
-template <typename Index, int AStorageOrder, bool ConjugateA, int  UpLo> \
-struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,ColMajor,UpLo> { \
-  enum { \
-    IsLower = (UpLo&Lower) == Lower, \
-    LowUp = IsLower ? Lower : Upper, \
-    conjA = (((AStorageOrder==ColMajor) && ConjugateA) || ((AStorageOrder==RowMajor) && !ConjugateA)) ? 1 : 0 \
-  }; \
-  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const EIGTYPE* lhs, Index lhsStride, \
-                          const EIGTYPE* /*rhs*/, Index /*rhsStride*/, EIGTYPE* res, Index resStride, EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
-  { \
-   typedef Matrix<EIGTYPE, Dynamic, Dynamic, AStorageOrder> MatrixType; \
-\
-   BlasIndex lda=convert_index<BlasIndex>(lhsStride), ldc=convert_index<BlasIndex>(resStride), n=convert_index<BlasIndex>(size), k=convert_index<BlasIndex>(depth); \
-   char uplo=((IsLower) ? 'L' : 'U'), trans=((AStorageOrder==RowMajor) ? 'C':'N'); \
-   RTYPE alpha_, beta_; \
-   const EIGTYPE* a_ptr; \
-\
-   alpha_ = alpha.real(); \
-   beta_ = 1.0; \
-/* Copy with conjugation in some cases*/ \
-   MatrixType a; \
-   if (conjA) { \
-     Map<const MatrixType, 0, OuterStride<> > mapA(lhs,n,k,OuterStride<>(lhsStride)); \
-     a = mapA.conjugate(); \
-     lda = a.outerStride(); \
-     a_ptr = a.data(); \
-   } else a_ptr=lhs; \
-   BLASFUNC(&uplo, &trans, &n, &k, &alpha_, (BLASTYPE*)a_ptr, &lda, &beta_, (BLASTYPE*)res, &ldc); \
-  } \
-};
-
-
-EIGEN_BLAS_RANKUPDATE_R(double, double, dsyrk_)
-EIGEN_BLAS_RANKUPDATE_R(float,  float,  ssyrk_)
-
-// TODO hanlde complex cases
-// EIGEN_BLAS_RANKUPDATE_C(dcomplex, double, double, zherk_)
-// EIGEN_BLAS_RANKUPDATE_C(scomplex, float,  float, cherk_)
-
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h b/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
deleted file mode 100644
index 7a3bdbf205a1f8..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to BLAS F77
- *   General matrix-matrix product functionality based on ?GEMM.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
-#define EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/**********************************************************************
-* This file implements general matrix-matrix multiplication using BLAS
-* gemm function via partial specialization of
-* general_matrix_matrix_product::run(..) method for float, double,
-* std::complex<float> and std::complex<double> types
-**********************************************************************/
-
-// gemm specialization
-
-#define GEMM_SPECIALIZATION(EIGTYPE, EIGPREFIX, BLASTYPE, BLASPREFIX) \
-template< \
-  typename Index, \
-  int LhsStorageOrder, bool ConjugateLhs, \
-  int RhsStorageOrder, bool ConjugateRhs> \
-struct general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor> \
-{ \
-typedef gebp_traits<EIGTYPE,EIGTYPE> Traits; \
-\
-static void run(Index rows, Index cols, Index depth, \
-  const EIGTYPE* _lhs, Index lhsStride, \
-  const EIGTYPE* _rhs, Index rhsStride, \
-  EIGTYPE* res, Index resStride, \
-  EIGTYPE alpha, \
-  level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/, \
-  GemmParallelInfo<Index>* /*info = 0*/) \
-{ \
-  using std::conj; \
-\
-  char transa, transb; \
-  BlasIndex m, n, k, lda, ldb, ldc; \
-  const EIGTYPE *a, *b; \
-  EIGTYPE beta(1); \
-  MatrixX##EIGPREFIX a_tmp, b_tmp; \
-\
-/* Set transpose options */ \
-  transa = (LhsStorageOrder==RowMajor) ? ((ConjugateLhs) ? 'C' : 'T') : 'N'; \
-  transb = (RhsStorageOrder==RowMajor) ? ((ConjugateRhs) ? 'C' : 'T') : 'N'; \
-\
-/* Set m, n, k */ \
-  m = convert_index<BlasIndex>(rows);  \
-  n = convert_index<BlasIndex>(cols);  \
-  k = convert_index<BlasIndex>(depth); \
-\
-/* Set lda, ldb, ldc */ \
-  lda = convert_index<BlasIndex>(lhsStride); \
-  ldb = convert_index<BlasIndex>(rhsStride); \
-  ldc = convert_index<BlasIndex>(resStride); \
-\
-/* Set a, b, c */ \
-  if ((LhsStorageOrder==ColMajor) && (ConjugateLhs)) { \
-    Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,m,k,OuterStride<>(lhsStride)); \
-    a_tmp = lhs.conjugate(); \
-    a = a_tmp.data(); \
-    lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
-  } else a = _lhs; \
-\
-  if ((RhsStorageOrder==ColMajor) && (ConjugateRhs)) { \
-    Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,k,n,OuterStride<>(rhsStride)); \
-    b_tmp = rhs.conjugate(); \
-    b = b_tmp.data(); \
-    ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
-  } else b = _rhs; \
-\
-  BLASPREFIX##gemm_(&transa, &transb, &m, &n, &k, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
-}};
-
-GEMM_SPECIALIZATION(double,   d,  double, d)
-GEMM_SPECIALIZATION(float,    f,  float,  s)
-GEMM_SPECIALIZATION(dcomplex, cd, double, z)
-GEMM_SPECIALIZATION(scomplex, cf, float,  c)
-
-} // end namespase internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixVector.h b/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixVector.h
deleted file mode 100644
index 3c1a7fc40222b2..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixVector.h
+++ /dev/null
@@ -1,619 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GENERAL_MATRIX_VECTOR_H
-#define EIGEN_GENERAL_MATRIX_VECTOR_H
-
-namespace Eigen {
-
-namespace internal {
-
-/* Optimized col-major matrix * vector product:
- * This algorithm processes 4 columns at onces that allows to both reduce
- * the number of load/stores of the result by a factor 4 and to reduce
- * the instruction dependency. Moreover, we know that all bands have the
- * same alignment pattern.
- *
- * Mixing type logic: C += alpha * A * B
- *  |  A  |  B  |alpha| comments
- *  |real |cplx |cplx | no vectorization
- *  |real |cplx |real | alpha is converted to a cplx when calling the run function, no vectorization
- *  |cplx |real |cplx | invalid, the caller has to do tmp: = A * B; C += alpha*tmp
- *  |cplx |real |real | optimal case, vectorization possible via real-cplx mul
- *
- * Accesses to the matrix coefficients follow the following logic:
- *
- * - if all columns have the same alignment then
- *   - if the columns have the same alignment as the result vector, then easy! (-> AllAligned case)
- *   - otherwise perform unaligned loads only (-> NoneAligned case)
- * - otherwise
- *   - if even columns have the same alignment then
- *     // odd columns are guaranteed to have the same alignment too
- *     - if even or odd columns have the same alignment as the result, then
- *       // for a register size of 2 scalars, this is guarantee to be the case (e.g., SSE with double)
- *       - perform half aligned and half unaligned loads (-> EvenAligned case)
- *     - otherwise perform unaligned loads only (-> NoneAligned case)
- *   - otherwise, if the register size is 4 scalars (e.g., SSE with float) then
- *     - one over 4 consecutive columns is guaranteed to be aligned with the result vector,
- *       perform simple aligned loads for this column and aligned loads plus re-alignment for the other. (-> FirstAligned case)
- *       // this re-alignment is done by the palign function implemented for SSE in Eigen/src/Core/arch/SSE/PacketMath.h
- *   - otherwise,
- *     // if we get here, this means the register size is greater than 4 (e.g., AVX with floats),
- *     // we currently fall back to the NoneAligned case
- *
- * The same reasoning apply for the transposed case.
- *
- * The last case (PacketSize>4) could probably be improved by generalizing the FirstAligned case, but since we do not support AVX yet...
- * One might also wonder why in the EvenAligned case we perform unaligned loads instead of using the aligned-loads plus re-alignment
- * strategy as in the FirstAligned case. The reason is that we observed that unaligned loads on a 8 byte boundary are not too slow
- * compared to unaligned loads on a 4 byte boundary.
- *
- */
-template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
-struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-
-enum {
-  Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
-              && int(packet_traits<LhsScalar>::size)==int(packet_traits<RhsScalar>::size),
-  LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
-  RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
-  ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1
-};
-
-typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
-typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
-typedef typename packet_traits<ResScalar>::type  _ResPacket;
-
-typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
-typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
-typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
-
-EIGEN_DONT_INLINE static void run(
-  Index rows, Index cols,
-  const LhsMapper& lhs,
-  const RhsMapper& rhs,
-        ResScalar* res, Index resIncr,
-  RhsScalar alpha);
-};
-
-template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
-  Index rows, Index cols,
-  const LhsMapper& lhs,
-  const RhsMapper& rhs,
-        ResScalar* res, Index resIncr,
-  RhsScalar alpha)
-{
-  EIGEN_UNUSED_VARIABLE(resIncr);
-  eigen_internal_assert(resIncr==1);
-  #ifdef _EIGEN_ACCUMULATE_PACKETS
-  #error _EIGEN_ACCUMULATE_PACKETS has already been defined
-  #endif
-  #define _EIGEN_ACCUMULATE_PACKETS(Alignment0,Alignment13,Alignment2) \
-    pstore(&res[j], \
-      padd(pload<ResPacket>(&res[j]), \
-        padd( \
-      padd(pcj.pmul(lhs0.template load<LhsPacket, Alignment0>(j),    ptmp0), \
-      pcj.pmul(lhs1.template load<LhsPacket, Alignment13>(j),   ptmp1)),   \
-      padd(pcj.pmul(lhs2.template load<LhsPacket, Alignment2>(j),    ptmp2), \
-      pcj.pmul(lhs3.template load<LhsPacket, Alignment13>(j),   ptmp3)) )))
-
-  typedef typename LhsMapper::VectorMapper LhsScalars;
-
-  conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
-  conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
-  if(ConjugateRhs)
-    alpha = numext::conj(alpha);
-
-  enum { AllAligned = 0, EvenAligned, FirstAligned, NoneAligned };
-  const Index columnsAtOnce = 4;
-  const Index peels = 2;
-  const Index LhsPacketAlignedMask = LhsPacketSize-1;
-  const Index ResPacketAlignedMask = ResPacketSize-1;
-//  const Index PeelAlignedMask = ResPacketSize*peels-1;
-  const Index size = rows;
-
-  const Index lhsStride = lhs.stride();
-
-  // How many coeffs of the result do we have to skip to be aligned.
-  // Here we assume data are at least aligned on the base scalar type.
-  Index alignedStart = internal::first_default_aligned(res,size);
-  Index alignedSize = ResPacketSize>1 ? alignedStart + ((size-alignedStart) & ~ResPacketAlignedMask) : 0;
-  const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
-
-  const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
-  Index alignmentPattern = alignmentStep==0 ? AllAligned
-                       : alignmentStep==(LhsPacketSize/2) ? EvenAligned
-                       : FirstAligned;
-
-  // we cannot assume the first element is aligned because of sub-matrices
-  const Index lhsAlignmentOffset = lhs.firstAligned(size);
-
-  // find how many columns do we have to skip to be aligned with the result (if possible)
-  Index skipColumns = 0;
-  // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
-  if( (lhsAlignmentOffset < 0) || (lhsAlignmentOffset == size) || (UIntPtr(res)%sizeof(ResScalar)) )
-  {
-    alignedSize = 0;
-    alignedStart = 0;
-    alignmentPattern = NoneAligned;
-  }
-  else if(LhsPacketSize > 4)
-  {
-    // TODO: extend the code to support aligned loads whenever possible when LhsPacketSize > 4.
-    // Currently, it seems to be better to perform unaligned loads anyway
-    alignmentPattern = NoneAligned;
-  }
-  else if (LhsPacketSize>1)
-  {
-  //    eigen_internal_assert(size_t(firstLhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || size<LhsPacketSize);
-
-    while (skipColumns<LhsPacketSize &&
-          alignedStart != ((lhsAlignmentOffset + alignmentStep*skipColumns)%LhsPacketSize))
-      ++skipColumns;
-    if (skipColumns==LhsPacketSize)
-    {
-      // nothing can be aligned, no need to skip any column
-      alignmentPattern = NoneAligned;
-      skipColumns = 0;
-    }
-    else
-    {
-      skipColumns = (std::min)(skipColumns,cols);
-      // note that the skiped columns are processed later.
-    }
-
-    /*    eigen_internal_assert(  (alignmentPattern==NoneAligned)
-                      || (skipColumns + columnsAtOnce >= cols)
-                      || LhsPacketSize > size
-                      || (size_t(firstLhs+alignedStart+lhsStride*skipColumns)%sizeof(LhsPacket))==0);*/
-  }
-  else if(Vectorizable)
-  {
-    alignedStart = 0;
-    alignedSize = size;
-    alignmentPattern = AllAligned;
-  }
-
-  const Index offset1 = (FirstAligned && alignmentStep==1)?3:1;
-  const Index offset3 = (FirstAligned && alignmentStep==1)?1:3;
-
-  Index columnBound = ((cols-skipColumns)/columnsAtOnce)*columnsAtOnce + skipColumns;
-  for (Index i=skipColumns; i<columnBound; i+=columnsAtOnce)
-  {
-    RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs(i, 0)),
-              ptmp1 = pset1<RhsPacket>(alpha*rhs(i+offset1, 0)),
-              ptmp2 = pset1<RhsPacket>(alpha*rhs(i+2, 0)),
-              ptmp3 = pset1<RhsPacket>(alpha*rhs(i+offset3, 0));
-
-    // this helps a lot generating better binary code
-    const LhsScalars lhs0 = lhs.getVectorMapper(0, i+0),   lhs1 = lhs.getVectorMapper(0, i+offset1),
-                     lhs2 = lhs.getVectorMapper(0, i+2),   lhs3 = lhs.getVectorMapper(0, i+offset3);
-
-    if (Vectorizable)
-    {
-      /* explicit vectorization */
-      // process initial unaligned coeffs
-      for (Index j=0; j<alignedStart; ++j)
-      {
-        res[j] = cj.pmadd(lhs0(j), pfirst(ptmp0), res[j]);
-        res[j] = cj.pmadd(lhs1(j), pfirst(ptmp1), res[j]);
-        res[j] = cj.pmadd(lhs2(j), pfirst(ptmp2), res[j]);
-        res[j] = cj.pmadd(lhs3(j), pfirst(ptmp3), res[j]);
-      }
-
-      if (alignedSize>alignedStart)
-      {
-        switch(alignmentPattern)
-        {
-          case AllAligned:
-            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(Aligned,Aligned,Aligned);
-            break;
-          case EvenAligned:
-            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Aligned);
-            break;
-          case FirstAligned:
-          {
-            Index j = alignedStart;
-            if(peels>1)
-            {
-              LhsPacket A00, A01, A02, A03, A10, A11, A12, A13;
-              ResPacket T0, T1;
-
-              A01 = lhs1.template load<LhsPacket, Aligned>(alignedStart-1);
-              A02 = lhs2.template load<LhsPacket, Aligned>(alignedStart-2);
-              A03 = lhs3.template load<LhsPacket, Aligned>(alignedStart-3);
-
-              for (; j<peeledSize; j+=peels*ResPacketSize)
-              {
-                A11 = lhs1.template load<LhsPacket, Aligned>(j-1+LhsPacketSize);  palign<1>(A01,A11);
-                A12 = lhs2.template load<LhsPacket, Aligned>(j-2+LhsPacketSize);  palign<2>(A02,A12);
-                A13 = lhs3.template load<LhsPacket, Aligned>(j-3+LhsPacketSize);  palign<3>(A03,A13);
-
-                A00 = lhs0.template load<LhsPacket, Aligned>(j);
-                A10 = lhs0.template load<LhsPacket, Aligned>(j+LhsPacketSize);
-                T0  = pcj.pmadd(A00, ptmp0, pload<ResPacket>(&res[j]));
-                T1  = pcj.pmadd(A10, ptmp0, pload<ResPacket>(&res[j+ResPacketSize]));
-
-                T0  = pcj.pmadd(A01, ptmp1, T0);
-                A01 = lhs1.template load<LhsPacket, Aligned>(j-1+2*LhsPacketSize);  palign<1>(A11,A01);
-                T0  = pcj.pmadd(A02, ptmp2, T0);
-                A02 = lhs2.template load<LhsPacket, Aligned>(j-2+2*LhsPacketSize);  palign<2>(A12,A02);
-                T0  = pcj.pmadd(A03, ptmp3, T0);
-                pstore(&res[j],T0);
-                A03 = lhs3.template load<LhsPacket, Aligned>(j-3+2*LhsPacketSize);  palign<3>(A13,A03);
-                T1  = pcj.pmadd(A11, ptmp1, T1);
-                T1  = pcj.pmadd(A12, ptmp2, T1);
-                T1  = pcj.pmadd(A13, ptmp3, T1);
-                pstore(&res[j+ResPacketSize],T1);
-              }
-            }
-            for (; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Unaligned);
-            break;
-          }
-          default:
-            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(Unaligned,Unaligned,Unaligned);
-            break;
-        }
-      }
-    } // end explicit vectorization
-
-    /* process remaining coeffs (or all if there is no explicit vectorization) */
-    for (Index j=alignedSize; j<size; ++j)
-    {
-      res[j] = cj.pmadd(lhs0(j), pfirst(ptmp0), res[j]);
-      res[j] = cj.pmadd(lhs1(j), pfirst(ptmp1), res[j]);
-      res[j] = cj.pmadd(lhs2(j), pfirst(ptmp2), res[j]);
-      res[j] = cj.pmadd(lhs3(j), pfirst(ptmp3), res[j]);
-    }
-  }
-
-  // process remaining first and last columns (at most columnsAtOnce-1)
-  Index end = cols;
-  Index start = columnBound;
-  do
-  {
-    for (Index k=start; k<end; ++k)
-    {
-      RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs(k, 0));
-      const LhsScalars lhs0 = lhs.getVectorMapper(0, k);
-
-      if (Vectorizable)
-      {
-        /* explicit vectorization */
-        // process first unaligned result's coeffs
-        for (Index j=0; j<alignedStart; ++j)
-          res[j] += cj.pmul(lhs0(j), pfirst(ptmp0));
-        // process aligned result's coeffs
-        if (lhs0.template aligned<LhsPacket>(alignedStart))
-          for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
-            pstore(&res[i], pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(i), ptmp0, pload<ResPacket>(&res[i])));
-        else
-          for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
-            pstore(&res[i], pcj.pmadd(lhs0.template load<LhsPacket, Unaligned>(i), ptmp0, pload<ResPacket>(&res[i])));
-      }
-
-      // process remaining scalars (or all if no explicit vectorization)
-      for (Index i=alignedSize; i<size; ++i)
-        res[i] += cj.pmul(lhs0(i), pfirst(ptmp0));
-    }
-    if (skipColumns)
-    {
-      start = 0;
-      end = skipColumns;
-      skipColumns = 0;
-    }
-    else
-      break;
-  } while(Vectorizable);
-  #undef _EIGEN_ACCUMULATE_PACKETS
-}
-
-/* Optimized row-major matrix * vector product:
- * This algorithm processes 4 rows at onces that allows to both reduce
- * the number of load/stores of the result by a factor 4 and to reduce
- * the instruction dependency. Moreover, we know that all bands have the
- * same alignment pattern.
- *
- * Mixing type logic:
- *  - alpha is always a complex (or converted to a complex)
- *  - no vectorization
- */
-template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
-struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
-{
-typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-
-enum {
-  Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
-              && int(packet_traits<LhsScalar>::size)==int(packet_traits<RhsScalar>::size),
-  LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
-  RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
-  ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1
-};
-
-typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
-typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
-typedef typename packet_traits<ResScalar>::type  _ResPacket;
-
-typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
-typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
-typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
-
-EIGEN_DONT_INLINE static void run(
-  Index rows, Index cols,
-  const LhsMapper& lhs,
-  const RhsMapper& rhs,
-        ResScalar* res, Index resIncr,
-  ResScalar alpha);
-};
-
-template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
-  Index rows, Index cols,
-  const LhsMapper& lhs,
-  const RhsMapper& rhs,
-  ResScalar* res, Index resIncr,
-  ResScalar alpha)
-{
-  eigen_internal_assert(rhs.stride()==1);
-
-  #ifdef _EIGEN_ACCUMULATE_PACKETS
-  #error _EIGEN_ACCUMULATE_PACKETS has already been defined
-  #endif
-
-  #define _EIGEN_ACCUMULATE_PACKETS(Alignment0,Alignment13,Alignment2) {\
-    RhsPacket b = rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0);  \
-    ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Alignment0>(j), b, ptmp0); \
-    ptmp1 = pcj.pmadd(lhs1.template load<LhsPacket, Alignment13>(j), b, ptmp1); \
-    ptmp2 = pcj.pmadd(lhs2.template load<LhsPacket, Alignment2>(j), b, ptmp2); \
-    ptmp3 = pcj.pmadd(lhs3.template load<LhsPacket, Alignment13>(j), b, ptmp3); }
-
-  conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
-  conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
-
-  typedef typename LhsMapper::VectorMapper LhsScalars;
-
-  enum { AllAligned=0, EvenAligned=1, FirstAligned=2, NoneAligned=3 };
-  const Index rowsAtOnce = 4;
-  const Index peels = 2;
-  const Index RhsPacketAlignedMask = RhsPacketSize-1;
-  const Index LhsPacketAlignedMask = LhsPacketSize-1;
-  const Index depth = cols;
-  const Index lhsStride = lhs.stride();
-
-  // How many coeffs of the result do we have to skip to be aligned.
-  // Here we assume data are at least aligned on the base scalar type
-  // if that's not the case then vectorization is discarded, see below.
-  Index alignedStart = rhs.firstAligned(depth);
-  Index alignedSize = RhsPacketSize>1 ? alignedStart + ((depth-alignedStart) & ~RhsPacketAlignedMask) : 0;
-  const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
-
-  const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
-  Index alignmentPattern = alignmentStep==0 ? AllAligned
-                           : alignmentStep==(LhsPacketSize/2) ? EvenAligned
-                           : FirstAligned;
-
-  // we cannot assume the first element is aligned because of sub-matrices
-  const Index lhsAlignmentOffset = lhs.firstAligned(depth);
-  const Index rhsAlignmentOffset = rhs.firstAligned(rows);
-
-  // find how many rows do we have to skip to be aligned with rhs (if possible)
-  Index skipRows = 0;
-  // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
-  if( (sizeof(LhsScalar)!=sizeof(RhsScalar)) ||
-      (lhsAlignmentOffset < 0) || (lhsAlignmentOffset == depth) ||
-      (rhsAlignmentOffset < 0) || (rhsAlignmentOffset == rows) )
-  {
-    alignedSize = 0;
-    alignedStart = 0;
-    alignmentPattern = NoneAligned;
-  }
-  else if(LhsPacketSize > 4)
-  {
-    // TODO: extend the code to support aligned loads whenever possible when LhsPacketSize > 4.
-    alignmentPattern = NoneAligned;
-  }
-  else if (LhsPacketSize>1)
-  {
-  //    eigen_internal_assert(size_t(firstLhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0  || depth<LhsPacketSize);
-
-    while (skipRows<LhsPacketSize &&
-           alignedStart != ((lhsAlignmentOffset + alignmentStep*skipRows)%LhsPacketSize))
-      ++skipRows;
-    if (skipRows==LhsPacketSize)
-    {
-      // nothing can be aligned, no need to skip any column
-      alignmentPattern = NoneAligned;
-      skipRows = 0;
-    }
-    else
-    {
-      skipRows = (std::min)(skipRows,Index(rows));
-      // note that the skiped columns are processed later.
-    }
-    /*    eigen_internal_assert(  alignmentPattern==NoneAligned
-                      || LhsPacketSize==1
-                      || (skipRows + rowsAtOnce >= rows)
-                      || LhsPacketSize > depth
-                      || (size_t(firstLhs+alignedStart+lhsStride*skipRows)%sizeof(LhsPacket))==0);*/
-  }
-  else if(Vectorizable)
-  {
-    alignedStart = 0;
-    alignedSize = depth;
-    alignmentPattern = AllAligned;
-  }
-
-  const Index offset1 = (FirstAligned && alignmentStep==1)?3:1;
-  const Index offset3 = (FirstAligned && alignmentStep==1)?1:3;
-
-  Index rowBound = ((rows-skipRows)/rowsAtOnce)*rowsAtOnce + skipRows;
-  for (Index i=skipRows; i<rowBound; i+=rowsAtOnce)
-  {
-    // FIXME: what is the purpose of this EIGEN_ALIGN_DEFAULT ??
-    EIGEN_ALIGN_MAX ResScalar tmp0 = ResScalar(0);
-    ResScalar tmp1 = ResScalar(0), tmp2 = ResScalar(0), tmp3 = ResScalar(0);
-
-    // this helps the compiler generating good binary code
-    const LhsScalars lhs0 = lhs.getVectorMapper(i+0, 0),    lhs1 = lhs.getVectorMapper(i+offset1, 0),
-                     lhs2 = lhs.getVectorMapper(i+2, 0),    lhs3 = lhs.getVectorMapper(i+offset3, 0);
-
-    if (Vectorizable)
-    {
-      /* explicit vectorization */
-      ResPacket ptmp0 = pset1<ResPacket>(ResScalar(0)), ptmp1 = pset1<ResPacket>(ResScalar(0)),
-                ptmp2 = pset1<ResPacket>(ResScalar(0)), ptmp3 = pset1<ResPacket>(ResScalar(0));
-
-      // process initial unaligned coeffs
-      // FIXME this loop get vectorized by the compiler !
-      for (Index j=0; j<alignedStart; ++j)
-      {
-        RhsScalar b = rhs(j, 0);
-        tmp0 += cj.pmul(lhs0(j),b); tmp1 += cj.pmul(lhs1(j),b);
-        tmp2 += cj.pmul(lhs2(j),b); tmp3 += cj.pmul(lhs3(j),b);
-      }
-
-      if (alignedSize>alignedStart)
-      {
-        switch(alignmentPattern)
-        {
-          case AllAligned:
-            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(Aligned,Aligned,Aligned);
-            break;
-          case EvenAligned:
-            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Aligned);
-            break;
-          case FirstAligned:
-          {
-            Index j = alignedStart;
-            if (peels>1)
-            {
-              /* Here we proccess 4 rows with with two peeled iterations to hide
-               * the overhead of unaligned loads. Moreover unaligned loads are handled
-               * using special shift/move operations between the two aligned packets
-               * overlaping the desired unaligned packet. This is *much* more efficient
-               * than basic unaligned loads.
-               */
-              LhsPacket A01, A02, A03, A11, A12, A13;
-              A01 = lhs1.template load<LhsPacket, Aligned>(alignedStart-1);
-              A02 = lhs2.template load<LhsPacket, Aligned>(alignedStart-2);
-              A03 = lhs3.template load<LhsPacket, Aligned>(alignedStart-3);
-
-              for (; j<peeledSize; j+=peels*RhsPacketSize)
-              {
-                RhsPacket b = rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0);
-                A11 = lhs1.template load<LhsPacket, Aligned>(j-1+LhsPacketSize);  palign<1>(A01,A11);
-                A12 = lhs2.template load<LhsPacket, Aligned>(j-2+LhsPacketSize);  palign<2>(A02,A12);
-                A13 = lhs3.template load<LhsPacket, Aligned>(j-3+LhsPacketSize);  palign<3>(A03,A13);
-
-                ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j), b, ptmp0);
-                ptmp1 = pcj.pmadd(A01, b, ptmp1);
-                A01 = lhs1.template load<LhsPacket, Aligned>(j-1+2*LhsPacketSize);  palign<1>(A11,A01);
-                ptmp2 = pcj.pmadd(A02, b, ptmp2);
-                A02 = lhs2.template load<LhsPacket, Aligned>(j-2+2*LhsPacketSize);  palign<2>(A12,A02);
-                ptmp3 = pcj.pmadd(A03, b, ptmp3);
-                A03 = lhs3.template load<LhsPacket, Aligned>(j-3+2*LhsPacketSize);  palign<3>(A13,A03);
-
-                b = rhs.getVectorMapper(j+RhsPacketSize, 0).template load<RhsPacket, Aligned>(0);
-                ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j+LhsPacketSize), b, ptmp0);
-                ptmp1 = pcj.pmadd(A11, b, ptmp1);
-                ptmp2 = pcj.pmadd(A12, b, ptmp2);
-                ptmp3 = pcj.pmadd(A13, b, ptmp3);
-              }
-            }
-            for (; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Unaligned);
-            break;
-          }
-          default:
-            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(Unaligned,Unaligned,Unaligned);
-            break;
-        }
-        tmp0 += predux(ptmp0);
-        tmp1 += predux(ptmp1);
-        tmp2 += predux(ptmp2);
-        tmp3 += predux(ptmp3);
-      }
-    } // end explicit vectorization
-
-    // process remaining coeffs (or all if no explicit vectorization)
-    // FIXME this loop get vectorized by the compiler !
-    for (Index j=alignedSize; j<depth; ++j)
-    {
-      RhsScalar b = rhs(j, 0);
-      tmp0 += cj.pmul(lhs0(j),b); tmp1 += cj.pmul(lhs1(j),b);
-      tmp2 += cj.pmul(lhs2(j),b); tmp3 += cj.pmul(lhs3(j),b);
-    }
-    res[i*resIncr]            += alpha*tmp0;
-    res[(i+offset1)*resIncr]  += alpha*tmp1;
-    res[(i+2)*resIncr]        += alpha*tmp2;
-    res[(i+offset3)*resIncr]  += alpha*tmp3;
-  }
-
-  // process remaining first and last rows (at most columnsAtOnce-1)
-  Index end = rows;
-  Index start = rowBound;
-  do
-  {
-    for (Index i=start; i<end; ++i)
-    {
-      EIGEN_ALIGN_MAX ResScalar tmp0 = ResScalar(0);
-      ResPacket ptmp0 = pset1<ResPacket>(tmp0);
-      const LhsScalars lhs0 = lhs.getVectorMapper(i, 0);
-      // process first unaligned result's coeffs
-      // FIXME this loop get vectorized by the compiler !
-      for (Index j=0; j<alignedStart; ++j)
-        tmp0 += cj.pmul(lhs0(j), rhs(j, 0));
-
-      if (alignedSize>alignedStart)
-      {
-        // process aligned rhs coeffs
-        if (lhs0.template aligned<LhsPacket>(alignedStart))
-          for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
-            ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j), rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0), ptmp0);
-        else
-          for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
-            ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Unaligned>(j), rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0), ptmp0);
-        tmp0 += predux(ptmp0);
-      }
-
-      // process remaining scalars
-      // FIXME this loop get vectorized by the compiler !
-      for (Index j=alignedSize; j<depth; ++j)
-        tmp0 += cj.pmul(lhs0(j), rhs(j, 0));
-      res[i*resIncr] += alpha*tmp0;
-    }
-    if (skipRows)
-    {
-      start = 0;
-      end = skipRows;
-      skipRows = 0;
-    }
-    else
-      break;
-  } while(Vectorizable);
-
-  #undef _EIGEN_ACCUMULATE_PACKETS
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERAL_MATRIX_VECTOR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h b/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
deleted file mode 100644
index e3a5d589273f05..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to BLAS F77
- *   General matrix-vector product functionality based on ?GEMV.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
-#define EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/**********************************************************************
-* This file implements general matrix-vector multiplication using BLAS
-* gemv function via partial specialization of
-* general_matrix_vector_product::run(..) method for float, double,
-* std::complex<float> and std::complex<double> types
-**********************************************************************/
-
-// gemv specialization
-
-template<typename Index, typename LhsScalar, int StorageOrder, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
-struct general_matrix_vector_product_gemv;
-
-#define EIGEN_BLAS_GEMV_SPECIALIZE(Scalar) \
-template<typename Index, bool ConjugateLhs, bool ConjugateRhs> \
-struct general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ColMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,ConjugateRhs,Specialized> { \
-static void run( \
-  Index rows, Index cols, \
-  const const_blas_data_mapper<Scalar,Index,ColMajor> &lhs, \
-  const const_blas_data_mapper<Scalar,Index,RowMajor> &rhs, \
-  Scalar* res, Index resIncr, Scalar alpha) \
-{ \
-  if (ConjugateLhs) { \
-    general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ColMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,ConjugateRhs,BuiltIn>::run( \
-      rows, cols, lhs, rhs, res, resIncr, alpha); \
-  } else { \
-    general_matrix_vector_product_gemv<Index,Scalar,ColMajor,ConjugateLhs,Scalar,ConjugateRhs>::run( \
-      rows, cols, lhs.data(), lhs.stride(), rhs.data(), rhs.stride(), res, resIncr, alpha); \
-  } \
-} \
-}; \
-template<typename Index, bool ConjugateLhs, bool ConjugateRhs> \
-struct general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,RowMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ConjugateRhs,Specialized> { \
-static void run( \
-  Index rows, Index cols, \
-  const const_blas_data_mapper<Scalar,Index,RowMajor> &lhs, \
-  const const_blas_data_mapper<Scalar,Index,ColMajor> &rhs, \
-  Scalar* res, Index resIncr, Scalar alpha) \
-{ \
-    general_matrix_vector_product_gemv<Index,Scalar,RowMajor,ConjugateLhs,Scalar,ConjugateRhs>::run( \
-      rows, cols, lhs.data(), lhs.stride(), rhs.data(), rhs.stride(), res, resIncr, alpha); \
-} \
-}; \
-
-EIGEN_BLAS_GEMV_SPECIALIZE(double)
-EIGEN_BLAS_GEMV_SPECIALIZE(float)
-EIGEN_BLAS_GEMV_SPECIALIZE(dcomplex)
-EIGEN_BLAS_GEMV_SPECIALIZE(scomplex)
-
-#define EIGEN_BLAS_GEMV_SPECIALIZATION(EIGTYPE,BLASTYPE,BLASPREFIX) \
-template<typename Index, int LhsStorageOrder, bool ConjugateLhs, bool ConjugateRhs> \
-struct general_matrix_vector_product_gemv<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,ConjugateRhs> \
-{ \
-typedef Matrix<EIGTYPE,Dynamic,1,ColMajor> GEMVVector;\
-\
-static void run( \
-  Index rows, Index cols, \
-  const EIGTYPE* lhs, Index lhsStride, \
-  const EIGTYPE* rhs, Index rhsIncr, \
-  EIGTYPE* res, Index resIncr, EIGTYPE alpha) \
-{ \
-  BlasIndex m=convert_index<BlasIndex>(rows), n=convert_index<BlasIndex>(cols), \
-            lda=convert_index<BlasIndex>(lhsStride), incx=convert_index<BlasIndex>(rhsIncr), incy=convert_index<BlasIndex>(resIncr); \
-  const EIGTYPE beta(1); \
-  const EIGTYPE *x_ptr; \
-  char trans=(LhsStorageOrder==ColMajor) ? 'N' : (ConjugateLhs) ? 'C' : 'T'; \
-  if (LhsStorageOrder==RowMajor) { \
-    m = convert_index<BlasIndex>(cols); \
-    n = convert_index<BlasIndex>(rows); \
-  }\
-  GEMVVector x_tmp; \
-  if (ConjugateRhs) { \
-    Map<const GEMVVector, 0, InnerStride<> > map_x(rhs,cols,1,InnerStride<>(incx)); \
-    x_tmp=map_x.conjugate(); \
-    x_ptr=x_tmp.data(); \
-    incx=1; \
-  } else x_ptr=rhs; \
-  BLASPREFIX##gemv_(&trans, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)lhs, &lda, (const BLASTYPE*)x_ptr, &incx, &numext::real_ref(beta), (BLASTYPE*)res, &incy); \
-}\
-};
-
-EIGEN_BLAS_GEMV_SPECIALIZATION(double,   double, d)
-EIGEN_BLAS_GEMV_SPECIALIZATION(float,    float,  s)
-EIGEN_BLAS_GEMV_SPECIALIZATION(dcomplex, double, z)
-EIGEN_BLAS_GEMV_SPECIALIZATION(scomplex, float,  c)
-
-} // end namespase internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/Parallelizer.h b/phonelibs/eigen/Eigen/src/Core/products/Parallelizer.h
deleted file mode 100644
index c2f084c82cce7b..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/Parallelizer.h
+++ /dev/null
@@ -1,163 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PARALLELIZER_H
-#define EIGEN_PARALLELIZER_H
-
-namespace Eigen {
-
-namespace internal {
-
-/** \internal */
-inline void manage_multi_threading(Action action, int* v)
-{
-  static EIGEN_UNUSED int m_maxThreads = -1;
-
-  if(action==SetAction)
-  {
-    eigen_internal_assert(v!=0);
-    m_maxThreads = *v;
-  }
-  else if(action==GetAction)
-  {
-    eigen_internal_assert(v!=0);
-    #ifdef EIGEN_HAS_OPENMP
-    if(m_maxThreads>0)
-      *v = m_maxThreads;
-    else
-      *v = omp_get_max_threads();
-    #else
-    *v = 1;
-    #endif
-  }
-  else
-  {
-    eigen_internal_assert(false);
-  }
-}
-
-}
-
-/** Must be call first when calling Eigen from multiple threads */
-inline void initParallel()
-{
-  int nbt;
-  internal::manage_multi_threading(GetAction, &nbt);
-  std::ptrdiff_t l1, l2, l3;
-  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
-}
-
-/** \returns the max number of threads reserved for Eigen
-  * \sa setNbThreads */
-inline int nbThreads()
-{
-  int ret;
-  internal::manage_multi_threading(GetAction, &ret);
-  return ret;
-}
-
-/** Sets the max number of threads reserved for Eigen
-  * \sa nbThreads */
-inline void setNbThreads(int v)
-{
-  internal::manage_multi_threading(SetAction, &v);
-}
-
-namespace internal {
-
-template<typename Index> struct GemmParallelInfo
-{
-  GemmParallelInfo() : sync(-1), users(0), lhs_start(0), lhs_length(0) {}
-
-  Index volatile sync;
-  int volatile users;
-
-  Index lhs_start;
-  Index lhs_length;
-};
-
-template<bool Condition, typename Functor, typename Index>
-void parallelize_gemm(const Functor& func, Index rows, Index cols, Index depth, bool transpose)
-{
-  // TODO when EIGEN_USE_BLAS is defined,
-  // we should still enable OMP for other scalar types
-#if !(defined (EIGEN_HAS_OPENMP)) || defined (EIGEN_USE_BLAS)
-  // FIXME the transpose variable is only needed to properly split
-  // the matrix product when multithreading is enabled. This is a temporary
-  // fix to support row-major destination matrices. This whole
-  // parallelizer mechanism has to be redisigned anyway.
-  EIGEN_UNUSED_VARIABLE(depth);
-  EIGEN_UNUSED_VARIABLE(transpose);
-  func(0,rows, 0,cols);
-#else
-
-  // Dynamically check whether we should enable or disable OpenMP.
-  // The conditions are:
-  // - the max number of threads we can create is greater than 1
-  // - we are not already in a parallel code
-  // - the sizes are large enough
-
-  // compute the maximal number of threads from the size of the product:
-  // This first heuristic takes into account that the product kernel is fully optimized when working with nr columns at once.
-  Index size = transpose ? rows : cols;
-  Index pb_max_threads = std::max<Index>(1,size / Functor::Traits::nr);
-
-  // compute the maximal number of threads from the total amount of work:
-  double work = static_cast<double>(rows) * static_cast<double>(cols) *
-      static_cast<double>(depth);
-  double kMinTaskSize = 50000;  // FIXME improve this heuristic.
-  pb_max_threads = std::max<Index>(1, std::min<Index>(pb_max_threads, work / kMinTaskSize));
-
-  // compute the number of threads we are going to use
-  Index threads = std::min<Index>(nbThreads(), pb_max_threads);
-
-  // if multi-threading is explicitely disabled, not useful, or if we already are in a parallel session,
-  // then abort multi-threading
-  // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
-  if((!Condition) || (threads==1) || (omp_get_num_threads()>1))
-    return func(0,rows, 0,cols);
-
-  Eigen::initParallel();
-  func.initParallelSession(threads);
-
-  if(transpose)
-    std::swap(rows,cols);
-
-  ei_declare_aligned_stack_constructed_variable(GemmParallelInfo<Index>,info,threads,0);
-
-  #pragma omp parallel num_threads(threads)
-  {
-    Index i = omp_get_thread_num();
-    // Note that the actual number of threads might be lower than the number of request ones.
-    Index actual_threads = omp_get_num_threads();
-
-    Index blockCols = (cols / actual_threads) & ~Index(0x3);
-    Index blockRows = (rows / actual_threads);
-    blockRows = (blockRows/Functor::Traits::mr)*Functor::Traits::mr;
-
-    Index r0 = i*blockRows;
-    Index actualBlockRows = (i+1==actual_threads) ? rows-r0 : blockRows;
-
-    Index c0 = i*blockCols;
-    Index actualBlockCols = (i+1==actual_threads) ? cols-c0 : blockCols;
-
-    info[i].lhs_start = r0;
-    info[i].lhs_length = actualBlockRows;
-
-    if(transpose) func(c0, actualBlockCols, 0, rows, info);
-    else          func(0, rows, c0, actualBlockCols, info);
-  }
-#endif
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PARALLELIZER_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
deleted file mode 100644
index da6f82abcd779b..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
+++ /dev/null
@@ -1,521 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_H
-#define EIGEN_SELFADJOINT_MATRIX_MATRIX_H
-
-namespace Eigen { 
-
-namespace internal {
-
-// pack a selfadjoint block diagonal for use with the gebp_kernel
-template<typename Scalar, typename Index, int Pack1, int Pack2_dummy, int StorageOrder>
-struct symm_pack_lhs
-{
-  template<int BlockRows> inline
-  void pack(Scalar* blockA, const const_blas_data_mapper<Scalar,Index,StorageOrder>& lhs, Index cols, Index i, Index& count)
-  {
-    // normal copy
-    for(Index k=0; k<i; k++)
-      for(Index w=0; w<BlockRows; w++)
-        blockA[count++] = lhs(i+w,k);           // normal
-    // symmetric copy
-    Index h = 0;
-    for(Index k=i; k<i+BlockRows; k++)
-    {
-      for(Index w=0; w<h; w++)
-        blockA[count++] = numext::conj(lhs(k, i+w)); // transposed
-
-      blockA[count++] = numext::real(lhs(k,k));   // real (diagonal)
-
-      for(Index w=h+1; w<BlockRows; w++)
-        blockA[count++] = lhs(i+w, k);          // normal
-      ++h;
-    }
-    // transposed copy
-    for(Index k=i+BlockRows; k<cols; k++)
-      for(Index w=0; w<BlockRows; w++)
-        blockA[count++] = numext::conj(lhs(k, i+w)); // transposed
-  }
-  void operator()(Scalar* blockA, const Scalar* _lhs, Index lhsStride, Index cols, Index rows)
-  {
-    enum { PacketSize = packet_traits<Scalar>::size };
-    const_blas_data_mapper<Scalar,Index,StorageOrder> lhs(_lhs,lhsStride);
-    Index count = 0;
-    //Index peeled_mc3 = (rows/Pack1)*Pack1;
-    
-    const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
-    const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
-    const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
-    
-    if(Pack1>=3*PacketSize)
-      for(Index i=0; i<peeled_mc3; i+=3*PacketSize)
-        pack<3*PacketSize>(blockA, lhs, cols, i, count);
-    
-    if(Pack1>=2*PacketSize)
-      for(Index i=peeled_mc3; i<peeled_mc2; i+=2*PacketSize)
-        pack<2*PacketSize>(blockA, lhs, cols, i, count);
-    
-    if(Pack1>=1*PacketSize)
-      for(Index i=peeled_mc2; i<peeled_mc1; i+=1*PacketSize)
-        pack<1*PacketSize>(blockA, lhs, cols, i, count);
-
-    // do the same with mr==1
-    for(Index i=peeled_mc1; i<rows; i++)
-    {
-      for(Index k=0; k<i; k++)
-        blockA[count++] = lhs(i, k);                   // normal
-
-      blockA[count++] = numext::real(lhs(i, i));       // real (diagonal)
-
-      for(Index k=i+1; k<cols; k++)
-        blockA[count++] = numext::conj(lhs(k, i));     // transposed
-    }
-  }
-};
-
-template<typename Scalar, typename Index, int nr, int StorageOrder>
-struct symm_pack_rhs
-{
-  enum { PacketSize = packet_traits<Scalar>::size };
-  void operator()(Scalar* blockB, const Scalar* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
-  {
-    Index end_k = k2 + rows;
-    Index count = 0;
-    const_blas_data_mapper<Scalar,Index,StorageOrder> rhs(_rhs,rhsStride);
-    Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
-    Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
-
-    // first part: normal case
-    for(Index j2=0; j2<k2; j2+=nr)
-    {
-      for(Index k=k2; k<end_k; k++)
-      {
-        blockB[count+0] = rhs(k,j2+0);
-        blockB[count+1] = rhs(k,j2+1);
-        if (nr>=4)
-        {
-          blockB[count+2] = rhs(k,j2+2);
-          blockB[count+3] = rhs(k,j2+3);
-        }
-        if (nr>=8)
-        {
-          blockB[count+4] = rhs(k,j2+4);
-          blockB[count+5] = rhs(k,j2+5);
-          blockB[count+6] = rhs(k,j2+6);
-          blockB[count+7] = rhs(k,j2+7);
-        }
-        count += nr;
-      }
-    }
-
-    // second part: diagonal block
-    Index end8 = nr>=8 ? (std::min)(k2+rows,packet_cols8) : k2;
-    if(nr>=8)
-    {
-      for(Index j2=k2; j2<end8; j2+=8)
-      {
-        // again we can split vertically in three different parts (transpose, symmetric, normal)
-        // transpose
-        for(Index k=k2; k<j2; k++)
-        {
-          blockB[count+0] = numext::conj(rhs(j2+0,k));
-          blockB[count+1] = numext::conj(rhs(j2+1,k));
-          blockB[count+2] = numext::conj(rhs(j2+2,k));
-          blockB[count+3] = numext::conj(rhs(j2+3,k));
-          blockB[count+4] = numext::conj(rhs(j2+4,k));
-          blockB[count+5] = numext::conj(rhs(j2+5,k));
-          blockB[count+6] = numext::conj(rhs(j2+6,k));
-          blockB[count+7] = numext::conj(rhs(j2+7,k));
-          count += 8;
-        }
-        // symmetric
-        Index h = 0;
-        for(Index k=j2; k<j2+8; k++)
-        {
-          // normal
-          for (Index w=0 ; w<h; ++w)
-            blockB[count+w] = rhs(k,j2+w);
-
-          blockB[count+h] = numext::real(rhs(k,k));
-
-          // transpose
-          for (Index w=h+1 ; w<8; ++w)
-            blockB[count+w] = numext::conj(rhs(j2+w,k));
-          count += 8;
-          ++h;
-        }
-        // normal
-        for(Index k=j2+8; k<end_k; k++)
-        {
-          blockB[count+0] = rhs(k,j2+0);
-          blockB[count+1] = rhs(k,j2+1);
-          blockB[count+2] = rhs(k,j2+2);
-          blockB[count+3] = rhs(k,j2+3);
-          blockB[count+4] = rhs(k,j2+4);
-          blockB[count+5] = rhs(k,j2+5);
-          blockB[count+6] = rhs(k,j2+6);
-          blockB[count+7] = rhs(k,j2+7);
-          count += 8;
-        }
-      }
-    }
-    if(nr>=4)
-    {
-      for(Index j2=end8; j2<(std::min)(k2+rows,packet_cols4); j2+=4)
-      {
-        // again we can split vertically in three different parts (transpose, symmetric, normal)
-        // transpose
-        for(Index k=k2; k<j2; k++)
-        {
-          blockB[count+0] = numext::conj(rhs(j2+0,k));
-          blockB[count+1] = numext::conj(rhs(j2+1,k));
-          blockB[count+2] = numext::conj(rhs(j2+2,k));
-          blockB[count+3] = numext::conj(rhs(j2+3,k));
-          count += 4;
-        }
-        // symmetric
-        Index h = 0;
-        for(Index k=j2; k<j2+4; k++)
-        {
-          // normal
-          for (Index w=0 ; w<h; ++w)
-            blockB[count+w] = rhs(k,j2+w);
-
-          blockB[count+h] = numext::real(rhs(k,k));
-
-          // transpose
-          for (Index w=h+1 ; w<4; ++w)
-            blockB[count+w] = numext::conj(rhs(j2+w,k));
-          count += 4;
-          ++h;
-        }
-        // normal
-        for(Index k=j2+4; k<end_k; k++)
-        {
-          blockB[count+0] = rhs(k,j2+0);
-          blockB[count+1] = rhs(k,j2+1);
-          blockB[count+2] = rhs(k,j2+2);
-          blockB[count+3] = rhs(k,j2+3);
-          count += 4;
-        }
-      }
-    }
-
-    // third part: transposed
-    if(nr>=8)
-    {
-      for(Index j2=k2+rows; j2<packet_cols8; j2+=8)
-      {
-        for(Index k=k2; k<end_k; k++)
-        {
-          blockB[count+0] = numext::conj(rhs(j2+0,k));
-          blockB[count+1] = numext::conj(rhs(j2+1,k));
-          blockB[count+2] = numext::conj(rhs(j2+2,k));
-          blockB[count+3] = numext::conj(rhs(j2+3,k));
-          blockB[count+4] = numext::conj(rhs(j2+4,k));
-          blockB[count+5] = numext::conj(rhs(j2+5,k));
-          blockB[count+6] = numext::conj(rhs(j2+6,k));
-          blockB[count+7] = numext::conj(rhs(j2+7,k));
-          count += 8;
-        }
-      }
-    }
-    if(nr>=4)
-    {
-      for(Index j2=(std::max)(packet_cols8,k2+rows); j2<packet_cols4; j2+=4)
-      {
-        for(Index k=k2; k<end_k; k++)
-        {
-          blockB[count+0] = numext::conj(rhs(j2+0,k));
-          blockB[count+1] = numext::conj(rhs(j2+1,k));
-          blockB[count+2] = numext::conj(rhs(j2+2,k));
-          blockB[count+3] = numext::conj(rhs(j2+3,k));
-          count += 4;
-        }
-      }
-    }
-
-    // copy the remaining columns one at a time (=> the same with nr==1)
-    for(Index j2=packet_cols4; j2<cols; ++j2)
-    {
-      // transpose
-      Index half = (std::min)(end_k,j2);
-      for(Index k=k2; k<half; k++)
-      {
-        blockB[count] = numext::conj(rhs(j2,k));
-        count += 1;
-      }
-
-      if(half==j2 && half<k2+rows)
-      {
-        blockB[count] = numext::real(rhs(j2,j2));
-        count += 1;
-      }
-      else
-        half--;
-
-      // normal
-      for(Index k=half+1; k<k2+rows; k++)
-      {
-        blockB[count] = rhs(k,j2);
-        count += 1;
-      }
-    }
-  }
-};
-
-/* Optimized selfadjoint matrix * matrix (_SYMM) product built on top of
- * the general matrix matrix product.
- */
-template <typename Scalar, typename Index,
-          int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
-          int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs,
-          int ResStorageOrder>
-struct product_selfadjoint_matrix;
-
-template <typename Scalar, typename Index,
-          int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
-          int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs>
-struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,ConjugateLhs, RhsStorageOrder,RhsSelfAdjoint,ConjugateRhs,RowMajor>
-{
-
-  static EIGEN_STRONG_INLINE void run(
-    Index rows, Index cols,
-    const Scalar* lhs, Index lhsStride,
-    const Scalar* rhs, Index rhsStride,
-    Scalar* res,       Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
-  {
-    product_selfadjoint_matrix<Scalar, Index,
-      EIGEN_LOGICAL_XOR(RhsSelfAdjoint,RhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
-      RhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsSelfAdjoint,ConjugateRhs),
-      EIGEN_LOGICAL_XOR(LhsSelfAdjoint,LhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
-      LhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsSelfAdjoint,ConjugateLhs),
-      ColMajor>
-      ::run(cols, rows,  rhs, rhsStride,  lhs, lhsStride,  res, resStride,  alpha, blocking);
-  }
-};
-
-template <typename Scalar, typename Index,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs>
-struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor>
-{
-
-  static EIGEN_DONT_INLINE void run(
-    Index rows, Index cols,
-    const Scalar* _lhs, Index lhsStride,
-    const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
-};
-
-template <typename Scalar, typename Index,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs>
-EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor>::run(
-    Index rows, Index cols,
-    const Scalar* _lhs, Index lhsStride,
-    const Scalar* _rhs, Index rhsStride,
-    Scalar* _res,        Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
-  {
-    Index size = rows;
-
-    typedef gebp_traits<Scalar,Scalar> Traits;
-
-    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
-    typedef const_blas_data_mapper<Scalar, Index, (LhsStorageOrder == RowMajor) ? ColMajor : RowMajor> LhsTransposeMapper;
-    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
-    LhsMapper lhs(_lhs,lhsStride);
-    LhsTransposeMapper lhs_transpose(_lhs,lhsStride);
-    RhsMapper rhs(_rhs,rhsStride);
-    ResMapper res(_res, resStride);
-
-    Index kc = blocking.kc();                   // cache block size along the K direction
-    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
-    // kc must be smaller than mc
-    kc = (std::min)(kc,mc);
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols;
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-
-    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    symm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_lhs<Scalar, Index, LhsTransposeMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
-
-    for(Index k2=0; k2<size; k2+=kc)
-    {
-      const Index actual_kc = (std::min)(k2+kc,size)-k2;
-
-      // we have selected one row panel of rhs and one column panel of lhs
-      // pack rhs's panel into a sequential chunk of memory
-      // and expand each coeff to a constant packet for further reuse
-      pack_rhs(blockB, rhs.getSubMapper(k2,0), actual_kc, cols);
-
-      // the select lhs's panel has to be split in three different parts:
-      //  1 - the transposed panel above the diagonal block => transposed packed copy
-      //  2 - the diagonal block => special packed copy
-      //  3 - the panel below the diagonal block => generic packed copy
-      for(Index i2=0; i2<k2; i2+=mc)
-      {
-        const Index actual_mc = (std::min)(i2+mc,k2)-i2;
-        // transposed packed copy
-        pack_lhs_transposed(blockA, lhs_transpose.getSubMapper(i2, k2), actual_kc, actual_mc);
-
-        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
-      }
-      // the block diagonal
-      {
-        const Index actual_mc = (std::min)(k2+kc,size)-k2;
-        // symmetric packed copy
-        pack_lhs(blockA, &lhs(k2,k2), lhsStride, actual_kc, actual_mc);
-
-        gebp_kernel(res.getSubMapper(k2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
-      }
-
-      for(Index i2=k2+kc; i2<size; i2+=mc)
-      {
-        const Index actual_mc = (std::min)(i2+mc,size)-i2;
-        gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
-          (blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
-
-        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
-      }
-    }
-  }
-
-// matrix * selfadjoint product
-template <typename Scalar, typename Index,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs>
-struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor>
-{
-
-  static EIGEN_DONT_INLINE void run(
-    Index rows, Index cols,
-    const Scalar* _lhs, Index lhsStride,
-    const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
-};
-
-template <typename Scalar, typename Index,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs>
-EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor>::run(
-    Index rows, Index cols,
-    const Scalar* _lhs, Index lhsStride,
-    const Scalar* _rhs, Index rhsStride,
-    Scalar* _res,        Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
-  {
-    Index size = cols;
-
-    typedef gebp_traits<Scalar,Scalar> Traits;
-
-    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
-    LhsMapper lhs(_lhs,lhsStride);
-    ResMapper res(_res,resStride);
-
-    Index kc = blocking.kc();                   // cache block size along the K direction
-    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols;
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-
-    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    symm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
-
-    for(Index k2=0; k2<size; k2+=kc)
-    {
-      const Index actual_kc = (std::min)(k2+kc,size)-k2;
-
-      pack_rhs(blockB, _rhs, rhsStride, actual_kc, cols, k2);
-
-      // => GEPP
-      for(Index i2=0; i2<rows; i2+=mc)
-      {
-        const Index actual_mc = (std::min)(i2+mc,rows)-i2;
-        pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
-
-        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
-      }
-    }
-  }
-
-} // end namespace internal
-
-/***************************************************************************
-* Wrapper to product_selfadjoint_matrix
-***************************************************************************/
-
-namespace internal {
-  
-template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
-struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,RhsMode,false>
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  typedef internal::blas_traits<Lhs> LhsBlasTraits;
-  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-  typedef internal::blas_traits<Rhs> RhsBlasTraits;
-  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-  
-  enum {
-    LhsIsUpper = (LhsMode&(Upper|Lower))==Upper,
-    LhsIsSelfAdjoint = (LhsMode&SelfAdjoint)==SelfAdjoint,
-    RhsIsUpper = (RhsMode&(Upper|Lower))==Upper,
-    RhsIsSelfAdjoint = (RhsMode&SelfAdjoint)==SelfAdjoint
-  };
-  
-  template<typename Dest>
-  static void run(Dest &dst, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
-  {
-    eigen_assert(dst.rows()==a_lhs.rows() && dst.cols()==a_rhs.cols());
-
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
-
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
-                               * RhsBlasTraits::extractScalarFactor(a_rhs);
-
-    typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
-              Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,1> BlockingType;
-
-    BlockingType blocking(lhs.rows(), rhs.cols(), lhs.cols(), 1, false);
-
-    internal::product_selfadjoint_matrix<Scalar, Index,
-      EIGEN_LOGICAL_XOR(LhsIsUpper,internal::traits<Lhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, LhsIsSelfAdjoint,
-      NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsIsUpper,bool(LhsBlasTraits::NeedToConjugate)),
-      EIGEN_LOGICAL_XOR(RhsIsUpper,internal::traits<Rhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, RhsIsSelfAdjoint,
-      NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsIsUpper,bool(RhsBlasTraits::NeedToConjugate)),
-      internal::traits<Dest>::Flags&RowMajorBit  ? RowMajor : ColMajor>
-      ::run(
-        lhs.rows(), rhs.cols(),                 // sizes
-        &lhs.coeffRef(0,0), lhs.outerStride(),  // lhs info
-        &rhs.coeffRef(0,0), rhs.outerStride(),  // rhs info
-        &dst.coeffRef(0,0), dst.outerStride(),  // result info
-        actualAlpha, blocking                   // alpha
-      );
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h b/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
deleted file mode 100644
index a45238d6934446..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
+++ /dev/null
@@ -1,275 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
- ********************************************************************************
- *   Content : Eigen bindings to BLAS F77
- *   Self adjoint matrix * matrix product functionality based on ?SYMM/?HEMM.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
-#define EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-
-/* Optimized selfadjoint matrix * matrix (?SYMM/?HEMM) product */
-
-#define EIGEN_BLAS_SYMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
-template <typename Index, \
-          int LhsStorageOrder, bool ConjugateLhs, \
-          int RhsStorageOrder, bool ConjugateRhs> \
-struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLhs,RhsStorageOrder,false,ConjugateRhs,ColMajor> \
-{\
-\
-  static void run( \
-    Index rows, Index cols, \
-    const EIGTYPE* _lhs, Index lhsStride, \
-    const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
-  { \
-    char side='L', uplo='L'; \
-    BlasIndex m, n, lda, ldb, ldc; \
-    const EIGTYPE *a, *b; \
-    EIGTYPE beta(1); \
-    MatrixX##EIGPREFIX b_tmp; \
-\
-/* Set transpose options */ \
-/* Set m, n, k */ \
-    m = convert_index<BlasIndex>(rows);  \
-    n = convert_index<BlasIndex>(cols);  \
-\
-/* Set lda, ldb, ldc */ \
-    lda = convert_index<BlasIndex>(lhsStride); \
-    ldb = convert_index<BlasIndex>(rhsStride); \
-    ldc = convert_index<BlasIndex>(resStride); \
-\
-/* Set a, b, c */ \
-    if (LhsStorageOrder==RowMajor) uplo='U'; \
-    a = _lhs; \
-\
-    if (RhsStorageOrder==RowMajor) { \
-      Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,n,m,OuterStride<>(rhsStride)); \
-      b_tmp = rhs.adjoint(); \
-      b = b_tmp.data(); \
-      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
-    } else b = _rhs; \
-\
-    BLASPREFIX##symm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
-\
-  } \
-};
-
-
-#define EIGEN_BLAS_HEMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
-template <typename Index, \
-          int LhsStorageOrder, bool ConjugateLhs, \
-          int RhsStorageOrder, bool ConjugateRhs> \
-struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLhs,RhsStorageOrder,false,ConjugateRhs,ColMajor> \
-{\
-  static void run( \
-    Index rows, Index cols, \
-    const EIGTYPE* _lhs, Index lhsStride, \
-    const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
-  { \
-    char side='L', uplo='L'; \
-    BlasIndex m, n, lda, ldb, ldc; \
-    const EIGTYPE *a, *b; \
-    EIGTYPE beta(1); \
-    MatrixX##EIGPREFIX b_tmp; \
-    Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> a_tmp; \
-\
-/* Set transpose options */ \
-/* Set m, n, k */ \
-    m = convert_index<BlasIndex>(rows); \
-    n = convert_index<BlasIndex>(cols); \
-\
-/* Set lda, ldb, ldc */ \
-    lda = convert_index<BlasIndex>(lhsStride); \
-    ldb = convert_index<BlasIndex>(rhsStride); \
-    ldc = convert_index<BlasIndex>(resStride); \
-\
-/* Set a, b, c */ \
-    if (((LhsStorageOrder==ColMajor) && ConjugateLhs) || ((LhsStorageOrder==RowMajor) && (!ConjugateLhs))) { \
-      Map<const Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder>, 0, OuterStride<> > lhs(_lhs,m,m,OuterStride<>(lhsStride)); \
-      a_tmp = lhs.conjugate(); \
-      a = a_tmp.data(); \
-      lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
-    } else a = _lhs; \
-    if (LhsStorageOrder==RowMajor) uplo='U'; \
-\
-    if (RhsStorageOrder==ColMajor && (!ConjugateRhs)) { \
-       b = _rhs; } \
-    else { \
-      if (RhsStorageOrder==ColMajor && ConjugateRhs) { \
-        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,m,n,OuterStride<>(rhsStride)); \
-        b_tmp = rhs.conjugate(); \
-      } else \
-      if (ConjugateRhs) { \
-        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,n,m,OuterStride<>(rhsStride)); \
-        b_tmp = rhs.adjoint(); \
-      } else { \
-        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,n,m,OuterStride<>(rhsStride)); \
-        b_tmp = rhs.transpose(); \
-      } \
-      b = b_tmp.data(); \
-      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
-    } \
-\
-    BLASPREFIX##hemm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
-\
-  } \
-};
-
-EIGEN_BLAS_SYMM_L(double, double, d, d)
-EIGEN_BLAS_SYMM_L(float, float, f, s)
-EIGEN_BLAS_HEMM_L(dcomplex, double, cd, z)
-EIGEN_BLAS_HEMM_L(scomplex, float, cf, c)
-
-
-/* Optimized matrix * selfadjoint matrix (?SYMM/?HEMM) product */
-
-#define EIGEN_BLAS_SYMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
-template <typename Index, \
-          int LhsStorageOrder, bool ConjugateLhs, \
-          int RhsStorageOrder, bool ConjugateRhs> \
-struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateLhs,RhsStorageOrder,true,ConjugateRhs,ColMajor> \
-{\
-\
-  static void run( \
-    Index rows, Index cols, \
-    const EIGTYPE* _lhs, Index lhsStride, \
-    const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
-  { \
-    char side='R', uplo='L'; \
-    BlasIndex m, n, lda, ldb, ldc; \
-    const EIGTYPE *a, *b; \
-    EIGTYPE beta(1); \
-    MatrixX##EIGPREFIX b_tmp; \
-\
-/* Set m, n, k */ \
-    m = convert_index<BlasIndex>(rows);  \
-    n = convert_index<BlasIndex>(cols);  \
-\
-/* Set lda, ldb, ldc */ \
-    lda = convert_index<BlasIndex>(rhsStride); \
-    ldb = convert_index<BlasIndex>(lhsStride); \
-    ldc = convert_index<BlasIndex>(resStride); \
-\
-/* Set a, b, c */ \
-    if (RhsStorageOrder==RowMajor) uplo='U'; \
-    a = _rhs; \
-\
-    if (LhsStorageOrder==RowMajor) { \
-      Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,n,m,OuterStride<>(rhsStride)); \
-      b_tmp = lhs.adjoint(); \
-      b = b_tmp.data(); \
-      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
-    } else b = _lhs; \
-\
-    BLASPREFIX##symm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
-\
-  } \
-};
-
-
-#define EIGEN_BLAS_HEMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
-template <typename Index, \
-          int LhsStorageOrder, bool ConjugateLhs, \
-          int RhsStorageOrder, bool ConjugateRhs> \
-struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateLhs,RhsStorageOrder,true,ConjugateRhs,ColMajor> \
-{\
-  static void run( \
-    Index rows, Index cols, \
-    const EIGTYPE* _lhs, Index lhsStride, \
-    const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
-  { \
-    char side='R', uplo='L'; \
-    BlasIndex m, n, lda, ldb, ldc; \
-    const EIGTYPE *a, *b; \
-    EIGTYPE beta(1); \
-    MatrixX##EIGPREFIX b_tmp; \
-    Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> a_tmp; \
-\
-/* Set m, n, k */ \
-    m = convert_index<BlasIndex>(rows); \
-    n = convert_index<BlasIndex>(cols); \
-\
-/* Set lda, ldb, ldc */ \
-    lda = convert_index<BlasIndex>(rhsStride); \
-    ldb = convert_index<BlasIndex>(lhsStride); \
-    ldc = convert_index<BlasIndex>(resStride); \
-\
-/* Set a, b, c */ \
-    if (((RhsStorageOrder==ColMajor) && ConjugateRhs) || ((RhsStorageOrder==RowMajor) && (!ConjugateRhs))) { \
-      Map<const Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder>, 0, OuterStride<> > rhs(_rhs,n,n,OuterStride<>(rhsStride)); \
-      a_tmp = rhs.conjugate(); \
-      a = a_tmp.data(); \
-      lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
-    } else a = _rhs; \
-    if (RhsStorageOrder==RowMajor) uplo='U'; \
-\
-    if (LhsStorageOrder==ColMajor && (!ConjugateLhs)) { \
-       b = _lhs; } \
-    else { \
-      if (LhsStorageOrder==ColMajor && ConjugateLhs) { \
-        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,m,n,OuterStride<>(lhsStride)); \
-        b_tmp = lhs.conjugate(); \
-      } else \
-      if (ConjugateLhs) { \
-        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,n,m,OuterStride<>(lhsStride)); \
-        b_tmp = lhs.adjoint(); \
-      } else { \
-        Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,n,m,OuterStride<>(lhsStride)); \
-        b_tmp = lhs.transpose(); \
-      } \
-      b = b_tmp.data(); \
-      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
-    } \
-\
-    BLASPREFIX##hemm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
-  } \
-};
-
-EIGEN_BLAS_SYMM_R(double, double, d, d)
-EIGEN_BLAS_SYMM_R(float, float, f, s)
-EIGEN_BLAS_HEMM_R(dcomplex, double, cd, z)
-EIGEN_BLAS_HEMM_R(scomplex, float, cf, c)
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h b/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h
deleted file mode 100644
index 3fd180e6c0b673..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h
+++ /dev/null
@@ -1,260 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_H
-#define EIGEN_SELFADJOINT_MATRIX_VECTOR_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/* Optimized selfadjoint matrix * vector product:
- * This algorithm processes 2 columns at onces that allows to both reduce
- * the number of load/stores of the result by a factor 2 and to reduce
- * the instruction dependency.
- */
-
-template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version=Specialized>
-struct selfadjoint_matrix_vector_product;
-
-template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version>
-struct selfadjoint_matrix_vector_product
-
-{
-static EIGEN_DONT_INLINE void run(
-  Index size,
-  const Scalar*  lhs, Index lhsStride,
-  const Scalar*  rhs,
-  Scalar* res,
-  Scalar alpha);
-};
-
-template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Version>::run(
-  Index size,
-  const Scalar*  lhs, Index lhsStride,
-  const Scalar*  rhs,
-  Scalar* res,
-  Scalar alpha)
-{
-  typedef typename packet_traits<Scalar>::type Packet;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  const Index PacketSize = sizeof(Packet)/sizeof(Scalar);
-
-  enum {
-    IsRowMajor = StorageOrder==RowMajor ? 1 : 0,
-    IsLower = UpLo == Lower ? 1 : 0,
-    FirstTriangular = IsRowMajor == IsLower
-  };
-
-  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> cj0;
-  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> cj1;
-  conj_helper<RealScalar,Scalar,false, ConjugateRhs> cjd;
-
-  conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> pcj0;
-  conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> pcj1;
-
-  Scalar cjAlpha = ConjugateRhs ? numext::conj(alpha) : alpha;
-
-
-  Index bound = (std::max)(Index(0),size-8) & 0xfffffffe;
-  if (FirstTriangular)
-    bound = size - bound;
-
-  for (Index j=FirstTriangular ? bound : 0;
-       j<(FirstTriangular ? size : bound);j+=2)
-  {
-    const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
-    const Scalar* EIGEN_RESTRICT A1 = lhs + (j+1)*lhsStride;
-
-    Scalar t0 = cjAlpha * rhs[j];
-    Packet ptmp0 = pset1<Packet>(t0);
-    Scalar t1 = cjAlpha * rhs[j+1];
-    Packet ptmp1 = pset1<Packet>(t1);
-
-    Scalar t2(0);
-    Packet ptmp2 = pset1<Packet>(t2);
-    Scalar t3(0);
-    Packet ptmp3 = pset1<Packet>(t3);
-
-    Index starti = FirstTriangular ? 0 : j+2;
-    Index endi   = FirstTriangular ? j : size;
-    Index alignedStart = (starti) + internal::first_default_aligned(&res[starti], endi-starti);
-    Index alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
-
-    res[j]   += cjd.pmul(numext::real(A0[j]), t0);
-    res[j+1] += cjd.pmul(numext::real(A1[j+1]), t1);
-    if(FirstTriangular)
-    {
-      res[j]   += cj0.pmul(A1[j],   t1);
-      t3       += cj1.pmul(A1[j],   rhs[j]);
-    }
-    else
-    {
-      res[j+1] += cj0.pmul(A0[j+1],t0);
-      t2 += cj1.pmul(A0[j+1], rhs[j+1]);
-    }
-
-    for (Index i=starti; i<alignedStart; ++i)
-    {
-      res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
-      t2 += cj1.pmul(A0[i], rhs[i]);
-      t3 += cj1.pmul(A1[i], rhs[i]);
-    }
-    // Yes this an optimization for gcc 4.3 and 4.4 (=> huge speed up)
-    // gcc 4.2 does this optimization automatically.
-    const Scalar* EIGEN_RESTRICT a0It  = A0  + alignedStart;
-    const Scalar* EIGEN_RESTRICT a1It  = A1  + alignedStart;
-    const Scalar* EIGEN_RESTRICT rhsIt = rhs + alignedStart;
-          Scalar* EIGEN_RESTRICT resIt = res + alignedStart;
-    for (Index i=alignedStart; i<alignedEnd; i+=PacketSize)
-    {
-      Packet A0i = ploadu<Packet>(a0It);  a0It  += PacketSize;
-      Packet A1i = ploadu<Packet>(a1It);  a1It  += PacketSize;
-      Packet Bi  = ploadu<Packet>(rhsIt); rhsIt += PacketSize; // FIXME should be aligned in most cases
-      Packet Xi  = pload <Packet>(resIt);
-
-      Xi    = pcj0.pmadd(A0i,ptmp0, pcj0.pmadd(A1i,ptmp1,Xi));
-      ptmp2 = pcj1.pmadd(A0i,  Bi, ptmp2);
-      ptmp3 = pcj1.pmadd(A1i,  Bi, ptmp3);
-      pstore(resIt,Xi); resIt += PacketSize;
-    }
-    for (Index i=alignedEnd; i<endi; i++)
-    {
-      res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
-      t2 += cj1.pmul(A0[i], rhs[i]);
-      t3 += cj1.pmul(A1[i], rhs[i]);
-    }
-
-    res[j]   += alpha * (t2 + predux(ptmp2));
-    res[j+1] += alpha * (t3 + predux(ptmp3));
-  }
-  for (Index j=FirstTriangular ? 0 : bound;j<(FirstTriangular ? bound : size);j++)
-  {
-    const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
-
-    Scalar t1 = cjAlpha * rhs[j];
-    Scalar t2(0);
-    res[j] += cjd.pmul(numext::real(A0[j]), t1);
-    for (Index i=FirstTriangular ? 0 : j+1; i<(FirstTriangular ? j : size); i++)
-    {
-      res[i] += cj0.pmul(A0[i], t1);
-      t2 += cj1.pmul(A0[i], rhs[i]);
-    }
-    res[j] += alpha * t2;
-  }
-}
-
-} // end namespace internal 
-
-/***************************************************************************
-* Wrapper to product_selfadjoint_vector
-***************************************************************************/
-
-namespace internal {
-
-template<typename Lhs, int LhsMode, typename Rhs>
-struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,0,true>
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  typedef internal::blas_traits<Lhs> LhsBlasTraits;
-  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-  typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
-  
-  typedef internal::blas_traits<Rhs> RhsBlasTraits;
-  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-  typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
-
-  enum { LhsUpLo = LhsMode&(Upper|Lower) };
-
-  template<typename Dest>
-  static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
-  {
-    typedef typename Dest::Scalar ResScalar;
-    typedef typename Rhs::Scalar RhsScalar;
-    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
-    
-    eigen_assert(dest.rows()==a_lhs.rows() && dest.cols()==a_rhs.cols());
-
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
-
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
-                               * RhsBlasTraits::extractScalarFactor(a_rhs);
-
-    enum {
-      EvalToDest = (Dest::InnerStrideAtCompileTime==1),
-      UseRhs = (ActualRhsTypeCleaned::InnerStrideAtCompileTime==1)
-    };
-    
-    internal::gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,!EvalToDest> static_dest;
-    internal::gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!UseRhs> static_rhs;
-
-    ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
-                                                  EvalToDest ? dest.data() : static_dest.data());
-                                                  
-    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,rhs.size(),
-        UseRhs ? const_cast<RhsScalar*>(rhs.data()) : static_rhs.data());
-    
-    if(!EvalToDest)
-    {
-      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      Index size = dest.size();
-      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      #endif
-      MappedDest(actualDestPtr, dest.size()) = dest;
-    }
-      
-    if(!UseRhs)
-    {
-      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      Index size = rhs.size();
-      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      #endif
-      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
-    }
-      
-      
-    internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor,
-                                                int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
-      (
-        lhs.rows(),                             // size
-        &lhs.coeffRef(0,0),  lhs.outerStride(), // lhs info
-        actualRhsPtr,                           // rhs info
-        actualDestPtr,                          // result info
-        actualAlpha                             // scale factor
-      );
-    
-    if(!EvalToDest)
-      dest = MappedDest(actualDestPtr, dest.size());
-  }
-};
-
-template<typename Lhs, typename Rhs, int RhsMode>
-struct selfadjoint_product_impl<Lhs,0,true,Rhs,RhsMode,false>
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  enum { RhsUpLo = RhsMode&(Upper|Lower)  };
-
-  template<typename Dest>
-  static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
-  {
-    // let's simply transpose the product
-    Transpose<Dest> destT(dest);
-    selfadjoint_product_impl<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
-                             Transpose<const Lhs>, 0, true>::run(destT, a_rhs.transpose(), a_lhs.transpose(), alpha);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h b/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
deleted file mode 100644
index 38f23accf5b633..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to BLAS F77
- *   Selfadjoint matrix-vector product functionality based on ?SYMV/HEMV.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
-#define EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/**********************************************************************
-* This file implements selfadjoint matrix-vector multiplication using BLAS
-**********************************************************************/
-
-// symv/hemv specialization
-
-template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs>
-struct selfadjoint_matrix_vector_product_symv :
-  selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,BuiltIn> {};
-
-#define EIGEN_BLAS_SYMV_SPECIALIZE(Scalar) \
-template<typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs> \
-struct selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Specialized> { \
-static void run( \
-  Index size, const Scalar*  lhs, Index lhsStride, \
-  const Scalar* _rhs, Scalar* res, Scalar alpha) { \
-    enum {\
-      IsColMajor = StorageOrder==ColMajor \
-    }; \
-    if (IsColMajor == ConjugateLhs) {\
-      selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,BuiltIn>::run( \
-        size, lhs, lhsStride, _rhs, res, alpha);  \
-    } else {\
-      selfadjoint_matrix_vector_product_symv<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs>::run( \
-        size, lhs, lhsStride, _rhs, res, alpha);  \
-    }\
-  } \
-}; \
-
-EIGEN_BLAS_SYMV_SPECIALIZE(double)
-EIGEN_BLAS_SYMV_SPECIALIZE(float)
-EIGEN_BLAS_SYMV_SPECIALIZE(dcomplex)
-EIGEN_BLAS_SYMV_SPECIALIZE(scomplex)
-
-#define EIGEN_BLAS_SYMV_SPECIALIZATION(EIGTYPE,BLASTYPE,BLASFUNC) \
-template<typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs> \
-struct selfadjoint_matrix_vector_product_symv<EIGTYPE,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs> \
-{ \
-typedef Matrix<EIGTYPE,Dynamic,1,ColMajor> SYMVVector;\
-\
-static void run( \
-Index size, const EIGTYPE*  lhs, Index lhsStride, \
-const EIGTYPE* _rhs, EIGTYPE* res, EIGTYPE alpha) \
-{ \
-  enum {\
-    IsRowMajor = StorageOrder==RowMajor ? 1 : 0, \
-    IsLower = UpLo == Lower ? 1 : 0 \
-  }; \
-  BlasIndex n=convert_index<BlasIndex>(size), lda=convert_index<BlasIndex>(lhsStride), incx=1, incy=1; \
-  EIGTYPE beta(1); \
-  const EIGTYPE *x_ptr; \
-  char uplo=(IsRowMajor) ? (IsLower ? 'U' : 'L') : (IsLower ? 'L' : 'U'); \
-  SYMVVector x_tmp; \
-  if (ConjugateRhs) { \
-    Map<const SYMVVector, 0 > map_x(_rhs,size,1); \
-    x_tmp=map_x.conjugate(); \
-    x_ptr=x_tmp.data(); \
-  } else x_ptr=_rhs; \
-  BLASFUNC(&uplo, &n, &numext::real_ref(alpha), (const BLASTYPE*)lhs, &lda, (const BLASTYPE*)x_ptr, &incx, &numext::real_ref(beta), (BLASTYPE*)res, &incy); \
-}\
-};
-
-EIGEN_BLAS_SYMV_SPECIALIZATION(double,   double, dsymv_)
-EIGEN_BLAS_SYMV_SPECIALIZATION(float,    float,  ssymv_)
-EIGEN_BLAS_SYMV_SPECIALIZATION(dcomplex, double, zhemv_)
-EIGEN_BLAS_SYMV_SPECIALIZATION(scomplex, float,  chemv_)
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointProduct.h b/phonelibs/eigen/Eigen/src/Core/products/SelfadjointProduct.h
deleted file mode 100644
index f038d686f5d906..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointProduct.h
+++ /dev/null
@@ -1,133 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SELFADJOINT_PRODUCT_H
-#define EIGEN_SELFADJOINT_PRODUCT_H
-
-/**********************************************************************
-* This file implements a self adjoint product: C += A A^T updating only
-* half of the selfadjoint matrix C.
-* It corresponds to the level 3 SYRK and level 2 SYR Blas routines.
-**********************************************************************/
-
-namespace Eigen { 
-
-
-template<typename Scalar, typename Index, int UpLo, bool ConjLhs, bool ConjRhs>
-struct selfadjoint_rank1_update<Scalar,Index,ColMajor,UpLo,ConjLhs,ConjRhs>
-{
-  static void run(Index size, Scalar* mat, Index stride, const Scalar* vecX, const Scalar* vecY, const Scalar& alpha)
-  {
-    internal::conj_if<ConjRhs> cj;
-    typedef Map<const Matrix<Scalar,Dynamic,1> > OtherMap;
-    typedef typename internal::conditional<ConjLhs,typename OtherMap::ConjugateReturnType,const OtherMap&>::type ConjLhsType;
-    for (Index i=0; i<size; ++i)
-    {
-      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i+(UpLo==Lower ? i : 0), (UpLo==Lower ? size-i : (i+1)))
-          += (alpha * cj(vecY[i])) * ConjLhsType(OtherMap(vecX+(UpLo==Lower ? i : 0),UpLo==Lower ? size-i : (i+1)));
-    }
-  }
-};
-
-template<typename Scalar, typename Index, int UpLo, bool ConjLhs, bool ConjRhs>
-struct selfadjoint_rank1_update<Scalar,Index,RowMajor,UpLo,ConjLhs,ConjRhs>
-{
-  static void run(Index size, Scalar* mat, Index stride, const Scalar* vecX, const Scalar* vecY, const Scalar& alpha)
-  {
-    selfadjoint_rank1_update<Scalar,Index,ColMajor,UpLo==Lower?Upper:Lower,ConjRhs,ConjLhs>::run(size,mat,stride,vecY,vecX,alpha);
-  }
-};
-
-template<typename MatrixType, typename OtherType, int UpLo, bool OtherIsVector = OtherType::IsVectorAtCompileTime>
-struct selfadjoint_product_selector;
-
-template<typename MatrixType, typename OtherType, int UpLo>
-struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,true>
-{
-  static void run(MatrixType& mat, const OtherType& other, const typename MatrixType::Scalar& alpha)
-  {
-    typedef typename MatrixType::Scalar Scalar;
-    typedef internal::blas_traits<OtherType> OtherBlasTraits;
-    typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
-    typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
-    typename internal::add_const_on_value_type<ActualOtherType>::type actualOther = OtherBlasTraits::extract(other.derived());
-
-    Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
-
-    enum {
-      StorageOrder = (internal::traits<MatrixType>::Flags&RowMajorBit) ? RowMajor : ColMajor,
-      UseOtherDirectly = _ActualOtherType::InnerStrideAtCompileTime==1
-    };
-    internal::gemv_static_vector_if<Scalar,OtherType::SizeAtCompileTime,OtherType::MaxSizeAtCompileTime,!UseOtherDirectly> static_other;
-
-    ei_declare_aligned_stack_constructed_variable(Scalar, actualOtherPtr, other.size(),
-      (UseOtherDirectly ? const_cast<Scalar*>(actualOther.data()) : static_other.data()));
-      
-    if(!UseOtherDirectly)
-      Map<typename _ActualOtherType::PlainObject>(actualOtherPtr, actualOther.size()) = actualOther;
-    
-    selfadjoint_rank1_update<Scalar,Index,StorageOrder,UpLo,
-                              OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
-                            (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex>
-          ::run(other.size(), mat.data(), mat.outerStride(), actualOtherPtr, actualOtherPtr, actualAlpha);
-  }
-};
-
-template<typename MatrixType, typename OtherType, int UpLo>
-struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
-{
-  static void run(MatrixType& mat, const OtherType& other, const typename MatrixType::Scalar& alpha)
-  {
-    typedef typename MatrixType::Scalar Scalar;
-    typedef internal::blas_traits<OtherType> OtherBlasTraits;
-    typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
-    typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
-    typename internal::add_const_on_value_type<ActualOtherType>::type actualOther = OtherBlasTraits::extract(other.derived());
-
-    Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
-
-    enum {
-      IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0,
-      OtherIsRowMajor = _ActualOtherType::Flags&RowMajorBit ? 1 : 0
-    };
-
-    Index size = mat.cols();
-    Index depth = actualOther.cols();
-
-    typedef internal::gemm_blocking_space<IsRowMajor ? RowMajor : ColMajor,Scalar,Scalar,
-              MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime, _ActualOtherType::MaxColsAtCompileTime> BlockingType;
-
-    BlockingType blocking(size, size, depth, 1, false);
-
-
-    internal::general_matrix_matrix_triangular_product<Index,
-      Scalar, OtherIsRowMajor ? RowMajor : ColMajor,   OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
-      Scalar, OtherIsRowMajor ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
-      IsRowMajor ? RowMajor : ColMajor, UpLo>
-      ::run(size, depth,
-            &actualOther.coeffRef(0,0), actualOther.outerStride(), &actualOther.coeffRef(0,0), actualOther.outerStride(),
-            mat.data(), mat.outerStride(), actualAlpha, blocking);
-  }
-};
-
-// high level API
-
-template<typename MatrixType, unsigned int UpLo>
-template<typename DerivedU>
-SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
-::rankUpdate(const MatrixBase<DerivedU>& u, const Scalar& alpha)
-{
-  selfadjoint_product_selector<MatrixType,DerivedU,UpLo>::run(_expression().const_cast_derived(), u.derived(), alpha);
-
-  return *this;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINT_PRODUCT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointRank2Update.h b/phonelibs/eigen/Eigen/src/Core/products/SelfadjointRank2Update.h
deleted file mode 100644
index 2ae3641111c7db..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/SelfadjointRank2Update.h
+++ /dev/null
@@ -1,93 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SELFADJOINTRANK2UPTADE_H
-#define EIGEN_SELFADJOINTRANK2UPTADE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/* Optimized selfadjoint matrix += alpha * uv' + conj(alpha)*vu'
- * It corresponds to the Level2 syr2 BLAS routine
- */
-
-template<typename Scalar, typename Index, typename UType, typename VType, int UpLo>
-struct selfadjoint_rank2_update_selector;
-
-template<typename Scalar, typename Index, typename UType, typename VType>
-struct selfadjoint_rank2_update_selector<Scalar,Index,UType,VType,Lower>
-{
-  static void run(Scalar* mat, Index stride, const UType& u, const VType& v, const Scalar& alpha)
-  {
-    const Index size = u.size();
-    for (Index i=0; i<size; ++i)
-    {
-      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i+i, size-i) +=
-                        (numext::conj(alpha) * numext::conj(u.coeff(i))) * v.tail(size-i)
-                      + (alpha * numext::conj(v.coeff(i))) * u.tail(size-i);
-    }
-  }
-};
-
-template<typename Scalar, typename Index, typename UType, typename VType>
-struct selfadjoint_rank2_update_selector<Scalar,Index,UType,VType,Upper>
-{
-  static void run(Scalar* mat, Index stride, const UType& u, const VType& v, const Scalar& alpha)
-  {
-    const Index size = u.size();
-    for (Index i=0; i<size; ++i)
-      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i, i+1) +=
-                        (numext::conj(alpha)  * numext::conj(u.coeff(i))) * v.head(i+1)
-                      + (alpha * numext::conj(v.coeff(i))) * u.head(i+1);
-  }
-};
-
-template<bool Cond, typename T> struct conj_expr_if
-  : conditional<!Cond, const T&,
-      CwiseUnaryOp<scalar_conjugate_op<typename traits<T>::Scalar>,T> > {};
-
-} // end namespace internal
-
-template<typename MatrixType, unsigned int UpLo>
-template<typename DerivedU, typename DerivedV>
-SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
-::rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, const Scalar& alpha)
-{
-  typedef internal::blas_traits<DerivedU> UBlasTraits;
-  typedef typename UBlasTraits::DirectLinearAccessType ActualUType;
-  typedef typename internal::remove_all<ActualUType>::type _ActualUType;
-  typename internal::add_const_on_value_type<ActualUType>::type actualU = UBlasTraits::extract(u.derived());
-
-  typedef internal::blas_traits<DerivedV> VBlasTraits;
-  typedef typename VBlasTraits::DirectLinearAccessType ActualVType;
-  typedef typename internal::remove_all<ActualVType>::type _ActualVType;
-  typename internal::add_const_on_value_type<ActualVType>::type actualV = VBlasTraits::extract(v.derived());
-
-  // If MatrixType is row major, then we use the routine for lower triangular in the upper triangular case and
-  // vice versa, and take the complex conjugate of all coefficients and vector entries.
-
-  enum { IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0 };
-  Scalar actualAlpha = alpha * UBlasTraits::extractScalarFactor(u.derived())
-                             * numext::conj(VBlasTraits::extractScalarFactor(v.derived()));
-  if (IsRowMajor)
-    actualAlpha = numext::conj(actualAlpha);
-
-  typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type UType;
-  typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type VType;
-  internal::selfadjoint_rank2_update_selector<Scalar, Index, UType, VType,
-    (IsRowMajor ? int(UpLo==Upper ? Lower : Upper) : UpLo)>
-    ::run(_expression().const_cast_derived().data(),_expression().outerStride(),UType(actualU),VType(actualV),actualAlpha);
-
-  return *this;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINTRANK2UPTADE_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h b/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h
deleted file mode 100644
index 6ec5a8a0b706a5..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h
+++ /dev/null
@@ -1,441 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_H
-#define EIGEN_TRIANGULAR_MATRIX_MATRIX_H
-
-namespace Eigen { 
-
-namespace internal {
-
-// template<typename Scalar, int mr, int StorageOrder, bool Conjugate, int Mode>
-// struct gemm_pack_lhs_triangular
-// {
-//   Matrix<Scalar,mr,mr,
-//   void operator()(Scalar* blockA, const EIGEN_RESTRICT Scalar* _lhs, int lhsStride, int depth, int rows)
-//   {
-//     conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-//     const_blas_data_mapper<Scalar, StorageOrder> lhs(_lhs,lhsStride);
-//     int count = 0;
-//     const int peeled_mc = (rows/mr)*mr;
-//     for(int i=0; i<peeled_mc; i+=mr)
-//     {
-//       for(int k=0; k<depth; k++)
-//         for(int w=0; w<mr; w++)
-//           blockA[count++] = cj(lhs(i+w, k));
-//     }
-//     for(int i=peeled_mc; i<rows; i++)
-//     {
-//       for(int k=0; k<depth; k++)
-//         blockA[count++] = cj(lhs(i, k));
-//     }
-//   }
-// };
-
-/* Optimized triangular matrix * matrix (_TRMM++) product built on top of
- * the general matrix matrix product.
- */
-template <typename Scalar, typename Index,
-          int Mode, bool LhsIsTriangular,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs,
-          int ResStorageOrder, int Version = Specialized>
-struct product_triangular_matrix_matrix;
-
-template <typename Scalar, typename Index,
-          int Mode, bool LhsIsTriangular,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
-struct product_triangular_matrix_matrix<Scalar,Index,Mode,LhsIsTriangular,
-                                           LhsStorageOrder,ConjugateLhs,
-                                           RhsStorageOrder,ConjugateRhs,RowMajor,Version>
-{
-  static EIGEN_STRONG_INLINE void run(
-    Index rows, Index cols, Index depth,
-    const Scalar* lhs, Index lhsStride,
-    const Scalar* rhs, Index rhsStride,
-    Scalar* res,       Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
-  {
-    product_triangular_matrix_matrix<Scalar, Index,
-      (Mode&(UnitDiag|ZeroDiag)) | ((Mode&Upper) ? Lower : Upper),
-      (!LhsIsTriangular),
-      RhsStorageOrder==RowMajor ? ColMajor : RowMajor,
-      ConjugateRhs,
-      LhsStorageOrder==RowMajor ? ColMajor : RowMajor,
-      ConjugateLhs,
-      ColMajor>
-      ::run(cols, rows, depth, rhs, rhsStride, lhs, lhsStride, res, resStride, alpha, blocking);
-  }
-};
-
-// implements col-major += alpha * op(triangular) * op(general)
-template <typename Scalar, typename Index, int Mode,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
-struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
-                                           LhsStorageOrder,ConjugateLhs,
-                                           RhsStorageOrder,ConjugateRhs,ColMajor,Version>
-{
-  
-  typedef gebp_traits<Scalar,Scalar> Traits;
-  enum {
-    SmallPanelWidth   = 2 * EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
-    IsLower = (Mode&Lower) == Lower,
-    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1
-  };
-
-  static EIGEN_DONT_INLINE void run(
-    Index _rows, Index _cols, Index _depth,
-    const Scalar* _lhs, Index lhsStride,
-    const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
-};
-
-template <typename Scalar, typename Index, int Mode,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
-                                                        LhsStorageOrder,ConjugateLhs,
-                                                        RhsStorageOrder,ConjugateRhs,ColMajor,Version>::run(
-    Index _rows, Index _cols, Index _depth,
-    const Scalar* _lhs, Index lhsStride,
-    const Scalar* _rhs, Index rhsStride,
-    Scalar* _res,        Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
-  {
-    // strip zeros
-    Index diagSize  = (std::min)(_rows,_depth);
-    Index rows      = IsLower ? _rows : diagSize;
-    Index depth     = IsLower ? diagSize : _depth;
-    Index cols      = _cols;
-    
-    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
-    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
-    LhsMapper lhs(_lhs,lhsStride);
-    RhsMapper rhs(_rhs,rhsStride);
-    ResMapper res(_res, resStride);
-
-    Index kc = blocking.kc();                   // cache block size along the K direction
-    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
-    // The small panel size must not be larger than blocking size.
-    // Usually this should never be the case because SmallPanelWidth^2 is very small
-    // compared to L2 cache size, but let's be safe:
-    Index panelWidth = (std::min)(Index(SmallPanelWidth),(std::min)(kc,mc));
-
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols;
-
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-
-    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer((internal::constructor_without_unaligned_array_assert()));
-    triangularBuffer.setZero();
-    if((Mode&ZeroDiag)==ZeroDiag)
-      triangularBuffer.diagonal().setZero();
-    else
-      triangularBuffer.diagonal().setOnes();
-
-    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
-
-    for(Index k2=IsLower ? depth : 0;
-        IsLower ? k2>0 : k2<depth;
-        IsLower ? k2-=kc : k2+=kc)
-    {
-      Index actual_kc = (std::min)(IsLower ? k2 : depth-k2, kc);
-      Index actual_k2 = IsLower ? k2-actual_kc : k2;
-
-      // align blocks with the end of the triangular part for trapezoidal lhs
-      if((!IsLower)&&(k2<rows)&&(k2+actual_kc>rows))
-      {
-        actual_kc = rows-k2;
-        k2 = k2+actual_kc-kc;
-      }
-
-      pack_rhs(blockB, rhs.getSubMapper(actual_k2,0), actual_kc, cols);
-
-      // the selected lhs's panel has to be split in three different parts:
-      //  1 - the part which is zero => skip it
-      //  2 - the diagonal block => special kernel
-      //  3 - the dense panel below (lower case) or above (upper case) the diagonal block => GEPP
-
-      // the block diagonal, if any:
-      if(IsLower || actual_k2<rows)
-      {
-        // for each small vertical panels of lhs
-        for (Index k1=0; k1<actual_kc; k1+=panelWidth)
-        {
-          Index actualPanelWidth = std::min<Index>(actual_kc-k1, panelWidth);
-          Index lengthTarget = IsLower ? actual_kc-k1-actualPanelWidth : k1;
-          Index startBlock   = actual_k2+k1;
-          Index blockBOffset = k1;
-
-          // => GEBP with the micro triangular block
-          // The trick is to pack this micro block while filling the opposite triangular part with zeros.
-          // To this end we do an extra triangular copy to a small temporary buffer
-          for (Index k=0;k<actualPanelWidth;++k)
-          {
-            if (SetDiag)
-              triangularBuffer.coeffRef(k,k) = lhs(startBlock+k,startBlock+k);
-            for (Index i=IsLower ? k+1 : 0; IsLower ? i<actualPanelWidth : i<k; ++i)
-              triangularBuffer.coeffRef(i,k) = lhs(startBlock+i,startBlock+k);
-          }
-          pack_lhs(blockA, LhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()), actualPanelWidth, actualPanelWidth);
-
-          gebp_kernel(res.getSubMapper(startBlock, 0), blockA, blockB,
-                      actualPanelWidth, actualPanelWidth, cols, alpha,
-                      actualPanelWidth, actual_kc, 0, blockBOffset);
-
-          // GEBP with remaining micro panel
-          if (lengthTarget>0)
-          {
-            Index startTarget  = IsLower ? actual_k2+k1+actualPanelWidth : actual_k2;
-
-            pack_lhs(blockA, lhs.getSubMapper(startTarget,startBlock), actualPanelWidth, lengthTarget);
-
-            gebp_kernel(res.getSubMapper(startTarget, 0), blockA, blockB,
-                        lengthTarget, actualPanelWidth, cols, alpha,
-                        actualPanelWidth, actual_kc, 0, blockBOffset);
-          }
-        }
-      }
-      // the part below (lower case) or above (upper case) the diagonal => GEPP
-      {
-        Index start = IsLower ? k2 : 0;
-        Index end   = IsLower ? rows : (std::min)(actual_k2,rows);
-        for(Index i2=start; i2<end; i2+=mc)
-        {
-          const Index actual_mc = (std::min)(i2+mc,end)-i2;
-          gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
-            (blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
-
-          gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc,
-                      actual_kc, cols, alpha, -1, -1, 0, 0);
-        }
-      }
-    }
-  }
-
-// implements col-major += alpha * op(general) * op(triangular)
-template <typename Scalar, typename Index, int Mode,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
-struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
-                                        LhsStorageOrder,ConjugateLhs,
-                                        RhsStorageOrder,ConjugateRhs,ColMajor,Version>
-{
-  typedef gebp_traits<Scalar,Scalar> Traits;
-  enum {
-    SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
-    IsLower = (Mode&Lower) == Lower,
-    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1
-  };
-
-  static EIGEN_DONT_INLINE void run(
-    Index _rows, Index _cols, Index _depth,
-    const Scalar* _lhs, Index lhsStride,
-    const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
-};
-
-template <typename Scalar, typename Index, int Mode,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
-                                                        LhsStorageOrder,ConjugateLhs,
-                                                        RhsStorageOrder,ConjugateRhs,ColMajor,Version>::run(
-    Index _rows, Index _cols, Index _depth,
-    const Scalar* _lhs, Index lhsStride,
-    const Scalar* _rhs, Index rhsStride,
-    Scalar* _res,        Index resStride,
-    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
-  {
-    const Index PacketBytes = packet_traits<Scalar>::size*sizeof(Scalar);
-    // strip zeros
-    Index diagSize  = (std::min)(_cols,_depth);
-    Index rows      = _rows;
-    Index depth     = IsLower ? _depth : diagSize;
-    Index cols      = IsLower ? diagSize : _cols;
-    
-    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
-    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
-    LhsMapper lhs(_lhs,lhsStride);
-    RhsMapper rhs(_rhs,rhsStride);
-    ResMapper res(_res, resStride);
-
-    Index kc = blocking.kc();                   // cache block size along the K direction
-    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
-
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols+EIGEN_MAX_ALIGN_BYTES/sizeof(Scalar);
-
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-
-    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,RhsStorageOrder> triangularBuffer((internal::constructor_without_unaligned_array_assert()));
-    triangularBuffer.setZero();
-    if((Mode&ZeroDiag)==ZeroDiag)
-      triangularBuffer.diagonal().setZero();
-    else
-      triangularBuffer.diagonal().setOnes();
-
-    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
-
-    for(Index k2=IsLower ? 0 : depth;
-        IsLower ? k2<depth  : k2>0;
-        IsLower ? k2+=kc   : k2-=kc)
-    {
-      Index actual_kc = (std::min)(IsLower ? depth-k2 : k2, kc);
-      Index actual_k2 = IsLower ? k2 : k2-actual_kc;
-
-      // align blocks with the end of the triangular part for trapezoidal rhs
-      if(IsLower && (k2<cols) && (actual_k2+actual_kc>cols))
-      {
-        actual_kc = cols-k2;
-        k2 = actual_k2 + actual_kc - kc;
-      }
-
-      // remaining size
-      Index rs = IsLower ? (std::min)(cols,actual_k2) : cols - k2;
-      // size of the triangular part
-      Index ts = (IsLower && actual_k2>=cols) ? 0 : actual_kc;
-
-      Scalar* geb = blockB+ts*ts;
-      geb = geb + internal::first_aligned<PacketBytes>(geb,PacketBytes/sizeof(Scalar));
-
-      pack_rhs(geb, rhs.getSubMapper(actual_k2,IsLower ? 0 : k2), actual_kc, rs);
-
-      // pack the triangular part of the rhs padding the unrolled blocks with zeros
-      if(ts>0)
-      {
-        for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
-        {
-          Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
-          Index actual_j2 = actual_k2 + j2;
-          Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
-          Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
-          // general part
-          pack_rhs_panel(blockB+j2*actual_kc,
-                         rhs.getSubMapper(actual_k2+panelOffset, actual_j2),
-                         panelLength, actualPanelWidth,
-                         actual_kc, panelOffset);
-
-          // append the triangular part via a temporary buffer
-          for (Index j=0;j<actualPanelWidth;++j)
-          {
-            if (SetDiag)
-              triangularBuffer.coeffRef(j,j) = rhs(actual_j2+j,actual_j2+j);
-            for (Index k=IsLower ? j+1 : 0; IsLower ? k<actualPanelWidth : k<j; ++k)
-              triangularBuffer.coeffRef(k,j) = rhs(actual_j2+k,actual_j2+j);
-          }
-
-          pack_rhs_panel(blockB+j2*actual_kc,
-                         RhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()),
-                         actualPanelWidth, actualPanelWidth,
-                         actual_kc, j2);
-        }
-      }
-
-      for (Index i2=0; i2<rows; i2+=mc)
-      {
-        const Index actual_mc = (std::min)(mc,rows-i2);
-        pack_lhs(blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
-
-        // triangular kernel
-        if(ts>0)
-        {
-          for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
-          {
-            Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
-            Index panelLength = IsLower ? actual_kc-j2 : j2+actualPanelWidth;
-            Index blockOffset = IsLower ? j2 : 0;
-
-            gebp_kernel(res.getSubMapper(i2, actual_k2 + j2),
-                        blockA, blockB+j2*actual_kc,
-                        actual_mc, panelLength, actualPanelWidth,
-                        alpha,
-                        actual_kc, actual_kc,  // strides
-                        blockOffset, blockOffset);// offsets
-          }
-        }
-        gebp_kernel(res.getSubMapper(i2, IsLower ? 0 : k2),
-                    blockA, geb, actual_mc, actual_kc, rs,
-                    alpha,
-                    -1, -1, 0, 0);
-      }
-    }
-  }
-
-/***************************************************************************
-* Wrapper to product_triangular_matrix_matrix
-***************************************************************************/
-
-} // end namespace internal
-
-namespace internal {
-template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct triangular_product_impl<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
-{
-  template<typename Dest> static void run(Dest& dst, const Lhs &a_lhs, const Rhs &a_rhs, const typename Dest::Scalar& alpha)
-  {
-    typedef typename Dest::Scalar     Scalar;
-    
-    typedef internal::blas_traits<Lhs> LhsBlasTraits;
-    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-    typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
-    typedef internal::blas_traits<Rhs> RhsBlasTraits;
-    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
-    
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
-
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
-                               * RhsBlasTraits::extractScalarFactor(a_rhs);
-
-    typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
-              Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,4> BlockingType;
-
-    enum { IsLower = (Mode&Lower) == Lower };
-    Index stripedRows  = ((!LhsIsTriangular) || (IsLower))  ? lhs.rows() : (std::min)(lhs.rows(),lhs.cols());
-    Index stripedCols  = ((LhsIsTriangular)  || (!IsLower)) ? rhs.cols() : (std::min)(rhs.cols(),rhs.rows());
-    Index stripedDepth = LhsIsTriangular ? ((!IsLower) ? lhs.cols() : (std::min)(lhs.cols(),lhs.rows()))
-                                         : ((IsLower)  ? rhs.rows() : (std::min)(rhs.rows(),rhs.cols()));
-
-    BlockingType blocking(stripedRows, stripedCols, stripedDepth, 1, false);
-
-    internal::product_triangular_matrix_matrix<Scalar, Index,
-      Mode, LhsIsTriangular,
-      (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
-      (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
-      (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor>
-      ::run(
-        stripedRows, stripedCols, stripedDepth,   // sizes
-        &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
-        &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
-        &dst.coeffRef(0,0), dst.outerStride(),    // result info
-        actualAlpha, blocking
-      );
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h b/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
deleted file mode 100644
index aecded6bbf601d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
+++ /dev/null
@@ -1,302 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to BLAS F77
- *   Triangular matrix * matrix product functionality based on ?TRMM.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
-#define EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-
-template <typename Scalar, typename Index,
-          int Mode, bool LhsIsTriangular,
-          int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs,
-          int ResStorageOrder>
-struct product_triangular_matrix_matrix_trmm :
-       product_triangular_matrix_matrix<Scalar,Index,Mode,
-          LhsIsTriangular,LhsStorageOrder,ConjugateLhs,
-          RhsStorageOrder, ConjugateRhs, ResStorageOrder, BuiltIn> {};
-
-
-// try to go to BLAS specialization
-#define EIGEN_BLAS_TRMM_SPECIALIZE(Scalar, LhsIsTriangular) \
-template <typename Index, int Mode, \
-          int LhsStorageOrder, bool ConjugateLhs, \
-          int RhsStorageOrder, bool ConjugateRhs> \
-struct product_triangular_matrix_matrix<Scalar,Index, Mode, LhsIsTriangular, \
-           LhsStorageOrder,ConjugateLhs, RhsStorageOrder,ConjugateRhs,ColMajor,Specialized> { \
-  static inline void run(Index _rows, Index _cols, Index _depth, const Scalar* _lhs, Index lhsStride,\
-    const Scalar* _rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha, level3_blocking<Scalar,Scalar>& blocking) { \
-      product_triangular_matrix_matrix_trmm<Scalar,Index,Mode, \
-        LhsIsTriangular,LhsStorageOrder,ConjugateLhs, \
-        RhsStorageOrder, ConjugateRhs, ColMajor>::run( \
-        _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
-  } \
-};
-
-EIGEN_BLAS_TRMM_SPECIALIZE(double, true)
-EIGEN_BLAS_TRMM_SPECIALIZE(double, false)
-EIGEN_BLAS_TRMM_SPECIALIZE(dcomplex, true)
-EIGEN_BLAS_TRMM_SPECIALIZE(dcomplex, false)
-EIGEN_BLAS_TRMM_SPECIALIZE(float, true)
-EIGEN_BLAS_TRMM_SPECIALIZE(float, false)
-EIGEN_BLAS_TRMM_SPECIALIZE(scomplex, true)
-EIGEN_BLAS_TRMM_SPECIALIZE(scomplex, false)
-
-// implements col-major += alpha * op(triangular) * op(general)
-#define EIGEN_BLAS_TRMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
-template <typename Index, int Mode, \
-          int LhsStorageOrder, bool ConjugateLhs, \
-          int RhsStorageOrder, bool ConjugateRhs> \
-struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
-         LhsStorageOrder,ConjugateLhs,RhsStorageOrder,ConjugateRhs,ColMajor> \
-{ \
-  enum { \
-    IsLower = (Mode&Lower) == Lower, \
-    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1, \
-    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
-    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
-    LowUp = IsLower ? Lower : Upper, \
-    conjA = ((LhsStorageOrder==ColMajor) && ConjugateLhs) ? 1 : 0 \
-  }; \
-\
-  static void run( \
-    Index _rows, Index _cols, Index _depth, \
-    const EIGTYPE* _lhs, Index lhsStride, \
-    const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha, level3_blocking<EIGTYPE,EIGTYPE>& blocking) \
-  { \
-   Index diagSize  = (std::min)(_rows,_depth); \
-   Index rows      = IsLower ? _rows : diagSize; \
-   Index depth     = IsLower ? diagSize : _depth; \
-   Index cols      = _cols; \
-\
-   typedef Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> MatrixLhs; \
-   typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs; \
-\
-/* Non-square case - doesn't fit to BLAS ?TRMM. Fall to default triangular product or call BLAS ?GEMM*/ \
-   if (rows != depth) { \
-\
-     /* FIXME handle mkl_domain_get_max_threads */ \
-     /*int nthr = mkl_domain_get_max_threads(EIGEN_BLAS_DOMAIN_BLAS);*/ int nthr = 1;\
-\
-     if (((nthr==1) && (((std::max)(rows,depth)-diagSize)/(double)diagSize < 0.5))) { \
-     /* Most likely no benefit to call TRMM or GEMM from BLAS */ \
-       product_triangular_matrix_matrix<EIGTYPE,Index,Mode,true, \
-       LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
-           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
-     /*std::cout << "TRMM_L: A is not square! Go to Eigen TRMM implementation!\n";*/ \
-     } else { \
-     /* Make sense to call GEMM */ \
-       Map<const MatrixLhs, 0, OuterStride<> > lhsMap(_lhs,rows,depth,OuterStride<>(lhsStride)); \
-       MatrixLhs aa_tmp=lhsMap.template triangularView<Mode>(); \
-       BlasIndex aStride = convert_index<BlasIndex>(aa_tmp.outerStride()); \
-       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth, 1, true); \
-       general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
-       rows, cols, depth, aa_tmp.data(), aStride, _rhs, rhsStride, res, resStride, alpha, gemm_blocking, 0); \
-\
-     /*std::cout << "TRMM_L: A is not square! Go to BLAS GEMM implementation! " << nthr<<" \n";*/ \
-     } \
-     return; \
-   } \
-   char side = 'L', transa, uplo, diag = 'N'; \
-   EIGTYPE *b; \
-   const EIGTYPE *a; \
-   BlasIndex m, n, lda, ldb; \
-\
-/* Set m, n */ \
-   m = convert_index<BlasIndex>(diagSize); \
-   n = convert_index<BlasIndex>(cols); \
-\
-/* Set trans */ \
-   transa = (LhsStorageOrder==RowMajor) ? ((ConjugateLhs) ? 'C' : 'T') : 'N'; \
-\
-/* Set b, ldb */ \
-   Map<const MatrixRhs, 0, OuterStride<> > rhs(_rhs,depth,cols,OuterStride<>(rhsStride)); \
-   MatrixX##EIGPREFIX b_tmp; \
-\
-   if (ConjugateRhs) b_tmp = rhs.conjugate(); else b_tmp = rhs; \
-   b = b_tmp.data(); \
-   ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
-\
-/* Set uplo */ \
-   uplo = IsLower ? 'L' : 'U'; \
-   if (LhsStorageOrder==RowMajor) uplo = (uplo == 'L') ? 'U' : 'L'; \
-/* Set a, lda */ \
-   Map<const MatrixLhs, 0, OuterStride<> > lhs(_lhs,rows,depth,OuterStride<>(lhsStride)); \
-   MatrixLhs a_tmp; \
-\
-   if ((conjA!=0) || (SetDiag==0)) { \
-     if (conjA) a_tmp = lhs.conjugate(); else a_tmp = lhs; \
-     if (IsZeroDiag) \
-       a_tmp.diagonal().setZero(); \
-     else if (IsUnitDiag) \
-       a_tmp.diagonal().setOnes();\
-     a = a_tmp.data(); \
-     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
-   } else { \
-     a = _lhs; \
-     lda = convert_index<BlasIndex>(lhsStride); \
-   } \
-   /*std::cout << "TRMM_L: A is square! Go to BLAS TRMM implementation! \n";*/ \
-/* call ?trmm*/ \
-   BLASPREFIX##trmm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)b, &ldb); \
-\
-/* Add op(a_triangular)*b into res*/ \
-   Map<MatrixX##EIGPREFIX, 0, OuterStride<> > res_tmp(res,rows,cols,OuterStride<>(resStride)); \
-   res_tmp=res_tmp+b_tmp; \
-  } \
-};
-
-EIGEN_BLAS_TRMM_L(double, double, d, d)
-EIGEN_BLAS_TRMM_L(dcomplex, double, cd, z)
-EIGEN_BLAS_TRMM_L(float, float, f, s)
-EIGEN_BLAS_TRMM_L(scomplex, float, cf, c)
-
-// implements col-major += alpha * op(general) * op(triangular)
-#define EIGEN_BLAS_TRMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
-template <typename Index, int Mode, \
-          int LhsStorageOrder, bool ConjugateLhs, \
-          int RhsStorageOrder, bool ConjugateRhs> \
-struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
-         LhsStorageOrder,ConjugateLhs,RhsStorageOrder,ConjugateRhs,ColMajor> \
-{ \
-  enum { \
-    IsLower = (Mode&Lower) == Lower, \
-    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1, \
-    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
-    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
-    LowUp = IsLower ? Lower : Upper, \
-    conjA = ((RhsStorageOrder==ColMajor) && ConjugateRhs) ? 1 : 0 \
-  }; \
-\
-  static void run( \
-    Index _rows, Index _cols, Index _depth, \
-    const EIGTYPE* _lhs, Index lhsStride, \
-    const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha, level3_blocking<EIGTYPE,EIGTYPE>& blocking) \
-  { \
-   Index diagSize  = (std::min)(_cols,_depth); \
-   Index rows      = _rows; \
-   Index depth     = IsLower ? _depth : diagSize; \
-   Index cols      = IsLower ? diagSize : _cols; \
-\
-   typedef Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> MatrixLhs; \
-   typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs; \
-\
-/* Non-square case - doesn't fit to BLAS ?TRMM. Fall to default triangular product or call BLAS ?GEMM*/ \
-   if (cols != depth) { \
-\
-     int nthr = 1 /*mkl_domain_get_max_threads(EIGEN_BLAS_DOMAIN_BLAS)*/; \
-\
-     if ((nthr==1) && (((std::max)(cols,depth)-diagSize)/(double)diagSize < 0.5)) { \
-     /* Most likely no benefit to call TRMM or GEMM from BLAS*/ \
-       product_triangular_matrix_matrix<EIGTYPE,Index,Mode,false, \
-       LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
-           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
-       /*std::cout << "TRMM_R: A is not square! Go to Eigen TRMM implementation!\n";*/ \
-     } else { \
-     /* Make sense to call GEMM */ \
-       Map<const MatrixRhs, 0, OuterStride<> > rhsMap(_rhs,depth,cols, OuterStride<>(rhsStride)); \
-       MatrixRhs aa_tmp=rhsMap.template triangularView<Mode>(); \
-       BlasIndex aStride = convert_index<BlasIndex>(aa_tmp.outerStride()); \
-       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth, 1, true); \
-       general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
-       rows, cols, depth, _lhs, lhsStride, aa_tmp.data(), aStride, res, resStride, alpha, gemm_blocking, 0); \
-\
-     /*std::cout << "TRMM_R: A is not square! Go to BLAS GEMM implementation! " << nthr<<" \n";*/ \
-     } \
-     return; \
-   } \
-   char side = 'R', transa, uplo, diag = 'N'; \
-   EIGTYPE *b; \
-   const EIGTYPE *a; \
-   BlasIndex m, n, lda, ldb; \
-\
-/* Set m, n */ \
-   m = convert_index<BlasIndex>(rows); \
-   n = convert_index<BlasIndex>(diagSize); \
-\
-/* Set trans */ \
-   transa = (RhsStorageOrder==RowMajor) ? ((ConjugateRhs) ? 'C' : 'T') : 'N'; \
-\
-/* Set b, ldb */ \
-   Map<const MatrixLhs, 0, OuterStride<> > lhs(_lhs,rows,depth,OuterStride<>(lhsStride)); \
-   MatrixX##EIGPREFIX b_tmp; \
-\
-   if (ConjugateLhs) b_tmp = lhs.conjugate(); else b_tmp = lhs; \
-   b = b_tmp.data(); \
-   ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
-\
-/* Set uplo */ \
-   uplo = IsLower ? 'L' : 'U'; \
-   if (RhsStorageOrder==RowMajor) uplo = (uplo == 'L') ? 'U' : 'L'; \
-/* Set a, lda */ \
-   Map<const MatrixRhs, 0, OuterStride<> > rhs(_rhs,depth,cols, OuterStride<>(rhsStride)); \
-   MatrixRhs a_tmp; \
-\
-   if ((conjA!=0) || (SetDiag==0)) { \
-     if (conjA) a_tmp = rhs.conjugate(); else a_tmp = rhs; \
-     if (IsZeroDiag) \
-       a_tmp.diagonal().setZero(); \
-     else if (IsUnitDiag) \
-       a_tmp.diagonal().setOnes();\
-     a = a_tmp.data(); \
-     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
-   } else { \
-     a = _rhs; \
-     lda = convert_index<BlasIndex>(rhsStride); \
-   } \
-   /*std::cout << "TRMM_R: A is square! Go to BLAS TRMM implementation! \n";*/ \
-/* call ?trmm*/ \
-   BLASPREFIX##trmm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)b, &ldb); \
-\
-/* Add op(a_triangular)*b into res*/ \
-   Map<MatrixX##EIGPREFIX, 0, OuterStride<> > res_tmp(res,rows,cols,OuterStride<>(resStride)); \
-   res_tmp=res_tmp+b_tmp; \
-  } \
-};
-
-EIGEN_BLAS_TRMM_R(double, double, d, d)
-EIGEN_BLAS_TRMM_R(dcomplex, double, cd, z)
-EIGEN_BLAS_TRMM_R(float, float, f, s)
-EIGEN_BLAS_TRMM_R(scomplex, float, cf, c)
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixVector.h b/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixVector.h
deleted file mode 100644
index 4b292e74d083c6..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixVector.h
+++ /dev/null
@@ -1,336 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRIANGULARMATRIXVECTOR_H
-#define EIGEN_TRIANGULARMATRIXVECTOR_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int StorageOrder, int Version=Specialized>
-struct triangular_matrix_vector_product;
-
-template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
-struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-  enum {
-    IsLower = ((Mode&Lower)==Lower),
-    HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
-    HasZeroDiag = (Mode & ZeroDiag)==ZeroDiag
-  };
-  static EIGEN_DONT_INLINE  void run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
-                                     const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const RhsScalar& alpha);
-};
-
-template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
-EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
-  ::run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
-        const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const RhsScalar& alpha)
-  {
-    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
-    Index size = (std::min)(_rows,_cols);
-    Index rows = IsLower ? _rows : (std::min)(_rows,_cols);
-    Index cols = IsLower ? (std::min)(_rows,_cols) : _cols;
-
-    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
-    const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
-    typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
-
-    typedef Map<const Matrix<RhsScalar,Dynamic,1>, 0, InnerStride<> > RhsMap;
-    const RhsMap rhs(_rhs,cols,InnerStride<>(rhsIncr));
-    typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
-
-    typedef Map<Matrix<ResScalar,Dynamic,1> > ResMap;
-    ResMap res(_res,rows);
-
-    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
-    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
-
-    for (Index pi=0; pi<size; pi+=PanelWidth)
-    {
-      Index actualPanelWidth = (std::min)(PanelWidth, size-pi);
-      for (Index k=0; k<actualPanelWidth; ++k)
-      {
-        Index i = pi + k;
-        Index s = IsLower ? ((HasUnitDiag||HasZeroDiag) ? i+1 : i ) : pi;
-        Index r = IsLower ? actualPanelWidth-k : k+1;
-        if ((!(HasUnitDiag||HasZeroDiag)) || (--r)>0)
-          res.segment(s,r) += (alpha * cjRhs.coeff(i)) * cjLhs.col(i).segment(s,r);
-        if (HasUnitDiag)
-          res.coeffRef(i) += alpha * cjRhs.coeff(i);
-      }
-      Index r = IsLower ? rows - pi - actualPanelWidth : pi;
-      if (r>0)
-      {
-        Index s = IsLower ? pi+actualPanelWidth : 0;
-        general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
-            r, actualPanelWidth,
-            LhsMapper(&lhs.coeffRef(s,pi), lhsStride),
-            RhsMapper(&rhs.coeffRef(pi), rhsIncr),
-            &res.coeffRef(s), resIncr, alpha);
-      }
-    }
-    if((!IsLower) && cols>size)
-    {
-      general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs>::run(
-          rows, cols-size,
-          LhsMapper(&lhs.coeffRef(0,size), lhsStride),
-          RhsMapper(&rhs.coeffRef(size), rhsIncr),
-          _res, resIncr, alpha);
-    }
-  }
-
-template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs,int Version>
-struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
-  enum {
-    IsLower = ((Mode&Lower)==Lower),
-    HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
-    HasZeroDiag = (Mode & ZeroDiag)==ZeroDiag
-  };
-  static EIGEN_DONT_INLINE void run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
-                                    const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha);
-};
-
-template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs,int Version>
-EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
-  ::run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
-        const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha)
-  {
-    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
-    Index diagSize = (std::min)(_rows,_cols);
-    Index rows = IsLower ? _rows : diagSize;
-    Index cols = IsLower ? diagSize : _cols;
-
-    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
-    const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
-    typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
-
-    typedef Map<const Matrix<RhsScalar,Dynamic,1> > RhsMap;
-    const RhsMap rhs(_rhs,cols);
-    typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
-
-    typedef Map<Matrix<ResScalar,Dynamic,1>, 0, InnerStride<> > ResMap;
-    ResMap res(_res,rows,InnerStride<>(resIncr));
-
-    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
-    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
-
-    for (Index pi=0; pi<diagSize; pi+=PanelWidth)
-    {
-      Index actualPanelWidth = (std::min)(PanelWidth, diagSize-pi);
-      for (Index k=0; k<actualPanelWidth; ++k)
-      {
-        Index i = pi + k;
-        Index s = IsLower ? pi  : ((HasUnitDiag||HasZeroDiag) ? i+1 : i);
-        Index r = IsLower ? k+1 : actualPanelWidth-k;
-        if ((!(HasUnitDiag||HasZeroDiag)) || (--r)>0)
-          res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
-        if (HasUnitDiag)
-          res.coeffRef(i) += alpha * cjRhs.coeff(i);
-      }
-      Index r = IsLower ? pi : cols - pi - actualPanelWidth;
-      if (r>0)
-      {
-        Index s = IsLower ? 0 : pi + actualPanelWidth;
-        general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
-            actualPanelWidth, r,
-            LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
-            RhsMapper(&rhs.coeffRef(s), rhsIncr),
-            &res.coeffRef(pi), resIncr, alpha);
-      }
-    }
-    if(IsLower && rows>diagSize)
-    {
-      general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs>::run(
-            rows-diagSize, cols,
-            LhsMapper(&lhs.coeffRef(diagSize,0), lhsStride),
-            RhsMapper(&rhs.coeffRef(0), rhsIncr),
-            &res.coeffRef(diagSize), resIncr, alpha);
-    }
-  }
-
-/***************************************************************************
-* Wrapper to product_triangular_vector
-***************************************************************************/
-
-template<int Mode,int StorageOrder>
-struct trmv_selector;
-
-} // end namespace internal
-
-namespace internal {
-
-template<int Mode, typename Lhs, typename Rhs>
-struct triangular_product_impl<Mode,true,Lhs,false,Rhs,true>
-{
-  template<typename Dest> static void run(Dest& dst, const Lhs &lhs, const Rhs &rhs, const typename Dest::Scalar& alpha)
-  {
-    eigen_assert(dst.rows()==lhs.rows() && dst.cols()==rhs.cols());
-  
-    internal::trmv_selector<Mode,(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(lhs, rhs, dst, alpha);
-  }
-};
-
-template<int Mode, typename Lhs, typename Rhs>
-struct triangular_product_impl<Mode,false,Lhs,true,Rhs,false>
-{
-  template<typename Dest> static void run(Dest& dst, const Lhs &lhs, const Rhs &rhs, const typename Dest::Scalar& alpha)
-  {
-    eigen_assert(dst.rows()==lhs.rows() && dst.cols()==rhs.cols());
-
-    Transpose<Dest> dstT(dst);
-    internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
-                            (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
-            ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
-  }
-};
-
-} // end namespace internal
-
-namespace internal {
-
-// TODO: find a way to factorize this piece of code with gemv_selector since the logic is exactly the same.
-  
-template<int Mode> struct trmv_selector<Mode,ColMajor>
-{
-  template<typename Lhs, typename Rhs, typename Dest>
-  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
-  {
-    typedef typename Lhs::Scalar      LhsScalar;
-    typedef typename Rhs::Scalar      RhsScalar;
-    typedef typename Dest::Scalar     ResScalar;
-    typedef typename Dest::RealScalar RealScalar;
-    
-    typedef internal::blas_traits<Lhs> LhsBlasTraits;
-    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-    typedef internal::blas_traits<Rhs> RhsBlasTraits;
-    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-    
-    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
-
-    typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
-
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
-                                  * RhsBlasTraits::extractScalarFactor(rhs);
-
-    enum {
-      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
-      // on, the other hand it is good for the cache to pack the vector anyways...
-      EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1,
-      ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
-      MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal
-    };
-
-    gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
-
-    bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
-    bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
-
-    RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
-
-    ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
-                                                  evalToDest ? dest.data() : static_dest.data());
-
-    if(!evalToDest)
-    {
-      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      Index size = dest.size();
-      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      #endif
-      if(!alphaIsCompatible)
-      {
-        MappedDest(actualDestPtr, dest.size()).setZero();
-        compatibleAlpha = RhsScalar(1);
-      }
-      else
-        MappedDest(actualDestPtr, dest.size()) = dest;
-    }
-
-    internal::triangular_matrix_vector_product
-      <Index,Mode,
-       LhsScalar, LhsBlasTraits::NeedToConjugate,
-       RhsScalar, RhsBlasTraits::NeedToConjugate,
-       ColMajor>
-      ::run(actualLhs.rows(),actualLhs.cols(),
-            actualLhs.data(),actualLhs.outerStride(),
-            actualRhs.data(),actualRhs.innerStride(),
-            actualDestPtr,1,compatibleAlpha);
-
-    if (!evalToDest)
-    {
-      if(!alphaIsCompatible)
-        dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
-      else
-        dest = MappedDest(actualDestPtr, dest.size());
-    }
-  }
-};
-
-template<int Mode> struct trmv_selector<Mode,RowMajor>
-{
-  template<typename Lhs, typename Rhs, typename Dest>
-  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
-  {
-    typedef typename Lhs::Scalar      LhsScalar;
-    typedef typename Rhs::Scalar      RhsScalar;
-    typedef typename Dest::Scalar     ResScalar;
-    
-    typedef internal::blas_traits<Lhs> LhsBlasTraits;
-    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-    typedef internal::blas_traits<Rhs> RhsBlasTraits;
-    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
-
-    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
-    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
-
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
-                                  * RhsBlasTraits::extractScalarFactor(rhs);
-
-    enum {
-      DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
-    };
-
-    gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
-
-    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
-        DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
-
-    if(!DirectlyUseRhs)
-    {
-      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      Index size = actualRhs.size();
-      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      #endif
-      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
-    }
-
-    internal::triangular_matrix_vector_product
-      <Index,Mode,
-       LhsScalar, LhsBlasTraits::NeedToConjugate,
-       RhsScalar, RhsBlasTraits::NeedToConjugate,
-       RowMajor>
-      ::run(actualLhs.rows(),actualLhs.cols(),
-            actualLhs.data(),actualLhs.outerStride(),
-            actualRhsPtr,1,
-            dest.data(),dest.innerStride(),
-            actualAlpha);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIANGULARMATRIXVECTOR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h b/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
deleted file mode 100644
index 07bf26ce51f236..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to BLAS F77
- *   Triangular matrix-vector product functionality based on ?TRMV.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
-#define EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/**********************************************************************
-* This file implements triangular matrix-vector multiplication using BLAS
-**********************************************************************/
-
-// trmv/hemv specialization
-
-template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int StorageOrder>
-struct triangular_matrix_vector_product_trmv :
-  triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,StorageOrder,BuiltIn> {};
-
-#define EIGEN_BLAS_TRMV_SPECIALIZE(Scalar) \
-template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
-struct triangular_matrix_vector_product<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,ColMajor,Specialized> { \
- static void run(Index _rows, Index _cols, const Scalar* _lhs, Index lhsStride, \
-                                     const Scalar* _rhs, Index rhsIncr, Scalar* _res, Index resIncr, Scalar alpha) { \
-      triangular_matrix_vector_product_trmv<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,ColMajor>::run( \
-        _rows, _cols, _lhs, lhsStride, _rhs, rhsIncr, _res, resIncr, alpha); \
-  } \
-}; \
-template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
-struct triangular_matrix_vector_product<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,RowMajor,Specialized> { \
- static void run(Index _rows, Index _cols, const Scalar* _lhs, Index lhsStride, \
-                                     const Scalar* _rhs, Index rhsIncr, Scalar* _res, Index resIncr, Scalar alpha) { \
-      triangular_matrix_vector_product_trmv<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,RowMajor>::run( \
-        _rows, _cols, _lhs, lhsStride, _rhs, rhsIncr, _res, resIncr, alpha); \
-  } \
-};
-
-EIGEN_BLAS_TRMV_SPECIALIZE(double)
-EIGEN_BLAS_TRMV_SPECIALIZE(float)
-EIGEN_BLAS_TRMV_SPECIALIZE(dcomplex)
-EIGEN_BLAS_TRMV_SPECIALIZE(scomplex)
-
-// implements col-major: res += alpha * op(triangular) * vector
-#define EIGEN_BLAS_TRMV_CM(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
-template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
-struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,ColMajor> { \
-  enum { \
-    IsLower = (Mode&Lower) == Lower, \
-    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1, \
-    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
-    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
-    LowUp = IsLower ? Lower : Upper \
-  }; \
- static void run(Index _rows, Index _cols, const EIGTYPE* _lhs, Index lhsStride, \
-                 const EIGTYPE* _rhs, Index rhsIncr, EIGTYPE* _res, Index resIncr, EIGTYPE alpha) \
- { \
-   if (ConjLhs || IsZeroDiag) { \
-     triangular_matrix_vector_product<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,ColMajor,BuiltIn>::run( \
-       _rows, _cols, _lhs, lhsStride, _rhs, rhsIncr, _res, resIncr, alpha); \
-     return; \
-   }\
-   Index size = (std::min)(_rows,_cols); \
-   Index rows = IsLower ? _rows : size; \
-   Index cols = IsLower ? size : _cols; \
-\
-   typedef VectorX##EIGPREFIX VectorRhs; \
-   EIGTYPE *x, *y;\
-\
-/* Set x*/ \
-   Map<const VectorRhs, 0, InnerStride<> > rhs(_rhs,cols,InnerStride<>(rhsIncr)); \
-   VectorRhs x_tmp; \
-   if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
-   x = x_tmp.data(); \
-\
-/* Square part handling */\
-\
-   char trans, uplo, diag; \
-   BlasIndex m, n, lda, incx, incy; \
-   EIGTYPE const *a; \
-   EIGTYPE beta(1); \
-\
-/* Set m, n */ \
-   n = convert_index<BlasIndex>(size); \
-   lda = convert_index<BlasIndex>(lhsStride); \
-   incx = 1; \
-   incy = convert_index<BlasIndex>(resIncr); \
-\
-/* Set uplo, trans and diag*/ \
-   trans = 'N'; \
-   uplo = IsLower ? 'L' : 'U'; \
-   diag = IsUnitDiag ? 'U' : 'N'; \
-\
-/* call ?TRMV*/ \
-   BLASPREFIX##trmv_(&uplo, &trans, &diag, &n, (const BLASTYPE*)_lhs, &lda, (BLASTYPE*)x, &incx); \
-\
-/* Add op(a_tr)rhs into res*/ \
-   BLASPREFIX##axpy_(&n, &numext::real_ref(alpha),(const BLASTYPE*)x, &incx, (BLASTYPE*)_res, &incy); \
-/* Non-square case - doesn't fit to BLAS ?TRMV. Fall to default triangular product*/ \
-   if (size<(std::max)(rows,cols)) { \
-     if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
-     x = x_tmp.data(); \
-     if (size<rows) { \
-       y = _res + size*resIncr; \
-       a = _lhs + size; \
-       m = convert_index<BlasIndex>(rows-size); \
-       n = convert_index<BlasIndex>(size); \
-     } \
-     else { \
-       x += size; \
-       y = _res; \
-       a = _lhs + size*lda; \
-       m = convert_index<BlasIndex>(size); \
-       n = convert_index<BlasIndex>(cols-size); \
-     } \
-     BLASPREFIX##gemv_(&trans, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)x, &incx, &numext::real_ref(beta), (BLASTYPE*)y, &incy); \
-   } \
-  } \
-};
-
-EIGEN_BLAS_TRMV_CM(double,   double, d,  d)
-EIGEN_BLAS_TRMV_CM(dcomplex, double, cd, z)
-EIGEN_BLAS_TRMV_CM(float,    float,  f,  s)
-EIGEN_BLAS_TRMV_CM(scomplex, float,  cf, c)
-
-// implements row-major: res += alpha * op(triangular) * vector
-#define EIGEN_BLAS_TRMV_RM(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
-template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
-struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,RowMajor> { \
-  enum { \
-    IsLower = (Mode&Lower) == Lower, \
-    SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1, \
-    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
-    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
-    LowUp = IsLower ? Lower : Upper \
-  }; \
- static void run(Index _rows, Index _cols, const EIGTYPE* _lhs, Index lhsStride, \
-                 const EIGTYPE* _rhs, Index rhsIncr, EIGTYPE* _res, Index resIncr, EIGTYPE alpha) \
- { \
-   if (IsZeroDiag) { \
-     triangular_matrix_vector_product<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,RowMajor,BuiltIn>::run( \
-       _rows, _cols, _lhs, lhsStride, _rhs, rhsIncr, _res, resIncr, alpha); \
-     return; \
-   }\
-   Index size = (std::min)(_rows,_cols); \
-   Index rows = IsLower ? _rows : size; \
-   Index cols = IsLower ? size : _cols; \
-\
-   typedef VectorX##EIGPREFIX VectorRhs; \
-   EIGTYPE *x, *y;\
-\
-/* Set x*/ \
-   Map<const VectorRhs, 0, InnerStride<> > rhs(_rhs,cols,InnerStride<>(rhsIncr)); \
-   VectorRhs x_tmp; \
-   if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
-   x = x_tmp.data(); \
-\
-/* Square part handling */\
-\
-   char trans, uplo, diag; \
-   BlasIndex m, n, lda, incx, incy; \
-   EIGTYPE const *a; \
-   EIGTYPE beta(1); \
-\
-/* Set m, n */ \
-   n = convert_index<BlasIndex>(size); \
-   lda = convert_index<BlasIndex>(lhsStride); \
-   incx = 1; \
-   incy = convert_index<BlasIndex>(resIncr); \
-\
-/* Set uplo, trans and diag*/ \
-   trans = ConjLhs ? 'C' : 'T'; \
-   uplo = IsLower ? 'U' : 'L'; \
-   diag = IsUnitDiag ? 'U' : 'N'; \
-\
-/* call ?TRMV*/ \
-   BLASPREFIX##trmv_(&uplo, &trans, &diag, &n, (const BLASTYPE*)_lhs, &lda, (BLASTYPE*)x, &incx); \
-\
-/* Add op(a_tr)rhs into res*/ \
-   BLASPREFIX##axpy_(&n, &numext::real_ref(alpha),(const BLASTYPE*)x, &incx, (BLASTYPE*)_res, &incy); \
-/* Non-square case - doesn't fit to BLAS ?TRMV. Fall to default triangular product*/ \
-   if (size<(std::max)(rows,cols)) { \
-     if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
-     x = x_tmp.data(); \
-     if (size<rows) { \
-       y = _res + size*resIncr; \
-       a = _lhs + size*lda; \
-       m = convert_index<BlasIndex>(rows-size); \
-       n = convert_index<BlasIndex>(size); \
-     } \
-     else { \
-       x += size; \
-       y = _res; \
-       a = _lhs + size; \
-       m = convert_index<BlasIndex>(size); \
-       n = convert_index<BlasIndex>(cols-size); \
-     } \
-     BLASPREFIX##gemv_(&trans, &n, &m, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)x, &incx, &numext::real_ref(beta), (BLASTYPE*)y, &incy); \
-   } \
-  } \
-};
-
-EIGEN_BLAS_TRMV_RM(double,   double, d,  d)
-EIGEN_BLAS_TRMV_RM(dcomplex, double, cd, z)
-EIGEN_BLAS_TRMV_RM(float,    float,  f,  s)
-EIGEN_BLAS_TRMV_RM(scomplex, float,  cf, c)
-
-} // end namespase internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverMatrix.h b/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverMatrix.h
deleted file mode 100644
index 223c38b865677e..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverMatrix.h
+++ /dev/null
@@ -1,335 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_H
-#define EIGEN_TRIANGULAR_SOLVER_MATRIX_H
-
-namespace Eigen { 
-
-namespace internal {
-
-// if the rhs is row major, let's transpose the product
-template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder>
-struct triangular_solve_matrix<Scalar,Index,Side,Mode,Conjugate,TriStorageOrder,RowMajor>
-{
-  static void run(
-    Index size, Index cols,
-    const Scalar*  tri, Index triStride,
-    Scalar* _other, Index otherStride,
-    level3_blocking<Scalar,Scalar>& blocking)
-  {
-    triangular_solve_matrix<
-      Scalar, Index, Side==OnTheLeft?OnTheRight:OnTheLeft,
-      (Mode&UnitDiag) | ((Mode&Upper) ? Lower : Upper),
-      NumTraits<Scalar>::IsComplex && Conjugate,
-      TriStorageOrder==RowMajor ? ColMajor : RowMajor, ColMajor>
-      ::run(size, cols, tri, triStride, _other, otherStride, blocking);
-  }
-};
-
-/* Optimized triangular solver with multiple right hand side and the triangular matrix on the left
- */
-template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
-struct triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor>
-{
-  static EIGEN_DONT_INLINE void run(
-    Index size, Index otherSize,
-    const Scalar* _tri, Index triStride,
-    Scalar* _other, Index otherStride,
-    level3_blocking<Scalar,Scalar>& blocking);
-};
-template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
-EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor>::run(
-    Index size, Index otherSize,
-    const Scalar* _tri, Index triStride,
-    Scalar* _other, Index otherStride,
-    level3_blocking<Scalar,Scalar>& blocking)
-  {
-    Index cols = otherSize;
-
-    typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> TriMapper;
-    typedef blas_data_mapper<Scalar, Index, ColMajor> OtherMapper;
-    TriMapper tri(_tri, triStride);
-    OtherMapper other(_other, otherStride);
-
-    typedef gebp_traits<Scalar,Scalar> Traits;
-
-    enum {
-      SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
-      IsLower = (Mode&Lower) == Lower
-    };
-
-    Index kc = blocking.kc();                   // cache block size along the K direction
-    Index mc = (std::min)(size,blocking.mc());  // cache block size along the M direction
-
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols;
-
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-
-    conj_if<Conjugate> conj;
-    gebp_kernel<Scalar, Scalar, Index, OtherMapper, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, TriMapper, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, OtherMapper, Traits::nr, ColMajor, false, true> pack_rhs;
-
-    // the goal here is to subdivise the Rhs panels such that we keep some cache
-    // coherence when accessing the rhs elements
-    std::ptrdiff_t l1, l2, l3;
-    manage_caching_sizes(GetAction, &l1, &l2, &l3);
-    Index subcols = cols>0 ? l2/(4 * sizeof(Scalar) * std::max<Index>(otherStride,size)) : 0;
-    subcols = std::max<Index>((subcols/Traits::nr)*Traits::nr, Traits::nr);
-
-    for(Index k2=IsLower ? 0 : size;
-        IsLower ? k2<size : k2>0;
-        IsLower ? k2+=kc : k2-=kc)
-    {
-      const Index actual_kc = (std::min)(IsLower ? size-k2 : k2, kc);
-
-      // We have selected and packed a big horizontal panel R1 of rhs. Let B be the packed copy of this panel,
-      // and R2 the remaining part of rhs. The corresponding vertical panel of lhs is split into
-      // A11 (the triangular part) and A21 the remaining rectangular part.
-      // Then the high level algorithm is:
-      //  - B = R1                    => general block copy (done during the next step)
-      //  - R1 = A11^-1 B             => tricky part
-      //  - update B from the new R1  => actually this has to be performed continuously during the above step
-      //  - R2 -= A21 * B             => GEPP
-
-      // The tricky part: compute R1 = A11^-1 B while updating B from R1
-      // The idea is to split A11 into multiple small vertical panels.
-      // Each panel can be split into a small triangular part T1k which is processed without optimization,
-      // and the remaining small part T2k which is processed using gebp with appropriate block strides
-      for(Index j2=0; j2<cols; j2+=subcols)
-      {
-        Index actual_cols = (std::min)(cols-j2,subcols);
-        // for each small vertical panels [T1k^T, T2k^T]^T of lhs
-        for (Index k1=0; k1<actual_kc; k1+=SmallPanelWidth)
-        {
-          Index actualPanelWidth = std::min<Index>(actual_kc-k1, SmallPanelWidth);
-          // tr solve
-          for (Index k=0; k<actualPanelWidth; ++k)
-          {
-            // TODO write a small kernel handling this (can be shared with trsv)
-            Index i  = IsLower ? k2+k1+k : k2-k1-k-1;
-            Index rs = actualPanelWidth - k - 1; // remaining size
-            Index s  = TriStorageOrder==RowMajor ? (IsLower ? k2+k1 : i+1)
-                                                 :  IsLower ? i+1 : i-rs;
-
-            Scalar a = (Mode & UnitDiag) ? Scalar(1) : Scalar(1)/conj(tri(i,i));
-            for (Index j=j2; j<j2+actual_cols; ++j)
-            {
-              if (TriStorageOrder==RowMajor)
-              {
-                Scalar b(0);
-                const Scalar* l = &tri(i,s);
-                Scalar* r = &other(s,j);
-                for (Index i3=0; i3<k; ++i3)
-                  b += conj(l[i3]) * r[i3];
-
-                other(i,j) = (other(i,j) - b)*a;
-              }
-              else
-              {
-                Scalar b = (other(i,j) *= a);
-                Scalar* r = &other(s,j);
-                const Scalar* l = &tri(s,i);
-                for (Index i3=0;i3<rs;++i3)
-                  r[i3] -= b * conj(l[i3]);
-              }
-            }
-          }
-
-          Index lengthTarget = actual_kc-k1-actualPanelWidth;
-          Index startBlock   = IsLower ? k2+k1 : k2-k1-actualPanelWidth;
-          Index blockBOffset = IsLower ? k1 : lengthTarget;
-
-          // update the respective rows of B from other
-          pack_rhs(blockB+actual_kc*j2, other.getSubMapper(startBlock,j2), actualPanelWidth, actual_cols, actual_kc, blockBOffset);
-
-          // GEBP
-          if (lengthTarget>0)
-          {
-            Index startTarget  = IsLower ? k2+k1+actualPanelWidth : k2-actual_kc;
-
-            pack_lhs(blockA, tri.getSubMapper(startTarget,startBlock), actualPanelWidth, lengthTarget);
-
-            gebp_kernel(other.getSubMapper(startTarget,j2), blockA, blockB+actual_kc*j2, lengthTarget, actualPanelWidth, actual_cols, Scalar(-1),
-                        actualPanelWidth, actual_kc, 0, blockBOffset);
-          }
-        }
-      }
-      
-      // R2 -= A21 * B => GEPP
-      {
-        Index start = IsLower ? k2+kc : 0;
-        Index end   = IsLower ? size : k2-kc;
-        for(Index i2=start; i2<end; i2+=mc)
-        {
-          const Index actual_mc = (std::min)(mc,end-i2);
-          if (actual_mc>0)
-          {
-            pack_lhs(blockA, tri.getSubMapper(i2, IsLower ? k2 : k2-kc), actual_kc, actual_mc);
-
-            gebp_kernel(other.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, Scalar(-1), -1, -1, 0, 0);
-          }
-        }
-      }
-    }
-  }
-
-/* Optimized triangular solver with multiple left hand sides and the triangular matrix on the right
- */
-template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
-struct triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>
-{
-  static EIGEN_DONT_INLINE void run(
-    Index size, Index otherSize,
-    const Scalar* _tri, Index triStride,
-    Scalar* _other, Index otherStride,
-    level3_blocking<Scalar,Scalar>& blocking);
-};
-template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
-EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>::run(
-    Index size, Index otherSize,
-    const Scalar* _tri, Index triStride,
-    Scalar* _other, Index otherStride,
-    level3_blocking<Scalar,Scalar>& blocking)
-  {
-    Index rows = otherSize;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    typedef blas_data_mapper<Scalar, Index, ColMajor> LhsMapper;
-    typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> RhsMapper;
-    LhsMapper lhs(_other, otherStride);
-    RhsMapper rhs(_tri, triStride);
-
-    typedef gebp_traits<Scalar,Scalar> Traits;
-    enum {
-      RhsStorageOrder   = TriStorageOrder,
-      SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
-      IsLower = (Mode&Lower) == Lower
-    };
-
-    Index kc = blocking.kc();                   // cache block size along the K direction
-    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
-
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*size;
-
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-
-    conj_if<Conjugate> conj;
-    gebp_kernel<Scalar, Scalar, Index, LhsMapper, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
-    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
-    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder,false,true> pack_rhs_panel;
-    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
-
-    for(Index k2=IsLower ? size : 0;
-        IsLower ? k2>0 : k2<size;
-        IsLower ? k2-=kc : k2+=kc)
-    {
-      const Index actual_kc = (std::min)(IsLower ? k2 : size-k2, kc);
-      Index actual_k2 = IsLower ? k2-actual_kc : k2 ;
-
-      Index startPanel = IsLower ? 0 : k2+actual_kc;
-      Index rs = IsLower ? actual_k2 : size - actual_k2 - actual_kc;
-      Scalar* geb = blockB+actual_kc*actual_kc;
-
-      if (rs>0) pack_rhs(geb, rhs.getSubMapper(actual_k2,startPanel), actual_kc, rs);
-
-      // triangular packing (we only pack the panels off the diagonal,
-      // neglecting the blocks overlapping the diagonal
-      {
-        for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
-        {
-          Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
-          Index actual_j2 = actual_k2 + j2;
-          Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
-          Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
-
-          if (panelLength>0)
-          pack_rhs_panel(blockB+j2*actual_kc,
-                         rhs.getSubMapper(actual_k2+panelOffset, actual_j2),
-                         panelLength, actualPanelWidth,
-                         actual_kc, panelOffset);
-        }
-      }
-
-      for(Index i2=0; i2<rows; i2+=mc)
-      {
-        const Index actual_mc = (std::min)(mc,rows-i2);
-
-        // triangular solver kernel
-        {
-          // for each small block of the diagonal (=> vertical panels of rhs)
-          for (Index j2 = IsLower
-                      ? (actual_kc - ((actual_kc%SmallPanelWidth) ? Index(actual_kc%SmallPanelWidth)
-                                                                  : Index(SmallPanelWidth)))
-                      : 0;
-               IsLower ? j2>=0 : j2<actual_kc;
-               IsLower ? j2-=SmallPanelWidth : j2+=SmallPanelWidth)
-          {
-            Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
-            Index absolute_j2 = actual_k2 + j2;
-            Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
-            Index panelLength = IsLower ? actual_kc - j2 - actualPanelWidth : j2;
-
-            // GEBP
-            if(panelLength>0)
-            {
-              gebp_kernel(lhs.getSubMapper(i2,absolute_j2),
-                          blockA, blockB+j2*actual_kc,
-                          actual_mc, panelLength, actualPanelWidth,
-                          Scalar(-1),
-                          actual_kc, actual_kc, // strides
-                          panelOffset, panelOffset); // offsets
-            }
-
-            // unblocked triangular solve
-            for (Index k=0; k<actualPanelWidth; ++k)
-            {
-              Index j = IsLower ? absolute_j2+actualPanelWidth-k-1 : absolute_j2+k;
-
-              Scalar* r = &lhs(i2,j);
-              for (Index k3=0; k3<k; ++k3)
-              {
-                Scalar b = conj(rhs(IsLower ? j+1+k3 : absolute_j2+k3,j));
-                Scalar* a = &lhs(i2,IsLower ? j+1+k3 : absolute_j2+k3);
-                for (Index i=0; i<actual_mc; ++i)
-                  r[i] -= a[i] * b;
-              }
-              if((Mode & UnitDiag)==0)
-              {
-                Scalar inv_rjj = RealScalar(1)/conj(rhs(j,j));
-                for (Index i=0; i<actual_mc; ++i)
-                  r[i] *= inv_rjj;
-              }
-            }
-
-            // pack the just computed part of lhs to A
-            pack_lhs_panel(blockA, LhsMapper(_other+absolute_j2*otherStride+i2, otherStride),
-                           actualPanelWidth, actual_mc,
-                           actual_kc, j2);
-          }
-        }
-
-        if (rs>0)
-          gebp_kernel(lhs.getSubMapper(i2, startPanel), blockA, geb,
-                      actual_mc, actual_kc, rs, Scalar(-1),
-                      -1, -1, 0, 0);
-      }
-    }
-  }
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIANGULAR_SOLVER_MATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h b/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
deleted file mode 100644
index 88c0fb7941347d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to BLAS F77
- *   Triangular matrix * matrix product functionality based on ?TRMM.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
-#define EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
-
-namespace Eigen {
-
-namespace internal {
-
-// implements LeftSide op(triangular)^-1 * general
-#define EIGEN_BLAS_TRSM_L(EIGTYPE, BLASTYPE, BLASPREFIX) \
-template <typename Index, int Mode, bool Conjugate, int TriStorageOrder> \
-struct triangular_solve_matrix<EIGTYPE,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor> \
-{ \
-  enum { \
-    IsLower = (Mode&Lower) == Lower, \
-    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
-    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
-    conjA = ((TriStorageOrder==ColMajor) && Conjugate) ? 1 : 0 \
-  }; \
-  static void run( \
-      Index size, Index otherSize, \
-      const EIGTYPE* _tri, Index triStride, \
-      EIGTYPE* _other, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
-  { \
-   BlasIndex m = convert_index<BlasIndex>(size), n = convert_index<BlasIndex>(otherSize), lda, ldb; \
-   char side = 'L', uplo, diag='N', transa; \
-   /* Set alpha_ */ \
-   EIGTYPE alpha(1); \
-   ldb = convert_index<BlasIndex>(otherStride);\
-\
-   const EIGTYPE *a; \
-/* Set trans */ \
-   transa = (TriStorageOrder==RowMajor) ? ((Conjugate) ? 'C' : 'T') : 'N'; \
-/* Set uplo */ \
-   uplo = IsLower ? 'L' : 'U'; \
-   if (TriStorageOrder==RowMajor) uplo = (uplo == 'L') ? 'U' : 'L'; \
-/* Set a, lda */ \
-   typedef Matrix<EIGTYPE, Dynamic, Dynamic, TriStorageOrder> MatrixTri; \
-   Map<const MatrixTri, 0, OuterStride<> > tri(_tri,size,size,OuterStride<>(triStride)); \
-   MatrixTri a_tmp; \
-\
-   if (conjA) { \
-     a_tmp = tri.conjugate(); \
-     a = a_tmp.data(); \
-     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
-   } else { \
-     a = _tri; \
-     lda = convert_index<BlasIndex>(triStride); \
-   } \
-   if (IsUnitDiag) diag='U'; \
-/* call ?trsm*/ \
-   BLASPREFIX##trsm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)_other, &ldb); \
- } \
-};
-
-EIGEN_BLAS_TRSM_L(double,   double, d)
-EIGEN_BLAS_TRSM_L(dcomplex, double, z)
-EIGEN_BLAS_TRSM_L(float,    float,  s)
-EIGEN_BLAS_TRSM_L(scomplex, float,  c)
-
-
-// implements RightSide general * op(triangular)^-1
-#define EIGEN_BLAS_TRSM_R(EIGTYPE, BLASTYPE, BLASPREFIX) \
-template <typename Index, int Mode, bool Conjugate, int TriStorageOrder> \
-struct triangular_solve_matrix<EIGTYPE,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor> \
-{ \
-  enum { \
-    IsLower = (Mode&Lower) == Lower, \
-    IsUnitDiag  = (Mode&UnitDiag) ? 1 : 0, \
-    IsZeroDiag  = (Mode&ZeroDiag) ? 1 : 0, \
-    conjA = ((TriStorageOrder==ColMajor) && Conjugate) ? 1 : 0 \
-  }; \
-  static void run( \
-      Index size, Index otherSize, \
-      const EIGTYPE* _tri, Index triStride, \
-      EIGTYPE* _other, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
-  { \
-   BlasIndex m = convert_index<BlasIndex>(otherSize), n = convert_index<BlasIndex>(size), lda, ldb; \
-   char side = 'R', uplo, diag='N', transa; \
-   /* Set alpha_ */ \
-   EIGTYPE alpha(1); \
-   ldb = convert_index<BlasIndex>(otherStride);\
-\
-   const EIGTYPE *a; \
-/* Set trans */ \
-   transa = (TriStorageOrder==RowMajor) ? ((Conjugate) ? 'C' : 'T') : 'N'; \
-/* Set uplo */ \
-   uplo = IsLower ? 'L' : 'U'; \
-   if (TriStorageOrder==RowMajor) uplo = (uplo == 'L') ? 'U' : 'L'; \
-/* Set a, lda */ \
-   typedef Matrix<EIGTYPE, Dynamic, Dynamic, TriStorageOrder> MatrixTri; \
-   Map<const MatrixTri, 0, OuterStride<> > tri(_tri,size,size,OuterStride<>(triStride)); \
-   MatrixTri a_tmp; \
-\
-   if (conjA) { \
-     a_tmp = tri.conjugate(); \
-     a = a_tmp.data(); \
-     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
-   } else { \
-     a = _tri; \
-     lda = convert_index<BlasIndex>(triStride); \
-   } \
-   if (IsUnitDiag) diag='U'; \
-/* call ?trsm*/ \
-   BLASPREFIX##trsm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)_other, &ldb); \
-   /*std::cout << "TRMS_L specialization!\n";*/ \
- } \
-};
-
-EIGEN_BLAS_TRSM_R(double,   double, d)
-EIGEN_BLAS_TRSM_R(dcomplex, double, z)
-EIGEN_BLAS_TRSM_R(float,    float,  s)
-EIGEN_BLAS_TRSM_R(scomplex, float,  c)
-
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverVector.h b/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverVector.h
deleted file mode 100644
index b994759b268795..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/products/TriangularSolverVector.h
+++ /dev/null
@@ -1,145 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRIANGULAR_SOLVER_VECTOR_H
-#define EIGEN_TRIANGULAR_SOLVER_VECTOR_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate, int StorageOrder>
-struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheRight, Mode, Conjugate, StorageOrder>
-{
-  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
-  {
-    triangular_solve_vector<LhsScalar,RhsScalar,Index,OnTheLeft,
-        ((Mode&Upper)==Upper ? Lower : Upper) | (Mode&UnitDiag),
-        Conjugate,StorageOrder==RowMajor?ColMajor:RowMajor
-      >::run(size, _lhs, lhsStride, rhs);
-  }
-};
-
-// forward and backward substitution, row-major, rhs is a vector
-template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
-struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, RowMajor>
-{
-  enum {
-    IsLower = ((Mode&Lower)==Lower)
-  };
-  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
-  {
-    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
-    const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
-
-    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
-    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
-
-    typename internal::conditional<
-                          Conjugate,
-                          const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
-                          const LhsMap&>
-                        ::type cjLhs(lhs);
-    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
-    for(Index pi=IsLower ? 0 : size;
-        IsLower ? pi<size : pi>0;
-        IsLower ? pi+=PanelWidth : pi-=PanelWidth)
-    {
-      Index actualPanelWidth = (std::min)(IsLower ? size - pi : pi, PanelWidth);
-
-      Index r = IsLower ? pi : size - pi; // remaining size
-      if (r > 0)
-      {
-        // let's directly call the low level product function because:
-        // 1 - it is faster to compile
-        // 2 - it is slighlty faster at runtime
-        Index startRow = IsLower ? pi : pi-actualPanelWidth;
-        Index startCol = IsLower ? 0 : pi;
-
-        general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
-          actualPanelWidth, r,
-          LhsMapper(&lhs.coeffRef(startRow,startCol), lhsStride),
-          RhsMapper(rhs + startCol, 1),
-          rhs + startRow, 1,
-          RhsScalar(-1));
-      }
-
-      for(Index k=0; k<actualPanelWidth; ++k)
-      {
-        Index i = IsLower ? pi+k : pi-k-1;
-        Index s = IsLower ? pi   : i+1;
-        if (k>0)
-          rhs[i] -= (cjLhs.row(i).segment(s,k).transpose().cwiseProduct(Map<const Matrix<RhsScalar,Dynamic,1> >(rhs+s,k))).sum();
-
-        if(!(Mode & UnitDiag))
-          rhs[i] /= cjLhs(i,i);
-      }
-    }
-  }
-};
-
-// forward and backward substitution, column-major, rhs is a vector
-template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
-struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, ColMajor>
-{
-  enum {
-    IsLower = ((Mode&Lower)==Lower)
-  };
-  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
-  {
-    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
-    const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
-    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
-    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
-    typename internal::conditional<Conjugate,
-                                   const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
-                                   const LhsMap&
-                                  >::type cjLhs(lhs);
-    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
-
-    for(Index pi=IsLower ? 0 : size;
-        IsLower ? pi<size : pi>0;
-        IsLower ? pi+=PanelWidth : pi-=PanelWidth)
-    {
-      Index actualPanelWidth = (std::min)(IsLower ? size - pi : pi, PanelWidth);
-      Index startBlock = IsLower ? pi : pi-actualPanelWidth;
-      Index endBlock = IsLower ? pi + actualPanelWidth : 0;
-
-      for(Index k=0; k<actualPanelWidth; ++k)
-      {
-        Index i = IsLower ? pi+k : pi-k-1;
-        if(!(Mode & UnitDiag))
-          rhs[i] /= cjLhs.coeff(i,i);
-
-        Index r = actualPanelWidth - k - 1; // remaining size
-        Index s = IsLower ? i+1 : i-r;
-        if (r>0)
-          Map<Matrix<RhsScalar,Dynamic,1> >(rhs+s,r) -= rhs[i] * cjLhs.col(i).segment(s,r);
-      }
-      Index r = IsLower ? size - endBlock : startBlock; // remaining size
-      if (r > 0)
-      {
-        // let's directly call the low level product function because:
-        // 1 - it is faster to compile
-        // 2 - it is slighlty faster at runtime
-        general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
-            r, actualPanelWidth,
-            LhsMapper(&lhs.coeffRef(endBlock,startBlock), lhsStride),
-            RhsMapper(rhs+startBlock, 1),
-            rhs+endBlock, 1, RhsScalar(-1));
-      }
-    }
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIANGULAR_SOLVER_VECTOR_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/BlasUtil.h b/phonelibs/eigen/Eigen/src/Core/util/BlasUtil.h
deleted file mode 100755
index 6e6ee119b64431..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/BlasUtil.h
+++ /dev/null
@@ -1,398 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BLASUTIL_H
-#define EIGEN_BLASUTIL_H
-
-// This file contains many lightweight helper classes used to
-// implement and control fast level 2 and level 3 BLAS-like routines.
-
-namespace Eigen {
-
-namespace internal {
-
-// forward declarations
-template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs=false, bool ConjugateRhs=false>
-struct gebp_kernel;
-
-template<typename Scalar, typename Index, typename DataMapper, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
-struct gemm_pack_rhs;
-
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
-struct gemm_pack_lhs;
-
-template<
-  typename Index,
-  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
-  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
-  int ResStorageOrder>
-struct general_matrix_matrix_product;
-
-template<typename Index,
-         typename LhsScalar, typename LhsMapper, int LhsStorageOrder, bool ConjugateLhs,
-         typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version=Specialized>
-struct general_matrix_vector_product;
-
-
-template<bool Conjugate> struct conj_if;
-
-template<> struct conj_if<true> {
-  template<typename T>
-  inline T operator()(const T& x) const { return numext::conj(x); }
-  template<typename T>
-  inline T pconj(const T& x) const { return internal::pconj(x); }
-};
-
-template<> struct conj_if<false> {
-  template<typename T>
-  inline const T& operator()(const T& x) const { return x; }
-  template<typename T>
-  inline const T& pconj(const T& x) const { return x; }
-};
-
-// Generic implementation for custom complex types.
-template<typename LhsScalar, typename RhsScalar, bool ConjLhs, bool ConjRhs>
-struct conj_helper
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar>::ReturnType Scalar;
-
-  EIGEN_STRONG_INLINE Scalar pmadd(const LhsScalar& x, const RhsScalar& y, const Scalar& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Scalar pmul(const LhsScalar& x, const RhsScalar& y) const
-  { return conj_if<ConjLhs>()(x) *  conj_if<ConjRhs>()(y); }
-};
-
-template<typename Scalar> struct conj_helper<Scalar,Scalar,false,false>
-{
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const { return internal::pmul(x,y); }
-};
-
-template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, false,true>
-{
-  typedef std::complex<RealScalar> Scalar;
-  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
-  { return c + pmul(x,y); }
-
-  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
-  { return Scalar(numext::real(x)*numext::real(y) + numext::imag(x)*numext::imag(y), numext::imag(x)*numext::real(y) - numext::real(x)*numext::imag(y)); }
-};
-
-template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, true,false>
-{
-  typedef std::complex<RealScalar> Scalar;
-  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
-  { return c + pmul(x,y); }
-
-  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
-  { return Scalar(numext::real(x)*numext::real(y) + numext::imag(x)*numext::imag(y), numext::real(x)*numext::imag(y) - numext::imag(x)*numext::real(y)); }
-};
-
-template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, true,true>
-{
-  typedef std::complex<RealScalar> Scalar;
-  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
-  { return c + pmul(x,y); }
-
-  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
-  { return Scalar(numext::real(x)*numext::real(y) - numext::imag(x)*numext::imag(y), - numext::real(x)*numext::imag(y) - numext::imag(x)*numext::real(y)); }
-};
-
-template<typename RealScalar,bool Conj> struct conj_helper<std::complex<RealScalar>, RealScalar, Conj,false>
-{
-  typedef std::complex<RealScalar> Scalar;
-  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const RealScalar& y, const Scalar& c) const
-  { return padd(c, pmul(x,y)); }
-  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const RealScalar& y) const
-  { return conj_if<Conj>()(x)*y; }
-};
-
-template<typename RealScalar,bool Conj> struct conj_helper<RealScalar, std::complex<RealScalar>, false,Conj>
-{
-  typedef std::complex<RealScalar> Scalar;
-  EIGEN_STRONG_INLINE Scalar pmadd(const RealScalar& x, const Scalar& y, const Scalar& c) const
-  { return padd(c, pmul(x,y)); }
-  EIGEN_STRONG_INLINE Scalar pmul(const RealScalar& x, const Scalar& y) const
-  { return x*conj_if<Conj>()(y); }
-};
-
-template<typename From,typename To> struct get_factor {
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE To run(const From& x) { return To(x); }
-};
-
-template<typename Scalar> struct get_factor<Scalar,typename NumTraits<Scalar>::Real> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE typename NumTraits<Scalar>::Real run(const Scalar& x) { return numext::real(x); }
-};
-
-
-template<typename Scalar, typename Index>
-class BlasVectorMapper {
-  public:
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasVectorMapper(Scalar *data) : m_data(data) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar operator()(Index i) const {
-    return m_data[i];
-  }
-  template <typename Packet, int AlignmentType>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet load(Index i) const {
-    return ploadt<Packet, AlignmentType>(m_data + i);
-  }
-
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC bool aligned(Index i) const {
-    return (UIntPtr(m_data+i)%sizeof(Packet))==0;
-  }
-
-  protected:
-  Scalar* m_data;
-};
-
-template<typename Scalar, typename Index, int AlignmentType>
-class BlasLinearMapper {
-  public:
-  typedef typename packet_traits<Scalar>::type Packet;
-  typedef typename packet_traits<Scalar>::half HalfPacket;
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasLinearMapper(Scalar *data) : m_data(data) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void prefetch(int i) const {
-    internal::prefetch(&operator()(i));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar& operator()(Index i) const {
-    return m_data[i];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i) const {
-    return ploadt<Packet, AlignmentType>(m_data + i);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i) const {
-    return ploadt<HalfPacket, AlignmentType>(m_data + i);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, const Packet &p) const {
-    pstoret<Scalar, Packet, AlignmentType>(m_data + i, p);
-  }
-
-  protected:
-  Scalar *m_data;
-};
-
-// Lightweight helper class to access matrix coefficients.
-template<typename Scalar, typename Index, int StorageOrder, int AlignmentType = Unaligned>
-class blas_data_mapper {
-  public:
-  typedef typename packet_traits<Scalar>::type Packet;
-  typedef typename packet_traits<Scalar>::half HalfPacket;
-
-  typedef BlasLinearMapper<Scalar, Index, AlignmentType> LinearMapper;
-  typedef BlasVectorMapper<Scalar, Index> VectorMapper;
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
-
-  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>
-  getSubMapper(Index i, Index j) const {
-    return blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>(&operator()(i, j), m_stride);
-  }
-
-  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE LinearMapper getLinearMapper(Index i, Index j) const {
-    return LinearMapper(&operator()(i, j));
-  }
-
-  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE VectorMapper getVectorMapper(Index i, Index j) const {
-    return VectorMapper(&operator()(i, j));
-  }
-
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_ALWAYS_INLINE Scalar& operator()(Index i, Index j) const {
-    return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i, Index j) const {
-    return ploadt<Packet, AlignmentType>(&operator()(i, j));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i, Index j) const {
-    return ploadt<HalfPacket, AlignmentType>(&operator()(i, j));
-  }
-
-  template<typename SubPacket>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void scatterPacket(Index i, Index j, const SubPacket &p) const {
-    pscatter<Scalar, SubPacket>(&operator()(i, j), p, m_stride);
-  }
-
-  template<typename SubPacket>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE SubPacket gatherPacket(Index i, Index j) const {
-    return pgather<Scalar, SubPacket>(&operator()(i, j), m_stride);
-  }
-
-  EIGEN_DEVICE_FUNC const Index stride() const { return m_stride; }
-  EIGEN_DEVICE_FUNC const Scalar* data() const { return m_data; }
-
-  EIGEN_DEVICE_FUNC Index firstAligned(Index size) const {
-    if (UIntPtr(m_data)%sizeof(Scalar)) {
-      return -1;
-    }
-    return internal::first_default_aligned(m_data, size);
-  }
-
-  protected:
-  Scalar* EIGEN_RESTRICT m_data;
-  const Index m_stride;
-};
-
-// lightweight helper class to access matrix coefficients (const version)
-template<typename Scalar, typename Index, int StorageOrder>
-class const_blas_data_mapper : public blas_data_mapper<const Scalar, Index, StorageOrder> {
-  public:
-  EIGEN_ALWAYS_INLINE const_blas_data_mapper(const Scalar *data, Index stride) : blas_data_mapper<const Scalar, Index, StorageOrder>(data, stride) {}
-
-  EIGEN_ALWAYS_INLINE const_blas_data_mapper<Scalar, Index, StorageOrder> getSubMapper(Index i, Index j) const {
-    return const_blas_data_mapper<Scalar, Index, StorageOrder>(&(this->operator()(i, j)), this->m_stride);
-  }
-};
-
-
-/* Helper class to analyze the factors of a Product expression.
- * In particular it allows to pop out operator-, scalar multiples,
- * and conjugate */
-template<typename XprType> struct blas_traits
-{
-  typedef typename traits<XprType>::Scalar Scalar;
-  typedef const XprType& ExtractType;
-  typedef XprType _ExtractType;
-  enum {
-    IsComplex = NumTraits<Scalar>::IsComplex,
-    IsTransposed = false,
-    NeedToConjugate = false,
-    HasUsableDirectAccess = (    (int(XprType::Flags)&DirectAccessBit)
-                              && (   bool(XprType::IsVectorAtCompileTime)
-                                  || int(inner_stride_at_compile_time<XprType>::ret) == 1)
-                             ) ?  1 : 0
-  };
-  typedef typename conditional<bool(HasUsableDirectAccess),
-    ExtractType,
-    typename _ExtractType::PlainObject
-    >::type DirectLinearAccessType;
-  static inline ExtractType extract(const XprType& x) { return x; }
-  static inline const Scalar extractScalarFactor(const XprType&) { return Scalar(1); }
-};
-
-// pop conjugate
-template<typename Scalar, typename NestedXpr>
-struct blas_traits<CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> >
- : blas_traits<NestedXpr>
-{
-  typedef blas_traits<NestedXpr> Base;
-  typedef CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> XprType;
-  typedef typename Base::ExtractType ExtractType;
-
-  enum {
-    IsComplex = NumTraits<Scalar>::IsComplex,
-    NeedToConjugate = Base::NeedToConjugate ? 0 : IsComplex
-  };
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
-  static inline Scalar extractScalarFactor(const XprType& x) { return conj(Base::extractScalarFactor(x.nestedExpression())); }
-};
-
-// pop scalar multiple
-template<typename Scalar, typename NestedXpr, typename Plain>
-struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> >
- : blas_traits<NestedXpr>
-{
-  typedef blas_traits<NestedXpr> Base;
-  typedef CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> XprType;
-  typedef typename Base::ExtractType ExtractType;
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.rhs()); }
-  static inline Scalar extractScalarFactor(const XprType& x)
-  { return x.lhs().functor().m_other * Base::extractScalarFactor(x.rhs()); }
-};
-template<typename Scalar, typename NestedXpr, typename Plain>
-struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > >
- : blas_traits<NestedXpr>
-{
-  typedef blas_traits<NestedXpr> Base;
-  typedef CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > XprType;
-  typedef typename Base::ExtractType ExtractType;
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.lhs()); }
-  static inline Scalar extractScalarFactor(const XprType& x)
-  { return Base::extractScalarFactor(x.lhs()) * x.rhs().functor().m_other; }
-};
-template<typename Scalar, typename Plain1, typename Plain2>
-struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain1>,
-                                                            const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain2> > >
- : blas_traits<CwiseNullaryOp<scalar_constant_op<Scalar>,Plain1> >
-{};
-
-// pop opposite
-template<typename Scalar, typename NestedXpr>
-struct blas_traits<CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> >
- : blas_traits<NestedXpr>
-{
-  typedef blas_traits<NestedXpr> Base;
-  typedef CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> XprType;
-  typedef typename Base::ExtractType ExtractType;
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
-  static inline Scalar extractScalarFactor(const XprType& x)
-  { return - Base::extractScalarFactor(x.nestedExpression()); }
-};
-
-// pop/push transpose
-template<typename NestedXpr>
-struct blas_traits<Transpose<NestedXpr> >
- : blas_traits<NestedXpr>
-{
-  typedef typename NestedXpr::Scalar Scalar;
-  typedef blas_traits<NestedXpr> Base;
-  typedef Transpose<NestedXpr> XprType;
-  typedef Transpose<const typename Base::_ExtractType>  ExtractType; // const to get rid of a compile error; anyway blas traits are only used on the RHS
-  typedef Transpose<const typename Base::_ExtractType> _ExtractType;
-  typedef typename conditional<bool(Base::HasUsableDirectAccess),
-    ExtractType,
-    typename ExtractType::PlainObject
-    >::type DirectLinearAccessType;
-  enum {
-    IsTransposed = Base::IsTransposed ? 0 : 1
-  };
-  static inline ExtractType extract(const XprType& x) { return ExtractType(Base::extract(x.nestedExpression())); }
-  static inline Scalar extractScalarFactor(const XprType& x) { return Base::extractScalarFactor(x.nestedExpression()); }
-};
-
-template<typename T>
-struct blas_traits<const T>
-     : blas_traits<T>
-{};
-
-template<typename T, bool HasUsableDirectAccess=blas_traits<T>::HasUsableDirectAccess>
-struct extract_data_selector {
-  static const typename T::Scalar* run(const T& m)
-  {
-    return blas_traits<T>::extract(m).data();
-  }
-};
-
-template<typename T>
-struct extract_data_selector<T,false> {
-  static typename T::Scalar* run(const T&) { return 0; }
-};
-
-template<typename T> const typename T::Scalar* extract_data(const T& m)
-{
-  return extract_data_selector<T>::run(m);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_BLASUTIL_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/Constants.h b/phonelibs/eigen/Eigen/src/Core/util/Constants.h
deleted file mode 100644
index 7587d684243566..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/Constants.h
+++ /dev/null
@@ -1,547 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CONSTANTS_H
-#define EIGEN_CONSTANTS_H
-
-namespace Eigen {
-
-/** This value means that a positive quantity (e.g., a size) is not known at compile-time, and that instead the value is
-  * stored in some runtime variable.
-  *
-  * Changing the value of Dynamic breaks the ABI, as Dynamic is often used as a template parameter for Matrix.
-  */
-const int Dynamic = -1;
-
-/** This value means that a signed quantity (e.g., a signed index) is not known at compile-time, and that instead its value
-  * has to be specified at runtime.
-  */
-const int DynamicIndex = 0xffffff;
-
-/** This value means +Infinity; it is currently used only as the p parameter to MatrixBase::lpNorm<int>().
-  * The value Infinity there means the L-infinity norm.
-  */
-const int Infinity = -1;
-
-/** This value means that the cost to evaluate an expression coefficient is either very expensive or
-  * cannot be known at compile time.
-  *
-  * This value has to be positive to (1) simplify cost computation, and (2) allow to distinguish between a very expensive and very very expensive expressions.
-  * It thus must also be large enough to make sure unrolling won't happen and that sub expressions will be evaluated, but not too large to avoid overflow.
-  */
-const int HugeCost = 10000;
-
-/** \defgroup flags Flags
-  * \ingroup Core_Module
-  *
-  * These are the possible bits which can be OR'ed to constitute the flags of a matrix or
-  * expression.
-  *
-  * It is important to note that these flags are a purely compile-time notion. They are a compile-time property of
-  * an expression type, implemented as enum's. They are not stored in memory at runtime, and they do not incur any
-  * runtime overhead.
-  *
-  * \sa MatrixBase::Flags
-  */
-
-/** \ingroup flags
-  *
-  * for a matrix, this means that the storage order is row-major.
-  * If this bit is not set, the storage order is column-major.
-  * For an expression, this determines the storage order of
-  * the matrix created by evaluation of that expression.
-  * \sa \blank  \ref TopicStorageOrders */
-const unsigned int RowMajorBit = 0x1;
-
-/** \ingroup flags
-  * means the expression should be evaluated by the calling expression */
-const unsigned int EvalBeforeNestingBit = 0x2;
-
-/** \ingroup flags
-  * \deprecated
-  * means the expression should be evaluated before any assignment */
-EIGEN_DEPRECATED
-const unsigned int EvalBeforeAssigningBit = 0x4; // FIXME deprecated
-
-/** \ingroup flags
-  *
-  * Short version: means the expression might be vectorized
-  *
-  * Long version: means that the coefficients can be handled by packets
-  * and start at a memory location whose alignment meets the requirements
-  * of the present CPU architecture for optimized packet access. In the fixed-size
-  * case, there is the additional condition that it be possible to access all the
-  * coefficients by packets (this implies the requirement that the size be a multiple of 16 bytes,
-  * and that any nontrivial strides don't break the alignment). In the dynamic-size case,
-  * there is no such condition on the total size and strides, so it might not be possible to access
-  * all coeffs by packets.
-  *
-  * \note This bit can be set regardless of whether vectorization is actually enabled.
-  *       To check for actual vectorizability, see \a ActualPacketAccessBit.
-  */
-const unsigned int PacketAccessBit = 0x8;
-
-#ifdef EIGEN_VECTORIZE
-/** \ingroup flags
-  *
-  * If vectorization is enabled (EIGEN_VECTORIZE is defined) this constant
-  * is set to the value \a PacketAccessBit.
-  *
-  * If vectorization is not enabled (EIGEN_VECTORIZE is not defined) this constant
-  * is set to the value 0.
-  */
-const unsigned int ActualPacketAccessBit = PacketAccessBit;
-#else
-const unsigned int ActualPacketAccessBit = 0x0;
-#endif
-
-/** \ingroup flags
-  *
-  * Short version: means the expression can be seen as 1D vector.
-  *
-  * Long version: means that one can access the coefficients
-  * of this expression by coeff(int), and coeffRef(int) in the case of a lvalue expression. These
-  * index-based access methods are guaranteed
-  * to not have to do any runtime computation of a (row, col)-pair from the index, so that it
-  * is guaranteed that whenever it is available, index-based access is at least as fast as
-  * (row,col)-based access. Expressions for which that isn't possible don't have the LinearAccessBit.
-  *
-  * If both PacketAccessBit and LinearAccessBit are set, then the
-  * packets of this expression can be accessed by packet(int), and writePacket(int) in the case of a
-  * lvalue expression.
-  *
-  * Typically, all vector expressions have the LinearAccessBit, but there is one exception:
-  * Product expressions don't have it, because it would be troublesome for vectorization, even when the
-  * Product is a vector expression. Thus, vector Product expressions allow index-based coefficient access but
-  * not index-based packet access, so they don't have the LinearAccessBit.
-  */
-const unsigned int LinearAccessBit = 0x10;
-
-/** \ingroup flags
-  *
-  * Means the expression has a coeffRef() method, i.e. is writable as its individual coefficients are directly addressable.
-  * This rules out read-only expressions.
-  *
-  * Note that DirectAccessBit and LvalueBit are mutually orthogonal, as there are examples of expression having one but note
-  * the other:
-  *   \li writable expressions that don't have a very simple memory layout as a strided array, have LvalueBit but not DirectAccessBit
-  *   \li Map-to-const expressions, for example Map<const Matrix>, have DirectAccessBit but not LvalueBit
-  *
-  * Expressions having LvalueBit also have their coeff() method returning a const reference instead of returning a new value.
-  */
-const unsigned int LvalueBit = 0x20;
-
-/** \ingroup flags
-  *
-  * Means that the underlying array of coefficients can be directly accessed as a plain strided array. The memory layout
-  * of the array of coefficients must be exactly the natural one suggested by rows(), cols(),
-  * outerStride(), innerStride(), and the RowMajorBit. This rules out expressions such as Diagonal, whose coefficients,
-  * though referencable, do not have such a regular memory layout.
-  *
-  * See the comment on LvalueBit for an explanation of how LvalueBit and DirectAccessBit are mutually orthogonal.
-  */
-const unsigned int DirectAccessBit = 0x40;
-
-/** \deprecated \ingroup flags
-  *
-  * means the first coefficient packet is guaranteed to be aligned.
-  * An expression cannot has the AlignedBit without the PacketAccessBit flag.
-  * In other words, this means we are allow to perform an aligned packet access to the first element regardless
-  * of the expression kind:
-  * \code
-  * expression.packet<Aligned>(0);
-  * \endcode
-  */
-EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
-
-const unsigned int NestByRefBit = 0x100;
-
-/** \ingroup flags
-  *
-  * for an expression, this means that the storage order
-  * can be either row-major or column-major.
-  * The precise choice will be decided at evaluation time or when
-  * combined with other expressions.
-  * \sa \blank  \ref RowMajorBit, \ref TopicStorageOrders */
-const unsigned int NoPreferredStorageOrderBit = 0x200;
-
-/** \ingroup flags
-  *
-  * Means that the underlying coefficients can be accessed through pointers to the sparse (un)compressed storage format,
-  * that is, the expression provides:
-  * \code
-    inline const Scalar* valuePtr() const;
-    inline const Index* innerIndexPtr() const;
-    inline const Index* outerIndexPtr() const;
-    inline const Index* innerNonZeroPtr() const;
-    \endcode
-  */
-const unsigned int CompressedAccessBit = 0x400;
-
-
-// list of flags that are inherited by default
-const unsigned int HereditaryBits = RowMajorBit
-                                  | EvalBeforeNestingBit;
-
-/** \defgroup enums Enumerations
-  * \ingroup Core_Module
-  *
-  * Various enumerations used in %Eigen. Many of these are used as template parameters.
-  */
-
-/** \ingroup enums
-  * Enum containing possible values for the \c Mode or \c UpLo parameter of
-  * MatrixBase::selfadjointView() and MatrixBase::triangularView(), and selfadjoint solvers. */
-enum UpLoType {
-  /** View matrix as a lower triangular matrix. */
-  Lower=0x1,                      
-  /** View matrix as an upper triangular matrix. */
-  Upper=0x2,                      
-  /** %Matrix has ones on the diagonal; to be used in combination with #Lower or #Upper. */
-  UnitDiag=0x4, 
-  /** %Matrix has zeros on the diagonal; to be used in combination with #Lower or #Upper. */
-  ZeroDiag=0x8,
-  /** View matrix as a lower triangular matrix with ones on the diagonal. */
-  UnitLower=UnitDiag|Lower, 
-  /** View matrix as an upper triangular matrix with ones on the diagonal. */
-  UnitUpper=UnitDiag|Upper,
-  /** View matrix as a lower triangular matrix with zeros on the diagonal. */
-  StrictlyLower=ZeroDiag|Lower, 
-  /** View matrix as an upper triangular matrix with zeros on the diagonal. */
-  StrictlyUpper=ZeroDiag|Upper,
-  /** Used in BandMatrix and SelfAdjointView to indicate that the matrix is self-adjoint. */
-  SelfAdjoint=0x10,
-  /** Used to support symmetric, non-selfadjoint, complex matrices. */
-  Symmetric=0x20
-};
-
-/** \ingroup enums
-  * Enum for indicating whether a buffer is aligned or not. */
-enum AlignmentType {
-  Unaligned=0,        /**< Data pointer has no specific alignment. */
-  Aligned8=8,         /**< Data pointer is aligned on a 8 bytes boundary. */
-  Aligned16=16,       /**< Data pointer is aligned on a 16 bytes boundary. */
-  Aligned32=32,       /**< Data pointer is aligned on a 32 bytes boundary. */
-  Aligned64=64,       /**< Data pointer is aligned on a 64 bytes boundary. */
-  Aligned128=128,     /**< Data pointer is aligned on a 128 bytes boundary. */
-  AlignedMask=255,
-  Aligned=16,         /**< \deprecated Synonym for Aligned16. */
-#if EIGEN_MAX_ALIGN_BYTES==128
-  AlignedMax = Aligned128
-#elif EIGEN_MAX_ALIGN_BYTES==64
-  AlignedMax = Aligned64
-#elif EIGEN_MAX_ALIGN_BYTES==32
-  AlignedMax = Aligned32
-#elif EIGEN_MAX_ALIGN_BYTES==16
-  AlignedMax = Aligned16
-#elif EIGEN_MAX_ALIGN_BYTES==8
-  AlignedMax = Aligned8
-#elif EIGEN_MAX_ALIGN_BYTES==0
-  AlignedMax = Unaligned
-#else
-#error Invalid value for EIGEN_MAX_ALIGN_BYTES
-#endif
-};
-
-/** \ingroup enums
- * Enum used by DenseBase::corner() in Eigen2 compatibility mode. */
-// FIXME after the corner() API change, this was not needed anymore, except by AlignedBox
-// TODO: find out what to do with that. Adapt the AlignedBox API ?
-enum CornerType { TopLeft, TopRight, BottomLeft, BottomRight };
-
-/** \ingroup enums
-  * Enum containing possible values for the \p Direction parameter of
-  * Reverse, PartialReduxExpr and VectorwiseOp. */
-enum DirectionType { 
-  /** For Reverse, all columns are reversed; 
-    * for PartialReduxExpr and VectorwiseOp, act on columns. */
-  Vertical, 
-  /** For Reverse, all rows are reversed; 
-    * for PartialReduxExpr and VectorwiseOp, act on rows. */
-  Horizontal, 
-  /** For Reverse, both rows and columns are reversed; 
-    * not used for PartialReduxExpr and VectorwiseOp. */
-  BothDirections 
-};
-
-/** \internal \ingroup enums
-  * Enum to specify how to traverse the entries of a matrix. */
-enum TraversalType {
-  /** \internal Default traversal, no vectorization, no index-based access */
-  DefaultTraversal,
-  /** \internal No vectorization, use index-based access to have only one for loop instead of 2 nested loops */
-  LinearTraversal,
-  /** \internal Equivalent to a slice vectorization for fixed-size matrices having good alignment
-    * and good size */
-  InnerVectorizedTraversal,
-  /** \internal Vectorization path using a single loop plus scalar loops for the
-    * unaligned boundaries */
-  LinearVectorizedTraversal,
-  /** \internal Generic vectorization path using one vectorized loop per row/column with some
-    * scalar loops to handle the unaligned boundaries */
-  SliceVectorizedTraversal,
-  /** \internal Special case to properly handle incompatible scalar types or other defecting cases*/
-  InvalidTraversal,
-  /** \internal Evaluate all entries at once */
-  AllAtOnceTraversal
-};
-
-/** \internal \ingroup enums
-  * Enum to specify whether to unroll loops when traversing over the entries of a matrix. */
-enum UnrollingType {
-  /** \internal Do not unroll loops. */
-  NoUnrolling,
-  /** \internal Unroll only the inner loop, but not the outer loop. */
-  InnerUnrolling,
-  /** \internal Unroll both the inner and the outer loop. If there is only one loop, 
-    * because linear traversal is used, then unroll that loop. */
-  CompleteUnrolling
-};
-
-/** \internal \ingroup enums
-  * Enum to specify whether to use the default (built-in) implementation or the specialization. */
-enum SpecializedType {
-  Specialized,
-  BuiltIn
-};
-
-/** \ingroup enums
-  * Enum containing possible values for the \p _Options template parameter of
-  * Matrix, Array and BandMatrix. */
-enum StorageOptions {
-  /** Storage order is column major (see \ref TopicStorageOrders). */
-  ColMajor = 0,
-  /** Storage order is row major (see \ref TopicStorageOrders). */
-  RowMajor = 0x1,  // it is only a coincidence that this is equal to RowMajorBit -- don't rely on that
-  /** Align the matrix itself if it is vectorizable fixed-size */
-  AutoAlign = 0,
-  /** Don't require alignment for the matrix itself (the array of coefficients, if dynamically allocated, may still be requested to be aligned) */ // FIXME --- clarify the situation
-  DontAlign = 0x2
-};
-
-/** \ingroup enums
-  * Enum for specifying whether to apply or solve on the left or right. */
-enum SideType {
-  /** Apply transformation on the left. */
-  OnTheLeft = 1,  
-  /** Apply transformation on the right. */
-  OnTheRight = 2  
-};
-
-/* the following used to be written as:
- *
- *   struct NoChange_t {};
- *   namespace {
- *     EIGEN_UNUSED NoChange_t NoChange;
- *   }
- *
- * on the ground that it feels dangerous to disambiguate overloaded functions on enum/integer types.  
- * However, this leads to "variable declared but never referenced" warnings on Intel Composer XE,
- * and we do not know how to get rid of them (bug 450).
- */
-
-enum NoChange_t   { NoChange };
-enum Sequential_t { Sequential };
-enum Default_t    { Default };
-
-/** \internal \ingroup enums
-  * Used in AmbiVector. */
-enum AmbiVectorMode {
-  IsDense         = 0,
-  IsSparse
-};
-
-/** \ingroup enums
-  * Used as template parameter in DenseCoeffBase and MapBase to indicate 
-  * which accessors should be provided. */
-enum AccessorLevels {
-  /** Read-only access via a member function. */
-  ReadOnlyAccessors, 
-  /** Read/write access via member functions. */
-  WriteAccessors, 
-  /** Direct read-only access to the coefficients. */
-  DirectAccessors, 
-  /** Direct read/write access to the coefficients. */
-  DirectWriteAccessors
-};
-
-/** \ingroup enums
-  * Enum with options to give to various decompositions. */
-enum DecompositionOptions {
-  /** \internal Not used (meant for LDLT?). */
-  Pivoting            = 0x01, 
-  /** \internal Not used (meant for LDLT?). */
-  NoPivoting          = 0x02, 
-  /** Used in JacobiSVD to indicate that the square matrix U is to be computed. */
-  ComputeFullU        = 0x04,
-  /** Used in JacobiSVD to indicate that the thin matrix U is to be computed. */
-  ComputeThinU        = 0x08,
-  /** Used in JacobiSVD to indicate that the square matrix V is to be computed. */
-  ComputeFullV        = 0x10,
-  /** Used in JacobiSVD to indicate that the thin matrix V is to be computed. */
-  ComputeThinV        = 0x20,
-  /** Used in SelfAdjointEigenSolver and GeneralizedSelfAdjointEigenSolver to specify
-    * that only the eigenvalues are to be computed and not the eigenvectors. */
-  EigenvaluesOnly     = 0x40,
-  /** Used in SelfAdjointEigenSolver and GeneralizedSelfAdjointEigenSolver to specify
-    * that both the eigenvalues and the eigenvectors are to be computed. */
-  ComputeEigenvectors = 0x80,
-  /** \internal */
-  EigVecMask = EigenvaluesOnly | ComputeEigenvectors,
-  /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
-    * solve the generalized eigenproblem \f$ Ax = \lambda B x \f$. */
-  Ax_lBx              = 0x100,
-  /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
-    * solve the generalized eigenproblem \f$ ABx = \lambda x \f$. */
-  ABx_lx              = 0x200,
-  /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
-    * solve the generalized eigenproblem \f$ BAx = \lambda x \f$. */
-  BAx_lx              = 0x400,
-  /** \internal */
-  GenEigMask = Ax_lBx | ABx_lx | BAx_lx
-};
-
-/** \ingroup enums
-  * Possible values for the \p QRPreconditioner template parameter of JacobiSVD. */
-enum QRPreconditioners {
-  /** Do not specify what is to be done if the SVD of a non-square matrix is asked for. */
-  NoQRPreconditioner,
-  /** Use a QR decomposition without pivoting as the first step. */
-  HouseholderQRPreconditioner,
-  /** Use a QR decomposition with column pivoting as the first step. */
-  ColPivHouseholderQRPreconditioner,
-  /** Use a QR decomposition with full pivoting as the first step. */
-  FullPivHouseholderQRPreconditioner
-};
-
-#ifdef Success
-#error The preprocessor symbol 'Success' is defined, possibly by the X11 header file X.h
-#endif
-
-/** \ingroup enums
-  * Enum for reporting the status of a computation. */
-enum ComputationInfo {
-  /** Computation was successful. */
-  Success = 0,        
-  /** The provided data did not satisfy the prerequisites. */
-  NumericalIssue = 1, 
-  /** Iterative procedure did not converge. */
-  NoConvergence = 2,
-  /** The inputs are invalid, or the algorithm has been improperly called.
-    * When assertions are enabled, such errors trigger an assert. */
-  InvalidInput = 3
-};
-
-/** \ingroup enums
-  * Enum used to specify how a particular transformation is stored in a matrix.
-  * \sa Transform, Hyperplane::transform(). */
-enum TransformTraits {
-  /** Transformation is an isometry. */
-  Isometry      = 0x1,
-  /** Transformation is an affine transformation stored as a (Dim+1)^2 matrix whose last row is 
-    * assumed to be [0 ... 0 1]. */
-  Affine        = 0x2,
-  /** Transformation is an affine transformation stored as a (Dim) x (Dim+1) matrix. */
-  AffineCompact = 0x10 | Affine,
-  /** Transformation is a general projective transformation stored as a (Dim+1)^2 matrix. */
-  Projective    = 0x20
-};
-
-/** \internal \ingroup enums
-  * Enum used to choose between implementation depending on the computer architecture. */
-namespace Architecture
-{
-  enum Type {
-    Generic = 0x0,
-    SSE = 0x1,
-    AltiVec = 0x2,
-    VSX = 0x3,
-    NEON = 0x4,
-#if defined EIGEN_VECTORIZE_SSE
-    Target = SSE
-#elif defined EIGEN_VECTORIZE_ALTIVEC
-    Target = AltiVec
-#elif defined EIGEN_VECTORIZE_VSX
-    Target = VSX
-#elif defined EIGEN_VECTORIZE_NEON
-    Target = NEON
-#else
-    Target = Generic
-#endif
-  };
-}
-
-/** \internal \ingroup enums
-  * Enum used as template parameter in Product and product evaluators. */
-enum ProductImplType
-{ DefaultProduct=0, LazyProduct, AliasFreeProduct, CoeffBasedProductMode, LazyCoeffBasedProductMode, OuterProduct, InnerProduct, GemvProduct, GemmProduct };
-
-/** \internal \ingroup enums
-  * Enum used in experimental parallel implementation. */
-enum Action {GetAction, SetAction};
-
-/** The type used to identify a dense storage. */
-struct Dense {};
-
-/** The type used to identify a general sparse storage. */
-struct Sparse {};
-
-/** The type used to identify a general solver (factored) storage. */
-struct SolverStorage {};
-
-/** The type used to identify a permutation storage. */
-struct PermutationStorage {};
-
-/** The type used to identify a permutation storage. */
-struct TranspositionsStorage {};
-
-/** The type used to identify a matrix expression */
-struct MatrixXpr {};
-
-/** The type used to identify an array expression */
-struct ArrayXpr {};
-
-// An evaluator must define its shape. By default, it can be one of the following:
-struct DenseShape             { static std::string debugName() { return "DenseShape"; } };
-struct SolverShape            { static std::string debugName() { return "SolverShape"; } };
-struct HomogeneousShape       { static std::string debugName() { return "HomogeneousShape"; } };
-struct DiagonalShape          { static std::string debugName() { return "DiagonalShape"; } };
-struct BandShape              { static std::string debugName() { return "BandShape"; } };
-struct TriangularShape        { static std::string debugName() { return "TriangularShape"; } };
-struct SelfAdjointShape       { static std::string debugName() { return "SelfAdjointShape"; } };
-struct PermutationShape       { static std::string debugName() { return "PermutationShape"; } };
-struct TranspositionsShape    { static std::string debugName() { return "TranspositionsShape"; } };
-struct SparseShape            { static std::string debugName() { return "SparseShape"; } };
-
-namespace internal {
-
-  // random access iterators based on coeff*() accessors.
-struct IndexBased {};
-
-// evaluator based on iterators to access coefficients. 
-struct IteratorBased {};
-
-/** \internal
- * Constants for comparison functors
- */
-enum ComparisonName {
-  cmp_EQ = 0,
-  cmp_LT = 1,
-  cmp_LE = 2,
-  cmp_UNORD = 3,
-  cmp_NEQ = 4,
-  cmp_GT = 5,
-  cmp_GE = 6
-};
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CONSTANTS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/DisableStupidWarnings.h b/phonelibs/eigen/Eigen/src/Core/util/DisableStupidWarnings.h
deleted file mode 100755
index 7559e129c25af8..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/DisableStupidWarnings.h
+++ /dev/null
@@ -1,75 +0,0 @@
-#ifndef EIGEN_WARNINGS_DISABLED
-#define EIGEN_WARNINGS_DISABLED
-
-#ifdef _MSC_VER
-  // 4100 - unreferenced formal parameter (occurred e.g. in aligned_allocator::destroy(pointer p))
-  // 4101 - unreferenced local variable
-  // 4127 - conditional expression is constant
-  // 4181 - qualifier applied to reference type ignored
-  // 4211 - nonstandard extension used : redefined extern to static
-  // 4244 - 'argument' : conversion from 'type1' to 'type2', possible loss of data
-  // 4273 - QtAlignedMalloc, inconsistent DLL linkage
-  // 4324 - structure was padded due to declspec(align())
-  // 4503 - decorated name length exceeded, name was truncated
-  // 4512 - assignment operator could not be generated
-  // 4522 - 'class' : multiple assignment operators specified
-  // 4700 - uninitialized local variable 'xyz' used
-  // 4714 - function marked as __forceinline not inlined
-  // 4717 - 'function' : recursive on all control paths, function will cause runtime stack overflow
-  // 4800 - 'type' : forcing value to bool 'true' or 'false' (performance warning)
-  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
-    #pragma warning( push )
-  #endif
-  #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4503 4512 4522 4700 4714 4717 4800)
-
-#elif defined __INTEL_COMPILER
-  // 2196 - routine is both "inline" and "noinline" ("noinline" assumed)
-  //        ICC 12 generates this warning even without any inline keyword, when defining class methods 'inline' i.e. inside of class body
-  //        typedef that may be a reference type.
-  // 279  - controlling expression is constant
-  //        ICC 12 generates this warning on assert(constant_expression_depending_on_template_params) and frankly this is a legitimate use case.
-  // 1684 - conversion from pointer to same-sized integral type (potential portability problem)
-  // 2259 - non-pointer conversion from "Eigen::Index={ptrdiff_t={long}}" to "int" may lose significant bits
-  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
-    #pragma warning push
-  #endif
-  #pragma warning disable 2196 279 1684 2259
-
-#elif defined __clang__
-  // -Wconstant-logical-operand - warning: use of logical && with constant operand; switch to bitwise & or remove constant
-  //     this is really a stupid warning as it warns on compile-time expressions involving enums
-  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
-    #pragma clang diagnostic push
-  #endif
-  #pragma clang diagnostic ignored "-Wconstant-logical-operand"
-
-#elif defined __GNUC__ && __GNUC__>=6
-
-  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
-    #pragma GCC diagnostic push
-  #endif
-  #pragma GCC diagnostic ignored "-Wignored-attributes"
-
-#endif
-
-#if defined __NVCC__
-  // Disable the "statement is unreachable" message
-  #pragma diag_suppress code_is_unreachable
-  // Disable the "dynamic initialization in unreachable code" message
-  #pragma diag_suppress initialization_not_reachable
-  // Disable the "invalid error number" message that we get with older versions of nvcc
-  #pragma diag_suppress 1222
-  // Disable the "calling a __host__ function from a __host__ __device__ function is not allowed" messages (yes, there are many of them and they seem to change with every version of the compiler)
-  #pragma diag_suppress 2527
-  #pragma diag_suppress 2529
-  #pragma diag_suppress 2651
-  #pragma diag_suppress 2653
-  #pragma diag_suppress 2668
-  #pragma diag_suppress 2669
-  #pragma diag_suppress 2670
-  #pragma diag_suppress 2671
-  #pragma diag_suppress 2735
-  #pragma diag_suppress 2737
-#endif
-
-#endif // not EIGEN_WARNINGS_DISABLED
diff --git a/phonelibs/eigen/Eigen/src/Core/util/ForwardDeclarations.h b/phonelibs/eigen/Eigen/src/Core/util/ForwardDeclarations.h
deleted file mode 100644
index ea107393a7d7da..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/ForwardDeclarations.h
+++ /dev/null
@@ -1,302 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FORWARDDECLARATIONS_H
-#define EIGEN_FORWARDDECLARATIONS_H
-
-namespace Eigen {
-namespace internal {
-
-template<typename T> struct traits;
-
-// here we say once and for all that traits<const T> == traits<T>
-// When constness must affect traits, it has to be constness on template parameters on which T itself depends.
-// For example, traits<Map<const T> > != traits<Map<T> >, but
-//              traits<const Map<T> > == traits<Map<T> >
-template<typename T> struct traits<const T> : traits<T> {};
-
-template<typename Derived> struct has_direct_access
-{
-  enum { ret = (traits<Derived>::Flags & DirectAccessBit) ? 1 : 0 };
-};
-
-template<typename Derived> struct accessors_level
-{
-  enum { has_direct_access = (traits<Derived>::Flags & DirectAccessBit) ? 1 : 0,
-         has_write_access = (traits<Derived>::Flags & LvalueBit) ? 1 : 0,
-         value = has_direct_access ? (has_write_access ? DirectWriteAccessors : DirectAccessors)
-                                   : (has_write_access ? WriteAccessors       : ReadOnlyAccessors)
-  };
-};
-
-template<typename T> struct evaluator_traits;
-
-template< typename T> struct evaluator;
-
-} // end namespace internal
-
-template<typename T> struct NumTraits;
-
-template<typename Derived> struct EigenBase;
-template<typename Derived> class DenseBase;
-template<typename Derived> class PlainObjectBase;
-
-
-template<typename Derived,
-         int Level = internal::accessors_level<Derived>::value >
-class DenseCoeffsBase;
-
-template<typename _Scalar, int _Rows, int _Cols,
-         int _Options = AutoAlign |
-#if EIGEN_GNUC_AT(3,4)
-    // workaround a bug in at least gcc 3.4.6
-    // the innermost ?: ternary operator is misparsed. We write it slightly
-    // differently and this makes gcc 3.4.6 happy, but it's ugly.
-    // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
-    // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
-                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
-                          : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
-                          : Eigen::ColMajor ),
-#else
-                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
-                          : (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
-                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
-#endif
-         int _MaxRows = _Rows,
-         int _MaxCols = _Cols
-> class Matrix;
-
-template<typename Derived> class MatrixBase;
-template<typename Derived> class ArrayBase;
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed> class Flagged;
-template<typename ExpressionType, template <typename> class StorageBase > class NoAlias;
-template<typename ExpressionType> class NestByValue;
-template<typename ExpressionType> class ForceAlignedAccess;
-template<typename ExpressionType> class SwapWrapper;
-
-template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false> class Block;
-
-template<typename MatrixType, int Size=Dynamic> class VectorBlock;
-template<typename MatrixType> class Transpose;
-template<typename MatrixType> class Conjugate;
-template<typename NullaryOp, typename MatrixType>         class CwiseNullaryOp;
-template<typename UnaryOp,   typename MatrixType>         class CwiseUnaryOp;
-template<typename ViewOp,    typename MatrixType>         class CwiseUnaryView;
-template<typename BinaryOp,  typename Lhs, typename Rhs>  class CwiseBinaryOp;
-template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>  class CwiseTernaryOp;
-template<typename Decomposition, typename Rhstype>        class Solve;
-template<typename XprType>                                class Inverse;
-
-template<typename Lhs, typename Rhs, int Option = DefaultProduct> class Product;
-
-template<typename Derived> class DiagonalBase;
-template<typename _DiagonalVectorType> class DiagonalWrapper;
-template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime=SizeAtCompileTime> class DiagonalMatrix;
-template<typename MatrixType, typename DiagonalType, int ProductOrder> class DiagonalProduct;
-template<typename MatrixType, int Index = 0> class Diagonal;
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime, typename IndexType=int> class PermutationMatrix;
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime, typename IndexType=int> class Transpositions;
-template<typename Derived> class PermutationBase;
-template<typename Derived> class TranspositionsBase;
-template<typename _IndicesType> class PermutationWrapper;
-template<typename _IndicesType> class TranspositionsWrapper;
-
-template<typename Derived,
-         int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
-> class MapBase;
-template<int InnerStrideAtCompileTime, int OuterStrideAtCompileTime> class Stride;
-template<int Value = Dynamic> class InnerStride;
-template<int Value = Dynamic> class OuterStride;
-template<typename MatrixType, int MapOptions=Unaligned, typename StrideType = Stride<0,0> > class Map;
-template<typename Derived> class RefBase;
-template<typename PlainObjectType, int Options = 0,
-         typename StrideType = typename internal::conditional<PlainObjectType::IsVectorAtCompileTime,InnerStride<1>,OuterStride<> >::type > class Ref;
-
-template<typename Derived> class TriangularBase;
-template<typename MatrixType, unsigned int Mode> class TriangularView;
-template<typename MatrixType, unsigned int Mode> class SelfAdjointView;
-template<typename MatrixType> class SparseView;
-template<typename ExpressionType> class WithFormat;
-template<typename MatrixType> struct CommaInitializer;
-template<typename Derived> class ReturnByValue;
-template<typename ExpressionType> class ArrayWrapper;
-template<typename ExpressionType> class MatrixWrapper;
-template<typename Derived> class SolverBase;
-template<typename XprType> class InnerIterator;
-
-namespace internal {
-template<typename DecompositionType> struct kernel_retval_base;
-template<typename DecompositionType> struct kernel_retval;
-template<typename DecompositionType> struct image_retval_base;
-template<typename DecompositionType> struct image_retval;
-} // end namespace internal
-
-namespace internal {
-template<typename _Scalar, int Rows=Dynamic, int Cols=Dynamic, int Supers=Dynamic, int Subs=Dynamic, int Options=0> class BandMatrix;
-}
-
-namespace internal {
-template<typename Lhs, typename Rhs> struct product_type;
-
-template<bool> struct EnableIf;
-
-/** \internal
-  * \class product_evaluator
-  * Products need their own evaluator with more template arguments allowing for
-  * easier partial template specializations.
-  */
-template< typename T,
-          int ProductTag = internal::product_type<typename T::Lhs,typename T::Rhs>::ret,
-          typename LhsShape = typename evaluator_traits<typename T::Lhs>::Shape,
-          typename RhsShape = typename evaluator_traits<typename T::Rhs>::Shape,
-          typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
-          typename RhsScalar = typename traits<typename T::Rhs>::Scalar
-        > struct product_evaluator;
-}
-
-template<typename Lhs, typename Rhs,
-         int ProductType = internal::product_type<Lhs,Rhs>::value>
-struct ProductReturnType;
-
-// this is a workaround for sun CC
-template<typename Lhs, typename Rhs> struct LazyProductReturnType;
-
-namespace internal {
-
-// Provides scalar/packet-wise product and product with accumulation
-// with optional conjugation of the arguments.
-template<typename LhsScalar, typename RhsScalar, bool ConjLhs=false, bool ConjRhs=false> struct conj_helper;
-
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_sum_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_difference_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_conj_product_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_min_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_max_op;
-template<typename Scalar> struct scalar_opposite_op;
-template<typename Scalar> struct scalar_conjugate_op;
-template<typename Scalar> struct scalar_real_op;
-template<typename Scalar> struct scalar_imag_op;
-template<typename Scalar> struct scalar_abs_op;
-template<typename Scalar> struct scalar_abs2_op;
-template<typename Scalar> struct scalar_sqrt_op;
-template<typename Scalar> struct scalar_rsqrt_op;
-template<typename Scalar> struct scalar_exp_op;
-template<typename Scalar> struct scalar_log_op;
-template<typename Scalar> struct scalar_cos_op;
-template<typename Scalar> struct scalar_sin_op;
-template<typename Scalar> struct scalar_acos_op;
-template<typename Scalar> struct scalar_asin_op;
-template<typename Scalar> struct scalar_tan_op;
-template<typename Scalar> struct scalar_inverse_op;
-template<typename Scalar> struct scalar_square_op;
-template<typename Scalar> struct scalar_cube_op;
-template<typename Scalar, typename NewType> struct scalar_cast_op;
-template<typename Scalar> struct scalar_random_op;
-template<typename Scalar> struct scalar_constant_op;
-template<typename Scalar> struct scalar_identity_op;
-template<typename Scalar,bool iscpx> struct scalar_sign_op;
-template<typename Scalar,typename ScalarExponent> struct scalar_pow_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_hypot_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_product_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_quotient_op;
-
-// SpecialFunctions module
-template<typename Scalar> struct scalar_lgamma_op;
-template<typename Scalar> struct scalar_digamma_op;
-template<typename Scalar> struct scalar_erf_op;
-template<typename Scalar> struct scalar_erfc_op;
-template<typename Scalar> struct scalar_igamma_op;
-template<typename Scalar> struct scalar_igammac_op;
-template<typename Scalar> struct scalar_zeta_op;
-template<typename Scalar> struct scalar_betainc_op;
-
-} // end namespace internal
-
-struct IOFormat;
-
-// Array module
-template<typename _Scalar, int _Rows, int _Cols,
-         int _Options = AutoAlign |
-#if EIGEN_GNUC_AT(3,4)
-    // workaround a bug in at least gcc 3.4.6
-    // the innermost ?: ternary operator is misparsed. We write it slightly
-    // differently and this makes gcc 3.4.6 happy, but it's ugly.
-    // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
-    // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
-                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
-                          : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
-                          : Eigen::ColMajor ),
-#else
-                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
-                          : (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
-                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
-#endif
-         int _MaxRows = _Rows, int _MaxCols = _Cols> class Array;
-template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType> class Select;
-template<typename MatrixType, typename BinaryOp, int Direction> class PartialReduxExpr;
-template<typename ExpressionType, int Direction> class VectorwiseOp;
-template<typename MatrixType,int RowFactor,int ColFactor> class Replicate;
-template<typename MatrixType, int Direction = BothDirections> class Reverse;
-
-template<typename MatrixType> class FullPivLU;
-template<typename MatrixType> class PartialPivLU;
-namespace internal {
-template<typename MatrixType> struct inverse_impl;
-}
-template<typename MatrixType> class HouseholderQR;
-template<typename MatrixType> class ColPivHouseholderQR;
-template<typename MatrixType> class FullPivHouseholderQR;
-template<typename MatrixType> class CompleteOrthogonalDecomposition;
-template<typename MatrixType, int QRPreconditioner = ColPivHouseholderQRPreconditioner> class JacobiSVD;
-template<typename MatrixType> class BDCSVD;
-template<typename MatrixType, int UpLo = Lower> class LLT;
-template<typename MatrixType, int UpLo = Lower> class LDLT;
-template<typename VectorsType, typename CoeffsType, int Side=OnTheLeft> class HouseholderSequence;
-template<typename Scalar>     class JacobiRotation;
-
-// Geometry module:
-template<typename Derived, int _Dim> class RotationBase;
-template<typename Lhs, typename Rhs> class Cross;
-template<typename Derived> class QuaternionBase;
-template<typename Scalar> class Rotation2D;
-template<typename Scalar> class AngleAxis;
-template<typename Scalar,int Dim> class Translation;
-template<typename Scalar,int Dim> class AlignedBox;
-template<typename Scalar, int Options = AutoAlign> class Quaternion;
-template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
-template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
-template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
-template<typename Scalar> class UniformScaling;
-template<typename MatrixType,int Direction> class Homogeneous;
-
-// Sparse module:
-template<typename Derived> class SparseMatrixBase;
-
-// MatrixFunctions module
-template<typename Derived> struct MatrixExponentialReturnValue;
-template<typename Derived> class MatrixFunctionReturnValue;
-template<typename Derived> class MatrixSquareRootReturnValue;
-template<typename Derived> class MatrixLogarithmReturnValue;
-template<typename Derived> class MatrixPowerReturnValue;
-template<typename Derived> class MatrixComplexPowerReturnValue;
-
-namespace internal {
-template <typename Scalar>
-struct stem_function
-{
-  typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-  typedef ComplexScalar type(ComplexScalar, int);
-};
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_FORWARDDECLARATIONS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/MKL_support.h b/phonelibs/eigen/Eigen/src/Core/util/MKL_support.h
deleted file mode 100755
index 26b59669ec6dc2..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/MKL_support.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
- *   Include file with common MKL declarations
- ********************************************************************************
-*/
-
-#ifndef EIGEN_MKL_SUPPORT_H
-#define EIGEN_MKL_SUPPORT_H
-
-#ifdef EIGEN_USE_MKL_ALL
-  #ifndef EIGEN_USE_BLAS
-    #define EIGEN_USE_BLAS
-  #endif
-  #ifndef EIGEN_USE_LAPACKE
-    #define EIGEN_USE_LAPACKE
-  #endif
-  #ifndef EIGEN_USE_MKL_VML
-    #define EIGEN_USE_MKL_VML
-  #endif
-#endif
-
-#ifdef EIGEN_USE_LAPACKE_STRICT
-  #define EIGEN_USE_LAPACKE
-#endif
-
-#if defined(EIGEN_USE_MKL_VML)
-  #define EIGEN_USE_MKL
-#endif
-
-#if defined EIGEN_USE_MKL
-#   include <mkl.h> 
-/*Check IMKL version for compatibility: < 10.3 is not usable with Eigen*/
-#   ifndef INTEL_MKL_VERSION
-#       undef EIGEN_USE_MKL /* INTEL_MKL_VERSION is not even defined on older versions */
-#   elif INTEL_MKL_VERSION < 100305    /* the intel-mkl-103-release-notes say this was when the lapacke.h interface was added*/
-#       undef EIGEN_USE_MKL
-#   endif
-#   ifndef EIGEN_USE_MKL
-    /*If the MKL version is too old, undef everything*/
-#       undef   EIGEN_USE_MKL_ALL
-#       undef   EIGEN_USE_LAPACKE
-#       undef   EIGEN_USE_MKL_VML
-#       undef   EIGEN_USE_LAPACKE_STRICT
-#       undef   EIGEN_USE_LAPACKE
-#   endif
-#endif
-
-#if defined EIGEN_USE_MKL
-
-#define EIGEN_MKL_VML_THRESHOLD 128
-
-/* MKL_DOMAIN_BLAS, etc are defined only in 10.3 update 7 */
-/* MKL_BLAS, etc are not defined in 11.2 */
-#ifdef MKL_DOMAIN_ALL
-#define EIGEN_MKL_DOMAIN_ALL MKL_DOMAIN_ALL
-#else
-#define EIGEN_MKL_DOMAIN_ALL MKL_ALL
-#endif
-
-#ifdef MKL_DOMAIN_BLAS
-#define EIGEN_MKL_DOMAIN_BLAS MKL_DOMAIN_BLAS
-#else
-#define EIGEN_MKL_DOMAIN_BLAS MKL_BLAS
-#endif
-
-#ifdef MKL_DOMAIN_FFT
-#define EIGEN_MKL_DOMAIN_FFT MKL_DOMAIN_FFT
-#else
-#define EIGEN_MKL_DOMAIN_FFT MKL_FFT
-#endif
-
-#ifdef MKL_DOMAIN_VML
-#define EIGEN_MKL_DOMAIN_VML MKL_DOMAIN_VML
-#else
-#define EIGEN_MKL_DOMAIN_VML MKL_VML
-#endif
-
-#ifdef MKL_DOMAIN_PARDISO
-#define EIGEN_MKL_DOMAIN_PARDISO MKL_DOMAIN_PARDISO
-#else
-#define EIGEN_MKL_DOMAIN_PARDISO MKL_PARDISO
-#endif
-#endif
-
-namespace Eigen {
-
-typedef std::complex<double> dcomplex;
-typedef std::complex<float>  scomplex;
-
-#if defined(EIGEN_USE_MKL)
-typedef MKL_INT BlasIndex;
-#else
-typedef int BlasIndex;
-#endif
-
-} // end namespace Eigen
-
-#if defined(EIGEN_USE_BLAS)
-#include "../../misc/blas.h"
-#endif
-
-#endif // EIGEN_MKL_SUPPORT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/Macros.h b/phonelibs/eigen/Eigen/src/Core/util/Macros.h
deleted file mode 100644
index 427d3cd6bd7d66..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/Macros.h
+++ /dev/null
@@ -1,992 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MACROS_H
-#define EIGEN_MACROS_H
-
-#define EIGEN_WORLD_VERSION 3
-#define EIGEN_MAJOR_VERSION 3
-#define EIGEN_MINOR_VERSION 3
-
-#define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
-                                      (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
-                                                                 EIGEN_MINOR_VERSION>=z))))
-
-// Compiler identification, EIGEN_COMP_*
-
-/// \internal EIGEN_COMP_GNUC set to 1 for all compilers compatible with GCC
-#ifdef __GNUC__
-  #define EIGEN_COMP_GNUC 1
-#else
-  #define EIGEN_COMP_GNUC 0
-#endif
-
-/// \internal EIGEN_COMP_CLANG set to major+minor version (e.g., 307 for clang 3.7) if the compiler is clang
-#if defined(__clang__)
-  #define EIGEN_COMP_CLANG (__clang_major__*100+__clang_minor__)
-#else
-  #define EIGEN_COMP_CLANG 0
-#endif
-
-
-/// \internal EIGEN_COMP_LLVM set to 1 if the compiler backend is llvm
-#if defined(__llvm__)
-  #define EIGEN_COMP_LLVM 1
-#else
-  #define EIGEN_COMP_LLVM 0
-#endif
-
-/// \internal EIGEN_COMP_ICC set to __INTEL_COMPILER if the compiler is Intel compiler, 0 otherwise
-#if defined(__INTEL_COMPILER)
-  #define EIGEN_COMP_ICC __INTEL_COMPILER
-#else
-  #define EIGEN_COMP_ICC 0
-#endif
-
-/// \internal EIGEN_COMP_MINGW set to 1 if the compiler is mingw
-#if defined(__MINGW32__)
-  #define EIGEN_COMP_MINGW 1
-#else
-  #define EIGEN_COMP_MINGW 0
-#endif
-
-/// \internal EIGEN_COMP_SUNCC set to 1 if the compiler is Solaris Studio
-#if defined(__SUNPRO_CC)
-  #define EIGEN_COMP_SUNCC 1
-#else
-  #define EIGEN_COMP_SUNCC 0
-#endif
-
-/// \internal EIGEN_COMP_MSVC set to _MSC_VER if the compiler is Microsoft Visual C++, 0 otherwise.
-#if defined(_MSC_VER)
-  #define EIGEN_COMP_MSVC _MSC_VER
-#else
-  #define EIGEN_COMP_MSVC 0
-#endif
-
-// For the record, here is a table summarizing the possible values for EIGEN_COMP_MSVC:
-//  name  ver   MSC_VER
-//  2008    9      1500
-//  2010   10      1600
-//  2012   11      1700
-//  2013   12      1800
-//  2015   14      1900
-//  "15"   15      1900
-
-/// \internal EIGEN_COMP_MSVC_STRICT set to 1 if the compiler is really Microsoft Visual C++ and not ,e.g., ICC or clang-cl
-#if EIGEN_COMP_MSVC && !(EIGEN_COMP_ICC || EIGEN_COMP_LLVM || EIGEN_COMP_CLANG)
-  #define EIGEN_COMP_MSVC_STRICT _MSC_VER
-#else
-  #define EIGEN_COMP_MSVC_STRICT 0
-#endif
-
-/// \internal EIGEN_COMP_IBM set to 1 if the compiler is IBM XL C++
-#if defined(__IBMCPP__) || defined(__xlc__)
-  #define EIGEN_COMP_IBM 1
-#else
-  #define EIGEN_COMP_IBM 0
-#endif
-
-/// \internal EIGEN_COMP_PGI set to 1 if the compiler is Portland Group Compiler
-#if defined(__PGI)
-  #define EIGEN_COMP_PGI 1
-#else
-  #define EIGEN_COMP_PGI 0
-#endif
-
-/// \internal EIGEN_COMP_ARM set to 1 if the compiler is ARM Compiler
-#if defined(__CC_ARM) || defined(__ARMCC_VERSION)
-  #define EIGEN_COMP_ARM 1
-#else
-  #define EIGEN_COMP_ARM 0
-#endif
-
-/// \internal EIGEN_COMP_ARM set to 1 if the compiler is ARM Compiler
-#if defined(__EMSCRIPTEN__)
-  #define EIGEN_COMP_EMSCRIPTEN 1
-#else
-  #define EIGEN_COMP_EMSCRIPTEN 0
-#endif
-
-
-/// \internal EIGEN_GNUC_STRICT set to 1 if the compiler is really GCC and not a compatible compiler (e.g., ICC, clang, mingw, etc.)
-#if EIGEN_COMP_GNUC && !(EIGEN_COMP_CLANG || EIGEN_COMP_ICC || EIGEN_COMP_MINGW || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM || EIGEN_COMP_EMSCRIPTEN)
-  #define EIGEN_COMP_GNUC_STRICT 1
-#else
-  #define EIGEN_COMP_GNUC_STRICT 0
-#endif
-
-
-#if EIGEN_COMP_GNUC
-  #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__==x && __GNUC_MINOR__>=y) || __GNUC__>x)
-  #define EIGEN_GNUC_AT_MOST(x,y)  ((__GNUC__==x && __GNUC_MINOR__<=y) || __GNUC__<x)
-  #define EIGEN_GNUC_AT(x,y)       ( __GNUC__==x && __GNUC_MINOR__==y )
-#else
-  #define EIGEN_GNUC_AT_LEAST(x,y) 0
-  #define EIGEN_GNUC_AT_MOST(x,y)  0
-  #define EIGEN_GNUC_AT(x,y)       0
-#endif
-
-// FIXME: could probably be removed as we do not support gcc 3.x anymore
-#if EIGEN_COMP_GNUC && (__GNUC__ <= 3)
-#define EIGEN_GCC3_OR_OLDER 1
-#else
-#define EIGEN_GCC3_OR_OLDER 0
-#endif
-
-
-// Architecture identification, EIGEN_ARCH_*
-
-#if defined(__x86_64__) || defined(_M_X64) || defined(__amd64)
-  #define EIGEN_ARCH_x86_64 1
-#else
-  #define EIGEN_ARCH_x86_64 0
-#endif
-
-#if defined(__i386__) || defined(_M_IX86) || defined(_X86_) || defined(__i386)
-  #define EIGEN_ARCH_i386 1
-#else
-  #define EIGEN_ARCH_i386 0
-#endif
-
-#if EIGEN_ARCH_x86_64 || EIGEN_ARCH_i386
-  #define EIGEN_ARCH_i386_OR_x86_64 1
-#else
-  #define EIGEN_ARCH_i386_OR_x86_64 0
-#endif
-
-/// \internal EIGEN_ARCH_ARM set to 1 if the architecture is ARM
-#if defined(__arm__)
-  #define EIGEN_ARCH_ARM 1
-#else
-  #define EIGEN_ARCH_ARM 0
-#endif
-
-/// \internal EIGEN_ARCH_ARM64 set to 1 if the architecture is ARM64
-#if defined(__aarch64__)
-  #define EIGEN_ARCH_ARM64 1
-#else
-  #define EIGEN_ARCH_ARM64 0
-#endif
-
-#if EIGEN_ARCH_ARM || EIGEN_ARCH_ARM64
-  #define EIGEN_ARCH_ARM_OR_ARM64 1
-#else
-  #define EIGEN_ARCH_ARM_OR_ARM64 0
-#endif
-
-/// \internal EIGEN_ARCH_MIPS set to 1 if the architecture is MIPS
-#if defined(__mips__) || defined(__mips)
-  #define EIGEN_ARCH_MIPS 1
-#else
-  #define EIGEN_ARCH_MIPS 0
-#endif
-
-/// \internal EIGEN_ARCH_SPARC set to 1 if the architecture is SPARC
-#if defined(__sparc__) || defined(__sparc)
-  #define EIGEN_ARCH_SPARC 1
-#else
-  #define EIGEN_ARCH_SPARC 0
-#endif
-
-/// \internal EIGEN_ARCH_IA64 set to 1 if the architecture is Intel Itanium
-#if defined(__ia64__)
-  #define EIGEN_ARCH_IA64 1
-#else
-  #define EIGEN_ARCH_IA64 0
-#endif
-
-/// \internal EIGEN_ARCH_PPC set to 1 if the architecture is PowerPC
-#if defined(__powerpc__) || defined(__ppc__) || defined(_M_PPC)
-  #define EIGEN_ARCH_PPC 1
-#else
-  #define EIGEN_ARCH_PPC 0
-#endif
-
-
-
-// Operating system identification, EIGEN_OS_*
-
-/// \internal EIGEN_OS_UNIX set to 1 if the OS is a unix variant
-#if defined(__unix__) || defined(__unix)
-  #define EIGEN_OS_UNIX 1
-#else
-  #define EIGEN_OS_UNIX 0
-#endif
-
-/// \internal EIGEN_OS_LINUX set to 1 if the OS is based on Linux kernel
-#if defined(__linux__)
-  #define EIGEN_OS_LINUX 1
-#else
-  #define EIGEN_OS_LINUX 0
-#endif
-
-/// \internal EIGEN_OS_ANDROID set to 1 if the OS is Android
-// note: ANDROID is defined when using ndk_build, __ANDROID__ is defined when using a standalone toolchain.
-#if defined(__ANDROID__) || defined(ANDROID)
-  #define EIGEN_OS_ANDROID 1
-#else
-  #define EIGEN_OS_ANDROID 0
-#endif
-
-/// \internal EIGEN_OS_GNULINUX set to 1 if the OS is GNU Linux and not Linux-based OS (e.g., not android)
-#if defined(__gnu_linux__) && !(EIGEN_OS_ANDROID)
-  #define EIGEN_OS_GNULINUX 1
-#else
-  #define EIGEN_OS_GNULINUX 0
-#endif
-
-/// \internal EIGEN_OS_BSD set to 1 if the OS is a BSD variant
-#if defined(__FreeBSD__) || defined(__NetBSD__) || defined(__OpenBSD__) || defined(__bsdi__) || defined(__DragonFly__)
-  #define EIGEN_OS_BSD 1
-#else
-  #define EIGEN_OS_BSD 0
-#endif
-
-/// \internal EIGEN_OS_MAC set to 1 if the OS is MacOS
-#if defined(__APPLE__)
-  #define EIGEN_OS_MAC 1
-#else
-  #define EIGEN_OS_MAC 0
-#endif
-
-/// \internal EIGEN_OS_QNX set to 1 if the OS is QNX
-#if defined(__QNX__)
-  #define EIGEN_OS_QNX 1
-#else
-  #define EIGEN_OS_QNX 0
-#endif
-
-/// \internal EIGEN_OS_WIN set to 1 if the OS is Windows based
-#if defined(_WIN32)
-  #define EIGEN_OS_WIN 1
-#else
-  #define EIGEN_OS_WIN 0
-#endif
-
-/// \internal EIGEN_OS_WIN64 set to 1 if the OS is Windows 64bits
-#if defined(_WIN64)
-  #define EIGEN_OS_WIN64 1
-#else
-  #define EIGEN_OS_WIN64 0
-#endif
-
-/// \internal EIGEN_OS_WINCE set to 1 if the OS is Windows CE
-#if defined(_WIN32_WCE)
-  #define EIGEN_OS_WINCE 1
-#else
-  #define EIGEN_OS_WINCE 0
-#endif
-
-/// \internal EIGEN_OS_CYGWIN set to 1 if the OS is Windows/Cygwin
-#if defined(__CYGWIN__)
-  #define EIGEN_OS_CYGWIN 1
-#else
-  #define EIGEN_OS_CYGWIN 0
-#endif
-
-/// \internal EIGEN_OS_WIN_STRICT set to 1 if the OS is really Windows and not some variants
-#if EIGEN_OS_WIN && !( EIGEN_OS_WINCE || EIGEN_OS_CYGWIN )
-  #define EIGEN_OS_WIN_STRICT 1
-#else
-  #define EIGEN_OS_WIN_STRICT 0
-#endif
-
-/// \internal EIGEN_OS_SUN set to 1 if the OS is SUN
-#if (defined(sun) || defined(__sun)) && !(defined(__SVR4) || defined(__svr4__))
-  #define EIGEN_OS_SUN 1
-#else
-  #define EIGEN_OS_SUN 0
-#endif
-
-/// \internal EIGEN_OS_SOLARIS set to 1 if the OS is Solaris
-#if (defined(sun) || defined(__sun)) && (defined(__SVR4) || defined(__svr4__))
-  #define EIGEN_OS_SOLARIS 1
-#else
-  #define EIGEN_OS_SOLARIS 0
-#endif
-
-
-
-#if EIGEN_GNUC_AT_MOST(4,3) && !EIGEN_COMP_CLANG
-  // see bug 89
-  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
-#else
-  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 1
-#endif
-
-// This macro can be used to prevent from macro expansion, e.g.:
-//   std::max EIGEN_NOT_A_MACRO(a,b)
-#define EIGEN_NOT_A_MACRO
-
-#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::RowMajor
-#else
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::ColMajor
-#endif
-
-#ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
-#define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t
-#endif
-
-// Cross compiler wrapper around LLVM's __has_builtin
-#ifdef __has_builtin
-#  define EIGEN_HAS_BUILTIN(x) __has_builtin(x)
-#else
-#  define EIGEN_HAS_BUILTIN(x) 0
-#endif
-
-// A Clang feature extension to determine compiler features.
-// We use it to determine 'cxx_rvalue_references'
-#ifndef __has_feature
-# define __has_feature(x) 0
-#endif
-
-// Upperbound on the C++ version to use.
-// Expected values are 03, 11, 14, 17, etc.
-// By default, let's use an arbitrarily large C++ version.
-#ifndef EIGEN_MAX_CPP_VER
-#define EIGEN_MAX_CPP_VER 99
-#endif
-
-#if EIGEN_MAX_CPP_VER>=11 && (defined(__cplusplus) && (__cplusplus >= 201103L) || EIGEN_COMP_MSVC >= 1900)
-#define EIGEN_HAS_CXX11 1
-#else
-#define EIGEN_HAS_CXX11 0
-#endif
-
-
-// Do we support r-value references?
-#ifndef EIGEN_HAS_RVALUE_REFERENCES
-#if EIGEN_MAX_CPP_VER>=11 && \
-    (__has_feature(cxx_rvalue_references) || \
-    (defined(__cplusplus) && __cplusplus >= 201103L) || \
-    (EIGEN_COMP_MSVC >= 1600))
-  #define EIGEN_HAS_RVALUE_REFERENCES 1
-#else
-  #define EIGEN_HAS_RVALUE_REFERENCES 0
-#endif
-#endif
-
-// Does the compiler support C99?
-#ifndef EIGEN_HAS_C99_MATH
-#if EIGEN_MAX_CPP_VER>=11 && \
-    ((defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901))       \
-  || (defined(__GNUC__) && defined(_GLIBCXX_USE_C99)) \
-  || (defined(_LIBCPP_VERSION) && !defined(_MSC_VER)))
-  #define EIGEN_HAS_C99_MATH 1
-#else
-  #define EIGEN_HAS_C99_MATH 0
-#endif
-#endif
-
-// Does the compiler support result_of?
-#ifndef EIGEN_HAS_STD_RESULT_OF
-#if EIGEN_MAX_CPP_VER>=11 && ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)))
-#define EIGEN_HAS_STD_RESULT_OF 1
-#else
-#define EIGEN_HAS_STD_RESULT_OF 0
-#endif
-#endif
-
-// Does the compiler support variadic templates?
-#ifndef EIGEN_HAS_VARIADIC_TEMPLATES
-#if EIGEN_MAX_CPP_VER>=11 && (__cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900) \
-  && ( !defined(__NVCC__) || !EIGEN_ARCH_ARM_OR_ARM64 || (defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000) )
-    // ^^ Disable the use of variadic templates when compiling with versions of nvcc older than 8.0 on ARM devices:
-    //    this prevents nvcc from crashing when compiling Eigen on Tegra X1
-#define EIGEN_HAS_VARIADIC_TEMPLATES 1
-#else
-#define EIGEN_HAS_VARIADIC_TEMPLATES 0
-#endif
-#endif
-
-// Does the compiler fully support const expressions? (as in c++14)
-#ifndef EIGEN_HAS_CONSTEXPR
-
-#ifdef __CUDACC__
-// Const expressions are supported provided that c++11 is enabled and we're using either clang or nvcc 7.5 or above
-#if EIGEN_MAX_CPP_VER>=14 && (__cplusplus > 199711L && defined(__CUDACC_VER__) && (EIGEN_COMP_CLANG || __CUDACC_VER__ >= 70500))
-  #define EIGEN_HAS_CONSTEXPR 1
-#endif
-#elif EIGEN_MAX_CPP_VER>=14 && (__has_feature(cxx_relaxed_constexpr) || (defined(__cplusplus) && __cplusplus >= 201402L) || \
-  (EIGEN_GNUC_AT_LEAST(4,8) && (__cplusplus > 199711L)))
-#define EIGEN_HAS_CONSTEXPR 1
-#endif
-
-#ifndef EIGEN_HAS_CONSTEXPR
-#define EIGEN_HAS_CONSTEXPR 0
-#endif
-
-#endif
-
-// Does the compiler support C++11 math?
-// Let's be conservative and enable the default C++11 implementation only if we are sure it exists
-#ifndef EIGEN_HAS_CXX11_MATH
-  #if EIGEN_MAX_CPP_VER>=11 && ((__cplusplus > 201103L) || (__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_MSVC || EIGEN_COMP_ICC)  \
-      && (EIGEN_ARCH_i386_OR_x86_64) && (EIGEN_OS_GNULINUX || EIGEN_OS_WIN_STRICT || EIGEN_OS_MAC))
-    #define EIGEN_HAS_CXX11_MATH 1
-  #else
-    #define EIGEN_HAS_CXX11_MATH 0
-  #endif
-#endif
-
-// Does the compiler support proper C++11 containers?
-#ifndef EIGEN_HAS_CXX11_CONTAINERS
-  #if    EIGEN_MAX_CPP_VER>=11 && \
-         ((__cplusplus > 201103L) \
-      || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
-      || EIGEN_COMP_MSVC >= 1900)
-    #define EIGEN_HAS_CXX11_CONTAINERS 1
-  #else
-    #define EIGEN_HAS_CXX11_CONTAINERS 0
-  #endif
-#endif
-
-// Does the compiler support C++11 noexcept?
-#ifndef EIGEN_HAS_CXX11_NOEXCEPT
-  #if    EIGEN_MAX_CPP_VER>=11 && \
-         (__has_feature(cxx_noexcept) \
-      || (__cplusplus > 201103L) \
-      || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
-      || EIGEN_COMP_MSVC >= 1900)
-    #define EIGEN_HAS_CXX11_NOEXCEPT 1
-  #else
-    #define EIGEN_HAS_CXX11_NOEXCEPT 0
-  #endif
-#endif
-
-/** Allows to disable some optimizations which might affect the accuracy of the result.
-  * Such optimization are enabled by default, and set EIGEN_FAST_MATH to 0 to disable them.
-  * They currently include:
-  *   - single precision ArrayBase::sin() and ArrayBase::cos() for SSE and AVX vectorization.
-  */
-#ifndef EIGEN_FAST_MATH
-#define EIGEN_FAST_MATH 1
-#endif
-
-#define EIGEN_DEBUG_VAR(x) std::cerr << #x << " = " << x << std::endl;
-
-// concatenate two tokens
-#define EIGEN_CAT2(a,b) a ## b
-#define EIGEN_CAT(a,b) EIGEN_CAT2(a,b)
-
-#define EIGEN_COMMA ,
-
-// convert a token to a string
-#define EIGEN_MAKESTRING2(a) #a
-#define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
-
-// EIGEN_STRONG_INLINE is a stronger version of the inline, using __forceinline on MSVC,
-// but it still doesn't use GCC's always_inline. This is useful in (common) situations where MSVC needs forceinline
-// but GCC is still doing fine with just inline.
-#if EIGEN_COMP_MSVC || EIGEN_COMP_ICC
-#define EIGEN_STRONG_INLINE __forceinline
-#else
-#define EIGEN_STRONG_INLINE inline
-#endif
-
-// EIGEN_ALWAYS_INLINE is the stronget, it has the effect of making the function inline and adding every possible
-// attribute to maximize inlining. This should only be used when really necessary: in particular,
-// it uses __attribute__((always_inline)) on GCC, which most of the time is useless and can severely harm compile times.
-// FIXME with the always_inline attribute,
-// gcc 3.4.x and 4.1 reports the following compilation error:
-//   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
-//    : function body not available
-//   See also bug 1367
-#if EIGEN_GNUC_AT_LEAST(4,2)
-#define EIGEN_ALWAYS_INLINE __attribute__((always_inline)) inline
-#else
-#define EIGEN_ALWAYS_INLINE EIGEN_STRONG_INLINE
-#endif
-
-#if EIGEN_COMP_GNUC
-#define EIGEN_DONT_INLINE __attribute__((noinline))
-#elif EIGEN_COMP_MSVC
-#define EIGEN_DONT_INLINE __declspec(noinline)
-#else
-#define EIGEN_DONT_INLINE
-#endif
-
-#if EIGEN_COMP_GNUC
-#define EIGEN_PERMISSIVE_EXPR __extension__
-#else
-#define EIGEN_PERMISSIVE_EXPR
-#endif
-
-// this macro allows to get rid of linking errors about multiply defined functions.
-//  - static is not very good because it prevents definitions from different object files to be merged.
-//           So static causes the resulting linked executable to be bloated with multiple copies of the same function.
-//  - inline is not perfect either as it unwantedly hints the compiler toward inlining the function.
-#define EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-#define EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS inline
-
-#ifdef NDEBUG
-# ifndef EIGEN_NO_DEBUG
-#  define EIGEN_NO_DEBUG
-# endif
-#endif
-
-// eigen_plain_assert is where we implement the workaround for the assert() bug in GCC <= 4.3, see bug 89
-#ifdef EIGEN_NO_DEBUG
-  #define eigen_plain_assert(x)
-#else
-  #if EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO
-    namespace Eigen {
-    namespace internal {
-    inline bool copy_bool(bool b) { return b; }
-    }
-    }
-    #define eigen_plain_assert(x) assert(x)
-  #else
-    // work around bug 89
-    #include <cstdlib>   // for abort
-    #include <iostream>  // for std::cerr
-
-    namespace Eigen {
-    namespace internal {
-    // trivial function copying a bool. Must be EIGEN_DONT_INLINE, so we implement it after including Eigen headers.
-    // see bug 89.
-    namespace {
-    EIGEN_DONT_INLINE bool copy_bool(bool b) { return b; }
-    }
-    inline void assert_fail(const char *condition, const char *function, const char *file, int line)
-    {
-      std::cerr << "assertion failed: " << condition << " in function " << function << " at " << file << ":" << line << std::endl;
-      abort();
-    }
-    }
-    }
-    #define eigen_plain_assert(x) \
-      do { \
-        if(!Eigen::internal::copy_bool(x)) \
-          Eigen::internal::assert_fail(EIGEN_MAKESTRING(x), __PRETTY_FUNCTION__, __FILE__, __LINE__); \
-      } while(false)
-  #endif
-#endif
-
-// eigen_assert can be overridden
-#ifndef eigen_assert
-#define eigen_assert(x) eigen_plain_assert(x)
-#endif
-
-#ifdef EIGEN_INTERNAL_DEBUGGING
-#define eigen_internal_assert(x) eigen_assert(x)
-#else
-#define eigen_internal_assert(x)
-#endif
-
-#ifdef EIGEN_NO_DEBUG
-#define EIGEN_ONLY_USED_FOR_DEBUG(x) EIGEN_UNUSED_VARIABLE(x)
-#else
-#define EIGEN_ONLY_USED_FOR_DEBUG(x)
-#endif
-
-#ifndef EIGEN_NO_DEPRECATED_WARNING
-  #if EIGEN_COMP_GNUC
-    #define EIGEN_DEPRECATED __attribute__((deprecated))
-  #elif EIGEN_COMP_MSVC
-    #define EIGEN_DEPRECATED __declspec(deprecated)
-  #else
-    #define EIGEN_DEPRECATED
-  #endif
-#else
-  #define EIGEN_DEPRECATED
-#endif
-
-#if EIGEN_COMP_GNUC
-#define EIGEN_UNUSED __attribute__((unused))
-#else
-#define EIGEN_UNUSED
-#endif
-
-// Suppresses 'unused variable' warnings.
-namespace Eigen {
-  namespace internal {
-    template<typename T> EIGEN_DEVICE_FUNC void ignore_unused_variable(const T&) {}
-  }
-}
-#define EIGEN_UNUSED_VARIABLE(var) Eigen::internal::ignore_unused_variable(var);
-
-#if !defined(EIGEN_ASM_COMMENT)
-  #if EIGEN_COMP_GNUC && (EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64)
-    #define EIGEN_ASM_COMMENT(X)  __asm__("#" X)
-  #else
-    #define EIGEN_ASM_COMMENT(X)
-  #endif
-#endif
-
-
-//------------------------------------------------------------------------------------------
-// Static and dynamic alignment control
-//
-// The main purpose of this section is to define EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES
-// as the maximal boundary in bytes on which dynamically and statically allocated data may be alignment respectively.
-// The values of EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES can be specified by the user. If not,
-// a default value is automatically computed based on architecture, compiler, and OS.
-//
-// This section also defines macros EIGEN_ALIGN_TO_BOUNDARY(N) and the shortcuts EIGEN_ALIGN{8,16,32,_MAX}
-// to be used to declare statically aligned buffers.
-//------------------------------------------------------------------------------------------
-
-
-/* EIGEN_ALIGN_TO_BOUNDARY(n) forces data to be n-byte aligned. This is used to satisfy SIMD requirements.
- * However, we do that EVEN if vectorization (EIGEN_VECTORIZE) is disabled,
- * so that vectorization doesn't affect binary compatibility.
- *
- * If we made alignment depend on whether or not EIGEN_VECTORIZE is defined, it would be impossible to link
- * vectorized and non-vectorized code.
- */
-#if (defined __CUDACC__)
-  #define EIGEN_ALIGN_TO_BOUNDARY(n) __align__(n)
-#elif EIGEN_COMP_GNUC || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM
-  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
-#elif EIGEN_COMP_MSVC
-  #define EIGEN_ALIGN_TO_BOUNDARY(n) __declspec(align(n))
-#elif EIGEN_COMP_SUNCC
-  // FIXME not sure about this one:
-  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
-#else
-  #error Please tell me what is the equivalent of __attribute__((aligned(n))) for your compiler
-#endif
-
-// If the user explicitly disable vectorization, then we also disable alignment
-#if defined(EIGEN_DONT_VECTORIZE)
-  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 0
-#elif defined(EIGEN_VECTORIZE_AVX512)
-  // 64 bytes static alignmeent is preferred only if really required
-  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 64
-#elif defined(__AVX__)
-  // 32 bytes static alignmeent is preferred only if really required
-  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 32
-#else
-  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 16
-#endif
-
-
-// EIGEN_MIN_ALIGN_BYTES defines the minimal value for which the notion of explicit alignment makes sense
-#define EIGEN_MIN_ALIGN_BYTES 16
-
-// Defined the boundary (in bytes) on which the data needs to be aligned. Note
-// that unless EIGEN_ALIGN is defined and not equal to 0, the data may not be
-// aligned at all regardless of the value of this #define.
-
-#if (defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN))  && defined(EIGEN_MAX_STATIC_ALIGN_BYTES) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
-#error EIGEN_MAX_STATIC_ALIGN_BYTES and EIGEN_DONT_ALIGN[_STATICALLY] are both defined with EIGEN_MAX_STATIC_ALIGN_BYTES!=0. Use EIGEN_MAX_STATIC_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN_STATICALLY.
-#endif
-
-// EIGEN_DONT_ALIGN_STATICALLY and EIGEN_DONT_ALIGN are deprectated
-// They imply EIGEN_MAX_STATIC_ALIGN_BYTES=0
-#if defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN)
-  #ifdef EIGEN_MAX_STATIC_ALIGN_BYTES
-    #undef EIGEN_MAX_STATIC_ALIGN_BYTES
-  #endif
-  #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
-#endif
-
-#ifndef EIGEN_MAX_STATIC_ALIGN_BYTES
-
-  // Try to automatically guess what is the best default value for EIGEN_MAX_STATIC_ALIGN_BYTES
-
-  // 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable
-  // 16 byte alignment on all platforms where vectorization might be enabled. In theory we could always
-  // enable alignment, but it can be a cause of problems on some platforms, so we just disable it in
-  // certain common platform (compiler+architecture combinations) to avoid these problems.
-  // Only static alignment is really problematic (relies on nonstandard compiler extensions),
-  // try to keep heap alignment even when we have to disable static alignment.
-  #if EIGEN_COMP_GNUC && !(EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64 || EIGEN_ARCH_PPC || EIGEN_ARCH_IA64)
-  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
-  #elif EIGEN_ARCH_ARM_OR_ARM64 && EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_MOST(4, 6)
-  // Old versions of GCC on ARM, at least 4.4, were once seen to have buggy static alignment support.
-  // Not sure which version fixed it, hopefully it doesn't affect 4.7, which is still somewhat in use.
-  // 4.8 and newer seem definitely unaffected.
-  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
-  #else
-  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 0
-  #endif
-
-  // static alignment is completely disabled with GCC 3, Sun Studio, and QCC/QNX
-  #if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT \
-  && !EIGEN_GCC3_OR_OLDER \
-  && !EIGEN_COMP_SUNCC \
-  && !EIGEN_OS_QNX
-    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
-  #else
-    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
-  #endif
-
-  #if EIGEN_ARCH_WANTS_STACK_ALIGNMENT
-    #define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
-  #else
-    #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
-  #endif
-
-#endif
-
-// If EIGEN_MAX_ALIGN_BYTES is defined, then it is considered as an upper bound for EIGEN_MAX_ALIGN_BYTES
-#if defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES<EIGEN_MAX_STATIC_ALIGN_BYTES
-#undef EIGEN_MAX_STATIC_ALIGN_BYTES
-#define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
-#endif
-
-#if EIGEN_MAX_STATIC_ALIGN_BYTES==0 && !defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
-  #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-#endif
-
-// At this stage, EIGEN_MAX_STATIC_ALIGN_BYTES>0 is the true test whether we want to align arrays on the stack or not.
-// It takes into account both the user choice to explicitly enable/disable alignment (by settting EIGEN_MAX_STATIC_ALIGN_BYTES)
-// and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT).
-// Henceforth, only EIGEN_MAX_STATIC_ALIGN_BYTES should be used.
-
-
-// Shortcuts to EIGEN_ALIGN_TO_BOUNDARY
-#define EIGEN_ALIGN8  EIGEN_ALIGN_TO_BOUNDARY(8)
-#define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16)
-#define EIGEN_ALIGN32 EIGEN_ALIGN_TO_BOUNDARY(32)
-#define EIGEN_ALIGN64 EIGEN_ALIGN_TO_BOUNDARY(64)
-#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
-#define EIGEN_ALIGN_MAX EIGEN_ALIGN_TO_BOUNDARY(EIGEN_MAX_STATIC_ALIGN_BYTES)
-#else
-#define EIGEN_ALIGN_MAX
-#endif
-
-
-// Dynamic alignment control
-
-#if defined(EIGEN_DONT_ALIGN) && defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES>0
-#error EIGEN_MAX_ALIGN_BYTES and EIGEN_DONT_ALIGN are both defined with EIGEN_MAX_ALIGN_BYTES!=0. Use EIGEN_MAX_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN.
-#endif
-
-#ifdef EIGEN_DONT_ALIGN
-  #ifdef EIGEN_MAX_ALIGN_BYTES
-    #undef EIGEN_MAX_ALIGN_BYTES
-  #endif
-  #define EIGEN_MAX_ALIGN_BYTES 0
-#elif !defined(EIGEN_MAX_ALIGN_BYTES)
-  #define EIGEN_MAX_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
-#endif
-
-#if EIGEN_IDEAL_MAX_ALIGN_BYTES > EIGEN_MAX_ALIGN_BYTES
-#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
-#else
-#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
-#endif
-
-
-#ifndef EIGEN_UNALIGNED_VECTORIZE
-#define EIGEN_UNALIGNED_VECTORIZE 1
-#endif
-
-//----------------------------------------------------------------------
-
-
-#ifdef EIGEN_DONT_USE_RESTRICT_KEYWORD
-  #define EIGEN_RESTRICT
-#endif
-#ifndef EIGEN_RESTRICT
-  #define EIGEN_RESTRICT __restrict
-#endif
-
-#ifndef EIGEN_STACK_ALLOCATION_LIMIT
-// 131072 == 128 KB
-#define EIGEN_STACK_ALLOCATION_LIMIT 131072
-#endif
-
-#ifndef EIGEN_DEFAULT_IO_FORMAT
-#ifdef EIGEN_MAKING_DOCS
-// format used in Eigen's documentation
-// needed to define it here as escaping characters in CMake add_definition's argument seems very problematic.
-#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat(3, 0, " ", "\n", "", "")
-#else
-#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat()
-#endif
-#endif
-
-// just an empty macro !
-#define EIGEN_EMPTY
-
-#if EIGEN_COMP_MSVC_STRICT && (EIGEN_COMP_MSVC < 1900 ||  defined(__CUDACC_VER__)) // for older MSVC versions, as well as 1900 && CUDA 8, using the base operator is sufficient (cf Bugs 1000, 1324)
-  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-    using Base::operator =;
-#elif EIGEN_COMP_CLANG // workaround clang bug (see http://forum.kde.org/viewtopic.php?f=74&t=102653)
-  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-    using Base::operator =; \
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) { Base::operator=(other); return *this; } \
-    template <typename OtherDerived> \
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& other) { Base::operator=(other.derived()); return *this; }
-#else
-  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-    using Base::operator =; \
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
-    { \
-      Base::operator=(other); \
-      return *this; \
-    }
-#endif
-
-
-/** \internal
- * \brief Macro to manually inherit assignment operators.
- * This is necessary, because the implicitly defined assignment operator gets deleted when a custom operator= is defined.
- */
-#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
-
-/**
-* Just a side note. Commenting within defines works only by documenting
-* behind the object (via '!<'). Comments cannot be multi-line and thus
-* we have these extra long lines. What is confusing doxygen over here is
-* that we use '\' and basically have a bunch of typedefs with their
-* documentation in a single line.
-**/
-
-#define EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
-  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
-  typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
-  typedef typename Eigen::internal::ref_selector<Derived>::type Nested; \
-  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
-  typedef typename Eigen::internal::traits<Derived>::StorageIndex StorageIndex; \
-  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
-        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
-        Flags = Eigen::internal::traits<Derived>::Flags, \
-        SizeAtCompileTime = Base::SizeAtCompileTime, \
-        MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
-        IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
-  using Base::derived; \
-  using Base::const_cast_derived;
-
-
-// FIXME Maybe the EIGEN_DENSE_PUBLIC_INTERFACE could be removed as importing PacketScalar is rarely needed
-#define EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
-  EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
-  typedef typename Base::PacketScalar PacketScalar;
-
-
-#define EIGEN_PLAIN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
-#define EIGEN_PLAIN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
-
-// EIGEN_SIZE_MIN_PREFER_DYNAMIC gives the min between compile-time sizes. 0 has absolute priority, followed by 1,
-// followed by Dynamic, followed by other finite values. The reason for giving Dynamic the priority over
-// finite values is that min(3, Dynamic) should be Dynamic, since that could be anything between 0 and 3.
-#define EIGEN_SIZE_MIN_PREFER_DYNAMIC(a,b) (((int)a == 0 || (int)b == 0) ? 0 \
-                           : ((int)a == 1 || (int)b == 1) ? 1 \
-                           : ((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
-                           : ((int)a <= (int)b) ? (int)a : (int)b)
-
-// EIGEN_SIZE_MIN_PREFER_FIXED is a variant of EIGEN_SIZE_MIN_PREFER_DYNAMIC comparing MaxSizes. The difference is that finite values
-// now have priority over Dynamic, so that min(3, Dynamic) gives 3. Indeed, whatever the actual value is
-// (between 0 and 3), it is not more than 3.
-#define EIGEN_SIZE_MIN_PREFER_FIXED(a,b)  (((int)a == 0 || (int)b == 0) ? 0 \
-                           : ((int)a == 1 || (int)b == 1) ? 1 \
-                           : ((int)a == Dynamic && (int)b == Dynamic) ? Dynamic \
-                           : ((int)a == Dynamic) ? (int)b \
-                           : ((int)b == Dynamic) ? (int)a \
-                           : ((int)a <= (int)b) ? (int)a : (int)b)
-
-// see EIGEN_SIZE_MIN_PREFER_DYNAMIC. No need for a separate variant for MaxSizes here.
-#define EIGEN_SIZE_MAX(a,b) (((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
-                           : ((int)a >= (int)b) ? (int)a : (int)b)
-
-#define EIGEN_LOGICAL_XOR(a,b) (((a) || (b)) && !((a) && (b)))
-
-#define EIGEN_IMPLIES(a,b) (!(a) || (b))
-
-// the expression type of a standard coefficient wise binary operation
-#define EIGEN_CWISE_BINARY_RETURN_TYPE(LHS,RHS,OPNAME) \
-    CwiseBinaryOp< \
-      EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)< \
-          typename internal::traits<LHS>::Scalar, \
-          typename internal::traits<RHS>::Scalar \
-      >, \
-      const LHS, \
-      const RHS \
-    >
-
-#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,OPNAME) \
-  template<typename OtherDerived> \
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,OPNAME) \
-  (METHOD)(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
-  { \
-    return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,OPNAME)(derived(), other.derived()); \
-  }
-
-#define EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,TYPEA,TYPEB) \
-  (Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<TYPEA,TYPEB,EIGEN_CAT(EIGEN_CAT(Eigen::internal::scalar_,OPNAME),_op)<TYPEA,TYPEB>  > >::value)
-
-#define EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(EXPR,SCALAR,OPNAME) \
-  CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<typename internal::traits<EXPR>::Scalar,SCALAR>, const EXPR, \
-                const typename internal::plain_constant_type<EXPR,SCALAR>::type>
-
-#define EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(SCALAR,EXPR,OPNAME) \
-  CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<SCALAR,typename internal::traits<EXPR>::Scalar>, \
-                const typename internal::plain_constant_type<EXPR,SCALAR>::type, const EXPR>
-
-// Workaround for MSVC 2010 (see ML thread "patch with compile for for MSVC 2010")
-#if EIGEN_COMP_MSVC_STRICT<=1600
-#define EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(X) typename internal::enable_if<true,X>::type
-#else
-#define EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(X) X
-#endif
-
-#define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME) \
-  template <typename T> EIGEN_DEVICE_FUNC inline \
-  EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type,OPNAME))\
-  (METHOD)(const T& scalar) const { \
-    typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type PromotedT; \
-    return EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,PromotedT,OPNAME)(derived(), \
-           typename internal::plain_constant_type<Derived,PromotedT>::type(derived().rows(), derived().cols(), internal::scalar_constant_op<PromotedT>(scalar))); \
-  }
-
-#define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
-  template <typename T> EIGEN_DEVICE_FUNC inline friend \
-  EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type,Derived,OPNAME)) \
-  (METHOD)(const T& scalar, const StorageBaseType& matrix) { \
-    typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type PromotedT; \
-    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(PromotedT,Derived,OPNAME)( \
-           typename internal::plain_constant_type<Derived,PromotedT>::type(matrix.derived().rows(), matrix.derived().cols(), internal::scalar_constant_op<PromotedT>(scalar)), matrix.derived()); \
-  }
-
-#define EIGEN_MAKE_SCALAR_BINARY_OP(METHOD,OPNAME) \
-  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
-  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME)
-
-
-#ifdef EIGEN_EXCEPTIONS
-#  define EIGEN_THROW_X(X) throw X
-#  define EIGEN_THROW throw
-#  define EIGEN_TRY try
-#  define EIGEN_CATCH(X) catch (X)
-#else
-#  ifdef __CUDA_ARCH__
-#    define EIGEN_THROW_X(X) asm("trap;")
-#    define EIGEN_THROW asm("trap;")
-#  else
-#    define EIGEN_THROW_X(X) std::abort()
-#    define EIGEN_THROW std::abort()
-#  endif
-#  define EIGEN_TRY if (true)
-#  define EIGEN_CATCH(X) else
-#endif
-
-
-#if EIGEN_HAS_CXX11_NOEXCEPT
-#   define EIGEN_INCLUDE_TYPE_TRAITS
-#   define EIGEN_NOEXCEPT noexcept
-#   define EIGEN_NOEXCEPT_IF(x) noexcept(x)
-#   define EIGEN_NO_THROW noexcept(true)
-#   define EIGEN_EXCEPTION_SPEC(X) noexcept(false)
-#else
-#   define EIGEN_NOEXCEPT
-#   define EIGEN_NOEXCEPT_IF(x)
-#   define EIGEN_NO_THROW throw()
-#   define EIGEN_EXCEPTION_SPEC(X) throw(X)
-#endif
-
-#endif // EIGEN_MACROS_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/Memory.h b/phonelibs/eigen/Eigen/src/Core/util/Memory.h
deleted file mode 100644
index c634d7ea05355e..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/Memory.h
+++ /dev/null
@@ -1,977 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2008-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Kenneth Riddile <kfriddile@yahoo.com>
-// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
-// Copyright (C) 2010 Thomas Capricelli <orzel@freehackers.org>
-// Copyright (C) 2013 Pavel Holoborodko <pavel@holoborodko.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-/*****************************************************************************
-*** Platform checks for aligned malloc functions                           ***
-*****************************************************************************/
-
-#ifndef EIGEN_MEMORY_H
-#define EIGEN_MEMORY_H
-
-#ifndef EIGEN_MALLOC_ALREADY_ALIGNED
-
-// Try to determine automatically if malloc is already aligned.
-
-// On 64-bit systems, glibc's malloc returns 16-byte-aligned pointers, see:
-//   http://www.gnu.org/s/libc/manual/html_node/Aligned-Memory-Blocks.html
-// This is true at least since glibc 2.8.
-// This leaves the question how to detect 64-bit. According to this document,
-//   http://gcc.fyxm.net/summit/2003/Porting%20to%2064%20bit.pdf
-// page 114, "[The] LP64 model [...] is used by all 64-bit UNIX ports" so it's indeed
-// quite safe, at least within the context of glibc, to equate 64-bit with LP64.
-#if defined(__GLIBC__) && ((__GLIBC__>=2 && __GLIBC_MINOR__ >= 8) || __GLIBC__>2) \
- && defined(__LP64__) && ! defined( __SANITIZE_ADDRESS__ ) && (EIGEN_DEFAULT_ALIGN_BYTES == 16)
-  #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 1
-#else
-  #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 0
-#endif
-
-// FreeBSD 6 seems to have 16-byte aligned malloc
-//   See http://svn.freebsd.org/viewvc/base/stable/6/lib/libc/stdlib/malloc.c?view=markup
-// FreeBSD 7 seems to have 16-byte aligned malloc except on ARM and MIPS architectures
-//   See http://svn.freebsd.org/viewvc/base/stable/7/lib/libc/stdlib/malloc.c?view=markup
-#if defined(__FreeBSD__) && !(EIGEN_ARCH_ARM || EIGEN_ARCH_MIPS) && (EIGEN_DEFAULT_ALIGN_BYTES == 16)
-  #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 1
-#else
-  #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 0
-#endif
-
-#if (EIGEN_OS_MAC && (EIGEN_DEFAULT_ALIGN_BYTES == 16))     \
- || (EIGEN_OS_WIN64 && (EIGEN_DEFAULT_ALIGN_BYTES == 16))   \
- || EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED              \
- || EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED
-  #define EIGEN_MALLOC_ALREADY_ALIGNED 1
-#else
-  #define EIGEN_MALLOC_ALREADY_ALIGNED 0
-#endif
-
-#endif
-
-namespace Eigen {
-
-namespace internal {
-
-EIGEN_DEVICE_FUNC 
-inline void throw_std_bad_alloc()
-{
-  #ifdef EIGEN_EXCEPTIONS
-    throw std::bad_alloc();
-  #else
-    std::size_t huge = static_cast<std::size_t>(-1);
-    new int[huge];
-  #endif
-}
-
-/*****************************************************************************
-*** Implementation of handmade aligned functions                           ***
-*****************************************************************************/
-
-/* ----- Hand made implementations of aligned malloc/free and realloc ----- */
-
-/** \internal Like malloc, but the returned pointer is guaranteed to be 16-byte aligned.
-  * Fast, but wastes 16 additional bytes of memory. Does not throw any exception.
-  */
-inline void* handmade_aligned_malloc(std::size_t size)
-{
-  void *original = std::malloc(size+EIGEN_DEFAULT_ALIGN_BYTES);
-  if (original == 0) return 0;
-  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
-  *(reinterpret_cast<void**>(aligned) - 1) = original;
-  return aligned;
-}
-
-/** \internal Frees memory allocated with handmade_aligned_malloc */
-inline void handmade_aligned_free(void *ptr)
-{
-  if (ptr) std::free(*(reinterpret_cast<void**>(ptr) - 1));
-}
-
-/** \internal
-  * \brief Reallocates aligned memory.
-  * Since we know that our handmade version is based on std::malloc
-  * we can use std::realloc to implement efficient reallocation.
-  */
-inline void* handmade_aligned_realloc(void* ptr, std::size_t size, std::size_t = 0)
-{
-  if (ptr == 0) return handmade_aligned_malloc(size);
-  void *original = *(reinterpret_cast<void**>(ptr) - 1);
-  std::ptrdiff_t previous_offset = static_cast<char *>(ptr)-static_cast<char *>(original);
-  original = std::realloc(original,size+EIGEN_DEFAULT_ALIGN_BYTES);
-  if (original == 0) return 0;
-  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
-  void *previous_aligned = static_cast<char *>(original)+previous_offset;
-  if(aligned!=previous_aligned)
-    std::memmove(aligned, previous_aligned, size);
-  
-  *(reinterpret_cast<void**>(aligned) - 1) = original;
-  return aligned;
-}
-
-/*****************************************************************************
-*** Implementation of portable aligned versions of malloc/free/realloc     ***
-*****************************************************************************/
-
-#ifdef EIGEN_NO_MALLOC
-EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
-{
-  eigen_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
-}
-#elif defined EIGEN_RUNTIME_NO_MALLOC
-EIGEN_DEVICE_FUNC inline bool is_malloc_allowed_impl(bool update, bool new_value = false)
-{
-  static bool value = true;
-  if (update == 1)
-    value = new_value;
-  return value;
-}
-EIGEN_DEVICE_FUNC inline bool is_malloc_allowed() { return is_malloc_allowed_impl(false); }
-EIGEN_DEVICE_FUNC inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
-EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
-{
-  eigen_assert(is_malloc_allowed() && "heap allocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and g_is_malloc_allowed is false)");
-}
-#else 
-EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
-{}
-#endif
-
-/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 or 32 bytes alignment depending on the requirements.
-  * On allocation error, the returned pointer is null, and std::bad_alloc is thrown.
-  */
-EIGEN_DEVICE_FUNC inline void* aligned_malloc(std::size_t size)
-{
-  check_that_malloc_is_allowed();
-
-  void *result;
-  #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
-    result = std::malloc(size);
-    #if EIGEN_DEFAULT_ALIGN_BYTES==16
-    eigen_assert((size<16 || (std::size_t(result)%16)==0) && "System's malloc returned an unaligned pointer. Compile with EIGEN_MALLOC_ALREADY_ALIGNED=0 to fallback to handmade alignd memory allocator.");
-    #endif
-  #else
-    result = handmade_aligned_malloc(size);
-  #endif
-
-  if(!result && size)
-    throw_std_bad_alloc();
-
-  return result;
-}
-
-/** \internal Frees memory allocated with aligned_malloc. */
-EIGEN_DEVICE_FUNC inline void aligned_free(void *ptr)
-{
-  #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
-    std::free(ptr);
-  #else
-    handmade_aligned_free(ptr);
-  #endif
-}
-
-/**
-  * \internal
-  * \brief Reallocates an aligned block of memory.
-  * \throws std::bad_alloc on allocation failure
-  */
-inline void* aligned_realloc(void *ptr, std::size_t new_size, std::size_t old_size)
-{
-  EIGEN_UNUSED_VARIABLE(old_size);
-
-  void *result;
-#if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
-  result = std::realloc(ptr,new_size);
-#else
-  result = handmade_aligned_realloc(ptr,new_size,old_size);
-#endif
-
-  if (!result && new_size)
-    throw_std_bad_alloc();
-
-  return result;
-}
-
-/*****************************************************************************
-*** Implementation of conditionally aligned functions                      ***
-*****************************************************************************/
-
-/** \internal Allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
-  * On allocation error, the returned pointer is null, and a std::bad_alloc is thrown.
-  */
-template<bool Align> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc(std::size_t size)
-{
-  return aligned_malloc(size);
-}
-
-template<> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc<false>(std::size_t size)
-{
-  check_that_malloc_is_allowed();
-
-  void *result = std::malloc(size);
-  if(!result && size)
-    throw_std_bad_alloc();
-  return result;
-}
-
-/** \internal Frees memory allocated with conditional_aligned_malloc */
-template<bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_free(void *ptr)
-{
-  aligned_free(ptr);
-}
-
-template<> EIGEN_DEVICE_FUNC inline void conditional_aligned_free<false>(void *ptr)
-{
-  std::free(ptr);
-}
-
-template<bool Align> inline void* conditional_aligned_realloc(void* ptr, std::size_t new_size, std::size_t old_size)
-{
-  return aligned_realloc(ptr, new_size, old_size);
-}
-
-template<> inline void* conditional_aligned_realloc<false>(void* ptr, std::size_t new_size, std::size_t)
-{
-  return std::realloc(ptr, new_size);
-}
-
-/*****************************************************************************
-*** Construction/destruction of array elements                             ***
-*****************************************************************************/
-
-/** \internal Destructs the elements of an array.
-  * The \a size parameters tells on how many objects to call the destructor of T.
-  */
-template<typename T> EIGEN_DEVICE_FUNC inline void destruct_elements_of_array(T *ptr, std::size_t size)
-{
-  // always destruct an array starting from the end.
-  if(ptr)
-    while(size) ptr[--size].~T();
-}
-
-/** \internal Constructs the elements of an array.
-  * The \a size parameter tells on how many objects to call the constructor of T.
-  */
-template<typename T> EIGEN_DEVICE_FUNC inline T* construct_elements_of_array(T *ptr, std::size_t size)
-{
-  std::size_t i;
-  EIGEN_TRY
-  {
-      for (i = 0; i < size; ++i) ::new (ptr + i) T;
-      return ptr;
-  }
-  EIGEN_CATCH(...)
-  {
-    destruct_elements_of_array(ptr, i);
-    EIGEN_THROW;
-  }
-  return NULL;
-}
-
-/*****************************************************************************
-*** Implementation of aligned new/delete-like functions                    ***
-*****************************************************************************/
-
-template<typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void check_size_for_overflow(std::size_t size)
-{
-  if(size > std::size_t(-1) / sizeof(T))
-    throw_std_bad_alloc();
-}
-
-/** \internal Allocates \a size objects of type T. The returned pointer is guaranteed to have 16 bytes alignment.
-  * On allocation error, the returned pointer is undefined, but a std::bad_alloc is thrown.
-  * The default constructor of T is called.
-  */
-template<typename T> EIGEN_DEVICE_FUNC inline T* aligned_new(std::size_t size)
-{
-  check_size_for_overflow<T>(size);
-  T *result = reinterpret_cast<T*>(aligned_malloc(sizeof(T)*size));
-  EIGEN_TRY
-  {
-    return construct_elements_of_array(result, size);
-  }
-  EIGEN_CATCH(...)
-  {
-    aligned_free(result);
-    EIGEN_THROW;
-  }
-  return result;
-}
-
-template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_new(std::size_t size)
-{
-  check_size_for_overflow<T>(size);
-  T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
-  EIGEN_TRY
-  {
-    return construct_elements_of_array(result, size);
-  }
-  EIGEN_CATCH(...)
-  {
-    conditional_aligned_free<Align>(result);
-    EIGEN_THROW;
-  }
-  return result;
-}
-
-/** \internal Deletes objects constructed with aligned_new
-  * The \a size parameters tells on how many objects to call the destructor of T.
-  */
-template<typename T> EIGEN_DEVICE_FUNC inline void aligned_delete(T *ptr, std::size_t size)
-{
-  destruct_elements_of_array<T>(ptr, size);
-  aligned_free(ptr);
-}
-
-/** \internal Deletes objects constructed with conditional_aligned_new
-  * The \a size parameters tells on how many objects to call the destructor of T.
-  */
-template<typename T, bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_delete(T *ptr, std::size_t size)
-{
-  destruct_elements_of_array<T>(ptr, size);
-  conditional_aligned_free<Align>(ptr);
-}
-
-template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_realloc_new(T* pts, std::size_t new_size, std::size_t old_size)
-{
-  check_size_for_overflow<T>(new_size);
-  check_size_for_overflow<T>(old_size);
-  if(new_size < old_size)
-    destruct_elements_of_array(pts+new_size, old_size-new_size);
-  T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
-  if(new_size > old_size)
-  {
-    EIGEN_TRY
-    {
-      construct_elements_of_array(result+old_size, new_size-old_size);
-    }
-    EIGEN_CATCH(...)
-    {
-      conditional_aligned_free<Align>(result);
-      EIGEN_THROW;
-    }
-  }
-  return result;
-}
-
-
-template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_new_auto(std::size_t size)
-{
-  if(size==0)
-    return 0; // short-cut. Also fixes Bug 884
-  check_size_for_overflow<T>(size);
-  T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
-  if(NumTraits<T>::RequireInitialization)
-  {
-    EIGEN_TRY
-    {
-      construct_elements_of_array(result, size);
-    }
-    EIGEN_CATCH(...)
-    {
-      conditional_aligned_free<Align>(result);
-      EIGEN_THROW;
-    }
-  }
-  return result;
-}
-
-template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(T* pts, std::size_t new_size, std::size_t old_size)
-{
-  check_size_for_overflow<T>(new_size);
-  check_size_for_overflow<T>(old_size);
-  if(NumTraits<T>::RequireInitialization && (new_size < old_size))
-    destruct_elements_of_array(pts+new_size, old_size-new_size);
-  T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
-  if(NumTraits<T>::RequireInitialization && (new_size > old_size))
-  {
-    EIGEN_TRY
-    {
-      construct_elements_of_array(result+old_size, new_size-old_size);
-    }
-    EIGEN_CATCH(...)
-    {
-      conditional_aligned_free<Align>(result);
-      EIGEN_THROW;
-    }
-  }
-  return result;
-}
-
-template<typename T, bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_delete_auto(T *ptr, std::size_t size)
-{
-  if(NumTraits<T>::RequireInitialization)
-    destruct_elements_of_array<T>(ptr, size);
-  conditional_aligned_free<Align>(ptr);
-}
-
-/****************************************************************************/
-
-/** \internal Returns the index of the first element of the array that is well aligned with respect to the requested \a Alignment.
-  *
-  * \tparam Alignment requested alignment in Bytes.
-  * \param array the address of the start of the array
-  * \param size the size of the array
-  *
-  * \note If no element of the array is well aligned or the requested alignment is not a multiple of a scalar,
-  * the size of the array is returned. For example with SSE, the requested alignment is typically 16-bytes. If
-  * packet size for the given scalar type is 1, then everything is considered well-aligned.
-  *
-  * \note Otherwise, if the Alignment is larger that the scalar size, we rely on the assumptions that sizeof(Scalar) is a
-  * power of 2. On the other hand, we do not assume that the array address is a multiple of sizeof(Scalar), as that fails for
-  * example with Scalar=double on certain 32-bit platforms, see bug #79.
-  *
-  * There is also the variant first_aligned(const MatrixBase&) defined in DenseCoeffsBase.h.
-  * \sa first_default_aligned()
-  */
-template<int Alignment, typename Scalar, typename Index>
-EIGEN_DEVICE_FUNC inline Index first_aligned(const Scalar* array, Index size)
-{
-  const Index ScalarSize = sizeof(Scalar);
-  const Index AlignmentSize = Alignment / ScalarSize;
-  const Index AlignmentMask = AlignmentSize-1;
-
-  if(AlignmentSize<=1)
-  {
-    // Either the requested alignment if smaller than a scalar, or it exactly match a 1 scalar
-    // so that all elements of the array have the same alignment.
-    return 0;
-  }
-  else if( (UIntPtr(array) & (sizeof(Scalar)-1)) || (Alignment%ScalarSize)!=0)
-  {
-    // The array is not aligned to the size of a single scalar, or the requested alignment is not a multiple of the scalar size.
-    // Consequently, no element of the array is well aligned.
-    return size;
-  }
-  else
-  {
-    Index first = (AlignmentSize - (Index((UIntPtr(array)/sizeof(Scalar))) & AlignmentMask)) & AlignmentMask;
-    return (first < size) ? first : size;
-  }
-}
-
-/** \internal Returns the index of the first element of the array that is well aligned with respect the largest packet requirement.
-   * \sa first_aligned(Scalar*,Index) and first_default_aligned(DenseBase<Derived>) */
-template<typename Scalar, typename Index>
-EIGEN_DEVICE_FUNC inline Index first_default_aligned(const Scalar* array, Index size)
-{
-  typedef typename packet_traits<Scalar>::type DefaultPacketType;
-  return first_aligned<unpacket_traits<DefaultPacketType>::alignment>(array, size);
-}
-
-/** \internal Returns the smallest integer multiple of \a base and greater or equal to \a size
-  */ 
-template<typename Index> 
-inline Index first_multiple(Index size, Index base)
-{
-  return ((size+base-1)/base)*base;
-}
-
-// std::copy is much slower than memcpy, so let's introduce a smart_copy which
-// use memcpy on trivial types, i.e., on types that does not require an initialization ctor.
-template<typename T, bool UseMemcpy> struct smart_copy_helper;
-
-template<typename T> EIGEN_DEVICE_FUNC void smart_copy(const T* start, const T* end, T* target)
-{
-  smart_copy_helper<T,!NumTraits<T>::RequireInitialization>::run(start, end, target);
-}
-
-template<typename T> struct smart_copy_helper<T,true> {
-  EIGEN_DEVICE_FUNC static inline void run(const T* start, const T* end, T* target)
-  {
-    IntPtr size = IntPtr(end)-IntPtr(start);
-    if(size==0) return;
-    eigen_internal_assert(start!=0 && end!=0 && target!=0);
-    memcpy(target, start, size);
-  }
-};
-
-template<typename T> struct smart_copy_helper<T,false> {
-  EIGEN_DEVICE_FUNC static inline void run(const T* start, const T* end, T* target)
-  { std::copy(start, end, target); }
-};
-
-// intelligent memmove. falls back to std::memmove for POD types, uses std::copy otherwise. 
-template<typename T, bool UseMemmove> struct smart_memmove_helper;
-
-template<typename T> void smart_memmove(const T* start, const T* end, T* target)
-{
-  smart_memmove_helper<T,!NumTraits<T>::RequireInitialization>::run(start, end, target);
-}
-
-template<typename T> struct smart_memmove_helper<T,true> {
-  static inline void run(const T* start, const T* end, T* target)
-  {
-    IntPtr size = IntPtr(end)-IntPtr(start);
-    if(size==0) return;
-    eigen_internal_assert(start!=0 && end!=0 && target!=0);
-    std::memmove(target, start, size);
-  }
-};
-
-template<typename T> struct smart_memmove_helper<T,false> {
-  static inline void run(const T* start, const T* end, T* target)
-  { 
-    if (UIntPtr(target) < UIntPtr(start))
-    {
-      std::copy(start, end, target);
-    }
-    else                                 
-    {
-      std::ptrdiff_t count = (std::ptrdiff_t(end)-std::ptrdiff_t(start)) / sizeof(T);
-      std::copy_backward(start, end, target + count); 
-    }
-  }
-};
-
-
-/*****************************************************************************
-*** Implementation of runtime stack allocation (falling back to malloc)    ***
-*****************************************************************************/
-
-// you can overwrite Eigen's default behavior regarding alloca by defining EIGEN_ALLOCA
-// to the appropriate stack allocation function
-#ifndef EIGEN_ALLOCA
-  #if EIGEN_OS_LINUX || EIGEN_OS_MAC || (defined alloca)
-    #define EIGEN_ALLOCA alloca
-  #elif EIGEN_COMP_MSVC
-    #define EIGEN_ALLOCA _alloca
-  #endif
-#endif
-
-// This helper class construct the allocated memory, and takes care of destructing and freeing the handled data
-// at destruction time. In practice this helper class is mainly useful to avoid memory leak in case of exceptions.
-template<typename T> class aligned_stack_memory_handler : noncopyable
-{
-  public:
-    /* Creates a stack_memory_handler responsible for the buffer \a ptr of size \a size.
-     * Note that \a ptr can be 0 regardless of the other parameters.
-     * This constructor takes care of constructing/initializing the elements of the buffer if required by the scalar type T (see NumTraits<T>::RequireInitialization).
-     * In this case, the buffer elements will also be destructed when this handler will be destructed.
-     * Finally, if \a dealloc is true, then the pointer \a ptr is freed.
-     **/
-    aligned_stack_memory_handler(T* ptr, std::size_t size, bool dealloc)
-      : m_ptr(ptr), m_size(size), m_deallocate(dealloc)
-    {
-      if(NumTraits<T>::RequireInitialization && m_ptr)
-        Eigen::internal::construct_elements_of_array(m_ptr, size);
-    }
-    ~aligned_stack_memory_handler()
-    {
-      if(NumTraits<T>::RequireInitialization && m_ptr)
-        Eigen::internal::destruct_elements_of_array<T>(m_ptr, m_size);
-      if(m_deallocate)
-        Eigen::internal::aligned_free(m_ptr);
-    }
-  protected:
-    T* m_ptr;
-    std::size_t m_size;
-    bool m_deallocate;
-};
-
-template<typename T> class scoped_array : noncopyable
-{
-  T* m_ptr;
-public:
-  explicit scoped_array(std::ptrdiff_t size)
-  {
-    m_ptr = new T[size];
-  }
-  ~scoped_array()
-  {
-    delete[] m_ptr;
-  }
-  T& operator[](std::ptrdiff_t i) { return m_ptr[i]; }
-  const T& operator[](std::ptrdiff_t i) const { return m_ptr[i]; }
-  T* &ptr() { return m_ptr; }
-  const T* ptr() const { return m_ptr; }
-  operator const T*() const { return m_ptr; }
-};
-
-template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
-{
-  std::swap(a.ptr(),b.ptr());
-}
-    
-} // end namespace internal
-
-/** \internal
-  * Declares, allocates and construct an aligned buffer named NAME of SIZE elements of type TYPE on the stack
-  * if SIZE is smaller than EIGEN_STACK_ALLOCATION_LIMIT, and if stack allocation is supported by the platform
-  * (currently, this is Linux and Visual Studio only). Otherwise the memory is allocated on the heap.
-  * The allocated buffer is automatically deleted when exiting the scope of this declaration.
-  * If BUFFER is non null, then the declared variable is simply an alias for BUFFER, and no allocation/deletion occurs.
-  * Here is an example:
-  * \code
-  * {
-  *   ei_declare_aligned_stack_constructed_variable(float,data,size,0);
-  *   // use data[0] to data[size-1]
-  * }
-  * \endcode
-  * The underlying stack allocation function can controlled with the EIGEN_ALLOCA preprocessor token.
-  */
-#ifdef EIGEN_ALLOCA
-  
-  #if EIGEN_DEFAULT_ALIGN_BYTES>0
-    // We always manually re-align the result of EIGEN_ALLOCA.
-    // If alloca is already aligned, the compiler should be smart enough to optimize away the re-alignment.
-    #define EIGEN_ALIGNED_ALLOCA(SIZE) reinterpret_cast<void*>((internal::UIntPtr(EIGEN_ALLOCA(SIZE+EIGEN_DEFAULT_ALIGN_BYTES-1)) + EIGEN_DEFAULT_ALIGN_BYTES-1) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1)))
-  #else
-    #define EIGEN_ALIGNED_ALLOCA(SIZE) EIGEN_ALLOCA(SIZE)
-  #endif
-
-  #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
-    Eigen::internal::check_size_for_overflow<TYPE>(SIZE); \
-    TYPE* NAME = (BUFFER)!=0 ? (BUFFER) \
-               : reinterpret_cast<TYPE*>( \
-                      (sizeof(TYPE)*SIZE<=EIGEN_STACK_ALLOCATION_LIMIT) ? EIGEN_ALIGNED_ALLOCA(sizeof(TYPE)*SIZE) \
-                    : Eigen::internal::aligned_malloc(sizeof(TYPE)*SIZE) );  \
-    Eigen::internal::aligned_stack_memory_handler<TYPE> EIGEN_CAT(NAME,_stack_memory_destructor)((BUFFER)==0 ? NAME : 0,SIZE,sizeof(TYPE)*SIZE>EIGEN_STACK_ALLOCATION_LIMIT)
-
-#else
-
-  #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
-    Eigen::internal::check_size_for_overflow<TYPE>(SIZE); \
-    TYPE* NAME = (BUFFER)!=0 ? BUFFER : reinterpret_cast<TYPE*>(Eigen::internal::aligned_malloc(sizeof(TYPE)*SIZE));    \
-    Eigen::internal::aligned_stack_memory_handler<TYPE> EIGEN_CAT(NAME,_stack_memory_destructor)((BUFFER)==0 ? NAME : 0,SIZE,true)
-    
-#endif
-
-
-/*****************************************************************************
-*** Implementation of EIGEN_MAKE_ALIGNED_OPERATOR_NEW [_IF]                ***
-*****************************************************************************/
-
-#if EIGEN_MAX_ALIGN_BYTES!=0
-  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void* operator new(std::size_t size, const std::nothrow_t&) EIGEN_NO_THROW { \
-        EIGEN_TRY { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
-        EIGEN_CATCH (...) { return 0; } \
-      }
-  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
-      void *operator new(std::size_t size) { \
-        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
-      } \
-      void *operator new[](std::size_t size) { \
-        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
-      } \
-      void operator delete(void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
-      void operator delete[](void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
-      void operator delete(void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
-      void operator delete[](void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
-      /* in-place new and delete. since (at least afaik) there is no actual   */ \
-      /* memory allocated we can safely let the default implementation handle */ \
-      /* this particular case. */ \
-      static void *operator new(std::size_t size, void *ptr) { return ::operator new(size,ptr); } \
-      static void *operator new[](std::size_t size, void* ptr) { return ::operator new[](size,ptr); } \
-      void operator delete(void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete(memory,ptr); } \
-      void operator delete[](void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete[](memory,ptr); } \
-      /* nothrow-new (returns zero instead of std::bad_alloc) */ \
-      EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void operator delete(void *ptr, const std::nothrow_t&) EIGEN_NO_THROW { \
-        Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); \
-      } \
-      typedef void eigen_aligned_operator_new_marker_type;
-#else
-  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
-#endif
-
-#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
-#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%EIGEN_MAX_ALIGN_BYTES==0)))
-
-/****************************************************************************/
-
-/** \class aligned_allocator
-* \ingroup Core_Module
-*
-* \brief STL compatible allocator to use with with 16 byte aligned types
-*
-* Example:
-* \code
-* // Matrix4f requires 16 bytes alignment:
-* std::map< int, Matrix4f, std::less<int>, 
-*           aligned_allocator<std::pair<const int, Matrix4f> > > my_map_mat4;
-* // Vector3f does not require 16 bytes alignment, no need to use Eigen's allocator:
-* std::map< int, Vector3f > my_map_vec3;
-* \endcode
-*
-* \sa \blank \ref TopicStlContainers.
-*/
-template<class T>
-class aligned_allocator : public std::allocator<T>
-{
-public:
-  typedef std::size_t     size_type;
-  typedef std::ptrdiff_t  difference_type;
-  typedef T*              pointer;
-  typedef const T*        const_pointer;
-  typedef T&              reference;
-  typedef const T&        const_reference;
-  typedef T               value_type;
-
-  template<class U>
-  struct rebind
-  {
-    typedef aligned_allocator<U> other;
-  };
-
-  aligned_allocator() : std::allocator<T>() {}
-
-  aligned_allocator(const aligned_allocator& other) : std::allocator<T>(other) {}
-
-  template<class U>
-  aligned_allocator(const aligned_allocator<U>& other) : std::allocator<T>(other) {}
-
-  ~aligned_allocator() {}
-
-  pointer allocate(size_type num, const void* /*hint*/ = 0)
-  {
-    internal::check_size_for_overflow<T>(num);
-    return static_cast<pointer>( internal::aligned_malloc(num * sizeof(T)) );
-  }
-
-  void deallocate(pointer p, size_type /*num*/)
-  {
-    internal::aligned_free(p);
-  }
-};
-
-//---------- Cache sizes ----------
-
-#if !defined(EIGEN_NO_CPUID)
-#  if EIGEN_COMP_GNUC && EIGEN_ARCH_i386_OR_x86_64
-#    if defined(__PIC__) && EIGEN_ARCH_i386
-       // Case for x86 with PIC
-#      define EIGEN_CPUID(abcd,func,id) \
-         __asm__ __volatile__ ("xchgl %%ebx, %k1;cpuid; xchgl %%ebx,%k1": "=a" (abcd[0]), "=&r" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id));
-#    elif defined(__PIC__) && EIGEN_ARCH_x86_64
-       // Case for x64 with PIC. In theory this is only a problem with recent gcc and with medium or large code model, not with the default small code model.
-       // However, we cannot detect which code model is used, and the xchg overhead is negligible anyway.
-#      define EIGEN_CPUID(abcd,func,id) \
-        __asm__ __volatile__ ("xchg{q}\t{%%}rbx, %q1; cpuid; xchg{q}\t{%%}rbx, %q1": "=a" (abcd[0]), "=&r" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "0" (func), "2" (id));
-#    else
-       // Case for x86_64 or x86 w/o PIC
-#      define EIGEN_CPUID(abcd,func,id) \
-         __asm__ __volatile__ ("cpuid": "=a" (abcd[0]), "=b" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "0" (func), "2" (id) );
-#    endif
-#  elif EIGEN_COMP_MSVC
-#    if (EIGEN_COMP_MSVC > 1500) && EIGEN_ARCH_i386_OR_x86_64
-#      define EIGEN_CPUID(abcd,func,id) __cpuidex((int*)abcd,func,id)
-#    endif
-#  endif
-#endif
-
-namespace internal {
-
-#ifdef EIGEN_CPUID
-
-inline bool cpuid_is_vendor(int abcd[4], const int vendor[3])
-{
-  return abcd[1]==vendor[0] && abcd[3]==vendor[1] && abcd[2]==vendor[2];
-}
-
-inline void queryCacheSizes_intel_direct(int& l1, int& l2, int& l3)
-{
-  int abcd[4];
-  l1 = l2 = l3 = 0;
-  int cache_id = 0;
-  int cache_type = 0;
-  do {
-    abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
-    EIGEN_CPUID(abcd,0x4,cache_id);
-    cache_type  = (abcd[0] & 0x0F) >> 0;
-    if(cache_type==1||cache_type==3) // data or unified cache
-    {
-      int cache_level = (abcd[0] & 0xE0) >> 5;  // A[7:5]
-      int ways        = (abcd[1] & 0xFFC00000) >> 22; // B[31:22]
-      int partitions  = (abcd[1] & 0x003FF000) >> 12; // B[21:12]
-      int line_size   = (abcd[1] & 0x00000FFF) >>  0; // B[11:0]
-      int sets        = (abcd[2]);                    // C[31:0]
-
-      int cache_size = (ways+1) * (partitions+1) * (line_size+1) * (sets+1);
-
-      switch(cache_level)
-      {
-        case 1: l1 = cache_size; break;
-        case 2: l2 = cache_size; break;
-        case 3: l3 = cache_size; break;
-        default: break;
-      }
-    }
-    cache_id++;
-  } while(cache_type>0 && cache_id<16);
-}
-
-inline void queryCacheSizes_intel_codes(int& l1, int& l2, int& l3)
-{
-  int abcd[4];
-  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
-  l1 = l2 = l3 = 0;
-  EIGEN_CPUID(abcd,0x00000002,0);
-  unsigned char * bytes = reinterpret_cast<unsigned char *>(abcd)+2;
-  bool check_for_p2_core2 = false;
-  for(int i=0; i<14; ++i)
-  {
-    switch(bytes[i])
-    {
-      case 0x0A: l1 = 8; break;   // 0Ah   data L1 cache, 8 KB, 2 ways, 32 byte lines
-      case 0x0C: l1 = 16; break;  // 0Ch   data L1 cache, 16 KB, 4 ways, 32 byte lines
-      case 0x0E: l1 = 24; break;  // 0Eh   data L1 cache, 24 KB, 6 ways, 64 byte lines
-      case 0x10: l1 = 16; break;  // 10h   data L1 cache, 16 KB, 4 ways, 32 byte lines (IA-64)
-      case 0x15: l1 = 16; break;  // 15h   code L1 cache, 16 KB, 4 ways, 32 byte lines (IA-64)
-      case 0x2C: l1 = 32; break;  // 2Ch   data L1 cache, 32 KB, 8 ways, 64 byte lines
-      case 0x30: l1 = 32; break;  // 30h   code L1 cache, 32 KB, 8 ways, 64 byte lines
-      case 0x60: l1 = 16; break;  // 60h   data L1 cache, 16 KB, 8 ways, 64 byte lines, sectored
-      case 0x66: l1 = 8; break;   // 66h   data L1 cache, 8 KB, 4 ways, 64 byte lines, sectored
-      case 0x67: l1 = 16; break;  // 67h   data L1 cache, 16 KB, 4 ways, 64 byte lines, sectored
-      case 0x68: l1 = 32; break;  // 68h   data L1 cache, 32 KB, 4 ways, 64 byte lines, sectored
-      case 0x1A: l2 = 96; break;   // code and data L2 cache, 96 KB, 6 ways, 64 byte lines (IA-64)
-      case 0x22: l3 = 512; break;   // code and data L3 cache, 512 KB, 4 ways (!), 64 byte lines, dual-sectored
-      case 0x23: l3 = 1024; break;   // code and data L3 cache, 1024 KB, 8 ways, 64 byte lines, dual-sectored
-      case 0x25: l3 = 2048; break;   // code and data L3 cache, 2048 KB, 8 ways, 64 byte lines, dual-sectored
-      case 0x29: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 8 ways, 64 byte lines, dual-sectored
-      case 0x39: l2 = 128; break;   // code and data L2 cache, 128 KB, 4 ways, 64 byte lines, sectored
-      case 0x3A: l2 = 192; break;   // code and data L2 cache, 192 KB, 6 ways, 64 byte lines, sectored
-      case 0x3B: l2 = 128; break;   // code and data L2 cache, 128 KB, 2 ways, 64 byte lines, sectored
-      case 0x3C: l2 = 256; break;   // code and data L2 cache, 256 KB, 4 ways, 64 byte lines, sectored
-      case 0x3D: l2 = 384; break;   // code and data L2 cache, 384 KB, 6 ways, 64 byte lines, sectored
-      case 0x3E: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 64 byte lines, sectored
-      case 0x40: l2 = 0; break;   // no integrated L2 cache (P6 core) or L3 cache (P4 core)
-      case 0x41: l2 = 128; break;   // code and data L2 cache, 128 KB, 4 ways, 32 byte lines
-      case 0x42: l2 = 256; break;   // code and data L2 cache, 256 KB, 4 ways, 32 byte lines
-      case 0x43: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 32 byte lines
-      case 0x44: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 4 ways, 32 byte lines
-      case 0x45: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 4 ways, 32 byte lines
-      case 0x46: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 4 ways, 64 byte lines
-      case 0x47: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 8 ways, 64 byte lines
-      case 0x48: l2 = 3072; break;   // code and data L2 cache, 3072 KB, 12 ways, 64 byte lines
-      case 0x49: if(l2!=0) l3 = 4096; else {check_for_p2_core2=true; l3 = l2 = 4096;} break;// code and data L3 cache, 4096 KB, 16 ways, 64 byte lines (P4) or L2 for core2
-      case 0x4A: l3 = 6144; break;   // code and data L3 cache, 6144 KB, 12 ways, 64 byte lines
-      case 0x4B: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 16 ways, 64 byte lines
-      case 0x4C: l3 = 12288; break;   // code and data L3 cache, 12288 KB, 12 ways, 64 byte lines
-      case 0x4D: l3 = 16384; break;   // code and data L3 cache, 16384 KB, 16 ways, 64 byte lines
-      case 0x4E: l2 = 6144; break;   // code and data L2 cache, 6144 KB, 24 ways, 64 byte lines
-      case 0x78: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 4 ways, 64 byte lines
-      case 0x79: l2 = 128; break;   // code and data L2 cache, 128 KB, 8 ways, 64 byte lines, dual-sectored
-      case 0x7A: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 64 byte lines, dual-sectored
-      case 0x7B: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 64 byte lines, dual-sectored
-      case 0x7C: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 64 byte lines, dual-sectored
-      case 0x7D: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 8 ways, 64 byte lines
-      case 0x7E: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 128 byte lines, sect. (IA-64)
-      case 0x7F: l2 = 512; break;   // code and data L2 cache, 512 KB, 2 ways, 64 byte lines
-      case 0x80: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 64 byte lines
-      case 0x81: l2 = 128; break;   // code and data L2 cache, 128 KB, 8 ways, 32 byte lines
-      case 0x82: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 32 byte lines
-      case 0x83: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 32 byte lines
-      case 0x84: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 32 byte lines
-      case 0x85: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 8 ways, 32 byte lines
-      case 0x86: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 64 byte lines
-      case 0x87: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 64 byte lines
-      case 0x88: l3 = 2048; break;   // code and data L3 cache, 2048 KB, 4 ways, 64 byte lines (IA-64)
-      case 0x89: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 4 ways, 64 byte lines (IA-64)
-      case 0x8A: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 4 ways, 64 byte lines (IA-64)
-      case 0x8D: l3 = 3072; break;   // code and data L3 cache, 3072 KB, 12 ways, 128 byte lines (IA-64)
-
-      default: break;
-    }
-  }
-  if(check_for_p2_core2 && l2 == l3)
-    l3 = 0;
-  l1 *= 1024;
-  l2 *= 1024;
-  l3 *= 1024;
-}
-
-inline void queryCacheSizes_intel(int& l1, int& l2, int& l3, int max_std_funcs)
-{
-  if(max_std_funcs>=4)
-    queryCacheSizes_intel_direct(l1,l2,l3);
-  else
-    queryCacheSizes_intel_codes(l1,l2,l3);
-}
-
-inline void queryCacheSizes_amd(int& l1, int& l2, int& l3)
-{
-  int abcd[4];
-  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
-  EIGEN_CPUID(abcd,0x80000005,0);
-  l1 = (abcd[2] >> 24) * 1024; // C[31:24] = L1 size in KB
-  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
-  EIGEN_CPUID(abcd,0x80000006,0);
-  l2 = (abcd[2] >> 16) * 1024; // C[31;16] = l2 cache size in KB
-  l3 = ((abcd[3] & 0xFFFC000) >> 18) * 512 * 1024; // D[31;18] = l3 cache size in 512KB
-}
-#endif
-
-/** \internal
- * Queries and returns the cache sizes in Bytes of the L1, L2, and L3 data caches respectively */
-inline void queryCacheSizes(int& l1, int& l2, int& l3)
-{
-  #ifdef EIGEN_CPUID
-  int abcd[4];
-  const int GenuineIntel[] = {0x756e6547, 0x49656e69, 0x6c65746e};
-  const int AuthenticAMD[] = {0x68747541, 0x69746e65, 0x444d4163};
-  const int AMDisbetter_[] = {0x69444d41, 0x74656273, 0x21726574}; // "AMDisbetter!"
-
-  // identify the CPU vendor
-  EIGEN_CPUID(abcd,0x0,0);
-  int max_std_funcs = abcd[1];
-  if(cpuid_is_vendor(abcd,GenuineIntel))
-    queryCacheSizes_intel(l1,l2,l3,max_std_funcs);
-  else if(cpuid_is_vendor(abcd,AuthenticAMD) || cpuid_is_vendor(abcd,AMDisbetter_))
-    queryCacheSizes_amd(l1,l2,l3);
-  else
-    // by default let's use Intel's API
-    queryCacheSizes_intel(l1,l2,l3,max_std_funcs);
-
-  // here is the list of other vendors:
-//   ||cpuid_is_vendor(abcd,"VIA VIA VIA ")
-//   ||cpuid_is_vendor(abcd,"CyrixInstead")
-//   ||cpuid_is_vendor(abcd,"CentaurHauls")
-//   ||cpuid_is_vendor(abcd,"GenuineTMx86")
-//   ||cpuid_is_vendor(abcd,"TransmetaCPU")
-//   ||cpuid_is_vendor(abcd,"RiseRiseRise")
-//   ||cpuid_is_vendor(abcd,"Geode by NSC")
-//   ||cpuid_is_vendor(abcd,"SiS SiS SiS ")
-//   ||cpuid_is_vendor(abcd,"UMC UMC UMC ")
-//   ||cpuid_is_vendor(abcd,"NexGenDriven")
-  #else
-  l1 = l2 = l3 = -1;
-  #endif
-}
-
-/** \internal
- * \returns the size in Bytes of the L1 data cache */
-inline int queryL1CacheSize()
-{
-  int l1(-1), l2, l3;
-  queryCacheSizes(l1,l2,l3);
-  return l1;
-}
-
-/** \internal
- * \returns the size in Bytes of the L2 or L3 cache if this later is present */
-inline int queryTopLevelCacheSize()
-{
-  int l1, l2(-1), l3(-1);
-  queryCacheSizes(l1,l2,l3);
-  return (std::max)(l2,l3);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_MEMORY_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/Meta.h b/phonelibs/eigen/Eigen/src/Core/util/Meta.h
deleted file mode 100755
index 7f637075598bad..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/Meta.h
+++ /dev/null
@@ -1,492 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_META_H
-#define EIGEN_META_H
-
-#if defined(__CUDA_ARCH__)
-#include <cfloat>
-#include <math_constants.h>
-#endif
-
-#if EIGEN_COMP_ICC>=1600 &&  __cplusplus >= 201103L
-#include <cstdint>
-#endif
-
-namespace Eigen {
-
-typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex;
-
-/**
- * \brief The Index type as used for the API.
- * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
- * \sa \blank \ref TopicPreprocessorDirectives, StorageIndex.
- */
-
-typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE Index;
-
-namespace internal {
-
-/** \internal
-  * \file Meta.h
-  * This file contains generic metaprogramming classes which are not specifically related to Eigen.
-  * \note In case you wonder, yes we're aware that Boost already provides all these features,
-  * we however don't want to add a dependency to Boost.
-  */
-
-// Only recent versions of ICC complain about using ptrdiff_t to hold pointers,
-// and older versions do not provide *intptr_t types.
-#if EIGEN_COMP_ICC>=1600 &&  __cplusplus >= 201103L
-typedef std::intptr_t  IntPtr;
-typedef std::uintptr_t UIntPtr;
-#else
-typedef std::ptrdiff_t IntPtr;
-typedef std::size_t UIntPtr;
-#endif
-
-struct true_type {  enum { value = 1 }; };
-struct false_type { enum { value = 0 }; };
-
-template<bool Condition, typename Then, typename Else>
-struct conditional { typedef Then type; };
-
-template<typename Then, typename Else>
-struct conditional <false, Then, Else> { typedef Else type; };
-
-template<typename T, typename U> struct is_same { enum { value = 0 }; };
-template<typename T> struct is_same<T,T> { enum { value = 1 }; };
-
-template<typename T> struct remove_reference { typedef T type; };
-template<typename T> struct remove_reference<T&> { typedef T type; };
-
-template<typename T> struct remove_pointer { typedef T type; };
-template<typename T> struct remove_pointer<T*> { typedef T type; };
-template<typename T> struct remove_pointer<T*const> { typedef T type; };
-
-template <class T> struct remove_const { typedef T type; };
-template <class T> struct remove_const<const T> { typedef T type; };
-template <class T> struct remove_const<const T[]> { typedef T type[]; };
-template <class T, unsigned int Size> struct remove_const<const T[Size]> { typedef T type[Size]; };
-
-template<typename T> struct remove_all { typedef T type; };
-template<typename T> struct remove_all<const T>   { typedef typename remove_all<T>::type type; };
-template<typename T> struct remove_all<T const&>  { typedef typename remove_all<T>::type type; };
-template<typename T> struct remove_all<T&>        { typedef typename remove_all<T>::type type; };
-template<typename T> struct remove_all<T const*>  { typedef typename remove_all<T>::type type; };
-template<typename T> struct remove_all<T*>        { typedef typename remove_all<T>::type type; };
-
-template<typename T> struct is_arithmetic      { enum { value = false }; };
-template<> struct is_arithmetic<float>         { enum { value = true }; };
-template<> struct is_arithmetic<double>        { enum { value = true }; };
-template<> struct is_arithmetic<long double>   { enum { value = true }; };
-template<> struct is_arithmetic<bool>          { enum { value = true }; };
-template<> struct is_arithmetic<char>          { enum { value = true }; };
-template<> struct is_arithmetic<signed char>   { enum { value = true }; };
-template<> struct is_arithmetic<unsigned char> { enum { value = true }; };
-template<> struct is_arithmetic<signed short>  { enum { value = true }; };
-template<> struct is_arithmetic<unsigned short>{ enum { value = true }; };
-template<> struct is_arithmetic<signed int>    { enum { value = true }; };
-template<> struct is_arithmetic<unsigned int>  { enum { value = true }; };
-template<> struct is_arithmetic<signed long>   { enum { value = true }; };
-template<> struct is_arithmetic<unsigned long> { enum { value = true }; };
-
-template<typename T> struct is_integral        { enum { value = false }; };
-template<> struct is_integral<bool>            { enum { value = true }; };
-template<> struct is_integral<char>            { enum { value = true }; };
-template<> struct is_integral<signed char>     { enum { value = true }; };
-template<> struct is_integral<unsigned char>   { enum { value = true }; };
-template<> struct is_integral<signed short>    { enum { value = true }; };
-template<> struct is_integral<unsigned short>  { enum { value = true }; };
-template<> struct is_integral<signed int>      { enum { value = true }; };
-template<> struct is_integral<unsigned int>    { enum { value = true }; };
-template<> struct is_integral<signed long>     { enum { value = true }; };
-template<> struct is_integral<unsigned long>   { enum { value = true }; };
-
-template <typename T> struct add_const { typedef const T type; };
-template <typename T> struct add_const<T&> { typedef T& type; };
-
-template <typename T> struct is_const { enum { value = 0 }; };
-template <typename T> struct is_const<T const> { enum { value = 1 }; };
-
-template<typename T> struct add_const_on_value_type            { typedef const T type;  };
-template<typename T> struct add_const_on_value_type<T&>        { typedef T const& type; };
-template<typename T> struct add_const_on_value_type<T*>        { typedef T const* type; };
-template<typename T> struct add_const_on_value_type<T* const>  { typedef T const* const type; };
-template<typename T> struct add_const_on_value_type<T const* const>  { typedef T const* const type; };
-
-
-template<typename From, typename To>
-struct is_convertible_impl
-{
-private:
-  struct any_conversion
-  {
-    template <typename T> any_conversion(const volatile T&);
-    template <typename T> any_conversion(T&);
-  };
-  struct yes {int a[1];};
-  struct no  {int a[2];};
-
-  static yes test(const To&, int);
-  static no  test(any_conversion, ...);
-
-public:
-  static From ms_from;
-#ifdef __INTEL_COMPILER
-  #pragma warning push
-  #pragma warning ( disable : 2259 )
-#endif
-  enum { value = sizeof(test(ms_from, 0))==sizeof(yes) };
-#ifdef __INTEL_COMPILER
-  #pragma warning pop
-#endif
-};
-
-template<typename From, typename To>
-struct is_convertible
-{
-  enum { value = is_convertible_impl<typename remove_all<From>::type,
-                                     typename remove_all<To  >::type>::value };
-};
-
-/** \internal Allows to enable/disable an overload
-  * according to a compile time condition.
-  */
-template<bool Condition, typename T=void> struct enable_if;
-
-template<typename T> struct enable_if<true,T>
-{ typedef T type; };
-
-#if defined(__CUDA_ARCH__)
-#if !defined(__FLT_EPSILON__)
-#define __FLT_EPSILON__ FLT_EPSILON
-#define __DBL_EPSILON__ DBL_EPSILON
-#endif
-
-namespace device {
-
-template<typename T> struct numeric_limits
-{
-  EIGEN_DEVICE_FUNC
-  static T epsilon() { return 0; }
-  static T (max)() { assert(false && "Highest not supported for this type"); }
-  static T (min)() { assert(false && "Lowest not supported for this type"); }
-  static T infinity() { assert(false && "Infinity not supported for this type"); }
-  static T quiet_NaN() { assert(false && "quiet_NaN not supported for this type"); }
-};
-template<> struct numeric_limits<float>
-{
-  EIGEN_DEVICE_FUNC
-  static float epsilon() { return __FLT_EPSILON__; }
-  EIGEN_DEVICE_FUNC
-  static float (max)() { return CUDART_MAX_NORMAL_F; }
-  EIGEN_DEVICE_FUNC
-  static float (min)() { return FLT_MIN; }
-  EIGEN_DEVICE_FUNC
-  static float infinity() { return CUDART_INF_F; }
-  EIGEN_DEVICE_FUNC
-  static float quiet_NaN() { return CUDART_NAN_F; }
-};
-template<> struct numeric_limits<double>
-{
-  EIGEN_DEVICE_FUNC
-  static double epsilon() { return __DBL_EPSILON__; }
-  EIGEN_DEVICE_FUNC
-  static double (max)() { return DBL_MAX; }
-  EIGEN_DEVICE_FUNC
-  static double (min)() { return DBL_MIN; }
-  EIGEN_DEVICE_FUNC
-  static double infinity() { return CUDART_INF; }
-  EIGEN_DEVICE_FUNC
-  static double quiet_NaN() { return CUDART_NAN; }
-};
-template<> struct numeric_limits<int>
-{
-  EIGEN_DEVICE_FUNC
-  static int epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
-  static int (max)() { return INT_MAX; }
-  EIGEN_DEVICE_FUNC
-  static int (min)() { return INT_MIN; }
-};
-template<> struct numeric_limits<unsigned int>
-{
-  EIGEN_DEVICE_FUNC
-  static unsigned int epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
-  static unsigned int (max)() { return UINT_MAX; }
-  EIGEN_DEVICE_FUNC
-  static unsigned int (min)() { return 0; }
-};
-template<> struct numeric_limits<long>
-{
-  EIGEN_DEVICE_FUNC
-  static long epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
-  static long (max)() { return LONG_MAX; }
-  EIGEN_DEVICE_FUNC
-  static long (min)() { return LONG_MIN; }
-};
-template<> struct numeric_limits<unsigned long>
-{
-  EIGEN_DEVICE_FUNC
-  static unsigned long epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
-  static unsigned long (max)() { return ULONG_MAX; }
-  EIGEN_DEVICE_FUNC
-  static unsigned long (min)() { return 0; }
-};
-template<> struct numeric_limits<long long>
-{
-  EIGEN_DEVICE_FUNC
-  static long long epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
-  static long long (max)() { return LLONG_MAX; }
-  EIGEN_DEVICE_FUNC
-  static long long (min)() { return LLONG_MIN; }
-};
-template<> struct numeric_limits<unsigned long long>
-{
-  EIGEN_DEVICE_FUNC
-  static unsigned long long epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
-  static unsigned long long (max)() { return ULLONG_MAX; }
-  EIGEN_DEVICE_FUNC
-  static unsigned long long (min)() { return 0; }
-};
-
-}
-
-#endif
-
-/** \internal
-  * A base class do disable default copy ctor and copy assignement operator.
-  */
-class noncopyable
-{
-  EIGEN_DEVICE_FUNC noncopyable(const noncopyable&);
-  EIGEN_DEVICE_FUNC const noncopyable& operator=(const noncopyable&);
-protected:
-  EIGEN_DEVICE_FUNC noncopyable() {}
-  EIGEN_DEVICE_FUNC ~noncopyable() {}
-};
-
-/** \internal
-  * Convenient struct to get the result type of a unary or binary functor.
-  *
-  * It supports both the current STL mechanism (using the result_type member) as well as
-  * upcoming next STL generation (using a templated result member).
-  * If none of these members is provided, then the type of the first argument is returned. FIXME, that behavior is a pretty bad hack.
-  */
-#if EIGEN_HAS_STD_RESULT_OF
-template<typename T> struct result_of {
-  typedef typename std::result_of<T>::type type1;
-  typedef typename remove_all<type1>::type type;
-};
-#else
-template<typename T> struct result_of { };
-
-struct has_none {int a[1];};
-struct has_std_result_type {int a[2];};
-struct has_tr1_result {int a[3];};
-
-template<typename Func, typename ArgType, int SizeOf=sizeof(has_none)>
-struct unary_result_of_select {typedef typename internal::remove_all<ArgType>::type type;};
-
-template<typename Func, typename ArgType>
-struct unary_result_of_select<Func, ArgType, sizeof(has_std_result_type)> {typedef typename Func::result_type type;};
-
-template<typename Func, typename ArgType>
-struct unary_result_of_select<Func, ArgType, sizeof(has_tr1_result)> {typedef typename Func::template result<Func(ArgType)>::type type;};
-
-template<typename Func, typename ArgType>
-struct result_of<Func(ArgType)> {
-    template<typename T>
-    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
-    template<typename T>
-    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
-    static has_none               testFunctor(...);
-
-    // note that the following indirection is needed for gcc-3.3
-    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
-    typedef typename unary_result_of_select<Func, ArgType, FunctorType>::type type;
-};
-
-template<typename Func, typename ArgType0, typename ArgType1, int SizeOf=sizeof(has_none)>
-struct binary_result_of_select {typedef typename internal::remove_all<ArgType0>::type type;};
-
-template<typename Func, typename ArgType0, typename ArgType1>
-struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_std_result_type)>
-{typedef typename Func::result_type type;};
-
-template<typename Func, typename ArgType0, typename ArgType1>
-struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_tr1_result)>
-{typedef typename Func::template result<Func(ArgType0,ArgType1)>::type type;};
-
-template<typename Func, typename ArgType0, typename ArgType1>
-struct result_of<Func(ArgType0,ArgType1)> {
-    template<typename T>
-    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
-    template<typename T>
-    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
-    static has_none               testFunctor(...);
-
-    // note that the following indirection is needed for gcc-3.3
-    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
-    typedef typename binary_result_of_select<Func, ArgType0, ArgType1, FunctorType>::type type;
-};
-
-template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2, int SizeOf=sizeof(has_none)>
-struct ternary_result_of_select {typedef typename internal::remove_all<ArgType0>::type type;};
-
-template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
-struct ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, sizeof(has_std_result_type)>
-{typedef typename Func::result_type type;};
-
-template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
-struct ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, sizeof(has_tr1_result)>
-{typedef typename Func::template result<Func(ArgType0,ArgType1,ArgType2)>::type type;};
-
-template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
-struct result_of<Func(ArgType0,ArgType1,ArgType2)> {
-    template<typename T>
-    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
-    template<typename T>
-    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1,ArgType2)>::type const * = 0);
-    static has_none               testFunctor(...);
-
-    // note that the following indirection is needed for gcc-3.3
-    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
-    typedef typename ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, FunctorType>::type type;
-};
-#endif
-
-struct meta_yes { char a[1]; };
-struct meta_no  { char a[2]; };
-
-// Check whether T::ReturnType does exist
-template <typename T>
-struct has_ReturnType
-{
-  template <typename C> static meta_yes testFunctor(typename C::ReturnType const *);
-  template <typename C> static meta_no testFunctor(...);
-
-  enum { value = sizeof(testFunctor<T>(0)) == sizeof(meta_yes) };
-};
-
-template<typename T> const T* return_ptr();
-
-template <typename T, typename IndexType=Index>
-struct has_nullary_operator
-{
-  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()())>0)>::type * = 0);
-  static meta_no testFunctor(...);
-
-  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
-};
-
-template <typename T, typename IndexType=Index>
-struct has_unary_operator
-{
-  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()(IndexType(0)))>0)>::type * = 0);
-  static meta_no testFunctor(...);
-
-  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
-};
-
-template <typename T, typename IndexType=Index>
-struct has_binary_operator
-{
-  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()(IndexType(0),IndexType(0)))>0)>::type * = 0);
-  static meta_no testFunctor(...);
-
-  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
-};
-
-/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
-  * Usage example: \code meta_sqrt<1023>::ret \endcode
-  */
-template<int Y,
-         int InfX = 0,
-         int SupX = ((Y==1) ? 1 : Y/2),
-         bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
-                                // use ?: instead of || just to shut up a stupid gcc 4.3 warning
-class meta_sqrt
-{
-    enum {
-      MidX = (InfX+SupX)/2,
-      TakeInf = MidX*MidX > Y ? 1 : 0,
-      NewInf = int(TakeInf) ? InfX : int(MidX),
-      NewSup = int(TakeInf) ? int(MidX) : SupX
-    };
-  public:
-    enum { ret = meta_sqrt<Y,NewInf,NewSup>::ret };
-};
-
-template<int Y, int InfX, int SupX>
-class meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
-
-
-/** \internal Computes the least common multiple of two positive integer A and B
-  * at compile-time. It implements a naive algorithm testing all multiples of A.
-  * It thus works better if A>=B.
-  */
-template<int A, int B, int K=1, bool Done = ((A*K)%B)==0>
-struct meta_least_common_multiple
-{
-  enum { ret = meta_least_common_multiple<A,B,K+1>::ret };
-};
-template<int A, int B, int K>
-struct meta_least_common_multiple<A,B,K,true>
-{
-  enum { ret = A*K };
-};
-
-/** \internal determines whether the product of two numeric types is allowed and what the return type is */
-template<typename T, typename U> struct scalar_product_traits
-{
-  enum { Defined = 0 };
-};
-
-// FIXME quick workaround around current limitation of result_of
-// template<typename Scalar, typename ArgType0, typename ArgType1>
-// struct result_of<scalar_product_op<Scalar>(ArgType0,ArgType1)> {
-// typedef typename scalar_product_traits<typename remove_all<ArgType0>::type, typename remove_all<ArgType1>::type>::ReturnType type;
-// };
-
-} // end namespace internal
-
-namespace numext {
-  
-#if defined(__CUDA_ARCH__)
-template<typename T> EIGEN_DEVICE_FUNC   void swap(T &a, T &b) { T tmp = b; b = a; a = tmp; }
-#else
-template<typename T> EIGEN_STRONG_INLINE void swap(T &a, T &b) { std::swap(a,b); }
-#endif
-
-#if defined(__CUDA_ARCH__)
-using internal::device::numeric_limits;
-#else
-using std::numeric_limits;
-#endif
-
-// Integer division with rounding up.
-// T is assumed to be an integer type with a>=0, and b>0
-template<typename T>
-T div_ceil(const T &a, const T &b)
-{
-  return (a+b-1) / b;
-}
-
-} // end namespace numext
-
-} // end namespace Eigen
-
-#endif // EIGEN_META_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/NonMPL2.h b/phonelibs/eigen/Eigen/src/Core/util/NonMPL2.h
deleted file mode 100644
index 1af67cf18c7010..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/NonMPL2.h
+++ /dev/null
@@ -1,3 +0,0 @@
-#ifdef EIGEN_MPL2_ONLY
-#error Including non-MPL2 code in EIGEN_MPL2_ONLY mode
-#endif
diff --git a/phonelibs/eigen/Eigen/src/Core/util/ReenableStupidWarnings.h b/phonelibs/eigen/Eigen/src/Core/util/ReenableStupidWarnings.h
deleted file mode 100644
index 86b60f52f7e98a..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/ReenableStupidWarnings.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifdef EIGEN_WARNINGS_DISABLED
-#undef EIGEN_WARNINGS_DISABLED
-
-#ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
-  #ifdef _MSC_VER
-    #pragma warning( pop )
-  #elif defined __INTEL_COMPILER
-    #pragma warning pop
-  #elif defined __clang__
-    #pragma clang diagnostic pop
-  #elif defined __GNUC__ && __GNUC__>=6
-    #pragma GCC diagnostic pop
-  #endif
-
-  #if defined __NVCC__
-//    Don't reenable the diagnostic messages, as it turns out these messages need
-//    to be disabled at the point of the template instantiation (i.e the user code)
-//    otherwise they'll be triggered by nvcc.
-//    #pragma diag_default code_is_unreachable
-//    #pragma diag_default initialization_not_reachable
-//    #pragma diag_default 2651
-//    #pragma diag_default 2653
-  #endif
-
-#endif
-
-#endif // EIGEN_WARNINGS_DISABLED
diff --git a/phonelibs/eigen/Eigen/src/Core/util/StaticAssert.h b/phonelibs/eigen/Eigen/src/Core/util/StaticAssert.h
deleted file mode 100644
index 983361a45b4383..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/StaticAssert.h
+++ /dev/null
@@ -1,216 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STATIC_ASSERT_H
-#define EIGEN_STATIC_ASSERT_H
-
-/* Some notes on Eigen's static assertion mechanism:
- *
- *  - in EIGEN_STATIC_ASSERT(CONDITION,MSG) the parameter CONDITION must be a compile time boolean
- *    expression, and MSG an enum listed in struct internal::static_assertion<true>
- *
- *  - define EIGEN_NO_STATIC_ASSERT to disable them (and save compilation time)
- *    in that case, the static assertion is converted to the following runtime assert:
- *      eigen_assert(CONDITION && "MSG")
- *
- *  - currently EIGEN_STATIC_ASSERT can only be used in function scope
- *
- */
-
-#ifndef EIGEN_NO_STATIC_ASSERT
-
-  #if EIGEN_MAX_CPP_VER>=11 && (__has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600))
-
-    // if native static_assert is enabled, let's use it
-    #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
-
-  #else // not CXX0X
-
-    namespace Eigen {
-
-    namespace internal {
-
-    template<bool condition>
-    struct static_assertion {};
-
-    template<>
-    struct static_assertion<true>
-    {
-      enum {
-        YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX,
-        YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES,
-        YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES,
-        THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE,
-        THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE,
-        THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE,
-        OUT_OF_RANGE_ACCESS,
-        YOU_MADE_A_PROGRAMMING_MISTAKE,
-        EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT,
-        EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE,
-        YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR,
-        YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR,
-        UNALIGNED_LOAD_AND_STORE_OPERATIONS_UNIMPLEMENTED_ON_ALTIVEC,
-        THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES,
-        FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED,
-        NUMERIC_TYPE_MUST_BE_REAL,
-        COEFFICIENT_WRITE_ACCESS_TO_SELFADJOINT_NOT_SUPPORTED,
-        WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED,
-        THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE,
-        INVALID_MATRIX_PRODUCT,
-        INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS,
-        INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION,
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY,
-        THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES,
-        THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES,
-        INVALID_MATRIX_TEMPLATE_PARAMETERS,
-        INVALID_MATRIXBASE_TEMPLATE_PARAMETERS,
-        BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER,
-        THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX,
-        THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE,
-        THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES,
-        YOU_ALREADY_SPECIFIED_THIS_STRIDE,
-        INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION,
-        THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD,
-        PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1,
-        THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS,
-        YOU_CANNOT_MIX_ARRAYS_AND_MATRICES,
-        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION,
-        THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY,
-        YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT,
-        THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS,
-        THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS,
-        THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL,
-        THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES,
-        YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED,
-        YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED,
-        THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE,
-        THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH,
-        OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG,
-        IMPLICIT_CONVERSION_TO_SCALAR_IS_FOR_INNER_PRODUCT_ONLY,
-        STORAGE_LAYOUT_DOES_NOT_MATCH,
-        EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE,
-        THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS,
-        MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY,
-        THIS_TYPE_IS_NOT_SUPPORTED,
-        STORAGE_KIND_MUST_MATCH,
-        STORAGE_INDEX_MUST_MATCH,
-        CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY
-      };
-    };
-
-    } // end namespace internal
-
-    } // end namespace Eigen
-
-    // Specialized implementation for MSVC to avoid "conditional
-    // expression is constant" warnings.  This implementation doesn't
-    // appear to work under GCC, hence the multiple implementations.
-    #if EIGEN_COMP_MSVC
-
-      #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
-        {Eigen::internal::static_assertion<bool(CONDITION)>::MSG;}
-
-    #else
-      // In some cases clang interprets bool(CONDITION) as function declaration
-      #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
-        if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MSG) {}
-
-    #endif
-
-  #endif // not CXX0X
-
-#else // EIGEN_NO_STATIC_ASSERT
-
-  #define EIGEN_STATIC_ASSERT(CONDITION,MSG) eigen_assert((CONDITION) && #MSG);
-
-#endif // EIGEN_NO_STATIC_ASSERT
-
-
-// static assertion failing if the type \a TYPE is not a vector type
-#define EIGEN_STATIC_ASSERT_VECTOR_ONLY(TYPE) \
-  EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime, \
-                      YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX)
-
-// static assertion failing if the type \a TYPE is not fixed-size
-#define EIGEN_STATIC_ASSERT_FIXED_SIZE(TYPE) \
-  EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime!=Eigen::Dynamic, \
-                      YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR)
-
-// static assertion failing if the type \a TYPE is not dynamic-size
-#define EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(TYPE) \
-  EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime==Eigen::Dynamic, \
-                      YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR)
-
-// static assertion failing if the type \a TYPE is not a vector type of the given size
-#define EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(TYPE, SIZE) \
-  EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime && TYPE::SizeAtCompileTime==SIZE, \
-                      THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE)
-
-// static assertion failing if the type \a TYPE is not a vector type of the given size
-#define EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(TYPE, ROWS, COLS) \
-  EIGEN_STATIC_ASSERT(TYPE::RowsAtCompileTime==ROWS && TYPE::ColsAtCompileTime==COLS, \
-                      THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
-
-// static assertion failing if the two vector expression types are not compatible (same fixed-size or dynamic size)
-#define EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(TYPE0,TYPE1) \
-  EIGEN_STATIC_ASSERT( \
-      (int(TYPE0::SizeAtCompileTime)==Eigen::Dynamic \
-    || int(TYPE1::SizeAtCompileTime)==Eigen::Dynamic \
-    || int(TYPE0::SizeAtCompileTime)==int(TYPE1::SizeAtCompileTime)),\
-    YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES)
-
-#define EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
-     ( \
-        (int(Eigen::internal::size_of_xpr_at_compile_time<TYPE0>::ret)==0 && int(Eigen::internal::size_of_xpr_at_compile_time<TYPE1>::ret)==0) \
-    || (\
-          (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
-        || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
-        || int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime)) \
-      &&  (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic \
-        || int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic \
-        || int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime))\
-       ) \
-     )
-
-#define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
-    EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
-
-
-// static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
-#define EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
-  EIGEN_STATIC_ASSERT( \
-     EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1),\
-    YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES)
-
-#define EIGEN_STATIC_ASSERT_SIZE_1x1(TYPE) \
-      EIGEN_STATIC_ASSERT((TYPE::RowsAtCompileTime == 1 || TYPE::RowsAtCompileTime == Dynamic) && \
-                          (TYPE::ColsAtCompileTime == 1 || TYPE::ColsAtCompileTime == Dynamic), \
-                          THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
-
-#define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
-      EIGEN_STATIC_ASSERT(Eigen::internal::is_lvalue<Derived>::value, \
-                          THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY)
-
-#define EIGEN_STATIC_ASSERT_ARRAYXPR(Derived) \
-      EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived>::XprKind, ArrayXpr>::value), \
-                          THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES)
-
-#define EIGEN_STATIC_ASSERT_SAME_XPR_KIND(Derived1, Derived2) \
-      EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived1>::XprKind, \
-                                             typename Eigen::internal::traits<Derived2>::XprKind \
-                                            >::value), \
-                          YOU_CANNOT_MIX_ARRAYS_AND_MATRICES)
-
-// Check that a cost value is positive, and that is stay within a reasonable range
-// TODO this check could be enabled for internal debugging only
-#define EIGEN_INTERNAL_CHECK_COST_VALUE(C) \
-      EIGEN_STATIC_ASSERT((C)>=0 && (C)<=HugeCost*HugeCost, EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE);
-
-#endif // EIGEN_STATIC_ASSERT_H
diff --git a/phonelibs/eigen/Eigen/src/Core/util/XprHelper.h b/phonelibs/eigen/Eigen/src/Core/util/XprHelper.h
deleted file mode 100644
index ba5bd186d290cd..00000000000000
--- a/phonelibs/eigen/Eigen/src/Core/util/XprHelper.h
+++ /dev/null
@@ -1,821 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_XPRHELPER_H
-#define EIGEN_XPRHELPER_H
-
-// just a workaround because GCC seems to not really like empty structs
-// FIXME: gcc 4.3 generates bad code when strict-aliasing is enabled
-// so currently we simply disable this optimization for gcc 4.3
-#if EIGEN_COMP_GNUC && !EIGEN_GNUC_AT(4,3)
-  #define EIGEN_EMPTY_STRUCT_CTOR(X) \
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE X() {} \
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE X(const X& ) {}
-#else
-  #define EIGEN_EMPTY_STRUCT_CTOR(X)
-#endif
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename IndexDest, typename IndexSrc>
-EIGEN_DEVICE_FUNC
-inline IndexDest convert_index(const IndexSrc& idx) {
-  // for sizeof(IndexDest)>=sizeof(IndexSrc) compilers should be able to optimize this away:
-  eigen_internal_assert(idx <= NumTraits<IndexDest>::highest() && "Index value to big for target type");
-  return IndexDest(idx);
-}
-
-
-// promote_scalar_arg is an helper used in operation between an expression and a scalar, like:
-//    expression * scalar
-// Its role is to determine how the type T of the scalar operand should be promoted given the scalar type ExprScalar of the given expression.
-// The IsSupported template parameter must be provided by the caller as: internal::has_ReturnType<ScalarBinaryOpTraits<ExprScalar,T,op> >::value using the proper order for ExprScalar and T.
-// Then the logic is as follows:
-//  - if the operation is natively supported as defined by IsSupported, then the scalar type is not promoted, and T is returned.
-//  - otherwise, NumTraits<ExprScalar>::Literal is returned if T is implicitly convertible to NumTraits<ExprScalar>::Literal AND that this does not imply a float to integer conversion.
-//  - otherwise, ExprScalar is returned if T is implicitly convertible to ExprScalar AND that this does not imply a float to integer conversion.
-//  - In all other cases, the promoted type is not defined, and the respective operation is thus invalid and not available (SFINAE).
-template<typename ExprScalar,typename T, bool IsSupported>
-struct promote_scalar_arg;
-
-template<typename S,typename T>
-struct promote_scalar_arg<S,T,true>
-{
-  typedef T type;
-};
-
-// Recursively check safe conversion to PromotedType, and then ExprScalar if they are different.
-template<typename ExprScalar,typename T,typename PromotedType,
-  bool ConvertibleToLiteral = internal::is_convertible<T,PromotedType>::value,
-  bool IsSafe = NumTraits<T>::IsInteger || !NumTraits<PromotedType>::IsInteger>
-struct promote_scalar_arg_unsupported;
-
-// Start recursion with NumTraits<ExprScalar>::Literal
-template<typename S,typename T>
-struct promote_scalar_arg<S,T,false> : promote_scalar_arg_unsupported<S,T,typename NumTraits<S>::Literal> {};
-
-// We found a match!
-template<typename S,typename T, typename PromotedType>
-struct promote_scalar_arg_unsupported<S,T,PromotedType,true,true>
-{
-  typedef PromotedType type;
-};
-
-// No match, but no real-to-integer issues, and ExprScalar and current PromotedType are different,
-// so let's try to promote to ExprScalar
-template<typename ExprScalar,typename T, typename PromotedType>
-struct promote_scalar_arg_unsupported<ExprScalar,T,PromotedType,false,true>
-   : promote_scalar_arg_unsupported<ExprScalar,T,ExprScalar>
-{};
-
-// Unsafe real-to-integer, let's stop.
-template<typename S,typename T, typename PromotedType, bool ConvertibleToLiteral>
-struct promote_scalar_arg_unsupported<S,T,PromotedType,ConvertibleToLiteral,false> {};
-
-// T is not even convertible to ExprScalar, let's stop.
-template<typename S,typename T>
-struct promote_scalar_arg_unsupported<S,T,S,false,true> {};
-
-//classes inheriting no_assignment_operator don't generate a default operator=.
-class no_assignment_operator
-{
-  private:
-    no_assignment_operator& operator=(const no_assignment_operator&);
-};
-
-/** \internal return the index type with the largest number of bits */
-template<typename I1, typename I2>
-struct promote_index_type
-{
-  typedef typename conditional<(sizeof(I1)<sizeof(I2)), I2, I1>::type type;
-};
-
-/** \internal If the template parameter Value is Dynamic, this class is just a wrapper around a T variable that
-  * can be accessed using value() and setValue().
-  * Otherwise, this class is an empty structure and value() just returns the template parameter Value.
-  */
-template<typename T, int Value> class variable_if_dynamic
-{
-  public:
-    EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamic)
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
-    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
-};
-
-template<typename T> class variable_if_dynamic<T, Dynamic>
-{
-    T m_value;
-    EIGEN_DEVICE_FUNC variable_if_dynamic() { eigen_assert(false); }
-  public:
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T value) : m_value(value) {}
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T value() const { return m_value; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
-};
-
-/** \internal like variable_if_dynamic but for DynamicIndex
-  */
-template<typename T, int Value> class variable_if_dynamicindex
-{
-  public:
-    EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamicindex)
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
-    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
-};
-
-template<typename T> class variable_if_dynamicindex<T, DynamicIndex>
-{
-    T m_value;
-    EIGEN_DEVICE_FUNC variable_if_dynamicindex() { eigen_assert(false); }
-  public:
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T value) : m_value(value) {}
-    EIGEN_DEVICE_FUNC T EIGEN_STRONG_INLINE value() const { return m_value; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
-};
-
-template<typename T> struct functor_traits
-{
-  enum
-  {
-    Cost = 10,
-    PacketAccess = false,
-    IsRepeatable = false
-  };
-};
-
-template<typename T> struct packet_traits;
-
-template<typename T> struct unpacket_traits
-{
-  typedef T type;
-  typedef T half;
-  enum
-  {
-    size = 1,
-    alignment = 1
-  };
-};
-
-template<int Size, typename PacketType,
-         bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
-struct find_best_packet_helper;
-
-template< int Size, typename PacketType>
-struct find_best_packet_helper<Size,PacketType,true>
-{
-  typedef PacketType type;
-};
-
-template<int Size, typename PacketType>
-struct find_best_packet_helper<Size,PacketType,false>
-{
-  typedef typename find_best_packet_helper<Size,typename unpacket_traits<PacketType>::half>::type type;
-};
-
-template<typename T, int Size>
-struct find_best_packet
-{
-  typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
-};
-
-#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
-template<int ArrayBytes, int AlignmentBytes,
-         bool Match     =  bool((ArrayBytes%AlignmentBytes)==0),
-         bool TryHalf   =  bool(EIGEN_MIN_ALIGN_BYTES<AlignmentBytes) >
-struct compute_default_alignment_helper
-{
-  enum { value = 0 };
-};
-
-template<int ArrayBytes, int AlignmentBytes, bool TryHalf>
-struct compute_default_alignment_helper<ArrayBytes, AlignmentBytes, true, TryHalf> // Match
-{
-  enum { value = AlignmentBytes };
-};
-
-template<int ArrayBytes, int AlignmentBytes>
-struct compute_default_alignment_helper<ArrayBytes, AlignmentBytes, false, true> // Try-half
-{
-  // current packet too large, try with an half-packet
-  enum { value = compute_default_alignment_helper<ArrayBytes, AlignmentBytes/2>::value };
-};
-#else
-// If static alignment is disabled, no need to bother.
-// This also avoids a division by zero in "bool Match =  bool((ArrayBytes%AlignmentBytes)==0)"
-template<int ArrayBytes, int AlignmentBytes>
-struct compute_default_alignment_helper
-{
-  enum { value = 0 };
-};
-#endif
-
-template<typename T, int Size> struct compute_default_alignment {
-  enum { value = compute_default_alignment_helper<Size*sizeof(T),EIGEN_MAX_STATIC_ALIGN_BYTES>::value };
-};
-
-template<typename T> struct compute_default_alignment<T,Dynamic> {
-  enum { value = EIGEN_MAX_ALIGN_BYTES };
-};
-
-template<typename _Scalar, int _Rows, int _Cols,
-         int _Options = AutoAlign |
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
-                          : (_Cols==1 && _Rows!=1) ? ColMajor
-                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
-         int _MaxRows = _Rows,
-         int _MaxCols = _Cols
-> class make_proper_matrix_type
-{
-    enum {
-      IsColVector = _Cols==1 && _Rows!=1,
-      IsRowVector = _Rows==1 && _Cols!=1,
-      Options = IsColVector ? (_Options | ColMajor) & ~RowMajor
-              : IsRowVector ? (_Options | RowMajor) & ~ColMajor
-              : _Options
-    };
-  public:
-    typedef Matrix<_Scalar, _Rows, _Cols, Options, _MaxRows, _MaxCols> type;
-};
-
-template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-class compute_matrix_flags
-{
-    enum { row_major_bit = Options&RowMajor ? RowMajorBit : 0 };
-  public:
-    // FIXME currently we still have to handle DirectAccessBit at the expression level to handle DenseCoeffsBase<>
-    // and then propagate this information to the evaluator's flags.
-    // However, I (Gael) think that DirectAccessBit should only matter at the evaluation stage.
-    enum { ret = DirectAccessBit | LvalueBit | NestByRefBit | row_major_bit };
-};
-
-template<int _Rows, int _Cols> struct size_at_compile_time
-{
-  enum { ret = (_Rows==Dynamic || _Cols==Dynamic) ? Dynamic : _Rows * _Cols };
-};
-
-template<typename XprType> struct size_of_xpr_at_compile_time
-{
-  enum { ret = size_at_compile_time<traits<XprType>::RowsAtCompileTime,traits<XprType>::ColsAtCompileTime>::ret };
-};
-
-/* plain_matrix_type : the difference from eval is that plain_matrix_type is always a plain matrix type,
- * whereas eval is a const reference in the case of a matrix
- */
-
-template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_matrix_type;
-template<typename T, typename BaseClassType, int Flags> struct plain_matrix_type_dense;
-template<typename T> struct plain_matrix_type<T,Dense>
-{
-  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, traits<T>::Flags>::type type;
-};
-template<typename T> struct plain_matrix_type<T,DiagonalShape>
-{
-  typedef typename T::PlainObject type;
-};
-
-template<typename T, int Flags> struct plain_matrix_type_dense<T,MatrixXpr,Flags>
-{
-  typedef Matrix<typename traits<T>::Scalar,
-                traits<T>::RowsAtCompileTime,
-                traits<T>::ColsAtCompileTime,
-                AutoAlign | (Flags&RowMajorBit ? RowMajor : ColMajor),
-                traits<T>::MaxRowsAtCompileTime,
-                traits<T>::MaxColsAtCompileTime
-          > type;
-};
-
-template<typename T, int Flags> struct plain_matrix_type_dense<T,ArrayXpr,Flags>
-{
-  typedef Array<typename traits<T>::Scalar,
-                traits<T>::RowsAtCompileTime,
-                traits<T>::ColsAtCompileTime,
-                AutoAlign | (Flags&RowMajorBit ? RowMajor : ColMajor),
-                traits<T>::MaxRowsAtCompileTime,
-                traits<T>::MaxColsAtCompileTime
-          > type;
-};
-
-/* eval : the return type of eval(). For matrices, this is just a const reference
- * in order to avoid a useless copy
- */
-
-template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct eval;
-
-template<typename T> struct eval<T,Dense>
-{
-  typedef typename plain_matrix_type<T>::type type;
-//   typedef typename T::PlainObject type;
-//   typedef T::Matrix<typename traits<T>::Scalar,
-//                 traits<T>::RowsAtCompileTime,
-//                 traits<T>::ColsAtCompileTime,
-//                 AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
-//                 traits<T>::MaxRowsAtCompileTime,
-//                 traits<T>::MaxColsAtCompileTime
-//           > type;
-};
-
-template<typename T> struct eval<T,DiagonalShape>
-{
-  typedef typename plain_matrix_type<T>::type type;
-};
-
-// for matrices, no need to evaluate, just use a const reference to avoid a useless copy
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct eval<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
-{
-  typedef const Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& type;
-};
-
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct eval<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
-{
-  typedef const Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& type;
-};
-
-
-/* similar to plain_matrix_type, but using the evaluator's Flags */
-template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_object_eval;
-
-template<typename T>
-struct plain_object_eval<T,Dense>
-{
-  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
-};
-
-
-/* plain_matrix_type_column_major : same as plain_matrix_type but guaranteed to be column-major
- */
-template<typename T> struct plain_matrix_type_column_major
-{
-  enum { Rows = traits<T>::RowsAtCompileTime,
-         Cols = traits<T>::ColsAtCompileTime,
-         MaxRows = traits<T>::MaxRowsAtCompileTime,
-         MaxCols = traits<T>::MaxColsAtCompileTime
-  };
-  typedef Matrix<typename traits<T>::Scalar,
-                Rows,
-                Cols,
-                (MaxRows==1&&MaxCols!=1) ? RowMajor : ColMajor,
-                MaxRows,
-                MaxCols
-          > type;
-};
-
-/* plain_matrix_type_row_major : same as plain_matrix_type but guaranteed to be row-major
- */
-template<typename T> struct plain_matrix_type_row_major
-{
-  enum { Rows = traits<T>::RowsAtCompileTime,
-         Cols = traits<T>::ColsAtCompileTime,
-         MaxRows = traits<T>::MaxRowsAtCompileTime,
-         MaxCols = traits<T>::MaxColsAtCompileTime
-  };
-  typedef Matrix<typename traits<T>::Scalar,
-                Rows,
-                Cols,
-                (MaxCols==1&&MaxRows!=1) ? RowMajor : ColMajor,
-                MaxRows,
-                MaxCols
-          > type;
-};
-
-/** \internal The reference selector for template expressions. The idea is that we don't
-  * need to use references for expressions since they are light weight proxy
-  * objects which should generate no copying overhead. */
-template <typename T>
-struct ref_selector
-{
-  typedef typename conditional<
-    bool(traits<T>::Flags & NestByRefBit),
-    T const&,
-    const T
-  >::type type;
-  
-  typedef typename conditional<
-    bool(traits<T>::Flags & NestByRefBit),
-    T &,
-    T
-  >::type non_const_type;
-};
-
-/** \internal Adds the const qualifier on the value-type of T2 if and only if T1 is a const type */
-template<typename T1, typename T2>
-struct transfer_constness
-{
-  typedef typename conditional<
-    bool(internal::is_const<T1>::value),
-    typename internal::add_const_on_value_type<T2>::type,
-    T2
-  >::type type;
-};
-
-
-// However, we still need a mechanism to detect whether an expression which is evaluated multiple time
-// has to be evaluated into a temporary.
-// That's the purpose of this new nested_eval helper:
-/** \internal Determines how a given expression should be nested when evaluated multiple times.
-  * For example, when you do a * (b+c), Eigen will determine how the expression b+c should be
-  * evaluated into the bigger product expression. The choice is between nesting the expression b+c as-is, or
-  * evaluating that expression b+c into a temporary variable d, and nest d so that the resulting expression is
-  * a*d. Evaluating can be beneficial for example if every coefficient access in the resulting expression causes
-  * many coefficient accesses in the nested expressions -- as is the case with matrix product for example.
-  *
-  * \tparam T the type of the expression being nested.
-  * \tparam n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
-  * \tparam PlainObject the type of the temporary if needed.
-  */
-template<typename T, int n, typename PlainObject = typename plain_object_eval<T>::type> struct nested_eval
-{
-  enum {
-    ScalarReadCost = NumTraits<typename traits<T>::Scalar>::ReadCost,
-    CoeffReadCost = evaluator<T>::CoeffReadCost,  // NOTE What if an evaluator evaluate itself into a tempory?
-                                                  //      Then CoeffReadCost will be small (e.g., 1) but we still have to evaluate, especially if n>1.
-                                                  //      This situation is already taken care by the EvalBeforeNestingBit flag, which is turned ON
-                                                  //      for all evaluator creating a temporary. This flag is then propagated by the parent evaluators.
-                                                  //      Another solution could be to count the number of temps?
-    NAsInteger = n == Dynamic ? HugeCost : n,
-    CostEval   = (NAsInteger+1) * ScalarReadCost + CoeffReadCost,
-    CostNoEval = NAsInteger * CoeffReadCost,
-    Evaluate = (int(evaluator<T>::Flags) & EvalBeforeNestingBit) || (int(CostEval) < int(CostNoEval))
-  };
-
-  typedef typename conditional<Evaluate, PlainObject, typename ref_selector<T>::type>::type type;
-};
-
-template<typename T>
-EIGEN_DEVICE_FUNC
-inline T* const_cast_ptr(const T* ptr)
-{
-  return const_cast<T*>(ptr);
-}
-
-template<typename Derived, typename XprKind = typename traits<Derived>::XprKind>
-struct dense_xpr_base
-{
-  /* dense_xpr_base should only ever be used on dense expressions, thus falling either into the MatrixXpr or into the ArrayXpr cases */
-};
-
-template<typename Derived>
-struct dense_xpr_base<Derived, MatrixXpr>
-{
-  typedef MatrixBase<Derived> type;
-};
-
-template<typename Derived>
-struct dense_xpr_base<Derived, ArrayXpr>
-{
-  typedef ArrayBase<Derived> type;
-};
-
-template<typename Derived, typename XprKind = typename traits<Derived>::XprKind, typename StorageKind = typename traits<Derived>::StorageKind>
-struct generic_xpr_base;
-
-template<typename Derived, typename XprKind>
-struct generic_xpr_base<Derived, XprKind, Dense>
-{
-  typedef typename dense_xpr_base<Derived,XprKind>::type type;
-};
-
-template<typename XprType, typename CastType> struct cast_return_type
-{
-  typedef typename XprType::Scalar CurrentScalarType;
-  typedef typename remove_all<CastType>::type _CastType;
-  typedef typename _CastType::Scalar NewScalarType;
-  typedef typename conditional<is_same<CurrentScalarType,NewScalarType>::value,
-                              const XprType&,CastType>::type type;
-};
-
-template <typename A, typename B> struct promote_storage_type;
-
-template <typename A> struct promote_storage_type<A,A>
-{
-  typedef A ret;
-};
-template <typename A> struct promote_storage_type<A, const A>
-{
-  typedef A ret;
-};
-template <typename A> struct promote_storage_type<const A, A>
-{
-  typedef A ret;
-};
-
-/** \internal Specify the "storage kind" of applying a coefficient-wise
-  * binary operations between two expressions of kinds A and B respectively.
-  * The template parameter Functor permits to specialize the resulting storage kind wrt to
-  * the functor.
-  * The default rules are as follows:
-  * \code
-  * A      op A      -> A
-  * A      op dense  -> dense
-  * dense  op B      -> dense
-  * sparse op dense  -> sparse
-  * dense  op sparse -> sparse
-  * \endcode
-  */
-template <typename A, typename B, typename Functor> struct cwise_promote_storage_type;
-
-template <typename A, typename Functor>                   struct cwise_promote_storage_type<A,A,Functor>                                      { typedef A      ret; };
-template <typename Functor>                               struct cwise_promote_storage_type<Dense,Dense,Functor>                              { typedef Dense  ret; };
-template <typename A, typename Functor>                   struct cwise_promote_storage_type<A,Dense,Functor>                                  { typedef Dense  ret; };
-template <typename B, typename Functor>                   struct cwise_promote_storage_type<Dense,B,Functor>                                  { typedef Dense  ret; };
-template <typename Functor>                               struct cwise_promote_storage_type<Sparse,Dense,Functor>                             { typedef Sparse ret; };
-template <typename Functor>                               struct cwise_promote_storage_type<Dense,Sparse,Functor>                             { typedef Sparse ret; };
-
-template <typename LhsKind, typename RhsKind, int LhsOrder, int RhsOrder> struct cwise_promote_storage_order {
-  enum { value = LhsOrder };
-};
-
-template <typename LhsKind, int LhsOrder, int RhsOrder>   struct cwise_promote_storage_order<LhsKind,Sparse,LhsOrder,RhsOrder>                { enum { value = RhsOrder }; };
-template <typename RhsKind, int LhsOrder, int RhsOrder>   struct cwise_promote_storage_order<Sparse,RhsKind,LhsOrder,RhsOrder>                { enum { value = LhsOrder }; };
-template <int Order>                                      struct cwise_promote_storage_order<Sparse,Sparse,Order,Order>                       { enum { value = Order }; };
-
-
-/** \internal Specify the "storage kind" of multiplying an expression of kind A with kind B.
-  * The template parameter ProductTag permits to specialize the resulting storage kind wrt to
-  * some compile-time properties of the product: GemmProduct, GemvProduct, OuterProduct, InnerProduct.
-  * The default rules are as follows:
-  * \code
-  *  K * K            -> K
-  *  dense * K        -> dense
-  *  K * dense        -> dense
-  *  diag * K         -> K
-  *  K * diag         -> K
-  *  Perm * K         -> K
-  * K * Perm          -> K
-  * \endcode
-  */
-template <typename A, typename B, int ProductTag> struct product_promote_storage_type;
-
-template <typename A, int ProductTag> struct product_promote_storage_type<A,                  A,                  ProductTag> { typedef A     ret;};
-template <int ProductTag>             struct product_promote_storage_type<Dense,              Dense,              ProductTag> { typedef Dense ret;};
-template <typename A, int ProductTag> struct product_promote_storage_type<A,                  Dense,              ProductTag> { typedef Dense ret; };
-template <typename B, int ProductTag> struct product_promote_storage_type<Dense,              B,                  ProductTag> { typedef Dense ret; };
-
-template <typename A, int ProductTag> struct product_promote_storage_type<A,                  DiagonalShape,      ProductTag> { typedef A ret; };
-template <typename B, int ProductTag> struct product_promote_storage_type<DiagonalShape,      B,                  ProductTag> { typedef B ret; };
-template <int ProductTag>             struct product_promote_storage_type<Dense,              DiagonalShape,      ProductTag> { typedef Dense ret; };
-template <int ProductTag>             struct product_promote_storage_type<DiagonalShape,      Dense,              ProductTag> { typedef Dense ret; };
-
-template <typename A, int ProductTag> struct product_promote_storage_type<A,                  PermutationStorage, ProductTag> { typedef A ret; };
-template <typename B, int ProductTag> struct product_promote_storage_type<PermutationStorage, B,                  ProductTag> { typedef B ret; };
-template <int ProductTag>             struct product_promote_storage_type<Dense,              PermutationStorage, ProductTag> { typedef Dense ret; };
-template <int ProductTag>             struct product_promote_storage_type<PermutationStorage, Dense,              ProductTag> { typedef Dense ret; };
-
-/** \internal gives the plain matrix or array type to store a row/column/diagonal of a matrix type.
-  * \tparam Scalar optional parameter allowing to pass a different scalar type than the one of the MatrixType.
-  */
-template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
-struct plain_row_type
-{
-  typedef Matrix<Scalar, 1, ExpressionType::ColsAtCompileTime,
-                 ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> MatrixRowType;
-  typedef Array<Scalar, 1, ExpressionType::ColsAtCompileTime,
-                 ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> ArrayRowType;
-
-  typedef typename conditional<
-    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
-    MatrixRowType,
-    ArrayRowType 
-  >::type type;
-};
-
-template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
-struct plain_col_type
-{
-  typedef Matrix<Scalar, ExpressionType::RowsAtCompileTime, 1,
-                 ExpressionType::PlainObject::Options & ~RowMajor, ExpressionType::MaxRowsAtCompileTime, 1> MatrixColType;
-  typedef Array<Scalar, ExpressionType::RowsAtCompileTime, 1,
-                 ExpressionType::PlainObject::Options & ~RowMajor, ExpressionType::MaxRowsAtCompileTime, 1> ArrayColType;
-
-  typedef typename conditional<
-    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
-    MatrixColType,
-    ArrayColType 
-  >::type type;
-};
-
-template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
-struct plain_diag_type
-{
-  enum { diag_size = EIGEN_SIZE_MIN_PREFER_DYNAMIC(ExpressionType::RowsAtCompileTime, ExpressionType::ColsAtCompileTime),
-         max_diag_size = EIGEN_SIZE_MIN_PREFER_FIXED(ExpressionType::MaxRowsAtCompileTime, ExpressionType::MaxColsAtCompileTime)
-  };
-  typedef Matrix<Scalar, diag_size, 1, ExpressionType::PlainObject::Options & ~RowMajor, max_diag_size, 1> MatrixDiagType;
-  typedef Array<Scalar, diag_size, 1, ExpressionType::PlainObject::Options & ~RowMajor, max_diag_size, 1> ArrayDiagType;
-
-  typedef typename conditional<
-    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
-    MatrixDiagType,
-    ArrayDiagType 
-  >::type type;
-};
-
-template<typename Expr,typename Scalar = typename Expr::Scalar>
-struct plain_constant_type
-{
-  enum { Options = (traits<Expr>::Flags&RowMajorBit)?RowMajor:0 };
-
-  typedef Array<Scalar,  traits<Expr>::RowsAtCompileTime,   traits<Expr>::ColsAtCompileTime,
-                Options, traits<Expr>::MaxRowsAtCompileTime,traits<Expr>::MaxColsAtCompileTime> array_type;
-
-  typedef Matrix<Scalar,  traits<Expr>::RowsAtCompileTime,   traits<Expr>::ColsAtCompileTime,
-                 Options, traits<Expr>::MaxRowsAtCompileTime,traits<Expr>::MaxColsAtCompileTime> matrix_type;
-
-  typedef CwiseNullaryOp<scalar_constant_op<Scalar>, const typename conditional<is_same< typename traits<Expr>::XprKind, MatrixXpr >::value, matrix_type, array_type>::type > type;
-};
-
-template<typename ExpressionType>
-struct is_lvalue
-{
-  enum { value = (!bool(is_const<ExpressionType>::value)) &&
-                 bool(traits<ExpressionType>::Flags & LvalueBit) };
-};
-
-template<typename T> struct is_diagonal
-{ enum { ret = false }; };
-
-template<typename T> struct is_diagonal<DiagonalBase<T> >
-{ enum { ret = true }; };
-
-template<typename T> struct is_diagonal<DiagonalWrapper<T> >
-{ enum { ret = true }; };
-
-template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
-{ enum { ret = true }; };
-
-template<typename S1, typename S2> struct glue_shapes;
-template<> struct glue_shapes<DenseShape,TriangularShape> { typedef TriangularShape type;  };
-
-template<typename T1, typename T2>
-bool is_same_dense(const T1 &mat1, const T2 &mat2, typename enable_if<has_direct_access<T1>::ret&&has_direct_access<T2>::ret, T1>::type * = 0)
-{
-  return (mat1.data()==mat2.data()) && (mat1.innerStride()==mat2.innerStride()) && (mat1.outerStride()==mat2.outerStride());
-}
-
-template<typename T1, typename T2>
-bool is_same_dense(const T1 &, const T2 &, typename enable_if<!(has_direct_access<T1>::ret&&has_direct_access<T2>::ret), T1>::type * = 0)
-{
-  return false;
-}
-
-// Internal helper defining the cost of a scalar division for the type T.
-// The default heuristic can be specialized for each scalar type and architecture.
-template<typename T,bool Vectorized=false,typename EnaleIf = void>
-struct scalar_div_cost {
-  enum { value = 8*NumTraits<T>::MulCost };
-};
-
-template<typename T,bool Vectorized>
-struct scalar_div_cost<std::complex<T>, Vectorized> {
-  enum { value = 2*scalar_div_cost<T>::value
-               + 6*NumTraits<T>::MulCost
-               + 3*NumTraits<T>::AddCost
-  };
-};
-
-
-template<bool Vectorized>
-struct scalar_div_cost<signed long,Vectorized,typename conditional<sizeof(long)==8,void,false_type>::type> { enum { value = 24 }; };
-template<bool Vectorized>
-struct scalar_div_cost<unsigned long,Vectorized,typename conditional<sizeof(long)==8,void,false_type>::type> { enum { value = 21 }; };
-
-
-#ifdef EIGEN_DEBUG_ASSIGN
-std::string demangle_traversal(int t)
-{
-  if(t==DefaultTraversal) return "DefaultTraversal";
-  if(t==LinearTraversal) return "LinearTraversal";
-  if(t==InnerVectorizedTraversal) return "InnerVectorizedTraversal";
-  if(t==LinearVectorizedTraversal) return "LinearVectorizedTraversal";
-  if(t==SliceVectorizedTraversal) return "SliceVectorizedTraversal";
-  return "?";
-}
-std::string demangle_unrolling(int t)
-{
-  if(t==NoUnrolling) return "NoUnrolling";
-  if(t==InnerUnrolling) return "InnerUnrolling";
-  if(t==CompleteUnrolling) return "CompleteUnrolling";
-  return "?";
-}
-std::string demangle_flags(int f)
-{
-  std::string res;
-  if(f&RowMajorBit)                 res += " | RowMajor";
-  if(f&PacketAccessBit)             res += " | Packet";
-  if(f&LinearAccessBit)             res += " | Linear";
-  if(f&LvalueBit)                   res += " | Lvalue";
-  if(f&DirectAccessBit)             res += " | Direct";
-  if(f&NestByRefBit)                res += " | NestByRef";
-  if(f&NoPreferredStorageOrderBit)  res += " | NoPreferredStorageOrderBit";
-  
-  return res;
-}
-#endif
-
-} // end namespace internal
-
-
-/** \class ScalarBinaryOpTraits
-  * \ingroup Core_Module
-  *
-  * \brief Determines whether the given binary operation of two numeric types is allowed and what the scalar return type is.
-  *
-  * This class permits to control the scalar return type of any binary operation performed on two different scalar types through (partial) template specializations.
-  *
-  * For instance, let \c U1, \c U2 and \c U3 be three user defined scalar types for which most operations between instances of \c U1 and \c U2 returns an \c U3.
-  * You can let %Eigen knows that by defining:
-    \code
-    template<typename BinaryOp>
-    struct ScalarBinaryOpTraits<U1,U2,BinaryOp> { typedef U3 ReturnType;  };
-    template<typename BinaryOp>
-    struct ScalarBinaryOpTraits<U2,U1,BinaryOp> { typedef U3 ReturnType;  };
-    \endcode
-  * You can then explicitly disable some particular operations to get more explicit error messages:
-    \code
-    template<>
-    struct ScalarBinaryOpTraits<U1,U2,internal::scalar_max_op<U1,U2> > {};
-    \endcode
-  * Or customize the return type for individual operation:
-    \code
-    template<>
-    struct ScalarBinaryOpTraits<U1,U2,internal::scalar_sum_op<U1,U2> > { typedef U1 ReturnType; };
-    \endcode
-  *
-  * By default, the following generic combinations are supported:
-  <table class="manual">
-  <tr><th>ScalarA</th><th>ScalarB</th><th>BinaryOp</th><th>ReturnType</th><th>Note</th></tr>
-  <tr            ><td>\c T </td><td>\c T </td><td>\c * </td><td>\c T </td><td></td></tr>
-  <tr class="alt"><td>\c NumTraits<T>::Real </td><td>\c T </td><td>\c * </td><td>\c T </td><td>Only if \c NumTraits<T>::IsComplex </td></tr>
-  <tr            ><td>\c T </td><td>\c NumTraits<T>::Real </td><td>\c * </td><td>\c T </td><td>Only if \c NumTraits<T>::IsComplex </td></tr>
-  </table>
-  *
-  * \sa CwiseBinaryOp
-  */
-template<typename ScalarA, typename ScalarB, typename BinaryOp=internal::scalar_product_op<ScalarA,ScalarB> >
-struct ScalarBinaryOpTraits
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-  // for backward compatibility, use the hints given by the (deprecated) internal::scalar_product_traits class.
-  : internal::scalar_product_traits<ScalarA,ScalarB>
-#endif // EIGEN_PARSED_BY_DOXYGEN
-{};
-
-template<typename T, typename BinaryOp>
-struct ScalarBinaryOpTraits<T,T,BinaryOp>
-{
-  typedef T ReturnType;
-};
-
-template <typename T, typename BinaryOp>
-struct ScalarBinaryOpTraits<T, typename NumTraits<typename internal::enable_if<NumTraits<T>::IsComplex,T>::type>::Real, BinaryOp>
-{
-  typedef T ReturnType;
-};
-template <typename T, typename BinaryOp>
-struct ScalarBinaryOpTraits<typename NumTraits<typename internal::enable_if<NumTraits<T>::IsComplex,T>::type>::Real, T, BinaryOp>
-{
-  typedef T ReturnType;
-};
-
-// For Matrix * Permutation
-template<typename T, typename BinaryOp>
-struct ScalarBinaryOpTraits<T,void,BinaryOp>
-{
-  typedef T ReturnType;
-};
-
-// For Permutation * Matrix
-template<typename T, typename BinaryOp>
-struct ScalarBinaryOpTraits<void,T,BinaryOp>
-{
-  typedef T ReturnType;
-};
-
-// for Permutation*Permutation
-template<typename BinaryOp>
-struct ScalarBinaryOpTraits<void,void,BinaryOp>
-{
-  typedef void ReturnType;
-};
-
-// We require Lhs and Rhs to have "compatible" scalar types.
-// It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
-// So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
-// add together a float matrix and a double matrix.
-#define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
-  EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-    
-} // end namespace Eigen
-
-#endif // EIGEN_XPRHELPER_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h
deleted file mode 100644
index dc5fae06a3c054..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+++ /dev/null
@@ -1,346 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Claire Maurice
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLEX_EIGEN_SOLVER_H
-#define EIGEN_COMPLEX_EIGEN_SOLVER_H
-
-#include "./ComplexSchur.h"
-
-namespace Eigen { 
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class ComplexEigenSolver
-  *
-  * \brief Computes eigenvalues and eigenvectors of general complex matrices
-  *
-  * \tparam _MatrixType the type of the matrix of which we are
-  * computing the eigendecomposition; this is expected to be an
-  * instantiation of the Matrix class template.
-  *
-  * The eigenvalues and eigenvectors of a matrix \f$ A \f$ are scalars
-  * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda v
-  * \f$.  If \f$ D \f$ is a diagonal matrix with the eigenvalues on
-  * the diagonal, and \f$ V \f$ is a matrix with the eigenvectors as
-  * its columns, then \f$ A V = V D \f$. The matrix \f$ V \f$ is
-  * almost always invertible, in which case we have \f$ A = V D V^{-1}
-  * \f$. This is called the eigendecomposition.
-  *
-  * The main function in this class is compute(), which computes the
-  * eigenvalues and eigenvectors of a given function. The
-  * documentation for that function contains an example showing the
-  * main features of the class.
-  *
-  * \sa class EigenSolver, class SelfAdjointEigenSolver
-  */
-template<typename _MatrixType> class ComplexEigenSolver
-{
-  public:
-
-    /** \brief Synonym for the template parameter \p _MatrixType. */
-    typedef _MatrixType MatrixType;
-
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-
-    /** \brief Scalar type for matrices of type #MatrixType. */
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-    /** \brief Complex scalar type for #MatrixType.
-      *
-      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
-      * \c float or \c double) and just \c Scalar if #Scalar is
-      * complex.
-      */
-    typedef std::complex<RealScalar> ComplexScalar;
-
-    /** \brief Type for vector of eigenvalues as returned by eigenvalues().
-      *
-      * This is a column vector with entries of type #ComplexScalar.
-      * The length of the vector is the size of #MatrixType.
-      */
-    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options&(~RowMajor), MaxColsAtCompileTime, 1> EigenvalueType;
-
-    /** \brief Type for matrix of eigenvectors as returned by eigenvectors().
-      *
-      * This is a square matrix with entries of type #ComplexScalar.
-      * The size is the same as the size of #MatrixType.
-      */
-    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorType;
-
-    /** \brief Default constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via compute().
-      */
-    ComplexEigenSolver()
-            : m_eivec(),
-              m_eivalues(),
-              m_schur(),
-              m_isInitialized(false),
-              m_eigenvectorsOk(false),
-              m_matX()
-    {}
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa ComplexEigenSolver()
-      */
-    explicit ComplexEigenSolver(Index size)
-            : m_eivec(size, size),
-              m_eivalues(size),
-              m_schur(size),
-              m_isInitialized(false),
-              m_eigenvectorsOk(false),
-              m_matX(size, size)
-    {}
-
-    /** \brief Constructor; computes eigendecomposition of given matrix.
-      *
-      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
-      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
-      *    eigenvalues are computed; if false, only the eigenvalues are
-      *    computed.
-      *
-      * This constructor calls compute() to compute the eigendecomposition.
-      */
-    template<typename InputType>
-    explicit ComplexEigenSolver(const EigenBase<InputType>& matrix, bool computeEigenvectors = true)
-            : m_eivec(matrix.rows(),matrix.cols()),
-              m_eivalues(matrix.cols()),
-              m_schur(matrix.rows()),
-              m_isInitialized(false),
-              m_eigenvectorsOk(false),
-              m_matX(matrix.rows(),matrix.cols())
-    {
-      compute(matrix.derived(), computeEigenvectors);
-    }
-
-    /** \brief Returns the eigenvectors of given matrix.
-      *
-      * \returns  A const reference to the matrix whose columns are the eigenvectors.
-      *
-      * \pre Either the constructor
-      * ComplexEigenSolver(const MatrixType& matrix, bool) or the member
-      * function compute(const MatrixType& matrix, bool) has been called before
-      * to compute the eigendecomposition of a matrix, and
-      * \p computeEigenvectors was set to true (the default).
-      *
-      * This function returns a matrix whose columns are the eigenvectors. Column
-      * \f$ k \f$ is an eigenvector corresponding to eigenvalue number \f$ k
-      * \f$ as returned by eigenvalues().  The eigenvectors are normalized to
-      * have (Euclidean) norm equal to one. The matrix returned by this
-      * function is the matrix \f$ V \f$ in the eigendecomposition \f$ A = V D
-      * V^{-1} \f$, if it exists.
-      *
-      * Example: \include ComplexEigenSolver_eigenvectors.cpp
-      * Output: \verbinclude ComplexEigenSolver_eigenvectors.out
-      */
-    const EigenvectorType& eigenvectors() const
-    {
-      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
-      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-      return m_eivec;
-    }
-
-    /** \brief Returns the eigenvalues of given matrix.
-      *
-      * \returns A const reference to the column vector containing the eigenvalues.
-      *
-      * \pre Either the constructor
-      * ComplexEigenSolver(const MatrixType& matrix, bool) or the member
-      * function compute(const MatrixType& matrix, bool) has been called before
-      * to compute the eigendecomposition of a matrix.
-      *
-      * This function returns a column vector containing the
-      * eigenvalues. Eigenvalues are repeated according to their
-      * algebraic multiplicity, so there are as many eigenvalues as
-      * rows in the matrix. The eigenvalues are not sorted in any particular
-      * order.
-      *
-      * Example: \include ComplexEigenSolver_eigenvalues.cpp
-      * Output: \verbinclude ComplexEigenSolver_eigenvalues.out
-      */
-    const EigenvalueType& eigenvalues() const
-    {
-      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
-      return m_eivalues;
-    }
-
-    /** \brief Computes eigendecomposition of given matrix.
-      *
-      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
-      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
-      *    eigenvalues are computed; if false, only the eigenvalues are
-      *    computed.
-      * \returns    Reference to \c *this
-      *
-      * This function computes the eigenvalues of the complex matrix \p matrix.
-      * The eigenvalues() function can be used to retrieve them.  If
-      * \p computeEigenvectors is true, then the eigenvectors are also computed
-      * and can be retrieved by calling eigenvectors().
-      *
-      * The matrix is first reduced to Schur form using the
-      * ComplexSchur class. The Schur decomposition is then used to
-      * compute the eigenvalues and eigenvectors.
-      *
-      * The cost of the computation is dominated by the cost of the
-      * Schur decomposition, which is \f$ O(n^3) \f$ where \f$ n \f$
-      * is the size of the matrix.
-      *
-      * Example: \include ComplexEigenSolver_compute.cpp
-      * Output: \verbinclude ComplexEigenSolver_compute.out
-      */
-    template<typename InputType>
-    ComplexEigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
-      return m_schur.info();
-    }
-
-    /** \brief Sets the maximum number of iterations allowed. */
-    ComplexEigenSolver& setMaxIterations(Index maxIters)
-    {
-      m_schur.setMaxIterations(maxIters);
-      return *this;
-    }
-
-    /** \brief Returns the maximum number of iterations. */
-    Index getMaxIterations()
-    {
-      return m_schur.getMaxIterations();
-    }
-
-  protected:
-    
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-    
-    EigenvectorType m_eivec;
-    EigenvalueType m_eivalues;
-    ComplexSchur<MatrixType> m_schur;
-    bool m_isInitialized;
-    bool m_eigenvectorsOk;
-    EigenvectorType m_matX;
-
-  private:
-    void doComputeEigenvectors(RealScalar matrixnorm);
-    void sortEigenvalues(bool computeEigenvectors);
-};
-
-
-template<typename MatrixType>
-template<typename InputType>
-ComplexEigenSolver<MatrixType>& 
-ComplexEigenSolver<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeEigenvectors)
-{
-  check_template_parameters();
-  
-  // this code is inspired from Jampack
-  eigen_assert(matrix.cols() == matrix.rows());
-
-  // Do a complex Schur decomposition, A = U T U^*
-  // The eigenvalues are on the diagonal of T.
-  m_schur.compute(matrix.derived(), computeEigenvectors);
-
-  if(m_schur.info() == Success)
-  {
-    m_eivalues = m_schur.matrixT().diagonal();
-    if(computeEigenvectors)
-      doComputeEigenvectors(m_schur.matrixT().norm());
-    sortEigenvalues(computeEigenvectors);
-  }
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = computeEigenvectors;
-  return *this;
-}
-
-
-template<typename MatrixType>
-void ComplexEigenSolver<MatrixType>::doComputeEigenvectors(RealScalar matrixnorm)
-{
-  const Index n = m_eivalues.size();
-
-  matrixnorm = numext::maxi(matrixnorm,(std::numeric_limits<RealScalar>::min)());
-
-  // Compute X such that T = X D X^(-1), where D is the diagonal of T.
-  // The matrix X is unit triangular.
-  m_matX = EigenvectorType::Zero(n, n);
-  for(Index k=n-1 ; k>=0 ; k--)
-  {
-    m_matX.coeffRef(k,k) = ComplexScalar(1.0,0.0);
-    // Compute X(i,k) using the (i,k) entry of the equation X T = D X
-    for(Index i=k-1 ; i>=0 ; i--)
-    {
-      m_matX.coeffRef(i,k) = -m_schur.matrixT().coeff(i,k);
-      if(k-i-1>0)
-        m_matX.coeffRef(i,k) -= (m_schur.matrixT().row(i).segment(i+1,k-i-1) * m_matX.col(k).segment(i+1,k-i-1)).value();
-      ComplexScalar z = m_schur.matrixT().coeff(i,i) - m_schur.matrixT().coeff(k,k);
-      if(z==ComplexScalar(0))
-      {
-        // If the i-th and k-th eigenvalue are equal, then z equals 0.
-        // Use a small value instead, to prevent division by zero.
-        numext::real_ref(z) = NumTraits<RealScalar>::epsilon() * matrixnorm;
-      }
-      m_matX.coeffRef(i,k) = m_matX.coeff(i,k) / z;
-    }
-  }
-
-  // Compute V as V = U X; now A = U T U^* = U X D X^(-1) U^* = V D V^(-1)
-  m_eivec.noalias() = m_schur.matrixU() * m_matX;
-  // .. and normalize the eigenvectors
-  for(Index k=0 ; k<n ; k++)
-  {
-    m_eivec.col(k).normalize();
-  }
-}
-
-
-template<typename MatrixType>
-void ComplexEigenSolver<MatrixType>::sortEigenvalues(bool computeEigenvectors)
-{
-  const Index n =  m_eivalues.size();
-  for (Index i=0; i<n; i++)
-  {
-    Index k;
-    m_eivalues.cwiseAbs().tail(n-i).minCoeff(&k);
-    if (k != 0)
-    {
-      k += i;
-      std::swap(m_eivalues[k],m_eivalues[i]);
-      if(computeEigenvectors)
-	m_eivec.col(i).swap(m_eivec.col(k));
-    }
-  }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX_EIGEN_SOLVER_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexSchur.h b/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexSchur.h
deleted file mode 100644
index 7f38919f778528..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexSchur.h
+++ /dev/null
@@ -1,459 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Claire Maurice
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLEX_SCHUR_H
-#define EIGEN_COMPLEX_SCHUR_H
-
-#include "./HessenbergDecomposition.h"
-
-namespace Eigen { 
-
-namespace internal {
-template<typename MatrixType, bool IsComplex> struct complex_schur_reduce_to_hessenberg;
-}
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class ComplexSchur
-  *
-  * \brief Performs a complex Schur decomposition of a real or complex square matrix
-  *
-  * \tparam _MatrixType the type of the matrix of which we are
-  * computing the Schur decomposition; this is expected to be an
-  * instantiation of the Matrix class template.
-  *
-  * Given a real or complex square matrix A, this class computes the
-  * Schur decomposition: \f$ A = U T U^*\f$ where U is a unitary
-  * complex matrix, and T is a complex upper triangular matrix.  The
-  * diagonal of the matrix T corresponds to the eigenvalues of the
-  * matrix A.
-  *
-  * Call the function compute() to compute the Schur decomposition of
-  * a given matrix. Alternatively, you can use the 
-  * ComplexSchur(const MatrixType&, bool) constructor which computes
-  * the Schur decomposition at construction time. Once the
-  * decomposition is computed, you can use the matrixU() and matrixT()
-  * functions to retrieve the matrices U and V in the decomposition.
-  *
-  * \note This code is inspired from Jampack
-  *
-  * \sa class RealSchur, class EigenSolver, class ComplexEigenSolver
-  */
-template<typename _MatrixType> class ComplexSchur
-{
-  public:
-    typedef _MatrixType MatrixType;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-
-    /** \brief Scalar type for matrices of type \p _MatrixType. */
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-    /** \brief Complex scalar type for \p _MatrixType. 
-      *
-      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
-      * \c float or \c double) and just \c Scalar if #Scalar is
-      * complex.
-      */
-    typedef std::complex<RealScalar> ComplexScalar;
-
-    /** \brief Type for the matrices in the Schur decomposition.
-      *
-      * This is a square matrix with entries of type #ComplexScalar. 
-      * The size is the same as the size of \p _MatrixType.
-      */
-    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> ComplexMatrixType;
-
-    /** \brief Default constructor.
-      *
-      * \param [in] size  Positive integer, size of the matrix whose Schur decomposition will be computed.
-      *
-      * The default constructor is useful in cases in which the user
-      * intends to perform decompositions via compute().  The \p size
-      * parameter is only used as a hint. It is not an error to give a
-      * wrong \p size, but it may impair performance.
-      *
-      * \sa compute() for an example.
-      */
-    explicit ComplexSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
-      : m_matT(size,size),
-        m_matU(size,size),
-        m_hess(size),
-        m_isInitialized(false),
-        m_matUisUptodate(false),
-        m_maxIters(-1)
-    {}
-
-    /** \brief Constructor; computes Schur decomposition of given matrix. 
-      * 
-      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
-      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
-      *
-      * This constructor calls compute() to compute the Schur decomposition.
-      *
-      * \sa matrixT() and matrixU() for examples.
-      */
-    template<typename InputType>
-    explicit ComplexSchur(const EigenBase<InputType>& matrix, bool computeU = true)
-      : m_matT(matrix.rows(),matrix.cols()),
-        m_matU(matrix.rows(),matrix.cols()),
-        m_hess(matrix.rows()),
-        m_isInitialized(false),
-        m_matUisUptodate(false),
-        m_maxIters(-1)
-    {
-      compute(matrix.derived(), computeU);
-    }
-
-    /** \brief Returns the unitary matrix in the Schur decomposition. 
-      *
-      * \returns A const reference to the matrix U.
-      *
-      * It is assumed that either the constructor
-      * ComplexSchur(const MatrixType& matrix, bool computeU) or the
-      * member function compute(const MatrixType& matrix, bool computeU)
-      * has been called before to compute the Schur decomposition of a
-      * matrix, and that \p computeU was set to true (the default
-      * value).
-      *
-      * Example: \include ComplexSchur_matrixU.cpp
-      * Output: \verbinclude ComplexSchur_matrixU.out
-      */
-    const ComplexMatrixType& matrixU() const
-    {
-      eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
-      eigen_assert(m_matUisUptodate && "The matrix U has not been computed during the ComplexSchur decomposition.");
-      return m_matU;
-    }
-
-    /** \brief Returns the triangular matrix in the Schur decomposition. 
-      *
-      * \returns A const reference to the matrix T.
-      *
-      * It is assumed that either the constructor
-      * ComplexSchur(const MatrixType& matrix, bool computeU) or the
-      * member function compute(const MatrixType& matrix, bool computeU)
-      * has been called before to compute the Schur decomposition of a
-      * matrix.
-      *
-      * Note that this function returns a plain square matrix. If you want to reference
-      * only the upper triangular part, use:
-      * \code schur.matrixT().triangularView<Upper>() \endcode 
-      *
-      * Example: \include ComplexSchur_matrixT.cpp
-      * Output: \verbinclude ComplexSchur_matrixT.out
-      */
-    const ComplexMatrixType& matrixT() const
-    {
-      eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
-      return m_matT;
-    }
-
-    /** \brief Computes Schur decomposition of given matrix. 
-      * 
-      * \param[in]  matrix  Square matrix whose Schur decomposition is to be computed.
-      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
-
-      * \returns    Reference to \c *this
-      *
-      * The Schur decomposition is computed by first reducing the
-      * matrix to Hessenberg form using the class
-      * HessenbergDecomposition. The Hessenberg matrix is then reduced
-      * to triangular form by performing QR iterations with a single
-      * shift. The cost of computing the Schur decomposition depends
-      * on the number of iterations; as a rough guide, it may be taken
-      * on the number of iterations; as a rough guide, it may be taken
-      * to be \f$25n^3\f$ complex flops, or \f$10n^3\f$ complex flops
-      * if \a computeU is false.
-      *
-      * Example: \include ComplexSchur_compute.cpp
-      * Output: \verbinclude ComplexSchur_compute.out
-      *
-      * \sa compute(const MatrixType&, bool, Index)
-      */
-    template<typename InputType>
-    ComplexSchur& compute(const EigenBase<InputType>& matrix, bool computeU = true);
-    
-    /** \brief Compute Schur decomposition from a given Hessenberg matrix
-     *  \param[in] matrixH Matrix in Hessenberg form H
-     *  \param[in] matrixQ orthogonal matrix Q that transform a matrix A to H : A = Q H Q^T
-     *  \param computeU Computes the matriX U of the Schur vectors
-     * \return Reference to \c *this
-     * 
-     *  This routine assumes that the matrix is already reduced in Hessenberg form matrixH
-     *  using either the class HessenbergDecomposition or another mean. 
-     *  It computes the upper quasi-triangular matrix T of the Schur decomposition of H
-     *  When computeU is true, this routine computes the matrix U such that 
-     *  A = U T U^T =  (QZ) T (QZ)^T = Q H Q^T where A is the initial matrix
-     * 
-     * NOTE Q is referenced if computeU is true; so, if the initial orthogonal matrix
-     * is not available, the user should give an identity matrix (Q.setIdentity())
-     * 
-     * \sa compute(const MatrixType&, bool)
-     */
-    template<typename HessMatrixType, typename OrthMatrixType>
-    ComplexSchur& computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ,  bool computeU=true);
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
-      return m_info;
-    }
-
-    /** \brief Sets the maximum number of iterations allowed. 
-      *
-      * If not specified by the user, the maximum number of iterations is m_maxIterationsPerRow times the size
-      * of the matrix.
-      */
-    ComplexSchur& setMaxIterations(Index maxIters)
-    {
-      m_maxIters = maxIters;
-      return *this;
-    }
-
-    /** \brief Returns the maximum number of iterations. */
-    Index getMaxIterations()
-    {
-      return m_maxIters;
-    }
-
-    /** \brief Maximum number of iterations per row.
-      *
-      * If not otherwise specified, the maximum number of iterations is this number times the size of the
-      * matrix. It is currently set to 30.
-      */
-    static const int m_maxIterationsPerRow = 30;
-
-  protected:
-    ComplexMatrixType m_matT, m_matU;
-    HessenbergDecomposition<MatrixType> m_hess;
-    ComputationInfo m_info;
-    bool m_isInitialized;
-    bool m_matUisUptodate;
-    Index m_maxIters;
-
-  private:  
-    bool subdiagonalEntryIsNeglegible(Index i);
-    ComplexScalar computeShift(Index iu, Index iter);
-    void reduceToTriangularForm(bool computeU);
-    friend struct internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>;
-};
-
-/** If m_matT(i+1,i) is neglegible in floating point arithmetic
-  * compared to m_matT(i,i) and m_matT(j,j), then set it to zero and
-  * return true, else return false. */
-template<typename MatrixType>
-inline bool ComplexSchur<MatrixType>::subdiagonalEntryIsNeglegible(Index i)
-{
-  RealScalar d = numext::norm1(m_matT.coeff(i,i)) + numext::norm1(m_matT.coeff(i+1,i+1));
-  RealScalar sd = numext::norm1(m_matT.coeff(i+1,i));
-  if (internal::isMuchSmallerThan(sd, d, NumTraits<RealScalar>::epsilon()))
-  {
-    m_matT.coeffRef(i+1,i) = ComplexScalar(0);
-    return true;
-  }
-  return false;
-}
-
-
-/** Compute the shift in the current QR iteration. */
-template<typename MatrixType>
-typename ComplexSchur<MatrixType>::ComplexScalar ComplexSchur<MatrixType>::computeShift(Index iu, Index iter)
-{
-  using std::abs;
-  if (iter == 10 || iter == 20) 
-  {
-    // exceptional shift, taken from http://www.netlib.org/eispack/comqr.f
-    return abs(numext::real(m_matT.coeff(iu,iu-1))) + abs(numext::real(m_matT.coeff(iu-1,iu-2)));
-  }
-
-  // compute the shift as one of the eigenvalues of t, the 2x2
-  // diagonal block on the bottom of the active submatrix
-  Matrix<ComplexScalar,2,2> t = m_matT.template block<2,2>(iu-1,iu-1);
-  RealScalar normt = t.cwiseAbs().sum();
-  t /= normt;     // the normalization by sf is to avoid under/overflow
-
-  ComplexScalar b = t.coeff(0,1) * t.coeff(1,0);
-  ComplexScalar c = t.coeff(0,0) - t.coeff(1,1);
-  ComplexScalar disc = sqrt(c*c + RealScalar(4)*b);
-  ComplexScalar det = t.coeff(0,0) * t.coeff(1,1) - b;
-  ComplexScalar trace = t.coeff(0,0) + t.coeff(1,1);
-  ComplexScalar eival1 = (trace + disc) / RealScalar(2);
-  ComplexScalar eival2 = (trace - disc) / RealScalar(2);
-
-  if(numext::norm1(eival1) > numext::norm1(eival2))
-    eival2 = det / eival1;
-  else
-    eival1 = det / eival2;
-
-  // choose the eigenvalue closest to the bottom entry of the diagonal
-  if(numext::norm1(eival1-t.coeff(1,1)) < numext::norm1(eival2-t.coeff(1,1)))
-    return normt * eival1;
-  else
-    return normt * eival2;
-}
-
-
-template<typename MatrixType>
-template<typename InputType>
-ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeU)
-{
-  m_matUisUptodate = false;
-  eigen_assert(matrix.cols() == matrix.rows());
-
-  if(matrix.cols() == 1)
-  {
-    m_matT = matrix.derived().template cast<ComplexScalar>();
-    if(computeU)  m_matU = ComplexMatrixType::Identity(1,1);
-    m_info = Success;
-    m_isInitialized = true;
-    m_matUisUptodate = computeU;
-    return *this;
-  }
-
-  internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>::run(*this, matrix.derived(), computeU);
-  computeFromHessenberg(m_matT, m_matU, computeU);
-  return *this;
-}
-
-template<typename MatrixType>
-template<typename HessMatrixType, typename OrthMatrixType>
-ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ, bool computeU)
-{
-  m_matT = matrixH;
-  if(computeU)
-    m_matU = matrixQ;
-  reduceToTriangularForm(computeU);
-  return *this;
-}
-namespace internal {
-
-/* Reduce given matrix to Hessenberg form */
-template<typename MatrixType, bool IsComplex>
-struct complex_schur_reduce_to_hessenberg
-{
-  // this is the implementation for the case IsComplex = true
-  static void run(ComplexSchur<MatrixType>& _this, const MatrixType& matrix, bool computeU)
-  {
-    _this.m_hess.compute(matrix);
-    _this.m_matT = _this.m_hess.matrixH();
-    if(computeU)  _this.m_matU = _this.m_hess.matrixQ();
-  }
-};
-
-template<typename MatrixType>
-struct complex_schur_reduce_to_hessenberg<MatrixType, false>
-{
-  static void run(ComplexSchur<MatrixType>& _this, const MatrixType& matrix, bool computeU)
-  {
-    typedef typename ComplexSchur<MatrixType>::ComplexScalar ComplexScalar;
-
-    // Note: m_hess is over RealScalar; m_matT and m_matU is over ComplexScalar
-    _this.m_hess.compute(matrix);
-    _this.m_matT = _this.m_hess.matrixH().template cast<ComplexScalar>();
-    if(computeU)  
-    {
-      // This may cause an allocation which seems to be avoidable
-      MatrixType Q = _this.m_hess.matrixQ(); 
-      _this.m_matU = Q.template cast<ComplexScalar>();
-    }
-  }
-};
-
-} // end namespace internal
-
-// Reduce the Hessenberg matrix m_matT to triangular form by QR iteration.
-template<typename MatrixType>
-void ComplexSchur<MatrixType>::reduceToTriangularForm(bool computeU)
-{  
-  Index maxIters = m_maxIters;
-  if (maxIters == -1)
-    maxIters = m_maxIterationsPerRow * m_matT.rows();
-
-  // The matrix m_matT is divided in three parts. 
-  // Rows 0,...,il-1 are decoupled from the rest because m_matT(il,il-1) is zero. 
-  // Rows il,...,iu is the part we are working on (the active submatrix).
-  // Rows iu+1,...,end are already brought in triangular form.
-  Index iu = m_matT.cols() - 1;
-  Index il;
-  Index iter = 0; // number of iterations we are working on the (iu,iu) element
-  Index totalIter = 0; // number of iterations for whole matrix
-
-  while(true)
-  {
-    // find iu, the bottom row of the active submatrix
-    while(iu > 0)
-    {
-      if(!subdiagonalEntryIsNeglegible(iu-1)) break;
-      iter = 0;
-      --iu;
-    }
-
-    // if iu is zero then we are done; the whole matrix is triangularized
-    if(iu==0) break;
-
-    // if we spent too many iterations, we give up
-    iter++;
-    totalIter++;
-    if(totalIter > maxIters) break;
-
-    // find il, the top row of the active submatrix
-    il = iu-1;
-    while(il > 0 && !subdiagonalEntryIsNeglegible(il-1))
-    {
-      --il;
-    }
-
-    /* perform the QR step using Givens rotations. The first rotation
-       creates a bulge; the (il+2,il) element becomes nonzero. This
-       bulge is chased down to the bottom of the active submatrix. */
-
-    ComplexScalar shift = computeShift(iu, iter);
-    JacobiRotation<ComplexScalar> rot;
-    rot.makeGivens(m_matT.coeff(il,il) - shift, m_matT.coeff(il+1,il));
-    m_matT.rightCols(m_matT.cols()-il).applyOnTheLeft(il, il+1, rot.adjoint());
-    m_matT.topRows((std::min)(il+2,iu)+1).applyOnTheRight(il, il+1, rot);
-    if(computeU) m_matU.applyOnTheRight(il, il+1, rot);
-
-    for(Index i=il+1 ; i<iu ; i++)
-    {
-      rot.makeGivens(m_matT.coeffRef(i,i-1), m_matT.coeffRef(i+1,i-1), &m_matT.coeffRef(i,i-1));
-      m_matT.coeffRef(i+1,i-1) = ComplexScalar(0);
-      m_matT.rightCols(m_matT.cols()-i).applyOnTheLeft(i, i+1, rot.adjoint());
-      m_matT.topRows((std::min)(i+2,iu)+1).applyOnTheRight(i, i+1, rot);
-      if(computeU) m_matU.applyOnTheRight(i, i+1, rot);
-    }
-  }
-
-  if(totalIter <= maxIters)
-    m_info = Success;
-  else
-    m_info = NoConvergence;
-
-  m_isInitialized = true;
-  m_matUisUptodate = computeU;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX_SCHUR_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h b/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
deleted file mode 100644
index 4980a3ede0ad4d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to LAPACKe
- *    Complex Schur needed to complex unsymmetrical eigenvalues/eigenvectors.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_COMPLEX_SCHUR_LAPACKE_H
-#define EIGEN_COMPLEX_SCHUR_LAPACKE_H
-
-namespace Eigen { 
-
-/** \internal Specialization for the data types supported by LAPACKe */
-
-#define EIGEN_LAPACKE_SCHUR_COMPLEX(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, LAPACKE_PREFIX_U, EIGCOLROW, LAPACKE_COLROW) \
-template<> template<typename InputType> inline \
-ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
-ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, bool computeU) \
-{ \
-  typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> MatrixType; \
-  typedef MatrixType::RealScalar RealScalar; \
-  typedef std::complex<RealScalar> ComplexScalar; \
-\
-  eigen_assert(matrix.cols() == matrix.rows()); \
-\
-  m_matUisUptodate = false; \
-  if(matrix.cols() == 1) \
-  { \
-    m_matT = matrix.derived().template cast<ComplexScalar>(); \
-    if(computeU)  m_matU = ComplexMatrixType::Identity(1,1); \
-      m_info = Success; \
-      m_isInitialized = true; \
-      m_matUisUptodate = computeU; \
-      return *this; \
-  } \
-  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), sdim, info; \
-  lapack_int matrix_order = LAPACKE_COLROW; \
-  char jobvs, sort='N'; \
-  LAPACK_##LAPACKE_PREFIX_U##_SELECT1 select = 0; \
-  jobvs = (computeU) ? 'V' : 'N'; \
-  m_matU.resize(n, n); \
-  lapack_int ldvs  = internal::convert_index<lapack_int>(m_matU.outerStride()); \
-  m_matT = matrix; \
-  lapack_int lda = internal::convert_index<lapack_int>(m_matT.outerStride()); \
-  Matrix<EIGTYPE, Dynamic, Dynamic> w; \
-  w.resize(n, 1);\
-  info = LAPACKE_##LAPACKE_PREFIX##gees( matrix_order, jobvs, sort, select, n, (LAPACKE_TYPE*)m_matT.data(), lda, &sdim, (LAPACKE_TYPE*)w.data(), (LAPACKE_TYPE*)m_matU.data(), ldvs ); \
-  if(info == 0) \
-    m_info = Success; \
-  else \
-    m_info = NoConvergence; \
-\
-  m_isInitialized = true; \
-  m_matUisUptodate = computeU; \
-  return *this; \
-\
-}
-
-EIGEN_LAPACKE_SCHUR_COMPLEX(dcomplex, lapack_complex_double, z, Z, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_SCHUR_COMPLEX(scomplex, lapack_complex_float,  c, C, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_SCHUR_COMPLEX(dcomplex, lapack_complex_double, z, Z, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_SCHUR_COMPLEX(scomplex, lapack_complex_float,  c, C, RowMajor, LAPACK_ROW_MAJOR)
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPLEX_SCHUR_LAPACKE_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/EigenSolver.h b/phonelibs/eigen/Eigen/src/Eigenvalues/EigenSolver.h
deleted file mode 100644
index f205b185deef34..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/EigenSolver.h
+++ /dev/null
@@ -1,622 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EIGENSOLVER_H
-#define EIGEN_EIGENSOLVER_H
-
-#include "./RealSchur.h"
-
-namespace Eigen { 
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class EigenSolver
-  *
-  * \brief Computes eigenvalues and eigenvectors of general matrices
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the
-  * eigendecomposition; this is expected to be an instantiation of the Matrix
-  * class template. Currently, only real matrices are supported.
-  *
-  * The eigenvalues and eigenvectors of a matrix \f$ A \f$ are scalars
-  * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda v \f$.  If
-  * \f$ D \f$ is a diagonal matrix with the eigenvalues on the diagonal, and
-  * \f$ V \f$ is a matrix with the eigenvectors as its columns, then \f$ A V =
-  * V D \f$. The matrix \f$ V \f$ is almost always invertible, in which case we
-  * have \f$ A = V D V^{-1} \f$. This is called the eigendecomposition.
-  *
-  * The eigenvalues and eigenvectors of a matrix may be complex, even when the
-  * matrix is real. However, we can choose real matrices \f$ V \f$ and \f$ D
-  * \f$ satisfying \f$ A V = V D \f$, just like the eigendecomposition, if the
-  * matrix \f$ D \f$ is not required to be diagonal, but if it is allowed to
-  * have blocks of the form
-  * \f[ \begin{bmatrix} u & v \\ -v & u \end{bmatrix} \f]
-  * (where \f$ u \f$ and \f$ v \f$ are real numbers) on the diagonal.  These
-  * blocks correspond to complex eigenvalue pairs \f$ u \pm iv \f$. We call
-  * this variant of the eigendecomposition the pseudo-eigendecomposition.
-  *
-  * Call the function compute() to compute the eigenvalues and eigenvectors of
-  * a given matrix. Alternatively, you can use the 
-  * EigenSolver(const MatrixType&, bool) constructor which computes the
-  * eigenvalues and eigenvectors at construction time. Once the eigenvalue and
-  * eigenvectors are computed, they can be retrieved with the eigenvalues() and
-  * eigenvectors() functions. The pseudoEigenvalueMatrix() and
-  * pseudoEigenvectors() methods allow the construction of the
-  * pseudo-eigendecomposition.
-  *
-  * The documentation for EigenSolver(const MatrixType&, bool) contains an
-  * example of the typical use of this class.
-  *
-  * \note The implementation is adapted from
-  * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> (public domain).
-  * Their code is based on EISPACK.
-  *
-  * \sa MatrixBase::eigenvalues(), class ComplexEigenSolver, class SelfAdjointEigenSolver
-  */
-template<typename _MatrixType> class EigenSolver
-{
-  public:
-
-    /** \brief Synonym for the template parameter \p _MatrixType. */
-    typedef _MatrixType MatrixType;
-
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-
-    /** \brief Scalar type for matrices of type #MatrixType. */
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-    /** \brief Complex scalar type for #MatrixType. 
-      *
-      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
-      * \c float or \c double) and just \c Scalar if #Scalar is
-      * complex.
-      */
-    typedef std::complex<RealScalar> ComplexScalar;
-
-    /** \brief Type for vector of eigenvalues as returned by eigenvalues(). 
-      *
-      * This is a column vector with entries of type #ComplexScalar.
-      * The length of the vector is the size of #MatrixType.
-      */
-    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
-
-    /** \brief Type for matrix of eigenvectors as returned by eigenvectors(). 
-      *
-      * This is a square matrix with entries of type #ComplexScalar. 
-      * The size is the same as the size of #MatrixType.
-      */
-    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorsType;
-
-    /** \brief Default constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via EigenSolver::compute(const MatrixType&, bool).
-      *
-      * \sa compute() for an example.
-      */
-    EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
-
-    /** \brief Default constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa EigenSolver()
-      */
-    explicit EigenSolver(Index size)
-      : m_eivec(size, size),
-        m_eivalues(size),
-        m_isInitialized(false),
-        m_eigenvectorsOk(false),
-        m_realSchur(size),
-        m_matT(size, size), 
-        m_tmp(size)
-    {}
-
-    /** \brief Constructor; computes eigendecomposition of given matrix. 
-      * 
-      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
-      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
-      *    eigenvalues are computed; if false, only the eigenvalues are
-      *    computed. 
-      *
-      * This constructor calls compute() to compute the eigenvalues
-      * and eigenvectors.
-      *
-      * Example: \include EigenSolver_EigenSolver_MatrixType.cpp
-      * Output: \verbinclude EigenSolver_EigenSolver_MatrixType.out
-      *
-      * \sa compute()
-      */
-    template<typename InputType>
-    explicit EigenSolver(const EigenBase<InputType>& matrix, bool computeEigenvectors = true)
-      : m_eivec(matrix.rows(), matrix.cols()),
-        m_eivalues(matrix.cols()),
-        m_isInitialized(false),
-        m_eigenvectorsOk(false),
-        m_realSchur(matrix.cols()),
-        m_matT(matrix.rows(), matrix.cols()), 
-        m_tmp(matrix.cols())
-    {
-      compute(matrix.derived(), computeEigenvectors);
-    }
-
-    /** \brief Returns the eigenvectors of given matrix. 
-      *
-      * \returns  %Matrix whose columns are the (possibly complex) eigenvectors.
-      *
-      * \pre Either the constructor 
-      * EigenSolver(const MatrixType&,bool) or the member function
-      * compute(const MatrixType&, bool) has been called before, and
-      * \p computeEigenvectors was set to true (the default).
-      *
-      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
-      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
-      * eigenvectors are normalized to have (Euclidean) norm equal to one. The
-      * matrix returned by this function is the matrix \f$ V \f$ in the
-      * eigendecomposition \f$ A = V D V^{-1} \f$, if it exists.
-      *
-      * Example: \include EigenSolver_eigenvectors.cpp
-      * Output: \verbinclude EigenSolver_eigenvectors.out
-      *
-      * \sa eigenvalues(), pseudoEigenvectors()
-      */
-    EigenvectorsType eigenvectors() const;
-
-    /** \brief Returns the pseudo-eigenvectors of given matrix. 
-      *
-      * \returns  Const reference to matrix whose columns are the pseudo-eigenvectors.
-      *
-      * \pre Either the constructor 
-      * EigenSolver(const MatrixType&,bool) or the member function
-      * compute(const MatrixType&, bool) has been called before, and
-      * \p computeEigenvectors was set to true (the default).
-      *
-      * The real matrix \f$ V \f$ returned by this function and the
-      * block-diagonal matrix \f$ D \f$ returned by pseudoEigenvalueMatrix()
-      * satisfy \f$ AV = VD \f$.
-      *
-      * Example: \include EigenSolver_pseudoEigenvectors.cpp
-      * Output: \verbinclude EigenSolver_pseudoEigenvectors.out
-      *
-      * \sa pseudoEigenvalueMatrix(), eigenvectors()
-      */
-    const MatrixType& pseudoEigenvectors() const
-    {
-      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-      return m_eivec;
-    }
-
-    /** \brief Returns the block-diagonal matrix in the pseudo-eigendecomposition.
-      *
-      * \returns  A block-diagonal matrix.
-      *
-      * \pre Either the constructor 
-      * EigenSolver(const MatrixType&,bool) or the member function
-      * compute(const MatrixType&, bool) has been called before.
-      *
-      * The matrix \f$ D \f$ returned by this function is real and
-      * block-diagonal. The blocks on the diagonal are either 1-by-1 or 2-by-2
-      * blocks of the form
-      * \f$ \begin{bmatrix} u & v \\ -v & u \end{bmatrix} \f$.
-      * These blocks are not sorted in any particular order.
-      * The matrix \f$ D \f$ and the matrix \f$ V \f$ returned by
-      * pseudoEigenvectors() satisfy \f$ AV = VD \f$.
-      *
-      * \sa pseudoEigenvectors() for an example, eigenvalues()
-      */
-    MatrixType pseudoEigenvalueMatrix() const;
-
-    /** \brief Returns the eigenvalues of given matrix. 
-      *
-      * \returns A const reference to the column vector containing the eigenvalues.
-      *
-      * \pre Either the constructor 
-      * EigenSolver(const MatrixType&,bool) or the member function
-      * compute(const MatrixType&, bool) has been called before.
-      *
-      * The eigenvalues are repeated according to their algebraic multiplicity,
-      * so there are as many eigenvalues as rows in the matrix. The eigenvalues 
-      * are not sorted in any particular order.
-      *
-      * Example: \include EigenSolver_eigenvalues.cpp
-      * Output: \verbinclude EigenSolver_eigenvalues.out
-      *
-      * \sa eigenvectors(), pseudoEigenvalueMatrix(),
-      *     MatrixBase::eigenvalues()
-      */
-    const EigenvalueType& eigenvalues() const
-    {
-      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-      return m_eivalues;
-    }
-
-    /** \brief Computes eigendecomposition of given matrix. 
-      * 
-      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
-      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
-      *    eigenvalues are computed; if false, only the eigenvalues are
-      *    computed. 
-      * \returns    Reference to \c *this
-      *
-      * This function computes the eigenvalues of the real matrix \p matrix.
-      * The eigenvalues() function can be used to retrieve them.  If 
-      * \p computeEigenvectors is true, then the eigenvectors are also computed
-      * and can be retrieved by calling eigenvectors().
-      *
-      * The matrix is first reduced to real Schur form using the RealSchur
-      * class. The Schur decomposition is then used to compute the eigenvalues
-      * and eigenvectors.
-      *
-      * The cost of the computation is dominated by the cost of the
-      * Schur decomposition, which is very approximately \f$ 25n^3 \f$
-      * (where \f$ n \f$ is the size of the matrix) if \p computeEigenvectors 
-      * is true, and \f$ 10n^3 \f$ if \p computeEigenvectors is false.
-      *
-      * This method reuses of the allocated data in the EigenSolver object.
-      *
-      * Example: \include EigenSolver_compute.cpp
-      * Output: \verbinclude EigenSolver_compute.out
-      */
-    template<typename InputType>
-    EigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
-
-    /** \returns NumericalIssue if the input contains INF or NaN values or overflow occured. Returns Success otherwise. */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-      return m_info;
-    }
-
-    /** \brief Sets the maximum number of iterations allowed. */
-    EigenSolver& setMaxIterations(Index maxIters)
-    {
-      m_realSchur.setMaxIterations(maxIters);
-      return *this;
-    }
-
-    /** \brief Returns the maximum number of iterations. */
-    Index getMaxIterations()
-    {
-      return m_realSchur.getMaxIterations();
-    }
-
-  private:
-    void doComputeEigenvectors();
-
-  protected:
-    
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-      EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL);
-    }
-    
-    MatrixType m_eivec;
-    EigenvalueType m_eivalues;
-    bool m_isInitialized;
-    bool m_eigenvectorsOk;
-    ComputationInfo m_info;
-    RealSchur<MatrixType> m_realSchur;
-    MatrixType m_matT;
-
-    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
-    ColumnVectorType m_tmp;
-};
-
-template<typename MatrixType>
-MatrixType EigenSolver<MatrixType>::pseudoEigenvalueMatrix() const
-{
-  eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
-  Index n = m_eivalues.rows();
-  MatrixType matD = MatrixType::Zero(n,n);
-  for (Index i=0; i<n; ++i)
-  {
-    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(i)), numext::real(m_eivalues.coeff(i)), precision))
-      matD.coeffRef(i,i) = numext::real(m_eivalues.coeff(i));
-    else
-    {
-      matD.template block<2,2>(i,i) <<  numext::real(m_eivalues.coeff(i)), numext::imag(m_eivalues.coeff(i)),
-                                       -numext::imag(m_eivalues.coeff(i)), numext::real(m_eivalues.coeff(i));
-      ++i;
-    }
-  }
-  return matD;
-}
-
-template<typename MatrixType>
-typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eigenvectors() const
-{
-  eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-  eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
-  Index n = m_eivec.cols();
-  EigenvectorsType matV(n,n);
-  for (Index j=0; j<n; ++j)
-  {
-    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(j)), numext::real(m_eivalues.coeff(j)), precision) || j+1==n)
-    {
-      // we have a real eigen value
-      matV.col(j) = m_eivec.col(j).template cast<ComplexScalar>();
-      matV.col(j).normalize();
-    }
-    else
-    {
-      // we have a pair of complex eigen values
-      for (Index i=0; i<n; ++i)
-      {
-        matV.coeffRef(i,j)   = ComplexScalar(m_eivec.coeff(i,j),  m_eivec.coeff(i,j+1));
-        matV.coeffRef(i,j+1) = ComplexScalar(m_eivec.coeff(i,j), -m_eivec.coeff(i,j+1));
-      }
-      matV.col(j).normalize();
-      matV.col(j+1).normalize();
-      ++j;
-    }
-  }
-  return matV;
-}
-
-template<typename MatrixType>
-template<typename InputType>
-EigenSolver<MatrixType>& 
-EigenSolver<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeEigenvectors)
-{
-  check_template_parameters();
-  
-  using std::sqrt;
-  using std::abs;
-  using numext::isfinite;
-  eigen_assert(matrix.cols() == matrix.rows());
-
-  // Reduce to real Schur form.
-  m_realSchur.compute(matrix.derived(), computeEigenvectors);
-  
-  m_info = m_realSchur.info();
-
-  if (m_info == Success)
-  {
-    m_matT = m_realSchur.matrixT();
-    if (computeEigenvectors)
-      m_eivec = m_realSchur.matrixU();
-  
-    // Compute eigenvalues from matT
-    m_eivalues.resize(matrix.cols());
-    Index i = 0;
-    while (i < matrix.cols()) 
-    {
-      if (i == matrix.cols() - 1 || m_matT.coeff(i+1, i) == Scalar(0)) 
-      {
-        m_eivalues.coeffRef(i) = m_matT.coeff(i, i);
-        if(!(isfinite)(m_eivalues.coeffRef(i)))
-        {
-          m_isInitialized = true;
-          m_eigenvectorsOk = false;
-          m_info = NumericalIssue;
-          return *this;
-        }
-        ++i;
-      }
-      else
-      {
-        Scalar p = Scalar(0.5) * (m_matT.coeff(i, i) - m_matT.coeff(i+1, i+1));
-        Scalar z;
-        // Compute z = sqrt(abs(p * p + m_matT.coeff(i+1, i) * m_matT.coeff(i, i+1)));
-        // without overflow
-        {
-          Scalar t0 = m_matT.coeff(i+1, i);
-          Scalar t1 = m_matT.coeff(i, i+1);
-          Scalar maxval = numext::maxi<Scalar>(abs(p),numext::maxi<Scalar>(abs(t0),abs(t1)));
-          t0 /= maxval;
-          t1 /= maxval;
-          Scalar p0 = p/maxval;
-          z = maxval * sqrt(abs(p0 * p0 + t0 * t1));
-        }
-        
-        m_eivalues.coeffRef(i)   = ComplexScalar(m_matT.coeff(i+1, i+1) + p, z);
-        m_eivalues.coeffRef(i+1) = ComplexScalar(m_matT.coeff(i+1, i+1) + p, -z);
-        if(!((isfinite)(m_eivalues.coeffRef(i)) && (isfinite)(m_eivalues.coeffRef(i+1))))
-        {
-          m_isInitialized = true;
-          m_eigenvectorsOk = false;
-          m_info = NumericalIssue;
-          return *this;
-        }
-        i += 2;
-      }
-    }
-    
-    // Compute eigenvectors.
-    if (computeEigenvectors)
-      doComputeEigenvectors();
-  }
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = computeEigenvectors;
-
-  return *this;
-}
-
-
-template<typename MatrixType>
-void EigenSolver<MatrixType>::doComputeEigenvectors()
-{
-  using std::abs;
-  const Index size = m_eivec.cols();
-  const Scalar eps = NumTraits<Scalar>::epsilon();
-
-  // inefficient! this is already computed in RealSchur
-  Scalar norm(0);
-  for (Index j = 0; j < size; ++j)
-  {
-    norm += m_matT.row(j).segment((std::max)(j-1,Index(0)), size-(std::max)(j-1,Index(0))).cwiseAbs().sum();
-  }
-  
-  // Backsubstitute to find vectors of upper triangular form
-  if (norm == Scalar(0))
-  {
-    return;
-  }
-
-  for (Index n = size-1; n >= 0; n--)
-  {
-    Scalar p = m_eivalues.coeff(n).real();
-    Scalar q = m_eivalues.coeff(n).imag();
-
-    // Scalar vector
-    if (q == Scalar(0))
-    {
-      Scalar lastr(0), lastw(0);
-      Index l = n;
-
-      m_matT.coeffRef(n,n) = Scalar(1);
-      for (Index i = n-1; i >= 0; i--)
-      {
-        Scalar w = m_matT.coeff(i,i) - p;
-        Scalar r = m_matT.row(i).segment(l,n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
-
-        if (m_eivalues.coeff(i).imag() < Scalar(0))
-        {
-          lastw = w;
-          lastr = r;
-        }
-        else
-        {
-          l = i;
-          if (m_eivalues.coeff(i).imag() == Scalar(0))
-          {
-            if (w != Scalar(0))
-              m_matT.coeffRef(i,n) = -r / w;
-            else
-              m_matT.coeffRef(i,n) = -r / (eps * norm);
-          }
-          else // Solve real equations
-          {
-            Scalar x = m_matT.coeff(i,i+1);
-            Scalar y = m_matT.coeff(i+1,i);
-            Scalar denom = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag();
-            Scalar t = (x * lastr - lastw * r) / denom;
-            m_matT.coeffRef(i,n) = t;
-            if (abs(x) > abs(lastw))
-              m_matT.coeffRef(i+1,n) = (-r - w * t) / x;
-            else
-              m_matT.coeffRef(i+1,n) = (-lastr - y * t) / lastw;
-          }
-
-          // Overflow control
-          Scalar t = abs(m_matT.coeff(i,n));
-          if ((eps * t) * t > Scalar(1))
-            m_matT.col(n).tail(size-i) /= t;
-        }
-      }
-    }
-    else if (q < Scalar(0) && n > 0) // Complex vector
-    {
-      Scalar lastra(0), lastsa(0), lastw(0);
-      Index l = n-1;
-
-      // Last vector component imaginary so matrix is triangular
-      if (abs(m_matT.coeff(n,n-1)) > abs(m_matT.coeff(n-1,n)))
-      {
-        m_matT.coeffRef(n-1,n-1) = q / m_matT.coeff(n,n-1);
-        m_matT.coeffRef(n-1,n) = -(m_matT.coeff(n,n) - p) / m_matT.coeff(n,n-1);
-      }
-      else
-      {
-        ComplexScalar cc = ComplexScalar(Scalar(0),-m_matT.coeff(n-1,n)) / ComplexScalar(m_matT.coeff(n-1,n-1)-p,q);
-        m_matT.coeffRef(n-1,n-1) = numext::real(cc);
-        m_matT.coeffRef(n-1,n) = numext::imag(cc);
-      }
-      m_matT.coeffRef(n,n-1) = Scalar(0);
-      m_matT.coeffRef(n,n) = Scalar(1);
-      for (Index i = n-2; i >= 0; i--)
-      {
-        Scalar ra = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n-1).segment(l, n-l+1));
-        Scalar sa = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
-        Scalar w = m_matT.coeff(i,i) - p;
-
-        if (m_eivalues.coeff(i).imag() < Scalar(0))
-        {
-          lastw = w;
-          lastra = ra;
-          lastsa = sa;
-        }
-        else
-        {
-          l = i;
-          if (m_eivalues.coeff(i).imag() == RealScalar(0))
-          {
-            ComplexScalar cc = ComplexScalar(-ra,-sa) / ComplexScalar(w,q);
-            m_matT.coeffRef(i,n-1) = numext::real(cc);
-            m_matT.coeffRef(i,n) = numext::imag(cc);
-          }
-          else
-          {
-            // Solve complex equations
-            Scalar x = m_matT.coeff(i,i+1);
-            Scalar y = m_matT.coeff(i+1,i);
-            Scalar vr = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag() - q * q;
-            Scalar vi = (m_eivalues.coeff(i).real() - p) * Scalar(2) * q;
-            if ((vr == Scalar(0)) && (vi == Scalar(0)))
-              vr = eps * norm * (abs(w) + abs(q) + abs(x) + abs(y) + abs(lastw));
-
-            ComplexScalar cc = ComplexScalar(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra) / ComplexScalar(vr,vi);
-            m_matT.coeffRef(i,n-1) = numext::real(cc);
-            m_matT.coeffRef(i,n) = numext::imag(cc);
-            if (abs(x) > (abs(lastw) + abs(q)))
-            {
-              m_matT.coeffRef(i+1,n-1) = (-ra - w * m_matT.coeff(i,n-1) + q * m_matT.coeff(i,n)) / x;
-              m_matT.coeffRef(i+1,n) = (-sa - w * m_matT.coeff(i,n) - q * m_matT.coeff(i,n-1)) / x;
-            }
-            else
-            {
-              cc = ComplexScalar(-lastra-y*m_matT.coeff(i,n-1),-lastsa-y*m_matT.coeff(i,n)) / ComplexScalar(lastw,q);
-              m_matT.coeffRef(i+1,n-1) = numext::real(cc);
-              m_matT.coeffRef(i+1,n) = numext::imag(cc);
-            }
-          }
-
-          // Overflow control
-          Scalar t = numext::maxi<Scalar>(abs(m_matT.coeff(i,n-1)),abs(m_matT.coeff(i,n)));
-          if ((eps * t) * t > Scalar(1))
-            m_matT.block(i, n-1, size-i, 2) /= t;
-
-        }
-      }
-      
-      // We handled a pair of complex conjugate eigenvalues, so need to skip them both
-      n--;
-    }
-    else
-    {
-      eigen_assert(0 && "Internal bug in EigenSolver (INF or NaN has not been detected)"); // this should not happen
-    }
-  }
-
-  // Back transformation to get eigenvectors of original matrix
-  for (Index j = size-1; j >= 0; j--)
-  {
-    m_tmp.noalias() = m_eivec.leftCols(j+1) * m_matT.col(j).segment(0, j+1);
-    m_eivec.col(j) = m_tmp;
-  }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_EIGENSOLVER_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h b/phonelibs/eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
deleted file mode 100644
index 36a91dffc00863..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
+++ /dev/null
@@ -1,419 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2016 Tobias Wood <tobias@spinicist.org.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GENERALIZEDEIGENSOLVER_H
-#define EIGEN_GENERALIZEDEIGENSOLVER_H
-
-#include "./RealQZ.h"
-
-namespace Eigen { 
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class GeneralizedEigenSolver
-  *
-  * \brief Computes the generalized eigenvalues and eigenvectors of a pair of general matrices
-  *
-  * \tparam _MatrixType the type of the matrices of which we are computing the
-  * eigen-decomposition; this is expected to be an instantiation of the Matrix
-  * class template. Currently, only real matrices are supported.
-  *
-  * The generalized eigenvalues and eigenvectors of a matrix pair \f$ A \f$ and \f$ B \f$ are scalars
-  * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda Bv \f$.  If
-  * \f$ D \f$ is a diagonal matrix with the eigenvalues on the diagonal, and
-  * \f$ V \f$ is a matrix with the eigenvectors as its columns, then \f$ A V =
-  * B V D \f$. The matrix \f$ V \f$ is almost always invertible, in which case we
-  * have \f$ A = B V D V^{-1} \f$. This is called the generalized eigen-decomposition.
-  *
-  * The generalized eigenvalues and eigenvectors of a matrix pair may be complex, even when the
-  * matrices are real. Moreover, the generalized eigenvalue might be infinite if the matrix B is
-  * singular. To workaround this difficulty, the eigenvalues are provided as a pair of complex \f$ \alpha \f$
-  * and real \f$ \beta \f$ such that: \f$ \lambda_i = \alpha_i / \beta_i \f$. If \f$ \beta_i \f$ is (nearly) zero,
-  * then one can consider the well defined left eigenvalue \f$ \mu = \beta_i / \alpha_i\f$ such that:
-  * \f$ \mu_i A v_i = B v_i \f$, or even \f$ \mu_i u_i^T A  = u_i^T B \f$ where \f$ u_i \f$ is
-  * called the left eigenvector.
-  *
-  * Call the function compute() to compute the generalized eigenvalues and eigenvectors of
-  * a given matrix pair. Alternatively, you can use the
-  * GeneralizedEigenSolver(const MatrixType&, const MatrixType&, bool) constructor which computes the
-  * eigenvalues and eigenvectors at construction time. Once the eigenvalue and
-  * eigenvectors are computed, they can be retrieved with the eigenvalues() and
-  * eigenvectors() functions.
-  *
-  * Here is an usage example of this class:
-  * Example: \include GeneralizedEigenSolver.cpp
-  * Output: \verbinclude GeneralizedEigenSolver.out
-  *
-  * \sa MatrixBase::eigenvalues(), class ComplexEigenSolver, class SelfAdjointEigenSolver
-  */
-template<typename _MatrixType> class GeneralizedEigenSolver
-{
-  public:
-
-    /** \brief Synonym for the template parameter \p _MatrixType. */
-    typedef _MatrixType MatrixType;
-
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-
-    /** \brief Scalar type for matrices of type #MatrixType. */
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-    /** \brief Complex scalar type for #MatrixType. 
-      *
-      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
-      * \c float or \c double) and just \c Scalar if #Scalar is
-      * complex.
-      */
-    typedef std::complex<RealScalar> ComplexScalar;
-
-    /** \brief Type for vector of real scalar values eigenvalues as returned by betas().
-      *
-      * This is a column vector with entries of type #Scalar.
-      * The length of the vector is the size of #MatrixType.
-      */
-    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> VectorType;
-
-    /** \brief Type for vector of complex scalar values eigenvalues as returned by alphas().
-      *
-      * This is a column vector with entries of type #ComplexScalar.
-      * The length of the vector is the size of #MatrixType.
-      */
-    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ComplexVectorType;
-
-    /** \brief Expression type for the eigenvalues as returned by eigenvalues().
-      */
-    typedef CwiseBinaryOp<internal::scalar_quotient_op<ComplexScalar,Scalar>,ComplexVectorType,VectorType> EigenvalueType;
-
-    /** \brief Type for matrix of eigenvectors as returned by eigenvectors(). 
-      *
-      * This is a square matrix with entries of type #ComplexScalar. 
-      * The size is the same as the size of #MatrixType.
-      */
-    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorsType;
-
-    /** \brief Default constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via EigenSolver::compute(const MatrixType&, bool).
-      *
-      * \sa compute() for an example.
-      */
-    GeneralizedEigenSolver()
-      : m_eivec(),
-        m_alphas(),
-        m_betas(),
-        m_valuesOkay(false),
-        m_vectorsOkay(false),
-        m_realQZ()
-    {}
-
-    /** \brief Default constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa GeneralizedEigenSolver()
-      */
-    explicit GeneralizedEigenSolver(Index size)
-      : m_eivec(size, size),
-        m_alphas(size),
-        m_betas(size),
-        m_valuesOkay(false),
-        m_vectorsOkay(false),
-        m_realQZ(size),
-        m_tmp(size)
-    {}
-
-    /** \brief Constructor; computes the generalized eigendecomposition of given matrix pair.
-      * 
-      * \param[in]  A  Square matrix whose eigendecomposition is to be computed.
-      * \param[in]  B  Square matrix whose eigendecomposition is to be computed.
-      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
-      *    eigenvalues are computed; if false, only the eigenvalues are computed.
-      *
-      * This constructor calls compute() to compute the generalized eigenvalues
-      * and eigenvectors.
-      *
-      * \sa compute()
-      */
-    GeneralizedEigenSolver(const MatrixType& A, const MatrixType& B, bool computeEigenvectors = true)
-      : m_eivec(A.rows(), A.cols()),
-        m_alphas(A.cols()),
-        m_betas(A.cols()),
-        m_valuesOkay(false),
-        m_vectorsOkay(false),
-        m_realQZ(A.cols()),
-        m_tmp(A.cols())
-    {
-      compute(A, B, computeEigenvectors);
-    }
-
-    /* \brief Returns the computed generalized eigenvectors.
-      *
-      * \returns  %Matrix whose columns are the (possibly complex) right eigenvectors.
-      * i.e. the eigenvectors that solve (A - l*B)x = 0. The ordering matches the eigenvalues.
-      *
-      * \pre Either the constructor 
-      * GeneralizedEigenSolver(const MatrixType&,const MatrixType&, bool) or the member function
-      * compute(const MatrixType&, const MatrixType& bool) has been called before, and
-      * \p computeEigenvectors was set to true (the default).
-      *
-      * \sa eigenvalues()
-      */
-    EigenvectorsType eigenvectors() const {
-      eigen_assert(m_vectorsOkay && "Eigenvectors for GeneralizedEigenSolver were not calculated.");
-      return m_eivec;
-    }
-
-    /** \brief Returns an expression of the computed generalized eigenvalues.
-      *
-      * \returns An expression of the column vector containing the eigenvalues.
-      *
-      * It is a shortcut for \code this->alphas().cwiseQuotient(this->betas()); \endcode
-      * Not that betas might contain zeros. It is therefore not recommended to use this function,
-      * but rather directly deal with the alphas and betas vectors.
-      *
-      * \pre Either the constructor 
-      * GeneralizedEigenSolver(const MatrixType&,const MatrixType&,bool) or the member function
-      * compute(const MatrixType&,const MatrixType&,bool) has been called before.
-      *
-      * The eigenvalues are repeated according to their algebraic multiplicity,
-      * so there are as many eigenvalues as rows in the matrix. The eigenvalues 
-      * are not sorted in any particular order.
-      *
-      * \sa alphas(), betas(), eigenvectors()
-      */
-    EigenvalueType eigenvalues() const
-    {
-      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
-      return EigenvalueType(m_alphas,m_betas);
-    }
-
-    /** \returns A const reference to the vectors containing the alpha values
-      *
-      * This vector permits to reconstruct the j-th eigenvalues as alphas(i)/betas(j).
-      *
-      * \sa betas(), eigenvalues() */
-    ComplexVectorType alphas() const
-    {
-      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
-      return m_alphas;
-    }
-
-    /** \returns A const reference to the vectors containing the beta values
-      *
-      * This vector permits to reconstruct the j-th eigenvalues as alphas(i)/betas(j).
-      *
-      * \sa alphas(), eigenvalues() */
-    VectorType betas() const
-    {
-      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
-      return m_betas;
-    }
-
-    /** \brief Computes generalized eigendecomposition of given matrix.
-      * 
-      * \param[in]  A  Square matrix whose eigendecomposition is to be computed.
-      * \param[in]  B  Square matrix whose eigendecomposition is to be computed.
-      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
-      *    eigenvalues are computed; if false, only the eigenvalues are
-      *    computed. 
-      * \returns    Reference to \c *this
-      *
-      * This function computes the eigenvalues of the real matrix \p matrix.
-      * The eigenvalues() function can be used to retrieve them.  If 
-      * \p computeEigenvectors is true, then the eigenvectors are also computed
-      * and can be retrieved by calling eigenvectors().
-      *
-      * The matrix is first reduced to real generalized Schur form using the RealQZ
-      * class. The generalized Schur decomposition is then used to compute the eigenvalues
-      * and eigenvectors.
-      *
-      * The cost of the computation is dominated by the cost of the
-      * generalized Schur decomposition.
-      *
-      * This method reuses of the allocated data in the GeneralizedEigenSolver object.
-      */
-    GeneralizedEigenSolver& compute(const MatrixType& A, const MatrixType& B, bool computeEigenvectors = true);
-
-    ComputationInfo info() const
-    {
-      eigen_assert(m_valuesOkay && "EigenSolver is not initialized.");
-      return m_realQZ.info();
-    }
-
-    /** Sets the maximal number of iterations allowed.
-    */
-    GeneralizedEigenSolver& setMaxIterations(Index maxIters)
-    {
-      m_realQZ.setMaxIterations(maxIters);
-      return *this;
-    }
-
-  protected:
-    
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-      EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL);
-    }
-    
-    EigenvectorsType m_eivec;
-    ComplexVectorType m_alphas;
-    VectorType m_betas;
-    bool m_valuesOkay, m_vectorsOkay;
-    RealQZ<MatrixType> m_realQZ;
-    ComplexVectorType m_tmp;
-};
-
-template<typename MatrixType>
-GeneralizedEigenSolver<MatrixType>&
-GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixType& B, bool computeEigenvectors)
-{
-  check_template_parameters();
-  
-  using std::sqrt;
-  using std::abs;
-  eigen_assert(A.cols() == A.rows() && B.cols() == A.rows() && B.cols() == B.rows());
-  Index size = A.cols();
-  m_valuesOkay = false;
-  m_vectorsOkay = false;
-  // Reduce to generalized real Schur form:
-  // A = Q S Z and B = Q T Z
-  m_realQZ.compute(A, B, computeEigenvectors);
-  if (m_realQZ.info() == Success)
-  {
-    // Resize storage
-    m_alphas.resize(size);
-    m_betas.resize(size);
-    if (computeEigenvectors)
-    {
-      m_eivec.resize(size,size);
-      m_tmp.resize(size);
-    }
-
-    // Aliases:
-    Map<VectorType> v(reinterpret_cast<Scalar*>(m_tmp.data()), size);
-    ComplexVectorType &cv = m_tmp;
-    const MatrixType &mZ = m_realQZ.matrixZ();
-    const MatrixType &mS = m_realQZ.matrixS();
-    const MatrixType &mT = m_realQZ.matrixT();
-
-    Index i = 0;
-    while (i < size)
-    {
-      if (i == size - 1 || mS.coeff(i+1, i) == Scalar(0))
-      {
-        // Real eigenvalue
-        m_alphas.coeffRef(i) = mS.diagonal().coeff(i);
-        m_betas.coeffRef(i)  = mT.diagonal().coeff(i);
-        if (computeEigenvectors)
-        {
-          v.setConstant(Scalar(0.0));
-          v.coeffRef(i) = Scalar(1.0);
-          // For singular eigenvalues do nothing more
-          if(abs(m_betas.coeffRef(i)) >= (std::numeric_limits<RealScalar>::min)())
-          {
-            // Non-singular eigenvalue
-            const Scalar alpha = real(m_alphas.coeffRef(i));
-            const Scalar beta = m_betas.coeffRef(i);
-            for (Index j = i-1; j >= 0; j--)
-            {
-              const Index st = j+1;
-              const Index sz = i-j;
-              if (j > 0 && mS.coeff(j, j-1) != Scalar(0))
-              {
-                // 2x2 block
-                Matrix<Scalar, 2, 1> rhs = (alpha*mT.template block<2,Dynamic>(j-1,st,2,sz) - beta*mS.template block<2,Dynamic>(j-1,st,2,sz)) .lazyProduct( v.segment(st,sz) );
-                Matrix<Scalar, 2, 2> lhs = beta * mS.template block<2,2>(j-1,j-1) - alpha * mT.template block<2,2>(j-1,j-1);
-                v.template segment<2>(j-1) = lhs.partialPivLu().solve(rhs);
-                j--;
-              }
-              else
-              {
-                v.coeffRef(j) = -v.segment(st,sz).transpose().cwiseProduct(beta*mS.block(j,st,1,sz) - alpha*mT.block(j,st,1,sz)).sum() / (beta*mS.coeffRef(j,j) - alpha*mT.coeffRef(j,j));
-              }
-            }
-          }
-          m_eivec.col(i).real().noalias() = mZ.transpose() * v;
-          m_eivec.col(i).real().normalize();
-          m_eivec.col(i).imag().setConstant(0);
-        }
-        ++i;
-      }
-      else
-      {
-        // We need to extract the generalized eigenvalues of the pair of a general 2x2 block S and a positive diagonal 2x2 block T
-        // Then taking beta=T_00*T_11, we can avoid any division, and alpha is the eigenvalues of A = (U^-1 * S * U) * diag(T_11,T_00):
-
-        // T =  [a 0]
-        //      [0 b]
-        RealScalar a = mT.diagonal().coeff(i),
-                   b = mT.diagonal().coeff(i+1);
-        const RealScalar beta = m_betas.coeffRef(i) = m_betas.coeffRef(i+1) = a*b;
-
-        // ^^ NOTE: using diagonal()(i) instead of coeff(i,i) workarounds a MSVC bug.
-        Matrix<RealScalar,2,2> S2 = mS.template block<2,2>(i,i) * Matrix<Scalar,2,1>(b,a).asDiagonal();
-
-        Scalar p = Scalar(0.5) * (S2.coeff(0,0) - S2.coeff(1,1));
-        Scalar z = sqrt(abs(p * p + S2.coeff(1,0) * S2.coeff(0,1)));
-        const ComplexScalar alpha = ComplexScalar(S2.coeff(1,1) + p, (beta > 0) ? z : -z);
-        m_alphas.coeffRef(i)   = conj(alpha);
-        m_alphas.coeffRef(i+1) = alpha;
-
-        if (computeEigenvectors) {
-          // Compute eigenvector in position (i+1) and then position (i) is just the conjugate
-          cv.setZero();
-          cv.coeffRef(i+1) = Scalar(1.0);
-          // here, the "static_cast" workaound expression template issues.
-          cv.coeffRef(i) = -(static_cast<Scalar>(beta*mS.coeffRef(i,i+1)) - alpha*mT.coeffRef(i,i+1))
-                          / (static_cast<Scalar>(beta*mS.coeffRef(i,i))   - alpha*mT.coeffRef(i,i));
-          for (Index j = i-1; j >= 0; j--)
-          {
-            const Index st = j+1;
-            const Index sz = i+1-j;
-            if (j > 0 && mS.coeff(j, j-1) != Scalar(0))
-            {
-              // 2x2 block
-              Matrix<ComplexScalar, 2, 1> rhs = (alpha*mT.template block<2,Dynamic>(j-1,st,2,sz) - beta*mS.template block<2,Dynamic>(j-1,st,2,sz)) .lazyProduct( cv.segment(st,sz) );
-              Matrix<ComplexScalar, 2, 2> lhs = beta * mS.template block<2,2>(j-1,j-1) - alpha * mT.template block<2,2>(j-1,j-1);
-              cv.template segment<2>(j-1) = lhs.partialPivLu().solve(rhs);
-              j--;
-            } else {
-              cv.coeffRef(j) =  cv.segment(st,sz).transpose().cwiseProduct(beta*mS.block(j,st,1,sz) - alpha*mT.block(j,st,1,sz)).sum()
-                              / (alpha*mT.coeffRef(j,j) - static_cast<Scalar>(beta*mS.coeffRef(j,j)));
-            }
-          }
-          m_eivec.col(i+1).noalias() = (mZ.transpose() * cv);
-          m_eivec.col(i+1).normalize();
-          m_eivec.col(i) = m_eivec.col(i+1).conjugate();
-        }
-        i += 2;
-      }
-    }
-
-    m_valuesOkay = true;
-    m_vectorsOkay = computeEigenvectors;
-  }
-  return *this;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERALIZEDEIGENSOLVER_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/phonelibs/eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
deleted file mode 100644
index 5f6bb82898b2d3..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+++ /dev/null
@@ -1,226 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
-#define EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
-
-#include "./Tridiagonalization.h"
-
-namespace Eigen { 
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class GeneralizedSelfAdjointEigenSolver
-  *
-  * \brief Computes eigenvalues and eigenvectors of the generalized selfadjoint eigen problem
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the
-  * eigendecomposition; this is expected to be an instantiation of the Matrix
-  * class template.
-  *
-  * This class solves the generalized eigenvalue problem
-  * \f$ Av = \lambda Bv \f$. In this case, the matrix \f$ A \f$ should be
-  * selfadjoint and the matrix \f$ B \f$ should be positive definite.
-  *
-  * Only the \b lower \b triangular \b part of the input matrix is referenced.
-  *
-  * Call the function compute() to compute the eigenvalues and eigenvectors of
-  * a given matrix. Alternatively, you can use the
-  * GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
-  * constructor which computes the eigenvalues and eigenvectors at construction time.
-  * Once the eigenvalue and eigenvectors are computed, they can be retrieved with the eigenvalues()
-  * and eigenvectors() functions.
-  *
-  * The documentation for GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
-  * contains an example of the typical use of this class.
-  *
-  * \sa class SelfAdjointEigenSolver, class EigenSolver, class ComplexEigenSolver
-  */
-template<typename _MatrixType>
-class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixType>
-{
-    typedef SelfAdjointEigenSolver<_MatrixType> Base;
-  public:
-
-    typedef _MatrixType MatrixType;
-
-    /** \brief Default constructor for fixed-size matrices.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via compute(). This constructor
-      * can only be used if \p _MatrixType is a fixed-size matrix; use
-      * GeneralizedSelfAdjointEigenSolver(Index) for dynamic-size matrices.
-      */
-    GeneralizedSelfAdjointEigenSolver() : Base() {}
-
-    /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
-      *
-      * \param [in]  size  Positive integer, size of the matrix whose
-      * eigenvalues and eigenvectors will be computed.
-      *
-      * This constructor is useful for dynamic-size matrices, when the user
-      * intends to perform decompositions via compute(). The \p size
-      * parameter is only used as a hint. It is not an error to give a wrong
-      * \p size, but it may impair performance.
-      *
-      * \sa compute() for an example
-      */
-    explicit GeneralizedSelfAdjointEigenSolver(Index size)
-        : Base(size)
-    {}
-
-    /** \brief Constructor; computes generalized eigendecomposition of given matrix pencil.
-      *
-      * \param[in]  matA  Selfadjoint matrix in matrix pencil.
-      *                   Only the lower triangular part of the matrix is referenced.
-      * \param[in]  matB  Positive-definite matrix in matrix pencil.
-      *                   Only the lower triangular part of the matrix is referenced.
-      * \param[in]  options A or-ed set of flags {#ComputeEigenvectors,#EigenvaluesOnly} | {#Ax_lBx,#ABx_lx,#BAx_lx}.
-      *                     Default is #ComputeEigenvectors|#Ax_lBx.
-      *
-      * This constructor calls compute(const MatrixType&, const MatrixType&, int)
-      * to compute the eigenvalues and (if requested) the eigenvectors of the
-      * generalized eigenproblem \f$ Ax = \lambda B x \f$ with \a matA the
-      * selfadjoint matrix \f$ A \f$ and \a matB the positive definite matrix
-      * \f$ B \f$. Each eigenvector \f$ x \f$ satisfies the property
-      * \f$ x^* B x = 1 \f$. The eigenvectors are computed if
-      * \a options contains ComputeEigenvectors.
-      *
-      * In addition, the two following variants can be solved via \p options:
-      * - \c ABx_lx: \f$ ABx = \lambda x \f$
-      * - \c BAx_lx: \f$ BAx = \lambda x \f$
-      *
-      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.out
-      *
-      * \sa compute(const MatrixType&, const MatrixType&, int)
-      */
-    GeneralizedSelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB,
-                                      int options = ComputeEigenvectors|Ax_lBx)
-      : Base(matA.cols())
-    {
-      compute(matA, matB, options);
-    }
-
-    /** \brief Computes generalized eigendecomposition of given matrix pencil.
-      *
-      * \param[in]  matA  Selfadjoint matrix in matrix pencil.
-      *                   Only the lower triangular part of the matrix is referenced.
-      * \param[in]  matB  Positive-definite matrix in matrix pencil.
-      *                   Only the lower triangular part of the matrix is referenced.
-      * \param[in]  options A or-ed set of flags {#ComputeEigenvectors,#EigenvaluesOnly} | {#Ax_lBx,#ABx_lx,#BAx_lx}.
-      *                     Default is #ComputeEigenvectors|#Ax_lBx.
-      *
-      * \returns    Reference to \c *this
-      *
-      * Accoring to \p options, this function computes eigenvalues and (if requested)
-      * the eigenvectors of one of the following three generalized eigenproblems:
-      * - \c Ax_lBx: \f$ Ax = \lambda B x \f$
-      * - \c ABx_lx: \f$ ABx = \lambda x \f$
-      * - \c BAx_lx: \f$ BAx = \lambda x \f$
-      * with \a matA the selfadjoint matrix \f$ A \f$ and \a matB the positive definite
-      * matrix \f$ B \f$.
-      * In addition, each eigenvector \f$ x \f$ satisfies the property \f$ x^* B x = 1 \f$.
-      *
-      * The eigenvalues() function can be used to retrieve
-      * the eigenvalues. If \p options contains ComputeEigenvectors, then the
-      * eigenvectors are also computed and can be retrieved by calling
-      * eigenvectors().
-      *
-      * The implementation uses LLT to compute the Cholesky decomposition
-      * \f$ B = LL^* \f$ and computes the classical eigendecomposition
-      * of the selfadjoint matrix \f$ L^{-1} A (L^*)^{-1} \f$ if \p options contains Ax_lBx
-      * and of \f$ L^{*} A L \f$ otherwise. This solves the
-      * generalized eigenproblem, because any solution of the generalized
-      * eigenproblem \f$ Ax = \lambda B x \f$ corresponds to a solution
-      * \f$ L^{-1} A (L^*)^{-1} (L^* x) = \lambda (L^* x) \f$ of the
-      * eigenproblem for \f$ L^{-1} A (L^*)^{-1} \f$. Similar statements
-      * can be made for the two other variants.
-      *
-      * Example: \include SelfAdjointEigenSolver_compute_MatrixType2.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType2.out
-      *
-      * \sa GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
-      */
-    GeneralizedSelfAdjointEigenSolver& compute(const MatrixType& matA, const MatrixType& matB,
-                                               int options = ComputeEigenvectors|Ax_lBx);
-
-  protected:
-
-};
-
-
-template<typename MatrixType>
-GeneralizedSelfAdjointEigenSolver<MatrixType>& GeneralizedSelfAdjointEigenSolver<MatrixType>::
-compute(const MatrixType& matA, const MatrixType& matB, int options)
-{
-  eigen_assert(matA.cols()==matA.rows() && matB.rows()==matA.rows() && matB.cols()==matB.rows());
-  eigen_assert((options&~(EigVecMask|GenEigMask))==0
-          && (options&EigVecMask)!=EigVecMask
-          && ((options&GenEigMask)==0 || (options&GenEigMask)==Ax_lBx
-           || (options&GenEigMask)==ABx_lx || (options&GenEigMask)==BAx_lx)
-          && "invalid option parameter");
-
-  bool computeEigVecs = ((options&EigVecMask)==0) || ((options&EigVecMask)==ComputeEigenvectors);
-
-  // Compute the cholesky decomposition of matB = L L' = U'U
-  LLT<MatrixType> cholB(matB);
-
-  int type = (options&GenEigMask);
-  if(type==0)
-    type = Ax_lBx;
-
-  if(type==Ax_lBx)
-  {
-    // compute C = inv(L) A inv(L')
-    MatrixType matC = matA.template selfadjointView<Lower>();
-    cholB.matrixL().template solveInPlace<OnTheLeft>(matC);
-    cholB.matrixU().template solveInPlace<OnTheRight>(matC);
-
-    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly );
-
-    // transform back the eigen vectors: evecs = inv(U) * evecs
-    if(computeEigVecs)
-      cholB.matrixU().solveInPlace(Base::m_eivec);
-  }
-  else if(type==ABx_lx)
-  {
-    // compute C = L' A L
-    MatrixType matC = matA.template selfadjointView<Lower>();
-    matC = matC * cholB.matrixL();
-    matC = cholB.matrixU() * matC;
-
-    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly);
-
-    // transform back the eigen vectors: evecs = inv(U) * evecs
-    if(computeEigVecs)
-      cholB.matrixU().solveInPlace(Base::m_eivec);
-  }
-  else if(type==BAx_lx)
-  {
-    // compute C = L' A L
-    MatrixType matC = matA.template selfadjointView<Lower>();
-    matC = matC * cholB.matrixL();
-    matC = cholB.matrixU() * matC;
-
-    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly);
-
-    // transform back the eigen vectors: evecs = L * evecs
-    if(computeEigVecs)
-      Base::m_eivec = cholB.matrixL() * Base::m_eivec;
-  }
-
-  return *this;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/phonelibs/eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h
deleted file mode 100644
index f647f69b0601e7..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h
+++ /dev/null
@@ -1,374 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HESSENBERGDECOMPOSITION_H
-#define EIGEN_HESSENBERGDECOMPOSITION_H
-
-namespace Eigen { 
-
-namespace internal {
-  
-template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType;
-template<typename MatrixType>
-struct traits<HessenbergDecompositionMatrixHReturnType<MatrixType> >
-{
-  typedef MatrixType ReturnType;
-};
-
-}
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class HessenbergDecomposition
-  *
-  * \brief Reduces a square matrix to Hessenberg form by an orthogonal similarity transformation
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the Hessenberg decomposition
-  *
-  * This class performs an Hessenberg decomposition of a matrix \f$ A \f$. In
-  * the real case, the Hessenberg decomposition consists of an orthogonal
-  * matrix \f$ Q \f$ and a Hessenberg matrix \f$ H \f$ such that \f$ A = Q H
-  * Q^T \f$. An orthogonal matrix is a matrix whose inverse equals its
-  * transpose (\f$ Q^{-1} = Q^T \f$). A Hessenberg matrix has zeros below the
-  * subdiagonal, so it is almost upper triangular. The Hessenberg decomposition
-  * of a complex matrix is \f$ A = Q H Q^* \f$ with \f$ Q \f$ unitary (that is,
-  * \f$ Q^{-1} = Q^* \f$).
-  *
-  * Call the function compute() to compute the Hessenberg decomposition of a
-  * given matrix. Alternatively, you can use the
-  * HessenbergDecomposition(const MatrixType&) constructor which computes the
-  * Hessenberg decomposition at construction time. Once the decomposition is
-  * computed, you can use the matrixH() and matrixQ() functions to construct
-  * the matrices H and Q in the decomposition.
-  *
-  * The documentation for matrixH() contains an example of the typical use of
-  * this class.
-  *
-  * \sa class ComplexSchur, class Tridiagonalization, \ref QR_Module "QR Module"
-  */
-template<typename _MatrixType> class HessenbergDecomposition
-{
-  public:
-
-    /** \brief Synonym for the template parameter \p _MatrixType. */
-    typedef _MatrixType MatrixType;
-
-    enum {
-      Size = MatrixType::RowsAtCompileTime,
-      SizeMinusOne = Size == Dynamic ? Dynamic : Size - 1,
-      Options = MatrixType::Options,
-      MaxSize = MatrixType::MaxRowsAtCompileTime,
-      MaxSizeMinusOne = MaxSize == Dynamic ? Dynamic : MaxSize - 1
-    };
-
-    /** \brief Scalar type for matrices of type #MatrixType. */
-    typedef typename MatrixType::Scalar Scalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-    /** \brief Type for vector of Householder coefficients.
-      *
-      * This is column vector with entries of type #Scalar. The length of the
-      * vector is one less than the size of #MatrixType, if it is a fixed-side
-      * type.
-      */
-    typedef Matrix<Scalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> CoeffVectorType;
-
-    /** \brief Return type of matrixQ() */
-    typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename CoeffVectorType::ConjugateReturnType>::type> HouseholderSequenceType;
-    
-    typedef internal::HessenbergDecompositionMatrixHReturnType<MatrixType> MatrixHReturnType;
-
-    /** \brief Default constructor; the decomposition will be computed later.
-      *
-      * \param [in] size  The size of the matrix whose Hessenberg decomposition will be computed.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via compute().  The \p size parameter is only
-      * used as a hint. It is not an error to give a wrong \p size, but it may
-      * impair performance.
-      *
-      * \sa compute() for an example.
-      */
-    explicit HessenbergDecomposition(Index size = Size==Dynamic ? 2 : Size)
-      : m_matrix(size,size),
-        m_temp(size),
-        m_isInitialized(false)
-    {
-      if(size>1)
-        m_hCoeffs.resize(size-1);
-    }
-
-    /** \brief Constructor; computes Hessenberg decomposition of given matrix.
-      *
-      * \param[in]  matrix  Square matrix whose Hessenberg decomposition is to be computed.
-      *
-      * This constructor calls compute() to compute the Hessenberg
-      * decomposition.
-      *
-      * \sa matrixH() for an example.
-      */
-    template<typename InputType>
-    explicit HessenbergDecomposition(const EigenBase<InputType>& matrix)
-      : m_matrix(matrix.derived()),
-        m_temp(matrix.rows()),
-        m_isInitialized(false)
-    {
-      if(matrix.rows()<2)
-      {
-        m_isInitialized = true;
-        return;
-      }
-      m_hCoeffs.resize(matrix.rows()-1,1);
-      _compute(m_matrix, m_hCoeffs, m_temp);
-      m_isInitialized = true;
-    }
-
-    /** \brief Computes Hessenberg decomposition of given matrix.
-      *
-      * \param[in]  matrix  Square matrix whose Hessenberg decomposition is to be computed.
-      * \returns    Reference to \c *this
-      *
-      * The Hessenberg decomposition is computed by bringing the columns of the
-      * matrix successively in the required form using Householder reflections
-      * (see, e.g., Algorithm 7.4.2 in Golub \& Van Loan, <i>%Matrix
-      * Computations</i>). The cost is \f$ 10n^3/3 \f$ flops, where \f$ n \f$
-      * denotes the size of the given matrix.
-      *
-      * This method reuses of the allocated data in the HessenbergDecomposition
-      * object.
-      *
-      * Example: \include HessenbergDecomposition_compute.cpp
-      * Output: \verbinclude HessenbergDecomposition_compute.out
-      */
-    template<typename InputType>
-    HessenbergDecomposition& compute(const EigenBase<InputType>& matrix)
-    {
-      m_matrix = matrix.derived();
-      if(matrix.rows()<2)
-      {
-        m_isInitialized = true;
-        return *this;
-      }
-      m_hCoeffs.resize(matrix.rows()-1,1);
-      _compute(m_matrix, m_hCoeffs, m_temp);
-      m_isInitialized = true;
-      return *this;
-    }
-
-    /** \brief Returns the Householder coefficients.
-      *
-      * \returns a const reference to the vector of Householder coefficients
-      *
-      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
-      * or the member function compute(const MatrixType&) has been called
-      * before to compute the Hessenberg decomposition of a matrix.
-      *
-      * The Householder coefficients allow the reconstruction of the matrix
-      * \f$ Q \f$ in the Hessenberg decomposition from the packed data.
-      *
-      * \sa packedMatrix(), \ref Householder_Module "Householder module"
-      */
-    const CoeffVectorType& householderCoefficients() const
-    {
-      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
-      return m_hCoeffs;
-    }
-
-    /** \brief Returns the internal representation of the decomposition
-      *
-      *	\returns a const reference to a matrix with the internal representation
-      *	         of the decomposition.
-      *
-      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
-      * or the member function compute(const MatrixType&) has been called
-      * before to compute the Hessenberg decomposition of a matrix.
-      *
-      * The returned matrix contains the following information:
-      *  - the upper part and lower sub-diagonal represent the Hessenberg matrix H
-      *  - the rest of the lower part contains the Householder vectors that, combined with
-      *    Householder coefficients returned by householderCoefficients(),
-      *    allows to reconstruct the matrix Q as
-      *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
-      *    Here, the matrices \f$ H_i \f$ are the Householder transformations
-      *       \f$ H_i = (I - h_i v_i v_i^T) \f$
-      *    where \f$ h_i \f$ is the \f$ i \f$th Householder coefficient and
-      *    \f$ v_i \f$ is the Householder vector defined by
-      *       \f$ v_i = [ 0, \ldots, 0, 1, M(i+2,i), \ldots, M(N-1,i) ]^T \f$
-      *    with M the matrix returned by this function.
-      *
-      * See LAPACK for further details on this packed storage.
-      *
-      * Example: \include HessenbergDecomposition_packedMatrix.cpp
-      * Output: \verbinclude HessenbergDecomposition_packedMatrix.out
-      *
-      * \sa householderCoefficients()
-      */
-    const MatrixType& packedMatrix() const
-    {
-      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
-      return m_matrix;
-    }
-
-    /** \brief Reconstructs the orthogonal matrix Q in the decomposition
-      *
-      * \returns object representing the matrix Q
-      *
-      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
-      * or the member function compute(const MatrixType&) has been called
-      * before to compute the Hessenberg decomposition of a matrix.
-      *
-      * This function returns a light-weight object of template class
-      * HouseholderSequence. You can either apply it directly to a matrix or
-      * you can convert it to a matrix of type #MatrixType.
-      *
-      * \sa matrixH() for an example, class HouseholderSequence
-      */
-    HouseholderSequenceType matrixQ() const
-    {
-      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
-      return HouseholderSequenceType(m_matrix, m_hCoeffs.conjugate())
-             .setLength(m_matrix.rows() - 1)
-             .setShift(1);
-    }
-
-    /** \brief Constructs the Hessenberg matrix H in the decomposition
-      *
-      * \returns expression object representing the matrix H
-      *
-      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
-      * or the member function compute(const MatrixType&) has been called
-      * before to compute the Hessenberg decomposition of a matrix.
-      *
-      * The object returned by this function constructs the Hessenberg matrix H
-      * when it is assigned to a matrix or otherwise evaluated. The matrix H is
-      * constructed from the packed matrix as returned by packedMatrix(): The
-      * upper part (including the subdiagonal) of the packed matrix contains
-      * the matrix H. It may sometimes be better to directly use the packed
-      * matrix instead of constructing the matrix H.
-      *
-      * Example: \include HessenbergDecomposition_matrixH.cpp
-      * Output: \verbinclude HessenbergDecomposition_matrixH.out
-      *
-      * \sa matrixQ(), packedMatrix()
-      */
-    MatrixHReturnType matrixH() const
-    {
-      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
-      return MatrixHReturnType(*this);
-    }
-
-  private:
-
-    typedef Matrix<Scalar, 1, Size, Options | RowMajor, 1, MaxSize> VectorType;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    static void _compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp);
-
-  protected:
-    MatrixType m_matrix;
-    CoeffVectorType m_hCoeffs;
-    VectorType m_temp;
-    bool m_isInitialized;
-};
-
-/** \internal
-  * Performs a tridiagonal decomposition of \a matA in place.
-  *
-  * \param matA the input selfadjoint matrix
-  * \param hCoeffs returned Householder coefficients
-  *
-  * The result is written in the lower triangular part of \a matA.
-  *
-  * Implemented from Golub's "%Matrix Computations", algorithm 8.3.1.
-  *
-  * \sa packedMatrix()
-  */
-template<typename MatrixType>
-void HessenbergDecomposition<MatrixType>::_compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp)
-{
-  eigen_assert(matA.rows()==matA.cols());
-  Index n = matA.rows();
-  temp.resize(n);
-  for (Index i = 0; i<n-1; ++i)
-  {
-    // let's consider the vector v = i-th column starting at position i+1
-    Index remainingSize = n-i-1;
-    RealScalar beta;
-    Scalar h;
-    matA.col(i).tail(remainingSize).makeHouseholderInPlace(h, beta);
-    matA.col(i).coeffRef(i+1) = beta;
-    hCoeffs.coeffRef(i) = h;
-
-    // Apply similarity transformation to remaining columns,
-    // i.e., compute A = H A H'
-
-    // A = H A
-    matA.bottomRightCorner(remainingSize, remainingSize)
-        .applyHouseholderOnTheLeft(matA.col(i).tail(remainingSize-1), h, &temp.coeffRef(0));
-
-    // A = A H'
-    matA.rightCols(remainingSize)
-        .applyHouseholderOnTheRight(matA.col(i).tail(remainingSize-1).conjugate(), numext::conj(h), &temp.coeffRef(0));
-  }
-}
-
-namespace internal {
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \brief Expression type for return value of HessenbergDecomposition::matrixH()
-  *
-  * \tparam MatrixType type of matrix in the Hessenberg decomposition
-  *
-  * Objects of this type represent the Hessenberg matrix in the Hessenberg
-  * decomposition of some matrix. The object holds a reference to the
-  * HessenbergDecomposition class until the it is assigned or evaluated for
-  * some other reason (the reference should remain valid during the life time
-  * of this object). This class is the return type of
-  * HessenbergDecomposition::matrixH(); there is probably no other use for this
-  * class.
-  */
-template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType
-: public ReturnByValue<HessenbergDecompositionMatrixHReturnType<MatrixType> >
-{
-  public:
-    /** \brief Constructor.
-      *
-      * \param[in] hess  Hessenberg decomposition
-      */
-    HessenbergDecompositionMatrixHReturnType(const HessenbergDecomposition<MatrixType>& hess) : m_hess(hess) { }
-
-    /** \brief Hessenberg matrix in decomposition.
-      *
-      * \param[out] result  Hessenberg matrix in decomposition \p hess which
-      *                     was passed to the constructor
-      */
-    template <typename ResultType>
-    inline void evalTo(ResultType& result) const
-    {
-      result = m_hess.packedMatrix();
-      Index n = result.rows();
-      if (n>2)
-        result.bottomLeftCorner(n-2, n-2).template triangularView<Lower>().setZero();
-    }
-
-    Index rows() const { return m_hess.packedMatrix().rows(); }
-    Index cols() const { return m_hess.packedMatrix().cols(); }
-
-  protected:
-    const HessenbergDecomposition<MatrixType>& m_hess;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_HESSENBERGDECOMPOSITION_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h b/phonelibs/eigen/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
deleted file mode 100644
index 4fec8af0a3ed29..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
+++ /dev/null
@@ -1,160 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIXBASEEIGENVALUES_H
-#define EIGEN_MATRIXBASEEIGENVALUES_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Derived, bool IsComplex>
-struct eigenvalues_selector
-{
-  // this is the implementation for the case IsComplex = true
-  static inline typename MatrixBase<Derived>::EigenvaluesReturnType const
-  run(const MatrixBase<Derived>& m)
-  {
-    typedef typename Derived::PlainObject PlainObject;
-    PlainObject m_eval(m);
-    return ComplexEigenSolver<PlainObject>(m_eval, false).eigenvalues();
-  }
-};
-
-template<typename Derived>
-struct eigenvalues_selector<Derived, false>
-{
-  static inline typename MatrixBase<Derived>::EigenvaluesReturnType const
-  run(const MatrixBase<Derived>& m)
-  {
-    typedef typename Derived::PlainObject PlainObject;
-    PlainObject m_eval(m);
-    return EigenSolver<PlainObject>(m_eval, false).eigenvalues();
-  }
-};
-
-} // end namespace internal
-
-/** \brief Computes the eigenvalues of a matrix 
-  * \returns Column vector containing the eigenvalues.
-  *
-  * \eigenvalues_module
-  * This function computes the eigenvalues with the help of the EigenSolver
-  * class (for real matrices) or the ComplexEigenSolver class (for complex
-  * matrices). 
-  *
-  * The eigenvalues are repeated according to their algebraic multiplicity,
-  * so there are as many eigenvalues as rows in the matrix.
-  *
-  * The SelfAdjointView class provides a better algorithm for selfadjoint
-  * matrices.
-  *
-  * Example: \include MatrixBase_eigenvalues.cpp
-  * Output: \verbinclude MatrixBase_eigenvalues.out
-  *
-  * \sa EigenSolver::eigenvalues(), ComplexEigenSolver::eigenvalues(),
-  *     SelfAdjointView::eigenvalues()
-  */
-template<typename Derived>
-inline typename MatrixBase<Derived>::EigenvaluesReturnType
-MatrixBase<Derived>::eigenvalues() const
-{
-  typedef typename internal::traits<Derived>::Scalar Scalar;
-  return internal::eigenvalues_selector<Derived, NumTraits<Scalar>::IsComplex>::run(derived());
-}
-
-/** \brief Computes the eigenvalues of a matrix
-  * \returns Column vector containing the eigenvalues.
-  *
-  * \eigenvalues_module
-  * This function computes the eigenvalues with the help of the
-  * SelfAdjointEigenSolver class.  The eigenvalues are repeated according to
-  * their algebraic multiplicity, so there are as many eigenvalues as rows in
-  * the matrix.
-  *
-  * Example: \include SelfAdjointView_eigenvalues.cpp
-  * Output: \verbinclude SelfAdjointView_eigenvalues.out
-  *
-  * \sa SelfAdjointEigenSolver::eigenvalues(), MatrixBase::eigenvalues()
-  */
-template<typename MatrixType, unsigned int UpLo> 
-inline typename SelfAdjointView<MatrixType, UpLo>::EigenvaluesReturnType
-SelfAdjointView<MatrixType, UpLo>::eigenvalues() const
-{
-  typedef typename SelfAdjointView<MatrixType, UpLo>::PlainObject PlainObject;
-  PlainObject thisAsMatrix(*this);
-  return SelfAdjointEigenSolver<PlainObject>(thisAsMatrix, false).eigenvalues();
-}
-
-
-
-/** \brief Computes the L2 operator norm
-  * \returns Operator norm of the matrix.
-  *
-  * \eigenvalues_module
-  * This function computes the L2 operator norm of a matrix, which is also
-  * known as the spectral norm. The norm of a matrix \f$ A \f$ is defined to be
-  * \f[ \|A\|_2 = \max_x \frac{\|Ax\|_2}{\|x\|_2} \f]
-  * where the maximum is over all vectors and the norm on the right is the
-  * Euclidean vector norm. The norm equals the largest singular value, which is
-  * the square root of the largest eigenvalue of the positive semi-definite
-  * matrix \f$ A^*A \f$.
-  *
-  * The current implementation uses the eigenvalues of \f$ A^*A \f$, as computed
-  * by SelfAdjointView::eigenvalues(), to compute the operator norm of a
-  * matrix.  The SelfAdjointView class provides a better algorithm for
-  * selfadjoint matrices.
-  *
-  * Example: \include MatrixBase_operatorNorm.cpp
-  * Output: \verbinclude MatrixBase_operatorNorm.out
-  *
-  * \sa SelfAdjointView::eigenvalues(), SelfAdjointView::operatorNorm()
-  */
-template<typename Derived>
-inline typename MatrixBase<Derived>::RealScalar
-MatrixBase<Derived>::operatorNorm() const
-{
-  using std::sqrt;
-  typename Derived::PlainObject m_eval(derived());
-  // FIXME if it is really guaranteed that the eigenvalues are already sorted,
-  // then we don't need to compute a maxCoeff() here, comparing the 1st and last ones is enough.
-  return sqrt((m_eval*m_eval.adjoint())
-                 .eval()
-		 .template selfadjointView<Lower>()
-		 .eigenvalues()
-		 .maxCoeff()
-		 );
-}
-
-/** \brief Computes the L2 operator norm
-  * \returns Operator norm of the matrix.
-  *
-  * \eigenvalues_module
-  * This function computes the L2 operator norm of a self-adjoint matrix. For a
-  * self-adjoint matrix, the operator norm is the largest eigenvalue.
-  *
-  * The current implementation uses the eigenvalues of the matrix, as computed
-  * by eigenvalues(), to compute the operator norm of the matrix.
-  *
-  * Example: \include SelfAdjointView_operatorNorm.cpp
-  * Output: \verbinclude SelfAdjointView_operatorNorm.out
-  *
-  * \sa eigenvalues(), MatrixBase::operatorNorm()
-  */
-template<typename MatrixType, unsigned int UpLo>
-inline typename SelfAdjointView<MatrixType, UpLo>::RealScalar
-SelfAdjointView<MatrixType, UpLo>::operatorNorm() const
-{
-  return eigenvalues().cwiseAbs().maxCoeff();
-}
-
-} // end namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/RealQZ.h b/phonelibs/eigen/Eigen/src/Eigenvalues/RealQZ.h
deleted file mode 100644
index b3a910dd9f3088..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/RealQZ.h
+++ /dev/null
@@ -1,654 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Alexey Korepanov <kaikaikai@yandex.ru>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_REAL_QZ_H
-#define EIGEN_REAL_QZ_H
-
-namespace Eigen {
-
-  /** \eigenvalues_module \ingroup Eigenvalues_Module
-   *
-   *
-   * \class RealQZ
-   *
-   * \brief Performs a real QZ decomposition of a pair of square matrices
-   *
-   * \tparam _MatrixType the type of the matrix of which we are computing the
-   * real QZ decomposition; this is expected to be an instantiation of the
-   * Matrix class template.
-   *
-   * Given a real square matrices A and B, this class computes the real QZ
-   * decomposition: \f$ A = Q S Z \f$, \f$ B = Q T Z \f$ where Q and Z are
-   * real orthogonal matrixes, T is upper-triangular matrix, and S is upper
-   * quasi-triangular matrix. An orthogonal matrix is a matrix whose
-   * inverse is equal to its transpose, \f$ U^{-1} = U^T \f$. A quasi-triangular
-   * matrix is a block-triangular matrix whose diagonal consists of 1-by-1
-   * blocks and 2-by-2 blocks where further reduction is impossible due to
-   * complex eigenvalues. 
-   *
-   * The eigenvalues of the pencil \f$ A - z B \f$ can be obtained from
-   * 1x1 and 2x2 blocks on the diagonals of S and T.
-   *
-   * Call the function compute() to compute the real QZ decomposition of a
-   * given pair of matrices. Alternatively, you can use the 
-   * RealQZ(const MatrixType& B, const MatrixType& B, bool computeQZ)
-   * constructor which computes the real QZ decomposition at construction
-   * time. Once the decomposition is computed, you can use the matrixS(),
-   * matrixT(), matrixQ() and matrixZ() functions to retrieve the matrices
-   * S, T, Q and Z in the decomposition. If computeQZ==false, some time
-   * is saved by not computing matrices Q and Z.
-   *
-   * Example: \include RealQZ_compute.cpp
-   * Output: \include RealQZ_compute.out
-   *
-   * \note The implementation is based on the algorithm in "Matrix Computations"
-   * by Gene H. Golub and Charles F. Van Loan, and a paper "An algorithm for
-   * generalized eigenvalue problems" by C.B.Moler and G.W.Stewart.
-   *
-   * \sa class RealSchur, class ComplexSchur, class EigenSolver, class ComplexEigenSolver
-   */
-
-  template<typename _MatrixType> class RealQZ
-  {
-    public:
-      typedef _MatrixType MatrixType;
-      enum {
-        RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-        ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-        Options = MatrixType::Options,
-        MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-        MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-      };
-      typedef typename MatrixType::Scalar Scalar;
-      typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-      typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-      typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
-      typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
-
-      /** \brief Default constructor.
-       *
-       * \param [in] size  Positive integer, size of the matrix whose QZ decomposition will be computed.
-       *
-       * The default constructor is useful in cases in which the user intends to
-       * perform decompositions via compute().  The \p size parameter is only
-       * used as a hint. It is not an error to give a wrong \p size, but it may
-       * impair performance.
-       *
-       * \sa compute() for an example.
-       */
-      explicit RealQZ(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime) :
-        m_S(size, size),
-        m_T(size, size),
-        m_Q(size, size),
-        m_Z(size, size),
-        m_workspace(size*2),
-        m_maxIters(400),
-        m_isInitialized(false)
-        { }
-
-      /** \brief Constructor; computes real QZ decomposition of given matrices
-       * 
-       * \param[in]  A          Matrix A.
-       * \param[in]  B          Matrix B.
-       * \param[in]  computeQZ  If false, A and Z are not computed.
-       *
-       * This constructor calls compute() to compute the QZ decomposition.
-       */
-      RealQZ(const MatrixType& A, const MatrixType& B, bool computeQZ = true) :
-        m_S(A.rows(),A.cols()),
-        m_T(A.rows(),A.cols()),
-        m_Q(A.rows(),A.cols()),
-        m_Z(A.rows(),A.cols()),
-        m_workspace(A.rows()*2),
-        m_maxIters(400),
-        m_isInitialized(false) {
-          compute(A, B, computeQZ);
-        }
-
-      /** \brief Returns matrix Q in the QZ decomposition. 
-       *
-       * \returns A const reference to the matrix Q.
-       */
-      const MatrixType& matrixQ() const {
-        eigen_assert(m_isInitialized && "RealQZ is not initialized.");
-        eigen_assert(m_computeQZ && "The matrices Q and Z have not been computed during the QZ decomposition.");
-        return m_Q;
-      }
-
-      /** \brief Returns matrix Z in the QZ decomposition. 
-       *
-       * \returns A const reference to the matrix Z.
-       */
-      const MatrixType& matrixZ() const {
-        eigen_assert(m_isInitialized && "RealQZ is not initialized.");
-        eigen_assert(m_computeQZ && "The matrices Q and Z have not been computed during the QZ decomposition.");
-        return m_Z;
-      }
-
-      /** \brief Returns matrix S in the QZ decomposition. 
-       *
-       * \returns A const reference to the matrix S.
-       */
-      const MatrixType& matrixS() const {
-        eigen_assert(m_isInitialized && "RealQZ is not initialized.");
-        return m_S;
-      }
-
-      /** \brief Returns matrix S in the QZ decomposition. 
-       *
-       * \returns A const reference to the matrix S.
-       */
-      const MatrixType& matrixT() const {
-        eigen_assert(m_isInitialized && "RealQZ is not initialized.");
-        return m_T;
-      }
-
-      /** \brief Computes QZ decomposition of given matrix. 
-       * 
-       * \param[in]  A          Matrix A.
-       * \param[in]  B          Matrix B.
-       * \param[in]  computeQZ  If false, A and Z are not computed.
-       * \returns    Reference to \c *this
-       */
-      RealQZ& compute(const MatrixType& A, const MatrixType& B, bool computeQZ = true);
-
-      /** \brief Reports whether previous computation was successful.
-       *
-       * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
-       */
-      ComputationInfo info() const
-      {
-        eigen_assert(m_isInitialized && "RealQZ is not initialized.");
-        return m_info;
-      }
-
-      /** \brief Returns number of performed QR-like iterations.
-      */
-      Index iterations() const
-      {
-        eigen_assert(m_isInitialized && "RealQZ is not initialized.");
-        return m_global_iter;
-      }
-
-      /** Sets the maximal number of iterations allowed to converge to one eigenvalue
-       * or decouple the problem.
-      */
-      RealQZ& setMaxIterations(Index maxIters)
-      {
-        m_maxIters = maxIters;
-        return *this;
-      }
-
-    private:
-
-      MatrixType m_S, m_T, m_Q, m_Z;
-      Matrix<Scalar,Dynamic,1> m_workspace;
-      ComputationInfo m_info;
-      Index m_maxIters;
-      bool m_isInitialized;
-      bool m_computeQZ;
-      Scalar m_normOfT, m_normOfS;
-      Index m_global_iter;
-
-      typedef Matrix<Scalar,3,1> Vector3s;
-      typedef Matrix<Scalar,2,1> Vector2s;
-      typedef Matrix<Scalar,2,2> Matrix2s;
-      typedef JacobiRotation<Scalar> JRs;
-
-      void hessenbergTriangular();
-      void computeNorms();
-      Index findSmallSubdiagEntry(Index iu);
-      Index findSmallDiagEntry(Index f, Index l);
-      void splitOffTwoRows(Index i);
-      void pushDownZero(Index z, Index f, Index l);
-      void step(Index f, Index l, Index iter);
-
-  }; // RealQZ
-
-  /** \internal Reduces S and T to upper Hessenberg - triangular form */
-  template<typename MatrixType>
-    void RealQZ<MatrixType>::hessenbergTriangular()
-    {
-
-      const Index dim = m_S.cols();
-
-      // perform QR decomposition of T, overwrite T with R, save Q
-      HouseholderQR<MatrixType> qrT(m_T);
-      m_T = qrT.matrixQR();
-      m_T.template triangularView<StrictlyLower>().setZero();
-      m_Q = qrT.householderQ();
-      // overwrite S with Q* S
-      m_S.applyOnTheLeft(m_Q.adjoint());
-      // init Z as Identity
-      if (m_computeQZ)
-        m_Z = MatrixType::Identity(dim,dim);
-      // reduce S to upper Hessenberg with Givens rotations
-      for (Index j=0; j<=dim-3; j++) {
-        for (Index i=dim-1; i>=j+2; i--) {
-          JRs G;
-          // kill S(i,j)
-          if(m_S.coeff(i,j) != 0)
-          {
-            G.makeGivens(m_S.coeff(i-1,j), m_S.coeff(i,j), &m_S.coeffRef(i-1, j));
-            m_S.coeffRef(i,j) = Scalar(0.0);
-            m_S.rightCols(dim-j-1).applyOnTheLeft(i-1,i,G.adjoint());
-            m_T.rightCols(dim-i+1).applyOnTheLeft(i-1,i,G.adjoint());
-            // update Q
-            if (m_computeQZ)
-              m_Q.applyOnTheRight(i-1,i,G);
-          }
-          // kill T(i,i-1)
-          if(m_T.coeff(i,i-1)!=Scalar(0))
-          {
-            G.makeGivens(m_T.coeff(i,i), m_T.coeff(i,i-1), &m_T.coeffRef(i,i));
-            m_T.coeffRef(i,i-1) = Scalar(0.0);
-            m_S.applyOnTheRight(i,i-1,G);
-            m_T.topRows(i).applyOnTheRight(i,i-1,G);
-            // update Z
-            if (m_computeQZ)
-              m_Z.applyOnTheLeft(i,i-1,G.adjoint());
-          }
-        }
-      }
-    }
-
-  /** \internal Computes vector L1 norms of S and T when in Hessenberg-Triangular form already */
-  template<typename MatrixType>
-    inline void RealQZ<MatrixType>::computeNorms()
-    {
-      const Index size = m_S.cols();
-      m_normOfS = Scalar(0.0);
-      m_normOfT = Scalar(0.0);
-      for (Index j = 0; j < size; ++j)
-      {
-        m_normOfS += m_S.col(j).segment(0, (std::min)(size,j+2)).cwiseAbs().sum();
-        m_normOfT += m_T.row(j).segment(j, size - j).cwiseAbs().sum();
-      }
-    }
-
-
-  /** \internal Look for single small sub-diagonal element S(res, res-1) and return res (or 0) */
-  template<typename MatrixType>
-    inline Index RealQZ<MatrixType>::findSmallSubdiagEntry(Index iu)
-    {
-      using std::abs;
-      Index res = iu;
-      while (res > 0)
-      {
-        Scalar s = abs(m_S.coeff(res-1,res-1)) + abs(m_S.coeff(res,res));
-        if (s == Scalar(0.0))
-          s = m_normOfS;
-        if (abs(m_S.coeff(res,res-1)) < NumTraits<Scalar>::epsilon() * s)
-          break;
-        res--;
-      }
-      return res;
-    }
-
-  /** \internal Look for single small diagonal element T(res, res) for res between f and l, and return res (or f-1)  */
-  template<typename MatrixType>
-    inline Index RealQZ<MatrixType>::findSmallDiagEntry(Index f, Index l)
-    {
-      using std::abs;
-      Index res = l;
-      while (res >= f) {
-        if (abs(m_T.coeff(res,res)) <= NumTraits<Scalar>::epsilon() * m_normOfT)
-          break;
-        res--;
-      }
-      return res;
-    }
-
-  /** \internal decouple 2x2 diagonal block in rows i, i+1 if eigenvalues are real */
-  template<typename MatrixType>
-    inline void RealQZ<MatrixType>::splitOffTwoRows(Index i)
-    {
-      using std::abs;
-      using std::sqrt;
-      const Index dim=m_S.cols();
-      if (abs(m_S.coeff(i+1,i))==Scalar(0))
-        return;
-      Index j = findSmallDiagEntry(i,i+1);
-      if (j==i-1)
-      {
-        // block of (S T^{-1})
-        Matrix2s STi = m_T.template block<2,2>(i,i).template triangularView<Upper>().
-          template solve<OnTheRight>(m_S.template block<2,2>(i,i));
-        Scalar p = Scalar(0.5)*(STi(0,0)-STi(1,1));
-        Scalar q = p*p + STi(1,0)*STi(0,1);
-        if (q>=0) {
-          Scalar z = sqrt(q);
-          // one QR-like iteration for ABi - lambda I
-          // is enough - when we know exact eigenvalue in advance,
-          // convergence is immediate
-          JRs G;
-          if (p>=0)
-            G.makeGivens(p + z, STi(1,0));
-          else
-            G.makeGivens(p - z, STi(1,0));
-          m_S.rightCols(dim-i).applyOnTheLeft(i,i+1,G.adjoint());
-          m_T.rightCols(dim-i).applyOnTheLeft(i,i+1,G.adjoint());
-          // update Q
-          if (m_computeQZ)
-            m_Q.applyOnTheRight(i,i+1,G);
-
-          G.makeGivens(m_T.coeff(i+1,i+1), m_T.coeff(i+1,i));
-          m_S.topRows(i+2).applyOnTheRight(i+1,i,G);
-          m_T.topRows(i+2).applyOnTheRight(i+1,i,G);
-          // update Z
-          if (m_computeQZ)
-            m_Z.applyOnTheLeft(i+1,i,G.adjoint());
-
-          m_S.coeffRef(i+1,i) = Scalar(0.0);
-          m_T.coeffRef(i+1,i) = Scalar(0.0);
-        }
-      }
-      else
-      {
-        pushDownZero(j,i,i+1);
-      }
-    }
-
-  /** \internal use zero in T(z,z) to zero S(l,l-1), working in block f..l */
-  template<typename MatrixType>
-    inline void RealQZ<MatrixType>::pushDownZero(Index z, Index f, Index l)
-    {
-      JRs G;
-      const Index dim = m_S.cols();
-      for (Index zz=z; zz<l; zz++)
-      {
-        // push 0 down
-        Index firstColS = zz>f ? (zz-1) : zz;
-        G.makeGivens(m_T.coeff(zz, zz+1), m_T.coeff(zz+1, zz+1));
-        m_S.rightCols(dim-firstColS).applyOnTheLeft(zz,zz+1,G.adjoint());
-        m_T.rightCols(dim-zz).applyOnTheLeft(zz,zz+1,G.adjoint());
-        m_T.coeffRef(zz+1,zz+1) = Scalar(0.0);
-        // update Q
-        if (m_computeQZ)
-          m_Q.applyOnTheRight(zz,zz+1,G);
-        // kill S(zz+1, zz-1)
-        if (zz>f)
-        {
-          G.makeGivens(m_S.coeff(zz+1, zz), m_S.coeff(zz+1,zz-1));
-          m_S.topRows(zz+2).applyOnTheRight(zz, zz-1,G);
-          m_T.topRows(zz+1).applyOnTheRight(zz, zz-1,G);
-          m_S.coeffRef(zz+1,zz-1) = Scalar(0.0);
-          // update Z
-          if (m_computeQZ)
-            m_Z.applyOnTheLeft(zz,zz-1,G.adjoint());
-        }
-      }
-      // finally kill S(l,l-1)
-      G.makeGivens(m_S.coeff(l,l), m_S.coeff(l,l-1));
-      m_S.applyOnTheRight(l,l-1,G);
-      m_T.applyOnTheRight(l,l-1,G);
-      m_S.coeffRef(l,l-1)=Scalar(0.0);
-      // update Z
-      if (m_computeQZ)
-        m_Z.applyOnTheLeft(l,l-1,G.adjoint());
-    }
-
-  /** \internal QR-like iterative step for block f..l */
-  template<typename MatrixType>
-    inline void RealQZ<MatrixType>::step(Index f, Index l, Index iter)
-    {
-      using std::abs;
-      const Index dim = m_S.cols();
-
-      // x, y, z
-      Scalar x, y, z;
-      if (iter==10)
-      {
-        // Wilkinson ad hoc shift
-        const Scalar
-          a11=m_S.coeff(f+0,f+0), a12=m_S.coeff(f+0,f+1),
-          a21=m_S.coeff(f+1,f+0), a22=m_S.coeff(f+1,f+1), a32=m_S.coeff(f+2,f+1),
-          b12=m_T.coeff(f+0,f+1),
-          b11i=Scalar(1.0)/m_T.coeff(f+0,f+0),
-          b22i=Scalar(1.0)/m_T.coeff(f+1,f+1),
-          a87=m_S.coeff(l-1,l-2),
-          a98=m_S.coeff(l-0,l-1),
-          b77i=Scalar(1.0)/m_T.coeff(l-2,l-2),
-          b88i=Scalar(1.0)/m_T.coeff(l-1,l-1);
-        Scalar ss = abs(a87*b77i) + abs(a98*b88i),
-               lpl = Scalar(1.5)*ss,
-               ll = ss*ss;
-        x = ll + a11*a11*b11i*b11i - lpl*a11*b11i + a12*a21*b11i*b22i
-          - a11*a21*b12*b11i*b11i*b22i;
-        y = a11*a21*b11i*b11i - lpl*a21*b11i + a21*a22*b11i*b22i 
-          - a21*a21*b12*b11i*b11i*b22i;
-        z = a21*a32*b11i*b22i;
-      }
-      else if (iter==16)
-      {
-        // another exceptional shift
-        x = m_S.coeff(f,f)/m_T.coeff(f,f)-m_S.coeff(l,l)/m_T.coeff(l,l) + m_S.coeff(l,l-1)*m_T.coeff(l-1,l) /
-          (m_T.coeff(l-1,l-1)*m_T.coeff(l,l));
-        y = m_S.coeff(f+1,f)/m_T.coeff(f,f);
-        z = 0;
-      }
-      else if (iter>23 && !(iter%8))
-      {
-        // extremely exceptional shift
-        x = internal::random<Scalar>(-1.0,1.0);
-        y = internal::random<Scalar>(-1.0,1.0);
-        z = internal::random<Scalar>(-1.0,1.0);
-      }
-      else
-      {
-        // Compute the shifts: (x,y,z,0...) = (AB^-1 - l1 I) (AB^-1 - l2 I) e1
-        // where l1 and l2 are the eigenvalues of the 2x2 matrix C = U V^-1 where
-        // U and V are 2x2 bottom right sub matrices of A and B. Thus:
-        //  = AB^-1AB^-1 + l1 l2 I - (l1+l2)(AB^-1)
-        //  = AB^-1AB^-1 + det(M) - tr(M)(AB^-1)
-        // Since we are only interested in having x, y, z with a correct ratio, we have:
-        const Scalar
-          a11 = m_S.coeff(f,f),     a12 = m_S.coeff(f,f+1),
-          a21 = m_S.coeff(f+1,f),   a22 = m_S.coeff(f+1,f+1),
-                                    a32 = m_S.coeff(f+2,f+1),
-
-          a88 = m_S.coeff(l-1,l-1), a89 = m_S.coeff(l-1,l),
-          a98 = m_S.coeff(l,l-1),   a99 = m_S.coeff(l,l),
-
-          b11 = m_T.coeff(f,f),     b12 = m_T.coeff(f,f+1),
-                                    b22 = m_T.coeff(f+1,f+1),
-
-          b88 = m_T.coeff(l-1,l-1), b89 = m_T.coeff(l-1,l),
-                                    b99 = m_T.coeff(l,l);
-
-        x = ( (a88/b88 - a11/b11)*(a99/b99 - a11/b11) - (a89/b99)*(a98/b88) + (a98/b88)*(b89/b99)*(a11/b11) ) * (b11/a21)
-          + a12/b22 - (a11/b11)*(b12/b22);
-        y = (a22/b22-a11/b11) - (a21/b11)*(b12/b22) - (a88/b88-a11/b11) - (a99/b99-a11/b11) + (a98/b88)*(b89/b99);
-        z = a32/b22;
-      }
-
-      JRs G;
-
-      for (Index k=f; k<=l-2; k++)
-      {
-        // variables for Householder reflections
-        Vector2s essential2;
-        Scalar tau, beta;
-
-        Vector3s hr(x,y,z);
-
-        // Q_k to annihilate S(k+1,k-1) and S(k+2,k-1)
-        hr.makeHouseholderInPlace(tau, beta);
-        essential2 = hr.template bottomRows<2>();
-        Index fc=(std::max)(k-1,Index(0));  // first col to update
-        m_S.template middleRows<3>(k).rightCols(dim-fc).applyHouseholderOnTheLeft(essential2, tau, m_workspace.data());
-        m_T.template middleRows<3>(k).rightCols(dim-fc).applyHouseholderOnTheLeft(essential2, tau, m_workspace.data());
-        if (m_computeQZ)
-          m_Q.template middleCols<3>(k).applyHouseholderOnTheRight(essential2, tau, m_workspace.data());
-        if (k>f)
-          m_S.coeffRef(k+2,k-1) = m_S.coeffRef(k+1,k-1) = Scalar(0.0);
-
-        // Z_{k1} to annihilate T(k+2,k+1) and T(k+2,k)
-        hr << m_T.coeff(k+2,k+2),m_T.coeff(k+2,k),m_T.coeff(k+2,k+1);
-        hr.makeHouseholderInPlace(tau, beta);
-        essential2 = hr.template bottomRows<2>();
-        {
-          Index lr = (std::min)(k+4,dim); // last row to update
-          Map<Matrix<Scalar,Dynamic,1> > tmp(m_workspace.data(),lr);
-          // S
-          tmp = m_S.template middleCols<2>(k).topRows(lr) * essential2;
-          tmp += m_S.col(k+2).head(lr);
-          m_S.col(k+2).head(lr) -= tau*tmp;
-          m_S.template middleCols<2>(k).topRows(lr) -= (tau*tmp) * essential2.adjoint();
-          // T
-          tmp = m_T.template middleCols<2>(k).topRows(lr) * essential2;
-          tmp += m_T.col(k+2).head(lr);
-          m_T.col(k+2).head(lr) -= tau*tmp;
-          m_T.template middleCols<2>(k).topRows(lr) -= (tau*tmp) * essential2.adjoint();
-        }
-        if (m_computeQZ)
-        {
-          // Z
-          Map<Matrix<Scalar,1,Dynamic> > tmp(m_workspace.data(),dim);
-          tmp = essential2.adjoint()*(m_Z.template middleRows<2>(k));
-          tmp += m_Z.row(k+2);
-          m_Z.row(k+2) -= tau*tmp;
-          m_Z.template middleRows<2>(k) -= essential2 * (tau*tmp);
-        }
-        m_T.coeffRef(k+2,k) = m_T.coeffRef(k+2,k+1) = Scalar(0.0);
-
-        // Z_{k2} to annihilate T(k+1,k)
-        G.makeGivens(m_T.coeff(k+1,k+1), m_T.coeff(k+1,k));
-        m_S.applyOnTheRight(k+1,k,G);
-        m_T.applyOnTheRight(k+1,k,G);
-        // update Z
-        if (m_computeQZ)
-          m_Z.applyOnTheLeft(k+1,k,G.adjoint());
-        m_T.coeffRef(k+1,k) = Scalar(0.0);
-
-        // update x,y,z
-        x = m_S.coeff(k+1,k);
-        y = m_S.coeff(k+2,k);
-        if (k < l-2)
-          z = m_S.coeff(k+3,k);
-      } // loop over k
-
-      // Q_{n-1} to annihilate y = S(l,l-2)
-      G.makeGivens(x,y);
-      m_S.applyOnTheLeft(l-1,l,G.adjoint());
-      m_T.applyOnTheLeft(l-1,l,G.adjoint());
-      if (m_computeQZ)
-        m_Q.applyOnTheRight(l-1,l,G);
-      m_S.coeffRef(l,l-2) = Scalar(0.0);
-
-      // Z_{n-1} to annihilate T(l,l-1)
-      G.makeGivens(m_T.coeff(l,l),m_T.coeff(l,l-1));
-      m_S.applyOnTheRight(l,l-1,G);
-      m_T.applyOnTheRight(l,l-1,G);
-      if (m_computeQZ)
-        m_Z.applyOnTheLeft(l,l-1,G.adjoint());
-      m_T.coeffRef(l,l-1) = Scalar(0.0);
-    }
-
-  template<typename MatrixType>
-    RealQZ<MatrixType>& RealQZ<MatrixType>::compute(const MatrixType& A_in, const MatrixType& B_in, bool computeQZ)
-    {
-
-      const Index dim = A_in.cols();
-
-      eigen_assert (A_in.rows()==dim && A_in.cols()==dim 
-          && B_in.rows()==dim && B_in.cols()==dim 
-          && "Need square matrices of the same dimension");
-
-      m_isInitialized = true;
-      m_computeQZ = computeQZ;
-      m_S = A_in; m_T = B_in;
-      m_workspace.resize(dim*2);
-      m_global_iter = 0;
-
-      // entrance point: hessenberg triangular decomposition
-      hessenbergTriangular();
-      // compute L1 vector norms of T, S into m_normOfS, m_normOfT
-      computeNorms();
-
-      Index l = dim-1, 
-            f, 
-            local_iter = 0;
-
-      while (l>0 && local_iter<m_maxIters)
-      {
-        f = findSmallSubdiagEntry(l);
-        // now rows and columns f..l (including) decouple from the rest of the problem
-        if (f>0) m_S.coeffRef(f,f-1) = Scalar(0.0);
-        if (f == l) // One root found
-        {
-          l--;
-          local_iter = 0;
-        }
-        else if (f == l-1) // Two roots found
-        {
-          splitOffTwoRows(f);
-          l -= 2;
-          local_iter = 0;
-        }
-        else // No convergence yet
-        {
-          // if there's zero on diagonal of T, we can isolate an eigenvalue with Givens rotations
-          Index z = findSmallDiagEntry(f,l);
-          if (z>=f)
-          {
-            // zero found
-            pushDownZero(z,f,l);
-          }
-          else
-          {
-            // We are sure now that S.block(f,f, l-f+1,l-f+1) is underuced upper-Hessenberg 
-            // and T.block(f,f, l-f+1,l-f+1) is invertible uper-triangular, which allows to
-            // apply a QR-like iteration to rows and columns f..l.
-            step(f,l, local_iter);
-            local_iter++;
-            m_global_iter++;
-          }
-        }
-      }
-      // check if we converged before reaching iterations limit
-      m_info = (local_iter<m_maxIters) ? Success : NoConvergence;
-
-      // For each non triangular 2x2 diagonal block of S,
-      //    reduce the respective 2x2 diagonal block of T to positive diagonal form using 2x2 SVD.
-      // This step is not mandatory for QZ, but it does help further extraction of eigenvalues/eigenvectors,
-      // and is in par with Lapack/Matlab QZ.
-      if(m_info==Success)
-      {
-        for(Index i=0; i<dim-1; ++i)
-        {
-          if(m_S.coeff(i+1, i) != Scalar(0))
-          {
-            JacobiRotation<Scalar> j_left, j_right;
-            internal::real_2x2_jacobi_svd(m_T, i, i+1, &j_left, &j_right);
-
-            // Apply resulting Jacobi rotations
-            m_S.applyOnTheLeft(i,i+1,j_left);
-            m_S.applyOnTheRight(i,i+1,j_right);
-            m_T.applyOnTheLeft(i,i+1,j_left);
-            m_T.applyOnTheRight(i,i+1,j_right);
-            m_T(i+1,i) = m_T(i,i+1) = Scalar(0);
-
-            if(m_computeQZ) {
-              m_Q.applyOnTheRight(i,i+1,j_left.transpose());
-              m_Z.applyOnTheLeft(i,i+1,j_right.transpose());
-            }
-
-            i++;
-          }
-        }
-      }
-
-      return *this;
-    } // end compute
-
-} // end namespace Eigen
-
-#endif //EIGEN_REAL_QZ
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/RealSchur.h b/phonelibs/eigen/Eigen/src/Eigenvalues/RealSchur.h
deleted file mode 100644
index f5c86041da41bf..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/RealSchur.h
+++ /dev/null
@@ -1,546 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_REAL_SCHUR_H
-#define EIGEN_REAL_SCHUR_H
-
-#include "./HessenbergDecomposition.h"
-
-namespace Eigen { 
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class RealSchur
-  *
-  * \brief Performs a real Schur decomposition of a square matrix
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the
-  * real Schur decomposition; this is expected to be an instantiation of the
-  * Matrix class template.
-  *
-  * Given a real square matrix A, this class computes the real Schur
-  * decomposition: \f$ A = U T U^T \f$ where U is a real orthogonal matrix and
-  * T is a real quasi-triangular matrix. An orthogonal matrix is a matrix whose
-  * inverse is equal to its transpose, \f$ U^{-1} = U^T \f$. A quasi-triangular
-  * matrix is a block-triangular matrix whose diagonal consists of 1-by-1
-  * blocks and 2-by-2 blocks with complex eigenvalues. The eigenvalues of the
-  * blocks on the diagonal of T are the same as the eigenvalues of the matrix
-  * A, and thus the real Schur decomposition is used in EigenSolver to compute
-  * the eigendecomposition of a matrix.
-  *
-  * Call the function compute() to compute the real Schur decomposition of a
-  * given matrix. Alternatively, you can use the RealSchur(const MatrixType&, bool)
-  * constructor which computes the real Schur decomposition at construction
-  * time. Once the decomposition is computed, you can use the matrixU() and
-  * matrixT() functions to retrieve the matrices U and T in the decomposition.
-  *
-  * The documentation of RealSchur(const MatrixType&, bool) contains an example
-  * of the typical use of this class.
-  *
-  * \note The implementation is adapted from
-  * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> (public domain).
-  * Their code is based on EISPACK.
-  *
-  * \sa class ComplexSchur, class EigenSolver, class ComplexEigenSolver
-  */
-template<typename _MatrixType> class RealSchur
-{
-  public:
-    typedef _MatrixType MatrixType;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
-    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
-
-    /** \brief Default constructor.
-      *
-      * \param [in] size  Positive integer, size of the matrix whose Schur decomposition will be computed.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via compute().  The \p size parameter is only
-      * used as a hint. It is not an error to give a wrong \p size, but it may
-      * impair performance.
-      *
-      * \sa compute() for an example.
-      */
-    explicit RealSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
-            : m_matT(size, size),
-              m_matU(size, size),
-              m_workspaceVector(size),
-              m_hess(size),
-              m_isInitialized(false),
-              m_matUisUptodate(false),
-              m_maxIters(-1)
-    { }
-
-    /** \brief Constructor; computes real Schur decomposition of given matrix. 
-      * 
-      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
-      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
-      *
-      * This constructor calls compute() to compute the Schur decomposition.
-      *
-      * Example: \include RealSchur_RealSchur_MatrixType.cpp
-      * Output: \verbinclude RealSchur_RealSchur_MatrixType.out
-      */
-    template<typename InputType>
-    explicit RealSchur(const EigenBase<InputType>& matrix, bool computeU = true)
-            : m_matT(matrix.rows(),matrix.cols()),
-              m_matU(matrix.rows(),matrix.cols()),
-              m_workspaceVector(matrix.rows()),
-              m_hess(matrix.rows()),
-              m_isInitialized(false),
-              m_matUisUptodate(false),
-              m_maxIters(-1)
-    {
-      compute(matrix.derived(), computeU);
-    }
-
-    /** \brief Returns the orthogonal matrix in the Schur decomposition. 
-      *
-      * \returns A const reference to the matrix U.
-      *
-      * \pre Either the constructor RealSchur(const MatrixType&, bool) or the
-      * member function compute(const MatrixType&, bool) has been called before
-      * to compute the Schur decomposition of a matrix, and \p computeU was set
-      * to true (the default value).
-      *
-      * \sa RealSchur(const MatrixType&, bool) for an example
-      */
-    const MatrixType& matrixU() const
-    {
-      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
-      eigen_assert(m_matUisUptodate && "The matrix U has not been computed during the RealSchur decomposition.");
-      return m_matU;
-    }
-
-    /** \brief Returns the quasi-triangular matrix in the Schur decomposition. 
-      *
-      * \returns A const reference to the matrix T.
-      *
-      * \pre Either the constructor RealSchur(const MatrixType&, bool) or the
-      * member function compute(const MatrixType&, bool) has been called before
-      * to compute the Schur decomposition of a matrix.
-      *
-      * \sa RealSchur(const MatrixType&, bool) for an example
-      */
-    const MatrixType& matrixT() const
-    {
-      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
-      return m_matT;
-    }
-  
-    /** \brief Computes Schur decomposition of given matrix. 
-      * 
-      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
-      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
-      * \returns    Reference to \c *this
-      *
-      * The Schur decomposition is computed by first reducing the matrix to
-      * Hessenberg form using the class HessenbergDecomposition. The Hessenberg
-      * matrix is then reduced to triangular form by performing Francis QR
-      * iterations with implicit double shift. The cost of computing the Schur
-      * decomposition depends on the number of iterations; as a rough guide, it
-      * may be taken to be \f$25n^3\f$ flops if \a computeU is true and
-      * \f$10n^3\f$ flops if \a computeU is false.
-      *
-      * Example: \include RealSchur_compute.cpp
-      * Output: \verbinclude RealSchur_compute.out
-      *
-      * \sa compute(const MatrixType&, bool, Index)
-      */
-    template<typename InputType>
-    RealSchur& compute(const EigenBase<InputType>& matrix, bool computeU = true);
-
-    /** \brief Computes Schur decomposition of a Hessenberg matrix H = Z T Z^T
-     *  \param[in] matrixH Matrix in Hessenberg form H
-     *  \param[in] matrixQ orthogonal matrix Q that transform a matrix A to H : A = Q H Q^T
-     *  \param computeU Computes the matriX U of the Schur vectors
-     * \return Reference to \c *this
-     * 
-     *  This routine assumes that the matrix is already reduced in Hessenberg form matrixH
-     *  using either the class HessenbergDecomposition or another mean. 
-     *  It computes the upper quasi-triangular matrix T of the Schur decomposition of H
-     *  When computeU is true, this routine computes the matrix U such that 
-     *  A = U T U^T =  (QZ) T (QZ)^T = Q H Q^T where A is the initial matrix
-     * 
-     * NOTE Q is referenced if computeU is true; so, if the initial orthogonal matrix
-     * is not available, the user should give an identity matrix (Q.setIdentity())
-     * 
-     * \sa compute(const MatrixType&, bool)
-     */
-    template<typename HessMatrixType, typename OrthMatrixType>
-    RealSchur& computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ,  bool computeU);
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
-      return m_info;
-    }
-
-    /** \brief Sets the maximum number of iterations allowed. 
-      *
-      * If not specified by the user, the maximum number of iterations is m_maxIterationsPerRow times the size
-      * of the matrix.
-      */
-    RealSchur& setMaxIterations(Index maxIters)
-    {
-      m_maxIters = maxIters;
-      return *this;
-    }
-
-    /** \brief Returns the maximum number of iterations. */
-    Index getMaxIterations()
-    {
-      return m_maxIters;
-    }
-
-    /** \brief Maximum number of iterations per row.
-      *
-      * If not otherwise specified, the maximum number of iterations is this number times the size of the
-      * matrix. It is currently set to 40.
-      */
-    static const int m_maxIterationsPerRow = 40;
-
-  private:
-    
-    MatrixType m_matT;
-    MatrixType m_matU;
-    ColumnVectorType m_workspaceVector;
-    HessenbergDecomposition<MatrixType> m_hess;
-    ComputationInfo m_info;
-    bool m_isInitialized;
-    bool m_matUisUptodate;
-    Index m_maxIters;
-
-    typedef Matrix<Scalar,3,1> Vector3s;
-
-    Scalar computeNormOfT();
-    Index findSmallSubdiagEntry(Index iu);
-    void splitOffTwoRows(Index iu, bool computeU, const Scalar& exshift);
-    void computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo);
-    void initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector);
-    void performFrancisQRStep(Index il, Index im, Index iu, bool computeU, const Vector3s& firstHouseholderVector, Scalar* workspace);
-};
-
-
-template<typename MatrixType>
-template<typename InputType>
-RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeU)
-{
-  const Scalar considerAsZero = (std::numeric_limits<Scalar>::min)();
-
-  eigen_assert(matrix.cols() == matrix.rows());
-  Index maxIters = m_maxIters;
-  if (maxIters == -1)
-    maxIters = m_maxIterationsPerRow * matrix.rows();
-
-  Scalar scale = matrix.derived().cwiseAbs().maxCoeff();
-  if(scale<considerAsZero)
-  {
-    m_matT.setZero(matrix.rows(),matrix.cols());
-    if(computeU)
-      m_matU.setIdentity(matrix.rows(),matrix.cols());
-    m_info = Success;
-    m_isInitialized = true;
-    m_matUisUptodate = computeU;
-    return *this;
-  }
-
-  // Step 1. Reduce to Hessenberg form
-  m_hess.compute(matrix.derived()/scale);
-
-  // Step 2. Reduce to real Schur form  
-  computeFromHessenberg(m_hess.matrixH(), m_hess.matrixQ(), computeU);
-
-  m_matT *= scale;
-  
-  return *this;
-}
-template<typename MatrixType>
-template<typename HessMatrixType, typename OrthMatrixType>
-RealSchur<MatrixType>& RealSchur<MatrixType>::computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ,  bool computeU)
-{
-  using std::abs;
-
-  m_matT = matrixH;
-  if(computeU)
-    m_matU = matrixQ;
-  
-  Index maxIters = m_maxIters;
-  if (maxIters == -1)
-    maxIters = m_maxIterationsPerRow * matrixH.rows();
-  m_workspaceVector.resize(m_matT.cols());
-  Scalar* workspace = &m_workspaceVector.coeffRef(0);
-
-  // The matrix m_matT is divided in three parts. 
-  // Rows 0,...,il-1 are decoupled from the rest because m_matT(il,il-1) is zero. 
-  // Rows il,...,iu is the part we are working on (the active window).
-  // Rows iu+1,...,end are already brought in triangular form.
-  Index iu = m_matT.cols() - 1;
-  Index iter = 0;      // iteration count for current eigenvalue
-  Index totalIter = 0; // iteration count for whole matrix
-  Scalar exshift(0);   // sum of exceptional shifts
-  Scalar norm = computeNormOfT();
-
-  if(norm!=0)
-  {
-    while (iu >= 0)
-    {
-      Index il = findSmallSubdiagEntry(iu);
-
-      // Check for convergence
-      if (il == iu) // One root found
-      {
-        m_matT.coeffRef(iu,iu) = m_matT.coeff(iu,iu) + exshift;
-        if (iu > 0)
-          m_matT.coeffRef(iu, iu-1) = Scalar(0);
-        iu--;
-        iter = 0;
-      }
-      else if (il == iu-1) // Two roots found
-      {
-        splitOffTwoRows(iu, computeU, exshift);
-        iu -= 2;
-        iter = 0;
-      }
-      else // No convergence yet
-      {
-        // The firstHouseholderVector vector has to be initialized to something to get rid of a silly GCC warning (-O1 -Wall -DNDEBUG )
-        Vector3s firstHouseholderVector(0,0,0), shiftInfo;
-        computeShift(iu, iter, exshift, shiftInfo);
-        iter = iter + 1;
-        totalIter = totalIter + 1;
-        if (totalIter > maxIters) break;
-        Index im;
-        initFrancisQRStep(il, iu, shiftInfo, im, firstHouseholderVector);
-        performFrancisQRStep(il, im, iu, computeU, firstHouseholderVector, workspace);
-      }
-    }
-  }
-  if(totalIter <= maxIters)
-    m_info = Success;
-  else
-    m_info = NoConvergence;
-
-  m_isInitialized = true;
-  m_matUisUptodate = computeU;
-  return *this;
-}
-
-/** \internal Computes and returns vector L1 norm of T */
-template<typename MatrixType>
-inline typename MatrixType::Scalar RealSchur<MatrixType>::computeNormOfT()
-{
-  const Index size = m_matT.cols();
-  // FIXME to be efficient the following would requires a triangular reduxion code
-  // Scalar norm = m_matT.upper().cwiseAbs().sum() 
-  //               + m_matT.bottomLeftCorner(size-1,size-1).diagonal().cwiseAbs().sum();
-  Scalar norm(0);
-  for (Index j = 0; j < size; ++j)
-    norm += m_matT.col(j).segment(0, (std::min)(size,j+2)).cwiseAbs().sum();
-  return norm;
-}
-
-/** \internal Look for single small sub-diagonal element and returns its index */
-template<typename MatrixType>
-inline Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu)
-{
-  using std::abs;
-  Index res = iu;
-  while (res > 0)
-  {
-    Scalar s = abs(m_matT.coeff(res-1,res-1)) + abs(m_matT.coeff(res,res));
-    if (abs(m_matT.coeff(res,res-1)) <= NumTraits<Scalar>::epsilon() * s)
-      break;
-    res--;
-  }
-  return res;
-}
-
-/** \internal Update T given that rows iu-1 and iu decouple from the rest. */
-template<typename MatrixType>
-inline void RealSchur<MatrixType>::splitOffTwoRows(Index iu, bool computeU, const Scalar& exshift)
-{
-  using std::sqrt;
-  using std::abs;
-  const Index size = m_matT.cols();
-
-  // The eigenvalues of the 2x2 matrix [a b; c d] are 
-  // trace +/- sqrt(discr/4) where discr = tr^2 - 4*det, tr = a + d, det = ad - bc
-  Scalar p = Scalar(0.5) * (m_matT.coeff(iu-1,iu-1) - m_matT.coeff(iu,iu));
-  Scalar q = p * p + m_matT.coeff(iu,iu-1) * m_matT.coeff(iu-1,iu);   // q = tr^2 / 4 - det = discr/4
-  m_matT.coeffRef(iu,iu) += exshift;
-  m_matT.coeffRef(iu-1,iu-1) += exshift;
-
-  if (q >= Scalar(0)) // Two real eigenvalues
-  {
-    Scalar z = sqrt(abs(q));
-    JacobiRotation<Scalar> rot;
-    if (p >= Scalar(0))
-      rot.makeGivens(p + z, m_matT.coeff(iu, iu-1));
-    else
-      rot.makeGivens(p - z, m_matT.coeff(iu, iu-1));
-
-    m_matT.rightCols(size-iu+1).applyOnTheLeft(iu-1, iu, rot.adjoint());
-    m_matT.topRows(iu+1).applyOnTheRight(iu-1, iu, rot);
-    m_matT.coeffRef(iu, iu-1) = Scalar(0); 
-    if (computeU)
-      m_matU.applyOnTheRight(iu-1, iu, rot);
-  }
-
-  if (iu > 1) 
-    m_matT.coeffRef(iu-1, iu-2) = Scalar(0);
-}
-
-/** \internal Form shift in shiftInfo, and update exshift if an exceptional shift is performed. */
-template<typename MatrixType>
-inline void RealSchur<MatrixType>::computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo)
-{
-  using std::sqrt;
-  using std::abs;
-  shiftInfo.coeffRef(0) = m_matT.coeff(iu,iu);
-  shiftInfo.coeffRef(1) = m_matT.coeff(iu-1,iu-1);
-  shiftInfo.coeffRef(2) = m_matT.coeff(iu,iu-1) * m_matT.coeff(iu-1,iu);
-
-  // Wilkinson's original ad hoc shift
-  if (iter == 10)
-  {
-    exshift += shiftInfo.coeff(0);
-    for (Index i = 0; i <= iu; ++i)
-      m_matT.coeffRef(i,i) -= shiftInfo.coeff(0);
-    Scalar s = abs(m_matT.coeff(iu,iu-1)) + abs(m_matT.coeff(iu-1,iu-2));
-    shiftInfo.coeffRef(0) = Scalar(0.75) * s;
-    shiftInfo.coeffRef(1) = Scalar(0.75) * s;
-    shiftInfo.coeffRef(2) = Scalar(-0.4375) * s * s;
-  }
-
-  // MATLAB's new ad hoc shift
-  if (iter == 30)
-  {
-    Scalar s = (shiftInfo.coeff(1) - shiftInfo.coeff(0)) / Scalar(2.0);
-    s = s * s + shiftInfo.coeff(2);
-    if (s > Scalar(0))
-    {
-      s = sqrt(s);
-      if (shiftInfo.coeff(1) < shiftInfo.coeff(0))
-        s = -s;
-      s = s + (shiftInfo.coeff(1) - shiftInfo.coeff(0)) / Scalar(2.0);
-      s = shiftInfo.coeff(0) - shiftInfo.coeff(2) / s;
-      exshift += s;
-      for (Index i = 0; i <= iu; ++i)
-        m_matT.coeffRef(i,i) -= s;
-      shiftInfo.setConstant(Scalar(0.964));
-    }
-  }
-}
-
-/** \internal Compute index im at which Francis QR step starts and the first Householder vector. */
-template<typename MatrixType>
-inline void RealSchur<MatrixType>::initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector)
-{
-  using std::abs;
-  Vector3s& v = firstHouseholderVector; // alias to save typing
-
-  for (im = iu-2; im >= il; --im)
-  {
-    const Scalar Tmm = m_matT.coeff(im,im);
-    const Scalar r = shiftInfo.coeff(0) - Tmm;
-    const Scalar s = shiftInfo.coeff(1) - Tmm;
-    v.coeffRef(0) = (r * s - shiftInfo.coeff(2)) / m_matT.coeff(im+1,im) + m_matT.coeff(im,im+1);
-    v.coeffRef(1) = m_matT.coeff(im+1,im+1) - Tmm - r - s;
-    v.coeffRef(2) = m_matT.coeff(im+2,im+1);
-    if (im == il) {
-      break;
-    }
-    const Scalar lhs = m_matT.coeff(im,im-1) * (abs(v.coeff(1)) + abs(v.coeff(2)));
-    const Scalar rhs = v.coeff(0) * (abs(m_matT.coeff(im-1,im-1)) + abs(Tmm) + abs(m_matT.coeff(im+1,im+1)));
-    if (abs(lhs) < NumTraits<Scalar>::epsilon() * rhs)
-      break;
-  }
-}
-
-/** \internal Perform a Francis QR step involving rows il:iu and columns im:iu. */
-template<typename MatrixType>
-inline void RealSchur<MatrixType>::performFrancisQRStep(Index il, Index im, Index iu, bool computeU, const Vector3s& firstHouseholderVector, Scalar* workspace)
-{
-  eigen_assert(im >= il);
-  eigen_assert(im <= iu-2);
-
-  const Index size = m_matT.cols();
-
-  for (Index k = im; k <= iu-2; ++k)
-  {
-    bool firstIteration = (k == im);
-
-    Vector3s v;
-    if (firstIteration)
-      v = firstHouseholderVector;
-    else
-      v = m_matT.template block<3,1>(k,k-1);
-
-    Scalar tau, beta;
-    Matrix<Scalar, 2, 1> ess;
-    v.makeHouseholder(ess, tau, beta);
-    
-    if (beta != Scalar(0)) // if v is not zero
-    {
-      if (firstIteration && k > il)
-        m_matT.coeffRef(k,k-1) = -m_matT.coeff(k,k-1);
-      else if (!firstIteration)
-        m_matT.coeffRef(k,k-1) = beta;
-
-      // These Householder transformations form the O(n^3) part of the algorithm
-      m_matT.block(k, k, 3, size-k).applyHouseholderOnTheLeft(ess, tau, workspace);
-      m_matT.block(0, k, (std::min)(iu,k+3) + 1, 3).applyHouseholderOnTheRight(ess, tau, workspace);
-      if (computeU)
-        m_matU.block(0, k, size, 3).applyHouseholderOnTheRight(ess, tau, workspace);
-    }
-  }
-
-  Matrix<Scalar, 2, 1> v = m_matT.template block<2,1>(iu-1, iu-2);
-  Scalar tau, beta;
-  Matrix<Scalar, 1, 1> ess;
-  v.makeHouseholder(ess, tau, beta);
-
-  if (beta != Scalar(0)) // if v is not zero
-  {
-    m_matT.coeffRef(iu-1, iu-2) = beta;
-    m_matT.block(iu-1, iu-1, 2, size-iu+1).applyHouseholderOnTheLeft(ess, tau, workspace);
-    m_matT.block(0, iu-1, iu+1, 2).applyHouseholderOnTheRight(ess, tau, workspace);
-    if (computeU)
-      m_matU.block(0, iu-1, size, 2).applyHouseholderOnTheRight(ess, tau, workspace);
-  }
-
-  // clean up pollution due to round-off errors
-  for (Index i = im+2; i <= iu; ++i)
-  {
-    m_matT.coeffRef(i,i-2) = Scalar(0);
-    if (i > im+2)
-      m_matT.coeffRef(i,i-3) = Scalar(0);
-  }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_REAL_SCHUR_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h b/phonelibs/eigen/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
deleted file mode 100644
index 2c22517155e701..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to LAPACKe
- *    Real Schur needed to real unsymmetrical eigenvalues/eigenvectors.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_REAL_SCHUR_LAPACKE_H
-#define EIGEN_REAL_SCHUR_LAPACKE_H
-
-namespace Eigen { 
-
-/** \internal Specialization for the data types supported by LAPACKe */
-
-#define EIGEN_LAPACKE_SCHUR_REAL(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, LAPACKE_PREFIX_U, EIGCOLROW, LAPACKE_COLROW) \
-template<> template<typename InputType> inline \
-RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
-RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, bool computeU) \
-{ \
-  eigen_assert(matrix.cols() == matrix.rows()); \
-\
-  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), sdim, info; \
-  lapack_int matrix_order = LAPACKE_COLROW; \
-  char jobvs, sort='N'; \
-  LAPACK_##LAPACKE_PREFIX_U##_SELECT2 select = 0; \
-  jobvs = (computeU) ? 'V' : 'N'; \
-  m_matU.resize(n, n); \
-  lapack_int ldvs  = internal::convert_index<lapack_int>(m_matU.outerStride()); \
-  m_matT = matrix; \
-  lapack_int lda = internal::convert_index<lapack_int>(m_matT.outerStride()); \
-  Matrix<EIGTYPE, Dynamic, Dynamic> wr, wi; \
-  wr.resize(n, 1); wi.resize(n, 1); \
-  info = LAPACKE_##LAPACKE_PREFIX##gees( matrix_order, jobvs, sort, select, n, (LAPACKE_TYPE*)m_matT.data(), lda, &sdim, (LAPACKE_TYPE*)wr.data(), (LAPACKE_TYPE*)wi.data(), (LAPACKE_TYPE*)m_matU.data(), ldvs ); \
-  if(info == 0) \
-    m_info = Success; \
-  else \
-    m_info = NoConvergence; \
-\
-  m_isInitialized = true; \
-  m_matUisUptodate = computeU; \
-  return *this; \
-\
-}
-
-EIGEN_LAPACKE_SCHUR_REAL(double,   double, d, D, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_SCHUR_REAL(float,    float,  s, S, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_SCHUR_REAL(double,   double, d, D, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_SCHUR_REAL(float,    float,  s, S, RowMajor, LAPACK_ROW_MAJOR)
-
-} // end namespace Eigen
-
-#endif // EIGEN_REAL_SCHUR_LAPACKE_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/phonelibs/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
deleted file mode 100644
index 9ddd553f2f1f7f..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+++ /dev/null
@@ -1,870 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SELFADJOINTEIGENSOLVER_H
-#define EIGEN_SELFADJOINTEIGENSOLVER_H
-
-#include "./Tridiagonalization.h"
-
-namespace Eigen { 
-
-template<typename _MatrixType>
-class GeneralizedSelfAdjointEigenSolver;
-
-namespace internal {
-template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues;
-template<typename MatrixType, typename DiagType, typename SubDiagType>
-ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec);
-}
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class SelfAdjointEigenSolver
-  *
-  * \brief Computes eigenvalues and eigenvectors of selfadjoint matrices
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the
-  * eigendecomposition; this is expected to be an instantiation of the Matrix
-  * class template.
-  *
-  * A matrix \f$ A \f$ is selfadjoint if it equals its adjoint. For real
-  * matrices, this means that the matrix is symmetric: it equals its
-  * transpose. This class computes the eigenvalues and eigenvectors of a
-  * selfadjoint matrix. These are the scalars \f$ \lambda \f$ and vectors
-  * \f$ v \f$ such that \f$ Av = \lambda v \f$.  The eigenvalues of a
-  * selfadjoint matrix are always real. If \f$ D \f$ is a diagonal matrix with
-  * the eigenvalues on the diagonal, and \f$ V \f$ is a matrix with the
-  * eigenvectors as its columns, then \f$ A = V D V^{-1} \f$ (for selfadjoint
-  * matrices, the matrix \f$ V \f$ is always invertible). This is called the
-  * eigendecomposition.
-  *
-  * The algorithm exploits the fact that the matrix is selfadjoint, making it
-  * faster and more accurate than the general purpose eigenvalue algorithms
-  * implemented in EigenSolver and ComplexEigenSolver.
-  *
-  * Only the \b lower \b triangular \b part of the input matrix is referenced.
-  *
-  * Call the function compute() to compute the eigenvalues and eigenvectors of
-  * a given matrix. Alternatively, you can use the
-  * SelfAdjointEigenSolver(const MatrixType&, int) constructor which computes
-  * the eigenvalues and eigenvectors at construction time. Once the eigenvalue
-  * and eigenvectors are computed, they can be retrieved with the eigenvalues()
-  * and eigenvectors() functions.
-  *
-  * The documentation for SelfAdjointEigenSolver(const MatrixType&, int)
-  * contains an example of the typical use of this class.
-  *
-  * To solve the \em generalized eigenvalue problem \f$ Av = \lambda Bv \f$ and
-  * the likes, see the class GeneralizedSelfAdjointEigenSolver.
-  *
-  * \sa MatrixBase::eigenvalues(), class EigenSolver, class ComplexEigenSolver
-  */
-template<typename _MatrixType> class SelfAdjointEigenSolver
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    enum {
-      Size = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    
-    /** \brief Scalar type for matrices of type \p _MatrixType. */
-    typedef typename MatrixType::Scalar Scalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    
-    typedef Matrix<Scalar,Size,Size,ColMajor,MaxColsAtCompileTime,MaxColsAtCompileTime> EigenvectorsType;
-
-    /** \brief Real scalar type for \p _MatrixType.
-      *
-      * This is just \c Scalar if #Scalar is real (e.g., \c float or
-      * \c double), and the type of the real part of \c Scalar if #Scalar is
-      * complex.
-      */
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    
-    friend struct internal::direct_selfadjoint_eigenvalues<SelfAdjointEigenSolver,Size,NumTraits<Scalar>::IsComplex>;
-
-    /** \brief Type for vector of eigenvalues as returned by eigenvalues().
-      *
-      * This is a column vector with entries of type #RealScalar.
-      * The length of the vector is the size of \p _MatrixType.
-      */
-    typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
-    typedef Tridiagonalization<MatrixType> TridiagonalizationType;
-    typedef typename TridiagonalizationType::SubDiagonalType SubDiagonalType;
-
-    /** \brief Default constructor for fixed-size matrices.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via compute(). This constructor
-      * can only be used if \p _MatrixType is a fixed-size matrix; use
-      * SelfAdjointEigenSolver(Index) for dynamic-size matrices.
-      *
-      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver.out
-      */
-    EIGEN_DEVICE_FUNC
-    SelfAdjointEigenSolver()
-        : m_eivec(),
-          m_eivalues(),
-          m_subdiag(),
-          m_isInitialized(false)
-    { }
-
-    /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
-      *
-      * \param [in]  size  Positive integer, size of the matrix whose
-      * eigenvalues and eigenvectors will be computed.
-      *
-      * This constructor is useful for dynamic-size matrices, when the user
-      * intends to perform decompositions via compute(). The \p size
-      * parameter is only used as a hint. It is not an error to give a wrong
-      * \p size, but it may impair performance.
-      *
-      * \sa compute() for an example
-      */
-    EIGEN_DEVICE_FUNC
-    explicit SelfAdjointEigenSolver(Index size)
-        : m_eivec(size, size),
-          m_eivalues(size),
-          m_subdiag(size > 1 ? size - 1 : 1),
-          m_isInitialized(false)
-    {}
-
-    /** \brief Constructor; computes eigendecomposition of given matrix.
-      *
-      * \param[in]  matrix  Selfadjoint matrix whose eigendecomposition is to
-      *    be computed. Only the lower triangular part of the matrix is referenced.
-      * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-      *
-      * This constructor calls compute(const MatrixType&, int) to compute the
-      * eigenvalues of the matrix \p matrix. The eigenvectors are computed if
-      * \p options equals #ComputeEigenvectors.
-      *
-      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.out
-      *
-      * \sa compute(const MatrixType&, int)
-      */
-    template<typename InputType>
-    EIGEN_DEVICE_FUNC
-    explicit SelfAdjointEigenSolver(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors)
-      : m_eivec(matrix.rows(), matrix.cols()),
-        m_eivalues(matrix.cols()),
-        m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
-        m_isInitialized(false)
-    {
-      compute(matrix.derived(), options);
-    }
-
-    /** \brief Computes eigendecomposition of given matrix.
-      *
-      * \param[in]  matrix  Selfadjoint matrix whose eigendecomposition is to
-      *    be computed. Only the lower triangular part of the matrix is referenced.
-      * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-      * \returns    Reference to \c *this
-      *
-      * This function computes the eigenvalues of \p matrix.  The eigenvalues()
-      * function can be used to retrieve them.  If \p options equals #ComputeEigenvectors,
-      * then the eigenvectors are also computed and can be retrieved by
-      * calling eigenvectors().
-      *
-      * This implementation uses a symmetric QR algorithm. The matrix is first
-      * reduced to tridiagonal form using the Tridiagonalization class. The
-      * tridiagonal matrix is then brought to diagonal form with implicit
-      * symmetric QR steps with Wilkinson shift. Details can be found in
-      * Section 8.3 of Golub \& Van Loan, <i>%Matrix Computations</i>.
-      *
-      * The cost of the computation is about \f$ 9n^3 \f$ if the eigenvectors
-      * are required and \f$ 4n^3/3 \f$ if they are not required.
-      *
-      * This method reuses the memory in the SelfAdjointEigenSolver object that
-      * was allocated when the object was constructed, if the size of the
-      * matrix does not change.
-      *
-      * Example: \include SelfAdjointEigenSolver_compute_MatrixType.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType.out
-      *
-      * \sa SelfAdjointEigenSolver(const MatrixType&, int)
-      */
-    template<typename InputType>
-    EIGEN_DEVICE_FUNC
-    SelfAdjointEigenSolver& compute(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors);
-    
-    /** \brief Computes eigendecomposition of given matrix using a closed-form algorithm
-      *
-      * This is a variant of compute(const MatrixType&, int options) which
-      * directly solves the underlying polynomial equation.
-      * 
-      * Currently only 2x2 and 3x3 matrices for which the sizes are known at compile time are supported (e.g., Matrix3d).
-      * 
-      * This method is usually significantly faster than the QR iterative algorithm
-      * but it might also be less accurate. It is also worth noting that
-      * for 3x3 matrices it involves trigonometric operations which are
-      * not necessarily available for all scalar types.
-      * 
-      * For the 3x3 case, we observed the following worst case relative error regarding the eigenvalues:
-      *   - double: 1e-8
-      *   - float:  1e-3
-      *
-      * \sa compute(const MatrixType&, int options)
-      */
-    EIGEN_DEVICE_FUNC
-    SelfAdjointEigenSolver& computeDirect(const MatrixType& matrix, int options = ComputeEigenvectors);
-
-    /**
-      *\brief Computes the eigen decomposition from a tridiagonal symmetric matrix
-      *
-      * \param[in] diag The vector containing the diagonal of the matrix.
-      * \param[in] subdiag The subdiagonal of the matrix.
-      * \param[in] options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-      * \returns Reference to \c *this
-      *
-      * This function assumes that the matrix has been reduced to tridiagonal form.
-      *
-      * \sa compute(const MatrixType&, int) for more information
-      */
-    SelfAdjointEigenSolver& computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options=ComputeEigenvectors);
-
-    /** \brief Returns the eigenvectors of given matrix.
-      *
-      * \returns  A const reference to the matrix whose columns are the eigenvectors.
-      *
-      * \pre The eigenvectors have been computed before.
-      *
-      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
-      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
-      * eigenvectors are normalized to have (Euclidean) norm equal to one. If
-      * this object was used to solve the eigenproblem for the selfadjoint
-      * matrix \f$ A \f$, then the matrix returned by this function is the
-      * matrix \f$ V \f$ in the eigendecomposition \f$ A = V D V^{-1} \f$.
-      *
-      * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
-      *
-      * \sa eigenvalues()
-      */
-    EIGEN_DEVICE_FUNC
-    const EigenvectorsType& eigenvectors() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-      return m_eivec;
-    }
-
-    /** \brief Returns the eigenvalues of given matrix.
-      *
-      * \returns A const reference to the column vector containing the eigenvalues.
-      *
-      * \pre The eigenvalues have been computed before.
-      *
-      * The eigenvalues are repeated according to their algebraic multiplicity,
-      * so there are as many eigenvalues as rows in the matrix. The eigenvalues
-      * are sorted in increasing order.
-      *
-      * Example: \include SelfAdjointEigenSolver_eigenvalues.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_eigenvalues.out
-      *
-      * \sa eigenvectors(), MatrixBase::eigenvalues()
-      */
-    EIGEN_DEVICE_FUNC
-    const RealVectorType& eigenvalues() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      return m_eivalues;
-    }
-
-    /** \brief Computes the positive-definite square root of the matrix.
-      *
-      * \returns the positive-definite square root of the matrix
-      *
-      * \pre The eigenvalues and eigenvectors of a positive-definite matrix
-      * have been computed before.
-      *
-      * The square root of a positive-definite matrix \f$ A \f$ is the
-      * positive-definite matrix whose square equals \f$ A \f$. This function
-      * uses the eigendecomposition \f$ A = V D V^{-1} \f$ to compute the
-      * square root as \f$ A^{1/2} = V D^{1/2} V^{-1} \f$.
-      *
-      * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
-      *
-      * \sa operatorInverseSqrt(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
-      */
-    EIGEN_DEVICE_FUNC
-    MatrixType operatorSqrt() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-      return m_eivec * m_eivalues.cwiseSqrt().asDiagonal() * m_eivec.adjoint();
-    }
-
-    /** \brief Computes the inverse square root of the matrix.
-      *
-      * \returns the inverse positive-definite square root of the matrix
-      *
-      * \pre The eigenvalues and eigenvectors of a positive-definite matrix
-      * have been computed before.
-      *
-      * This function uses the eigendecomposition \f$ A = V D V^{-1} \f$ to
-      * compute the inverse square root as \f$ V D^{-1/2} V^{-1} \f$. This is
-      * cheaper than first computing the square root with operatorSqrt() and
-      * then its inverse with MatrixBase::inverse().
-      *
-      * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
-      *
-      * \sa operatorSqrt(), MatrixBase::inverse(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
-      */
-    EIGEN_DEVICE_FUNC
-    MatrixType operatorInverseSqrt() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-      return m_eivec * m_eivalues.cwiseInverse().cwiseSqrt().asDiagonal() * m_eivec.adjoint();
-    }
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
-      */
-    EIGEN_DEVICE_FUNC
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      return m_info;
-    }
-
-    /** \brief Maximum number of iterations.
-      *
-      * The algorithm terminates if it does not converge within m_maxIterations * n iterations, where n
-      * denotes the size of the matrix. This value is currently set to 30 (copied from LAPACK).
-      */
-    static const int m_maxIterations = 30;
-
-  protected:
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-    
-    EigenvectorsType m_eivec;
-    RealVectorType m_eivalues;
-    typename TridiagonalizationType::SubDiagonalType m_subdiag;
-    ComputationInfo m_info;
-    bool m_isInitialized;
-    bool m_eigenvectorsOk;
-};
-
-namespace internal {
-/** \internal
-  *
-  * \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  * Performs a QR step on a tridiagonal symmetric matrix represented as a
-  * pair of two vectors \a diag and \a subdiag.
-  *
-  * \param diag the diagonal part of the input selfadjoint tridiagonal matrix
-  * \param subdiag the sub-diagonal part of the input selfadjoint tridiagonal matrix
-  * \param start starting index of the submatrix to work on
-  * \param end last+1 index of the submatrix to work on
-  * \param matrixQ pointer to the column-major matrix holding the eigenvectors, can be 0
-  * \param n size of the input matrix
-  *
-  * For compilation efficiency reasons, this procedure does not use eigen expression
-  * for its arguments.
-  *
-  * Implemented from Golub's "Matrix Computations", algorithm 8.3.2:
-  * "implicit symmetric QR step with Wilkinson shift"
-  */
-template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
-EIGEN_DEVICE_FUNC
-static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n);
-}
-
-template<typename MatrixType>
-template<typename InputType>
-EIGEN_DEVICE_FUNC
-SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
-::compute(const EigenBase<InputType>& a_matrix, int options)
-{
-  check_template_parameters();
-  
-  const InputType &matrix(a_matrix.derived());
-  
-  using std::abs;
-  eigen_assert(matrix.cols() == matrix.rows());
-  eigen_assert((options&~(EigVecMask|GenEigMask))==0
-          && (options&EigVecMask)!=EigVecMask
-          && "invalid option parameter");
-  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
-  Index n = matrix.cols();
-  m_eivalues.resize(n,1);
-
-  if(n==1)
-  {
-    m_eivec = matrix;
-    m_eivalues.coeffRef(0,0) = numext::real(m_eivec.coeff(0,0));
-    if(computeEigenvectors)
-      m_eivec.setOnes(n,n);
-    m_info = Success;
-    m_isInitialized = true;
-    m_eigenvectorsOk = computeEigenvectors;
-    return *this;
-  }
-
-  // declare some aliases
-  RealVectorType& diag = m_eivalues;
-  EigenvectorsType& mat = m_eivec;
-
-  // map the matrix coefficients to [-1:1] to avoid over- and underflow.
-  mat = matrix.template triangularView<Lower>();
-  RealScalar scale = mat.cwiseAbs().maxCoeff();
-  if(scale==RealScalar(0)) scale = RealScalar(1);
-  mat.template triangularView<Lower>() /= scale;
-  m_subdiag.resize(n-1);
-  internal::tridiagonalization_inplace(mat, diag, m_subdiag, computeEigenvectors);
-
-  m_info = internal::computeFromTridiagonal_impl(diag, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
-  
-  // scale back the eigen values
-  m_eivalues *= scale;
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = computeEigenvectors;
-  return *this;
-}
-
-template<typename MatrixType>
-SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
-::computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options)
-{
-  //TODO : Add an option to scale the values beforehand
-  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
-
-  m_eivalues = diag;
-  m_subdiag = subdiag;
-  if (computeEigenvectors)
-  {
-    m_eivec.setIdentity(diag.size(), diag.size());
-  }
-  m_info = internal::computeFromTridiagonal_impl(m_eivalues, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = computeEigenvectors;
-  return *this;
-}
-
-namespace internal {
-/**
-  * \internal
-  * \brief Compute the eigendecomposition from a tridiagonal matrix
-  *
-  * \param[in,out] diag : On input, the diagonal of the matrix, on output the eigenvalues
-  * \param[in,out] subdiag : The subdiagonal part of the matrix (entries are modified during the decomposition)
-  * \param[in] maxIterations : the maximum number of iterations
-  * \param[in] computeEigenvectors : whether the eigenvectors have to be computed or not
-  * \param[out] eivec : The matrix to store the eigenvectors if computeEigenvectors==true. Must be allocated on input.
-  * \returns \c Success or \c NoConvergence
-  */
-template<typename MatrixType, typename DiagType, typename SubDiagType>
-ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec)
-{
-  using std::abs;
-
-  ComputationInfo info;
-  typedef typename MatrixType::Scalar Scalar;
-
-  Index n = diag.size();
-  Index end = n-1;
-  Index start = 0;
-  Index iter = 0; // total number of iterations
-  
-  typedef typename DiagType::RealScalar RealScalar;
-  const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
-  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
-  
-  while (end>0)
-  {
-    for (Index i = start; i<end; ++i)
-      if (internal::isMuchSmallerThan(abs(subdiag[i]),(abs(diag[i])+abs(diag[i+1])),precision) || abs(subdiag[i]) <= considerAsZero)
-        subdiag[i] = 0;
-
-    // find the largest unreduced block
-    while (end>0 && subdiag[end-1]==RealScalar(0))
-    {
-      end--;
-    }
-    if (end<=0)
-      break;
-
-    // if we spent too many iterations, we give up
-    iter++;
-    if(iter > maxIterations * n) break;
-
-    start = end - 1;
-    while (start>0 && subdiag[start-1]!=0)
-      start--;
-
-    internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), subdiag.data(), start, end, computeEigenvectors ? eivec.data() : (Scalar*)0, n);
-  }
-  if (iter <= maxIterations * n)
-    info = Success;
-  else
-    info = NoConvergence;
-
-  // Sort eigenvalues and corresponding vectors.
-  // TODO make the sort optional ?
-  // TODO use a better sort algorithm !!
-  if (info == Success)
-  {
-    for (Index i = 0; i < n-1; ++i)
-    {
-      Index k;
-      diag.segment(i,n-i).minCoeff(&k);
-      if (k > 0)
-      {
-        std::swap(diag[i], diag[k+i]);
-        if(computeEigenvectors)
-          eivec.col(i).swap(eivec.col(k+i));
-      }
-    }
-  }
-  return info;
-}
-  
-template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(SolverType& eig, const typename SolverType::MatrixType& A, int options)
-  { eig.compute(A,options); }
-};
-
-template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3,false>
-{
-  typedef typename SolverType::MatrixType MatrixType;
-  typedef typename SolverType::RealVectorType VectorType;
-  typedef typename SolverType::Scalar Scalar;
-  typedef typename SolverType::EigenvectorsType EigenvectorsType;
-  
-
-  /** \internal
-   * Computes the roots of the characteristic polynomial of \a m.
-   * For numerical stability m.trace() should be near zero and to avoid over- or underflow m should be normalized.
-   */
-  EIGEN_DEVICE_FUNC
-  static inline void computeRoots(const MatrixType& m, VectorType& roots)
-  {
-    EIGEN_USING_STD_MATH(sqrt)
-    EIGEN_USING_STD_MATH(atan2)
-    EIGEN_USING_STD_MATH(cos)
-    EIGEN_USING_STD_MATH(sin)
-    const Scalar s_inv3 = Scalar(1)/Scalar(3);
-    const Scalar s_sqrt3 = sqrt(Scalar(3));
-
-    // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0.  The
-    // eigenvalues are the roots to this equation, all guaranteed to be
-    // real-valued, because the matrix is symmetric.
-    Scalar c0 = m(0,0)*m(1,1)*m(2,2) + Scalar(2)*m(1,0)*m(2,0)*m(2,1) - m(0,0)*m(2,1)*m(2,1) - m(1,1)*m(2,0)*m(2,0) - m(2,2)*m(1,0)*m(1,0);
-    Scalar c1 = m(0,0)*m(1,1) - m(1,0)*m(1,0) + m(0,0)*m(2,2) - m(2,0)*m(2,0) + m(1,1)*m(2,2) - m(2,1)*m(2,1);
-    Scalar c2 = m(0,0) + m(1,1) + m(2,2);
-
-    // Construct the parameters used in classifying the roots of the equation
-    // and in solving the equation for the roots in closed form.
-    Scalar c2_over_3 = c2*s_inv3;
-    Scalar a_over_3 = (c2*c2_over_3 - c1)*s_inv3;
-    a_over_3 = numext::maxi(a_over_3, Scalar(0));
-
-    Scalar half_b = Scalar(0.5)*(c0 + c2_over_3*(Scalar(2)*c2_over_3*c2_over_3 - c1));
-
-    Scalar q = a_over_3*a_over_3*a_over_3 - half_b*half_b;
-    q = numext::maxi(q, Scalar(0));
-
-    // Compute the eigenvalues by solving for the roots of the polynomial.
-    Scalar rho = sqrt(a_over_3);
-    Scalar theta = atan2(sqrt(q),half_b)*s_inv3;  // since sqrt(q) > 0, atan2 is in [0, pi] and theta is in [0, pi/3]
-    Scalar cos_theta = cos(theta);
-    Scalar sin_theta = sin(theta);
-    // roots are already sorted, since cos is monotonically decreasing on [0, pi]
-    roots(0) = c2_over_3 - rho*(cos_theta + s_sqrt3*sin_theta); // == 2*rho*cos(theta+2pi/3)
-    roots(1) = c2_over_3 - rho*(cos_theta - s_sqrt3*sin_theta); // == 2*rho*cos(theta+ pi/3)
-    roots(2) = c2_over_3 + Scalar(2)*rho*cos_theta;
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline bool extract_kernel(MatrixType& mat, Ref<VectorType> res, Ref<VectorType> representative)
-  {
-    using std::abs;
-    Index i0;
-    // Find non-zero column i0 (by construction, there must exist a non zero coefficient on the diagonal):
-    mat.diagonal().cwiseAbs().maxCoeff(&i0);
-    // mat.col(i0) is a good candidate for an orthogonal vector to the current eigenvector,
-    // so let's save it:
-    representative = mat.col(i0);
-    Scalar n0, n1;
-    VectorType c0, c1;
-    n0 = (c0 = representative.cross(mat.col((i0+1)%3))).squaredNorm();
-    n1 = (c1 = representative.cross(mat.col((i0+2)%3))).squaredNorm();
-    if(n0>n1) res = c0/std::sqrt(n0);
-    else      res = c1/std::sqrt(n1);
-
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline void run(SolverType& solver, const MatrixType& mat, int options)
-  {
-    eigen_assert(mat.cols() == 3 && mat.cols() == mat.rows());
-    eigen_assert((options&~(EigVecMask|GenEigMask))==0
-            && (options&EigVecMask)!=EigVecMask
-            && "invalid option parameter");
-    bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
-    
-    EigenvectorsType& eivecs = solver.m_eivec;
-    VectorType& eivals = solver.m_eivalues;
-  
-    // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
-    Scalar shift = mat.trace() / Scalar(3);
-    // TODO Avoid this copy. Currently it is necessary to suppress bogus values when determining maxCoeff and for computing the eigenvectors later
-    MatrixType scaledMat = mat.template selfadjointView<Lower>();
-    scaledMat.diagonal().array() -= shift;
-    Scalar scale = scaledMat.cwiseAbs().maxCoeff();
-    if(scale > 0) scaledMat /= scale;   // TODO for scale==0 we could save the remaining operations
-
-    // compute the eigenvalues
-    computeRoots(scaledMat,eivals);
-
-    // compute the eigenvectors
-    if(computeEigenvectors)
-    {
-      if((eivals(2)-eivals(0))<=Eigen::NumTraits<Scalar>::epsilon())
-      {
-        // All three eigenvalues are numerically the same
-        eivecs.setIdentity();
-      }
-      else
-      {
-        MatrixType tmp;
-        tmp = scaledMat;
-
-        // Compute the eigenvector of the most distinct eigenvalue
-        Scalar d0 = eivals(2) - eivals(1);
-        Scalar d1 = eivals(1) - eivals(0);
-        Index k(0), l(2);
-        if(d0 > d1)
-        {
-          numext::swap(k,l);
-          d0 = d1;
-        }
-
-        // Compute the eigenvector of index k
-        {
-          tmp.diagonal().array () -= eivals(k);
-          // By construction, 'tmp' is of rank 2, and its kernel corresponds to the respective eigenvector.
-          extract_kernel(tmp, eivecs.col(k), eivecs.col(l));
-        }
-
-        // Compute eigenvector of index l
-        if(d0<=2*Eigen::NumTraits<Scalar>::epsilon()*d1)
-        {
-          // If d0 is too small, then the two other eigenvalues are numerically the same,
-          // and thus we only have to ortho-normalize the near orthogonal vector we saved above.
-          eivecs.col(l) -= eivecs.col(k).dot(eivecs.col(l))*eivecs.col(l);
-          eivecs.col(l).normalize();
-        }
-        else
-        {
-          tmp = scaledMat;
-          tmp.diagonal().array () -= eivals(l);
-
-          VectorType dummy;
-          extract_kernel(tmp, eivecs.col(l), dummy);
-        }
-
-        // Compute last eigenvector from the other two
-        eivecs.col(1) = eivecs.col(2).cross(eivecs.col(0)).normalized();
-      }
-    }
-
-    // Rescale back to the original size.
-    eivals *= scale;
-    eivals.array() += shift;
-    
-    solver.m_info = Success;
-    solver.m_isInitialized = true;
-    solver.m_eigenvectorsOk = computeEigenvectors;
-  }
-};
-
-// 2x2 direct eigenvalues decomposition, code from Hauke Heibel
-template<typename SolverType> 
-struct direct_selfadjoint_eigenvalues<SolverType,2,false>
-{
-  typedef typename SolverType::MatrixType MatrixType;
-  typedef typename SolverType::RealVectorType VectorType;
-  typedef typename SolverType::Scalar Scalar;
-  typedef typename SolverType::EigenvectorsType EigenvectorsType;
-  
-  EIGEN_DEVICE_FUNC
-  static inline void computeRoots(const MatrixType& m, VectorType& roots)
-  {
-    using std::sqrt;
-    const Scalar t0 = Scalar(0.5) * sqrt( numext::abs2(m(0,0)-m(1,1)) + Scalar(4)*numext::abs2(m(1,0)));
-    const Scalar t1 = Scalar(0.5) * (m(0,0) + m(1,1));
-    roots(0) = t1 - t0;
-    roots(1) = t1 + t0;
-  }
-  
-  EIGEN_DEVICE_FUNC
-  static inline void run(SolverType& solver, const MatrixType& mat, int options)
-  {
-    EIGEN_USING_STD_MATH(sqrt);
-    EIGEN_USING_STD_MATH(abs);
-    
-    eigen_assert(mat.cols() == 2 && mat.cols() == mat.rows());
-    eigen_assert((options&~(EigVecMask|GenEigMask))==0
-            && (options&EigVecMask)!=EigVecMask
-            && "invalid option parameter");
-    bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
-    
-    EigenvectorsType& eivecs = solver.m_eivec;
-    VectorType& eivals = solver.m_eivalues;
-  
-    // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
-    Scalar shift = mat.trace() / Scalar(2);
-    MatrixType scaledMat = mat;
-    scaledMat.coeffRef(0,1) = mat.coeff(1,0);
-    scaledMat.diagonal().array() -= shift;
-    Scalar scale = scaledMat.cwiseAbs().maxCoeff();
-    if(scale > Scalar(0))
-      scaledMat /= scale;
-
-    // Compute the eigenvalues
-    computeRoots(scaledMat,eivals);
-
-    // compute the eigen vectors
-    if(computeEigenvectors)
-    {
-      if((eivals(1)-eivals(0))<=abs(eivals(1))*Eigen::NumTraits<Scalar>::epsilon())
-      {
-        eivecs.setIdentity();
-      }
-      else
-      {
-        scaledMat.diagonal().array () -= eivals(1);
-        Scalar a2 = numext::abs2(scaledMat(0,0));
-        Scalar c2 = numext::abs2(scaledMat(1,1));
-        Scalar b2 = numext::abs2(scaledMat(1,0));
-        if(a2>c2)
-        {
-          eivecs.col(1) << -scaledMat(1,0), scaledMat(0,0);
-          eivecs.col(1) /= sqrt(a2+b2);
-        }
-        else
-        {
-          eivecs.col(1) << -scaledMat(1,1), scaledMat(1,0);
-          eivecs.col(1) /= sqrt(c2+b2);
-        }
-
-        eivecs.col(0) << eivecs.col(1).unitOrthogonal();
-      }
-    }
-
-    // Rescale back to the original size.
-    eivals *= scale;
-    eivals.array() += shift;
-
-    solver.m_info = Success;
-    solver.m_isInitialized = true;
-    solver.m_eigenvectorsOk = computeEigenvectors;
-  }
-};
-
-}
-
-template<typename MatrixType>
-EIGEN_DEVICE_FUNC
-SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
-::computeDirect(const MatrixType& matrix, int options)
-{
-  internal::direct_selfadjoint_eigenvalues<SelfAdjointEigenSolver,Size,NumTraits<Scalar>::IsComplex>::run(*this,matrix,options);
-  return *this;
-}
-
-namespace internal {
-template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
-EIGEN_DEVICE_FUNC
-static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
-{
-  using std::abs;
-  RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
-  RealScalar e = subdiag[end-1];
-  // Note that thanks to scaling, e^2 or td^2 cannot overflow, however they can still
-  // underflow thus leading to inf/NaN values when using the following commented code:
-//   RealScalar e2 = numext::abs2(subdiag[end-1]);
-//   RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
-  // This explain the following, somewhat more complicated, version:
-  RealScalar mu = diag[end];
-  if(td==RealScalar(0))
-    mu -= abs(e);
-  else
-  {
-    RealScalar e2 = numext::abs2(subdiag[end-1]);
-    RealScalar h = numext::hypot(td,e);
-    if(e2==RealScalar(0)) mu -= (e / (td + (td>RealScalar(0) ? RealScalar(1) : RealScalar(-1)))) * (e / h);
-    else                  mu -= e2 / (td + (td>RealScalar(0) ? h : -h));
-  }
-  
-  RealScalar x = diag[start] - mu;
-  RealScalar z = subdiag[start];
-  for (Index k = start; k < end; ++k)
-  {
-    JacobiRotation<RealScalar> rot;
-    rot.makeGivens(x, z);
-
-    // do T = G' T G
-    RealScalar sdk = rot.s() * diag[k] + rot.c() * subdiag[k];
-    RealScalar dkp1 = rot.s() * subdiag[k] + rot.c() * diag[k+1];
-
-    diag[k] = rot.c() * (rot.c() * diag[k] - rot.s() * subdiag[k]) - rot.s() * (rot.c() * subdiag[k] - rot.s() * diag[k+1]);
-    diag[k+1] = rot.s() * sdk + rot.c() * dkp1;
-    subdiag[k] = rot.c() * sdk - rot.s() * dkp1;
-    
-
-    if (k > start)
-      subdiag[k - 1] = rot.c() * subdiag[k-1] - rot.s() * z;
-
-    x = subdiag[k];
-
-    if (k < end - 1)
-    {
-      z = -rot.s() * subdiag[k+1];
-      subdiag[k + 1] = rot.c() * subdiag[k+1];
-    }
-    
-    // apply the givens rotation to the unit matrix Q = Q * G
-    if (matrixQ)
-    {
-      // FIXME if StorageOrder == RowMajor this operation is not very efficient
-      Map<Matrix<Scalar,Dynamic,Dynamic,StorageOrder> > q(matrixQ,n,n);
-      q.applyOnTheRight(k,k+1,rot);
-    }
-  }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINTEIGENSOLVER_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h b/phonelibs/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
deleted file mode 100644
index 3891cf883335f5..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to LAPACKe
- *    Self-adjoint eigenvalues/eigenvectors.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_SAEIGENSOLVER_LAPACKE_H
-#define EIGEN_SAEIGENSOLVER_LAPACKE_H
-
-namespace Eigen { 
-
-/** \internal Specialization for the data types supported by LAPACKe */
-
-#define EIGEN_LAPACKE_EIG_SELFADJ(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_NAME, EIGCOLROW, LAPACKE_COLROW ) \
-template<> template<typename InputType> inline \
-SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
-SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, int options) \
-{ \
-  eigen_assert(matrix.cols() == matrix.rows()); \
-  eigen_assert((options&~(EigVecMask|GenEigMask))==0 \
-          && (options&EigVecMask)!=EigVecMask \
-          && "invalid option parameter"); \
-  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors; \
-  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), lda, matrix_order, info; \
-  m_eivalues.resize(n,1); \
-  m_subdiag.resize(n-1); \
-  m_eivec = matrix; \
-\
-  if(n==1) \
-  { \
-    m_eivalues.coeffRef(0,0) = numext::real(m_eivec.coeff(0,0)); \
-    if(computeEigenvectors) m_eivec.setOnes(n,n); \
-    m_info = Success; \
-    m_isInitialized = true; \
-    m_eigenvectorsOk = computeEigenvectors; \
-    return *this; \
-  } \
-\
-  lda = internal::convert_index<lapack_int>(m_eivec.outerStride()); \
-  matrix_order=LAPACKE_COLROW; \
-  char jobz, uplo='L'/*, range='A'*/; \
-  jobz = computeEigenvectors ? 'V' : 'N'; \
-\
-  info = LAPACKE_##LAPACKE_NAME( matrix_order, jobz, uplo, n, (LAPACKE_TYPE*)m_eivec.data(), lda, (LAPACKE_RTYPE*)m_eivalues.data() ); \
-  m_info = (info==0) ? Success : NoConvergence; \
-  m_isInitialized = true; \
-  m_eigenvectorsOk = computeEigenvectors; \
-  return *this; \
-}
-
-
-EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev, ColMajor, LAPACK_COL_MAJOR)
-
-EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev, RowMajor, LAPACK_ROW_MAJOR)
-
-} // end namespace Eigen
-
-#endif // EIGEN_SAEIGENSOLVER_H
diff --git a/phonelibs/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h b/phonelibs/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h
deleted file mode 100644
index 1d102c17bc1fe3..00000000000000
--- a/phonelibs/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h
+++ /dev/null
@@ -1,556 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRIDIAGONALIZATION_H
-#define EIGEN_TRIDIAGONALIZATION_H
-
-namespace Eigen { 
-
-namespace internal {
-  
-template<typename MatrixType> struct TridiagonalizationMatrixTReturnType;
-template<typename MatrixType>
-struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
-  : public traits<typename MatrixType::PlainObject>
-{
-  typedef typename MatrixType::PlainObject ReturnType; // FIXME shall it be a BandMatrix?
-  enum { Flags = 0 };
-};
-
-template<typename MatrixType, typename CoeffVectorType>
-void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs);
-}
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class Tridiagonalization
-  *
-  * \brief Tridiagonal decomposition of a selfadjoint matrix
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the
-  * tridiagonal decomposition; this is expected to be an instantiation of the
-  * Matrix class template.
-  *
-  * This class performs a tridiagonal decomposition of a selfadjoint matrix \f$ A \f$ such that:
-  * \f$ A = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real symmetric tridiagonal matrix.
-  *
-  * A tridiagonal matrix is a matrix which has nonzero elements only on the
-  * main diagonal and the first diagonal below and above it. The Hessenberg
-  * decomposition of a selfadjoint matrix is in fact a tridiagonal
-  * decomposition. This class is used in SelfAdjointEigenSolver to compute the
-  * eigenvalues and eigenvectors of a selfadjoint matrix.
-  *
-  * Call the function compute() to compute the tridiagonal decomposition of a
-  * given matrix. Alternatively, you can use the Tridiagonalization(const MatrixType&)
-  * constructor which computes the tridiagonal Schur decomposition at
-  * construction time. Once the decomposition is computed, you can use the
-  * matrixQ() and matrixT() functions to retrieve the matrices Q and T in the
-  * decomposition.
-  *
-  * The documentation of Tridiagonalization(const MatrixType&) contains an
-  * example of the typical use of this class.
-  *
-  * \sa class HessenbergDecomposition, class SelfAdjointEigenSolver
-  */
-template<typename _MatrixType> class Tridiagonalization
-{
-  public:
-
-    /** \brief Synonym for the template parameter \p _MatrixType. */
-    typedef _MatrixType MatrixType;
-
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-
-    enum {
-      Size = MatrixType::RowsAtCompileTime,
-      SizeMinusOne = Size == Dynamic ? Dynamic : (Size > 1 ? Size - 1 : 1),
-      Options = MatrixType::Options,
-      MaxSize = MatrixType::MaxRowsAtCompileTime,
-      MaxSizeMinusOne = MaxSize == Dynamic ? Dynamic : (MaxSize > 1 ? MaxSize - 1 : 1)
-    };
-
-    typedef Matrix<Scalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> CoeffVectorType;
-    typedef typename internal::plain_col_type<MatrixType, RealScalar>::type DiagonalType;
-    typedef Matrix<RealScalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> SubDiagonalType;
-    typedef typename internal::remove_all<typename MatrixType::RealReturnType>::type MatrixTypeRealView;
-    typedef internal::TridiagonalizationMatrixTReturnType<MatrixTypeRealView> MatrixTReturnType;
-
-    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-              typename internal::add_const_on_value_type<typename Diagonal<const MatrixType>::RealReturnType>::type,
-              const Diagonal<const MatrixType>
-            >::type DiagonalReturnType;
-
-    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-              typename internal::add_const_on_value_type<typename Diagonal<const MatrixType, -1>::RealReturnType>::type,
-              const Diagonal<const MatrixType, -1>
-            >::type SubDiagonalReturnType;
-
-    /** \brief Return type of matrixQ() */
-    typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename CoeffVectorType::ConjugateReturnType>::type> HouseholderSequenceType;
-
-    /** \brief Default constructor.
-      *
-      * \param [in]  size  Positive integer, size of the matrix whose tridiagonal
-      * decomposition will be computed.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via compute().  The \p size parameter is only
-      * used as a hint. It is not an error to give a wrong \p size, but it may
-      * impair performance.
-      *
-      * \sa compute() for an example.
-      */
-    explicit Tridiagonalization(Index size = Size==Dynamic ? 2 : Size)
-      : m_matrix(size,size),
-        m_hCoeffs(size > 1 ? size-1 : 1),
-        m_isInitialized(false)
-    {}
-
-    /** \brief Constructor; computes tridiagonal decomposition of given matrix.
-      *
-      * \param[in]  matrix  Selfadjoint matrix whose tridiagonal decomposition
-      * is to be computed.
-      *
-      * This constructor calls compute() to compute the tridiagonal decomposition.
-      *
-      * Example: \include Tridiagonalization_Tridiagonalization_MatrixType.cpp
-      * Output: \verbinclude Tridiagonalization_Tridiagonalization_MatrixType.out
-      */
-    template<typename InputType>
-    explicit Tridiagonalization(const EigenBase<InputType>& matrix)
-      : m_matrix(matrix.derived()),
-        m_hCoeffs(matrix.cols() > 1 ? matrix.cols()-1 : 1),
-        m_isInitialized(false)
-    {
-      internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
-      m_isInitialized = true;
-    }
-
-    /** \brief Computes tridiagonal decomposition of given matrix.
-      *
-      * \param[in]  matrix  Selfadjoint matrix whose tridiagonal decomposition
-      * is to be computed.
-      * \returns    Reference to \c *this
-      *
-      * The tridiagonal decomposition is computed by bringing the columns of
-      * the matrix successively in the required form using Householder
-      * reflections. The cost is \f$ 4n^3/3 \f$ flops, where \f$ n \f$ denotes
-      * the size of the given matrix.
-      *
-      * This method reuses of the allocated data in the Tridiagonalization
-      * object, if the size of the matrix does not change.
-      *
-      * Example: \include Tridiagonalization_compute.cpp
-      * Output: \verbinclude Tridiagonalization_compute.out
-      */
-    template<typename InputType>
-    Tridiagonalization& compute(const EigenBase<InputType>& matrix)
-    {
-      m_matrix = matrix.derived();
-      m_hCoeffs.resize(matrix.rows()-1, 1);
-      internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
-      m_isInitialized = true;
-      return *this;
-    }
-
-    /** \brief Returns the Householder coefficients.
-      *
-      * \returns a const reference to the vector of Householder coefficients
-      *
-      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
-      * the member function compute(const MatrixType&) has been called before
-      * to compute the tridiagonal decomposition of a matrix.
-      *
-      * The Householder coefficients allow the reconstruction of the matrix
-      * \f$ Q \f$ in the tridiagonal decomposition from the packed data.
-      *
-      * Example: \include Tridiagonalization_householderCoefficients.cpp
-      * Output: \verbinclude Tridiagonalization_householderCoefficients.out
-      *
-      * \sa packedMatrix(), \ref Householder_Module "Householder module"
-      */
-    inline CoeffVectorType householderCoefficients() const
-    {
-      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-      return m_hCoeffs;
-    }
-
-    /** \brief Returns the internal representation of the decomposition
-      *
-      *	\returns a const reference to a matrix with the internal representation
-      *	         of the decomposition.
-      *
-      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
-      * the member function compute(const MatrixType&) has been called before
-      * to compute the tridiagonal decomposition of a matrix.
-      *
-      * The returned matrix contains the following information:
-      *  - the strict upper triangular part is equal to the input matrix A.
-      *  - the diagonal and lower sub-diagonal represent the real tridiagonal
-      *    symmetric matrix T.
-      *  - the rest of the lower part contains the Householder vectors that,
-      *    combined with Householder coefficients returned by
-      *    householderCoefficients(), allows to reconstruct the matrix Q as
-      *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
-      *    Here, the matrices \f$ H_i \f$ are the Householder transformations
-      *       \f$ H_i = (I - h_i v_i v_i^T) \f$
-      *    where \f$ h_i \f$ is the \f$ i \f$th Householder coefficient and
-      *    \f$ v_i \f$ is the Householder vector defined by
-      *       \f$ v_i = [ 0, \ldots, 0, 1, M(i+2,i), \ldots, M(N-1,i) ]^T \f$
-      *    with M the matrix returned by this function.
-      *
-      * See LAPACK for further details on this packed storage.
-      *
-      * Example: \include Tridiagonalization_packedMatrix.cpp
-      * Output: \verbinclude Tridiagonalization_packedMatrix.out
-      *
-      * \sa householderCoefficients()
-      */
-    inline const MatrixType& packedMatrix() const
-    {
-      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-      return m_matrix;
-    }
-
-    /** \brief Returns the unitary matrix Q in the decomposition
-      *
-      * \returns object representing the matrix Q
-      *
-      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
-      * the member function compute(const MatrixType&) has been called before
-      * to compute the tridiagonal decomposition of a matrix.
-      *
-      * This function returns a light-weight object of template class
-      * HouseholderSequence. You can either apply it directly to a matrix or
-      * you can convert it to a matrix of type #MatrixType.
-      *
-      * \sa Tridiagonalization(const MatrixType&) for an example,
-      *     matrixT(), class HouseholderSequence
-      */
-    HouseholderSequenceType matrixQ() const
-    {
-      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-      return HouseholderSequenceType(m_matrix, m_hCoeffs.conjugate())
-             .setLength(m_matrix.rows() - 1)
-             .setShift(1);
-    }
-
-    /** \brief Returns an expression of the tridiagonal matrix T in the decomposition
-      *
-      * \returns expression object representing the matrix T
-      *
-      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
-      * the member function compute(const MatrixType&) has been called before
-      * to compute the tridiagonal decomposition of a matrix.
-      *
-      * Currently, this function can be used to extract the matrix T from internal
-      * data and copy it to a dense matrix object. In most cases, it may be
-      * sufficient to directly use the packed matrix or the vector expressions
-      * returned by diagonal() and subDiagonal() instead of creating a new
-      * dense copy matrix with this function.
-      *
-      * \sa Tridiagonalization(const MatrixType&) for an example,
-      * matrixQ(), packedMatrix(), diagonal(), subDiagonal()
-      */
-    MatrixTReturnType matrixT() const
-    {
-      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-      return MatrixTReturnType(m_matrix.real());
-    }
-
-    /** \brief Returns the diagonal of the tridiagonal matrix T in the decomposition.
-      *
-      * \returns expression representing the diagonal of T
-      *
-      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
-      * the member function compute(const MatrixType&) has been called before
-      * to compute the tridiagonal decomposition of a matrix.
-      *
-      * Example: \include Tridiagonalization_diagonal.cpp
-      * Output: \verbinclude Tridiagonalization_diagonal.out
-      *
-      * \sa matrixT(), subDiagonal()
-      */
-    DiagonalReturnType diagonal() const;
-
-    /** \brief Returns the subdiagonal of the tridiagonal matrix T in the decomposition.
-      *
-      * \returns expression representing the subdiagonal of T
-      *
-      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
-      * the member function compute(const MatrixType&) has been called before
-      * to compute the tridiagonal decomposition of a matrix.
-      *
-      * \sa diagonal() for an example, matrixT()
-      */
-    SubDiagonalReturnType subDiagonal() const;
-
-  protected:
-
-    MatrixType m_matrix;
-    CoeffVectorType m_hCoeffs;
-    bool m_isInitialized;
-};
-
-template<typename MatrixType>
-typename Tridiagonalization<MatrixType>::DiagonalReturnType
-Tridiagonalization<MatrixType>::diagonal() const
-{
-  eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-  return m_matrix.diagonal().real();
-}
-
-template<typename MatrixType>
-typename Tridiagonalization<MatrixType>::SubDiagonalReturnType
-Tridiagonalization<MatrixType>::subDiagonal() const
-{
-  eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-  return m_matrix.template diagonal<-1>().real();
-}
-
-namespace internal {
-
-/** \internal
-  * Performs a tridiagonal decomposition of the selfadjoint matrix \a matA in-place.
-  *
-  * \param[in,out] matA On input the selfadjoint matrix. Only the \b lower triangular part is referenced.
-  *                     On output, the strict upper part is left unchanged, and the lower triangular part
-  *                     represents the T and Q matrices in packed format has detailed below.
-  * \param[out]    hCoeffs returned Householder coefficients (see below)
-  *
-  * On output, the tridiagonal selfadjoint matrix T is stored in the diagonal
-  * and lower sub-diagonal of the matrix \a matA.
-  * The unitary matrix Q is represented in a compact way as a product of
-  * Householder reflectors \f$ H_i \f$ such that:
-  *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
-  * The Householder reflectors are defined as
-  *       \f$ H_i = (I - h_i v_i v_i^T) \f$
-  * where \f$ h_i = hCoeffs[i]\f$ is the \f$ i \f$th Householder coefficient and
-  * \f$ v_i \f$ is the Householder vector defined by
-  *       \f$ v_i = [ 0, \ldots, 0, 1, matA(i+2,i), \ldots, matA(N-1,i) ]^T \f$.
-  *
-  * Implemented from Golub's "Matrix Computations", algorithm 8.3.1.
-  *
-  * \sa Tridiagonalization::packedMatrix()
-  */
-template<typename MatrixType, typename CoeffVectorType>
-void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
-{
-  using numext::conj;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  Index n = matA.rows();
-  eigen_assert(n==matA.cols());
-  eigen_assert(n==hCoeffs.size()+1 || n==1);
-  
-  for (Index i = 0; i<n-1; ++i)
-  {
-    Index remainingSize = n-i-1;
-    RealScalar beta;
-    Scalar h;
-    matA.col(i).tail(remainingSize).makeHouseholderInPlace(h, beta);
-
-    // Apply similarity transformation to remaining columns,
-    // i.e., A = H A H' where H = I - h v v' and v = matA.col(i).tail(n-i-1)
-    matA.col(i).coeffRef(i+1) = 1;
-
-    hCoeffs.tail(n-i-1).noalias() = (matA.bottomRightCorner(remainingSize,remainingSize).template selfadjointView<Lower>()
-                                  * (conj(h) * matA.col(i).tail(remainingSize)));
-
-    hCoeffs.tail(n-i-1) += (conj(h)*RealScalar(-0.5)*(hCoeffs.tail(remainingSize).dot(matA.col(i).tail(remainingSize)))) * matA.col(i).tail(n-i-1);
-
-    matA.bottomRightCorner(remainingSize, remainingSize).template selfadjointView<Lower>()
-      .rankUpdate(matA.col(i).tail(remainingSize), hCoeffs.tail(remainingSize), Scalar(-1));
-
-    matA.col(i).coeffRef(i+1) = beta;
-    hCoeffs.coeffRef(i) = h;
-  }
-}
-
-// forward declaration, implementation at the end of this file
-template<typename MatrixType,
-         int Size=MatrixType::ColsAtCompileTime,
-         bool IsComplex=NumTraits<typename MatrixType::Scalar>::IsComplex>
-struct tridiagonalization_inplace_selector;
-
-/** \brief Performs a full tridiagonalization in place
-  *
-  * \param[in,out]  mat  On input, the selfadjoint matrix whose tridiagonal
-  *    decomposition is to be computed. Only the lower triangular part referenced.
-  *    The rest is left unchanged. On output, the orthogonal matrix Q
-  *    in the decomposition if \p extractQ is true.
-  * \param[out]  diag  The diagonal of the tridiagonal matrix T in the
-  *    decomposition.
-  * \param[out]  subdiag  The subdiagonal of the tridiagonal matrix T in
-  *    the decomposition.
-  * \param[in]  extractQ  If true, the orthogonal matrix Q in the
-  *    decomposition is computed and stored in \p mat.
-  *
-  * Computes the tridiagonal decomposition of the selfadjoint matrix \p mat in place
-  * such that \f$ mat = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real
-  * symmetric tridiagonal matrix.
-  *
-  * The tridiagonal matrix T is passed to the output parameters \p diag and \p subdiag. If
-  * \p extractQ is true, then the orthogonal matrix Q is passed to \p mat. Otherwise the lower
-  * part of the matrix \p mat is destroyed.
-  *
-  * The vectors \p diag and \p subdiag are not resized. The function
-  * assumes that they are already of the correct size. The length of the
-  * vector \p diag should equal the number of rows in \p mat, and the
-  * length of the vector \p subdiag should be one left.
-  *
-  * This implementation contains an optimized path for 3-by-3 matrices
-  * which is especially useful for plane fitting.
-  *
-  * \note Currently, it requires two temporary vectors to hold the intermediate
-  * Householder coefficients, and to reconstruct the matrix Q from the Householder
-  * reflectors.
-  *
-  * Example (this uses the same matrix as the example in
-  *    Tridiagonalization::Tridiagonalization(const MatrixType&)):
-  *    \include Tridiagonalization_decomposeInPlace.cpp
-  * Output: \verbinclude Tridiagonalization_decomposeInPlace.out
-  *
-  * \sa class Tridiagonalization
-  */
-template<typename MatrixType, typename DiagonalType, typename SubDiagonalType>
-void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
-{
-  eigen_assert(mat.cols()==mat.rows() && diag.size()==mat.rows() && subdiag.size()==mat.rows()-1);
-  tridiagonalization_inplace_selector<MatrixType>::run(mat, diag, subdiag, extractQ);
-}
-
-/** \internal
-  * General full tridiagonalization
-  */
-template<typename MatrixType, int Size, bool IsComplex>
-struct tridiagonalization_inplace_selector
-{
-  typedef typename Tridiagonalization<MatrixType>::CoeffVectorType CoeffVectorType;
-  typedef typename Tridiagonalization<MatrixType>::HouseholderSequenceType HouseholderSequenceType;
-  template<typename DiagonalType, typename SubDiagonalType>
-  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
-  {
-    CoeffVectorType hCoeffs(mat.cols()-1);
-    tridiagonalization_inplace(mat,hCoeffs);
-    diag = mat.diagonal().real();
-    subdiag = mat.template diagonal<-1>().real();
-    if(extractQ)
-      mat = HouseholderSequenceType(mat, hCoeffs.conjugate())
-            .setLength(mat.rows() - 1)
-            .setShift(1);
-  }
-};
-
-/** \internal
-  * Specialization for 3x3 real matrices.
-  * Especially useful for plane fitting.
-  */
-template<typename MatrixType>
-struct tridiagonalization_inplace_selector<MatrixType,3,false>
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-
-  template<typename DiagonalType, typename SubDiagonalType>
-  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
-  {
-    using std::sqrt;
-    const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
-    diag[0] = mat(0,0);
-    RealScalar v1norm2 = numext::abs2(mat(2,0));
-    if(v1norm2 <= tol)
-    {
-      diag[1] = mat(1,1);
-      diag[2] = mat(2,2);
-      subdiag[0] = mat(1,0);
-      subdiag[1] = mat(2,1);
-      if (extractQ)
-        mat.setIdentity();
-    }
-    else
-    {
-      RealScalar beta = sqrt(numext::abs2(mat(1,0)) + v1norm2);
-      RealScalar invBeta = RealScalar(1)/beta;
-      Scalar m01 = mat(1,0) * invBeta;
-      Scalar m02 = mat(2,0) * invBeta;
-      Scalar q = RealScalar(2)*m01*mat(2,1) + m02*(mat(2,2) - mat(1,1));
-      diag[1] = mat(1,1) + m02*q;
-      diag[2] = mat(2,2) - m02*q;
-      subdiag[0] = beta;
-      subdiag[1] = mat(2,1) - m01 * q;
-      if (extractQ)
-      {
-        mat << 1,   0,    0,
-               0, m01,  m02,
-               0, m02, -m01;
-      }
-    }
-  }
-};
-
-/** \internal
-  * Trivial specialization for 1x1 matrices
-  */
-template<typename MatrixType, bool IsComplex>
-struct tridiagonalization_inplace_selector<MatrixType,1,IsComplex>
-{
-  typedef typename MatrixType::Scalar Scalar;
-
-  template<typename DiagonalType, typename SubDiagonalType>
-  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType&, bool extractQ)
-  {
-    diag(0,0) = numext::real(mat(0,0));
-    if(extractQ)
-      mat(0,0) = Scalar(1);
-  }
-};
-
-/** \internal
-  * \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  * \brief Expression type for return value of Tridiagonalization::matrixT()
-  *
-  * \tparam MatrixType type of underlying dense matrix
-  */
-template<typename MatrixType> struct TridiagonalizationMatrixTReturnType
-: public ReturnByValue<TridiagonalizationMatrixTReturnType<MatrixType> >
-{
-  public:
-    /** \brief Constructor.
-      *
-      * \param[in] mat The underlying dense matrix
-      */
-    TridiagonalizationMatrixTReturnType(const MatrixType& mat) : m_matrix(mat) { }
-
-    template <typename ResultType>
-    inline void evalTo(ResultType& result) const
-    {
-      result.setZero();
-      result.template diagonal<1>() = m_matrix.template diagonal<-1>().conjugate();
-      result.diagonal() = m_matrix.diagonal();
-      result.template diagonal<-1>() = m_matrix.template diagonal<-1>();
-    }
-
-    Index rows() const { return m_matrix.rows(); }
-    Index cols() const { return m_matrix.cols(); }
-
-  protected:
-    typename MatrixType::Nested m_matrix;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRIDIAGONALIZATION_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/AlignedBox.h b/phonelibs/eigen/Eigen/src/Geometry/AlignedBox.h
deleted file mode 100644
index 066eae4f92170f..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/AlignedBox.h
+++ /dev/null
@@ -1,392 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ALIGNEDBOX_H
-#define EIGEN_ALIGNEDBOX_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  *
-  * \class AlignedBox
-  *
-  * \brief An axis aligned box
-  *
-  * \tparam _Scalar the type of the scalar coefficients
-  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  *
-  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
-  * \warning The result of most methods is undefined when applied to an empty box. You can check for empty boxes using isEmpty().
-  * \sa alignedboxtypedefs
-  */
-template <typename _Scalar, int _AmbientDim>
-class AlignedBox
-{
-public:
-EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
-  enum { AmbientDimAtCompileTime = _AmbientDim };
-  typedef _Scalar                                   Scalar;
-  typedef NumTraits<Scalar>                         ScalarTraits;
-  typedef Eigen::Index                              Index; ///< \deprecated since Eigen 3.3
-  typedef typename ScalarTraits::Real               RealScalar;
-  typedef typename ScalarTraits::NonInteger         NonInteger;
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1>  VectorType;
-  typedef CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> VectorTypeSum;
-
-  /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
-  enum CornerType
-  {
-    /** 1D names @{ */
-    Min=0, Max=1,
-    /** @} */
-
-    /** Identifier for 2D corner @{ */
-    BottomLeft=0, BottomRight=1,
-    TopLeft=2, TopRight=3,
-    /** @} */
-
-    /** Identifier for 3D corner  @{ */
-    BottomLeftFloor=0, BottomRightFloor=1,
-    TopLeftFloor=2, TopRightFloor=3,
-    BottomLeftCeil=4, BottomRightCeil=5,
-    TopLeftCeil=6, TopRightCeil=7
-    /** @} */
-  };
-
-
-  /** Default constructor initializing a null box. */
-  EIGEN_DEVICE_FUNC inline AlignedBox()
-  { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
-
-  /** Constructs a null box with \a _dim the dimension of the ambient space. */
-  EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
-  { setEmpty(); }
-
-  /** Constructs a box with extremities \a _min and \a _max.
-   * \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */
-  template<typename OtherVectorType1, typename OtherVectorType2>
-  EIGEN_DEVICE_FUNC inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
-
-  /** Constructs a box containing a single point \a p. */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
-  { }
-
-  EIGEN_DEVICE_FUNC ~AlignedBox() {}
-
-  /** \returns the dimension in which the box holds */
-  EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
-
-  /** \deprecated use isEmpty() */
-  EIGEN_DEVICE_FUNC inline bool isNull() const { return isEmpty(); }
-
-  /** \deprecated use setEmpty() */
-  EIGEN_DEVICE_FUNC inline void setNull() { setEmpty(); }
-
-  /** \returns true if the box is empty.
-   * \sa setEmpty */
-  EIGEN_DEVICE_FUNC inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
-
-  /** Makes \c *this an empty box.
-   * \sa isEmpty */
-  EIGEN_DEVICE_FUNC inline void setEmpty()
-  {
-    m_min.setConstant( ScalarTraits::highest() );
-    m_max.setConstant( ScalarTraits::lowest() );
-  }
-
-  /** \returns the minimal corner */
-  EIGEN_DEVICE_FUNC inline const VectorType& (min)() const { return m_min; }
-  /** \returns a non const reference to the minimal corner */
-  EIGEN_DEVICE_FUNC inline VectorType& (min)() { return m_min; }
-  /** \returns the maximal corner */
-  EIGEN_DEVICE_FUNC inline const VectorType& (max)() const { return m_max; }
-  /** \returns a non const reference to the maximal corner */
-  EIGEN_DEVICE_FUNC inline VectorType& (max)() { return m_max; }
-
-  /** \returns the center of the box */
-  EIGEN_DEVICE_FUNC inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(VectorTypeSum, RealScalar, quotient)
-  center() const
-  { return (m_min+m_max)/RealScalar(2); }
-
-  /** \returns the lengths of the sides of the bounding box.
-    * Note that this function does not get the same
-    * result for integral or floating scalar types: see
-    */
-  EIGEN_DEVICE_FUNC inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> sizes() const
-  { return m_max - m_min; }
-
-  /** \returns the volume of the bounding box */
-  EIGEN_DEVICE_FUNC inline Scalar volume() const
-  { return sizes().prod(); }
-
-  /** \returns an expression for the bounding box diagonal vector
-    * if the length of the diagonal is needed: diagonal().norm()
-    * will provide it.
-    */
-  EIGEN_DEVICE_FUNC inline CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> diagonal() const
-  { return sizes(); }
-
-  /** \returns the vertex of the bounding box at the corner defined by
-    * the corner-id corner. It works only for a 1D, 2D or 3D bounding box.
-    * For 1D bounding boxes corners are named by 2 enum constants:
-    * BottomLeft and BottomRight.
-    * For 2D bounding boxes, corners are named by 4 enum constants:
-    * BottomLeft, BottomRight, TopLeft, TopRight.
-    * For 3D bounding boxes, the following names are added:
-    * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
-    */
-  EIGEN_DEVICE_FUNC inline VectorType corner(CornerType corner) const
-  {
-    EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
-
-    VectorType res;
-
-    Index mult = 1;
-    for(Index d=0; d<dim(); ++d)
-    {
-      if( mult & corner ) res[d] = m_max[d];
-      else                res[d] = m_min[d];
-      mult *= 2;
-    }
-    return res;
-  }
-
-  /** \returns a random point inside the bounding box sampled with
-   * a uniform distribution */
-  EIGEN_DEVICE_FUNC inline VectorType sample() const
-  {
-    VectorType r(dim());
-    for(Index d=0; d<dim(); ++d)
-    {
-      if(!ScalarTraits::IsInteger)
-      {
-        r[d] = m_min[d] + (m_max[d]-m_min[d])
-             * internal::random<Scalar>(Scalar(0), Scalar(1));
-      }
-      else
-        r[d] = internal::random(m_min[d], m_max[d]);
-    }
-    return r;
-  }
-
-  /** \returns true if the point \a p is inside the box \c *this. */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline bool contains(const MatrixBase<Derived>& p) const
-  {
-    typename internal::nested_eval<Derived,2>::type p_n(p.derived());
-    return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
-  }
-
-  /** \returns true if the box \a b is entirely inside the box \c *this. */
-  EIGEN_DEVICE_FUNC inline bool contains(const AlignedBox& b) const
-  { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
-
-  /** \returns true if the box \a b is intersecting the box \c *this.
-   * \sa intersection, clamp */
-  EIGEN_DEVICE_FUNC inline bool intersects(const AlignedBox& b) const
-  { return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); }
-
-  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this.
-   * \sa extend(const AlignedBox&) */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline AlignedBox& extend(const MatrixBase<Derived>& p)
-  {
-    typename internal::nested_eval<Derived,2>::type p_n(p.derived());
-    m_min = m_min.cwiseMin(p_n);
-    m_max = m_max.cwiseMax(p_n);
-    return *this;
-  }
-
-  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this.
-   * \sa merged, extend(const MatrixBase&) */
-  EIGEN_DEVICE_FUNC inline AlignedBox& extend(const AlignedBox& b)
-  {
-    m_min = m_min.cwiseMin(b.m_min);
-    m_max = m_max.cwiseMax(b.m_max);
-    return *this;
-  }
-
-  /** Clamps \c *this by the box \a b and returns a reference to \c *this.
-   * \note If the boxes don't intersect, the resulting box is empty.
-   * \sa intersection(), intersects() */
-  EIGEN_DEVICE_FUNC inline AlignedBox& clamp(const AlignedBox& b)
-  {
-    m_min = m_min.cwiseMax(b.m_min);
-    m_max = m_max.cwiseMin(b.m_max);
-    return *this;
-  }
-
-  /** Returns an AlignedBox that is the intersection of \a b and \c *this
-   * \note If the boxes don't intersect, the resulting box is empty.
-   * \sa intersects(), clamp, contains()  */
-  EIGEN_DEVICE_FUNC inline AlignedBox intersection(const AlignedBox& b) const
-  {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
-
-  /** Returns an AlignedBox that is the union of \a b and \c *this.
-   * \note Merging with an empty box may result in a box bigger than \c *this. 
-   * \sa extend(const AlignedBox&) */
-  EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
-  { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
-
-  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
-  {
-    const typename internal::nested_eval<Derived,2>::type t(a_t.derived());
-    m_min += t;
-    m_max += t;
-    return *this;
-  }
-
-  /** \returns the squared distance between the point \a p and the box \c *this,
-    * and zero if \a p is inside the box.
-    * \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
-    */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
-
-  /** \returns the squared distance between the boxes \a b and \c *this,
-    * and zero if the boxes intersect.
-    * \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)
-    */
-  EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
-
-  /** \returns the distance between the point \a p and the box \c *this,
-    * and zero if \a p is inside the box.
-    * \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&)
-    */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
-  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
-
-  /** \returns the distance between the boxes \a b and \c *this,
-    * and zero if the boxes intersect.
-    * \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
-    */
-  EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const
-  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<AlignedBox,
-           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
-  {
-    return typename internal::cast_return_type<AlignedBox,
-                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  EIGEN_DEVICE_FUNC inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
-  {
-    m_min = (other.min)().template cast<Scalar>();
-    m_max = (other.max)().template cast<Scalar>();
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  EIGEN_DEVICE_FUNC bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
-  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
-
-protected:
-
-  VectorType m_min, m_max;
-};
-
-
-
-template<typename Scalar,int AmbientDim>
-template<typename Derived>
-EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
-{
-  typename internal::nested_eval<Derived,2*AmbientDim>::type p(a_p.derived());
-  Scalar dist2(0);
-  Scalar aux;
-  for (Index k=0; k<dim(); ++k)
-  {
-    if( m_min[k] > p[k] )
-    {
-      aux = m_min[k] - p[k];
-      dist2 += aux*aux;
-    }
-    else if( p[k] > m_max[k] )
-    {
-      aux = p[k] - m_max[k];
-      dist2 += aux*aux;
-    }
-  }
-  return dist2;
-}
-
-template<typename Scalar,int AmbientDim>
-EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
-{
-  Scalar dist2(0);
-  Scalar aux;
-  for (Index k=0; k<dim(); ++k)
-  {
-    if( m_min[k] > b.m_max[k] )
-    {
-      aux = m_min[k] - b.m_max[k];
-      dist2 += aux*aux;
-    }
-    else if( b.m_min[k] > m_max[k] )
-    {
-      aux = b.m_min[k] - m_max[k];
-      dist2 += aux*aux;
-    }
-  }
-  return dist2;
-}
-
-/** \defgroup alignedboxtypedefs Global aligned box typedefs
-  *
-  * \ingroup Geometry_Module
-  *
-  * Eigen defines several typedef shortcuts for most common aligned box types.
-  *
-  * The general patterns are the following:
-  *
-  * \c AlignedBoxSizeType where \c Size can be \c 1, \c 2,\c 3,\c 4 for fixed size boxes or \c X for dynamic size,
-  * and where \c Type can be \c i for integer, \c f for float, \c d for double.
-  *
-  * For example, \c AlignedBox3d is a fixed-size 3x3 aligned box type of doubles, and \c AlignedBoxXf is a dynamic-size aligned box of floats.
-  *
-  * \sa class AlignedBox
-  */
-
-#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)    \
-/** \ingroup alignedboxtypedefs */                                 \
-typedef AlignedBox<Type, Size>   AlignedBox##SizeSuffix##TypeSuffix;
-
-#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X)
-
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int,                  i)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float,                f)
-EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double,               d)
-
-#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
-#undef EIGEN_MAKE_TYPEDEFS
-
-} // end namespace Eigen
-
-#endif // EIGEN_ALIGNEDBOX_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/AngleAxis.h b/phonelibs/eigen/Eigen/src/Geometry/AngleAxis.h
deleted file mode 100644
index 0af3c1b0896c1d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/AngleAxis.h
+++ /dev/null
@@ -1,247 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ANGLEAXIS_H
-#define EIGEN_ANGLEAXIS_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class AngleAxis
-  *
-  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  *
-  * \warning When setting up an AngleAxis object, the axis vector \b must \b be \b normalized.
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c AngleAxisf for \c float
-  * \li \c AngleAxisd for \c double
-  *
-  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
-  * mimic Euler-angles. Here is an example:
-  * \include AngleAxis_mimic_euler.cpp
-  * Output: \verbinclude AngleAxis_mimic_euler.out
-  *
-  * \note This class is not aimed to be used to store a rotation transformation,
-  * but rather to make easier the creation of other rotation (Quaternion, rotation Matrix)
-  * and transformation objects.
-  *
-  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
-  */
-
-namespace internal {
-template<typename _Scalar> struct traits<AngleAxis<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-}
-
-template<typename _Scalar>
-class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
-{
-  typedef RotationBase<AngleAxis<_Scalar>,3> Base;
-
-public:
-
-  using Base::operator*;
-
-  enum { Dim = 3 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,3,3> Matrix3;
-  typedef Matrix<Scalar,3,1> Vector3;
-  typedef Quaternion<Scalar> QuaternionType;
-
-protected:
-
-  Vector3 m_axis;
-  Scalar m_angle;
-
-public:
-
-  /** Default constructor without initialization. */
-  EIGEN_DEVICE_FUNC AngleAxis() {}
-  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
-    * and an \a axis which \b must \b be \b normalized.
-    *
-    * \warning If the \a axis vector is not normalized, then the angle-axis object
-    *          represents an invalid rotation. */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC 
-  inline AngleAxis(const Scalar& angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
-  /** Constructs and initialize the angle-axis rotation from a quaternion \a q.
-    * This function implicitly normalizes the quaternion \a q.
-    */
-  template<typename QuatDerived> 
-  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
-  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
-
-  /** \returns the value of the rotation angle in radian */
-  EIGEN_DEVICE_FUNC Scalar angle() const { return m_angle; }
-  /** \returns a read-write reference to the stored angle in radian */
-  EIGEN_DEVICE_FUNC Scalar& angle() { return m_angle; }
-
-  /** \returns the rotation axis */
-  EIGEN_DEVICE_FUNC const Vector3& axis() const { return m_axis; }
-  /** \returns a read-write reference to the stored rotation axis.
-    *
-    * \warning The rotation axis must remain a \b unit vector.
-    */
-  EIGEN_DEVICE_FUNC Vector3& axis() { return m_axis; }
-
-  /** Concatenates two rotations */
-  EIGEN_DEVICE_FUNC inline QuaternionType operator* (const AngleAxis& other) const
-  { return QuaternionType(*this) * QuaternionType(other); }
-
-  /** Concatenates two rotations */
-  EIGEN_DEVICE_FUNC inline QuaternionType operator* (const QuaternionType& other) const
-  { return QuaternionType(*this) * other; }
-
-  /** Concatenates two rotations */
-  friend EIGEN_DEVICE_FUNC inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
-  { return a * QuaternionType(b); }
-
-  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
-  EIGEN_DEVICE_FUNC AngleAxis inverse() const
-  { return AngleAxis(-m_angle, m_axis); }
-
-  template<class QuatDerived>
-  EIGEN_DEVICE_FUNC AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC AngleAxis& operator=(const MatrixBase<Derived>& m);
-
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
-  EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix(void) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
-  {
-    m_axis = other.axis().template cast<Scalar>();
-    m_angle = Scalar(other.angle());
-  }
-
-  EIGEN_DEVICE_FUNC static inline const AngleAxis Identity() { return AngleAxis(Scalar(0), Vector3::UnitX()); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  EIGEN_DEVICE_FUNC bool isApprox(const AngleAxis& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
-};
-
-/** \ingroup Geometry_Module
-  * single precision angle-axis type */
-typedef AngleAxis<float> AngleAxisf;
-/** \ingroup Geometry_Module
-  * double precision angle-axis type */
-typedef AngleAxis<double> AngleAxisd;
-
-/** Set \c *this from a \b unit quaternion.
-  *
-  * The resulting axis is normalized, and the computed angle is in the [0,pi] range.
-  * 
-  * This function implicitly normalizes the quaternion \a q.
-  */
-template<typename Scalar>
-template<typename QuatDerived>
-EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
-{
-  EIGEN_USING_STD_MATH(atan2)
-  EIGEN_USING_STD_MATH(abs)
-  Scalar n = q.vec().norm();
-  if(n<NumTraits<Scalar>::epsilon())
-    n = q.vec().stableNorm();
-
-  if (n != Scalar(0))
-  {
-    m_angle = Scalar(2)*atan2(n, abs(q.w()));
-    if(q.w() < 0)
-      n = -n;
-    m_axis  = q.vec() / n;
-  }
-  else
-  {
-    m_angle = Scalar(0);
-    m_axis << Scalar(1), Scalar(0), Scalar(0);
-  }
-  return *this;
-}
-
-/** Set \c *this from a 3x3 rotation matrix \a mat.
-  */
-template<typename Scalar>
-template<typename Derived>
-EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
-{
-  // Since a direct conversion would not be really faster,
-  // let's use the robust Quaternion implementation:
-  return *this = QuaternionType(mat);
-}
-
-/**
-* \brief Sets \c *this from a 3x3 rotation matrix.
-**/
-template<typename Scalar>
-template<typename Derived>
-EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
-{
-  return *this = QuaternionType(mat);
-}
-
-/** Constructs and \returns an equivalent 3x3 rotation matrix.
-  */
-template<typename Scalar>
-typename AngleAxis<Scalar>::Matrix3
-EIGEN_DEVICE_FUNC AngleAxis<Scalar>::toRotationMatrix(void) const
-{
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
-  Matrix3 res;
-  Vector3 sin_axis  = sin(m_angle) * m_axis;
-  Scalar c = cos(m_angle);
-  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
-
-  Scalar tmp;
-  tmp = cos1_axis.x() * m_axis.y();
-  res.coeffRef(0,1) = tmp - sin_axis.z();
-  res.coeffRef(1,0) = tmp + sin_axis.z();
-
-  tmp = cos1_axis.x() * m_axis.z();
-  res.coeffRef(0,2) = tmp + sin_axis.y();
-  res.coeffRef(2,0) = tmp - sin_axis.y();
-
-  tmp = cos1_axis.y() * m_axis.z();
-  res.coeffRef(1,2) = tmp - sin_axis.x();
-  res.coeffRef(2,1) = tmp + sin_axis.x();
-
-  res.diagonal() = (cos1_axis.cwiseProduct(m_axis)).array() + c;
-
-  return res;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ANGLEAXIS_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/EulerAngles.h b/phonelibs/eigen/Eigen/src/Geometry/EulerAngles.h
deleted file mode 100644
index c633268af2c5b8..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/EulerAngles.h
+++ /dev/null
@@ -1,114 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EULERANGLES_H
-#define EIGEN_EULERANGLES_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  *
-  * \returns the Euler-angles of the rotation matrix \c *this using the convention defined by the triplet (\a a0,\a a1,\a a2)
-  *
-  * Each of the three parameters \a a0,\a a1,\a a2 represents the respective rotation axis as an integer in {0,1,2}.
-  * For instance, in:
-  * \code Vector3f ea = mat.eulerAngles(2, 0, 2); \endcode
-  * "2" represents the z axis and "0" the x axis, etc. The returned angles are such that
-  * we have the following equality:
-  * \code
-  * mat == AngleAxisf(ea[0], Vector3f::UnitZ())
-  *      * AngleAxisf(ea[1], Vector3f::UnitX())
-  *      * AngleAxisf(ea[2], Vector3f::UnitZ()); \endcode
-  * This corresponds to the right-multiply conventions (with right hand side frames).
-  * 
-  * The returned angles are in the ranges [0:pi]x[-pi:pi]x[-pi:pi].
-  * 
-  * \sa class AngleAxis
-  */
-template<typename Derived>
-EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
-MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
-{
-  EIGEN_USING_STD_MATH(atan2)
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
-  /* Implemented from Graphics Gems IV */
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
-
-  Matrix<Scalar,3,1> res;
-  typedef Matrix<typename Derived::Scalar,2,1> Vector2;
-
-  const Index odd = ((a0+1)%3 == a1) ? 0 : 1;
-  const Index i = a0;
-  const Index j = (a0 + 1 + odd)%3;
-  const Index k = (a0 + 2 - odd)%3;
-  
-  if (a0==a2)
-  {
-    res[0] = atan2(coeff(j,i), coeff(k,i));
-    if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0)))
-    {
-      if(res[0] > Scalar(0)) {
-        res[0] -= Scalar(EIGEN_PI);
-      }
-      else {
-        res[0] += Scalar(EIGEN_PI);
-      }
-      Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm();
-      res[1] = -atan2(s2, coeff(i,i));
-    }
-    else
-    {
-      Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm();
-      res[1] = atan2(s2, coeff(i,i));
-    }
-    
-    // With a=(0,1,0), we have i=0; j=1; k=2, and after computing the first two angles,
-    // we can compute their respective rotation, and apply its inverse to M. Since the result must
-    // be a rotation around x, we have:
-    //
-    //  c2  s1.s2 c1.s2                   1  0   0 
-    //  0   c1    -s1       *    M    =   0  c3  s3
-    //  -s2 s1.c2 c1.c2                   0 -s3  c3
-    //
-    //  Thus:  m11.c1 - m21.s1 = c3  &   m12.c1 - m22.s1 = s3
-    
-    Scalar s1 = sin(res[0]);
-    Scalar c1 = cos(res[0]);
-    res[2] = atan2(c1*coeff(j,k)-s1*coeff(k,k), c1*coeff(j,j) - s1 * coeff(k,j));
-  } 
-  else
-  {
-    res[0] = atan2(coeff(j,k), coeff(k,k));
-    Scalar c2 = Vector2(coeff(i,i), coeff(i,j)).norm();
-    if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0))) {
-      if(res[0] > Scalar(0)) {
-        res[0] -= Scalar(EIGEN_PI);
-      }
-      else {
-        res[0] += Scalar(EIGEN_PI);
-      }
-      res[1] = atan2(-coeff(i,k), -c2);
-    }
-    else
-      res[1] = atan2(-coeff(i,k), c2);
-    Scalar s1 = sin(res[0]);
-    Scalar c1 = cos(res[0]);
-    res[2] = atan2(s1*coeff(k,i)-c1*coeff(j,i), c1*coeff(j,j) - s1 * coeff(k,j));
-  }
-  if (!odd)
-    res = -res;
-  
-  return res;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_EULERANGLES_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/Homogeneous.h b/phonelibs/eigen/Eigen/src/Geometry/Homogeneous.h
deleted file mode 100644
index 5f0da1a9e86971..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/Homogeneous.h
+++ /dev/null
@@ -1,497 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HOMOGENEOUS_H
-#define EIGEN_HOMOGENEOUS_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Homogeneous
-  *
-  * \brief Expression of one (or a set of) homogeneous vector(s)
-  *
-  * \param MatrixType the type of the object in which we are making homogeneous
-  *
-  * This class represents an expression of one (or a set of) homogeneous vector(s).
-  * It is the return type of MatrixBase::homogeneous() and most of the time
-  * this is the only way it is used.
-  *
-  * \sa MatrixBase::homogeneous()
-  */
-
-namespace internal {
-
-template<typename MatrixType,int Direction>
-struct traits<Homogeneous<MatrixType,Direction> >
- : traits<MatrixType>
-{
-  typedef typename traits<MatrixType>::StorageKind StorageKind;
-  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
-  enum {
-    RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
-                  int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
-    ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
-                  int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
-    RowsAtCompileTime = Direction==Vertical  ?  RowsPlusOne : MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = RowsAtCompileTime,
-    MaxColsAtCompileTime = ColsAtCompileTime,
-    TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
-    Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
-          : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
-          : TmpFlags
-  };
-};
-
-template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
-template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
-
-} // end namespace internal
-
-template<typename MatrixType,int _Direction> class Homogeneous
-  : public MatrixBase<Homogeneous<MatrixType,_Direction> >, internal::no_assignment_operator
-{
-  public:
-
-    typedef MatrixType NestedExpression;
-    enum { Direction = _Direction };
-
-    typedef MatrixBase<Homogeneous> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
-
-    EIGEN_DEVICE_FUNC explicit inline Homogeneous(const MatrixType& matrix)
-      : m_matrix(matrix)
-    {}
-
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
-    
-    EIGEN_DEVICE_FUNC const NestedExpression& nestedExpression() const { return m_matrix; }
-
-    template<typename Rhs>
-    EIGEN_DEVICE_FUNC inline const Product<Homogeneous,Rhs>
-    operator* (const MatrixBase<Rhs>& rhs) const
-    {
-      eigen_assert(int(Direction)==Horizontal);
-      return Product<Homogeneous,Rhs>(*this,rhs.derived());
-    }
-
-    template<typename Lhs> friend
-    EIGEN_DEVICE_FUNC inline const Product<Lhs,Homogeneous>
-    operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
-    {
-      eigen_assert(int(Direction)==Vertical);
-      return Product<Lhs,Homogeneous>(lhs.derived(),rhs);
-    }
-
-    template<typename Scalar, int Dim, int Mode, int Options> friend
-    EIGEN_DEVICE_FUNC inline const Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous >
-    operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
-    {
-      eigen_assert(int(Direction)==Vertical);
-      return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs);
-    }
-
-    template<typename Func>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::result_of<Func(Scalar,Scalar)>::type
-    redux(const Func& func) const
-    {
-      return func(m_matrix.redux(func), Scalar(1));
-    }
-
-  protected:
-    typename MatrixType::Nested m_matrix;
-};
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \returns a vector expression that is one longer than the vector argument, with the value 1 symbolically appended as the last coefficient.
-  *
-  * This can be used to convert affine coordinates to homogeneous coordinates.
-  *
-  * \only_for_vectors
-  *
-  * Example: \include MatrixBase_homogeneous.cpp
-  * Output: \verbinclude MatrixBase_homogeneous.out
-  *
-  * \sa VectorwiseOp::homogeneous(), class Homogeneous
-  */
-template<typename Derived>
-EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::HomogeneousReturnType
-MatrixBase<Derived>::homogeneous() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-  return HomogeneousReturnType(derived());
-}
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \returns an expression where the value 1 is symbolically appended as the final coefficient to each column (or row) of the matrix.
-  *
-  * This can be used to convert affine coordinates to homogeneous coordinates.
-  *
-  * Example: \include VectorwiseOp_homogeneous.cpp
-  * Output: \verbinclude VectorwiseOp_homogeneous.out
-  *
-  * \sa MatrixBase::homogeneous(), class Homogeneous */
-template<typename ExpressionType, int Direction>
-EIGEN_DEVICE_FUNC inline Homogeneous<ExpressionType,Direction>
-VectorwiseOp<ExpressionType,Direction>::homogeneous() const
-{
-  return HomogeneousReturnType(_expression());
-}
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \brief homogeneous normalization
-  *
-  * \returns a vector expression of the N-1 first coefficients of \c *this divided by that last coefficient.
-  *
-  * This can be used to convert homogeneous coordinates to affine coordinates.
-  *
-  * It is essentially a shortcut for:
-  * \code
-    this->head(this->size()-1)/this->coeff(this->size()-1);
-    \endcode
-  *
-  * Example: \include MatrixBase_hnormalized.cpp
-  * Output: \verbinclude MatrixBase_hnormalized.out
-  *
-  * \sa VectorwiseOp::hnormalized() */
-template<typename Derived>
-EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::HNormalizedReturnType
-MatrixBase<Derived>::hnormalized() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-  return ConstStartMinusOne(derived(),0,0,
-    ColsAtCompileTime==1?size()-1:1,
-    ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
-}
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \brief column or row-wise homogeneous normalization
-  *
-  * \returns an expression of the first N-1 coefficients of each column (or row) of \c *this divided by the last coefficient of each column (or row).
-  *
-  * This can be used to convert homogeneous coordinates to affine coordinates.
-  *
-  * It is conceptually equivalent to calling MatrixBase::hnormalized() to each column (or row) of \c *this.
-  *
-  * Example: \include DirectionWise_hnormalized.cpp
-  * Output: \verbinclude DirectionWise_hnormalized.out
-  *
-  * \sa MatrixBase::hnormalized() */
-template<typename ExpressionType, int Direction>
-EIGEN_DEVICE_FUNC inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
-VectorwiseOp<ExpressionType,Direction>::hnormalized() const
-{
-  return HNormalized_Block(_expression(),0,0,
-      Direction==Vertical   ? _expression().rows()-1 : _expression().rows(),
-      Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
-      Replicate<HNormalized_Factors,
-                Direction==Vertical   ? HNormalized_SizeMinusOne : 1,
-                Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
-        (HNormalized_Factors(_expression(),
-          Direction==Vertical    ? _expression().rows()-1:0,
-          Direction==Horizontal  ? _expression().cols()-1:0,
-          Direction==Vertical    ? 1 : _expression().rows(),
-          Direction==Horizontal  ? 1 : _expression().cols()),
-         Direction==Vertical   ? _expression().rows()-1 : 1,
-         Direction==Horizontal ? _expression().cols()-1 : 1));
-}
-
-namespace internal {
-
-template<typename MatrixOrTransformType>
-struct take_matrix_for_product
-{
-  typedef MatrixOrTransformType type;
-  EIGEN_DEVICE_FUNC static const type& run(const type &x) { return x; }
-};
-
-template<typename Scalar, int Dim, int Mode,int Options>
-struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
-{
-  typedef Transform<Scalar, Dim, Mode, Options> TransformType;
-  typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
-  EIGEN_DEVICE_FUNC static type run (const TransformType& x) { return x.affine(); }
-};
-
-template<typename Scalar, int Dim, int Options>
-struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
-{
-  typedef Transform<Scalar, Dim, Projective, Options> TransformType;
-  typedef typename TransformType::MatrixType type;
-  EIGEN_DEVICE_FUNC static const type& run (const TransformType& x) { return x.matrix(); }
-};
-
-template<typename MatrixType,typename Lhs>
-struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
-{
-  typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
-  typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
-  typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
-  typedef typename make_proper_matrix_type<
-                 typename traits<MatrixTypeCleaned>::Scalar,
-                 LhsMatrixTypeCleaned::RowsAtCompileTime,
-                 MatrixTypeCleaned::ColsAtCompileTime,
-                 MatrixTypeCleaned::PlainObject::Options,
-                 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
-                 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
-};
-
-template<typename MatrixType,typename Lhs>
-struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
-  : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
-{
-  typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
-  typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
-  typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
-  EIGEN_DEVICE_FUNC homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
-    : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
-      m_rhs(rhs)
-  {}
-
-  EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
-  EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
-
-  template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const
-  {
-    // FIXME investigate how to allow lazy evaluation of this product when possible
-    dst = Block<const LhsMatrixTypeNested,
-              LhsMatrixTypeNested::RowsAtCompileTime,
-              LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
-            (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
-    dst += m_lhs.col(m_lhs.cols()-1).rowwise()
-            .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
-  }
-
-  typename LhsMatrixTypeCleaned::Nested m_lhs;
-  typename MatrixType::Nested m_rhs;
-};
-
-template<typename MatrixType,typename Rhs>
-struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
-{
-  typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
-                 MatrixType::RowsAtCompileTime,
-                 Rhs::ColsAtCompileTime,
-                 MatrixType::PlainObject::Options,
-                 MatrixType::MaxRowsAtCompileTime,
-                 Rhs::MaxColsAtCompileTime>::type ReturnType;
-};
-
-template<typename MatrixType,typename Rhs>
-struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
-  : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
-{
-  typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
-  EIGEN_DEVICE_FUNC homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
-    : m_lhs(lhs), m_rhs(rhs)
-  {}
-
-  EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
-  EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
-
-  template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const
-  {
-    // FIXME investigate how to allow lazy evaluation of this product when possible
-    dst = m_lhs * Block<const RhsNested,
-                        RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
-                        RhsNested::ColsAtCompileTime>
-            (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
-    dst += m_rhs.row(m_rhs.rows()-1).colwise()
-            .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
-  }
-
-  typename MatrixType::Nested m_lhs;
-  typename Rhs::Nested m_rhs;
-};
-
-template<typename ArgType,int Direction>
-struct evaluator_traits<Homogeneous<ArgType,Direction> >
-{
-  typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind;
-  typedef HomogeneousShape Shape;  
-};
-
-template<> struct AssignmentKind<DenseShape,HomogeneousShape> { typedef Dense2Dense Kind; };
-
-
-template<typename ArgType,int Direction>
-struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased>
-  : evaluator<typename Homogeneous<ArgType,Direction>::PlainObject >
-{
-  typedef Homogeneous<ArgType,Direction> XprType;
-  typedef typename XprType::PlainObject PlainObject;
-  typedef evaluator<PlainObject> Base;
-
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op)
-    : Base(), m_temp(op)
-  {
-    ::new (static_cast<Base*>(this)) Base(m_temp);
-  }
-
-protected:
-  PlainObject m_temp;
-};
-
-// dense = homogeneous
-template< typename DstXprType, typename ArgType, typename Scalar>
-struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
-{
-  typedef Homogeneous<ArgType,Vertical> SrcXprType;
-  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression();
-    dst.row(dst.rows()-1).setOnes();
-  }
-};
-
-// dense = homogeneous
-template< typename DstXprType, typename ArgType, typename Scalar>
-struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
-{
-  typedef Homogeneous<ArgType,Horizontal> SrcXprType;
-  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression();
-    dst.col(dst.cols()-1).setOnes();
-  }
-};
-
-template<typename LhsArg, typename Rhs, int ProductTag>
-struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag>
-{
-  template<typename Dest>
-  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Homogeneous<LhsArg,Horizontal>& lhs, const Rhs& rhs)
-  {
-    homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst);
-  }
-};
-
-template<typename Lhs,typename Rhs>
-struct homogeneous_right_product_refactoring_helper
-{
-  enum {
-    Dim  = Lhs::ColsAtCompileTime,
-    Rows = Lhs::RowsAtCompileTime
-  };
-  typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type          LinearBlockConst;
-  typedef typename remove_const<LinearBlockConst>::type                 LinearBlock;
-  typedef typename Rhs::ConstRowXpr                                     ConstantColumn;
-  typedef Replicate<const ConstantColumn,Rows,1>                        ConstantBlock;
-  typedef Product<Lhs,LinearBlock,LazyProduct>                          LinearProduct;
-  typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
-};
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape>
- : public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr>
-{
-  typedef Product<Lhs, Rhs, LazyProduct> XprType;
-  typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper;
-  typedef typename helper::ConstantBlock ConstantBlock;
-  typedef typename helper::Xpr RefactoredXpr;
-  typedef evaluator<RefactoredXpr> Base;
-  
-  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
-    : Base(  xpr.lhs().nestedExpression() .lazyProduct(  xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
-            + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
-  {}
-};
-
-template<typename Lhs, typename RhsArg, int ProductTag>
-struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
-{
-  template<typename Dest>
-  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
-  {
-    homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst);
-  }
-};
-
-// TODO: the following specialization is to address a regression from 3.2 to 3.3
-// In the future, this path should be optimized.
-template<typename Lhs, typename RhsArg, int ProductTag>
-struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, TriangularShape, HomogeneousShape, ProductTag>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
-  {
-    dst.noalias() = lhs * rhs.eval();
-  }
-};
-
-template<typename Lhs,typename Rhs>
-struct homogeneous_left_product_refactoring_helper
-{
-  enum {
-    Dim = Rhs::RowsAtCompileTime,
-    Cols = Rhs::ColsAtCompileTime
-  };
-  typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type          LinearBlockConst;
-  typedef typename remove_const<LinearBlockConst>::type                 LinearBlock;
-  typedef typename Lhs::ConstColXpr                                     ConstantColumn;
-  typedef Replicate<const ConstantColumn,1,Cols>                        ConstantBlock;
-  typedef Product<LinearBlock,Rhs,LazyProduct>                          LinearProduct;
-  typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
-};
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape>
- : public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr>
-{
-  typedef Product<Lhs, Rhs, LazyProduct> XprType;
-  typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper;
-  typedef typename helper::ConstantBlock ConstantBlock;
-  typedef typename helper::Xpr RefactoredXpr;
-  typedef evaluator<RefactoredXpr> Base;
-  
-  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
-    : Base(   xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
-            + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
-  {}
-};
-
-template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag>
-struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
-{
-  typedef Transform<Scalar,Dim,Mode,Options> TransformType;
-  template<typename Dest>
-  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const TransformType& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
-  {
-    homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst);
-  }
-};
-
-template<typename ExpressionType, int Side, bool Transposed>
-struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape>
-  : public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
-{};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_HOMOGENEOUS_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/Hyperplane.h b/phonelibs/eigen/Eigen/src/Geometry/Hyperplane.h
deleted file mode 100644
index 05929b2994103b..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/Hyperplane.h
+++ /dev/null
@@ -1,282 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HYPERPLANE_H
-#define EIGEN_HYPERPLANE_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Hyperplane
-  *
-  * \brief A hyperplane
-  *
-  * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
-  * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
-  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  *             Notice that the dimension of the hyperplane is _AmbientDim-1.
-  *
-  * This class represents an hyperplane as the zero set of the implicit equation
-  * \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
-  * and \f$ d \f$ is the distance (offset) to the origin.
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-class Hyperplane
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
-  enum {
-    AmbientDimAtCompileTime = _AmbientDim,
-    Options = _Options
-  };
-  typedef _Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
-  typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic
-                        ? Dynamic
-                        : Index(AmbientDimAtCompileTime)+1,1,Options> Coefficients;
-  typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
-  typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
-
-  /** Default constructor without initialization */
-  EIGEN_DEVICE_FUNC inline Hyperplane() {}
-  
-  template<int OtherOptions>
-  EIGEN_DEVICE_FUNC Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
-   : m_coeffs(other.coeffs())
-  {}
-
-  /** Constructs a dynamic-size hyperplane with \a _dim the dimension
-    * of the ambient space */
-  EIGEN_DEVICE_FUNC inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {}
-
-  /** Construct a plane from its normal \a n and a point \a e onto the plane.
-    * \warning the vector normal is assumed to be normalized.
-    */
-  EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const VectorType& e)
-    : m_coeffs(n.size()+1)
-  {
-    normal() = n;
-    offset() = -n.dot(e);
-  }
-
-  /** Constructs a plane from its normal \a n and distance to the origin \a d
-    * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
-    * \warning the vector normal is assumed to be normalized.
-    */
-  EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const Scalar& d)
-    : m_coeffs(n.size()+1)
-  {
-    normal() = n;
-    offset() = d;
-  }
-
-  /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
-    * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
-    */
-  EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
-  {
-    Hyperplane result(p0.size());
-    result.normal() = (p1 - p0).unitOrthogonal();
-    result.offset() = -p0.dot(result.normal());
-    return result;
-  }
-
-  /** Constructs a hyperplane passing through the three points. The dimension of the ambient space
-    * is required to be exactly 3.
-    */
-  EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
-  {
-    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
-    Hyperplane result(p0.size());
-    VectorType v0(p2 - p0), v1(p1 - p0);
-    result.normal() = v0.cross(v1);
-    RealScalar norm = result.normal().norm();
-    if(norm <= v0.norm() * v1.norm() * NumTraits<RealScalar>::epsilon())
-    {
-      Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
-      JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
-      result.normal() = svd.matrixV().col(2);
-    }
-    else
-      result.normal() /= norm;
-    result.offset() = -p0.dot(result.normal());
-    return result;
-  }
-
-  /** Constructs a hyperplane passing through the parametrized line \a parametrized.
-    * If the dimension of the ambient space is greater than 2, then there isn't uniqueness,
-    * so an arbitrary choice is made.
-    */
-  // FIXME to be consitent with the rest this could be implemented as a static Through function ??
-  EIGEN_DEVICE_FUNC explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
-  {
-    normal() = parametrized.direction().unitOrthogonal();
-    offset() = -parametrized.origin().dot(normal());
-  }
-
-  EIGEN_DEVICE_FUNC ~Hyperplane() {}
-
-  /** \returns the dimension in which the plane holds */
-  EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); }
-
-  /** normalizes \c *this */
-  EIGEN_DEVICE_FUNC void normalize(void)
-  {
-    m_coeffs /= normal().norm();
-  }
-
-  /** \returns the signed distance between the plane \c *this and a point \a p.
-    * \sa absDistance()
-    */
-  EIGEN_DEVICE_FUNC inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
-
-  /** \returns the absolute distance between the plane \c *this and a point \a p.
-    * \sa signedDistance()
-    */
-  EIGEN_DEVICE_FUNC inline Scalar absDistance(const VectorType& p) const { return numext::abs(signedDistance(p)); }
-
-  /** \returns the projection of a point \a p onto the plane \c *this.
-    */
-  EIGEN_DEVICE_FUNC inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
-
-  /** \returns a constant reference to the unit normal vector of the plane, which corresponds
-    * to the linear part of the implicit equation.
-    */
-  EIGEN_DEVICE_FUNC inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); }
-
-  /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
-    * to the linear part of the implicit equation.
-    */
-  EIGEN_DEVICE_FUNC inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
-
-  /** \returns the distance to the origin, which is also the "constant term" of the implicit equation
-    * \warning the vector normal is assumed to be normalized.
-    */
-  EIGEN_DEVICE_FUNC inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
-
-  /** \returns a non-constant reference to the distance to the origin, which is also the constant part
-    * of the implicit equation */
-  EIGEN_DEVICE_FUNC inline Scalar& offset() { return m_coeffs(dim()); }
-
-  /** \returns a constant reference to the coefficients c_i of the plane equation:
-    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
-    */
-  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
-
-  /** \returns a non-constant reference to the coefficients c_i of the plane equation:
-    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
-    */
-  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
-
-  /** \returns the intersection of *this with \a other.
-    *
-    * \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines.
-    *
-    * \note If \a other is approximately parallel to *this, this method will return any point on *this.
-    */
-  EIGEN_DEVICE_FUNC VectorType intersection(const Hyperplane& other) const
-  {
-    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
-    Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
-    // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
-    // whether the two lines are approximately parallel.
-    if(internal::isMuchSmallerThan(det, Scalar(1)))
-    {   // special case where the two lines are approximately parallel. Pick any point on the first line.
-        if(numext::abs(coeffs().coeff(1))>numext::abs(coeffs().coeff(0)))
-            return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
-        else
-            return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
-    }
-    else
-    {   // general case
-        Scalar invdet = Scalar(1) / det;
-        return VectorType(invdet*(coeffs().coeff(1)*other.coeffs().coeff(2)-other.coeffs().coeff(1)*coeffs().coeff(2)),
-                          invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
-    }
-  }
-
-  /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
-    *
-    * \param mat the Dim x Dim transformation matrix
-    * \param traits specifies whether the matrix \a mat represents an #Isometry
-    *               or a more generic #Affine transformation. The default is #Affine.
-    */
-  template<typename XprType>
-  EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
-  {
-    if (traits==Affine)
-    {
-      normal() = mat.inverse().transpose() * normal();
-      m_coeffs /= normal().norm();
-    }
-    else if (traits==Isometry)
-      normal() = mat * normal();
-    else
-    {
-      eigen_assert(0 && "invalid traits value in Hyperplane::transform()");
-    }
-    return *this;
-  }
-
-  /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
-    *
-    * \param t the transformation of dimension Dim
-    * \param traits specifies whether the transformation \a t represents an #Isometry
-    *               or a more generic #Affine transformation. The default is #Affine.
-    *               Other kind of transformations are not supported.
-    */
-  template<int TrOptions>
-  EIGEN_DEVICE_FUNC inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
-                                TransformTraits traits = Affine)
-  {
-    transform(t.linear(), traits);
-    offset() -= normal().dot(t.translation());
-    return *this;
-  }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Hyperplane,
-           Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
-  {
-    return typename internal::cast_return_type<Hyperplane,
-                    Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType,int OtherOptions>
-  EIGEN_DEVICE_FUNC inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  template<int OtherOptions>
-  EIGEN_DEVICE_FUNC bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-protected:
-
-  Coefficients m_coeffs;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_HYPERPLANE_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/OrthoMethods.h b/phonelibs/eigen/Eigen/src/Geometry/OrthoMethods.h
deleted file mode 100644
index a035e6310a75d9..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/OrthoMethods.h
+++ /dev/null
@@ -1,234 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ORTHOMETHODS_H
-#define EIGEN_ORTHOMETHODS_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \returns the cross product of \c *this and \a other
-  *
-  * Here is a very good explanation of cross-product: http://xkcd.com/199/
-  * 
-  * With complex numbers, the cross product is implemented as
-  * \f$ (\mathbf{a}+i\mathbf{b}) \times (\mathbf{c}+i\mathbf{d}) = (\mathbf{a} \times \mathbf{c} - \mathbf{b} \times \mathbf{d}) - i(\mathbf{a} \times \mathbf{d} - \mathbf{b} \times \mathbf{c})\f$
-  * 
-  * \sa MatrixBase::cross3()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
-#else
-inline typename MatrixBase<Derived>::PlainObject
-#endif
-MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
-
-  // Note that there is no need for an expression here since the compiler
-  // optimize such a small temporary very well (even within a complex expression)
-  typename internal::nested_eval<Derived,2>::type lhs(derived());
-  typename internal::nested_eval<OtherDerived,2>::type rhs(other.derived());
-  return typename cross_product_return_type<OtherDerived>::type(
-    numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
-    numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
-    numext::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0))
-  );
-}
-
-namespace internal {
-
-template< int Arch,typename VectorLhs,typename VectorRhs,
-          typename Scalar = typename VectorLhs::Scalar,
-          bool Vectorizable = bool((VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit)>
-struct cross3_impl {
-  EIGEN_DEVICE_FUNC static inline typename internal::plain_matrix_type<VectorLhs>::type
-  run(const VectorLhs& lhs, const VectorRhs& rhs)
-  {
-    return typename internal::plain_matrix_type<VectorLhs>::type(
-      numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
-      numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
-      numext::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)),
-      0
-    );
-  }
-};
-
-}
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
-  *
-  * The size of \c *this and \a other must be four. This function is especially useful
-  * when using 4D vectors instead of 3D ones to get advantage of SSE/AltiVec vectorization.
-  *
-  * \sa MatrixBase::cross()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::PlainObject
-MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
-
-  typedef typename internal::nested_eval<Derived,2>::type DerivedNested;
-  typedef typename internal::nested_eval<OtherDerived,2>::type OtherDerivedNested;
-  DerivedNested lhs(derived());
-  OtherDerivedNested rhs(other.derived());
-
-  return internal::cross3_impl<Architecture::Target,
-                        typename internal::remove_all<DerivedNested>::type,
-                        typename internal::remove_all<OtherDerivedNested>::type>::run(lhs,rhs);
-}
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \returns a matrix expression of the cross product of each column or row
-  * of the referenced expression with the \a other vector.
-  *
-  * The referenced matrix must have one dimension equal to 3.
-  * The result matrix has the same dimensions than the referenced one.
-  *
-  * \sa MatrixBase::cross() */
-template<typename ExpressionType, int Direction>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC 
-const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
-VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
-  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-  
-  typename internal::nested_eval<ExpressionType,2>::type mat(_expression());
-  typename internal::nested_eval<OtherDerived,2>::type vec(other.derived());
-
-  CrossReturnType res(_expression().rows(),_expression().cols());
-  if(Direction==Vertical)
-  {
-    eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
-    res.row(0) = (mat.row(1) * vec.coeff(2) - mat.row(2) * vec.coeff(1)).conjugate();
-    res.row(1) = (mat.row(2) * vec.coeff(0) - mat.row(0) * vec.coeff(2)).conjugate();
-    res.row(2) = (mat.row(0) * vec.coeff(1) - mat.row(1) * vec.coeff(0)).conjugate();
-  }
-  else
-  {
-    eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
-    res.col(0) = (mat.col(1) * vec.coeff(2) - mat.col(2) * vec.coeff(1)).conjugate();
-    res.col(1) = (mat.col(2) * vec.coeff(0) - mat.col(0) * vec.coeff(2)).conjugate();
-    res.col(2) = (mat.col(0) * vec.coeff(1) - mat.col(1) * vec.coeff(0)).conjugate();
-  }
-  return res;
-}
-
-namespace internal {
-
-template<typename Derived, int Size = Derived::SizeAtCompileTime>
-struct unitOrthogonal_selector
-{
-  typedef typename plain_matrix_type<Derived>::type VectorType;
-  typedef typename traits<Derived>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Matrix<Scalar,2,1> Vector2;
-  EIGEN_DEVICE_FUNC
-  static inline VectorType run(const Derived& src)
-  {
-    VectorType perp = VectorType::Zero(src.size());
-    Index maxi = 0;
-    Index sndi = 0;
-    src.cwiseAbs().maxCoeff(&maxi);
-    if (maxi==0)
-      sndi = 1;
-    RealScalar invnm = RealScalar(1)/(Vector2() << src.coeff(sndi),src.coeff(maxi)).finished().norm();
-    perp.coeffRef(maxi) = -numext::conj(src.coeff(sndi)) * invnm;
-    perp.coeffRef(sndi) =  numext::conj(src.coeff(maxi)) * invnm;
-
-    return perp;
-   }
-};
-
-template<typename Derived>
-struct unitOrthogonal_selector<Derived,3>
-{
-  typedef typename plain_matrix_type<Derived>::type VectorType;
-  typedef typename traits<Derived>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  EIGEN_DEVICE_FUNC
-  static inline VectorType run(const Derived& src)
-  {
-    VectorType perp;
-    /* Let us compute the crossed product of *this with a vector
-     * that is not too close to being colinear to *this.
-     */
-
-    /* unless the x and y coords are both close to zero, we can
-     * simply take ( -y, x, 0 ) and normalize it.
-     */
-    if((!isMuchSmallerThan(src.x(), src.z()))
-    || (!isMuchSmallerThan(src.y(), src.z())))
-    {
-      RealScalar invnm = RealScalar(1)/src.template head<2>().norm();
-      perp.coeffRef(0) = -numext::conj(src.y())*invnm;
-      perp.coeffRef(1) = numext::conj(src.x())*invnm;
-      perp.coeffRef(2) = 0;
-    }
-    /* if both x and y are close to zero, then the vector is close
-     * to the z-axis, so it's far from colinear to the x-axis for instance.
-     * So we take the crossed product with (1,0,0) and normalize it.
-     */
-    else
-    {
-      RealScalar invnm = RealScalar(1)/src.template tail<2>().norm();
-      perp.coeffRef(0) = 0;
-      perp.coeffRef(1) = -numext::conj(src.z())*invnm;
-      perp.coeffRef(2) = numext::conj(src.y())*invnm;
-    }
-
-    return perp;
-   }
-};
-
-template<typename Derived>
-struct unitOrthogonal_selector<Derived,2>
-{
-  typedef typename plain_matrix_type<Derived>::type VectorType;
-  EIGEN_DEVICE_FUNC
-  static inline VectorType run(const Derived& src)
-  { return VectorType(-numext::conj(src.y()), numext::conj(src.x())).normalized(); }
-};
-
-} // end namespace internal
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \returns a unit vector which is orthogonal to \c *this
-  *
-  * The size of \c *this must be at least 2. If the size is exactly 2,
-  * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
-  *
-  * \sa cross()
-  */
-template<typename Derived>
-EIGEN_DEVICE_FUNC typename MatrixBase<Derived>::PlainObject
-MatrixBase<Derived>::unitOrthogonal() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return internal::unitOrthogonal_selector<Derived>::run(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ORTHOMETHODS_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/ParametrizedLine.h b/phonelibs/eigen/Eigen/src/Geometry/ParametrizedLine.h
deleted file mode 100644
index 1e985d8cde2ee6..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/ParametrizedLine.h
+++ /dev/null
@@ -1,195 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PARAMETRIZEDLINE_H
-#define EIGEN_PARAMETRIZEDLINE_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class ParametrizedLine
-  *
-  * \brief A parametrized line
-  *
-  * A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit
-  * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
-  * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ t \in \mathbf{R} \f$.
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
-  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-class ParametrizedLine
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
-  enum {
-    AmbientDimAtCompileTime = _AmbientDim,
-    Options = _Options
-  };
-  typedef _Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
-
-  /** Default constructor without initialization */
-  EIGEN_DEVICE_FUNC inline ParametrizedLine() {}
-  
-  template<int OtherOptions>
-  EIGEN_DEVICE_FUNC ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
-   : m_origin(other.origin()), m_direction(other.direction())
-  {}
-
-  /** Constructs a dynamic-size line with \a _dim the dimension
-    * of the ambient space */
-  EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
-
-  /** Initializes a parametrized line of direction \a direction and origin \a origin.
-    * \warning the vector direction is assumed to be normalized.
-    */
-  EIGEN_DEVICE_FUNC ParametrizedLine(const VectorType& origin, const VectorType& direction)
-    : m_origin(origin), m_direction(direction) {}
-
-  template <int OtherOptions>
-  EIGEN_DEVICE_FUNC explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
-
-  /** Constructs a parametrized line going from \a p0 to \a p1. */
-  EIGEN_DEVICE_FUNC static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
-  { return ParametrizedLine(p0, (p1-p0).normalized()); }
-
-  EIGEN_DEVICE_FUNC ~ParametrizedLine() {}
-
-  /** \returns the dimension in which the line holds */
-  EIGEN_DEVICE_FUNC inline Index dim() const { return m_direction.size(); }
-
-  EIGEN_DEVICE_FUNC const VectorType& origin() const { return m_origin; }
-  EIGEN_DEVICE_FUNC VectorType& origin() { return m_origin; }
-
-  EIGEN_DEVICE_FUNC const VectorType& direction() const { return m_direction; }
-  EIGEN_DEVICE_FUNC VectorType& direction() { return m_direction; }
-
-  /** \returns the squared distance of a point \a p to its projection onto the line \c *this.
-    * \sa distance()
-    */
-  EIGEN_DEVICE_FUNC RealScalar squaredDistance(const VectorType& p) const
-  {
-    VectorType diff = p - origin();
-    return (diff - direction().dot(diff) * direction()).squaredNorm();
-  }
-  /** \returns the distance of a point \a p to its projection onto the line \c *this.
-    * \sa squaredDistance()
-    */
-  EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD_MATH(sqrt) return sqrt(squaredDistance(p)); }
-
-  /** \returns the projection of a point \a p onto the line \c *this. */
-  EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const
-  { return origin() + direction().dot(p-origin()) * direction(); }
-
-  EIGEN_DEVICE_FUNC VectorType pointAt(const Scalar& t) const;
-  
-  template <int OtherOptions>
-  EIGEN_DEVICE_FUNC Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
- 
-  template <int OtherOptions>
-  EIGEN_DEVICE_FUNC Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
-  
-  template <int OtherOptions>
-  EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<ParametrizedLine,
-           ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
-  {
-    return typename internal::cast_return_type<ParametrizedLine,
-                    ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType,int OtherOptions>
-  EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
-  {
-    m_origin = other.origin().template cast<Scalar>();
-    m_direction = other.direction().template cast<Scalar>();
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  EIGEN_DEVICE_FUNC bool isApprox(const ParametrizedLine& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
-
-protected:
-
-  VectorType m_origin, m_direction;
-};
-
-/** Constructs a parametrized line from a 2D hyperplane
-  *
-  * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-template <int OtherOptions>
-EIGEN_DEVICE_FUNC inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
-  direction() = hyperplane.normal().unitOrthogonal();
-  origin() = -hyperplane.normal()*hyperplane.offset();
-}
-
-/** \returns the point at \a t along this line
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
-ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const
-{
-  return origin() + (direction()*t); 
-}
-
-/** \returns the parameter value of the intersection between \c *this and the given \a hyperplane
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-template <int OtherOptions>
-EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
-{
-  return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
-          / hyperplane.normal().dot(direction());
-}
-
-
-/** \deprecated use intersectionParameter()
-  * \returns the parameter value of the intersection between \c *this and the given \a hyperplane
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-template <int OtherOptions>
-EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
-{
-  return intersectionParameter(hyperplane);
-}
-
-/** \returns the point of the intersection between \c *this and the given hyperplane
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-template <int OtherOptions>
-EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
-ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
-{
-  return pointAt(intersectionParameter(hyperplane));
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_PARAMETRIZEDLINE_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/Quaternion.h b/phonelibs/eigen/Eigen/src/Geometry/Quaternion.h
deleted file mode 100644
index f6ef1bcf62744e..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/Quaternion.h
+++ /dev/null
@@ -1,811 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_QUATERNION_H
-#define EIGEN_QUATERNION_H
-namespace Eigen { 
-
-
-/***************************************************************************
-* Definition of QuaternionBase<Derived>
-* The implementation is at the end of the file
-***************************************************************************/
-
-namespace internal {
-template<typename Other,
-         int OtherRows=Other::RowsAtCompileTime,
-         int OtherCols=Other::ColsAtCompileTime>
-struct quaternionbase_assign_impl;
-}
-
-/** \geometry_module \ingroup Geometry_Module
-  * \class QuaternionBase
-  * \brief Base class for quaternion expressions
-  * \tparam Derived derived type (CRTP)
-  * \sa class Quaternion
-  */
-template<class Derived>
-class QuaternionBase : public RotationBase<Derived, 3>
-{
- public:
-  typedef RotationBase<Derived, 3> Base;
-
-  using Base::operator*;
-  using Base::derived;
-
-  typedef typename internal::traits<Derived>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef typename internal::traits<Derived>::Coefficients Coefficients;
-  enum {
-    Flags = Eigen::internal::traits<Derived>::Flags
-  };
-
- // typedef typename Matrix<Scalar,4,1> Coefficients;
-  /** the type of a 3D vector */
-  typedef Matrix<Scalar,3,1> Vector3;
-  /** the equivalent rotation matrix type */
-  typedef Matrix<Scalar,3,3> Matrix3;
-  /** the equivalent angle-axis type */
-  typedef AngleAxis<Scalar> AngleAxisType;
-
-
-
-  /** \returns the \c x coefficient */
-  EIGEN_DEVICE_FUNC inline Scalar x() const { return this->derived().coeffs().coeff(0); }
-  /** \returns the \c y coefficient */
-  EIGEN_DEVICE_FUNC inline Scalar y() const { return this->derived().coeffs().coeff(1); }
-  /** \returns the \c z coefficient */
-  EIGEN_DEVICE_FUNC inline Scalar z() const { return this->derived().coeffs().coeff(2); }
-  /** \returns the \c w coefficient */
-  EIGEN_DEVICE_FUNC inline Scalar w() const { return this->derived().coeffs().coeff(3); }
-
-  /** \returns a reference to the \c x coefficient */
-  EIGEN_DEVICE_FUNC inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
-  /** \returns a reference to the \c y coefficient */
-  EIGEN_DEVICE_FUNC inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
-  /** \returns a reference to the \c z coefficient */
-  EIGEN_DEVICE_FUNC inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
-  /** \returns a reference to the \c w coefficient */
-  EIGEN_DEVICE_FUNC inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
-
-  /** \returns a read-only vector expression of the imaginary part (x,y,z) */
-  EIGEN_DEVICE_FUNC inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
-
-  /** \returns a vector expression of the imaginary part (x,y,z) */
-  EIGEN_DEVICE_FUNC inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
-
-  /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
-  EIGEN_DEVICE_FUNC inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
-
-  /** \returns a vector expression of the coefficients (x,y,z,w) */
-  EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
-  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
-
-// disabled this copy operator as it is giving very strange compilation errors when compiling
-// test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
-// useful; however notice that we already have the templated operator= above and e.g. in MatrixBase
-// we didn't have to add, in addition to templated operator=, such a non-templated copy operator.
-//  Derived& operator=(const QuaternionBase& other)
-//  { return operator=<Derived>(other); }
-
-  EIGEN_DEVICE_FUNC Derived& operator=(const AngleAxisType& aa);
-  template<class OtherDerived> EIGEN_DEVICE_FUNC Derived& operator=(const MatrixBase<OtherDerived>& m);
-
-  /** \returns a quaternion representing an identity rotation
-    * \sa MatrixBase::Identity()
-    */
-  EIGEN_DEVICE_FUNC static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
-
-  /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
-    */
-  EIGEN_DEVICE_FUNC inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }
-
-  /** \returns the squared norm of the quaternion's coefficients
-    * \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
-    */
-  EIGEN_DEVICE_FUNC inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
-
-  /** \returns the norm of the quaternion's coefficients
-    * \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
-    */
-  EIGEN_DEVICE_FUNC inline Scalar norm() const { return coeffs().norm(); }
-
-  /** Normalizes the quaternion \c *this
-    * \sa normalized(), MatrixBase::normalize() */
-  EIGEN_DEVICE_FUNC inline void normalize() { coeffs().normalize(); }
-  /** \returns a normalized copy of \c *this
-    * \sa normalize(), MatrixBase::normalized() */
-  EIGEN_DEVICE_FUNC inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
-
-    /** \returns the dot product of \c *this and \a other
-    * Geometrically speaking, the dot product of two unit quaternions
-    * corresponds to the cosine of half the angle between the two rotations.
-    * \sa angularDistance()
-    */
-  template<class OtherDerived> EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
-
-  template<class OtherDerived> EIGEN_DEVICE_FUNC Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
-
-  /** \returns an equivalent 3x3 rotation matrix */
-  EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix() const;
-
-  /** \returns the quaternion which transform \a a into \a b through a rotation */
-  template<typename Derived1, typename Derived2>
-  EIGEN_DEVICE_FUNC Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
-
-  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
-  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
-
-  /** \returns the quaternion describing the inverse rotation */
-  EIGEN_DEVICE_FUNC Quaternion<Scalar> inverse() const;
-
-  /** \returns the conjugated quaternion */
-  EIGEN_DEVICE_FUNC Quaternion<Scalar> conjugate() const;
-
-  template<class OtherDerived> EIGEN_DEVICE_FUNC Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  template<class OtherDerived>
-  EIGEN_DEVICE_FUNC bool isApprox(const QuaternionBase<OtherDerived>& other, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return coeffs().isApprox(other.coeffs(), prec); }
-
-  /** return the result vector of \a v through the rotation*/
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
-  {
-    return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(derived());
-  }
-
-#ifdef EIGEN_QUATERNIONBASE_PLUGIN
-# include EIGEN_QUATERNIONBASE_PLUGIN
-#endif
-};
-
-/***************************************************************************
-* Definition/implementation of Quaternion<Scalar>
-***************************************************************************/
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Quaternion
-  *
-  * \brief The quaternion class used to represent 3D orientations and rotations
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
-  * \tparam _Options controls the memory alignment of the coefficients. Can be \# AutoAlign or \# DontAlign. Default is AutoAlign.
-  *
-  * This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
-  * orientations and rotations of objects in three dimensions. Compared to other representations
-  * like Euler angles or 3x3 matrices, quaternions offer the following advantages:
-  * \li \b compact storage (4 scalars)
-  * \li \b efficient to compose (28 flops),
-  * \li \b stable spherical interpolation
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c Quaternionf for \c float
-  * \li \c Quaterniond for \c double
-  *
-  * \warning Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not normalized.
-  *
-  * \sa  class AngleAxis, class Transform
-  */
-
-namespace internal {
-template<typename _Scalar,int _Options>
-struct traits<Quaternion<_Scalar,_Options> >
-{
-  typedef Quaternion<_Scalar,_Options> PlainObject;
-  typedef _Scalar Scalar;
-  typedef Matrix<_Scalar,4,1,_Options> Coefficients;
-  enum{
-    Alignment = internal::traits<Coefficients>::Alignment,
-    Flags = LvalueBit
-  };
-};
-}
-
-template<typename _Scalar, int _Options>
-class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
-{
-public:
-  typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
-  enum { NeedsAlignment = internal::traits<Quaternion>::Alignment>0 };
-
-  typedef _Scalar Scalar;
-
-  EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Quaternion)
-  using Base::operator*=;
-
-  typedef typename internal::traits<Quaternion>::Coefficients Coefficients;
-  typedef typename Base::AngleAxisType AngleAxisType;
-
-  /** Default constructor leaving the quaternion uninitialized. */
-  EIGEN_DEVICE_FUNC inline Quaternion() {}
-
-  /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
-    * its four coefficients \a w, \a x, \a y and \a z.
-    *
-    * \warning Note the order of the arguments: the real \a w coefficient first,
-    * while internally the coefficients are stored in the following order:
-    * [\c x, \c y, \c z, \c w]
-    */
-  EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
-
-  /** Constructs and initialize a quaternion from the array data */
-  EIGEN_DEVICE_FUNC explicit inline Quaternion(const Scalar* data) : m_coeffs(data) {}
-
-  /** Copy constructor */
-  template<class Derived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
-
-  /** Constructs and initializes a quaternion from the angle-axis \a aa */
-  EIGEN_DEVICE_FUNC explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
-
-  /** Constructs and initializes a quaternion from either:
-    *  - a rotation matrix expression,
-    *  - a 4D vector expression representing quaternion coefficients.
-    */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
-
-  /** Explicit copy constructor with scalar conversion */
-  template<typename OtherScalar, int OtherOptions>
-  EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
-
-  EIGEN_DEVICE_FUNC static Quaternion UnitRandom();
-
-  template<typename Derived1, typename Derived2>
-  EIGEN_DEVICE_FUNC static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
-
-  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs;}
-  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
-
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(NeedsAlignment))
-  
-#ifdef EIGEN_QUATERNION_PLUGIN
-# include EIGEN_QUATERNION_PLUGIN
-#endif
-
-protected:
-  Coefficients m_coeffs;
-  
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    static EIGEN_STRONG_INLINE void _check_template_params()
-    {
-      EIGEN_STATIC_ASSERT( (_Options & DontAlign) == _Options,
-        INVALID_MATRIX_TEMPLATE_PARAMETERS)
-    }
-#endif
-};
-
-/** \ingroup Geometry_Module
-  * single precision quaternion type */
-typedef Quaternion<float> Quaternionf;
-/** \ingroup Geometry_Module
-  * double precision quaternion type */
-typedef Quaternion<double> Quaterniond;
-
-/***************************************************************************
-* Specialization of Map<Quaternion<Scalar>>
-***************************************************************************/
-
-namespace internal {
-  template<typename _Scalar, int _Options>
-  struct traits<Map<Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
-  {
-    typedef Map<Matrix<_Scalar,4,1>, _Options> Coefficients;
-  };
-}
-
-namespace internal {
-  template<typename _Scalar, int _Options>
-  struct traits<Map<const Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
-  {
-    typedef Map<const Matrix<_Scalar,4,1>, _Options> Coefficients;
-    typedef traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> > TraitsBase;
-    enum {
-      Flags = TraitsBase::Flags & ~LvalueBit
-    };
-  };
-}
-
-/** \ingroup Geometry_Module
-  * \brief Quaternion expression mapping a constant memory buffer
-  *
-  * \tparam _Scalar the type of the Quaternion coefficients
-  * \tparam _Options see class Map
-  *
-  * This is a specialization of class Map for Quaternion. This class allows to view
-  * a 4 scalar memory buffer as an Eigen's Quaternion object.
-  *
-  * \sa class Map, class Quaternion, class QuaternionBase
-  */
-template<typename _Scalar, int _Options>
-class Map<const Quaternion<_Scalar>, _Options >
-  : public QuaternionBase<Map<const Quaternion<_Scalar>, _Options> >
-{
-  public:
-    typedef QuaternionBase<Map<const Quaternion<_Scalar>, _Options> > Base;
-
-    typedef _Scalar Scalar;
-    typedef typename internal::traits<Map>::Coefficients Coefficients;
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
-    using Base::operator*=;
-
-    /** Constructs a Mapped Quaternion object from the pointer \a coeffs
-      *
-      * The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
-      * \code *coeffs == {x, y, z, w} \endcode
-      *
-      * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
-    EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
-
-    EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
-
-  protected:
-    const Coefficients m_coeffs;
-};
-
-/** \ingroup Geometry_Module
-  * \brief Expression of a quaternion from a memory buffer
-  *
-  * \tparam _Scalar the type of the Quaternion coefficients
-  * \tparam _Options see class Map
-  *
-  * This is a specialization of class Map for Quaternion. This class allows to view
-  * a 4 scalar memory buffer as an Eigen's  Quaternion object.
-  *
-  * \sa class Map, class Quaternion, class QuaternionBase
-  */
-template<typename _Scalar, int _Options>
-class Map<Quaternion<_Scalar>, _Options >
-  : public QuaternionBase<Map<Quaternion<_Scalar>, _Options> >
-{
-  public:
-    typedef QuaternionBase<Map<Quaternion<_Scalar>, _Options> > Base;
-
-    typedef _Scalar Scalar;
-    typedef typename internal::traits<Map>::Coefficients Coefficients;
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
-    using Base::operator*=;
-
-    /** Constructs a Mapped Quaternion object from the pointer \a coeffs
-      *
-      * The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
-      * \code *coeffs == {x, y, z, w} \endcode
-      *
-      * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
-    EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
-
-    EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
-    EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
-
-  protected:
-    Coefficients m_coeffs;
-};
-
-/** \ingroup Geometry_Module
-  * Map an unaligned array of single precision scalars as a quaternion */
-typedef Map<Quaternion<float>, 0>         QuaternionMapf;
-/** \ingroup Geometry_Module
-  * Map an unaligned array of double precision scalars as a quaternion */
-typedef Map<Quaternion<double>, 0>        QuaternionMapd;
-/** \ingroup Geometry_Module
-  * Map a 16-byte aligned array of single precision scalars as a quaternion */
-typedef Map<Quaternion<float>, Aligned>   QuaternionMapAlignedf;
-/** \ingroup Geometry_Module
-  * Map a 16-byte aligned array of double precision scalars as a quaternion */
-typedef Map<Quaternion<double>, Aligned>  QuaternionMapAlignedd;
-
-/***************************************************************************
-* Implementation of QuaternionBase methods
-***************************************************************************/
-
-// Generic Quaternion * Quaternion product
-// This product can be specialized for a given architecture via the Arch template argument.
-namespace internal {
-template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
-    return Quaternion<Scalar>
-    (
-      a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
-      a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
-      a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
-      a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
-    );
-  }
-};
-}
-
-/** \returns the concatenation of two rotations as a quaternion-quaternion product */
-template <class Derived>
-template <class OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
-QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
-   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-  return internal::quat_product<Architecture::Target, Derived, OtherDerived,
-                         typename internal::traits<Derived>::Scalar,
-                         EIGEN_PLAIN_ENUM_MIN(internal::traits<Derived>::Alignment, internal::traits<OtherDerived>::Alignment)>::run(*this, other);
-}
-
-/** \sa operator*(Quaternion) */
-template <class Derived>
-template <class OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
-{
-  derived() = derived() * other.derived();
-  return derived();
-}
-
-/** Rotation of a vector by a quaternion.
-  * \remarks If the quaternion is used to rotate several points (>1)
-  * then it is much more efficient to first convert it to a 3x3 Matrix.
-  * Comparison of the operation cost for n transformations:
-  *   - Quaternion2:    30n
-  *   - Via a Matrix3: 24 + 15n
-  */
-template <class Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
-QuaternionBase<Derived>::_transformVector(const Vector3& v) const
-{
-    // Note that this algorithm comes from the optimization by hand
-    // of the conversion to a Matrix followed by a Matrix/Vector product.
-    // It appears to be much faster than the common algorithm found
-    // in the literature (30 versus 39 flops). It also requires two
-    // Vector3 as temporaries.
-    Vector3 uv = this->vec().cross(v);
-    uv += uv;
-    return v + this->w() * uv + this->vec().cross(uv);
-}
-
-template<class Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
-{
-  coeffs() = other.coeffs();
-  return derived();
-}
-
-template<class Derived>
-template<class OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
-{
-  coeffs() = other.coeffs();
-  return derived();
-}
-
-/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
-  */
-template<class Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
-{
-  EIGEN_USING_STD_MATH(cos)
-  EIGEN_USING_STD_MATH(sin)
-  Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
-  this->w() = cos(ha);
-  this->vec() = sin(ha) * aa.axis();
-  return derived();
-}
-
-/** Set \c *this from the expression \a xpr:
-  *   - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
-  *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
-  *     and \a xpr is converted to a quaternion
-  */
-
-template<class Derived>
-template<class MatrixDerived>
-EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
-   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-  internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
-  return derived();
-}
-
-/** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to
-  * be normalized, otherwise the result is undefined.
-  */
-template<class Derived>
-EIGEN_DEVICE_FUNC inline typename QuaternionBase<Derived>::Matrix3
-QuaternionBase<Derived>::toRotationMatrix(void) const
-{
-  // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
-  // if not inlined then the cost of the return by value is huge ~ +35%,
-  // however, not inlining this function is an order of magnitude slower, so
-  // it has to be inlined, and so the return by value is not an issue
-  Matrix3 res;
-
-  const Scalar tx  = Scalar(2)*this->x();
-  const Scalar ty  = Scalar(2)*this->y();
-  const Scalar tz  = Scalar(2)*this->z();
-  const Scalar twx = tx*this->w();
-  const Scalar twy = ty*this->w();
-  const Scalar twz = tz*this->w();
-  const Scalar txx = tx*this->x();
-  const Scalar txy = ty*this->x();
-  const Scalar txz = tz*this->x();
-  const Scalar tyy = ty*this->y();
-  const Scalar tyz = tz*this->y();
-  const Scalar tzz = tz*this->z();
-
-  res.coeffRef(0,0) = Scalar(1)-(tyy+tzz);
-  res.coeffRef(0,1) = txy-twz;
-  res.coeffRef(0,2) = txz+twy;
-  res.coeffRef(1,0) = txy+twz;
-  res.coeffRef(1,1) = Scalar(1)-(txx+tzz);
-  res.coeffRef(1,2) = tyz-twx;
-  res.coeffRef(2,0) = txz-twy;
-  res.coeffRef(2,1) = tyz+twx;
-  res.coeffRef(2,2) = Scalar(1)-(txx+tyy);
-
-  return res;
-}
-
-/** Sets \c *this to be a quaternion representing a rotation between
-  * the two arbitrary vectors \a a and \a b. In other words, the built
-  * rotation represent a rotation sending the line of direction \a a
-  * to the line of direction \a b, both lines passing through the origin.
-  *
-  * \returns a reference to \c *this.
-  *
-  * Note that the two input vectors do \b not have to be normalized, and
-  * do not need to have the same norm.
-  */
-template<class Derived>
-template<typename Derived1, typename Derived2>
-EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
-{
-  EIGEN_USING_STD_MATH(sqrt)
-  Vector3 v0 = a.normalized();
-  Vector3 v1 = b.normalized();
-  Scalar c = v1.dot(v0);
-
-  // if dot == -1, vectors are nearly opposites
-  // => accurately compute the rotation axis by computing the
-  //    intersection of the two planes. This is done by solving:
-  //       x^T v0 = 0
-  //       x^T v1 = 0
-  //    under the constraint:
-  //       ||x|| = 1
-  //    which yields a singular value problem
-  if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
-  {
-    c = numext::maxi(c,Scalar(-1));
-    Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
-    JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
-    Vector3 axis = svd.matrixV().col(2);
-
-    Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
-    this->w() = sqrt(w2);
-    this->vec() = axis * sqrt(Scalar(1) - w2);
-    return derived();
-  }
-  Vector3 axis = v0.cross(v1);
-  Scalar s = sqrt((Scalar(1)+c)*Scalar(2));
-  Scalar invs = Scalar(1)/s;
-  this->vec() = axis * invs;
-  this->w() = s * Scalar(0.5);
-
-  return derived();
-}
-
-/** \returns a random unit quaternion following a uniform distribution law on SO(3)
-  *
-  * \note The implementation is based on http://planning.cs.uiuc.edu/node198.html
-  */
-template<typename Scalar, int Options>
-EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::UnitRandom()
-{
-  EIGEN_USING_STD_MATH(sqrt)
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
-  const Scalar u1 = internal::random<Scalar>(0, 1),
-               u2 = internal::random<Scalar>(0, 2*EIGEN_PI),
-               u3 = internal::random<Scalar>(0, 2*EIGEN_PI);
-  const Scalar a = sqrt(1 - u1),
-               b = sqrt(u1);
-  return Quaternion (a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3));
-}
-
-
-/** Returns a quaternion representing a rotation between
-  * the two arbitrary vectors \a a and \a b. In other words, the built
-  * rotation represent a rotation sending the line of direction \a a
-  * to the line of direction \a b, both lines passing through the origin.
-  *
-  * \returns resulting quaternion
-  *
-  * Note that the two input vectors do \b not have to be normalized, and
-  * do not need to have the same norm.
-  */
-template<typename Scalar, int Options>
-template<typename Derived1, typename Derived2>
-EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
-{
-    Quaternion quat;
-    quat.setFromTwoVectors(a, b);
-    return quat;
-}
-
-
-/** \returns the multiplicative inverse of \c *this
-  * Note that in most cases, i.e., if you simply want the opposite rotation,
-  * and/or the quaternion is normalized, then it is enough to use the conjugate.
-  *
-  * \sa QuaternionBase::conjugate()
-  */
-template <class Derived>
-EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
-{
-  // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
-  Scalar n2 = this->squaredNorm();
-  if (n2 > Scalar(0))
-    return Quaternion<Scalar>(conjugate().coeffs() / n2);
-  else
-  {
-    // return an invalid result to flag the error
-    return Quaternion<Scalar>(Coefficients::Zero());
-  }
-}
-
-// Generic conjugate of a Quaternion
-namespace internal {
-template<int Arch, class Derived, typename Scalar, int _Options> struct quat_conj
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
-    return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
-  }
-};
-}
-                         
-/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
-  * if the quaternion is normalized.
-  * The conjugate of a quaternion represents the opposite rotation.
-  *
-  * \sa Quaternion2::inverse()
-  */
-template <class Derived>
-EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
-QuaternionBase<Derived>::conjugate() const
-{
-  return internal::quat_conj<Architecture::Target, Derived,
-                         typename internal::traits<Derived>::Scalar,
-                         internal::traits<Derived>::Alignment>::run(*this);
-                         
-}
-
-/** \returns the angle (in radian) between two rotations
-  * \sa dot()
-  */
-template <class Derived>
-template <class OtherDerived>
-EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar
-QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
-{
-  EIGEN_USING_STD_MATH(atan2)
-  Quaternion<Scalar> d = (*this) * other.conjugate();
-  return Scalar(2) * atan2( d.vec().norm(), numext::abs(d.w()) );
-}
-
- 
-    
-/** \returns the spherical linear interpolation between the two quaternions
-  * \c *this and \a other at the parameter \a t in [0;1].
-  * 
-  * This represents an interpolation for a constant motion between \c *this and \a other,
-  * see also http://en.wikipedia.org/wiki/Slerp.
-  */
-template <class Derived>
-template <class OtherDerived>
-EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar>
-QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const
-{
-  EIGEN_USING_STD_MATH(acos)
-  EIGEN_USING_STD_MATH(sin)
-  const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
-  Scalar d = this->dot(other);
-  Scalar absD = numext::abs(d);
-
-  Scalar scale0;
-  Scalar scale1;
-
-  if(absD>=one)
-  {
-    scale0 = Scalar(1) - t;
-    scale1 = t;
-  }
-  else
-  {
-    // theta is the angle between the 2 quaternions
-    Scalar theta = acos(absD);
-    Scalar sinTheta = sin(theta);
-
-    scale0 = sin( ( Scalar(1) - t ) * theta) / sinTheta;
-    scale1 = sin( ( t * theta) ) / sinTheta;
-  }
-  if(d<Scalar(0)) scale1 = -scale1;
-
-  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
-}
-
-namespace internal {
-
-// set from a rotation matrix
-template<typename Other>
-struct quaternionbase_assign_impl<Other,3,3>
-{
-  typedef typename Other::Scalar Scalar;
-  template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& a_mat)
-  {
-    const typename internal::nested_eval<Other,2>::type mat(a_mat);
-    EIGEN_USING_STD_MATH(sqrt)
-    // This algorithm comes from  "Quaternion Calculus and Fast Animation",
-    // Ken Shoemake, 1987 SIGGRAPH course notes
-    Scalar t = mat.trace();
-    if (t > Scalar(0))
-    {
-      t = sqrt(t + Scalar(1.0));
-      q.w() = Scalar(0.5)*t;
-      t = Scalar(0.5)/t;
-      q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
-      q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
-      q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
-    }
-    else
-    {
-      Index i = 0;
-      if (mat.coeff(1,1) > mat.coeff(0,0))
-        i = 1;
-      if (mat.coeff(2,2) > mat.coeff(i,i))
-        i = 2;
-      Index j = (i+1)%3;
-      Index k = (j+1)%3;
-
-      t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
-      q.coeffs().coeffRef(i) = Scalar(0.5) * t;
-      t = Scalar(0.5)/t;
-      q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
-      q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
-      q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
-    }
-  }
-};
-
-// set from a vector of coefficients assumed to be a quaternion
-template<typename Other>
-struct quaternionbase_assign_impl<Other,4,1>
-{
-  typedef typename Other::Scalar Scalar;
-  template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& vec)
-  {
-    q.coeffs() = vec;
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_QUATERNION_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/Rotation2D.h b/phonelibs/eigen/Eigen/src/Geometry/Rotation2D.h
deleted file mode 100644
index 884b7d0ee95a2a..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/Rotation2D.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ROTATION2D_H
-#define EIGEN_ROTATION2D_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Rotation2D
-  *
-  * \brief Represents a rotation/orientation in a 2 dimensional space.
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
-  *
-  * This class is equivalent to a single scalar representing a counter clock wise rotation
-  * as a single angle in radian. It provides some additional features such as the automatic
-  * conversion from/to a 2x2 rotation matrix. Moreover this class aims to provide a similar
-  * interface to Quaternion in order to facilitate the writing of generic algorithms
-  * dealing with rotations.
-  *
-  * \sa class Quaternion, class Transform
-  */
-
-namespace internal {
-
-template<typename _Scalar> struct traits<Rotation2D<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-} // end namespace internal
-
-template<typename _Scalar>
-class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
-{
-  typedef RotationBase<Rotation2D<_Scalar>,2> Base;
-
-public:
-
-  using Base::operator*;
-
-  enum { Dim = 2 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,2,1> Vector2;
-  typedef Matrix<Scalar,2,2> Matrix2;
-
-protected:
-
-  Scalar m_angle;
-
-public:
-
-  /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
-  EIGEN_DEVICE_FUNC explicit inline Rotation2D(const Scalar& a) : m_angle(a) {}
-  
-  /** Default constructor wihtout initialization. The represented rotation is undefined. */
-  EIGEN_DEVICE_FUNC Rotation2D() {}
-
-  /** Construct a 2D rotation from a 2x2 rotation matrix \a mat.
-    *
-    * \sa fromRotationMatrix()
-    */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC explicit Rotation2D(const MatrixBase<Derived>& m)
-  {
-    fromRotationMatrix(m.derived());
-  }
-
-  /** \returns the rotation angle */
-  EIGEN_DEVICE_FUNC inline Scalar angle() const { return m_angle; }
-
-  /** \returns a read-write reference to the rotation angle */
-  EIGEN_DEVICE_FUNC inline Scalar& angle() { return m_angle; }
-  
-  /** \returns the rotation angle in [0,2pi] */
-  EIGEN_DEVICE_FUNC inline Scalar smallestPositiveAngle() const {
-    Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI));
-    return tmp<Scalar(0) ? tmp + Scalar(2*EIGEN_PI) : tmp;
-  }
-  
-  /** \returns the rotation angle in [-pi,pi] */
-  EIGEN_DEVICE_FUNC inline Scalar smallestAngle() const {
-    Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI));
-    if(tmp>Scalar(EIGEN_PI))       tmp -= Scalar(2*EIGEN_PI);
-    else if(tmp<-Scalar(EIGEN_PI)) tmp += Scalar(2*EIGEN_PI);
-    return tmp;
-  }
-
-  /** \returns the inverse rotation */
-  EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
-
-  /** Concatenates two rotations */
-  EIGEN_DEVICE_FUNC inline Rotation2D operator*(const Rotation2D& other) const
-  { return Rotation2D(m_angle + other.m_angle); }
-
-  /** Concatenates two rotations */
-  EIGEN_DEVICE_FUNC inline Rotation2D& operator*=(const Rotation2D& other)
-  { m_angle += other.m_angle; return *this; }
-
-  /** Applies the rotation to a 2D vector */
-  EIGEN_DEVICE_FUNC Vector2 operator* (const Vector2& vec) const
-  { return toRotationMatrix() * vec; }
-  
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
-  EIGEN_DEVICE_FUNC Matrix2 toRotationMatrix() const;
-
-  /** Set \c *this from a 2x2 rotation matrix \a mat.
-    * In other words, this function extract the rotation angle from the rotation matrix.
-    *
-    * This method is an alias for fromRotationMatrix()
-    *
-    * \sa fromRotationMatrix()
-    */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC Rotation2D& operator=(const  MatrixBase<Derived>& m)
-  { return fromRotationMatrix(m.derived()); }
-
-  /** \returns the spherical interpolation between \c *this and \a other using
-    * parameter \a t. It is in fact equivalent to a linear interpolation.
-    */
-  EIGEN_DEVICE_FUNC inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const
-  {
-    Scalar dist = Rotation2D(other.m_angle-m_angle).smallestAngle();
-    return Rotation2D(m_angle + dist*t);
-  }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  EIGEN_DEVICE_FUNC inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
-  {
-    m_angle = Scalar(other.angle());
-  }
-
-  EIGEN_DEVICE_FUNC static inline Rotation2D Identity() { return Rotation2D(0); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  EIGEN_DEVICE_FUNC bool isApprox(const Rotation2D& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return internal::isApprox(m_angle,other.m_angle, prec); }
-  
-};
-
-/** \ingroup Geometry_Module
-  * single precision 2D rotation type */
-typedef Rotation2D<float> Rotation2Df;
-/** \ingroup Geometry_Module
-  * double precision 2D rotation type */
-typedef Rotation2D<double> Rotation2Dd;
-
-/** Set \c *this from a 2x2 rotation matrix \a mat.
-  * In other words, this function extract the rotation angle
-  * from the rotation matrix.
-  */
-template<typename Scalar>
-template<typename Derived>
-EIGEN_DEVICE_FUNC Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
-{
-  EIGEN_USING_STD_MATH(atan2)
-  EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_angle = atan2(mat.coeff(1,0), mat.coeff(0,0));
-  return *this;
-}
-
-/** Constructs and \returns an equivalent 2x2 rotation matrix.
-  */
-template<typename Scalar>
-typename Rotation2D<Scalar>::Matrix2
-EIGEN_DEVICE_FUNC Rotation2D<Scalar>::toRotationMatrix(void) const
-{
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
-  Scalar sinA = sin(m_angle);
-  Scalar cosA = cos(m_angle);
-  return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ROTATION2D_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/RotationBase.h b/phonelibs/eigen/Eigen/src/Geometry/RotationBase.h
deleted file mode 100644
index f0ee0bd03c58e6..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/RotationBase.h
+++ /dev/null
@@ -1,206 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ROTATIONBASE_H
-#define EIGEN_ROTATIONBASE_H
-
-namespace Eigen { 
-
-// forward declaration
-namespace internal {
-template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
-struct rotation_base_generic_product_selector;
-}
-
-/** \class RotationBase
-  *
-  * \brief Common base class for compact rotation representations
-  *
-  * \tparam Derived is the derived type, i.e., a rotation type
-  * \tparam _Dim the dimension of the space
-  */
-template<typename Derived, int _Dim>
-class RotationBase
-{
-  public:
-    enum { Dim = _Dim };
-    /** the scalar type of the coefficients */
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-
-    /** corresponding linear transformation matrix type */
-    typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
-    typedef Matrix<Scalar,Dim,1> VectorType;
-
-  public:
-    EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
-
-    /** \returns an equivalent rotation matrix */
-    EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
-
-    /** \returns an equivalent rotation matrix 
-      * This function is added to be conform with the Transform class' naming scheme.
-      */
-    EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
-
-    /** \returns the inverse rotation */
-    EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
-
-    /** \returns the concatenation of the rotation \c *this with a translation \a t */
-    EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
-    { return Transform<Scalar,Dim,Isometry>(*this) * t; }
-
-    /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
-    EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
-    { return toRotationMatrix() * s.factor(); }
-
-    /** \returns the concatenation of the rotation \c *this with a generic expression \a e
-      * \a e can be:
-      *  - a DimxDim linear transformation matrix
-      *  - a DimxDim diagonal matrix (axis aligned scaling)
-      *  - a vector of size Dim
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
-    operator*(const EigenBase<OtherDerived>& e) const
-    { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
-
-    /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
-    template<typename OtherDerived> friend
-    EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
-    { return l.derived() * r.toRotationMatrix(); }
-
-    /** \returns the concatenation of a scaling \a l with the rotation \a r */
-    EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
-    { 
-      Transform<Scalar,Dim,Affine> res(r);
-      res.linear().applyOnTheLeft(l);
-      return res;
-    }
-
-    /** \returns the concatenation of the rotation \c *this with a transformation \a t */
-    template<int Mode, int Options>
-    EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
-    { return toRotationMatrix() * t; }
-
-    template<typename OtherVectorType>
-    EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
-    { return toRotationMatrix() * v; }
-};
-
-namespace internal {
-
-// implementation of the generic product rotation * matrix
-template<typename RotationDerived, typename MatrixType>
-struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
-{
-  enum { Dim = RotationDerived::Dim };
-  typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
-  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
-  { return r.toRotationMatrix() * m; }
-};
-
-template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
-struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
-{
-  typedef Transform<Scalar,Dim,Affine> ReturnType;
-  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
-  {
-    ReturnType res(r);
-    res.linear() *= m;
-    return res;
-  }
-};
-
-template<typename RotationDerived,typename OtherVectorType>
-struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
-{
-  enum { Dim = RotationDerived::Dim };
-  typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
-  {
-    return r._transformVector(v);
-  }
-};
-
-} // end namespace internal
-
-/** \geometry_module
-  *
-  * \brief Constructs a Dim x Dim rotation matrix from the rotation \a r
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
-::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-{
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
-  *this = r.toRotationMatrix();
-}
-
-/** \geometry_module
-  *
-  * \brief Set a Dim x Dim rotation matrix from the rotation \a r
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
-::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-{
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
-  return *this = r.toRotationMatrix();
-}
-
-namespace internal {
-
-/** \internal
-  *
-  * Helper function to return an arbitrary rotation object to a rotation matrix.
-  *
-  * \tparam Scalar the numeric type of the matrix coefficients
-  * \tparam Dim the dimension of the current space
-  *
-  * It returns a Dim x Dim fixed size matrix.
-  *
-  * Default specializations are provided for:
-  *   - any scalar type (2D),
-  *   - any matrix expression,
-  *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
-  *
-  * Currently toRotationMatrix is only used by Transform.
-  *
-  * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
-  */
-template<typename Scalar, int Dim>
-EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
-{
-  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return Rotation2D<Scalar>(s).toRotationMatrix();
-}
-
-template<typename Scalar, int Dim, typename OtherDerived>
-EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
-{
-  return r.toRotationMatrix();
-}
-
-template<typename Scalar, int Dim, typename OtherDerived>
-EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
-{
-  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
-    YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return mat;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_ROTATIONBASE_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/Scaling.h b/phonelibs/eigen/Eigen/src/Geometry/Scaling.h
deleted file mode 100755
index f58ca03d94a0dc..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/Scaling.h
+++ /dev/null
@@ -1,170 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SCALING_H
-#define EIGEN_SCALING_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Scaling
-  *
-  * \brief Represents a generic uniform scaling transformation
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients.
-  *
-  * This class represent a uniform scaling transformation. It is the return
-  * type of Scaling(Scalar), and most of the time this is the only way it
-  * is used. In particular, this class is not aimed to be used to store a scaling transformation,
-  * but rather to make easier the constructions and updates of Transform objects.
-  *
-  * To represent an axis aligned scaling, use the DiagonalMatrix class.
-  *
-  * \sa Scaling(), class DiagonalMatrix, MatrixBase::asDiagonal(), class Translation, class Transform
-  */
-template<typename _Scalar>
-class UniformScaling
-{
-public:
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-
-protected:
-
-  Scalar m_factor;
-
-public:
-
-  /** Default constructor without initialization. */
-  UniformScaling() {}
-  /** Constructs and initialize a uniform scaling transformation */
-  explicit inline UniformScaling(const Scalar& s) : m_factor(s) {}
-
-  inline const Scalar& factor() const { return m_factor; }
-  inline Scalar& factor() { return m_factor; }
-
-  /** Concatenates two uniform scaling */
-  inline UniformScaling operator* (const UniformScaling& other) const
-  { return UniformScaling(m_factor * other.factor()); }
-
-  /** Concatenates a uniform scaling and a translation */
-  template<int Dim>
-  inline Transform<Scalar,Dim,Affine> operator* (const Translation<Scalar,Dim>& t) const;
-
-  /** Concatenates a uniform scaling and an affine transformation */
-  template<int Dim, int Mode, int Options>
-  inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
-  {
-    Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
-    res.prescale(factor());
-    return res;
-  }
-
-  /** Concatenates a uniform scaling and a linear transformation matrix */
-  // TODO returns an expression
-  template<typename Derived>
-  inline typename internal::plain_matrix_type<Derived>::type operator* (const MatrixBase<Derived>& other) const
-  { return other * m_factor; }
-
-  template<typename Derived,int Dim>
-  inline Matrix<Scalar,Dim,Dim> operator*(const RotationBase<Derived,Dim>& r) const
-  { return r.toRotationMatrix() * m_factor; }
-
-  /** \returns the inverse scaling */
-  inline UniformScaling inverse() const
-  { return UniformScaling(Scalar(1)/m_factor); }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline UniformScaling<NewScalarType> cast() const
-  { return UniformScaling<NewScalarType>(NewScalarType(m_factor)); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit UniformScaling(const UniformScaling<OtherScalarType>& other)
-  { m_factor = Scalar(other.factor()); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const UniformScaling& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return internal::isApprox(m_factor, other.factor(), prec); }
-
-};
-
-/** \addtogroup Geometry_Module */
-//@{
-
-/** Concatenates a linear transformation matrix and a uniform scaling
-  * \relates UniformScaling
-  */
-// NOTE this operator is defiend in MatrixBase and not as a friend function
-// of UniformScaling to fix an internal crash of Intel's ICC
-template<typename Derived,typename Scalar>
-EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,Scalar,product)
-operator*(const MatrixBase<Derived>& matrix, const UniformScaling<Scalar>& s)
-{ return matrix.derived() * s.factor(); }
-
-/** Constructs a uniform scaling from scale factor \a s */
-inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
-/** Constructs a uniform scaling from scale factor \a s */
-inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
-/** Constructs a uniform scaling from scale factor \a s */
-template<typename RealScalar>
-inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
-{ return UniformScaling<std::complex<RealScalar> >(s); }
-
-/** Constructs a 2D axis aligned scaling */
-template<typename Scalar>
-inline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy)
-{ return DiagonalMatrix<Scalar,2>(sx, sy); }
-/** Constructs a 3D axis aligned scaling */
-template<typename Scalar>
-inline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
-{ return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
-
-/** Constructs an axis aligned scaling expression from vector expression \a coeffs
-  * This is an alias for coeffs.asDiagonal()
-  */
-template<typename Derived>
-inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
-{ return coeffs.asDiagonal(); }
-
-/** \deprecated */
-typedef DiagonalMatrix<float, 2> AlignedScaling2f;
-/** \deprecated */
-typedef DiagonalMatrix<double,2> AlignedScaling2d;
-/** \deprecated */
-typedef DiagonalMatrix<float, 3> AlignedScaling3f;
-/** \deprecated */
-typedef DiagonalMatrix<double,3> AlignedScaling3d;
-//@}
-
-template<typename Scalar>
-template<int Dim>
-inline Transform<Scalar,Dim,Affine>
-UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
-{
-  Transform<Scalar,Dim,Affine> res;
-  res.matrix().setZero();
-  res.linear().diagonal().fill(factor());
-  res.translation() = factor() * t.vector();
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SCALING_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/Transform.h b/phonelibs/eigen/Eigen/src/Geometry/Transform.h
deleted file mode 100644
index 3f31ee45df97c9..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/Transform.h
+++ /dev/null
@@ -1,1542 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRANSFORM_H
-#define EIGEN_TRANSFORM_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Transform>
-struct transform_traits
-{
-  enum
-  {
-    Dim = Transform::Dim,
-    HDim = Transform::HDim,
-    Mode = Transform::Mode,
-    IsProjective = (int(Mode)==int(Projective))
-  };
-};
-
-template< typename TransformType,
-          typename MatrixType,
-          int Case = transform_traits<TransformType>::IsProjective ? 0
-                   : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
-                   : 2,
-          int RhsCols = MatrixType::ColsAtCompileTime>
-struct transform_right_product_impl;
-
-template< typename Other,
-          int Mode,
-          int Options,
-          int Dim,
-          int HDim,
-          int OtherRows=Other::RowsAtCompileTime,
-          int OtherCols=Other::ColsAtCompileTime>
-struct transform_left_product_impl;
-
-template< typename Lhs,
-          typename Rhs,
-          bool AnyProjective = 
-            transform_traits<Lhs>::IsProjective ||
-            transform_traits<Rhs>::IsProjective>
-struct transform_transform_product_impl;
-
-template< typename Other,
-          int Mode,
-          int Options,
-          int Dim,
-          int HDim,
-          int OtherRows=Other::RowsAtCompileTime,
-          int OtherCols=Other::ColsAtCompileTime>
-struct transform_construct_from_matrix;
-
-template<typename TransformType> struct transform_take_affine_part;
-
-template<typename _Scalar, int _Dim, int _Mode, int _Options>
-struct traits<Transform<_Scalar,_Dim,_Mode,_Options> >
-{
-  typedef _Scalar Scalar;
-  typedef Eigen::Index StorageIndex;
-  typedef Dense StorageKind;
-  enum {
-    Dim1 = _Dim==Dynamic ? _Dim : _Dim + 1,
-    RowsAtCompileTime = _Mode==Projective ? Dim1 : _Dim,
-    ColsAtCompileTime = Dim1,
-    MaxRowsAtCompileTime = RowsAtCompileTime,
-    MaxColsAtCompileTime = ColsAtCompileTime,
-    Flags = 0
-  };
-};
-
-template<int Mode> struct transform_make_affine;
-
-} // end namespace internal
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Transform
-  *
-  * \brief Represents an homogeneous transformation in a N dimensional space
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
-  * \tparam _Dim the dimension of the space
-  * \tparam _Mode the type of the transformation. Can be:
-  *              - #Affine: the transformation is stored as a (Dim+1)^2 matrix,
-  *                         where the last row is assumed to be [0 ... 0 1].
-  *              - #AffineCompact: the transformation is stored as a (Dim)x(Dim+1) matrix.
-  *              - #Projective: the transformation is stored as a (Dim+1)^2 matrix
-  *                             without any assumption.
-  * \tparam _Options has the same meaning as in class Matrix. It allows to specify DontAlign and/or RowMajor.
-  *                  These Options are passed directly to the underlying matrix type.
-  *
-  * The homography is internally represented and stored by a matrix which
-  * is available through the matrix() method. To understand the behavior of
-  * this class you have to think a Transform object as its internal
-  * matrix representation. The chosen convention is right multiply:
-  *
-  * \code v' = T * v \endcode
-  *
-  * Therefore, an affine transformation matrix M is shaped like this:
-  *
-  * \f$ \left( \begin{array}{cc}
-  * linear & translation\\
-  * 0 ... 0 & 1
-  * \end{array} \right) \f$
-  *
-  * Note that for a projective transformation the last row can be anything,
-  * and then the interpretation of different parts might be sightly different.
-  *
-  * However, unlike a plain matrix, the Transform class provides many features
-  * simplifying both its assembly and usage. In particular, it can be composed
-  * with any other transformations (Transform,Translation,RotationBase,DiagonalMatrix)
-  * and can be directly used to transform implicit homogeneous vectors. All these
-  * operations are handled via the operator*. For the composition of transformations,
-  * its principle consists to first convert the right/left hand sides of the product
-  * to a compatible (Dim+1)^2 matrix and then perform a pure matrix product.
-  * Of course, internally, operator* tries to perform the minimal number of operations
-  * according to the nature of each terms. Likewise, when applying the transform
-  * to points, the latters are automatically promoted to homogeneous vectors
-  * before doing the matrix product. The conventions to homogeneous representations
-  * are performed as follow:
-  *
-  * \b Translation t (Dim)x(1):
-  * \f$ \left( \begin{array}{cc}
-  * I & t \\
-  * 0\,...\,0 & 1
-  * \end{array} \right) \f$
-  *
-  * \b Rotation R (Dim)x(Dim):
-  * \f$ \left( \begin{array}{cc}
-  * R & 0\\
-  * 0\,...\,0 & 1
-  * \end{array} \right) \f$
-  *<!--
-  * \b Linear \b Matrix L (Dim)x(Dim):
-  * \f$ \left( \begin{array}{cc}
-  * L & 0\\
-  * 0\,...\,0 & 1
-  * \end{array} \right) \f$
-  *
-  * \b Affine \b Matrix A (Dim)x(Dim+1):
-  * \f$ \left( \begin{array}{c}
-  * A\\
-  * 0\,...\,0\,1
-  * \end{array} \right) \f$
-  *-->
-  * \b Scaling \b DiagonalMatrix S (Dim)x(Dim):
-  * \f$ \left( \begin{array}{cc}
-  * S & 0\\
-  * 0\,...\,0 & 1
-  * \end{array} \right) \f$
-  *
-  * \b Column \b point v (Dim)x(1):
-  * \f$ \left( \begin{array}{c}
-  * v\\
-  * 1
-  * \end{array} \right) \f$
-  *
-  * \b Set \b of \b column \b points V1...Vn (Dim)x(n):
-  * \f$ \left( \begin{array}{ccc}
-  * v_1 & ... & v_n\\
-  * 1 & ... & 1
-  * \end{array} \right) \f$
-  *
-  * The concatenation of a Transform object with any kind of other transformation
-  * always returns a Transform object.
-  *
-  * A little exception to the "as pure matrix product" rule is the case of the
-  * transformation of non homogeneous vectors by an affine transformation. In
-  * that case the last matrix row can be ignored, and the product returns non
-  * homogeneous vectors.
-  *
-  * Since, for instance, a Dim x Dim matrix is interpreted as a linear transformation,
-  * it is not possible to directly transform Dim vectors stored in a Dim x Dim matrix.
-  * The solution is either to use a Dim x Dynamic matrix or explicitly request a
-  * vector transformation by making the vector homogeneous:
-  * \code
-  * m' = T * m.colwise().homogeneous();
-  * \endcode
-  * Note that there is zero overhead.
-  *
-  * Conversion methods from/to Qt's QMatrix and QTransform are available if the
-  * preprocessor token EIGEN_QT_SUPPORT is defined.
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
-  *
-  * \sa class Matrix, class Quaternion
-  */
-template<typename _Scalar, int _Dim, int _Mode, int _Options>
-class Transform
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
-  enum {
-    Mode = _Mode,
-    Options = _Options,
-    Dim = _Dim,     ///< space dimension in which the transformation holds
-    HDim = _Dim+1,  ///< size of a respective homogeneous vector
-    Rows = int(Mode)==(AffineCompact) ? Dim : HDim
-  };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Eigen::Index StorageIndex;
-  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-  /** type of the matrix used to represent the transformation */
-  typedef typename internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type MatrixType;
-  /** constified MatrixType */
-  typedef const MatrixType ConstMatrixType;
-  /** type of the matrix used to represent the linear part of the transformation */
-  typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType;
-  /** type of read/write reference to the linear part of the transformation */
-  typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> LinearPart;
-  /** type of read reference to the linear part of the transformation */
-  typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> ConstLinearPart;
-  /** type of read/write reference to the affine part of the transformation */
-  typedef typename internal::conditional<int(Mode)==int(AffineCompact),
-                              MatrixType&,
-                              Block<MatrixType,Dim,HDim> >::type AffinePart;
-  /** type of read reference to the affine part of the transformation */
-  typedef typename internal::conditional<int(Mode)==int(AffineCompact),
-                              const MatrixType&,
-                              const Block<const MatrixType,Dim,HDim> >::type ConstAffinePart;
-  /** type of a vector */
-  typedef Matrix<Scalar,Dim,1> VectorType;
-  /** type of a read/write reference to the translation part of the rotation */
-  typedef Block<MatrixType,Dim,1,!(internal::traits<MatrixType>::Flags & RowMajorBit)> TranslationPart;
-  /** type of a read reference to the translation part of the rotation */
-  typedef const Block<ConstMatrixType,Dim,1,!(internal::traits<MatrixType>::Flags & RowMajorBit)> ConstTranslationPart;
-  /** corresponding translation type */
-  typedef Translation<Scalar,Dim> TranslationType;
-  
-  // this intermediate enum is needed to avoid an ICE with gcc 3.4 and 4.0
-  enum { TransformTimeDiagonalMode = ((Mode==int(Isometry))?Affine:int(Mode)) };
-  /** The return type of the product between a diagonal matrix and a transform */
-  typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> TransformTimeDiagonalReturnType;
-
-protected:
-
-  MatrixType m_matrix;
-
-public:
-
-  /** Default constructor without initialization of the meaningful coefficients.
-    * If Mode==Affine, then the last row is set to [0 ... 0 1] */
-  EIGEN_DEVICE_FUNC inline Transform()
-  {
-    check_template_params();
-    internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
-  }
-
-  EIGEN_DEVICE_FUNC inline Transform(const Transform& other)
-  {
-    check_template_params();
-    m_matrix = other.m_matrix;
-  }
-
-  EIGEN_DEVICE_FUNC inline explicit Transform(const TranslationType& t)
-  {
-    check_template_params();
-    *this = t;
-  }
-  EIGEN_DEVICE_FUNC inline explicit Transform(const UniformScaling<Scalar>& s)
-  {
-    check_template_params();
-    *this = s;
-  }
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline explicit Transform(const RotationBase<Derived, Dim>& r)
-  {
-    check_template_params();
-    *this = r;
-  }
-
-  EIGEN_DEVICE_FUNC inline Transform& operator=(const Transform& other)
-  { m_matrix = other.m_matrix; return *this; }
-
-  typedef internal::transform_take_affine_part<Transform> take_affine_part;
-
-  /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC inline explicit Transform(const EigenBase<OtherDerived>& other)
-  {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
-      YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
-
-    check_template_params();
-    internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
-  }
-
-  /** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC inline Transform& operator=(const EigenBase<OtherDerived>& other)
-  {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
-      YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
-
-    internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
-    return *this;
-  }
-  
-  template<int OtherOptions>
-  EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
-  {
-    check_template_params();
-    // only the options change, we can directly copy the matrices
-    m_matrix = other.matrix();
-  }
-
-  template<int OtherMode,int OtherOptions>
-  EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
-  {
-    check_template_params();
-    // prevent conversions as:
-    // Affine | AffineCompact | Isometry = Projective
-    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Projective), Mode==int(Projective)),
-                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
-
-    // prevent conversions as:
-    // Isometry = Affine | AffineCompact
-    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
-                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
-
-    enum { ModeIsAffineCompact = Mode == int(AffineCompact),
-           OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
-    };
-
-    if(ModeIsAffineCompact == OtherModeIsAffineCompact)
-    {
-      // We need the block expression because the code is compiled for all
-      // combinations of transformations and will trigger a compile time error
-      // if one tries to assign the matrices directly
-      m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
-      makeAffine();
-    }
-    else if(OtherModeIsAffineCompact)
-    {
-      typedef typename Transform<Scalar,Dim,OtherMode,OtherOptions>::MatrixType OtherMatrixType;
-      internal::transform_construct_from_matrix<OtherMatrixType,Mode,Options,Dim,HDim>::run(this, other.matrix());
-    }
-    else
-    {
-      // here we know that Mode == AffineCompact and OtherMode != AffineCompact.
-      // if OtherMode were Projective, the static assert above would already have caught it.
-      // So the only possibility is that OtherMode == Affine
-      linear() = other.linear();
-      translation() = other.translation();
-    }
-  }
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC Transform(const ReturnByValue<OtherDerived>& other)
-  {
-    check_template_params();
-    other.evalTo(*this);
-  }
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC Transform& operator=(const ReturnByValue<OtherDerived>& other)
-  {
-    other.evalTo(*this);
-    return *this;
-  }
-
-  #ifdef EIGEN_QT_SUPPORT
-  inline Transform(const QMatrix& other);
-  inline Transform& operator=(const QMatrix& other);
-  inline QMatrix toQMatrix(void) const;
-  inline Transform(const QTransform& other);
-  inline Transform& operator=(const QTransform& other);
-  inline QTransform toQTransform(void) const;
-  #endif
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return int(Mode)==int(Projective) ? m_matrix.cols() : (m_matrix.cols()-1); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_matrix.cols(); }
-
-  /** shortcut for m_matrix(row,col);
-    * \sa MatrixBase::operator(Index,Index) const */
-  EIGEN_DEVICE_FUNC inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
-  /** shortcut for m_matrix(row,col);
-    * \sa MatrixBase::operator(Index,Index) */
-  EIGEN_DEVICE_FUNC inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
-
-  /** \returns a read-only expression of the transformation matrix */
-  EIGEN_DEVICE_FUNC inline const MatrixType& matrix() const { return m_matrix; }
-  /** \returns a writable expression of the transformation matrix */
-  EIGEN_DEVICE_FUNC inline MatrixType& matrix() { return m_matrix; }
-
-  /** \returns a read-only expression of the linear part of the transformation */
-  EIGEN_DEVICE_FUNC inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
-  /** \returns a writable expression of the linear part of the transformation */
-  EIGEN_DEVICE_FUNC inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
-
-  /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
-  EIGEN_DEVICE_FUNC inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
-  /** \returns a writable expression of the Dim x HDim affine part of the transformation */
-  EIGEN_DEVICE_FUNC inline AffinePart affine() { return take_affine_part::run(m_matrix); }
-
-  /** \returns a read-only expression of the translation vector of the transformation */
-  EIGEN_DEVICE_FUNC inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
-  /** \returns a writable expression of the translation vector of the transformation */
-  EIGEN_DEVICE_FUNC inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
-
-  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other.
-    *
-    * The right-hand-side \a other can be either:
-    * \li an homogeneous vector of size Dim+1,
-    * \li a set of homogeneous vectors of size Dim+1 x N,
-    * \li a transformation matrix of size Dim+1 x Dim+1.
-    *
-    * Moreover, if \c *this represents an affine transformation (i.e., Mode!=Projective), then \a other can also be:
-    * \li a point of size Dim (computes: \code this->linear() * other + this->translation()\endcode),
-    * \li a set of N points as a Dim x N matrix (computes: \code (this->linear() * other).colwise() + this->translation()\endcode),
-    *
-    * In all cases, the return type is a matrix or vector of same sizes as the right-hand-side \a other.
-    *
-    * If you want to interpret \a other as a linear or affine transformation, then first convert it to a Transform<> type,
-    * or do your own cooking.
-    *
-    * Finally, if you want to apply Affine transformations to vectors, then explicitly apply the linear part only:
-    * \code
-    * Affine3f A;
-    * Vector3f v1, v2;
-    * v2 = A.linear() * v1;
-    * \endcode
-    *
-    */
-  // note: this function is defined here because some compilers cannot find the respective declaration
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
-  operator * (const EigenBase<OtherDerived> &other) const
-  { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
-
-  /** \returns the product expression of a transformation matrix \a a times a transform \a b
-    *
-    * The left hand side \a other can be either:
-    * \li a linear transformation matrix of size Dim x Dim,
-    * \li an affine transformation matrix of size Dim x Dim+1,
-    * \li a general transformation matrix of size Dim+1 x Dim+1.
-    */
-  template<typename OtherDerived> friend
-  EIGEN_DEVICE_FUNC inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
-    operator * (const EigenBase<OtherDerived> &a, const Transform &b)
-  { return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
-
-  /** \returns The product expression of a transform \a a times a diagonal matrix \a b
-    *
-    * The rhs diagonal matrix is interpreted as an affine scaling transformation. The
-    * product results in a Transform of the same type (mode) as the lhs only if the lhs 
-    * mode is no isometry. In that case, the returned transform is an affinity.
-    */
-  template<typename DiagonalDerived>
-  EIGEN_DEVICE_FUNC inline const TransformTimeDiagonalReturnType
-    operator * (const DiagonalBase<DiagonalDerived> &b) const
-  {
-    TransformTimeDiagonalReturnType res(*this);
-    res.linearExt() *= b;
-    return res;
-  }
-
-  /** \returns The product expression of a diagonal matrix \a a times a transform \a b
-    *
-    * The lhs diagonal matrix is interpreted as an affine scaling transformation. The
-    * product results in a Transform of the same type (mode) as the lhs only if the lhs 
-    * mode is no isometry. In that case, the returned transform is an affinity.
-    */
-  template<typename DiagonalDerived>
-  EIGEN_DEVICE_FUNC friend inline TransformTimeDiagonalReturnType
-    operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
-  {
-    TransformTimeDiagonalReturnType res;
-    res.linear().noalias() = a*b.linear();
-    res.translation().noalias() = a*b.translation();
-    if (Mode!=int(AffineCompact))
-      res.matrix().row(Dim) = b.matrix().row(Dim);
-    return res;
-  }
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
-
-  /** Concatenates two transformations */
-  EIGEN_DEVICE_FUNC inline const Transform operator * (const Transform& other) const
-  {
-    return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
-  }
-  
-  #if EIGEN_COMP_ICC
-private:
-  // this intermediate structure permits to workaround a bug in ICC 11:
-  //   error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0>
-  //             (const Eigen::Transform<double, 3, 2, 0> &) const"
-  //  (the meaning of a name may have changed since the template declaration -- the type of the template is:
-  // "Eigen::internal::transform_transform_product_impl<Eigen::Transform<double, 3, 32, 0>,
-  //     Eigen::Transform<double, 3, Mode, Options>, <expression>>::ResultType (const Eigen::Transform<double, 3, Mode, Options> &) const")
-  // 
-  template<int OtherMode,int OtherOptions> struct icc_11_workaround
-  {
-    typedef internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> > ProductType;
-    typedef typename ProductType::ResultType ResultType;
-  };
-  
-public:
-  /** Concatenates two different transformations */
-  template<int OtherMode,int OtherOptions>
-  inline typename icc_11_workaround<OtherMode,OtherOptions>::ResultType
-    operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
-  {
-    typedef typename icc_11_workaround<OtherMode,OtherOptions>::ProductType ProductType;
-    return ProductType::run(*this,other);
-  }
-  #else
-  /** Concatenates two different transformations */
-  template<int OtherMode,int OtherOptions>
-  EIGEN_DEVICE_FUNC inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
-    operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
-  {
-    return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
-  }
-  #endif
-
-  /** \sa MatrixBase::setIdentity() */
-  EIGEN_DEVICE_FUNC void setIdentity() { m_matrix.setIdentity(); }
-
-  /**
-   * \brief Returns an identity transformation.
-   * \todo In the future this function should be returning a Transform expression.
-   */
-  EIGEN_DEVICE_FUNC static const Transform Identity()
-  {
-    return Transform(MatrixType::Identity());
-  }
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC 
-  inline Transform& scale(const MatrixBase<OtherDerived> &other);
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC
-  inline Transform& prescale(const MatrixBase<OtherDerived> &other);
-
-  EIGEN_DEVICE_FUNC inline Transform& scale(const Scalar& s);
-  EIGEN_DEVICE_FUNC inline Transform& prescale(const Scalar& s);
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC
-  inline Transform& translate(const MatrixBase<OtherDerived> &other);
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC
-  inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
-
-  template<typename RotationType>
-  EIGEN_DEVICE_FUNC
-  inline Transform& rotate(const RotationType& rotation);
-
-  template<typename RotationType>
-  EIGEN_DEVICE_FUNC
-  inline Transform& prerotate(const RotationType& rotation);
-
-  EIGEN_DEVICE_FUNC Transform& shear(const Scalar& sx, const Scalar& sy);
-  EIGEN_DEVICE_FUNC Transform& preshear(const Scalar& sx, const Scalar& sy);
-
-  EIGEN_DEVICE_FUNC inline Transform& operator=(const TranslationType& t);
-  
-  EIGEN_DEVICE_FUNC
-  inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
-  
-  EIGEN_DEVICE_FUNC inline Transform operator*(const TranslationType& t) const;
-
-  EIGEN_DEVICE_FUNC 
-  inline Transform& operator=(const UniformScaling<Scalar>& t);
-  
-  EIGEN_DEVICE_FUNC
-  inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
-  
-  EIGEN_DEVICE_FUNC
-  inline TransformTimeDiagonalReturnType operator*(const UniformScaling<Scalar>& s) const
-  {
-    TransformTimeDiagonalReturnType res = *this;
-    res.scale(s.factor());
-    return res;
-  }
-
-  EIGEN_DEVICE_FUNC
-  inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linearExt() *= s; return *this; }
-
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline Transform& operator=(const RotationBase<Derived,Dim>& r);
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
-
-  EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const;
-  template<typename RotationMatrixType, typename ScalingMatrixType>
-  EIGEN_DEVICE_FUNC
-  void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
-  template<typename ScalingMatrixType, typename RotationMatrixType>
-  EIGEN_DEVICE_FUNC
-  void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
-
-  template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
-  EIGEN_DEVICE_FUNC
-  Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
-    const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
-
-  EIGEN_DEVICE_FUNC
-  inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
-
-  /** \returns a const pointer to the column major internal matrix */
-  EIGEN_DEVICE_FUNC const Scalar* data() const { return m_matrix.data(); }
-  /** \returns a non-const pointer to the column major internal matrix */
-  EIGEN_DEVICE_FUNC Scalar* data() { return m_matrix.data(); }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
-  { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  EIGEN_DEVICE_FUNC inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
-  {
-    check_template_params();
-    m_matrix = other.matrix().template cast<Scalar>();
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  EIGEN_DEVICE_FUNC bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return m_matrix.isApprox(other.m_matrix, prec); }
-
-  /** Sets the last row to [0 ... 0 1]
-    */
-  EIGEN_DEVICE_FUNC void makeAffine()
-  {
-    internal::transform_make_affine<int(Mode)>::run(m_matrix);
-  }
-
-  /** \internal
-    * \returns the Dim x Dim linear part if the transformation is affine,
-    *          and the HDim x Dim part for projective transformations.
-    */
-  EIGEN_DEVICE_FUNC inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
-  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
-  /** \internal
-    * \returns the Dim x Dim linear part if the transformation is affine,
-    *          and the HDim x Dim part for projective transformations.
-    */
-  EIGEN_DEVICE_FUNC inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
-  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
-
-  /** \internal
-    * \returns the translation part if the transformation is affine,
-    *          and the last column for projective transformations.
-    */
-  EIGEN_DEVICE_FUNC inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
-  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
-  /** \internal
-    * \returns the translation part if the transformation is affine,
-    *          and the last column for projective transformations.
-    */
-  EIGEN_DEVICE_FUNC inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
-  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
-
-
-  #ifdef EIGEN_TRANSFORM_PLUGIN
-  #include EIGEN_TRANSFORM_PLUGIN
-  #endif
-  
-protected:
-  #ifndef EIGEN_PARSED_BY_DOXYGEN
-    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void check_template_params()
-    {
-      EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
-    }
-  #endif
-
-};
-
-/** \ingroup Geometry_Module */
-typedef Transform<float,2,Isometry> Isometry2f;
-/** \ingroup Geometry_Module */
-typedef Transform<float,3,Isometry> Isometry3f;
-/** \ingroup Geometry_Module */
-typedef Transform<double,2,Isometry> Isometry2d;
-/** \ingroup Geometry_Module */
-typedef Transform<double,3,Isometry> Isometry3d;
-
-/** \ingroup Geometry_Module */
-typedef Transform<float,2,Affine> Affine2f;
-/** \ingroup Geometry_Module */
-typedef Transform<float,3,Affine> Affine3f;
-/** \ingroup Geometry_Module */
-typedef Transform<double,2,Affine> Affine2d;
-/** \ingroup Geometry_Module */
-typedef Transform<double,3,Affine> Affine3d;
-
-/** \ingroup Geometry_Module */
-typedef Transform<float,2,AffineCompact> AffineCompact2f;
-/** \ingroup Geometry_Module */
-typedef Transform<float,3,AffineCompact> AffineCompact3f;
-/** \ingroup Geometry_Module */
-typedef Transform<double,2,AffineCompact> AffineCompact2d;
-/** \ingroup Geometry_Module */
-typedef Transform<double,3,AffineCompact> AffineCompact3d;
-
-/** \ingroup Geometry_Module */
-typedef Transform<float,2,Projective> Projective2f;
-/** \ingroup Geometry_Module */
-typedef Transform<float,3,Projective> Projective3f;
-/** \ingroup Geometry_Module */
-typedef Transform<double,2,Projective> Projective2d;
-/** \ingroup Geometry_Module */
-typedef Transform<double,3,Projective> Projective3d;
-
-/**************************
-*** Optional QT support ***
-**************************/
-
-#ifdef EIGEN_QT_SUPPORT
-/** Initializes \c *this from a QMatrix assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim, int Mode,int Options>
-Transform<Scalar,Dim,Mode,Options>::Transform(const QMatrix& other)
-{
-  check_template_params();
-  *this = other;
-}
-
-/** Set \c *this from a QMatrix assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim, int Mode,int Options>
-Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  if (Mode == int(AffineCompact))
-    m_matrix << other.m11(), other.m21(), other.dx(),
-                other.m12(), other.m22(), other.dy();
-  else
-    m_matrix << other.m11(), other.m21(), other.dx(),
-                other.m12(), other.m22(), other.dy(),
-                0, 0, 1;
-  return *this;
-}
-
-/** \returns a QMatrix from \c *this assuming the dimension is 2.
-  *
-  * \warning this conversion might loss data if \c *this is not affine
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-QMatrix Transform<Scalar,Dim,Mode,Options>::toQMatrix(void) const
-{
-  check_template_params();
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
-                 m_matrix.coeff(0,1), m_matrix.coeff(1,1),
-                 m_matrix.coeff(0,2), m_matrix.coeff(1,2));
-}
-
-/** Initializes \c *this from a QTransform assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim, int Mode,int Options>
-Transform<Scalar,Dim,Mode,Options>::Transform(const QTransform& other)
-{
-  check_template_params();
-  *this = other;
-}
-
-/** Set \c *this from a QTransform assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QTransform& other)
-{
-  check_template_params();
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  if (Mode == int(AffineCompact))
-    m_matrix << other.m11(), other.m21(), other.dx(),
-                other.m12(), other.m22(), other.dy();
-  else
-    m_matrix << other.m11(), other.m21(), other.dx(),
-                other.m12(), other.m22(), other.dy(),
-                other.m13(), other.m23(), other.m33();
-  return *this;
-}
-
-/** \returns a QTransform from \c *this assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  if (Mode == int(AffineCompact))
-    return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
-                      m_matrix.coeff(0,1), m_matrix.coeff(1,1),
-                      m_matrix.coeff(0,2), m_matrix.coeff(1,2));
-  else
-    return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0), m_matrix.coeff(2,0),
-                      m_matrix.coeff(0,1), m_matrix.coeff(1,1), m_matrix.coeff(2,1),
-                      m_matrix.coeff(0,2), m_matrix.coeff(1,2), m_matrix.coeff(2,2));
-}
-#endif
-
-/*********************
-*** Procedural API ***
-*********************/
-
-/** Applies on the right the non uniform scale transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \sa prescale()
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
-  linearExt().noalias() = (linearExt() * other.asDiagonal());
-  return *this;
-}
-
-/** Applies on the right a uniform scale of a factor \a c to \c *this
-  * and returns a reference to \c *this.
-  * \sa prescale(Scalar)
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
-{
-  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
-  linearExt() *= s;
-  return *this;
-}
-
-/** Applies on the left the non uniform scale transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \sa scale()
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
-  affine().noalias() = (other.asDiagonal() * affine());
-  return *this;
-}
-
-/** Applies on the left a uniform scale of a factor \a c to \c *this
-  * and returns a reference to \c *this.
-  * \sa scale(Scalar)
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
-{
-  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
-  m_matrix.template topRows<Dim>() *= s;
-  return *this;
-}
-
-/** Applies on the right the translation matrix represented by the vector \a other
-  * to \c *this and returns a reference to \c *this.
-  * \sa pretranslate()
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  translationExt() += linearExt() * other;
-  return *this;
-}
-
-/** Applies on the left the translation matrix represented by the vector \a other
-  * to \c *this and returns a reference to \c *this.
-  * \sa translate()
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  if(int(Mode)==int(Projective))
-    affine() += other * m_matrix.row(Dim);
-  else
-    translation() += other;
-  return *this;
-}
-
-/** Applies on the right the rotation represented by the rotation \a rotation
-  * to \c *this and returns a reference to \c *this.
-  *
-  * The template parameter \a RotationType is the type of the rotation which
-  * must be known by internal::toRotationMatrix<>.
-  *
-  * Natively supported types includes:
-  *   - any scalar (2D),
-  *   - a Dim x Dim matrix expression,
-  *   - a Quaternion (3D),
-  *   - a AngleAxis (3D)
-  *
-  * This mechanism is easily extendable to support user types such as Euler angles,
-  * or a pair of Quaternion for 4D rotations.
-  *
-  * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename RotationType>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
-{
-  linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
-  return *this;
-}
-
-/** Applies on the left the rotation represented by the rotation \a rotation
-  * to \c *this and returns a reference to \c *this.
-  *
-  * See rotate() for further details.
-  *
-  * \sa rotate()
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename RotationType>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
-{
-  m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
-                                         * m_matrix.template block<Dim,HDim>(0,0);
-  return *this;
-}
-
-/** Applies on the right the shear transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \warning 2D only.
-  * \sa preshear()
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
-{
-  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
-  VectorType tmp = linear().col(0)*sy + linear().col(1);
-  linear() << linear().col(0) + linear().col(1)*sx, tmp;
-  return *this;
-}
-
-/** Applies on the left the shear transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \warning 2D only.
-  * \sa shear()
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
-{
-  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
-  m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
-  return *this;
-}
-
-/******************************************************
-*** Scaling, Translation and Rotation compatibility ***
-******************************************************/
-
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
-{
-  linear().setIdentity();
-  translation() = t.vector();
-  makeAffine();
-  return *this;
-}
-
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
-{
-  Transform res = *this;
-  res.translate(t.vector());
-  return res;
-}
-
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
-{
-  m_matrix.setZero();
-  linear().diagonal().fill(s.factor());
-  makeAffine();
-  return *this;
-}
-
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename Derived>
-EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
-{
-  linear() = internal::toRotationMatrix<Scalar,Dim>(r);
-  translation().setZero();
-  makeAffine();
-  return *this;
-}
-
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename Derived>
-EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
-{
-  Transform res = *this;
-  res.rotate(r.derived());
-  return res;
-}
-
-/************************
-*** Special functions ***
-************************/
-
-/** \returns the rotation part of the transformation
-  *
-  *
-  * \svd_module
-  *
-  * \sa computeRotationScaling(), computeScalingRotation(), class SVD
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
-Transform<Scalar,Dim,Mode,Options>::rotation() const
-{
-  LinearMatrixType result;
-  computeRotationScaling(&result, (LinearMatrixType*)0);
-  return result;
-}
-
-
-/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  *
-  *
-  * \svd_module
-  *
-  * \sa computeScalingRotation(), rotation(), class SVD
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename RotationMatrixType, typename ScalingMatrixType>
-EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
-{
-  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
-
-  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
-  VectorType sv(svd.singularValues());
-  sv.coeffRef(0) *= x;
-  if(scaling) scaling->lazyAssign(svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint());
-  if(rotation)
-  {
-    LinearMatrixType m(svd.matrixU());
-    m.col(0) /= x;
-    rotation->lazyAssign(m * svd.matrixV().adjoint());
-  }
-}
-
-/** decomposes the linear part of the transformation as a product scaling x rotation, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  *
-  *
-  * \svd_module
-  *
-  * \sa computeRotationScaling(), rotation(), class SVD
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename ScalingMatrixType, typename RotationMatrixType>
-EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
-{
-  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
-
-  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
-  VectorType sv(svd.singularValues());
-  sv.coeffRef(0) *= x;
-  if(scaling) scaling->lazyAssign(svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint());
-  if(rotation)
-  {
-    LinearMatrixType m(svd.matrixU());
-    m.col(0) /= x;
-    rotation->lazyAssign(m * svd.matrixV().adjoint());
-  }
-}
-
-/** Convenient method to set \c *this from a position, orientation and scale
-  * of a 3D object.
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
-Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
-  const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
-{
-  linear() = internal::toRotationMatrix<Scalar,Dim>(orientation);
-  linear() *= scale.asDiagonal();
-  translation() = position;
-  makeAffine();
-  return *this;
-}
-
-namespace internal {
-
-template<int Mode>
-struct transform_make_affine
-{
-  template<typename MatrixType>
-  EIGEN_DEVICE_FUNC static void run(MatrixType &mat)
-  {
-    static const int Dim = MatrixType::ColsAtCompileTime-1;
-    mat.template block<1,Dim>(Dim,0).setZero();
-    mat.coeffRef(Dim,Dim) = typename MatrixType::Scalar(1);
-  }
-};
-
-template<>
-struct transform_make_affine<AffineCompact>
-{
-  template<typename MatrixType> EIGEN_DEVICE_FUNC static void run(MatrixType &) { }
-};
-    
-// selector needed to avoid taking the inverse of a 3x4 matrix
-template<typename TransformType, int Mode=TransformType::Mode>
-struct projective_transform_inverse
-{
-  EIGEN_DEVICE_FUNC static inline void run(const TransformType&, TransformType&)
-  {}
-};
-
-template<typename TransformType>
-struct projective_transform_inverse<TransformType, Projective>
-{
-  EIGEN_DEVICE_FUNC static inline void run(const TransformType& m, TransformType& res)
-  {
-    res.matrix() = m.matrix().inverse();
-  }
-};
-
-} // end namespace internal
-
-
-/**
-  *
-  * \returns the inverse transformation according to some given knowledge
-  * on \c *this.
-  *
-  * \param hint allows to optimize the inversion process when the transformation
-  * is known to be not a general transformation (optional). The possible values are:
-  *  - #Projective if the transformation is not necessarily affine, i.e., if the
-  *    last row is not guaranteed to be [0 ... 0 1]
-  *  - #Affine if the last row can be assumed to be [0 ... 0 1]
-  *  - #Isometry if the transformation is only a concatenations of translations
-  *    and rotations.
-  *  The default is the template class parameter \c Mode.
-  *
-  * \warning unless \a traits is always set to NoShear or NoScaling, this function
-  * requires the generic inverse method of MatrixBase defined in the LU module. If
-  * you forget to include this module, then you will get hard to debug linking errors.
-  *
-  * \sa MatrixBase::inverse()
-  */
-template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>
-Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
-{
-  Transform res;
-  if (hint == Projective)
-  {
-    internal::projective_transform_inverse<Transform>::run(*this, res);
-  }
-  else
-  {
-    if (hint == Isometry)
-    {
-      res.matrix().template topLeftCorner<Dim,Dim>() = linear().transpose();
-    }
-    else if(hint&Affine)
-    {
-      res.matrix().template topLeftCorner<Dim,Dim>() = linear().inverse();
-    }
-    else
-    {
-      eigen_assert(false && "Invalid transform traits in Transform::Inverse");
-    }
-    // translation and remaining parts
-    res.matrix().template topRightCorner<Dim,1>()
-      = - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
-    res.makeAffine(); // we do need this, because in the beginning res is uninitialized
-  }
-  return res;
-}
-
-namespace internal {
-
-/*****************************************************
-*** Specializations of take affine part            ***
-*****************************************************/
-
-template<typename TransformType> struct transform_take_affine_part {
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef typename TransformType::AffinePart AffinePart;
-  typedef typename TransformType::ConstAffinePart ConstAffinePart;
-  static inline AffinePart run(MatrixType& m)
-  { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
-  static inline ConstAffinePart run(const MatrixType& m)
-  { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
-};
-
-template<typename Scalar, int Dim, int Options>
-struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> > {
-  typedef typename Transform<Scalar,Dim,AffineCompact,Options>::MatrixType MatrixType;
-  static inline MatrixType& run(MatrixType& m) { return m; }
-  static inline const MatrixType& run(const MatrixType& m) { return m; }
-};
-
-/*****************************************************
-*** Specializations of construct from matrix       ***
-*****************************************************/
-
-template<typename Other, int Mode, int Options, int Dim, int HDim>
-struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim>
-{
-  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
-  {
-    transform->linear() = other;
-    transform->translation().setZero();
-    transform->makeAffine();
-  }
-};
-
-template<typename Other, int Mode, int Options, int Dim, int HDim>
-struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim>
-{
-  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
-  {
-    transform->affine() = other;
-    transform->makeAffine();
-  }
-};
-
-template<typename Other, int Mode, int Options, int Dim, int HDim>
-struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, HDim,HDim>
-{
-  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
-  { transform->matrix() = other; }
-};
-
-template<typename Other, int Options, int Dim, int HDim>
-struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HDim,HDim>
-{
-  static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact,Options> *transform, const Other& other)
-  { transform->matrix() = other.template block<Dim,HDim>(0,0); }
-};
-
-/**********************************************************
-***   Specializations of operator* with rhs EigenBase   ***
-**********************************************************/
-
-template<int LhsMode,int RhsMode>
-struct transform_product_result
-{
-  enum 
-  { 
-    Mode =
-      (LhsMode == (int)Projective    || RhsMode == (int)Projective    ) ? Projective :
-      (LhsMode == (int)Affine        || RhsMode == (int)Affine        ) ? Affine :
-      (LhsMode == (int)AffineCompact || RhsMode == (int)AffineCompact ) ? AffineCompact :
-      (LhsMode == (int)Isometry      || RhsMode == (int)Isometry      ) ? Isometry : Projective
-  };
-};
-
-template< typename TransformType, typename MatrixType, int RhsCols>
-struct transform_right_product_impl< TransformType, MatrixType, 0, RhsCols>
-{
-  typedef typename MatrixType::PlainObject ResultType;
-
-  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
-  {
-    return T.matrix() * other;
-  }
-};
-
-template< typename TransformType, typename MatrixType, int RhsCols>
-struct transform_right_product_impl< TransformType, MatrixType, 1, RhsCols>
-{
-  enum { 
-    Dim = TransformType::Dim, 
-    HDim = TransformType::HDim,
-    OtherRows = MatrixType::RowsAtCompileTime,
-    OtherCols = MatrixType::ColsAtCompileTime
-  };
-
-  typedef typename MatrixType::PlainObject ResultType;
-
-  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
-  {
-    EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
-
-    typedef Block<ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime)==Dim> TopLeftLhs;
-
-    ResultType res(other.rows(),other.cols());
-    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
-    res.row(OtherRows-1) = other.row(OtherRows-1);
-    
-    return res;
-  }
-};
-
-template< typename TransformType, typename MatrixType, int RhsCols>
-struct transform_right_product_impl< TransformType, MatrixType, 2, RhsCols>
-{
-  enum { 
-    Dim = TransformType::Dim, 
-    HDim = TransformType::HDim,
-    OtherRows = MatrixType::RowsAtCompileTime,
-    OtherCols = MatrixType::ColsAtCompileTime
-  };
-
-  typedef typename MatrixType::PlainObject ResultType;
-
-  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
-  {
-    EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
-
-    typedef Block<ResultType, Dim, OtherCols, true> TopLeftLhs;
-    ResultType res(Replicate<typename TransformType::ConstTranslationPart, 1, OtherCols>(T.translation(),1,other.cols()));
-    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other;
-
-    return res;
-  }
-};
-
-template< typename TransformType, typename MatrixType >
-struct transform_right_product_impl< TransformType, MatrixType, 2, 1> // rhs is a vector of size Dim
-{
-  typedef typename TransformType::MatrixType TransformMatrix;
-  enum {
-    Dim = TransformType::Dim,
-    HDim = TransformType::HDim,
-    OtherRows = MatrixType::RowsAtCompileTime,
-    WorkingRows = EIGEN_PLAIN_ENUM_MIN(TransformMatrix::RowsAtCompileTime,HDim)
-  };
-
-  typedef typename MatrixType::PlainObject ResultType;
-
-  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
-  {
-    EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
-
-    Matrix<typename ResultType::Scalar, Dim+1, 1> rhs;
-    rhs.template head<Dim>() = other; rhs[Dim] = typename ResultType::Scalar(1);
-    Matrix<typename ResultType::Scalar, WorkingRows, 1> res(T.matrix() * rhs);
-    return res.template head<Dim>();
-  }
-};
-
-/**********************************************************
-***   Specializations of operator* with lhs EigenBase   ***
-**********************************************************/
-
-// generic HDim x HDim matrix * T => Projective
-template<typename Other,int Mode, int Options, int Dim, int HDim>
-struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, HDim,HDim>
-{
-  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
-  static ResultType run(const Other& other,const TransformType& tr)
-  { return ResultType(other * tr.matrix()); }
-};
-
-// generic HDim x HDim matrix * AffineCompact => Projective
-template<typename Other, int Options, int Dim, int HDim>
-struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, HDim,HDim>
-{
-  typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
-  static ResultType run(const Other& other,const TransformType& tr)
-  {
-    ResultType res;
-    res.matrix().noalias() = other.template block<HDim,Dim>(0,0) * tr.matrix();
-    res.matrix().col(Dim) += other.col(Dim);
-    return res;
-  }
-};
-
-// affine matrix * T
-template<typename Other,int Mode, int Options, int Dim, int HDim>
-struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,HDim>
-{
-  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef TransformType ResultType;
-  static ResultType run(const Other& other,const TransformType& tr)
-  {
-    ResultType res;
-    res.affine().noalias() = other * tr.matrix();
-    res.matrix().row(Dim) = tr.matrix().row(Dim);
-    return res;
-  }
-};
-
-// affine matrix * AffineCompact
-template<typename Other, int Options, int Dim, int HDim>
-struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, Dim,HDim>
-{
-  typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef TransformType ResultType;
-  static ResultType run(const Other& other,const TransformType& tr)
-  {
-    ResultType res;
-    res.matrix().noalias() = other.template block<Dim,Dim>(0,0) * tr.matrix();
-    res.translation() += other.col(Dim);
-    return res;
-  }
-};
-
-// linear matrix * T
-template<typename Other,int Mode, int Options, int Dim, int HDim>
-struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,Dim>
-{
-  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef TransformType ResultType;
-  static ResultType run(const Other& other, const TransformType& tr)
-  {
-    TransformType res;
-    if(Mode!=int(AffineCompact))
-      res.matrix().row(Dim) = tr.matrix().row(Dim);
-    res.matrix().template topRows<Dim>().noalias()
-      = other * tr.matrix().template topRows<Dim>();
-    return res;
-  }
-};
-
-/**********************************************************
-*** Specializations of operator* with another Transform ***
-**********************************************************/
-
-template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
-struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,false >
-{
-  enum { ResultMode = transform_product_result<LhsMode,RhsMode>::Mode };
-  typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
-  typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
-  typedef Transform<Scalar,Dim,ResultMode,LhsOptions> ResultType;
-  static ResultType run(const Lhs& lhs, const Rhs& rhs)
-  {
-    ResultType res;
-    res.linear() = lhs.linear() * rhs.linear();
-    res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
-    res.makeAffine();
-    return res;
-  }
-};
-
-template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
-struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,true >
-{
-  typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
-  typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
-  typedef Transform<Scalar,Dim,Projective> ResultType;
-  static ResultType run(const Lhs& lhs, const Rhs& rhs)
-  {
-    return ResultType( lhs.matrix() * rhs.matrix() );
-  }
-};
-
-template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
-struct transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact,LhsOptions>,Transform<Scalar,Dim,Projective,RhsOptions>,true >
-{
-  typedef Transform<Scalar,Dim,AffineCompact,LhsOptions> Lhs;
-  typedef Transform<Scalar,Dim,Projective,RhsOptions> Rhs;
-  typedef Transform<Scalar,Dim,Projective> ResultType;
-  static ResultType run(const Lhs& lhs, const Rhs& rhs)
-  {
-    ResultType res;
-    res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix();
-    res.matrix().row(Dim) = rhs.matrix().row(Dim);
-    return res;
-  }
-};
-
-template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
-struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptions>,Transform<Scalar,Dim,AffineCompact,RhsOptions>,true >
-{
-  typedef Transform<Scalar,Dim,Projective,LhsOptions> Lhs;
-  typedef Transform<Scalar,Dim,AffineCompact,RhsOptions> Rhs;
-  typedef Transform<Scalar,Dim,Projective> ResultType;
-  static ResultType run(const Lhs& lhs, const Rhs& rhs)
-  {
-    ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix());
-    res.matrix().col(Dim) += lhs.matrix().col(Dim);
-    return res;
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRANSFORM_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/Translation.h b/phonelibs/eigen/Eigen/src/Geometry/Translation.h
deleted file mode 100644
index 51d9a82ebbd828..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/Translation.h
+++ /dev/null
@@ -1,208 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRANSLATION_H
-#define EIGEN_TRANSLATION_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Translation
-  *
-  * \brief Represents a translation transformation
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients.
-  * \tparam _Dim the  dimension of the space, can be a compile time value or Dynamic
-  *
-  * \note This class is not aimed to be used to store a translation transformation,
-  * but rather to make easier the constructions and updates of Transform objects.
-  *
-  * \sa class Scaling, class Transform
-  */
-template<typename _Scalar, int _Dim>
-class Translation
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
-  /** dimension of the space */
-  enum { Dim = _Dim };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  /** corresponding vector type */
-  typedef Matrix<Scalar,Dim,1> VectorType;
-  /** corresponding linear transformation matrix type */
-  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
-  /** corresponding affine transformation type */
-  typedef Transform<Scalar,Dim,Affine> AffineTransformType;
-  /** corresponding isometric transformation type */
-  typedef Transform<Scalar,Dim,Isometry> IsometryTransformType;
-
-protected:
-
-  VectorType m_coeffs;
-
-public:
-
-  /** Default constructor without initialization. */
-  EIGEN_DEVICE_FUNC Translation() {}
-  /**  */
-  EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
-  {
-    eigen_assert(Dim==2);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-  }
-  /**  */
-  EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
-  {
-    eigen_assert(Dim==3);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-    m_coeffs.z() = sz;
-  }
-  /** Constructs and initialize the translation transformation from a vector of translation coefficients */
-  EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
-
-  /** \brief Retruns the x-translation by value. **/
-  EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
-  /** \brief Retruns the y-translation by value. **/
-  EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
-  /** \brief Retruns the z-translation by value. **/
-  EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
-
-  /** \brief Retruns the x-translation as a reference. **/
-  EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
-  /** \brief Retruns the y-translation as a reference. **/
-  EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
-  /** \brief Retruns the z-translation as a reference. **/
-  EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
-
-  EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
-  EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
-
-  EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
-  EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
-
-  /** Concatenates two translation */
-  EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
-  { return Translation(m_coeffs + other.m_coeffs); }
-
-  /** Concatenates a translation and a uniform scaling */
-  EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
-
-  /** Concatenates a translation and a linear transformation */
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
-
-  /** Concatenates a translation and a rotation */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
-  { return *this * IsometryTransformType(r); }
-
-  /** \returns the concatenation of a linear transformation \a l with the translation \a t */
-  // its a nightmare to define a templated friend function outside its declaration
-  template<typename OtherDerived> friend
-  EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
-  {
-    AffineTransformType res;
-    res.matrix().setZero();
-    res.linear() = linear.derived();
-    res.translation() = linear.derived() * t.m_coeffs;
-    res.matrix().row(Dim).setZero();
-    res(Dim,Dim) = Scalar(1);
-    return res;
-  }
-
-  /** Concatenates a translation and a transformation */
-  template<int Mode, int Options>
-  EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
-  {
-    Transform<Scalar,Dim,Mode> res = t;
-    res.pretranslate(m_coeffs);
-    return res;
-  }
-
-  /** Applies translation to vector */
-  template<typename Derived>
-  inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
-  operator* (const MatrixBase<Derived>& vec) const
-  { return m_coeffs + vec.derived(); }
-
-  /** \returns the inverse translation (opposite) */
-  Translation inverse() const { return Translation(-m_coeffs); }
-
-  Translation& operator=(const Translation& other)
-  {
-    m_coeffs = other.m_coeffs;
-    return *this;
-  }
-
-  static const Translation Identity() { return Translation(VectorType::Zero()); }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
-  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
-  { m_coeffs = other.vector().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-};
-
-/** \addtogroup Geometry_Module */
-//@{
-typedef Translation<float, 2> Translation2f;
-typedef Translation<double,2> Translation2d;
-typedef Translation<float, 3> Translation3f;
-typedef Translation<double,3> Translation3d;
-//@}
-
-template<typename Scalar, int Dim>
-EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
-Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
-{
-  AffineTransformType res;
-  res.matrix().setZero();
-  res.linear().diagonal().fill(other.factor());
-  res.translation() = m_coeffs;
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
-Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
-{
-  AffineTransformType res;
-  res.matrix().setZero();
-  res.linear() = linear.derived();
-  res.translation() = m_coeffs;
-  res.matrix().row(Dim).setZero();
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_TRANSLATION_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/Umeyama.h b/phonelibs/eigen/Eigen/src/Geometry/Umeyama.h
deleted file mode 100644
index 7e933fca13e8aa..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/Umeyama.h
+++ /dev/null
@@ -1,166 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_UMEYAMA_H
-#define EIGEN_UMEYAMA_H
-
-// This file requires the user to include 
-// * Eigen/Core
-// * Eigen/LU 
-// * Eigen/SVD
-// * Eigen/Array
-
-namespace Eigen { 
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-// These helpers are required since it allows to use mixed types as parameters
-// for the Umeyama. The problem with mixed parameters is that the return type
-// cannot trivially be deduced when float and double types are mixed.
-namespace internal {
-
-// Compile time return type deduction for different MatrixBase types.
-// Different means here different alignment and parameters but the same underlying
-// real scalar type.
-template<typename MatrixType, typename OtherMatrixType>
-struct umeyama_transform_matrix_type
-{
-  enum {
-    MinRowsAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime, OtherMatrixType::RowsAtCompileTime),
-
-    // When possible we want to choose some small fixed size value since the result
-    // is likely to fit on the stack. So here, EIGEN_SIZE_MIN_PREFER_DYNAMIC is not what we want.
-    HomogeneousDimension = int(MinRowsAtCompileTime) == Dynamic ? Dynamic : int(MinRowsAtCompileTime)+1
-  };
-
-  typedef Matrix<typename traits<MatrixType>::Scalar,
-    HomogeneousDimension,
-    HomogeneousDimension,
-    AutoAlign | (traits<MatrixType>::Flags & RowMajorBit ? RowMajor : ColMajor),
-    HomogeneousDimension,
-    HomogeneousDimension
-  > type;
-};
-
-}
-
-#endif
-
-/**
-* \geometry_module \ingroup Geometry_Module
-*
-* \brief Returns the transformation between two point sets.
-*
-* The algorithm is based on:
-* "Least-squares estimation of transformation parameters between two point patterns",
-* Shinji Umeyama, PAMI 1991, DOI: 10.1109/34.88573
-*
-* It estimates parameters \f$ c, \mathbf{R}, \f$ and \f$ \mathbf{t} \f$ such that
-* \f{align*}
-*   \frac{1}{n} \sum_{i=1}^n \vert\vert y_i - (c\mathbf{R}x_i + \mathbf{t}) \vert\vert_2^2
-* \f}
-* is minimized.
-*
-* The algorithm is based on the analysis of the covariance matrix
-* \f$ \Sigma_{\mathbf{x}\mathbf{y}} \in \mathbb{R}^{d \times d} \f$
-* of the input point sets \f$ \mathbf{x} \f$ and \f$ \mathbf{y} \f$ where 
-* \f$d\f$ is corresponding to the dimension (which is typically small).
-* The analysis is involving the SVD having a complexity of \f$O(d^3)\f$
-* though the actual computational effort lies in the covariance
-* matrix computation which has an asymptotic lower bound of \f$O(dm)\f$ when 
-* the input point sets have dimension \f$d \times m\f$.
-*
-* Currently the method is working only for floating point matrices.
-*
-* \todo Should the return type of umeyama() become a Transform?
-*
-* \param src Source points \f$ \mathbf{x} = \left( x_1, \hdots, x_n \right) \f$.
-* \param dst Destination points \f$ \mathbf{y} = \left( y_1, \hdots, y_n \right) \f$.
-* \param with_scaling Sets \f$ c=1 \f$ when <code>false</code> is passed.
-* \return The homogeneous transformation 
-* \f{align*}
-*   T = \begin{bmatrix} c\mathbf{R} & \mathbf{t} \\ \mathbf{0} & 1 \end{bmatrix}
-* \f}
-* minimizing the resudiual above. This transformation is always returned as an 
-* Eigen::Matrix.
-*/
-template <typename Derived, typename OtherDerived>
-typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type
-umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, bool with_scaling = true)
-{
-  typedef typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
-  typedef typename internal::traits<TransformationMatrixType>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-
-  EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
-  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename internal::traits<OtherDerived>::Scalar>::value),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-  enum { Dimension = EIGEN_SIZE_MIN_PREFER_DYNAMIC(Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) };
-
-  typedef Matrix<Scalar, Dimension, 1> VectorType;
-  typedef Matrix<Scalar, Dimension, Dimension> MatrixType;
-  typedef typename internal::plain_matrix_type_row_major<Derived>::type RowMajorMatrixType;
-
-  const Index m = src.rows(); // dimension
-  const Index n = src.cols(); // number of measurements
-
-  // required for demeaning ...
-  const RealScalar one_over_n = RealScalar(1) / static_cast<RealScalar>(n);
-
-  // computation of mean
-  const VectorType src_mean = src.rowwise().sum() * one_over_n;
-  const VectorType dst_mean = dst.rowwise().sum() * one_over_n;
-
-  // demeaning of src and dst points
-  const RowMajorMatrixType src_demean = src.colwise() - src_mean;
-  const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
-
-  // Eq. (36)-(37)
-  const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
-
-  // Eq. (38)
-  const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
-
-  JacobiSVD<MatrixType> svd(sigma, ComputeFullU | ComputeFullV);
-
-  // Initialize the resulting transformation with an identity matrix...
-  TransformationMatrixType Rt = TransformationMatrixType::Identity(m+1,m+1);
-
-  // Eq. (39)
-  VectorType S = VectorType::Ones(m);
-
-  if  ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
-    S(m-1) = -1;
-
-  // Eq. (40) and (43)
-  Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
-
-  if (with_scaling)
-  {
-    // Eq. (42)
-    const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S);
-
-    // Eq. (41)
-    Rt.col(m).head(m) = dst_mean;
-    Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
-    Rt.block(0,0,m,m) *= c;
-  }
-  else
-  {
-    Rt.col(m).head(m) = dst_mean;
-    Rt.col(m).head(m).noalias() -= Rt.topLeftCorner(m,m)*src_mean;
-  }
-
-  return Rt;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_UMEYAMA_H
diff --git a/phonelibs/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h b/phonelibs/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
deleted file mode 100644
index 1a86ff837bb52b..00000000000000
--- a/phonelibs/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
+++ /dev/null
@@ -1,141 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GEOMETRY_SSE_H
-#define EIGEN_GEOMETRY_SSE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<class Derived, class OtherDerived>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16>
-{
-  static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
-  {
-    Quaternion<float> res;
-    const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
-    __m128 a = _a.coeffs().template packet<Aligned16>(0);
-    __m128 b = _b.coeffs().template packet<Aligned16>(0);
-    __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
-    __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
-    pstore(&res.x(),
-              _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
-                                    _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
-                                               vec4f_swizzle1(b,1,2,0,0))),
-                         _mm_xor_ps(mask,_mm_add_ps(s1,s2))));
-    
-    return res;
-  }
-};
-
-template<class Derived, int Alignment>
-struct quat_conj<Architecture::SSE, Derived, float, Alignment>
-{
-  static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
-  {
-    Quaternion<float> res;
-    const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
-    pstore(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<Alignment>(0)));
-    return res;
-  }
-};
-
-
-template<typename VectorLhs,typename VectorRhs>
-struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
-{
-  static inline typename plain_matrix_type<VectorLhs>::type
-  run(const VectorLhs& lhs, const VectorRhs& rhs)
-  {
-    __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
-    __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
-    __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
-    __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
-    typename plain_matrix_type<VectorLhs>::type res;
-    pstore(&res.x(),_mm_sub_ps(mul1,mul2));
-    return res;
-  }
-};
-
-
-
-
-template<class Derived, class OtherDerived, int Alignment>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
-{
-  static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
-  {
-  const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
-
-  Quaternion<double> res;
-
-  const double* a = _a.coeffs().data();
-  Packet2d b_xy = _b.coeffs().template packet<Alignment>(0);
-  Packet2d b_zw = _b.coeffs().template packet<Alignment>(2);
-  Packet2d a_xx = pset1<Packet2d>(a[0]);
-  Packet2d a_yy = pset1<Packet2d>(a[1]);
-  Packet2d a_zz = pset1<Packet2d>(a[2]);
-  Packet2d a_ww = pset1<Packet2d>(a[3]);
-
-  // two temporaries:
-  Packet2d t1, t2;
-
-  /*
-   * t1 = ww*xy + yy*zw
-   * t2 = zz*xy - xx*zw
-   * res.xy = t1 +/- swap(t2)
-   */
-  t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
-  t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
-#ifdef EIGEN_VECTORIZE_SSE3
-  EIGEN_UNUSED_VARIABLE(mask)
-  pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
-#else
-  pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
-#endif
-  
-  /*
-   * t1 = ww*zw - yy*xy
-   * t2 = zz*zw + xx*xy
-   * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
-   */
-  t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
-  t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
-#ifdef EIGEN_VECTORIZE_SSE3
-  EIGEN_UNUSED_VARIABLE(mask)
-  pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
-#else
-  pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
-#endif
-
-  return res;
-}
-};
-
-template<class Derived, int Alignment>
-struct quat_conj<Architecture::SSE, Derived, double, Alignment>
-{
-  static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
-  {
-    Quaternion<double> res;
-    const __m128d mask0 = _mm_setr_pd(-0.,-0.);
-    const __m128d mask2 = _mm_setr_pd(-0.,0.);
-    pstore(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<Alignment>(0)));
-    pstore(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<Alignment>(2)));
-    return res;
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GEOMETRY_SSE_H
diff --git a/phonelibs/eigen/Eigen/src/Householder/BlockHouseholder.h b/phonelibs/eigen/Eigen/src/Householder/BlockHouseholder.h
deleted file mode 100644
index 01a7ed1884d22d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Householder/BlockHouseholder.h
+++ /dev/null
@@ -1,103 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Vincent Lejeune
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BLOCK_HOUSEHOLDER_H
-#define EIGEN_BLOCK_HOUSEHOLDER_H
-
-// This file contains some helper function to deal with block householder reflectors
-
-namespace Eigen { 
-
-namespace internal {
-  
-/** \internal */
-// template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
-// void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
-// {
-//   typedef typename VectorsType::Scalar Scalar;
-//   const Index nbVecs = vectors.cols();
-//   eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
-// 
-//   for(Index i = 0; i < nbVecs; i++)
-//   {
-//     Index rs = vectors.rows() - i;
-//     // Warning, note that hCoeffs may alias with vectors.
-//     // It is then necessary to copy it before modifying vectors(i,i). 
-//     typename CoeffsType::Scalar h = hCoeffs(i);
-//     // This hack permits to pass trough nested Block<> and Transpose<> expressions.
-//     Scalar *Vii_ptr = const_cast<Scalar*>(vectors.data() + vectors.outerStride()*i + vectors.innerStride()*i);
-//     Scalar Vii = *Vii_ptr;
-//     *Vii_ptr = Scalar(1);
-//     triFactor.col(i).head(i).noalias() = -h * vectors.block(i, 0, rs, i).adjoint()
-//                                        * vectors.col(i).tail(rs);
-//     *Vii_ptr = Vii;
-//     // FIXME add .noalias() once the triangular product can work inplace
-//     triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
-//                              * triFactor.col(i).head(i);
-//     triFactor(i,i) = hCoeffs(i);
-//   }
-// }
-
-/** \internal */
-// This variant avoid modifications in vectors
-template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
-void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
-{
-  const Index nbVecs = vectors.cols();
-  eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
-
-  for(Index i = nbVecs-1; i >=0 ; --i)
-  {
-    Index rs = vectors.rows() - i - 1;
-    Index rt = nbVecs-i-1;
-
-    if(rt>0)
-    {
-      triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
-                                                        * vectors.bottomRightCorner(rs, rt).template triangularView<UnitLower>();
-            
-      // FIXME add .noalias() once the triangular product can work inplace
-      triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template triangularView<Upper>();
-      
-    }
-    triFactor(i,i) = hCoeffs(i);
-  }
-}
-
-/** \internal
-  * if forward then perform   mat = H0 * H1 * H2 * mat
-  * otherwise perform         mat = H2 * H1 * H0 * mat
-  */
-template<typename MatrixType,typename VectorsType,typename CoeffsType>
-void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs, bool forward)
-{
-  enum { TFactorSize = MatrixType::ColsAtCompileTime };
-  Index nbVecs = vectors.cols();
-  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, RowMajor> T(nbVecs,nbVecs);
-  
-  if(forward) make_block_householder_triangular_factor(T, vectors, hCoeffs);
-  else        make_block_householder_triangular_factor(T, vectors, hCoeffs.conjugate());  
-  const TriangularView<const VectorsType, UnitLower> V(vectors);
-
-  // A -= V T V^* A
-  Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,
-         (VectorsType::MaxColsAtCompileTime==1 && MatrixType::MaxColsAtCompileTime!=1)?RowMajor:ColMajor,
-         VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.adjoint() * mat;
-  // FIXME add .noalias() once the triangular product can work inplace
-  if(forward) tmp = T.template triangularView<Upper>()           * tmp;
-  else        tmp = T.template triangularView<Upper>().adjoint() * tmp;
-  mat.noalias() -= V * tmp;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_BLOCK_HOUSEHOLDER_H
diff --git a/phonelibs/eigen/Eigen/src/Householder/Householder.h b/phonelibs/eigen/Eigen/src/Householder/Householder.h
deleted file mode 100644
index 80de2c3052c08b..00000000000000
--- a/phonelibs/eigen/Eigen/src/Householder/Householder.h
+++ /dev/null
@@ -1,172 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HOUSEHOLDER_H
-#define EIGEN_HOUSEHOLDER_H
-
-namespace Eigen { 
-
-namespace internal {
-template<int n> struct decrement_size
-{
-  enum {
-    ret = n==Dynamic ? n : n-1
-  };
-};
-}
-
-/** Computes the elementary reflector H such that:
-  * \f$ H *this = [ beta 0 ... 0]^T \f$
-  * where the transformation H is:
-  * \f$ H = I - tau v v^*\f$
-  * and the vector v is:
-  * \f$ v^T = [1 essential^T] \f$
-  *
-  * The essential part of the vector \c v is stored in *this.
-  * 
-  * On output:
-  * \param tau the scaling factor of the Householder transformation
-  * \param beta the result of H * \c *this
-  *
-  * \sa MatrixBase::makeHouseholder(), MatrixBase::applyHouseholderOnTheLeft(),
-  *     MatrixBase::applyHouseholderOnTheRight()
-  */
-template<typename Derived>
-void MatrixBase<Derived>::makeHouseholderInPlace(Scalar& tau, RealScalar& beta)
-{
-  VectorBlock<Derived, internal::decrement_size<Base::SizeAtCompileTime>::ret> essentialPart(derived(), 1, size()-1);
-  makeHouseholder(essentialPart, tau, beta);
-}
-
-/** Computes the elementary reflector H such that:
-  * \f$ H *this = [ beta 0 ... 0]^T \f$
-  * where the transformation H is:
-  * \f$ H = I - tau v v^*\f$
-  * and the vector v is:
-  * \f$ v^T = [1 essential^T] \f$
-  *
-  * On output:
-  * \param essential the essential part of the vector \c v
-  * \param tau the scaling factor of the Householder transformation
-  * \param beta the result of H * \c *this
-  *
-  * \sa MatrixBase::makeHouseholderInPlace(), MatrixBase::applyHouseholderOnTheLeft(),
-  *     MatrixBase::applyHouseholderOnTheRight()
-  */
-template<typename Derived>
-template<typename EssentialPart>
-void MatrixBase<Derived>::makeHouseholder(
-  EssentialPart& essential,
-  Scalar& tau,
-  RealScalar& beta) const
-{
-  using std::sqrt;
-  using numext::conj;
-  
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(EssentialPart)
-  VectorBlock<const Derived, EssentialPart::SizeAtCompileTime> tail(derived(), 1, size()-1);
-  
-  RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
-  Scalar c0 = coeff(0);
-  const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
-
-  if(tailSqNorm <= tol && numext::abs2(numext::imag(c0))<=tol)
-  {
-    tau = RealScalar(0);
-    beta = numext::real(c0);
-    essential.setZero();
-  }
-  else
-  {
-    beta = sqrt(numext::abs2(c0) + tailSqNorm);
-    if (numext::real(c0)>=RealScalar(0))
-      beta = -beta;
-    essential = tail / (c0 - beta);
-    tau = conj((beta - c0) / beta);
-  }
-}
-
-/** Apply the elementary reflector H given by
-  * \f$ H = I - tau v v^*\f$
-  * with
-  * \f$ v^T = [1 essential^T] \f$
-  * from the left to a vector or matrix.
-  *
-  * On input:
-  * \param essential the essential part of the vector \c v
-  * \param tau the scaling factor of the Householder transformation
-  * \param workspace a pointer to working space with at least
-  *                  this->cols() * essential.size() entries
-  *
-  * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(), 
-  *     MatrixBase::applyHouseholderOnTheRight()
-  */
-template<typename Derived>
-template<typename EssentialPart>
-void MatrixBase<Derived>::applyHouseholderOnTheLeft(
-  const EssentialPart& essential,
-  const Scalar& tau,
-  Scalar* workspace)
-{
-  if(rows() == 1)
-  {
-    *this *= Scalar(1)-tau;
-  }
-  else if(tau!=Scalar(0))
-  {
-    Map<typename internal::plain_row_type<PlainObject>::type> tmp(workspace,cols());
-    Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows()-1, cols());
-    tmp.noalias() = essential.adjoint() * bottom;
-    tmp += this->row(0);
-    this->row(0) -= tau * tmp;
-    bottom.noalias() -= tau * essential * tmp;
-  }
-}
-
-/** Apply the elementary reflector H given by
-  * \f$ H = I - tau v v^*\f$
-  * with
-  * \f$ v^T = [1 essential^T] \f$
-  * from the right to a vector or matrix.
-  *
-  * On input:
-  * \param essential the essential part of the vector \c v
-  * \param tau the scaling factor of the Householder transformation
-  * \param workspace a pointer to working space with at least
-  *                  this->cols() * essential.size() entries
-  *
-  * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(), 
-  *     MatrixBase::applyHouseholderOnTheLeft()
-  */
-template<typename Derived>
-template<typename EssentialPart>
-void MatrixBase<Derived>::applyHouseholderOnTheRight(
-  const EssentialPart& essential,
-  const Scalar& tau,
-  Scalar* workspace)
-{
-  if(cols() == 1)
-  {
-    *this *= Scalar(1)-tau;
-  }
-  else if(tau!=Scalar(0))
-  {
-    Map<typename internal::plain_col_type<PlainObject>::type> tmp(workspace,rows());
-    Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(), cols()-1);
-    tmp.noalias() = right * essential.conjugate();
-    tmp += this->col(0);
-    this->col(0) -= tau * tmp;
-    right.noalias() -= tau * tmp * essential.transpose();
-  }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_HOUSEHOLDER_H
diff --git a/phonelibs/eigen/Eigen/src/Householder/HouseholderSequence.h b/phonelibs/eigen/Eigen/src/Householder/HouseholderSequence.h
deleted file mode 100644
index 3ce0a693d9bf5a..00000000000000
--- a/phonelibs/eigen/Eigen/src/Householder/HouseholderSequence.h
+++ /dev/null
@@ -1,470 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HOUSEHOLDER_SEQUENCE_H
-#define EIGEN_HOUSEHOLDER_SEQUENCE_H
-
-namespace Eigen { 
-
-/** \ingroup Householder_Module
-  * \householder_module
-  * \class HouseholderSequence
-  * \brief Sequence of Householder reflections acting on subspaces with decreasing size
-  * \tparam VectorsType type of matrix containing the Householder vectors
-  * \tparam CoeffsType  type of vector containing the Householder coefficients
-  * \tparam Side        either OnTheLeft (the default) or OnTheRight
-  *
-  * This class represents a product sequence of Householder reflections where the first Householder reflection
-  * acts on the whole space, the second Householder reflection leaves the one-dimensional subspace spanned by
-  * the first unit vector invariant, the third Householder reflection leaves the two-dimensional subspace
-  * spanned by the first two unit vectors invariant, and so on up to the last reflection which leaves all but
-  * one dimensions invariant and acts only on the last dimension. Such sequences of Householder reflections
-  * are used in several algorithms to zero out certain parts of a matrix. Indeed, the methods
-  * HessenbergDecomposition::matrixQ(), Tridiagonalization::matrixQ(), HouseholderQR::householderQ(),
-  * and ColPivHouseholderQR::householderQ() all return a %HouseholderSequence.
-  *
-  * More precisely, the class %HouseholderSequence represents an \f$ n \times n \f$ matrix \f$ H \f$ of the
-  * form \f$ H = \prod_{i=0}^{n-1} H_i \f$ where the i-th Householder reflection is \f$ H_i = I - h_i v_i
-  * v_i^* \f$. The i-th Householder coefficient \f$ h_i \f$ is a scalar and the i-th Householder vector \f$
-  * v_i \f$ is a vector of the form
-  * \f[ 
-  * v_i = [\underbrace{0, \ldots, 0}_{i-1\mbox{ zeros}}, 1, \underbrace{*, \ldots,*}_{n-i\mbox{ arbitrary entries}} ]. 
-  * \f]
-  * The last \f$ n-i \f$ entries of \f$ v_i \f$ are called the essential part of the Householder vector.
-  *
-  * Typical usages are listed below, where H is a HouseholderSequence:
-  * \code
-  * A.applyOnTheRight(H);             // A = A * H
-  * A.applyOnTheLeft(H);              // A = H * A
-  * A.applyOnTheRight(H.adjoint());   // A = A * H^*
-  * A.applyOnTheLeft(H.adjoint());    // A = H^* * A
-  * MatrixXd Q = H;                   // conversion to a dense matrix
-  * \endcode
-  * In addition to the adjoint, you can also apply the inverse (=adjoint), the transpose, and the conjugate operators.
-  *
-  * See the documentation for HouseholderSequence(const VectorsType&, const CoeffsType&) for an example.
-  *
-  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
-  */
-
-namespace internal {
-
-template<typename VectorsType, typename CoeffsType, int Side>
-struct traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
-{
-  typedef typename VectorsType::Scalar Scalar;
-  typedef typename VectorsType::StorageIndex StorageIndex;
-  typedef typename VectorsType::StorageKind StorageKind;
-  enum {
-    RowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::RowsAtCompileTime
-                                        : traits<VectorsType>::ColsAtCompileTime,
-    ColsAtCompileTime = RowsAtCompileTime,
-    MaxRowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::MaxRowsAtCompileTime
-                                           : traits<VectorsType>::MaxColsAtCompileTime,
-    MaxColsAtCompileTime = MaxRowsAtCompileTime,
-    Flags = 0
-  };
-};
-
-struct HouseholderSequenceShape {};
-
-template<typename VectorsType, typename CoeffsType, int Side>
-struct evaluator_traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
-  : public evaluator_traits_base<HouseholderSequence<VectorsType,CoeffsType,Side> >
-{
-  typedef HouseholderSequenceShape Shape;
-};
-
-template<typename VectorsType, typename CoeffsType, int Side>
-struct hseq_side_dependent_impl
-{
-  typedef Block<const VectorsType, Dynamic, 1> EssentialVectorType;
-  typedef HouseholderSequence<VectorsType, CoeffsType, OnTheLeft> HouseholderSequenceType;
-  static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
-  {
-    Index start = k+1+h.m_shift;
-    return Block<const VectorsType,Dynamic,1>(h.m_vectors, start, k, h.rows()-start, 1);
-  }
-};
-
-template<typename VectorsType, typename CoeffsType>
-struct hseq_side_dependent_impl<VectorsType, CoeffsType, OnTheRight>
-{
-  typedef Transpose<Block<const VectorsType, 1, Dynamic> > EssentialVectorType;
-  typedef HouseholderSequence<VectorsType, CoeffsType, OnTheRight> HouseholderSequenceType;
-  static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
-  {
-    Index start = k+1+h.m_shift;
-    return Block<const VectorsType,1,Dynamic>(h.m_vectors, k, start, 1, h.rows()-start).transpose();
-  }
-};
-
-template<typename OtherScalarType, typename MatrixType> struct matrix_type_times_scalar_type
-{
-  typedef typename ScalarBinaryOpTraits<OtherScalarType, typename MatrixType::Scalar>::ReturnType
-    ResultScalar;
-  typedef Matrix<ResultScalar, MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime,
-                 0, MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime> Type;
-};
-
-} // end namespace internal
-
-template<typename VectorsType, typename CoeffsType, int Side> class HouseholderSequence
-  : public EigenBase<HouseholderSequence<VectorsType,CoeffsType,Side> >
-{
-    typedef typename internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::EssentialVectorType EssentialVectorType;
-  
-  public:
-    enum {
-      RowsAtCompileTime = internal::traits<HouseholderSequence>::RowsAtCompileTime,
-      ColsAtCompileTime = internal::traits<HouseholderSequence>::ColsAtCompileTime,
-      MaxRowsAtCompileTime = internal::traits<HouseholderSequence>::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = internal::traits<HouseholderSequence>::MaxColsAtCompileTime
-    };
-    typedef typename internal::traits<HouseholderSequence>::Scalar Scalar;
-
-    typedef HouseholderSequence<
-      typename internal::conditional<NumTraits<Scalar>::IsComplex,
-        typename internal::remove_all<typename VectorsType::ConjugateReturnType>::type,
-        VectorsType>::type,
-      typename internal::conditional<NumTraits<Scalar>::IsComplex,
-        typename internal::remove_all<typename CoeffsType::ConjugateReturnType>::type,
-        CoeffsType>::type,
-      Side
-    > ConjugateReturnType;
-
-    /** \brief Constructor.
-      * \param[in]  v      %Matrix containing the essential parts of the Householder vectors
-      * \param[in]  h      Vector containing the Householder coefficients
-      *
-      * Constructs the Householder sequence with coefficients given by \p h and vectors given by \p v. The
-      * i-th Householder coefficient \f$ h_i \f$ is given by \p h(i) and the essential part of the i-th
-      * Householder vector \f$ v_i \f$ is given by \p v(k,i) with \p k > \p i (the subdiagonal part of the
-      * i-th column). If \p v has fewer columns than rows, then the Householder sequence contains as many
-      * Householder reflections as there are columns.
-      *
-      * \note The %HouseholderSequence object stores \p v and \p h by reference.
-      *
-      * Example: \include HouseholderSequence_HouseholderSequence.cpp
-      * Output: \verbinclude HouseholderSequence_HouseholderSequence.out
-      *
-      * \sa setLength(), setShift()
-      */
-    HouseholderSequence(const VectorsType& v, const CoeffsType& h)
-      : m_vectors(v), m_coeffs(h), m_trans(false), m_length(v.diagonalSize()),
-        m_shift(0)
-    {
-    }
-
-    /** \brief Copy constructor. */
-    HouseholderSequence(const HouseholderSequence& other)
-      : m_vectors(other.m_vectors),
-        m_coeffs(other.m_coeffs),
-        m_trans(other.m_trans),
-        m_length(other.m_length),
-        m_shift(other.m_shift)
-    {
-    }
-
-    /** \brief Number of rows of transformation viewed as a matrix.
-      * \returns Number of rows 
-      * \details This equals the dimension of the space that the transformation acts on.
-      */
-    Index rows() const { return Side==OnTheLeft ? m_vectors.rows() : m_vectors.cols(); }
-
-    /** \brief Number of columns of transformation viewed as a matrix.
-      * \returns Number of columns
-      * \details This equals the dimension of the space that the transformation acts on.
-      */
-    Index cols() const { return rows(); }
-
-    /** \brief Essential part of a Householder vector.
-      * \param[in]  k  Index of Householder reflection
-      * \returns    Vector containing non-trivial entries of k-th Householder vector
-      *
-      * This function returns the essential part of the Householder vector \f$ v_i \f$. This is a vector of
-      * length \f$ n-i \f$ containing the last \f$ n-i \f$ entries of the vector
-      * \f[ 
-      * v_i = [\underbrace{0, \ldots, 0}_{i-1\mbox{ zeros}}, 1, \underbrace{*, \ldots,*}_{n-i\mbox{ arbitrary entries}} ]. 
-      * \f]
-      * The index \f$ i \f$ equals \p k + shift(), corresponding to the k-th column of the matrix \p v
-      * passed to the constructor.
-      *
-      * \sa setShift(), shift()
-      */
-    const EssentialVectorType essentialVector(Index k) const
-    {
-      eigen_assert(k >= 0 && k < m_length);
-      return internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::essentialVector(*this, k);
-    }
-
-    /** \brief %Transpose of the Householder sequence. */
-    HouseholderSequence transpose() const
-    {
-      return HouseholderSequence(*this).setTrans(!m_trans);
-    }
-
-    /** \brief Complex conjugate of the Householder sequence. */
-    ConjugateReturnType conjugate() const
-    {
-      return ConjugateReturnType(m_vectors.conjugate(), m_coeffs.conjugate())
-             .setTrans(m_trans)
-             .setLength(m_length)
-             .setShift(m_shift);
-    }
-
-    /** \brief Adjoint (conjugate transpose) of the Householder sequence. */
-    ConjugateReturnType adjoint() const
-    {
-      return conjugate().setTrans(!m_trans);
-    }
-
-    /** \brief Inverse of the Householder sequence (equals the adjoint). */
-    ConjugateReturnType inverse() const { return adjoint(); }
-
-    /** \internal */
-    template<typename DestType> inline void evalTo(DestType& dst) const
-    {
-      Matrix<Scalar, DestType::RowsAtCompileTime, 1,
-             AutoAlign|ColMajor, DestType::MaxRowsAtCompileTime, 1> workspace(rows());
-      evalTo(dst, workspace);
-    }
-
-    /** \internal */
-    template<typename Dest, typename Workspace>
-    void evalTo(Dest& dst, Workspace& workspace) const
-    {
-      workspace.resize(rows());
-      Index vecs = m_length;
-      if(internal::is_same_dense(dst,m_vectors))
-      {
-        // in-place
-        dst.diagonal().setOnes();
-        dst.template triangularView<StrictlyUpper>().setZero();
-        for(Index k = vecs-1; k >= 0; --k)
-        {
-          Index cornerSize = rows() - k - m_shift;
-          if(m_trans)
-            dst.bottomRightCorner(cornerSize, cornerSize)
-               .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), workspace.data());
-          else
-            dst.bottomRightCorner(cornerSize, cornerSize)
-               .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), workspace.data());
-
-          // clear the off diagonal vector
-          dst.col(k).tail(rows()-k-1).setZero();
-        }
-        // clear the remaining columns if needed
-        for(Index k = 0; k<cols()-vecs ; ++k)
-          dst.col(k).tail(rows()-k-1).setZero();
-      }
-      else
-      {
-        dst.setIdentity(rows(), rows());
-        for(Index k = vecs-1; k >= 0; --k)
-        {
-          Index cornerSize = rows() - k - m_shift;
-          if(m_trans)
-            dst.bottomRightCorner(cornerSize, cornerSize)
-               .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &workspace.coeffRef(0));
-          else
-            dst.bottomRightCorner(cornerSize, cornerSize)
-               .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &workspace.coeffRef(0));
-        }
-      }
-    }
-
-    /** \internal */
-    template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
-    {
-      Matrix<Scalar,1,Dest::RowsAtCompileTime,RowMajor,1,Dest::MaxRowsAtCompileTime> workspace(dst.rows());
-      applyThisOnTheRight(dst, workspace);
-    }
-
-    /** \internal */
-    template<typename Dest, typename Workspace>
-    inline void applyThisOnTheRight(Dest& dst, Workspace& workspace) const
-    {
-      workspace.resize(dst.rows());
-      for(Index k = 0; k < m_length; ++k)
-      {
-        Index actual_k = m_trans ? m_length-k-1 : k;
-        dst.rightCols(rows()-m_shift-actual_k)
-           .applyHouseholderOnTheRight(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
-      }
-    }
-
-    /** \internal */
-    template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
-    {
-      Matrix<Scalar,1,Dest::ColsAtCompileTime,RowMajor,1,Dest::MaxColsAtCompileTime> workspace;
-      applyThisOnTheLeft(dst, workspace);
-    }
-
-    /** \internal */
-    template<typename Dest, typename Workspace>
-    inline void applyThisOnTheLeft(Dest& dst, Workspace& workspace) const
-    {
-      const Index BlockSize = 48;
-      // if the entries are large enough, then apply the reflectors by block
-      if(m_length>=BlockSize && dst.cols()>1)
-      {
-        for(Index i = 0; i < m_length; i+=BlockSize)
-        {
-          Index end = m_trans ? (std::min)(m_length,i+BlockSize) : m_length-i;
-          Index k = m_trans ? i : (std::max)(Index(0),end-BlockSize);
-          Index bs = end-k;
-          Index start = k + m_shift;
-          
-          typedef Block<typename internal::remove_all<VectorsType>::type,Dynamic,Dynamic> SubVectorsType;
-          SubVectorsType sub_vecs1(m_vectors.const_cast_derived(), Side==OnTheRight ? k : start,
-                                                                   Side==OnTheRight ? start : k,
-                                                                   Side==OnTheRight ? bs : m_vectors.rows()-start,
-                                                                   Side==OnTheRight ? m_vectors.cols()-start : bs);
-          typename internal::conditional<Side==OnTheRight, Transpose<SubVectorsType>, SubVectorsType&>::type sub_vecs(sub_vecs1);
-          Block<Dest,Dynamic,Dynamic> sub_dst(dst,dst.rows()-rows()+m_shift+k,0, rows()-m_shift-k,dst.cols());
-          apply_block_householder_on_the_left(sub_dst, sub_vecs, m_coeffs.segment(k, bs), !m_trans);
-        }
-      }
-      else
-      {
-        workspace.resize(dst.cols());
-        for(Index k = 0; k < m_length; ++k)
-        {
-          Index actual_k = m_trans ? k : m_length-k-1;
-          dst.bottomRows(rows()-m_shift-actual_k)
-            .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
-        }
-      }
-    }
-
-    /** \brief Computes the product of a Householder sequence with a matrix.
-      * \param[in]  other  %Matrix being multiplied.
-      * \returns    Expression object representing the product.
-      *
-      * This function computes \f$ HM \f$ where \f$ H \f$ is the Householder sequence represented by \p *this
-      * and \f$ M \f$ is the matrix \p other.
-      */
-    template<typename OtherDerived>
-    typename internal::matrix_type_times_scalar_type<Scalar, OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other) const
-    {
-      typename internal::matrix_type_times_scalar_type<Scalar, OtherDerived>::Type
-        res(other.template cast<typename internal::matrix_type_times_scalar_type<Scalar,OtherDerived>::ResultScalar>());
-      applyThisOnTheLeft(res);
-      return res;
-    }
-
-    template<typename _VectorsType, typename _CoeffsType, int _Side> friend struct internal::hseq_side_dependent_impl;
-
-    /** \brief Sets the length of the Householder sequence.
-      * \param [in]  length  New value for the length.
-      *
-      * By default, the length \f$ n \f$ of the Householder sequence \f$ H = H_0 H_1 \ldots H_{n-1} \f$ is set
-      * to the number of columns of the matrix \p v passed to the constructor, or the number of rows if that
-      * is smaller. After this function is called, the length equals \p length.
-      *
-      * \sa length()
-      */
-    HouseholderSequence& setLength(Index length)
-    {
-      m_length = length;
-      return *this;
-    }
-
-    /** \brief Sets the shift of the Householder sequence.
-      * \param [in]  shift  New value for the shift.
-      *
-      * By default, a %HouseholderSequence object represents \f$ H = H_0 H_1 \ldots H_{n-1} \f$ and the i-th
-      * column of the matrix \p v passed to the constructor corresponds to the i-th Householder
-      * reflection. After this function is called, the object represents \f$ H = H_{\mathrm{shift}}
-      * H_{\mathrm{shift}+1} \ldots H_{n-1} \f$ and the i-th column of \p v corresponds to the (shift+i)-th
-      * Householder reflection.
-      *
-      * \sa shift()
-      */
-    HouseholderSequence& setShift(Index shift)
-    {
-      m_shift = shift;
-      return *this;
-    }
-
-    Index length() const { return m_length; }  /**< \brief Returns the length of the Householder sequence. */
-    Index shift() const { return m_shift; }    /**< \brief Returns the shift of the Householder sequence. */
-
-    /* Necessary for .adjoint() and .conjugate() */
-    template <typename VectorsType2, typename CoeffsType2, int Side2> friend class HouseholderSequence;
-
-  protected:
-
-    /** \brief Sets the transpose flag.
-      * \param [in]  trans  New value of the transpose flag.
-      *
-      * By default, the transpose flag is not set. If the transpose flag is set, then this object represents 
-      * \f$ H^T = H_{n-1}^T \ldots H_1^T H_0^T \f$ instead of \f$ H = H_0 H_1 \ldots H_{n-1} \f$.
-      *
-      * \sa trans()
-      */
-    HouseholderSequence& setTrans(bool trans)
-    {
-      m_trans = trans;
-      return *this;
-    }
-
-    bool trans() const { return m_trans; }     /**< \brief Returns the transpose flag. */
-
-    typename VectorsType::Nested m_vectors;
-    typename CoeffsType::Nested m_coeffs;
-    bool m_trans;
-    Index m_length;
-    Index m_shift;
-};
-
-/** \brief Computes the product of a matrix with a Householder sequence.
-  * \param[in]  other  %Matrix being multiplied.
-  * \param[in]  h      %HouseholderSequence being multiplied.
-  * \returns    Expression object representing the product.
-  *
-  * This function computes \f$ MH \f$ where \f$ M \f$ is the matrix \p other and \f$ H \f$ is the
-  * Householder sequence represented by \p h.
-  */
-template<typename OtherDerived, typename VectorsType, typename CoeffsType, int Side>
-typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
-{
-  typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type
-    res(other.template cast<typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::ResultScalar>());
-  h.applyThisOnTheRight(res);
-  return res;
-}
-
-/** \ingroup Householder_Module \householder_module
-  * \brief Convenience function for constructing a Householder sequence. 
-  * \returns A HouseholderSequence constructed from the specified arguments.
-  */
-template<typename VectorsType, typename CoeffsType>
-HouseholderSequence<VectorsType,CoeffsType> householderSequence(const VectorsType& v, const CoeffsType& h)
-{
-  return HouseholderSequence<VectorsType,CoeffsType,OnTheLeft>(v, h);
-}
-
-/** \ingroup Householder_Module \householder_module
-  * \brief Convenience function for constructing a Householder sequence. 
-  * \returns A HouseholderSequence constructed from the specified arguments.
-  * \details This function differs from householderSequence() in that the template argument \p OnTheSide of
-  * the constructed HouseholderSequence is set to OnTheRight, instead of the default OnTheLeft.
-  */
-template<typename VectorsType, typename CoeffsType>
-HouseholderSequence<VectorsType,CoeffsType,OnTheRight> rightHouseholderSequence(const VectorsType& v, const CoeffsType& h)
-{
-  return HouseholderSequence<VectorsType,CoeffsType,OnTheRight>(v, h);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_HOUSEHOLDER_SEQUENCE_H
diff --git a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h b/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
deleted file mode 100644
index 358444afffa73d..00000000000000
--- a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
+++ /dev/null
@@ -1,211 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BASIC_PRECONDITIONERS_H
-#define EIGEN_BASIC_PRECONDITIONERS_H
-
-namespace Eigen { 
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief A preconditioner based on the digonal entries
-  *
-  * This class allows to approximately solve for A.x = b problems assuming A is a diagonal matrix.
-  * In other words, this preconditioner neglects all off diagonal entries and, in Eigen's language, solves for:
-    \code
-    A.diagonal().asDiagonal() . x = b
-    \endcode
-  *
-  * \tparam _Scalar the type of the scalar.
-  *
-  * \implsparsesolverconcept
-  *
-  * This preconditioner is suitable for both selfadjoint and general problems.
-  * The diagonal entries are pre-inverted and stored into a dense vector.
-  *
-  * \note A variant that has yet to be implemented would attempt to preserve the norm of each column.
-  *
-  * \sa class LeastSquareDiagonalPreconditioner, class ConjugateGradient
-  */
-template <typename _Scalar>
-class DiagonalPreconditioner
-{
-    typedef _Scalar Scalar;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-  public:
-    typedef typename Vector::StorageIndex StorageIndex;
-    enum {
-      ColsAtCompileTime = Dynamic,
-      MaxColsAtCompileTime = Dynamic
-    };
-
-    DiagonalPreconditioner() : m_isInitialized(false) {}
-
-    template<typename MatType>
-    explicit DiagonalPreconditioner(const MatType& mat) : m_invdiag(mat.cols())
-    {
-      compute(mat);
-    }
-
-    Index rows() const { return m_invdiag.size(); }
-    Index cols() const { return m_invdiag.size(); }
-    
-    template<typename MatType>
-    DiagonalPreconditioner& analyzePattern(const MatType& )
-    {
-      return *this;
-    }
-    
-    template<typename MatType>
-    DiagonalPreconditioner& factorize(const MatType& mat)
-    {
-      m_invdiag.resize(mat.cols());
-      for(int j=0; j<mat.outerSize(); ++j)
-      {
-        typename MatType::InnerIterator it(mat,j);
-        while(it && it.index()!=j) ++it;
-        if(it && it.index()==j && it.value()!=Scalar(0))
-          m_invdiag(j) = Scalar(1)/it.value();
-        else
-          m_invdiag(j) = Scalar(1);
-      }
-      m_isInitialized = true;
-      return *this;
-    }
-    
-    template<typename MatType>
-    DiagonalPreconditioner& compute(const MatType& mat)
-    {
-      return factorize(mat);
-    }
-
-    /** \internal */
-    template<typename Rhs, typename Dest>
-    void _solve_impl(const Rhs& b, Dest& x) const
-    {
-      x = m_invdiag.array() * b.array() ;
-    }
-
-    template<typename Rhs> inline const Solve<DiagonalPreconditioner, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "DiagonalPreconditioner is not initialized.");
-      eigen_assert(m_invdiag.size()==b.rows()
-                && "DiagonalPreconditioner::solve(): invalid number of rows of the right hand side matrix b");
-      return Solve<DiagonalPreconditioner, Rhs>(*this, b.derived());
-    }
-    
-    ComputationInfo info() { return Success; }
-
-  protected:
-    Vector m_invdiag;
-    bool m_isInitialized;
-};
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief Jacobi preconditioner for LeastSquaresConjugateGradient
-  *
-  * This class allows to approximately solve for A' A x  = A' b problems assuming A' A is a diagonal matrix.
-  * In other words, this preconditioner neglects all off diagonal entries and, in Eigen's language, solves for:
-    \code
-    (A.adjoint() * A).diagonal().asDiagonal() * x = b
-    \endcode
-  *
-  * \tparam _Scalar the type of the scalar.
-  *
-  * \implsparsesolverconcept
-  *
-  * The diagonal entries are pre-inverted and stored into a dense vector.
-  * 
-  * \sa class LeastSquaresConjugateGradient, class DiagonalPreconditioner
-  */
-template <typename _Scalar>
-class LeastSquareDiagonalPreconditioner : public DiagonalPreconditioner<_Scalar>
-{
-    typedef _Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef DiagonalPreconditioner<_Scalar> Base;
-    using Base::m_invdiag;
-  public:
-
-    LeastSquareDiagonalPreconditioner() : Base() {}
-
-    template<typename MatType>
-    explicit LeastSquareDiagonalPreconditioner(const MatType& mat) : Base()
-    {
-      compute(mat);
-    }
-
-    template<typename MatType>
-    LeastSquareDiagonalPreconditioner& analyzePattern(const MatType& )
-    {
-      return *this;
-    }
-    
-    template<typename MatType>
-    LeastSquareDiagonalPreconditioner& factorize(const MatType& mat)
-    {
-      // Compute the inverse squared-norm of each column of mat
-      m_invdiag.resize(mat.cols());
-      for(Index j=0; j<mat.outerSize(); ++j)
-      {
-        RealScalar sum = mat.innerVector(j).squaredNorm();
-        if(sum>0)
-          m_invdiag(j) = RealScalar(1)/sum;
-        else
-          m_invdiag(j) = RealScalar(1);
-      }
-      Base::m_isInitialized = true;
-      return *this;
-    }
-    
-    template<typename MatType>
-    LeastSquareDiagonalPreconditioner& compute(const MatType& mat)
-    {
-      return factorize(mat);
-    }
-    
-    ComputationInfo info() { return Success; }
-
-  protected:
-};
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief A naive preconditioner which approximates any matrix as the identity matrix
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa class DiagonalPreconditioner
-  */
-class IdentityPreconditioner
-{
-  public:
-
-    IdentityPreconditioner() {}
-
-    template<typename MatrixType>
-    explicit IdentityPreconditioner(const MatrixType& ) {}
-    
-    template<typename MatrixType>
-    IdentityPreconditioner& analyzePattern(const MatrixType& ) { return *this; }
-    
-    template<typename MatrixType>
-    IdentityPreconditioner& factorize(const MatrixType& ) { return *this; }
-
-    template<typename MatrixType>
-    IdentityPreconditioner& compute(const MatrixType& ) { return *this; }
-    
-    template<typename Rhs>
-    inline const Rhs& solve(const Rhs& b) const { return b; }
-    
-    ComputationInfo info() { return Success; }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_BASIC_PRECONDITIONERS_H
diff --git a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
deleted file mode 100644
index 454f468149709d..00000000000000
--- a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
+++ /dev/null
@@ -1,228 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BICGSTAB_H
-#define EIGEN_BICGSTAB_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal Low-level bi conjugate gradient stabilized algorithm
-  * \param mat The matrix A
-  * \param rhs The right hand side vector b
-  * \param x On input and initial solution, on output the computed solution.
-  * \param precond A preconditioner being able to efficiently solve for an
-  *                approximation of Ax=b (regardless of b)
-  * \param iters On input the max number of iteration, on output the number of performed iterations.
-  * \param tol_error On input the tolerance error, on output an estimation of the relative error.
-  * \return false in the case of numerical issue, for example a break down of BiCGSTAB. 
-  */
-template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
-bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
-              const Preconditioner& precond, Index& iters,
-              typename Dest::RealScalar& tol_error)
-{
-  using std::sqrt;
-  using std::abs;
-  typedef typename Dest::RealScalar RealScalar;
-  typedef typename Dest::Scalar Scalar;
-  typedef Matrix<Scalar,Dynamic,1> VectorType;
-  RealScalar tol = tol_error;
-  Index maxIters = iters;
-
-  Index n = mat.cols();
-  VectorType r  = rhs - mat * x;
-  VectorType r0 = r;
-  
-  RealScalar r0_sqnorm = r0.squaredNorm();
-  RealScalar rhs_sqnorm = rhs.squaredNorm();
-  if(rhs_sqnorm == 0)
-  {
-    x.setZero();
-    return true;
-  }
-  Scalar rho    = 1;
-  Scalar alpha  = 1;
-  Scalar w      = 1;
-  
-  VectorType v = VectorType::Zero(n), p = VectorType::Zero(n);
-  VectorType y(n),  z(n);
-  VectorType kt(n), ks(n);
-
-  VectorType s(n), t(n);
-
-  RealScalar tol2 = tol*tol*rhs_sqnorm;
-  RealScalar eps2 = NumTraits<Scalar>::epsilon()*NumTraits<Scalar>::epsilon();
-  Index i = 0;
-  Index restarts = 0;
-
-  while ( r.squaredNorm() > tol2 && i<maxIters )
-  {
-    Scalar rho_old = rho;
-
-    rho = r0.dot(r);
-    if (abs(rho) < eps2*r0_sqnorm)
-    {
-      // The new residual vector became too orthogonal to the arbitrarily chosen direction r0
-      // Let's restart with a new r0:
-      r  = rhs - mat * x;
-      r0 = r;
-      rho = r0_sqnorm = r.squaredNorm();
-      if(restarts++ == 0)
-        i = 0;
-    }
-    Scalar beta = (rho/rho_old) * (alpha / w);
-    p = r + beta * (p - w * v);
-    
-    y = precond.solve(p);
-    
-    v.noalias() = mat * y;
-
-    alpha = rho / r0.dot(v);
-    s = r - alpha * v;
-
-    z = precond.solve(s);
-    t.noalias() = mat * z;
-
-    RealScalar tmp = t.squaredNorm();
-    if(tmp>RealScalar(0))
-      w = t.dot(s) / tmp;
-    else
-      w = Scalar(0);
-    x += alpha * y + w * z;
-    r = s - w * t;
-    ++i;
-  }
-  tol_error = sqrt(r.squaredNorm()/rhs_sqnorm);
-  iters = i;
-  return true; 
-}
-
-}
-
-template< typename _MatrixType,
-          typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar> >
-class BiCGSTAB;
-
-namespace internal {
-
-template< typename _MatrixType, typename _Preconditioner>
-struct traits<BiCGSTAB<_MatrixType,_Preconditioner> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Preconditioner Preconditioner;
-};
-
-}
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief A bi conjugate gradient stabilized solver for sparse square problems
-  *
-  * This class allows to solve for A.x = b sparse linear problems using a bi conjugate gradient
-  * stabilized algorithm. The vectors x and b can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
-  * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
-  *
-  * \implsparsesolverconcept
-  *
-  * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
-  * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
-  * and NumTraits<Scalar>::epsilon() for the tolerance.
-  * 
-  * The tolerance corresponds to the relative residual error: |Ax-b|/|b|
-  * 
-  * \b Performance: when using sparse matrices, best performance is achied for a row-major sparse matrix format.
-  * Moreover, in this case multi-threading can be exploited if the user code is compiled with OpenMP enabled.
-  * See \ref TopicMultiThreading for details.
-  * 
-  * This class can be used as the direct solver classes. Here is a typical usage example:
-  * \include BiCGSTAB_simple.cpp
-  * 
-  * By default the iterations start with x=0 as an initial guess of the solution.
-  * One can control the start using the solveWithGuess() method.
-  * 
-  * BiCGSTAB can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
-  *
-  * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
-  */
-template< typename _MatrixType, typename _Preconditioner>
-class BiCGSTAB : public IterativeSolverBase<BiCGSTAB<_MatrixType,_Preconditioner> >
-{
-  typedef IterativeSolverBase<BiCGSTAB> Base;
-  using Base::matrix;
-  using Base::m_error;
-  using Base::m_iterations;
-  using Base::m_info;
-  using Base::m_isInitialized;
-public:
-  typedef _MatrixType MatrixType;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef _Preconditioner Preconditioner;
-
-public:
-
-  /** Default constructor. */
-  BiCGSTAB() : Base() {}
-
-  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    * 
-    * This constructor is a shortcut for the default constructor followed
-    * by a call to compute().
-    * 
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  template<typename MatrixDerived>
-  explicit BiCGSTAB(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
-
-  ~BiCGSTAB() {}
-
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
-  {    
-    bool failed = false;
-    for(Index j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-      
-      typename Dest::ColXpr xj(x,j);
-      if(!internal::bicgstab(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error))
-        failed = true;
-    }
-    m_info = failed ? NumericalIssue
-           : m_error <= Base::m_tolerance ? Success
-           : NoConvergence;
-    m_isInitialized = true;
-  }
-
-  /** \internal */
-  using Base::_solve_impl;
-  template<typename Rhs,typename Dest>
-  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
-  {
-    x.resize(this->rows(),b.cols());
-    x.setZero();
-    _solve_with_guess_impl(b,x);
-  }
-
-protected:
-
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_BICGSTAB_H
diff --git a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
deleted file mode 100644
index 395daa8e47a02e..00000000000000
--- a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
+++ /dev/null
@@ -1,245 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CONJUGATE_GRADIENT_H
-#define EIGEN_CONJUGATE_GRADIENT_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal Low-level conjugate gradient algorithm
-  * \param mat The matrix A
-  * \param rhs The right hand side vector b
-  * \param x On input and initial solution, on output the computed solution.
-  * \param precond A preconditioner being able to efficiently solve for an
-  *                approximation of Ax=b (regardless of b)
-  * \param iters On input the max number of iteration, on output the number of performed iterations.
-  * \param tol_error On input the tolerance error, on output an estimation of the relative error.
-  */
-template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
-EIGEN_DONT_INLINE
-void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
-                        const Preconditioner& precond, Index& iters,
-                        typename Dest::RealScalar& tol_error)
-{
-  using std::sqrt;
-  using std::abs;
-  typedef typename Dest::RealScalar RealScalar;
-  typedef typename Dest::Scalar Scalar;
-  typedef Matrix<Scalar,Dynamic,1> VectorType;
-  
-  RealScalar tol = tol_error;
-  Index maxIters = iters;
-  
-  Index n = mat.cols();
-
-  VectorType residual = rhs - mat * x; //initial residual
-
-  RealScalar rhsNorm2 = rhs.squaredNorm();
-  if(rhsNorm2 == 0) 
-  {
-    x.setZero();
-    iters = 0;
-    tol_error = 0;
-    return;
-  }
-  RealScalar threshold = tol*tol*rhsNorm2;
-  RealScalar residualNorm2 = residual.squaredNorm();
-  if (residualNorm2 < threshold)
-  {
-    iters = 0;
-    tol_error = sqrt(residualNorm2 / rhsNorm2);
-    return;
-  }
-  
-  VectorType p(n);
-  p = precond.solve(residual);      // initial search direction
-
-  VectorType z(n), tmp(n);
-  RealScalar absNew = numext::real(residual.dot(p));  // the square of the absolute value of r scaled by invM
-  Index i = 0;
-  while(i < maxIters)
-  {
-    tmp.noalias() = mat * p;                    // the bottleneck of the algorithm
-
-    Scalar alpha = absNew / p.dot(tmp);         // the amount we travel on dir
-    x += alpha * p;                             // update solution
-    residual -= alpha * tmp;                    // update residual
-    
-    residualNorm2 = residual.squaredNorm();
-    if(residualNorm2 < threshold)
-      break;
-    
-    z = precond.solve(residual);                // approximately solve for "A z = residual"
-
-    RealScalar absOld = absNew;
-    absNew = numext::real(residual.dot(z));     // update the absolute value of r
-    RealScalar beta = absNew / absOld;          // calculate the Gram-Schmidt value used to create the new search direction
-    p = z + beta * p;                           // update search direction
-    i++;
-  }
-  tol_error = sqrt(residualNorm2 / rhsNorm2);
-  iters = i;
-}
-
-}
-
-template< typename _MatrixType, int _UpLo=Lower,
-          typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar> >
-class ConjugateGradient;
-
-namespace internal {
-
-template< typename _MatrixType, int _UpLo, typename _Preconditioner>
-struct traits<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Preconditioner Preconditioner;
-};
-
-}
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief A conjugate gradient solver for sparse (or dense) self-adjoint problems
-  *
-  * This class allows to solve for A.x = b linear problems using an iterative conjugate gradient algorithm.
-  * The matrix A must be selfadjoint. The matrix A and the vectors x and b can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the matrix A, can be a dense or a sparse matrix.
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower,
-  *               \c Upper, or \c Lower|Upper in which the full matrix entries will be considered.
-  *               Default is \c Lower, best performance is \c Lower|Upper.
-  * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
-  *
-  * \implsparsesolverconcept
-  *
-  * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
-  * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
-  * and NumTraits<Scalar>::epsilon() for the tolerance.
-  * 
-  * The tolerance corresponds to the relative residual error: |Ax-b|/|b|
-  * 
-  * \b Performance: Even though the default value of \c _UpLo is \c Lower, significantly higher performance is
-  * achieved when using a complete matrix and \b Lower|Upper as the \a _UpLo template parameter. Moreover, in this
-  * case multi-threading can be exploited if the user code is compiled with OpenMP enabled.
-  * See \ref TopicMultiThreading for details.
-  * 
-  * This class can be used as the direct solver classes. Here is a typical usage example:
-    \code
-    int n = 10000;
-    VectorXd x(n), b(n);
-    SparseMatrix<double> A(n,n);
-    // fill A and b
-    ConjugateGradient<SparseMatrix<double>, Lower|Upper> cg;
-    cg.compute(A);
-    x = cg.solve(b);
-    std::cout << "#iterations:     " << cg.iterations() << std::endl;
-    std::cout << "estimated error: " << cg.error()      << std::endl;
-    // update b, and solve again
-    x = cg.solve(b);
-    \endcode
-  * 
-  * By default the iterations start with x=0 as an initial guess of the solution.
-  * One can control the start using the solveWithGuess() method.
-  * 
-  * ConjugateGradient can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
-  *
-  * \sa class LeastSquaresConjugateGradient, class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
-  */
-template< typename _MatrixType, int _UpLo, typename _Preconditioner>
-class ConjugateGradient : public IterativeSolverBase<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner> >
-{
-  typedef IterativeSolverBase<ConjugateGradient> Base;
-  using Base::matrix;
-  using Base::m_error;
-  using Base::m_iterations;
-  using Base::m_info;
-  using Base::m_isInitialized;
-public:
-  typedef _MatrixType MatrixType;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef _Preconditioner Preconditioner;
-
-  enum {
-    UpLo = _UpLo
-  };
-
-public:
-
-  /** Default constructor. */
-  ConjugateGradient() : Base() {}
-
-  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    * 
-    * This constructor is a shortcut for the default constructor followed
-    * by a call to compute().
-    * 
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  template<typename MatrixDerived>
-  explicit ConjugateGradient(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
-
-  ~ConjugateGradient() {}
-
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
-  {
-    typedef typename Base::MatrixWrapper MatrixWrapper;
-    typedef typename Base::ActualMatrixType ActualMatrixType;
-    enum {
-      TransposeInput  =   (!MatrixWrapper::MatrixFree)
-                      &&  (UpLo==(Lower|Upper))
-                      &&  (!MatrixType::IsRowMajor)
-                      &&  (!NumTraits<Scalar>::IsComplex)
-    };
-    typedef typename internal::conditional<TransposeInput,Transpose<const ActualMatrixType>, ActualMatrixType const&>::type RowMajorWrapper;
-    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(MatrixWrapper::MatrixFree,UpLo==(Lower|Upper)),MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY);
-    typedef typename internal::conditional<UpLo==(Lower|Upper),
-                                           RowMajorWrapper,
-                                           typename MatrixWrapper::template ConstSelfAdjointViewReturnType<UpLo>::Type
-                                          >::type SelfAdjointWrapper;
-    m_iterations = Base::maxIterations();
-    m_error = Base::m_tolerance;
-
-    for(Index j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-
-      typename Dest::ColXpr xj(x,j);
-      RowMajorWrapper row_mat(matrix());
-      internal::conjugate_gradient(SelfAdjointWrapper(row_mat), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
-    }
-
-    m_isInitialized = true;
-    m_info = m_error <= Base::m_tolerance ? Success : NoConvergence;
-  }
-  
-  /** \internal */
-  using Base::_solve_impl;
-  template<typename Rhs,typename Dest>
-  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
-  {
-    x.setZero();
-    _solve_with_guess_impl(b.derived(),x);
-  }
-
-protected:
-
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CONJUGATE_GRADIENT_H
diff --git a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h b/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
deleted file mode 100644
index e45c272b4c4d78..00000000000000
--- a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
+++ /dev/null
@@ -1,400 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_INCOMPLETE_CHOlESKY_H
-#define EIGEN_INCOMPLETE_CHOlESKY_H
-
-#include <vector>
-#include <list>
-
-namespace Eigen {  
-/** 
-  * \brief Modified Incomplete Cholesky with dual threshold
-  *
-  * References : C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
-  *              Limited memory, SIAM J. Sci. Comput.  21(1), pp. 24-45, 1999
-  *
-  * \tparam Scalar the scalar type of the input matrices
-  * \tparam _UpLo The triangular part that will be used for the computations. It can be Lower
-    *               or Upper. Default is Lower.
-  * \tparam _OrderingType The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<int>,
-  *                       unless EIGEN_MPL2_ONLY is defined, in which case the default is NaturalOrdering<int>.
-  *
-  * \implsparsesolverconcept
-  *
-  * It performs the following incomplete factorization: \f$ S P A P' S \approx L L' \f$
-  * where L is a lower triangular factor, S is a diagonal scaling matrix, and P is a
-  * fill-in reducing permutation as computed by the ordering method.
-  *
-  * \b Shifting \b strategy: Let \f$ B = S P A P' S \f$  be the scaled matrix on which the factorization is carried out,
-  * and \f$ \beta \f$ be the minimum value of the diagonal. If \f$ \beta > 0 \f$ then, the factorization is directly performed
-  * on the matrix B. Otherwise, the factorization is performed on the shifted matrix \f$ B + (\sigma+|\beta| I \f$ where
-  * \f$ \sigma \f$ is the initial shift value as returned and set by setInitialShift() method. The default value is \f$ \sigma = 10^{-3} \f$.
-  * If the factorization fails, then the shift in doubled until it succeed or a maximum of ten attempts. If it still fails, as returned by
-  * the info() method, then you can either increase the initial shift, or better use another preconditioning technique.
-  *
-  */
-template <typename Scalar, int _UpLo = Lower, typename _OrderingType =
-#ifndef EIGEN_MPL2_ONLY
-AMDOrdering<int>
-#else
-NaturalOrdering<int>
-#endif
->
-class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_UpLo,_OrderingType> >
-{
-  protected:
-    typedef SparseSolverBase<IncompleteCholesky<Scalar,_UpLo,_OrderingType> > Base;
-    using Base::m_isInitialized;
-  public:
-    typedef typename NumTraits<Scalar>::Real RealScalar; 
-    typedef _OrderingType OrderingType;
-    typedef typename OrderingType::PermutationType PermutationType;
-    typedef typename PermutationType::StorageIndex StorageIndex; 
-    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> FactorType;
-    typedef Matrix<Scalar,Dynamic,1> VectorSx;
-    typedef Matrix<RealScalar,Dynamic,1> VectorRx;
-    typedef Matrix<StorageIndex,Dynamic, 1> VectorIx;
-    typedef std::vector<std::list<StorageIndex> > VectorList; 
-    enum { UpLo = _UpLo };
-    enum {
-      ColsAtCompileTime = Dynamic,
-      MaxColsAtCompileTime = Dynamic
-    };
-  public:
-
-    /** Default constructor leaving the object in a partly non-initialized stage.
-      *
-      * You must call compute() or the pair analyzePattern()/factorize() to make it valid.
-      *
-      * \sa IncompleteCholesky(const MatrixType&)
-      */
-    IncompleteCholesky() : m_initialShift(1e-3),m_factorizationIsOk(false) {}
-    
-    /** Constructor computing the incomplete factorization for the given matrix \a matrix.
-      */
-    template<typename MatrixType>
-    IncompleteCholesky(const MatrixType& matrix) : m_initialShift(1e-3),m_factorizationIsOk(false)
-    {
-      compute(matrix);
-    }
-    
-    /** \returns number of rows of the factored matrix */
-    Index rows() const { return m_L.rows(); }
-    
-    /** \returns number of columns of the factored matrix */
-    Index cols() const { return m_L.cols(); }
-    
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * It triggers an assertion if \c *this has not been initialized through the respective constructor,
-      * or a call to compute() or analyzePattern().
-      *
-      * \returns \c Success if computation was successful,
-      *          \c NumericalIssue if the matrix appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "IncompleteCholesky is not initialized.");
-      return m_info;
-    }
-    
-    /** \brief Set the initial shift parameter \f$ \sigma \f$.
-      */
-    void setInitialShift(RealScalar shift) { m_initialShift = shift; }
-    
-    /** \brief Computes the fill reducing permutation vector using the sparsity pattern of \a mat
-      */
-    template<typename MatrixType>
-    void analyzePattern(const MatrixType& mat)
-    {
-      OrderingType ord; 
-      PermutationType pinv;
-      ord(mat.template selfadjointView<UpLo>(), pinv); 
-      if(pinv.size()>0) m_perm = pinv.inverse();
-      else              m_perm.resize(0);
-      m_L.resize(mat.rows(), mat.cols());
-      m_analysisIsOk = true;
-      m_isInitialized = true;
-      m_info = Success;
-    }
-    
-    /** \brief Performs the numerical factorization of the input matrix \a mat
-      *
-      * The method analyzePattern() or compute() must have been called beforehand
-      * with a matrix having the same pattern.
-      *
-      * \sa compute(), analyzePattern()
-      */
-    template<typename MatrixType>
-    void factorize(const MatrixType& mat);
-    
-    /** Computes or re-computes the incomplete Cholesky factorization of the input matrix \a mat
-      *
-      * It is a shortcut for a sequential call to the analyzePattern() and factorize() methods.
-      *
-      * \sa analyzePattern(), factorize()
-      */
-    template<typename MatrixType>
-    void compute(const MatrixType& mat)
-    {
-      analyzePattern(mat);
-      factorize(mat);
-    }
-    
-    // internal
-    template<typename Rhs, typename Dest>
-    void _solve_impl(const Rhs& b, Dest& x) const
-    {
-      eigen_assert(m_factorizationIsOk && "factorize() should be called first");
-      if (m_perm.rows() == b.rows())  x = m_perm * b;
-      else                            x = b;
-      x = m_scale.asDiagonal() * x;
-      x = m_L.template triangularView<Lower>().solve(x);
-      x = m_L.adjoint().template triangularView<Upper>().solve(x);
-      x = m_scale.asDiagonal() * x;
-      if (m_perm.rows() == b.rows())
-        x = m_perm.inverse() * x;
-    }
-
-    /** \returns the sparse lower triangular factor L */
-    const FactorType& matrixL() const { eigen_assert("m_factorizationIsOk"); return m_L; }
-
-    /** \returns a vector representing the scaling factor S */
-    const VectorRx& scalingS() const { eigen_assert("m_factorizationIsOk"); return m_scale; }
-
-    /** \returns the fill-in reducing permutation P (can be empty for a natural ordering) */
-    const PermutationType& permutationP() const { eigen_assert("m_analysisIsOk"); return m_perm; }
-
-  protected:
-    FactorType m_L;              // The lower part stored in CSC
-    VectorRx m_scale;            // The vector for scaling the matrix 
-    RealScalar m_initialShift;   // The initial shift parameter
-    bool m_analysisIsOk; 
-    bool m_factorizationIsOk; 
-    ComputationInfo m_info;
-    PermutationType m_perm; 
-
-  private:
-    inline void updateList(Ref<const VectorIx> colPtr, Ref<VectorIx> rowIdx, Ref<VectorSx> vals, const Index& col, const Index& jk, VectorIx& firstElt, VectorList& listCol); 
-}; 
-
-// Based on the following paper:
-//   C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
-//   Limited memory, SIAM J. Sci. Comput.  21(1), pp. 24-45, 1999
-//   http://ftp.mcs.anl.gov/pub/tech_reports/reports/P682.pdf
-template<typename Scalar, int _UpLo, typename OrderingType>
-template<typename _MatrixType>
-void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType& mat)
-{
-  using std::sqrt;
-  eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
-    
-  // Dropping strategy : Keep only the p largest elements per column, where p is the number of elements in the column of the original matrix. Other strategies will be added
-  
-  // Apply the fill-reducing permutation computed in analyzePattern()
-  if (m_perm.rows() == mat.rows() ) // To detect the null permutation
-  {
-    // The temporary is needed to make sure that the diagonal entry is properly sorted
-    FactorType tmp(mat.rows(), mat.cols());
-    tmp = mat.template selfadjointView<_UpLo>().twistedBy(m_perm);
-    m_L.template selfadjointView<Lower>() = tmp.template selfadjointView<Lower>();
-  }
-  else
-  {
-    m_L.template selfadjointView<Lower>() = mat.template selfadjointView<_UpLo>();
-  }
-  
-  Index n = m_L.cols(); 
-  Index nnz = m_L.nonZeros();
-  Map<VectorSx> vals(m_L.valuePtr(), nnz);         //values
-  Map<VectorIx> rowIdx(m_L.innerIndexPtr(), nnz);  //Row indices
-  Map<VectorIx> colPtr( m_L.outerIndexPtr(), n+1); // Pointer to the beginning of each row
-  VectorIx firstElt(n-1); // for each j, points to the next entry in vals that will be used in the factorization
-  VectorList listCol(n);  // listCol(j) is a linked list of columns to update column j
-  VectorSx col_vals(n);   // Store a  nonzero values in each column
-  VectorIx col_irow(n);   // Row indices of nonzero elements in each column
-  VectorIx col_pattern(n);
-  col_pattern.fill(-1);
-  StorageIndex col_nnz;
-  
-  
-  // Computes the scaling factors 
-  m_scale.resize(n);
-  m_scale.setZero();
-  for (Index j = 0; j < n; j++)
-    for (Index k = colPtr[j]; k < colPtr[j+1]; k++)
-    {
-      m_scale(j) += numext::abs2(vals(k));
-      if(rowIdx[k]!=j)
-        m_scale(rowIdx[k]) += numext::abs2(vals(k));
-    }
-  
-  m_scale = m_scale.cwiseSqrt().cwiseSqrt();
-
-  for (Index j = 0; j < n; ++j)
-    if(m_scale(j)>(std::numeric_limits<RealScalar>::min)())
-      m_scale(j) = RealScalar(1)/m_scale(j);
-    else
-      m_scale(j) = 1;
-
-  // TODO disable scaling if not needed, i.e., if it is roughly uniform? (this will make solve() faster)
-  
-  // Scale and compute the shift for the matrix 
-  RealScalar mindiag = NumTraits<RealScalar>::highest();
-  for (Index j = 0; j < n; j++)
-  {
-    for (Index k = colPtr[j]; k < colPtr[j+1]; k++)
-      vals[k] *= (m_scale(j)*m_scale(rowIdx[k]));
-    eigen_internal_assert(rowIdx[colPtr[j]]==j && "IncompleteCholesky: only the lower triangular part must be stored");
-    mindiag = numext::mini(numext::real(vals[colPtr[j]]), mindiag);
-  }
-
-  FactorType L_save = m_L;
-  
-  RealScalar shift = 0;
-  if(mindiag <= RealScalar(0.))
-    shift = m_initialShift - mindiag;
-
-  m_info = NumericalIssue;
-
-  // Try to perform the incomplete factorization using the current shift
-  int iter = 0;
-  do
-  {
-    // Apply the shift to the diagonal elements of the matrix
-    for (Index j = 0; j < n; j++)
-      vals[colPtr[j]] += shift;
-
-    // jki version of the Cholesky factorization
-    Index j=0;
-    for (; j < n; ++j)
-    {
-      // Left-looking factorization of the j-th column
-      // First, load the j-th column into col_vals
-      Scalar diag = vals[colPtr[j]];  // It is assumed that only the lower part is stored
-      col_nnz = 0;
-      for (Index i = colPtr[j] + 1; i < colPtr[j+1]; i++)
-      {
-        StorageIndex l = rowIdx[i];
-        col_vals(col_nnz) = vals[i];
-        col_irow(col_nnz) = l;
-        col_pattern(l) = col_nnz;
-        col_nnz++;
-      }
-      {
-        typename std::list<StorageIndex>::iterator k;
-        // Browse all previous columns that will update column j
-        for(k = listCol[j].begin(); k != listCol[j].end(); k++)
-        {
-          Index jk = firstElt(*k); // First element to use in the column
-          eigen_internal_assert(rowIdx[jk]==j);
-          Scalar v_j_jk = numext::conj(vals[jk]);
-
-          jk += 1;
-          for (Index i = jk; i < colPtr[*k+1]; i++)
-          {
-            StorageIndex l = rowIdx[i];
-            if(col_pattern[l]<0)
-            {
-              col_vals(col_nnz) = vals[i] * v_j_jk;
-              col_irow[col_nnz] = l;
-              col_pattern(l) = col_nnz;
-              col_nnz++;
-            }
-            else
-              col_vals(col_pattern[l]) -= vals[i] * v_j_jk;
-          }
-          updateList(colPtr,rowIdx,vals, *k, jk, firstElt, listCol);
-        }
-      }
-
-      // Scale the current column
-      if(numext::real(diag) <= 0)
-      {
-        if(++iter>=10)
-          return;
-
-        // increase shift
-        shift = numext::maxi(m_initialShift,RealScalar(2)*shift);
-        // restore m_L, col_pattern, and listCol
-        vals = Map<const VectorSx>(L_save.valuePtr(), nnz);
-        rowIdx = Map<const VectorIx>(L_save.innerIndexPtr(), nnz);
-        colPtr = Map<const VectorIx>(L_save.outerIndexPtr(), n+1);
-        col_pattern.fill(-1);
-        for(Index i=0; i<n; ++i)
-          listCol[i].clear();
-
-        break;
-      }
-
-      RealScalar rdiag = sqrt(numext::real(diag));
-      vals[colPtr[j]] = rdiag;
-      for (Index k = 0; k<col_nnz; ++k)
-      {
-        Index i = col_irow[k];
-        //Scale
-        col_vals(k) /= rdiag;
-        //Update the remaining diagonals with col_vals
-        vals[colPtr[i]] -= numext::abs2(col_vals(k));
-      }
-      // Select the largest p elements
-      // p is the original number of elements in the column (without the diagonal)
-      Index p = colPtr[j+1] - colPtr[j] - 1 ;
-      Ref<VectorSx> cvals = col_vals.head(col_nnz);
-      Ref<VectorIx> cirow = col_irow.head(col_nnz);
-      internal::QuickSplit(cvals,cirow, p);
-      // Insert the largest p elements in the matrix
-      Index cpt = 0;
-      for (Index i = colPtr[j]+1; i < colPtr[j+1]; i++)
-      {
-        vals[i] = col_vals(cpt);
-        rowIdx[i] = col_irow(cpt);
-        // restore col_pattern:
-        col_pattern(col_irow(cpt)) = -1;
-        cpt++;
-      }
-      // Get the first smallest row index and put it after the diagonal element
-      Index jk = colPtr(j)+1;
-      updateList(colPtr,rowIdx,vals,j,jk,firstElt,listCol);
-    }
-
-    if(j==n)
-    {
-      m_factorizationIsOk = true;
-      m_info = Success;
-    }
-  } while(m_info!=Success);
-}
-
-template<typename Scalar, int _UpLo, typename OrderingType>
-inline void IncompleteCholesky<Scalar,_UpLo, OrderingType>::updateList(Ref<const VectorIx> colPtr, Ref<VectorIx> rowIdx, Ref<VectorSx> vals, const Index& col, const Index& jk, VectorIx& firstElt, VectorList& listCol)
-{
-  if (jk < colPtr(col+1) )
-  {
-    Index p = colPtr(col+1) - jk;
-    Index minpos; 
-    rowIdx.segment(jk,p).minCoeff(&minpos);
-    minpos += jk;
-    if (rowIdx(minpos) != rowIdx(jk))
-    {
-      //Swap
-      std::swap(rowIdx(jk),rowIdx(minpos));
-      std::swap(vals(jk),vals(minpos));
-    }
-    firstElt(col) = internal::convert_index<StorageIndex,Index>(jk);
-    listCol[rowIdx(jk)].push_back(internal::convert_index<StorageIndex,Index>(col));
-  }
-}
-
-} // end namespace Eigen 
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
deleted file mode 100644
index 338e6f10a87129..00000000000000
--- a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
+++ /dev/null
@@ -1,462 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_INCOMPLETE_LUT_H
-#define EIGEN_INCOMPLETE_LUT_H
-
-
-namespace Eigen { 
-
-namespace internal {
-    
-/** \internal
-  * Compute a quick-sort split of a vector 
-  * On output, the vector row is permuted such that its elements satisfy
-  * abs(row(i)) >= abs(row(ncut)) if i<ncut
-  * abs(row(i)) <= abs(row(ncut)) if i>ncut 
-  * \param row The vector of values
-  * \param ind The array of index for the elements in @p row
-  * \param ncut  The number of largest elements to keep
-  **/ 
-template <typename VectorV, typename VectorI>
-Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
-{
-  typedef typename VectorV::RealScalar RealScalar;
-  using std::swap;
-  using std::abs;
-  Index mid;
-  Index n = row.size(); /* length of the vector */
-  Index first, last ;
-  
-  ncut--; /* to fit the zero-based indices */
-  first = 0; 
-  last = n-1; 
-  if (ncut < first || ncut > last ) return 0;
-  
-  do {
-    mid = first; 
-    RealScalar abskey = abs(row(mid)); 
-    for (Index j = first + 1; j <= last; j++) {
-      if ( abs(row(j)) > abskey) {
-        ++mid;
-        swap(row(mid), row(j));
-        swap(ind(mid), ind(j));
-      }
-    }
-    /* Interchange for the pivot element */
-    swap(row(mid), row(first));
-    swap(ind(mid), ind(first));
-    
-    if (mid > ncut) last = mid - 1;
-    else if (mid < ncut ) first = mid + 1; 
-  } while (mid != ncut );
-  
-  return 0; /* mid is equal to ncut */ 
-}
-
-}// end namespace internal
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \class IncompleteLUT
-  * \brief Incomplete LU factorization with dual-threshold strategy
-  *
-  * \implsparsesolverconcept
-  *
-  * During the numerical factorization, two dropping rules are used :
-  *  1) any element whose magnitude is less than some tolerance is dropped.
-  *    This tolerance is obtained by multiplying the input tolerance @p droptol 
-  *    by the average magnitude of all the original elements in the current row.
-  *  2) After the elimination of the row, only the @p fill largest elements in 
-  *    the L part and the @p fill largest elements in the U part are kept 
-  *    (in addition to the diagonal element ). Note that @p fill is computed from 
-  *    the input parameter @p fillfactor which is used the ratio to control the fill_in 
-  *    relatively to the initial number of nonzero elements.
-  * 
-  * The two extreme cases are when @p droptol=0 (to keep all the @p fill*2 largest elements)
-  * and when @p fill=n/2 with @p droptol being different to zero. 
-  * 
-  * References : Yousef Saad, ILUT: A dual threshold incomplete LU factorization, 
-  *              Numerical Linear Algebra with Applications, 1(4), pp 387-402, 1994.
-  * 
-  * NOTE : The following implementation is derived from the ILUT implementation
-  * in the SPARSKIT package, Copyright (C) 2005, the Regents of the University of Minnesota 
-  *  released under the terms of the GNU LGPL: 
-  *    http://www-users.cs.umn.edu/~saad/software/SPARSKIT/README
-  * However, Yousef Saad gave us permission to relicense his ILUT code to MPL2.
-  * See the Eigen mailing list archive, thread: ILUT, date: July 8, 2012:
-  *   http://listengine.tuxfamily.org/lists.tuxfamily.org/eigen/2012/07/msg00064.html
-  * alternatively, on GMANE:
-  *   http://comments.gmane.org/gmane.comp.lib.eigen/3302
-  */
-template <typename _Scalar, typename _StorageIndex = int>
-class IncompleteLUT : public SparseSolverBase<IncompleteLUT<_Scalar, _StorageIndex> >
-{
-  protected:
-    typedef SparseSolverBase<IncompleteLUT> Base;
-    using Base::m_isInitialized;
-  public:
-    typedef _Scalar Scalar;
-    typedef _StorageIndex StorageIndex;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
-    typedef SparseMatrix<Scalar,RowMajor,StorageIndex> FactorType;
-
-    enum {
-      ColsAtCompileTime = Dynamic,
-      MaxColsAtCompileTime = Dynamic
-    };
-
-  public:
-    
-    IncompleteLUT()
-      : m_droptol(NumTraits<Scalar>::dummy_precision()), m_fillfactor(10),
-        m_analysisIsOk(false), m_factorizationIsOk(false)
-    {}
-    
-    template<typename MatrixType>
-    explicit IncompleteLUT(const MatrixType& mat, const RealScalar& droptol=NumTraits<Scalar>::dummy_precision(), int fillfactor = 10)
-      : m_droptol(droptol),m_fillfactor(fillfactor),
-        m_analysisIsOk(false),m_factorizationIsOk(false)
-    {
-      eigen_assert(fillfactor != 0);
-      compute(mat); 
-    }
-    
-    Index rows() const { return m_lu.rows(); }
-    
-    Index cols() const { return m_lu.cols(); }
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix.appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "IncompleteLUT is not initialized.");
-      return m_info;
-    }
-    
-    template<typename MatrixType>
-    void analyzePattern(const MatrixType& amat);
-    
-    template<typename MatrixType>
-    void factorize(const MatrixType& amat);
-    
-    /**
-      * Compute an incomplete LU factorization with dual threshold on the matrix mat
-      * No pivoting is done in this version
-      * 
-      **/
-    template<typename MatrixType>
-    IncompleteLUT& compute(const MatrixType& amat)
-    {
-      analyzePattern(amat); 
-      factorize(amat);
-      return *this;
-    }
-
-    void setDroptol(const RealScalar& droptol); 
-    void setFillfactor(int fillfactor); 
-    
-    template<typename Rhs, typename Dest>
-    void _solve_impl(const Rhs& b, Dest& x) const
-    {
-      x = m_Pinv * b;
-      x = m_lu.template triangularView<UnitLower>().solve(x);
-      x = m_lu.template triangularView<Upper>().solve(x);
-      x = m_P * x; 
-    }
-
-protected:
-
-    /** keeps off-diagonal entries; drops diagonal entries */
-    struct keep_diag {
-      inline bool operator() (const Index& row, const Index& col, const Scalar&) const
-      {
-        return row!=col;
-      }
-    };
-
-protected:
-
-    FactorType m_lu;
-    RealScalar m_droptol;
-    int m_fillfactor;
-    bool m_analysisIsOk;
-    bool m_factorizationIsOk;
-    ComputationInfo m_info;
-    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_P;     // Fill-reducing permutation
-    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_Pinv;  // Inverse permutation
-};
-
-/**
- * Set control parameter droptol
- *  \param droptol   Drop any element whose magnitude is less than this tolerance 
- **/ 
-template<typename Scalar, typename StorageIndex>
-void IncompleteLUT<Scalar,StorageIndex>::setDroptol(const RealScalar& droptol)
-{
-  this->m_droptol = droptol;   
-}
-
-/**
- * Set control parameter fillfactor
- * \param fillfactor  This is used to compute the  number @p fill_in of largest elements to keep on each row. 
- **/ 
-template<typename Scalar, typename StorageIndex>
-void IncompleteLUT<Scalar,StorageIndex>::setFillfactor(int fillfactor)
-{
-  this->m_fillfactor = fillfactor;   
-}
-
-template <typename Scalar, typename StorageIndex>
-template<typename _MatrixType>
-void IncompleteLUT<Scalar,StorageIndex>::analyzePattern(const _MatrixType& amat)
-{
-  // Compute the Fill-reducing permutation
-  // Since ILUT does not perform any numerical pivoting,
-  // it is highly preferable to keep the diagonal through symmetric permutations.
-#ifndef EIGEN_MPL2_ONLY
-  // To this end, let's symmetrize the pattern and perform AMD on it.
-  SparseMatrix<Scalar,ColMajor, StorageIndex> mat1 = amat;
-  SparseMatrix<Scalar,ColMajor, StorageIndex> mat2 = amat.transpose();
-  // FIXME for a matrix with nearly symmetric pattern, mat2+mat1 is the appropriate choice.
-  //       on the other hand for a really non-symmetric pattern, mat2*mat1 should be prefered...
-  SparseMatrix<Scalar,ColMajor, StorageIndex> AtA = mat2 + mat1;
-  AMDOrdering<StorageIndex> ordering;
-  ordering(AtA,m_P);
-  m_Pinv  = m_P.inverse(); // cache the inverse permutation
-#else
-  // If AMD is not available, (MPL2-only), then let's use the slower COLAMD routine.
-  SparseMatrix<Scalar,ColMajor, StorageIndex> mat1 = amat;
-  COLAMDOrdering<StorageIndex> ordering;
-  ordering(mat1,m_Pinv);
-  m_P = m_Pinv.inverse();
-#endif
-
-  m_analysisIsOk = true;
-  m_factorizationIsOk = false;
-  m_isInitialized = true;
-}
-
-template <typename Scalar, typename StorageIndex>
-template<typename _MatrixType>
-void IncompleteLUT<Scalar,StorageIndex>::factorize(const _MatrixType& amat)
-{
-  using std::sqrt;
-  using std::swap;
-  using std::abs;
-  using internal::convert_index;
-
-  eigen_assert((amat.rows() == amat.cols()) && "The factorization should be done on a square matrix");
-  Index n = amat.cols();  // Size of the matrix
-  m_lu.resize(n,n);
-  // Declare Working vectors and variables
-  Vector u(n) ;     // real values of the row -- maximum size is n --
-  VectorI ju(n);   // column position of the values in u -- maximum size  is n
-  VectorI jr(n);   // Indicate the position of the nonzero elements in the vector u -- A zero location is indicated by -1
-
-  // Apply the fill-reducing permutation
-  eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
-  SparseMatrix<Scalar,RowMajor, StorageIndex> mat;
-  mat = amat.twistedBy(m_Pinv);
-
-  // Initialization
-  jr.fill(-1);
-  ju.fill(0);
-  u.fill(0);
-
-  // number of largest elements to keep in each row:
-  Index fill_in = (amat.nonZeros()*m_fillfactor)/n + 1;
-  if (fill_in > n) fill_in = n;
-
-  // number of largest nonzero elements to keep in the L and the U part of the current row:
-  Index nnzL = fill_in/2;
-  Index nnzU = nnzL;
-  m_lu.reserve(n * (nnzL + nnzU + 1));
-
-  // global loop over the rows of the sparse matrix
-  for (Index ii = 0; ii < n; ii++)
-  {
-    // 1 - copy the lower and the upper part of the row i of mat in the working vector u
-
-    Index sizeu = 1; // number of nonzero elements in the upper part of the current row
-    Index sizel = 0; // number of nonzero elements in the lower part of the current row
-    ju(ii)    = convert_index<StorageIndex>(ii);
-    u(ii)     = 0;
-    jr(ii)    = convert_index<StorageIndex>(ii);
-    RealScalar rownorm = 0;
-
-    typename FactorType::InnerIterator j_it(mat, ii); // Iterate through the current row ii
-    for (; j_it; ++j_it)
-    {
-      Index k = j_it.index();
-      if (k < ii)
-      {
-        // copy the lower part
-        ju(sizel) = convert_index<StorageIndex>(k);
-        u(sizel) = j_it.value();
-        jr(k) = convert_index<StorageIndex>(sizel);
-        ++sizel;
-      }
-      else if (k == ii)
-      {
-        u(ii) = j_it.value();
-      }
-      else
-      {
-        // copy the upper part
-        Index jpos = ii + sizeu;
-        ju(jpos) = convert_index<StorageIndex>(k);
-        u(jpos) = j_it.value();
-        jr(k) = convert_index<StorageIndex>(jpos);
-        ++sizeu;
-      }
-      rownorm += numext::abs2(j_it.value());
-    }
-
-    // 2 - detect possible zero row
-    if(rownorm==0)
-    {
-      m_info = NumericalIssue;
-      return;
-    }
-    // Take the 2-norm of the current row as a relative tolerance
-    rownorm = sqrt(rownorm);
-
-    // 3 - eliminate the previous nonzero rows
-    Index jj = 0;
-    Index len = 0;
-    while (jj < sizel)
-    {
-      // In order to eliminate in the correct order,
-      // we must select first the smallest column index among  ju(jj:sizel)
-      Index k;
-      Index minrow = ju.segment(jj,sizel-jj).minCoeff(&k); // k is relative to the segment
-      k += jj;
-      if (minrow != ju(jj))
-      {
-        // swap the two locations
-        Index j = ju(jj);
-        swap(ju(jj), ju(k));
-        jr(minrow) = convert_index<StorageIndex>(jj);
-        jr(j) = convert_index<StorageIndex>(k);
-        swap(u(jj), u(k));
-      }
-      // Reset this location
-      jr(minrow) = -1;
-
-      // Start elimination
-      typename FactorType::InnerIterator ki_it(m_lu, minrow);
-      while (ki_it && ki_it.index() < minrow) ++ki_it;
-      eigen_internal_assert(ki_it && ki_it.col()==minrow);
-      Scalar fact = u(jj) / ki_it.value();
-
-      // drop too small elements
-      if(abs(fact) <= m_droptol)
-      {
-        jj++;
-        continue;
-      }
-
-      // linear combination of the current row ii and the row minrow
-      ++ki_it;
-      for (; ki_it; ++ki_it)
-      {
-        Scalar prod = fact * ki_it.value();
-        Index j     = ki_it.index();
-        Index jpos  = jr(j);
-        if (jpos == -1) // fill-in element
-        {
-          Index newpos;
-          if (j >= ii) // dealing with the upper part
-          {
-            newpos = ii + sizeu;
-            sizeu++;
-            eigen_internal_assert(sizeu<=n);
-          }
-          else // dealing with the lower part
-          {
-            newpos = sizel;
-            sizel++;
-            eigen_internal_assert(sizel<=ii);
-          }
-          ju(newpos) = convert_index<StorageIndex>(j);
-          u(newpos) = -prod;
-          jr(j) = convert_index<StorageIndex>(newpos);
-        }
-        else
-          u(jpos) -= prod;
-      }
-      // store the pivot element
-      u(len)  = fact;
-      ju(len) = convert_index<StorageIndex>(minrow);
-      ++len;
-
-      jj++;
-    } // end of the elimination on the row ii
-
-    // reset the upper part of the pointer jr to zero
-    for(Index k = 0; k <sizeu; k++) jr(ju(ii+k)) = -1;
-
-    // 4 - partially sort and insert the elements in the m_lu matrix
-
-    // sort the L-part of the row
-    sizel = len;
-    len = (std::min)(sizel, nnzL);
-    typename Vector::SegmentReturnType ul(u.segment(0, sizel));
-    typename VectorI::SegmentReturnType jul(ju.segment(0, sizel));
-    internal::QuickSplit(ul, jul, len);
-
-    // store the largest m_fill elements of the L part
-    m_lu.startVec(ii);
-    for(Index k = 0; k < len; k++)
-      m_lu.insertBackByOuterInnerUnordered(ii,ju(k)) = u(k);
-
-    // store the diagonal element
-    // apply a shifting rule to avoid zero pivots (we are doing an incomplete factorization)
-    if (u(ii) == Scalar(0))
-      u(ii) = sqrt(m_droptol) * rownorm;
-    m_lu.insertBackByOuterInnerUnordered(ii, ii) = u(ii);
-
-    // sort the U-part of the row
-    // apply the dropping rule first
-    len = 0;
-    for(Index k = 1; k < sizeu; k++)
-    {
-      if(abs(u(ii+k)) > m_droptol * rownorm )
-      {
-        ++len;
-        u(ii + len)  = u(ii + k);
-        ju(ii + len) = ju(ii + k);
-      }
-    }
-    sizeu = len + 1; // +1 to take into account the diagonal element
-    len = (std::min)(sizeu, nnzU);
-    typename Vector::SegmentReturnType uu(u.segment(ii+1, sizeu-1));
-    typename VectorI::SegmentReturnType juu(ju.segment(ii+1, sizeu-1));
-    internal::QuickSplit(uu, juu, len);
-
-    // store the largest elements of the U part
-    for(Index k = ii + 1; k < ii + len; k++)
-      m_lu.insertBackByOuterInnerUnordered(ii,ju(k)) = u(k);
-  }
-  m_lu.finalize();
-  m_lu.makeCompressed();
-
-  m_factorizationIsOk = true;
-  m_info = Success;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_INCOMPLETE_LUT_H
diff --git a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h b/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
deleted file mode 100644
index 7c2326eb7fd982..00000000000000
--- a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
+++ /dev/null
@@ -1,394 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ITERATIVE_SOLVER_BASE_H
-#define EIGEN_ITERATIVE_SOLVER_BASE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename MatrixType>
-struct is_ref_compatible_impl
-{
-private:
-  template <typename T0>
-  struct any_conversion
-  {
-    template <typename T> any_conversion(const volatile T&);
-    template <typename T> any_conversion(T&);
-  };
-  struct yes {int a[1];};
-  struct no  {int a[2];};
-
-  template<typename T>
-  static yes test(const Ref<const T>&, int);
-  template<typename T>
-  static no  test(any_conversion<T>, ...);
-
-public:
-  static MatrixType ms_from;
-  enum { value = sizeof(test<MatrixType>(ms_from, 0))==sizeof(yes) };
-};
-
-template<typename MatrixType>
-struct is_ref_compatible
-{
-  enum { value = is_ref_compatible_impl<typename remove_all<MatrixType>::type>::value };
-};
-
-template<typename MatrixType, bool MatrixFree = !internal::is_ref_compatible<MatrixType>::value>
-class generic_matrix_wrapper;
-
-// We have an explicit matrix at hand, compatible with Ref<>
-template<typename MatrixType>
-class generic_matrix_wrapper<MatrixType,false>
-{
-public:
-  typedef Ref<const MatrixType> ActualMatrixType;
-  template<int UpLo> struct ConstSelfAdjointViewReturnType {
-    typedef typename ActualMatrixType::template ConstSelfAdjointViewReturnType<UpLo>::Type Type;
-  };
-
-  enum {
-    MatrixFree = false
-  };
-
-  generic_matrix_wrapper()
-    : m_dummy(0,0), m_matrix(m_dummy)
-  {}
-
-  template<typename InputType>
-  generic_matrix_wrapper(const InputType &mat)
-    : m_matrix(mat)
-  {}
-
-  const ActualMatrixType& matrix() const
-  {
-    return m_matrix;
-  }
-
-  template<typename MatrixDerived>
-  void grab(const EigenBase<MatrixDerived> &mat)
-  {
-    m_matrix.~Ref<const MatrixType>();
-    ::new (&m_matrix) Ref<const MatrixType>(mat.derived());
-  }
-
-  void grab(const Ref<const MatrixType> &mat)
-  {
-    if(&(mat.derived()) != &m_matrix)
-    {
-      m_matrix.~Ref<const MatrixType>();
-      ::new (&m_matrix) Ref<const MatrixType>(mat);
-    }
-  }
-
-protected:
-  MatrixType m_dummy; // used to default initialize the Ref<> object
-  ActualMatrixType m_matrix;
-};
-
-// MatrixType is not compatible with Ref<> -> matrix-free wrapper
-template<typename MatrixType>
-class generic_matrix_wrapper<MatrixType,true>
-{
-public:
-  typedef MatrixType ActualMatrixType;
-  template<int UpLo> struct ConstSelfAdjointViewReturnType
-  {
-    typedef ActualMatrixType Type;
-  };
-
-  enum {
-    MatrixFree = true
-  };
-
-  generic_matrix_wrapper()
-    : mp_matrix(0)
-  {}
-
-  generic_matrix_wrapper(const MatrixType &mat)
-    : mp_matrix(&mat)
-  {}
-
-  const ActualMatrixType& matrix() const
-  {
-    return *mp_matrix;
-  }
-
-  void grab(const MatrixType &mat)
-  {
-    mp_matrix = &mat;
-  }
-
-protected:
-  const ActualMatrixType *mp_matrix;
-};
-
-}
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief Base class for linear iterative solvers
-  *
-  * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
-  */
-template< typename Derived>
-class IterativeSolverBase : public SparseSolverBase<Derived>
-{
-protected:
-  typedef SparseSolverBase<Derived> Base;
-  using Base::m_isInitialized;
-  
-public:
-  typedef typename internal::traits<Derived>::MatrixType MatrixType;
-  typedef typename internal::traits<Derived>::Preconditioner Preconditioner;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::StorageIndex StorageIndex;
-  typedef typename MatrixType::RealScalar RealScalar;
-
-  enum {
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-  };
-
-public:
-
-  using Base::derived;
-
-  /** Default constructor. */
-  IterativeSolverBase()
-  {
-    init();
-  }
-
-  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    * 
-    * This constructor is a shortcut for the default constructor followed
-    * by a call to compute().
-    * 
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  template<typename MatrixDerived>
-  explicit IterativeSolverBase(const EigenBase<MatrixDerived>& A)
-    : m_matrixWrapper(A.derived())
-  {
-    init();
-    compute(matrix());
-  }
-
-  ~IterativeSolverBase() {}
-  
-  /** Initializes the iterative solver for the sparsity pattern of the matrix \a A for further solving \c Ax=b problems.
-    *
-    * Currently, this function mostly calls analyzePattern on the preconditioner. In the future
-    * we might, for instance, implement column reordering for faster matrix vector products.
-    */
-  template<typename MatrixDerived>
-  Derived& analyzePattern(const EigenBase<MatrixDerived>& A)
-  {
-    grab(A.derived());
-    m_preconditioner.analyzePattern(matrix());
-    m_isInitialized = true;
-    m_analysisIsOk = true;
-    m_info = m_preconditioner.info();
-    return derived();
-  }
-  
-  /** Initializes the iterative solver with the numerical values of the matrix \a A for further solving \c Ax=b problems.
-    *
-    * Currently, this function mostly calls factorize on the preconditioner.
-    *
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  template<typename MatrixDerived>
-  Derived& factorize(const EigenBase<MatrixDerived>& A)
-  {
-    eigen_assert(m_analysisIsOk && "You must first call analyzePattern()"); 
-    grab(A.derived());
-    m_preconditioner.factorize(matrix());
-    m_factorizationIsOk = true;
-    m_info = m_preconditioner.info();
-    return derived();
-  }
-
-  /** Initializes the iterative solver with the matrix \a A for further solving \c Ax=b problems.
-    *
-    * Currently, this function mostly initializes/computes the preconditioner. In the future
-    * we might, for instance, implement column reordering for faster matrix vector products.
-    *
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  template<typename MatrixDerived>
-  Derived& compute(const EigenBase<MatrixDerived>& A)
-  {
-    grab(A.derived());
-    m_preconditioner.compute(matrix());
-    m_isInitialized = true;
-    m_analysisIsOk = true;
-    m_factorizationIsOk = true;
-    m_info = m_preconditioner.info();
-    return derived();
-  }
-
-  /** \internal */
-  Index rows() const { return matrix().rows(); }
-
-  /** \internal */
-  Index cols() const { return matrix().cols(); }
-
-  /** \returns the tolerance threshold used by the stopping criteria.
-    * \sa setTolerance()
-    */
-  RealScalar tolerance() const { return m_tolerance; }
-  
-  /** Sets the tolerance threshold used by the stopping criteria.
-    *
-    * This value is used as an upper bound to the relative residual error: |Ax-b|/|b|.
-    * The default value is the machine precision given by NumTraits<Scalar>::epsilon()
-    */
-  Derived& setTolerance(const RealScalar& tolerance)
-  {
-    m_tolerance = tolerance;
-    return derived();
-  }
-
-  /** \returns a read-write reference to the preconditioner for custom configuration. */
-  Preconditioner& preconditioner() { return m_preconditioner; }
-  
-  /** \returns a read-only reference to the preconditioner. */
-  const Preconditioner& preconditioner() const { return m_preconditioner; }
-
-  /** \returns the max number of iterations.
-    * It is either the value setted by setMaxIterations or, by default,
-    * twice the number of columns of the matrix.
-    */
-  Index maxIterations() const
-  {
-    return (m_maxIterations<0) ? 2*matrix().cols() : m_maxIterations;
-  }
-  
-  /** Sets the max number of iterations.
-    * Default is twice the number of columns of the matrix.
-    */
-  Derived& setMaxIterations(Index maxIters)
-  {
-    m_maxIterations = maxIters;
-    return derived();
-  }
-
-  /** \returns the number of iterations performed during the last solve */
-  Index iterations() const
-  {
-    eigen_assert(m_isInitialized && "ConjugateGradient is not initialized.");
-    return m_iterations;
-  }
-
-  /** \returns the tolerance error reached during the last solve.
-    * It is a close approximation of the true relative residual error |Ax-b|/|b|.
-    */
-  RealScalar error() const
-  {
-    eigen_assert(m_isInitialized && "ConjugateGradient is not initialized.");
-    return m_error;
-  }
-
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
-    * and \a x0 as an initial solution.
-    *
-    * \sa solve(), compute()
-    */
-  template<typename Rhs,typename Guess>
-  inline const SolveWithGuess<Derived, Rhs, Guess>
-  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
-  {
-    eigen_assert(m_isInitialized && "Solver is not initialized.");
-    eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
-    return SolveWithGuess<Derived, Rhs, Guess>(derived(), b.derived(), x0);
-  }
-
-  /** \returns Success if the iterations converged, and NoConvergence otherwise. */
-  ComputationInfo info() const
-  {
-    eigen_assert(m_isInitialized && "IterativeSolverBase is not initialized.");
-    return m_info;
-  }
-  
-  /** \internal */
-  template<typename Rhs, typename DestDerived>
-  void _solve_impl(const Rhs& b, SparseMatrixBase<DestDerived> &aDest) const
-  {
-    eigen_assert(rows()==b.rows());
-    
-    Index rhsCols = b.cols();
-    Index size = b.rows();
-    DestDerived& dest(aDest.derived());
-    typedef typename DestDerived::Scalar DestScalar;
-    Eigen::Matrix<DestScalar,Dynamic,1> tb(size);
-    Eigen::Matrix<DestScalar,Dynamic,1> tx(cols());
-    // We do not directly fill dest because sparse expressions have to be free of aliasing issue.
-    // For non square least-square problems, b and dest might not have the same size whereas they might alias each-other.
-    typename DestDerived::PlainObject tmp(cols(),rhsCols);
-    for(Index k=0; k<rhsCols; ++k)
-    {
-      tb = b.col(k);
-      tx = derived().solve(tb);
-      tmp.col(k) = tx.sparseView(0);
-    }
-    dest.swap(tmp);
-  }
-
-protected:
-  void init()
-  {
-    m_isInitialized = false;
-    m_analysisIsOk = false;
-    m_factorizationIsOk = false;
-    m_maxIterations = -1;
-    m_tolerance = NumTraits<Scalar>::epsilon();
-  }
-
-  typedef internal::generic_matrix_wrapper<MatrixType> MatrixWrapper;
-  typedef typename MatrixWrapper::ActualMatrixType ActualMatrixType;
-
-  const ActualMatrixType& matrix() const
-  {
-    return m_matrixWrapper.matrix();
-  }
-  
-  template<typename InputType>
-  void grab(const InputType &A)
-  {
-    m_matrixWrapper.grab(A);
-  }
-  
-  MatrixWrapper m_matrixWrapper;
-  Preconditioner m_preconditioner;
-
-  Index m_maxIterations;
-  RealScalar m_tolerance;
-  
-  mutable RealScalar m_error;
-  mutable Index m_iterations;
-  mutable ComputationInfo m_info;
-  mutable bool m_analysisIsOk, m_factorizationIsOk;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_ITERATIVE_SOLVER_BASE_H
diff --git a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h b/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
deleted file mode 100644
index 0aea0e099d24f3..00000000000000
--- a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
+++ /dev/null
@@ -1,216 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LEAST_SQUARE_CONJUGATE_GRADIENT_H
-#define EIGEN_LEAST_SQUARE_CONJUGATE_GRADIENT_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal Low-level conjugate gradient algorithm for least-square problems
-  * \param mat The matrix A
-  * \param rhs The right hand side vector b
-  * \param x On input and initial solution, on output the computed solution.
-  * \param precond A preconditioner being able to efficiently solve for an
-  *                approximation of A'Ax=b (regardless of b)
-  * \param iters On input the max number of iteration, on output the number of performed iterations.
-  * \param tol_error On input the tolerance error, on output an estimation of the relative error.
-  */
-template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
-EIGEN_DONT_INLINE
-void least_square_conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
-                                     const Preconditioner& precond, Index& iters,
-                                     typename Dest::RealScalar& tol_error)
-{
-  using std::sqrt;
-  using std::abs;
-  typedef typename Dest::RealScalar RealScalar;
-  typedef typename Dest::Scalar Scalar;
-  typedef Matrix<Scalar,Dynamic,1> VectorType;
-  
-  RealScalar tol = tol_error;
-  Index maxIters = iters;
-  
-  Index m = mat.rows(), n = mat.cols();
-
-  VectorType residual        = rhs - mat * x;
-  VectorType normal_residual = mat.adjoint() * residual;
-
-  RealScalar rhsNorm2 = (mat.adjoint()*rhs).squaredNorm();
-  if(rhsNorm2 == 0) 
-  {
-    x.setZero();
-    iters = 0;
-    tol_error = 0;
-    return;
-  }
-  RealScalar threshold = tol*tol*rhsNorm2;
-  RealScalar residualNorm2 = normal_residual.squaredNorm();
-  if (residualNorm2 < threshold)
-  {
-    iters = 0;
-    tol_error = sqrt(residualNorm2 / rhsNorm2);
-    return;
-  }
-  
-  VectorType p(n);
-  p = precond.solve(normal_residual);                         // initial search direction
-
-  VectorType z(n), tmp(m);
-  RealScalar absNew = numext::real(normal_residual.dot(p));  // the square of the absolute value of r scaled by invM
-  Index i = 0;
-  while(i < maxIters)
-  {
-    tmp.noalias() = mat * p;
-
-    Scalar alpha = absNew / tmp.squaredNorm();      // the amount we travel on dir
-    x += alpha * p;                                 // update solution
-    residual -= alpha * tmp;                        // update residual
-    normal_residual = mat.adjoint() * residual;     // update residual of the normal equation
-    
-    residualNorm2 = normal_residual.squaredNorm();
-    if(residualNorm2 < threshold)
-      break;
-    
-    z = precond.solve(normal_residual);             // approximately solve for "A'A z = normal_residual"
-
-    RealScalar absOld = absNew;
-    absNew = numext::real(normal_residual.dot(z));  // update the absolute value of r
-    RealScalar beta = absNew / absOld;              // calculate the Gram-Schmidt value used to create the new search direction
-    p = z + beta * p;                               // update search direction
-    i++;
-  }
-  tol_error = sqrt(residualNorm2 / rhsNorm2);
-  iters = i;
-}
-
-}
-
-template< typename _MatrixType,
-          typename _Preconditioner = LeastSquareDiagonalPreconditioner<typename _MatrixType::Scalar> >
-class LeastSquaresConjugateGradient;
-
-namespace internal {
-
-template< typename _MatrixType, typename _Preconditioner>
-struct traits<LeastSquaresConjugateGradient<_MatrixType,_Preconditioner> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Preconditioner Preconditioner;
-};
-
-}
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief A conjugate gradient solver for sparse (or dense) least-square problems
-  *
-  * This class allows to solve for A x = b linear problems using an iterative conjugate gradient algorithm.
-  * The matrix A can be non symmetric and rectangular, but the matrix A' A should be positive-definite to guaranty stability.
-  * Otherwise, the SparseLU or SparseQR classes might be preferable.
-  * The matrix A and the vectors x and b can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the matrix A, can be a dense or a sparse matrix.
-  * \tparam _Preconditioner the type of the preconditioner. Default is LeastSquareDiagonalPreconditioner
-  *
-  * \implsparsesolverconcept
-  * 
-  * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
-  * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
-  * and NumTraits<Scalar>::epsilon() for the tolerance.
-  * 
-  * This class can be used as the direct solver classes. Here is a typical usage example:
-    \code
-    int m=1000000, n = 10000;
-    VectorXd x(n), b(m);
-    SparseMatrix<double> A(m,n);
-    // fill A and b
-    LeastSquaresConjugateGradient<SparseMatrix<double> > lscg;
-    lscg.compute(A);
-    x = lscg.solve(b);
-    std::cout << "#iterations:     " << lscg.iterations() << std::endl;
-    std::cout << "estimated error: " << lscg.error()      << std::endl;
-    // update b, and solve again
-    x = lscg.solve(b);
-    \endcode
-  * 
-  * By default the iterations start with x=0 as an initial guess of the solution.
-  * One can control the start using the solveWithGuess() method.
-  * 
-  * \sa class ConjugateGradient, SparseLU, SparseQR
-  */
-template< typename _MatrixType, typename _Preconditioner>
-class LeastSquaresConjugateGradient : public IterativeSolverBase<LeastSquaresConjugateGradient<_MatrixType,_Preconditioner> >
-{
-  typedef IterativeSolverBase<LeastSquaresConjugateGradient> Base;
-  using Base::matrix;
-  using Base::m_error;
-  using Base::m_iterations;
-  using Base::m_info;
-  using Base::m_isInitialized;
-public:
-  typedef _MatrixType MatrixType;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef _Preconditioner Preconditioner;
-
-public:
-
-  /** Default constructor. */
-  LeastSquaresConjugateGradient() : Base() {}
-
-  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    * 
-    * This constructor is a shortcut for the default constructor followed
-    * by a call to compute().
-    * 
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  template<typename MatrixDerived>
-  explicit LeastSquaresConjugateGradient(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
-
-  ~LeastSquaresConjugateGradient() {}
-
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
-  {
-    m_iterations = Base::maxIterations();
-    m_error = Base::m_tolerance;
-
-    for(Index j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-
-      typename Dest::ColXpr xj(x,j);
-      internal::least_square_conjugate_gradient(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
-    }
-
-    m_isInitialized = true;
-    m_info = m_error <= Base::m_tolerance ? Success : NoConvergence;
-  }
-  
-  /** \internal */
-  using Base::_solve_impl;
-  template<typename Rhs,typename Dest>
-  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
-  {
-    x.setZero();
-    _solve_with_guess_impl(b.derived(),x);
-  }
-
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_LEAST_SQUARE_CONJUGATE_GRADIENT_H
diff --git a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h b/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
deleted file mode 100644
index 0ace451771759b..00000000000000
--- a/phonelibs/eigen/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
+++ /dev/null
@@ -1,115 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SOLVEWITHGUESS_H
-#define EIGEN_SOLVEWITHGUESS_H
-
-namespace Eigen {
-
-template<typename Decomposition, typename RhsType, typename GuessType> class SolveWithGuess;
-  
-/** \class SolveWithGuess
-  * \ingroup IterativeLinearSolvers_Module
-  *
-  * \brief Pseudo expression representing a solving operation
-  *
-  * \tparam Decomposition the type of the matrix or decomposion object
-  * \tparam Rhstype the type of the right-hand side
-  *
-  * This class represents an expression of A.solve(B)
-  * and most of the time this is the only way it is used.
-  *
-  */
-namespace internal {
-
-
-template<typename Decomposition, typename RhsType, typename GuessType>
-struct traits<SolveWithGuess<Decomposition, RhsType, GuessType> >
-  : traits<Solve<Decomposition,RhsType> >
-{};
-
-}
-
-
-template<typename Decomposition, typename RhsType, typename GuessType>
-class SolveWithGuess : public internal::generic_xpr_base<SolveWithGuess<Decomposition,RhsType,GuessType>, MatrixXpr, typename internal::traits<RhsType>::StorageKind>::type
-{
-public:
-  typedef typename internal::traits<SolveWithGuess>::Scalar Scalar;
-  typedef typename internal::traits<SolveWithGuess>::PlainObject PlainObject;
-  typedef typename internal::generic_xpr_base<SolveWithGuess<Decomposition,RhsType,GuessType>, MatrixXpr, typename internal::traits<RhsType>::StorageKind>::type Base;
-  typedef typename internal::ref_selector<SolveWithGuess>::type Nested;
-  
-  SolveWithGuess(const Decomposition &dec, const RhsType &rhs, const GuessType &guess)
-    : m_dec(dec), m_rhs(rhs), m_guess(guess)
-  {}
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
-
-  EIGEN_DEVICE_FUNC const Decomposition& dec()   const { return m_dec; }
-  EIGEN_DEVICE_FUNC const RhsType&       rhs()   const { return m_rhs; }
-  EIGEN_DEVICE_FUNC const GuessType&     guess() const { return m_guess; }
-
-protected:
-  const Decomposition &m_dec;
-  const RhsType       &m_rhs;
-  const GuessType     &m_guess;
-  
-private:
-  Scalar coeff(Index row, Index col) const;
-  Scalar coeff(Index i) const;
-};
-
-namespace internal {
-
-// Evaluator of SolveWithGuess -> eval into a temporary
-template<typename Decomposition, typename RhsType, typename GuessType>
-struct evaluator<SolveWithGuess<Decomposition,RhsType, GuessType> >
-  : public evaluator<typename SolveWithGuess<Decomposition,RhsType,GuessType>::PlainObject>
-{
-  typedef SolveWithGuess<Decomposition,RhsType,GuessType> SolveType;
-  typedef typename SolveType::PlainObject PlainObject;
-  typedef evaluator<PlainObject> Base;
-
-  evaluator(const SolveType& solve)
-    : m_result(solve.rows(), solve.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    m_result = solve.guess();
-    solve.dec()._solve_with_guess_impl(solve.rhs(), m_result);
-  }
-  
-protected:  
-  PlainObject m_result;
-};
-
-// Specialization for "dst = dec.solveWithGuess(rhs)"
-// NOTE we need to specialize it for Dense2Dense to avoid ambiguous specialization error and a Sparse2Sparse specialization must exist somewhere
-template<typename DstXprType, typename DecType, typename RhsType, typename GuessType, typename Scalar>
-struct Assignment<DstXprType, SolveWithGuess<DecType,RhsType,GuessType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
-{
-  typedef SolveWithGuess<DecType,RhsType,GuessType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    dst = src.guess();
-    src.dec()._solve_with_guess_impl(src.rhs(), dst/*, src.guess()*/);
-  }
-};
-
-} // end namepsace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SOLVEWITHGUESS_H
diff --git a/phonelibs/eigen/Eigen/src/Jacobi/Jacobi.h b/phonelibs/eigen/Eigen/src/Jacobi/Jacobi.h
deleted file mode 100644
index d25af8e904707d..00000000000000
--- a/phonelibs/eigen/Eigen/src/Jacobi/Jacobi.h
+++ /dev/null
@@ -1,433 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_JACOBI_H
-#define EIGEN_JACOBI_H
-
-namespace Eigen { 
-
-/** \ingroup Jacobi_Module
-  * \jacobi_module
-  * \class JacobiRotation
-  * \brief Rotation given by a cosine-sine pair.
-  *
-  * This class represents a Jacobi or Givens rotation.
-  * This is a 2D rotation in the plane \c J of angle \f$ \theta \f$ defined by
-  * its cosine \c c and sine \c s as follow:
-  * \f$ J = \left ( \begin{array}{cc} c & \overline s \\ -s  & \overline c \end{array} \right ) \f$
-  *
-  * You can apply the respective counter-clockwise rotation to a column vector \c v by
-  * applying its adjoint on the left: \f$ v = J^* v \f$ that translates to the following Eigen code:
-  * \code
-  * v.applyOnTheLeft(J.adjoint());
-  * \endcode
-  *
-  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
-  */
-template<typename Scalar> class JacobiRotation
-{
-  public:
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    /** Default constructor without any initialization. */
-    JacobiRotation() {}
-
-    /** Construct a planar rotation from a cosine-sine pair (\a c, \c s). */
-    JacobiRotation(const Scalar& c, const Scalar& s) : m_c(c), m_s(s) {}
-
-    Scalar& c() { return m_c; }
-    Scalar c() const { return m_c; }
-    Scalar& s() { return m_s; }
-    Scalar s() const { return m_s; }
-
-    /** Concatenates two planar rotation */
-    JacobiRotation operator*(const JacobiRotation& other)
-    {
-      using numext::conj;
-      return JacobiRotation(m_c * other.m_c - conj(m_s) * other.m_s,
-                            conj(m_c * conj(other.m_s) + conj(m_s) * conj(other.m_c)));
-    }
-
-    /** Returns the transposed transformation */
-    JacobiRotation transpose() const { using numext::conj; return JacobiRotation(m_c, -conj(m_s)); }
-
-    /** Returns the adjoint transformation */
-    JacobiRotation adjoint() const { using numext::conj; return JacobiRotation(conj(m_c), -m_s); }
-
-    template<typename Derived>
-    bool makeJacobi(const MatrixBase<Derived>&, Index p, Index q);
-    bool makeJacobi(const RealScalar& x, const Scalar& y, const RealScalar& z);
-
-    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z=0);
-
-  protected:
-    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z, internal::true_type);
-    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z, internal::false_type);
-
-    Scalar m_c, m_s;
-};
-
-/** Makes \c *this as a Jacobi rotation \a J such that applying \a J on both the right and left sides of the selfadjoint 2x2 matrix
-  * \f$ B = \left ( \begin{array}{cc} x & y \\ \overline y & z \end{array} \right )\f$ yields a diagonal matrix \f$ A = J^* B J \f$
-  *
-  * \sa MatrixBase::makeJacobi(const MatrixBase<Derived>&, Index, Index), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
-  */
-template<typename Scalar>
-bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, const RealScalar& z)
-{
-  using std::sqrt;
-  using std::abs;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  RealScalar deno = RealScalar(2)*abs(y);
-  if(deno < (std::numeric_limits<RealScalar>::min)())
-  {
-    m_c = Scalar(1);
-    m_s = Scalar(0);
-    return false;
-  }
-  else
-  {
-    RealScalar tau = (x-z)/deno;
-    RealScalar w = sqrt(numext::abs2(tau) + RealScalar(1));
-    RealScalar t;
-    if(tau>RealScalar(0))
-    {
-      t = RealScalar(1) / (tau + w);
-    }
-    else
-    {
-      t = RealScalar(1) / (tau - w);
-    }
-    RealScalar sign_t = t > RealScalar(0) ? RealScalar(1) : RealScalar(-1);
-    RealScalar n = RealScalar(1) / sqrt(numext::abs2(t)+RealScalar(1));
-    m_s = - sign_t * (numext::conj(y) / abs(y)) * abs(t) * n;
-    m_c = n;
-    return true;
-  }
-}
-
-/** Makes \c *this as a Jacobi rotation \c J such that applying \a J on both the right and left sides of the 2x2 selfadjoint matrix
-  * \f$ B = \left ( \begin{array}{cc} \text{this}_{pp} & \text{this}_{pq} \\ (\text{this}_{pq})^* & \text{this}_{qq} \end{array} \right )\f$ yields
-  * a diagonal matrix \f$ A = J^* B J \f$
-  *
-  * Example: \include Jacobi_makeJacobi.cpp
-  * Output: \verbinclude Jacobi_makeJacobi.out
-  *
-  * \sa JacobiRotation::makeJacobi(RealScalar, Scalar, RealScalar), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
-  */
-template<typename Scalar>
-template<typename Derived>
-inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, Index p, Index q)
-{
-  return makeJacobi(numext::real(m.coeff(p,p)), m.coeff(p,q), numext::real(m.coeff(q,q)));
-}
-
-/** Makes \c *this as a Givens rotation \c G such that applying \f$ G^* \f$ to the left of the vector
-  * \f$ V = \left ( \begin{array}{c} p \\ q \end{array} \right )\f$ yields:
-  * \f$ G^* V = \left ( \begin{array}{c} r \\ 0 \end{array} \right )\f$.
-  *
-  * The value of \a z is returned if \a z is not null (the default is null).
-  * Also note that G is built such that the cosine is always real.
-  *
-  * Example: \include Jacobi_makeGivens.cpp
-  * Output: \verbinclude Jacobi_makeGivens.out
-  *
-  * This function implements the continuous Givens rotation generation algorithm
-  * found in Anderson (2000), Discontinuous Plane Rotations and the Symmetric Eigenvalue Problem.
-  * LAPACK Working Note 150, University of Tennessee, UT-CS-00-454, December 4, 2000.
-  *
-  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
-  */
-template<typename Scalar>
-void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* z)
-{
-  makeGivens(p, q, z, typename internal::conditional<NumTraits<Scalar>::IsComplex, internal::true_type, internal::false_type>::type());
-}
-
-
-// specialization for complexes
-template<typename Scalar>
-void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::true_type)
-{
-  using std::sqrt;
-  using std::abs;
-  using numext::conj;
-  
-  if(q==Scalar(0))
-  {
-    m_c = numext::real(p)<0 ? Scalar(-1) : Scalar(1);
-    m_s = 0;
-    if(r) *r = m_c * p;
-  }
-  else if(p==Scalar(0))
-  {
-    m_c = 0;
-    m_s = -q/abs(q);
-    if(r) *r = abs(q);
-  }
-  else
-  {
-    RealScalar p1 = numext::norm1(p);
-    RealScalar q1 = numext::norm1(q);
-    if(p1>=q1)
-    {
-      Scalar ps = p / p1;
-      RealScalar p2 = numext::abs2(ps);
-      Scalar qs = q / p1;
-      RealScalar q2 = numext::abs2(qs);
-
-      RealScalar u = sqrt(RealScalar(1) + q2/p2);
-      if(numext::real(p)<RealScalar(0))
-        u = -u;
-
-      m_c = Scalar(1)/u;
-      m_s = -qs*conj(ps)*(m_c/p2);
-      if(r) *r = p * u;
-    }
-    else
-    {
-      Scalar ps = p / q1;
-      RealScalar p2 = numext::abs2(ps);
-      Scalar qs = q / q1;
-      RealScalar q2 = numext::abs2(qs);
-
-      RealScalar u = q1 * sqrt(p2 + q2);
-      if(numext::real(p)<RealScalar(0))
-        u = -u;
-
-      p1 = abs(p);
-      ps = p/p1;
-      m_c = p1/u;
-      m_s = -conj(ps) * (q/u);
-      if(r) *r = ps * u;
-    }
-  }
-}
-
-// specialization for reals
-template<typename Scalar>
-void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::false_type)
-{
-  using std::sqrt;
-  using std::abs;
-  if(q==Scalar(0))
-  {
-    m_c = p<Scalar(0) ? Scalar(-1) : Scalar(1);
-    m_s = Scalar(0);
-    if(r) *r = abs(p);
-  }
-  else if(p==Scalar(0))
-  {
-    m_c = Scalar(0);
-    m_s = q<Scalar(0) ? Scalar(1) : Scalar(-1);
-    if(r) *r = abs(q);
-  }
-  else if(abs(p) > abs(q))
-  {
-    Scalar t = q/p;
-    Scalar u = sqrt(Scalar(1) + numext::abs2(t));
-    if(p<Scalar(0))
-      u = -u;
-    m_c = Scalar(1)/u;
-    m_s = -t * m_c;
-    if(r) *r = p * u;
-  }
-  else
-  {
-    Scalar t = p/q;
-    Scalar u = sqrt(Scalar(1) + numext::abs2(t));
-    if(q<Scalar(0))
-      u = -u;
-    m_s = -Scalar(1)/u;
-    m_c = -t * m_s;
-    if(r) *r = q * u;
-  }
-
-}
-
-/****************************************************************************************
-*   Implementation of MatrixBase methods
-****************************************************************************************/
-
-namespace internal {
-/** \jacobi_module
-  * Applies the clock wise 2D rotation \a j to the set of 2D vectors of cordinates \a x and \a y:
-  * \f$ \left ( \begin{array}{cc} x \\ y \end{array} \right )  =  J \left ( \begin{array}{cc} x \\ y \end{array} \right ) \f$
-  *
-  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
-  */
-template<typename VectorX, typename VectorY, typename OtherScalar>
-void apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j);
-}
-
-/** \jacobi_module
-  * Applies the rotation in the plane \a j to the rows \a p and \a q of \c *this, i.e., it computes B = J * B,
-  * with \f$ B = \left ( \begin{array}{cc} \text{*this.row}(p) \\ \text{*this.row}(q) \end{array} \right ) \f$.
-  *
-  * \sa class JacobiRotation, MatrixBase::applyOnTheRight(), internal::apply_rotation_in_the_plane()
-  */
-template<typename Derived>
-template<typename OtherScalar>
-inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j)
-{
-  RowXpr x(this->row(p));
-  RowXpr y(this->row(q));
-  internal::apply_rotation_in_the_plane(x, y, j);
-}
-
-/** \ingroup Jacobi_Module
-  * Applies the rotation in the plane \a j to the columns \a p and \a q of \c *this, i.e., it computes B = B * J
-  * with \f$ B = \left ( \begin{array}{cc} \text{*this.col}(p) & \text{*this.col}(q) \end{array} \right ) \f$.
-  *
-  * \sa class JacobiRotation, MatrixBase::applyOnTheLeft(), internal::apply_rotation_in_the_plane()
-  */
-template<typename Derived>
-template<typename OtherScalar>
-inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j)
-{
-  ColXpr x(this->col(p));
-  ColXpr y(this->col(q));
-  internal::apply_rotation_in_the_plane(x, y, j.transpose());
-}
-
-namespace internal {
-template<typename VectorX, typename VectorY, typename OtherScalar>
-void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j)
-{
-  typedef typename VectorX::Scalar Scalar;
-  enum { PacketSize = packet_traits<Scalar>::size };
-  typedef typename packet_traits<Scalar>::type Packet;
-  eigen_assert(xpr_x.size() == xpr_y.size());
-  Index size = xpr_x.size();
-  Index incrx = xpr_x.derived().innerStride();
-  Index incry = xpr_y.derived().innerStride();
-
-  Scalar* EIGEN_RESTRICT x = &xpr_x.derived().coeffRef(0);
-  Scalar* EIGEN_RESTRICT y = &xpr_y.derived().coeffRef(0);
-  
-  OtherScalar c = j.c();
-  OtherScalar s = j.s();
-  if (c==OtherScalar(1) && s==OtherScalar(0))
-    return;
-
-  /*** dynamic-size vectorized paths ***/
-
-  if(VectorX::SizeAtCompileTime == Dynamic &&
-    (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
-    ((incrx==1 && incry==1) || PacketSize == 1))
-  {
-    // both vectors are sequentially stored in memory => vectorization
-    enum { Peeling = 2 };
-
-    Index alignedStart = internal::first_default_aligned(y, size);
-    Index alignedEnd = alignedStart + ((size-alignedStart)/PacketSize)*PacketSize;
-
-    const Packet pc = pset1<Packet>(c);
-    const Packet ps = pset1<Packet>(s);
-    conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex,false> pcj;
-
-    for(Index i=0; i<alignedStart; ++i)
-    {
-      Scalar xi = x[i];
-      Scalar yi = y[i];
-      x[i] =  c * xi + numext::conj(s) * yi;
-      y[i] = -s * xi + numext::conj(c) * yi;
-    }
-
-    Scalar* EIGEN_RESTRICT px = x + alignedStart;
-    Scalar* EIGEN_RESTRICT py = y + alignedStart;
-
-    if(internal::first_default_aligned(x, size)==alignedStart)
-    {
-      for(Index i=alignedStart; i<alignedEnd; i+=PacketSize)
-      {
-        Packet xi = pload<Packet>(px);
-        Packet yi = pload<Packet>(py);
-        pstore(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
-        pstore(py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
-        px += PacketSize;
-        py += PacketSize;
-      }
-    }
-    else
-    {
-      Index peelingEnd = alignedStart + ((size-alignedStart)/(Peeling*PacketSize))*(Peeling*PacketSize);
-      for(Index i=alignedStart; i<peelingEnd; i+=Peeling*PacketSize)
-      {
-        Packet xi   = ploadu<Packet>(px);
-        Packet xi1  = ploadu<Packet>(px+PacketSize);
-        Packet yi   = pload <Packet>(py);
-        Packet yi1  = pload <Packet>(py+PacketSize);
-        pstoreu(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
-        pstoreu(px+PacketSize, padd(pmul(pc,xi1),pcj.pmul(ps,yi1)));
-        pstore (py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
-        pstore (py+PacketSize, psub(pcj.pmul(pc,yi1),pmul(ps,xi1)));
-        px += Peeling*PacketSize;
-        py += Peeling*PacketSize;
-      }
-      if(alignedEnd!=peelingEnd)
-      {
-        Packet xi = ploadu<Packet>(x+peelingEnd);
-        Packet yi = pload <Packet>(y+peelingEnd);
-        pstoreu(x+peelingEnd, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
-        pstore (y+peelingEnd, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
-      }
-    }
-
-    for(Index i=alignedEnd; i<size; ++i)
-    {
-      Scalar xi = x[i];
-      Scalar yi = y[i];
-      x[i] =  c * xi + numext::conj(s) * yi;
-      y[i] = -s * xi + numext::conj(c) * yi;
-    }
-  }
-
-  /*** fixed-size vectorized path ***/
-  else if(VectorX::SizeAtCompileTime != Dynamic &&
-          (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
-          (EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment)>0)) // FIXME should be compared to the required alignment
-  {
-    const Packet pc = pset1<Packet>(c);
-    const Packet ps = pset1<Packet>(s);
-    conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex,false> pcj;
-    Scalar* EIGEN_RESTRICT px = x;
-    Scalar* EIGEN_RESTRICT py = y;
-    for(Index i=0; i<size; i+=PacketSize)
-    {
-      Packet xi = pload<Packet>(px);
-      Packet yi = pload<Packet>(py);
-      pstore(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
-      pstore(py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
-      px += PacketSize;
-      py += PacketSize;
-    }
-  }
-
-  /*** non-vectorized path ***/
-  else
-  {
-    for(Index i=0; i<size; ++i)
-    {
-      Scalar xi = *x;
-      Scalar yi = *y;
-      *x =  c * xi + numext::conj(s) * yi;
-      *y = -s * xi + numext::conj(c) * yi;
-      x += incrx;
-      y += incry;
-    }
-  }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_JACOBI_H
diff --git a/phonelibs/eigen/Eigen/src/LU/Determinant.h b/phonelibs/eigen/Eigen/src/LU/Determinant.h
deleted file mode 100644
index d6a3c1e5a54e05..00000000000000
--- a/phonelibs/eigen/Eigen/src/LU/Determinant.h
+++ /dev/null
@@ -1,101 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DETERMINANT_H
-#define EIGEN_DETERMINANT_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Derived>
-inline const typename Derived::Scalar bruteforce_det3_helper
-(const MatrixBase<Derived>& matrix, int a, int b, int c)
-{
-  return matrix.coeff(0,a)
-         * (matrix.coeff(1,b) * matrix.coeff(2,c) - matrix.coeff(1,c) * matrix.coeff(2,b));
-}
-
-template<typename Derived>
-const typename Derived::Scalar bruteforce_det4_helper
-(const MatrixBase<Derived>& matrix, int j, int k, int m, int n)
-{
-  return (matrix.coeff(j,0) * matrix.coeff(k,1) - matrix.coeff(k,0) * matrix.coeff(j,1))
-       * (matrix.coeff(m,2) * matrix.coeff(n,3) - matrix.coeff(n,2) * matrix.coeff(m,3));
-}
-
-template<typename Derived,
-         int DeterminantType = Derived::RowsAtCompileTime
-> struct determinant_impl
-{
-  static inline typename traits<Derived>::Scalar run(const Derived& m)
-  {
-    if(Derived::ColsAtCompileTime==Dynamic && m.rows()==0)
-      return typename traits<Derived>::Scalar(1);
-    return m.partialPivLu().determinant();
-  }
-};
-
-template<typename Derived> struct determinant_impl<Derived, 1>
-{
-  static inline typename traits<Derived>::Scalar run(const Derived& m)
-  {
-    return m.coeff(0,0);
-  }
-};
-
-template<typename Derived> struct determinant_impl<Derived, 2>
-{
-  static inline typename traits<Derived>::Scalar run(const Derived& m)
-  {
-    return m.coeff(0,0) * m.coeff(1,1) - m.coeff(1,0) * m.coeff(0,1);
-  }
-};
-
-template<typename Derived> struct determinant_impl<Derived, 3>
-{
-  static inline typename traits<Derived>::Scalar run(const Derived& m)
-  {
-    return bruteforce_det3_helper(m,0,1,2)
-          - bruteforce_det3_helper(m,1,0,2)
-          + bruteforce_det3_helper(m,2,0,1);
-  }
-};
-
-template<typename Derived> struct determinant_impl<Derived, 4>
-{
-  static typename traits<Derived>::Scalar run(const Derived& m)
-  {
-    // trick by Martin Costabel to compute 4x4 det with only 30 muls
-    return bruteforce_det4_helper(m,0,1,2,3)
-          - bruteforce_det4_helper(m,0,2,1,3)
-          + bruteforce_det4_helper(m,0,3,1,2)
-          + bruteforce_det4_helper(m,1,2,0,3)
-          - bruteforce_det4_helper(m,1,3,0,2)
-          + bruteforce_det4_helper(m,2,3,0,1);
-  }
-};
-
-} // end namespace internal
-
-/** \lu_module
-  *
-  * \returns the determinant of this matrix
-  */
-template<typename Derived>
-inline typename internal::traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::nested_eval<Derived,Base::RowsAtCompileTime>::type Nested;
-  return internal::determinant_impl<typename internal::remove_all<Nested>::type>::run(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_DETERMINANT_H
diff --git a/phonelibs/eigen/Eigen/src/LU/FullPivLU.h b/phonelibs/eigen/Eigen/src/LU/FullPivLU.h
deleted file mode 100644
index 03b6af706136b5..00000000000000
--- a/phonelibs/eigen/Eigen/src/LU/FullPivLU.h
+++ /dev/null
@@ -1,891 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LU_H
-#define EIGEN_LU_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename _MatrixType> struct traits<FullPivLU<_MatrixType> >
- : traits<_MatrixType>
-{
-  typedef MatrixXpr XprKind;
-  typedef SolverStorage StorageKind;
-  enum { Flags = 0 };
-};
-
-} // end namespace internal
-
-/** \ingroup LU_Module
-  *
-  * \class FullPivLU
-  *
-  * \brief LU decomposition of a matrix with complete pivoting, and related features
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the LU decomposition
-  *
-  * This class represents a LU decomposition of any matrix, with complete pivoting: the matrix A is
-  * decomposed as \f$ A = P^{-1} L U Q^{-1} \f$ where L is unit-lower-triangular, U is
-  * upper-triangular, and P and Q are permutation matrices. This is a rank-revealing LU
-  * decomposition. The eigenvalues (diagonal coefficients) of U are sorted in such a way that any
-  * zeros are at the end.
-  *
-  * This decomposition provides the generic approach to solving systems of linear equations, computing
-  * the rank, invertibility, inverse, kernel, and determinant.
-  *
-  * This LU decomposition is very stable and well tested with large matrices. However there are use cases where the SVD
-  * decomposition is inherently more stable and/or flexible. For example, when computing the kernel of a matrix,
-  * working with the SVD allows to select the smallest singular values of the matrix, something that
-  * the LU decomposition doesn't see.
-  *
-  * The data of the LU decomposition can be directly accessed through the methods matrixLU(),
-  * permutationP(), permutationQ().
-  *
-  * As an exemple, here is how the original matrix can be retrieved:
-  * \include class_FullPivLU.cpp
-  * Output: \verbinclude class_FullPivLU.out
-  *
-  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
-  * \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse()
-  */
-template<typename _MatrixType> class FullPivLU
-  : public SolverBase<FullPivLU<_MatrixType> >
-{
-  public:
-    typedef _MatrixType MatrixType;
-    typedef SolverBase<FullPivLU> Base;
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(FullPivLU)
-    // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
-    enum {
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    typedef typename internal::plain_row_type<MatrixType, StorageIndex>::type IntRowVectorType;
-    typedef typename internal::plain_col_type<MatrixType, StorageIndex>::type IntColVectorType;
-    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationQType;
-    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationPType;
-    typedef typename MatrixType::PlainObject PlainObject;
-
-    /**
-      * \brief Default Constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via LU::compute(const MatrixType&).
-      */
-    FullPivLU();
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa FullPivLU()
-      */
-    FullPivLU(Index rows, Index cols);
-
-    /** Constructor.
-      *
-      * \param matrix the matrix of which to compute the LU decomposition.
-      *               It is required to be nonzero.
-      */
-    template<typename InputType>
-    explicit FullPivLU(const EigenBase<InputType>& matrix);
-
-    /** \brief Constructs a LU factorization from a given matrix
-      *
-      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
-      *
-      * \sa FullPivLU(const EigenBase&)
-      */
-    template<typename InputType>
-    explicit FullPivLU(EigenBase<InputType>& matrix);
-
-    /** Computes the LU decomposition of the given matrix.
-      *
-      * \param matrix the matrix of which to compute the LU decomposition.
-      *               It is required to be nonzero.
-      *
-      * \returns a reference to *this
-      */
-    template<typename InputType>
-    FullPivLU& compute(const EigenBase<InputType>& matrix) {
-      m_lu = matrix.derived();
-      computeInPlace();
-      return *this;
-    }
-
-    /** \returns the LU decomposition matrix: the upper-triangular part is U, the
-      * unit-lower-triangular part is L (at least for square matrices; in the non-square
-      * case, special care is needed, see the documentation of class FullPivLU).
-      *
-      * \sa matrixL(), matrixU()
-      */
-    inline const MatrixType& matrixLU() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return m_lu;
-    }
-
-    /** \returns the number of nonzero pivots in the LU decomposition.
-      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
-      * So that notion isn't really intrinsically interesting, but it is
-      * still useful when implementing algorithms.
-      *
-      * \sa rank()
-      */
-    inline Index nonzeroPivots() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return m_nonzero_pivots;
-    }
-
-    /** \returns the absolute value of the biggest pivot, i.e. the biggest
-      *          diagonal coefficient of U.
-      */
-    RealScalar maxPivot() const { return m_maxpivot; }
-
-    /** \returns the permutation matrix P
-      *
-      * \sa permutationQ()
-      */
-    EIGEN_DEVICE_FUNC inline const PermutationPType& permutationP() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return m_p;
-    }
-
-    /** \returns the permutation matrix Q
-      *
-      * \sa permutationP()
-      */
-    inline const PermutationQType& permutationQ() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return m_q;
-    }
-
-    /** \returns the kernel of the matrix, also called its null-space. The columns of the returned matrix
-      * will form a basis of the kernel.
-      *
-      * \note If the kernel has dimension zero, then the returned matrix is a column-vector filled with zeros.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      *
-      * Example: \include FullPivLU_kernel.cpp
-      * Output: \verbinclude FullPivLU_kernel.out
-      *
-      * \sa image()
-      */
-    inline const internal::kernel_retval<FullPivLU> kernel() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return internal::kernel_retval<FullPivLU>(*this);
-    }
-
-    /** \returns the image of the matrix, also called its column-space. The columns of the returned matrix
-      * will form a basis of the image (column-space).
-      *
-      * \param originalMatrix the original matrix, of which *this is the LU decomposition.
-      *                       The reason why it is needed to pass it here, is that this allows
-      *                       a large optimization, as otherwise this method would need to reconstruct it
-      *                       from the LU decomposition.
-      *
-      * \note If the image has dimension zero, then the returned matrix is a column-vector filled with zeros.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      *
-      * Example: \include FullPivLU_image.cpp
-      * Output: \verbinclude FullPivLU_image.out
-      *
-      * \sa kernel()
-      */
-    inline const internal::image_retval<FullPivLU>
-      image(const MatrixType& originalMatrix) const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return internal::image_retval<FullPivLU>(*this, originalMatrix);
-    }
-
-    /** \return a solution x to the equation Ax=b, where A is the matrix of which
-      * *this is the LU decomposition.
-      *
-      * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
-      *          the only requirement in order for the equation to make sense is that
-      *          b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
-      *
-      * \returns a solution.
-      *
-      * \note_about_checking_solutions
-      *
-      * \note_about_arbitrary_choice_of_solution
-      * \note_about_using_kernel_to_study_multiple_solutions
-      *
-      * Example: \include FullPivLU_solve.cpp
-      * Output: \verbinclude FullPivLU_solve.out
-      *
-      * \sa TriangularView::solve(), kernel(), inverse()
-      */
-    // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
-    template<typename Rhs>
-    inline const Solve<FullPivLU, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return Solve<FullPivLU, Rhs>(*this, b.derived());
-    }
-
-    /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
-        the LU decomposition.
-      */
-    inline RealScalar rcond() const
-    {
-      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return internal::rcond_estimate_helper(m_l1_norm, *this);
-    }
-
-    /** \returns the determinant of the matrix of which
-      * *this is the LU decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the LU decomposition has already been computed.
-      *
-      * \note This is only for square matrices.
-      *
-      * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
-      *       optimized paths.
-      *
-      * \warning a determinant can be very big or small, so for matrices
-      * of large enough dimension, there is a risk of overflow/underflow.
-      *
-      * \sa MatrixBase::determinant()
-      */
-    typename internal::traits<MatrixType>::Scalar determinant() const;
-
-    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
-      * who need to determine when pivots are to be considered nonzero. This is not used for the
-      * LU decomposition itself.
-      *
-      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
-      * uses a formula to automatically determine a reasonable threshold.
-      * Once you have called the present method setThreshold(const RealScalar&),
-      * your value is used instead.
-      *
-      * \param threshold The new value to use as the threshold.
-      *
-      * A pivot will be considered nonzero if its absolute value is strictly greater than
-      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
-      * where maxpivot is the biggest pivot.
-      *
-      * If you want to come back to the default behavior, call setThreshold(Default_t)
-      */
-    FullPivLU& setThreshold(const RealScalar& threshold)
-    {
-      m_usePrescribedThreshold = true;
-      m_prescribedThreshold = threshold;
-      return *this;
-    }
-
-    /** Allows to come back to the default behavior, letting Eigen use its default formula for
-      * determining the threshold.
-      *
-      * You should pass the special object Eigen::Default as parameter here.
-      * \code lu.setThreshold(Eigen::Default); \endcode
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    FullPivLU& setThreshold(Default_t)
-    {
-      m_usePrescribedThreshold = false;
-      return *this;
-    }
-
-    /** Returns the threshold that will be used by certain methods such as rank().
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    RealScalar threshold() const
-    {
-      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
-      return m_usePrescribedThreshold ? m_prescribedThreshold
-      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
-      // and turns out to be identical to Higham's formula used already in LDLt.
-                                      : NumTraits<Scalar>::epsilon() * m_lu.diagonalSize();
-    }
-
-    /** \returns the rank of the matrix of which *this is the LU decomposition.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline Index rank() const
-    {
-      using std::abs;
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold();
-      Index result = 0;
-      for(Index i = 0; i < m_nonzero_pivots; ++i)
-        result += (abs(m_lu.coeff(i,i)) > premultiplied_threshold);
-      return result;
-    }
-
-    /** \returns the dimension of the kernel of the matrix of which *this is the LU decomposition.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline Index dimensionOfKernel() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return cols() - rank();
-    }
-
-    /** \returns true if the matrix of which *this is the LU decomposition represents an injective
-      *          linear map, i.e. has trivial kernel; false otherwise.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isInjective() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return rank() == cols();
-    }
-
-    /** \returns true if the matrix of which *this is the LU decomposition represents a surjective
-      *          linear map; false otherwise.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isSurjective() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return rank() == rows();
-    }
-
-    /** \returns true if the matrix of which *this is the LU decomposition is invertible.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isInvertible() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return isInjective() && (m_lu.rows() == m_lu.cols());
-    }
-
-    /** \returns the inverse of the matrix of which *this is the LU decomposition.
-      *
-      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
-      *       Use isInvertible() to first determine whether this matrix is invertible.
-      *
-      * \sa MatrixBase::inverse()
-      */
-    inline const Inverse<FullPivLU> inverse() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the inverse of a non-square matrix!");
-      return Inverse<FullPivLU>(*this);
-    }
-
-    MatrixType reconstructedMatrix() const;
-
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_lu.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_lu.cols(); }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl(const RhsType &rhs, DstType &dst) const;
-
-    template<bool Conjugate, typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
-    #endif
-
-  protected:
-
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-
-    void computeInPlace();
-
-    MatrixType m_lu;
-    PermutationPType m_p;
-    PermutationQType m_q;
-    IntColVectorType m_rowsTranspositions;
-    IntRowVectorType m_colsTranspositions;
-    Index m_nonzero_pivots;
-    RealScalar m_l1_norm;
-    RealScalar m_maxpivot, m_prescribedThreshold;
-    signed char m_det_pq;
-    bool m_isInitialized, m_usePrescribedThreshold;
-};
-
-template<typename MatrixType>
-FullPivLU<MatrixType>::FullPivLU()
-  : m_isInitialized(false), m_usePrescribedThreshold(false)
-{
-}
-
-template<typename MatrixType>
-FullPivLU<MatrixType>::FullPivLU(Index rows, Index cols)
-  : m_lu(rows, cols),
-    m_p(rows),
-    m_q(cols),
-    m_rowsTranspositions(rows),
-    m_colsTranspositions(cols),
-    m_isInitialized(false),
-    m_usePrescribedThreshold(false)
-{
-}
-
-template<typename MatrixType>
-template<typename InputType>
-FullPivLU<MatrixType>::FullPivLU(const EigenBase<InputType>& matrix)
-  : m_lu(matrix.rows(), matrix.cols()),
-    m_p(matrix.rows()),
-    m_q(matrix.cols()),
-    m_rowsTranspositions(matrix.rows()),
-    m_colsTranspositions(matrix.cols()),
-    m_isInitialized(false),
-    m_usePrescribedThreshold(false)
-{
-  compute(matrix.derived());
-}
-
-template<typename MatrixType>
-template<typename InputType>
-FullPivLU<MatrixType>::FullPivLU(EigenBase<InputType>& matrix)
-  : m_lu(matrix.derived()),
-    m_p(matrix.rows()),
-    m_q(matrix.cols()),
-    m_rowsTranspositions(matrix.rows()),
-    m_colsTranspositions(matrix.cols()),
-    m_isInitialized(false),
-    m_usePrescribedThreshold(false)
-{
-  computeInPlace();
-}
-
-template<typename MatrixType>
-void FullPivLU<MatrixType>::computeInPlace()
-{
-  check_template_parameters();
-
-  // the permutations are stored as int indices, so just to be sure:
-  eigen_assert(m_lu.rows()<=NumTraits<int>::highest() && m_lu.cols()<=NumTraits<int>::highest());
-
-  m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
-
-  const Index size = m_lu.diagonalSize();
-  const Index rows = m_lu.rows();
-  const Index cols = m_lu.cols();
-
-  // will store the transpositions, before we accumulate them at the end.
-  // can't accumulate on-the-fly because that will be done in reverse order for the rows.
-  m_rowsTranspositions.resize(m_lu.rows());
-  m_colsTranspositions.resize(m_lu.cols());
-  Index number_of_transpositions = 0; // number of NONTRIVIAL transpositions, i.e. m_rowsTranspositions[i]!=i
-
-  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
-  m_maxpivot = RealScalar(0);
-
-  for(Index k = 0; k < size; ++k)
-  {
-    // First, we need to find the pivot.
-
-    // biggest coefficient in the remaining bottom-right corner (starting at row k, col k)
-    Index row_of_biggest_in_corner, col_of_biggest_in_corner;
-    typedef internal::scalar_score_coeff_op<Scalar> Scoring;
-    typedef typename Scoring::result_type Score;
-    Score biggest_in_corner;
-    biggest_in_corner = m_lu.bottomRightCorner(rows-k, cols-k)
-                        .unaryExpr(Scoring())
-                        .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
-    row_of_biggest_in_corner += k; // correct the values! since they were computed in the corner,
-    col_of_biggest_in_corner += k; // need to add k to them.
-
-    if(biggest_in_corner==Score(0))
-    {
-      // before exiting, make sure to initialize the still uninitialized transpositions
-      // in a sane state without destroying what we already have.
-      m_nonzero_pivots = k;
-      for(Index i = k; i < size; ++i)
-      {
-        m_rowsTranspositions.coeffRef(i) = i;
-        m_colsTranspositions.coeffRef(i) = i;
-      }
-      break;
-    }
-
-    RealScalar abs_pivot = internal::abs_knowing_score<Scalar>()(m_lu(row_of_biggest_in_corner, col_of_biggest_in_corner), biggest_in_corner);
-    if(abs_pivot > m_maxpivot) m_maxpivot = abs_pivot;
-
-    // Now that we've found the pivot, we need to apply the row/col swaps to
-    // bring it to the location (k,k).
-
-    m_rowsTranspositions.coeffRef(k) = row_of_biggest_in_corner;
-    m_colsTranspositions.coeffRef(k) = col_of_biggest_in_corner;
-    if(k != row_of_biggest_in_corner) {
-      m_lu.row(k).swap(m_lu.row(row_of_biggest_in_corner));
-      ++number_of_transpositions;
-    }
-    if(k != col_of_biggest_in_corner) {
-      m_lu.col(k).swap(m_lu.col(col_of_biggest_in_corner));
-      ++number_of_transpositions;
-    }
-
-    // Now that the pivot is at the right location, we update the remaining
-    // bottom-right corner by Gaussian elimination.
-
-    if(k<rows-1)
-      m_lu.col(k).tail(rows-k-1) /= m_lu.coeff(k,k);
-    if(k<size-1)
-      m_lu.block(k+1,k+1,rows-k-1,cols-k-1).noalias() -= m_lu.col(k).tail(rows-k-1) * m_lu.row(k).tail(cols-k-1);
-  }
-
-  // the main loop is over, we still have to accumulate the transpositions to find the
-  // permutations P and Q
-
-  m_p.setIdentity(rows);
-  for(Index k = size-1; k >= 0; --k)
-    m_p.applyTranspositionOnTheRight(k, m_rowsTranspositions.coeff(k));
-
-  m_q.setIdentity(cols);
-  for(Index k = 0; k < size; ++k)
-    m_q.applyTranspositionOnTheRight(k, m_colsTranspositions.coeff(k));
-
-  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
-
-  m_isInitialized = true;
-}
-
-template<typename MatrixType>
-typename internal::traits<MatrixType>::Scalar FullPivLU<MatrixType>::determinant() const
-{
-  eigen_assert(m_isInitialized && "LU is not initialized.");
-  eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the determinant of a non-square matrix!");
-  return Scalar(m_det_pq) * Scalar(m_lu.diagonal().prod());
-}
-
-/** \returns the matrix represented by the decomposition,
- * i.e., it returns the product: \f$ P^{-1} L U Q^{-1} \f$.
- * This function is provided for debug purposes. */
-template<typename MatrixType>
-MatrixType FullPivLU<MatrixType>::reconstructedMatrix() const
-{
-  eigen_assert(m_isInitialized && "LU is not initialized.");
-  const Index smalldim = (std::min)(m_lu.rows(), m_lu.cols());
-  // LU
-  MatrixType res(m_lu.rows(),m_lu.cols());
-  // FIXME the .toDenseMatrix() should not be needed...
-  res = m_lu.leftCols(smalldim)
-            .template triangularView<UnitLower>().toDenseMatrix()
-      * m_lu.topRows(smalldim)
-            .template triangularView<Upper>().toDenseMatrix();
-
-  // P^{-1}(LU)
-  res = m_p.inverse() * res;
-
-  // (P^{-1}LU)Q^{-1}
-  res = res * m_q.inverse();
-
-  return res;
-}
-
-/********* Implementation of kernel() **************************************************/
-
-namespace internal {
-template<typename _MatrixType>
-struct kernel_retval<FullPivLU<_MatrixType> >
-  : kernel_retval_base<FullPivLU<_MatrixType> >
-{
-  EIGEN_MAKE_KERNEL_HELPERS(FullPivLU<_MatrixType>)
-
-  enum { MaxSmallDimAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(
-            MatrixType::MaxColsAtCompileTime,
-            MatrixType::MaxRowsAtCompileTime)
-  };
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    using std::abs;
-    const Index cols = dec().matrixLU().cols(), dimker = cols - rank();
-    if(dimker == 0)
-    {
-      // The Kernel is just {0}, so it doesn't have a basis properly speaking, but let's
-      // avoid crashing/asserting as that depends on floating point calculations. Let's
-      // just return a single column vector filled with zeros.
-      dst.setZero();
-      return;
-    }
-
-    /* Let us use the following lemma:
-      *
-      * Lemma: If the matrix A has the LU decomposition PAQ = LU,
-      * then Ker A = Q(Ker U).
-      *
-      * Proof: trivial: just keep in mind that P, Q, L are invertible.
-      */
-
-    /* Thus, all we need to do is to compute Ker U, and then apply Q.
-      *
-      * U is upper triangular, with eigenvalues sorted so that any zeros appear at the end.
-      * Thus, the diagonal of U ends with exactly
-      * dimKer zero's. Let us use that to construct dimKer linearly
-      * independent vectors in Ker U.
-      */
-
-    Matrix<Index, Dynamic, 1, 0, MaxSmallDimAtCompileTime, 1> pivots(rank());
-    RealScalar premultiplied_threshold = dec().maxPivot() * dec().threshold();
-    Index p = 0;
-    for(Index i = 0; i < dec().nonzeroPivots(); ++i)
-      if(abs(dec().matrixLU().coeff(i,i)) > premultiplied_threshold)
-        pivots.coeffRef(p++) = i;
-    eigen_internal_assert(p == rank());
-
-    // we construct a temporaty trapezoid matrix m, by taking the U matrix and
-    // permuting the rows and cols to bring the nonnegligible pivots to the top of
-    // the main diagonal. We need that to be able to apply our triangular solvers.
-    // FIXME when we get triangularView-for-rectangular-matrices, this can be simplified
-    Matrix<typename MatrixType::Scalar, Dynamic, Dynamic, MatrixType::Options,
-           MaxSmallDimAtCompileTime, MatrixType::MaxColsAtCompileTime>
-      m(dec().matrixLU().block(0, 0, rank(), cols));
-    for(Index i = 0; i < rank(); ++i)
-    {
-      if(i) m.row(i).head(i).setZero();
-      m.row(i).tail(cols-i) = dec().matrixLU().row(pivots.coeff(i)).tail(cols-i);
-    }
-    m.block(0, 0, rank(), rank());
-    m.block(0, 0, rank(), rank()).template triangularView<StrictlyLower>().setZero();
-    for(Index i = 0; i < rank(); ++i)
-      m.col(i).swap(m.col(pivots.coeff(i)));
-
-    // ok, we have our trapezoid matrix, we can apply the triangular solver.
-    // notice that the math behind this suggests that we should apply this to the
-    // negative of the RHS, but for performance we just put the negative sign elsewhere, see below.
-    m.topLeftCorner(rank(), rank())
-     .template triangularView<Upper>().solveInPlace(
-        m.topRightCorner(rank(), dimker)
-      );
-
-    // now we must undo the column permutation that we had applied!
-    for(Index i = rank()-1; i >= 0; --i)
-      m.col(i).swap(m.col(pivots.coeff(i)));
-
-    // see the negative sign in the next line, that's what we were talking about above.
-    for(Index i = 0; i < rank(); ++i) dst.row(dec().permutationQ().indices().coeff(i)) = -m.row(i).tail(dimker);
-    for(Index i = rank(); i < cols; ++i) dst.row(dec().permutationQ().indices().coeff(i)).setZero();
-    for(Index k = 0; k < dimker; ++k) dst.coeffRef(dec().permutationQ().indices().coeff(rank()+k), k) = Scalar(1);
-  }
-};
-
-/***** Implementation of image() *****************************************************/
-
-template<typename _MatrixType>
-struct image_retval<FullPivLU<_MatrixType> >
-  : image_retval_base<FullPivLU<_MatrixType> >
-{
-  EIGEN_MAKE_IMAGE_HELPERS(FullPivLU<_MatrixType>)
-
-  enum { MaxSmallDimAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(
-            MatrixType::MaxColsAtCompileTime,
-            MatrixType::MaxRowsAtCompileTime)
-  };
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    using std::abs;
-    if(rank() == 0)
-    {
-      // The Image is just {0}, so it doesn't have a basis properly speaking, but let's
-      // avoid crashing/asserting as that depends on floating point calculations. Let's
-      // just return a single column vector filled with zeros.
-      dst.setZero();
-      return;
-    }
-
-    Matrix<Index, Dynamic, 1, 0, MaxSmallDimAtCompileTime, 1> pivots(rank());
-    RealScalar premultiplied_threshold = dec().maxPivot() * dec().threshold();
-    Index p = 0;
-    for(Index i = 0; i < dec().nonzeroPivots(); ++i)
-      if(abs(dec().matrixLU().coeff(i,i)) > premultiplied_threshold)
-        pivots.coeffRef(p++) = i;
-    eigen_internal_assert(p == rank());
-
-    for(Index i = 0; i < rank(); ++i)
-      dst.col(i) = originalMatrix().col(dec().permutationQ().indices().coeff(pivots.coeff(i)));
-  }
-};
-
-/***** Implementation of solve() *****************************************************/
-
-} // end namespace internal
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename _MatrixType>
-template<typename RhsType, typename DstType>
-void FullPivLU<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
-{
-  /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
-  * So we proceed as follows:
-  * Step 1: compute c = P * rhs.
-  * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
-  * Step 3: replace c by the solution x to Ux = c. May or may not exist.
-  * Step 4: result = Q * c;
-  */
-
-  const Index rows = this->rows(),
-              cols = this->cols(),
-              nonzero_pivots = this->rank();
-  eigen_assert(rhs.rows() == rows);
-  const Index smalldim = (std::min)(rows, cols);
-
-  if(nonzero_pivots == 0)
-  {
-    dst.setZero();
-    return;
-  }
-
-  typename RhsType::PlainObject c(rhs.rows(), rhs.cols());
-
-  // Step 1
-  c = permutationP() * rhs;
-
-  // Step 2
-  m_lu.topLeftCorner(smalldim,smalldim)
-      .template triangularView<UnitLower>()
-      .solveInPlace(c.topRows(smalldim));
-  if(rows>cols)
-    c.bottomRows(rows-cols) -= m_lu.bottomRows(rows-cols) * c.topRows(cols);
-
-  // Step 3
-  m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
-      .template triangularView<Upper>()
-      .solveInPlace(c.topRows(nonzero_pivots));
-
-  // Step 4
-  for(Index i = 0; i < nonzero_pivots; ++i)
-    dst.row(permutationQ().indices().coeff(i)) = c.row(i);
-  for(Index i = nonzero_pivots; i < m_lu.cols(); ++i)
-    dst.row(permutationQ().indices().coeff(i)).setZero();
-}
-
-template<typename _MatrixType>
-template<bool Conjugate, typename RhsType, typename DstType>
-void FullPivLU<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
-{
-  /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1},
-   * and since permutations are real and unitary, we can write this
-   * as   A^T = Q U^T L^T P,
-   * So we proceed as follows:
-   * Step 1: compute c = Q^T rhs.
-   * Step 2: replace c by the solution x to U^T x = c. May or may not exist.
-   * Step 3: replace c by the solution x to L^T x = c.
-   * Step 4: result = P^T c.
-   * If Conjugate is true, replace "^T" by "^*" above.
-   */
-
-  const Index rows = this->rows(), cols = this->cols(),
-    nonzero_pivots = this->rank();
-   eigen_assert(rhs.rows() == cols);
-  const Index smalldim = (std::min)(rows, cols);
-
-  if(nonzero_pivots == 0)
-  {
-    dst.setZero();
-    return;
-  }
-
-  typename RhsType::PlainObject c(rhs.rows(), rhs.cols());
-
-  // Step 1
-  c = permutationQ().inverse() * rhs;
-
-  if (Conjugate) {
-    // Step 2
-    m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
-        .template triangularView<Upper>()
-        .adjoint()
-        .solveInPlace(c.topRows(nonzero_pivots));
-    // Step 3
-    m_lu.topLeftCorner(smalldim, smalldim)
-        .template triangularView<UnitLower>()
-        .adjoint()
-        .solveInPlace(c.topRows(smalldim));
-  } else {
-    // Step 2
-    m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
-        .template triangularView<Upper>()
-        .transpose()
-        .solveInPlace(c.topRows(nonzero_pivots));
-    // Step 3
-    m_lu.topLeftCorner(smalldim, smalldim)
-        .template triangularView<UnitLower>()
-        .transpose()
-        .solveInPlace(c.topRows(smalldim));
-  }
-
-  // Step 4
-  PermutationPType invp = permutationP().inverse().eval();
-  for(Index i = 0; i < smalldim; ++i)
-    dst.row(invp.indices().coeff(i)) = c.row(i);
-  for(Index i = smalldim; i < rows; ++i)
-    dst.row(invp.indices().coeff(i)).setZero();
-}
-
-#endif
-
-namespace internal {
-
-
-/***** Implementation of inverse() *****************************************************/
-template<typename DstXprType, typename MatrixType>
-struct Assignment<DstXprType, Inverse<FullPivLU<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename FullPivLU<MatrixType>::Scalar>, Dense2Dense>
-{
-  typedef FullPivLU<MatrixType> LuType;
-  typedef Inverse<LuType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename MatrixType::Scalar> &)
-  {
-    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
-  }
-};
-} // end namespace internal
-
-/******* MatrixBase methods *****************************************************************/
-
-/** \lu_module
-  *
-  * \return the full-pivoting LU decomposition of \c *this.
-  *
-  * \sa class FullPivLU
-  */
-template<typename Derived>
-inline const FullPivLU<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::fullPivLu() const
-{
-  return FullPivLU<PlainObject>(eval());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LU_H
diff --git a/phonelibs/eigen/Eigen/src/LU/InverseImpl.h b/phonelibs/eigen/Eigen/src/LU/InverseImpl.h
deleted file mode 100644
index 018f99b58f5f16..00000000000000
--- a/phonelibs/eigen/Eigen/src/LU/InverseImpl.h
+++ /dev/null
@@ -1,415 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_INVERSE_IMPL_H
-#define EIGEN_INVERSE_IMPL_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/**********************************
-*** General case implementation ***
-**********************************/
-
-template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
-struct compute_inverse
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(const MatrixType& matrix, ResultType& result)
-  {
-    result = matrix.partialPivLu().inverse();
-  }
-};
-
-template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
-struct compute_inverse_and_det_with_check { /* nothing! general case not supported. */ };
-
-/****************************
-*** Size 1 implementation ***
-****************************/
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse<MatrixType, ResultType, 1>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(const MatrixType& matrix, ResultType& result)
-  {
-    typedef typename MatrixType::Scalar Scalar;
-    internal::evaluator<MatrixType> matrixEval(matrix);
-    result.coeffRef(0,0) = Scalar(1) / matrixEval.coeff(0,0);
-  }
-};
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse_and_det_with_check<MatrixType, ResultType, 1>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(
-    const MatrixType& matrix,
-    const typename MatrixType::RealScalar& absDeterminantThreshold,
-    ResultType& result,
-    typename ResultType::Scalar& determinant,
-    bool& invertible
-  )
-  {
-    using std::abs;
-    determinant = matrix.coeff(0,0);
-    invertible = abs(determinant) > absDeterminantThreshold;
-    if(invertible) result.coeffRef(0,0) = typename ResultType::Scalar(1) / determinant;
-  }
-};
-
-/****************************
-*** Size 2 implementation ***
-****************************/
-
-template<typename MatrixType, typename ResultType>
-EIGEN_DEVICE_FUNC 
-inline void compute_inverse_size2_helper(
-    const MatrixType& matrix, const typename ResultType::Scalar& invdet,
-    ResultType& result)
-{
-  result.coeffRef(0,0) =  matrix.coeff(1,1) * invdet;
-  result.coeffRef(1,0) = -matrix.coeff(1,0) * invdet;
-  result.coeffRef(0,1) = -matrix.coeff(0,1) * invdet;
-  result.coeffRef(1,1) =  matrix.coeff(0,0) * invdet;
-}
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse<MatrixType, ResultType, 2>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(const MatrixType& matrix, ResultType& result)
-  {
-    typedef typename ResultType::Scalar Scalar;
-    const Scalar invdet = typename MatrixType::Scalar(1) / matrix.determinant();
-    compute_inverse_size2_helper(matrix, invdet, result);
-  }
-};
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse_and_det_with_check<MatrixType, ResultType, 2>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(
-    const MatrixType& matrix,
-    const typename MatrixType::RealScalar& absDeterminantThreshold,
-    ResultType& inverse,
-    typename ResultType::Scalar& determinant,
-    bool& invertible
-  )
-  {
-    using std::abs;
-    typedef typename ResultType::Scalar Scalar;
-    determinant = matrix.determinant();
-    invertible = abs(determinant) > absDeterminantThreshold;
-    if(!invertible) return;
-    const Scalar invdet = Scalar(1) / determinant;
-    compute_inverse_size2_helper(matrix, invdet, inverse);
-  }
-};
-
-/****************************
-*** Size 3 implementation ***
-****************************/
-
-template<typename MatrixType, int i, int j>
-EIGEN_DEVICE_FUNC 
-inline typename MatrixType::Scalar cofactor_3x3(const MatrixType& m)
-{
-  enum {
-    i1 = (i+1) % 3,
-    i2 = (i+2) % 3,
-    j1 = (j+1) % 3,
-    j2 = (j+2) % 3
-  };
-  return m.coeff(i1, j1) * m.coeff(i2, j2)
-       - m.coeff(i1, j2) * m.coeff(i2, j1);
-}
-
-template<typename MatrixType, typename ResultType>
-EIGEN_DEVICE_FUNC
-inline void compute_inverse_size3_helper(
-    const MatrixType& matrix,
-    const typename ResultType::Scalar& invdet,
-    const Matrix<typename ResultType::Scalar,3,1>& cofactors_col0,
-    ResultType& result)
-{
-  result.row(0) = cofactors_col0 * invdet;
-  result.coeffRef(1,0) =  cofactor_3x3<MatrixType,0,1>(matrix) * invdet;
-  result.coeffRef(1,1) =  cofactor_3x3<MatrixType,1,1>(matrix) * invdet;
-  result.coeffRef(1,2) =  cofactor_3x3<MatrixType,2,1>(matrix) * invdet;
-  result.coeffRef(2,0) =  cofactor_3x3<MatrixType,0,2>(matrix) * invdet;
-  result.coeffRef(2,1) =  cofactor_3x3<MatrixType,1,2>(matrix) * invdet;
-  result.coeffRef(2,2) =  cofactor_3x3<MatrixType,2,2>(matrix) * invdet;
-}
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse<MatrixType, ResultType, 3>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(const MatrixType& matrix, ResultType& result)
-  {
-    typedef typename ResultType::Scalar Scalar;
-    Matrix<typename MatrixType::Scalar,3,1> cofactors_col0;
-    cofactors_col0.coeffRef(0) =  cofactor_3x3<MatrixType,0,0>(matrix);
-    cofactors_col0.coeffRef(1) =  cofactor_3x3<MatrixType,1,0>(matrix);
-    cofactors_col0.coeffRef(2) =  cofactor_3x3<MatrixType,2,0>(matrix);
-    const Scalar det = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
-    const Scalar invdet = Scalar(1) / det;
-    compute_inverse_size3_helper(matrix, invdet, cofactors_col0, result);
-  }
-};
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(
-    const MatrixType& matrix,
-    const typename MatrixType::RealScalar& absDeterminantThreshold,
-    ResultType& inverse,
-    typename ResultType::Scalar& determinant,
-    bool& invertible
-  )
-  {
-    using std::abs;
-    typedef typename ResultType::Scalar Scalar;
-    Matrix<Scalar,3,1> cofactors_col0;
-    cofactors_col0.coeffRef(0) =  cofactor_3x3<MatrixType,0,0>(matrix);
-    cofactors_col0.coeffRef(1) =  cofactor_3x3<MatrixType,1,0>(matrix);
-    cofactors_col0.coeffRef(2) =  cofactor_3x3<MatrixType,2,0>(matrix);
-    determinant = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
-    invertible = abs(determinant) > absDeterminantThreshold;
-    if(!invertible) return;
-    const Scalar invdet = Scalar(1) / determinant;
-    compute_inverse_size3_helper(matrix, invdet, cofactors_col0, inverse);
-  }
-};
-
-/****************************
-*** Size 4 implementation ***
-****************************/
-
-template<typename Derived>
-EIGEN_DEVICE_FUNC 
-inline const typename Derived::Scalar general_det3_helper
-(const MatrixBase<Derived>& matrix, int i1, int i2, int i3, int j1, int j2, int j3)
-{
-  return matrix.coeff(i1,j1)
-         * (matrix.coeff(i2,j2) * matrix.coeff(i3,j3) - matrix.coeff(i2,j3) * matrix.coeff(i3,j2));
-}
-
-template<typename MatrixType, int i, int j>
-EIGEN_DEVICE_FUNC 
-inline typename MatrixType::Scalar cofactor_4x4(const MatrixType& matrix)
-{
-  enum {
-    i1 = (i+1) % 4,
-    i2 = (i+2) % 4,
-    i3 = (i+3) % 4,
-    j1 = (j+1) % 4,
-    j2 = (j+2) % 4,
-    j3 = (j+3) % 4
-  };
-  return general_det3_helper(matrix, i1, i2, i3, j1, j2, j3)
-       + general_det3_helper(matrix, i2, i3, i1, j1, j2, j3)
-       + general_det3_helper(matrix, i3, i1, i2, j1, j2, j3);
-}
-
-template<int Arch, typename Scalar, typename MatrixType, typename ResultType>
-struct compute_inverse_size4
-{
-  EIGEN_DEVICE_FUNC
-  static void run(const MatrixType& matrix, ResultType& result)
-  {
-    result.coeffRef(0,0) =  cofactor_4x4<MatrixType,0,0>(matrix);
-    result.coeffRef(1,0) = -cofactor_4x4<MatrixType,0,1>(matrix);
-    result.coeffRef(2,0) =  cofactor_4x4<MatrixType,0,2>(matrix);
-    result.coeffRef(3,0) = -cofactor_4x4<MatrixType,0,3>(matrix);
-    result.coeffRef(0,2) =  cofactor_4x4<MatrixType,2,0>(matrix);
-    result.coeffRef(1,2) = -cofactor_4x4<MatrixType,2,1>(matrix);
-    result.coeffRef(2,2) =  cofactor_4x4<MatrixType,2,2>(matrix);
-    result.coeffRef(3,2) = -cofactor_4x4<MatrixType,2,3>(matrix);
-    result.coeffRef(0,1) = -cofactor_4x4<MatrixType,1,0>(matrix);
-    result.coeffRef(1,1) =  cofactor_4x4<MatrixType,1,1>(matrix);
-    result.coeffRef(2,1) = -cofactor_4x4<MatrixType,1,2>(matrix);
-    result.coeffRef(3,1) =  cofactor_4x4<MatrixType,1,3>(matrix);
-    result.coeffRef(0,3) = -cofactor_4x4<MatrixType,3,0>(matrix);
-    result.coeffRef(1,3) =  cofactor_4x4<MatrixType,3,1>(matrix);
-    result.coeffRef(2,3) = -cofactor_4x4<MatrixType,3,2>(matrix);
-    result.coeffRef(3,3) =  cofactor_4x4<MatrixType,3,3>(matrix);
-    result /= (matrix.col(0).cwiseProduct(result.row(0).transpose())).sum();
-  }
-};
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse<MatrixType, ResultType, 4>
- : compute_inverse_size4<Architecture::Target, typename MatrixType::Scalar,
-                            MatrixType, ResultType>
-{
-};
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(
-    const MatrixType& matrix,
-    const typename MatrixType::RealScalar& absDeterminantThreshold,
-    ResultType& inverse,
-    typename ResultType::Scalar& determinant,
-    bool& invertible
-  )
-  {
-    using std::abs;
-    determinant = matrix.determinant();
-    invertible = abs(determinant) > absDeterminantThreshold;
-    if(invertible) compute_inverse<MatrixType, ResultType>::run(matrix, inverse);
-  }
-};
-
-/*************************
-*** MatrixBase methods ***
-*************************/
-
-} // end namespace internal
-
-namespace internal {
-
-// Specialization for "dense = dense_xpr.inverse()"
-template<typename DstXprType, typename XprType>
-struct Assignment<DstXprType, Inverse<XprType>, internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar>, Dense2Dense>
-{
-  typedef Inverse<XprType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-    
-    const int Size = EIGEN_PLAIN_ENUM_MIN(XprType::ColsAtCompileTime,DstXprType::ColsAtCompileTime);
-    EIGEN_ONLY_USED_FOR_DEBUG(Size);
-    eigen_assert(( (Size<=1) || (Size>4) || (extract_data(src.nestedExpression())!=extract_data(dst)))
-              && "Aliasing problem detected in inverse(), you need to do inverse().eval() here.");
-
-    typedef typename internal::nested_eval<XprType,XprType::ColsAtCompileTime>::type  ActualXprType;
-    typedef typename internal::remove_all<ActualXprType>::type                        ActualXprTypeCleanded;
-    
-    ActualXprType actual_xpr(src.nestedExpression());
-    
-    compute_inverse<ActualXprTypeCleanded, DstXprType>::run(actual_xpr, dst);
-  }
-};
-
-  
-} // end namespace internal
-
-/** \lu_module
-  *
-  * \returns the matrix inverse of this matrix.
-  *
-  * For small fixed sizes up to 4x4, this method uses cofactors.
-  * In the general case, this method uses class PartialPivLU.
-  *
-  * \note This matrix must be invertible, otherwise the result is undefined. If you need an
-  * invertibility check, do the following:
-  * \li for fixed sizes up to 4x4, use computeInverseAndDetWithCheck().
-  * \li for the general case, use class FullPivLU.
-  *
-  * Example: \include MatrixBase_inverse.cpp
-  * Output: \verbinclude MatrixBase_inverse.out
-  *
-  * \sa computeInverseAndDetWithCheck()
-  */
-template<typename Derived>
-inline const Inverse<Derived> MatrixBase<Derived>::inverse() const
-{
-  EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsInteger,THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
-  eigen_assert(rows() == cols());
-  return Inverse<Derived>(derived());
-}
-
-/** \lu_module
-  *
-  * Computation of matrix inverse and determinant, with invertibility check.
-  *
-  * This is only for fixed-size square matrices of size up to 4x4.
-  *
-  * \param inverse Reference to the matrix in which to store the inverse.
-  * \param determinant Reference to the variable in which to store the determinant.
-  * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
-  * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
-  *                                The matrix will be declared invertible if the absolute value of its
-  *                                determinant is greater than this threshold.
-  *
-  * Example: \include MatrixBase_computeInverseAndDetWithCheck.cpp
-  * Output: \verbinclude MatrixBase_computeInverseAndDetWithCheck.out
-  *
-  * \sa inverse(), computeInverseWithCheck()
-  */
-template<typename Derived>
-template<typename ResultType>
-inline void MatrixBase<Derived>::computeInverseAndDetWithCheck(
-    ResultType& inverse,
-    typename ResultType::Scalar& determinant,
-    bool& invertible,
-    const RealScalar& absDeterminantThreshold
-  ) const
-{
-  // i'd love to put some static assertions there, but SFINAE means that they have no effect...
-  eigen_assert(rows() == cols());
-  // for 2x2, it's worth giving a chance to avoid evaluating.
-  // for larger sizes, evaluating has negligible cost and limits code size.
-  typedef typename internal::conditional<
-    RowsAtCompileTime == 2,
-    typename internal::remove_all<typename internal::nested_eval<Derived, 2>::type>::type,
-    PlainObject
-  >::type MatrixType;
-  internal::compute_inverse_and_det_with_check<MatrixType, ResultType>::run
-    (derived(), absDeterminantThreshold, inverse, determinant, invertible);
-}
-
-/** \lu_module
-  *
-  * Computation of matrix inverse, with invertibility check.
-  *
-  * This is only for fixed-size square matrices of size up to 4x4.
-  *
-  * \param inverse Reference to the matrix in which to store the inverse.
-  * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
-  * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
-  *                                The matrix will be declared invertible if the absolute value of its
-  *                                determinant is greater than this threshold.
-  *
-  * Example: \include MatrixBase_computeInverseWithCheck.cpp
-  * Output: \verbinclude MatrixBase_computeInverseWithCheck.out
-  *
-  * \sa inverse(), computeInverseAndDetWithCheck()
-  */
-template<typename Derived>
-template<typename ResultType>
-inline void MatrixBase<Derived>::computeInverseWithCheck(
-    ResultType& inverse,
-    bool& invertible,
-    const RealScalar& absDeterminantThreshold
-  ) const
-{
-  RealScalar determinant;
-  // i'd love to put some static assertions there, but SFINAE means that they have no effect...
-  eigen_assert(rows() == cols());
-  computeInverseAndDetWithCheck(inverse,determinant,invertible,absDeterminantThreshold);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_INVERSE_IMPL_H
diff --git a/phonelibs/eigen/Eigen/src/LU/PartialPivLU.h b/phonelibs/eigen/Eigen/src/LU/PartialPivLU.h
deleted file mode 100644
index d439618879acf8..00000000000000
--- a/phonelibs/eigen/Eigen/src/LU/PartialPivLU.h
+++ /dev/null
@@ -1,611 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PARTIALLU_H
-#define EIGEN_PARTIALLU_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename _MatrixType> struct traits<PartialPivLU<_MatrixType> >
- : traits<_MatrixType>
-{
-  typedef MatrixXpr XprKind;
-  typedef SolverStorage StorageKind;
-  typedef traits<_MatrixType> BaseTraits;
-  enum {
-    Flags = BaseTraits::Flags & RowMajorBit,
-    CoeffReadCost = Dynamic
-  };
-};
-
-template<typename T,typename Derived>
-struct enable_if_ref;
-// {
-//   typedef Derived type;
-// };
-
-template<typename T,typename Derived>
-struct enable_if_ref<Ref<T>,Derived> {
-  typedef Derived type;
-};
-
-} // end namespace internal
-
-/** \ingroup LU_Module
-  *
-  * \class PartialPivLU
-  *
-  * \brief LU decomposition of a matrix with partial pivoting, and related features
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the LU decomposition
-  *
-  * This class represents a LU decomposition of a \b square \b invertible matrix, with partial pivoting: the matrix A
-  * is decomposed as A = PLU where L is unit-lower-triangular, U is upper-triangular, and P
-  * is a permutation matrix.
-  *
-  * Typically, partial pivoting LU decomposition is only considered numerically stable for square invertible
-  * matrices. Thus LAPACK's dgesv and dgesvx require the matrix to be square and invertible. The present class
-  * does the same. It will assert that the matrix is square, but it won't (actually it can't) check that the
-  * matrix is invertible: it is your task to check that you only use this decomposition on invertible matrices.
-  *
-  * The guaranteed safe alternative, working for all matrices, is the full pivoting LU decomposition, provided
-  * by class FullPivLU.
-  *
-  * This is \b not a rank-revealing LU decomposition. Many features are intentionally absent from this class,
-  * such as rank computation. If you need these features, use class FullPivLU.
-  *
-  * This LU decomposition is suitable to invert invertible matrices. It is what MatrixBase::inverse() uses
-  * in the general case.
-  * On the other hand, it is \b not suitable to determine whether a given matrix is invertible.
-  *
-  * The data of the LU decomposition can be directly accessed through the methods matrixLU(), permutationP().
-  *
-  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
-  * \sa MatrixBase::partialPivLu(), MatrixBase::determinant(), MatrixBase::inverse(), MatrixBase::computeInverse(), class FullPivLU
-  */
-template<typename _MatrixType> class PartialPivLU
-  : public SolverBase<PartialPivLU<_MatrixType> >
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    typedef SolverBase<PartialPivLU> Base;
-    EIGEN_GENERIC_PUBLIC_INTERFACE(PartialPivLU)
-    // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
-    enum {
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
-    typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
-    typedef typename MatrixType::PlainObject PlainObject;
-
-    /**
-      * \brief Default Constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via PartialPivLU::compute(const MatrixType&).
-      */
-    PartialPivLU();
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa PartialPivLU()
-      */
-    explicit PartialPivLU(Index size);
-
-    /** Constructor.
-      *
-      * \param matrix the matrix of which to compute the LU decomposition.
-      *
-      * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
-      * If you need to deal with non-full rank, use class FullPivLU instead.
-      */
-    template<typename InputType>
-    explicit PartialPivLU(const EigenBase<InputType>& matrix);
-
-    /** Constructor for \link InplaceDecomposition inplace decomposition \endlink
-      *
-      * \param matrix the matrix of which to compute the LU decomposition.
-      *
-      * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
-      * If you need to deal with non-full rank, use class FullPivLU instead.
-      */
-    template<typename InputType>
-    explicit PartialPivLU(EigenBase<InputType>& matrix);
-
-    template<typename InputType>
-    PartialPivLU& compute(const EigenBase<InputType>& matrix) {
-      m_lu = matrix.derived();
-      compute();
-      return *this;
-    }
-
-    /** \returns the LU decomposition matrix: the upper-triangular part is U, the
-      * unit-lower-triangular part is L (at least for square matrices; in the non-square
-      * case, special care is needed, see the documentation of class FullPivLU).
-      *
-      * \sa matrixL(), matrixU()
-      */
-    inline const MatrixType& matrixLU() const
-    {
-      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return m_lu;
-    }
-
-    /** \returns the permutation matrix P.
-      */
-    inline const PermutationType& permutationP() const
-    {
-      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return m_p;
-    }
-
-    /** This method returns the solution x to the equation Ax=b, where A is the matrix of which
-      * *this is the LU decomposition.
-      *
-      * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
-      *          the only requirement in order for the equation to make sense is that
-      *          b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
-      *
-      * \returns the solution.
-      *
-      * Example: \include PartialPivLU_solve.cpp
-      * Output: \verbinclude PartialPivLU_solve.out
-      *
-      * Since this PartialPivLU class assumes anyway that the matrix A is invertible, the solution
-      * theoretically exists and is unique regardless of b.
-      *
-      * \sa TriangularView::solve(), inverse(), computeInverse()
-      */
-    // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
-    template<typename Rhs>
-    inline const Solve<PartialPivLU, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return Solve<PartialPivLU, Rhs>(*this, b.derived());
-    }
-
-    /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
-        the LU decomposition.
-      */
-    inline RealScalar rcond() const
-    {
-      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return internal::rcond_estimate_helper(m_l1_norm, *this);
-    }
-
-    /** \returns the inverse of the matrix of which *this is the LU decomposition.
-      *
-      * \warning The matrix being decomposed here is assumed to be invertible. If you need to check for
-      *          invertibility, use class FullPivLU instead.
-      *
-      * \sa MatrixBase::inverse(), LU::inverse()
-      */
-    inline const Inverse<PartialPivLU> inverse() const
-    {
-      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return Inverse<PartialPivLU>(*this);
-    }
-
-    /** \returns the determinant of the matrix of which
-      * *this is the LU decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the LU decomposition has already been computed.
-      *
-      * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
-      *       optimized paths.
-      *
-      * \warning a determinant can be very big or small, so for matrices
-      * of large enough dimension, there is a risk of overflow/underflow.
-      *
-      * \sa MatrixBase::determinant()
-      */
-    Scalar determinant() const;
-
-    MatrixType reconstructedMatrix() const;
-
-    inline Index rows() const { return m_lu.rows(); }
-    inline Index cols() const { return m_lu.cols(); }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl(const RhsType &rhs, DstType &dst) const {
-     /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
-      * So we proceed as follows:
-      * Step 1: compute c = Pb.
-      * Step 2: replace c by the solution x to Lx = c.
-      * Step 3: replace c by the solution x to Ux = c.
-      */
-
-      eigen_assert(rhs.rows() == m_lu.rows());
-
-      // Step 1
-      dst = permutationP() * rhs;
-
-      // Step 2
-      m_lu.template triangularView<UnitLower>().solveInPlace(dst);
-
-      // Step 3
-      m_lu.template triangularView<Upper>().solveInPlace(dst);
-    }
-
-    template<bool Conjugate, typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const {
-     /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
-      * So we proceed as follows:
-      * Step 1: compute c = Pb.
-      * Step 2: replace c by the solution x to Lx = c.
-      * Step 3: replace c by the solution x to Ux = c.
-      */
-
-      eigen_assert(rhs.rows() == m_lu.cols());
-
-      if (Conjugate) {
-        // Step 1
-        dst = m_lu.template triangularView<Upper>().adjoint().solve(rhs);
-        // Step 2
-        m_lu.template triangularView<UnitLower>().adjoint().solveInPlace(dst);
-      } else {
-        // Step 1
-        dst = m_lu.template triangularView<Upper>().transpose().solve(rhs);
-        // Step 2
-        m_lu.template triangularView<UnitLower>().transpose().solveInPlace(dst);
-      }
-      // Step 3
-      dst = permutationP().transpose() * dst;
-    }
-    #endif
-
-  protected:
-
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-
-    void compute();
-
-    MatrixType m_lu;
-    PermutationType m_p;
-    TranspositionType m_rowsTranspositions;
-    RealScalar m_l1_norm;
-    signed char m_det_p;
-    bool m_isInitialized;
-};
-
-template<typename MatrixType>
-PartialPivLU<MatrixType>::PartialPivLU()
-  : m_lu(),
-    m_p(),
-    m_rowsTranspositions(),
-    m_l1_norm(0),
-    m_det_p(0),
-    m_isInitialized(false)
-{
-}
-
-template<typename MatrixType>
-PartialPivLU<MatrixType>::PartialPivLU(Index size)
-  : m_lu(size, size),
-    m_p(size),
-    m_rowsTranspositions(size),
-    m_l1_norm(0),
-    m_det_p(0),
-    m_isInitialized(false)
-{
-}
-
-template<typename MatrixType>
-template<typename InputType>
-PartialPivLU<MatrixType>::PartialPivLU(const EigenBase<InputType>& matrix)
-  : m_lu(matrix.rows(),matrix.cols()),
-    m_p(matrix.rows()),
-    m_rowsTranspositions(matrix.rows()),
-    m_l1_norm(0),
-    m_det_p(0),
-    m_isInitialized(false)
-{
-  compute(matrix.derived());
-}
-
-template<typename MatrixType>
-template<typename InputType>
-PartialPivLU<MatrixType>::PartialPivLU(EigenBase<InputType>& matrix)
-  : m_lu(matrix.derived()),
-    m_p(matrix.rows()),
-    m_rowsTranspositions(matrix.rows()),
-    m_l1_norm(0),
-    m_det_p(0),
-    m_isInitialized(false)
-{
-  compute();
-}
-
-namespace internal {
-
-/** \internal This is the blocked version of fullpivlu_unblocked() */
-template<typename Scalar, int StorageOrder, typename PivIndex>
-struct partial_lu_impl
-{
-  // FIXME add a stride to Map, so that the following mapping becomes easier,
-  // another option would be to create an expression being able to automatically
-  // warp any Map, Matrix, and Block expressions as a unique type, but since that's exactly
-  // a Map + stride, why not adding a stride to Map, and convenient ctors from a Matrix,
-  // and Block.
-  typedef Map<Matrix<Scalar, Dynamic, Dynamic, StorageOrder> > MapLU;
-  typedef Block<MapLU, Dynamic, Dynamic> MatrixType;
-  typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
-  typedef typename MatrixType::RealScalar RealScalar;
-
-  /** \internal performs the LU decomposition in-place of the matrix \a lu
-    * using an unblocked algorithm.
-    *
-    * In addition, this function returns the row transpositions in the
-    * vector \a row_transpositions which must have a size equal to the number
-    * of columns of the matrix \a lu, and an integer \a nb_transpositions
-    * which returns the actual number of transpositions.
-    *
-    * \returns The index of the first pivot which is exactly zero if any, or a negative number otherwise.
-    */
-  static Index unblocked_lu(MatrixType& lu, PivIndex* row_transpositions, PivIndex& nb_transpositions)
-  {
-    typedef scalar_score_coeff_op<Scalar> Scoring;
-    typedef typename Scoring::result_type Score;
-    const Index rows = lu.rows();
-    const Index cols = lu.cols();
-    const Index size = (std::min)(rows,cols);
-    nb_transpositions = 0;
-    Index first_zero_pivot = -1;
-    for(Index k = 0; k < size; ++k)
-    {
-      Index rrows = rows-k-1;
-      Index rcols = cols-k-1;
-
-      Index row_of_biggest_in_col;
-      Score biggest_in_corner
-        = lu.col(k).tail(rows-k).unaryExpr(Scoring()).maxCoeff(&row_of_biggest_in_col);
-      row_of_biggest_in_col += k;
-
-      row_transpositions[k] = PivIndex(row_of_biggest_in_col);
-
-      if(biggest_in_corner != Score(0))
-      {
-        if(k != row_of_biggest_in_col)
-        {
-          lu.row(k).swap(lu.row(row_of_biggest_in_col));
-          ++nb_transpositions;
-        }
-
-        // FIXME shall we introduce a safe quotient expression in cas 1/lu.coeff(k,k)
-        // overflow but not the actual quotient?
-        lu.col(k).tail(rrows) /= lu.coeff(k,k);
-      }
-      else if(first_zero_pivot==-1)
-      {
-        // the pivot is exactly zero, we record the index of the first pivot which is exactly 0,
-        // and continue the factorization such we still have A = PLU
-        first_zero_pivot = k;
-      }
-
-      if(k<rows-1)
-        lu.bottomRightCorner(rrows,rcols).noalias() -= lu.col(k).tail(rrows) * lu.row(k).tail(rcols);
-    }
-    return first_zero_pivot;
-  }
-
-  /** \internal performs the LU decomposition in-place of the matrix represented
-    * by the variables \a rows, \a cols, \a lu_data, and \a lu_stride using a
-    * recursive, blocked algorithm.
-    *
-    * In addition, this function returns the row transpositions in the
-    * vector \a row_transpositions which must have a size equal to the number
-    * of columns of the matrix \a lu, and an integer \a nb_transpositions
-    * which returns the actual number of transpositions.
-    *
-    * \returns The index of the first pivot which is exactly zero if any, or a negative number otherwise.
-    *
-    * \note This very low level interface using pointers, etc. is to:
-    *   1 - reduce the number of instanciations to the strict minimum
-    *   2 - avoid infinite recursion of the instanciations with Block<Block<Block<...> > >
-    */
-  static Index blocked_lu(Index rows, Index cols, Scalar* lu_data, Index luStride, PivIndex* row_transpositions, PivIndex& nb_transpositions, Index maxBlockSize=256)
-  {
-    MapLU lu1(lu_data,StorageOrder==RowMajor?rows:luStride,StorageOrder==RowMajor?luStride:cols);
-    MatrixType lu(lu1,0,0,rows,cols);
-
-    const Index size = (std::min)(rows,cols);
-
-    // if the matrix is too small, no blocking:
-    if(size<=16)
-    {
-      return unblocked_lu(lu, row_transpositions, nb_transpositions);
-    }
-
-    // automatically adjust the number of subdivisions to the size
-    // of the matrix so that there is enough sub blocks:
-    Index blockSize;
-    {
-      blockSize = size/8;
-      blockSize = (blockSize/16)*16;
-      blockSize = (std::min)((std::max)(blockSize,Index(8)), maxBlockSize);
-    }
-
-    nb_transpositions = 0;
-    Index first_zero_pivot = -1;
-    for(Index k = 0; k < size; k+=blockSize)
-    {
-      Index bs = (std::min)(size-k,blockSize); // actual size of the block
-      Index trows = rows - k - bs; // trailing rows
-      Index tsize = size - k - bs; // trailing size
-
-      // partition the matrix:
-      //                          A00 | A01 | A02
-      // lu  = A_0 | A_1 | A_2 =  A10 | A11 | A12
-      //                          A20 | A21 | A22
-      BlockType A_0(lu,0,0,rows,k);
-      BlockType A_2(lu,0,k+bs,rows,tsize);
-      BlockType A11(lu,k,k,bs,bs);
-      BlockType A12(lu,k,k+bs,bs,tsize);
-      BlockType A21(lu,k+bs,k,trows,bs);
-      BlockType A22(lu,k+bs,k+bs,trows,tsize);
-
-      PivIndex nb_transpositions_in_panel;
-      // recursively call the blocked LU algorithm on [A11^T A21^T]^T
-      // with a very small blocking size:
-      Index ret = blocked_lu(trows+bs, bs, &lu.coeffRef(k,k), luStride,
-                   row_transpositions+k, nb_transpositions_in_panel, 16);
-      if(ret>=0 && first_zero_pivot==-1)
-        first_zero_pivot = k+ret;
-
-      nb_transpositions += nb_transpositions_in_panel;
-      // update permutations and apply them to A_0
-      for(Index i=k; i<k+bs; ++i)
-      {
-        Index piv = (row_transpositions[i] += internal::convert_index<PivIndex>(k));
-        A_0.row(i).swap(A_0.row(piv));
-      }
-
-      if(trows)
-      {
-        // apply permutations to A_2
-        for(Index i=k;i<k+bs; ++i)
-          A_2.row(i).swap(A_2.row(row_transpositions[i]));
-
-        // A12 = A11^-1 A12
-        A11.template triangularView<UnitLower>().solveInPlace(A12);
-
-        A22.noalias() -= A21 * A12;
-      }
-    }
-    return first_zero_pivot;
-  }
-};
-
-/** \internal performs the LU decomposition with partial pivoting in-place.
-  */
-template<typename MatrixType, typename TranspositionType>
-void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::StorageIndex& nb_transpositions)
-{
-  eigen_assert(lu.cols() == row_transpositions.size());
-  eigen_assert((&row_transpositions.coeffRef(1)-&row_transpositions.coeffRef(0)) == 1);
-
-  partial_lu_impl
-    <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::StorageIndex>
-    ::blocked_lu(lu.rows(), lu.cols(), &lu.coeffRef(0,0), lu.outerStride(), &row_transpositions.coeffRef(0), nb_transpositions);
-}
-
-} // end namespace internal
-
-template<typename MatrixType>
-void PartialPivLU<MatrixType>::compute()
-{
-  check_template_parameters();
-
-  // the row permutation is stored as int indices, so just to be sure:
-  eigen_assert(m_lu.rows()<NumTraits<int>::highest());
-
-  m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
-
-  eigen_assert(m_lu.rows() == m_lu.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
-  const Index size = m_lu.rows();
-
-  m_rowsTranspositions.resize(size);
-
-  typename TranspositionType::StorageIndex nb_transpositions;
-  internal::partial_lu_inplace(m_lu, m_rowsTranspositions, nb_transpositions);
-  m_det_p = (nb_transpositions%2) ? -1 : 1;
-
-  m_p = m_rowsTranspositions;
-
-  m_isInitialized = true;
-}
-
-template<typename MatrixType>
-typename PartialPivLU<MatrixType>::Scalar PartialPivLU<MatrixType>::determinant() const
-{
-  eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-  return Scalar(m_det_p) * m_lu.diagonal().prod();
-}
-
-/** \returns the matrix represented by the decomposition,
- * i.e., it returns the product: P^{-1} L U.
- * This function is provided for debug purpose. */
-template<typename MatrixType>
-MatrixType PartialPivLU<MatrixType>::reconstructedMatrix() const
-{
-  eigen_assert(m_isInitialized && "LU is not initialized.");
-  // LU
-  MatrixType res = m_lu.template triangularView<UnitLower>().toDenseMatrix()
-                 * m_lu.template triangularView<Upper>();
-
-  // P^{-1}(LU)
-  res = m_p.inverse() * res;
-
-  return res;
-}
-
-/***** Implementation details *****************************************************/
-
-namespace internal {
-
-/***** Implementation of inverse() *****************************************************/
-template<typename DstXprType, typename MatrixType>
-struct Assignment<DstXprType, Inverse<PartialPivLU<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename PartialPivLU<MatrixType>::Scalar>, Dense2Dense>
-{
-  typedef PartialPivLU<MatrixType> LuType;
-  typedef Inverse<LuType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename LuType::Scalar> &)
-  {
-    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
-  }
-};
-} // end namespace internal
-
-/******** MatrixBase methods *******/
-
-/** \lu_module
-  *
-  * \return the partial-pivoting LU decomposition of \c *this.
-  *
-  * \sa class PartialPivLU
-  */
-template<typename Derived>
-inline const PartialPivLU<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::partialPivLu() const
-{
-  return PartialPivLU<PlainObject>(eval());
-}
-
-/** \lu_module
-  *
-  * Synonym of partialPivLu().
-  *
-  * \return the partial-pivoting LU decomposition of \c *this.
-  *
-  * \sa class PartialPivLU
-  */
-template<typename Derived>
-inline const PartialPivLU<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::lu() const
-{
-  return PartialPivLU<PlainObject>(eval());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_PARTIALLU_H
diff --git a/phonelibs/eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h b/phonelibs/eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h
deleted file mode 100644
index 755168a9460a89..00000000000000
--- a/phonelibs/eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to LAPACKe
- *     LU decomposition with partial pivoting based on LAPACKE_?getrf function.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_PARTIALLU_LAPACK_H
-#define EIGEN_PARTIALLU_LAPACK_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal Specialization for the data types supported by LAPACKe */
-
-#define EIGEN_LAPACKE_LU_PARTPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX) \
-template<int StorageOrder> \
-struct partial_lu_impl<EIGTYPE, StorageOrder, lapack_int> \
-{ \
-  /* \internal performs the LU decomposition in-place of the matrix represented */ \
-  static lapack_int blocked_lu(Index rows, Index cols, EIGTYPE* lu_data, Index luStride, lapack_int* row_transpositions, lapack_int& nb_transpositions, lapack_int maxBlockSize=256) \
-  { \
-    EIGEN_UNUSED_VARIABLE(maxBlockSize);\
-    lapack_int matrix_order, first_zero_pivot; \
-    lapack_int m, n, lda, *ipiv, info; \
-    EIGTYPE* a; \
-/* Set up parameters for ?getrf */ \
-    matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
-    lda = convert_index<lapack_int>(luStride); \
-    a = lu_data; \
-    ipiv = row_transpositions; \
-    m = convert_index<lapack_int>(rows); \
-    n = convert_index<lapack_int>(cols); \
-    nb_transpositions = 0; \
-\
-    info = LAPACKE_##LAPACKE_PREFIX##getrf( matrix_order, m, n, (LAPACKE_TYPE*)a, lda, ipiv ); \
-\
-    for(int i=0;i<m;i++) { ipiv[i]--; if (ipiv[i]!=i) nb_transpositions++; } \
-\
-    eigen_assert(info >= 0); \
-/* something should be done with nb_transpositions */ \
-\
-    first_zero_pivot = info; \
-    return first_zero_pivot; \
-  } \
-};
-
-EIGEN_LAPACKE_LU_PARTPIV(double, double, d)
-EIGEN_LAPACKE_LU_PARTPIV(float, float, s)
-EIGEN_LAPACKE_LU_PARTPIV(dcomplex, lapack_complex_double, z)
-EIGEN_LAPACKE_LU_PARTPIV(scomplex, lapack_complex_float,  c)
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_PARTIALLU_LAPACK_H
diff --git a/phonelibs/eigen/Eigen/src/LU/arch/Inverse_SSE.h b/phonelibs/eigen/Eigen/src/LU/arch/Inverse_SSE.h
deleted file mode 100644
index ebb64a62b023d7..00000000000000
--- a/phonelibs/eigen/Eigen/src/LU/arch/Inverse_SSE.h
+++ /dev/null
@@ -1,338 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2001 Intel Corporation
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// The SSE code for the 4x4 float and double matrix inverse in this file
-// comes from the following Intel's library:
-// http://software.intel.com/en-us/articles/optimized-matrix-library-for-use-with-the-intel-pentiumr-4-processors-sse2-instructions/
-//
-// Here is the respective copyright and license statement:
-//
-//   Copyright (c) 2001 Intel Corporation.
-//
-// Permition is granted to use, copy, distribute and prepare derivative works
-// of this library for any purpose and without fee, provided, that the above
-// copyright notice and this statement appear in all copies.
-// Intel makes no representations about the suitability of this software for
-// any purpose, and specifically disclaims all warranties.
-// See LEGAL.TXT for all the legal information.
-
-#ifndef EIGEN_INVERSE_SSE_H
-#define EIGEN_INVERSE_SSE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
-{
-  enum {
-    MatrixAlignment     = traits<MatrixType>::Alignment,
-    ResultAlignment     = traits<ResultType>::Alignment,
-    StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
-  };
-  typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
-  
-  static void run(const MatrixType& mat, ResultType& result)
-  {
-    ActualMatrixType matrix(mat);
-    EIGEN_ALIGN16 const unsigned int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
-
-    // Load the full matrix into registers
-    __m128 _L1 = matrix.template packet<MatrixAlignment>( 0);
-    __m128 _L2 = matrix.template packet<MatrixAlignment>( 4);
-    __m128 _L3 = matrix.template packet<MatrixAlignment>( 8);
-    __m128 _L4 = matrix.template packet<MatrixAlignment>(12);
-
-    // The inverse is calculated using "Divide and Conquer" technique. The
-    // original matrix is divide into four 2x2 sub-matrices. Since each
-    // register holds four matrix element, the smaller matrices are
-    // represented as a registers. Hence we get a better locality of the
-    // calculations.
-
-    __m128 A, B, C, D; // the four sub-matrices
-    if(!StorageOrdersMatch)
-    {
-      A = _mm_unpacklo_ps(_L1, _L2);
-      B = _mm_unpacklo_ps(_L3, _L4);
-      C = _mm_unpackhi_ps(_L1, _L2);
-      D = _mm_unpackhi_ps(_L3, _L4);
-    }
-    else
-    {
-      A = _mm_movelh_ps(_L1, _L2);
-      B = _mm_movehl_ps(_L2, _L1);
-      C = _mm_movelh_ps(_L3, _L4);
-      D = _mm_movehl_ps(_L4, _L3);
-    }
-
-    __m128 iA, iB, iC, iD,                 // partial inverse of the sub-matrices
-            DC, AB;
-    __m128 dA, dB, dC, dD;                 // determinant of the sub-matrices
-    __m128 det, d, d1, d2;
-    __m128 rd;                             // reciprocal of the determinant
-
-    //  AB = A# * B
-    AB = _mm_mul_ps(_mm_shuffle_ps(A,A,0x0F), B);
-    AB = _mm_sub_ps(AB,_mm_mul_ps(_mm_shuffle_ps(A,A,0xA5), _mm_shuffle_ps(B,B,0x4E)));
-    //  DC = D# * C
-    DC = _mm_mul_ps(_mm_shuffle_ps(D,D,0x0F), C);
-    DC = _mm_sub_ps(DC,_mm_mul_ps(_mm_shuffle_ps(D,D,0xA5), _mm_shuffle_ps(C,C,0x4E)));
-
-    //  dA = |A|
-    dA = _mm_mul_ps(_mm_shuffle_ps(A, A, 0x5F),A);
-    dA = _mm_sub_ss(dA, _mm_movehl_ps(dA,dA));
-    //  dB = |B|
-    dB = _mm_mul_ps(_mm_shuffle_ps(B, B, 0x5F),B);
-    dB = _mm_sub_ss(dB, _mm_movehl_ps(dB,dB));
-
-    //  dC = |C|
-    dC = _mm_mul_ps(_mm_shuffle_ps(C, C, 0x5F),C);
-    dC = _mm_sub_ss(dC, _mm_movehl_ps(dC,dC));
-    //  dD = |D|
-    dD = _mm_mul_ps(_mm_shuffle_ps(D, D, 0x5F),D);
-    dD = _mm_sub_ss(dD, _mm_movehl_ps(dD,dD));
-
-    //  d = trace(AB*DC) = trace(A#*B*D#*C)
-    d = _mm_mul_ps(_mm_shuffle_ps(DC,DC,0xD8),AB);
-
-    //  iD = C*A#*B
-    iD = _mm_mul_ps(_mm_shuffle_ps(C,C,0xA0), _mm_movelh_ps(AB,AB));
-    iD = _mm_add_ps(iD,_mm_mul_ps(_mm_shuffle_ps(C,C,0xF5), _mm_movehl_ps(AB,AB)));
-    //  iA = B*D#*C
-    iA = _mm_mul_ps(_mm_shuffle_ps(B,B,0xA0), _mm_movelh_ps(DC,DC));
-    iA = _mm_add_ps(iA,_mm_mul_ps(_mm_shuffle_ps(B,B,0xF5), _mm_movehl_ps(DC,DC)));
-
-    //  d = trace(AB*DC) = trace(A#*B*D#*C) [continue]
-    d  = _mm_add_ps(d, _mm_movehl_ps(d, d));
-    d  = _mm_add_ss(d, _mm_shuffle_ps(d, d, 1));
-    d1 = _mm_mul_ss(dA,dD);
-    d2 = _mm_mul_ss(dB,dC);
-
-    //  iD = D*|A| - C*A#*B
-    iD = _mm_sub_ps(_mm_mul_ps(D,_mm_shuffle_ps(dA,dA,0)), iD);
-
-    //  iA = A*|D| - B*D#*C;
-    iA = _mm_sub_ps(_mm_mul_ps(A,_mm_shuffle_ps(dD,dD,0)), iA);
-
-    //  det = |A|*|D| + |B|*|C| - trace(A#*B*D#*C)
-    det = _mm_sub_ss(_mm_add_ss(d1,d2),d);
-    rd  = _mm_div_ss(_mm_set_ss(1.0f), det);
-
-//     #ifdef ZERO_SINGULAR
-//         rd = _mm_and_ps(_mm_cmpneq_ss(det,_mm_setzero_ps()), rd);
-//     #endif
-
-    //  iB = D * (A#B)# = D*B#*A
-    iB = _mm_mul_ps(D, _mm_shuffle_ps(AB,AB,0x33));
-    iB = _mm_sub_ps(iB, _mm_mul_ps(_mm_shuffle_ps(D,D,0xB1), _mm_shuffle_ps(AB,AB,0x66)));
-    //  iC = A * (D#C)# = A*C#*D
-    iC = _mm_mul_ps(A, _mm_shuffle_ps(DC,DC,0x33));
-    iC = _mm_sub_ps(iC, _mm_mul_ps(_mm_shuffle_ps(A,A,0xB1), _mm_shuffle_ps(DC,DC,0x66)));
-
-    rd = _mm_shuffle_ps(rd,rd,0);
-    rd = _mm_xor_ps(rd, _mm_load_ps((float*)_Sign_PNNP));
-
-    //  iB = C*|B| - D*B#*A
-    iB = _mm_sub_ps(_mm_mul_ps(C,_mm_shuffle_ps(dB,dB,0)), iB);
-
-    //  iC = B*|C| - A*C#*D;
-    iC = _mm_sub_ps(_mm_mul_ps(B,_mm_shuffle_ps(dC,dC,0)), iC);
-
-    //  iX = iX / det
-    iA = _mm_mul_ps(rd,iA);
-    iB = _mm_mul_ps(rd,iB);
-    iC = _mm_mul_ps(rd,iC);
-    iD = _mm_mul_ps(rd,iD);
-
-    Index res_stride = result.outerStride();
-    float* res = result.data();
-    pstoret<float, Packet4f, ResultAlignment>(res+0,            _mm_shuffle_ps(iA,iB,0x77));
-    pstoret<float, Packet4f, ResultAlignment>(res+res_stride,   _mm_shuffle_ps(iA,iB,0x22));
-    pstoret<float, Packet4f, ResultAlignment>(res+2*res_stride, _mm_shuffle_ps(iC,iD,0x77));
-    pstoret<float, Packet4f, ResultAlignment>(res+3*res_stride, _mm_shuffle_ps(iC,iD,0x22));
-  }
-
-};
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
-{
-  enum {
-    MatrixAlignment     = traits<MatrixType>::Alignment,
-    ResultAlignment     = traits<ResultType>::Alignment,
-    StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
-  };
-  typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
-  
-  static void run(const MatrixType& mat, ResultType& result)
-  {
-    ActualMatrixType matrix(mat);
-    const __m128d _Sign_NP = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
-    const __m128d _Sign_PN = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
-
-    // The inverse is calculated using "Divide and Conquer" technique. The
-    // original matrix is divide into four 2x2 sub-matrices. Since each
-    // register of the matrix holds two elements, the smaller matrices are
-    // consisted of two registers. Hence we get a better locality of the
-    // calculations.
-
-    // the four sub-matrices
-    __m128d A1, A2, B1, B2, C1, C2, D1, D2;
-    
-    if(StorageOrdersMatch)
-    {
-      A1 = matrix.template packet<MatrixAlignment>( 0); B1 = matrix.template packet<MatrixAlignment>( 2);
-      A2 = matrix.template packet<MatrixAlignment>( 4); B2 = matrix.template packet<MatrixAlignment>( 6);
-      C1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
-      C2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
-    }
-    else
-    {
-      __m128d tmp;
-      A1 = matrix.template packet<MatrixAlignment>( 0); C1 = matrix.template packet<MatrixAlignment>( 2);
-      A2 = matrix.template packet<MatrixAlignment>( 4); C2 = matrix.template packet<MatrixAlignment>( 6);
-      tmp = A1;
-      A1 = _mm_unpacklo_pd(A1,A2);
-      A2 = _mm_unpackhi_pd(tmp,A2);
-      tmp = C1;
-      C1 = _mm_unpacklo_pd(C1,C2);
-      C2 = _mm_unpackhi_pd(tmp,C2);
-      
-      B1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
-      B2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
-      tmp = B1;
-      B1 = _mm_unpacklo_pd(B1,B2);
-      B2 = _mm_unpackhi_pd(tmp,B2);
-      tmp = D1;
-      D1 = _mm_unpacklo_pd(D1,D2);
-      D2 = _mm_unpackhi_pd(tmp,D2);
-    }
-    
-    __m128d iA1, iA2, iB1, iB2, iC1, iC2, iD1, iD2,     // partial invese of the sub-matrices
-            DC1, DC2, AB1, AB2;
-    __m128d dA, dB, dC, dD;     // determinant of the sub-matrices
-    __m128d det, d1, d2, rd;
-
-    //  dA = |A|
-    dA = _mm_shuffle_pd(A2, A2, 1);
-    dA = _mm_mul_pd(A1, dA);
-    dA = _mm_sub_sd(dA, _mm_shuffle_pd(dA,dA,3));
-    //  dB = |B|
-    dB = _mm_shuffle_pd(B2, B2, 1);
-    dB = _mm_mul_pd(B1, dB);
-    dB = _mm_sub_sd(dB, _mm_shuffle_pd(dB,dB,3));
-
-    //  AB = A# * B
-    AB1 = _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,3));
-    AB2 = _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,0));
-    AB1 = _mm_sub_pd(AB1, _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,3)));
-    AB2 = _mm_sub_pd(AB2, _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,0)));
-
-    //  dC = |C|
-    dC = _mm_shuffle_pd(C2, C2, 1);
-    dC = _mm_mul_pd(C1, dC);
-    dC = _mm_sub_sd(dC, _mm_shuffle_pd(dC,dC,3));
-    //  dD = |D|
-    dD = _mm_shuffle_pd(D2, D2, 1);
-    dD = _mm_mul_pd(D1, dD);
-    dD = _mm_sub_sd(dD, _mm_shuffle_pd(dD,dD,3));
-
-    //  DC = D# * C
-    DC1 = _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,3));
-    DC2 = _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,0));
-    DC1 = _mm_sub_pd(DC1, _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,3)));
-    DC2 = _mm_sub_pd(DC2, _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,0)));
-
-    //  rd = trace(AB*DC) = trace(A#*B*D#*C)
-    d1 = _mm_mul_pd(AB1, _mm_shuffle_pd(DC1, DC2, 0));
-    d2 = _mm_mul_pd(AB2, _mm_shuffle_pd(DC1, DC2, 3));
-    rd = _mm_add_pd(d1, d2);
-    rd = _mm_add_sd(rd, _mm_shuffle_pd(rd, rd,3));
-
-    //  iD = C*A#*B
-    iD1 = _mm_mul_pd(AB1, _mm_shuffle_pd(C1,C1,0));
-    iD2 = _mm_mul_pd(AB1, _mm_shuffle_pd(C2,C2,0));
-    iD1 = _mm_add_pd(iD1, _mm_mul_pd(AB2, _mm_shuffle_pd(C1,C1,3)));
-    iD2 = _mm_add_pd(iD2, _mm_mul_pd(AB2, _mm_shuffle_pd(C2,C2,3)));
-
-    //  iA = B*D#*C
-    iA1 = _mm_mul_pd(DC1, _mm_shuffle_pd(B1,B1,0));
-    iA2 = _mm_mul_pd(DC1, _mm_shuffle_pd(B2,B2,0));
-    iA1 = _mm_add_pd(iA1, _mm_mul_pd(DC2, _mm_shuffle_pd(B1,B1,3)));
-    iA2 = _mm_add_pd(iA2, _mm_mul_pd(DC2, _mm_shuffle_pd(B2,B2,3)));
-
-    //  iD = D*|A| - C*A#*B
-    dA = _mm_shuffle_pd(dA,dA,0);
-    iD1 = _mm_sub_pd(_mm_mul_pd(D1, dA), iD1);
-    iD2 = _mm_sub_pd(_mm_mul_pd(D2, dA), iD2);
-
-    //  iA = A*|D| - B*D#*C;
-    dD = _mm_shuffle_pd(dD,dD,0);
-    iA1 = _mm_sub_pd(_mm_mul_pd(A1, dD), iA1);
-    iA2 = _mm_sub_pd(_mm_mul_pd(A2, dD), iA2);
-
-    d1 = _mm_mul_sd(dA, dD);
-    d2 = _mm_mul_sd(dB, dC);
-
-    //  iB = D * (A#B)# = D*B#*A
-    iB1 = _mm_mul_pd(D1, _mm_shuffle_pd(AB2,AB1,1));
-    iB2 = _mm_mul_pd(D2, _mm_shuffle_pd(AB2,AB1,1));
-    iB1 = _mm_sub_pd(iB1, _mm_mul_pd(_mm_shuffle_pd(D1,D1,1), _mm_shuffle_pd(AB2,AB1,2)));
-    iB2 = _mm_sub_pd(iB2, _mm_mul_pd(_mm_shuffle_pd(D2,D2,1), _mm_shuffle_pd(AB2,AB1,2)));
-
-    //  det = |A|*|D| + |B|*|C| - trace(A#*B*D#*C)
-    det = _mm_add_sd(d1, d2);
-    det = _mm_sub_sd(det, rd);
-
-    //  iC = A * (D#C)# = A*C#*D
-    iC1 = _mm_mul_pd(A1, _mm_shuffle_pd(DC2,DC1,1));
-    iC2 = _mm_mul_pd(A2, _mm_shuffle_pd(DC2,DC1,1));
-    iC1 = _mm_sub_pd(iC1, _mm_mul_pd(_mm_shuffle_pd(A1,A1,1), _mm_shuffle_pd(DC2,DC1,2)));
-    iC2 = _mm_sub_pd(iC2, _mm_mul_pd(_mm_shuffle_pd(A2,A2,1), _mm_shuffle_pd(DC2,DC1,2)));
-
-    rd = _mm_div_sd(_mm_set_sd(1.0), det);
-//     #ifdef ZERO_SINGULAR
-//         rd = _mm_and_pd(_mm_cmpneq_sd(det,_mm_setzero_pd()), rd);
-//     #endif
-    rd = _mm_shuffle_pd(rd,rd,0);
-
-    //  iB = C*|B| - D*B#*A
-    dB = _mm_shuffle_pd(dB,dB,0);
-    iB1 = _mm_sub_pd(_mm_mul_pd(C1, dB), iB1);
-    iB2 = _mm_sub_pd(_mm_mul_pd(C2, dB), iB2);
-
-    d1 = _mm_xor_pd(rd, _Sign_PN);
-    d2 = _mm_xor_pd(rd, _Sign_NP);
-
-    //  iC = B*|C| - A*C#*D;
-    dC = _mm_shuffle_pd(dC,dC,0);
-    iC1 = _mm_sub_pd(_mm_mul_pd(B1, dC), iC1);
-    iC2 = _mm_sub_pd(_mm_mul_pd(B2, dC), iC2);
-
-    Index res_stride = result.outerStride();
-    double* res = result.data();
-    pstoret<double, Packet2d, ResultAlignment>(res+0,             _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));
-    pstoret<double, Packet2d, ResultAlignment>(res+res_stride,    _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
-    pstoret<double, Packet2d, ResultAlignment>(res+2,             _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));
-    pstoret<double, Packet2d, ResultAlignment>(res+res_stride+2,  _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
-    pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride,  _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));
-    pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride,  _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
-    pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));
-    pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_INVERSE_SSE_H
diff --git a/phonelibs/eigen/Eigen/src/MetisSupport/MetisSupport.h b/phonelibs/eigen/Eigen/src/MetisSupport/MetisSupport.h
deleted file mode 100644
index 4c15304ad636d9..00000000000000
--- a/phonelibs/eigen/Eigen/src/MetisSupport/MetisSupport.h
+++ /dev/null
@@ -1,137 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-#ifndef METIS_SUPPORT_H
-#define METIS_SUPPORT_H
-
-namespace Eigen {
-/**
- * Get the fill-reducing ordering from the METIS package
- * 
- * If A is the original matrix and Ap is the permuted matrix, 
- * the fill-reducing permutation is defined as follows :
- * Row (column) i of A is the matperm(i) row (column) of Ap. 
- * WARNING: As computed by METIS, this corresponds to the vector iperm (instead of perm)
- */
-template <typename StorageIndex>
-class MetisOrdering
-{
-public:
-  typedef PermutationMatrix<Dynamic,Dynamic,StorageIndex> PermutationType;
-  typedef Matrix<StorageIndex,Dynamic,1> IndexVector; 
-  
-  template <typename MatrixType>
-  void get_symmetrized_graph(const MatrixType& A)
-  {
-    Index m = A.cols(); 
-    eigen_assert((A.rows() == A.cols()) && "ONLY FOR SQUARED MATRICES");
-    // Get the transpose of the input matrix 
-    MatrixType At = A.transpose(); 
-    // Get the number of nonzeros elements in each row/col of At+A
-    Index TotNz = 0; 
-    IndexVector visited(m); 
-    visited.setConstant(-1); 
-    for (StorageIndex j = 0; j < m; j++)
-    {
-      // Compute the union structure of of A(j,:) and At(j,:)
-      visited(j) = j; // Do not include the diagonal element
-      // Get the nonzeros in row/column j of A
-      for (typename MatrixType::InnerIterator it(A, j); it; ++it)
-      {
-        Index idx = it.index(); // Get the row index (for column major) or column index (for row major)
-        if (visited(idx) != j ) 
-        {
-          visited(idx) = j; 
-          ++TotNz; 
-        }
-      }
-      //Get the nonzeros in row/column j of At
-      for (typename MatrixType::InnerIterator it(At, j); it; ++it)
-      {
-        Index idx = it.index(); 
-        if(visited(idx) != j)
-        {
-          visited(idx) = j; 
-          ++TotNz; 
-        }
-      }
-    }
-    // Reserve place for A + At
-    m_indexPtr.resize(m+1);
-    m_innerIndices.resize(TotNz); 
-
-    // Now compute the real adjacency list of each column/row 
-    visited.setConstant(-1); 
-    StorageIndex CurNz = 0; 
-    for (StorageIndex j = 0; j < m; j++)
-    {
-      m_indexPtr(j) = CurNz; 
-      
-      visited(j) = j; // Do not include the diagonal element
-      // Add the pattern of row/column j of A to A+At
-      for (typename MatrixType::InnerIterator it(A,j); it; ++it)
-      {
-        StorageIndex idx = it.index(); // Get the row index (for column major) or column index (for row major)
-        if (visited(idx) != j ) 
-        {
-          visited(idx) = j; 
-          m_innerIndices(CurNz) = idx; 
-          CurNz++; 
-        }
-      }
-      //Add the pattern of row/column j of At to A+At
-      for (typename MatrixType::InnerIterator it(At, j); it; ++it)
-      {
-        StorageIndex idx = it.index(); 
-        if(visited(idx) != j)
-        {
-          visited(idx) = j; 
-          m_innerIndices(CurNz) = idx; 
-          ++CurNz; 
-        }
-      }
-    }
-    m_indexPtr(m) = CurNz;    
-  }
-  
-  template <typename MatrixType>
-  void operator() (const MatrixType& A, PermutationType& matperm)
-  {
-     StorageIndex m = internal::convert_index<StorageIndex>(A.cols()); // must be StorageIndex, because it is passed by address to METIS
-     IndexVector perm(m),iperm(m); 
-    // First, symmetrize the matrix graph. 
-     get_symmetrized_graph(A); 
-     int output_error;
-     
-     // Call the fill-reducing routine from METIS 
-     output_error = METIS_NodeND(&m, m_indexPtr.data(), m_innerIndices.data(), NULL, NULL, perm.data(), iperm.data());
-     
-    if(output_error != METIS_OK) 
-    {
-      //FIXME The ordering interface should define a class of possible errors 
-     std::cerr << "ERROR WHILE CALLING THE METIS PACKAGE \n"; 
-     return; 
-    }
-    
-    // Get the fill-reducing permutation 
-    //NOTE:  If Ap is the permuted matrix then perm and iperm vectors are defined as follows 
-    // Row (column) i of Ap is the perm(i) row(column) of A, and row (column) i of A is the iperm(i) row(column) of Ap
-    
-     matperm.resize(m);
-     for (int j = 0; j < m; j++)
-       matperm.indices()(iperm(j)) = j;
-   
-  }
-  
-  protected:
-    IndexVector m_indexPtr; // Pointer to the adjacenccy list of each row/column
-    IndexVector m_innerIndices; // Adjacency list 
-};
-
-}// end namespace eigen 
-#endif
diff --git a/phonelibs/eigen/Eigen/src/OrderingMethods/Amd.h b/phonelibs/eigen/Eigen/src/OrderingMethods/Amd.h
deleted file mode 100644
index f91ecb24efc1f2..00000000000000
--- a/phonelibs/eigen/Eigen/src/OrderingMethods/Amd.h
+++ /dev/null
@@ -1,445 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-
-/*
-
-NOTE: this routine has been adapted from the CSparse library:
-
-Copyright (c) 2006, Timothy A. Davis.
-http://www.suitesparse.com
-
-CSparse is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-CSparse is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this Module; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-
-*/
-
-#include "../Core/util/NonMPL2.h"
-
-#ifndef EIGEN_SPARSE_AMD_H
-#define EIGEN_SPARSE_AMD_H
-
-namespace Eigen { 
-
-namespace internal {
-  
-template<typename T> inline T amd_flip(const T& i) { return -i-2; }
-template<typename T> inline T amd_unflip(const T& i) { return i<0 ? amd_flip(i) : i; }
-template<typename T0, typename T1> inline bool amd_marked(const T0* w, const T1& j) { return w[j]<0; }
-template<typename T0, typename T1> inline void amd_mark(const T0* w, const T1& j) { return w[j] = amd_flip(w[j]); }
-
-/* clear w */
-template<typename StorageIndex>
-static StorageIndex cs_wclear (StorageIndex mark, StorageIndex lemax, StorageIndex *w, StorageIndex n)
-{
-  StorageIndex k;
-  if(mark < 2 || (mark + lemax < 0))
-  {
-    for(k = 0; k < n; k++)
-      if(w[k] != 0)
-        w[k] = 1;
-    mark = 2;
-  }
-  return (mark);     /* at this point, w[0..n-1] < mark holds */
-}
-
-/* depth-first search and postorder of a tree rooted at node j */
-template<typename StorageIndex>
-StorageIndex cs_tdfs(StorageIndex j, StorageIndex k, StorageIndex *head, const StorageIndex *next, StorageIndex *post, StorageIndex *stack)
-{
-  StorageIndex i, p, top = 0;
-  if(!head || !next || !post || !stack) return (-1);    /* check inputs */
-  stack[0] = j;                 /* place j on the stack */
-  while (top >= 0)                /* while (stack is not empty) */
-  {
-    p = stack[top];           /* p = top of stack */
-    i = head[p];              /* i = youngest child of p */
-    if(i == -1)
-    {
-      top--;                 /* p has no unordered children left */
-      post[k++] = p;        /* node p is the kth postordered node */
-    }
-    else
-    {
-      head[p] = next[i];   /* remove i from children of p */
-      stack[++top] = i;     /* start dfs on child node i */
-    }
-  }
-  return k;
-}
-
-
-/** \internal
-  * \ingroup OrderingMethods_Module 
-  * Approximate minimum degree ordering algorithm.
-  *
-  * \param[in] C the input selfadjoint matrix stored in compressed column major format.
-  * \param[out] perm the permutation P reducing the fill-in of the input matrix \a C
-  *
-  * Note that the input matrix \a C must be complete, that is both the upper and lower parts have to be stored, as well as the diagonal entries.
-  * On exit the values of C are destroyed */
-template<typename Scalar, typename StorageIndex>
-void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,StorageIndex>& C, PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm)
-{
-  using std::sqrt;
-  
-  StorageIndex d, dk, dext, lemax = 0, e, elenk, eln, i, j, k, k1,
-                k2, k3, jlast, ln, dense, nzmax, mindeg = 0, nvi, nvj, nvk, mark, wnvi,
-                ok, nel = 0, p, p1, p2, p3, p4, pj, pk, pk1, pk2, pn, q, t, h;
-  
-  StorageIndex n = StorageIndex(C.cols());
-  dense = std::max<StorageIndex> (16, StorageIndex(10 * sqrt(double(n))));   /* find dense threshold */
-  dense = (std::min)(n-2, dense);
-  
-  StorageIndex cnz = StorageIndex(C.nonZeros());
-  perm.resize(n+1);
-  t = cnz + cnz/5 + 2*n;                 /* add elbow room to C */
-  C.resizeNonZeros(t);
-  
-  // get workspace
-  ei_declare_aligned_stack_constructed_variable(StorageIndex,W,8*(n+1),0);
-  StorageIndex* len     = W;
-  StorageIndex* nv      = W +   (n+1);
-  StorageIndex* next    = W + 2*(n+1);
-  StorageIndex* head    = W + 3*(n+1);
-  StorageIndex* elen    = W + 4*(n+1);
-  StorageIndex* degree  = W + 5*(n+1);
-  StorageIndex* w       = W + 6*(n+1);
-  StorageIndex* hhead   = W + 7*(n+1);
-  StorageIndex* last    = perm.indices().data();                              /* use P as workspace for last */
-  
-  /* --- Initialize quotient graph ---------------------------------------- */
-  StorageIndex* Cp = C.outerIndexPtr();
-  StorageIndex* Ci = C.innerIndexPtr();
-  for(k = 0; k < n; k++)
-    len[k] = Cp[k+1] - Cp[k];
-  len[n] = 0;
-  nzmax = t;
-  
-  for(i = 0; i <= n; i++)
-  {
-    head[i]   = -1;                     // degree list i is empty
-    last[i]   = -1;
-    next[i]   = -1;
-    hhead[i]  = -1;                     // hash list i is empty 
-    nv[i]     = 1;                      // node i is just one node
-    w[i]      = 1;                      // node i is alive
-    elen[i]   = 0;                      // Ek of node i is empty
-    degree[i] = len[i];                 // degree of node i
-  }
-  mark = internal::cs_wclear<StorageIndex>(0, 0, w, n);         /* clear w */
-  
-  /* --- Initialize degree lists ------------------------------------------ */
-  for(i = 0; i < n; i++)
-  {
-    bool has_diag = false;
-    for(p = Cp[i]; p<Cp[i+1]; ++p)
-      if(Ci[p]==i)
-      {
-        has_diag = true;
-        break;
-      }
-   
-    d = degree[i];
-    if(d == 1 && has_diag)           /* node i is empty */
-    {
-      elen[i] = -2;                 /* element i is dead */
-      nel++;
-      Cp[i] = -1;                   /* i is a root of assembly tree */
-      w[i] = 0;
-    }
-    else if(d > dense || !has_diag)  /* node i is dense or has no structural diagonal element */
-    {
-      nv[i] = 0;                    /* absorb i into element n */
-      elen[i] = -1;                 /* node i is dead */
-      nel++;
-      Cp[i] = amd_flip (n);
-      nv[n]++;
-    }
-    else
-    {
-      if(head[d] != -1) last[head[d]] = i;
-      next[i] = head[d];           /* put node i in degree list d */
-      head[d] = i;
-    }
-  }
-  
-  elen[n] = -2;                         /* n is a dead element */
-  Cp[n] = -1;                           /* n is a root of assembly tree */
-  w[n] = 0;                             /* n is a dead element */
-  
-  while (nel < n)                         /* while (selecting pivots) do */
-  {
-    /* --- Select node of minimum approximate degree -------------------- */
-    for(k = -1; mindeg < n && (k = head[mindeg]) == -1; mindeg++) {}
-    if(next[k] != -1) last[next[k]] = -1;
-    head[mindeg] = next[k];          /* remove k from degree list */
-    elenk = elen[k];                  /* elenk = |Ek| */
-    nvk = nv[k];                      /* # of nodes k represents */
-    nel += nvk;                        /* nv[k] nodes of A eliminated */
-    
-    /* --- Garbage collection ------------------------------------------- */
-    if(elenk > 0 && cnz + mindeg >= nzmax)
-    {
-      for(j = 0; j < n; j++)
-      {
-        if((p = Cp[j]) >= 0)      /* j is a live node or element */
-        {
-          Cp[j] = Ci[p];          /* save first entry of object */
-          Ci[p] = amd_flip (j);    /* first entry is now amd_flip(j) */
-        }
-      }
-      for(q = 0, p = 0; p < cnz; ) /* scan all of memory */
-      {
-        if((j = amd_flip (Ci[p++])) >= 0)  /* found object j */
-        {
-          Ci[q] = Cp[j];       /* restore first entry of object */
-          Cp[j] = q++;          /* new pointer to object j */
-          for(k3 = 0; k3 < len[j]-1; k3++) Ci[q++] = Ci[p++];
-        }
-      }
-      cnz = q;                       /* Ci[cnz...nzmax-1] now free */
-    }
-    
-    /* --- Construct new element ---------------------------------------- */
-    dk = 0;
-    nv[k] = -nvk;                     /* flag k as in Lk */
-    p = Cp[k];
-    pk1 = (elenk == 0) ? p : cnz;      /* do in place if elen[k] == 0 */
-    pk2 = pk1;
-    for(k1 = 1; k1 <= elenk + 1; k1++)
-    {
-      if(k1 > elenk)
-      {
-        e = k;                     /* search the nodes in k */
-        pj = p;                    /* list of nodes starts at Ci[pj]*/
-        ln = len[k] - elenk;      /* length of list of nodes in k */
-      }
-      else
-      {
-        e = Ci[p++];              /* search the nodes in e */
-        pj = Cp[e];
-        ln = len[e];              /* length of list of nodes in e */
-      }
-      for(k2 = 1; k2 <= ln; k2++)
-      {
-        i = Ci[pj++];
-        if((nvi = nv[i]) <= 0) continue; /* node i dead, or seen */
-        dk += nvi;                 /* degree[Lk] += size of node i */
-        nv[i] = -nvi;             /* negate nv[i] to denote i in Lk*/
-        Ci[pk2++] = i;            /* place i in Lk */
-        if(next[i] != -1) last[next[i]] = last[i];
-        if(last[i] != -1)         /* remove i from degree list */
-        {
-          next[last[i]] = next[i];
-        }
-        else
-        {
-          head[degree[i]] = next[i];
-        }
-      }
-      if(e != k)
-      {
-        Cp[e] = amd_flip (k);      /* absorb e into k */
-        w[e] = 0;                 /* e is now a dead element */
-      }
-    }
-    if(elenk != 0) cnz = pk2;         /* Ci[cnz...nzmax] is free */
-    degree[k] = dk;                   /* external degree of k - |Lk\i| */
-    Cp[k] = pk1;                      /* element k is in Ci[pk1..pk2-1] */
-    len[k] = pk2 - pk1;
-    elen[k] = -2;                     /* k is now an element */
-    
-    /* --- Find set differences ----------------------------------------- */
-    mark = internal::cs_wclear<StorageIndex>(mark, lemax, w, n);  /* clear w if necessary */
-    for(pk = pk1; pk < pk2; pk++)    /* scan 1: find |Le\Lk| */
-    {
-      i = Ci[pk];
-      if((eln = elen[i]) <= 0) continue;/* skip if elen[i] empty */
-      nvi = -nv[i];                      /* nv[i] was negated */
-      wnvi = mark - nvi;
-      for(p = Cp[i]; p <= Cp[i] + eln - 1; p++)  /* scan Ei */
-      {
-        e = Ci[p];
-        if(w[e] >= mark)
-        {
-          w[e] -= nvi;          /* decrement |Le\Lk| */
-        }
-        else if(w[e] != 0)        /* ensure e is a live element */
-        {
-          w[e] = degree[e] + wnvi; /* 1st time e seen in scan 1 */
-        }
-      }
-    }
-    
-    /* --- Degree update ------------------------------------------------ */
-    for(pk = pk1; pk < pk2; pk++)    /* scan2: degree update */
-    {
-      i = Ci[pk];                   /* consider node i in Lk */
-      p1 = Cp[i];
-      p2 = p1 + elen[i] - 1;
-      pn = p1;
-      for(h = 0, d = 0, p = p1; p <= p2; p++)    /* scan Ei */
-      {
-        e = Ci[p];
-        if(w[e] != 0)             /* e is an unabsorbed element */
-        {
-          dext = w[e] - mark;   /* dext = |Le\Lk| */
-          if(dext > 0)
-          {
-            d += dext;         /* sum up the set differences */
-            Ci[pn++] = e;     /* keep e in Ei */
-            h += e;            /* compute the hash of node i */
-          }
-          else
-          {
-            Cp[e] = amd_flip (k);  /* aggressive absorb. e->k */
-            w[e] = 0;             /* e is a dead element */
-          }
-        }
-      }
-      elen[i] = pn - p1 + 1;        /* elen[i] = |Ei| */
-      p3 = pn;
-      p4 = p1 + len[i];
-      for(p = p2 + 1; p < p4; p++) /* prune edges in Ai */
-      {
-        j = Ci[p];
-        if((nvj = nv[j]) <= 0) continue; /* node j dead or in Lk */
-        d += nvj;                  /* degree(i) += |j| */
-        Ci[pn++] = j;             /* place j in node list of i */
-        h += j;                    /* compute hash for node i */
-      }
-      if(d == 0)                     /* check for mass elimination */
-      {
-        Cp[i] = amd_flip (k);      /* absorb i into k */
-        nvi = -nv[i];
-        dk -= nvi;                 /* |Lk| -= |i| */
-        nvk += nvi;                /* |k| += nv[i] */
-        nel += nvi;
-        nv[i] = 0;
-        elen[i] = -1;             /* node i is dead */
-      }
-      else
-      {
-        degree[i] = std::min<StorageIndex> (degree[i], d);   /* update degree(i) */
-        Ci[pn] = Ci[p3];         /* move first node to end */
-        Ci[p3] = Ci[p1];         /* move 1st el. to end of Ei */
-        Ci[p1] = k;               /* add k as 1st element in of Ei */
-        len[i] = pn - p1 + 1;     /* new len of adj. list of node i */
-        h %= n;                    /* finalize hash of i */
-        next[i] = hhead[h];      /* place i in hash bucket */
-        hhead[h] = i;
-        last[i] = h;      /* save hash of i in last[i] */
-      }
-    }                                   /* scan2 is done */
-    degree[k] = dk;                   /* finalize |Lk| */
-    lemax = std::max<StorageIndex>(lemax, dk);
-    mark = internal::cs_wclear<StorageIndex>(mark+lemax, lemax, w, n);    /* clear w */
-    
-    /* --- Supernode detection ------------------------------------------ */
-    for(pk = pk1; pk < pk2; pk++)
-    {
-      i = Ci[pk];
-      if(nv[i] >= 0) continue;         /* skip if i is dead */
-      h = last[i];                      /* scan hash bucket of node i */
-      i = hhead[h];
-      hhead[h] = -1;                    /* hash bucket will be empty */
-      for(; i != -1 && next[i] != -1; i = next[i], mark++)
-      {
-        ln = len[i];
-        eln = elen[i];
-        for(p = Cp[i]+1; p <= Cp[i] + ln-1; p++) w[Ci[p]] = mark;
-        jlast = i;
-        for(j = next[i]; j != -1; ) /* compare i with all j */
-        {
-          ok = (len[j] == ln) && (elen[j] == eln);
-          for(p = Cp[j] + 1; ok && p <= Cp[j] + ln - 1; p++)
-          {
-            if(w[Ci[p]] != mark) ok = 0;    /* compare i and j*/
-          }
-          if(ok)                     /* i and j are identical */
-          {
-            Cp[j] = amd_flip (i);  /* absorb j into i */
-            nv[i] += nv[j];
-            nv[j] = 0;
-            elen[j] = -1;         /* node j is dead */
-            j = next[j];          /* delete j from hash bucket */
-            next[jlast] = j;
-          }
-          else
-          {
-            jlast = j;             /* j and i are different */
-            j = next[j];
-          }
-        }
-      }
-    }
-    
-    /* --- Finalize new element------------------------------------------ */
-    for(p = pk1, pk = pk1; pk < pk2; pk++)   /* finalize Lk */
-    {
-      i = Ci[pk];
-      if((nvi = -nv[i]) <= 0) continue;/* skip if i is dead */
-      nv[i] = nvi;                      /* restore nv[i] */
-      d = degree[i] + dk - nvi;         /* compute external degree(i) */
-      d = std::min<StorageIndex> (d, n - nel - nvi);
-      if(head[d] != -1) last[head[d]] = i;
-      next[i] = head[d];               /* put i back in degree list */
-      last[i] = -1;
-      head[d] = i;
-      mindeg = std::min<StorageIndex> (mindeg, d);       /* find new minimum degree */
-      degree[i] = d;
-      Ci[p++] = i;                      /* place i in Lk */
-    }
-    nv[k] = nvk;                      /* # nodes absorbed into k */
-    if((len[k] = p-pk1) == 0)         /* length of adj list of element k*/
-    {
-      Cp[k] = -1;                   /* k is a root of the tree */
-      w[k] = 0;                     /* k is now a dead element */
-    }
-    if(elenk != 0) cnz = p;           /* free unused space in Lk */
-  }
-  
-  /* --- Postordering ----------------------------------------------------- */
-  for(i = 0; i < n; i++) Cp[i] = amd_flip (Cp[i]);/* fix assembly tree */
-  for(j = 0; j <= n; j++) head[j] = -1;
-  for(j = n; j >= 0; j--)              /* place unordered nodes in lists */
-  {
-    if(nv[j] > 0) continue;          /* skip if j is an element */
-    next[j] = head[Cp[j]];          /* place j in list of its parent */
-    head[Cp[j]] = j;
-  }
-  for(e = n; e >= 0; e--)              /* place elements in lists */
-  {
-    if(nv[e] <= 0) continue;         /* skip unless e is an element */
-    if(Cp[e] != -1)
-    {
-      next[e] = head[Cp[e]];      /* place e in list of its parent */
-      head[Cp[e]] = e;
-    }
-  }
-  for(k = 0, i = 0; i <= n; i++)       /* postorder the assembly tree */
-  {
-    if(Cp[i] == -1) k = internal::cs_tdfs<StorageIndex>(i, k, head, next, perm.indices().data(), w);
-  }
-  
-  perm.indices().conservativeResize(n);
-}
-
-} // namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_AMD_H
diff --git a/phonelibs/eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h b/phonelibs/eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h
deleted file mode 100644
index 933cd564bc7d7a..00000000000000
--- a/phonelibs/eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h
+++ /dev/null
@@ -1,1843 +0,0 @@
-// // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Desire Nuentsa Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// This file is modified from the colamd/symamd library. The copyright is below
-
-//   The authors of the code itself are Stefan I. Larimore and Timothy A.
-//   Davis (davis@cise.ufl.edu), University of Florida.  The algorithm was
-//   developed in collaboration with John Gilbert, Xerox PARC, and Esmond
-//   Ng, Oak Ridge National Laboratory.
-// 
-//     Date:
-// 
-//   September 8, 2003.  Version 2.3.
-// 
-//     Acknowledgements:
-// 
-//   This work was supported by the National Science Foundation, under
-//   grants DMS-9504974 and DMS-9803599.
-// 
-//     Notice:
-// 
-//   Copyright (c) 1998-2003 by the University of Florida.
-//   All Rights Reserved.
-// 
-//   THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
-//   EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
-// 
-//   Permission is hereby granted to use, copy, modify, and/or distribute
-//   this program, provided that the Copyright, this License, and the
-//   Availability of the original version is retained on all copies and made
-//   accessible to the end-user of any code or package that includes COLAMD
-//   or any modified version of COLAMD. 
-// 
-//     Availability:
-// 
-//   The colamd/symamd library is available at
-// 
-//       http://www.suitesparse.com
-
-  
-#ifndef EIGEN_COLAMD_H
-#define EIGEN_COLAMD_H
-
-namespace internal {
-/* Ensure that debugging is turned off: */
-#ifndef COLAMD_NDEBUG
-#define COLAMD_NDEBUG
-#endif /* NDEBUG */
-/* ========================================================================== */
-/* === Knob and statistics definitions ====================================== */
-/* ========================================================================== */
-
-/* size of the knobs [ ] array.  Only knobs [0..1] are currently used. */
-#define COLAMD_KNOBS 20
-
-/* number of output statistics.  Only stats [0..6] are currently used. */
-#define COLAMD_STATS 20 
-
-/* knobs [0] and stats [0]: dense row knob and output statistic. */
-#define COLAMD_DENSE_ROW 0
-
-/* knobs [1] and stats [1]: dense column knob and output statistic. */
-#define COLAMD_DENSE_COL 1
-
-/* stats [2]: memory defragmentation count output statistic */
-#define COLAMD_DEFRAG_COUNT 2
-
-/* stats [3]: colamd status:  zero OK, > 0 warning or notice, < 0 error */
-#define COLAMD_STATUS 3
-
-/* stats [4..6]: error info, or info on jumbled columns */ 
-#define COLAMD_INFO1 4
-#define COLAMD_INFO2 5
-#define COLAMD_INFO3 6
-
-/* error codes returned in stats [3]: */
-#define COLAMD_OK       (0)
-#define COLAMD_OK_BUT_JUMBLED     (1)
-#define COLAMD_ERROR_A_not_present    (-1)
-#define COLAMD_ERROR_p_not_present    (-2)
-#define COLAMD_ERROR_nrow_negative    (-3)
-#define COLAMD_ERROR_ncol_negative    (-4)
-#define COLAMD_ERROR_nnz_negative   (-5)
-#define COLAMD_ERROR_p0_nonzero     (-6)
-#define COLAMD_ERROR_A_too_small    (-7)
-#define COLAMD_ERROR_col_length_negative  (-8)
-#define COLAMD_ERROR_row_index_out_of_bounds  (-9)
-#define COLAMD_ERROR_out_of_memory    (-10)
-#define COLAMD_ERROR_internal_error   (-999)
-
-/* ========================================================================== */
-/* === Definitions ========================================================== */
-/* ========================================================================== */
-
-#define ONES_COMPLEMENT(r) (-(r)-1)
-
-/* -------------------------------------------------------------------------- */
-
-#define COLAMD_EMPTY (-1)
-
-/* Row and column status */
-#define ALIVE (0)
-#define DEAD  (-1)
-
-/* Column status */
-#define DEAD_PRINCIPAL    (-1)
-#define DEAD_NON_PRINCIPAL  (-2)
-
-/* Macros for row and column status update and checking. */
-#define ROW_IS_DEAD(r)      ROW_IS_MARKED_DEAD (Row[r].shared2.mark)
-#define ROW_IS_MARKED_DEAD(row_mark)  (row_mark < ALIVE)
-#define ROW_IS_ALIVE(r)     (Row [r].shared2.mark >= ALIVE)
-#define COL_IS_DEAD(c)      (Col [c].start < ALIVE)
-#define COL_IS_ALIVE(c)     (Col [c].start >= ALIVE)
-#define COL_IS_DEAD_PRINCIPAL(c)  (Col [c].start == DEAD_PRINCIPAL)
-#define KILL_ROW(r)     { Row [r].shared2.mark = DEAD ; }
-#define KILL_PRINCIPAL_COL(c)   { Col [c].start = DEAD_PRINCIPAL ; }
-#define KILL_NON_PRINCIPAL_COL(c) { Col [c].start = DEAD_NON_PRINCIPAL ; }
-
-/* ========================================================================== */
-/* === Colamd reporting mechanism =========================================== */
-/* ========================================================================== */
-
-// == Row and Column structures ==
-template <typename IndexType>
-struct colamd_col
-{
-  IndexType start ;   /* index for A of first row in this column, or DEAD */
-  /* if column is dead */
-  IndexType length ;  /* number of rows in this column */
-  union
-  {
-    IndexType thickness ; /* number of original columns represented by this */
-    /* col, if the column is alive */
-    IndexType parent ;  /* parent in parent tree super-column structure, if */
-    /* the column is dead */
-  } shared1 ;
-  union
-  {
-    IndexType score ; /* the score used to maintain heap, if col is alive */
-    IndexType order ; /* pivot ordering of this column, if col is dead */
-  } shared2 ;
-  union
-  {
-    IndexType headhash ;  /* head of a hash bucket, if col is at the head of */
-    /* a degree list */
-    IndexType hash ;  /* hash value, if col is not in a degree list */
-    IndexType prev ;  /* previous column in degree list, if col is in a */
-    /* degree list (but not at the head of a degree list) */
-  } shared3 ;
-  union
-  {
-    IndexType degree_next ; /* next column, if col is in a degree list */
-    IndexType hash_next ;   /* next column, if col is in a hash list */
-  } shared4 ;
-  
-};
- 
-template <typename IndexType>
-struct Colamd_Row
-{
-  IndexType start ;   /* index for A of first col in this row */
-  IndexType length ;  /* number of principal columns in this row */
-  union
-  {
-    IndexType degree ;  /* number of principal & non-principal columns in row */
-    IndexType p ;   /* used as a row pointer in init_rows_cols () */
-  } shared1 ;
-  union
-  {
-    IndexType mark ;  /* for computing set differences and marking dead rows*/
-    IndexType first_column ;/* first column in row (used in garbage collection) */
-  } shared2 ;
-  
-};
- 
-/* ========================================================================== */
-/* === Colamd recommended memory size ======================================= */
-/* ========================================================================== */
- 
-/*
-  The recommended length Alen of the array A passed to colamd is given by
-  the COLAMD_RECOMMENDED (nnz, n_row, n_col) macro.  It returns -1 if any
-  argument is negative.  2*nnz space is required for the row and column
-  indices of the matrix. colamd_c (n_col) + colamd_r (n_row) space is
-  required for the Col and Row arrays, respectively, which are internal to
-  colamd.  An additional n_col space is the minimal amount of "elbow room",
-  and nnz/5 more space is recommended for run time efficiency.
-  
-  This macro is not needed when using symamd.
-  
-  Explicit typecast to IndexType added Sept. 23, 2002, COLAMD version 2.2, to avoid
-  gcc -pedantic warning messages.
-*/
-template <typename IndexType>
-inline IndexType colamd_c(IndexType n_col) 
-{ return IndexType( ((n_col) + 1) * sizeof (colamd_col<IndexType>) / sizeof (IndexType) ) ; }
-
-template <typename IndexType>
-inline IndexType  colamd_r(IndexType n_row)
-{ return IndexType(((n_row) + 1) * sizeof (Colamd_Row<IndexType>) / sizeof (IndexType)); }
-
-// Prototypes of non-user callable routines
-template <typename IndexType>
-static IndexType init_rows_cols (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> col [], IndexType A [], IndexType p [], IndexType stats[COLAMD_STATS] ); 
-
-template <typename IndexType>
-static void init_scoring (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType head [], double knobs[COLAMD_KNOBS], IndexType *p_n_row2, IndexType *p_n_col2, IndexType *p_max_deg);
-
-template <typename IndexType>
-static IndexType find_ordering (IndexType n_row, IndexType n_col, IndexType Alen, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType head [], IndexType n_col2, IndexType max_deg, IndexType pfree);
-
-template <typename IndexType>
-static void order_children (IndexType n_col, colamd_col<IndexType> Col [], IndexType p []);
-
-template <typename IndexType>
-static void detect_super_cols (colamd_col<IndexType> Col [], IndexType A [], IndexType head [], IndexType row_start, IndexType row_length ) ;
-
-template <typename IndexType>
-static IndexType garbage_collection (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType *pfree) ;
-
-template <typename IndexType>
-static inline  IndexType clear_mark (IndexType n_row, Colamd_Row<IndexType> Row [] ) ;
-
-/* === No debugging ========================================================= */
-
-#define COLAMD_DEBUG0(params) ;
-#define COLAMD_DEBUG1(params) ;
-#define COLAMD_DEBUG2(params) ;
-#define COLAMD_DEBUG3(params) ;
-#define COLAMD_DEBUG4(params) ;
-
-#define COLAMD_ASSERT(expression) ((void) 0)
-
-
-/**
- * \brief Returns the recommended value of Alen 
- * 
- * Returns recommended value of Alen for use by colamd.  
- * Returns -1 if any input argument is negative.  
- * The use of this routine or macro is optional.  
- * Note that the macro uses its arguments   more than once, 
- * so be careful for side effects, if you pass expressions as arguments to COLAMD_RECOMMENDED.  
- * 
- * \param nnz nonzeros in A
- * \param n_row number of rows in A
- * \param n_col number of columns in A
- * \return recommended value of Alen for use by colamd
- */
-template <typename IndexType>
-inline IndexType colamd_recommended ( IndexType nnz, IndexType n_row, IndexType n_col)
-{
-  if ((nnz) < 0 || (n_row) < 0 || (n_col) < 0)
-    return (-1);
-  else
-    return (2 * (nnz) + colamd_c (n_col) + colamd_r (n_row) + (n_col) + ((nnz) / 5)); 
-}
-
-/**
- * \brief set default parameters  The use of this routine is optional.
- * 
- * Colamd: rows with more than (knobs [COLAMD_DENSE_ROW] * n_col)
- * entries are removed prior to ordering.  Columns with more than
- * (knobs [COLAMD_DENSE_COL] * n_row) entries are removed prior to
- * ordering, and placed last in the output column ordering. 
- *
- * COLAMD_DENSE_ROW and COLAMD_DENSE_COL are defined as 0 and 1,
- * respectively, in colamd.h.  Default values of these two knobs
- * are both 0.5.  Currently, only knobs [0] and knobs [1] are
- * used, but future versions may use more knobs.  If so, they will
- * be properly set to their defaults by the future version of
- * colamd_set_defaults, so that the code that calls colamd will
- * not need to change, assuming that you either use
- * colamd_set_defaults, or pass a (double *) NULL pointer as the
- * knobs array to colamd or symamd.
- * 
- * \param knobs parameter settings for colamd
- */
-
-static inline void colamd_set_defaults(double knobs[COLAMD_KNOBS])
-{
-  /* === Local variables ================================================== */
-  
-  int i ;
-
-  if (!knobs)
-  {
-    return ;      /* no knobs to initialize */
-  }
-  for (i = 0 ; i < COLAMD_KNOBS ; i++)
-  {
-    knobs [i] = 0 ;
-  }
-  knobs [COLAMD_DENSE_ROW] = 0.5 ;  /* ignore rows over 50% dense */
-  knobs [COLAMD_DENSE_COL] = 0.5 ;  /* ignore columns over 50% dense */
-}
-
-/** 
- * \brief  Computes a column ordering using the column approximate minimum degree ordering
- * 
- * Computes a column ordering (Q) of A such that P(AQ)=LU or
- * (AQ)'AQ=LL' have less fill-in and require fewer floating point
- * operations than factorizing the unpermuted matrix A or A'A,
- * respectively.
- * 
- * 
- * \param n_row number of rows in A
- * \param n_col number of columns in A
- * \param Alen, size of the array A
- * \param A row indices of the matrix, of size ALen
- * \param p column pointers of A, of size n_col+1
- * \param knobs parameter settings for colamd
- * \param stats colamd output statistics and error codes
- */
-template <typename IndexType>
-static bool colamd(IndexType n_row, IndexType n_col, IndexType Alen, IndexType *A, IndexType *p, double knobs[COLAMD_KNOBS], IndexType stats[COLAMD_STATS])
-{
-  /* === Local variables ================================================== */
-  
-  IndexType i ;     /* loop index */
-  IndexType nnz ;     /* nonzeros in A */
-  IndexType Row_size ;    /* size of Row [], in integers */
-  IndexType Col_size ;    /* size of Col [], in integers */
-  IndexType need ;      /* minimum required length of A */
-  Colamd_Row<IndexType> *Row ;   /* pointer into A of Row [0..n_row] array */
-  colamd_col<IndexType> *Col ;   /* pointer into A of Col [0..n_col] array */
-  IndexType n_col2 ;    /* number of non-dense, non-empty columns */
-  IndexType n_row2 ;    /* number of non-dense, non-empty rows */
-  IndexType ngarbage ;    /* number of garbage collections performed */
-  IndexType max_deg ;   /* maximum row degree */
-  double default_knobs [COLAMD_KNOBS] ; /* default knobs array */
-  
-  
-  /* === Check the input arguments ======================================== */
-  
-  if (!stats)
-  {
-    COLAMD_DEBUG0 (("colamd: stats not present\n")) ;
-    return (false) ;
-  }
-  for (i = 0 ; i < COLAMD_STATS ; i++)
-  {
-    stats [i] = 0 ;
-  }
-  stats [COLAMD_STATUS] = COLAMD_OK ;
-  stats [COLAMD_INFO1] = -1 ;
-  stats [COLAMD_INFO2] = -1 ;
-  
-  if (!A)   /* A is not present */
-  {
-    stats [COLAMD_STATUS] = COLAMD_ERROR_A_not_present ;
-    COLAMD_DEBUG0 (("colamd: A not present\n")) ;
-    return (false) ;
-  }
-  
-  if (!p)   /* p is not present */
-  {
-    stats [COLAMD_STATUS] = COLAMD_ERROR_p_not_present ;
-    COLAMD_DEBUG0 (("colamd: p not present\n")) ;
-    return (false) ;
-  }
-  
-  if (n_row < 0)  /* n_row must be >= 0 */
-  {
-    stats [COLAMD_STATUS] = COLAMD_ERROR_nrow_negative ;
-    stats [COLAMD_INFO1] = n_row ;
-    COLAMD_DEBUG0 (("colamd: nrow negative %d\n", n_row)) ;
-    return (false) ;
-  }
-  
-  if (n_col < 0)  /* n_col must be >= 0 */
-  {
-    stats [COLAMD_STATUS] = COLAMD_ERROR_ncol_negative ;
-    stats [COLAMD_INFO1] = n_col ;
-    COLAMD_DEBUG0 (("colamd: ncol negative %d\n", n_col)) ;
-    return (false) ;
-  }
-  
-  nnz = p [n_col] ;
-  if (nnz < 0)  /* nnz must be >= 0 */
-  {
-    stats [COLAMD_STATUS] = COLAMD_ERROR_nnz_negative ;
-    stats [COLAMD_INFO1] = nnz ;
-    COLAMD_DEBUG0 (("colamd: number of entries negative %d\n", nnz)) ;
-    return (false) ;
-  }
-  
-  if (p [0] != 0)
-  {
-    stats [COLAMD_STATUS] = COLAMD_ERROR_p0_nonzero ;
-    stats [COLAMD_INFO1] = p [0] ;
-    COLAMD_DEBUG0 (("colamd: p[0] not zero %d\n", p [0])) ;
-    return (false) ;
-  }
-  
-  /* === If no knobs, set default knobs =================================== */
-  
-  if (!knobs)
-  {
-    colamd_set_defaults (default_knobs) ;
-    knobs = default_knobs ;
-  }
-  
-  /* === Allocate the Row and Col arrays from array A ===================== */
-  
-  Col_size = colamd_c (n_col) ;
-  Row_size = colamd_r (n_row) ;
-  need = 2*nnz + n_col + Col_size + Row_size ;
-  
-  if (need > Alen)
-  {
-    /* not enough space in array A to perform the ordering */
-    stats [COLAMD_STATUS] = COLAMD_ERROR_A_too_small ;
-    stats [COLAMD_INFO1] = need ;
-    stats [COLAMD_INFO2] = Alen ;
-    COLAMD_DEBUG0 (("colamd: Need Alen >= %d, given only Alen = %d\n", need,Alen));
-    return (false) ;
-  }
-  
-  Alen -= Col_size + Row_size ;
-  Col = (colamd_col<IndexType> *) &A [Alen] ;
-  Row = (Colamd_Row<IndexType> *) &A [Alen + Col_size] ;
-
-  /* === Construct the row and column data structures ===================== */
-  
-  if (!Eigen::internal::init_rows_cols (n_row, n_col, Row, Col, A, p, stats))
-  {
-    /* input matrix is invalid */
-    COLAMD_DEBUG0 (("colamd: Matrix invalid\n")) ;
-    return (false) ;
-  }
-  
-  /* === Initialize scores, kill dense rows/columns ======================= */
-
-  Eigen::internal::init_scoring (n_row, n_col, Row, Col, A, p, knobs,
-		&n_row2, &n_col2, &max_deg) ;
-  
-  /* === Order the supercolumns =========================================== */
-  
-  ngarbage = Eigen::internal::find_ordering (n_row, n_col, Alen, Row, Col, A, p,
-			    n_col2, max_deg, 2*nnz) ;
-  
-  /* === Order the non-principal columns ================================== */
-  
-  Eigen::internal::order_children (n_col, Col, p) ;
-  
-  /* === Return statistics in stats ======================================= */
-  
-  stats [COLAMD_DENSE_ROW] = n_row - n_row2 ;
-  stats [COLAMD_DENSE_COL] = n_col - n_col2 ;
-  stats [COLAMD_DEFRAG_COUNT] = ngarbage ;
-  COLAMD_DEBUG0 (("colamd: done.\n")) ; 
-  return (true) ;
-}
-
-/* ========================================================================== */
-/* === NON-USER-CALLABLE ROUTINES: ========================================== */
-/* ========================================================================== */
-
-/* There are no user-callable routines beyond this point in the file */
-
-
-/* ========================================================================== */
-/* === init_rows_cols ======================================================= */
-/* ========================================================================== */
-
-/*
-  Takes the column form of the matrix in A and creates the row form of the
-  matrix.  Also, row and column attributes are stored in the Col and Row
-  structs.  If the columns are un-sorted or contain duplicate row indices,
-  this routine will also sort and remove duplicate row indices from the
-  column form of the matrix.  Returns false if the matrix is invalid,
-  true otherwise.  Not user-callable.
-*/
-template <typename IndexType>
-static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
-  (
-    /* === Parameters ======================================================= */
-
-    IndexType n_row,      /* number of rows of A */
-    IndexType n_col,      /* number of columns of A */
-    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
-    colamd_col<IndexType> Col [],    /* of size n_col+1 */
-    IndexType A [],     /* row indices of A, of size Alen */
-    IndexType p [],     /* pointers to columns in A, of size n_col+1 */
-    IndexType stats [COLAMD_STATS]  /* colamd statistics */ 
-    )
-{
-  /* === Local variables ================================================== */
-
-  IndexType col ;     /* a column index */
-  IndexType row ;     /* a row index */
-  IndexType *cp ;     /* a column pointer */
-  IndexType *cp_end ;   /* a pointer to the end of a column */
-  IndexType *rp ;     /* a row pointer */
-  IndexType *rp_end ;   /* a pointer to the end of a row */
-  IndexType last_row ;    /* previous row */
-
-  /* === Initialize columns, and check column pointers ==================== */
-
-  for (col = 0 ; col < n_col ; col++)
-  {
-    Col [col].start = p [col] ;
-    Col [col].length = p [col+1] - p [col] ;
-
-    if ((Col [col].length) < 0) // extra parentheses to work-around gcc bug 10200
-    {
-      /* column pointers must be non-decreasing */
-      stats [COLAMD_STATUS] = COLAMD_ERROR_col_length_negative ;
-      stats [COLAMD_INFO1] = col ;
-      stats [COLAMD_INFO2] = Col [col].length ;
-      COLAMD_DEBUG0 (("colamd: col %d length %d < 0\n", col, Col [col].length)) ;
-      return (false) ;
-    }
-
-    Col [col].shared1.thickness = 1 ;
-    Col [col].shared2.score = 0 ;
-    Col [col].shared3.prev = COLAMD_EMPTY ;
-    Col [col].shared4.degree_next = COLAMD_EMPTY ;
-  }
-
-  /* p [0..n_col] no longer needed, used as "head" in subsequent routines */
-
-  /* === Scan columns, compute row degrees, and check row indices ========= */
-
-  stats [COLAMD_INFO3] = 0 ;  /* number of duplicate or unsorted row indices*/
-
-  for (row = 0 ; row < n_row ; row++)
-  {
-    Row [row].length = 0 ;
-    Row [row].shared2.mark = -1 ;
-  }
-
-  for (col = 0 ; col < n_col ; col++)
-  {
-    last_row = -1 ;
-
-    cp = &A [p [col]] ;
-    cp_end = &A [p [col+1]] ;
-
-    while (cp < cp_end)
-    {
-      row = *cp++ ;
-
-      /* make sure row indices within range */
-      if (row < 0 || row >= n_row)
-      {
-	stats [COLAMD_STATUS] = COLAMD_ERROR_row_index_out_of_bounds ;
-	stats [COLAMD_INFO1] = col ;
-	stats [COLAMD_INFO2] = row ;
-	stats [COLAMD_INFO3] = n_row ;
-	COLAMD_DEBUG0 (("colamd: row %d col %d out of bounds\n", row, col)) ;
-	return (false) ;
-      }
-
-      if (row <= last_row || Row [row].shared2.mark == col)
-      {
-	/* row index are unsorted or repeated (or both), thus col */
-	/* is jumbled.  This is a notice, not an error condition. */
-	stats [COLAMD_STATUS] = COLAMD_OK_BUT_JUMBLED ;
-	stats [COLAMD_INFO1] = col ;
-	stats [COLAMD_INFO2] = row ;
-	(stats [COLAMD_INFO3]) ++ ;
-	COLAMD_DEBUG1 (("colamd: row %d col %d unsorted/duplicate\n",row,col));
-      }
-
-      if (Row [row].shared2.mark != col)
-      {
-	Row [row].length++ ;
-      }
-      else
-      {
-	/* this is a repeated entry in the column, */
-	/* it will be removed */
-	Col [col].length-- ;
-      }
-
-      /* mark the row as having been seen in this column */
-      Row [row].shared2.mark = col ;
-
-      last_row = row ;
-    }
-  }
-
-  /* === Compute row pointers ============================================= */
-
-  /* row form of the matrix starts directly after the column */
-  /* form of matrix in A */
-  Row [0].start = p [n_col] ;
-  Row [0].shared1.p = Row [0].start ;
-  Row [0].shared2.mark = -1 ;
-  for (row = 1 ; row < n_row ; row++)
-  {
-    Row [row].start = Row [row-1].start + Row [row-1].length ;
-    Row [row].shared1.p = Row [row].start ;
-    Row [row].shared2.mark = -1 ;
-  }
-
-  /* === Create row form ================================================== */
-
-  if (stats [COLAMD_STATUS] == COLAMD_OK_BUT_JUMBLED)
-  {
-    /* if cols jumbled, watch for repeated row indices */
-    for (col = 0 ; col < n_col ; col++)
-    {
-      cp = &A [p [col]] ;
-      cp_end = &A [p [col+1]] ;
-      while (cp < cp_end)
-      {
-	row = *cp++ ;
-	if (Row [row].shared2.mark != col)
-	{
-	  A [(Row [row].shared1.p)++] = col ;
-	  Row [row].shared2.mark = col ;
-	}
-      }
-    }
-  }
-  else
-  {
-    /* if cols not jumbled, we don't need the mark (this is faster) */
-    for (col = 0 ; col < n_col ; col++)
-    {
-      cp = &A [p [col]] ;
-      cp_end = &A [p [col+1]] ;
-      while (cp < cp_end)
-      {
-	A [(Row [*cp++].shared1.p)++] = col ;
-      }
-    }
-  }
-
-  /* === Clear the row marks and set row degrees ========================== */
-
-  for (row = 0 ; row < n_row ; row++)
-  {
-    Row [row].shared2.mark = 0 ;
-    Row [row].shared1.degree = Row [row].length ;
-  }
-
-  /* === See if we need to re-create columns ============================== */
-
-  if (stats [COLAMD_STATUS] == COLAMD_OK_BUT_JUMBLED)
-  {
-    COLAMD_DEBUG0 (("colamd: reconstructing column form, matrix jumbled\n")) ;
-
-
-    /* === Compute col pointers ========================================= */
-
-    /* col form of the matrix starts at A [0]. */
-    /* Note, we may have a gap between the col form and the row */
-    /* form if there were duplicate entries, if so, it will be */
-    /* removed upon the first garbage collection */
-    Col [0].start = 0 ;
-    p [0] = Col [0].start ;
-    for (col = 1 ; col < n_col ; col++)
-    {
-      /* note that the lengths here are for pruned columns, i.e. */
-      /* no duplicate row indices will exist for these columns */
-      Col [col].start = Col [col-1].start + Col [col-1].length ;
-      p [col] = Col [col].start ;
-    }
-
-    /* === Re-create col form =========================================== */
-
-    for (row = 0 ; row < n_row ; row++)
-    {
-      rp = &A [Row [row].start] ;
-      rp_end = rp + Row [row].length ;
-      while (rp < rp_end)
-      {
-	A [(p [*rp++])++] = row ;
-      }
-    }
-  }
-
-  /* === Done.  Matrix is not (or no longer) jumbled ====================== */
-
-  return (true) ;
-}
-
-
-/* ========================================================================== */
-/* === init_scoring ========================================================= */
-/* ========================================================================== */
-
-/*
-  Kills dense or empty columns and rows, calculates an initial score for
-  each column, and places all columns in the degree lists.  Not user-callable.
-*/
-template <typename IndexType>
-static void init_scoring
-  (
-    /* === Parameters ======================================================= */
-
-    IndexType n_row,      /* number of rows of A */
-    IndexType n_col,      /* number of columns of A */
-    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
-    colamd_col<IndexType> Col [],    /* of size n_col+1 */
-    IndexType A [],     /* column form and row form of A */
-    IndexType head [],    /* of size n_col+1 */
-    double knobs [COLAMD_KNOBS],/* parameters */
-    IndexType *p_n_row2,    /* number of non-dense, non-empty rows */
-    IndexType *p_n_col2,    /* number of non-dense, non-empty columns */
-    IndexType *p_max_deg    /* maximum row degree */
-    )
-{
-  /* === Local variables ================================================== */
-
-  IndexType c ;     /* a column index */
-  IndexType r, row ;    /* a row index */
-  IndexType *cp ;     /* a column pointer */
-  IndexType deg ;     /* degree of a row or column */
-  IndexType *cp_end ;   /* a pointer to the end of a column */
-  IndexType *new_cp ;   /* new column pointer */
-  IndexType col_length ;    /* length of pruned column */
-  IndexType score ;     /* current column score */
-  IndexType n_col2 ;    /* number of non-dense, non-empty columns */
-  IndexType n_row2 ;    /* number of non-dense, non-empty rows */
-  IndexType dense_row_count ; /* remove rows with more entries than this */
-  IndexType dense_col_count ; /* remove cols with more entries than this */
-  IndexType min_score ;   /* smallest column score */
-  IndexType max_deg ;   /* maximum row degree */
-  IndexType next_col ;    /* Used to add to degree list.*/
-
-
-  /* === Extract knobs ==================================================== */
-
-  dense_row_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [COLAMD_DENSE_ROW] * n_col), n_col)) ;
-  dense_col_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [COLAMD_DENSE_COL] * n_row), n_row)) ;
-  COLAMD_DEBUG1 (("colamd: densecount: %d %d\n", dense_row_count, dense_col_count)) ;
-  max_deg = 0 ;
-  n_col2 = n_col ;
-  n_row2 = n_row ;
-
-  /* === Kill empty columns =============================================== */
-
-  /* Put the empty columns at the end in their natural order, so that LU */
-  /* factorization can proceed as far as possible. */
-  for (c = n_col-1 ; c >= 0 ; c--)
-  {
-    deg = Col [c].length ;
-    if (deg == 0)
-    {
-      /* this is a empty column, kill and order it last */
-      Col [c].shared2.order = --n_col2 ;
-      KILL_PRINCIPAL_COL (c) ;
-    }
-  }
-  COLAMD_DEBUG1 (("colamd: null columns killed: %d\n", n_col - n_col2)) ;
-
-  /* === Kill dense columns =============================================== */
-
-  /* Put the dense columns at the end, in their natural order */
-  for (c = n_col-1 ; c >= 0 ; c--)
-  {
-    /* skip any dead columns */
-    if (COL_IS_DEAD (c))
-    {
-      continue ;
-    }
-    deg = Col [c].length ;
-    if (deg > dense_col_count)
-    {
-      /* this is a dense column, kill and order it last */
-      Col [c].shared2.order = --n_col2 ;
-      /* decrement the row degrees */
-      cp = &A [Col [c].start] ;
-      cp_end = cp + Col [c].length ;
-      while (cp < cp_end)
-      {
-	Row [*cp++].shared1.degree-- ;
-      }
-      KILL_PRINCIPAL_COL (c) ;
-    }
-  }
-  COLAMD_DEBUG1 (("colamd: Dense and null columns killed: %d\n", n_col - n_col2)) ;
-
-  /* === Kill dense and empty rows ======================================== */
-
-  for (r = 0 ; r < n_row ; r++)
-  {
-    deg = Row [r].shared1.degree ;
-    COLAMD_ASSERT (deg >= 0 && deg <= n_col) ;
-    if (deg > dense_row_count || deg == 0)
-    {
-      /* kill a dense or empty row */
-      KILL_ROW (r) ;
-      --n_row2 ;
-    }
-    else
-    {
-      /* keep track of max degree of remaining rows */
-      max_deg = numext::maxi(max_deg, deg) ;
-    }
-  }
-  COLAMD_DEBUG1 (("colamd: Dense and null rows killed: %d\n", n_row - n_row2)) ;
-
-  /* === Compute initial column scores ==================================== */
-
-  /* At this point the row degrees are accurate.  They reflect the number */
-  /* of "live" (non-dense) columns in each row.  No empty rows exist. */
-  /* Some "live" columns may contain only dead rows, however.  These are */
-  /* pruned in the code below. */
-
-  /* now find the initial matlab score for each column */
-  for (c = n_col-1 ; c >= 0 ; c--)
-  {
-    /* skip dead column */
-    if (COL_IS_DEAD (c))
-    {
-      continue ;
-    }
-    score = 0 ;
-    cp = &A [Col [c].start] ;
-    new_cp = cp ;
-    cp_end = cp + Col [c].length ;
-    while (cp < cp_end)
-    {
-      /* get a row */
-      row = *cp++ ;
-      /* skip if dead */
-      if (ROW_IS_DEAD (row))
-      {
-	continue ;
-      }
-      /* compact the column */
-      *new_cp++ = row ;
-      /* add row's external degree */
-      score += Row [row].shared1.degree - 1 ;
-      /* guard against integer overflow */
-      score = numext::mini(score, n_col) ;
-    }
-    /* determine pruned column length */
-    col_length = (IndexType) (new_cp - &A [Col [c].start]) ;
-    if (col_length == 0)
-    {
-      /* a newly-made null column (all rows in this col are "dense" */
-      /* and have already been killed) */
-      COLAMD_DEBUG2 (("Newly null killed: %d\n", c)) ;
-      Col [c].shared2.order = --n_col2 ;
-      KILL_PRINCIPAL_COL (c) ;
-    }
-    else
-    {
-      /* set column length and set score */
-      COLAMD_ASSERT (score >= 0) ;
-      COLAMD_ASSERT (score <= n_col) ;
-      Col [c].length = col_length ;
-      Col [c].shared2.score = score ;
-    }
-  }
-  COLAMD_DEBUG1 (("colamd: Dense, null, and newly-null columns killed: %d\n",
-		  n_col-n_col2)) ;
-
-  /* At this point, all empty rows and columns are dead.  All live columns */
-  /* are "clean" (containing no dead rows) and simplicial (no supercolumns */
-  /* yet).  Rows may contain dead columns, but all live rows contain at */
-  /* least one live column. */
-
-  /* === Initialize degree lists ========================================== */
-
-
-  /* clear the hash buckets */
-  for (c = 0 ; c <= n_col ; c++)
-  {
-    head [c] = COLAMD_EMPTY ;
-  }
-  min_score = n_col ;
-  /* place in reverse order, so low column indices are at the front */
-  /* of the lists.  This is to encourage natural tie-breaking */
-  for (c = n_col-1 ; c >= 0 ; c--)
-  {
-    /* only add principal columns to degree lists */
-    if (COL_IS_ALIVE (c))
-    {
-      COLAMD_DEBUG4 (("place %d score %d minscore %d ncol %d\n",
-		      c, Col [c].shared2.score, min_score, n_col)) ;
-
-      /* === Add columns score to DList =============================== */
-
-      score = Col [c].shared2.score ;
-
-      COLAMD_ASSERT (min_score >= 0) ;
-      COLAMD_ASSERT (min_score <= n_col) ;
-      COLAMD_ASSERT (score >= 0) ;
-      COLAMD_ASSERT (score <= n_col) ;
-      COLAMD_ASSERT (head [score] >= COLAMD_EMPTY) ;
-
-      /* now add this column to dList at proper score location */
-      next_col = head [score] ;
-      Col [c].shared3.prev = COLAMD_EMPTY ;
-      Col [c].shared4.degree_next = next_col ;
-
-      /* if there already was a column with the same score, set its */
-      /* previous pointer to this new column */
-      if (next_col != COLAMD_EMPTY)
-      {
-	Col [next_col].shared3.prev = c ;
-      }
-      head [score] = c ;
-
-      /* see if this score is less than current min */
-      min_score = numext::mini(min_score, score) ;
-
-
-    }
-  }
-
-
-  /* === Return number of remaining columns, and max row degree =========== */
-
-  *p_n_col2 = n_col2 ;
-  *p_n_row2 = n_row2 ;
-  *p_max_deg = max_deg ;
-}
-
-
-/* ========================================================================== */
-/* === find_ordering ======================================================== */
-/* ========================================================================== */
-
-/*
-  Order the principal columns of the supercolumn form of the matrix
-  (no supercolumns on input).  Uses a minimum approximate column minimum
-  degree ordering method.  Not user-callable.
-*/
-template <typename IndexType>
-static IndexType find_ordering /* return the number of garbage collections */
-  (
-    /* === Parameters ======================================================= */
-
-    IndexType n_row,      /* number of rows of A */
-    IndexType n_col,      /* number of columns of A */
-    IndexType Alen,     /* size of A, 2*nnz + n_col or larger */
-    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
-    colamd_col<IndexType> Col [],    /* of size n_col+1 */
-    IndexType A [],     /* column form and row form of A */
-    IndexType head [],    /* of size n_col+1 */
-    IndexType n_col2,     /* Remaining columns to order */
-    IndexType max_deg,    /* Maximum row degree */
-    IndexType pfree     /* index of first free slot (2*nnz on entry) */
-    )
-{
-  /* === Local variables ================================================== */
-
-  IndexType k ;     /* current pivot ordering step */
-  IndexType pivot_col ;   /* current pivot column */
-  IndexType *cp ;     /* a column pointer */
-  IndexType *rp ;     /* a row pointer */
-  IndexType pivot_row ;   /* current pivot row */
-  IndexType *new_cp ;   /* modified column pointer */
-  IndexType *new_rp ;   /* modified row pointer */
-  IndexType pivot_row_start ; /* pointer to start of pivot row */
-  IndexType pivot_row_degree ;  /* number of columns in pivot row */
-  IndexType pivot_row_length ;  /* number of supercolumns in pivot row */
-  IndexType pivot_col_score ; /* score of pivot column */
-  IndexType needed_memory ;   /* free space needed for pivot row */
-  IndexType *cp_end ;   /* pointer to the end of a column */
-  IndexType *rp_end ;   /* pointer to the end of a row */
-  IndexType row ;     /* a row index */
-  IndexType col ;     /* a column index */
-  IndexType max_score ;   /* maximum possible score */
-  IndexType cur_score ;   /* score of current column */
-  unsigned int hash ;   /* hash value for supernode detection */
-  IndexType head_column ;   /* head of hash bucket */
-  IndexType first_col ;   /* first column in hash bucket */
-  IndexType tag_mark ;    /* marker value for mark array */
-  IndexType row_mark ;    /* Row [row].shared2.mark */
-  IndexType set_difference ;  /* set difference size of row with pivot row */
-  IndexType min_score ;   /* smallest column score */
-  IndexType col_thickness ;   /* "thickness" (no. of columns in a supercol) */
-  IndexType max_mark ;    /* maximum value of tag_mark */
-  IndexType pivot_col_thickness ; /* number of columns represented by pivot col */
-  IndexType prev_col ;    /* Used by Dlist operations. */
-  IndexType next_col ;    /* Used by Dlist operations. */
-  IndexType ngarbage ;    /* number of garbage collections performed */
-
-
-  /* === Initialization and clear mark ==================================== */
-
-  max_mark = INT_MAX - n_col ;  /* INT_MAX defined in <limits.h> */
-  tag_mark = Eigen::internal::clear_mark (n_row, Row) ;
-  min_score = 0 ;
-  ngarbage = 0 ;
-  COLAMD_DEBUG1 (("colamd: Ordering, n_col2=%d\n", n_col2)) ;
-
-  /* === Order the columns ================================================ */
-
-  for (k = 0 ; k < n_col2 ; /* 'k' is incremented below */)
-  {
-
-    /* === Select pivot column, and order it ============================ */
-
-    /* make sure degree list isn't empty */
-    COLAMD_ASSERT (min_score >= 0) ;
-    COLAMD_ASSERT (min_score <= n_col) ;
-    COLAMD_ASSERT (head [min_score] >= COLAMD_EMPTY) ;
-
-    /* get pivot column from head of minimum degree list */
-    while (head [min_score] == COLAMD_EMPTY && min_score < n_col)
-    {
-      min_score++ ;
-    }
-    pivot_col = head [min_score] ;
-    COLAMD_ASSERT (pivot_col >= 0 && pivot_col <= n_col) ;
-    next_col = Col [pivot_col].shared4.degree_next ;
-    head [min_score] = next_col ;
-    if (next_col != COLAMD_EMPTY)
-    {
-      Col [next_col].shared3.prev = COLAMD_EMPTY ;
-    }
-
-    COLAMD_ASSERT (COL_IS_ALIVE (pivot_col)) ;
-    COLAMD_DEBUG3 (("Pivot col: %d\n", pivot_col)) ;
-
-    /* remember score for defrag check */
-    pivot_col_score = Col [pivot_col].shared2.score ;
-
-    /* the pivot column is the kth column in the pivot order */
-    Col [pivot_col].shared2.order = k ;
-
-    /* increment order count by column thickness */
-    pivot_col_thickness = Col [pivot_col].shared1.thickness ;
-    k += pivot_col_thickness ;
-    COLAMD_ASSERT (pivot_col_thickness > 0) ;
-
-    /* === Garbage_collection, if necessary ============================= */
-
-    needed_memory = numext::mini(pivot_col_score, n_col - k) ;
-    if (pfree + needed_memory >= Alen)
-    {
-      pfree = Eigen::internal::garbage_collection (n_row, n_col, Row, Col, A, &A [pfree]) ;
-      ngarbage++ ;
-      /* after garbage collection we will have enough */
-      COLAMD_ASSERT (pfree + needed_memory < Alen) ;
-      /* garbage collection has wiped out the Row[].shared2.mark array */
-      tag_mark = Eigen::internal::clear_mark (n_row, Row) ;
-
-    }
-
-    /* === Compute pivot row pattern ==================================== */
-
-    /* get starting location for this new merged row */
-    pivot_row_start = pfree ;
-
-    /* initialize new row counts to zero */
-    pivot_row_degree = 0 ;
-
-    /* tag pivot column as having been visited so it isn't included */
-    /* in merged pivot row */
-    Col [pivot_col].shared1.thickness = -pivot_col_thickness ;
-
-    /* pivot row is the union of all rows in the pivot column pattern */
-    cp = &A [Col [pivot_col].start] ;
-    cp_end = cp + Col [pivot_col].length ;
-    while (cp < cp_end)
-    {
-      /* get a row */
-      row = *cp++ ;
-      COLAMD_DEBUG4 (("Pivot col pattern %d %d\n", ROW_IS_ALIVE (row), row)) ;
-      /* skip if row is dead */
-      if (ROW_IS_DEAD (row))
-      {
-	continue ;
-      }
-      rp = &A [Row [row].start] ;
-      rp_end = rp + Row [row].length ;
-      while (rp < rp_end)
-      {
-	/* get a column */
-	col = *rp++ ;
-	/* add the column, if alive and untagged */
-	col_thickness = Col [col].shared1.thickness ;
-	if (col_thickness > 0 && COL_IS_ALIVE (col))
-	{
-	  /* tag column in pivot row */
-	  Col [col].shared1.thickness = -col_thickness ;
-	  COLAMD_ASSERT (pfree < Alen) ;
-	  /* place column in pivot row */
-	  A [pfree++] = col ;
-	  pivot_row_degree += col_thickness ;
-	}
-      }
-    }
-
-    /* clear tag on pivot column */
-    Col [pivot_col].shared1.thickness = pivot_col_thickness ;
-    max_deg = numext::maxi(max_deg, pivot_row_degree) ;
-
-
-    /* === Kill all rows used to construct pivot row ==================== */
-
-    /* also kill pivot row, temporarily */
-    cp = &A [Col [pivot_col].start] ;
-    cp_end = cp + Col [pivot_col].length ;
-    while (cp < cp_end)
-    {
-      /* may be killing an already dead row */
-      row = *cp++ ;
-      COLAMD_DEBUG3 (("Kill row in pivot col: %d\n", row)) ;
-      KILL_ROW (row) ;
-    }
-
-    /* === Select a row index to use as the new pivot row =============== */
-
-    pivot_row_length = pfree - pivot_row_start ;
-    if (pivot_row_length > 0)
-    {
-      /* pick the "pivot" row arbitrarily (first row in col) */
-      pivot_row = A [Col [pivot_col].start] ;
-      COLAMD_DEBUG3 (("Pivotal row is %d\n", pivot_row)) ;
-    }
-    else
-    {
-      /* there is no pivot row, since it is of zero length */
-      pivot_row = COLAMD_EMPTY ;
-      COLAMD_ASSERT (pivot_row_length == 0) ;
-    }
-    COLAMD_ASSERT (Col [pivot_col].length > 0 || pivot_row_length == 0) ;
-
-    /* === Approximate degree computation =============================== */
-
-    /* Here begins the computation of the approximate degree.  The column */
-    /* score is the sum of the pivot row "length", plus the size of the */
-    /* set differences of each row in the column minus the pattern of the */
-    /* pivot row itself.  The column ("thickness") itself is also */
-    /* excluded from the column score (we thus use an approximate */
-    /* external degree). */
-
-    /* The time taken by the following code (compute set differences, and */
-    /* add them up) is proportional to the size of the data structure */
-    /* being scanned - that is, the sum of the sizes of each column in */
-    /* the pivot row.  Thus, the amortized time to compute a column score */
-    /* is proportional to the size of that column (where size, in this */
-    /* context, is the column "length", or the number of row indices */
-    /* in that column).  The number of row indices in a column is */
-    /* monotonically non-decreasing, from the length of the original */
-    /* column on input to colamd. */
-
-    /* === Compute set differences ====================================== */
-
-    COLAMD_DEBUG3 (("** Computing set differences phase. **\n")) ;
-
-    /* pivot row is currently dead - it will be revived later. */
-
-    COLAMD_DEBUG3 (("Pivot row: ")) ;
-    /* for each column in pivot row */
-    rp = &A [pivot_row_start] ;
-    rp_end = rp + pivot_row_length ;
-    while (rp < rp_end)
-    {
-      col = *rp++ ;
-      COLAMD_ASSERT (COL_IS_ALIVE (col) && col != pivot_col) ;
-      COLAMD_DEBUG3 (("Col: %d\n", col)) ;
-
-      /* clear tags used to construct pivot row pattern */
-      col_thickness = -Col [col].shared1.thickness ;
-      COLAMD_ASSERT (col_thickness > 0) ;
-      Col [col].shared1.thickness = col_thickness ;
-
-      /* === Remove column from degree list =========================== */
-
-      cur_score = Col [col].shared2.score ;
-      prev_col = Col [col].shared3.prev ;
-      next_col = Col [col].shared4.degree_next ;
-      COLAMD_ASSERT (cur_score >= 0) ;
-      COLAMD_ASSERT (cur_score <= n_col) ;
-      COLAMD_ASSERT (cur_score >= COLAMD_EMPTY) ;
-      if (prev_col == COLAMD_EMPTY)
-      {
-	head [cur_score] = next_col ;
-      }
-      else
-      {
-	Col [prev_col].shared4.degree_next = next_col ;
-      }
-      if (next_col != COLAMD_EMPTY)
-      {
-	Col [next_col].shared3.prev = prev_col ;
-      }
-
-      /* === Scan the column ========================================== */
-
-      cp = &A [Col [col].start] ;
-      cp_end = cp + Col [col].length ;
-      while (cp < cp_end)
-      {
-	/* get a row */
-	row = *cp++ ;
-	row_mark = Row [row].shared2.mark ;
-	/* skip if dead */
-	if (ROW_IS_MARKED_DEAD (row_mark))
-	{
-	  continue ;
-	}
-	COLAMD_ASSERT (row != pivot_row) ;
-	set_difference = row_mark - tag_mark ;
-	/* check if the row has been seen yet */
-	if (set_difference < 0)
-	{
-	  COLAMD_ASSERT (Row [row].shared1.degree <= max_deg) ;
-	  set_difference = Row [row].shared1.degree ;
-	}
-	/* subtract column thickness from this row's set difference */
-	set_difference -= col_thickness ;
-	COLAMD_ASSERT (set_difference >= 0) ;
-	/* absorb this row if the set difference becomes zero */
-	if (set_difference == 0)
-	{
-	  COLAMD_DEBUG3 (("aggressive absorption. Row: %d\n", row)) ;
-	  KILL_ROW (row) ;
-	}
-	else
-	{
-	  /* save the new mark */
-	  Row [row].shared2.mark = set_difference + tag_mark ;
-	}
-      }
-    }
-
-
-    /* === Add up set differences for each column ======================= */
-
-    COLAMD_DEBUG3 (("** Adding set differences phase. **\n")) ;
-
-    /* for each column in pivot row */
-    rp = &A [pivot_row_start] ;
-    rp_end = rp + pivot_row_length ;
-    while (rp < rp_end)
-    {
-      /* get a column */
-      col = *rp++ ;
-      COLAMD_ASSERT (COL_IS_ALIVE (col) && col != pivot_col) ;
-      hash = 0 ;
-      cur_score = 0 ;
-      cp = &A [Col [col].start] ;
-      /* compact the column */
-      new_cp = cp ;
-      cp_end = cp + Col [col].length ;
-
-      COLAMD_DEBUG4 (("Adding set diffs for Col: %d.\n", col)) ;
-
-      while (cp < cp_end)
-      {
-	/* get a row */
-	row = *cp++ ;
-	COLAMD_ASSERT(row >= 0 && row < n_row) ;
-	row_mark = Row [row].shared2.mark ;
-	/* skip if dead */
-	if (ROW_IS_MARKED_DEAD (row_mark))
-	{
-	  continue ;
-	}
-	COLAMD_ASSERT (row_mark > tag_mark) ;
-	/* compact the column */
-	*new_cp++ = row ;
-	/* compute hash function */
-	hash += row ;
-	/* add set difference */
-	cur_score += row_mark - tag_mark ;
-	/* integer overflow... */
-	cur_score = numext::mini(cur_score, n_col) ;
-      }
-
-      /* recompute the column's length */
-      Col [col].length = (IndexType) (new_cp - &A [Col [col].start]) ;
-
-      /* === Further mass elimination ================================= */
-
-      if (Col [col].length == 0)
-      {
-	COLAMD_DEBUG4 (("further mass elimination. Col: %d\n", col)) ;
-	/* nothing left but the pivot row in this column */
-	KILL_PRINCIPAL_COL (col) ;
-	pivot_row_degree -= Col [col].shared1.thickness ;
-	COLAMD_ASSERT (pivot_row_degree >= 0) ;
-	/* order it */
-	Col [col].shared2.order = k ;
-	/* increment order count by column thickness */
-	k += Col [col].shared1.thickness ;
-      }
-      else
-      {
-	/* === Prepare for supercolumn detection ==================== */
-
-	COLAMD_DEBUG4 (("Preparing supercol detection for Col: %d.\n", col)) ;
-
-	/* save score so far */
-	Col [col].shared2.score = cur_score ;
-
-	/* add column to hash table, for supercolumn detection */
-	hash %= n_col + 1 ;
-
-	COLAMD_DEBUG4 ((" Hash = %d, n_col = %d.\n", hash, n_col)) ;
-	COLAMD_ASSERT (hash <= n_col) ;
-
-	head_column = head [hash] ;
-	if (head_column > COLAMD_EMPTY)
-	{
-	  /* degree list "hash" is non-empty, use prev (shared3) of */
-	  /* first column in degree list as head of hash bucket */
-	  first_col = Col [head_column].shared3.headhash ;
-	  Col [head_column].shared3.headhash = col ;
-	}
-	else
-	{
-	  /* degree list "hash" is empty, use head as hash bucket */
-	  first_col = - (head_column + 2) ;
-	  head [hash] = - (col + 2) ;
-	}
-	Col [col].shared4.hash_next = first_col ;
-
-	/* save hash function in Col [col].shared3.hash */
-	Col [col].shared3.hash = (IndexType) hash ;
-	COLAMD_ASSERT (COL_IS_ALIVE (col)) ;
-      }
-    }
-
-    /* The approximate external column degree is now computed.  */
-
-    /* === Supercolumn detection ======================================== */
-
-    COLAMD_DEBUG3 (("** Supercolumn detection phase. **\n")) ;
-
-    Eigen::internal::detect_super_cols (Col, A, head, pivot_row_start, pivot_row_length) ;
-
-    /* === Kill the pivotal column ====================================== */
-
-    KILL_PRINCIPAL_COL (pivot_col) ;
-
-    /* === Clear mark =================================================== */
-
-    tag_mark += (max_deg + 1) ;
-    if (tag_mark >= max_mark)
-    {
-      COLAMD_DEBUG2 (("clearing tag_mark\n")) ;
-      tag_mark = Eigen::internal::clear_mark (n_row, Row) ;
-    }
-
-    /* === Finalize the new pivot row, and column scores ================ */
-
-    COLAMD_DEBUG3 (("** Finalize scores phase. **\n")) ;
-
-    /* for each column in pivot row */
-    rp = &A [pivot_row_start] ;
-    /* compact the pivot row */
-    new_rp = rp ;
-    rp_end = rp + pivot_row_length ;
-    while (rp < rp_end)
-    {
-      col = *rp++ ;
-      /* skip dead columns */
-      if (COL_IS_DEAD (col))
-      {
-	continue ;
-      }
-      *new_rp++ = col ;
-      /* add new pivot row to column */
-      A [Col [col].start + (Col [col].length++)] = pivot_row ;
-
-      /* retrieve score so far and add on pivot row's degree. */
-      /* (we wait until here for this in case the pivot */
-      /* row's degree was reduced due to mass elimination). */
-      cur_score = Col [col].shared2.score + pivot_row_degree ;
-
-      /* calculate the max possible score as the number of */
-      /* external columns minus the 'k' value minus the */
-      /* columns thickness */
-      max_score = n_col - k - Col [col].shared1.thickness ;
-
-      /* make the score the external degree of the union-of-rows */
-      cur_score -= Col [col].shared1.thickness ;
-
-      /* make sure score is less or equal than the max score */
-      cur_score = numext::mini(cur_score, max_score) ;
-      COLAMD_ASSERT (cur_score >= 0) ;
-
-      /* store updated score */
-      Col [col].shared2.score = cur_score ;
-
-      /* === Place column back in degree list ========================= */
-
-      COLAMD_ASSERT (min_score >= 0) ;
-      COLAMD_ASSERT (min_score <= n_col) ;
-      COLAMD_ASSERT (cur_score >= 0) ;
-      COLAMD_ASSERT (cur_score <= n_col) ;
-      COLAMD_ASSERT (head [cur_score] >= COLAMD_EMPTY) ;
-      next_col = head [cur_score] ;
-      Col [col].shared4.degree_next = next_col ;
-      Col [col].shared3.prev = COLAMD_EMPTY ;
-      if (next_col != COLAMD_EMPTY)
-      {
-	Col [next_col].shared3.prev = col ;
-      }
-      head [cur_score] = col ;
-
-      /* see if this score is less than current min */
-      min_score = numext::mini(min_score, cur_score) ;
-
-    }
-
-    /* === Resurrect the new pivot row ================================== */
-
-    if (pivot_row_degree > 0)
-    {
-      /* update pivot row length to reflect any cols that were killed */
-      /* during super-col detection and mass elimination */
-      Row [pivot_row].start  = pivot_row_start ;
-      Row [pivot_row].length = (IndexType) (new_rp - &A[pivot_row_start]) ;
-      Row [pivot_row].shared1.degree = pivot_row_degree ;
-      Row [pivot_row].shared2.mark = 0 ;
-      /* pivot row is no longer dead */
-    }
-  }
-
-  /* === All principal columns have now been ordered ====================== */
-
-  return (ngarbage) ;
-}
-
-
-/* ========================================================================== */
-/* === order_children ======================================================= */
-/* ========================================================================== */
-
-/*
-  The find_ordering routine has ordered all of the principal columns (the
-  representatives of the supercolumns).  The non-principal columns have not
-  yet been ordered.  This routine orders those columns by walking up the
-  parent tree (a column is a child of the column which absorbed it).  The
-  final permutation vector is then placed in p [0 ... n_col-1], with p [0]
-  being the first column, and p [n_col-1] being the last.  It doesn't look
-  like it at first glance, but be assured that this routine takes time linear
-  in the number of columns.  Although not immediately obvious, the time
-  taken by this routine is O (n_col), that is, linear in the number of
-  columns.  Not user-callable.
-*/
-template <typename IndexType>
-static inline  void order_children
-(
-  /* === Parameters ======================================================= */
-
-  IndexType n_col,      /* number of columns of A */
-  colamd_col<IndexType> Col [],    /* of size n_col+1 */
-  IndexType p []      /* p [0 ... n_col-1] is the column permutation*/
-  )
-{
-  /* === Local variables ================================================== */
-
-  IndexType i ;     /* loop counter for all columns */
-  IndexType c ;     /* column index */
-  IndexType parent ;    /* index of column's parent */
-  IndexType order ;     /* column's order */
-
-  /* === Order each non-principal column ================================== */
-
-  for (i = 0 ; i < n_col ; i++)
-  {
-    /* find an un-ordered non-principal column */
-    COLAMD_ASSERT (COL_IS_DEAD (i)) ;
-    if (!COL_IS_DEAD_PRINCIPAL (i) && Col [i].shared2.order == COLAMD_EMPTY)
-    {
-      parent = i ;
-      /* once found, find its principal parent */
-      do
-      {
-	parent = Col [parent].shared1.parent ;
-      } while (!COL_IS_DEAD_PRINCIPAL (parent)) ;
-
-      /* now, order all un-ordered non-principal columns along path */
-      /* to this parent.  collapse tree at the same time */
-      c = i ;
-      /* get order of parent */
-      order = Col [parent].shared2.order ;
-
-      do
-      {
-	COLAMD_ASSERT (Col [c].shared2.order == COLAMD_EMPTY) ;
-
-	/* order this column */
-	Col [c].shared2.order = order++ ;
-	/* collaps tree */
-	Col [c].shared1.parent = parent ;
-
-	/* get immediate parent of this column */
-	c = Col [c].shared1.parent ;
-
-	/* continue until we hit an ordered column.  There are */
-	/* guarranteed not to be anymore unordered columns */
-	/* above an ordered column */
-      } while (Col [c].shared2.order == COLAMD_EMPTY) ;
-
-      /* re-order the super_col parent to largest order for this group */
-      Col [parent].shared2.order = order ;
-    }
-  }
-
-  /* === Generate the permutation ========================================= */
-
-  for (c = 0 ; c < n_col ; c++)
-  {
-    p [Col [c].shared2.order] = c ;
-  }
-}
-
-
-/* ========================================================================== */
-/* === detect_super_cols ==================================================== */
-/* ========================================================================== */
-
-/*
-  Detects supercolumns by finding matches between columns in the hash buckets.
-  Check amongst columns in the set A [row_start ... row_start + row_length-1].
-  The columns under consideration are currently *not* in the degree lists,
-  and have already been placed in the hash buckets.
-
-  The hash bucket for columns whose hash function is equal to h is stored
-  as follows:
-
-  if head [h] is >= 0, then head [h] contains a degree list, so:
-
-  head [h] is the first column in degree bucket h.
-  Col [head [h]].headhash gives the first column in hash bucket h.
-
-  otherwise, the degree list is empty, and:
-
-  -(head [h] + 2) is the first column in hash bucket h.
-
-  For a column c in a hash bucket, Col [c].shared3.prev is NOT a "previous
-  column" pointer.  Col [c].shared3.hash is used instead as the hash number
-  for that column.  The value of Col [c].shared4.hash_next is the next column
-  in the same hash bucket.
-
-  Assuming no, or "few" hash collisions, the time taken by this routine is
-  linear in the sum of the sizes (lengths) of each column whose score has
-  just been computed in the approximate degree computation.
-  Not user-callable.
-*/
-template <typename IndexType>
-static void detect_super_cols
-(
-  /* === Parameters ======================================================= */
-  
-  colamd_col<IndexType> Col [],    /* of size n_col+1 */
-  IndexType A [],     /* row indices of A */
-  IndexType head [],    /* head of degree lists and hash buckets */
-  IndexType row_start,    /* pointer to set of columns to check */
-  IndexType row_length    /* number of columns to check */
-)
-{
-  /* === Local variables ================================================== */
-
-  IndexType hash ;      /* hash value for a column */
-  IndexType *rp ;     /* pointer to a row */
-  IndexType c ;     /* a column index */
-  IndexType super_c ;   /* column index of the column to absorb into */
-  IndexType *cp1 ;      /* column pointer for column super_c */
-  IndexType *cp2 ;      /* column pointer for column c */
-  IndexType length ;    /* length of column super_c */
-  IndexType prev_c ;    /* column preceding c in hash bucket */
-  IndexType i ;     /* loop counter */
-  IndexType *rp_end ;   /* pointer to the end of the row */
-  IndexType col ;     /* a column index in the row to check */
-  IndexType head_column ;   /* first column in hash bucket or degree list */
-  IndexType first_col ;   /* first column in hash bucket */
-
-  /* === Consider each column in the row ================================== */
-
-  rp = &A [row_start] ;
-  rp_end = rp + row_length ;
-  while (rp < rp_end)
-  {
-    col = *rp++ ;
-    if (COL_IS_DEAD (col))
-    {
-      continue ;
-    }
-
-    /* get hash number for this column */
-    hash = Col [col].shared3.hash ;
-    COLAMD_ASSERT (hash <= n_col) ;
-
-    /* === Get the first column in this hash bucket ===================== */
-
-    head_column = head [hash] ;
-    if (head_column > COLAMD_EMPTY)
-    {
-      first_col = Col [head_column].shared3.headhash ;
-    }
-    else
-    {
-      first_col = - (head_column + 2) ;
-    }
-
-    /* === Consider each column in the hash bucket ====================== */
-
-    for (super_c = first_col ; super_c != COLAMD_EMPTY ;
-	 super_c = Col [super_c].shared4.hash_next)
-    {
-      COLAMD_ASSERT (COL_IS_ALIVE (super_c)) ;
-      COLAMD_ASSERT (Col [super_c].shared3.hash == hash) ;
-      length = Col [super_c].length ;
-
-      /* prev_c is the column preceding column c in the hash bucket */
-      prev_c = super_c ;
-
-      /* === Compare super_c with all columns after it ================ */
-
-      for (c = Col [super_c].shared4.hash_next ;
-	   c != COLAMD_EMPTY ; c = Col [c].shared4.hash_next)
-      {
-	COLAMD_ASSERT (c != super_c) ;
-	COLAMD_ASSERT (COL_IS_ALIVE (c)) ;
-	COLAMD_ASSERT (Col [c].shared3.hash == hash) ;
-
-	/* not identical if lengths or scores are different */
-	if (Col [c].length != length ||
-	    Col [c].shared2.score != Col [super_c].shared2.score)
-	{
-	  prev_c = c ;
-	  continue ;
-	}
-
-	/* compare the two columns */
-	cp1 = &A [Col [super_c].start] ;
-	cp2 = &A [Col [c].start] ;
-
-	for (i = 0 ; i < length ; i++)
-	{
-	  /* the columns are "clean" (no dead rows) */
-	  COLAMD_ASSERT (ROW_IS_ALIVE (*cp1))  ;
-	  COLAMD_ASSERT (ROW_IS_ALIVE (*cp2))  ;
-	  /* row indices will same order for both supercols, */
-	  /* no gather scatter nessasary */
-	  if (*cp1++ != *cp2++)
-	  {
-	    break ;
-	  }
-	}
-
-	/* the two columns are different if the for-loop "broke" */
-	if (i != length)
-	{
-	  prev_c = c ;
-	  continue ;
-	}
-
-	/* === Got it!  two columns are identical =================== */
-
-	COLAMD_ASSERT (Col [c].shared2.score == Col [super_c].shared2.score) ;
-
-	Col [super_c].shared1.thickness += Col [c].shared1.thickness ;
-	Col [c].shared1.parent = super_c ;
-	KILL_NON_PRINCIPAL_COL (c) ;
-	/* order c later, in order_children() */
-	Col [c].shared2.order = COLAMD_EMPTY ;
-	/* remove c from hash bucket */
-	Col [prev_c].shared4.hash_next = Col [c].shared4.hash_next ;
-      }
-    }
-
-    /* === Empty this hash bucket ======================================= */
-
-    if (head_column > COLAMD_EMPTY)
-    {
-      /* corresponding degree list "hash" is not empty */
-      Col [head_column].shared3.headhash = COLAMD_EMPTY ;
-    }
-    else
-    {
-      /* corresponding degree list "hash" is empty */
-      head [hash] = COLAMD_EMPTY ;
-    }
-  }
-}
-
-
-/* ========================================================================== */
-/* === garbage_collection =================================================== */
-/* ========================================================================== */
-
-/*
-  Defragments and compacts columns and rows in the workspace A.  Used when
-  all avaliable memory has been used while performing row merging.  Returns
-  the index of the first free position in A, after garbage collection.  The
-  time taken by this routine is linear is the size of the array A, which is
-  itself linear in the number of nonzeros in the input matrix.
-  Not user-callable.
-*/
-template <typename IndexType>
-static IndexType garbage_collection  /* returns the new value of pfree */
-  (
-    /* === Parameters ======================================================= */
-    
-    IndexType n_row,      /* number of rows */
-    IndexType n_col,      /* number of columns */
-    Colamd_Row<IndexType> Row [],    /* row info */
-    colamd_col<IndexType> Col [],    /* column info */
-    IndexType A [],     /* A [0 ... Alen-1] holds the matrix */
-    IndexType *pfree      /* &A [0] ... pfree is in use */
-    )
-{
-  /* === Local variables ================================================== */
-
-  IndexType *psrc ;     /* source pointer */
-  IndexType *pdest ;    /* destination pointer */
-  IndexType j ;     /* counter */
-  IndexType r ;     /* a row index */
-  IndexType c ;     /* a column index */
-  IndexType length ;    /* length of a row or column */
-
-  /* === Defragment the columns =========================================== */
-
-  pdest = &A[0] ;
-  for (c = 0 ; c < n_col ; c++)
-  {
-    if (COL_IS_ALIVE (c))
-    {
-      psrc = &A [Col [c].start] ;
-
-      /* move and compact the column */
-      COLAMD_ASSERT (pdest <= psrc) ;
-      Col [c].start = (IndexType) (pdest - &A [0]) ;
-      length = Col [c].length ;
-      for (j = 0 ; j < length ; j++)
-      {
-	r = *psrc++ ;
-	if (ROW_IS_ALIVE (r))
-	{
-	  *pdest++ = r ;
-	}
-      }
-      Col [c].length = (IndexType) (pdest - &A [Col [c].start]) ;
-    }
-  }
-
-  /* === Prepare to defragment the rows =================================== */
-
-  for (r = 0 ; r < n_row ; r++)
-  {
-    if (ROW_IS_ALIVE (r))
-    {
-      if (Row [r].length == 0)
-      {
-	/* this row is of zero length.  cannot compact it, so kill it */
-	COLAMD_DEBUG3 (("Defrag row kill\n")) ;
-	KILL_ROW (r) ;
-      }
-      else
-      {
-	/* save first column index in Row [r].shared2.first_column */
-	psrc = &A [Row [r].start] ;
-	Row [r].shared2.first_column = *psrc ;
-	COLAMD_ASSERT (ROW_IS_ALIVE (r)) ;
-	/* flag the start of the row with the one's complement of row */
-	*psrc = ONES_COMPLEMENT (r) ;
-
-      }
-    }
-  }
-
-  /* === Defragment the rows ============================================== */
-
-  psrc = pdest ;
-  while (psrc < pfree)
-  {
-    /* find a negative number ... the start of a row */
-    if (*psrc++ < 0)
-    {
-      psrc-- ;
-      /* get the row index */
-      r = ONES_COMPLEMENT (*psrc) ;
-      COLAMD_ASSERT (r >= 0 && r < n_row) ;
-      /* restore first column index */
-      *psrc = Row [r].shared2.first_column ;
-      COLAMD_ASSERT (ROW_IS_ALIVE (r)) ;
-
-      /* move and compact the row */
-      COLAMD_ASSERT (pdest <= psrc) ;
-      Row [r].start = (IndexType) (pdest - &A [0]) ;
-      length = Row [r].length ;
-      for (j = 0 ; j < length ; j++)
-      {
-	c = *psrc++ ;
-	if (COL_IS_ALIVE (c))
-	{
-	  *pdest++ = c ;
-	}
-      }
-      Row [r].length = (IndexType) (pdest - &A [Row [r].start]) ;
-
-    }
-  }
-  /* ensure we found all the rows */
-  COLAMD_ASSERT (debug_rows == 0) ;
-
-  /* === Return the new value of pfree ==================================== */
-
-  return ((IndexType) (pdest - &A [0])) ;
-}
-
-
-/* ========================================================================== */
-/* === clear_mark =========================================================== */
-/* ========================================================================== */
-
-/*
-  Clears the Row [].shared2.mark array, and returns the new tag_mark.
-  Return value is the new tag_mark.  Not user-callable.
-*/
-template <typename IndexType>
-static inline  IndexType clear_mark  /* return the new value for tag_mark */
-  (
-      /* === Parameters ======================================================= */
-
-    IndexType n_row,    /* number of rows in A */
-    Colamd_Row<IndexType> Row [] /* Row [0 ... n_row-1].shared2.mark is set to zero */
-    )
-{
-  /* === Local variables ================================================== */
-
-  IndexType r ;
-
-  for (r = 0 ; r < n_row ; r++)
-  {
-    if (ROW_IS_ALIVE (r))
-    {
-      Row [r].shared2.mark = 0 ;
-    }
-  }
-  return (1) ;
-}
-
-
-} // namespace internal 
-#endif
diff --git a/phonelibs/eigen/Eigen/src/OrderingMethods/Ordering.h b/phonelibs/eigen/Eigen/src/OrderingMethods/Ordering.h
deleted file mode 100644
index 7ea9b14d7eb285..00000000000000
--- a/phonelibs/eigen/Eigen/src/OrderingMethods/Ordering.h
+++ /dev/null
@@ -1,157 +0,0 @@
- 
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012  Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ORDERING_H
-#define EIGEN_ORDERING_H
-
-namespace Eigen {
-  
-#include "Eigen_Colamd.h"
-
-namespace internal {
-    
-/** \internal
-  * \ingroup OrderingMethods_Module
-  * \param[in] A the input non-symmetric matrix
-  * \param[out] symmat the symmetric pattern A^T+A from the input matrix \a A.
-  * FIXME: The values should not be considered here
-  */
-template<typename MatrixType> 
-void ordering_helper_at_plus_a(const MatrixType& A, MatrixType& symmat)
-{
-  MatrixType C;
-  C = A.transpose(); // NOTE: Could be  costly
-  for (int i = 0; i < C.rows(); i++) 
-  {
-      for (typename MatrixType::InnerIterator it(C, i); it; ++it)
-        it.valueRef() = 0.0;
-  }
-  symmat = C + A;
-}
-    
-}
-
-#ifndef EIGEN_MPL2_ONLY
-
-/** \ingroup OrderingMethods_Module
-  * \class AMDOrdering
-  *
-  * Functor computing the \em approximate \em minimum \em degree ordering
-  * If the matrix is not structurally symmetric, an ordering of A^T+A is computed
-  * \tparam  StorageIndex The type of indices of the matrix 
-  * \sa COLAMDOrdering
-  */
-template <typename StorageIndex>
-class AMDOrdering
-{
-  public:
-    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
-    
-    /** Compute the permutation vector from a sparse matrix
-     * This routine is much faster if the input matrix is column-major     
-     */
-    template <typename MatrixType>
-    void operator()(const MatrixType& mat, PermutationType& perm)
-    {
-      // Compute the symmetric pattern
-      SparseMatrix<typename MatrixType::Scalar, ColMajor, StorageIndex> symm;
-      internal::ordering_helper_at_plus_a(mat,symm); 
-    
-      // Call the AMD routine 
-      //m_mat.prune(keep_diag());
-      internal::minimum_degree_ordering(symm, perm);
-    }
-    
-    /** Compute the permutation with a selfadjoint matrix */
-    template <typename SrcType, unsigned int SrcUpLo> 
-    void operator()(const SparseSelfAdjointView<SrcType, SrcUpLo>& mat, PermutationType& perm)
-    { 
-      SparseMatrix<typename SrcType::Scalar, ColMajor, StorageIndex> C; C = mat;
-      
-      // Call the AMD routine 
-      // m_mat.prune(keep_diag()); //Remove the diagonal elements 
-      internal::minimum_degree_ordering(C, perm);
-    }
-};
-
-#endif // EIGEN_MPL2_ONLY
-
-/** \ingroup OrderingMethods_Module
-  * \class NaturalOrdering
-  *
-  * Functor computing the natural ordering (identity)
-  * 
-  * \note Returns an empty permutation matrix
-  * \tparam  StorageIndex The type of indices of the matrix 
-  */
-template <typename StorageIndex>
-class NaturalOrdering
-{
-  public:
-    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
-    
-    /** Compute the permutation vector from a column-major sparse matrix */
-    template <typename MatrixType>
-    void operator()(const MatrixType& /*mat*/, PermutationType& perm)
-    {
-      perm.resize(0); 
-    }
-    
-};
-
-/** \ingroup OrderingMethods_Module
-  * \class COLAMDOrdering
-  *
-  * \tparam  StorageIndex The type of indices of the matrix 
-  * 
-  * Functor computing the \em column \em approximate \em minimum \em degree ordering 
-  * The matrix should be in column-major and \b compressed format (see SparseMatrix::makeCompressed()).
-  */
-template<typename StorageIndex>
-class COLAMDOrdering
-{
-  public:
-    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType; 
-    typedef Matrix<StorageIndex, Dynamic, 1> IndexVector;
-    
-    /** Compute the permutation vector \a perm form the sparse matrix \a mat
-      * \warning The input sparse matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
-      */
-    template <typename MatrixType>
-    void operator() (const MatrixType& mat, PermutationType& perm)
-    {
-      eigen_assert(mat.isCompressed() && "COLAMDOrdering requires a sparse matrix in compressed mode. Call .makeCompressed() before passing it to COLAMDOrdering");
-      
-      StorageIndex m = StorageIndex(mat.rows());
-      StorageIndex n = StorageIndex(mat.cols());
-      StorageIndex nnz = StorageIndex(mat.nonZeros());
-      // Get the recommended value of Alen to be used by colamd
-      StorageIndex Alen = internal::colamd_recommended(nnz, m, n); 
-      // Set the default parameters
-      double knobs [COLAMD_KNOBS]; 
-      StorageIndex stats [COLAMD_STATS];
-      internal::colamd_set_defaults(knobs);
-      
-      IndexVector p(n+1), A(Alen); 
-      for(StorageIndex i=0; i <= n; i++)   p(i) = mat.outerIndexPtr()[i];
-      for(StorageIndex i=0; i < nnz; i++)  A(i) = mat.innerIndexPtr()[i];
-      // Call Colamd routine to compute the ordering 
-      StorageIndex info = internal::colamd(m, n, Alen, A.data(), p.data(), knobs, stats); 
-      EIGEN_UNUSED_VARIABLE(info);
-      eigen_assert( info && "COLAMD failed " );
-      
-      perm.resize(n);
-      for (StorageIndex i = 0; i < n; i++) perm.indices()(p(i)) = i;
-    }
-};
-
-} // end namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h b/phonelibs/eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h
deleted file mode 100644
index d2ebfd7bbe3b0a..00000000000000
--- a/phonelibs/eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h
+++ /dev/null
@@ -1,678 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PASTIXSUPPORT_H
-#define EIGEN_PASTIXSUPPORT_H
-
-namespace Eigen { 
-
-#if defined(DCOMPLEX)
-  #define PASTIX_COMPLEX  COMPLEX
-  #define PASTIX_DCOMPLEX DCOMPLEX
-#else
-  #define PASTIX_COMPLEX  std::complex<float>
-  #define PASTIX_DCOMPLEX std::complex<double>
-#endif
-
-/** \ingroup PaStiXSupport_Module
-  * \brief Interface to the PaStix solver
-  * 
-  * This class is used to solve the linear systems A.X = B via the PaStix library. 
-  * The matrix can be either real or complex, symmetric or not.
-  *
-  * \sa TutorialSparseDirectSolvers
-  */
-template<typename _MatrixType, bool IsStrSym = false> class PastixLU;
-template<typename _MatrixType, int Options> class PastixLLT;
-template<typename _MatrixType, int Options> class PastixLDLT;
-
-namespace internal
-{
-    
-  template<class Pastix> struct pastix_traits;
-
-  template<typename _MatrixType>
-  struct pastix_traits< PastixLU<_MatrixType> >
-  {
-    typedef _MatrixType MatrixType;
-    typedef typename _MatrixType::Scalar Scalar;
-    typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::StorageIndex StorageIndex;
-  };
-
-  template<typename _MatrixType, int Options>
-  struct pastix_traits< PastixLLT<_MatrixType,Options> >
-  {
-    typedef _MatrixType MatrixType;
-    typedef typename _MatrixType::Scalar Scalar;
-    typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::StorageIndex StorageIndex;
-  };
-
-  template<typename _MatrixType, int Options>
-  struct pastix_traits< PastixLDLT<_MatrixType,Options> >
-  {
-    typedef _MatrixType MatrixType;
-    typedef typename _MatrixType::Scalar Scalar;
-    typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::StorageIndex StorageIndex;
-  };
-  
-  void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, float *vals, int *perm, int * invp, float *x, int nbrhs, int *iparm, double *dparm)
-  {
-    if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
-    if (nbrhs == 0) {x = NULL; nbrhs=1;}
-    s_pastix(pastix_data, pastix_comm, n, ptr, idx, vals, perm, invp, x, nbrhs, iparm, dparm); 
-  }
-  
-  void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, double *vals, int *perm, int * invp, double *x, int nbrhs, int *iparm, double *dparm)
-  {
-    if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
-    if (nbrhs == 0) {x = NULL; nbrhs=1;}
-    d_pastix(pastix_data, pastix_comm, n, ptr, idx, vals, perm, invp, x, nbrhs, iparm, dparm); 
-  }
-  
-  void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, std::complex<float> *vals, int *perm, int * invp, std::complex<float> *x, int nbrhs, int *iparm, double *dparm)
-  {
-    if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
-    if (nbrhs == 0) {x = NULL; nbrhs=1;}
-    c_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<PASTIX_COMPLEX*>(vals), perm, invp, reinterpret_cast<PASTIX_COMPLEX*>(x), nbrhs, iparm, dparm); 
-  }
-  
-  void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, std::complex<double> *vals, int *perm, int * invp, std::complex<double> *x, int nbrhs, int *iparm, double *dparm)
-  {
-    if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
-    if (nbrhs == 0) {x = NULL; nbrhs=1;}
-    z_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<PASTIX_DCOMPLEX*>(vals), perm, invp, reinterpret_cast<PASTIX_DCOMPLEX*>(x), nbrhs, iparm, dparm); 
-  }
-
-  // Convert the matrix  to Fortran-style Numbering
-  template <typename MatrixType>
-  void c_to_fortran_numbering (MatrixType& mat)
-  {
-    if ( !(mat.outerIndexPtr()[0]) ) 
-    { 
-      int i;
-      for(i = 0; i <= mat.rows(); ++i)
-        ++mat.outerIndexPtr()[i];
-      for(i = 0; i < mat.nonZeros(); ++i)
-        ++mat.innerIndexPtr()[i];
-    }
-  }
-  
-  // Convert to C-style Numbering
-  template <typename MatrixType>
-  void fortran_to_c_numbering (MatrixType& mat)
-  {
-    // Check the Numbering
-    if ( mat.outerIndexPtr()[0] == 1 ) 
-    { // Convert to C-style numbering
-      int i;
-      for(i = 0; i <= mat.rows(); ++i)
-        --mat.outerIndexPtr()[i];
-      for(i = 0; i < mat.nonZeros(); ++i)
-        --mat.innerIndexPtr()[i];
-    }
-  }
-}
-
-// This is the base class to interface with PaStiX functions. 
-// Users should not used this class directly. 
-template <class Derived>
-class PastixBase : public SparseSolverBase<Derived>
-{
-  protected:
-    typedef SparseSolverBase<Derived> Base;
-    using Base::derived;
-    using Base::m_isInitialized;
-  public:
-    using Base::_solve_impl;
-    
-    typedef typename internal::pastix_traits<Derived>::MatrixType _MatrixType;
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef SparseMatrix<Scalar, ColMajor> ColSpMatrix;
-    enum {
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    
-  public:
-    
-    PastixBase() : m_initisOk(false), m_analysisIsOk(false), m_factorizationIsOk(false), m_pastixdata(0), m_size(0)
-    {
-      init();
-    }
-    
-    ~PastixBase() 
-    {
-      clean();
-    }
-    
-    template<typename Rhs,typename Dest>
-    bool _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const;
-    
-    /** Returns a reference to the integer vector IPARM of PaStiX parameters
-      * to modify the default parameters. 
-      * The statistics related to the different phases of factorization and solve are saved here as well
-      * \sa analyzePattern() factorize()
-      */
-    Array<StorageIndex,IPARM_SIZE,1>& iparm()
-    {
-      return m_iparm; 
-    }
-    
-    /** Return a reference to a particular index parameter of the IPARM vector 
-     * \sa iparm()
-     */
-    
-    int& iparm(int idxparam)
-    {
-      return m_iparm(idxparam);
-    }
-    
-     /** Returns a reference to the double vector DPARM of PaStiX parameters 
-      * The statistics related to the different phases of factorization and solve are saved here as well
-      * \sa analyzePattern() factorize()
-      */
-    Array<double,DPARM_SIZE,1>& dparm()
-    {
-      return m_dparm; 
-    }
-    
-    
-    /** Return a reference to a particular index parameter of the DPARM vector 
-     * \sa dparm()
-     */
-    double& dparm(int idxparam)
-    {
-      return m_dparm(idxparam);
-    }
-    
-    inline Index cols() const { return m_size; }
-    inline Index rows() const { return m_size; }
-    
-     /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the PaStiX reports a problem
-      *          \c InvalidInput if the input matrix is invalid
-      *
-      * \sa iparm()          
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-    
-  protected:
-
-    // Initialize the Pastix data structure, check the matrix
-    void init(); 
-    
-    // Compute the ordering and the symbolic factorization
-    void analyzePattern(ColSpMatrix& mat);
-    
-    // Compute the numerical factorization
-    void factorize(ColSpMatrix& mat);
-    
-    // Free all the data allocated by Pastix
-    void clean()
-    {
-      eigen_assert(m_initisOk && "The Pastix structure should be allocated first"); 
-      m_iparm(IPARM_START_TASK) = API_TASK_CLEAN;
-      m_iparm(IPARM_END_TASK) = API_TASK_CLEAN;
-      internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, 0, 0, 0, (Scalar*)0,
-                             m_perm.data(), m_invp.data(), 0, 0, m_iparm.data(), m_dparm.data());
-    }
-    
-    void compute(ColSpMatrix& mat);
-    
-    int m_initisOk; 
-    int m_analysisIsOk;
-    int m_factorizationIsOk;
-    mutable ComputationInfo m_info; 
-    mutable pastix_data_t *m_pastixdata; // Data structure for pastix
-    mutable int m_comm; // The MPI communicator identifier
-    mutable Array<int,IPARM_SIZE,1> m_iparm; // integer vector for the input parameters
-    mutable Array<double,DPARM_SIZE,1> m_dparm; // Scalar vector for the input parameters
-    mutable Matrix<StorageIndex,Dynamic,1> m_perm;  // Permutation vector
-    mutable Matrix<StorageIndex,Dynamic,1> m_invp;  // Inverse permutation vector
-    mutable int m_size; // Size of the matrix 
-}; 
-
- /** Initialize the PaStiX data structure. 
-   *A first call to this function fills iparm and dparm with the default PaStiX parameters
-   * \sa iparm() dparm()
-   */
-template <class Derived>
-void PastixBase<Derived>::init()
-{
-  m_size = 0; 
-  m_iparm.setZero(IPARM_SIZE);
-  m_dparm.setZero(DPARM_SIZE);
-  
-  m_iparm(IPARM_MODIFY_PARAMETER) = API_NO;
-  pastix(&m_pastixdata, MPI_COMM_WORLD,
-         0, 0, 0, 0,
-         0, 0, 0, 1, m_iparm.data(), m_dparm.data());
-  
-  m_iparm[IPARM_MATRIX_VERIFICATION] = API_NO;
-  m_iparm[IPARM_VERBOSE]             = API_VERBOSE_NOT;
-  m_iparm[IPARM_ORDERING]            = API_ORDER_SCOTCH;
-  m_iparm[IPARM_INCOMPLETE]          = API_NO;
-  m_iparm[IPARM_OOC_LIMIT]           = 2000;
-  m_iparm[IPARM_RHS_MAKING]          = API_RHS_B;
-  m_iparm(IPARM_MATRIX_VERIFICATION) = API_NO;
-  
-  m_iparm(IPARM_START_TASK) = API_TASK_INIT;
-  m_iparm(IPARM_END_TASK) = API_TASK_INIT;
-  internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, 0, 0, 0, (Scalar*)0,
-                         0, 0, 0, 0, m_iparm.data(), m_dparm.data());
-  
-  // Check the returned error
-  if(m_iparm(IPARM_ERROR_NUMBER)) {
-    m_info = InvalidInput;
-    m_initisOk = false;
-  }
-  else { 
-    m_info = Success;
-    m_initisOk = true;
-  }
-}
-
-template <class Derived>
-void PastixBase<Derived>::compute(ColSpMatrix& mat)
-{
-  eigen_assert(mat.rows() == mat.cols() && "The input matrix should be squared");
-  
-  analyzePattern(mat);  
-  factorize(mat);
-  
-  m_iparm(IPARM_MATRIX_VERIFICATION) = API_NO;
-}
-
-
-template <class Derived>
-void PastixBase<Derived>::analyzePattern(ColSpMatrix& mat)
-{                         
-  eigen_assert(m_initisOk && "The initialization of PaSTiX failed");
-  
-  // clean previous calls
-  if(m_size>0)
-    clean();
-  
-  m_size = internal::convert_index<int>(mat.rows());
-  m_perm.resize(m_size);
-  m_invp.resize(m_size);
-  
-  m_iparm(IPARM_START_TASK) = API_TASK_ORDERING;
-  m_iparm(IPARM_END_TASK) = API_TASK_ANALYSE;
-  internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, m_size, mat.outerIndexPtr(), mat.innerIndexPtr(),
-               mat.valuePtr(), m_perm.data(), m_invp.data(), 0, 0, m_iparm.data(), m_dparm.data());
-  
-  // Check the returned error
-  if(m_iparm(IPARM_ERROR_NUMBER))
-  {
-    m_info = NumericalIssue;
-    m_analysisIsOk = false;
-  }
-  else
-  { 
-    m_info = Success;
-    m_analysisIsOk = true;
-  }
-}
-
-template <class Derived>
-void PastixBase<Derived>::factorize(ColSpMatrix& mat)
-{
-//   if(&m_cpyMat != &mat) m_cpyMat = mat;
-  eigen_assert(m_analysisIsOk && "The analysis phase should be called before the factorization phase");
-  m_iparm(IPARM_START_TASK) = API_TASK_NUMFACT;
-  m_iparm(IPARM_END_TASK) = API_TASK_NUMFACT;
-  m_size = internal::convert_index<int>(mat.rows());
-  
-  internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, m_size, mat.outerIndexPtr(), mat.innerIndexPtr(),
-               mat.valuePtr(), m_perm.data(), m_invp.data(), 0, 0, m_iparm.data(), m_dparm.data());
-  
-  // Check the returned error
-  if(m_iparm(IPARM_ERROR_NUMBER))
-  {
-    m_info = NumericalIssue;
-    m_factorizationIsOk = false;
-    m_isInitialized = false;
-  }
-  else
-  {
-    m_info = Success;
-    m_factorizationIsOk = true;
-    m_isInitialized = true;
-  }
-}
-
-/* Solve the system */
-template<typename Base>
-template<typename Rhs,typename Dest>
-bool PastixBase<Base>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const
-{
-  eigen_assert(m_isInitialized && "The matrix should be factorized first");
-  EIGEN_STATIC_ASSERT((Dest::Flags&RowMajorBit)==0,
-                     THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
-  int rhs = 1;
-  
-  x = b; /* on return, x is overwritten by the computed solution */
-  
-  for (int i = 0; i < b.cols(); i++){
-    m_iparm[IPARM_START_TASK]          = API_TASK_SOLVE;
-    m_iparm[IPARM_END_TASK]            = API_TASK_REFINE;
-  
-    internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, internal::convert_index<int>(x.rows()), 0, 0, 0,
-                           m_perm.data(), m_invp.data(), &x(0, i), rhs, m_iparm.data(), m_dparm.data());
-  }
-  
-  // Check the returned error
-  m_info = m_iparm(IPARM_ERROR_NUMBER)==0 ? Success : NumericalIssue;
-  
-  return m_iparm(IPARM_ERROR_NUMBER)==0;
-}
-
-/** \ingroup PaStiXSupport_Module
-  * \class PastixLU
-  * \brief Sparse direct LU solver based on PaStiX library
-  * 
-  * This class is used to solve the linear systems A.X = B with a supernodal LU 
-  * factorization in the PaStiX library. The matrix A should be squared and nonsingular
-  * PaStiX requires that the matrix A has a symmetric structural pattern. 
-  * This interface can symmetrize the input matrix otherwise. 
-  * The vectors or matrices X and B can be either dense or sparse.
-  * 
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam IsStrSym Indicates if the input matrix has a symmetric pattern, default is false
-  * NOTE : Note that if the analysis and factorization phase are called separately, 
-  * the input matrix will be symmetrized at each call, hence it is advised to 
-  * symmetrize the matrix in a end-user program and set \p IsStrSym to true
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class SparseLU
-  * 
-  */
-template<typename _MatrixType, bool IsStrSym>
-class PastixLU : public PastixBase< PastixLU<_MatrixType> >
-{
-  public:
-    typedef _MatrixType MatrixType;
-    typedef PastixBase<PastixLU<MatrixType> > Base;
-    typedef typename Base::ColSpMatrix ColSpMatrix;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    
-  public:
-    PastixLU() : Base()
-    {
-      init();
-    }
-    
-    explicit PastixLU(const MatrixType& matrix):Base()
-    {
-      init();
-      compute(matrix);
-    }
-    /** Compute the LU supernodal factorization of \p matrix. 
-      * iparm and dparm can be used to tune the PaStiX parameters. 
-      * see the PaStiX user's manual
-      * \sa analyzePattern() factorize()
-      */
-    void compute (const MatrixType& matrix)
-    {
-      m_structureIsUptodate = false;
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::compute(temp);
-    }
-    /** Compute the LU symbolic factorization of \p matrix using its sparsity pattern. 
-      * Several ordering methods can be used at this step. See the PaStiX user's manual. 
-      * The result of this operation can be used with successive matrices having the same pattern as \p matrix
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& matrix)
-    {
-      m_structureIsUptodate = false;
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::analyzePattern(temp);
-    }
-
-    /** Compute the LU supernodal factorization of \p matrix
-      * WARNING The matrix \p matrix should have the same structural pattern 
-      * as the same used in the analysis phase.
-      * \sa analyzePattern()
-      */ 
-    void factorize(const MatrixType& matrix)
-    {
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::factorize(temp);
-    }
-  protected:
-    
-    void init()
-    {
-      m_structureIsUptodate = false;
-      m_iparm(IPARM_SYM) = API_SYM_NO;
-      m_iparm(IPARM_FACTORIZATION) = API_FACT_LU;
-    }
-    
-    void grabMatrix(const MatrixType& matrix, ColSpMatrix& out)
-    {
-      if(IsStrSym)
-        out = matrix;
-      else
-      {
-        if(!m_structureIsUptodate)
-        {
-          // update the transposed structure
-          m_transposedStructure = matrix.transpose();
-          
-          // Set the elements of the matrix to zero 
-          for (Index j=0; j<m_transposedStructure.outerSize(); ++j) 
-            for(typename ColSpMatrix::InnerIterator it(m_transposedStructure, j); it; ++it)
-              it.valueRef() = 0.0;
-
-          m_structureIsUptodate = true;
-        }
-        
-        out = m_transposedStructure + matrix;
-      }
-      internal::c_to_fortran_numbering(out);
-    }
-    
-    using Base::m_iparm;
-    using Base::m_dparm;
-    
-    ColSpMatrix m_transposedStructure;
-    bool m_structureIsUptodate;
-};
-
-/** \ingroup PaStiXSupport_Module
-  * \class PastixLLT
-  * \brief A sparse direct supernodal Cholesky (LLT) factorization and solver based on the PaStiX library
-  * 
-  * This class is used to solve the linear systems A.X = B via a LL^T supernodal Cholesky factorization
-  * available in the PaStiX library. The matrix A should be symmetric and positive definite
-  * WARNING Selfadjoint complex matrices are not supported in the current version of PaStiX
-  * The vectors or matrices X and B can be either dense or sparse
-  * 
-  * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam UpLo The part of the matrix to use : Lower or Upper. The default is Lower as required by PaStiX
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class SimplicialLLT
-  */
-template<typename _MatrixType, int _UpLo>
-class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
-{
-  public:
-    typedef _MatrixType MatrixType;
-    typedef PastixBase<PastixLLT<MatrixType, _UpLo> > Base;
-    typedef typename Base::ColSpMatrix ColSpMatrix;
-    
-  public:
-    enum { UpLo = _UpLo };
-    PastixLLT() : Base()
-    {
-      init();
-    }
-    
-    explicit PastixLLT(const MatrixType& matrix):Base()
-    {
-      init();
-      compute(matrix);
-    }
-
-    /** Compute the L factor of the LL^T supernodal factorization of \p matrix 
-      * \sa analyzePattern() factorize()
-      */
-    void compute (const MatrixType& matrix)
-    {
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::compute(temp);
-    }
-
-     /** Compute the LL^T symbolic factorization of \p matrix using its sparsity pattern
-      * The result of this operation can be used with successive matrices having the same pattern as \p matrix
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& matrix)
-    {
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::analyzePattern(temp);
-    }
-      /** Compute the LL^T supernodal numerical factorization of \p matrix 
-        * \sa analyzePattern()
-        */
-    void factorize(const MatrixType& matrix)
-    {
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::factorize(temp);
-    }
-  protected:
-    using Base::m_iparm;
-    
-    void init()
-    {
-      m_iparm(IPARM_SYM) = API_SYM_YES;
-      m_iparm(IPARM_FACTORIZATION) = API_FACT_LLT;
-    }
-    
-    void grabMatrix(const MatrixType& matrix, ColSpMatrix& out)
-    {
-      out.resize(matrix.rows(), matrix.cols());
-      // Pastix supports only lower, column-major matrices 
-      out.template selfadjointView<Lower>() = matrix.template selfadjointView<UpLo>();
-      internal::c_to_fortran_numbering(out);
-    }
-};
-
-/** \ingroup PaStiXSupport_Module
-  * \class PastixLDLT
-  * \brief A sparse direct supernodal Cholesky (LLT) factorization and solver based on the PaStiX library
-  * 
-  * This class is used to solve the linear systems A.X = B via a LDL^T supernodal Cholesky factorization
-  * available in the PaStiX library. The matrix A should be symmetric and positive definite
-  * WARNING Selfadjoint complex matrices are not supported in the current version of PaStiX
-  * The vectors or matrices X and B can be either dense or sparse
-  * 
-  * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam UpLo The part of the matrix to use : Lower or Upper. The default is Lower as required by PaStiX
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class SimplicialLDLT
-  */
-template<typename _MatrixType, int _UpLo>
-class PastixLDLT : public PastixBase< PastixLDLT<_MatrixType, _UpLo> >
-{
-  public:
-    typedef _MatrixType MatrixType;
-    typedef PastixBase<PastixLDLT<MatrixType, _UpLo> > Base; 
-    typedef typename Base::ColSpMatrix ColSpMatrix;
-    
-  public:
-    enum { UpLo = _UpLo };
-    PastixLDLT():Base()
-    {
-      init();
-    }
-    
-    explicit PastixLDLT(const MatrixType& matrix):Base()
-    {
-      init();
-      compute(matrix);
-    }
-
-    /** Compute the L and D factors of the LDL^T factorization of \p matrix 
-      * \sa analyzePattern() factorize()
-      */
-    void compute (const MatrixType& matrix)
-    {
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::compute(temp);
-    }
-
-    /** Compute the LDL^T symbolic factorization of \p matrix using its sparsity pattern
-      * The result of this operation can be used with successive matrices having the same pattern as \p matrix
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& matrix)
-    { 
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::analyzePattern(temp);
-    }
-    /** Compute the LDL^T supernodal numerical factorization of \p matrix 
-      * 
-      */
-    void factorize(const MatrixType& matrix)
-    {
-      ColSpMatrix temp;
-      grabMatrix(matrix, temp);
-      Base::factorize(temp);
-    }
-
-  protected:
-    using Base::m_iparm;
-    
-    void init()
-    {
-      m_iparm(IPARM_SYM) = API_SYM_YES;
-      m_iparm(IPARM_FACTORIZATION) = API_FACT_LDLT;
-    }
-    
-    void grabMatrix(const MatrixType& matrix, ColSpMatrix& out)
-    {
-      // Pastix supports only lower, column-major matrices 
-      out.resize(matrix.rows(), matrix.cols());
-      out.template selfadjointView<Lower>() = matrix.template selfadjointView<UpLo>();
-      internal::c_to_fortran_numbering(out);
-    }
-};
-
-} // end namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/PardisoSupport/PardisoSupport.h b/phonelibs/eigen/Eigen/src/PardisoSupport/PardisoSupport.h
deleted file mode 100644
index 091c3970e81116..00000000000000
--- a/phonelibs/eigen/Eigen/src/PardisoSupport/PardisoSupport.h
+++ /dev/null
@@ -1,543 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL PARDISO
- ********************************************************************************
-*/
-
-#ifndef EIGEN_PARDISOSUPPORT_H
-#define EIGEN_PARDISOSUPPORT_H
-
-namespace Eigen { 
-
-template<typename _MatrixType> class PardisoLU;
-template<typename _MatrixType, int Options=Upper> class PardisoLLT;
-template<typename _MatrixType, int Options=Upper> class PardisoLDLT;
-
-namespace internal
-{
-  template<typename IndexType>
-  struct pardiso_run_selector
-  {
-    static IndexType run( _MKL_DSS_HANDLE_t pt, IndexType maxfct, IndexType mnum, IndexType type, IndexType phase, IndexType n, void *a,
-                      IndexType *ia, IndexType *ja, IndexType *perm, IndexType nrhs, IndexType *iparm, IndexType msglvl, void *b, void *x)
-    {
-      IndexType error = 0;
-      ::pardiso(pt, &maxfct, &mnum, &type, &phase, &n, a, ia, ja, perm, &nrhs, iparm, &msglvl, b, x, &error);
-      return error;
-    }
-  };
-  template<>
-  struct pardiso_run_selector<long long int>
-  {
-    typedef long long int IndexType;
-    static IndexType run( _MKL_DSS_HANDLE_t pt, IndexType maxfct, IndexType mnum, IndexType type, IndexType phase, IndexType n, void *a,
-                      IndexType *ia, IndexType *ja, IndexType *perm, IndexType nrhs, IndexType *iparm, IndexType msglvl, void *b, void *x)
-    {
-      IndexType error = 0;
-      ::pardiso_64(pt, &maxfct, &mnum, &type, &phase, &n, a, ia, ja, perm, &nrhs, iparm, &msglvl, b, x, &error);
-      return error;
-    }
-  };
-
-  template<class Pardiso> struct pardiso_traits;
-
-  template<typename _MatrixType>
-  struct pardiso_traits< PardisoLU<_MatrixType> >
-  {
-    typedef _MatrixType MatrixType;
-    typedef typename _MatrixType::Scalar Scalar;
-    typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::StorageIndex StorageIndex;
-  };
-
-  template<typename _MatrixType, int Options>
-  struct pardiso_traits< PardisoLLT<_MatrixType, Options> >
-  {
-    typedef _MatrixType MatrixType;
-    typedef typename _MatrixType::Scalar Scalar;
-    typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::StorageIndex StorageIndex;
-  };
-
-  template<typename _MatrixType, int Options>
-  struct pardiso_traits< PardisoLDLT<_MatrixType, Options> >
-  {
-    typedef _MatrixType MatrixType;
-    typedef typename _MatrixType::Scalar Scalar;
-    typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::StorageIndex StorageIndex;    
-  };
-
-} // end namespace internal
-
-template<class Derived>
-class PardisoImpl : public SparseSolverBase<Derived>
-{
-  protected:
-    typedef SparseSolverBase<Derived> Base;
-    using Base::derived;
-    using Base::m_isInitialized;
-    
-    typedef internal::pardiso_traits<Derived> Traits;
-  public:
-    using Base::_solve_impl;
-    
-    typedef typename Traits::MatrixType MatrixType;
-    typedef typename Traits::Scalar Scalar;
-    typedef typename Traits::RealScalar RealScalar;
-    typedef typename Traits::StorageIndex StorageIndex;
-    typedef SparseMatrix<Scalar,RowMajor,StorageIndex> SparseMatrixType;
-    typedef Matrix<Scalar,Dynamic,1> VectorType;
-    typedef Matrix<StorageIndex, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<StorageIndex, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
-    typedef Array<StorageIndex,64,1,DontAlign> ParameterType;
-    enum {
-      ScalarIsComplex = NumTraits<Scalar>::IsComplex,
-      ColsAtCompileTime = Dynamic,
-      MaxColsAtCompileTime = Dynamic
-    };
-
-    PardisoImpl()
-    {
-      eigen_assert((sizeof(StorageIndex) >= sizeof(_INTEGER_t) && sizeof(StorageIndex) <= 8) && "Non-supported index type");
-      m_iparm.setZero();
-      m_msglvl = 0; // No output
-      m_isInitialized = false;
-    }
-
-    ~PardisoImpl()
-    {
-      pardisoRelease();
-    }
-
-    inline Index cols() const { return m_size; }
-    inline Index rows() const { return m_size; }
-  
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-
-    /** \warning for advanced usage only.
-      * \returns a reference to the parameter array controlling PARDISO.
-      * See the PARDISO manual to know how to use it. */
-    ParameterType& pardisoParameterArray()
-    {
-      return m_iparm;
-    }
-    
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      * 
-      * \sa factorize()
-      */
-    Derived& analyzePattern(const MatrixType& matrix);
-    
-    /** Performs a numeric decomposition of \a matrix
-      *
-      * The given matrix must has the same sparcity than the matrix on which the symbolic decomposition has been performed.
-      *
-      * \sa analyzePattern()
-      */
-    Derived& factorize(const MatrixType& matrix);
-
-    Derived& compute(const MatrixType& matrix);
-
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
-
-  protected:
-    void pardisoRelease()
-    {
-      if(m_isInitialized) // Factorization ran at least once
-      {
-        internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, -1, internal::convert_index<StorageIndex>(m_size),0, 0, 0, m_perm.data(), 0,
-                                                          m_iparm.data(), m_msglvl, NULL, NULL);
-        m_isInitialized = false;
-      }
-    }
-
-    void pardisoInit(int type)
-    {
-      m_type = type;
-      bool symmetric = std::abs(m_type) < 10;
-      m_iparm[0] = 1;   // No solver default
-      m_iparm[1] = 2;   // use Metis for the ordering
-      m_iparm[2] = 0;   // Reserved. Set to zero. (??Numbers of processors, value of OMP_NUM_THREADS??)
-      m_iparm[3] = 0;   // No iterative-direct algorithm
-      m_iparm[4] = 0;   // No user fill-in reducing permutation
-      m_iparm[5] = 0;   // Write solution into x, b is left unchanged
-      m_iparm[6] = 0;   // Not in use
-      m_iparm[7] = 2;   // Max numbers of iterative refinement steps
-      m_iparm[8] = 0;   // Not in use
-      m_iparm[9] = 13;  // Perturb the pivot elements with 1E-13
-      m_iparm[10] = symmetric ? 0 : 1; // Use nonsymmetric permutation and scaling MPS
-      m_iparm[11] = 0;  // Not in use
-      m_iparm[12] = symmetric ? 0 : 1;  // Maximum weighted matching algorithm is switched-off (default for symmetric).
-                                        // Try m_iparm[12] = 1 in case of inappropriate accuracy
-      m_iparm[13] = 0;  // Output: Number of perturbed pivots
-      m_iparm[14] = 0;  // Not in use
-      m_iparm[15] = 0;  // Not in use
-      m_iparm[16] = 0;  // Not in use
-      m_iparm[17] = -1; // Output: Number of nonzeros in the factor LU
-      m_iparm[18] = -1; // Output: Mflops for LU factorization
-      m_iparm[19] = 0;  // Output: Numbers of CG Iterations
-      
-      m_iparm[20] = 0;  // 1x1 pivoting
-      m_iparm[26] = 0;  // No matrix checker
-      m_iparm[27] = (sizeof(RealScalar) == 4) ? 1 : 0;
-      m_iparm[34] = 1;  // C indexing
-      m_iparm[36] = 0;  // CSR
-      m_iparm[59] = 0;  // 0 - In-Core ; 1 - Automatic switch between In-Core and Out-of-Core modes ; 2 - Out-of-Core
-      
-      memset(m_pt, 0, sizeof(m_pt));
-    }
-
-  protected:
-    // cached data to reduce reallocation, etc.
-    
-    void manageErrorCode(Index error) const
-    {
-      switch(error)
-      {
-        case 0:
-          m_info = Success;
-          break;
-        case -4:
-        case -7:
-          m_info = NumericalIssue;
-          break;
-        default:
-          m_info = InvalidInput;
-      }
-    }
-
-    mutable SparseMatrixType m_matrix;
-    mutable ComputationInfo m_info;
-    bool m_analysisIsOk, m_factorizationIsOk;
-    StorageIndex m_type, m_msglvl;
-    mutable void *m_pt[64];
-    mutable ParameterType m_iparm;
-    mutable IntColVectorType m_perm;
-    Index m_size;
-    
-};
-
-template<class Derived>
-Derived& PardisoImpl<Derived>::compute(const MatrixType& a)
-{
-  m_size = a.rows();
-  eigen_assert(a.rows() == a.cols());
-
-  pardisoRelease();
-  m_perm.setZero(m_size);
-  derived().getMatrix(a);
-  
-  Index error;
-  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 12, internal::convert_index<StorageIndex>(m_size),
-                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
-  manageErrorCode(error);
-  m_analysisIsOk = true;
-  m_factorizationIsOk = true;
-  m_isInitialized = true;
-  return derived();
-}
-
-template<class Derived>
-Derived& PardisoImpl<Derived>::analyzePattern(const MatrixType& a)
-{
-  m_size = a.rows();
-  eigen_assert(m_size == a.cols());
-
-  pardisoRelease();
-  m_perm.setZero(m_size);
-  derived().getMatrix(a);
-  
-  Index error;
-  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 11, internal::convert_index<StorageIndex>(m_size),
-                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
-  
-  manageErrorCode(error);
-  m_analysisIsOk = true;
-  m_factorizationIsOk = false;
-  m_isInitialized = true;
-  return derived();
-}
-
-template<class Derived>
-Derived& PardisoImpl<Derived>::factorize(const MatrixType& a)
-{
-  eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
-  eigen_assert(m_size == a.rows() && m_size == a.cols());
-  
-  derived().getMatrix(a);
-
-  Index error;
-  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 22, internal::convert_index<StorageIndex>(m_size),
-                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
-  
-  manageErrorCode(error);
-  m_factorizationIsOk = true;
-  return derived();
-}
-
-template<class Derived>
-template<typename BDerived,typename XDerived>
-void PardisoImpl<Derived>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived>& x) const
-{
-  if(m_iparm[0] == 0) // Factorization was not computed
-  {
-    m_info = InvalidInput;
-    return;
-  }
-
-  //Index n = m_matrix.rows();
-  Index nrhs = Index(b.cols());
-  eigen_assert(m_size==b.rows());
-  eigen_assert(((MatrixBase<BDerived>::Flags & RowMajorBit) == 0 || nrhs == 1) && "Row-major right hand sides are not supported");
-  eigen_assert(((MatrixBase<XDerived>::Flags & RowMajorBit) == 0 || nrhs == 1) && "Row-major matrices of unknowns are not supported");
-  eigen_assert(((nrhs == 1) || b.outerStride() == b.rows()));
-
-
-//  switch (transposed) {
-//    case SvNoTrans    : m_iparm[11] = 0 ; break;
-//    case SvTranspose  : m_iparm[11] = 2 ; break;
-//    case SvAdjoint    : m_iparm[11] = 1 ; break;
-//    default:
-//      //std::cerr << "Eigen: transposition  option \"" << transposed << "\" not supported by the PARDISO backend\n";
-//      m_iparm[11] = 0;
-//  }
-
-  Scalar* rhs_ptr = const_cast<Scalar*>(b.derived().data());
-  Matrix<Scalar,Dynamic,Dynamic,ColMajor> tmp;
-  
-  // Pardiso cannot solve in-place
-  if(rhs_ptr == x.derived().data())
-  {
-    tmp = b;
-    rhs_ptr = tmp.data();
-  }
-  
-  Index error;
-  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 33, internal::convert_index<StorageIndex>(m_size),
-                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                            m_perm.data(), internal::convert_index<StorageIndex>(nrhs), m_iparm.data(), m_msglvl,
-                                                            rhs_ptr, x.derived().data());
-
-  manageErrorCode(error);
-}
-
-
-/** \ingroup PardisoSupport_Module
-  * \class PardisoLU
-  * \brief A sparse direct LU factorization and solver based on the PARDISO library
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a direct LU factorization
-  * using the Intel MKL PARDISO library. The sparse matrix A must be squared and invertible.
-  * The vectors or matrices X and B can be either dense or sparse.
-  *
-  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
-  * \code solver.pardisoParameterArray()[59] = 1; \endcode
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class SparseLU
-  */
-template<typename MatrixType>
-class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
-{
-  protected:
-    typedef PardisoImpl<PardisoLU> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-    using Base::pardisoInit;
-    using Base::m_matrix;
-    friend class PardisoImpl< PardisoLU<MatrixType> >;
-
-  public:
-
-    using Base::compute;
-    using Base::solve;
-
-    PardisoLU()
-      : Base()
-    {
-      pardisoInit(Base::ScalarIsComplex ? 13 : 11);
-    }
-
-    explicit PardisoLU(const MatrixType& matrix)
-      : Base()
-    {
-      pardisoInit(Base::ScalarIsComplex ? 13 : 11);
-      compute(matrix);
-    }
-  protected:
-    void getMatrix(const MatrixType& matrix)
-    {
-      m_matrix = matrix;
-      m_matrix.makeCompressed();
-    }
-};
-
-/** \ingroup PardisoSupport_Module
-  * \class PardisoLLT
-  * \brief A sparse direct Cholesky (LLT) factorization and solver based on the PARDISO library
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a LL^T Cholesky factorization
-  * using the Intel MKL PARDISO library. The sparse matrix A must be selfajoint and positive definite.
-  * The vectors or matrices X and B can be either dense or sparse.
-  *
-  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
-  * \code solver.pardisoParameterArray()[59] = 1; \endcode
-  *
-  * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam UpLo can be any bitwise combination of Upper, Lower. The default is Upper, meaning only the upper triangular part has to be used.
-  *         Upper|Lower can be used to tell both triangular parts can be used as input.
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class SimplicialLLT
-  */
-template<typename MatrixType, int _UpLo>
-class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
-{
-  protected:
-    typedef PardisoImpl< PardisoLLT<MatrixType,_UpLo> > Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-    using Base::pardisoInit;
-    using Base::m_matrix;
-    friend class PardisoImpl< PardisoLLT<MatrixType,_UpLo> >;
-
-  public:
-
-    typedef typename Base::StorageIndex StorageIndex;
-    enum { UpLo = _UpLo };
-    using Base::compute;
-
-    PardisoLLT()
-      : Base()
-    {
-      pardisoInit(Base::ScalarIsComplex ? 4 : 2);
-    }
-
-    explicit PardisoLLT(const MatrixType& matrix)
-      : Base()
-    {
-      pardisoInit(Base::ScalarIsComplex ? 4 : 2);
-      compute(matrix);
-    }
-    
-  protected:
-    
-    void getMatrix(const MatrixType& matrix)
-    {
-      // PARDISO supports only upper, row-major matrices
-      PermutationMatrix<Dynamic,Dynamic,StorageIndex> p_null;
-      m_matrix.resize(matrix.rows(), matrix.cols());
-      m_matrix.template selfadjointView<Upper>() = matrix.template selfadjointView<UpLo>().twistedBy(p_null);
-      m_matrix.makeCompressed();
-    }
-};
-
-/** \ingroup PardisoSupport_Module
-  * \class PardisoLDLT
-  * \brief A sparse direct Cholesky (LDLT) factorization and solver based on the PARDISO library
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a LDL^T Cholesky factorization
-  * using the Intel MKL PARDISO library. The sparse matrix A is assumed to be selfajoint and positive definite.
-  * For complex matrices, A can also be symmetric only, see the \a Options template parameter.
-  * The vectors or matrices X and B can be either dense or sparse.
-  *
-  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
-  * \code solver.pardisoParameterArray()[59] = 1; \endcode
-  *
-  * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam Options can be any bitwise combination of Upper, Lower, and Symmetric. The default is Upper, meaning only the upper triangular part has to be used.
-  *         Symmetric can be used for symmetric, non-selfadjoint complex matrices, the default being to assume a selfadjoint matrix.
-  *         Upper|Lower can be used to tell both triangular parts can be used as input.
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class SimplicialLDLT
-  */
-template<typename MatrixType, int Options>
-class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
-{
-  protected:
-    typedef PardisoImpl< PardisoLDLT<MatrixType,Options> > Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-    using Base::pardisoInit;
-    using Base::m_matrix;
-    friend class PardisoImpl< PardisoLDLT<MatrixType,Options> >;
-
-  public:
-
-    typedef typename Base::StorageIndex StorageIndex;
-    using Base::compute;
-    enum { UpLo = Options&(Upper|Lower) };
-
-    PardisoLDLT()
-      : Base()
-    {
-      pardisoInit(Base::ScalarIsComplex ? ( bool(Options&Symmetric) ? 6 : -4 ) : -2);
-    }
-
-    explicit PardisoLDLT(const MatrixType& matrix)
-      : Base()
-    {
-      pardisoInit(Base::ScalarIsComplex ? ( bool(Options&Symmetric) ? 6 : -4 ) : -2);
-      compute(matrix);
-    }
-    
-    void getMatrix(const MatrixType& matrix)
-    {
-      // PARDISO supports only upper, row-major matrices
-      PermutationMatrix<Dynamic,Dynamic,StorageIndex> p_null;
-      m_matrix.resize(matrix.rows(), matrix.cols());
-      m_matrix.template selfadjointView<Upper>() = matrix.template selfadjointView<UpLo>().twistedBy(p_null);
-      m_matrix.makeCompressed();
-    }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_PARDISOSUPPORT_H
diff --git a/phonelibs/eigen/Eigen/src/QR/ColPivHouseholderQR.h b/phonelibs/eigen/Eigen/src/QR/ColPivHouseholderQR.h
deleted file mode 100644
index 0e47c8332593ea..00000000000000
--- a/phonelibs/eigen/Eigen/src/QR/ColPivHouseholderQR.h
+++ /dev/null
@@ -1,653 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
-#define EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
-
-namespace Eigen {
-
-namespace internal {
-template<typename _MatrixType> struct traits<ColPivHouseholderQR<_MatrixType> >
- : traits<_MatrixType>
-{
-  enum { Flags = 0 };
-};
-
-} // end namespace internal
-
-/** \ingroup QR_Module
-  *
-  * \class ColPivHouseholderQR
-  *
-  * \brief Householder rank-revealing QR decomposition of a matrix with column-pivoting
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
-  *
-  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
-  * such that
-  * \f[
-  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
-  * \f]
-  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an
-  * upper triangular matrix.
-  *
-  * This decomposition performs column pivoting in order to be rank-revealing and improve
-  * numerical stability. It is slower than HouseholderQR, and faster than FullPivHouseholderQR.
-  *
-  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
-  * \sa MatrixBase::colPivHouseholderQr()
-  */
-template<typename _MatrixType> class ColPivHouseholderQR
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    // FIXME should be int
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
-    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
-    typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
-    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
-    typedef typename internal::plain_row_type<MatrixType, RealScalar>::type RealRowVectorType;
-    typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename HCoeffsType::ConjugateReturnType>::type> HouseholderSequenceType;
-    typedef typename MatrixType::PlainObject PlainObject;
-
-  private:
-
-    typedef typename PermutationType::StorageIndex PermIndexType;
-
-  public:
-
-    /**
-    * \brief Default Constructor.
-    *
-    * The default constructor is useful in cases in which the user intends to
-    * perform decompositions via ColPivHouseholderQR::compute(const MatrixType&).
-    */
-    ColPivHouseholderQR()
-      : m_qr(),
-        m_hCoeffs(),
-        m_colsPermutation(),
-        m_colsTranspositions(),
-        m_temp(),
-        m_colNormsUpdated(),
-        m_colNormsDirect(),
-        m_isInitialized(false),
-        m_usePrescribedThreshold(false) {}
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa ColPivHouseholderQR()
-      */
-    ColPivHouseholderQR(Index rows, Index cols)
-      : m_qr(rows, cols),
-        m_hCoeffs((std::min)(rows,cols)),
-        m_colsPermutation(PermIndexType(cols)),
-        m_colsTranspositions(cols),
-        m_temp(cols),
-        m_colNormsUpdated(cols),
-        m_colNormsDirect(cols),
-        m_isInitialized(false),
-        m_usePrescribedThreshold(false) {}
-
-    /** \brief Constructs a QR factorization from a given matrix
-      *
-      * This constructor computes the QR factorization of the matrix \a matrix by calling
-      * the method compute(). It is a short cut for:
-      *
-      * \code
-      * ColPivHouseholderQR<MatrixType> qr(matrix.rows(), matrix.cols());
-      * qr.compute(matrix);
-      * \endcode
-      *
-      * \sa compute()
-      */
-    template<typename InputType>
-    explicit ColPivHouseholderQR(const EigenBase<InputType>& matrix)
-      : m_qr(matrix.rows(), matrix.cols()),
-        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
-        m_colsPermutation(PermIndexType(matrix.cols())),
-        m_colsTranspositions(matrix.cols()),
-        m_temp(matrix.cols()),
-        m_colNormsUpdated(matrix.cols()),
-        m_colNormsDirect(matrix.cols()),
-        m_isInitialized(false),
-        m_usePrescribedThreshold(false)
-    {
-      compute(matrix.derived());
-    }
-
-    /** \brief Constructs a QR factorization from a given matrix
-      *
-      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
-      *
-      * \sa ColPivHouseholderQR(const EigenBase&)
-      */
-    template<typename InputType>
-    explicit ColPivHouseholderQR(EigenBase<InputType>& matrix)
-      : m_qr(matrix.derived()),
-        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
-        m_colsPermutation(PermIndexType(matrix.cols())),
-        m_colsTranspositions(matrix.cols()),
-        m_temp(matrix.cols()),
-        m_colNormsUpdated(matrix.cols()),
-        m_colNormsDirect(matrix.cols()),
-        m_isInitialized(false),
-        m_usePrescribedThreshold(false)
-    {
-      computeInPlace();
-    }
-
-    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
-      * *this is the QR decomposition, if any exists.
-      *
-      * \param b the right-hand-side of the equation to solve.
-      *
-      * \returns a solution.
-      *
-      * \note_about_checking_solutions
-      *
-      * \note_about_arbitrary_choice_of_solution
-      *
-      * Example: \include ColPivHouseholderQR_solve.cpp
-      * Output: \verbinclude ColPivHouseholderQR_solve.out
-      */
-    template<typename Rhs>
-    inline const Solve<ColPivHouseholderQR, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return Solve<ColPivHouseholderQR, Rhs>(*this, b.derived());
-    }
-
-    HouseholderSequenceType householderQ() const;
-    HouseholderSequenceType matrixQ() const
-    {
-      return householderQ();
-    }
-
-    /** \returns a reference to the matrix where the Householder QR decomposition is stored
-      */
-    const MatrixType& matrixQR() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return m_qr;
-    }
-
-    /** \returns a reference to the matrix where the result Householder QR is stored
-     * \warning The strict lower part of this matrix contains internal values.
-     * Only the upper triangular part should be referenced. To get it, use
-     * \code matrixR().template triangularView<Upper>() \endcode
-     * For rank-deficient matrices, use
-     * \code
-     * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
-     * \endcode
-     */
-    const MatrixType& matrixR() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return m_qr;
-    }
-
-    template<typename InputType>
-    ColPivHouseholderQR& compute(const EigenBase<InputType>& matrix);
-
-    /** \returns a const reference to the column permutation matrix */
-    const PermutationType& colsPermutation() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return m_colsPermutation;
-    }
-
-    /** \returns the absolute value of the determinant of the matrix of which
-      * *this is the QR decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the QR decomposition has already been computed.
-      *
-      * \note This is only for square matrices.
-      *
-      * \warning a determinant can be very big or small, so for matrices
-      * of large enough dimension, there is a risk of overflow/underflow.
-      * One way to work around that is to use logAbsDeterminant() instead.
-      *
-      * \sa logAbsDeterminant(), MatrixBase::determinant()
-      */
-    typename MatrixType::RealScalar absDeterminant() const;
-
-    /** \returns the natural log of the absolute value of the determinant of the matrix of which
-      * *this is the QR decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the QR decomposition has already been computed.
-      *
-      * \note This is only for square matrices.
-      *
-      * \note This method is useful to work around the risk of overflow/underflow that's inherent
-      * to determinant computation.
-      *
-      * \sa absDeterminant(), MatrixBase::determinant()
-      */
-    typename MatrixType::RealScalar logAbsDeterminant() const;
-
-    /** \returns the rank of the matrix of which *this is the QR decomposition.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline Index rank() const
-    {
-      using std::abs;
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold();
-      Index result = 0;
-      for(Index i = 0; i < m_nonzero_pivots; ++i)
-        result += (abs(m_qr.coeff(i,i)) > premultiplied_threshold);
-      return result;
-    }
-
-    /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline Index dimensionOfKernel() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return cols() - rank();
-    }
-
-    /** \returns true if the matrix of which *this is the QR decomposition represents an injective
-      *          linear map, i.e. has trivial kernel; false otherwise.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isInjective() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return rank() == cols();
-    }
-
-    /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
-      *          linear map; false otherwise.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isSurjective() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return rank() == rows();
-    }
-
-    /** \returns true if the matrix of which *this is the QR decomposition is invertible.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isInvertible() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return isInjective() && isSurjective();
-    }
-
-    /** \returns the inverse of the matrix of which *this is the QR decomposition.
-      *
-      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
-      *       Use isInvertible() to first determine whether this matrix is invertible.
-      */
-    inline const Inverse<ColPivHouseholderQR> inverse() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return Inverse<ColPivHouseholderQR>(*this);
-    }
-
-    inline Index rows() const { return m_qr.rows(); }
-    inline Index cols() const { return m_qr.cols(); }
-
-    /** \returns a const reference to the vector of Householder coefficients used to represent the factor \c Q.
-      *
-      * For advanced uses only.
-      */
-    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
-
-    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
-      * who need to determine when pivots are to be considered nonzero. This is not used for the
-      * QR decomposition itself.
-      *
-      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
-      * uses a formula to automatically determine a reasonable threshold.
-      * Once you have called the present method setThreshold(const RealScalar&),
-      * your value is used instead.
-      *
-      * \param threshold The new value to use as the threshold.
-      *
-      * A pivot will be considered nonzero if its absolute value is strictly greater than
-      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
-      * where maxpivot is the biggest pivot.
-      *
-      * If you want to come back to the default behavior, call setThreshold(Default_t)
-      */
-    ColPivHouseholderQR& setThreshold(const RealScalar& threshold)
-    {
-      m_usePrescribedThreshold = true;
-      m_prescribedThreshold = threshold;
-      return *this;
-    }
-
-    /** Allows to come back to the default behavior, letting Eigen use its default formula for
-      * determining the threshold.
-      *
-      * You should pass the special object Eigen::Default as parameter here.
-      * \code qr.setThreshold(Eigen::Default); \endcode
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    ColPivHouseholderQR& setThreshold(Default_t)
-    {
-      m_usePrescribedThreshold = false;
-      return *this;
-    }
-
-    /** Returns the threshold that will be used by certain methods such as rank().
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    RealScalar threshold() const
-    {
-      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
-      return m_usePrescribedThreshold ? m_prescribedThreshold
-      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
-      // and turns out to be identical to Higham's formula used already in LDLt.
-                                      : NumTraits<Scalar>::epsilon() * RealScalar(m_qr.diagonalSize());
-    }
-
-    /** \returns the number of nonzero pivots in the QR decomposition.
-      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
-      * So that notion isn't really intrinsically interesting, but it is
-      * still useful when implementing algorithms.
-      *
-      * \sa rank()
-      */
-    inline Index nonzeroPivots() const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return m_nonzero_pivots;
-    }
-
-    /** \returns the absolute value of the biggest pivot, i.e. the biggest
-      *          diagonal coefficient of R.
-      */
-    RealScalar maxPivot() const { return m_maxpivot; }
-
-    /** \brief Reports whether the QR factorization was succesful.
-      *
-      * \note This function always returns \c Success. It is provided for compatibility
-      * with other factorization routines.
-      * \returns \c Success
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return Success;
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl(const RhsType &rhs, DstType &dst) const;
-    #endif
-
-  protected:
-
-    friend class CompleteOrthogonalDecomposition<MatrixType>;
-
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-
-    void computeInPlace();
-
-    MatrixType m_qr;
-    HCoeffsType m_hCoeffs;
-    PermutationType m_colsPermutation;
-    IntRowVectorType m_colsTranspositions;
-    RowVectorType m_temp;
-    RealRowVectorType m_colNormsUpdated;
-    RealRowVectorType m_colNormsDirect;
-    bool m_isInitialized, m_usePrescribedThreshold;
-    RealScalar m_prescribedThreshold, m_maxpivot;
-    Index m_nonzero_pivots;
-    Index m_det_pq;
-};
-
-template<typename MatrixType>
-typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::absDeterminant() const
-{
-  using std::abs;
-  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
-  return abs(m_qr.diagonal().prod());
-}
-
-template<typename MatrixType>
-typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::logAbsDeterminant() const
-{
-  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
-  return m_qr.diagonal().cwiseAbs().array().log().sum();
-}
-
-/** Performs the QR factorization of the given matrix \a matrix. The result of
-  * the factorization is stored into \c *this, and a reference to \c *this
-  * is returned.
-  *
-  * \sa class ColPivHouseholderQR, ColPivHouseholderQR(const MatrixType&)
-  */
-template<typename MatrixType>
-template<typename InputType>
-ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const EigenBase<InputType>& matrix)
-{
-  m_qr = matrix.derived();
-  computeInPlace();
-  return *this;
-}
-
-template<typename MatrixType>
-void ColPivHouseholderQR<MatrixType>::computeInPlace()
-{
-  check_template_parameters();
-
-  // the column permutation is stored as int indices, so just to be sure:
-  eigen_assert(m_qr.cols()<=NumTraits<int>::highest());
-
-  using std::abs;
-
-  Index rows = m_qr.rows();
-  Index cols = m_qr.cols();
-  Index size = m_qr.diagonalSize();
-
-  m_hCoeffs.resize(size);
-
-  m_temp.resize(cols);
-
-  m_colsTranspositions.resize(m_qr.cols());
-  Index number_of_transpositions = 0;
-
-  m_colNormsUpdated.resize(cols);
-  m_colNormsDirect.resize(cols);
-  for (Index k = 0; k < cols; ++k) {
-    // colNormsDirect(k) caches the most recent directly computed norm of
-    // column k.
-    m_colNormsDirect.coeffRef(k) = m_qr.col(k).norm();
-    m_colNormsUpdated.coeffRef(k) = m_colNormsDirect.coeffRef(k);
-  }
-
-  RealScalar threshold_helper =  numext::abs2<Scalar>(m_colNormsUpdated.maxCoeff() * NumTraits<Scalar>::epsilon()) / RealScalar(rows);
-  RealScalar norm_downdate_threshold = numext::sqrt(NumTraits<Scalar>::epsilon());
-
-  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
-  m_maxpivot = RealScalar(0);
-
-  for(Index k = 0; k < size; ++k)
-  {
-    // first, we look up in our table m_colNormsUpdated which column has the biggest norm
-    Index biggest_col_index;
-    RealScalar biggest_col_sq_norm = numext::abs2(m_colNormsUpdated.tail(cols-k).maxCoeff(&biggest_col_index));
-    biggest_col_index += k;
-
-    // Track the number of meaningful pivots but do not stop the decomposition to make
-    // sure that the initial matrix is properly reproduced. See bug 941.
-    if(m_nonzero_pivots==size && biggest_col_sq_norm < threshold_helper * RealScalar(rows-k))
-      m_nonzero_pivots = k;
-
-    // apply the transposition to the columns
-    m_colsTranspositions.coeffRef(k) = biggest_col_index;
-    if(k != biggest_col_index) {
-      m_qr.col(k).swap(m_qr.col(biggest_col_index));
-      std::swap(m_colNormsUpdated.coeffRef(k), m_colNormsUpdated.coeffRef(biggest_col_index));
-      std::swap(m_colNormsDirect.coeffRef(k), m_colNormsDirect.coeffRef(biggest_col_index));
-      ++number_of_transpositions;
-    }
-
-    // generate the householder vector, store it below the diagonal
-    RealScalar beta;
-    m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
-
-    // apply the householder transformation to the diagonal coefficient
-    m_qr.coeffRef(k,k) = beta;
-
-    // remember the maximum absolute value of diagonal coefficients
-    if(abs(beta) > m_maxpivot) m_maxpivot = abs(beta);
-
-    // apply the householder transformation
-    m_qr.bottomRightCorner(rows-k, cols-k-1)
-        .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
-
-    // update our table of norms of the columns
-    for (Index j = k + 1; j < cols; ++j) {
-      // The following implements the stable norm downgrade step discussed in
-      // http://www.netlib.org/lapack/lawnspdf/lawn176.pdf
-      // and used in LAPACK routines xGEQPF and xGEQP3.
-      // See lines 278-297 in http://www.netlib.org/lapack/explore-html/dc/df4/sgeqpf_8f_source.html
-      if (m_colNormsUpdated.coeffRef(j) != 0) {
-        RealScalar temp = abs(m_qr.coeffRef(k, j)) / m_colNormsUpdated.coeffRef(j);
-        temp = (RealScalar(1) + temp) * (RealScalar(1) - temp);
-        temp = temp < 0 ? 0 : temp;
-        RealScalar temp2 = temp * numext::abs2<Scalar>(m_colNormsUpdated.coeffRef(j) /
-                                                       m_colNormsDirect.coeffRef(j));
-        if (temp2 <= norm_downdate_threshold) {
-          // The updated norm has become too inaccurate so re-compute the column
-          // norm directly.
-          m_colNormsDirect.coeffRef(j) = m_qr.col(j).tail(rows - k - 1).norm();
-          m_colNormsUpdated.coeffRef(j) = m_colNormsDirect.coeffRef(j);
-        } else {
-          m_colNormsUpdated.coeffRef(j) *= numext::sqrt(temp);
-        }
-      }
-    }
-  }
-
-  m_colsPermutation.setIdentity(PermIndexType(cols));
-  for(PermIndexType k = 0; k < size/*m_nonzero_pivots*/; ++k)
-    m_colsPermutation.applyTranspositionOnTheRight(k, PermIndexType(m_colsTranspositions.coeff(k)));
-
-  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
-  m_isInitialized = true;
-}
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename _MatrixType>
-template<typename RhsType, typename DstType>
-void ColPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
-{
-  eigen_assert(rhs.rows() == rows());
-
-  const Index nonzero_pivots = nonzeroPivots();
-
-  if(nonzero_pivots == 0)
-  {
-    dst.setZero();
-    return;
-  }
-
-  typename RhsType::PlainObject c(rhs);
-
-  // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
-  c.applyOnTheLeft(householderSequence(m_qr, m_hCoeffs)
-                    .setLength(nonzero_pivots)
-                    .transpose()
-    );
-
-  m_qr.topLeftCorner(nonzero_pivots, nonzero_pivots)
-      .template triangularView<Upper>()
-      .solveInPlace(c.topRows(nonzero_pivots));
-
-  for(Index i = 0; i < nonzero_pivots; ++i) dst.row(m_colsPermutation.indices().coeff(i)) = c.row(i);
-  for(Index i = nonzero_pivots; i < cols(); ++i) dst.row(m_colsPermutation.indices().coeff(i)).setZero();
-}
-#endif
-
-namespace internal {
-
-template<typename DstXprType, typename MatrixType>
-struct Assignment<DstXprType, Inverse<ColPivHouseholderQR<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename ColPivHouseholderQR<MatrixType>::Scalar>, Dense2Dense>
-{
-  typedef ColPivHouseholderQR<MatrixType> QrType;
-  typedef Inverse<QrType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename QrType::Scalar> &)
-  {
-    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
-  }
-};
-
-} // end namespace internal
-
-/** \returns the matrix Q as a sequence of householder transformations.
-  * You can extract the meaningful part only by using:
-  * \code qr.householderQ().setLength(qr.nonzeroPivots()) \endcode*/
-template<typename MatrixType>
-typename ColPivHouseholderQR<MatrixType>::HouseholderSequenceType ColPivHouseholderQR<MatrixType>
-  ::householderQ() const
-{
-  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-  return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate());
-}
-
-/** \return the column-pivoting Householder QR decomposition of \c *this.
-  *
-  * \sa class ColPivHouseholderQR
-  */
-template<typename Derived>
-const ColPivHouseholderQR<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::colPivHouseholderQr() const
-{
-  return ColPivHouseholderQR<PlainObject>(eval());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
diff --git a/phonelibs/eigen/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h b/phonelibs/eigen/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
deleted file mode 100644
index 4e9651f83d5172..00000000000000
--- a/phonelibs/eigen/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to LAPACKe
- *    Householder QR decomposition of a matrix with column pivoting based on
- *    LAPACKE_?geqp3 function.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
-#define EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
-
-namespace Eigen { 
-
-/** \internal Specialization for the data types supported by LAPACKe */
-
-#define EIGEN_LAPACKE_QR_COLPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, EIGCOLROW, LAPACKE_COLROW) \
-template<> template<typename InputType> inline \
-ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> >& \
-ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> >::compute( \
-              const EigenBase<InputType>& matrix) \
-\
-{ \
-  using std::abs; \
-  typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> MatrixType; \
-  typedef MatrixType::RealScalar RealScalar; \
-  Index rows = matrix.rows();\
-  Index cols = matrix.cols();\
-\
-  m_qr = matrix;\
-  Index size = m_qr.diagonalSize();\
-  m_hCoeffs.resize(size);\
-\
-  m_colsTranspositions.resize(cols);\
-  /*Index number_of_transpositions = 0;*/ \
-\
-  m_nonzero_pivots = 0; \
-  m_maxpivot = RealScalar(0);\
-  m_colsPermutation.resize(cols); \
-  m_colsPermutation.indices().setZero(); \
-\
-  lapack_int lda = internal::convert_index<lapack_int,Index>(m_qr.outerStride()); \
-  lapack_int matrix_order = LAPACKE_COLROW; \
-  LAPACKE_##LAPACKE_PREFIX##geqp3( matrix_order, internal::convert_index<lapack_int,Index>(rows), internal::convert_index<lapack_int,Index>(cols), \
-                              (LAPACKE_TYPE*)m_qr.data(), lda, (lapack_int*)m_colsPermutation.indices().data(), (LAPACKE_TYPE*)m_hCoeffs.data()); \
-  m_isInitialized = true; \
-  m_maxpivot=m_qr.diagonal().cwiseAbs().maxCoeff(); \
-  m_hCoeffs.adjointInPlace(); \
-  RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold(); \
-  lapack_int *perm = m_colsPermutation.indices().data(); \
-  for(Index i=0;i<size;i++) { \
-    m_nonzero_pivots += (abs(m_qr.coeff(i,i)) > premultiplied_threshold);\
-  } \
-  for(Index i=0;i<cols;i++) perm[i]--;\
-\
-  /*m_det_pq = (number_of_transpositions%2) ? -1 : 1;  // TODO: It's not needed now; fix upon availability in Eigen */ \
-\
-  return *this; \
-}
-
-EIGEN_LAPACKE_QR_COLPIV(double,   double,        d, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_QR_COLPIV(float,    float,         s, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_QR_COLPIV(dcomplex, lapack_complex_double, z, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_QR_COLPIV(scomplex, lapack_complex_float,  c, ColMajor, LAPACK_COL_MAJOR)
-
-EIGEN_LAPACKE_QR_COLPIV(double,   double,        d, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_QR_COLPIV(float,    float,         s, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_QR_COLPIV(dcomplex, lapack_complex_double, z, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_QR_COLPIV(scomplex, lapack_complex_float,  c, RowMajor, LAPACK_ROW_MAJOR)
-
-} // end namespace Eigen
-
-#endif // EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
diff --git a/phonelibs/eigen/Eigen/src/QR/CompleteOrthogonalDecomposition.h b/phonelibs/eigen/Eigen/src/QR/CompleteOrthogonalDecomposition.h
deleted file mode 100644
index 34c637b70a9b0a..00000000000000
--- a/phonelibs/eigen/Eigen/src/QR/CompleteOrthogonalDecomposition.h
+++ /dev/null
@@ -1,562 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Rasmus Munk Larsen <rmlarsen@google.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
-#define EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
-
-namespace Eigen {
-
-namespace internal {
-template <typename _MatrixType>
-struct traits<CompleteOrthogonalDecomposition<_MatrixType> >
-    : traits<_MatrixType> {
-  enum { Flags = 0 };
-};
-
-}  // end namespace internal
-
-/** \ingroup QR_Module
-  *
-  * \class CompleteOrthogonalDecomposition
-  *
-  * \brief Complete orthogonal decomposition (COD) of a matrix.
-  *
-  * \param MatrixType the type of the matrix of which we are computing the COD.
-  *
-  * This class performs a rank-revealing complete orthogonal decomposition of a
-  * matrix  \b A into matrices \b P, \b Q, \b T, and \b Z such that
-  * \f[
-  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \,
-  *                     \begin{bmatrix} \mathbf{T} &  \mathbf{0} \\
-  *                                     \mathbf{0} & \mathbf{0} \end{bmatrix} \, \mathbf{Z}
-  * \f]
-  * by using Householder transformations. Here, \b P is a permutation matrix,
-  * \b Q and \b Z are unitary matrices and \b T an upper triangular matrix of
-  * size rank-by-rank. \b A may be rank deficient.
-  *
-  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
-  * \sa MatrixBase::completeOrthogonalDecomposition()
-  */
-template <typename _MatrixType>
-class CompleteOrthogonalDecomposition {
- public:
-  typedef _MatrixType MatrixType;
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-  };
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename MatrixType::StorageIndex StorageIndex;
-  typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
-  typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime>
-      PermutationType;
-  typedef typename internal::plain_row_type<MatrixType, Index>::type
-      IntRowVectorType;
-  typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
-  typedef typename internal::plain_row_type<MatrixType, RealScalar>::type
-      RealRowVectorType;
-  typedef HouseholderSequence<
-      MatrixType, typename internal::remove_all<
-                      typename HCoeffsType::ConjugateReturnType>::type>
-      HouseholderSequenceType;
-  typedef typename MatrixType::PlainObject PlainObject;
-
- private:
-  typedef typename PermutationType::Index PermIndexType;
-
- public:
-  /**
-   * \brief Default Constructor.
-   *
-   * The default constructor is useful in cases in which the user intends to
-   * perform decompositions via
-   * \c CompleteOrthogonalDecomposition::compute(const* MatrixType&).
-   */
-  CompleteOrthogonalDecomposition() : m_cpqr(), m_zCoeffs(), m_temp() {}
-
-  /** \brief Default Constructor with memory preallocation
-   *
-   * Like the default constructor but with preallocation of the internal data
-   * according to the specified problem \a size.
-   * \sa CompleteOrthogonalDecomposition()
-   */
-  CompleteOrthogonalDecomposition(Index rows, Index cols)
-      : m_cpqr(rows, cols), m_zCoeffs((std::min)(rows, cols)), m_temp(cols) {}
-
-  /** \brief Constructs a complete orthogonal decomposition from a given
-   * matrix.
-   *
-   * This constructor computes the complete orthogonal decomposition of the
-   * matrix \a matrix by calling the method compute(). The default
-   * threshold for rank determination will be used. It is a short cut for:
-   *
-   * \code
-   * CompleteOrthogonalDecomposition<MatrixType> cod(matrix.rows(),
-   *                                                 matrix.cols());
-   * cod.setThreshold(Default);
-   * cod.compute(matrix);
-   * \endcode
-   *
-   * \sa compute()
-   */
-  template <typename InputType>
-  explicit CompleteOrthogonalDecomposition(const EigenBase<InputType>& matrix)
-      : m_cpqr(matrix.rows(), matrix.cols()),
-        m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
-        m_temp(matrix.cols())
-  {
-    compute(matrix.derived());
-  }
-
-  /** \brief Constructs a complete orthogonal decomposition from a given matrix
-    *
-    * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
-    *
-    * \sa CompleteOrthogonalDecomposition(const EigenBase&)
-    */
-  template<typename InputType>
-  explicit CompleteOrthogonalDecomposition(EigenBase<InputType>& matrix)
-    : m_cpqr(matrix.derived()),
-      m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
-      m_temp(matrix.cols())
-  {
-    computeInPlace();
-  }
-
-
-  /** This method computes the minimum-norm solution X to a least squares
-   * problem \f[\mathrm{minimize} \|A X - B\|, \f] where \b A is the matrix of
-   * which \c *this is the complete orthogonal decomposition.
-   *
-   * \param b the right-hand sides of the problem to solve.
-   *
-   * \returns a solution.
-   *
-   */
-  template <typename Rhs>
-  inline const Solve<CompleteOrthogonalDecomposition, Rhs> solve(
-      const MatrixBase<Rhs>& b) const {
-    eigen_assert(m_cpqr.m_isInitialized &&
-                 "CompleteOrthogonalDecomposition is not initialized.");
-    return Solve<CompleteOrthogonalDecomposition, Rhs>(*this, b.derived());
-  }
-
-  HouseholderSequenceType householderQ(void) const;
-  HouseholderSequenceType matrixQ(void) const { return m_cpqr.householderQ(); }
-
-  /** \returns the matrix \b Z.
-   */
-  MatrixType matrixZ() const {
-    MatrixType Z = MatrixType::Identity(m_cpqr.cols(), m_cpqr.cols());
-    applyZAdjointOnTheLeftInPlace(Z);
-    return Z.adjoint();
-  }
-
-  /** \returns a reference to the matrix where the complete orthogonal
-   * decomposition is stored
-   */
-  const MatrixType& matrixQTZ() const { return m_cpqr.matrixQR(); }
-
-  /** \returns a reference to the matrix where the complete orthogonal
-   * decomposition is stored.
-   * \warning The strict lower part and \code cols() - rank() \endcode right
-   * columns of this matrix contains internal values.
-   * Only the upper triangular part should be referenced. To get it, use
-   * \code matrixT().template triangularView<Upper>() \endcode
-   * For rank-deficient matrices, use
-   * \code
-   * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
-   * \endcode
-   */
-  const MatrixType& matrixT() const { return m_cpqr.matrixQR(); }
-
-  template <typename InputType>
-  CompleteOrthogonalDecomposition& compute(const EigenBase<InputType>& matrix) {
-    // Compute the column pivoted QR factorization A P = Q R.
-    m_cpqr.compute(matrix);
-    computeInPlace();
-    return *this;
-  }
-
-  /** \returns a const reference to the column permutation matrix */
-  const PermutationType& colsPermutation() const {
-    return m_cpqr.colsPermutation();
-  }
-
-  /** \returns the absolute value of the determinant of the matrix of which
-   * *this is the complete orthogonal decomposition. It has only linear
-   * complexity (that is, O(n) where n is the dimension of the square matrix)
-   * as the complete orthogonal decomposition has already been computed.
-   *
-   * \note This is only for square matrices.
-   *
-   * \warning a determinant can be very big or small, so for matrices
-   * of large enough dimension, there is a risk of overflow/underflow.
-   * One way to work around that is to use logAbsDeterminant() instead.
-   *
-   * \sa logAbsDeterminant(), MatrixBase::determinant()
-   */
-  typename MatrixType::RealScalar absDeterminant() const;
-
-  /** \returns the natural log of the absolute value of the determinant of the
-   * matrix of which *this is the complete orthogonal decomposition. It has
-   * only linear complexity (that is, O(n) where n is the dimension of the
-   * square matrix) as the complete orthogonal decomposition has already been
-   * computed.
-   *
-   * \note This is only for square matrices.
-   *
-   * \note This method is useful to work around the risk of overflow/underflow
-   * that's inherent to determinant computation.
-   *
-   * \sa absDeterminant(), MatrixBase::determinant()
-   */
-  typename MatrixType::RealScalar logAbsDeterminant() const;
-
-  /** \returns the rank of the matrix of which *this is the complete orthogonal
-   * decomposition.
-   *
-   * \note This method has to determine which pivots should be considered
-   * nonzero. For that, it uses the threshold value that you can control by
-   * calling setThreshold(const RealScalar&).
-   */
-  inline Index rank() const { return m_cpqr.rank(); }
-
-  /** \returns the dimension of the kernel of the matrix of which *this is the
-   * complete orthogonal decomposition.
-   *
-   * \note This method has to determine which pivots should be considered
-   * nonzero. For that, it uses the threshold value that you can control by
-   * calling setThreshold(const RealScalar&).
-   */
-  inline Index dimensionOfKernel() const { return m_cpqr.dimensionOfKernel(); }
-
-  /** \returns true if the matrix of which *this is the decomposition represents
-   * an injective linear map, i.e. has trivial kernel; false otherwise.
-   *
-   * \note This method has to determine which pivots should be considered
-   * nonzero. For that, it uses the threshold value that you can control by
-   * calling setThreshold(const RealScalar&).
-   */
-  inline bool isInjective() const { return m_cpqr.isInjective(); }
-
-  /** \returns true if the matrix of which *this is the decomposition represents
-   * a surjective linear map; false otherwise.
-   *
-   * \note This method has to determine which pivots should be considered
-   * nonzero. For that, it uses the threshold value that you can control by
-   * calling setThreshold(const RealScalar&).
-   */
-  inline bool isSurjective() const { return m_cpqr.isSurjective(); }
-
-  /** \returns true if the matrix of which *this is the complete orthogonal
-   * decomposition is invertible.
-   *
-   * \note This method has to determine which pivots should be considered
-   * nonzero. For that, it uses the threshold value that you can control by
-   * calling setThreshold(const RealScalar&).
-   */
-  inline bool isInvertible() const { return m_cpqr.isInvertible(); }
-
-  /** \returns the pseudo-inverse of the matrix of which *this is the complete
-   * orthogonal decomposition.
-   * \warning: Do not compute \c this->pseudoInverse()*rhs to solve a linear systems.
-   * It is more efficient and numerically stable to call \c this->solve(rhs).
-   */
-  inline const Inverse<CompleteOrthogonalDecomposition> pseudoInverse() const
-  {
-    return Inverse<CompleteOrthogonalDecomposition>(*this);
-  }
-
-  inline Index rows() const { return m_cpqr.rows(); }
-  inline Index cols() const { return m_cpqr.cols(); }
-
-  /** \returns a const reference to the vector of Householder coefficients used
-   * to represent the factor \c Q.
-   *
-   * For advanced uses only.
-   */
-  inline const HCoeffsType& hCoeffs() const { return m_cpqr.hCoeffs(); }
-
-  /** \returns a const reference to the vector of Householder coefficients
-   * used to represent the factor \c Z.
-   *
-   * For advanced uses only.
-   */
-  const HCoeffsType& zCoeffs() const { return m_zCoeffs; }
-
-  /** Allows to prescribe a threshold to be used by certain methods, such as
-   * rank(), who need to determine when pivots are to be considered nonzero.
-   * Most be called before calling compute().
-   *
-   * When it needs to get the threshold value, Eigen calls threshold(). By
-   * default, this uses a formula to automatically determine a reasonable
-   * threshold. Once you have called the present method
-   * setThreshold(const RealScalar&), your value is used instead.
-   *
-   * \param threshold The new value to use as the threshold.
-   *
-   * A pivot will be considered nonzero if its absolute value is strictly
-   * greater than
-   *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
-   * where maxpivot is the biggest pivot.
-   *
-   * If you want to come back to the default behavior, call
-   * setThreshold(Default_t)
-   */
-  CompleteOrthogonalDecomposition& setThreshold(const RealScalar& threshold) {
-    m_cpqr.setThreshold(threshold);
-    return *this;
-  }
-
-  /** Allows to come back to the default behavior, letting Eigen use its default
-   * formula for determining the threshold.
-   *
-   * You should pass the special object Eigen::Default as parameter here.
-   * \code qr.setThreshold(Eigen::Default); \endcode
-   *
-   * See the documentation of setThreshold(const RealScalar&).
-   */
-  CompleteOrthogonalDecomposition& setThreshold(Default_t) {
-    m_cpqr.setThreshold(Default);
-    return *this;
-  }
-
-  /** Returns the threshold that will be used by certain methods such as rank().
-   *
-   * See the documentation of setThreshold(const RealScalar&).
-   */
-  RealScalar threshold() const { return m_cpqr.threshold(); }
-
-  /** \returns the number of nonzero pivots in the complete orthogonal
-   * decomposition. Here nonzero is meant in the exact sense, not in a
-   * fuzzy sense. So that notion isn't really intrinsically interesting,
-   * but it is still useful when implementing algorithms.
-   *
-   * \sa rank()
-   */
-  inline Index nonzeroPivots() const { return m_cpqr.nonzeroPivots(); }
-
-  /** \returns the absolute value of the biggest pivot, i.e. the biggest
-   *          diagonal coefficient of R.
-   */
-  inline RealScalar maxPivot() const { return m_cpqr.maxPivot(); }
-
-  /** \brief Reports whether the complete orthogonal decomposition was
-   * succesful.
-   *
-   * \note This function always returns \c Success. It is provided for
-   * compatibility
-   * with other factorization routines.
-   * \returns \c Success
-   */
-  ComputationInfo info() const {
-    eigen_assert(m_cpqr.m_isInitialized && "Decomposition is not initialized.");
-    return Success;
-  }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-  template <typename RhsType, typename DstType>
-  EIGEN_DEVICE_FUNC void _solve_impl(const RhsType& rhs, DstType& dst) const;
-#endif
-
- protected:
-  static void check_template_parameters() {
-    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-  }
-
-  void computeInPlace();
-
-  /** Overwrites \b rhs with \f$ \mathbf{Z}^* * \mathbf{rhs} \f$.
-   */
-  template <typename Rhs>
-  void applyZAdjointOnTheLeftInPlace(Rhs& rhs) const;
-
-  ColPivHouseholderQR<MatrixType> m_cpqr;
-  HCoeffsType m_zCoeffs;
-  RowVectorType m_temp;
-};
-
-template <typename MatrixType>
-typename MatrixType::RealScalar
-CompleteOrthogonalDecomposition<MatrixType>::absDeterminant() const {
-  return m_cpqr.absDeterminant();
-}
-
-template <typename MatrixType>
-typename MatrixType::RealScalar
-CompleteOrthogonalDecomposition<MatrixType>::logAbsDeterminant() const {
-  return m_cpqr.logAbsDeterminant();
-}
-
-/** Performs the complete orthogonal decomposition of the given matrix \a
- * matrix. The result of the factorization is stored into \c *this, and a
- * reference to \c *this is returned.
- *
- * \sa class CompleteOrthogonalDecomposition,
- * CompleteOrthogonalDecomposition(const MatrixType&)
- */
-template <typename MatrixType>
-void CompleteOrthogonalDecomposition<MatrixType>::computeInPlace()
-{
-  check_template_parameters();
-
-  // the column permutation is stored as int indices, so just to be sure:
-  eigen_assert(m_cpqr.cols() <= NumTraits<int>::highest());
-
-  const Index rank = m_cpqr.rank();
-  const Index cols = m_cpqr.cols();
-  const Index rows = m_cpqr.rows();
-  m_zCoeffs.resize((std::min)(rows, cols));
-  m_temp.resize(cols);
-
-  if (rank < cols) {
-    // We have reduced the (permuted) matrix to the form
-    //   [R11 R12]
-    //   [ 0  R22]
-    // where R11 is r-by-r (r = rank) upper triangular, R12 is
-    // r-by-(n-r), and R22 is empty or the norm of R22 is negligible.
-    // We now compute the complete orthogonal decomposition by applying
-    // Householder transformations from the right to the upper trapezoidal
-    // matrix X = [R11 R12] to zero out R12 and obtain the factorization
-    // [R11 R12] = [T11 0] * Z, where T11 is r-by-r upper triangular and
-    // Z = Z(0) * Z(1) ... Z(r-1) is an n-by-n orthogonal matrix.
-    // We store the data representing Z in R12 and m_zCoeffs.
-    for (Index k = rank - 1; k >= 0; --k) {
-      if (k != rank - 1) {
-        // Given the API for Householder reflectors, it is more convenient if
-        // we swap the leading parts of columns k and r-1 (zero-based) to form
-        // the matrix X_k = [X(0:k, k), X(0:k, r:n)]
-        m_cpqr.m_qr.col(k).head(k + 1).swap(
-            m_cpqr.m_qr.col(rank - 1).head(k + 1));
-      }
-      // Construct Householder reflector Z(k) to zero out the last row of X_k,
-      // i.e. choose Z(k) such that
-      // [X(k, k), X(k, r:n)] * Z(k) = [beta, 0, .., 0].
-      RealScalar beta;
-      m_cpqr.m_qr.row(k)
-          .tail(cols - rank + 1)
-          .makeHouseholderInPlace(m_zCoeffs(k), beta);
-      m_cpqr.m_qr(k, rank - 1) = beta;
-      if (k > 0) {
-        // Apply Z(k) to the first k rows of X_k
-        m_cpqr.m_qr.topRightCorner(k, cols - rank + 1)
-            .applyHouseholderOnTheRight(
-                m_cpqr.m_qr.row(k).tail(cols - rank).transpose(), m_zCoeffs(k),
-                &m_temp(0));
-      }
-      if (k != rank - 1) {
-        // Swap X(0:k,k) back to its proper location.
-        m_cpqr.m_qr.col(k).head(k + 1).swap(
-            m_cpqr.m_qr.col(rank - 1).head(k + 1));
-      }
-    }
-  }
-}
-
-template <typename MatrixType>
-template <typename Rhs>
-void CompleteOrthogonalDecomposition<MatrixType>::applyZAdjointOnTheLeftInPlace(
-    Rhs& rhs) const {
-  const Index cols = this->cols();
-  const Index nrhs = rhs.cols();
-  const Index rank = this->rank();
-  Matrix<typename MatrixType::Scalar, Dynamic, 1> temp((std::max)(cols, nrhs));
-  for (Index k = 0; k < rank; ++k) {
-    if (k != rank - 1) {
-      rhs.row(k).swap(rhs.row(rank - 1));
-    }
-    rhs.middleRows(rank - 1, cols - rank + 1)
-        .applyHouseholderOnTheLeft(
-            matrixQTZ().row(k).tail(cols - rank).adjoint(), zCoeffs()(k),
-            &temp(0));
-    if (k != rank - 1) {
-      rhs.row(k).swap(rhs.row(rank - 1));
-    }
-  }
-}
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template <typename _MatrixType>
-template <typename RhsType, typename DstType>
-void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
-    const RhsType& rhs, DstType& dst) const {
-  eigen_assert(rhs.rows() == this->rows());
-
-  const Index rank = this->rank();
-  if (rank == 0) {
-    dst.setZero();
-    return;
-  }
-
-  // Compute c = Q^* * rhs
-  // Note that the matrix Q = H_0^* H_1^*... so its inverse is
-  // Q^* = (H_0 H_1 ...)^T
-  typename RhsType::PlainObject c(rhs);
-  c.applyOnTheLeft(
-      householderSequence(matrixQTZ(), hCoeffs()).setLength(rank).transpose());
-
-  // Solve T z = c(1:rank, :)
-  dst.topRows(rank) = matrixT()
-                          .topLeftCorner(rank, rank)
-                          .template triangularView<Upper>()
-                          .solve(c.topRows(rank));
-
-  const Index cols = this->cols();
-  if (rank < cols) {
-    // Compute y = Z^* * [ z ]
-    //                   [ 0 ]
-    dst.bottomRows(cols - rank).setZero();
-    applyZAdjointOnTheLeftInPlace(dst);
-  }
-
-  // Undo permutation to get x = P^{-1} * y.
-  dst = colsPermutation() * dst;
-}
-#endif
-
-namespace internal {
-
-template<typename DstXprType, typename MatrixType>
-struct Assignment<DstXprType, Inverse<CompleteOrthogonalDecomposition<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename CompleteOrthogonalDecomposition<MatrixType>::Scalar>, Dense2Dense>
-{
-  typedef CompleteOrthogonalDecomposition<MatrixType> CodType;
-  typedef Inverse<CodType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename CodType::Scalar> &)
-  {
-    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.rows()));
-  }
-};
-
-} // end namespace internal
-
-/** \returns the matrix Q as a sequence of householder transformations */
-template <typename MatrixType>
-typename CompleteOrthogonalDecomposition<MatrixType>::HouseholderSequenceType
-CompleteOrthogonalDecomposition<MatrixType>::householderQ() const {
-  return m_cpqr.householderQ();
-}
-
-/** \return the complete orthogonal decomposition of \c *this.
-  *
-  * \sa class CompleteOrthogonalDecomposition
-  */
-template <typename Derived>
-const CompleteOrthogonalDecomposition<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::completeOrthogonalDecomposition() const {
-  return CompleteOrthogonalDecomposition<PlainObject>(eval());
-}
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
diff --git a/phonelibs/eigen/Eigen/src/QR/FullPivHouseholderQR.h b/phonelibs/eigen/Eigen/src/QR/FullPivHouseholderQR.h
deleted file mode 100644
index e489bddc2dbc69..00000000000000
--- a/phonelibs/eigen/Eigen/src/QR/FullPivHouseholderQR.h
+++ /dev/null
@@ -1,676 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
-#define EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename _MatrixType> struct traits<FullPivHouseholderQR<_MatrixType> >
- : traits<_MatrixType>
-{
-  enum { Flags = 0 };
-};
-
-template<typename MatrixType> struct FullPivHouseholderQRMatrixQReturnType;
-
-template<typename MatrixType>
-struct traits<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
-{
-  typedef typename MatrixType::PlainObject ReturnType;
-};
-
-} // end namespace internal
-
-/** \ingroup QR_Module
-  *
-  * \class FullPivHouseholderQR
-  *
-  * \brief Householder rank-revealing QR decomposition of a matrix with full pivoting
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
-  *
-  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b P', \b Q and \b R
-  * such that 
-  * \f[
-  *  \mathbf{P} \, \mathbf{A} \, \mathbf{P}' = \mathbf{Q} \, \mathbf{R}
-  * \f]
-  * by using Householder transformations. Here, \b P and \b P' are permutation matrices, \b Q a unitary matrix 
-  * and \b R an upper triangular matrix.
-  *
-  * This decomposition performs a very prudent full pivoting in order to be rank-revealing and achieve optimal
-  * numerical stability. The trade-off is that it is slower than HouseholderQR and ColPivHouseholderQR.
-  *
-  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
-  * \sa MatrixBase::fullPivHouseholderQr()
-  */
-template<typename _MatrixType> class FullPivHouseholderQR
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    // FIXME should be int
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef internal::FullPivHouseholderQRMatrixQReturnType<MatrixType> MatrixQReturnType;
-    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
-    typedef Matrix<StorageIndex, 1,
-                   EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime,RowsAtCompileTime), RowMajor, 1,
-                   EIGEN_SIZE_MIN_PREFER_FIXED(MaxColsAtCompileTime,MaxRowsAtCompileTime)> IntDiagSizeVectorType;
-    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
-    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
-    typedef typename internal::plain_col_type<MatrixType>::type ColVectorType;
-    typedef typename MatrixType::PlainObject PlainObject;
-
-    /** \brief Default Constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via FullPivHouseholderQR::compute(const MatrixType&).
-      */
-    FullPivHouseholderQR()
-      : m_qr(),
-        m_hCoeffs(),
-        m_rows_transpositions(),
-        m_cols_transpositions(),
-        m_cols_permutation(),
-        m_temp(),
-        m_isInitialized(false),
-        m_usePrescribedThreshold(false) {}
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa FullPivHouseholderQR()
-      */
-    FullPivHouseholderQR(Index rows, Index cols)
-      : m_qr(rows, cols),
-        m_hCoeffs((std::min)(rows,cols)),
-        m_rows_transpositions((std::min)(rows,cols)),
-        m_cols_transpositions((std::min)(rows,cols)),
-        m_cols_permutation(cols),
-        m_temp(cols),
-        m_isInitialized(false),
-        m_usePrescribedThreshold(false) {}
-
-    /** \brief Constructs a QR factorization from a given matrix
-      *
-      * This constructor computes the QR factorization of the matrix \a matrix by calling
-      * the method compute(). It is a short cut for:
-      * 
-      * \code
-      * FullPivHouseholderQR<MatrixType> qr(matrix.rows(), matrix.cols());
-      * qr.compute(matrix);
-      * \endcode
-      * 
-      * \sa compute()
-      */
-    template<typename InputType>
-    explicit FullPivHouseholderQR(const EigenBase<InputType>& matrix)
-      : m_qr(matrix.rows(), matrix.cols()),
-        m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
-        m_rows_transpositions((std::min)(matrix.rows(), matrix.cols())),
-        m_cols_transpositions((std::min)(matrix.rows(), matrix.cols())),
-        m_cols_permutation(matrix.cols()),
-        m_temp(matrix.cols()),
-        m_isInitialized(false),
-        m_usePrescribedThreshold(false)
-    {
-      compute(matrix.derived());
-    }
-
-    /** \brief Constructs a QR factorization from a given matrix
-      *
-      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
-      *
-      * \sa FullPivHouseholderQR(const EigenBase&)
-      */
-    template<typename InputType>
-    explicit FullPivHouseholderQR(EigenBase<InputType>& matrix)
-      : m_qr(matrix.derived()),
-        m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
-        m_rows_transpositions((std::min)(matrix.rows(), matrix.cols())),
-        m_cols_transpositions((std::min)(matrix.rows(), matrix.cols())),
-        m_cols_permutation(matrix.cols()),
-        m_temp(matrix.cols()),
-        m_isInitialized(false),
-        m_usePrescribedThreshold(false)
-    {
-      computeInPlace();
-    }
-
-    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
-      * \c *this is the QR decomposition.
-      *
-      * \param b the right-hand-side of the equation to solve.
-      *
-      * \returns the exact or least-square solution if the rank is greater or equal to the number of columns of A,
-      * and an arbitrary solution otherwise.
-      *
-      * \note_about_checking_solutions
-      *
-      * \note_about_arbitrary_choice_of_solution
-      *
-      * Example: \include FullPivHouseholderQR_solve.cpp
-      * Output: \verbinclude FullPivHouseholderQR_solve.out
-      */
-    template<typename Rhs>
-    inline const Solve<FullPivHouseholderQR, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return Solve<FullPivHouseholderQR, Rhs>(*this, b.derived());
-    }
-
-    /** \returns Expression object representing the matrix Q
-      */
-    MatrixQReturnType matrixQ(void) const;
-
-    /** \returns a reference to the matrix where the Householder QR decomposition is stored
-      */
-    const MatrixType& matrixQR() const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return m_qr;
-    }
-
-    template<typename InputType>
-    FullPivHouseholderQR& compute(const EigenBase<InputType>& matrix);
-
-    /** \returns a const reference to the column permutation matrix */
-    const PermutationType& colsPermutation() const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return m_cols_permutation;
-    }
-
-    /** \returns a const reference to the vector of indices representing the rows transpositions */
-    const IntDiagSizeVectorType& rowsTranspositions() const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return m_rows_transpositions;
-    }
-
-    /** \returns the absolute value of the determinant of the matrix of which
-      * *this is the QR decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the QR decomposition has already been computed.
-      *
-      * \note This is only for square matrices.
-      *
-      * \warning a determinant can be very big or small, so for matrices
-      * of large enough dimension, there is a risk of overflow/underflow.
-      * One way to work around that is to use logAbsDeterminant() instead.
-      *
-      * \sa logAbsDeterminant(), MatrixBase::determinant()
-      */
-    typename MatrixType::RealScalar absDeterminant() const;
-
-    /** \returns the natural log of the absolute value of the determinant of the matrix of which
-      * *this is the QR decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the QR decomposition has already been computed.
-      *
-      * \note This is only for square matrices.
-      *
-      * \note This method is useful to work around the risk of overflow/underflow that's inherent
-      * to determinant computation.
-      *
-      * \sa absDeterminant(), MatrixBase::determinant()
-      */
-    typename MatrixType::RealScalar logAbsDeterminant() const;
-
-    /** \returns the rank of the matrix of which *this is the QR decomposition.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline Index rank() const
-    {
-      using std::abs;
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold();
-      Index result = 0;
-      for(Index i = 0; i < m_nonzero_pivots; ++i)
-        result += (abs(m_qr.coeff(i,i)) > premultiplied_threshold);
-      return result;
-    }
-
-    /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline Index dimensionOfKernel() const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return cols() - rank();
-    }
-
-    /** \returns true if the matrix of which *this is the QR decomposition represents an injective
-      *          linear map, i.e. has trivial kernel; false otherwise.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isInjective() const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return rank() == cols();
-    }
-
-    /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
-      *          linear map; false otherwise.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isSurjective() const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return rank() == rows();
-    }
-
-    /** \returns true if the matrix of which *this is the QR decomposition is invertible.
-      *
-      * \note This method has to determine which pivots should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline bool isInvertible() const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return isInjective() && isSurjective();
-    }
-
-    /** \returns the inverse of the matrix of which *this is the QR decomposition.
-      *
-      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
-      *       Use isInvertible() to first determine whether this matrix is invertible.
-      */
-    inline const Inverse<FullPivHouseholderQR> inverse() const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return Inverse<FullPivHouseholderQR>(*this);
-    }
-
-    inline Index rows() const { return m_qr.rows(); }
-    inline Index cols() const { return m_qr.cols(); }
-    
-    /** \returns a const reference to the vector of Householder coefficients used to represent the factor \c Q.
-      * 
-      * For advanced uses only.
-      */
-    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
-
-    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
-      * who need to determine when pivots are to be considered nonzero. This is not used for the
-      * QR decomposition itself.
-      *
-      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
-      * uses a formula to automatically determine a reasonable threshold.
-      * Once you have called the present method setThreshold(const RealScalar&),
-      * your value is used instead.
-      *
-      * \param threshold The new value to use as the threshold.
-      *
-      * A pivot will be considered nonzero if its absolute value is strictly greater than
-      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
-      * where maxpivot is the biggest pivot.
-      *
-      * If you want to come back to the default behavior, call setThreshold(Default_t)
-      */
-    FullPivHouseholderQR& setThreshold(const RealScalar& threshold)
-    {
-      m_usePrescribedThreshold = true;
-      m_prescribedThreshold = threshold;
-      return *this;
-    }
-
-    /** Allows to come back to the default behavior, letting Eigen use its default formula for
-      * determining the threshold.
-      *
-      * You should pass the special object Eigen::Default as parameter here.
-      * \code qr.setThreshold(Eigen::Default); \endcode
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    FullPivHouseholderQR& setThreshold(Default_t)
-    {
-      m_usePrescribedThreshold = false;
-      return *this;
-    }
-
-    /** Returns the threshold that will be used by certain methods such as rank().
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    RealScalar threshold() const
-    {
-      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
-      return m_usePrescribedThreshold ? m_prescribedThreshold
-      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
-      // and turns out to be identical to Higham's formula used already in LDLt.
-                                      : NumTraits<Scalar>::epsilon() * RealScalar(m_qr.diagonalSize());
-    }
-
-    /** \returns the number of nonzero pivots in the QR decomposition.
-      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
-      * So that notion isn't really intrinsically interesting, but it is
-      * still useful when implementing algorithms.
-      *
-      * \sa rank()
-      */
-    inline Index nonzeroPivots() const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return m_nonzero_pivots;
-    }
-
-    /** \returns the absolute value of the biggest pivot, i.e. the biggest
-      *          diagonal coefficient of U.
-      */
-    RealScalar maxPivot() const { return m_maxpivot; }
-    
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl(const RhsType &rhs, DstType &dst) const;
-    #endif
-
-  protected:
-    
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-    
-    void computeInPlace();
-    
-    MatrixType m_qr;
-    HCoeffsType m_hCoeffs;
-    IntDiagSizeVectorType m_rows_transpositions;
-    IntDiagSizeVectorType m_cols_transpositions;
-    PermutationType m_cols_permutation;
-    RowVectorType m_temp;
-    bool m_isInitialized, m_usePrescribedThreshold;
-    RealScalar m_prescribedThreshold, m_maxpivot;
-    Index m_nonzero_pivots;
-    RealScalar m_precision;
-    Index m_det_pq;
-};
-
-template<typename MatrixType>
-typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::absDeterminant() const
-{
-  using std::abs;
-  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
-  return abs(m_qr.diagonal().prod());
-}
-
-template<typename MatrixType>
-typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::logAbsDeterminant() const
-{
-  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
-  return m_qr.diagonal().cwiseAbs().array().log().sum();
-}
-
-/** Performs the QR factorization of the given matrix \a matrix. The result of
-  * the factorization is stored into \c *this, and a reference to \c *this
-  * is returned.
-  *
-  * \sa class FullPivHouseholderQR, FullPivHouseholderQR(const MatrixType&)
-  */
-template<typename MatrixType>
-template<typename InputType>
-FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(const EigenBase<InputType>& matrix)
-{
-  m_qr = matrix.derived();
-  computeInPlace();
-  return *this;
-}
-
-template<typename MatrixType>
-void FullPivHouseholderQR<MatrixType>::computeInPlace()
-{
-  check_template_parameters();
-
-  using std::abs;
-  Index rows = m_qr.rows();
-  Index cols = m_qr.cols();
-  Index size = (std::min)(rows,cols);
-
-  
-  m_hCoeffs.resize(size);
-
-  m_temp.resize(cols);
-
-  m_precision = NumTraits<Scalar>::epsilon() * RealScalar(size);
-
-  m_rows_transpositions.resize(size);
-  m_cols_transpositions.resize(size);
-  Index number_of_transpositions = 0;
-
-  RealScalar biggest(0);
-
-  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
-  m_maxpivot = RealScalar(0);
-
-  for (Index k = 0; k < size; ++k)
-  {
-    Index row_of_biggest_in_corner, col_of_biggest_in_corner;
-    typedef internal::scalar_score_coeff_op<Scalar> Scoring;
-    typedef typename Scoring::result_type Score;
-
-    Score score = m_qr.bottomRightCorner(rows-k, cols-k)
-                      .unaryExpr(Scoring())
-                      .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
-    row_of_biggest_in_corner += k;
-    col_of_biggest_in_corner += k;
-    RealScalar biggest_in_corner = internal::abs_knowing_score<Scalar>()(m_qr(row_of_biggest_in_corner, col_of_biggest_in_corner), score);
-    if(k==0) biggest = biggest_in_corner;
-
-    // if the corner is negligible, then we have less than full rank, and we can finish early
-    if(internal::isMuchSmallerThan(biggest_in_corner, biggest, m_precision))
-    {
-      m_nonzero_pivots = k;
-      for(Index i = k; i < size; i++)
-      {
-        m_rows_transpositions.coeffRef(i) = i;
-        m_cols_transpositions.coeffRef(i) = i;
-        m_hCoeffs.coeffRef(i) = Scalar(0);
-      }
-      break;
-    }
-
-    m_rows_transpositions.coeffRef(k) = row_of_biggest_in_corner;
-    m_cols_transpositions.coeffRef(k) = col_of_biggest_in_corner;
-    if(k != row_of_biggest_in_corner) {
-      m_qr.row(k).tail(cols-k).swap(m_qr.row(row_of_biggest_in_corner).tail(cols-k));
-      ++number_of_transpositions;
-    }
-    if(k != col_of_biggest_in_corner) {
-      m_qr.col(k).swap(m_qr.col(col_of_biggest_in_corner));
-      ++number_of_transpositions;
-    }
-
-    RealScalar beta;
-    m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
-    m_qr.coeffRef(k,k) = beta;
-
-    // remember the maximum absolute value of diagonal coefficients
-    if(abs(beta) > m_maxpivot) m_maxpivot = abs(beta);
-
-    m_qr.bottomRightCorner(rows-k, cols-k-1)
-        .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
-  }
-
-  m_cols_permutation.setIdentity(cols);
-  for(Index k = 0; k < size; ++k)
-    m_cols_permutation.applyTranspositionOnTheRight(k, m_cols_transpositions.coeff(k));
-
-  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
-  m_isInitialized = true;
-}
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename _MatrixType>
-template<typename RhsType, typename DstType>
-void FullPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
-{
-  eigen_assert(rhs.rows() == rows());
-  const Index l_rank = rank();
-
-  // FIXME introduce nonzeroPivots() and use it here. and more generally,
-  // make the same improvements in this dec as in FullPivLU.
-  if(l_rank==0)
-  {
-    dst.setZero();
-    return;
-  }
-
-  typename RhsType::PlainObject c(rhs);
-
-  Matrix<Scalar,1,RhsType::ColsAtCompileTime> temp(rhs.cols());
-  for (Index k = 0; k < l_rank; ++k)
-  {
-    Index remainingSize = rows()-k;
-    c.row(k).swap(c.row(m_rows_transpositions.coeff(k)));
-    c.bottomRightCorner(remainingSize, rhs.cols())
-      .applyHouseholderOnTheLeft(m_qr.col(k).tail(remainingSize-1),
-                               m_hCoeffs.coeff(k), &temp.coeffRef(0));
-  }
-
-  m_qr.topLeftCorner(l_rank, l_rank)
-      .template triangularView<Upper>()
-      .solveInPlace(c.topRows(l_rank));
-
-  for(Index i = 0; i < l_rank; ++i) dst.row(m_cols_permutation.indices().coeff(i)) = c.row(i);
-  for(Index i = l_rank; i < cols(); ++i) dst.row(m_cols_permutation.indices().coeff(i)).setZero();
-}
-#endif
-
-namespace internal {
-  
-template<typename DstXprType, typename MatrixType>
-struct Assignment<DstXprType, Inverse<FullPivHouseholderQR<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename FullPivHouseholderQR<MatrixType>::Scalar>, Dense2Dense>
-{
-  typedef FullPivHouseholderQR<MatrixType> QrType;
-  typedef Inverse<QrType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename QrType::Scalar> &)
-  {    
-    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
-  }
-};
-
-/** \ingroup QR_Module
-  *
-  * \brief Expression type for return value of FullPivHouseholderQR::matrixQ()
-  *
-  * \tparam MatrixType type of underlying dense matrix
-  */
-template<typename MatrixType> struct FullPivHouseholderQRMatrixQReturnType
-  : public ReturnByValue<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
-{
-public:
-  typedef typename FullPivHouseholderQR<MatrixType>::IntDiagSizeVectorType IntDiagSizeVectorType;
-  typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
-  typedef Matrix<typename MatrixType::Scalar, 1, MatrixType::RowsAtCompileTime, RowMajor, 1,
-                 MatrixType::MaxRowsAtCompileTime> WorkVectorType;
-
-  FullPivHouseholderQRMatrixQReturnType(const MatrixType&       qr,
-                                        const HCoeffsType&      hCoeffs,
-                                        const IntDiagSizeVectorType& rowsTranspositions)
-    : m_qr(qr),
-      m_hCoeffs(hCoeffs),
-      m_rowsTranspositions(rowsTranspositions)
-  {}
-
-  template <typename ResultType>
-  void evalTo(ResultType& result) const
-  {
-    const Index rows = m_qr.rows();
-    WorkVectorType workspace(rows);
-    evalTo(result, workspace);
-  }
-
-  template <typename ResultType>
-  void evalTo(ResultType& result, WorkVectorType& workspace) const
-  {
-    using numext::conj;
-    // compute the product H'_0 H'_1 ... H'_n-1,
-    // where H_k is the k-th Householder transformation I - h_k v_k v_k'
-    // and v_k is the k-th Householder vector [1,m_qr(k+1,k), m_qr(k+2,k), ...]
-    const Index rows = m_qr.rows();
-    const Index cols = m_qr.cols();
-    const Index size = (std::min)(rows, cols);
-    workspace.resize(rows);
-    result.setIdentity(rows, rows);
-    for (Index k = size-1; k >= 0; k--)
-    {
-      result.block(k, k, rows-k, rows-k)
-            .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), conj(m_hCoeffs.coeff(k)), &workspace.coeffRef(k));
-      result.row(k).swap(result.row(m_rowsTranspositions.coeff(k)));
-    }
-  }
-
-  Index rows() const { return m_qr.rows(); }
-  Index cols() const { return m_qr.rows(); }
-
-protected:
-  typename MatrixType::Nested m_qr;
-  typename HCoeffsType::Nested m_hCoeffs;
-  typename IntDiagSizeVectorType::Nested m_rowsTranspositions;
-};
-
-// template<typename MatrixType>
-// struct evaluator<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
-//  : public evaluator<ReturnByValue<FullPivHouseholderQRMatrixQReturnType<MatrixType> > >
-// {};
-
-} // end namespace internal
-
-template<typename MatrixType>
-inline typename FullPivHouseholderQR<MatrixType>::MatrixQReturnType FullPivHouseholderQR<MatrixType>::matrixQ() const
-{
-  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-  return MatrixQReturnType(m_qr, m_hCoeffs, m_rows_transpositions);
-}
-
-/** \return the full-pivoting Householder QR decomposition of \c *this.
-  *
-  * \sa class FullPivHouseholderQR
-  */
-template<typename Derived>
-const FullPivHouseholderQR<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::fullPivHouseholderQr() const
-{
-  return FullPivHouseholderQR<PlainObject>(eval());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
diff --git a/phonelibs/eigen/Eigen/src/QR/HouseholderQR.h b/phonelibs/eigen/Eigen/src/QR/HouseholderQR.h
deleted file mode 100644
index 3513d995cb68b8..00000000000000
--- a/phonelibs/eigen/Eigen/src/QR/HouseholderQR.h
+++ /dev/null
@@ -1,409 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2010 Vincent Lejeune
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_QR_H
-#define EIGEN_QR_H
-
-namespace Eigen { 
-
-/** \ingroup QR_Module
-  *
-  *
-  * \class HouseholderQR
-  *
-  * \brief Householder QR decomposition of a matrix
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
-  *
-  * This class performs a QR decomposition of a matrix \b A into matrices \b Q and \b R
-  * such that 
-  * \f[
-  *  \mathbf{A} = \mathbf{Q} \, \mathbf{R}
-  * \f]
-  * by using Householder transformations. Here, \b Q a unitary matrix and \b R an upper triangular matrix.
-  * The result is stored in a compact way compatible with LAPACK.
-  *
-  * Note that no pivoting is performed. This is \b not a rank-revealing decomposition.
-  * If you want that feature, use FullPivHouseholderQR or ColPivHouseholderQR instead.
-  *
-  * This Householder QR decomposition is faster, but less numerically stable and less feature-full than
-  * FullPivHouseholderQR or ColPivHouseholderQR.
-  *
-  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  *
-  * \sa MatrixBase::householderQr()
-  */
-template<typename _MatrixType> class HouseholderQR
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    // FIXME should be int
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, (MatrixType::Flags&RowMajorBit) ? RowMajor : ColMajor, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
-    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
-    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
-    typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename HCoeffsType::ConjugateReturnType>::type> HouseholderSequenceType;
-
-    /**
-      * \brief Default Constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via HouseholderQR::compute(const MatrixType&).
-      */
-    HouseholderQR() : m_qr(), m_hCoeffs(), m_temp(), m_isInitialized(false) {}
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem \a size.
-      * \sa HouseholderQR()
-      */
-    HouseholderQR(Index rows, Index cols)
-      : m_qr(rows, cols),
-        m_hCoeffs((std::min)(rows,cols)),
-        m_temp(cols),
-        m_isInitialized(false) {}
-
-    /** \brief Constructs a QR factorization from a given matrix
-      *
-      * This constructor computes the QR factorization of the matrix \a matrix by calling
-      * the method compute(). It is a short cut for:
-      * 
-      * \code
-      * HouseholderQR<MatrixType> qr(matrix.rows(), matrix.cols());
-      * qr.compute(matrix);
-      * \endcode
-      * 
-      * \sa compute()
-      */
-    template<typename InputType>
-    explicit HouseholderQR(const EigenBase<InputType>& matrix)
-      : m_qr(matrix.rows(), matrix.cols()),
-        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
-        m_temp(matrix.cols()),
-        m_isInitialized(false)
-    {
-      compute(matrix.derived());
-    }
-
-
-    /** \brief Constructs a QR factorization from a given matrix
-      *
-      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
-      * \c MatrixType is a Eigen::Ref.
-      *
-      * \sa HouseholderQR(const EigenBase&)
-      */
-    template<typename InputType>
-    explicit HouseholderQR(EigenBase<InputType>& matrix)
-      : m_qr(matrix.derived()),
-        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
-        m_temp(matrix.cols()),
-        m_isInitialized(false)
-    {
-      computeInPlace();
-    }
-
-    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
-      * *this is the QR decomposition, if any exists.
-      *
-      * \param b the right-hand-side of the equation to solve.
-      *
-      * \returns a solution.
-      *
-      * \note_about_checking_solutions
-      *
-      * \note_about_arbitrary_choice_of_solution
-      *
-      * Example: \include HouseholderQR_solve.cpp
-      * Output: \verbinclude HouseholderQR_solve.out
-      */
-    template<typename Rhs>
-    inline const Solve<HouseholderQR, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
-      return Solve<HouseholderQR, Rhs>(*this, b.derived());
-    }
-
-    /** This method returns an expression of the unitary matrix Q as a sequence of Householder transformations.
-      *
-      * The returned expression can directly be used to perform matrix products. It can also be assigned to a dense Matrix object.
-      * Here is an example showing how to recover the full or thin matrix Q, as well as how to perform matrix products using operator*:
-      *
-      * Example: \include HouseholderQR_householderQ.cpp
-      * Output: \verbinclude HouseholderQR_householderQ.out
-      */
-    HouseholderSequenceType householderQ() const
-    {
-      eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
-      return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate());
-    }
-
-    /** \returns a reference to the matrix where the Householder QR decomposition is stored
-      * in a LAPACK-compatible way.
-      */
-    const MatrixType& matrixQR() const
-    {
-        eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
-        return m_qr;
-    }
-
-    template<typename InputType>
-    HouseholderQR& compute(const EigenBase<InputType>& matrix) {
-      m_qr = matrix.derived();
-      computeInPlace();
-      return *this;
-    }
-
-    /** \returns the absolute value of the determinant of the matrix of which
-      * *this is the QR decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the QR decomposition has already been computed.
-      *
-      * \note This is only for square matrices.
-      *
-      * \warning a determinant can be very big or small, so for matrices
-      * of large enough dimension, there is a risk of overflow/underflow.
-      * One way to work around that is to use logAbsDeterminant() instead.
-      *
-      * \sa logAbsDeterminant(), MatrixBase::determinant()
-      */
-    typename MatrixType::RealScalar absDeterminant() const;
-
-    /** \returns the natural log of the absolute value of the determinant of the matrix of which
-      * *this is the QR decomposition. It has only linear complexity
-      * (that is, O(n) where n is the dimension of the square matrix)
-      * as the QR decomposition has already been computed.
-      *
-      * \note This is only for square matrices.
-      *
-      * \note This method is useful to work around the risk of overflow/underflow that's inherent
-      * to determinant computation.
-      *
-      * \sa absDeterminant(), MatrixBase::determinant()
-      */
-    typename MatrixType::RealScalar logAbsDeterminant() const;
-
-    inline Index rows() const { return m_qr.rows(); }
-    inline Index cols() const { return m_qr.cols(); }
-    
-    /** \returns a const reference to the vector of Householder coefficients used to represent the factor \c Q.
-      * 
-      * For advanced uses only.
-      */
-    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
-    
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    void _solve_impl(const RhsType &rhs, DstType &dst) const;
-    #endif
-
-  protected:
-    
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-
-    void computeInPlace();
-    
-    MatrixType m_qr;
-    HCoeffsType m_hCoeffs;
-    RowVectorType m_temp;
-    bool m_isInitialized;
-};
-
-template<typename MatrixType>
-typename MatrixType::RealScalar HouseholderQR<MatrixType>::absDeterminant() const
-{
-  using std::abs;
-  eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
-  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
-  return abs(m_qr.diagonal().prod());
-}
-
-template<typename MatrixType>
-typename MatrixType::RealScalar HouseholderQR<MatrixType>::logAbsDeterminant() const
-{
-  eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
-  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
-  return m_qr.diagonal().cwiseAbs().array().log().sum();
-}
-
-namespace internal {
-
-/** \internal */
-template<typename MatrixQR, typename HCoeffs>
-void householder_qr_inplace_unblocked(MatrixQR& mat, HCoeffs& hCoeffs, typename MatrixQR::Scalar* tempData = 0)
-{
-  typedef typename MatrixQR::Scalar Scalar;
-  typedef typename MatrixQR::RealScalar RealScalar;
-  Index rows = mat.rows();
-  Index cols = mat.cols();
-  Index size = (std::min)(rows,cols);
-
-  eigen_assert(hCoeffs.size() == size);
-
-  typedef Matrix<Scalar,MatrixQR::ColsAtCompileTime,1> TempType;
-  TempType tempVector;
-  if(tempData==0)
-  {
-    tempVector.resize(cols);
-    tempData = tempVector.data();
-  }
-
-  for(Index k = 0; k < size; ++k)
-  {
-    Index remainingRows = rows - k;
-    Index remainingCols = cols - k - 1;
-
-    RealScalar beta;
-    mat.col(k).tail(remainingRows).makeHouseholderInPlace(hCoeffs.coeffRef(k), beta);
-    mat.coeffRef(k,k) = beta;
-
-    // apply H to remaining part of m_qr from the left
-    mat.bottomRightCorner(remainingRows, remainingCols)
-        .applyHouseholderOnTheLeft(mat.col(k).tail(remainingRows-1), hCoeffs.coeffRef(k), tempData+k+1);
-  }
-}
-
-/** \internal */
-template<typename MatrixQR, typename HCoeffs,
-  typename MatrixQRScalar = typename MatrixQR::Scalar,
-  bool InnerStrideIsOne = (MatrixQR::InnerStrideAtCompileTime == 1 && HCoeffs::InnerStrideAtCompileTime == 1)>
-struct householder_qr_inplace_blocked
-{
-  // This is specialized for MKL-supported Scalar types in HouseholderQR_MKL.h
-  static void run(MatrixQR& mat, HCoeffs& hCoeffs, Index maxBlockSize=32,
-      typename MatrixQR::Scalar* tempData = 0)
-  {
-    typedef typename MatrixQR::Scalar Scalar;
-    typedef Block<MatrixQR,Dynamic,Dynamic> BlockType;
-
-    Index rows = mat.rows();
-    Index cols = mat.cols();
-    Index size = (std::min)(rows, cols);
-
-    typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixQR::MaxColsAtCompileTime,1> TempType;
-    TempType tempVector;
-    if(tempData==0)
-    {
-      tempVector.resize(cols);
-      tempData = tempVector.data();
-    }
-
-    Index blockSize = (std::min)(maxBlockSize,size);
-
-    Index k = 0;
-    for (k = 0; k < size; k += blockSize)
-    {
-      Index bs = (std::min)(size-k,blockSize);  // actual size of the block
-      Index tcols = cols - k - bs;              // trailing columns
-      Index brows = rows-k;                     // rows of the block
-
-      // partition the matrix:
-      //        A00 | A01 | A02
-      // mat  = A10 | A11 | A12
-      //        A20 | A21 | A22
-      // and performs the qr dec of [A11^T A12^T]^T
-      // and update [A21^T A22^T]^T using level 3 operations.
-      // Finally, the algorithm continue on A22
-
-      BlockType A11_21 = mat.block(k,k,brows,bs);
-      Block<HCoeffs,Dynamic,1> hCoeffsSegment = hCoeffs.segment(k,bs);
-
-      householder_qr_inplace_unblocked(A11_21, hCoeffsSegment, tempData);
-
-      if(tcols)
-      {
-        BlockType A21_22 = mat.block(k,k+bs,brows,tcols);
-        apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment, false); // false == backward
-      }
-    }
-  }
-};
-
-} // end namespace internal
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename _MatrixType>
-template<typename RhsType, typename DstType>
-void HouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
-{
-  const Index rank = (std::min)(rows(), cols());
-  eigen_assert(rhs.rows() == rows());
-
-  typename RhsType::PlainObject c(rhs);
-
-  // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
-  c.applyOnTheLeft(householderSequence(
-    m_qr.leftCols(rank),
-    m_hCoeffs.head(rank)).transpose()
-  );
-
-  m_qr.topLeftCorner(rank, rank)
-      .template triangularView<Upper>()
-      .solveInPlace(c.topRows(rank));
-
-  dst.topRows(rank) = c.topRows(rank);
-  dst.bottomRows(cols()-rank).setZero();
-}
-#endif
-
-/** Performs the QR factorization of the given matrix \a matrix. The result of
-  * the factorization is stored into \c *this, and a reference to \c *this
-  * is returned.
-  *
-  * \sa class HouseholderQR, HouseholderQR(const MatrixType&)
-  */
-template<typename MatrixType>
-void HouseholderQR<MatrixType>::computeInPlace()
-{
-  check_template_parameters();
-  
-  Index rows = m_qr.rows();
-  Index cols = m_qr.cols();
-  Index size = (std::min)(rows,cols);
-
-  m_hCoeffs.resize(size);
-
-  m_temp.resize(cols);
-
-  internal::householder_qr_inplace_blocked<MatrixType, HCoeffsType>::run(m_qr, m_hCoeffs, 48, m_temp.data());
-
-  m_isInitialized = true;
-}
-
-/** \return the Householder QR decomposition of \c *this.
-  *
-  * \sa class HouseholderQR
-  */
-template<typename Derived>
-const HouseholderQR<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::householderQr() const
-{
-  return HouseholderQR<PlainObject>(eval());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_QR_H
diff --git a/phonelibs/eigen/Eigen/src/QR/HouseholderQR_LAPACKE.h b/phonelibs/eigen/Eigen/src/QR/HouseholderQR_LAPACKE.h
deleted file mode 100644
index 1dc7d5363f19e1..00000000000000
--- a/phonelibs/eigen/Eigen/src/QR/HouseholderQR_LAPACKE.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to LAPACKe
- *    Householder QR decomposition of a matrix w/o pivoting based on
- *    LAPACKE_?geqrf function.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_QR_LAPACKE_H
-#define EIGEN_QR_LAPACKE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal Specialization for the data types supported by LAPACKe */
-
-#define EIGEN_LAPACKE_QR_NOPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX) \
-template<typename MatrixQR, typename HCoeffs> \
-struct householder_qr_inplace_blocked<MatrixQR, HCoeffs, EIGTYPE, true> \
-{ \
-  static void run(MatrixQR& mat, HCoeffs& hCoeffs, Index = 32, \
-      typename MatrixQR::Scalar* = 0) \
-  { \
-    lapack_int m = (lapack_int) mat.rows(); \
-    lapack_int n = (lapack_int) mat.cols(); \
-    lapack_int lda = (lapack_int) mat.outerStride(); \
-    lapack_int matrix_order = (MatrixQR::IsRowMajor) ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
-    LAPACKE_##LAPACKE_PREFIX##geqrf( matrix_order, m, n, (LAPACKE_TYPE*)mat.data(), lda, (LAPACKE_TYPE*)hCoeffs.data()); \
-    hCoeffs.adjointInPlace(); \
-  } \
-};
-
-EIGEN_LAPACKE_QR_NOPIV(double, double, d)
-EIGEN_LAPACKE_QR_NOPIV(float, float, s)
-EIGEN_LAPACKE_QR_NOPIV(dcomplex, lapack_complex_double, z)
-EIGEN_LAPACKE_QR_NOPIV(scomplex, lapack_complex_float, c)
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_QR_LAPACKE_H
diff --git a/phonelibs/eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h b/phonelibs/eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
deleted file mode 100644
index 953d57c9d76239..00000000000000
--- a/phonelibs/eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
+++ /dev/null
@@ -1,313 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SUITESPARSEQRSUPPORT_H
-#define EIGEN_SUITESPARSEQRSUPPORT_H
-
-namespace Eigen {
-  
-  template<typename MatrixType> class SPQR; 
-  template<typename SPQRType> struct SPQRMatrixQReturnType; 
-  template<typename SPQRType> struct SPQRMatrixQTransposeReturnType; 
-  template <typename SPQRType, typename Derived> struct SPQR_QProduct;
-  namespace internal {
-    template <typename SPQRType> struct traits<SPQRMatrixQReturnType<SPQRType> >
-    {
-      typedef typename SPQRType::MatrixType ReturnType;
-    };
-    template <typename SPQRType> struct traits<SPQRMatrixQTransposeReturnType<SPQRType> >
-    {
-      typedef typename SPQRType::MatrixType ReturnType;
-    };
-    template <typename SPQRType, typename Derived> struct traits<SPQR_QProduct<SPQRType, Derived> >
-    {
-      typedef typename Derived::PlainObject ReturnType;
-    };
-  } // End namespace internal
-  
-/**
-  * \ingroup SPQRSupport_Module
-  * \class SPQR
-  * \brief Sparse QR factorization based on SuiteSparseQR library
-  *
-  * This class is used to perform a multithreaded and multifrontal rank-revealing QR decomposition
-  * of sparse matrices. The result is then used to solve linear leasts_square systems.
-  * Clearly, a QR factorization is returned such that A*P = Q*R where :
-  *
-  * P is the column permutation. Use colsPermutation() to get it.
-  *
-  * Q is the orthogonal matrix represented as Householder reflectors.
-  * Use matrixQ() to get an expression and matrixQ().transpose() to get the transpose.
-  * You can then apply it to a vector.
-  *
-  * R is the sparse triangular factor. Use matrixQR() to get it as SparseMatrix.
-  * NOTE : The Index type of R is always SuiteSparse_long. You can get it with SPQR::Index
-  *
-  * \tparam _MatrixType The type of the sparse matrix A, must be a column-major SparseMatrix<>
-  *
-  * \implsparsesolverconcept
-  *
-  *
-  */
-template<typename _MatrixType>
-class SPQR : public SparseSolverBase<SPQR<_MatrixType> >
-{
-  protected:
-    typedef SparseSolverBase<SPQR<_MatrixType> > Base;
-    using Base::m_isInitialized;
-  public:
-    typedef typename _MatrixType::Scalar Scalar;
-    typedef typename _MatrixType::RealScalar RealScalar;
-    typedef SuiteSparse_long StorageIndex ;
-    typedef SparseMatrix<Scalar, ColMajor, StorageIndex> MatrixType;
-    typedef Map<PermutationMatrix<Dynamic, Dynamic, StorageIndex> > PermutationType;
-    enum {
-      ColsAtCompileTime = Dynamic,
-      MaxColsAtCompileTime = Dynamic
-    };
-  public:
-    SPQR() 
-      : m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
-    { 
-      cholmod_l_start(&m_cc);
-    }
-    
-    explicit SPQR(const _MatrixType& matrix)
-    : m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
-    {
-      cholmod_l_start(&m_cc);
-      compute(matrix);
-    }
-    
-    ~SPQR()
-    {
-      SPQR_free();
-      cholmod_l_finish(&m_cc);
-    }
-    void SPQR_free()
-    {
-      cholmod_l_free_sparse(&m_H, &m_cc);
-      cholmod_l_free_sparse(&m_cR, &m_cc);
-      cholmod_l_free_dense(&m_HTau, &m_cc);
-      std::free(m_E);
-      std::free(m_HPinv);
-    }
-
-    void compute(const _MatrixType& matrix)
-    {
-      if(m_isInitialized) SPQR_free();
-
-      MatrixType mat(matrix);
-      
-      /* Compute the default threshold as in MatLab, see:
-       * Tim Davis, "Algorithm 915, SuiteSparseQR: Multifrontal Multithreaded Rank-Revealing
-       * Sparse QR Factorization, ACM Trans. on Math. Soft. 38(1), 2011, Page 8:3 
-       */
-      RealScalar pivotThreshold = m_tolerance;
-      if(m_useDefaultThreshold) 
-      {
-        RealScalar max2Norm = 0.0;
-        for (int j = 0; j < mat.cols(); j++) max2Norm = numext::maxi(max2Norm, mat.col(j).norm());
-        if(max2Norm==RealScalar(0))
-          max2Norm = RealScalar(1);
-        pivotThreshold = 20 * (mat.rows() + mat.cols()) * max2Norm * NumTraits<RealScalar>::epsilon();
-      }
-      cholmod_sparse A; 
-      A = viewAsCholmod(mat);
-      m_rows = matrix.rows();
-      Index col = matrix.cols();
-      m_rank = SuiteSparseQR<Scalar>(m_ordering, pivotThreshold, col, &A, 
-                             &m_cR, &m_E, &m_H, &m_HPinv, &m_HTau, &m_cc);
-
-      if (!m_cR)
-      {
-        m_info = NumericalIssue;
-        m_isInitialized = false;
-        return;
-      }
-      m_info = Success;
-      m_isInitialized = true;
-      m_isRUpToDate = false;
-    }
-    /** 
-     * Get the number of rows of the input matrix and the Q matrix
-     */
-    inline Index rows() const {return m_rows; }
-    
-    /** 
-     * Get the number of columns of the input matrix. 
-     */
-    inline Index cols() const { return m_cR->ncol; }
-    
-    template<typename Rhs, typename Dest>
-    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
-    {
-      eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()");
-      eigen_assert(b.cols()==1 && "This method is for vectors only");
-
-      //Compute Q^T * b
-      typename Dest::PlainObject y, y2;
-      y = matrixQ().transpose() * b;
-      
-      // Solves with the triangular matrix R
-      Index rk = this->rank();
-      y2 = y;
-      y.resize((std::max)(cols(),Index(y.rows())),y.cols());
-      y.topRows(rk) = this->matrixR().topLeftCorner(rk, rk).template triangularView<Upper>().solve(y2.topRows(rk));
-
-      // Apply the column permutation 
-      // colsPermutation() performs a copy of the permutation,
-      // so let's apply it manually:
-      for(Index i = 0; i < rk; ++i) dest.row(m_E[i]) = y.row(i);
-      for(Index i = rk; i < cols(); ++i) dest.row(m_E[i]).setZero();
-      
-//       y.bottomRows(y.rows()-rk).setZero();
-//       dest = colsPermutation() * y.topRows(cols());
-      
-      m_info = Success;
-    }
-    
-    /** \returns the sparse triangular factor R. It is a sparse matrix
-     */
-    const MatrixType matrixR() const
-    {
-      eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()");
-      if(!m_isRUpToDate) {
-        m_R = viewAsEigen<Scalar,ColMajor, typename MatrixType::StorageIndex>(*m_cR);
-        m_isRUpToDate = true;
-      }
-      return m_R;
-    }
-    /// Get an expression of the matrix Q
-    SPQRMatrixQReturnType<SPQR> matrixQ() const
-    {
-      return SPQRMatrixQReturnType<SPQR>(*this);
-    }
-    /// Get the permutation that was applied to columns of A
-    PermutationType colsPermutation() const
-    { 
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return PermutationType(m_E, m_cR->ncol);
-    }
-    /**
-     * Gets the rank of the matrix. 
-     * It should be equal to matrixQR().cols if the matrix is full-rank
-     */
-    Index rank() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_cc.SPQR_istat[4];
-    }
-    /// Set the fill-reducing ordering method to be used
-    void setSPQROrdering(int ord) { m_ordering = ord;}
-    /// Set the tolerance tol to treat columns with 2-norm < =tol as zero
-    void setPivotThreshold(const RealScalar& tol)
-    {
-      m_useDefaultThreshold = false;
-      m_tolerance = tol;
-    }
-    
-    /** \returns a pointer to the SPQR workspace */
-    cholmod_common *cholmodCommon() const { return &m_cc; }
-    
-    
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the sparse QR can not be computed
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-  protected:
-    bool m_analysisIsOk;
-    bool m_factorizationIsOk;
-    mutable bool m_isRUpToDate;
-    mutable ComputationInfo m_info;
-    int m_ordering; // Ordering method to use, see SPQR's manual
-    int m_allow_tol; // Allow to use some tolerance during numerical factorization.
-    RealScalar m_tolerance; // treat columns with 2-norm below this tolerance as zero
-    mutable cholmod_sparse *m_cR; // The sparse R factor in cholmod format
-    mutable MatrixType m_R; // The sparse matrix R in Eigen format
-    mutable StorageIndex *m_E; // The permutation applied to columns
-    mutable cholmod_sparse *m_H;  //The householder vectors
-    mutable StorageIndex *m_HPinv; // The row permutation of H
-    mutable cholmod_dense *m_HTau; // The Householder coefficients
-    mutable Index m_rank; // The rank of the matrix
-    mutable cholmod_common m_cc; // Workspace and parameters
-    bool m_useDefaultThreshold;     // Use default threshold
-    Index m_rows;
-    template<typename ,typename > friend struct SPQR_QProduct;
-};
-
-template <typename SPQRType, typename Derived>
-struct SPQR_QProduct : ReturnByValue<SPQR_QProduct<SPQRType,Derived> >
-{
-  typedef typename SPQRType::Scalar Scalar;
-  typedef typename SPQRType::StorageIndex StorageIndex;
-  //Define the constructor to get reference to argument types
-  SPQR_QProduct(const SPQRType& spqr, const Derived& other, bool transpose) : m_spqr(spqr),m_other(other),m_transpose(transpose) {}
-  
-  inline Index rows() const { return m_transpose ? m_spqr.rows() : m_spqr.cols(); }
-  inline Index cols() const { return m_other.cols(); }
-  // Assign to a vector
-  template<typename ResType>
-  void evalTo(ResType& res) const
-  {
-    cholmod_dense y_cd;
-    cholmod_dense *x_cd; 
-    int method = m_transpose ? SPQR_QTX : SPQR_QX; 
-    cholmod_common *cc = m_spqr.cholmodCommon();
-    y_cd = viewAsCholmod(m_other.const_cast_derived());
-    x_cd = SuiteSparseQR_qmult<Scalar>(method, m_spqr.m_H, m_spqr.m_HTau, m_spqr.m_HPinv, &y_cd, cc);
-    res = Matrix<Scalar,ResType::RowsAtCompileTime,ResType::ColsAtCompileTime>::Map(reinterpret_cast<Scalar*>(x_cd->x), x_cd->nrow, x_cd->ncol);
-    cholmod_l_free_dense(&x_cd, cc);
-  }
-  const SPQRType& m_spqr; 
-  const Derived& m_other; 
-  bool m_transpose; 
-  
-};
-template<typename SPQRType>
-struct SPQRMatrixQReturnType{
-  
-  SPQRMatrixQReturnType(const SPQRType& spqr) : m_spqr(spqr) {}
-  template<typename Derived>
-  SPQR_QProduct<SPQRType, Derived> operator*(const MatrixBase<Derived>& other)
-  {
-    return SPQR_QProduct<SPQRType,Derived>(m_spqr,other.derived(),false);
-  }
-  SPQRMatrixQTransposeReturnType<SPQRType> adjoint() const
-  {
-    return SPQRMatrixQTransposeReturnType<SPQRType>(m_spqr);
-  }
-  // To use for operations with the transpose of Q
-  SPQRMatrixQTransposeReturnType<SPQRType> transpose() const
-  {
-    return SPQRMatrixQTransposeReturnType<SPQRType>(m_spqr);
-  }
-  const SPQRType& m_spqr;
-};
-
-template<typename SPQRType>
-struct SPQRMatrixQTransposeReturnType{
-  SPQRMatrixQTransposeReturnType(const SPQRType& spqr) : m_spqr(spqr) {}
-  template<typename Derived>
-  SPQR_QProduct<SPQRType,Derived> operator*(const MatrixBase<Derived>& other)
-  {
-    return SPQR_QProduct<SPQRType,Derived>(m_spqr,other.derived(), true);
-  }
-  const SPQRType& m_spqr;
-};
-
-}// End namespace Eigen
-#endif
diff --git a/phonelibs/eigen/Eigen/src/SVD/BDCSVD.h b/phonelibs/eigen/Eigen/src/SVD/BDCSVD.h
deleted file mode 100644
index 25fca6f4d4565c..00000000000000
--- a/phonelibs/eigen/Eigen/src/SVD/BDCSVD.h
+++ /dev/null
@@ -1,1230 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-// 
-// We used the "A Divide-And-Conquer Algorithm for the Bidiagonal SVD"
-// research report written by Ming Gu and Stanley C.Eisenstat
-// The code variable names correspond to the names they used in their 
-// report
-//
-// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
-// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
-// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
-// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
-// Copyright (C) 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2014-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BDCSVD_H
-#define EIGEN_BDCSVD_H
-// #define EIGEN_BDCSVD_DEBUG_VERBOSE
-// #define EIGEN_BDCSVD_SANITY_CHECKS
-
-namespace Eigen {
-
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-IOFormat bdcsvdfmt(8, 0, ", ", "\n", "  [", "]");
-#endif
-  
-template<typename _MatrixType> class BDCSVD;
-
-namespace internal {
-
-template<typename _MatrixType> 
-struct traits<BDCSVD<_MatrixType> >
-{
-  typedef _MatrixType MatrixType;
-};  
-
-} // end namespace internal
-  
-  
-/** \ingroup SVD_Module
- *
- *
- * \class BDCSVD
- *
- * \brief class Bidiagonal Divide and Conquer SVD
- *
- * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
- *
- * This class first reduces the input matrix to bi-diagonal form using class UpperBidiagonalization,
- * and then performs a divide-and-conquer diagonalization. Small blocks are diagonalized using class JacobiSVD.
- * You can control the switching size with the setSwitchSize() method, default is 16.
- * For small matrice (<16), it is thus preferable to directly use JacobiSVD. For larger ones, BDCSVD is highly
- * recommended and can several order of magnitude faster.
- *
- * \warning this algorithm is unlikely to provide accurate result when compiled with unsafe math optimizations.
- * For instance, this concerns Intel's compiler (ICC), which perfroms such optimization by default unless
- * you compile with the \c -fp-model \c precise option. Likewise, the \c -ffast-math option of GCC or clang will
- * significantly degrade the accuracy.
- *
- * \sa class JacobiSVD
- */
-template<typename _MatrixType> 
-class BDCSVD : public SVDBase<BDCSVD<_MatrixType> >
-{
-  typedef SVDBase<BDCSVD> Base;
-    
-public:
-  using Base::rows;
-  using Base::cols;
-  using Base::computeU;
-  using Base::computeV;
-  
-  typedef _MatrixType MatrixType;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime, 
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime, 
-    DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime), 
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime, 
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime, 
-    MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime, MaxColsAtCompileTime), 
-    MatrixOptions = MatrixType::Options
-  };
-
-  typedef typename Base::MatrixUType MatrixUType;
-  typedef typename Base::MatrixVType MatrixVType;
-  typedef typename Base::SingularValuesType SingularValuesType;
-  
-  typedef Matrix<Scalar, Dynamic, Dynamic, ColMajor> MatrixX;
-  typedef Matrix<RealScalar, Dynamic, Dynamic, ColMajor> MatrixXr;
-  typedef Matrix<RealScalar, Dynamic, 1> VectorType;
-  typedef Array<RealScalar, Dynamic, 1> ArrayXr;
-  typedef Array<Index,1,Dynamic> ArrayXi;
-  typedef Ref<ArrayXr> ArrayRef;
-  typedef Ref<ArrayXi> IndicesRef;
-
-  /** \brief Default Constructor.
-   *
-   * The default constructor is useful in cases in which the user intends to
-   * perform decompositions via BDCSVD::compute(const MatrixType&).
-   */
-  BDCSVD() : m_algoswap(16), m_numIters(0)
-  {}
-
-
-  /** \brief Default Constructor with memory preallocation
-   *
-   * Like the default constructor but with preallocation of the internal data
-   * according to the specified problem size.
-   * \sa BDCSVD()
-   */
-  BDCSVD(Index rows, Index cols, unsigned int computationOptions = 0)
-    : m_algoswap(16), m_numIters(0)
-  {
-    allocate(rows, cols, computationOptions);
-  }
-
-  /** \brief Constructor performing the decomposition of given matrix.
-   *
-   * \param matrix the matrix to decompose
-   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-   *                           By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU, 
-   *                           #ComputeFullV, #ComputeThinV.
-   *
-   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-   * available with the (non - default) FullPivHouseholderQR preconditioner.
-   */
-  BDCSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
-    : m_algoswap(16), m_numIters(0)
-  {
-    compute(matrix, computationOptions);
-  }
-
-  ~BDCSVD() 
-  {
-  }
-  
-  /** \brief Method performing the decomposition of given matrix using custom options.
-   *
-   * \param matrix the matrix to decompose
-   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-   *                           By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU, 
-   *                           #ComputeFullV, #ComputeThinV.
-   *
-   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-   * available with the (non - default) FullPivHouseholderQR preconditioner.
-   */
-  BDCSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
-
-  /** \brief Method performing the decomposition of given matrix using current options.
-   *
-   * \param matrix the matrix to decompose
-   *
-   * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
-   */
-  BDCSVD& compute(const MatrixType& matrix)
-  {
-    return compute(matrix, this->m_computationOptions);
-  }
-
-  void setSwitchSize(int s) 
-  {
-    eigen_assert(s>3 && "BDCSVD the size of the algo switch has to be greater than 3");
-    m_algoswap = s;
-  }
- 
-private:
-  void allocate(Index rows, Index cols, unsigned int computationOptions);
-  void divide(Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift);
-  void computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V);
-  void computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm, VectorType& singVals, ArrayRef shifts, ArrayRef mus);
-  void perturbCol0(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm, const VectorType& singVals, const ArrayRef& shifts, const ArrayRef& mus, ArrayRef zhat);
-  void computeSingVecs(const ArrayRef& zhat, const ArrayRef& diag, const IndicesRef& perm, const VectorType& singVals, const ArrayRef& shifts, const ArrayRef& mus, MatrixXr& U, MatrixXr& V);
-  void deflation43(Index firstCol, Index shift, Index i, Index size);
-  void deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size);
-  void deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift);
-  template<typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
-  void copyUV(const HouseholderU &householderU, const HouseholderV &householderV, const NaiveU &naiveU, const NaiveV &naivev);
-  void structured_update(Block<MatrixXr,Dynamic,Dynamic> A, const MatrixXr &B, Index n1);
-  static RealScalar secularEq(RealScalar x, const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const ArrayRef& diagShifted, RealScalar shift);
-
-protected:
-  MatrixXr m_naiveU, m_naiveV;
-  MatrixXr m_computed;
-  Index m_nRec;
-  ArrayXr m_workspace;
-  ArrayXi m_workspaceI;
-  int m_algoswap;
-  bool m_isTranspose, m_compU, m_compV;
-  
-  using Base::m_singularValues;
-  using Base::m_diagSize;
-  using Base::m_computeFullU;
-  using Base::m_computeFullV;
-  using Base::m_computeThinU;
-  using Base::m_computeThinV;
-  using Base::m_matrixU;
-  using Base::m_matrixV;
-  using Base::m_isInitialized;
-  using Base::m_nonzeroSingularValues;
-
-public:  
-  int m_numIters;
-}; //end class BDCSVD
-
-
-// Method to allocate and initialize matrix and attributes
-template<typename MatrixType>
-void BDCSVD<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
-{
-  m_isTranspose = (cols > rows);
-
-  if (Base::allocate(rows, cols, computationOptions))
-    return;
-  
-  m_computed = MatrixXr::Zero(m_diagSize + 1, m_diagSize );
-  m_compU = computeV();
-  m_compV = computeU();
-  if (m_isTranspose)
-    std::swap(m_compU, m_compV);
-  
-  if (m_compU) m_naiveU = MatrixXr::Zero(m_diagSize + 1, m_diagSize + 1 );
-  else         m_naiveU = MatrixXr::Zero(2, m_diagSize + 1 );
-  
-  if (m_compV) m_naiveV = MatrixXr::Zero(m_diagSize, m_diagSize);
-  
-  m_workspace.resize((m_diagSize+1)*(m_diagSize+1)*3);
-  m_workspaceI.resize(3*m_diagSize);
-}// end allocate
-
-template<typename MatrixType>
-BDCSVD<MatrixType>& BDCSVD<MatrixType>::compute(const MatrixType& matrix, unsigned int computationOptions) 
-{
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "\n\n\n======================================================================================================================\n\n\n";
-#endif
-  allocate(matrix.rows(), matrix.cols(), computationOptions);
-  using std::abs;
-
-  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
-  
-  //**** step -1 - If the problem is too small, directly falls back to JacobiSVD and return
-  if(matrix.cols() < m_algoswap)
-  {
-    // FIXME this line involves temporaries
-    JacobiSVD<MatrixType> jsvd(matrix,computationOptions);
-    if(computeU()) m_matrixU = jsvd.matrixU();
-    if(computeV()) m_matrixV = jsvd.matrixV();
-    m_singularValues = jsvd.singularValues();
-    m_nonzeroSingularValues = jsvd.nonzeroSingularValues();
-    m_isInitialized = true;
-    return *this;
-  }
-  
-  //**** step 0 - Copy the input matrix and apply scaling to reduce over/under-flows
-  RealScalar scale = matrix.cwiseAbs().maxCoeff();
-  if(scale==RealScalar(0)) scale = RealScalar(1);
-  MatrixX copy;
-  if (m_isTranspose) copy = matrix.adjoint()/scale;
-  else               copy = matrix/scale;
-  
-  //**** step 1 - Bidiagonalization
-  // FIXME this line involves temporaries
-  internal::UpperBidiagonalization<MatrixX> bid(copy);
-
-  //**** step 2 - Divide & Conquer
-  m_naiveU.setZero();
-  m_naiveV.setZero();
-  // FIXME this line involves a temporary matrix
-  m_computed.topRows(m_diagSize) = bid.bidiagonal().toDenseMatrix().transpose();
-  m_computed.template bottomRows<1>().setZero();
-  divide(0, m_diagSize - 1, 0, 0, 0);
-
-  //**** step 3 - Copy singular values and vectors
-  for (int i=0; i<m_diagSize; i++)
-  {
-    RealScalar a = abs(m_computed.coeff(i, i));
-    m_singularValues.coeffRef(i) = a * scale;
-    if (a<considerZero)
-    {
-      m_nonzeroSingularValues = i;
-      m_singularValues.tail(m_diagSize - i - 1).setZero();
-      break;
-    }
-    else if (i == m_diagSize - 1)
-    {
-      m_nonzeroSingularValues = i + 1;
-      break;
-    }
-  }
-
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-//   std::cout << "m_naiveU\n" << m_naiveU << "\n\n";
-//   std::cout << "m_naiveV\n" << m_naiveV << "\n\n";
-#endif
-  if(m_isTranspose) copyUV(bid.householderV(), bid.householderU(), m_naiveV, m_naiveU);
-  else              copyUV(bid.householderU(), bid.householderV(), m_naiveU, m_naiveV);
-
-  m_isInitialized = true;
-  return *this;
-}// end compute
-
-
-template<typename MatrixType>
-template<typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
-void BDCSVD<MatrixType>::copyUV(const HouseholderU &householderU, const HouseholderV &householderV, const NaiveU &naiveU, const NaiveV &naiveV)
-{
-  // Note exchange of U and V: m_matrixU is set from m_naiveV and vice versa
-  if (computeU())
-  {
-    Index Ucols = m_computeThinU ? m_diagSize : householderU.cols();
-    m_matrixU = MatrixX::Identity(householderU.cols(), Ucols);
-    m_matrixU.topLeftCorner(m_diagSize, m_diagSize) = naiveV.template cast<Scalar>().topLeftCorner(m_diagSize, m_diagSize);
-    householderU.applyThisOnTheLeft(m_matrixU); // FIXME this line involves a temporary buffer
-  }
-  if (computeV())
-  {
-    Index Vcols = m_computeThinV ? m_diagSize : householderV.cols();
-    m_matrixV = MatrixX::Identity(householderV.cols(), Vcols);
-    m_matrixV.topLeftCorner(m_diagSize, m_diagSize) = naiveU.template cast<Scalar>().topLeftCorner(m_diagSize, m_diagSize);
-    householderV.applyThisOnTheLeft(m_matrixV); // FIXME this line involves a temporary buffer
-  }
-}
-
-/** \internal
-  * Performs A = A * B exploiting the special structure of the matrix A. Splitting A as:
-  *  A = [A1]
-  *      [A2]
-  * such that A1.rows()==n1, then we assume that at least half of the columns of A1 and A2 are zeros.
-  * We can thus pack them prior to the the matrix product. However, this is only worth the effort if the matrix is large
-  * enough.
-  */
-template<typename MatrixType>
-void BDCSVD<MatrixType>::structured_update(Block<MatrixXr,Dynamic,Dynamic> A, const MatrixXr &B, Index n1)
-{
-  Index n = A.rows();
-  if(n>100)
-  {
-    // If the matrices are large enough, let's exploit the sparse structure of A by
-    // splitting it in half (wrt n1), and packing the non-zero columns.
-    Index n2 = n - n1;
-    Map<MatrixXr> A1(m_workspace.data()      , n1, n);
-    Map<MatrixXr> A2(m_workspace.data()+ n1*n, n2, n);
-    Map<MatrixXr> B1(m_workspace.data()+  n*n, n,  n);
-    Map<MatrixXr> B2(m_workspace.data()+2*n*n, n,  n);
-    Index k1=0, k2=0;
-    for(Index j=0; j<n; ++j)
-    {
-      if( (A.col(j).head(n1).array()!=0).any() )
-      {
-        A1.col(k1) = A.col(j).head(n1);
-        B1.row(k1) = B.row(j);
-        ++k1;
-      }
-      if( (A.col(j).tail(n2).array()!=0).any() )
-      {
-        A2.col(k2) = A.col(j).tail(n2);
-        B2.row(k2) = B.row(j);
-        ++k2;
-      }
-    }
-  
-    A.topRows(n1).noalias()    = A1.leftCols(k1) * B1.topRows(k1);
-    A.bottomRows(n2).noalias() = A2.leftCols(k2) * B2.topRows(k2);
-  }
-  else
-  {
-    Map<MatrixXr,Aligned> tmp(m_workspace.data(),n,n);
-    tmp.noalias() = A*B;
-    A = tmp;
-  }
-}
-
-// The divide algorithm is done "in place", we are always working on subsets of the same matrix. The divide methods takes as argument the 
-// place of the submatrix we are currently working on.
-
-//@param firstCol : The Index of the first column of the submatrix of m_computed and for m_naiveU;
-//@param lastCol : The Index of the last column of the submatrix of m_computed and for m_naiveU; 
-// lastCol + 1 - firstCol is the size of the submatrix.
-//@param firstRowW : The Index of the first row of the matrix W that we are to change. (see the reference paper section 1 for more information on W)
-//@param firstRowW : Same as firstRowW with the column.
-//@param shift : Each time one takes the left submatrix, one must add 1 to the shift. Why? Because! We actually want the last column of the U submatrix 
-// to become the first column (*coeff) and to shift all the other columns to the right. There are more details on the reference paper.
-template<typename MatrixType>
-void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift)
-{
-  // requires rows = cols + 1;
-  using std::pow;
-  using std::sqrt;
-  using std::abs;
-  const Index n = lastCol - firstCol + 1;
-  const Index k = n/2;
-  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
-  RealScalar alphaK;
-  RealScalar betaK; 
-  RealScalar r0; 
-  RealScalar lambda, phi, c0, s0;
-  VectorType l, f;
-  // We use the other algorithm which is more efficient for small 
-  // matrices.
-  if (n < m_algoswap)
-  {
-    // FIXME this line involves temporaries
-    JacobiSVD<MatrixXr> b(m_computed.block(firstCol, firstCol, n + 1, n), ComputeFullU | (m_compV ? ComputeFullV : 0));
-    if (m_compU)
-      m_naiveU.block(firstCol, firstCol, n + 1, n + 1).real() = b.matrixU();
-    else 
-    {
-      m_naiveU.row(0).segment(firstCol, n + 1).real() = b.matrixU().row(0);
-      m_naiveU.row(1).segment(firstCol, n + 1).real() = b.matrixU().row(n);
-    }
-    if (m_compV) m_naiveV.block(firstRowW, firstColW, n, n).real() = b.matrixV();
-    m_computed.block(firstCol + shift, firstCol + shift, n + 1, n).setZero();
-    m_computed.diagonal().segment(firstCol + shift, n) = b.singularValues().head(n);
-    return;
-  }
-  // We use the divide and conquer algorithm
-  alphaK =  m_computed(firstCol + k, firstCol + k);
-  betaK = m_computed(firstCol + k + 1, firstCol + k);
-  // The divide must be done in that order in order to have good results. Divide change the data inside the submatrices
-  // and the divide of the right submatrice reads one column of the left submatrice. That's why we need to treat the 
-  // right submatrix before the left one. 
-  divide(k + 1 + firstCol, lastCol, k + 1 + firstRowW, k + 1 + firstColW, shift);
-  divide(firstCol, k - 1 + firstCol, firstRowW, firstColW + 1, shift + 1);
-
-  if (m_compU)
-  {
-    lambda = m_naiveU(firstCol + k, firstCol + k);
-    phi = m_naiveU(firstCol + k + 1, lastCol + 1);
-  } 
-  else 
-  {
-    lambda = m_naiveU(1, firstCol + k);
-    phi = m_naiveU(0, lastCol + 1);
-  }
-  r0 = sqrt((abs(alphaK * lambda) * abs(alphaK * lambda)) + abs(betaK * phi) * abs(betaK * phi));
-  if (m_compU)
-  {
-    l = m_naiveU.row(firstCol + k).segment(firstCol, k);
-    f = m_naiveU.row(firstCol + k + 1).segment(firstCol + k + 1, n - k - 1);
-  } 
-  else 
-  {
-    l = m_naiveU.row(1).segment(firstCol, k);
-    f = m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1);
-  }
-  if (m_compV) m_naiveV(firstRowW+k, firstColW) = 1;
-  if (r0<considerZero)
-  {
-    c0 = 1;
-    s0 = 0;
-  }
-  else
-  {
-    c0 = alphaK * lambda / r0;
-    s0 = betaK * phi / r0;
-  }
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(m_naiveU.allFinite());
-  assert(m_naiveV.allFinite());
-  assert(m_computed.allFinite());
-#endif
-  
-  if (m_compU)
-  {
-    MatrixXr q1 (m_naiveU.col(firstCol + k).segment(firstCol, k + 1));     
-    // we shiftW Q1 to the right
-    for (Index i = firstCol + k - 1; i >= firstCol; i--) 
-      m_naiveU.col(i + 1).segment(firstCol, k + 1) = m_naiveU.col(i).segment(firstCol, k + 1);
-    // we shift q1 at the left with a factor c0
-    m_naiveU.col(firstCol).segment( firstCol, k + 1) = (q1 * c0);
-    // last column = q1 * - s0
-    m_naiveU.col(lastCol + 1).segment(firstCol, k + 1) = (q1 * ( - s0));
-    // first column = q2 * s0
-    m_naiveU.col(firstCol).segment(firstCol + k + 1, n - k) = m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) * s0; 
-    // q2 *= c0
-    m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) *= c0;
-  } 
-  else 
-  {
-    RealScalar q1 = m_naiveU(0, firstCol + k);
-    // we shift Q1 to the right
-    for (Index i = firstCol + k - 1; i >= firstCol; i--) 
-      m_naiveU(0, i + 1) = m_naiveU(0, i);
-    // we shift q1 at the left with a factor c0
-    m_naiveU(0, firstCol) = (q1 * c0);
-    // last column = q1 * - s0
-    m_naiveU(0, lastCol + 1) = (q1 * ( - s0));
-    // first column = q2 * s0
-    m_naiveU(1, firstCol) = m_naiveU(1, lastCol + 1) *s0; 
-    // q2 *= c0
-    m_naiveU(1, lastCol + 1) *= c0;
-    m_naiveU.row(1).segment(firstCol + 1, k).setZero();
-    m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1).setZero();
-  }
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(m_naiveU.allFinite());
-  assert(m_naiveV.allFinite());
-  assert(m_computed.allFinite());
-#endif
-  
-  m_computed(firstCol + shift, firstCol + shift) = r0;
-  m_computed.col(firstCol + shift).segment(firstCol + shift + 1, k) = alphaK * l.transpose().real();
-  m_computed.col(firstCol + shift).segment(firstCol + shift + k + 1, n - k - 1) = betaK * f.transpose().real();
-
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  ArrayXr tmp1 = (m_computed.block(firstCol+shift, firstCol+shift, n, n)).jacobiSvd().singularValues();
-#endif
-  // Second part: try to deflate singular values in combined matrix
-  deflation(firstCol, lastCol, k, firstRowW, firstColW, shift);
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  ArrayXr tmp2 = (m_computed.block(firstCol+shift, firstCol+shift, n, n)).jacobiSvd().singularValues();
-  std::cout << "\n\nj1 = " << tmp1.transpose().format(bdcsvdfmt) << "\n";
-  std::cout << "j2 = " << tmp2.transpose().format(bdcsvdfmt) << "\n\n";
-  std::cout << "err:      " << ((tmp1-tmp2).abs()>1e-12*tmp2.abs()).transpose() << "\n";
-  static int count = 0;
-  std::cout << "# " << ++count << "\n\n";
-  assert((tmp1-tmp2).matrix().norm() < 1e-14*tmp2.matrix().norm());
-//   assert(count<681);
-//   assert(((tmp1-tmp2).abs()<1e-13*tmp2.abs()).all());
-#endif
-  
-  // Third part: compute SVD of combined matrix
-  MatrixXr UofSVD, VofSVD;
-  VectorType singVals;
-  computeSVDofM(firstCol + shift, n, UofSVD, singVals, VofSVD);
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(UofSVD.allFinite());
-  assert(VofSVD.allFinite());
-#endif
-  
-  if (m_compU)
-    structured_update(m_naiveU.block(firstCol, firstCol, n + 1, n + 1), UofSVD, (n+2)/2);
-  else
-  {
-    Map<Matrix<RealScalar,2,Dynamic>,Aligned> tmp(m_workspace.data(),2,n+1);
-    tmp.noalias() = m_naiveU.middleCols(firstCol, n+1) * UofSVD;
-    m_naiveU.middleCols(firstCol, n + 1) = tmp;
-  }
-  
-  if (m_compV)  structured_update(m_naiveV.block(firstRowW, firstColW, n, n), VofSVD, (n+1)/2);
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(m_naiveU.allFinite());
-  assert(m_naiveV.allFinite());
-  assert(m_computed.allFinite());
-#endif
-  
-  m_computed.block(firstCol + shift, firstCol + shift, n, n).setZero();
-  m_computed.block(firstCol + shift, firstCol + shift, n, n).diagonal() = singVals;
-}// end divide
-
-// Compute SVD of m_computed.block(firstCol, firstCol, n + 1, n); this block only has non-zeros in
-// the first column and on the diagonal and has undergone deflation, so diagonal is in increasing
-// order except for possibly the (0,0) entry. The computed SVD is stored U, singVals and V, except
-// that if m_compV is false, then V is not computed. Singular values are sorted in decreasing order.
-//
-// TODO Opportunities for optimization: better root finding algo, better stopping criterion, better
-// handling of round-off errors, be consistent in ordering
-// For instance, to solve the secular equation using FMM, see http://www.stat.uchicago.edu/~lekheng/courses/302/classics/greengard-rokhlin.pdf
-template <typename MatrixType>
-void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V)
-{
-  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
-  using std::abs;
-  ArrayRef col0 = m_computed.col(firstCol).segment(firstCol, n);
-  m_workspace.head(n) =  m_computed.block(firstCol, firstCol, n, n).diagonal();
-  ArrayRef diag = m_workspace.head(n);
-  diag(0) = 0;
-
-  // Allocate space for singular values and vectors
-  singVals.resize(n);
-  U.resize(n+1, n+1);
-  if (m_compV) V.resize(n, n);
-
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  if (col0.hasNaN() || diag.hasNaN())
-    std::cout << "\n\nHAS NAN\n\n";
-#endif
-  
-  // Many singular values might have been deflated, the zero ones have been moved to the end,
-  // but others are interleaved and we must ignore them at this stage.
-  // To this end, let's compute a permutation skipping them:
-  Index actual_n = n;
-  while(actual_n>1 && diag(actual_n-1)==0) --actual_n;
-  Index m = 0; // size of the deflated problem
-  for(Index k=0;k<actual_n;++k)
-    if(abs(col0(k))>considerZero)
-      m_workspaceI(m++) = k;
-  Map<ArrayXi> perm(m_workspaceI.data(),m);
-  
-  Map<ArrayXr> shifts(m_workspace.data()+1*n, n);
-  Map<ArrayXr> mus(m_workspace.data()+2*n, n);
-  Map<ArrayXr> zhat(m_workspace.data()+3*n, n);
-
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "computeSVDofM using:\n";
-  std::cout << "  z: " << col0.transpose() << "\n";
-  std::cout << "  d: " << diag.transpose() << "\n";
-#endif
-  
-  // Compute singVals, shifts, and mus
-  computeSingVals(col0, diag, perm, singVals, shifts, mus);
-  
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "  j:        " << (m_computed.block(firstCol, firstCol, n, n)).jacobiSvd().singularValues().transpose().reverse() << "\n\n";
-  std::cout << "  sing-val: " << singVals.transpose() << "\n";
-  std::cout << "  mu:       " << mus.transpose() << "\n";
-  std::cout << "  shift:    " << shifts.transpose() << "\n";
-  
-  {
-    Index actual_n = n;
-    while(actual_n>1 && abs(col0(actual_n-1))<considerZero) --actual_n;
-    std::cout << "\n\n    mus:    " << mus.head(actual_n).transpose() << "\n\n";
-    std::cout << "    check1 (expect0) : " << ((singVals.array()-(shifts+mus)) / singVals.array()).head(actual_n).transpose() << "\n\n";
-    std::cout << "    check2 (>0)      : " << ((singVals.array()-diag) / singVals.array()).head(actual_n).transpose() << "\n\n";
-    std::cout << "    check3 (>0)      : " << ((diag.segment(1,actual_n-1)-singVals.head(actual_n-1).array()) / singVals.head(actual_n-1).array()).transpose() << "\n\n\n";
-    std::cout << "    check4 (>0)      : " << ((singVals.segment(1,actual_n-1)-singVals.head(actual_n-1))).transpose() << "\n\n\n";
-  }
-#endif
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(singVals.allFinite());
-  assert(mus.allFinite());
-  assert(shifts.allFinite());
-#endif
-  
-  // Compute zhat
-  perturbCol0(col0, diag, perm, singVals, shifts, mus, zhat);
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "  zhat: " << zhat.transpose() << "\n";
-#endif
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(zhat.allFinite());
-#endif
-  
-  computeSingVecs(zhat, diag, perm, singVals, shifts, mus, U, V);
-  
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "U^T U: " << (U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() << "\n";
-  std::cout << "V^T V: " << (V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() << "\n";
-#endif
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(U.allFinite());
-  assert(V.allFinite());
-  assert((U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() < 1e-14 * n);
-  assert((V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() < 1e-14 * n);
-  assert(m_naiveU.allFinite());
-  assert(m_naiveV.allFinite());
-  assert(m_computed.allFinite());
-#endif
-  
-  // Because of deflation, the singular values might not be completely sorted.
-  // Fortunately, reordering them is a O(n) problem
-  for(Index i=0; i<actual_n-1; ++i)
-  {
-    if(singVals(i)>singVals(i+1))
-    {
-      using std::swap;
-      swap(singVals(i),singVals(i+1));
-      U.col(i).swap(U.col(i+1));
-      if(m_compV) V.col(i).swap(V.col(i+1));
-    }
-  }
-  
-  // Reverse order so that singular values in increased order
-  // Because of deflation, the zeros singular-values are already at the end
-  singVals.head(actual_n).reverseInPlace();
-  U.leftCols(actual_n).rowwise().reverseInPlace();
-  if (m_compV) V.leftCols(actual_n).rowwise().reverseInPlace();
-  
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  JacobiSVD<MatrixXr> jsvd(m_computed.block(firstCol, firstCol, n, n) );
-  std::cout << "  * j:        " << jsvd.singularValues().transpose() << "\n\n";
-  std::cout << "  * sing-val: " << singVals.transpose() << "\n";
-//   std::cout << "  * err:      " << ((jsvd.singularValues()-singVals)>1e-13*singVals.norm()).transpose() << "\n";
-#endif
-}
-
-template <typename MatrixType>
-typename BDCSVD<MatrixType>::RealScalar BDCSVD<MatrixType>::secularEq(RealScalar mu, const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const ArrayRef& diagShifted, RealScalar shift)
-{
-  Index m = perm.size();
-  RealScalar res = 1;
-  for(Index i=0; i<m; ++i)
-  {
-    Index j = perm(i);
-    res += numext::abs2(col0(j)) / ((diagShifted(j) - mu) * (diag(j) + shift + mu));
-  }
-  return res;
-
-}
-
-template <typename MatrixType>
-void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm,
-                                         VectorType& singVals, ArrayRef shifts, ArrayRef mus)
-{
-  using std::abs;
-  using std::swap;
-
-  Index n = col0.size();
-  Index actual_n = n;
-  while(actual_n>1 && col0(actual_n-1)==0) --actual_n;
-
-  for (Index k = 0; k < n; ++k)
-  {
-    if (col0(k) == 0 || actual_n==1)
-    {
-      // if col0(k) == 0, then entry is deflated, so singular value is on diagonal
-      // if actual_n==1, then the deflated problem is already diagonalized
-      singVals(k) = k==0 ? col0(0) : diag(k);
-      mus(k) = 0;
-      shifts(k) = k==0 ? col0(0) : diag(k);
-      continue;
-    } 
-
-    // otherwise, use secular equation to find singular value
-    RealScalar left = diag(k);
-    RealScalar right; // was: = (k != actual_n-1) ? diag(k+1) : (diag(actual_n-1) + col0.matrix().norm());
-    if(k==actual_n-1)
-      right = (diag(actual_n-1) + col0.matrix().norm());
-    else
-    {
-      // Skip deflated singular values
-      Index l = k+1;
-      while(col0(l)==0) { ++l; eigen_internal_assert(l<actual_n); }
-      right = diag(l);
-    }
-
-    // first decide whether it's closer to the left end or the right end
-    RealScalar mid = left + (right-left) / 2;
-    RealScalar fMid = secularEq(mid, col0, diag, perm, diag, 0);
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-    std::cout << right-left << "\n";
-    std::cout << "fMid = " << fMid << " " << secularEq(mid-left, col0, diag, perm, diag-left, left) << " " << secularEq(mid-right, col0, diag, perm, diag-right, right)   << "\n";
-    std::cout << "     = " << secularEq(0.1*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.2*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.3*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.4*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.49*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.5*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.51*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.6*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.7*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.8*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.9*(left+right), col0, diag, perm, diag, 0) << "\n";
-#endif
-    RealScalar shift = (k == actual_n-1 || fMid > 0) ? left : right;
-    
-    // measure everything relative to shift
-    Map<ArrayXr> diagShifted(m_workspace.data()+4*n, n);
-    diagShifted = diag - shift;
-    
-    // initial guess
-    RealScalar muPrev, muCur;
-    if (shift == left)
-    {
-      muPrev = (right - left) * RealScalar(0.1);
-      if (k == actual_n-1) muCur = right - left;
-      else                 muCur = (right - left) * RealScalar(0.5);
-    }
-    else
-    {
-      muPrev = -(right - left) * RealScalar(0.1);
-      muCur = -(right - left) * RealScalar(0.5);
-    }
-
-    RealScalar fPrev = secularEq(muPrev, col0, diag, perm, diagShifted, shift);
-    RealScalar fCur = secularEq(muCur, col0, diag, perm, diagShifted, shift);
-    if (abs(fPrev) < abs(fCur))
-    {
-      swap(fPrev, fCur);
-      swap(muPrev, muCur);
-    }
-
-    // rational interpolation: fit a function of the form a / mu + b through the two previous
-    // iterates and use its zero to compute the next iterate
-    bool useBisection = fPrev*fCur>0;
-    while (fCur!=0 && abs(muCur - muPrev) > 8 * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(muCur), abs(muPrev)) && abs(fCur - fPrev)>NumTraits<RealScalar>::epsilon() && !useBisection)
-    {
-      ++m_numIters;
-
-      // Find a and b such that the function f(mu) = a / mu + b matches the current and previous samples.
-      RealScalar a = (fCur - fPrev) / (1/muCur - 1/muPrev);
-      RealScalar b = fCur - a / muCur;
-      // And find mu such that f(mu)==0:
-      RealScalar muZero = -a/b;
-      RealScalar fZero = secularEq(muZero, col0, diag, perm, diagShifted, shift);
-      
-      muPrev = muCur;
-      fPrev = fCur;
-      muCur = muZero;
-      fCur = fZero;
-      
-      
-      if (shift == left  && (muCur < 0 || muCur > right - left)) useBisection = true;
-      if (shift == right && (muCur < -(right - left) || muCur > 0)) useBisection = true;
-      if (abs(fCur)>abs(fPrev)) useBisection = true;
-    }
-
-    // fall back on bisection method if rational interpolation did not work
-    if (useBisection)
-    {
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
-      std::cout << "useBisection for k = " << k << ", actual_n = " << actual_n << "\n";
-#endif
-      RealScalar leftShifted, rightShifted;
-      if (shift == left)
-      {
-        leftShifted = (std::numeric_limits<RealScalar>::min)();
-        // I don't understand why the case k==0 would be special there:
-        // if (k == 0) rightShifted = right - left; else 
-        rightShifted = (k==actual_n-1) ? right : ((right - left) * RealScalar(0.6)); // theoretically we can take 0.5, but let's be safe
-      }
-      else
-      {
-        leftShifted = -(right - left) * RealScalar(0.6);
-        rightShifted = -(std::numeric_limits<RealScalar>::min)();
-      }
-      
-      RealScalar fLeft = secularEq(leftShifted, col0, diag, perm, diagShifted, shift);
-
-#if defined EIGEN_INTERNAL_DEBUGGING || defined EIGEN_BDCSVD_DEBUG_VERBOSE
-      RealScalar fRight = secularEq(rightShifted, col0, diag, perm, diagShifted, shift);
-#endif
-
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
-      if(!(fLeft * fRight<0))
-      {
-        std::cout << "fLeft: " << leftShifted << " - " << diagShifted.head(10).transpose()  << "\n ; " << bool(left==shift) << " " << (left-shift) << "\n";
-        std::cout << k << " : " <<  fLeft << " * " << fRight << " == " << fLeft * fRight << "  ;  " << left << " - " << right << " -> " <<  leftShifted << " " << rightShifted << "   shift=" << shift << "\n";
-      }
-#endif
-      eigen_internal_assert(fLeft * fRight < 0);
-      
-      while (rightShifted - leftShifted > 2 * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(leftShifted), abs(rightShifted)))
-      {
-        RealScalar midShifted = (leftShifted + rightShifted) / 2;
-        fMid = secularEq(midShifted, col0, diag, perm, diagShifted, shift);
-        if (fLeft * fMid < 0)
-        {
-          rightShifted = midShifted;
-        }
-        else
-        {
-          leftShifted = midShifted;
-          fLeft = fMid;
-        }
-      }
-
-      muCur = (leftShifted + rightShifted) / 2;
-    }
-      
-    singVals[k] = shift + muCur;
-    shifts[k] = shift;
-    mus[k] = muCur;
-
-    // perturb singular value slightly if it equals diagonal entry to avoid division by zero later
-    // (deflation is supposed to avoid this from happening)
-    // - this does no seem to be necessary anymore -
-//     if (singVals[k] == left) singVals[k] *= 1 + NumTraits<RealScalar>::epsilon();
-//     if (singVals[k] == right) singVals[k] *= 1 - NumTraits<RealScalar>::epsilon();
-  }
-}
-
-
-// zhat is perturbation of col0 for which singular vectors can be computed stably (see Section 3.1)
-template <typename MatrixType>
-void BDCSVD<MatrixType>::perturbCol0
-   (const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const VectorType& singVals,
-    const ArrayRef& shifts, const ArrayRef& mus, ArrayRef zhat)
-{
-  using std::sqrt;
-  Index n = col0.size();
-  Index m = perm.size();
-  if(m==0)
-  {
-    zhat.setZero();
-    return;
-  }
-  Index last = perm(m-1);
-  // The offset permits to skip deflated entries while computing zhat
-  for (Index k = 0; k < n; ++k)
-  {
-    if (col0(k) == 0) // deflated
-      zhat(k) = 0;
-    else
-    {
-      // see equation (3.6)
-      RealScalar dk = diag(k);
-      RealScalar prod = (singVals(last) + dk) * (mus(last) + (shifts(last) - dk));
-
-      for(Index l = 0; l<m; ++l)
-      {
-        Index i = perm(l);
-        if(i!=k)
-        {
-          Index j = i<k ? i : perm(l-1);
-          prod *= ((singVals(j)+dk) / ((diag(i)+dk))) * ((mus(j)+(shifts(j)-dk)) / ((diag(i)-dk)));
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-          if(i!=k && std::abs(((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) - 1) > 0.9 )
-            std::cout << "     " << ((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) << " == (" << (singVals(j)+dk) << " * " << (mus(j)+(shifts(j)-dk))
-                       << ") / (" << (diag(i)+dk) << " * " << (diag(i)-dk) << ")\n";
-#endif
-        }
-      }
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-      std::cout << "zhat(" << k << ") =  sqrt( " << prod << ")  ;  " << (singVals(last) + dk) << " * " << mus(last) + shifts(last) << " - " << dk << "\n";
-#endif
-      RealScalar tmp = sqrt(prod);
-      zhat(k) = col0(k) > 0 ? tmp : -tmp;
-    }
-  }
-}
-
-// compute singular vectors
-template <typename MatrixType>
-void BDCSVD<MatrixType>::computeSingVecs
-   (const ArrayRef& zhat, const ArrayRef& diag, const IndicesRef &perm, const VectorType& singVals,
-    const ArrayRef& shifts, const ArrayRef& mus, MatrixXr& U, MatrixXr& V)
-{
-  Index n = zhat.size();
-  Index m = perm.size();
-  
-  for (Index k = 0; k < n; ++k)
-  {
-    if (zhat(k) == 0)
-    {
-      U.col(k) = VectorType::Unit(n+1, k);
-      if (m_compV) V.col(k) = VectorType::Unit(n, k);
-    }
-    else
-    {
-      U.col(k).setZero();
-      for(Index l=0;l<m;++l)
-      {
-        Index i = perm(l);
-        U(i,k) = zhat(i)/(((diag(i) - shifts(k)) - mus(k)) )/( (diag(i) + singVals[k]));
-      }
-      U(n,k) = 0;      
-      U.col(k).normalize();
-    
-      if (m_compV)
-      {
-        V.col(k).setZero();
-        for(Index l=1;l<m;++l)
-        {
-          Index i = perm(l);
-          V(i,k) = diag(i) * zhat(i) / (((diag(i) - shifts(k)) - mus(k)) )/( (diag(i) + singVals[k]));
-        }
-        V(0,k) = -1;
-        V.col(k).normalize();
-      }
-    }
-  }
-  U.col(n) = VectorType::Unit(n+1, n);
-}
-
-
-// page 12_13
-// i >= 1, di almost null and zi non null.
-// We use a rotation to zero out zi applied to the left of M
-template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation43(Index firstCol, Index shift, Index i, Index size)
-{
-  using std::abs;
-  using std::sqrt;
-  using std::pow;
-  Index start = firstCol + shift;
-  RealScalar c = m_computed(start, start);
-  RealScalar s = m_computed(start+i, start);
-  RealScalar r = sqrt(numext::abs2(c) + numext::abs2(s));
-  if (r == 0)
-  {
-    m_computed(start+i, start+i) = 0;
-    return;
-  }
-  m_computed(start,start) = r;  
-  m_computed(start+i, start) = 0;
-  m_computed(start+i, start+i) = 0;
-  
-  JacobiRotation<RealScalar> J(c/r,-s/r);
-  if (m_compU)  m_naiveU.middleRows(firstCol, size+1).applyOnTheRight(firstCol, firstCol+i, J);
-  else          m_naiveU.applyOnTheRight(firstCol, firstCol+i, J);
-}// end deflation 43
-
-
-// page 13
-// i,j >= 1, i!=j and |di - dj| < epsilon * norm2(M)
-// We apply two rotations to have zj = 0;
-// TODO deflation44 is still broken and not properly tested
-template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size)
-{
-  using std::abs;
-  using std::sqrt;
-  using std::conj;
-  using std::pow;
-  RealScalar c = m_computed(firstColm+i, firstColm);
-  RealScalar s = m_computed(firstColm+j, firstColm);
-  RealScalar r = sqrt(numext::abs2(c) + numext::abs2(s));
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "deflation 4.4: " << i << "," << j << " -> " << c << " " << s << " " << r << " ; "
-    << m_computed(firstColm + i-1, firstColm)  << " "
-    << m_computed(firstColm + i, firstColm)  << " "
-    << m_computed(firstColm + i+1, firstColm) << " "
-    << m_computed(firstColm + i+2, firstColm) << "\n";
-  std::cout << m_computed(firstColm + i-1, firstColm + i-1)  << " "
-    << m_computed(firstColm + i, firstColm+i)  << " "
-    << m_computed(firstColm + i+1, firstColm+i+1) << " "
-    << m_computed(firstColm + i+2, firstColm+i+2) << "\n";
-#endif
-  if (r==0)
-  {
-    m_computed(firstColm + i, firstColm + i) = m_computed(firstColm + j, firstColm + j);
-    return;
-  }
-  c/=r;
-  s/=r;
-  m_computed(firstColm + i, firstColm) = r;  
-  m_computed(firstColm + j, firstColm + j) = m_computed(firstColm + i, firstColm + i);
-  m_computed(firstColm + j, firstColm) = 0;
-
-  JacobiRotation<RealScalar> J(c,-s);
-  if (m_compU)  m_naiveU.middleRows(firstColu, size+1).applyOnTheRight(firstColu + i, firstColu + j, J);
-  else          m_naiveU.applyOnTheRight(firstColu+i, firstColu+j, J);
-  if (m_compV)  m_naiveV.middleRows(firstRowW, size).applyOnTheRight(firstColW + i, firstColW + j, J);
-}// end deflation 44
-
-
-// acts on block from (firstCol+shift, firstCol+shift) to (lastCol+shift, lastCol+shift) [inclusive]
-template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift)
-{
-  using std::sqrt;
-  using std::abs;
-  const Index length = lastCol + 1 - firstCol;
-  
-  Block<MatrixXr,Dynamic,1> col0(m_computed, firstCol+shift, firstCol+shift, length, 1);
-  Diagonal<MatrixXr> fulldiag(m_computed);
-  VectorBlock<Diagonal<MatrixXr>,Dynamic> diag(fulldiag, firstCol+shift, length);
-  
-  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
-  RealScalar maxDiag = diag.tail((std::max)(Index(1),length-1)).cwiseAbs().maxCoeff();
-  RealScalar epsilon_strict = numext::maxi<RealScalar>(considerZero,NumTraits<RealScalar>::epsilon() * maxDiag);
-  RealScalar epsilon_coarse = 8 * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(col0.cwiseAbs().maxCoeff(), maxDiag);
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(m_naiveU.allFinite());
-  assert(m_naiveV.allFinite());
-  assert(m_computed.allFinite());
-#endif
-
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE  
-  std::cout << "\ndeflate:" << diag.head(k+1).transpose() << "  |  " << diag.segment(k+1,length-k-1).transpose() << "\n";
-#endif
-  
-  //condition 4.1
-  if (diag(0) < epsilon_coarse)
-  { 
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
-    std::cout << "deflation 4.1, because " << diag(0) << " < " << epsilon_coarse << "\n";
-#endif
-    diag(0) = epsilon_coarse;
-  }
-
-  //condition 4.2
-  for (Index i=1;i<length;++i)
-    if (abs(col0(i)) < epsilon_strict)
-    {
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
-      std::cout << "deflation 4.2, set z(" << i << ") to zero because " << abs(col0(i)) << " < " << epsilon_strict << "  (diag(" << i << ")=" << diag(i) << ")\n";
-#endif
-      col0(i) = 0;
-    }
-
-  //condition 4.3
-  for (Index i=1;i<length; i++)
-    if (diag(i) < epsilon_coarse)
-    {
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
-      std::cout << "deflation 4.3, cancel z(" << i << ")=" << col0(i) << " because diag(" << i << ")=" << diag(i) << " < " << epsilon_coarse << "\n";
-#endif
-      deflation43(firstCol, shift, i, length);
-    }
-
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(m_naiveU.allFinite());
-  assert(m_naiveV.allFinite());
-  assert(m_computed.allFinite());
-#endif
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "to be sorted: " << diag.transpose() << "\n\n";
-#endif
-  {
-    // Check for total deflation
-    // If we have a total deflation, then we have to consider col0(0)==diag(0) as a singular value during sorting
-    bool total_deflation = (col0.tail(length-1).array()<considerZero).all();
-    
-    // Sort the diagonal entries, since diag(1:k-1) and diag(k:length) are already sorted, let's do a sorted merge.
-    // First, compute the respective permutation.
-    Index *permutation = m_workspaceI.data();
-    {
-      permutation[0] = 0;
-      Index p = 1;
-      
-      // Move deflated diagonal entries at the end.
-      for(Index i=1; i<length; ++i)
-        if(abs(diag(i))<considerZero)
-          permutation[p++] = i;
-        
-      Index i=1, j=k+1;
-      for( ; p < length; ++p)
-      {
-             if (i > k)             permutation[p] = j++;
-        else if (j >= length)       permutation[p] = i++;
-        else if (diag(i) < diag(j)) permutation[p] = j++;
-        else                        permutation[p] = i++;
-      }
-    }
-    
-    // If we have a total deflation, then we have to insert diag(0) at the right place
-    if(total_deflation)
-    {
-      for(Index i=1; i<length; ++i)
-      {
-        Index pi = permutation[i];
-        if(abs(diag(pi))<considerZero || diag(0)<diag(pi))
-          permutation[i-1] = permutation[i];
-        else
-        {
-          permutation[i-1] = 0;
-          break;
-        }
-      }
-    }
-    
-    // Current index of each col, and current column of each index
-    Index *realInd = m_workspaceI.data()+length;
-    Index *realCol = m_workspaceI.data()+2*length;
-    
-    for(int pos = 0; pos< length; pos++)
-    {
-      realCol[pos] = pos;
-      realInd[pos] = pos;
-    }
-    
-    for(Index i = total_deflation?0:1; i < length; i++)
-    {
-      const Index pi = permutation[length - (total_deflation ? i+1 : i)];
-      const Index J = realCol[pi];
-      
-      using std::swap;
-      // swap diagonal and first column entries:
-      swap(diag(i), diag(J));
-      if(i!=0 && J!=0) swap(col0(i), col0(J));
-
-      // change columns
-      if (m_compU) m_naiveU.col(firstCol+i).segment(firstCol, length + 1).swap(m_naiveU.col(firstCol+J).segment(firstCol, length + 1));
-      else         m_naiveU.col(firstCol+i).segment(0, 2)                .swap(m_naiveU.col(firstCol+J).segment(0, 2));
-      if (m_compV) m_naiveV.col(firstColW + i).segment(firstRowW, length).swap(m_naiveV.col(firstColW + J).segment(firstRowW, length));
-
-      //update real pos
-      const Index realI = realInd[i];
-      realCol[realI] = J;
-      realCol[pi] = i;
-      realInd[J] = realI;
-      realInd[i] = pi;
-    }
-  }
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "sorted: " << diag.transpose().format(bdcsvdfmt) << "\n";
-  std::cout << "      : " << col0.transpose() << "\n\n";
-#endif
-    
-  //condition 4.4
-  {
-    Index i = length-1;
-    while(i>0 && (abs(diag(i))<considerZero || abs(col0(i))<considerZero)) --i;
-    for(; i>1;--i)
-       if( (diag(i) - diag(i-1)) < NumTraits<RealScalar>::epsilon()*maxDiag )
-      {
-#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-        std::cout << "deflation 4.4 with i = " << i << " because " << (diag(i) - diag(i-1)) << " < " << NumTraits<RealScalar>::epsilon()*diag(i) << "\n";
-#endif
-        eigen_internal_assert(abs(diag(i) - diag(i-1))<epsilon_coarse && " diagonal entries are not properly sorted");
-        deflation44(firstCol, firstCol + shift, firstRowW, firstColW, i-1, i, length);
-      }
-  }
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  for(Index j=2;j<length;++j)
-    assert(diag(j-1)<=diag(j) || abs(diag(j))<considerZero);
-#endif
-  
-#ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(m_naiveU.allFinite());
-  assert(m_naiveV.allFinite());
-  assert(m_computed.allFinite());
-#endif
-}//end deflation
-
-#ifndef __CUDACC__
-/** \svd_module
-  *
-  * \return the singular value decomposition of \c *this computed by Divide & Conquer algorithm
-  *
-  * \sa class BDCSVD
-  */
-template<typename Derived>
-BDCSVD<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::bdcSvd(unsigned int computationOptions) const
-{
-  return BDCSVD<PlainObject>(*this, computationOptions);
-}
-#endif
-
-} // end namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/SVD/JacobiSVD.h b/phonelibs/eigen/Eigen/src/SVD/JacobiSVD.h
deleted file mode 100644
index 43488b1e0c2064..00000000000000
--- a/phonelibs/eigen/Eigen/src/SVD/JacobiSVD.h
+++ /dev/null
@@ -1,804 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2013-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_JACOBISVD_H
-#define EIGEN_JACOBISVD_H
-
-namespace Eigen { 
-
-namespace internal {
-// forward declaration (needed by ICC)
-// the empty body is required by MSVC
-template<typename MatrixType, int QRPreconditioner,
-         bool IsComplex = NumTraits<typename MatrixType::Scalar>::IsComplex>
-struct svd_precondition_2x2_block_to_be_real {};
-
-/*** QR preconditioners (R-SVD)
- ***
- *** Their role is to reduce the problem of computing the SVD to the case of a square matrix.
- *** This approach, known as R-SVD, is an optimization for rectangular-enough matrices, and is a requirement for
- *** JacobiSVD which by itself is only able to work on square matrices.
- ***/
-
-enum { PreconditionIfMoreColsThanRows, PreconditionIfMoreRowsThanCols };
-
-template<typename MatrixType, int QRPreconditioner, int Case>
-struct qr_preconditioner_should_do_anything
-{
-  enum { a = MatrixType::RowsAtCompileTime != Dynamic &&
-             MatrixType::ColsAtCompileTime != Dynamic &&
-             MatrixType::ColsAtCompileTime <= MatrixType::RowsAtCompileTime,
-         b = MatrixType::RowsAtCompileTime != Dynamic &&
-             MatrixType::ColsAtCompileTime != Dynamic &&
-             MatrixType::RowsAtCompileTime <= MatrixType::ColsAtCompileTime,
-         ret = !( (QRPreconditioner == NoQRPreconditioner) ||
-                  (Case == PreconditionIfMoreColsThanRows && bool(a)) ||
-                  (Case == PreconditionIfMoreRowsThanCols && bool(b)) )
-  };
-};
-
-template<typename MatrixType, int QRPreconditioner, int Case,
-         bool DoAnything = qr_preconditioner_should_do_anything<MatrixType, QRPreconditioner, Case>::ret
-> struct qr_preconditioner_impl {};
-
-template<typename MatrixType, int QRPreconditioner, int Case>
-class qr_preconditioner_impl<MatrixType, QRPreconditioner, Case, false>
-{
-public:
-  void allocate(const JacobiSVD<MatrixType, QRPreconditioner>&) {}
-  bool run(JacobiSVD<MatrixType, QRPreconditioner>&, const MatrixType&)
-  {
-    return false;
-  }
-};
-
-/*** preconditioner using FullPivHouseholderQR ***/
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
-{
-public:
-  typedef typename MatrixType::Scalar Scalar;
-  enum
-  {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime
-  };
-  typedef Matrix<Scalar, 1, RowsAtCompileTime, RowMajor, 1, MaxRowsAtCompileTime> WorkspaceType;
-
-  void allocate(const JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd)
-  {
-    if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.rows(), svd.cols());
-    }
-    if (svd.m_computeFullU) m_workspace.resize(svd.rows());
-  }
-
-  bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.rows() > matrix.cols())
-    {
-      m_qr.compute(matrix);
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
-      if(svd.m_computeFullU) m_qr.matrixQ().evalTo(svd.m_matrixU, m_workspace);
-      if(svd.computeV()) svd.m_matrixV = m_qr.colsPermutation();
-      return true;
-    }
-    return false;
-  }
-private:
-  typedef FullPivHouseholderQR<MatrixType> QRType;
-  QRType m_qr;
-  WorkspaceType m_workspace;
-};
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
-{
-public:
-  typedef typename MatrixType::Scalar Scalar;
-  enum
-  {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    TrOptions = RowsAtCompileTime==1 ? (MatrixType::Options & ~(RowMajor))
-              : ColsAtCompileTime==1 ? (MatrixType::Options |   RowMajor)
-              : MatrixType::Options
-  };
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, TrOptions, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
-
-  void allocate(const JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd)
-  {
-    if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.cols(), svd.rows());
-    }
-    m_adjoint.resize(svd.cols(), svd.rows());
-    if (svd.m_computeFullV) m_workspace.resize(svd.cols());
-  }
-
-  bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.cols() > matrix.rows())
-    {
-      m_adjoint = matrix.adjoint();
-      m_qr.compute(m_adjoint);
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
-      if(svd.m_computeFullV) m_qr.matrixQ().evalTo(svd.m_matrixV, m_workspace);
-      if(svd.computeU()) svd.m_matrixU = m_qr.colsPermutation();
-      return true;
-    }
-    else return false;
-  }
-private:
-  typedef FullPivHouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
-  QRType m_qr;
-  TransposeTypeWithSameStorageOrder m_adjoint;
-  typename internal::plain_row_type<MatrixType>::type m_workspace;
-};
-
-/*** preconditioner using ColPivHouseholderQR ***/
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
-{
-public:
-  void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
-  {
-    if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.rows(), svd.cols());
-    }
-    if (svd.m_computeFullU) m_workspace.resize(svd.rows());
-    else if (svd.m_computeThinU) m_workspace.resize(svd.cols());
-  }
-
-  bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.rows() > matrix.cols())
-    {
-      m_qr.compute(matrix);
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
-      if(svd.m_computeFullU) m_qr.householderQ().evalTo(svd.m_matrixU, m_workspace);
-      else if(svd.m_computeThinU)
-      {
-        svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
-        m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixU, m_workspace);
-      }
-      if(svd.computeV()) svd.m_matrixV = m_qr.colsPermutation();
-      return true;
-    }
-    return false;
-  }
-
-private:
-  typedef ColPivHouseholderQR<MatrixType> QRType;
-  QRType m_qr;
-  typename internal::plain_col_type<MatrixType>::type m_workspace;
-};
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
-{
-public:
-  typedef typename MatrixType::Scalar Scalar;
-  enum
-  {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    TrOptions = RowsAtCompileTime==1 ? (MatrixType::Options & ~(RowMajor))
-              : ColsAtCompileTime==1 ? (MatrixType::Options |   RowMajor)
-              : MatrixType::Options
-  };
-
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, TrOptions, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
-
-  void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
-  {
-    if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.cols(), svd.rows());
-    }
-    if (svd.m_computeFullV) m_workspace.resize(svd.cols());
-    else if (svd.m_computeThinV) m_workspace.resize(svd.rows());
-    m_adjoint.resize(svd.cols(), svd.rows());
-  }
-
-  bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.cols() > matrix.rows())
-    {
-      m_adjoint = matrix.adjoint();
-      m_qr.compute(m_adjoint);
-
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
-      if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
-      else if(svd.m_computeThinV)
-      {
-        svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
-        m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
-      }
-      if(svd.computeU()) svd.m_matrixU = m_qr.colsPermutation();
-      return true;
-    }
-    else return false;
-  }
-
-private:
-  typedef ColPivHouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
-  QRType m_qr;
-  TransposeTypeWithSameStorageOrder m_adjoint;
-  typename internal::plain_row_type<MatrixType>::type m_workspace;
-};
-
-/*** preconditioner using HouseholderQR ***/
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
-{
-public:
-  void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
-  {
-    if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.rows(), svd.cols());
-    }
-    if (svd.m_computeFullU) m_workspace.resize(svd.rows());
-    else if (svd.m_computeThinU) m_workspace.resize(svd.cols());
-  }
-
-  bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.rows() > matrix.cols())
-    {
-      m_qr.compute(matrix);
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
-      if(svd.m_computeFullU) m_qr.householderQ().evalTo(svd.m_matrixU, m_workspace);
-      else if(svd.m_computeThinU)
-      {
-        svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
-        m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixU, m_workspace);
-      }
-      if(svd.computeV()) svd.m_matrixV.setIdentity(matrix.cols(), matrix.cols());
-      return true;
-    }
-    return false;
-  }
-private:
-  typedef HouseholderQR<MatrixType> QRType;
-  QRType m_qr;
-  typename internal::plain_col_type<MatrixType>::type m_workspace;
-};
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
-{
-public:
-  typedef typename MatrixType::Scalar Scalar;
-  enum
-  {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    Options = MatrixType::Options
-  };
-
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
-
-  void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
-  {
-    if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.cols(), svd.rows());
-    }
-    if (svd.m_computeFullV) m_workspace.resize(svd.cols());
-    else if (svd.m_computeThinV) m_workspace.resize(svd.rows());
-    m_adjoint.resize(svd.cols(), svd.rows());
-  }
-
-  bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.cols() > matrix.rows())
-    {
-      m_adjoint = matrix.adjoint();
-      m_qr.compute(m_adjoint);
-
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
-      if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
-      else if(svd.m_computeThinV)
-      {
-        svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
-        m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
-      }
-      if(svd.computeU()) svd.m_matrixU.setIdentity(matrix.rows(), matrix.rows());
-      return true;
-    }
-    else return false;
-  }
-
-private:
-  typedef HouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
-  QRType m_qr;
-  TransposeTypeWithSameStorageOrder m_adjoint;
-  typename internal::plain_row_type<MatrixType>::type m_workspace;
-};
-
-/*** 2x2 SVD implementation
- ***
- *** JacobiSVD consists in performing a series of 2x2 SVD subproblems
- ***/
-
-template<typename MatrixType, int QRPreconditioner>
-struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, false>
-{
-  typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
-  typedef typename MatrixType::RealScalar RealScalar;
-  static bool run(typename SVD::WorkMatrixType&, SVD&, Index, Index, RealScalar&) { return true; }
-};
-
-template<typename MatrixType, int QRPreconditioner>
-struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
-{
-  typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  static bool run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q, RealScalar& maxDiagEntry)
-  {
-    using std::sqrt;
-    using std::abs;
-    Scalar z;
-    JacobiRotation<Scalar> rot;
-    RealScalar n = sqrt(numext::abs2(work_matrix.coeff(p,p)) + numext::abs2(work_matrix.coeff(q,p)));
-
-    const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
-    const RealScalar precision = NumTraits<Scalar>::epsilon();
-
-    if(n==0)
-    {
-      // make sure first column is zero
-      work_matrix.coeffRef(p,p) = work_matrix.coeffRef(q,p) = Scalar(0);
-
-      if(abs(numext::imag(work_matrix.coeff(p,q)))>considerAsZero)
-      {
-        // work_matrix.coeff(p,q) can be zero if work_matrix.coeff(q,p) is not zero but small enough to underflow when computing n
-        z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
-        work_matrix.row(p) *= z;
-        if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
-      }
-      if(abs(numext::imag(work_matrix.coeff(q,q)))>considerAsZero)
-      {
-        z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
-        work_matrix.row(q) *= z;
-        if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
-      }
-      // otherwise the second row is already zero, so we have nothing to do.
-    }
-    else
-    {
-      rot.c() = conj(work_matrix.coeff(p,p)) / n;
-      rot.s() = work_matrix.coeff(q,p) / n;
-      work_matrix.applyOnTheLeft(p,q,rot);
-      if(svd.computeU()) svd.m_matrixU.applyOnTheRight(p,q,rot.adjoint());
-      if(abs(numext::imag(work_matrix.coeff(p,q)))>considerAsZero)
-      {
-        z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
-        work_matrix.col(q) *= z;
-        if(svd.computeV()) svd.m_matrixV.col(q) *= z;
-      }
-      if(abs(numext::imag(work_matrix.coeff(q,q)))>considerAsZero)
-      {
-        z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
-        work_matrix.row(q) *= z;
-        if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
-      }
-    }
-
-    // update largest diagonal entry
-    maxDiagEntry = numext::maxi<RealScalar>(maxDiagEntry,numext::maxi<RealScalar>(abs(work_matrix.coeff(p,p)), abs(work_matrix.coeff(q,q))));
-    // and check whether the 2x2 block is already diagonal
-    RealScalar threshold = numext::maxi<RealScalar>(considerAsZero, precision * maxDiagEntry);
-    return abs(work_matrix.coeff(p,q))>threshold || abs(work_matrix.coeff(q,p)) > threshold;
-  }
-};
-
-template<typename _MatrixType, int QRPreconditioner> 
-struct traits<JacobiSVD<_MatrixType,QRPreconditioner> >
-{
-  typedef _MatrixType MatrixType;
-};
-
-} // end namespace internal
-
-/** \ingroup SVD_Module
-  *
-  *
-  * \class JacobiSVD
-  *
-  * \brief Two-sided Jacobi SVD decomposition of a rectangular matrix
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
-  * \tparam QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
-  *                        for the R-SVD step for non-square matrices. See discussion of possible values below.
-  *
-  * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
-  *   \f[ A = U S V^* \f]
-  * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
-  * the diagonal entries of S are known as the \em singular \em values of \a A and the columns of \a U and \a V are known as the left
-  * and right \em singular \em vectors of \a A respectively.
-  *
-  * Singular values are always sorted in decreasing order.
-  *
-  * This JacobiSVD decomposition computes only the singular values by default. If you want \a U or \a V, you need to ask for them explicitly.
-  *
-  * You can ask for only \em thin \a U or \a V to be computed, meaning the following. In case of a rectangular n-by-p matrix, letting \a m be the
-  * smaller value among \a n and \a p, there are only \a m singular vectors; the remaining columns of \a U and \a V do not correspond to actual
-  * singular vectors. Asking for \em thin \a U or \a V means asking for only their \a m first columns to be formed. So \a U is then a n-by-m matrix,
-  * and \a V is then a p-by-m matrix. Notice that thin \a U and \a V are all you need for (least squares) solving.
-  *
-  * Here's an example demonstrating basic usage:
-  * \include JacobiSVD_basic.cpp
-  * Output: \verbinclude JacobiSVD_basic.out
-  *
-  * This JacobiSVD class is a two-sided Jacobi R-SVD decomposition, ensuring optimal reliability and accuracy. The downside is that it's slower than
-  * bidiagonalizing SVD algorithms for large square matrices; however its complexity is still \f$ O(n^2p) \f$ where \a n is the smaller dimension and
-  * \a p is the greater dimension, meaning that it is still of the same order of complexity as the faster bidiagonalizing R-SVD algorithms.
-  * In particular, like any R-SVD, it takes advantage of non-squareness in that its complexity is only linear in the greater dimension.
-  *
-  * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
-  * terminate in finite (and reasonable) time.
-  *
-  * The possible values for QRPreconditioner are:
-  * \li ColPivHouseholderQRPreconditioner is the default. In practice it's very safe. It uses column-pivoting QR.
-  * \li FullPivHouseholderQRPreconditioner, is the safest and slowest. It uses full-pivoting QR.
-  *     Contrary to other QRs, it doesn't allow computing thin unitaries.
-  * \li HouseholderQRPreconditioner is the fastest, and less safe and accurate than the pivoting variants. It uses non-pivoting QR.
-  *     This is very similar in safety and accuracy to the bidiagonalization process used by bidiagonalizing SVD algorithms (since bidiagonalization
-  *     is inherently non-pivoting). However the resulting SVD is still more reliable than bidiagonalizing SVDs because the Jacobi-based iterarive
-  *     process is more reliable than the optimized bidiagonal SVD iterations.
-  * \li NoQRPreconditioner allows not to use a QR preconditioner at all. This is useful if you know that you will only be computing
-  *     JacobiSVD decompositions of square matrices. Non-square matrices require a QR preconditioner. Using this option will result in
-  *     faster compilation and smaller executable code. It won't significantly speed up computation, since JacobiSVD is always checking
-  *     if QR preconditioning is needed before applying it anyway.
-  *
-  * \sa MatrixBase::jacobiSvd()
-  */
-template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
- : public SVDBase<JacobiSVD<_MatrixType,QRPreconditioner> >
-{
-    typedef SVDBase<JacobiSVD> Base;
-  public:
-
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime),
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-      MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime,MaxColsAtCompileTime),
-      MatrixOptions = MatrixType::Options
-    };
-
-    typedef typename Base::MatrixUType MatrixUType;
-    typedef typename Base::MatrixVType MatrixVType;
-    typedef typename Base::SingularValuesType SingularValuesType;
-    
-    typedef typename internal::plain_row_type<MatrixType>::type RowType;
-    typedef typename internal::plain_col_type<MatrixType>::type ColType;
-    typedef Matrix<Scalar, DiagSizeAtCompileTime, DiagSizeAtCompileTime,
-                   MatrixOptions, MaxDiagSizeAtCompileTime, MaxDiagSizeAtCompileTime>
-            WorkMatrixType;
-
-    /** \brief Default Constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via JacobiSVD::compute(const MatrixType&).
-      */
-    JacobiSVD()
-    {}
-
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem size.
-      * \sa JacobiSVD()
-      */
-    JacobiSVD(Index rows, Index cols, unsigned int computationOptions = 0)
-    {
-      allocate(rows, cols, computationOptions);
-    }
-
-    /** \brief Constructor performing the decomposition of given matrix.
-     *
-     * \param matrix the matrix to decompose
-     * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-     *                           By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
-     *                           #ComputeFullV, #ComputeThinV.
-     *
-     * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-     * available with the (non-default) FullPivHouseholderQR preconditioner.
-     */
-    explicit JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
-    {
-      compute(matrix, computationOptions);
-    }
-
-    /** \brief Method performing the decomposition of given matrix using custom options.
-     *
-     * \param matrix the matrix to decompose
-     * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-     *                           By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
-     *                           #ComputeFullV, #ComputeThinV.
-     *
-     * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-     * available with the (non-default) FullPivHouseholderQR preconditioner.
-     */
-    JacobiSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
-
-    /** \brief Method performing the decomposition of given matrix using current options.
-     *
-     * \param matrix the matrix to decompose
-     *
-     * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
-     */
-    JacobiSVD& compute(const MatrixType& matrix)
-    {
-      return compute(matrix, m_computationOptions);
-    }
-
-    using Base::computeU;
-    using Base::computeV;
-    using Base::rows;
-    using Base::cols;
-    using Base::rank;
-
-  private:
-    void allocate(Index rows, Index cols, unsigned int computationOptions);
-
-  protected:
-    using Base::m_matrixU;
-    using Base::m_matrixV;
-    using Base::m_singularValues;
-    using Base::m_isInitialized;
-    using Base::m_isAllocated;
-    using Base::m_usePrescribedThreshold;
-    using Base::m_computeFullU;
-    using Base::m_computeThinU;
-    using Base::m_computeFullV;
-    using Base::m_computeThinV;
-    using Base::m_computationOptions;
-    using Base::m_nonzeroSingularValues;
-    using Base::m_rows;
-    using Base::m_cols;
-    using Base::m_diagSize;
-    using Base::m_prescribedThreshold;
-    WorkMatrixType m_workMatrix;
-
-    template<typename __MatrixType, int _QRPreconditioner, bool _IsComplex>
-    friend struct internal::svd_precondition_2x2_block_to_be_real;
-    template<typename __MatrixType, int _QRPreconditioner, int _Case, bool _DoAnything>
-    friend struct internal::qr_preconditioner_impl;
-
-    internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
-    internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreRowsThanCols> m_qr_precond_morerows;
-    MatrixType m_scaledMatrix;
-};
-
-template<typename MatrixType, int QRPreconditioner>
-void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Index rows, Index cols, unsigned int computationOptions)
-{
-  eigen_assert(rows >= 0 && cols >= 0);
-
-  if (m_isAllocated &&
-      rows == m_rows &&
-      cols == m_cols &&
-      computationOptions == m_computationOptions)
-  {
-    return;
-  }
-
-  m_rows = rows;
-  m_cols = cols;
-  m_isInitialized = false;
-  m_isAllocated = true;
-  m_computationOptions = computationOptions;
-  m_computeFullU = (computationOptions & ComputeFullU) != 0;
-  m_computeThinU = (computationOptions & ComputeThinU) != 0;
-  m_computeFullV = (computationOptions & ComputeFullV) != 0;
-  m_computeThinV = (computationOptions & ComputeThinV) != 0;
-  eigen_assert(!(m_computeFullU && m_computeThinU) && "JacobiSVD: you can't ask for both full and thin U");
-  eigen_assert(!(m_computeFullV && m_computeThinV) && "JacobiSVD: you can't ask for both full and thin V");
-  eigen_assert(EIGEN_IMPLIES(m_computeThinU || m_computeThinV, MatrixType::ColsAtCompileTime==Dynamic) &&
-              "JacobiSVD: thin U and V are only available when your matrix has a dynamic number of columns.");
-  if (QRPreconditioner == FullPivHouseholderQRPreconditioner)
-  {
-      eigen_assert(!(m_computeThinU || m_computeThinV) &&
-              "JacobiSVD: can't compute thin U or thin V with the FullPivHouseholderQR preconditioner. "
-              "Use the ColPivHouseholderQR preconditioner instead.");
-  }
-  m_diagSize = (std::min)(m_rows, m_cols);
-  m_singularValues.resize(m_diagSize);
-  if(RowsAtCompileTime==Dynamic)
-    m_matrixU.resize(m_rows, m_computeFullU ? m_rows
-                            : m_computeThinU ? m_diagSize
-                            : 0);
-  if(ColsAtCompileTime==Dynamic)
-    m_matrixV.resize(m_cols, m_computeFullV ? m_cols
-                            : m_computeThinV ? m_diagSize
-                            : 0);
-  m_workMatrix.resize(m_diagSize, m_diagSize);
-  
-  if(m_cols>m_rows)   m_qr_precond_morecols.allocate(*this);
-  if(m_rows>m_cols)   m_qr_precond_morerows.allocate(*this);
-  if(m_rows!=m_cols)  m_scaledMatrix.resize(rows,cols);
-}
-
-template<typename MatrixType, int QRPreconditioner>
-JacobiSVD<MatrixType, QRPreconditioner>&
-JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsigned int computationOptions)
-{
-  using std::abs;
-  allocate(matrix.rows(), matrix.cols(), computationOptions);
-
-  // currently we stop when we reach precision 2*epsilon as the last bit of precision can require an unreasonable number of iterations,
-  // only worsening the precision of U and V as we accumulate more rotations
-  const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
-
-  // limit for denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
-  const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
-
-  // Scaling factor to reduce over/under-flows
-  RealScalar scale = matrix.cwiseAbs().maxCoeff();
-  if(scale==RealScalar(0)) scale = RealScalar(1);
-  
-  /*** step 1. The R-SVD step: we use a QR decomposition to reduce to the case of a square matrix */
-
-  if(m_rows!=m_cols)
-  {
-    m_scaledMatrix = matrix / scale;
-    m_qr_precond_morecols.run(*this, m_scaledMatrix);
-    m_qr_precond_morerows.run(*this, m_scaledMatrix);
-  }
-  else
-  {
-    m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
-    if(m_computeFullU) m_matrixU.setIdentity(m_rows,m_rows);
-    if(m_computeThinU) m_matrixU.setIdentity(m_rows,m_diagSize);
-    if(m_computeFullV) m_matrixV.setIdentity(m_cols,m_cols);
-    if(m_computeThinV) m_matrixV.setIdentity(m_cols, m_diagSize);
-  }
-
-  /*** step 2. The main Jacobi SVD iteration. ***/
-  RealScalar maxDiagEntry = m_workMatrix.cwiseAbs().diagonal().maxCoeff();
-
-  bool finished = false;
-  while(!finished)
-  {
-    finished = true;
-
-    // do a sweep: for all index pairs (p,q), perform SVD of the corresponding 2x2 sub-matrix
-
-    for(Index p = 1; p < m_diagSize; ++p)
-    {
-      for(Index q = 0; q < p; ++q)
-      {
-        // if this 2x2 sub-matrix is not diagonal already...
-        // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
-        // keep us iterating forever. Similarly, small denormal numbers are considered zero.
-        RealScalar threshold = numext::maxi<RealScalar>(considerAsZero, precision * maxDiagEntry);
-        if(abs(m_workMatrix.coeff(p,q))>threshold || abs(m_workMatrix.coeff(q,p)) > threshold)
-        {
-          finished = false;
-          // perform SVD decomposition of 2x2 sub-matrix corresponding to indices p,q to make it diagonal
-          // the complex to real operation returns true if the updated 2x2 block is not already diagonal
-          if(internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q, maxDiagEntry))
-          {
-            JacobiRotation<RealScalar> j_left, j_right;
-            internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
-
-            // accumulate resulting Jacobi rotations
-            m_workMatrix.applyOnTheLeft(p,q,j_left);
-            if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
-
-            m_workMatrix.applyOnTheRight(p,q,j_right);
-            if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
-
-            // keep track of the largest diagonal coefficient
-            maxDiagEntry = numext::maxi<RealScalar>(maxDiagEntry,numext::maxi<RealScalar>(abs(m_workMatrix.coeff(p,p)), abs(m_workMatrix.coeff(q,q))));
-          }
-        }
-      }
-    }
-  }
-
-  /*** step 3. The work matrix is now diagonal, so ensure it's positive so its diagonal entries are the singular values ***/
-
-  for(Index i = 0; i < m_diagSize; ++i)
-  {
-    // For a complex matrix, some diagonal coefficients might note have been
-    // treated by svd_precondition_2x2_block_to_be_real, and the imaginary part
-    // of some diagonal entry might not be null.
-    if(NumTraits<Scalar>::IsComplex && abs(numext::imag(m_workMatrix.coeff(i,i)))>considerAsZero)
-    {
-      RealScalar a = abs(m_workMatrix.coeff(i,i));
-      m_singularValues.coeffRef(i) = abs(a);
-      if(computeU()) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
-    }
-    else
-    {
-      // m_workMatrix.coeff(i,i) is already real, no difficulty:
-      RealScalar a = numext::real(m_workMatrix.coeff(i,i));
-      m_singularValues.coeffRef(i) = abs(a);
-      if(computeU() && (a<RealScalar(0))) m_matrixU.col(i) = -m_matrixU.col(i);
-    }
-  }
-  
-  m_singularValues *= scale;
-
-  /*** step 4. Sort singular values in descending order and compute the number of nonzero singular values ***/
-
-  m_nonzeroSingularValues = m_diagSize;
-  for(Index i = 0; i < m_diagSize; i++)
-  {
-    Index pos;
-    RealScalar maxRemainingSingularValue = m_singularValues.tail(m_diagSize-i).maxCoeff(&pos);
-    if(maxRemainingSingularValue == RealScalar(0))
-    {
-      m_nonzeroSingularValues = i;
-      break;
-    }
-    if(pos)
-    {
-      pos += i;
-      std::swap(m_singularValues.coeffRef(i), m_singularValues.coeffRef(pos));
-      if(computeU()) m_matrixU.col(pos).swap(m_matrixU.col(i));
-      if(computeV()) m_matrixV.col(pos).swap(m_matrixV.col(i));
-    }
-  }
-
-  m_isInitialized = true;
-  return *this;
-}
-
-/** \svd_module
-  *
-  * \return the singular value decomposition of \c *this computed by two-sided
-  * Jacobi transformations.
-  *
-  * \sa class JacobiSVD
-  */
-template<typename Derived>
-JacobiSVD<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::jacobiSvd(unsigned int computationOptions) const
-{
-  return JacobiSVD<PlainObject>(*this, computationOptions);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_JACOBISVD_H
diff --git a/phonelibs/eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h b/phonelibs/eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h
deleted file mode 100644
index 50272154f84730..00000000000000
--- a/phonelibs/eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
- Copyright (c) 2011, Intel Corporation. All rights reserved.
-
- Redistribution and use in source and binary forms, with or without modification,
- are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
- * Neither the name of Intel Corporation nor the names of its contributors may
-   be used to endorse or promote products derived from this software without
-   specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
- ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- ********************************************************************************
- *   Content : Eigen bindings to LAPACKe
- *    Singular Value Decomposition - SVD.
- ********************************************************************************
-*/
-
-#ifndef EIGEN_JACOBISVD_LAPACKE_H
-#define EIGEN_JACOBISVD_LAPACKE_H
-
-namespace Eigen { 
-
-/** \internal Specialization for the data types supported by LAPACKe */
-
-#define EIGEN_LAPACKE_SVD(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_PREFIX, EIGCOLROW, LAPACKE_COLROW) \
-template<> inline \
-JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPivHouseholderQRPreconditioner>& \
-JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPivHouseholderQRPreconditioner>::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>& matrix, unsigned int computationOptions) \
-{ \
-  typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> MatrixType; \
-  /*typedef MatrixType::Scalar Scalar;*/ \
-  /*typedef MatrixType::RealScalar RealScalar;*/ \
-  allocate(matrix.rows(), matrix.cols(), computationOptions); \
-\
-  /*const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();*/ \
-  m_nonzeroSingularValues = m_diagSize; \
-\
-  lapack_int lda = internal::convert_index<lapack_int>(matrix.outerStride()), ldu, ldvt; \
-  lapack_int matrix_order = LAPACKE_COLROW; \
-  char jobu, jobvt; \
-  LAPACKE_TYPE *u, *vt, dummy; \
-  jobu  = (m_computeFullU) ? 'A' : (m_computeThinU) ? 'S' : 'N'; \
-  jobvt = (m_computeFullV) ? 'A' : (m_computeThinV) ? 'S' : 'N'; \
-  if (computeU()) { \
-    ldu  = internal::convert_index<lapack_int>(m_matrixU.outerStride()); \
-    u    = (LAPACKE_TYPE*)m_matrixU.data(); \
-  } else { ldu=1; u=&dummy; }\
-  MatrixType localV; \
-  ldvt = (m_computeFullV) ? internal::convert_index<lapack_int>(m_cols) : (m_computeThinV) ? internal::convert_index<lapack_int>(m_diagSize) : 1; \
-  if (computeV()) { \
-    localV.resize(ldvt, m_cols); \
-    vt   = (LAPACKE_TYPE*)localV.data(); \
-  } else { ldvt=1; vt=&dummy; }\
-  Matrix<LAPACKE_RTYPE, Dynamic, Dynamic> superb; superb.resize(m_diagSize, 1); \
-  MatrixType m_temp; m_temp = matrix; \
-  LAPACKE_##LAPACKE_PREFIX##gesvd( matrix_order, jobu, jobvt, internal::convert_index<lapack_int>(m_rows), internal::convert_index<lapack_int>(m_cols), (LAPACKE_TYPE*)m_temp.data(), lda, (LAPACKE_RTYPE*)m_singularValues.data(), u, ldu, vt, ldvt, superb.data()); \
-  if (computeV()) m_matrixV = localV.adjoint(); \
- /* for(int i=0;i<m_diagSize;i++) if (m_singularValues.coeffRef(i) < precision) { m_nonzeroSingularValues--; m_singularValues.coeffRef(i)=RealScalar(0);}*/ \
-  m_isInitialized = true; \
-  return *this; \
-}
-
-EIGEN_LAPACKE_SVD(double,   double,                double, d, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_SVD(float,    float,                 float , s, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_SVD(dcomplex, lapack_complex_double, double, z, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_SVD(scomplex, lapack_complex_float,  float , c, ColMajor, LAPACK_COL_MAJOR)
-
-EIGEN_LAPACKE_SVD(double,   double,                double, d, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_SVD(float,    float,                 float , s, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_SVD(dcomplex, lapack_complex_double, double, z, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_SVD(scomplex, lapack_complex_float,  float , c, RowMajor, LAPACK_ROW_MAJOR)
-
-} // end namespace Eigen
-
-#endif // EIGEN_JACOBISVD_LAPACKE_H
diff --git a/phonelibs/eigen/Eigen/src/SVD/SVDBase.h b/phonelibs/eigen/Eigen/src/SVD/SVDBase.h
deleted file mode 100644
index cc90a3b7523ce6..00000000000000
--- a/phonelibs/eigen/Eigen/src/SVD/SVDBase.h
+++ /dev/null
@@ -1,313 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
-// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
-// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
-// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SVDBASE_H
-#define EIGEN_SVDBASE_H
-
-namespace Eigen {
-/** \ingroup SVD_Module
- *
- *
- * \class SVDBase
- *
- * \brief Base class of SVD algorithms
- *
- * \tparam Derived the type of the actual SVD decomposition
- *
- * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
- *   \f[ A = U S V^* \f]
- * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
- * the diagonal entries of S are known as the \em singular \em values of \a A and the columns of \a U and \a V are known as the left
- * and right \em singular \em vectors of \a A respectively.
- *
- * Singular values are always sorted in decreasing order.
- *
- * 
- * You can ask for only \em thin \a U or \a V to be computed, meaning the following. In case of a rectangular n-by-p matrix, letting \a m be the
- * smaller value among \a n and \a p, there are only \a m singular vectors; the remaining columns of \a U and \a V do not correspond to actual
- * singular vectors. Asking for \em thin \a U or \a V means asking for only their \a m first columns to be formed. So \a U is then a n-by-m matrix,
- * and \a V is then a p-by-m matrix. Notice that thin \a U and \a V are all you need for (least squares) solving.
- *  
- * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
- * terminate in finite (and reasonable) time.
- * \sa class BDCSVD, class JacobiSVD
- */
-template<typename Derived>
-class SVDBase
-{
-
-public:
-  typedef typename internal::traits<Derived>::MatrixType MatrixType;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-  typedef typename MatrixType::StorageIndex StorageIndex;
-  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime),
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime,MaxColsAtCompileTime),
-    MatrixOptions = MatrixType::Options
-  };
-
-  typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixUType;
-  typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime, MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime> MatrixVType;
-  typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
-  
-  Derived& derived() { return *static_cast<Derived*>(this); }
-  const Derived& derived() const { return *static_cast<const Derived*>(this); }
-
-  /** \returns the \a U matrix.
-   *
-   * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
-   * the U matrix is n-by-n if you asked for \link Eigen::ComputeFullU ComputeFullU \endlink, and is n-by-m if you asked for \link Eigen::ComputeThinU ComputeThinU \endlink.
-   *
-   * The \a m first columns of \a U are the left singular vectors of the matrix being decomposed.
-   *
-   * This method asserts that you asked for \a U to be computed.
-   */
-  const MatrixUType& matrixU() const
-  {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
-    eigen_assert(computeU() && "This SVD decomposition didn't compute U. Did you ask for it?");
-    return m_matrixU;
-  }
-
-  /** \returns the \a V matrix.
-   *
-   * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
-   * the V matrix is p-by-p if you asked for \link Eigen::ComputeFullV ComputeFullV \endlink, and is p-by-m if you asked for \link Eigen::ComputeThinV ComputeThinV \endlink.
-   *
-   * The \a m first columns of \a V are the right singular vectors of the matrix being decomposed.
-   *
-   * This method asserts that you asked for \a V to be computed.
-   */
-  const MatrixVType& matrixV() const
-  {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
-    eigen_assert(computeV() && "This SVD decomposition didn't compute V. Did you ask for it?");
-    return m_matrixV;
-  }
-
-  /** \returns the vector of singular values.
-   *
-   * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p, the
-   * returned vector has size \a m.  Singular values are always sorted in decreasing order.
-   */
-  const SingularValuesType& singularValues() const
-  {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
-    return m_singularValues;
-  }
-
-  /** \returns the number of singular values that are not exactly 0 */
-  Index nonzeroSingularValues() const
-  {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
-    return m_nonzeroSingularValues;
-  }
-  
-  /** \returns the rank of the matrix of which \c *this is the SVD.
-    *
-    * \note This method has to determine which singular values should be considered nonzero.
-    *       For that, it uses the threshold value that you can control by calling
-    *       setThreshold(const RealScalar&).
-    */
-  inline Index rank() const
-  {
-    using std::abs;
-    eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-    if(m_singularValues.size()==0) return 0;
-    RealScalar premultiplied_threshold = numext::maxi<RealScalar>(m_singularValues.coeff(0) * threshold(), (std::numeric_limits<RealScalar>::min)());
-    Index i = m_nonzeroSingularValues-1;
-    while(i>=0 && m_singularValues.coeff(i) < premultiplied_threshold) --i;
-    return i+1;
-  }
-  
-  /** Allows to prescribe a threshold to be used by certain methods, such as rank() and solve(),
-    * which need to determine when singular values are to be considered nonzero.
-    * This is not used for the SVD decomposition itself.
-    *
-    * When it needs to get the threshold value, Eigen calls threshold().
-    * The default is \c NumTraits<Scalar>::epsilon()
-    *
-    * \param threshold The new value to use as the threshold.
-    *
-    * A singular value will be considered nonzero if its value is strictly greater than
-    *  \f$ \vert singular value \vert \leqslant threshold \times \vert max singular value \vert \f$.
-    *
-    * If you want to come back to the default behavior, call setThreshold(Default_t)
-    */
-  Derived& setThreshold(const RealScalar& threshold)
-  {
-    m_usePrescribedThreshold = true;
-    m_prescribedThreshold = threshold;
-    return derived();
-  }
-
-  /** Allows to come back to the default behavior, letting Eigen use its default formula for
-    * determining the threshold.
-    *
-    * You should pass the special object Eigen::Default as parameter here.
-    * \code svd.setThreshold(Eigen::Default); \endcode
-    *
-    * See the documentation of setThreshold(const RealScalar&).
-    */
-  Derived& setThreshold(Default_t)
-  {
-    m_usePrescribedThreshold = false;
-    return derived();
-  }
-
-  /** Returns the threshold that will be used by certain methods such as rank().
-    *
-    * See the documentation of setThreshold(const RealScalar&).
-    */
-  RealScalar threshold() const
-  {
-    eigen_assert(m_isInitialized || m_usePrescribedThreshold);
-    return m_usePrescribedThreshold ? m_prescribedThreshold
-                                    : (std::max<Index>)(1,m_diagSize)*NumTraits<Scalar>::epsilon();
-  }
-
-  /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
-  inline bool computeU() const { return m_computeFullU || m_computeThinU; }
-  /** \returns true if \a V (full or thin) is asked for in this SVD decomposition */
-  inline bool computeV() const { return m_computeFullV || m_computeThinV; }
-
-  inline Index rows() const { return m_rows; }
-  inline Index cols() const { return m_cols; }
-  
-  /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
-    *
-    * \param b the right-hand-side of the equation to solve.
-    *
-    * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
-    *
-    * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
-    * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
-    */
-  template<typename Rhs>
-  inline const Solve<Derived, Rhs>
-  solve(const MatrixBase<Rhs>& b) const
-  {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
-    eigen_assert(computeU() && computeV() && "SVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
-    return Solve<Derived, Rhs>(derived(), b.derived());
-  }
-  
-  #ifndef EIGEN_PARSED_BY_DOXYGEN
-  template<typename RhsType, typename DstType>
-  EIGEN_DEVICE_FUNC
-  void _solve_impl(const RhsType &rhs, DstType &dst) const;
-  #endif
-
-protected:
-  
-  static void check_template_parameters()
-  {
-    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-  }
-  
-  // return true if already allocated
-  bool allocate(Index rows, Index cols, unsigned int computationOptions) ;
-
-  MatrixUType m_matrixU;
-  MatrixVType m_matrixV;
-  SingularValuesType m_singularValues;
-  bool m_isInitialized, m_isAllocated, m_usePrescribedThreshold;
-  bool m_computeFullU, m_computeThinU;
-  bool m_computeFullV, m_computeThinV;
-  unsigned int m_computationOptions;
-  Index m_nonzeroSingularValues, m_rows, m_cols, m_diagSize;
-  RealScalar m_prescribedThreshold;
-
-  /** \brief Default Constructor.
-   *
-   * Default constructor of SVDBase
-   */
-  SVDBase()
-    : m_isInitialized(false),
-      m_isAllocated(false),
-      m_usePrescribedThreshold(false),
-      m_computationOptions(0),
-      m_rows(-1), m_cols(-1), m_diagSize(0)
-  {
-    check_template_parameters();
-  }
-
-
-};
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename Derived>
-template<typename RhsType, typename DstType>
-void SVDBase<Derived>::_solve_impl(const RhsType &rhs, DstType &dst) const
-{
-  eigen_assert(rhs.rows() == rows());
-
-  // A = U S V^*
-  // So A^{-1} = V S^{-1} U^*
-
-  Matrix<Scalar, Dynamic, RhsType::ColsAtCompileTime, 0, MatrixType::MaxRowsAtCompileTime, RhsType::MaxColsAtCompileTime> tmp;
-  Index l_rank = rank();
-  tmp.noalias() =  m_matrixU.leftCols(l_rank).adjoint() * rhs;
-  tmp = m_singularValues.head(l_rank).asDiagonal().inverse() * tmp;
-  dst = m_matrixV.leftCols(l_rank) * tmp;
-}
-#endif
-
-template<typename MatrixType>
-bool SVDBase<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
-{
-  eigen_assert(rows >= 0 && cols >= 0);
-
-  if (m_isAllocated &&
-      rows == m_rows &&
-      cols == m_cols &&
-      computationOptions == m_computationOptions)
-  {
-    return true;
-  }
-
-  m_rows = rows;
-  m_cols = cols;
-  m_isInitialized = false;
-  m_isAllocated = true;
-  m_computationOptions = computationOptions;
-  m_computeFullU = (computationOptions & ComputeFullU) != 0;
-  m_computeThinU = (computationOptions & ComputeThinU) != 0;
-  m_computeFullV = (computationOptions & ComputeFullV) != 0;
-  m_computeThinV = (computationOptions & ComputeThinV) != 0;
-  eigen_assert(!(m_computeFullU && m_computeThinU) && "SVDBase: you can't ask for both full and thin U");
-  eigen_assert(!(m_computeFullV && m_computeThinV) && "SVDBase: you can't ask for both full and thin V");
-  eigen_assert(EIGEN_IMPLIES(m_computeThinU || m_computeThinV, MatrixType::ColsAtCompileTime==Dynamic) &&
-	       "SVDBase: thin U and V are only available when your matrix has a dynamic number of columns.");
-
-  m_diagSize = (std::min)(m_rows, m_cols);
-  m_singularValues.resize(m_diagSize);
-  if(RowsAtCompileTime==Dynamic)
-    m_matrixU.resize(m_rows, m_computeFullU ? m_rows : m_computeThinU ? m_diagSize : 0);
-  if(ColsAtCompileTime==Dynamic)
-    m_matrixV.resize(m_cols, m_computeFullV ? m_cols : m_computeThinV ? m_diagSize : 0);
-
-  return false;
-}
-
-}// end namespace
-
-#endif // EIGEN_SVDBASE_H
diff --git a/phonelibs/eigen/Eigen/src/SVD/UpperBidiagonalization.h b/phonelibs/eigen/Eigen/src/SVD/UpperBidiagonalization.h
deleted file mode 100644
index 0b14608940e0d0..00000000000000
--- a/phonelibs/eigen/Eigen/src/SVD/UpperBidiagonalization.h
+++ /dev/null
@@ -1,412 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2013-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BIDIAGONALIZATION_H
-#define EIGEN_BIDIAGONALIZATION_H
-
-namespace Eigen { 
-
-namespace internal {
-// UpperBidiagonalization will probably be replaced by a Bidiagonalization class, don't want to make it stable API.
-// At the same time, it's useful to keep for now as it's about the only thing that is testing the BandMatrix class.
-
-template<typename _MatrixType> class UpperBidiagonalization
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      ColsAtCompileTimeMinusOne = internal::decrement_size<ColsAtCompileTime>::ret
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    typedef Matrix<Scalar, 1, ColsAtCompileTime> RowVectorType;
-    typedef Matrix<Scalar, RowsAtCompileTime, 1> ColVectorType;
-    typedef BandMatrix<RealScalar, ColsAtCompileTime, ColsAtCompileTime, 1, 0, RowMajor> BidiagonalType;
-    typedef Matrix<Scalar, ColsAtCompileTime, 1> DiagVectorType;
-    typedef Matrix<Scalar, ColsAtCompileTimeMinusOne, 1> SuperDiagVectorType;
-    typedef HouseholderSequence<
-              const MatrixType,
-              const typename internal::remove_all<typename Diagonal<const MatrixType,0>::ConjugateReturnType>::type
-            > HouseholderUSequenceType;
-    typedef HouseholderSequence<
-              const typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type,
-              Diagonal<const MatrixType,1>,
-              OnTheRight
-            > HouseholderVSequenceType;
-    
-    /**
-    * \brief Default Constructor.
-    *
-    * The default constructor is useful in cases in which the user intends to
-    * perform decompositions via Bidiagonalization::compute(const MatrixType&).
-    */
-    UpperBidiagonalization() : m_householder(), m_bidiagonal(), m_isInitialized(false) {}
-
-    explicit UpperBidiagonalization(const MatrixType& matrix)
-      : m_householder(matrix.rows(), matrix.cols()),
-        m_bidiagonal(matrix.cols(), matrix.cols()),
-        m_isInitialized(false)
-    {
-      compute(matrix);
-    }
-    
-    UpperBidiagonalization& compute(const MatrixType& matrix);
-    UpperBidiagonalization& computeUnblocked(const MatrixType& matrix);
-    
-    const MatrixType& householder() const { return m_householder; }
-    const BidiagonalType& bidiagonal() const { return m_bidiagonal; }
-    
-    const HouseholderUSequenceType householderU() const
-    {
-      eigen_assert(m_isInitialized && "UpperBidiagonalization is not initialized.");
-      return HouseholderUSequenceType(m_householder, m_householder.diagonal().conjugate());
-    }
-
-    const HouseholderVSequenceType householderV() // const here gives nasty errors and i'm lazy
-    {
-      eigen_assert(m_isInitialized && "UpperBidiagonalization is not initialized.");
-      return HouseholderVSequenceType(m_householder.conjugate(), m_householder.const_derived().template diagonal<1>())
-             .setLength(m_householder.cols()-1)
-             .setShift(1);
-    }
-    
-  protected:
-    MatrixType m_householder;
-    BidiagonalType m_bidiagonal;
-    bool m_isInitialized;
-};
-
-// Standard upper bidiagonalization without fancy optimizations
-// This version should be faster for small matrix size
-template<typename MatrixType>
-void upperbidiagonalization_inplace_unblocked(MatrixType& mat,
-                                              typename MatrixType::RealScalar *diagonal,
-                                              typename MatrixType::RealScalar *upper_diagonal,
-                                              typename MatrixType::Scalar* tempData = 0)
-{
-  typedef typename MatrixType::Scalar Scalar;
-
-  Index rows = mat.rows();
-  Index cols = mat.cols();
-
-  typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixType::MaxRowsAtCompileTime,1> TempType;
-  TempType tempVector;
-  if(tempData==0)
-  {
-    tempVector.resize(rows);
-    tempData = tempVector.data();
-  }
-
-  for (Index k = 0; /* breaks at k==cols-1 below */ ; ++k)
-  {
-    Index remainingRows = rows - k;
-    Index remainingCols = cols - k - 1;
-
-    // construct left householder transform in-place in A
-    mat.col(k).tail(remainingRows)
-       .makeHouseholderInPlace(mat.coeffRef(k,k), diagonal[k]);
-    // apply householder transform to remaining part of A on the left
-    mat.bottomRightCorner(remainingRows, remainingCols)
-       .applyHouseholderOnTheLeft(mat.col(k).tail(remainingRows-1), mat.coeff(k,k), tempData);
-
-    if(k == cols-1) break;
-
-    // construct right householder transform in-place in mat
-    mat.row(k).tail(remainingCols)
-       .makeHouseholderInPlace(mat.coeffRef(k,k+1), upper_diagonal[k]);
-    // apply householder transform to remaining part of mat on the left
-    mat.bottomRightCorner(remainingRows-1, remainingCols)
-       .applyHouseholderOnTheRight(mat.row(k).tail(remainingCols-1).transpose(), mat.coeff(k,k+1), tempData);
-  }
-}
-
-/** \internal
-  * Helper routine for the block reduction to upper bidiagonal form.
-  *
-  * Let's partition the matrix A:
-  * 
-  *      | A00 A01 |
-  *  A = |         |
-  *      | A10 A11 |
-  *
-  * This function reduces to bidiagonal form the left \c rows x \a blockSize vertical panel [A00/A10]
-  * and the \a blockSize x \c cols horizontal panel [A00 A01] of the matrix \a A. The bottom-right block A11
-  * is updated using matrix-matrix products:
-  *   A22 -= V * Y^T - X * U^T
-  * where V and U contains the left and right Householder vectors. U and V are stored in A10, and A01
-  * respectively, and the update matrices X and Y are computed during the reduction.
-  * 
-  */
-template<typename MatrixType>
-void upperbidiagonalization_blocked_helper(MatrixType& A,
-                                           typename MatrixType::RealScalar *diagonal,
-                                           typename MatrixType::RealScalar *upper_diagonal,
-                                           Index bs,
-                                           Ref<Matrix<typename MatrixType::Scalar, Dynamic, Dynamic,
-                                                      traits<MatrixType>::Flags & RowMajorBit> > X,
-                                           Ref<Matrix<typename MatrixType::Scalar, Dynamic, Dynamic,
-                                                      traits<MatrixType>::Flags & RowMajorBit> > Y)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  enum { StorageOrder = traits<MatrixType>::Flags & RowMajorBit };
-  typedef InnerStride<int(StorageOrder) == int(ColMajor) ? 1 : Dynamic> ColInnerStride;
-  typedef InnerStride<int(StorageOrder) == int(ColMajor) ? Dynamic : 1> RowInnerStride;
-  typedef Ref<Matrix<Scalar, Dynamic, 1>, 0, ColInnerStride>    SubColumnType;
-  typedef Ref<Matrix<Scalar, 1, Dynamic>, 0, RowInnerStride>    SubRowType;
-  typedef Ref<Matrix<Scalar, Dynamic, Dynamic, StorageOrder > > SubMatType;
-  
-  Index brows = A.rows();
-  Index bcols = A.cols();
-
-  Scalar tau_u, tau_u_prev(0), tau_v;
-
-  for(Index k = 0; k < bs; ++k)
-  {
-    Index remainingRows = brows - k;
-    Index remainingCols = bcols - k - 1;
-
-    SubMatType X_k1( X.block(k,0, remainingRows,k) );
-    SubMatType V_k1( A.block(k,0, remainingRows,k) );
-
-    // 1 - update the k-th column of A
-    SubColumnType v_k = A.col(k).tail(remainingRows);
-          v_k -= V_k1 * Y.row(k).head(k).adjoint();
-    if(k) v_k -= X_k1 * A.col(k).head(k);
-    
-    // 2 - construct left Householder transform in-place
-    v_k.makeHouseholderInPlace(tau_v, diagonal[k]);
-       
-    if(k+1<bcols)
-    {
-      SubMatType Y_k  ( Y.block(k+1,0, remainingCols, k+1) );
-      SubMatType U_k1 ( A.block(0,k+1, k,remainingCols) );
-      
-      // this eases the application of Householder transforAions
-      // A(k,k) will store tau_v later
-      A(k,k) = Scalar(1);
-
-      // 3 - Compute y_k^T = tau_v * ( A^T*v_k - Y_k-1*V_k-1^T*v_k - U_k-1*X_k-1^T*v_k )
-      {
-        SubColumnType y_k( Y.col(k).tail(remainingCols) );
-        
-        // let's use the begining of column k of Y as a temporary vector
-        SubColumnType tmp( Y.col(k).head(k) );
-        y_k.noalias()  = A.block(k,k+1, remainingRows,remainingCols).adjoint() * v_k; // bottleneck
-        tmp.noalias()  = V_k1.adjoint()  * v_k;
-        y_k.noalias() -= Y_k.leftCols(k) * tmp;
-        tmp.noalias()  = X_k1.adjoint()  * v_k;
-        y_k.noalias() -= U_k1.adjoint()  * tmp;
-        y_k *= numext::conj(tau_v);
-      }
-
-      // 4 - update k-th row of A (it will become u_k)
-      SubRowType u_k( A.row(k).tail(remainingCols) );
-      u_k = u_k.conjugate();
-      {
-        u_k -= Y_k * A.row(k).head(k+1).adjoint();
-        if(k) u_k -= U_k1.adjoint() * X.row(k).head(k).adjoint();
-      }
-
-      // 5 - construct right Householder transform in-place
-      u_k.makeHouseholderInPlace(tau_u, upper_diagonal[k]);
-
-      // this eases the application of Householder transformations
-      // A(k,k+1) will store tau_u later
-      A(k,k+1) = Scalar(1);
-
-      // 6 - Compute x_k = tau_u * ( A*u_k - X_k-1*U_k-1^T*u_k - V_k*Y_k^T*u_k )
-      {
-        SubColumnType x_k ( X.col(k).tail(remainingRows-1) );
-        
-        // let's use the begining of column k of X as a temporary vectors
-        // note that tmp0 and tmp1 overlaps
-        SubColumnType tmp0 ( X.col(k).head(k) ),
-                      tmp1 ( X.col(k).head(k+1) );
-                    
-        x_k.noalias()   = A.block(k+1,k+1, remainingRows-1,remainingCols) * u_k.transpose(); // bottleneck
-        tmp0.noalias()  = U_k1 * u_k.transpose();
-        x_k.noalias()  -= X_k1.bottomRows(remainingRows-1) * tmp0;
-        tmp1.noalias()  = Y_k.adjoint() * u_k.transpose();
-        x_k.noalias()  -= A.block(k+1,0, remainingRows-1,k+1) * tmp1;
-        x_k *= numext::conj(tau_u);
-        tau_u = numext::conj(tau_u);
-        u_k = u_k.conjugate();
-      }
-
-      if(k>0) A.coeffRef(k-1,k) = tau_u_prev;
-      tau_u_prev = tau_u;
-    }
-    else
-      A.coeffRef(k-1,k) = tau_u_prev;
-
-    A.coeffRef(k,k) = tau_v;
-  }
-  
-  if(bs<bcols)
-    A.coeffRef(bs-1,bs) = tau_u_prev;
-
-  // update A22
-  if(bcols>bs && brows>bs)
-  {
-    SubMatType A11( A.bottomRightCorner(brows-bs,bcols-bs) );
-    SubMatType A10( A.block(bs,0, brows-bs,bs) );
-    SubMatType A01( A.block(0,bs, bs,bcols-bs) );
-    Scalar tmp = A01(bs-1,0);
-    A01(bs-1,0) = 1;
-    A11.noalias() -= A10 * Y.topLeftCorner(bcols,bs).bottomRows(bcols-bs).adjoint();
-    A11.noalias() -= X.topLeftCorner(brows,bs).bottomRows(brows-bs) * A01;
-    A01(bs-1,0) = tmp;
-  }
-}
-
-/** \internal
-  *
-  * Implementation of a block-bidiagonal reduction.
-  * It is based on the following paper:
-  *   The Design of a Parallel Dense Linear Algebra Software Library: Reduction to Hessenberg, Tridiagonal, and Bidiagonal Form.
-  *   by Jaeyoung Choi, Jack J. Dongarra, David W. Walker. (1995)
-  *   section 3.3
-  */
-template<typename MatrixType, typename BidiagType>
-void upperbidiagonalization_inplace_blocked(MatrixType& A, BidiagType& bidiagonal,
-                                            Index maxBlockSize=32,
-                                            typename MatrixType::Scalar* /*tempData*/ = 0)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
-
-  Index rows = A.rows();
-  Index cols = A.cols();
-  Index size = (std::min)(rows, cols);
-
-  // X and Y are work space
-  enum { StorageOrder = traits<MatrixType>::Flags & RowMajorBit };
-  Matrix<Scalar,
-         MatrixType::RowsAtCompileTime,
-         Dynamic,
-         StorageOrder,
-         MatrixType::MaxRowsAtCompileTime> X(rows,maxBlockSize);
-  Matrix<Scalar,
-         MatrixType::ColsAtCompileTime,
-         Dynamic,
-         StorageOrder,
-         MatrixType::MaxColsAtCompileTime> Y(cols,maxBlockSize);
-  Index blockSize = (std::min)(maxBlockSize,size);
-
-  Index k = 0;
-  for(k = 0; k < size; k += blockSize)
-  {
-    Index bs = (std::min)(size-k,blockSize);  // actual size of the block
-    Index brows = rows - k;                   // rows of the block
-    Index bcols = cols - k;                   // columns of the block
-
-    // partition the matrix A:
-    // 
-    //      | A00 A01 A02 |
-    //      |             |
-    // A  = | A10 A11 A12 |
-    //      |             |
-    //      | A20 A21 A22 |
-    //
-    // where A11 is a bs x bs diagonal block,
-    // and let:
-    //      | A11 A12 |
-    //  B = |         |
-    //      | A21 A22 |
-
-    BlockType B = A.block(k,k,brows,bcols);
-    
-    // This stage performs the bidiagonalization of A11, A21, A12, and updating of A22.
-    // Finally, the algorithm continue on the updated A22.
-    //
-    // However, if B is too small, or A22 empty, then let's use an unblocked strategy
-    if(k+bs==cols || bcols<48) // somewhat arbitrary threshold
-    {
-      upperbidiagonalization_inplace_unblocked(B,
-                                               &(bidiagonal.template diagonal<0>().coeffRef(k)),
-                                               &(bidiagonal.template diagonal<1>().coeffRef(k)),
-                                               X.data()
-                                              );
-      break; // We're done
-    }
-    else
-    {
-      upperbidiagonalization_blocked_helper<BlockType>( B,
-                                                        &(bidiagonal.template diagonal<0>().coeffRef(k)),
-                                                        &(bidiagonal.template diagonal<1>().coeffRef(k)),
-                                                        bs,
-                                                        X.topLeftCorner(brows,bs),
-                                                        Y.topLeftCorner(bcols,bs)
-                                                      );
-    }
-  }
-}
-
-template<typename _MatrixType>
-UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::computeUnblocked(const _MatrixType& matrix)
-{
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
-  EIGEN_ONLY_USED_FOR_DEBUG(cols);
-
-  eigen_assert(rows >= cols && "UpperBidiagonalization is only for Arices satisfying rows>=cols.");
-
-  m_householder = matrix;
-
-  ColVectorType temp(rows);
-
-  upperbidiagonalization_inplace_unblocked(m_householder,
-                                           &(m_bidiagonal.template diagonal<0>().coeffRef(0)),
-                                           &(m_bidiagonal.template diagonal<1>().coeffRef(0)),
-                                           temp.data());
-
-  m_isInitialized = true;
-  return *this;
-}
-
-template<typename _MatrixType>
-UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::compute(const _MatrixType& matrix)
-{
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
-  EIGEN_ONLY_USED_FOR_DEBUG(rows);
-  EIGEN_ONLY_USED_FOR_DEBUG(cols);
-
-  eigen_assert(rows >= cols && "UpperBidiagonalization is only for Arices satisfying rows>=cols.");
-
-  m_householder = matrix;
-  upperbidiagonalization_inplace_blocked(m_householder, m_bidiagonal);
-            
-  m_isInitialized = true;
-  return *this;
-}
-
-#if 0
-/** \return the Householder QR decomposition of \c *this.
-  *
-  * \sa class Bidiagonalization
-  */
-template<typename Derived>
-const UpperBidiagonalization<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::bidiagonalization() const
-{
-  return UpperBidiagonalization<PlainObject>(eval());
-}
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_BIDIAGONALIZATION_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h b/phonelibs/eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
deleted file mode 100644
index 2907f65296b9a1..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
+++ /dev/null
@@ -1,689 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SIMPLICIAL_CHOLESKY_H
-#define EIGEN_SIMPLICIAL_CHOLESKY_H
-
-namespace Eigen { 
-
-enum SimplicialCholeskyMode {
-  SimplicialCholeskyLLT,
-  SimplicialCholeskyLDLT
-};
-
-namespace internal {
-  template<typename CholMatrixType, typename InputMatrixType>
-  struct simplicial_cholesky_grab_input {
-    typedef CholMatrixType const * ConstCholMatrixPtr;
-    static void run(const InputMatrixType& input, ConstCholMatrixPtr &pmat, CholMatrixType &tmp)
-    {
-      tmp = input;
-      pmat = &tmp;
-    }
-  };
-  
-  template<typename MatrixType>
-  struct simplicial_cholesky_grab_input<MatrixType,MatrixType> {
-    typedef MatrixType const * ConstMatrixPtr;
-    static void run(const MatrixType& input, ConstMatrixPtr &pmat, MatrixType &/*tmp*/)
-    {
-      pmat = &input;
-    }
-  };
-} // end namespace internal
-
-/** \ingroup SparseCholesky_Module
-  * \brief A base class for direct sparse Cholesky factorizations
-  *
-  * This is a base class for LL^T and LDL^T Cholesky factorizations of sparse matrices that are
-  * selfadjoint and positive definite. These factorizations allow for solving A.X = B where
-  * X and B can be either dense or sparse.
-  * 
-  * In order to reduce the fill-in, a symmetric permutation P is applied prior to the factorization
-  * such that the factorized matrix is P A P^-1.
-  *
-  * \tparam Derived the type of the derived class, that is the actual factorization type.
-  *
-  */
-template<typename Derived>
-class SimplicialCholeskyBase : public SparseSolverBase<Derived>
-{
-    typedef SparseSolverBase<Derived> Base;
-    using Base::m_isInitialized;
-    
-  public:
-    typedef typename internal::traits<Derived>::MatrixType MatrixType;
-    typedef typename internal::traits<Derived>::OrderingType OrderingType;
-    enum { UpLo = internal::traits<Derived>::UpLo };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
-    typedef CholMatrixType const * ConstCholMatrixPtr;
-    typedef Matrix<Scalar,Dynamic,1> VectorType;
-    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
-
-    enum {
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-
-  public:
-    
-    using Base::derived;
-
-    /** Default constructor */
-    SimplicialCholeskyBase()
-      : m_info(Success), m_shiftOffset(0), m_shiftScale(1)
-    {}
-
-    explicit SimplicialCholeskyBase(const MatrixType& matrix)
-      : m_info(Success), m_shiftOffset(0), m_shiftScale(1)
-    {
-      derived().compute(matrix);
-    }
-
-    ~SimplicialCholeskyBase()
-    {
-    }
-
-    Derived& derived() { return *static_cast<Derived*>(this); }
-    const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    
-    inline Index cols() const { return m_matrix.cols(); }
-    inline Index rows() const { return m_matrix.rows(); }
-    
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix.appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-    
-    /** \returns the permutation P
-      * \sa permutationPinv() */
-    const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& permutationP() const
-    { return m_P; }
-    
-    /** \returns the inverse P^-1 of the permutation P
-      * \sa permutationP() */
-    const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& permutationPinv() const
-    { return m_Pinv; }
-
-    /** Sets the shift parameters that will be used to adjust the diagonal coefficients during the numerical factorization.
-      *
-      * During the numerical factorization, the diagonal coefficients are transformed by the following linear model:\n
-      * \c d_ii = \a offset + \a scale * \c d_ii
-      *
-      * The default is the identity transformation with \a offset=0, and \a scale=1.
-      *
-      * \returns a reference to \c *this.
-      */
-    Derived& setShift(const RealScalar& offset, const RealScalar& scale = 1)
-    {
-      m_shiftOffset = offset;
-      m_shiftScale = scale;
-      return derived();
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal */
-    template<typename Stream>
-    void dumpMemory(Stream& s)
-    {
-      int total = 0;
-      s << "  L:        " << ((total+=(m_matrix.cols()+1) * sizeof(int) + m_matrix.nonZeros()*(sizeof(int)+sizeof(Scalar))) >> 20) << "Mb" << "\n";
-      s << "  diag:     " << ((total+=m_diag.size() * sizeof(Scalar)) >> 20) << "Mb" << "\n";
-      s << "  tree:     " << ((total+=m_parent.size() * sizeof(int)) >> 20) << "Mb" << "\n";
-      s << "  nonzeros: " << ((total+=m_nonZerosPerCol.size() * sizeof(int)) >> 20) << "Mb" << "\n";
-      s << "  perm:     " << ((total+=m_P.size() * sizeof(int)) >> 20) << "Mb" << "\n";
-      s << "  perm^-1:  " << ((total+=m_Pinv.size() * sizeof(int)) >> 20) << "Mb" << "\n";
-      s << "  TOTAL:    " << (total>> 20) << "Mb" << "\n";
-    }
-
-    /** \internal */
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
-    {
-      eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
-      eigen_assert(m_matrix.rows()==b.rows());
-
-      if(m_info!=Success)
-        return;
-
-      if(m_P.size()>0)
-        dest = m_P * b;
-      else
-        dest = b;
-
-      if(m_matrix.nonZeros()>0) // otherwise L==I
-        derived().matrixL().solveInPlace(dest);
-
-      if(m_diag.size()>0)
-        dest = m_diag.asDiagonal().inverse() * dest;
-
-      if (m_matrix.nonZeros()>0) // otherwise U==I
-        derived().matrixU().solveInPlace(dest);
-
-      if(m_P.size()>0)
-        dest = m_Pinv * dest;
-    }
-    
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
-    {
-      internal::solve_sparse_through_dense_panels(derived(), b, dest);
-    }
-
-#endif // EIGEN_PARSED_BY_DOXYGEN
-
-  protected:
-    
-    /** Computes the sparse Cholesky decomposition of \a matrix */
-    template<bool DoLDLT>
-    void compute(const MatrixType& matrix)
-    {
-      eigen_assert(matrix.rows()==matrix.cols());
-      Index size = matrix.cols();
-      CholMatrixType tmp(size,size);
-      ConstCholMatrixPtr pmat;
-      ordering(matrix, pmat, tmp);
-      analyzePattern_preordered(*pmat, DoLDLT);
-      factorize_preordered<DoLDLT>(*pmat);
-    }
-    
-    template<bool DoLDLT>
-    void factorize(const MatrixType& a)
-    {
-      eigen_assert(a.rows()==a.cols());
-      Index size = a.cols();
-      CholMatrixType tmp(size,size);
-      ConstCholMatrixPtr pmat;
-      
-      if(m_P.size()==0 && (UpLo&Upper)==Upper)
-      {
-        // If there is no ordering, try to directly use the input matrix without any copy
-        internal::simplicial_cholesky_grab_input<CholMatrixType,MatrixType>::run(a, pmat, tmp);
-      }
-      else
-      {
-        tmp.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
-        pmat = &tmp;
-      }
-      
-      factorize_preordered<DoLDLT>(*pmat);
-    }
-
-    template<bool DoLDLT>
-    void factorize_preordered(const CholMatrixType& a);
-
-    void analyzePattern(const MatrixType& a, bool doLDLT)
-    {
-      eigen_assert(a.rows()==a.cols());
-      Index size = a.cols();
-      CholMatrixType tmp(size,size);
-      ConstCholMatrixPtr pmat;
-      ordering(a, pmat, tmp);
-      analyzePattern_preordered(*pmat,doLDLT);
-    }
-    void analyzePattern_preordered(const CholMatrixType& a, bool doLDLT);
-    
-    void ordering(const MatrixType& a, ConstCholMatrixPtr &pmat, CholMatrixType& ap);
-
-    /** keeps off-diagonal entries; drops diagonal entries */
-    struct keep_diag {
-      inline bool operator() (const Index& row, const Index& col, const Scalar&) const
-      {
-        return row!=col;
-      }
-    };
-
-    mutable ComputationInfo m_info;
-    bool m_factorizationIsOk;
-    bool m_analysisIsOk;
-    
-    CholMatrixType m_matrix;
-    VectorType m_diag;                                // the diagonal coefficients (LDLT mode)
-    VectorI m_parent;                                 // elimination tree
-    VectorI m_nonZerosPerCol;
-    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_P;     // the permutation
-    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_Pinv;  // the inverse permutation
-
-    RealScalar m_shiftOffset;
-    RealScalar m_shiftScale;
-};
-
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialLLT;
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialLDLT;
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialCholesky;
-
-namespace internal {
-
-template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<SimplicialLLT<_MatrixType,_UpLo,_Ordering> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Ordering OrderingType;
-  enum { UpLo = _UpLo };
-  typedef typename MatrixType::Scalar                         Scalar;
-  typedef typename MatrixType::StorageIndex                   StorageIndex;
-  typedef SparseMatrix<Scalar, ColMajor, StorageIndex>        CholMatrixType;
-  typedef TriangularView<const CholMatrixType, Eigen::Lower>  MatrixL;
-  typedef TriangularView<const typename CholMatrixType::AdjointReturnType, Eigen::Upper>   MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
-  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
-};
-
-template<typename _MatrixType,int _UpLo, typename _Ordering> struct traits<SimplicialLDLT<_MatrixType,_UpLo,_Ordering> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Ordering OrderingType;
-  enum { UpLo = _UpLo };
-  typedef typename MatrixType::Scalar                             Scalar;
-  typedef typename MatrixType::StorageIndex                       StorageIndex;
-  typedef SparseMatrix<Scalar, ColMajor, StorageIndex>            CholMatrixType;
-  typedef TriangularView<const CholMatrixType, Eigen::UnitLower>  MatrixL;
-  typedef TriangularView<const typename CholMatrixType::AdjointReturnType, Eigen::UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
-  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
-};
-
-template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<SimplicialCholesky<_MatrixType,_UpLo,_Ordering> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Ordering OrderingType;
-  enum { UpLo = _UpLo };
-};
-
-}
-
-/** \ingroup SparseCholesky_Module
-  * \class SimplicialLLT
-  * \brief A direct sparse LLT Cholesky factorizations
-  *
-  * This class provides a LL^T Cholesky factorizations of sparse matrices that are
-  * selfadjoint and positive definite. The factorization allows for solving A.X = B where
-  * X and B can be either dense or sparse.
-  * 
-  * In order to reduce the fill-in, a symmetric permutation P is applied prior to the factorization
-  * such that the factorized matrix is P A P^-1.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-  *               or Upper. Default is Lower.
-  * \tparam _Ordering The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<>
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa class SimplicialLDLT, class AMDOrdering, class NaturalOrdering
-  */
-template<typename _MatrixType, int _UpLo, typename _Ordering>
-    class SimplicialLLT : public SimplicialCholeskyBase<SimplicialLLT<_MatrixType,_UpLo,_Ordering> >
-{
-public:
-    typedef _MatrixType MatrixType;
-    enum { UpLo = _UpLo };
-    typedef SimplicialCholeskyBase<SimplicialLLT> Base;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
-    typedef Matrix<Scalar,Dynamic,1> VectorType;
-    typedef internal::traits<SimplicialLLT> Traits;
-    typedef typename Traits::MatrixL  MatrixL;
-    typedef typename Traits::MatrixU  MatrixU;
-public:
-    /** Default constructor */
-    SimplicialLLT() : Base() {}
-    /** Constructs and performs the LLT factorization of \a matrix */
-    explicit SimplicialLLT(const MatrixType& matrix)
-        : Base(matrix) {}
-
-    /** \returns an expression of the factor L */
-    inline const MatrixL matrixL() const {
-        eigen_assert(Base::m_factorizationIsOk && "Simplicial LLT not factorized");
-        return Traits::getL(Base::m_matrix);
-    }
-
-    /** \returns an expression of the factor U (= L^*) */
-    inline const MatrixU matrixU() const {
-        eigen_assert(Base::m_factorizationIsOk && "Simplicial LLT not factorized");
-        return Traits::getU(Base::m_matrix);
-    }
-    
-    /** Computes the sparse Cholesky decomposition of \a matrix */
-    SimplicialLLT& compute(const MatrixType& matrix)
-    {
-      Base::template compute<false>(matrix);
-      return *this;
-    }
-
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      *
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& a)
-    {
-      Base::analyzePattern(a, false);
-    }
-
-    /** Performs a numeric decomposition of \a matrix
-      *
-      * The given matrix must has the same sparcity than the matrix on which the symbolic decomposition has been performed.
-      *
-      * \sa analyzePattern()
-      */
-    void factorize(const MatrixType& a)
-    {
-      Base::template factorize<false>(a);
-    }
-
-    /** \returns the determinant of the underlying matrix from the current factorization */
-    Scalar determinant() const
-    {
-      Scalar detL = Base::m_matrix.diagonal().prod();
-      return numext::abs2(detL);
-    }
-};
-
-/** \ingroup SparseCholesky_Module
-  * \class SimplicialLDLT
-  * \brief A direct sparse LDLT Cholesky factorizations without square root.
-  *
-  * This class provides a LDL^T Cholesky factorizations without square root of sparse matrices that are
-  * selfadjoint and positive definite. The factorization allows for solving A.X = B where
-  * X and B can be either dense or sparse.
-  * 
-  * In order to reduce the fill-in, a symmetric permutation P is applied prior to the factorization
-  * such that the factorized matrix is P A P^-1.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-  *               or Upper. Default is Lower.
-  * \tparam _Ordering The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<>
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa class SimplicialLLT, class AMDOrdering, class NaturalOrdering
-  */
-template<typename _MatrixType, int _UpLo, typename _Ordering>
-    class SimplicialLDLT : public SimplicialCholeskyBase<SimplicialLDLT<_MatrixType,_UpLo,_Ordering> >
-{
-public:
-    typedef _MatrixType MatrixType;
-    enum { UpLo = _UpLo };
-    typedef SimplicialCholeskyBase<SimplicialLDLT> Base;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
-    typedef Matrix<Scalar,Dynamic,1> VectorType;
-    typedef internal::traits<SimplicialLDLT> Traits;
-    typedef typename Traits::MatrixL  MatrixL;
-    typedef typename Traits::MatrixU  MatrixU;
-public:
-    /** Default constructor */
-    SimplicialLDLT() : Base() {}
-
-    /** Constructs and performs the LLT factorization of \a matrix */
-    explicit SimplicialLDLT(const MatrixType& matrix)
-        : Base(matrix) {}
-
-    /** \returns a vector expression of the diagonal D */
-    inline const VectorType vectorD() const {
-        eigen_assert(Base::m_factorizationIsOk && "Simplicial LDLT not factorized");
-        return Base::m_diag;
-    }
-    /** \returns an expression of the factor L */
-    inline const MatrixL matrixL() const {
-        eigen_assert(Base::m_factorizationIsOk && "Simplicial LDLT not factorized");
-        return Traits::getL(Base::m_matrix);
-    }
-
-    /** \returns an expression of the factor U (= L^*) */
-    inline const MatrixU matrixU() const {
-        eigen_assert(Base::m_factorizationIsOk && "Simplicial LDLT not factorized");
-        return Traits::getU(Base::m_matrix);
-    }
-
-    /** Computes the sparse Cholesky decomposition of \a matrix */
-    SimplicialLDLT& compute(const MatrixType& matrix)
-    {
-      Base::template compute<true>(matrix);
-      return *this;
-    }
-    
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      *
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& a)
-    {
-      Base::analyzePattern(a, true);
-    }
-
-    /** Performs a numeric decomposition of \a matrix
-      *
-      * The given matrix must has the same sparcity than the matrix on which the symbolic decomposition has been performed.
-      *
-      * \sa analyzePattern()
-      */
-    void factorize(const MatrixType& a)
-    {
-      Base::template factorize<true>(a);
-    }
-
-    /** \returns the determinant of the underlying matrix from the current factorization */
-    Scalar determinant() const
-    {
-      return Base::m_diag.prod();
-    }
-};
-
-/** \deprecated use SimplicialLDLT or class SimplicialLLT
-  * \ingroup SparseCholesky_Module
-  * \class SimplicialCholesky
-  *
-  * \sa class SimplicialLDLT, class SimplicialLLT
-  */
-template<typename _MatrixType, int _UpLo, typename _Ordering>
-    class SimplicialCholesky : public SimplicialCholeskyBase<SimplicialCholesky<_MatrixType,_UpLo,_Ordering> >
-{
-public:
-    typedef _MatrixType MatrixType;
-    enum { UpLo = _UpLo };
-    typedef SimplicialCholeskyBase<SimplicialCholesky> Base;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
-    typedef Matrix<Scalar,Dynamic,1> VectorType;
-    typedef internal::traits<SimplicialCholesky> Traits;
-    typedef internal::traits<SimplicialLDLT<MatrixType,UpLo> > LDLTTraits;
-    typedef internal::traits<SimplicialLLT<MatrixType,UpLo>  > LLTTraits;
-  public:
-    SimplicialCholesky() : Base(), m_LDLT(true) {}
-
-    explicit SimplicialCholesky(const MatrixType& matrix)
-      : Base(), m_LDLT(true)
-    {
-      compute(matrix);
-    }
-
-    SimplicialCholesky& setMode(SimplicialCholeskyMode mode)
-    {
-      switch(mode)
-      {
-      case SimplicialCholeskyLLT:
-        m_LDLT = false;
-        break;
-      case SimplicialCholeskyLDLT:
-        m_LDLT = true;
-        break;
-      default:
-        break;
-      }
-
-      return *this;
-    }
-
-    inline const VectorType vectorD() const {
-        eigen_assert(Base::m_factorizationIsOk && "Simplicial Cholesky not factorized");
-        return Base::m_diag;
-    }
-    inline const CholMatrixType rawMatrix() const {
-        eigen_assert(Base::m_factorizationIsOk && "Simplicial Cholesky not factorized");
-        return Base::m_matrix;
-    }
-    
-    /** Computes the sparse Cholesky decomposition of \a matrix */
-    SimplicialCholesky& compute(const MatrixType& matrix)
-    {
-      if(m_LDLT)
-        Base::template compute<true>(matrix);
-      else
-        Base::template compute<false>(matrix);
-      return *this;
-    }
-
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      *
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& a)
-    {
-      Base::analyzePattern(a, m_LDLT);
-    }
-
-    /** Performs a numeric decomposition of \a matrix
-      *
-      * The given matrix must has the same sparcity than the matrix on which the symbolic decomposition has been performed.
-      *
-      * \sa analyzePattern()
-      */
-    void factorize(const MatrixType& a)
-    {
-      if(m_LDLT)
-        Base::template factorize<true>(a);
-      else
-        Base::template factorize<false>(a);
-    }
-
-    /** \internal */
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
-    {
-      eigen_assert(Base::m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
-      eigen_assert(Base::m_matrix.rows()==b.rows());
-
-      if(Base::m_info!=Success)
-        return;
-
-      if(Base::m_P.size()>0)
-        dest = Base::m_P * b;
-      else
-        dest = b;
-
-      if(Base::m_matrix.nonZeros()>0) // otherwise L==I
-      {
-        if(m_LDLT)
-          LDLTTraits::getL(Base::m_matrix).solveInPlace(dest);
-        else
-          LLTTraits::getL(Base::m_matrix).solveInPlace(dest);
-      }
-
-      if(Base::m_diag.size()>0)
-        dest = Base::m_diag.asDiagonal().inverse() * dest;
-
-      if (Base::m_matrix.nonZeros()>0) // otherwise I==I
-      {
-        if(m_LDLT)
-          LDLTTraits::getU(Base::m_matrix).solveInPlace(dest);
-        else
-          LLTTraits::getU(Base::m_matrix).solveInPlace(dest);
-      }
-
-      if(Base::m_P.size()>0)
-        dest = Base::m_Pinv * dest;
-    }
-    
-    /** \internal */
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
-    {
-      internal::solve_sparse_through_dense_panels(*this, b, dest);
-    }
-    
-    Scalar determinant() const
-    {
-      if(m_LDLT)
-      {
-        return Base::m_diag.prod();
-      }
-      else
-      {
-        Scalar detL = Diagonal<const CholMatrixType>(Base::m_matrix).prod();
-        return numext::abs2(detL);
-      }
-    }
-    
-  protected:
-    bool m_LDLT;
-};
-
-template<typename Derived>
-void SimplicialCholeskyBase<Derived>::ordering(const MatrixType& a, ConstCholMatrixPtr &pmat, CholMatrixType& ap)
-{
-  eigen_assert(a.rows()==a.cols());
-  const Index size = a.rows();
-  pmat = &ap;
-  // Note that ordering methods compute the inverse permutation
-  if(!internal::is_same<OrderingType,NaturalOrdering<Index> >::value)
-  {
-    {
-      CholMatrixType C;
-      C = a.template selfadjointView<UpLo>();
-      
-      OrderingType ordering;
-      ordering(C,m_Pinv);
-    }
-
-    if(m_Pinv.size()>0) m_P = m_Pinv.inverse();
-    else                m_P.resize(0);
-    
-    ap.resize(size,size);
-    ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
-  }
-  else
-  {
-    m_Pinv.resize(0);
-    m_P.resize(0);
-    if(int(UpLo)==int(Lower) || MatrixType::IsRowMajor)
-    {
-      // we have to transpose the lower part to to the upper one
-      ap.resize(size,size);
-      ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>();
-    }
-    else
-      internal::simplicial_cholesky_grab_input<CholMatrixType,MatrixType>::run(a, pmat, ap);
-  }  
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SIMPLICIAL_CHOLESKY_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h b/phonelibs/eigen/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
deleted file mode 100644
index 31e06995b8a0f2..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-
-/*
-
-NOTE: thes functions vave been adapted from the LDL library:
-
-LDL Copyright (c) 2005 by Timothy A. Davis.  All Rights Reserved.
-
-LDL License:
-
-    Your use or distribution of LDL or any modified version of
-    LDL implies that you agree to this License.
-
-    This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-    This library is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-    Lesser General Public License for more details.
-
-    You should have received a copy of the GNU Lesser General Public
-    License along with this library; if not, write to the Free Software
-    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301
-    USA
-
-    Permission is hereby granted to use or copy this program under the
-    terms of the GNU LGPL, provided that the Copyright, this License,
-    and the Availability of the original version is retained on all copies.
-    User documentation of any code that uses this code or any modified
-    version of this code must cite the Copyright, this License, the
-    Availability note, and "Used by permission." Permission to modify
-    the code and to distribute modified code is granted, provided the
-    Copyright, this License, and the Availability note are retained,
-    and a notice that the code was modified is included.
- */
-
-#include "../Core/util/NonMPL2.h"
-
-#ifndef EIGEN_SIMPLICIAL_CHOLESKY_IMPL_H
-#define EIGEN_SIMPLICIAL_CHOLESKY_IMPL_H
-
-namespace Eigen {
-
-template<typename Derived>
-void SimplicialCholeskyBase<Derived>::analyzePattern_preordered(const CholMatrixType& ap, bool doLDLT)
-{
-  const StorageIndex size = StorageIndex(ap.rows());
-  m_matrix.resize(size, size);
-  m_parent.resize(size);
-  m_nonZerosPerCol.resize(size);
-
-  ei_declare_aligned_stack_constructed_variable(StorageIndex, tags, size, 0);
-
-  for(StorageIndex k = 0; k < size; ++k)
-  {
-    /* L(k,:) pattern: all nodes reachable in etree from nz in A(0:k-1,k) */
-    m_parent[k] = -1;             /* parent of k is not yet known */
-    tags[k] = k;                  /* mark node k as visited */
-    m_nonZerosPerCol[k] = 0;      /* count of nonzeros in column k of L */
-    for(typename CholMatrixType::InnerIterator it(ap,k); it; ++it)
-    {
-      StorageIndex i = it.index();
-      if(i < k)
-      {
-        /* follow path from i to root of etree, stop at flagged node */
-        for(; tags[i] != k; i = m_parent[i])
-        {
-          /* find parent of i if not yet determined */
-          if (m_parent[i] == -1)
-            m_parent[i] = k;
-          m_nonZerosPerCol[i]++;        /* L (k,i) is nonzero */
-          tags[i] = k;                  /* mark i as visited */
-        }
-      }
-    }
-  }
-
-  /* construct Lp index array from m_nonZerosPerCol column counts */
-  StorageIndex* Lp = m_matrix.outerIndexPtr();
-  Lp[0] = 0;
-  for(StorageIndex k = 0; k < size; ++k)
-    Lp[k+1] = Lp[k] + m_nonZerosPerCol[k] + (doLDLT ? 0 : 1);
-
-  m_matrix.resizeNonZeros(Lp[size]);
-
-  m_isInitialized     = true;
-  m_info              = Success;
-  m_analysisIsOk      = true;
-  m_factorizationIsOk = false;
-}
-
-
-template<typename Derived>
-template<bool DoLDLT>
-void SimplicialCholeskyBase<Derived>::factorize_preordered(const CholMatrixType& ap)
-{
-  using std::sqrt;
-
-  eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
-  eigen_assert(ap.rows()==ap.cols());
-  eigen_assert(m_parent.size()==ap.rows());
-  eigen_assert(m_nonZerosPerCol.size()==ap.rows());
-
-  const StorageIndex size = StorageIndex(ap.rows());
-  const StorageIndex* Lp = m_matrix.outerIndexPtr();
-  StorageIndex* Li = m_matrix.innerIndexPtr();
-  Scalar* Lx = m_matrix.valuePtr();
-
-  ei_declare_aligned_stack_constructed_variable(Scalar, y, size, 0);
-  ei_declare_aligned_stack_constructed_variable(StorageIndex,  pattern, size, 0);
-  ei_declare_aligned_stack_constructed_variable(StorageIndex,  tags, size, 0);
-
-  bool ok = true;
-  m_diag.resize(DoLDLT ? size : 0);
-
-  for(StorageIndex k = 0; k < size; ++k)
-  {
-    // compute nonzero pattern of kth row of L, in topological order
-    y[k] = 0.0;                     // Y(0:k) is now all zero
-    StorageIndex top = size;               // stack for pattern is empty
-    tags[k] = k;                    // mark node k as visited
-    m_nonZerosPerCol[k] = 0;        // count of nonzeros in column k of L
-    for(typename CholMatrixType::InnerIterator it(ap,k); it; ++it)
-    {
-      StorageIndex i = it.index();
-      if(i <= k)
-      {
-        y[i] += numext::conj(it.value());            /* scatter A(i,k) into Y (sum duplicates) */
-        Index len;
-        for(len = 0; tags[i] != k; i = m_parent[i])
-        {
-          pattern[len++] = i;     /* L(k,i) is nonzero */
-          tags[i] = k;            /* mark i as visited */
-        }
-        while(len > 0)
-          pattern[--top] = pattern[--len];
-      }
-    }
-
-    /* compute numerical values kth row of L (a sparse triangular solve) */
-
-    RealScalar d = numext::real(y[k]) * m_shiftScale + m_shiftOffset;    // get D(k,k), apply the shift function, and clear Y(k)
-    y[k] = 0.0;
-    for(; top < size; ++top)
-    {
-      Index i = pattern[top];       /* pattern[top:n-1] is pattern of L(:,k) */
-      Scalar yi = y[i];             /* get and clear Y(i) */
-      y[i] = 0.0;
-
-      /* the nonzero entry L(k,i) */
-      Scalar l_ki;
-      if(DoLDLT)
-        l_ki = yi / m_diag[i];
-      else
-        yi = l_ki = yi / Lx[Lp[i]];
-
-      Index p2 = Lp[i] + m_nonZerosPerCol[i];
-      Index p;
-      for(p = Lp[i] + (DoLDLT ? 0 : 1); p < p2; ++p)
-        y[Li[p]] -= numext::conj(Lx[p]) * yi;
-      d -= numext::real(l_ki * numext::conj(yi));
-      Li[p] = k;                          /* store L(k,i) in column form of L */
-      Lx[p] = l_ki;
-      ++m_nonZerosPerCol[i];              /* increment count of nonzeros in col i */
-    }
-    if(DoLDLT)
-    {
-      m_diag[k] = d;
-      if(d == RealScalar(0))
-      {
-        ok = false;                         /* failure, D(k,k) is zero */
-        break;
-      }
-    }
-    else
-    {
-      Index p = Lp[k] + m_nonZerosPerCol[k]++;
-      Li[p] = k ;                /* store L(k,k) = sqrt (d) in column k */
-      if(d <= RealScalar(0)) {
-        ok = false;              /* failure, matrix is not positive definite */
-        break;
-      }
-      Lx[p] = sqrt(d) ;
-    }
-  }
-
-  m_info = ok ? Success : NumericalIssue;
-  m_factorizationIsOk = true;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SIMPLICIAL_CHOLESKY_IMPL_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/AmbiVector.h b/phonelibs/eigen/Eigen/src/SparseCore/AmbiVector.h
deleted file mode 100644
index 8a5cc91f2aaa77..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/AmbiVector.h
+++ /dev/null
@@ -1,377 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AMBIVECTOR_H
-#define EIGEN_AMBIVECTOR_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal
-  * Hybrid sparse/dense vector class designed for intensive read-write operations.
-  *
-  * See BasicSparseLLT and SparseProduct for usage examples.
-  */
-template<typename _Scalar, typename _StorageIndex>
-class AmbiVector
-{
-  public:
-    typedef _Scalar Scalar;
-    typedef _StorageIndex StorageIndex;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    explicit AmbiVector(Index size)
-      : m_buffer(0), m_zero(0), m_size(0), m_allocatedSize(0), m_allocatedElements(0), m_mode(-1)
-    {
-      resize(size);
-    }
-
-    void init(double estimatedDensity);
-    void init(int mode);
-
-    Index nonZeros() const;
-
-    /** Specifies a sub-vector to work on */
-    void setBounds(Index start, Index end) { m_start = convert_index(start); m_end = convert_index(end); }
-
-    void setZero();
-
-    void restart();
-    Scalar& coeffRef(Index i);
-    Scalar& coeff(Index i);
-
-    class Iterator;
-
-    ~AmbiVector() { delete[] m_buffer; }
-
-    void resize(Index size)
-    {
-      if (m_allocatedSize < size)
-        reallocate(size);
-      m_size = convert_index(size);
-    }
-
-    StorageIndex size() const { return m_size; }
-
-  protected:
-    StorageIndex convert_index(Index idx)
-    {
-      return internal::convert_index<StorageIndex>(idx);
-    }
-
-    void reallocate(Index size)
-    {
-      // if the size of the matrix is not too large, let's allocate a bit more than needed such
-      // that we can handle dense vector even in sparse mode.
-      delete[] m_buffer;
-      if (size<1000)
-      {
-        Index allocSize = (size * sizeof(ListEl) + sizeof(Scalar) - 1)/sizeof(Scalar);
-        m_allocatedElements = convert_index((allocSize*sizeof(Scalar))/sizeof(ListEl));
-        m_buffer = new Scalar[allocSize];
-      }
-      else
-      {
-        m_allocatedElements = convert_index((size*sizeof(Scalar))/sizeof(ListEl));
-        m_buffer = new Scalar[size];
-      }
-      m_size = convert_index(size);
-      m_start = 0;
-      m_end = m_size;
-    }
-
-    void reallocateSparse()
-    {
-      Index copyElements = m_allocatedElements;
-      m_allocatedElements = (std::min)(StorageIndex(m_allocatedElements*1.5),m_size);
-      Index allocSize = m_allocatedElements * sizeof(ListEl);
-      allocSize = (allocSize + sizeof(Scalar) - 1)/sizeof(Scalar);
-      Scalar* newBuffer = new Scalar[allocSize];
-      memcpy(newBuffer,  m_buffer,  copyElements * sizeof(ListEl));
-      delete[] m_buffer;
-      m_buffer = newBuffer;
-    }
-
-  protected:
-    // element type of the linked list
-    struct ListEl
-    {
-      StorageIndex next;
-      StorageIndex index;
-      Scalar value;
-    };
-
-    // used to store data in both mode
-    Scalar* m_buffer;
-    Scalar m_zero;
-    StorageIndex m_size;
-    StorageIndex m_start;
-    StorageIndex m_end;
-    StorageIndex m_allocatedSize;
-    StorageIndex m_allocatedElements;
-    StorageIndex m_mode;
-
-    // linked list mode
-    StorageIndex m_llStart;
-    StorageIndex m_llCurrent;
-    StorageIndex m_llSize;
-};
-
-/** \returns the number of non zeros in the current sub vector */
-template<typename _Scalar,typename _StorageIndex>
-Index AmbiVector<_Scalar,_StorageIndex>::nonZeros() const
-{
-  if (m_mode==IsSparse)
-    return m_llSize;
-  else
-    return m_end - m_start;
-}
-
-template<typename _Scalar,typename _StorageIndex>
-void AmbiVector<_Scalar,_StorageIndex>::init(double estimatedDensity)
-{
-  if (estimatedDensity>0.1)
-    init(IsDense);
-  else
-    init(IsSparse);
-}
-
-template<typename _Scalar,typename _StorageIndex>
-void AmbiVector<_Scalar,_StorageIndex>::init(int mode)
-{
-  m_mode = mode;
-  if (m_mode==IsSparse)
-  {
-    m_llSize = 0;
-    m_llStart = -1;
-  }
-}
-
-/** Must be called whenever we might perform a write access
-  * with an index smaller than the previous one.
-  *
-  * Don't worry, this function is extremely cheap.
-  */
-template<typename _Scalar,typename _StorageIndex>
-void AmbiVector<_Scalar,_StorageIndex>::restart()
-{
-  m_llCurrent = m_llStart;
-}
-
-/** Set all coefficients of current subvector to zero */
-template<typename _Scalar,typename _StorageIndex>
-void AmbiVector<_Scalar,_StorageIndex>::setZero()
-{
-  if (m_mode==IsDense)
-  {
-    for (Index i=m_start; i<m_end; ++i)
-      m_buffer[i] = Scalar(0);
-  }
-  else
-  {
-    eigen_assert(m_mode==IsSparse);
-    m_llSize = 0;
-    m_llStart = -1;
-  }
-}
-
-template<typename _Scalar,typename _StorageIndex>
-_Scalar& AmbiVector<_Scalar,_StorageIndex>::coeffRef(Index i)
-{
-  if (m_mode==IsDense)
-    return m_buffer[i];
-  else
-  {
-    ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_buffer);
-    // TODO factorize the following code to reduce code generation
-    eigen_assert(m_mode==IsSparse);
-    if (m_llSize==0)
-    {
-      // this is the first element
-      m_llStart = 0;
-      m_llCurrent = 0;
-      ++m_llSize;
-      llElements[0].value = Scalar(0);
-      llElements[0].index = convert_index(i);
-      llElements[0].next = -1;
-      return llElements[0].value;
-    }
-    else if (i<llElements[m_llStart].index)
-    {
-      // this is going to be the new first element of the list
-      ListEl& el = llElements[m_llSize];
-      el.value = Scalar(0);
-      el.index = convert_index(i);
-      el.next = m_llStart;
-      m_llStart = m_llSize;
-      ++m_llSize;
-      m_llCurrent = m_llStart;
-      return el.value;
-    }
-    else
-    {
-      StorageIndex nextel = llElements[m_llCurrent].next;
-      eigen_assert(i>=llElements[m_llCurrent].index && "you must call restart() before inserting an element with lower or equal index");
-      while (nextel >= 0 && llElements[nextel].index<=i)
-      {
-        m_llCurrent = nextel;
-        nextel = llElements[nextel].next;
-      }
-
-      if (llElements[m_llCurrent].index==i)
-      {
-        // the coefficient already exists and we found it !
-        return llElements[m_llCurrent].value;
-      }
-      else
-      {
-        if (m_llSize>=m_allocatedElements)
-        {
-          reallocateSparse();
-          llElements = reinterpret_cast<ListEl*>(m_buffer);
-        }
-        eigen_internal_assert(m_llSize<m_allocatedElements && "internal error: overflow in sparse mode");
-        // let's insert a new coefficient
-        ListEl& el = llElements[m_llSize];
-        el.value = Scalar(0);
-        el.index = convert_index(i);
-        el.next = llElements[m_llCurrent].next;
-        llElements[m_llCurrent].next = m_llSize;
-        ++m_llSize;
-        return el.value;
-      }
-    }
-  }
-}
-
-template<typename _Scalar,typename _StorageIndex>
-_Scalar& AmbiVector<_Scalar,_StorageIndex>::coeff(Index i)
-{
-  if (m_mode==IsDense)
-    return m_buffer[i];
-  else
-  {
-    ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_buffer);
-    eigen_assert(m_mode==IsSparse);
-    if ((m_llSize==0) || (i<llElements[m_llStart].index))
-    {
-      return m_zero;
-    }
-    else
-    {
-      Index elid = m_llStart;
-      while (elid >= 0 && llElements[elid].index<i)
-        elid = llElements[elid].next;
-
-      if (llElements[elid].index==i)
-        return llElements[m_llCurrent].value;
-      else
-        return m_zero;
-    }
-  }
-}
-
-/** Iterator over the nonzero coefficients */
-template<typename _Scalar,typename _StorageIndex>
-class AmbiVector<_Scalar,_StorageIndex>::Iterator
-{
-  public:
-    typedef _Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    /** Default constructor
-      * \param vec the vector on which we iterate
-      * \param epsilon the minimal value used to prune zero coefficients.
-      * In practice, all coefficients having a magnitude smaller than \a epsilon
-      * are skipped.
-      */
-    explicit Iterator(const AmbiVector& vec, const RealScalar& epsilon = 0)
-      : m_vector(vec)
-    {
-      using std::abs;
-      m_epsilon = epsilon;
-      m_isDense = m_vector.m_mode==IsDense;
-      if (m_isDense)
-      {
-        m_currentEl = 0;   // this is to avoid a compilation warning
-        m_cachedValue = 0; // this is to avoid a compilation warning
-        m_cachedIndex = m_vector.m_start-1;
-        ++(*this);
-      }
-      else
-      {
-        ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_vector.m_buffer);
-        m_currentEl = m_vector.m_llStart;
-        while (m_currentEl>=0 && abs(llElements[m_currentEl].value)<=m_epsilon)
-          m_currentEl = llElements[m_currentEl].next;
-        if (m_currentEl<0)
-        {
-          m_cachedValue = 0; // this is to avoid a compilation warning
-          m_cachedIndex = -1;
-        }
-        else
-        {
-          m_cachedIndex = llElements[m_currentEl].index;
-          m_cachedValue = llElements[m_currentEl].value;
-        }
-      }
-    }
-
-    StorageIndex index() const { return m_cachedIndex; }
-    Scalar value() const { return m_cachedValue; }
-
-    operator bool() const { return m_cachedIndex>=0; }
-
-    Iterator& operator++()
-    {
-      using std::abs;
-      if (m_isDense)
-      {
-        do {
-          ++m_cachedIndex;
-        } while (m_cachedIndex<m_vector.m_end && abs(m_vector.m_buffer[m_cachedIndex])<=m_epsilon);
-        if (m_cachedIndex<m_vector.m_end)
-          m_cachedValue = m_vector.m_buffer[m_cachedIndex];
-        else
-          m_cachedIndex=-1;
-      }
-      else
-      {
-        ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_vector.m_buffer);
-        do {
-          m_currentEl = llElements[m_currentEl].next;
-        } while (m_currentEl>=0 && abs(llElements[m_currentEl].value)<=m_epsilon);
-        if (m_currentEl<0)
-        {
-          m_cachedIndex = -1;
-        }
-        else
-        {
-          m_cachedIndex = llElements[m_currentEl].index;
-          m_cachedValue = llElements[m_currentEl].value;
-        }
-      }
-      return *this;
-    }
-
-  protected:
-    const AmbiVector& m_vector; // the target vector
-    StorageIndex m_currentEl;   // the current element in sparse/linked-list mode
-    RealScalar m_epsilon;       // epsilon used to prune zero coefficients
-    StorageIndex m_cachedIndex; // current coordinate
-    Scalar m_cachedValue;       // current value
-    bool m_isDense;             // mode of the vector
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_AMBIVECTOR_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/CompressedStorage.h b/phonelibs/eigen/Eigen/src/SparseCore/CompressedStorage.h
deleted file mode 100644
index d89fa0dae47655..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/CompressedStorage.h
+++ /dev/null
@@ -1,258 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPRESSED_STORAGE_H
-#define EIGEN_COMPRESSED_STORAGE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal
-  * Stores a sparse set of values as a list of values and a list of indices.
-  *
-  */
-template<typename _Scalar,typename _StorageIndex>
-class CompressedStorage
-{
-  public:
-
-    typedef _Scalar Scalar;
-    typedef _StorageIndex StorageIndex;
-
-  protected:
-
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-  public:
-
-    CompressedStorage()
-      : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
-    {}
-
-    explicit CompressedStorage(Index size)
-      : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
-    {
-      resize(size);
-    }
-
-    CompressedStorage(const CompressedStorage& other)
-      : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
-    {
-      *this = other;
-    }
-
-    CompressedStorage& operator=(const CompressedStorage& other)
-    {
-      resize(other.size());
-      if(other.size()>0)
-      {
-        internal::smart_copy(other.m_values,  other.m_values  + m_size, m_values);
-        internal::smart_copy(other.m_indices, other.m_indices + m_size, m_indices);
-      }
-      return *this;
-    }
-
-    void swap(CompressedStorage& other)
-    {
-      std::swap(m_values, other.m_values);
-      std::swap(m_indices, other.m_indices);
-      std::swap(m_size, other.m_size);
-      std::swap(m_allocatedSize, other.m_allocatedSize);
-    }
-
-    ~CompressedStorage()
-    {
-      delete[] m_values;
-      delete[] m_indices;
-    }
-
-    void reserve(Index size)
-    {
-      Index newAllocatedSize = m_size + size;
-      if (newAllocatedSize > m_allocatedSize)
-        reallocate(newAllocatedSize);
-    }
-
-    void squeeze()
-    {
-      if (m_allocatedSize>m_size)
-        reallocate(m_size);
-    }
-
-    void resize(Index size, double reserveSizeFactor = 0)
-    {
-      if (m_allocatedSize<size)
-      {
-        Index realloc_size = (std::min<Index>)(NumTraits<StorageIndex>::highest(),  size + Index(reserveSizeFactor*double(size)));
-        if(realloc_size<size)
-          internal::throw_std_bad_alloc();
-        reallocate(realloc_size);
-      }
-      m_size = size;
-    }
-
-    void append(const Scalar& v, Index i)
-    {
-      Index id = m_size;
-      resize(m_size+1, 1);
-      m_values[id] = v;
-      m_indices[id] = internal::convert_index<StorageIndex>(i);
-    }
-
-    inline Index size() const { return m_size; }
-    inline Index allocatedSize() const { return m_allocatedSize; }
-    inline void clear() { m_size = 0; }
-
-    const Scalar* valuePtr() const { return m_values; }
-    Scalar* valuePtr() { return m_values; }
-    const StorageIndex* indexPtr() const { return m_indices; }
-    StorageIndex* indexPtr() { return m_indices; }
-
-    inline Scalar& value(Index i) { eigen_internal_assert(m_values!=0); return m_values[i]; }
-    inline const Scalar& value(Index i) const { eigen_internal_assert(m_values!=0); return m_values[i]; }
-
-    inline StorageIndex& index(Index i) { eigen_internal_assert(m_indices!=0); return m_indices[i]; }
-    inline const StorageIndex& index(Index i) const { eigen_internal_assert(m_indices!=0); return m_indices[i]; }
-
-    /** \returns the largest \c k such that for all \c j in [0,k) index[\c j]\<\a key */
-    inline Index searchLowerIndex(Index key) const
-    {
-      return searchLowerIndex(0, m_size, key);
-    }
-
-    /** \returns the largest \c k in [start,end) such that for all \c j in [start,k) index[\c j]\<\a key */
-    inline Index searchLowerIndex(Index start, Index end, Index key) const
-    {
-      while(end>start)
-      {
-        Index mid = (end+start)>>1;
-        if (m_indices[mid]<key)
-          start = mid+1;
-        else
-          end = mid;
-      }
-      return start;
-    }
-
-    /** \returns the stored value at index \a key
-      * If the value does not exist, then the value \a defaultValue is returned without any insertion. */
-    inline Scalar at(Index key, const Scalar& defaultValue = Scalar(0)) const
-    {
-      if (m_size==0)
-        return defaultValue;
-      else if (key==m_indices[m_size-1])
-        return m_values[m_size-1];
-      // ^^  optimization: let's first check if it is the last coefficient
-      // (very common in high level algorithms)
-      const Index id = searchLowerIndex(0,m_size-1,key);
-      return ((id<m_size) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
-    }
-
-    /** Like at(), but the search is performed in the range [start,end) */
-    inline Scalar atInRange(Index start, Index end, Index key, const Scalar &defaultValue = Scalar(0)) const
-    {
-      if (start>=end)
-        return defaultValue;
-      else if (end>start && key==m_indices[end-1])
-        return m_values[end-1];
-      // ^^  optimization: let's first check if it is the last coefficient
-      // (very common in high level algorithms)
-      const Index id = searchLowerIndex(start,end-1,key);
-      return ((id<end) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
-    }
-
-    /** \returns a reference to the value at index \a key
-      * If the value does not exist, then the value \a defaultValue is inserted
-      * such that the keys are sorted. */
-    inline Scalar& atWithInsertion(Index key, const Scalar& defaultValue = Scalar(0))
-    {
-      Index id = searchLowerIndex(0,m_size,key);
-      if (id>=m_size || m_indices[id]!=key)
-      {
-        if (m_allocatedSize<m_size+1)
-        {
-          m_allocatedSize = 2*(m_size+1);
-          internal::scoped_array<Scalar> newValues(m_allocatedSize);
-          internal::scoped_array<StorageIndex> newIndices(m_allocatedSize);
-
-          // copy first chunk
-          internal::smart_copy(m_values,  m_values +id, newValues.ptr());
-          internal::smart_copy(m_indices, m_indices+id, newIndices.ptr());
-
-          // copy the rest
-          if(m_size>id)
-          {
-            internal::smart_copy(m_values +id,  m_values +m_size, newValues.ptr() +id+1);
-            internal::smart_copy(m_indices+id,  m_indices+m_size, newIndices.ptr()+id+1);
-          }
-          std::swap(m_values,newValues.ptr());
-          std::swap(m_indices,newIndices.ptr());
-        }
-        else if(m_size>id)
-        {
-          internal::smart_memmove(m_values +id, m_values +m_size, m_values +id+1);
-          internal::smart_memmove(m_indices+id, m_indices+m_size, m_indices+id+1);
-        }
-        m_size++;
-        m_indices[id] = internal::convert_index<StorageIndex>(key);
-        m_values[id] = defaultValue;
-      }
-      return m_values[id];
-    }
-
-    void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
-    {
-      Index k = 0;
-      Index n = size();
-      for (Index i=0; i<n; ++i)
-      {
-        if (!internal::isMuchSmallerThan(value(i), reference, epsilon))
-        {
-          value(k) = value(i);
-          index(k) = index(i);
-          ++k;
-        }
-      }
-      resize(k,0);
-    }
-
-  protected:
-
-    inline void reallocate(Index size)
-    {
-      #ifdef EIGEN_SPARSE_COMPRESSED_STORAGE_REALLOCATE_PLUGIN
-        EIGEN_SPARSE_COMPRESSED_STORAGE_REALLOCATE_PLUGIN
-      #endif
-      eigen_internal_assert(size!=m_allocatedSize);
-      internal::scoped_array<Scalar> newValues(size);
-      internal::scoped_array<StorageIndex> newIndices(size);
-      Index copySize = (std::min)(size, m_size);
-      if (copySize>0) {
-        internal::smart_copy(m_values, m_values+copySize, newValues.ptr());
-        internal::smart_copy(m_indices, m_indices+copySize, newIndices.ptr());
-      }
-      std::swap(m_values,newValues.ptr());
-      std::swap(m_indices,newIndices.ptr());
-      m_allocatedSize = size;
-    }
-
-  protected:
-    Scalar* m_values;
-    StorageIndex* m_indices;
-    Index m_size;
-    Index m_allocatedSize;
-
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPRESSED_STORAGE_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h b/phonelibs/eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
deleted file mode 100644
index 492eb0a29ca02b..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
+++ /dev/null
@@ -1,345 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CONSERVATIVESPARSESPARSEPRODUCT_H
-#define EIGEN_CONSERVATIVESPARSESPARSEPRODUCT_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Lhs, typename Rhs, typename ResultType>
-static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res, bool sortedInsertion = false)
-{
-  typedef typename remove_all<Lhs>::type::Scalar Scalar;
-
-  // make sure to call innerSize/outerSize since we fake the storage order.
-  Index rows = lhs.innerSize();
-  Index cols = rhs.outerSize();
-  eigen_assert(lhs.outerSize() == rhs.innerSize());
-  
-  ei_declare_aligned_stack_constructed_variable(bool,   mask,     rows, 0);
-  ei_declare_aligned_stack_constructed_variable(Scalar, values,   rows, 0);
-  ei_declare_aligned_stack_constructed_variable(Index,  indices,  rows, 0);
-  
-  std::memset(mask,0,sizeof(bool)*rows);
-
-  evaluator<Lhs> lhsEval(lhs);
-  evaluator<Rhs> rhsEval(rhs);
-  
-  // estimate the number of non zero entries
-  // given a rhs column containing Y non zeros, we assume that the respective Y columns
-  // of the lhs differs in average of one non zeros, thus the number of non zeros for
-  // the product of a rhs column with the lhs is X+Y where X is the average number of non zero
-  // per column of the lhs.
-  // Therefore, we have nnz(lhs*rhs) = nnz(lhs) + nnz(rhs)
-  Index estimated_nnz_prod = lhsEval.nonZerosEstimate() + rhsEval.nonZerosEstimate();
-
-  res.setZero();
-  res.reserve(Index(estimated_nnz_prod));
-  // we compute each column of the result, one after the other
-  for (Index j=0; j<cols; ++j)
-  {
-
-    res.startVec(j);
-    Index nnz = 0;
-    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
-    {
-      Scalar y = rhsIt.value();
-      Index k = rhsIt.index();
-      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, k); lhsIt; ++lhsIt)
-      {
-        Index i = lhsIt.index();
-        Scalar x = lhsIt.value();
-        if(!mask[i])
-        {
-          mask[i] = true;
-          values[i] = x * y;
-          indices[nnz] = i;
-          ++nnz;
-        }
-        else
-          values[i] += x * y;
-      }
-    }
-    if(!sortedInsertion)
-    {
-      // unordered insertion
-      for(Index k=0; k<nnz; ++k)
-      {
-        Index i = indices[k];
-        res.insertBackByOuterInnerUnordered(j,i) = values[i];
-        mask[i] = false;
-      }
-    }
-    else
-    {
-      // alternative ordered insertion code:
-      const Index t200 = rows/11; // 11 == (log2(200)*1.39)
-      const Index t = (rows*100)/139;
-
-      // FIXME reserve nnz non zeros
-      // FIXME implement faster sorting algorithms for very small nnz
-      // if the result is sparse enough => use a quick sort
-      // otherwise => loop through the entire vector
-      // In order to avoid to perform an expensive log2 when the
-      // result is clearly very sparse we use a linear bound up to 200.
-      if((nnz<200 && nnz<t200) || nnz * numext::log2(int(nnz)) < t)
-      {
-        if(nnz>1) std::sort(indices,indices+nnz);
-        for(Index k=0; k<nnz; ++k)
-        {
-          Index i = indices[k];
-          res.insertBackByOuterInner(j,i) = values[i];
-          mask[i] = false;
-        }
-      }
-      else
-      {
-        // dense path
-        for(Index i=0; i<rows; ++i)
-        {
-          if(mask[i])
-          {
-            mask[i] = false;
-            res.insertBackByOuterInner(j,i) = values[i];
-          }
-        }
-      }
-    }
-  }
-  res.finalize();
-}
-
-
-} // end namespace internal
-
-namespace internal {
-
-template<typename Lhs, typename Rhs, typename ResultType,
-  int LhsStorageOrder = (traits<Lhs>::Flags&RowMajorBit) ? RowMajor : ColMajor,
-  int RhsStorageOrder = (traits<Rhs>::Flags&RowMajorBit) ? RowMajor : ColMajor,
-  int ResStorageOrder = (traits<ResultType>::Flags&RowMajorBit) ? RowMajor : ColMajor>
-struct conservative_sparse_sparse_product_selector;
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,ColMajor>
-{
-  typedef typename remove_all<Lhs>::type LhsCleaned;
-  typedef typename LhsCleaned::Scalar Scalar;
-
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrixAux;
-    typedef typename sparse_eval<ColMajorMatrixAux,ResultType::RowsAtCompileTime,ResultType::ColsAtCompileTime,ColMajorMatrixAux::Flags>::type ColMajorMatrix;
-    
-    // If the result is tall and thin (in the extreme case a column vector)
-    // then it is faster to sort the coefficients inplace instead of transposing twice.
-    // FIXME, the following heuristic is probably not very good.
-    if(lhs.rows()>rhs.cols())
-    {
-      ColMajorMatrix resCol(lhs.rows(),rhs.cols());
-      // perform sorted insertion
-      internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol, true);
-      res = resCol.markAsRValue();
-    }
-    else
-    {
-      ColMajorMatrixAux resCol(lhs.rows(),rhs.cols());
-      // ressort to transpose to sort the entries
-      internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrixAux>(lhs, rhs, resCol, false);
-      RowMajorMatrix resRow(resCol);
-      res = resRow.markAsRValue();
-    }
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,ColMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-     typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
-     RowMajorMatrix rhsRow = rhs;
-     RowMajorMatrix resRow(lhs.rows(), rhs.cols());
-     internal::conservative_sparse_sparse_product_impl<RowMajorMatrix,Lhs,RowMajorMatrix>(rhsRow, lhs, resRow);
-     res = resRow;
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor,ColMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
-    RowMajorMatrix lhsRow = lhs;
-    RowMajorMatrix resRow(lhs.rows(), rhs.cols());
-    internal::conservative_sparse_sparse_product_impl<Rhs,RowMajorMatrix,RowMajorMatrix>(rhs, lhsRow, resRow);
-    res = resRow;
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,ColMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
-    RowMajorMatrix resRow(lhs.rows(), rhs.cols());
-    internal::conservative_sparse_sparse_product_impl<Rhs,Lhs,RowMajorMatrix>(rhs, lhs, resRow);
-    res = resRow;
-  }
-};
-
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,RowMajor>
-{
-  typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
-
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
-    ColMajorMatrix resCol(lhs.rows(), rhs.cols());
-    internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol);
-    res = resCol;
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,RowMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
-    ColMajorMatrix lhsCol = lhs;
-    ColMajorMatrix resCol(lhs.rows(), rhs.cols());
-    internal::conservative_sparse_sparse_product_impl<ColMajorMatrix,Rhs,ColMajorMatrix>(lhsCol, rhs, resCol);
-    res = resCol;
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor,RowMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
-    ColMajorMatrix rhsCol = rhs;
-    ColMajorMatrix resCol(lhs.rows(), rhs.cols());
-    internal::conservative_sparse_sparse_product_impl<Lhs,ColMajorMatrix,ColMajorMatrix>(lhs, rhsCol, resCol);
-    res = resCol;
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,RowMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
-    RowMajorMatrix resRow(lhs.rows(),rhs.cols());
-    internal::conservative_sparse_sparse_product_impl<Rhs,Lhs,RowMajorMatrix>(rhs, lhs, resRow);
-    // sort the non zeros:
-    ColMajorMatrix resCol(resRow);
-    res = resCol;
-  }
-};
-
-} // end namespace internal
-
-
-namespace internal {
-
-template<typename Lhs, typename Rhs, typename ResultType>
-static void sparse_sparse_to_dense_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-{
-  typedef typename remove_all<Lhs>::type::Scalar Scalar;
-  Index cols = rhs.outerSize();
-  eigen_assert(lhs.outerSize() == rhs.innerSize());
-
-  evaluator<Lhs> lhsEval(lhs);
-  evaluator<Rhs> rhsEval(rhs);
-
-  for (Index j=0; j<cols; ++j)
-  {
-    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
-    {
-      Scalar y = rhsIt.value();
-      Index k = rhsIt.index();
-      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, k); lhsIt; ++lhsIt)
-      {
-        Index i = lhsIt.index();
-        Scalar x = lhsIt.value();
-        res.coeffRef(i,j) += x * y;
-      }
-    }
-  }
-}
-
-
-} // end namespace internal
-
-namespace internal {
-
-template<typename Lhs, typename Rhs, typename ResultType,
-  int LhsStorageOrder = (traits<Lhs>::Flags&RowMajorBit) ? RowMajor : ColMajor,
-  int RhsStorageOrder = (traits<Rhs>::Flags&RowMajorBit) ? RowMajor : ColMajor>
-struct sparse_sparse_to_dense_product_selector;
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    internal::sparse_sparse_to_dense_product_impl<Lhs,Rhs,ResultType>(lhs, rhs, res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
-    ColMajorMatrix lhsCol(lhs);
-    internal::sparse_sparse_to_dense_product_impl<ColMajorMatrix,Rhs,ResultType>(lhsCol, rhs, res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
-    ColMajorMatrix rhsCol(rhs);
-    internal::sparse_sparse_to_dense_product_impl<Lhs,ColMajorMatrix,ResultType>(lhs, rhsCol, res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor>
-{
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
-  {
-    Transpose<ResultType> trRes(res);
-    internal::sparse_sparse_to_dense_product_impl<Rhs,Lhs,Transpose<ResultType> >(rhs, lhs, trRes);
-  }
-};
-
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CONSERVATIVESPARSESPARSEPRODUCT_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/MappedSparseMatrix.h b/phonelibs/eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
deleted file mode 100644
index 67718c85be99e9..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
+++ /dev/null
@@ -1,67 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MAPPED_SPARSEMATRIX_H
-#define EIGEN_MAPPED_SPARSEMATRIX_H
-
-namespace Eigen {
-
-/** \deprecated Use Map<SparseMatrix<> >
-  * \class MappedSparseMatrix
-  *
-  * \brief Sparse matrix
-  *
-  * \param _Scalar the scalar type, i.e. the type of the coefficients
-  *
-  * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
-  *
-  */
-namespace internal {
-template<typename _Scalar, int _Flags, typename _StorageIndex>
-struct traits<MappedSparseMatrix<_Scalar, _Flags, _StorageIndex> > : traits<SparseMatrix<_Scalar, _Flags, _StorageIndex> >
-{};
-} // end namespace internal
-
-template<typename _Scalar, int _Flags, typename _StorageIndex>
-class MappedSparseMatrix
-  : public Map<SparseMatrix<_Scalar, _Flags, _StorageIndex> >
-{
-    typedef Map<SparseMatrix<_Scalar, _Flags, _StorageIndex> > Base;
-
-  public:
-    
-    typedef typename Base::StorageIndex StorageIndex;
-    typedef typename Base::Scalar Scalar;
-
-    inline MappedSparseMatrix(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr, StorageIndex* innerIndexPtr, Scalar* valuePtr, StorageIndex* innerNonZeroPtr = 0)
-      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZeroPtr)
-    {}
-
-    /** Empty destructor */
-    inline ~MappedSparseMatrix() {}
-};
-
-namespace internal {
-
-template<typename _Scalar, int _Options, typename _StorageIndex>
-struct evaluator<MappedSparseMatrix<_Scalar,_Options,_StorageIndex> >
-  : evaluator<SparseCompressedBase<MappedSparseMatrix<_Scalar,_Options,_StorageIndex> > >
-{
-  typedef MappedSparseMatrix<_Scalar,_Options,_StorageIndex> XprType;
-  typedef evaluator<SparseCompressedBase<XprType> > Base;
-  
-  evaluator() : Base() {}
-  explicit evaluator(const XprType &mat) : Base(mat) {}
-};
-
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MAPPED_SPARSEMATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseAssign.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseAssign.h
deleted file mode 100644
index 18352a847b254c..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseAssign.h
+++ /dev/null
@@ -1,216 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEASSIGN_H
-#define EIGEN_SPARSEASSIGN_H
-
-namespace Eigen { 
-
-template<typename Derived>    
-template<typename OtherDerived>
-Derived& SparseMatrixBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
-{
-  internal::call_assignment_no_alias(derived(), other.derived());
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-Derived& SparseMatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
-{
-  // TODO use the evaluator mechanism
-  other.evalTo(derived());
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-inline Derived& SparseMatrixBase<Derived>::operator=(const SparseMatrixBase<OtherDerived>& other)
-{
-  // by default sparse evaluation do not alias, so we can safely bypass the generic call_assignment routine
-  internal::Assignment<Derived,OtherDerived,internal::assign_op<Scalar,typename OtherDerived::Scalar> >
-          ::run(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-template<typename Derived>
-inline Derived& SparseMatrixBase<Derived>::operator=(const Derived& other)
-{
-  internal::call_assignment_no_alias(derived(), other.derived());
-  return derived();
-}
-
-namespace internal {
-
-template<>
-struct storage_kind_to_evaluator_kind<Sparse> {
-  typedef IteratorBased Kind;
-};
-
-template<>
-struct storage_kind_to_shape<Sparse> {
-  typedef SparseShape Shape;
-};
-
-struct Sparse2Sparse {};
-struct Sparse2Dense  {};
-
-template<> struct AssignmentKind<SparseShape, SparseShape>           { typedef Sparse2Sparse Kind; };
-template<> struct AssignmentKind<SparseShape, SparseTriangularShape> { typedef Sparse2Sparse Kind; };
-template<> struct AssignmentKind<DenseShape,  SparseShape>           { typedef Sparse2Dense  Kind; };
-template<> struct AssignmentKind<DenseShape,  SparseTriangularShape> { typedef Sparse2Dense  Kind; };
-
-
-template<typename DstXprType, typename SrcXprType>
-void assign_sparse_to_sparse(DstXprType &dst, const SrcXprType &src)
-{
-  typedef typename DstXprType::Scalar Scalar;
-  typedef internal::evaluator<DstXprType> DstEvaluatorType;
-  typedef internal::evaluator<SrcXprType> SrcEvaluatorType;
-
-  SrcEvaluatorType srcEvaluator(src);
-
-  const bool transpose = (DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit);
-  const Index outerEvaluationSize = (SrcEvaluatorType::Flags&RowMajorBit) ? src.rows() : src.cols();
-  if ((!transpose) && src.isRValue())
-  {
-    // eval without temporary
-    dst.resize(src.rows(), src.cols());
-    dst.setZero();
-    dst.reserve((std::max)(src.rows(),src.cols())*2);
-    for (Index j=0; j<outerEvaluationSize; ++j)
-    {
-      dst.startVec(j);
-      for (typename SrcEvaluatorType::InnerIterator it(srcEvaluator, j); it; ++it)
-      {
-        Scalar v = it.value();
-        dst.insertBackByOuterInner(j,it.index()) = v;
-      }
-    }
-    dst.finalize();
-  }
-  else
-  {
-    // eval through a temporary
-    eigen_assert(( ((internal::traits<DstXprType>::SupportedAccessPatterns & OuterRandomAccessPattern)==OuterRandomAccessPattern) ||
-              (!((DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit)))) &&
-              "the transpose operation is supposed to be handled in SparseMatrix::operator=");
-
-    enum { Flip = (DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit) };
-
-    
-    DstXprType temp(src.rows(), src.cols());
-
-    temp.reserve((std::max)(src.rows(),src.cols())*2);
-    for (Index j=0; j<outerEvaluationSize; ++j)
-    {
-      temp.startVec(j);
-      for (typename SrcEvaluatorType::InnerIterator it(srcEvaluator, j); it; ++it)
-      {
-        Scalar v = it.value();
-        temp.insertBackByOuterInner(Flip?it.index():j,Flip?j:it.index()) = v;
-      }
-    }
-    temp.finalize();
-
-    dst = temp.markAsRValue();
-  }
-}
-
-// Generic Sparse to Sparse assignment
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Sparse>
-{
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  {
-    assign_sparse_to_sparse(dst.derived(), src.derived());
-  }
-};
-
-// Generic Sparse to Dense assignment
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Dense>
-{
-  static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
-  {
-    if(internal::is_same<Functor,internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> >::value)
-      dst.setZero();
-    
-    internal::evaluator<SrcXprType> srcEval(src);
-    resize_if_allowed(dst, src, func);
-    internal::evaluator<DstXprType> dstEval(dst);
-    
-    const Index outerEvaluationSize = (internal::evaluator<SrcXprType>::Flags&RowMajorBit) ? src.rows() : src.cols();
-    for (Index j=0; j<outerEvaluationSize; ++j)
-      for (typename internal::evaluator<SrcXprType>::InnerIterator i(srcEval,j); i; ++i)
-        func.assignCoeff(dstEval.coeffRef(i.row(),i.col()), i.value());
-  }
-};
-
-// Specialization for "dst = dec.solve(rhs)"
-// NOTE we need to specialize it for Sparse2Sparse to avoid ambiguous specialization error
-template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
-struct Assignment<DstXprType, Solve<DecType,RhsType>, internal::assign_op<Scalar,Scalar>, Sparse2Sparse>
-{
-  typedef Solve<DecType,RhsType> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    src.dec()._solve_impl(src.rhs(), dst);
-  }
-};
-
-struct Diagonal2Sparse {};
-
-template<> struct AssignmentKind<SparseShape,DiagonalShape> { typedef Diagonal2Sparse Kind; };
-
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, Diagonal2Sparse>
-{
-  typedef typename DstXprType::StorageIndex StorageIndex;
-  typedef typename DstXprType::Scalar Scalar;
-  typedef Array<StorageIndex,Dynamic,1> ArrayXI;
-  typedef Array<Scalar,Dynamic,1> ArrayXS;
-  template<int Options>
-  static void run(SparseMatrix<Scalar,Options,StorageIndex> &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-
-    Index size = src.diagonal().size();
-    dst.makeCompressed();
-    dst.resizeNonZeros(size);
-    Map<ArrayXI>(dst.innerIndexPtr(), size).setLinSpaced(0,StorageIndex(size)-1);
-    Map<ArrayXI>(dst.outerIndexPtr(), size+1).setLinSpaced(0,StorageIndex(size));
-    Map<ArrayXS>(dst.valuePtr(), size) = src.diagonal();
-  }
-  
-  template<typename DstDerived>
-  static void run(SparseMatrixBase<DstDerived> &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  {
-    dst.diagonal() = src.diagonal();
-  }
-  
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  { dst.diagonal() += src.diagonal(); }
-  
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  { dst.diagonal() -= src.diagonal(); }
-};
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEASSIGN_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseBlock.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseBlock.h
deleted file mode 100644
index 511e92b2f9b434..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseBlock.h
+++ /dev/null
@@ -1,603 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_BLOCK_H
-#define EIGEN_SPARSE_BLOCK_H
-
-namespace Eigen {
-
-// Subset of columns or rows
-template<typename XprType, int BlockRows, int BlockCols>
-class BlockImpl<XprType,BlockRows,BlockCols,true,Sparse>
-  : public SparseMatrixBase<Block<XprType,BlockRows,BlockCols,true> >
-{
-    typedef typename internal::remove_all<typename XprType::Nested>::type _MatrixTypeNested;
-    typedef Block<XprType, BlockRows, BlockCols, true> BlockType;
-public:
-    enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
-protected:
-    enum { OuterSize = IsRowMajor ? BlockRows : BlockCols };
-    typedef SparseMatrixBase<BlockType> Base;
-    using Base::convert_index;
-public:
-    EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
-
-    inline BlockImpl(XprType& xpr, Index i)
-      : m_matrix(xpr), m_outerStart(convert_index(i)), m_outerSize(OuterSize)
-    {}
-
-    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
-      : m_matrix(xpr), m_outerStart(convert_index(IsRowMajor ? startRow : startCol)), m_outerSize(convert_index(IsRowMajor ? blockRows : blockCols))
-    {}
-
-    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
-
-    Index nonZeros() const
-    {
-      typedef internal::evaluator<XprType> EvaluatorType;
-      EvaluatorType matEval(m_matrix);
-      Index nnz = 0;
-      Index end = m_outerStart + m_outerSize.value();
-      for(Index j=m_outerStart; j<end; ++j)
-        for(typename EvaluatorType::InnerIterator it(matEval, j); it; ++it)
-          ++nnz;
-      return nnz;
-    }
-
-    inline const Scalar coeff(Index row, Index col) const
-    {
-      return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
-    }
-
-    inline const Scalar coeff(Index index) const
-    {
-      return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
-    }
-
-    inline const XprType& nestedExpression() const { return m_matrix; }
-    inline XprType& nestedExpression() { return m_matrix; }
-    Index startRow() const { return IsRowMajor ? m_outerStart : 0; }
-    Index startCol() const { return IsRowMajor ? 0 : m_outerStart; }
-    Index blockRows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    Index blockCols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
-
-  protected:
-
-    typename internal::ref_selector<XprType>::non_const_type m_matrix;
-    Index m_outerStart;
-    const internal::variable_if_dynamic<Index, OuterSize> m_outerSize;
-
-  protected:
-    // Disable assignment with clear error message.
-    // Note that simply removing operator= yields compilation errors with ICC+MSVC
-    template<typename T>
-    BlockImpl& operator=(const T&)
-    {
-      EIGEN_STATIC_ASSERT(sizeof(T)==0, THIS_SPARSE_BLOCK_SUBEXPRESSION_IS_READ_ONLY);
-      return *this;
-    }
-};
-
-
-/***************************************************************************
-* specialization for SparseMatrix
-***************************************************************************/
-
-namespace internal {
-
-template<typename SparseMatrixType, int BlockRows, int BlockCols>
-class sparse_matrix_block_impl
-  : public SparseCompressedBase<Block<SparseMatrixType,BlockRows,BlockCols,true> >
-{
-    typedef typename internal::remove_all<typename SparseMatrixType::Nested>::type _MatrixTypeNested;
-    typedef Block<SparseMatrixType, BlockRows, BlockCols, true> BlockType;
-    typedef SparseCompressedBase<Block<SparseMatrixType,BlockRows,BlockCols,true> > Base;
-    using Base::convert_index;
-public:
-    enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
-    EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
-protected:
-    typedef typename Base::IndexVector IndexVector;
-    enum { OuterSize = IsRowMajor ? BlockRows : BlockCols };
-public:
-
-    inline sparse_matrix_block_impl(SparseMatrixType& xpr, Index i)
-      : m_matrix(xpr), m_outerStart(convert_index(i)), m_outerSize(OuterSize)
-    {}
-
-    inline sparse_matrix_block_impl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
-      : m_matrix(xpr), m_outerStart(convert_index(IsRowMajor ? startRow : startCol)), m_outerSize(convert_index(IsRowMajor ? blockRows : blockCols))
-    {}
-
-    template<typename OtherDerived>
-    inline BlockType& operator=(const SparseMatrixBase<OtherDerived>& other)
-    {
-      typedef typename internal::remove_all<typename SparseMatrixType::Nested>::type _NestedMatrixType;
-      _NestedMatrixType& matrix = m_matrix;
-      // This assignment is slow if this vector set is not empty
-      // and/or it is not at the end of the nonzeros of the underlying matrix.
-
-      // 1 - eval to a temporary to avoid transposition and/or aliasing issues
-      Ref<const SparseMatrix<Scalar, IsRowMajor ? RowMajor : ColMajor, StorageIndex> > tmp(other.derived());
-      eigen_internal_assert(tmp.outerSize()==m_outerSize.value());
-
-      // 2 - let's check whether there is enough allocated memory
-      Index nnz           = tmp.nonZeros();
-      Index start         = m_outerStart==0 ? 0 : m_matrix.outerIndexPtr()[m_outerStart]; // starting position of the current block
-      Index end           = m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()]; // ending position of the current block
-      Index block_size    = end - start;                                                // available room in the current block
-      Index tail_size     = m_matrix.outerIndexPtr()[m_matrix.outerSize()] - end;
-
-      Index free_size     = m_matrix.isCompressed()
-                          ? Index(matrix.data().allocatedSize()) + block_size
-                          : block_size;
-
-      Index tmp_start = tmp.outerIndexPtr()[0];
-
-      bool update_trailing_pointers = false;
-      if(nnz>free_size)
-      {
-        // realloc manually to reduce copies
-        typename SparseMatrixType::Storage newdata(m_matrix.data().allocatedSize() - block_size + nnz);
-
-        internal::smart_copy(m_matrix.valuePtr(),       m_matrix.valuePtr() + start,      newdata.valuePtr());
-        internal::smart_copy(m_matrix.innerIndexPtr(),  m_matrix.innerIndexPtr() + start, newdata.indexPtr());
-
-        internal::smart_copy(tmp.valuePtr() + tmp_start,      tmp.valuePtr() + tmp_start + nnz,       newdata.valuePtr() + start);
-        internal::smart_copy(tmp.innerIndexPtr() + tmp_start, tmp.innerIndexPtr() + tmp_start + nnz,  newdata.indexPtr() + start);
-
-        internal::smart_copy(matrix.valuePtr()+end,       matrix.valuePtr()+end + tail_size,      newdata.valuePtr()+start+nnz);
-        internal::smart_copy(matrix.innerIndexPtr()+end,  matrix.innerIndexPtr()+end + tail_size, newdata.indexPtr()+start+nnz);
-
-        newdata.resize(m_matrix.outerIndexPtr()[m_matrix.outerSize()] - block_size + nnz);
-
-        matrix.data().swap(newdata);
-
-        update_trailing_pointers = true;
-      }
-      else
-      {
-        if(m_matrix.isCompressed())
-        {
-          // no need to realloc, simply copy the tail at its respective position and insert tmp
-          matrix.data().resize(start + nnz + tail_size);
-
-          internal::smart_memmove(matrix.valuePtr()+end,      matrix.valuePtr() + end+tail_size,      matrix.valuePtr() + start+nnz);
-          internal::smart_memmove(matrix.innerIndexPtr()+end, matrix.innerIndexPtr() + end+tail_size, matrix.innerIndexPtr() + start+nnz);
-
-          update_trailing_pointers = true;
-        }
-
-        internal::smart_copy(tmp.valuePtr() + tmp_start,      tmp.valuePtr() + tmp_start + nnz,       matrix.valuePtr() + start);
-        internal::smart_copy(tmp.innerIndexPtr() + tmp_start, tmp.innerIndexPtr() + tmp_start + nnz,  matrix.innerIndexPtr() + start);
-      }
-
-      // update outer index pointers and innerNonZeros
-      if(IsVectorAtCompileTime)
-      {
-        if(!m_matrix.isCompressed())
-          matrix.innerNonZeroPtr()[m_outerStart] = StorageIndex(nnz);
-        matrix.outerIndexPtr()[m_outerStart] = StorageIndex(start);
-      }
-      else
-      {
-        StorageIndex p = StorageIndex(start);
-        for(Index k=0; k<m_outerSize.value(); ++k)
-        {
-          StorageIndex nnz_k = internal::convert_index<StorageIndex>(tmp.innerVector(k).nonZeros());
-          if(!m_matrix.isCompressed())
-            matrix.innerNonZeroPtr()[m_outerStart+k] = nnz_k;
-          matrix.outerIndexPtr()[m_outerStart+k] = p;
-          p += nnz_k;
-        }
-      }
-
-      if(update_trailing_pointers)
-      {
-        StorageIndex offset = internal::convert_index<StorageIndex>(nnz - block_size);
-        for(Index k = m_outerStart + m_outerSize.value(); k<=matrix.outerSize(); ++k)
-        {
-          matrix.outerIndexPtr()[k] += offset;
-        }
-      }
-
-      return derived();
-    }
-
-    inline BlockType& operator=(const BlockType& other)
-    {
-      return operator=<BlockType>(other);
-    }
-
-    inline const Scalar* valuePtr() const
-    { return m_matrix.valuePtr(); }
-    inline Scalar* valuePtr()
-    { return m_matrix.valuePtr(); }
-
-    inline const StorageIndex* innerIndexPtr() const
-    { return m_matrix.innerIndexPtr(); }
-    inline StorageIndex* innerIndexPtr()
-    { return m_matrix.innerIndexPtr(); }
-
-    inline const StorageIndex* outerIndexPtr() const
-    { return m_matrix.outerIndexPtr() + m_outerStart; }
-    inline StorageIndex* outerIndexPtr()
-    { return m_matrix.outerIndexPtr() + m_outerStart; }
-
-    inline const StorageIndex* innerNonZeroPtr() const
-    { return isCompressed() ? 0 : (m_matrix.innerNonZeroPtr()+m_outerStart); }
-    inline StorageIndex* innerNonZeroPtr()
-    { return isCompressed() ? 0 : (m_matrix.innerNonZeroPtr()+m_outerStart); }
-
-    bool isCompressed() const { return m_matrix.innerNonZeroPtr()==0; }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_matrix.coeffRef(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
-    }
-
-    inline const Scalar coeff(Index row, Index col) const
-    {
-      return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
-    }
-
-    inline const Scalar coeff(Index index) const
-    {
-      return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
-    }
-
-    const Scalar& lastCoeff() const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(sparse_matrix_block_impl);
-      eigen_assert(Base::nonZeros()>0);
-      if(m_matrix.isCompressed())
-        return m_matrix.valuePtr()[m_matrix.outerIndexPtr()[m_outerStart+1]-1];
-      else
-        return m_matrix.valuePtr()[m_matrix.outerIndexPtr()[m_outerStart]+m_matrix.innerNonZeroPtr()[m_outerStart]-1];
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
-
-    inline const SparseMatrixType& nestedExpression() const { return m_matrix; }
-    inline SparseMatrixType& nestedExpression() { return m_matrix; }
-    Index startRow() const { return IsRowMajor ? m_outerStart : 0; }
-    Index startCol() const { return IsRowMajor ? 0 : m_outerStart; }
-    Index blockRows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    Index blockCols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
-
-  protected:
-
-    typename internal::ref_selector<SparseMatrixType>::non_const_type m_matrix;
-    Index m_outerStart;
-    const internal::variable_if_dynamic<Index, OuterSize> m_outerSize;
-
-};
-
-} // namespace internal
-
-template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
-class BlockImpl<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true,Sparse>
-  : public internal::sparse_matrix_block_impl<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols>
-{
-public:
-  typedef _StorageIndex StorageIndex;
-  typedef SparseMatrix<_Scalar, _Options, _StorageIndex> SparseMatrixType;
-  typedef internal::sparse_matrix_block_impl<SparseMatrixType,BlockRows,BlockCols> Base;
-  inline BlockImpl(SparseMatrixType& xpr, Index i)
-    : Base(xpr, i)
-  {}
-
-  inline BlockImpl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
-    : Base(xpr, startRow, startCol, blockRows, blockCols)
-  {}
-
-  using Base::operator=;
-};
-
-template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
-class BlockImpl<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true,Sparse>
-  : public internal::sparse_matrix_block_impl<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols>
-{
-public:
-  typedef _StorageIndex StorageIndex;
-  typedef const SparseMatrix<_Scalar, _Options, _StorageIndex> SparseMatrixType;
-  typedef internal::sparse_matrix_block_impl<SparseMatrixType,BlockRows,BlockCols> Base;
-  inline BlockImpl(SparseMatrixType& xpr, Index i)
-    : Base(xpr, i)
-  {}
-
-  inline BlockImpl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
-    : Base(xpr, startRow, startCol, blockRows, blockCols)
-  {}
-
-  using Base::operator=;
-private:
-  template<typename Derived> BlockImpl(const SparseMatrixBase<Derived>& xpr, Index i);
-  template<typename Derived> BlockImpl(const SparseMatrixBase<Derived>& xpr);
-};
-
-//----------
-
-/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
-  * is col-major (resp. row-major).
-  */
-template<typename Derived>
-typename SparseMatrixBase<Derived>::InnerVectorReturnType SparseMatrixBase<Derived>::innerVector(Index outer)
-{ return InnerVectorReturnType(derived(), outer); }
-
-/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
-  * is col-major (resp. row-major). Read-only.
-  */
-template<typename Derived>
-const typename SparseMatrixBase<Derived>::ConstInnerVectorReturnType SparseMatrixBase<Derived>::innerVector(Index outer) const
-{ return ConstInnerVectorReturnType(derived(), outer); }
-
-/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
-  * is col-major (resp. row-major).
-  */
-template<typename Derived>
-typename SparseMatrixBase<Derived>::InnerVectorsReturnType
-SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize)
-{
-  return Block<Derived,Dynamic,Dynamic,true>(derived(),
-                                             IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
-                                             IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : outerSize);
-
-}
-
-/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
-  * is col-major (resp. row-major). Read-only.
-  */
-template<typename Derived>
-const typename SparseMatrixBase<Derived>::ConstInnerVectorsReturnType
-SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize) const
-{
-  return Block<const Derived,Dynamic,Dynamic,true>(derived(),
-                                                  IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
-                                                  IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : outerSize);
-
-}
-
-/** Generic implementation of sparse Block expression.
-  * Real-only.
-  */
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
-class BlockImpl<XprType,BlockRows,BlockCols,InnerPanel,Sparse>
-  : public SparseMatrixBase<Block<XprType,BlockRows,BlockCols,InnerPanel> >, internal::no_assignment_operator
-{
-    typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
-    typedef SparseMatrixBase<BlockType> Base;
-    using Base::convert_index;
-public:
-    enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
-    EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
-
-    typedef typename internal::remove_all<typename XprType::Nested>::type _MatrixTypeNested;
-
-    /** Column or Row constructor
-      */
-    inline BlockImpl(XprType& xpr, Index i)
-      : m_matrix(xpr),
-        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? convert_index(i) : 0),
-        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? convert_index(i) : 0),
-        m_blockRows(BlockRows==1 ? 1 : xpr.rows()),
-        m_blockCols(BlockCols==1 ? 1 : xpr.cols())
-    {}
-
-    /** Dynamic-size constructor
-      */
-    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
-      : m_matrix(xpr), m_startRow(convert_index(startRow)), m_startCol(convert_index(startCol)), m_blockRows(convert_index(blockRows)), m_blockCols(convert_index(blockCols))
-    {}
-
-    inline Index rows() const { return m_blockRows.value(); }
-    inline Index cols() const { return m_blockCols.value(); }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_matrix.coeffRef(row + m_startRow.value(), col + m_startCol.value());
-    }
-
-    inline const Scalar coeff(Index row, Index col) const
-    {
-      return m_matrix.coeff(row + m_startRow.value(), col + m_startCol.value());
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_matrix.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                               m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    inline const Scalar coeff(Index index) const
-    {
-      return m_matrix.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
-    }
-
-    inline const XprType& nestedExpression() const { return m_matrix; }
-    inline XprType& nestedExpression() { return m_matrix; }
-    Index startRow() const { return m_startRow.value(); }
-    Index startCol() const { return m_startCol.value(); }
-    Index blockRows() const { return m_blockRows.value(); }
-    Index blockCols() const { return m_blockCols.value(); }
-
-  protected:
-//     friend class internal::GenericSparseBlockInnerIteratorImpl<XprType,BlockRows,BlockCols,InnerPanel>;
-    friend struct internal::unary_evaluator<Block<XprType,BlockRows,BlockCols,InnerPanel>, internal::IteratorBased, Scalar >;
-
-    Index nonZeros() const { return Dynamic; }
-
-    typename internal::ref_selector<XprType>::non_const_type m_matrix;
-    const internal::variable_if_dynamic<Index, XprType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
-    const internal::variable_if_dynamic<Index, XprType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
-    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_blockRows;
-    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_blockCols;
-
-  protected:
-    // Disable assignment with clear error message.
-    // Note that simply removing operator= yields compilation errors with ICC+MSVC
-    template<typename T>
-    BlockImpl& operator=(const T&)
-    {
-      EIGEN_STATIC_ASSERT(sizeof(T)==0, THIS_SPARSE_BLOCK_SUBEXPRESSION_IS_READ_ONLY);
-      return *this;
-    }
-
-};
-
-namespace internal {
-
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
-struct unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased >
- : public evaluator_base<Block<ArgType,BlockRows,BlockCols,InnerPanel> >
-{
-    class InnerVectorInnerIterator;
-    class OuterVectorInnerIterator;
-  public:
-    typedef Block<ArgType,BlockRows,BlockCols,InnerPanel> XprType;
-    typedef typename XprType::StorageIndex StorageIndex;
-    typedef typename XprType::Scalar Scalar;
-
-    enum {
-      IsRowMajor = XprType::IsRowMajor,
-
-      OuterVector =  (BlockCols==1 && ArgType::IsRowMajor)
-                    | // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
-                      // revert to || as soon as not needed anymore.
-                     (BlockRows==1 && !ArgType::IsRowMajor),
-
-      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-      Flags = XprType::Flags
-    };
-
-    typedef typename internal::conditional<OuterVector,OuterVectorInnerIterator,InnerVectorInnerIterator>::type InnerIterator;
-
-    explicit unary_evaluator(const XprType& op)
-      : m_argImpl(op.nestedExpression()), m_block(op)
-    {}
-
-    inline Index nonZerosEstimate() const {
-      Index nnz = m_block.nonZeros();
-      if(nnz<0)
-        return m_argImpl.nonZerosEstimate() * m_block.size() / m_block.nestedExpression().size();
-      return nnz;
-    }
-
-  protected:
-    typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
-
-    evaluator<ArgType> m_argImpl;
-    const XprType &m_block;
-};
-
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
-class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased>::InnerVectorInnerIterator
- : public EvalIterator
-{
-  enum { IsRowMajor = unary_evaluator::IsRowMajor };
-  const XprType& m_block;
-  Index m_end;
-public:
-
-  EIGEN_STRONG_INLINE InnerVectorInnerIterator(const unary_evaluator& aEval, Index outer)
-    : EvalIterator(aEval.m_argImpl, outer + (IsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol())),
-      m_block(aEval.m_block),
-      m_end(IsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows())
-  {
-    while( (EvalIterator::operator bool()) && (EvalIterator::index() < (IsRowMajor ? m_block.startCol() : m_block.startRow())) )
-      EvalIterator::operator++();
-  }
-
-  inline StorageIndex index() const { return EvalIterator::index() - convert_index<StorageIndex>(IsRowMajor ? m_block.startCol() : m_block.startRow()); }
-  inline Index outer()  const { return EvalIterator::outer() - (IsRowMajor ? m_block.startRow() : m_block.startCol()); }
-  inline Index row()    const { return EvalIterator::row()   - m_block.startRow(); }
-  inline Index col()    const { return EvalIterator::col()   - m_block.startCol(); }
-
-  inline operator bool() const { return EvalIterator::operator bool() && EvalIterator::index() < m_end; }
-};
-
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
-class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased>::OuterVectorInnerIterator
-{
-  enum { IsRowMajor = unary_evaluator::IsRowMajor };
-  const unary_evaluator& m_eval;
-  Index m_outerPos;
-  const Index m_innerIndex;
-  Index m_end;
-  EvalIterator m_it;
-public:
-
-  EIGEN_STRONG_INLINE OuterVectorInnerIterator(const unary_evaluator& aEval, Index outer)
-    : m_eval(aEval),
-      m_outerPos( (IsRowMajor ? aEval.m_block.startCol() : aEval.m_block.startRow()) ),
-      m_innerIndex(IsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol()),
-      m_end(IsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows()),
-      m_it(m_eval.m_argImpl, m_outerPos)
-  {
-    EIGEN_UNUSED_VARIABLE(outer);
-    eigen_assert(outer==0);
-
-    while(m_it && m_it.index() < m_innerIndex) ++m_it;
-    if((!m_it) || (m_it.index()!=m_innerIndex))
-      ++(*this);
-  }
-
-  inline StorageIndex index() const { return convert_index<StorageIndex>(m_outerPos - (IsRowMajor ? m_eval.m_block.startCol() : m_eval.m_block.startRow())); }
-  inline Index outer()  const { return 0; }
-  inline Index row()    const { return IsRowMajor ? 0 : index(); }
-  inline Index col()    const { return IsRowMajor ? index() : 0; }
-
-  inline Scalar value() const { return m_it.value(); }
-  inline Scalar& valueRef() { return m_it.valueRef(); }
-
-  inline OuterVectorInnerIterator& operator++()
-  {
-    // search next non-zero entry
-    while(++m_outerPos<m_end)
-    {
-      // Restart iterator at the next inner-vector:
-      m_it.~EvalIterator();
-      ::new (&m_it) EvalIterator(m_eval.m_argImpl, m_outerPos);
-      // search for the key m_innerIndex in the current outer-vector
-      while(m_it && m_it.index() < m_innerIndex) ++m_it;
-      if(m_it && m_it.index()==m_innerIndex) break;
-    }
-    return *this;
-  }
-
-  inline operator bool() const { return m_outerPos < m_end; }
-};
-
-template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
-struct unary_evaluator<Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true>, IteratorBased>
-  : evaluator<SparseCompressedBase<Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> > >
-{
-  typedef Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> XprType;
-  typedef evaluator<SparseCompressedBase<XprType> > Base;
-  explicit unary_evaluator(const XprType &xpr) : Base(xpr) {}
-};
-
-template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
-struct unary_evaluator<Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true>, IteratorBased>
-  : evaluator<SparseCompressedBase<Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> > >
-{
-  typedef Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> XprType;
-  typedef evaluator<SparseCompressedBase<XprType> > Base;
-  explicit unary_evaluator(const XprType &xpr) : Base(xpr) {}
-};
-
-} // end namespace internal
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_BLOCK_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseColEtree.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseColEtree.h
deleted file mode 100644
index ebe02d1ab02d06..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseColEtree.h
+++ /dev/null
@@ -1,206 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-/* 
- 
- * NOTE: This file is the modified version of sp_coletree.c file in SuperLU 
- 
- * -- SuperLU routine (version 3.1) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * August 1, 2008
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-#ifndef SPARSE_COLETREE_H
-#define SPARSE_COLETREE_H
-
-namespace Eigen {
-
-namespace internal {
-
-/** Find the root of the tree/set containing the vertex i : Use Path halving */ 
-template<typename Index, typename IndexVector>
-Index etree_find (Index i, IndexVector& pp)
-{
-  Index p = pp(i); // Parent 
-  Index gp = pp(p); // Grand parent 
-  while (gp != p) 
-  {
-    pp(i) = gp; // Parent pointer on find path is changed to former grand parent
-    i = gp; 
-    p = pp(i);
-    gp = pp(p);
-  }
-  return p; 
-}
-
-/** Compute the column elimination tree of a sparse matrix
-  * \param mat The matrix in column-major format. 
-  * \param parent The elimination tree
-  * \param firstRowElt The column index of the first element in each row
-  * \param perm The permutation to apply to the column of \b mat
-  */
-template <typename MatrixType, typename IndexVector>
-int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowElt, typename MatrixType::StorageIndex *perm=0)
-{
-  typedef typename MatrixType::StorageIndex StorageIndex;
-  StorageIndex nc = convert_index<StorageIndex>(mat.cols()); // Number of columns
-  StorageIndex m = convert_index<StorageIndex>(mat.rows());
-  StorageIndex diagSize = (std::min)(nc,m);
-  IndexVector root(nc); // root of subtree of etree 
-  root.setZero();
-  IndexVector pp(nc); // disjoint sets 
-  pp.setZero(); // Initialize disjoint sets 
-  parent.resize(mat.cols());
-  //Compute first nonzero column in each row 
-  firstRowElt.resize(m);
-  firstRowElt.setConstant(nc);
-  firstRowElt.segment(0, diagSize).setLinSpaced(diagSize, 0, diagSize-1);
-  bool found_diag;
-  for (StorageIndex col = 0; col < nc; col++)
-  {
-    StorageIndex pcol = col;
-    if(perm) pcol  = perm[col];
-    for (typename MatrixType::InnerIterator it(mat, pcol); it; ++it)
-    { 
-      Index row = it.row();
-      firstRowElt(row) = (std::min)(firstRowElt(row), col);
-    }
-  }
-  /* Compute etree by Liu's algorithm for symmetric matrices,
-          except use (firstRowElt[r],c) in place of an edge (r,c) of A.
-    Thus each row clique in A'*A is replaced by a star
-    centered at its first vertex, which has the same fill. */
-  StorageIndex rset, cset, rroot;
-  for (StorageIndex col = 0; col < nc; col++) 
-  {
-    found_diag = col>=m;
-    pp(col) = col; 
-    cset = col; 
-    root(cset) = col; 
-    parent(col) = nc; 
-    /* The diagonal element is treated here even if it does not exist in the matrix
-     * hence the loop is executed once more */ 
-    StorageIndex pcol = col;
-    if(perm) pcol  = perm[col];
-    for (typename MatrixType::InnerIterator it(mat, pcol); it||!found_diag; ++it)
-    { //  A sequence of interleaved find and union is performed 
-      Index i = col;
-      if(it) i = it.index();
-      if (i == col) found_diag = true;
-      
-      StorageIndex row = firstRowElt(i);
-      if (row >= col) continue; 
-      rset = internal::etree_find(row, pp); // Find the name of the set containing row
-      rroot = root(rset);
-      if (rroot != col) 
-      {
-        parent(rroot) = col; 
-        pp(cset) = rset; 
-        cset = rset; 
-        root(cset) = col; 
-      }
-    }
-  }
-  return 0;  
-}
-
-/** 
-  * Depth-first search from vertex n.  No recursion.
-  * This routine was contributed by Cédric Doucet, CEDRAT Group, Meylan, France.
-*/
-template <typename IndexVector>
-void nr_etdfs (typename IndexVector::Scalar n, IndexVector& parent, IndexVector& first_kid, IndexVector& next_kid, IndexVector& post, typename IndexVector::Scalar postnum)
-{
-  typedef typename IndexVector::Scalar StorageIndex;
-  StorageIndex current = n, first, next;
-  while (postnum != n) 
-  {
-    // No kid for the current node
-    first = first_kid(current);
-    
-    // no kid for the current node
-    if (first == -1) 
-    {
-      // Numbering this node because it has no kid 
-      post(current) = postnum++;
-      
-      // looking for the next kid 
-      next = next_kid(current); 
-      while (next == -1) 
-      {
-        // No more kids : back to the parent node
-        current = parent(current); 
-        // numbering the parent node 
-        post(current) = postnum++;
-        
-        // Get the next kid 
-        next = next_kid(current); 
-      }
-      // stopping criterion 
-      if (postnum == n+1) return; 
-      
-      // Updating current node 
-      current = next; 
-    }
-    else 
-    {
-      current = first; 
-    }
-  }
-}
-
-
-/**
-  * \brief Post order a tree 
-  * \param n the number of nodes
-  * \param parent Input tree
-  * \param post postordered tree
-  */
-template <typename IndexVector>
-void treePostorder(typename IndexVector::Scalar n, IndexVector& parent, IndexVector& post)
-{
-  typedef typename IndexVector::Scalar StorageIndex;
-  IndexVector first_kid, next_kid; // Linked list of children 
-  StorageIndex postnum; 
-  // Allocate storage for working arrays and results 
-  first_kid.resize(n+1); 
-  next_kid.setZero(n+1);
-  post.setZero(n+1);
-  
-  // Set up structure describing children
-  first_kid.setConstant(-1); 
-  for (StorageIndex v = n-1; v >= 0; v--) 
-  {
-    StorageIndex dad = parent(v);
-    next_kid(v) = first_kid(dad); 
-    first_kid(dad) = v; 
-  }
-  
-  // Depth-first search from dummy root vertex #n
-  postnum = 0; 
-  internal::nr_etdfs(n, parent, first_kid, next_kid, post, postnum);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // SPARSE_COLETREE_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseCompressedBase.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseCompressedBase.h
deleted file mode 100644
index 5ccb46656144ec..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseCompressedBase.h
+++ /dev/null
@@ -1,341 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_COMPRESSED_BASE_H
-#define EIGEN_SPARSE_COMPRESSED_BASE_H
-
-namespace Eigen { 
-
-template<typename Derived> class SparseCompressedBase;
-  
-namespace internal {
-
-template<typename Derived>
-struct traits<SparseCompressedBase<Derived> > : traits<Derived>
-{};
-
-} // end namespace internal
-
-/** \ingroup SparseCore_Module
-  * \class SparseCompressedBase
-  * \brief Common base class for sparse [compressed]-{row|column}-storage format.
-  *
-  * This class defines the common interface for all derived classes implementing the compressed sparse storage format, such as:
-  *  - SparseMatrix
-  *  - Ref<SparseMatrixType,Options>
-  *  - Map<SparseMatrixType>
-  *
-  */
-template<typename Derived>
-class SparseCompressedBase
-  : public SparseMatrixBase<Derived>
-{
-  public:
-    typedef SparseMatrixBase<Derived> Base;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseCompressedBase)
-    using Base::operator=;
-    using Base::IsRowMajor;
-    
-    class InnerIterator;
-    class ReverseInnerIterator;
-    
-  protected:
-    typedef typename Base::IndexVector IndexVector;
-    Eigen::Map<IndexVector> innerNonZeros() { return Eigen::Map<IndexVector>(innerNonZeroPtr(), isCompressed()?0:derived().outerSize()); }
-    const  Eigen::Map<const IndexVector> innerNonZeros() const { return Eigen::Map<const IndexVector>(innerNonZeroPtr(), isCompressed()?0:derived().outerSize()); }
-        
-  public:
-    
-    /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const
-    {
-      if(Derived::IsVectorAtCompileTime && outerIndexPtr()==0)
-        return derived().nonZeros();
-      else if(isCompressed())
-        return outerIndexPtr()[derived().outerSize()]-outerIndexPtr()[0];
-      else if(derived().outerSize()==0)
-        return 0;
-      else
-        return innerNonZeros().sum();
-    }
-    
-    /** \returns a const pointer to the array of values.
-      * This function is aimed at interoperability with other libraries.
-      * \sa innerIndexPtr(), outerIndexPtr() */
-    inline const Scalar* valuePtr() const { return derived().valuePtr(); }
-    /** \returns a non-const pointer to the array of values.
-      * This function is aimed at interoperability with other libraries.
-      * \sa innerIndexPtr(), outerIndexPtr() */
-    inline Scalar* valuePtr() { return derived().valuePtr(); }
-
-    /** \returns a const pointer to the array of inner indices.
-      * This function is aimed at interoperability with other libraries.
-      * \sa valuePtr(), outerIndexPtr() */
-    inline const StorageIndex* innerIndexPtr() const { return derived().innerIndexPtr(); }
-    /** \returns a non-const pointer to the array of inner indices.
-      * This function is aimed at interoperability with other libraries.
-      * \sa valuePtr(), outerIndexPtr() */
-    inline StorageIndex* innerIndexPtr() { return derived().innerIndexPtr(); }
-
-    /** \returns a const pointer to the array of the starting positions of the inner vectors.
-      * This function is aimed at interoperability with other libraries.
-      * \warning it returns the null pointer 0 for SparseVector
-      * \sa valuePtr(), innerIndexPtr() */
-    inline const StorageIndex* outerIndexPtr() const { return derived().outerIndexPtr(); }
-    /** \returns a non-const pointer to the array of the starting positions of the inner vectors.
-      * This function is aimed at interoperability with other libraries.
-      * \warning it returns the null pointer 0 for SparseVector
-      * \sa valuePtr(), innerIndexPtr() */
-    inline StorageIndex* outerIndexPtr() { return derived().outerIndexPtr(); }
-
-    /** \returns a const pointer to the array of the number of non zeros of the inner vectors.
-      * This function is aimed at interoperability with other libraries.
-      * \warning it returns the null pointer 0 in compressed mode */
-    inline const StorageIndex* innerNonZeroPtr() const { return derived().innerNonZeroPtr(); }
-    /** \returns a non-const pointer to the array of the number of non zeros of the inner vectors.
-      * This function is aimed at interoperability with other libraries.
-      * \warning it returns the null pointer 0 in compressed mode */
-    inline StorageIndex* innerNonZeroPtr() { return derived().innerNonZeroPtr(); }
-    
-    /** \returns whether \c *this is in compressed form. */
-    inline bool isCompressed() const { return innerNonZeroPtr()==0; }
-
-    /** \returns a read-only view of the stored coefficients as a 1D array expression.
-      *
-      * \warning this method is for \b compressed \b storage \b only, and it will trigger an assertion otherwise.
-      *
-      * \sa valuePtr(), isCompressed() */
-    const Map<const Array<Scalar,Dynamic,1> > coeffs() const { eigen_assert(isCompressed()); return Array<Scalar,Dynamic,1>::Map(valuePtr(),nonZeros()); }
-
-    /** \returns a read-write view of the stored coefficients as a 1D array expression
-      *
-      * \warning this method is for \b compressed \b storage \b only, and it will trigger an assertion otherwise.
-      *
-      * Here is an example:
-      * \include SparseMatrix_coeffs.cpp
-      * and the output is:
-      * \include SparseMatrix_coeffs.out
-      *
-      * \sa valuePtr(), isCompressed() */
-    Map<Array<Scalar,Dynamic,1> > coeffs() { eigen_assert(isCompressed()); return Array<Scalar,Dynamic,1>::Map(valuePtr(),nonZeros()); }
-
-  protected:
-    /** Default constructor. Do nothing. */
-    SparseCompressedBase() {}
-  private:
-    template<typename OtherDerived> explicit SparseCompressedBase(const SparseCompressedBase<OtherDerived>&);
-};
-
-template<typename Derived>
-class SparseCompressedBase<Derived>::InnerIterator
-{
-  public:
-    InnerIterator()
-      : m_values(0), m_indices(0), m_outer(0), m_id(0), m_end(0)
-    {}
-
-    InnerIterator(const InnerIterator& other)
-      : m_values(other.m_values), m_indices(other.m_indices), m_outer(other.m_outer), m_id(other.m_id), m_end(other.m_end)
-    {}
-
-    InnerIterator& operator=(const InnerIterator& other)
-    {
-      m_values = other.m_values;
-      m_indices = other.m_indices;
-      const_cast<OuterType&>(m_outer).setValue(other.m_outer.value());
-      m_id = other.m_id;
-      m_end = other.m_end;
-      return *this;
-    }
-
-    InnerIterator(const SparseCompressedBase& mat, Index outer)
-      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer)
-    {
-      if(Derived::IsVectorAtCompileTime && mat.outerIndexPtr()==0)
-      {
-        m_id = 0;
-        m_end = mat.nonZeros();
-      }
-      else
-      {
-        m_id = mat.outerIndexPtr()[outer];
-        if(mat.isCompressed())
-          m_end = mat.outerIndexPtr()[outer+1];
-        else
-          m_end = m_id + mat.innerNonZeroPtr()[outer];
-      }
-    }
-
-    explicit InnerIterator(const SparseCompressedBase& mat)
-      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(0), m_id(0), m_end(mat.nonZeros())
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-    }
-
-    explicit InnerIterator(const internal::CompressedStorage<Scalar,StorageIndex>& data)
-      : m_values(data.valuePtr()), m_indices(data.indexPtr()), m_outer(0), m_id(0), m_end(data.size())
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-    }
-
-    inline InnerIterator& operator++() { m_id++; return *this; }
-
-    inline const Scalar& value() const { return m_values[m_id]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id]); }
-
-    inline StorageIndex index() const { return m_indices[m_id]; }
-    inline Index outer() const { return m_outer.value(); }
-    inline Index row() const { return IsRowMajor ? m_outer.value() : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer.value(); }
-
-    inline operator bool() const { return (m_id < m_end); }
-
-  protected:
-    const Scalar* m_values;
-    const StorageIndex* m_indices;
-    typedef internal::variable_if_dynamic<Index,Derived::IsVectorAtCompileTime?0:Dynamic> OuterType;
-    const OuterType m_outer;
-    Index m_id;
-    Index m_end;
-  private:
-    // If you get here, then you're not using the right InnerIterator type, e.g.:
-    //   SparseMatrix<double,RowMajor> A;
-    //   SparseMatrix<double>::InnerIterator it(A,0);
-    template<typename T> InnerIterator(const SparseMatrixBase<T>&, Index outer);
-};
-
-template<typename Derived>
-class SparseCompressedBase<Derived>::ReverseInnerIterator
-{
-  public:
-    ReverseInnerIterator(const SparseCompressedBase& mat, Index outer)
-      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer)
-    {
-      if(Derived::IsVectorAtCompileTime && mat.outerIndexPtr()==0)
-      {
-        m_start = 0;
-        m_id = mat.nonZeros();
-      }
-      else
-      {
-        m_start = mat.outerIndexPtr()[outer];
-        if(mat.isCompressed())
-          m_id = mat.outerIndexPtr()[outer+1];
-        else
-          m_id = m_start + mat.innerNonZeroPtr()[outer];
-      }
-    }
-
-    explicit ReverseInnerIterator(const SparseCompressedBase& mat)
-      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(0), m_start(0), m_id(mat.nonZeros())
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-    }
-
-    explicit ReverseInnerIterator(const internal::CompressedStorage<Scalar,StorageIndex>& data)
-      : m_values(data.valuePtr()), m_indices(data.indexPtr()), m_outer(0), m_start(0), m_id(data.size())
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-    }
-
-    inline ReverseInnerIterator& operator--() { --m_id; return *this; }
-
-    inline const Scalar& value() const { return m_values[m_id-1]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id-1]); }
-
-    inline StorageIndex index() const { return m_indices[m_id-1]; }
-    inline Index outer() const { return m_outer.value(); }
-    inline Index row() const { return IsRowMajor ? m_outer.value() : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer.value(); }
-
-    inline operator bool() const { return (m_id > m_start); }
-
-  protected:
-    const Scalar* m_values;
-    const StorageIndex* m_indices;
-    typedef internal::variable_if_dynamic<Index,Derived::IsVectorAtCompileTime?0:Dynamic> OuterType;
-    const OuterType m_outer;
-    Index m_start;
-    Index m_id;
-};
-
-namespace internal {
-
-template<typename Derived>
-struct evaluator<SparseCompressedBase<Derived> >
-  : evaluator_base<Derived>
-{
-  typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::InnerIterator InnerIterator;
-  
-  enum {
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    Flags = Derived::Flags
-  };
-  
-  evaluator() : m_matrix(0), m_zero(0)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  explicit evaluator(const Derived &mat) : m_matrix(&mat), m_zero(0)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  inline Index nonZerosEstimate() const {
-    return m_matrix->nonZeros();
-  }
-  
-  operator Derived&() { return m_matrix->const_cast_derived(); }
-  operator const Derived&() const { return *m_matrix; }
-  
-  typedef typename DenseCoeffsBase<Derived,ReadOnlyAccessors>::CoeffReturnType CoeffReturnType;
-  const Scalar& coeff(Index row, Index col) const
-  {
-    Index p = find(row,col);
-
-    if(p==Dynamic)
-      return m_zero;
-    else
-      return m_matrix->const_cast_derived().valuePtr()[p];
-  }
-
-  Scalar& coeffRef(Index row, Index col)
-  {
-    Index p = find(row,col);
-    eigen_assert(p!=Dynamic && "written coefficient does not exist");
-    return m_matrix->const_cast_derived().valuePtr()[p];
-  }
-
-protected:
-
-  Index find(Index row, Index col) const
-  {
-    eigen_internal_assert(row>=0 && row<m_matrix->rows() && col>=0 && col<m_matrix->cols());
-
-    const Index outer = Derived::IsRowMajor ? row : col;
-    const Index inner = Derived::IsRowMajor ? col : row;
-
-    Index start = m_matrix->outerIndexPtr()[outer];
-    Index end = m_matrix->isCompressed() ? m_matrix->outerIndexPtr()[outer+1] : m_matrix->outerIndexPtr()[outer] + m_matrix->innerNonZeroPtr()[outer];
-    eigen_assert(end>=start && "you are using a non finalized sparse matrix or written coefficient does not exist");
-    const Index p = std::lower_bound(m_matrix->innerIndexPtr()+start, m_matrix->innerIndexPtr()+end,inner) - m_matrix->innerIndexPtr();
-
-    return ((p<end) && (m_matrix->innerIndexPtr()[p]==inner)) ? p : Dynamic;
-  }
-
-  const Derived *m_matrix;
-  const Scalar m_zero;
-};
-
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_COMPRESSED_BASE_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
deleted file mode 100644
index e315e35506059e..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
+++ /dev/null
@@ -1,726 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_CWISE_BINARY_OP_H
-#define EIGEN_SPARSE_CWISE_BINARY_OP_H
-
-namespace Eigen { 
-
-// Here we have to handle 3 cases:
-//  1 - sparse op dense
-//  2 - dense op sparse
-//  3 - sparse op sparse
-// We also need to implement a 4th iterator for:
-//  4 - dense op dense
-// Finally, we also need to distinguish between the product and other operations :
-//                configuration      returned mode
-//  1 - sparse op dense    product      sparse
-//                         generic      dense
-//  2 - dense op sparse    product      sparse
-//                         generic      dense
-//  3 - sparse op sparse   product      sparse
-//                         generic      sparse
-//  4 - dense op dense     product      dense
-//                         generic      dense
-//
-// TODO to ease compiler job, we could specialize product/quotient with a scalar
-//      and fallback to cwise-unary evaluator using bind1st_op and bind2nd_op.
-
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Sparse>
-  : public SparseMatrixBase<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-  public:
-    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
-    typedef SparseMatrixBase<Derived> Base;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
-    CwiseBinaryOpImpl()
-    {
-      EIGEN_STATIC_ASSERT((
-                (!internal::is_same<typename internal::traits<Lhs>::StorageKind,
-                                    typename internal::traits<Rhs>::StorageKind>::value)
-            ||  ((internal::evaluator<Lhs>::Flags&RowMajorBit) == (internal::evaluator<Rhs>::Flags&RowMajorBit))),
-            THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH);
-    }
-};
-
-namespace internal {
-
-  
-// Generic "sparse OP sparse"
-template<typename XprType> struct binary_sparse_evaluator;
-
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, IteratorBased>
-  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-protected:
-  typedef typename evaluator<Lhs>::InnerIterator  LhsIterator;
-  typedef typename evaluator<Rhs>::InnerIterator  RhsIterator;
-  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
-  typedef typename traits<XprType>::Scalar Scalar;
-  typedef typename XprType::StorageIndex StorageIndex;
-public:
-
-  class InnerIterator
-  {
-  public:
-    
-    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
-      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor)
-    {
-      this->operator++();
-    }
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    {
-      if (m_lhsIter && m_rhsIter && (m_lhsIter.index() == m_rhsIter.index()))
-      {
-        m_id = m_lhsIter.index();
-        m_value = m_functor(m_lhsIter.value(), m_rhsIter.value());
-        ++m_lhsIter;
-        ++m_rhsIter;
-      }
-      else if (m_lhsIter && (!m_rhsIter || (m_lhsIter.index() < m_rhsIter.index())))
-      {
-        m_id = m_lhsIter.index();
-        m_value = m_functor(m_lhsIter.value(), Scalar(0));
-        ++m_lhsIter;
-      }
-      else if (m_rhsIter && (!m_lhsIter || (m_lhsIter.index() > m_rhsIter.index())))
-      {
-        m_id = m_rhsIter.index();
-        m_value = m_functor(Scalar(0), m_rhsIter.value());
-        ++m_rhsIter;
-      }
-      else
-      {
-        m_value = 0; // this is to avoid a compilation warning
-        m_id = -1;
-      }
-      return *this;
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const { return m_value; }
-
-    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
-    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
-    EIGEN_STRONG_INLINE Index row() const { return Lhs::IsRowMajor ? m_lhsIter.row() : index(); }
-    EIGEN_STRONG_INLINE Index col() const { return Lhs::IsRowMajor ? index() : m_lhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_id>=0; }
-
-  protected:
-    LhsIterator m_lhsIter;
-    RhsIterator m_rhsIter;
-    const BinaryOp& m_functor;
-    Scalar m_value;
-    StorageIndex m_id;
-  };
-  
-  
-  enum {
-    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
-    Flags = XprType::Flags
-  };
-  
-  explicit binary_evaluator(const XprType& xpr)
-    : m_functor(xpr.functor()),
-      m_lhsImpl(xpr.lhs()), 
-      m_rhsImpl(xpr.rhs())  
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  inline Index nonZerosEstimate() const {
-    return m_lhsImpl.nonZerosEstimate() + m_rhsImpl.nonZerosEstimate();
-  }
-
-protected:
-  const BinaryOp m_functor;
-  evaluator<Lhs> m_lhsImpl;
-  evaluator<Rhs> m_rhsImpl;
-};
-
-// dense op sparse
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IteratorBased>
-  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-protected:
-  typedef typename evaluator<Rhs>::InnerIterator  RhsIterator;
-  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
-  typedef typename traits<XprType>::Scalar Scalar;
-  typedef typename XprType::StorageIndex StorageIndex;
-public:
-
-  class InnerIterator
-  {
-    enum { IsRowMajor = (int(Rhs::Flags)&RowMajorBit)==RowMajorBit };
-  public:
-
-    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
-      : m_lhsEval(aEval.m_lhsImpl), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor), m_value(0), m_id(-1), m_innerSize(aEval.m_expr.rhs().innerSize())
-    {
-      this->operator++();
-    }
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    {
-      ++m_id;
-      if(m_id<m_innerSize)
-      {
-        Scalar lhsVal = m_lhsEval.coeff(IsRowMajor?m_rhsIter.outer():m_id,
-                                        IsRowMajor?m_id:m_rhsIter.outer());
-        if(m_rhsIter && m_rhsIter.index()==m_id)
-        {
-          m_value = m_functor(lhsVal, m_rhsIter.value());
-          ++m_rhsIter;
-        }
-        else
-          m_value = m_functor(lhsVal, Scalar(0));
-      }
-
-      return *this;
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const { eigen_internal_assert(m_id<m_innerSize); return m_value; }
-
-    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
-    EIGEN_STRONG_INLINE Index outer() const { return m_rhsIter.outer(); }
-    EIGEN_STRONG_INLINE Index row() const { return IsRowMajor ? m_rhsIter.outer() : m_id; }
-    EIGEN_STRONG_INLINE Index col() const { return IsRowMajor ? m_id : m_rhsIter.outer(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_id<m_innerSize; }
-
-  protected:
-    const evaluator<Lhs> &m_lhsEval;
-    RhsIterator m_rhsIter;
-    const BinaryOp& m_functor;
-    Scalar m_value;
-    StorageIndex m_id;
-    StorageIndex m_innerSize;
-  };
-
-
-  enum {
-    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
-    // Expose storage order of the sparse expression
-    Flags = (XprType::Flags & ~RowMajorBit) | (int(Rhs::Flags)&RowMajorBit)
-  };
-
-  explicit binary_evaluator(const XprType& xpr)
-    : m_functor(xpr.functor()),
-      m_lhsImpl(xpr.lhs()),
-      m_rhsImpl(xpr.rhs()),
-      m_expr(xpr)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  inline Index nonZerosEstimate() const {
-    return m_expr.size();
-  }
-
-protected:
-  const BinaryOp m_functor;
-  evaluator<Lhs> m_lhsImpl;
-  evaluator<Rhs> m_rhsImpl;
-  const XprType &m_expr;
-};
-
-// sparse op dense
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, IndexBased>
-  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
-{
-protected:
-  typedef typename evaluator<Lhs>::InnerIterator  LhsIterator;
-  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
-  typedef typename traits<XprType>::Scalar Scalar;
-  typedef typename XprType::StorageIndex StorageIndex;
-public:
-
-  class InnerIterator
-  {
-    enum { IsRowMajor = (int(Lhs::Flags)&RowMajorBit)==RowMajorBit };
-  public:
-
-    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
-      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsEval(aEval.m_rhsImpl), m_functor(aEval.m_functor), m_value(0), m_id(-1), m_innerSize(aEval.m_expr.lhs().innerSize())
-    {
-      this->operator++();
-    }
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    {
-      ++m_id;
-      if(m_id<m_innerSize)
-      {
-        Scalar rhsVal = m_rhsEval.coeff(IsRowMajor?m_lhsIter.outer():m_id,
-                                        IsRowMajor?m_id:m_lhsIter.outer());
-        if(m_lhsIter && m_lhsIter.index()==m_id)
-        {
-          m_value = m_functor(m_lhsIter.value(), rhsVal);
-          ++m_lhsIter;
-        }
-        else
-          m_value = m_functor(Scalar(0),rhsVal);
-      }
-
-      return *this;
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const { eigen_internal_assert(m_id<m_innerSize); return m_value; }
-
-    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
-    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
-    EIGEN_STRONG_INLINE Index row() const { return IsRowMajor ? m_lhsIter.outer() : m_id; }
-    EIGEN_STRONG_INLINE Index col() const { return IsRowMajor ? m_id : m_lhsIter.outer(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_id<m_innerSize; }
-
-  protected:
-    LhsIterator m_lhsIter;
-    const evaluator<Rhs> &m_rhsEval;
-    const BinaryOp& m_functor;
-    Scalar m_value;
-    StorageIndex m_id;
-    StorageIndex m_innerSize;
-  };
-
-
-  enum {
-    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
-    // Expose storage order of the sparse expression
-    Flags = (XprType::Flags & ~RowMajorBit) | (int(Lhs::Flags)&RowMajorBit)
-  };
-
-  explicit binary_evaluator(const XprType& xpr)
-    : m_functor(xpr.functor()),
-      m_lhsImpl(xpr.lhs()),
-      m_rhsImpl(xpr.rhs()),
-      m_expr(xpr)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  inline Index nonZerosEstimate() const {
-    return m_expr.size();
-  }
-
-protected:
-  const BinaryOp m_functor;
-  evaluator<Lhs> m_lhsImpl;
-  evaluator<Rhs> m_rhsImpl;
-  const XprType &m_expr;
-};
-
-template<typename T,
-         typename LhsKind   = typename evaluator_traits<typename T::Lhs>::Kind,
-         typename RhsKind   = typename evaluator_traits<typename T::Rhs>::Kind,
-         typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
-         typename RhsScalar = typename traits<typename T::Rhs>::Scalar> struct sparse_conjunction_evaluator;
-
-// "sparse .* sparse"
-template<typename T1, typename T2, typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IteratorBased, IteratorBased>
-  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
-  typedef sparse_conjunction_evaluator<XprType> Base;
-  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
-};
-// "dense .* sparse"
-template<typename T1, typename T2, typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IndexBased, IteratorBased>
-  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
-  typedef sparse_conjunction_evaluator<XprType> Base;
-  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
-};
-// "sparse .* dense"
-template<typename T1, typename T2, typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IteratorBased, IndexBased>
-  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
-  typedef sparse_conjunction_evaluator<XprType> Base;
-  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
-};
-
-// "sparse ./ dense"
-template<typename T1, typename T2, typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<scalar_quotient_op<T1,T2>, Lhs, Rhs>, IteratorBased, IndexBased>
-  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_quotient_op<T1,T2>, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<scalar_quotient_op<T1,T2>, Lhs, Rhs> XprType;
-  typedef sparse_conjunction_evaluator<XprType> Base;
-  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
-};
-
-// "sparse && sparse"
-template<typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IteratorBased, IteratorBased>
-  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
-  typedef sparse_conjunction_evaluator<XprType> Base;
-  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
-};
-// "dense && sparse"
-template<typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IndexBased, IteratorBased>
-  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
-  typedef sparse_conjunction_evaluator<XprType> Base;
-  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
-};
-// "sparse && dense"
-template<typename Lhs, typename Rhs>
-struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IteratorBased, IndexBased>
-  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
-{
-  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
-  typedef sparse_conjunction_evaluator<XprType> Base;
-  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
-};
-
-// "sparse ^ sparse"
-template<typename XprType>
-struct sparse_conjunction_evaluator<XprType, IteratorBased, IteratorBased>
-  : evaluator_base<XprType>
-{
-protected:
-  typedef typename XprType::Functor BinaryOp;
-  typedef typename XprType::Lhs LhsArg;
-  typedef typename XprType::Rhs RhsArg;
-  typedef typename evaluator<LhsArg>::InnerIterator  LhsIterator;
-  typedef typename evaluator<RhsArg>::InnerIterator  RhsIterator;
-  typedef typename XprType::StorageIndex StorageIndex;
-  typedef typename traits<XprType>::Scalar Scalar;
-public:
-
-  class InnerIterator
-  {
-  public:
-    
-    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
-      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor)
-    {
-      while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
-      {
-        if (m_lhsIter.index() < m_rhsIter.index())
-          ++m_lhsIter;
-        else
-          ++m_rhsIter;
-      }
-    }
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    {
-      ++m_lhsIter;
-      ++m_rhsIter;
-      while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
-      {
-        if (m_lhsIter.index() < m_rhsIter.index())
-          ++m_lhsIter;
-        else
-          ++m_rhsIter;
-      }
-      return *this;
-    }
-    
-    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_lhsIter.value(), m_rhsIter.value()); }
-
-    EIGEN_STRONG_INLINE StorageIndex index() const { return m_lhsIter.index(); }
-    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
-    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
-    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return (m_lhsIter && m_rhsIter); }
-
-  protected:
-    LhsIterator m_lhsIter;
-    RhsIterator m_rhsIter;
-    const BinaryOp& m_functor;
-  };
-  
-  
-  enum {
-    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
-    Flags = XprType::Flags
-  };
-  
-  explicit sparse_conjunction_evaluator(const XprType& xpr)
-    : m_functor(xpr.functor()),
-      m_lhsImpl(xpr.lhs()), 
-      m_rhsImpl(xpr.rhs())  
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  inline Index nonZerosEstimate() const {
-    return (std::min)(m_lhsImpl.nonZerosEstimate(), m_rhsImpl.nonZerosEstimate());
-  }
-
-protected:
-  const BinaryOp m_functor;
-  evaluator<LhsArg> m_lhsImpl;
-  evaluator<RhsArg> m_rhsImpl;
-};
-
-// "dense ^ sparse"
-template<typename XprType>
-struct sparse_conjunction_evaluator<XprType, IndexBased, IteratorBased>
-  : evaluator_base<XprType>
-{
-protected:
-  typedef typename XprType::Functor BinaryOp;
-  typedef typename XprType::Lhs LhsArg;
-  typedef typename XprType::Rhs RhsArg;
-  typedef evaluator<LhsArg> LhsEvaluator;
-  typedef typename evaluator<RhsArg>::InnerIterator  RhsIterator;
-  typedef typename XprType::StorageIndex StorageIndex;
-  typedef typename traits<XprType>::Scalar Scalar;
-public:
-
-  class InnerIterator
-  {
-    enum { IsRowMajor = (int(RhsArg::Flags)&RowMajorBit)==RowMajorBit };
-
-  public:
-    
-    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
-      : m_lhsEval(aEval.m_lhsImpl), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor), m_outer(outer)
-    {}
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    {
-      ++m_rhsIter;
-      return *this;
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const
-    { return m_functor(m_lhsEval.coeff(IsRowMajor?m_outer:m_rhsIter.index(),IsRowMajor?m_rhsIter.index():m_outer), m_rhsIter.value()); }
-
-    EIGEN_STRONG_INLINE StorageIndex index() const { return m_rhsIter.index(); }
-    EIGEN_STRONG_INLINE Index outer() const { return m_rhsIter.outer(); }
-    EIGEN_STRONG_INLINE Index row() const { return m_rhsIter.row(); }
-    EIGEN_STRONG_INLINE Index col() const { return m_rhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_rhsIter; }
-    
-  protected:
-    const LhsEvaluator &m_lhsEval;
-    RhsIterator m_rhsIter;
-    const BinaryOp& m_functor;
-    const Index m_outer;
-  };
-  
-  
-  enum {
-    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
-    // Expose storage order of the sparse expression
-    Flags = (XprType::Flags & ~RowMajorBit) | (int(RhsArg::Flags)&RowMajorBit)
-  };
-  
-  explicit sparse_conjunction_evaluator(const XprType& xpr)
-    : m_functor(xpr.functor()),
-      m_lhsImpl(xpr.lhs()), 
-      m_rhsImpl(xpr.rhs())  
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  inline Index nonZerosEstimate() const {
-    return m_rhsImpl.nonZerosEstimate();
-  }
-
-protected:
-  const BinaryOp m_functor;
-  evaluator<LhsArg> m_lhsImpl;
-  evaluator<RhsArg> m_rhsImpl;
-};
-
-// "sparse ^ dense"
-template<typename XprType>
-struct sparse_conjunction_evaluator<XprType, IteratorBased, IndexBased>
-  : evaluator_base<XprType>
-{
-protected:
-  typedef typename XprType::Functor BinaryOp;
-  typedef typename XprType::Lhs LhsArg;
-  typedef typename XprType::Rhs RhsArg;
-  typedef typename evaluator<LhsArg>::InnerIterator LhsIterator;
-  typedef evaluator<RhsArg> RhsEvaluator;
-  typedef typename XprType::StorageIndex StorageIndex;
-  typedef typename traits<XprType>::Scalar Scalar;
-public:
-
-  class InnerIterator
-  {
-    enum { IsRowMajor = (int(LhsArg::Flags)&RowMajorBit)==RowMajorBit };
-
-  public:
-    
-    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
-      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsEval(aEval.m_rhsImpl), m_functor(aEval.m_functor), m_outer(outer)
-    {}
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    {
-      ++m_lhsIter;
-      return *this;
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const
-    { return m_functor(m_lhsIter.value(),
-                       m_rhsEval.coeff(IsRowMajor?m_outer:m_lhsIter.index(),IsRowMajor?m_lhsIter.index():m_outer)); }
-
-    EIGEN_STRONG_INLINE StorageIndex index() const { return m_lhsIter.index(); }
-    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
-    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
-    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_lhsIter; }
-    
-  protected:
-    LhsIterator m_lhsIter;
-    const evaluator<RhsArg> &m_rhsEval;
-    const BinaryOp& m_functor;
-    const Index m_outer;
-  };
-  
-  
-  enum {
-    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
-    // Expose storage order of the sparse expression
-    Flags = (XprType::Flags & ~RowMajorBit) | (int(LhsArg::Flags)&RowMajorBit)
-  };
-  
-  explicit sparse_conjunction_evaluator(const XprType& xpr)
-    : m_functor(xpr.functor()),
-      m_lhsImpl(xpr.lhs()), 
-      m_rhsImpl(xpr.rhs())  
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  inline Index nonZerosEstimate() const {
-    return m_lhsImpl.nonZerosEstimate();
-  }
-
-protected:
-  const BinaryOp m_functor;
-  evaluator<LhsArg> m_lhsImpl;
-  evaluator<RhsArg> m_rhsImpl;
-};
-
-}
-
-/***************************************************************************
-* Implementation of SparseMatrixBase and SparseCwise functions/operators
-***************************************************************************/
-
-template<typename Derived>
-template<typename OtherDerived>
-Derived& SparseMatrixBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
-{
-  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-Derived& SparseMatrixBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
-{
-  call_assignment(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-SparseMatrixBase<Derived>::operator-=(const SparseMatrixBase<OtherDerived> &other)
-{
-  return derived() = derived() - other.derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE Derived &
-SparseMatrixBase<Derived>::operator+=(const SparseMatrixBase<OtherDerived>& other)
-{
-  return derived() = derived() + other.derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-Derived& SparseMatrixBase<Derived>::operator+=(const DiagonalBase<OtherDerived>& other)
-{
-  call_assignment_no_alias(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-Derived& SparseMatrixBase<Derived>::operator-=(const DiagonalBase<OtherDerived>& other)
-{
-  call_assignment_no_alias(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
-  return derived();
-}
-    
-template<typename Derived>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const typename SparseMatrixBase<Derived>::template CwiseProductDenseReturnType<OtherDerived>::Type
-SparseMatrixBase<Derived>::cwiseProduct(const MatrixBase<OtherDerived> &other) const
-{
-  return typename CwiseProductDenseReturnType<OtherDerived>::Type(derived(), other.derived());
-}
-
-template<typename DenseDerived, typename SparseDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_sum_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>
-operator+(const MatrixBase<DenseDerived> &a, const SparseMatrixBase<SparseDerived> &b)
-{
-  return CwiseBinaryOp<internal::scalar_sum_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>(a.derived(), b.derived());
-}
-
-template<typename SparseDerived, typename DenseDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_sum_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>
-operator+(const SparseMatrixBase<SparseDerived> &a, const MatrixBase<DenseDerived> &b)
-{
-  return CwiseBinaryOp<internal::scalar_sum_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>(a.derived(), b.derived());
-}
-
-template<typename DenseDerived, typename SparseDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_difference_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>
-operator-(const MatrixBase<DenseDerived> &a, const SparseMatrixBase<SparseDerived> &b)
-{
-  return CwiseBinaryOp<internal::scalar_difference_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>(a.derived(), b.derived());
-}
-
-template<typename SparseDerived, typename DenseDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_difference_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>
-operator-(const SparseMatrixBase<SparseDerived> &a, const MatrixBase<DenseDerived> &b)
-{
-  return CwiseBinaryOp<internal::scalar_difference_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>(a.derived(), b.derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_CWISE_BINARY_OP_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
deleted file mode 100644
index ea797379012f5f..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
+++ /dev/null
@@ -1,148 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_CWISE_UNARY_OP_H
-#define EIGEN_SPARSE_CWISE_UNARY_OP_H
-
-namespace Eigen { 
-
-namespace internal {
-  
-template<typename UnaryOp, typename ArgType>
-struct unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>
-  : public evaluator_base<CwiseUnaryOp<UnaryOp,ArgType> >
-{
-  public:
-    typedef CwiseUnaryOp<UnaryOp, ArgType> XprType;
-
-    class InnerIterator;
-    
-    enum {
-      CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
-      Flags = XprType::Flags
-    };
-    
-    explicit unary_evaluator(const XprType& op) : m_functor(op.functor()), m_argImpl(op.nestedExpression())
-    {
-      EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
-      EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-    }
-    
-    inline Index nonZerosEstimate() const {
-      return m_argImpl.nonZerosEstimate();
-    }
-
-  protected:
-    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
-    
-    const UnaryOp m_functor;
-    evaluator<ArgType> m_argImpl;
-};
-
-template<typename UnaryOp, typename ArgType>
-class unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::InnerIterator
-    : public unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::EvalIterator
-{
-    typedef typename XprType::Scalar Scalar;
-    typedef typename unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::EvalIterator Base;
-  public:
-
-    EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
-      : Base(unaryOp.m_argImpl,outer), m_functor(unaryOp.m_functor)
-    {}
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    { Base::operator++(); return *this; }
-
-    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(Base::value()); }
-
-  protected:
-    const UnaryOp m_functor;
-  private:
-    Scalar& valueRef();
-};
-
-template<typename ViewOp, typename ArgType>
-struct unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>
-  : public evaluator_base<CwiseUnaryView<ViewOp,ArgType> >
-{
-  public:
-    typedef CwiseUnaryView<ViewOp, ArgType> XprType;
-
-    class InnerIterator;
-    
-    enum {
-      CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<ViewOp>::Cost,
-      Flags = XprType::Flags
-    };
-    
-    explicit unary_evaluator(const XprType& op) : m_functor(op.functor()), m_argImpl(op.nestedExpression())
-    {
-      EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<ViewOp>::Cost);
-      EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-    }
-
-  protected:
-    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
-    
-    const ViewOp m_functor;
-    evaluator<ArgType> m_argImpl;
-};
-
-template<typename ViewOp, typename ArgType>
-class unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::InnerIterator
-    : public unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::EvalIterator
-{
-    typedef typename XprType::Scalar Scalar;
-    typedef typename unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::EvalIterator Base;
-  public:
-
-    EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
-      : Base(unaryOp.m_argImpl,outer), m_functor(unaryOp.m_functor)
-    {}
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    { Base::operator++(); return *this; }
-
-    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(Base::value()); }
-    EIGEN_STRONG_INLINE Scalar& valueRef() { return m_functor(Base::valueRef()); }
-
-  protected:
-    const ViewOp m_functor;
-};
-
-} // end namespace internal
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-SparseMatrixBase<Derived>::operator*=(const Scalar& other)
-{
-  typedef typename internal::evaluator<Derived>::InnerIterator EvalIterator;
-  internal::evaluator<Derived> thisEval(derived());
-  for (Index j=0; j<outerSize(); ++j)
-    for (EvalIterator i(thisEval,j); i; ++i)
-      i.valueRef() *= other;
-  return derived();
-}
-
-template<typename Derived>
-EIGEN_STRONG_INLINE Derived&
-SparseMatrixBase<Derived>::operator/=(const Scalar& other)
-{
-  typedef typename internal::evaluator<Derived>::InnerIterator EvalIterator;
-  internal::evaluator<Derived> thisEval(derived());
-  for (Index j=0; j<outerSize(); ++j)
-    for (EvalIterator i(thisEval,j); i; ++i)
-      i.valueRef() /= other;
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_CWISE_UNARY_OP_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseDenseProduct.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseDenseProduct.h
deleted file mode 100644
index 0547db59689da0..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseDenseProduct.h
+++ /dev/null
@@ -1,320 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEDENSEPRODUCT_H
-#define EIGEN_SPARSEDENSEPRODUCT_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template <> struct product_promote_storage_type<Sparse,Dense, OuterProduct> { typedef Sparse ret; };
-template <> struct product_promote_storage_type<Dense,Sparse, OuterProduct> { typedef Sparse ret; };
-
-template<typename SparseLhsType, typename DenseRhsType, typename DenseResType,
-         typename AlphaType,
-         int LhsStorageOrder = ((SparseLhsType::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor,
-         bool ColPerCol = ((DenseRhsType::Flags&RowMajorBit)==0) || DenseRhsType::ColsAtCompileTime==1>
-struct sparse_time_dense_product_impl;
-
-template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, RowMajor, true>
-{
-  typedef typename internal::remove_all<SparseLhsType>::type Lhs;
-  typedef typename internal::remove_all<DenseRhsType>::type Rhs;
-  typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
-  typedef evaluator<Lhs> LhsEval;
-  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
-  {
-    LhsEval lhsEval(lhs);
-    
-    Index n = lhs.outerSize();
-#ifdef EIGEN_HAS_OPENMP
-    Eigen::initParallel();
-    Index threads = Eigen::nbThreads();
-#endif
-    
-    for(Index c=0; c<rhs.cols(); ++c)
-    {
-#ifdef EIGEN_HAS_OPENMP
-      // This 20000 threshold has been found experimentally on 2D and 3D Poisson problems.
-      // It basically represents the minimal amount of work to be done to be worth it.
-      if(threads>1 && lhsEval.nonZerosEstimate() > 20000)
-      {
-        #pragma omp parallel for schedule(dynamic,(n+threads*4-1)/(threads*4)) num_threads(threads)
-        for(Index i=0; i<n; ++i)
-          processRow(lhsEval,rhs,res,alpha,i,c);
-      }
-      else
-#endif
-      {
-        for(Index i=0; i<n; ++i)
-          processRow(lhsEval,rhs,res,alpha,i,c);
-      }
-    }
-  }
-  
-  static void processRow(const LhsEval& lhsEval, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha, Index i, Index col)
-  {
-    typename Res::Scalar tmp(0);
-    for(LhsInnerIterator it(lhsEval,i); it ;++it)
-      tmp += it.value() * rhs.coeff(it.index(),col);
-    res.coeffRef(i,col) += alpha * tmp;
-  }
-  
-};
-
-// FIXME: what is the purpose of the following specialization? Is it for the BlockedSparse format?
-// -> let's disable it for now as it is conflicting with generic scalar*matrix and matrix*scalar operators
-// template<typename T1, typename T2/*, int _Options, typename _StrideType*/>
-// struct ScalarBinaryOpTraits<T1, Ref<T2/*, _Options, _StrideType*/> >
-// {
-//   enum {
-//     Defined = 1
-//   };
-//   typedef typename CwiseUnaryOp<scalar_multiple2_op<T1, typename T2::Scalar>, T2>::PlainObject ReturnType;
-// };
-
-template<typename SparseLhsType, typename DenseRhsType, typename DenseResType, typename AlphaType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, AlphaType, ColMajor, true>
-{
-  typedef typename internal::remove_all<SparseLhsType>::type Lhs;
-  typedef typename internal::remove_all<DenseRhsType>::type Rhs;
-  typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
-  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
-  {
-    evaluator<Lhs> lhsEval(lhs);
-    for(Index c=0; c<rhs.cols(); ++c)
-    {
-      for(Index j=0; j<lhs.outerSize(); ++j)
-      {
-//        typename Res::Scalar rhs_j = alpha * rhs.coeff(j,c);
-        typename ScalarBinaryOpTraits<AlphaType, typename Rhs::Scalar>::ReturnType rhs_j(alpha * rhs.coeff(j,c));
-        for(LhsInnerIterator it(lhsEval,j); it ;++it)
-          res.coeffRef(it.index(),c) += it.value() * rhs_j;
-      }
-    }
-  }
-};
-
-template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, RowMajor, false>
-{
-  typedef typename internal::remove_all<SparseLhsType>::type Lhs;
-  typedef typename internal::remove_all<DenseRhsType>::type Rhs;
-  typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
-  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
-  {
-    evaluator<Lhs> lhsEval(lhs);
-    for(Index j=0; j<lhs.outerSize(); ++j)
-    {
-      typename Res::RowXpr res_j(res.row(j));
-      for(LhsInnerIterator it(lhsEval,j); it ;++it)
-        res_j += (alpha*it.value()) * rhs.row(it.index());
-    }
-  }
-};
-
-template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, ColMajor, false>
-{
-  typedef typename internal::remove_all<SparseLhsType>::type Lhs;
-  typedef typename internal::remove_all<DenseRhsType>::type Rhs;
-  typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
-  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
-  {
-    evaluator<Lhs> lhsEval(lhs);
-    for(Index j=0; j<lhs.outerSize(); ++j)
-    {
-      typename Rhs::ConstRowXpr rhs_j(rhs.row(j));
-      for(LhsInnerIterator it(lhsEval,j); it ;++it)
-        res.row(it.index()) += (alpha*it.value()) * rhs_j;
-    }
-  }
-};
-
-template<typename SparseLhsType, typename DenseRhsType, typename DenseResType,typename AlphaType>
-inline void sparse_time_dense_product(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
-{
-  sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, AlphaType>::run(lhs, rhs, res, alpha);
-}
-
-} // end namespace internal
-
-namespace internal {
-
-template<typename Lhs, typename Rhs, int ProductType>
-struct generic_product_impl<Lhs, Rhs, SparseShape, DenseShape, ProductType>
- : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,SparseShape,DenseShape,ProductType> >
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  {
-    typedef typename nested_eval<Lhs,((Rhs::Flags&RowMajorBit)==0) ? 1 : Rhs::ColsAtCompileTime>::type LhsNested;
-    typedef typename nested_eval<Rhs,((Lhs::Flags&RowMajorBit)==0) ? 1 : Dynamic>::type RhsNested;
-    LhsNested lhsNested(lhs);
-    RhsNested rhsNested(rhs);
-    internal::sparse_time_dense_product(lhsNested, rhsNested, dst, alpha);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductType>
-struct generic_product_impl<Lhs, Rhs, SparseTriangularShape, DenseShape, ProductType>
-  : generic_product_impl<Lhs, Rhs, SparseShape, DenseShape, ProductType>
-{};
-
-template<typename Lhs, typename Rhs, int ProductType>
-struct generic_product_impl<Lhs, Rhs, DenseShape, SparseShape, ProductType>
-  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,SparseShape,ProductType> >
-{
-  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
-  template<typename Dst>
-  static void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-  {
-    typedef typename nested_eval<Lhs,((Rhs::Flags&RowMajorBit)==0) ? Dynamic : 1>::type LhsNested;
-    typedef typename nested_eval<Rhs,((Lhs::Flags&RowMajorBit)==RowMajorBit) ? 1 : Lhs::RowsAtCompileTime>::type RhsNested;
-    LhsNested lhsNested(lhs);
-    RhsNested rhsNested(rhs);
-    
-    // transpose everything
-    Transpose<Dst> dstT(dst);
-    internal::sparse_time_dense_product(rhsNested.transpose(), lhsNested.transpose(), dstT, alpha);
-  }
-};
-
-template<typename Lhs, typename Rhs, int ProductType>
-struct generic_product_impl<Lhs, Rhs, DenseShape, SparseTriangularShape, ProductType>
-  : generic_product_impl<Lhs, Rhs, DenseShape, SparseShape, ProductType>
-{};
-
-template<typename LhsT, typename RhsT, bool NeedToTranspose>
-struct sparse_dense_outer_product_evaluator
-{
-protected:
-  typedef typename conditional<NeedToTranspose,RhsT,LhsT>::type Lhs1;
-  typedef typename conditional<NeedToTranspose,LhsT,RhsT>::type ActualRhs;
-  typedef Product<LhsT,RhsT,DefaultProduct> ProdXprType;
-  
-  // if the actual left-hand side is a dense vector,
-  // then build a sparse-view so that we can seamlessly iterate over it.
-  typedef typename conditional<is_same<typename internal::traits<Lhs1>::StorageKind,Sparse>::value,
-            Lhs1, SparseView<Lhs1> >::type ActualLhs;
-  typedef typename conditional<is_same<typename internal::traits<Lhs1>::StorageKind,Sparse>::value,
-            Lhs1 const&, SparseView<Lhs1> >::type LhsArg;
-            
-  typedef evaluator<ActualLhs> LhsEval;
-  typedef evaluator<ActualRhs> RhsEval;
-  typedef typename evaluator<ActualLhs>::InnerIterator LhsIterator;
-  typedef typename ProdXprType::Scalar Scalar;
-  
-public:
-  enum {
-    Flags = NeedToTranspose ? RowMajorBit : 0,
-    CoeffReadCost = HugeCost
-  };
-  
-  class InnerIterator : public LhsIterator
-  {
-  public:
-    InnerIterator(const sparse_dense_outer_product_evaluator &xprEval, Index outer)
-      : LhsIterator(xprEval.m_lhsXprImpl, 0),
-        m_outer(outer),
-        m_empty(false),
-        m_factor(get(xprEval.m_rhsXprImpl, outer, typename internal::traits<ActualRhs>::StorageKind() ))
-    {}
-    
-    EIGEN_STRONG_INLINE Index outer() const { return m_outer; }
-    EIGEN_STRONG_INLINE Index row()   const { return NeedToTranspose ? m_outer : LhsIterator::index(); }
-    EIGEN_STRONG_INLINE Index col()   const { return NeedToTranspose ? LhsIterator::index() : m_outer; }
-
-    EIGEN_STRONG_INLINE Scalar value() const { return LhsIterator::value() * m_factor; }
-    EIGEN_STRONG_INLINE operator bool() const { return LhsIterator::operator bool() && (!m_empty); }
-    
-  protected:
-    Scalar get(const RhsEval &rhs, Index outer, Dense = Dense()) const
-    {
-      return rhs.coeff(outer);
-    }
-    
-    Scalar get(const RhsEval &rhs, Index outer, Sparse = Sparse())
-    {
-      typename RhsEval::InnerIterator it(rhs, outer);
-      if (it && it.index()==0 && it.value()!=Scalar(0))
-        return it.value();
-      m_empty = true;
-      return Scalar(0);
-    }
-    
-    Index m_outer;
-    bool m_empty;
-    Scalar m_factor;
-  };
-  
-  sparse_dense_outer_product_evaluator(const Lhs1 &lhs, const ActualRhs &rhs)
-     : m_lhs(lhs), m_lhsXprImpl(m_lhs), m_rhsXprImpl(rhs)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  // transpose case
-  sparse_dense_outer_product_evaluator(const ActualRhs &rhs, const Lhs1 &lhs)
-     : m_lhs(lhs), m_lhsXprImpl(m_lhs), m_rhsXprImpl(rhs)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-    
-protected:
-  const LhsArg m_lhs;
-  evaluator<ActualLhs> m_lhsXprImpl;
-  evaluator<ActualRhs> m_rhsXprImpl;
-};
-
-// sparse * dense outer product
-template<typename Lhs, typename Rhs>
-struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, OuterProduct, SparseShape, DenseShape>
-  : sparse_dense_outer_product_evaluator<Lhs,Rhs, Lhs::IsRowMajor>
-{
-  typedef sparse_dense_outer_product_evaluator<Lhs,Rhs, Lhs::IsRowMajor> Base;
-  
-  typedef Product<Lhs, Rhs> XprType;
-  typedef typename XprType::PlainObject PlainObject;
-
-  explicit product_evaluator(const XprType& xpr)
-    : Base(xpr.lhs(), xpr.rhs())
-  {}
-  
-};
-
-template<typename Lhs, typename Rhs>
-struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, OuterProduct, DenseShape, SparseShape>
-  : sparse_dense_outer_product_evaluator<Lhs,Rhs, Rhs::IsRowMajor>
-{
-  typedef sparse_dense_outer_product_evaluator<Lhs,Rhs, Rhs::IsRowMajor> Base;
-  
-  typedef Product<Lhs, Rhs> XprType;
-  typedef typename XprType::PlainObject PlainObject;
-
-  explicit product_evaluator(const XprType& xpr)
-    : Base(xpr.lhs(), xpr.rhs())
-  {}
-  
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEDENSEPRODUCT_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h
deleted file mode 100644
index 941c03be3dea31..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h
+++ /dev/null
@@ -1,138 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_DIAGONAL_PRODUCT_H
-#define EIGEN_SPARSE_DIAGONAL_PRODUCT_H
-
-namespace Eigen { 
-
-// The product of a diagonal matrix with a sparse matrix can be easily
-// implemented using expression template.
-// We have two consider very different cases:
-// 1 - diag * row-major sparse
-//     => each inner vector <=> scalar * sparse vector product
-//     => so we can reuse CwiseUnaryOp::InnerIterator
-// 2 - diag * col-major sparse
-//     => each inner vector <=> densevector * sparse vector cwise product
-//     => again, we can reuse specialization of CwiseBinaryOp::InnerIterator
-//        for that particular case
-// The two other cases are symmetric.
-
-namespace internal {
-
-enum {
-  SDP_AsScalarProduct,
-  SDP_AsCwiseProduct
-};
-  
-template<typename SparseXprType, typename DiagonalCoeffType, int SDP_Tag>
-struct sparse_diagonal_product_evaluator;
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, ProductTag, DiagonalShape, SparseShape>
-  : public sparse_diagonal_product_evaluator<Rhs, typename Lhs::DiagonalVectorType, Rhs::Flags&RowMajorBit?SDP_AsScalarProduct:SDP_AsCwiseProduct>
-{
-  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
-  enum { CoeffReadCost = HugeCost, Flags = Rhs::Flags&RowMajorBit, Alignment = 0 }; // FIXME CoeffReadCost & Flags
-  
-  typedef sparse_diagonal_product_evaluator<Rhs, typename Lhs::DiagonalVectorType, Rhs::Flags&RowMajorBit?SDP_AsScalarProduct:SDP_AsCwiseProduct> Base;
-  explicit product_evaluator(const XprType& xpr) : Base(xpr.rhs(), xpr.lhs().diagonal()) {}
-};
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, ProductTag, SparseShape, DiagonalShape>
-  : public sparse_diagonal_product_evaluator<Lhs, Transpose<const typename Rhs::DiagonalVectorType>, Lhs::Flags&RowMajorBit?SDP_AsCwiseProduct:SDP_AsScalarProduct>
-{
-  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
-  enum { CoeffReadCost = HugeCost, Flags = Lhs::Flags&RowMajorBit, Alignment = 0 }; // FIXME CoeffReadCost & Flags
-  
-  typedef sparse_diagonal_product_evaluator<Lhs, Transpose<const typename Rhs::DiagonalVectorType>, Lhs::Flags&RowMajorBit?SDP_AsCwiseProduct:SDP_AsScalarProduct> Base;
-  explicit product_evaluator(const XprType& xpr) : Base(xpr.lhs(), xpr.rhs().diagonal().transpose()) {}
-};
-
-template<typename SparseXprType, typename DiagonalCoeffType>
-struct sparse_diagonal_product_evaluator<SparseXprType, DiagonalCoeffType, SDP_AsScalarProduct>
-{
-protected:
-  typedef typename evaluator<SparseXprType>::InnerIterator SparseXprInnerIterator;
-  typedef typename SparseXprType::Scalar Scalar;
-  
-public:
-  class InnerIterator : public SparseXprInnerIterator
-  {
-  public:
-    InnerIterator(const sparse_diagonal_product_evaluator &xprEval, Index outer)
-      : SparseXprInnerIterator(xprEval.m_sparseXprImpl, outer),
-        m_coeff(xprEval.m_diagCoeffImpl.coeff(outer))
-    {}
-    
-    EIGEN_STRONG_INLINE Scalar value() const { return m_coeff * SparseXprInnerIterator::value(); }
-  protected:
-    typename DiagonalCoeffType::Scalar m_coeff;
-  };
-  
-  sparse_diagonal_product_evaluator(const SparseXprType &sparseXpr, const DiagonalCoeffType &diagCoeff)
-    : m_sparseXprImpl(sparseXpr), m_diagCoeffImpl(diagCoeff)
-  {}
-
-  Index nonZerosEstimate() const { return m_sparseXprImpl.nonZerosEstimate(); }
-    
-protected:
-  evaluator<SparseXprType> m_sparseXprImpl;
-  evaluator<DiagonalCoeffType> m_diagCoeffImpl;
-};
-
-
-template<typename SparseXprType, typename DiagCoeffType>
-struct sparse_diagonal_product_evaluator<SparseXprType, DiagCoeffType, SDP_AsCwiseProduct>
-{
-  typedef typename SparseXprType::Scalar Scalar;
-  typedef typename SparseXprType::StorageIndex StorageIndex;
-  
-  typedef typename nested_eval<DiagCoeffType,SparseXprType::IsRowMajor ? SparseXprType::RowsAtCompileTime
-                                                                       : SparseXprType::ColsAtCompileTime>::type DiagCoeffNested;
-  
-  class InnerIterator
-  {
-    typedef typename evaluator<SparseXprType>::InnerIterator SparseXprIter;
-  public:
-    InnerIterator(const sparse_diagonal_product_evaluator &xprEval, Index outer)
-      : m_sparseIter(xprEval.m_sparseXprEval, outer), m_diagCoeffNested(xprEval.m_diagCoeffNested)
-    {}
-    
-    inline Scalar value() const { return m_sparseIter.value() * m_diagCoeffNested.coeff(index()); }
-    inline StorageIndex index() const  { return m_sparseIter.index(); }
-    inline Index outer() const  { return m_sparseIter.outer(); }
-    inline Index col() const    { return SparseXprType::IsRowMajor ? m_sparseIter.index() : m_sparseIter.outer(); }
-    inline Index row() const    { return SparseXprType::IsRowMajor ? m_sparseIter.outer() : m_sparseIter.index(); }
-    
-    EIGEN_STRONG_INLINE InnerIterator& operator++() { ++m_sparseIter; return *this; }
-    inline operator bool() const  { return m_sparseIter; }
-    
-  protected:
-    SparseXprIter m_sparseIter;
-    DiagCoeffNested m_diagCoeffNested;
-  };
-  
-  sparse_diagonal_product_evaluator(const SparseXprType &sparseXpr, const DiagCoeffType &diagCoeff)
-    : m_sparseXprEval(sparseXpr), m_diagCoeffNested(diagCoeff)
-  {}
-
-  Index nonZerosEstimate() const { return m_sparseXprEval.nonZerosEstimate(); }
-    
-protected:
-  evaluator<SparseXprType> m_sparseXprEval;
-  DiagCoeffNested m_diagCoeffNested;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_DIAGONAL_PRODUCT_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseDot.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseDot.h
deleted file mode 100644
index 38bc4aa9ea01f5..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseDot.h
+++ /dev/null
@@ -1,98 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_DOT_H
-#define EIGEN_SPARSE_DOT_H
-
-namespace Eigen { 
-
-template<typename Derived>
-template<typename OtherDerived>
-typename internal::traits<Derived>::Scalar
-SparseMatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-  eigen_assert(size() == other.size());
-  eigen_assert(other.size()>0 && "you are using a non initialized vector");
-
-  internal::evaluator<Derived> thisEval(derived());
-  typename internal::evaluator<Derived>::InnerIterator i(thisEval, 0);
-  Scalar res(0);
-  while (i)
-  {
-    res += numext::conj(i.value()) * other.coeff(i.index());
-    ++i;
-  }
-  return res;
-}
-
-template<typename Derived>
-template<typename OtherDerived>
-typename internal::traits<Derived>::Scalar
-SparseMatrixBase<Derived>::dot(const SparseMatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-  eigen_assert(size() == other.size());
-
-  internal::evaluator<Derived> thisEval(derived());
-  typename internal::evaluator<Derived>::InnerIterator i(thisEval, 0);
-  
-  internal::evaluator<OtherDerived>  otherEval(other.derived());
-  typename internal::evaluator<OtherDerived>::InnerIterator j(otherEval, 0);
-
-  Scalar res(0);
-  while (i && j)
-  {
-    if (i.index()==j.index())
-    {
-      res += numext::conj(i.value()) * j.value();
-      ++i; ++j;
-    }
-    else if (i.index()<j.index())
-      ++i;
-    else
-      ++j;
-  }
-  return res;
-}
-
-template<typename Derived>
-inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
-SparseMatrixBase<Derived>::squaredNorm() const
-{
-  return numext::real((*this).cwiseAbs2().sum());
-}
-
-template<typename Derived>
-inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
-SparseMatrixBase<Derived>::norm() const
-{
-  using std::sqrt;
-  return sqrt(squaredNorm());
-}
-
-template<typename Derived>
-inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
-SparseMatrixBase<Derived>::blueNorm() const
-{
-  return internal::blueNorm_impl(*this);
-}
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_DOT_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseFuzzy.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseFuzzy.h
deleted file mode 100644
index 7d47eb94d2fa07..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseFuzzy.h
+++ /dev/null
@@ -1,29 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_FUZZY_H
-#define EIGEN_SPARSE_FUZZY_H
-
-namespace Eigen {
-  
-template<typename Derived>
-template<typename OtherDerived>
-bool SparseMatrixBase<Derived>::isApprox(const SparseMatrixBase<OtherDerived>& other, const RealScalar &prec) const
-{
-  const typename internal::nested_eval<Derived,2,PlainObject>::type actualA(derived());
-  typename internal::conditional<bool(IsRowMajor)==bool(OtherDerived::IsRowMajor),
-    const typename internal::nested_eval<OtherDerived,2,PlainObject>::type,
-    const PlainObject>::type actualB(other.derived());
-
-  return (actualA - actualB).squaredNorm() <= prec * prec * numext::mini(actualA.squaredNorm(), actualB.squaredNorm());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_FUZZY_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseMap.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseMap.h
deleted file mode 100644
index f99be3379db2ac..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseMap.h
+++ /dev/null
@@ -1,305 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_MAP_H
-#define EIGEN_SPARSE_MAP_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-struct traits<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
-{
-  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
-  typedef traits<PlainObjectType> TraitsBase;
-  enum {
-    Flags = TraitsBase::Flags & (~NestByRefBit)
-  };
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-struct traits<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
-{
-  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
-  typedef traits<PlainObjectType> TraitsBase;
-  enum {
-    Flags = TraitsBase::Flags & (~ (NestByRefBit | LvalueBit))
-  };
-};
-
-} // end namespace internal
-
-template<typename Derived,
-         int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
-> class SparseMapBase;
-
-/** \ingroup SparseCore_Module
-  * class SparseMapBase
-  * \brief Common base class for Map and Ref instance of sparse matrix and vector.
-  */
-template<typename Derived>
-class SparseMapBase<Derived,ReadOnlyAccessors>
-  : public SparseCompressedBase<Derived>
-{
-  public:
-    typedef SparseCompressedBase<Derived> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::StorageIndex StorageIndex;
-    enum { IsRowMajor = Base::IsRowMajor };
-    using Base::operator=;
-  protected:
-    
-    typedef typename internal::conditional<
-                         bool(internal::is_lvalue<Derived>::value),
-                         Scalar *, const Scalar *>::type ScalarPointer;
-    typedef typename internal::conditional<
-                         bool(internal::is_lvalue<Derived>::value),
-                         StorageIndex *, const StorageIndex *>::type IndexPointer;
-
-    Index   m_outerSize;
-    Index   m_innerSize;
-    Array<StorageIndex,2,1>  m_zero_nnz;
-    IndexPointer  m_outerIndex;
-    IndexPointer  m_innerIndices;
-    ScalarPointer m_values;
-    IndexPointer  m_innerNonZeros;
-
-  public:
-
-    /** \copydoc SparseMatrixBase::rows() */
-    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
-    /** \copydoc SparseMatrixBase::cols() */
-    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
-    /** \copydoc SparseMatrixBase::innerSize() */
-    inline Index innerSize() const { return m_innerSize; }
-    /** \copydoc SparseMatrixBase::outerSize() */
-    inline Index outerSize() const { return m_outerSize; }
-    /** \copydoc SparseCompressedBase::nonZeros */
-    inline Index nonZeros() const { return m_zero_nnz[1]; }
-    
-    /** \copydoc SparseCompressedBase::isCompressed */
-    bool isCompressed() const { return m_innerNonZeros==0; }
-
-    //----------------------------------------
-    // direct access interface
-    /** \copydoc SparseMatrix::valuePtr */
-    inline const Scalar* valuePtr() const { return m_values; }
-    /** \copydoc SparseMatrix::innerIndexPtr */
-    inline const StorageIndex* innerIndexPtr() const { return m_innerIndices; }
-    /** \copydoc SparseMatrix::outerIndexPtr */
-    inline const StorageIndex* outerIndexPtr() const { return m_outerIndex; }
-    /** \copydoc SparseMatrix::innerNonZeroPtr */
-    inline const StorageIndex* innerNonZeroPtr() const { return m_innerNonZeros; }
-    //----------------------------------------
-
-    /** \copydoc SparseMatrix::coeff */
-    inline Scalar coeff(Index row, Index col) const
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      Index start = m_outerIndex[outer];
-      Index end = isCompressed() ? m_outerIndex[outer+1] : start + m_innerNonZeros[outer];
-      if (start==end)
-        return Scalar(0);
-      else if (end>0 && inner==m_innerIndices[end-1])
-        return m_values[end-1];
-      // ^^  optimization: let's first check if it is the last coefficient
-      // (very common in high level algorithms)
-
-      const StorageIndex* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end-1],inner);
-      const Index id = r-&m_innerIndices[0];
-      return ((*r==inner) && (id<end)) ? m_values[id] : Scalar(0);
-    }
-
-    inline SparseMapBase(Index rows, Index cols, Index nnz, IndexPointer outerIndexPtr, IndexPointer innerIndexPtr,
-                              ScalarPointer valuePtr, IndexPointer innerNonZerosPtr = 0)
-      : m_outerSize(IsRowMajor?rows:cols), m_innerSize(IsRowMajor?cols:rows), m_zero_nnz(0,internal::convert_index<StorageIndex>(nnz)), m_outerIndex(outerIndexPtr),
-        m_innerIndices(innerIndexPtr), m_values(valuePtr), m_innerNonZeros(innerNonZerosPtr)
-    {}
-
-    // for vectors
-    inline SparseMapBase(Index size, Index nnz, IndexPointer innerIndexPtr, ScalarPointer valuePtr)
-      : m_outerSize(1), m_innerSize(size), m_zero_nnz(0,internal::convert_index<StorageIndex>(nnz)), m_outerIndex(m_zero_nnz.data()),
-        m_innerIndices(innerIndexPtr), m_values(valuePtr), m_innerNonZeros(0)
-    {}
-
-    /** Empty destructor */
-    inline ~SparseMapBase() {}
-
-  protected:
-    inline SparseMapBase() {}
-};
-
-/** \ingroup SparseCore_Module
-  * class SparseMapBase
-  * \brief Common base class for writable Map and Ref instance of sparse matrix and vector.
-  */
-template<typename Derived>
-class SparseMapBase<Derived,WriteAccessors>
-  : public SparseMapBase<Derived,ReadOnlyAccessors>
-{
-    typedef MapBase<Derived, ReadOnlyAccessors> ReadOnlyMapBase;
-    
-  public:
-    typedef SparseMapBase<Derived, ReadOnlyAccessors> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::StorageIndex StorageIndex;
-    enum { IsRowMajor = Base::IsRowMajor };
-    
-    using Base::operator=;
-
-  public:
-    
-    //----------------------------------------
-    // direct access interface
-    using Base::valuePtr;
-    using Base::innerIndexPtr;
-    using Base::outerIndexPtr;
-    using Base::innerNonZeroPtr;
-    /** \copydoc SparseMatrix::valuePtr */
-    inline Scalar* valuePtr()              { return Base::m_values; }
-    /** \copydoc SparseMatrix::innerIndexPtr */
-    inline StorageIndex* innerIndexPtr()   { return Base::m_innerIndices; }
-    /** \copydoc SparseMatrix::outerIndexPtr */
-    inline StorageIndex* outerIndexPtr()   { return Base::m_outerIndex; }
-    /** \copydoc SparseMatrix::innerNonZeroPtr */
-    inline StorageIndex* innerNonZeroPtr() { return Base::m_innerNonZeros; }
-    //----------------------------------------
-
-    /** \copydoc SparseMatrix::coeffRef */
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      Index start = Base::m_outerIndex[outer];
-      Index end = Base::isCompressed() ? Base::m_outerIndex[outer+1] : start + Base::m_innerNonZeros[outer];
-      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
-      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
-      StorageIndex* r = std::lower_bound(&Base::m_innerIndices[start],&Base::m_innerIndices[end],inner);
-      const Index id = r - &Base::m_innerIndices[0];
-      eigen_assert((*r==inner) && (id<end) && "coeffRef cannot be called on a zero coefficient");
-      return const_cast<Scalar*>(Base::m_values)[id];
-    }
-    
-    inline SparseMapBase(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr, StorageIndex* innerIndexPtr,
-                         Scalar* valuePtr, StorageIndex* innerNonZerosPtr = 0)
-      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
-    {}
-
-    // for vectors
-    inline SparseMapBase(Index size, Index nnz, StorageIndex* innerIndexPtr, Scalar* valuePtr)
-      : Base(size, nnz, innerIndexPtr, valuePtr)
-    {}
-
-    /** Empty destructor */
-    inline ~SparseMapBase() {}
-
-  protected:
-    inline SparseMapBase() {}
-};
-
-/** \ingroup SparseCore_Module
-  *
-  * \brief Specialization of class Map for SparseMatrix-like storage.
-  *
-  * \tparam SparseMatrixType the equivalent sparse matrix type of the referenced data, it must be a template instance of class SparseMatrix.
-  *
-  * \sa class Map, class SparseMatrix, class Ref<SparseMatrixType,Options>
-  */
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-class Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
-  : public SparseMapBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-#else
-template<typename SparseMatrixType>
-class Map<SparseMatrixType>
-  : public SparseMapBase<Derived,WriteAccessors>
-#endif
-{
-  public:
-    typedef SparseMapBase<Map> Base;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Map)
-    enum { IsRowMajor = Base::IsRowMajor };
-
-  public:
-
-    /** Constructs a read-write Map to a sparse matrix of size \a rows x \a cols, containing \a nnz non-zero coefficients,
-      * stored as a sparse format as defined by the pointers \a outerIndexPtr, \a innerIndexPtr, and \a valuePtr.
-      * If the optional parameter \a innerNonZerosPtr is the null pointer, then a standard compressed format is assumed.
-      *
-      * This constructor is available only if \c SparseMatrixType is non-const.
-      *
-      * More details on the expected storage schemes are given in the \ref TutorialSparse "manual pages".
-      */
-    inline Map(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr,
-               StorageIndex* innerIndexPtr, Scalar* valuePtr, StorageIndex* innerNonZerosPtr = 0)
-      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
-    {}
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** Empty destructor */
-    inline ~Map() {}
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-class Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
-  : public SparseMapBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-{
-  public:
-    typedef SparseMapBase<Map> Base;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Map)
-    enum { IsRowMajor = Base::IsRowMajor };
-
-  public:
-#endif
-    /** This is the const version of the above constructor.
-      *
-      * This constructor is available only if \c SparseMatrixType is const, e.g.:
-      * \code Map<const SparseMatrix<double> >  \endcode
-      */
-    inline Map(Index rows, Index cols, Index nnz, const StorageIndex* outerIndexPtr,
-               const StorageIndex* innerIndexPtr, const Scalar* valuePtr, const StorageIndex* innerNonZerosPtr = 0)
-      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
-    {}
-
-    /** Empty destructor */
-    inline ~Map() {}
-};
-
-namespace internal {
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-struct evaluator<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-  : evaluator<SparseCompressedBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
-{
-  typedef evaluator<SparseCompressedBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
-  typedef Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
-  evaluator() : Base() {}
-  explicit evaluator(const XprType &mat) : Base(mat) {}
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-struct evaluator<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-  : evaluator<SparseCompressedBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
-{
-  typedef evaluator<SparseCompressedBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
-  typedef Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
-  evaluator() : Base() {}
-  explicit evaluator(const XprType &mat) : Base(mat) {}
-};
-
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_MAP_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseMatrix.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseMatrix.h
deleted file mode 100644
index 323c2323b5e6d6..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseMatrix.h
+++ /dev/null
@@ -1,1403 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEMATRIX_H
-#define EIGEN_SPARSEMATRIX_H
-
-namespace Eigen { 
-
-/** \ingroup SparseCore_Module
-  *
-  * \class SparseMatrix
-  *
-  * \brief A versatible sparse matrix representation
-  *
-  * This class implements a more versatile variants of the common \em compressed row/column storage format.
-  * Each colmun's (resp. row) non zeros are stored as a pair of value with associated row (resp. colmiun) index.
-  * All the non zeros are stored in a single large buffer. Unlike the \em compressed format, there might be extra
-  * space inbetween the nonzeros of two successive colmuns (resp. rows) such that insertion of new non-zero
-  * can be done with limited memory reallocation and copies.
-  *
-  * A call to the function makeCompressed() turns the matrix into the standard \em compressed format
-  * compatible with many library.
-  *
-  * More details on this storage sceheme are given in the \ref TutorialSparse "manual pages".
-  *
-  * \tparam _Scalar the scalar type, i.e. the type of the coefficients
-  * \tparam _Options Union of bit flags controlling the storage scheme. Currently the only possibility
-  *                 is ColMajor or RowMajor. The default is 0 which means column-major.
-  * \tparam _StorageIndex the type of the indices. It has to be a \b signed type (e.g., short, int, std::ptrdiff_t). Default is \c int.
-  *
-  * \warning In %Eigen 3.2, the undocumented type \c SparseMatrix::Index was improperly defined as the storage index type (e.g., int),
-  *          whereas it is now (starting from %Eigen 3.3) deprecated and always defined as Eigen::Index.
-  *          Codes making use of \c SparseMatrix::Index, might thus likely have to be changed to use \c SparseMatrix::StorageIndex instead.
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEMATRIX_PLUGIN.
-  */
-
-namespace internal {
-template<typename _Scalar, int _Options, typename _StorageIndex>
-struct traits<SparseMatrix<_Scalar, _Options, _StorageIndex> >
-{
-  typedef _Scalar Scalar;
-  typedef _StorageIndex StorageIndex;
-  typedef Sparse StorageKind;
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = Dynamic,
-    MaxRowsAtCompileTime = Dynamic,
-    MaxColsAtCompileTime = Dynamic,
-    Flags = _Options | NestByRefBit | LvalueBit | CompressedAccessBit,
-    SupportedAccessPatterns = InnerRandomAccessPattern
-  };
-};
-
-template<typename _Scalar, int _Options, typename _StorageIndex, int DiagIndex>
-struct traits<Diagonal<SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
-{
-  typedef SparseMatrix<_Scalar, _Options, _StorageIndex> MatrixType;
-  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
-
-  typedef _Scalar Scalar;
-  typedef Dense StorageKind;
-  typedef _StorageIndex StorageIndex;
-  typedef MatrixXpr XprKind;
-
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = 1,
-    MaxRowsAtCompileTime = Dynamic,
-    MaxColsAtCompileTime = 1,
-    Flags = LvalueBit
-  };
-};
-
-template<typename _Scalar, int _Options, typename _StorageIndex, int DiagIndex>
-struct traits<Diagonal<const SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
- : public traits<Diagonal<SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
-{
-  enum {
-    Flags = 0
-  };
-};
-
-} // end namespace internal
-
-template<typename _Scalar, int _Options, typename _StorageIndex>
-class SparseMatrix
-  : public SparseCompressedBase<SparseMatrix<_Scalar, _Options, _StorageIndex> >
-{
-    typedef SparseCompressedBase<SparseMatrix> Base;
-    using Base::convert_index;
-    friend class SparseVector<_Scalar,0,_StorageIndex>;
-  public:
-    using Base::isCompressed;
-    using Base::nonZeros;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseMatrix)
-    using Base::operator+=;
-    using Base::operator-=;
-
-    typedef MappedSparseMatrix<Scalar,Flags> Map;
-    typedef Diagonal<SparseMatrix> DiagonalReturnType;
-    typedef Diagonal<const SparseMatrix> ConstDiagonalReturnType;
-    typedef typename Base::InnerIterator InnerIterator;
-    typedef typename Base::ReverseInnerIterator ReverseInnerIterator;
-    
-
-    using Base::IsRowMajor;
-    typedef internal::CompressedStorage<Scalar,StorageIndex> Storage;
-    enum {
-      Options = _Options
-    };
-
-    typedef typename Base::IndexVector IndexVector;
-    typedef typename Base::ScalarVector ScalarVector;
-  protected:
-    typedef SparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
-
-    Index m_outerSize;
-    Index m_innerSize;
-    StorageIndex* m_outerIndex;
-    StorageIndex* m_innerNonZeros;     // optional, if null then the data is compressed
-    Storage m_data;
-
-  public:
-    
-    /** \returns the number of rows of the matrix */
-    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
-    /** \returns the number of columns of the matrix */
-    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
-
-    /** \returns the number of rows (resp. columns) of the matrix if the storage order column major (resp. row major) */
-    inline Index innerSize() const { return m_innerSize; }
-    /** \returns the number of columns (resp. rows) of the matrix if the storage order column major (resp. row major) */
-    inline Index outerSize() const { return m_outerSize; }
-    
-    /** \returns a const pointer to the array of values.
-      * This function is aimed at interoperability with other libraries.
-      * \sa innerIndexPtr(), outerIndexPtr() */
-    inline const Scalar* valuePtr() const { return m_data.valuePtr(); }
-    /** \returns a non-const pointer to the array of values.
-      * This function is aimed at interoperability with other libraries.
-      * \sa innerIndexPtr(), outerIndexPtr() */
-    inline Scalar* valuePtr() { return m_data.valuePtr(); }
-
-    /** \returns a const pointer to the array of inner indices.
-      * This function is aimed at interoperability with other libraries.
-      * \sa valuePtr(), outerIndexPtr() */
-    inline const StorageIndex* innerIndexPtr() const { return m_data.indexPtr(); }
-    /** \returns a non-const pointer to the array of inner indices.
-      * This function is aimed at interoperability with other libraries.
-      * \sa valuePtr(), outerIndexPtr() */
-    inline StorageIndex* innerIndexPtr() { return m_data.indexPtr(); }
-
-    /** \returns a const pointer to the array of the starting positions of the inner vectors.
-      * This function is aimed at interoperability with other libraries.
-      * \sa valuePtr(), innerIndexPtr() */
-    inline const StorageIndex* outerIndexPtr() const { return m_outerIndex; }
-    /** \returns a non-const pointer to the array of the starting positions of the inner vectors.
-      * This function is aimed at interoperability with other libraries.
-      * \sa valuePtr(), innerIndexPtr() */
-    inline StorageIndex* outerIndexPtr() { return m_outerIndex; }
-
-    /** \returns a const pointer to the array of the number of non zeros of the inner vectors.
-      * This function is aimed at interoperability with other libraries.
-      * \warning it returns the null pointer 0 in compressed mode */
-    inline const StorageIndex* innerNonZeroPtr() const { return m_innerNonZeros; }
-    /** \returns a non-const pointer to the array of the number of non zeros of the inner vectors.
-      * This function is aimed at interoperability with other libraries.
-      * \warning it returns the null pointer 0 in compressed mode */
-    inline StorageIndex* innerNonZeroPtr() { return m_innerNonZeros; }
-
-    /** \internal */
-    inline Storage& data() { return m_data; }
-    /** \internal */
-    inline const Storage& data() const { return m_data; }
-
-    /** \returns the value of the matrix at position \a i, \a j
-      * This function returns Scalar(0) if the element is an explicit \em zero */
-    inline Scalar coeff(Index row, Index col) const
-    {
-      eigen_assert(row>=0 && row<rows() && col>=0 && col<cols());
-      
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-      Index end = m_innerNonZeros ? m_outerIndex[outer] + m_innerNonZeros[outer] : m_outerIndex[outer+1];
-      return m_data.atInRange(m_outerIndex[outer], end, StorageIndex(inner));
-    }
-
-    /** \returns a non-const reference to the value of the matrix at position \a i, \a j
-      *
-      * If the element does not exist then it is inserted via the insert(Index,Index) function
-      * which itself turns the matrix into a non compressed form if that was not the case.
-      *
-      * This is a O(log(nnz_j)) operation (binary search) plus the cost of insert(Index,Index)
-      * function if the element does not already exist.
-      */
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      eigen_assert(row>=0 && row<rows() && col>=0 && col<cols());
-      
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      Index start = m_outerIndex[outer];
-      Index end = m_innerNonZeros ? m_outerIndex[outer] + m_innerNonZeros[outer] : m_outerIndex[outer+1];
-      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
-      if(end<=start)
-        return insert(row,col);
-      const Index p = m_data.searchLowerIndex(start,end-1,StorageIndex(inner));
-      if((p<end) && (m_data.index(p)==inner))
-        return m_data.value(p);
-      else
-        return insert(row,col);
-    }
-
-    /** \returns a reference to a novel non zero coefficient with coordinates \a row x \a col.
-      * The non zero coefficient must \b not already exist.
-      *
-      * If the matrix \c *this is in compressed mode, then \c *this is turned into uncompressed
-      * mode while reserving room for 2 x this->innerSize() non zeros if reserve(Index) has not been called earlier.
-      * In this case, the insertion procedure is optimized for a \e sequential insertion mode where elements are assumed to be
-      * inserted by increasing outer-indices.
-      * 
-      * If that's not the case, then it is strongly recommended to either use a triplet-list to assemble the matrix, or to first
-      * call reserve(const SizesType &) to reserve the appropriate number of non-zero elements per inner vector.
-      *
-      * Assuming memory has been appropriately reserved, this function performs a sorted insertion in O(1)
-      * if the elements of each inner vector are inserted in increasing inner index order, and in O(nnz_j) for a random insertion.
-      *
-      */
-    Scalar& insert(Index row, Index col);
-
-  public:
-
-    /** Removes all non zeros but keep allocated memory
-      *
-      * This function does not free the currently allocated memory. To release as much as memory as possible,
-      * call \code mat.data().squeeze(); \endcode after resizing it.
-      * 
-      * \sa resize(Index,Index), data()
-      */
-    inline void setZero()
-    {
-      m_data.clear();
-      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(StorageIndex));
-      if(m_innerNonZeros)
-        memset(m_innerNonZeros, 0, (m_outerSize)*sizeof(StorageIndex));
-    }
-
-    /** Preallocates \a reserveSize non zeros.
-      *
-      * Precondition: the matrix must be in compressed mode. */
-    inline void reserve(Index reserveSize)
-    {
-      eigen_assert(isCompressed() && "This function does not make sense in non compressed mode.");
-      m_data.reserve(reserveSize);
-    }
-    
-    #ifdef EIGEN_PARSED_BY_DOXYGEN
-    /** Preallocates \a reserveSize[\c j] non zeros for each column (resp. row) \c j.
-      *
-      * This function turns the matrix in non-compressed mode.
-      * 
-      * The type \c SizesType must expose the following interface:
-        \code
-        typedef value_type;
-        const value_type& operator[](i) const;
-        \endcode
-      * for \c i in the [0,this->outerSize()[ range.
-      * Typical choices include std::vector<int>, Eigen::VectorXi, Eigen::VectorXi::Constant, etc.
-      */
-    template<class SizesType>
-    inline void reserve(const SizesType& reserveSizes);
-    #else
-    template<class SizesType>
-    inline void reserve(const SizesType& reserveSizes, const typename SizesType::value_type& enableif =
-    #if (!EIGEN_COMP_MSVC) || (EIGEN_COMP_MSVC>=1500) // MSVC 2005 fails to compile with this typename
-        typename
-    #endif
-        SizesType::value_type())
-    {
-      EIGEN_UNUSED_VARIABLE(enableif);
-      reserveInnerVectors(reserveSizes);
-    }
-    #endif // EIGEN_PARSED_BY_DOXYGEN
-  protected:
-    template<class SizesType>
-    inline void reserveInnerVectors(const SizesType& reserveSizes)
-    {
-      if(isCompressed())
-      {
-        Index totalReserveSize = 0;
-        // turn the matrix into non-compressed mode
-        m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
-        if (!m_innerNonZeros) internal::throw_std_bad_alloc();
-        
-        // temporarily use m_innerSizes to hold the new starting points.
-        StorageIndex* newOuterIndex = m_innerNonZeros;
-        
-        StorageIndex count = 0;
-        for(Index j=0; j<m_outerSize; ++j)
-        {
-          newOuterIndex[j] = count;
-          count += reserveSizes[j] + (m_outerIndex[j+1]-m_outerIndex[j]);
-          totalReserveSize += reserveSizes[j];
-        }
-        m_data.reserve(totalReserveSize);
-        StorageIndex previousOuterIndex = m_outerIndex[m_outerSize];
-        for(Index j=m_outerSize-1; j>=0; --j)
-        {
-          StorageIndex innerNNZ = previousOuterIndex - m_outerIndex[j];
-          for(Index i=innerNNZ-1; i>=0; --i)
-          {
-            m_data.index(newOuterIndex[j]+i) = m_data.index(m_outerIndex[j]+i);
-            m_data.value(newOuterIndex[j]+i) = m_data.value(m_outerIndex[j]+i);
-          }
-          previousOuterIndex = m_outerIndex[j];
-          m_outerIndex[j] = newOuterIndex[j];
-          m_innerNonZeros[j] = innerNNZ;
-        }
-        m_outerIndex[m_outerSize] = m_outerIndex[m_outerSize-1] + m_innerNonZeros[m_outerSize-1] + reserveSizes[m_outerSize-1];
-        
-        m_data.resize(m_outerIndex[m_outerSize]);
-      }
-      else
-      {
-        StorageIndex* newOuterIndex = static_cast<StorageIndex*>(std::malloc((m_outerSize+1)*sizeof(StorageIndex)));
-        if (!newOuterIndex) internal::throw_std_bad_alloc();
-        
-        StorageIndex count = 0;
-        for(Index j=0; j<m_outerSize; ++j)
-        {
-          newOuterIndex[j] = count;
-          StorageIndex alreadyReserved = (m_outerIndex[j+1]-m_outerIndex[j]) - m_innerNonZeros[j];
-          StorageIndex toReserve = std::max<StorageIndex>(reserveSizes[j], alreadyReserved);
-          count += toReserve + m_innerNonZeros[j];
-        }
-        newOuterIndex[m_outerSize] = count;
-        
-        m_data.resize(count);
-        for(Index j=m_outerSize-1; j>=0; --j)
-        {
-          Index offset = newOuterIndex[j] - m_outerIndex[j];
-          if(offset>0)
-          {
-            StorageIndex innerNNZ = m_innerNonZeros[j];
-            for(Index i=innerNNZ-1; i>=0; --i)
-            {
-              m_data.index(newOuterIndex[j]+i) = m_data.index(m_outerIndex[j]+i);
-              m_data.value(newOuterIndex[j]+i) = m_data.value(m_outerIndex[j]+i);
-            }
-          }
-        }
-        
-        std::swap(m_outerIndex, newOuterIndex);
-        std::free(newOuterIndex);
-      }
-      
-    }
-  public:
-
-    //--- low level purely coherent filling ---
-
-    /** \internal
-      * \returns a reference to the non zero coefficient at position \a row, \a col assuming that:
-      * - the nonzero does not already exist
-      * - the new coefficient is the last one according to the storage order
-      *
-      * Before filling a given inner vector you must call the statVec(Index) function.
-      *
-      * After an insertion session, you should call the finalize() function.
-      *
-      * \sa insert, insertBackByOuterInner, startVec */
-    inline Scalar& insertBack(Index row, Index col)
-    {
-      return insertBackByOuterInner(IsRowMajor?row:col, IsRowMajor?col:row);
-    }
-
-    /** \internal
-      * \sa insertBack, startVec */
-    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
-    {
-      eigen_assert(Index(m_outerIndex[outer+1]) == m_data.size() && "Invalid ordered insertion (invalid outer index)");
-      eigen_assert( (m_outerIndex[outer+1]-m_outerIndex[outer]==0 || m_data.index(m_data.size()-1)<inner) && "Invalid ordered insertion (invalid inner index)");
-      Index p = m_outerIndex[outer+1];
-      ++m_outerIndex[outer+1];
-      m_data.append(Scalar(0), inner);
-      return m_data.value(p);
-    }
-
-    /** \internal
-      * \warning use it only if you know what you are doing */
-    inline Scalar& insertBackByOuterInnerUnordered(Index outer, Index inner)
-    {
-      Index p = m_outerIndex[outer+1];
-      ++m_outerIndex[outer+1];
-      m_data.append(Scalar(0), inner);
-      return m_data.value(p);
-    }
-
-    /** \internal
-      * \sa insertBack, insertBackByOuterInner */
-    inline void startVec(Index outer)
-    {
-      eigen_assert(m_outerIndex[outer]==Index(m_data.size()) && "You must call startVec for each inner vector sequentially");
-      eigen_assert(m_outerIndex[outer+1]==0 && "You must call startVec for each inner vector sequentially");
-      m_outerIndex[outer+1] = m_outerIndex[outer];
-    }
-
-    /** \internal
-      * Must be called after inserting a set of non zero entries using the low level compressed API.
-      */
-    inline void finalize()
-    {
-      if(isCompressed())
-      {
-        StorageIndex size = internal::convert_index<StorageIndex>(m_data.size());
-        Index i = m_outerSize;
-        // find the last filled column
-        while (i>=0 && m_outerIndex[i]==0)
-          --i;
-        ++i;
-        while (i<=m_outerSize)
-        {
-          m_outerIndex[i] = size;
-          ++i;
-        }
-      }
-    }
-
-    //---
-
-    template<typename InputIterators>
-    void setFromTriplets(const InputIterators& begin, const InputIterators& end);
-
-    template<typename InputIterators,typename DupFunctor>
-    void setFromTriplets(const InputIterators& begin, const InputIterators& end, DupFunctor dup_func);
-
-    void sumupDuplicates() { collapseDuplicates(internal::scalar_sum_op<Scalar,Scalar>()); }
-
-    template<typename DupFunctor>
-    void collapseDuplicates(DupFunctor dup_func = DupFunctor());
-
-    //---
-    
-    /** \internal
-      * same as insert(Index,Index) except that the indices are given relative to the storage order */
-    Scalar& insertByOuterInner(Index j, Index i)
-    {
-      return insert(IsRowMajor ? j : i, IsRowMajor ? i : j);
-    }
-
-    /** Turns the matrix into the \em compressed format.
-      */
-    void makeCompressed()
-    {
-      if(isCompressed())
-        return;
-      
-      eigen_internal_assert(m_outerIndex!=0 && m_outerSize>0);
-      
-      Index oldStart = m_outerIndex[1];
-      m_outerIndex[1] = m_innerNonZeros[0];
-      for(Index j=1; j<m_outerSize; ++j)
-      {
-        Index nextOldStart = m_outerIndex[j+1];
-        Index offset = oldStart - m_outerIndex[j];
-        if(offset>0)
-        {
-          for(Index k=0; k<m_innerNonZeros[j]; ++k)
-          {
-            m_data.index(m_outerIndex[j]+k) = m_data.index(oldStart+k);
-            m_data.value(m_outerIndex[j]+k) = m_data.value(oldStart+k);
-          }
-        }
-        m_outerIndex[j+1] = m_outerIndex[j] + m_innerNonZeros[j];
-        oldStart = nextOldStart;
-      }
-      std::free(m_innerNonZeros);
-      m_innerNonZeros = 0;
-      m_data.resize(m_outerIndex[m_outerSize]);
-      m_data.squeeze();
-    }
-
-    /** Turns the matrix into the uncompressed mode */
-    void uncompress()
-    {
-      if(m_innerNonZeros != 0)
-        return; 
-      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
-      for (Index i = 0; i < m_outerSize; i++)
-      {
-        m_innerNonZeros[i] = m_outerIndex[i+1] - m_outerIndex[i]; 
-      }
-    }
-    
-    /** Suppresses all nonzeros which are \b much \b smaller \b than \a reference under the tolerence \a epsilon */
-    void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
-    {
-      prune(default_prunning_func(reference,epsilon));
-    }
-    
-    /** Turns the matrix into compressed format, and suppresses all nonzeros which do not satisfy the predicate \a keep.
-      * The functor type \a KeepFunc must implement the following function:
-      * \code
-      * bool operator() (const Index& row, const Index& col, const Scalar& value) const;
-      * \endcode
-      * \sa prune(Scalar,RealScalar)
-      */
-    template<typename KeepFunc>
-    void prune(const KeepFunc& keep = KeepFunc())
-    {
-      // TODO optimize the uncompressed mode to avoid moving and allocating the data twice
-      makeCompressed();
-
-      StorageIndex k = 0;
-      for(Index j=0; j<m_outerSize; ++j)
-      {
-        Index previousStart = m_outerIndex[j];
-        m_outerIndex[j] = k;
-        Index end = m_outerIndex[j+1];
-        for(Index i=previousStart; i<end; ++i)
-        {
-          if(keep(IsRowMajor?j:m_data.index(i), IsRowMajor?m_data.index(i):j, m_data.value(i)))
-          {
-            m_data.value(k) = m_data.value(i);
-            m_data.index(k) = m_data.index(i);
-            ++k;
-          }
-        }
-      }
-      m_outerIndex[m_outerSize] = k;
-      m_data.resize(k,0);
-    }
-
-    /** Resizes the matrix to a \a rows x \a cols matrix leaving old values untouched.
-      *
-      * If the sizes of the matrix are decreased, then the matrix is turned to \b uncompressed-mode
-      * and the storage of the out of bounds coefficients is kept and reserved.
-      * Call makeCompressed() to pack the entries and squeeze extra memory.
-      *
-      * \sa reserve(), setZero(), makeCompressed()
-      */
-    void conservativeResize(Index rows, Index cols) 
-    {
-      // No change
-      if (this->rows() == rows && this->cols() == cols) return;
-      
-      // If one dimension is null, then there is nothing to be preserved
-      if(rows==0 || cols==0) return resize(rows,cols);
-
-      Index innerChange = IsRowMajor ? cols - this->cols() : rows - this->rows();
-      Index outerChange = IsRowMajor ? rows - this->rows() : cols - this->cols();
-      StorageIndex newInnerSize = convert_index(IsRowMajor ? cols : rows);
-
-      // Deals with inner non zeros
-      if (m_innerNonZeros)
-      {
-        // Resize m_innerNonZeros
-        StorageIndex *newInnerNonZeros = static_cast<StorageIndex*>(std::realloc(m_innerNonZeros, (m_outerSize + outerChange) * sizeof(StorageIndex)));
-        if (!newInnerNonZeros) internal::throw_std_bad_alloc();
-        m_innerNonZeros = newInnerNonZeros;
-        
-        for(Index i=m_outerSize; i<m_outerSize+outerChange; i++)          
-          m_innerNonZeros[i] = 0;
-      } 
-      else if (innerChange < 0) 
-      {
-        // Inner size decreased: allocate a new m_innerNonZeros
-        m_innerNonZeros = static_cast<StorageIndex*>(std::malloc((m_outerSize+outerChange+1) * sizeof(StorageIndex)));
-        if (!m_innerNonZeros) internal::throw_std_bad_alloc();
-        for(Index i = 0; i < m_outerSize; i++)
-          m_innerNonZeros[i] = m_outerIndex[i+1] - m_outerIndex[i];
-      }
-      
-      // Change the m_innerNonZeros in case of a decrease of inner size
-      if (m_innerNonZeros && innerChange < 0)
-      {
-        for(Index i = 0; i < m_outerSize + (std::min)(outerChange, Index(0)); i++)
-        {
-          StorageIndex &n = m_innerNonZeros[i];
-          StorageIndex start = m_outerIndex[i];
-          while (n > 0 && m_data.index(start+n-1) >= newInnerSize) --n; 
-        }
-      }
-      
-      m_innerSize = newInnerSize;
-
-      // Re-allocate outer index structure if necessary
-      if (outerChange == 0)
-        return;
-          
-      StorageIndex *newOuterIndex = static_cast<StorageIndex*>(std::realloc(m_outerIndex, (m_outerSize + outerChange + 1) * sizeof(StorageIndex)));
-      if (!newOuterIndex) internal::throw_std_bad_alloc();
-      m_outerIndex = newOuterIndex;
-      if (outerChange > 0)
-      {
-        StorageIndex last = m_outerSize == 0 ? 0 : m_outerIndex[m_outerSize];
-        for(Index i=m_outerSize; i<m_outerSize+outerChange+1; i++)          
-          m_outerIndex[i] = last; 
-      }
-      m_outerSize += outerChange;
-    }
-    
-    /** Resizes the matrix to a \a rows x \a cols matrix and initializes it to zero.
-      * 
-      * This function does not free the currently allocated memory. To release as much as memory as possible,
-      * call \code mat.data().squeeze(); \endcode after resizing it.
-      * 
-      * \sa reserve(), setZero()
-      */
-    void resize(Index rows, Index cols)
-    {
-      const Index outerSize = IsRowMajor ? rows : cols;
-      m_innerSize = IsRowMajor ? cols : rows;
-      m_data.clear();
-      if (m_outerSize != outerSize || m_outerSize==0)
-      {
-        std::free(m_outerIndex);
-        m_outerIndex = static_cast<StorageIndex*>(std::malloc((outerSize + 1) * sizeof(StorageIndex)));
-        if (!m_outerIndex) internal::throw_std_bad_alloc();
-        
-        m_outerSize = outerSize;
-      }
-      if(m_innerNonZeros)
-      {
-        std::free(m_innerNonZeros);
-        m_innerNonZeros = 0;
-      }
-      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(StorageIndex));
-    }
-
-    /** \internal
-      * Resize the nonzero vector to \a size */
-    void resizeNonZeros(Index size)
-    {
-      m_data.resize(size);
-    }
-
-    /** \returns a const expression of the diagonal coefficients. */
-    const ConstDiagonalReturnType diagonal() const { return ConstDiagonalReturnType(*this); }
-    
-    /** \returns a read-write expression of the diagonal coefficients.
-      * \warning If the diagonal entries are written, then all diagonal
-      * entries \b must already exist, otherwise an assertion will be raised.
-      */
-    DiagonalReturnType diagonal() { return DiagonalReturnType(*this); }
-
-    /** Default constructor yielding an empty \c 0 \c x \c 0 matrix */
-    inline SparseMatrix()
-      : m_outerSize(-1), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
-    {
-      check_template_parameters();
-      resize(0, 0);
-    }
-
-    /** Constructs a \a rows \c x \a cols empty matrix */
-    inline SparseMatrix(Index rows, Index cols)
-      : m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
-    {
-      check_template_parameters();
-      resize(rows, cols);
-    }
-
-    /** Constructs a sparse matrix from the sparse expression \a other */
-    template<typename OtherDerived>
-    inline SparseMatrix(const SparseMatrixBase<OtherDerived>& other)
-      : m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      check_template_parameters();
-      const bool needToTranspose = (Flags & RowMajorBit) != (internal::evaluator<OtherDerived>::Flags & RowMajorBit);
-      if (needToTranspose)
-        *this = other.derived();
-      else
-      {
-        #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
-          EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
-        #endif
-        internal::call_assignment_no_alias(*this, other.derived());
-      }
-    }
-    
-    /** Constructs a sparse matrix from the sparse selfadjoint view \a other */
-    template<typename OtherDerived, unsigned int UpLo>
-    inline SparseMatrix(const SparseSelfAdjointView<OtherDerived, UpLo>& other)
-      : m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
-    {
-      check_template_parameters();
-      Base::operator=(other);
-    }
-
-    /** Copy constructor (it performs a deep copy) */
-    inline SparseMatrix(const SparseMatrix& other)
-      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
-    {
-      check_template_parameters();
-      *this = other.derived();
-    }
-
-    /** \brief Copy constructor with in-place evaluation */
-    template<typename OtherDerived>
-    SparseMatrix(const ReturnByValue<OtherDerived>& other)
-      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
-    {
-      check_template_parameters();
-      initAssignment(other);
-      other.evalTo(*this);
-    }
-    
-    /** \brief Copy constructor with in-place evaluation */
-    template<typename OtherDerived>
-    explicit SparseMatrix(const DiagonalBase<OtherDerived>& other)
-      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
-    {
-      check_template_parameters();
-      *this = other.derived();
-    }
-
-    /** Swaps the content of two sparse matrices of the same type.
-      * This is a fast operation that simply swaps the underlying pointers and parameters. */
-    inline void swap(SparseMatrix& other)
-    {
-      //EIGEN_DBG_SPARSE(std::cout << "SparseMatrix:: swap\n");
-      std::swap(m_outerIndex, other.m_outerIndex);
-      std::swap(m_innerSize, other.m_innerSize);
-      std::swap(m_outerSize, other.m_outerSize);
-      std::swap(m_innerNonZeros, other.m_innerNonZeros);
-      m_data.swap(other.m_data);
-    }
-
-    /** Sets *this to the identity matrix.
-      * This function also turns the matrix into compressed mode, and drop any reserved memory. */
-    inline void setIdentity()
-    {
-      eigen_assert(rows() == cols() && "ONLY FOR SQUARED MATRICES");
-      this->m_data.resize(rows());
-      Eigen::Map<IndexVector>(this->m_data.indexPtr(), rows()).setLinSpaced(0, StorageIndex(rows()-1));
-      Eigen::Map<ScalarVector>(this->m_data.valuePtr(), rows()).setOnes();
-      Eigen::Map<IndexVector>(this->m_outerIndex, rows()+1).setLinSpaced(0, StorageIndex(rows()));
-      std::free(m_innerNonZeros);
-      m_innerNonZeros = 0;
-    }
-    inline SparseMatrix& operator=(const SparseMatrix& other)
-    {
-      if (other.isRValue())
-      {
-        swap(other.const_cast_derived());
-      }
-      else if(this!=&other)
-      {
-        #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
-          EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
-        #endif
-        initAssignment(other);
-        if(other.isCompressed())
-        {
-          internal::smart_copy(other.m_outerIndex, other.m_outerIndex + m_outerSize + 1, m_outerIndex);
-          m_data = other.m_data;
-        }
-        else
-        {
-          Base::operator=(other);
-        }
-      }
-      return *this;
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename OtherDerived>
-    inline SparseMatrix& operator=(const EigenBase<OtherDerived>& other)
-    { return Base::operator=(other.derived()); }
-#endif // EIGEN_PARSED_BY_DOXYGEN
-
-    template<typename OtherDerived>
-    EIGEN_DONT_INLINE SparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other);
-
-    friend std::ostream & operator << (std::ostream & s, const SparseMatrix& m)
-    {
-      EIGEN_DBG_SPARSE(
-        s << "Nonzero entries:\n";
-        if(m.isCompressed())
-        {
-          for (Index i=0; i<m.nonZeros(); ++i)
-            s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
-        }
-        else
-        {
-          for (Index i=0; i<m.outerSize(); ++i)
-          {
-            Index p = m.m_outerIndex[i];
-            Index pe = m.m_outerIndex[i]+m.m_innerNonZeros[i];
-            Index k=p;
-            for (; k<pe; ++k) {
-              s << "(" << m.m_data.value(k) << "," << m.m_data.index(k) << ") ";
-            }
-            for (; k<m.m_outerIndex[i+1]; ++k) {
-              s << "(_,_) ";
-            }
-          }
-        }
-        s << std::endl;
-        s << std::endl;
-        s << "Outer pointers:\n";
-        for (Index i=0; i<m.outerSize(); ++i) {
-          s << m.m_outerIndex[i] << " ";
-        }
-        s << " $" << std::endl;
-        if(!m.isCompressed())
-        {
-          s << "Inner non zeros:\n";
-          for (Index i=0; i<m.outerSize(); ++i) {
-            s << m.m_innerNonZeros[i] << " ";
-          }
-          s << " $" << std::endl;
-        }
-        s << std::endl;
-      );
-      s << static_cast<const SparseMatrixBase<SparseMatrix>&>(m);
-      return s;
-    }
-
-    /** Destructor */
-    inline ~SparseMatrix()
-    {
-      std::free(m_outerIndex);
-      std::free(m_innerNonZeros);
-    }
-
-    /** Overloaded for performance */
-    Scalar sum() const;
-    
-#   ifdef EIGEN_SPARSEMATRIX_PLUGIN
-#     include EIGEN_SPARSEMATRIX_PLUGIN
-#   endif
-
-protected:
-
-    template<typename Other>
-    void initAssignment(const Other& other)
-    {
-      resize(other.rows(), other.cols());
-      if(m_innerNonZeros)
-      {
-        std::free(m_innerNonZeros);
-        m_innerNonZeros = 0;
-      }
-    }
-
-    /** \internal
-      * \sa insert(Index,Index) */
-    EIGEN_DONT_INLINE Scalar& insertCompressed(Index row, Index col);
-
-    /** \internal
-      * A vector object that is equal to 0 everywhere but v at the position i */
-    class SingletonVector
-    {
-        StorageIndex m_index;
-        StorageIndex m_value;
-      public:
-        typedef StorageIndex value_type;
-        SingletonVector(Index i, Index v)
-          : m_index(convert_index(i)), m_value(convert_index(v))
-        {}
-
-        StorageIndex operator[](Index i) const { return i==m_index ? m_value : 0; }
-    };
-
-    /** \internal
-      * \sa insert(Index,Index) */
-    EIGEN_DONT_INLINE Scalar& insertUncompressed(Index row, Index col);
-
-public:
-    /** \internal
-      * \sa insert(Index,Index) */
-    EIGEN_STRONG_INLINE Scalar& insertBackUncompressed(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      eigen_assert(!isCompressed());
-      eigen_assert(m_innerNonZeros[outer]<=(m_outerIndex[outer+1] - m_outerIndex[outer]));
-
-      Index p = m_outerIndex[outer] + m_innerNonZeros[outer]++;
-      m_data.index(p) = convert_index(inner);
-      return (m_data.value(p) = 0);
-    }
-
-private:
-  static void check_template_parameters()
-  {
-    EIGEN_STATIC_ASSERT(NumTraits<StorageIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
-    EIGEN_STATIC_ASSERT((Options&(ColMajor|RowMajor))==Options,INVALID_MATRIX_TEMPLATE_PARAMETERS);
-  }
-
-  struct default_prunning_func {
-    default_prunning_func(const Scalar& ref, const RealScalar& eps) : reference(ref), epsilon(eps) {}
-    inline bool operator() (const Index&, const Index&, const Scalar& value) const
-    {
-      return !internal::isMuchSmallerThan(value, reference, epsilon);
-    }
-    Scalar reference;
-    RealScalar epsilon;
-  };
-};
-
-namespace internal {
-
-template<typename InputIterator, typename SparseMatrixType, typename DupFunctor>
-void set_from_triplets(const InputIterator& begin, const InputIterator& end, SparseMatrixType& mat, DupFunctor dup_func)
-{
-  enum { IsRowMajor = SparseMatrixType::IsRowMajor };
-  typedef typename SparseMatrixType::Scalar Scalar;
-  typedef typename SparseMatrixType::StorageIndex StorageIndex;
-  SparseMatrix<Scalar,IsRowMajor?ColMajor:RowMajor,StorageIndex> trMat(mat.rows(),mat.cols());
-
-  if(begin!=end)
-  {
-    // pass 1: count the nnz per inner-vector
-    typename SparseMatrixType::IndexVector wi(trMat.outerSize());
-    wi.setZero();
-    for(InputIterator it(begin); it!=end; ++it)
-    {
-      eigen_assert(it->row()>=0 && it->row()<mat.rows() && it->col()>=0 && it->col()<mat.cols());
-      wi(IsRowMajor ? it->col() : it->row())++;
-    }
-
-    // pass 2: insert all the elements into trMat
-    trMat.reserve(wi);
-    for(InputIterator it(begin); it!=end; ++it)
-      trMat.insertBackUncompressed(it->row(),it->col()) = it->value();
-
-    // pass 3:
-    trMat.collapseDuplicates(dup_func);
-  }
-
-  // pass 4: transposed copy -> implicit sorting
-  mat = trMat;
-}
-
-}
-
-
-/** Fill the matrix \c *this with the list of \em triplets defined by the iterator range \a begin - \a end.
-  *
-  * A \em triplet is a tuple (i,j,value) defining a non-zero element.
-  * The input list of triplets does not have to be sorted, and can contains duplicated elements.
-  * In any case, the result is a \b sorted and \b compressed sparse matrix where the duplicates have been summed up.
-  * This is a \em O(n) operation, with \em n the number of triplet elements.
-  * The initial contents of \c *this is destroyed.
-  * The matrix \c *this must be properly resized beforehand using the SparseMatrix(Index,Index) constructor,
-  * or the resize(Index,Index) method. The sizes are not extracted from the triplet list.
-  *
-  * The \a InputIterators value_type must provide the following interface:
-  * \code
-  * Scalar value() const; // the value
-  * Scalar row() const;   // the row index i
-  * Scalar col() const;   // the column index j
-  * \endcode
-  * See for instance the Eigen::Triplet template class.
-  *
-  * Here is a typical usage example:
-  * \code
-    typedef Triplet<double> T;
-    std::vector<T> tripletList;
-    triplets.reserve(estimation_of_entries);
-    for(...)
-    {
-      // ...
-      tripletList.push_back(T(i,j,v_ij));
-    }
-    SparseMatrixType m(rows,cols);
-    m.setFromTriplets(tripletList.begin(), tripletList.end());
-    // m is ready to go!
-  * \endcode
-  *
-  * \warning The list of triplets is read multiple times (at least twice). Therefore, it is not recommended to define
-  * an abstract iterator over a complex data-structure that would be expensive to evaluate. The triplets should rather
-  * be explicitely stored into a std::vector for instance.
-  */
-template<typename Scalar, int _Options, typename _StorageIndex>
-template<typename InputIterators>
-void SparseMatrix<Scalar,_Options,_StorageIndex>::setFromTriplets(const InputIterators& begin, const InputIterators& end)
-{
-  internal::set_from_triplets<InputIterators, SparseMatrix<Scalar,_Options,_StorageIndex> >(begin, end, *this, internal::scalar_sum_op<Scalar,Scalar>());
-}
-
-/** The same as setFromTriplets but when duplicates are met the functor \a dup_func is applied:
-  * \code
-  * value = dup_func(OldValue, NewValue)
-  * \endcode 
-  * Here is a C++11 example keeping the latest entry only:
-  * \code
-  * mat.setFromTriplets(triplets.begin(), triplets.end(), [] (const Scalar&,const Scalar &b) { return b; });
-  * \endcode
-  */
-template<typename Scalar, int _Options, typename _StorageIndex>
-template<typename InputIterators,typename DupFunctor>
-void SparseMatrix<Scalar,_Options,_StorageIndex>::setFromTriplets(const InputIterators& begin, const InputIterators& end, DupFunctor dup_func)
-{
-  internal::set_from_triplets<InputIterators, SparseMatrix<Scalar,_Options,_StorageIndex>, DupFunctor>(begin, end, *this, dup_func);
-}
-
-/** \internal */
-template<typename Scalar, int _Options, typename _StorageIndex>
-template<typename DupFunctor>
-void SparseMatrix<Scalar,_Options,_StorageIndex>::collapseDuplicates(DupFunctor dup_func)
-{
-  eigen_assert(!isCompressed());
-  // TODO, in practice we should be able to use m_innerNonZeros for that task
-  IndexVector wi(innerSize());
-  wi.fill(-1);
-  StorageIndex count = 0;
-  // for each inner-vector, wi[inner_index] will hold the position of first element into the index/value buffers
-  for(Index j=0; j<outerSize(); ++j)
-  {
-    StorageIndex start   = count;
-    Index oldEnd  = m_outerIndex[j]+m_innerNonZeros[j];
-    for(Index k=m_outerIndex[j]; k<oldEnd; ++k)
-    {
-      Index i = m_data.index(k);
-      if(wi(i)>=start)
-      {
-        // we already meet this entry => accumulate it
-        m_data.value(wi(i)) = dup_func(m_data.value(wi(i)), m_data.value(k));
-      }
-      else
-      {
-        m_data.value(count) = m_data.value(k);
-        m_data.index(count) = m_data.index(k);
-        wi(i) = count;
-        ++count;
-      }
-    }
-    m_outerIndex[j] = start;
-  }
-  m_outerIndex[m_outerSize] = count;
-
-  // turn the matrix into compressed form
-  std::free(m_innerNonZeros);
-  m_innerNonZeros = 0;
-  m_data.resize(m_outerIndex[m_outerSize]);
-}
-
-template<typename Scalar, int _Options, typename _StorageIndex>
-template<typename OtherDerived>
-EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_StorageIndex>& SparseMatrix<Scalar,_Options,_StorageIndex>::operator=(const SparseMatrixBase<OtherDerived>& other)
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-  #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
-    EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
-  #endif
-      
-  const bool needToTranspose = (Flags & RowMajorBit) != (internal::evaluator<OtherDerived>::Flags & RowMajorBit);
-  if (needToTranspose)
-  {
-    #ifdef EIGEN_SPARSE_TRANSPOSED_COPY_PLUGIN
-      EIGEN_SPARSE_TRANSPOSED_COPY_PLUGIN
-    #endif
-    // two passes algorithm:
-    //  1 - compute the number of coeffs per dest inner vector
-    //  2 - do the actual copy/eval
-    // Since each coeff of the rhs has to be evaluated twice, let's evaluate it if needed
-    typedef typename internal::nested_eval<OtherDerived,2,typename internal::plain_matrix_type<OtherDerived>::type >::type OtherCopy;
-    typedef typename internal::remove_all<OtherCopy>::type _OtherCopy;
-    typedef internal::evaluator<_OtherCopy> OtherCopyEval;
-    OtherCopy otherCopy(other.derived());
-    OtherCopyEval otherCopyEval(otherCopy);
-
-    SparseMatrix dest(other.rows(),other.cols());
-    Eigen::Map<IndexVector> (dest.m_outerIndex,dest.outerSize()).setZero();
-
-    // pass 1
-    // FIXME the above copy could be merged with that pass
-    for (Index j=0; j<otherCopy.outerSize(); ++j)
-      for (typename OtherCopyEval::InnerIterator it(otherCopyEval, j); it; ++it)
-        ++dest.m_outerIndex[it.index()];
-
-    // prefix sum
-    StorageIndex count = 0;
-    IndexVector positions(dest.outerSize());
-    for (Index j=0; j<dest.outerSize(); ++j)
-    {
-      StorageIndex tmp = dest.m_outerIndex[j];
-      dest.m_outerIndex[j] = count;
-      positions[j] = count;
-      count += tmp;
-    }
-    dest.m_outerIndex[dest.outerSize()] = count;
-    // alloc
-    dest.m_data.resize(count);
-    // pass 2
-    for (StorageIndex j=0; j<otherCopy.outerSize(); ++j)
-    {
-      for (typename OtherCopyEval::InnerIterator it(otherCopyEval, j); it; ++it)
-      {
-        Index pos = positions[it.index()]++;
-        dest.m_data.index(pos) = j;
-        dest.m_data.value(pos) = it.value();
-      }
-    }
-    this->swap(dest);
-    return *this;
-  }
-  else
-  {
-    if(other.isRValue())
-    {
-      initAssignment(other.derived());
-    }
-    // there is no special optimization
-    return Base::operator=(other.derived());
-  }
-}
-
-template<typename _Scalar, int _Options, typename _StorageIndex>
-typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insert(Index row, Index col)
-{
-  eigen_assert(row>=0 && row<rows() && col>=0 && col<cols());
-  
-  const Index outer = IsRowMajor ? row : col;
-  const Index inner = IsRowMajor ? col : row;
-  
-  if(isCompressed())
-  {
-    if(nonZeros()==0)
-    {
-      // reserve space if not already done
-      if(m_data.allocatedSize()==0)
-        m_data.reserve(2*m_innerSize);
-      
-      // turn the matrix into non-compressed mode
-      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
-      if(!m_innerNonZeros) internal::throw_std_bad_alloc();
-      
-      memset(m_innerNonZeros, 0, (m_outerSize)*sizeof(StorageIndex));
-      
-      // pack all inner-vectors to the end of the pre-allocated space
-      // and allocate the entire free-space to the first inner-vector
-      StorageIndex end = convert_index(m_data.allocatedSize());
-      for(Index j=1; j<=m_outerSize; ++j)
-        m_outerIndex[j] = end;
-    }
-    else
-    {
-      // turn the matrix into non-compressed mode
-      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
-      if(!m_innerNonZeros) internal::throw_std_bad_alloc();
-      for(Index j=0; j<m_outerSize; ++j)
-        m_innerNonZeros[j] = m_outerIndex[j+1]-m_outerIndex[j];
-    }
-  }
-  
-  // check whether we can do a fast "push back" insertion
-  Index data_end = m_data.allocatedSize();
-  
-  // First case: we are filling a new inner vector which is packed at the end.
-  // We assume that all remaining inner-vectors are also empty and packed to the end.
-  if(m_outerIndex[outer]==data_end)
-  {
-    eigen_internal_assert(m_innerNonZeros[outer]==0);
-    
-    // pack previous empty inner-vectors to end of the used-space
-    // and allocate the entire free-space to the current inner-vector.
-    StorageIndex p = convert_index(m_data.size());
-    Index j = outer;
-    while(j>=0 && m_innerNonZeros[j]==0)
-      m_outerIndex[j--] = p;
-    
-    // push back the new element
-    ++m_innerNonZeros[outer];
-    m_data.append(Scalar(0), inner);
-    
-    // check for reallocation
-    if(data_end != m_data.allocatedSize())
-    {
-      // m_data has been reallocated
-      //  -> move remaining inner-vectors back to the end of the free-space
-      //     so that the entire free-space is allocated to the current inner-vector.
-      eigen_internal_assert(data_end < m_data.allocatedSize());
-      StorageIndex new_end = convert_index(m_data.allocatedSize());
-      for(Index k=outer+1; k<=m_outerSize; ++k)
-        if(m_outerIndex[k]==data_end)
-          m_outerIndex[k] = new_end;
-    }
-    return m_data.value(p);
-  }
-  
-  // Second case: the next inner-vector is packed to the end
-  // and the current inner-vector end match the used-space.
-  if(m_outerIndex[outer+1]==data_end && m_outerIndex[outer]+m_innerNonZeros[outer]==m_data.size())
-  {
-    eigen_internal_assert(outer+1==m_outerSize || m_innerNonZeros[outer+1]==0);
-    
-    // add space for the new element
-    ++m_innerNonZeros[outer];
-    m_data.resize(m_data.size()+1);
-    
-    // check for reallocation
-    if(data_end != m_data.allocatedSize())
-    {
-      // m_data has been reallocated
-      //  -> move remaining inner-vectors back to the end of the free-space
-      //     so that the entire free-space is allocated to the current inner-vector.
-      eigen_internal_assert(data_end < m_data.allocatedSize());
-      StorageIndex new_end = convert_index(m_data.allocatedSize());
-      for(Index k=outer+1; k<=m_outerSize; ++k)
-        if(m_outerIndex[k]==data_end)
-          m_outerIndex[k] = new_end;
-    }
-    
-    // and insert it at the right position (sorted insertion)
-    Index startId = m_outerIndex[outer];
-    Index p = m_outerIndex[outer]+m_innerNonZeros[outer]-1;
-    while ( (p > startId) && (m_data.index(p-1) > inner) )
-    {
-      m_data.index(p) = m_data.index(p-1);
-      m_data.value(p) = m_data.value(p-1);
-      --p;
-    }
-    
-    m_data.index(p) = convert_index(inner);
-    return (m_data.value(p) = 0);
-  }
-  
-  if(m_data.size() != m_data.allocatedSize())
-  {
-    // make sure the matrix is compatible to random un-compressed insertion:
-    m_data.resize(m_data.allocatedSize());
-    this->reserveInnerVectors(Array<StorageIndex,Dynamic,1>::Constant(m_outerSize, 2));
-  }
-  
-  return insertUncompressed(row,col);
-}
-    
-template<typename _Scalar, int _Options, typename _StorageIndex>
-EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insertUncompressed(Index row, Index col)
-{
-  eigen_assert(!isCompressed());
-
-  const Index outer = IsRowMajor ? row : col;
-  const StorageIndex inner = convert_index(IsRowMajor ? col : row);
-
-  Index room = m_outerIndex[outer+1] - m_outerIndex[outer];
-  StorageIndex innerNNZ = m_innerNonZeros[outer];
-  if(innerNNZ>=room)
-  {
-    // this inner vector is full, we need to reallocate the whole buffer :(
-    reserve(SingletonVector(outer,std::max<StorageIndex>(2,innerNNZ)));
-  }
-
-  Index startId = m_outerIndex[outer];
-  Index p = startId + m_innerNonZeros[outer];
-  while ( (p > startId) && (m_data.index(p-1) > inner) )
-  {
-    m_data.index(p) = m_data.index(p-1);
-    m_data.value(p) = m_data.value(p-1);
-    --p;
-  }
-  eigen_assert((p<=startId || m_data.index(p-1)!=inner) && "you cannot insert an element that already exists, you must call coeffRef to this end");
-
-  m_innerNonZeros[outer]++;
-
-  m_data.index(p) = inner;
-  return (m_data.value(p) = 0);
-}
-
-template<typename _Scalar, int _Options, typename _StorageIndex>
-EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insertCompressed(Index row, Index col)
-{
-  eigen_assert(isCompressed());
-
-  const Index outer = IsRowMajor ? row : col;
-  const Index inner = IsRowMajor ? col : row;
-
-  Index previousOuter = outer;
-  if (m_outerIndex[outer+1]==0)
-  {
-    // we start a new inner vector
-    while (previousOuter>=0 && m_outerIndex[previousOuter]==0)
-    {
-      m_outerIndex[previousOuter] = convert_index(m_data.size());
-      --previousOuter;
-    }
-    m_outerIndex[outer+1] = m_outerIndex[outer];
-  }
-
-  // here we have to handle the tricky case where the outerIndex array
-  // starts with: [ 0 0 0 0 0 1 ...] and we are inserted in, e.g.,
-  // the 2nd inner vector...
-  bool isLastVec = (!(previousOuter==-1 && m_data.size()!=0))
-                && (std::size_t(m_outerIndex[outer+1]) == m_data.size());
-
-  std::size_t startId = m_outerIndex[outer];
-  // FIXME let's make sure sizeof(long int) == sizeof(std::size_t)
-  std::size_t p = m_outerIndex[outer+1];
-  ++m_outerIndex[outer+1];
-
-  double reallocRatio = 1;
-  if (m_data.allocatedSize()<=m_data.size())
-  {
-    // if there is no preallocated memory, let's reserve a minimum of 32 elements
-    if (m_data.size()==0)
-    {
-      m_data.reserve(32);
-    }
-    else
-    {
-      // we need to reallocate the data, to reduce multiple reallocations
-      // we use a smart resize algorithm based on the current filling ratio
-      // in addition, we use double to avoid integers overflows
-      double nnzEstimate = double(m_outerIndex[outer])*double(m_outerSize)/double(outer+1);
-      reallocRatio = (nnzEstimate-double(m_data.size()))/double(m_data.size());
-      // furthermore we bound the realloc ratio to:
-      //   1) reduce multiple minor realloc when the matrix is almost filled
-      //   2) avoid to allocate too much memory when the matrix is almost empty
-      reallocRatio = (std::min)((std::max)(reallocRatio,1.5),8.);
-    }
-  }
-  m_data.resize(m_data.size()+1,reallocRatio);
-
-  if (!isLastVec)
-  {
-    if (previousOuter==-1)
-    {
-      // oops wrong guess.
-      // let's correct the outer offsets
-      for (Index k=0; k<=(outer+1); ++k)
-        m_outerIndex[k] = 0;
-      Index k=outer+1;
-      while(m_outerIndex[k]==0)
-        m_outerIndex[k++] = 1;
-      while (k<=m_outerSize && m_outerIndex[k]!=0)
-        m_outerIndex[k++]++;
-      p = 0;
-      --k;
-      k = m_outerIndex[k]-1;
-      while (k>0)
-      {
-        m_data.index(k) = m_data.index(k-1);
-        m_data.value(k) = m_data.value(k-1);
-        k--;
-      }
-    }
-    else
-    {
-      // we are not inserting into the last inner vec
-      // update outer indices:
-      Index j = outer+2;
-      while (j<=m_outerSize && m_outerIndex[j]!=0)
-        m_outerIndex[j++]++;
-      --j;
-      // shift data of last vecs:
-      Index k = m_outerIndex[j]-1;
-      while (k>=Index(p))
-      {
-        m_data.index(k) = m_data.index(k-1);
-        m_data.value(k) = m_data.value(k-1);
-        k--;
-      }
-    }
-  }
-
-  while ( (p > startId) && (m_data.index(p-1) > inner) )
-  {
-    m_data.index(p) = m_data.index(p-1);
-    m_data.value(p) = m_data.value(p-1);
-    --p;
-  }
-
-  m_data.index(p) = inner;
-  return (m_data.value(p) = 0);
-}
-
-namespace internal {
-
-template<typename _Scalar, int _Options, typename _StorageIndex>
-struct evaluator<SparseMatrix<_Scalar,_Options,_StorageIndex> >
-  : evaluator<SparseCompressedBase<SparseMatrix<_Scalar,_Options,_StorageIndex> > >
-{
-  typedef evaluator<SparseCompressedBase<SparseMatrix<_Scalar,_Options,_StorageIndex> > > Base;
-  typedef SparseMatrix<_Scalar,_Options,_StorageIndex> SparseMatrixType;
-  evaluator() : Base() {}
-  explicit evaluator(const SparseMatrixType &mat) : Base(mat) {}
-};
-
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEMATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseMatrixBase.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseMatrixBase.h
deleted file mode 100644
index c6b548f11adb4e..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseMatrixBase.h
+++ /dev/null
@@ -1,405 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEMATRIXBASE_H
-#define EIGEN_SPARSEMATRIXBASE_H
-
-namespace Eigen { 
-
-/** \ingroup SparseCore_Module
-  *
-  * \class SparseMatrixBase
-  *
-  * \brief Base class of any sparse matrices or sparse expressions
-  *
-  * \tparam Derived is the derived type, e.g. a sparse matrix type, or an expression, etc.
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEMATRIXBASE_PLUGIN.
-  */
-template<typename Derived> class SparseMatrixBase
-  : public EigenBase<Derived>
-{
-  public:
-
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    
-    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc.
-      *
-      * It is an alias for the Scalar type */
-    typedef Scalar value_type;
-    
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-
-    /** The integer type used to \b store indices within a SparseMatrix.
-      * For a \c SparseMatrix<Scalar,Options,IndexType> it an alias of the third template parameter \c IndexType. */
-    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
-
-    typedef typename internal::add_const_on_value_type_if_arithmetic<
-                         typename internal::packet_traits<Scalar>::type
-                     >::type PacketReturnType;
-
-    typedef SparseMatrixBase StorageBaseType;
-
-    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
-    typedef Matrix<Scalar,Dynamic,1> ScalarVector;
-    
-    template<typename OtherDerived>
-    Derived& operator=(const EigenBase<OtherDerived> &other);
-
-    enum {
-
-      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
-        /**< The number of rows at compile-time. This is just a copy of the value provided
-          * by the \a Derived type. If a value is not known at compile-time,
-          * it is set to the \a Dynamic constant.
-          * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
-
-      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
-        /**< The number of columns at compile-time. This is just a copy of the value provided
-          * by the \a Derived type. If a value is not known at compile-time,
-          * it is set to the \a Dynamic constant.
-          * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
-
-
-      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
-                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
-        /**< This is equal to the number of coefficients, i.e. the number of
-          * rows times the number of columns, or to \a Dynamic if this is not
-          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
-
-      MaxRowsAtCompileTime = RowsAtCompileTime,
-      MaxColsAtCompileTime = ColsAtCompileTime,
-
-      MaxSizeAtCompileTime = (internal::size_at_compile_time<MaxRowsAtCompileTime,
-                                                      MaxColsAtCompileTime>::ret),
-
-      IsVectorAtCompileTime = RowsAtCompileTime == 1 || ColsAtCompileTime == 1,
-        /**< This is set to true if either the number of rows or the number of
-          * columns is known at compile-time to be equal to 1. Indeed, in that case,
-          * we are dealing with a column-vector (if there is only one column) or with
-          * a row-vector (if there is only one row). */
-
-      Flags = internal::traits<Derived>::Flags,
-        /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
-          * constructed from this one. See the \ref flags "list of flags".
-          */
-
-      IsRowMajor = Flags&RowMajorBit ? 1 : 0,
-      
-      InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
-                             : int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
-
-      #ifndef EIGEN_PARSED_BY_DOXYGEN
-      _HasDirectAccess = (int(Flags)&DirectAccessBit) ? 1 : 0 // workaround sunCC
-      #endif
-    };
-
-    /** \internal the return type of MatrixBase::adjoint() */
-    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, Eigen::Transpose<const Derived> >,
-                        Transpose<const Derived>
-                     >::type AdjointReturnType;
-    typedef Transpose<Derived> TransposeReturnType;
-    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
-
-    // FIXME storage order do not match evaluator storage order
-    typedef SparseMatrix<Scalar, Flags&RowMajorBit ? RowMajor : ColMajor, StorageIndex> PlainObject;
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is the "real scalar" type; if the \a Scalar type is already real numbers
-      * (e.g. int, float or double) then \a RealScalar is just the same as \a Scalar. If
-      * \a Scalar is \a std::complex<T> then RealScalar is \a T.
-      *
-      * \sa class NumTraits
-      */
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    /** \internal the return type of coeff()
-      */
-    typedef typename internal::conditional<_HasDirectAccess, const Scalar&, Scalar>::type CoeffReturnType;
-
-    /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Matrix<Scalar,Dynamic,Dynamic> > ConstantReturnType;
-
-    /** type of the equivalent dense matrix */
-    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
-    /** type of the equivalent square matrix */
-    typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
-                          EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
-
-    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    inline Derived& derived() { return *static_cast<Derived*>(this); }
-    inline Derived& const_cast_derived() const
-    { return *static_cast<Derived*>(const_cast<SparseMatrixBase*>(this)); }
-
-    typedef EigenBase<Derived> Base;
-
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::SparseMatrixBase
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-#define EIGEN_DOC_UNARY_ADDONS(METHOD,OP)           /** <p>This method does not change the sparsity of \c *this: the OP is applied to explicitly stored coefficients only. \sa SparseCompressedBase::coeffs() </p> */
-#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL      /** <p> \warning This method returns a read-only expression for any sparse matrices. \sa \ref TutorialSparse_SubMatrices "Sparse block operations" </p> */
-#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND) /** <p> \warning This method returns a read-write expression for COND sparse matrices only. Otherwise, the returned expression is read-only. \sa \ref TutorialSparse_SubMatrices "Sparse block operations" </p> */
-#else
-#define EIGEN_DOC_UNARY_ADDONS(X,Y)
-#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND)
-#endif
-#   include "../plugins/CommonCwiseUnaryOps.h"
-#   include "../plugins/CommonCwiseBinaryOps.h"
-#   include "../plugins/MatrixCwiseUnaryOps.h"
-#   include "../plugins/MatrixCwiseBinaryOps.h"
-#   include "../plugins/BlockMethods.h"
-#   ifdef EIGEN_SPARSEMATRIXBASE_PLUGIN
-#     include EIGEN_SPARSEMATRIXBASE_PLUGIN
-#   endif
-#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
-#undef EIGEN_DOC_UNARY_ADDONS
-#undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-#undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF
-
-    /** \returns the number of rows. \sa cols() */
-    inline Index rows() const { return derived().rows(); }
-    /** \returns the number of columns. \sa rows() */
-    inline Index cols() const { return derived().cols(); }
-    /** \returns the number of coefficients, which is \a rows()*cols().
-      * \sa rows(), cols(). */
-    inline Index size() const { return rows() * cols(); }
-    /** \returns true if either the number of rows or the number of columns is equal to 1.
-      * In other words, this function returns
-      * \code rows()==1 || cols()==1 \endcode
-      * \sa rows(), cols(), IsVectorAtCompileTime. */
-    inline bool isVector() const { return rows()==1 || cols()==1; }
-    /** \returns the size of the storage major dimension,
-      * i.e., the number of columns for a columns major matrix, and the number of rows otherwise */
-    Index outerSize() const { return (int(Flags)&RowMajorBit) ? this->rows() : this->cols(); }
-    /** \returns the size of the inner dimension according to the storage order,
-      * i.e., the number of rows for a columns major matrix, and the number of cols otherwise */
-    Index innerSize() const { return (int(Flags)&RowMajorBit) ? this->cols() : this->rows(); }
-
-    bool isRValue() const { return m_isRValue; }
-    Derived& markAsRValue() { m_isRValue = true; return derived(); }
-
-    SparseMatrixBase() : m_isRValue(false) { /* TODO check flags */ }
-
-    
-    template<typename OtherDerived>
-    Derived& operator=(const ReturnByValue<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    inline Derived& operator=(const SparseMatrixBase<OtherDerived>& other);
-
-    inline Derived& operator=(const Derived& other);
-
-  protected:
-
-    template<typename OtherDerived>
-    inline Derived& assign(const OtherDerived& other);
-
-    template<typename OtherDerived>
-    inline void assignGeneric(const OtherDerived& other);
-
-  public:
-
-    friend std::ostream & operator << (std::ostream & s, const SparseMatrixBase& m)
-    {
-      typedef typename Derived::Nested Nested;
-      typedef typename internal::remove_all<Nested>::type NestedCleaned;
-
-      if (Flags&RowMajorBit)
-      {
-        Nested nm(m.derived());
-        internal::evaluator<NestedCleaned> thisEval(nm);
-        for (Index row=0; row<nm.outerSize(); ++row)
-        {
-          Index col = 0;
-          for (typename internal::evaluator<NestedCleaned>::InnerIterator it(thisEval, row); it; ++it)
-          {
-            for ( ; col<it.index(); ++col)
-              s << "0 ";
-            s << it.value() << " ";
-            ++col;
-          }
-          for ( ; col<m.cols(); ++col)
-            s << "0 ";
-          s << std::endl;
-        }
-      }
-      else
-      {
-        Nested nm(m.derived());
-        internal::evaluator<NestedCleaned> thisEval(nm);
-        if (m.cols() == 1) {
-          Index row = 0;
-          for (typename internal::evaluator<NestedCleaned>::InnerIterator it(thisEval, 0); it; ++it)
-          {
-            for ( ; row<it.index(); ++row)
-              s << "0" << std::endl;
-            s << it.value() << std::endl;
-            ++row;
-          }
-          for ( ; row<m.rows(); ++row)
-            s << "0" << std::endl;
-        }
-        else
-        {
-          SparseMatrix<Scalar, RowMajorBit, StorageIndex> trans = m;
-          s << static_cast<const SparseMatrixBase<SparseMatrix<Scalar, RowMajorBit, StorageIndex> >&>(trans);
-        }
-      }
-      return s;
-    }
-
-    template<typename OtherDerived>
-    Derived& operator+=(const SparseMatrixBase<OtherDerived>& other);
-    template<typename OtherDerived>
-    Derived& operator-=(const SparseMatrixBase<OtherDerived>& other);
-    
-    template<typename OtherDerived>
-    Derived& operator+=(const DiagonalBase<OtherDerived>& other);
-    template<typename OtherDerived>
-    Derived& operator-=(const DiagonalBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    Derived& operator+=(const EigenBase<OtherDerived> &other);
-    template<typename OtherDerived>
-    Derived& operator-=(const EigenBase<OtherDerived> &other);
-
-    Derived& operator*=(const Scalar& other);
-    Derived& operator/=(const Scalar& other);
-
-    template<typename OtherDerived> struct CwiseProductDenseReturnType {
-      typedef CwiseBinaryOp<internal::scalar_product_op<typename ScalarBinaryOpTraits<
-                                                          typename internal::traits<Derived>::Scalar,
-                                                          typename internal::traits<OtherDerived>::Scalar
-                                                        >::ReturnType>,
-                            const Derived,
-                            const OtherDerived
-                          > Type;
-    };
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE const typename CwiseProductDenseReturnType<OtherDerived>::Type
-    cwiseProduct(const MatrixBase<OtherDerived> &other) const;
-
-    // sparse * diagonal
-    template<typename OtherDerived>
-    const Product<Derived,OtherDerived>
-    operator*(const DiagonalBase<OtherDerived> &other) const
-    { return Product<Derived,OtherDerived>(derived(), other.derived()); }
-
-    // diagonal * sparse
-    template<typename OtherDerived> friend
-    const Product<OtherDerived,Derived>
-    operator*(const DiagonalBase<OtherDerived> &lhs, const SparseMatrixBase& rhs)
-    { return Product<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
-    
-    // sparse * sparse
-    template<typename OtherDerived>
-    const Product<Derived,OtherDerived,AliasFreeProduct>
-    operator*(const SparseMatrixBase<OtherDerived> &other) const;
-    
-    // sparse * dense
-    template<typename OtherDerived>
-    const Product<Derived,OtherDerived>
-    operator*(const MatrixBase<OtherDerived> &other) const
-    { return Product<Derived,OtherDerived>(derived(), other.derived()); }
-    
-    // dense * sparse
-    template<typename OtherDerived> friend
-    const Product<OtherDerived,Derived>
-    operator*(const MatrixBase<OtherDerived> &lhs, const SparseMatrixBase& rhs)
-    { return Product<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
-    
-     /** \returns an expression of P H P^-1 where H is the matrix represented by \c *this */
-    SparseSymmetricPermutationProduct<Derived,Upper|Lower> twistedBy(const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm) const
-    {
-      return SparseSymmetricPermutationProduct<Derived,Upper|Lower>(derived(), perm);
-    }
-
-    template<typename OtherDerived>
-    Derived& operator*=(const SparseMatrixBase<OtherDerived>& other);
-
-    template<int Mode>
-    inline const TriangularView<const Derived, Mode> triangularView() const;
-    
-    template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SparseSelfAdjointView<Derived, UpLo> Type; };
-    template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SparseSelfAdjointView<const Derived, UpLo> Type; };
-
-    template<unsigned int UpLo> inline 
-    typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
-    template<unsigned int UpLo> inline
-    typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
-
-    template<typename OtherDerived> Scalar dot(const MatrixBase<OtherDerived>& other) const;
-    template<typename OtherDerived> Scalar dot(const SparseMatrixBase<OtherDerived>& other) const;
-    RealScalar squaredNorm() const;
-    RealScalar norm()  const;
-    RealScalar blueNorm() const;
-
-    TransposeReturnType transpose() { return TransposeReturnType(derived()); }
-    const ConstTransposeReturnType transpose() const { return ConstTransposeReturnType(derived()); }
-    const AdjointReturnType adjoint() const { return AdjointReturnType(transpose()); }
-
-    // inner-vector
-    typedef Block<Derived,IsRowMajor?1:Dynamic,IsRowMajor?Dynamic:1,true>       InnerVectorReturnType;
-    typedef Block<const Derived,IsRowMajor?1:Dynamic,IsRowMajor?Dynamic:1,true> ConstInnerVectorReturnType;
-    InnerVectorReturnType innerVector(Index outer);
-    const ConstInnerVectorReturnType innerVector(Index outer) const;
-
-    // set of inner-vectors
-    typedef Block<Derived,Dynamic,Dynamic,true> InnerVectorsReturnType;
-    typedef Block<const Derived,Dynamic,Dynamic,true> ConstInnerVectorsReturnType;
-    InnerVectorsReturnType innerVectors(Index outerStart, Index outerSize);
-    const ConstInnerVectorsReturnType innerVectors(Index outerStart, Index outerSize) const;
-
-    DenseMatrixType toDense() const
-    {
-      return DenseMatrixType(derived());
-    }
-
-    template<typename OtherDerived>
-    bool isApprox(const SparseMatrixBase<OtherDerived>& other,
-                  const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-
-    template<typename OtherDerived>
-    bool isApprox(const MatrixBase<OtherDerived>& other,
-                  const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
-    { return toDense().isApprox(other,prec); }
-
-    /** \returns the matrix or vector obtained by evaluating this expression.
-      *
-      * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
-      * a const reference, in order to avoid a useless copy.
-      */
-    inline const typename internal::eval<Derived>::type eval() const
-    { return typename internal::eval<Derived>::type(derived()); }
-
-    Scalar sum() const;
-    
-    inline const SparseView<Derived>
-    pruned(const Scalar& reference = Scalar(0), const RealScalar& epsilon = NumTraits<Scalar>::dummy_precision()) const;
-
-  protected:
-
-    bool m_isRValue;
-
-    static inline StorageIndex convert_index(const Index idx) {
-      return internal::convert_index<StorageIndex>(idx);
-    }
-  private:
-    template<typename Dest> void evalTo(Dest &) const;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEMATRIXBASE_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparsePermutation.h b/phonelibs/eigen/Eigen/src/SparseCore/SparsePermutation.h
deleted file mode 100644
index ef38357aefd31b..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparsePermutation.h
+++ /dev/null
@@ -1,178 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_PERMUTATION_H
-#define EIGEN_SPARSE_PERMUTATION_H
-
-// This file implements sparse * permutation products
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename ExpressionType, int Side, bool Transposed>
-struct permutation_matrix_product<ExpressionType, Side, Transposed, SparseShape>
-{
-    typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
-    typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
-
-    typedef typename MatrixTypeCleaned::Scalar Scalar;
-    typedef typename MatrixTypeCleaned::StorageIndex StorageIndex;
-
-    enum {
-      SrcStorageOrder = MatrixTypeCleaned::Flags&RowMajorBit ? RowMajor : ColMajor,
-      MoveOuter = SrcStorageOrder==RowMajor ? Side==OnTheLeft : Side==OnTheRight
-    };
-    
-    typedef typename internal::conditional<MoveOuter,
-        SparseMatrix<Scalar,SrcStorageOrder,StorageIndex>,
-        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,StorageIndex> >::type ReturnType;
-
-    template<typename Dest,typename PermutationType>
-    static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
-    {
-      MatrixType mat(xpr);
-      if(MoveOuter)
-      {
-        SparseMatrix<Scalar,SrcStorageOrder,StorageIndex> tmp(mat.rows(), mat.cols());
-        Matrix<StorageIndex,Dynamic,1> sizes(mat.outerSize());
-        for(Index j=0; j<mat.outerSize(); ++j)
-        {
-          Index jp = perm.indices().coeff(j);
-          sizes[((Side==OnTheLeft) ^ Transposed) ? jp : j] = StorageIndex(mat.innerVector(((Side==OnTheRight) ^ Transposed) ? jp : j).nonZeros());
-        }
-        tmp.reserve(sizes);
-        for(Index j=0; j<mat.outerSize(); ++j)
-        {
-          Index jp = perm.indices().coeff(j);
-          Index jsrc = ((Side==OnTheRight) ^ Transposed) ? jp : j;
-          Index jdst = ((Side==OnTheLeft) ^ Transposed) ? jp : j;
-          for(typename MatrixTypeCleaned::InnerIterator it(mat,jsrc); it; ++it)
-            tmp.insertByOuterInner(jdst,it.index()) = it.value();
-        }
-        dst = tmp;
-      }
-      else
-      {
-        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,StorageIndex> tmp(mat.rows(), mat.cols());
-        Matrix<StorageIndex,Dynamic,1> sizes(tmp.outerSize());
-        sizes.setZero();
-        PermutationMatrix<Dynamic,Dynamic,StorageIndex> perm_cpy;
-        if((Side==OnTheLeft) ^ Transposed)
-          perm_cpy = perm;
-        else
-          perm_cpy = perm.transpose();
-
-        for(Index j=0; j<mat.outerSize(); ++j)
-          for(typename MatrixTypeCleaned::InnerIterator it(mat,j); it; ++it)
-            sizes[perm_cpy.indices().coeff(it.index())]++;
-        tmp.reserve(sizes);
-        for(Index j=0; j<mat.outerSize(); ++j)
-          for(typename MatrixTypeCleaned::InnerIterator it(mat,j); it; ++it)
-            tmp.insertByOuterInner(perm_cpy.indices().coeff(it.index()),j) = it.value();
-        dst = tmp;
-      }
-    }
-};
-
-}
-
-namespace internal {
-
-template <int ProductTag> struct product_promote_storage_type<Sparse,             PermutationStorage, ProductTag> { typedef Sparse ret; };
-template <int ProductTag> struct product_promote_storage_type<PermutationStorage, Sparse,             ProductTag> { typedef Sparse ret; };
-
-// TODO, the following two overloads are only needed to define the right temporary type through 
-// typename traits<permutation_sparse_matrix_product<Rhs,Lhs,OnTheRight,false> >::ReturnType
-// whereas it should be correctly handled by traits<Product<> >::PlainObject
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, AliasFreeProduct>, ProductTag, PermutationShape, SparseShape>
-  : public evaluator<typename permutation_matrix_product<Rhs,OnTheLeft,false,SparseShape>::ReturnType>
-{
-  typedef Product<Lhs, Rhs, AliasFreeProduct> XprType;
-  typedef typename permutation_matrix_product<Rhs,OnTheLeft,false,SparseShape>::ReturnType PlainObject;
-  typedef evaluator<PlainObject> Base;
-
-  enum {
-    Flags = Base::Flags | EvalBeforeNestingBit
-  };
-
-  explicit product_evaluator(const XprType& xpr)
-    : m_result(xpr.rows(), xpr.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    generic_product_impl<Lhs, Rhs, PermutationShape, SparseShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
-  }
-
-protected:
-  PlainObject m_result;
-};
-
-template<typename Lhs, typename Rhs, int ProductTag>
-struct product_evaluator<Product<Lhs, Rhs, AliasFreeProduct>, ProductTag, SparseShape, PermutationShape >
-  : public evaluator<typename permutation_matrix_product<Lhs,OnTheRight,false,SparseShape>::ReturnType>
-{
-  typedef Product<Lhs, Rhs, AliasFreeProduct> XprType;
-  typedef typename permutation_matrix_product<Lhs,OnTheRight,false,SparseShape>::ReturnType PlainObject;
-  typedef evaluator<PlainObject> Base;
-
-  enum {
-    Flags = Base::Flags | EvalBeforeNestingBit
-  };
-
-  explicit product_evaluator(const XprType& xpr)
-    : m_result(xpr.rows(), xpr.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    generic_product_impl<Lhs, Rhs, SparseShape, PermutationShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
-  }
-
-protected:
-  PlainObject m_result;
-};
-
-} // end namespace internal
-
-/** \returns the matrix with the permutation applied to the columns
-  */
-template<typename SparseDerived, typename PermDerived>
-inline const Product<SparseDerived, PermDerived, AliasFreeProduct>
-operator*(const SparseMatrixBase<SparseDerived>& matrix, const PermutationBase<PermDerived>& perm)
-{ return Product<SparseDerived, PermDerived, AliasFreeProduct>(matrix.derived(), perm.derived()); }
-
-/** \returns the matrix with the permutation applied to the rows
-  */
-template<typename SparseDerived, typename PermDerived>
-inline const Product<PermDerived, SparseDerived, AliasFreeProduct>
-operator*( const PermutationBase<PermDerived>& perm, const SparseMatrixBase<SparseDerived>& matrix)
-{ return  Product<PermDerived, SparseDerived, AliasFreeProduct>(perm.derived(), matrix.derived()); }
-
-
-/** \returns the matrix with the inverse permutation applied to the columns.
-  */
-template<typename SparseDerived, typename PermutationType>
-inline const Product<SparseDerived, Inverse<PermutationType>, AliasFreeProduct>
-operator*(const SparseMatrixBase<SparseDerived>& matrix, const InverseImpl<PermutationType, PermutationStorage>& tperm)
-{
-  return Product<SparseDerived, Inverse<PermutationType>, AliasFreeProduct>(matrix.derived(), tperm.derived());
-}
-
-/** \returns the matrix with the inverse permutation applied to the rows.
-  */
-template<typename SparseDerived, typename PermutationType>
-inline const Product<Inverse<PermutationType>, SparseDerived, AliasFreeProduct>
-operator*(const InverseImpl<PermutationType,PermutationStorage>& tperm, const SparseMatrixBase<SparseDerived>& matrix)
-{
-  return Product<Inverse<PermutationType>, SparseDerived, AliasFreeProduct>(tperm.derived(), matrix.derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_SELFADJOINTVIEW_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseProduct.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseProduct.h
deleted file mode 100644
index 4cbf68781a84e8..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseProduct.h
+++ /dev/null
@@ -1,169 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEPRODUCT_H
-#define EIGEN_SPARSEPRODUCT_H
-
-namespace Eigen { 
-
-/** \returns an expression of the product of two sparse matrices.
-  * By default a conservative product preserving the symbolic non zeros is performed.
-  * The automatic pruning of the small values can be achieved by calling the pruned() function
-  * in which case a totally different product algorithm is employed:
-  * \code
-  * C = (A*B).pruned();             // supress numerical zeros (exact)
-  * C = (A*B).pruned(ref);
-  * C = (A*B).pruned(ref,epsilon);
-  * \endcode
-  * where \c ref is a meaningful non zero reference value.
-  * */
-template<typename Derived>
-template<typename OtherDerived>
-inline const Product<Derived,OtherDerived,AliasFreeProduct>
-SparseMatrixBase<Derived>::operator*(const SparseMatrixBase<OtherDerived> &other) const
-{
-  return Product<Derived,OtherDerived,AliasFreeProduct>(derived(), other.derived());
-}
-
-namespace internal {
-
-// sparse * sparse
-template<typename Lhs, typename Rhs, int ProductType>
-struct generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
-{
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
-  {
-    evalTo(dst, lhs, rhs, typename evaluator_traits<Dest>::Shape());
-  }
-
-  // dense += sparse * sparse
-  template<typename Dest,typename ActualLhs>
-  static void addTo(Dest& dst, const ActualLhs& lhs, const Rhs& rhs, typename enable_if<is_same<typename evaluator_traits<Dest>::Shape,DenseShape>::value,int*>::type* = 0)
-  {
-    typedef typename nested_eval<ActualLhs,Dynamic>::type LhsNested;
-    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
-    LhsNested lhsNested(lhs);
-    RhsNested rhsNested(rhs);
-    internal::sparse_sparse_to_dense_product_selector<typename remove_all<LhsNested>::type,
-                                                      typename remove_all<RhsNested>::type, Dest>::run(lhsNested,rhsNested,dst);
-  }
-
-  // dense -= sparse * sparse
-  template<typename Dest>
-  static void subTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, typename enable_if<is_same<typename evaluator_traits<Dest>::Shape,DenseShape>::value,int*>::type* = 0)
-  {
-    addTo(dst, -lhs, rhs);
-  }
-
-protected:
-
-  // sparse = sparse * sparse
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, SparseShape)
-  {
-    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
-    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
-    LhsNested lhsNested(lhs);
-    RhsNested rhsNested(rhs);
-    internal::conservative_sparse_sparse_product_selector<typename remove_all<LhsNested>::type,
-                                                          typename remove_all<RhsNested>::type, Dest>::run(lhsNested,rhsNested,dst);
-  }
-
-  // dense = sparse * sparse
-  template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, DenseShape)
-  {
-    dst.setZero();
-    addTo(dst, lhs, rhs);
-  }
-};
-
-// sparse * sparse-triangular
-template<typename Lhs, typename Rhs, int ProductType>
-struct generic_product_impl<Lhs, Rhs, SparseShape, SparseTriangularShape, ProductType>
- : public generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
-{};
-
-// sparse-triangular * sparse
-template<typename Lhs, typename Rhs, int ProductType>
-struct generic_product_impl<Lhs, Rhs, SparseTriangularShape, SparseShape, ProductType>
- : public generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
-{};
-
-// dense = sparse-product (can be sparse*sparse, sparse*perm, etc.)
-template< typename DstXprType, typename Lhs, typename Rhs>
-struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
-{
-  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
-    
-    generic_product_impl<Lhs, Rhs>::evalTo(dst,src.lhs(),src.rhs());
-  }
-};
-
-// dense += sparse-product (can be sparse*sparse, sparse*perm, etc.)
-template< typename DstXprType, typename Lhs, typename Rhs>
-struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::add_assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
-{
-  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
-  {
-    generic_product_impl<Lhs, Rhs>::addTo(dst,src.lhs(),src.rhs());
-  }
-};
-
-// dense -= sparse-product (can be sparse*sparse, sparse*perm, etc.)
-template< typename DstXprType, typename Lhs, typename Rhs>
-struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::sub_assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
-{
-  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
-  {
-    generic_product_impl<Lhs, Rhs>::subTo(dst,src.lhs(),src.rhs());
-  }
-};
-
-template<typename Lhs, typename Rhs, int Options>
-struct unary_evaluator<SparseView<Product<Lhs, Rhs, Options> >, IteratorBased>
- : public evaluator<typename Product<Lhs, Rhs, DefaultProduct>::PlainObject>
-{
-  typedef SparseView<Product<Lhs, Rhs, Options> > XprType;
-  typedef typename XprType::PlainObject PlainObject;
-  typedef evaluator<PlainObject> Base;
-
-  explicit unary_evaluator(const XprType& xpr)
-    : m_result(xpr.rows(), xpr.cols())
-  {
-    using std::abs;
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
-    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
-    LhsNested lhsNested(xpr.nestedExpression().lhs());
-    RhsNested rhsNested(xpr.nestedExpression().rhs());
-
-    internal::sparse_sparse_product_with_pruning_selector<typename remove_all<LhsNested>::type,
-                                                          typename remove_all<RhsNested>::type, PlainObject>::run(lhsNested,rhsNested,m_result,
-                                                                                                                  abs(xpr.reference())*xpr.epsilon());
-  }
-
-protected:
-  PlainObject m_result;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEPRODUCT_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseRedux.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseRedux.h
deleted file mode 100644
index 45877496270d60..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseRedux.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEREDUX_H
-#define EIGEN_SPARSEREDUX_H
-
-namespace Eigen { 
-
-template<typename Derived>
-typename internal::traits<Derived>::Scalar
-SparseMatrixBase<Derived>::sum() const
-{
-  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
-  Scalar res(0);
-  internal::evaluator<Derived> thisEval(derived());
-  for (Index j=0; j<outerSize(); ++j)
-    for (typename internal::evaluator<Derived>::InnerIterator iter(thisEval,j); iter; ++iter)
-      res += iter.value();
-  return res;
-}
-
-template<typename _Scalar, int _Options, typename _Index>
-typename internal::traits<SparseMatrix<_Scalar,_Options,_Index> >::Scalar
-SparseMatrix<_Scalar,_Options,_Index>::sum() const
-{
-  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
-  if(this->isCompressed())
-    return Matrix<Scalar,1,Dynamic>::Map(m_data.valuePtr(), m_data.size()).sum();
-  else
-    return Base::sum();
-}
-
-template<typename _Scalar, int _Options, typename _Index>
-typename internal::traits<SparseVector<_Scalar,_Options, _Index> >::Scalar
-SparseVector<_Scalar,_Options,_Index>::sum() const
-{
-  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
-  return Matrix<Scalar,1,Dynamic>::Map(m_data.valuePtr(), m_data.size()).sum();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEREDUX_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseRef.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseRef.h
deleted file mode 100644
index d91f38f97ce62e..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseRef.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_REF_H
-#define EIGEN_SPARSE_REF_H
-
-namespace Eigen {
-
-enum {
-  StandardCompressedFormat = 2 /**< used by Ref<SparseMatrix> to specify whether the input storage must be in standard compressed form */
-};
-  
-namespace internal {
-
-template<typename Derived> class SparseRefBase;
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
-struct traits<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
-  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
-{
-  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
-  enum {
-    Options = _Options,
-    Flags = traits<PlainObjectType>::Flags | CompressedAccessBit | NestByRefBit
-  };
-
-  template<typename Derived> struct match {
-    enum {
-      StorageOrderMatch = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)),
-      MatchAtCompileTime = (Derived::Flags&CompressedAccessBit) && StorageOrderMatch
-    };
-    typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
-  };
-  
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
-struct traits<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
-  : public traits<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
-{
-  enum {
-    Flags = (traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >::Flags | CompressedAccessBit | NestByRefBit) & ~LvalueBit
-  };
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
-struct traits<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
-  : public traits<SparseVector<MatScalar,MatOptions,MatIndex> >
-{
-  typedef SparseVector<MatScalar,MatOptions,MatIndex> PlainObjectType;
-  enum {
-    Options = _Options,
-    Flags = traits<PlainObjectType>::Flags | CompressedAccessBit | NestByRefBit
-  };
-
-  template<typename Derived> struct match {
-    enum {
-      MatchAtCompileTime = (Derived::Flags&CompressedAccessBit) && Derived::IsVectorAtCompileTime
-    };
-    typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
-  };
-
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
-struct traits<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
-  : public traits<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
-{
-  enum {
-    Flags = (traits<SparseVector<MatScalar,MatOptions,MatIndex> >::Flags | CompressedAccessBit | NestByRefBit) & ~LvalueBit
-  };
-};
-
-template<typename Derived>
-struct traits<SparseRefBase<Derived> > : public traits<Derived> {};
-
-template<typename Derived> class SparseRefBase
-  : public SparseMapBase<Derived>
-{
-public:
-
-  typedef SparseMapBase<Derived> Base;
-  EIGEN_SPARSE_PUBLIC_INTERFACE(SparseRefBase)
-
-  SparseRefBase()
-    : Base(RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime, 0, 0, 0, 0, 0)
-  {}
-  
-protected:
-
-  template<typename Expression>
-  void construct(Expression& expr)
-  {
-    if(expr.outerIndexPtr()==0)
-      ::new (static_cast<Base*>(this)) Base(expr.size(), expr.nonZeros(), expr.innerIndexPtr(), expr.valuePtr());
-    else
-      ::new (static_cast<Base*>(this)) Base(expr.rows(), expr.cols(), expr.nonZeros(), expr.outerIndexPtr(), expr.innerIndexPtr(), expr.valuePtr(), expr.innerNonZeroPtr());
-  }
-};
-
-} // namespace internal
-
-
-/** 
-  * \ingroup SparseCore_Module
-  *
-  * \brief A sparse matrix expression referencing an existing sparse expression
-  *
-  * \tparam SparseMatrixType the equivalent sparse matrix type of the referenced data, it must be a template instance of class SparseMatrix.
-  * \tparam Options specifies whether the a standard compressed format is required \c Options is  \c #StandardCompressedFormat, or \c 0.
-  *                The default is \c 0.
-  *
-  * \sa class Ref
-  */
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-class Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType >
-  : public internal::SparseRefBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType > >
-#else
-template<typename SparseMatrixType, int Options>
-class Ref<SparseMatrixType, Options>
-  : public SparseMapBase<Derived,WriteAccessors> // yes, that's weird to use Derived here, but that works!
-#endif
-{
-    typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
-    typedef internal::traits<Ref> Traits;
-    template<int OtherOptions>
-    inline Ref(const SparseMatrix<MatScalar,OtherOptions,MatIndex>& expr);
-    template<int OtherOptions>
-    inline Ref(const MappedSparseMatrix<MatScalar,OtherOptions,MatIndex>& expr);
-  public:
-
-    typedef internal::SparseRefBase<Ref> Base;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
-
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<int OtherOptions>
-    inline Ref(SparseMatrix<MatScalar,OtherOptions,MatIndex>& expr)
-    {
-      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseMatrix<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
-      Base::construct(expr.derived());
-    }
-    
-    template<int OtherOptions>
-    inline Ref(MappedSparseMatrix<MatScalar,OtherOptions,MatIndex>& expr)
-    {
-      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseMatrix<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
-      Base::construct(expr.derived());
-    }
-    
-    template<typename Derived>
-    inline Ref(const SparseCompressedBase<Derived>& expr)
-    #else
-    /** Implicit constructor from any sparse expression (2D matrix or 1D vector) */
-    template<typename Derived>
-    inline Ref(SparseCompressedBase<Derived>& expr)
-    #endif
-    {
-      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
-      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
-      Base::construct(expr.const_cast_derived());
-    }
-};
-
-// this is the const ref version
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-class Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
-  : public internal::SparseRefBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-{
-    typedef SparseMatrix<MatScalar,MatOptions,MatIndex> TPlainObjectType;
-    typedef internal::traits<Ref> Traits;
-  public:
-
-    typedef internal::SparseRefBase<Ref> Base;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
-
-    template<typename Derived>
-    inline Ref(const SparseMatrixBase<Derived>& expr) : m_hasCopy(false)
-    {
-      construct(expr.derived(), typename Traits::template match<Derived>::type());
-    }
-
-    inline Ref(const Ref& other) : Base(other), m_hasCopy(false) {
-      // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
-    }
-
-    template<typename OtherRef>
-    inline Ref(const RefBase<OtherRef>& other) : m_hasCopy(false) {
-      construct(other.derived(), typename Traits::template match<OtherRef>::type());
-    }
-
-    ~Ref() {
-      if(m_hasCopy) {
-        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
-        obj->~TPlainObjectType();
-      }
-    }
-
-  protected:
-
-    template<typename Expression>
-    void construct(const Expression& expr,internal::true_type)
-    {
-      if((Options & int(StandardCompressedFormat)) && (!expr.isCompressed()))
-      {
-        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
-        ::new (obj) TPlainObjectType(expr);
-        m_hasCopy = true;
-        Base::construct(*obj);
-      }
-      else
-      {
-        Base::construct(expr);
-      }
-    }
-
-    template<typename Expression>
-    void construct(const Expression& expr, internal::false_type)
-    {
-      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
-      ::new (obj) TPlainObjectType(expr);
-      m_hasCopy = true;
-      Base::construct(*obj);
-    }
-
-  protected:
-    char m_object_bytes[sizeof(TPlainObjectType)];
-    bool m_hasCopy;
-};
-
-
-
-/**
-  * \ingroup SparseCore_Module
-  *
-  * \brief A sparse vector expression referencing an existing sparse vector expression
-  *
-  * \tparam SparseVectorType the equivalent sparse vector type of the referenced data, it must be a template instance of class SparseVector.
-  *
-  * \sa class Ref
-  */
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-class Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType >
-  : public internal::SparseRefBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType > >
-#else
-template<typename SparseVectorType>
-class Ref<SparseVectorType>
-  : public SparseMapBase<Derived,WriteAccessors>
-#endif
-{
-    typedef SparseVector<MatScalar,MatOptions,MatIndex> PlainObjectType;
-    typedef internal::traits<Ref> Traits;
-    template<int OtherOptions>
-    inline Ref(const SparseVector<MatScalar,OtherOptions,MatIndex>& expr);
-  public:
-
-    typedef internal::SparseRefBase<Ref> Base;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<int OtherOptions>
-    inline Ref(SparseVector<MatScalar,OtherOptions,MatIndex>& expr)
-    {
-      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseVector<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      Base::construct(expr.derived());
-    }
-
-    template<typename Derived>
-    inline Ref(const SparseCompressedBase<Derived>& expr)
-    #else
-    /** Implicit constructor from any 1D sparse vector expression */
-    template<typename Derived>
-    inline Ref(SparseCompressedBase<Derived>& expr)
-    #endif
-    {
-      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
-      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      Base::construct(expr.const_cast_derived());
-    }
-};
-
-// this is the const ref version
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-class Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType>
-  : public internal::SparseRefBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-{
-    typedef SparseVector<MatScalar,MatOptions,MatIndex> TPlainObjectType;
-    typedef internal::traits<Ref> Traits;
-  public:
-
-    typedef internal::SparseRefBase<Ref> Base;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
-
-    template<typename Derived>
-    inline Ref(const SparseMatrixBase<Derived>& expr) : m_hasCopy(false)
-    {
-      construct(expr.derived(), typename Traits::template match<Derived>::type());
-    }
-
-    inline Ref(const Ref& other) : Base(other), m_hasCopy(false) {
-      // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
-    }
-
-    template<typename OtherRef>
-    inline Ref(const RefBase<OtherRef>& other) : m_hasCopy(false) {
-      construct(other.derived(), typename Traits::template match<OtherRef>::type());
-    }
-
-    ~Ref() {
-      if(m_hasCopy) {
-        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
-        obj->~TPlainObjectType();
-      }
-    }
-
-  protected:
-
-    template<typename Expression>
-    void construct(const Expression& expr,internal::true_type)
-    {
-      Base::construct(expr);
-    }
-
-    template<typename Expression>
-    void construct(const Expression& expr, internal::false_type)
-    {
-      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
-      ::new (obj) TPlainObjectType(expr);
-      m_hasCopy = true;
-      Base::construct(*obj);
-    }
-
-  protected:
-    char m_object_bytes[sizeof(TPlainObjectType)];
-    bool m_hasCopy;
-};
-
-namespace internal {
-
-// FIXME shall we introduce a general evaluatior_ref that we can specialize for any sparse object once, and thus remove this copy-pasta thing...
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-struct evaluator<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-  : evaluator<SparseCompressedBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
-{
-  typedef evaluator<SparseCompressedBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
-  typedef Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
-  evaluator() : Base() {}
-  explicit evaluator(const XprType &mat) : Base(mat) {}
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-struct evaluator<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-  : evaluator<SparseCompressedBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
-{
-  typedef evaluator<SparseCompressedBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
-  typedef Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
-  evaluator() : Base() {}
-  explicit evaluator(const XprType &mat) : Base(mat) {}
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-struct evaluator<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-  : evaluator<SparseCompressedBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
-{
-  typedef evaluator<SparseCompressedBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
-  typedef Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;
-  evaluator() : Base() {}
-  explicit evaluator(const XprType &mat) : Base(mat) {}
-};
-
-template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
-struct evaluator<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
-  : evaluator<SparseCompressedBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
-{
-  typedef evaluator<SparseCompressedBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
-  typedef Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;
-  evaluator() : Base() {}
-  explicit evaluator(const XprType &mat) : Base(mat) {}
-};
-
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_REF_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h
deleted file mode 100644
index 9e39be738d0ecf..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h
+++ /dev/null
@@ -1,655 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_SELFADJOINTVIEW_H
-#define EIGEN_SPARSE_SELFADJOINTVIEW_H
-
-namespace Eigen { 
-  
-/** \ingroup SparseCore_Module
-  * \class SparseSelfAdjointView
-  *
-  * \brief Pseudo expression to manipulate a triangular sparse matrix as a selfadjoint matrix.
-  *
-  * \param MatrixType the type of the dense matrix storing the coefficients
-  * \param Mode can be either \c #Lower or \c #Upper
-  *
-  * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
-  * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
-  * and most of the time this is the only way that it is used.
-  *
-  * \sa SparseMatrixBase::selfadjointView()
-  */
-namespace internal {
-  
-template<typename MatrixType, unsigned int Mode>
-struct traits<SparseSelfAdjointView<MatrixType,Mode> > : traits<MatrixType> {
-};
-
-template<int SrcMode,int DstMode,typename MatrixType,int DestOrder>
-void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm = 0);
-
-template<int Mode,typename MatrixType,int DestOrder>
-void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm = 0);
-
-}
-
-template<typename MatrixType, unsigned int _Mode> class SparseSelfAdjointView
-  : public EigenBase<SparseSelfAdjointView<MatrixType,_Mode> >
-{
-  public:
-    
-    enum {
-      Mode = _Mode,
-      RowsAtCompileTime = internal::traits<SparseSelfAdjointView>::RowsAtCompileTime,
-      ColsAtCompileTime = internal::traits<SparseSelfAdjointView>::ColsAtCompileTime
-    };
-
-    typedef EigenBase<SparseSelfAdjointView> Base;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
-    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
-    typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
-    
-    explicit inline SparseSelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
-    {
-      eigen_assert(rows()==cols() && "SelfAdjointView is only for squared matrices");
-    }
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-
-    /** \internal \returns a reference to the nested matrix */
-    const _MatrixTypeNested& matrix() const { return m_matrix; }
-    typename internal::remove_reference<MatrixTypeNested>::type& matrix() { return m_matrix; }
-
-    /** \returns an expression of the matrix product between a sparse self-adjoint matrix \c *this and a sparse matrix \a rhs.
-      *
-      * Note that there is no algorithmic advantage of performing such a product compared to a general sparse-sparse matrix product.
-      * Indeed, the SparseSelfadjointView operand is first copied into a temporary SparseMatrix before computing the product.
-      */
-    template<typename OtherDerived>
-    Product<SparseSelfAdjointView, OtherDerived>
-    operator*(const SparseMatrixBase<OtherDerived>& rhs) const
-    {
-      return Product<SparseSelfAdjointView, OtherDerived>(*this, rhs.derived());
-    }
-
-    /** \returns an expression of the matrix product between a sparse matrix \a lhs and a sparse self-adjoint matrix \a rhs.
-      *
-      * Note that there is no algorithmic advantage of performing such a product compared to a general sparse-sparse matrix product.
-      * Indeed, the SparseSelfadjointView operand is first copied into a temporary SparseMatrix before computing the product.
-      */
-    template<typename OtherDerived> friend
-    Product<OtherDerived, SparseSelfAdjointView>
-    operator*(const SparseMatrixBase<OtherDerived>& lhs, const SparseSelfAdjointView& rhs)
-    {
-      return Product<OtherDerived, SparseSelfAdjointView>(lhs.derived(), rhs);
-    }
-    
-    /** Efficient sparse self-adjoint matrix times dense vector/matrix product */
-    template<typename OtherDerived>
-    Product<SparseSelfAdjointView,OtherDerived>
-    operator*(const MatrixBase<OtherDerived>& rhs) const
-    {
-      return Product<SparseSelfAdjointView,OtherDerived>(*this, rhs.derived());
-    }
-
-    /** Efficient dense vector/matrix times sparse self-adjoint matrix product */
-    template<typename OtherDerived> friend
-    Product<OtherDerived,SparseSelfAdjointView>
-    operator*(const MatrixBase<OtherDerived>& lhs, const SparseSelfAdjointView& rhs)
-    {
-      return Product<OtherDerived,SparseSelfAdjointView>(lhs.derived(), rhs);
-    }
-
-    /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
-      * \f$ this = this + \alpha ( u u^* ) \f$ where \a u is a vector or matrix.
-      *
-      * \returns a reference to \c *this
-      *
-      * To perform \f$ this = this + \alpha ( u^* u ) \f$ you can simply
-      * call this function with u.adjoint().
-      */
-    template<typename DerivedU>
-    SparseSelfAdjointView& rankUpdate(const SparseMatrixBase<DerivedU>& u, const Scalar& alpha = Scalar(1));
-    
-    /** \returns an expression of P H P^-1 */
-    // TODO implement twists in a more evaluator friendly fashion
-    SparseSymmetricPermutationProduct<_MatrixTypeNested,Mode> twistedBy(const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm) const
-    {
-      return SparseSymmetricPermutationProduct<_MatrixTypeNested,Mode>(m_matrix, perm);
-    }
-
-    template<typename SrcMatrixType,int SrcMode>
-    SparseSelfAdjointView& operator=(const SparseSymmetricPermutationProduct<SrcMatrixType,SrcMode>& permutedMatrix)
-    {
-      internal::call_assignment_no_alias_no_transpose(*this, permutedMatrix);
-      return *this;
-    }
-
-    SparseSelfAdjointView& operator=(const SparseSelfAdjointView& src)
-    {
-      PermutationMatrix<Dynamic,Dynamic,StorageIndex> pnull;
-      return *this = src.twistedBy(pnull);
-    }
-
-    template<typename SrcMatrixType,unsigned int SrcMode>
-    SparseSelfAdjointView& operator=(const SparseSelfAdjointView<SrcMatrixType,SrcMode>& src)
-    {
-      PermutationMatrix<Dynamic,Dynamic,StorageIndex> pnull;
-      return *this = src.twistedBy(pnull);
-    }
-    
-    void resize(Index rows, Index cols)
-    {
-      EIGEN_ONLY_USED_FOR_DEBUG(rows);
-      EIGEN_ONLY_USED_FOR_DEBUG(cols);
-      eigen_assert(rows == this->rows() && cols == this->cols()
-                && "SparseSelfadjointView::resize() does not actually allow to resize.");
-    }
-    
-  protected:
-
-    MatrixTypeNested m_matrix;
-    //mutable VectorI m_countPerRow;
-    //mutable VectorI m_countPerCol;
-  private:
-    template<typename Dest> void evalTo(Dest &) const;
-};
-
-/***************************************************************************
-* Implementation of SparseMatrixBase methods
-***************************************************************************/
-
-template<typename Derived>
-template<unsigned int UpLo>
-typename SparseMatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type SparseMatrixBase<Derived>::selfadjointView() const
-{
-  return SparseSelfAdjointView<const Derived, UpLo>(derived());
-}
-
-template<typename Derived>
-template<unsigned int UpLo>
-typename SparseMatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type SparseMatrixBase<Derived>::selfadjointView()
-{
-  return SparseSelfAdjointView<Derived, UpLo>(derived());
-}
-
-/***************************************************************************
-* Implementation of SparseSelfAdjointView methods
-***************************************************************************/
-
-template<typename MatrixType, unsigned int Mode>
-template<typename DerivedU>
-SparseSelfAdjointView<MatrixType,Mode>&
-SparseSelfAdjointView<MatrixType,Mode>::rankUpdate(const SparseMatrixBase<DerivedU>& u, const Scalar& alpha)
-{
-  SparseMatrix<Scalar,(MatrixType::Flags&RowMajorBit)?RowMajor:ColMajor> tmp = u * u.adjoint();
-  if(alpha==Scalar(0))
-    m_matrix = tmp.template triangularView<Mode>();
-  else
-    m_matrix += alpha * tmp.template triangularView<Mode>();
-
-  return *this;
-}
-
-namespace internal {
-  
-// TODO currently a selfadjoint expression has the form SelfAdjointView<.,.>
-//      in the future selfadjoint-ness should be defined by the expression traits
-//      such that Transpose<SelfAdjointView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
-template<typename MatrixType, unsigned int Mode>
-struct evaluator_traits<SparseSelfAdjointView<MatrixType,Mode> >
-{
-  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
-  typedef SparseSelfAdjointShape Shape;
-};
-
-struct SparseSelfAdjoint2Sparse {};
-
-template<> struct AssignmentKind<SparseShape,SparseSelfAdjointShape> { typedef SparseSelfAdjoint2Sparse Kind; };
-template<> struct AssignmentKind<SparseSelfAdjointShape,SparseShape> { typedef Sparse2Sparse Kind; };
-
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, SparseSelfAdjoint2Sparse>
-{
-  typedef typename DstXprType::StorageIndex StorageIndex;
-  typedef internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> AssignOpType;
-
-  template<typename DestScalar,int StorageOrder>
-  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src, const AssignOpType&/*func*/)
-  {
-    internal::permute_symm_to_fullsymm<SrcXprType::Mode>(src.matrix(), dst);
-  }
-
-  // FIXME: the handling of += and -= in sparse matrices should be cleanup so that next two overloads could be reduced to:
-  template<typename DestScalar,int StorageOrder,typename AssignFunc>
-  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src, const AssignFunc& func)
-  {
-    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
-    run(tmp, src, AssignOpType());
-    call_assignment_no_alias_no_transpose(dst, tmp, func);
-  }
-
-  template<typename DestScalar,int StorageOrder>
-  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src,
-                  const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>& /* func */)
-  {
-    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
-    run(tmp, src, AssignOpType());
-    dst += tmp;
-  }
-
-  template<typename DestScalar,int StorageOrder>
-  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src,
-                  const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>& /* func */)
-  {
-    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
-    run(tmp, src, AssignOpType());
-    dst -= tmp;
-  }
-  
-  template<typename DestScalar>
-  static void run(DynamicSparseMatrix<DestScalar,ColMajor,StorageIndex>& dst, const SrcXprType &src, const AssignOpType&/*func*/)
-  {
-    // TODO directly evaluate into dst;
-    SparseMatrix<DestScalar,ColMajor,StorageIndex> tmp(dst.rows(),dst.cols());
-    internal::permute_symm_to_fullsymm<SrcXprType::Mode>(src.matrix(), tmp);
-    dst = tmp;
-  }
-};
-
-} // end namespace internal
-
-/***************************************************************************
-* Implementation of sparse self-adjoint time dense matrix
-***************************************************************************/
-
-namespace internal {
-
-template<int Mode, typename SparseLhsType, typename DenseRhsType, typename DenseResType, typename AlphaType>
-inline void sparse_selfadjoint_time_dense_product(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
-{
-  EIGEN_ONLY_USED_FOR_DEBUG(alpha);
-  
-  typedef typename internal::nested_eval<SparseLhsType,DenseRhsType::MaxColsAtCompileTime>::type SparseLhsTypeNested;
-  typedef typename internal::remove_all<SparseLhsTypeNested>::type SparseLhsTypeNestedCleaned;
-  typedef evaluator<SparseLhsTypeNestedCleaned> LhsEval;
-  typedef typename LhsEval::InnerIterator LhsIterator;
-  typedef typename SparseLhsType::Scalar LhsScalar;
-  
-  enum {
-    LhsIsRowMajor = (LhsEval::Flags&RowMajorBit)==RowMajorBit,
-    ProcessFirstHalf =
-              ((Mode&(Upper|Lower))==(Upper|Lower))
-          || ( (Mode&Upper) && !LhsIsRowMajor)
-          || ( (Mode&Lower) && LhsIsRowMajor),
-    ProcessSecondHalf = !ProcessFirstHalf
-  };
-  
-  SparseLhsTypeNested lhs_nested(lhs);
-  LhsEval lhsEval(lhs_nested);
-
-  // work on one column at once
-  for (Index k=0; k<rhs.cols(); ++k)
-  {
-    for (Index j=0; j<lhs.outerSize(); ++j)
-    {
-      LhsIterator i(lhsEval,j);
-      // handle diagonal coeff
-      if (ProcessSecondHalf)
-      {
-        while (i && i.index()<j) ++i;
-        if(i && i.index()==j)
-        {
-          res(j,k) += alpha * i.value() * rhs(j,k);
-          ++i;
-        }
-      }
-
-      // premultiplied rhs for scatters
-      typename ScalarBinaryOpTraits<AlphaType, typename DenseRhsType::Scalar>::ReturnType rhs_j(alpha*rhs(j,k));
-      // accumulator for partial scalar product
-      typename DenseResType::Scalar res_j(0);
-      for(; (ProcessFirstHalf ? i && i.index() < j : i) ; ++i)
-      {
-        LhsScalar lhs_ij = i.value();
-        if(!LhsIsRowMajor) lhs_ij = numext::conj(lhs_ij);
-        res_j += lhs_ij * rhs(i.index(),k);
-        res(i.index(),k) += numext::conj(lhs_ij) * rhs_j;
-      }
-      res(j,k) += alpha * res_j;
-
-      // handle diagonal coeff
-      if (ProcessFirstHalf && i && (i.index()==j))
-        res(j,k) += alpha * i.value() * rhs(j,k);
-    }
-  }
-}
-
-
-template<typename LhsView, typename Rhs, int ProductType>
-struct generic_product_impl<LhsView, Rhs, SparseSelfAdjointShape, DenseShape, ProductType>
-: generic_product_impl_base<LhsView, Rhs, generic_product_impl<LhsView, Rhs, SparseSelfAdjointShape, DenseShape, ProductType> >
-{
-  template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const LhsView& lhsView, const Rhs& rhs, const typename Dest::Scalar& alpha)
-  {
-    typedef typename LhsView::_MatrixTypeNested Lhs;
-    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
-    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
-    LhsNested lhsNested(lhsView.matrix());
-    RhsNested rhsNested(rhs);
-    
-    internal::sparse_selfadjoint_time_dense_product<LhsView::Mode>(lhsNested, rhsNested, dst, alpha);
-  }
-};
-
-template<typename Lhs, typename RhsView, int ProductType>
-struct generic_product_impl<Lhs, RhsView, DenseShape, SparseSelfAdjointShape, ProductType>
-: generic_product_impl_base<Lhs, RhsView, generic_product_impl<Lhs, RhsView, DenseShape, SparseSelfAdjointShape, ProductType> >
-{
-  template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const RhsView& rhsView, const typename Dest::Scalar& alpha)
-  {
-    typedef typename RhsView::_MatrixTypeNested Rhs;
-    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
-    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
-    LhsNested lhsNested(lhs);
-    RhsNested rhsNested(rhsView.matrix());
-    
-    // transpose everything
-    Transpose<Dest> dstT(dst);
-    internal::sparse_selfadjoint_time_dense_product<RhsView::Mode>(rhsNested.transpose(), lhsNested.transpose(), dstT, alpha);
-  }
-};
-
-// NOTE: these two overloads are needed to evaluate the sparse selfadjoint view into a full sparse matrix
-// TODO: maybe the copy could be handled by generic_product_impl so that these overloads would not be needed anymore
-
-template<typename LhsView, typename Rhs, int ProductTag>
-struct product_evaluator<Product<LhsView, Rhs, DefaultProduct>, ProductTag, SparseSelfAdjointShape, SparseShape>
-  : public evaluator<typename Product<typename Rhs::PlainObject, Rhs, DefaultProduct>::PlainObject>
-{
-  typedef Product<LhsView, Rhs, DefaultProduct> XprType;
-  typedef typename XprType::PlainObject PlainObject;
-  typedef evaluator<PlainObject> Base;
-
-  product_evaluator(const XprType& xpr)
-    : m_lhs(xpr.lhs()), m_result(xpr.rows(), xpr.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    generic_product_impl<typename Rhs::PlainObject, Rhs, SparseShape, SparseShape, ProductTag>::evalTo(m_result, m_lhs, xpr.rhs());
-  }
-  
-protected:
-  typename Rhs::PlainObject m_lhs;
-  PlainObject m_result;
-};
-
-template<typename Lhs, typename RhsView, int ProductTag>
-struct product_evaluator<Product<Lhs, RhsView, DefaultProduct>, ProductTag, SparseShape, SparseSelfAdjointShape>
-  : public evaluator<typename Product<Lhs, typename Lhs::PlainObject, DefaultProduct>::PlainObject>
-{
-  typedef Product<Lhs, RhsView, DefaultProduct> XprType;
-  typedef typename XprType::PlainObject PlainObject;
-  typedef evaluator<PlainObject> Base;
-
-  product_evaluator(const XprType& xpr)
-    : m_rhs(xpr.rhs()), m_result(xpr.rows(), xpr.cols())
-  {
-    ::new (static_cast<Base*>(this)) Base(m_result);
-    generic_product_impl<Lhs, typename Lhs::PlainObject, SparseShape, SparseShape, ProductTag>::evalTo(m_result, xpr.lhs(), m_rhs);
-  }
-  
-protected:
-  typename Lhs::PlainObject m_rhs;
-  PlainObject m_result;
-};
-
-} // namespace internal
-
-/***************************************************************************
-* Implementation of symmetric copies and permutations
-***************************************************************************/
-namespace internal {
-
-template<int Mode,typename MatrixType,int DestOrder>
-void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm)
-{
-  typedef typename MatrixType::StorageIndex StorageIndex;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef SparseMatrix<Scalar,DestOrder,StorageIndex> Dest;
-  typedef Matrix<StorageIndex,Dynamic,1> VectorI;
-  typedef evaluator<MatrixType> MatEval;
-  typedef typename evaluator<MatrixType>::InnerIterator MatIterator;
-  
-  MatEval matEval(mat);
-  Dest& dest(_dest.derived());
-  enum {
-    StorageOrderMatch = int(Dest::IsRowMajor) == int(MatrixType::IsRowMajor)
-  };
-  
-  Index size = mat.rows();
-  VectorI count;
-  count.resize(size);
-  count.setZero();
-  dest.resize(size,size);
-  for(Index j = 0; j<size; ++j)
-  {
-    Index jp = perm ? perm[j] : j;
-    for(MatIterator it(matEval,j); it; ++it)
-    {
-      Index i = it.index();
-      Index r = it.row();
-      Index c = it.col();
-      Index ip = perm ? perm[i] : i;
-      if(Mode==(Upper|Lower))
-        count[StorageOrderMatch ? jp : ip]++;
-      else if(r==c)
-        count[ip]++;
-      else if(( Mode==Lower && r>c) || ( Mode==Upper && r<c))
-      {
-        count[ip]++;
-        count[jp]++;
-      }
-    }
-  }
-  Index nnz = count.sum();
-  
-  // reserve space
-  dest.resizeNonZeros(nnz);
-  dest.outerIndexPtr()[0] = 0;
-  for(Index j=0; j<size; ++j)
-    dest.outerIndexPtr()[j+1] = dest.outerIndexPtr()[j] + count[j];
-  for(Index j=0; j<size; ++j)
-    count[j] = dest.outerIndexPtr()[j];
-  
-  // copy data
-  for(StorageIndex j = 0; j<size; ++j)
-  {
-    for(MatIterator it(matEval,j); it; ++it)
-    {
-      StorageIndex i = internal::convert_index<StorageIndex>(it.index());
-      Index r = it.row();
-      Index c = it.col();
-      
-      StorageIndex jp = perm ? perm[j] : j;
-      StorageIndex ip = perm ? perm[i] : i;
-      
-      if(Mode==(Upper|Lower))
-      {
-        Index k = count[StorageOrderMatch ? jp : ip]++;
-        dest.innerIndexPtr()[k] = StorageOrderMatch ? ip : jp;
-        dest.valuePtr()[k] = it.value();
-      }
-      else if(r==c)
-      {
-        Index k = count[ip]++;
-        dest.innerIndexPtr()[k] = ip;
-        dest.valuePtr()[k] = it.value();
-      }
-      else if(( (Mode&Lower)==Lower && r>c) || ( (Mode&Upper)==Upper && r<c))
-      {
-        if(!StorageOrderMatch)
-          std::swap(ip,jp);
-        Index k = count[jp]++;
-        dest.innerIndexPtr()[k] = ip;
-        dest.valuePtr()[k] = it.value();
-        k = count[ip]++;
-        dest.innerIndexPtr()[k] = jp;
-        dest.valuePtr()[k] = numext::conj(it.value());
-      }
-    }
-  }
-}
-
-template<int _SrcMode,int _DstMode,typename MatrixType,int DstOrder>
-void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DstOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm)
-{
-  typedef typename MatrixType::StorageIndex StorageIndex;
-  typedef typename MatrixType::Scalar Scalar;
-  SparseMatrix<Scalar,DstOrder,StorageIndex>& dest(_dest.derived());
-  typedef Matrix<StorageIndex,Dynamic,1> VectorI;
-  typedef evaluator<MatrixType> MatEval;
-  typedef typename evaluator<MatrixType>::InnerIterator MatIterator;
-
-  enum {
-    SrcOrder = MatrixType::IsRowMajor ? RowMajor : ColMajor,
-    StorageOrderMatch = int(SrcOrder) == int(DstOrder),
-    DstMode = DstOrder==RowMajor ? (_DstMode==Upper ? Lower : Upper) : _DstMode,
-    SrcMode = SrcOrder==RowMajor ? (_SrcMode==Upper ? Lower : Upper) : _SrcMode
-  };
-
-  MatEval matEval(mat);
-  
-  Index size = mat.rows();
-  VectorI count(size);
-  count.setZero();
-  dest.resize(size,size);
-  for(StorageIndex j = 0; j<size; ++j)
-  {
-    StorageIndex jp = perm ? perm[j] : j;
-    for(MatIterator it(matEval,j); it; ++it)
-    {
-      StorageIndex i = it.index();
-      if((int(SrcMode)==int(Lower) && i<j) || (int(SrcMode)==int(Upper) && i>j))
-        continue;
-                  
-      StorageIndex ip = perm ? perm[i] : i;
-      count[int(DstMode)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
-    }
-  }
-  dest.outerIndexPtr()[0] = 0;
-  for(Index j=0; j<size; ++j)
-    dest.outerIndexPtr()[j+1] = dest.outerIndexPtr()[j] + count[j];
-  dest.resizeNonZeros(dest.outerIndexPtr()[size]);
-  for(Index j=0; j<size; ++j)
-    count[j] = dest.outerIndexPtr()[j];
-  
-  for(StorageIndex j = 0; j<size; ++j)
-  {
-    
-    for(MatIterator it(matEval,j); it; ++it)
-    {
-      StorageIndex i = it.index();
-      if((int(SrcMode)==int(Lower) && i<j) || (int(SrcMode)==int(Upper) && i>j))
-        continue;
-                  
-      StorageIndex jp = perm ? perm[j] : j;
-      StorageIndex ip = perm? perm[i] : i;
-      
-      Index k = count[int(DstMode)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
-      dest.innerIndexPtr()[k] = int(DstMode)==int(Lower) ? (std::max)(ip,jp) : (std::min)(ip,jp);
-      
-      if(!StorageOrderMatch) std::swap(ip,jp);
-      if( ((int(DstMode)==int(Lower) && ip<jp) || (int(DstMode)==int(Upper) && ip>jp)))
-        dest.valuePtr()[k] = numext::conj(it.value());
-      else
-        dest.valuePtr()[k] = it.value();
-    }
-  }
-}
-
-}
-
-// TODO implement twists in a more evaluator friendly fashion
-
-namespace internal {
-
-template<typename MatrixType, int Mode>
-struct traits<SparseSymmetricPermutationProduct<MatrixType,Mode> > : traits<MatrixType> {
-};
-
-}
-
-template<typename MatrixType,int Mode>
-class SparseSymmetricPermutationProduct
-  : public EigenBase<SparseSymmetricPermutationProduct<MatrixType,Mode> >
-{
-  public:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    enum {
-      RowsAtCompileTime = internal::traits<SparseSymmetricPermutationProduct>::RowsAtCompileTime,
-      ColsAtCompileTime = internal::traits<SparseSymmetricPermutationProduct>::ColsAtCompileTime
-    };
-  protected:
-    typedef PermutationMatrix<Dynamic,Dynamic,StorageIndex> Perm;
-  public:
-    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
-    typedef typename MatrixType::Nested MatrixTypeNested;
-    typedef typename internal::remove_all<MatrixTypeNested>::type NestedExpression;
-    
-    SparseSymmetricPermutationProduct(const MatrixType& mat, const Perm& perm)
-      : m_matrix(mat), m_perm(perm)
-    {}
-    
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-        
-    const NestedExpression& matrix() const { return m_matrix; }
-    const Perm& perm() const { return m_perm; }
-    
-  protected:
-    MatrixTypeNested m_matrix;
-    const Perm& m_perm;
-
-};
-
-namespace internal {
-  
-template<typename DstXprType, typename MatrixType, int Mode, typename Scalar>
-struct Assignment<DstXprType, SparseSymmetricPermutationProduct<MatrixType,Mode>, internal::assign_op<Scalar,typename MatrixType::Scalar>, Sparse2Sparse>
-{
-  typedef SparseSymmetricPermutationProduct<MatrixType,Mode> SrcXprType;
-  typedef typename DstXprType::StorageIndex DstIndex;
-  template<int Options>
-  static void run(SparseMatrix<Scalar,Options,DstIndex> &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename MatrixType::Scalar> &)
-  {
-    // internal::permute_symm_to_fullsymm<Mode>(m_matrix,_dest,m_perm.indices().data());
-    SparseMatrix<Scalar,(Options&RowMajor)==RowMajor ? ColMajor : RowMajor, DstIndex> tmp;
-    internal::permute_symm_to_fullsymm<Mode>(src.matrix(),tmp,src.perm().indices().data());
-    dst = tmp;
-  }
-  
-  template<typename DestType,unsigned int DestMode>
-  static void run(SparseSelfAdjointView<DestType,DestMode>& dst, const SrcXprType &src, const internal::assign_op<Scalar,typename MatrixType::Scalar> &)
-  {
-    internal::permute_symm_to_symm<Mode,DestMode>(src.matrix(),dst.matrix(),src.perm().indices().data());
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_SELFADJOINTVIEW_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseSolverBase.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseSolverBase.h
deleted file mode 100644
index b4c9a422f057a6..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseSolverBase.h
+++ /dev/null
@@ -1,124 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSESOLVERBASE_H
-#define EIGEN_SPARSESOLVERBASE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-  /** \internal
-  * Helper functions to solve with a sparse right-hand-side and result.
-  * The rhs is decomposed into small vertical panels which are solved through dense temporaries.
-  */
-template<typename Decomposition, typename Rhs, typename Dest>
-typename enable_if<Rhs::ColsAtCompileTime!=1 && Dest::ColsAtCompileTime!=1>::type
-solve_sparse_through_dense_panels(const Decomposition &dec, const Rhs& rhs, Dest &dest)
-{
-  EIGEN_STATIC_ASSERT((Dest::Flags&RowMajorBit)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
-  typedef typename Dest::Scalar DestScalar;
-  // we process the sparse rhs per block of NbColsAtOnce columns temporarily stored into a dense matrix.
-  static const Index NbColsAtOnce = 4;
-  Index rhsCols = rhs.cols();
-  Index size = rhs.rows();
-  // the temporary matrices do not need more columns than NbColsAtOnce:
-  Index tmpCols = (std::min)(rhsCols, NbColsAtOnce); 
-  Eigen::Matrix<DestScalar,Dynamic,Dynamic> tmp(size,tmpCols);
-  Eigen::Matrix<DestScalar,Dynamic,Dynamic> tmpX(size,tmpCols);
-  for(Index k=0; k<rhsCols; k+=NbColsAtOnce)
-  {
-    Index actualCols = std::min<Index>(rhsCols-k, NbColsAtOnce);
-    tmp.leftCols(actualCols) = rhs.middleCols(k,actualCols);
-    tmpX.leftCols(actualCols) = dec.solve(tmp.leftCols(actualCols));
-    dest.middleCols(k,actualCols) = tmpX.leftCols(actualCols).sparseView();
-  }
-}
-
-// Overload for vector as rhs
-template<typename Decomposition, typename Rhs, typename Dest>
-typename enable_if<Rhs::ColsAtCompileTime==1 || Dest::ColsAtCompileTime==1>::type
-solve_sparse_through_dense_panels(const Decomposition &dec, const Rhs& rhs, Dest &dest)
-{
-  typedef typename Dest::Scalar DestScalar;
-  Index size = rhs.rows();
-  Eigen::Matrix<DestScalar,Dynamic,1> rhs_dense(rhs);
-  Eigen::Matrix<DestScalar,Dynamic,1> dest_dense(size);
-  dest_dense = dec.solve(rhs_dense);
-  dest = dest_dense.sparseView();
-}
-
-} // end namespace internal
-
-/** \class SparseSolverBase
-  * \ingroup SparseCore_Module
-  * \brief A base class for sparse solvers
-  *
-  * \tparam Derived the actual type of the solver.
-  *
-  */
-template<typename Derived>
-class SparseSolverBase : internal::noncopyable
-{
-  public:
-
-    /** Default constructor */
-    SparseSolverBase()
-      : m_isInitialized(false)
-    {}
-
-    ~SparseSolverBase()
-    {}
-
-    Derived& derived() { return *static_cast<Derived*>(this); }
-    const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    
-    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const Solve<Derived, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Solver is not initialized.");
-      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
-      return Solve<Derived, Rhs>(derived(), b.derived());
-    }
-    
-    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const Solve<Derived, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Solver is not initialized.");
-      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
-      return Solve<Derived, Rhs>(derived(), b.derived());
-    }
-    
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal default implementation of solving with a sparse rhs */
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
-    {
-      internal::solve_sparse_through_dense_panels(derived(), b.derived(), dest.derived());
-    }
-    #endif // EIGEN_PARSED_BY_DOXYGEN
-
-  protected:
-    
-    mutable bool m_isInitialized;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSESOLVERBASE_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
deleted file mode 100644
index 21c419002ea2ad..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
+++ /dev/null
@@ -1,198 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSESPARSEPRODUCTWITHPRUNING_H
-#define EIGEN_SPARSESPARSEPRODUCTWITHPRUNING_H
-
-namespace Eigen { 
-
-namespace internal {
-
-
-// perform a pseudo in-place sparse * sparse product assuming all matrices are col major
-template<typename Lhs, typename Rhs, typename ResultType>
-static void sparse_sparse_product_with_pruning_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res, const typename ResultType::RealScalar& tolerance)
-{
-  // return sparse_sparse_product_with_pruning_impl2(lhs,rhs,res);
-
-  typedef typename remove_all<Lhs>::type::Scalar Scalar;
-  typedef typename remove_all<Lhs>::type::StorageIndex StorageIndex;
-
-  // make sure to call innerSize/outerSize since we fake the storage order.
-  Index rows = lhs.innerSize();
-  Index cols = rhs.outerSize();
-  //Index size = lhs.outerSize();
-  eigen_assert(lhs.outerSize() == rhs.innerSize());
-
-  // allocate a temporary buffer
-  AmbiVector<Scalar,StorageIndex> tempVector(rows);
-
-  // mimics a resizeByInnerOuter:
-  if(ResultType::IsRowMajor)
-    res.resize(cols, rows);
-  else
-    res.resize(rows, cols);
-  
-  evaluator<Lhs> lhsEval(lhs);
-  evaluator<Rhs> rhsEval(rhs);
-  
-  // estimate the number of non zero entries
-  // given a rhs column containing Y non zeros, we assume that the respective Y columns
-  // of the lhs differs in average of one non zeros, thus the number of non zeros for
-  // the product of a rhs column with the lhs is X+Y where X is the average number of non zero
-  // per column of the lhs.
-  // Therefore, we have nnz(lhs*rhs) = nnz(lhs) + nnz(rhs)
-  Index estimated_nnz_prod = lhsEval.nonZerosEstimate() + rhsEval.nonZerosEstimate();
-
-  res.reserve(estimated_nnz_prod);
-  double ratioColRes = double(estimated_nnz_prod)/(double(lhs.rows())*double(rhs.cols()));
-  for (Index j=0; j<cols; ++j)
-  {
-    // FIXME:
-    //double ratioColRes = (double(rhs.innerVector(j).nonZeros()) + double(lhs.nonZeros())/double(lhs.cols()))/double(lhs.rows());
-    // let's do a more accurate determination of the nnz ratio for the current column j of res
-    tempVector.init(ratioColRes);
-    tempVector.setZero();
-    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
-    {
-      // FIXME should be written like this: tmp += rhsIt.value() * lhs.col(rhsIt.index())
-      tempVector.restart();
-      Scalar x = rhsIt.value();
-      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, rhsIt.index()); lhsIt; ++lhsIt)
-      {
-        tempVector.coeffRef(lhsIt.index()) += lhsIt.value() * x;
-      }
-    }
-    res.startVec(j);
-    for (typename AmbiVector<Scalar,StorageIndex>::Iterator it(tempVector,tolerance); it; ++it)
-      res.insertBackByOuterInner(j,it.index()) = it.value();
-  }
-  res.finalize();
-}
-
-template<typename Lhs, typename Rhs, typename ResultType,
-  int LhsStorageOrder = traits<Lhs>::Flags&RowMajorBit,
-  int RhsStorageOrder = traits<Rhs>::Flags&RowMajorBit,
-  int ResStorageOrder = traits<ResultType>::Flags&RowMajorBit>
-struct sparse_sparse_product_with_pruning_selector;
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,ColMajor>
-{
-  typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
-  typedef typename ResultType::RealScalar RealScalar;
-
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
-  {
-    typename remove_all<ResultType>::type _res(res.rows(), res.cols());
-    internal::sparse_sparse_product_with_pruning_impl<Lhs,Rhs,ResultType>(lhs, rhs, _res, tolerance);
-    res.swap(_res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,RowMajor>
-{
-  typedef typename ResultType::RealScalar RealScalar;
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
-  {
-    // we need a col-major matrix to hold the result
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> SparseTemporaryType;
-    SparseTemporaryType _res(res.rows(), res.cols());
-    internal::sparse_sparse_product_with_pruning_impl<Lhs,Rhs,SparseTemporaryType>(lhs, rhs, _res, tolerance);
-    res = _res;
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,RowMajor>
-{
-  typedef typename ResultType::RealScalar RealScalar;
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
-  {
-    // let's transpose the product to get a column x column product
-    typename remove_all<ResultType>::type _res(res.rows(), res.cols());
-    internal::sparse_sparse_product_with_pruning_impl<Rhs,Lhs,ResultType>(rhs, lhs, _res, tolerance);
-    res.swap(_res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,ColMajor>
-{
-  typedef typename ResultType::RealScalar RealScalar;
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixLhs;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixRhs;
-    ColMajorMatrixLhs colLhs(lhs);
-    ColMajorMatrixRhs colRhs(rhs);
-    internal::sparse_sparse_product_with_pruning_impl<ColMajorMatrixLhs,ColMajorMatrixRhs,ResultType>(colLhs, colRhs, res, tolerance);
-
-    // let's transpose the product to get a column x column product
-//     typedef SparseMatrix<typename ResultType::Scalar> SparseTemporaryType;
-//     SparseTemporaryType _res(res.cols(), res.rows());
-//     sparse_sparse_product_with_pruning_impl<Rhs,Lhs,SparseTemporaryType>(rhs, lhs, _res);
-//     res = _res.transpose();
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor,RowMajor>
-{
-  typedef typename ResultType::RealScalar RealScalar;
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename Lhs::StorageIndex> RowMajorMatrixLhs;
-    RowMajorMatrixLhs rowLhs(lhs);
-    sparse_sparse_product_with_pruning_selector<RowMajorMatrixLhs,Rhs,ResultType,RowMajor,RowMajor>(rowLhs,rhs,res,tolerance);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,RowMajor>
-{
-  typedef typename ResultType::RealScalar RealScalar;
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename Lhs::StorageIndex> RowMajorMatrixRhs;
-    RowMajorMatrixRhs rowRhs(rhs);
-    sparse_sparse_product_with_pruning_selector<Lhs,RowMajorMatrixRhs,ResultType,RowMajor,RowMajor,RowMajor>(lhs,rowRhs,res,tolerance);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor,ColMajor>
-{
-  typedef typename ResultType::RealScalar RealScalar;
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixRhs;
-    ColMajorMatrixRhs colRhs(rhs);
-    internal::sparse_sparse_product_with_pruning_impl<Lhs,ColMajorMatrixRhs,ResultType>(lhs, colRhs, res, tolerance);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,ColMajor>
-{
-  typedef typename ResultType::RealScalar RealScalar;
-  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
-  {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixLhs;
-    ColMajorMatrixLhs colLhs(lhs);
-    internal::sparse_sparse_product_with_pruning_impl<ColMajorMatrixLhs,Rhs,ResultType>(colLhs, rhs, res, tolerance);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSESPARSEPRODUCTWITHPRUNING_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseTranspose.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseTranspose.h
deleted file mode 100644
index 3757d4c6b07f74..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseTranspose.h
+++ /dev/null
@@ -1,92 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSETRANSPOSE_H
-#define EIGEN_SPARSETRANSPOSE_H
-
-namespace Eigen { 
-
-namespace internal {
-  template<typename MatrixType,int CompressedAccess=int(MatrixType::Flags&CompressedAccessBit)>
-  class SparseTransposeImpl
-    : public SparseMatrixBase<Transpose<MatrixType> >
-  {};
-  
-  template<typename MatrixType>
-  class SparseTransposeImpl<MatrixType,CompressedAccessBit>
-    : public SparseCompressedBase<Transpose<MatrixType> >
-  {
-    typedef SparseCompressedBase<Transpose<MatrixType> > Base;
-  public:
-    using Base::derived;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::StorageIndex StorageIndex;
-
-    inline Index nonZeros() const { return derived().nestedExpression().nonZeros(); }
-    
-    inline const Scalar* valuePtr() const { return derived().nestedExpression().valuePtr(); }
-    inline const StorageIndex* innerIndexPtr() const { return derived().nestedExpression().innerIndexPtr(); }
-    inline const StorageIndex* outerIndexPtr() const { return derived().nestedExpression().outerIndexPtr(); }
-    inline const StorageIndex* innerNonZeroPtr() const { return derived().nestedExpression().innerNonZeroPtr(); }
-
-    inline Scalar* valuePtr() { return derived().nestedExpression().valuePtr(); }
-    inline StorageIndex* innerIndexPtr() { return derived().nestedExpression().innerIndexPtr(); }
-    inline StorageIndex* outerIndexPtr() { return derived().nestedExpression().outerIndexPtr(); }
-    inline StorageIndex* innerNonZeroPtr() { return derived().nestedExpression().innerNonZeroPtr(); }
-  };
-}
-  
-template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>
-  : public internal::SparseTransposeImpl<MatrixType>
-{
-  protected:
-    typedef internal::SparseTransposeImpl<MatrixType> Base;
-};
-
-namespace internal {
-  
-template<typename ArgType>
-struct unary_evaluator<Transpose<ArgType>, IteratorBased>
-  : public evaluator_base<Transpose<ArgType> >
-{
-    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
-  public:
-    typedef Transpose<ArgType> XprType;
-    
-    inline Index nonZerosEstimate() const {
-      return m_argImpl.nonZerosEstimate();
-    }
-
-    class InnerIterator : public EvalIterator
-    {
-    public:
-      EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
-        : EvalIterator(unaryOp.m_argImpl,outer)
-      {}
-      
-      Index row() const { return EvalIterator::col(); }
-      Index col() const { return EvalIterator::row(); }
-    };
-    
-    enum {
-      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-      Flags = XprType::Flags
-    };
-    
-    explicit unary_evaluator(const XprType& op) :m_argImpl(op.nestedExpression()) {}
-
-  protected:
-    evaluator<ArgType> m_argImpl;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSETRANSPOSE_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseTriangularView.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseTriangularView.h
deleted file mode 100644
index 9ac120266a8025..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseTriangularView.h
+++ /dev/null
@@ -1,189 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_TRIANGULARVIEW_H
-#define EIGEN_SPARSE_TRIANGULARVIEW_H
-
-namespace Eigen {
-
-/** \ingroup SparseCore_Module
-  *
-  * \brief Base class for a triangular part in a \b sparse matrix
-  *
-  * This class is an abstract base class of class TriangularView, and objects of type TriangularViewImpl cannot be instantiated.
-  * It extends class TriangularView with additional methods which are available for sparse expressions only.
-  *
-  * \sa class TriangularView, SparseMatrixBase::triangularView()
-  */
-template<typename MatrixType, unsigned int Mode> class TriangularViewImpl<MatrixType,Mode,Sparse>
-  : public SparseMatrixBase<TriangularView<MatrixType,Mode> >
-{
-    enum { SkipFirst = ((Mode&Lower) && !(MatrixType::Flags&RowMajorBit))
-                    || ((Mode&Upper) &&  (MatrixType::Flags&RowMajorBit)),
-           SkipLast = !SkipFirst,
-           SkipDiag = (Mode&ZeroDiag) ? 1 : 0,
-           HasUnitDiag = (Mode&UnitDiag) ? 1 : 0
-    };
-    
-    typedef TriangularView<MatrixType,Mode> TriangularViewType;
-    
-  protected:
-    // dummy solve function to make TriangularView happy.
-    void solve() const;
-
-    typedef SparseMatrixBase<TriangularViewType> Base;
-  public:
-    
-    EIGEN_SPARSE_PUBLIC_INTERFACE(TriangularViewType)
-    
-    typedef typename MatrixType::Nested MatrixTypeNested;
-    typedef typename internal::remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
-    typedef typename internal::remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
-
-    template<typename RhsType, typename DstType>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE void _solve_impl(const RhsType &rhs, DstType &dst) const {
-      if(!(internal::is_same<RhsType,DstType>::value && internal::extract_data(dst) == internal::extract_data(rhs)))
-        dst = rhs;
-      this->solveInPlace(dst);
-    }
-
-    /** Applies the inverse of \c *this to the dense vector or matrix \a other, "in-place" */
-    template<typename OtherDerived> void solveInPlace(MatrixBase<OtherDerived>& other) const;
-
-    /** Applies the inverse of \c *this to the sparse vector or matrix \a other, "in-place" */
-    template<typename OtherDerived> void solveInPlace(SparseMatrixBase<OtherDerived>& other) const;
-  
-};
-
-namespace internal {
-
-template<typename ArgType, unsigned int Mode>
-struct unary_evaluator<TriangularView<ArgType,Mode>, IteratorBased>
- : evaluator_base<TriangularView<ArgType,Mode> >
-{
-  typedef TriangularView<ArgType,Mode> XprType;
-  
-protected:
-  
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::StorageIndex StorageIndex;
-  typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
-  
-  enum { SkipFirst = ((Mode&Lower) && !(ArgType::Flags&RowMajorBit))
-                    || ((Mode&Upper) &&  (ArgType::Flags&RowMajorBit)),
-         SkipLast = !SkipFirst,
-         SkipDiag = (Mode&ZeroDiag) ? 1 : 0,
-         HasUnitDiag = (Mode&UnitDiag) ? 1 : 0
-  };
-  
-public:
-  
-  enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-    Flags = XprType::Flags
-  };
-    
-  explicit unary_evaluator(const XprType &xpr) : m_argImpl(xpr.nestedExpression()), m_arg(xpr.nestedExpression()) {}
-  
-  inline Index nonZerosEstimate() const {
-    return m_argImpl.nonZerosEstimate();
-  }
-  
-  class InnerIterator : public EvalIterator
-  {
-      typedef EvalIterator Base;
-    public:
-
-      EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& xprEval, Index outer)
-        : Base(xprEval.m_argImpl,outer), m_returnOne(false), m_containsDiag(Base::outer()<xprEval.m_arg.innerSize())
-      {
-        if(SkipFirst)
-        {
-          while((*this) && ((HasUnitDiag||SkipDiag)  ? this->index()<=outer : this->index()<outer))
-            Base::operator++();
-          if(HasUnitDiag)
-            m_returnOne = m_containsDiag;
-        }
-        else if(HasUnitDiag && ((!Base::operator bool()) || Base::index()>=Base::outer()))
-        {
-          if((!SkipFirst) && Base::operator bool())
-            Base::operator++();
-          m_returnOne = m_containsDiag;
-        }
-      }
-
-      EIGEN_STRONG_INLINE InnerIterator& operator++()
-      {
-        if(HasUnitDiag && m_returnOne)
-          m_returnOne = false;
-        else
-        {
-          Base::operator++();
-          if(HasUnitDiag && (!SkipFirst) && ((!Base::operator bool()) || Base::index()>=Base::outer()))
-          {
-            if((!SkipFirst) && Base::operator bool())
-              Base::operator++();
-            m_returnOne = m_containsDiag;
-          }
-        }
-        return *this;
-      }
-      
-      EIGEN_STRONG_INLINE operator bool() const
-      {
-        if(HasUnitDiag && m_returnOne)
-          return true;
-        if(SkipFirst) return  Base::operator bool();
-        else
-        {
-          if (SkipDiag) return (Base::operator bool() && this->index() < this->outer());
-          else return (Base::operator bool() && this->index() <= this->outer());
-        }
-      }
-
-//       inline Index row() const { return (ArgType::Flags&RowMajorBit ? Base::outer() : this->index()); }
-//       inline Index col() const { return (ArgType::Flags&RowMajorBit ? this->index() : Base::outer()); }
-      inline StorageIndex index() const
-      {
-        if(HasUnitDiag && m_returnOne)  return internal::convert_index<StorageIndex>(Base::outer());
-        else                            return Base::index();
-      }
-      inline Scalar value() const
-      {
-        if(HasUnitDiag && m_returnOne)  return Scalar(1);
-        else                            return Base::value();
-      }
-
-    protected:
-      bool m_returnOne;
-      bool m_containsDiag;
-    private:
-      Scalar& valueRef();
-  };
-  
-protected:
-  evaluator<ArgType> m_argImpl;
-  const ArgType& m_arg;
-};
-
-} // end namespace internal
-
-template<typename Derived>
-template<int Mode>
-inline const TriangularView<const Derived, Mode>
-SparseMatrixBase<Derived>::triangularView() const
-{
-  return TriangularView<const Derived, Mode>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_TRIANGULARVIEW_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseUtil.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseUtil.h
deleted file mode 100644
index 74df0d49642062..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseUtil.h
+++ /dev/null
@@ -1,178 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEUTIL_H
-#define EIGEN_SPARSEUTIL_H
-
-namespace Eigen { 
-
-#ifdef NDEBUG
-#define EIGEN_DBG_SPARSE(X)
-#else
-#define EIGEN_DBG_SPARSE(X) X
-#endif
-
-#define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename OtherDerived> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::SparseMatrixBase<OtherDerived>& other) \
-{ \
-  return Base::operator Op(other.derived()); \
-} \
-EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
-{ \
-  return Base::operator Op(other); \
-}
-
-#define EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename Other> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
-{ \
-  return Base::operator Op(scalar); \
-}
-
-#define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =)
-
-
-#define EIGEN_SPARSE_PUBLIC_INTERFACE(Derived) \
-  EIGEN_GENERIC_PUBLIC_INTERFACE(Derived)
-
-  
-const int CoherentAccessPattern     = 0x1;
-const int InnerRandomAccessPattern  = 0x2 | CoherentAccessPattern;
-const int OuterRandomAccessPattern  = 0x4 | CoherentAccessPattern;
-const int RandomAccessPattern       = 0x8 | OuterRandomAccessPattern | InnerRandomAccessPattern;
-
-template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class SparseMatrix;
-template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class DynamicSparseMatrix;
-template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class SparseVector;
-template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class MappedSparseMatrix;
-
-template<typename MatrixType, unsigned int UpLo>  class SparseSelfAdjointView;
-template<typename Lhs, typename Rhs>              class SparseDiagonalProduct;
-template<typename MatrixType> class SparseView;
-
-template<typename Lhs, typename Rhs>        class SparseSparseProduct;
-template<typename Lhs, typename Rhs>        class SparseTimeDenseProduct;
-template<typename Lhs, typename Rhs>        class DenseTimeSparseProduct;
-template<typename Lhs, typename Rhs, bool Transpose> class SparseDenseOuterProduct;
-
-template<typename Lhs, typename Rhs> struct SparseSparseProductReturnType;
-template<typename Lhs, typename Rhs,
-         int InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(internal::traits<Lhs>::ColsAtCompileTime,internal::traits<Rhs>::RowsAtCompileTime)> struct DenseSparseProductReturnType;
-         
-template<typename Lhs, typename Rhs,
-         int InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(internal::traits<Lhs>::ColsAtCompileTime,internal::traits<Rhs>::RowsAtCompileTime)> struct SparseDenseProductReturnType;
-template<typename MatrixType,int UpLo> class SparseSymmetricPermutationProduct;
-
-namespace internal {
-
-template<typename T,int Rows,int Cols,int Flags> struct sparse_eval;
-
-template<typename T> struct eval<T,Sparse>
-  : sparse_eval<T, traits<T>::RowsAtCompileTime,traits<T>::ColsAtCompileTime,traits<T>::Flags>
-{};
-
-template<typename T,int Cols,int Flags> struct sparse_eval<T,1,Cols,Flags> {
-    typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::StorageIndex _StorageIndex;
-  public:
-    typedef SparseVector<_Scalar, RowMajor, _StorageIndex> type;
-};
-
-template<typename T,int Rows,int Flags> struct sparse_eval<T,Rows,1,Flags> {
-    typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::StorageIndex _StorageIndex;
-  public:
-    typedef SparseVector<_Scalar, ColMajor, _StorageIndex> type;
-};
-
-// TODO this seems almost identical to plain_matrix_type<T, Sparse>
-template<typename T,int Rows,int Cols,int Flags> struct sparse_eval {
-    typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::StorageIndex _StorageIndex;
-    enum { _Options = ((Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
-  public:
-    typedef SparseMatrix<_Scalar, _Options, _StorageIndex> type;
-};
-
-template<typename T,int Flags> struct sparse_eval<T,1,1,Flags> {
-    typedef typename traits<T>::Scalar _Scalar;
-  public:
-    typedef Matrix<_Scalar, 1, 1> type;
-};
-
-template<typename T> struct plain_matrix_type<T,Sparse>
-{
-  typedef typename traits<T>::Scalar _Scalar;
-  typedef typename traits<T>::StorageIndex _StorageIndex;
-  enum { _Options = ((evaluator<T>::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
-  public:
-    typedef SparseMatrix<_Scalar, _Options, _StorageIndex> type;
-};
-
-template<typename T>
-struct plain_object_eval<T,Sparse>
-  : sparse_eval<T, traits<T>::RowsAtCompileTime,traits<T>::ColsAtCompileTime, evaluator<T>::Flags>
-{};
-
-template<typename Decomposition, typename RhsType>
-struct solve_traits<Decomposition,RhsType,Sparse>
-{
-  typedef typename sparse_eval<RhsType, RhsType::RowsAtCompileTime, RhsType::ColsAtCompileTime,traits<RhsType>::Flags>::type PlainObject;
-};
-
-template<typename Derived>
-struct generic_xpr_base<Derived, MatrixXpr, Sparse>
-{
-  typedef SparseMatrixBase<Derived> type;
-};
-
-struct SparseTriangularShape  { static std::string debugName() { return "SparseTriangularShape"; } };
-struct SparseSelfAdjointShape { static std::string debugName() { return "SparseSelfAdjointShape"; } };
-
-template<> struct glue_shapes<SparseShape,SelfAdjointShape> { typedef SparseSelfAdjointShape type;  };
-template<> struct glue_shapes<SparseShape,TriangularShape > { typedef SparseTriangularShape  type;  };
-
-} // end namespace internal
-
-/** \ingroup SparseCore_Module
-  *
-  * \class Triplet
-  *
-  * \brief A small structure to hold a non zero as a triplet (i,j,value).
-  *
-  * \sa SparseMatrix::setFromTriplets()
-  */
-template<typename Scalar, typename StorageIndex=typename SparseMatrix<Scalar>::StorageIndex >
-class Triplet
-{
-public:
-  Triplet() : m_row(0), m_col(0), m_value(0) {}
-
-  Triplet(const StorageIndex& i, const StorageIndex& j, const Scalar& v = Scalar(0))
-    : m_row(i), m_col(j), m_value(v)
-  {}
-
-  /** \returns the row index of the element */
-  const StorageIndex& row() const { return m_row; }
-
-  /** \returns the column index of the element */
-  const StorageIndex& col() const { return m_col; }
-
-  /** \returns the value of the element */
-  const Scalar& value() const { return m_value; }
-protected:
-  StorageIndex m_row, m_col;
-  Scalar m_value;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEUTIL_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseVector.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseVector.h
deleted file mode 100644
index 19b0fbc9d70ac8..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseVector.h
+++ /dev/null
@@ -1,478 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEVECTOR_H
-#define EIGEN_SPARSEVECTOR_H
-
-namespace Eigen { 
-
-/** \ingroup SparseCore_Module
-  * \class SparseVector
-  *
-  * \brief a sparse vector class
-  *
-  * \tparam _Scalar the scalar type, i.e. the type of the coefficients
-  *
-  * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEVECTOR_PLUGIN.
-  */
-
-namespace internal {
-template<typename _Scalar, int _Options, typename _StorageIndex>
-struct traits<SparseVector<_Scalar, _Options, _StorageIndex> >
-{
-  typedef _Scalar Scalar;
-  typedef _StorageIndex StorageIndex;
-  typedef Sparse StorageKind;
-  typedef MatrixXpr XprKind;
-  enum {
-    IsColVector = (_Options & RowMajorBit) ? 0 : 1,
-
-    RowsAtCompileTime = IsColVector ? Dynamic : 1,
-    ColsAtCompileTime = IsColVector ? 1 : Dynamic,
-    MaxRowsAtCompileTime = RowsAtCompileTime,
-    MaxColsAtCompileTime = ColsAtCompileTime,
-    Flags = _Options | NestByRefBit | LvalueBit | (IsColVector ? 0 : RowMajorBit) | CompressedAccessBit,
-    SupportedAccessPatterns = InnerRandomAccessPattern
-  };
-};
-
-// Sparse-Vector-Assignment kinds:
-enum {
-  SVA_RuntimeSwitch,
-  SVA_Inner,
-  SVA_Outer
-};
-
-template< typename Dest, typename Src,
-          int AssignmentKind = !bool(Src::IsVectorAtCompileTime) ? SVA_RuntimeSwitch
-                             : Src::InnerSizeAtCompileTime==1 ? SVA_Outer
-                             : SVA_Inner>
-struct sparse_vector_assign_selector;
-
-}
-
-template<typename _Scalar, int _Options, typename _StorageIndex>
-class SparseVector
-  : public SparseCompressedBase<SparseVector<_Scalar, _Options, _StorageIndex> >
-{
-    typedef SparseCompressedBase<SparseVector> Base;
-    using Base::convert_index;
-  public:
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseVector)
-    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, +=)
-    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, -=)
-    
-    typedef internal::CompressedStorage<Scalar,StorageIndex> Storage;
-    enum { IsColVector = internal::traits<SparseVector>::IsColVector };
-    
-    enum {
-      Options = _Options
-    };
-    
-    EIGEN_STRONG_INLINE Index rows() const { return IsColVector ? m_size : 1; }
-    EIGEN_STRONG_INLINE Index cols() const { return IsColVector ? 1 : m_size; }
-    EIGEN_STRONG_INLINE Index innerSize() const { return m_size; }
-    EIGEN_STRONG_INLINE Index outerSize() const { return 1; }
-
-    EIGEN_STRONG_INLINE const Scalar* valuePtr() const { return m_data.valuePtr(); }
-    EIGEN_STRONG_INLINE Scalar* valuePtr() { return m_data.valuePtr(); }
-
-    EIGEN_STRONG_INLINE const StorageIndex* innerIndexPtr() const { return m_data.indexPtr(); }
-    EIGEN_STRONG_INLINE StorageIndex* innerIndexPtr() { return m_data.indexPtr(); }
-
-    inline const StorageIndex* outerIndexPtr() const { return 0; }
-    inline StorageIndex* outerIndexPtr() { return 0; }
-    inline const StorageIndex* innerNonZeroPtr() const { return 0; }
-    inline StorageIndex* innerNonZeroPtr() { return 0; }
-    
-    /** \internal */
-    inline Storage& data() { return m_data; }
-    /** \internal */
-    inline const Storage& data() const { return m_data; }
-
-    inline Scalar coeff(Index row, Index col) const
-    {
-      eigen_assert(IsColVector ? (col==0 && row>=0 && row<m_size) : (row==0 && col>=0 && col<m_size));
-      return coeff(IsColVector ? row : col);
-    }
-    inline Scalar coeff(Index i) const
-    {
-      eigen_assert(i>=0 && i<m_size);
-      return m_data.at(StorageIndex(i));
-    }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      eigen_assert(IsColVector ? (col==0 && row>=0 && row<m_size) : (row==0 && col>=0 && col<m_size));
-      return coeffRef(IsColVector ? row : col);
-    }
-
-    /** \returns a reference to the coefficient value at given index \a i
-      * This operation involes a log(rho*size) binary search. If the coefficient does not
-      * exist yet, then a sorted insertion into a sequential buffer is performed.
-      *
-      * This insertion might be very costly if the number of nonzeros above \a i is large.
-      */
-    inline Scalar& coeffRef(Index i)
-    {
-      eigen_assert(i>=0 && i<m_size);
-
-      return m_data.atWithInsertion(StorageIndex(i));
-    }
-
-  public:
-
-    typedef typename Base::InnerIterator InnerIterator;
-    typedef typename Base::ReverseInnerIterator ReverseInnerIterator;
-
-    inline void setZero() { m_data.clear(); }
-
-    /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const  { return m_data.size(); }
-
-    inline void startVec(Index outer)
-    {
-      EIGEN_UNUSED_VARIABLE(outer);
-      eigen_assert(outer==0);
-    }
-
-    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
-    {
-      EIGEN_UNUSED_VARIABLE(outer);
-      eigen_assert(outer==0);
-      return insertBack(inner);
-    }
-    inline Scalar& insertBack(Index i)
-    {
-      m_data.append(0, i);
-      return m_data.value(m_data.size()-1);
-    }
-    
-    Scalar& insertBackByOuterInnerUnordered(Index outer, Index inner)
-    {
-      EIGEN_UNUSED_VARIABLE(outer);
-      eigen_assert(outer==0);
-      return insertBackUnordered(inner);
-    }
-    inline Scalar& insertBackUnordered(Index i)
-    {
-      m_data.append(0, i);
-      return m_data.value(m_data.size()-1);
-    }
-
-    inline Scalar& insert(Index row, Index col)
-    {
-      eigen_assert(IsColVector ? (col==0 && row>=0 && row<m_size) : (row==0 && col>=0 && col<m_size));
-      
-      Index inner = IsColVector ? row : col;
-      Index outer = IsColVector ? col : row;
-      EIGEN_ONLY_USED_FOR_DEBUG(outer);
-      eigen_assert(outer==0);
-      return insert(inner);
-    }
-    Scalar& insert(Index i)
-    {
-      eigen_assert(i>=0 && i<m_size);
-      
-      Index startId = 0;
-      Index p = Index(m_data.size()) - 1;
-      // TODO smart realloc
-      m_data.resize(p+2,1);
-
-      while ( (p >= startId) && (m_data.index(p) > i) )
-      {
-        m_data.index(p+1) = m_data.index(p);
-        m_data.value(p+1) = m_data.value(p);
-        --p;
-      }
-      m_data.index(p+1) = convert_index(i);
-      m_data.value(p+1) = 0;
-      return m_data.value(p+1);
-    }
-
-    /**
-      */
-    inline void reserve(Index reserveSize) { m_data.reserve(reserveSize); }
-
-
-    inline void finalize() {}
-
-    /** \copydoc SparseMatrix::prune(const Scalar&,const RealScalar&) */
-    void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
-    {
-      m_data.prune(reference,epsilon);
-    }
-
-    /** Resizes the sparse vector to \a rows x \a cols
-      *
-      * This method is provided for compatibility with matrices.
-      * For a column vector, \a cols must be equal to 1.
-      * For a row vector, \a rows must be equal to 1.
-      *
-      * \sa resize(Index)
-      */
-    void resize(Index rows, Index cols)
-    {
-      eigen_assert((IsColVector ? cols : rows)==1 && "Outer dimension must equal 1");
-      resize(IsColVector ? rows : cols);
-    }
-
-    /** Resizes the sparse vector to \a newSize
-      * This method deletes all entries, thus leaving an empty sparse vector
-      *
-      * \sa  conservativeResize(), setZero() */
-    void resize(Index newSize)
-    {
-      m_size = newSize;
-      m_data.clear();
-    }
-
-    /** Resizes the sparse vector to \a newSize, while leaving old values untouched.
-      *
-      * If the size of the vector is decreased, then the storage of the out-of bounds coefficients is kept and reserved.
-      * Call .data().squeeze() to free extra memory.
-      *
-      * \sa reserve(), setZero()
-      */
-    void conservativeResize(Index newSize)
-    {
-      if (newSize < m_size)
-      {
-        Index i = 0;
-        while (i<m_data.size() && m_data.index(i)<newSize) ++i;
-        m_data.resize(i);
-      }
-      m_size = newSize;
-    }
-
-    void resizeNonZeros(Index size) { m_data.resize(size); }
-
-    inline SparseVector() : m_size(0) { check_template_parameters(); resize(0); }
-
-    explicit inline SparseVector(Index size) : m_size(0) { check_template_parameters(); resize(size); }
-
-    inline SparseVector(Index rows, Index cols) : m_size(0) { check_template_parameters(); resize(rows,cols); }
-
-    template<typename OtherDerived>
-    inline SparseVector(const SparseMatrixBase<OtherDerived>& other)
-      : m_size(0)
-    {
-      #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
-        EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
-      #endif
-      check_template_parameters();
-      *this = other.derived();
-    }
-
-    inline SparseVector(const SparseVector& other)
-      : Base(other), m_size(0)
-    {
-      check_template_parameters();
-      *this = other.derived();
-    }
-
-    /** Swaps the values of \c *this and \a other.
-      * Overloaded for performance: this version performs a \em shallow swap by swaping pointers and attributes only.
-      * \sa SparseMatrixBase::swap()
-      */
-    inline void swap(SparseVector& other)
-    {
-      std::swap(m_size, other.m_size);
-      m_data.swap(other.m_data);
-    }
-
-    template<int OtherOptions>
-    inline void swap(SparseMatrix<Scalar,OtherOptions,StorageIndex>& other)
-    {
-      eigen_assert(other.outerSize()==1);
-      std::swap(m_size, other.m_innerSize);
-      m_data.swap(other.m_data);
-    }
-
-    inline SparseVector& operator=(const SparseVector& other)
-    {
-      if (other.isRValue())
-      {
-        swap(other.const_cast_derived());
-      }
-      else
-      {
-        resize(other.size());
-        m_data = other.m_data;
-      }
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    inline SparseVector& operator=(const SparseMatrixBase<OtherDerived>& other)
-    {
-      SparseVector tmp(other.size());
-      internal::sparse_vector_assign_selector<SparseVector,OtherDerived>::run(tmp,other.derived());
-      this->swap(tmp);
-      return *this;
-    }
-
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename Lhs, typename Rhs>
-    inline SparseVector& operator=(const SparseSparseProduct<Lhs,Rhs>& product)
-    {
-      return Base::operator=(product);
-    }
-    #endif
-
-    friend std::ostream & operator << (std::ostream & s, const SparseVector& m)
-    {
-      for (Index i=0; i<m.nonZeros(); ++i)
-        s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
-      s << std::endl;
-      return s;
-    }
-
-    /** Destructor */
-    inline ~SparseVector() {}
-
-    /** Overloaded for performance */
-    Scalar sum() const;
-
-  public:
-
-    /** \internal \deprecated use setZero() and reserve() */
-    EIGEN_DEPRECATED void startFill(Index reserve)
-    {
-      setZero();
-      m_data.reserve(reserve);
-    }
-
-    /** \internal \deprecated use insertBack(Index,Index) */
-    EIGEN_DEPRECATED Scalar& fill(Index r, Index c)
-    {
-      eigen_assert(r==0 || c==0);
-      return fill(IsColVector ? r : c);
-    }
-
-    /** \internal \deprecated use insertBack(Index) */
-    EIGEN_DEPRECATED Scalar& fill(Index i)
-    {
-      m_data.append(0, i);
-      return m_data.value(m_data.size()-1);
-    }
-
-    /** \internal \deprecated use insert(Index,Index) */
-    EIGEN_DEPRECATED Scalar& fillrand(Index r, Index c)
-    {
-      eigen_assert(r==0 || c==0);
-      return fillrand(IsColVector ? r : c);
-    }
-
-    /** \internal \deprecated use insert(Index) */
-    EIGEN_DEPRECATED Scalar& fillrand(Index i)
-    {
-      return insert(i);
-    }
-
-    /** \internal \deprecated use finalize() */
-    EIGEN_DEPRECATED void endFill() {}
-    
-    // These two functions were here in the 3.1 release, so let's keep them in case some code rely on them.
-    /** \internal \deprecated use data() */
-    EIGEN_DEPRECATED Storage& _data() { return m_data; }
-    /** \internal \deprecated use data() */
-    EIGEN_DEPRECATED const Storage& _data() const { return m_data; }
-    
-#   ifdef EIGEN_SPARSEVECTOR_PLUGIN
-#     include EIGEN_SPARSEVECTOR_PLUGIN
-#   endif
-
-protected:
-  
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT(NumTraits<StorageIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
-      EIGEN_STATIC_ASSERT((_Options&(ColMajor|RowMajor))==Options,INVALID_MATRIX_TEMPLATE_PARAMETERS);
-    }
-    
-    Storage m_data;
-    Index m_size;
-};
-
-namespace internal {
-
-template<typename _Scalar, int _Options, typename _Index>
-struct evaluator<SparseVector<_Scalar,_Options,_Index> >
-  : evaluator_base<SparseVector<_Scalar,_Options,_Index> >
-{
-  typedef SparseVector<_Scalar,_Options,_Index> SparseVectorType;
-  typedef evaluator_base<SparseVectorType> Base;
-  typedef typename SparseVectorType::InnerIterator InnerIterator;
-  typedef typename SparseVectorType::ReverseInnerIterator ReverseInnerIterator;
-  
-  enum {
-    CoeffReadCost = NumTraits<_Scalar>::ReadCost,
-    Flags = SparseVectorType::Flags
-  };
-
-  evaluator() : Base() {}
-  
-  explicit evaluator(const SparseVectorType &mat) : m_matrix(&mat)
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-  
-  inline Index nonZerosEstimate() const {
-    return m_matrix->nonZeros();
-  }
-  
-  operator SparseVectorType&() { return m_matrix->const_cast_derived(); }
-  operator const SparseVectorType&() const { return *m_matrix; }
-  
-  const SparseVectorType *m_matrix;
-};
-
-template< typename Dest, typename Src>
-struct sparse_vector_assign_selector<Dest,Src,SVA_Inner> {
-  static void run(Dest& dst, const Src& src) {
-    eigen_internal_assert(src.innerSize()==src.size());
-    typedef internal::evaluator<Src> SrcEvaluatorType;
-    SrcEvaluatorType srcEval(src);
-    for(typename SrcEvaluatorType::InnerIterator it(srcEval, 0); it; ++it)
-      dst.insert(it.index()) = it.value();
-  }
-};
-
-template< typename Dest, typename Src>
-struct sparse_vector_assign_selector<Dest,Src,SVA_Outer> {
-  static void run(Dest& dst, const Src& src) {
-    eigen_internal_assert(src.outerSize()==src.size());
-    typedef internal::evaluator<Src> SrcEvaluatorType;
-    SrcEvaluatorType srcEval(src);
-    for(Index i=0; i<src.size(); ++i)
-    {
-      typename SrcEvaluatorType::InnerIterator it(srcEval, i);
-      if(it)
-        dst.insert(i) = it.value();
-    }
-  }
-};
-
-template< typename Dest, typename Src>
-struct sparse_vector_assign_selector<Dest,Src,SVA_RuntimeSwitch> {
-  static void run(Dest& dst, const Src& src) {
-    if(src.outerSize()==1)  sparse_vector_assign_selector<Dest,Src,SVA_Inner>::run(dst, src);
-    else                    sparse_vector_assign_selector<Dest,Src,SVA_Outer>::run(dst, src);
-  }
-};
-
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEVECTOR_H
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/SparseView.h b/phonelibs/eigen/Eigen/src/SparseCore/SparseView.h
deleted file mode 100644
index 7c4aea743e012a..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/SparseView.h
+++ /dev/null
@@ -1,253 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Daniel Lowengrub <lowdanie@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEVIEW_H
-#define EIGEN_SPARSEVIEW_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename MatrixType>
-struct traits<SparseView<MatrixType> > : traits<MatrixType>
-{
-  typedef typename MatrixType::StorageIndex StorageIndex;
-  typedef Sparse StorageKind;
-  enum {
-    Flags = int(traits<MatrixType>::Flags) & (RowMajorBit)
-  };
-};
-
-} // end namespace internal
-
-/** \ingroup SparseCore_Module
-  * \class SparseView
-  *
-  * \brief Expression of a dense or sparse matrix with zero or too small values removed
-  *
-  * \tparam MatrixType the type of the object of which we are removing the small entries
-  *
-  * This class represents an expression of a given dense or sparse matrix with
-  * entries smaller than \c reference * \c epsilon are removed.
-  * It is the return type of MatrixBase::sparseView() and SparseMatrixBase::pruned()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::sparseView(), SparseMatrixBase::pruned()
-  */
-template<typename MatrixType>
-class SparseView : public SparseMatrixBase<SparseView<MatrixType> >
-{
-  typedef typename MatrixType::Nested MatrixTypeNested;
-  typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
-  typedef SparseMatrixBase<SparseView > Base;
-public:
-  EIGEN_SPARSE_PUBLIC_INTERFACE(SparseView)
-  typedef typename internal::remove_all<MatrixType>::type NestedExpression;
-
-  explicit SparseView(const MatrixType& mat, const Scalar& reference = Scalar(0),
-                      const RealScalar &epsilon = NumTraits<Scalar>::dummy_precision())
-    : m_matrix(mat), m_reference(reference), m_epsilon(epsilon) {}
-
-  inline Index rows() const { return m_matrix.rows(); }
-  inline Index cols() const { return m_matrix.cols(); }
-
-  inline Index innerSize() const { return m_matrix.innerSize(); }
-  inline Index outerSize() const { return m_matrix.outerSize(); }
-  
-  /** \returns the nested expression */
-  const typename internal::remove_all<MatrixTypeNested>::type&
-  nestedExpression() const { return m_matrix; }
-  
-  Scalar reference() const { return m_reference; }
-  RealScalar epsilon() const { return m_epsilon; }
-  
-protected:
-  MatrixTypeNested m_matrix;
-  Scalar m_reference;
-  RealScalar m_epsilon;
-};
-
-namespace internal {
-
-// TODO find a way to unify the two following variants
-// This is tricky because implementing an inner iterator on top of an IndexBased evaluator is
-// not easy because the evaluators do not expose the sizes of the underlying expression.
-  
-template<typename ArgType>
-struct unary_evaluator<SparseView<ArgType>, IteratorBased>
-  : public evaluator_base<SparseView<ArgType> >
-{
-    typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
-  public:
-    typedef SparseView<ArgType> XprType;
-    
-    class InnerIterator : public EvalIterator
-    {
-        typedef typename XprType::Scalar Scalar;
-      public:
-
-        EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& sve, Index outer)
-          : EvalIterator(sve.m_argImpl,outer), m_view(sve.m_view)
-        {
-          incrementToNonZero();
-        }
-
-        EIGEN_STRONG_INLINE InnerIterator& operator++()
-        {
-          EvalIterator::operator++();
-          incrementToNonZero();
-          return *this;
-        }
-
-        using EvalIterator::value;
-
-      protected:
-        const XprType &m_view;
-
-      private:
-        void incrementToNonZero()
-        {
-          while((bool(*this)) && internal::isMuchSmallerThan(value(), m_view.reference(), m_view.epsilon()))
-          {
-            EvalIterator::operator++();
-          }
-        }
-    };
-    
-    enum {
-      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-      Flags = XprType::Flags
-    };
-    
-    explicit unary_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_view(xpr) {}
-
-  protected:
-    evaluator<ArgType> m_argImpl;
-    const XprType &m_view;
-};
-
-template<typename ArgType>
-struct unary_evaluator<SparseView<ArgType>, IndexBased>
-  : public evaluator_base<SparseView<ArgType> >
-{
-  public:
-    typedef SparseView<ArgType> XprType;
-  protected:
-    enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit };
-    typedef typename XprType::Scalar Scalar;
-    typedef typename XprType::StorageIndex StorageIndex;
-  public:
-    
-    class InnerIterator
-    {
-      public:
-
-        EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& sve, Index outer)
-          : m_sve(sve), m_inner(0), m_outer(outer), m_end(sve.m_view.innerSize())
-        {
-          incrementToNonZero();
-        }
-
-        EIGEN_STRONG_INLINE InnerIterator& operator++()
-        {
-          m_inner++;
-          incrementToNonZero();
-          return *this;
-        }
-
-        EIGEN_STRONG_INLINE Scalar value() const
-        {
-          return (IsRowMajor) ? m_sve.m_argImpl.coeff(m_outer, m_inner)
-                              : m_sve.m_argImpl.coeff(m_inner, m_outer);
-        }
-
-        EIGEN_STRONG_INLINE StorageIndex index() const { return m_inner; }
-        inline Index row() const { return IsRowMajor ? m_outer : index(); }
-        inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-        EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
-
-      protected:
-        const unary_evaluator &m_sve;
-        Index m_inner;
-        const Index m_outer;
-        const Index m_end;
-
-      private:
-        void incrementToNonZero()
-        {
-          while((bool(*this)) && internal::isMuchSmallerThan(value(), m_sve.m_view.reference(), m_sve.m_view.epsilon()))
-          {
-            m_inner++;
-          }
-        }
-    };
-    
-    enum {
-      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-      Flags = XprType::Flags
-    };
-    
-    explicit unary_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_view(xpr) {}
-
-  protected:
-    evaluator<ArgType> m_argImpl;
-    const XprType &m_view;
-};
-
-} // end namespace internal
-
-/** \ingroup SparseCore_Module
-  *
-  * \returns a sparse expression of the dense expression \c *this with values smaller than
-  * \a reference * \a epsilon removed.
-  *
-  * This method is typically used when prototyping to convert a quickly assembled dense Matrix \c D to a SparseMatrix \c S:
-  * \code
-  * MatrixXd D(n,m);
-  * SparseMatrix<double> S;
-  * S = D.sparseView();             // suppress numerical zeros (exact)
-  * S = D.sparseView(reference);
-  * S = D.sparseView(reference,epsilon);
-  * \endcode
-  * where \a reference is a meaningful non zero reference value,
-  * and \a epsilon is a tolerance factor defaulting to NumTraits<Scalar>::dummy_precision().
-  *
-  * \sa SparseMatrixBase::pruned(), class SparseView */
-template<typename Derived>
-const SparseView<Derived> MatrixBase<Derived>::sparseView(const Scalar& reference,
-                                                          const typename NumTraits<Scalar>::Real& epsilon) const
-{
-  return SparseView<Derived>(derived(), reference, epsilon);
-}
-
-/** \returns an expression of \c *this with values smaller than
-  * \a reference * \a epsilon removed.
-  *
-  * This method is typically used in conjunction with the product of two sparse matrices
-  * to automatically prune the smallest values as follows:
-  * \code
-  * C = (A*B).pruned();             // suppress numerical zeros (exact)
-  * C = (A*B).pruned(ref);
-  * C = (A*B).pruned(ref,epsilon);
-  * \endcode
-  * where \c ref is a meaningful non zero reference value.
-  * */
-template<typename Derived>
-const SparseView<Derived>
-SparseMatrixBase<Derived>::pruned(const Scalar& reference,
-                                  const RealScalar& epsilon) const
-{
-  return SparseView<Derived>(derived(), reference, epsilon);
-}
-
-} // end namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/SparseCore/TriangularSolver.h b/phonelibs/eigen/Eigen/src/SparseCore/TriangularSolver.h
deleted file mode 100644
index f9c56ba79800e2..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseCore/TriangularSolver.h
+++ /dev/null
@@ -1,315 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSETRIANGULARSOLVER_H
-#define EIGEN_SPARSETRIANGULARSOLVER_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Lhs, typename Rhs, int Mode,
-  int UpLo = (Mode & Lower)
-           ? Lower
-           : (Mode & Upper)
-           ? Upper
-           : -1,
-  int StorageOrder = int(traits<Lhs>::Flags) & RowMajorBit>
-struct sparse_solve_triangular_selector;
-
-// forward substitution, row-major
-template<typename Lhs, typename Rhs, int Mode>
-struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,RowMajor>
-{
-  typedef typename Rhs::Scalar Scalar;
-  typedef evaluator<Lhs> LhsEval;
-  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    LhsEval lhsEval(lhs);
-    for(Index col=0 ; col<other.cols() ; ++col)
-    {
-      for(Index i=0; i<lhs.rows(); ++i)
-      {
-        Scalar tmp = other.coeff(i,col);
-        Scalar lastVal(0);
-        Index lastIndex = 0;
-        for(LhsIterator it(lhsEval, i); it; ++it)
-        {
-          lastVal = it.value();
-          lastIndex = it.index();
-          if(lastIndex==i)
-            break;
-          tmp -= lastVal * other.coeff(lastIndex,col);
-        }
-        if (Mode & UnitDiag)
-          other.coeffRef(i,col) = tmp;
-        else
-        {
-          eigen_assert(lastIndex==i);
-          other.coeffRef(i,col) = tmp/lastVal;
-        }
-      }
-    }
-  }
-};
-
-// backward substitution, row-major
-template<typename Lhs, typename Rhs, int Mode>
-struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,RowMajor>
-{
-  typedef typename Rhs::Scalar Scalar;
-  typedef evaluator<Lhs> LhsEval;
-  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    LhsEval lhsEval(lhs);
-    for(Index col=0 ; col<other.cols() ; ++col)
-    {
-      for(Index i=lhs.rows()-1 ; i>=0 ; --i)
-      {
-        Scalar tmp = other.coeff(i,col);
-        Scalar l_ii(0);
-        LhsIterator it(lhsEval, i);
-        while(it && it.index()<i)
-          ++it;
-        if(!(Mode & UnitDiag))
-        {
-          eigen_assert(it && it.index()==i);
-          l_ii = it.value();
-          ++it;
-        }
-        else if (it && it.index() == i)
-          ++it;
-        for(; it; ++it)
-        {
-          tmp -= it.value() * other.coeff(it.index(),col);
-        }
-
-        if (Mode & UnitDiag)  other.coeffRef(i,col) = tmp;
-        else                  other.coeffRef(i,col) = tmp/l_ii;
-      }
-    }
-  }
-};
-
-// forward substitution, col-major
-template<typename Lhs, typename Rhs, int Mode>
-struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,ColMajor>
-{
-  typedef typename Rhs::Scalar Scalar;
-  typedef evaluator<Lhs> LhsEval;
-  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    LhsEval lhsEval(lhs);
-    for(Index col=0 ; col<other.cols() ; ++col)
-    {
-      for(Index i=0; i<lhs.cols(); ++i)
-      {
-        Scalar& tmp = other.coeffRef(i,col);
-        if (tmp!=Scalar(0)) // optimization when other is actually sparse
-        {
-          LhsIterator it(lhsEval, i);
-          while(it && it.index()<i)
-            ++it;
-          if(!(Mode & UnitDiag))
-          {
-            eigen_assert(it && it.index()==i);
-            tmp /= it.value();
-          }
-          if (it && it.index()==i)
-            ++it;
-          for(; it; ++it)
-            other.coeffRef(it.index(), col) -= tmp * it.value();
-        }
-      }
-    }
-  }
-};
-
-// backward substitution, col-major
-template<typename Lhs, typename Rhs, int Mode>
-struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
-{
-  typedef typename Rhs::Scalar Scalar;
-  typedef evaluator<Lhs> LhsEval;
-  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    LhsEval lhsEval(lhs);
-    for(Index col=0 ; col<other.cols() ; ++col)
-    {
-      for(Index i=lhs.cols()-1; i>=0; --i)
-      {
-        Scalar& tmp = other.coeffRef(i,col);
-        if (tmp!=Scalar(0)) // optimization when other is actually sparse
-        {
-          if(!(Mode & UnitDiag))
-          {
-            // TODO replace this by a binary search. make sure the binary search is safe for partially sorted elements
-            LhsIterator it(lhsEval, i);
-            while(it && it.index()!=i)
-              ++it;
-            eigen_assert(it && it.index()==i);
-            other.coeffRef(i,col) /= it.value();
-          }
-          LhsIterator it(lhsEval, i);
-          for(; it && it.index()<i; ++it)
-            other.coeffRef(it.index(), col) -= tmp * it.value();
-        }
-      }
-    }
-  }
-};
-
-} // end namespace internal
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-template<typename ExpressionType,unsigned int Mode>
-template<typename OtherDerived>
-void TriangularViewImpl<ExpressionType,Mode,Sparse>::solveInPlace(MatrixBase<OtherDerived>& other) const
-{
-  eigen_assert(derived().cols() == derived().rows() && derived().cols() == other.rows());
-  eigen_assert((!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
-
-  enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
-
-  typedef typename internal::conditional<copy,
-    typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
-  OtherCopy otherCopy(other.derived());
-
-  internal::sparse_solve_triangular_selector<ExpressionType, typename internal::remove_reference<OtherCopy>::type, Mode>::run(derived().nestedExpression(), otherCopy);
-
-  if (copy)
-    other = otherCopy;
-}
-#endif
-
-// pure sparse path
-
-namespace internal {
-
-template<typename Lhs, typename Rhs, int Mode,
-  int UpLo = (Mode & Lower)
-           ? Lower
-           : (Mode & Upper)
-           ? Upper
-           : -1,
-  int StorageOrder = int(Lhs::Flags) & (RowMajorBit)>
-struct sparse_solve_triangular_sparse_selector;
-
-// forward substitution, col-major
-template<typename Lhs, typename Rhs, int Mode, int UpLo>
-struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
-{
-  typedef typename Rhs::Scalar Scalar;
-  typedef typename promote_index_type<typename traits<Lhs>::StorageIndex,
-                                      typename traits<Rhs>::StorageIndex>::type StorageIndex;
-  static void run(const Lhs& lhs, Rhs& other)
-  {
-    const bool IsLower = (UpLo==Lower);
-    AmbiVector<Scalar,StorageIndex> tempVector(other.rows()*2);
-    tempVector.setBounds(0,other.rows());
-
-    Rhs res(other.rows(), other.cols());
-    res.reserve(other.nonZeros());
-
-    for(Index col=0 ; col<other.cols() ; ++col)
-    {
-      // FIXME estimate number of non zeros
-      tempVector.init(.99/*float(other.col(col).nonZeros())/float(other.rows())*/);
-      tempVector.setZero();
-      tempVector.restart();
-      for (typename Rhs::InnerIterator rhsIt(other, col); rhsIt; ++rhsIt)
-      {
-        tempVector.coeffRef(rhsIt.index()) = rhsIt.value();
-      }
-
-      for(Index i=IsLower?0:lhs.cols()-1;
-          IsLower?i<lhs.cols():i>=0;
-          i+=IsLower?1:-1)
-      {
-        tempVector.restart();
-        Scalar& ci = tempVector.coeffRef(i);
-        if (ci!=Scalar(0))
-        {
-          // find
-          typename Lhs::InnerIterator it(lhs, i);
-          if(!(Mode & UnitDiag))
-          {
-            if (IsLower)
-            {
-              eigen_assert(it.index()==i);
-              ci /= it.value();
-            }
-            else
-              ci /= lhs.coeff(i,i);
-          }
-          tempVector.restart();
-          if (IsLower)
-          {
-            if (it.index()==i)
-              ++it;
-            for(; it; ++it)
-              tempVector.coeffRef(it.index()) -= ci * it.value();
-          }
-          else
-          {
-            for(; it && it.index()<i; ++it)
-              tempVector.coeffRef(it.index()) -= ci * it.value();
-          }
-        }
-      }
-
-
-      Index count = 0;
-      // FIXME compute a reference value to filter zeros
-      for (typename AmbiVector<Scalar,StorageIndex>::Iterator it(tempVector/*,1e-12*/); it; ++it)
-      {
-        ++ count;
-//         std::cerr << "fill " << it.index() << ", " << col << "\n";
-//         std::cout << it.value() << "  ";
-        // FIXME use insertBack
-        res.insert(it.index(), col) = it.value();
-      }
-//       std::cout << "tempVector.nonZeros() == " << int(count) << " / " << (other.rows()) << "\n";
-    }
-    res.finalize();
-    other = res.markAsRValue();
-  }
-};
-
-} // end namespace internal
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename ExpressionType,unsigned int Mode>
-template<typename OtherDerived>
-void TriangularViewImpl<ExpressionType,Mode,Sparse>::solveInPlace(SparseMatrixBase<OtherDerived>& other) const
-{
-  eigen_assert(derived().cols() == derived().rows() && derived().cols() == other.rows());
-  eigen_assert( (!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
-
-//   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
-
-//   typedef typename internal::conditional<copy,
-//     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
-//   OtherCopy otherCopy(other.derived());
-
-  internal::sparse_solve_triangular_sparse_selector<ExpressionType, OtherDerived, Mode>::run(derived().nestedExpression(), other.derived());
-
-//   if (copy)
-//     other = otherCopy;
-}
-#endif
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSETRIANGULARSOLVER_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU.h
deleted file mode 100644
index f883ab383d36b5..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU.h
+++ /dev/null
@@ -1,775 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#ifndef EIGEN_SPARSE_LU_H
-#define EIGEN_SPARSE_LU_H
-
-namespace Eigen {
-
-template <typename _MatrixType, typename _OrderingType = COLAMDOrdering<typename _MatrixType::StorageIndex> > class SparseLU;
-template <typename MappedSparseMatrixType> struct SparseLUMatrixLReturnType;
-template <typename MatrixLType, typename MatrixUType> struct SparseLUMatrixUReturnType;
-
-/** \ingroup SparseLU_Module
-  * \class SparseLU
-  * 
-  * \brief Sparse supernodal LU factorization for general matrices
-  * 
-  * This class implements the supernodal LU factorization for general matrices.
-  * It uses the main techniques from the sequential SuperLU package 
-  * (http://crd-legacy.lbl.gov/~xiaoye/SuperLU/). It handles transparently real 
-  * and complex arithmetics with single and double precision, depending on the 
-  * scalar type of your input matrix. 
-  * The code has been optimized to provide BLAS-3 operations during supernode-panel updates. 
-  * It benefits directly from the built-in high-performant Eigen BLAS routines. 
-  * Moreover, when the size of a supernode is very small, the BLAS calls are avoided to 
-  * enable a better optimization from the compiler. For best performance, 
-  * you should compile it with NDEBUG flag to avoid the numerous bounds checking on vectors. 
-  * 
-  * An important parameter of this class is the ordering method. It is used to reorder the columns 
-  * (and eventually the rows) of the matrix to reduce the number of new elements that are created during 
-  * numerical factorization. The cheapest method available is COLAMD. 
-  * See  \link OrderingMethods_Module the OrderingMethods module \endlink for the list of 
-  * built-in and external ordering methods. 
-  *
-  * Simple example with key steps 
-  * \code
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double, ColMajor> A;
-  * SparseLU<SparseMatrix<scalar, ColMajor>, COLAMDOrdering<Index> >   solver;
-  * // fill A and b;
-  * // Compute the ordering permutation vector from the structural pattern of A
-  * solver.analyzePattern(A); 
-  * // Compute the numerical factorization 
-  * solver.factorize(A); 
-  * //Use the factors to solve the linear system 
-  * x = solver.solve(b); 
-  * \endcode
-  * 
-  * \warning The input matrix A should be in a \b compressed and \b column-major form.
-  * Otherwise an expensive copy will be made. You can call the inexpensive makeCompressed() to get a compressed matrix.
-  * 
-  * \note Unlike the initial SuperLU implementation, there is no step to equilibrate the matrix. 
-  * For badly scaled matrices, this step can be useful to reduce the pivoting during factorization. 
-  * If this is the case for your matrices, you can try the basic scaling method at
-  *  "unsupported/Eigen/src/IterativeSolvers/Scaling.h"
-  * 
-  * \tparam _MatrixType The type of the sparse matrix. It must be a column-major SparseMatrix<>
-  * \tparam _OrderingType The ordering method to use, either AMD, COLAMD or METIS. Default is COLMAD
-  *
-  * \implsparsesolverconcept
-  * 
-  * \sa \ref TutorialSparseSolverConcept
-  * \sa \ref OrderingMethods_Module
-  */
-template <typename _MatrixType, typename _OrderingType>
-class SparseLU : public SparseSolverBase<SparseLU<_MatrixType,_OrderingType> >, public internal::SparseLUImpl<typename _MatrixType::Scalar, typename _MatrixType::StorageIndex>
-{
-  protected:
-    typedef SparseSolverBase<SparseLU<_MatrixType,_OrderingType> > APIBase;
-    using APIBase::m_isInitialized;
-  public:
-    using APIBase::_solve_impl;
-    
-    typedef _MatrixType MatrixType; 
-    typedef _OrderingType OrderingType;
-    typedef typename MatrixType::Scalar Scalar; 
-    typedef typename MatrixType::RealScalar RealScalar; 
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> NCMatrix;
-    typedef internal::MappedSuperNodalMatrix<Scalar, StorageIndex> SCMatrix;
-    typedef Matrix<Scalar,Dynamic,1> ScalarVector;
-    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
-    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
-    typedef internal::SparseLUImpl<Scalar, StorageIndex> Base;
-
-    enum {
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    
-  public:
-    SparseLU():m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
-    {
-      initperfvalues(); 
-    }
-    explicit SparseLU(const MatrixType& matrix)
-      : m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
-    {
-      initperfvalues(); 
-      compute(matrix);
-    }
-    
-    ~SparseLU()
-    {
-      // Free all explicit dynamic pointers 
-    }
-    
-    void analyzePattern (const MatrixType& matrix);
-    void factorize (const MatrixType& matrix);
-    void simplicialfactorize(const MatrixType& matrix);
-    
-    /**
-      * Compute the symbolic and numeric factorization of the input sparse matrix.
-      * The input matrix should be in column-major storage. 
-      */
-    void compute (const MatrixType& matrix)
-    {
-      // Analyze 
-      analyzePattern(matrix); 
-      //Factorize
-      factorize(matrix);
-    } 
-    
-    inline Index rows() const { return m_mat.rows(); }
-    inline Index cols() const { return m_mat.cols(); }
-    /** Indicate that the pattern of the input matrix is symmetric */
-    void isSymmetric(bool sym)
-    {
-      m_symmetricmode = sym;
-    }
-    
-    /** \returns an expression of the matrix L, internally stored as supernodes
-      * The only operation available with this expression is the triangular solve
-      * \code
-      * y = b; matrixL().solveInPlace(y);
-      * \endcode
-      */
-    SparseLUMatrixLReturnType<SCMatrix> matrixL() const
-    {
-      return SparseLUMatrixLReturnType<SCMatrix>(m_Lstore);
-    }
-    /** \returns an expression of the matrix U,
-      * The only operation available with this expression is the triangular solve
-      * \code
-      * y = b; matrixU().solveInPlace(y);
-      * \endcode
-      */
-    SparseLUMatrixUReturnType<SCMatrix,MappedSparseMatrix<Scalar,ColMajor,StorageIndex> > matrixU() const
-    {
-      return SparseLUMatrixUReturnType<SCMatrix, MappedSparseMatrix<Scalar,ColMajor,StorageIndex> >(m_Lstore, m_Ustore);
-    }
-
-    /**
-      * \returns a reference to the row matrix permutation \f$ P_r \f$ such that \f$P_r A P_c^T = L U\f$
-      * \sa colsPermutation()
-      */
-    inline const PermutationType& rowsPermutation() const
-    {
-      return m_perm_r;
-    }
-    /**
-      * \returns a reference to the column matrix permutation\f$ P_c^T \f$ such that \f$P_r A P_c^T = L U\f$
-      * \sa rowsPermutation()
-      */
-    inline const PermutationType& colsPermutation() const
-    {
-      return m_perm_c;
-    }
-    /** Set the threshold used for a diagonal entry to be an acceptable pivot. */
-    void setPivotThreshold(const RealScalar& thresh)
-    {
-      m_diagpivotthresh = thresh; 
-    }
-
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-    /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
-      *
-      * \warning the destination matrix X in X = this->solve(B) must be colmun-major.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const Solve<SparseLU, Rhs> solve(const MatrixBase<Rhs>& B) const;
-#endif // EIGEN_PARSED_BY_DOXYGEN
-    
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the LU factorization reports a problem, zero diagonal for instance
-      *          \c InvalidInput if the input matrix is invalid
-      *
-      * \sa iparm()          
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-    
-    /**
-      * \returns A string describing the type of error
-      */
-    std::string lastErrorMessage() const
-    {
-      return m_lastError; 
-    }
-
-    template<typename Rhs, typename Dest>
-    bool _solve_impl(const MatrixBase<Rhs> &B, MatrixBase<Dest> &X_base) const
-    {
-      Dest& X(X_base.derived());
-      eigen_assert(m_factorizationIsOk && "The matrix should be factorized first");
-      EIGEN_STATIC_ASSERT((Dest::Flags&RowMajorBit)==0,
-                        THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
-      
-      // Permute the right hand side to form X = Pr*B
-      // on return, X is overwritten by the computed solution
-      X.resize(B.rows(),B.cols());
-
-      // this ugly const_cast_derived() helps to detect aliasing when applying the permutations
-      for(Index j = 0; j < B.cols(); ++j)
-        X.col(j) = rowsPermutation() * B.const_cast_derived().col(j);
-      
-      //Forward substitution with L
-      this->matrixL().solveInPlace(X);
-      this->matrixU().solveInPlace(X);
-      
-      // Permute back the solution 
-      for (Index j = 0; j < B.cols(); ++j)
-        X.col(j) = colsPermutation().inverse() * X.col(j);
-      
-      return true; 
-    }
-    
-    /**
-      * \returns the absolute value of the determinant of the matrix of which
-      * *this is the QR decomposition.
-      *
-      * \warning a determinant can be very big or small, so for matrices
-      * of large enough dimension, there is a risk of overflow/underflow.
-      * One way to work around that is to use logAbsDeterminant() instead.
-      *
-      * \sa logAbsDeterminant(), signDeterminant()
-      */
-    Scalar absDeterminant()
-    {
-      using std::abs;
-      eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
-      // Initialize with the determinant of the row matrix
-      Scalar det = Scalar(1.);
-      // Note that the diagonal blocks of U are stored in supernodes,
-      // which are available in the  L part :)
-      for (Index j = 0; j < this->cols(); ++j)
-      {
-        for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it)
-        {
-          if(it.index() == j)
-          {
-            det *= abs(it.value());
-            break;
-          }
-        }
-      }
-      return det;
-    }
-
-    /** \returns the natural log of the absolute value of the determinant of the matrix
-      * of which **this is the QR decomposition
-      *
-      * \note This method is useful to work around the risk of overflow/underflow that's
-      * inherent to the determinant computation.
-      *
-      * \sa absDeterminant(), signDeterminant()
-      */
-    Scalar logAbsDeterminant() const
-    {
-      using std::log;
-      using std::abs;
-
-      eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
-      Scalar det = Scalar(0.);
-      for (Index j = 0; j < this->cols(); ++j)
-      {
-        for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it)
-        {
-          if(it.row() < j) continue;
-          if(it.row() == j)
-          {
-            det += log(abs(it.value()));
-            break;
-          }
-        }
-      }
-      return det;
-    }
-
-    /** \returns A number representing the sign of the determinant
-      *
-      * \sa absDeterminant(), logAbsDeterminant()
-      */
-    Scalar signDeterminant()
-    {
-      eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
-      // Initialize with the determinant of the row matrix
-      Index det = 1;
-      // Note that the diagonal blocks of U are stored in supernodes,
-      // which are available in the  L part :)
-      for (Index j = 0; j < this->cols(); ++j)
-      {
-        for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it)
-        {
-          if(it.index() == j)
-          {
-            if(it.value()<0)
-              det = -det;
-            else if(it.value()==0)
-              return 0;
-            break;
-          }
-        }
-      }
-      return det * m_detPermR * m_detPermC;
-    }
-    
-    /** \returns The determinant of the matrix.
-      *
-      * \sa absDeterminant(), logAbsDeterminant()
-      */
-    Scalar determinant()
-    {
-      eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
-      // Initialize with the determinant of the row matrix
-      Scalar det = Scalar(1.);
-      // Note that the diagonal blocks of U are stored in supernodes,
-      // which are available in the  L part :)
-      for (Index j = 0; j < this->cols(); ++j)
-      {
-        for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it)
-        {
-          if(it.index() == j)
-          {
-            det *= it.value();
-            break;
-          }
-        }
-      }
-      return (m_detPermR * m_detPermC) > 0 ? det : -det;
-    }
-
-  protected:
-    // Functions 
-    void initperfvalues()
-    {
-      m_perfv.panel_size = 16;
-      m_perfv.relax = 1; 
-      m_perfv.maxsuper = 128; 
-      m_perfv.rowblk = 16; 
-      m_perfv.colblk = 8; 
-      m_perfv.fillfactor = 20;  
-    }
-      
-    // Variables 
-    mutable ComputationInfo m_info;
-    bool m_factorizationIsOk;
-    bool m_analysisIsOk;
-    std::string m_lastError;
-    NCMatrix m_mat; // The input (permuted ) matrix 
-    SCMatrix m_Lstore; // The lower triangular matrix (supernodal)
-    MappedSparseMatrix<Scalar,ColMajor,StorageIndex> m_Ustore; // The upper triangular matrix
-    PermutationType m_perm_c; // Column permutation 
-    PermutationType m_perm_r ; // Row permutation
-    IndexVector m_etree; // Column elimination tree 
-    
-    typename Base::GlobalLU_t m_glu; 
-                               
-    // SparseLU options 
-    bool m_symmetricmode;
-    // values for performance 
-    internal::perfvalues m_perfv;
-    RealScalar m_diagpivotthresh; // Specifies the threshold used for a diagonal entry to be an acceptable pivot
-    Index m_nnzL, m_nnzU; // Nonzeros in L and U factors
-    Index m_detPermR, m_detPermC; // Determinants of the permutation matrices
-  private:
-    // Disable copy constructor 
-    SparseLU (const SparseLU& );
-  
-}; // End class SparseLU
-
-
-
-// Functions needed by the anaysis phase
-/** 
-  * Compute the column permutation to minimize the fill-in
-  * 
-  *  - Apply this permutation to the input matrix - 
-  * 
-  *  - Compute the column elimination tree on the permuted matrix 
-  * 
-  *  - Postorder the elimination tree and the column permutation
-  * 
-  */
-template <typename MatrixType, typename OrderingType>
-void SparseLU<MatrixType, OrderingType>::analyzePattern(const MatrixType& mat)
-{
-  
-  //TODO  It is possible as in SuperLU to compute row and columns scaling vectors to equilibrate the matrix mat.
-  
-  // Firstly, copy the whole input matrix. 
-  m_mat = mat;
-  
-  // Compute fill-in ordering
-  OrderingType ord; 
-  ord(m_mat,m_perm_c);
-  
-  // Apply the permutation to the column of the input  matrix
-  if (m_perm_c.size())
-  {
-    m_mat.uncompress(); //NOTE: The effect of this command is only to create the InnerNonzeros pointers. FIXME : This vector is filled but not subsequently used.  
-    // Then, permute only the column pointers
-    ei_declare_aligned_stack_constructed_variable(StorageIndex,outerIndexPtr,mat.cols()+1,mat.isCompressed()?const_cast<StorageIndex*>(mat.outerIndexPtr()):0);
-    
-    // If the input matrix 'mat' is uncompressed, then the outer-indices do not match the ones of m_mat, and a copy is thus needed.
-    if(!mat.isCompressed()) 
-      IndexVector::Map(outerIndexPtr, mat.cols()+1) = IndexVector::Map(m_mat.outerIndexPtr(),mat.cols()+1);
-    
-    // Apply the permutation and compute the nnz per column.
-    for (Index i = 0; i < mat.cols(); i++)
-    {
-      m_mat.outerIndexPtr()[m_perm_c.indices()(i)] = outerIndexPtr[i];
-      m_mat.innerNonZeroPtr()[m_perm_c.indices()(i)] = outerIndexPtr[i+1] - outerIndexPtr[i];
-    }
-  }
-  
-  // Compute the column elimination tree of the permuted matrix 
-  IndexVector firstRowElt;
-  internal::coletree(m_mat, m_etree,firstRowElt); 
-     
-  // In symmetric mode, do not do postorder here
-  if (!m_symmetricmode) {
-    IndexVector post, iwork; 
-    // Post order etree
-    internal::treePostorder(StorageIndex(m_mat.cols()), m_etree, post); 
-      
-   
-    // Renumber etree in postorder 
-    Index m = m_mat.cols(); 
-    iwork.resize(m+1);
-    for (Index i = 0; i < m; ++i) iwork(post(i)) = post(m_etree(i));
-    m_etree = iwork;
-    
-    // Postmultiply A*Pc by post, i.e reorder the matrix according to the postorder of the etree
-    PermutationType post_perm(m); 
-    for (Index i = 0; i < m; i++) 
-      post_perm.indices()(i) = post(i); 
-        
-    // Combine the two permutations : postorder the permutation for future use
-    if(m_perm_c.size()) {
-      m_perm_c = post_perm * m_perm_c;
-    }
-    
-  } // end postordering 
-  
-  m_analysisIsOk = true; 
-}
-
-// Functions needed by the numerical factorization phase
-
-
-/** 
-  *  - Numerical factorization 
-  *  - Interleaved with the symbolic factorization 
-  * On exit,  info is 
-  * 
-  *    = 0: successful factorization
-  * 
-  *    > 0: if info = i, and i is
-  * 
-  *       <= A->ncol: U(i,i) is exactly zero. The factorization has
-  *          been completed, but the factor U is exactly singular,
-  *          and division by zero will occur if it is used to solve a
-  *          system of equations.
-  * 
-  *       > A->ncol: number of bytes allocated when memory allocation
-  *         failure occurred, plus A->ncol. If lwork = -1, it is
-  *         the estimated amount of space needed, plus A->ncol.  
-  */
-template <typename MatrixType, typename OrderingType>
-void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
-{
-  using internal::emptyIdxLU;
-  eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
-  eigen_assert((matrix.rows() == matrix.cols()) && "Only for squared matrices");
-  
-  typedef typename IndexVector::Scalar StorageIndex; 
-  
-  m_isInitialized = true;
-  
-  
-  // Apply the column permutation computed in analyzepattern()
-  //   m_mat = matrix * m_perm_c.inverse(); 
-  m_mat = matrix;
-  if (m_perm_c.size()) 
-  {
-    m_mat.uncompress(); //NOTE: The effect of this command is only to create the InnerNonzeros pointers.
-    //Then, permute only the column pointers
-    const StorageIndex * outerIndexPtr;
-    if (matrix.isCompressed()) outerIndexPtr = matrix.outerIndexPtr();
-    else
-    {
-      StorageIndex* outerIndexPtr_t = new StorageIndex[matrix.cols()+1];
-      for(Index i = 0; i <= matrix.cols(); i++) outerIndexPtr_t[i] = m_mat.outerIndexPtr()[i];
-      outerIndexPtr = outerIndexPtr_t;
-    }
-    for (Index i = 0; i < matrix.cols(); i++)
-    {
-      m_mat.outerIndexPtr()[m_perm_c.indices()(i)] = outerIndexPtr[i];
-      m_mat.innerNonZeroPtr()[m_perm_c.indices()(i)] = outerIndexPtr[i+1] - outerIndexPtr[i];
-    }
-    if(!matrix.isCompressed()) delete[] outerIndexPtr;
-  } 
-  else 
-  { //FIXME This should not be needed if the empty permutation is handled transparently
-    m_perm_c.resize(matrix.cols());
-    for(StorageIndex i = 0; i < matrix.cols(); ++i) m_perm_c.indices()(i) = i;
-  }
-  
-  Index m = m_mat.rows();
-  Index n = m_mat.cols();
-  Index nnz = m_mat.nonZeros();
-  Index maxpanel = m_perfv.panel_size * m;
-  // Allocate working storage common to the factor routines
-  Index lwork = 0;
-  Index info = Base::memInit(m, n, nnz, lwork, m_perfv.fillfactor, m_perfv.panel_size, m_glu); 
-  if (info) 
-  {
-    m_lastError = "UNABLE TO ALLOCATE WORKING MEMORY\n\n" ;
-    m_factorizationIsOk = false;
-    return ; 
-  }
-  
-  // Set up pointers for integer working arrays 
-  IndexVector segrep(m); segrep.setZero();
-  IndexVector parent(m); parent.setZero();
-  IndexVector xplore(m); xplore.setZero();
-  IndexVector repfnz(maxpanel);
-  IndexVector panel_lsub(maxpanel);
-  IndexVector xprune(n); xprune.setZero();
-  IndexVector marker(m*internal::LUNoMarker); marker.setZero();
-  
-  repfnz.setConstant(-1); 
-  panel_lsub.setConstant(-1);
-  
-  // Set up pointers for scalar working arrays 
-  ScalarVector dense; 
-  dense.setZero(maxpanel);
-  ScalarVector tempv; 
-  tempv.setZero(internal::LUnumTempV(m, m_perfv.panel_size, m_perfv.maxsuper, /*m_perfv.rowblk*/m) );
-  
-  // Compute the inverse of perm_c
-  PermutationType iperm_c(m_perm_c.inverse()); 
-  
-  // Identify initial relaxed snodes
-  IndexVector relax_end(n);
-  if ( m_symmetricmode == true ) 
-    Base::heap_relax_snode(n, m_etree, m_perfv.relax, marker, relax_end);
-  else
-    Base::relax_snode(n, m_etree, m_perfv.relax, marker, relax_end);
-  
-  
-  m_perm_r.resize(m); 
-  m_perm_r.indices().setConstant(-1);
-  marker.setConstant(-1);
-  m_detPermR = 1; // Record the determinant of the row permutation
-  
-  m_glu.supno(0) = emptyIdxLU; m_glu.xsup.setConstant(0);
-  m_glu.xsup(0) = m_glu.xlsub(0) = m_glu.xusub(0) = m_glu.xlusup(0) = Index(0);
-  
-  // Work on one 'panel' at a time. A panel is one of the following :
-  //  (a) a relaxed supernode at the bottom of the etree, or
-  //  (b) panel_size contiguous columns, <panel_size> defined by the user
-  Index jcol; 
-  IndexVector panel_histo(n);
-  Index pivrow; // Pivotal row number in the original row matrix
-  Index nseg1; // Number of segments in U-column above panel row jcol
-  Index nseg; // Number of segments in each U-column 
-  Index irep; 
-  Index i, k, jj; 
-  for (jcol = 0; jcol < n; )
-  {
-    // Adjust panel size so that a panel won't overlap with the next relaxed snode. 
-    Index panel_size = m_perfv.panel_size; // upper bound on panel width
-    for (k = jcol + 1; k < (std::min)(jcol+panel_size, n); k++)
-    {
-      if (relax_end(k) != emptyIdxLU) 
-      {
-        panel_size = k - jcol; 
-        break; 
-      }
-    }
-    if (k == n) 
-      panel_size = n - jcol; 
-      
-    // Symbolic outer factorization on a panel of columns 
-    Base::panel_dfs(m, panel_size, jcol, m_mat, m_perm_r.indices(), nseg1, dense, panel_lsub, segrep, repfnz, xprune, marker, parent, xplore, m_glu); 
-    
-    // Numeric sup-panel updates in topological order 
-    Base::panel_bmod(m, panel_size, jcol, nseg1, dense, tempv, segrep, repfnz, m_glu); 
-    
-    // Sparse LU within the panel, and below the panel diagonal 
-    for ( jj = jcol; jj< jcol + panel_size; jj++) 
-    {
-      k = (jj - jcol) * m; // Column index for w-wide arrays 
-      
-      nseg = nseg1; // begin after all the panel segments
-      //Depth-first-search for the current column
-      VectorBlock<IndexVector> panel_lsubk(panel_lsub, k, m);
-      VectorBlock<IndexVector> repfnz_k(repfnz, k, m); 
-      info = Base::column_dfs(m, jj, m_perm_r.indices(), m_perfv.maxsuper, nseg, panel_lsubk, segrep, repfnz_k, xprune, marker, parent, xplore, m_glu); 
-      if ( info ) 
-      {
-        m_lastError =  "UNABLE TO EXPAND MEMORY IN COLUMN_DFS() ";
-        m_info = NumericalIssue; 
-        m_factorizationIsOk = false; 
-        return; 
-      }
-      // Numeric updates to this column 
-      VectorBlock<ScalarVector> dense_k(dense, k, m); 
-      VectorBlock<IndexVector> segrep_k(segrep, nseg1, m-nseg1); 
-      info = Base::column_bmod(jj, (nseg - nseg1), dense_k, tempv, segrep_k, repfnz_k, jcol, m_glu); 
-      if ( info ) 
-      {
-        m_lastError = "UNABLE TO EXPAND MEMORY IN COLUMN_BMOD() ";
-        m_info = NumericalIssue; 
-        m_factorizationIsOk = false; 
-        return; 
-      }
-      
-      // Copy the U-segments to ucol(*)
-      info = Base::copy_to_ucol(jj, nseg, segrep, repfnz_k ,m_perm_r.indices(), dense_k, m_glu); 
-      if ( info ) 
-      {
-        m_lastError = "UNABLE TO EXPAND MEMORY IN COPY_TO_UCOL() ";
-        m_info = NumericalIssue; 
-        m_factorizationIsOk = false; 
-        return; 
-      }
-      
-      // Form the L-segment 
-      info = Base::pivotL(jj, m_diagpivotthresh, m_perm_r.indices(), iperm_c.indices(), pivrow, m_glu);
-      if ( info ) 
-      {
-        m_lastError = "THE MATRIX IS STRUCTURALLY SINGULAR ... ZERO COLUMN AT ";
-        std::ostringstream returnInfo;
-        returnInfo << info; 
-        m_lastError += returnInfo.str();
-        m_info = NumericalIssue; 
-        m_factorizationIsOk = false; 
-        return; 
-      }
-      
-      // Update the determinant of the row permutation matrix
-      // FIXME: the following test is not correct, we should probably take iperm_c into account and pivrow is not directly the row pivot.
-      if (pivrow != jj) m_detPermR = -m_detPermR;
-
-      // Prune columns (0:jj-1) using column jj
-      Base::pruneL(jj, m_perm_r.indices(), pivrow, nseg, segrep, repfnz_k, xprune, m_glu); 
-      
-      // Reset repfnz for this column 
-      for (i = 0; i < nseg; i++)
-      {
-        irep = segrep(i); 
-        repfnz_k(irep) = emptyIdxLU; 
-      }
-    } // end SparseLU within the panel  
-    jcol += panel_size;  // Move to the next panel
-  } // end for -- end elimination 
-  
-  m_detPermR = m_perm_r.determinant();
-  m_detPermC = m_perm_c.determinant();
-  
-  // Count the number of nonzeros in factors 
-  Base::countnz(n, m_nnzL, m_nnzU, m_glu); 
-  // Apply permutation  to the L subscripts 
-  Base::fixupL(n, m_perm_r.indices(), m_glu);
-  
-  // Create supernode matrix L 
-  m_Lstore.setInfos(m, n, m_glu.lusup, m_glu.xlusup, m_glu.lsub, m_glu.xlsub, m_glu.supno, m_glu.xsup); 
-  // Create the column major upper sparse matrix  U; 
-  new (&m_Ustore) MappedSparseMatrix<Scalar, ColMajor, StorageIndex> ( m, n, m_nnzU, m_glu.xusub.data(), m_glu.usub.data(), m_glu.ucol.data() );
-  
-  m_info = Success;
-  m_factorizationIsOk = true;
-}
-
-template<typename MappedSupernodalType>
-struct SparseLUMatrixLReturnType : internal::no_assignment_operator
-{
-  typedef typename MappedSupernodalType::Scalar Scalar;
-  explicit SparseLUMatrixLReturnType(const MappedSupernodalType& mapL) : m_mapL(mapL)
-  { }
-  Index rows() { return m_mapL.rows(); }
-  Index cols() { return m_mapL.cols(); }
-  template<typename Dest>
-  void solveInPlace( MatrixBase<Dest> &X) const
-  {
-    m_mapL.solveInPlace(X);
-  }
-  const MappedSupernodalType& m_mapL;
-};
-
-template<typename MatrixLType, typename MatrixUType>
-struct SparseLUMatrixUReturnType : internal::no_assignment_operator
-{
-  typedef typename MatrixLType::Scalar Scalar;
-  SparseLUMatrixUReturnType(const MatrixLType& mapL, const MatrixUType& mapU)
-  : m_mapL(mapL),m_mapU(mapU)
-  { }
-  Index rows() { return m_mapL.rows(); }
-  Index cols() { return m_mapL.cols(); }
-
-  template<typename Dest>   void solveInPlace(MatrixBase<Dest> &X) const
-  {
-    Index nrhs = X.cols();
-    Index n    = X.rows();
-    // Backward solve with U
-    for (Index k = m_mapL.nsuper(); k >= 0; k--)
-    {
-      Index fsupc = m_mapL.supToCol()[k];
-      Index lda = m_mapL.colIndexPtr()[fsupc+1] - m_mapL.colIndexPtr()[fsupc]; // leading dimension
-      Index nsupc = m_mapL.supToCol()[k+1] - fsupc;
-      Index luptr = m_mapL.colIndexPtr()[fsupc];
-
-      if (nsupc == 1)
-      {
-        for (Index j = 0; j < nrhs; j++)
-        {
-          X(fsupc, j) /= m_mapL.valuePtr()[luptr];
-        }
-      }
-      else
-      {
-        Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(m_mapL.valuePtr()[luptr]), nsupc, nsupc, OuterStride<>(lda) );
-        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
-        U = A.template triangularView<Upper>().solve(U);
-      }
-
-      for (Index j = 0; j < nrhs; ++j)
-      {
-        for (Index jcol = fsupc; jcol < fsupc + nsupc; jcol++)
-        {
-          typename MatrixUType::InnerIterator it(m_mapU, jcol);
-          for ( ; it; ++it)
-          {
-            Index irow = it.index();
-            X(irow, j) -= X(jcol, j) * it.value();
-          }
-        }
-      }
-    } // End For U-solve
-  }
-  const MatrixLType& m_mapL;
-  const MatrixUType& m_mapU;
-};
-
-} // End namespace Eigen 
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLUImpl.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLUImpl.h
deleted file mode 100644
index fc0cfc4de1a5cf..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLUImpl.h
+++ /dev/null
@@ -1,66 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-#ifndef SPARSELU_IMPL_H
-#define SPARSELU_IMPL_H
-
-namespace Eigen {
-namespace internal {
-  
-/** \ingroup SparseLU_Module
-  * \class SparseLUImpl
-  * Base class for sparseLU
-  */
-template <typename Scalar, typename StorageIndex>
-class SparseLUImpl
-{
-  public:
-    typedef Matrix<Scalar,Dynamic,1> ScalarVector;
-    typedef Matrix<StorageIndex,Dynamic,1> IndexVector; 
-    typedef Matrix<Scalar,Dynamic,Dynamic,ColMajor> ScalarMatrix;
-    typedef Map<ScalarMatrix, 0,  OuterStride<> > MappedMatrixBlock;
-    typedef typename ScalarVector::RealScalar RealScalar; 
-    typedef Ref<Matrix<Scalar,Dynamic,1> > BlockScalarVector;
-    typedef Ref<Matrix<StorageIndex,Dynamic,1> > BlockIndexVector;
-    typedef LU_GlobalLU_t<IndexVector, ScalarVector> GlobalLU_t; 
-    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> MatrixType; 
-    
-  protected:
-     template <typename VectorType>
-     Index expand(VectorType& vec, Index& length, Index nbElts, Index keep_prev, Index& num_expansions);
-     Index memInit(Index m, Index n, Index annz, Index lwork, Index fillratio, Index panel_size,  GlobalLU_t& glu); 
-     template <typename VectorType>
-     Index memXpand(VectorType& vec, Index& maxlen, Index nbElts, MemType memtype, Index& num_expansions);
-     void heap_relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end); 
-     void relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end); 
-     Index snode_dfs(const Index jcol, const Index kcol,const MatrixType& mat,  IndexVector& xprune, IndexVector& marker, GlobalLU_t& glu); 
-     Index snode_bmod (const Index jcol, const Index fsupc, ScalarVector& dense, GlobalLU_t& glu);
-     Index pivotL(const Index jcol, const RealScalar& diagpivotthresh, IndexVector& perm_r, IndexVector& iperm_c, Index& pivrow, GlobalLU_t& glu);
-     template <typename Traits>
-     void dfs_kernel(const StorageIndex jj, IndexVector& perm_r,
-                    Index& nseg, IndexVector& panel_lsub, IndexVector& segrep,
-                    Ref<IndexVector> repfnz_col, IndexVector& xprune, Ref<IndexVector> marker, IndexVector& parent,
-                    IndexVector& xplore, GlobalLU_t& glu, Index& nextl_col, Index krow, Traits& traits);
-     void panel_dfs(const Index m, const Index w, const Index jcol, MatrixType& A, IndexVector& perm_r, Index& nseg, ScalarVector& dense, IndexVector& panel_lsub, IndexVector& segrep, IndexVector& repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu);
-    
-     void panel_bmod(const Index m, const Index w, const Index jcol, const Index nseg, ScalarVector& dense, ScalarVector& tempv, IndexVector& segrep, IndexVector& repfnz, GlobalLU_t& glu);
-     Index column_dfs(const Index m, const Index jcol, IndexVector& perm_r, Index maxsuper, Index& nseg,  BlockIndexVector lsub_col, IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu);
-     Index column_bmod(const Index jcol, const Index nseg, BlockScalarVector dense, ScalarVector& tempv, BlockIndexVector segrep, BlockIndexVector repfnz, Index fpanelc, GlobalLU_t& glu); 
-     Index copy_to_ucol(const Index jcol, const Index nseg, IndexVector& segrep, BlockIndexVector repfnz ,IndexVector& perm_r, BlockScalarVector dense, GlobalLU_t& glu); 
-     void pruneL(const Index jcol, const IndexVector& perm_r, const Index pivrow, const Index nseg, const IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, GlobalLU_t& glu);
-     void countnz(const Index n, Index& nnzL, Index& nnzU, GlobalLU_t& glu); 
-     void fixupL(const Index n, const IndexVector& perm_r, GlobalLU_t& glu); 
-     
-     template<typename , typename >
-     friend struct column_dfs_traits;
-}; 
-
-} // end namespace internal
-} // namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Memory.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Memory.h
deleted file mode 100644
index 4dc42e87ba8eb1..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Memory.h
+++ /dev/null
@@ -1,226 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* 
- 
- * NOTE: This file is the modified version of [s,d,c,z]memory.c files in SuperLU 
- 
- * -- SuperLU routine (version 3.1) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * August 1, 2008
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-
-#ifndef EIGEN_SPARSELU_MEMORY
-#define EIGEN_SPARSELU_MEMORY
-
-namespace Eigen {
-namespace internal {
-  
-enum { LUNoMarker = 3 };
-enum {emptyIdxLU = -1};
-inline Index LUnumTempV(Index& m, Index& w, Index& t, Index& b)
-{
-  return (std::max)(m, (t+b)*w);
-}
-
-template< typename Scalar>
-inline Index LUTempSpace(Index&m, Index& w)
-{
-  return (2*w + 4 + LUNoMarker) * m * sizeof(Index) + (w + 1) * m * sizeof(Scalar);
-}
-
-
-
-
-/** 
-  * Expand the existing storage to accomodate more fill-ins
-  * \param vec Valid pointer to the vector to allocate or expand
-  * \param[in,out] length  At input, contain the current length of the vector that is to be increased. At output, length of the newly allocated vector
-  * \param[in] nbElts Current number of elements in the factors
-  * \param keep_prev  1: use length  and do not expand the vector; 0: compute new_len and expand
-  * \param[in,out] num_expansions Number of times the memory has been expanded
-  */
-template <typename Scalar, typename StorageIndex>
-template <typename VectorType>
-Index  SparseLUImpl<Scalar,StorageIndex>::expand(VectorType& vec, Index& length, Index nbElts, Index keep_prev, Index& num_expansions) 
-{
-  
-  float alpha = 1.5; // Ratio of the memory increase 
-  Index new_len; // New size of the allocated memory
-  
-  if(num_expansions == 0 || keep_prev) 
-    new_len = length ; // First time allocate requested
-  else 
-    new_len = (std::max)(length+1,Index(alpha * length));
-  
-  VectorType old_vec; // Temporary vector to hold the previous values   
-  if (nbElts > 0 )
-    old_vec = vec.segment(0,nbElts); 
-  
-  //Allocate or expand the current vector
-#ifdef EIGEN_EXCEPTIONS
-  try
-#endif
-  {
-    vec.resize(new_len); 
-  }
-#ifdef EIGEN_EXCEPTIONS
-  catch(std::bad_alloc& )
-#else
-  if(!vec.size())
-#endif
-  {
-    if (!num_expansions)
-    {
-      // First time to allocate from LUMemInit()
-      // Let LUMemInit() deals with it.
-      return -1;
-    }
-    if (keep_prev)
-    {
-      // In this case, the memory length should not not be reduced
-      return new_len;
-    }
-    else 
-    {
-      // Reduce the size and increase again 
-      Index tries = 0; // Number of attempts
-      do 
-      {
-        alpha = (alpha + 1)/2;
-        new_len = (std::max)(length+1,Index(alpha * length));
-#ifdef EIGEN_EXCEPTIONS
-        try
-#endif
-        {
-          vec.resize(new_len); 
-        }
-#ifdef EIGEN_EXCEPTIONS
-        catch(std::bad_alloc& )
-#else
-        if (!vec.size())
-#endif
-        {
-          tries += 1; 
-          if ( tries > 10) return new_len; 
-        }
-      } while (!vec.size());
-    }
-  }
-  //Copy the previous values to the newly allocated space 
-  if (nbElts > 0)
-    vec.segment(0, nbElts) = old_vec;   
-   
-  
-  length  = new_len;
-  if(num_expansions) ++num_expansions;
-  return 0; 
-}
-
-/**
- * \brief  Allocate various working space for the numerical factorization phase.
- * \param m number of rows of the input matrix 
- * \param n number of columns 
- * \param annz number of initial nonzeros in the matrix 
- * \param lwork  if lwork=-1, this routine returns an estimated size of the required memory
- * \param glu persistent data to facilitate multiple factors : will be deleted later ??
- * \param fillratio estimated ratio of fill in the factors
- * \param panel_size Size of a panel
- * \return an estimated size of the required memory if lwork = -1; otherwise, return the size of actually allocated memory when allocation failed, and 0 on success
- * \note Unlike SuperLU, this routine does not support successive factorization with the same pattern and the same row permutation
- */
-template <typename Scalar, typename StorageIndex>
-Index SparseLUImpl<Scalar,StorageIndex>::memInit(Index m, Index n, Index annz, Index lwork, Index fillratio, Index panel_size,  GlobalLU_t& glu)
-{
-  Index& num_expansions = glu.num_expansions; //No memory expansions so far
-  num_expansions = 0;
-  glu.nzumax = glu.nzlumax = (std::min)(fillratio * (annz+1) / n, m) * n; // estimated number of nonzeros in U 
-  glu.nzlmax = (std::max)(Index(4), fillratio) * (annz+1) / 4; // estimated  nnz in L factor
-  // Return the estimated size to the user if necessary
-  Index tempSpace;
-  tempSpace = (2*panel_size + 4 + LUNoMarker) * m * sizeof(Index) + (panel_size + 1) * m * sizeof(Scalar);
-  if (lwork == emptyIdxLU) 
-  {
-    Index estimated_size;
-    estimated_size = (5 * n + 5) * sizeof(Index)  + tempSpace
-                    + (glu.nzlmax + glu.nzumax) * sizeof(Index) + (glu.nzlumax+glu.nzumax) *  sizeof(Scalar) + n; 
-    return estimated_size;
-  }
-  
-  // Setup the required space 
-  
-  // First allocate Integer pointers for L\U factors
-  glu.xsup.resize(n+1);
-  glu.supno.resize(n+1);
-  glu.xlsub.resize(n+1);
-  glu.xlusup.resize(n+1);
-  glu.xusub.resize(n+1);
-
-  // Reserve memory for L/U factors
-  do 
-  {
-    if(     (expand<ScalarVector>(glu.lusup, glu.nzlumax, 0, 0, num_expansions)<0)
-        ||  (expand<ScalarVector>(glu.ucol,  glu.nzumax,  0, 0, num_expansions)<0)
-        ||  (expand<IndexVector> (glu.lsub,  glu.nzlmax,  0, 0, num_expansions)<0)
-        ||  (expand<IndexVector> (glu.usub,  glu.nzumax,  0, 1, num_expansions)<0) )
-    {
-      //Reduce the estimated size and retry
-      glu.nzlumax /= 2;
-      glu.nzumax /= 2;
-      glu.nzlmax /= 2;
-      if (glu.nzlumax < annz ) return glu.nzlumax; 
-    }
-  } while (!glu.lusup.size() || !glu.ucol.size() || !glu.lsub.size() || !glu.usub.size());
-  
-  ++num_expansions;
-  return 0;
-  
-} // end LuMemInit
-
-/** 
- * \brief Expand the existing storage 
- * \param vec vector to expand 
- * \param[in,out] maxlen On input, previous size of vec (Number of elements to copy ). on output, new size
- * \param nbElts current number of elements in the vector.
- * \param memtype Type of the element to expand
- * \param num_expansions Number of expansions 
- * \return 0 on success, > 0 size of the memory allocated so far
- */
-template <typename Scalar, typename StorageIndex>
-template <typename VectorType>
-Index SparseLUImpl<Scalar,StorageIndex>::memXpand(VectorType& vec, Index& maxlen, Index nbElts, MemType memtype, Index& num_expansions)
-{
-  Index failed_size; 
-  if (memtype == USUB)
-     failed_size = this->expand<VectorType>(vec, maxlen, nbElts, 1, num_expansions);
-  else
-    failed_size = this->expand<VectorType>(vec, maxlen, nbElts, 0, num_expansions);
-
-  if (failed_size)
-    return failed_size; 
-  
-  return 0 ;  
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-#endif // EIGEN_SPARSELU_MEMORY
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Structs.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Structs.h
deleted file mode 100644
index cf5ec449bec347..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Structs.h
+++ /dev/null
@@ -1,110 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* 
- * NOTE: This file comes from a partly modified version of files slu_[s,d,c,z]defs.h
- * -- SuperLU routine (version 4.1) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * November, 2010
- * 
- * Global data structures used in LU factorization -
- * 
- *   nsuper: #supernodes = nsuper + 1, numbered [0, nsuper].
- *   (xsup,supno): supno[i] is the supernode no to which i belongs;
- *  xsup(s) points to the beginning of the s-th supernode.
- *  e.g.   supno 0 1 2 2 3 3 3 4 4 4 4 4   (n=12)
- *          xsup 0 1 2 4 7 12
- *  Note: dfs will be performed on supernode rep. relative to the new 
- *        row pivoting ordering
- *
- *   (xlsub,lsub): lsub[*] contains the compressed subscript of
- *  rectangular supernodes; xlsub[j] points to the starting
- *  location of the j-th column in lsub[*]. Note that xlsub 
- *  is indexed by column.
- *  Storage: original row subscripts
- *
- *      During the course of sparse LU factorization, we also use
- *  (xlsub,lsub) for the purpose of symmetric pruning. For each
- *  supernode {s,s+1,...,t=s+r} with first column s and last
- *  column t, the subscript set
- *    lsub[j], j=xlsub[s], .., xlsub[s+1]-1
- *  is the structure of column s (i.e. structure of this supernode).
- *  It is used for the storage of numerical values.
- *  Furthermore,
- *    lsub[j], j=xlsub[t], .., xlsub[t+1]-1
- *  is the structure of the last column t of this supernode.
- *  It is for the purpose of symmetric pruning. Therefore, the
- *  structural subscripts can be rearranged without making physical
- *  interchanges among the numerical values.
- *
- *  However, if the supernode has only one column, then we
- *  only keep one set of subscripts. For any subscript interchange
- *  performed, similar interchange must be done on the numerical
- *  values.
- *
- *  The last column structures (for pruning) will be removed
- *  after the numercial LU factorization phase.
- *
- *   (xlusup,lusup): lusup[*] contains the numerical values of the
- *  rectangular supernodes; xlusup[j] points to the starting
- *  location of the j-th column in storage vector lusup[*]
- *  Note: xlusup is indexed by column.
- *  Each rectangular supernode is stored by column-major
- *  scheme, consistent with Fortran 2-dim array storage.
- *
- *   (xusub,ucol,usub): ucol[*] stores the numerical values of
- *  U-columns outside the rectangular supernodes. The row
- *  subscript of nonzero ucol[k] is stored in usub[k].
- *  xusub[i] points to the starting location of column i in ucol.
- *  Storage: new row subscripts; that is subscripts of PA.
- */
-
-#ifndef EIGEN_LU_STRUCTS
-#define EIGEN_LU_STRUCTS
-namespace Eigen {
-namespace internal {
-  
-typedef enum {LUSUP, UCOL, LSUB, USUB, LLVL, ULVL} MemType; 
-
-template <typename IndexVector, typename ScalarVector>
-struct LU_GlobalLU_t {
-  typedef typename IndexVector::Scalar StorageIndex; 
-  IndexVector xsup; //First supernode column ... xsup(s) points to the beginning of the s-th supernode
-  IndexVector supno; // Supernode number corresponding to this column (column to supernode mapping)
-  ScalarVector  lusup; // nonzero values of L ordered by columns 
-  IndexVector lsub; // Compressed row indices of L rectangular supernodes. 
-  IndexVector xlusup; // pointers to the beginning of each column in lusup
-  IndexVector xlsub; // pointers to the beginning of each column in lsub
-  Index   nzlmax; // Current max size of lsub
-  Index   nzlumax; // Current max size of lusup
-  ScalarVector  ucol; // nonzero values of U ordered by columns 
-  IndexVector usub; // row indices of U columns in ucol
-  IndexVector xusub; // Pointers to the beginning of each column of U in ucol 
-  Index   nzumax; // Current max size of ucol
-  Index   n; // Number of columns in the matrix  
-  Index   num_expansions; 
-};
-
-// Values to set for performance
-struct perfvalues {
-  Index panel_size; // a panel consists of at most <panel_size> consecutive columns
-  Index relax; // To control degree of relaxing supernodes. If the number of nodes (columns) 
-                // in a subtree of the elimination tree is less than relax, this subtree is considered 
-                // as one supernode regardless of the row structures of those columns
-  Index maxsuper; // The maximum size for a supernode in complete LU
-  Index rowblk; // The minimum row dimension for 2-D blocking to be used;
-  Index colblk; // The minimum column dimension for 2-D blocking to be used;
-  Index fillfactor; // The estimated fills factors for L and U, compared with A
-}; 
-
-} // end namespace internal
-
-} // end namespace Eigen
-#endif // EIGEN_LU_STRUCTS
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
deleted file mode 100644
index 721e1883ba8fcc..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
+++ /dev/null
@@ -1,301 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSELU_SUPERNODAL_MATRIX_H
-#define EIGEN_SPARSELU_SUPERNODAL_MATRIX_H
-
-namespace Eigen {
-namespace internal {
-
-/** \ingroup SparseLU_Module
- * \brief a class to manipulate the L supernodal factor from the SparseLU factorization
- * 
- * This class  contain the data to easily store 
- * and manipulate the supernodes during the factorization and solution phase of Sparse LU. 
- * Only the lower triangular matrix has supernodes.
- * 
- * NOTE : This class corresponds to the SCformat structure in SuperLU
- * 
- */
-/* TODO
- * InnerIterator as for sparsematrix 
- * SuperInnerIterator to iterate through all supernodes 
- * Function for triangular solve
- */
-template <typename _Scalar, typename _StorageIndex>
-class MappedSuperNodalMatrix
-{
-  public:
-    typedef _Scalar Scalar; 
-    typedef _StorageIndex StorageIndex;
-    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
-    typedef Matrix<Scalar,Dynamic,1> ScalarVector;
-  public:
-    MappedSuperNodalMatrix()
-    {
-      
-    }
-    MappedSuperNodalMatrix(Index m, Index n,  ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind,
-             IndexVector& rowind_colptr, IndexVector& col_to_sup, IndexVector& sup_to_col )
-    {
-      setInfos(m, n, nzval, nzval_colptr, rowind, rowind_colptr, col_to_sup, sup_to_col);
-    }
-    
-    ~MappedSuperNodalMatrix()
-    {
-      
-    }
-    /**
-     * Set appropriate pointers for the lower triangular supernodal matrix
-     * These infos are available at the end of the numerical factorization
-     * FIXME This class will be modified such that it can be use in the course 
-     * of the factorization.
-     */
-    void setInfos(Index m, Index n, ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind,
-             IndexVector& rowind_colptr, IndexVector& col_to_sup, IndexVector& sup_to_col )
-    {
-      m_row = m;
-      m_col = n; 
-      m_nzval = nzval.data(); 
-      m_nzval_colptr = nzval_colptr.data(); 
-      m_rowind = rowind.data(); 
-      m_rowind_colptr = rowind_colptr.data(); 
-      m_nsuper = col_to_sup(n); 
-      m_col_to_sup = col_to_sup.data(); 
-      m_sup_to_col = sup_to_col.data(); 
-    }
-    
-    /**
-     * Number of rows
-     */
-    Index rows() { return m_row; }
-    
-    /**
-     * Number of columns
-     */
-    Index cols() { return m_col; }
-    
-    /**
-     * Return the array of nonzero values packed by column
-     * 
-     * The size is nnz
-     */
-    Scalar* valuePtr() {  return m_nzval; }
-    
-    const Scalar* valuePtr() const 
-    {
-      return m_nzval; 
-    }
-    /**
-     * Return the pointers to the beginning of each column in \ref valuePtr()
-     */
-    StorageIndex* colIndexPtr()
-    {
-      return m_nzval_colptr; 
-    }
-    
-    const StorageIndex* colIndexPtr() const
-    {
-      return m_nzval_colptr; 
-    }
-    
-    /**
-     * Return the array of compressed row indices of all supernodes
-     */
-    StorageIndex* rowIndex()  { return m_rowind; }
-    
-    const StorageIndex* rowIndex() const
-    {
-      return m_rowind; 
-    }
-    
-    /**
-     * Return the location in \em rowvaluePtr() which starts each column
-     */
-    StorageIndex* rowIndexPtr() { return m_rowind_colptr; }
-    
-    const StorageIndex* rowIndexPtr() const
-    {
-      return m_rowind_colptr; 
-    }
-    
-    /** 
-     * Return the array of column-to-supernode mapping 
-     */
-    StorageIndex* colToSup()  { return m_col_to_sup; }
-    
-    const StorageIndex* colToSup() const
-    {
-      return m_col_to_sup;       
-    }
-    /**
-     * Return the array of supernode-to-column mapping
-     */
-    StorageIndex* supToCol() { return m_sup_to_col; }
-    
-    const StorageIndex* supToCol() const
-    {
-      return m_sup_to_col;
-    }
-    
-    /**
-     * Return the number of supernodes
-     */
-    Index nsuper() const
-    {
-      return m_nsuper; 
-    }
-    
-    class InnerIterator; 
-    template<typename Dest>
-    void solveInPlace( MatrixBase<Dest>&X) const;
-    
-      
-      
-    
-  protected:
-    Index m_row; // Number of rows
-    Index m_col; // Number of columns
-    Index m_nsuper; // Number of supernodes
-    Scalar* m_nzval; //array of nonzero values packed by column
-    StorageIndex* m_nzval_colptr; //nzval_colptr[j] Stores the location in nzval[] which starts column j
-    StorageIndex* m_rowind; // Array of compressed row indices of rectangular supernodes
-    StorageIndex* m_rowind_colptr; //rowind_colptr[j] stores the location in rowind[] which starts column j
-    StorageIndex* m_col_to_sup; // col_to_sup[j] is the supernode number to which column j belongs
-    StorageIndex* m_sup_to_col; //sup_to_col[s] points to the starting column of the s-th supernode
-    
-  private :
-};
-
-/**
-  * \brief InnerIterator class to iterate over nonzero values of the current column in the supernodal matrix L
-  * 
-  */
-template<typename Scalar, typename StorageIndex>
-class MappedSuperNodalMatrix<Scalar,StorageIndex>::InnerIterator
-{
-  public:
-     InnerIterator(const MappedSuperNodalMatrix& mat, Index outer)
-      : m_matrix(mat),
-        m_outer(outer),
-        m_supno(mat.colToSup()[outer]),
-        m_idval(mat.colIndexPtr()[outer]),
-        m_startidval(m_idval),
-        m_endidval(mat.colIndexPtr()[outer+1]),
-        m_idrow(mat.rowIndexPtr()[mat.supToCol()[mat.colToSup()[outer]]]),
-        m_endidrow(mat.rowIndexPtr()[mat.supToCol()[mat.colToSup()[outer]]+1])
-    {}
-    inline InnerIterator& operator++()
-    { 
-      m_idval++; 
-      m_idrow++;
-      return *this;
-    }
-    inline Scalar value() const { return m_matrix.valuePtr()[m_idval]; }
-    
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_matrix.valuePtr()[m_idval]); }
-    
-    inline Index index() const { return m_matrix.rowIndex()[m_idrow]; }
-    inline Index row() const { return index(); }
-    inline Index col() const { return m_outer; }
-    
-    inline Index supIndex() const { return m_supno; }
-    
-    inline operator bool() const 
-    { 
-      return ( (m_idval < m_endidval) && (m_idval >= m_startidval)
-                && (m_idrow < m_endidrow) );
-    }
-    
-  protected:
-    const MappedSuperNodalMatrix& m_matrix; // Supernodal lower triangular matrix 
-    const Index m_outer;                    // Current column 
-    const Index m_supno;                    // Current SuperNode number
-    Index m_idval;                          // Index to browse the values in the current column
-    const Index m_startidval;               // Start of the column value
-    const Index m_endidval;                 // End of the column value
-    Index m_idrow;                          // Index to browse the row indices 
-    Index m_endidrow;                       // End index of row indices of the current column
-};
-
-/**
- * \brief Solve with the supernode triangular matrix
- * 
- */
-template<typename Scalar, typename Index_>
-template<typename Dest>
-void MappedSuperNodalMatrix<Scalar,Index_>::solveInPlace( MatrixBase<Dest>&X) const
-{
-    /* Explicit type conversion as the Index type of MatrixBase<Dest> may be wider than Index */
-//    eigen_assert(X.rows() <= NumTraits<Index>::highest());
-//    eigen_assert(X.cols() <= NumTraits<Index>::highest());
-    Index n    = int(X.rows());
-    Index nrhs = Index(X.cols());
-    const Scalar * Lval = valuePtr();                 // Nonzero values 
-    Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor> work(n, nrhs);     // working vector
-    work.setZero();
-    for (Index k = 0; k <= nsuper(); k ++)
-    {
-      Index fsupc = supToCol()[k];                    // First column of the current supernode 
-      Index istart = rowIndexPtr()[fsupc];            // Pointer index to the subscript of the current column
-      Index nsupr = rowIndexPtr()[fsupc+1] - istart;  // Number of rows in the current supernode
-      Index nsupc = supToCol()[k+1] - fsupc;          // Number of columns in the current supernode
-      Index nrow = nsupr - nsupc;                     // Number of rows in the non-diagonal part of the supernode
-      Index irow;                                     //Current index row
-      
-      if (nsupc == 1 )
-      {
-        for (Index j = 0; j < nrhs; j++)
-        {
-          InnerIterator it(*this, fsupc);
-          ++it; // Skip the diagonal element
-          for (; it; ++it)
-          {
-            irow = it.row();
-            X(irow, j) -= X(fsupc, j) * it.value();
-          }
-        }
-      }
-      else
-      {
-        // The supernode has more than one column 
-        Index luptr = colIndexPtr()[fsupc]; 
-        Index lda = colIndexPtr()[fsupc+1] - luptr;
-        
-        // Triangular solve 
-        Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(Lval[luptr]), nsupc, nsupc, OuterStride<>(lda) );
-        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
-        U = A.template triangularView<UnitLower>().solve(U); 
-        
-        // Matrix-vector product 
-        new (&A) Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > ( &(Lval[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) );
-        work.topRows(nrow).noalias() = A * U;
-        
-        //Begin Scatter 
-        for (Index j = 0; j < nrhs; j++)
-        {
-          Index iptr = istart + nsupc; 
-          for (Index i = 0; i < nrow; i++)
-          {
-            irow = rowIndex()[iptr]; 
-            X(irow, j) -= work(i, j); // Scatter operation
-            work(i, j) = Scalar(0); 
-            iptr++;
-          }
-        }
-      }
-    } 
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSELU_MATRIX_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Utils.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Utils.h
deleted file mode 100644
index 9e3dab44d99986..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_Utils.h
+++ /dev/null
@@ -1,80 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#ifndef EIGEN_SPARSELU_UTILS_H
-#define EIGEN_SPARSELU_UTILS_H
-
-namespace Eigen {
-namespace internal {
-
-/**
- * \brief Count Nonzero elements in the factors
- */
-template <typename Scalar, typename StorageIndex>
-void SparseLUImpl<Scalar,StorageIndex>::countnz(const Index n, Index& nnzL, Index& nnzU, GlobalLU_t& glu)
-{
- nnzL = 0; 
- nnzU = (glu.xusub)(n); 
- Index nsuper = (glu.supno)(n); 
- Index jlen; 
- Index i, j, fsupc;
- if (n <= 0 ) return; 
- // For each supernode
- for (i = 0; i <= nsuper; i++)
- {
-   fsupc = glu.xsup(i); 
-   jlen = glu.xlsub(fsupc+1) - glu.xlsub(fsupc); 
-   
-   for (j = fsupc; j < glu.xsup(i+1); j++)
-   {
-     nnzL += jlen; 
-     nnzU += j - fsupc + 1; 
-     jlen--; 
-   }
- }
-}
-
-/**
- * \brief Fix up the data storage lsub for L-subscripts. 
- * 
- * It removes the subscripts sets for structural pruning, 
- * and applies permutation to the remaining subscripts
- * 
- */
-template <typename Scalar, typename StorageIndex>
-void SparseLUImpl<Scalar,StorageIndex>::fixupL(const Index n, const IndexVector& perm_r, GlobalLU_t& glu)
-{
-  Index fsupc, i, j, k, jstart; 
-  
-  StorageIndex nextl = 0; 
-  Index nsuper = (glu.supno)(n); 
-  
-  // For each supernode 
-  for (i = 0; i <= nsuper; i++)
-  {
-    fsupc = glu.xsup(i); 
-    jstart = glu.xlsub(fsupc); 
-    glu.xlsub(fsupc) = nextl; 
-    for (j = jstart; j < glu.xlsub(fsupc + 1); j++)
-    {
-      glu.lsub(nextl) = perm_r(glu.lsub(j)); // Now indexed into P*A
-      nextl++;
-    }
-    for (k = fsupc+1; k < glu.xsup(i+1); k++)
-      glu.xlsub(k) = nextl; // other columns in supernode i
-  }
-  
-  glu.xlsub(n) = nextl; 
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-#endif // EIGEN_SPARSELU_UTILS_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h
deleted file mode 100644
index b57f06802e2b78..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h
+++ /dev/null
@@ -1,181 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* 
- 
- * NOTE: This file is the modified version of xcolumn_bmod.c file in SuperLU 
- 
- * -- SuperLU routine (version 3.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * October 15, 2003
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-#ifndef SPARSELU_COLUMN_BMOD_H
-#define SPARSELU_COLUMN_BMOD_H
-
-namespace Eigen {
-
-namespace internal {
-/**
- * \brief Performs numeric block updates (sup-col) in topological order
- * 
- * \param jcol current column to update
- * \param nseg Number of segments in the U part
- * \param dense Store the full representation of the column
- * \param tempv working array 
- * \param segrep segment representative ...
- * \param repfnz ??? First nonzero column in each row ???  ...
- * \param fpanelc First column in the current panel
- * \param glu Global LU data. 
- * \return 0 - successful return 
- *         > 0 - number of bytes allocated when run out of space
- * 
- */
-template <typename Scalar, typename StorageIndex>
-Index SparseLUImpl<Scalar,StorageIndex>::column_bmod(const Index jcol, const Index nseg, BlockScalarVector dense, ScalarVector& tempv,
-                                                     BlockIndexVector segrep, BlockIndexVector repfnz, Index fpanelc, GlobalLU_t& glu)
-{
-  Index  jsupno, k, ksub, krep, ksupno; 
-  Index lptr, nrow, isub, irow, nextlu, new_next, ufirst; 
-  Index fsupc, nsupc, nsupr, luptr, kfnz, no_zeros; 
-  /* krep = representative of current k-th supernode
-    * fsupc =  first supernodal column
-    * nsupc = number of columns in a supernode
-    * nsupr = number of rows in a supernode
-    * luptr = location of supernodal LU-block in storage
-    * kfnz = first nonz in the k-th supernodal segment
-    * no_zeros = no lf leading zeros in a supernodal U-segment
-    */
-  
-  jsupno = glu.supno(jcol);
-  // For each nonzero supernode segment of U[*,j] in topological order 
-  k = nseg - 1; 
-  Index d_fsupc; // distance between the first column of the current panel and the 
-               // first column of the current snode
-  Index fst_col; // First column within small LU update
-  Index segsize; 
-  for (ksub = 0; ksub < nseg; ksub++)
-  {
-    krep = segrep(k); k--; 
-    ksupno = glu.supno(krep); 
-    if (jsupno != ksupno )
-    {
-      // outside the rectangular supernode 
-      fsupc = glu.xsup(ksupno); 
-      fst_col = (std::max)(fsupc, fpanelc); 
-      
-      // Distance from the current supernode to the current panel; 
-      // d_fsupc = 0 if fsupc > fpanelc
-      d_fsupc = fst_col - fsupc; 
-      
-      luptr = glu.xlusup(fst_col) + d_fsupc; 
-      lptr = glu.xlsub(fsupc) + d_fsupc; 
-      
-      kfnz = repfnz(krep); 
-      kfnz = (std::max)(kfnz, fpanelc); 
-      
-      segsize = krep - kfnz + 1; 
-      nsupc = krep - fst_col + 1; 
-      nsupr = glu.xlsub(fsupc+1) - glu.xlsub(fsupc); 
-      nrow = nsupr - d_fsupc - nsupc;
-      Index lda = glu.xlusup(fst_col+1) - glu.xlusup(fst_col);
-      
-      
-      // Perform a triangular solver and block update, 
-      // then scatter the result of sup-col update to dense
-      no_zeros = kfnz - fst_col; 
-      if(segsize==1)
-        LU_kernel_bmod<1>::run(segsize, dense, tempv, glu.lusup, luptr, lda, nrow, glu.lsub, lptr, no_zeros);
-      else
-        LU_kernel_bmod<Dynamic>::run(segsize, dense, tempv, glu.lusup, luptr, lda, nrow, glu.lsub, lptr, no_zeros);
-    } // end if jsupno 
-  } // end for each segment
-  
-  // Process the supernodal portion of  L\U[*,j]
-  nextlu = glu.xlusup(jcol); 
-  fsupc = glu.xsup(jsupno);
-  
-  // copy the SPA dense into L\U[*,j]
-  Index mem; 
-  new_next = nextlu + glu.xlsub(fsupc + 1) - glu.xlsub(fsupc); 
-  Index offset = internal::first_multiple<Index>(new_next, internal::packet_traits<Scalar>::size) - new_next;
-  if(offset)
-    new_next += offset;
-  while (new_next > glu.nzlumax )
-  {
-    mem = memXpand<ScalarVector>(glu.lusup, glu.nzlumax, nextlu, LUSUP, glu.num_expansions);  
-    if (mem) return mem; 
-  }
-  
-  for (isub = glu.xlsub(fsupc); isub < glu.xlsub(fsupc+1); isub++)
-  {
-    irow = glu.lsub(isub);
-    glu.lusup(nextlu) = dense(irow);
-    dense(irow) = Scalar(0.0); 
-    ++nextlu; 
-  }
-  
-  if(offset)
-  {
-    glu.lusup.segment(nextlu,offset).setZero();
-    nextlu += offset;
-  }
-  glu.xlusup(jcol + 1) = StorageIndex(nextlu);  // close L\U(*,jcol); 
-  
-  /* For more updates within the panel (also within the current supernode),
-   * should start from the first column of the panel, or the first column
-   * of the supernode, whichever is bigger. There are two cases:
-   *  1) fsupc < fpanelc, then fst_col <-- fpanelc
-   *  2) fsupc >= fpanelc, then fst_col <-- fsupc
-   */
-  fst_col = (std::max)(fsupc, fpanelc); 
-  
-  if (fst_col  < jcol)
-  {
-    // Distance between the current supernode and the current panel
-    // d_fsupc = 0 if fsupc >= fpanelc
-    d_fsupc = fst_col - fsupc; 
-    
-    lptr = glu.xlsub(fsupc) + d_fsupc; 
-    luptr = glu.xlusup(fst_col) + d_fsupc; 
-    nsupr = glu.xlsub(fsupc+1) - glu.xlsub(fsupc); // leading dimension
-    nsupc = jcol - fst_col; // excluding jcol 
-    nrow = nsupr - d_fsupc - nsupc; 
-    
-    // points to the beginning of jcol in snode L\U(jsupno) 
-    ufirst = glu.xlusup(jcol) + d_fsupc; 
-    Index lda = glu.xlusup(jcol+1) - glu.xlusup(jcol);
-    MappedMatrixBlock A( &(glu.lusup.data()[luptr]), nsupc, nsupc, OuterStride<>(lda) );
-    VectorBlock<ScalarVector> u(glu.lusup, ufirst, nsupc); 
-    u = A.template triangularView<UnitLower>().solve(u); 
-    
-    new (&A) MappedMatrixBlock ( &(glu.lusup.data()[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) );
-    VectorBlock<ScalarVector> l(glu.lusup, ufirst+nsupc, nrow); 
-    l.noalias() -= A * u;
-    
-  } // End if fst_col
-  return 0; 
-}
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // SPARSELU_COLUMN_BMOD_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h
deleted file mode 100644
index c98b30e323f121..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h
+++ /dev/null
@@ -1,179 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* 
- 
- * NOTE: This file is the modified version of [s,d,c,z]column_dfs.c file in SuperLU 
- 
- * -- SuperLU routine (version 2.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * November 15, 1997
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-#ifndef SPARSELU_COLUMN_DFS_H
-#define SPARSELU_COLUMN_DFS_H
-
-template <typename Scalar, typename StorageIndex> class SparseLUImpl;
-namespace Eigen {
-
-namespace internal {
-
-template<typename IndexVector, typename ScalarVector>
-struct column_dfs_traits : no_assignment_operator
-{
-  typedef typename ScalarVector::Scalar Scalar;
-  typedef typename IndexVector::Scalar StorageIndex;
-  column_dfs_traits(Index jcol, Index& jsuper, typename SparseLUImpl<Scalar, StorageIndex>::GlobalLU_t& glu, SparseLUImpl<Scalar, StorageIndex>& luImpl)
-   : m_jcol(jcol), m_jsuper_ref(jsuper), m_glu(glu), m_luImpl(luImpl)
- {}
-  bool update_segrep(Index /*krep*/, Index /*jj*/)
-  {
-    return true;
-  }
-  void mem_expand(IndexVector& lsub, Index& nextl, Index chmark)
-  {
-    if (nextl >= m_glu.nzlmax)
-      m_luImpl.memXpand(lsub, m_glu.nzlmax, nextl, LSUB, m_glu.num_expansions); 
-    if (chmark != (m_jcol-1)) m_jsuper_ref = emptyIdxLU;
-  }
-  enum { ExpandMem = true };
-  
-  Index m_jcol;
-  Index& m_jsuper_ref;
-  typename SparseLUImpl<Scalar, StorageIndex>::GlobalLU_t& m_glu;
-  SparseLUImpl<Scalar, StorageIndex>& m_luImpl;
-};
-
-
-/**
- * \brief Performs a symbolic factorization on column jcol and decide the supernode boundary
- * 
- * A supernode representative is the last column of a supernode.
- * The nonzeros in U[*,j] are segments that end at supernodes representatives. 
- * The routine returns a list of the supernodal representatives 
- * in topological order of the dfs that generates them. 
- * The location of the first nonzero in each supernodal segment 
- * (supernodal entry location) is also returned. 
- * 
- * \param m number of rows in the matrix
- * \param jcol Current column 
- * \param perm_r Row permutation
- * \param maxsuper  Maximum number of column allowed in a supernode
- * \param [in,out] nseg Number of segments in current U[*,j] - new segments appended
- * \param lsub_col defines the rhs vector to start the dfs
- * \param [in,out] segrep Segment representatives - new segments appended 
- * \param repfnz  First nonzero location in each row
- * \param xprune 
- * \param marker  marker[i] == jj, if i was visited during dfs of current column jj;
- * \param parent
- * \param xplore working array
- * \param glu global LU data 
- * \return 0 success
- *         > 0 number of bytes allocated when run out of space
- * 
- */
-template <typename Scalar, typename StorageIndex>
-Index SparseLUImpl<Scalar,StorageIndex>::column_dfs(const Index m, const Index jcol, IndexVector& perm_r, Index maxsuper, Index& nseg,
-                                                    BlockIndexVector lsub_col, IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune,
-                                                    IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
-{
-  
-  Index jsuper = glu.supno(jcol); 
-  Index nextl = glu.xlsub(jcol); 
-  VectorBlock<IndexVector> marker2(marker, 2*m, m); 
-  
-  
-  column_dfs_traits<IndexVector, ScalarVector> traits(jcol, jsuper, glu, *this);
-  
-  // For each nonzero in A(*,jcol) do dfs 
-  for (Index k = 0; ((k < m) ? lsub_col[k] != emptyIdxLU : false) ; k++)
-  {
-    Index krow = lsub_col(k); 
-    lsub_col(k) = emptyIdxLU; 
-    Index kmark = marker2(krow); 
-    
-    // krow was visited before, go to the next nonz; 
-    if (kmark == jcol) continue;
-    
-    dfs_kernel(StorageIndex(jcol), perm_r, nseg, glu.lsub, segrep, repfnz, xprune, marker2, parent,
-                   xplore, glu, nextl, krow, traits);
-  } // for each nonzero ... 
-  
-  Index fsupc;
-  StorageIndex nsuper = glu.supno(jcol);
-  StorageIndex jcolp1 = StorageIndex(jcol) + 1;
-  Index jcolm1 = jcol - 1;
-  
-  // check to see if j belongs in the same supernode as j-1
-  if ( jcol == 0 )
-  { // Do nothing for column 0 
-    nsuper = glu.supno(0) = 0 ;
-  }
-  else 
-  {
-    fsupc = glu.xsup(nsuper); 
-    StorageIndex jptr = glu.xlsub(jcol); // Not yet compressed
-    StorageIndex jm1ptr = glu.xlsub(jcolm1); 
-    
-    // Use supernodes of type T2 : see SuperLU paper
-    if ( (nextl-jptr != jptr-jm1ptr-1) ) jsuper = emptyIdxLU;
-    
-    // Make sure the number of columns in a supernode doesn't
-    // exceed threshold
-    if ( (jcol - fsupc) >= maxsuper) jsuper = emptyIdxLU; 
-    
-    /* If jcol starts a new supernode, reclaim storage space in
-     * glu.lsub from previous supernode. Note we only store 
-     * the subscript set of the first and last columns of 
-     * a supernode. (first for num values, last for pruning)
-     */
-    if (jsuper == emptyIdxLU)
-    { // starts a new supernode 
-      if ( (fsupc < jcolm1-1) ) 
-      { // >= 3 columns in nsuper
-        StorageIndex ito = glu.xlsub(fsupc+1);
-        glu.xlsub(jcolm1) = ito; 
-        StorageIndex istop = ito + jptr - jm1ptr; 
-        xprune(jcolm1) = istop; // intialize xprune(jcol-1)
-        glu.xlsub(jcol) = istop; 
-        
-        for (StorageIndex ifrom = jm1ptr; ifrom < nextl; ++ifrom, ++ito)
-          glu.lsub(ito) = glu.lsub(ifrom); 
-        nextl = ito;  // = istop + length(jcol)
-      }
-      nsuper++; 
-      glu.supno(jcol) = nsuper; 
-    } // if a new supernode 
-  } // end else:  jcol > 0
-  
-  // Tidy up the pointers before exit
-  glu.xsup(nsuper+1) = jcolp1; 
-  glu.supno(jcolp1) = nsuper; 
-  xprune(jcol) = StorageIndex(nextl);  // Intialize upper bound for pruning
-  glu.xlsub(jcolp1) = StorageIndex(nextl); 
-  
-  return 0; 
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h
deleted file mode 100644
index c32d8d8b14b645..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h
+++ /dev/null
@@ -1,107 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-/* 
- 
- * NOTE: This file is the modified version of [s,d,c,z]copy_to_ucol.c file in SuperLU 
- 
- * -- SuperLU routine (version 2.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * November 15, 1997
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-#ifndef SPARSELU_COPY_TO_UCOL_H
-#define SPARSELU_COPY_TO_UCOL_H
-
-namespace Eigen {
-namespace internal {
-
-/**
- * \brief Performs numeric block updates (sup-col) in topological order
- * 
- * \param jcol current column to update
- * \param nseg Number of segments in the U part
- * \param segrep segment representative ...
- * \param repfnz First nonzero column in each row  ...
- * \param perm_r Row permutation 
- * \param dense Store the full representation of the column
- * \param glu Global LU data. 
- * \return 0 - successful return 
- *         > 0 - number of bytes allocated when run out of space
- * 
- */
-template <typename Scalar, typename StorageIndex>
-Index SparseLUImpl<Scalar,StorageIndex>::copy_to_ucol(const Index jcol, const Index nseg, IndexVector& segrep,
-                                                      BlockIndexVector repfnz ,IndexVector& perm_r, BlockScalarVector dense, GlobalLU_t& glu)
-{  
-  Index ksub, krep, ksupno; 
-    
-  Index jsupno = glu.supno(jcol);
-  
-  // For each nonzero supernode segment of U[*,j] in topological order 
-  Index k = nseg - 1, i; 
-  StorageIndex nextu = glu.xusub(jcol); 
-  Index kfnz, isub, segsize; 
-  Index new_next,irow; 
-  Index fsupc, mem; 
-  for (ksub = 0; ksub < nseg; ksub++)
-  {
-    krep = segrep(k); k--; 
-    ksupno = glu.supno(krep); 
-    if (jsupno != ksupno ) // should go into ucol(); 
-    {
-      kfnz = repfnz(krep); 
-      if (kfnz != emptyIdxLU)
-      { // Nonzero U-segment 
-        fsupc = glu.xsup(ksupno); 
-        isub = glu.xlsub(fsupc) + kfnz - fsupc; 
-        segsize = krep - kfnz + 1; 
-        new_next = nextu + segsize; 
-        while (new_next > glu.nzumax) 
-        {
-          mem = memXpand<ScalarVector>(glu.ucol, glu.nzumax, nextu, UCOL, glu.num_expansions); 
-          if (mem) return mem; 
-          mem = memXpand<IndexVector>(glu.usub, glu.nzumax, nextu, USUB, glu.num_expansions); 
-          if (mem) return mem; 
-          
-        }
-        
-        for (i = 0; i < segsize; i++)
-        {
-          irow = glu.lsub(isub); 
-          glu.usub(nextu) = perm_r(irow); // Unlike the L part, the U part is stored in its final order
-          glu.ucol(nextu) = dense(irow); 
-          dense(irow) = Scalar(0.0); 
-          nextu++;
-          isub++;
-        }
-        
-      } // end nonzero U-segment 
-      
-    } // end if jsupno 
-    
-  } // end for each segment
-  glu.xusub(jcol + 1) = nextu; // close U(*,jcol)
-  return 0; 
-}
-
-} // namespace internal
-} // end namespace Eigen
-
-#endif // SPARSELU_COPY_TO_UCOL_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_gemm_kernel.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
deleted file mode 100644
index 95ba7413f2982b..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
+++ /dev/null
@@ -1,280 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSELU_GEMM_KERNEL_H
-#define EIGEN_SPARSELU_GEMM_KERNEL_H
-
-namespace Eigen {
-
-namespace internal {
-
-
-/** \internal
-  * A general matrix-matrix product kernel optimized for the SparseLU factorization.
-  *  - A, B, and C must be column major
-  *  - lda and ldc must be multiples of the respective packet size
-  *  - C must have the same alignment as A
-  */
-template<typename Scalar>
-EIGEN_DONT_INLINE
-void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const Scalar* B, Index ldb, Scalar* C, Index ldc)
-{
-  using namespace Eigen::internal;
-  
-  typedef typename packet_traits<Scalar>::type Packet;
-  enum {
-    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
-    PacketSize = packet_traits<Scalar>::size,
-    PM = 8,                             // peeling in M
-    RN = 2,                             // register blocking
-    RK = NumberOfRegisters>=16 ? 4 : 2, // register blocking
-    BM = 4096/sizeof(Scalar),           // number of rows of A-C per chunk
-    SM = PM*PacketSize                  // step along M
-  };
-  Index d_end = (d/RK)*RK;    // number of columns of A (rows of B) suitable for full register blocking
-  Index n_end = (n/RN)*RN;    // number of columns of B-C suitable for processing RN columns at once
-  Index i0 = internal::first_default_aligned(A,m);
-  
-  eigen_internal_assert(((lda%PacketSize)==0) && ((ldc%PacketSize)==0) && (i0==internal::first_default_aligned(C,m)));
-  
-  // handle the non aligned rows of A and C without any optimization:
-  for(Index i=0; i<i0; ++i)
-  {
-    for(Index j=0; j<n; ++j)
-    {
-      Scalar c = C[i+j*ldc];
-      for(Index k=0; k<d; ++k)
-        c += B[k+j*ldb] * A[i+k*lda];
-      C[i+j*ldc] = c;
-    }
-  }
-  // process the remaining rows per chunk of BM rows
-  for(Index ib=i0; ib<m; ib+=BM)
-  {
-    Index actual_b = std::min<Index>(BM, m-ib);                 // actual number of rows
-    Index actual_b_end1 = (actual_b/SM)*SM;                   // actual number of rows suitable for peeling
-    Index actual_b_end2 = (actual_b/PacketSize)*PacketSize;   // actual number of rows suitable for vectorization
-    
-    // Let's process two columns of B-C at once
-    for(Index j=0; j<n_end; j+=RN)
-    {
-      const Scalar* Bc0 = B+(j+0)*ldb;
-      const Scalar* Bc1 = B+(j+1)*ldb;
-      
-      for(Index k=0; k<d_end; k+=RK)
-      {
-        
-        // load and expand a RN x RK block of B
-        Packet b00, b10, b20, b30, b01, b11, b21, b31;
-                  { b00 = pset1<Packet>(Bc0[0]); }
-                  { b10 = pset1<Packet>(Bc0[1]); }
-        if(RK==4) { b20 = pset1<Packet>(Bc0[2]); }
-        if(RK==4) { b30 = pset1<Packet>(Bc0[3]); }
-                  { b01 = pset1<Packet>(Bc1[0]); }
-                  { b11 = pset1<Packet>(Bc1[1]); }
-        if(RK==4) { b21 = pset1<Packet>(Bc1[2]); }
-        if(RK==4) { b31 = pset1<Packet>(Bc1[3]); }
-        
-        Packet a0, a1, a2, a3, c0, c1, t0, t1;
-        
-        const Scalar* A0 = A+ib+(k+0)*lda;
-        const Scalar* A1 = A+ib+(k+1)*lda;
-        const Scalar* A2 = A+ib+(k+2)*lda;
-        const Scalar* A3 = A+ib+(k+3)*lda;
-        
-        Scalar* C0 = C+ib+(j+0)*ldc;
-        Scalar* C1 = C+ib+(j+1)*ldc;
-        
-                  a0 = pload<Packet>(A0);
-                  a1 = pload<Packet>(A1);
-        if(RK==4)
-        {
-          a2 = pload<Packet>(A2);
-          a3 = pload<Packet>(A3);
-        }
-        else
-        {
-          // workaround "may be used uninitialized in this function" warning
-          a2 = a3 = a0;
-        }
-        
-#define KMADD(c, a, b, tmp) {tmp = b; tmp = pmul(a,tmp); c = padd(c,tmp);}
-#define WORK(I)  \
-                     c0 = pload<Packet>(C0+i+(I)*PacketSize);    \
-                     c1 = pload<Packet>(C1+i+(I)*PacketSize);    \
-                     KMADD(c0, a0, b00, t0)                      \
-                     KMADD(c1, a0, b01, t1)                      \
-                     a0 = pload<Packet>(A0+i+(I+1)*PacketSize);  \
-                     KMADD(c0, a1, b10, t0)                      \
-                     KMADD(c1, a1, b11, t1)                      \
-                     a1 = pload<Packet>(A1+i+(I+1)*PacketSize);  \
-          if(RK==4){ KMADD(c0, a2, b20, t0)                     }\
-          if(RK==4){ KMADD(c1, a2, b21, t1)                     }\
-          if(RK==4){ a2 = pload<Packet>(A2+i+(I+1)*PacketSize); }\
-          if(RK==4){ KMADD(c0, a3, b30, t0)                     }\
-          if(RK==4){ KMADD(c1, a3, b31, t1)                     }\
-          if(RK==4){ a3 = pload<Packet>(A3+i+(I+1)*PacketSize); }\
-                     pstore(C0+i+(I)*PacketSize, c0);            \
-                     pstore(C1+i+(I)*PacketSize, c1)
-        
-        // process rows of A' - C' with aggressive vectorization and peeling 
-        for(Index i=0; i<actual_b_end1; i+=PacketSize*8)
-        {
-          EIGEN_ASM_COMMENT("SPARSELU_GEMML_KERNEL1");
-                    prefetch((A0+i+(5)*PacketSize));
-                    prefetch((A1+i+(5)*PacketSize));
-          if(RK==4) prefetch((A2+i+(5)*PacketSize));
-          if(RK==4) prefetch((A3+i+(5)*PacketSize));
-
-          WORK(0);
-          WORK(1);
-          WORK(2);
-          WORK(3);
-          WORK(4);
-          WORK(5);
-          WORK(6);
-          WORK(7);
-        }
-        // process the remaining rows with vectorization only
-        for(Index i=actual_b_end1; i<actual_b_end2; i+=PacketSize)
-        {
-          WORK(0);
-        }
-#undef WORK
-        // process the remaining rows without vectorization
-        for(Index i=actual_b_end2; i<actual_b; ++i)
-        {
-          if(RK==4)
-          {
-            C0[i] += A0[i]*Bc0[0]+A1[i]*Bc0[1]+A2[i]*Bc0[2]+A3[i]*Bc0[3];
-            C1[i] += A0[i]*Bc1[0]+A1[i]*Bc1[1]+A2[i]*Bc1[2]+A3[i]*Bc1[3];
-          }
-          else
-          {
-            C0[i] += A0[i]*Bc0[0]+A1[i]*Bc0[1];
-            C1[i] += A0[i]*Bc1[0]+A1[i]*Bc1[1];
-          }
-        }
-        
-        Bc0 += RK;
-        Bc1 += RK;
-      } // peeled loop on k
-    } // peeled loop on the columns j
-    // process the last column (we now perform a matrix-vector product)
-    if((n-n_end)>0)
-    {
-      const Scalar* Bc0 = B+(n-1)*ldb;
-      
-      for(Index k=0; k<d_end; k+=RK)
-      {
-        
-        // load and expand a 1 x RK block of B
-        Packet b00, b10, b20, b30;
-                  b00 = pset1<Packet>(Bc0[0]);
-                  b10 = pset1<Packet>(Bc0[1]);
-        if(RK==4) b20 = pset1<Packet>(Bc0[2]);
-        if(RK==4) b30 = pset1<Packet>(Bc0[3]);
-        
-        Packet a0, a1, a2, a3, c0, t0/*, t1*/;
-        
-        const Scalar* A0 = A+ib+(k+0)*lda;
-        const Scalar* A1 = A+ib+(k+1)*lda;
-        const Scalar* A2 = A+ib+(k+2)*lda;
-        const Scalar* A3 = A+ib+(k+3)*lda;
-        
-        Scalar* C0 = C+ib+(n_end)*ldc;
-        
-                  a0 = pload<Packet>(A0);
-                  a1 = pload<Packet>(A1);
-        if(RK==4)
-        {
-          a2 = pload<Packet>(A2);
-          a3 = pload<Packet>(A3);
-        }
-        else
-        {
-          // workaround "may be used uninitialized in this function" warning
-          a2 = a3 = a0;
-        }
-        
-#define WORK(I) \
-                   c0 = pload<Packet>(C0+i+(I)*PacketSize);     \
-                   KMADD(c0, a0, b00, t0)                       \
-                   a0 = pload<Packet>(A0+i+(I+1)*PacketSize);   \
-                   KMADD(c0, a1, b10, t0)                       \
-                   a1 = pload<Packet>(A1+i+(I+1)*PacketSize);   \
-        if(RK==4){ KMADD(c0, a2, b20, t0)                      }\
-        if(RK==4){ a2 = pload<Packet>(A2+i+(I+1)*PacketSize);  }\
-        if(RK==4){ KMADD(c0, a3, b30, t0)                      }\
-        if(RK==4){ a3 = pload<Packet>(A3+i+(I+1)*PacketSize);  }\
-                   pstore(C0+i+(I)*PacketSize, c0);
-        
-        // agressive vectorization and peeling
-        for(Index i=0; i<actual_b_end1; i+=PacketSize*8)
-        {
-          EIGEN_ASM_COMMENT("SPARSELU_GEMML_KERNEL2");
-          WORK(0);
-          WORK(1);
-          WORK(2);
-          WORK(3);
-          WORK(4);
-          WORK(5);
-          WORK(6);
-          WORK(7);
-        }
-        // vectorization only
-        for(Index i=actual_b_end1; i<actual_b_end2; i+=PacketSize)
-        {
-          WORK(0);
-        }
-        // remaining scalars
-        for(Index i=actual_b_end2; i<actual_b; ++i)
-        {
-          if(RK==4) 
-            C0[i] += A0[i]*Bc0[0]+A1[i]*Bc0[1]+A2[i]*Bc0[2]+A3[i]*Bc0[3];
-          else
-            C0[i] += A0[i]*Bc0[0]+A1[i]*Bc0[1];
-        }
-        
-        Bc0 += RK;
-#undef WORK
-      }
-    }
-    
-    // process the last columns of A, corresponding to the last rows of B
-    Index rd = d-d_end;
-    if(rd>0)
-    {
-      for(Index j=0; j<n; ++j)
-      {
-        enum {
-          Alignment = PacketSize>1 ? Aligned : 0
-        };
-        typedef Map<Matrix<Scalar,Dynamic,1>, Alignment > MapVector;
-        typedef Map<const Matrix<Scalar,Dynamic,1>, Alignment > ConstMapVector;
-        if(rd==1)       MapVector(C+j*ldc+ib,actual_b) += B[0+d_end+j*ldb] * ConstMapVector(A+(d_end+0)*lda+ib, actual_b);
-        
-        else if(rd==2)  MapVector(C+j*ldc+ib,actual_b) += B[0+d_end+j*ldb] * ConstMapVector(A+(d_end+0)*lda+ib, actual_b)
-                                                        + B[1+d_end+j*ldb] * ConstMapVector(A+(d_end+1)*lda+ib, actual_b);
-        
-        else            MapVector(C+j*ldc+ib,actual_b) += B[0+d_end+j*ldb] * ConstMapVector(A+(d_end+0)*lda+ib, actual_b)
-                                                        + B[1+d_end+j*ldb] * ConstMapVector(A+(d_end+1)*lda+ib, actual_b)
-                                                        + B[2+d_end+j*ldb] * ConstMapVector(A+(d_end+2)*lda+ib, actual_b);
-      }
-    }
-  
-  } // blocking on the rows of A and C
-}
-#undef KMADD
-
-} // namespace internal
-
-} // namespace Eigen
-
-#endif // EIGEN_SPARSELU_GEMM_KERNEL_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h
deleted file mode 100644
index 6f75d500e5f831..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h
+++ /dev/null
@@ -1,126 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* This file is a modified version of heap_relax_snode.c file in SuperLU
- * -- SuperLU routine (version 3.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * October 15, 2003
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-
-#ifndef SPARSELU_HEAP_RELAX_SNODE_H
-#define SPARSELU_HEAP_RELAX_SNODE_H
-
-namespace Eigen {
-namespace internal {
-
-/** 
- * \brief Identify the initial relaxed supernodes
- * 
- * This routine applied to a symmetric elimination tree. 
- * It assumes that the matrix has been reordered according to the postorder of the etree
- * \param n The number of columns
- * \param et elimination tree 
- * \param relax_columns Maximum number of columns allowed in a relaxed snode 
- * \param descendants Number of descendants of each node in the etree
- * \param relax_end last column in a supernode
- */
-template <typename Scalar, typename StorageIndex>
-void SparseLUImpl<Scalar,StorageIndex>::heap_relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
-{
-  
-  // The etree may not be postordered, but its heap ordered  
-  IndexVector post;
-  internal::treePostorder(StorageIndex(n), et, post); // Post order etree
-  IndexVector inv_post(n+1); 
-  for (StorageIndex i = 0; i < n+1; ++i) inv_post(post(i)) = i; // inv_post = post.inverse()???
-  
-  // Renumber etree in postorder 
-  IndexVector iwork(n);
-  IndexVector et_save(n+1);
-  for (Index i = 0; i < n; ++i)
-  {
-    iwork(post(i)) = post(et(i));
-  }
-  et_save = et; // Save the original etree
-  et = iwork; 
-  
-  // compute the number of descendants of each node in the etree
-  relax_end.setConstant(emptyIdxLU);
-  Index j, parent; 
-  descendants.setZero();
-  for (j = 0; j < n; j++) 
-  {
-    parent = et(j);
-    if (parent != n) // not the dummy root
-      descendants(parent) += descendants(j) + 1;
-  }
-  // Identify the relaxed supernodes by postorder traversal of the etree
-  Index snode_start; // beginning of a snode 
-  StorageIndex k;
-  Index nsuper_et_post = 0; // Number of relaxed snodes in postordered etree 
-  Index nsuper_et = 0; // Number of relaxed snodes in the original etree 
-  StorageIndex l; 
-  for (j = 0; j < n; )
-  {
-    parent = et(j);
-    snode_start = j; 
-    while ( parent != n && descendants(parent) < relax_columns ) 
-    {
-      j = parent; 
-      parent = et(j);
-    }
-    // Found a supernode in postordered etree, j is the last column 
-    ++nsuper_et_post;
-    k = StorageIndex(n);
-    for (Index i = snode_start; i <= j; ++i)
-      k = (std::min)(k, inv_post(i));
-    l = inv_post(j);
-    if ( (l - k) == (j - snode_start) )  // Same number of columns in the snode
-    {
-      // This is also a supernode in the original etree
-      relax_end(k) = l; // Record last column 
-      ++nsuper_et; 
-    }
-    else 
-    {
-      for (Index i = snode_start; i <= j; ++i) 
-      {
-        l = inv_post(i);
-        if (descendants(i) == 0) 
-        {
-          relax_end(l) = l;
-          ++nsuper_et;
-        }
-      }
-    }
-    j++;
-    // Search for a new leaf
-    while (descendants(j) != 0 && j < n) j++;
-  } // End postorder traversal of the etree
-  
-  // Recover the original etree
-  et = et_save; 
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-#endif // SPARSELU_HEAP_RELAX_SNODE_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h
deleted file mode 100644
index 8c1b3e8bc67c89..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h
+++ /dev/null
@@ -1,130 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef SPARSELU_KERNEL_BMOD_H
-#define SPARSELU_KERNEL_BMOD_H
-
-namespace Eigen {
-namespace internal {
-  
-template <int SegSizeAtCompileTime> struct LU_kernel_bmod
-{
-  /** \internal
-    * \brief Performs numeric block updates from a given supernode to a single column
-    *
-    * \param segsize Size of the segment (and blocks ) to use for updates
-    * \param[in,out] dense Packed values of the original matrix
-    * \param tempv temporary vector to use for updates
-    * \param lusup array containing the supernodes
-    * \param lda Leading dimension in the supernode
-    * \param nrow Number of rows in the rectangular part of the supernode
-    * \param lsub compressed row subscripts of supernodes
-    * \param lptr pointer to the first column of the current supernode in lsub
-    * \param no_zeros Number of nonzeros elements before the diagonal part of the supernode
-    */
-  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
-  static EIGEN_DONT_INLINE void run(const Index segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
-                                    const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros);
-};
-
-template <int SegSizeAtCompileTime>
-template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
-EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const Index segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
-                                                                  const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros)
-{
-  typedef typename ScalarVector::Scalar Scalar;
-  // First, copy U[*,j] segment from dense(*) to tempv(*)
-  // The result of triangular solve is in tempv[*]; 
-    // The result of matric-vector update is in dense[*]
-  Index isub = lptr + no_zeros; 
-  Index i;
-  Index irow;
-  for (i = 0; i < ((SegSizeAtCompileTime==Dynamic)?segsize:SegSizeAtCompileTime); i++)
-  {
-    irow = lsub(isub); 
-    tempv(i) = dense(irow); 
-    ++isub; 
-  }
-  // Dense triangular solve -- start effective triangle
-  luptr += lda * no_zeros + no_zeros; 
-  // Form Eigen matrix and vector 
-  Map<Matrix<Scalar,SegSizeAtCompileTime,SegSizeAtCompileTime, ColMajor>, 0, OuterStride<> > A( &(lusup.data()[luptr]), segsize, segsize, OuterStride<>(lda) );
-  Map<Matrix<Scalar,SegSizeAtCompileTime,1> > u(tempv.data(), segsize);
-  
-  u = A.template triangularView<UnitLower>().solve(u); 
-  
-  // Dense matrix-vector product y <-- B*x 
-  luptr += segsize;
-  const Index PacketSize = internal::packet_traits<Scalar>::size;
-  Index ldl = internal::first_multiple(nrow, PacketSize);
-  Map<Matrix<Scalar,Dynamic,SegSizeAtCompileTime, ColMajor>, 0, OuterStride<> > B( &(lusup.data()[luptr]), nrow, segsize, OuterStride<>(lda) );
-  Index aligned_offset = internal::first_default_aligned(tempv.data()+segsize, PacketSize);
-  Index aligned_with_B_offset = (PacketSize-internal::first_default_aligned(B.data(), PacketSize))%PacketSize;
-  Map<Matrix<Scalar,Dynamic,1>, 0, OuterStride<> > l(tempv.data()+segsize+aligned_offset+aligned_with_B_offset, nrow, OuterStride<>(ldl) );
-  
-  l.setZero();
-  internal::sparselu_gemm<Scalar>(l.rows(), l.cols(), B.cols(), B.data(), B.outerStride(), u.data(), u.outerStride(), l.data(), l.outerStride());
-  
-  // Scatter tempv[] into SPA dense[] as a temporary storage 
-  isub = lptr + no_zeros;
-  for (i = 0; i < ((SegSizeAtCompileTime==Dynamic)?segsize:SegSizeAtCompileTime); i++)
-  {
-    irow = lsub(isub++); 
-    dense(irow) = tempv(i);
-  }
-  
-  // Scatter l into SPA dense[]
-  for (i = 0; i < nrow; i++)
-  {
-    irow = lsub(isub++); 
-    dense(irow) -= l(i);
-  } 
-}
-
-template <> struct LU_kernel_bmod<1>
-{
-  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
-  static EIGEN_DONT_INLINE void run(const Index /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
-                                    const Index lda, const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros);
-};
-
-
-template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
-EIGEN_DONT_INLINE void LU_kernel_bmod<1>::run(const Index /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
-                                              const Index lda, const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros)
-{
-  typedef typename ScalarVector::Scalar Scalar;
-  typedef typename IndexVector::Scalar StorageIndex;
-  Scalar f = dense(lsub(lptr + no_zeros));
-  luptr += lda * no_zeros + no_zeros + 1;
-  const Scalar* a(lusup.data() + luptr);
-  const StorageIndex*  irow(lsub.data()+lptr + no_zeros + 1);
-  Index i = 0;
-  for (; i+1 < nrow; i+=2)
-  {
-    Index i0 = *(irow++);
-    Index i1 = *(irow++);
-    Scalar a0 = *(a++);
-    Scalar a1 = *(a++);
-    Scalar d0 = dense.coeff(i0);
-    Scalar d1 = dense.coeff(i1);
-    d0 -= f*a0;
-    d1 -= f*a1;
-    dense.coeffRef(i0) = d0;
-    dense.coeffRef(i1) = d1;
-  }
-  if(i<nrow)
-    dense.coeffRef(*(irow++)) -= f * *(a++);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-#endif // SPARSELU_KERNEL_BMOD_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h
deleted file mode 100644
index 822cf32c3474ee..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h
+++ /dev/null
@@ -1,223 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* 
- 
- * NOTE: This file is the modified version of [s,d,c,z]panel_bmod.c file in SuperLU 
- 
- * -- SuperLU routine (version 3.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * October 15, 2003
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-#ifndef SPARSELU_PANEL_BMOD_H
-#define SPARSELU_PANEL_BMOD_H
-
-namespace Eigen {
-namespace internal {
-
-/**
- * \brief Performs numeric block updates (sup-panel) in topological order.
- * 
- * Before entering this routine, the original nonzeros in the panel
- * were already copied i nto the spa[m,w]
- * 
- * \param m number of rows in the matrix
- * \param w Panel size
- * \param jcol Starting  column of the panel
- * \param nseg Number of segments in the U part
- * \param dense Store the full representation of the panel 
- * \param tempv working array 
- * \param segrep segment representative... first row in the segment
- * \param repfnz First nonzero rows
- * \param glu Global LU data. 
- * 
- * 
- */
-template <typename Scalar, typename StorageIndex>
-void SparseLUImpl<Scalar,StorageIndex>::panel_bmod(const Index m, const Index w, const Index jcol, 
-                                            const Index nseg, ScalarVector& dense, ScalarVector& tempv,
-                                            IndexVector& segrep, IndexVector& repfnz, GlobalLU_t& glu)
-{
-  
-  Index ksub,jj,nextl_col; 
-  Index fsupc, nsupc, nsupr, nrow; 
-  Index krep, kfnz; 
-  Index lptr; // points to the row subscripts of a supernode 
-  Index luptr; // ...
-  Index segsize,no_zeros ; 
-  // For each nonz supernode segment of U[*,j] in topological order
-  Index k = nseg - 1; 
-  const Index PacketSize = internal::packet_traits<Scalar>::size;
-  
-  for (ksub = 0; ksub < nseg; ksub++)
-  { // For each updating supernode
-    /* krep = representative of current k-th supernode
-     * fsupc =  first supernodal column
-     * nsupc = number of columns in a supernode
-     * nsupr = number of rows in a supernode
-     */
-    krep = segrep(k); k--; 
-    fsupc = glu.xsup(glu.supno(krep)); 
-    nsupc = krep - fsupc + 1; 
-    nsupr = glu.xlsub(fsupc+1) - glu.xlsub(fsupc); 
-    nrow = nsupr - nsupc; 
-    lptr = glu.xlsub(fsupc); 
-    
-    // loop over the panel columns to detect the actual number of columns and rows
-    Index u_rows = 0;
-    Index u_cols = 0;
-    for (jj = jcol; jj < jcol + w; jj++)
-    {
-      nextl_col = (jj-jcol) * m; 
-      VectorBlock<IndexVector> repfnz_col(repfnz, nextl_col, m); // First nonzero column index for each row
-      
-      kfnz = repfnz_col(krep); 
-      if ( kfnz == emptyIdxLU ) 
-        continue; // skip any zero segment
-      
-      segsize = krep - kfnz + 1;
-      u_cols++;
-      u_rows = (std::max)(segsize,u_rows);
-    }
-    
-    if(nsupc >= 2)
-    { 
-      Index ldu = internal::first_multiple<Index>(u_rows, PacketSize);
-      Map<ScalarMatrix, Aligned,  OuterStride<> > U(tempv.data(), u_rows, u_cols, OuterStride<>(ldu));
-      
-      // gather U
-      Index u_col = 0;
-      for (jj = jcol; jj < jcol + w; jj++)
-      {
-        nextl_col = (jj-jcol) * m; 
-        VectorBlock<IndexVector> repfnz_col(repfnz, nextl_col, m); // First nonzero column index for each row
-        VectorBlock<ScalarVector> dense_col(dense, nextl_col, m); // Scatter/gather entire matrix column from/to here
-        
-        kfnz = repfnz_col(krep); 
-        if ( kfnz == emptyIdxLU ) 
-          continue; // skip any zero segment
-        
-        segsize = krep - kfnz + 1;
-        luptr = glu.xlusup(fsupc);    
-        no_zeros = kfnz - fsupc; 
-        
-        Index isub = lptr + no_zeros;
-        Index off = u_rows-segsize;
-        for (Index i = 0; i < off; i++) U(i,u_col) = 0;
-        for (Index i = 0; i < segsize; i++)
-        {
-          Index irow = glu.lsub(isub); 
-          U(i+off,u_col) = dense_col(irow); 
-          ++isub; 
-        }
-        u_col++;
-      }
-      // solve U = A^-1 U
-      luptr = glu.xlusup(fsupc);
-      Index lda = glu.xlusup(fsupc+1) - glu.xlusup(fsupc);
-      no_zeros = (krep - u_rows + 1) - fsupc;
-      luptr += lda * no_zeros + no_zeros;
-      MappedMatrixBlock A(glu.lusup.data()+luptr, u_rows, u_rows, OuterStride<>(lda) );
-      U = A.template triangularView<UnitLower>().solve(U);
-      
-      // update
-      luptr += u_rows;
-      MappedMatrixBlock B(glu.lusup.data()+luptr, nrow, u_rows, OuterStride<>(lda) );
-      eigen_assert(tempv.size()>w*ldu + nrow*w + 1);
-      
-      Index ldl = internal::first_multiple<Index>(nrow, PacketSize);
-      Index offset = (PacketSize-internal::first_default_aligned(B.data(), PacketSize)) % PacketSize;
-      MappedMatrixBlock L(tempv.data()+w*ldu+offset, nrow, u_cols, OuterStride<>(ldl));
-      
-      L.setZero();
-      internal::sparselu_gemm<Scalar>(L.rows(), L.cols(), B.cols(), B.data(), B.outerStride(), U.data(), U.outerStride(), L.data(), L.outerStride());
-      
-      // scatter U and L
-      u_col = 0;
-      for (jj = jcol; jj < jcol + w; jj++)
-      {
-        nextl_col = (jj-jcol) * m; 
-        VectorBlock<IndexVector> repfnz_col(repfnz, nextl_col, m); // First nonzero column index for each row
-        VectorBlock<ScalarVector> dense_col(dense, nextl_col, m); // Scatter/gather entire matrix column from/to here
-        
-        kfnz = repfnz_col(krep); 
-        if ( kfnz == emptyIdxLU ) 
-          continue; // skip any zero segment
-        
-        segsize = krep - kfnz + 1;
-        no_zeros = kfnz - fsupc; 
-        Index isub = lptr + no_zeros;
-        
-        Index off = u_rows-segsize;
-        for (Index i = 0; i < segsize; i++)
-        {
-          Index irow = glu.lsub(isub++); 
-          dense_col(irow) = U.coeff(i+off,u_col);
-          U.coeffRef(i+off,u_col) = 0;
-        }
-        
-        // Scatter l into SPA dense[]
-        for (Index i = 0; i < nrow; i++)
-        {
-          Index irow = glu.lsub(isub++); 
-          dense_col(irow) -= L.coeff(i,u_col);
-          L.coeffRef(i,u_col) = 0;
-        }
-        u_col++;
-      }
-    }
-    else // level 2 only
-    {
-      // Sequence through each column in the panel
-      for (jj = jcol; jj < jcol + w; jj++)
-      {
-        nextl_col = (jj-jcol) * m; 
-        VectorBlock<IndexVector> repfnz_col(repfnz, nextl_col, m); // First nonzero column index for each row
-        VectorBlock<ScalarVector> dense_col(dense, nextl_col, m); // Scatter/gather entire matrix column from/to here
-        
-        kfnz = repfnz_col(krep); 
-        if ( kfnz == emptyIdxLU ) 
-          continue; // skip any zero segment
-        
-        segsize = krep - kfnz + 1;
-        luptr = glu.xlusup(fsupc);
-        
-        Index lda = glu.xlusup(fsupc+1)-glu.xlusup(fsupc);// nsupr
-        
-        // Perform a trianglar solve and block update, 
-        // then scatter the result of sup-col update to dense[]
-        no_zeros = kfnz - fsupc; 
-              if(segsize==1)  LU_kernel_bmod<1>::run(segsize, dense_col, tempv, glu.lusup, luptr, lda, nrow, glu.lsub, lptr, no_zeros);
-        else  if(segsize==2)  LU_kernel_bmod<2>::run(segsize, dense_col, tempv, glu.lusup, luptr, lda, nrow, glu.lsub, lptr, no_zeros);
-        else  if(segsize==3)  LU_kernel_bmod<3>::run(segsize, dense_col, tempv, glu.lusup, luptr, lda, nrow, glu.lsub, lptr, no_zeros);
-        else                  LU_kernel_bmod<Dynamic>::run(segsize, dense_col, tempv, glu.lusup, luptr, lda, nrow, glu.lsub, lptr, no_zeros); 
-      } // End for each column in the panel 
-    }
-    
-  } // End for each updating supernode
-} // end panel bmod
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // SPARSELU_PANEL_BMOD_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h
deleted file mode 100644
index 155df73368783a..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h
+++ /dev/null
@@ -1,258 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* 
- 
- * NOTE: This file is the modified version of [s,d,c,z]panel_dfs.c file in SuperLU 
- 
- * -- SuperLU routine (version 2.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * November 15, 1997
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-#ifndef SPARSELU_PANEL_DFS_H
-#define SPARSELU_PANEL_DFS_H
-
-namespace Eigen {
-
-namespace internal {
-  
-template<typename IndexVector>
-struct panel_dfs_traits
-{
-  typedef typename IndexVector::Scalar StorageIndex;
-  panel_dfs_traits(Index jcol, StorageIndex* marker)
-    : m_jcol(jcol), m_marker(marker)
-  {}
-  bool update_segrep(Index krep, StorageIndex jj)
-  {
-    if(m_marker[krep]<m_jcol)
-    {
-      m_marker[krep] = jj; 
-      return true;
-    }
-    return false;
-  }
-  void mem_expand(IndexVector& /*glu.lsub*/, Index /*nextl*/, Index /*chmark*/) {}
-  enum { ExpandMem = false };
-  Index m_jcol;
-  StorageIndex* m_marker;
-};
-
-
-template <typename Scalar, typename StorageIndex>
-template <typename Traits>
-void SparseLUImpl<Scalar,StorageIndex>::dfs_kernel(const StorageIndex jj, IndexVector& perm_r,
-                   Index& nseg, IndexVector& panel_lsub, IndexVector& segrep,
-                   Ref<IndexVector> repfnz_col, IndexVector& xprune, Ref<IndexVector> marker, IndexVector& parent,
-                   IndexVector& xplore, GlobalLU_t& glu,
-                   Index& nextl_col, Index krow, Traits& traits
-                  )
-{
-  
-  StorageIndex kmark = marker(krow);
-      
-  // For each unmarked krow of jj
-  marker(krow) = jj; 
-  StorageIndex kperm = perm_r(krow); 
-  if (kperm == emptyIdxLU ) {
-    // krow is in L : place it in structure of L(*, jj)
-    panel_lsub(nextl_col++) = StorageIndex(krow);  // krow is indexed into A
-    
-    traits.mem_expand(panel_lsub, nextl_col, kmark);
-  }
-  else 
-  {
-    // krow is in U : if its supernode-representative krep
-    // has been explored, update repfnz(*)
-    // krep = supernode representative of the current row
-    StorageIndex krep = glu.xsup(glu.supno(kperm)+1) - 1; 
-    // First nonzero element in the current column:
-    StorageIndex myfnz = repfnz_col(krep); 
-    
-    if (myfnz != emptyIdxLU )
-    {
-      // Representative visited before
-      if (myfnz > kperm ) repfnz_col(krep) = kperm; 
-      
-    }
-    else 
-    {
-      // Otherwise, perform dfs starting at krep
-      StorageIndex oldrep = emptyIdxLU; 
-      parent(krep) = oldrep; 
-      repfnz_col(krep) = kperm; 
-      StorageIndex xdfs =  glu.xlsub(krep); 
-      Index maxdfs = xprune(krep); 
-      
-      StorageIndex kpar;
-      do 
-      {
-        // For each unmarked kchild of krep
-        while (xdfs < maxdfs) 
-        {
-          StorageIndex kchild = glu.lsub(xdfs); 
-          xdfs++; 
-          StorageIndex chmark = marker(kchild); 
-          
-          if (chmark != jj ) 
-          {
-            marker(kchild) = jj; 
-            StorageIndex chperm = perm_r(kchild); 
-            
-            if (chperm == emptyIdxLU) 
-            {
-              // case kchild is in L: place it in L(*, j)
-              panel_lsub(nextl_col++) = kchild;
-              traits.mem_expand(panel_lsub, nextl_col, chmark);
-            }
-            else
-            {
-              // case kchild is in U :
-              // chrep = its supernode-rep. If its rep has been explored, 
-              // update its repfnz(*)
-              StorageIndex chrep = glu.xsup(glu.supno(chperm)+1) - 1; 
-              myfnz = repfnz_col(chrep); 
-              
-              if (myfnz != emptyIdxLU) 
-              { // Visited before 
-                if (myfnz > chperm) 
-                  repfnz_col(chrep) = chperm; 
-              }
-              else 
-              { // Cont. dfs at snode-rep of kchild
-                xplore(krep) = xdfs; 
-                oldrep = krep; 
-                krep = chrep; // Go deeper down G(L)
-                parent(krep) = oldrep; 
-                repfnz_col(krep) = chperm; 
-                xdfs = glu.xlsub(krep); 
-                maxdfs = xprune(krep); 
-                
-              } // end if myfnz != -1
-            } // end if chperm == -1 
-                
-          } // end if chmark !=jj
-        } // end while xdfs < maxdfs
-        
-        // krow has no more unexplored nbrs :
-        //    Place snode-rep krep in postorder DFS, if this 
-        //    segment is seen for the first time. (Note that 
-        //    "repfnz(krep)" may change later.)
-        //    Baktrack dfs to its parent
-        if(traits.update_segrep(krep,jj))
-        //if (marker1(krep) < jcol )
-        {
-          segrep(nseg) = krep; 
-          ++nseg; 
-          //marker1(krep) = jj; 
-        }
-        
-        kpar = parent(krep); // Pop recursion, mimic recursion 
-        if (kpar == emptyIdxLU) 
-          break; // dfs done 
-        krep = kpar; 
-        xdfs = xplore(krep); 
-        maxdfs = xprune(krep); 
-
-      } while (kpar != emptyIdxLU); // Do until empty stack 
-      
-    } // end if (myfnz = -1)
-
-  } // end if (kperm == -1)   
-}
-
-/**
- * \brief Performs a symbolic factorization on a panel of columns [jcol, jcol+w)
- * 
- * A supernode representative is the last column of a supernode.
- * The nonzeros in U[*,j] are segments that end at supernodes representatives
- * 
- * The routine returns a list of the supernodal representatives 
- * in topological order of the dfs that generates them. This list is 
- * a superset of the topological order of each individual column within 
- * the panel.
- * The location of the first nonzero in each supernodal segment 
- * (supernodal entry location) is also returned. Each column has 
- * a separate list for this purpose. 
- * 
- * Two markers arrays are used for dfs :
- *    marker[i] == jj, if i was visited during dfs of current column jj;
- *    marker1[i] >= jcol, if i was visited by earlier columns in this panel; 
- * 
- * \param[in] m number of rows in the matrix
- * \param[in] w Panel size
- * \param[in] jcol Starting  column of the panel
- * \param[in] A Input matrix in column-major storage
- * \param[in] perm_r Row permutation
- * \param[out] nseg Number of U segments
- * \param[out] dense Accumulate the column vectors of the panel
- * \param[out] panel_lsub Subscripts of the row in the panel 
- * \param[out] segrep Segment representative i.e first nonzero row of each segment
- * \param[out] repfnz First nonzero location in each row
- * \param[out] xprune The pruned elimination tree
- * \param[out] marker work vector
- * \param  parent The elimination tree
- * \param xplore work vector
- * \param glu The global data structure
- * 
- */
-
-template <typename Scalar, typename StorageIndex>
-void SparseLUImpl<Scalar,StorageIndex>::panel_dfs(const Index m, const Index w, const Index jcol, MatrixType& A, IndexVector& perm_r, Index& nseg, ScalarVector& dense, IndexVector& panel_lsub, IndexVector& segrep, IndexVector& repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
-{
-  Index nextl_col; // Next available position in panel_lsub[*,jj] 
-  
-  // Initialize pointers 
-  VectorBlock<IndexVector> marker1(marker, m, m); 
-  nseg = 0; 
-  
-  panel_dfs_traits<IndexVector> traits(jcol, marker1.data());
-  
-  // For each column in the panel 
-  for (StorageIndex jj = StorageIndex(jcol); jj < jcol + w; jj++) 
-  {
-    nextl_col = (jj - jcol) * m; 
-    
-    VectorBlock<IndexVector> repfnz_col(repfnz, nextl_col, m); // First nonzero location in each row
-    VectorBlock<ScalarVector> dense_col(dense,nextl_col, m); // Accumulate a column vector here
-    
-    
-    // For each nnz in A[*, jj] do depth first search
-    for (typename MatrixType::InnerIterator it(A, jj); it; ++it)
-    {
-      Index krow = it.row(); 
-      dense_col(krow) = it.value();
-      
-      StorageIndex kmark = marker(krow); 
-      if (kmark == jj) 
-        continue; // krow visited before, go to the next nonzero
-      
-      dfs_kernel(jj, perm_r, nseg, panel_lsub, segrep, repfnz_col, xprune, marker, parent,
-                   xplore, glu, nextl_col, krow, traits);
-    }// end for nonzeros in column jj
-    
-  } // end for column jj
-}
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // SPARSELU_PANEL_DFS_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h
deleted file mode 100644
index a86dac93fa9b38..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h
+++ /dev/null
@@ -1,137 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* 
- 
- * NOTE: This file is the modified version of xpivotL.c file in SuperLU 
- 
- * -- SuperLU routine (version 3.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * October 15, 2003
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-#ifndef SPARSELU_PIVOTL_H
-#define SPARSELU_PIVOTL_H
-
-namespace Eigen {
-namespace internal {
-  
-/**
- * \brief Performs the numerical pivotin on the current column of L, and the CDIV operation.
- * 
- * Pivot policy :
- * (1) Compute thresh = u * max_(i>=j) abs(A_ij);
- * (2) IF user specifies pivot row k and abs(A_kj) >= thresh THEN
- *           pivot row = k;
- *       ELSE IF abs(A_jj) >= thresh THEN
- *           pivot row = j;
- *       ELSE
- *           pivot row = m;
- * 
- *   Note: If you absolutely want to use a given pivot order, then set u=0.0.
- * 
- * \param jcol The current column of L
- * \param diagpivotthresh diagonal pivoting threshold
- * \param[in,out] perm_r Row permutation (threshold pivoting)
- * \param[in] iperm_c column permutation - used to finf diagonal of Pc*A*Pc'
- * \param[out] pivrow  The pivot row
- * \param glu Global LU data
- * \return 0 if success, i > 0 if U(i,i) is exactly zero 
- * 
- */
-template <typename Scalar, typename StorageIndex>
-Index SparseLUImpl<Scalar,StorageIndex>::pivotL(const Index jcol, const RealScalar& diagpivotthresh, IndexVector& perm_r, IndexVector& iperm_c, Index& pivrow, GlobalLU_t& glu)
-{
-  
-  Index fsupc = (glu.xsup)((glu.supno)(jcol)); // First column in the supernode containing the column jcol
-  Index nsupc = jcol - fsupc; // Number of columns in the supernode portion, excluding jcol; nsupc >=0
-  Index lptr = glu.xlsub(fsupc); // pointer to the starting location of the row subscripts for this supernode portion
-  Index nsupr = glu.xlsub(fsupc+1) - lptr; // Number of rows in the supernode
-  Index lda = glu.xlusup(fsupc+1) - glu.xlusup(fsupc); // leading dimension
-  Scalar* lu_sup_ptr = &(glu.lusup.data()[glu.xlusup(fsupc)]); // Start of the current supernode
-  Scalar* lu_col_ptr = &(glu.lusup.data()[glu.xlusup(jcol)]); // Start of jcol in the supernode
-  StorageIndex* lsub_ptr = &(glu.lsub.data()[lptr]); // Start of row indices of the supernode
-  
-  // Determine the largest abs numerical value for partial pivoting 
-  Index diagind = iperm_c(jcol); // diagonal index 
-  RealScalar pivmax(-1.0);
-  Index pivptr = nsupc; 
-  Index diag = emptyIdxLU; 
-  RealScalar rtemp;
-  Index isub, icol, itemp, k; 
-  for (isub = nsupc; isub < nsupr; ++isub) {
-    using std::abs;
-    rtemp = abs(lu_col_ptr[isub]);
-    if (rtemp > pivmax) {
-      pivmax = rtemp; 
-      pivptr = isub;
-    } 
-    if (lsub_ptr[isub] == diagind) diag = isub;
-  }
-  
-  // Test for singularity
-  if ( pivmax <= RealScalar(0.0) ) {
-    // if pivmax == -1, the column is structurally empty, otherwise it is only numerically zero
-    pivrow = pivmax < RealScalar(0.0) ? diagind : lsub_ptr[pivptr];
-    perm_r(pivrow) = StorageIndex(jcol);
-    return (jcol+1);
-  }
-  
-  RealScalar thresh = diagpivotthresh * pivmax; 
-  
-  // Choose appropriate pivotal element 
-  
-  {
-    // Test if the diagonal element can be used as a pivot (given the threshold value)
-    if (diag >= 0 ) 
-    {
-      // Diagonal element exists
-      using std::abs;
-      rtemp = abs(lu_col_ptr[diag]);
-      if (rtemp != RealScalar(0.0) && rtemp >= thresh) pivptr = diag;
-    }
-    pivrow = lsub_ptr[pivptr];
-  }
-  
-  // Record pivot row
-  perm_r(pivrow) = StorageIndex(jcol);
-  // Interchange row subscripts
-  if (pivptr != nsupc )
-  {
-    std::swap( lsub_ptr[pivptr], lsub_ptr[nsupc] );
-    // Interchange numerical values as well, for the two rows in the whole snode
-    // such that L is indexed the same way as A
-    for (icol = 0; icol <= nsupc; icol++)
-    {
-      itemp = pivptr + icol * lda; 
-      std::swap(lu_sup_ptr[itemp], lu_sup_ptr[nsupc + icol * lda]);
-    }
-  }
-  // cdiv operations
-  Scalar temp = Scalar(1.0) / lu_col_ptr[nsupc];
-  for (k = nsupc+1; k < nsupr; k++)
-    lu_col_ptr[k] *= temp; 
-  return 0;
-}
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // SPARSELU_PIVOTL_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h
deleted file mode 100644
index ad32fed5e6b768..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h
+++ /dev/null
@@ -1,136 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* 
- 
- * NOTE: This file is the modified version of [s,d,c,z]pruneL.c file in SuperLU 
- 
- * -- SuperLU routine (version 2.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * November 15, 1997
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-#ifndef SPARSELU_PRUNEL_H
-#define SPARSELU_PRUNEL_H
-
-namespace Eigen {
-namespace internal {
-
-/**
- * \brief Prunes the L-structure.
- *
- * It prunes the L-structure  of supernodes whose L-structure contains the current pivot row "pivrow"
- * 
- * 
- * \param jcol The current column of L
- * \param[in] perm_r Row permutation
- * \param[out] pivrow  The pivot row
- * \param nseg Number of segments
- * \param segrep 
- * \param repfnz
- * \param[out] xprune 
- * \param glu Global LU data
- * 
- */
-template <typename Scalar, typename StorageIndex>
-void SparseLUImpl<Scalar,StorageIndex>::pruneL(const Index jcol, const IndexVector& perm_r, const Index pivrow, const Index nseg,
-                                               const IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, GlobalLU_t& glu)
-{
-  // For each supernode-rep irep in U(*,j]
-  Index jsupno = glu.supno(jcol); 
-  Index i,irep,irep1; 
-  bool movnum, do_prune = false; 
-  Index kmin = 0, kmax = 0, minloc, maxloc,krow; 
-  for (i = 0; i < nseg; i++)
-  {
-    irep = segrep(i); 
-    irep1 = irep + 1; 
-    do_prune = false; 
-    
-    // Don't prune with a zero U-segment 
-    if (repfnz(irep) == emptyIdxLU) continue; 
-    
-    // If a snode overlaps with the next panel, then the U-segment
-    // is fragmented into two parts -- irep and irep1. We should let 
-    // pruning occur at the rep-column in irep1s snode. 
-    if (glu.supno(irep) == glu.supno(irep1) ) continue; // don't prune 
-    
-    // If it has not been pruned & it has a nonz in row L(pivrow,i)
-    if (glu.supno(irep) != jsupno )
-    {
-      if ( xprune (irep) >= glu.xlsub(irep1) )
-      {
-        kmin = glu.xlsub(irep);
-        kmax = glu.xlsub(irep1) - 1; 
-        for (krow = kmin; krow <= kmax; krow++)
-        {
-          if (glu.lsub(krow) == pivrow) 
-          {
-            do_prune = true; 
-            break; 
-          }
-        }
-      }
-      
-      if (do_prune) 
-      {
-        // do a quicksort-type partition
-        // movnum=true means that the num values have to be exchanged
-        movnum = false; 
-        if (irep == glu.xsup(glu.supno(irep)) ) // Snode of size 1 
-          movnum = true; 
-        
-        while (kmin <= kmax)
-        {
-          if (perm_r(glu.lsub(kmax)) == emptyIdxLU)
-            kmax--; 
-          else if ( perm_r(glu.lsub(kmin)) != emptyIdxLU)
-            kmin++;
-          else 
-          {
-            // kmin below pivrow (not yet pivoted), and kmax
-            // above pivrow: interchange the two suscripts
-            std::swap(glu.lsub(kmin), glu.lsub(kmax)); 
-            
-            // If the supernode has only one column, then we 
-            // only keep one set of subscripts. For any subscript
-            // intercnahge performed, similar interchange must be 
-            // done on the numerical values. 
-            if (movnum) 
-            {
-              minloc = glu.xlusup(irep) + ( kmin - glu.xlsub(irep) ); 
-              maxloc = glu.xlusup(irep) + ( kmax - glu.xlsub(irep) ); 
-              std::swap(glu.lusup(minloc), glu.lusup(maxloc)); 
-            }
-            kmin++;
-            kmax--;
-          }
-        } // end while 
-        
-        xprune(irep) = StorageIndex(kmin);  //Pruning 
-      } // end if do_prune 
-    } // end pruning 
-  } // End for each U-segment
-}
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // SPARSELU_PRUNEL_H
diff --git a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_relax_snode.h b/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_relax_snode.h
deleted file mode 100644
index c408d01b406941..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseLU/SparseLU_relax_snode.h
+++ /dev/null
@@ -1,83 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/* This file is a modified version of heap_relax_snode.c file in SuperLU
- * -- SuperLU routine (version 3.0) --
- * Univ. of California Berkeley, Xerox Palo Alto Research Center,
- * and Lawrence Berkeley National Lab.
- * October 15, 2003
- *
- * Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
- *
- * THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
- * EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
- *
- * Permission is hereby granted to use or copy this program for any
- * purpose, provided the above notices are retained on all copies.
- * Permission to modify the code and to distribute modified code is
- * granted, provided the above notices are retained, and a notice that
- * the code was modified is included with the above copyright notice.
- */
-
-#ifndef SPARSELU_RELAX_SNODE_H
-#define SPARSELU_RELAX_SNODE_H
-
-namespace Eigen {
-
-namespace internal {
- 
-/** 
- * \brief Identify the initial relaxed supernodes
- * 
- * This routine is applied to a column elimination tree. 
- * It assumes that the matrix has been reordered according to the postorder of the etree
- * \param n  the number of columns
- * \param et elimination tree 
- * \param relax_columns Maximum number of columns allowed in a relaxed snode 
- * \param descendants Number of descendants of each node in the etree
- * \param relax_end last column in a supernode
- */
-template <typename Scalar, typename StorageIndex>
-void SparseLUImpl<Scalar,StorageIndex>::relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
-{
-  
-  // compute the number of descendants of each node in the etree
-  Index parent; 
-  relax_end.setConstant(emptyIdxLU);
-  descendants.setZero();
-  for (Index j = 0; j < n; j++) 
-  {
-    parent = et(j);
-    if (parent != n) // not the dummy root
-      descendants(parent) += descendants(j) + 1;
-  }
-  // Identify the relaxed supernodes by postorder traversal of the etree
-  Index snode_start; // beginning of a snode 
-  for (Index j = 0; j < n; )
-  {
-    parent = et(j);
-    snode_start = j; 
-    while ( parent != n && descendants(parent) < relax_columns ) 
-    {
-      j = parent; 
-      parent = et(j);
-    }
-    // Found a supernode in postordered etree, j is the last column 
-    relax_end(snode_start) = StorageIndex(j); // Record last column
-    j++;
-    // Search for a new leaf
-    while (descendants(j) != 0 && j < n) j++;
-  } // End postorder traversal of the etree
-  
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-#endif
diff --git a/phonelibs/eigen/Eigen/src/SparseQR/SparseQR.h b/phonelibs/eigen/Eigen/src/SparseQR/SparseQR.h
deleted file mode 100644
index 2d4498b038bbb9..00000000000000
--- a/phonelibs/eigen/Eigen/src/SparseQR/SparseQR.h
+++ /dev/null
@@ -1,739 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012-2013 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_QR_H
-#define EIGEN_SPARSE_QR_H
-
-namespace Eigen {
-
-template<typename MatrixType, typename OrderingType> class SparseQR;
-template<typename SparseQRType> struct SparseQRMatrixQReturnType;
-template<typename SparseQRType> struct SparseQRMatrixQTransposeReturnType;
-template<typename SparseQRType, typename Derived> struct SparseQR_QProduct;
-namespace internal {
-  template <typename SparseQRType> struct traits<SparseQRMatrixQReturnType<SparseQRType> >
-  {
-    typedef typename SparseQRType::MatrixType ReturnType;
-    typedef typename ReturnType::StorageIndex StorageIndex;
-    typedef typename ReturnType::StorageKind StorageKind;
-    enum {
-      RowsAtCompileTime = Dynamic,
-      ColsAtCompileTime = Dynamic
-    };
-  };
-  template <typename SparseQRType> struct traits<SparseQRMatrixQTransposeReturnType<SparseQRType> >
-  {
-    typedef typename SparseQRType::MatrixType ReturnType;
-  };
-  template <typename SparseQRType, typename Derived> struct traits<SparseQR_QProduct<SparseQRType, Derived> >
-  {
-    typedef typename Derived::PlainObject ReturnType;
-  };
-} // End namespace internal
-
-/**
-  * \ingroup SparseQR_Module
-  * \class SparseQR
-  * \brief Sparse left-looking rank-revealing QR factorization
-  * 
-  * This class implements a left-looking rank-revealing QR decomposition 
-  * of sparse matrices. When a column has a norm less than a given tolerance
-  * it is implicitly permuted to the end. The QR factorization thus obtained is 
-  * given by A*P = Q*R where R is upper triangular or trapezoidal. 
-  * 
-  * P is the column permutation which is the product of the fill-reducing and the
-  * rank-revealing permutations. Use colsPermutation() to get it.
-  * 
-  * Q is the orthogonal matrix represented as products of Householder reflectors. 
-  * Use matrixQ() to get an expression and matrixQ().transpose() to get the transpose.
-  * You can then apply it to a vector.
-  * 
-  * R is the sparse triangular or trapezoidal matrix. The later occurs when A is rank-deficient.
-  * matrixR().topLeftCorner(rank(), rank()) always returns a triangular factor of full rank.
-  * 
-  * \tparam _MatrixType The type of the sparse matrix A, must be a column-major SparseMatrix<>
-  * \tparam _OrderingType The fill-reducing ordering method. See the \link OrderingMethods_Module 
-  *  OrderingMethods \endlink module for the list of built-in and external ordering methods.
-  * 
-  * \implsparsesolverconcept
-  *
-  * \warning The input sparse matrix A must be in compressed mode (see SparseMatrix::makeCompressed()).
-  * 
-  */
-template<typename _MatrixType, typename _OrderingType>
-class SparseQR : public SparseSolverBase<SparseQR<_MatrixType,_OrderingType> >
-{
-  protected:
-    typedef SparseSolverBase<SparseQR<_MatrixType,_OrderingType> > Base;
-    using Base::m_isInitialized;
-  public:
-    using Base::_solve_impl;
-    typedef _MatrixType MatrixType;
-    typedef _OrderingType OrderingType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> QRMatrixType;
-    typedef Matrix<StorageIndex, Dynamic, 1> IndexVector;
-    typedef Matrix<Scalar, Dynamic, 1> ScalarVector;
-    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
-
-    enum {
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    
-  public:
-    SparseQR () :  m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
-    { }
-    
-    /** Construct a QR factorization of the matrix \a mat.
-      * 
-      * \warning The matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
-      * 
-      * \sa compute()
-      */
-    explicit SparseQR(const MatrixType& mat) : m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
-    {
-      compute(mat);
-    }
-    
-    /** Computes the QR factorization of the sparse matrix \a mat.
-      * 
-      * \warning The matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
-      * 
-      * \sa analyzePattern(), factorize()
-      */
-    void compute(const MatrixType& mat)
-    {
-      analyzePattern(mat);
-      factorize(mat);
-    }
-    void analyzePattern(const MatrixType& mat);
-    void factorize(const MatrixType& mat);
-    
-    /** \returns the number of rows of the represented matrix. 
-      */
-    inline Index rows() const { return m_pmat.rows(); }
-    
-    /** \returns the number of columns of the represented matrix. 
-      */
-    inline Index cols() const { return m_pmat.cols();}
-    
-    /** \returns a const reference to the \b sparse upper triangular matrix R of the QR factorization.
-      * \warning The entries of the returned matrix are not sorted. This means that using it in algorithms
-      *          expecting sorted entries will fail. This include random coefficient accesses (SpaseMatrix::coeff()),
-      *          and coefficient-wise operations. Matrix products and triangular solves are fine though.
-      *
-      * To sort the entries, you can assign it to a row-major matrix, and if a column-major matrix
-      * is required, you can copy it again:
-      * \code
-      * SparseMatrix<double>          R  = qr.matrixR();  // column-major, not sorted!
-      * SparseMatrix<double,RowMajor> Rr = qr.matrixR();  // row-major, sorted
-      * SparseMatrix<double>          Rc = Rr;            // column-major, sorted
-      * \endcode
-      */
-    const QRMatrixType& matrixR() const { return m_R; }
-    
-    /** \returns the number of non linearly dependent columns as determined by the pivoting threshold.
-      *
-      * \sa setPivotThreshold()
-      */
-    Index rank() const
-    {
-      eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
-      return m_nonzeropivots; 
-    }
-    
-    /** \returns an expression of the matrix Q as products of sparse Householder reflectors.
-    * The common usage of this function is to apply it to a dense matrix or vector
-    * \code
-    * VectorXd B1, B2;
-    * // Initialize B1
-    * B2 = matrixQ() * B1;
-    * \endcode
-    *
-    * To get a plain SparseMatrix representation of Q:
-    * \code
-    * SparseMatrix<double> Q;
-    * Q = SparseQR<SparseMatrix<double> >(A).matrixQ();
-    * \endcode
-    * Internally, this call simply performs a sparse product between the matrix Q
-    * and a sparse identity matrix. However, due to the fact that the sparse
-    * reflectors are stored unsorted, two transpositions are needed to sort
-    * them before performing the product.
-    */
-    SparseQRMatrixQReturnType<SparseQR> matrixQ() const 
-    { return SparseQRMatrixQReturnType<SparseQR>(*this); }
-    
-    /** \returns a const reference to the column permutation P that was applied to A such that A*P = Q*R
-      * It is the combination of the fill-in reducing permutation and numerical column pivoting.
-      */
-    const PermutationType& colsPermutation() const
-    { 
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_outputPerm_c;
-    }
-    
-    /** \returns A string describing the type of error.
-      * This method is provided to ease debugging, not to handle errors.
-      */
-    std::string lastErrorMessage() const { return m_lastError; }
-    
-    /** \internal */
-    template<typename Rhs, typename Dest>
-    bool _solve_impl(const MatrixBase<Rhs> &B, MatrixBase<Dest> &dest) const
-    {
-      eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
-      eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-
-      Index rank = this->rank();
-      
-      // Compute Q^T * b;
-      typename Dest::PlainObject y, b;
-      y = this->matrixQ().transpose() * B; 
-      b = y;
-      
-      // Solve with the triangular matrix R
-      y.resize((std::max<Index>)(cols(),y.rows()),y.cols());
-      y.topRows(rank) = this->matrixR().topLeftCorner(rank, rank).template triangularView<Upper>().solve(b.topRows(rank));
-      y.bottomRows(y.rows()-rank).setZero();
-      
-      // Apply the column permutation
-      if (m_perm_c.size())  dest = colsPermutation() * y.topRows(cols());
-      else                  dest = y.topRows(cols());
-      
-      m_info = Success;
-      return true;
-    }
-
-    /** Sets the threshold that is used to determine linearly dependent columns during the factorization.
-      *
-      * In practice, if during the factorization the norm of the column that has to be eliminated is below
-      * this threshold, then the entire column is treated as zero, and it is moved at the end.
-      */
-    void setPivotThreshold(const RealScalar& threshold)
-    {
-      m_useDefaultThreshold = false;
-      m_threshold = threshold;
-    }
-    
-    /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const Solve<SparseQR, Rhs> solve(const MatrixBase<Rhs>& B) const 
-    {
-      eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
-      eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-      return Solve<SparseQR, Rhs>(*this, B.derived());
-    }
-    template<typename Rhs>
-    inline const Solve<SparseQR, Rhs> solve(const SparseMatrixBase<Rhs>& B) const
-    {
-          eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
-          eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-          return Solve<SparseQR, Rhs>(*this, B.derived());
-    }
-    
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was successful,
-      *          \c NumericalIssue if the QR factorization reports a numerical problem
-      *          \c InvalidInput if the input matrix is invalid
-      *
-      * \sa iparm()          
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-
-
-    /** \internal */
-    inline void _sort_matrix_Q()
-    {
-      if(this->m_isQSorted) return;
-      // The matrix Q is sorted during the transposition
-      SparseMatrix<Scalar, RowMajor, Index> mQrm(this->m_Q);
-      this->m_Q = mQrm;
-      this->m_isQSorted = true;
-    }
-
-    
-  protected:
-    bool m_analysisIsok;
-    bool m_factorizationIsok;
-    mutable ComputationInfo m_info;
-    std::string m_lastError;
-    QRMatrixType m_pmat;            // Temporary matrix
-    QRMatrixType m_R;               // The triangular factor matrix
-    QRMatrixType m_Q;               // The orthogonal reflectors
-    ScalarVector m_hcoeffs;         // The Householder coefficients
-    PermutationType m_perm_c;       // Fill-reducing  Column  permutation
-    PermutationType m_pivotperm;    // The permutation for rank revealing
-    PermutationType m_outputPerm_c; // The final column permutation
-    RealScalar m_threshold;         // Threshold to determine null Householder reflections
-    bool m_useDefaultThreshold;     // Use default threshold
-    Index m_nonzeropivots;          // Number of non zero pivots found
-    IndexVector m_etree;            // Column elimination tree
-    IndexVector m_firstRowElt;      // First element in each row
-    bool m_isQSorted;               // whether Q is sorted or not
-    bool m_isEtreeOk;               // whether the elimination tree match the initial input matrix
-    
-    template <typename, typename > friend struct SparseQR_QProduct;
-    
-};
-
-/** \brief Preprocessing step of a QR factorization 
-  * 
-  * \warning The matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
-  * 
-  * In this step, the fill-reducing permutation is computed and applied to the columns of A
-  * and the column elimination tree is computed as well. Only the sparsity pattern of \a mat is exploited.
-  * 
-  * \note In this step it is assumed that there is no empty row in the matrix \a mat.
-  */
-template <typename MatrixType, typename OrderingType>
-void SparseQR<MatrixType,OrderingType>::analyzePattern(const MatrixType& mat)
-{
-  eigen_assert(mat.isCompressed() && "SparseQR requires a sparse matrix in compressed mode. Call .makeCompressed() before passing it to SparseQR");
-  // Copy to a column major matrix if the input is rowmajor
-  typename internal::conditional<MatrixType::IsRowMajor,QRMatrixType,const MatrixType&>::type matCpy(mat);
-  // Compute the column fill reducing ordering
-  OrderingType ord; 
-  ord(matCpy, m_perm_c); 
-  Index n = mat.cols();
-  Index m = mat.rows();
-  Index diagSize = (std::min)(m,n);
-  
-  if (!m_perm_c.size())
-  {
-    m_perm_c.resize(n);
-    m_perm_c.indices().setLinSpaced(n, 0,StorageIndex(n-1));
-  }
-  
-  // Compute the column elimination tree of the permuted matrix
-  m_outputPerm_c = m_perm_c.inverse();
-  internal::coletree(matCpy, m_etree, m_firstRowElt, m_outputPerm_c.indices().data());
-  m_isEtreeOk = true;
-  
-  m_R.resize(m, n);
-  m_Q.resize(m, diagSize);
-  
-  // Allocate space for nonzero elements : rough estimation
-  m_R.reserve(2*mat.nonZeros()); //FIXME Get a more accurate estimation through symbolic factorization with the etree
-  m_Q.reserve(2*mat.nonZeros());
-  m_hcoeffs.resize(diagSize);
-  m_analysisIsok = true;
-}
-
-/** \brief Performs the numerical QR factorization of the input matrix
-  * 
-  * The function SparseQR::analyzePattern(const MatrixType&) must have been called beforehand with
-  * a matrix having the same sparsity pattern than \a mat.
-  * 
-  * \param mat The sparse column-major matrix
-  */
-template <typename MatrixType, typename OrderingType>
-void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
-{
-  using std::abs;
-  
-  eigen_assert(m_analysisIsok && "analyzePattern() should be called before this step");
-  StorageIndex m = StorageIndex(mat.rows());
-  StorageIndex n = StorageIndex(mat.cols());
-  StorageIndex diagSize = (std::min)(m,n);
-  IndexVector mark((std::max)(m,n)); mark.setConstant(-1);  // Record the visited nodes
-  IndexVector Ridx(n), Qidx(m);                             // Store temporarily the row indexes for the current column of R and Q
-  Index nzcolR, nzcolQ;                                     // Number of nonzero for the current column of R and Q
-  ScalarVector tval(m);                                     // The dense vector used to compute the current column
-  RealScalar pivotThreshold = m_threshold;
-  
-  m_R.setZero();
-  m_Q.setZero();
-  m_pmat = mat;
-  if(!m_isEtreeOk)
-  {
-    m_outputPerm_c = m_perm_c.inverse();
-    internal::coletree(m_pmat, m_etree, m_firstRowElt, m_outputPerm_c.indices().data());
-    m_isEtreeOk = true;
-  }
-
-  m_pmat.uncompress(); // To have the innerNonZeroPtr allocated
-  
-  // Apply the fill-in reducing permutation lazily:
-  {
-    // If the input is row major, copy the original column indices,
-    // otherwise directly use the input matrix
-    // 
-    IndexVector originalOuterIndicesCpy;
-    const StorageIndex *originalOuterIndices = mat.outerIndexPtr();
-    if(MatrixType::IsRowMajor)
-    {
-      originalOuterIndicesCpy = IndexVector::Map(m_pmat.outerIndexPtr(),n+1);
-      originalOuterIndices = originalOuterIndicesCpy.data();
-    }
-    
-    for (int i = 0; i < n; i++)
-    {
-      Index p = m_perm_c.size() ? m_perm_c.indices()(i) : i;
-      m_pmat.outerIndexPtr()[p] = originalOuterIndices[i]; 
-      m_pmat.innerNonZeroPtr()[p] = originalOuterIndices[i+1] - originalOuterIndices[i]; 
-    }
-  }
-  
-  /* Compute the default threshold as in MatLab, see:
-   * Tim Davis, "Algorithm 915, SuiteSparseQR: Multifrontal Multithreaded Rank-Revealing
-   * Sparse QR Factorization, ACM Trans. on Math. Soft. 38(1), 2011, Page 8:3 
-   */
-  if(m_useDefaultThreshold) 
-  {
-    RealScalar max2Norm = 0.0;
-    for (int j = 0; j < n; j++) max2Norm = numext::maxi(max2Norm, m_pmat.col(j).norm());
-    if(max2Norm==RealScalar(0))
-      max2Norm = RealScalar(1);
-    pivotThreshold = 20 * (m + n) * max2Norm * NumTraits<RealScalar>::epsilon();
-  }
-  
-  // Initialize the numerical permutation
-  m_pivotperm.setIdentity(n);
-  
-  StorageIndex nonzeroCol = 0; // Record the number of valid pivots
-  m_Q.startVec(0);
-
-  // Left looking rank-revealing QR factorization: compute a column of R and Q at a time
-  for (StorageIndex col = 0; col < n; ++col)
-  {
-    mark.setConstant(-1);
-    m_R.startVec(col);
-    mark(nonzeroCol) = col;
-    Qidx(0) = nonzeroCol;
-    nzcolR = 0; nzcolQ = 1;
-    bool found_diag = nonzeroCol>=m;
-    tval.setZero(); 
-    
-    // Symbolic factorization: find the nonzero locations of the column k of the factors R and Q, i.e.,
-    // all the nodes (with indexes lower than rank) reachable through the column elimination tree (etree) rooted at node k.
-    // Note: if the diagonal entry does not exist, then its contribution must be explicitly added,
-    // thus the trick with found_diag that permits to do one more iteration on the diagonal element if this one has not been found.
-    for (typename QRMatrixType::InnerIterator itp(m_pmat, col); itp || !found_diag; ++itp)
-    {
-      StorageIndex curIdx = nonzeroCol;
-      if(itp) curIdx = StorageIndex(itp.row());
-      if(curIdx == nonzeroCol) found_diag = true;
-      
-      // Get the nonzeros indexes of the current column of R
-      StorageIndex st = m_firstRowElt(curIdx); // The traversal of the etree starts here
-      if (st < 0 )
-      {
-        m_lastError = "Empty row found during numerical factorization";
-        m_info = InvalidInput;
-        return;
-      }
-
-      // Traverse the etree 
-      Index bi = nzcolR;
-      for (; mark(st) != col; st = m_etree(st))
-      {
-        Ridx(nzcolR) = st;  // Add this row to the list,
-        mark(st) = col;     // and mark this row as visited
-        nzcolR++;
-      }
-
-      // Reverse the list to get the topological ordering
-      Index nt = nzcolR-bi;
-      for(Index i = 0; i < nt/2; i++) std::swap(Ridx(bi+i), Ridx(nzcolR-i-1));
-       
-      // Copy the current (curIdx,pcol) value of the input matrix
-      if(itp) tval(curIdx) = itp.value();
-      else    tval(curIdx) = Scalar(0);
-      
-      // Compute the pattern of Q(:,k)
-      if(curIdx > nonzeroCol && mark(curIdx) != col ) 
-      {
-        Qidx(nzcolQ) = curIdx;  // Add this row to the pattern of Q,
-        mark(curIdx) = col;     // and mark it as visited
-        nzcolQ++;
-      }
-    }
-
-    // Browse all the indexes of R(:,col) in reverse order
-    for (Index i = nzcolR-1; i >= 0; i--)
-    {
-      Index curIdx = Ridx(i);
-      
-      // Apply the curIdx-th householder vector to the current column (temporarily stored into tval)
-      Scalar tdot(0);
-      
-      // First compute q' * tval
-      tdot = m_Q.col(curIdx).dot(tval);
-
-      tdot *= m_hcoeffs(curIdx);
-      
-      // Then update tval = tval - q * tau
-      // FIXME: tval -= tdot * m_Q.col(curIdx) should amount to the same (need to check/add support for efficient "dense ?= sparse")
-      for (typename QRMatrixType::InnerIterator itq(m_Q, curIdx); itq; ++itq)
-        tval(itq.row()) -= itq.value() * tdot;
-
-      // Detect fill-in for the current column of Q
-      if(m_etree(Ridx(i)) == nonzeroCol)
-      {
-        for (typename QRMatrixType::InnerIterator itq(m_Q, curIdx); itq; ++itq)
-        {
-          StorageIndex iQ = StorageIndex(itq.row());
-          if (mark(iQ) != col)
-          {
-            Qidx(nzcolQ++) = iQ;  // Add this row to the pattern of Q,
-            mark(iQ) = col;       // and mark it as visited
-          }
-        }
-      }
-    } // End update current column
-    
-    Scalar tau = RealScalar(0);
-    RealScalar beta = 0;
-    
-    if(nonzeroCol < diagSize)
-    {
-      // Compute the Householder reflection that eliminate the current column
-      // FIXME this step should call the Householder module.
-      Scalar c0 = nzcolQ ? tval(Qidx(0)) : Scalar(0);
-      
-      // First, the squared norm of Q((col+1):m, col)
-      RealScalar sqrNorm = 0.;
-      for (Index itq = 1; itq < nzcolQ; ++itq) sqrNorm += numext::abs2(tval(Qidx(itq)));
-      if(sqrNorm == RealScalar(0) && numext::imag(c0) == RealScalar(0))
-      {
-        beta = numext::real(c0);
-        tval(Qidx(0)) = 1;
-      }
-      else
-      {
-        using std::sqrt;
-        beta = sqrt(numext::abs2(c0) + sqrNorm);
-        if(numext::real(c0) >= RealScalar(0))
-          beta = -beta;
-        tval(Qidx(0)) = 1;
-        for (Index itq = 1; itq < nzcolQ; ++itq)
-          tval(Qidx(itq)) /= (c0 - beta);
-        tau = numext::conj((beta-c0) / beta);
-          
-      }
-    }
-
-    // Insert values in R
-    for (Index  i = nzcolR-1; i >= 0; i--)
-    {
-      Index curIdx = Ridx(i);
-      if(curIdx < nonzeroCol) 
-      {
-        m_R.insertBackByOuterInnerUnordered(col, curIdx) = tval(curIdx);
-        tval(curIdx) = Scalar(0.);
-      }
-    }
-
-    if(nonzeroCol < diagSize && abs(beta) >= pivotThreshold)
-    {
-      m_R.insertBackByOuterInner(col, nonzeroCol) = beta;
-      // The householder coefficient
-      m_hcoeffs(nonzeroCol) = tau;
-      // Record the householder reflections
-      for (Index itq = 0; itq < nzcolQ; ++itq)
-      {
-        Index iQ = Qidx(itq);
-        m_Q.insertBackByOuterInnerUnordered(nonzeroCol,iQ) = tval(iQ);
-        tval(iQ) = Scalar(0.);
-      }
-      nonzeroCol++;
-      if(nonzeroCol<diagSize)
-        m_Q.startVec(nonzeroCol);
-    }
-    else
-    {
-      // Zero pivot found: move implicitly this column to the end
-      for (Index j = nonzeroCol; j < n-1; j++) 
-        std::swap(m_pivotperm.indices()(j), m_pivotperm.indices()[j+1]);
-      
-      // Recompute the column elimination tree
-      internal::coletree(m_pmat, m_etree, m_firstRowElt, m_pivotperm.indices().data());
-      m_isEtreeOk = false;
-    }
-  }
-  
-  m_hcoeffs.tail(diagSize-nonzeroCol).setZero();
-  
-  // Finalize the column pointers of the sparse matrices R and Q
-  m_Q.finalize();
-  m_Q.makeCompressed();
-  m_R.finalize();
-  m_R.makeCompressed();
-  m_isQSorted = false;
-
-  m_nonzeropivots = nonzeroCol;
-  
-  if(nonzeroCol<n)
-  {
-    // Permute the triangular factor to put the 'dead' columns to the end
-    QRMatrixType tempR(m_R);
-    m_R = tempR * m_pivotperm;
-    
-    // Update the column permutation
-    m_outputPerm_c = m_outputPerm_c * m_pivotperm;
-  }
-  
-  m_isInitialized = true; 
-  m_factorizationIsok = true;
-  m_info = Success;
-}
-
-template <typename SparseQRType, typename Derived>
-struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived> >
-{
-  typedef typename SparseQRType::QRMatrixType MatrixType;
-  typedef typename SparseQRType::Scalar Scalar;
-  // Get the references 
-  SparseQR_QProduct(const SparseQRType& qr, const Derived& other, bool transpose) : 
-  m_qr(qr),m_other(other),m_transpose(transpose) {}
-  inline Index rows() const { return m_transpose ? m_qr.rows() : m_qr.cols(); }
-  inline Index cols() const { return m_other.cols(); }
-  
-  // Assign to a vector
-  template<typename DesType>
-  void evalTo(DesType& res) const
-  {
-    Index m = m_qr.rows();
-    Index n = m_qr.cols();
-    Index diagSize = (std::min)(m,n);
-    res = m_other;
-    if (m_transpose)
-    {
-      eigen_assert(m_qr.m_Q.rows() == m_other.rows() && "Non conforming object sizes");
-      //Compute res = Q' * other column by column
-      for(Index j = 0; j < res.cols(); j++){
-        for (Index k = 0; k < diagSize; k++)
-        {
-          Scalar tau = Scalar(0);
-          tau = m_qr.m_Q.col(k).dot(res.col(j));
-          if(tau==Scalar(0)) continue;
-          tau = tau * m_qr.m_hcoeffs(k);
-          res.col(j) -= tau * m_qr.m_Q.col(k);
-        }
-      }
-    }
-    else
-    {
-      eigen_assert(m_qr.m_Q.rows() == m_other.rows() && "Non conforming object sizes");
-      // Compute res = Q * other column by column
-      for(Index j = 0; j < res.cols(); j++)
-      {
-        for (Index k = diagSize-1; k >=0; k--)
-        {
-          Scalar tau = Scalar(0);
-          tau = m_qr.m_Q.col(k).dot(res.col(j));
-          if(tau==Scalar(0)) continue;
-          tau = tau * m_qr.m_hcoeffs(k);
-          res.col(j) -= tau * m_qr.m_Q.col(k);
-        }
-      }
-    }
-  }
-  
-  const SparseQRType& m_qr;
-  const Derived& m_other;
-  bool m_transpose;
-};
-
-template<typename SparseQRType>
-struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<SparseQRType> >
-{  
-  typedef typename SparseQRType::Scalar Scalar;
-  typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = Dynamic
-  };
-  explicit SparseQRMatrixQReturnType(const SparseQRType& qr) : m_qr(qr) {}
-  template<typename Derived>
-  SparseQR_QProduct<SparseQRType, Derived> operator*(const MatrixBase<Derived>& other)
-  {
-    return SparseQR_QProduct<SparseQRType,Derived>(m_qr,other.derived(),false);
-  }
-  SparseQRMatrixQTransposeReturnType<SparseQRType> adjoint() const
-  {
-    return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
-  }
-  inline Index rows() const { return m_qr.rows(); }
-  inline Index cols() const { return (std::min)(m_qr.rows(),m_qr.cols()); }
-  // To use for operations with the transpose of Q
-  SparseQRMatrixQTransposeReturnType<SparseQRType> transpose() const
-  {
-    return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
-  }
-  const SparseQRType& m_qr;
-};
-
-template<typename SparseQRType>
-struct SparseQRMatrixQTransposeReturnType
-{
-  explicit SparseQRMatrixQTransposeReturnType(const SparseQRType& qr) : m_qr(qr) {}
-  template<typename Derived>
-  SparseQR_QProduct<SparseQRType,Derived> operator*(const MatrixBase<Derived>& other)
-  {
-    return SparseQR_QProduct<SparseQRType,Derived>(m_qr,other.derived(), true);
-  }
-  const SparseQRType& m_qr;
-};
-
-namespace internal {
-  
-template<typename SparseQRType>
-struct evaluator_traits<SparseQRMatrixQReturnType<SparseQRType> >
-{
-  typedef typename SparseQRType::MatrixType MatrixType;
-  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
-  typedef SparseShape Shape;
-};
-
-template< typename DstXprType, typename SparseQRType>
-struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>, Sparse2Sparse>
-{
-  typedef SparseQRMatrixQReturnType<SparseQRType> SrcXprType;
-  typedef typename DstXprType::Scalar Scalar;
-  typedef typename DstXprType::StorageIndex StorageIndex;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
-  {
-    typename DstXprType::PlainObject idMat(src.m_qr.rows(), src.m_qr.rows());
-    idMat.setIdentity();
-    // Sort the sparse householder reflectors if needed
-    const_cast<SparseQRType *>(&src.m_qr)->_sort_matrix_Q();
-    dst = SparseQR_QProduct<SparseQRType, DstXprType>(src.m_qr, idMat, false);
-  }
-};
-
-template< typename DstXprType, typename SparseQRType>
-struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>, Sparse2Dense>
-{
-  typedef SparseQRMatrixQReturnType<SparseQRType> SrcXprType;
-  typedef typename DstXprType::Scalar Scalar;
-  typedef typename DstXprType::StorageIndex StorageIndex;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
-  {
-    dst = src.m_qr.matrixQ() * DstXprType::Identity(src.m_qr.rows(), src.m_qr.rows());
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/StlSupport/StdDeque.h b/phonelibs/eigen/Eigen/src/StlSupport/StdDeque.h
deleted file mode 100644
index cf1fedf9273242..00000000000000
--- a/phonelibs/eigen/Eigen/src/StlSupport/StdDeque.h
+++ /dev/null
@@ -1,126 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDDEQUE_H
-#define EIGEN_STDDEQUE_H
-
-#include "details.h"
-
-/**
- * This section contains a convenience MACRO which allows an easy specialization of
- * std::deque such that for data types with alignment issues the correct allocator
- * is used automatically.
- */
-#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) \
-namespace std \
-{ \
-  template<> \
-  class deque<__VA_ARGS__, std::allocator<__VA_ARGS__> >           \
-    : public deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
-  { \
-    typedef deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > deque_base; \
-  public: \
-    typedef __VA_ARGS__ value_type; \
-    typedef deque_base::allocator_type allocator_type; \
-    typedef deque_base::size_type size_type;  \
-    typedef deque_base::iterator iterator;  \
-    explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {}  \
-    template<typename InputIterator> \
-    deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : deque_base(first, last, a) {} \
-    deque(const deque& c) : deque_base(c) {}  \
-    explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
-    deque(iterator start, iterator end) : deque_base(start, end) {}  \
-    deque& operator=(const deque& x) {  \
-      deque_base::operator=(x);  \
-      return *this;  \
-    } \
-  }; \
-}
-
-// check whether we really need the std::deque specialization
-#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
-
-namespace std {
-
-#define EIGEN_STD_DEQUE_SPECIALIZATION_BODY \
-  public:  \
-    typedef T value_type; \
-    typedef typename deque_base::allocator_type allocator_type; \
-    typedef typename deque_base::size_type size_type;  \
-    typedef typename deque_base::iterator iterator;  \
-    typedef typename deque_base::const_iterator const_iterator;  \
-    explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {}  \
-    template<typename InputIterator> \
-    deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
-    : deque_base(first, last, a) {} \
-    deque(const deque& c) : deque_base(c) {}  \
-    explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
-    deque(iterator start, iterator end) : deque_base(start, end) {}  \
-    deque& operator=(const deque& x) {  \
-      deque_base::operator=(x);  \
-      return *this;  \
-    }
-
-  template<typename T>
-  class deque<T,EIGEN_ALIGNED_ALLOCATOR<T> >
-    : public deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
-                   Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
-{
-  typedef deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
-                Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > deque_base;
-  EIGEN_STD_DEQUE_SPECIALIZATION_BODY
-
-  void resize(size_type new_size)
-  { resize(new_size, T()); }
-
-#if defined(_DEQUE_)
-  // workaround MSVC std::deque implementation
-  void resize(size_type new_size, const value_type& x)
-  {
-    if (deque_base::size() < new_size)
-      deque_base::_Insert_n(deque_base::end(), new_size - deque_base::size(), x);
-    else if (new_size < deque_base::size())
-      deque_base::erase(deque_base::begin() + new_size, deque_base::end());
-  }
-  void push_back(const value_type& x)
-  { deque_base::push_back(x); } 
-  void push_front(const value_type& x)
-  { deque_base::push_front(x); }
-  using deque_base::insert;  
-  iterator insert(const_iterator position, const value_type& x)
-  { return deque_base::insert(position,x); }
-  void insert(const_iterator position, size_type new_size, const value_type& x)
-  { deque_base::insert(position, new_size, x); }
-#elif defined(_GLIBCXX_DEQUE) && EIGEN_GNUC_AT_LEAST(4,2)
-  // workaround GCC std::deque implementation
-  void resize(size_type new_size, const value_type& x)
-  {
-    if (new_size < deque_base::size())
-      deque_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
-    else
-      deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
-  }
-#else
-  // either GCC 4.1 or non-GCC
-  // default implementation which should always work.
-  void resize(size_type new_size, const value_type& x)
-  {
-    if (new_size < deque_base::size())
-      deque_base::erase(deque_base::begin() + new_size, deque_base::end());
-    else if (new_size > deque_base::size())
-      deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
-  }
-#endif
-  };
-}
-
-#endif // check whether specialization is actually required
-
-#endif // EIGEN_STDDEQUE_H
diff --git a/phonelibs/eigen/Eigen/src/StlSupport/StdList.h b/phonelibs/eigen/Eigen/src/StlSupport/StdList.h
deleted file mode 100644
index e1eba4985967f2..00000000000000
--- a/phonelibs/eigen/Eigen/src/StlSupport/StdList.h
+++ /dev/null
@@ -1,106 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDLIST_H
-#define EIGEN_STDLIST_H
-
-#include "details.h"
-
-/**
- * This section contains a convenience MACRO which allows an easy specialization of
- * std::list such that for data types with alignment issues the correct allocator
- * is used automatically.
- */
-#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) \
-namespace std \
-{ \
-  template<> \
-  class list<__VA_ARGS__, std::allocator<__VA_ARGS__> >           \
-    : public list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
-  { \
-    typedef list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > list_base; \
-  public: \
-    typedef __VA_ARGS__ value_type; \
-    typedef list_base::allocator_type allocator_type; \
-    typedef list_base::size_type size_type;  \
-    typedef list_base::iterator iterator;  \
-    explicit list(const allocator_type& a = allocator_type()) : list_base(a) {}  \
-    template<typename InputIterator> \
-    list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : list_base(first, last, a) {} \
-    list(const list& c) : list_base(c) {}  \
-    explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
-    list(iterator start, iterator end) : list_base(start, end) {}  \
-    list& operator=(const list& x) {  \
-      list_base::operator=(x);  \
-      return *this;  \
-    } \
-  }; \
-}
-
-// check whether we really need the std::list specialization
-#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_LIST) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
-
-namespace std
-{
-
-#define EIGEN_STD_LIST_SPECIALIZATION_BODY \
-  public:  \
-    typedef T value_type; \
-    typedef typename list_base::allocator_type allocator_type; \
-    typedef typename list_base::size_type size_type;  \
-    typedef typename list_base::iterator iterator;  \
-    typedef typename list_base::const_iterator const_iterator;  \
-    explicit list(const allocator_type& a = allocator_type()) : list_base(a) {}  \
-    template<typename InputIterator> \
-    list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
-    : list_base(first, last, a) {} \
-    list(const list& c) : list_base(c) {}  \
-    explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
-    list(iterator start, iterator end) : list_base(start, end) {}  \
-    list& operator=(const list& x) {  \
-    list_base::operator=(x);  \
-    return *this; \
-  }
-
-  template<typename T>
-  class list<T,EIGEN_ALIGNED_ALLOCATOR<T> >
-    : public list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
-                  Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
-  {
-    typedef list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
-                 Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > list_base;
-    EIGEN_STD_LIST_SPECIALIZATION_BODY
-
-    void resize(size_type new_size)
-    { resize(new_size, T()); }
-
-    void resize(size_type new_size, const value_type& x)
-    {
-      if (list_base::size() < new_size)
-        list_base::insert(list_base::end(), new_size - list_base::size(), x);
-      else
-        while (new_size < list_base::size()) list_base::pop_back();
-    }
-
-#if defined(_LIST_)
-    // workaround MSVC std::list implementation
-    void push_back(const value_type& x)
-    { list_base::push_back(x); } 
-    using list_base::insert;  
-    iterator insert(const_iterator position, const value_type& x)
-    { return list_base::insert(position,x); }
-    void insert(const_iterator position, size_type new_size, const value_type& x)
-    { list_base::insert(position, new_size, x); }
-#endif
-  };
-}
-
-#endif // check whether specialization is actually required
-
-#endif // EIGEN_STDLIST_H
diff --git a/phonelibs/eigen/Eigen/src/StlSupport/StdVector.h b/phonelibs/eigen/Eigen/src/StlSupport/StdVector.h
deleted file mode 100644
index ec22821d2612c3..00000000000000
--- a/phonelibs/eigen/Eigen/src/StlSupport/StdVector.h
+++ /dev/null
@@ -1,131 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDVECTOR_H
-#define EIGEN_STDVECTOR_H
-
-#include "details.h"
-
-/**
- * This section contains a convenience MACRO which allows an easy specialization of
- * std::vector such that for data types with alignment issues the correct allocator
- * is used automatically.
- */
-#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) \
-namespace std \
-{ \
-  template<> \
-  class vector<__VA_ARGS__, std::allocator<__VA_ARGS__> >  \
-    : public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
-  { \
-    typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > vector_base; \
-  public: \
-    typedef __VA_ARGS__ value_type; \
-    typedef vector_base::allocator_type allocator_type; \
-    typedef vector_base::size_type size_type;  \
-    typedef vector_base::iterator iterator;  \
-    explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {}  \
-    template<typename InputIterator> \
-    vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : vector_base(first, last, a) {} \
-    vector(const vector& c) : vector_base(c) {}  \
-    explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
-    vector(iterator start, iterator end) : vector_base(start, end) {}  \
-    vector& operator=(const vector& x) {  \
-      vector_base::operator=(x);  \
-      return *this;  \
-    } \
-  }; \
-}
-
-// Don't specialize if containers are implemented according to C++11
-#if !EIGEN_HAS_CXX11_CONTAINERS
-
-namespace std {
-
-#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
-  public:  \
-    typedef T value_type; \
-    typedef typename vector_base::allocator_type allocator_type; \
-    typedef typename vector_base::size_type size_type;  \
-    typedef typename vector_base::iterator iterator;  \
-    typedef typename vector_base::const_iterator const_iterator;  \
-    explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {}  \
-    template<typename InputIterator> \
-    vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
-    : vector_base(first, last, a) {} \
-    vector(const vector& c) : vector_base(c) {}  \
-    explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
-    vector(iterator start, iterator end) : vector_base(start, end) {}  \
-    vector& operator=(const vector& x) {  \
-      vector_base::operator=(x);  \
-      return *this;  \
-    }
-
-  template<typename T>
-  class vector<T,EIGEN_ALIGNED_ALLOCATOR<T> >
-    : public vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
-                    Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
-{
-  typedef vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
-                 Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > vector_base;
-  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
-
-  void resize(size_type new_size)
-  { resize(new_size, T()); }
-
-#if defined(_VECTOR_)
-  // workaround MSVC std::vector implementation
-  void resize(size_type new_size, const value_type& x)
-  {
-    if (vector_base::size() < new_size)
-      vector_base::_Insert_n(vector_base::end(), new_size - vector_base::size(), x);
-    else if (new_size < vector_base::size())
-      vector_base::erase(vector_base::begin() + new_size, vector_base::end());
-  }
-  void push_back(const value_type& x)
-  { vector_base::push_back(x); } 
-  using vector_base::insert;  
-  iterator insert(const_iterator position, const value_type& x)
-  { return vector_base::insert(position,x); }
-  void insert(const_iterator position, size_type new_size, const value_type& x)
-  { vector_base::insert(position, new_size, x); }
-#elif defined(_GLIBCXX_VECTOR) && (!(EIGEN_GNUC_AT_LEAST(4,1)))
-  /* Note that before gcc-4.1 we already have: std::vector::resize(size_type,const T&).
-   * However, this specialization is still needed to make the above EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION trick to work. */
-  void resize(size_type new_size, const value_type& x)
-  {
-    vector_base::resize(new_size,x);
-  }
-#elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,2)
-  // workaround GCC std::vector implementation
-  void resize(size_type new_size, const value_type& x)
-  {
-    if (new_size < vector_base::size())
-      vector_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
-    else
-      vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
-  }
-#else
-  // either GCC 4.1 or non-GCC
-  // default implementation which should always work.
-  void resize(size_type new_size, const value_type& x)
-  {
-    if (new_size < vector_base::size())
-      vector_base::erase(vector_base::begin() + new_size, vector_base::end());
-    else if (new_size > vector_base::size())
-      vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
-  }
-#endif
-  };
-}
-#endif // !EIGEN_HAS_CXX11_CONTAINERS
-
-
-#endif // EIGEN_STDVECTOR_H
diff --git a/phonelibs/eigen/Eigen/src/StlSupport/details.h b/phonelibs/eigen/Eigen/src/StlSupport/details.h
deleted file mode 100644
index 2cfd13e03aa973..00000000000000
--- a/phonelibs/eigen/Eigen/src/StlSupport/details.h
+++ /dev/null
@@ -1,84 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STL_DETAILS_H
-#define EIGEN_STL_DETAILS_H
-
-#ifndef EIGEN_ALIGNED_ALLOCATOR
-  #define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
-#endif
-
-namespace Eigen {
-
-  // This one is needed to prevent reimplementing the whole std::vector.
-  template <class T>
-  class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T>
-  {
-  public:
-    typedef std::size_t     size_type;
-    typedef std::ptrdiff_t  difference_type;
-    typedef T*              pointer;
-    typedef const T*        const_pointer;
-    typedef T&              reference;
-    typedef const T&        const_reference;
-    typedef T               value_type;
-
-    template<class U>
-    struct rebind
-    {
-      typedef aligned_allocator_indirection<U> other;
-    };
-
-    aligned_allocator_indirection() {}
-    aligned_allocator_indirection(const aligned_allocator_indirection& ) : EIGEN_ALIGNED_ALLOCATOR<T>() {}
-    aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<T>& ) {}
-    template<class U>
-    aligned_allocator_indirection(const aligned_allocator_indirection<U>& ) {}
-    template<class U>
-    aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<U>& ) {}
-    ~aligned_allocator_indirection() {}
-  };
-
-#if EIGEN_COMP_MSVC
-
-  // sometimes, MSVC detects, at compile time, that the argument x
-  // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
-  // even if this function is never called. Whence this little wrapper.
-#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \
-  typename Eigen::internal::conditional< \
-    Eigen::internal::is_arithmetic<T>::value, \
-    T, \
-    Eigen::internal::workaround_msvc_stl_support<T> \
-  >::type
-
-  namespace internal {
-  template<typename T> struct workaround_msvc_stl_support : public T
-  {
-    inline workaround_msvc_stl_support() : T() {}
-    inline workaround_msvc_stl_support(const T& other) : T(other) {}
-    inline operator T& () { return *static_cast<T*>(this); }
-    inline operator const T& () const { return *static_cast<const T*>(this); }
-    template<typename OtherT>
-    inline T& operator=(const OtherT& other)
-    { T::operator=(other); return *this; }
-    inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other)
-    { T::operator=(other); return *this; }
-  };
-  }
-
-#else
-
-#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T
-
-#endif
-
-}
-
-#endif // EIGEN_STL_DETAILS_H
diff --git a/phonelibs/eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h b/phonelibs/eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h
deleted file mode 100644
index 50a69f3066b285..00000000000000
--- a/phonelibs/eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h
+++ /dev/null
@@ -1,1027 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SUPERLUSUPPORT_H
-#define EIGEN_SUPERLUSUPPORT_H
-
-namespace Eigen {
-
-#if defined(SUPERLU_MAJOR_VERSION) && (SUPERLU_MAJOR_VERSION >= 5)
-#define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE)		\
-    extern "C" {                                                                                          \
-      extern void PREFIX##gssvx(superlu_options_t *, SuperMatrix *, int *, int *, int *,                  \
-                                char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,           \
-                                void *, int, SuperMatrix *, SuperMatrix *,                                \
-                                FLOATTYPE *, FLOATTYPE *, FLOATTYPE *, FLOATTYPE *,                       \
-                                GlobalLU_t *, mem_usage_t *, SuperLUStat_t *, int *);                     \
-    }                                                                                                     \
-    inline float SuperLU_gssvx(superlu_options_t *options, SuperMatrix *A,                                \
-         int *perm_c, int *perm_r, int *etree, char *equed,                                               \
-         FLOATTYPE *R, FLOATTYPE *C, SuperMatrix *L,                                                      \
-         SuperMatrix *U, void *work, int lwork,                                                           \
-         SuperMatrix *B, SuperMatrix *X,                                                                  \
-         FLOATTYPE *recip_pivot_growth,                                                                   \
-         FLOATTYPE *rcond, FLOATTYPE *ferr, FLOATTYPE *berr,                                              \
-         SuperLUStat_t *stats, int *info, KEYTYPE) {                                                      \
-    mem_usage_t mem_usage;                                                                                \
-    GlobalLU_t gLU;                                                                                       \
-    PREFIX##gssvx(options, A, perm_c, perm_r, etree, equed, R, C, L,                                      \
-         U, work, lwork, B, X, recip_pivot_growth, rcond,                                                 \
-         ferr, berr, &gLU, &mem_usage, stats, info);                                                      \
-    return mem_usage.for_lu; /* bytes used by the factor storage */                                       \
-  }
-#else // version < 5.0
-#define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE)		\
-    extern "C" {                                                                                          \
-      extern void PREFIX##gssvx(superlu_options_t *, SuperMatrix *, int *, int *, int *,                  \
-                                char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,           \
-                                void *, int, SuperMatrix *, SuperMatrix *,                                \
-                                FLOATTYPE *, FLOATTYPE *, FLOATTYPE *, FLOATTYPE *,                       \
-                                mem_usage_t *, SuperLUStat_t *, int *);                                   \
-    }                                                                                                     \
-    inline float SuperLU_gssvx(superlu_options_t *options, SuperMatrix *A,                                \
-         int *perm_c, int *perm_r, int *etree, char *equed,                                               \
-         FLOATTYPE *R, FLOATTYPE *C, SuperMatrix *L,                                                      \
-         SuperMatrix *U, void *work, int lwork,                                                           \
-         SuperMatrix *B, SuperMatrix *X,                                                                  \
-         FLOATTYPE *recip_pivot_growth,                                                                   \
-         FLOATTYPE *rcond, FLOATTYPE *ferr, FLOATTYPE *berr,                                              \
-         SuperLUStat_t *stats, int *info, KEYTYPE) {                                                      \
-    mem_usage_t mem_usage;                                                                                \
-    PREFIX##gssvx(options, A, perm_c, perm_r, etree, equed, R, C, L,                                      \
-         U, work, lwork, B, X, recip_pivot_growth, rcond,                                                 \
-         ferr, berr, &mem_usage, stats, info);                                                            \
-    return mem_usage.for_lu; /* bytes used by the factor storage */                                       \
-  }
-#endif
-
-DECL_GSSVX(s,float,float)
-DECL_GSSVX(c,float,std::complex<float>)
-DECL_GSSVX(d,double,double)
-DECL_GSSVX(z,double,std::complex<double>)
-
-#ifdef MILU_ALPHA
-#define EIGEN_SUPERLU_HAS_ILU
-#endif
-
-#ifdef EIGEN_SUPERLU_HAS_ILU
-
-// similarly for the incomplete factorization using gsisx
-#define DECL_GSISX(PREFIX,FLOATTYPE,KEYTYPE)                                                    \
-    extern "C" {                                                                                \
-      extern void PREFIX##gsisx(superlu_options_t *, SuperMatrix *, int *, int *, int *,        \
-                         char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,        \
-                         void *, int, SuperMatrix *, SuperMatrix *, FLOATTYPE *, FLOATTYPE *,   \
-                         mem_usage_t *, SuperLUStat_t *, int *);                        \
-    }                                                                                           \
-    inline float SuperLU_gsisx(superlu_options_t *options, SuperMatrix *A,                      \
-         int *perm_c, int *perm_r, int *etree, char *equed,                                     \
-         FLOATTYPE *R, FLOATTYPE *C, SuperMatrix *L,                                            \
-         SuperMatrix *U, void *work, int lwork,                                                 \
-         SuperMatrix *B, SuperMatrix *X,                                                        \
-         FLOATTYPE *recip_pivot_growth,                                                         \
-         FLOATTYPE *rcond,                                                                      \
-         SuperLUStat_t *stats, int *info, KEYTYPE) {                                            \
-    mem_usage_t mem_usage;                                                              \
-    PREFIX##gsisx(options, A, perm_c, perm_r, etree, equed, R, C, L,                            \
-         U, work, lwork, B, X, recip_pivot_growth, rcond,                                       \
-         &mem_usage, stats, info);                                                              \
-    return mem_usage.for_lu; /* bytes used by the factor storage */                             \
-  }
-
-DECL_GSISX(s,float,float)
-DECL_GSISX(c,float,std::complex<float>)
-DECL_GSISX(d,double,double)
-DECL_GSISX(z,double,std::complex<double>)
-
-#endif
-
-template<typename MatrixType>
-struct SluMatrixMapHelper;
-
-/** \internal
-  *
-  * A wrapper class for SuperLU matrices. It supports only compressed sparse matrices
-  * and dense matrices. Supernodal and other fancy format are not supported by this wrapper.
-  *
-  * This wrapper class mainly aims to avoids the need of dynamic allocation of the storage structure.
-  */
-struct SluMatrix : SuperMatrix
-{
-  SluMatrix()
-  {
-    Store = &storage;
-  }
-
-  SluMatrix(const SluMatrix& other)
-    : SuperMatrix(other)
-  {
-    Store = &storage;
-    storage = other.storage;
-  }
-
-  SluMatrix& operator=(const SluMatrix& other)
-  {
-    SuperMatrix::operator=(static_cast<const SuperMatrix&>(other));
-    Store = &storage;
-    storage = other.storage;
-    return *this;
-  }
-
-  struct
-  {
-    union {int nnz;int lda;};
-    void *values;
-    int *innerInd;
-    int *outerInd;
-  } storage;
-
-  void setStorageType(Stype_t t)
-  {
-    Stype = t;
-    if (t==SLU_NC || t==SLU_NR || t==SLU_DN)
-      Store = &storage;
-    else
-    {
-      eigen_assert(false && "storage type not supported");
-      Store = 0;
-    }
-  }
-
-  template<typename Scalar>
-  void setScalarType()
-  {
-    if (internal::is_same<Scalar,float>::value)
-      Dtype = SLU_S;
-    else if (internal::is_same<Scalar,double>::value)
-      Dtype = SLU_D;
-    else if (internal::is_same<Scalar,std::complex<float> >::value)
-      Dtype = SLU_C;
-    else if (internal::is_same<Scalar,std::complex<double> >::value)
-      Dtype = SLU_Z;
-    else
-    {
-      eigen_assert(false && "Scalar type not supported by SuperLU");
-    }
-  }
-
-  template<typename MatrixType>
-  static SluMatrix Map(MatrixBase<MatrixType>& _mat)
-  {
-    MatrixType& mat(_mat.derived());
-    eigen_assert( ((MatrixType::Flags&RowMajorBit)!=RowMajorBit) && "row-major dense matrices are not supported by SuperLU");
-    SluMatrix res;
-    res.setStorageType(SLU_DN);
-    res.setScalarType<typename MatrixType::Scalar>();
-    res.Mtype     = SLU_GE;
-
-    res.nrow      = internal::convert_index<int>(mat.rows());
-    res.ncol      = internal::convert_index<int>(mat.cols());
-
-    res.storage.lda       = internal::convert_index<int>(MatrixType::IsVectorAtCompileTime ? mat.size() : mat.outerStride());
-    res.storage.values    = (void*)(mat.data());
-    return res;
-  }
-
-  template<typename MatrixType>
-  static SluMatrix Map(SparseMatrixBase<MatrixType>& a_mat)
-  {
-    MatrixType &mat(a_mat.derived());
-    SluMatrix res;
-    if ((MatrixType::Flags&RowMajorBit)==RowMajorBit)
-    {
-      res.setStorageType(SLU_NR);
-      res.nrow      = internal::convert_index<int>(mat.cols());
-      res.ncol      = internal::convert_index<int>(mat.rows());
-    }
-    else
-    {
-      res.setStorageType(SLU_NC);
-      res.nrow      = internal::convert_index<int>(mat.rows());
-      res.ncol      = internal::convert_index<int>(mat.cols());
-    }
-
-    res.Mtype       = SLU_GE;
-
-    res.storage.nnz       = internal::convert_index<int>(mat.nonZeros());
-    res.storage.values    = mat.valuePtr();
-    res.storage.innerInd  = mat.innerIndexPtr();
-    res.storage.outerInd  = mat.outerIndexPtr();
-
-    res.setScalarType<typename MatrixType::Scalar>();
-
-    // FIXME the following is not very accurate
-    if (MatrixType::Flags & Upper)
-      res.Mtype = SLU_TRU;
-    if (MatrixType::Flags & Lower)
-      res.Mtype = SLU_TRL;
-
-    eigen_assert(((MatrixType::Flags & SelfAdjoint)==0) && "SelfAdjoint matrix shape not supported by SuperLU");
-
-    return res;
-  }
-};
-
-template<typename Scalar, int Rows, int Cols, int Options, int MRows, int MCols>
-struct SluMatrixMapHelper<Matrix<Scalar,Rows,Cols,Options,MRows,MCols> >
-{
-  typedef Matrix<Scalar,Rows,Cols,Options,MRows,MCols> MatrixType;
-  static void run(MatrixType& mat, SluMatrix& res)
-  {
-    eigen_assert( ((Options&RowMajor)!=RowMajor) && "row-major dense matrices is not supported by SuperLU");
-    res.setStorageType(SLU_DN);
-    res.setScalarType<Scalar>();
-    res.Mtype     = SLU_GE;
-
-    res.nrow      = mat.rows();
-    res.ncol      = mat.cols();
-
-    res.storage.lda       = mat.outerStride();
-    res.storage.values    = mat.data();
-  }
-};
-
-template<typename Derived>
-struct SluMatrixMapHelper<SparseMatrixBase<Derived> >
-{
-  typedef Derived MatrixType;
-  static void run(MatrixType& mat, SluMatrix& res)
-  {
-    if ((MatrixType::Flags&RowMajorBit)==RowMajorBit)
-    {
-      res.setStorageType(SLU_NR);
-      res.nrow      = mat.cols();
-      res.ncol      = mat.rows();
-    }
-    else
-    {
-      res.setStorageType(SLU_NC);
-      res.nrow      = mat.rows();
-      res.ncol      = mat.cols();
-    }
-
-    res.Mtype       = SLU_GE;
-
-    res.storage.nnz       = mat.nonZeros();
-    res.storage.values    = mat.valuePtr();
-    res.storage.innerInd  = mat.innerIndexPtr();
-    res.storage.outerInd  = mat.outerIndexPtr();
-
-    res.setScalarType<typename MatrixType::Scalar>();
-
-    // FIXME the following is not very accurate
-    if (MatrixType::Flags & Upper)
-      res.Mtype = SLU_TRU;
-    if (MatrixType::Flags & Lower)
-      res.Mtype = SLU_TRL;
-
-    eigen_assert(((MatrixType::Flags & SelfAdjoint)==0) && "SelfAdjoint matrix shape not supported by SuperLU");
-  }
-};
-
-namespace internal {
-
-template<typename MatrixType>
-SluMatrix asSluMatrix(MatrixType& mat)
-{
-  return SluMatrix::Map(mat);
-}
-
-/** View a Super LU matrix as an Eigen expression */
-template<typename Scalar, int Flags, typename Index>
-MappedSparseMatrix<Scalar,Flags,Index> map_superlu(SluMatrix& sluMat)
-{
-  eigen_assert((Flags&RowMajor)==RowMajor && sluMat.Stype == SLU_NR
-         || (Flags&ColMajor)==ColMajor && sluMat.Stype == SLU_NC);
-
-  Index outerSize = (Flags&RowMajor)==RowMajor ? sluMat.ncol : sluMat.nrow;
-
-  return MappedSparseMatrix<Scalar,Flags,Index>(
-    sluMat.nrow, sluMat.ncol, sluMat.storage.outerInd[outerSize],
-    sluMat.storage.outerInd, sluMat.storage.innerInd, reinterpret_cast<Scalar*>(sluMat.storage.values) );
-}
-
-} // end namespace internal
-
-/** \ingroup SuperLUSupport_Module
-  * \class SuperLUBase
-  * \brief The base class for the direct and incomplete LU factorization of SuperLU
-  */
-template<typename _MatrixType, typename Derived>
-class SuperLUBase : public SparseSolverBase<Derived>
-{
-  protected:
-    typedef SparseSolverBase<Derived> Base;
-    using Base::derived;
-    using Base::m_isInitialized;
-  public:
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;    
-    typedef Map<PermutationMatrix<Dynamic,Dynamic,int> > PermutationMap;
-    typedef SparseMatrix<Scalar> LUMatrixType;
-    enum {
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-
-  public:
-
-    SuperLUBase() {}
-
-    ~SuperLUBase()
-    {
-      clearFactors();
-    }
-    
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-    
-    /** \returns a reference to the Super LU option object to configure the  Super LU algorithms. */
-    inline superlu_options_t& options() { return m_sluOptions; }
-    
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix.appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-
-    /** Computes the sparse Cholesky decomposition of \a matrix */
-    void compute(const MatrixType& matrix)
-    {
-      derived().analyzePattern(matrix);
-      derived().factorize(matrix);
-    }
-
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      * 
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& /*matrix*/)
-    {
-      m_isInitialized = true;
-      m_info = Success;
-      m_analysisIsOk = true;
-      m_factorizationIsOk = false;
-    }
-    
-    template<typename Stream>
-    void dumpMemory(Stream& /*s*/)
-    {}
-    
-  protected:
-    
-    void initFactorization(const MatrixType& a)
-    {
-      set_default_options(&this->m_sluOptions);
-      
-      const Index size = a.rows();
-      m_matrix = a;
-
-      m_sluA = internal::asSluMatrix(m_matrix);
-      clearFactors();
-
-      m_p.resize(size);
-      m_q.resize(size);
-      m_sluRscale.resize(size);
-      m_sluCscale.resize(size);
-      m_sluEtree.resize(size);
-
-      // set empty B and X
-      m_sluB.setStorageType(SLU_DN);
-      m_sluB.setScalarType<Scalar>();
-      m_sluB.Mtype          = SLU_GE;
-      m_sluB.storage.values = 0;
-      m_sluB.nrow           = 0;
-      m_sluB.ncol           = 0;
-      m_sluB.storage.lda    = internal::convert_index<int>(size);
-      m_sluX                = m_sluB;
-      
-      m_extractedDataAreDirty = true;
-    }
-    
-    void init()
-    {
-      m_info = InvalidInput;
-      m_isInitialized = false;
-      m_sluL.Store = 0;
-      m_sluU.Store = 0;
-    }
-    
-    void extractData() const;
-
-    void clearFactors()
-    {
-      if(m_sluL.Store)
-        Destroy_SuperNode_Matrix(&m_sluL);
-      if(m_sluU.Store)
-        Destroy_CompCol_Matrix(&m_sluU);
-
-      m_sluL.Store = 0;
-      m_sluU.Store = 0;
-
-      memset(&m_sluL,0,sizeof m_sluL);
-      memset(&m_sluU,0,sizeof m_sluU);
-    }
-
-    // cached data to reduce reallocation, etc.
-    mutable LUMatrixType m_l;
-    mutable LUMatrixType m_u;
-    mutable IntColVectorType m_p;
-    mutable IntRowVectorType m_q;
-
-    mutable LUMatrixType m_matrix;  // copy of the factorized matrix
-    mutable SluMatrix m_sluA;
-    mutable SuperMatrix m_sluL, m_sluU;
-    mutable SluMatrix m_sluB, m_sluX;
-    mutable SuperLUStat_t m_sluStat;
-    mutable superlu_options_t m_sluOptions;
-    mutable std::vector<int> m_sluEtree;
-    mutable Matrix<RealScalar,Dynamic,1> m_sluRscale, m_sluCscale;
-    mutable Matrix<RealScalar,Dynamic,1> m_sluFerr, m_sluBerr;
-    mutable char m_sluEqued;
-
-    mutable ComputationInfo m_info;
-    int m_factorizationIsOk;
-    int m_analysisIsOk;
-    mutable bool m_extractedDataAreDirty;
-    
-  private:
-    SuperLUBase(SuperLUBase& ) { }
-};
-
-
-/** \ingroup SuperLUSupport_Module
-  * \class SuperLU
-  * \brief A sparse direct LU factorization and solver based on the SuperLU library
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a direct LU factorization
-  * using the SuperLU library. The sparse matrix A must be squared and invertible. The vectors or matrices
-  * X and B can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  *
-  * \warning This class is only for the 4.x versions of SuperLU. The 3.x and 5.x versions are not supported.
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class SparseLU
-  */
-template<typename _MatrixType>
-class SuperLU : public SuperLUBase<_MatrixType,SuperLU<_MatrixType> >
-{
-  public:
-    typedef SuperLUBase<_MatrixType,SuperLU> Base;
-    typedef _MatrixType MatrixType;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-    typedef typename Base::StorageIndex StorageIndex;
-    typedef typename Base::IntRowVectorType IntRowVectorType;
-    typedef typename Base::IntColVectorType IntColVectorType;   
-    typedef typename Base::PermutationMap PermutationMap;
-    typedef typename Base::LUMatrixType LUMatrixType;
-    typedef TriangularView<LUMatrixType, Lower|UnitDiag>  LMatrixType;
-    typedef TriangularView<LUMatrixType,  Upper>          UMatrixType;
-
-  public:
-    using Base::_solve_impl;
-
-    SuperLU() : Base() { init(); }
-
-    explicit SuperLU(const MatrixType& matrix) : Base()
-    {
-      init();
-      Base::compute(matrix);
-    }
-
-    ~SuperLU()
-    {
-    }
-    
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      * 
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& matrix)
-    {
-      m_info = InvalidInput;
-      m_isInitialized = false;
-      Base::analyzePattern(matrix);
-    }
-    
-    /** Performs a numeric decomposition of \a matrix
-      *
-      * The given matrix must has the same sparcity than the matrix on which the symbolic decomposition has been performed.
-      *
-      * \sa analyzePattern()
-      */
-    void factorize(const MatrixType& matrix);
-    
-    /** \internal */
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
-    
-    inline const LMatrixType& matrixL() const
-    {
-      if (m_extractedDataAreDirty) this->extractData();
-      return m_l;
-    }
-
-    inline const UMatrixType& matrixU() const
-    {
-      if (m_extractedDataAreDirty) this->extractData();
-      return m_u;
-    }
-
-    inline const IntColVectorType& permutationP() const
-    {
-      if (m_extractedDataAreDirty) this->extractData();
-      return m_p;
-    }
-
-    inline const IntRowVectorType& permutationQ() const
-    {
-      if (m_extractedDataAreDirty) this->extractData();
-      return m_q;
-    }
-    
-    Scalar determinant() const;
-    
-  protected:
-    
-    using Base::m_matrix;
-    using Base::m_sluOptions;
-    using Base::m_sluA;
-    using Base::m_sluB;
-    using Base::m_sluX;
-    using Base::m_p;
-    using Base::m_q;
-    using Base::m_sluEtree;
-    using Base::m_sluEqued;
-    using Base::m_sluRscale;
-    using Base::m_sluCscale;
-    using Base::m_sluL;
-    using Base::m_sluU;
-    using Base::m_sluStat;
-    using Base::m_sluFerr;
-    using Base::m_sluBerr;
-    using Base::m_l;
-    using Base::m_u;
-    
-    using Base::m_analysisIsOk;
-    using Base::m_factorizationIsOk;
-    using Base::m_extractedDataAreDirty;
-    using Base::m_isInitialized;
-    using Base::m_info;
-    
-    void init()
-    {
-      Base::init();
-      
-      set_default_options(&this->m_sluOptions);
-      m_sluOptions.PrintStat        = NO;
-      m_sluOptions.ConditionNumber  = NO;
-      m_sluOptions.Trans            = NOTRANS;
-      m_sluOptions.ColPerm          = COLAMD;
-    }
-    
-    
-  private:
-    SuperLU(SuperLU& ) { }
-};
-
-template<typename MatrixType>
-void SuperLU<MatrixType>::factorize(const MatrixType& a)
-{
-  eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
-  if(!m_analysisIsOk)
-  {
-    m_info = InvalidInput;
-    return;
-  }
-  
-  this->initFactorization(a);
-  
-  m_sluOptions.ColPerm = COLAMD;
-  int info = 0;
-  RealScalar recip_pivot_growth, rcond;
-  RealScalar ferr, berr;
-
-  StatInit(&m_sluStat);
-  SuperLU_gssvx(&m_sluOptions, &m_sluA, m_q.data(), m_p.data(), &m_sluEtree[0],
-                &m_sluEqued, &m_sluRscale[0], &m_sluCscale[0],
-                &m_sluL, &m_sluU,
-                NULL, 0,
-                &m_sluB, &m_sluX,
-                &recip_pivot_growth, &rcond,
-                &ferr, &berr,
-                &m_sluStat, &info, Scalar());
-  StatFree(&m_sluStat);
-
-  m_extractedDataAreDirty = true;
-
-  // FIXME how to better check for errors ???
-  m_info = info == 0 ? Success : NumericalIssue;
-  m_factorizationIsOk = true;
-}
-
-template<typename MatrixType>
-template<typename Rhs,typename Dest>
-void SuperLU<MatrixType>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
-{
-  eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
-
-  const Index size = m_matrix.rows();
-  const Index rhsCols = b.cols();
-  eigen_assert(size==b.rows());
-
-  m_sluOptions.Trans = NOTRANS;
-  m_sluOptions.Fact = FACTORED;
-  m_sluOptions.IterRefine = NOREFINE;
-  
-
-  m_sluFerr.resize(rhsCols);
-  m_sluBerr.resize(rhsCols);
-  
-  Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b);
-  Ref<const Matrix<typename Dest::Scalar,Dynamic,Dynamic,ColMajor> > x_ref(x);
-  
-  m_sluB = SluMatrix::Map(b_ref.const_cast_derived());
-  m_sluX = SluMatrix::Map(x_ref.const_cast_derived());
-  
-  typename Rhs::PlainObject b_cpy;
-  if(m_sluEqued!='N')
-  {
-    b_cpy = b;
-    m_sluB = SluMatrix::Map(b_cpy.const_cast_derived());  
-  }
-
-  StatInit(&m_sluStat);
-  int info = 0;
-  RealScalar recip_pivot_growth, rcond;
-  SuperLU_gssvx(&m_sluOptions, &m_sluA,
-                m_q.data(), m_p.data(),
-                &m_sluEtree[0], &m_sluEqued,
-                &m_sluRscale[0], &m_sluCscale[0],
-                &m_sluL, &m_sluU,
-                NULL, 0,
-                &m_sluB, &m_sluX,
-                &recip_pivot_growth, &rcond,
-                &m_sluFerr[0], &m_sluBerr[0],
-                &m_sluStat, &info, Scalar());
-  StatFree(&m_sluStat);
-  
-  if(x.derived().data() != x_ref.data())
-    x = x_ref;
-  
-  m_info = info==0 ? Success : NumericalIssue;
-}
-
-// the code of this extractData() function has been adapted from the SuperLU's Matlab support code,
-//
-//  Copyright (c) 1994 by Xerox Corporation.  All rights reserved.
-//
-//  THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY
-//  EXPRESSED OR IMPLIED.  ANY USE IS AT YOUR OWN RISK.
-//
-template<typename MatrixType, typename Derived>
-void SuperLUBase<MatrixType,Derived>::extractData() const
-{
-  eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for extracting factors, you must first call either compute() or analyzePattern()/factorize()");
-  if (m_extractedDataAreDirty)
-  {
-    int         upper;
-    int         fsupc, istart, nsupr;
-    int         lastl = 0, lastu = 0;
-    SCformat    *Lstore = static_cast<SCformat*>(m_sluL.Store);
-    NCformat    *Ustore = static_cast<NCformat*>(m_sluU.Store);
-    Scalar      *SNptr;
-
-    const Index size = m_matrix.rows();
-    m_l.resize(size,size);
-    m_l.resizeNonZeros(Lstore->nnz);
-    m_u.resize(size,size);
-    m_u.resizeNonZeros(Ustore->nnz);
-
-    int* Lcol = m_l.outerIndexPtr();
-    int* Lrow = m_l.innerIndexPtr();
-    Scalar* Lval = m_l.valuePtr();
-
-    int* Ucol = m_u.outerIndexPtr();
-    int* Urow = m_u.innerIndexPtr();
-    Scalar* Uval = m_u.valuePtr();
-
-    Ucol[0] = 0;
-    Ucol[0] = 0;
-
-    /* for each supernode */
-    for (int k = 0; k <= Lstore->nsuper; ++k)
-    {
-      fsupc   = L_FST_SUPC(k);
-      istart  = L_SUB_START(fsupc);
-      nsupr   = L_SUB_START(fsupc+1) - istart;
-      upper   = 1;
-
-      /* for each column in the supernode */
-      for (int j = fsupc; j < L_FST_SUPC(k+1); ++j)
-      {
-        SNptr = &((Scalar*)Lstore->nzval)[L_NZ_START(j)];
-
-        /* Extract U */
-        for (int i = U_NZ_START(j); i < U_NZ_START(j+1); ++i)
-        {
-          Uval[lastu] = ((Scalar*)Ustore->nzval)[i];
-          /* Matlab doesn't like explicit zero. */
-          if (Uval[lastu] != 0.0)
-            Urow[lastu++] = U_SUB(i);
-        }
-        for (int i = 0; i < upper; ++i)
-        {
-          /* upper triangle in the supernode */
-          Uval[lastu] = SNptr[i];
-          /* Matlab doesn't like explicit zero. */
-          if (Uval[lastu] != 0.0)
-            Urow[lastu++] = L_SUB(istart+i);
-        }
-        Ucol[j+1] = lastu;
-
-        /* Extract L */
-        Lval[lastl] = 1.0; /* unit diagonal */
-        Lrow[lastl++] = L_SUB(istart + upper - 1);
-        for (int i = upper; i < nsupr; ++i)
-        {
-          Lval[lastl] = SNptr[i];
-          /* Matlab doesn't like explicit zero. */
-          if (Lval[lastl] != 0.0)
-            Lrow[lastl++] = L_SUB(istart+i);
-        }
-        Lcol[j+1] = lastl;
-
-        ++upper;
-      } /* for j ... */
-
-    } /* for k ... */
-
-    // squeeze the matrices :
-    m_l.resizeNonZeros(lastl);
-    m_u.resizeNonZeros(lastu);
-
-    m_extractedDataAreDirty = false;
-  }
-}
-
-template<typename MatrixType>
-typename SuperLU<MatrixType>::Scalar SuperLU<MatrixType>::determinant() const
-{
-  eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for computing the determinant, you must first call either compute() or analyzePattern()/factorize()");
-  
-  if (m_extractedDataAreDirty)
-    this->extractData();
-
-  Scalar det = Scalar(1);
-  for (int j=0; j<m_u.cols(); ++j)
-  {
-    if (m_u.outerIndexPtr()[j+1]-m_u.outerIndexPtr()[j] > 0)
-    {
-      int lastId = m_u.outerIndexPtr()[j+1]-1;
-      eigen_assert(m_u.innerIndexPtr()[lastId]<=j);
-      if (m_u.innerIndexPtr()[lastId]==j)
-        det *= m_u.valuePtr()[lastId];
-    }
-  }
-  if(PermutationMap(m_p.data(),m_p.size()).determinant()*PermutationMap(m_q.data(),m_q.size()).determinant()<0)
-    det = -det;
-  if(m_sluEqued!='N')
-    return det/m_sluRscale.prod()/m_sluCscale.prod();
-  else
-    return det;
-}
-
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-#define EIGEN_SUPERLU_HAS_ILU
-#endif
-
-#ifdef EIGEN_SUPERLU_HAS_ILU
-
-/** \ingroup SuperLUSupport_Module
-  * \class SuperILU
-  * \brief A sparse direct \b incomplete LU factorization and solver based on the SuperLU library
-  *
-  * This class allows to solve for an approximate solution of A.X = B sparse linear problems via an incomplete LU factorization
-  * using the SuperLU library. This class is aimed to be used as a preconditioner of the iterative linear solvers.
-  *
-  * \warning This class is only for the 4.x versions of SuperLU. The 3.x and 5.x versions are not supported.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class IncompleteLUT, class ConjugateGradient, class BiCGSTAB
-  */
-
-template<typename _MatrixType>
-class SuperILU : public SuperLUBase<_MatrixType,SuperILU<_MatrixType> >
-{
-  public:
-    typedef SuperLUBase<_MatrixType,SuperILU> Base;
-    typedef _MatrixType MatrixType;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
-
-  public:
-    using Base::_solve_impl;
-
-    SuperILU() : Base() { init(); }
-
-    SuperILU(const MatrixType& matrix) : Base()
-    {
-      init();
-      Base::compute(matrix);
-    }
-
-    ~SuperILU()
-    {
-    }
-    
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      * 
-      * \sa factorize()
-      */
-    void analyzePattern(const MatrixType& matrix)
-    {
-      Base::analyzePattern(matrix);
-    }
-    
-    /** Performs a numeric decomposition of \a matrix
-      *
-      * The given matrix must has the same sparcity than the matrix on which the symbolic decomposition has been performed.
-      *
-      * \sa analyzePattern()
-      */
-    void factorize(const MatrixType& matrix);
-    
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal */
-    template<typename Rhs,typename Dest>
-    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
-    #endif // EIGEN_PARSED_BY_DOXYGEN
-    
-  protected:
-    
-    using Base::m_matrix;
-    using Base::m_sluOptions;
-    using Base::m_sluA;
-    using Base::m_sluB;
-    using Base::m_sluX;
-    using Base::m_p;
-    using Base::m_q;
-    using Base::m_sluEtree;
-    using Base::m_sluEqued;
-    using Base::m_sluRscale;
-    using Base::m_sluCscale;
-    using Base::m_sluL;
-    using Base::m_sluU;
-    using Base::m_sluStat;
-    using Base::m_sluFerr;
-    using Base::m_sluBerr;
-    using Base::m_l;
-    using Base::m_u;
-    
-    using Base::m_analysisIsOk;
-    using Base::m_factorizationIsOk;
-    using Base::m_extractedDataAreDirty;
-    using Base::m_isInitialized;
-    using Base::m_info;
-
-    void init()
-    {
-      Base::init();
-      
-      ilu_set_default_options(&m_sluOptions);
-      m_sluOptions.PrintStat        = NO;
-      m_sluOptions.ConditionNumber  = NO;
-      m_sluOptions.Trans            = NOTRANS;
-      m_sluOptions.ColPerm          = MMD_AT_PLUS_A;
-      
-      // no attempt to preserve column sum
-      m_sluOptions.ILU_MILU = SILU;
-      // only basic ILU(k) support -- no direct control over memory consumption
-      // better to use ILU_DropRule = DROP_BASIC | DROP_AREA
-      // and set ILU_FillFactor to max memory growth
-      m_sluOptions.ILU_DropRule = DROP_BASIC;
-      m_sluOptions.ILU_DropTol = NumTraits<Scalar>::dummy_precision()*10;
-    }
-    
-  private:
-    SuperILU(SuperILU& ) { }
-};
-
-template<typename MatrixType>
-void SuperILU<MatrixType>::factorize(const MatrixType& a)
-{
-  eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
-  if(!m_analysisIsOk)
-  {
-    m_info = InvalidInput;
-    return;
-  }
-  
-  this->initFactorization(a);
-
-  int info = 0;
-  RealScalar recip_pivot_growth, rcond;
-
-  StatInit(&m_sluStat);
-  SuperLU_gsisx(&m_sluOptions, &m_sluA, m_q.data(), m_p.data(), &m_sluEtree[0],
-                &m_sluEqued, &m_sluRscale[0], &m_sluCscale[0],
-                &m_sluL, &m_sluU,
-                NULL, 0,
-                &m_sluB, &m_sluX,
-                &recip_pivot_growth, &rcond,
-                &m_sluStat, &info, Scalar());
-  StatFree(&m_sluStat);
-
-  // FIXME how to better check for errors ???
-  m_info = info == 0 ? Success : NumericalIssue;
-  m_factorizationIsOk = true;
-}
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename MatrixType>
-template<typename Rhs,typename Dest>
-void SuperILU<MatrixType>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
-{
-  eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
-
-  const int size = m_matrix.rows();
-  const int rhsCols = b.cols();
-  eigen_assert(size==b.rows());
-
-  m_sluOptions.Trans = NOTRANS;
-  m_sluOptions.Fact = FACTORED;
-  m_sluOptions.IterRefine = NOREFINE;
-
-  m_sluFerr.resize(rhsCols);
-  m_sluBerr.resize(rhsCols);
-  
-  Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b);
-  Ref<const Matrix<typename Dest::Scalar,Dynamic,Dynamic,ColMajor> > x_ref(x);
-  
-  m_sluB = SluMatrix::Map(b_ref.const_cast_derived());
-  m_sluX = SluMatrix::Map(x_ref.const_cast_derived());
-
-  typename Rhs::PlainObject b_cpy;
-  if(m_sluEqued!='N')
-  {
-    b_cpy = b;
-    m_sluB = SluMatrix::Map(b_cpy.const_cast_derived());  
-  }
-  
-  int info = 0;
-  RealScalar recip_pivot_growth, rcond;
-
-  StatInit(&m_sluStat);
-  SuperLU_gsisx(&m_sluOptions, &m_sluA,
-                m_q.data(), m_p.data(),
-                &m_sluEtree[0], &m_sluEqued,
-                &m_sluRscale[0], &m_sluCscale[0],
-                &m_sluL, &m_sluU,
-                NULL, 0,
-                &m_sluB, &m_sluX,
-                &recip_pivot_growth, &rcond,
-                &m_sluStat, &info, Scalar());
-  StatFree(&m_sluStat);
-  
-  if(x.derived().data() != x_ref.data())
-    x = x_ref;
-
-  m_info = info==0 ? Success : NumericalIssue;
-}
-#endif
-
-#endif
-
-} // end namespace Eigen
-
-#endif // EIGEN_SUPERLUSUPPORT_H
diff --git a/phonelibs/eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h b/phonelibs/eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h
deleted file mode 100644
index dc74de935d2c89..00000000000000
--- a/phonelibs/eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h
+++ /dev/null
@@ -1,457 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_UMFPACKSUPPORT_H
-#define EIGEN_UMFPACKSUPPORT_H
-
-namespace Eigen { 
-
-/* TODO extract L, extract U, compute det, etc... */
-
-// generic double/complex<double> wrapper functions:
-
-
-inline void umfpack_defaults(double control[UMFPACK_CONTROL], double) 
-{ umfpack_di_defaults(control); }
-
-inline void umfpack_defaults(double control[UMFPACK_CONTROL], std::complex<double>) 
-{ umfpack_zi_defaults(control); }
-
-inline void umfpack_free_numeric(void **Numeric, double)
-{ umfpack_di_free_numeric(Numeric); *Numeric = 0; }
-
-inline void umfpack_free_numeric(void **Numeric, std::complex<double>)
-{ umfpack_zi_free_numeric(Numeric); *Numeric = 0; }
-
-inline void umfpack_free_symbolic(void **Symbolic, double)
-{ umfpack_di_free_symbolic(Symbolic); *Symbolic = 0; }
-
-inline void umfpack_free_symbolic(void **Symbolic, std::complex<double>)
-{ umfpack_zi_free_symbolic(Symbolic); *Symbolic = 0; }
-
-inline int umfpack_symbolic(int n_row,int n_col,
-                            const int Ap[], const int Ai[], const double Ax[], void **Symbolic,
-                            const double Control [UMFPACK_CONTROL], double Info [UMFPACK_INFO])
-{
-  return umfpack_di_symbolic(n_row,n_col,Ap,Ai,Ax,Symbolic,Control,Info);
-}
-
-inline int umfpack_symbolic(int n_row,int n_col,
-                            const int Ap[], const int Ai[], const std::complex<double> Ax[], void **Symbolic,
-                            const double Control [UMFPACK_CONTROL], double Info [UMFPACK_INFO])
-{
-  return umfpack_zi_symbolic(n_row,n_col,Ap,Ai,&numext::real_ref(Ax[0]),0,Symbolic,Control,Info);
-}
-
-inline int umfpack_numeric( const int Ap[], const int Ai[], const double Ax[],
-                            void *Symbolic, void **Numeric,
-                            const double Control[UMFPACK_CONTROL],double Info [UMFPACK_INFO])
-{
-  return umfpack_di_numeric(Ap,Ai,Ax,Symbolic,Numeric,Control,Info);
-}
-
-inline int umfpack_numeric( const int Ap[], const int Ai[], const std::complex<double> Ax[],
-                            void *Symbolic, void **Numeric,
-                            const double Control[UMFPACK_CONTROL],double Info [UMFPACK_INFO])
-{
-  return umfpack_zi_numeric(Ap,Ai,&numext::real_ref(Ax[0]),0,Symbolic,Numeric,Control,Info);
-}
-
-inline int umfpack_solve( int sys, const int Ap[], const int Ai[], const double Ax[],
-                          double X[], const double B[], void *Numeric,
-                          const double Control[UMFPACK_CONTROL], double Info[UMFPACK_INFO])
-{
-  return umfpack_di_solve(sys,Ap,Ai,Ax,X,B,Numeric,Control,Info);
-}
-
-inline int umfpack_solve( int sys, const int Ap[], const int Ai[], const std::complex<double> Ax[],
-                          std::complex<double> X[], const std::complex<double> B[], void *Numeric,
-                          const double Control[UMFPACK_CONTROL], double Info[UMFPACK_INFO])
-{
-  return umfpack_zi_solve(sys,Ap,Ai,&numext::real_ref(Ax[0]),0,&numext::real_ref(X[0]),0,&numext::real_ref(B[0]),0,Numeric,Control,Info);
-}
-
-inline int umfpack_get_lunz(int *lnz, int *unz, int *n_row, int *n_col, int *nz_udiag, void *Numeric, double)
-{
-  return umfpack_di_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric);
-}
-
-inline int umfpack_get_lunz(int *lnz, int *unz, int *n_row, int *n_col, int *nz_udiag, void *Numeric, std::complex<double>)
-{
-  return umfpack_zi_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric);
-}
-
-inline int umfpack_get_numeric(int Lp[], int Lj[], double Lx[], int Up[], int Ui[], double Ux[],
-                               int P[], int Q[], double Dx[], int *do_recip, double Rs[], void *Numeric)
-{
-  return umfpack_di_get_numeric(Lp,Lj,Lx,Up,Ui,Ux,P,Q,Dx,do_recip,Rs,Numeric);
-}
-
-inline int umfpack_get_numeric(int Lp[], int Lj[], std::complex<double> Lx[], int Up[], int Ui[], std::complex<double> Ux[],
-                               int P[], int Q[], std::complex<double> Dx[], int *do_recip, double Rs[], void *Numeric)
-{
-  double& lx0_real = numext::real_ref(Lx[0]);
-  double& ux0_real = numext::real_ref(Ux[0]);
-  double& dx0_real = numext::real_ref(Dx[0]);
-  return umfpack_zi_get_numeric(Lp,Lj,Lx?&lx0_real:0,0,Up,Ui,Ux?&ux0_real:0,0,P,Q,
-                                Dx?&dx0_real:0,0,do_recip,Rs,Numeric);
-}
-
-inline int umfpack_get_determinant(double *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO])
-{
-  return umfpack_di_get_determinant(Mx,Ex,NumericHandle,User_Info);
-}
-
-inline int umfpack_get_determinant(std::complex<double> *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO])
-{
-  double& mx_real = numext::real_ref(*Mx);
-  return umfpack_zi_get_determinant(&mx_real,0,Ex,NumericHandle,User_Info);
-}
-
-
-/** \ingroup UmfPackSupport_Module
-  * \brief A sparse LU factorization and solver based on UmfPack
-  *
-  * This class allows to solve for A.X = B sparse linear problems via a LU factorization
-  * using the UmfPack library. The sparse matrix A must be squared and full rank.
-  * The vectors or matrices X and B can be either dense or sparse.
-  *
-  * \warning The input matrix A should be in a \b compressed and \b column-major form.
-  * Otherwise an expensive copy will be made. You can call the inexpensive makeCompressed() to get a compressed matrix.
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  *
-  * \implsparsesolverconcept
-  *
-  * \sa \ref TutorialSparseSolverConcept, class SparseLU
-  */
-template<typename _MatrixType>
-class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
-{
-  protected:
-    typedef SparseSolverBase<UmfPackLU<_MatrixType> > Base;
-    using Base::m_isInitialized;
-  public:
-    using Base::_solve_impl;
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
-    typedef SparseMatrix<Scalar> LUMatrixType;
-    typedef SparseMatrix<Scalar,ColMajor,int> UmfpackMatrixType;
-    typedef Ref<const UmfpackMatrixType, StandardCompressedFormat> UmfpackMatrixRef;
-    enum {
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-
-  public:
-
-    typedef Array<double, UMFPACK_CONTROL, 1> UmfpackControl;
-
-    UmfPackLU()
-      : m_dummy(0,0), mp_matrix(m_dummy)
-    {
-      init();
-    }
-
-    template<typename InputMatrixType>
-    explicit UmfPackLU(const InputMatrixType& matrix)
-      : mp_matrix(matrix)
-    {
-      init();
-      compute(matrix);
-    }
-
-    ~UmfPackLU()
-    {
-      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
-      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
-    }
-
-    inline Index rows() const { return mp_matrix.rows(); }
-    inline Index cols() const { return mp_matrix.cols(); }
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix.appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-
-    inline const LUMatrixType& matrixL() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_l;
-    }
-
-    inline const LUMatrixType& matrixU() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_u;
-    }
-
-    inline const IntColVectorType& permutationP() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_p;
-    }
-
-    inline const IntRowVectorType& permutationQ() const
-    {
-      if (m_extractedDataAreDirty) extractData();
-      return m_q;
-    }
-
-    /** Computes the sparse Cholesky decomposition of \a matrix 
-     *  Note that the matrix should be column-major, and in compressed format for best performance.
-     *  \sa SparseMatrix::makeCompressed().
-     */
-    template<typename InputMatrixType>
-    void compute(const InputMatrixType& matrix)
-    {
-      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
-      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
-      grab(matrix.derived());
-      analyzePattern_impl();
-      factorize_impl();
-    }
-
-    /** Performs a symbolic decomposition on the sparcity of \a matrix.
-      *
-      * This function is particularly useful when solving for several problems having the same structure.
-      *
-      * \sa factorize(), compute()
-      */
-    template<typename InputMatrixType>
-    void analyzePattern(const InputMatrixType& matrix)
-    {
-      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
-      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
-      
-      grab(matrix.derived());
-
-      analyzePattern_impl();
-    }
-
-    /** Provides the return status code returned by UmfPack during the numeric
-      * factorization.
-      *
-      * \sa factorize(), compute()
-      */
-    inline int umfpackFactorizeReturncode() const
-    {
-      eigen_assert(m_numeric && "UmfPackLU: you must first call factorize()");
-      return m_fact_errorCode;
-    }
-
-    /** Provides access to the control settings array used by UmfPack.
-      *
-      * If this array contains NaN's, the default values are used.
-      *
-      * See UMFPACK documentation for details.
-      */
-    inline const UmfpackControl& umfpackControl() const
-    {
-      return m_control;
-    }
-    
-    /** Provides access to the control settings array used by UmfPack.
-      *
-      * If this array contains NaN's, the default values are used.
-      *
-      * See UMFPACK documentation for details.
-      */
-    inline UmfpackControl& umfpackControl()
-    {
-      return m_control;
-    }
-    
-    /** Performs a numeric decomposition of \a matrix
-      *
-      * The given matrix must has the same sparcity than the matrix on which the pattern anylysis has been performed.
-      *
-      * \sa analyzePattern(), compute()
-      */
-    template<typename InputMatrixType>
-    void factorize(const InputMatrixType& matrix)
-    {
-      eigen_assert(m_analysisIsOk && "UmfPackLU: you must first call analyzePattern()");
-      if(m_numeric)
-        umfpack_free_numeric(&m_numeric,Scalar());
-
-      grab(matrix.derived());
-      
-      factorize_impl();
-    }
-
-    /** \internal */
-    template<typename BDerived,typename XDerived>
-    bool _solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const;
-
-    Scalar determinant() const;
-
-    void extractData() const;
-
-  protected:
-
-    void init()
-    {
-      m_info                  = InvalidInput;
-      m_isInitialized         = false;
-      m_numeric               = 0;
-      m_symbolic              = 0;
-      m_extractedDataAreDirty = true;
-    }
-    
-    void analyzePattern_impl()
-    {
-      umfpack_defaults(m_control.data(), Scalar());
-      int errorCode = 0;
-      errorCode = umfpack_symbolic(internal::convert_index<int>(mp_matrix.rows()),
-                                   internal::convert_index<int>(mp_matrix.cols()),
-                                   mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
-                                   &m_symbolic, m_control.data(), 0);
-
-      m_isInitialized = true;
-      m_info = errorCode ? InvalidInput : Success;
-      m_analysisIsOk = true;
-      m_factorizationIsOk = false;
-      m_extractedDataAreDirty = true;
-    }
-    
-    void factorize_impl()
-    {
-      m_fact_errorCode = umfpack_numeric(mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
-                                         m_symbolic, &m_numeric, m_control.data(), 0);
-
-      m_info = m_fact_errorCode == UMFPACK_OK ? Success : NumericalIssue;
-      m_factorizationIsOk = true;
-      m_extractedDataAreDirty = true;
-    }
-    
-    template<typename MatrixDerived>
-    void grab(const EigenBase<MatrixDerived> &A)
-    {
-      mp_matrix.~UmfpackMatrixRef();
-      ::new (&mp_matrix) UmfpackMatrixRef(A.derived());
-    }
-    
-    void grab(const UmfpackMatrixRef &A)
-    {
-      if(&(A.derived()) != &mp_matrix)
-      {
-        mp_matrix.~UmfpackMatrixRef();
-        ::new (&mp_matrix) UmfpackMatrixRef(A);
-      }
-    }
-  
-    // cached data to reduce reallocation, etc.
-    mutable LUMatrixType m_l;
-    int m_fact_errorCode;
-    UmfpackControl m_control;
-    
-    mutable LUMatrixType m_u;
-    mutable IntColVectorType m_p;
-    mutable IntRowVectorType m_q;
-
-    UmfpackMatrixType m_dummy;
-    UmfpackMatrixRef mp_matrix;
-  
-    void* m_numeric;
-    void* m_symbolic;
-
-    mutable ComputationInfo m_info;
-    int m_factorizationIsOk;
-    int m_analysisIsOk;
-    mutable bool m_extractedDataAreDirty;
-    
-  private:
-    UmfPackLU(const UmfPackLU& ) { }
-};
-
-
-template<typename MatrixType>
-void UmfPackLU<MatrixType>::extractData() const
-{
-  if (m_extractedDataAreDirty)
-  {
-    // get size of the data
-    int lnz, unz, rows, cols, nz_udiag;
-    umfpack_get_lunz(&lnz, &unz, &rows, &cols, &nz_udiag, m_numeric, Scalar());
-
-    // allocate data
-    m_l.resize(rows,(std::min)(rows,cols));
-    m_l.resizeNonZeros(lnz);
-
-    m_u.resize((std::min)(rows,cols),cols);
-    m_u.resizeNonZeros(unz);
-
-    m_p.resize(rows);
-    m_q.resize(cols);
-
-    // extract
-    umfpack_get_numeric(m_l.outerIndexPtr(), m_l.innerIndexPtr(), m_l.valuePtr(),
-                        m_u.outerIndexPtr(), m_u.innerIndexPtr(), m_u.valuePtr(),
-                        m_p.data(), m_q.data(), 0, 0, 0, m_numeric);
-
-    m_extractedDataAreDirty = false;
-  }
-}
-
-template<typename MatrixType>
-typename UmfPackLU<MatrixType>::Scalar UmfPackLU<MatrixType>::determinant() const
-{
-  Scalar det;
-  umfpack_get_determinant(&det, 0, m_numeric, 0);
-  return det;
-}
-
-template<typename MatrixType>
-template<typename BDerived,typename XDerived>
-bool UmfPackLU<MatrixType>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const
-{
-  Index rhsCols = b.cols();
-  eigen_assert((BDerived::Flags&RowMajorBit)==0 && "UmfPackLU backend does not support non col-major rhs yet");
-  eigen_assert((XDerived::Flags&RowMajorBit)==0 && "UmfPackLU backend does not support non col-major result yet");
-  eigen_assert(b.derived().data() != x.derived().data() && " Umfpack does not support inplace solve");
-  
-  int errorCode;
-  Scalar* x_ptr = 0;
-  Matrix<Scalar,Dynamic,1> x_tmp;
-  if(x.innerStride()!=1)
-  {
-    x_tmp.resize(x.rows());
-    x_ptr = x_tmp.data();
-  }
-  for (int j=0; j<rhsCols; ++j)
-  {
-    if(x.innerStride()==1)
-      x_ptr = &x.col(j).coeffRef(0);
-    errorCode = umfpack_solve(UMFPACK_A,
-        mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
-        x_ptr, &b.const_cast_derived().col(j).coeffRef(0), m_numeric, m_control.data(), 0);
-    if(x.innerStride()!=1)
-      x.col(j) = x_tmp;
-    if (errorCode!=0)
-      return false;
-  }
-
-  return true;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_UMFPACKSUPPORT_H
diff --git a/phonelibs/eigen/Eigen/src/misc/Image.h b/phonelibs/eigen/Eigen/src/misc/Image.h
deleted file mode 100644
index b8b8a045529ab8..00000000000000
--- a/phonelibs/eigen/Eigen/src/misc/Image.h
+++ /dev/null
@@ -1,82 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MISC_IMAGE_H
-#define EIGEN_MISC_IMAGE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \class image_retval_base
-  *
-  */
-template<typename DecompositionType>
-struct traits<image_retval_base<DecompositionType> >
-{
-  typedef typename DecompositionType::MatrixType MatrixType;
-  typedef Matrix<
-    typename MatrixType::Scalar,
-    MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose
-                                   // dimension is the number of rows of the original matrix
-    Dynamic,                       // we don't know at compile time the dimension of the image (the rank)
-    MatrixType::Options,
-    MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
-    MatrixType::MaxColsAtCompileTime  // so it has the same number of rows and at most as many columns.
-  > ReturnType;
-};
-
-template<typename _DecompositionType> struct image_retval_base
- : public ReturnByValue<image_retval_base<_DecompositionType> >
-{
-  typedef _DecompositionType DecompositionType;
-  typedef typename DecompositionType::MatrixType MatrixType;
-  typedef ReturnByValue<image_retval_base> Base;
-
-  image_retval_base(const DecompositionType& dec, const MatrixType& originalMatrix)
-    : m_dec(dec), m_rank(dec.rank()),
-      m_cols(m_rank == 0 ? 1 : m_rank),
-      m_originalMatrix(originalMatrix)
-  {}
-
-  inline Index rows() const { return m_dec.rows(); }
-  inline Index cols() const { return m_cols; }
-  inline Index rank() const { return m_rank; }
-  inline const DecompositionType& dec() const { return m_dec; }
-  inline const MatrixType& originalMatrix() const { return m_originalMatrix; }
-
-  template<typename Dest> inline void evalTo(Dest& dst) const
-  {
-    static_cast<const image_retval<DecompositionType>*>(this)->evalTo(dst);
-  }
-
-  protected:
-    const DecompositionType& m_dec;
-    Index m_rank, m_cols;
-    const MatrixType& m_originalMatrix;
-};
-
-} // end namespace internal
-
-#define EIGEN_MAKE_IMAGE_HELPERS(DecompositionType) \
-  typedef typename DecompositionType::MatrixType MatrixType; \
-  typedef typename MatrixType::Scalar Scalar; \
-  typedef typename MatrixType::RealScalar RealScalar; \
-  typedef Eigen::internal::image_retval_base<DecompositionType> Base; \
-  using Base::dec; \
-  using Base::originalMatrix; \
-  using Base::rank; \
-  using Base::rows; \
-  using Base::cols; \
-  image_retval(const DecompositionType& dec, const MatrixType& originalMatrix) \
-    : Base(dec, originalMatrix) {}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MISC_IMAGE_H
diff --git a/phonelibs/eigen/Eigen/src/misc/Kernel.h b/phonelibs/eigen/Eigen/src/misc/Kernel.h
deleted file mode 100644
index bef5d6ff5830cf..00000000000000
--- a/phonelibs/eigen/Eigen/src/misc/Kernel.h
+++ /dev/null
@@ -1,79 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MISC_KERNEL_H
-#define EIGEN_MISC_KERNEL_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \class kernel_retval_base
-  *
-  */
-template<typename DecompositionType>
-struct traits<kernel_retval_base<DecompositionType> >
-{
-  typedef typename DecompositionType::MatrixType MatrixType;
-  typedef Matrix<
-    typename MatrixType::Scalar,
-    MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix"
-                                   // is the number of cols of the original matrix
-                                   // so that the product "matrix * kernel = zero" makes sense
-    Dynamic,                       // we don't know at compile-time the dimension of the kernel
-    MatrixType::Options,
-    MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
-    MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space,
-                                     // whose dimension is the number of columns of the original matrix
-  > ReturnType;
-};
-
-template<typename _DecompositionType> struct kernel_retval_base
- : public ReturnByValue<kernel_retval_base<_DecompositionType> >
-{
-  typedef _DecompositionType DecompositionType;
-  typedef ReturnByValue<kernel_retval_base> Base;
-
-  explicit kernel_retval_base(const DecompositionType& dec)
-    : m_dec(dec),
-      m_rank(dec.rank()),
-      m_cols(m_rank==dec.cols() ? 1 : dec.cols() - m_rank)
-  {}
-
-  inline Index rows() const { return m_dec.cols(); }
-  inline Index cols() const { return m_cols; }
-  inline Index rank() const { return m_rank; }
-  inline const DecompositionType& dec() const { return m_dec; }
-
-  template<typename Dest> inline void evalTo(Dest& dst) const
-  {
-    static_cast<const kernel_retval<DecompositionType>*>(this)->evalTo(dst);
-  }
-
-  protected:
-    const DecompositionType& m_dec;
-    Index m_rank, m_cols;
-};
-
-} // end namespace internal
-
-#define EIGEN_MAKE_KERNEL_HELPERS(DecompositionType) \
-  typedef typename DecompositionType::MatrixType MatrixType; \
-  typedef typename MatrixType::Scalar Scalar; \
-  typedef typename MatrixType::RealScalar RealScalar; \
-  typedef Eigen::internal::kernel_retval_base<DecompositionType> Base; \
-  using Base::dec; \
-  using Base::rank; \
-  using Base::rows; \
-  using Base::cols; \
-  kernel_retval(const DecompositionType& dec) : Base(dec) {}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MISC_KERNEL_H
diff --git a/phonelibs/eigen/Eigen/src/misc/RealSvd2x2.h b/phonelibs/eigen/Eigen/src/misc/RealSvd2x2.h
deleted file mode 100644
index abb4d3c2fc7264..00000000000000
--- a/phonelibs/eigen/Eigen/src/misc/RealSvd2x2.h
+++ /dev/null
@@ -1,55 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2013-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_REALSVD2X2_H
-#define EIGEN_REALSVD2X2_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename MatrixType, typename RealScalar, typename Index>
-void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
-                         JacobiRotation<RealScalar> *j_left,
-                         JacobiRotation<RealScalar> *j_right)
-{
-  using std::sqrt;
-  using std::abs;
-  Matrix<RealScalar,2,2> m;
-  m << numext::real(matrix.coeff(p,p)), numext::real(matrix.coeff(p,q)),
-       numext::real(matrix.coeff(q,p)), numext::real(matrix.coeff(q,q));
-  JacobiRotation<RealScalar> rot1;
-  RealScalar t = m.coeff(0,0) + m.coeff(1,1);
-  RealScalar d = m.coeff(1,0) - m.coeff(0,1);
-
-  if(abs(d) < (std::numeric_limits<RealScalar>::min)())
-  {
-    rot1.s() = RealScalar(0);
-    rot1.c() = RealScalar(1);
-  }
-  else
-  {
-    // If d!=0, then t/d cannot overflow because the magnitude of the
-    // entries forming d are not too small compared to the ones forming t.
-    RealScalar u = t / d;
-    RealScalar tmp = sqrt(RealScalar(1) + numext::abs2(u));
-    rot1.s() = RealScalar(1) / tmp;
-    rot1.c() = u / tmp;
-  }
-  m.applyOnTheLeft(0,1,rot1);
-  j_right->makeJacobi(m,0,1);
-  *j_left = rot1 * j_right->transpose();
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_REALSVD2X2_H
diff --git a/phonelibs/eigen/Eigen/src/misc/blas.h b/phonelibs/eigen/Eigen/src/misc/blas.h
deleted file mode 100644
index 25215b15e8af7d..00000000000000
--- a/phonelibs/eigen/Eigen/src/misc/blas.h
+++ /dev/null
@@ -1,440 +0,0 @@
-#ifndef BLAS_H
-#define BLAS_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#define BLASFUNC(FUNC) FUNC##_
-
-#ifdef __WIN64__
-typedef long long BLASLONG;
-typedef unsigned long long BLASULONG;
-#else
-typedef long BLASLONG;
-typedef unsigned long BLASULONG;
-#endif
-
-int    BLASFUNC(xerbla)(const char *, int *info, int);
-
-float  BLASFUNC(sdot)  (int *, float  *, int *, float  *, int *);
-float  BLASFUNC(sdsdot)(int *, float  *,        float  *, int *, float  *, int *);
-
-double BLASFUNC(dsdot) (int *, float  *, int *, float  *, int *);
-double BLASFUNC(ddot)  (int *, double *, int *, double *, int *);
-double BLASFUNC(qdot)  (int *, double *, int *, double *, int *);
-
-int  BLASFUNC(cdotuw)  (int *, float  *, int *, float  *, int *, float*);
-int  BLASFUNC(cdotcw)  (int *, float  *, int *, float  *, int *, float*);
-int  BLASFUNC(zdotuw)  (int *, double  *, int *, double  *, int *, double*);
-int  BLASFUNC(zdotcw)  (int *, double  *, int *, double  *, int *, double*);
-
-int    BLASFUNC(saxpy) (const int *, const float  *, const float  *, const int *, float  *, const int *);
-int    BLASFUNC(daxpy) (const int *, const double *, const double *, const int *, double *, const int *);
-int    BLASFUNC(qaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
-int    BLASFUNC(caxpy) (const int *, const float  *, const float  *, const int *, float  *, const int *);
-int    BLASFUNC(zaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
-int    BLASFUNC(xaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
-int    BLASFUNC(caxpyc)(const int *, const float  *, const float  *, const int *, float  *, const int *);
-int    BLASFUNC(zaxpyc)(const int *, const double *, const double *, const int *, double *, const int *);
-int    BLASFUNC(xaxpyc)(const int *, const double *, const double *, const int *, double *, const int *);
-
-int    BLASFUNC(scopy) (int *, float  *, int *, float  *, int *);
-int    BLASFUNC(dcopy) (int *, double *, int *, double *, int *);
-int    BLASFUNC(qcopy) (int *, double *, int *, double *, int *);
-int    BLASFUNC(ccopy) (int *, float  *, int *, float  *, int *);
-int    BLASFUNC(zcopy) (int *, double *, int *, double *, int *);
-int    BLASFUNC(xcopy) (int *, double *, int *, double *, int *);
-
-int    BLASFUNC(sswap) (int *, float  *, int *, float  *, int *);
-int    BLASFUNC(dswap) (int *, double *, int *, double *, int *);
-int    BLASFUNC(qswap) (int *, double *, int *, double *, int *);
-int    BLASFUNC(cswap) (int *, float  *, int *, float  *, int *);
-int    BLASFUNC(zswap) (int *, double *, int *, double *, int *);
-int    BLASFUNC(xswap) (int *, double *, int *, double *, int *);
-
-float  BLASFUNC(sasum) (int *, float  *, int *);
-float  BLASFUNC(scasum)(int *, float  *, int *);
-double BLASFUNC(dasum) (int *, double *, int *);
-double BLASFUNC(qasum) (int *, double *, int *);
-double BLASFUNC(dzasum)(int *, double *, int *);
-double BLASFUNC(qxasum)(int *, double *, int *);
-
-int    BLASFUNC(isamax)(int *, float  *, int *);
-int    BLASFUNC(idamax)(int *, double *, int *);
-int    BLASFUNC(iqamax)(int *, double *, int *);
-int    BLASFUNC(icamax)(int *, float  *, int *);
-int    BLASFUNC(izamax)(int *, double *, int *);
-int    BLASFUNC(ixamax)(int *, double *, int *);
-
-int    BLASFUNC(ismax) (int *, float  *, int *);
-int    BLASFUNC(idmax) (int *, double *, int *);
-int    BLASFUNC(iqmax) (int *, double *, int *);
-int    BLASFUNC(icmax) (int *, float  *, int *);
-int    BLASFUNC(izmax) (int *, double *, int *);
-int    BLASFUNC(ixmax) (int *, double *, int *);
-
-int    BLASFUNC(isamin)(int *, float  *, int *);
-int    BLASFUNC(idamin)(int *, double *, int *);
-int    BLASFUNC(iqamin)(int *, double *, int *);
-int    BLASFUNC(icamin)(int *, float  *, int *);
-int    BLASFUNC(izamin)(int *, double *, int *);
-int    BLASFUNC(ixamin)(int *, double *, int *);
-
-int    BLASFUNC(ismin)(int *, float  *, int *);
-int    BLASFUNC(idmin)(int *, double *, int *);
-int    BLASFUNC(iqmin)(int *, double *, int *);
-int    BLASFUNC(icmin)(int *, float  *, int *);
-int    BLASFUNC(izmin)(int *, double *, int *);
-int    BLASFUNC(ixmin)(int *, double *, int *);
-
-float  BLASFUNC(samax) (int *, float  *, int *);
-double BLASFUNC(damax) (int *, double *, int *);
-double BLASFUNC(qamax) (int *, double *, int *);
-float  BLASFUNC(scamax)(int *, float  *, int *);
-double BLASFUNC(dzamax)(int *, double *, int *);
-double BLASFUNC(qxamax)(int *, double *, int *);
-
-float  BLASFUNC(samin) (int *, float  *, int *);
-double BLASFUNC(damin) (int *, double *, int *);
-double BLASFUNC(qamin) (int *, double *, int *);
-float  BLASFUNC(scamin)(int *, float  *, int *);
-double BLASFUNC(dzamin)(int *, double *, int *);
-double BLASFUNC(qxamin)(int *, double *, int *);
-
-float  BLASFUNC(smax)  (int *, float  *, int *);
-double BLASFUNC(dmax)  (int *, double *, int *);
-double BLASFUNC(qmax)  (int *, double *, int *);
-float  BLASFUNC(scmax) (int *, float  *, int *);
-double BLASFUNC(dzmax) (int *, double *, int *);
-double BLASFUNC(qxmax) (int *, double *, int *);
-
-float  BLASFUNC(smin)  (int *, float  *, int *);
-double BLASFUNC(dmin)  (int *, double *, int *);
-double BLASFUNC(qmin)  (int *, double *, int *);
-float  BLASFUNC(scmin) (int *, float  *, int *);
-double BLASFUNC(dzmin) (int *, double *, int *);
-double BLASFUNC(qxmin) (int *, double *, int *);
-
-int    BLASFUNC(sscal) (int *,  float  *, float  *, int *);
-int    BLASFUNC(dscal) (int *,  double *, double *, int *);
-int    BLASFUNC(qscal) (int *,  double *, double *, int *);
-int    BLASFUNC(cscal) (int *,  float  *, float  *, int *);
-int    BLASFUNC(zscal) (int *,  double *, double *, int *);
-int    BLASFUNC(xscal) (int *,  double *, double *, int *);
-int    BLASFUNC(csscal)(int *,  float  *, float  *, int *);
-int    BLASFUNC(zdscal)(int *,  double *, double *, int *);
-int    BLASFUNC(xqscal)(int *,  double *, double *, int *);
-
-float  BLASFUNC(snrm2) (int *, float  *, int *);
-float  BLASFUNC(scnrm2)(int *, float  *, int *);
-
-double BLASFUNC(dnrm2) (int *, double *, int *);
-double BLASFUNC(qnrm2) (int *, double *, int *);
-double BLASFUNC(dznrm2)(int *, double *, int *);
-double BLASFUNC(qxnrm2)(int *, double *, int *);
-
-int    BLASFUNC(srot)  (int *, float  *, int *, float  *, int *, float  *, float  *);
-int    BLASFUNC(drot)  (int *, double *, int *, double *, int *, double *, double *);
-int    BLASFUNC(qrot)  (int *, double *, int *, double *, int *, double *, double *);
-int    BLASFUNC(csrot) (int *, float  *, int *, float  *, int *, float  *, float  *);
-int    BLASFUNC(zdrot) (int *, double *, int *, double *, int *, double *, double *);
-int    BLASFUNC(xqrot) (int *, double *, int *, double *, int *, double *, double *);
-
-int    BLASFUNC(srotg) (float  *, float  *, float  *, float  *);
-int    BLASFUNC(drotg) (double *, double *, double *, double *);
-int    BLASFUNC(qrotg) (double *, double *, double *, double *);
-int    BLASFUNC(crotg) (float  *, float  *, float  *, float  *);
-int    BLASFUNC(zrotg) (double *, double *, double *, double *);
-int    BLASFUNC(xrotg) (double *, double *, double *, double *);
-
-int    BLASFUNC(srotmg)(float  *, float  *, float  *, float  *, float  *);
-int    BLASFUNC(drotmg)(double *, double *, double *, double *, double *);
-
-int    BLASFUNC(srotm) (int *, float  *, int *, float  *, int *, float  *);
-int    BLASFUNC(drotm) (int *, double *, int *, double *, int *, double *);
-int    BLASFUNC(qrotm) (int *, double *, int *, double *, int *, double *);
-
-/* Level 2 routines */
-
-int BLASFUNC(sger)(int *,    int *, float *,  float *, int *,
-		   float *,  int *, float *,  int *);
-int BLASFUNC(dger)(int *,    int *, double *, double *, int *,
-		   double *, int *, double *, int *);
-int BLASFUNC(qger)(int *,    int *, double *, double *, int *,
-		   double *, int *, double *, int *);
-int BLASFUNC(cgeru)(int *,    int *, float *,  float *, int *,
-		    float *,  int *, float *,  int *);
-int BLASFUNC(cgerc)(int *,    int *, float *,  float *, int *,
-		    float *,  int *, float *,  int *);
-int BLASFUNC(zgeru)(int *,    int *, double *, double *, int *,
-		    double *, int *, double *, int *);
-int BLASFUNC(zgerc)(int *,    int *, double *, double *, int *,
-		    double *, int *, double *, int *);
-int BLASFUNC(xgeru)(int *,    int *, double *, double *, int *,
-		    double *, int *, double *, int *);
-int BLASFUNC(xgerc)(int *,    int *, double *, double *, int *,
-		    double *, int *, double *, int *);
-
-int BLASFUNC(sgemv)(const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(dgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(qgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(cgemv)(const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-
-int BLASFUNC(strsv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
-int BLASFUNC(dtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(qtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(ctrsv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
-int BLASFUNC(ztrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(xtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
-
-int BLASFUNC(stpsv) (char *, char *, char *, int *, float  *, float  *, int *);
-int BLASFUNC(dtpsv) (char *, char *, char *, int *, double *, double *, int *);
-int BLASFUNC(qtpsv) (char *, char *, char *, int *, double *, double *, int *);
-int BLASFUNC(ctpsv) (char *, char *, char *, int *, float  *, float  *, int *);
-int BLASFUNC(ztpsv) (char *, char *, char *, int *, double *, double *, int *);
-int BLASFUNC(xtpsv) (char *, char *, char *, int *, double *, double *, int *);
-
-int BLASFUNC(strmv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
-int BLASFUNC(dtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(qtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(ctrmv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
-int BLASFUNC(ztrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(xtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
-
-int BLASFUNC(stpmv) (char *, char *, char *, int *, float  *, float  *, int *);
-int BLASFUNC(dtpmv) (char *, char *, char *, int *, double *, double *, int *);
-int BLASFUNC(qtpmv) (char *, char *, char *, int *, double *, double *, int *);
-int BLASFUNC(ctpmv) (char *, char *, char *, int *, float  *, float  *, int *);
-int BLASFUNC(ztpmv) (char *, char *, char *, int *, double *, double *, int *);
-int BLASFUNC(xtpmv) (char *, char *, char *, int *, double *, double *, int *);
-
-int BLASFUNC(stbmv) (char *, char *, char *, int *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(dtbmv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
-int BLASFUNC(qtbmv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
-int BLASFUNC(ctbmv) (char *, char *, char *, int *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(ztbmv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
-int BLASFUNC(xtbmv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
-
-int BLASFUNC(stbsv) (char *, char *, char *, int *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(dtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
-int BLASFUNC(qtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
-int BLASFUNC(ctbsv) (char *, char *, char *, int *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(ztbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
-int BLASFUNC(xtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
-
-int BLASFUNC(ssymv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(dsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(qsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-
-int BLASFUNC(sspmv) (char *, int *, float  *, float *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(dspmv) (char *, int *, double  *, double *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(qspmv) (char *, int *, double  *, double *,
-		     double  *, int *, double *, double *, int *);
-
-int BLASFUNC(ssyr) (const char *, const int *, const float   *, const float  *, const int *, float  *, const int *);
-int BLASFUNC(dsyr) (const char *, const int *, const double  *, const double *, const int *, double *, const int *);
-int BLASFUNC(qsyr) (const char *, const int *, const double  *, const double *, const int *, double *, const int *);
-
-int BLASFUNC(ssyr2) (const char *, const int *, const float   *, const float  *, const int *, const float  *, const int *, float  *, const int *);
-int BLASFUNC(dsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(qsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(csyr2) (const char *, const int *, const float   *, const float  *, const int *, const float  *, const int *, float  *, const int *);
-int BLASFUNC(zsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
-int BLASFUNC(xsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
-
-int BLASFUNC(sspr) (char *, int *, float   *, float  *, int *,
-		    float  *);
-int BLASFUNC(dspr) (char *, int *, double  *, double *, int *,
-		    double *);
-int BLASFUNC(qspr) (char *, int *, double  *, double *, int *,
-		    double *);
-
-int BLASFUNC(sspr2) (char *, int *, float   *,
-		     float  *, int *, float  *, int *, float  *);
-int BLASFUNC(dspr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *);
-int BLASFUNC(qspr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *);
-int BLASFUNC(cspr2) (char *, int *, float   *,
-		     float  *, int *, float  *, int *, float  *);
-int BLASFUNC(zspr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *);
-int BLASFUNC(xspr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *);
-
-int BLASFUNC(cher) (char *, int *, float   *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(zher) (char *, int *, double  *, double *, int *,
-		    double *, int *);
-int BLASFUNC(xher) (char *, int *, double  *, double *, int *,
-		    double *, int *);
-
-int BLASFUNC(chpr) (char *, int *, float   *, float  *, int *, float  *);
-int BLASFUNC(zhpr) (char *, int *, double  *, double *, int *, double *);
-int BLASFUNC(xhpr) (char *, int *, double  *, double *, int *, double *);
-
-int BLASFUNC(cher2) (char *, int *, float   *,
-		     float  *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(zher2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
-int BLASFUNC(xher2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
-
-int BLASFUNC(chpr2) (char *, int *, float   *,
-		     float  *, int *, float  *, int *, float  *);
-int BLASFUNC(zhpr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *);
-int BLASFUNC(xhpr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *);
-
-int BLASFUNC(chemv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zhemv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xhemv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-
-int BLASFUNC(chpmv) (char *, int *, float  *, float *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(zhpmv) (char *, int *, double  *, double *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(xhpmv) (char *, int *, double  *, double *,
-		     double  *, int *, double *, double *, int *);
-
-int BLASFUNC(snorm)(char *, int *, int *, float  *, int *);
-int BLASFUNC(dnorm)(char *, int *, int *, double *, int *);
-int BLASFUNC(cnorm)(char *, int *, int *, float  *, int *);
-int BLASFUNC(znorm)(char *, int *, int *, double *, int *);
-
-int BLASFUNC(sgbmv)(char *, int *, int *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(dgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(qgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(cgbmv)(char *, int *, int *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(xgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-
-int BLASFUNC(ssbmv)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(dsbmv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(qsbmv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(csbmv)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zsbmv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(xsbmv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-
-int BLASFUNC(chbmv)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zhbmv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(xhbmv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-
-/* Level 3 routines */
-
-int BLASFUNC(sgemm)(const char *, const char *, const int *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(dgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(qgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(cgemm)(const char *, const char *, const int *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-
-int BLASFUNC(cgemm3m)(char *, char *, int *, int *, int *, float *,
-	   float  *, int *, float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zgemm3m)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
-int BLASFUNC(xgemm3m)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
-
-int BLASFUNC(sge2mm)(char *, char *, char *, int *, int *,
-		     float *, float  *, int *, float  *, int *,
-		     float *, float  *, int *);
-int BLASFUNC(dge2mm)(char *, char *, char *, int *, int *,
-		     double *, double  *, int *, double  *, int *,
-		     double *, double  *, int *);
-int BLASFUNC(cge2mm)(char *, char *, char *, int *, int *,
-		     float *, float  *, int *, float  *, int *,
-		     float *, float  *, int *);
-int BLASFUNC(zge2mm)(char *, char *, char *, int *, int *,
-		     double *, double  *, int *, double  *, int *,
-		     double *, double  *, int *);
-
-int BLASFUNC(strsm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
-int BLASFUNC(dtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
-int BLASFUNC(qtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
-int BLASFUNC(ctrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
-int BLASFUNC(ztrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
-int BLASFUNC(xtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
-
-int BLASFUNC(strmm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
-int BLASFUNC(dtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
-int BLASFUNC(qtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
-int BLASFUNC(ctrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
-int BLASFUNC(ztrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
-int BLASFUNC(xtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
-
-int BLASFUNC(ssymm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(dsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(qsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(csymm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-
-int BLASFUNC(csymm3m)(char *, char *, int *, int *, float  *, float  *, int *, float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zsymm3m)(char *, char *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
-int BLASFUNC(xsymm3m)(char *, char *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
-
-int BLASFUNC(ssyrk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(dsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(qsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(csyrk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
-
-int BLASFUNC(ssyr2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(dsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
-int BLASFUNC(qsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
-int BLASFUNC(csyr2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
-int BLASFUNC(xsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
-
-int BLASFUNC(chemm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zhemm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xhemm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-
-int BLASFUNC(chemm3m)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zhemm3m)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(xhemm3m)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-
-int BLASFUNC(cherk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zherk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xherk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
-
-int BLASFUNC(cher2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zher2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xher2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(cher2m)(const char *, const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zher2m)(const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
-int BLASFUNC(xher2m)(const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/misc/lapack.h b/phonelibs/eigen/Eigen/src/misc/lapack.h
deleted file mode 100644
index 249f3575c6dd91..00000000000000
--- a/phonelibs/eigen/Eigen/src/misc/lapack.h
+++ /dev/null
@@ -1,152 +0,0 @@
-#ifndef LAPACK_H
-#define LAPACK_H
-
-#include "blas.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-int BLASFUNC(csymv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
-int BLASFUNC(zsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-int BLASFUNC(xsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
-
-
-int BLASFUNC(cspmv) (char *, int *, float  *, float *,
-         float  *, int *, float *, float *, int *);
-int BLASFUNC(zspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
-int BLASFUNC(xspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
-
-int BLASFUNC(csyr) (char *, int *, float   *, float  *, int *,
-        float  *, int *);
-int BLASFUNC(zsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
-int BLASFUNC(xsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
-
-int BLASFUNC(cspr) (char *, int *, float   *, float  *, int *,
-        float  *);
-int BLASFUNC(zspr) (char *, int *, double  *, double *, int *,
-        double *);
-int BLASFUNC(xspr) (char *, int *, double  *, double *, int *,
-        double *);
-
-int BLASFUNC(sgemt)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *);
-int BLASFUNC(dgemt)(char *, int *, int *, double *, double *, int *,
-        double *, int *);
-int BLASFUNC(cgemt)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *);
-int BLASFUNC(zgemt)(char *, int *, int *, double *, double *, int *,
-        double *, int *);
-
-int BLASFUNC(sgema)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(dgema)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
-int BLASFUNC(cgema)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(zgema)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
-
-int BLASFUNC(sgems)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(dgems)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
-int BLASFUNC(cgems)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(zgems)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
-
-int BLASFUNC(sgetf2)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(dgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(qgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(cgetf2)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(zgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(xgetf2)(int *, int *, double *, int *, int *, int *);
-
-int BLASFUNC(sgetrf)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(dgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(qgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(cgetrf)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(zgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(xgetrf)(int *, int *, double *, int *, int *, int *);
-
-int BLASFUNC(slaswp)(int *, float  *, int *, int *, int *, int *, int *);
-int BLASFUNC(dlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(qlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(claswp)(int *, float  *, int *, int *, int *, int *, int *);
-int BLASFUNC(zlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(xlaswp)(int *, double *, int *, int *, int *, int *, int *);
-
-int BLASFUNC(sgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
-int BLASFUNC(dgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(qgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(cgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
-int BLASFUNC(zgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(xgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-
-int BLASFUNC(sgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
-int BLASFUNC(dgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(qgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(cgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
-int BLASFUNC(zgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(xgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-
-int BLASFUNC(spotf2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotf2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotf2)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(spotrf)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotrf)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotrf)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(slauu2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(qlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(clauu2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(xlauu2)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(slauum)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(qlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(clauum)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(xlauum)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(strti2)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(dtrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(qtrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(ctrti2)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(ztrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(xtrti2)(char *, char *, int *, double *, int *, int *);
-
-int BLASFUNC(strtri)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(dtrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(qtrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(ctrtri)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(ztrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(xtrtri)(char *, char *, int *, double *, int *, int *);
-
-int BLASFUNC(spotri)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotri)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotri)(char *, int *, double *, int *, int *);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/phonelibs/eigen/Eigen/src/misc/lapacke.h b/phonelibs/eigen/Eigen/src/misc/lapacke.h
deleted file mode 100755
index 8c7e79b034c71d..00000000000000
--- a/phonelibs/eigen/Eigen/src/misc/lapacke.h
+++ /dev/null
@@ -1,16291 +0,0 @@
-/*****************************************************************************
-  Copyright (c) 2010, Intel Corp.
-  All rights reserved.
-
-  Redistribution and use in source and binary forms, with or without
-  modification, are permitted provided that the following conditions are met:
-
-    * Redistributions of source code must retain the above copyright notice,
-      this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of Intel Corporation nor the names of its contributors
-      may be used to endorse or promote products derived from this software
-      without specific prior written permission.
-
-  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
-  THE POSSIBILITY OF SUCH DAMAGE.
-******************************************************************************
-* Contents: Native C interface to LAPACK
-* Author: Intel Corporation
-* Generated November, 2011
-*****************************************************************************/
-
-#ifndef _MKL_LAPACKE_H_
-
-#ifndef _LAPACKE_H_
-#define _LAPACKE_H_
-
-/*
-*  Turn on HAVE_LAPACK_CONFIG_H to redefine C-LAPACK datatypes
-*/
-#ifdef HAVE_LAPACK_CONFIG_H
-#include "lapacke_config.h"
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-#include <stdlib.h>
-
-#ifndef lapack_int
-#define lapack_int     int
-#endif
-
-#ifndef lapack_logical
-#define lapack_logical lapack_int
-#endif
-
-/* Complex types are structures equivalent to the
-* Fortran complex types COMPLEX(4) and COMPLEX(8).
-*
-* One can also redefine the types with his own types
-* for example by including in the code definitions like
-*
-* #define lapack_complex_float std::complex<float>
-* #define lapack_complex_double std::complex<double>
-*
-* or define these types in the command line:
-*
-* -Dlapack_complex_float="std::complex<float>"
-* -Dlapack_complex_double="std::complex<double>"
-*/
-
-#ifndef LAPACK_COMPLEX_CUSTOM
-
-/* Complex type (single precision) */
-#ifndef lapack_complex_float
-#include <complex.h>
-#define lapack_complex_float    float _Complex
-#endif
-
-#ifndef lapack_complex_float_real
-#define lapack_complex_float_real(z)       (creal(z))
-#endif
-
-#ifndef lapack_complex_float_imag
-#define lapack_complex_float_imag(z)       (cimag(z))
-#endif
-
-lapack_complex_float lapack_make_complex_float( float re, float im );
-
-/* Complex type (double precision) */
-#ifndef lapack_complex_double
-#include <complex.h>
-#define lapack_complex_double   double _Complex
-#endif
-
-#ifndef lapack_complex_double_real
-#define lapack_complex_double_real(z)      (creal(z))
-#endif
-
-#ifndef lapack_complex_double_imag
-#define lapack_complex_double_imag(z)       (cimag(z))
-#endif
-
-lapack_complex_double lapack_make_complex_double( double re, double im );
-
-#endif
-
-#ifndef LAPACKE_malloc
-#define LAPACKE_malloc( size ) malloc( size )
-#endif
-#ifndef LAPACKE_free
-#define LAPACKE_free( p )      free( p )
-#endif
-
-#define LAPACK_C2INT( x ) (lapack_int)(*((float*)&x ))
-#define LAPACK_Z2INT( x ) (lapack_int)(*((double*)&x ))
-
-#define LAPACK_ROW_MAJOR               101
-#define LAPACK_COL_MAJOR               102
-
-#define LAPACK_WORK_MEMORY_ERROR       -1010
-#define LAPACK_TRANSPOSE_MEMORY_ERROR  -1011
-
-/* Callback logical functions of one, two, or three arguments are used
-*  to select eigenvalues to sort to the top left of the Schur form.
-*  The value is selected if function returns TRUE (non-zero). */
-
-typedef lapack_logical (*LAPACK_S_SELECT2) ( const float*, const float* );
-typedef lapack_logical (*LAPACK_S_SELECT3)
-    ( const float*, const float*, const float* );
-typedef lapack_logical (*LAPACK_D_SELECT2) ( const double*, const double* );
-typedef lapack_logical (*LAPACK_D_SELECT3)
-    ( const double*, const double*, const double* );
-
-typedef lapack_logical (*LAPACK_C_SELECT1) ( const lapack_complex_float* );
-typedef lapack_logical (*LAPACK_C_SELECT2)
-    ( const lapack_complex_float*, const lapack_complex_float* );
-typedef lapack_logical (*LAPACK_Z_SELECT1) ( const lapack_complex_double* );
-typedef lapack_logical (*LAPACK_Z_SELECT2)
-    ( const lapack_complex_double*, const lapack_complex_double* );
-
-#include "lapacke_mangling.h"
-
-#define LAPACK_lsame LAPACK_GLOBAL(lsame,LSAME)
-lapack_logical LAPACK_lsame( char* ca,  char* cb,
-                              lapack_int lca, lapack_int lcb );
-
-/* C-LAPACK function prototypes */
-
-lapack_int LAPACKE_sbdsdc( int matrix_order, char uplo, char compq,
-                           lapack_int n, float* d, float* e, float* u,
-                           lapack_int ldu, float* vt, lapack_int ldvt, float* q,
-                           lapack_int* iq );
-lapack_int LAPACKE_dbdsdc( int matrix_order, char uplo, char compq,
-                           lapack_int n, double* d, double* e, double* u,
-                           lapack_int ldu, double* vt, lapack_int ldvt,
-                           double* q, lapack_int* iq );
-
-lapack_int LAPACKE_sbdsqr( int matrix_order, char uplo, lapack_int n,
-                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
-                           float* d, float* e, float* vt, lapack_int ldvt,
-                           float* u, lapack_int ldu, float* c, lapack_int ldc );
-lapack_int LAPACKE_dbdsqr( int matrix_order, char uplo, lapack_int n,
-                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
-                           double* d, double* e, double* vt, lapack_int ldvt,
-                           double* u, lapack_int ldu, double* c,
-                           lapack_int ldc );
-lapack_int LAPACKE_cbdsqr( int matrix_order, char uplo, lapack_int n,
-                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
-                           float* d, float* e, lapack_complex_float* vt,
-                           lapack_int ldvt, lapack_complex_float* u,
-                           lapack_int ldu, lapack_complex_float* c,
-                           lapack_int ldc );
-lapack_int LAPACKE_zbdsqr( int matrix_order, char uplo, lapack_int n,
-                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
-                           double* d, double* e, lapack_complex_double* vt,
-                           lapack_int ldvt, lapack_complex_double* u,
-                           lapack_int ldu, lapack_complex_double* c,
-                           lapack_int ldc );
-
-lapack_int LAPACKE_sdisna( char job, lapack_int m, lapack_int n, const float* d,
-                           float* sep );
-lapack_int LAPACKE_ddisna( char job, lapack_int m, lapack_int n,
-                           const double* d, double* sep );
-
-lapack_int LAPACKE_sgbbrd( int matrix_order, char vect, lapack_int m,
-                           lapack_int n, lapack_int ncc, lapack_int kl,
-                           lapack_int ku, float* ab, lapack_int ldab, float* d,
-                           float* e, float* q, lapack_int ldq, float* pt,
-                           lapack_int ldpt, float* c, lapack_int ldc );
-lapack_int LAPACKE_dgbbrd( int matrix_order, char vect, lapack_int m,
-                           lapack_int n, lapack_int ncc, lapack_int kl,
-                           lapack_int ku, double* ab, lapack_int ldab,
-                           double* d, double* e, double* q, lapack_int ldq,
-                           double* pt, lapack_int ldpt, double* c,
-                           lapack_int ldc );
-lapack_int LAPACKE_cgbbrd( int matrix_order, char vect, lapack_int m,
-                           lapack_int n, lapack_int ncc, lapack_int kl,
-                           lapack_int ku, lapack_complex_float* ab,
-                           lapack_int ldab, float* d, float* e,
-                           lapack_complex_float* q, lapack_int ldq,
-                           lapack_complex_float* pt, lapack_int ldpt,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zgbbrd( int matrix_order, char vect, lapack_int m,
-                           lapack_int n, lapack_int ncc, lapack_int kl,
-                           lapack_int ku, lapack_complex_double* ab,
-                           lapack_int ldab, double* d, double* e,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_complex_double* pt, lapack_int ldpt,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sgbcon( int matrix_order, char norm, lapack_int n,
-                           lapack_int kl, lapack_int ku, const float* ab,
-                           lapack_int ldab, const lapack_int* ipiv, float anorm,
-                           float* rcond );
-lapack_int LAPACKE_dgbcon( int matrix_order, char norm, lapack_int n,
-                           lapack_int kl, lapack_int ku, const double* ab,
-                           lapack_int ldab, const lapack_int* ipiv,
-                           double anorm, double* rcond );
-lapack_int LAPACKE_cgbcon( int matrix_order, char norm, lapack_int n,
-                           lapack_int kl, lapack_int ku,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           const lapack_int* ipiv, float anorm, float* rcond );
-lapack_int LAPACKE_zgbcon( int matrix_order, char norm, lapack_int n,
-                           lapack_int kl, lapack_int ku,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           const lapack_int* ipiv, double anorm,
-                           double* rcond );
-
-lapack_int LAPACKE_sgbequ( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku, const float* ab,
-                           lapack_int ldab, float* r, float* c, float* rowcnd,
-                           float* colcnd, float* amax );
-lapack_int LAPACKE_dgbequ( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku, const double* ab,
-                           lapack_int ldab, double* r, double* c,
-                           double* rowcnd, double* colcnd, double* amax );
-lapack_int LAPACKE_cgbequ( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           float* r, float* c, float* rowcnd, float* colcnd,
-                           float* amax );
-lapack_int LAPACKE_zgbequ( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           double* r, double* c, double* rowcnd, double* colcnd,
-                           double* amax );
-
-lapack_int LAPACKE_sgbequb( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_int kl, lapack_int ku, const float* ab,
-                            lapack_int ldab, float* r, float* c, float* rowcnd,
-                            float* colcnd, float* amax );
-lapack_int LAPACKE_dgbequb( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_int kl, lapack_int ku, const double* ab,
-                            lapack_int ldab, double* r, double* c,
-                            double* rowcnd, double* colcnd, double* amax );
-lapack_int LAPACKE_cgbequb( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_int kl, lapack_int ku,
-                            const lapack_complex_float* ab, lapack_int ldab,
-                            float* r, float* c, float* rowcnd, float* colcnd,
-                            float* amax );
-lapack_int LAPACKE_zgbequb( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_int kl, lapack_int ku,
-                            const lapack_complex_double* ab, lapack_int ldab,
-                            double* r, double* c, double* rowcnd,
-                            double* colcnd, double* amax );
-
-lapack_int LAPACKE_sgbrfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int kl, lapack_int ku, lapack_int nrhs,
-                           const float* ab, lapack_int ldab, const float* afb,
-                           lapack_int ldafb, const lapack_int* ipiv,
-                           const float* b, lapack_int ldb, float* x,
-                           lapack_int ldx, float* ferr, float* berr );
-lapack_int LAPACKE_dgbrfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int kl, lapack_int ku, lapack_int nrhs,
-                           const double* ab, lapack_int ldab, const double* afb,
-                           lapack_int ldafb, const lapack_int* ipiv,
-                           const double* b, lapack_int ldb, double* x,
-                           lapack_int ldx, double* ferr, double* berr );
-lapack_int LAPACKE_cgbrfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int kl, lapack_int ku, lapack_int nrhs,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           const lapack_complex_float* afb, lapack_int ldafb,
-                           const lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zgbrfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int kl, lapack_int ku, lapack_int nrhs,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           const lapack_complex_double* afb, lapack_int ldafb,
-                           const lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_sgbrfsx( int matrix_order, char trans, char equed,
-                            lapack_int n, lapack_int kl, lapack_int ku,
-                            lapack_int nrhs, const float* ab, lapack_int ldab,
-                            const float* afb, lapack_int ldafb,
-                            const lapack_int* ipiv, const float* r,
-                            const float* c, const float* b, lapack_int ldb,
-                            float* x, lapack_int ldx, float* rcond, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_dgbrfsx( int matrix_order, char trans, char equed,
-                            lapack_int n, lapack_int kl, lapack_int ku,
-                            lapack_int nrhs, const double* ab, lapack_int ldab,
-                            const double* afb, lapack_int ldafb,
-                            const lapack_int* ipiv, const double* r,
-                            const double* c, const double* b, lapack_int ldb,
-                            double* x, lapack_int ldx, double* rcond,
-                            double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-lapack_int LAPACKE_cgbrfsx( int matrix_order, char trans, char equed,
-                            lapack_int n, lapack_int kl, lapack_int ku,
-                            lapack_int nrhs, const lapack_complex_float* ab,
-                            lapack_int ldab, const lapack_complex_float* afb,
-                            lapack_int ldafb, const lapack_int* ipiv,
-                            const float* r, const float* c,
-                            const lapack_complex_float* b, lapack_int ldb,
-                            lapack_complex_float* x, lapack_int ldx,
-                            float* rcond, float* berr, lapack_int n_err_bnds,
-                            float* err_bnds_norm, float* err_bnds_comp,
-                            lapack_int nparams, float* params );
-lapack_int LAPACKE_zgbrfsx( int matrix_order, char trans, char equed,
-                            lapack_int n, lapack_int kl, lapack_int ku,
-                            lapack_int nrhs, const lapack_complex_double* ab,
-                            lapack_int ldab, const lapack_complex_double* afb,
-                            lapack_int ldafb, const lapack_int* ipiv,
-                            const double* r, const double* c,
-                            const lapack_complex_double* b, lapack_int ldb,
-                            lapack_complex_double* x, lapack_int ldx,
-                            double* rcond, double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-
-lapack_int LAPACKE_sgbsv( int matrix_order, lapack_int n, lapack_int kl,
-                          lapack_int ku, lapack_int nrhs, float* ab,
-                          lapack_int ldab, lapack_int* ipiv, float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_dgbsv( int matrix_order, lapack_int n, lapack_int kl,
-                          lapack_int ku, lapack_int nrhs, double* ab,
-                          lapack_int ldab, lapack_int* ipiv, double* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_cgbsv( int matrix_order, lapack_int n, lapack_int kl,
-                          lapack_int ku, lapack_int nrhs,
-                          lapack_complex_float* ab, lapack_int ldab,
-                          lapack_int* ipiv, lapack_complex_float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_zgbsv( int matrix_order, lapack_int n, lapack_int kl,
-                          lapack_int ku, lapack_int nrhs,
-                          lapack_complex_double* ab, lapack_int ldab,
-                          lapack_int* ipiv, lapack_complex_double* b,
-                          lapack_int ldb );
-
-lapack_int LAPACKE_sgbsvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int kl, lapack_int ku,
-                           lapack_int nrhs, float* ab, lapack_int ldab,
-                           float* afb, lapack_int ldafb, lapack_int* ipiv,
-                           char* equed, float* r, float* c, float* b,
-                           lapack_int ldb, float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr,
-                           float* rpivot );
-lapack_int LAPACKE_dgbsvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int kl, lapack_int ku,
-                           lapack_int nrhs, double* ab, lapack_int ldab,
-                           double* afb, lapack_int ldafb, lapack_int* ipiv,
-                           char* equed, double* r, double* c, double* b,
-                           lapack_int ldb, double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr,
-                           double* rpivot );
-lapack_int LAPACKE_cgbsvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int kl, lapack_int ku,
-                           lapack_int nrhs, lapack_complex_float* ab,
-                           lapack_int ldab, lapack_complex_float* afb,
-                           lapack_int ldafb, lapack_int* ipiv, char* equed,
-                           float* r, float* c, lapack_complex_float* b,
-                           lapack_int ldb, lapack_complex_float* x,
-                           lapack_int ldx, float* rcond, float* ferr,
-                           float* berr, float* rpivot );
-lapack_int LAPACKE_zgbsvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int kl, lapack_int ku,
-                           lapack_int nrhs, lapack_complex_double* ab,
-                           lapack_int ldab, lapack_complex_double* afb,
-                           lapack_int ldafb, lapack_int* ipiv, char* equed,
-                           double* r, double* c, lapack_complex_double* b,
-                           lapack_int ldb, lapack_complex_double* x,
-                           lapack_int ldx, double* rcond, double* ferr,
-                           double* berr, double* rpivot );
-
-lapack_int LAPACKE_sgbsvxx( int matrix_order, char fact, char trans,
-                            lapack_int n, lapack_int kl, lapack_int ku,
-                            lapack_int nrhs, float* ab, lapack_int ldab,
-                            float* afb, lapack_int ldafb, lapack_int* ipiv,
-                            char* equed, float* r, float* c, float* b,
-                            lapack_int ldb, float* x, lapack_int ldx,
-                            float* rcond, float* rpvgrw, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_dgbsvxx( int matrix_order, char fact, char trans,
-                            lapack_int n, lapack_int kl, lapack_int ku,
-                            lapack_int nrhs, double* ab, lapack_int ldab,
-                            double* afb, lapack_int ldafb, lapack_int* ipiv,
-                            char* equed, double* r, double* c, double* b,
-                            lapack_int ldb, double* x, lapack_int ldx,
-                            double* rcond, double* rpvgrw, double* berr,
-                            lapack_int n_err_bnds, double* err_bnds_norm,
-                            double* err_bnds_comp, lapack_int nparams,
-                            double* params );
-lapack_int LAPACKE_cgbsvxx( int matrix_order, char fact, char trans,
-                            lapack_int n, lapack_int kl, lapack_int ku,
-                            lapack_int nrhs, lapack_complex_float* ab,
-                            lapack_int ldab, lapack_complex_float* afb,
-                            lapack_int ldafb, lapack_int* ipiv, char* equed,
-                            float* r, float* c, lapack_complex_float* b,
-                            lapack_int ldb, lapack_complex_float* x,
-                            lapack_int ldx, float* rcond, float* rpvgrw,
-                            float* berr, lapack_int n_err_bnds,
-                            float* err_bnds_norm, float* err_bnds_comp,
-                            lapack_int nparams, float* params );
-lapack_int LAPACKE_zgbsvxx( int matrix_order, char fact, char trans,
-                            lapack_int n, lapack_int kl, lapack_int ku,
-                            lapack_int nrhs, lapack_complex_double* ab,
-                            lapack_int ldab, lapack_complex_double* afb,
-                            lapack_int ldafb, lapack_int* ipiv, char* equed,
-                            double* r, double* c, lapack_complex_double* b,
-                            lapack_int ldb, lapack_complex_double* x,
-                            lapack_int ldx, double* rcond, double* rpvgrw,
-                            double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-
-lapack_int LAPACKE_sgbtrf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku, float* ab,
-                           lapack_int ldab, lapack_int* ipiv );
-lapack_int LAPACKE_dgbtrf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku, double* ab,
-                           lapack_int ldab, lapack_int* ipiv );
-lapack_int LAPACKE_cgbtrf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku,
-                           lapack_complex_float* ab, lapack_int ldab,
-                           lapack_int* ipiv );
-lapack_int LAPACKE_zgbtrf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku,
-                           lapack_complex_double* ab, lapack_int ldab,
-                           lapack_int* ipiv );
-
-lapack_int LAPACKE_sgbtrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int kl, lapack_int ku, lapack_int nrhs,
-                           const float* ab, lapack_int ldab,
-                           const lapack_int* ipiv, float* b, lapack_int ldb );
-lapack_int LAPACKE_dgbtrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int kl, lapack_int ku, lapack_int nrhs,
-                           const double* ab, lapack_int ldab,
-                           const lapack_int* ipiv, double* b, lapack_int ldb );
-lapack_int LAPACKE_cgbtrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int kl, lapack_int ku, lapack_int nrhs,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           const lapack_int* ipiv, lapack_complex_float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_zgbtrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int kl, lapack_int ku, lapack_int nrhs,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           const lapack_int* ipiv, lapack_complex_double* b,
-                           lapack_int ldb );
-
-lapack_int LAPACKE_sgebak( int matrix_order, char job, char side, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, const float* scale,
-                           lapack_int m, float* v, lapack_int ldv );
-lapack_int LAPACKE_dgebak( int matrix_order, char job, char side, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, const double* scale,
-                           lapack_int m, double* v, lapack_int ldv );
-lapack_int LAPACKE_cgebak( int matrix_order, char job, char side, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, const float* scale,
-                           lapack_int m, lapack_complex_float* v,
-                           lapack_int ldv );
-lapack_int LAPACKE_zgebak( int matrix_order, char job, char side, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, const double* scale,
-                           lapack_int m, lapack_complex_double* v,
-                           lapack_int ldv );
-
-lapack_int LAPACKE_sgebal( int matrix_order, char job, lapack_int n, float* a,
-                           lapack_int lda, lapack_int* ilo, lapack_int* ihi,
-                           float* scale );
-lapack_int LAPACKE_dgebal( int matrix_order, char job, lapack_int n, double* a,
-                           lapack_int lda, lapack_int* ilo, lapack_int* ihi,
-                           double* scale );
-lapack_int LAPACKE_cgebal( int matrix_order, char job, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* ilo, lapack_int* ihi, float* scale );
-lapack_int LAPACKE_zgebal( int matrix_order, char job, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* ilo, lapack_int* ihi, double* scale );
-
-lapack_int LAPACKE_sgebrd( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, float* d, float* e,
-                           float* tauq, float* taup );
-lapack_int LAPACKE_dgebrd( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, double* d, double* e,
-                           double* tauq, double* taup );
-lapack_int LAPACKE_cgebrd( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda, float* d,
-                           float* e, lapack_complex_float* tauq,
-                           lapack_complex_float* taup );
-lapack_int LAPACKE_zgebrd( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda, double* d,
-                           double* e, lapack_complex_double* tauq,
-                           lapack_complex_double* taup );
-
-lapack_int LAPACKE_sgecon( int matrix_order, char norm, lapack_int n,
-                           const float* a, lapack_int lda, float anorm,
-                           float* rcond );
-lapack_int LAPACKE_dgecon( int matrix_order, char norm, lapack_int n,
-                           const double* a, lapack_int lda, double anorm,
-                           double* rcond );
-lapack_int LAPACKE_cgecon( int matrix_order, char norm, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           float anorm, float* rcond );
-lapack_int LAPACKE_zgecon( int matrix_order, char norm, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           double anorm, double* rcond );
-
-lapack_int LAPACKE_sgeequ( int matrix_order, lapack_int m, lapack_int n,
-                           const float* a, lapack_int lda, float* r, float* c,
-                           float* rowcnd, float* colcnd, float* amax );
-lapack_int LAPACKE_dgeequ( int matrix_order, lapack_int m, lapack_int n,
-                           const double* a, lapack_int lda, double* r,
-                           double* c, double* rowcnd, double* colcnd,
-                           double* amax );
-lapack_int LAPACKE_cgeequ( int matrix_order, lapack_int m, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           float* r, float* c, float* rowcnd, float* colcnd,
-                           float* amax );
-lapack_int LAPACKE_zgeequ( int matrix_order, lapack_int m, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           double* r, double* c, double* rowcnd, double* colcnd,
-                           double* amax );
-
-lapack_int LAPACKE_sgeequb( int matrix_order, lapack_int m, lapack_int n,
-                            const float* a, lapack_int lda, float* r, float* c,
-                            float* rowcnd, float* colcnd, float* amax );
-lapack_int LAPACKE_dgeequb( int matrix_order, lapack_int m, lapack_int n,
-                            const double* a, lapack_int lda, double* r,
-                            double* c, double* rowcnd, double* colcnd,
-                            double* amax );
-lapack_int LAPACKE_cgeequb( int matrix_order, lapack_int m, lapack_int n,
-                            const lapack_complex_float* a, lapack_int lda,
-                            float* r, float* c, float* rowcnd, float* colcnd,
-                            float* amax );
-lapack_int LAPACKE_zgeequb( int matrix_order, lapack_int m, lapack_int n,
-                            const lapack_complex_double* a, lapack_int lda,
-                            double* r, double* c, double* rowcnd,
-                            double* colcnd, double* amax );
-
-lapack_int LAPACKE_sgees( int matrix_order, char jobvs, char sort,
-                          LAPACK_S_SELECT2 select, lapack_int n, float* a,
-                          lapack_int lda, lapack_int* sdim, float* wr,
-                          float* wi, float* vs, lapack_int ldvs );
-lapack_int LAPACKE_dgees( int matrix_order, char jobvs, char sort,
-                          LAPACK_D_SELECT2 select, lapack_int n, double* a,
-                          lapack_int lda, lapack_int* sdim, double* wr,
-                          double* wi, double* vs, lapack_int ldvs );
-lapack_int LAPACKE_cgees( int matrix_order, char jobvs, char sort,
-                          LAPACK_C_SELECT1 select, lapack_int n,
-                          lapack_complex_float* a, lapack_int lda,
-                          lapack_int* sdim, lapack_complex_float* w,
-                          lapack_complex_float* vs, lapack_int ldvs );
-lapack_int LAPACKE_zgees( int matrix_order, char jobvs, char sort,
-                          LAPACK_Z_SELECT1 select, lapack_int n,
-                          lapack_complex_double* a, lapack_int lda,
-                          lapack_int* sdim, lapack_complex_double* w,
-                          lapack_complex_double* vs, lapack_int ldvs );
-
-lapack_int LAPACKE_sgeesx( int matrix_order, char jobvs, char sort,
-                           LAPACK_S_SELECT2 select, char sense, lapack_int n,
-                           float* a, lapack_int lda, lapack_int* sdim,
-                           float* wr, float* wi, float* vs, lapack_int ldvs,
-                           float* rconde, float* rcondv );
-lapack_int LAPACKE_dgeesx( int matrix_order, char jobvs, char sort,
-                           LAPACK_D_SELECT2 select, char sense, lapack_int n,
-                           double* a, lapack_int lda, lapack_int* sdim,
-                           double* wr, double* wi, double* vs, lapack_int ldvs,
-                           double* rconde, double* rcondv );
-lapack_int LAPACKE_cgeesx( int matrix_order, char jobvs, char sort,
-                           LAPACK_C_SELECT1 select, char sense, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* sdim, lapack_complex_float* w,
-                           lapack_complex_float* vs, lapack_int ldvs,
-                           float* rconde, float* rcondv );
-lapack_int LAPACKE_zgeesx( int matrix_order, char jobvs, char sort,
-                           LAPACK_Z_SELECT1 select, char sense, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* sdim, lapack_complex_double* w,
-                           lapack_complex_double* vs, lapack_int ldvs,
-                           double* rconde, double* rcondv );
-
-lapack_int LAPACKE_sgeev( int matrix_order, char jobvl, char jobvr,
-                          lapack_int n, float* a, lapack_int lda, float* wr,
-                          float* wi, float* vl, lapack_int ldvl, float* vr,
-                          lapack_int ldvr );
-lapack_int LAPACKE_dgeev( int matrix_order, char jobvl, char jobvr,
-                          lapack_int n, double* a, lapack_int lda, double* wr,
-                          double* wi, double* vl, lapack_int ldvl, double* vr,
-                          lapack_int ldvr );
-lapack_int LAPACKE_cgeev( int matrix_order, char jobvl, char jobvr,
-                          lapack_int n, lapack_complex_float* a, lapack_int lda,
-                          lapack_complex_float* w, lapack_complex_float* vl,
-                          lapack_int ldvl, lapack_complex_float* vr,
-                          lapack_int ldvr );
-lapack_int LAPACKE_zgeev( int matrix_order, char jobvl, char jobvr,
-                          lapack_int n, lapack_complex_double* a,
-                          lapack_int lda, lapack_complex_double* w,
-                          lapack_complex_double* vl, lapack_int ldvl,
-                          lapack_complex_double* vr, lapack_int ldvr );
-
-lapack_int LAPACKE_sgeevx( int matrix_order, char balanc, char jobvl,
-                           char jobvr, char sense, lapack_int n, float* a,
-                           lapack_int lda, float* wr, float* wi, float* vl,
-                           lapack_int ldvl, float* vr, lapack_int ldvr,
-                           lapack_int* ilo, lapack_int* ihi, float* scale,
-                           float* abnrm, float* rconde, float* rcondv );
-lapack_int LAPACKE_dgeevx( int matrix_order, char balanc, char jobvl,
-                           char jobvr, char sense, lapack_int n, double* a,
-                           lapack_int lda, double* wr, double* wi, double* vl,
-                           lapack_int ldvl, double* vr, lapack_int ldvr,
-                           lapack_int* ilo, lapack_int* ihi, double* scale,
-                           double* abnrm, double* rconde, double* rcondv );
-lapack_int LAPACKE_cgeevx( int matrix_order, char balanc, char jobvl,
-                           char jobvr, char sense, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* w, lapack_complex_float* vl,
-                           lapack_int ldvl, lapack_complex_float* vr,
-                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
-                           float* scale, float* abnrm, float* rconde,
-                           float* rcondv );
-lapack_int LAPACKE_zgeevx( int matrix_order, char balanc, char jobvl,
-                           char jobvr, char sense, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* w, lapack_complex_double* vl,
-                           lapack_int ldvl, lapack_complex_double* vr,
-                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
-                           double* scale, double* abnrm, double* rconde,
-                           double* rcondv );
-
-lapack_int LAPACKE_sgehrd( int matrix_order, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, float* a, lapack_int lda,
-                           float* tau );
-lapack_int LAPACKE_dgehrd( int matrix_order, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, double* a, lapack_int lda,
-                           double* tau );
-lapack_int LAPACKE_cgehrd( int matrix_order, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* tau );
-lapack_int LAPACKE_zgehrd( int matrix_order, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgejsv( int matrix_order, char joba, char jobu, char jobv,
-                           char jobr, char jobt, char jobp, lapack_int m,
-                           lapack_int n, float* a, lapack_int lda, float* sva,
-                           float* u, lapack_int ldu, float* v, lapack_int ldv,
-                           float* stat, lapack_int* istat );
-lapack_int LAPACKE_dgejsv( int matrix_order, char joba, char jobu, char jobv,
-                           char jobr, char jobt, char jobp, lapack_int m,
-                           lapack_int n, double* a, lapack_int lda, double* sva,
-                           double* u, lapack_int ldu, double* v, lapack_int ldv,
-                           double* stat, lapack_int* istat );
-
-lapack_int LAPACKE_sgelq2( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, float* tau );
-lapack_int LAPACKE_dgelq2( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, double* tau );
-lapack_int LAPACKE_cgelq2( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_zgelq2( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgelqf( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, float* tau );
-lapack_int LAPACKE_dgelqf( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, double* tau );
-lapack_int LAPACKE_cgelqf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_zgelqf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgels( int matrix_order, char trans, lapack_int m,
-                          lapack_int n, lapack_int nrhs, float* a,
-                          lapack_int lda, float* b, lapack_int ldb );
-lapack_int LAPACKE_dgels( int matrix_order, char trans, lapack_int m,
-                          lapack_int n, lapack_int nrhs, double* a,
-                          lapack_int lda, double* b, lapack_int ldb );
-lapack_int LAPACKE_cgels( int matrix_order, char trans, lapack_int m,
-                          lapack_int n, lapack_int nrhs,
-                          lapack_complex_float* a, lapack_int lda,
-                          lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zgels( int matrix_order, char trans, lapack_int m,
-                          lapack_int n, lapack_int nrhs,
-                          lapack_complex_double* a, lapack_int lda,
-                          lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sgelsd( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, float* a, lapack_int lda, float* b,
-                           lapack_int ldb, float* s, float rcond,
-                           lapack_int* rank );
-lapack_int LAPACKE_dgelsd( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, double* a, lapack_int lda,
-                           double* b, lapack_int ldb, double* s, double rcond,
-                           lapack_int* rank );
-lapack_int LAPACKE_cgelsd( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb, float* s, float rcond,
-                           lapack_int* rank );
-lapack_int LAPACKE_zgelsd( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, double* s, double rcond,
-                           lapack_int* rank );
-
-lapack_int LAPACKE_sgelss( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, float* a, lapack_int lda, float* b,
-                           lapack_int ldb, float* s, float rcond,
-                           lapack_int* rank );
-lapack_int LAPACKE_dgelss( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, double* a, lapack_int lda,
-                           double* b, lapack_int ldb, double* s, double rcond,
-                           lapack_int* rank );
-lapack_int LAPACKE_cgelss( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb, float* s, float rcond,
-                           lapack_int* rank );
-lapack_int LAPACKE_zgelss( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, double* s, double rcond,
-                           lapack_int* rank );
-
-lapack_int LAPACKE_sgelsy( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, float* a, lapack_int lda, float* b,
-                           lapack_int ldb, lapack_int* jpvt, float rcond,
-                           lapack_int* rank );
-lapack_int LAPACKE_dgelsy( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, double* a, lapack_int lda,
-                           double* b, lapack_int ldb, lapack_int* jpvt,
-                           double rcond, lapack_int* rank );
-lapack_int LAPACKE_cgelsy( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb, lapack_int* jpvt, float rcond,
-                           lapack_int* rank );
-lapack_int LAPACKE_zgelsy( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nrhs, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, lapack_int* jpvt, double rcond,
-                           lapack_int* rank );
-
-lapack_int LAPACKE_sgeqlf( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, float* tau );
-lapack_int LAPACKE_dgeqlf( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, double* tau );
-lapack_int LAPACKE_cgeqlf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_zgeqlf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgeqp3( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, lapack_int* jpvt,
-                           float* tau );
-lapack_int LAPACKE_dgeqp3( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, lapack_int* jpvt,
-                           double* tau );
-lapack_int LAPACKE_cgeqp3( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* jpvt, lapack_complex_float* tau );
-lapack_int LAPACKE_zgeqp3( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* jpvt, lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgeqpf( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, lapack_int* jpvt,
-                           float* tau );
-lapack_int LAPACKE_dgeqpf( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, lapack_int* jpvt,
-                           double* tau );
-lapack_int LAPACKE_cgeqpf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* jpvt, lapack_complex_float* tau );
-lapack_int LAPACKE_zgeqpf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* jpvt, lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgeqr2( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, float* tau );
-lapack_int LAPACKE_dgeqr2( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, double* tau );
-lapack_int LAPACKE_cgeqr2( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_zgeqr2( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgeqrf( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, float* tau );
-lapack_int LAPACKE_dgeqrf( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, double* tau );
-lapack_int LAPACKE_cgeqrf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_zgeqrf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgeqrfp( int matrix_order, lapack_int m, lapack_int n,
-                            float* a, lapack_int lda, float* tau );
-lapack_int LAPACKE_dgeqrfp( int matrix_order, lapack_int m, lapack_int n,
-                            double* a, lapack_int lda, double* tau );
-lapack_int LAPACKE_cgeqrfp( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* tau );
-lapack_int LAPACKE_zgeqrfp( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgerfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const float* a, lapack_int lda,
-                           const float* af, lapack_int ldaf,
-                           const lapack_int* ipiv, const float* b,
-                           lapack_int ldb, float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_dgerfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const double* a, lapack_int lda,
-                           const double* af, lapack_int ldaf,
-                           const lapack_int* ipiv, const double* b,
-                           lapack_int ldb, double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_cgerfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* af,
-                           lapack_int ldaf, const lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zgerfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* af,
-                           lapack_int ldaf, const lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_sgerfsx( int matrix_order, char trans, char equed,
-                            lapack_int n, lapack_int nrhs, const float* a,
-                            lapack_int lda, const float* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const float* r,
-                            const float* c, const float* b, lapack_int ldb,
-                            float* x, lapack_int ldx, float* rcond, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_dgerfsx( int matrix_order, char trans, char equed,
-                            lapack_int n, lapack_int nrhs, const double* a,
-                            lapack_int lda, const double* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const double* r,
-                            const double* c, const double* b, lapack_int ldb,
-                            double* x, lapack_int ldx, double* rcond,
-                            double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-lapack_int LAPACKE_cgerfsx( int matrix_order, char trans, char equed,
-                            lapack_int n, lapack_int nrhs,
-                            const lapack_complex_float* a, lapack_int lda,
-                            const lapack_complex_float* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const float* r,
-                            const float* c, const lapack_complex_float* b,
-                            lapack_int ldb, lapack_complex_float* x,
-                            lapack_int ldx, float* rcond, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_zgerfsx( int matrix_order, char trans, char equed,
-                            lapack_int n, lapack_int nrhs,
-                            const lapack_complex_double* a, lapack_int lda,
-                            const lapack_complex_double* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const double* r,
-                            const double* c, const lapack_complex_double* b,
-                            lapack_int ldb, lapack_complex_double* x,
-                            lapack_int ldx, double* rcond, double* berr,
-                            lapack_int n_err_bnds, double* err_bnds_norm,
-                            double* err_bnds_comp, lapack_int nparams,
-                            double* params );
-
-lapack_int LAPACKE_sgerqf( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, float* tau );
-lapack_int LAPACKE_dgerqf( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, double* tau );
-lapack_int LAPACKE_cgerqf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_zgerqf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_sgesdd( int matrix_order, char jobz, lapack_int m,
-                           lapack_int n, float* a, lapack_int lda, float* s,
-                           float* u, lapack_int ldu, float* vt,
-                           lapack_int ldvt );
-lapack_int LAPACKE_dgesdd( int matrix_order, char jobz, lapack_int m,
-                           lapack_int n, double* a, lapack_int lda, double* s,
-                           double* u, lapack_int ldu, double* vt,
-                           lapack_int ldvt );
-lapack_int LAPACKE_cgesdd( int matrix_order, char jobz, lapack_int m,
-                           lapack_int n, lapack_complex_float* a,
-                           lapack_int lda, float* s, lapack_complex_float* u,
-                           lapack_int ldu, lapack_complex_float* vt,
-                           lapack_int ldvt );
-lapack_int LAPACKE_zgesdd( int matrix_order, char jobz, lapack_int m,
-                           lapack_int n, lapack_complex_double* a,
-                           lapack_int lda, double* s, lapack_complex_double* u,
-                           lapack_int ldu, lapack_complex_double* vt,
-                           lapack_int ldvt );
-
-lapack_int LAPACKE_sgesv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          float* a, lapack_int lda, lapack_int* ipiv, float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_dgesv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          double* a, lapack_int lda, lapack_int* ipiv,
-                          double* b, lapack_int ldb );
-lapack_int LAPACKE_cgesv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          lapack_complex_float* a, lapack_int lda,
-                          lapack_int* ipiv, lapack_complex_float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_zgesv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          lapack_complex_double* a, lapack_int lda,
-                          lapack_int* ipiv, lapack_complex_double* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_dsgesv( int matrix_order, lapack_int n, lapack_int nrhs,
-                           double* a, lapack_int lda, lapack_int* ipiv,
-                           double* b, lapack_int ldb, double* x, lapack_int ldx,
-                           lapack_int* iter );
-lapack_int LAPACKE_zcgesv( int matrix_order, lapack_int n, lapack_int nrhs,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* ipiv, lapack_complex_double* b,
-                           lapack_int ldb, lapack_complex_double* x,
-                           lapack_int ldx, lapack_int* iter );
-
-lapack_int LAPACKE_sgesvd( int matrix_order, char jobu, char jobvt,
-                           lapack_int m, lapack_int n, float* a, lapack_int lda,
-                           float* s, float* u, lapack_int ldu, float* vt,
-                           lapack_int ldvt, float* superb );
-lapack_int LAPACKE_dgesvd( int matrix_order, char jobu, char jobvt,
-                           lapack_int m, lapack_int n, double* a,
-                           lapack_int lda, double* s, double* u, lapack_int ldu,
-                           double* vt, lapack_int ldvt, double* superb );
-lapack_int LAPACKE_cgesvd( int matrix_order, char jobu, char jobvt,
-                           lapack_int m, lapack_int n, lapack_complex_float* a,
-                           lapack_int lda, float* s, lapack_complex_float* u,
-                           lapack_int ldu, lapack_complex_float* vt,
-                           lapack_int ldvt, float* superb );
-lapack_int LAPACKE_zgesvd( int matrix_order, char jobu, char jobvt,
-                           lapack_int m, lapack_int n, lapack_complex_double* a,
-                           lapack_int lda, double* s, lapack_complex_double* u,
-                           lapack_int ldu, lapack_complex_double* vt,
-                           lapack_int ldvt, double* superb );
-
-lapack_int LAPACKE_sgesvj( int matrix_order, char joba, char jobu, char jobv,
-                           lapack_int m, lapack_int n, float* a, lapack_int lda,
-                           float* sva, lapack_int mv, float* v, lapack_int ldv,
-                           float* stat );
-lapack_int LAPACKE_dgesvj( int matrix_order, char joba, char jobu, char jobv,
-                           lapack_int m, lapack_int n, double* a,
-                           lapack_int lda, double* sva, lapack_int mv,
-                           double* v, lapack_int ldv, double* stat );
-
-lapack_int LAPACKE_sgesvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int nrhs, float* a,
-                           lapack_int lda, float* af, lapack_int ldaf,
-                           lapack_int* ipiv, char* equed, float* r, float* c,
-                           float* b, lapack_int ldb, float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr,
-                           float* rpivot );
-lapack_int LAPACKE_dgesvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int nrhs, double* a,
-                           lapack_int lda, double* af, lapack_int ldaf,
-                           lapack_int* ipiv, char* equed, double* r, double* c,
-                           double* b, lapack_int ldb, double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr,
-                           double* rpivot );
-lapack_int LAPACKE_cgesvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int nrhs,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* af, lapack_int ldaf,
-                           lapack_int* ipiv, char* equed, float* r, float* c,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr,
-                           float* rpivot );
-lapack_int LAPACKE_zgesvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int nrhs,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* af, lapack_int ldaf,
-                           lapack_int* ipiv, char* equed, double* r, double* c,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr,
-                           double* rpivot );
-
-lapack_int LAPACKE_sgesvxx( int matrix_order, char fact, char trans,
-                            lapack_int n, lapack_int nrhs, float* a,
-                            lapack_int lda, float* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, float* r, float* c,
-                            float* b, lapack_int ldb, float* x, lapack_int ldx,
-                            float* rcond, float* rpvgrw, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_dgesvxx( int matrix_order, char fact, char trans,
-                            lapack_int n, lapack_int nrhs, double* a,
-                            lapack_int lda, double* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, double* r, double* c,
-                            double* b, lapack_int ldb, double* x,
-                            lapack_int ldx, double* rcond, double* rpvgrw,
-                            double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-lapack_int LAPACKE_cgesvxx( int matrix_order, char fact, char trans,
-                            lapack_int n, lapack_int nrhs,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, float* r, float* c,
-                            lapack_complex_float* b, lapack_int ldb,
-                            lapack_complex_float* x, lapack_int ldx,
-                            float* rcond, float* rpvgrw, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_zgesvxx( int matrix_order, char fact, char trans,
-                            lapack_int n, lapack_int nrhs,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, double* r, double* c,
-                            lapack_complex_double* b, lapack_int ldb,
-                            lapack_complex_double* x, lapack_int ldx,
-                            double* rcond, double* rpvgrw, double* berr,
-                            lapack_int n_err_bnds, double* err_bnds_norm,
-                            double* err_bnds_comp, lapack_int nparams,
-                            double* params );
-
-lapack_int LAPACKE_sgetf2( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_dgetf2( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_cgetf2( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* ipiv );
-lapack_int LAPACKE_zgetf2( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* ipiv );
-
-lapack_int LAPACKE_sgetrf( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_dgetrf( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_cgetrf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* ipiv );
-lapack_int LAPACKE_zgetrf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* ipiv );
-
-lapack_int LAPACKE_sgetri( int matrix_order, lapack_int n, float* a,
-                           lapack_int lda, const lapack_int* ipiv );
-lapack_int LAPACKE_dgetri( int matrix_order, lapack_int n, double* a,
-                           lapack_int lda, const lapack_int* ipiv );
-lapack_int LAPACKE_cgetri( int matrix_order, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           const lapack_int* ipiv );
-lapack_int LAPACKE_zgetri( int matrix_order, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           const lapack_int* ipiv );
-
-lapack_int LAPACKE_sgetrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const float* a, lapack_int lda,
-                           const lapack_int* ipiv, float* b, lapack_int ldb );
-lapack_int LAPACKE_dgetrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const double* a, lapack_int lda,
-                           const lapack_int* ipiv, double* b, lapack_int ldb );
-lapack_int LAPACKE_cgetrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_int* ipiv,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zgetrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_int* ipiv,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sggbak( int matrix_order, char job, char side, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, const float* lscale,
-                           const float* rscale, lapack_int m, float* v,
-                           lapack_int ldv );
-lapack_int LAPACKE_dggbak( int matrix_order, char job, char side, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, const double* lscale,
-                           const double* rscale, lapack_int m, double* v,
-                           lapack_int ldv );
-lapack_int LAPACKE_cggbak( int matrix_order, char job, char side, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, const float* lscale,
-                           const float* rscale, lapack_int m,
-                           lapack_complex_float* v, lapack_int ldv );
-lapack_int LAPACKE_zggbak( int matrix_order, char job, char side, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, const double* lscale,
-                           const double* rscale, lapack_int m,
-                           lapack_complex_double* v, lapack_int ldv );
-
-lapack_int LAPACKE_sggbal( int matrix_order, char job, lapack_int n, float* a,
-                           lapack_int lda, float* b, lapack_int ldb,
-                           lapack_int* ilo, lapack_int* ihi, float* lscale,
-                           float* rscale );
-lapack_int LAPACKE_dggbal( int matrix_order, char job, lapack_int n, double* a,
-                           lapack_int lda, double* b, lapack_int ldb,
-                           lapack_int* ilo, lapack_int* ihi, double* lscale,
-                           double* rscale );
-lapack_int LAPACKE_cggbal( int matrix_order, char job, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_int* ilo, lapack_int* ihi, float* lscale,
-                           float* rscale );
-lapack_int LAPACKE_zggbal( int matrix_order, char job, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_int* ilo, lapack_int* ihi, double* lscale,
-                           double* rscale );
-
-lapack_int LAPACKE_sgges( int matrix_order, char jobvsl, char jobvsr, char sort,
-                          LAPACK_S_SELECT3 selctg, lapack_int n, float* a,
-                          lapack_int lda, float* b, lapack_int ldb,
-                          lapack_int* sdim, float* alphar, float* alphai,
-                          float* beta, float* vsl, lapack_int ldvsl, float* vsr,
-                          lapack_int ldvsr );
-lapack_int LAPACKE_dgges( int matrix_order, char jobvsl, char jobvsr, char sort,
-                          LAPACK_D_SELECT3 selctg, lapack_int n, double* a,
-                          lapack_int lda, double* b, lapack_int ldb,
-                          lapack_int* sdim, double* alphar, double* alphai,
-                          double* beta, double* vsl, lapack_int ldvsl,
-                          double* vsr, lapack_int ldvsr );
-lapack_int LAPACKE_cgges( int matrix_order, char jobvsl, char jobvsr, char sort,
-                          LAPACK_C_SELECT2 selctg, lapack_int n,
-                          lapack_complex_float* a, lapack_int lda,
-                          lapack_complex_float* b, lapack_int ldb,
-                          lapack_int* sdim, lapack_complex_float* alpha,
-                          lapack_complex_float* beta, lapack_complex_float* vsl,
-                          lapack_int ldvsl, lapack_complex_float* vsr,
-                          lapack_int ldvsr );
-lapack_int LAPACKE_zgges( int matrix_order, char jobvsl, char jobvsr, char sort,
-                          LAPACK_Z_SELECT2 selctg, lapack_int n,
-                          lapack_complex_double* a, lapack_int lda,
-                          lapack_complex_double* b, lapack_int ldb,
-                          lapack_int* sdim, lapack_complex_double* alpha,
-                          lapack_complex_double* beta,
-                          lapack_complex_double* vsl, lapack_int ldvsl,
-                          lapack_complex_double* vsr, lapack_int ldvsr );
-
-lapack_int LAPACKE_sggesx( int matrix_order, char jobvsl, char jobvsr,
-                           char sort, LAPACK_S_SELECT3 selctg, char sense,
-                           lapack_int n, float* a, lapack_int lda, float* b,
-                           lapack_int ldb, lapack_int* sdim, float* alphar,
-                           float* alphai, float* beta, float* vsl,
-                           lapack_int ldvsl, float* vsr, lapack_int ldvsr,
-                           float* rconde, float* rcondv );
-lapack_int LAPACKE_dggesx( int matrix_order, char jobvsl, char jobvsr,
-                           char sort, LAPACK_D_SELECT3 selctg, char sense,
-                           lapack_int n, double* a, lapack_int lda, double* b,
-                           lapack_int ldb, lapack_int* sdim, double* alphar,
-                           double* alphai, double* beta, double* vsl,
-                           lapack_int ldvsl, double* vsr, lapack_int ldvsr,
-                           double* rconde, double* rcondv );
-lapack_int LAPACKE_cggesx( int matrix_order, char jobvsl, char jobvsr,
-                           char sort, LAPACK_C_SELECT2 selctg, char sense,
-                           lapack_int n, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb, lapack_int* sdim,
-                           lapack_complex_float* alpha,
-                           lapack_complex_float* beta,
-                           lapack_complex_float* vsl, lapack_int ldvsl,
-                           lapack_complex_float* vsr, lapack_int ldvsr,
-                           float* rconde, float* rcondv );
-lapack_int LAPACKE_zggesx( int matrix_order, char jobvsl, char jobvsr,
-                           char sort, LAPACK_Z_SELECT2 selctg, char sense,
-                           lapack_int n, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, lapack_int* sdim,
-                           lapack_complex_double* alpha,
-                           lapack_complex_double* beta,
-                           lapack_complex_double* vsl, lapack_int ldvsl,
-                           lapack_complex_double* vsr, lapack_int ldvsr,
-                           double* rconde, double* rcondv );
-
-lapack_int LAPACKE_sggev( int matrix_order, char jobvl, char jobvr,
-                          lapack_int n, float* a, lapack_int lda, float* b,
-                          lapack_int ldb, float* alphar, float* alphai,
-                          float* beta, float* vl, lapack_int ldvl, float* vr,
-                          lapack_int ldvr );
-lapack_int LAPACKE_dggev( int matrix_order, char jobvl, char jobvr,
-                          lapack_int n, double* a, lapack_int lda, double* b,
-                          lapack_int ldb, double* alphar, double* alphai,
-                          double* beta, double* vl, lapack_int ldvl, double* vr,
-                          lapack_int ldvr );
-lapack_int LAPACKE_cggev( int matrix_order, char jobvl, char jobvr,
-                          lapack_int n, lapack_complex_float* a, lapack_int lda,
-                          lapack_complex_float* b, lapack_int ldb,
-                          lapack_complex_float* alpha,
-                          lapack_complex_float* beta, lapack_complex_float* vl,
-                          lapack_int ldvl, lapack_complex_float* vr,
-                          lapack_int ldvr );
-lapack_int LAPACKE_zggev( int matrix_order, char jobvl, char jobvr,
-                          lapack_int n, lapack_complex_double* a,
-                          lapack_int lda, lapack_complex_double* b,
-                          lapack_int ldb, lapack_complex_double* alpha,
-                          lapack_complex_double* beta,
-                          lapack_complex_double* vl, lapack_int ldvl,
-                          lapack_complex_double* vr, lapack_int ldvr );
-
-lapack_int LAPACKE_sggevx( int matrix_order, char balanc, char jobvl,
-                           char jobvr, char sense, lapack_int n, float* a,
-                           lapack_int lda, float* b, lapack_int ldb,
-                           float* alphar, float* alphai, float* beta, float* vl,
-                           lapack_int ldvl, float* vr, lapack_int ldvr,
-                           lapack_int* ilo, lapack_int* ihi, float* lscale,
-                           float* rscale, float* abnrm, float* bbnrm,
-                           float* rconde, float* rcondv );
-lapack_int LAPACKE_dggevx( int matrix_order, char balanc, char jobvl,
-                           char jobvr, char sense, lapack_int n, double* a,
-                           lapack_int lda, double* b, lapack_int ldb,
-                           double* alphar, double* alphai, double* beta,
-                           double* vl, lapack_int ldvl, double* vr,
-                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
-                           double* lscale, double* rscale, double* abnrm,
-                           double* bbnrm, double* rconde, double* rcondv );
-lapack_int LAPACKE_cggevx( int matrix_order, char balanc, char jobvl,
-                           char jobvr, char sense, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* alpha,
-                           lapack_complex_float* beta, lapack_complex_float* vl,
-                           lapack_int ldvl, lapack_complex_float* vr,
-                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
-                           float* lscale, float* rscale, float* abnrm,
-                           float* bbnrm, float* rconde, float* rcondv );
-lapack_int LAPACKE_zggevx( int matrix_order, char balanc, char jobvl,
-                           char jobvr, char sense, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* alpha,
-                           lapack_complex_double* beta,
-                           lapack_complex_double* vl, lapack_int ldvl,
-                           lapack_complex_double* vr, lapack_int ldvr,
-                           lapack_int* ilo, lapack_int* ihi, double* lscale,
-                           double* rscale, double* abnrm, double* bbnrm,
-                           double* rconde, double* rcondv );
-
-lapack_int LAPACKE_sggglm( int matrix_order, lapack_int n, lapack_int m,
-                           lapack_int p, float* a, lapack_int lda, float* b,
-                           lapack_int ldb, float* d, float* x, float* y );
-lapack_int LAPACKE_dggglm( int matrix_order, lapack_int n, lapack_int m,
-                           lapack_int p, double* a, lapack_int lda, double* b,
-                           lapack_int ldb, double* d, double* x, double* y );
-lapack_int LAPACKE_cggglm( int matrix_order, lapack_int n, lapack_int m,
-                           lapack_int p, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb, lapack_complex_float* d,
-                           lapack_complex_float* x, lapack_complex_float* y );
-lapack_int LAPACKE_zggglm( int matrix_order, lapack_int n, lapack_int m,
-                           lapack_int p, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, lapack_complex_double* d,
-                           lapack_complex_double* x, lapack_complex_double* y );
-
-lapack_int LAPACKE_sgghrd( int matrix_order, char compq, char compz,
-                           lapack_int n, lapack_int ilo, lapack_int ihi,
-                           float* a, lapack_int lda, float* b, lapack_int ldb,
-                           float* q, lapack_int ldq, float* z, lapack_int ldz );
-lapack_int LAPACKE_dgghrd( int matrix_order, char compq, char compz,
-                           lapack_int n, lapack_int ilo, lapack_int ihi,
-                           double* a, lapack_int lda, double* b, lapack_int ldb,
-                           double* q, lapack_int ldq, double* z,
-                           lapack_int ldz );
-lapack_int LAPACKE_cgghrd( int matrix_order, char compq, char compz,
-                           lapack_int n, lapack_int ilo, lapack_int ihi,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* q, lapack_int ldq,
-                           lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zgghrd( int matrix_order, char compq, char compz,
-                           lapack_int n, lapack_int ilo, lapack_int ihi,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_complex_double* z, lapack_int ldz );
-
-lapack_int LAPACKE_sgglse( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int p, float* a, lapack_int lda, float* b,
-                           lapack_int ldb, float* c, float* d, float* x );
-lapack_int LAPACKE_dgglse( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int p, double* a, lapack_int lda, double* b,
-                           lapack_int ldb, double* c, double* d, double* x );
-lapack_int LAPACKE_cgglse( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int p, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb, lapack_complex_float* c,
-                           lapack_complex_float* d, lapack_complex_float* x );
-lapack_int LAPACKE_zgglse( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int p, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, lapack_complex_double* c,
-                           lapack_complex_double* d, lapack_complex_double* x );
-
-lapack_int LAPACKE_sggqrf( int matrix_order, lapack_int n, lapack_int m,
-                           lapack_int p, float* a, lapack_int lda, float* taua,
-                           float* b, lapack_int ldb, float* taub );
-lapack_int LAPACKE_dggqrf( int matrix_order, lapack_int n, lapack_int m,
-                           lapack_int p, double* a, lapack_int lda,
-                           double* taua, double* b, lapack_int ldb,
-                           double* taub );
-lapack_int LAPACKE_cggqrf( int matrix_order, lapack_int n, lapack_int m,
-                           lapack_int p, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* taua,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* taub );
-lapack_int LAPACKE_zggqrf( int matrix_order, lapack_int n, lapack_int m,
-                           lapack_int p, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* taua,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* taub );
-
-lapack_int LAPACKE_sggrqf( int matrix_order, lapack_int m, lapack_int p,
-                           lapack_int n, float* a, lapack_int lda, float* taua,
-                           float* b, lapack_int ldb, float* taub );
-lapack_int LAPACKE_dggrqf( int matrix_order, lapack_int m, lapack_int p,
-                           lapack_int n, double* a, lapack_int lda,
-                           double* taua, double* b, lapack_int ldb,
-                           double* taub );
-lapack_int LAPACKE_cggrqf( int matrix_order, lapack_int m, lapack_int p,
-                           lapack_int n, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* taua,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* taub );
-lapack_int LAPACKE_zggrqf( int matrix_order, lapack_int m, lapack_int p,
-                           lapack_int n, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* taua,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* taub );
-
-lapack_int LAPACKE_sggsvd( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int n, lapack_int p,
-                           lapack_int* k, lapack_int* l, float* a,
-                           lapack_int lda, float* b, lapack_int ldb,
-                           float* alpha, float* beta, float* u, lapack_int ldu,
-                           float* v, lapack_int ldv, float* q, lapack_int ldq,
-                           lapack_int* iwork );
-lapack_int LAPACKE_dggsvd( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int n, lapack_int p,
-                           lapack_int* k, lapack_int* l, double* a,
-                           lapack_int lda, double* b, lapack_int ldb,
-                           double* alpha, double* beta, double* u,
-                           lapack_int ldu, double* v, lapack_int ldv, double* q,
-                           lapack_int ldq, lapack_int* iwork );
-lapack_int LAPACKE_cggsvd( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int n, lapack_int p,
-                           lapack_int* k, lapack_int* l,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb,
-                           float* alpha, float* beta, lapack_complex_float* u,
-                           lapack_int ldu, lapack_complex_float* v,
-                           lapack_int ldv, lapack_complex_float* q,
-                           lapack_int ldq, lapack_int* iwork );
-lapack_int LAPACKE_zggsvd( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int n, lapack_int p,
-                           lapack_int* k, lapack_int* l,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           double* alpha, double* beta,
-                           lapack_complex_double* u, lapack_int ldu,
-                           lapack_complex_double* v, lapack_int ldv,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_int* iwork );
-
-lapack_int LAPACKE_sggsvp( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int p, lapack_int n, float* a,
-                           lapack_int lda, float* b, lapack_int ldb, float tola,
-                           float tolb, lapack_int* k, lapack_int* l, float* u,
-                           lapack_int ldu, float* v, lapack_int ldv, float* q,
-                           lapack_int ldq );
-lapack_int LAPACKE_dggsvp( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int p, lapack_int n, double* a,
-                           lapack_int lda, double* b, lapack_int ldb,
-                           double tola, double tolb, lapack_int* k,
-                           lapack_int* l, double* u, lapack_int ldu, double* v,
-                           lapack_int ldv, double* q, lapack_int ldq );
-lapack_int LAPACKE_cggsvp( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int p, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb, float tola,
-                           float tolb, lapack_int* k, lapack_int* l,
-                           lapack_complex_float* u, lapack_int ldu,
-                           lapack_complex_float* v, lapack_int ldv,
-                           lapack_complex_float* q, lapack_int ldq );
-lapack_int LAPACKE_zggsvp( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int p, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           double tola, double tolb, lapack_int* k,
-                           lapack_int* l, lapack_complex_double* u,
-                           lapack_int ldu, lapack_complex_double* v,
-                           lapack_int ldv, lapack_complex_double* q,
-                           lapack_int ldq );
-
-lapack_int LAPACKE_sgtcon( char norm, lapack_int n, const float* dl,
-                           const float* d, const float* du, const float* du2,
-                           const lapack_int* ipiv, float anorm, float* rcond );
-lapack_int LAPACKE_dgtcon( char norm, lapack_int n, const double* dl,
-                           const double* d, const double* du, const double* du2,
-                           const lapack_int* ipiv, double anorm,
-                           double* rcond );
-lapack_int LAPACKE_cgtcon( char norm, lapack_int n,
-                           const lapack_complex_float* dl,
-                           const lapack_complex_float* d,
-                           const lapack_complex_float* du,
-                           const lapack_complex_float* du2,
-                           const lapack_int* ipiv, float anorm, float* rcond );
-lapack_int LAPACKE_zgtcon( char norm, lapack_int n,
-                           const lapack_complex_double* dl,
-                           const lapack_complex_double* d,
-                           const lapack_complex_double* du,
-                           const lapack_complex_double* du2,
-                           const lapack_int* ipiv, double anorm,
-                           double* rcond );
-
-lapack_int LAPACKE_sgtrfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const float* dl, const float* d,
-                           const float* du, const float* dlf, const float* df,
-                           const float* duf, const float* du2,
-                           const lapack_int* ipiv, const float* b,
-                           lapack_int ldb, float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_dgtrfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const double* dl, const double* d,
-                           const double* du, const double* dlf,
-                           const double* df, const double* duf,
-                           const double* du2, const lapack_int* ipiv,
-                           const double* b, lapack_int ldb, double* x,
-                           lapack_int ldx, double* ferr, double* berr );
-lapack_int LAPACKE_cgtrfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* dl,
-                           const lapack_complex_float* d,
-                           const lapack_complex_float* du,
-                           const lapack_complex_float* dlf,
-                           const lapack_complex_float* df,
-                           const lapack_complex_float* duf,
-                           const lapack_complex_float* du2,
-                           const lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zgtrfs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* dl,
-                           const lapack_complex_double* d,
-                           const lapack_complex_double* du,
-                           const lapack_complex_double* dlf,
-                           const lapack_complex_double* df,
-                           const lapack_complex_double* duf,
-                           const lapack_complex_double* du2,
-                           const lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_sgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          float* dl, float* d, float* du, float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_dgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          double* dl, double* d, double* du, double* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_cgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          lapack_complex_float* dl, lapack_complex_float* d,
-                          lapack_complex_float* du, lapack_complex_float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_zgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          lapack_complex_double* dl, lapack_complex_double* d,
-                          lapack_complex_double* du, lapack_complex_double* b,
-                          lapack_int ldb );
-
-lapack_int LAPACKE_sgtsvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int nrhs, const float* dl,
-                           const float* d, const float* du, float* dlf,
-                           float* df, float* duf, float* du2, lapack_int* ipiv,
-                           const float* b, lapack_int ldb, float* x,
-                           lapack_int ldx, float* rcond, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_dgtsvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int nrhs, const double* dl,
-                           const double* d, const double* du, double* dlf,
-                           double* df, double* duf, double* du2,
-                           lapack_int* ipiv, const double* b, lapack_int ldb,
-                           double* x, lapack_int ldx, double* rcond,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_cgtsvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_float* dl,
-                           const lapack_complex_float* d,
-                           const lapack_complex_float* du,
-                           lapack_complex_float* dlf, lapack_complex_float* df,
-                           lapack_complex_float* duf, lapack_complex_float* du2,
-                           lapack_int* ipiv, const lapack_complex_float* b,
-                           lapack_int ldb, lapack_complex_float* x,
-                           lapack_int ldx, float* rcond, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zgtsvx( int matrix_order, char fact, char trans,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_double* dl,
-                           const lapack_complex_double* d,
-                           const lapack_complex_double* du,
-                           lapack_complex_double* dlf,
-                           lapack_complex_double* df,
-                           lapack_complex_double* duf,
-                           lapack_complex_double* du2, lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-
-lapack_int LAPACKE_sgttrf( lapack_int n, float* dl, float* d, float* du,
-                           float* du2, lapack_int* ipiv );
-lapack_int LAPACKE_dgttrf( lapack_int n, double* dl, double* d, double* du,
-                           double* du2, lapack_int* ipiv );
-lapack_int LAPACKE_cgttrf( lapack_int n, lapack_complex_float* dl,
-                           lapack_complex_float* d, lapack_complex_float* du,
-                           lapack_complex_float* du2, lapack_int* ipiv );
-lapack_int LAPACKE_zgttrf( lapack_int n, lapack_complex_double* dl,
-                           lapack_complex_double* d, lapack_complex_double* du,
-                           lapack_complex_double* du2, lapack_int* ipiv );
-
-lapack_int LAPACKE_sgttrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const float* dl, const float* d,
-                           const float* du, const float* du2,
-                           const lapack_int* ipiv, float* b, lapack_int ldb );
-lapack_int LAPACKE_dgttrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const double* dl, const double* d,
-                           const double* du, const double* du2,
-                           const lapack_int* ipiv, double* b, lapack_int ldb );
-lapack_int LAPACKE_cgttrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* dl,
-                           const lapack_complex_float* d,
-                           const lapack_complex_float* du,
-                           const lapack_complex_float* du2,
-                           const lapack_int* ipiv, lapack_complex_float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_zgttrs( int matrix_order, char trans, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* dl,
-                           const lapack_complex_double* d,
-                           const lapack_complex_double* du,
-                           const lapack_complex_double* du2,
-                           const lapack_int* ipiv, lapack_complex_double* b,
-                           lapack_int ldb );
-
-lapack_int LAPACKE_chbev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_int kd, lapack_complex_float* ab,
-                          lapack_int ldab, float* w, lapack_complex_float* z,
-                          lapack_int ldz );
-lapack_int LAPACKE_zhbev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_int kd, lapack_complex_double* ab,
-                          lapack_int ldab, double* w, lapack_complex_double* z,
-                          lapack_int ldz );
-
-lapack_int LAPACKE_chbevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_int kd, lapack_complex_float* ab,
-                           lapack_int ldab, float* w, lapack_complex_float* z,
-                           lapack_int ldz );
-lapack_int LAPACKE_zhbevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_int kd, lapack_complex_double* ab,
-                           lapack_int ldab, double* w, lapack_complex_double* z,
-                           lapack_int ldz );
-
-lapack_int LAPACKE_chbevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_int kd,
-                           lapack_complex_float* ab, lapack_int ldab,
-                           lapack_complex_float* q, lapack_int ldq, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, lapack_complex_float* z,
-                           lapack_int ldz, lapack_int* ifail );
-lapack_int LAPACKE_zhbevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_int kd,
-                           lapack_complex_double* ab, lapack_int ldab,
-                           lapack_complex_double* q, lapack_int ldq, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* ifail );
-
-lapack_int LAPACKE_chbgst( int matrix_order, char vect, char uplo, lapack_int n,
-                           lapack_int ka, lapack_int kb,
-                           lapack_complex_float* ab, lapack_int ldab,
-                           const lapack_complex_float* bb, lapack_int ldbb,
-                           lapack_complex_float* x, lapack_int ldx );
-lapack_int LAPACKE_zhbgst( int matrix_order, char vect, char uplo, lapack_int n,
-                           lapack_int ka, lapack_int kb,
-                           lapack_complex_double* ab, lapack_int ldab,
-                           const lapack_complex_double* bb, lapack_int ldbb,
-                           lapack_complex_double* x, lapack_int ldx );
-
-lapack_int LAPACKE_chbgv( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_int ka, lapack_int kb,
-                          lapack_complex_float* ab, lapack_int ldab,
-                          lapack_complex_float* bb, lapack_int ldbb, float* w,
-                          lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zhbgv( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_int ka, lapack_int kb,
-                          lapack_complex_double* ab, lapack_int ldab,
-                          lapack_complex_double* bb, lapack_int ldbb, double* w,
-                          lapack_complex_double* z, lapack_int ldz );
-
-lapack_int LAPACKE_chbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_int ka, lapack_int kb,
-                           lapack_complex_float* ab, lapack_int ldab,
-                           lapack_complex_float* bb, lapack_int ldbb, float* w,
-                           lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zhbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_int ka, lapack_int kb,
-                           lapack_complex_double* ab, lapack_int ldab,
-                           lapack_complex_double* bb, lapack_int ldbb,
-                           double* w, lapack_complex_double* z,
-                           lapack_int ldz );
-
-lapack_int LAPACKE_chbgvx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_int ka, lapack_int kb,
-                           lapack_complex_float* ab, lapack_int ldab,
-                           lapack_complex_float* bb, lapack_int ldbb,
-                           lapack_complex_float* q, lapack_int ldq, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, lapack_complex_float* z,
-                           lapack_int ldz, lapack_int* ifail );
-lapack_int LAPACKE_zhbgvx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_int ka, lapack_int kb,
-                           lapack_complex_double* ab, lapack_int ldab,
-                           lapack_complex_double* bb, lapack_int ldbb,
-                           lapack_complex_double* q, lapack_int ldq, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* ifail );
-
-lapack_int LAPACKE_chbtrd( int matrix_order, char vect, char uplo, lapack_int n,
-                           lapack_int kd, lapack_complex_float* ab,
-                           lapack_int ldab, float* d, float* e,
-                           lapack_complex_float* q, lapack_int ldq );
-lapack_int LAPACKE_zhbtrd( int matrix_order, char vect, char uplo, lapack_int n,
-                           lapack_int kd, lapack_complex_double* ab,
-                           lapack_int ldab, double* d, double* e,
-                           lapack_complex_double* q, lapack_int ldq );
-
-lapack_int LAPACKE_checon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_int* ipiv, float anorm, float* rcond );
-lapack_int LAPACKE_zhecon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_int* ipiv, double anorm,
-                           double* rcond );
-
-lapack_int LAPACKE_cheequb( int matrix_order, char uplo, lapack_int n,
-                            const lapack_complex_float* a, lapack_int lda,
-                            float* s, float* scond, float* amax );
-lapack_int LAPACKE_zheequb( int matrix_order, char uplo, lapack_int n,
-                            const lapack_complex_double* a, lapack_int lda,
-                            double* s, double* scond, double* amax );
-
-lapack_int LAPACKE_cheev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_complex_float* a, lapack_int lda, float* w );
-lapack_int LAPACKE_zheev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_complex_double* a, lapack_int lda, double* w );
-
-lapack_int LAPACKE_cheevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda, float* w );
-lapack_int LAPACKE_zheevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           double* w );
-
-lapack_int LAPACKE_cheevr( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_complex_float* a,
-                           lapack_int lda, float vl, float vu, lapack_int il,
-                           lapack_int iu, float abstol, lapack_int* m, float* w,
-                           lapack_complex_float* z, lapack_int ldz,
-                           lapack_int* isuppz );
-lapack_int LAPACKE_zheevr( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_complex_double* a,
-                           lapack_int lda, double vl, double vu, lapack_int il,
-                           lapack_int iu, double abstol, lapack_int* m,
-                           double* w, lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* isuppz );
-
-lapack_int LAPACKE_cheevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_complex_float* a,
-                           lapack_int lda, float vl, float vu, lapack_int il,
-                           lapack_int iu, float abstol, lapack_int* m, float* w,
-                           lapack_complex_float* z, lapack_int ldz,
-                           lapack_int* ifail );
-lapack_int LAPACKE_zheevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_complex_double* a,
-                           lapack_int lda, double vl, double vu, lapack_int il,
-                           lapack_int iu, double abstol, lapack_int* m,
-                           double* w, lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* ifail );
-
-lapack_int LAPACKE_chegst( int matrix_order, lapack_int itype, char uplo,
-                           lapack_int n, lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_zhegst( int matrix_order, lapack_int itype, char uplo,
-                           lapack_int n, lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* b,
-                           lapack_int ldb );
-
-lapack_int LAPACKE_chegv( int matrix_order, lapack_int itype, char jobz,
-                          char uplo, lapack_int n, lapack_complex_float* a,
-                          lapack_int lda, lapack_complex_float* b,
-                          lapack_int ldb, float* w );
-lapack_int LAPACKE_zhegv( int matrix_order, lapack_int itype, char jobz,
-                          char uplo, lapack_int n, lapack_complex_double* a,
-                          lapack_int lda, lapack_complex_double* b,
-                          lapack_int ldb, double* w );
-
-lapack_int LAPACKE_chegvd( int matrix_order, lapack_int itype, char jobz,
-                           char uplo, lapack_int n, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb, float* w );
-lapack_int LAPACKE_zhegvd( int matrix_order, lapack_int itype, char jobz,
-                           char uplo, lapack_int n, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, double* w );
-
-lapack_int LAPACKE_chegvx( int matrix_order, lapack_int itype, char jobz,
-                           char range, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, lapack_complex_float* z,
-                           lapack_int ldz, lapack_int* ifail );
-lapack_int LAPACKE_zhegvx( int matrix_order, lapack_int itype, char jobz,
-                           char range, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* ifail );
-
-lapack_int LAPACKE_cherfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* af,
-                           lapack_int ldaf, const lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zherfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* af,
-                           lapack_int ldaf, const lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_cherfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs,
-                            const lapack_complex_float* a, lapack_int lda,
-                            const lapack_complex_float* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const float* s,
-                            const lapack_complex_float* b, lapack_int ldb,
-                            lapack_complex_float* x, lapack_int ldx,
-                            float* rcond, float* berr, lapack_int n_err_bnds,
-                            float* err_bnds_norm, float* err_bnds_comp,
-                            lapack_int nparams, float* params );
-lapack_int LAPACKE_zherfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs,
-                            const lapack_complex_double* a, lapack_int lda,
-                            const lapack_complex_double* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const double* s,
-                            const lapack_complex_double* b, lapack_int ldb,
-                            lapack_complex_double* x, lapack_int ldx,
-                            double* rcond, double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-
-lapack_int LAPACKE_chesv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_float* a,
-                          lapack_int lda, lapack_int* ipiv,
-                          lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zhesv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_double* a,
-                          lapack_int lda, lapack_int* ipiv,
-                          lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_chesvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* af,
-                           lapack_int ldaf, lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr );
-lapack_int LAPACKE_zhesvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* af,
-                           lapack_int ldaf, lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-
-lapack_int LAPACKE_chesvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, float* s,
-                            lapack_complex_float* b, lapack_int ldb,
-                            lapack_complex_float* x, lapack_int ldx,
-                            float* rcond, float* rpvgrw, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_zhesvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, double* s,
-                            lapack_complex_double* b, lapack_int ldb,
-                            lapack_complex_double* x, lapack_int ldx,
-                            double* rcond, double* rpvgrw, double* berr,
-                            lapack_int n_err_bnds, double* err_bnds_norm,
-                            double* err_bnds_comp, lapack_int nparams,
-                            double* params );
-
-lapack_int LAPACKE_chetrd( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda, float* d,
-                           float* e, lapack_complex_float* tau );
-lapack_int LAPACKE_zhetrd( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda, double* d,
-                           double* e, lapack_complex_double* tau );
-
-lapack_int LAPACKE_chetrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* ipiv );
-lapack_int LAPACKE_zhetrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* ipiv );
-
-lapack_int LAPACKE_chetri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           const lapack_int* ipiv );
-lapack_int LAPACKE_zhetri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           const lapack_int* ipiv );
-
-lapack_int LAPACKE_chetrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_int* ipiv,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zhetrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_int* ipiv,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_chfrk( int matrix_order, char transr, char uplo, char trans,
-                          lapack_int n, lapack_int k, float alpha,
-                          const lapack_complex_float* a, lapack_int lda,
-                          float beta, lapack_complex_float* c );
-lapack_int LAPACKE_zhfrk( int matrix_order, char transr, char uplo, char trans,
-                          lapack_int n, lapack_int k, double alpha,
-                          const lapack_complex_double* a, lapack_int lda,
-                          double beta, lapack_complex_double* c );
-
-lapack_int LAPACKE_shgeqz( int matrix_order, char job, char compq, char compz,
-                           lapack_int n, lapack_int ilo, lapack_int ihi,
-                           float* h, lapack_int ldh, float* t, lapack_int ldt,
-                           float* alphar, float* alphai, float* beta, float* q,
-                           lapack_int ldq, float* z, lapack_int ldz );
-lapack_int LAPACKE_dhgeqz( int matrix_order, char job, char compq, char compz,
-                           lapack_int n, lapack_int ilo, lapack_int ihi,
-                           double* h, lapack_int ldh, double* t, lapack_int ldt,
-                           double* alphar, double* alphai, double* beta,
-                           double* q, lapack_int ldq, double* z,
-                           lapack_int ldz );
-lapack_int LAPACKE_chgeqz( int matrix_order, char job, char compq, char compz,
-                           lapack_int n, lapack_int ilo, lapack_int ihi,
-                           lapack_complex_float* h, lapack_int ldh,
-                           lapack_complex_float* t, lapack_int ldt,
-                           lapack_complex_float* alpha,
-                           lapack_complex_float* beta, lapack_complex_float* q,
-                           lapack_int ldq, lapack_complex_float* z,
-                           lapack_int ldz );
-lapack_int LAPACKE_zhgeqz( int matrix_order, char job, char compq, char compz,
-                           lapack_int n, lapack_int ilo, lapack_int ihi,
-                           lapack_complex_double* h, lapack_int ldh,
-                           lapack_complex_double* t, lapack_int ldt,
-                           lapack_complex_double* alpha,
-                           lapack_complex_double* beta,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_complex_double* z, lapack_int ldz );
-
-lapack_int LAPACKE_chpcon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* ap,
-                           const lapack_int* ipiv, float anorm, float* rcond );
-lapack_int LAPACKE_zhpcon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* ap,
-                           const lapack_int* ipiv, double anorm,
-                           double* rcond );
-
-lapack_int LAPACKE_chpev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_complex_float* ap, float* w,
-                          lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zhpev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_complex_double* ap, double* w,
-                          lapack_complex_double* z, lapack_int ldz );
-
-lapack_int LAPACKE_chpevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_complex_float* ap, float* w,
-                           lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zhpevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_complex_double* ap, double* w,
-                           lapack_complex_double* z, lapack_int ldz );
-
-lapack_int LAPACKE_chpevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_complex_float* ap, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, lapack_complex_float* z,
-                           lapack_int ldz, lapack_int* ifail );
-lapack_int LAPACKE_zhpevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_complex_double* ap, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* ifail );
-
-lapack_int LAPACKE_chpgst( int matrix_order, lapack_int itype, char uplo,
-                           lapack_int n, lapack_complex_float* ap,
-                           const lapack_complex_float* bp );
-lapack_int LAPACKE_zhpgst( int matrix_order, lapack_int itype, char uplo,
-                           lapack_int n, lapack_complex_double* ap,
-                           const lapack_complex_double* bp );
-
-lapack_int LAPACKE_chpgv( int matrix_order, lapack_int itype, char jobz,
-                          char uplo, lapack_int n, lapack_complex_float* ap,
-                          lapack_complex_float* bp, float* w,
-                          lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zhpgv( int matrix_order, lapack_int itype, char jobz,
-                          char uplo, lapack_int n, lapack_complex_double* ap,
-                          lapack_complex_double* bp, double* w,
-                          lapack_complex_double* z, lapack_int ldz );
-
-lapack_int LAPACKE_chpgvd( int matrix_order, lapack_int itype, char jobz,
-                           char uplo, lapack_int n, lapack_complex_float* ap,
-                           lapack_complex_float* bp, float* w,
-                           lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zhpgvd( int matrix_order, lapack_int itype, char jobz,
-                           char uplo, lapack_int n, lapack_complex_double* ap,
-                           lapack_complex_double* bp, double* w,
-                           lapack_complex_double* z, lapack_int ldz );
-
-lapack_int LAPACKE_chpgvx( int matrix_order, lapack_int itype, char jobz,
-                           char range, char uplo, lapack_int n,
-                           lapack_complex_float* ap, lapack_complex_float* bp,
-                           float vl, float vu, lapack_int il, lapack_int iu,
-                           float abstol, lapack_int* m, float* w,
-                           lapack_complex_float* z, lapack_int ldz,
-                           lapack_int* ifail );
-lapack_int LAPACKE_zhpgvx( int matrix_order, lapack_int itype, char jobz,
-                           char range, char uplo, lapack_int n,
-                           lapack_complex_double* ap, lapack_complex_double* bp,
-                           double vl, double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* ifail );
-
-lapack_int LAPACKE_chprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* ap,
-                           const lapack_complex_float* afp,
-                           const lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zhprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* ap,
-                           const lapack_complex_double* afp,
-                           const lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_chpsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_float* ap,
-                          lapack_int* ipiv, lapack_complex_float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_zhpsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_double* ap,
-                          lapack_int* ipiv, lapack_complex_double* b,
-                          lapack_int ldb );
-
-lapack_int LAPACKE_chpsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* ap,
-                           lapack_complex_float* afp, lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr );
-lapack_int LAPACKE_zhpsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* ap,
-                           lapack_complex_double* afp, lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-
-lapack_int LAPACKE_chptrd( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* ap, float* d, float* e,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_zhptrd( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* ap, double* d, double* e,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_chptrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* ap, lapack_int* ipiv );
-lapack_int LAPACKE_zhptrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* ap, lapack_int* ipiv );
-
-lapack_int LAPACKE_chptri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* ap, const lapack_int* ipiv );
-lapack_int LAPACKE_zhptri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* ap, const lapack_int* ipiv );
-
-lapack_int LAPACKE_chptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* ap,
-                           const lapack_int* ipiv, lapack_complex_float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_zhptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* ap,
-                           const lapack_int* ipiv, lapack_complex_double* b,
-                           lapack_int ldb );
-
-lapack_int LAPACKE_shsein( int matrix_order, char job, char eigsrc, char initv,
-                           lapack_logical* select, lapack_int n, const float* h,
-                           lapack_int ldh, float* wr, const float* wi,
-                           float* vl, lapack_int ldvl, float* vr,
-                           lapack_int ldvr, lapack_int mm, lapack_int* m,
-                           lapack_int* ifaill, lapack_int* ifailr );
-lapack_int LAPACKE_dhsein( int matrix_order, char job, char eigsrc, char initv,
-                           lapack_logical* select, lapack_int n,
-                           const double* h, lapack_int ldh, double* wr,
-                           const double* wi, double* vl, lapack_int ldvl,
-                           double* vr, lapack_int ldvr, lapack_int mm,
-                           lapack_int* m, lapack_int* ifaill,
-                           lapack_int* ifailr );
-lapack_int LAPACKE_chsein( int matrix_order, char job, char eigsrc, char initv,
-                           const lapack_logical* select, lapack_int n,
-                           const lapack_complex_float* h, lapack_int ldh,
-                           lapack_complex_float* w, lapack_complex_float* vl,
-                           lapack_int ldvl, lapack_complex_float* vr,
-                           lapack_int ldvr, lapack_int mm, lapack_int* m,
-                           lapack_int* ifaill, lapack_int* ifailr );
-lapack_int LAPACKE_zhsein( int matrix_order, char job, char eigsrc, char initv,
-                           const lapack_logical* select, lapack_int n,
-                           const lapack_complex_double* h, lapack_int ldh,
-                           lapack_complex_double* w, lapack_complex_double* vl,
-                           lapack_int ldvl, lapack_complex_double* vr,
-                           lapack_int ldvr, lapack_int mm, lapack_int* m,
-                           lapack_int* ifaill, lapack_int* ifailr );
-
-lapack_int LAPACKE_shseqr( int matrix_order, char job, char compz, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, float* h,
-                           lapack_int ldh, float* wr, float* wi, float* z,
-                           lapack_int ldz );
-lapack_int LAPACKE_dhseqr( int matrix_order, char job, char compz, lapack_int n,
-                           lapack_int ilo, lapack_int ihi, double* h,
-                           lapack_int ldh, double* wr, double* wi, double* z,
-                           lapack_int ldz );
-lapack_int LAPACKE_chseqr( int matrix_order, char job, char compz, lapack_int n,
-                           lapack_int ilo, lapack_int ihi,
-                           lapack_complex_float* h, lapack_int ldh,
-                           lapack_complex_float* w, lapack_complex_float* z,
-                           lapack_int ldz );
-lapack_int LAPACKE_zhseqr( int matrix_order, char job, char compz, lapack_int n,
-                           lapack_int ilo, lapack_int ihi,
-                           lapack_complex_double* h, lapack_int ldh,
-                           lapack_complex_double* w, lapack_complex_double* z,
-                           lapack_int ldz );
-
-lapack_int LAPACKE_clacgv( lapack_int n, lapack_complex_float* x,
-                           lapack_int incx );
-lapack_int LAPACKE_zlacgv( lapack_int n, lapack_complex_double* x,
-                           lapack_int incx );
-
-lapack_int LAPACKE_slacpy( int matrix_order, char uplo, lapack_int m,
-                           lapack_int n, const float* a, lapack_int lda, float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_dlacpy( int matrix_order, char uplo, lapack_int m,
-                           lapack_int n, const double* a, lapack_int lda, double* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_clacpy( int matrix_order, char uplo, lapack_int m,
-                           lapack_int n, const lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_zlacpy( int matrix_order, char uplo, lapack_int m,
-                           lapack_int n, const lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb );
-
-lapack_int LAPACKE_zlag2c( int matrix_order, lapack_int m, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_float* sa, lapack_int ldsa );
-
-lapack_int LAPACKE_slag2d( int matrix_order, lapack_int m, lapack_int n,
-                           const float* sa, lapack_int ldsa, double* a,
-                           lapack_int lda );
-
-lapack_int LAPACKE_dlag2s( int matrix_order, lapack_int m, lapack_int n,
-                           const double* a, lapack_int lda, float* sa,
-                           lapack_int ldsa );
-
-lapack_int LAPACKE_clag2z( int matrix_order, lapack_int m, lapack_int n,
-                           const lapack_complex_float* sa, lapack_int ldsa,
-                           lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_slagge( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku, const float* d,
-                           float* a, lapack_int lda, lapack_int* iseed );
-lapack_int LAPACKE_dlagge( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku, const double* d,
-                           double* a, lapack_int lda, lapack_int* iseed );
-lapack_int LAPACKE_clagge( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku, const float* d,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* iseed );
-lapack_int LAPACKE_zlagge( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int kl, lapack_int ku, const double* d,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* iseed );
-
-float LAPACKE_slamch( char cmach );
-double LAPACKE_dlamch( char cmach );
-
-float LAPACKE_slange( int matrix_order, char norm, lapack_int m,
-                           lapack_int n, const float* a, lapack_int lda );
-double LAPACKE_dlange( int matrix_order, char norm, lapack_int m,
-                           lapack_int n, const double* a, lapack_int lda );
-float LAPACKE_clange( int matrix_order, char norm, lapack_int m,
-                           lapack_int n, const lapack_complex_float* a,
-                           lapack_int lda );
-double LAPACKE_zlange( int matrix_order, char norm, lapack_int m,
-                           lapack_int n, const lapack_complex_double* a,
-                           lapack_int lda );
-
-float LAPACKE_clanhe( int matrix_order, char norm, char uplo, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda );
-double LAPACKE_zlanhe( int matrix_order, char norm, char uplo, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda );
-
-float LAPACKE_slansy( int matrix_order, char norm, char uplo, lapack_int n,
-                           const float* a, lapack_int lda );
-double LAPACKE_dlansy( int matrix_order, char norm, char uplo, lapack_int n,
-                           const double* a, lapack_int lda );
-float LAPACKE_clansy( int matrix_order, char norm, char uplo, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda );
-double LAPACKE_zlansy( int matrix_order, char norm, char uplo, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda );
-
-float LAPACKE_slantr( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int m, lapack_int n, const float* a,
-                           lapack_int lda );
-double LAPACKE_dlantr( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int m, lapack_int n, const double* a,
-                           lapack_int lda );
-float LAPACKE_clantr( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int m, lapack_int n, const lapack_complex_float* a,
-                           lapack_int lda );
-double LAPACKE_zlantr( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int m, lapack_int n, const lapack_complex_double* a,
-                           lapack_int lda );
-
-
-lapack_int LAPACKE_slarfb( int matrix_order, char side, char trans, char direct,
-                           char storev, lapack_int m, lapack_int n,
-                           lapack_int k, const float* v, lapack_int ldv,
-                           const float* t, lapack_int ldt, float* c,
-                           lapack_int ldc );
-lapack_int LAPACKE_dlarfb( int matrix_order, char side, char trans, char direct,
-                           char storev, lapack_int m, lapack_int n,
-                           lapack_int k, const double* v, lapack_int ldv,
-                           const double* t, lapack_int ldt, double* c,
-                           lapack_int ldc );
-lapack_int LAPACKE_clarfb( int matrix_order, char side, char trans, char direct,
-                           char storev, lapack_int m, lapack_int n,
-                           lapack_int k, const lapack_complex_float* v,
-                           lapack_int ldv, const lapack_complex_float* t,
-                           lapack_int ldt, lapack_complex_float* c,
-                           lapack_int ldc );
-lapack_int LAPACKE_zlarfb( int matrix_order, char side, char trans, char direct,
-                           char storev, lapack_int m, lapack_int n,
-                           lapack_int k, const lapack_complex_double* v,
-                           lapack_int ldv, const lapack_complex_double* t,
-                           lapack_int ldt, lapack_complex_double* c,
-                           lapack_int ldc );
-
-lapack_int LAPACKE_slarfg( lapack_int n, float* alpha, float* x,
-                           lapack_int incx, float* tau );
-lapack_int LAPACKE_dlarfg( lapack_int n, double* alpha, double* x,
-                           lapack_int incx, double* tau );
-lapack_int LAPACKE_clarfg( lapack_int n, lapack_complex_float* alpha,
-                           lapack_complex_float* x, lapack_int incx,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_zlarfg( lapack_int n, lapack_complex_double* alpha,
-                           lapack_complex_double* x, lapack_int incx,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_slarft( int matrix_order, char direct, char storev,
-                           lapack_int n, lapack_int k, const float* v,
-                           lapack_int ldv, const float* tau, float* t,
-                           lapack_int ldt );
-lapack_int LAPACKE_dlarft( int matrix_order, char direct, char storev,
-                           lapack_int n, lapack_int k, const double* v,
-                           lapack_int ldv, const double* tau, double* t,
-                           lapack_int ldt );
-lapack_int LAPACKE_clarft( int matrix_order, char direct, char storev,
-                           lapack_int n, lapack_int k,
-                           const lapack_complex_float* v, lapack_int ldv,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* t, lapack_int ldt );
-lapack_int LAPACKE_zlarft( int matrix_order, char direct, char storev,
-                           lapack_int n, lapack_int k,
-                           const lapack_complex_double* v, lapack_int ldv,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_slarfx( int matrix_order, char side, lapack_int m,
-                           lapack_int n, const float* v, float tau, float* c,
-                           lapack_int ldc, float* work );
-lapack_int LAPACKE_dlarfx( int matrix_order, char side, lapack_int m,
-                           lapack_int n, const double* v, double tau, double* c,
-                           lapack_int ldc, double* work );
-lapack_int LAPACKE_clarfx( int matrix_order, char side, lapack_int m,
-                           lapack_int n, const lapack_complex_float* v,
-                           lapack_complex_float tau, lapack_complex_float* c,
-                           lapack_int ldc, lapack_complex_float* work );
-lapack_int LAPACKE_zlarfx( int matrix_order, char side, lapack_int m,
-                           lapack_int n, const lapack_complex_double* v,
-                           lapack_complex_double tau, lapack_complex_double* c,
-                           lapack_int ldc, lapack_complex_double* work );
-
-lapack_int LAPACKE_slarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
-                           float* x );
-lapack_int LAPACKE_dlarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
-                           double* x );
-lapack_int LAPACKE_clarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
-                           lapack_complex_float* x );
-lapack_int LAPACKE_zlarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
-                           lapack_complex_double* x );
-
-lapack_int LAPACKE_slaset( int matrix_order, char uplo, lapack_int m,
-                           lapack_int n, float alpha, float beta, float* a,
-                           lapack_int lda );
-lapack_int LAPACKE_dlaset( int matrix_order, char uplo, lapack_int m,
-                           lapack_int n, double alpha, double beta, double* a,
-                           lapack_int lda );
-lapack_int LAPACKE_claset( int matrix_order, char uplo, lapack_int m,
-                           lapack_int n, lapack_complex_float alpha,
-                           lapack_complex_float beta, lapack_complex_float* a,
-                           lapack_int lda );
-lapack_int LAPACKE_zlaset( int matrix_order, char uplo, lapack_int m,
-                           lapack_int n, lapack_complex_double alpha,
-                           lapack_complex_double beta, lapack_complex_double* a,
-                           lapack_int lda );
-
-lapack_int LAPACKE_slasrt( char id, lapack_int n, float* d );
-lapack_int LAPACKE_dlasrt( char id, lapack_int n, double* d );
-
-lapack_int LAPACKE_slaswp( int matrix_order, lapack_int n, float* a,
-                           lapack_int lda, lapack_int k1, lapack_int k2,
-                           const lapack_int* ipiv, lapack_int incx );
-lapack_int LAPACKE_dlaswp( int matrix_order, lapack_int n, double* a,
-                           lapack_int lda, lapack_int k1, lapack_int k2,
-                           const lapack_int* ipiv, lapack_int incx );
-lapack_int LAPACKE_claswp( int matrix_order, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int k1, lapack_int k2, const lapack_int* ipiv,
-                           lapack_int incx );
-lapack_int LAPACKE_zlaswp( int matrix_order, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int k1, lapack_int k2, const lapack_int* ipiv,
-                           lapack_int incx );
-
-lapack_int LAPACKE_slatms( int matrix_order, lapack_int m, lapack_int n,
-                           char dist, lapack_int* iseed, char sym, float* d,
-                           lapack_int mode, float cond, float dmax,
-                           lapack_int kl, lapack_int ku, char pack, float* a,
-                           lapack_int lda );
-lapack_int LAPACKE_dlatms( int matrix_order, lapack_int m, lapack_int n,
-                           char dist, lapack_int* iseed, char sym, double* d,
-                           lapack_int mode, double cond, double dmax,
-                           lapack_int kl, lapack_int ku, char pack, double* a,
-                           lapack_int lda );
-lapack_int LAPACKE_clatms( int matrix_order, lapack_int m, lapack_int n,
-                           char dist, lapack_int* iseed, char sym, float* d,
-                           lapack_int mode, float cond, float dmax,
-                           lapack_int kl, lapack_int ku, char pack,
-                           lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zlatms( int matrix_order, lapack_int m, lapack_int n,
-                           char dist, lapack_int* iseed, char sym, double* d,
-                           lapack_int mode, double cond, double dmax,
-                           lapack_int kl, lapack_int ku, char pack,
-                           lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_slauum( int matrix_order, char uplo, lapack_int n, float* a,
-                           lapack_int lda );
-lapack_int LAPACKE_dlauum( int matrix_order, char uplo, lapack_int n, double* a,
-                           lapack_int lda );
-lapack_int LAPACKE_clauum( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zlauum( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_sopgtr( int matrix_order, char uplo, lapack_int n,
-                           const float* ap, const float* tau, float* q,
-                           lapack_int ldq );
-lapack_int LAPACKE_dopgtr( int matrix_order, char uplo, lapack_int n,
-                           const double* ap, const double* tau, double* q,
-                           lapack_int ldq );
-
-lapack_int LAPACKE_sopmtr( int matrix_order, char side, char uplo, char trans,
-                           lapack_int m, lapack_int n, const float* ap,
-                           const float* tau, float* c, lapack_int ldc );
-lapack_int LAPACKE_dopmtr( int matrix_order, char side, char uplo, char trans,
-                           lapack_int m, lapack_int n, const double* ap,
-                           const double* tau, double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sorgbr( int matrix_order, char vect, lapack_int m,
-                           lapack_int n, lapack_int k, float* a, lapack_int lda,
-                           const float* tau );
-lapack_int LAPACKE_dorgbr( int matrix_order, char vect, lapack_int m,
-                           lapack_int n, lapack_int k, double* a,
-                           lapack_int lda, const double* tau );
-
-lapack_int LAPACKE_sorghr( int matrix_order, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, float* a, lapack_int lda,
-                           const float* tau );
-lapack_int LAPACKE_dorghr( int matrix_order, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, double* a, lapack_int lda,
-                           const double* tau );
-
-lapack_int LAPACKE_sorglq( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, float* a, lapack_int lda,
-                           const float* tau );
-lapack_int LAPACKE_dorglq( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, double* a, lapack_int lda,
-                           const double* tau );
-
-lapack_int LAPACKE_sorgql( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, float* a, lapack_int lda,
-                           const float* tau );
-lapack_int LAPACKE_dorgql( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, double* a, lapack_int lda,
-                           const double* tau );
-
-lapack_int LAPACKE_sorgqr( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, float* a, lapack_int lda,
-                           const float* tau );
-lapack_int LAPACKE_dorgqr( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, double* a, lapack_int lda,
-                           const double* tau );
-
-lapack_int LAPACKE_sorgrq( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, float* a, lapack_int lda,
-                           const float* tau );
-lapack_int LAPACKE_dorgrq( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, double* a, lapack_int lda,
-                           const double* tau );
-
-lapack_int LAPACKE_sorgtr( int matrix_order, char uplo, lapack_int n, float* a,
-                           lapack_int lda, const float* tau );
-lapack_int LAPACKE_dorgtr( int matrix_order, char uplo, lapack_int n, double* a,
-                           lapack_int lda, const double* tau );
-
-lapack_int LAPACKE_sormbr( int matrix_order, char vect, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const float* a, lapack_int lda, const float* tau,
-                           float* c, lapack_int ldc );
-lapack_int LAPACKE_dormbr( int matrix_order, char vect, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const double* a, lapack_int lda, const double* tau,
-                           double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sormhr( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, const float* a, lapack_int lda,
-                           const float* tau, float* c, lapack_int ldc );
-lapack_int LAPACKE_dormhr( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, const double* a, lapack_int lda,
-                           const double* tau, double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sormlq( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const float* a, lapack_int lda, const float* tau,
-                           float* c, lapack_int ldc );
-lapack_int LAPACKE_dormlq( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const double* a, lapack_int lda, const double* tau,
-                           double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sormql( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const float* a, lapack_int lda, const float* tau,
-                           float* c, lapack_int ldc );
-lapack_int LAPACKE_dormql( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const double* a, lapack_int lda, const double* tau,
-                           double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sormqr( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const float* a, lapack_int lda, const float* tau,
-                           float* c, lapack_int ldc );
-lapack_int LAPACKE_dormqr( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const double* a, lapack_int lda, const double* tau,
-                           double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sormrq( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const float* a, lapack_int lda, const float* tau,
-                           float* c, lapack_int ldc );
-lapack_int LAPACKE_dormrq( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const double* a, lapack_int lda, const double* tau,
-                           double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sormrz( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           lapack_int l, const float* a, lapack_int lda,
-                           const float* tau, float* c, lapack_int ldc );
-lapack_int LAPACKE_dormrz( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           lapack_int l, const double* a, lapack_int lda,
-                           const double* tau, double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sormtr( int matrix_order, char side, char uplo, char trans,
-                           lapack_int m, lapack_int n, const float* a,
-                           lapack_int lda, const float* tau, float* c,
-                           lapack_int ldc );
-lapack_int LAPACKE_dormtr( int matrix_order, char side, char uplo, char trans,
-                           lapack_int m, lapack_int n, const double* a,
-                           lapack_int lda, const double* tau, double* c,
-                           lapack_int ldc );
-
-lapack_int LAPACKE_spbcon( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, const float* ab, lapack_int ldab,
-                           float anorm, float* rcond );
-lapack_int LAPACKE_dpbcon( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, const double* ab, lapack_int ldab,
-                           double anorm, double* rcond );
-lapack_int LAPACKE_cpbcon( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, const lapack_complex_float* ab,
-                           lapack_int ldab, float anorm, float* rcond );
-lapack_int LAPACKE_zpbcon( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, const lapack_complex_double* ab,
-                           lapack_int ldab, double anorm, double* rcond );
-
-lapack_int LAPACKE_spbequ( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, const float* ab, lapack_int ldab,
-                           float* s, float* scond, float* amax );
-lapack_int LAPACKE_dpbequ( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, const double* ab, lapack_int ldab,
-                           double* s, double* scond, double* amax );
-lapack_int LAPACKE_cpbequ( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, const lapack_complex_float* ab,
-                           lapack_int ldab, float* s, float* scond,
-                           float* amax );
-lapack_int LAPACKE_zpbequ( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, const lapack_complex_double* ab,
-                           lapack_int ldab, double* s, double* scond,
-                           double* amax );
-
-lapack_int LAPACKE_spbrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs, const float* ab,
-                           lapack_int ldab, const float* afb, lapack_int ldafb,
-                           const float* b, lapack_int ldb, float* x,
-                           lapack_int ldx, float* ferr, float* berr );
-lapack_int LAPACKE_dpbrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs, const double* ab,
-                           lapack_int ldab, const double* afb, lapack_int ldafb,
-                           const double* b, lapack_int ldb, double* x,
-                           lapack_int ldx, double* ferr, double* berr );
-lapack_int LAPACKE_cpbrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           const lapack_complex_float* afb, lapack_int ldafb,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zpbrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           const lapack_complex_double* afb, lapack_int ldafb,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_spbstf( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kb, float* bb, lapack_int ldbb );
-lapack_int LAPACKE_dpbstf( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kb, double* bb, lapack_int ldbb );
-lapack_int LAPACKE_cpbstf( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kb, lapack_complex_float* bb,
-                           lapack_int ldbb );
-lapack_int LAPACKE_zpbstf( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kb, lapack_complex_double* bb,
-                           lapack_int ldbb );
-
-lapack_int LAPACKE_spbsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int kd, lapack_int nrhs, float* ab,
-                          lapack_int ldab, float* b, lapack_int ldb );
-lapack_int LAPACKE_dpbsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int kd, lapack_int nrhs, double* ab,
-                          lapack_int ldab, double* b, lapack_int ldb );
-lapack_int LAPACKE_cpbsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int kd, lapack_int nrhs,
-                          lapack_complex_float* ab, lapack_int ldab,
-                          lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpbsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int kd, lapack_int nrhs,
-                          lapack_complex_double* ab, lapack_int ldab,
-                          lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_spbsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs, float* ab,
-                           lapack_int ldab, float* afb, lapack_int ldafb,
-                           char* equed, float* s, float* b, lapack_int ldb,
-                           float* x, lapack_int ldx, float* rcond, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_dpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs, double* ab,
-                           lapack_int ldab, double* afb, lapack_int ldafb,
-                           char* equed, double* s, double* b, lapack_int ldb,
-                           double* x, lapack_int ldx, double* rcond,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_cpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs,
-                           lapack_complex_float* ab, lapack_int ldab,
-                           lapack_complex_float* afb, lapack_int ldafb,
-                           char* equed, float* s, lapack_complex_float* b,
-                           lapack_int ldb, lapack_complex_float* x,
-                           lapack_int ldx, float* rcond, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs,
-                           lapack_complex_double* ab, lapack_int ldab,
-                           lapack_complex_double* afb, lapack_int ldafb,
-                           char* equed, double* s, lapack_complex_double* b,
-                           lapack_int ldb, lapack_complex_double* x,
-                           lapack_int ldx, double* rcond, double* ferr,
-                           double* berr );
-
-lapack_int LAPACKE_spbtrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, float* ab, lapack_int ldab );
-lapack_int LAPACKE_dpbtrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, double* ab, lapack_int ldab );
-lapack_int LAPACKE_cpbtrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_complex_float* ab,
-                           lapack_int ldab );
-lapack_int LAPACKE_zpbtrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_complex_double* ab,
-                           lapack_int ldab );
-
-lapack_int LAPACKE_spbtrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs, const float* ab,
-                           lapack_int ldab, float* b, lapack_int ldb );
-lapack_int LAPACKE_dpbtrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs, const double* ab,
-                           lapack_int ldab, double* b, lapack_int ldb );
-lapack_int LAPACKE_cpbtrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpbtrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int kd, lapack_int nrhs,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_spftrf( int matrix_order, char transr, char uplo,
-                           lapack_int n, float* a );
-lapack_int LAPACKE_dpftrf( int matrix_order, char transr, char uplo,
-                           lapack_int n, double* a );
-lapack_int LAPACKE_cpftrf( int matrix_order, char transr, char uplo,
-                           lapack_int n, lapack_complex_float* a );
-lapack_int LAPACKE_zpftrf( int matrix_order, char transr, char uplo,
-                           lapack_int n, lapack_complex_double* a );
-
-lapack_int LAPACKE_spftri( int matrix_order, char transr, char uplo,
-                           lapack_int n, float* a );
-lapack_int LAPACKE_dpftri( int matrix_order, char transr, char uplo,
-                           lapack_int n, double* a );
-lapack_int LAPACKE_cpftri( int matrix_order, char transr, char uplo,
-                           lapack_int n, lapack_complex_float* a );
-lapack_int LAPACKE_zpftri( int matrix_order, char transr, char uplo,
-                           lapack_int n, lapack_complex_double* a );
-
-lapack_int LAPACKE_spftrs( int matrix_order, char transr, char uplo,
-                           lapack_int n, lapack_int nrhs, const float* a,
-                           float* b, lapack_int ldb );
-lapack_int LAPACKE_dpftrs( int matrix_order, char transr, char uplo,
-                           lapack_int n, lapack_int nrhs, const double* a,
-                           double* b, lapack_int ldb );
-lapack_int LAPACKE_cpftrs( int matrix_order, char transr, char uplo,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_float* a,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpftrs( int matrix_order, char transr, char uplo,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_double* a,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_spocon( int matrix_order, char uplo, lapack_int n,
-                           const float* a, lapack_int lda, float anorm,
-                           float* rcond );
-lapack_int LAPACKE_dpocon( int matrix_order, char uplo, lapack_int n,
-                           const double* a, lapack_int lda, double anorm,
-                           double* rcond );
-lapack_int LAPACKE_cpocon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           float anorm, float* rcond );
-lapack_int LAPACKE_zpocon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           double anorm, double* rcond );
-
-lapack_int LAPACKE_spoequ( int matrix_order, lapack_int n, const float* a,
-                           lapack_int lda, float* s, float* scond,
-                           float* amax );
-lapack_int LAPACKE_dpoequ( int matrix_order, lapack_int n, const double* a,
-                           lapack_int lda, double* s, double* scond,
-                           double* amax );
-lapack_int LAPACKE_cpoequ( int matrix_order, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           float* s, float* scond, float* amax );
-lapack_int LAPACKE_zpoequ( int matrix_order, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           double* s, double* scond, double* amax );
-
-lapack_int LAPACKE_spoequb( int matrix_order, lapack_int n, const float* a,
-                            lapack_int lda, float* s, float* scond,
-                            float* amax );
-lapack_int LAPACKE_dpoequb( int matrix_order, lapack_int n, const double* a,
-                            lapack_int lda, double* s, double* scond,
-                            double* amax );
-lapack_int LAPACKE_cpoequb( int matrix_order, lapack_int n,
-                            const lapack_complex_float* a, lapack_int lda,
-                            float* s, float* scond, float* amax );
-lapack_int LAPACKE_zpoequb( int matrix_order, lapack_int n,
-                            const lapack_complex_double* a, lapack_int lda,
-                            double* s, double* scond, double* amax );
-
-lapack_int LAPACKE_sporfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* a, lapack_int lda,
-                           const float* af, lapack_int ldaf, const float* b,
-                           lapack_int ldb, float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_dporfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* a, lapack_int lda,
-                           const double* af, lapack_int ldaf, const double* b,
-                           lapack_int ldb, double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_cporfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* af,
-                           lapack_int ldaf, const lapack_complex_float* b,
-                           lapack_int ldb, lapack_complex_float* x,
-                           lapack_int ldx, float* ferr, float* berr );
-lapack_int LAPACKE_zporfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* af,
-                           lapack_int ldaf, const lapack_complex_double* b,
-                           lapack_int ldb, lapack_complex_double* x,
-                           lapack_int ldx, double* ferr, double* berr );
-
-lapack_int LAPACKE_sporfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs, const float* a,
-                            lapack_int lda, const float* af, lapack_int ldaf,
-                            const float* s, const float* b, lapack_int ldb,
-                            float* x, lapack_int ldx, float* rcond, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_dporfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs, const double* a,
-                            lapack_int lda, const double* af, lapack_int ldaf,
-                            const double* s, const double* b, lapack_int ldb,
-                            double* x, lapack_int ldx, double* rcond,
-                            double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-lapack_int LAPACKE_cporfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs,
-                            const lapack_complex_float* a, lapack_int lda,
-                            const lapack_complex_float* af, lapack_int ldaf,
-                            const float* s, const lapack_complex_float* b,
-                            lapack_int ldb, lapack_complex_float* x,
-                            lapack_int ldx, float* rcond, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_zporfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs,
-                            const lapack_complex_double* a, lapack_int lda,
-                            const lapack_complex_double* af, lapack_int ldaf,
-                            const double* s, const lapack_complex_double* b,
-                            lapack_int ldb, lapack_complex_double* x,
-                            lapack_int ldx, double* rcond, double* berr,
-                            lapack_int n_err_bnds, double* err_bnds_norm,
-                            double* err_bnds_comp, lapack_int nparams,
-                            double* params );
-
-lapack_int LAPACKE_sposv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, float* a, lapack_int lda, float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_dposv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, double* a, lapack_int lda, double* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_cposv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_float* a,
-                          lapack_int lda, lapack_complex_float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_zposv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_double* a,
-                          lapack_int lda, lapack_complex_double* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_dsposv( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, double* a, lapack_int lda,
-                           double* b, lapack_int ldb, double* x, lapack_int ldx,
-                           lapack_int* iter );
-lapack_int LAPACKE_zcposv( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, lapack_complex_double* x,
-                           lapack_int ldx, lapack_int* iter );
-
-lapack_int LAPACKE_sposvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, float* a, lapack_int lda, float* af,
-                           lapack_int ldaf, char* equed, float* s, float* b,
-                           lapack_int ldb, float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr );
-lapack_int LAPACKE_dposvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, double* a, lapack_int lda,
-                           double* af, lapack_int ldaf, char* equed, double* s,
-                           double* b, lapack_int ldb, double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-lapack_int LAPACKE_cposvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* af,
-                           lapack_int ldaf, char* equed, float* s,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr );
-lapack_int LAPACKE_zposvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* af,
-                           lapack_int ldaf, char* equed, double* s,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-
-lapack_int LAPACKE_sposvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs, float* a,
-                            lapack_int lda, float* af, lapack_int ldaf,
-                            char* equed, float* s, float* b, lapack_int ldb,
-                            float* x, lapack_int ldx, float* rcond,
-                            float* rpvgrw, float* berr, lapack_int n_err_bnds,
-                            float* err_bnds_norm, float* err_bnds_comp,
-                            lapack_int nparams, float* params );
-lapack_int LAPACKE_dposvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs, double* a,
-                            lapack_int lda, double* af, lapack_int ldaf,
-                            char* equed, double* s, double* b, lapack_int ldb,
-                            double* x, lapack_int ldx, double* rcond,
-                            double* rpvgrw, double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-lapack_int LAPACKE_cposvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* af, lapack_int ldaf,
-                            char* equed, float* s, lapack_complex_float* b,
-                            lapack_int ldb, lapack_complex_float* x,
-                            lapack_int ldx, float* rcond, float* rpvgrw,
-                            float* berr, lapack_int n_err_bnds,
-                            float* err_bnds_norm, float* err_bnds_comp,
-                            lapack_int nparams, float* params );
-lapack_int LAPACKE_zposvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* af, lapack_int ldaf,
-                            char* equed, double* s, lapack_complex_double* b,
-                            lapack_int ldb, lapack_complex_double* x,
-                            lapack_int ldx, double* rcond, double* rpvgrw,
-                            double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-
-lapack_int LAPACKE_spotrf( int matrix_order, char uplo, lapack_int n, float* a,
-                           lapack_int lda );
-lapack_int LAPACKE_dpotrf( int matrix_order, char uplo, lapack_int n, double* a,
-                           lapack_int lda );
-lapack_int LAPACKE_cpotrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zpotrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_spotri( int matrix_order, char uplo, lapack_int n, float* a,
-                           lapack_int lda );
-lapack_int LAPACKE_dpotri( int matrix_order, char uplo, lapack_int n, double* a,
-                           lapack_int lda );
-lapack_int LAPACKE_cpotri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zpotri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_spotrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* a, lapack_int lda,
-                           float* b, lapack_int ldb );
-lapack_int LAPACKE_dpotrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* a, lapack_int lda,
-                           double* b, lapack_int ldb );
-lapack_int LAPACKE_cpotrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_zpotrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb );
-
-lapack_int LAPACKE_sppcon( int matrix_order, char uplo, lapack_int n,
-                           const float* ap, float anorm, float* rcond );
-lapack_int LAPACKE_dppcon( int matrix_order, char uplo, lapack_int n,
-                           const double* ap, double anorm, double* rcond );
-lapack_int LAPACKE_cppcon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* ap, float anorm,
-                           float* rcond );
-lapack_int LAPACKE_zppcon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* ap, double anorm,
-                           double* rcond );
-
-lapack_int LAPACKE_sppequ( int matrix_order, char uplo, lapack_int n,
-                           const float* ap, float* s, float* scond,
-                           float* amax );
-lapack_int LAPACKE_dppequ( int matrix_order, char uplo, lapack_int n,
-                           const double* ap, double* s, double* scond,
-                           double* amax );
-lapack_int LAPACKE_cppequ( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* ap, float* s,
-                           float* scond, float* amax );
-lapack_int LAPACKE_zppequ( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* ap, double* s,
-                           double* scond, double* amax );
-
-lapack_int LAPACKE_spprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* ap, const float* afp,
-                           const float* b, lapack_int ldb, float* x,
-                           lapack_int ldx, float* ferr, float* berr );
-lapack_int LAPACKE_dpprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* ap, const double* afp,
-                           const double* b, lapack_int ldb, double* x,
-                           lapack_int ldx, double* ferr, double* berr );
-lapack_int LAPACKE_cpprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* ap,
-                           const lapack_complex_float* afp,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zpprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* ap,
-                           const lapack_complex_double* afp,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_sppsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, float* ap, float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_dppsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, double* ap, double* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_cppsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_float* ap,
-                          lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zppsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_double* ap,
-                          lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sppsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, float* ap, float* afp, char* equed,
-                           float* s, float* b, lapack_int ldb, float* x,
-                           lapack_int ldx, float* rcond, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_dppsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, double* ap, double* afp,
-                           char* equed, double* s, double* b, lapack_int ldb,
-                           double* x, lapack_int ldx, double* rcond,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_cppsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, lapack_complex_float* ap,
-                           lapack_complex_float* afp, char* equed, float* s,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr );
-lapack_int LAPACKE_zppsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, lapack_complex_double* ap,
-                           lapack_complex_double* afp, char* equed, double* s,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-
-lapack_int LAPACKE_spptrf( int matrix_order, char uplo, lapack_int n,
-                           float* ap );
-lapack_int LAPACKE_dpptrf( int matrix_order, char uplo, lapack_int n,
-                           double* ap );
-lapack_int LAPACKE_cpptrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* ap );
-lapack_int LAPACKE_zpptrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* ap );
-
-lapack_int LAPACKE_spptri( int matrix_order, char uplo, lapack_int n,
-                           float* ap );
-lapack_int LAPACKE_dpptri( int matrix_order, char uplo, lapack_int n,
-                           double* ap );
-lapack_int LAPACKE_cpptri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* ap );
-lapack_int LAPACKE_zpptri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* ap );
-
-lapack_int LAPACKE_spptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* ap, float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_dpptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* ap, double* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_cpptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* ap,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* ap,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_spstrf( int matrix_order, char uplo, lapack_int n, float* a,
-                           lapack_int lda, lapack_int* piv, lapack_int* rank,
-                           float tol );
-lapack_int LAPACKE_dpstrf( int matrix_order, char uplo, lapack_int n, double* a,
-                           lapack_int lda, lapack_int* piv, lapack_int* rank,
-                           double tol );
-lapack_int LAPACKE_cpstrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* piv, lapack_int* rank, float tol );
-lapack_int LAPACKE_zpstrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* piv, lapack_int* rank, double tol );
-
-lapack_int LAPACKE_sptcon( lapack_int n, const float* d, const float* e,
-                           float anorm, float* rcond );
-lapack_int LAPACKE_dptcon( lapack_int n, const double* d, const double* e,
-                           double anorm, double* rcond );
-lapack_int LAPACKE_cptcon( lapack_int n, const float* d,
-                           const lapack_complex_float* e, float anorm,
-                           float* rcond );
-lapack_int LAPACKE_zptcon( lapack_int n, const double* d,
-                           const lapack_complex_double* e, double anorm,
-                           double* rcond );
-
-lapack_int LAPACKE_spteqr( int matrix_order, char compz, lapack_int n, float* d,
-                           float* e, float* z, lapack_int ldz );
-lapack_int LAPACKE_dpteqr( int matrix_order, char compz, lapack_int n,
-                           double* d, double* e, double* z, lapack_int ldz );
-lapack_int LAPACKE_cpteqr( int matrix_order, char compz, lapack_int n, float* d,
-                           float* e, lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zpteqr( int matrix_order, char compz, lapack_int n,
-                           double* d, double* e, lapack_complex_double* z,
-                           lapack_int ldz );
-
-lapack_int LAPACKE_sptrfs( int matrix_order, lapack_int n, lapack_int nrhs,
-                           const float* d, const float* e, const float* df,
-                           const float* ef, const float* b, lapack_int ldb,
-                           float* x, lapack_int ldx, float* ferr, float* berr );
-lapack_int LAPACKE_dptrfs( int matrix_order, lapack_int n, lapack_int nrhs,
-                           const double* d, const double* e, const double* df,
-                           const double* ef, const double* b, lapack_int ldb,
-                           double* x, lapack_int ldx, double* ferr,
-                           double* berr );
-lapack_int LAPACKE_cptrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* d,
-                           const lapack_complex_float* e, const float* df,
-                           const lapack_complex_float* ef,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zptrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* d,
-                           const lapack_complex_double* e, const double* df,
-                           const lapack_complex_double* ef,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_sptsv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          float* d, float* e, float* b, lapack_int ldb );
-lapack_int LAPACKE_dptsv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          double* d, double* e, double* b, lapack_int ldb );
-lapack_int LAPACKE_cptsv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          float* d, lapack_complex_float* e,
-                          lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zptsv( int matrix_order, lapack_int n, lapack_int nrhs,
-                          double* d, lapack_complex_double* e,
-                          lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sptsvx( int matrix_order, char fact, lapack_int n,
-                           lapack_int nrhs, const float* d, const float* e,
-                           float* df, float* ef, const float* b, lapack_int ldb,
-                           float* x, lapack_int ldx, float* rcond, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_dptsvx( int matrix_order, char fact, lapack_int n,
-                           lapack_int nrhs, const double* d, const double* e,
-                           double* df, double* ef, const double* b,
-                           lapack_int ldb, double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-lapack_int LAPACKE_cptsvx( int matrix_order, char fact, lapack_int n,
-                           lapack_int nrhs, const float* d,
-                           const lapack_complex_float* e, float* df,
-                           lapack_complex_float* ef,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr );
-lapack_int LAPACKE_zptsvx( int matrix_order, char fact, lapack_int n,
-                           lapack_int nrhs, const double* d,
-                           const lapack_complex_double* e, double* df,
-                           lapack_complex_double* ef,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-
-lapack_int LAPACKE_spttrf( lapack_int n, float* d, float* e );
-lapack_int LAPACKE_dpttrf( lapack_int n, double* d, double* e );
-lapack_int LAPACKE_cpttrf( lapack_int n, float* d, lapack_complex_float* e );
-lapack_int LAPACKE_zpttrf( lapack_int n, double* d, lapack_complex_double* e );
-
-lapack_int LAPACKE_spttrs( int matrix_order, lapack_int n, lapack_int nrhs,
-                           const float* d, const float* e, float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_dpttrs( int matrix_order, lapack_int n, lapack_int nrhs,
-                           const double* d, const double* e, double* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_cpttrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* d,
-                           const lapack_complex_float* e,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpttrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* d,
-                           const lapack_complex_double* e,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_ssbev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_int kd, float* ab, lapack_int ldab, float* w,
-                          float* z, lapack_int ldz );
-lapack_int LAPACKE_dsbev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_int kd, double* ab, lapack_int ldab, double* w,
-                          double* z, lapack_int ldz );
-
-lapack_int LAPACKE_ssbevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_int kd, float* ab, lapack_int ldab, float* w,
-                           float* z, lapack_int ldz );
-lapack_int LAPACKE_dsbevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_int kd, double* ab, lapack_int ldab,
-                           double* w, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_ssbevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_int kd, float* ab,
-                           lapack_int ldab, float* q, lapack_int ldq, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* ifail );
-lapack_int LAPACKE_dsbevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_int kd, double* ab,
-                           lapack_int ldab, double* q, lapack_int ldq,
-                           double vl, double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w, double* z,
-                           lapack_int ldz, lapack_int* ifail );
-
-lapack_int LAPACKE_ssbgst( int matrix_order, char vect, char uplo, lapack_int n,
-                           lapack_int ka, lapack_int kb, float* ab,
-                           lapack_int ldab, const float* bb, lapack_int ldbb,
-                           float* x, lapack_int ldx );
-lapack_int LAPACKE_dsbgst( int matrix_order, char vect, char uplo, lapack_int n,
-                           lapack_int ka, lapack_int kb, double* ab,
-                           lapack_int ldab, const double* bb, lapack_int ldbb,
-                           double* x, lapack_int ldx );
-
-lapack_int LAPACKE_ssbgv( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_int ka, lapack_int kb, float* ab,
-                          lapack_int ldab, float* bb, lapack_int ldbb, float* w,
-                          float* z, lapack_int ldz );
-lapack_int LAPACKE_dsbgv( int matrix_order, char jobz, char uplo, lapack_int n,
-                          lapack_int ka, lapack_int kb, double* ab,
-                          lapack_int ldab, double* bb, lapack_int ldbb,
-                          double* w, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_ssbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_int ka, lapack_int kb, float* ab,
-                           lapack_int ldab, float* bb, lapack_int ldbb,
-                           float* w, float* z, lapack_int ldz );
-lapack_int LAPACKE_dsbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           lapack_int ka, lapack_int kb, double* ab,
-                           lapack_int ldab, double* bb, lapack_int ldbb,
-                           double* w, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_ssbgvx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_int ka, lapack_int kb,
-                           float* ab, lapack_int ldab, float* bb,
-                           lapack_int ldbb, float* q, lapack_int ldq, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* ifail );
-lapack_int LAPACKE_dsbgvx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, lapack_int ka, lapack_int kb,
-                           double* ab, lapack_int ldab, double* bb,
-                           lapack_int ldbb, double* q, lapack_int ldq,
-                           double vl, double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w, double* z,
-                           lapack_int ldz, lapack_int* ifail );
-
-lapack_int LAPACKE_ssbtrd( int matrix_order, char vect, char uplo, lapack_int n,
-                           lapack_int kd, float* ab, lapack_int ldab, float* d,
-                           float* e, float* q, lapack_int ldq );
-lapack_int LAPACKE_dsbtrd( int matrix_order, char vect, char uplo, lapack_int n,
-                           lapack_int kd, double* ab, lapack_int ldab,
-                           double* d, double* e, double* q, lapack_int ldq );
-
-lapack_int LAPACKE_ssfrk( int matrix_order, char transr, char uplo, char trans,
-                          lapack_int n, lapack_int k, float alpha,
-                          const float* a, lapack_int lda, float beta,
-                          float* c );
-lapack_int LAPACKE_dsfrk( int matrix_order, char transr, char uplo, char trans,
-                          lapack_int n, lapack_int k, double alpha,
-                          const double* a, lapack_int lda, double beta,
-                          double* c );
-
-lapack_int LAPACKE_sspcon( int matrix_order, char uplo, lapack_int n,
-                           const float* ap, const lapack_int* ipiv, float anorm,
-                           float* rcond );
-lapack_int LAPACKE_dspcon( int matrix_order, char uplo, lapack_int n,
-                           const double* ap, const lapack_int* ipiv,
-                           double anorm, double* rcond );
-lapack_int LAPACKE_cspcon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* ap,
-                           const lapack_int* ipiv, float anorm, float* rcond );
-lapack_int LAPACKE_zspcon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* ap,
-                           const lapack_int* ipiv, double anorm,
-                           double* rcond );
-
-lapack_int LAPACKE_sspev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          float* ap, float* w, float* z, lapack_int ldz );
-lapack_int LAPACKE_dspev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          double* ap, double* w, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_sspevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           float* ap, float* w, float* z, lapack_int ldz );
-lapack_int LAPACKE_dspevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           double* ap, double* w, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_sspevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, float* ap, float vl, float vu,
-                           lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* ifail );
-lapack_int LAPACKE_dspevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, double* ap, double vl, double vu,
-                           lapack_int il, lapack_int iu, double abstol,
-                           lapack_int* m, double* w, double* z, lapack_int ldz,
-                           lapack_int* ifail );
-
-lapack_int LAPACKE_sspgst( int matrix_order, lapack_int itype, char uplo,
-                           lapack_int n, float* ap, const float* bp );
-lapack_int LAPACKE_dspgst( int matrix_order, lapack_int itype, char uplo,
-                           lapack_int n, double* ap, const double* bp );
-
-lapack_int LAPACKE_sspgv( int matrix_order, lapack_int itype, char jobz,
-                          char uplo, lapack_int n, float* ap, float* bp,
-                          float* w, float* z, lapack_int ldz );
-lapack_int LAPACKE_dspgv( int matrix_order, lapack_int itype, char jobz,
-                          char uplo, lapack_int n, double* ap, double* bp,
-                          double* w, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_sspgvd( int matrix_order, lapack_int itype, char jobz,
-                           char uplo, lapack_int n, float* ap, float* bp,
-                           float* w, float* z, lapack_int ldz );
-lapack_int LAPACKE_dspgvd( int matrix_order, lapack_int itype, char jobz,
-                           char uplo, lapack_int n, double* ap, double* bp,
-                           double* w, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_sspgvx( int matrix_order, lapack_int itype, char jobz,
-                           char range, char uplo, lapack_int n, float* ap,
-                           float* bp, float vl, float vu, lapack_int il,
-                           lapack_int iu, float abstol, lapack_int* m, float* w,
-                           float* z, lapack_int ldz, lapack_int* ifail );
-lapack_int LAPACKE_dspgvx( int matrix_order, lapack_int itype, char jobz,
-                           char range, char uplo, lapack_int n, double* ap,
-                           double* bp, double vl, double vu, lapack_int il,
-                           lapack_int iu, double abstol, lapack_int* m,
-                           double* w, double* z, lapack_int ldz,
-                           lapack_int* ifail );
-
-lapack_int LAPACKE_ssprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* ap, const float* afp,
-                           const lapack_int* ipiv, const float* b,
-                           lapack_int ldb, float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_dsprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* ap, const double* afp,
-                           const lapack_int* ipiv, const double* b,
-                           lapack_int ldb, double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_csprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* ap,
-                           const lapack_complex_float* afp,
-                           const lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zsprfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* ap,
-                           const lapack_complex_double* afp,
-                           const lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_sspsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, float* ap, lapack_int* ipiv,
-                          float* b, lapack_int ldb );
-lapack_int LAPACKE_dspsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, double* ap, lapack_int* ipiv,
-                          double* b, lapack_int ldb );
-lapack_int LAPACKE_cspsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_float* ap,
-                          lapack_int* ipiv, lapack_complex_float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_zspsv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_double* ap,
-                          lapack_int* ipiv, lapack_complex_double* b,
-                          lapack_int ldb );
-
-lapack_int LAPACKE_sspsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* ap, float* afp,
-                           lapack_int* ipiv, const float* b, lapack_int ldb,
-                           float* x, lapack_int ldx, float* rcond, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_dspsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* ap, double* afp,
-                           lapack_int* ipiv, const double* b, lapack_int ldb,
-                           double* x, lapack_int ldx, double* rcond,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_cspsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* ap,
-                           lapack_complex_float* afp, lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr );
-lapack_int LAPACKE_zspsvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* ap,
-                           lapack_complex_double* afp, lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-
-lapack_int LAPACKE_ssptrd( int matrix_order, char uplo, lapack_int n, float* ap,
-                           float* d, float* e, float* tau );
-lapack_int LAPACKE_dsptrd( int matrix_order, char uplo, lapack_int n,
-                           double* ap, double* d, double* e, double* tau );
-
-lapack_int LAPACKE_ssptrf( int matrix_order, char uplo, lapack_int n, float* ap,
-                           lapack_int* ipiv );
-lapack_int LAPACKE_dsptrf( int matrix_order, char uplo, lapack_int n,
-                           double* ap, lapack_int* ipiv );
-lapack_int LAPACKE_csptrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* ap, lapack_int* ipiv );
-lapack_int LAPACKE_zsptrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* ap, lapack_int* ipiv );
-
-lapack_int LAPACKE_ssptri( int matrix_order, char uplo, lapack_int n, float* ap,
-                           const lapack_int* ipiv );
-lapack_int LAPACKE_dsptri( int matrix_order, char uplo, lapack_int n,
-                           double* ap, const lapack_int* ipiv );
-lapack_int LAPACKE_csptri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* ap, const lapack_int* ipiv );
-lapack_int LAPACKE_zsptri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* ap, const lapack_int* ipiv );
-
-lapack_int LAPACKE_ssptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* ap,
-                           const lapack_int* ipiv, float* b, lapack_int ldb );
-lapack_int LAPACKE_dsptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* ap,
-                           const lapack_int* ipiv, double* b, lapack_int ldb );
-lapack_int LAPACKE_csptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* ap,
-                           const lapack_int* ipiv, lapack_complex_float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_zsptrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* ap,
-                           const lapack_int* ipiv, lapack_complex_double* b,
-                           lapack_int ldb );
-
-lapack_int LAPACKE_sstebz( char range, char order, lapack_int n, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           const float* d, const float* e, lapack_int* m,
-                           lapack_int* nsplit, float* w, lapack_int* iblock,
-                           lapack_int* isplit );
-lapack_int LAPACKE_dstebz( char range, char order, lapack_int n, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, const double* d, const double* e,
-                           lapack_int* m, lapack_int* nsplit, double* w,
-                           lapack_int* iblock, lapack_int* isplit );
-
-lapack_int LAPACKE_sstedc( int matrix_order, char compz, lapack_int n, float* d,
-                           float* e, float* z, lapack_int ldz );
-lapack_int LAPACKE_dstedc( int matrix_order, char compz, lapack_int n,
-                           double* d, double* e, double* z, lapack_int ldz );
-lapack_int LAPACKE_cstedc( int matrix_order, char compz, lapack_int n, float* d,
-                           float* e, lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zstedc( int matrix_order, char compz, lapack_int n,
-                           double* d, double* e, lapack_complex_double* z,
-                           lapack_int ldz );
-
-lapack_int LAPACKE_sstegr( int matrix_order, char jobz, char range,
-                           lapack_int n, float* d, float* e, float vl, float vu,
-                           lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* isuppz );
-lapack_int LAPACKE_dstegr( int matrix_order, char jobz, char range,
-                           lapack_int n, double* d, double* e, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w, double* z,
-                           lapack_int ldz, lapack_int* isuppz );
-lapack_int LAPACKE_cstegr( int matrix_order, char jobz, char range,
-                           lapack_int n, float* d, float* e, float vl, float vu,
-                           lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, lapack_complex_float* z,
-                           lapack_int ldz, lapack_int* isuppz );
-lapack_int LAPACKE_zstegr( int matrix_order, char jobz, char range,
-                           lapack_int n, double* d, double* e, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* isuppz );
-
-lapack_int LAPACKE_sstein( int matrix_order, lapack_int n, const float* d,
-                           const float* e, lapack_int m, const float* w,
-                           const lapack_int* iblock, const lapack_int* isplit,
-                           float* z, lapack_int ldz, lapack_int* ifailv );
-lapack_int LAPACKE_dstein( int matrix_order, lapack_int n, const double* d,
-                           const double* e, lapack_int m, const double* w,
-                           const lapack_int* iblock, const lapack_int* isplit,
-                           double* z, lapack_int ldz, lapack_int* ifailv );
-lapack_int LAPACKE_cstein( int matrix_order, lapack_int n, const float* d,
-                           const float* e, lapack_int m, const float* w,
-                           const lapack_int* iblock, const lapack_int* isplit,
-                           lapack_complex_float* z, lapack_int ldz,
-                           lapack_int* ifailv );
-lapack_int LAPACKE_zstein( int matrix_order, lapack_int n, const double* d,
-                           const double* e, lapack_int m, const double* w,
-                           const lapack_int* iblock, const lapack_int* isplit,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* ifailv );
-
-lapack_int LAPACKE_sstemr( int matrix_order, char jobz, char range,
-                           lapack_int n, float* d, float* e, float vl, float vu,
-                           lapack_int il, lapack_int iu, lapack_int* m,
-                           float* w, float* z, lapack_int ldz, lapack_int nzc,
-                           lapack_int* isuppz, lapack_logical* tryrac );
-lapack_int LAPACKE_dstemr( int matrix_order, char jobz, char range,
-                           lapack_int n, double* d, double* e, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           lapack_int* m, double* w, double* z, lapack_int ldz,
-                           lapack_int nzc, lapack_int* isuppz,
-                           lapack_logical* tryrac );
-lapack_int LAPACKE_cstemr( int matrix_order, char jobz, char range,
-                           lapack_int n, float* d, float* e, float vl, float vu,
-                           lapack_int il, lapack_int iu, lapack_int* m,
-                           float* w, lapack_complex_float* z, lapack_int ldz,
-                           lapack_int nzc, lapack_int* isuppz,
-                           lapack_logical* tryrac );
-lapack_int LAPACKE_zstemr( int matrix_order, char jobz, char range,
-                           lapack_int n, double* d, double* e, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           lapack_int* m, double* w, lapack_complex_double* z,
-                           lapack_int ldz, lapack_int nzc, lapack_int* isuppz,
-                           lapack_logical* tryrac );
-
-lapack_int LAPACKE_ssteqr( int matrix_order, char compz, lapack_int n, float* d,
-                           float* e, float* z, lapack_int ldz );
-lapack_int LAPACKE_dsteqr( int matrix_order, char compz, lapack_int n,
-                           double* d, double* e, double* z, lapack_int ldz );
-lapack_int LAPACKE_csteqr( int matrix_order, char compz, lapack_int n, float* d,
-                           float* e, lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zsteqr( int matrix_order, char compz, lapack_int n,
-                           double* d, double* e, lapack_complex_double* z,
-                           lapack_int ldz );
-
-lapack_int LAPACKE_ssterf( lapack_int n, float* d, float* e );
-lapack_int LAPACKE_dsterf( lapack_int n, double* d, double* e );
-
-lapack_int LAPACKE_sstev( int matrix_order, char jobz, lapack_int n, float* d,
-                          float* e, float* z, lapack_int ldz );
-lapack_int LAPACKE_dstev( int matrix_order, char jobz, lapack_int n, double* d,
-                          double* e, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_sstevd( int matrix_order, char jobz, lapack_int n, float* d,
-                           float* e, float* z, lapack_int ldz );
-lapack_int LAPACKE_dstevd( int matrix_order, char jobz, lapack_int n, double* d,
-                           double* e, double* z, lapack_int ldz );
-
-lapack_int LAPACKE_sstevr( int matrix_order, char jobz, char range,
-                           lapack_int n, float* d, float* e, float vl, float vu,
-                           lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* isuppz );
-lapack_int LAPACKE_dstevr( int matrix_order, char jobz, char range,
-                           lapack_int n, double* d, double* e, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w, double* z,
-                           lapack_int ldz, lapack_int* isuppz );
-
-lapack_int LAPACKE_sstevx( int matrix_order, char jobz, char range,
-                           lapack_int n, float* d, float* e, float vl, float vu,
-                           lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* ifail );
-lapack_int LAPACKE_dstevx( int matrix_order, char jobz, char range,
-                           lapack_int n, double* d, double* e, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w, double* z,
-                           lapack_int ldz, lapack_int* ifail );
-
-lapack_int LAPACKE_ssycon( int matrix_order, char uplo, lapack_int n,
-                           const float* a, lapack_int lda,
-                           const lapack_int* ipiv, float anorm, float* rcond );
-lapack_int LAPACKE_dsycon( int matrix_order, char uplo, lapack_int n,
-                           const double* a, lapack_int lda,
-                           const lapack_int* ipiv, double anorm,
-                           double* rcond );
-lapack_int LAPACKE_csycon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_int* ipiv, float anorm, float* rcond );
-lapack_int LAPACKE_zsycon( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_int* ipiv, double anorm,
-                           double* rcond );
-
-lapack_int LAPACKE_ssyequb( int matrix_order, char uplo, lapack_int n,
-                            const float* a, lapack_int lda, float* s,
-                            float* scond, float* amax );
-lapack_int LAPACKE_dsyequb( int matrix_order, char uplo, lapack_int n,
-                            const double* a, lapack_int lda, double* s,
-                            double* scond, double* amax );
-lapack_int LAPACKE_csyequb( int matrix_order, char uplo, lapack_int n,
-                            const lapack_complex_float* a, lapack_int lda,
-                            float* s, float* scond, float* amax );
-lapack_int LAPACKE_zsyequb( int matrix_order, char uplo, lapack_int n,
-                            const lapack_complex_double* a, lapack_int lda,
-                            double* s, double* scond, double* amax );
-
-lapack_int LAPACKE_ssyev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          float* a, lapack_int lda, float* w );
-lapack_int LAPACKE_dsyev( int matrix_order, char jobz, char uplo, lapack_int n,
-                          double* a, lapack_int lda, double* w );
-
-lapack_int LAPACKE_ssyevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           float* a, lapack_int lda, float* w );
-lapack_int LAPACKE_dsyevd( int matrix_order, char jobz, char uplo, lapack_int n,
-                           double* a, lapack_int lda, double* w );
-
-lapack_int LAPACKE_ssyevr( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, float* a, lapack_int lda, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* isuppz );
-lapack_int LAPACKE_dsyevr( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, double* a, lapack_int lda, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w, double* z,
-                           lapack_int ldz, lapack_int* isuppz );
-
-lapack_int LAPACKE_ssyevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, float* a, lapack_int lda, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* ifail );
-lapack_int LAPACKE_dsyevx( int matrix_order, char jobz, char range, char uplo,
-                           lapack_int n, double* a, lapack_int lda, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w, double* z,
-                           lapack_int ldz, lapack_int* ifail );
-
-lapack_int LAPACKE_ssygst( int matrix_order, lapack_int itype, char uplo,
-                           lapack_int n, float* a, lapack_int lda,
-                           const float* b, lapack_int ldb );
-lapack_int LAPACKE_dsygst( int matrix_order, lapack_int itype, char uplo,
-                           lapack_int n, double* a, lapack_int lda,
-                           const double* b, lapack_int ldb );
-
-lapack_int LAPACKE_ssygv( int matrix_order, lapack_int itype, char jobz,
-                          char uplo, lapack_int n, float* a, lapack_int lda,
-                          float* b, lapack_int ldb, float* w );
-lapack_int LAPACKE_dsygv( int matrix_order, lapack_int itype, char jobz,
-                          char uplo, lapack_int n, double* a, lapack_int lda,
-                          double* b, lapack_int ldb, double* w );
-
-lapack_int LAPACKE_ssygvd( int matrix_order, lapack_int itype, char jobz,
-                           char uplo, lapack_int n, float* a, lapack_int lda,
-                           float* b, lapack_int ldb, float* w );
-lapack_int LAPACKE_dsygvd( int matrix_order, lapack_int itype, char jobz,
-                           char uplo, lapack_int n, double* a, lapack_int lda,
-                           double* b, lapack_int ldb, double* w );
-
-lapack_int LAPACKE_ssygvx( int matrix_order, lapack_int itype, char jobz,
-                           char range, char uplo, lapack_int n, float* a,
-                           lapack_int lda, float* b, lapack_int ldb, float vl,
-                           float vu, lapack_int il, lapack_int iu, float abstol,
-                           lapack_int* m, float* w, float* z, lapack_int ldz,
-                           lapack_int* ifail );
-lapack_int LAPACKE_dsygvx( int matrix_order, lapack_int itype, char jobz,
-                           char range, char uplo, lapack_int n, double* a,
-                           lapack_int lda, double* b, lapack_int ldb, double vl,
-                           double vu, lapack_int il, lapack_int iu,
-                           double abstol, lapack_int* m, double* w, double* z,
-                           lapack_int ldz, lapack_int* ifail );
-
-lapack_int LAPACKE_ssyrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* a, lapack_int lda,
-                           const float* af, lapack_int ldaf,
-                           const lapack_int* ipiv, const float* b,
-                           lapack_int ldb, float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_dsyrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* a, lapack_int lda,
-                           const double* af, lapack_int ldaf,
-                           const lapack_int* ipiv, const double* b,
-                           lapack_int ldb, double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_csyrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* af,
-                           lapack_int ldaf, const lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_zsyrfs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* af,
-                           lapack_int ldaf, const lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_ssyrfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs, const float* a,
-                            lapack_int lda, const float* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const float* s,
-                            const float* b, lapack_int ldb, float* x,
-                            lapack_int ldx, float* rcond, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_dsyrfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs, const double* a,
-                            lapack_int lda, const double* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const double* s,
-                            const double* b, lapack_int ldb, double* x,
-                            lapack_int ldx, double* rcond, double* berr,
-                            lapack_int n_err_bnds, double* err_bnds_norm,
-                            double* err_bnds_comp, lapack_int nparams,
-                            double* params );
-lapack_int LAPACKE_csyrfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs,
-                            const lapack_complex_float* a, lapack_int lda,
-                            const lapack_complex_float* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const float* s,
-                            const lapack_complex_float* b, lapack_int ldb,
-                            lapack_complex_float* x, lapack_int ldx,
-                            float* rcond, float* berr, lapack_int n_err_bnds,
-                            float* err_bnds_norm, float* err_bnds_comp,
-                            lapack_int nparams, float* params );
-lapack_int LAPACKE_zsyrfsx( int matrix_order, char uplo, char equed,
-                            lapack_int n, lapack_int nrhs,
-                            const lapack_complex_double* a, lapack_int lda,
-                            const lapack_complex_double* af, lapack_int ldaf,
-                            const lapack_int* ipiv, const double* s,
-                            const lapack_complex_double* b, lapack_int ldb,
-                            lapack_complex_double* x, lapack_int ldx,
-                            double* rcond, double* berr, lapack_int n_err_bnds,
-                            double* err_bnds_norm, double* err_bnds_comp,
-                            lapack_int nparams, double* params );
-
-lapack_int LAPACKE_ssysv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, float* a, lapack_int lda,
-                          lapack_int* ipiv, float* b, lapack_int ldb );
-lapack_int LAPACKE_dsysv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, double* a, lapack_int lda,
-                          lapack_int* ipiv, double* b, lapack_int ldb );
-lapack_int LAPACKE_csysv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_float* a,
-                          lapack_int lda, lapack_int* ipiv,
-                          lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zsysv( int matrix_order, char uplo, lapack_int n,
-                          lapack_int nrhs, lapack_complex_double* a,
-                          lapack_int lda, lapack_int* ipiv,
-                          lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_ssysvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* a, lapack_int lda,
-                           float* af, lapack_int ldaf, lapack_int* ipiv,
-                           const float* b, lapack_int ldb, float* x,
-                           lapack_int ldx, float* rcond, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_dsysvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* a, lapack_int lda,
-                           double* af, lapack_int ldaf, lapack_int* ipiv,
-                           const double* b, lapack_int ldb, double* x,
-                           lapack_int ldx, double* rcond, double* ferr,
-                           double* berr );
-lapack_int LAPACKE_csysvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* af,
-                           lapack_int ldaf, lapack_int* ipiv,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* x, lapack_int ldx,
-                           float* rcond, float* ferr, float* berr );
-lapack_int LAPACKE_zsysvx( int matrix_order, char fact, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* af,
-                           lapack_int ldaf, lapack_int* ipiv,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* x, lapack_int ldx,
-                           double* rcond, double* ferr, double* berr );
-
-lapack_int LAPACKE_ssysvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs, float* a,
-                            lapack_int lda, float* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, float* s, float* b,
-                            lapack_int ldb, float* x, lapack_int ldx,
-                            float* rcond, float* rpvgrw, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_dsysvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs, double* a,
-                            lapack_int lda, double* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, double* s, double* b,
-                            lapack_int ldb, double* x, lapack_int ldx,
-                            double* rcond, double* rpvgrw, double* berr,
-                            lapack_int n_err_bnds, double* err_bnds_norm,
-                            double* err_bnds_comp, lapack_int nparams,
-                            double* params );
-lapack_int LAPACKE_csysvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, float* s,
-                            lapack_complex_float* b, lapack_int ldb,
-                            lapack_complex_float* x, lapack_int ldx,
-                            float* rcond, float* rpvgrw, float* berr,
-                            lapack_int n_err_bnds, float* err_bnds_norm,
-                            float* err_bnds_comp, lapack_int nparams,
-                            float* params );
-lapack_int LAPACKE_zsysvxx( int matrix_order, char fact, char uplo,
-                            lapack_int n, lapack_int nrhs,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* af, lapack_int ldaf,
-                            lapack_int* ipiv, char* equed, double* s,
-                            lapack_complex_double* b, lapack_int ldb,
-                            lapack_complex_double* x, lapack_int ldx,
-                            double* rcond, double* rpvgrw, double* berr,
-                            lapack_int n_err_bnds, double* err_bnds_norm,
-                            double* err_bnds_comp, lapack_int nparams,
-                            double* params );
-
-lapack_int LAPACKE_ssytrd( int matrix_order, char uplo, lapack_int n, float* a,
-                           lapack_int lda, float* d, float* e, float* tau );
-lapack_int LAPACKE_dsytrd( int matrix_order, char uplo, lapack_int n, double* a,
-                           lapack_int lda, double* d, double* e, double* tau );
-
-lapack_int LAPACKE_ssytrf( int matrix_order, char uplo, lapack_int n, float* a,
-                           lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_dsytrf( int matrix_order, char uplo, lapack_int n, double* a,
-                           lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_csytrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_int* ipiv );
-lapack_int LAPACKE_zsytrf( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_int* ipiv );
-
-lapack_int LAPACKE_ssytri( int matrix_order, char uplo, lapack_int n, float* a,
-                           lapack_int lda, const lapack_int* ipiv );
-lapack_int LAPACKE_dsytri( int matrix_order, char uplo, lapack_int n, double* a,
-                           lapack_int lda, const lapack_int* ipiv );
-lapack_int LAPACKE_csytri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           const lapack_int* ipiv );
-lapack_int LAPACKE_zsytri( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           const lapack_int* ipiv );
-
-lapack_int LAPACKE_ssytrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const float* a, lapack_int lda,
-                           const lapack_int* ipiv, float* b, lapack_int ldb );
-lapack_int LAPACKE_dsytrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const double* a, lapack_int lda,
-                           const lapack_int* ipiv, double* b, lapack_int ldb );
-lapack_int LAPACKE_csytrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_int* ipiv,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zsytrs( int matrix_order, char uplo, lapack_int n,
-                           lapack_int nrhs, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_int* ipiv,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_stbcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, lapack_int kd, const float* ab,
-                           lapack_int ldab, float* rcond );
-lapack_int LAPACKE_dtbcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, lapack_int kd, const double* ab,
-                           lapack_int ldab, double* rcond );
-lapack_int LAPACKE_ctbcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, lapack_int kd,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           float* rcond );
-lapack_int LAPACKE_ztbcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, lapack_int kd,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           double* rcond );
-
-lapack_int LAPACKE_stbrfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int kd, lapack_int nrhs,
-                           const float* ab, lapack_int ldab, const float* b,
-                           lapack_int ldb, const float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_dtbrfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int kd, lapack_int nrhs,
-                           const double* ab, lapack_int ldab, const double* b,
-                           lapack_int ldb, const double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-lapack_int LAPACKE_ctbrfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int kd, lapack_int nrhs,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           const lapack_complex_float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_ztbrfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int kd, lapack_int nrhs,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           const lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_stbtrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int kd, lapack_int nrhs,
-                           const float* ab, lapack_int ldab, float* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_dtbtrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int kd, lapack_int nrhs,
-                           const double* ab, lapack_int ldab, double* b,
-                           lapack_int ldb );
-lapack_int LAPACKE_ctbtrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int kd, lapack_int nrhs,
-                           const lapack_complex_float* ab, lapack_int ldab,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_ztbtrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int kd, lapack_int nrhs,
-                           const lapack_complex_double* ab, lapack_int ldab,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_stfsm( int matrix_order, char transr, char side, char uplo,
-                          char trans, char diag, lapack_int m, lapack_int n,
-                          float alpha, const float* a, float* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_dtfsm( int matrix_order, char transr, char side, char uplo,
-                          char trans, char diag, lapack_int m, lapack_int n,
-                          double alpha, const double* a, double* b,
-                          lapack_int ldb );
-lapack_int LAPACKE_ctfsm( int matrix_order, char transr, char side, char uplo,
-                          char trans, char diag, lapack_int m, lapack_int n,
-                          lapack_complex_float alpha,
-                          const lapack_complex_float* a,
-                          lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_ztfsm( int matrix_order, char transr, char side, char uplo,
-                          char trans, char diag, lapack_int m, lapack_int n,
-                          lapack_complex_double alpha,
-                          const lapack_complex_double* a,
-                          lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_stftri( int matrix_order, char transr, char uplo, char diag,
-                           lapack_int n, float* a );
-lapack_int LAPACKE_dtftri( int matrix_order, char transr, char uplo, char diag,
-                           lapack_int n, double* a );
-lapack_int LAPACKE_ctftri( int matrix_order, char transr, char uplo, char diag,
-                           lapack_int n, lapack_complex_float* a );
-lapack_int LAPACKE_ztftri( int matrix_order, char transr, char uplo, char diag,
-                           lapack_int n, lapack_complex_double* a );
-
-lapack_int LAPACKE_stfttp( int matrix_order, char transr, char uplo,
-                           lapack_int n, const float* arf, float* ap );
-lapack_int LAPACKE_dtfttp( int matrix_order, char transr, char uplo,
-                           lapack_int n, const double* arf, double* ap );
-lapack_int LAPACKE_ctfttp( int matrix_order, char transr, char uplo,
-                           lapack_int n, const lapack_complex_float* arf,
-                           lapack_complex_float* ap );
-lapack_int LAPACKE_ztfttp( int matrix_order, char transr, char uplo,
-                           lapack_int n, const lapack_complex_double* arf,
-                           lapack_complex_double* ap );
-
-lapack_int LAPACKE_stfttr( int matrix_order, char transr, char uplo,
-                           lapack_int n, const float* arf, float* a,
-                           lapack_int lda );
-lapack_int LAPACKE_dtfttr( int matrix_order, char transr, char uplo,
-                           lapack_int n, const double* arf, double* a,
-                           lapack_int lda );
-lapack_int LAPACKE_ctfttr( int matrix_order, char transr, char uplo,
-                           lapack_int n, const lapack_complex_float* arf,
-                           lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_ztfttr( int matrix_order, char transr, char uplo,
-                           lapack_int n, const lapack_complex_double* arf,
-                           lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_stgevc( int matrix_order, char side, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const float* s, lapack_int lds, const float* p,
-                           lapack_int ldp, float* vl, lapack_int ldvl,
-                           float* vr, lapack_int ldvr, lapack_int mm,
-                           lapack_int* m );
-lapack_int LAPACKE_dtgevc( int matrix_order, char side, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const double* s, lapack_int lds, const double* p,
-                           lapack_int ldp, double* vl, lapack_int ldvl,
-                           double* vr, lapack_int ldvr, lapack_int mm,
-                           lapack_int* m );
-lapack_int LAPACKE_ctgevc( int matrix_order, char side, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const lapack_complex_float* s, lapack_int lds,
-                           const lapack_complex_float* p, lapack_int ldp,
-                           lapack_complex_float* vl, lapack_int ldvl,
-                           lapack_complex_float* vr, lapack_int ldvr,
-                           lapack_int mm, lapack_int* m );
-lapack_int LAPACKE_ztgevc( int matrix_order, char side, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const lapack_complex_double* s, lapack_int lds,
-                           const lapack_complex_double* p, lapack_int ldp,
-                           lapack_complex_double* vl, lapack_int ldvl,
-                           lapack_complex_double* vr, lapack_int ldvr,
-                           lapack_int mm, lapack_int* m );
-
-lapack_int LAPACKE_stgexc( int matrix_order, lapack_logical wantq,
-                           lapack_logical wantz, lapack_int n, float* a,
-                           lapack_int lda, float* b, lapack_int ldb, float* q,
-                           lapack_int ldq, float* z, lapack_int ldz,
-                           lapack_int* ifst, lapack_int* ilst );
-lapack_int LAPACKE_dtgexc( int matrix_order, lapack_logical wantq,
-                           lapack_logical wantz, lapack_int n, double* a,
-                           lapack_int lda, double* b, lapack_int ldb, double* q,
-                           lapack_int ldq, double* z, lapack_int ldz,
-                           lapack_int* ifst, lapack_int* ilst );
-lapack_int LAPACKE_ctgexc( int matrix_order, lapack_logical wantq,
-                           lapack_logical wantz, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* q, lapack_int ldq,
-                           lapack_complex_float* z, lapack_int ldz,
-                           lapack_int ifst, lapack_int ilst );
-lapack_int LAPACKE_ztgexc( int matrix_order, lapack_logical wantq,
-                           lapack_logical wantz, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int ifst, lapack_int ilst );
-
-lapack_int LAPACKE_stgsen( int matrix_order, lapack_int ijob,
-                           lapack_logical wantq, lapack_logical wantz,
-                           const lapack_logical* select, lapack_int n, float* a,
-                           lapack_int lda, float* b, lapack_int ldb,
-                           float* alphar, float* alphai, float* beta, float* q,
-                           lapack_int ldq, float* z, lapack_int ldz,
-                           lapack_int* m, float* pl, float* pr, float* dif );
-lapack_int LAPACKE_dtgsen( int matrix_order, lapack_int ijob,
-                           lapack_logical wantq, lapack_logical wantz,
-                           const lapack_logical* select, lapack_int n,
-                           double* a, lapack_int lda, double* b, lapack_int ldb,
-                           double* alphar, double* alphai, double* beta,
-                           double* q, lapack_int ldq, double* z, lapack_int ldz,
-                           lapack_int* m, double* pl, double* pr, double* dif );
-lapack_int LAPACKE_ctgsen( int matrix_order, lapack_int ijob,
-                           lapack_logical wantq, lapack_logical wantz,
-                           const lapack_logical* select, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* alpha,
-                           lapack_complex_float* beta, lapack_complex_float* q,
-                           lapack_int ldq, lapack_complex_float* z,
-                           lapack_int ldz, lapack_int* m, float* pl, float* pr,
-                           float* dif );
-lapack_int LAPACKE_ztgsen( int matrix_order, lapack_int ijob,
-                           lapack_logical wantq, lapack_logical wantz,
-                           const lapack_logical* select, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* alpha,
-                           lapack_complex_double* beta,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_complex_double* z, lapack_int ldz,
-                           lapack_int* m, double* pl, double* pr, double* dif );
-
-lapack_int LAPACKE_stgsja( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int p, lapack_int n,
-                           lapack_int k, lapack_int l, float* a, lapack_int lda,
-                           float* b, lapack_int ldb, float tola, float tolb,
-                           float* alpha, float* beta, float* u, lapack_int ldu,
-                           float* v, lapack_int ldv, float* q, lapack_int ldq,
-                           lapack_int* ncycle );
-lapack_int LAPACKE_dtgsja( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int p, lapack_int n,
-                           lapack_int k, lapack_int l, double* a,
-                           lapack_int lda, double* b, lapack_int ldb,
-                           double tola, double tolb, double* alpha,
-                           double* beta, double* u, lapack_int ldu, double* v,
-                           lapack_int ldv, double* q, lapack_int ldq,
-                           lapack_int* ncycle );
-lapack_int LAPACKE_ctgsja( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int p, lapack_int n,
-                           lapack_int k, lapack_int l, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* b,
-                           lapack_int ldb, float tola, float tolb, float* alpha,
-                           float* beta, lapack_complex_float* u, lapack_int ldu,
-                           lapack_complex_float* v, lapack_int ldv,
-                           lapack_complex_float* q, lapack_int ldq,
-                           lapack_int* ncycle );
-lapack_int LAPACKE_ztgsja( int matrix_order, char jobu, char jobv, char jobq,
-                           lapack_int m, lapack_int p, lapack_int n,
-                           lapack_int k, lapack_int l, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* b,
-                           lapack_int ldb, double tola, double tolb,
-                           double* alpha, double* beta,
-                           lapack_complex_double* u, lapack_int ldu,
-                           lapack_complex_double* v, lapack_int ldv,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_int* ncycle );
-
-lapack_int LAPACKE_stgsna( int matrix_order, char job, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const float* a, lapack_int lda, const float* b,
-                           lapack_int ldb, const float* vl, lapack_int ldvl,
-                           const float* vr, lapack_int ldvr, float* s,
-                           float* dif, lapack_int mm, lapack_int* m );
-lapack_int LAPACKE_dtgsna( int matrix_order, char job, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const double* a, lapack_int lda, const double* b,
-                           lapack_int ldb, const double* vl, lapack_int ldvl,
-                           const double* vr, lapack_int ldvr, double* s,
-                           double* dif, lapack_int mm, lapack_int* m );
-lapack_int LAPACKE_ctgsna( int matrix_order, char job, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           const lapack_complex_float* vl, lapack_int ldvl,
-                           const lapack_complex_float* vr, lapack_int ldvr,
-                           float* s, float* dif, lapack_int mm, lapack_int* m );
-lapack_int LAPACKE_ztgsna( int matrix_order, char job, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           const lapack_complex_double* vl, lapack_int ldvl,
-                           const lapack_complex_double* vr, lapack_int ldvr,
-                           double* s, double* dif, lapack_int mm,
-                           lapack_int* m );
-
-lapack_int LAPACKE_stgsyl( int matrix_order, char trans, lapack_int ijob,
-                           lapack_int m, lapack_int n, const float* a,
-                           lapack_int lda, const float* b, lapack_int ldb,
-                           float* c, lapack_int ldc, const float* d,
-                           lapack_int ldd, const float* e, lapack_int lde,
-                           float* f, lapack_int ldf, float* scale, float* dif );
-lapack_int LAPACKE_dtgsyl( int matrix_order, char trans, lapack_int ijob,
-                           lapack_int m, lapack_int n, const double* a,
-                           lapack_int lda, const double* b, lapack_int ldb,
-                           double* c, lapack_int ldc, const double* d,
-                           lapack_int ldd, const double* e, lapack_int lde,
-                           double* f, lapack_int ldf, double* scale,
-                           double* dif );
-lapack_int LAPACKE_ctgsyl( int matrix_order, char trans, lapack_int ijob,
-                           lapack_int m, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* c, lapack_int ldc,
-                           const lapack_complex_float* d, lapack_int ldd,
-                           const lapack_complex_float* e, lapack_int lde,
-                           lapack_complex_float* f, lapack_int ldf,
-                           float* scale, float* dif );
-lapack_int LAPACKE_ztgsyl( int matrix_order, char trans, lapack_int ijob,
-                           lapack_int m, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* c, lapack_int ldc,
-                           const lapack_complex_double* d, lapack_int ldd,
-                           const lapack_complex_double* e, lapack_int lde,
-                           lapack_complex_double* f, lapack_int ldf,
-                           double* scale, double* dif );
-
-lapack_int LAPACKE_stpcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, const float* ap, float* rcond );
-lapack_int LAPACKE_dtpcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, const double* ap, double* rcond );
-lapack_int LAPACKE_ctpcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, const lapack_complex_float* ap,
-                           float* rcond );
-lapack_int LAPACKE_ztpcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, const lapack_complex_double* ap,
-                           double* rcond );
-
-lapack_int LAPACKE_stprfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs, const float* ap,
-                           const float* b, lapack_int ldb, const float* x,
-                           lapack_int ldx, float* ferr, float* berr );
-lapack_int LAPACKE_dtprfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs, const double* ap,
-                           const double* b, lapack_int ldb, const double* x,
-                           lapack_int ldx, double* ferr, double* berr );
-lapack_int LAPACKE_ctprfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_float* ap,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           const lapack_complex_float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_ztprfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_double* ap,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           const lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_stptri( int matrix_order, char uplo, char diag, lapack_int n,
-                           float* ap );
-lapack_int LAPACKE_dtptri( int matrix_order, char uplo, char diag, lapack_int n,
-                           double* ap );
-lapack_int LAPACKE_ctptri( int matrix_order, char uplo, char diag, lapack_int n,
-                           lapack_complex_float* ap );
-lapack_int LAPACKE_ztptri( int matrix_order, char uplo, char diag, lapack_int n,
-                           lapack_complex_double* ap );
-
-lapack_int LAPACKE_stptrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs, const float* ap,
-                           float* b, lapack_int ldb );
-lapack_int LAPACKE_dtptrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs, const double* ap,
-                           double* b, lapack_int ldb );
-lapack_int LAPACKE_ctptrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_float* ap,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_ztptrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_double* ap,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_stpttf( int matrix_order, char transr, char uplo,
-                           lapack_int n, const float* ap, float* arf );
-lapack_int LAPACKE_dtpttf( int matrix_order, char transr, char uplo,
-                           lapack_int n, const double* ap, double* arf );
-lapack_int LAPACKE_ctpttf( int matrix_order, char transr, char uplo,
-                           lapack_int n, const lapack_complex_float* ap,
-                           lapack_complex_float* arf );
-lapack_int LAPACKE_ztpttf( int matrix_order, char transr, char uplo,
-                           lapack_int n, const lapack_complex_double* ap,
-                           lapack_complex_double* arf );
-
-lapack_int LAPACKE_stpttr( int matrix_order, char uplo, lapack_int n,
-                           const float* ap, float* a, lapack_int lda );
-lapack_int LAPACKE_dtpttr( int matrix_order, char uplo, lapack_int n,
-                           const double* ap, double* a, lapack_int lda );
-lapack_int LAPACKE_ctpttr( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* ap,
-                           lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_ztpttr( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* ap,
-                           lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_strcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, const float* a, lapack_int lda,
-                           float* rcond );
-lapack_int LAPACKE_dtrcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, const double* a, lapack_int lda,
-                           double* rcond );
-lapack_int LAPACKE_ctrcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, const lapack_complex_float* a,
-                           lapack_int lda, float* rcond );
-lapack_int LAPACKE_ztrcon( int matrix_order, char norm, char uplo, char diag,
-                           lapack_int n, const lapack_complex_double* a,
-                           lapack_int lda, double* rcond );
-
-lapack_int LAPACKE_strevc( int matrix_order, char side, char howmny,
-                           lapack_logical* select, lapack_int n, const float* t,
-                           lapack_int ldt, float* vl, lapack_int ldvl,
-                           float* vr, lapack_int ldvr, lapack_int mm,
-                           lapack_int* m );
-lapack_int LAPACKE_dtrevc( int matrix_order, char side, char howmny,
-                           lapack_logical* select, lapack_int n,
-                           const double* t, lapack_int ldt, double* vl,
-                           lapack_int ldvl, double* vr, lapack_int ldvr,
-                           lapack_int mm, lapack_int* m );
-lapack_int LAPACKE_ctrevc( int matrix_order, char side, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           lapack_complex_float* t, lapack_int ldt,
-                           lapack_complex_float* vl, lapack_int ldvl,
-                           lapack_complex_float* vr, lapack_int ldvr,
-                           lapack_int mm, lapack_int* m );
-lapack_int LAPACKE_ztrevc( int matrix_order, char side, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           lapack_complex_double* t, lapack_int ldt,
-                           lapack_complex_double* vl, lapack_int ldvl,
-                           lapack_complex_double* vr, lapack_int ldvr,
-                           lapack_int mm, lapack_int* m );
-
-lapack_int LAPACKE_strexc( int matrix_order, char compq, lapack_int n, float* t,
-                           lapack_int ldt, float* q, lapack_int ldq,
-                           lapack_int* ifst, lapack_int* ilst );
-lapack_int LAPACKE_dtrexc( int matrix_order, char compq, lapack_int n,
-                           double* t, lapack_int ldt, double* q, lapack_int ldq,
-                           lapack_int* ifst, lapack_int* ilst );
-lapack_int LAPACKE_ctrexc( int matrix_order, char compq, lapack_int n,
-                           lapack_complex_float* t, lapack_int ldt,
-                           lapack_complex_float* q, lapack_int ldq,
-                           lapack_int ifst, lapack_int ilst );
-lapack_int LAPACKE_ztrexc( int matrix_order, char compq, lapack_int n,
-                           lapack_complex_double* t, lapack_int ldt,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_int ifst, lapack_int ilst );
-
-lapack_int LAPACKE_strrfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs, const float* a,
-                           lapack_int lda, const float* b, lapack_int ldb,
-                           const float* x, lapack_int ldx, float* ferr,
-                           float* berr );
-lapack_int LAPACKE_dtrrfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs, const double* a,
-                           lapack_int lda, const double* b, lapack_int ldb,
-                           const double* x, lapack_int ldx, double* ferr,
-                           double* berr );
-lapack_int LAPACKE_ctrrfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           const lapack_complex_float* x, lapack_int ldx,
-                           float* ferr, float* berr );
-lapack_int LAPACKE_ztrrfs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           const lapack_complex_double* x, lapack_int ldx,
-                           double* ferr, double* berr );
-
-lapack_int LAPACKE_strsen( int matrix_order, char job, char compq,
-                           const lapack_logical* select, lapack_int n, float* t,
-                           lapack_int ldt, float* q, lapack_int ldq, float* wr,
-                           float* wi, lapack_int* m, float* s, float* sep );
-lapack_int LAPACKE_dtrsen( int matrix_order, char job, char compq,
-                           const lapack_logical* select, lapack_int n,
-                           double* t, lapack_int ldt, double* q, lapack_int ldq,
-                           double* wr, double* wi, lapack_int* m, double* s,
-                           double* sep );
-lapack_int LAPACKE_ctrsen( int matrix_order, char job, char compq,
-                           const lapack_logical* select, lapack_int n,
-                           lapack_complex_float* t, lapack_int ldt,
-                           lapack_complex_float* q, lapack_int ldq,
-                           lapack_complex_float* w, lapack_int* m, float* s,
-                           float* sep );
-lapack_int LAPACKE_ztrsen( int matrix_order, char job, char compq,
-                           const lapack_logical* select, lapack_int n,
-                           lapack_complex_double* t, lapack_int ldt,
-                           lapack_complex_double* q, lapack_int ldq,
-                           lapack_complex_double* w, lapack_int* m, double* s,
-                           double* sep );
-
-lapack_int LAPACKE_strsna( int matrix_order, char job, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const float* t, lapack_int ldt, const float* vl,
-                           lapack_int ldvl, const float* vr, lapack_int ldvr,
-                           float* s, float* sep, lapack_int mm, lapack_int* m );
-lapack_int LAPACKE_dtrsna( int matrix_order, char job, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const double* t, lapack_int ldt, const double* vl,
-                           lapack_int ldvl, const double* vr, lapack_int ldvr,
-                           double* s, double* sep, lapack_int mm,
-                           lapack_int* m );
-lapack_int LAPACKE_ctrsna( int matrix_order, char job, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const lapack_complex_float* t, lapack_int ldt,
-                           const lapack_complex_float* vl, lapack_int ldvl,
-                           const lapack_complex_float* vr, lapack_int ldvr,
-                           float* s, float* sep, lapack_int mm, lapack_int* m );
-lapack_int LAPACKE_ztrsna( int matrix_order, char job, char howmny,
-                           const lapack_logical* select, lapack_int n,
-                           const lapack_complex_double* t, lapack_int ldt,
-                           const lapack_complex_double* vl, lapack_int ldvl,
-                           const lapack_complex_double* vr, lapack_int ldvr,
-                           double* s, double* sep, lapack_int mm,
-                           lapack_int* m );
-
-lapack_int LAPACKE_strsyl( int matrix_order, char trana, char tranb,
-                           lapack_int isgn, lapack_int m, lapack_int n,
-                           const float* a, lapack_int lda, const float* b,
-                           lapack_int ldb, float* c, lapack_int ldc,
-                           float* scale );
-lapack_int LAPACKE_dtrsyl( int matrix_order, char trana, char tranb,
-                           lapack_int isgn, lapack_int m, lapack_int n,
-                           const double* a, lapack_int lda, const double* b,
-                           lapack_int ldb, double* c, lapack_int ldc,
-                           double* scale );
-lapack_int LAPACKE_ctrsyl( int matrix_order, char trana, char tranb,
-                           lapack_int isgn, lapack_int m, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* b, lapack_int ldb,
-                           lapack_complex_float* c, lapack_int ldc,
-                           float* scale );
-lapack_int LAPACKE_ztrsyl( int matrix_order, char trana, char tranb,
-                           lapack_int isgn, lapack_int m, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* c, lapack_int ldc,
-                           double* scale );
-
-lapack_int LAPACKE_strtri( int matrix_order, char uplo, char diag, lapack_int n,
-                           float* a, lapack_int lda );
-lapack_int LAPACKE_dtrtri( int matrix_order, char uplo, char diag, lapack_int n,
-                           double* a, lapack_int lda );
-lapack_int LAPACKE_ctrtri( int matrix_order, char uplo, char diag, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_ztrtri( int matrix_order, char uplo, char diag, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_strtrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs, const float* a,
-                           lapack_int lda, float* b, lapack_int ldb );
-lapack_int LAPACKE_dtrtrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs, const double* a,
-                           lapack_int lda, double* b, lapack_int ldb );
-lapack_int LAPACKE_ctrtrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_ztrtrs( int matrix_order, char uplo, char trans, char diag,
-                           lapack_int n, lapack_int nrhs,
-                           const lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_strttf( int matrix_order, char transr, char uplo,
-                           lapack_int n, const float* a, lapack_int lda,
-                           float* arf );
-lapack_int LAPACKE_dtrttf( int matrix_order, char transr, char uplo,
-                           lapack_int n, const double* a, lapack_int lda,
-                           double* arf );
-lapack_int LAPACKE_ctrttf( int matrix_order, char transr, char uplo,
-                           lapack_int n, const lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* arf );
-lapack_int LAPACKE_ztrttf( int matrix_order, char transr, char uplo,
-                           lapack_int n, const lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* arf );
-
-lapack_int LAPACKE_strttp( int matrix_order, char uplo, lapack_int n,
-                           const float* a, lapack_int lda, float* ap );
-lapack_int LAPACKE_dtrttp( int matrix_order, char uplo, lapack_int n,
-                           const double* a, lapack_int lda, double* ap );
-lapack_int LAPACKE_ctrttp( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* ap );
-lapack_int LAPACKE_ztrttp( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* ap );
-
-lapack_int LAPACKE_stzrzf( int matrix_order, lapack_int m, lapack_int n,
-                           float* a, lapack_int lda, float* tau );
-lapack_int LAPACKE_dtzrzf( int matrix_order, lapack_int m, lapack_int n,
-                           double* a, lapack_int lda, double* tau );
-lapack_int LAPACKE_ctzrzf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* tau );
-lapack_int LAPACKE_ztzrzf( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* tau );
-
-lapack_int LAPACKE_cungbr( int matrix_order, char vect, lapack_int m,
-                           lapack_int n, lapack_int k, lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* tau );
-lapack_int LAPACKE_zungbr( int matrix_order, char vect, lapack_int m,
-                           lapack_int n, lapack_int k, lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* tau );
-
-lapack_int LAPACKE_cunghr( int matrix_order, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* tau );
-lapack_int LAPACKE_zunghr( int matrix_order, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* tau );
-
-lapack_int LAPACKE_cunglq( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* tau );
-lapack_int LAPACKE_zunglq( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* tau );
-
-lapack_int LAPACKE_cungql( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* tau );
-lapack_int LAPACKE_zungql( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* tau );
-
-lapack_int LAPACKE_cungqr( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* tau );
-lapack_int LAPACKE_zungqr( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* tau );
-
-lapack_int LAPACKE_cungrq( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* tau );
-lapack_int LAPACKE_zungrq( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* tau );
-
-lapack_int LAPACKE_cungtr( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* tau );
-lapack_int LAPACKE_zungtr( int matrix_order, char uplo, lapack_int n,
-                           lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* tau );
-
-lapack_int LAPACKE_cunmbr( int matrix_order, char vect, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zunmbr( int matrix_order, char vect, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_cunmhr( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zunmhr( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int ilo,
-                           lapack_int ihi, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_cunmlq( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zunmlq( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_cunmql( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zunmql( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_cunmqr( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zunmqr( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_cunmrq( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zunmrq( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_cunmrz( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           lapack_int l, const lapack_complex_float* a,
-                           lapack_int lda, const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zunmrz( int matrix_order, char side, char trans,
-                           lapack_int m, lapack_int n, lapack_int k,
-                           lapack_int l, const lapack_complex_double* a,
-                           lapack_int lda, const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_cunmtr( int matrix_order, char side, char uplo, char trans,
-                           lapack_int m, lapack_int n,
-                           const lapack_complex_float* a, lapack_int lda,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zunmtr( int matrix_order, char side, char uplo, char trans,
-                           lapack_int m, lapack_int n,
-                           const lapack_complex_double* a, lapack_int lda,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_cupgtr( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_float* ap,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* q, lapack_int ldq );
-lapack_int LAPACKE_zupgtr( int matrix_order, char uplo, lapack_int n,
-                           const lapack_complex_double* ap,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* q, lapack_int ldq );
-
-lapack_int LAPACKE_cupmtr( int matrix_order, char side, char uplo, char trans,
-                           lapack_int m, lapack_int n,
-                           const lapack_complex_float* ap,
-                           const lapack_complex_float* tau,
-                           lapack_complex_float* c, lapack_int ldc );
-lapack_int LAPACKE_zupmtr( int matrix_order, char side, char uplo, char trans,
-                           lapack_int m, lapack_int n,
-                           const lapack_complex_double* ap,
-                           const lapack_complex_double* tau,
-                           lapack_complex_double* c, lapack_int ldc );
-
-lapack_int LAPACKE_sbdsdc_work( int matrix_order, char uplo, char compq,
-                                lapack_int n, float* d, float* e, float* u,
-                                lapack_int ldu, float* vt, lapack_int ldvt,
-                                float* q, lapack_int* iq, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dbdsdc_work( int matrix_order, char uplo, char compq,
-                                lapack_int n, double* d, double* e, double* u,
-                                lapack_int ldu, double* vt, lapack_int ldvt,
-                                double* q, lapack_int* iq, double* work,
-                                lapack_int* iwork );
-
-lapack_int LAPACKE_sbdsqr_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
-                                float* d, float* e, float* vt, lapack_int ldvt,
-                                float* u, lapack_int ldu, float* c,
-                                lapack_int ldc, float* work );
-lapack_int LAPACKE_dbdsqr_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
-                                double* d, double* e, double* vt,
-                                lapack_int ldvt, double* u, lapack_int ldu,
-                                double* c, lapack_int ldc, double* work );
-lapack_int LAPACKE_cbdsqr_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
-                                float* d, float* e, lapack_complex_float* vt,
-                                lapack_int ldvt, lapack_complex_float* u,
-                                lapack_int ldu, lapack_complex_float* c,
-                                lapack_int ldc, float* work );
-lapack_int LAPACKE_zbdsqr_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
-                                double* d, double* e, lapack_complex_double* vt,
-                                lapack_int ldvt, lapack_complex_double* u,
-                                lapack_int ldu, lapack_complex_double* c,
-                                lapack_int ldc, double* work );
-
-lapack_int LAPACKE_sdisna_work( char job, lapack_int m, lapack_int n,
-                                const float* d, float* sep );
-lapack_int LAPACKE_ddisna_work( char job, lapack_int m, lapack_int n,
-                                const double* d, double* sep );
-
-lapack_int LAPACKE_sgbbrd_work( int matrix_order, char vect, lapack_int m,
-                                lapack_int n, lapack_int ncc, lapack_int kl,
-                                lapack_int ku, float* ab, lapack_int ldab,
-                                float* d, float* e, float* q, lapack_int ldq,
-                                float* pt, lapack_int ldpt, float* c,
-                                lapack_int ldc, float* work );
-lapack_int LAPACKE_dgbbrd_work( int matrix_order, char vect, lapack_int m,
-                                lapack_int n, lapack_int ncc, lapack_int kl,
-                                lapack_int ku, double* ab, lapack_int ldab,
-                                double* d, double* e, double* q, lapack_int ldq,
-                                double* pt, lapack_int ldpt, double* c,
-                                lapack_int ldc, double* work );
-lapack_int LAPACKE_cgbbrd_work( int matrix_order, char vect, lapack_int m,
-                                lapack_int n, lapack_int ncc, lapack_int kl,
-                                lapack_int ku, lapack_complex_float* ab,
-                                lapack_int ldab, float* d, float* e,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_complex_float* pt, lapack_int ldpt,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zgbbrd_work( int matrix_order, char vect, lapack_int m,
-                                lapack_int n, lapack_int ncc, lapack_int kl,
-                                lapack_int ku, lapack_complex_double* ab,
-                                lapack_int ldab, double* d, double* e,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_complex_double* pt, lapack_int ldpt,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgbcon_work( int matrix_order, char norm, lapack_int n,
-                                lapack_int kl, lapack_int ku, const float* ab,
-                                lapack_int ldab, const lapack_int* ipiv,
-                                float anorm, float* rcond, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgbcon_work( int matrix_order, char norm, lapack_int n,
-                                lapack_int kl, lapack_int ku, const double* ab,
-                                lapack_int ldab, const lapack_int* ipiv,
-                                double anorm, double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cgbcon_work( int matrix_order, char norm, lapack_int n,
-                                lapack_int kl, lapack_int ku,
-                                const lapack_complex_float* ab, lapack_int ldab,
-                                const lapack_int* ipiv, float anorm,
-                                float* rcond, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_zgbcon_work( int matrix_order, char norm, lapack_int n,
-                                lapack_int kl, lapack_int ku,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab, const lapack_int* ipiv,
-                                double anorm, double* rcond,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgbequ_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku, const float* ab,
-                                lapack_int ldab, float* r, float* c,
-                                float* rowcnd, float* colcnd, float* amax );
-lapack_int LAPACKE_dgbequ_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku, const double* ab,
-                                lapack_int ldab, double* r, double* c,
-                                double* rowcnd, double* colcnd, double* amax );
-lapack_int LAPACKE_cgbequ_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku,
-                                const lapack_complex_float* ab, lapack_int ldab,
-                                float* r, float* c, float* rowcnd,
-                                float* colcnd, float* amax );
-lapack_int LAPACKE_zgbequ_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab, double* r, double* c,
-                                double* rowcnd, double* colcnd, double* amax );
-
-lapack_int LAPACKE_sgbequb_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_int kl, lapack_int ku, const float* ab,
-                                 lapack_int ldab, float* r, float* c,
-                                 float* rowcnd, float* colcnd, float* amax );
-lapack_int LAPACKE_dgbequb_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_int kl, lapack_int ku, const double* ab,
-                                 lapack_int ldab, double* r, double* c,
-                                 double* rowcnd, double* colcnd, double* amax );
-lapack_int LAPACKE_cgbequb_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_int kl, lapack_int ku,
-                                 const lapack_complex_float* ab,
-                                 lapack_int ldab, float* r, float* c,
-                                 float* rowcnd, float* colcnd, float* amax );
-lapack_int LAPACKE_zgbequb_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_int kl, lapack_int ku,
-                                 const lapack_complex_double* ab,
-                                 lapack_int ldab, double* r, double* c,
-                                 double* rowcnd, double* colcnd, double* amax );
-
-lapack_int LAPACKE_sgbrfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int kl, lapack_int ku, lapack_int nrhs,
-                                const float* ab, lapack_int ldab,
-                                const float* afb, lapack_int ldafb,
-                                const lapack_int* ipiv, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* ferr, float* berr, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgbrfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int kl, lapack_int ku, lapack_int nrhs,
-                                const double* ab, lapack_int ldab,
-                                const double* afb, lapack_int ldafb,
-                                const lapack_int* ipiv, const double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* ferr, double* berr, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cgbrfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int kl, lapack_int ku, lapack_int nrhs,
-                                const lapack_complex_float* ab, lapack_int ldab,
-                                const lapack_complex_float* afb,
-                                lapack_int ldafb, const lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zgbrfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int kl, lapack_int ku, lapack_int nrhs,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab,
-                                const lapack_complex_double* afb,
-                                lapack_int ldafb, const lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgbrfsx_work( int matrix_order, char trans, char equed,
-                                 lapack_int n, lapack_int kl, lapack_int ku,
-                                 lapack_int nrhs, const float* ab,
-                                 lapack_int ldab, const float* afb,
-                                 lapack_int ldafb, const lapack_int* ipiv,
-                                 const float* r, const float* c, const float* b,
-                                 lapack_int ldb, float* x, lapack_int ldx,
-                                 float* rcond, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, float* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_dgbrfsx_work( int matrix_order, char trans, char equed,
-                                 lapack_int n, lapack_int kl, lapack_int ku,
-                                 lapack_int nrhs, const double* ab,
-                                 lapack_int ldab, const double* afb,
-                                 lapack_int ldafb, const lapack_int* ipiv,
-                                 const double* r, const double* c,
-                                 const double* b, lapack_int ldb, double* x,
-                                 lapack_int ldx, double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, double* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_cgbrfsx_work( int matrix_order, char trans, char equed,
-                                 lapack_int n, lapack_int kl, lapack_int ku,
-                                 lapack_int nrhs,
-                                 const lapack_complex_float* ab,
-                                 lapack_int ldab,
-                                 const lapack_complex_float* afb,
-                                 lapack_int ldafb, const lapack_int* ipiv,
-                                 const float* r, const float* c,
-                                 const lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* x, lapack_int ldx,
-                                 float* rcond, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, lapack_complex_float* work,
-                                 float* rwork );
-lapack_int LAPACKE_zgbrfsx_work( int matrix_order, char trans, char equed,
-                                 lapack_int n, lapack_int kl, lapack_int ku,
-                                 lapack_int nrhs,
-                                 const lapack_complex_double* ab,
-                                 lapack_int ldab,
-                                 const lapack_complex_double* afb,
-                                 lapack_int ldafb, const lapack_int* ipiv,
-                                 const double* r, const double* c,
-                                 const lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_sgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
-                               lapack_int ku, lapack_int nrhs, float* ab,
-                               lapack_int ldab, lapack_int* ipiv, float* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_dgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
-                               lapack_int ku, lapack_int nrhs, double* ab,
-                               lapack_int ldab, lapack_int* ipiv, double* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_cgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
-                               lapack_int ku, lapack_int nrhs,
-                               lapack_complex_float* ab, lapack_int ldab,
-                               lapack_int* ipiv, lapack_complex_float* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_zgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
-                               lapack_int ku, lapack_int nrhs,
-                               lapack_complex_double* ab, lapack_int ldab,
-                               lapack_int* ipiv, lapack_complex_double* b,
-                               lapack_int ldb );
-
-lapack_int LAPACKE_sgbsvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int kl, lapack_int ku,
-                                lapack_int nrhs, float* ab, lapack_int ldab,
-                                float* afb, lapack_int ldafb, lapack_int* ipiv,
-                                char* equed, float* r, float* c, float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dgbsvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int kl, lapack_int ku,
-                                lapack_int nrhs, double* ab, lapack_int ldab,
-                                double* afb, lapack_int ldafb, lapack_int* ipiv,
-                                char* equed, double* r, double* c, double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cgbsvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int kl, lapack_int ku,
-                                lapack_int nrhs, lapack_complex_float* ab,
-                                lapack_int ldab, lapack_complex_float* afb,
-                                lapack_int ldafb, lapack_int* ipiv, char* equed,
-                                float* r, float* c, lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_zgbsvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int kl, lapack_int ku,
-                                lapack_int nrhs, lapack_complex_double* ab,
-                                lapack_int ldab, lapack_complex_double* afb,
-                                lapack_int ldafb, lapack_int* ipiv, char* equed,
-                                double* r, double* c, lapack_complex_double* b,
-                                lapack_int ldb, lapack_complex_double* x,
-                                lapack_int ldx, double* rcond, double* ferr,
-                                double* berr, lapack_complex_double* work,
-                                double* rwork );
-
-lapack_int LAPACKE_sgbsvxx_work( int matrix_order, char fact, char trans,
-                                 lapack_int n, lapack_int kl, lapack_int ku,
-                                 lapack_int nrhs, float* ab, lapack_int ldab,
-                                 float* afb, lapack_int ldafb, lapack_int* ipiv,
-                                 char* equed, float* r, float* c, float* b,
-                                 lapack_int ldb, float* x, lapack_int ldx,
-                                 float* rcond, float* rpvgrw, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, float* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_dgbsvxx_work( int matrix_order, char fact, char trans,
-                                 lapack_int n, lapack_int kl, lapack_int ku,
-                                 lapack_int nrhs, double* ab, lapack_int ldab,
-                                 double* afb, lapack_int ldafb,
-                                 lapack_int* ipiv, char* equed, double* r,
-                                 double* c, double* b, lapack_int ldb,
-                                 double* x, lapack_int ldx, double* rcond,
-                                 double* rpvgrw, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, double* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_cgbsvxx_work( int matrix_order, char fact, char trans,
-                                 lapack_int n, lapack_int kl, lapack_int ku,
-                                 lapack_int nrhs, lapack_complex_float* ab,
-                                 lapack_int ldab, lapack_complex_float* afb,
-                                 lapack_int ldafb, lapack_int* ipiv,
-                                 char* equed, float* r, float* c,
-                                 lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* x, lapack_int ldx,
-                                 float* rcond, float* rpvgrw, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, lapack_complex_float* work,
-                                 float* rwork );
-lapack_int LAPACKE_zgbsvxx_work( int matrix_order, char fact, char trans,
-                                 lapack_int n, lapack_int kl, lapack_int ku,
-                                 lapack_int nrhs, lapack_complex_double* ab,
-                                 lapack_int ldab, lapack_complex_double* afb,
-                                 lapack_int ldafb, lapack_int* ipiv,
-                                 char* equed, double* r, double* c,
-                                 lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* rpvgrw, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_sgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku, float* ab,
-                                lapack_int ldab, lapack_int* ipiv );
-lapack_int LAPACKE_dgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku, double* ab,
-                                lapack_int ldab, lapack_int* ipiv );
-lapack_int LAPACKE_cgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku,
-                                lapack_complex_float* ab, lapack_int ldab,
-                                lapack_int* ipiv );
-lapack_int LAPACKE_zgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku,
-                                lapack_complex_double* ab, lapack_int ldab,
-                                lapack_int* ipiv );
-
-lapack_int LAPACKE_sgbtrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int kl, lapack_int ku, lapack_int nrhs,
-                                const float* ab, lapack_int ldab,
-                                const lapack_int* ipiv, float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_dgbtrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int kl, lapack_int ku, lapack_int nrhs,
-                                const double* ab, lapack_int ldab,
-                                const lapack_int* ipiv, double* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_cgbtrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int kl, lapack_int ku, lapack_int nrhs,
-                                const lapack_complex_float* ab, lapack_int ldab,
-                                const lapack_int* ipiv, lapack_complex_float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_zgbtrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int kl, lapack_int ku, lapack_int nrhs,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab, const lapack_int* ipiv,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sgebak_work( int matrix_order, char job, char side,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                const float* scale, lapack_int m, float* v,
-                                lapack_int ldv );
-lapack_int LAPACKE_dgebak_work( int matrix_order, char job, char side,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                const double* scale, lapack_int m, double* v,
-                                lapack_int ldv );
-lapack_int LAPACKE_cgebak_work( int matrix_order, char job, char side,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                const float* scale, lapack_int m,
-                                lapack_complex_float* v, lapack_int ldv );
-lapack_int LAPACKE_zgebak_work( int matrix_order, char job, char side,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                const double* scale, lapack_int m,
-                                lapack_complex_double* v, lapack_int ldv );
-
-lapack_int LAPACKE_sgebal_work( int matrix_order, char job, lapack_int n,
-                                float* a, lapack_int lda, lapack_int* ilo,
-                                lapack_int* ihi, float* scale );
-lapack_int LAPACKE_dgebal_work( int matrix_order, char job, lapack_int n,
-                                double* a, lapack_int lda, lapack_int* ilo,
-                                lapack_int* ihi, double* scale );
-lapack_int LAPACKE_cgebal_work( int matrix_order, char job, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* ilo, lapack_int* ihi,
-                                float* scale );
-lapack_int LAPACKE_zgebal_work( int matrix_order, char job, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* ilo, lapack_int* ihi,
-                                double* scale );
-
-lapack_int LAPACKE_sgebrd_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, float* d, float* e,
-                                float* tauq, float* taup, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dgebrd_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* d, double* e,
-                                double* tauq, double* taup, double* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_cgebrd_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                float* d, float* e, lapack_complex_float* tauq,
-                                lapack_complex_float* taup,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgebrd_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                double* d, double* e,
-                                lapack_complex_double* tauq,
-                                lapack_complex_double* taup,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgecon_work( int matrix_order, char norm, lapack_int n,
-                                const float* a, lapack_int lda, float anorm,
-                                float* rcond, float* work, lapack_int* iwork );
-lapack_int LAPACKE_dgecon_work( int matrix_order, char norm, lapack_int n,
-                                const double* a, lapack_int lda, double anorm,
-                                double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cgecon_work( int matrix_order, char norm, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                float anorm, float* rcond,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zgecon_work( int matrix_order, char norm, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                double anorm, double* rcond,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgeequ_work( int matrix_order, lapack_int m, lapack_int n,
-                                const float* a, lapack_int lda, float* r,
-                                float* c, float* rowcnd, float* colcnd,
-                                float* amax );
-lapack_int LAPACKE_dgeequ_work( int matrix_order, lapack_int m, lapack_int n,
-                                const double* a, lapack_int lda, double* r,
-                                double* c, double* rowcnd, double* colcnd,
-                                double* amax );
-lapack_int LAPACKE_cgeequ_work( int matrix_order, lapack_int m, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                float* r, float* c, float* rowcnd,
-                                float* colcnd, float* amax );
-lapack_int LAPACKE_zgeequ_work( int matrix_order, lapack_int m, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                double* r, double* c, double* rowcnd,
-                                double* colcnd, double* amax );
-
-lapack_int LAPACKE_sgeequb_work( int matrix_order, lapack_int m, lapack_int n,
-                                 const float* a, lapack_int lda, float* r,
-                                 float* c, float* rowcnd, float* colcnd,
-                                 float* amax );
-lapack_int LAPACKE_dgeequb_work( int matrix_order, lapack_int m, lapack_int n,
-                                 const double* a, lapack_int lda, double* r,
-                                 double* c, double* rowcnd, double* colcnd,
-                                 double* amax );
-lapack_int LAPACKE_cgeequb_work( int matrix_order, lapack_int m, lapack_int n,
-                                 const lapack_complex_float* a, lapack_int lda,
-                                 float* r, float* c, float* rowcnd,
-                                 float* colcnd, float* amax );
-lapack_int LAPACKE_zgeequb_work( int matrix_order, lapack_int m, lapack_int n,
-                                 const lapack_complex_double* a, lapack_int lda,
-                                 double* r, double* c, double* rowcnd,
-                                 double* colcnd, double* amax );
-
-lapack_int LAPACKE_sgees_work( int matrix_order, char jobvs, char sort,
-                               LAPACK_S_SELECT2 select, lapack_int n, float* a,
-                               lapack_int lda, lapack_int* sdim, float* wr,
-                               float* wi, float* vs, lapack_int ldvs,
-                               float* work, lapack_int lwork,
-                               lapack_logical* bwork );
-lapack_int LAPACKE_dgees_work( int matrix_order, char jobvs, char sort,
-                               LAPACK_D_SELECT2 select, lapack_int n, double* a,
-                               lapack_int lda, lapack_int* sdim, double* wr,
-                               double* wi, double* vs, lapack_int ldvs,
-                               double* work, lapack_int lwork,
-                               lapack_logical* bwork );
-lapack_int LAPACKE_cgees_work( int matrix_order, char jobvs, char sort,
-                               LAPACK_C_SELECT1 select, lapack_int n,
-                               lapack_complex_float* a, lapack_int lda,
-                               lapack_int* sdim, lapack_complex_float* w,
-                               lapack_complex_float* vs, lapack_int ldvs,
-                               lapack_complex_float* work, lapack_int lwork,
-                               float* rwork, lapack_logical* bwork );
-lapack_int LAPACKE_zgees_work( int matrix_order, char jobvs, char sort,
-                               LAPACK_Z_SELECT1 select, lapack_int n,
-                               lapack_complex_double* a, lapack_int lda,
-                               lapack_int* sdim, lapack_complex_double* w,
-                               lapack_complex_double* vs, lapack_int ldvs,
-                               lapack_complex_double* work, lapack_int lwork,
-                               double* rwork, lapack_logical* bwork );
-
-lapack_int LAPACKE_sgeesx_work( int matrix_order, char jobvs, char sort,
-                                LAPACK_S_SELECT2 select, char sense,
-                                lapack_int n, float* a, lapack_int lda,
-                                lapack_int* sdim, float* wr, float* wi,
-                                float* vs, lapack_int ldvs, float* rconde,
-                                float* rcondv, float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork,
-                                lapack_logical* bwork );
-lapack_int LAPACKE_dgeesx_work( int matrix_order, char jobvs, char sort,
-                                LAPACK_D_SELECT2 select, char sense,
-                                lapack_int n, double* a, lapack_int lda,
-                                lapack_int* sdim, double* wr, double* wi,
-                                double* vs, lapack_int ldvs, double* rconde,
-                                double* rcondv, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork,
-                                lapack_logical* bwork );
-lapack_int LAPACKE_cgeesx_work( int matrix_order, char jobvs, char sort,
-                                LAPACK_C_SELECT1 select, char sense,
-                                lapack_int n, lapack_complex_float* a,
-                                lapack_int lda, lapack_int* sdim,
-                                lapack_complex_float* w,
-                                lapack_complex_float* vs, lapack_int ldvs,
-                                float* rconde, float* rcondv,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork, lapack_logical* bwork );
-lapack_int LAPACKE_zgeesx_work( int matrix_order, char jobvs, char sort,
-                                LAPACK_Z_SELECT1 select, char sense,
-                                lapack_int n, lapack_complex_double* a,
-                                lapack_int lda, lapack_int* sdim,
-                                lapack_complex_double* w,
-                                lapack_complex_double* vs, lapack_int ldvs,
-                                double* rconde, double* rcondv,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork, lapack_logical* bwork );
-
-lapack_int LAPACKE_sgeev_work( int matrix_order, char jobvl, char jobvr,
-                               lapack_int n, float* a, lapack_int lda,
-                               float* wr, float* wi, float* vl, lapack_int ldvl,
-                               float* vr, lapack_int ldvr, float* work,
-                               lapack_int lwork );
-lapack_int LAPACKE_dgeev_work( int matrix_order, char jobvl, char jobvr,
-                               lapack_int n, double* a, lapack_int lda,
-                               double* wr, double* wi, double* vl,
-                               lapack_int ldvl, double* vr, lapack_int ldvr,
-                               double* work, lapack_int lwork );
-lapack_int LAPACKE_cgeev_work( int matrix_order, char jobvl, char jobvr,
-                               lapack_int n, lapack_complex_float* a,
-                               lapack_int lda, lapack_complex_float* w,
-                               lapack_complex_float* vl, lapack_int ldvl,
-                               lapack_complex_float* vr, lapack_int ldvr,
-                               lapack_complex_float* work, lapack_int lwork,
-                               float* rwork );
-lapack_int LAPACKE_zgeev_work( int matrix_order, char jobvl, char jobvr,
-                               lapack_int n, lapack_complex_double* a,
-                               lapack_int lda, lapack_complex_double* w,
-                               lapack_complex_double* vl, lapack_int ldvl,
-                               lapack_complex_double* vr, lapack_int ldvr,
-                               lapack_complex_double* work, lapack_int lwork,
-                               double* rwork );
-
-lapack_int LAPACKE_sgeevx_work( int matrix_order, char balanc, char jobvl,
-                                char jobvr, char sense, lapack_int n, float* a,
-                                lapack_int lda, float* wr, float* wi, float* vl,
-                                lapack_int ldvl, float* vr, lapack_int ldvr,
-                                lapack_int* ilo, lapack_int* ihi, float* scale,
-                                float* abnrm, float* rconde, float* rcondv,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgeevx_work( int matrix_order, char balanc, char jobvl,
-                                char jobvr, char sense, lapack_int n, double* a,
-                                lapack_int lda, double* wr, double* wi,
-                                double* vl, lapack_int ldvl, double* vr,
-                                lapack_int ldvr, lapack_int* ilo,
-                                lapack_int* ihi, double* scale, double* abnrm,
-                                double* rconde, double* rcondv, double* work,
-                                lapack_int lwork, lapack_int* iwork );
-lapack_int LAPACKE_cgeevx_work( int matrix_order, char balanc, char jobvl,
-                                char jobvr, char sense, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* w,
-                                lapack_complex_float* vl, lapack_int ldvl,
-                                lapack_complex_float* vr, lapack_int ldvr,
-                                lapack_int* ilo, lapack_int* ihi, float* scale,
-                                float* abnrm, float* rconde, float* rcondv,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork );
-lapack_int LAPACKE_zgeevx_work( int matrix_order, char balanc, char jobvl,
-                                char jobvr, char sense, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* w,
-                                lapack_complex_double* vl, lapack_int ldvl,
-                                lapack_complex_double* vr, lapack_int ldvr,
-                                lapack_int* ilo, lapack_int* ihi, double* scale,
-                                double* abnrm, double* rconde, double* rcondv,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork );
-
-lapack_int LAPACKE_sgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, float* a, lapack_int lda,
-                                float* tau, float* work, lapack_int lwork );
-lapack_int LAPACKE_dgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, double* a, lapack_int lda,
-                                double* tau, double* work, lapack_int lwork );
-lapack_int LAPACKE_cgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgejsv_work( int matrix_order, char joba, char jobu,
-                                char jobv, char jobr, char jobt, char jobp,
-                                lapack_int m, lapack_int n, float* a,
-                                lapack_int lda, float* sva, float* u,
-                                lapack_int ldu, float* v, lapack_int ldv,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgejsv_work( int matrix_order, char joba, char jobu,
-                                char jobv, char jobr, char jobt, char jobp,
-                                lapack_int m, lapack_int n, double* a,
-                                lapack_int lda, double* sva, double* u,
-                                lapack_int ldu, double* v, lapack_int ldv,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork );
-
-lapack_int LAPACKE_sgelq2_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, float* tau,
-                                float* work );
-lapack_int LAPACKE_dgelq2_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* tau,
-                                double* work );
-lapack_int LAPACKE_cgelq2_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* tau,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zgelq2_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_sgelqf_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, float* tau,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dgelqf_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* tau,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_cgelqf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgelqf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgels_work( int matrix_order, char trans, lapack_int m,
-                               lapack_int n, lapack_int nrhs, float* a,
-                               lapack_int lda, float* b, lapack_int ldb,
-                               float* work, lapack_int lwork );
-lapack_int LAPACKE_dgels_work( int matrix_order, char trans, lapack_int m,
-                               lapack_int n, lapack_int nrhs, double* a,
-                               lapack_int lda, double* b, lapack_int ldb,
-                               double* work, lapack_int lwork );
-lapack_int LAPACKE_cgels_work( int matrix_order, char trans, lapack_int m,
-                               lapack_int n, lapack_int nrhs,
-                               lapack_complex_float* a, lapack_int lda,
-                               lapack_complex_float* b, lapack_int ldb,
-                               lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgels_work( int matrix_order, char trans, lapack_int m,
-                               lapack_int n, lapack_int nrhs,
-                               lapack_complex_double* a, lapack_int lda,
-                               lapack_complex_double* b, lapack_int ldb,
-                               lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgelsd_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, float* a, lapack_int lda,
-                                float* b, lapack_int ldb, float* s, float rcond,
-                                lapack_int* rank, float* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgelsd_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, double* a, lapack_int lda,
-                                double* b, lapack_int ldb, double* s,
-                                double rcond, lapack_int* rank, double* work,
-                                lapack_int lwork, lapack_int* iwork );
-lapack_int LAPACKE_cgelsd_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb, float* s, float rcond,
-                                lapack_int* rank, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_zgelsd_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb, double* s, double rcond,
-                                lapack_int* rank, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork,
-                                lapack_int* iwork );
-
-lapack_int LAPACKE_sgelss_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, float* a, lapack_int lda,
-                                float* b, lapack_int ldb, float* s, float rcond,
-                                lapack_int* rank, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dgelss_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, double* a, lapack_int lda,
-                                double* b, lapack_int ldb, double* s,
-                                double rcond, lapack_int* rank, double* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_cgelss_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb, float* s, float rcond,
-                                lapack_int* rank, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork );
-lapack_int LAPACKE_zgelss_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb, double* s, double rcond,
-                                lapack_int* rank, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork );
-
-lapack_int LAPACKE_sgelsy_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, float* a, lapack_int lda,
-                                float* b, lapack_int ldb, lapack_int* jpvt,
-                                float rcond, lapack_int* rank, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dgelsy_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, double* a, lapack_int lda,
-                                double* b, lapack_int ldb, lapack_int* jpvt,
-                                double rcond, lapack_int* rank, double* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_cgelsy_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb, lapack_int* jpvt, float rcond,
-                                lapack_int* rank, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork );
-lapack_int LAPACKE_zgelsy_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nrhs, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb, lapack_int* jpvt, double rcond,
-                                lapack_int* rank, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork );
-
-lapack_int LAPACKE_sgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, float* tau,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* tau,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_cgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, lapack_int* jpvt,
-                                float* tau, float* work, lapack_int lwork );
-lapack_int LAPACKE_dgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, lapack_int* jpvt,
-                                double* tau, double* work, lapack_int lwork );
-lapack_int LAPACKE_cgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* jpvt, lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork );
-lapack_int LAPACKE_zgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* jpvt, lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork );
-
-lapack_int LAPACKE_sgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, lapack_int* jpvt,
-                                float* tau, float* work );
-lapack_int LAPACKE_dgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, lapack_int* jpvt,
-                                double* tau, double* work );
-lapack_int LAPACKE_cgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* jpvt, lapack_complex_float* tau,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* jpvt, lapack_complex_double* tau,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, float* tau,
-                                float* work );
-lapack_int LAPACKE_dgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* tau,
-                                double* work );
-lapack_int LAPACKE_cgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* tau,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_sgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, float* tau,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* tau,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_cgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
-                                 float* a, lapack_int lda, float* tau,
-                                 float* work, lapack_int lwork );
-lapack_int LAPACKE_dgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
-                                 double* a, lapack_int lda, double* tau,
-                                 double* work, lapack_int lwork );
-lapack_int LAPACKE_cgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* tau,
-                                 lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* tau,
-                                 lapack_complex_double* work,
-                                 lapack_int lwork );
-
-lapack_int LAPACKE_sgerfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const float* a, lapack_int lda,
-                                const float* af, lapack_int ldaf,
-                                const lapack_int* ipiv, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* ferr, float* berr, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgerfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const double* a,
-                                lapack_int lda, const double* af,
-                                lapack_int ldaf, const lapack_int* ipiv,
-                                const double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cgerfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* af,
-                                lapack_int ldaf, const lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zgerfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_double* a,
-                                lapack_int lda, const lapack_complex_double* af,
-                                lapack_int ldaf, const lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgerfsx_work( int matrix_order, char trans, char equed,
-                                 lapack_int n, lapack_int nrhs, const float* a,
-                                 lapack_int lda, const float* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const float* r, const float* c, const float* b,
-                                 lapack_int ldb, float* x, lapack_int ldx,
-                                 float* rcond, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, float* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_dgerfsx_work( int matrix_order, char trans, char equed,
-                                 lapack_int n, lapack_int nrhs, const double* a,
-                                 lapack_int lda, const double* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const double* r, const double* c,
-                                 const double* b, lapack_int ldb, double* x,
-                                 lapack_int ldx, double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, double* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_cgerfsx_work( int matrix_order, char trans, char equed,
-                                 lapack_int n, lapack_int nrhs,
-                                 const lapack_complex_float* a, lapack_int lda,
-                                 const lapack_complex_float* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const float* r, const float* c,
-                                 const lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* x, lapack_int ldx,
-                                 float* rcond, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, lapack_complex_float* work,
-                                 float* rwork );
-lapack_int LAPACKE_zgerfsx_work( int matrix_order, char trans, char equed,
-                                 lapack_int n, lapack_int nrhs,
-                                 const lapack_complex_double* a, lapack_int lda,
-                                 const lapack_complex_double* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const double* r, const double* c,
-                                 const lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_sgerqf_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, float* tau,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dgerqf_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* tau,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_cgerqf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgerqf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgesdd_work( int matrix_order, char jobz, lapack_int m,
-                                lapack_int n, float* a, lapack_int lda,
-                                float* s, float* u, lapack_int ldu, float* vt,
-                                lapack_int ldvt, float* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgesdd_work( int matrix_order, char jobz, lapack_int m,
-                                lapack_int n, double* a, lapack_int lda,
-                                double* s, double* u, lapack_int ldu,
-                                double* vt, lapack_int ldvt, double* work,
-                                lapack_int lwork, lapack_int* iwork );
-lapack_int LAPACKE_cgesdd_work( int matrix_order, char jobz, lapack_int m,
-                                lapack_int n, lapack_complex_float* a,
-                                lapack_int lda, float* s,
-                                lapack_complex_float* u, lapack_int ldu,
-                                lapack_complex_float* vt, lapack_int ldvt,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork, lapack_int* iwork );
-lapack_int LAPACKE_zgesdd_work( int matrix_order, char jobz, lapack_int m,
-                                lapack_int n, lapack_complex_double* a,
-                                lapack_int lda, double* s,
-                                lapack_complex_double* u, lapack_int ldu,
-                                lapack_complex_double* vt, lapack_int ldvt,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork, lapack_int* iwork );
-
-lapack_int LAPACKE_sgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               float* a, lapack_int lda, lapack_int* ipiv,
-                               float* b, lapack_int ldb );
-lapack_int LAPACKE_dgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               double* a, lapack_int lda, lapack_int* ipiv,
-                               double* b, lapack_int ldb );
-lapack_int LAPACKE_cgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               lapack_complex_float* a, lapack_int lda,
-                               lapack_int* ipiv, lapack_complex_float* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_zgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               lapack_complex_double* a, lapack_int lda,
-                               lapack_int* ipiv, lapack_complex_double* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_dsgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                                double* a, lapack_int lda, lapack_int* ipiv,
-                                double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* work, float* swork,
-                                lapack_int* iter );
-lapack_int LAPACKE_zcgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* ipiv, lapack_complex_double* b,
-                                lapack_int ldb, lapack_complex_double* x,
-                                lapack_int ldx, lapack_complex_double* work,
-                                lapack_complex_float* swork, double* rwork,
-                                lapack_int* iter );
-
-lapack_int LAPACKE_sgesvd_work( int matrix_order, char jobu, char jobvt,
-                                lapack_int m, lapack_int n, float* a,
-                                lapack_int lda, float* s, float* u,
-                                lapack_int ldu, float* vt, lapack_int ldvt,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dgesvd_work( int matrix_order, char jobu, char jobvt,
-                                lapack_int m, lapack_int n, double* a,
-                                lapack_int lda, double* s, double* u,
-                                lapack_int ldu, double* vt, lapack_int ldvt,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_cgesvd_work( int matrix_order, char jobu, char jobvt,
-                                lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                float* s, lapack_complex_float* u,
-                                lapack_int ldu, lapack_complex_float* vt,
-                                lapack_int ldvt, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork );
-lapack_int LAPACKE_zgesvd_work( int matrix_order, char jobu, char jobvt,
-                                lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                double* s, lapack_complex_double* u,
-                                lapack_int ldu, lapack_complex_double* vt,
-                                lapack_int ldvt, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork );
-
-lapack_int LAPACKE_sgesvj_work( int matrix_order, char joba, char jobu,
-                                char jobv, lapack_int m, lapack_int n, float* a,
-                                lapack_int lda, float* sva, lapack_int mv,
-                                float* v, lapack_int ldv, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dgesvj_work( int matrix_order, char joba, char jobu,
-                                char jobv, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* sva,
-                                lapack_int mv, double* v, lapack_int ldv,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgesvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int nrhs, float* a,
-                                lapack_int lda, float* af, lapack_int ldaf,
-                                lapack_int* ipiv, char* equed, float* r,
-                                float* c, float* b, lapack_int ldb, float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, float* work, lapack_int* iwork );
-lapack_int LAPACKE_dgesvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int nrhs, double* a,
-                                lapack_int lda, double* af, lapack_int ldaf,
-                                lapack_int* ipiv, char* equed, double* r,
-                                double* c, double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* rcond, double* ferr,
-                                double* berr, double* work, lapack_int* iwork );
-lapack_int LAPACKE_cgesvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int nrhs,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* af, lapack_int ldaf,
-                                lapack_int* ipiv, char* equed, float* r,
-                                float* c, lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_zgesvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int nrhs,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* af, lapack_int ldaf,
-                                lapack_int* ipiv, char* equed, double* r,
-                                double* c, lapack_complex_double* b,
-                                lapack_int ldb, lapack_complex_double* x,
-                                lapack_int ldx, double* rcond, double* ferr,
-                                double* berr, lapack_complex_double* work,
-                                double* rwork );
-
-lapack_int LAPACKE_sgesvxx_work( int matrix_order, char fact, char trans,
-                                 lapack_int n, lapack_int nrhs, float* a,
-                                 lapack_int lda, float* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, float* r,
-                                 float* c, float* b, lapack_int ldb, float* x,
-                                 lapack_int ldx, float* rcond, float* rpvgrw,
-                                 float* berr, lapack_int n_err_bnds,
-                                 float* err_bnds_norm, float* err_bnds_comp,
-                                 lapack_int nparams, float* params, float* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_dgesvxx_work( int matrix_order, char fact, char trans,
-                                 lapack_int n, lapack_int nrhs, double* a,
-                                 lapack_int lda, double* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, double* r,
-                                 double* c, double* b, lapack_int ldb,
-                                 double* x, lapack_int ldx, double* rcond,
-                                 double* rpvgrw, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, double* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_cgesvxx_work( int matrix_order, char fact, char trans,
-                                 lapack_int n, lapack_int nrhs,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, float* r,
-                                 float* c, lapack_complex_float* b,
-                                 lapack_int ldb, lapack_complex_float* x,
-                                 lapack_int ldx, float* rcond, float* rpvgrw,
-                                 float* berr, lapack_int n_err_bnds,
-                                 float* err_bnds_norm, float* err_bnds_comp,
-                                 lapack_int nparams, float* params,
-                                 lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zgesvxx_work( int matrix_order, char fact, char trans,
-                                 lapack_int n, lapack_int nrhs,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, double* r,
-                                 double* c, lapack_complex_double* b,
-                                 lapack_int ldb, lapack_complex_double* x,
-                                 lapack_int ldx, double* rcond, double* rpvgrw,
-                                 double* berr, lapack_int n_err_bnds,
-                                 double* err_bnds_norm, double* err_bnds_comp,
-                                 lapack_int nparams, double* params,
-                                 lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgetf2_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_dgetf2_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_cgetf2_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* ipiv );
-lapack_int LAPACKE_zgetf2_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* ipiv );
-
-lapack_int LAPACKE_sgetrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_dgetrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, lapack_int* ipiv );
-lapack_int LAPACKE_cgetrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* ipiv );
-lapack_int LAPACKE_zgetrf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* ipiv );
-
-lapack_int LAPACKE_sgetri_work( int matrix_order, lapack_int n, float* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dgetri_work( int matrix_order, lapack_int n, double* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_cgetri_work( int matrix_order, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                const lapack_int* ipiv,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgetri_work( int matrix_order, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                const lapack_int* ipiv,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgetrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const float* a, lapack_int lda,
-                                const lapack_int* ipiv, float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_dgetrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const double* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                double* b, lapack_int ldb );
-lapack_int LAPACKE_cgetrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zgetrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_double* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sggbak_work( int matrix_order, char job, char side,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                const float* lscale, const float* rscale,
-                                lapack_int m, float* v, lapack_int ldv );
-lapack_int LAPACKE_dggbak_work( int matrix_order, char job, char side,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                const double* lscale, const double* rscale,
-                                lapack_int m, double* v, lapack_int ldv );
-lapack_int LAPACKE_cggbak_work( int matrix_order, char job, char side,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                const float* lscale, const float* rscale,
-                                lapack_int m, lapack_complex_float* v,
-                                lapack_int ldv );
-lapack_int LAPACKE_zggbak_work( int matrix_order, char job, char side,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                const double* lscale, const double* rscale,
-                                lapack_int m, lapack_complex_double* v,
-                                lapack_int ldv );
-
-lapack_int LAPACKE_sggbal_work( int matrix_order, char job, lapack_int n,
-                                float* a, lapack_int lda, float* b,
-                                lapack_int ldb, lapack_int* ilo,
-                                lapack_int* ihi, float* lscale, float* rscale,
-                                float* work );
-lapack_int LAPACKE_dggbal_work( int matrix_order, char job, lapack_int n,
-                                double* a, lapack_int lda, double* b,
-                                lapack_int ldb, lapack_int* ilo,
-                                lapack_int* ihi, double* lscale, double* rscale,
-                                double* work );
-lapack_int LAPACKE_cggbal_work( int matrix_order, char job, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                lapack_int* ilo, lapack_int* ihi, float* lscale,
-                                float* rscale, float* work );
-lapack_int LAPACKE_zggbal_work( int matrix_order, char job, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_int* ilo, lapack_int* ihi,
-                                double* lscale, double* rscale, double* work );
-
-lapack_int LAPACKE_sgges_work( int matrix_order, char jobvsl, char jobvsr,
-                               char sort, LAPACK_S_SELECT3 selctg, lapack_int n,
-                               float* a, lapack_int lda, float* b,
-                               lapack_int ldb, lapack_int* sdim, float* alphar,
-                               float* alphai, float* beta, float* vsl,
-                               lapack_int ldvsl, float* vsr, lapack_int ldvsr,
-                               float* work, lapack_int lwork,
-                               lapack_logical* bwork );
-lapack_int LAPACKE_dgges_work( int matrix_order, char jobvsl, char jobvsr,
-                               char sort, LAPACK_D_SELECT3 selctg, lapack_int n,
-                               double* a, lapack_int lda, double* b,
-                               lapack_int ldb, lapack_int* sdim, double* alphar,
-                               double* alphai, double* beta, double* vsl,
-                               lapack_int ldvsl, double* vsr, lapack_int ldvsr,
-                               double* work, lapack_int lwork,
-                               lapack_logical* bwork );
-lapack_int LAPACKE_cgges_work( int matrix_order, char jobvsl, char jobvsr,
-                               char sort, LAPACK_C_SELECT2 selctg, lapack_int n,
-                               lapack_complex_float* a, lapack_int lda,
-                               lapack_complex_float* b, lapack_int ldb,
-                               lapack_int* sdim, lapack_complex_float* alpha,
-                               lapack_complex_float* beta,
-                               lapack_complex_float* vsl, lapack_int ldvsl,
-                               lapack_complex_float* vsr, lapack_int ldvsr,
-                               lapack_complex_float* work, lapack_int lwork,
-                               float* rwork, lapack_logical* bwork );
-lapack_int LAPACKE_zgges_work( int matrix_order, char jobvsl, char jobvsr,
-                               char sort, LAPACK_Z_SELECT2 selctg, lapack_int n,
-                               lapack_complex_double* a, lapack_int lda,
-                               lapack_complex_double* b, lapack_int ldb,
-                               lapack_int* sdim, lapack_complex_double* alpha,
-                               lapack_complex_double* beta,
-                               lapack_complex_double* vsl, lapack_int ldvsl,
-                               lapack_complex_double* vsr, lapack_int ldvsr,
-                               lapack_complex_double* work, lapack_int lwork,
-                               double* rwork, lapack_logical* bwork );
-
-lapack_int LAPACKE_sggesx_work( int matrix_order, char jobvsl, char jobvsr,
-                                char sort, LAPACK_S_SELECT3 selctg, char sense,
-                                lapack_int n, float* a, lapack_int lda,
-                                float* b, lapack_int ldb, lapack_int* sdim,
-                                float* alphar, float* alphai, float* beta,
-                                float* vsl, lapack_int ldvsl, float* vsr,
-                                lapack_int ldvsr, float* rconde, float* rcondv,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork,
-                                lapack_logical* bwork );
-lapack_int LAPACKE_dggesx_work( int matrix_order, char jobvsl, char jobvsr,
-                                char sort, LAPACK_D_SELECT3 selctg, char sense,
-                                lapack_int n, double* a, lapack_int lda,
-                                double* b, lapack_int ldb, lapack_int* sdim,
-                                double* alphar, double* alphai, double* beta,
-                                double* vsl, lapack_int ldvsl, double* vsr,
-                                lapack_int ldvsr, double* rconde,
-                                double* rcondv, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork,
-                                lapack_logical* bwork );
-lapack_int LAPACKE_cggesx_work( int matrix_order, char jobvsl, char jobvsr,
-                                char sort, LAPACK_C_SELECT2 selctg, char sense,
-                                lapack_int n, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb, lapack_int* sdim,
-                                lapack_complex_float* alpha,
-                                lapack_complex_float* beta,
-                                lapack_complex_float* vsl, lapack_int ldvsl,
-                                lapack_complex_float* vsr, lapack_int ldvsr,
-                                float* rconde, float* rcondv,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork, lapack_int* iwork,
-                                lapack_int liwork, lapack_logical* bwork );
-lapack_int LAPACKE_zggesx_work( int matrix_order, char jobvsl, char jobvsr,
-                                char sort, LAPACK_Z_SELECT2 selctg, char sense,
-                                lapack_int n, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb, lapack_int* sdim,
-                                lapack_complex_double* alpha,
-                                lapack_complex_double* beta,
-                                lapack_complex_double* vsl, lapack_int ldvsl,
-                                lapack_complex_double* vsr, lapack_int ldvsr,
-                                double* rconde, double* rcondv,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork, lapack_int* iwork,
-                                lapack_int liwork, lapack_logical* bwork );
-
-lapack_int LAPACKE_sggev_work( int matrix_order, char jobvl, char jobvr,
-                               lapack_int n, float* a, lapack_int lda, float* b,
-                               lapack_int ldb, float* alphar, float* alphai,
-                               float* beta, float* vl, lapack_int ldvl,
-                               float* vr, lapack_int ldvr, float* work,
-                               lapack_int lwork );
-lapack_int LAPACKE_dggev_work( int matrix_order, char jobvl, char jobvr,
-                               lapack_int n, double* a, lapack_int lda,
-                               double* b, lapack_int ldb, double* alphar,
-                               double* alphai, double* beta, double* vl,
-                               lapack_int ldvl, double* vr, lapack_int ldvr,
-                               double* work, lapack_int lwork );
-lapack_int LAPACKE_cggev_work( int matrix_order, char jobvl, char jobvr,
-                               lapack_int n, lapack_complex_float* a,
-                               lapack_int lda, lapack_complex_float* b,
-                               lapack_int ldb, lapack_complex_float* alpha,
-                               lapack_complex_float* beta,
-                               lapack_complex_float* vl, lapack_int ldvl,
-                               lapack_complex_float* vr, lapack_int ldvr,
-                               lapack_complex_float* work, lapack_int lwork,
-                               float* rwork );
-lapack_int LAPACKE_zggev_work( int matrix_order, char jobvl, char jobvr,
-                               lapack_int n, lapack_complex_double* a,
-                               lapack_int lda, lapack_complex_double* b,
-                               lapack_int ldb, lapack_complex_double* alpha,
-                               lapack_complex_double* beta,
-                               lapack_complex_double* vl, lapack_int ldvl,
-                               lapack_complex_double* vr, lapack_int ldvr,
-                               lapack_complex_double* work, lapack_int lwork,
-                               double* rwork );
-
-lapack_int LAPACKE_sggevx_work( int matrix_order, char balanc, char jobvl,
-                                char jobvr, char sense, lapack_int n, float* a,
-                                lapack_int lda, float* b, lapack_int ldb,
-                                float* alphar, float* alphai, float* beta,
-                                float* vl, lapack_int ldvl, float* vr,
-                                lapack_int ldvr, lapack_int* ilo,
-                                lapack_int* ihi, float* lscale, float* rscale,
-                                float* abnrm, float* bbnrm, float* rconde,
-                                float* rcondv, float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_logical* bwork );
-lapack_int LAPACKE_dggevx_work( int matrix_order, char balanc, char jobvl,
-                                char jobvr, char sense, lapack_int n, double* a,
-                                lapack_int lda, double* b, lapack_int ldb,
-                                double* alphar, double* alphai, double* beta,
-                                double* vl, lapack_int ldvl, double* vr,
-                                lapack_int ldvr, lapack_int* ilo,
-                                lapack_int* ihi, double* lscale, double* rscale,
-                                double* abnrm, double* bbnrm, double* rconde,
-                                double* rcondv, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_logical* bwork );
-lapack_int LAPACKE_cggevx_work( int matrix_order, char balanc, char jobvl,
-                                char jobvr, char sense, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* alpha,
-                                lapack_complex_float* beta,
-                                lapack_complex_float* vl, lapack_int ldvl,
-                                lapack_complex_float* vr, lapack_int ldvr,
-                                lapack_int* ilo, lapack_int* ihi, float* lscale,
-                                float* rscale, float* abnrm, float* bbnrm,
-                                float* rconde, float* rcondv,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork, lapack_int* iwork,
-                                lapack_logical* bwork );
-lapack_int LAPACKE_zggevx_work( int matrix_order, char balanc, char jobvl,
-                                char jobvr, char sense, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* alpha,
-                                lapack_complex_double* beta,
-                                lapack_complex_double* vl, lapack_int ldvl,
-                                lapack_complex_double* vr, lapack_int ldvr,
-                                lapack_int* ilo, lapack_int* ihi,
-                                double* lscale, double* rscale, double* abnrm,
-                                double* bbnrm, double* rconde, double* rcondv,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork, lapack_int* iwork,
-                                lapack_logical* bwork );
-
-lapack_int LAPACKE_sggglm_work( int matrix_order, lapack_int n, lapack_int m,
-                                lapack_int p, float* a, lapack_int lda,
-                                float* b, lapack_int ldb, float* d, float* x,
-                                float* y, float* work, lapack_int lwork );
-lapack_int LAPACKE_dggglm_work( int matrix_order, lapack_int n, lapack_int m,
-                                lapack_int p, double* a, lapack_int lda,
-                                double* b, lapack_int ldb, double* d, double* x,
-                                double* y, double* work, lapack_int lwork );
-lapack_int LAPACKE_cggglm_work( int matrix_order, lapack_int n, lapack_int m,
-                                lapack_int p, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* d,
-                                lapack_complex_float* x,
-                                lapack_complex_float* y,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zggglm_work( int matrix_order, lapack_int n, lapack_int m,
-                                lapack_int p, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb, lapack_complex_double* d,
-                                lapack_complex_double* x,
-                                lapack_complex_double* y,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sgghrd_work( int matrix_order, char compq, char compz,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                float* a, lapack_int lda, float* b,
-                                lapack_int ldb, float* q, lapack_int ldq,
-                                float* z, lapack_int ldz );
-lapack_int LAPACKE_dgghrd_work( int matrix_order, char compq, char compz,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                double* a, lapack_int lda, double* b,
-                                lapack_int ldb, double* q, lapack_int ldq,
-                                double* z, lapack_int ldz );
-lapack_int LAPACKE_cgghrd_work( int matrix_order, char compq, char compz,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_complex_float* z, lapack_int ldz );
-lapack_int LAPACKE_zgghrd_work( int matrix_order, char compq, char compz,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_complex_double* z, lapack_int ldz );
-
-lapack_int LAPACKE_sgglse_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int p, float* a, lapack_int lda,
-                                float* b, lapack_int ldb, float* c, float* d,
-                                float* x, float* work, lapack_int lwork );
-lapack_int LAPACKE_dgglse_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int p, double* a, lapack_int lda,
-                                double* b, lapack_int ldb, double* c, double* d,
-                                double* x, double* work, lapack_int lwork );
-lapack_int LAPACKE_cgglse_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int p, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* c,
-                                lapack_complex_float* d,
-                                lapack_complex_float* x,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zgglse_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int p, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb, lapack_complex_double* c,
-                                lapack_complex_double* d,
-                                lapack_complex_double* x,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sggqrf_work( int matrix_order, lapack_int n, lapack_int m,
-                                lapack_int p, float* a, lapack_int lda,
-                                float* taua, float* b, lapack_int ldb,
-                                float* taub, float* work, lapack_int lwork );
-lapack_int LAPACKE_dggqrf_work( int matrix_order, lapack_int n, lapack_int m,
-                                lapack_int p, double* a, lapack_int lda,
-                                double* taua, double* b, lapack_int ldb,
-                                double* taub, double* work, lapack_int lwork );
-lapack_int LAPACKE_cggqrf_work( int matrix_order, lapack_int n, lapack_int m,
-                                lapack_int p, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* taua,
-                                lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* taub,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zggqrf_work( int matrix_order, lapack_int n, lapack_int m,
-                                lapack_int p, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* taua,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* taub,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sggrqf_work( int matrix_order, lapack_int m, lapack_int p,
-                                lapack_int n, float* a, lapack_int lda,
-                                float* taua, float* b, lapack_int ldb,
-                                float* taub, float* work, lapack_int lwork );
-lapack_int LAPACKE_dggrqf_work( int matrix_order, lapack_int m, lapack_int p,
-                                lapack_int n, double* a, lapack_int lda,
-                                double* taua, double* b, lapack_int ldb,
-                                double* taub, double* work, lapack_int lwork );
-lapack_int LAPACKE_cggrqf_work( int matrix_order, lapack_int m, lapack_int p,
-                                lapack_int n, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* taua,
-                                lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* taub,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zggrqf_work( int matrix_order, lapack_int m, lapack_int p,
-                                lapack_int n, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* taua,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* taub,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sggsvd_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int n,
-                                lapack_int p, lapack_int* k, lapack_int* l,
-                                float* a, lapack_int lda, float* b,
-                                lapack_int ldb, float* alpha, float* beta,
-                                float* u, lapack_int ldu, float* v,
-                                lapack_int ldv, float* q, lapack_int ldq,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dggsvd_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int n,
-                                lapack_int p, lapack_int* k, lapack_int* l,
-                                double* a, lapack_int lda, double* b,
-                                lapack_int ldb, double* alpha, double* beta,
-                                double* u, lapack_int ldu, double* v,
-                                lapack_int ldv, double* q, lapack_int ldq,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cggsvd_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int n,
-                                lapack_int p, lapack_int* k, lapack_int* l,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                float* alpha, float* beta,
-                                lapack_complex_float* u, lapack_int ldu,
-                                lapack_complex_float* v, lapack_int ldv,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_complex_float* work, float* rwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_zggsvd_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int n,
-                                lapack_int p, lapack_int* k, lapack_int* l,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                double* alpha, double* beta,
-                                lapack_complex_double* u, lapack_int ldu,
-                                lapack_complex_double* v, lapack_int ldv,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_complex_double* work, double* rwork,
-                                lapack_int* iwork );
-
-lapack_int LAPACKE_sggsvp_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int p,
-                                lapack_int n, float* a, lapack_int lda,
-                                float* b, lapack_int ldb, float tola,
-                                float tolb, lapack_int* k, lapack_int* l,
-                                float* u, lapack_int ldu, float* v,
-                                lapack_int ldv, float* q, lapack_int ldq,
-                                lapack_int* iwork, float* tau, float* work );
-lapack_int LAPACKE_dggsvp_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int p,
-                                lapack_int n, double* a, lapack_int lda,
-                                double* b, lapack_int ldb, double tola,
-                                double tolb, lapack_int* k, lapack_int* l,
-                                double* u, lapack_int ldu, double* v,
-                                lapack_int ldv, double* q, lapack_int ldq,
-                                lapack_int* iwork, double* tau, double* work );
-lapack_int LAPACKE_cggsvp_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int p,
-                                lapack_int n, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb, float tola, float tolb,
-                                lapack_int* k, lapack_int* l,
-                                lapack_complex_float* u, lapack_int ldu,
-                                lapack_complex_float* v, lapack_int ldv,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_int* iwork, float* rwork,
-                                lapack_complex_float* tau,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zggsvp_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int p,
-                                lapack_int n, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb, double tola, double tolb,
-                                lapack_int* k, lapack_int* l,
-                                lapack_complex_double* u, lapack_int ldu,
-                                lapack_complex_double* v, lapack_int ldv,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_int* iwork, double* rwork,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_sgtcon_work( char norm, lapack_int n, const float* dl,
-                                const float* d, const float* du,
-                                const float* du2, const lapack_int* ipiv,
-                                float anorm, float* rcond, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgtcon_work( char norm, lapack_int n, const double* dl,
-                                const double* d, const double* du,
-                                const double* du2, const lapack_int* ipiv,
-                                double anorm, double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cgtcon_work( char norm, lapack_int n,
-                                const lapack_complex_float* dl,
-                                const lapack_complex_float* d,
-                                const lapack_complex_float* du,
-                                const lapack_complex_float* du2,
-                                const lapack_int* ipiv, float anorm,
-                                float* rcond, lapack_complex_float* work );
-lapack_int LAPACKE_zgtcon_work( char norm, lapack_int n,
-                                const lapack_complex_double* dl,
-                                const lapack_complex_double* d,
-                                const lapack_complex_double* du,
-                                const lapack_complex_double* du2,
-                                const lapack_int* ipiv, double anorm,
-                                double* rcond, lapack_complex_double* work );
-
-lapack_int LAPACKE_sgtrfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const float* dl,
-                                const float* d, const float* du,
-                                const float* dlf, const float* df,
-                                const float* duf, const float* du2,
-                                const lapack_int* ipiv, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* ferr, float* berr, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dgtrfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const double* dl,
-                                const double* d, const double* du,
-                                const double* dlf, const double* df,
-                                const double* duf, const double* du2,
-                                const lapack_int* ipiv, const double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* ferr, double* berr, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cgtrfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* dl,
-                                const lapack_complex_float* d,
-                                const lapack_complex_float* du,
-                                const lapack_complex_float* dlf,
-                                const lapack_complex_float* df,
-                                const lapack_complex_float* duf,
-                                const lapack_complex_float* du2,
-                                const lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zgtrfs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs,
-                                const lapack_complex_double* dl,
-                                const lapack_complex_double* d,
-                                const lapack_complex_double* du,
-                                const lapack_complex_double* dlf,
-                                const lapack_complex_double* df,
-                                const lapack_complex_double* duf,
-                                const lapack_complex_double* du2,
-                                const lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               float* dl, float* d, float* du, float* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_dgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               double* dl, double* d, double* du, double* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_cgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               lapack_complex_float* dl,
-                               lapack_complex_float* d,
-                               lapack_complex_float* du,
-                               lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               lapack_complex_double* dl,
-                               lapack_complex_double* d,
-                               lapack_complex_double* du,
-                               lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sgtsvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int nrhs, const float* dl,
-                                const float* d, const float* du, float* dlf,
-                                float* df, float* duf, float* du2,
-                                lapack_int* ipiv, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dgtsvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int nrhs, const double* dl,
-                                const double* d, const double* du, double* dlf,
-                                double* df, double* duf, double* du2,
-                                lapack_int* ipiv, const double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cgtsvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* dl,
-                                const lapack_complex_float* d,
-                                const lapack_complex_float* du,
-                                lapack_complex_float* dlf,
-                                lapack_complex_float* df,
-                                lapack_complex_float* duf,
-                                lapack_complex_float* du2, lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zgtsvx_work( int matrix_order, char fact, char trans,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* dl,
-                                const lapack_complex_double* d,
-                                const lapack_complex_double* du,
-                                lapack_complex_double* dlf,
-                                lapack_complex_double* df,
-                                lapack_complex_double* duf,
-                                lapack_complex_double* du2, lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sgttrf_work( lapack_int n, float* dl, float* d, float* du,
-                                float* du2, lapack_int* ipiv );
-lapack_int LAPACKE_dgttrf_work( lapack_int n, double* dl, double* d, double* du,
-                                double* du2, lapack_int* ipiv );
-lapack_int LAPACKE_cgttrf_work( lapack_int n, lapack_complex_float* dl,
-                                lapack_complex_float* d,
-                                lapack_complex_float* du,
-                                lapack_complex_float* du2, lapack_int* ipiv );
-lapack_int LAPACKE_zgttrf_work( lapack_int n, lapack_complex_double* dl,
-                                lapack_complex_double* d,
-                                lapack_complex_double* du,
-                                lapack_complex_double* du2, lapack_int* ipiv );
-
-lapack_int LAPACKE_sgttrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const float* dl,
-                                const float* d, const float* du,
-                                const float* du2, const lapack_int* ipiv,
-                                float* b, lapack_int ldb );
-lapack_int LAPACKE_dgttrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const double* dl,
-                                const double* d, const double* du,
-                                const double* du2, const lapack_int* ipiv,
-                                double* b, lapack_int ldb );
-lapack_int LAPACKE_cgttrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* dl,
-                                const lapack_complex_float* d,
-                                const lapack_complex_float* du,
-                                const lapack_complex_float* du2,
-                                const lapack_int* ipiv, lapack_complex_float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_zgttrs_work( int matrix_order, char trans, lapack_int n,
-                                lapack_int nrhs,
-                                const lapack_complex_double* dl,
-                                const lapack_complex_double* d,
-                                const lapack_complex_double* du,
-                                const lapack_complex_double* du2,
-                                const lapack_int* ipiv,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_chbev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_int kd,
-                               lapack_complex_float* ab, lapack_int ldab,
-                               float* w, lapack_complex_float* z,
-                               lapack_int ldz, lapack_complex_float* work,
-                               float* rwork );
-lapack_int LAPACKE_zhbev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_int kd,
-                               lapack_complex_double* ab, lapack_int ldab,
-                               double* w, lapack_complex_double* z,
-                               lapack_int ldz, lapack_complex_double* work,
-                               double* rwork );
-
-lapack_int LAPACKE_chbevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_int kd,
-                                lapack_complex_float* ab, lapack_int ldab,
-                                float* w, lapack_complex_float* z,
-                                lapack_int ldz, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_zhbevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_int kd,
-                                lapack_complex_double* ab, lapack_int ldab,
-                                double* w, lapack_complex_double* z,
-                                lapack_int ldz, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-
-lapack_int LAPACKE_chbevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, lapack_int kd,
-                                lapack_complex_float* ab, lapack_int ldab,
-                                lapack_complex_float* q, lapack_int ldq,
-                                float vl, float vu, lapack_int il,
-                                lapack_int iu, float abstol, lapack_int* m,
-                                float* w, lapack_complex_float* z,
-                                lapack_int ldz, lapack_complex_float* work,
-                                float* rwork, lapack_int* iwork,
-                                lapack_int* ifail );
-lapack_int LAPACKE_zhbevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, lapack_int kd,
-                                lapack_complex_double* ab, lapack_int ldab,
-                                lapack_complex_double* q, lapack_int ldq,
-                                double vl, double vu, lapack_int il,
-                                lapack_int iu, double abstol, lapack_int* m,
-                                double* w, lapack_complex_double* z,
-                                lapack_int ldz, lapack_complex_double* work,
-                                double* rwork, lapack_int* iwork,
-                                lapack_int* ifail );
-
-lapack_int LAPACKE_chbgst_work( int matrix_order, char vect, char uplo,
-                                lapack_int n, lapack_int ka, lapack_int kb,
-                                lapack_complex_float* ab, lapack_int ldab,
-                                const lapack_complex_float* bb, lapack_int ldbb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zhbgst_work( int matrix_order, char vect, char uplo,
-                                lapack_int n, lapack_int ka, lapack_int kb,
-                                lapack_complex_double* ab, lapack_int ldab,
-                                const lapack_complex_double* bb,
-                                lapack_int ldbb, lapack_complex_double* x,
-                                lapack_int ldx, lapack_complex_double* work,
-                                double* rwork );
-
-lapack_int LAPACKE_chbgv_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_int ka, lapack_int kb,
-                               lapack_complex_float* ab, lapack_int ldab,
-                               lapack_complex_float* bb, lapack_int ldbb,
-                               float* w, lapack_complex_float* z,
-                               lapack_int ldz, lapack_complex_float* work,
-                               float* rwork );
-lapack_int LAPACKE_zhbgv_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_int ka, lapack_int kb,
-                               lapack_complex_double* ab, lapack_int ldab,
-                               lapack_complex_double* bb, lapack_int ldbb,
-                               double* w, lapack_complex_double* z,
-                               lapack_int ldz, lapack_complex_double* work,
-                               double* rwork );
-
-lapack_int LAPACKE_chbgvd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_int ka, lapack_int kb,
-                                lapack_complex_float* ab, lapack_int ldab,
-                                lapack_complex_float* bb, lapack_int ldbb,
-                                float* w, lapack_complex_float* z,
-                                lapack_int ldz, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_zhbgvd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_int ka, lapack_int kb,
-                                lapack_complex_double* ab, lapack_int ldab,
-                                lapack_complex_double* bb, lapack_int ldbb,
-                                double* w, lapack_complex_double* z,
-                                lapack_int ldz, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-
-lapack_int LAPACKE_chbgvx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, lapack_int ka,
-                                lapack_int kb, lapack_complex_float* ab,
-                                lapack_int ldab, lapack_complex_float* bb,
-                                lapack_int ldbb, lapack_complex_float* q,
-                                lapack_int ldq, float vl, float vu,
-                                lapack_int il, lapack_int iu, float abstol,
-                                lapack_int* m, float* w,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_complex_float* work, float* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-lapack_int LAPACKE_zhbgvx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, lapack_int ka,
-                                lapack_int kb, lapack_complex_double* ab,
-                                lapack_int ldab, lapack_complex_double* bb,
-                                lapack_int ldbb, lapack_complex_double* q,
-                                lapack_int ldq, double vl, double vu,
-                                lapack_int il, lapack_int iu, double abstol,
-                                lapack_int* m, double* w,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_complex_double* work, double* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_chbtrd_work( int matrix_order, char vect, char uplo,
-                                lapack_int n, lapack_int kd,
-                                lapack_complex_float* ab, lapack_int ldab,
-                                float* d, float* e, lapack_complex_float* q,
-                                lapack_int ldq, lapack_complex_float* work );
-lapack_int LAPACKE_zhbtrd_work( int matrix_order, char vect, char uplo,
-                                lapack_int n, lapack_int kd,
-                                lapack_complex_double* ab, lapack_int ldab,
-                                double* d, double* e, lapack_complex_double* q,
-                                lapack_int ldq, lapack_complex_double* work );
-
-lapack_int LAPACKE_checon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_int* ipiv, float anorm,
-                                float* rcond, lapack_complex_float* work );
-lapack_int LAPACKE_zhecon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_int* ipiv, double anorm,
-                                double* rcond, lapack_complex_double* work );
-
-lapack_int LAPACKE_cheequb_work( int matrix_order, char uplo, lapack_int n,
-                                 const lapack_complex_float* a, lapack_int lda,
-                                 float* s, float* scond, float* amax,
-                                 lapack_complex_float* work );
-lapack_int LAPACKE_zheequb_work( int matrix_order, char uplo, lapack_int n,
-                                 const lapack_complex_double* a, lapack_int lda,
-                                 double* s, double* scond, double* amax,
-                                 lapack_complex_double* work );
-
-lapack_int LAPACKE_cheev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_complex_float* a,
-                               lapack_int lda, float* w,
-                               lapack_complex_float* work, lapack_int lwork,
-                               float* rwork );
-lapack_int LAPACKE_zheev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_complex_double* a,
-                               lapack_int lda, double* w,
-                               lapack_complex_double* work, lapack_int lwork,
-                               double* rwork );
-
-lapack_int LAPACKE_cheevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_complex_float* a,
-                                lapack_int lda, float* w,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork, lapack_int lrwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_zheevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_complex_double* a,
-                                lapack_int lda, double* w,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork, lapack_int lrwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_cheevr_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                float vl, float vu, lapack_int il,
-                                lapack_int iu, float abstol, lapack_int* m,
-                                float* w, lapack_complex_float* z,
-                                lapack_int ldz, lapack_int* isuppz,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork, lapack_int lrwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_zheevr_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                double vl, double vu, lapack_int il,
-                                lapack_int iu, double abstol, lapack_int* m,
-                                double* w, lapack_complex_double* z,
-                                lapack_int ldz, lapack_int* isuppz,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork, lapack_int lrwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_cheevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                float vl, float vu, lapack_int il,
-                                lapack_int iu, float abstol, lapack_int* m,
-                                float* w, lapack_complex_float* z,
-                                lapack_int ldz, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-lapack_int LAPACKE_zheevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                double vl, double vu, lapack_int il,
-                                lapack_int iu, double abstol, lapack_int* m,
-                                double* w, lapack_complex_double* z,
-                                lapack_int ldz, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_chegst_work( int matrix_order, lapack_int itype, char uplo,
-                                lapack_int n, lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_zhegst_work( int matrix_order, lapack_int itype, char uplo,
-                                lapack_int n, lapack_complex_double* a,
-                                lapack_int lda, const lapack_complex_double* b,
-                                lapack_int ldb );
-
-lapack_int LAPACKE_chegv_work( int matrix_order, lapack_int itype, char jobz,
-                               char uplo, lapack_int n, lapack_complex_float* a,
-                               lapack_int lda, lapack_complex_float* b,
-                               lapack_int ldb, float* w,
-                               lapack_complex_float* work, lapack_int lwork,
-                               float* rwork );
-lapack_int LAPACKE_zhegv_work( int matrix_order, lapack_int itype, char jobz,
-                               char uplo, lapack_int n,
-                               lapack_complex_double* a, lapack_int lda,
-                               lapack_complex_double* b, lapack_int ldb,
-                               double* w, lapack_complex_double* work,
-                               lapack_int lwork, double* rwork );
-
-lapack_int LAPACKE_chegvd_work( int matrix_order, lapack_int itype, char jobz,
-                                char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                float* w, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_zhegvd_work( int matrix_order, lapack_int itype, char jobz,
-                                char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                double* w, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-
-lapack_int LAPACKE_chegvx_work( int matrix_order, lapack_int itype, char jobz,
-                                char range, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                float vl, float vu, lapack_int il,
-                                lapack_int iu, float abstol, lapack_int* m,
-                                float* w, lapack_complex_float* z,
-                                lapack_int ldz, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-lapack_int LAPACKE_zhegvx_work( int matrix_order, lapack_int itype, char jobz,
-                                char range, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                double vl, double vu, lapack_int il,
-                                lapack_int iu, double abstol, lapack_int* m,
-                                double* w, lapack_complex_double* z,
-                                lapack_int ldz, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_cherfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* af,
-                                lapack_int ldaf, const lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zherfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_double* a,
-                                lapack_int lda, const lapack_complex_double* af,
-                                lapack_int ldaf, const lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_cherfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs,
-                                 const lapack_complex_float* a, lapack_int lda,
-                                 const lapack_complex_float* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const float* s, const lapack_complex_float* b,
-                                 lapack_int ldb, lapack_complex_float* x,
-                                 lapack_int ldx, float* rcond, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, lapack_complex_float* work,
-                                 float* rwork );
-lapack_int LAPACKE_zherfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs,
-                                 const lapack_complex_double* a, lapack_int lda,
-                                 const lapack_complex_double* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const double* s,
-                                 const lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_chesv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_float* a,
-                               lapack_int lda, lapack_int* ipiv,
-                               lapack_complex_float* b, lapack_int ldb,
-                               lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zhesv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_double* a,
-                               lapack_int lda, lapack_int* ipiv,
-                               lapack_complex_double* b, lapack_int ldb,
-                               lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_chesvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* af, lapack_int ldaf,
-                                lapack_int* ipiv, const lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork );
-lapack_int LAPACKE_zhesvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* af, lapack_int ldaf,
-                                lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork );
-
-lapack_int LAPACKE_chesvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, float* s,
-                                 lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* x, lapack_int ldx,
-                                 float* rcond, float* rpvgrw, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, lapack_complex_float* work,
-                                 float* rwork );
-lapack_int LAPACKE_zhesvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, double* s,
-                                 lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* rpvgrw, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_chetrd_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                float* d, float* e, lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zhetrd_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                double* d, double* e,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_chetrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* ipiv, lapack_complex_float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_zhetrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* ipiv, lapack_complex_double* work,
-                                lapack_int lwork );
-
-lapack_int LAPACKE_chetri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                const lapack_int* ipiv,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zhetri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                const lapack_int* ipiv,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_chetrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zhetrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_double* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_chfrk_work( int matrix_order, char transr, char uplo,
-                               char trans, lapack_int n, lapack_int k,
-                               float alpha, const lapack_complex_float* a,
-                               lapack_int lda, float beta,
-                               lapack_complex_float* c );
-lapack_int LAPACKE_zhfrk_work( int matrix_order, char transr, char uplo,
-                               char trans, lapack_int n, lapack_int k,
-                               double alpha, const lapack_complex_double* a,
-                               lapack_int lda, double beta,
-                               lapack_complex_double* c );
-
-lapack_int LAPACKE_shgeqz_work( int matrix_order, char job, char compq,
-                                char compz, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, float* h, lapack_int ldh,
-                                float* t, lapack_int ldt, float* alphar,
-                                float* alphai, float* beta, float* q,
-                                lapack_int ldq, float* z, lapack_int ldz,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dhgeqz_work( int matrix_order, char job, char compq,
-                                char compz, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, double* h, lapack_int ldh,
-                                double* t, lapack_int ldt, double* alphar,
-                                double* alphai, double* beta, double* q,
-                                lapack_int ldq, double* z, lapack_int ldz,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_chgeqz_work( int matrix_order, char job, char compq,
-                                char compz, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, lapack_complex_float* h,
-                                lapack_int ldh, lapack_complex_float* t,
-                                lapack_int ldt, lapack_complex_float* alpha,
-                                lapack_complex_float* beta,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork );
-lapack_int LAPACKE_zhgeqz_work( int matrix_order, char job, char compq,
-                                char compz, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, lapack_complex_double* h,
-                                lapack_int ldh, lapack_complex_double* t,
-                                lapack_int ldt, lapack_complex_double* alpha,
-                                lapack_complex_double* beta,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork );
-
-lapack_int LAPACKE_chpcon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* ap,
-                                const lapack_int* ipiv, float anorm,
-                                float* rcond, lapack_complex_float* work );
-lapack_int LAPACKE_zhpcon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* ap,
-                                const lapack_int* ipiv, double anorm,
-                                double* rcond, lapack_complex_double* work );
-
-lapack_int LAPACKE_chpev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_complex_float* ap, float* w,
-                               lapack_complex_float* z, lapack_int ldz,
-                               lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zhpev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_complex_double* ap,
-                               double* w, lapack_complex_double* z,
-                               lapack_int ldz, lapack_complex_double* work,
-                               double* rwork );
-
-lapack_int LAPACKE_chpevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_complex_float* ap,
-                                float* w, lapack_complex_float* z,
-                                lapack_int ldz, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_zhpevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_complex_double* ap,
-                                double* w, lapack_complex_double* z,
-                                lapack_int ldz, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-
-lapack_int LAPACKE_chpevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n,
-                                lapack_complex_float* ap, float vl, float vu,
-                                lapack_int il, lapack_int iu, float abstol,
-                                lapack_int* m, float* w,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_complex_float* work, float* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-lapack_int LAPACKE_zhpevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n,
-                                lapack_complex_double* ap, double vl, double vu,
-                                lapack_int il, lapack_int iu, double abstol,
-                                lapack_int* m, double* w,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_complex_double* work, double* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_chpgst_work( int matrix_order, lapack_int itype, char uplo,
-                                lapack_int n, lapack_complex_float* ap,
-                                const lapack_complex_float* bp );
-lapack_int LAPACKE_zhpgst_work( int matrix_order, lapack_int itype, char uplo,
-                                lapack_int n, lapack_complex_double* ap,
-                                const lapack_complex_double* bp );
-
-lapack_int LAPACKE_chpgv_work( int matrix_order, lapack_int itype, char jobz,
-                               char uplo, lapack_int n,
-                               lapack_complex_float* ap,
-                               lapack_complex_float* bp, float* w,
-                               lapack_complex_float* z, lapack_int ldz,
-                               lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zhpgv_work( int matrix_order, lapack_int itype, char jobz,
-                               char uplo, lapack_int n,
-                               lapack_complex_double* ap,
-                               lapack_complex_double* bp, double* w,
-                               lapack_complex_double* z, lapack_int ldz,
-                               lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_chpgvd_work( int matrix_order, lapack_int itype, char jobz,
-                                char uplo, lapack_int n,
-                                lapack_complex_float* ap,
-                                lapack_complex_float* bp, float* w,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork, lapack_int lrwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_zhpgvd_work( int matrix_order, lapack_int itype, char jobz,
-                                char uplo, lapack_int n,
-                                lapack_complex_double* ap,
-                                lapack_complex_double* bp, double* w,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork, lapack_int lrwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_chpgvx_work( int matrix_order, lapack_int itype, char jobz,
-                                char range, char uplo, lapack_int n,
-                                lapack_complex_float* ap,
-                                lapack_complex_float* bp, float vl, float vu,
-                                lapack_int il, lapack_int iu, float abstol,
-                                lapack_int* m, float* w,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_complex_float* work, float* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-lapack_int LAPACKE_zhpgvx_work( int matrix_order, lapack_int itype, char jobz,
-                                char range, char uplo, lapack_int n,
-                                lapack_complex_double* ap,
-                                lapack_complex_double* bp, double vl, double vu,
-                                lapack_int il, lapack_int iu, double abstol,
-                                lapack_int* m, double* w,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_complex_double* work, double* rwork,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_chprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* ap,
-                                const lapack_complex_float* afp,
-                                const lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zhprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                const lapack_complex_double* afp,
-                                const lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_chpsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_float* ap,
-                               lapack_int* ipiv, lapack_complex_float* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_zhpsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_double* ap,
-                               lapack_int* ipiv, lapack_complex_double* b,
-                               lapack_int ldb );
-
-lapack_int LAPACKE_chpsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* ap,
-                                lapack_complex_float* afp, lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zhpsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                lapack_complex_double* afp, lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_chptrd_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* ap, float* d, float* e,
-                                lapack_complex_float* tau );
-lapack_int LAPACKE_zhptrd_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* ap, double* d, double* e,
-                                lapack_complex_double* tau );
-
-lapack_int LAPACKE_chptrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* ap, lapack_int* ipiv );
-lapack_int LAPACKE_zhptrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* ap, lapack_int* ipiv );
-
-lapack_int LAPACKE_chptri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* ap,
-                                const lapack_int* ipiv,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zhptri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* ap,
-                                const lapack_int* ipiv,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_chptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* ap,
-                                const lapack_int* ipiv, lapack_complex_float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_zhptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                const lapack_int* ipiv,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_shsein_work( int matrix_order, char job, char eigsrc,
-                                char initv, lapack_logical* select,
-                                lapack_int n, const float* h, lapack_int ldh,
-                                float* wr, const float* wi, float* vl,
-                                lapack_int ldvl, float* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m, float* work,
-                                lapack_int* ifaill, lapack_int* ifailr );
-lapack_int LAPACKE_dhsein_work( int matrix_order, char job, char eigsrc,
-                                char initv, lapack_logical* select,
-                                lapack_int n, const double* h, lapack_int ldh,
-                                double* wr, const double* wi, double* vl,
-                                lapack_int ldvl, double* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m, double* work,
-                                lapack_int* ifaill, lapack_int* ifailr );
-lapack_int LAPACKE_chsein_work( int matrix_order, char job, char eigsrc,
-                                char initv, const lapack_logical* select,
-                                lapack_int n, const lapack_complex_float* h,
-                                lapack_int ldh, lapack_complex_float* w,
-                                lapack_complex_float* vl, lapack_int ldvl,
-                                lapack_complex_float* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m,
-                                lapack_complex_float* work, float* rwork,
-                                lapack_int* ifaill, lapack_int* ifailr );
-lapack_int LAPACKE_zhsein_work( int matrix_order, char job, char eigsrc,
-                                char initv, const lapack_logical* select,
-                                lapack_int n, const lapack_complex_double* h,
-                                lapack_int ldh, lapack_complex_double* w,
-                                lapack_complex_double* vl, lapack_int ldvl,
-                                lapack_complex_double* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m,
-                                lapack_complex_double* work, double* rwork,
-                                lapack_int* ifaill, lapack_int* ifailr );
-
-lapack_int LAPACKE_shseqr_work( int matrix_order, char job, char compz,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                float* h, lapack_int ldh, float* wr, float* wi,
-                                float* z, lapack_int ldz, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dhseqr_work( int matrix_order, char job, char compz,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                double* h, lapack_int ldh, double* wr,
-                                double* wi, double* z, lapack_int ldz,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_chseqr_work( int matrix_order, char job, char compz,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                lapack_complex_float* h, lapack_int ldh,
-                                lapack_complex_float* w,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zhseqr_work( int matrix_order, char job, char compz,
-                                lapack_int n, lapack_int ilo, lapack_int ihi,
-                                lapack_complex_double* h, lapack_int ldh,
-                                lapack_complex_double* w,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_clacgv_work( lapack_int n, lapack_complex_float* x,
-                                lapack_int incx );
-lapack_int LAPACKE_zlacgv_work( lapack_int n, lapack_complex_double* x,
-                                lapack_int incx );
-
-lapack_int LAPACKE_slacpy_work( int matrix_order, char uplo, lapack_int m,
-                                lapack_int n, const float* a, lapack_int lda,
-                                float* b, lapack_int ldb );
-lapack_int LAPACKE_dlacpy_work( int matrix_order, char uplo, lapack_int m,
-                                lapack_int n, const double* a, lapack_int lda,
-                                double* b, lapack_int ldb );
-lapack_int LAPACKE_clacpy_work( int matrix_order, char uplo, lapack_int m,
-                                lapack_int n, const lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_zlacpy_work( int matrix_order, char uplo, lapack_int m,
-                                lapack_int n, const lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb );
-
-lapack_int LAPACKE_zlag2c_work( int matrix_order, lapack_int m, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_float* sa, lapack_int ldsa );
-
-lapack_int LAPACKE_slag2d_work( int matrix_order, lapack_int m, lapack_int n,
-                                const float* sa, lapack_int ldsa, double* a,
-                                lapack_int lda );
-
-lapack_int LAPACKE_dlag2s_work( int matrix_order, lapack_int m, lapack_int n,
-                                const double* a, lapack_int lda, float* sa,
-                                lapack_int ldsa );
-
-lapack_int LAPACKE_clag2z_work( int matrix_order, lapack_int m, lapack_int n,
-                                const lapack_complex_float* sa, lapack_int ldsa,
-                                lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_slagge_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku, const float* d,
-                                float* a, lapack_int lda, lapack_int* iseed,
-                                float* work );
-lapack_int LAPACKE_dlagge_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku, const double* d,
-                                double* a, lapack_int lda, lapack_int* iseed,
-                                double* work );
-lapack_int LAPACKE_clagge_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku, const float* d,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* iseed, lapack_complex_float* work );
-lapack_int LAPACKE_zlagge_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int kl, lapack_int ku, const double* d,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* iseed,
-                                lapack_complex_double* work );
-                                
-lapack_int LAPACKE_claghe_work( int matrix_order, lapack_int n, lapack_int k,
-                                const float* d, lapack_complex_float* a,
-                                lapack_int lda, lapack_int* iseed,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zlaghe_work( int matrix_order, lapack_int n, lapack_int k,
-                                const double* d, lapack_complex_double* a,
-                                lapack_int lda, lapack_int* iseed,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_slagsy_work( int matrix_order, lapack_int n, lapack_int k,
-                                const float* d, float* a, lapack_int lda,
-                                lapack_int* iseed, float* work );
-lapack_int LAPACKE_dlagsy_work( int matrix_order, lapack_int n, lapack_int k,
-                                const double* d, double* a, lapack_int lda,
-                                lapack_int* iseed, double* work );
-lapack_int LAPACKE_clagsy_work( int matrix_order, lapack_int n, lapack_int k,
-                                const float* d, lapack_complex_float* a,
-                                lapack_int lda, lapack_int* iseed,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zlagsy_work( int matrix_order, lapack_int n, lapack_int k,
-                                const double* d, lapack_complex_double* a,
-                                lapack_int lda, lapack_int* iseed,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_slapmr_work( int matrix_order, lapack_logical forwrd,
-                                lapack_int m, lapack_int n, float* x,
-                                lapack_int ldx, lapack_int* k );
-lapack_int LAPACKE_dlapmr_work( int matrix_order, lapack_logical forwrd,
-                                lapack_int m, lapack_int n, double* x,
-                                lapack_int ldx, lapack_int* k );
-lapack_int LAPACKE_clapmr_work( int matrix_order, lapack_logical forwrd,
-                                lapack_int m, lapack_int n,
-                                lapack_complex_float* x, lapack_int ldx,
-                                lapack_int* k );
-lapack_int LAPACKE_zlapmr_work( int matrix_order, lapack_logical forwrd,
-                                lapack_int m, lapack_int n,
-                                lapack_complex_double* x, lapack_int ldx,
-                                lapack_int* k );
-
-lapack_int LAPACKE_slartgp_work( float f, float g, float* cs, float* sn,
-                                 float* r );
-lapack_int LAPACKE_dlartgp_work( double f, double g, double* cs, double* sn,
-                                 double* r );
-
-lapack_int LAPACKE_slartgs_work( float x, float y, float sigma, float* cs,
-                                 float* sn );
-lapack_int LAPACKE_dlartgs_work( double x, double y, double sigma, double* cs,
-                                 double* sn );
-                                
-float LAPACKE_slapy2_work( float x, float y );
-double LAPACKE_dlapy2_work( double x, double y );
-
-float LAPACKE_slapy3_work( float x, float y, float z );
-double LAPACKE_dlapy3_work( double x, double y, double z );
-
-float LAPACKE_slamch_work( char cmach );
-double LAPACKE_dlamch_work( char cmach );
-
-float LAPACKE_slange_work( int matrix_order, char norm, lapack_int m,
-                                lapack_int n, const float* a, lapack_int lda,
-                                float* work );
-double LAPACKE_dlange_work( int matrix_order, char norm, lapack_int m,
-                                lapack_int n, const double* a, lapack_int lda,
-                                double* work );
-float LAPACKE_clange_work( int matrix_order, char norm, lapack_int m,
-                                lapack_int n, const lapack_complex_float* a,
-                                lapack_int lda, float* work );
-double LAPACKE_zlange_work( int matrix_order, char norm, lapack_int m,
-                                lapack_int n, const lapack_complex_double* a,
-                                lapack_int lda, double* work );
-
-float LAPACKE_clanhe_work( int matrix_order, char norm, char uplo,
-                                lapack_int n, const lapack_complex_float* a,
-                                lapack_int lda, float* work );
-double LAPACKE_zlanhe_work( int matrix_order, char norm, char uplo,
-                                lapack_int n, const lapack_complex_double* a,
-                                lapack_int lda, double* work );
-
-float LAPACKE_slansy_work( int matrix_order, char norm, char uplo,
-                                lapack_int n, const float* a, lapack_int lda,
-                                float* work );
-double LAPACKE_dlansy_work( int matrix_order, char norm, char uplo,
-                                lapack_int n, const double* a, lapack_int lda,
-                                double* work );
-float LAPACKE_clansy_work( int matrix_order, char norm, char uplo,
-                                lapack_int n, const lapack_complex_float* a,
-                                lapack_int lda, float* work );
-double LAPACKE_zlansy_work( int matrix_order, char norm, char uplo,
-                                lapack_int n, const lapack_complex_double* a,
-                                lapack_int lda, double* work );
-
-float LAPACKE_slantr_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int m, lapack_int n, const float* a,
-                                lapack_int lda, float* work );
-double LAPACKE_dlantr_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int m, lapack_int n,
-                                const double* a, lapack_int lda, double* work );
-float LAPACKE_clantr_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int m, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                float* work );
-double LAPACKE_zlantr_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int m, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                double* work );
-
-lapack_int LAPACKE_slarfb_work( int matrix_order, char side, char trans,
-                                char direct, char storev, lapack_int m,
-                                lapack_int n, lapack_int k, const float* v,
-                                lapack_int ldv, const float* t, lapack_int ldt,
-                                float* c, lapack_int ldc, float* work,
-                                lapack_int ldwork );
-lapack_int LAPACKE_dlarfb_work( int matrix_order, char side, char trans,
-                                char direct, char storev, lapack_int m,
-                                lapack_int n, lapack_int k, const double* v,
-                                lapack_int ldv, const double* t, lapack_int ldt,
-                                double* c, lapack_int ldc, double* work,
-                                lapack_int ldwork );
-lapack_int LAPACKE_clarfb_work( int matrix_order, char side, char trans,
-                                char direct, char storev, lapack_int m,
-                                lapack_int n, lapack_int k,
-                                const lapack_complex_float* v, lapack_int ldv,
-                                const lapack_complex_float* t, lapack_int ldt,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int ldwork );
-lapack_int LAPACKE_zlarfb_work( int matrix_order, char side, char trans,
-                                char direct, char storev, lapack_int m,
-                                lapack_int n, lapack_int k,
-                                const lapack_complex_double* v, lapack_int ldv,
-                                const lapack_complex_double* t, lapack_int ldt,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work,
-                                lapack_int ldwork );
-
-lapack_int LAPACKE_slarfg_work( lapack_int n, float* alpha, float* x,
-                                lapack_int incx, float* tau );
-lapack_int LAPACKE_dlarfg_work( lapack_int n, double* alpha, double* x,
-                                lapack_int incx, double* tau );
-lapack_int LAPACKE_clarfg_work( lapack_int n, lapack_complex_float* alpha,
-                                lapack_complex_float* x, lapack_int incx,
-                                lapack_complex_float* tau );
-lapack_int LAPACKE_zlarfg_work( lapack_int n, lapack_complex_double* alpha,
-                                lapack_complex_double* x, lapack_int incx,
-                                lapack_complex_double* tau );
-
-lapack_int LAPACKE_slarft_work( int matrix_order, char direct, char storev,
-                                lapack_int n, lapack_int k, const float* v,
-                                lapack_int ldv, const float* tau, float* t,
-                                lapack_int ldt );
-lapack_int LAPACKE_dlarft_work( int matrix_order, char direct, char storev,
-                                lapack_int n, lapack_int k, const double* v,
-                                lapack_int ldv, const double* tau, double* t,
-                                lapack_int ldt );
-lapack_int LAPACKE_clarft_work( int matrix_order, char direct, char storev,
-                                lapack_int n, lapack_int k,
-                                const lapack_complex_float* v, lapack_int ldv,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* t, lapack_int ldt );
-lapack_int LAPACKE_zlarft_work( int matrix_order, char direct, char storev,
-                                lapack_int n, lapack_int k,
-                                const lapack_complex_double* v, lapack_int ldv,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_slarfx_work( int matrix_order, char side, lapack_int m,
-                                lapack_int n, const float* v, float tau,
-                                float* c, lapack_int ldc, float* work );
-lapack_int LAPACKE_dlarfx_work( int matrix_order, char side, lapack_int m,
-                                lapack_int n, const double* v, double tau,
-                                double* c, lapack_int ldc, double* work );
-lapack_int LAPACKE_clarfx_work( int matrix_order, char side, lapack_int m,
-                                lapack_int n, const lapack_complex_float* v,
-                                lapack_complex_float tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zlarfx_work( int matrix_order, char side, lapack_int m,
-                                lapack_int n, const lapack_complex_double* v,
-                                lapack_complex_double tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_slarnv_work( lapack_int idist, lapack_int* iseed,
-                                lapack_int n, float* x );
-lapack_int LAPACKE_dlarnv_work( lapack_int idist, lapack_int* iseed,
-                                lapack_int n, double* x );
-lapack_int LAPACKE_clarnv_work( lapack_int idist, lapack_int* iseed,
-                                lapack_int n, lapack_complex_float* x );
-lapack_int LAPACKE_zlarnv_work( lapack_int idist, lapack_int* iseed,
-                                lapack_int n, lapack_complex_double* x );
-
-lapack_int LAPACKE_slaset_work( int matrix_order, char uplo, lapack_int m,
-                                lapack_int n, float alpha, float beta, float* a,
-                                lapack_int lda );
-lapack_int LAPACKE_dlaset_work( int matrix_order, char uplo, lapack_int m,
-                                lapack_int n, double alpha, double beta,
-                                double* a, lapack_int lda );
-lapack_int LAPACKE_claset_work( int matrix_order, char uplo, lapack_int m,
-                                lapack_int n, lapack_complex_float alpha,
-                                lapack_complex_float beta,
-                                lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zlaset_work( int matrix_order, char uplo, lapack_int m,
-                                lapack_int n, lapack_complex_double alpha,
-                                lapack_complex_double beta,
-                                lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_slasrt_work( char id, lapack_int n, float* d );
-lapack_int LAPACKE_dlasrt_work( char id, lapack_int n, double* d );
-
-lapack_int LAPACKE_slaswp_work( int matrix_order, lapack_int n, float* a,
-                                lapack_int lda, lapack_int k1, lapack_int k2,
-                                const lapack_int* ipiv, lapack_int incx );
-lapack_int LAPACKE_dlaswp_work( int matrix_order, lapack_int n, double* a,
-                                lapack_int lda, lapack_int k1, lapack_int k2,
-                                const lapack_int* ipiv, lapack_int incx );
-lapack_int LAPACKE_claswp_work( int matrix_order, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int k1, lapack_int k2,
-                                const lapack_int* ipiv, lapack_int incx );
-lapack_int LAPACKE_zlaswp_work( int matrix_order, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int k1, lapack_int k2,
-                                const lapack_int* ipiv, lapack_int incx );
-
-lapack_int LAPACKE_slatms_work( int matrix_order, lapack_int m, lapack_int n,
-                                char dist, lapack_int* iseed, char sym,
-                                float* d, lapack_int mode, float cond,
-                                float dmax, lapack_int kl, lapack_int ku,
-                                char pack, float* a, lapack_int lda,
-                                float* work );
-lapack_int LAPACKE_dlatms_work( int matrix_order, lapack_int m, lapack_int n,
-                                char dist, lapack_int* iseed, char sym,
-                                double* d, lapack_int mode, double cond,
-                                double dmax, lapack_int kl, lapack_int ku,
-                                char pack, double* a, lapack_int lda,
-                                double* work );
-lapack_int LAPACKE_clatms_work( int matrix_order, lapack_int m, lapack_int n,
-                                char dist, lapack_int* iseed, char sym,
-                                float* d, lapack_int mode, float cond,
-                                float dmax, lapack_int kl, lapack_int ku,
-                                char pack, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* work );
-lapack_int LAPACKE_zlatms_work( int matrix_order, lapack_int m, lapack_int n,
-                                char dist, lapack_int* iseed, char sym,
-                                double* d, lapack_int mode, double cond,
-                                double dmax, lapack_int kl, lapack_int ku,
-                                char pack, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* work );
-
-lapack_int LAPACKE_slauum_work( int matrix_order, char uplo, lapack_int n,
-                                float* a, lapack_int lda );
-lapack_int LAPACKE_dlauum_work( int matrix_order, char uplo, lapack_int n,
-                                double* a, lapack_int lda );
-lapack_int LAPACKE_clauum_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zlauum_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_sopgtr_work( int matrix_order, char uplo, lapack_int n,
-                                const float* ap, const float* tau, float* q,
-                                lapack_int ldq, float* work );
-lapack_int LAPACKE_dopgtr_work( int matrix_order, char uplo, lapack_int n,
-                                const double* ap, const double* tau, double* q,
-                                lapack_int ldq, double* work );
-
-lapack_int LAPACKE_sopmtr_work( int matrix_order, char side, char uplo,
-                                char trans, lapack_int m, lapack_int n,
-                                const float* ap, const float* tau, float* c,
-                                lapack_int ldc, float* work );
-lapack_int LAPACKE_dopmtr_work( int matrix_order, char side, char uplo,
-                                char trans, lapack_int m, lapack_int n,
-                                const double* ap, const double* tau, double* c,
-                                lapack_int ldc, double* work );
-
-lapack_int LAPACKE_sorgbr_work( int matrix_order, char vect, lapack_int m,
-                                lapack_int n, lapack_int k, float* a,
-                                lapack_int lda, const float* tau, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dorgbr_work( int matrix_order, char vect, lapack_int m,
-                                lapack_int n, lapack_int k, double* a,
-                                lapack_int lda, const double* tau, double* work,
-                                lapack_int lwork );
-
-lapack_int LAPACKE_sorghr_work( int matrix_order, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, float* a, lapack_int lda,
-                                const float* tau, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dorghr_work( int matrix_order, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, double* a, lapack_int lda,
-                                const double* tau, double* work,
-                                lapack_int lwork );
-
-lapack_int LAPACKE_sorglq_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, float* a, lapack_int lda,
-                                const float* tau, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dorglq_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, double* a, lapack_int lda,
-                                const double* tau, double* work,
-                                lapack_int lwork );
-
-lapack_int LAPACKE_sorgql_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, float* a, lapack_int lda,
-                                const float* tau, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dorgql_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, double* a, lapack_int lda,
-                                const double* tau, double* work,
-                                lapack_int lwork );
-
-lapack_int LAPACKE_sorgqr_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, float* a, lapack_int lda,
-                                const float* tau, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dorgqr_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, double* a, lapack_int lda,
-                                const double* tau, double* work,
-                                lapack_int lwork );
-
-lapack_int LAPACKE_sorgrq_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, float* a, lapack_int lda,
-                                const float* tau, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dorgrq_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, double* a, lapack_int lda,
-                                const double* tau, double* work,
-                                lapack_int lwork );
-
-lapack_int LAPACKE_sorgtr_work( int matrix_order, char uplo, lapack_int n,
-                                float* a, lapack_int lda, const float* tau,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dorgtr_work( int matrix_order, char uplo, lapack_int n,
-                                double* a, lapack_int lda, const double* tau,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sormbr_work( int matrix_order, char vect, char side,
-                                char trans, lapack_int m, lapack_int n,
-                                lapack_int k, const float* a, lapack_int lda,
-                                const float* tau, float* c, lapack_int ldc,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dormbr_work( int matrix_order, char vect, char side,
-                                char trans, lapack_int m, lapack_int n,
-                                lapack_int k, const double* a, lapack_int lda,
-                                const double* tau, double* c, lapack_int ldc,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sormhr_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, const float* a, lapack_int lda,
-                                const float* tau, float* c, lapack_int ldc,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dormhr_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, const double* a, lapack_int lda,
-                                const double* tau, double* c, lapack_int ldc,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sormlq_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const float* a, lapack_int lda,
-                                const float* tau, float* c, lapack_int ldc,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dormlq_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const double* a, lapack_int lda,
-                                const double* tau, double* c, lapack_int ldc,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sormql_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const float* a, lapack_int lda,
-                                const float* tau, float* c, lapack_int ldc,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dormql_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const double* a, lapack_int lda,
-                                const double* tau, double* c, lapack_int ldc,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sormqr_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const float* a, lapack_int lda,
-                                const float* tau, float* c, lapack_int ldc,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dormqr_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const double* a, lapack_int lda,
-                                const double* tau, double* c, lapack_int ldc,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sormrq_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const float* a, lapack_int lda,
-                                const float* tau, float* c, lapack_int ldc,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dormrq_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const double* a, lapack_int lda,
-                                const double* tau, double* c, lapack_int ldc,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sormrz_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                lapack_int l, const float* a, lapack_int lda,
-                                const float* tau, float* c, lapack_int ldc,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dormrz_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                lapack_int l, const double* a, lapack_int lda,
-                                const double* tau, double* c, lapack_int ldc,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_sormtr_work( int matrix_order, char side, char uplo,
-                                char trans, lapack_int m, lapack_int n,
-                                const float* a, lapack_int lda,
-                                const float* tau, float* c, lapack_int ldc,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dormtr_work( int matrix_order, char side, char uplo,
-                                char trans, lapack_int m, lapack_int n,
-                                const double* a, lapack_int lda,
-                                const double* tau, double* c, lapack_int ldc,
-                                double* work, lapack_int lwork );
-
-lapack_int LAPACKE_spbcon_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, const float* ab, lapack_int ldab,
-                                float anorm, float* rcond, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dpbcon_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, const double* ab,
-                                lapack_int ldab, double anorm, double* rcond,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cpbcon_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, const lapack_complex_float* ab,
-                                lapack_int ldab, float anorm, float* rcond,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zpbcon_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, const lapack_complex_double* ab,
-                                lapack_int ldab, double anorm, double* rcond,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_spbequ_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, const float* ab, lapack_int ldab,
-                                float* s, float* scond, float* amax );
-lapack_int LAPACKE_dpbequ_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, const double* ab,
-                                lapack_int ldab, double* s, double* scond,
-                                double* amax );
-lapack_int LAPACKE_cpbequ_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, const lapack_complex_float* ab,
-                                lapack_int ldab, float* s, float* scond,
-                                float* amax );
-lapack_int LAPACKE_zpbequ_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, const lapack_complex_double* ab,
-                                lapack_int ldab, double* s, double* scond,
-                                double* amax );
-
-lapack_int LAPACKE_spbrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_int nrhs, const float* ab,
-                                lapack_int ldab, const float* afb,
-                                lapack_int ldafb, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* ferr, float* berr, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dpbrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_int nrhs,
-                                const double* ab, lapack_int ldab,
-                                const double* afb, lapack_int ldafb,
-                                const double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cpbrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_int nrhs,
-                                const lapack_complex_float* ab, lapack_int ldab,
-                                const lapack_complex_float* afb,
-                                lapack_int ldafb, const lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zpbrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_int nrhs,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab,
-                                const lapack_complex_double* afb,
-                                lapack_int ldafb,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_spbstf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kb, float* bb, lapack_int ldbb );
-lapack_int LAPACKE_dpbstf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kb, double* bb, lapack_int ldbb );
-lapack_int LAPACKE_cpbstf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kb, lapack_complex_float* bb,
-                                lapack_int ldbb );
-lapack_int LAPACKE_zpbstf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kb, lapack_complex_double* bb,
-                                lapack_int ldbb );
-
-lapack_int LAPACKE_spbsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int kd, lapack_int nrhs, float* ab,
-                               lapack_int ldab, float* b, lapack_int ldb );
-lapack_int LAPACKE_dpbsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int kd, lapack_int nrhs, double* ab,
-                               lapack_int ldab, double* b, lapack_int ldb );
-lapack_int LAPACKE_cpbsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int kd, lapack_int nrhs,
-                               lapack_complex_float* ab, lapack_int ldab,
-                               lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpbsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int kd, lapack_int nrhs,
-                               lapack_complex_double* ab, lapack_int ldab,
-                               lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_spbsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int kd, lapack_int nrhs,
-                                float* ab, lapack_int ldab, float* afb,
-                                lapack_int ldafb, char* equed, float* s,
-                                float* b, lapack_int ldb, float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, float* work, lapack_int* iwork );
-lapack_int LAPACKE_dpbsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int kd, lapack_int nrhs,
-                                double* ab, lapack_int ldab, double* afb,
-                                lapack_int ldafb, char* equed, double* s,
-                                double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* rcond, double* ferr,
-                                double* berr, double* work, lapack_int* iwork );
-lapack_int LAPACKE_cpbsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int kd, lapack_int nrhs,
-                                lapack_complex_float* ab, lapack_int ldab,
-                                lapack_complex_float* afb, lapack_int ldafb,
-                                char* equed, float* s, lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_zpbsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int kd, lapack_int nrhs,
-                                lapack_complex_double* ab, lapack_int ldab,
-                                lapack_complex_double* afb, lapack_int ldafb,
-                                char* equed, double* s,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_spbtrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, float* ab, lapack_int ldab );
-lapack_int LAPACKE_dpbtrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, double* ab, lapack_int ldab );
-lapack_int LAPACKE_cpbtrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_complex_float* ab,
-                                lapack_int ldab );
-lapack_int LAPACKE_zpbtrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_complex_double* ab,
-                                lapack_int ldab );
-
-lapack_int LAPACKE_spbtrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_int nrhs, const float* ab,
-                                lapack_int ldab, float* b, lapack_int ldb );
-lapack_int LAPACKE_dpbtrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_int nrhs,
-                                const double* ab, lapack_int ldab, double* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_cpbtrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_int nrhs,
-                                const lapack_complex_float* ab, lapack_int ldab,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpbtrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int kd, lapack_int nrhs,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab, lapack_complex_double* b,
-                                lapack_int ldb );
-
-lapack_int LAPACKE_spftrf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, float* a );
-lapack_int LAPACKE_dpftrf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, double* a );
-lapack_int LAPACKE_cpftrf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, lapack_complex_float* a );
-lapack_int LAPACKE_zpftrf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, lapack_complex_double* a );
-
-lapack_int LAPACKE_spftri_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, float* a );
-lapack_int LAPACKE_dpftri_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, double* a );
-lapack_int LAPACKE_cpftri_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, lapack_complex_float* a );
-lapack_int LAPACKE_zpftri_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, lapack_complex_double* a );
-
-lapack_int LAPACKE_spftrs_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, lapack_int nrhs, const float* a,
-                                float* b, lapack_int ldb );
-lapack_int LAPACKE_dpftrs_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, lapack_int nrhs, const double* a,
-                                double* b, lapack_int ldb );
-lapack_int LAPACKE_cpftrs_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* a,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpftrs_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* a,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_spocon_work( int matrix_order, char uplo, lapack_int n,
-                                const float* a, lapack_int lda, float anorm,
-                                float* rcond, float* work, lapack_int* iwork );
-lapack_int LAPACKE_dpocon_work( int matrix_order, char uplo, lapack_int n,
-                                const double* a, lapack_int lda, double anorm,
-                                double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cpocon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                float anorm, float* rcond,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zpocon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                double anorm, double* rcond,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_spoequ_work( int matrix_order, lapack_int n, const float* a,
-                                lapack_int lda, float* s, float* scond,
-                                float* amax );
-lapack_int LAPACKE_dpoequ_work( int matrix_order, lapack_int n, const double* a,
-                                lapack_int lda, double* s, double* scond,
-                                double* amax );
-lapack_int LAPACKE_cpoequ_work( int matrix_order, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                float* s, float* scond, float* amax );
-lapack_int LAPACKE_zpoequ_work( int matrix_order, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                double* s, double* scond, double* amax );
-
-lapack_int LAPACKE_spoequb_work( int matrix_order, lapack_int n, const float* a,
-                                 lapack_int lda, float* s, float* scond,
-                                 float* amax );
-lapack_int LAPACKE_dpoequb_work( int matrix_order, lapack_int n,
-                                 const double* a, lapack_int lda, double* s,
-                                 double* scond, double* amax );
-lapack_int LAPACKE_cpoequb_work( int matrix_order, lapack_int n,
-                                 const lapack_complex_float* a, lapack_int lda,
-                                 float* s, float* scond, float* amax );
-lapack_int LAPACKE_zpoequb_work( int matrix_order, lapack_int n,
-                                 const lapack_complex_double* a, lapack_int lda,
-                                 double* s, double* scond, double* amax );
-
-lapack_int LAPACKE_sporfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* a, lapack_int lda,
-                                const float* af, lapack_int ldaf,
-                                const float* b, lapack_int ldb, float* x,
-                                lapack_int ldx, float* ferr, float* berr,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dporfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* a,
-                                lapack_int lda, const double* af,
-                                lapack_int ldaf, const double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* ferr, double* berr, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cporfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* af,
-                                lapack_int ldaf, const lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zporfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_double* a,
-                                lapack_int lda, const lapack_complex_double* af,
-                                lapack_int ldaf, const lapack_complex_double* b,
-                                lapack_int ldb, lapack_complex_double* x,
-                                lapack_int ldx, double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sporfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs, const float* a,
-                                 lapack_int lda, const float* af,
-                                 lapack_int ldaf, const float* s,
-                                 const float* b, lapack_int ldb, float* x,
-                                 lapack_int ldx, float* rcond, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, float* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_dporfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs, const double* a,
-                                 lapack_int lda, const double* af,
-                                 lapack_int ldaf, const double* s,
-                                 const double* b, lapack_int ldb, double* x,
-                                 lapack_int ldx, double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, double* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_cporfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs,
-                                 const lapack_complex_float* a, lapack_int lda,
-                                 const lapack_complex_float* af,
-                                 lapack_int ldaf, const float* s,
-                                 const lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* x, lapack_int ldx,
-                                 float* rcond, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, lapack_complex_float* work,
-                                 float* rwork );
-lapack_int LAPACKE_zporfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs,
-                                 const lapack_complex_double* a, lapack_int lda,
-                                 const lapack_complex_double* af,
-                                 lapack_int ldaf, const double* s,
-                                 const lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_sposv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, float* a, lapack_int lda,
-                               float* b, lapack_int ldb );
-lapack_int LAPACKE_dposv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, double* a, lapack_int lda,
-                               double* b, lapack_int ldb );
-lapack_int LAPACKE_cposv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_float* a,
-                               lapack_int lda, lapack_complex_float* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_zposv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_double* a,
-                               lapack_int lda, lapack_complex_double* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_dsposv_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, double* a, lapack_int lda,
-                                double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* work, float* swork,
-                                lapack_int* iter );
-lapack_int LAPACKE_zcposv_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb, lapack_complex_double* x,
-                                lapack_int ldx, lapack_complex_double* work,
-                                lapack_complex_float* swork, double* rwork,
-                                lapack_int* iter );
-
-lapack_int LAPACKE_sposvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs, float* a,
-                                lapack_int lda, float* af, lapack_int ldaf,
-                                char* equed, float* s, float* b, lapack_int ldb,
-                                float* x, lapack_int ldx, float* rcond,
-                                float* ferr, float* berr, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dposvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs, double* a,
-                                lapack_int lda, double* af, lapack_int ldaf,
-                                char* equed, double* s, double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cposvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* af, lapack_int ldaf,
-                                char* equed, float* s, lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_zposvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* af, lapack_int ldaf,
-                                char* equed, double* s,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sposvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs, float* a,
-                                 lapack_int lda, float* af, lapack_int ldaf,
-                                 char* equed, float* s, float* b,
-                                 lapack_int ldb, float* x, lapack_int ldx,
-                                 float* rcond, float* rpvgrw, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, float* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_dposvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs, double* a,
-                                 lapack_int lda, double* af, lapack_int ldaf,
-                                 char* equed, double* s, double* b,
-                                 lapack_int ldb, double* x, lapack_int ldx,
-                                 double* rcond, double* rpvgrw, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, double* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_cposvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* af, lapack_int ldaf,
-                                 char* equed, float* s, lapack_complex_float* b,
-                                 lapack_int ldb, lapack_complex_float* x,
-                                 lapack_int ldx, float* rcond, float* rpvgrw,
-                                 float* berr, lapack_int n_err_bnds,
-                                 float* err_bnds_norm, float* err_bnds_comp,
-                                 lapack_int nparams, float* params,
-                                 lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zposvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* af, lapack_int ldaf,
-                                 char* equed, double* s,
-                                 lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* rpvgrw, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_spotrf_work( int matrix_order, char uplo, lapack_int n,
-                                float* a, lapack_int lda );
-lapack_int LAPACKE_dpotrf_work( int matrix_order, char uplo, lapack_int n,
-                                double* a, lapack_int lda );
-lapack_int LAPACKE_cpotrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zpotrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_spotri_work( int matrix_order, char uplo, lapack_int n,
-                                float* a, lapack_int lda );
-lapack_int LAPACKE_dpotri_work( int matrix_order, char uplo, lapack_int n,
-                                double* a, lapack_int lda );
-lapack_int LAPACKE_cpotri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zpotri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_spotrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* a, lapack_int lda,
-                                float* b, lapack_int ldb );
-lapack_int LAPACKE_dpotrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* a,
-                                lapack_int lda, double* b, lapack_int ldb );
-lapack_int LAPACKE_cpotrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_zpotrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* b,
-                                lapack_int ldb );
-
-lapack_int LAPACKE_sppcon_work( int matrix_order, char uplo, lapack_int n,
-                                const float* ap, float anorm, float* rcond,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dppcon_work( int matrix_order, char uplo, lapack_int n,
-                                const double* ap, double anorm, double* rcond,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cppcon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* ap, float anorm,
-                                float* rcond, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_zppcon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* ap, double anorm,
-                                double* rcond, lapack_complex_double* work,
-                                double* rwork );
-
-lapack_int LAPACKE_sppequ_work( int matrix_order, char uplo, lapack_int n,
-                                const float* ap, float* s, float* scond,
-                                float* amax );
-lapack_int LAPACKE_dppequ_work( int matrix_order, char uplo, lapack_int n,
-                                const double* ap, double* s, double* scond,
-                                double* amax );
-lapack_int LAPACKE_cppequ_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* ap, float* s,
-                                float* scond, float* amax );
-lapack_int LAPACKE_zppequ_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* ap, double* s,
-                                double* scond, double* amax );
-
-lapack_int LAPACKE_spprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* ap,
-                                const float* afp, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* ferr, float* berr, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dpprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* ap,
-                                const double* afp, const double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* ferr, double* berr, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cpprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* ap,
-                                const lapack_complex_float* afp,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zpprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                const lapack_complex_double* afp,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sppsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, float* ap, float* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_dppsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, double* ap, double* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_cppsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_float* ap,
-                               lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zppsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_double* ap,
-                               lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sppsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs, float* ap,
-                                float* afp, char* equed, float* s, float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dppsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs, double* ap,
-                                double* afp, char* equed, double* s, double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cppsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                lapack_complex_float* ap,
-                                lapack_complex_float* afp, char* equed,
-                                float* s, lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_zppsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                lapack_complex_double* ap,
-                                lapack_complex_double* afp, char* equed,
-                                double* s, lapack_complex_double* b,
-                                lapack_int ldb, lapack_complex_double* x,
-                                lapack_int ldx, double* rcond, double* ferr,
-                                double* berr, lapack_complex_double* work,
-                                double* rwork );
-
-lapack_int LAPACKE_spptrf_work( int matrix_order, char uplo, lapack_int n,
-                                float* ap );
-lapack_int LAPACKE_dpptrf_work( int matrix_order, char uplo, lapack_int n,
-                                double* ap );
-lapack_int LAPACKE_cpptrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* ap );
-lapack_int LAPACKE_zpptrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* ap );
-
-lapack_int LAPACKE_spptri_work( int matrix_order, char uplo, lapack_int n,
-                                float* ap );
-lapack_int LAPACKE_dpptri_work( int matrix_order, char uplo, lapack_int n,
-                                double* ap );
-lapack_int LAPACKE_cpptri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* ap );
-lapack_int LAPACKE_zpptri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* ap );
-
-lapack_int LAPACKE_spptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* ap, float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_dpptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* ap, double* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_cpptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* ap,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_spstrf_work( int matrix_order, char uplo, lapack_int n,
-                                float* a, lapack_int lda, lapack_int* piv,
-                                lapack_int* rank, float tol, float* work );
-lapack_int LAPACKE_dpstrf_work( int matrix_order, char uplo, lapack_int n,
-                                double* a, lapack_int lda, lapack_int* piv,
-                                lapack_int* rank, double tol, double* work );
-lapack_int LAPACKE_cpstrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* piv, lapack_int* rank, float tol,
-                                float* work );
-lapack_int LAPACKE_zpstrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* piv, lapack_int* rank, double tol,
-                                double* work );
-
-lapack_int LAPACKE_sptcon_work( lapack_int n, const float* d, const float* e,
-                                float anorm, float* rcond, float* work );
-lapack_int LAPACKE_dptcon_work( lapack_int n, const double* d, const double* e,
-                                double anorm, double* rcond, double* work );
-lapack_int LAPACKE_cptcon_work( lapack_int n, const float* d,
-                                const lapack_complex_float* e, float anorm,
-                                float* rcond, float* work );
-lapack_int LAPACKE_zptcon_work( lapack_int n, const double* d,
-                                const lapack_complex_double* e, double anorm,
-                                double* rcond, double* work );
-
-lapack_int LAPACKE_spteqr_work( int matrix_order, char compz, lapack_int n,
-                                float* d, float* e, float* z, lapack_int ldz,
-                                float* work );
-lapack_int LAPACKE_dpteqr_work( int matrix_order, char compz, lapack_int n,
-                                double* d, double* e, double* z, lapack_int ldz,
-                                double* work );
-lapack_int LAPACKE_cpteqr_work( int matrix_order, char compz, lapack_int n,
-                                float* d, float* e, lapack_complex_float* z,
-                                lapack_int ldz, float* work );
-lapack_int LAPACKE_zpteqr_work( int matrix_order, char compz, lapack_int n,
-                                double* d, double* e, lapack_complex_double* z,
-                                lapack_int ldz, double* work );
-
-lapack_int LAPACKE_sptrfs_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                                const float* d, const float* e, const float* df,
-                                const float* ef, const float* b, lapack_int ldb,
-                                float* x, lapack_int ldx, float* ferr,
-                                float* berr, float* work );
-lapack_int LAPACKE_dptrfs_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                                const double* d, const double* e,
-                                const double* df, const double* ef,
-                                const double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* ferr, double* berr,
-                                double* work );
-lapack_int LAPACKE_cptrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* d,
-                                const lapack_complex_float* e, const float* df,
-                                const lapack_complex_float* ef,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zptrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* d,
-                                const lapack_complex_double* e,
-                                const double* df,
-                                const lapack_complex_double* ef,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               float* d, float* e, float* b, lapack_int ldb );
-lapack_int LAPACKE_dptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               double* d, double* e, double* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_cptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               float* d, lapack_complex_float* e,
-                               lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                               double* d, lapack_complex_double* e,
-                               lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sptsvx_work( int matrix_order, char fact, lapack_int n,
-                                lapack_int nrhs, const float* d, const float* e,
-                                float* df, float* ef, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                float* work );
-lapack_int LAPACKE_dptsvx_work( int matrix_order, char fact, lapack_int n,
-                                lapack_int nrhs, const double* d,
-                                const double* e, double* df, double* ef,
-                                const double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* rcond, double* ferr,
-                                double* berr, double* work );
-lapack_int LAPACKE_cptsvx_work( int matrix_order, char fact, lapack_int n,
-                                lapack_int nrhs, const float* d,
-                                const lapack_complex_float* e, float* df,
-                                lapack_complex_float* ef,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zptsvx_work( int matrix_order, char fact, lapack_int n,
-                                lapack_int nrhs, const double* d,
-                                const lapack_complex_double* e, double* df,
-                                lapack_complex_double* ef,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_spttrf_work( lapack_int n, float* d, float* e );
-lapack_int LAPACKE_dpttrf_work( lapack_int n, double* d, double* e );
-lapack_int LAPACKE_cpttrf_work( lapack_int n, float* d,
-                                lapack_complex_float* e );
-lapack_int LAPACKE_zpttrf_work( lapack_int n, double* d,
-                                lapack_complex_double* e );
-
-lapack_int LAPACKE_spttrs_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                                const float* d, const float* e, float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_dpttrs_work( int matrix_order, lapack_int n, lapack_int nrhs,
-                                const double* d, const double* e, double* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_cpttrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* d,
-                                const lapack_complex_float* e,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zpttrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* d,
-                                const lapack_complex_double* e,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_ssbev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_int kd, float* ab,
-                               lapack_int ldab, float* w, float* z,
-                               lapack_int ldz, float* work );
-lapack_int LAPACKE_dsbev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_int kd, double* ab,
-                               lapack_int ldab, double* w, double* z,
-                               lapack_int ldz, double* work );
-
-lapack_int LAPACKE_ssbevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_int kd, float* ab,
-                                lapack_int ldab, float* w, float* z,
-                                lapack_int ldz, float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dsbevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_int kd, double* ab,
-                                lapack_int ldab, double* w, double* z,
-                                lapack_int ldz, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_ssbevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, lapack_int kd,
-                                float* ab, lapack_int ldab, float* q,
-                                lapack_int ldq, float vl, float vu,
-                                lapack_int il, lapack_int iu, float abstol,
-                                lapack_int* m, float* w, float* z,
-                                lapack_int ldz, float* work, lapack_int* iwork,
-                                lapack_int* ifail );
-lapack_int LAPACKE_dsbevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, lapack_int kd,
-                                double* ab, lapack_int ldab, double* q,
-                                lapack_int ldq, double vl, double vu,
-                                lapack_int il, lapack_int iu, double abstol,
-                                lapack_int* m, double* w, double* z,
-                                lapack_int ldz, double* work, lapack_int* iwork,
-                                lapack_int* ifail );
-
-lapack_int LAPACKE_ssbgst_work( int matrix_order, char vect, char uplo,
-                                lapack_int n, lapack_int ka, lapack_int kb,
-                                float* ab, lapack_int ldab, const float* bb,
-                                lapack_int ldbb, float* x, lapack_int ldx,
-                                float* work );
-lapack_int LAPACKE_dsbgst_work( int matrix_order, char vect, char uplo,
-                                lapack_int n, lapack_int ka, lapack_int kb,
-                                double* ab, lapack_int ldab, const double* bb,
-                                lapack_int ldbb, double* x, lapack_int ldx,
-                                double* work );
-
-lapack_int LAPACKE_ssbgv_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_int ka, lapack_int kb,
-                               float* ab, lapack_int ldab, float* bb,
-                               lapack_int ldbb, float* w, float* z,
-                               lapack_int ldz, float* work );
-lapack_int LAPACKE_dsbgv_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, lapack_int ka, lapack_int kb,
-                               double* ab, lapack_int ldab, double* bb,
-                               lapack_int ldbb, double* w, double* z,
-                               lapack_int ldz, double* work );
-
-lapack_int LAPACKE_ssbgvd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_int ka, lapack_int kb,
-                                float* ab, lapack_int ldab, float* bb,
-                                lapack_int ldbb, float* w, float* z,
-                                lapack_int ldz, float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dsbgvd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, lapack_int ka, lapack_int kb,
-                                double* ab, lapack_int ldab, double* bb,
-                                lapack_int ldbb, double* w, double* z,
-                                lapack_int ldz, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_ssbgvx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, lapack_int ka,
-                                lapack_int kb, float* ab, lapack_int ldab,
-                                float* bb, lapack_int ldbb, float* q,
-                                lapack_int ldq, float vl, float vu,
-                                lapack_int il, lapack_int iu, float abstol,
-                                lapack_int* m, float* w, float* z,
-                                lapack_int ldz, float* work, lapack_int* iwork,
-                                lapack_int* ifail );
-lapack_int LAPACKE_dsbgvx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, lapack_int ka,
-                                lapack_int kb, double* ab, lapack_int ldab,
-                                double* bb, lapack_int ldbb, double* q,
-                                lapack_int ldq, double vl, double vu,
-                                lapack_int il, lapack_int iu, double abstol,
-                                lapack_int* m, double* w, double* z,
-                                lapack_int ldz, double* work, lapack_int* iwork,
-                                lapack_int* ifail );
-
-lapack_int LAPACKE_ssbtrd_work( int matrix_order, char vect, char uplo,
-                                lapack_int n, lapack_int kd, float* ab,
-                                lapack_int ldab, float* d, float* e, float* q,
-                                lapack_int ldq, float* work );
-lapack_int LAPACKE_dsbtrd_work( int matrix_order, char vect, char uplo,
-                                lapack_int n, lapack_int kd, double* ab,
-                                lapack_int ldab, double* d, double* e,
-                                double* q, lapack_int ldq, double* work );
-
-lapack_int LAPACKE_ssfrk_work( int matrix_order, char transr, char uplo,
-                               char trans, lapack_int n, lapack_int k,
-                               float alpha, const float* a, lapack_int lda,
-                               float beta, float* c );
-lapack_int LAPACKE_dsfrk_work( int matrix_order, char transr, char uplo,
-                               char trans, lapack_int n, lapack_int k,
-                               double alpha, const double* a, lapack_int lda,
-                               double beta, double* c );
-
-lapack_int LAPACKE_sspcon_work( int matrix_order, char uplo, lapack_int n,
-                                const float* ap, const lapack_int* ipiv,
-                                float anorm, float* rcond, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dspcon_work( int matrix_order, char uplo, lapack_int n,
-                                const double* ap, const lapack_int* ipiv,
-                                double anorm, double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_cspcon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* ap,
-                                const lapack_int* ipiv, float anorm,
-                                float* rcond, lapack_complex_float* work );
-lapack_int LAPACKE_zspcon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* ap,
-                                const lapack_int* ipiv, double anorm,
-                                double* rcond, lapack_complex_double* work );
-
-lapack_int LAPACKE_sspev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, float* ap, float* w, float* z,
-                               lapack_int ldz, float* work );
-lapack_int LAPACKE_dspev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, double* ap, double* w, double* z,
-                               lapack_int ldz, double* work );
-
-lapack_int LAPACKE_sspevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, float* ap, float* w, float* z,
-                                lapack_int ldz, float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dspevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, double* ap, double* w, double* z,
-                                lapack_int ldz, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_sspevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, float* ap, float vl,
-                                float vu, lapack_int il, lapack_int iu,
-                                float abstol, lapack_int* m, float* w, float* z,
-                                lapack_int ldz, float* work, lapack_int* iwork,
-                                lapack_int* ifail );
-lapack_int LAPACKE_dspevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, double* ap, double vl,
-                                double vu, lapack_int il, lapack_int iu,
-                                double abstol, lapack_int* m, double* w,
-                                double* z, lapack_int ldz, double* work,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_sspgst_work( int matrix_order, lapack_int itype, char uplo,
-                                lapack_int n, float* ap, const float* bp );
-lapack_int LAPACKE_dspgst_work( int matrix_order, lapack_int itype, char uplo,
-                                lapack_int n, double* ap, const double* bp );
-
-lapack_int LAPACKE_sspgv_work( int matrix_order, lapack_int itype, char jobz,
-                               char uplo, lapack_int n, float* ap, float* bp,
-                               float* w, float* z, lapack_int ldz,
-                               float* work );
-lapack_int LAPACKE_dspgv_work( int matrix_order, lapack_int itype, char jobz,
-                               char uplo, lapack_int n, double* ap, double* bp,
-                               double* w, double* z, lapack_int ldz,
-                               double* work );
-
-lapack_int LAPACKE_sspgvd_work( int matrix_order, lapack_int itype, char jobz,
-                                char uplo, lapack_int n, float* ap, float* bp,
-                                float* w, float* z, lapack_int ldz, float* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_dspgvd_work( int matrix_order, lapack_int itype, char jobz,
-                                char uplo, lapack_int n, double* ap, double* bp,
-                                double* w, double* z, lapack_int ldz,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_sspgvx_work( int matrix_order, lapack_int itype, char jobz,
-                                char range, char uplo, lapack_int n, float* ap,
-                                float* bp, float vl, float vu, lapack_int il,
-                                lapack_int iu, float abstol, lapack_int* m,
-                                float* w, float* z, lapack_int ldz, float* work,
-                                lapack_int* iwork, lapack_int* ifail );
-lapack_int LAPACKE_dspgvx_work( int matrix_order, lapack_int itype, char jobz,
-                                char range, char uplo, lapack_int n, double* ap,
-                                double* bp, double vl, double vu, lapack_int il,
-                                lapack_int iu, double abstol, lapack_int* m,
-                                double* w, double* z, lapack_int ldz,
-                                double* work, lapack_int* iwork,
-                                lapack_int* ifail );
-
-lapack_int LAPACKE_ssprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* ap,
-                                const float* afp, const lapack_int* ipiv,
-                                const float* b, lapack_int ldb, float* x,
-                                lapack_int ldx, float* ferr, float* berr,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dsprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* ap,
-                                const double* afp, const lapack_int* ipiv,
-                                const double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_csprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* ap,
-                                const lapack_complex_float* afp,
-                                const lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zsprfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                const lapack_complex_double* afp,
-                                const lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_sspsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, float* ap, lapack_int* ipiv,
-                               float* b, lapack_int ldb );
-lapack_int LAPACKE_dspsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, double* ap, lapack_int* ipiv,
-                               double* b, lapack_int ldb );
-lapack_int LAPACKE_cspsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_float* ap,
-                               lapack_int* ipiv, lapack_complex_float* b,
-                               lapack_int ldb );
-lapack_int LAPACKE_zspsv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_double* ap,
-                               lapack_int* ipiv, lapack_complex_double* b,
-                               lapack_int ldb );
-
-lapack_int LAPACKE_sspsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs, const float* ap,
-                                float* afp, lapack_int* ipiv, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dspsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs, const double* ap,
-                                double* afp, lapack_int* ipiv, const double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_cspsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* ap,
-                                lapack_complex_float* afp, lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zspsvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                lapack_complex_double* afp, lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_ssptrd_work( int matrix_order, char uplo, lapack_int n,
-                                float* ap, float* d, float* e, float* tau );
-lapack_int LAPACKE_dsptrd_work( int matrix_order, char uplo, lapack_int n,
-                                double* ap, double* d, double* e, double* tau );
-
-lapack_int LAPACKE_ssptrf_work( int matrix_order, char uplo, lapack_int n,
-                                float* ap, lapack_int* ipiv );
-lapack_int LAPACKE_dsptrf_work( int matrix_order, char uplo, lapack_int n,
-                                double* ap, lapack_int* ipiv );
-lapack_int LAPACKE_csptrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* ap, lapack_int* ipiv );
-lapack_int LAPACKE_zsptrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* ap, lapack_int* ipiv );
-
-lapack_int LAPACKE_ssptri_work( int matrix_order, char uplo, lapack_int n,
-                                float* ap, const lapack_int* ipiv,
-                                float* work );
-lapack_int LAPACKE_dsptri_work( int matrix_order, char uplo, lapack_int n,
-                                double* ap, const lapack_int* ipiv,
-                                double* work );
-lapack_int LAPACKE_csptri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* ap,
-                                const lapack_int* ipiv,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zsptri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* ap,
-                                const lapack_int* ipiv,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_ssptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* ap,
-                                const lapack_int* ipiv, float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_dsptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* ap,
-                                const lapack_int* ipiv, double* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_csptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* ap,
-                                const lapack_int* ipiv, lapack_complex_float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_zsptrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                const lapack_int* ipiv,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_sstebz_work( char range, char order, lapack_int n, float vl,
-                                float vu, lapack_int il, lapack_int iu,
-                                float abstol, const float* d, const float* e,
-                                lapack_int* m, lapack_int* nsplit, float* w,
-                                lapack_int* iblock, lapack_int* isplit,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dstebz_work( char range, char order, lapack_int n, double vl,
-                                double vu, lapack_int il, lapack_int iu,
-                                double abstol, const double* d, const double* e,
-                                lapack_int* m, lapack_int* nsplit, double* w,
-                                lapack_int* iblock, lapack_int* isplit,
-                                double* work, lapack_int* iwork );
-
-lapack_int LAPACKE_sstedc_work( int matrix_order, char compz, lapack_int n,
-                                float* d, float* e, float* z, lapack_int ldz,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dstedc_work( int matrix_order, char compz, lapack_int n,
-                                double* d, double* e, double* z, lapack_int ldz,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_cstedc_work( int matrix_order, char compz, lapack_int n,
-                                float* d, float* e, lapack_complex_float* z,
-                                lapack_int ldz, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_zstedc_work( int matrix_order, char compz, lapack_int n,
-                                double* d, double* e, lapack_complex_double* z,
-                                lapack_int ldz, lapack_complex_double* work,
-                                lapack_int lwork, double* rwork,
-                                lapack_int lrwork, lapack_int* iwork,
-                                lapack_int liwork );
-
-lapack_int LAPACKE_sstegr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, float* d, float* e, float vl,
-                                float vu, lapack_int il, lapack_int iu,
-                                float abstol, lapack_int* m, float* w, float* z,
-                                lapack_int ldz, lapack_int* isuppz, float* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_dstegr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, double* d, double* e, double vl,
-                                double vu, lapack_int il, lapack_int iu,
-                                double abstol, lapack_int* m, double* w,
-                                double* z, lapack_int ldz, lapack_int* isuppz,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_cstegr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, float* d, float* e, float vl,
-                                float vu, lapack_int il, lapack_int iu,
-                                float abstol, lapack_int* m, float* w,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_int* isuppz, float* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_zstegr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, double* d, double* e, double vl,
-                                double vu, lapack_int il, lapack_int iu,
-                                double abstol, lapack_int* m, double* w,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_int* isuppz, double* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-
-lapack_int LAPACKE_sstein_work( int matrix_order, lapack_int n, const float* d,
-                                const float* e, lapack_int m, const float* w,
-                                const lapack_int* iblock,
-                                const lapack_int* isplit, float* z,
-                                lapack_int ldz, float* work, lapack_int* iwork,
-                                lapack_int* ifailv );
-lapack_int LAPACKE_dstein_work( int matrix_order, lapack_int n, const double* d,
-                                const double* e, lapack_int m, const double* w,
-                                const lapack_int* iblock,
-                                const lapack_int* isplit, double* z,
-                                lapack_int ldz, double* work, lapack_int* iwork,
-                                lapack_int* ifailv );
-lapack_int LAPACKE_cstein_work( int matrix_order, lapack_int n, const float* d,
-                                const float* e, lapack_int m, const float* w,
-                                const lapack_int* iblock,
-                                const lapack_int* isplit,
-                                lapack_complex_float* z, lapack_int ldz,
-                                float* work, lapack_int* iwork,
-                                lapack_int* ifailv );
-lapack_int LAPACKE_zstein_work( int matrix_order, lapack_int n, const double* d,
-                                const double* e, lapack_int m, const double* w,
-                                const lapack_int* iblock,
-                                const lapack_int* isplit,
-                                lapack_complex_double* z, lapack_int ldz,
-                                double* work, lapack_int* iwork,
-                                lapack_int* ifailv );
-
-lapack_int LAPACKE_sstemr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, float* d, float* e, float vl,
-                                float vu, lapack_int il, lapack_int iu,
-                                lapack_int* m, float* w, float* z,
-                                lapack_int ldz, lapack_int nzc,
-                                lapack_int* isuppz, lapack_logical* tryrac,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dstemr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, double* d, double* e, double vl,
-                                double vu, lapack_int il, lapack_int iu,
-                                lapack_int* m, double* w, double* z,
-                                lapack_int ldz, lapack_int nzc,
-                                lapack_int* isuppz, lapack_logical* tryrac,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_cstemr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, float* d, float* e, float vl,
-                                float vu, lapack_int il, lapack_int iu,
-                                lapack_int* m, float* w,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_int nzc, lapack_int* isuppz,
-                                lapack_logical* tryrac, float* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_zstemr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, double* d, double* e, double vl,
-                                double vu, lapack_int il, lapack_int iu,
-                                lapack_int* m, double* w,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_int nzc, lapack_int* isuppz,
-                                lapack_logical* tryrac, double* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-
-lapack_int LAPACKE_ssteqr_work( int matrix_order, char compz, lapack_int n,
-                                float* d, float* e, float* z, lapack_int ldz,
-                                float* work );
-lapack_int LAPACKE_dsteqr_work( int matrix_order, char compz, lapack_int n,
-                                double* d, double* e, double* z, lapack_int ldz,
-                                double* work );
-lapack_int LAPACKE_csteqr_work( int matrix_order, char compz, lapack_int n,
-                                float* d, float* e, lapack_complex_float* z,
-                                lapack_int ldz, float* work );
-lapack_int LAPACKE_zsteqr_work( int matrix_order, char compz, lapack_int n,
-                                double* d, double* e, lapack_complex_double* z,
-                                lapack_int ldz, double* work );
-
-lapack_int LAPACKE_ssterf_work( lapack_int n, float* d, float* e );
-lapack_int LAPACKE_dsterf_work( lapack_int n, double* d, double* e );
-
-lapack_int LAPACKE_sstev_work( int matrix_order, char jobz, lapack_int n,
-                               float* d, float* e, float* z, lapack_int ldz,
-                               float* work );
-lapack_int LAPACKE_dstev_work( int matrix_order, char jobz, lapack_int n,
-                               double* d, double* e, double* z, lapack_int ldz,
-                               double* work );
-
-lapack_int LAPACKE_sstevd_work( int matrix_order, char jobz, lapack_int n,
-                                float* d, float* e, float* z, lapack_int ldz,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dstevd_work( int matrix_order, char jobz, lapack_int n,
-                                double* d, double* e, double* z, lapack_int ldz,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_sstevr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, float* d, float* e, float vl,
-                                float vu, lapack_int il, lapack_int iu,
-                                float abstol, lapack_int* m, float* w, float* z,
-                                lapack_int ldz, lapack_int* isuppz, float* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_dstevr_work( int matrix_order, char jobz, char range,
-                                lapack_int n, double* d, double* e, double vl,
-                                double vu, lapack_int il, lapack_int iu,
-                                double abstol, lapack_int* m, double* w,
-                                double* z, lapack_int ldz, lapack_int* isuppz,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_sstevx_work( int matrix_order, char jobz, char range,
-                                lapack_int n, float* d, float* e, float vl,
-                                float vu, lapack_int il, lapack_int iu,
-                                float abstol, lapack_int* m, float* w, float* z,
-                                lapack_int ldz, float* work, lapack_int* iwork,
-                                lapack_int* ifail );
-lapack_int LAPACKE_dstevx_work( int matrix_order, char jobz, char range,
-                                lapack_int n, double* d, double* e, double vl,
-                                double vu, lapack_int il, lapack_int iu,
-                                double abstol, lapack_int* m, double* w,
-                                double* z, lapack_int ldz, double* work,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_ssycon_work( int matrix_order, char uplo, lapack_int n,
-                                const float* a, lapack_int lda,
-                                const lapack_int* ipiv, float anorm,
-                                float* rcond, float* work, lapack_int* iwork );
-lapack_int LAPACKE_dsycon_work( int matrix_order, char uplo, lapack_int n,
-                                const double* a, lapack_int lda,
-                                const lapack_int* ipiv, double anorm,
-                                double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_csycon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_int* ipiv, float anorm,
-                                float* rcond, lapack_complex_float* work );
-lapack_int LAPACKE_zsycon_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_int* ipiv, double anorm,
-                                double* rcond, lapack_complex_double* work );
-
-lapack_int LAPACKE_ssyequb_work( int matrix_order, char uplo, lapack_int n,
-                                 const float* a, lapack_int lda, float* s,
-                                 float* scond, float* amax, float* work );
-lapack_int LAPACKE_dsyequb_work( int matrix_order, char uplo, lapack_int n,
-                                 const double* a, lapack_int lda, double* s,
-                                 double* scond, double* amax, double* work );
-lapack_int LAPACKE_csyequb_work( int matrix_order, char uplo, lapack_int n,
-                                 const lapack_complex_float* a, lapack_int lda,
-                                 float* s, float* scond, float* amax,
-                                 lapack_complex_float* work );
-lapack_int LAPACKE_zsyequb_work( int matrix_order, char uplo, lapack_int n,
-                                 const lapack_complex_double* a, lapack_int lda,
-                                 double* s, double* scond, double* amax,
-                                 lapack_complex_double* work );
-
-lapack_int LAPACKE_ssyev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, float* a, lapack_int lda, float* w,
-                               float* work, lapack_int lwork );
-lapack_int LAPACKE_dsyev_work( int matrix_order, char jobz, char uplo,
-                               lapack_int n, double* a, lapack_int lda,
-                               double* w, double* work, lapack_int lwork );
-
-lapack_int LAPACKE_ssyevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, float* a, lapack_int lda,
-                                float* w, float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dsyevd_work( int matrix_order, char jobz, char uplo,
-                                lapack_int n, double* a, lapack_int lda,
-                                double* w, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_ssyevr_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, float* a,
-                                lapack_int lda, float vl, float vu,
-                                lapack_int il, lapack_int iu, float abstol,
-                                lapack_int* m, float* w, float* z,
-                                lapack_int ldz, lapack_int* isuppz, float* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_dsyevr_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, double* a,
-                                lapack_int lda, double vl, double vu,
-                                lapack_int il, lapack_int iu, double abstol,
-                                lapack_int* m, double* w, double* z,
-                                lapack_int ldz, lapack_int* isuppz,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_ssyevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, float* a,
-                                lapack_int lda, float vl, float vu,
-                                lapack_int il, lapack_int iu, float abstol,
-                                lapack_int* m, float* w, float* z,
-                                lapack_int ldz, float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int* ifail );
-lapack_int LAPACKE_dsyevx_work( int matrix_order, char jobz, char range,
-                                char uplo, lapack_int n, double* a,
-                                lapack_int lda, double vl, double vu,
-                                lapack_int il, lapack_int iu, double abstol,
-                                lapack_int* m, double* w, double* z,
-                                lapack_int ldz, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_ssygst_work( int matrix_order, lapack_int itype, char uplo,
-                                lapack_int n, float* a, lapack_int lda,
-                                const float* b, lapack_int ldb );
-lapack_int LAPACKE_dsygst_work( int matrix_order, lapack_int itype, char uplo,
-                                lapack_int n, double* a, lapack_int lda,
-                                const double* b, lapack_int ldb );
-
-lapack_int LAPACKE_ssygv_work( int matrix_order, lapack_int itype, char jobz,
-                               char uplo, lapack_int n, float* a,
-                               lapack_int lda, float* b, lapack_int ldb,
-                               float* w, float* work, lapack_int lwork );
-lapack_int LAPACKE_dsygv_work( int matrix_order, lapack_int itype, char jobz,
-                               char uplo, lapack_int n, double* a,
-                               lapack_int lda, double* b, lapack_int ldb,
-                               double* w, double* work, lapack_int lwork );
-
-lapack_int LAPACKE_ssygvd_work( int matrix_order, lapack_int itype, char jobz,
-                                char uplo, lapack_int n, float* a,
-                                lapack_int lda, float* b, lapack_int ldb,
-                                float* w, float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dsygvd_work( int matrix_order, lapack_int itype, char jobz,
-                                char uplo, lapack_int n, double* a,
-                                lapack_int lda, double* b, lapack_int ldb,
-                                double* w, double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-
-lapack_int LAPACKE_ssygvx_work( int matrix_order, lapack_int itype, char jobz,
-                                char range, char uplo, lapack_int n, float* a,
-                                lapack_int lda, float* b, lapack_int ldb,
-                                float vl, float vu, lapack_int il,
-                                lapack_int iu, float abstol, lapack_int* m,
-                                float* w, float* z, lapack_int ldz, float* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int* ifail );
-lapack_int LAPACKE_dsygvx_work( int matrix_order, lapack_int itype, char jobz,
-                                char range, char uplo, lapack_int n, double* a,
-                                lapack_int lda, double* b, lapack_int ldb,
-                                double vl, double vu, lapack_int il,
-                                lapack_int iu, double abstol, lapack_int* m,
-                                double* w, double* z, lapack_int ldz,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int* ifail );
-
-lapack_int LAPACKE_ssyrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* a, lapack_int lda,
-                                const float* af, lapack_int ldaf,
-                                const lapack_int* ipiv, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* ferr, float* berr, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dsyrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* a,
-                                lapack_int lda, const double* af,
-                                lapack_int ldaf, const lapack_int* ipiv,
-                                const double* b, lapack_int ldb, double* x,
-                                lapack_int ldx, double* ferr, double* berr,
-                                double* work, lapack_int* iwork );
-lapack_int LAPACKE_csyrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* af,
-                                lapack_int ldaf, const lapack_int* ipiv,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_zsyrfs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_double* a,
-                                lapack_int lda, const lapack_complex_double* af,
-                                lapack_int ldaf, const lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_ssyrfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs, const float* a,
-                                 lapack_int lda, const float* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const float* s, const float* b, lapack_int ldb,
-                                 float* x, lapack_int ldx, float* rcond,
-                                 float* berr, lapack_int n_err_bnds,
-                                 float* err_bnds_norm, float* err_bnds_comp,
-                                 lapack_int nparams, float* params, float* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_dsyrfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs, const double* a,
-                                 lapack_int lda, const double* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const double* s, const double* b,
-                                 lapack_int ldb, double* x, lapack_int ldx,
-                                 double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, double* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_csyrfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs,
-                                 const lapack_complex_float* a, lapack_int lda,
-                                 const lapack_complex_float* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const float* s, const lapack_complex_float* b,
-                                 lapack_int ldb, lapack_complex_float* x,
-                                 lapack_int ldx, float* rcond, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, lapack_complex_float* work,
-                                 float* rwork );
-lapack_int LAPACKE_zsyrfsx_work( int matrix_order, char uplo, char equed,
-                                 lapack_int n, lapack_int nrhs,
-                                 const lapack_complex_double* a, lapack_int lda,
-                                 const lapack_complex_double* af,
-                                 lapack_int ldaf, const lapack_int* ipiv,
-                                 const double* s,
-                                 const lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_ssysv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, float* a, lapack_int lda,
-                               lapack_int* ipiv, float* b, lapack_int ldb,
-                               float* work, lapack_int lwork );
-lapack_int LAPACKE_dsysv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, double* a, lapack_int lda,
-                               lapack_int* ipiv, double* b, lapack_int ldb,
-                               double* work, lapack_int lwork );
-lapack_int LAPACKE_csysv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_float* a,
-                               lapack_int lda, lapack_int* ipiv,
-                               lapack_complex_float* b, lapack_int ldb,
-                               lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zsysv_work( int matrix_order, char uplo, lapack_int n,
-                               lapack_int nrhs, lapack_complex_double* a,
-                               lapack_int lda, lapack_int* ipiv,
-                               lapack_complex_double* b, lapack_int ldb,
-                               lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_ssysvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs, const float* a,
-                                lapack_int lda, float* af, lapack_int ldaf,
-                                lapack_int* ipiv, const float* b,
-                                lapack_int ldb, float* x, lapack_int ldx,
-                                float* rcond, float* ferr, float* berr,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dsysvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs, const double* a,
-                                lapack_int lda, double* af, lapack_int ldaf,
-                                lapack_int* ipiv, const double* b,
-                                lapack_int ldb, double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_csysvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* af, lapack_int ldaf,
-                                lapack_int* ipiv, const lapack_complex_float* b,
-                                lapack_int ldb, lapack_complex_float* x,
-                                lapack_int ldx, float* rcond, float* ferr,
-                                float* berr, lapack_complex_float* work,
-                                lapack_int lwork, float* rwork );
-lapack_int LAPACKE_zsysvx_work( int matrix_order, char fact, char uplo,
-                                lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* af, lapack_int ldaf,
-                                lapack_int* ipiv,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* x, lapack_int ldx,
-                                double* rcond, double* ferr, double* berr,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork );
-
-lapack_int LAPACKE_ssysvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs, float* a,
-                                 lapack_int lda, float* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, float* s,
-                                 float* b, lapack_int ldb, float* x,
-                                 lapack_int ldx, float* rcond, float* rpvgrw,
-                                 float* berr, lapack_int n_err_bnds,
-                                 float* err_bnds_norm, float* err_bnds_comp,
-                                 lapack_int nparams, float* params, float* work,
-                                 lapack_int* iwork );
-lapack_int LAPACKE_dsysvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs, double* a,
-                                 lapack_int lda, double* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, double* s,
-                                 double* b, lapack_int ldb, double* x,
-                                 lapack_int ldx, double* rcond, double* rpvgrw,
-                                 double* berr, lapack_int n_err_bnds,
-                                 double* err_bnds_norm, double* err_bnds_comp,
-                                 lapack_int nparams, double* params,
-                                 double* work, lapack_int* iwork );
-lapack_int LAPACKE_csysvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, float* s,
-                                 lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* x, lapack_int ldx,
-                                 float* rcond, float* rpvgrw, float* berr,
-                                 lapack_int n_err_bnds, float* err_bnds_norm,
-                                 float* err_bnds_comp, lapack_int nparams,
-                                 float* params, lapack_complex_float* work,
-                                 float* rwork );
-lapack_int LAPACKE_zsysvxx_work( int matrix_order, char fact, char uplo,
-                                 lapack_int n, lapack_int nrhs,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* af, lapack_int ldaf,
-                                 lapack_int* ipiv, char* equed, double* s,
-                                 lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* x, lapack_int ldx,
-                                 double* rcond, double* rpvgrw, double* berr,
-                                 lapack_int n_err_bnds, double* err_bnds_norm,
-                                 double* err_bnds_comp, lapack_int nparams,
-                                 double* params, lapack_complex_double* work,
-                                 double* rwork );
-
-lapack_int LAPACKE_ssytrd_work( int matrix_order, char uplo, lapack_int n,
-                                float* a, lapack_int lda, float* d, float* e,
-                                float* tau, float* work, lapack_int lwork );
-lapack_int LAPACKE_dsytrd_work( int matrix_order, char uplo, lapack_int n,
-                                double* a, lapack_int lda, double* d, double* e,
-                                double* tau, double* work, lapack_int lwork );
-
-lapack_int LAPACKE_ssytrf_work( int matrix_order, char uplo, lapack_int n,
-                                float* a, lapack_int lda, lapack_int* ipiv,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dsytrf_work( int matrix_order, char uplo, lapack_int n,
-                                double* a, lapack_int lda, lapack_int* ipiv,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_csytrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_int* ipiv, lapack_complex_float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_zsytrf_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_int* ipiv, lapack_complex_double* work,
-                                lapack_int lwork );
-
-lapack_int LAPACKE_ssytri_work( int matrix_order, char uplo, lapack_int n,
-                                float* a, lapack_int lda,
-                                const lapack_int* ipiv, float* work );
-lapack_int LAPACKE_dsytri_work( int matrix_order, char uplo, lapack_int n,
-                                double* a, lapack_int lda,
-                                const lapack_int* ipiv, double* work );
-lapack_int LAPACKE_csytri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                const lapack_int* ipiv,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zsytri_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                const lapack_int* ipiv,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_ssytrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const float* a, lapack_int lda,
-                                const lapack_int* ipiv, float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_dsytrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const double* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                double* b, lapack_int ldb );
-lapack_int LAPACKE_csytrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_zsytrs_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_int nrhs, const lapack_complex_double* a,
-                                lapack_int lda, const lapack_int* ipiv,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_stbcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n, lapack_int kd,
-                                const float* ab, lapack_int ldab, float* rcond,
-                                float* work, lapack_int* iwork );
-lapack_int LAPACKE_dtbcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n, lapack_int kd,
-                                const double* ab, lapack_int ldab,
-                                double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ctbcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n, lapack_int kd,
-                                const lapack_complex_float* ab, lapack_int ldab,
-                                float* rcond, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_ztbcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n, lapack_int kd,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab, double* rcond,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_stbrfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int kd,
-                                lapack_int nrhs, const float* ab,
-                                lapack_int ldab, const float* b, lapack_int ldb,
-                                const float* x, lapack_int ldx, float* ferr,
-                                float* berr, float* work, lapack_int* iwork );
-lapack_int LAPACKE_dtbrfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int kd,
-                                lapack_int nrhs, const double* ab,
-                                lapack_int ldab, const double* b,
-                                lapack_int ldb, const double* x, lapack_int ldx,
-                                double* ferr, double* berr, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ctbrfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int kd,
-                                lapack_int nrhs, const lapack_complex_float* ab,
-                                lapack_int ldab, const lapack_complex_float* b,
-                                lapack_int ldb, const lapack_complex_float* x,
-                                lapack_int ldx, float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_ztbrfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int kd,
-                                lapack_int nrhs,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab, const lapack_complex_double* b,
-                                lapack_int ldb, const lapack_complex_double* x,
-                                lapack_int ldx, double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_stbtrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int kd,
-                                lapack_int nrhs, const float* ab,
-                                lapack_int ldab, float* b, lapack_int ldb );
-lapack_int LAPACKE_dtbtrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int kd,
-                                lapack_int nrhs, const double* ab,
-                                lapack_int ldab, double* b, lapack_int ldb );
-lapack_int LAPACKE_ctbtrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int kd,
-                                lapack_int nrhs, const lapack_complex_float* ab,
-                                lapack_int ldab, lapack_complex_float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_ztbtrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int kd,
-                                lapack_int nrhs,
-                                const lapack_complex_double* ab,
-                                lapack_int ldab, lapack_complex_double* b,
-                                lapack_int ldb );
-
-lapack_int LAPACKE_stfsm_work( int matrix_order, char transr, char side,
-                               char uplo, char trans, char diag, lapack_int m,
-                               lapack_int n, float alpha, const float* a,
-                               float* b, lapack_int ldb );
-lapack_int LAPACKE_dtfsm_work( int matrix_order, char transr, char side,
-                               char uplo, char trans, char diag, lapack_int m,
-                               lapack_int n, double alpha, const double* a,
-                               double* b, lapack_int ldb );
-lapack_int LAPACKE_ctfsm_work( int matrix_order, char transr, char side,
-                               char uplo, char trans, char diag, lapack_int m,
-                               lapack_int n, lapack_complex_float alpha,
-                               const lapack_complex_float* a,
-                               lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_ztfsm_work( int matrix_order, char transr, char side,
-                               char uplo, char trans, char diag, lapack_int m,
-                               lapack_int n, lapack_complex_double alpha,
-                               const lapack_complex_double* a,
-                               lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_stftri_work( int matrix_order, char transr, char uplo,
-                                char diag, lapack_int n, float* a );
-lapack_int LAPACKE_dtftri_work( int matrix_order, char transr, char uplo,
-                                char diag, lapack_int n, double* a );
-lapack_int LAPACKE_ctftri_work( int matrix_order, char transr, char uplo,
-                                char diag, lapack_int n,
-                                lapack_complex_float* a );
-lapack_int LAPACKE_ztftri_work( int matrix_order, char transr, char uplo,
-                                char diag, lapack_int n,
-                                lapack_complex_double* a );
-
-lapack_int LAPACKE_stfttp_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const float* arf, float* ap );
-lapack_int LAPACKE_dtfttp_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const double* arf, double* ap );
-lapack_int LAPACKE_ctfttp_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const lapack_complex_float* arf,
-                                lapack_complex_float* ap );
-lapack_int LAPACKE_ztfttp_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const lapack_complex_double* arf,
-                                lapack_complex_double* ap );
-
-lapack_int LAPACKE_stfttr_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const float* arf, float* a,
-                                lapack_int lda );
-lapack_int LAPACKE_dtfttr_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const double* arf, double* a,
-                                lapack_int lda );
-lapack_int LAPACKE_ctfttr_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const lapack_complex_float* arf,
-                                lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_ztfttr_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const lapack_complex_double* arf,
-                                lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_stgevc_work( int matrix_order, char side, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const float* s, lapack_int lds, const float* p,
-                                lapack_int ldp, float* vl, lapack_int ldvl,
-                                float* vr, lapack_int ldvr, lapack_int mm,
-                                lapack_int* m, float* work );
-lapack_int LAPACKE_dtgevc_work( int matrix_order, char side, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const double* s, lapack_int lds,
-                                const double* p, lapack_int ldp, double* vl,
-                                lapack_int ldvl, double* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m, double* work );
-lapack_int LAPACKE_ctgevc_work( int matrix_order, char side, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const lapack_complex_float* s, lapack_int lds,
-                                const lapack_complex_float* p, lapack_int ldp,
-                                lapack_complex_float* vl, lapack_int ldvl,
-                                lapack_complex_float* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_ztgevc_work( int matrix_order, char side, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const lapack_complex_double* s, lapack_int lds,
-                                const lapack_complex_double* p, lapack_int ldp,
-                                lapack_complex_double* vl, lapack_int ldvl,
-                                lapack_complex_double* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_stgexc_work( int matrix_order, lapack_logical wantq,
-                                lapack_logical wantz, lapack_int n, float* a,
-                                lapack_int lda, float* b, lapack_int ldb,
-                                float* q, lapack_int ldq, float* z,
-                                lapack_int ldz, lapack_int* ifst,
-                                lapack_int* ilst, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dtgexc_work( int matrix_order, lapack_logical wantq,
-                                lapack_logical wantz, lapack_int n, double* a,
-                                lapack_int lda, double* b, lapack_int ldb,
-                                double* q, lapack_int ldq, double* z,
-                                lapack_int ldz, lapack_int* ifst,
-                                lapack_int* ilst, double* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_ctgexc_work( int matrix_order, lapack_logical wantq,
-                                lapack_logical wantz, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_int ifst, lapack_int ilst );
-lapack_int LAPACKE_ztgexc_work( int matrix_order, lapack_logical wantq,
-                                lapack_logical wantz, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_int ifst, lapack_int ilst );
-
-lapack_int LAPACKE_stgsen_work( int matrix_order, lapack_int ijob,
-                                lapack_logical wantq, lapack_logical wantz,
-                                const lapack_logical* select, lapack_int n,
-                                float* a, lapack_int lda, float* b,
-                                lapack_int ldb, float* alphar, float* alphai,
-                                float* beta, float* q, lapack_int ldq, float* z,
-                                lapack_int ldz, lapack_int* m, float* pl,
-                                float* pr, float* dif, float* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-lapack_int LAPACKE_dtgsen_work( int matrix_order, lapack_int ijob,
-                                lapack_logical wantq, lapack_logical wantz,
-                                const lapack_logical* select, lapack_int n,
-                                double* a, lapack_int lda, double* b,
-                                lapack_int ldb, double* alphar, double* alphai,
-                                double* beta, double* q, lapack_int ldq,
-                                double* z, lapack_int ldz, lapack_int* m,
-                                double* pl, double* pr, double* dif,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_ctgsen_work( int matrix_order, lapack_int ijob,
-                                lapack_logical wantq, lapack_logical wantz,
-                                const lapack_logical* select, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* alpha,
-                                lapack_complex_float* beta,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_complex_float* z, lapack_int ldz,
-                                lapack_int* m, float* pl, float* pr, float* dif,
-                                lapack_complex_float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_ztgsen_work( int matrix_order, lapack_int ijob,
-                                lapack_logical wantq, lapack_logical wantz,
-                                const lapack_logical* select, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* alpha,
-                                lapack_complex_double* beta,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_complex_double* z, lapack_int ldz,
-                                lapack_int* m, double* pl, double* pr,
-                                double* dif, lapack_complex_double* work,
-                                lapack_int lwork, lapack_int* iwork,
-                                lapack_int liwork );
-
-lapack_int LAPACKE_stgsja_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int p,
-                                lapack_int n, lapack_int k, lapack_int l,
-                                float* a, lapack_int lda, float* b,
-                                lapack_int ldb, float tola, float tolb,
-                                float* alpha, float* beta, float* u,
-                                lapack_int ldu, float* v, lapack_int ldv,
-                                float* q, lapack_int ldq, float* work,
-                                lapack_int* ncycle );
-lapack_int LAPACKE_dtgsja_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int p,
-                                lapack_int n, lapack_int k, lapack_int l,
-                                double* a, lapack_int lda, double* b,
-                                lapack_int ldb, double tola, double tolb,
-                                double* alpha, double* beta, double* u,
-                                lapack_int ldu, double* v, lapack_int ldv,
-                                double* q, lapack_int ldq, double* work,
-                                lapack_int* ncycle );
-lapack_int LAPACKE_ctgsja_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int p,
-                                lapack_int n, lapack_int k, lapack_int l,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                float tola, float tolb, float* alpha,
-                                float* beta, lapack_complex_float* u,
-                                lapack_int ldu, lapack_complex_float* v,
-                                lapack_int ldv, lapack_complex_float* q,
-                                lapack_int ldq, lapack_complex_float* work,
-                                lapack_int* ncycle );
-lapack_int LAPACKE_ztgsja_work( int matrix_order, char jobu, char jobv,
-                                char jobq, lapack_int m, lapack_int p,
-                                lapack_int n, lapack_int k, lapack_int l,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                double tola, double tolb, double* alpha,
-                                double* beta, lapack_complex_double* u,
-                                lapack_int ldu, lapack_complex_double* v,
-                                lapack_int ldv, lapack_complex_double* q,
-                                lapack_int ldq, lapack_complex_double* work,
-                                lapack_int* ncycle );
-
-lapack_int LAPACKE_stgsna_work( int matrix_order, char job, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const float* a, lapack_int lda, const float* b,
-                                lapack_int ldb, const float* vl,
-                                lapack_int ldvl, const float* vr,
-                                lapack_int ldvr, float* s, float* dif,
-                                lapack_int mm, lapack_int* m, float* work,
-                                lapack_int lwork, lapack_int* iwork );
-lapack_int LAPACKE_dtgsna_work( int matrix_order, char job, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const double* a, lapack_int lda,
-                                const double* b, lapack_int ldb,
-                                const double* vl, lapack_int ldvl,
-                                const double* vr, lapack_int ldvr, double* s,
-                                double* dif, lapack_int mm, lapack_int* m,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ctgsna_work( int matrix_order, char job, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                const lapack_complex_float* vl, lapack_int ldvl,
-                                const lapack_complex_float* vr, lapack_int ldvr,
-                                float* s, float* dif, lapack_int mm,
-                                lapack_int* m, lapack_complex_float* work,
-                                lapack_int lwork, lapack_int* iwork );
-lapack_int LAPACKE_ztgsna_work( int matrix_order, char job, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                const lapack_complex_double* vl,
-                                lapack_int ldvl,
-                                const lapack_complex_double* vr,
-                                lapack_int ldvr, double* s, double* dif,
-                                lapack_int mm, lapack_int* m,
-                                lapack_complex_double* work, lapack_int lwork,
-                                lapack_int* iwork );
-
-lapack_int LAPACKE_stgsyl_work( int matrix_order, char trans, lapack_int ijob,
-                                lapack_int m, lapack_int n, const float* a,
-                                lapack_int lda, const float* b, lapack_int ldb,
-                                float* c, lapack_int ldc, const float* d,
-                                lapack_int ldd, const float* e, lapack_int lde,
-                                float* f, lapack_int ldf, float* scale,
-                                float* dif, float* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dtgsyl_work( int matrix_order, char trans, lapack_int ijob,
-                                lapack_int m, lapack_int n, const double* a,
-                                lapack_int lda, const double* b, lapack_int ldb,
-                                double* c, lapack_int ldc, const double* d,
-                                lapack_int ldd, const double* e, lapack_int lde,
-                                double* f, lapack_int ldf, double* scale,
-                                double* dif, double* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ctgsyl_work( int matrix_order, char trans, lapack_int ijob,
-                                lapack_int m, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* c, lapack_int ldc,
-                                const lapack_complex_float* d, lapack_int ldd,
-                                const lapack_complex_float* e, lapack_int lde,
-                                lapack_complex_float* f, lapack_int ldf,
-                                float* scale, float* dif,
-                                lapack_complex_float* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ztgsyl_work( int matrix_order, char trans, lapack_int ijob,
-                                lapack_int m, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* c, lapack_int ldc,
-                                const lapack_complex_double* d, lapack_int ldd,
-                                const lapack_complex_double* e, lapack_int lde,
-                                lapack_complex_double* f, lapack_int ldf,
-                                double* scale, double* dif,
-                                lapack_complex_double* work, lapack_int lwork,
-                                lapack_int* iwork );
-
-lapack_int LAPACKE_stpcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n, const float* ap,
-                                float* rcond, float* work, lapack_int* iwork );
-lapack_int LAPACKE_dtpcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n, const double* ap,
-                                double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ctpcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n,
-                                const lapack_complex_float* ap, float* rcond,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_ztpcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n,
-                                const lapack_complex_double* ap, double* rcond,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_stprfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const float* ap, const float* b, lapack_int ldb,
-                                const float* x, lapack_int ldx, float* ferr,
-                                float* berr, float* work, lapack_int* iwork );
-lapack_int LAPACKE_dtprfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const double* ap, const double* b,
-                                lapack_int ldb, const double* x, lapack_int ldx,
-                                double* ferr, double* berr, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ctprfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* ap,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                const lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_ztprfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                const lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_stptri_work( int matrix_order, char uplo, char diag,
-                                lapack_int n, float* ap );
-lapack_int LAPACKE_dtptri_work( int matrix_order, char uplo, char diag,
-                                lapack_int n, double* ap );
-lapack_int LAPACKE_ctptri_work( int matrix_order, char uplo, char diag,
-                                lapack_int n, lapack_complex_float* ap );
-lapack_int LAPACKE_ztptri_work( int matrix_order, char uplo, char diag,
-                                lapack_int n, lapack_complex_double* ap );
-
-lapack_int LAPACKE_stptrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const float* ap, float* b, lapack_int ldb );
-lapack_int LAPACKE_dtptrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const double* ap, double* b, lapack_int ldb );
-lapack_int LAPACKE_ctptrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* ap,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_ztptrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* ap,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_stpttf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const float* ap, float* arf );
-lapack_int LAPACKE_dtpttf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const double* ap, double* arf );
-lapack_int LAPACKE_ctpttf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const lapack_complex_float* ap,
-                                lapack_complex_float* arf );
-lapack_int LAPACKE_ztpttf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const lapack_complex_double* ap,
-                                lapack_complex_double* arf );
-
-lapack_int LAPACKE_stpttr_work( int matrix_order, char uplo, lapack_int n,
-                                const float* ap, float* a, lapack_int lda );
-lapack_int LAPACKE_dtpttr_work( int matrix_order, char uplo, lapack_int n,
-                                const double* ap, double* a, lapack_int lda );
-lapack_int LAPACKE_ctpttr_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* ap,
-                                lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_ztpttr_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* ap,
-                                lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_strcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n, const float* a,
-                                lapack_int lda, float* rcond, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dtrcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n, const double* a,
-                                lapack_int lda, double* rcond, double* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ctrcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                float* rcond, lapack_complex_float* work,
-                                float* rwork );
-lapack_int LAPACKE_ztrcon_work( int matrix_order, char norm, char uplo,
-                                char diag, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                double* rcond, lapack_complex_double* work,
-                                double* rwork );
-
-lapack_int LAPACKE_strevc_work( int matrix_order, char side, char howmny,
-                                lapack_logical* select, lapack_int n,
-                                const float* t, lapack_int ldt, float* vl,
-                                lapack_int ldvl, float* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m, float* work );
-lapack_int LAPACKE_dtrevc_work( int matrix_order, char side, char howmny,
-                                lapack_logical* select, lapack_int n,
-                                const double* t, lapack_int ldt, double* vl,
-                                lapack_int ldvl, double* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m, double* work );
-lapack_int LAPACKE_ctrevc_work( int matrix_order, char side, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                lapack_complex_float* t, lapack_int ldt,
-                                lapack_complex_float* vl, lapack_int ldvl,
-                                lapack_complex_float* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_ztrevc_work( int matrix_order, char side, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                lapack_complex_double* t, lapack_int ldt,
-                                lapack_complex_double* vl, lapack_int ldvl,
-                                lapack_complex_double* vr, lapack_int ldvr,
-                                lapack_int mm, lapack_int* m,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_strexc_work( int matrix_order, char compq, lapack_int n,
-                                float* t, lapack_int ldt, float* q,
-                                lapack_int ldq, lapack_int* ifst,
-                                lapack_int* ilst, float* work );
-lapack_int LAPACKE_dtrexc_work( int matrix_order, char compq, lapack_int n,
-                                double* t, lapack_int ldt, double* q,
-                                lapack_int ldq, lapack_int* ifst,
-                                lapack_int* ilst, double* work );
-lapack_int LAPACKE_ctrexc_work( int matrix_order, char compq, lapack_int n,
-                                lapack_complex_float* t, lapack_int ldt,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_int ifst, lapack_int ilst );
-lapack_int LAPACKE_ztrexc_work( int matrix_order, char compq, lapack_int n,
-                                lapack_complex_double* t, lapack_int ldt,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_int ifst, lapack_int ilst );
-
-lapack_int LAPACKE_strrfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const float* a, lapack_int lda, const float* b,
-                                lapack_int ldb, const float* x, lapack_int ldx,
-                                float* ferr, float* berr, float* work,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dtrrfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const double* a, lapack_int lda,
-                                const double* b, lapack_int ldb,
-                                const double* x, lapack_int ldx, double* ferr,
-                                double* berr, double* work, lapack_int* iwork );
-lapack_int LAPACKE_ctrrfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                const lapack_complex_float* x, lapack_int ldx,
-                                float* ferr, float* berr,
-                                lapack_complex_float* work, float* rwork );
-lapack_int LAPACKE_ztrrfs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                const lapack_complex_double* x, lapack_int ldx,
-                                double* ferr, double* berr,
-                                lapack_complex_double* work, double* rwork );
-
-lapack_int LAPACKE_strsen_work( int matrix_order, char job, char compq,
-                                const lapack_logical* select, lapack_int n,
-                                float* t, lapack_int ldt, float* q,
-                                lapack_int ldq, float* wr, float* wi,
-                                lapack_int* m, float* s, float* sep,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_dtrsen_work( int matrix_order, char job, char compq,
-                                const lapack_logical* select, lapack_int n,
-                                double* t, lapack_int ldt, double* q,
-                                lapack_int ldq, double* wr, double* wi,
-                                lapack_int* m, double* s, double* sep,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork, lapack_int liwork );
-lapack_int LAPACKE_ctrsen_work( int matrix_order, char job, char compq,
-                                const lapack_logical* select, lapack_int n,
-                                lapack_complex_float* t, lapack_int ldt,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_complex_float* w, lapack_int* m,
-                                float* s, float* sep,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_ztrsen_work( int matrix_order, char job, char compq,
-                                const lapack_logical* select, lapack_int n,
-                                lapack_complex_double* t, lapack_int ldt,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_complex_double* w, lapack_int* m,
-                                double* s, double* sep,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_strsna_work( int matrix_order, char job, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const float* t, lapack_int ldt, const float* vl,
-                                lapack_int ldvl, const float* vr,
-                                lapack_int ldvr, float* s, float* sep,
-                                lapack_int mm, lapack_int* m, float* work,
-                                lapack_int ldwork, lapack_int* iwork );
-lapack_int LAPACKE_dtrsna_work( int matrix_order, char job, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const double* t, lapack_int ldt,
-                                const double* vl, lapack_int ldvl,
-                                const double* vr, lapack_int ldvr, double* s,
-                                double* sep, lapack_int mm, lapack_int* m,
-                                double* work, lapack_int ldwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ctrsna_work( int matrix_order, char job, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const lapack_complex_float* t, lapack_int ldt,
-                                const lapack_complex_float* vl, lapack_int ldvl,
-                                const lapack_complex_float* vr, lapack_int ldvr,
-                                float* s, float* sep, lapack_int mm,
-                                lapack_int* m, lapack_complex_float* work,
-                                lapack_int ldwork, float* rwork );
-lapack_int LAPACKE_ztrsna_work( int matrix_order, char job, char howmny,
-                                const lapack_logical* select, lapack_int n,
-                                const lapack_complex_double* t, lapack_int ldt,
-                                const lapack_complex_double* vl,
-                                lapack_int ldvl,
-                                const lapack_complex_double* vr,
-                                lapack_int ldvr, double* s, double* sep,
-                                lapack_int mm, lapack_int* m,
-                                lapack_complex_double* work, lapack_int ldwork,
-                                double* rwork );
-
-lapack_int LAPACKE_strsyl_work( int matrix_order, char trana, char tranb,
-                                lapack_int isgn, lapack_int m, lapack_int n,
-                                const float* a, lapack_int lda, const float* b,
-                                lapack_int ldb, float* c, lapack_int ldc,
-                                float* scale );
-lapack_int LAPACKE_dtrsyl_work( int matrix_order, char trana, char tranb,
-                                lapack_int isgn, lapack_int m, lapack_int n,
-                                const double* a, lapack_int lda,
-                                const double* b, lapack_int ldb, double* c,
-                                lapack_int ldc, double* scale );
-lapack_int LAPACKE_ctrsyl_work( int matrix_order, char trana, char tranb,
-                                lapack_int isgn, lapack_int m, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* b, lapack_int ldb,
-                                lapack_complex_float* c, lapack_int ldc,
-                                float* scale );
-lapack_int LAPACKE_ztrsyl_work( int matrix_order, char trana, char tranb,
-                                lapack_int isgn, lapack_int m, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* c, lapack_int ldc,
-                                double* scale );
-
-lapack_int LAPACKE_strtri_work( int matrix_order, char uplo, char diag,
-                                lapack_int n, float* a, lapack_int lda );
-lapack_int LAPACKE_dtrtri_work( int matrix_order, char uplo, char diag,
-                                lapack_int n, double* a, lapack_int lda );
-lapack_int LAPACKE_ctrtri_work( int matrix_order, char uplo, char diag,
-                                lapack_int n, lapack_complex_float* a,
-                                lapack_int lda );
-lapack_int LAPACKE_ztrtri_work( int matrix_order, char uplo, char diag,
-                                lapack_int n, lapack_complex_double* a,
-                                lapack_int lda );
-
-lapack_int LAPACKE_strtrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const float* a, lapack_int lda, float* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_dtrtrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const double* a, lapack_int lda, double* b,
-                                lapack_int ldb );
-lapack_int LAPACKE_ctrtrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_ztrtrs_work( int matrix_order, char uplo, char trans,
-                                char diag, lapack_int n, lapack_int nrhs,
-                                const lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_strttf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const float* a, lapack_int lda,
-                                float* arf );
-lapack_int LAPACKE_dtrttf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const double* a, lapack_int lda,
-                                double* arf );
-lapack_int LAPACKE_ctrttf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* arf );
-lapack_int LAPACKE_ztrttf_work( int matrix_order, char transr, char uplo,
-                                lapack_int n, const lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* arf );
-
-lapack_int LAPACKE_strttp_work( int matrix_order, char uplo, lapack_int n,
-                                const float* a, lapack_int lda, float* ap );
-lapack_int LAPACKE_dtrttp_work( int matrix_order, char uplo, lapack_int n,
-                                const double* a, lapack_int lda, double* ap );
-lapack_int LAPACKE_ctrttp_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* ap );
-lapack_int LAPACKE_ztrttp_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* ap );
-
-lapack_int LAPACKE_stzrzf_work( int matrix_order, lapack_int m, lapack_int n,
-                                float* a, lapack_int lda, float* tau,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_dtzrzf_work( int matrix_order, lapack_int m, lapack_int n,
-                                double* a, lapack_int lda, double* tau,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_ctzrzf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_ztzrzf_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cungbr_work( int matrix_order, char vect, lapack_int m,
-                                lapack_int n, lapack_int k,
-                                lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zungbr_work( int matrix_order, char vect, lapack_int m,
-                                lapack_int n, lapack_int k,
-                                lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunghr_work( int matrix_order, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunghr_work( int matrix_order, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, lapack_complex_double* a,
-                                lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunglq_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunglq_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, lapack_complex_double* a,
-                                lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cungql_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zungql_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, lapack_complex_double* a,
-                                lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cungqr_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zungqr_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, lapack_complex_double* a,
-                                lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cungrq_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zungrq_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int k, lapack_complex_double* a,
-                                lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cungtr_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zungtr_work( int matrix_order, char uplo, lapack_int n,
-                                lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunmbr_work( int matrix_order, char vect, char side,
-                                char trans, lapack_int m, lapack_int n,
-                                lapack_int k, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunmbr_work( int matrix_order, char vect, char side,
-                                char trans, lapack_int m, lapack_int n,
-                                lapack_int k, const lapack_complex_double* a,
-                                lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunmhr_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunmhr_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int ilo,
-                                lapack_int ihi, const lapack_complex_double* a,
-                                lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunmlq_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunmlq_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunmql_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunmql_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunmqr_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunmqr_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunmrq_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunmrq_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunmrz_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                lapack_int l, const lapack_complex_float* a,
-                                lapack_int lda, const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunmrz_work( int matrix_order, char side, char trans,
-                                lapack_int m, lapack_int n, lapack_int k,
-                                lapack_int l, const lapack_complex_double* a,
-                                lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cunmtr_work( int matrix_order, char side, char uplo,
-                                char trans, lapack_int m, lapack_int n,
-                                const lapack_complex_float* a, lapack_int lda,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_zunmtr_work( int matrix_order, char side, char uplo,
-                                char trans, lapack_int m, lapack_int n,
-                                const lapack_complex_double* a, lapack_int lda,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work, lapack_int lwork );
-
-lapack_int LAPACKE_cupgtr_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_float* ap,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* q, lapack_int ldq,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zupgtr_work( int matrix_order, char uplo, lapack_int n,
-                                const lapack_complex_double* ap,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* q, lapack_int ldq,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_cupmtr_work( int matrix_order, char side, char uplo,
-                                char trans, lapack_int m, lapack_int n,
-                                const lapack_complex_float* ap,
-                                const lapack_complex_float* tau,
-                                lapack_complex_float* c, lapack_int ldc,
-                                lapack_complex_float* work );
-lapack_int LAPACKE_zupmtr_work( int matrix_order, char side, char uplo,
-                                char trans, lapack_int m, lapack_int n,
-                                const lapack_complex_double* ap,
-                                const lapack_complex_double* tau,
-                                lapack_complex_double* c, lapack_int ldc,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_claghe( int matrix_order, lapack_int n, lapack_int k,
-                           const float* d, lapack_complex_float* a,
-                           lapack_int lda, lapack_int* iseed );
-lapack_int LAPACKE_zlaghe( int matrix_order, lapack_int n, lapack_int k,
-                           const double* d, lapack_complex_double* a,
-                           lapack_int lda, lapack_int* iseed );
-
-lapack_int LAPACKE_slagsy( int matrix_order, lapack_int n, lapack_int k,
-                           const float* d, float* a, lapack_int lda,
-                           lapack_int* iseed );
-lapack_int LAPACKE_dlagsy( int matrix_order, lapack_int n, lapack_int k,
-                           const double* d, double* a, lapack_int lda,
-                           lapack_int* iseed );
-lapack_int LAPACKE_clagsy( int matrix_order, lapack_int n, lapack_int k,
-                           const float* d, lapack_complex_float* a,
-                           lapack_int lda, lapack_int* iseed );
-lapack_int LAPACKE_zlagsy( int matrix_order, lapack_int n, lapack_int k,
-                           const double* d, lapack_complex_double* a,
-                           lapack_int lda, lapack_int* iseed );
-
-lapack_int LAPACKE_slapmr( int matrix_order, lapack_logical forwrd,
-                           lapack_int m, lapack_int n, float* x, lapack_int ldx,
-                           lapack_int* k );
-lapack_int LAPACKE_dlapmr( int matrix_order, lapack_logical forwrd,
-                           lapack_int m, lapack_int n, double* x,
-                           lapack_int ldx, lapack_int* k );
-lapack_int LAPACKE_clapmr( int matrix_order, lapack_logical forwrd,
-                           lapack_int m, lapack_int n, lapack_complex_float* x,
-                           lapack_int ldx, lapack_int* k );
-lapack_int LAPACKE_zlapmr( int matrix_order, lapack_logical forwrd,
-                           lapack_int m, lapack_int n, lapack_complex_double* x,
-                           lapack_int ldx, lapack_int* k );
-
-
-float LAPACKE_slapy2( float x, float y );
-double LAPACKE_dlapy2( double x, double y );
-
-float LAPACKE_slapy3( float x, float y, float z );
-double LAPACKE_dlapy3( double x, double y, double z );
-
-lapack_int LAPACKE_slartgp( float f, float g, float* cs, float* sn, float* r );
-lapack_int LAPACKE_dlartgp( double f, double g, double* cs, double* sn,
-                            double* r );
-
-lapack_int LAPACKE_slartgs( float x, float y, float sigma, float* cs,
-                            float* sn );
-lapack_int LAPACKE_dlartgs( double x, double y, double sigma, double* cs,
-                            double* sn );
-
-
-//LAPACK 3.3.0
-lapack_int LAPACKE_cbbcsd( int matrix_order, char jobu1, char jobu2,
-                           char jobv1t, char jobv2t, char trans, lapack_int m,
-                           lapack_int p, lapack_int q, float* theta, float* phi,
-                           lapack_complex_float* u1, lapack_int ldu1,
-                           lapack_complex_float* u2, lapack_int ldu2,
-                           lapack_complex_float* v1t, lapack_int ldv1t,
-                           lapack_complex_float* v2t, lapack_int ldv2t,
-                           float* b11d, float* b11e, float* b12d, float* b12e,
-                           float* b21d, float* b21e, float* b22d, float* b22e );
-lapack_int LAPACKE_cbbcsd_work( int matrix_order, char jobu1, char jobu2,
-                                char jobv1t, char jobv2t, char trans,
-                                lapack_int m, lapack_int p, lapack_int q,
-                                float* theta, float* phi,
-                                lapack_complex_float* u1, lapack_int ldu1,
-                                lapack_complex_float* u2, lapack_int ldu2,
-                                lapack_complex_float* v1t, lapack_int ldv1t,
-                                lapack_complex_float* v2t, lapack_int ldv2t,
-                                float* b11d, float* b11e, float* b12d,
-                                float* b12e, float* b21d, float* b21e,
-                                float* b22d, float* b22e, float* rwork,
-                                lapack_int lrwork );
-lapack_int LAPACKE_cheswapr( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_float* a, lapack_int i1,
-                             lapack_int i2 );
-lapack_int LAPACKE_cheswapr_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_float* a, lapack_int i1,
-                                  lapack_int i2 );
-lapack_int LAPACKE_chetri2( int matrix_order, char uplo, lapack_int n,
-                            lapack_complex_float* a, lapack_int lda,
-                            const lapack_int* ipiv );
-lapack_int LAPACKE_chetri2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 const lapack_int* ipiv,
-                                 lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_chetri2x( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_float* a, lapack_int lda,
-                             const lapack_int* ipiv, lapack_int nb );
-lapack_int LAPACKE_chetri2x_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_float* a, lapack_int lda,
-                                  const lapack_int* ipiv,
-                                  lapack_complex_float* work, lapack_int nb );
-lapack_int LAPACKE_chetrs2( int matrix_order, char uplo, lapack_int n,
-                            lapack_int nrhs, const lapack_complex_float* a,
-                            lapack_int lda, const lapack_int* ipiv,
-                            lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_chetrs2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_int nrhs, const lapack_complex_float* a,
-                                 lapack_int lda, const lapack_int* ipiv,
-                                 lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* work );
-lapack_int LAPACKE_csyconv( int matrix_order, char uplo, char way, lapack_int n,
-                            lapack_complex_float* a, lapack_int lda,
-                            const lapack_int* ipiv );
-lapack_int LAPACKE_csyconv_work( int matrix_order, char uplo, char way,
-                                 lapack_int n, lapack_complex_float* a,
-                                 lapack_int lda, const lapack_int* ipiv,
-                                 lapack_complex_float* work );
-lapack_int LAPACKE_csyswapr( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_float* a, lapack_int i1,
-                             lapack_int i2 );
-lapack_int LAPACKE_csyswapr_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_float* a, lapack_int i1,
-                                  lapack_int i2 );
-lapack_int LAPACKE_csytri2( int matrix_order, char uplo, lapack_int n,
-                            lapack_complex_float* a, lapack_int lda,
-                            const lapack_int* ipiv );
-lapack_int LAPACKE_csytri2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 const lapack_int* ipiv,
-                                 lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_csytri2x( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_float* a, lapack_int lda,
-                             const lapack_int* ipiv, lapack_int nb );
-lapack_int LAPACKE_csytri2x_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_float* a, lapack_int lda,
-                                  const lapack_int* ipiv,
-                                  lapack_complex_float* work, lapack_int nb );
-lapack_int LAPACKE_csytrs2( int matrix_order, char uplo, lapack_int n,
-                            lapack_int nrhs, const lapack_complex_float* a,
-                            lapack_int lda, const lapack_int* ipiv,
-                            lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_csytrs2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_int nrhs, const lapack_complex_float* a,
-                                 lapack_int lda, const lapack_int* ipiv,
-                                 lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* work );
-lapack_int LAPACKE_cunbdb( int matrix_order, char trans, char signs,
-                           lapack_int m, lapack_int p, lapack_int q,
-                           lapack_complex_float* x11, lapack_int ldx11,
-                           lapack_complex_float* x12, lapack_int ldx12,
-                           lapack_complex_float* x21, lapack_int ldx21,
-                           lapack_complex_float* x22, lapack_int ldx22,
-                           float* theta, float* phi,
-                           lapack_complex_float* taup1,
-                           lapack_complex_float* taup2,
-                           lapack_complex_float* tauq1,
-                           lapack_complex_float* tauq2 );
-lapack_int LAPACKE_cunbdb_work( int matrix_order, char trans, char signs,
-                                lapack_int m, lapack_int p, lapack_int q,
-                                lapack_complex_float* x11, lapack_int ldx11,
-                                lapack_complex_float* x12, lapack_int ldx12,
-                                lapack_complex_float* x21, lapack_int ldx21,
-                                lapack_complex_float* x22, lapack_int ldx22,
-                                float* theta, float* phi,
-                                lapack_complex_float* taup1,
-                                lapack_complex_float* taup2,
-                                lapack_complex_float* tauq1,
-                                lapack_complex_float* tauq2,
-                                lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_cuncsd( int matrix_order, char jobu1, char jobu2,
-                           char jobv1t, char jobv2t, char trans, char signs,
-                           lapack_int m, lapack_int p, lapack_int q,
-                           lapack_complex_float* x11, lapack_int ldx11,
-                           lapack_complex_float* x12, lapack_int ldx12,
-                           lapack_complex_float* x21, lapack_int ldx21,
-                           lapack_complex_float* x22, lapack_int ldx22,
-                           float* theta, lapack_complex_float* u1,
-                           lapack_int ldu1, lapack_complex_float* u2,
-                           lapack_int ldu2, lapack_complex_float* v1t,
-                           lapack_int ldv1t, lapack_complex_float* v2t,
-                           lapack_int ldv2t );
-lapack_int LAPACKE_cuncsd_work( int matrix_order, char jobu1, char jobu2,
-                                char jobv1t, char jobv2t, char trans,
-                                char signs, lapack_int m, lapack_int p,
-                                lapack_int q, lapack_complex_float* x11,
-                                lapack_int ldx11, lapack_complex_float* x12,
-                                lapack_int ldx12, lapack_complex_float* x21,
-                                lapack_int ldx21, lapack_complex_float* x22,
-                                lapack_int ldx22, float* theta,
-                                lapack_complex_float* u1, lapack_int ldu1,
-                                lapack_complex_float* u2, lapack_int ldu2,
-                                lapack_complex_float* v1t, lapack_int ldv1t,
-                                lapack_complex_float* v2t, lapack_int ldv2t,
-                                lapack_complex_float* work, lapack_int lwork,
-                                float* rwork, lapack_int lrwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dbbcsd( int matrix_order, char jobu1, char jobu2,
-                           char jobv1t, char jobv2t, char trans, lapack_int m,
-                           lapack_int p, lapack_int q, double* theta,
-                           double* phi, double* u1, lapack_int ldu1, double* u2,
-                           lapack_int ldu2, double* v1t, lapack_int ldv1t,
-                           double* v2t, lapack_int ldv2t, double* b11d,
-                           double* b11e, double* b12d, double* b12e,
-                           double* b21d, double* b21e, double* b22d,
-                           double* b22e );
-lapack_int LAPACKE_dbbcsd_work( int matrix_order, char jobu1, char jobu2,
-                                char jobv1t, char jobv2t, char trans,
-                                lapack_int m, lapack_int p, lapack_int q,
-                                double* theta, double* phi, double* u1,
-                                lapack_int ldu1, double* u2, lapack_int ldu2,
-                                double* v1t, lapack_int ldv1t, double* v2t,
-                                lapack_int ldv2t, double* b11d, double* b11e,
-                                double* b12d, double* b12e, double* b21d,
-                                double* b21e, double* b22d, double* b22e,
-                                double* work, lapack_int lwork );
-lapack_int LAPACKE_dorbdb( int matrix_order, char trans, char signs,
-                           lapack_int m, lapack_int p, lapack_int q,
-                           double* x11, lapack_int ldx11, double* x12,
-                           lapack_int ldx12, double* x21, lapack_int ldx21,
-                           double* x22, lapack_int ldx22, double* theta,
-                           double* phi, double* taup1, double* taup2,
-                           double* tauq1, double* tauq2 );
-lapack_int LAPACKE_dorbdb_work( int matrix_order, char trans, char signs,
-                                lapack_int m, lapack_int p, lapack_int q,
-                                double* x11, lapack_int ldx11, double* x12,
-                                lapack_int ldx12, double* x21, lapack_int ldx21,
-                                double* x22, lapack_int ldx22, double* theta,
-                                double* phi, double* taup1, double* taup2,
-                                double* tauq1, double* tauq2, double* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_dorcsd( int matrix_order, char jobu1, char jobu2,
-                           char jobv1t, char jobv2t, char trans, char signs,
-                           lapack_int m, lapack_int p, lapack_int q,
-                           double* x11, lapack_int ldx11, double* x12,
-                           lapack_int ldx12, double* x21, lapack_int ldx21,
-                           double* x22, lapack_int ldx22, double* theta,
-                           double* u1, lapack_int ldu1, double* u2,
-                           lapack_int ldu2, double* v1t, lapack_int ldv1t,
-                           double* v2t, lapack_int ldv2t );
-lapack_int LAPACKE_dorcsd_work( int matrix_order, char jobu1, char jobu2,
-                                char jobv1t, char jobv2t, char trans,
-                                char signs, lapack_int m, lapack_int p,
-                                lapack_int q, double* x11, lapack_int ldx11,
-                                double* x12, lapack_int ldx12, double* x21,
-                                lapack_int ldx21, double* x22, lapack_int ldx22,
-                                double* theta, double* u1, lapack_int ldu1,
-                                double* u2, lapack_int ldu2, double* v1t,
-                                lapack_int ldv1t, double* v2t, lapack_int ldv2t,
-                                double* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_dsyconv( int matrix_order, char uplo, char way, lapack_int n,
-                            double* a, lapack_int lda, const lapack_int* ipiv );
-lapack_int LAPACKE_dsyconv_work( int matrix_order, char uplo, char way,
-                                 lapack_int n, double* a, lapack_int lda,
-                                 const lapack_int* ipiv, double* work );
-lapack_int LAPACKE_dsyswapr( int matrix_order, char uplo, lapack_int n,
-                             double* a, lapack_int i1, lapack_int i2 );
-lapack_int LAPACKE_dsyswapr_work( int matrix_order, char uplo, lapack_int n,
-                                  double* a, lapack_int i1, lapack_int i2 );
-lapack_int LAPACKE_dsytri2( int matrix_order, char uplo, lapack_int n,
-                            double* a, lapack_int lda, const lapack_int* ipiv );
-lapack_int LAPACKE_dsytri2_work( int matrix_order, char uplo, lapack_int n,
-                                 double* a, lapack_int lda,
-                                 const lapack_int* ipiv,
-                                 lapack_complex_double* work, lapack_int lwork );
-lapack_int LAPACKE_dsytri2x( int matrix_order, char uplo, lapack_int n,
-                             double* a, lapack_int lda, const lapack_int* ipiv,
-                             lapack_int nb );
-lapack_int LAPACKE_dsytri2x_work( int matrix_order, char uplo, lapack_int n,
-                                  double* a, lapack_int lda,
-                                  const lapack_int* ipiv, double* work,
-                                  lapack_int nb );
-lapack_int LAPACKE_dsytrs2( int matrix_order, char uplo, lapack_int n,
-                            lapack_int nrhs, const double* a, lapack_int lda,
-                            const lapack_int* ipiv, double* b, lapack_int ldb );
-lapack_int LAPACKE_dsytrs2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_int nrhs, const double* a,
-                                 lapack_int lda, const lapack_int* ipiv,
-                                 double* b, lapack_int ldb, double* work );
-lapack_int LAPACKE_sbbcsd( int matrix_order, char jobu1, char jobu2,
-                           char jobv1t, char jobv2t, char trans, lapack_int m,
-                           lapack_int p, lapack_int q, float* theta, float* phi,
-                           float* u1, lapack_int ldu1, float* u2,
-                           lapack_int ldu2, float* v1t, lapack_int ldv1t,
-                           float* v2t, lapack_int ldv2t, float* b11d,
-                           float* b11e, float* b12d, float* b12e, float* b21d,
-                           float* b21e, float* b22d, float* b22e );
-lapack_int LAPACKE_sbbcsd_work( int matrix_order, char jobu1, char jobu2,
-                                char jobv1t, char jobv2t, char trans,
-                                lapack_int m, lapack_int p, lapack_int q,
-                                float* theta, float* phi, float* u1,
-                                lapack_int ldu1, float* u2, lapack_int ldu2,
-                                float* v1t, lapack_int ldv1t, float* v2t,
-                                lapack_int ldv2t, float* b11d, float* b11e,
-                                float* b12d, float* b12e, float* b21d,
-                                float* b21e, float* b22d, float* b22e,
-                                float* work, lapack_int lwork );
-lapack_int LAPACKE_sorbdb( int matrix_order, char trans, char signs,
-                           lapack_int m, lapack_int p, lapack_int q, float* x11,
-                           lapack_int ldx11, float* x12, lapack_int ldx12,
-                           float* x21, lapack_int ldx21, float* x22,
-                           lapack_int ldx22, float* theta, float* phi,
-                           float* taup1, float* taup2, float* tauq1,
-                           float* tauq2 );
-lapack_int LAPACKE_sorbdb_work( int matrix_order, char trans, char signs,
-                                lapack_int m, lapack_int p, lapack_int q,
-                                float* x11, lapack_int ldx11, float* x12,
-                                lapack_int ldx12, float* x21, lapack_int ldx21,
-                                float* x22, lapack_int ldx22, float* theta,
-                                float* phi, float* taup1, float* taup2,
-                                float* tauq1, float* tauq2, float* work,
-                                lapack_int lwork );
-lapack_int LAPACKE_sorcsd( int matrix_order, char jobu1, char jobu2,
-                           char jobv1t, char jobv2t, char trans, char signs,
-                           lapack_int m, lapack_int p, lapack_int q, float* x11,
-                           lapack_int ldx11, float* x12, lapack_int ldx12,
-                           float* x21, lapack_int ldx21, float* x22,
-                           lapack_int ldx22, float* theta, float* u1,
-                           lapack_int ldu1, float* u2, lapack_int ldu2,
-                           float* v1t, lapack_int ldv1t, float* v2t,
-                           lapack_int ldv2t );
-lapack_int LAPACKE_sorcsd_work( int matrix_order, char jobu1, char jobu2,
-                                char jobv1t, char jobv2t, char trans,
-                                char signs, lapack_int m, lapack_int p,
-                                lapack_int q, float* x11, lapack_int ldx11,
-                                float* x12, lapack_int ldx12, float* x21,
-                                lapack_int ldx21, float* x22, lapack_int ldx22,
-                                float* theta, float* u1, lapack_int ldu1,
-                                float* u2, lapack_int ldu2, float* v1t,
-                                lapack_int ldv1t, float* v2t, lapack_int ldv2t,
-                                float* work, lapack_int lwork,
-                                lapack_int* iwork );
-lapack_int LAPACKE_ssyconv( int matrix_order, char uplo, char way, lapack_int n,
-                            float* a, lapack_int lda, const lapack_int* ipiv );
-lapack_int LAPACKE_ssyconv_work( int matrix_order, char uplo, char way,
-                                 lapack_int n, float* a, lapack_int lda,
-                                 const lapack_int* ipiv, float* work );
-lapack_int LAPACKE_ssyswapr( int matrix_order, char uplo, lapack_int n,
-                             float* a, lapack_int i1, lapack_int i2 );
-lapack_int LAPACKE_ssyswapr_work( int matrix_order, char uplo, lapack_int n,
-                                  float* a, lapack_int i1, lapack_int i2 );
-lapack_int LAPACKE_ssytri2( int matrix_order, char uplo, lapack_int n, float* a,
-                            lapack_int lda, const lapack_int* ipiv );
-lapack_int LAPACKE_ssytri2_work( int matrix_order, char uplo, lapack_int n,
-                                 float* a, lapack_int lda,
-                                 const lapack_int* ipiv,
-                                 lapack_complex_float* work, lapack_int lwork );
-lapack_int LAPACKE_ssytri2x( int matrix_order, char uplo, lapack_int n,
-                             float* a, lapack_int lda, const lapack_int* ipiv,
-                             lapack_int nb );
-lapack_int LAPACKE_ssytri2x_work( int matrix_order, char uplo, lapack_int n,
-                                  float* a, lapack_int lda,
-                                  const lapack_int* ipiv, float* work,
-                                  lapack_int nb );
-lapack_int LAPACKE_ssytrs2( int matrix_order, char uplo, lapack_int n,
-                            lapack_int nrhs, const float* a, lapack_int lda,
-                            const lapack_int* ipiv, float* b, lapack_int ldb );
-lapack_int LAPACKE_ssytrs2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_int nrhs, const float* a,
-                                 lapack_int lda, const lapack_int* ipiv,
-                                 float* b, lapack_int ldb, float* work );
-lapack_int LAPACKE_zbbcsd( int matrix_order, char jobu1, char jobu2,
-                           char jobv1t, char jobv2t, char trans, lapack_int m,
-                           lapack_int p, lapack_int q, double* theta,
-                           double* phi, lapack_complex_double* u1,
-                           lapack_int ldu1, lapack_complex_double* u2,
-                           lapack_int ldu2, lapack_complex_double* v1t,
-                           lapack_int ldv1t, lapack_complex_double* v2t,
-                           lapack_int ldv2t, double* b11d, double* b11e,
-                           double* b12d, double* b12e, double* b21d,
-                           double* b21e, double* b22d, double* b22e );
-lapack_int LAPACKE_zbbcsd_work( int matrix_order, char jobu1, char jobu2,
-                                char jobv1t, char jobv2t, char trans,
-                                lapack_int m, lapack_int p, lapack_int q,
-                                double* theta, double* phi,
-                                lapack_complex_double* u1, lapack_int ldu1,
-                                lapack_complex_double* u2, lapack_int ldu2,
-                                lapack_complex_double* v1t, lapack_int ldv1t,
-                                lapack_complex_double* v2t, lapack_int ldv2t,
-                                double* b11d, double* b11e, double* b12d,
-                                double* b12e, double* b21d, double* b21e,
-                                double* b22d, double* b22e, double* rwork,
-                                lapack_int lrwork );
-lapack_int LAPACKE_zheswapr( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_double* a, lapack_int i1,
-                             lapack_int i2 );
-lapack_int LAPACKE_zheswapr_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_double* a, lapack_int i1,
-                                  lapack_int i2 );
-lapack_int LAPACKE_zhetri2( int matrix_order, char uplo, lapack_int n,
-                            lapack_complex_double* a, lapack_int lda,
-                            const lapack_int* ipiv );
-lapack_int LAPACKE_zhetri2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 const lapack_int* ipiv,
-                                 lapack_complex_double* work, lapack_int lwork );
-lapack_int LAPACKE_zhetri2x( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_double* a, lapack_int lda,
-                             const lapack_int* ipiv, lapack_int nb );
-lapack_int LAPACKE_zhetri2x_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_double* a, lapack_int lda,
-                                  const lapack_int* ipiv,
-                                  lapack_complex_double* work, lapack_int nb );
-lapack_int LAPACKE_zhetrs2( int matrix_order, char uplo, lapack_int n,
-                            lapack_int nrhs, const lapack_complex_double* a,
-                            lapack_int lda, const lapack_int* ipiv,
-                            lapack_complex_double* b, lapack_int ldb );
-lapack_int LAPACKE_zhetrs2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_int nrhs, const lapack_complex_double* a,
-                                 lapack_int lda, const lapack_int* ipiv,
-                                 lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* work );
-lapack_int LAPACKE_zsyconv( int matrix_order, char uplo, char way, lapack_int n,
-                            lapack_complex_double* a, lapack_int lda,
-                            const lapack_int* ipiv );
-lapack_int LAPACKE_zsyconv_work( int matrix_order, char uplo, char way,
-                                 lapack_int n, lapack_complex_double* a,
-                                 lapack_int lda, const lapack_int* ipiv,
-                                 lapack_complex_double* work );
-lapack_int LAPACKE_zsyswapr( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_double* a, lapack_int i1,
-                             lapack_int i2 );
-lapack_int LAPACKE_zsyswapr_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_double* a, lapack_int i1,
-                                  lapack_int i2 );
-lapack_int LAPACKE_zsytri2( int matrix_order, char uplo, lapack_int n,
-                            lapack_complex_double* a, lapack_int lda,
-                            const lapack_int* ipiv );
-lapack_int LAPACKE_zsytri2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 const lapack_int* ipiv,
-                                 lapack_complex_double* work, lapack_int lwork );
-lapack_int LAPACKE_zsytri2x( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_double* a, lapack_int lda,
-                             const lapack_int* ipiv, lapack_int nb );
-lapack_int LAPACKE_zsytri2x_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_double* a, lapack_int lda,
-                                  const lapack_int* ipiv,
-                                  lapack_complex_double* work, lapack_int nb );
-lapack_int LAPACKE_zsytrs2( int matrix_order, char uplo, lapack_int n,
-                            lapack_int nrhs, const lapack_complex_double* a,
-                            lapack_int lda, const lapack_int* ipiv,
-                            lapack_complex_double* b, lapack_int ldb );
-lapack_int LAPACKE_zsytrs2_work( int matrix_order, char uplo, lapack_int n,
-                                 lapack_int nrhs, const lapack_complex_double* a,
-                                 lapack_int lda, const lapack_int* ipiv,
-                                 lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* work );
-lapack_int LAPACKE_zunbdb( int matrix_order, char trans, char signs,
-                           lapack_int m, lapack_int p, lapack_int q,
-                           lapack_complex_double* x11, lapack_int ldx11,
-                           lapack_complex_double* x12, lapack_int ldx12,
-                           lapack_complex_double* x21, lapack_int ldx21,
-                           lapack_complex_double* x22, lapack_int ldx22,
-                           double* theta, double* phi,
-                           lapack_complex_double* taup1,
-                           lapack_complex_double* taup2,
-                           lapack_complex_double* tauq1,
-                           lapack_complex_double* tauq2 );
-lapack_int LAPACKE_zunbdb_work( int matrix_order, char trans, char signs,
-                                lapack_int m, lapack_int p, lapack_int q,
-                                lapack_complex_double* x11, lapack_int ldx11,
-                                lapack_complex_double* x12, lapack_int ldx12,
-                                lapack_complex_double* x21, lapack_int ldx21,
-                                lapack_complex_double* x22, lapack_int ldx22,
-                                double* theta, double* phi,
-                                lapack_complex_double* taup1,
-                                lapack_complex_double* taup2,
-                                lapack_complex_double* tauq1,
-                                lapack_complex_double* tauq2,
-                                lapack_complex_double* work, lapack_int lwork );
-lapack_int LAPACKE_zuncsd( int matrix_order, char jobu1, char jobu2,
-                           char jobv1t, char jobv2t, char trans, char signs,
-                           lapack_int m, lapack_int p, lapack_int q,
-                           lapack_complex_double* x11, lapack_int ldx11,
-                           lapack_complex_double* x12, lapack_int ldx12,
-                           lapack_complex_double* x21, lapack_int ldx21,
-                           lapack_complex_double* x22, lapack_int ldx22,
-                           double* theta, lapack_complex_double* u1,
-                           lapack_int ldu1, lapack_complex_double* u2,
-                           lapack_int ldu2, lapack_complex_double* v1t,
-                           lapack_int ldv1t, lapack_complex_double* v2t,
-                           lapack_int ldv2t );
-lapack_int LAPACKE_zuncsd_work( int matrix_order, char jobu1, char jobu2,
-                                char jobv1t, char jobv2t, char trans,
-                                char signs, lapack_int m, lapack_int p,
-                                lapack_int q, lapack_complex_double* x11,
-                                lapack_int ldx11, lapack_complex_double* x12,
-                                lapack_int ldx12, lapack_complex_double* x21,
-                                lapack_int ldx21, lapack_complex_double* x22,
-                                lapack_int ldx22, double* theta,
-                                lapack_complex_double* u1, lapack_int ldu1,
-                                lapack_complex_double* u2, lapack_int ldu2,
-                                lapack_complex_double* v1t, lapack_int ldv1t,
-                                lapack_complex_double* v2t, lapack_int ldv2t,
-                                lapack_complex_double* work, lapack_int lwork,
-                                double* rwork, lapack_int lrwork,
-                                lapack_int* iwork );
-//LAPACK 3.4.0
-lapack_int LAPACKE_sgemqrt( int matrix_order, char side, char trans,
-                            lapack_int m, lapack_int n, lapack_int k,
-                            lapack_int nb, const float* v, lapack_int ldv,
-                            const float* t, lapack_int ldt, float* c,
-                            lapack_int ldc );
-lapack_int LAPACKE_dgemqrt( int matrix_order, char side, char trans,
-                            lapack_int m, lapack_int n, lapack_int k,
-                            lapack_int nb, const double* v, lapack_int ldv,
-                            const double* t, lapack_int ldt, double* c,
-                            lapack_int ldc );
-lapack_int LAPACKE_cgemqrt( int matrix_order, char side, char trans,
-                            lapack_int m, lapack_int n, lapack_int k,
-                            lapack_int nb, const lapack_complex_float* v,
-                            lapack_int ldv, const lapack_complex_float* t,
-                            lapack_int ldt, lapack_complex_float* c,
-                            lapack_int ldc );
-lapack_int LAPACKE_zgemqrt( int matrix_order, char side, char trans,
-                            lapack_int m, lapack_int n, lapack_int k,
-                            lapack_int nb, const lapack_complex_double* v,
-                            lapack_int ldv, const lapack_complex_double* t,
-                            lapack_int ldt, lapack_complex_double* c,
-                            lapack_int ldc );
-
-lapack_int LAPACKE_sgeqrt( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nb, float* a, lapack_int lda, float* t,
-                           lapack_int ldt );
-lapack_int LAPACKE_dgeqrt( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nb, double* a, lapack_int lda, double* t,
-                           lapack_int ldt );
-lapack_int LAPACKE_cgeqrt( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nb, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* t,
-                           lapack_int ldt );
-lapack_int LAPACKE_zgeqrt( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int nb, lapack_complex_double* a,
-                           lapack_int lda, lapack_complex_double* t,
-                           lapack_int ldt );
-
-lapack_int LAPACKE_sgeqrt2( int matrix_order, lapack_int m, lapack_int n,
-                            float* a, lapack_int lda, float* t,
-                            lapack_int ldt );
-lapack_int LAPACKE_dgeqrt2( int matrix_order, lapack_int m, lapack_int n,
-                            double* a, lapack_int lda, double* t,
-                            lapack_int ldt );
-lapack_int LAPACKE_cgeqrt2( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* t, lapack_int ldt );
-lapack_int LAPACKE_zgeqrt2( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_sgeqrt3( int matrix_order, lapack_int m, lapack_int n,
-                            float* a, lapack_int lda, float* t,
-                            lapack_int ldt );
-lapack_int LAPACKE_dgeqrt3( int matrix_order, lapack_int m, lapack_int n,
-                            double* a, lapack_int lda, double* t,
-                            lapack_int ldt );
-lapack_int LAPACKE_cgeqrt3( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* t, lapack_int ldt );
-lapack_int LAPACKE_zgeqrt3( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_stpmqrt( int matrix_order, char side, char trans,
-                            lapack_int m, lapack_int n, lapack_int k,
-                            lapack_int l, lapack_int nb, const float* v,
-                            lapack_int ldv, const float* t, lapack_int ldt,
-                            float* a, lapack_int lda, float* b,
-                            lapack_int ldb );
-lapack_int LAPACKE_dtpmqrt( int matrix_order, char side, char trans,
-                            lapack_int m, lapack_int n, lapack_int k,
-                            lapack_int l, lapack_int nb, const double* v,
-                            lapack_int ldv, const double* t, lapack_int ldt,
-                            double* a, lapack_int lda, double* b,
-                            lapack_int ldb );
-lapack_int LAPACKE_ctpmqrt( int matrix_order, char side, char trans,
-                            lapack_int m, lapack_int n, lapack_int k,
-                            lapack_int l, lapack_int nb,
-                            const lapack_complex_float* v, lapack_int ldv,
-                            const lapack_complex_float* t, lapack_int ldt,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* b, lapack_int ldb );
-lapack_int LAPACKE_ztpmqrt( int matrix_order, char side, char trans,
-                            lapack_int m, lapack_int n, lapack_int k,
-                            lapack_int l, lapack_int nb,
-                            const lapack_complex_double* v, lapack_int ldv,
-                            const lapack_complex_double* t, lapack_int ldt,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* b, lapack_int ldb );
-
-lapack_int LAPACKE_dtpqrt( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int l, lapack_int nb, double* a,
-                           lapack_int lda, double* b, lapack_int ldb, double* t,
-                           lapack_int ldt );
-lapack_int LAPACKE_ctpqrt( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int l, lapack_int nb, lapack_complex_float* a,
-                           lapack_int lda, lapack_complex_float* t,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_int ldt );
-lapack_int LAPACKE_ztpqrt( int matrix_order, lapack_int m, lapack_int n,
-                           lapack_int l, lapack_int nb,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_stpqrt2( int matrix_order, lapack_int m, lapack_int n,
-                            float* a, lapack_int lda, float* b, lapack_int ldb,
-                            float* t, lapack_int ldt );
-lapack_int LAPACKE_dtpqrt2( int matrix_order, lapack_int m, lapack_int n,
-                            double* a, lapack_int lda, double* b,
-                            lapack_int ldb, double* t, lapack_int ldt );
-lapack_int LAPACKE_ctpqrt2( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_complex_float* a, lapack_int lda,
-                            lapack_complex_float* b, lapack_int ldb,
-                            lapack_complex_float* t, lapack_int ldt );
-lapack_int LAPACKE_ztpqrt2( int matrix_order, lapack_int m, lapack_int n,
-                            lapack_complex_double* a, lapack_int lda,
-                            lapack_complex_double* b, lapack_int ldb,
-                            lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_stprfb( int matrix_order, char side, char trans, char direct,
-                           char storev, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_int l, const float* v,
-                           lapack_int ldv, const float* t, lapack_int ldt,
-                           float* a, lapack_int lda, float* b, lapack_int ldb,
-                           lapack_int myldwork );
-lapack_int LAPACKE_dtprfb( int matrix_order, char side, char trans, char direct,
-                           char storev, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_int l, const double* v,
-                           lapack_int ldv, const double* t, lapack_int ldt,
-                           double* a, lapack_int lda, double* b, lapack_int ldb,
-                           lapack_int myldwork );
-lapack_int LAPACKE_ctprfb( int matrix_order, char side, char trans, char direct,
-                           char storev, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_int l,
-                           const lapack_complex_float* v, lapack_int ldv,
-                           const lapack_complex_float* t, lapack_int ldt,
-                           lapack_complex_float* a, lapack_int lda,
-                           lapack_complex_float* b, lapack_int ldb,
-                           lapack_int myldwork );
-lapack_int LAPACKE_ztprfb( int matrix_order, char side, char trans, char direct,
-                           char storev, lapack_int m, lapack_int n,
-                           lapack_int k, lapack_int l,
-                           const lapack_complex_double* v, lapack_int ldv,
-                           const lapack_complex_double* t, lapack_int ldt,
-                           lapack_complex_double* a, lapack_int lda,
-                           lapack_complex_double* b, lapack_int ldb,
-                           lapack_int myldwork );
-
-lapack_int LAPACKE_sgemqrt_work( int matrix_order, char side, char trans,
-                                 lapack_int m, lapack_int n, lapack_int k,
-                                 lapack_int nb, const float* v, lapack_int ldv,
-                                 const float* t, lapack_int ldt, float* c,
-                                 lapack_int ldc, float* work );
-lapack_int LAPACKE_dgemqrt_work( int matrix_order, char side, char trans,
-                                 lapack_int m, lapack_int n, lapack_int k,
-                                 lapack_int nb, const double* v, lapack_int ldv,
-                                 const double* t, lapack_int ldt, double* c,
-                                 lapack_int ldc, double* work );
-lapack_int LAPACKE_cgemqrt_work( int matrix_order, char side, char trans,
-                                 lapack_int m, lapack_int n, lapack_int k,
-                                 lapack_int nb, const lapack_complex_float* v,
-                                 lapack_int ldv, const lapack_complex_float* t,
-                                 lapack_int ldt, lapack_complex_float* c,
-                                 lapack_int ldc, lapack_complex_float* work );
-lapack_int LAPACKE_zgemqrt_work( int matrix_order, char side, char trans,
-                                 lapack_int m, lapack_int n, lapack_int k,
-                                 lapack_int nb, const lapack_complex_double* v,
-                                 lapack_int ldv, const lapack_complex_double* t,
-                                 lapack_int ldt, lapack_complex_double* c,
-                                 lapack_int ldc, lapack_complex_double* work );
-
-lapack_int LAPACKE_sgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nb, float* a, lapack_int lda,
-                                float* t, lapack_int ldt, float* work );
-lapack_int LAPACKE_dgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nb, double* a, lapack_int lda,
-                                double* t, lapack_int ldt, double* work );
-lapack_int LAPACKE_cgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nb, lapack_complex_float* a,
-                                lapack_int lda, lapack_complex_float* t,
-                                lapack_int ldt, lapack_complex_float* work );
-lapack_int LAPACKE_zgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int nb, lapack_complex_double* a,
-                                lapack_int lda, lapack_complex_double* t,
-                                lapack_int ldt, lapack_complex_double* work );
-
-lapack_int LAPACKE_sgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
-                                 float* a, lapack_int lda, float* t,
-                                 lapack_int ldt );
-lapack_int LAPACKE_dgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
-                                 double* a, lapack_int lda, double* t,
-                                 lapack_int ldt );
-lapack_int LAPACKE_cgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* t, lapack_int ldt );
-lapack_int LAPACKE_zgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_sgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
-                                 float* a, lapack_int lda, float* t,
-                                 lapack_int ldt );
-lapack_int LAPACKE_dgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
-                                 double* a, lapack_int lda, double* t,
-                                 lapack_int ldt );
-lapack_int LAPACKE_cgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* t, lapack_int ldt );
-lapack_int LAPACKE_zgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_stpmqrt_work( int matrix_order, char side, char trans,
-                                 lapack_int m, lapack_int n, lapack_int k,
-                                 lapack_int l, lapack_int nb, const float* v,
-                                 lapack_int ldv, const float* t, lapack_int ldt,
-                                 float* a, lapack_int lda, float* b,
-                                 lapack_int ldb, float* work );
-lapack_int LAPACKE_dtpmqrt_work( int matrix_order, char side, char trans,
-                                 lapack_int m, lapack_int n, lapack_int k,
-                                 lapack_int l, lapack_int nb, const double* v,
-                                 lapack_int ldv, const double* t,
-                                 lapack_int ldt, double* a, lapack_int lda,
-                                 double* b, lapack_int ldb, double* work );
-lapack_int LAPACKE_ctpmqrt_work( int matrix_order, char side, char trans,
-                                 lapack_int m, lapack_int n, lapack_int k,
-                                 lapack_int l, lapack_int nb,
-                                 const lapack_complex_float* v, lapack_int ldv,
-                                 const lapack_complex_float* t, lapack_int ldt,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* work );
-lapack_int LAPACKE_ztpmqrt_work( int matrix_order, char side, char trans,
-                                 lapack_int m, lapack_int n, lapack_int k,
-                                 lapack_int l, lapack_int nb,
-                                 const lapack_complex_double* v, lapack_int ldv,
-                                 const lapack_complex_double* t, lapack_int ldt,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* work );
-
-lapack_int LAPACKE_dtpqrt_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int l, lapack_int nb, double* a,
-                                lapack_int lda, double* b, lapack_int ldb,
-                                double* t, lapack_int ldt, double* work );
-lapack_int LAPACKE_ctpqrt_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int l, lapack_int nb,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* t,
-                                lapack_complex_float* b, lapack_int ldb,
-                                lapack_int ldt, lapack_complex_float* work );
-lapack_int LAPACKE_ztpqrt_work( int matrix_order, lapack_int m, lapack_int n,
-                                lapack_int l, lapack_int nb,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                lapack_complex_double* t, lapack_int ldt,
-                                lapack_complex_double* work );
-
-lapack_int LAPACKE_stpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
-                                 float* a, lapack_int lda, float* b,
-                                 lapack_int ldb, float* t, lapack_int ldt );
-lapack_int LAPACKE_dtpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
-                                 double* a, lapack_int lda, double* b,
-                                 lapack_int ldb, double* t, lapack_int ldt );
-lapack_int LAPACKE_ctpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_complex_float* a, lapack_int lda,
-                                 lapack_complex_float* b, lapack_int ldb,
-                                 lapack_complex_float* t, lapack_int ldt );
-lapack_int LAPACKE_ztpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
-                                 lapack_complex_double* a, lapack_int lda,
-                                 lapack_complex_double* b, lapack_int ldb,
-                                 lapack_complex_double* t, lapack_int ldt );
-
-lapack_int LAPACKE_stprfb_work( int matrix_order, char side, char trans,
-                                char direct, char storev, lapack_int m,
-                                lapack_int n, lapack_int k, lapack_int l,
-                                const float* v, lapack_int ldv, const float* t,
-                                lapack_int ldt, float* a, lapack_int lda,
-                                float* b, lapack_int ldb, const float* mywork,
-                                lapack_int myldwork );
-lapack_int LAPACKE_dtprfb_work( int matrix_order, char side, char trans,
-                                char direct, char storev, lapack_int m,
-                                lapack_int n, lapack_int k, lapack_int l,
-                                const double* v, lapack_int ldv,
-                                const double* t, lapack_int ldt, double* a,
-                                lapack_int lda, double* b, lapack_int ldb,
-                                const double* mywork, lapack_int myldwork );
-lapack_int LAPACKE_ctprfb_work( int matrix_order, char side, char trans,
-                                char direct, char storev, lapack_int m,
-                                lapack_int n, lapack_int k, lapack_int l,
-                                const lapack_complex_float* v, lapack_int ldv,
-                                const lapack_complex_float* t, lapack_int ldt,
-                                lapack_complex_float* a, lapack_int lda,
-                                lapack_complex_float* b, lapack_int ldb,
-                                const float* mywork, lapack_int myldwork );
-lapack_int LAPACKE_ztprfb_work( int matrix_order, char side, char trans,
-                                char direct, char storev, lapack_int m,
-                                lapack_int n, lapack_int k, lapack_int l,
-                                const lapack_complex_double* v, lapack_int ldv,
-                                const lapack_complex_double* t, lapack_int ldt,
-                                lapack_complex_double* a, lapack_int lda,
-                                lapack_complex_double* b, lapack_int ldb,
-                                const double* mywork, lapack_int myldwork );
-//LAPACK 3.X.X
-lapack_int LAPACKE_csyr( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_float alpha,
-                             const lapack_complex_float* x, lapack_int incx,
-                             lapack_complex_float* a, lapack_int lda );
-lapack_int LAPACKE_zsyr( int matrix_order, char uplo, lapack_int n,
-                             lapack_complex_double alpha,
-                             const lapack_complex_double* x, lapack_int incx,
-                             lapack_complex_double* a, lapack_int lda );
-
-lapack_int LAPACKE_csyr_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_float alpha,
-                                  const lapack_complex_float* x,
-                                  lapack_int incx, lapack_complex_float* a,
-                                  lapack_int lda );
-lapack_int LAPACKE_zsyr_work( int matrix_order, char uplo, lapack_int n,
-                                  lapack_complex_double alpha,
-                                  const lapack_complex_double* x,
-                                  lapack_int incx, lapack_complex_double* a,
-                                  lapack_int lda );
-
-
-
-#define LAPACK_sgetrf LAPACK_GLOBAL(sgetrf,SGETRF)
-#define LAPACK_dgetrf LAPACK_GLOBAL(dgetrf,DGETRF)
-#define LAPACK_cgetrf LAPACK_GLOBAL(cgetrf,CGETRF)
-#define LAPACK_zgetrf LAPACK_GLOBAL(zgetrf,ZGETRF)
-#define LAPACK_sgbtrf LAPACK_GLOBAL(sgbtrf,SGBTRF)
-#define LAPACK_dgbtrf LAPACK_GLOBAL(dgbtrf,DGBTRF)
-#define LAPACK_cgbtrf LAPACK_GLOBAL(cgbtrf,CGBTRF)
-#define LAPACK_zgbtrf LAPACK_GLOBAL(zgbtrf,ZGBTRF)
-#define LAPACK_sgttrf LAPACK_GLOBAL(sgttrf,SGTTRF)
-#define LAPACK_dgttrf LAPACK_GLOBAL(dgttrf,DGTTRF)
-#define LAPACK_cgttrf LAPACK_GLOBAL(cgttrf,CGTTRF)
-#define LAPACK_zgttrf LAPACK_GLOBAL(zgttrf,ZGTTRF)
-#define LAPACK_spotrf LAPACK_GLOBAL(spotrf,SPOTRF)
-#define LAPACK_dpotrf LAPACK_GLOBAL(dpotrf,DPOTRF)
-#define LAPACK_cpotrf LAPACK_GLOBAL(cpotrf,CPOTRF)
-#define LAPACK_zpotrf LAPACK_GLOBAL(zpotrf,ZPOTRF)
-#define LAPACK_dpstrf LAPACK_GLOBAL(dpstrf,DPSTRF)
-#define LAPACK_spstrf LAPACK_GLOBAL(spstrf,SPSTRF)
-#define LAPACK_zpstrf LAPACK_GLOBAL(zpstrf,ZPSTRF)
-#define LAPACK_cpstrf LAPACK_GLOBAL(cpstrf,CPSTRF)
-#define LAPACK_dpftrf LAPACK_GLOBAL(dpftrf,DPFTRF)
-#define LAPACK_spftrf LAPACK_GLOBAL(spftrf,SPFTRF)
-#define LAPACK_zpftrf LAPACK_GLOBAL(zpftrf,ZPFTRF)
-#define LAPACK_cpftrf LAPACK_GLOBAL(cpftrf,CPFTRF)
-#define LAPACK_spptrf LAPACK_GLOBAL(spptrf,SPPTRF)
-#define LAPACK_dpptrf LAPACK_GLOBAL(dpptrf,DPPTRF)
-#define LAPACK_cpptrf LAPACK_GLOBAL(cpptrf,CPPTRF)
-#define LAPACK_zpptrf LAPACK_GLOBAL(zpptrf,ZPPTRF)
-#define LAPACK_spbtrf LAPACK_GLOBAL(spbtrf,SPBTRF)
-#define LAPACK_dpbtrf LAPACK_GLOBAL(dpbtrf,DPBTRF)
-#define LAPACK_cpbtrf LAPACK_GLOBAL(cpbtrf,CPBTRF)
-#define LAPACK_zpbtrf LAPACK_GLOBAL(zpbtrf,ZPBTRF)
-#define LAPACK_spttrf LAPACK_GLOBAL(spttrf,SPTTRF)
-#define LAPACK_dpttrf LAPACK_GLOBAL(dpttrf,DPTTRF)
-#define LAPACK_cpttrf LAPACK_GLOBAL(cpttrf,CPTTRF)
-#define LAPACK_zpttrf LAPACK_GLOBAL(zpttrf,ZPTTRF)
-#define LAPACK_ssytrf LAPACK_GLOBAL(ssytrf,SSYTRF)
-#define LAPACK_dsytrf LAPACK_GLOBAL(dsytrf,DSYTRF)
-#define LAPACK_csytrf LAPACK_GLOBAL(csytrf,CSYTRF)
-#define LAPACK_zsytrf LAPACK_GLOBAL(zsytrf,ZSYTRF)
-#define LAPACK_chetrf LAPACK_GLOBAL(chetrf,CHETRF)
-#define LAPACK_zhetrf LAPACK_GLOBAL(zhetrf,ZHETRF)
-#define LAPACK_ssptrf LAPACK_GLOBAL(ssptrf,SSPTRF)
-#define LAPACK_dsptrf LAPACK_GLOBAL(dsptrf,DSPTRF)
-#define LAPACK_csptrf LAPACK_GLOBAL(csptrf,CSPTRF)
-#define LAPACK_zsptrf LAPACK_GLOBAL(zsptrf,ZSPTRF)
-#define LAPACK_chptrf LAPACK_GLOBAL(chptrf,CHPTRF)
-#define LAPACK_zhptrf LAPACK_GLOBAL(zhptrf,ZHPTRF)
-#define LAPACK_sgetrs LAPACK_GLOBAL(sgetrs,SGETRS)
-#define LAPACK_dgetrs LAPACK_GLOBAL(dgetrs,DGETRS)
-#define LAPACK_cgetrs LAPACK_GLOBAL(cgetrs,CGETRS)
-#define LAPACK_zgetrs LAPACK_GLOBAL(zgetrs,ZGETRS)
-#define LAPACK_sgbtrs LAPACK_GLOBAL(sgbtrs,SGBTRS)
-#define LAPACK_dgbtrs LAPACK_GLOBAL(dgbtrs,DGBTRS)
-#define LAPACK_cgbtrs LAPACK_GLOBAL(cgbtrs,CGBTRS)
-#define LAPACK_zgbtrs LAPACK_GLOBAL(zgbtrs,ZGBTRS)
-#define LAPACK_sgttrs LAPACK_GLOBAL(sgttrs,SGTTRS)
-#define LAPACK_dgttrs LAPACK_GLOBAL(dgttrs,DGTTRS)
-#define LAPACK_cgttrs LAPACK_GLOBAL(cgttrs,CGTTRS)
-#define LAPACK_zgttrs LAPACK_GLOBAL(zgttrs,ZGTTRS)
-#define LAPACK_spotrs LAPACK_GLOBAL(spotrs,SPOTRS)
-#define LAPACK_dpotrs LAPACK_GLOBAL(dpotrs,DPOTRS)
-#define LAPACK_cpotrs LAPACK_GLOBAL(cpotrs,CPOTRS)
-#define LAPACK_zpotrs LAPACK_GLOBAL(zpotrs,ZPOTRS)
-#define LAPACK_dpftrs LAPACK_GLOBAL(dpftrs,DPFTRS)
-#define LAPACK_spftrs LAPACK_GLOBAL(spftrs,SPFTRS)
-#define LAPACK_zpftrs LAPACK_GLOBAL(zpftrs,ZPFTRS)
-#define LAPACK_cpftrs LAPACK_GLOBAL(cpftrs,CPFTRS)
-#define LAPACK_spptrs LAPACK_GLOBAL(spptrs,SPPTRS)
-#define LAPACK_dpptrs LAPACK_GLOBAL(dpptrs,DPPTRS)
-#define LAPACK_cpptrs LAPACK_GLOBAL(cpptrs,CPPTRS)
-#define LAPACK_zpptrs LAPACK_GLOBAL(zpptrs,ZPPTRS)
-#define LAPACK_spbtrs LAPACK_GLOBAL(spbtrs,SPBTRS)
-#define LAPACK_dpbtrs LAPACK_GLOBAL(dpbtrs,DPBTRS)
-#define LAPACK_cpbtrs LAPACK_GLOBAL(cpbtrs,CPBTRS)
-#define LAPACK_zpbtrs LAPACK_GLOBAL(zpbtrs,ZPBTRS)
-#define LAPACK_spttrs LAPACK_GLOBAL(spttrs,SPTTRS)
-#define LAPACK_dpttrs LAPACK_GLOBAL(dpttrs,DPTTRS)
-#define LAPACK_cpttrs LAPACK_GLOBAL(cpttrs,CPTTRS)
-#define LAPACK_zpttrs LAPACK_GLOBAL(zpttrs,ZPTTRS)
-#define LAPACK_ssytrs LAPACK_GLOBAL(ssytrs,SSYTRS)
-#define LAPACK_dsytrs LAPACK_GLOBAL(dsytrs,DSYTRS)
-#define LAPACK_csytrs LAPACK_GLOBAL(csytrs,CSYTRS)
-#define LAPACK_zsytrs LAPACK_GLOBAL(zsytrs,ZSYTRS)
-#define LAPACK_chetrs LAPACK_GLOBAL(chetrs,CHETRS)
-#define LAPACK_zhetrs LAPACK_GLOBAL(zhetrs,ZHETRS)
-#define LAPACK_ssptrs LAPACK_GLOBAL(ssptrs,SSPTRS)
-#define LAPACK_dsptrs LAPACK_GLOBAL(dsptrs,DSPTRS)
-#define LAPACK_csptrs LAPACK_GLOBAL(csptrs,CSPTRS)
-#define LAPACK_zsptrs LAPACK_GLOBAL(zsptrs,ZSPTRS)
-#define LAPACK_chptrs LAPACK_GLOBAL(chptrs,CHPTRS)
-#define LAPACK_zhptrs LAPACK_GLOBAL(zhptrs,ZHPTRS)
-#define LAPACK_strtrs LAPACK_GLOBAL(strtrs,STRTRS)
-#define LAPACK_dtrtrs LAPACK_GLOBAL(dtrtrs,DTRTRS)
-#define LAPACK_ctrtrs LAPACK_GLOBAL(ctrtrs,CTRTRS)
-#define LAPACK_ztrtrs LAPACK_GLOBAL(ztrtrs,ZTRTRS)
-#define LAPACK_stptrs LAPACK_GLOBAL(stptrs,STPTRS)
-#define LAPACK_dtptrs LAPACK_GLOBAL(dtptrs,DTPTRS)
-#define LAPACK_ctptrs LAPACK_GLOBAL(ctptrs,CTPTRS)
-#define LAPACK_ztptrs LAPACK_GLOBAL(ztptrs,ZTPTRS)
-#define LAPACK_stbtrs LAPACK_GLOBAL(stbtrs,STBTRS)
-#define LAPACK_dtbtrs LAPACK_GLOBAL(dtbtrs,DTBTRS)
-#define LAPACK_ctbtrs LAPACK_GLOBAL(ctbtrs,CTBTRS)
-#define LAPACK_ztbtrs LAPACK_GLOBAL(ztbtrs,ZTBTRS)
-#define LAPACK_sgecon LAPACK_GLOBAL(sgecon,SGECON)
-#define LAPACK_dgecon LAPACK_GLOBAL(dgecon,DGECON)
-#define LAPACK_cgecon LAPACK_GLOBAL(cgecon,CGECON)
-#define LAPACK_zgecon LAPACK_GLOBAL(zgecon,ZGECON)
-#define LAPACK_sgbcon LAPACK_GLOBAL(sgbcon,SGBCON)
-#define LAPACK_dgbcon LAPACK_GLOBAL(dgbcon,DGBCON)
-#define LAPACK_cgbcon LAPACK_GLOBAL(cgbcon,CGBCON)
-#define LAPACK_zgbcon LAPACK_GLOBAL(zgbcon,ZGBCON)
-#define LAPACK_sgtcon LAPACK_GLOBAL(sgtcon,SGTCON)
-#define LAPACK_dgtcon LAPACK_GLOBAL(dgtcon,DGTCON)
-#define LAPACK_cgtcon LAPACK_GLOBAL(cgtcon,CGTCON)
-#define LAPACK_zgtcon LAPACK_GLOBAL(zgtcon,ZGTCON)
-#define LAPACK_spocon LAPACK_GLOBAL(spocon,SPOCON)
-#define LAPACK_dpocon LAPACK_GLOBAL(dpocon,DPOCON)
-#define LAPACK_cpocon LAPACK_GLOBAL(cpocon,CPOCON)
-#define LAPACK_zpocon LAPACK_GLOBAL(zpocon,ZPOCON)
-#define LAPACK_sppcon LAPACK_GLOBAL(sppcon,SPPCON)
-#define LAPACK_dppcon LAPACK_GLOBAL(dppcon,DPPCON)
-#define LAPACK_cppcon LAPACK_GLOBAL(cppcon,CPPCON)
-#define LAPACK_zppcon LAPACK_GLOBAL(zppcon,ZPPCON)
-#define LAPACK_spbcon LAPACK_GLOBAL(spbcon,SPBCON)
-#define LAPACK_dpbcon LAPACK_GLOBAL(dpbcon,DPBCON)
-#define LAPACK_cpbcon LAPACK_GLOBAL(cpbcon,CPBCON)
-#define LAPACK_zpbcon LAPACK_GLOBAL(zpbcon,ZPBCON)
-#define LAPACK_sptcon LAPACK_GLOBAL(sptcon,SPTCON)
-#define LAPACK_dptcon LAPACK_GLOBAL(dptcon,DPTCON)
-#define LAPACK_cptcon LAPACK_GLOBAL(cptcon,CPTCON)
-#define LAPACK_zptcon LAPACK_GLOBAL(zptcon,ZPTCON)
-#define LAPACK_ssycon LAPACK_GLOBAL(ssycon,SSYCON)
-#define LAPACK_dsycon LAPACK_GLOBAL(dsycon,DSYCON)
-#define LAPACK_csycon LAPACK_GLOBAL(csycon,CSYCON)
-#define LAPACK_zsycon LAPACK_GLOBAL(zsycon,ZSYCON)
-#define LAPACK_checon LAPACK_GLOBAL(checon,CHECON)
-#define LAPACK_zhecon LAPACK_GLOBAL(zhecon,ZHECON)
-#define LAPACK_sspcon LAPACK_GLOBAL(sspcon,SSPCON)
-#define LAPACK_dspcon LAPACK_GLOBAL(dspcon,DSPCON)
-#define LAPACK_cspcon LAPACK_GLOBAL(cspcon,CSPCON)
-#define LAPACK_zspcon LAPACK_GLOBAL(zspcon,ZSPCON)
-#define LAPACK_chpcon LAPACK_GLOBAL(chpcon,CHPCON)
-#define LAPACK_zhpcon LAPACK_GLOBAL(zhpcon,ZHPCON)
-#define LAPACK_strcon LAPACK_GLOBAL(strcon,STRCON)
-#define LAPACK_dtrcon LAPACK_GLOBAL(dtrcon,DTRCON)
-#define LAPACK_ctrcon LAPACK_GLOBAL(ctrcon,CTRCON)
-#define LAPACK_ztrcon LAPACK_GLOBAL(ztrcon,ZTRCON)
-#define LAPACK_stpcon LAPACK_GLOBAL(stpcon,STPCON)
-#define LAPACK_dtpcon LAPACK_GLOBAL(dtpcon,DTPCON)
-#define LAPACK_ctpcon LAPACK_GLOBAL(ctpcon,CTPCON)
-#define LAPACK_ztpcon LAPACK_GLOBAL(ztpcon,ZTPCON)
-#define LAPACK_stbcon LAPACK_GLOBAL(stbcon,STBCON)
-#define LAPACK_dtbcon LAPACK_GLOBAL(dtbcon,DTBCON)
-#define LAPACK_ctbcon LAPACK_GLOBAL(ctbcon,CTBCON)
-#define LAPACK_ztbcon LAPACK_GLOBAL(ztbcon,ZTBCON)
-#define LAPACK_sgerfs LAPACK_GLOBAL(sgerfs,SGERFS)
-#define LAPACK_dgerfs LAPACK_GLOBAL(dgerfs,DGERFS)
-#define LAPACK_cgerfs LAPACK_GLOBAL(cgerfs,CGERFS)
-#define LAPACK_zgerfs LAPACK_GLOBAL(zgerfs,ZGERFS)
-#define LAPACK_dgerfsx LAPACK_GLOBAL(dgerfsx,DGERFSX)
-#define LAPACK_sgerfsx LAPACK_GLOBAL(sgerfsx,SGERFSX)
-#define LAPACK_zgerfsx LAPACK_GLOBAL(zgerfsx,ZGERFSX)
-#define LAPACK_cgerfsx LAPACK_GLOBAL(cgerfsx,CGERFSX)
-#define LAPACK_sgbrfs LAPACK_GLOBAL(sgbrfs,SGBRFS)
-#define LAPACK_dgbrfs LAPACK_GLOBAL(dgbrfs,DGBRFS)
-#define LAPACK_cgbrfs LAPACK_GLOBAL(cgbrfs,CGBRFS)
-#define LAPACK_zgbrfs LAPACK_GLOBAL(zgbrfs,ZGBRFS)
-#define LAPACK_dgbrfsx LAPACK_GLOBAL(dgbrfsx,DGBRFSX)
-#define LAPACK_sgbrfsx LAPACK_GLOBAL(sgbrfsx,SGBRFSX)
-#define LAPACK_zgbrfsx LAPACK_GLOBAL(zgbrfsx,ZGBRFSX)
-#define LAPACK_cgbrfsx LAPACK_GLOBAL(cgbrfsx,CGBRFSX)
-#define LAPACK_sgtrfs LAPACK_GLOBAL(sgtrfs,SGTRFS)
-#define LAPACK_dgtrfs LAPACK_GLOBAL(dgtrfs,DGTRFS)
-#define LAPACK_cgtrfs LAPACK_GLOBAL(cgtrfs,CGTRFS)
-#define LAPACK_zgtrfs LAPACK_GLOBAL(zgtrfs,ZGTRFS)
-#define LAPACK_sporfs LAPACK_GLOBAL(sporfs,SPORFS)
-#define LAPACK_dporfs LAPACK_GLOBAL(dporfs,DPORFS)
-#define LAPACK_cporfs LAPACK_GLOBAL(cporfs,CPORFS)
-#define LAPACK_zporfs LAPACK_GLOBAL(zporfs,ZPORFS)
-#define LAPACK_dporfsx LAPACK_GLOBAL(dporfsx,DPORFSX)
-#define LAPACK_sporfsx LAPACK_GLOBAL(sporfsx,SPORFSX)
-#define LAPACK_zporfsx LAPACK_GLOBAL(zporfsx,ZPORFSX)
-#define LAPACK_cporfsx LAPACK_GLOBAL(cporfsx,CPORFSX)
-#define LAPACK_spprfs LAPACK_GLOBAL(spprfs,SPPRFS)
-#define LAPACK_dpprfs LAPACK_GLOBAL(dpprfs,DPPRFS)
-#define LAPACK_cpprfs LAPACK_GLOBAL(cpprfs,CPPRFS)
-#define LAPACK_zpprfs LAPACK_GLOBAL(zpprfs,ZPPRFS)
-#define LAPACK_spbrfs LAPACK_GLOBAL(spbrfs,SPBRFS)
-#define LAPACK_dpbrfs LAPACK_GLOBAL(dpbrfs,DPBRFS)
-#define LAPACK_cpbrfs LAPACK_GLOBAL(cpbrfs,CPBRFS)
-#define LAPACK_zpbrfs LAPACK_GLOBAL(zpbrfs,ZPBRFS)
-#define LAPACK_sptrfs LAPACK_GLOBAL(sptrfs,SPTRFS)
-#define LAPACK_dptrfs LAPACK_GLOBAL(dptrfs,DPTRFS)
-#define LAPACK_cptrfs LAPACK_GLOBAL(cptrfs,CPTRFS)
-#define LAPACK_zptrfs LAPACK_GLOBAL(zptrfs,ZPTRFS)
-#define LAPACK_ssyrfs LAPACK_GLOBAL(ssyrfs,SSYRFS)
-#define LAPACK_dsyrfs LAPACK_GLOBAL(dsyrfs,DSYRFS)
-#define LAPACK_csyrfs LAPACK_GLOBAL(csyrfs,CSYRFS)
-#define LAPACK_zsyrfs LAPACK_GLOBAL(zsyrfs,ZSYRFS)
-#define LAPACK_dsyrfsx LAPACK_GLOBAL(dsyrfsx,DSYRFSX)
-#define LAPACK_ssyrfsx LAPACK_GLOBAL(ssyrfsx,SSYRFSX)
-#define LAPACK_zsyrfsx LAPACK_GLOBAL(zsyrfsx,ZSYRFSX)
-#define LAPACK_csyrfsx LAPACK_GLOBAL(csyrfsx,CSYRFSX)
-#define LAPACK_cherfs LAPACK_GLOBAL(cherfs,CHERFS)
-#define LAPACK_zherfs LAPACK_GLOBAL(zherfs,ZHERFS)
-#define LAPACK_zherfsx LAPACK_GLOBAL(zherfsx,ZHERFSX)
-#define LAPACK_cherfsx LAPACK_GLOBAL(cherfsx,CHERFSX)
-#define LAPACK_ssprfs LAPACK_GLOBAL(ssprfs,SSPRFS)
-#define LAPACK_dsprfs LAPACK_GLOBAL(dsprfs,DSPRFS)
-#define LAPACK_csprfs LAPACK_GLOBAL(csprfs,CSPRFS)
-#define LAPACK_zsprfs LAPACK_GLOBAL(zsprfs,ZSPRFS)
-#define LAPACK_chprfs LAPACK_GLOBAL(chprfs,CHPRFS)
-#define LAPACK_zhprfs LAPACK_GLOBAL(zhprfs,ZHPRFS)
-#define LAPACK_strrfs LAPACK_GLOBAL(strrfs,STRRFS)
-#define LAPACK_dtrrfs LAPACK_GLOBAL(dtrrfs,DTRRFS)
-#define LAPACK_ctrrfs LAPACK_GLOBAL(ctrrfs,CTRRFS)
-#define LAPACK_ztrrfs LAPACK_GLOBAL(ztrrfs,ZTRRFS)
-#define LAPACK_stprfs LAPACK_GLOBAL(stprfs,STPRFS)
-#define LAPACK_dtprfs LAPACK_GLOBAL(dtprfs,DTPRFS)
-#define LAPACK_ctprfs LAPACK_GLOBAL(ctprfs,CTPRFS)
-#define LAPACK_ztprfs LAPACK_GLOBAL(ztprfs,ZTPRFS)
-#define LAPACK_stbrfs LAPACK_GLOBAL(stbrfs,STBRFS)
-#define LAPACK_dtbrfs LAPACK_GLOBAL(dtbrfs,DTBRFS)
-#define LAPACK_ctbrfs LAPACK_GLOBAL(ctbrfs,CTBRFS)
-#define LAPACK_ztbrfs LAPACK_GLOBAL(ztbrfs,ZTBRFS)
-#define LAPACK_sgetri LAPACK_GLOBAL(sgetri,SGETRI)
-#define LAPACK_dgetri LAPACK_GLOBAL(dgetri,DGETRI)
-#define LAPACK_cgetri LAPACK_GLOBAL(cgetri,CGETRI)
-#define LAPACK_zgetri LAPACK_GLOBAL(zgetri,ZGETRI)
-#define LAPACK_spotri LAPACK_GLOBAL(spotri,SPOTRI)
-#define LAPACK_dpotri LAPACK_GLOBAL(dpotri,DPOTRI)
-#define LAPACK_cpotri LAPACK_GLOBAL(cpotri,CPOTRI)
-#define LAPACK_zpotri LAPACK_GLOBAL(zpotri,ZPOTRI)
-#define LAPACK_dpftri LAPACK_GLOBAL(dpftri,DPFTRI)
-#define LAPACK_spftri LAPACK_GLOBAL(spftri,SPFTRI)
-#define LAPACK_zpftri LAPACK_GLOBAL(zpftri,ZPFTRI)
-#define LAPACK_cpftri LAPACK_GLOBAL(cpftri,CPFTRI)
-#define LAPACK_spptri LAPACK_GLOBAL(spptri,SPPTRI)
-#define LAPACK_dpptri LAPACK_GLOBAL(dpptri,DPPTRI)
-#define LAPACK_cpptri LAPACK_GLOBAL(cpptri,CPPTRI)
-#define LAPACK_zpptri LAPACK_GLOBAL(zpptri,ZPPTRI)
-#define LAPACK_ssytri LAPACK_GLOBAL(ssytri,SSYTRI)
-#define LAPACK_dsytri LAPACK_GLOBAL(dsytri,DSYTRI)
-#define LAPACK_csytri LAPACK_GLOBAL(csytri,CSYTRI)
-#define LAPACK_zsytri LAPACK_GLOBAL(zsytri,ZSYTRI)
-#define LAPACK_chetri LAPACK_GLOBAL(chetri,CHETRI)
-#define LAPACK_zhetri LAPACK_GLOBAL(zhetri,ZHETRI)
-#define LAPACK_ssptri LAPACK_GLOBAL(ssptri,SSPTRI)
-#define LAPACK_dsptri LAPACK_GLOBAL(dsptri,DSPTRI)
-#define LAPACK_csptri LAPACK_GLOBAL(csptri,CSPTRI)
-#define LAPACK_zsptri LAPACK_GLOBAL(zsptri,ZSPTRI)
-#define LAPACK_chptri LAPACK_GLOBAL(chptri,CHPTRI)
-#define LAPACK_zhptri LAPACK_GLOBAL(zhptri,ZHPTRI)
-#define LAPACK_strtri LAPACK_GLOBAL(strtri,STRTRI)
-#define LAPACK_dtrtri LAPACK_GLOBAL(dtrtri,DTRTRI)
-#define LAPACK_ctrtri LAPACK_GLOBAL(ctrtri,CTRTRI)
-#define LAPACK_ztrtri LAPACK_GLOBAL(ztrtri,ZTRTRI)
-#define LAPACK_dtftri LAPACK_GLOBAL(dtftri,DTFTRI)
-#define LAPACK_stftri LAPACK_GLOBAL(stftri,STFTRI)
-#define LAPACK_ztftri LAPACK_GLOBAL(ztftri,ZTFTRI)
-#define LAPACK_ctftri LAPACK_GLOBAL(ctftri,CTFTRI)
-#define LAPACK_stptri LAPACK_GLOBAL(stptri,STPTRI)
-#define LAPACK_dtptri LAPACK_GLOBAL(dtptri,DTPTRI)
-#define LAPACK_ctptri LAPACK_GLOBAL(ctptri,CTPTRI)
-#define LAPACK_ztptri LAPACK_GLOBAL(ztptri,ZTPTRI)
-#define LAPACK_sgeequ LAPACK_GLOBAL(sgeequ,SGEEQU)
-#define LAPACK_dgeequ LAPACK_GLOBAL(dgeequ,DGEEQU)
-#define LAPACK_cgeequ LAPACK_GLOBAL(cgeequ,CGEEQU)
-#define LAPACK_zgeequ LAPACK_GLOBAL(zgeequ,ZGEEQU)
-#define LAPACK_dgeequb LAPACK_GLOBAL(dgeequb,DGEEQUB)
-#define LAPACK_sgeequb LAPACK_GLOBAL(sgeequb,SGEEQUB)
-#define LAPACK_zgeequb LAPACK_GLOBAL(zgeequb,ZGEEQUB)
-#define LAPACK_cgeequb LAPACK_GLOBAL(cgeequb,CGEEQUB)
-#define LAPACK_sgbequ LAPACK_GLOBAL(sgbequ,SGBEQU)
-#define LAPACK_dgbequ LAPACK_GLOBAL(dgbequ,DGBEQU)
-#define LAPACK_cgbequ LAPACK_GLOBAL(cgbequ,CGBEQU)
-#define LAPACK_zgbequ LAPACK_GLOBAL(zgbequ,ZGBEQU)
-#define LAPACK_dgbequb LAPACK_GLOBAL(dgbequb,DGBEQUB)
-#define LAPACK_sgbequb LAPACK_GLOBAL(sgbequb,SGBEQUB)
-#define LAPACK_zgbequb LAPACK_GLOBAL(zgbequb,ZGBEQUB)
-#define LAPACK_cgbequb LAPACK_GLOBAL(cgbequb,CGBEQUB)
-#define LAPACK_spoequ LAPACK_GLOBAL(spoequ,SPOEQU)
-#define LAPACK_dpoequ LAPACK_GLOBAL(dpoequ,DPOEQU)
-#define LAPACK_cpoequ LAPACK_GLOBAL(cpoequ,CPOEQU)
-#define LAPACK_zpoequ LAPACK_GLOBAL(zpoequ,ZPOEQU)
-#define LAPACK_dpoequb LAPACK_GLOBAL(dpoequb,DPOEQUB)
-#define LAPACK_spoequb LAPACK_GLOBAL(spoequb,SPOEQUB)
-#define LAPACK_zpoequb LAPACK_GLOBAL(zpoequb,ZPOEQUB)
-#define LAPACK_cpoequb LAPACK_GLOBAL(cpoequb,CPOEQUB)
-#define LAPACK_sppequ LAPACK_GLOBAL(sppequ,SPPEQU)
-#define LAPACK_dppequ LAPACK_GLOBAL(dppequ,DPPEQU)
-#define LAPACK_cppequ LAPACK_GLOBAL(cppequ,CPPEQU)
-#define LAPACK_zppequ LAPACK_GLOBAL(zppequ,ZPPEQU)
-#define LAPACK_spbequ LAPACK_GLOBAL(spbequ,SPBEQU)
-#define LAPACK_dpbequ LAPACK_GLOBAL(dpbequ,DPBEQU)
-#define LAPACK_cpbequ LAPACK_GLOBAL(cpbequ,CPBEQU)
-#define LAPACK_zpbequ LAPACK_GLOBAL(zpbequ,ZPBEQU)
-#define LAPACK_dsyequb LAPACK_GLOBAL(dsyequb,DSYEQUB)
-#define LAPACK_ssyequb LAPACK_GLOBAL(ssyequb,SSYEQUB)
-#define LAPACK_zsyequb LAPACK_GLOBAL(zsyequb,ZSYEQUB)
-#define LAPACK_csyequb LAPACK_GLOBAL(csyequb,CSYEQUB)
-#define LAPACK_zheequb LAPACK_GLOBAL(zheequb,ZHEEQUB)
-#define LAPACK_cheequb LAPACK_GLOBAL(cheequb,CHEEQUB)
-#define LAPACK_sgesv LAPACK_GLOBAL(sgesv,SGESV)
-#define LAPACK_dgesv LAPACK_GLOBAL(dgesv,DGESV)
-#define LAPACK_cgesv LAPACK_GLOBAL(cgesv,CGESV)
-#define LAPACK_zgesv LAPACK_GLOBAL(zgesv,ZGESV)
-#define LAPACK_dsgesv LAPACK_GLOBAL(dsgesv,DSGESV)
-#define LAPACK_zcgesv LAPACK_GLOBAL(zcgesv,ZCGESV)
-#define LAPACK_sgesvx LAPACK_GLOBAL(sgesvx,SGESVX)
-#define LAPACK_dgesvx LAPACK_GLOBAL(dgesvx,DGESVX)
-#define LAPACK_cgesvx LAPACK_GLOBAL(cgesvx,CGESVX)
-#define LAPACK_zgesvx LAPACK_GLOBAL(zgesvx,ZGESVX)
-#define LAPACK_dgesvxx LAPACK_GLOBAL(dgesvxx,DGESVXX)
-#define LAPACK_sgesvxx LAPACK_GLOBAL(sgesvxx,SGESVXX)
-#define LAPACK_zgesvxx LAPACK_GLOBAL(zgesvxx,ZGESVXX)
-#define LAPACK_cgesvxx LAPACK_GLOBAL(cgesvxx,CGESVXX)
-#define LAPACK_sgbsv LAPACK_GLOBAL(sgbsv,SGBSV)
-#define LAPACK_dgbsv LAPACK_GLOBAL(dgbsv,DGBSV)
-#define LAPACK_cgbsv LAPACK_GLOBAL(cgbsv,CGBSV)
-#define LAPACK_zgbsv LAPACK_GLOBAL(zgbsv,ZGBSV)
-#define LAPACK_sgbsvx LAPACK_GLOBAL(sgbsvx,SGBSVX)
-#define LAPACK_dgbsvx LAPACK_GLOBAL(dgbsvx,DGBSVX)
-#define LAPACK_cgbsvx LAPACK_GLOBAL(cgbsvx,CGBSVX)
-#define LAPACK_zgbsvx LAPACK_GLOBAL(zgbsvx,ZGBSVX)
-#define LAPACK_dgbsvxx LAPACK_GLOBAL(dgbsvxx,DGBSVXX)
-#define LAPACK_sgbsvxx LAPACK_GLOBAL(sgbsvxx,SGBSVXX)
-#define LAPACK_zgbsvxx LAPACK_GLOBAL(zgbsvxx,ZGBSVXX)
-#define LAPACK_cgbsvxx LAPACK_GLOBAL(cgbsvxx,CGBSVXX)
-#define LAPACK_sgtsv LAPACK_GLOBAL(sgtsv,SGTSV)
-#define LAPACK_dgtsv LAPACK_GLOBAL(dgtsv,DGTSV)
-#define LAPACK_cgtsv LAPACK_GLOBAL(cgtsv,CGTSV)
-#define LAPACK_zgtsv LAPACK_GLOBAL(zgtsv,ZGTSV)
-#define LAPACK_sgtsvx LAPACK_GLOBAL(sgtsvx,SGTSVX)
-#define LAPACK_dgtsvx LAPACK_GLOBAL(dgtsvx,DGTSVX)
-#define LAPACK_cgtsvx LAPACK_GLOBAL(cgtsvx,CGTSVX)
-#define LAPACK_zgtsvx LAPACK_GLOBAL(zgtsvx,ZGTSVX)
-#define LAPACK_sposv LAPACK_GLOBAL(sposv,SPOSV)
-#define LAPACK_dposv LAPACK_GLOBAL(dposv,DPOSV)
-#define LAPACK_cposv LAPACK_GLOBAL(cposv,CPOSV)
-#define LAPACK_zposv LAPACK_GLOBAL(zposv,ZPOSV)
-#define LAPACK_dsposv LAPACK_GLOBAL(dsposv,DSPOSV)
-#define LAPACK_zcposv LAPACK_GLOBAL(zcposv,ZCPOSV)
-#define LAPACK_sposvx LAPACK_GLOBAL(sposvx,SPOSVX)
-#define LAPACK_dposvx LAPACK_GLOBAL(dposvx,DPOSVX)
-#define LAPACK_cposvx LAPACK_GLOBAL(cposvx,CPOSVX)
-#define LAPACK_zposvx LAPACK_GLOBAL(zposvx,ZPOSVX)
-#define LAPACK_dposvxx LAPACK_GLOBAL(dposvxx,DPOSVXX)
-#define LAPACK_sposvxx LAPACK_GLOBAL(sposvxx,SPOSVXX)
-#define LAPACK_zposvxx LAPACK_GLOBAL(zposvxx,ZPOSVXX)
-#define LAPACK_cposvxx LAPACK_GLOBAL(cposvxx,CPOSVXX)
-#define LAPACK_sppsv LAPACK_GLOBAL(sppsv,SPPSV)
-#define LAPACK_dppsv LAPACK_GLOBAL(dppsv,DPPSV)
-#define LAPACK_cppsv LAPACK_GLOBAL(cppsv,CPPSV)
-#define LAPACK_zppsv LAPACK_GLOBAL(zppsv,ZPPSV)
-#define LAPACK_sppsvx LAPACK_GLOBAL(sppsvx,SPPSVX)
-#define LAPACK_dppsvx LAPACK_GLOBAL(dppsvx,DPPSVX)
-#define LAPACK_cppsvx LAPACK_GLOBAL(cppsvx,CPPSVX)
-#define LAPACK_zppsvx LAPACK_GLOBAL(zppsvx,ZPPSVX)
-#define LAPACK_spbsv LAPACK_GLOBAL(spbsv,SPBSV)
-#define LAPACK_dpbsv LAPACK_GLOBAL(dpbsv,DPBSV)
-#define LAPACK_cpbsv LAPACK_GLOBAL(cpbsv,CPBSV)
-#define LAPACK_zpbsv LAPACK_GLOBAL(zpbsv,ZPBSV)
-#define LAPACK_spbsvx LAPACK_GLOBAL(spbsvx,SPBSVX)
-#define LAPACK_dpbsvx LAPACK_GLOBAL(dpbsvx,DPBSVX)
-#define LAPACK_cpbsvx LAPACK_GLOBAL(cpbsvx,CPBSVX)
-#define LAPACK_zpbsvx LAPACK_GLOBAL(zpbsvx,ZPBSVX)
-#define LAPACK_sptsv LAPACK_GLOBAL(sptsv,SPTSV)
-#define LAPACK_dptsv LAPACK_GLOBAL(dptsv,DPTSV)
-#define LAPACK_cptsv LAPACK_GLOBAL(cptsv,CPTSV)
-#define LAPACK_zptsv LAPACK_GLOBAL(zptsv,ZPTSV)
-#define LAPACK_sptsvx LAPACK_GLOBAL(sptsvx,SPTSVX)
-#define LAPACK_dptsvx LAPACK_GLOBAL(dptsvx,DPTSVX)
-#define LAPACK_cptsvx LAPACK_GLOBAL(cptsvx,CPTSVX)
-#define LAPACK_zptsvx LAPACK_GLOBAL(zptsvx,ZPTSVX)
-#define LAPACK_ssysv LAPACK_GLOBAL(ssysv,SSYSV)
-#define LAPACK_dsysv LAPACK_GLOBAL(dsysv,DSYSV)
-#define LAPACK_csysv LAPACK_GLOBAL(csysv,CSYSV)
-#define LAPACK_zsysv LAPACK_GLOBAL(zsysv,ZSYSV)
-#define LAPACK_ssysvx LAPACK_GLOBAL(ssysvx,SSYSVX)
-#define LAPACK_dsysvx LAPACK_GLOBAL(dsysvx,DSYSVX)
-#define LAPACK_csysvx LAPACK_GLOBAL(csysvx,CSYSVX)
-#define LAPACK_zsysvx LAPACK_GLOBAL(zsysvx,ZSYSVX)
-#define LAPACK_dsysvxx LAPACK_GLOBAL(dsysvxx,DSYSVXX)
-#define LAPACK_ssysvxx LAPACK_GLOBAL(ssysvxx,SSYSVXX)
-#define LAPACK_zsysvxx LAPACK_GLOBAL(zsysvxx,ZSYSVXX)
-#define LAPACK_csysvxx LAPACK_GLOBAL(csysvxx,CSYSVXX)
-#define LAPACK_chesv LAPACK_GLOBAL(chesv,CHESV)
-#define LAPACK_zhesv LAPACK_GLOBAL(zhesv,ZHESV)
-#define LAPACK_chesvx LAPACK_GLOBAL(chesvx,CHESVX)
-#define LAPACK_zhesvx LAPACK_GLOBAL(zhesvx,ZHESVX)
-#define LAPACK_zhesvxx LAPACK_GLOBAL(zhesvxx,ZHESVXX)
-#define LAPACK_chesvxx LAPACK_GLOBAL(chesvxx,CHESVXX)
-#define LAPACK_sspsv LAPACK_GLOBAL(sspsv,SSPSV)
-#define LAPACK_dspsv LAPACK_GLOBAL(dspsv,DSPSV)
-#define LAPACK_cspsv LAPACK_GLOBAL(cspsv,CSPSV)
-#define LAPACK_zspsv LAPACK_GLOBAL(zspsv,ZSPSV)
-#define LAPACK_sspsvx LAPACK_GLOBAL(sspsvx,SSPSVX)
-#define LAPACK_dspsvx LAPACK_GLOBAL(dspsvx,DSPSVX)
-#define LAPACK_cspsvx LAPACK_GLOBAL(cspsvx,CSPSVX)
-#define LAPACK_zspsvx LAPACK_GLOBAL(zspsvx,ZSPSVX)
-#define LAPACK_chpsv LAPACK_GLOBAL(chpsv,CHPSV)
-#define LAPACK_zhpsv LAPACK_GLOBAL(zhpsv,ZHPSV)
-#define LAPACK_chpsvx LAPACK_GLOBAL(chpsvx,CHPSVX)
-#define LAPACK_zhpsvx LAPACK_GLOBAL(zhpsvx,ZHPSVX)
-#define LAPACK_sgeqrf LAPACK_GLOBAL(sgeqrf,SGEQRF)
-#define LAPACK_dgeqrf LAPACK_GLOBAL(dgeqrf,DGEQRF)
-#define LAPACK_cgeqrf LAPACK_GLOBAL(cgeqrf,CGEQRF)
-#define LAPACK_zgeqrf LAPACK_GLOBAL(zgeqrf,ZGEQRF)
-#define LAPACK_sgeqpf LAPACK_GLOBAL(sgeqpf,SGEQPF)
-#define LAPACK_dgeqpf LAPACK_GLOBAL(dgeqpf,DGEQPF)
-#define LAPACK_cgeqpf LAPACK_GLOBAL(cgeqpf,CGEQPF)
-#define LAPACK_zgeqpf LAPACK_GLOBAL(zgeqpf,ZGEQPF)
-#define LAPACK_sgeqp3 LAPACK_GLOBAL(sgeqp3,SGEQP3)
-#define LAPACK_dgeqp3 LAPACK_GLOBAL(dgeqp3,DGEQP3)
-#define LAPACK_cgeqp3 LAPACK_GLOBAL(cgeqp3,CGEQP3)
-#define LAPACK_zgeqp3 LAPACK_GLOBAL(zgeqp3,ZGEQP3)
-#define LAPACK_sorgqr LAPACK_GLOBAL(sorgqr,SORGQR)
-#define LAPACK_dorgqr LAPACK_GLOBAL(dorgqr,DORGQR)
-#define LAPACK_sormqr LAPACK_GLOBAL(sormqr,SORMQR)
-#define LAPACK_dormqr LAPACK_GLOBAL(dormqr,DORMQR)
-#define LAPACK_cungqr LAPACK_GLOBAL(cungqr,CUNGQR)
-#define LAPACK_zungqr LAPACK_GLOBAL(zungqr,ZUNGQR)
-#define LAPACK_cunmqr LAPACK_GLOBAL(cunmqr,CUNMQR)
-#define LAPACK_zunmqr LAPACK_GLOBAL(zunmqr,ZUNMQR)
-#define LAPACK_sgelqf LAPACK_GLOBAL(sgelqf,SGELQF)
-#define LAPACK_dgelqf LAPACK_GLOBAL(dgelqf,DGELQF)
-#define LAPACK_cgelqf LAPACK_GLOBAL(cgelqf,CGELQF)
-#define LAPACK_zgelqf LAPACK_GLOBAL(zgelqf,ZGELQF)
-#define LAPACK_sorglq LAPACK_GLOBAL(sorglq,SORGLQ)
-#define LAPACK_dorglq LAPACK_GLOBAL(dorglq,DORGLQ)
-#define LAPACK_sormlq LAPACK_GLOBAL(sormlq,SORMLQ)
-#define LAPACK_dormlq LAPACK_GLOBAL(dormlq,DORMLQ)
-#define LAPACK_cunglq LAPACK_GLOBAL(cunglq,CUNGLQ)
-#define LAPACK_zunglq LAPACK_GLOBAL(zunglq,ZUNGLQ)
-#define LAPACK_cunmlq LAPACK_GLOBAL(cunmlq,CUNMLQ)
-#define LAPACK_zunmlq LAPACK_GLOBAL(zunmlq,ZUNMLQ)
-#define LAPACK_sgeqlf LAPACK_GLOBAL(sgeqlf,SGEQLF)
-#define LAPACK_dgeqlf LAPACK_GLOBAL(dgeqlf,DGEQLF)
-#define LAPACK_cgeqlf LAPACK_GLOBAL(cgeqlf,CGEQLF)
-#define LAPACK_zgeqlf LAPACK_GLOBAL(zgeqlf,ZGEQLF)
-#define LAPACK_sorgql LAPACK_GLOBAL(sorgql,SORGQL)
-#define LAPACK_dorgql LAPACK_GLOBAL(dorgql,DORGQL)
-#define LAPACK_cungql LAPACK_GLOBAL(cungql,CUNGQL)
-#define LAPACK_zungql LAPACK_GLOBAL(zungql,ZUNGQL)
-#define LAPACK_sormql LAPACK_GLOBAL(sormql,SORMQL)
-#define LAPACK_dormql LAPACK_GLOBAL(dormql,DORMQL)
-#define LAPACK_cunmql LAPACK_GLOBAL(cunmql,CUNMQL)
-#define LAPACK_zunmql LAPACK_GLOBAL(zunmql,ZUNMQL)
-#define LAPACK_sgerqf LAPACK_GLOBAL(sgerqf,SGERQF)
-#define LAPACK_dgerqf LAPACK_GLOBAL(dgerqf,DGERQF)
-#define LAPACK_cgerqf LAPACK_GLOBAL(cgerqf,CGERQF)
-#define LAPACK_zgerqf LAPACK_GLOBAL(zgerqf,ZGERQF)
-#define LAPACK_sorgrq LAPACK_GLOBAL(sorgrq,SORGRQ)
-#define LAPACK_dorgrq LAPACK_GLOBAL(dorgrq,DORGRQ)
-#define LAPACK_cungrq LAPACK_GLOBAL(cungrq,CUNGRQ)
-#define LAPACK_zungrq LAPACK_GLOBAL(zungrq,ZUNGRQ)
-#define LAPACK_sormrq LAPACK_GLOBAL(sormrq,SORMRQ)
-#define LAPACK_dormrq LAPACK_GLOBAL(dormrq,DORMRQ)
-#define LAPACK_cunmrq LAPACK_GLOBAL(cunmrq,CUNMRQ)
-#define LAPACK_zunmrq LAPACK_GLOBAL(zunmrq,ZUNMRQ)
-#define LAPACK_stzrzf LAPACK_GLOBAL(stzrzf,STZRZF)
-#define LAPACK_dtzrzf LAPACK_GLOBAL(dtzrzf,DTZRZF)
-#define LAPACK_ctzrzf LAPACK_GLOBAL(ctzrzf,CTZRZF)
-#define LAPACK_ztzrzf LAPACK_GLOBAL(ztzrzf,ZTZRZF)
-#define LAPACK_sormrz LAPACK_GLOBAL(sormrz,SORMRZ)
-#define LAPACK_dormrz LAPACK_GLOBAL(dormrz,DORMRZ)
-#define LAPACK_cunmrz LAPACK_GLOBAL(cunmrz,CUNMRZ)
-#define LAPACK_zunmrz LAPACK_GLOBAL(zunmrz,ZUNMRZ)
-#define LAPACK_sggqrf LAPACK_GLOBAL(sggqrf,SGGQRF)
-#define LAPACK_dggqrf LAPACK_GLOBAL(dggqrf,DGGQRF)
-#define LAPACK_cggqrf LAPACK_GLOBAL(cggqrf,CGGQRF)
-#define LAPACK_zggqrf LAPACK_GLOBAL(zggqrf,ZGGQRF)
-#define LAPACK_sggrqf LAPACK_GLOBAL(sggrqf,SGGRQF)
-#define LAPACK_dggrqf LAPACK_GLOBAL(dggrqf,DGGRQF)
-#define LAPACK_cggrqf LAPACK_GLOBAL(cggrqf,CGGRQF)
-#define LAPACK_zggrqf LAPACK_GLOBAL(zggrqf,ZGGRQF)
-#define LAPACK_sgebrd LAPACK_GLOBAL(sgebrd,SGEBRD)
-#define LAPACK_dgebrd LAPACK_GLOBAL(dgebrd,DGEBRD)
-#define LAPACK_cgebrd LAPACK_GLOBAL(cgebrd,CGEBRD)
-#define LAPACK_zgebrd LAPACK_GLOBAL(zgebrd,ZGEBRD)
-#define LAPACK_sgbbrd LAPACK_GLOBAL(sgbbrd,SGBBRD)
-#define LAPACK_dgbbrd LAPACK_GLOBAL(dgbbrd,DGBBRD)
-#define LAPACK_cgbbrd LAPACK_GLOBAL(cgbbrd,CGBBRD)
-#define LAPACK_zgbbrd LAPACK_GLOBAL(zgbbrd,ZGBBRD)
-#define LAPACK_sorgbr LAPACK_GLOBAL(sorgbr,SORGBR)
-#define LAPACK_dorgbr LAPACK_GLOBAL(dorgbr,DORGBR)
-#define LAPACK_sormbr LAPACK_GLOBAL(sormbr,SORMBR)
-#define LAPACK_dormbr LAPACK_GLOBAL(dormbr,DORMBR)
-#define LAPACK_cungbr LAPACK_GLOBAL(cungbr,CUNGBR)
-#define LAPACK_zungbr LAPACK_GLOBAL(zungbr,ZUNGBR)
-#define LAPACK_cunmbr LAPACK_GLOBAL(cunmbr,CUNMBR)
-#define LAPACK_zunmbr LAPACK_GLOBAL(zunmbr,ZUNMBR)
-#define LAPACK_sbdsqr LAPACK_GLOBAL(sbdsqr,SBDSQR)
-#define LAPACK_dbdsqr LAPACK_GLOBAL(dbdsqr,DBDSQR)
-#define LAPACK_cbdsqr LAPACK_GLOBAL(cbdsqr,CBDSQR)
-#define LAPACK_zbdsqr LAPACK_GLOBAL(zbdsqr,ZBDSQR)
-#define LAPACK_sbdsdc LAPACK_GLOBAL(sbdsdc,SBDSDC)
-#define LAPACK_dbdsdc LAPACK_GLOBAL(dbdsdc,DBDSDC)
-#define LAPACK_ssytrd LAPACK_GLOBAL(ssytrd,SSYTRD)
-#define LAPACK_dsytrd LAPACK_GLOBAL(dsytrd,DSYTRD)
-#define LAPACK_sorgtr LAPACK_GLOBAL(sorgtr,SORGTR)
-#define LAPACK_dorgtr LAPACK_GLOBAL(dorgtr,DORGTR)
-#define LAPACK_sormtr LAPACK_GLOBAL(sormtr,SORMTR)
-#define LAPACK_dormtr LAPACK_GLOBAL(dormtr,DORMTR)
-#define LAPACK_chetrd LAPACK_GLOBAL(chetrd,CHETRD)
-#define LAPACK_zhetrd LAPACK_GLOBAL(zhetrd,ZHETRD)
-#define LAPACK_cungtr LAPACK_GLOBAL(cungtr,CUNGTR)
-#define LAPACK_zungtr LAPACK_GLOBAL(zungtr,ZUNGTR)
-#define LAPACK_cunmtr LAPACK_GLOBAL(cunmtr,CUNMTR)
-#define LAPACK_zunmtr LAPACK_GLOBAL(zunmtr,ZUNMTR)
-#define LAPACK_ssptrd LAPACK_GLOBAL(ssptrd,SSPTRD)
-#define LAPACK_dsptrd LAPACK_GLOBAL(dsptrd,DSPTRD)
-#define LAPACK_sopgtr LAPACK_GLOBAL(sopgtr,SOPGTR)
-#define LAPACK_dopgtr LAPACK_GLOBAL(dopgtr,DOPGTR)
-#define LAPACK_sopmtr LAPACK_GLOBAL(sopmtr,SOPMTR)
-#define LAPACK_dopmtr LAPACK_GLOBAL(dopmtr,DOPMTR)
-#define LAPACK_chptrd LAPACK_GLOBAL(chptrd,CHPTRD)
-#define LAPACK_zhptrd LAPACK_GLOBAL(zhptrd,ZHPTRD)
-#define LAPACK_cupgtr LAPACK_GLOBAL(cupgtr,CUPGTR)
-#define LAPACK_zupgtr LAPACK_GLOBAL(zupgtr,ZUPGTR)
-#define LAPACK_cupmtr LAPACK_GLOBAL(cupmtr,CUPMTR)
-#define LAPACK_zupmtr LAPACK_GLOBAL(zupmtr,ZUPMTR)
-#define LAPACK_ssbtrd LAPACK_GLOBAL(ssbtrd,SSBTRD)
-#define LAPACK_dsbtrd LAPACK_GLOBAL(dsbtrd,DSBTRD)
-#define LAPACK_chbtrd LAPACK_GLOBAL(chbtrd,CHBTRD)
-#define LAPACK_zhbtrd LAPACK_GLOBAL(zhbtrd,ZHBTRD)
-#define LAPACK_ssterf LAPACK_GLOBAL(ssterf,SSTERF)
-#define LAPACK_dsterf LAPACK_GLOBAL(dsterf,DSTERF)
-#define LAPACK_ssteqr LAPACK_GLOBAL(ssteqr,SSTEQR)
-#define LAPACK_dsteqr LAPACK_GLOBAL(dsteqr,DSTEQR)
-#define LAPACK_csteqr LAPACK_GLOBAL(csteqr,CSTEQR)
-#define LAPACK_zsteqr LAPACK_GLOBAL(zsteqr,ZSTEQR)
-#define LAPACK_sstemr LAPACK_GLOBAL(sstemr,SSTEMR)
-#define LAPACK_dstemr LAPACK_GLOBAL(dstemr,DSTEMR)
-#define LAPACK_cstemr LAPACK_GLOBAL(cstemr,CSTEMR)
-#define LAPACK_zstemr LAPACK_GLOBAL(zstemr,ZSTEMR)
-#define LAPACK_sstedc LAPACK_GLOBAL(sstedc,SSTEDC)
-#define LAPACK_dstedc LAPACK_GLOBAL(dstedc,DSTEDC)
-#define LAPACK_cstedc LAPACK_GLOBAL(cstedc,CSTEDC)
-#define LAPACK_zstedc LAPACK_GLOBAL(zstedc,ZSTEDC)
-#define LAPACK_sstegr LAPACK_GLOBAL(sstegr,SSTEGR)
-#define LAPACK_dstegr LAPACK_GLOBAL(dstegr,DSTEGR)
-#define LAPACK_cstegr LAPACK_GLOBAL(cstegr,CSTEGR)
-#define LAPACK_zstegr LAPACK_GLOBAL(zstegr,ZSTEGR)
-#define LAPACK_spteqr LAPACK_GLOBAL(spteqr,SPTEQR)
-#define LAPACK_dpteqr LAPACK_GLOBAL(dpteqr,DPTEQR)
-#define LAPACK_cpteqr LAPACK_GLOBAL(cpteqr,CPTEQR)
-#define LAPACK_zpteqr LAPACK_GLOBAL(zpteqr,ZPTEQR)
-#define LAPACK_sstebz LAPACK_GLOBAL(sstebz,SSTEBZ)
-#define LAPACK_dstebz LAPACK_GLOBAL(dstebz,DSTEBZ)
-#define LAPACK_sstein LAPACK_GLOBAL(sstein,SSTEIN)
-#define LAPACK_dstein LAPACK_GLOBAL(dstein,DSTEIN)
-#define LAPACK_cstein LAPACK_GLOBAL(cstein,CSTEIN)
-#define LAPACK_zstein LAPACK_GLOBAL(zstein,ZSTEIN)
-#define LAPACK_sdisna LAPACK_GLOBAL(sdisna,SDISNA)
-#define LAPACK_ddisna LAPACK_GLOBAL(ddisna,DDISNA)
-#define LAPACK_ssygst LAPACK_GLOBAL(ssygst,SSYGST)
-#define LAPACK_dsygst LAPACK_GLOBAL(dsygst,DSYGST)
-#define LAPACK_chegst LAPACK_GLOBAL(chegst,CHEGST)
-#define LAPACK_zhegst LAPACK_GLOBAL(zhegst,ZHEGST)
-#define LAPACK_sspgst LAPACK_GLOBAL(sspgst,SSPGST)
-#define LAPACK_dspgst LAPACK_GLOBAL(dspgst,DSPGST)
-#define LAPACK_chpgst LAPACK_GLOBAL(chpgst,CHPGST)
-#define LAPACK_zhpgst LAPACK_GLOBAL(zhpgst,ZHPGST)
-#define LAPACK_ssbgst LAPACK_GLOBAL(ssbgst,SSBGST)
-#define LAPACK_dsbgst LAPACK_GLOBAL(dsbgst,DSBGST)
-#define LAPACK_chbgst LAPACK_GLOBAL(chbgst,CHBGST)
-#define LAPACK_zhbgst LAPACK_GLOBAL(zhbgst,ZHBGST)
-#define LAPACK_spbstf LAPACK_GLOBAL(spbstf,SPBSTF)
-#define LAPACK_dpbstf LAPACK_GLOBAL(dpbstf,DPBSTF)
-#define LAPACK_cpbstf LAPACK_GLOBAL(cpbstf,CPBSTF)
-#define LAPACK_zpbstf LAPACK_GLOBAL(zpbstf,ZPBSTF)
-#define LAPACK_sgehrd LAPACK_GLOBAL(sgehrd,SGEHRD)
-#define LAPACK_dgehrd LAPACK_GLOBAL(dgehrd,DGEHRD)
-#define LAPACK_cgehrd LAPACK_GLOBAL(cgehrd,CGEHRD)
-#define LAPACK_zgehrd LAPACK_GLOBAL(zgehrd,ZGEHRD)
-#define LAPACK_sorghr LAPACK_GLOBAL(sorghr,SORGHR)
-#define LAPACK_dorghr LAPACK_GLOBAL(dorghr,DORGHR)
-#define LAPACK_sormhr LAPACK_GLOBAL(sormhr,SORMHR)
-#define LAPACK_dormhr LAPACK_GLOBAL(dormhr,DORMHR)
-#define LAPACK_cunghr LAPACK_GLOBAL(cunghr,CUNGHR)
-#define LAPACK_zunghr LAPACK_GLOBAL(zunghr,ZUNGHR)
-#define LAPACK_cunmhr LAPACK_GLOBAL(cunmhr,CUNMHR)
-#define LAPACK_zunmhr LAPACK_GLOBAL(zunmhr,ZUNMHR)
-#define LAPACK_sgebal LAPACK_GLOBAL(sgebal,SGEBAL)
-#define LAPACK_dgebal LAPACK_GLOBAL(dgebal,DGEBAL)
-#define LAPACK_cgebal LAPACK_GLOBAL(cgebal,CGEBAL)
-#define LAPACK_zgebal LAPACK_GLOBAL(zgebal,ZGEBAL)
-#define LAPACK_sgebak LAPACK_GLOBAL(sgebak,SGEBAK)
-#define LAPACK_dgebak LAPACK_GLOBAL(dgebak,DGEBAK)
-#define LAPACK_cgebak LAPACK_GLOBAL(cgebak,CGEBAK)
-#define LAPACK_zgebak LAPACK_GLOBAL(zgebak,ZGEBAK)
-#define LAPACK_shseqr LAPACK_GLOBAL(shseqr,SHSEQR)
-#define LAPACK_dhseqr LAPACK_GLOBAL(dhseqr,DHSEQR)
-#define LAPACK_chseqr LAPACK_GLOBAL(chseqr,CHSEQR)
-#define LAPACK_zhseqr LAPACK_GLOBAL(zhseqr,ZHSEQR)
-#define LAPACK_shsein LAPACK_GLOBAL(shsein,SHSEIN)
-#define LAPACK_dhsein LAPACK_GLOBAL(dhsein,DHSEIN)
-#define LAPACK_chsein LAPACK_GLOBAL(chsein,CHSEIN)
-#define LAPACK_zhsein LAPACK_GLOBAL(zhsein,ZHSEIN)
-#define LAPACK_strevc LAPACK_GLOBAL(strevc,STREVC)
-#define LAPACK_dtrevc LAPACK_GLOBAL(dtrevc,DTREVC)
-#define LAPACK_ctrevc LAPACK_GLOBAL(ctrevc,CTREVC)
-#define LAPACK_ztrevc LAPACK_GLOBAL(ztrevc,ZTREVC)
-#define LAPACK_strsna LAPACK_GLOBAL(strsna,STRSNA)
-#define LAPACK_dtrsna LAPACK_GLOBAL(dtrsna,DTRSNA)
-#define LAPACK_ctrsna LAPACK_GLOBAL(ctrsna,CTRSNA)
-#define LAPACK_ztrsna LAPACK_GLOBAL(ztrsna,ZTRSNA)
-#define LAPACK_strexc LAPACK_GLOBAL(strexc,STREXC)
-#define LAPACK_dtrexc LAPACK_GLOBAL(dtrexc,DTREXC)
-#define LAPACK_ctrexc LAPACK_GLOBAL(ctrexc,CTREXC)
-#define LAPACK_ztrexc LAPACK_GLOBAL(ztrexc,ZTREXC)
-#define LAPACK_strsen LAPACK_GLOBAL(strsen,STRSEN)
-#define LAPACK_dtrsen LAPACK_GLOBAL(dtrsen,DTRSEN)
-#define LAPACK_ctrsen LAPACK_GLOBAL(ctrsen,CTRSEN)
-#define LAPACK_ztrsen LAPACK_GLOBAL(ztrsen,ZTRSEN)
-#define LAPACK_strsyl LAPACK_GLOBAL(strsyl,STRSYL)
-#define LAPACK_dtrsyl LAPACK_GLOBAL(dtrsyl,DTRSYL)
-#define LAPACK_ctrsyl LAPACK_GLOBAL(ctrsyl,CTRSYL)
-#define LAPACK_ztrsyl LAPACK_GLOBAL(ztrsyl,ZTRSYL)
-#define LAPACK_sgghrd LAPACK_GLOBAL(sgghrd,SGGHRD)
-#define LAPACK_dgghrd LAPACK_GLOBAL(dgghrd,DGGHRD)
-#define LAPACK_cgghrd LAPACK_GLOBAL(cgghrd,CGGHRD)
-#define LAPACK_zgghrd LAPACK_GLOBAL(zgghrd,ZGGHRD)
-#define LAPACK_sggbal LAPACK_GLOBAL(sggbal,SGGBAL)
-#define LAPACK_dggbal LAPACK_GLOBAL(dggbal,DGGBAL)
-#define LAPACK_cggbal LAPACK_GLOBAL(cggbal,CGGBAL)
-#define LAPACK_zggbal LAPACK_GLOBAL(zggbal,ZGGBAL)
-#define LAPACK_sggbak LAPACK_GLOBAL(sggbak,SGGBAK)
-#define LAPACK_dggbak LAPACK_GLOBAL(dggbak,DGGBAK)
-#define LAPACK_cggbak LAPACK_GLOBAL(cggbak,CGGBAK)
-#define LAPACK_zggbak LAPACK_GLOBAL(zggbak,ZGGBAK)
-#define LAPACK_shgeqz LAPACK_GLOBAL(shgeqz,SHGEQZ)
-#define LAPACK_dhgeqz LAPACK_GLOBAL(dhgeqz,DHGEQZ)
-#define LAPACK_chgeqz LAPACK_GLOBAL(chgeqz,CHGEQZ)
-#define LAPACK_zhgeqz LAPACK_GLOBAL(zhgeqz,ZHGEQZ)
-#define LAPACK_stgevc LAPACK_GLOBAL(stgevc,STGEVC)
-#define LAPACK_dtgevc LAPACK_GLOBAL(dtgevc,DTGEVC)
-#define LAPACK_ctgevc LAPACK_GLOBAL(ctgevc,CTGEVC)
-#define LAPACK_ztgevc LAPACK_GLOBAL(ztgevc,ZTGEVC)
-#define LAPACK_stgexc LAPACK_GLOBAL(stgexc,STGEXC)
-#define LAPACK_dtgexc LAPACK_GLOBAL(dtgexc,DTGEXC)
-#define LAPACK_ctgexc LAPACK_GLOBAL(ctgexc,CTGEXC)
-#define LAPACK_ztgexc LAPACK_GLOBAL(ztgexc,ZTGEXC)
-#define LAPACK_stgsen LAPACK_GLOBAL(stgsen,STGSEN)
-#define LAPACK_dtgsen LAPACK_GLOBAL(dtgsen,DTGSEN)
-#define LAPACK_ctgsen LAPACK_GLOBAL(ctgsen,CTGSEN)
-#define LAPACK_ztgsen LAPACK_GLOBAL(ztgsen,ZTGSEN)
-#define LAPACK_stgsyl LAPACK_GLOBAL(stgsyl,STGSYL)
-#define LAPACK_dtgsyl LAPACK_GLOBAL(dtgsyl,DTGSYL)
-#define LAPACK_ctgsyl LAPACK_GLOBAL(ctgsyl,CTGSYL)
-#define LAPACK_ztgsyl LAPACK_GLOBAL(ztgsyl,ZTGSYL)
-#define LAPACK_stgsna LAPACK_GLOBAL(stgsna,STGSNA)
-#define LAPACK_dtgsna LAPACK_GLOBAL(dtgsna,DTGSNA)
-#define LAPACK_ctgsna LAPACK_GLOBAL(ctgsna,CTGSNA)
-#define LAPACK_ztgsna LAPACK_GLOBAL(ztgsna,ZTGSNA)
-#define LAPACK_sggsvp LAPACK_GLOBAL(sggsvp,SGGSVP)
-#define LAPACK_dggsvp LAPACK_GLOBAL(dggsvp,DGGSVP)
-#define LAPACK_cggsvp LAPACK_GLOBAL(cggsvp,CGGSVP)
-#define LAPACK_zggsvp LAPACK_GLOBAL(zggsvp,ZGGSVP)
-#define LAPACK_stgsja LAPACK_GLOBAL(stgsja,STGSJA)
-#define LAPACK_dtgsja LAPACK_GLOBAL(dtgsja,DTGSJA)
-#define LAPACK_ctgsja LAPACK_GLOBAL(ctgsja,CTGSJA)
-#define LAPACK_ztgsja LAPACK_GLOBAL(ztgsja,ZTGSJA)
-#define LAPACK_sgels LAPACK_GLOBAL(sgels,SGELS)
-#define LAPACK_dgels LAPACK_GLOBAL(dgels,DGELS)
-#define LAPACK_cgels LAPACK_GLOBAL(cgels,CGELS)
-#define LAPACK_zgels LAPACK_GLOBAL(zgels,ZGELS)
-#define LAPACK_sgelsy LAPACK_GLOBAL(sgelsy,SGELSY)
-#define LAPACK_dgelsy LAPACK_GLOBAL(dgelsy,DGELSY)
-#define LAPACK_cgelsy LAPACK_GLOBAL(cgelsy,CGELSY)
-#define LAPACK_zgelsy LAPACK_GLOBAL(zgelsy,ZGELSY)
-#define LAPACK_sgelss LAPACK_GLOBAL(sgelss,SGELSS)
-#define LAPACK_dgelss LAPACK_GLOBAL(dgelss,DGELSS)
-#define LAPACK_cgelss LAPACK_GLOBAL(cgelss,CGELSS)
-#define LAPACK_zgelss LAPACK_GLOBAL(zgelss,ZGELSS)
-#define LAPACK_sgelsd LAPACK_GLOBAL(sgelsd,SGELSD)
-#define LAPACK_dgelsd LAPACK_GLOBAL(dgelsd,DGELSD)
-#define LAPACK_cgelsd LAPACK_GLOBAL(cgelsd,CGELSD)
-#define LAPACK_zgelsd LAPACK_GLOBAL(zgelsd,ZGELSD)
-#define LAPACK_sgglse LAPACK_GLOBAL(sgglse,SGGLSE)
-#define LAPACK_dgglse LAPACK_GLOBAL(dgglse,DGGLSE)
-#define LAPACK_cgglse LAPACK_GLOBAL(cgglse,CGGLSE)
-#define LAPACK_zgglse LAPACK_GLOBAL(zgglse,ZGGLSE)
-#define LAPACK_sggglm LAPACK_GLOBAL(sggglm,SGGGLM)
-#define LAPACK_dggglm LAPACK_GLOBAL(dggglm,DGGGLM)
-#define LAPACK_cggglm LAPACK_GLOBAL(cggglm,CGGGLM)
-#define LAPACK_zggglm LAPACK_GLOBAL(zggglm,ZGGGLM)
-#define LAPACK_ssyev LAPACK_GLOBAL(ssyev,SSYEV)
-#define LAPACK_dsyev LAPACK_GLOBAL(dsyev,DSYEV)
-#define LAPACK_cheev LAPACK_GLOBAL(cheev,CHEEV)
-#define LAPACK_zheev LAPACK_GLOBAL(zheev,ZHEEV)
-#define LAPACK_ssyevd LAPACK_GLOBAL(ssyevd,SSYEVD)
-#define LAPACK_dsyevd LAPACK_GLOBAL(dsyevd,DSYEVD)
-#define LAPACK_cheevd LAPACK_GLOBAL(cheevd,CHEEVD)
-#define LAPACK_zheevd LAPACK_GLOBAL(zheevd,ZHEEVD)
-#define LAPACK_ssyevx LAPACK_GLOBAL(ssyevx,SSYEVX)
-#define LAPACK_dsyevx LAPACK_GLOBAL(dsyevx,DSYEVX)
-#define LAPACK_cheevx LAPACK_GLOBAL(cheevx,CHEEVX)
-#define LAPACK_zheevx LAPACK_GLOBAL(zheevx,ZHEEVX)
-#define LAPACK_ssyevr LAPACK_GLOBAL(ssyevr,SSYEVR)
-#define LAPACK_dsyevr LAPACK_GLOBAL(dsyevr,DSYEVR)
-#define LAPACK_cheevr LAPACK_GLOBAL(cheevr,CHEEVR)
-#define LAPACK_zheevr LAPACK_GLOBAL(zheevr,ZHEEVR)
-#define LAPACK_sspev LAPACK_GLOBAL(sspev,SSPEV)
-#define LAPACK_dspev LAPACK_GLOBAL(dspev,DSPEV)
-#define LAPACK_chpev LAPACK_GLOBAL(chpev,CHPEV)
-#define LAPACK_zhpev LAPACK_GLOBAL(zhpev,ZHPEV)
-#define LAPACK_sspevd LAPACK_GLOBAL(sspevd,SSPEVD)
-#define LAPACK_dspevd LAPACK_GLOBAL(dspevd,DSPEVD)
-#define LAPACK_chpevd LAPACK_GLOBAL(chpevd,CHPEVD)
-#define LAPACK_zhpevd LAPACK_GLOBAL(zhpevd,ZHPEVD)
-#define LAPACK_sspevx LAPACK_GLOBAL(sspevx,SSPEVX)
-#define LAPACK_dspevx LAPACK_GLOBAL(dspevx,DSPEVX)
-#define LAPACK_chpevx LAPACK_GLOBAL(chpevx,CHPEVX)
-#define LAPACK_zhpevx LAPACK_GLOBAL(zhpevx,ZHPEVX)
-#define LAPACK_ssbev LAPACK_GLOBAL(ssbev,SSBEV)
-#define LAPACK_dsbev LAPACK_GLOBAL(dsbev,DSBEV)
-#define LAPACK_chbev LAPACK_GLOBAL(chbev,CHBEV)
-#define LAPACK_zhbev LAPACK_GLOBAL(zhbev,ZHBEV)
-#define LAPACK_ssbevd LAPACK_GLOBAL(ssbevd,SSBEVD)
-#define LAPACK_dsbevd LAPACK_GLOBAL(dsbevd,DSBEVD)
-#define LAPACK_chbevd LAPACK_GLOBAL(chbevd,CHBEVD)
-#define LAPACK_zhbevd LAPACK_GLOBAL(zhbevd,ZHBEVD)
-#define LAPACK_ssbevx LAPACK_GLOBAL(ssbevx,SSBEVX)
-#define LAPACK_dsbevx LAPACK_GLOBAL(dsbevx,DSBEVX)
-#define LAPACK_chbevx LAPACK_GLOBAL(chbevx,CHBEVX)
-#define LAPACK_zhbevx LAPACK_GLOBAL(zhbevx,ZHBEVX)
-#define LAPACK_sstev LAPACK_GLOBAL(sstev,SSTEV)
-#define LAPACK_dstev LAPACK_GLOBAL(dstev,DSTEV)
-#define LAPACK_sstevd LAPACK_GLOBAL(sstevd,SSTEVD)
-#define LAPACK_dstevd LAPACK_GLOBAL(dstevd,DSTEVD)
-#define LAPACK_sstevx LAPACK_GLOBAL(sstevx,SSTEVX)
-#define LAPACK_dstevx LAPACK_GLOBAL(dstevx,DSTEVX)
-#define LAPACK_sstevr LAPACK_GLOBAL(sstevr,SSTEVR)
-#define LAPACK_dstevr LAPACK_GLOBAL(dstevr,DSTEVR)
-#define LAPACK_sgees LAPACK_GLOBAL(sgees,SGEES)
-#define LAPACK_dgees LAPACK_GLOBAL(dgees,DGEES)
-#define LAPACK_cgees LAPACK_GLOBAL(cgees,CGEES)
-#define LAPACK_zgees LAPACK_GLOBAL(zgees,ZGEES)
-#define LAPACK_sgeesx LAPACK_GLOBAL(sgeesx,SGEESX)
-#define LAPACK_dgeesx LAPACK_GLOBAL(dgeesx,DGEESX)
-#define LAPACK_cgeesx LAPACK_GLOBAL(cgeesx,CGEESX)
-#define LAPACK_zgeesx LAPACK_GLOBAL(zgeesx,ZGEESX)
-#define LAPACK_sgeev LAPACK_GLOBAL(sgeev,SGEEV)
-#define LAPACK_dgeev LAPACK_GLOBAL(dgeev,DGEEV)
-#define LAPACK_cgeev LAPACK_GLOBAL(cgeev,CGEEV)
-#define LAPACK_zgeev LAPACK_GLOBAL(zgeev,ZGEEV)
-#define LAPACK_sgeevx LAPACK_GLOBAL(sgeevx,SGEEVX)
-#define LAPACK_dgeevx LAPACK_GLOBAL(dgeevx,DGEEVX)
-#define LAPACK_cgeevx LAPACK_GLOBAL(cgeevx,CGEEVX)
-#define LAPACK_zgeevx LAPACK_GLOBAL(zgeevx,ZGEEVX)
-#define LAPACK_sgesvd LAPACK_GLOBAL(sgesvd,SGESVD)
-#define LAPACK_dgesvd LAPACK_GLOBAL(dgesvd,DGESVD)
-#define LAPACK_cgesvd LAPACK_GLOBAL(cgesvd,CGESVD)
-#define LAPACK_zgesvd LAPACK_GLOBAL(zgesvd,ZGESVD)
-#define LAPACK_sgesdd LAPACK_GLOBAL(sgesdd,SGESDD)
-#define LAPACK_dgesdd LAPACK_GLOBAL(dgesdd,DGESDD)
-#define LAPACK_cgesdd LAPACK_GLOBAL(cgesdd,CGESDD)
-#define LAPACK_zgesdd LAPACK_GLOBAL(zgesdd,ZGESDD)
-#define LAPACK_dgejsv LAPACK_GLOBAL(dgejsv,DGEJSV)
-#define LAPACK_sgejsv LAPACK_GLOBAL(sgejsv,SGEJSV)
-#define LAPACK_dgesvj LAPACK_GLOBAL(dgesvj,DGESVJ)
-#define LAPACK_sgesvj LAPACK_GLOBAL(sgesvj,SGESVJ)
-#define LAPACK_sggsvd LAPACK_GLOBAL(sggsvd,SGGSVD)
-#define LAPACK_dggsvd LAPACK_GLOBAL(dggsvd,DGGSVD)
-#define LAPACK_cggsvd LAPACK_GLOBAL(cggsvd,CGGSVD)
-#define LAPACK_zggsvd LAPACK_GLOBAL(zggsvd,ZGGSVD)
-#define LAPACK_ssygv LAPACK_GLOBAL(ssygv,SSYGV)
-#define LAPACK_dsygv LAPACK_GLOBAL(dsygv,DSYGV)
-#define LAPACK_chegv LAPACK_GLOBAL(chegv,CHEGV)
-#define LAPACK_zhegv LAPACK_GLOBAL(zhegv,ZHEGV)
-#define LAPACK_ssygvd LAPACK_GLOBAL(ssygvd,SSYGVD)
-#define LAPACK_dsygvd LAPACK_GLOBAL(dsygvd,DSYGVD)
-#define LAPACK_chegvd LAPACK_GLOBAL(chegvd,CHEGVD)
-#define LAPACK_zhegvd LAPACK_GLOBAL(zhegvd,ZHEGVD)
-#define LAPACK_ssygvx LAPACK_GLOBAL(ssygvx,SSYGVX)
-#define LAPACK_dsygvx LAPACK_GLOBAL(dsygvx,DSYGVX)
-#define LAPACK_chegvx LAPACK_GLOBAL(chegvx,CHEGVX)
-#define LAPACK_zhegvx LAPACK_GLOBAL(zhegvx,ZHEGVX)
-#define LAPACK_sspgv LAPACK_GLOBAL(sspgv,SSPGV)
-#define LAPACK_dspgv LAPACK_GLOBAL(dspgv,DSPGV)
-#define LAPACK_chpgv LAPACK_GLOBAL(chpgv,CHPGV)
-#define LAPACK_zhpgv LAPACK_GLOBAL(zhpgv,ZHPGV)
-#define LAPACK_sspgvd LAPACK_GLOBAL(sspgvd,SSPGVD)
-#define LAPACK_dspgvd LAPACK_GLOBAL(dspgvd,DSPGVD)
-#define LAPACK_chpgvd LAPACK_GLOBAL(chpgvd,CHPGVD)
-#define LAPACK_zhpgvd LAPACK_GLOBAL(zhpgvd,ZHPGVD)
-#define LAPACK_sspgvx LAPACK_GLOBAL(sspgvx,SSPGVX)
-#define LAPACK_dspgvx LAPACK_GLOBAL(dspgvx,DSPGVX)
-#define LAPACK_chpgvx LAPACK_GLOBAL(chpgvx,CHPGVX)
-#define LAPACK_zhpgvx LAPACK_GLOBAL(zhpgvx,ZHPGVX)
-#define LAPACK_ssbgv LAPACK_GLOBAL(ssbgv,SSBGV)
-#define LAPACK_dsbgv LAPACK_GLOBAL(dsbgv,DSBGV)
-#define LAPACK_chbgv LAPACK_GLOBAL(chbgv,CHBGV)
-#define LAPACK_zhbgv LAPACK_GLOBAL(zhbgv,ZHBGV)
-#define LAPACK_ssbgvd LAPACK_GLOBAL(ssbgvd,SSBGVD)
-#define LAPACK_dsbgvd LAPACK_GLOBAL(dsbgvd,DSBGVD)
-#define LAPACK_chbgvd LAPACK_GLOBAL(chbgvd,CHBGVD)
-#define LAPACK_zhbgvd LAPACK_GLOBAL(zhbgvd,ZHBGVD)
-#define LAPACK_ssbgvx LAPACK_GLOBAL(ssbgvx,SSBGVX)
-#define LAPACK_dsbgvx LAPACK_GLOBAL(dsbgvx,DSBGVX)
-#define LAPACK_chbgvx LAPACK_GLOBAL(chbgvx,CHBGVX)
-#define LAPACK_zhbgvx LAPACK_GLOBAL(zhbgvx,ZHBGVX)
-#define LAPACK_sgges LAPACK_GLOBAL(sgges,SGGES)
-#define LAPACK_dgges LAPACK_GLOBAL(dgges,DGGES)
-#define LAPACK_cgges LAPACK_GLOBAL(cgges,CGGES)
-#define LAPACK_zgges LAPACK_GLOBAL(zgges,ZGGES)
-#define LAPACK_sggesx LAPACK_GLOBAL(sggesx,SGGESX)
-#define LAPACK_dggesx LAPACK_GLOBAL(dggesx,DGGESX)
-#define LAPACK_cggesx LAPACK_GLOBAL(cggesx,CGGESX)
-#define LAPACK_zggesx LAPACK_GLOBAL(zggesx,ZGGESX)
-#define LAPACK_sggev LAPACK_GLOBAL(sggev,SGGEV)
-#define LAPACK_dggev LAPACK_GLOBAL(dggev,DGGEV)
-#define LAPACK_cggev LAPACK_GLOBAL(cggev,CGGEV)
-#define LAPACK_zggev LAPACK_GLOBAL(zggev,ZGGEV)
-#define LAPACK_sggevx LAPACK_GLOBAL(sggevx,SGGEVX)
-#define LAPACK_dggevx LAPACK_GLOBAL(dggevx,DGGEVX)
-#define LAPACK_cggevx LAPACK_GLOBAL(cggevx,CGGEVX)
-#define LAPACK_zggevx LAPACK_GLOBAL(zggevx,ZGGEVX)
-#define LAPACK_dsfrk LAPACK_GLOBAL(dsfrk,DSFRK)
-#define LAPACK_ssfrk LAPACK_GLOBAL(ssfrk,SSFRK)
-#define LAPACK_zhfrk LAPACK_GLOBAL(zhfrk,ZHFRK)
-#define LAPACK_chfrk LAPACK_GLOBAL(chfrk,CHFRK)
-#define LAPACK_dtfsm LAPACK_GLOBAL(dtfsm,DTFSM)
-#define LAPACK_stfsm LAPACK_GLOBAL(stfsm,STFSM)
-#define LAPACK_ztfsm LAPACK_GLOBAL(ztfsm,ZTFSM)
-#define LAPACK_ctfsm LAPACK_GLOBAL(ctfsm,CTFSM)
-#define LAPACK_dtfttp LAPACK_GLOBAL(dtfttp,DTFTTP)
-#define LAPACK_stfttp LAPACK_GLOBAL(stfttp,STFTTP)
-#define LAPACK_ztfttp LAPACK_GLOBAL(ztfttp,ZTFTTP)
-#define LAPACK_ctfttp LAPACK_GLOBAL(ctfttp,CTFTTP)
-#define LAPACK_dtfttr LAPACK_GLOBAL(dtfttr,DTFTTR)
-#define LAPACK_stfttr LAPACK_GLOBAL(stfttr,STFTTR)
-#define LAPACK_ztfttr LAPACK_GLOBAL(ztfttr,ZTFTTR)
-#define LAPACK_ctfttr LAPACK_GLOBAL(ctfttr,CTFTTR)
-#define LAPACK_dtpttf LAPACK_GLOBAL(dtpttf,DTPTTF)
-#define LAPACK_stpttf LAPACK_GLOBAL(stpttf,STPTTF)
-#define LAPACK_ztpttf LAPACK_GLOBAL(ztpttf,ZTPTTF)
-#define LAPACK_ctpttf LAPACK_GLOBAL(ctpttf,CTPTTF)
-#define LAPACK_dtpttr LAPACK_GLOBAL(dtpttr,DTPTTR)
-#define LAPACK_stpttr LAPACK_GLOBAL(stpttr,STPTTR)
-#define LAPACK_ztpttr LAPACK_GLOBAL(ztpttr,ZTPTTR)
-#define LAPACK_ctpttr LAPACK_GLOBAL(ctpttr,CTPTTR)
-#define LAPACK_dtrttf LAPACK_GLOBAL(dtrttf,DTRTTF)
-#define LAPACK_strttf LAPACK_GLOBAL(strttf,STRTTF)
-#define LAPACK_ztrttf LAPACK_GLOBAL(ztrttf,ZTRTTF)
-#define LAPACK_ctrttf LAPACK_GLOBAL(ctrttf,CTRTTF)
-#define LAPACK_dtrttp LAPACK_GLOBAL(dtrttp,DTRTTP)
-#define LAPACK_strttp LAPACK_GLOBAL(strttp,STRTTP)
-#define LAPACK_ztrttp LAPACK_GLOBAL(ztrttp,ZTRTTP)
-#define LAPACK_ctrttp LAPACK_GLOBAL(ctrttp,CTRTTP)
-#define LAPACK_sgeqrfp LAPACK_GLOBAL(sgeqrfp,SGEQRFP)
-#define LAPACK_dgeqrfp LAPACK_GLOBAL(dgeqrfp,DGEQRFP)
-#define LAPACK_cgeqrfp LAPACK_GLOBAL(cgeqrfp,CGEQRFP)
-#define LAPACK_zgeqrfp LAPACK_GLOBAL(zgeqrfp,ZGEQRFP)
-#define LAPACK_clacgv LAPACK_GLOBAL(clacgv,CLACGV)
-#define LAPACK_zlacgv LAPACK_GLOBAL(zlacgv,ZLACGV)
-#define LAPACK_slarnv LAPACK_GLOBAL(slarnv,SLARNV)
-#define LAPACK_dlarnv LAPACK_GLOBAL(dlarnv,DLARNV)
-#define LAPACK_clarnv LAPACK_GLOBAL(clarnv,CLARNV)
-#define LAPACK_zlarnv LAPACK_GLOBAL(zlarnv,ZLARNV)
-#define LAPACK_sgeqr2 LAPACK_GLOBAL(sgeqr2,SGEQR2)
-#define LAPACK_dgeqr2 LAPACK_GLOBAL(dgeqr2,DGEQR2)
-#define LAPACK_cgeqr2 LAPACK_GLOBAL(cgeqr2,CGEQR2)
-#define LAPACK_zgeqr2 LAPACK_GLOBAL(zgeqr2,ZGEQR2)
-#define LAPACK_slacpy LAPACK_GLOBAL(slacpy,SLACPY)
-#define LAPACK_dlacpy LAPACK_GLOBAL(dlacpy,DLACPY)
-#define LAPACK_clacpy LAPACK_GLOBAL(clacpy,CLACPY)
-#define LAPACK_zlacpy LAPACK_GLOBAL(zlacpy,ZLACPY)
-#define LAPACK_sgetf2 LAPACK_GLOBAL(sgetf2,SGETF2)
-#define LAPACK_dgetf2 LAPACK_GLOBAL(dgetf2,DGETF2)
-#define LAPACK_cgetf2 LAPACK_GLOBAL(cgetf2,CGETF2)
-#define LAPACK_zgetf2 LAPACK_GLOBAL(zgetf2,ZGETF2)
-#define LAPACK_slaswp LAPACK_GLOBAL(slaswp,SLASWP)
-#define LAPACK_dlaswp LAPACK_GLOBAL(dlaswp,DLASWP)
-#define LAPACK_claswp LAPACK_GLOBAL(claswp,CLASWP)
-#define LAPACK_zlaswp LAPACK_GLOBAL(zlaswp,ZLASWP)
-#define LAPACK_slange LAPACK_GLOBAL(slange,SLANGE)
-#define LAPACK_dlange LAPACK_GLOBAL(dlange,DLANGE)
-#define LAPACK_clange LAPACK_GLOBAL(clange,CLANGE)
-#define LAPACK_zlange LAPACK_GLOBAL(zlange,ZLANGE)
-#define LAPACK_clanhe LAPACK_GLOBAL(clanhe,CLANHE)
-#define LAPACK_zlanhe LAPACK_GLOBAL(zlanhe,ZLANHE)
-#define LAPACK_slansy LAPACK_GLOBAL(slansy,SLANSY)
-#define LAPACK_dlansy LAPACK_GLOBAL(dlansy,DLANSY)
-#define LAPACK_clansy LAPACK_GLOBAL(clansy,CLANSY)
-#define LAPACK_zlansy LAPACK_GLOBAL(zlansy,ZLANSY)
-#define LAPACK_slantr LAPACK_GLOBAL(slantr,SLANTR)
-#define LAPACK_dlantr LAPACK_GLOBAL(dlantr,DLANTR)
-#define LAPACK_clantr LAPACK_GLOBAL(clantr,CLANTR)
-#define LAPACK_zlantr LAPACK_GLOBAL(zlantr,ZLANTR)
-#define LAPACK_slamch LAPACK_GLOBAL(slamch,SLAMCH)
-#define LAPACK_dlamch LAPACK_GLOBAL(dlamch,DLAMCH)
-#define LAPACK_sgelq2 LAPACK_GLOBAL(sgelq2,SGELQ2)
-#define LAPACK_dgelq2 LAPACK_GLOBAL(dgelq2,DGELQ2)
-#define LAPACK_cgelq2 LAPACK_GLOBAL(cgelq2,CGELQ2)
-#define LAPACK_zgelq2 LAPACK_GLOBAL(zgelq2,ZGELQ2)
-#define LAPACK_slarfb LAPACK_GLOBAL(slarfb,SLARFB)
-#define LAPACK_dlarfb LAPACK_GLOBAL(dlarfb,DLARFB)
-#define LAPACK_clarfb LAPACK_GLOBAL(clarfb,CLARFB)
-#define LAPACK_zlarfb LAPACK_GLOBAL(zlarfb,ZLARFB)
-#define LAPACK_slarfg LAPACK_GLOBAL(slarfg,SLARFG)
-#define LAPACK_dlarfg LAPACK_GLOBAL(dlarfg,DLARFG)
-#define LAPACK_clarfg LAPACK_GLOBAL(clarfg,CLARFG)
-#define LAPACK_zlarfg LAPACK_GLOBAL(zlarfg,ZLARFG)
-#define LAPACK_slarft LAPACK_GLOBAL(slarft,SLARFT)
-#define LAPACK_dlarft LAPACK_GLOBAL(dlarft,DLARFT)
-#define LAPACK_clarft LAPACK_GLOBAL(clarft,CLARFT)
-#define LAPACK_zlarft LAPACK_GLOBAL(zlarft,ZLARFT)
-#define LAPACK_slarfx LAPACK_GLOBAL(slarfx,SLARFX)
-#define LAPACK_dlarfx LAPACK_GLOBAL(dlarfx,DLARFX)
-#define LAPACK_clarfx LAPACK_GLOBAL(clarfx,CLARFX)
-#define LAPACK_zlarfx LAPACK_GLOBAL(zlarfx,ZLARFX)
-#define LAPACK_slatms LAPACK_GLOBAL(slatms,SLATMS)
-#define LAPACK_dlatms LAPACK_GLOBAL(dlatms,DLATMS)
-#define LAPACK_clatms LAPACK_GLOBAL(clatms,CLATMS)
-#define LAPACK_zlatms LAPACK_GLOBAL(zlatms,ZLATMS)
-#define LAPACK_slag2d LAPACK_GLOBAL(slag2d,SLAG2D)
-#define LAPACK_dlag2s LAPACK_GLOBAL(dlag2s,DLAG2S)
-#define LAPACK_clag2z LAPACK_GLOBAL(clag2z,CLAG2Z)
-#define LAPACK_zlag2c LAPACK_GLOBAL(zlag2c,ZLAG2C)
-#define LAPACK_slauum LAPACK_GLOBAL(slauum,SLAUUM)
-#define LAPACK_dlauum LAPACK_GLOBAL(dlauum,DLAUUM)
-#define LAPACK_clauum LAPACK_GLOBAL(clauum,CLAUUM)
-#define LAPACK_zlauum LAPACK_GLOBAL(zlauum,ZLAUUM)
-#define LAPACK_slagge LAPACK_GLOBAL(slagge,SLAGGE)
-#define LAPACK_dlagge LAPACK_GLOBAL(dlagge,DLAGGE)
-#define LAPACK_clagge LAPACK_GLOBAL(clagge,CLAGGE)
-#define LAPACK_zlagge LAPACK_GLOBAL(zlagge,ZLAGGE)
-#define LAPACK_slaset LAPACK_GLOBAL(slaset,SLASET)
-#define LAPACK_dlaset LAPACK_GLOBAL(dlaset,DLASET)
-#define LAPACK_claset LAPACK_GLOBAL(claset,CLASET)
-#define LAPACK_zlaset LAPACK_GLOBAL(zlaset,ZLASET)
-#define LAPACK_slasrt LAPACK_GLOBAL(slasrt,SLASRT)
-#define LAPACK_dlasrt LAPACK_GLOBAL(dlasrt,DLASRT)
-#define LAPACK_slagsy LAPACK_GLOBAL(slagsy,SLAGSY)
-#define LAPACK_dlagsy LAPACK_GLOBAL(dlagsy,DLAGSY)
-#define LAPACK_clagsy LAPACK_GLOBAL(clagsy,CLAGSY)
-#define LAPACK_zlagsy LAPACK_GLOBAL(zlagsy,ZLAGSY)
-#define LAPACK_claghe LAPACK_GLOBAL(claghe,CLAGHE)
-#define LAPACK_zlaghe LAPACK_GLOBAL(zlaghe,ZLAGHE)
-#define LAPACK_slapmr LAPACK_GLOBAL(slapmr,SLAPMR)
-#define LAPACK_dlapmr LAPACK_GLOBAL(dlapmr,DLAPMR)
-#define LAPACK_clapmr LAPACK_GLOBAL(clapmr,CLAPMR)
-#define LAPACK_zlapmr LAPACK_GLOBAL(zlapmr,ZLAPMR)
-#define LAPACK_slapy2 LAPACK_GLOBAL(slapy2,SLAPY2)
-#define LAPACK_dlapy2 LAPACK_GLOBAL(dlapy2,DLAPY2)
-#define LAPACK_slapy3 LAPACK_GLOBAL(slapy3,SLAPY3)
-#define LAPACK_dlapy3 LAPACK_GLOBAL(dlapy3,DLAPY3)
-#define LAPACK_slartgp LAPACK_GLOBAL(slartgp,SLARTGP)
-#define LAPACK_dlartgp LAPACK_GLOBAL(dlartgp,DLARTGP)
-#define LAPACK_slartgs LAPACK_GLOBAL(slartgs,SLARTGS)
-#define LAPACK_dlartgs LAPACK_GLOBAL(dlartgs,DLARTGS)
-// LAPACK 3.3.0
-#define LAPACK_cbbcsd LAPACK_GLOBAL(cbbcsd,CBBCSD)
-#define LAPACK_cheswapr LAPACK_GLOBAL(cheswapr,CHESWAPR)
-#define LAPACK_chetri2 LAPACK_GLOBAL(chetri2,CHETRI2)
-#define LAPACK_chetri2x LAPACK_GLOBAL(chetri2x,CHETRI2X)
-#define LAPACK_chetrs2 LAPACK_GLOBAL(chetrs2,CHETRS2)
-#define LAPACK_csyconv LAPACK_GLOBAL(csyconv,CSYCONV)
-#define LAPACK_csyswapr LAPACK_GLOBAL(csyswapr,CSYSWAPR)
-#define LAPACK_csytri2 LAPACK_GLOBAL(csytri2,CSYTRI2)
-#define LAPACK_csytri2x LAPACK_GLOBAL(csytri2x,CSYTRI2X)
-#define LAPACK_csytrs2 LAPACK_GLOBAL(csytrs2,CSYTRS2)
-#define LAPACK_cunbdb LAPACK_GLOBAL(cunbdb,CUNBDB)
-#define LAPACK_cuncsd LAPACK_GLOBAL(cuncsd,CUNCSD)
-#define LAPACK_dbbcsd LAPACK_GLOBAL(dbbcsd,DBBCSD)
-#define LAPACK_dorbdb LAPACK_GLOBAL(dorbdb,DORBDB)
-#define LAPACK_dorcsd LAPACK_GLOBAL(dorcsd,DORCSD)
-#define LAPACK_dsyconv LAPACK_GLOBAL(dsyconv,DSYCONV)
-#define LAPACK_dsyswapr LAPACK_GLOBAL(dsyswapr,DSYSWAPR)
-#define LAPACK_dsytri2 LAPACK_GLOBAL(dsytri2,DSYTRI2)
-#define LAPACK_dsytri2x LAPACK_GLOBAL(dsytri2x,DSYTRI2X)
-#define LAPACK_dsytrs2 LAPACK_GLOBAL(dsytrs2,DSYTRS2)
-#define LAPACK_sbbcsd LAPACK_GLOBAL(sbbcsd,SBBCSD)
-#define LAPACK_sorbdb LAPACK_GLOBAL(sorbdb,SORBDB)
-#define LAPACK_sorcsd LAPACK_GLOBAL(sorcsd,SORCSD)
-#define LAPACK_ssyconv LAPACK_GLOBAL(ssyconv,SSYCONV)
-#define LAPACK_ssyswapr LAPACK_GLOBAL(ssyswapr,SSYSWAPR)
-#define LAPACK_ssytri2 LAPACK_GLOBAL(ssytri2,SSYTRI2)
-#define LAPACK_ssytri2x LAPACK_GLOBAL(ssytri2x,SSYTRI2X)
-#define LAPACK_ssytrs2 LAPACK_GLOBAL(ssytrs2,SSYTRS2)
-#define LAPACK_zbbcsd LAPACK_GLOBAL(zbbcsd,ZBBCSD)
-#define LAPACK_zheswapr LAPACK_GLOBAL(zheswapr,ZHESWAPR)
-#define LAPACK_zhetri2 LAPACK_GLOBAL(zhetri2,ZHETRI2)
-#define LAPACK_zhetri2x LAPACK_GLOBAL(zhetri2x,ZHETRI2X)
-#define LAPACK_zhetrs2 LAPACK_GLOBAL(zhetrs2,ZHETRS2)
-#define LAPACK_zsyconv LAPACK_GLOBAL(zsyconv,ZSYCONV)
-#define LAPACK_zsyswapr LAPACK_GLOBAL(zsyswapr,ZSYSWAPR)
-#define LAPACK_zsytri2 LAPACK_GLOBAL(zsytri2,ZSYTRI2)
-#define LAPACK_zsytri2x LAPACK_GLOBAL(zsytri2x,ZSYTRI2X)
-#define LAPACK_zsytrs2 LAPACK_GLOBAL(zsytrs2,ZSYTRS2)
-#define LAPACK_zunbdb LAPACK_GLOBAL(zunbdb,ZUNBDB)
-#define LAPACK_zuncsd LAPACK_GLOBAL(zuncsd,ZUNCSD)
-// LAPACK 3.4.0
-#define LAPACK_sgemqrt LAPACK_GLOBAL(sgemqrt,SGEMQRT)
-#define LAPACK_dgemqrt LAPACK_GLOBAL(dgemqrt,DGEMQRT)
-#define LAPACK_cgemqrt LAPACK_GLOBAL(cgemqrt,CGEMQRT)
-#define LAPACK_zgemqrt LAPACK_GLOBAL(zgemqrt,ZGEMQRT)
-#define LAPACK_sgeqrt LAPACK_GLOBAL(sgeqrt,SGEQRT)
-#define LAPACK_dgeqrt LAPACK_GLOBAL(dgeqrt,DGEQRT)
-#define LAPACK_cgeqrt LAPACK_GLOBAL(cgeqrt,CGEQRT)
-#define LAPACK_zgeqrt LAPACK_GLOBAL(zgeqrt,ZGEQRT)
-#define LAPACK_sgeqrt2 LAPACK_GLOBAL(sgeqrt2,SGEQRT2)
-#define LAPACK_dgeqrt2 LAPACK_GLOBAL(dgeqrt2,DGEQRT2)
-#define LAPACK_cgeqrt2 LAPACK_GLOBAL(cgeqrt2,CGEQRT2)
-#define LAPACK_zgeqrt2 LAPACK_GLOBAL(zgeqrt2,ZGEQRT2)
-#define LAPACK_sgeqrt3 LAPACK_GLOBAL(sgeqrt3,SGEQRT3)
-#define LAPACK_dgeqrt3 LAPACK_GLOBAL(dgeqrt3,DGEQRT3)
-#define LAPACK_cgeqrt3 LAPACK_GLOBAL(cgeqrt3,CGEQRT3)
-#define LAPACK_zgeqrt3 LAPACK_GLOBAL(zgeqrt3,ZGEQRT3)
-#define LAPACK_stpmqrt LAPACK_GLOBAL(stpmqrt,STPMQRT)
-#define LAPACK_dtpmqrt LAPACK_GLOBAL(dtpmqrt,DTPMQRT)
-#define LAPACK_ctpmqrt LAPACK_GLOBAL(ctpmqrt,CTPMQRT)
-#define LAPACK_ztpmqrt LAPACK_GLOBAL(ztpmqrt,ZTPMQRT)
-#define LAPACK_dtpqrt LAPACK_GLOBAL(dtpqrt,DTPQRT)
-#define LAPACK_ctpqrt LAPACK_GLOBAL(ctpqrt,CTPQRT)
-#define LAPACK_ztpqrt LAPACK_GLOBAL(ztpqrt,ZTPQRT)
-#define LAPACK_stpqrt2 LAPACK_GLOBAL(stpqrt2,STPQRT2)
-#define LAPACK_dtpqrt2 LAPACK_GLOBAL(dtpqrt2,DTPQRT2)
-#define LAPACK_ctpqrt2 LAPACK_GLOBAL(ctpqrt2,CTPQRT2)
-#define LAPACK_ztpqrt2 LAPACK_GLOBAL(ztpqrt2,ZTPQRT2)
-#define LAPACK_stprfb LAPACK_GLOBAL(stprfb,STPRFB)
-#define LAPACK_dtprfb LAPACK_GLOBAL(dtprfb,DTPRFB)
-#define LAPACK_ctprfb LAPACK_GLOBAL(ctprfb,CTPRFB)
-#define LAPACK_ztprfb LAPACK_GLOBAL(ztprfb,ZTPRFB)
-// LAPACK 3.X.X
-#define LAPACK_csyr LAPACK_GLOBAL(csyr,CSYR)
-#define LAPACK_zsyr LAPACK_GLOBAL(zsyr,ZSYR)
-
-
-void LAPACK_sgetrf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_dgetrf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_cgetrf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
-void LAPACK_zgetrf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
-void LAPACK_sgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, float* ab, lapack_int* ldab,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_dgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, double* ab, lapack_int* ldab,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_cgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, lapack_complex_float* ab, lapack_int* ldab,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_zgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, lapack_complex_double* ab, lapack_int* ldab,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_sgttrf( lapack_int* n, float* dl, float* d, float* du, float* du2,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_dgttrf( lapack_int* n, double* dl, double* d, double* du,
-                    double* du2, lapack_int* ipiv, lapack_int *info );
-void LAPACK_cgttrf( lapack_int* n, lapack_complex_float* dl,
-                    lapack_complex_float* d, lapack_complex_float* du,
-                    lapack_complex_float* du2, lapack_int* ipiv,
-                    lapack_int *info );
-void LAPACK_zgttrf( lapack_int* n, lapack_complex_double* dl,
-                    lapack_complex_double* d, lapack_complex_double* du,
-                    lapack_complex_double* du2, lapack_int* ipiv,
-                    lapack_int *info );
-void LAPACK_spotrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_dpotrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_cpotrf( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_zpotrf( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_dpstrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int* piv, lapack_int* rank, double* tol,
-                    double* work, lapack_int *info );
-void LAPACK_spstrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int* piv, lapack_int* rank, float* tol, float* work,
-                    lapack_int *info );
-void LAPACK_zpstrf( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* piv, lapack_int* rank,
-                    double* tol, double* work, lapack_int *info );
-void LAPACK_cpstrf( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* piv, lapack_int* rank,
-                    float* tol, float* work, lapack_int *info );
-void LAPACK_dpftrf( char* transr, char* uplo, lapack_int* n, double* a,
-                    lapack_int *info );
-void LAPACK_spftrf( char* transr, char* uplo, lapack_int* n, float* a,
-                    lapack_int *info );
-void LAPACK_zpftrf( char* transr, char* uplo, lapack_int* n,
-                    lapack_complex_double* a, lapack_int *info );
-void LAPACK_cpftrf( char* transr, char* uplo, lapack_int* n,
-                    lapack_complex_float* a, lapack_int *info );
-void LAPACK_spptrf( char* uplo, lapack_int* n, float* ap, lapack_int *info );
-void LAPACK_dpptrf( char* uplo, lapack_int* n, double* ap, lapack_int *info );
-void LAPACK_cpptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
-                    lapack_int *info );
-void LAPACK_zpptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
-                    lapack_int *info );
-void LAPACK_spbtrf( char* uplo, lapack_int* n, lapack_int* kd, float* ab,
-                    lapack_int* ldab, lapack_int *info );
-void LAPACK_dpbtrf( char* uplo, lapack_int* n, lapack_int* kd, double* ab,
-                    lapack_int* ldab, lapack_int *info );
-void LAPACK_cpbtrf( char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_complex_float* ab, lapack_int* ldab,
-                    lapack_int *info );
-void LAPACK_zpbtrf( char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_complex_double* ab, lapack_int* ldab,
-                    lapack_int *info );
-void LAPACK_spttrf( lapack_int* n, float* d, float* e, lapack_int *info );
-void LAPACK_dpttrf( lapack_int* n, double* d, double* e, lapack_int *info );
-void LAPACK_cpttrf( lapack_int* n, float* d, lapack_complex_float* e,
-                    lapack_int *info );
-void LAPACK_zpttrf( lapack_int* n, double* d, lapack_complex_double* e,
-                    lapack_int *info );
-void LAPACK_ssytrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int* ipiv, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dsytrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int* ipiv, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_csytrf( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* ipiv,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zsytrf( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* ipiv,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_chetrf( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* ipiv,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zhetrf( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* ipiv,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_ssptrf( char* uplo, lapack_int* n, float* ap, lapack_int* ipiv,
-                    lapack_int *info );
-void LAPACK_dsptrf( char* uplo, lapack_int* n, double* ap, lapack_int* ipiv,
-                    lapack_int *info );
-void LAPACK_csptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_zsptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_chptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_zhptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_sgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const float* a, lapack_int* lda, const lapack_int* ipiv,
-                    float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_dgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const double* a, lapack_int* lda, const lapack_int* ipiv,
-                    double* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_cgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_int* ipiv, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_zgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_int* ipiv, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_sgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    lapack_int* nrhs, const float* ab, lapack_int* ldab,
-                    const lapack_int* ipiv, float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_dgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    lapack_int* nrhs, const double* ab, lapack_int* ldab,
-                    const lapack_int* ipiv, double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_cgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    lapack_int* nrhs, const lapack_complex_float* ab,
-                    lapack_int* ldab, const lapack_int* ipiv,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_zgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    lapack_int* nrhs, const lapack_complex_double* ab,
-                    lapack_int* ldab, const lapack_int* ipiv,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_sgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const float* dl, const float* d, const float* du,
-                    const float* du2, const lapack_int* ipiv, float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_dgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const double* dl, const double* d, const double* du,
-                    const double* du2, const lapack_int* ipiv, double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_cgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* dl,
-                    const lapack_complex_float* d,
-                    const lapack_complex_float* du,
-                    const lapack_complex_float* du2, const lapack_int* ipiv,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_zgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* dl,
-                    const lapack_complex_double* d,
-                    const lapack_complex_double* du,
-                    const lapack_complex_double* du2, const lapack_int* ipiv,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_spotrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
-                    lapack_int* lda, float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_dpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* a, lapack_int* lda, double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_cpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_zpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_dpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* a, double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_spftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const float* a, float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_zpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_cpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_spptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const float* ap, float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_dpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* ap, double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_cpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* ap, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_zpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* ap, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_spbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                    const float* ab, lapack_int* ldab, float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_dpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                    const double* ab, lapack_int* ldab, double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_cpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                    const lapack_complex_float* ab, lapack_int* ldab,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_zpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                    const lapack_complex_double* ab, lapack_int* ldab,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_spttrs( lapack_int* n, lapack_int* nrhs, const float* d,
-                    const float* e, float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_dpttrs( lapack_int* n, lapack_int* nrhs, const double* d,
-                    const double* e, double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_cpttrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* d,
-                    const lapack_complex_float* e, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_zpttrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* d, const lapack_complex_double* e,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_ssytrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
-                    lapack_int* lda, const lapack_int* ipiv, float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_dsytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* a, lapack_int* lda, const lapack_int* ipiv,
-                    double* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_csytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_int* ipiv, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_zsytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_int* ipiv, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_chetrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_int* ipiv, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_zhetrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_int* ipiv, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_ssptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const float* ap, const lapack_int* ipiv, float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_dsptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* ap, const lapack_int* ipiv, double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_csptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* ap, const lapack_int* ipiv,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_zsptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* ap, const lapack_int* ipiv,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_chptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* ap, const lapack_int* ipiv,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_zhptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* ap, const lapack_int* ipiv,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_strtrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const float* a, lapack_int* lda, float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_dtrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const double* a, lapack_int* lda,
-                    double* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_ctrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_ztrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_stptrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const float* ap, float* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_dtptrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const double* ap, double* b,
-                    lapack_int* ldb, lapack_int *info );
-void LAPACK_ctptrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const lapack_complex_float* ap,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_ztptrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const lapack_complex_double* ap,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_stbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* kd, lapack_int* nrhs, const float* ab,
-                    lapack_int* ldab, float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_dtbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* kd, lapack_int* nrhs, const double* ab,
-                    lapack_int* ldab, double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_ctbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* kd, lapack_int* nrhs,
-                    const lapack_complex_float* ab, lapack_int* ldab,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_ztbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* kd, lapack_int* nrhs,
-                    const lapack_complex_double* ab, lapack_int* ldab,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_sgecon( char* norm, lapack_int* n, const float* a, lapack_int* lda,
-                    float* anorm, float* rcond, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgecon( char* norm, lapack_int* n, const double* a, lapack_int* lda,
-                    double* anorm, double* rcond, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_cgecon( char* norm, lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, float* anorm, float* rcond,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zgecon( char* norm, lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, double* anorm, double* rcond,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_sgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    const float* ab, lapack_int* ldab, const lapack_int* ipiv,
-                    float* anorm, float* rcond, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    const double* ab, lapack_int* ldab, const lapack_int* ipiv,
-                    double* anorm, double* rcond, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_cgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    const lapack_complex_float* ab, lapack_int* ldab,
-                    const lapack_int* ipiv, float* anorm, float* rcond,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    const lapack_complex_double* ab, lapack_int* ldab,
-                    const lapack_int* ipiv, double* anorm, double* rcond,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_sgtcon( char* norm, lapack_int* n, const float* dl, const float* d,
-                    const float* du, const float* du2, const lapack_int* ipiv,
-                    float* anorm, float* rcond, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgtcon( char* norm, lapack_int* n, const double* dl,
-                    const double* d, const double* du, const double* du2,
-                    const lapack_int* ipiv, double* anorm, double* rcond,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_cgtcon( char* norm, lapack_int* n, const lapack_complex_float* dl,
-                    const lapack_complex_float* d,
-                    const lapack_complex_float* du,
-                    const lapack_complex_float* du2, const lapack_int* ipiv,
-                    float* anorm, float* rcond, lapack_complex_float* work,
-                    lapack_int *info );
-void LAPACK_zgtcon( char* norm, lapack_int* n, const lapack_complex_double* dl,
-                    const lapack_complex_double* d,
-                    const lapack_complex_double* du,
-                    const lapack_complex_double* du2, const lapack_int* ipiv,
-                    double* anorm, double* rcond, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_spocon( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
-                    float* anorm, float* rcond, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dpocon( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
-                    double* anorm, double* rcond, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_cpocon( char* uplo, lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, float* anorm, float* rcond,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zpocon( char* uplo, lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, double* anorm, double* rcond,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_sppcon( char* uplo, lapack_int* n, const float* ap, float* anorm,
-                    float* rcond, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dppcon( char* uplo, lapack_int* n, const double* ap, double* anorm,
-                    double* rcond, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_cppcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
-                    float* anorm, float* rcond, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zppcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
-                    double* anorm, double* rcond, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_spbcon( char* uplo, lapack_int* n, lapack_int* kd, const float* ab,
-                    lapack_int* ldab, float* anorm, float* rcond, float* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dpbcon( char* uplo, lapack_int* n, lapack_int* kd, const double* ab,
-                    lapack_int* ldab, double* anorm, double* rcond,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_cpbcon( char* uplo, lapack_int* n, lapack_int* kd,
-                    const lapack_complex_float* ab, lapack_int* ldab,
-                    float* anorm, float* rcond, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zpbcon( char* uplo, lapack_int* n, lapack_int* kd,
-                    const lapack_complex_double* ab, lapack_int* ldab,
-                    double* anorm, double* rcond, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_sptcon( lapack_int* n, const float* d, const float* e, float* anorm,
-                    float* rcond, float* work, lapack_int *info );
-void LAPACK_dptcon( lapack_int* n, const double* d, const double* e,
-                    double* anorm, double* rcond, double* work,
-                    lapack_int *info );
-void LAPACK_cptcon( lapack_int* n, const float* d,
-                    const lapack_complex_float* e, float* anorm, float* rcond,
-                    float* work, lapack_int *info );
-void LAPACK_zptcon( lapack_int* n, const double* d,
-                    const lapack_complex_double* e, double* anorm,
-                    double* rcond, double* work, lapack_int *info );
-void LAPACK_ssycon( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
-                    const lapack_int* ipiv, float* anorm, float* rcond,
-                    float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_dsycon( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
-                    const lapack_int* ipiv, double* anorm, double* rcond,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_csycon( char* uplo, lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_int* ipiv, float* anorm,
-                    float* rcond, lapack_complex_float* work,
-                    lapack_int *info );
-void LAPACK_zsycon( char* uplo, lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_int* ipiv, double* anorm,
-                    double* rcond, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_checon( char* uplo, lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_int* ipiv, float* anorm,
-                    float* rcond, lapack_complex_float* work,
-                    lapack_int *info );
-void LAPACK_zhecon( char* uplo, lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_int* ipiv, double* anorm,
-                    double* rcond, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_sspcon( char* uplo, lapack_int* n, const float* ap,
-                    const lapack_int* ipiv, float* anorm, float* rcond,
-                    float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_dspcon( char* uplo, lapack_int* n, const double* ap,
-                    const lapack_int* ipiv, double* anorm, double* rcond,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_cspcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
-                    const lapack_int* ipiv, float* anorm, float* rcond,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zspcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
-                    const lapack_int* ipiv, double* anorm, double* rcond,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_chpcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
-                    const lapack_int* ipiv, float* anorm, float* rcond,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zhpcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
-                    const lapack_int* ipiv, double* anorm, double* rcond,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_strcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    const float* a, lapack_int* lda, float* rcond, float* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dtrcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    const double* a, lapack_int* lda, double* rcond,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_ctrcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    float* rcond, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_ztrcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    double* rcond, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_stpcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    const float* ap, float* rcond, float* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dtpcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    const double* ap, double* rcond, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_ctpcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    const lapack_complex_float* ap, float* rcond,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_ztpcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    const lapack_complex_double* ap, double* rcond,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_stbcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    lapack_int* kd, const float* ab, lapack_int* ldab,
-                    float* rcond, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dtbcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    lapack_int* kd, const double* ab, lapack_int* ldab,
-                    double* rcond, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_ctbcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    lapack_int* kd, const lapack_complex_float* ab,
-                    lapack_int* ldab, float* rcond, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_ztbcon( char* norm, char* uplo, char* diag, lapack_int* n,
-                    lapack_int* kd, const lapack_complex_double* ab,
-                    lapack_int* ldab, double* rcond,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_sgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const float* a, lapack_int* lda, const float* af,
-                    lapack_int* ldaf, const lapack_int* ipiv, const float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
-                    float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const double* a, lapack_int* lda, const double* af,
-                    lapack_int* ldaf, const lapack_int* ipiv, const double* b,
-                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
-                    double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_cgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* af, lapack_int* ldaf,
-                    const lapack_int* ipiv, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* ferr, float* berr, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* af, lapack_int* ldaf,
-                    const lapack_int* ipiv, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_dgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const double* a, lapack_int* lda, const double* af,
-                     lapack_int* ldaf, const lapack_int* ipiv, const double* r,
-                     const double* c, const double* b, lapack_int* ldb,
-                     double* x, lapack_int* ldx, double* rcond, double* berr,
-                     lapack_int* n_err_bnds, double* err_bnds_norm,
-                     double* err_bnds_comp, lapack_int* nparams, double* params,
-                     double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_sgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const float* a, lapack_int* lda, const float* af,
-                     lapack_int* ldaf, const lapack_int* ipiv, const float* r,
-                     const float* c, const float* b, lapack_int* ldb, float* x,
-                     lapack_int* ldx, float* rcond, float* berr,
-                     lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_zgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const lapack_complex_double* a, lapack_int* lda,
-                     const lapack_complex_double* af, lapack_int* ldaf,
-                     const lapack_int* ipiv, const double* r, const double* c,
-                     const lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_cgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const lapack_complex_float* a, lapack_int* lda,
-                     const lapack_complex_float* af, lapack_int* ldaf,
-                     const lapack_int* ipiv, const float* r, const float* c,
-                     const lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_sgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    lapack_int* nrhs, const float* ab, lapack_int* ldab,
-                    const float* afb, lapack_int* ldafb, const lapack_int* ipiv,
-                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                    float* ferr, float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    lapack_int* nrhs, const double* ab, lapack_int* ldab,
-                    const double* afb, lapack_int* ldafb,
-                    const lapack_int* ipiv, const double* b, lapack_int* ldb,
-                    double* x, lapack_int* ldx, double* ferr, double* berr,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_cgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    lapack_int* nrhs, const lapack_complex_float* ab,
-                    lapack_int* ldab, const lapack_complex_float* afb,
-                    lapack_int* ldafb, const lapack_int* ipiv,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
-                    lapack_int* nrhs, const lapack_complex_double* ab,
-                    lapack_int* ldab, const lapack_complex_double* afb,
-                    lapack_int* ldafb, const lapack_int* ipiv,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
-                    double* berr, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_dgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, lapack_int* nrhs, const double* ab,
-                     lapack_int* ldab, const double* afb, lapack_int* ldafb,
-                     const lapack_int* ipiv, const double* r, const double* c,
-                     const double* b, lapack_int* ldb, double* x,
-                     lapack_int* ldx, double* rcond, double* berr,
-                     lapack_int* n_err_bnds, double* err_bnds_norm,
-                     double* err_bnds_comp, lapack_int* nparams, double* params,
-                     double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_sgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, lapack_int* nrhs, const float* ab,
-                     lapack_int* ldab, const float* afb, lapack_int* ldafb,
-                     const lapack_int* ipiv, const float* r, const float* c,
-                     const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                     float* rcond, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params, float* work,
-                     lapack_int* iwork, lapack_int *info );
-void LAPACK_zgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, lapack_int* nrhs,
-                     const lapack_complex_double* ab, lapack_int* ldab,
-                     const lapack_complex_double* afb, lapack_int* ldafb,
-                     const lapack_int* ipiv, const double* r, const double* c,
-                     const lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_cgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, lapack_int* nrhs,
-                     const lapack_complex_float* ab, lapack_int* ldab,
-                     const lapack_complex_float* afb, lapack_int* ldafb,
-                     const lapack_int* ipiv, const float* r, const float* c,
-                     const lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_sgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const float* dl, const float* d, const float* du,
-                    const float* dlf, const float* df, const float* duf,
-                    const float* du2, const lapack_int* ipiv, const float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
-                    float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const double* dl, const double* d, const double* du,
-                    const double* dlf, const double* df, const double* duf,
-                    const double* du2, const lapack_int* ipiv, const double* b,
-                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
-                    double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_cgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* dl,
-                    const lapack_complex_float* d,
-                    const lapack_complex_float* du,
-                    const lapack_complex_float* dlf,
-                    const lapack_complex_float* df,
-                    const lapack_complex_float* duf,
-                    const lapack_complex_float* du2, const lapack_int* ipiv,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* dl,
-                    const lapack_complex_double* d,
-                    const lapack_complex_double* du,
-                    const lapack_complex_double* dlf,
-                    const lapack_complex_double* df,
-                    const lapack_complex_double* duf,
-                    const lapack_complex_double* du2, const lapack_int* ipiv,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
-                    double* berr, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_sporfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
-                    lapack_int* lda, const float* af, lapack_int* ldaf,
-                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                    float* ferr, float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* a, lapack_int* lda, const double* af,
-                    lapack_int* ldaf, const double* b, lapack_int* ldb,
-                    double* x, lapack_int* ldx, double* ferr, double* berr,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_cporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* af, lapack_int* ldaf,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* af, lapack_int* ldaf,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
-                    double* berr, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_dporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const double* a, lapack_int* lda, const double* af,
-                     lapack_int* ldaf, const double* s, const double* b,
-                     lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
-                     double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params, double* work,
-                     lapack_int* iwork, lapack_int *info );
-void LAPACK_sporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const float* a, lapack_int* lda, const float* af,
-                     lapack_int* ldaf, const float* s, const float* b,
-                     lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
-                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_zporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const lapack_complex_double* a, lapack_int* lda,
-                     const lapack_complex_double* af, lapack_int* ldaf,
-                     const double* s, const lapack_complex_double* b,
-                     lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                     double* rcond, double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_cporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const lapack_complex_float* a, lapack_int* lda,
-                     const lapack_complex_float* af, lapack_int* ldaf,
-                     const float* s, const lapack_complex_float* b,
-                     lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                     float* rcond, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_spprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const float* ap, const float* afp, const float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
-                    float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* ap, const double* afp, const double* b,
-                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
-                    double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_cpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* ap,
-                    const lapack_complex_float* afp,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* ap,
-                    const lapack_complex_double* afp,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
-                    double* berr, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_spbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                    const float* ab, lapack_int* ldab, const float* afb,
-                    lapack_int* ldafb, const float* b, lapack_int* ldb,
-                    float* x, lapack_int* ldx, float* ferr, float* berr,
-                    float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_dpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                    const double* ab, lapack_int* ldab, const double* afb,
-                    lapack_int* ldafb, const double* b, lapack_int* ldb,
-                    double* x, lapack_int* ldx, double* ferr, double* berr,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_cpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                    const lapack_complex_float* ab, lapack_int* ldab,
-                    const lapack_complex_float* afb, lapack_int* ldafb,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                    const lapack_complex_double* ab, lapack_int* ldab,
-                    const lapack_complex_double* afb, lapack_int* ldafb,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
-                    double* berr, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_sptrfs( lapack_int* n, lapack_int* nrhs, const float* d,
-                    const float* e, const float* df, const float* ef,
-                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                    float* ferr, float* berr, float* work, lapack_int *info );
-void LAPACK_dptrfs( lapack_int* n, lapack_int* nrhs, const double* d,
-                    const double* e, const double* df, const double* ef,
-                    const double* b, lapack_int* ldb, double* x,
-                    lapack_int* ldx, double* ferr, double* berr, double* work,
-                    lapack_int *info );
-void LAPACK_cptrfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* d,
-                    const lapack_complex_float* e, const float* df,
-                    const lapack_complex_float* ef,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zptrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* d, const lapack_complex_double* e,
-                    const double* df, const lapack_complex_double* ef,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
-                    double* berr, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_ssyrfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
-                    lapack_int* lda, const float* af, lapack_int* ldaf,
-                    const lapack_int* ipiv, const float* b, lapack_int* ldb,
-                    float* x, lapack_int* ldx, float* ferr, float* berr,
-                    float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_dsyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* a, lapack_int* lda, const double* af,
-                    lapack_int* ldaf, const lapack_int* ipiv, const double* b,
-                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
-                    double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_csyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* af, lapack_int* ldaf,
-                    const lapack_int* ipiv, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* ferr, float* berr, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zsyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* af, lapack_int* ldaf,
-                    const lapack_int* ipiv, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_dsyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const double* a, lapack_int* lda, const double* af,
-                     lapack_int* ldaf, const lapack_int* ipiv, const double* s,
-                     const double* b, lapack_int* ldb, double* x,
-                     lapack_int* ldx, double* rcond, double* berr,
-                     lapack_int* n_err_bnds, double* err_bnds_norm,
-                     double* err_bnds_comp, lapack_int* nparams, double* params,
-                     double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_ssyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const float* a, lapack_int* lda, const float* af,
-                     lapack_int* ldaf, const lapack_int* ipiv, const float* s,
-                     const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                     float* rcond, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params, float* work,
-                     lapack_int* iwork, lapack_int *info );
-void LAPACK_zsyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const lapack_complex_double* a, lapack_int* lda,
-                     const lapack_complex_double* af, lapack_int* ldaf,
-                     const lapack_int* ipiv, const double* s,
-                     const lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_csyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const lapack_complex_float* a, lapack_int* lda,
-                     const lapack_complex_float* af, lapack_int* ldaf,
-                     const lapack_int* ipiv, const float* s,
-                     const lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_cherfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* af, lapack_int* ldaf,
-                    const lapack_int* ipiv, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* ferr, float* berr, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zherfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* af, lapack_int* ldaf,
-                    const lapack_int* ipiv, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_zherfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const lapack_complex_double* a, lapack_int* lda,
-                     const lapack_complex_double* af, lapack_int* ldaf,
-                     const lapack_int* ipiv, const double* s,
-                     const lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_cherfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
-                     const lapack_complex_float* a, lapack_int* lda,
-                     const lapack_complex_float* af, lapack_int* ldaf,
-                     const lapack_int* ipiv, const float* s,
-                     const lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_ssprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const float* ap, const float* afp, const lapack_int* ipiv,
-                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                    float* ferr, float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dsprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* ap, const double* afp, const lapack_int* ipiv,
-                    const double* b, lapack_int* ldb, double* x,
-                    lapack_int* ldx, double* ferr, double* berr, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_csprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* ap,
-                    const lapack_complex_float* afp, const lapack_int* ipiv,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zsprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* ap,
-                    const lapack_complex_double* afp, const lapack_int* ipiv,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
-                    double* berr, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_chprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* ap,
-                    const lapack_complex_float* afp, const lapack_int* ipiv,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zhprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* ap,
-                    const lapack_complex_double* afp, const lapack_int* ipiv,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
-                    double* berr, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_strrfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const float* a, lapack_int* lda,
-                    const float* b, lapack_int* ldb, const float* x,
-                    lapack_int* ldx, float* ferr, float* berr, float* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dtrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const double* a, lapack_int* lda,
-                    const double* b, lapack_int* ldb, const double* x,
-                    lapack_int* ldx, double* ferr, double* berr, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_ctrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* b,
-                    lapack_int* ldb, const lapack_complex_float* x,
-                    lapack_int* ldx, float* ferr, float* berr,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_ztrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* b,
-                    lapack_int* ldb, const lapack_complex_double* x,
-                    lapack_int* ldx, double* ferr, double* berr,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_stprfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const float* ap, const float* b,
-                    lapack_int* ldb, const float* x, lapack_int* ldx,
-                    float* ferr, float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dtprfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const double* ap, const double* b,
-                    lapack_int* ldb, const double* x, lapack_int* ldx,
-                    double* ferr, double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_ctprfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const lapack_complex_float* ap,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    const lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_ztprfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* nrhs, const lapack_complex_double* ap,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    const lapack_complex_double* x, lapack_int* ldx,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_stbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* kd, lapack_int* nrhs, const float* ab,
-                    lapack_int* ldab, const float* b, lapack_int* ldb,
-                    const float* x, lapack_int* ldx, float* ferr, float* berr,
-                    float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_dtbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* kd, lapack_int* nrhs, const double* ab,
-                    lapack_int* ldab, const double* b, lapack_int* ldb,
-                    const double* x, lapack_int* ldx, double* ferr,
-                    double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_ctbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* kd, lapack_int* nrhs,
-                    const lapack_complex_float* ab, lapack_int* ldab,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    const lapack_complex_float* x, lapack_int* ldx, float* ferr,
-                    float* berr, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_ztbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
-                    lapack_int* kd, lapack_int* nrhs,
-                    const lapack_complex_double* ab, lapack_int* ldab,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    const lapack_complex_double* x, lapack_int* ldx,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_sgetri( lapack_int* n, float* a, lapack_int* lda,
-                    const lapack_int* ipiv, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dgetri( lapack_int* n, double* a, lapack_int* lda,
-                    const lapack_int* ipiv, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cgetri( lapack_int* n, lapack_complex_float* a, lapack_int* lda,
-                    const lapack_int* ipiv, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zgetri( lapack_int* n, lapack_complex_double* a, lapack_int* lda,
-                    const lapack_int* ipiv, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_spotri( char* uplo, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_dpotri( char* uplo, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_cpotri( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_zpotri( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_dpftri( char* transr, char* uplo, lapack_int* n, double* a,
-                    lapack_int *info );
-void LAPACK_spftri( char* transr, char* uplo, lapack_int* n, float* a,
-                    lapack_int *info );
-void LAPACK_zpftri( char* transr, char* uplo, lapack_int* n,
-                    lapack_complex_double* a, lapack_int *info );
-void LAPACK_cpftri( char* transr, char* uplo, lapack_int* n,
-                    lapack_complex_float* a, lapack_int *info );
-void LAPACK_spptri( char* uplo, lapack_int* n, float* ap, lapack_int *info );
-void LAPACK_dpptri( char* uplo, lapack_int* n, double* ap, lapack_int *info );
-void LAPACK_cpptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
-                    lapack_int *info );
-void LAPACK_zpptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
-                    lapack_int *info );
-void LAPACK_ssytri( char* uplo, lapack_int* n, float* a, lapack_int* lda,
-                    const lapack_int* ipiv, float* work, lapack_int *info );
-void LAPACK_dsytri( char* uplo, lapack_int* n, double* a, lapack_int* lda,
-                    const lapack_int* ipiv, double* work, lapack_int *info );
-void LAPACK_csytri( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, const lapack_int* ipiv,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zsytri( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, const lapack_int* ipiv,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_chetri( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, const lapack_int* ipiv,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zhetri( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, const lapack_int* ipiv,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_ssptri( char* uplo, lapack_int* n, float* ap,
-                    const lapack_int* ipiv, float* work, lapack_int *info );
-void LAPACK_dsptri( char* uplo, lapack_int* n, double* ap,
-                    const lapack_int* ipiv, double* work, lapack_int *info );
-void LAPACK_csptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
-                    const lapack_int* ipiv, lapack_complex_float* work,
-                    lapack_int *info );
-void LAPACK_zsptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
-                    const lapack_int* ipiv, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_chptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
-                    const lapack_int* ipiv, lapack_complex_float* work,
-                    lapack_int *info );
-void LAPACK_zhptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
-                    const lapack_int* ipiv, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_strtri( char* uplo, char* diag, lapack_int* n, float* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_dtrtri( char* uplo, char* diag, lapack_int* n, double* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_ctrtri( char* uplo, char* diag, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_ztrtri( char* uplo, char* diag, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_dtftri( char* transr, char* uplo, char* diag, lapack_int* n,
-                    double* a, lapack_int *info );
-void LAPACK_stftri( char* transr, char* uplo, char* diag, lapack_int* n,
-                    float* a, lapack_int *info );
-void LAPACK_ztftri( char* transr, char* uplo, char* diag, lapack_int* n,
-                    lapack_complex_double* a, lapack_int *info );
-void LAPACK_ctftri( char* transr, char* uplo, char* diag, lapack_int* n,
-                    lapack_complex_float* a, lapack_int *info );
-void LAPACK_stptri( char* uplo, char* diag, lapack_int* n, float* ap,
-                    lapack_int *info );
-void LAPACK_dtptri( char* uplo, char* diag, lapack_int* n, double* ap,
-                    lapack_int *info );
-void LAPACK_ctptri( char* uplo, char* diag, lapack_int* n,
-                    lapack_complex_float* ap, lapack_int *info );
-void LAPACK_ztptri( char* uplo, char* diag, lapack_int* n,
-                    lapack_complex_double* ap, lapack_int *info );
-void LAPACK_sgeequ( lapack_int* m, lapack_int* n, const float* a,
-                    lapack_int* lda, float* r, float* c, float* rowcnd,
-                    float* colcnd, float* amax, lapack_int *info );
-void LAPACK_dgeequ( lapack_int* m, lapack_int* n, const double* a,
-                    lapack_int* lda, double* r, double* c, double* rowcnd,
-                    double* colcnd, double* amax, lapack_int *info );
-void LAPACK_cgeequ( lapack_int* m, lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, float* r, float* c, float* rowcnd,
-                    float* colcnd, float* amax, lapack_int *info );
-void LAPACK_zgeequ( lapack_int* m, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda, double* r,
-                    double* c, double* rowcnd, double* colcnd, double* amax,
-                    lapack_int *info );
-void LAPACK_dgeequb( lapack_int* m, lapack_int* n, const double* a,
-                     lapack_int* lda, double* r, double* c, double* rowcnd,
-                     double* colcnd, double* amax, lapack_int *info );
-void LAPACK_sgeequb( lapack_int* m, lapack_int* n, const float* a,
-                     lapack_int* lda, float* r, float* c, float* rowcnd,
-                     float* colcnd, float* amax, lapack_int *info );
-void LAPACK_zgeequb( lapack_int* m, lapack_int* n,
-                     const lapack_complex_double* a, lapack_int* lda, double* r,
-                     double* c, double* rowcnd, double* colcnd, double* amax,
-                     lapack_int *info );
-void LAPACK_cgeequb( lapack_int* m, lapack_int* n,
-                     const lapack_complex_float* a, lapack_int* lda, float* r,
-                     float* c, float* rowcnd, float* colcnd, float* amax,
-                     lapack_int *info );
-void LAPACK_sgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, const float* ab, lapack_int* ldab, float* r,
-                    float* c, float* rowcnd, float* colcnd, float* amax,
-                    lapack_int *info );
-void LAPACK_dgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, const double* ab, lapack_int* ldab,
-                    double* r, double* c, double* rowcnd, double* colcnd,
-                    double* amax, lapack_int *info );
-void LAPACK_cgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, const lapack_complex_float* ab,
-                    lapack_int* ldab, float* r, float* c, float* rowcnd,
-                    float* colcnd, float* amax, lapack_int *info );
-void LAPACK_zgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, const lapack_complex_double* ab,
-                    lapack_int* ldab, double* r, double* c, double* rowcnd,
-                    double* colcnd, double* amax, lapack_int *info );
-void LAPACK_dgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, const double* ab, lapack_int* ldab,
-                     double* r, double* c, double* rowcnd, double* colcnd,
-                     double* amax, lapack_int *info );
-void LAPACK_sgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, const float* ab, lapack_int* ldab,
-                     float* r, float* c, float* rowcnd, float* colcnd,
-                     float* amax, lapack_int *info );
-void LAPACK_zgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, const lapack_complex_double* ab,
-                     lapack_int* ldab, double* r, double* c, double* rowcnd,
-                     double* colcnd, double* amax, lapack_int *info );
-void LAPACK_cgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, const lapack_complex_float* ab,
-                     lapack_int* ldab, float* r, float* c, float* rowcnd,
-                     float* colcnd, float* amax, lapack_int *info );
-void LAPACK_spoequ( lapack_int* n, const float* a, lapack_int* lda, float* s,
-                    float* scond, float* amax, lapack_int *info );
-void LAPACK_dpoequ( lapack_int* n, const double* a, lapack_int* lda, double* s,
-                    double* scond, double* amax, lapack_int *info );
-void LAPACK_cpoequ( lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, float* s, float* scond, float* amax,
-                    lapack_int *info );
-void LAPACK_zpoequ( lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, double* s, double* scond, double* amax,
-                    lapack_int *info );
-void LAPACK_dpoequb( lapack_int* n, const double* a, lapack_int* lda, double* s,
-                     double* scond, double* amax, lapack_int *info );
-void LAPACK_spoequb( lapack_int* n, const float* a, lapack_int* lda, float* s,
-                     float* scond, float* amax, lapack_int *info );
-void LAPACK_zpoequb( lapack_int* n, const lapack_complex_double* a,
-                     lapack_int* lda, double* s, double* scond, double* amax,
-                     lapack_int *info );
-void LAPACK_cpoequb( lapack_int* n, const lapack_complex_float* a,
-                     lapack_int* lda, float* s, float* scond, float* amax,
-                     lapack_int *info );
-void LAPACK_sppequ( char* uplo, lapack_int* n, const float* ap, float* s,
-                    float* scond, float* amax, lapack_int *info );
-void LAPACK_dppequ( char* uplo, lapack_int* n, const double* ap, double* s,
-                    double* scond, double* amax, lapack_int *info );
-void LAPACK_cppequ( char* uplo, lapack_int* n, const lapack_complex_float* ap,
-                    float* s, float* scond, float* amax, lapack_int *info );
-void LAPACK_zppequ( char* uplo, lapack_int* n, const lapack_complex_double* ap,
-                    double* s, double* scond, double* amax, lapack_int *info );
-void LAPACK_spbequ( char* uplo, lapack_int* n, lapack_int* kd, const float* ab,
-                    lapack_int* ldab, float* s, float* scond, float* amax,
-                    lapack_int *info );
-void LAPACK_dpbequ( char* uplo, lapack_int* n, lapack_int* kd, const double* ab,
-                    lapack_int* ldab, double* s, double* scond, double* amax,
-                    lapack_int *info );
-void LAPACK_cpbequ( char* uplo, lapack_int* n, lapack_int* kd,
-                    const lapack_complex_float* ab, lapack_int* ldab, float* s,
-                    float* scond, float* amax, lapack_int *info );
-void LAPACK_zpbequ( char* uplo, lapack_int* n, lapack_int* kd,
-                    const lapack_complex_double* ab, lapack_int* ldab,
-                    double* s, double* scond, double* amax, lapack_int *info );
-void LAPACK_dsyequb( char* uplo, lapack_int* n, const double* a,
-                     lapack_int* lda, double* s, double* scond, double* amax,
-                     double* work, lapack_int *info );
-void LAPACK_ssyequb( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
-                     float* s, float* scond, float* amax, float* work,
-                     lapack_int *info );
-void LAPACK_zsyequb( char* uplo, lapack_int* n, const lapack_complex_double* a,
-                     lapack_int* lda, double* s, double* scond, double* amax,
-                     lapack_complex_double* work, lapack_int *info );
-void LAPACK_csyequb( char* uplo, lapack_int* n, const lapack_complex_float* a,
-                     lapack_int* lda, float* s, float* scond, float* amax,
-                     lapack_complex_float* work, lapack_int *info );
-void LAPACK_zheequb( char* uplo, lapack_int* n, const lapack_complex_double* a,
-                     lapack_int* lda, double* s, double* scond, double* amax,
-                     lapack_complex_double* work, lapack_int *info );
-void LAPACK_cheequb( char* uplo, lapack_int* n, const lapack_complex_float* a,
-                     lapack_int* lda, float* s, float* scond, float* amax,
-                     lapack_complex_float* work, lapack_int *info );
-void LAPACK_sgesv( lapack_int* n, lapack_int* nrhs, float* a, lapack_int* lda,
-                   lapack_int* ipiv, float* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_dgesv( lapack_int* n, lapack_int* nrhs, double* a, lapack_int* lda,
-                   lapack_int* ipiv, double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_cgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_float* a,
-                   lapack_int* lda, lapack_int* ipiv, lapack_complex_float* b,
-                   lapack_int* ldb, lapack_int *info );
-void LAPACK_zgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* a,
-                   lapack_int* lda, lapack_int* ipiv, lapack_complex_double* b,
-                   lapack_int* ldb, lapack_int *info );
-void LAPACK_dsgesv( lapack_int* n, lapack_int* nrhs, double* a, lapack_int* lda,
-                    lapack_int* ipiv, double* b, lapack_int* ldb, double* x,
-                    lapack_int* ldx, double* work, float* swork,
-                    lapack_int* iter, lapack_int *info );
-void LAPACK_zcgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* ipiv, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    lapack_complex_double* work, lapack_complex_float* swork,
-                    double* rwork, lapack_int* iter, lapack_int *info );
-void LAPACK_sgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                    float* a, lapack_int* lda, float* af, lapack_int* ldaf,
-                    lapack_int* ipiv, char* equed, float* r, float* c, float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                    double* a, lapack_int* lda, double* af, lapack_int* ldaf,
-                    lapack_int* ipiv, char* equed, double* r, double* c,
-                    double* b, lapack_int* ldb, double* x, lapack_int* ldx,
-                    double* rcond, double* ferr, double* berr, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_cgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* af, lapack_int* ldaf,
-                    lapack_int* ipiv, char* equed, float* r, float* c,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* af, lapack_int* ldaf,
-                    lapack_int* ipiv, char* equed, double* r, double* c,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_dgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, double* r, double* c,
-                     double* b, lapack_int* ldb, double* x, lapack_int* ldx,
-                     double* rcond, double* rpvgrw, double* berr,
-                     lapack_int* n_err_bnds, double* err_bnds_norm,
-                     double* err_bnds_comp, lapack_int* nparams, double* params,
-                     double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_sgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, float* r, float* c,
-                     float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                     float* rcond, float* rpvgrw, float* berr,
-                     lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_zgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                     lapack_complex_double* a, lapack_int* lda,
-                     lapack_complex_double* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, double* r, double* c,
-                     lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_cgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                     lapack_complex_float* a, lapack_int* lda,
-                     lapack_complex_float* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, float* r, float* c,
-                     lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_sgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
-                   lapack_int* nrhs, float* ab, lapack_int* ldab,
-                   lapack_int* ipiv, float* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_dgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
-                   lapack_int* nrhs, double* ab, lapack_int* ldab,
-                   lapack_int* ipiv, double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_cgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
-                   lapack_int* nrhs, lapack_complex_float* ab, lapack_int* ldab,
-                   lapack_int* ipiv, lapack_complex_float* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_zgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
-                   lapack_int* nrhs, lapack_complex_double* ab,
-                   lapack_int* ldab, lapack_int* ipiv, lapack_complex_double* b,
-                   lapack_int* ldb, lapack_int *info );
-void LAPACK_sgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, lapack_int* nrhs, float* ab,
-                    lapack_int* ldab, float* afb, lapack_int* ldafb,
-                    lapack_int* ipiv, char* equed, float* r, float* c, float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, lapack_int* nrhs, double* ab,
-                    lapack_int* ldab, double* afb, lapack_int* ldafb,
-                    lapack_int* ipiv, char* equed, double* r, double* c,
-                    double* b, lapack_int* ldb, double* x, lapack_int* ldx,
-                    double* rcond, double* ferr, double* berr, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_cgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, lapack_int* nrhs, lapack_complex_float* ab,
-                    lapack_int* ldab, lapack_complex_float* afb,
-                    lapack_int* ldafb, lapack_int* ipiv, char* equed, float* r,
-                    float* c, lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, lapack_int* nrhs, lapack_complex_double* ab,
-                    lapack_int* ldab, lapack_complex_double* afb,
-                    lapack_int* ldafb, lapack_int* ipiv, char* equed, double* r,
-                    double* c, lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_dgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, lapack_int* nrhs, double* ab,
-                     lapack_int* ldab, double* afb, lapack_int* ldafb,
-                     lapack_int* ipiv, char* equed, double* r, double* c,
-                     double* b, lapack_int* ldb, double* x, lapack_int* ldx,
-                     double* rcond, double* rpvgrw, double* berr,
-                     lapack_int* n_err_bnds, double* err_bnds_norm,
-                     double* err_bnds_comp, lapack_int* nparams, double* params,
-                     double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_sgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, lapack_int* nrhs, float* ab,
-                     lapack_int* ldab, float* afb, lapack_int* ldafb,
-                     lapack_int* ipiv, char* equed, float* r, float* c,
-                     float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                     float* rcond, float* rpvgrw, float* berr,
-                     lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_zgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, lapack_int* nrhs,
-                     lapack_complex_double* ab, lapack_int* ldab,
-                     lapack_complex_double* afb, lapack_int* ldafb,
-                     lapack_int* ipiv, char* equed, double* r, double* c,
-                     lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_cgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
-                     lapack_int* ku, lapack_int* nrhs, lapack_complex_float* ab,
-                     lapack_int* ldab, lapack_complex_float* afb,
-                     lapack_int* ldafb, lapack_int* ipiv, char* equed, float* r,
-                     float* c, lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_sgtsv( lapack_int* n, lapack_int* nrhs, float* dl, float* d,
-                   float* du, float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_dgtsv( lapack_int* n, lapack_int* nrhs, double* dl, double* d,
-                   double* du, double* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_cgtsv( lapack_int* n, lapack_int* nrhs, lapack_complex_float* dl,
-                   lapack_complex_float* d, lapack_complex_float* du,
-                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_zgtsv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* dl,
-                   lapack_complex_double* d, lapack_complex_double* du,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_sgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                    const float* dl, const float* d, const float* du,
-                    float* dlf, float* df, float* duf, float* du2,
-                    lapack_int* ipiv, const float* b, lapack_int* ldb, float* x,
-                    lapack_int* ldx, float* rcond, float* ferr, float* berr,
-                    float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_dgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                    const double* dl, const double* d, const double* du,
-                    double* dlf, double* df, double* duf, double* du2,
-                    lapack_int* ipiv, const double* b, lapack_int* ldb,
-                    double* x, lapack_int* ldx, double* rcond, double* ferr,
-                    double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_cgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* dl,
-                    const lapack_complex_float* d,
-                    const lapack_complex_float* du, lapack_complex_float* dlf,
-                    lapack_complex_float* df, lapack_complex_float* duf,
-                    lapack_complex_float* du2, lapack_int* ipiv,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* dl,
-                    const lapack_complex_double* d,
-                    const lapack_complex_double* du, lapack_complex_double* dlf,
-                    lapack_complex_double* df, lapack_complex_double* duf,
-                    lapack_complex_double* du2, lapack_int* ipiv,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_sposv( char* uplo, lapack_int* n, lapack_int* nrhs, float* a,
-                   lapack_int* lda, float* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_dposv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
-                   lapack_int* lda, double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_cposv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_float* a, lapack_int* lda,
-                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_zposv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_double* a, lapack_int* lda,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_dsposv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
-                    lapack_int* lda, double* b, lapack_int* ldb, double* x,
-                    lapack_int* ldx, double* work, float* swork,
-                    lapack_int* iter, lapack_int *info );
-void LAPACK_zcposv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx,
-                    lapack_complex_double* work, lapack_complex_float* swork,
-                    double* rwork, lapack_int* iter, lapack_int *info );
-void LAPACK_sposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    float* a, lapack_int* lda, float* af, lapack_int* ldaf,
-                    char* equed, float* s, float* b, lapack_int* ldb, float* x,
-                    lapack_int* ldx, float* rcond, float* ferr, float* berr,
-                    float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_dposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    double* a, lapack_int* lda, double* af, lapack_int* ldaf,
-                    char* equed, double* s, double* b, lapack_int* ldb,
-                    double* x, lapack_int* ldx, double* rcond, double* ferr,
-                    double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_cposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* af, lapack_int* ldaf, char* equed,
-                    float* s, lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* af, lapack_int* ldaf, char* equed,
-                    double* s, lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_dposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
-                     char* equed, double* s, double* b, lapack_int* ldb,
-                     double* x, lapack_int* ldx, double* rcond, double* rpvgrw,
-                     double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params, double* work,
-                     lapack_int* iwork, lapack_int *info );
-void LAPACK_sposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
-                     char* equed, float* s, float* b, lapack_int* ldb, float* x,
-                     lapack_int* ldx, float* rcond, float* rpvgrw, float* berr,
-                     lapack_int* n_err_bnds, float* err_bnds_norm,
-                     float* err_bnds_comp, lapack_int* nparams, float* params,
-                     float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_zposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     lapack_complex_double* a, lapack_int* lda,
-                     lapack_complex_double* af, lapack_int* ldaf, char* equed,
-                     double* s, lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_cposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     lapack_complex_float* a, lapack_int* lda,
-                     lapack_complex_float* af, lapack_int* ldaf, char* equed,
-                     float* s, lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_sppsv( char* uplo, lapack_int* n, lapack_int* nrhs, float* ap,
-                   float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_dppsv( char* uplo, lapack_int* n, lapack_int* nrhs, double* ap,
-                   double* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_cppsv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_float* ap, lapack_complex_float* b,
-                   lapack_int* ldb, lapack_int *info );
-void LAPACK_zppsv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_double* ap, lapack_complex_double* b,
-                   lapack_int* ldb, lapack_int *info );
-void LAPACK_sppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    float* ap, float* afp, char* equed, float* s, float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    double* ap, double* afp, char* equed, double* s, double* b,
-                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
-                    double* ferr, double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_cppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_float* ap, lapack_complex_float* afp,
-                    char* equed, float* s, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* rcond, float* ferr, float* berr,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_double* ap, lapack_complex_double* afp,
-                    char* equed, double* s, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* rcond, double* ferr, double* berr,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_spbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                   float* ab, lapack_int* ldab, float* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_dpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                   double* ab, lapack_int* ldab, double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_cpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                   lapack_complex_float* ab, lapack_int* ldab,
-                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_zpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
-                   lapack_complex_double* ab, lapack_int* ldab,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_spbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_int* nrhs, float* ab, lapack_int* ldab, float* afb,
-                    lapack_int* ldafb, char* equed, float* s, float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_int* nrhs, double* ab, lapack_int* ldab, double* afb,
-                    lapack_int* ldafb, char* equed, double* s, double* b,
-                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
-                    double* ferr, double* berr, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_cpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_int* nrhs, lapack_complex_float* ab,
-                    lapack_int* ldab, lapack_complex_float* afb,
-                    lapack_int* ldafb, char* equed, float* s,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_int* nrhs, lapack_complex_double* ab,
-                    lapack_int* ldab, lapack_complex_double* afb,
-                    lapack_int* ldafb, char* equed, double* s,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                    double* ferr, double* berr, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_sptsv( lapack_int* n, lapack_int* nrhs, float* d, float* e,
-                   float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_dptsv( lapack_int* n, lapack_int* nrhs, double* d, double* e,
-                   double* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_cptsv( lapack_int* n, lapack_int* nrhs, float* d,
-                   lapack_complex_float* e, lapack_complex_float* b,
-                   lapack_int* ldb, lapack_int *info );
-void LAPACK_zptsv( lapack_int* n, lapack_int* nrhs, double* d,
-                   lapack_complex_double* e, lapack_complex_double* b,
-                   lapack_int* ldb, lapack_int *info );
-void LAPACK_sptsvx( char* fact, lapack_int* n, lapack_int* nrhs, const float* d,
-                    const float* e, float* df, float* ef, const float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, float* work, lapack_int *info );
-void LAPACK_dptsvx( char* fact, lapack_int* n, lapack_int* nrhs,
-                    const double* d, const double* e, double* df, double* ef,
-                    const double* b, lapack_int* ldb, double* x,
-                    lapack_int* ldx, double* rcond, double* ferr, double* berr,
-                    double* work, lapack_int *info );
-void LAPACK_cptsvx( char* fact, lapack_int* n, lapack_int* nrhs, const float* d,
-                    const lapack_complex_float* e, float* df,
-                    lapack_complex_float* ef, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* rcond, float* ferr, float* berr,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zptsvx( char* fact, lapack_int* n, lapack_int* nrhs,
-                    const double* d, const lapack_complex_double* e, double* df,
-                    lapack_complex_double* ef, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* rcond, double* ferr, double* berr,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_ssysv( char* uplo, lapack_int* n, lapack_int* nrhs, float* a,
-                   lapack_int* lda, lapack_int* ipiv, float* b, lapack_int* ldb,
-                   float* work, lapack_int* lwork, lapack_int *info );
-void LAPACK_dsysv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
-                   lapack_int* lda, lapack_int* ipiv, double* b,
-                   lapack_int* ldb, double* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_csysv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_float* a, lapack_int* lda, lapack_int* ipiv,
-                   lapack_complex_float* b, lapack_int* ldb,
-                   lapack_complex_float* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_zsysv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_double* a, lapack_int* lda, lapack_int* ipiv,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_complex_double* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_ssysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const float* a, lapack_int* lda, float* af,
-                    lapack_int* ldaf, lapack_int* ipiv, const float* b,
-                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
-                    float* ferr, float* berr, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dsysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* a, lapack_int* lda, double* af,
-                    lapack_int* ldaf, lapack_int* ipiv, const double* b,
-                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
-                    double* ferr, double* berr, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_csysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* af, lapack_int* ldaf,
-                    lapack_int* ipiv, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* rcond, float* ferr, float* berr,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int *info );
-void LAPACK_zsysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* af, lapack_int* ldaf,
-                    lapack_int* ipiv, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* rcond, double* ferr, double* berr,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int *info );
-void LAPACK_dsysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, double* s, double* b,
-                     lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
-                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params, double* work,
-                     lapack_int* iwork, lapack_int *info );
-void LAPACK_ssysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, float* s, float* b,
-                     lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
-                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params, float* work,
-                     lapack_int* iwork, lapack_int *info );
-void LAPACK_zsysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     lapack_complex_double* a, lapack_int* lda,
-                     lapack_complex_double* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, double* s,
-                     lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_csysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     lapack_complex_float* a, lapack_int* lda,
-                     lapack_complex_float* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, float* s,
-                     lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_chesv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_float* a, lapack_int* lda, lapack_int* ipiv,
-                   lapack_complex_float* b, lapack_int* ldb,
-                   lapack_complex_float* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_zhesv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_double* a, lapack_int* lda, lapack_int* ipiv,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_complex_double* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_chesvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* af, lapack_int* ldaf,
-                    lapack_int* ipiv, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* rcond, float* ferr, float* berr,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int *info );
-void LAPACK_zhesvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* af, lapack_int* ldaf,
-                    lapack_int* ipiv, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* rcond, double* ferr, double* berr,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int *info );
-void LAPACK_zhesvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     lapack_complex_double* a, lapack_int* lda,
-                     lapack_complex_double* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, double* s,
-                     lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
-                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
-                     double* err_bnds_norm, double* err_bnds_comp,
-                     lapack_int* nparams, double* params,
-                     lapack_complex_double* work, double* rwork,
-                     lapack_int *info );
-void LAPACK_chesvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                     lapack_complex_float* a, lapack_int* lda,
-                     lapack_complex_float* af, lapack_int* ldaf,
-                     lapack_int* ipiv, char* equed, float* s,
-                     lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
-                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
-                     float* err_bnds_norm, float* err_bnds_comp,
-                     lapack_int* nparams, float* params,
-                     lapack_complex_float* work, float* rwork,
-                     lapack_int *info );
-void LAPACK_sspsv( char* uplo, lapack_int* n, lapack_int* nrhs, float* ap,
-                   lapack_int* ipiv, float* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_dspsv( char* uplo, lapack_int* n, lapack_int* nrhs, double* ap,
-                   lapack_int* ipiv, double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_cspsv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_float* ap, lapack_int* ipiv,
-                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_zspsv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_double* ap, lapack_int* ipiv,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_sspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const float* ap, float* afp, lapack_int* ipiv,
-                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
-                    float* rcond, float* ferr, float* berr, float* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const double* ap, double* afp, lapack_int* ipiv,
-                    const double* b, lapack_int* ldb, double* x,
-                    lapack_int* ldx, double* rcond, double* ferr, double* berr,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_cspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* ap, lapack_complex_float* afp,
-                    lapack_int* ipiv, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* rcond, float* ferr, float* berr,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* ap, lapack_complex_double* afp,
-                    lapack_int* ipiv, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* rcond, double* ferr, double* berr,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_chpsv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_float* ap, lapack_int* ipiv,
-                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
-void LAPACK_zhpsv( char* uplo, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_double* ap, lapack_int* ipiv,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_int *info );
-void LAPACK_chpsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_float* ap, lapack_complex_float* afp,
-                    lapack_int* ipiv, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
-                    float* rcond, float* ferr, float* berr,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zhpsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
-                    const lapack_complex_double* ap, lapack_complex_double* afp,
-                    lapack_int* ipiv, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
-                    double* rcond, double* ferr, double* berr,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_sgeqrf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    float* tau, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dgeqrf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    double* tau, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cgeqrf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zgeqrf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sgeqpf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int* jpvt, float* tau, float* work,
-                    lapack_int *info );
-void LAPACK_dgeqpf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int* jpvt, double* tau, double* work,
-                    lapack_int *info );
-void LAPACK_cgeqpf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* jpvt,
-                    lapack_complex_float* tau, lapack_complex_float* work,
-                    float* rwork, lapack_int *info );
-void LAPACK_zgeqpf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* jpvt,
-                    lapack_complex_double* tau, lapack_complex_double* work,
-                    double* rwork, lapack_int *info );
-void LAPACK_sgeqp3( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int* jpvt, float* tau, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dgeqp3( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int* jpvt, double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cgeqp3( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* jpvt,
-                    lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_int *info );
-void LAPACK_zgeqp3( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* jpvt,
-                    lapack_complex_double* tau, lapack_complex_double* work,
-                    lapack_int* lwork, double* rwork, lapack_int *info );
-void LAPACK_sorgqr( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
-                    lapack_int* lda, const float* tau, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dorgqr( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
-                    lapack_int* lda, const double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sormqr( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const float* a, lapack_int* lda,
-                    const float* tau, float* c, lapack_int* ldc, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dormqr( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const double* a, lapack_int* lda,
-                    const double* tau, double* c, lapack_int* ldc, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cungqr( lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zungqr( lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cunmqr( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* tau,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zunmqr( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* tau,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sgelqf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    float* tau, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dgelqf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    double* tau, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cgelqf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zgelqf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sorglq( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
-                    lapack_int* lda, const float* tau, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dorglq( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
-                    lapack_int* lda, const double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sormlq( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const float* a, lapack_int* lda,
-                    const float* tau, float* c, lapack_int* ldc, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dormlq( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const double* a, lapack_int* lda,
-                    const double* tau, double* c, lapack_int* ldc, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cunglq( lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zunglq( lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cunmlq( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* tau,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zunmlq( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* tau,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sgeqlf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    float* tau, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dgeqlf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    double* tau, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cgeqlf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zgeqlf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sorgql( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
-                    lapack_int* lda, const float* tau, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dorgql( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
-                    lapack_int* lda, const double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cungql( lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zungql( lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sormql( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const float* a, lapack_int* lda,
-                    const float* tau, float* c, lapack_int* ldc, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dormql( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const double* a, lapack_int* lda,
-                    const double* tau, double* c, lapack_int* ldc, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cunmql( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* tau,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zunmql( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* tau,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sgerqf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    float* tau, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dgerqf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    double* tau, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cgerqf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zgerqf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sorgrq( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
-                    lapack_int* lda, const float* tau, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dorgrq( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
-                    lapack_int* lda, const double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cungrq( lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zungrq( lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sormrq( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const float* a, lapack_int* lda,
-                    const float* tau, float* c, lapack_int* ldc, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dormrq( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const double* a, lapack_int* lda,
-                    const double* tau, double* c, lapack_int* ldc, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cunmrq( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* tau,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zunmrq( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* tau,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_stzrzf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    float* tau, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dtzrzf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    double* tau, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_ctzrzf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_ztzrzf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sormrz( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, lapack_int* l, const float* a,
-                    lapack_int* lda, const float* tau, float* c,
-                    lapack_int* ldc, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dormrz( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, lapack_int* l, const double* a,
-                    lapack_int* lda, const double* tau, double* c,
-                    lapack_int* ldc, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cunmrz( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, lapack_int* l, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* tau,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zunmrz( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* k, lapack_int* l,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau, lapack_complex_double* c,
-                    lapack_int* ldc, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sggqrf( lapack_int* n, lapack_int* m, lapack_int* p, float* a,
-                    lapack_int* lda, float* taua, float* b, lapack_int* ldb,
-                    float* taub, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dggqrf( lapack_int* n, lapack_int* m, lapack_int* p, double* a,
-                    lapack_int* lda, double* taua, double* b, lapack_int* ldb,
-                    double* taub, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cggqrf( lapack_int* n, lapack_int* m, lapack_int* p,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* taua, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* taub,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zggqrf( lapack_int* n, lapack_int* m, lapack_int* p,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* taua, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* taub,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sggrqf( lapack_int* m, lapack_int* p, lapack_int* n, float* a,
-                    lapack_int* lda, float* taua, float* b, lapack_int* ldb,
-                    float* taub, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dggrqf( lapack_int* m, lapack_int* p, lapack_int* n, double* a,
-                    lapack_int* lda, double* taua, double* b, lapack_int* ldb,
-                    double* taub, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cggrqf( lapack_int* m, lapack_int* p, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* taua, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* taub,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zggrqf( lapack_int* m, lapack_int* p, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* taua, lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* taub,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sgebrd( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    float* d, float* e, float* tauq, float* taup, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dgebrd( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    double* d, double* e, double* tauq, double* taup,
-                    double* work, lapack_int* lwork, lapack_int *info );
-void LAPACK_cgebrd( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, float* d, float* e,
-                    lapack_complex_float* tauq, lapack_complex_float* taup,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zgebrd( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, double* d, double* e,
-                    lapack_complex_double* tauq, lapack_complex_double* taup,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
-                    lapack_int* kl, lapack_int* ku, float* ab, lapack_int* ldab,
-                    float* d, float* e, float* q, lapack_int* ldq, float* pt,
-                    lapack_int* ldpt, float* c, lapack_int* ldc, float* work,
-                    lapack_int *info );
-void LAPACK_dgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
-                    lapack_int* kl, lapack_int* ku, double* ab,
-                    lapack_int* ldab, double* d, double* e, double* q,
-                    lapack_int* ldq, double* pt, lapack_int* ldpt, double* c,
-                    lapack_int* ldc, double* work, lapack_int *info );
-void LAPACK_cgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
-                    lapack_int* kl, lapack_int* ku, lapack_complex_float* ab,
-                    lapack_int* ldab, float* d, float* e,
-                    lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* pt, lapack_int* ldpt,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
-                    lapack_int* kl, lapack_int* ku, lapack_complex_double* ab,
-                    lapack_int* ldab, double* d, double* e,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* pt, lapack_int* ldpt,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_sorgbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
-                    float* a, lapack_int* lda, const float* tau, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dorgbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
-                    double* a, lapack_int* lda, const double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sormbr( char* vect, char* side, char* trans, lapack_int* m,
-                    lapack_int* n, lapack_int* k, const float* a,
-                    lapack_int* lda, const float* tau, float* c,
-                    lapack_int* ldc, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dormbr( char* vect, char* side, char* trans, lapack_int* m,
-                    lapack_int* n, lapack_int* k, const double* a,
-                    lapack_int* lda, const double* tau, double* c,
-                    lapack_int* ldc, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cungbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zungbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
-                    lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cunmbr( char* vect, char* side, char* trans, lapack_int* m,
-                    lapack_int* n, lapack_int* k, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* tau,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zunmbr( char* vect, char* side, char* trans, lapack_int* m,
-                    lapack_int* n, lapack_int* k,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau, lapack_complex_double* c,
-                    lapack_int* ldc, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
-                    lapack_int* nru, lapack_int* ncc, float* d, float* e,
-                    float* vt, lapack_int* ldvt, float* u, lapack_int* ldu,
-                    float* c, lapack_int* ldc, float* work, lapack_int *info );
-void LAPACK_dbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
-                    lapack_int* nru, lapack_int* ncc, double* d, double* e,
-                    double* vt, lapack_int* ldvt, double* u, lapack_int* ldu,
-                    double* c, lapack_int* ldc, double* work,
-                    lapack_int *info );
-void LAPACK_cbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
-                    lapack_int* nru, lapack_int* ncc, float* d, float* e,
-                    lapack_complex_float* vt, lapack_int* ldvt,
-                    lapack_complex_float* u, lapack_int* ldu,
-                    lapack_complex_float* c, lapack_int* ldc, float* work,
-                    lapack_int *info );
-void LAPACK_zbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
-                    lapack_int* nru, lapack_int* ncc, double* d, double* e,
-                    lapack_complex_double* vt, lapack_int* ldvt,
-                    lapack_complex_double* u, lapack_int* ldu,
-                    lapack_complex_double* c, lapack_int* ldc, double* work,
-                    lapack_int *info );
-void LAPACK_sbdsdc( char* uplo, char* compq, lapack_int* n, float* d, float* e,
-                    float* u, lapack_int* ldu, float* vt, lapack_int* ldvt,
-                    float* q, lapack_int* iq, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dbdsdc( char* uplo, char* compq, lapack_int* n, double* d,
-                    double* e, double* u, lapack_int* ldu, double* vt,
-                    lapack_int* ldvt, double* q, lapack_int* iq, double* work,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_ssytrd( char* uplo, lapack_int* n, float* a, lapack_int* lda,
-                    float* d, float* e, float* tau, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dsytrd( char* uplo, lapack_int* n, double* a, lapack_int* lda,
-                    double* d, double* e, double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sorgtr( char* uplo, lapack_int* n, float* a, lapack_int* lda,
-                    const float* tau, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dorgtr( char* uplo, lapack_int* n, double* a, lapack_int* lda,
-                    const double* tau, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_sormtr( char* side, char* uplo, char* trans, lapack_int* m,
-                    lapack_int* n, const float* a, lapack_int* lda,
-                    const float* tau, float* c, lapack_int* ldc, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dormtr( char* side, char* uplo, char* trans, lapack_int* m,
-                    lapack_int* n, const double* a, lapack_int* lda,
-                    const double* tau, double* c, lapack_int* ldc, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_chetrd( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, float* d, float* e,
-                    lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zhetrd( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, double* d, double* e,
-                    lapack_complex_double* tau, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cungtr( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zungtr( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cunmtr( char* side, char* uplo, char* trans, lapack_int* m,
-                    lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* tau,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_zunmtr( char* side, char* uplo, char* trans, lapack_int* m,
-                    lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* tau,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_ssptrd( char* uplo, lapack_int* n, float* ap, float* d, float* e,
-                    float* tau, lapack_int *info );
-void LAPACK_dsptrd( char* uplo, lapack_int* n, double* ap, double* d, double* e,
-                    double* tau, lapack_int *info );
-void LAPACK_sopgtr( char* uplo, lapack_int* n, const float* ap,
-                    const float* tau, float* q, lapack_int* ldq, float* work,
-                    lapack_int *info );
-void LAPACK_dopgtr( char* uplo, lapack_int* n, const double* ap,
-                    const double* tau, double* q, lapack_int* ldq, double* work,
-                    lapack_int *info );
-void LAPACK_sopmtr( char* side, char* uplo, char* trans, lapack_int* m,
-                    lapack_int* n, const float* ap, const float* tau, float* c,
-                    lapack_int* ldc, float* work, lapack_int *info );
-void LAPACK_dopmtr( char* side, char* uplo, char* trans, lapack_int* m,
-                    lapack_int* n, const double* ap, const double* tau,
-                    double* c, lapack_int* ldc, double* work,
-                    lapack_int *info );
-void LAPACK_chptrd( char* uplo, lapack_int* n, lapack_complex_float* ap,
-                    float* d, float* e, lapack_complex_float* tau,
-                    lapack_int *info );
-void LAPACK_zhptrd( char* uplo, lapack_int* n, lapack_complex_double* ap,
-                    double* d, double* e, lapack_complex_double* tau,
-                    lapack_int *info );
-void LAPACK_cupgtr( char* uplo, lapack_int* n, const lapack_complex_float* ap,
-                    const lapack_complex_float* tau, lapack_complex_float* q,
-                    lapack_int* ldq, lapack_complex_float* work,
-                    lapack_int *info );
-void LAPACK_zupgtr( char* uplo, lapack_int* n, const lapack_complex_double* ap,
-                    const lapack_complex_double* tau, lapack_complex_double* q,
-                    lapack_int* ldq, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_cupmtr( char* side, char* uplo, char* trans, lapack_int* m,
-                    lapack_int* n, const lapack_complex_float* ap,
-                    const lapack_complex_float* tau, lapack_complex_float* c,
-                    lapack_int* ldc, lapack_complex_float* work,
-                    lapack_int *info );
-void LAPACK_zupmtr( char* side, char* uplo, char* trans, lapack_int* m,
-                    lapack_int* n, const lapack_complex_double* ap,
-                    const lapack_complex_double* tau, lapack_complex_double* c,
-                    lapack_int* ldc, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_ssbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
-                    float* ab, lapack_int* ldab, float* d, float* e, float* q,
-                    lapack_int* ldq, float* work, lapack_int *info );
-void LAPACK_dsbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
-                    double* ab, lapack_int* ldab, double* d, double* e,
-                    double* q, lapack_int* ldq, double* work,
-                    lapack_int *info );
-void LAPACK_chbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_complex_float* ab, lapack_int* ldab, float* d,
-                    float* e, lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zhbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_complex_double* ab, lapack_int* ldab, double* d,
-                    double* e, lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_ssterf( lapack_int* n, float* d, float* e, lapack_int *info );
-void LAPACK_dsterf( lapack_int* n, double* d, double* e, lapack_int *info );
-void LAPACK_ssteqr( char* compz, lapack_int* n, float* d, float* e, float* z,
-                    lapack_int* ldz, float* work, lapack_int *info );
-void LAPACK_dsteqr( char* compz, lapack_int* n, double* d, double* e, double* z,
-                    lapack_int* ldz, double* work, lapack_int *info );
-void LAPACK_csteqr( char* compz, lapack_int* n, float* d, float* e,
-                    lapack_complex_float* z, lapack_int* ldz, float* work,
-                    lapack_int *info );
-void LAPACK_zsteqr( char* compz, lapack_int* n, double* d, double* e,
-                    lapack_complex_double* z, lapack_int* ldz, double* work,
-                    lapack_int *info );
-void LAPACK_sstemr( char* jobz, char* range, lapack_int* n, float* d, float* e,
-                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
-                    lapack_int* m, float* w, float* z, lapack_int* ldz,
-                    lapack_int* nzc, lapack_int* isuppz, lapack_logical* tryrac,
-                    float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_dstemr( char* jobz, char* range, lapack_int* n, double* d,
-                    double* e, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, lapack_int* m, double* w, double* z,
-                    lapack_int* ldz, lapack_int* nzc, lapack_int* isuppz,
-                    lapack_logical* tryrac, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_cstemr( char* jobz, char* range, lapack_int* n, float* d, float* e,
-                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
-                    lapack_int* m, float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_int* nzc, lapack_int* isuppz,
-                    lapack_logical* tryrac, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_zstemr( char* jobz, char* range, lapack_int* n, double* d,
-                    double* e, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, lapack_int* m, double* w,
-                    lapack_complex_double* z, lapack_int* ldz, lapack_int* nzc,
-                    lapack_int* isuppz, lapack_logical* tryrac, double* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_sstedc( char* compz, lapack_int* n, float* d, float* e, float* z,
-                    lapack_int* ldz, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_dstedc( char* compz, lapack_int* n, double* d, double* e, double* z,
-                    lapack_int* ldz, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_cstedc( char* compz, lapack_int* n, float* d, float* e,
-                    lapack_complex_float* z, lapack_int* ldz,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_zstedc( char* compz, lapack_int* n, double* d, double* e,
-                    lapack_complex_double* z, lapack_int* ldz,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_sstegr( char* jobz, char* range, lapack_int* n, float* d, float* e,
-                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
-                    float* abstol, lapack_int* m, float* w, float* z,
-                    lapack_int* ldz, lapack_int* isuppz, float* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_dstegr( char* jobz, char* range, lapack_int* n, double* d,
-                    double* e, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
-                    double* z, lapack_int* ldz, lapack_int* isuppz,
-                    double* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_cstegr( char* jobz, char* range, lapack_int* n, float* d, float* e,
-                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
-                    float* abstol, lapack_int* m, float* w,
-                    lapack_complex_float* z, lapack_int* ldz,
-                    lapack_int* isuppz, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_zstegr( char* jobz, char* range, lapack_int* n, double* d,
-                    double* e, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
-                    lapack_complex_double* z, lapack_int* ldz,
-                    lapack_int* isuppz, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_spteqr( char* compz, lapack_int* n, float* d, float* e, float* z,
-                    lapack_int* ldz, float* work, lapack_int *info );
-void LAPACK_dpteqr( char* compz, lapack_int* n, double* d, double* e, double* z,
-                    lapack_int* ldz, double* work, lapack_int *info );
-void LAPACK_cpteqr( char* compz, lapack_int* n, float* d, float* e,
-                    lapack_complex_float* z, lapack_int* ldz, float* work,
-                    lapack_int *info );
-void LAPACK_zpteqr( char* compz, lapack_int* n, double* d, double* e,
-                    lapack_complex_double* z, lapack_int* ldz, double* work,
-                    lapack_int *info );
-void LAPACK_sstebz( char* range, char* order, lapack_int* n, float* vl,
-                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
-                    const float* d, const float* e, lapack_int* m,
-                    lapack_int* nsplit, float* w, lapack_int* iblock,
-                    lapack_int* isplit, float* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dstebz( char* range, char* order, lapack_int* n, double* vl,
-                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
-                    const double* d, const double* e, lapack_int* m,
-                    lapack_int* nsplit, double* w, lapack_int* iblock,
-                    lapack_int* isplit, double* work, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_sstein( lapack_int* n, const float* d, const float* e,
-                    lapack_int* m, const float* w, const lapack_int* iblock,
-                    const lapack_int* isplit, float* z, lapack_int* ldz,
-                    float* work, lapack_int* iwork, lapack_int* ifailv,
-                    lapack_int *info );
-void LAPACK_dstein( lapack_int* n, const double* d, const double* e,
-                    lapack_int* m, const double* w, const lapack_int* iblock,
-                    const lapack_int* isplit, double* z, lapack_int* ldz,
-                    double* work, lapack_int* iwork, lapack_int* ifailv,
-                    lapack_int *info );
-void LAPACK_cstein( lapack_int* n, const float* d, const float* e,
-                    lapack_int* m, const float* w, const lapack_int* iblock,
-                    const lapack_int* isplit, lapack_complex_float* z,
-                    lapack_int* ldz, float* work, lapack_int* iwork,
-                    lapack_int* ifailv, lapack_int *info );
-void LAPACK_zstein( lapack_int* n, const double* d, const double* e,
-                    lapack_int* m, const double* w, const lapack_int* iblock,
-                    const lapack_int* isplit, lapack_complex_double* z,
-                    lapack_int* ldz, double* work, lapack_int* iwork,
-                    lapack_int* ifailv, lapack_int *info );
-void LAPACK_sdisna( char* job, lapack_int* m, lapack_int* n, const float* d,
-                    float* sep, lapack_int *info );
-void LAPACK_ddisna( char* job, lapack_int* m, lapack_int* n, const double* d,
-                    double* sep, lapack_int *info );
-void LAPACK_ssygst( lapack_int* itype, char* uplo, lapack_int* n, float* a,
-                    lapack_int* lda, const float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_dsygst( lapack_int* itype, char* uplo, lapack_int* n, double* a,
-                    lapack_int* lda, const double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_chegst( lapack_int* itype, char* uplo, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_zhegst( lapack_int* itype, char* uplo, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int *info );
-void LAPACK_sspgst( lapack_int* itype, char* uplo, lapack_int* n, float* ap,
-                    const float* bp, lapack_int *info );
-void LAPACK_dspgst( lapack_int* itype, char* uplo, lapack_int* n, double* ap,
-                    const double* bp, lapack_int *info );
-void LAPACK_chpgst( lapack_int* itype, char* uplo, lapack_int* n,
-                    lapack_complex_float* ap, const lapack_complex_float* bp,
-                    lapack_int *info );
-void LAPACK_zhpgst( lapack_int* itype, char* uplo, lapack_int* n,
-                    lapack_complex_double* ap, const lapack_complex_double* bp,
-                    lapack_int *info );
-void LAPACK_ssbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
-                    lapack_int* kb, float* ab, lapack_int* ldab,
-                    const float* bb, lapack_int* ldbb, float* x,
-                    lapack_int* ldx, float* work, lapack_int *info );
-void LAPACK_dsbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
-                    lapack_int* kb, double* ab, lapack_int* ldab,
-                    const double* bb, lapack_int* ldbb, double* x,
-                    lapack_int* ldx, double* work, lapack_int *info );
-void LAPACK_chbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
-                    lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
-                    const lapack_complex_float* bb, lapack_int* ldbb,
-                    lapack_complex_float* x, lapack_int* ldx,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_zhbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
-                    lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
-                    const lapack_complex_double* bb, lapack_int* ldbb,
-                    lapack_complex_double* x, lapack_int* ldx,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_spbstf( char* uplo, lapack_int* n, lapack_int* kb, float* bb,
-                    lapack_int* ldbb, lapack_int *info );
-void LAPACK_dpbstf( char* uplo, lapack_int* n, lapack_int* kb, double* bb,
-                    lapack_int* ldbb, lapack_int *info );
-void LAPACK_cpbstf( char* uplo, lapack_int* n, lapack_int* kb,
-                    lapack_complex_float* bb, lapack_int* ldbb,
-                    lapack_int *info );
-void LAPACK_zpbstf( char* uplo, lapack_int* n, lapack_int* kb,
-                    lapack_complex_double* bb, lapack_int* ldbb,
-                    lapack_int *info );
-void LAPACK_sgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi, float* a,
-                    lapack_int* lda, float* tau, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi, double* a,
-                    lapack_int* lda, double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* tau, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sorghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi, float* a,
-                    lapack_int* lda, const float* tau, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dorghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi, double* a,
-                    lapack_int* lda, const double* tau, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sormhr( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* ilo, lapack_int* ihi, const float* a,
-                    lapack_int* lda, const float* tau, float* c,
-                    lapack_int* ldc, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dormhr( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* ilo, lapack_int* ihi, const double* a,
-                    lapack_int* lda, const double* tau, double* c,
-                    lapack_int* ldc, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cunghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
-                    lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* tau, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zunghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
-                    lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cunmhr( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* ilo, lapack_int* ihi,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* tau, lapack_complex_float* c,
-                    lapack_int* ldc, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zunmhr( char* side, char* trans, lapack_int* m, lapack_int* n,
-                    lapack_int* ilo, lapack_int* ihi,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* tau, lapack_complex_double* c,
-                    lapack_int* ldc, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sgebal( char* job, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int* ilo, lapack_int* ihi, float* scale,
-                    lapack_int *info );
-void LAPACK_dgebal( char* job, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int* ilo, lapack_int* ihi, double* scale,
-                    lapack_int *info );
-void LAPACK_cgebal( char* job, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* ilo, lapack_int* ihi,
-                    float* scale, lapack_int *info );
-void LAPACK_zgebal( char* job, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* ilo, lapack_int* ihi,
-                    double* scale, lapack_int *info );
-void LAPACK_sgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, const float* scale, lapack_int* m,
-                    float* v, lapack_int* ldv, lapack_int *info );
-void LAPACK_dgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, const double* scale, lapack_int* m,
-                    double* v, lapack_int* ldv, lapack_int *info );
-void LAPACK_cgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, const float* scale, lapack_int* m,
-                    lapack_complex_float* v, lapack_int* ldv,
-                    lapack_int *info );
-void LAPACK_zgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, const double* scale, lapack_int* m,
-                    lapack_complex_double* v, lapack_int* ldv,
-                    lapack_int *info );
-void LAPACK_shseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, float* h, lapack_int* ldh, float* wr,
-                    float* wi, float* z, lapack_int* ldz, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dhseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, double* h, lapack_int* ldh, double* wr,
-                    double* wi, double* z, lapack_int* ldz, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_chseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, lapack_complex_float* h, lapack_int* ldh,
-                    lapack_complex_float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zhseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, lapack_complex_double* h, lapack_int* ldh,
-                    lapack_complex_double* w, lapack_complex_double* z,
-                    lapack_int* ldz, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_shsein( char* job, char* eigsrc, char* initv,
-                    lapack_logical* select, lapack_int* n, const float* h,
-                    lapack_int* ldh, float* wr, const float* wi, float* vl,
-                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
-                    lapack_int* mm, lapack_int* m, float* work,
-                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
-void LAPACK_dhsein( char* job, char* eigsrc, char* initv,
-                    lapack_logical* select, lapack_int* n, const double* h,
-                    lapack_int* ldh, double* wr, const double* wi, double* vl,
-                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
-                    lapack_int* mm, lapack_int* m, double* work,
-                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
-void LAPACK_chsein( char* job, char* eigsrc, char* initv,
-                    const lapack_logical* select, lapack_int* n,
-                    const lapack_complex_float* h, lapack_int* ldh,
-                    lapack_complex_float* w, lapack_complex_float* vl,
-                    lapack_int* ldvl, lapack_complex_float* vr,
-                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
-                    lapack_complex_float* work, float* rwork,
-                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
-void LAPACK_zhsein( char* job, char* eigsrc, char* initv,
-                    const lapack_logical* select, lapack_int* n,
-                    const lapack_complex_double* h, lapack_int* ldh,
-                    lapack_complex_double* w, lapack_complex_double* vl,
-                    lapack_int* ldvl, lapack_complex_double* vr,
-                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
-void LAPACK_strevc( char* side, char* howmny, lapack_logical* select,
-                    lapack_int* n, const float* t, lapack_int* ldt, float* vl,
-                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
-                    lapack_int* mm, lapack_int* m, float* work,
-                    lapack_int *info );
-void LAPACK_dtrevc( char* side, char* howmny, lapack_logical* select,
-                    lapack_int* n, const double* t, lapack_int* ldt, double* vl,
-                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
-                    lapack_int* mm, lapack_int* m, double* work,
-                    lapack_int *info );
-void LAPACK_ctrevc( char* side, char* howmny, const lapack_logical* select,
-                    lapack_int* n, lapack_complex_float* t, lapack_int* ldt,
-                    lapack_complex_float* vl, lapack_int* ldvl,
-                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* mm,
-                    lapack_int* m, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_ztrevc( char* side, char* howmny, const lapack_logical* select,
-                    lapack_int* n, lapack_complex_double* t, lapack_int* ldt,
-                    lapack_complex_double* vl, lapack_int* ldvl,
-                    lapack_complex_double* vr, lapack_int* ldvr, lapack_int* mm,
-                    lapack_int* m, lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_strsna( char* job, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const float* t, lapack_int* ldt,
-                    const float* vl, lapack_int* ldvl, const float* vr,
-                    lapack_int* ldvr, float* s, float* sep, lapack_int* mm,
-                    lapack_int* m, float* work, lapack_int* ldwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dtrsna( char* job, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const double* t, lapack_int* ldt,
-                    const double* vl, lapack_int* ldvl, const double* vr,
-                    lapack_int* ldvr, double* s, double* sep, lapack_int* mm,
-                    lapack_int* m, double* work, lapack_int* ldwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_ctrsna( char* job, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const lapack_complex_float* t,
-                    lapack_int* ldt, const lapack_complex_float* vl,
-                    lapack_int* ldvl, const lapack_complex_float* vr,
-                    lapack_int* ldvr, float* s, float* sep, lapack_int* mm,
-                    lapack_int* m, lapack_complex_float* work,
-                    lapack_int* ldwork, float* rwork, lapack_int *info );
-void LAPACK_ztrsna( char* job, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const lapack_complex_double* t,
-                    lapack_int* ldt, const lapack_complex_double* vl,
-                    lapack_int* ldvl, const lapack_complex_double* vr,
-                    lapack_int* ldvr, double* s, double* sep, lapack_int* mm,
-                    lapack_int* m, lapack_complex_double* work,
-                    lapack_int* ldwork, double* rwork, lapack_int *info );
-void LAPACK_strexc( char* compq, lapack_int* n, float* t, lapack_int* ldt,
-                    float* q, lapack_int* ldq, lapack_int* ifst,
-                    lapack_int* ilst, float* work, lapack_int *info );
-void LAPACK_dtrexc( char* compq, lapack_int* n, double* t, lapack_int* ldt,
-                    double* q, lapack_int* ldq, lapack_int* ifst,
-                    lapack_int* ilst, double* work, lapack_int *info );
-void LAPACK_ctrexc( char* compq, lapack_int* n, lapack_complex_float* t,
-                    lapack_int* ldt, lapack_complex_float* q, lapack_int* ldq,
-                    lapack_int* ifst, lapack_int* ilst, lapack_int *info );
-void LAPACK_ztrexc( char* compq, lapack_int* n, lapack_complex_double* t,
-                    lapack_int* ldt, lapack_complex_double* q, lapack_int* ldq,
-                    lapack_int* ifst, lapack_int* ilst, lapack_int *info );
-void LAPACK_strsen( char* job, char* compq, const lapack_logical* select,
-                    lapack_int* n, float* t, lapack_int* ldt, float* q,
-                    lapack_int* ldq, float* wr, float* wi, lapack_int* m,
-                    float* s, float* sep, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_dtrsen( char* job, char* compq, const lapack_logical* select,
-                    lapack_int* n, double* t, lapack_int* ldt, double* q,
-                    lapack_int* ldq, double* wr, double* wi, lapack_int* m,
-                    double* s, double* sep, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_ctrsen( char* job, char* compq, const lapack_logical* select,
-                    lapack_int* n, lapack_complex_float* t, lapack_int* ldt,
-                    lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* w, lapack_int* m, float* s,
-                    float* sep, lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_ztrsen( char* job, char* compq, const lapack_logical* select,
-                    lapack_int* n, lapack_complex_double* t, lapack_int* ldt,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* w, lapack_int* m, double* s,
-                    double* sep, lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_strsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
-                    lapack_int* n, const float* a, lapack_int* lda,
-                    const float* b, lapack_int* ldb, float* c, lapack_int* ldc,
-                    float* scale, lapack_int *info );
-void LAPACK_dtrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
-                    lapack_int* n, const double* a, lapack_int* lda,
-                    const double* b, lapack_int* ldb, double* c,
-                    lapack_int* ldc, double* scale, lapack_int *info );
-void LAPACK_ctrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
-                    lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* b,
-                    lapack_int* ldb, lapack_complex_float* c, lapack_int* ldc,
-                    float* scale, lapack_int *info );
-void LAPACK_ztrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
-                    lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* b,
-                    lapack_int* ldb, lapack_complex_double* c, lapack_int* ldc,
-                    double* scale, lapack_int *info );
-void LAPACK_sgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, float* a, lapack_int* lda, float* b,
-                    lapack_int* ldb, float* q, lapack_int* ldq, float* z,
-                    lapack_int* ldz, lapack_int *info );
-void LAPACK_dgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, double* a, lapack_int* lda, double* b,
-                    lapack_int* ldb, double* q, lapack_int* ldq, double* z,
-                    lapack_int* ldz, lapack_int *info );
-void LAPACK_cgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* z, lapack_int* ldz,
-                    lapack_int *info );
-void LAPACK_zgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* z, lapack_int* ldz,
-                    lapack_int *info );
-void LAPACK_sggbal( char* job, lapack_int* n, float* a, lapack_int* lda,
-                    float* b, lapack_int* ldb, lapack_int* ilo, lapack_int* ihi,
-                    float* lscale, float* rscale, float* work,
-                    lapack_int *info );
-void LAPACK_dggbal( char* job, lapack_int* n, double* a, lapack_int* lda,
-                    double* b, lapack_int* ldb, lapack_int* ilo,
-                    lapack_int* ihi, double* lscale, double* rscale,
-                    double* work, lapack_int *info );
-void LAPACK_cggbal( char* job, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
-                    lapack_int* ilo, lapack_int* ihi, float* lscale,
-                    float* rscale, float* work, lapack_int *info );
-void LAPACK_zggbal( char* job, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
-                    lapack_int* ilo, lapack_int* ihi, double* lscale,
-                    double* rscale, double* work, lapack_int *info );
-void LAPACK_sggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, const float* lscale, const float* rscale,
-                    lapack_int* m, float* v, lapack_int* ldv,
-                    lapack_int *info );
-void LAPACK_dggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, const double* lscale, const double* rscale,
-                    lapack_int* m, double* v, lapack_int* ldv,
-                    lapack_int *info );
-void LAPACK_cggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, const float* lscale, const float* rscale,
-                    lapack_int* m, lapack_complex_float* v, lapack_int* ldv,
-                    lapack_int *info );
-void LAPACK_zggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
-                    lapack_int* ihi, const double* lscale, const double* rscale,
-                    lapack_int* m, lapack_complex_double* v, lapack_int* ldv,
-                    lapack_int *info );
-void LAPACK_shgeqz( char* job, char* compq, char* compz, lapack_int* n,
-                    lapack_int* ilo, lapack_int* ihi, float* h, lapack_int* ldh,
-                    float* t, lapack_int* ldt, float* alphar, float* alphai,
-                    float* beta, float* q, lapack_int* ldq, float* z,
-                    lapack_int* ldz, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dhgeqz( char* job, char* compq, char* compz, lapack_int* n,
-                    lapack_int* ilo, lapack_int* ihi, double* h,
-                    lapack_int* ldh, double* t, lapack_int* ldt, double* alphar,
-                    double* alphai, double* beta, double* q, lapack_int* ldq,
-                    double* z, lapack_int* ldz, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_chgeqz( char* job, char* compq, char* compz, lapack_int* n,
-                    lapack_int* ilo, lapack_int* ihi, lapack_complex_float* h,
-                    lapack_int* ldh, lapack_complex_float* t, lapack_int* ldt,
-                    lapack_complex_float* alpha, lapack_complex_float* beta,
-                    lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* z, lapack_int* ldz,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int *info );
-void LAPACK_zhgeqz( char* job, char* compq, char* compz, lapack_int* n,
-                    lapack_int* ilo, lapack_int* ihi, lapack_complex_double* h,
-                    lapack_int* ldh, lapack_complex_double* t, lapack_int* ldt,
-                    lapack_complex_double* alpha, lapack_complex_double* beta,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* z, lapack_int* ldz,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int *info );
-void LAPACK_stgevc( char* side, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const float* s, lapack_int* lds,
-                    const float* p, lapack_int* ldp, float* vl,
-                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
-                    lapack_int* mm, lapack_int* m, float* work,
-                    lapack_int *info );
-void LAPACK_dtgevc( char* side, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const double* s, lapack_int* lds,
-                    const double* p, lapack_int* ldp, double* vl,
-                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
-                    lapack_int* mm, lapack_int* m, double* work,
-                    lapack_int *info );
-void LAPACK_ctgevc( char* side, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const lapack_complex_float* s,
-                    lapack_int* lds, const lapack_complex_float* p,
-                    lapack_int* ldp, lapack_complex_float* vl, lapack_int* ldvl,
-                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* mm,
-                    lapack_int* m, lapack_complex_float* work, float* rwork,
-                    lapack_int *info );
-void LAPACK_ztgevc( char* side, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const lapack_complex_double* s,
-                    lapack_int* lds, const lapack_complex_double* p,
-                    lapack_int* ldp, lapack_complex_double* vl,
-                    lapack_int* ldvl, lapack_complex_double* vr,
-                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int *info );
-void LAPACK_stgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
-                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
-                    float* q, lapack_int* ldq, float* z, lapack_int* ldz,
-                    lapack_int* ifst, lapack_int* ilst, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dtgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
-                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
-                    double* q, lapack_int* ldq, double* z, lapack_int* ldz,
-                    lapack_int* ifst, lapack_int* ilst, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_ctgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* z, lapack_int* ldz, lapack_int* ifst,
-                    lapack_int* ilst, lapack_int *info );
-void LAPACK_ztgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* z, lapack_int* ldz, lapack_int* ifst,
-                    lapack_int* ilst, lapack_int *info );
-void LAPACK_stgsen( lapack_int* ijob, lapack_logical* wantq,
-                    lapack_logical* wantz, const lapack_logical* select,
-                    lapack_int* n, float* a, lapack_int* lda, float* b,
-                    lapack_int* ldb, float* alphar, float* alphai, float* beta,
-                    float* q, lapack_int* ldq, float* z, lapack_int* ldz,
-                    lapack_int* m, float* pl, float* pr, float* dif,
-                    float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_dtgsen( lapack_int* ijob, lapack_logical* wantq,
-                    lapack_logical* wantz, const lapack_logical* select,
-                    lapack_int* n, double* a, lapack_int* lda, double* b,
-                    lapack_int* ldb, double* alphar, double* alphai,
-                    double* beta, double* q, lapack_int* ldq, double* z,
-                    lapack_int* ldz, lapack_int* m, double* pl, double* pr,
-                    double* dif, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_ctgsen( lapack_int* ijob, lapack_logical* wantq,
-                    lapack_logical* wantz, const lapack_logical* select,
-                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* alpha, lapack_complex_float* beta,
-                    lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* z, lapack_int* ldz, lapack_int* m,
-                    float* pl, float* pr, float* dif,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_ztgsen( lapack_int* ijob, lapack_logical* wantq,
-                    lapack_logical* wantz, const lapack_logical* select,
-                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* alpha, lapack_complex_double* beta,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* z, lapack_int* ldz, lapack_int* m,
-                    double* pl, double* pr, double* dif,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_stgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
-                    const float* a, lapack_int* lda, const float* b,
-                    lapack_int* ldb, float* c, lapack_int* ldc, const float* d,
-                    lapack_int* ldd, const float* e, lapack_int* lde, float* f,
-                    lapack_int* ldf, float* scale, float* dif, float* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
-void LAPACK_dtgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
-                    const double* a, lapack_int* lda, const double* b,
-                    lapack_int* ldb, double* c, lapack_int* ldc,
-                    const double* d, lapack_int* ldd, const double* e,
-                    lapack_int* lde, double* f, lapack_int* ldf, double* scale,
-                    double* dif, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_ctgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    const lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    const lapack_complex_float* d, lapack_int* ldd,
-                    const lapack_complex_float* e, lapack_int* lde,
-                    lapack_complex_float* f, lapack_int* ldf, float* scale,
-                    float* dif, lapack_complex_float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_ztgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    const lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    const lapack_complex_double* d, lapack_int* ldd,
-                    const lapack_complex_double* e, lapack_int* lde,
-                    lapack_complex_double* f, lapack_int* ldf, double* scale,
-                    double* dif, lapack_complex_double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_stgsna( char* job, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const float* a, lapack_int* lda,
-                    const float* b, lapack_int* ldb, const float* vl,
-                    lapack_int* ldvl, const float* vr, lapack_int* ldvr,
-                    float* s, float* dif, lapack_int* mm, lapack_int* m,
-                    float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dtgsna( char* job, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const double* a, lapack_int* lda,
-                    const double* b, lapack_int* ldb, const double* vl,
-                    lapack_int* ldvl, const double* vr, lapack_int* ldvr,
-                    double* s, double* dif, lapack_int* mm, lapack_int* m,
-                    double* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_ctgsna( char* job, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, const lapack_complex_float* b,
-                    lapack_int* ldb, const lapack_complex_float* vl,
-                    lapack_int* ldvl, const lapack_complex_float* vr,
-                    lapack_int* ldvr, float* s, float* dif, lapack_int* mm,
-                    lapack_int* m, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
-void LAPACK_ztgsna( char* job, char* howmny, const lapack_logical* select,
-                    lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, const lapack_complex_double* b,
-                    lapack_int* ldb, const lapack_complex_double* vl,
-                    lapack_int* ldvl, const lapack_complex_double* vr,
-                    lapack_int* ldvr, double* s, double* dif, lapack_int* mm,
-                    lapack_int* m, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
-void LAPACK_sggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* p, lapack_int* n, float* a, lapack_int* lda,
-                    float* b, lapack_int* ldb, float* tola, float* tolb,
-                    lapack_int* k, lapack_int* l, float* u, lapack_int* ldu,
-                    float* v, lapack_int* ldv, float* q, lapack_int* ldq,
-                    lapack_int* iwork, float* tau, float* work,
-                    lapack_int *info );
-void LAPACK_dggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* p, lapack_int* n, double* a, lapack_int* lda,
-                    double* b, lapack_int* ldb, double* tola, double* tolb,
-                    lapack_int* k, lapack_int* l, double* u, lapack_int* ldu,
-                    double* v, lapack_int* ldv, double* q, lapack_int* ldq,
-                    lapack_int* iwork, double* tau, double* work,
-                    lapack_int *info );
-void LAPACK_cggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* p, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
-                    float* tola, float* tolb, lapack_int* k, lapack_int* l,
-                    lapack_complex_float* u, lapack_int* ldu,
-                    lapack_complex_float* v, lapack_int* ldv,
-                    lapack_complex_float* q, lapack_int* ldq, lapack_int* iwork,
-                    float* rwork, lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* p, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
-                    double* tola, double* tolb, lapack_int* k, lapack_int* l,
-                    lapack_complex_double* u, lapack_int* ldu,
-                    lapack_complex_double* v, lapack_int* ldv,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_int* iwork, double* rwork,
-                    lapack_complex_double* tau, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_stgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
-                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
-                    float* tola, float* tolb, float* alpha, float* beta,
-                    float* u, lapack_int* ldu, float* v, lapack_int* ldv,
-                    float* q, lapack_int* ldq, float* work, lapack_int* ncycle,
-                    lapack_int *info );
-void LAPACK_dtgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
-                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
-                    double* tola, double* tolb, double* alpha, double* beta,
-                    double* u, lapack_int* ldu, double* v, lapack_int* ldv,
-                    double* q, lapack_int* ldq, double* work,
-                    lapack_int* ncycle, lapack_int *info );
-void LAPACK_ctgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb, float* tola,
-                    float* tolb, float* alpha, float* beta,
-                    lapack_complex_float* u, lapack_int* ldu,
-                    lapack_complex_float* v, lapack_int* ldv,
-                    lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* work, lapack_int* ncycle,
-                    lapack_int *info );
-void LAPACK_ztgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb, double* tola,
-                    double* tolb, double* alpha, double* beta,
-                    lapack_complex_double* u, lapack_int* ldu,
-                    lapack_complex_double* v, lapack_int* ldv,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* work, lapack_int* ncycle,
-                    lapack_int *info );
-void LAPACK_sgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                   float* a, lapack_int* lda, float* b, lapack_int* ldb,
-                   float* work, lapack_int* lwork, lapack_int *info );
-void LAPACK_dgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                   double* a, lapack_int* lda, double* b, lapack_int* ldb,
-                   double* work, lapack_int* lwork, lapack_int *info );
-void LAPACK_cgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_float* a, lapack_int* lda,
-                   lapack_complex_float* b, lapack_int* ldb,
-                   lapack_complex_float* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_zgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                   lapack_complex_double* a, lapack_int* lda,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_complex_double* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_sgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
-                    lapack_int* lda, float* b, lapack_int* ldb,
-                    lapack_int* jpvt, float* rcond, lapack_int* rank,
-                    float* work, lapack_int* lwork, lapack_int *info );
-void LAPACK_dgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
-                    lapack_int* lda, double* b, lapack_int* ldb,
-                    lapack_int* jpvt, double* rcond, lapack_int* rank,
-                    double* work, lapack_int* lwork, lapack_int *info );
-void LAPACK_cgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb, lapack_int* jpvt,
-                    float* rcond, lapack_int* rank, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_int *info );
-void LAPACK_zgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb, lapack_int* jpvt,
-                    double* rcond, lapack_int* rank,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int *info );
-void LAPACK_sgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
-                    lapack_int* lda, float* b, lapack_int* ldb, float* s,
-                    float* rcond, lapack_int* rank, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
-                    lapack_int* lda, double* b, lapack_int* ldb, double* s,
-                    double* rcond, lapack_int* rank, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb, float* s,
-                    float* rcond, lapack_int* rank, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_int *info );
-void LAPACK_zgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb, double* s,
-                    double* rcond, lapack_int* rank,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int *info );
-void LAPACK_sgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
-                    lapack_int* lda, float* b, lapack_int* ldb, float* s,
-                    float* rcond, lapack_int* rank, float* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
-void LAPACK_dgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
-                    lapack_int* lda, double* b, lapack_int* ldb, double* s,
-                    double* rcond, lapack_int* rank, double* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
-void LAPACK_cgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb, float* s,
-                    float* rcond, lapack_int* rank, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_zgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb, double* s,
-                    double* rcond, lapack_int* rank,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* iwork, lapack_int *info );
-void LAPACK_sgglse( lapack_int* m, lapack_int* n, lapack_int* p, float* a,
-                    lapack_int* lda, float* b, lapack_int* ldb, float* c,
-                    float* d, float* x, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dgglse( lapack_int* m, lapack_int* n, lapack_int* p, double* a,
-                    lapack_int* lda, double* b, lapack_int* ldb, double* c,
-                    double* d, double* x, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cgglse( lapack_int* m, lapack_int* n, lapack_int* p,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* c, lapack_complex_float* d,
-                    lapack_complex_float* x, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zgglse( lapack_int* m, lapack_int* n, lapack_int* p,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* c, lapack_complex_double* d,
-                    lapack_complex_double* x, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sggglm( lapack_int* n, lapack_int* m, lapack_int* p, float* a,
-                    lapack_int* lda, float* b, lapack_int* ldb, float* d,
-                    float* x, float* y, float* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_dggglm( lapack_int* n, lapack_int* m, lapack_int* p, double* a,
-                    lapack_int* lda, double* b, lapack_int* ldb, double* d,
-                    double* x, double* y, double* work, lapack_int* lwork,
-                    lapack_int *info );
-void LAPACK_cggglm( lapack_int* n, lapack_int* m, lapack_int* p,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* d, lapack_complex_float* x,
-                    lapack_complex_float* y, lapack_complex_float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_zggglm( lapack_int* n, lapack_int* m, lapack_int* p,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* d, lapack_complex_double* x,
-                    lapack_complex_double* y, lapack_complex_double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_ssyev( char* jobz, char* uplo, lapack_int* n, float* a,
-                   lapack_int* lda, float* w, float* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_dsyev( char* jobz, char* uplo, lapack_int* n, double* a,
-                   lapack_int* lda, double* w, double* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_cheev( char* jobz, char* uplo, lapack_int* n,
-                   lapack_complex_float* a, lapack_int* lda, float* w,
-                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                   lapack_int *info );
-void LAPACK_zheev( char* jobz, char* uplo, lapack_int* n,
-                   lapack_complex_double* a, lapack_int* lda, double* w,
-                   lapack_complex_double* work, lapack_int* lwork,
-                   double* rwork, lapack_int *info );
-void LAPACK_ssyevd( char* jobz, char* uplo, lapack_int* n, float* a,
-                    lapack_int* lda, float* w, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_dsyevd( char* jobz, char* uplo, lapack_int* n, double* a,
-                    lapack_int* lda, double* w, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_cheevd( char* jobz, char* uplo, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda, float* w,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_zheevd( char* jobz, char* uplo, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda, double* w,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_ssyevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    float* a, lapack_int* lda, float* vl, float* vu,
-                    lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, float* z, lapack_int* ldz,
-                    float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_dsyevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    double* a, lapack_int* lda, double* vl, double* vu,
-                    lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, double* z, lapack_int* ldz,
-                    double* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_cheevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda, float* vl,
-                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_zheevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda, double* vl,
-                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, lapack_complex_double* z,
-                    lapack_int* ldz, lapack_complex_double* work,
-                    lapack_int* lwork, double* rwork, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_ssyevr( char* jobz, char* range, char* uplo, lapack_int* n,
-                    float* a, lapack_int* lda, float* vl, float* vu,
-                    lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, float* z, lapack_int* ldz,
-                    lapack_int* isuppz, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_dsyevr( char* jobz, char* range, char* uplo, lapack_int* n,
-                    double* a, lapack_int* lda, double* vl, double* vu,
-                    lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, double* z, lapack_int* ldz,
-                    lapack_int* isuppz, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_cheevr( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda, float* vl,
-                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_int* isuppz,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_zheevr( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda, double* vl,
-                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, lapack_complex_double* z,
-                    lapack_int* ldz, lapack_int* isuppz,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_sspev( char* jobz, char* uplo, lapack_int* n, float* ap, float* w,
-                   float* z, lapack_int* ldz, float* work, lapack_int *info );
-void LAPACK_dspev( char* jobz, char* uplo, lapack_int* n, double* ap, double* w,
-                   double* z, lapack_int* ldz, double* work, lapack_int *info );
-void LAPACK_chpev( char* jobz, char* uplo, lapack_int* n,
-                   lapack_complex_float* ap, float* w, lapack_complex_float* z,
-                   lapack_int* ldz, lapack_complex_float* work, float* rwork,
-                   lapack_int *info );
-void LAPACK_zhpev( char* jobz, char* uplo, lapack_int* n,
-                   lapack_complex_double* ap, double* w,
-                   lapack_complex_double* z, lapack_int* ldz,
-                   lapack_complex_double* work, double* rwork,
-                   lapack_int *info );
-void LAPACK_sspevd( char* jobz, char* uplo, lapack_int* n, float* ap, float* w,
-                    float* z, lapack_int* ldz, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_dspevd( char* jobz, char* uplo, lapack_int* n, double* ap,
-                    double* w, double* z, lapack_int* ldz, double* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_chpevd( char* jobz, char* uplo, lapack_int* n,
-                    lapack_complex_float* ap, float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_int* lrwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_zhpevd( char* jobz, char* uplo, lapack_int* n,
-                    lapack_complex_double* ap, double* w,
-                    lapack_complex_double* z, lapack_int* ldz,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_sspevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    float* ap, float* vl, float* vu, lapack_int* il,
-                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
-                    float* z, lapack_int* ldz, float* work, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_dspevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    double* ap, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
-                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_chpevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_complex_float* ap, float* vl, float* vu,
-                    lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_zhpevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_complex_double* ap, double* vl, double* vu,
-                    lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, lapack_complex_double* z,
-                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_ssbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
-                   float* ab, lapack_int* ldab, float* w, float* z,
-                   lapack_int* ldz, float* work, lapack_int *info );
-void LAPACK_dsbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
-                   double* ab, lapack_int* ldab, double* w, double* z,
-                   lapack_int* ldz, double* work, lapack_int *info );
-void LAPACK_chbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
-                   lapack_complex_float* ab, lapack_int* ldab, float* w,
-                   lapack_complex_float* z, lapack_int* ldz,
-                   lapack_complex_float* work, float* rwork, lapack_int *info );
-void LAPACK_zhbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
-                   lapack_complex_double* ab, lapack_int* ldab, double* w,
-                   lapack_complex_double* z, lapack_int* ldz,
-                   lapack_complex_double* work, double* rwork,
-                   lapack_int *info );
-void LAPACK_ssbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
-                    float* ab, lapack_int* ldab, float* w, float* z,
-                    lapack_int* ldz, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_dsbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
-                    double* ab, lapack_int* ldab, double* w, double* z,
-                    lapack_int* ldz, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_chbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_complex_float* ab, lapack_int* ldab, float* w,
-                    lapack_complex_float* z, lapack_int* ldz,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_zhbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
-                    lapack_complex_double* ab, lapack_int* ldab, double* w,
-                    lapack_complex_double* z, lapack_int* ldz,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_ssbevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_int* kd, float* ab, lapack_int* ldab, float* q,
-                    lapack_int* ldq, float* vl, float* vu, lapack_int* il,
-                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
-                    float* z, lapack_int* ldz, float* work, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_dsbevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_int* kd, double* ab, lapack_int* ldab, double* q,
-                    lapack_int* ldq, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
-                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_chbevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_int* kd, lapack_complex_float* ab, lapack_int* ldab,
-                    lapack_complex_float* q, lapack_int* ldq, float* vl,
-                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_zhbevx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_int* kd, lapack_complex_double* ab, lapack_int* ldab,
-                    lapack_complex_double* q, lapack_int* ldq, double* vl,
-                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, lapack_complex_double* z,
-                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_sstev( char* jobz, lapack_int* n, float* d, float* e, float* z,
-                   lapack_int* ldz, float* work, lapack_int *info );
-void LAPACK_dstev( char* jobz, lapack_int* n, double* d, double* e, double* z,
-                   lapack_int* ldz, double* work, lapack_int *info );
-void LAPACK_sstevd( char* jobz, lapack_int* n, float* d, float* e, float* z,
-                    lapack_int* ldz, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_dstevd( char* jobz, lapack_int* n, double* d, double* e, double* z,
-                    lapack_int* ldz, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_sstevx( char* jobz, char* range, lapack_int* n, float* d, float* e,
-                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
-                    float* abstol, lapack_int* m, float* w, float* z,
-                    lapack_int* ldz, float* work, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_dstevx( char* jobz, char* range, lapack_int* n, double* d,
-                    double* e, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
-                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_sstevr( char* jobz, char* range, lapack_int* n, float* d, float* e,
-                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
-                    float* abstol, lapack_int* m, float* w, float* z,
-                    lapack_int* ldz, lapack_int* isuppz, float* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_dstevr( char* jobz, char* range, lapack_int* n, double* d,
-                    double* e, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
-                    double* z, lapack_int* ldz, lapack_int* isuppz,
-                    double* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_sgees( char* jobvs, char* sort, LAPACK_S_SELECT2 select,
-                   lapack_int* n, float* a, lapack_int* lda, lapack_int* sdim,
-                   float* wr, float* wi, float* vs, lapack_int* ldvs,
-                   float* work, lapack_int* lwork, lapack_logical* bwork,
-                   lapack_int *info );
-void LAPACK_dgees( char* jobvs, char* sort, LAPACK_D_SELECT2 select,
-                   lapack_int* n, double* a, lapack_int* lda, lapack_int* sdim,
-                   double* wr, double* wi, double* vs, lapack_int* ldvs,
-                   double* work, lapack_int* lwork, lapack_logical* bwork,
-                   lapack_int *info );
-void LAPACK_cgees( char* jobvs, char* sort, LAPACK_C_SELECT1 select,
-                   lapack_int* n, lapack_complex_float* a, lapack_int* lda,
-                   lapack_int* sdim, lapack_complex_float* w,
-                   lapack_complex_float* vs, lapack_int* ldvs,
-                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                   lapack_logical* bwork, lapack_int *info );
-void LAPACK_zgees( char* jobvs, char* sort, LAPACK_Z_SELECT1 select,
-                   lapack_int* n, lapack_complex_double* a, lapack_int* lda,
-                   lapack_int* sdim, lapack_complex_double* w,
-                   lapack_complex_double* vs, lapack_int* ldvs,
-                   lapack_complex_double* work, lapack_int* lwork,
-                   double* rwork, lapack_logical* bwork, lapack_int *info );
-void LAPACK_sgeesx( char* jobvs, char* sort, LAPACK_S_SELECT2 select,
-                    char* sense, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int* sdim, float* wr, float* wi, float* vs,
-                    lapack_int* ldvs, float* rconde, float* rcondv, float* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_logical* bwork, lapack_int *info );
-void LAPACK_dgeesx( char* jobvs, char* sort, LAPACK_D_SELECT2 select,
-                    char* sense, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int* sdim, double* wr, double* wi, double* vs,
-                    lapack_int* ldvs, double* rconde, double* rcondv,
-                    double* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_cgeesx( char* jobvs, char* sort, LAPACK_C_SELECT1 select,
-                    char* sense, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* sdim, lapack_complex_float* w,
-                    lapack_complex_float* vs, lapack_int* ldvs, float* rconde,
-                    float* rcondv, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_zgeesx( char* jobvs, char* sort, LAPACK_Z_SELECT1 select,
-                    char* sense, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* sdim, lapack_complex_double* w,
-                    lapack_complex_double* vs, lapack_int* ldvs, double* rconde,
-                    double* rcondv, lapack_complex_double* work,
-                    lapack_int* lwork, double* rwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_sgeev( char* jobvl, char* jobvr, lapack_int* n, float* a,
-                   lapack_int* lda, float* wr, float* wi, float* vl,
-                   lapack_int* ldvl, float* vr, lapack_int* ldvr, float* work,
-                   lapack_int* lwork, lapack_int *info );
-void LAPACK_dgeev( char* jobvl, char* jobvr, lapack_int* n, double* a,
-                   lapack_int* lda, double* wr, double* wi, double* vl,
-                   lapack_int* ldvl, double* vr, lapack_int* ldvr, double* work,
-                   lapack_int* lwork, lapack_int *info );
-void LAPACK_cgeev( char* jobvl, char* jobvr, lapack_int* n,
-                   lapack_complex_float* a, lapack_int* lda,
-                   lapack_complex_float* w, lapack_complex_float* vl,
-                   lapack_int* ldvl, lapack_complex_float* vr, lapack_int* ldvr,
-                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                   lapack_int *info );
-void LAPACK_zgeev( char* jobvl, char* jobvr, lapack_int* n,
-                   lapack_complex_double* a, lapack_int* lda,
-                   lapack_complex_double* w, lapack_complex_double* vl,
-                   lapack_int* ldvl, lapack_complex_double* vr,
-                   lapack_int* ldvr, lapack_complex_double* work,
-                   lapack_int* lwork, double* rwork, lapack_int *info );
-void LAPACK_sgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
-                    lapack_int* n, float* a, lapack_int* lda, float* wr,
-                    float* wi, float* vl, lapack_int* ldvl, float* vr,
-                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
-                    float* scale, float* abnrm, float* rconde, float* rcondv,
-                    float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_dgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
-                    lapack_int* n, double* a, lapack_int* lda, double* wr,
-                    double* wi, double* vl, lapack_int* ldvl, double* vr,
-                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
-                    double* scale, double* abnrm, double* rconde,
-                    double* rcondv, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_cgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
-                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* w, lapack_complex_float* vl,
-                    lapack_int* ldvl, lapack_complex_float* vr,
-                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
-                    float* scale, float* abnrm, float* rconde, float* rcondv,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int *info );
-void LAPACK_zgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
-                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* w, lapack_complex_double* vl,
-                    lapack_int* ldvl, lapack_complex_double* vr,
-                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
-                    double* scale, double* abnrm, double* rconde,
-                    double* rcondv, lapack_complex_double* work,
-                    lapack_int* lwork, double* rwork, lapack_int *info );
-void LAPACK_sgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
-                    float* a, lapack_int* lda, float* s, float* u,
-                    lapack_int* ldu, float* vt, lapack_int* ldvt, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_dgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
-                    double* a, lapack_int* lda, double* s, double* u,
-                    lapack_int* ldu, double* vt, lapack_int* ldvt, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_cgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda, float* s,
-                    lapack_complex_float* u, lapack_int* ldu,
-                    lapack_complex_float* vt, lapack_int* ldvt,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int *info );
-void LAPACK_zgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda, double* s,
-                    lapack_complex_double* u, lapack_int* ldu,
-                    lapack_complex_double* vt, lapack_int* ldvt,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int *info );
-void LAPACK_sgesdd( char* jobz, lapack_int* m, lapack_int* n, float* a,
-                    lapack_int* lda, float* s, float* u, lapack_int* ldu,
-                    float* vt, lapack_int* ldvt, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dgesdd( char* jobz, lapack_int* m, lapack_int* n, double* a,
-                    lapack_int* lda, double* s, double* u, lapack_int* ldu,
-                    double* vt, lapack_int* ldvt, double* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
-void LAPACK_cgesdd( char* jobz, lapack_int* m, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda, float* s,
-                    lapack_complex_float* u, lapack_int* ldu,
-                    lapack_complex_float* vt, lapack_int* ldvt,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_zgesdd( char* jobz, lapack_int* m, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda, double* s,
-                    lapack_complex_double* u, lapack_int* ldu,
-                    lapack_complex_double* vt, lapack_int* ldvt,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* iwork, lapack_int *info );
-void LAPACK_dgejsv( char* joba, char* jobu, char* jobv, char* jobr, char* jobt,
-                    char* jobp, lapack_int* m, lapack_int* n, double* a,
-                    lapack_int* lda, double* sva, double* u, lapack_int* ldu,
-                    double* v, lapack_int* ldv, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_sgejsv( char* joba, char* jobu, char* jobv, char* jobr, char* jobt,
-                    char* jobp, lapack_int* m, lapack_int* n, float* a,
-                    lapack_int* lda, float* sva, float* u, lapack_int* ldu,
-                    float* v, lapack_int* ldv, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_dgesvj( char* joba, char* jobu, char* jobv, lapack_int* m,
-                    lapack_int* n, double* a, lapack_int* lda, double* sva,
-                    lapack_int* mv, double* v, lapack_int* ldv, double* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sgesvj( char* joba, char* jobu, char* jobv, lapack_int* m,
-                    lapack_int* n, float* a, lapack_int* lda, float* sva,
-                    lapack_int* mv, float* v, lapack_int* ldv, float* work,
-                    lapack_int* lwork, lapack_int *info );
-void LAPACK_sggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
-                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
-                    float* alpha, float* beta, float* u, lapack_int* ldu,
-                    float* v, lapack_int* ldv, float* q, lapack_int* ldq,
-                    float* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_dggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
-                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
-                    double* alpha, double* beta, double* u, lapack_int* ldu,
-                    double* v, lapack_int* ldv, double* q, lapack_int* ldq,
-                    double* work, lapack_int* iwork, lapack_int *info );
-void LAPACK_cggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb, float* alpha,
-                    float* beta, lapack_complex_float* u, lapack_int* ldu,
-                    lapack_complex_float* v, lapack_int* ldv,
-                    lapack_complex_float* q, lapack_int* ldq,
-                    lapack_complex_float* work, float* rwork, lapack_int* iwork,
-                    lapack_int *info );
-void LAPACK_zggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
-                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb, double* alpha,
-                    double* beta, lapack_complex_double* u, lapack_int* ldu,
-                    lapack_complex_double* v, lapack_int* ldv,
-                    lapack_complex_double* q, lapack_int* ldq,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int* iwork, lapack_int *info );
-void LAPACK_ssygv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                   float* a, lapack_int* lda, float* b, lapack_int* ldb,
-                   float* w, float* work, lapack_int* lwork, lapack_int *info );
-void LAPACK_dsygv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                   double* a, lapack_int* lda, double* b, lapack_int* ldb,
-                   double* w, double* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_chegv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                   lapack_complex_float* a, lapack_int* lda,
-                   lapack_complex_float* b, lapack_int* ldb, float* w,
-                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                   lapack_int *info );
-void LAPACK_zhegv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                   lapack_complex_double* a, lapack_int* lda,
-                   lapack_complex_double* b, lapack_int* ldb, double* w,
-                   lapack_complex_double* work, lapack_int* lwork,
-                   double* rwork, lapack_int *info );
-void LAPACK_ssygvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
-                    float* w, float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_dsygvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
-                    double* w, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_chegvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb, float* w,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_zhegvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb, double* w,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_ssygvx( lapack_int* itype, char* jobz, char* range, char* uplo,
-                    lapack_int* n, float* a, lapack_int* lda, float* b,
-                    lapack_int* ldb, float* vl, float* vu, lapack_int* il,
-                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
-                    float* z, lapack_int* ldz, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_dsygvx( lapack_int* itype, char* jobz, char* range, char* uplo,
-                    lapack_int* n, double* a, lapack_int* lda, double* b,
-                    lapack_int* ldb, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
-                    double* z, lapack_int* ldz, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_chegvx( lapack_int* itype, char* jobz, char* range, char* uplo,
-                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb, float* vl,
-                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_zhegvx( lapack_int* itype, char* jobz, char* range, char* uplo,
-                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb, double* vl,
-                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, lapack_complex_double* z,
-                    lapack_int* ldz, lapack_complex_double* work,
-                    lapack_int* lwork, double* rwork, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_sspgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                   float* ap, float* bp, float* w, float* z, lapack_int* ldz,
-                   float* work, lapack_int *info );
-void LAPACK_dspgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                   double* ap, double* bp, double* w, double* z,
-                   lapack_int* ldz, double* work, lapack_int *info );
-void LAPACK_chpgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                   lapack_complex_float* ap, lapack_complex_float* bp, float* w,
-                   lapack_complex_float* z, lapack_int* ldz,
-                   lapack_complex_float* work, float* rwork, lapack_int *info );
-void LAPACK_zhpgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                   lapack_complex_double* ap, lapack_complex_double* bp,
-                   double* w, lapack_complex_double* z, lapack_int* ldz,
-                   lapack_complex_double* work, double* rwork,
-                   lapack_int *info );
-void LAPACK_sspgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                    float* ap, float* bp, float* w, float* z, lapack_int* ldz,
-                    float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_dspgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                    double* ap, double* bp, double* w, double* z,
-                    lapack_int* ldz, double* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
-void LAPACK_chpgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                    lapack_complex_float* ap, lapack_complex_float* bp,
-                    float* w, lapack_complex_float* z, lapack_int* ldz,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_zhpgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
-                    lapack_complex_double* ap, lapack_complex_double* bp,
-                    double* w, lapack_complex_double* z, lapack_int* ldz,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_sspgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
-                    lapack_int* n, float* ap, float* bp, float* vl, float* vu,
-                    lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, float* z, lapack_int* ldz,
-                    float* work, lapack_int* iwork, lapack_int* ifail,
-                    lapack_int *info );
-void LAPACK_dspgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
-                    lapack_int* n, double* ap, double* bp, double* vl,
-                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, double* z, lapack_int* ldz,
-                    double* work, lapack_int* iwork, lapack_int* ifail,
-                    lapack_int *info );
-void LAPACK_chpgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
-                    lapack_int* n, lapack_complex_float* ap,
-                    lapack_complex_float* bp, float* vl, float* vu,
-                    lapack_int* il, lapack_int* iu, float* abstol,
-                    lapack_int* m, float* w, lapack_complex_float* z,
-                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_zhpgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
-                    lapack_int* n, lapack_complex_double* ap,
-                    lapack_complex_double* bp, double* vl, double* vu,
-                    lapack_int* il, lapack_int* iu, double* abstol,
-                    lapack_int* m, double* w, lapack_complex_double* z,
-                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_ssbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
-                   lapack_int* kb, float* ab, lapack_int* ldab, float* bb,
-                   lapack_int* ldbb, float* w, float* z, lapack_int* ldz,
-                   float* work, lapack_int *info );
-void LAPACK_dsbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
-                   lapack_int* kb, double* ab, lapack_int* ldab, double* bb,
-                   lapack_int* ldbb, double* w, double* z, lapack_int* ldz,
-                   double* work, lapack_int *info );
-void LAPACK_chbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
-                   lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
-                   lapack_complex_float* bb, lapack_int* ldbb, float* w,
-                   lapack_complex_float* z, lapack_int* ldz,
-                   lapack_complex_float* work, float* rwork, lapack_int *info );
-void LAPACK_zhbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
-                   lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
-                   lapack_complex_double* bb, lapack_int* ldbb, double* w,
-                   lapack_complex_double* z, lapack_int* ldz,
-                   lapack_complex_double* work, double* rwork,
-                   lapack_int *info );
-void LAPACK_ssbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
-                    lapack_int* kb, float* ab, lapack_int* ldab, float* bb,
-                    lapack_int* ldbb, float* w, float* z, lapack_int* ldz,
-                    float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_dsbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
-                    lapack_int* kb, double* ab, lapack_int* ldab, double* bb,
-                    lapack_int* ldbb, double* w, double* z, lapack_int* ldz,
-                    double* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_chbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
-                    lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
-                    lapack_complex_float* bb, lapack_int* ldbb, float* w,
-                    lapack_complex_float* z, lapack_int* ldz,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
-                    lapack_int *info );
-void LAPACK_zhbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
-                    lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
-                    lapack_complex_double* bb, lapack_int* ldbb, double* w,
-                    lapack_complex_double* z, lapack_int* ldz,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_int *info );
-void LAPACK_ssbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_int* ka, lapack_int* kb, float* ab, lapack_int* ldab,
-                    float* bb, lapack_int* ldbb, float* q, lapack_int* ldq,
-                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
-                    float* abstol, lapack_int* m, float* w, float* z,
-                    lapack_int* ldz, float* work, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_dsbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_int* ka, lapack_int* kb, double* ab,
-                    lapack_int* ldab, double* bb, lapack_int* ldbb, double* q,
-                    lapack_int* ldq, double* vl, double* vu, lapack_int* il,
-                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
-                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_chbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_int* ka, lapack_int* kb, lapack_complex_float* ab,
-                    lapack_int* ldab, lapack_complex_float* bb,
-                    lapack_int* ldbb, lapack_complex_float* q, lapack_int* ldq,
-                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
-                    float* abstol, lapack_int* m, float* w,
-                    lapack_complex_float* z, lapack_int* ldz,
-                    lapack_complex_float* work, float* rwork, lapack_int* iwork,
-                    lapack_int* ifail, lapack_int *info );
-void LAPACK_zhbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
-                    lapack_int* ka, lapack_int* kb, lapack_complex_double* ab,
-                    lapack_int* ldab, lapack_complex_double* bb,
-                    lapack_int* ldbb, lapack_complex_double* q, lapack_int* ldq,
-                    double* vl, double* vu, lapack_int* il, lapack_int* iu,
-                    double* abstol, lapack_int* m, double* w,
-                    lapack_complex_double* z, lapack_int* ldz,
-                    lapack_complex_double* work, double* rwork,
-                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
-void LAPACK_sgges( char* jobvsl, char* jobvsr, char* sort,
-                   LAPACK_S_SELECT3 selctg, lapack_int* n, float* a,
-                   lapack_int* lda, float* b, lapack_int* ldb, lapack_int* sdim,
-                   float* alphar, float* alphai, float* beta, float* vsl,
-                   lapack_int* ldvsl, float* vsr, lapack_int* ldvsr,
-                   float* work, lapack_int* lwork, lapack_logical* bwork,
-                   lapack_int *info );
-void LAPACK_dgges( char* jobvsl, char* jobvsr, char* sort,
-                   LAPACK_D_SELECT3 selctg, lapack_int* n, double* a,
-                   lapack_int* lda, double* b, lapack_int* ldb,
-                   lapack_int* sdim, double* alphar, double* alphai,
-                   double* beta, double* vsl, lapack_int* ldvsl, double* vsr,
-                   lapack_int* ldvsr, double* work, lapack_int* lwork,
-                   lapack_logical* bwork, lapack_int *info );
-void LAPACK_cgges( char* jobvsl, char* jobvsr, char* sort,
-                   LAPACK_C_SELECT2 selctg, lapack_int* n,
-                   lapack_complex_float* a, lapack_int* lda,
-                   lapack_complex_float* b, lapack_int* ldb, lapack_int* sdim,
-                   lapack_complex_float* alpha, lapack_complex_float* beta,
-                   lapack_complex_float* vsl, lapack_int* ldvsl,
-                   lapack_complex_float* vsr, lapack_int* ldvsr,
-                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                   lapack_logical* bwork, lapack_int *info );
-void LAPACK_zgges( char* jobvsl, char* jobvsr, char* sort,
-                   LAPACK_Z_SELECT2 selctg, lapack_int* n,
-                   lapack_complex_double* a, lapack_int* lda,
-                   lapack_complex_double* b, lapack_int* ldb, lapack_int* sdim,
-                   lapack_complex_double* alpha, lapack_complex_double* beta,
-                   lapack_complex_double* vsl, lapack_int* ldvsl,
-                   lapack_complex_double* vsr, lapack_int* ldvsr,
-                   lapack_complex_double* work, lapack_int* lwork,
-                   double* rwork, lapack_logical* bwork, lapack_int *info );
-void LAPACK_sggesx( char* jobvsl, char* jobvsr, char* sort,
-                    LAPACK_S_SELECT3 selctg, char* sense, lapack_int* n,
-                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
-                    lapack_int* sdim, float* alphar, float* alphai, float* beta,
-                    float* vsl, lapack_int* ldvsl, float* vsr,
-                    lapack_int* ldvsr, float* rconde, float* rcondv,
-                    float* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_dggesx( char* jobvsl, char* jobvsr, char* sort,
-                    LAPACK_D_SELECT3 selctg, char* sense, lapack_int* n,
-                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
-                    lapack_int* sdim, double* alphar, double* alphai,
-                    double* beta, double* vsl, lapack_int* ldvsl, double* vsr,
-                    lapack_int* ldvsr, double* rconde, double* rcondv,
-                    double* work, lapack_int* lwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_cggesx( char* jobvsl, char* jobvsr, char* sort,
-                    LAPACK_C_SELECT2 selctg, char* sense, lapack_int* n,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb, lapack_int* sdim,
-                    lapack_complex_float* alpha, lapack_complex_float* beta,
-                    lapack_complex_float* vsl, lapack_int* ldvsl,
-                    lapack_complex_float* vsr, lapack_int* ldvsr, float* rconde,
-                    float* rcondv, lapack_complex_float* work,
-                    lapack_int* lwork, float* rwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_zggesx( char* jobvsl, char* jobvsr, char* sort,
-                    LAPACK_Z_SELECT2 selctg, char* sense, lapack_int* n,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb, lapack_int* sdim,
-                    lapack_complex_double* alpha, lapack_complex_double* beta,
-                    lapack_complex_double* vsl, lapack_int* ldvsl,
-                    lapack_complex_double* vsr, lapack_int* ldvsr,
-                    double* rconde, double* rcondv, lapack_complex_double* work,
-                    lapack_int* lwork, double* rwork, lapack_int* iwork,
-                    lapack_int* liwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_sggev( char* jobvl, char* jobvr, lapack_int* n, float* a,
-                   lapack_int* lda, float* b, lapack_int* ldb, float* alphar,
-                   float* alphai, float* beta, float* vl, lapack_int* ldvl,
-                   float* vr, lapack_int* ldvr, float* work, lapack_int* lwork,
-                   lapack_int *info );
-void LAPACK_dggev( char* jobvl, char* jobvr, lapack_int* n, double* a,
-                   lapack_int* lda, double* b, lapack_int* ldb, double* alphar,
-                   double* alphai, double* beta, double* vl, lapack_int* ldvl,
-                   double* vr, lapack_int* ldvr, double* work,
-                   lapack_int* lwork, lapack_int *info );
-void LAPACK_cggev( char* jobvl, char* jobvr, lapack_int* n,
-                   lapack_complex_float* a, lapack_int* lda,
-                   lapack_complex_float* b, lapack_int* ldb,
-                   lapack_complex_float* alpha, lapack_complex_float* beta,
-                   lapack_complex_float* vl, lapack_int* ldvl,
-                   lapack_complex_float* vr, lapack_int* ldvr,
-                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                   lapack_int *info );
-void LAPACK_zggev( char* jobvl, char* jobvr, lapack_int* n,
-                   lapack_complex_double* a, lapack_int* lda,
-                   lapack_complex_double* b, lapack_int* ldb,
-                   lapack_complex_double* alpha, lapack_complex_double* beta,
-                   lapack_complex_double* vl, lapack_int* ldvl,
-                   lapack_complex_double* vr, lapack_int* ldvr,
-                   lapack_complex_double* work, lapack_int* lwork,
-                   double* rwork, lapack_int *info );
-void LAPACK_sggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
-                    lapack_int* n, float* a, lapack_int* lda, float* b,
-                    lapack_int* ldb, float* alphar, float* alphai, float* beta,
-                    float* vl, lapack_int* ldvl, float* vr, lapack_int* ldvr,
-                    lapack_int* ilo, lapack_int* ihi, float* lscale,
-                    float* rscale, float* abnrm, float* bbnrm, float* rconde,
-                    float* rcondv, float* work, lapack_int* lwork,
-                    lapack_int* iwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_dggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
-                    lapack_int* n, double* a, lapack_int* lda, double* b,
-                    lapack_int* ldb, double* alphar, double* alphai,
-                    double* beta, double* vl, lapack_int* ldvl, double* vr,
-                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
-                    double* lscale, double* rscale, double* abnrm,
-                    double* bbnrm, double* rconde, double* rcondv, double* work,
-                    lapack_int* lwork, lapack_int* iwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_cggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
-                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    lapack_complex_float* alpha, lapack_complex_float* beta,
-                    lapack_complex_float* vl, lapack_int* ldvl,
-                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* ilo,
-                    lapack_int* ihi, float* lscale, float* rscale, float* abnrm,
-                    float* bbnrm, float* rconde, float* rcondv,
-                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
-                    lapack_int* iwork, lapack_logical* bwork,
-                    lapack_int *info );
-void LAPACK_zggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
-                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* alpha, lapack_complex_double* beta,
-                    lapack_complex_double* vl, lapack_int* ldvl,
-                    lapack_complex_double* vr, lapack_int* ldvr,
-                    lapack_int* ilo, lapack_int* ihi, double* lscale,
-                    double* rscale, double* abnrm, double* bbnrm,
-                    double* rconde, double* rcondv, lapack_complex_double* work,
-                    lapack_int* lwork, double* rwork, lapack_int* iwork,
-                    lapack_logical* bwork, lapack_int *info );
-void LAPACK_dsfrk( char* transr, char* uplo, char* trans, lapack_int* n,
-                   lapack_int* k, double* alpha, const double* a,
-                   lapack_int* lda, double* beta, double* c );
-void LAPACK_ssfrk( char* transr, char* uplo, char* trans, lapack_int* n,
-                   lapack_int* k, float* alpha, const float* a, lapack_int* lda,
-                   float* beta, float* c );
-void LAPACK_zhfrk( char* transr, char* uplo, char* trans, lapack_int* n,
-                   lapack_int* k, double* alpha, const lapack_complex_double* a,
-                   lapack_int* lda, double* beta, lapack_complex_double* c );
-void LAPACK_chfrk( char* transr, char* uplo, char* trans, lapack_int* n,
-                   lapack_int* k, float* alpha, const lapack_complex_float* a,
-                   lapack_int* lda, float* beta, lapack_complex_float* c );
-void LAPACK_dtfsm( char* transr, char* side, char* uplo, char* trans,
-                   char* diag, lapack_int* m, lapack_int* n, double* alpha,
-                   const double* a, double* b, lapack_int* ldb );
-void LAPACK_stfsm( char* transr, char* side, char* uplo, char* trans,
-                   char* diag, lapack_int* m, lapack_int* n, float* alpha,
-                   const float* a, float* b, lapack_int* ldb );
-void LAPACK_ztfsm( char* transr, char* side, char* uplo, char* trans,
-                   char* diag, lapack_int* m, lapack_int* n,
-                   lapack_complex_double* alpha, const lapack_complex_double* a,
-                   lapack_complex_double* b, lapack_int* ldb );
-void LAPACK_ctfsm( char* transr, char* side, char* uplo, char* trans,
-                   char* diag, lapack_int* m, lapack_int* n,
-                   lapack_complex_float* alpha, const lapack_complex_float* a,
-                   lapack_complex_float* b, lapack_int* ldb );
-void LAPACK_dtfttp( char* transr, char* uplo, lapack_int* n, const double* arf,
-                    double* ap, lapack_int *info );
-void LAPACK_stfttp( char* transr, char* uplo, lapack_int* n, const float* arf,
-                    float* ap, lapack_int *info );
-void LAPACK_ztfttp( char* transr, char* uplo, lapack_int* n,
-                    const lapack_complex_double* arf, lapack_complex_double* ap,
-                    lapack_int *info );
-void LAPACK_ctfttp( char* transr, char* uplo, lapack_int* n,
-                    const lapack_complex_float* arf, lapack_complex_float* ap,
-                    lapack_int *info );
-void LAPACK_dtfttr( char* transr, char* uplo, lapack_int* n, const double* arf,
-                    double* a, lapack_int* lda, lapack_int *info );
-void LAPACK_stfttr( char* transr, char* uplo, lapack_int* n, const float* arf,
-                    float* a, lapack_int* lda, lapack_int *info );
-void LAPACK_ztfttr( char* transr, char* uplo, lapack_int* n,
-                    const lapack_complex_double* arf, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_ctfttr( char* transr, char* uplo, lapack_int* n,
-                    const lapack_complex_float* arf, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_dtpttf( char* transr, char* uplo, lapack_int* n, const double* ap,
-                    double* arf, lapack_int *info );
-void LAPACK_stpttf( char* transr, char* uplo, lapack_int* n, const float* ap,
-                    float* arf, lapack_int *info );
-void LAPACK_ztpttf( char* transr, char* uplo, lapack_int* n,
-                    const lapack_complex_double* ap, lapack_complex_double* arf,
-                    lapack_int *info );
-void LAPACK_ctpttf( char* transr, char* uplo, lapack_int* n,
-                    const lapack_complex_float* ap, lapack_complex_float* arf,
-                    lapack_int *info );
-void LAPACK_dtpttr( char* uplo, lapack_int* n, const double* ap, double* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_stpttr( char* uplo, lapack_int* n, const float* ap, float* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_ztpttr( char* uplo, lapack_int* n, const lapack_complex_double* ap,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_ctpttr( char* uplo, lapack_int* n, const lapack_complex_float* ap,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_dtrttf( char* transr, char* uplo, lapack_int* n, const double* a,
-                    lapack_int* lda, double* arf, lapack_int *info );
-void LAPACK_strttf( char* transr, char* uplo, lapack_int* n, const float* a,
-                    lapack_int* lda, float* arf, lapack_int *info );
-void LAPACK_ztrttf( char* transr, char* uplo, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* arf, lapack_int *info );
-void LAPACK_ctrttf( char* transr, char* uplo, lapack_int* n,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* arf, lapack_int *info );
-void LAPACK_dtrttp( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
-                    double* ap, lapack_int *info );
-void LAPACK_strttp( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
-                    float* ap, lapack_int *info );
-void LAPACK_ztrttp( char* uplo, lapack_int* n, const lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* ap,
-                    lapack_int *info );
-void LAPACK_ctrttp( char* uplo, lapack_int* n, const lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* ap,
-                    lapack_int *info );
-void LAPACK_sgeqrfp( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                     float* tau, float* work, lapack_int* lwork,
-                     lapack_int *info );
-void LAPACK_dgeqrfp( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                     double* tau, double* work, lapack_int* lwork,
-                     lapack_int *info );
-void LAPACK_cgeqrfp( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                     lapack_int* lda, lapack_complex_float* tau,
-                     lapack_complex_float* work, lapack_int* lwork,
-                     lapack_int *info );
-void LAPACK_zgeqrfp( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                     lapack_int* lda, lapack_complex_double* tau,
-                     lapack_complex_double* work, lapack_int* lwork,
-                     lapack_int *info );
-void LAPACK_clacgv( lapack_int* n, lapack_complex_float* x, lapack_int* incx );
-void LAPACK_zlacgv( lapack_int* n, lapack_complex_double* x, lapack_int* incx );
-void LAPACK_slarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
-                    float* x );
-void LAPACK_dlarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
-                    double* x );
-void LAPACK_clarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
-                    lapack_complex_float* x );
-void LAPACK_zlarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
-                    lapack_complex_double* x );
-void LAPACK_sgeqr2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    float* tau, float* work, lapack_int *info );
-void LAPACK_dgeqr2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    double* tau, double* work, lapack_int *info );
-void LAPACK_cgeqr2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zgeqr2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_slacpy( char* uplo, lapack_int* m, lapack_int* n, const float* a,
-                    lapack_int* lda, float* b, lapack_int* ldb );
-void LAPACK_dlacpy( char* uplo, lapack_int* m, lapack_int* n, const double* a,
-                    lapack_int* lda, double* b, lapack_int* ldb );
-void LAPACK_clacpy( char* uplo, lapack_int* m, lapack_int* n,
-                    const lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb );
-void LAPACK_zlacpy( char* uplo, lapack_int* m, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb );
-void LAPACK_sgetf2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_dgetf2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int* ipiv, lapack_int *info );
-void LAPACK_cgetf2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
-void LAPACK_zgetf2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
-void LAPACK_slaswp( lapack_int* n, float* a, lapack_int* lda, lapack_int* k1,
-                    lapack_int* k2, const lapack_int* ipiv, lapack_int* incx );
-void LAPACK_dlaswp( lapack_int* n, double* a, lapack_int* lda, lapack_int* k1,
-                    lapack_int* k2, const lapack_int* ipiv, lapack_int* incx );
-void LAPACK_claswp( lapack_int* n, lapack_complex_float* a, lapack_int* lda,
-                    lapack_int* k1, lapack_int* k2, const lapack_int* ipiv,
-                    lapack_int* incx );
-void LAPACK_zlaswp( lapack_int* n, lapack_complex_double* a, lapack_int* lda,
-                    lapack_int* k1, lapack_int* k2, const lapack_int* ipiv,
-                    lapack_int* incx );
-float LAPACK_slange( char* norm, lapack_int* m, lapack_int* n, const float* a,
-                    lapack_int* lda, float* work );
-double LAPACK_dlange( char* norm, lapack_int* m, lapack_int* n, const double* a,
-                    lapack_int* lda, double* work );
-float LAPACK_clange( char* norm, lapack_int* m, lapack_int* n,
-                    const lapack_complex_float* a, lapack_int* lda, float* work );
-double LAPACK_zlange( char* norm, lapack_int* m, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda, double* work );
-float LAPACK_clanhe( char* norm, char* uplo, lapack_int* n,
-                    const lapack_complex_float* a, lapack_int* lda, float* work );
-double LAPACK_zlanhe( char* norm, char* uplo, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda, double* work );
-float LAPACK_slansy( char* norm, char* uplo, lapack_int* n, const float* a,
-                    lapack_int* lda, float* work );
-double LAPACK_dlansy( char* norm, char* uplo, lapack_int* n, const double* a,
-                    lapack_int* lda, double* work );
-float LAPACK_clansy( char* norm, char* uplo, lapack_int* n,
-                    const lapack_complex_float* a, lapack_int* lda, float* work );
-double LAPACK_zlansy( char* norm, char* uplo, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda, double* work );
-float LAPACK_slantr( char* norm, char* uplo, char* diag, lapack_int* m,
-                    lapack_int* n, const float* a, lapack_int* lda, float* work );
-double LAPACK_dlantr( char* norm, char* uplo, char* diag, lapack_int* m,
-                    lapack_int* n, const double* a, lapack_int* lda, double* work );
-float LAPACK_clantr( char* norm, char* uplo, char* diag, lapack_int* m,
-                    lapack_int* n, const lapack_complex_float* a, lapack_int* lda,
-                    float* work );
-double LAPACK_zlantr( char* norm, char* uplo, char* diag, lapack_int* m,
-                    lapack_int* n, const lapack_complex_double* a, lapack_int* lda,
-                    double* work );
-float LAPACK_slamch( char* cmach );
-double LAPACK_dlamch( char* cmach );
-void LAPACK_sgelq2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                    float* tau, float* work, lapack_int *info );
-void LAPACK_dgelq2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                    double* tau, double* work, lapack_int *info );
-void LAPACK_cgelq2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_complex_float* tau,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zgelq2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_complex_double* tau,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_slarfb( char* side, char* trans, char* direct, char* storev,
-                    lapack_int* m, lapack_int* n, lapack_int* k, const float* v,
-                    lapack_int* ldv, const float* t, lapack_int* ldt, float* c,
-                    lapack_int* ldc, float* work, lapack_int* ldwork );
-void LAPACK_dlarfb( char* side, char* trans, char* direct, char* storev,
-                    lapack_int* m, lapack_int* n, lapack_int* k,
-                    const double* v, lapack_int* ldv, const double* t,
-                    lapack_int* ldt, double* c, lapack_int* ldc, double* work,
-                    lapack_int* ldwork );
-void LAPACK_clarfb( char* side, char* trans, char* direct, char* storev,
-                    lapack_int* m, lapack_int* n, lapack_int* k,
-                    const lapack_complex_float* v, lapack_int* ldv,
-                    const lapack_complex_float* t, lapack_int* ldt,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work, lapack_int* ldwork );
-void LAPACK_zlarfb( char* side, char* trans, char* direct, char* storev,
-                    lapack_int* m, lapack_int* n, lapack_int* k,
-                    const lapack_complex_double* v, lapack_int* ldv,
-                    const lapack_complex_double* t, lapack_int* ldt,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    lapack_complex_double* work, lapack_int* ldwork );
-void LAPACK_slarfg( lapack_int* n, float* alpha, float* x, lapack_int* incx,
-                    float* tau );
-void LAPACK_dlarfg( lapack_int* n, double* alpha, double* x, lapack_int* incx,
-                    double* tau );
-void LAPACK_clarfg( lapack_int* n, lapack_complex_float* alpha,
-                    lapack_complex_float* x, lapack_int* incx,
-                    lapack_complex_float* tau );
-void LAPACK_zlarfg( lapack_int* n, lapack_complex_double* alpha,
-                    lapack_complex_double* x, lapack_int* incx,
-                    lapack_complex_double* tau );
-void LAPACK_slarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
-                    const float* v, lapack_int* ldv, const float* tau, float* t,
-                    lapack_int* ldt );
-void LAPACK_dlarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
-                    const double* v, lapack_int* ldv, const double* tau,
-                    double* t, lapack_int* ldt );
-void LAPACK_clarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
-                    const lapack_complex_float* v, lapack_int* ldv,
-                    const lapack_complex_float* tau, lapack_complex_float* t,
-                    lapack_int* ldt );
-void LAPACK_zlarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
-                    const lapack_complex_double* v, lapack_int* ldv,
-                    const lapack_complex_double* tau, lapack_complex_double* t,
-                    lapack_int* ldt );
-void LAPACK_slarfx( char* side, lapack_int* m, lapack_int* n, const float* v,
-                    float* tau, float* c, lapack_int* ldc, float* work );
-void LAPACK_dlarfx( char* side, lapack_int* m, lapack_int* n, const double* v,
-                    double* tau, double* c, lapack_int* ldc, double* work );
-void LAPACK_clarfx( char* side, lapack_int* m, lapack_int* n,
-                    const lapack_complex_float* v, lapack_complex_float* tau,
-                    lapack_complex_float* c, lapack_int* ldc,
-                    lapack_complex_float* work );
-void LAPACK_zlarfx( char* side, lapack_int* m, lapack_int* n,
-                    const lapack_complex_double* v, lapack_complex_double* tau,
-                    lapack_complex_double* c, lapack_int* ldc,
-                    lapack_complex_double* work );
-void LAPACK_slatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
-                    char* sym, float* d, lapack_int* mode, float* cond,
-                    float* dmax, lapack_int* kl, lapack_int* ku, char* pack,
-                    float* a, lapack_int* lda, float* work, lapack_int *info );
-void LAPACK_dlatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
-                    char* sym, double* d, lapack_int* mode, double* cond,
-                    double* dmax, lapack_int* kl, lapack_int* ku, char* pack,
-                    double* a, lapack_int* lda, double* work,
-                    lapack_int *info );
-void LAPACK_clatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
-                    char* sym, float* d, lapack_int* mode, float* cond,
-                    float* dmax, lapack_int* kl, lapack_int* ku, char* pack,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zlatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
-                    char* sym, double* d, lapack_int* mode, double* cond,
-                    double* dmax, lapack_int* kl, lapack_int* ku, char* pack,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_slag2d( lapack_int* m, lapack_int* n, const float* sa,
-                    lapack_int* ldsa, double* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_dlag2s( lapack_int* m, lapack_int* n, const double* a,
-                    lapack_int* lda, float* sa, lapack_int* ldsa,
-                    lapack_int *info );
-void LAPACK_clag2z( lapack_int* m, lapack_int* n,
-                    const lapack_complex_float* sa, lapack_int* ldsa,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_zlag2c( lapack_int* m, lapack_int* n,
-                    const lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_float* sa, lapack_int* ldsa,
-                    lapack_int *info );
-void LAPACK_slauum( char* uplo, lapack_int* n, float* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_dlauum( char* uplo, lapack_int* n, double* a, lapack_int* lda,
-                    lapack_int *info );
-void LAPACK_clauum( char* uplo, lapack_int* n, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_zlauum( char* uplo, lapack_int* n, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int *info );
-void LAPACK_slagge( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, const float* d, float* a, lapack_int* lda,
-                    lapack_int* iseed, float* work, lapack_int *info );
-void LAPACK_dlagge( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, const double* d, double* a, lapack_int* lda,
-                    lapack_int* iseed, double* work, lapack_int *info );
-void LAPACK_clagge( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, const float* d, lapack_complex_float* a,
-                    lapack_int* lda, lapack_int* iseed,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zlagge( lapack_int* m, lapack_int* n, lapack_int* kl,
-                    lapack_int* ku, const double* d, lapack_complex_double* a,
-                    lapack_int* lda, lapack_int* iseed,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_slaset( char* uplo, lapack_int* m, lapack_int* n, float* alpha,
-                    float* beta, float* a, lapack_int* lda );
-void LAPACK_dlaset( char* uplo, lapack_int* m, lapack_int* n, double* alpha,
-                    double* beta, double* a, lapack_int* lda );
-void LAPACK_claset( char* uplo, lapack_int* m, lapack_int* n,
-                    lapack_complex_float* alpha, lapack_complex_float* beta,
-                    lapack_complex_float* a, lapack_int* lda );
-void LAPACK_zlaset( char* uplo, lapack_int* m, lapack_int* n,
-                    lapack_complex_double* alpha, lapack_complex_double* beta,
-                    lapack_complex_double* a, lapack_int* lda );
-void LAPACK_slasrt( char* id, lapack_int* n, float* d, lapack_int *info );
-void LAPACK_dlasrt( char* id, lapack_int* n, double* d, lapack_int *info );
-void LAPACK_claghe( lapack_int* n, lapack_int* k, const float* d,
-                    lapack_complex_float* a, lapack_int* lda, lapack_int* iseed,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zlaghe( lapack_int* n, lapack_int* k, const double* d,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_int* iseed, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_slagsy( lapack_int* n, lapack_int* k, const float* d, float* a,
-                    lapack_int* lda, lapack_int* iseed, float* work,
-                    lapack_int *info );
-void LAPACK_dlagsy( lapack_int* n, lapack_int* k, const double* d, double* a,
-                    lapack_int* lda, lapack_int* iseed, double* work,
-                    lapack_int *info );
-void LAPACK_clagsy( lapack_int* n, lapack_int* k, const float* d,
-                    lapack_complex_float* a, lapack_int* lda, lapack_int* iseed,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zlagsy( lapack_int* n, lapack_int* k, const double* d,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_int* iseed, lapack_complex_double* work,
-                    lapack_int *info );
-void LAPACK_slapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
-                    float* x, lapack_int* ldx, lapack_int* k );
-void LAPACK_dlapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
-                    double* x, lapack_int* ldx, lapack_int* k );
-void LAPACK_clapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
-                    lapack_complex_float* x, lapack_int* ldx, lapack_int* k );
-void LAPACK_zlapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
-                    lapack_complex_double* x, lapack_int* ldx, lapack_int* k );
-float LAPACK_slapy2( float* x, float* y );
-double LAPACK_dlapy2( double* x, double* y );
-float LAPACK_slapy3( float* x, float* y, float* z );
-double LAPACK_dlapy3( double* x, double* y, double* z );
-void LAPACK_slartgp( float* f, float* g, float* cs, float* sn, float* r );
-void LAPACK_dlartgp( double* f, double* g, double* cs, double* sn, double* r );
-void LAPACK_slartgs( float* x, float* y, float* sigma, float* cs, float* sn );
-void LAPACK_dlartgs( double* x, double* y, double* sigma, double* cs,
-                     double* sn );
-// LAPACK 3.3.0
-void LAPACK_cbbcsd( char* jobu1, char* jobu2,
-                    char* jobv1t, char* jobv2t, char* trans,
-                    lapack_int* m, lapack_int* p, lapack_int* q,
-                    float* theta, float* phi,
-                    lapack_complex_float* u1, lapack_int* ldu1,
-                    lapack_complex_float* u2, lapack_int* ldu2,
-                    lapack_complex_float* v1t, lapack_int* ldv1t,
-                    lapack_complex_float* v2t, lapack_int* ldv2t,
-                    float* b11d, float* b11e, float* b12d,
-                    float* b12e, float* b21d, float* b21e,
-                    float* b22d, float* b22e, float* rwork,
-                    lapack_int* lrwork , lapack_int *info );
-void LAPACK_cheswapr( char* uplo, lapack_int* n,
-                      lapack_complex_float* a, lapack_int* i1,
-                      lapack_int* i2 );
-void LAPACK_chetri2( char* uplo, lapack_int* n,
-                     lapack_complex_float* a, lapack_int* lda,
-                     const lapack_int* ipiv,
-                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_chetri2x( char* uplo, lapack_int* n,
-                      lapack_complex_float* a, lapack_int* lda,
-                      const lapack_int* ipiv,
-                      lapack_complex_float* work, lapack_int* nb , lapack_int *info );
-void LAPACK_chetrs2( char* uplo, lapack_int* n,
-                     lapack_int* nrhs, const lapack_complex_float* a,
-                     lapack_int* lda, const lapack_int* ipiv,
-                     lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* work , lapack_int *info );
-void LAPACK_csyconv( char* uplo, char* way,
-                     lapack_int* n, lapack_complex_float* a,
-                     lapack_int* lda, const lapack_int* ipiv,
-                     lapack_complex_float* work , lapack_int *info );
-void LAPACK_csyswapr( char* uplo, lapack_int* n,
-                      lapack_complex_float* a, lapack_int* i1,
-                      lapack_int* i2 );
-void LAPACK_csytri2( char* uplo, lapack_int* n,
-                     lapack_complex_float* a, lapack_int* lda,
-                     const lapack_int* ipiv,
-                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_csytri2x( char* uplo, lapack_int* n,
-                      lapack_complex_float* a, lapack_int* lda,
-                      const lapack_int* ipiv,
-                      lapack_complex_float* work, lapack_int* nb , lapack_int *info );
-void LAPACK_csytrs2( char* uplo, lapack_int* n,
-                     lapack_int* nrhs, const lapack_complex_float* a,
-                     lapack_int* lda, const lapack_int* ipiv,
-                     lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* work , lapack_int *info );
-void LAPACK_cunbdb( char* trans, char* signs,
-                    lapack_int* m, lapack_int* p, lapack_int* q,
-                    lapack_complex_float* x11, lapack_int* ldx11,
-                    lapack_complex_float* x12, lapack_int* ldx12,
-                    lapack_complex_float* x21, lapack_int* ldx21,
-                    lapack_complex_float* x22, lapack_int* ldx22,
-                    float* theta, float* phi,
-                    lapack_complex_float* taup1,
-                    lapack_complex_float* taup2,
-                    lapack_complex_float* tauq1,
-                    lapack_complex_float* tauq2,
-                    lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_cuncsd( char* jobu1, char* jobu2,
-                    char* jobv1t, char* jobv2t, char* trans,
-                    char* signs, lapack_int* m, lapack_int* p,
-                    lapack_int* q, lapack_complex_float* x11,
-                    lapack_int* ldx11, lapack_complex_float* x12,
-                    lapack_int* ldx12, lapack_complex_float* x21,
-                    lapack_int* ldx21, lapack_complex_float* x22,
-                    lapack_int* ldx22, float* theta,
-                    lapack_complex_float* u1, lapack_int* ldu1,
-                    lapack_complex_float* u2, lapack_int* ldu2,
-                    lapack_complex_float* v1t, lapack_int* ldv1t,
-                    lapack_complex_float* v2t, lapack_int* ldv2t,
-                    lapack_complex_float* work, lapack_int* lwork,
-                    float* rwork, lapack_int* lrwork,
-                    lapack_int* iwork , lapack_int *info );
-void LAPACK_dbbcsd( char* jobu1, char* jobu2,
-                    char* jobv1t, char* jobv2t, char* trans,
-                    lapack_int* m, lapack_int* p, lapack_int* q,
-                    double* theta, double* phi, double* u1,
-                    lapack_int* ldu1, double* u2, lapack_int* ldu2,
-                    double* v1t, lapack_int* ldv1t, double* v2t,
-                    lapack_int* ldv2t, double* b11d, double* b11e,
-                    double* b12d, double* b12e, double* b21d,
-                    double* b21e, double* b22d, double* b22e,
-                    double* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_dorbdb( char* trans, char* signs,
-                    lapack_int* m, lapack_int* p, lapack_int* q,
-                    double* x11, lapack_int* ldx11, double* x12,
-                    lapack_int* ldx12, double* x21, lapack_int* ldx21,
-                    double* x22, lapack_int* ldx22, double* theta,
-                    double* phi, double* taup1, double* taup2,
-                    double* tauq1, double* tauq2, double* work,
-                    lapack_int* lwork , lapack_int *info );
-void LAPACK_dorcsd( char* jobu1, char* jobu2,
-                    char* jobv1t, char* jobv2t, char* trans,
-                    char* signs, lapack_int* m, lapack_int* p,
-                    lapack_int* q, double* x11, lapack_int* ldx11,
-                    double* x12, lapack_int* ldx12, double* x21,
-                    lapack_int* ldx21, double* x22, lapack_int* ldx22,
-                    double* theta, double* u1, lapack_int* ldu1,
-                    double* u2, lapack_int* ldu2, double* v1t,
-                    lapack_int* ldv1t, double* v2t, lapack_int* ldv2t,
-                    double* work, lapack_int* lwork,
-                    lapack_int* iwork , lapack_int *info );
-void LAPACK_dsyconv( char* uplo, char* way,
-                     lapack_int* n, double* a, lapack_int* lda,
-                     const lapack_int* ipiv, double* work , lapack_int *info );
-void LAPACK_dsyswapr( char* uplo, lapack_int* n,
-                      double* a, lapack_int* i1, lapack_int* i2 );
-void LAPACK_dsytri2( char* uplo, lapack_int* n,
-                     double* a, lapack_int* lda,
-                     const lapack_int* ipiv,
-                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_dsytri2x( char* uplo, lapack_int* n,
-                      double* a, lapack_int* lda,
-                      const lapack_int* ipiv, double* work,
-                      lapack_int* nb , lapack_int *info );
-void LAPACK_dsytrs2( char* uplo, lapack_int* n,
-                     lapack_int* nrhs, const double* a,
-                     lapack_int* lda, const lapack_int* ipiv,
-                     double* b, lapack_int* ldb, double* work , lapack_int *info );
-void LAPACK_sbbcsd( char* jobu1, char* jobu2,
-                    char* jobv1t, char* jobv2t, char* trans,
-                    lapack_int* m, lapack_int* p, lapack_int* q,
-                    float* theta, float* phi, float* u1,
-                    lapack_int* ldu1, float* u2, lapack_int* ldu2,
-                    float* v1t, lapack_int* ldv1t, float* v2t,
-                    lapack_int* ldv2t, float* b11d, float* b11e,
-                    float* b12d, float* b12e, float* b21d,
-                    float* b21e, float* b22d, float* b22e,
-                    float* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_sorbdb( char* trans, char* signs,
-                    lapack_int* m, lapack_int* p, lapack_int* q,
-                    float* x11, lapack_int* ldx11, float* x12,
-                    lapack_int* ldx12, float* x21, lapack_int* ldx21,
-                    float* x22, lapack_int* ldx22, float* theta,
-                    float* phi, float* taup1, float* taup2,
-                    float* tauq1, float* tauq2, float* work,
-                    lapack_int* lwork , lapack_int *info );
-void LAPACK_sorcsd( char* jobu1, char* jobu2,
-                    char* jobv1t, char* jobv2t, char* trans,
-                    char* signs, lapack_int* m, lapack_int* p,
-                    lapack_int* q, float* x11, lapack_int* ldx11,
-                    float* x12, lapack_int* ldx12, float* x21,
-                    lapack_int* ldx21, float* x22, lapack_int* ldx22,
-                    float* theta, float* u1, lapack_int* ldu1,
-                    float* u2, lapack_int* ldu2, float* v1t,
-                    lapack_int* ldv1t, float* v2t, lapack_int* ldv2t,
-                    float* work, lapack_int* lwork,
-                    lapack_int* iwork , lapack_int *info );
-void LAPACK_ssyconv( char* uplo, char* way,
-                     lapack_int* n, float* a, lapack_int* lda,
-                     const lapack_int* ipiv, float* work , lapack_int *info );
-void LAPACK_ssyswapr( char* uplo, lapack_int* n,
-                      float* a, lapack_int* i1, lapack_int* i2 );
-void LAPACK_ssytri2( char* uplo, lapack_int* n,
-                     float* a, lapack_int* lda,
-                     const lapack_int* ipiv,
-                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_ssytri2x( char* uplo, lapack_int* n,
-                      float* a, lapack_int* lda,
-                      const lapack_int* ipiv, float* work,
-                      lapack_int* nb , lapack_int *info );
-void LAPACK_ssytrs2( char* uplo, lapack_int* n,
-                     lapack_int* nrhs, const float* a,
-                     lapack_int* lda, const lapack_int* ipiv,
-                     float* b, lapack_int* ldb, float* work , lapack_int *info );
-void LAPACK_zbbcsd( char* jobu1, char* jobu2,
-                    char* jobv1t, char* jobv2t, char* trans,
-                    lapack_int* m, lapack_int* p, lapack_int* q,
-                    double* theta, double* phi,
-                    lapack_complex_double* u1, lapack_int* ldu1,
-                    lapack_complex_double* u2, lapack_int* ldu2,
-                    lapack_complex_double* v1t, lapack_int* ldv1t,
-                    lapack_complex_double* v2t, lapack_int* ldv2t,
-                    double* b11d, double* b11e, double* b12d,
-                    double* b12e, double* b21d, double* b21e,
-                    double* b22d, double* b22e, double* rwork,
-                    lapack_int* lrwork , lapack_int *info );
-void LAPACK_zheswapr( char* uplo, lapack_int* n,
-                      lapack_complex_double* a, lapack_int* i1,
-                      lapack_int* i2 );
-void LAPACK_zhetri2( char* uplo, lapack_int* n,
-                     lapack_complex_double* a, lapack_int* lda,
-                     const lapack_int* ipiv,
-                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_zhetri2x( char* uplo, lapack_int* n,
-                      lapack_complex_double* a, lapack_int* lda,
-                      const lapack_int* ipiv,
-                      lapack_complex_double* work, lapack_int* nb , lapack_int *info );
-void LAPACK_zhetrs2( char* uplo, lapack_int* n,
-                     lapack_int* nrhs,
-                     const lapack_complex_double* a, lapack_int* lda,
-                     const lapack_int* ipiv,
-                     lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* work , lapack_int *info );
-void LAPACK_zsyconv( char* uplo, char* way,
-                     lapack_int* n, lapack_complex_double* a,
-                     lapack_int* lda, const lapack_int* ipiv,
-                     lapack_complex_double* work , lapack_int *info );
-void LAPACK_zsyswapr( char* uplo, lapack_int* n,
-                      lapack_complex_double* a, lapack_int* i1,
-                      lapack_int* i2 );
-void LAPACK_zsytri2( char* uplo, lapack_int* n,
-                     lapack_complex_double* a, lapack_int* lda,
-                     const lapack_int* ipiv,
-                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_zsytri2x( char* uplo, lapack_int* n,
-                      lapack_complex_double* a, lapack_int* lda,
-                      const lapack_int* ipiv,
-                      lapack_complex_double* work, lapack_int* nb , lapack_int *info );
-void LAPACK_zsytrs2( char* uplo, lapack_int* n,
-                     lapack_int* nrhs,
-                     const lapack_complex_double* a, lapack_int* lda,
-                     const lapack_int* ipiv,
-                     lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* work , lapack_int *info );
-void LAPACK_zunbdb( char* trans, char* signs,
-                    lapack_int* m, lapack_int* p, lapack_int* q,
-                    lapack_complex_double* x11, lapack_int* ldx11,
-                    lapack_complex_double* x12, lapack_int* ldx12,
-                    lapack_complex_double* x21, lapack_int* ldx21,
-                    lapack_complex_double* x22, lapack_int* ldx22,
-                    double* theta, double* phi,
-                    lapack_complex_double* taup1,
-                    lapack_complex_double* taup2,
-                    lapack_complex_double* tauq1,
-                    lapack_complex_double* tauq2,
-                    lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
-void LAPACK_zuncsd( char* jobu1, char* jobu2,
-                    char* jobv1t, char* jobv2t, char* trans,
-                    char* signs, lapack_int* m, lapack_int* p,
-                    lapack_int* q, lapack_complex_double* x11,
-                    lapack_int* ldx11, lapack_complex_double* x12,
-                    lapack_int* ldx12, lapack_complex_double* x21,
-                    lapack_int* ldx21, lapack_complex_double* x22,
-                    lapack_int* ldx22, double* theta,
-                    lapack_complex_double* u1, lapack_int* ldu1,
-                    lapack_complex_double* u2, lapack_int* ldu2,
-                    lapack_complex_double* v1t, lapack_int* ldv1t,
-                    lapack_complex_double* v2t, lapack_int* ldv2t,
-                    lapack_complex_double* work, lapack_int* lwork,
-                    double* rwork, lapack_int* lrwork,
-                    lapack_int* iwork , lapack_int *info );
-// LAPACK 3.4.0
-void LAPACK_sgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
-                     lapack_int* k, lapack_int* nb, const float* v,
-                     lapack_int* ldv, const float* t, lapack_int* ldt, float* c,
-                     lapack_int* ldc, float* work, lapack_int *info );
-void LAPACK_dgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
-                     lapack_int* k, lapack_int* nb, const double* v,
-                     lapack_int* ldv, const double* t, lapack_int* ldt,
-                     double* c, lapack_int* ldc, double* work,
-                     lapack_int *info );
-void LAPACK_cgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
-                     lapack_int* k, lapack_int* nb,
-                     const lapack_complex_float* v, lapack_int* ldv,
-                     const lapack_complex_float* t, lapack_int* ldt,
-                     lapack_complex_float* c, lapack_int* ldc,
-                     lapack_complex_float* work, lapack_int *info );
-void LAPACK_zgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
-                     lapack_int* k, lapack_int* nb,
-                     const lapack_complex_double* v, lapack_int* ldv,
-                     const lapack_complex_double* t, lapack_int* ldt,
-                     lapack_complex_double* c, lapack_int* ldc,
-                     lapack_complex_double* work, lapack_int *info );
-void LAPACK_sgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb, float* a,
-                    lapack_int* lda, float* t, lapack_int* ldt, float* work,
-                    lapack_int *info );
-void LAPACK_dgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb, double* a,
-                    lapack_int* lda, double* t, lapack_int* ldt, double* work,
-                    lapack_int *info );
-void LAPACK_cgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* t, lapack_int* ldt,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_zgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* t, lapack_int* ldt,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_sgeqrt2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                     float* t, lapack_int* ldt, lapack_int *info );
-void LAPACK_dgeqrt2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                     double* t, lapack_int* ldt, lapack_int *info );
-void LAPACK_cgeqrt2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                     lapack_int* lda, lapack_complex_float* t, lapack_int* ldt,
-                     lapack_int *info );
-void LAPACK_zgeqrt2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                     lapack_int* lda, lapack_complex_double* t, lapack_int* ldt,
-                     lapack_int *info );
-void LAPACK_sgeqrt3( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                     float* t, lapack_int* ldt, lapack_int *info );
-void LAPACK_dgeqrt3( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                     double* t, lapack_int* ldt, lapack_int *info );
-void LAPACK_cgeqrt3( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                     lapack_int* lda, lapack_complex_float* t, lapack_int* ldt,
-                     lapack_int *info );
-void LAPACK_zgeqrt3( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                     lapack_int* lda, lapack_complex_double* t, lapack_int* ldt,
-                     lapack_int *info );
-void LAPACK_stpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
-                     lapack_int* k, lapack_int* l, lapack_int* nb,
-                     const float* v, lapack_int* ldv, const float* t,
-                     lapack_int* ldt, float* a, lapack_int* lda, float* b,
-                     lapack_int* ldb, float* work, lapack_int *info );
-void LAPACK_dtpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
-                     lapack_int* k, lapack_int* l, lapack_int* nb,
-                     const double* v, lapack_int* ldv, const double* t,
-                     lapack_int* ldt, double* a, lapack_int* lda, double* b,
-                     lapack_int* ldb, double* work, lapack_int *info );
-void LAPACK_ctpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
-                     lapack_int* k, lapack_int* l, lapack_int* nb,
-                     const lapack_complex_float* v, lapack_int* ldv,
-                     const lapack_complex_float* t, lapack_int* ldt,
-                     lapack_complex_float* a, lapack_int* lda,
-                     lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* work, lapack_int *info );
-void LAPACK_ztpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
-                     lapack_int* k, lapack_int* l, lapack_int* nb,
-                     const lapack_complex_double* v, lapack_int* ldv,
-                     const lapack_complex_double* t, lapack_int* ldt,
-                     lapack_complex_double* a, lapack_int* lda,
-                     lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* work, lapack_int *info );
-void LAPACK_dtpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
-                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
-                    double* t, lapack_int* ldt, double* work,
-                    lapack_int *info );
-void LAPACK_ctpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* t, lapack_complex_float* b,
-                    lapack_int* ldb, lapack_int* ldt,
-                    lapack_complex_float* work, lapack_int *info );
-void LAPACK_ztpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    lapack_complex_double* t, lapack_int* ldt,
-                    lapack_complex_double* work, lapack_int *info );
-void LAPACK_stpqrt2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
-                     float* b, lapack_int* ldb, float* t, lapack_int* ldt,
-                     lapack_int *info );
-void LAPACK_dtpqrt2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
-                     double* b, lapack_int* ldb, double* t, lapack_int* ldt,
-                     lapack_int *info );
-void LAPACK_ctpqrt2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
-                     lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
-                     lapack_complex_float* t, lapack_int* ldt,
-                     lapack_int *info );
-void LAPACK_ztpqrt2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
-                     lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
-                     lapack_complex_double* t, lapack_int* ldt,
-                     lapack_int *info );
-void LAPACK_stprfb( char* side, char* trans, char* direct, char* storev,
-                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
-                    const float* v, lapack_int* ldv, const float* t,
-                    lapack_int* ldt, float* a, lapack_int* lda, float* b,
-                    lapack_int* ldb, const float* mywork,
-                    lapack_int* myldwork );
-void LAPACK_dtprfb( char* side, char* trans, char* direct, char* storev,
-                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
-                    const double* v, lapack_int* ldv, const double* t,
-                    lapack_int* ldt, double* a, lapack_int* lda, double* b,
-                    lapack_int* ldb, const double* mywork,
-                    lapack_int* myldwork );
-void LAPACK_ctprfb( char* side, char* trans, char* direct, char* storev,
-                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
-                    const lapack_complex_float* v, lapack_int* ldv,
-                    const lapack_complex_float* t, lapack_int* ldt,
-                    lapack_complex_float* a, lapack_int* lda,
-                    lapack_complex_float* b, lapack_int* ldb,
-                    const float* mywork, lapack_int* myldwork );
-void LAPACK_ztprfb( char* side, char* trans, char* direct, char* storev,
-                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
-                    const lapack_complex_double* v, lapack_int* ldv,
-                    const lapack_complex_double* t, lapack_int* ldt,
-                    lapack_complex_double* a, lapack_int* lda,
-                    lapack_complex_double* b, lapack_int* ldb,
-                    const double* mywork, lapack_int* myldwork );
-// LAPACK 3.X.X
-void LAPACK_csyr( char* uplo, lapack_int* n, lapack_complex_float* alpha,
-                      const lapack_complex_float* x, lapack_int* incx,
-                      lapack_complex_float* a, lapack_int* lda );
-void LAPACK_zsyr( char* uplo, lapack_int* n, lapack_complex_double* alpha,
-                      const lapack_complex_double* x, lapack_int* incx,
-                      lapack_complex_double* a, lapack_int* lda );
-
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
-#endif /* _LAPACKE_H_ */
-
-#endif /* _MKL_LAPACKE_H_ */
diff --git a/phonelibs/eigen/Eigen/src/misc/lapacke_mangling.h b/phonelibs/eigen/Eigen/src/misc/lapacke_mangling.h
deleted file mode 100644
index 6211fd144d3617..00000000000000
--- a/phonelibs/eigen/Eigen/src/misc/lapacke_mangling.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef LAPACK_HEADER_INCLUDED
-#define LAPACK_HEADER_INCLUDED
-
-#ifndef LAPACK_GLOBAL
-#if defined(LAPACK_GLOBAL_PATTERN_LC) || defined(ADD_)
-#define LAPACK_GLOBAL(lcname,UCNAME)  lcname##_
-#elif defined(LAPACK_GLOBAL_PATTERN_UC) || defined(UPPER)
-#define LAPACK_GLOBAL(lcname,UCNAME)  UCNAME
-#elif defined(LAPACK_GLOBAL_PATTERN_MC) || defined(NOCHANGE)
-#define LAPACK_GLOBAL(lcname,UCNAME)  lcname
-#else
-#define LAPACK_GLOBAL(lcname,UCNAME)  lcname##_
-#endif
-#endif
-
-#endif
-
diff --git a/phonelibs/eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/phonelibs/eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h
deleted file mode 100644
index 1f8a531af5966f..00000000000000
--- a/phonelibs/eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+++ /dev/null
@@ -1,332 +0,0 @@
-
-/** \returns an expression of the coefficient wise product of \c *this and \a other
-  *
-  * \sa MatrixBase::cwiseProduct
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)
-operator*(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)(derived(), other.derived());
-}
-
-/** \returns an expression of the coefficient wise quotient of \c *this and \a other
-  *
-  * \sa MatrixBase::cwiseQuotient
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar,typename OtherDerived::Scalar>, const Derived, const OtherDerived>
-operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar,typename OtherDerived::Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
-}
-
-/** \returns an expression of the coefficient-wise min of \c *this and \a other
-  *
-  * Example: \include Cwise_min.cpp
-  * Output: \verbinclude Cwise_min.out
-  *
-  * \sa max()
-  */
-EIGEN_MAKE_CWISE_BINARY_OP(min,min)
-
-/** \returns an expression of the coefficient-wise min of \c *this and scalar \a other
-  *
-  * \sa max()
-  */
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived,
-                                        const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-min
-#else
-(min)
-#endif
-(const Scalar &other) const
-{
-  return (min)(Derived::PlainObject::Constant(rows(), cols(), other));
-}
-
-/** \returns an expression of the coefficient-wise max of \c *this and \a other
-  *
-  * Example: \include Cwise_max.cpp
-  * Output: \verbinclude Cwise_max.out
-  *
-  * \sa min()
-  */
-EIGEN_MAKE_CWISE_BINARY_OP(max,max)
-
-/** \returns an expression of the coefficient-wise max of \c *this and scalar \a other
-  *
-  * \sa min()
-  */
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived,
-                                        const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-max
-#else
-(max)
-#endif
-(const Scalar &other) const
-{
-  return (max)(Derived::PlainObject::Constant(rows(), cols(), other));
-}
-
-/** \returns an expression of the coefficient-wise power of \c *this to the given array of \a exponents.
-  *
-  * This function computes the coefficient-wise power.
-  *
-  * Example: \include Cwise_array_power_array.cpp
-  * Output: \verbinclude Cwise_array_power_array.out
-  */
-EIGEN_MAKE_CWISE_BINARY_OP(pow,pow)
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(pow,pow)
-#else
-/** \returns an expression of the coefficients of \c *this rasied to the constant power \a exponent
-  *
-  * \tparam T is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression.
-  *
-  * This function computes the coefficient-wise power. The function MatrixBase::pow() in the
-  * unsupported module MatrixFunctions computes the matrix power.
-  *
-  * Example: \include Cwise_pow.cpp
-  * Output: \verbinclude Cwise_pow.out
-  *
-  * \sa ArrayBase::pow(ArrayBase), square(), cube(), exp(), log()
-  */
-template<typename T>
-const CwiseBinaryOp<internal::scalar_pow_op<Scalar,T>,Derived,Constant<T> > pow(const T& exponent) const;
-#endif
-
-
-// TODO code generating macros could be moved to Macros.h and could include generation of documentation
-#define EIGEN_MAKE_CWISE_COMP_OP(OP, COMPARATOR) \
-template<typename OtherDerived> \
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<Scalar, typename OtherDerived::Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived> \
-OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
-{ \
-  return CwiseBinaryOp<internal::scalar_cmp_op<Scalar, typename OtherDerived::Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived>(derived(), other.derived()); \
-}\
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> > Cmp ## COMPARATOR ## ReturnType; \
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar, internal::cmp_ ## COMPARATOR>, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject>, const Derived > RCmp ## COMPARATOR ## ReturnType; \
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Cmp ## COMPARATOR ## ReturnType \
-OP(const Scalar& s) const { \
-  return this->OP(Derived::PlainObject::Constant(rows(), cols(), s)); \
-} \
-EIGEN_DEVICE_FUNC friend EIGEN_STRONG_INLINE const RCmp ## COMPARATOR ## ReturnType \
-OP(const Scalar& s, const Derived& d) { \
-  return Derived::PlainObject::Constant(d.rows(), d.cols(), s).OP(d); \
-}
-
-#define EIGEN_MAKE_CWISE_COMP_R_OP(OP, R_OP, RCOMPARATOR) \
-template<typename OtherDerived> \
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<typename OtherDerived::Scalar, Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived> \
-OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
-{ \
-  return CwiseBinaryOp<internal::scalar_cmp_op<typename OtherDerived::Scalar, Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived>(other.derived(), derived()); \
-} \
-EIGEN_DEVICE_FUNC \
-inline const RCmp ## RCOMPARATOR ## ReturnType \
-OP(const Scalar& s) const { \
-  return Derived::PlainObject::Constant(rows(), cols(), s).R_OP(*this); \
-} \
-friend inline const Cmp ## RCOMPARATOR ## ReturnType \
-OP(const Scalar& s, const Derived& d) { \
-  return d.R_OP(Derived::PlainObject::Constant(d.rows(), d.cols(), s)); \
-}
-
-
-
-/** \returns an expression of the coefficient-wise \< operator of *this and \a other
-  *
-  * Example: \include Cwise_less.cpp
-  * Output: \verbinclude Cwise_less.out
-  *
-  * \sa all(), any(), operator>(), operator<=()
-  */
-EIGEN_MAKE_CWISE_COMP_OP(operator<, LT)
-
-/** \returns an expression of the coefficient-wise \<= operator of *this and \a other
-  *
-  * Example: \include Cwise_less_equal.cpp
-  * Output: \verbinclude Cwise_less_equal.out
-  *
-  * \sa all(), any(), operator>=(), operator<()
-  */
-EIGEN_MAKE_CWISE_COMP_OP(operator<=, LE)
-
-/** \returns an expression of the coefficient-wise \> operator of *this and \a other
-  *
-  * Example: \include Cwise_greater.cpp
-  * Output: \verbinclude Cwise_greater.out
-  *
-  * \sa all(), any(), operator>=(), operator<()
-  */
-EIGEN_MAKE_CWISE_COMP_R_OP(operator>, operator<, LT)
-
-/** \returns an expression of the coefficient-wise \>= operator of *this and \a other
-  *
-  * Example: \include Cwise_greater_equal.cpp
-  * Output: \verbinclude Cwise_greater_equal.out
-  *
-  * \sa all(), any(), operator>(), operator<=()
-  */
-EIGEN_MAKE_CWISE_COMP_R_OP(operator>=, operator<=, LE)
-
-/** \returns an expression of the coefficient-wise == operator of *this and \a other
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
-  * isMuchSmallerThan().
-  *
-  * Example: \include Cwise_equal_equal.cpp
-  * Output: \verbinclude Cwise_equal_equal.out
-  *
-  * \sa all(), any(), isApprox(), isMuchSmallerThan()
-  */
-EIGEN_MAKE_CWISE_COMP_OP(operator==, EQ)
-
-/** \returns an expression of the coefficient-wise != operator of *this and \a other
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
-  * isMuchSmallerThan().
-  *
-  * Example: \include Cwise_not_equal.cpp
-  * Output: \verbinclude Cwise_not_equal.out
-  *
-  * \sa all(), any(), isApprox(), isMuchSmallerThan()
-  */
-EIGEN_MAKE_CWISE_COMP_OP(operator!=, NEQ)
-
-
-#undef EIGEN_MAKE_CWISE_COMP_OP
-#undef EIGEN_MAKE_CWISE_COMP_R_OP
-
-// scalar addition
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_MAKE_SCALAR_BINARY_OP(operator+,sum)
-#else
-/** \returns an expression of \c *this with each coeff incremented by the constant \a scalar
-  *
-  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
-  *
-  * Example: \include Cwise_plus.cpp
-  * Output: \verbinclude Cwise_plus.out
-  *
-  * \sa operator+=(), operator-()
-  */
-template<typename T>
-const CwiseBinaryOp<internal::scalar_sum_op<Scalar,T>,Derived,Constant<T> > operator+(const T& scalar) const;
-/** \returns an expression of \a expr with each coeff incremented by the constant \a scalar
-  *
-  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
-  */
-template<typename T> friend
-const CwiseBinaryOp<internal::scalar_sum_op<T,Scalar>,Constant<T>,Derived> operator+(const T& scalar, const StorageBaseType& expr);
-#endif
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_MAKE_SCALAR_BINARY_OP(operator-,difference)
-#else
-/** \returns an expression of \c *this with each coeff decremented by the constant \a scalar
-  *
-  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
-  *
-  * Example: \include Cwise_minus.cpp
-  * Output: \verbinclude Cwise_minus.out
-  *
-  * \sa operator+=(), operator-()
-  */
-template<typename T>
-const CwiseBinaryOp<internal::scalar_difference_op<Scalar,T>,Derived,Constant<T> > operator-(const T& scalar) const;
-/** \returns an expression of the constant matrix of value \a scalar decremented by the coefficients of \a expr
-  *
-  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
-  */
-template<typename T> friend
-const CwiseBinaryOp<internal::scalar_difference_op<T,Scalar>,Constant<T>,Derived> operator-(const T& scalar, const StorageBaseType& expr);
-#endif
-
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(operator/,quotient)
-#else
-  /**
-    * \brief Component-wise division of the scalar \a s by array elements of \a a.
-    *
-    * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
-    */
-  template<typename T> friend
-  inline const CwiseBinaryOp<internal::scalar_quotient_op<T,Scalar>,Constant<T>,Derived>
-  operator/(const T& s,const StorageBaseType& a);
-#endif
-
-/** \returns an expression of the coefficient-wise ^ operator of *this and \a other
- *
- * \warning this operator is for expression of bool only.
- *
- * Example: \include Cwise_boolean_xor.cpp
- * Output: \verbinclude Cwise_boolean_xor.out
- *
- * \sa operator&&(), select()
- */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-inline const CwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>
-operator^(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
-                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
-  return CwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>(derived(),other.derived());
-}
-
-// NOTE disabled until we agree on argument order
-#if 0
-/** \cpp11 \returns an expression of the coefficient-wise polygamma function.
-  *
-  * \specialfunctions_module
-  *
-  * It returns the \a n -th derivative of the digamma(psi) evaluated at \c *this.
-  *
-  * \warning Be careful with the order of the parameters: x.polygamma(n) is equivalent to polygamma(n,x)
-  *
-  * \sa Eigen::polygamma()
-  */
-template<typename DerivedN>
-inline const CwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const DerivedN, const Derived>
-polygamma(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedN> &n) const
-{
-  return CwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const DerivedN, const Derived>(n.derived(), this->derived());
-}
-#endif
-
-/** \returns an expression of the coefficient-wise zeta function.
-  *
-  * \specialfunctions_module
-  *
-  * It returns the Riemann zeta function of two arguments \c *this and \a q:
-  *
-  * \param *this is the exposent, it must be > 1
-  * \param q is the shift, it must be > 0
-  *
-  * \note This function supports only float and double scalar types. To support other scalar types, the user has
-  * to provide implementations of zeta(T,T) for any scalar type T to be supported.
-  *
-  * This method is an alias for zeta(*this,q);
-  *
-  * \sa Eigen::zeta()
-  */
-template<typename DerivedQ>
-inline const CwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const DerivedQ>
-zeta(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedQ> &q) const
-{
-  return CwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const DerivedQ>(this->derived(), q.derived());
-}
diff --git a/phonelibs/eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/phonelibs/eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h
deleted file mode 100644
index ebaa3f192b1171..00000000000000
--- a/phonelibs/eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h
+++ /dev/null
@@ -1,552 +0,0 @@
-
-
-typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> AbsReturnType;
-typedef CwiseUnaryOp<internal::scalar_arg_op<Scalar>, const Derived> ArgReturnType;
-typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> Abs2ReturnType;
-typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> SqrtReturnType;
-typedef CwiseUnaryOp<internal::scalar_rsqrt_op<Scalar>, const Derived> RsqrtReturnType;
-typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> SignReturnType;
-typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> InverseReturnType;
-typedef CwiseUnaryOp<internal::scalar_boolean_not_op<Scalar>, const Derived> BooleanNotReturnType;
-
-typedef CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived> ExpReturnType;
-typedef CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived> LogReturnType;
-typedef CwiseUnaryOp<internal::scalar_log1p_op<Scalar>, const Derived> Log1pReturnType;
-typedef CwiseUnaryOp<internal::scalar_log10_op<Scalar>, const Derived> Log10ReturnType;
-typedef CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived> CosReturnType;
-typedef CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived> SinReturnType;
-typedef CwiseUnaryOp<internal::scalar_tan_op<Scalar>, const Derived> TanReturnType;
-typedef CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived> AcosReturnType;
-typedef CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived> AsinReturnType;
-typedef CwiseUnaryOp<internal::scalar_atan_op<Scalar>, const Derived> AtanReturnType;
-typedef CwiseUnaryOp<internal::scalar_tanh_op<Scalar>, const Derived> TanhReturnType;
-typedef CwiseUnaryOp<internal::scalar_sinh_op<Scalar>, const Derived> SinhReturnType;
-typedef CwiseUnaryOp<internal::scalar_cosh_op<Scalar>, const Derived> CoshReturnType;
-typedef CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived> SquareReturnType;
-typedef CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived> CubeReturnType;
-typedef CwiseUnaryOp<internal::scalar_round_op<Scalar>, const Derived> RoundReturnType;
-typedef CwiseUnaryOp<internal::scalar_floor_op<Scalar>, const Derived> FloorReturnType;
-typedef CwiseUnaryOp<internal::scalar_ceil_op<Scalar>, const Derived> CeilReturnType;
-typedef CwiseUnaryOp<internal::scalar_isnan_op<Scalar>, const Derived> IsNaNReturnType;
-typedef CwiseUnaryOp<internal::scalar_isinf_op<Scalar>, const Derived> IsInfReturnType;
-typedef CwiseUnaryOp<internal::scalar_isfinite_op<Scalar>, const Derived> IsFiniteReturnType;
-
-/** \returns an expression of the coefficient-wise absolute value of \c *this
-  *
-  * Example: \include Cwise_abs.cpp
-  * Output: \verbinclude Cwise_abs.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_abs">Math functions</a>, abs2()
-  */
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const AbsReturnType
-abs() const
-{
-  return AbsReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise phase angle of \c *this
-  *
-  * Example: \include Cwise_arg.cpp
-  * Output: \verbinclude Cwise_arg.out
-  *
-  * \sa abs()
-  */
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const ArgReturnType
-arg() const
-{
-  return ArgReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise squared absolute value of \c *this
-  *
-  * Example: \include Cwise_abs2.cpp
-  * Output: \verbinclude Cwise_abs2.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_abs2">Math functions</a>, abs(), square()
-  */
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const Abs2ReturnType
-abs2() const
-{
-  return Abs2ReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise exponential of *this.
-  *
-  * This function computes the coefficient-wise exponential. The function MatrixBase::exp() in the
-  * unsupported module MatrixFunctions computes the matrix exponential.
-  *
-  * Example: \include Cwise_exp.cpp
-  * Output: \verbinclude Cwise_exp.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_exp">Math functions</a>, pow(), log(), sin(), cos()
-  */
-EIGEN_DEVICE_FUNC
-inline const ExpReturnType
-exp() const
-{
-  return ExpReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise logarithm of *this.
-  *
-  * This function computes the coefficient-wise logarithm. The function MatrixBase::log() in the
-  * unsupported module MatrixFunctions computes the matrix logarithm.
-  *
-  * Example: \include Cwise_log.cpp
-  * Output: \verbinclude Cwise_log.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log">Math functions</a>, exp()
-  */
-EIGEN_DEVICE_FUNC
-inline const LogReturnType
-log() const
-{
-  return LogReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise logarithm of 1 plus \c *this.
-  *
-  * In exact arithmetic, \c x.log() is equivalent to \c (x+1).log(),
-  * however, with finite precision, this function is much more accurate when \c x is close to zero.
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log1p">Math functions</a>, log()
-  */
-EIGEN_DEVICE_FUNC
-inline const Log1pReturnType
-log1p() const
-{
-  return Log1pReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise base-10 logarithm of *this.
-  *
-  * This function computes the coefficient-wise base-10 logarithm.
-  *
-  * Example: \include Cwise_log10.cpp
-  * Output: \verbinclude Cwise_log10.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log10">Math functions</a>, log()
-  */
-EIGEN_DEVICE_FUNC
-inline const Log10ReturnType
-log10() const
-{
-  return Log10ReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise square root of *this.
-  *
-  * This function computes the coefficient-wise square root. The function MatrixBase::sqrt() in the
-  * unsupported module MatrixFunctions computes the matrix square root.
-  *
-  * Example: \include Cwise_sqrt.cpp
-  * Output: \verbinclude Cwise_sqrt.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sqrt">Math functions</a>, pow(), square()
-  */
-EIGEN_DEVICE_FUNC
-inline const SqrtReturnType
-sqrt() const
-{
-  return SqrtReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise inverse square root of *this.
-  *
-  * This function computes the coefficient-wise inverse square root.
-  *
-  * Example: \include Cwise_sqrt.cpp
-  * Output: \verbinclude Cwise_sqrt.out
-  *
-  * \sa pow(), square()
-  */
-EIGEN_DEVICE_FUNC
-inline const RsqrtReturnType
-rsqrt() const
-{
-  return RsqrtReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise signum of *this.
-  *
-  * This function computes the coefficient-wise signum.
-  *
-  * Example: \include Cwise_sign.cpp
-  * Output: \verbinclude Cwise_sign.out
-  *
-  * \sa pow(), square()
-  */
-EIGEN_DEVICE_FUNC
-inline const SignReturnType
-sign() const
-{
-  return SignReturnType(derived());
-}
-
-
-/** \returns an expression of the coefficient-wise cosine of *this.
-  *
-  * This function computes the coefficient-wise cosine. The function MatrixBase::cos() in the
-  * unsupported module MatrixFunctions computes the matrix cosine.
-  *
-  * Example: \include Cwise_cos.cpp
-  * Output: \verbinclude Cwise_cos.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cos">Math functions</a>, sin(), acos()
-  */
-EIGEN_DEVICE_FUNC
-inline const CosReturnType
-cos() const
-{
-  return CosReturnType(derived());
-}
-
-
-/** \returns an expression of the coefficient-wise sine of *this.
-  *
-  * This function computes the coefficient-wise sine. The function MatrixBase::sin() in the
-  * unsupported module MatrixFunctions computes the matrix sine.
-  *
-  * Example: \include Cwise_sin.cpp
-  * Output: \verbinclude Cwise_sin.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sin">Math functions</a>, cos(), asin()
-  */
-EIGEN_DEVICE_FUNC
-inline const SinReturnType
-sin() const
-{
-  return SinReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise tan of *this.
-  *
-  * Example: \include Cwise_tan.cpp
-  * Output: \verbinclude Cwise_tan.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_tan">Math functions</a>, cos(), sin()
-  */
-EIGEN_DEVICE_FUNC
-inline const TanReturnType
-tan() const
-{
-  return TanReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise arc tan of *this.
-  *
-  * Example: \include Cwise_atan.cpp
-  * Output: \verbinclude Cwise_atan.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_atan">Math functions</a>, tan(), asin(), acos()
-  */
-EIGEN_DEVICE_FUNC
-inline const AtanReturnType
-atan() const
-{
-  return AtanReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise arc cosine of *this.
-  *
-  * Example: \include Cwise_acos.cpp
-  * Output: \verbinclude Cwise_acos.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_acos">Math functions</a>, cos(), asin()
-  */
-EIGEN_DEVICE_FUNC
-inline const AcosReturnType
-acos() const
-{
-  return AcosReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise arc sine of *this.
-  *
-  * Example: \include Cwise_asin.cpp
-  * Output: \verbinclude Cwise_asin.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_asin">Math functions</a>, sin(), acos()
-  */
-EIGEN_DEVICE_FUNC
-inline const AsinReturnType
-asin() const
-{
-  return AsinReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise hyperbolic tan of *this.
-  *
-  * Example: \include Cwise_tanh.cpp
-  * Output: \verbinclude Cwise_tanh.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_tanh">Math functions</a>, tan(), sinh(), cosh()
-  */
-EIGEN_DEVICE_FUNC
-inline const TanhReturnType
-tanh() const
-{
-  return TanhReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise hyperbolic sin of *this.
-  *
-  * Example: \include Cwise_sinh.cpp
-  * Output: \verbinclude Cwise_sinh.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sinh">Math functions</a>, sin(), tanh(), cosh()
-  */
-EIGEN_DEVICE_FUNC
-inline const SinhReturnType
-sinh() const
-{
-  return SinhReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise hyperbolic cos of *this.
-  *
-  * Example: \include Cwise_cosh.cpp
-  * Output: \verbinclude Cwise_cosh.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cosh">Math functions</a>, tan(), sinh(), cosh()
-  */
-EIGEN_DEVICE_FUNC
-inline const CoshReturnType
-cosh() const
-{
-  return CoshReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise inverse of *this.
-  *
-  * Example: \include Cwise_inverse.cpp
-  * Output: \verbinclude Cwise_inverse.out
-  *
-  * \sa operator/(), operator*()
-  */
-EIGEN_DEVICE_FUNC
-inline const InverseReturnType
-inverse() const
-{
-  return InverseReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise square of *this.
-  *
-  * Example: \include Cwise_square.cpp
-  * Output: \verbinclude Cwise_square.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_squareE">Math functions</a>, abs2(), cube(), pow()
-  */
-EIGEN_DEVICE_FUNC
-inline const SquareReturnType
-square() const
-{
-  return SquareReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise cube of *this.
-  *
-  * Example: \include Cwise_cube.cpp
-  * Output: \verbinclude Cwise_cube.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cube">Math functions</a>, square(), pow()
-  */
-EIGEN_DEVICE_FUNC
-inline const CubeReturnType
-cube() const
-{
-  return CubeReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise round of *this.
-  *
-  * Example: \include Cwise_round.cpp
-  * Output: \verbinclude Cwise_round.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_round">Math functions</a>, ceil(), floor()
-  */
-EIGEN_DEVICE_FUNC
-inline const RoundReturnType
-round() const
-{
-  return RoundReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise floor of *this.
-  *
-  * Example: \include Cwise_floor.cpp
-  * Output: \verbinclude Cwise_floor.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_floor">Math functions</a>, ceil(), round()
-  */
-EIGEN_DEVICE_FUNC
-inline const FloorReturnType
-floor() const
-{
-  return FloorReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise ceil of *this.
-  *
-  * Example: \include Cwise_ceil.cpp
-  * Output: \verbinclude Cwise_ceil.out
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_ceil">Math functions</a>, floor(), round()
-  */
-EIGEN_DEVICE_FUNC
-inline const CeilReturnType
-ceil() const
-{
-  return CeilReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise isnan of *this.
-  *
-  * Example: \include Cwise_isNaN.cpp
-  * Output: \verbinclude Cwise_isNaN.out
-  *
-  * \sa isfinite(), isinf()
-  */
-EIGEN_DEVICE_FUNC
-inline const IsNaNReturnType
-isNaN() const
-{
-  return IsNaNReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise isinf of *this.
-  *
-  * Example: \include Cwise_isInf.cpp
-  * Output: \verbinclude Cwise_isInf.out
-  *
-  * \sa isnan(), isfinite()
-  */
-EIGEN_DEVICE_FUNC
-inline const IsInfReturnType
-isInf() const
-{
-  return IsInfReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise isfinite of *this.
-  *
-  * Example: \include Cwise_isFinite.cpp
-  * Output: \verbinclude Cwise_isFinite.out
-  *
-  * \sa isnan(), isinf()
-  */
-EIGEN_DEVICE_FUNC
-inline const IsFiniteReturnType
-isFinite() const
-{
-  return IsFiniteReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise ! operator of *this
-  *
-  * \warning this operator is for expression of bool only.
-  *
-  * Example: \include Cwise_boolean_not.cpp
-  * Output: \verbinclude Cwise_boolean_not.out
-  *
-  * \sa operator!=()
-  */
-EIGEN_DEVICE_FUNC
-inline const BooleanNotReturnType
-operator!() const
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value),
-                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
-  return BooleanNotReturnType(derived());
-}
-
-
-// --- SpecialFunctions module ---
-
-typedef CwiseUnaryOp<internal::scalar_lgamma_op<Scalar>, const Derived> LgammaReturnType;
-typedef CwiseUnaryOp<internal::scalar_digamma_op<Scalar>, const Derived> DigammaReturnType;
-typedef CwiseUnaryOp<internal::scalar_erf_op<Scalar>, const Derived> ErfReturnType;
-typedef CwiseUnaryOp<internal::scalar_erfc_op<Scalar>, const Derived> ErfcReturnType;
-
-/** \cpp11 \returns an expression of the coefficient-wise ln(|gamma(*this)|).
-  *
-  * \specialfunctions_module
-  *
-  * Example: \include Cwise_lgamma.cpp
-  * Output: \verbinclude Cwise_lgamma.out
-  *
-  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
-  * or float/double in non c++11 mode, the user has to provide implementations of lgamma(T) for any scalar
-  * type T to be supported.
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_lgamma">Math functions</a>, digamma()
-  */
-EIGEN_DEVICE_FUNC
-inline const LgammaReturnType
-lgamma() const
-{
-  return LgammaReturnType(derived());
-}
-
-/** \returns an expression of the coefficient-wise digamma (psi, derivative of lgamma).
-  *
-  * \specialfunctions_module
-  *
-  * \note This function supports only float and double scalar types. To support other scalar types,
-  * the user has to provide implementations of digamma(T) for any scalar
-  * type T to be supported.
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_digamma">Math functions</a>, Eigen::digamma(), Eigen::polygamma(), lgamma()
-  */
-EIGEN_DEVICE_FUNC
-inline const DigammaReturnType
-digamma() const
-{
-  return DigammaReturnType(derived());
-}
-
-/** \cpp11 \returns an expression of the coefficient-wise Gauss error
-  * function of *this.
-  *
-  * \specialfunctions_module
-  *
-  * Example: \include Cwise_erf.cpp
-  * Output: \verbinclude Cwise_erf.out
-  *
-  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
-  * or float/double in non c++11 mode, the user has to provide implementations of erf(T) for any scalar
-  * type T to be supported.
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_erf">Math functions</a>, erfc()
-  */
-EIGEN_DEVICE_FUNC
-inline const ErfReturnType
-erf() const
-{
-  return ErfReturnType(derived());
-}
-
-/** \cpp11 \returns an expression of the coefficient-wise Complementary error
-  * function of *this.
-  *
-  * \specialfunctions_module
-  *
-  * Example: \include Cwise_erfc.cpp
-  * Output: \verbinclude Cwise_erfc.out
-  *
-  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
-  * or float/double in non c++11 mode, the user has to provide implementations of erfc(T) for any scalar
-  * type T to be supported.
-  *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_erfc">Math functions</a>, erf()
-  */
-EIGEN_DEVICE_FUNC
-inline const ErfcReturnType
-erfc() const
-{
-  return ErfcReturnType(derived());
-}
diff --git a/phonelibs/eigen/Eigen/src/plugins/BlockMethods.h b/phonelibs/eigen/Eigen/src/plugins/BlockMethods.h
deleted file mode 100644
index ac35a0086cf8be..00000000000000
--- a/phonelibs/eigen/Eigen/src/plugins/BlockMethods.h
+++ /dev/null
@@ -1,1058 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-/// \internal expression type of a column */
-typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ColXpr;
-typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ConstColXpr;
-/// \internal expression type of a row */
-typedef Block<Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowXpr;
-typedef const Block<const Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowXpr;
-/// \internal expression type of a block of whole columns */
-typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ColsBlockXpr;
-typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ConstColsBlockXpr;
-/// \internal expression type of a block of whole rows */
-typedef Block<Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowsBlockXpr;
-typedef const Block<const Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowsBlockXpr;
-/// \internal expression type of a block of whole columns */
-template<int N> struct NColsBlockXpr { typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
-template<int N> struct ConstNColsBlockXpr { typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
-/// \internal expression type of a block of whole rows */
-template<int N> struct NRowsBlockXpr { typedef Block<Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
-template<int N> struct ConstNRowsBlockXpr { typedef const Block<const Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
-/// \internal expression of a block */
-typedef Block<Derived> BlockXpr;
-typedef const Block<const Derived> ConstBlockXpr;
-/// \internal expression of a block of fixed sizes */
-template<int Rows, int Cols> struct FixedBlockXpr { typedef Block<Derived,Rows,Cols> Type; };
-template<int Rows, int Cols> struct ConstFixedBlockXpr { typedef Block<const Derived,Rows,Cols> Type; };
-
-typedef VectorBlock<Derived> SegmentReturnType;
-typedef const VectorBlock<const Derived> ConstSegmentReturnType;
-template<int Size> struct FixedSegmentReturnType { typedef VectorBlock<Derived, Size> Type; };
-template<int Size> struct ConstFixedSegmentReturnType { typedef const VectorBlock<const Derived, Size> Type; };
-
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-/// \returns a dynamic-size expression of a block in *this.
-///
-/// \param startRow the first row in the block
-/// \param startCol the first column in the block
-/// \param blockRows the number of rows in the block
-/// \param blockCols the number of columns in the block
-///
-/// Example: \include MatrixBase_block_int_int_int_int.cpp
-/// Output: \verbinclude MatrixBase_block_int_int_int_int.out
-///
-/// \note Even though the returned expression has dynamic size, in the case
-/// when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
-/// which means that evaluating it does not cause a dynamic memory allocation.
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline BlockXpr block(Index startRow, Index startCol, Index blockRows, Index blockCols)
-{
-  return BlockXpr(derived(), startRow, startCol, blockRows, blockCols);
-}
-
-/// This is the const version of block(Index,Index,Index,Index). */
-EIGEN_DEVICE_FUNC
-inline const ConstBlockXpr block(Index startRow, Index startCol, Index blockRows, Index blockCols) const
-{
-  return ConstBlockXpr(derived(), startRow, startCol, blockRows, blockCols);
-}
-
-
-
-
-/// \returns a dynamic-size expression of a top-right corner of *this.
-///
-/// \param cRows the number of rows in the corner
-/// \param cCols the number of columns in the corner
-///
-/// Example: \include MatrixBase_topRightCorner_int_int.cpp
-/// Output: \verbinclude MatrixBase_topRightCorner_int_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline BlockXpr topRightCorner(Index cRows, Index cCols)
-{
-  return BlockXpr(derived(), 0, cols() - cCols, cRows, cCols);
-}
-
-/// This is the const version of topRightCorner(Index, Index).
-EIGEN_DEVICE_FUNC
-inline const ConstBlockXpr topRightCorner(Index cRows, Index cCols) const
-{
-  return ConstBlockXpr(derived(), 0, cols() - cCols, cRows, cCols);
-}
-
-/// \returns an expression of a fixed-size top-right corner of *this.
-///
-/// \tparam CRows the number of rows in the corner
-/// \tparam CCols the number of columns in the corner
-///
-/// Example: \include MatrixBase_template_int_int_topRightCorner.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_topRightCorner.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block<int,int>(Index,Index)
-///
-template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner()
-{
-  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
-}
-
-/// This is the const version of topRightCorner<int, int>().
-template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner() const
-{
-  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
-}
-
-/// \returns an expression of a top-right corner of *this.
-///
-/// \tparam CRows number of rows in corner as specified at compile-time
-/// \tparam CCols number of columns in corner as specified at compile-time
-/// \param  cRows number of rows in corner as specified at run-time
-/// \param  cCols number of columns in corner as specified at run-time
-///
-/// This function is mainly useful for corners where the number of rows is specified at compile-time
-/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-/// information should not contradict. In other words, \a cRows should equal \a CRows unless
-/// \a CRows is \a Dynamic, and the same for the number of columns.
-///
-/// Example: \include MatrixBase_template_int_int_topRightCorner_int_int.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_topRightCorner_int_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block
-///
-template<int CRows, int CCols>
-inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols)
-{
-  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
-}
-
-/// This is the const version of topRightCorner<int, int>(Index, Index).
-template<int CRows, int CCols>
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols) const
-{
-  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
-}
-
-
-
-/// \returns a dynamic-size expression of a top-left corner of *this.
-///
-/// \param cRows the number of rows in the corner
-/// \param cCols the number of columns in the corner
-///
-/// Example: \include MatrixBase_topLeftCorner_int_int.cpp
-/// Output: \verbinclude MatrixBase_topLeftCorner_int_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline BlockXpr topLeftCorner(Index cRows, Index cCols)
-{
-  return BlockXpr(derived(), 0, 0, cRows, cCols);
-}
-
-/// This is the const version of topLeftCorner(Index, Index).
-EIGEN_DEVICE_FUNC
-inline const ConstBlockXpr topLeftCorner(Index cRows, Index cCols) const
-{
-  return ConstBlockXpr(derived(), 0, 0, cRows, cCols);
-}
-
-/// \returns an expression of a fixed-size top-left corner of *this.
-///
-/// The template parameters CRows and CCols are the number of rows and columns in the corner.
-///
-/// Example: \include MatrixBase_template_int_int_topLeftCorner.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_topLeftCorner.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner()
-{
-  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
-}
-
-/// This is the const version of topLeftCorner<int, int>().
-template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner() const
-{
-  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
-}
-
-/// \returns an expression of a top-left corner of *this.
-///
-/// \tparam CRows number of rows in corner as specified at compile-time
-/// \tparam CCols number of columns in corner as specified at compile-time
-/// \param  cRows number of rows in corner as specified at run-time
-/// \param  cCols number of columns in corner as specified at run-time
-///
-/// This function is mainly useful for corners where the number of rows is specified at compile-time
-/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-/// information should not contradict. In other words, \a cRows should equal \a CRows unless
-/// \a CRows is \a Dynamic, and the same for the number of columns.
-///
-/// Example: \include MatrixBase_template_int_int_topLeftCorner_int_int.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_topLeftCorner_int_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block
-///
-template<int CRows, int CCols>
-inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols)
-{
-  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
-}
-
-/// This is the const version of topLeftCorner<int, int>(Index, Index).
-template<int CRows, int CCols>
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols) const
-{
-  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
-}
-
-
-
-/// \returns a dynamic-size expression of a bottom-right corner of *this.
-///
-/// \param cRows the number of rows in the corner
-/// \param cCols the number of columns in the corner
-///
-/// Example: \include MatrixBase_bottomRightCorner_int_int.cpp
-/// Output: \verbinclude MatrixBase_bottomRightCorner_int_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline BlockXpr bottomRightCorner(Index cRows, Index cCols)
-{
-  return BlockXpr(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-}
-
-/// This is the const version of bottomRightCorner(Index, Index).
-EIGEN_DEVICE_FUNC
-inline const ConstBlockXpr bottomRightCorner(Index cRows, Index cCols) const
-{
-  return ConstBlockXpr(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-}
-
-/// \returns an expression of a fixed-size bottom-right corner of *this.
-///
-/// The template parameters CRows and CCols are the number of rows and columns in the corner.
-///
-/// Example: \include MatrixBase_template_int_int_bottomRightCorner.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner()
-{
-  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
-}
-
-/// This is the const version of bottomRightCorner<int, int>().
-template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner() const
-{
-  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
-}
-
-/// \returns an expression of a bottom-right corner of *this.
-///
-/// \tparam CRows number of rows in corner as specified at compile-time
-/// \tparam CCols number of columns in corner as specified at compile-time
-/// \param  cRows number of rows in corner as specified at run-time
-/// \param  cCols number of columns in corner as specified at run-time
-///
-/// This function is mainly useful for corners where the number of rows is specified at compile-time
-/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-/// information should not contradict. In other words, \a cRows should equal \a CRows unless
-/// \a CRows is \a Dynamic, and the same for the number of columns.
-///
-/// Example: \include MatrixBase_template_int_int_bottomRightCorner_int_int.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner_int_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block
-///
-template<int CRows, int CCols>
-inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols)
-{
-  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-}
-
-/// This is the const version of bottomRightCorner<int, int>(Index, Index).
-template<int CRows, int CCols>
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols) const
-{
-  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-}
-
-
-
-/// \returns a dynamic-size expression of a bottom-left corner of *this.
-///
-/// \param cRows the number of rows in the corner
-/// \param cCols the number of columns in the corner
-///
-/// Example: \include MatrixBase_bottomLeftCorner_int_int.cpp
-/// Output: \verbinclude MatrixBase_bottomLeftCorner_int_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline BlockXpr bottomLeftCorner(Index cRows, Index cCols)
-{
-  return BlockXpr(derived(), rows() - cRows, 0, cRows, cCols);
-}
-
-/// This is the const version of bottomLeftCorner(Index, Index).
-EIGEN_DEVICE_FUNC
-inline const ConstBlockXpr bottomLeftCorner(Index cRows, Index cCols) const
-{
-  return ConstBlockXpr(derived(), rows() - cRows, 0, cRows, cCols);
-}
-
-/// \returns an expression of a fixed-size bottom-left corner of *this.
-///
-/// The template parameters CRows and CCols are the number of rows and columns in the corner.
-///
-/// Example: \include MatrixBase_template_int_int_bottomLeftCorner.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner()
-{
-  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
-}
-
-/// This is the const version of bottomLeftCorner<int, int>().
-template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner() const
-{
-  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
-}
-
-/// \returns an expression of a bottom-left corner of *this.
-///
-/// \tparam CRows number of rows in corner as specified at compile-time
-/// \tparam CCols number of columns in corner as specified at compile-time
-/// \param  cRows number of rows in corner as specified at run-time
-/// \param  cCols number of columns in corner as specified at run-time
-///
-/// This function is mainly useful for corners where the number of rows is specified at compile-time
-/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-/// information should not contradict. In other words, \a cRows should equal \a CRows unless
-/// \a CRows is \a Dynamic, and the same for the number of columns.
-///
-/// Example: \include MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner_int_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block
-///
-template<int CRows, int CCols>
-inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols)
-{
-  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
-}
-
-/// This is the const version of bottomLeftCorner<int, int>(Index, Index).
-template<int CRows, int CCols>
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols) const
-{
-  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
-}
-
-
-
-/// \returns a block consisting of the top rows of *this.
-///
-/// \param n the number of rows in the block
-///
-/// Example: \include MatrixBase_topRows_int.cpp
-/// Output: \verbinclude MatrixBase_topRows_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline RowsBlockXpr topRows(Index n)
-{
-  return RowsBlockXpr(derived(), 0, 0, n, cols());
-}
-
-/// This is the const version of topRows(Index).
-EIGEN_DEVICE_FUNC
-inline ConstRowsBlockXpr topRows(Index n) const
-{
-  return ConstRowsBlockXpr(derived(), 0, 0, n, cols());
-}
-
-/// \returns a block consisting of the top rows of *this.
-///
-/// \tparam N the number of rows in the block as specified at compile-time
-/// \param n the number of rows in the block as specified at run-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include MatrixBase_template_int_topRows.cpp
-/// Output: \verbinclude MatrixBase_template_int_topRows.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NRowsBlockXpr<N>::Type topRows(Index n = N)
-{
-  return typename NRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
-}
-
-/// This is the const version of topRows<int>().
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNRowsBlockXpr<N>::Type topRows(Index n = N) const
-{
-  return typename ConstNRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
-}
-
-
-
-/// \returns a block consisting of the bottom rows of *this.
-///
-/// \param n the number of rows in the block
-///
-/// Example: \include MatrixBase_bottomRows_int.cpp
-/// Output: \verbinclude MatrixBase_bottomRows_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline RowsBlockXpr bottomRows(Index n)
-{
-  return RowsBlockXpr(derived(), rows() - n, 0, n, cols());
-}
-
-/// This is the const version of bottomRows(Index).
-EIGEN_DEVICE_FUNC
-inline ConstRowsBlockXpr bottomRows(Index n) const
-{
-  return ConstRowsBlockXpr(derived(), rows() - n, 0, n, cols());
-}
-
-/// \returns a block consisting of the bottom rows of *this.
-///
-/// \tparam N the number of rows in the block as specified at compile-time
-/// \param n the number of rows in the block as specified at run-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include MatrixBase_template_int_bottomRows.cpp
-/// Output: \verbinclude MatrixBase_template_int_bottomRows.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NRowsBlockXpr<N>::Type bottomRows(Index n = N)
-{
-  return typename NRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
-}
-
-/// This is the const version of bottomRows<int>().
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNRowsBlockXpr<N>::Type bottomRows(Index n = N) const
-{
-  return typename ConstNRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
-}
-
-
-
-/// \returns a block consisting of a range of rows of *this.
-///
-/// \param startRow the index of the first row in the block
-/// \param n the number of rows in the block
-///
-/// Example: \include DenseBase_middleRows_int.cpp
-/// Output: \verbinclude DenseBase_middleRows_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline RowsBlockXpr middleRows(Index startRow, Index n)
-{
-  return RowsBlockXpr(derived(), startRow, 0, n, cols());
-}
-
-/// This is the const version of middleRows(Index,Index).
-EIGEN_DEVICE_FUNC
-inline ConstRowsBlockXpr middleRows(Index startRow, Index n) const
-{
-  return ConstRowsBlockXpr(derived(), startRow, 0, n, cols());
-}
-
-/// \returns a block consisting of a range of rows of *this.
-///
-/// \tparam N the number of rows in the block as specified at compile-time
-/// \param startRow the index of the first row in the block
-/// \param n the number of rows in the block as specified at run-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include DenseBase_template_int_middleRows.cpp
-/// Output: \verbinclude DenseBase_template_int_middleRows.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N)
-{
-  return typename NRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
-}
-
-/// This is the const version of middleRows<int>().
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N) const
-{
-  return typename ConstNRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
-}
-
-
-
-/// \returns a block consisting of the left columns of *this.
-///
-/// \param n the number of columns in the block
-///
-/// Example: \include MatrixBase_leftCols_int.cpp
-/// Output: \verbinclude MatrixBase_leftCols_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline ColsBlockXpr leftCols(Index n)
-{
-  return ColsBlockXpr(derived(), 0, 0, rows(), n);
-}
-
-/// This is the const version of leftCols(Index).
-EIGEN_DEVICE_FUNC
-inline ConstColsBlockXpr leftCols(Index n) const
-{
-  return ConstColsBlockXpr(derived(), 0, 0, rows(), n);
-}
-
-/// \returns a block consisting of the left columns of *this.
-///
-/// \tparam N the number of columns in the block as specified at compile-time
-/// \param n the number of columns in the block as specified at run-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include MatrixBase_template_int_leftCols.cpp
-/// Output: \verbinclude MatrixBase_template_int_leftCols.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NColsBlockXpr<N>::Type leftCols(Index n = N)
-{
-  return typename NColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
-}
-
-/// This is the const version of leftCols<int>().
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNColsBlockXpr<N>::Type leftCols(Index n = N) const
-{
-  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
-}
-
-
-
-/// \returns a block consisting of the right columns of *this.
-///
-/// \param n the number of columns in the block
-///
-/// Example: \include MatrixBase_rightCols_int.cpp
-/// Output: \verbinclude MatrixBase_rightCols_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline ColsBlockXpr rightCols(Index n)
-{
-  return ColsBlockXpr(derived(), 0, cols() - n, rows(), n);
-}
-
-/// This is the const version of rightCols(Index).
-EIGEN_DEVICE_FUNC
-inline ConstColsBlockXpr rightCols(Index n) const
-{
-  return ConstColsBlockXpr(derived(), 0, cols() - n, rows(), n);
-}
-
-/// \returns a block consisting of the right columns of *this.
-///
-/// \tparam N the number of columns in the block as specified at compile-time
-/// \param n the number of columns in the block as specified at run-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include MatrixBase_template_int_rightCols.cpp
-/// Output: \verbinclude MatrixBase_template_int_rightCols.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NColsBlockXpr<N>::Type rightCols(Index n = N)
-{
-  return typename NColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
-}
-
-/// This is the const version of rightCols<int>().
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNColsBlockXpr<N>::Type rightCols(Index n = N) const
-{
-  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
-}
-
-
-
-/// \returns a block consisting of a range of columns of *this.
-///
-/// \param startCol the index of the first column in the block
-/// \param numCols the number of columns in the block
-///
-/// Example: \include DenseBase_middleCols_int.cpp
-/// Output: \verbinclude DenseBase_middleCols_int.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline ColsBlockXpr middleCols(Index startCol, Index numCols)
-{
-  return ColsBlockXpr(derived(), 0, startCol, rows(), numCols);
-}
-
-/// This is the const version of middleCols(Index,Index).
-EIGEN_DEVICE_FUNC
-inline ConstColsBlockXpr middleCols(Index startCol, Index numCols) const
-{
-  return ConstColsBlockXpr(derived(), 0, startCol, rows(), numCols);
-}
-
-/// \returns a block consisting of a range of columns of *this.
-///
-/// \tparam N the number of columns in the block as specified at compile-time
-/// \param startCol the index of the first column in the block
-/// \param n the number of columns in the block as specified at run-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include DenseBase_template_int_middleCols.cpp
-/// Output: \verbinclude DenseBase_template_int_middleCols.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N)
-{
-  return typename NColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
-}
-
-/// This is the const version of middleCols<int>().
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N) const
-{
-  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
-}
-
-
-
-/// \returns a fixed-size expression of a block in *this.
-///
-/// The template parameters \a NRows and \a NCols are the number of
-/// rows and columns in the block.
-///
-/// \param startRow the first row in the block
-/// \param startCol the first column in the block
-///
-/// Example: \include MatrixBase_block_int_int.cpp
-/// Output: \verbinclude MatrixBase_block_int_int.out
-///
-/// \note since block is a templated member, the keyword template has to be used
-/// if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int NRows, int NCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol)
-{
-  return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
-}
-
-/// This is the const version of block<>(Index, Index). */
-template<int NRows, int NCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol) const
-{
-  return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
-}
-
-/// \returns an expression of a block in *this.
-///
-/// \tparam NRows number of rows in block as specified at compile-time
-/// \tparam NCols number of columns in block as specified at compile-time
-/// \param  startRow  the first row in the block
-/// \param  startCol  the first column in the block
-/// \param  blockRows number of rows in block as specified at run-time
-/// \param  blockCols number of columns in block as specified at run-time
-///
-/// This function is mainly useful for blocks where the number of rows is specified at compile-time
-/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-/// information should not contradict. In other words, \a blockRows should equal \a NRows unless
-/// \a NRows is \a Dynamic, and the same for the number of columns.
-///
-/// Example: \include MatrixBase_template_int_int_block_int_int_int_int.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_block_int_int_int_int.cpp
-///
-EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
-///
-/// \sa class Block, block(Index,Index,Index,Index)
-///
-template<int NRows, int NCols>
-inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
-                                                  Index blockRows, Index blockCols)
-{
-  return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
-}
-
-/// This is the const version of block<>(Index, Index, Index, Index).
-template<int NRows, int NCols>
-inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
-                                                              Index blockRows, Index blockCols) const
-{
-  return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
-}
-
-/// \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
-///
-/// Example: \include MatrixBase_col.cpp
-/// Output: \verbinclude MatrixBase_col.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
-/**
-  * \sa row(), class Block */
-EIGEN_DEVICE_FUNC
-inline ColXpr col(Index i)
-{
-  return ColXpr(derived(), i);
-}
-
-/// This is the const version of col().
-EIGEN_DEVICE_FUNC
-inline ConstColXpr col(Index i) const
-{
-  return ConstColXpr(derived(), i);
-}
-
-/// \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
-///
-/// Example: \include MatrixBase_row.cpp
-/// Output: \verbinclude MatrixBase_row.out
-///
-EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
-/**
-  * \sa col(), class Block */
-EIGEN_DEVICE_FUNC
-inline RowXpr row(Index i)
-{
-  return RowXpr(derived(), i);
-}
-
-/// This is the const version of row(). */
-EIGEN_DEVICE_FUNC
-inline ConstRowXpr row(Index i) const
-{
-  return ConstRowXpr(derived(), i);
-}
-
-/// \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
-///
-/// \only_for_vectors
-///
-/// \param start the first coefficient in the segment
-/// \param n the number of coefficients in the segment
-///
-/// Example: \include MatrixBase_segment_int_int.cpp
-/// Output: \verbinclude MatrixBase_segment_int_int.out
-///
-/// \note Even though the returned expression has dynamic size, in the case
-/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-/// which means that evaluating it does not cause a dynamic memory allocation.
-///
-/// \sa class Block, segment(Index)
-///
-EIGEN_DEVICE_FUNC
-inline SegmentReturnType segment(Index start, Index n)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return SegmentReturnType(derived(), start, n);
-}
-
-
-/// This is the const version of segment(Index,Index).
-EIGEN_DEVICE_FUNC
-inline ConstSegmentReturnType segment(Index start, Index n) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return ConstSegmentReturnType(derived(), start, n);
-}
-
-/// \returns a dynamic-size expression of the first coefficients of *this.
-///
-/// \only_for_vectors
-///
-/// \param n the number of coefficients in the segment
-///
-/// Example: \include MatrixBase_start_int.cpp
-/// Output: \verbinclude MatrixBase_start_int.out
-///
-/// \note Even though the returned expression has dynamic size, in the case
-/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-/// which means that evaluating it does not cause a dynamic memory allocation.
-///
-/// \sa class Block, block(Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline SegmentReturnType head(Index n)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return SegmentReturnType(derived(), 0, n);
-}
-
-/// This is the const version of head(Index).
-EIGEN_DEVICE_FUNC
-inline ConstSegmentReturnType head(Index n) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return ConstSegmentReturnType(derived(), 0, n);
-}
-
-/// \returns a dynamic-size expression of the last coefficients of *this.
-///
-/// \only_for_vectors
-///
-/// \param n the number of coefficients in the segment
-///
-/// Example: \include MatrixBase_end_int.cpp
-/// Output: \verbinclude MatrixBase_end_int.out
-///
-/// \note Even though the returned expression has dynamic size, in the case
-/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-/// which means that evaluating it does not cause a dynamic memory allocation.
-///
-/// \sa class Block, block(Index,Index)
-///
-EIGEN_DEVICE_FUNC
-inline SegmentReturnType tail(Index n)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return SegmentReturnType(derived(), this->size() - n, n);
-}
-
-/// This is the const version of tail(Index).
-EIGEN_DEVICE_FUNC
-inline ConstSegmentReturnType tail(Index n) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return ConstSegmentReturnType(derived(), this->size() - n, n);
-}
-
-/// \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
-///
-/// \only_for_vectors
-///
-/// \tparam N the number of coefficients in the segment as specified at compile-time
-/// \param start the index of the first element in the segment
-/// \param n the number of coefficients in the segment as specified at compile-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include MatrixBase_template_int_segment.cpp
-/// Output: \verbinclude MatrixBase_template_int_segment.out
-///
-/// \sa class Block
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename FixedSegmentReturnType<N>::Type segment(Index start, Index n = N)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return typename FixedSegmentReturnType<N>::Type(derived(), start, n);
-}
-
-/// This is the const version of segment<int>(Index).
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstFixedSegmentReturnType<N>::Type segment(Index start, Index n = N) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return typename ConstFixedSegmentReturnType<N>::Type(derived(), start, n);
-}
-
-/// \returns a fixed-size expression of the first coefficients of *this.
-///
-/// \only_for_vectors
-///
-/// \tparam N the number of coefficients in the segment as specified at compile-time
-/// \param  n the number of coefficients in the segment as specified at run-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include MatrixBase_template_int_start.cpp
-/// Output: \verbinclude MatrixBase_template_int_start.out
-///
-/// \sa class Block
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename FixedSegmentReturnType<N>::Type head(Index n = N)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return typename FixedSegmentReturnType<N>::Type(derived(), 0, n);
-}
-
-/// This is the const version of head<int>().
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstFixedSegmentReturnType<N>::Type head(Index n = N) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return typename ConstFixedSegmentReturnType<N>::Type(derived(), 0, n);
-}
-
-/// \returns a fixed-size expression of the last coefficients of *this.
-///
-/// \only_for_vectors
-///
-/// \tparam N the number of coefficients in the segment as specified at compile-time
-/// \param  n the number of coefficients in the segment as specified at run-time
-///
-/// The compile-time and run-time information should not contradict. In other words,
-/// \a n should equal \a N unless \a N is \a Dynamic.
-///
-/// Example: \include MatrixBase_template_int_end.cpp
-/// Output: \verbinclude MatrixBase_template_int_end.out
-///
-/// \sa class Block
-///
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename FixedSegmentReturnType<N>::Type tail(Index n = N)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return typename FixedSegmentReturnType<N>::Type(derived(), size() - n);
-}
-
-/// This is the const version of tail<int>.
-template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstFixedSegmentReturnType<N>::Type tail(Index n = N) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return typename ConstFixedSegmentReturnType<N>::Type(derived(), size() - n);
-}
diff --git a/phonelibs/eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h b/phonelibs/eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h
deleted file mode 100644
index 8b6730ede025dd..00000000000000
--- a/phonelibs/eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h
+++ /dev/null
@@ -1,115 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// This file is a base class plugin containing common coefficient wise functions.
-
-/** \returns an expression of the difference of \c *this and \a other
-  *
-  * \note If you want to substract a given scalar from all coefficients, see Cwise::operator-().
-  *
-  * \sa class CwiseBinaryOp, operator-=()
-  */
-EIGEN_MAKE_CWISE_BINARY_OP(operator-,difference)
-
-/** \returns an expression of the sum of \c *this and \a other
-  *
-  * \note If you want to add a given scalar to all coefficients, see Cwise::operator+().
-  *
-  * \sa class CwiseBinaryOp, operator+=()
-  */
-EIGEN_MAKE_CWISE_BINARY_OP(operator+,sum)
-
-/** \returns an expression of a custom coefficient-wise operator \a func of *this and \a other
-  *
-  * The template parameter \a CustomBinaryOp is the type of the functor
-  * of the custom operator (see class CwiseBinaryOp for an example)
-  *
-  * Here is an example illustrating the use of custom functors:
-  * \include class_CwiseBinaryOp.cpp
-  * Output: \verbinclude class_CwiseBinaryOp.out
-  *
-  * \sa class CwiseBinaryOp, operator+(), operator-(), cwiseProduct()
-  */
-template<typename CustomBinaryOp, typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>
-binaryExpr(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const
-{
-  return CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>(derived(), other.derived(), func);
-}
-
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
-#else
-/** \returns an expression of \c *this scaled by the scalar factor \a scalar
-  *
-  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
-  */
-template<typename T>
-const CwiseBinaryOp<internal::scalar_product_op<Scalar,T>,Derived,Constant<T> > operator*(const T& scalar) const;
-/** \returns an expression of \a expr scaled by the scalar factor \a scalar
-  *
-  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
-  */
-template<typename T> friend
-const CwiseBinaryOp<internal::scalar_product_op<T,Scalar>,Constant<T>,Derived> operator*(const T& scalar, const StorageBaseType& expr);
-#endif
-
-
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(operator/,quotient)
-#else
-/** \returns an expression of \c *this divided by the scalar value \a scalar
-  *
-  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
-  */
-template<typename T>
-const CwiseBinaryOp<internal::scalar_quotient_op<Scalar,T>,Derived,Constant<T> > operator/(const T& scalar) const;
-#endif
-
-/** \returns an expression of the coefficient-wise boolean \b and operator of \c *this and \a other
-  *
-  * \warning this operator is for expression of bool only.
-  *
-  * Example: \include Cwise_boolean_and.cpp
-  * Output: \verbinclude Cwise_boolean_and.out
-  *
-  * \sa operator||(), select()
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-inline const CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>
-operator&&(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
-                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
-  return CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>(derived(),other.derived());
-}
-
-/** \returns an expression of the coefficient-wise boolean \b or operator of \c *this and \a other
-  *
-  * \warning this operator is for expression of bool only.
-  *
-  * Example: \include Cwise_boolean_or.cpp
-  * Output: \verbinclude Cwise_boolean_or.out
-  *
-  * \sa operator&&(), select()
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-inline const CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>
-operator||(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
-                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
-  return CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>(derived(),other.derived());
-}
diff --git a/phonelibs/eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h b/phonelibs/eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h
deleted file mode 100644
index 89f4faaac6b60f..00000000000000
--- a/phonelibs/eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h
+++ /dev/null
@@ -1,163 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// This file is a base class plugin containing common coefficient wise functions.
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-/** \internal the return type of conjugate() */
-typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-                    const CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Derived>,
-                    const Derived&
-                  >::type ConjugateReturnType;
-/** \internal the return type of real() const */
-typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-                    const CwiseUnaryOp<internal::scalar_real_op<Scalar>, const Derived>,
-                    const Derived&
-                  >::type RealReturnType;
-/** \internal the return type of real() */
-typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-                    CwiseUnaryView<internal::scalar_real_ref_op<Scalar>, Derived>,
-                    Derived&
-                  >::type NonConstRealReturnType;
-/** \internal the return type of imag() const */
-typedef CwiseUnaryOp<internal::scalar_imag_op<Scalar>, const Derived> ImagReturnType;
-/** \internal the return type of imag() */
-typedef CwiseUnaryView<internal::scalar_imag_ref_op<Scalar>, Derived> NonConstImagReturnType;
-
-typedef CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived> NegativeReturnType;
-
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-/// \returns an expression of the opposite of \c *this
-///
-EIGEN_DOC_UNARY_ADDONS(operator-,opposite)
-///
-EIGEN_DEVICE_FUNC
-inline const NegativeReturnType
-operator-() const { return NegativeReturnType(derived()); }
-
-
-template<class NewType> struct CastXpr { typedef typename internal::cast_return_type<Derived,const CwiseUnaryOp<internal::scalar_cast_op<Scalar, NewType>, const Derived> >::type Type; };
-
-/// \returns an expression of \c *this with the \a Scalar type casted to
-/// \a NewScalar.
-///
-/// The template parameter \a NewScalar is the type we are casting the scalars to.
-///
-EIGEN_DOC_UNARY_ADDONS(cast,conversion function)
-///
-/// \sa class CwiseUnaryOp
-///
-template<typename NewType>
-EIGEN_DEVICE_FUNC
-typename CastXpr<NewType>::Type
-cast() const
-{
-  return typename CastXpr<NewType>::Type(derived());
-}
-
-/// \returns an expression of the complex conjugate of \c *this.
-///
-EIGEN_DOC_UNARY_ADDONS(conjugate,complex conjugate)
-///
-/// \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_conj">Math functions</a>, MatrixBase::adjoint()
-EIGEN_DEVICE_FUNC
-inline ConjugateReturnType
-conjugate() const
-{
-  return ConjugateReturnType(derived());
-}
-
-/// \returns a read-only expression of the real part of \c *this.
-///
-EIGEN_DOC_UNARY_ADDONS(real,real part function)
-///
-/// \sa imag()
-EIGEN_DEVICE_FUNC
-inline RealReturnType
-real() const { return RealReturnType(derived()); }
-
-/// \returns an read-only expression of the imaginary part of \c *this.
-///
-EIGEN_DOC_UNARY_ADDONS(imag,imaginary part function)
-///
-/// \sa real()
-EIGEN_DEVICE_FUNC
-inline const ImagReturnType
-imag() const { return ImagReturnType(derived()); }
-
-/// \brief Apply a unary operator coefficient-wise
-/// \param[in]  func  Functor implementing the unary operator
-/// \tparam  CustomUnaryOp Type of \a func
-/// \returns An expression of a custom coefficient-wise unary operator \a func of *this
-///
-/// The function \c ptr_fun() from the C++ standard library can be used to make functors out of normal functions.
-///
-/// Example:
-/// \include class_CwiseUnaryOp_ptrfun.cpp
-/// Output: \verbinclude class_CwiseUnaryOp_ptrfun.out
-///
-/// Genuine functors allow for more possibilities, for instance it may contain a state.
-///
-/// Example:
-/// \include class_CwiseUnaryOp.cpp
-/// Output: \verbinclude class_CwiseUnaryOp.out
-///
-EIGEN_DOC_UNARY_ADDONS(unaryExpr,unary function)
-///
-/// \sa unaryViewExpr, binaryExpr, class CwiseUnaryOp
-///
-template<typename CustomUnaryOp>
-EIGEN_DEVICE_FUNC
-inline const CwiseUnaryOp<CustomUnaryOp, const Derived>
-unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const
-{
-  return CwiseUnaryOp<CustomUnaryOp, const Derived>(derived(), func);
-}
-
-/// \returns an expression of a custom coefficient-wise unary operator \a func of *this
-///
-/// The template parameter \a CustomUnaryOp is the type of the functor
-/// of the custom unary operator.
-///
-/// Example:
-/// \include class_CwiseUnaryOp.cpp
-/// Output: \verbinclude class_CwiseUnaryOp.out
-///
-EIGEN_DOC_UNARY_ADDONS(unaryViewExpr,unary function)
-///
-/// \sa unaryExpr, binaryExpr class CwiseUnaryOp
-///
-template<typename CustomViewOp>
-EIGEN_DEVICE_FUNC
-inline const CwiseUnaryView<CustomViewOp, const Derived>
-unaryViewExpr(const CustomViewOp& func = CustomViewOp()) const
-{
-  return CwiseUnaryView<CustomViewOp, const Derived>(derived(), func);
-}
-
-/// \returns a non const expression of the real part of \c *this.
-///
-EIGEN_DOC_UNARY_ADDONS(real,real part function)
-///
-/// \sa imag()
-EIGEN_DEVICE_FUNC
-inline NonConstRealReturnType
-real() { return NonConstRealReturnType(derived()); }
-
-/// \returns a non const expression of the imaginary part of \c *this.
-///
-EIGEN_DOC_UNARY_ADDONS(imag,imaginary part function)
-///
-/// \sa real()
-EIGEN_DEVICE_FUNC
-inline NonConstImagReturnType
-imag() { return NonConstImagReturnType(derived()); }
diff --git a/phonelibs/eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/phonelibs/eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h
deleted file mode 100644
index f1084abefbcdcb..00000000000000
--- a/phonelibs/eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+++ /dev/null
@@ -1,152 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// This file is a base class plugin containing matrix specifics coefficient wise functions.
-
-/** \returns an expression of the Schur product (coefficient wise product) of *this and \a other
-  *
-  * Example: \include MatrixBase_cwiseProduct.cpp
-  * Output: \verbinclude MatrixBase_cwiseProduct.out
-  *
-  * \sa class CwiseBinaryOp, cwiseAbs2
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)
-cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)(derived(), other.derived());
-}
-
-/** \returns an expression of the coefficient-wise == operator of *this and \a other
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
-  * isMuchSmallerThan().
-  *
-  * Example: \include MatrixBase_cwiseEqual.cpp
-  * Output: \verbinclude MatrixBase_cwiseEqual.out
-  *
-  * \sa cwiseNotEqual(), isApprox(), isMuchSmallerThan()
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-inline const CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>
-cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  return CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
-}
-
-/** \returns an expression of the coefficient-wise != operator of *this and \a other
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
-  * isMuchSmallerThan().
-  *
-  * Example: \include MatrixBase_cwiseNotEqual.cpp
-  * Output: \verbinclude MatrixBase_cwiseNotEqual.out
-  *
-  * \sa cwiseEqual(), isApprox(), isMuchSmallerThan()
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-inline const CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>
-cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  return CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
-}
-
-/** \returns an expression of the coefficient-wise min of *this and \a other
-  *
-  * Example: \include MatrixBase_cwiseMin.cpp
-  * Output: \verbinclude MatrixBase_cwiseMin.out
-  *
-  * \sa class CwiseBinaryOp, max()
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>
-cwiseMin(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  return CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
-}
-
-/** \returns an expression of the coefficient-wise min of *this and scalar \a other
-  *
-  * \sa class CwiseBinaryOp, min()
-  */
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
-cwiseMin(const Scalar &other) const
-{
-  return cwiseMin(Derived::Constant(rows(), cols(), other));
-}
-
-/** \returns an expression of the coefficient-wise max of *this and \a other
-  *
-  * Example: \include MatrixBase_cwiseMax.cpp
-  * Output: \verbinclude MatrixBase_cwiseMax.out
-  *
-  * \sa class CwiseBinaryOp, min()
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>
-cwiseMax(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  return CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
-}
-
-/** \returns an expression of the coefficient-wise max of *this and scalar \a other
-  *
-  * \sa class CwiseBinaryOp, min()
-  */
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
-cwiseMax(const Scalar &other) const
-{
-  return cwiseMax(Derived::Constant(rows(), cols(), other));
-}
-
-
-/** \returns an expression of the coefficient-wise quotient of *this and \a other
-  *
-  * Example: \include MatrixBase_cwiseQuotient.cpp
-  * Output: \verbinclude MatrixBase_cwiseQuotient.out
-  *
-  * \sa class CwiseBinaryOp, cwiseProduct(), cwiseInverse()
-  */
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
-cwiseQuotient(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
-{
-  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
-}
-
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar,internal::cmp_EQ>, const Derived, const ConstantReturnType> CwiseScalarEqualReturnType;
-
-/** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s
-  *
-  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
-  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
-  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
-  * isMuchSmallerThan().
-  *
-  * \sa cwiseEqual(const MatrixBase<OtherDerived> &) const
-  */
-EIGEN_DEVICE_FUNC
-inline const CwiseScalarEqualReturnType
-cwiseEqual(const Scalar& s) const
-{
-  return CwiseScalarEqualReturnType(derived(), Derived::Constant(rows(), cols(), s), internal::scalar_cmp_op<Scalar,Scalar,internal::cmp_EQ>());
-}
diff --git a/phonelibs/eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/phonelibs/eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h
deleted file mode 100644
index b1be3d566c66f2..00000000000000
--- a/phonelibs/eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+++ /dev/null
@@ -1,85 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// This file is included into the body of the base classes supporting matrix specific coefficient-wise functions.
-// This include MatrixBase and SparseMatrixBase.
-
-
-typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> CwiseAbsReturnType;
-typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> CwiseAbs2ReturnType;
-typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> CwiseSqrtReturnType;
-typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> CwiseSignReturnType;
-typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> CwiseInverseReturnType;
-
-/// \returns an expression of the coefficient-wise absolute value of \c *this
-///
-/// Example: \include MatrixBase_cwiseAbs.cpp
-/// Output: \verbinclude MatrixBase_cwiseAbs.out
-///
-EIGEN_DOC_UNARY_ADDONS(cwiseAbs,absolute value)
-///
-/// \sa cwiseAbs2()
-///
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseAbsReturnType
-cwiseAbs() const { return CwiseAbsReturnType(derived()); }
-
-/// \returns an expression of the coefficient-wise squared absolute value of \c *this
-///
-/// Example: \include MatrixBase_cwiseAbs2.cpp
-/// Output: \verbinclude MatrixBase_cwiseAbs2.out
-///
-EIGEN_DOC_UNARY_ADDONS(cwiseAbs2,squared absolute value)
-///
-/// \sa cwiseAbs()
-///
-EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseAbs2ReturnType
-cwiseAbs2() const { return CwiseAbs2ReturnType(derived()); }
-
-/// \returns an expression of the coefficient-wise square root of *this.
-///
-/// Example: \include MatrixBase_cwiseSqrt.cpp
-/// Output: \verbinclude MatrixBase_cwiseSqrt.out
-///
-EIGEN_DOC_UNARY_ADDONS(cwiseSqrt,square-root)
-///
-/// \sa cwisePow(), cwiseSquare()
-///
-EIGEN_DEVICE_FUNC
-inline const CwiseSqrtReturnType
-cwiseSqrt() const { return CwiseSqrtReturnType(derived()); }
-
-/// \returns an expression of the coefficient-wise signum of *this.
-///
-/// Example: \include MatrixBase_cwiseSign.cpp
-/// Output: \verbinclude MatrixBase_cwiseSign.out
-///
-EIGEN_DOC_UNARY_ADDONS(cwiseSign,sign function)
-///
-EIGEN_DEVICE_FUNC
-inline const CwiseSignReturnType
-cwiseSign() const { return CwiseSignReturnType(derived()); }
-
-
-/// \returns an expression of the coefficient-wise inverse of *this.
-///
-/// Example: \include MatrixBase_cwiseInverse.cpp
-/// Output: \verbinclude MatrixBase_cwiseInverse.out
-///
-EIGEN_DOC_UNARY_ADDONS(cwiseInverse,inverse)
-///
-/// \sa cwiseProduct()
-///
-EIGEN_DEVICE_FUNC
-inline const CwiseInverseReturnType
-cwiseInverse() const { return CwiseInverseReturnType(derived()); }
-
-
diff --git a/phonelibs/eigen/INSTALL b/phonelibs/eigen/INSTALL
deleted file mode 100644
index 4f717e9c21662d..00000000000000
--- a/phonelibs/eigen/INSTALL
+++ /dev/null
@@ -1,35 +0,0 @@
-Installation instructions for Eigen
-***********************************
-
-Explanation before starting
-***************************
-
-Eigen consists only of header files, hence there is nothing to compile
-before you can use it. Moreover, these header files do not depend on your
-platform, they are the same for everybody.
-
-Method 1. Installing without using CMake
-****************************************
-
-You can use right away the headers in the Eigen/ subdirectory. In order
-to install, just copy this Eigen/ subdirectory to your favorite location.
-If you also want the unsupported features, copy the unsupported/
-subdirectory too.
-
-Method 2. Installing using CMake
-********************************
-
-Let's call this directory 'source_dir' (where this INSTALL file is).
-Before starting, create another directory which we will call 'build_dir'.
-
-Do:
-
-  cd build_dir
-  cmake source_dir
-  make install
-
-The "make install" step may require administrator privileges.
-
-You can adjust the installation destination (the "prefix")
-by passing the -DCMAKE_INSTALL_PREFIX=myprefix option to cmake, as is
-explained in the message that cmake prints at the end.
diff --git a/phonelibs/eigen/README.md b/phonelibs/eigen/README.md
deleted file mode 100644
index 4654a81c372430..00000000000000
--- a/phonelibs/eigen/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-**Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.**
-
-For more information go to http://eigen.tuxfamily.org/.
diff --git a/phonelibs/eigen/build.sh b/phonelibs/eigen/build.sh
deleted file mode 100755
index aec49003daa574..00000000000000
--- a/phonelibs/eigen/build.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/bin/bash
-set -e
-files=(Eigen/ unsupported/ COPYING* signature* INSTALL README.md)
-rm -rf "${files[@]}"
-rm -rf ./eigen-eigen* eigen.tar.gz
-
-wget http://bitbucket.org/eigen/eigen/get/3.3.3.tar.gz -O eigen.tar.gz
-tar -xzf eigen.tar.gz
-mv ${files[@]/#/./eigen-eigen*/} .
-find . -type d -name test | xargs rm -rf
-find . -type d -name bench | xargs rm -rf
-
-rm -rf ./eigen-eigen* eigen.tar.gz
diff --git a/phonelibs/eigen/signature_of_eigen3_matrix_library b/phonelibs/eigen/signature_of_eigen3_matrix_library
deleted file mode 100644
index 80aaf4621fef3c..00000000000000
--- a/phonelibs/eigen/signature_of_eigen3_matrix_library
+++ /dev/null
@@ -1 +0,0 @@
-This file is just there as a signature to help identify directories containing Eigen3. When writing a script looking for Eigen3, just look for this file. This is especially useful to help disambiguate with Eigen2...
diff --git a/phonelibs/eigen/unsupported/CMakeLists.txt b/phonelibs/eigen/unsupported/CMakeLists.txt
deleted file mode 100644
index 4fef40a86c6d17..00000000000000
--- a/phonelibs/eigen/unsupported/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-add_subdirectory(Eigen)
-add_subdirectory(doc EXCLUDE_FROM_ALL)
-if(EIGEN_LEAVE_TEST_IN_ALL_TARGET)
-  add_subdirectory(test) # can't do EXCLUDE_FROM_ALL here, breaks CTest
-else()
-  add_subdirectory(test EXCLUDE_FROM_ALL)
-endif()
diff --git a/phonelibs/eigen/unsupported/Eigen/AdolcForward b/phonelibs/eigen/unsupported/Eigen/AdolcForward
deleted file mode 100644
index 15f5f0731a9426..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/AdolcForward
+++ /dev/null
@@ -1,156 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ADLOC_FORWARD
-#define EIGEN_ADLOC_FORWARD
-
-//--------------------------------------------------------------------------------
-//
-// This file provides support for adolc's adouble type in forward mode.
-// ADOL-C is a C++ automatic differentiation library,
-// see https://projects.coin-or.org/ADOL-C for more information.
-//
-// Note that the maximal number of directions is controlled by
-// the preprocessor token NUMBER_DIRECTIONS. The default is 2.
-//
-//--------------------------------------------------------------------------------
-
-#define ADOLC_TAPELESS
-#ifndef NUMBER_DIRECTIONS
-# define NUMBER_DIRECTIONS 2
-#endif
-#include <adolc/adtl.h>
-
-// adolc defines some very stupid macros:
-#if defined(malloc)
-# undef malloc
-#endif
-
-#if defined(calloc)
-# undef calloc
-#endif
-
-#if defined(realloc)
-# undef realloc
-#endif
-
-#include <Eigen/Core>
-
-namespace Eigen {
-
-/**
-  * \defgroup AdolcForward_Module Adolc forward module
-  * This module provides support for adolc's adouble type in forward mode.
-  * ADOL-C is a C++ automatic differentiation library,
-  * see https://projects.coin-or.org/ADOL-C for more information.
-  * It mainly consists in:
-  *  - a struct Eigen::NumTraits<adtl::adouble> specialization
-  *  - overloads of internal::* math function for adtl::adouble type.
-  *
-  * Note that the maximal number of directions is controlled by
-  * the preprocessor token NUMBER_DIRECTIONS. The default is 2.
-  *
-  * \code
-  * #include <unsupported/Eigen/AdolcSupport>
-  * \endcode
-  */
-  //@{
-
-} // namespace Eigen
-
-// Eigen's require a few additional functions which must be defined in the same namespace
-// than the custom scalar type own namespace
-namespace adtl {
-
-inline const adouble& conj(const adouble& x)  { return x; }
-inline const adouble& real(const adouble& x)  { return x; }
-inline adouble imag(const adouble&)    { return 0.; }
-inline adouble abs(const adouble&  x)  { return fabs(x); }
-inline adouble abs2(const adouble& x)  { return x*x; }
-
-}
-
-namespace Eigen {
-
-template<> struct NumTraits<adtl::adouble>
-    : NumTraits<double>
-{
-  typedef adtl::adouble Real;
-  typedef adtl::adouble NonInteger;
-  typedef adtl::adouble Nested;
-  enum {
-    IsComplex = 0,
-    IsInteger = 0,
-    IsSigned = 1,
-    RequireInitialization = 1,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-};
-
-template<typename Functor> class AdolcForwardJacobian : public Functor
-{
-  typedef adtl::adouble ActiveScalar;
-public:
-
-  AdolcForwardJacobian() : Functor() {}
-  AdolcForwardJacobian(const Functor& f) : Functor(f) {}
-
-  // forward constructors
-  template<typename T0>
-  AdolcForwardJacobian(const T0& a0) : Functor(a0) {}
-  template<typename T0, typename T1>
-  AdolcForwardJacobian(const T0& a0, const T1& a1) : Functor(a0, a1) {}
-  template<typename T0, typename T1, typename T2>
-  AdolcForwardJacobian(const T0& a0, const T1& a1, const T1& a2) : Functor(a0, a1, a2) {}
-
-  typedef typename Functor::InputType InputType;
-  typedef typename Functor::ValueType ValueType;
-  typedef typename Functor::JacobianType JacobianType;
-
-  typedef Matrix<ActiveScalar, InputType::SizeAtCompileTime, 1> ActiveInput;
-  typedef Matrix<ActiveScalar, ValueType::SizeAtCompileTime, 1> ActiveValue;
-
-  void operator() (const InputType& x, ValueType* v, JacobianType* _jac) const
-  {
-    eigen_assert(v!=0);
-    if (!_jac)
-    {
-      Functor::operator()(x, v);
-      return;
-    }
-
-    JacobianType& jac = *_jac;
-
-    ActiveInput ax = x.template cast<ActiveScalar>();
-    ActiveValue av(jac.rows());
-
-    for (int j=0; j<jac.cols(); j++)
-      for (int i=0; i<jac.cols(); i++)
-        ax[i].setADValue(j, i==j ? 1 : 0);
-
-    Functor::operator()(ax, &av);
-
-    for (int i=0; i<jac.rows(); i++)
-    {
-      (*v)[i] = av[i].getValue();
-      for (int j=0; j<jac.cols(); j++)
-        jac.coeffRef(i,j) = av[i].getADValue(j);
-    }
-  }
-protected:
-
-};
-
-//@}
-
-}
-
-#endif // EIGEN_ADLOC_FORWARD
diff --git a/phonelibs/eigen/unsupported/Eigen/AlignedVector3 b/phonelibs/eigen/unsupported/Eigen/AlignedVector3
deleted file mode 100644
index 47a86d4c000135..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/AlignedVector3
+++ /dev/null
@@ -1,224 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ALIGNED_VECTOR3
-#define EIGEN_ALIGNED_VECTOR3
-
-#include <Eigen/Geometry>
-
-namespace Eigen {
-
-/**
-  * \defgroup AlignedVector3_Module Aligned vector3 module
-  *
-  * \code
-  * #include <unsupported/Eigen/AlignedVector3>
-  * \endcode
-  */
-  //@{
-
-
-/** \class AlignedVector3
-  *
-  * \brief A vectorization friendly 3D vector
-  *
-  * This class represents a 3D vector internally using a 4D vector
-  * such that vectorization can be seamlessly enabled. Of course,
-  * the same result can be achieved by directly using a 4D vector.
-  * This class makes this process simpler.
-  *
-  */
-// TODO specialize Cwise
-template<typename _Scalar> class AlignedVector3;
-
-namespace internal {
-template<typename _Scalar> struct traits<AlignedVector3<_Scalar> >
-  : traits<Matrix<_Scalar,3,1,0,4,1> >
-{
-};
-}
-
-template<typename _Scalar> class AlignedVector3
-  : public MatrixBase<AlignedVector3<_Scalar> >
-{
-    typedef Matrix<_Scalar,4,1> CoeffType;
-    CoeffType m_coeffs;
-  public:
-
-    typedef MatrixBase<AlignedVector3<_Scalar> > Base;	
-    EIGEN_DENSE_PUBLIC_INTERFACE(AlignedVector3)
-    using Base::operator*;
-
-    inline Index rows() const { return 3; }
-    inline Index cols() const { return 1; }
-    
-    Scalar* data() { return m_coeffs.data(); }
-    const Scalar* data() const { return m_coeffs.data(); }
-    Index innerStride() const { return 1; }
-    Index outerStride() const { return 3; }
-
-    inline const Scalar& coeff(Index row, Index col) const
-    { return m_coeffs.coeff(row, col); }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    { return m_coeffs.coeffRef(row, col); }
-
-    inline const Scalar& coeff(Index index) const
-    { return m_coeffs.coeff(index); }
-
-    inline Scalar& coeffRef(Index index)
-    { return m_coeffs.coeffRef(index);}
-
-
-    inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z)
-      : m_coeffs(x, y, z, Scalar(0))
-    {}
-
-    inline AlignedVector3(const AlignedVector3& other)
-      : Base(), m_coeffs(other.m_coeffs)
-    {}
-
-    template<typename XprType, int Size=XprType::SizeAtCompileTime>
-    struct generic_assign_selector {};
-
-    template<typename XprType> struct generic_assign_selector<XprType,4>
-    {
-      inline static void run(AlignedVector3& dest, const XprType& src)
-      {
-        dest.m_coeffs = src;
-      }
-    };
-
-    template<typename XprType> struct generic_assign_selector<XprType,3>
-    {
-      inline static void run(AlignedVector3& dest, const XprType& src)
-      {
-        dest.m_coeffs.template head<3>() = src;
-        dest.m_coeffs.w() = Scalar(0);
-      }
-    };
-
-    template<typename Derived>
-    inline AlignedVector3(const MatrixBase<Derived>& other)
-    {
-      generic_assign_selector<Derived>::run(*this,other.derived());
-    }
-
-    inline AlignedVector3& operator=(const AlignedVector3& other)
-    { m_coeffs = other.m_coeffs; return *this; }
-
-    template <typename Derived>
-    inline AlignedVector3& operator=(const MatrixBase<Derived>& other)
-    {
-      generic_assign_selector<Derived>::run(*this,other.derived());
-      return *this;
-    }
-
-    inline AlignedVector3 operator+(const AlignedVector3& other) const
-    { return AlignedVector3(m_coeffs + other.m_coeffs); }
-
-    inline AlignedVector3& operator+=(const AlignedVector3& other)
-    { m_coeffs += other.m_coeffs; return *this; }
-
-    inline AlignedVector3 operator-(const AlignedVector3& other) const
-    { return AlignedVector3(m_coeffs - other.m_coeffs); }
-
-    inline AlignedVector3 operator-=(const AlignedVector3& other)
-    { m_coeffs -= other.m_coeffs; return *this; }
-
-    inline AlignedVector3 operator*(const Scalar& s) const
-    { return AlignedVector3(m_coeffs * s); }
-
-    inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec)
-    { return AlignedVector3(s * vec.m_coeffs); }
-
-    inline AlignedVector3& operator*=(const Scalar& s)
-    { m_coeffs *= s; return *this; }
-
-    inline AlignedVector3 operator/(const Scalar& s) const
-    { return AlignedVector3(m_coeffs / s); }
-
-    inline AlignedVector3& operator/=(const Scalar& s)
-    { m_coeffs /= s; return *this; }
-
-    inline Scalar dot(const AlignedVector3& other) const
-    {
-      eigen_assert(m_coeffs.w()==Scalar(0));
-      eigen_assert(other.m_coeffs.w()==Scalar(0));
-      return m_coeffs.dot(other.m_coeffs);
-    }
-
-    inline void normalize()
-    {
-      m_coeffs /= norm();
-    }
-
-    inline AlignedVector3 normalized() const
-    {
-      return AlignedVector3(m_coeffs / norm());
-    }
-
-    inline Scalar sum() const
-    {
-      eigen_assert(m_coeffs.w()==Scalar(0));
-      return m_coeffs.sum();
-    }
-
-    inline Scalar squaredNorm() const
-    {
-      eigen_assert(m_coeffs.w()==Scalar(0));
-      return m_coeffs.squaredNorm();
-    }
-
-    inline Scalar norm() const
-    {
-      using std::sqrt;
-      return sqrt(squaredNorm());
-    }
-
-    inline AlignedVector3 cross(const AlignedVector3& other) const
-    {
-      return AlignedVector3(m_coeffs.cross3(other.m_coeffs));
-    }
-
-    template<typename Derived>
-    inline bool isApprox(const MatrixBase<Derived>& other, const RealScalar& eps=NumTraits<Scalar>::dummy_precision()) const
-    {
-      return m_coeffs.template head<3>().isApprox(other,eps);
-    }
-    
-    CoeffType& coeffs() { return m_coeffs; }
-    const CoeffType& coeffs() const { return m_coeffs; }
-};
-
-namespace internal {
-
-template<typename _Scalar>
-struct eval<AlignedVector3<_Scalar>, Dense>
-{
- typedef const AlignedVector3<_Scalar>& type;
-};
-
-template<typename Scalar>
-struct evaluator<AlignedVector3<Scalar> >
-  : evaluator<Matrix<Scalar,4,1> >
-{
-  typedef AlignedVector3<Scalar> XprType;
-  typedef evaluator<Matrix<Scalar,4,1> > Base;
-  
-  evaluator(const XprType &m) : Base(m.coeffs()) {}  
-};
-
-}
-
-//@}
-
-}
-
-#endif // EIGEN_ALIGNED_VECTOR3
diff --git a/phonelibs/eigen/unsupported/Eigen/ArpackSupport b/phonelibs/eigen/unsupported/Eigen/ArpackSupport
deleted file mode 100644
index 37a2799ef2f918..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/ArpackSupport
+++ /dev/null
@@ -1,31 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ARPACKSUPPORT_MODULE_H
-#define EIGEN_ARPACKSUPPORT_MODULE_H
-
-#include <Eigen/Core>
-
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-/** \defgroup ArpackSupport_Module Arpack support module
-  *
-  * This module provides a wrapper to Arpack, a library for sparse eigenvalue decomposition.
-  *
-  * \code
-  * #include <Eigen/ArpackSupport>
-  * \endcode
-  */
-
-#include <Eigen/SparseCholesky>
-#include "src/Eigenvalues/ArpackSelfAdjointEigenSolver.h"
-
-#include <Eigen/src/Core/util/ReenableStupidWarnings.h>
-
-#endif // EIGEN_ARPACKSUPPORT_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/unsupported/Eigen/AutoDiff b/phonelibs/eigen/unsupported/Eigen/AutoDiff
deleted file mode 100644
index abf5b7d678a41b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/AutoDiff
+++ /dev/null
@@ -1,40 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AUTODIFF_MODULE
-#define EIGEN_AUTODIFF_MODULE
-
-namespace Eigen {
-
-/**
-  * \defgroup AutoDiff_Module Auto Diff module
-  *
-  * This module features forward automatic differentation via a simple
-  * templated scalar type wrapper AutoDiffScalar.
-  *
-  * Warning : this should NOT be confused with numerical differentiation, which
-  * is a different method and has its own module in Eigen : \ref NumericalDiff_Module.
-  *
-  * \code
-  * #include <unsupported/Eigen/AutoDiff>
-  * \endcode
-  */
-//@{
-
-}
-
-#include "src/AutoDiff/AutoDiffScalar.h"
-// #include "src/AutoDiff/AutoDiffVector.h"
-#include "src/AutoDiff/AutoDiffJacobian.h"
-
-namespace Eigen {
-//@}
-}
-
-#endif // EIGEN_AUTODIFF_MODULE
diff --git a/phonelibs/eigen/unsupported/Eigen/BVH b/phonelibs/eigen/unsupported/Eigen/BVH
deleted file mode 100644
index 0161a5402d3e12..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/BVH
+++ /dev/null
@@ -1,95 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BVH_MODULE_H
-#define EIGEN_BVH_MODULE_H
-
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-#include <Eigen/StdVector>
-#include <algorithm>
-#include <queue>
-
-namespace Eigen {
-
-/**
-  * \defgroup BVH_Module BVH module
-  * \brief This module provides generic bounding volume hierarchy algorithms
-  * and reference tree implementations.
-  *
-  *
-  * \code
-  * #include <unsupported/Eigen/BVH>
-  * \endcode
-  *
-  * A bounding volume hierarchy (BVH) can accelerate many geometric queries.  This module provides a generic implementation
-  * of the two basic algorithms over a BVH: intersection of a query object against all objects in the hierarchy and minimization
-  * of a function over the objects in the hierarchy.  It also provides intersection and minimization over a cartesian product of
-  * two BVH's.  A BVH accelerates intersection by using the fact that if a query object does not intersect a volume, then it cannot
-  * intersect any object contained in that volume.  Similarly, a BVH accelerates minimization because the minimum of a function
-  * over a volume is no greater than the minimum of a function over any object contained in it.
-  *
-  * Some sample queries that can be written in terms of intersection are:
-  *   - Determine all points where a ray intersects a triangle mesh
-  *   - Given a set of points, determine which are contained in a query sphere
-  *   - Given a set of spheres, determine which contain the query point
-  *   - Given a set of disks, determine if any is completely contained in a query rectangle (represent each 2D disk as a point \f$(x,y,r)\f$
-  *     in 3D and represent the rectangle as a pyramid based on the original rectangle and shrinking in the \f$r\f$ direction)
-  *   - Given a set of points, count how many pairs are \f$d\pm\epsilon\f$ apart (done by looking at the cartesian product of the set
-  *     of points with itself)
-  *
-  * Some sample queries that can be written in terms of function minimization over a set of objects are:
-  *   - Find the intersection between a ray and a triangle mesh closest to the ray origin (function is infinite off the ray)
-  *   - Given a polyline and a query point, determine the closest point on the polyline to the query
-  *   - Find the diameter of a point cloud (done by looking at the cartesian product and using negative distance as the function)
-  *   - Determine how far two meshes are from colliding (this is also a cartesian product query)
-  *
-  * This implementation decouples the basic algorithms both from the type of hierarchy (and the types of the bounding volumes) and
-  * from the particulars of the query.  To enable abstraction from the BVH, the BVH is required to implement a generic mechanism
-  * for traversal.  To abstract from the query, the query is responsible for keeping track of results.
-  *
-  * To be used in the algorithms, a hierarchy must implement the following traversal mechanism (see KdBVH for a sample implementation): \code
-      typedef Volume  //the type of bounding volume
-      typedef Object  //the type of object in the hierarchy
-      typedef Index   //a reference to a node in the hierarchy--typically an int or a pointer
-      typedef VolumeIterator //an iterator type over node children--returns Index
-      typedef ObjectIterator //an iterator over object (leaf) children--returns const Object &
-      Index getRootIndex() const //returns the index of the hierarchy root
-      const Volume &getVolume(Index index) const //returns the bounding volume of the node at given index
-      void getChildren(Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd,
-                      ObjectIterator &outOBegin, ObjectIterator &outOEnd) const
-      //getChildren takes a node index and makes [outVBegin, outVEnd) range over its node children
-      //and [outOBegin, outOEnd) range over its object children
-    \endcode
-  *
-  * To use the hierarchy, call BVIntersect or BVMinimize, passing it a BVH (or two, for cartesian product) and a minimizer or intersector.
-  * For an intersection query on a single BVH, the intersector encapsulates the query and must provide two functions:
-  * \code
-      bool intersectVolume(const Volume &volume) //returns true if the query intersects the volume
-      bool intersectObject(const Object &object) //returns true if the intersection search should terminate immediately
-    \endcode
-  * The guarantee that BVIntersect provides is that intersectObject will be called on every object whose bounding volume
-  * intersects the query (but possibly on other objects too) unless the search is terminated prematurely.  It is the
-  * responsibility of the intersectObject function to keep track of the results in whatever manner is appropriate.
-  * The cartesian product intersection and the BVMinimize queries are similar--see their individual documentation.
-  *
-  * The following is a simple but complete example for how to use the BVH to accelerate the search for a closest red-blue point pair:
-  * \include BVH_Example.cpp
-  * Output: \verbinclude BVH_Example.out
-  */
-}
-
-//@{
-
-#include "src/BVH/BVAlgorithms.h"
-#include "src/BVH/KdBVH.h"
-
-//@}
-
-#endif // EIGEN_BVH_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CMakeLists.txt b/phonelibs/eigen/unsupported/Eigen/CMakeLists.txt
deleted file mode 100644
index 631a060145bd63..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CMakeLists.txt
+++ /dev/null
@@ -1,32 +0,0 @@
-set(Eigen_HEADERS 
-  AdolcForward
-  AlignedVector3
-  ArpackSupport
-  AutoDiff
-  BVH
-  EulerAngles
-  FFT
-  IterativeSolvers 
-  KroneckerProduct
-  LevenbergMarquardt
-  MatrixFunctions 
-  MoreVectorization
-  MPRealSupport
-  NonLinearOptimization
-  NumericalDiff
-  OpenGLSupport
-  Polynomials
-  Skyline 
-  SparseExtra
-  SpecialFunctions
-  Splines
-  )
-
-install(FILES
-  ${Eigen_HEADERS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen COMPONENT Devel
-  )
-
-install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h")
-
-add_subdirectory(CXX11)
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/CMakeLists.txt b/phonelibs/eigen/unsupported/Eigen/CXX11/CMakeLists.txt
deleted file mode 100644
index 385ed240c20773..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-set(Eigen_CXX11_HEADERS Tensor TensorSymmetry ThreadPool)
-
-install(FILES
-  ${Eigen_CXX11_HEADERS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/CXX11 COMPONENT Devel
-  )
-
-install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/CXX11 COMPONENT Devel FILES_MATCHING PATTERN "*.h")
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/Tensor b/phonelibs/eigen/unsupported/Eigen/CXX11/Tensor
deleted file mode 100644
index 7ecb4c74d8843b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/Tensor
+++ /dev/null
@@ -1,152 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-//#ifndef EIGEN_CXX11_TENSOR_MODULE
-//#define EIGEN_CXX11_TENSOR_MODULE
-
-#include "../../../Eigen/Core"
-
-#ifdef EIGEN_USE_SYCL
-#undef min
-#undef max
-#undef isnan
-#undef isinf
-#undef isfinite
-#include <SYCL/sycl.hpp>
-#include <map>
-#include <memory>
-#include <utility>
-#endif
-
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-#include "../SpecialFunctions"
-#include "src/util/CXX11Meta.h"
-#include "src/util/MaxSizeVector.h"
-
-/** \defgroup CXX11_Tensor_Module Tensor Module
-  *
-  * This module provides a Tensor class for storing arbitrarily indexed
-  * objects.
-  *
-  * \code
-  * #include <Eigen/CXX11/Tensor>
-  * \endcode
-  */
-
-#include <cmath>
-#include <cstddef>
-#include <cstring>
-
-#ifdef _WIN32
-typedef __int16 int16_t;
-typedef unsigned __int16 uint16_t;
-typedef __int32 int32_t;
-typedef unsigned __int32 uint32_t;
-typedef __int64 int64_t;
-typedef unsigned __int64 uint64_t;
-#else
-#include <stdint.h>
-#endif
-
-#if __cplusplus > 199711 || EIGEN_COMP_MSVC >= 1900
-#include <random>
-#endif
-
-#ifdef _WIN32
-#include <windows.h>
-#elif defined(__APPLE__)
-#include <mach/mach_time.h>
-#else
-#include <time.h>
-#endif
-
-#ifdef EIGEN_USE_THREADS
-#include "ThreadPool"
-#endif
-
-#ifdef EIGEN_USE_GPU
-#include <iostream>
-#include <cuda_runtime.h>
-#if __cplusplus >= 201103L
-#include <atomic>
-#include <unistd.h>
-#endif
-#endif
-
-#include "src/Tensor/TensorMacros.h"
-#include "src/Tensor/TensorForwardDeclarations.h"
-#include "src/Tensor/TensorMeta.h"
-#include "src/Tensor/TensorFunctors.h"
-#include "src/Tensor/TensorCostModel.h"
-#include "src/Tensor/TensorDeviceDefault.h"
-#include "src/Tensor/TensorDeviceThreadPool.h"
-#include "src/Tensor/TensorDeviceCuda.h"
-#include "src/Tensor/TensorDeviceSycl.h"
-#include "src/Tensor/TensorIndexList.h"
-#include "src/Tensor/TensorDimensionList.h"
-#include "src/Tensor/TensorDimensions.h"
-#include "src/Tensor/TensorInitializer.h"
-#include "src/Tensor/TensorTraits.h"
-#include "src/Tensor/TensorRandom.h"
-#include "src/Tensor/TensorUInt128.h"
-#include "src/Tensor/TensorIntDiv.h"
-#include "src/Tensor/TensorGlobalFunctions.h"
-
-#include "src/Tensor/TensorBase.h"
-
-#include "src/Tensor/TensorEvaluator.h"
-#include "src/Tensor/TensorExpr.h"
-#include "src/Tensor/TensorReduction.h"
-#include "src/Tensor/TensorReductionCuda.h"
-#include "src/Tensor/TensorArgMax.h"
-#include "src/Tensor/TensorConcatenation.h"
-#include "src/Tensor/TensorContractionMapper.h"
-#include "src/Tensor/TensorContractionBlocking.h"
-#include "src/Tensor/TensorContraction.h"
-#include "src/Tensor/TensorContractionThreadPool.h"
-#include "src/Tensor/TensorContractionCuda.h"
-#include "src/Tensor/TensorConversion.h"
-#include "src/Tensor/TensorConvolution.h"
-#include "src/Tensor/TensorFFT.h"
-#include "src/Tensor/TensorPatch.h"
-#include "src/Tensor/TensorImagePatch.h"
-#include "src/Tensor/TensorVolumePatch.h"
-#include "src/Tensor/TensorBroadcasting.h"
-#include "src/Tensor/TensorChipping.h"
-#include "src/Tensor/TensorInflation.h"
-#include "src/Tensor/TensorLayoutSwap.h"
-#include "src/Tensor/TensorMorphing.h"
-#include "src/Tensor/TensorPadding.h"
-#include "src/Tensor/TensorReverse.h"
-#include "src/Tensor/TensorShuffling.h"
-#include "src/Tensor/TensorStriding.h"
-#include "src/Tensor/TensorCustomOp.h"
-#include "src/Tensor/TensorEvalTo.h"
-#include "src/Tensor/TensorForcedEval.h"
-#include "src/Tensor/TensorGenerator.h"
-#include "src/Tensor/TensorAssign.h"
-#include "src/Tensor/TensorScan.h"
-
-#include "src/Tensor/TensorSycl.h"
-#include "src/Tensor/TensorExecutor.h"
-#include "src/Tensor/TensorDevice.h"
-
-#include "src/Tensor/TensorStorage.h"
-#include "src/Tensor/Tensor.h"
-#include "src/Tensor/TensorFixedSize.h"
-#include "src/Tensor/TensorMap.h"
-#include "src/Tensor/TensorRef.h"
-
-#include "src/Tensor/TensorIO.h"
-
-#include <Eigen/src/Core/util/ReenableStupidWarnings.h>
-
-//#endif // EIGEN_CXX11_TENSOR_MODULE
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/TensorSymmetry b/phonelibs/eigen/unsupported/Eigen/CXX11/TensorSymmetry
deleted file mode 100644
index fb1b0c0fbcd3e6..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/TensorSymmetry
+++ /dev/null
@@ -1,42 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSORSYMMETRY_MODULE
-#define EIGEN_CXX11_TENSORSYMMETRY_MODULE
-
-#include <unsupported/Eigen/CXX11/Tensor>
-
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-#include "src/util/CXX11Meta.h"
-
-/** \defgroup CXX11_TensorSymmetry_Module Tensor Symmetry Module
-  *
-  * This module provides a classes that allow for the definition of
-  * symmetries w.r.t. tensor indices.
-  *
-  * Including this module will implicitly include the Tensor module.
-  *
-  * \code
-  * #include <Eigen/TensorSymmetry>
-  * \endcode
-  */
-
-#include "src/TensorSymmetry/util/TemplateGroupTheory.h"
-#include "src/TensorSymmetry/Symmetry.h"
-#include "src/TensorSymmetry/StaticSymmetry.h"
-#include "src/TensorSymmetry/DynamicSymmetry.h"
-
-#include <Eigen/src/Core/util/ReenableStupidWarnings.h>
-
-#endif // EIGEN_CXX11_TENSORSYMMETRY_MODULE
-
-/*
- * kate: space-indent on; indent-width 2; mixedindent off; indent-mode cstyle;
- */
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/ThreadPool b/phonelibs/eigen/unsupported/Eigen/CXX11/ThreadPool
deleted file mode 100644
index 09d637e9a06881..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/ThreadPool
+++ /dev/null
@@ -1,65 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_MODULE
-#define EIGEN_CXX11_THREADPOOL_MODULE
-
-#include "../../../Eigen/Core"
-
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-/** \defgroup CXX11_ThreadPool_Module C++11 ThreadPool Module
-  *
-  * This module provides 2 threadpool implementations
-  *  - a simple reference implementation
-  *  - a faster non blocking implementation
-  *
-  * This module requires C++11.
-  *
-  * \code
-  * #include <Eigen/CXX11/ThreadPool>
-  * \endcode
-  */
-
-
-// The code depends on CXX11, so only include the module if the
-// compiler supports it.
-#if __cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900
-#include <cstddef>
-#include <cstring>
-#include <stdint.h>
-#include <time.h>
-
-#include <vector>
-#include <atomic>
-#include <condition_variable>
-#include <deque>
-#include <mutex>
-#include <thread>
-#include <functional>
-#include <memory>
-
-#include "src/util/CXX11Meta.h"
-#include "src/util/MaxSizeVector.h"
-
-#include "src/ThreadPool/ThreadLocal.h"
-#include "src/ThreadPool/ThreadYield.h"
-#include "src/ThreadPool/EventCount.h"
-#include "src/ThreadPool/RunQueue.h"
-#include "src/ThreadPool/ThreadPoolInterface.h"
-#include "src/ThreadPool/ThreadEnvironment.h"
-#include "src/ThreadPool/SimpleThreadPool.h"
-#include "src/ThreadPool/NonBlockingThreadPool.h"
-
-#endif
-
-#include <Eigen/src/Core/util/ReenableStupidWarnings.h>
-
-#endif // EIGEN_CXX11_THREADPOOL_MODULE
-
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/README.md b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/README.md
deleted file mode 100644
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-# Eigen Tensors
-
-Tensors are multidimensional arrays of elements. Elements are typically scalars,
-but more complex types such as strings are also supported.
-
-[TOC]
-
-## Tensor Classes
-
-You can manipulate a tensor with one of the following classes.  They all are in
-the namespace ```::Eigen.```
-
-
-### Class Tensor<data_type, rank>
-
-This is the class to use to create a tensor and allocate memory for it.  The
-class is templatized with the tensor datatype, such as float or int, and the
-tensor rank.  The rank is the number of dimensions, for example rank 2 is a
-matrix.
-
-Tensors of this class are resizable.  For example, if you assign a tensor of a
-different size to a Tensor, that tensor is resized to match its new value.
-
-#### Constructor Tensor<data_type, rank>(size0, size1, ...)
-
-Constructor for a Tensor.  The constructor must be passed ```rank``` integers
-indicating the sizes of the instance along each of the the ```rank```
-dimensions.
-
-    // Create a tensor of rank 3 of sizes 2, 3, 4.  This tensor owns
-    // memory to hold 24 floating point values (24 = 2 x 3 x 4).
-    Tensor<float, 3> t_3d(2, 3, 4);
-
-    // Resize t_3d by assigning a tensor of different sizes, but same rank.
-    t_3d = Tensor<float, 3>(3, 4, 3);
-
-#### Constructor Tensor<data_type, rank>(size_array)
-
-Constructor where the sizes for the constructor are specified as an array of
-values instead of an explicitly list of parameters.  The array type to use is
-```Eigen::array<Eigen::Index>```.  The array can be constructed automatically
-from an initializer list.
-
-    // Create a tensor of strings of rank 2 with sizes 5, 7.
-    Tensor<string, 2> t_2d({5, 7});
-
-
-### Class TensorFixedSize<data_type, Sizes<size0, size1, ...>>
-
-Class to use for tensors of fixed size, where the size is known at compile
-time.  Fixed sized tensors can provide very fast computations because all their
-dimensions are known by the compiler.  FixedSize tensors are not resizable.
-
-If the total number of elements in a fixed size tensor is small enough the
-tensor data is held onto the stack and does not cause heap allocation and free.
-
-    // Create a 4 x 3 tensor of floats.
-    TensorFixedSize<float, Sizes<4, 3>> t_4x3;
-
-### Class TensorMap<Tensor<data_type, rank>>
-
-This is the class to use to create a tensor on top of memory allocated and
-owned by another part of your code.  It allows to view any piece of allocated
-memory as a Tensor.  Instances of this class do not own the memory where the
-data are stored.
-
-A TensorMap is not resizable because it does not own the memory where its data
-are stored.
-
-#### Constructor TensorMap<Tensor<data_type, rank>>(data, size0, size1, ...)
-
-Constructor for a Tensor.  The constructor must be passed a pointer to the
-storage for the data, and "rank" size attributes.  The storage has to be
-large enough to hold all the data.
-
-    // Map a tensor of ints on top of stack-allocated storage.
-    int storage[128];  // 2 x 4 x 2 x 8 = 128
-    TensorMap<int, 4> t_4d(storage, 2, 4, 2, 8);
-
-    // The same storage can be viewed as a different tensor.
-    // You can also pass the sizes as an array.
-    TensorMap<int, 2> t_2d(storage, 16, 8);
-
-    // You can also map fixed-size tensors.  Here we get a 1d view of
-    // the 2d fixed-size tensor.
-    Tensor<float, Sizes<4, 5>> t_4x3;
-    TensorMap<float, 1> t_12(t_4x3, 12);
-
-
-#### Class TensorRef
-
-See Assigning to a TensorRef below.
-
-## Accessing Tensor Elements
-
-#### <data_type> tensor(index0, index1...)
-
-Return the element at position ```(index0, index1...)``` in tensor
-```tensor```.  You must pass as many parameters as the rank of ```tensor```.
-The expression can be used as an l-value to set the value of the element at the
-specified position.  The value returned is of the datatype of the tensor.
-
-    // Set the value of the element at position (0, 1, 0);
-    Tensor<float, 3> t_3d(2, 3, 4);
-    t_3d(0, 1, 0) = 12.0f;
-
-    // Initialize all elements to random values.
-    for (int i = 0; i < 2; ++i) {
-      for (int j = 0; j < 3; ++j) {
-        for (int k = 0; k < 4; ++k) {
-          t_3d(i, j, k) = ...some random value...;
-        }
-      }
-    }
-
-    // Print elements of a tensor.
-    for (int i = 0; i < 2; ++i) {
-      LOG(INFO) << t_3d(i, 0, 0);
-    }
-
-
-## TensorLayout
-
-The tensor library supports 2 layouts: ```ColMajor``` (the default) and
-```RowMajor```.  Only the default column major layout is currently fully
-supported, and it is therefore not recommended to attempt to use the row major
-layout at the moment.
-
-The layout of a tensor is optionally specified as part of its type. If not
-specified explicitly column major is assumed.
-
-    Tensor<float, 3, ColMajor> col_major;  // equivalent to Tensor<float, 3>
-    TensorMap<Tensor<float, 3, RowMajor> > row_major(data, ...);
-
-All the arguments to an expression must use the same layout. Attempting to mix
-different layouts will result in a compilation error.
-
-It is possible to change the layout of a tensor or an expression using the
-```swap_layout()``` method.  Note that this will also reverse the order of the
-dimensions.
-
-    Tensor<float, 2, ColMajor> col_major(2, 4);
-    Tensor<float, 2, RowMajor> row_major(2, 4);
-
-    Tensor<float, 2> col_major_result = col_major;  // ok, layouts match
-    Tensor<float, 2> col_major_result = row_major;  // will not compile
-
-    // Simple layout swap
-    col_major_result = row_major.swap_layout();
-    eigen_assert(col_major_result.dimension(0) == 4);
-    eigen_assert(col_major_result.dimension(1) == 2);
-
-    // Swap the layout and preserve the order of the dimensions
-    array<int, 2> shuffle(1, 0);
-    col_major_result = row_major.swap_layout().shuffle(shuffle);
-    eigen_assert(col_major_result.dimension(0) == 2);
-    eigen_assert(col_major_result.dimension(1) == 4);
-
-
-## Tensor Operations
-
-The Eigen Tensor library provides a vast library of operations on Tensors:
-numerical operations such as addition and multiplication, geometry operations
-such as slicing and shuffling, etc.  These operations are available as methods
-of the Tensor classes, and in some cases as operator overloads.  For example
-the following code computes the elementwise addition of two tensors:
-
-    Tensor<float, 3> t1(2, 3, 4);
-    ...set some values in t1...
-    Tensor<float, 3> t2(2, 3, 4);
-    ...set some values in t2...
-    // Set t3 to the element wise sum of t1 and t2
-    Tensor<float, 3> t3 = t1 + t2;
-
-While the code above looks easy enough, it is important to understand that the
-expression ```t1 + t2``` is not actually adding the values of the tensors.  The
-expression instead constructs a "tensor operator" object of the class
-TensorCwiseBinaryOp<scalar_sum>, which has references to the tensors
-```t1``` and ```t2```.  This is a small C++ object that knows how to add
-```t1``` and ```t2```.  It is only when the value of the expression is assigned
-to the tensor ```t3``` that the addition is actually performed.  Technically,
-this happens through the overloading of ```operator=()``` in the Tensor class.
-
-This mechanism for computing tensor expressions allows for lazy evaluation and
-optimizations which are what make the tensor library very fast.
-
-Of course, the tensor operators do nest, and the expression ```t1 + t2 *
-0.3f``` is actually represented with the (approximate) tree of operators:
-
-    TensorCwiseBinaryOp<scalar_sum>(t1, TensorCwiseUnaryOp<scalar_mul>(t2, 0.3f))
-
-
-### Tensor Operations and C++ "auto"
-
-Because Tensor operations create tensor operators, the C++ ```auto``` keyword
-does not have its intuitive meaning.  Consider these 2 lines of code:
-
-    Tensor<float, 3> t3 = t1 + t2;
-    auto t4 = t1 + t2;
-
-In the first line we allocate the tensor ```t3``` and it will contain the
-result of the addition of ```t1``` and ```t2```.  In the second line, ```t4```
-is actually the tree of tensor operators that will compute the addition of
-```t1``` and ```t2```.  In fact, ```t4``` is *not* a tensor and you cannot get
-the values of its elements:
-
-    Tensor<float, 3> t3 = t1 + t2;
-    cout << t3(0, 0, 0);  // OK prints the value of t1(0, 0, 0) + t2(0, 0, 0)
-
-    auto t4 = t1 + t2;
-    cout << t4(0, 0, 0);  // Compilation error!
-
-When you use ```auto``` you do not get a Tensor as a result but instead a
-non-evaluated expression.  So only use ```auto``` to delay evaluation.
-
-Unfortunately, there is no single underlying concrete type for holding
-non-evaluated expressions, hence you have to use auto in the case when you do
-want to hold non-evaluated expressions.
-
-When you need the results of set of tensor computations you have to assign the
-result to a Tensor that will be capable of holding onto them.  This can be
-either a normal Tensor, a fixed size Tensor, or a TensorMap on an existing
-piece of memory.  All the following will work:
-
-    auto t4 = t1 + t2;
-
-    Tensor<float, 3> result = t4;  // Could also be: result(t4);
-    cout << result(0, 0, 0);
-
-    TensorMap<float, 4> result(<a float* with enough space>, <size0>, ...) = t4;
-    cout << result(0, 0, 0);
-
-    TensorFixedSize<float, Sizes<size0, ...>> result = t4;
-    cout << result(0, 0, 0);
-
-Until you need the results, you can keep the operation around, and even reuse
-it for additional operations.  As long as you keep the expression as an
-operation, no computation is performed.
-
-    // One way to compute exp((t1 + t2) * 0.2f);
-    auto t3 = t1 + t2;
-    auto t4 = t3 * 0.2f;
-    auto t5 = t4.exp();
-    Tensor<float, 3> result = t5;
-
-    // Another way, exactly as efficient as the previous one:
-    Tensor<float, 3> result = ((t1 + t2) * 0.2f).exp();
-
-### Controlling When Expression are Evaluated
-
-There are several ways to control when expressions are evaluated:
-
-*   Assignment to a Tensor, TensorFixedSize, or TensorMap.
-*   Use of the eval() method.
-*   Assignment to a TensorRef.
-
-#### Assigning to a Tensor, TensorFixedSize, or TensorMap.
-
-The most common way to evaluate an expression is to assign it to a Tensor.  In
-the example below, the ```auto``` declarations make the intermediate values
-"Operations", not Tensors, and do not cause the expressions to be evaluated.
-The assignment to the Tensor ```result``` causes the evaluation of all the
-operations.
-
-    auto t3 = t1 + t2;             // t3 is an Operation.
-    auto t4 = t3 * 0.2f;           // t4 is an Operation.
-    auto t5 = t4.exp();            // t5 is an Operation.
-    Tensor<float, 3> result = t5;  // The operations are evaluated.
-
-If you know the ranks and sizes of the Operation value you can assign the
-Operation to a TensorFixedSize instead of a Tensor, which is a bit more
-efficient.
-
-    // We know that the result is a 4x4x2 tensor!
-    TensorFixedSize<float, 4, 4, 2> result = t5;
-
-Simiarly, assigning an expression to a TensorMap causes its evaluation.  Like
-tensors of type TensorFixedSize, TensorMaps cannot be resized so they have to
-have the rank and sizes of the expression that are assigned to them.
-
-#### Calling eval().
-
-When you compute large composite expressions, you sometimes want to tell Eigen
-that an intermediate value in the expression tree is worth evaluating ahead of
-time.  This is done by inserting a call to the ```eval()``` method of the
-expression Operation.
-
-    // The previous example could have been written:
-    Tensor<float, 3> result = ((t1 + t2) * 0.2f).exp();
-
-    // If you want to compute (t1 + t2) once ahead of time you can write:
-    Tensor<float, 3> result = ((t1 + t2).eval() * 0.2f).exp();
-
-Semantically, calling ```eval()``` is equivalent to materializing the value of
-the expression in a temporary Tensor of the right size.  The code above in
-effect does:
-
-    // .eval() knows the size!
-    TensorFixedSize<float, 4, 4, 2> tmp = t1 + t2;
-    Tensor<float, 3> result = (tmp * 0.2f).exp();
-
-Note that the return value of ```eval()``` is itself an Operation, so the
-following code does not do what you may think:
-
-    // Here t3 is an evaluation Operation.  t3 has not been evaluated yet.
-    auto t3 = (t1 + t2).eval();
-
-    // You can use t3 in another expression.  Still no evaluation.
-    auto t4 = (t3 * 0.2f).exp();
-
-    // The value is evaluated when you assign the Operation to a Tensor, using
-    // an intermediate tensor to represent t3.x
-    Tensor<float, 3> result = t4;
-
-While in the examples above calling ```eval()``` does not make a difference in
-performance, in other cases it can make a huge difference.  In the expression
-below the ```broadcast()``` expression causes the ```X.maximum()``` expression
-to be evaluated many times:
-
-    Tensor<...> X ...;
-    Tensor<...> Y = ((X - X.maximum(depth_dim).reshape(dims2d).broadcast(bcast))
-                     * beta).exp();
-
-Inserting a call to ```eval()``` between the ```maximum()``` and
-```reshape()``` calls guarantees that maximum() is only computed once and
-greatly speeds-up execution:
-
-    Tensor<...> Y =
-      ((X - X.maximum(depth_dim).eval().reshape(dims2d).broadcast(bcast))
-        * beta).exp();
-
-In the other example below, the tensor ```Y``` is both used in the expression
-and its assignment.  This is an aliasing problem and if the evaluation is not
-done in the right order Y will be updated incrementally during the evaluation
-resulting in bogus results:
-
-     Tensor<...> Y ...;
-     Y = Y / (Y.sum(depth_dim).reshape(dims2d).broadcast(bcast));
-
-Inserting a call to ```eval()``` between the ```sum()``` and ```reshape()```
-expressions ensures that the sum is computed before any updates to ```Y``` are
-done.
-
-     Y = Y / (Y.sum(depth_dim).eval().reshape(dims2d).broadcast(bcast));
-
-Note that an eval around the full right hand side expression is not needed
-because the generated has to compute the i-th value of the right hand side
-before assigning it to the left hand side.
-
-However, if you were assigning the expression value to a shuffle of ```Y```
-then you would need to force an eval for correctness by adding an ```eval()```
-call for the right hand side:
-
-     Y.shuffle(...) =
-        (Y / (Y.sum(depth_dim).eval().reshape(dims2d).broadcast(bcast))).eval();
-
-
-#### Assigning to a TensorRef.
-
-If you need to access only a few elements from the value of an expression you
-can avoid materializing the value in a full tensor by using a TensorRef.
-
-A TensorRef is a small wrapper class for any Eigen Operation.  It provides
-overloads for the ```()``` operator that let you access individual values in
-the expression.  TensorRef is convenient, because the Operation themselves do
-not provide a way to access individual elements.
-
-    // Create a TensorRef for the expression.  The expression is not
-    // evaluated yet.
-    TensorRef<Tensor<float, 3> > ref = ((t1 + t2) * 0.2f).exp();
-
-    // Use "ref" to access individual elements.  The expression is evaluated
-    // on the fly.
-    float at_0 = ref(0, 0, 0);
-    cout << ref(0, 1, 0);
-
-Only use TensorRef when you need a subset of the values of the expression.
-TensorRef only computes the values you access.  However note that if you are
-going to access all the values it will be much faster to materialize the
-results in a Tensor first.
-
-In some cases, if the full Tensor result would be very large, you may save
-memory by accessing it as a TensorRef.  But not always.  So don't count on it.
-
-
-### Controlling How Expressions Are Evaluated
-
-The tensor library provides several implementations of the various operations
-such as contractions and convolutions.  The implementations are optimized for
-different environments: single threaded on CPU, multi threaded on CPU, or on a
-GPU using cuda.  Additional implementations may be added later.
-
-You can choose which implementation to use with the ```device()``` call.  If
-you do not choose an implementation explicitly the default implementation that
-uses a single thread on the CPU is used.
-
-The default implementation has been optimized for recent Intel CPUs, taking
-advantage of SSE, AVX, and FMA instructions.  Work is ongoing to tune the
-library on ARM CPUs.  Note that you need to pass compiler-dependent flags
-to enable the use of SSE, AVX, and other instructions.
-
-For example, the following code adds two tensors using the default
-single-threaded CPU implementation:
-
-    Tensor<float, 2> a(30, 40);
-    Tensor<float, 2> b(30, 40);
-    Tensor<float, 2> c = a + b;
-
-To choose a different implementation you have to insert a ```device()``` call
-before the assignment of the result.  For technical C++ reasons this requires
-that the Tensor for the result be declared on its own.  This means that you
-have to know the size of the result.
-
-    Eigen::Tensor<float, 2> c(30, 40);
-    c.device(...) = a + b;
-
-The call to ```device()``` must be the last call on the left of the operator=.
-
-You must pass to the ```device()``` call an Eigen device object.  There are
-presently three devices you can use: DefaultDevice, ThreadPoolDevice and
-GpuDevice.
-
-
-#### Evaluating With the DefaultDevice
-
-This is exactly the same as not inserting a ```device()``` call.
-
-    DefaultDevice my_device;
-    c.device(my_device) = a + b;
-
-#### Evaluating with a Thread Pool
-
-    // Create the Eigen ThreadPoolDevice.
-    Eigen::ThreadPoolDevice my_device(4 /* number of threads to use */);
-
-    // Now just use the device when evaluating expressions.
-    Eigen::Tensor<float, 2> c(30, 50);
-    c.device(my_device) = a.contract(b, dot_product_dims);
-
-
-#### Evaluating On GPU
-
-This is presently a bit more complicated than just using a thread pool device.
-You need to create a GPU device but you also need to explicitly allocate the
-memory for tensors with cuda.
-
-
-## API Reference
-
-### Datatypes
-
-In the documentation of the tensor methods and Operation we mention datatypes
-that are tensor-type specific:
-
-#### <Tensor-Type>::Dimensions
-
-Acts like an array of ints.  Has an ```int size``` attribute, and can be
-indexed like an array to access individual values.  Used to represent the
-dimensions of a tensor.  See ```dimensions()```.
-
-#### <Tensor-Type>::Index
-
-Acts like an ```int```.  Used for indexing tensors along their dimensions.  See
-```operator()```, ```dimension()```, and ```size()```.
-
-#### <Tensor-Type>::Scalar
-
-Represents the datatype of individual tensor elements.  For example, for a
-```Tensor<float>```, ```Scalar``` is the type ```float```.  See
-```setConstant()```.
-
-#### <Operation>
-
-We use this pseudo type to indicate that a tensor Operation is returned by a
-method.  We indicate in the text the type and dimensions of the tensor that the
-Operation returns after evaluation.
-
-The Operation will have to be evaluated, for example by assigning it to a
-tensor, before you can access the values of the resulting tensor.  You can also
-access the values through a TensorRef.
-
-
-## Built-in Tensor Methods
-
-These are usual C++ methods that act on tensors immediately.  They are not
-Operations which provide delayed evaluation of their results.  Unless specified
-otherwise, all the methods listed below are available on all tensor classes:
-Tensor, TensorFixedSize, and TensorMap.
-
-## Metadata
-
-### int NumDimensions
-
-Constant value indicating the number of dimensions of a Tensor.  This is also
-known as the tensor "rank".
-
-      Eigen::Tensor<float, 2> a(3, 4);
-      cout << "Dims " << a.NumDimensions;
-      => Dims 2
-
-### Dimensions dimensions()
-
-Returns an array-like object representing the dimensions of the tensor.
-The actual type of the dimensions() result is <Tensor-Type>::Dimensions.
-
-    Eigen::Tensor<float, 2> a(3, 4);
-    const Eigen::Tensor<float, 2>::Dimensions& d = a.dimensions();
-    cout << "Dim size: " << d.size << ", dim 0: " << d[0]
-         << ", dim 1: " << d[1];
-    => Dim size: 2, dim 0: 3, dim 1: 4
-
-If you use a C++11 compiler, you can use ```auto``` to simplify the code:
-
-    const auto& d = a.dimensions();
-    cout << "Dim size: " << d.size << ", dim 0: " << d[0]
-         << ", dim 1: " << d[1];
-    => Dim size: 2, dim 0: 3, dim 1: 4
-
-### Index dimension(Index n)
-
-Returns the n-th dimension of the tensor.  The actual type of the
-```dimension()``` result is ```<Tensor-Type>::Index```, but you can
-always use it like an int.
-
-      Eigen::Tensor<float, 2> a(3, 4);
-      int dim1 = a.dimension(1);
-      cout << "Dim 1: " << dim1;
-      => Dim 1: 4
-
-### Index size()
-
-Returns the total number of elements in the tensor.  This is the product of all
-the tensor dimensions.  The actual type of the ```size()``` result is
-```<Tensor-Type>::Index```, but you can always use it like an int.
-
-    Eigen::Tensor<float, 2> a(3, 4);
-    cout << "Size: " << a.size();
-    => Size: 12
-
-
-### Getting Dimensions From An Operation
-
-A few operations provide ```dimensions()``` directly,
-e.g. ```TensorReslicingOp```.  Most operations defer calculating dimensions
-until the operation is being evaluated.  If you need access to the dimensions
-of a deferred operation, you can wrap it in a TensorRef (see Assigning to a
-TensorRef above), which provides ```dimensions()``` and ```dimension()``` as
-above.
-
-TensorRef can also wrap the plain Tensor types, so this is a useful idiom in
-templated contexts where the underlying object could be either a raw Tensor
-or some deferred operation (e.g. a slice of a Tensor).  In this case, the
-template code can wrap the object in a TensorRef and reason about its
-dimensionality while remaining agnostic to the underlying type.
-
-
-## Constructors
-
-### Tensor
-
-Creates a tensor of the specified size. The number of arguments must be equal
-to the rank of the tensor. The content of the tensor is not initialized.
-
-    Eigen::Tensor<float, 2> a(3, 4);
-    cout << "NumRows: " << a.dimension(0) << " NumCols: " << a.dimension(1) << endl;
-    => NumRows: 3 NumCols: 4
-
-### TensorFixedSize
-
-Creates a tensor of the specified size. The number of arguments in the Size<>
-template parameter determines the rank of the tensor. The content of the tensor
-is not initialized.
-
-    Eigen::TensorFixedSize<float, Size<3, 4>> a;
-    cout << "Rank: " << a.rank() << endl;
-    => Rank: 2
-    cout << "NumRows: " << a.dimension(0) << " NumCols: " << a.dimension(1) << endl;
-    => NumRows: 3 NumCols: 4
-
-### TensorMap
-
-Creates a tensor mapping an existing array of data. The data must not be freed
-until the TensorMap is discarded, and the size of the data must be large enough
-to accomodate of the coefficients of the tensor.
-
-    float data[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11};
-    Eigen::TensorMap<float, 2> a(data, 3, 4);
-    cout << "NumRows: " << a.dimension(0) << " NumCols: " << a.dimension(1) << endl;
-    => NumRows: 3 NumCols: 4
-    cout << "a(1, 2): " << a(1, 2) << endl;
-    => a(1, 2): 9
-
-
-## Contents Initialization
-
-When a new Tensor or a new TensorFixedSize are created, memory is allocated to
-hold all the tensor elements, but the memory is not initialized.  Similarly,
-when a new TensorMap is created on top of non-initialized memory the memory its
-contents are not initialized.
-
-You can use one of the methods below to initialize the tensor memory.  These
-have an immediate effect on the tensor and return the tensor itself as a
-result.  These are not tensor Operations which delay evaluation.
-
-### <Tensor-Type> setConstant(const Scalar& val)
-
-Sets all elements of the tensor to the constant value ```val```.  ```Scalar```
-is the type of data stored in the tensor.  You can pass any value that is
-convertible to that type.
-
-Returns the tensor itself in case you want to chain another call.
-
-    a.setConstant(12.3f);
-    cout << "Constant: " << endl << a << endl << endl;
-    =>
-    Constant:
-    12.3 12.3 12.3 12.3
-    12.3 12.3 12.3 12.3
-    12.3 12.3 12.3 12.3
-
-Note that ```setConstant()``` can be used on any tensor where the element type
-has a copy constructor and an ```operator=()```:
-
-    Eigen::Tensor<string, 2> a(2, 3);
-    a.setConstant("yolo");
-    cout << "String tensor: " << endl << a << endl << endl;
-    =>
-    String tensor:
-    yolo yolo yolo
-    yolo yolo yolo
-
-
-### <Tensor-Type> setZero()
-
-Fills the tensor with zeros.  Equivalent to ```setConstant(Scalar(0))```.
-Returns the tensor itself in case you want to chain another call.
-
-    a.setZero();
-    cout << "Zeros: " << endl << a << endl << endl;
-    =>
-    Zeros:
-    0 0 0 0
-    0 0 0 0
-    0 0 0 0
-
-
-### <Tensor-Type> setValues({..initializer_list})
-
-Fills the tensor with explicit values specified in a std::initializer_list.
-The type of the initializer list depends on the type and rank of the tensor.
-
-If the tensor has rank N, the initializer list must be nested N times.  The
-most deeply nested lists must contains P scalars of the Tensor type where P is
-the size of the last dimension of the Tensor.
-
-For example, for a ```TensorFixedSize<float, 2, 3>``` the initializer list must
-contains 2 lists of 3 floats each.
-
-```setValues()``` returns the tensor itself in case you want to chain another
-call.
-
-    Eigen::Tensor<float, 2> a(2, 3);
-    a.setValues({{0.0f, 1.0f, 2.0f}, {3.0f, 4.0f, 5.0f}});
-    cout << "a" << endl << a << endl << endl;
-    =>
-    a
-    0 1 2
-    3 4 5
-
-If a list is too short, the corresponding elements of the tensor will not be
-changed.  This is valid at each level of nesting.  For example the following
-code only sets the values of the first row of the tensor.
-
-    Eigen::Tensor<int, 2> a(2, 3);
-    a.setConstant(1000);
-    a.setValues({{10, 20, 30}});
-    cout << "a" << endl << a << endl << endl;
-    =>
-    a
-    10   20   30
-    1000 1000 1000
-
-### <Tensor-Type> setRandom()
-
-Fills the tensor with random values.  Returns the tensor itself in case you
-want to chain another call.
-
-    a.setRandom();
-    cout << "Random: " << endl << a << endl << endl;
-    =>
-    Random:
-      0.680375    0.59688  -0.329554    0.10794
-     -0.211234   0.823295   0.536459 -0.0452059
-      0.566198  -0.604897  -0.444451   0.257742
-
-You can customize ```setRandom()``` by providing your own random number
-generator as a template argument:
-
-    a.setRandom<MyRandomGenerator>();
-
-Here, ```MyRandomGenerator``` must be a struct with the following member
-functions, where Scalar and Index are the same as ```<Tensor-Type>::Scalar```
-and ```<Tensor-Type>::Index```.
-
-See ```struct UniformRandomGenerator``` in TensorFunctors.h for an example.
-
-    // Custom number generator for use with setRandom().
-    struct MyRandomGenerator {
-      // Default and copy constructors. Both are needed
-      MyRandomGenerator() { }
-      MyRandomGenerator(const MyRandomGenerator& ) { }
-
-      // Return a random value to be used.  "element_location" is the
-      // location of the entry to set in the tensor, it can typically
-      // be ignored.
-      Scalar operator()(Eigen::DenseIndex element_location,
-                        Eigen::DenseIndex /*unused*/ = 0) const {
-        return <randomly generated value of type T>;
-      }
-
-      // Same as above but generates several numbers at a time.
-      typename internal::packet_traits<Scalar>::type packetOp(
-          Eigen::DenseIndex packet_location, Eigen::DenseIndex /*unused*/ = 0) const {
-        return <a packet of randomly generated values>;
-      }
-    };
-
-You can also use one of the 2 random number generators that are part of the
-tensor library:
-*   UniformRandomGenerator
-*   NormalRandomGenerator
-
-
-## Data Access
-
-The Tensor, TensorFixedSize, and TensorRef classes provide the following
-accessors to access the tensor coefficients:
-
-    const Scalar& operator()(const array<Index, NumIndices>& indices)
-    const Scalar& operator()(Index firstIndex, IndexTypes... otherIndices)
-    Scalar& operator()(const array<Index, NumIndices>& indices)
-    Scalar& operator()(Index firstIndex, IndexTypes... otherIndices)
-
-The number of indices must be equal to the rank of the tensor. Moreover, these
-accessors are not available on tensor expressions. In order to access the
-values of a tensor expression, the expression must either be evaluated or
-wrapped in a TensorRef.
-
-
-### Scalar* data() and const Scalar* data() const
-
-Returns a pointer to the storage for the tensor.  The pointer is const if the
-tensor was const.  This allows direct access to the data.  The layout of the
-data depends on the tensor layout: RowMajor or ColMajor.
-
-This access is usually only needed for special cases, for example when mixing
-Eigen Tensor code with other libraries.
-
-Scalar is the type of data stored in the tensor.
-
-    Eigen::Tensor<float, 2> a(3, 4);
-    float* a_data = a.data();
-    a_data[0] = 123.45f;
-    cout << "a(0, 0): " << a(0, 0);
-    => a(0, 0): 123.45
-
-
-## Tensor Operations
-
-All the methods documented below return non evaluated tensor ```Operations```.
-These can be chained: you can apply another Tensor Operation to the value
-returned by the method.
-
-The chain of Operation is evaluated lazily, typically when it is assigned to a
-tensor.  See "Controlling when Expression are Evaluated" for more details about
-their evaluation.
-
-### <Operation> constant(const Scalar& val)
-
-Returns a tensor of the same type and dimensions as the original tensor but
-where all elements have the value ```val```.
-
-This is useful, for example, when you want to add or subtract a constant from a
-tensor, or multiply every element of a tensor by a scalar.
-
-    Eigen::Tensor<float, 2> a(2, 3);
-    a.setConstant(1.0f);
-    Eigen::Tensor<float, 2> b = a + a.constant(2.0f);
-    Eigen::Tensor<float, 2> c = b * b.constant(0.2f);
-    cout << "a" << endl << a << endl << endl;
-    cout << "b" << endl << b << endl << endl;
-    cout << "c" << endl << c << endl << endl;
-    =>
-    a
-    1 1 1
-    1 1 1
-
-    b
-    3 3 3
-    3 3 3
-
-    c
-    0.6 0.6 0.6
-    0.6 0.6 0.6
-
-### <Operation> random()
-
-Returns a tensor of the same type and dimensions as the current tensor
-but where all elements have random values.
-
-This is for example useful to add random values to an existing tensor.
-The generation of random values can be customized in the same manner
-as for ```setRandom()```.
-
-    Eigen::Tensor<float, 2> a(2, 3);
-    a.setConstant(1.0f);
-    Eigen::Tensor<float, 2> b = a + a.random();
-    cout << "a" << endl << a << endl << endl;
-    cout << "b" << endl << b << endl << endl;
-    =>
-    a
-    1 1 1
-    1 1 1
-
-    b
-    1.68038   1.5662  1.82329
-    0.788766  1.59688 0.395103
-
-
-## Unary Element Wise Operations
-
-All these operations take a single input tensor as argument and return a tensor
-of the same type and dimensions as the tensor to which they are applied.  The
-requested operations are applied to each element independently.
-
-### <Operation> operator-()
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the opposite values of the original tensor.
-
-    Eigen::Tensor<float, 2> a(2, 3);
-    a.setConstant(1.0f);
-    Eigen::Tensor<float, 2> b = -a;
-    cout << "a" << endl << a << endl << endl;
-    cout << "b" << endl << b << endl << endl;
-    =>
-    a
-    1 1 1
-    1 1 1
-
-    b
-    -1 -1 -1
-    -1 -1 -1
-
-### <Operation> sqrt()
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the square roots of the original tensor.
-
-### <Operation> rsqrt()
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the inverse square roots of the original tensor.
-
-### <Operation> square()
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the squares of the original tensor values.
-
-### <Operation> inverse()
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the inverse of the original tensor values.
-
-### <Operation> exp()
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the exponential of the original tensor.
-
-### <Operation> log()
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the natural logarithms of the original tensor.
-
-### <Operation> abs()
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the absolute values of the original tensor.
-
-### <Operation> pow(Scalar exponent)
-
-Returns a tensor of the same type and dimensions as the original tensor
-containing the coefficients of the original tensor to the power of the
-exponent.
-
-The type of the exponent, Scalar, is always the same as the type of the
-tensor coefficients.  For example, only integer exponents can be used in
-conjuntion with tensors of integer values.
-
-You can use cast() to lift this restriction.  For example this computes
-cubic roots of an int Tensor:
-
-    Eigen::Tensor<int, 2> a(2, 3);
-    a.setValues({{0, 1, 8}, {27, 64, 125}});
-    Eigen::Tensor<double, 2> b = a.cast<double>().pow(1.0 / 3.0);
-    cout << "a" << endl << a << endl << endl;
-    cout << "b" << endl << b << endl << endl;
-    =>
-    a
-    0   1   8
-    27  64 125
-
-    b
-    0 1 2
-    3 4 5
-
-### <Operation>  operator * (Scalar scale)
-
-Multiplies all the coefficients of the input tensor by the provided scale.
-
-### <Operation>  cwiseMax(Scalar threshold)
-TODO
-
-### <Operation>  cwiseMin(Scalar threshold)
-TODO
-
-### <Operation>  unaryExpr(const CustomUnaryOp& func)
-TODO
-
-
-## Binary Element Wise Operations
-
-These operations take two input tensors as arguments. The 2 input tensors should
-be of the same type and dimensions. The result is a tensor of the same
-dimensions as the tensors to which they are applied, and unless otherwise
-specified it is also of the same type. The requested operations are applied to
-each pair of elements independently.
-
-### <Operation> operator+(const OtherDerived& other)
-
-Returns a tensor of the same type and dimensions as the input tensors
-containing the coefficient wise sums of the inputs.
-
-### <Operation> operator-(const OtherDerived& other)
-
-Returns a tensor of the same type and dimensions as the input tensors
-containing the coefficient wise differences of the inputs.
-
-### <Operation> operator*(const OtherDerived& other)
-
-Returns a tensor of the same type and dimensions as the input tensors
-containing the coefficient wise products of the inputs.
-
-### <Operation> operator/(const OtherDerived& other)
-
-Returns a tensor of the same type and dimensions as the input tensors
-containing the coefficient wise quotients of the inputs.
-
-This operator is not supported for integer types.
-
-### <Operation> cwiseMax(const OtherDerived& other)
-
-Returns a tensor of the same type and dimensions as the input tensors
-containing the coefficient wise maximums of the inputs.
-
-### <Operation> cwiseMin(const OtherDerived& other)
-
-Returns a tensor of the same type and dimensions as the input tensors
-containing the coefficient wise mimimums of the inputs.
-
-### <Operation> Logical operators
-
-The following logical operators are supported as well:
-
-*   operator&&(const OtherDerived& other)
-*   operator||(const OtherDerived& other)
-*   operator<(const OtherDerived& other)
-*   operator<=(const OtherDerived& other)
-*   operator>(const OtherDerived& other)
-*   operator>=(const OtherDerived& other)
-*   operator==(const OtherDerived& other)
-*   operator!=(const OtherDerived& other)
-
-They all return a tensor of boolean values.
-
-
-## Selection (select(const ThenDerived& thenTensor, const ElseDerived& elseTensor)
-
-Selection is a coefficient-wise ternary operator that is the tensor equivalent
-to the if-then-else operation.
-
-    Tensor<bool, 3> if = ...;
-    Tensor<float, 3> then = ...;
-    Tensor<float, 3> else = ...;
-    Tensor<float, 3> result = if.select(then, else);
-
-The 3 arguments must be of the same dimensions, which will also be the dimension
-of the result.  The 'if' tensor must be of type boolean, the 'then' and the
-'else' tensor must be of the same type, which will also be the type of the
-result.
-
-Each coefficient in the result is equal to the corresponding coefficient in the
-'then' tensor if the corresponding value in the 'if' tensor is true. If not, the
-resulting coefficient will come from the 'else' tensor.
-
-
-## Contraction
-
-Tensor *contractions* are a generalization of the matrix product to the
-multidimensional case.
-
-    // Create 2 matrices using tensors of rank 2
-    Eigen::Tensor<int, 2> a(2, 3);
-    a.setValues({{1, 2, 3}, {6, 5, 4}});
-    Eigen::Tensor<int, 2> b(3, 2);
-    a.setValues({{1, 2}, {4, 5}, {5, 6}});
-
-    // Compute the traditional matrix product
-    array<IndexPair<int>, 1> product_dims = { IndexPair(1, 0) };
-    Eigen::Tensor<int, 2> AB = a.contract(b, product_dims);
-
-    // Compute the product of the transpose of the matrices
-    array<IndexPair<int>, 1> transpose_product_dims = { IndexPair(0, 1) };
-    Eigen::Tensor<int, 2> AtBt = a.contract(b, transposed_product_dims);
-
-
-## Reduction Operations
-
-A *Reduction* operation returns a tensor with fewer dimensions than the
-original tensor.  The values in the returned tensor are computed by applying a
-*reduction operator* to slices of values from the original tensor.  You specify
-the dimensions along which the slices are made.
-
-The Eigen Tensor library provides a set of predefined reduction operators such
-as ```maximum()``` and ```sum()``` and lets you define additional operators by
-implementing a few methods from a reductor template.
-
-### Reduction Dimensions
-
-All reduction operations take a single parameter of type
-```<TensorType>::Dimensions``` which can always be specified as an array of
-ints.  These are called the "reduction dimensions."  The values are the indices
-of the dimensions of the input tensor over which the reduction is done.  The
-parameter can have at most as many element as the rank of the input tensor;
-each element must be less than the tensor rank, as it indicates one of the
-dimensions to reduce.
-
-Each dimension of the input tensor should occur at most once in the reduction
-dimensions as the implementation does not remove duplicates.
-
-The order of the values in the reduction dimensions does not affect the
-results, but the code may execute faster if you list the dimensions in
-increasing order.
-
-Example: Reduction along one dimension.
-
-    // Create a tensor of 2 dimensions
-    Eigen::Tensor<int, 2> a(2, 3);
-    a.setValues({{1, 2, 3}, {6, 5, 4}});
-    // Reduce it along the second dimension (1)...
-    Eigen::array<int, 1> dims({1 /* dimension to reduce */});
-    // ...using the "maximum" operator.
-    // The result is a tensor with one dimension.  The size of
-    // that dimension is the same as the first (non-reduced) dimension of a.
-    Eigen::Tensor<int, 1> b = a.maximum(dims);
-    cout << "a" << endl << a << endl << endl;
-    cout << "b" << endl << b << endl << endl;
-    =>
-    a
-    1 2 3
-    6 5 4
-
-    b
-    3
-    6
-
-Example: Reduction along two dimensions.
-
-    Eigen::Tensor<float, 3, Eigen::ColMajor> a(2, 3, 4);
-    a.setValues({{{0.0f, 1.0f, 2.0f, 3.0f},
-                  {7.0f, 6.0f, 5.0f, 4.0f},
-                  {8.0f, 9.0f, 10.0f, 11.0f}},
-                 {{12.0f, 13.0f, 14.0f, 15.0f},
-                  {19.0f, 18.0f, 17.0f, 16.0f},
-                  {20.0f, 21.0f, 22.0f, 23.0f}}});
-    // The tensor a has 3 dimensions.  We reduce along the
-    // first 2, resulting in a tensor with a single dimension
-    // of size 4 (the last dimension of a.)
-    // Note that we pass the array of reduction dimensions
-    // directly to the maximum() call.
-    Eigen::Tensor<float, 1, Eigen::ColMajor> b =
-        a.maximum(Eigen::array<int, 2>({0, 1}));
-    cout << "b" << endl << b << endl << endl;
-    =>
-    b
-    20
-    21
-    22
-    23
-
-#### Reduction along all dimensions
-
-As a special case, if you pass no parameter to a reduction operation the
-original tensor is reduced along *all* its dimensions.  The result is a
-scalar, represented as a zero-dimension tensor.
-
-    Eigen::Tensor<float, 3> a(2, 3, 4);
-    a.setValues({{{0.0f, 1.0f, 2.0f, 3.0f},
-                  {7.0f, 6.0f, 5.0f, 4.0f},
-                  {8.0f, 9.0f, 10.0f, 11.0f}},
-                 {{12.0f, 13.0f, 14.0f, 15.0f},
-                  {19.0f, 18.0f, 17.0f, 16.0f},
-                  {20.0f, 21.0f, 22.0f, 23.0f}}});
-    // Reduce along all dimensions using the sum() operator.
-    Eigen::Tensor<float, 0> b = a.sum();
-    cout << "b" << endl << b << endl << endl;
-    =>
-    b
-    276
-
-
-### <Operation> sum(const Dimensions& new_dims)
-### <Operation> sum()
-
-Reduce a tensor using the sum() operator.  The resulting values
-are the sum of the reduced values.
-
-### <Operation> mean(const Dimensions& new_dims)
-### <Operation> mean()
-
-Reduce a tensor using the mean() operator.  The resulting values
-are the mean of the reduced values.
-
-### <Operation> maximum(const Dimensions& new_dims)
-### <Operation> maximum()
-
-Reduce a tensor using the maximum() operator.  The resulting values are the
-largest of the reduced values.
-
-### <Operation> minimum(const Dimensions& new_dims)
-### <Operation> minimum()
-
-Reduce a tensor using the minimum() operator.  The resulting values
-are the smallest of the reduced values.
-
-### <Operation> prod(const Dimensions& new_dims)
-### <Operation> prod()
-
-Reduce a tensor using the prod() operator.  The resulting values
-are the product of the reduced values.
-
-### <Operation> all(const Dimensions& new_dims)
-### <Operation> all()
-Reduce a tensor using the all() operator.  Casts tensor to bool and then checks
-whether all elements are true.  Runs through all elements rather than
-short-circuiting, so may be significantly inefficient.
-
-### <Operation> any(const Dimensions& new_dims)
-### <Operation> any()
-Reduce a tensor using the any() operator.  Casts tensor to bool and then checks
-whether any element is true.  Runs through all elements rather than
-short-circuiting, so may be significantly inefficient.
-
-
-### <Operation> reduce(const Dimensions& new_dims, const Reducer& reducer)
-
-Reduce a tensor using a user-defined reduction operator.  See ```SumReducer```
-in TensorFunctors.h for information on how to implement a reduction operator.
-
-
-## Scan Operations
-
-A *Scan* operation returns a tensor with the same dimensions as the original
-tensor. The operation performs an inclusive scan along the specified
-axis, which means it computes a running total along the axis for a given
-reduction operation.
-If the reduction operation corresponds to summation, then this computes the
-prefix sum of the tensor along the given axis.
-
-Example:
-dd a comment to this line
-
-    // Create a tensor of 2 dimensions
-    Eigen::Tensor<int, 2> a(2, 3);
-    a.setValues({{1, 2, 3}, {4, 5, 6}});
-    // Scan it along the second dimension (1) using summation
-    Eigen::Tensor<int, 2> b = a.cumsum(1);
-    // The result is a tensor with the same size as the input
-    cout << "a" << endl << a << endl << endl;
-    cout << "b" << endl << b << endl << endl;
-    =>
-    a
-    1 2 3
-    6 5 4
-
-    b
-    1  3  6
-    4  9 15
-
-### <Operation> cumsum(const Index& axis)
-
-Perform a scan by summing consecutive entries.
-
-### <Operation> cumprod(const Index& axis)
-
-Perform a scan by multiplying consecutive entries.
-
-
-## Convolutions
-
-### <Operation> convolve(const Kernel& kernel, const Dimensions& dims)
-
-Returns a tensor that is the output of the convolution of the input tensor with the kernel,
-along the specified dimensions of the input tensor. The dimension size for dimensions of the output tensor
-which were part of the convolution will be reduced by the formula:
-output_dim_size = input_dim_size - kernel_dim_size + 1 (requires: input_dim_size >= kernel_dim_size).
-The dimension sizes for dimensions that were not part of the convolution will remain the same.
-Performance of the convolution can depend on the length of the stride(s) of the input tensor dimension(s) along which the
-convolution is computed (the first dimension has the shortest stride for ColMajor, whereas RowMajor's shortest stride is
-for the last dimension).
-
-    // Compute convolution along the second and third dimension.
-    Tensor<float, 4, DataLayout> input(3, 3, 7, 11);
-    Tensor<float, 2, DataLayout> kernel(2, 2);
-    Tensor<float, 4, DataLayout> output(3, 2, 6, 11);
-    input.setRandom();
-    kernel.setRandom();
-
-    Eigen::array<ptrdiff_t, 2> dims({1, 2});  // Specify second and third dimension for convolution.
-    output = input.convolve(kernel, dims);
-
-    for (int i = 0; i < 3; ++i) {
-      for (int j = 0; j < 2; ++j) {
-        for (int k = 0; k < 6; ++k) {
-          for (int l = 0; l < 11; ++l) {
-            const float result = output(i,j,k,l);
-            const float expected = input(i,j+0,k+0,l) * kernel(0,0) +
-                                   input(i,j+1,k+0,l) * kernel(1,0) +
-                                   input(i,j+0,k+1,l) * kernel(0,1) +
-                                   input(i,j+1,k+1,l) * kernel(1,1);
-            VERIFY_IS_APPROX(result, expected);
-          }
-        }
-      }
-    }
-
-
-## Geometrical Operations
-
-These operations return a Tensor with different dimensions than the original
-Tensor.  They can be used to access slices of tensors, see them with different
-dimensions, or pad tensors with additional data.
-
-### <Operation> reshape(const Dimensions& new_dims)
-
-Returns a view of the input tensor that has been reshaped to the specified
-new dimensions.  The argument new_dims is an array of Index values.  The
-rank of the resulting tensor is equal to the number of elements in new_dims.
-
-The product of all the sizes in the new dimension array must be equal to
-the number of elements in the input tensor.
-
-    // Increase the rank of the input tensor by introducing a new dimension
-    // of size 1.
-    Tensor<float, 2> input(7, 11);
-    array<int, 3> three_dims{{7, 11, 1}};
-    Tensor<float, 3> result = input.reshape(three_dims);
-
-    // Decrease the rank of the input tensor by merging 2 dimensions;
-    array<int, 1> one_dim{{7 * 11}};
-    Tensor<float, 1> result = input.reshape(one_dim);
-
-This operation does not move any data in the input tensor, so the resulting
-contents of a reshaped Tensor depend on the data layout of the original Tensor.
-
-For example this is what happens when you ```reshape()``` a 2D ColMajor tensor
-to one dimension:
-
-    Eigen::Tensor<float, 2, Eigen::ColMajor> a(2, 3);
-    a.setValues({{0.0f, 100.0f, 200.0f}, {300.0f, 400.0f, 500.0f}});
-    Eigen::array<Eigen::DenseIndex, 1> one_dim({3 * 2});
-    Eigen::Tensor<float, 1, Eigen::ColMajor> b = a.reshape(one_dim);
-    cout << "b" << endl << b << endl;
-    =>
-    b
-      0
-    300
-    100
-    400
-    200
-    500
-
-This is what happens when the 2D Tensor is RowMajor:
-
-    Eigen::Tensor<float, 2, Eigen::RowMajor> a(2, 3);
-    a.setValues({{0.0f, 100.0f, 200.0f}, {300.0f, 400.0f, 500.0f}});
-    Eigen::array<Eigen::DenseIndex, 1> one_dim({3 * 2});
-    Eigen::Tensor<float, 1, Eigen::RowMajor> b = a.reshape(one_dim);
-    cout << "b" << endl << b << endl;
-    =>
-    b
-      0
-    100
-    200
-    300
-    400
-    500
-
-The reshape operation is a lvalue. In other words, it can be used on the left
-side of the assignment operator.
-
-The previous example can be rewritten as follow:
-
-    Eigen::Tensor<float, 2, Eigen::ColMajor> a(2, 3);
-    a.setValues({{0.0f, 100.0f, 200.0f}, {300.0f, 400.0f, 500.0f}});
-    Eigen::array<Eigen::DenseIndex, 2> two_dim({2, 3});
-    Eigen::Tensor<float, 1, Eigen::ColMajor> b;
-    b.reshape(two_dim) = a;
-    cout << "b" << endl << b << endl;
-    =>
-    b
-      0
-    300
-    100
-    400
-    200
-    500
-
-Note that "b" itself was not reshaped but that instead the assignment is done to
-the reshape view of b.
-
-
-### <Operation> shuffle(const Shuffle& shuffle)
-
-Returns a copy of the input tensor whose dimensions have been
-reordered according to the specified permutation. The argument shuffle
-is an array of Index values. Its size is the rank of the input
-tensor. It must contain a permutation of 0, 1, ..., rank - 1. The i-th
-dimension of the output tensor equals to the size of the shuffle[i]-th
-dimension of the input tensor. For example:
-
-    // Shuffle all dimensions to the left by 1.
-    Tensor<float, 3> input(20, 30, 50);
-    // ... set some values in input.
-    Tensor<float, 3> output = input.shuffle({1, 2, 0})
-
-    eigen_assert(output.dimension(0) == 30);
-    eigen_assert(output.dimension(1) == 50);
-    eigen_assert(output.dimension(2) == 20);
-
-Indices into the output tensor are shuffled accordingly to formulate
-indices into the input tensor. For example, one can assert in the above
-code snippet that:
-
-    eigen_assert(output(3, 7, 11) == input(11, 3, 7));
-
-In general, one can assert that
-
-    eigen_assert(output(..., indices[shuffle[i]], ...) ==
-                 input(..., indices[i], ...))
-
-The shuffle operation results in a lvalue, which means that it can be assigned
-to. In other words, it can be used on the left side of the assignment operator.
-
-Let's rewrite the previous example to take advantage of this feature:
-
-    // Shuffle all dimensions to the left by 1.
-    Tensor<float, 3> input(20, 30, 50);
-    // ... set some values in input.
-    Tensor<float, 3> output(30, 50, 20);
-    output.shuffle({2, 0, 1}) = input;
-
-
-### <Operation> stride(const Strides& strides)
-
-Returns a view of the input tensor that strides (skips stride-1
-elements) along each of the dimensions.  The argument strides is an
-array of Index values.  The dimensions of the resulting tensor are
-ceil(input_dimensions[i] / strides[i]).
-
-For example this is what happens when you ```stride()``` a 2D tensor:
-
-    Eigen::Tensor<int, 2> a(4, 3);
-    a.setValues({{0, 100, 200}, {300, 400, 500}, {600, 700, 800}, {900, 1000, 1100}});
-    Eigen::array<Eigen::DenseIndex, 2> strides({3, 2});
-    Eigen::Tensor<int, 2> b = a.stride(strides);
-    cout << "b" << endl << b << endl;
-    =>
-    b
-       0   200
-     900  1100
-
-It is possible to assign a tensor to a stride:
-    Tensor<float, 3> input(20, 30, 50);
-    // ... set some values in input.
-    Tensor<float, 3> output(40, 90, 200);
-    output.stride({2, 3, 4}) = input;
-
-
-### <Operation> slice(const StartIndices& offsets, const Sizes& extents)
-
-Returns a sub-tensor of the given tensor. For each dimension i, the slice is
-made of the coefficients stored between offset[i] and offset[i] + extents[i] in
-the input tensor.
-
-    Eigen::Tensor<int, 2> a(4, 3);
-    a.setValues({{0, 100, 200}, {300, 400, 500},
-                 {600, 700, 800}, {900, 1000, 1100}});
-    Eigen::array<int, 2> offsets = {1, 0};
-    Eigen::array<int, 2> extents = {2, 2};
-    Eigen::Tensor<int, 1> slice = a.slice(offsets, extents);
-    cout << "a" << endl << a << endl;
-    =>
-    a
-       0   100   200
-     300   400   500
-     600   700   800
-     900  1000  1100
-    cout << "slice" << endl << slice << endl;
-    =>
-    slice
-     300   400
-     600   700
-
-
-### <Operation> chip(const Index offset, const Index dim)
-
-A chip is a special kind of slice. It is the subtensor at the given offset in
-the dimension dim. The returned tensor has one fewer dimension than the input
-tensor: the dimension dim is removed.
-
-For example, a matrix chip would be either a row or a column of the input
-matrix.
-
-    Eigen::Tensor<int, 2> a(4, 3);
-    a.setValues({{0, 100, 200}, {300, 400, 500},
-                 {600, 700, 800}, {900, 1000, 1100}});
-    Eigen::Tensor<int, 1> row_3 = a.chip(2, 0);
-    Eigen::Tensor<int, 1> col_2 = a.chip(1, 1);
-    cout << "a" << endl << a << endl;
-    =>
-    a
-       0   100   200
-     300   400   500
-     600   700   800
-     900  1000  1100
-    cout << "row_3" << endl << row_3 << endl;
-    =>
-    row_3
-       600   700   800
-    cout << "col_2" << endl << col_2 << endl;
-    =>
-    col_2
-       100   400   700    1000
-
-It is possible to assign values to a tensor chip since the chip operation is a
-lvalue. For example:
-
-    Eigen::Tensor<int, 1> a(3);
-    a.setValues({{100, 200, 300}});
-    Eigen::Tensor<int, 2> b(2, 3);
-    b.setZero();
-    b.chip(0, 0) = a;
-    cout << "a" << endl << a << endl;
-    =>
-    a
-     100
-     200
-     300
-    cout << "b" << endl << b << endl;
-    =>
-    b
-       100   200   300
-         0     0     0
-
-
-### <Operation> reverse(const ReverseDimensions& reverse)
-
-Returns a view of the input tensor that reverses the order of the coefficients
-along a subset of the dimensions.  The argument reverse is an array of boolean
-values that indicates whether or not the order of the coefficients should be
-reversed along each of the dimensions.  This operation preserves the dimensions
-of the input tensor.
-
-For example this is what happens when you ```reverse()``` the first dimension
-of a 2D tensor:
-
-    Eigen::Tensor<int, 2> a(4, 3);
-    a.setValues({{0, 100, 200}, {300, 400, 500},
-                {600, 700, 800}, {900, 1000, 1100}});
-    Eigen::array<bool, 2> reverse({true, false});
-    Eigen::Tensor<int, 2> b = a.reverse(reverse);
-    cout << "a" << endl << a << endl << "b" << endl << b << endl;
-    =>
-    a
-       0   100   200
-     300   400   500
-     600   700   800
-     900  1000  1100
-    b
-     900  1000  1100
-     600   700   800
-     300   400   500
-       0   100   200
-
-
-### <Operation> broadcast(const Broadcast& broadcast)
-
-Returns a view of the input tensor in which the input is replicated one to many
-times.
-The broadcast argument specifies how many copies of the input tensor need to be
-made in each of the dimensions.
-
-    Eigen::Tensor<int, 2> a(2, 3);
-    a.setValues({{0, 100, 200}, {300, 400, 500}});
-    Eigen::array<int, 2> bcast({3, 2});
-    Eigen::Tensor<int, 2> b = a.broadcast(bcast);
-    cout << "a" << endl << a << endl << "b" << endl << b << endl;
-    =>
-    a
-       0   100   200
-     300   400   500
-    b
-       0   100   200    0   100   200
-     300   400   500  300   400   500
-       0   100   200    0   100   200
-     300   400   500  300   400   500
-       0   100   200    0   100   200
-     300   400   500  300   400   500
-
-### <Operation> concatenate(const OtherDerived& other, Axis axis)
-
-TODO
-
-### <Operation>  pad(const PaddingDimensions& padding)
-
-Returns a view of the input tensor in which the input is padded with zeros.
-
-    Eigen::Tensor<int, 2> a(2, 3);
-    a.setValues({{0, 100, 200}, {300, 400, 500}});
-    Eigen::array<pair<int, int>, 2> paddings;
-    paddings[0] = make_pair(0, 1);
-    paddings[1] = make_pair(2, 3);
-    Eigen::Tensor<int, 2> b = a.pad(paddings);
-    cout << "a" << endl << a << endl << "b" << endl << b << endl;
-    =>
-    a
-       0   100   200
-     300   400   500
-    b
-       0     0     0    0
-       0     0     0    0
-       0   100   200    0
-     300   400   500    0
-       0     0     0    0
-       0     0     0    0
-       0     0     0    0
-
-
-### <Operation>  extract_patches(const PatchDims& patch_dims)
-
-Returns a tensor of coefficient patches extracted from the input tensor, where
-each patch is of dimension specified by 'patch_dims'. The returned tensor has
-one greater dimension than the input tensor, which is used to index each patch.
-The patch index in the output tensor depends on the data layout of the input
-tensor: the patch index is the last dimension ColMajor layout, and the first
-dimension in RowMajor layout.
-
-For example, given the following input tensor:
-
-  Eigen::Tensor<float, 2, DataLayout> tensor(3,4);
-  tensor.setValues({{0.0f, 1.0f, 2.0f, 3.0f},
-                    {4.0f, 5.0f, 6.0f, 7.0f},
-                    {8.0f, 9.0f, 10.0f, 11.0f}});
-
-  cout << "tensor: " << endl << tensor << endl;
-=>
-tensor:
- 0   1   2   3
- 4   5   6   7
- 8   9  10  11
-
-Six 2x2 patches can be extracted and indexed using the following code:
-
-  Eigen::Tensor<float, 3, DataLayout> patch;
-  Eigen::array<ptrdiff_t, 2> patch_dims;
-  patch_dims[0] = 2;
-  patch_dims[1] = 2;
-  patch = tensor.extract_patches(patch_dims);
-  for (int k = 0; k < 6; ++k) {
-    cout << "patch index: " << k << endl;
-    for (int i = 0; i < 2; ++i) {
-      for (int j = 0; j < 2; ++j) {
-        if (DataLayout == ColMajor) {
-          cout << patch(i, j, k) << " ";
-        } else {
-          cout << patch(k, i, j) << " ";
-        }
-      }
-      cout << endl;
-    }
-  }
-
-This code results in the following output when the data layout is ColMajor:
-
-patch index: 0
-0 1
-4 5
-patch index: 1
-4 5
-8 9
-patch index: 2
-1 2
-5 6
-patch index: 3
-5 6
-9 10
-patch index: 4
-2 3
-6 7
-patch index: 5
-6 7
-10 11
-
-This code results in the following output when the data layout is RowMajor:
-(NOTE: the set of patches is the same as in ColMajor, but are indexed differently).
-
-patch index: 0
-0 1
-4 5
-patch index: 1
-1 2
-5 6
-patch index: 2
-2 3
-6 7
-patch index: 3
-4 5
-8 9
-patch index: 4
-5 6
-9 10
-patch index: 5
-6 7
-10 11
-
-### <Operation>  extract_image_patches(const Index patch_rows, const Index patch_cols,
-                          const Index row_stride, const Index col_stride,
-                          const PaddingType padding_type)
-
-Returns a tensor of coefficient image patches extracted from the input tensor,
-which is expected to have dimensions ordered as follows (depending on the data
-layout of the input tensor, and the number of additional dimensions 'N'):
-
-*) ColMajor
-1st dimension: channels (of size d)
-2nd dimension: rows (of size r)
-3rd dimension: columns (of size c)
-4th-Nth dimension: time (for video) or batch (for bulk processing).
-
-*) RowMajor (reverse order of ColMajor)
-1st-Nth dimension: time (for video) or batch (for bulk processing).
-N+1'th dimension: columns (of size c)
-N+2'th dimension: rows (of size r)
-N+3'th dimension: channels (of size d)
-
-The returned tensor has one greater dimension than the input tensor, which is
-used to index each patch. The patch index in the output tensor depends on the
-data layout of the input tensor: the patch index is the 4'th dimension in
-ColMajor layout, and the 4'th from the last dimension in RowMajor layout.
-
-For example, given the following input tensor with the following dimension
-sizes:
- *) depth:   2
- *) rows:    3
- *) columns: 5
- *) batch:   7
-
-  Tensor<float, 4> tensor(2,3,5,7);
-  Tensor<float, 4, RowMajor> tensor_row_major = tensor.swap_layout();
-
-2x2 image patches can be extracted and indexed using the following code:
-
-*) 2D patch: ColMajor (patch indexed by second-to-last dimension)
-  Tensor<float, 5> twod_patch;
-  twod_patch = tensor.extract_image_patches<2, 2>();
-  // twod_patch.dimension(0) == 2
-  // twod_patch.dimension(1) == 2
-  // twod_patch.dimension(2) == 2
-  // twod_patch.dimension(3) == 3*5
-  // twod_patch.dimension(4) == 7
-
-*) 2D patch: RowMajor (patch indexed by the second dimension)
-  Tensor<float, 5, RowMajor> twod_patch_row_major;
-  twod_patch_row_major = tensor_row_major.extract_image_patches<2, 2>();
-  // twod_patch_row_major.dimension(0) == 7
-  // twod_patch_row_major.dimension(1) == 3*5
-  // twod_patch_row_major.dimension(2) == 2
-  // twod_patch_row_major.dimension(3) == 2
-  // twod_patch_row_major.dimension(4) == 2
-
-## Special Operations
-
-### <Operation> cast<T>()
-
-Returns a tensor of type T with the same dimensions as the original tensor.
-The returned tensor contains the values of the original tensor converted to
-type T.
-
-    Eigen::Tensor<float, 2> a(2, 3);
-    Eigen::Tensor<int, 2> b = a.cast<int>();
-
-This can be useful for example if you need to do element-wise division of
-Tensors of integers.  This is not currently supported by the Tensor library
-but you can easily cast the tensors to floats to do the division:
-
-    Eigen::Tensor<int, 2> a(2, 3);
-    a.setValues({{0, 1, 2}, {3, 4, 5}});
-    Eigen::Tensor<int, 2> b =
-        (a.cast<float>() / a.constant(2).cast<float>()).cast<int>();
-    cout << "a" << endl << a << endl << endl;
-    cout << "b" << endl << b << endl << endl;
-    =>
-    a
-    0 1 2
-    3 4 5
-
-    b
-    0 0 1
-    1 2 2
-
-
-### <Operation>     eval()
-
-TODO
-
-
-## Representation of scalar values
-
-Scalar values are often represented by tensors of size 1 and rank 1. It would be
-more logical and user friendly to use tensors of rank 0 instead. For example
-Tensor<T, N>::maximum() currently returns a Tensor<T, 1>. Similarly, the inner
-product of 2 1d tensors (through contractions) returns a 1d tensor. In the
-future these operations might be updated to return 0d tensors instead.
-
-## Limitations
-
-*   The number of tensor dimensions is currently limited to 250 when using a
-    compiler that supports cxx11. It is limited to only 5 for older compilers.
-*   The IndexList class requires a cxx11 compliant compiler. You can use an
-    array of indices instead if you don't have access to a modern compiler.
-*   On GPUs only floating point values are properly tested and optimized for.
-*   Complex and integer values are known to be broken on GPUs. If you try to use
-    them you'll most likely end up triggering a static assertion failure such as
-    EIGEN_STATIC_ASSERT(packetSize > 1, YOU_MADE_A_PROGRAMMING_MISTAKE)
-
-
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/Tensor.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/Tensor.h
deleted file mode 100644
index 1940a9692fcab4..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/Tensor.h
+++ /dev/null
@@ -1,527 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_H
-#define EIGEN_CXX11_TENSOR_TENSOR_H
-
-namespace Eigen {
-
-/** \class Tensor
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief The tensor class.
-  *
-  * The %Tensor class is the work-horse for all \em dense tensors within Eigen.
-  *
-  * The %Tensor class encompasses only dynamic-size objects so far.
-  *
-  * The first two template parameters are required:
-  * \tparam Scalar_ \anchor tensor_tparam_scalar Numeric type, e.g. float, double, int or std::complex<float>.
-  *                 User defined scalar types are supported as well (see \ref user_defined_scalars "here").
-  * \tparam NumIndices_ Number of indices (i.e. rank of the tensor)
-  *
-  * The remaining template parameters are optional -- in most cases you don't have to worry about them.
-  * \tparam Options_ \anchor tensor_tparam_options A combination of either \b #RowMajor or \b #ColMajor, and of either
-  *                 \b #AutoAlign or \b #DontAlign.
-  *                 The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required
-  *                 for vectorization. It defaults to aligning tensors. Note that tensors currently do not support any operations that profit from vectorization.
-  *                 Support for such operations (i.e. adding two tensors etc.) is planned.
-  *
-  * You can access elements of tensors using normal subscripting:
-  *
-  * \code
-  * Eigen::Tensor<double, 4> t(10, 10, 10, 10);
-  * t(0, 1, 2, 3) = 42.0;
-  * \endcode
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_TENSOR_PLUGIN.
-  *
-  * <i><b>Some notes:</b></i>
-  *
-  * <dl>
-  * <dt><b>Relation to other parts of Eigen:</b></dt>
-  * <dd>The midterm developement goal for this class is to have a similar hierarchy as Eigen uses for matrices, so that
-  * taking blocks or using tensors in expressions is easily possible, including an interface with the vector/matrix code
-  * by providing .asMatrix() and .asVector() (or similar) methods for rank 2 and 1 tensors. However, currently, the %Tensor
-  * class does not provide any of these features and is only available as a stand-alone class that just allows for
-  * coefficient access. Also, when fixed-size tensors are implemented, the number of template arguments is likely to
-  * change dramatically.</dd>
-  * </dl>
-  *
-  * \ref TopicStorageOrders
-  */
-
-template<typename Scalar_, int NumIndices_, int Options_, typename IndexType_>
-class Tensor : public TensorBase<Tensor<Scalar_, NumIndices_, Options_, IndexType_> >
-{
-  public:
-    typedef Tensor<Scalar_, NumIndices_, Options_, IndexType_> Self;
-    typedef TensorBase<Tensor<Scalar_, NumIndices_, Options_, IndexType_> > Base;
-    typedef typename Eigen::internal::nested<Self>::type Nested;
-    typedef typename internal::traits<Self>::StorageKind StorageKind;
-    typedef typename internal::traits<Self>::Index Index;
-    typedef Scalar_ Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename Base::CoeffReturnType CoeffReturnType;
-
-    enum {
-      IsAligned = bool(EIGEN_MAX_ALIGN_BYTES>0) & !(Options_&DontAlign),
-      Layout = Options_ & RowMajor ? RowMajor : ColMajor,
-      CoordAccess = true,
-      RawAccess = true
-    };
-
-    static const int Options = Options_;
-    static const int NumIndices = NumIndices_;
-    typedef DSizes<Index, NumIndices_> Dimensions;
-
-  protected:
-    TensorStorage<Scalar, Dimensions, Options> m_storage;
-
-#ifdef EIGEN_HAS_SFINAE
-    template<typename CustomIndices>
-    struct isOfNormalIndex{
-      static const bool is_array = internal::is_base_of<array<Index, NumIndices>, CustomIndices>::value;
-      static const bool is_int = NumTraits<CustomIndices>::IsInteger;
-      static const bool value = is_array | is_int;
-    };
-#endif
-
-  public:
-    // Metadata
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index                         rank()                   const { return NumIndices; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index                         dimension(std::size_t n) const { return m_storage.dimensions()[n]; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions&             dimensions()             const { return m_storage.dimensions(); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index                         size()                   const { return m_storage.size(); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar                        *data()                        { return m_storage.data(); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar                  *data()                  const { return m_storage.data(); }
-
-    // This makes EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    // work, because that uses base().coeffRef() - and we don't yet
-    // implement a similar class hierarchy
-    inline Self& base()             { return *this; }
-    inline const Self& base() const { return *this; }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    EIGEN_DEVICE_FUNC inline const Scalar& coeff(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) const
-    {
-      // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return coeff(array<Index, NumIndices>{{firstIndex, secondIndex, otherIndices...}});
-    }
-#endif
-
-    // normal indices
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(const array<Index, NumIndices>& indices) const
-    {
-      eigen_internal_assert(checkIndexRange(indices));
-      return m_storage.data()[linearizedIndex(indices)];
-    }
-
-    // custom indices
-#ifdef EIGEN_HAS_SFINAE
-    template<typename CustomIndices,
-             EIGEN_SFINAE_ENABLE_IF( !(isOfNormalIndex<CustomIndices>::value) )
-    >
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(CustomIndices& indices) const
-    {
-        return coeff(internal::customIndices2Array<Index,NumIndices>(indices));
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff() const
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return m_storage.data()[0];
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      return m_storage.data()[index];
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    inline Scalar& coeffRef(Index firstIndex, Index secondIndex, IndexTypes... otherIndices)
-    {
-      // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return coeffRef(array<Index, NumIndices>{{firstIndex, secondIndex, otherIndices...}});
-    }
-#endif
-
-    // normal indices
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(const array<Index, NumIndices>& indices)
-    {
-      eigen_internal_assert(checkIndexRange(indices));
-      return m_storage.data()[linearizedIndex(indices)];
-    }
-
-    // custom indices
-#ifdef EIGEN_HAS_SFINAE
-    template<typename CustomIndices,
-             EIGEN_SFINAE_ENABLE_IF( !(isOfNormalIndex<CustomIndices>::value) )
-             >
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(CustomIndices& indices)
-    {
-        return coeffRef(internal::customIndices2Array<Index,NumIndices>(indices));
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef()
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return m_storage.data()[0];
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      return m_storage.data()[index];
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    inline const Scalar& operator()(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) const
-    {
-      // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return this->operator()(array<Index, NumIndices>{{firstIndex, secondIndex, otherIndices...}});
-    }
-#else
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1) const
-    {
-      return coeff(array<Index, 2>(i0, i1));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2) const
-    {
-      return coeff(array<Index, 3>(i0, i1, i2));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3) const
-    {
-      return coeff(array<Index, 4>(i0, i1, i2, i3));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) const
-    {
-      return coeff(array<Index, 5>(i0, i1, i2, i3, i4));
-    }
-#endif
-
-    // custom indices
-#ifdef EIGEN_HAS_SFINAE
-    template<typename CustomIndices,
-             EIGEN_SFINAE_ENABLE_IF( !(isOfNormalIndex<CustomIndices>::value) )
-    >
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()(CustomIndices& indices) const
-    {
-        return coeff(internal::customIndices2Array<Index,NumIndices>(indices));
-    }
-#endif
-
-    // normal indices
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()(const array<Index, NumIndices>& indices) const
-    {
-      return coeff(indices);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()(Index index) const
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      return coeff(index);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()() const
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return coeff();
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator[](Index index) const
-    {
-      // The bracket operator is only for vectors, use the parenthesis operator instead.
-      EIGEN_STATIC_ASSERT(NumIndices == 1, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return coeff(index);
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    inline Scalar& operator()(Index firstIndex, Index secondIndex, IndexTypes... otherIndices)
-    {
-      // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return operator()(array<Index, NumIndices>{{firstIndex, secondIndex, otherIndices...}});
-    }
-#else
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1)
-    {
-      return coeffRef(array<Index, 2>(i0, i1));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2)
-    {
-      return coeffRef(array<Index, 3>(i0, i1, i2));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3)
-    {
-      return coeffRef(array<Index, 4>(i0, i1, i2, i3));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4)
-    {
-      return coeffRef(array<Index, 5>(i0, i1, i2, i3, i4));
-    }
-#endif
-
-    // normal indices
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(const array<Index, NumIndices>& indices)
-    {
-      return coeffRef(indices);
-    }
-
-    // custom indices
-#ifdef EIGEN_HAS_SFINAE
-    template<typename CustomIndices,
-             EIGEN_SFINAE_ENABLE_IF( !(isOfNormalIndex<CustomIndices>::value) )
-    >
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(CustomIndices& indices)
-    {
-      return coeffRef(internal::customIndices2Array<Index,NumIndices>(indices));
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(Index index)
-    {
-      eigen_assert(index >= 0 && index < size());
-      return coeffRef(index);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()()
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return coeffRef();
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator[](Index index)
-    {
-      // The bracket operator is only for vectors, use the parenthesis operator instead
-      EIGEN_STATIC_ASSERT(NumIndices == 1, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return coeffRef(index);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Tensor()
-      : m_storage()
-    {
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Tensor(const Self& other)
-      : m_storage(other.m_storage)
-    {
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index firstDimension, IndexTypes... otherDimensions)
-        : m_storage(firstDimension, otherDimensions...)
-    {
-      // The number of dimensions used to construct a tensor must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherDimensions) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-#else
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit Tensor(Index dim1)
-      : m_storage(dim1, array<Index, 1>(dim1))
-    {
-      EIGEN_STATIC_ASSERT(1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index dim1, Index dim2)
-      : m_storage(dim1*dim2, array<Index, 2>(dim1, dim2))
-    {
-      EIGEN_STATIC_ASSERT(2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index dim1, Index dim2, Index dim3)
-      : m_storage(dim1*dim2*dim3, array<Index, 3>(dim1, dim2, dim3))
-    {
-      EIGEN_STATIC_ASSERT(3 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index dim1, Index dim2, Index dim3, Index dim4)
-      : m_storage(dim1*dim2*dim3*dim4, array<Index, 4>(dim1, dim2, dim3, dim4))
-    {
-      EIGEN_STATIC_ASSERT(4 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index dim1, Index dim2, Index dim3, Index dim4, Index dim5)
-      : m_storage(dim1*dim2*dim3*dim4*dim5, array<Index, 5>(dim1, dim2, dim3, dim4, dim5))
-    {
-      EIGEN_STATIC_ASSERT(5 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-#endif
-
-    /** Normal Dimension */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit Tensor(const array<Index, NumIndices>& dimensions)
-        : m_storage(internal::array_prod(dimensions), dimensions)
-    {
-      EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Tensor(const TensorBase<OtherDerived, ReadOnlyAccessors>& other)
-    {
-      typedef TensorAssignOp<Tensor, const OtherDerived> Assign;
-      Assign assign(*this, other.derived());
-      resize(TensorEvaluator<const Assign, DefaultDevice>(assign, DefaultDevice()).dimensions());
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-    }
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Tensor(const TensorBase<OtherDerived, WriteAccessors>& other)
-    {
-      typedef TensorAssignOp<Tensor, const OtherDerived> Assign;
-      Assign assign(*this, other.derived());
-      resize(TensorEvaluator<const Assign, DefaultDevice>(assign, DefaultDevice()).dimensions());
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Tensor& operator=(const Tensor& other)
-    {
-      typedef TensorAssignOp<Tensor, const Tensor> Assign;
-      Assign assign(*this, other);
-      resize(TensorEvaluator<const Assign, DefaultDevice>(assign, DefaultDevice()).dimensions());
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Tensor& operator=(const OtherDerived& other)
-    {
-      typedef TensorAssignOp<Tensor, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      resize(TensorEvaluator<const Assign, DefaultDevice>(assign, DefaultDevice()).dimensions());
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes> EIGEN_DEVICE_FUNC
-    void resize(Index firstDimension, IndexTypes... otherDimensions)
-    {
-      // The number of dimensions used to resize a tensor must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherDimensions) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      resize(array<Index, NumIndices>{{firstDimension, otherDimensions...}});
-    }
-#endif
-
-    /** Normal Dimension */
-    EIGEN_DEVICE_FUNC void resize(const array<Index, NumIndices>& dimensions)
-    {
-      int i;
-      Index size = Index(1);
-      for (i = 0; i < NumIndices; i++) {
-        internal::check_rows_cols_for_overflow<Dynamic>::run(size, dimensions[i]);
-        size *= dimensions[i];
-      }
-      #ifdef EIGEN_INITIALIZE_COEFFS
-        bool size_changed = size != this->size();
-        m_storage.resize(size, dimensions);
-        if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-      #else
-        m_storage.resize(size, dimensions);
-      #endif
-    }
-
-    // Why this overload, DSizes is derived from array ??? //
-    EIGEN_DEVICE_FUNC void resize(const DSizes<Index, NumIndices>& dimensions) {
-      array<Index, NumIndices> dims;
-      for (int i = 0; i < NumIndices; ++i) {
-        dims[i] = dimensions[i];
-      }
-      resize(dims);
-    }
-
-    EIGEN_DEVICE_FUNC
-    void resize()
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      // Nothing to do: rank 0 tensors have fixed size
-    }
-
-    /** Custom Dimension */
-#ifdef EIGEN_HAS_SFINAE
-    template<typename CustomDimension,
-             EIGEN_SFINAE_ENABLE_IF( !(isOfNormalIndex<CustomDimension>::value) )
-    >
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(CustomDimension& dimensions)
-    {
-      resize(internal::customIndices2Array<Index,NumIndices>(dimensions));
-    }
-#endif
-
-#ifndef EIGEN_EMULATE_CXX11_META_H
-    template <typename std::ptrdiff_t... Indices>
-    EIGEN_DEVICE_FUNC
-    void resize(const Sizes<Indices...>& dimensions) {
-      array<Index, NumIndices> dims;
-      for (int i = 0; i < NumIndices; ++i) {
-        dims[i] = static_cast<Index>(dimensions[i]);
-      }
-      resize(dims);
-    }
-#else
-    template <std::size_t V1, std::size_t V2, std::size_t V3, std::size_t V4, std::size_t V5>
-    EIGEN_DEVICE_FUNC
-    void resize(const Sizes<V1, V2, V3, V4, V5>& dimensions) {
-      array<Index, NumIndices> dims;
-      for (int i = 0; i < NumIndices; ++i) {
-        dims[i] = static_cast<Index>(dimensions[i]);
-      }
-      resize(dims);
-    }
-#endif
-
-  protected:
-
-    bool checkIndexRange(const array<Index, NumIndices>& indices) const
-    {
-      using internal::array_apply_and_reduce;
-      using internal::array_zip_and_reduce;
-      using internal::greater_equal_zero_op;
-      using internal::logical_and_op;
-      using internal::lesser_op;
-
-      return
-        // check whether the indices are all >= 0
-        array_apply_and_reduce<logical_and_op, greater_equal_zero_op>(indices) &&
-        // check whether the indices fit in the dimensions
-        array_zip_and_reduce<logical_and_op, lesser_op>(indices, m_storage.dimensions());
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index linearizedIndex(const array<Index, NumIndices>& indices) const
-    {
-      if (Options&RowMajor) {
-        return m_storage.dimensions().IndexOfRowMajor(indices);
-      } else {
-        return m_storage.dimensions().IndexOfColMajor(indices);
-      }
-    }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorArgMax.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorArgMax.h
deleted file mode 100644
index d06f40cd866c42..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorArgMax.h
+++ /dev/null
@@ -1,299 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Eugene Brevdo <ebrevdo@gmail.com>
-//                    Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_ARG_MAX_H
-#define EIGEN_CXX11_TENSOR_TENSOR_ARG_MAX_H
-
-namespace Eigen {
-namespace internal {
-
-/** \class TensorIndexTuple
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor + Index Tuple class.
-  *
-  *
-  */
-template<typename XprType>
-struct traits<TensorIndexTupleOp<XprType> > : public traits<XprType>
-{
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef Tuple<Index, typename XprTraits::Scalar> Scalar;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename XprType>
-struct eval<TensorIndexTupleOp<XprType>, Eigen::Dense>
-{
-  typedef const TensorIndexTupleOp<XprType>& type;
-};
-
-template<typename XprType>
-struct nested<TensorIndexTupleOp<XprType>, 1,
-              typename eval<TensorIndexTupleOp<XprType> >::type>
-{
-  typedef TensorIndexTupleOp<XprType> type;
-};
-
-}  // end namespace internal
-
-template<typename XprType>
-class TensorIndexTupleOp : public TensorBase<TensorIndexTupleOp<XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorIndexTupleOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename Eigen::internal::nested<TensorIndexTupleOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorIndexTupleOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorIndexTupleOp>::Index Index;
-  typedef Tuple<Index, typename XprType::CoeffReturnType> CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorIndexTupleOp(const XprType& expr)
-      : m_xpr(expr) {}
-
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename XprType::Nested>::type&
-  expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-};
-
-// Eval as rvalue
-template<typename ArgType, typename Device>
-struct TensorEvaluator<const TensorIndexTupleOp<ArgType>, Device>
-{
-  typedef TensorIndexTupleOp<ArgType> XprType;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions Dimensions;
-  static const int NumDims = internal::array_size<Dimensions>::value;
-
-  enum {
-    IsAligned = /*TensorEvaluator<ArgType, Device>::IsAligned*/ false,
-    PacketAccess = /*TensorEvaluator<ArgType, Device>::PacketAccess*/ false,
-    BlockAccess = false,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device) { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const {
-    return m_impl.dimensions();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return CoeffReturnType(index, m_impl.coeff(index));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    return m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, 1);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- protected:
-  TensorEvaluator<ArgType, Device> m_impl;
-};
-
-namespace internal {
-
-/** \class TensorTupleIndex
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Converts to Tensor<Tuple<Index, Scalar> > and reduces to Tensor<Index>.
-  *
-  */
-template<typename ReduceOp, typename Dims, typename XprType>
-struct traits<TensorTupleReducerOp<ReduceOp, Dims, XprType> > : public traits<XprType>
-{
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef Index Scalar;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions - array_size<Dims>::value;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename ReduceOp, typename Dims, typename XprType>
-struct eval<TensorTupleReducerOp<ReduceOp, Dims, XprType>, Eigen::Dense>
-{
-  typedef const TensorTupleReducerOp<ReduceOp, Dims, XprType>& type;
-};
-
-template<typename ReduceOp, typename Dims, typename XprType>
-struct nested<TensorTupleReducerOp<ReduceOp, Dims, XprType>, 1,
-              typename eval<TensorTupleReducerOp<ReduceOp, Dims, XprType> >::type>
-{
-  typedef TensorTupleReducerOp<ReduceOp, Dims, XprType> type;
-};
-
-}  // end namespace internal
-
-template<typename ReduceOp, typename Dims, typename XprType>
-class TensorTupleReducerOp : public TensorBase<TensorTupleReducerOp<ReduceOp, Dims, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorTupleReducerOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename Eigen::internal::nested<TensorTupleReducerOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorTupleReducerOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorTupleReducerOp>::Index Index;
-  typedef Index CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorTupleReducerOp(const XprType& expr,
-                                                          const ReduceOp& reduce_op,
-                                                          const int return_dim,
-                                                          const Dims& reduce_dims)
-      : m_xpr(expr), m_reduce_op(reduce_op), m_return_dim(return_dim), m_reduce_dims(reduce_dims) {}
-
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename XprType::Nested>::type&
-  expression() const { return m_xpr; }
-
-  EIGEN_DEVICE_FUNC
-  const ReduceOp& reduce_op() const { return m_reduce_op; }
-
-  EIGEN_DEVICE_FUNC
-  const Dims& reduce_dims() const { return m_reduce_dims; }
-
-  EIGEN_DEVICE_FUNC
-  int return_dim() const { return m_return_dim; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const ReduceOp m_reduce_op;
-    const int m_return_dim;
-    const Dims m_reduce_dims;
-};
-
-// Eval as rvalue
-template<typename ReduceOp, typename Dims, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorTupleReducerOp<ReduceOp, Dims, ArgType>, Device>
-{
-  typedef TensorTupleReducerOp<ReduceOp, Dims, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename TensorIndexTupleOp<ArgType>::CoeffReturnType TupleType;
-  typedef typename TensorEvaluator<const TensorReductionOp<ReduceOp, Dims, const TensorIndexTupleOp<ArgType> >, Device>::Dimensions Dimensions;
-  typedef typename TensorEvaluator<const TensorIndexTupleOp<ArgType> , Device>::Dimensions InputDimensions;
-  static const int NumDims = internal::array_size<InputDimensions>::value;
-  typedef array<Index, NumDims> StrideDims;
-
-  enum {
-    IsAligned = /*TensorEvaluator<ArgType, Device>::IsAligned*/ false,
-    PacketAccess = /*TensorEvaluator<ArgType, Device>::PacketAccess*/ false,
-    BlockAccess = false,
-    Layout = TensorEvaluator<const TensorReductionOp<ReduceOp, Dims, const TensorIndexTupleOp<ArgType> >, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_orig_impl(op.expression(), device),
-        m_impl(op.expression().index_tuples().reduce(op.reduce_dims(), op.reduce_op()), device),
-        m_return_dim(op.return_dim()) {
-
-    gen_strides(m_orig_impl.dimensions(), m_strides);
-    if (Layout == static_cast<int>(ColMajor)) {
-      const Index total_size = internal::array_prod(m_orig_impl.dimensions());
-      m_stride_mod = (m_return_dim < NumDims - 1) ? m_strides[m_return_dim + 1] : total_size;
-    } else {
-      const Index total_size = internal::array_prod(m_orig_impl.dimensions());
-      m_stride_mod = (m_return_dim > 0) ? m_strides[m_return_dim - 1] : total_size;
-    }
-    m_stride_div = m_strides[m_return_dim];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const {
-    return m_impl.dimensions();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const {
-    const TupleType v = m_impl.coeff(index);
-    return (m_return_dim < 0) ? v.first : (v.first % m_stride_mod) / m_stride_div;
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    const double compute_cost = 1.0 +
-        (m_return_dim < 0 ? 0.0 : (TensorOpCost::ModCost<Index>() + TensorOpCost::DivCost<Index>()));
-    return m_orig_impl.costPerCoeff(vectorized) +
-           m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, compute_cost);
-  }
-
- private:
-  EIGEN_DEVICE_FUNC void gen_strides(const InputDimensions& dims, StrideDims& strides) {
-    if (m_return_dim < 0) {
-      return;  // Won't be using the strides.
-    }
-    eigen_assert(m_return_dim < NumDims &&
-                 "Asking to convert index to a dimension outside of the rank");
-
-    // Calculate m_stride_div and m_stride_mod, which are used to
-    // calculate the value of an index w.r.t. the m_return_dim.
-    if (Layout == static_cast<int>(ColMajor)) {
-      strides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        strides[i] = strides[i-1] * dims[i-1];
-      }
-    } else {
-      strides[NumDims-1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        strides[i] = strides[i+1] * dims[i+1];
-      }
-    }
-  }
-
- protected:
-  TensorEvaluator<const TensorIndexTupleOp<ArgType>, Device> m_orig_impl;
-  TensorEvaluator<const TensorReductionOp<ReduceOp, Dims, const TensorIndexTupleOp<ArgType> >, Device> m_impl;
-  const int m_return_dim;
-  StrideDims m_strides;
-  Index m_stride_mod;
-  Index m_stride_div;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_ARG_MAX_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h
deleted file mode 100644
index 166be200c5587b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h
+++ /dev/null
@@ -1,181 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_ASSIGN_H
-#define EIGEN_CXX11_TENSOR_TENSOR_ASSIGN_H
-
-namespace Eigen {
-
-/** \class TensorAssign
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief The tensor assignment class.
-  *
-  * This class is represents the assignment of the values resulting from the evaluation of
-  * the rhs expression to the memory locations denoted by the lhs expression.
-  */
-namespace internal {
-template<typename LhsXprType, typename RhsXprType>
-struct traits<TensorAssignOp<LhsXprType, RhsXprType> >
-{
-  typedef typename LhsXprType::Scalar Scalar;
-  typedef typename traits<LhsXprType>::StorageKind StorageKind;
-  typedef typename promote_index_type<typename traits<LhsXprType>::Index,
-                                      typename traits<RhsXprType>::Index>::type Index;
-  typedef typename LhsXprType::Nested LhsNested;
-  typedef typename RhsXprType::Nested RhsNested;
-  typedef typename remove_reference<LhsNested>::type _LhsNested;
-  typedef typename remove_reference<RhsNested>::type _RhsNested;
-  static const std::size_t NumDimensions = internal::traits<LhsXprType>::NumDimensions;
-  static const int Layout = internal::traits<LhsXprType>::Layout;
-
-  enum {
-    Flags = 0
-  };
-};
-
-template<typename LhsXprType, typename RhsXprType>
-struct eval<TensorAssignOp<LhsXprType, RhsXprType>, Eigen::Dense>
-{
-  typedef const TensorAssignOp<LhsXprType, RhsXprType>& type;
-};
-
-template<typename LhsXprType, typename RhsXprType>
-struct nested<TensorAssignOp<LhsXprType, RhsXprType>, 1, typename eval<TensorAssignOp<LhsXprType, RhsXprType> >::type>
-{
-  typedef TensorAssignOp<LhsXprType, RhsXprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename LhsXprType, typename RhsXprType>
-class TensorAssignOp : public TensorBase<TensorAssignOp<LhsXprType, RhsXprType> >
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorAssignOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename LhsXprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorAssignOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorAssignOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorAssignOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorAssignOp(LhsXprType& lhs, const RhsXprType& rhs)
-      : m_lhs_xpr(lhs), m_rhs_xpr(rhs) {}
-
-    /** \returns the nested expressions */
-    EIGEN_DEVICE_FUNC
-    typename internal::remove_all<typename LhsXprType::Nested>::type&
-    lhsExpression() const { return *((typename internal::remove_all<typename LhsXprType::Nested>::type*)&m_lhs_xpr); }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename RhsXprType::Nested>::type&
-    rhsExpression() const { return m_rhs_xpr; }
-
-  protected:
-    typename internal::remove_all<typename LhsXprType::Nested>::type& m_lhs_xpr;
-    const typename internal::remove_all<typename RhsXprType::Nested>::type& m_rhs_xpr;
-};
-
-
-template<typename LeftArgType, typename RightArgType, typename Device>
-struct TensorEvaluator<const TensorAssignOp<LeftArgType, RightArgType>, Device>
-{
-  typedef TensorAssignOp<LeftArgType, RightArgType> XprType;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef typename TensorEvaluator<RightArgType, Device>::Dimensions Dimensions;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = TensorEvaluator<LeftArgType, Device>::IsAligned & TensorEvaluator<RightArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<LeftArgType, Device>::PacketAccess & TensorEvaluator<RightArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<LeftArgType, Device>::Layout,
-    RawAccess = TensorEvaluator<LeftArgType, Device>::RawAccess
-  };
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) :
-      m_leftImpl(op.lhsExpression(), device),
-      m_rightImpl(op.rhsExpression(), device)
-  {
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<LeftArgType, Device>::Layout) == static_cast<int>(TensorEvaluator<RightArgType, Device>::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE);
-  }
-
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const
-  {
-    // The dimensions of the lhs and the rhs tensors should be equal to prevent
-    // overflows and ensure the result is fully initialized.
-    // TODO: use left impl instead if right impl dimensions are known at compile time.
-    return m_rightImpl.dimensions();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) {
-    eigen_assert(dimensions_match(m_leftImpl.dimensions(), m_rightImpl.dimensions()));
-    m_leftImpl.evalSubExprsIfNeeded(NULL);
-    // If the lhs provides raw access to its storage area (i.e. if m_leftImpl.data() returns a non
-    // null value), attempt to evaluate the rhs expression in place. Returns true iff in place
-    // evaluation isn't supported and the caller still needs to manually assign the values generated
-    // by the rhs to the lhs.
-    return m_rightImpl.evalSubExprsIfNeeded(m_leftImpl.data());
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_leftImpl.cleanup();
-    m_rightImpl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalScalar(Index i) {
-    m_leftImpl.coeffRef(i) = m_rightImpl.coeff(i);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalPacket(Index i) {
-    const int LhsStoreMode = TensorEvaluator<LeftArgType, Device>::IsAligned ? Aligned : Unaligned;
-    const int RhsLoadMode = TensorEvaluator<RightArgType, Device>::IsAligned ? Aligned : Unaligned;
-    m_leftImpl.template writePacket<LhsStoreMode>(i, m_rightImpl.template packet<RhsLoadMode>(i));
-  }
-  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const
-  {
-    return m_leftImpl.coeff(index);
-  }
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const
-  {
-    return m_leftImpl.template packet<LoadMode>(index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    // We assume that evalPacket or evalScalar is called to perform the
-    // assignment and account for the cost of the write here, but reduce left
-    // cost by one load because we are using m_leftImpl.coeffRef.
-    TensorOpCost left = m_leftImpl.costPerCoeff(vectorized);
-    return m_rightImpl.costPerCoeff(vectorized) +
-           TensorOpCost(
-               numext::maxi(0.0, left.bytes_loaded() - sizeof(CoeffReturnType)),
-               left.bytes_stored(), left.compute_cycles()) +
-           TensorOpCost(0, sizeof(CoeffReturnType), 0, vectorized, PacketSize);
-  }
-
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<LeftArgType, Device>& left_impl() const { return m_leftImpl; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<RightArgType, Device>& right_impl() const { return m_rightImpl; }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return m_leftImpl.data(); }
-
- private:
-  TensorEvaluator<LeftArgType, Device> m_leftImpl;
-  TensorEvaluator<RightArgType, Device> m_rightImpl;
-};
-
-}
-
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_ASSIGN_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h
deleted file mode 100644
index 7a45a5cf48e149..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h
+++ /dev/null
@@ -1,1010 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_BASE_H
-#define EIGEN_CXX11_TENSOR_TENSOR_BASE_H
-
-// clang-format off
-
-namespace Eigen {
-
-/** \class TensorBase
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief The tensor base class.
-  *
-  * This class is the common parent of the Tensor and TensorMap class, thus
-  * making it possible to use either class interchangably in expressions.
-  */
-
-template<typename Derived>
-class TensorBase<Derived, ReadOnlyAccessors>
-{
-  public:
-    typedef internal::traits<Derived> DerivedTraits;
-    typedef typename DerivedTraits::Scalar Scalar;
-    typedef typename DerivedTraits::Index Index;
-    typedef typename internal::remove_const<Scalar>::type CoeffReturnType;
-    static const int NumDimensions = DerivedTraits::NumDimensions;
-
-    // Generic nullary operation support.
-    template <typename CustomNullaryOp> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseNullaryOp<CustomNullaryOp, const Derived>
-    nullaryExpr(const CustomNullaryOp& func) const {
-      return TensorCwiseNullaryOp<CustomNullaryOp, const Derived>(derived(), func);
-    }
-
-    // Coefficient-wise nullary operators
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived>
-    constant(const Scalar& value) const {
-      return nullaryExpr(internal::scalar_constant_op<Scalar>(value));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseNullaryOp<internal::UniformRandomGenerator<Scalar>, const Derived>
-    random() const {
-      return nullaryExpr(internal::UniformRandomGenerator<Scalar>());
-    }
-    template <typename RandomGenerator> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseNullaryOp<RandomGenerator, const Derived>
-    random(const RandomGenerator& gen = RandomGenerator()) const {
-      return nullaryExpr(gen);
-    }
-
-    // Tensor generation
-    template <typename Generator> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorGeneratorOp<Generator, const Derived>
-    generate(const Generator& generator) const {
-      return TensorGeneratorOp<Generator, const Derived>(derived(), generator);
-    }
-
-    // Generic unary operation support.
-    template <typename CustomUnaryOp> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<CustomUnaryOp, const Derived>
-    unaryExpr(const CustomUnaryOp& func) const {
-      return TensorCwiseUnaryOp<CustomUnaryOp, const Derived>(derived(), func);
-    }
-
-    // Coefficient-wise unary operators
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived>
-    operator-() const {
-      return unaryExpr(internal::scalar_opposite_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
-    sqrt() const {
-      return unaryExpr(internal::scalar_sqrt_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived>
-    sign() const {
-      return unaryExpr(internal::scalar_sign_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_rsqrt_op<Scalar>, const Derived>
-    rsqrt() const {
-      return unaryExpr(internal::scalar_rsqrt_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived>
-    square() const {
-      return unaryExpr(internal::scalar_square_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived>
-    cube() const {
-      return unaryExpr(internal::scalar_cube_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
-    inverse() const {
-      return unaryExpr(internal::scalar_inverse_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_tanh_op<Scalar>, const Derived>
-    tanh() const {
-      return unaryExpr(internal::scalar_tanh_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_lgamma_op<Scalar>, const Derived>
-    lgamma() const {
-      return unaryExpr(internal::scalar_lgamma_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_digamma_op<Scalar>, const Derived>
-    digamma() const {
-      return unaryExpr(internal::scalar_digamma_op<Scalar>());
-    }
-
-    // igamma(a = this, x = other)
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_igamma_op<Scalar>, const Derived, const OtherDerived>
-    igamma(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_igamma_op<Scalar>());
-    }
-
-    // igammac(a = this, x = other)
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_igammac_op<Scalar>, const Derived, const OtherDerived>
-    igammac(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_igammac_op<Scalar>());
-    }
-
-    // zeta(x = this, q = other)
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const OtherDerived>
-    zeta(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_zeta_op<Scalar>());
-    }
-
-    // polygamma(n = this, x = other)
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const Derived, const OtherDerived>
-    polygamma(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_polygamma_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_erf_op<Scalar>, const Derived>
-    erf() const {
-      return unaryExpr(internal::scalar_erf_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_erfc_op<Scalar>, const Derived>
-    erfc() const {
-      return unaryExpr(internal::scalar_erfc_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_sigmoid_op<Scalar>, const Derived>
-    sigmoid() const {
-      return unaryExpr(internal::scalar_sigmoid_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived>
-    exp() const {
-      return unaryExpr(internal::scalar_exp_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived>
-    log() const {
-      return unaryExpr(internal::scalar_log_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_log1p_op<Scalar>, const Derived>
-    log1p() const {
-      return unaryExpr(internal::scalar_log1p_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
-    abs() const {
-      return unaryExpr(internal::scalar_abs_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Derived>
-    conjugate() const {
-      return unaryExpr(internal::scalar_conjugate_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::bind2nd_op<internal::scalar_pow_op<Scalar,Scalar> >, const Derived>
-    pow(Scalar exponent) const {
-      return unaryExpr(internal::bind2nd_op<internal::scalar_pow_op<Scalar,Scalar> >(exponent));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_real_op<Scalar>, const Derived>
-    real() const {
-      return unaryExpr(internal::scalar_real_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_imag_op<Scalar>, const Derived>
-    imag() const {
-      return unaryExpr(internal::scalar_imag_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::bind2nd_op<internal::scalar_sum_op<Scalar,Scalar> >, const Derived>
-    operator+ (Scalar rhs) const {
-      return unaryExpr(internal::bind2nd_op<internal::scalar_sum_op<Scalar,Scalar> >(rhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE friend
-    const TensorCwiseUnaryOp<internal::bind1st_op<internal::scalar_sum_op<Scalar> >, const Derived>
-    operator+ (Scalar lhs, const Derived& rhs) {
-      return rhs.unaryExpr(internal::bind1st_op<internal::scalar_sum_op<Scalar> >(lhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::bind2nd_op<internal::scalar_difference_op<Scalar,Scalar> >, const Derived>
-    operator- (Scalar rhs) const {
-      EIGEN_STATIC_ASSERT((NumTraits<Scalar>::IsSigned || internal::is_same<Scalar, const std::complex<float> >::value), YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return unaryExpr(internal::bind2nd_op<internal::scalar_difference_op<Scalar,Scalar> >(rhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE friend
-    const TensorCwiseUnaryOp<internal::bind1st_op<internal::scalar_difference_op<Scalar> >, const Derived>
-    operator- (Scalar lhs, const Derived& rhs) {
-      return rhs.unaryExpr(internal::bind1st_op<internal::scalar_difference_op<Scalar> >(lhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::bind2nd_op<internal::scalar_product_op<Scalar,Scalar> >, const Derived>
-    operator* (Scalar rhs) const {
-      return unaryExpr(internal::bind2nd_op<internal::scalar_product_op<Scalar,Scalar> >(rhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE friend
-    const TensorCwiseUnaryOp<internal::bind1st_op<internal::scalar_product_op<Scalar> >, const Derived>
-    operator* (Scalar lhs, const Derived& rhs) {
-      return rhs.unaryExpr(internal::bind1st_op<internal::scalar_product_op<Scalar> >(lhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::bind2nd_op<internal::scalar_quotient_op<Scalar,Scalar> >, const Derived>
-    operator/ (Scalar rhs) const {
-      return unaryExpr(internal::bind2nd_op<internal::scalar_quotient_op<Scalar,Scalar> >(rhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE friend
-    const TensorCwiseUnaryOp<internal::bind1st_op<internal::scalar_quotient_op<Scalar> >, const Derived>
-    operator/ (Scalar lhs, const Derived& rhs) {
-      return rhs.unaryExpr(internal::bind1st_op<internal::scalar_quotient_op<Scalar> >(lhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_mod_op<Scalar>, const Derived>
-    operator% (Scalar rhs) const {
-      EIGEN_STATIC_ASSERT(NumTraits<Scalar>::IsInteger, YOU_MADE_A_PROGRAMMING_MISTAKE_TRY_MOD);
-      return unaryExpr(internal::scalar_mod_op<Scalar>(rhs));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived> >
-    cwiseMax(Scalar threshold) const {
-      return cwiseMax(constant(threshold));
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived> >
-    cwiseMin(Scalar threshold) const {
-      return cwiseMin(constant(threshold));
-    }
-
-    template <typename NewType> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorConversionOp<NewType, const Derived>
-    cast() const {
-      return TensorConversionOp<NewType, const Derived>(derived());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_round_op<Scalar>, const Derived>
-    round() const {
-      return unaryExpr(internal::scalar_round_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_ceil_op<Scalar>, const Derived>
-    ceil() const {
-      return unaryExpr(internal::scalar_ceil_op<Scalar>());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_floor_op<Scalar>, const Derived>
-    floor() const {
-      return unaryExpr(internal::scalar_floor_op<Scalar>());
-    }
-
-    // Generic binary operation support.
-    template <typename CustomBinaryOp, typename OtherDerived> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>
-    binaryExpr(const OtherDerived& other, const CustomBinaryOp& func) const {
-      return TensorCwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>(derived(), other, func);
-    }
-
-    // Coefficient-wise binary operators.
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_sum_op<Scalar>, const Derived, const OtherDerived>
-    operator+(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_sum_op<Scalar>());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_difference_op<Scalar>, const Derived, const OtherDerived>
-    operator-(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_difference_op<Scalar>());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_product_op<Scalar>, const Derived, const OtherDerived>
-    operator*(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_product_op<Scalar>());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
-    operator/(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_quotient_op<Scalar>());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>
-    cwiseMax(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_max_op<Scalar>());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>
-    cwiseMin(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_min_op<Scalar>());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>
-    operator&&(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_boolean_and_op());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>
-    operator||(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_boolean_or_op());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>
-    operator^(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_boolean_xor_op());
-    }
-
-    // Comparisons and tests.
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_LT>, const Derived, const OtherDerived>
-    operator<(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_LT>());
-    }
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_LE>, const Derived, const OtherDerived>
-    operator<=(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_LE>());
-    }
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_GT>, const Derived, const OtherDerived>
-    operator>(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_GT>());
-    }
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_GE>, const Derived, const OtherDerived>
-    operator>=(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_GE>());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_EQ>, const Derived, const OtherDerived>
-    operator==(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_EQ>());
-    }
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_NEQ>, const Derived, const OtherDerived>
-    operator!=(const OtherDerived& other) const {
-      return binaryExpr(other.derived(), internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_NEQ>());
-    }
-
-    // comparisons and tests for Scalars
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_LT>, const Derived, const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived> >
-    operator<(Scalar threshold) const {
-      return operator<(constant(threshold));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_LE>, const Derived, const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived> >
-    operator<=(Scalar threshold) const {
-      return operator<=(constant(threshold));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_GT>, const Derived, const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived> >
-    operator>(Scalar threshold) const {
-      return operator>(constant(threshold));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_GE>, const Derived, const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived> >
-    operator>=(Scalar threshold) const {
-      return operator>=(constant(threshold));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_EQ>, const Derived, const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived> >
-    operator==(Scalar threshold) const {
-      return operator==(constant(threshold));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseBinaryOp<internal::scalar_cmp_op<Scalar, Scalar, internal::cmp_NEQ>, const Derived, const TensorCwiseNullaryOp<internal::scalar_constant_op<Scalar>, const Derived> >
-    operator!=(Scalar threshold) const {
-      return operator!=(constant(threshold));
-    }
-
-    // Checks
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_isnan_op<Scalar>, const Derived>
-    (isnan)() const {
-      return unaryExpr(internal::scalar_isnan_op<Scalar>());
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_isinf_op<Scalar>, const Derived>
-    (isinf)() const {
-      return unaryExpr(internal::scalar_isinf_op<Scalar>());
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const TensorCwiseUnaryOp<internal::scalar_isfinite_op<Scalar>, const Derived>
-    (isfinite)() const {
-      return unaryExpr(internal::scalar_isfinite_op<Scalar>());
-    }
-
-    // Coefficient-wise ternary operators.
-    template<typename ThenDerived, typename ElseDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorSelectOp<const Derived, const ThenDerived, const ElseDerived>
-    select(const ThenDerived& thenTensor, const ElseDerived& elseTensor) const {
-      return TensorSelectOp<const Derived, const ThenDerived, const ElseDerived>(derived(), thenTensor.derived(), elseTensor.derived());
-    }
-
-    // Contractions.
-    typedef Eigen::IndexPair<Index> DimensionPair;
-
-    template<typename OtherDerived, typename Dimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorContractionOp<const Dimensions, const Derived, const OtherDerived>
-    contract(const OtherDerived& other, const Dimensions& dims) const {
-      return TensorContractionOp<const Dimensions, const Derived, const OtherDerived>(derived(), other.derived(), dims);
-    }
-
-    // Convolutions.
-    template<typename KernelDerived, typename Dimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorConvolutionOp<const Dimensions, const Derived, const KernelDerived>
-    convolve(const KernelDerived& kernel, const Dimensions& dims) const {
-      return TensorConvolutionOp<const Dimensions, const Derived, const KernelDerived>(derived(), kernel.derived(), dims);
-    }
-
-    // Fourier transforms
-    template <int FFTDataType, int FFTDirection, typename FFT> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorFFTOp<const FFT, const Derived, FFTDataType, FFTDirection>
-    fft(const FFT& fft) const {
-      return TensorFFTOp<const FFT, const Derived, FFTDataType, FFTDirection>(derived(), fft);
-    }
-
-    // Scan.
-    typedef TensorScanOp<internal::SumReducer<CoeffReturnType>, const Derived> TensorScanSumOp;
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorScanSumOp
-    cumsum(const Index& axis, bool exclusive = false) const {
-      return TensorScanSumOp(derived(), axis, exclusive);
-    }
-
-    typedef TensorScanOp<internal::ProdReducer<CoeffReturnType>, const Derived> TensorScanProdOp;
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorScanProdOp
-    cumprod(const Index& axis, bool exclusive = false) const {
-      return TensorScanProdOp(derived(), axis, exclusive);
-    }
-
-    template <typename Reducer>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorScanOp<Reducer, const Derived>
-    scan(const Index& axis, const Reducer& reducer, bool exclusive = false) const {
-      return TensorScanOp<Reducer, const Derived>(derived(), axis, exclusive, reducer);
-    }
-
-    // Reductions.
-    template <typename Dims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::SumReducer<CoeffReturnType>, const Dims, const Derived>
-    sum(const Dims& dims) const {
-      return TensorReductionOp<internal::SumReducer<CoeffReturnType>, const Dims, const Derived>(derived(), dims, internal::SumReducer<CoeffReturnType>());
-    }
-
-    const TensorReductionOp<internal::SumReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>
-    sum() const {
-      DimensionList<Index, NumDimensions> in_dims;
-      return TensorReductionOp<internal::SumReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>(derived(), in_dims, internal::SumReducer<CoeffReturnType>());
-    }
-
-    template <typename Dims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::MeanReducer<CoeffReturnType>, const Dims, const Derived>
-    mean(const Dims& dims) const {
-      return TensorReductionOp<internal::MeanReducer<CoeffReturnType>, const Dims, const Derived>(derived(), dims, internal::MeanReducer<CoeffReturnType>());
-    }
-
-    const TensorReductionOp<internal::MeanReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>
-    mean() const {
-      DimensionList<Index, NumDimensions> in_dims;
-      return TensorReductionOp<internal::MeanReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>(derived(), in_dims, internal::MeanReducer<CoeffReturnType>());
-    }
-
-    template <typename Dims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::ProdReducer<CoeffReturnType>, const Dims, const Derived>
-    prod(const Dims& dims) const {
-      return TensorReductionOp<internal::ProdReducer<CoeffReturnType>, const Dims, const Derived>(derived(), dims, internal::ProdReducer<CoeffReturnType>());
-    }
-
-    const TensorReductionOp<internal::ProdReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>
-    prod() const {
-      DimensionList<Index, NumDimensions> in_dims;
-      return TensorReductionOp<internal::ProdReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>(derived(), in_dims, internal::ProdReducer<CoeffReturnType>());
-    }
-
-    template <typename Dims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::MaxReducer<CoeffReturnType>, const Dims, const Derived>
-    maximum(const Dims& dims) const {
-      return TensorReductionOp<internal::MaxReducer<CoeffReturnType>, const Dims, const Derived>(derived(), dims, internal::MaxReducer<CoeffReturnType>());
-    }
-
-    const TensorReductionOp<internal::MaxReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>
-    maximum() const {
-      DimensionList<Index, NumDimensions> in_dims;
-      return TensorReductionOp<internal::MaxReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>(derived(), in_dims, internal::MaxReducer<CoeffReturnType>());
-    }
-
-    template <typename Dims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::MinReducer<CoeffReturnType>, const Dims, const Derived>
-    minimum(const Dims& dims) const {
-      return TensorReductionOp<internal::MinReducer<CoeffReturnType>, const Dims, const Derived>(derived(), dims, internal::MinReducer<CoeffReturnType>());
-    }
-
-    const TensorReductionOp<internal::MinReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>
-    minimum() const {
-      DimensionList<Index, NumDimensions> in_dims;
-      return TensorReductionOp<internal::MinReducer<CoeffReturnType>, const DimensionList<Index, NumDimensions>, const Derived>(derived(), in_dims, internal::MinReducer<CoeffReturnType>());
-    }
-
-    template <typename Dims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::AndReducer, const Dims, const TensorConversionOp<bool, const Derived> >
-    all(const Dims& dims) const {
-      return cast<bool>().reduce(dims, internal::AndReducer());
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::AndReducer, const DimensionList<Index, NumDimensions>, const TensorConversionOp<bool, const Derived> >
-    all() const {
-      DimensionList<Index, NumDimensions> in_dims;
-      return cast<bool>().reduce(in_dims, internal::AndReducer());
-    }
-
-    template <typename Dims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::OrReducer, const Dims, const TensorConversionOp<bool, const Derived> >
-    any(const Dims& dims) const {
-      return cast<bool>().reduce(dims, internal::OrReducer());
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<internal::OrReducer, const DimensionList<Index, NumDimensions>, const TensorConversionOp<bool, const Derived> >
-    any() const {
-      DimensionList<Index, NumDimensions> in_dims;
-      return cast<bool>().reduce(in_dims, internal::OrReducer());
-    }
-
-   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorTupleReducerOp<
-      internal::ArgMaxTupleReducer<Tuple<Index, CoeffReturnType> >,
-      const array<Index, NumDimensions>, const Derived>
-    argmax() const {
-      array<Index, NumDimensions> in_dims;
-      for (int d = 0; d < NumDimensions; ++d) in_dims[d] = d;
-      return TensorTupleReducerOp<
-        internal::ArgMaxTupleReducer<Tuple<Index, CoeffReturnType> >,
-        const array<Index, NumDimensions>,
-        const Derived>(derived(), internal::ArgMaxTupleReducer<Tuple<Index, CoeffReturnType> >(), -1, in_dims);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorTupleReducerOp<
-      internal::ArgMinTupleReducer<Tuple<Index, CoeffReturnType> >,
-      const array<Index, NumDimensions>, const Derived>
-    argmin() const {
-      array<Index, NumDimensions> in_dims;
-      for (int d = 0; d < NumDimensions; ++d) in_dims[d] = d;
-      return TensorTupleReducerOp<
-        internal::ArgMinTupleReducer<Tuple<Index, CoeffReturnType> >,
-        const array<Index, NumDimensions>,
-        const Derived>(derived(), internal::ArgMinTupleReducer<Tuple<Index, CoeffReturnType> >(), -1, in_dims);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorTupleReducerOp<
-      internal::ArgMaxTupleReducer<Tuple<Index, CoeffReturnType> >,
-      const array<Index, 1>, const Derived>
-    argmax(const int return_dim) const {
-      array<Index, 1> in_dims;
-      in_dims[0] = return_dim;
-      return TensorTupleReducerOp<
-        internal::ArgMaxTupleReducer<Tuple<Index, CoeffReturnType> >,
-        const array<Index, 1>,
-        const Derived>(derived(), internal::ArgMaxTupleReducer<Tuple<Index, CoeffReturnType> >(), return_dim, in_dims);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorTupleReducerOp<
-      internal::ArgMinTupleReducer<Tuple<Index, CoeffReturnType> >,
-      const array<Index, 1>, const Derived>
-    argmin(const int return_dim) const {
-      array<Index, 1> in_dims;
-      in_dims[0] = return_dim;
-      return TensorTupleReducerOp<
-        internal::ArgMinTupleReducer<Tuple<Index, CoeffReturnType> >,
-        const array<Index, 1>,
-        const Derived>(derived(), internal::ArgMinTupleReducer<Tuple<Index, CoeffReturnType> >(), return_dim, in_dims);
-    }
-
-    template <typename Reducer, typename Dims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReductionOp<Reducer, const Dims, const Derived>
-    reduce(const Dims& dims, const Reducer& reducer) const {
-      return TensorReductionOp<Reducer, const Dims, const Derived>(derived(), dims, reducer);
-    }
-
-    template <typename Broadcast> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorBroadcastingOp<const Broadcast, const Derived>
-    broadcast(const Broadcast& broadcast) const {
-      return TensorBroadcastingOp<const Broadcast, const Derived>(derived(), broadcast);
-    }
-
-    template <typename Axis, typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorConcatenationOp<Axis, const Derived, const OtherDerived>
-    concatenate(const OtherDerived& other, Axis axis) const {
-      return TensorConcatenationOp<Axis, const Derived, const OtherDerived>(derived(), other.derived(), axis);
-    }
-
-    template <typename PatchDims> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorPatchOp<const PatchDims, const Derived>
-    extract_patches(const PatchDims& patch_dims) const {
-      return TensorPatchOp<const PatchDims, const Derived>(derived(), patch_dims);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorImagePatchOp<Dynamic, Dynamic, const Derived>
-    extract_image_patches(const Index patch_rows = 1, const Index patch_cols = 1,
-                          const Index row_stride = 1, const Index col_stride = 1,
-                          const Index in_row_stride = 1, const Index in_col_stride = 1,
-                          const PaddingType padding_type = PADDING_SAME, const Scalar padding_value = Scalar(0)) const {
-      return TensorImagePatchOp<Dynamic, Dynamic, const Derived>(derived(), patch_rows, patch_cols, row_stride, col_stride,
-                                                                 in_row_stride, in_col_stride, 1, 1, padding_type, padding_value);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorImagePatchOp<Dynamic, Dynamic, const Derived>
-    extract_image_patches(const Index patch_rows, const Index patch_cols,
-                          const Index row_stride, const Index col_stride,
-                          const Index in_row_stride, const Index in_col_stride,
-                          const Index row_inflate_stride, const Index col_inflate_stride,
-                          const Index padding_top, const Index padding_bottom,
-                          const Index padding_left,const Index padding_right,
-                          const Scalar padding_value) const {
-      return TensorImagePatchOp<Dynamic, Dynamic, const Derived>(derived(), patch_rows, patch_cols, row_stride, col_stride,
-                                                                 in_row_stride, in_col_stride, row_inflate_stride, col_inflate_stride,
-                                                                 padding_top, padding_bottom, padding_left, padding_right, padding_value);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorVolumePatchOp<Dynamic, Dynamic, Dynamic, const Derived>
-    extract_volume_patches(const Index patch_planes, const Index patch_rows, const Index patch_cols,
-                           const Index plane_stride = 1, const Index row_stride = 1, const Index col_stride = 1,
-                           const PaddingType padding_type = PADDING_SAME, const Scalar padding_value = Scalar(0)) const {
-      return TensorVolumePatchOp<Dynamic, Dynamic, Dynamic, const Derived>(derived(), patch_planes, patch_rows, patch_cols, plane_stride, row_stride, col_stride, 1, 1, 1, 1, 1, 1, padding_type, padding_value);
-    }
-
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorVolumePatchOp<Dynamic, Dynamic, Dynamic, const Derived>
-    extract_volume_patches(const Index patch_planes, const Index patch_rows, const Index patch_cols,
-                           const Index plane_stride, const Index row_stride, const Index col_stride,
-                           const Index plane_inflate_stride, const Index row_inflate_stride, const Index col_inflate_stride,
-                           const Index padding_top_z, const Index padding_bottom_z,
-                           const Index padding_top, const Index padding_bottom,
-                           const Index padding_left, const Index padding_right, const Scalar padding_value = Scalar(0)) const {
-      return TensorVolumePatchOp<Dynamic, Dynamic, Dynamic, const Derived>(derived(), patch_planes, patch_rows, patch_cols, plane_stride, row_stride, col_stride, 1, 1, 1, plane_inflate_stride, row_inflate_stride, col_inflate_stride, padding_top_z, padding_bottom_z, padding_top, padding_bottom, padding_left, padding_right, padding_value);
-    }
-
-    // Morphing operators.
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorLayoutSwapOp<const Derived>
-    swap_layout() const {
-      return TensorLayoutSwapOp<const Derived>(derived());
-    }
-    template <typename NewDimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReshapingOp<const NewDimensions, const Derived>
-    reshape(const NewDimensions& newDimensions) const {
-      return TensorReshapingOp<const NewDimensions, const Derived>(derived(), newDimensions);
-    }
-    template <typename StartIndices, typename Sizes> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorSlicingOp<const StartIndices, const Sizes, const Derived>
-    slice(const StartIndices& startIndices, const Sizes& sizes) const {
-      return TensorSlicingOp<const StartIndices, const Sizes, const Derived>(derived(), startIndices, sizes);
-    }
-    template <typename StartIndices, typename StopIndices, typename Strides> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorStridingSlicingOp<const StartIndices, const StopIndices, const Strides, const Derived>
-    stridedSlice(const StartIndices& startIndices, const StopIndices& stopIndices, const Strides& strides) const {
-      return TensorStridingSlicingOp<const StartIndices, const StopIndices, const Strides,
-                                const Derived>(derived(), startIndices, stopIndices, strides);
-    }
-    template <Index DimId> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorChippingOp<DimId, const Derived>
-    chip(const Index offset) const {
-      return TensorChippingOp<DimId, const Derived>(derived(), offset, DimId);
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorChippingOp<Dynamic, const Derived>
-    chip(const Index offset, const Index dim) const {
-      return TensorChippingOp<Dynamic, const Derived>(derived(), offset, dim);
-    }
-    template <typename ReverseDimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReverseOp<const ReverseDimensions, const Derived>
-    reverse(const ReverseDimensions& rev) const {
-      return TensorReverseOp<const ReverseDimensions, const Derived>(derived(), rev);
-    }
-    template <typename PaddingDimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorPaddingOp<const PaddingDimensions, const Derived>
-    pad(const PaddingDimensions& padding) const {
-      return TensorPaddingOp<const PaddingDimensions, const Derived>(derived(), padding, internal::scalar_cast_op<int, Scalar>()(0));
-    }
-    template <typename PaddingDimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorPaddingOp<const PaddingDimensions, const Derived>
-    pad(const PaddingDimensions& padding, const Scalar padding_value) const {
-      return TensorPaddingOp<const PaddingDimensions, const Derived>(derived(), padding, padding_value);
-    }
-    template <typename Shuffle> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorShufflingOp<const Shuffle, const Derived>
-    shuffle(const Shuffle& shuffle) const {
-      return TensorShufflingOp<const Shuffle, const Derived>(derived(), shuffle);
-    }
-    template <typename Strides> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorStridingOp<const Strides, const Derived>
-    stride(const Strides& strides) const {
-      return TensorStridingOp<const Strides, const Derived>(derived(), strides);
-    }
-    template <typename Strides> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorInflationOp<const Strides, const Derived>
-    inflate(const Strides& strides) const {
-      return TensorInflationOp<const Strides, const Derived>(derived(), strides);
-    }
-
-    // Returns a tensor containing index/value tuples
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorIndexTupleOp<const Derived>
-    index_tuples() const {
-      return TensorIndexTupleOp<const Derived>(derived());
-    }
-
-    // Support for custom unary and binary operations
-    template <typename CustomUnaryFunc>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCustomUnaryOp<const CustomUnaryFunc, const Derived> customOp(const CustomUnaryFunc& op) const {
-      return TensorCustomUnaryOp<const CustomUnaryFunc, const Derived>(derived(), op);
-    }
-    template <typename OtherDerived, typename CustomBinaryFunc>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorCustomBinaryOp<const CustomBinaryFunc, const Derived, const OtherDerived> customOp(const OtherDerived& other, const CustomBinaryFunc& op) const {
-      return TensorCustomBinaryOp<const CustomBinaryFunc, const Derived, const OtherDerived>(derived(), other, op);
-    }
-
-    // Force the evaluation of the expression.
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorForcedEvalOp<const Derived> eval() const {
-      return TensorForcedEvalOp<const Derived>(derived());
-    }
-
-  protected:
-    template <typename Scalar, int NumIndices, int Options, typename IndexType> friend class Tensor;
-    template <typename Scalar, typename Dimensions, int Option, typename IndexTypes> friend class TensorFixedSize;
-    template <typename OtherDerived, int AccessLevel> friend class TensorBase;
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Derived& derived() const { return *static_cast<const Derived*>(this); }
-};
-
-template<typename Derived, int AccessLevel = internal::accessors_level<Derived>::value>
-class TensorBase : public TensorBase<Derived, ReadOnlyAccessors> {
- public:
-    typedef internal::traits<Derived> DerivedTraits;
-    typedef typename DerivedTraits::Scalar Scalar;
-    typedef typename DerivedTraits::Index Index;
-    typedef Scalar CoeffReturnType;
-    static const int NumDimensions = DerivedTraits::NumDimensions;
-
-    template <typename Scalar, int NumIndices, int Options, typename IndexType> friend class Tensor;
-    template <typename Scalar, typename Dimensions, int Option, typename IndexTypes> friend class TensorFixedSize;
-    template <typename OtherDerived, int OtherAccessLevel> friend class TensorBase;
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& setZero() {
-      return setConstant(Scalar(0));
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& setConstant(const Scalar& val) {
-      return derived() = this->constant(val);
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& setRandom() {
-      return derived() = this->random();
-    }
-    template <typename RandomGenerator> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& setRandom() {
-      return derived() = this->template random<RandomGenerator>();
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& setValues(
-        const typename internal::Initializer<Derived, NumDimensions>::InitList& vals) {
-      TensorEvaluator<Derived, DefaultDevice> eval(derived(), DefaultDevice());
-      internal::initialize_tensor<Derived, NumDimensions>(eval, vals);
-      return derived();
-    }
-#endif  // EIGEN_HAS_VARIADIC_TEMPLATES
-
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator+=(const OtherDerived& other) {
-      return derived() = derived() + other.derived();
-    }
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator-=(const OtherDerived& other) {
-      return derived() = derived() - other.derived();
-    }
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator*=(const OtherDerived& other) {
-      return derived() = derived() * other.derived();
-    }
-    template<typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Derived& operator/=(const OtherDerived& other) {
-      return derived() = derived() / other.derived();
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorLayoutSwapOp<const Derived>
-    swap_layout() const {
-      return TensorLayoutSwapOp<const Derived>(derived());
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorLayoutSwapOp<Derived>
-    swap_layout() {
-      return TensorLayoutSwapOp<Derived>(derived());
-    }
-
-    template <typename Axis, typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorConcatenationOp<const Axis, const Derived, const OtherDerived>
-    concatenate(const OtherDerived& other, const Axis& axis) const {
-      return TensorConcatenationOp<const Axis, const Derived, const OtherDerived>(derived(), other, axis);
-    }
-    template <typename Axis, typename OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorConcatenationOp<const Axis, Derived, OtherDerived>
-    concatenate(const OtherDerived& other, const Axis& axis) {
-      return TensorConcatenationOp<const Axis, Derived, OtherDerived>(derived(), other, axis);
-    }
-
-    template <typename NewDimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReshapingOp<const NewDimensions, const Derived>
-    reshape(const NewDimensions& newDimensions) const {
-      return TensorReshapingOp<const NewDimensions, const Derived>(derived(), newDimensions);
-    }
-    template <typename NewDimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorReshapingOp<const NewDimensions, Derived>
-    reshape(const NewDimensions& newDimensions) {
-      return TensorReshapingOp<const NewDimensions, Derived>(derived(), newDimensions);
-    }
-
-    template <typename StartIndices, typename Sizes> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorSlicingOp<const StartIndices, const Sizes, const Derived>
-    slice(const StartIndices& startIndices, const Sizes& sizes) const {
-      return TensorSlicingOp<const StartIndices, const Sizes, const Derived>(derived(), startIndices, sizes);
-    }
-    template <typename StartIndices, typename Sizes> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorSlicingOp<const StartIndices, const Sizes, Derived>
-    slice(const StartIndices& startIndices, const Sizes& sizes) {
-      return TensorSlicingOp<const StartIndices, const Sizes, Derived>(derived(), startIndices, sizes);
-    }
-
-    template <typename StartIndices, typename StopIndices, typename Strides> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorStridingSlicingOp<const StartIndices, const StopIndices, const Strides, const Derived>
-    stridedSlice(const StartIndices& startIndices, const StopIndices& stopIndices, const Strides& strides) const {
-      return TensorStridingSlicingOp<const StartIndices, const StopIndices, const Strides,
-                                const Derived>(derived(), startIndices, stopIndices, strides);
-    }
-    template <typename StartIndices, typename StopIndices, typename Strides> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorStridingSlicingOp<const StartIndices, const StopIndices, const Strides, Derived>
-    stridedSlice(const StartIndices& startIndices, const StopIndices& stopIndices, const Strides& strides) {
-      return TensorStridingSlicingOp<const StartIndices, const StopIndices, const Strides,
-                                Derived>(derived(), startIndices, stopIndices, strides);
-    }
-
-    template <DenseIndex DimId> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorChippingOp<DimId, const Derived>
-    chip(const Index offset) const {
-      return TensorChippingOp<DimId, const Derived>(derived(), offset, DimId);
-    }
-    template <Index DimId> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorChippingOp<DimId, Derived>
-    chip(const Index offset) {
-      return TensorChippingOp<DimId, Derived>(derived(), offset, DimId);
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorChippingOp<Dynamic, const Derived>
-    chip(const Index offset, const Index dim) const {
-      return TensorChippingOp<Dynamic, const Derived>(derived(), offset, dim);
-    }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorChippingOp<Dynamic, Derived>
-    chip(const Index offset, const Index dim) {
-      return TensorChippingOp<Dynamic, Derived>(derived(), offset, dim);
-    }
-
-    template <typename ReverseDimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorReverseOp<const ReverseDimensions, const Derived>
-    reverse(const ReverseDimensions& rev) const {
-      return TensorReverseOp<const ReverseDimensions, const Derived>(derived(), rev);
-    }
-    template <typename ReverseDimensions> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorReverseOp<const ReverseDimensions, Derived>
-    reverse(const ReverseDimensions& rev) {
-      return TensorReverseOp<const ReverseDimensions, Derived>(derived(), rev);
-    }
-
-    template <typename Shuffle> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorShufflingOp<const Shuffle, const Derived>
-    shuffle(const Shuffle& shuffle) const {
-      return TensorShufflingOp<const Shuffle, const Derived>(derived(), shuffle);
-    }
-    template <typename Shuffle> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorShufflingOp<const Shuffle, Derived>
-    shuffle(const Shuffle& shuffle) {
-      return TensorShufflingOp<const Shuffle, Derived>(derived(), shuffle);
-    }
-
-    template <typename Strides> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TensorStridingOp<const Strides, const Derived>
-    stride(const Strides& strides) const {
-      return TensorStridingOp<const Strides, const Derived>(derived(), strides);
-    }
-    template <typename Strides> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorStridingOp<const Strides, Derived>
-    stride(const Strides& strides) {
-      return TensorStridingOp<const Strides, Derived>(derived(), strides);
-    }
-
-    // Select the device on which to evaluate the expression.
-    template <typename DeviceType>
-    TensorDevice<Derived, DeviceType> device(const DeviceType& device) {
-      return TensorDevice<Derived, DeviceType>(device, derived());
-    }
-
- protected:
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Derived& derived() { return *static_cast<Derived*>(this); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Derived& derived() const { return *static_cast<const Derived*>(this); }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_BASE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBroadcasting.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBroadcasting.h
deleted file mode 100644
index 4cfe300eb428f0..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBroadcasting.h
+++ /dev/null
@@ -1,392 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_BROADCASTING_H
-#define EIGEN_CXX11_TENSOR_TENSOR_BROADCASTING_H
-
-namespace Eigen {
-
-/** \class TensorBroadcasting
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor broadcasting class.
-  *
-  *
-  */
-namespace internal {
-template<typename Broadcast, typename XprType>
-struct traits<TensorBroadcastingOp<Broadcast, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename Broadcast, typename XprType>
-struct eval<TensorBroadcastingOp<Broadcast, XprType>, Eigen::Dense>
-{
-  typedef const TensorBroadcastingOp<Broadcast, XprType>& type;
-};
-
-template<typename Broadcast, typename XprType>
-struct nested<TensorBroadcastingOp<Broadcast, XprType>, 1, typename eval<TensorBroadcastingOp<Broadcast, XprType> >::type>
-{
-  typedef TensorBroadcastingOp<Broadcast, XprType> type;
-};
-
-template <typename Dims>
-struct is_input_scalar {
-  static const bool value = false;
-};
-template <>
-struct is_input_scalar<Sizes<> > {
-  static const bool value = true;
-};
-#ifndef EIGEN_EMULATE_CXX11_META_H
-template <typename std::size_t... Indices>
-struct is_input_scalar<Sizes<Indices...> > {
-  static const bool value = (Sizes<Indices...>::total_size == 1);
-};
-#endif
-
-}  // end namespace internal
-
-
-
-template<typename Broadcast, typename XprType>
-class TensorBroadcastingOp : public TensorBase<TensorBroadcastingOp<Broadcast, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorBroadcastingOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorBroadcastingOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorBroadcastingOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorBroadcastingOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorBroadcastingOp(const XprType& expr, const Broadcast& broadcast)
-      : m_xpr(expr), m_broadcast(broadcast) {}
-
-    EIGEN_DEVICE_FUNC
-    const Broadcast& broadcast() const { return m_broadcast; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const Broadcast m_broadcast;
-};
-
-
-// Eval as rvalue
-template<typename Broadcast, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorBroadcastingOp<Broadcast, ArgType>, Device>
-{
-  typedef TensorBroadcastingOp<Broadcast, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions InputDimensions;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = true,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-    : m_broadcast(op.broadcast()),m_impl(op.expression(), device)
-  {
-    // The broadcasting op doesn't change the rank of the tensor. One can't broadcast a scalar
-    // and store the result in a scalar. Instead one should reshape the scalar into a a N-D
-    // tensor with N >= 1 of 1 element first and then broadcast.
-    EIGEN_STATIC_ASSERT((NumDims > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    const InputDimensions& input_dims = m_impl.dimensions();
-    const Broadcast& broadcast = op.broadcast();
-    for (int i = 0; i < NumDims; ++i) {
-      eigen_assert(input_dims[i] > 0);
-      m_dimensions[i] = input_dims[i] * broadcast[i];
-    }
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_inputStrides[0] = 1;
-      m_outputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1];
-        m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1];
-      }
-    } else {
-      m_inputStrides[NumDims-1] = 1;
-      m_outputStrides[NumDims-1] = 1;
-      for (int i = NumDims-2; i >= 0; --i) {
-        m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1];
-        m_outputStrides[i] = m_outputStrides[i+1] * m_dimensions[i+1];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE CoeffReturnType coeff(Index index) const
-  {
-    if (internal::is_input_scalar<typename internal::remove_all<InputDimensions>::type>::value) {
-      return m_impl.coeff(0);
-    }
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      return coeffColMajor(index);
-    } else {
-      return coeffRowMajor(index);
-    }
-  }
-
-  // TODO: attempt to speed this up. The integer divisions and modulo are slow
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeffColMajor(Index index) const
-  {
-    Index inputIndex = 0;
-    for (int i = NumDims - 1; i > 0; --i) {
-      const Index idx = index / m_outputStrides[i];
-      if (internal::index_statically_eq<Broadcast>(i, 1)) {
-        eigen_assert(idx < m_impl.dimensions()[i]);
-        inputIndex += idx * m_inputStrides[i];
-      } else {
-        if (internal::index_statically_eq<InputDimensions>(i, 1)) {
-          eigen_assert(idx % m_impl.dimensions()[i] == 0);
-        } else {
-          inputIndex += (idx % m_impl.dimensions()[i]) * m_inputStrides[i];
-        }
-      }
-      index -= idx * m_outputStrides[i];
-    }
-    if (internal::index_statically_eq<Broadcast>(0, 1)) {
-      eigen_assert(index < m_impl.dimensions()[0]);
-      inputIndex += index;
-    } else {
-      if (internal::index_statically_eq<InputDimensions>(0, 1)) {
-        eigen_assert(index % m_impl.dimensions()[0] == 0);
-      } else {
-        inputIndex += (index % m_impl.dimensions()[0]);
-      }
-    }
-    return m_impl.coeff(inputIndex);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeffRowMajor(Index index) const
-  {
-    Index inputIndex = 0;
-    for (int i = 0; i < NumDims - 1; ++i) {
-      const Index idx = index / m_outputStrides[i];
-      if (internal::index_statically_eq<Broadcast>(i, 1)) {
-        eigen_assert(idx < m_impl.dimensions()[i]);
-        inputIndex += idx * m_inputStrides[i];
-      } else {
-        if (internal::index_statically_eq<InputDimensions>(i, 1)) {
-          eigen_assert(idx % m_impl.dimensions()[i] == 0);
-        } else {
-          inputIndex += (idx % m_impl.dimensions()[i]) * m_inputStrides[i];
-        }
-      }
-      index -= idx * m_outputStrides[i];
-    }
-    if (internal::index_statically_eq<Broadcast>(NumDims-1, 1)) {
-      eigen_assert(index < m_impl.dimensions()[NumDims-1]);
-      inputIndex += index;
-    } else {
-      if (internal::index_statically_eq<InputDimensions>(NumDims-1, 1)) {
-        eigen_assert(index % m_impl.dimensions()[NumDims-1] == 0);
-      } else {
-        inputIndex += (index % m_impl.dimensions()[NumDims-1]);
-      }
-    }
-    return m_impl.coeff(inputIndex);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketReturnType packet(Index index) const
-  {
-    if (internal::is_input_scalar<typename internal::remove_all<InputDimensions>::type>::value) {
-      return internal::pset1<PacketReturnType>(m_impl.coeff(0));
-    }
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      return packetColMajor<LoadMode>(index);
-    } else {
-      return packetRowMajor<LoadMode>(index);
-    }
-  }
-
-  // Ignore the LoadMode and always use unaligned loads since we can't guarantee
-  // the alignment at compile time.
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetColMajor(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    const Index originalIndex = index;
-
-    Index inputIndex = 0;
-    for (int i = NumDims - 1; i > 0; --i) {
-      const Index idx = index / m_outputStrides[i];
-      if (internal::index_statically_eq<Broadcast>(i, 1)) {
-        eigen_assert(idx < m_impl.dimensions()[i]);
-        inputIndex += idx * m_inputStrides[i];
-      } else {
-        if (internal::index_statically_eq<InputDimensions>(i, 1)) {
-          eigen_assert(idx % m_impl.dimensions()[i] == 0);
-        } else {
-          inputIndex += (idx % m_impl.dimensions()[i]) * m_inputStrides[i];
-        }
-      }
-      index -= idx * m_outputStrides[i];
-    }
-    Index innermostLoc;
-    if (internal::index_statically_eq<Broadcast>(0, 1)) {
-      eigen_assert(index < m_impl.dimensions()[0]);
-      innermostLoc = index;
-    } else {
-      if (internal::index_statically_eq<InputDimensions>(0, 1)) {
-        eigen_assert(index % m_impl.dimensions()[0] == 0);
-        innermostLoc = 0;
-      } else {
-        innermostLoc = index % m_impl.dimensions()[0];
-      }
-    }
-    inputIndex += innermostLoc;
-
-    // Todo: this could be extended to the second dimension if we're not
-    // broadcasting alongside the first dimension, and so on.
-    if (innermostLoc + PacketSize <= m_impl.dimensions()[0]) {
-      return m_impl.template packet<Unaligned>(inputIndex);
-    } else {
-      EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-      values[0] = m_impl.coeff(inputIndex);
-      for (int i = 1; i < PacketSize; ++i) {
-        values[i] = coeffColMajor(originalIndex+i);
-      }
-      PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-      return rslt;
-    }
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetRowMajor(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    const Index originalIndex = index;
-
-    Index inputIndex = 0;
-    for (int i = 0; i < NumDims - 1; ++i) {
-      const Index idx = index / m_outputStrides[i];
-      if (internal::index_statically_eq<Broadcast>(i, 1)) {
-        eigen_assert(idx < m_impl.dimensions()[i]);
-        inputIndex += idx * m_inputStrides[i];
-      } else {
-        if (internal::index_statically_eq<InputDimensions>(i, 1)) {
-          eigen_assert(idx % m_impl.dimensions()[i] == 0);
-        } else {
-          inputIndex += (idx % m_impl.dimensions()[i]) * m_inputStrides[i];
-        }
-      }
-      index -= idx * m_outputStrides[i];
-    }
-    Index innermostLoc;
-    if (internal::index_statically_eq<Broadcast>(NumDims-1, 1)) {
-      eigen_assert(index < m_impl.dimensions()[NumDims-1]);
-      innermostLoc = index;
-    } else {
-      if (internal::index_statically_eq<InputDimensions>(NumDims-1, 1)) {
-        eigen_assert(index % m_impl.dimensions()[NumDims-1] == 0);
-        innermostLoc = 0;
-      } else {
-        innermostLoc = index % m_impl.dimensions()[NumDims-1];
-      }
-    }
-    inputIndex += innermostLoc;
-
-    // Todo: this could be extended to the second dimension if we're not
-    // broadcasting alongside the first dimension, and so on.
-    if (innermostLoc + PacketSize <= m_impl.dimensions()[NumDims-1]) {
-      return m_impl.template packet<Unaligned>(inputIndex);
-    } else {
-      EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-      values[0] = m_impl.coeff(inputIndex);
-      for (int i = 1; i < PacketSize; ++i) {
-        values[i] = coeffRowMajor(originalIndex+i);
-      }
-      PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-      return rslt;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    double compute_cost = TensorOpCost::AddCost<Index>();
-    if (NumDims > 0) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        compute_cost += TensorOpCost::DivCost<Index>();
-        if (internal::index_statically_eq<Broadcast>(i, 1)) {
-          compute_cost +=
-              TensorOpCost::MulCost<Index>() + TensorOpCost::AddCost<Index>();
-        } else {
-          if (!internal::index_statically_eq<InputDimensions>(i, 1)) {
-            compute_cost += TensorOpCost::MulCost<Index>() +
-                            TensorOpCost::ModCost<Index>() +
-                            TensorOpCost::AddCost<Index>();
-          }
-        }
-        compute_cost +=
-            TensorOpCost::MulCost<Index>() + TensorOpCost::AddCost<Index>();
-      }
-    }
-    return m_impl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, compute_cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
-  const TensorEvaluator<ArgType, Device>& impl() const { return m_impl; }
-
-  Broadcast functor() const { return m_broadcast; }
-
- protected:
-  const Broadcast m_broadcast;
-  Dimensions m_dimensions;
-  array<Index, NumDims> m_outputStrides;
-  array<Index, NumDims> m_inputStrides;
-  TensorEvaluator<ArgType, Device> m_impl;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_BROADCASTING_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorChipping.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorChipping.h
deleted file mode 100644
index 1ba7ef170cc529..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorChipping.h
+++ /dev/null
@@ -1,384 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CHIPPING_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CHIPPING_H
-
-namespace Eigen {
-
-/** \class TensorKChippingReshaping
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief A chip is a thin slice, corresponding to a column or a row in a 2-d tensor.
-  *
-  *
-  */
-
-namespace internal {
-template<DenseIndex DimId, typename XprType>
-struct traits<TensorChippingOp<DimId, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions - 1;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<DenseIndex DimId, typename XprType>
-struct eval<TensorChippingOp<DimId, XprType>, Eigen::Dense>
-{
-  typedef const TensorChippingOp<DimId, XprType>& type;
-};
-
-template<DenseIndex DimId, typename XprType>
-struct nested<TensorChippingOp<DimId, XprType>, 1, typename eval<TensorChippingOp<DimId, XprType> >::type>
-{
-  typedef TensorChippingOp<DimId, XprType> type;
-};
-
-template <DenseIndex DimId>
-struct DimensionId
-{
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DimensionId(DenseIndex dim) {
-    eigen_assert(dim == DimId);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex actualDim() const {
-    return DimId;
-  }
-};
-template <>
-struct DimensionId<Dynamic>
-{
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DimensionId(DenseIndex dim) : actual_dim(dim) {
-    eigen_assert(dim >= 0);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex actualDim() const {
-    return actual_dim;
-  }
- private:
-  const DenseIndex actual_dim;
-};
-
-
-}  // end namespace internal
-
-
-
-template<DenseIndex DimId, typename XprType>
-class TensorChippingOp : public TensorBase<TensorChippingOp<DimId, XprType> >
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorChippingOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorChippingOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorChippingOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorChippingOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorChippingOp(const XprType& expr, const Index offset, const Index dim)
-      : m_xpr(expr), m_offset(offset), m_dim(dim) {
-  }
-
-  EIGEN_DEVICE_FUNC
-  const Index offset() const { return m_offset; }
-  EIGEN_DEVICE_FUNC
-  const Index dim() const { return m_dim.actualDim(); }
-
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename XprType::Nested>::type&
-  expression() const { return m_xpr; }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE TensorChippingOp& operator = (const TensorChippingOp& other)
-  {
-    typedef TensorAssignOp<TensorChippingOp, const TensorChippingOp> Assign;
-    Assign assign(*this, other);
-    internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-    return *this;
-  }
-
-  template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE TensorChippingOp& operator = (const OtherDerived& other)
-  {
-    typedef TensorAssignOp<TensorChippingOp, const OtherDerived> Assign;
-    Assign assign(*this, other);
-    internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-    return *this;
-  }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const Index m_offset;
-    const internal::DimensionId<DimId> m_dim;
-};
-
-
-// Eval as rvalue
-template<DenseIndex DimId, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorChippingOp<DimId, ArgType>, Device>
-{
-  typedef TensorChippingOp<DimId, ArgType> XprType;
-  static const int NumInputDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  static const int NumDims = NumInputDims-1;
-  typedef typename XprType::Index Index;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-
-  enum {
-    // Alignment can't be guaranteed at compile time since it depends on the
-    // slice offsets.
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device), m_dim(op.dim()), m_device(device)
-  {
-    EIGEN_STATIC_ASSERT((NumInputDims >= 1), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    eigen_assert(NumInputDims > m_dim.actualDim());
-
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    eigen_assert(op.offset() < input_dims[m_dim.actualDim()]);
-
-    int j = 0;
-    for (int i = 0; i < NumInputDims; ++i) {
-      if (i != m_dim.actualDim()) {
-        m_dimensions[j] = input_dims[i];
-        ++j;
-      }
-    }
-
-    m_stride = 1;
-    m_inputStride = 1;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = 0; i < m_dim.actualDim(); ++i) {
-        m_stride *= input_dims[i];
-        m_inputStride *= input_dims[i];
-      }
-    } else {
-      for (int i = NumInputDims-1; i > m_dim.actualDim(); --i) {
-        m_stride *= input_dims[i];
-        m_inputStride *= input_dims[i];
-      }
-    }
-    m_inputStride *= input_dims[m_dim.actualDim()];
-    m_inputOffset = m_stride * op.offset();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_impl.coeff(srcCoeff(index));
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    if ((static_cast<int>(Layout) == static_cast<int>(ColMajor) && m_dim.actualDim() == 0) ||
-	(static_cast<int>(Layout) == static_cast<int>(RowMajor) && m_dim.actualDim() == NumInputDims-1)) {
-      // m_stride is equal to 1, so let's avoid the integer division.
-      eigen_assert(m_stride == 1);
-      Index inputIndex = index * m_inputStride + m_inputOffset;
-      EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-      for (int i = 0; i < PacketSize; ++i) {
-        values[i] = m_impl.coeff(inputIndex);
-        inputIndex += m_inputStride;
-      }
-      PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-      return rslt;
-    } else if ((static_cast<int>(Layout) == static_cast<int>(ColMajor) && m_dim.actualDim() == NumInputDims - 1) ||
-	       (static_cast<int>(Layout) == static_cast<int>(RowMajor) && m_dim.actualDim() == 0)) {
-      // m_stride is aways greater than index, so let's avoid the integer division.
-      eigen_assert(m_stride > index);
-      return m_impl.template packet<LoadMode>(index + m_inputOffset);
-    } else {
-      const Index idx = index / m_stride;
-      const Index rem = index - idx * m_stride;
-      if (rem + PacketSize <= m_stride) {
-        Index inputIndex = idx * m_inputStride + m_inputOffset + rem;
-        return m_impl.template packet<LoadMode>(inputIndex);
-      } else {
-        // Cross the stride boundary. Fallback to slow path.
-        EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-        for (int i = 0; i < PacketSize; ++i) {
-          values[i] = coeff(index);
-          ++index;
-        }
-        PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-        return rslt;
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    double cost = 0;
-    if ((static_cast<int>(Layout) == static_cast<int>(ColMajor) &&
-         m_dim.actualDim() == 0) ||
-        (static_cast<int>(Layout) == static_cast<int>(RowMajor) &&
-         m_dim.actualDim() == NumInputDims - 1)) {
-      cost += TensorOpCost::MulCost<Index>() + TensorOpCost::AddCost<Index>();
-    } else if ((static_cast<int>(Layout) == static_cast<int>(ColMajor) &&
-                m_dim.actualDim() == NumInputDims - 1) ||
-               (static_cast<int>(Layout) == static_cast<int>(RowMajor) &&
-                m_dim.actualDim() == 0)) {
-      cost += TensorOpCost::AddCost<Index>();
-    } else {
-      cost += 3 * TensorOpCost::MulCost<Index>() + TensorOpCost::DivCost<Index>() +
-              3 * TensorOpCost::AddCost<Index>();
-    }
-
-    return m_impl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType* data() const {
-    CoeffReturnType* result = const_cast<CoeffReturnType*>(m_impl.data());
-    if (((static_cast<int>(Layout) == static_cast<int>(ColMajor) && m_dim.actualDim() == NumDims) ||
-         (static_cast<int>(Layout) == static_cast<int>(RowMajor) && m_dim.actualDim() == 0)) &&
-        result) {
-      return result + m_inputOffset;
-    } else {
-      return NULL;
-    }
-  }
-
- protected:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index srcCoeff(Index index) const
-  {
-    Index inputIndex;
-    if ((static_cast<int>(Layout) == static_cast<int>(ColMajor) && m_dim.actualDim() == 0) ||
-	(static_cast<int>(Layout) == static_cast<int>(RowMajor) && m_dim.actualDim() == NumInputDims-1)) {
-      // m_stride is equal to 1, so let's avoid the integer division.
-      eigen_assert(m_stride == 1);
-      inputIndex = index * m_inputStride + m_inputOffset;
-    } else if ((static_cast<int>(Layout) == static_cast<int>(ColMajor) && m_dim.actualDim() == NumInputDims-1) ||
-	       (static_cast<int>(Layout) == static_cast<int>(RowMajor) && m_dim.actualDim() == 0)) {
-      // m_stride is aways greater than index, so let's avoid the integer division.
-      eigen_assert(m_stride > index);
-      inputIndex = index + m_inputOffset;
-    } else {
-      const Index idx = index / m_stride;
-      inputIndex = idx * m_inputStride + m_inputOffset;
-      index -= idx * m_stride;
-      inputIndex += index;
-    }
-    return inputIndex;
-  }
-
-  Dimensions m_dimensions;
-  Index m_stride;
-  Index m_inputOffset;
-  Index m_inputStride;
-  TensorEvaluator<ArgType, Device> m_impl;
-  const internal::DimensionId<DimId> m_dim;
-  const Device& m_device;
-};
-
-
-// Eval as lvalue
-template<DenseIndex DimId, typename ArgType, typename Device>
-struct TensorEvaluator<TensorChippingOp<DimId, ArgType>, Device>
-  : public TensorEvaluator<const TensorChippingOp<DimId, ArgType>, Device>
-{
-  typedef TensorEvaluator<const TensorChippingOp<DimId, ArgType>, Device> Base;
-  typedef TensorChippingOp<DimId, ArgType> XprType;
-  static const int NumInputDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  static const int NumDims = NumInputDims-1;
-  typedef typename XprType::Index Index;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-    : Base(op, device)
-    { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index)
-  {
-    return this->m_impl.coeffRef(this->srcCoeff(index));
-  }
-
-  template <int StoreMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x)
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-
-    if ((static_cast<int>(this->Layout) == static_cast<int>(ColMajor) && this->m_dim.actualDim() == 0) ||
-	(static_cast<int>(this->Layout) == static_cast<int>(RowMajor) && this->m_dim.actualDim() == NumInputDims-1)) {
-      // m_stride is equal to 1, so let's avoid the integer division.
-      eigen_assert(this->m_stride == 1);
-      EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-      internal::pstore<CoeffReturnType, PacketReturnType>(values, x);
-      Index inputIndex = index * this->m_inputStride + this->m_inputOffset;
-      for (int i = 0; i < PacketSize; ++i) {
-        this->m_impl.coeffRef(inputIndex) = values[i];
-        inputIndex += this->m_inputStride;
-      }
-    } else if ((static_cast<int>(this->Layout) == static_cast<int>(ColMajor) && this->m_dim.actualDim() == NumInputDims-1) ||
-	       (static_cast<int>(this->Layout) == static_cast<int>(RowMajor) && this->m_dim.actualDim() == 0)) {
-      // m_stride is aways greater than index, so let's avoid the integer division.
-      eigen_assert(this->m_stride > index);
-      this->m_impl.template writePacket<StoreMode>(index + this->m_inputOffset, x);
-    } else {
-      const Index idx = index / this->m_stride;
-      const Index rem = index - idx * this->m_stride;
-      if (rem + PacketSize <= this->m_stride) {
-        const Index inputIndex = idx * this->m_inputStride + this->m_inputOffset + rem;
-        this->m_impl.template writePacket<StoreMode>(inputIndex, x);
-      } else {
-        // Cross stride boundary. Fallback to slow path.
-        EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-        internal::pstore<CoeffReturnType, PacketReturnType>(values, x);
-        for (int i = 0; i < PacketSize; ++i) {
-          this->coeffRef(index) = values[i];
-          ++index;
-        }
-      }
-    }
-  }
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CHIPPING_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConcatenation.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConcatenation.h
deleted file mode 100644
index 59bf90d93902d2..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConcatenation.h
+++ /dev/null
@@ -1,361 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONCATENATION_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CONCATENATION_H
-
-namespace Eigen {
-
-/** \class TensorConcatenationOp
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor concatenation class.
-  *
-  *
-  */
-namespace internal {
-template<typename Axis, typename LhsXprType, typename RhsXprType>
-struct traits<TensorConcatenationOp<Axis, LhsXprType, RhsXprType> >
-{
-  // Type promotion to handle the case where the types of the lhs and the rhs are different.
-  typedef typename promote_storage_type<typename LhsXprType::Scalar,
-                                        typename RhsXprType::Scalar>::ret Scalar;
-  typedef typename promote_storage_type<typename traits<LhsXprType>::StorageKind,
-                                        typename traits<RhsXprType>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<LhsXprType>::Index,
-                                      typename traits<RhsXprType>::Index>::type Index;
-  typedef typename LhsXprType::Nested LhsNested;
-  typedef typename RhsXprType::Nested RhsNested;
-  typedef typename remove_reference<LhsNested>::type _LhsNested;
-  typedef typename remove_reference<RhsNested>::type _RhsNested;
-  static const int NumDimensions = traits<LhsXprType>::NumDimensions;
-  static const int Layout = traits<LhsXprType>::Layout;
-  enum { Flags = 0 };
-};
-
-template<typename Axis, typename LhsXprType, typename RhsXprType>
-struct eval<TensorConcatenationOp<Axis, LhsXprType, RhsXprType>, Eigen::Dense>
-{
-  typedef const TensorConcatenationOp<Axis, LhsXprType, RhsXprType>& type;
-};
-
-template<typename Axis, typename LhsXprType, typename RhsXprType>
-struct nested<TensorConcatenationOp<Axis, LhsXprType, RhsXprType>, 1, typename eval<TensorConcatenationOp<Axis, LhsXprType, RhsXprType> >::type>
-{
-  typedef TensorConcatenationOp<Axis, LhsXprType, RhsXprType> type;
-};
-
-}  // end namespace internal
-
-
-template<typename Axis, typename LhsXprType, typename RhsXprType>
-class TensorConcatenationOp : public TensorBase<TensorConcatenationOp<Axis, LhsXprType, RhsXprType>, WriteAccessors>
-{
-  public:
-    typedef typename internal::traits<TensorConcatenationOp>::Scalar Scalar;
-    typedef typename internal::traits<TensorConcatenationOp>::StorageKind StorageKind;
-    typedef typename internal::traits<TensorConcatenationOp>::Index Index;
-    typedef typename internal::nested<TensorConcatenationOp>::type Nested;
-    typedef typename internal::promote_storage_type<typename LhsXprType::CoeffReturnType,
-                                                    typename RhsXprType::CoeffReturnType>::ret CoeffReturnType;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorConcatenationOp(const LhsXprType& lhs, const RhsXprType& rhs, Axis axis)
-        : m_lhs_xpr(lhs), m_rhs_xpr(rhs), m_axis(axis) {}
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename LhsXprType::Nested>::type&
-    lhsExpression() const { return m_lhs_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename RhsXprType::Nested>::type&
-    rhsExpression() const { return m_rhs_xpr; }
-
-    EIGEN_DEVICE_FUNC const Axis& axis() const { return m_axis; }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorConcatenationOp& operator = (const TensorConcatenationOp& other)
-    {
-      typedef TensorAssignOp<TensorConcatenationOp, const TensorConcatenationOp> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorConcatenationOp& operator = (const OtherDerived& other)
-    {
-      typedef TensorAssignOp<TensorConcatenationOp, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-  protected:
-    typename LhsXprType::Nested m_lhs_xpr;
-    typename RhsXprType::Nested m_rhs_xpr;
-    const Axis m_axis;
-};
-
-
-// Eval as rvalue
-template<typename Axis, typename LeftArgType, typename RightArgType, typename Device>
-struct TensorEvaluator<const TensorConcatenationOp<Axis, LeftArgType, RightArgType>, Device>
-{
-  typedef TensorConcatenationOp<Axis, LeftArgType, RightArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<LeftArgType, Device>::Dimensions>::value;
-  static const int RightNumDims = internal::array_size<typename TensorEvaluator<RightArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  enum {
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<LeftArgType, Device>::PacketAccess & TensorEvaluator<RightArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<LeftArgType, Device>::Layout,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-    : m_leftImpl(op.lhsExpression(), device), m_rightImpl(op.rhsExpression(), device), m_axis(op.axis())
-  {
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<LeftArgType, Device>::Layout) == static_cast<int>(TensorEvaluator<RightArgType, Device>::Layout) || NumDims == 1), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    EIGEN_STATIC_ASSERT((NumDims == RightNumDims), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    EIGEN_STATIC_ASSERT((NumDims > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    eigen_assert(0 <= m_axis && m_axis < NumDims);
-    const Dimensions& lhs_dims = m_leftImpl.dimensions();
-    const Dimensions& rhs_dims = m_rightImpl.dimensions();
-    {
-      int i = 0;
-      for (; i < m_axis; ++i) {
-        eigen_assert(lhs_dims[i] > 0);
-        eigen_assert(lhs_dims[i] == rhs_dims[i]);
-        m_dimensions[i] = lhs_dims[i];
-      }
-      eigen_assert(lhs_dims[i] > 0);  // Now i == m_axis.
-      eigen_assert(rhs_dims[i] > 0);
-      m_dimensions[i] = lhs_dims[i] + rhs_dims[i];
-      for (++i; i < NumDims; ++i) {
-        eigen_assert(lhs_dims[i] > 0);
-        eigen_assert(lhs_dims[i] == rhs_dims[i]);
-        m_dimensions[i] = lhs_dims[i];
-      }
-    }
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_leftStrides[0] = 1;
-      m_rightStrides[0] = 1;
-      m_outputStrides[0] = 1;
-
-      for (int j = 1; j < NumDims; ++j) {
-        m_leftStrides[j] = m_leftStrides[j-1] * lhs_dims[j-1];
-        m_rightStrides[j] = m_rightStrides[j-1] * rhs_dims[j-1];
-        m_outputStrides[j] = m_outputStrides[j-1] * m_dimensions[j-1];
-      }
-    } else {
-      m_leftStrides[NumDims - 1] = 1;
-      m_rightStrides[NumDims - 1] = 1;
-      m_outputStrides[NumDims - 1] = 1;
-
-      for (int j = NumDims - 2; j >= 0; --j) {
-        m_leftStrides[j] = m_leftStrides[j+1] * lhs_dims[j+1];
-        m_rightStrides[j] = m_rightStrides[j+1] * rhs_dims[j+1];
-        m_outputStrides[j] = m_outputStrides[j+1] * m_dimensions[j+1];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  // TODO(phli): Add short-circuit memcpy evaluation if underlying data are linear?
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/)
-  {
-    m_leftImpl.evalSubExprsIfNeeded(NULL);
-    m_rightImpl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup()
-  {
-    m_leftImpl.cleanup();
-    m_rightImpl.cleanup();
-  }
-
-  // TODO(phli): attempt to speed this up. The integer divisions and modulo are slow.
-  // See CL/76180724 comments for more ideas.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    // Collect dimension-wise indices (subs).
-    array<Index, NumDims> subs;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        subs[i] = index / m_outputStrides[i];
-        index -= subs[i] * m_outputStrides[i];
-      }
-      subs[0] = index;
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        subs[i] = index / m_outputStrides[i];
-        index -= subs[i] * m_outputStrides[i];
-      }
-      subs[NumDims - 1] = index;
-    }
-
-    const Dimensions& left_dims = m_leftImpl.dimensions();
-    if (subs[m_axis] < left_dims[m_axis]) {
-      Index left_index;
-      if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-        left_index = subs[0];
-        for (int i = 1; i < NumDims; ++i) {
-          left_index += (subs[i] % left_dims[i]) * m_leftStrides[i];
-        }
-      } else {
-        left_index = subs[NumDims - 1];
-        for (int i = NumDims - 2; i >= 0; --i) {
-          left_index += (subs[i] % left_dims[i]) * m_leftStrides[i];
-        }
-      }
-      return m_leftImpl.coeff(left_index);
-    } else {
-      subs[m_axis] -= left_dims[m_axis];
-      const Dimensions& right_dims = m_rightImpl.dimensions();
-      Index right_index;
-      if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-        right_index = subs[0];
-        for (int i = 1; i < NumDims; ++i) {
-          right_index += (subs[i] % right_dims[i]) * m_rightStrides[i];
-        }
-      } else {
-        right_index = subs[NumDims - 1];
-        for (int i = NumDims - 2; i >= 0; --i) {
-          right_index += (subs[i] % right_dims[i]) * m_rightStrides[i];
-        }
-      }
-      return m_rightImpl.coeff(right_index);
-    }
-  }
-
-  // TODO(phli): Add a real vectorization.
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    const int packetSize = internal::unpacket_traits<PacketReturnType>::size;
-    EIGEN_STATIC_ASSERT((packetSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index + packetSize - 1 < dimensions().TotalSize());
-
-    EIGEN_ALIGN_MAX CoeffReturnType values[packetSize];
-    for (int i = 0; i < packetSize; ++i) {
-      values[i] = coeff(index+i);
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    const double compute_cost = NumDims * (2 * TensorOpCost::AddCost<Index>() +
-                                           2 * TensorOpCost::MulCost<Index>() +
-                                           TensorOpCost::DivCost<Index>() +
-                                           TensorOpCost::ModCost<Index>());
-    const double lhs_size = m_leftImpl.dimensions().TotalSize();
-    const double rhs_size = m_rightImpl.dimensions().TotalSize();
-    return (lhs_size / (lhs_size + rhs_size)) *
-               m_leftImpl.costPerCoeff(vectorized) +
-           (rhs_size / (lhs_size + rhs_size)) *
-               m_rightImpl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, compute_cost);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
-  protected:
-    Dimensions m_dimensions;
-    array<Index, NumDims> m_outputStrides;
-    array<Index, NumDims> m_leftStrides;
-    array<Index, NumDims> m_rightStrides;
-    TensorEvaluator<LeftArgType, Device> m_leftImpl;
-    TensorEvaluator<RightArgType, Device> m_rightImpl;
-    const Axis m_axis;
-};
-
-// Eval as lvalue
-template<typename Axis, typename LeftArgType, typename RightArgType, typename Device>
-  struct TensorEvaluator<TensorConcatenationOp<Axis, LeftArgType, RightArgType>, Device>
-  : public TensorEvaluator<const TensorConcatenationOp<Axis, LeftArgType, RightArgType>, Device>
-{
-  typedef TensorEvaluator<const TensorConcatenationOp<Axis, LeftArgType, RightArgType>, Device> Base;
-  typedef TensorConcatenationOp<Axis, LeftArgType, RightArgType> XprType;
-  typedef typename Base::Dimensions Dimensions;
-  enum {
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<LeftArgType, Device>::PacketAccess & TensorEvaluator<RightArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<LeftArgType, Device>::Layout,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(XprType& op, const Device& device)
-    : Base(op, device)
-  {
-    EIGEN_STATIC_ASSERT((static_cast<int>(Layout) == static_cast<int>(ColMajor)), YOU_MADE_A_PROGRAMMING_MISTAKE);
-  }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index)
-  {
-    // Collect dimension-wise indices (subs).
-    array<Index, Base::NumDims> subs;
-    for (int i = Base::NumDims - 1; i > 0; --i) {
-      subs[i] = index / this->m_outputStrides[i];
-      index -= subs[i] * this->m_outputStrides[i];
-    }
-    subs[0] = index;
-
-    const Dimensions& left_dims = this->m_leftImpl.dimensions();
-    if (subs[this->m_axis] < left_dims[this->m_axis]) {
-      Index left_index = subs[0];
-      for (int i = 1; i < Base::NumDims; ++i) {
-        left_index += (subs[i] % left_dims[i]) * this->m_leftStrides[i];
-      }
-      return this->m_leftImpl.coeffRef(left_index);
-    } else {
-      subs[this->m_axis] -= left_dims[this->m_axis];
-      const Dimensions& right_dims = this->m_rightImpl.dimensions();
-      Index right_index = subs[0];
-      for (int i = 1; i < Base::NumDims; ++i) {
-        right_index += (subs[i] % right_dims[i]) * this->m_rightStrides[i];
-      }
-      return this->m_rightImpl.coeffRef(right_index);
-    }
-  }
-
-  template <int StoreMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x)
-  {
-    const int packetSize = internal::unpacket_traits<PacketReturnType>::size;
-    EIGEN_STATIC_ASSERT((packetSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index + packetSize - 1 < this->dimensions().TotalSize());
-
-    EIGEN_ALIGN_MAX CoeffReturnType values[packetSize];
-    internal::pstore<CoeffReturnType, PacketReturnType>(values, x);
-    for (int i = 0; i < packetSize; ++i) {
-      coeffRef(index+i) = values[i];
-    }
-  }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CONCATENATION_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContraction.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContraction.h
deleted file mode 100644
index 20b29e5fde9868..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContraction.h
+++ /dev/null
@@ -1,628 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_H
-
-namespace Eigen {
-
-/** \class TensorContraction
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor contraction class.
-  *
-  *
-  */
-namespace internal {
-
-template<typename Dimensions, typename LhsXprType, typename RhsXprType>
-struct traits<TensorContractionOp<Dimensions, LhsXprType, RhsXprType> >
-{
-  // Type promotion to handle the case where the types of the lhs and the rhs are different.
-  typedef typename gebp_traits<typename remove_const<typename LhsXprType::Scalar>::type,
-                               typename remove_const<typename RhsXprType::Scalar>::type>::ResScalar Scalar;
-
-  typedef typename promote_storage_type<typename traits<LhsXprType>::StorageKind,
-                                        typename traits<RhsXprType>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<LhsXprType>::Index,
-                                      typename traits<RhsXprType>::Index>::type Index;
-  typedef typename LhsXprType::Nested LhsNested;
-  typedef typename RhsXprType::Nested RhsNested;
-  typedef typename remove_reference<LhsNested>::type _LhsNested;
-  typedef typename remove_reference<RhsNested>::type _RhsNested;
-
-  // From NumDims below.
-  static const int NumDimensions = traits<RhsXprType>::NumDimensions + traits<RhsXprType>::NumDimensions - 2 * array_size<Dimensions>::value;
-  static const int Layout = traits<LhsXprType>::Layout;
-
-  enum {
-    Flags = 0
-  };
-};
-
-template<typename Dimensions, typename LhsXprType, typename RhsXprType>
-struct eval<TensorContractionOp<Dimensions, LhsXprType, RhsXprType>, Eigen::Dense>
-{
-  typedef const TensorContractionOp<Dimensions, LhsXprType, RhsXprType>& type;
-};
-
-template<typename Dimensions, typename LhsXprType, typename RhsXprType>
-struct nested<TensorContractionOp<Dimensions, LhsXprType, RhsXprType>, 1, typename eval<TensorContractionOp<Dimensions, LhsXprType, RhsXprType> >::type>
-{
-  typedef TensorContractionOp<Dimensions, LhsXprType, RhsXprType> type;
-};
-
-template<typename Indices_, typename LeftArgType_, typename RightArgType_, typename Device_>
-struct traits<TensorEvaluator<const TensorContractionOp<Indices_, LeftArgType_, RightArgType_>, Device_> > {
-  typedef Indices_ Indices;
-  typedef LeftArgType_ LeftArgType;
-  typedef RightArgType_ RightArgType;
-  typedef Device_ Device;
-
-  // From NumDims below.
-  static const int NumDimensions = traits<LeftArgType_>::NumDimensions + traits<RightArgType_>::NumDimensions - 2 * array_size<Indices_>::value;
-};
-
-}  // end namespace internal
-
-template<typename Indices, typename LhsXprType, typename RhsXprType>
-class TensorContractionOp : public TensorBase<TensorContractionOp<Indices, LhsXprType, RhsXprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorContractionOp>::Scalar Scalar;
-  typedef typename internal::gebp_traits<typename LhsXprType::CoeffReturnType,
-                                                   typename RhsXprType::CoeffReturnType>::ResScalar CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorContractionOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorContractionOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorContractionOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorContractionOp(
-      const LhsXprType& lhs, const RhsXprType& rhs, const Indices& dims)
-      : m_lhs_xpr(lhs), m_rhs_xpr(rhs), m_indices(dims) {}
-
-  EIGEN_DEVICE_FUNC
-  const Indices& indices() const { return m_indices; }
-
-  /** \returns the nested expressions */
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename LhsXprType::Nested>::type&
-  lhsExpression() const { return m_lhs_xpr; }
-
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename RhsXprType::Nested>::type&
-  rhsExpression() const { return m_rhs_xpr; }
-
-  protected:
-    typename LhsXprType::Nested m_lhs_xpr;
-    typename RhsXprType::Nested m_rhs_xpr;
-    const Indices m_indices;
-};
-
-
-template<typename Derived>
-struct TensorContractionEvaluatorBase
-{
-  typedef typename internal::traits<Derived>::Indices Indices;
-  typedef typename internal::traits<Derived>::LeftArgType LeftArgType;
-  typedef typename internal::traits<Derived>::RightArgType RightArgType;
-  typedef typename internal::traits<Derived>::Device Device;
-
-  typedef TensorContractionOp<Indices, LeftArgType, RightArgType> XprType;
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-
-  enum {
-    IsAligned = true,
-    PacketAccess = (internal::unpacket_traits<PacketReturnType>::size > 1),
-    Layout = TensorEvaluator<LeftArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = true
-  };
-
-  // Most of the code is assuming that both input tensors are ColMajor. If the
-  // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS:
-  // If we want to compute A * B = C, where A is LHS and B is RHS, the code
-  // will pretend B is LHS and A is RHS.
-  typedef typename internal::conditional<
-    static_cast<int>(Layout) == static_cast<int>(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType;
-  typedef typename internal::conditional<
-    static_cast<int>(Layout) == static_cast<int>(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType;
-
-  static const int LDims =
-      internal::array_size<typename TensorEvaluator<EvalLeftArgType, Device>::Dimensions>::value;
-  static const int RDims =
-      internal::array_size<typename TensorEvaluator<EvalRightArgType, Device>::Dimensions>::value;
-  static const int ContractDims = internal::array_size<Indices>::value;
-  static const int NumDims = LDims + RDims - 2 * ContractDims;
-
-  typedef array<Index, ContractDims> contract_t;
-  typedef array<Index, LDims - ContractDims> left_nocontract_t;
-  typedef array<Index, RDims - ContractDims> right_nocontract_t;
-
-  typedef DSizes<Index, NumDims> Dimensions;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  TensorContractionEvaluatorBase(const XprType& op, const Device& device)
-    : m_leftImpl(choose(Cond<static_cast<int>(Layout) == static_cast<int>(ColMajor)>(),
-                          op.lhsExpression(), op.rhsExpression()), device),
-    m_rightImpl(choose(Cond<static_cast<int>(Layout) == static_cast<int>(ColMajor)>(),
-                          op.rhsExpression(), op.lhsExpression()), device),
-        m_device(device),
-        m_result(NULL) {
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<LeftArgType, Device>::Layout) ==
-			   static_cast<int>(TensorEvaluator<RightArgType, Device>::Layout)),
-                        YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-
-    DSizes<Index, LDims> eval_left_dims;
-    DSizes<Index, RDims> eval_right_dims;
-    array<IndexPair<Index>, ContractDims> eval_op_indices;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      // For ColMajor, we keep using the existing dimensions
-      for (int i = 0; i < LDims; i++) {
-        eval_left_dims[i] = m_leftImpl.dimensions()[i];
-      }
-      for (int i = 0; i < RDims; i++) {
-        eval_right_dims[i] = m_rightImpl.dimensions()[i];
-      }
-      // We keep the pairs of contracting indices.
-      for (int i = 0; i < ContractDims; i++) {
-        eval_op_indices[i].first = op.indices()[i].first;
-        eval_op_indices[i].second = op.indices()[i].second;
-      }
-    } else {
-      // For RowMajor, we need to reverse the existing dimensions
-      for (int i = 0; i < LDims; i++) {
-        eval_left_dims[i] = m_leftImpl.dimensions()[LDims - i - 1];
-      }
-      for (int i = 0; i < RDims; i++) {
-        eval_right_dims[i] = m_rightImpl.dimensions()[RDims - i - 1];
-      }
-      // We need to flip all the pairs of contracting indices as well as
-      // reversing the dimensions.
-      for (int i = 0; i < ContractDims; i++) {
-        eval_op_indices[i].first = LDims - 1 - op.indices()[ContractDims - 1 - i].second;
-        eval_op_indices[i].second = RDims - 1 - op.indices()[ContractDims - 1 - i].first;
-      }
-    }
-
-    // Check for duplicate axes and make sure the first index in eval_op_indices
-    // is increasing. Using O(n^2) sorting is OK since ContractDims is small
-    for (int i = 0; i < ContractDims; i++) {
-      for (int j = i + 1; j < ContractDims; j++) {
-        eigen_assert(eval_op_indices[j].first != eval_op_indices[i].first &&
-                     eval_op_indices[j].second != eval_op_indices[i].second &&
-                     "contraction axes should be unique");
-        if (eval_op_indices[j].first < eval_op_indices[i].first) {
-          numext::swap(eval_op_indices[j], eval_op_indices[i]);
-        }
-      }
-    }
-
-    array<Index, LDims> lhs_strides;
-    lhs_strides[0] = 1;
-    for (int i = 0; i < LDims-1; ++i) {
-      lhs_strides[i+1] = lhs_strides[i] * eval_left_dims[i];
-    }
-
-    array<Index, RDims> rhs_strides;
-    rhs_strides[0] = 1;
-    for (int i = 0; i < RDims-1; ++i) {
-      rhs_strides[i+1] = rhs_strides[i] * eval_right_dims[i];
-    }
-
-    if (m_i_strides.size() > 0) m_i_strides[0] = 1;
-    if (m_j_strides.size() > 0) m_j_strides[0] = 1;
-    if (m_k_strides.size() > 0) m_k_strides[0] = 1;
-
-    m_i_size = 1;
-    m_j_size = 1;
-    m_k_size = 1;
-
-    // To compute the dimension, we simply concatenate the non-contracting
-    // dimensions of the left and then the right tensor. Additionally, we also
-    // compute the strides corresponding to the left non-contracting
-    // dimensions and right non-contracting dimensions.
-    m_lhs_inner_dim_contiguous = true;
-    int dim_idx = 0;
-    unsigned int nocontract_idx = 0;
-
-    for (int i = 0; i < LDims; i++) {
-      // find if we are contracting on index i of left tensor
-      bool contracting = false;
-      for (int j = 0; j < ContractDims; j++) {
-        if (eval_op_indices[j].first == i) {
-          contracting = true;
-          break;
-        }
-      }
-      if (!contracting) {
-        // add dimension size to output dimensions
-        m_dimensions[dim_idx] = eval_left_dims[i];
-        m_left_nocontract_strides[nocontract_idx] = lhs_strides[i];
-        if (dim_idx != i) {
-          m_lhs_inner_dim_contiguous = false;
-        }
-        if (nocontract_idx+1 < internal::array_size<left_nocontract_t>::value) {
-          m_i_strides[nocontract_idx+1] =
-              m_i_strides[nocontract_idx] * eval_left_dims[i];
-        } else {
-          m_i_size = m_i_strides[nocontract_idx] * eval_left_dims[i];
-        }
-        dim_idx++;
-        nocontract_idx++;
-      }
-    }
-
-    nocontract_idx = 0;
-    for (int i = 0; i < RDims; i++) {
-      bool contracting = false;
-      // find if we are contracting on index i of right tensor
-      for (int j = 0; j < ContractDims; j++) {
-        if (eval_op_indices[j].second == i) {
-          contracting = true;
-          break;
-        }
-      }
-      if (!contracting) {
-        m_dimensions[dim_idx] = eval_right_dims[i];
-        if (nocontract_idx+1 < internal::array_size<right_nocontract_t>::value) {
-          m_j_strides[nocontract_idx+1] =
-              m_j_strides[nocontract_idx] * eval_right_dims[i];
-        } else {
-          m_j_size = m_j_strides[nocontract_idx] * eval_right_dims[i];
-        }
-        m_right_nocontract_strides[nocontract_idx] = rhs_strides[i];
-        dim_idx++;
-        nocontract_idx++;
-      }
-    }
-
-    // Now compute the strides corresponding to the contracting dimensions. We
-    // assumed above that non-contracting axes are represented in the same order
-    // in the matrix as they are in the tensor. This is not the case for
-    // contracting axes. As the contracting axes must be of the same size in
-    // each tensor, we'll only look at the first tensor here.
-    m_rhs_inner_dim_contiguous = true;
-    m_rhs_inner_dim_reordered = false;
-    for (int i = 0; i < ContractDims; i++) {
-      Index left = eval_op_indices[i].first;
-      Index right = eval_op_indices[i].second;
-
-      Index size = eval_left_dims[left];
-      eigen_assert(size == eval_right_dims[right] &&
-                   "Contraction axes must be same size");
-
-      if (i+1 < static_cast<int>(internal::array_size<contract_t>::value)) {
-        m_k_strides[i+1] = m_k_strides[i] * size;
-      } else {
-        m_k_size = m_k_strides[i] * size;
-      }
-      m_left_contracting_strides[i] = lhs_strides[left];
-      m_right_contracting_strides[i] = rhs_strides[right];
-
-      if (i > 0 && right < eval_op_indices[i-1].second) {
-        m_rhs_inner_dim_reordered = true;
-      }
-      if (right != i) {
-        m_rhs_inner_dim_contiguous = false;
-      }
-    }
-
-    // If the layout is RowMajor, we need to reverse the m_dimensions
-    if (static_cast<int>(Layout) == static_cast<int>(RowMajor)) {
-      for (int i = 0, j = NumDims - 1; i < j; i++, j--) {
-        numext::swap(m_dimensions[i], m_dimensions[j]);
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) {
-    m_leftImpl.evalSubExprsIfNeeded(NULL);
-    m_rightImpl.evalSubExprsIfNeeded(NULL);
-    if (data) {
-      evalTo(data);
-      return false;
-    } else {
-      m_result = static_cast<Scalar *>(m_device.allocate(dimensions().TotalSize() * sizeof(Scalar)));
-      evalTo(m_result);
-      return true;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC void evalTo(Scalar* buffer) const {
-    if (this->m_lhs_inner_dim_contiguous) {
-      if (this->m_rhs_inner_dim_contiguous) {
-        if (this->m_rhs_inner_dim_reordered) {
-          static_cast<const Derived*>(this)->template evalProduct<true, true, true, Unaligned>(buffer);
-        }
-        else {
-          static_cast<const Derived*>(this)->template evalProduct<true, true, false, Unaligned>(buffer);
-        }
-      }
-      else {
-       if (this->m_rhs_inner_dim_reordered) {
-          static_cast<const Derived*>(this)->template evalProduct<true, false, true, Unaligned>(buffer);
-        }
-        else {
-          static_cast<const Derived*>(this)->template evalProduct<true, false, false, Unaligned>(buffer);
-        }
-      }
-    }
-    else {
-      if (this->m_rhs_inner_dim_contiguous) {
-        if (this->m_rhs_inner_dim_reordered) {
-          static_cast<const Derived*>(this)->template evalProduct<false, true, true, Unaligned>(buffer);
-        }
-        else {
-          static_cast<const Derived*>(this)->template evalProduct<false, true, false, Unaligned>(buffer);
-        }
-      }
-      else {
-       if (this->m_rhs_inner_dim_reordered) {
-          static_cast<const Derived*>(this)->template evalProduct<false, false, true, Unaligned>(buffer);
-        }
-        else {
-          static_cast<const Derived*>(this)->template evalProduct<false, false, false, Unaligned>(buffer);
-        }
-      }
-    }
-  }
-
-  template <bool lhs_inner_dim_contiguous, bool rhs_inner_dim_contiguous, bool rhs_inner_dim_reordered, int Alignment>
-  EIGEN_DEVICE_FUNC void evalGemv(Scalar* buffer) const {
-    const Index rows = m_i_size;
-    const Index cols = m_k_size;
-
-    typedef typename internal::remove_const<typename EvalLeftArgType::Scalar>::type LhsScalar;
-    typedef typename internal::remove_const<typename EvalRightArgType::Scalar>::type RhsScalar;
-    typedef TensorEvaluator<EvalLeftArgType, Device> LeftEvaluator;
-    typedef TensorEvaluator<EvalRightArgType, Device> RightEvaluator;
-    const Index lhs_packet_size = internal::unpacket_traits<typename LeftEvaluator::PacketReturnType>::size;
-    const Index rhs_packet_size = internal::unpacket_traits<typename RightEvaluator::PacketReturnType>::size;
-    const int lhs_alignment = LeftEvaluator::IsAligned ? Aligned : Unaligned;
-    const int rhs_alignment = RightEvaluator::IsAligned ? Aligned : Unaligned;
-    typedef internal::TensorContractionInputMapper<LhsScalar, Index, internal::Lhs,
-                                                   LeftEvaluator, left_nocontract_t,
-                                                   contract_t, lhs_packet_size,
-                                                   lhs_inner_dim_contiguous,
-                                                   false, lhs_alignment> LhsMapper;
-
-    typedef internal::TensorContractionInputMapper<RhsScalar, Index, internal::Rhs,
-                                                   RightEvaluator, right_nocontract_t,
-                                                   contract_t, rhs_packet_size,
-                                                   rhs_inner_dim_contiguous,
-                                                   rhs_inner_dim_reordered, rhs_alignment> RhsMapper;
-
-    LhsMapper lhs(m_leftImpl, m_left_nocontract_strides, m_i_strides,
-                  m_left_contracting_strides, m_k_strides);
-    RhsMapper rhs(m_rightImpl, m_right_nocontract_strides, m_j_strides,
-                  m_right_contracting_strides, m_k_strides);
-
-    const Scalar alpha(1);
-    const Index resIncr(1);
-
-    // zero out the result buffer (which must be of size at least rows * sizeof(Scalar)
-    m_device.memset(buffer, 0, rows * sizeof(Scalar));
-
-    internal::general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,false,RhsScalar,RhsMapper,false>::run(
-        rows, cols, lhs, rhs,
-        buffer, resIncr, alpha);
-  }
-
-  template <bool lhs_inner_dim_contiguous, bool rhs_inner_dim_contiguous, bool rhs_inner_dim_reordered, int Alignment>
-  EIGEN_DEVICE_FUNC void evalGemm(Scalar* buffer) const {
-    // columns in left side, rows in right side
-    const Index k = this->m_k_size;
-
-    // rows in left side
-    const Index m = this->m_i_size;
-
-    // columns in right side
-    const Index n = this->m_j_size;
-
-    // zero out the result buffer (which must be of size at least m * n * sizeof(Scalar)
-    this->m_device.memset(buffer, 0, m * n * sizeof(Scalar));
-
-    // define mr, nr, and all of my data mapper types
-    typedef typename internal::remove_const<typename EvalLeftArgType::Scalar>::type LhsScalar;
-    typedef typename internal::remove_const<typename EvalRightArgType::Scalar>::type RhsScalar;
-    typedef typename internal::gebp_traits<LhsScalar, RhsScalar> Traits;
-
-    const Index nr = Traits::nr;
-    const Index mr = Traits::mr;
-
-    typedef TensorEvaluator<EvalLeftArgType, Device> LeftEvaluator;
-    typedef TensorEvaluator<EvalRightArgType, Device> RightEvaluator;
-
-    const Index lhs_packet_size = internal::unpacket_traits<typename LeftEvaluator::PacketReturnType>::size;
-    const Index rhs_packet_size = internal::unpacket_traits<typename RightEvaluator::PacketReturnType>::size;
-
-    typedef internal::TensorContractionInputMapper<LhsScalar, Index, internal::Lhs,
-                                                   LeftEvaluator, left_nocontract_t,
-                                                   contract_t, lhs_packet_size,
-                                                   lhs_inner_dim_contiguous,
-                                                   false, Unaligned> LhsMapper;
-
-    typedef internal::TensorContractionInputMapper<RhsScalar, Index, internal::Rhs,
-                                                   RightEvaluator, right_nocontract_t,
-                                                   contract_t, rhs_packet_size,
-                                                   rhs_inner_dim_contiguous,
-                                                   rhs_inner_dim_reordered, Unaligned> RhsMapper;
-
-    typedef internal::blas_data_mapper<Scalar, Index, ColMajor> OutputMapper;
-
-    // Declare GEBP packing and kernel structs
-    internal::gemm_pack_lhs<LhsScalar, Index, typename LhsMapper::SubMapper, mr, Traits::LhsProgress, ColMajor> pack_lhs;
-    internal::gemm_pack_rhs<RhsScalar, Index, typename RhsMapper::SubMapper, nr, ColMajor> pack_rhs;
-
-    internal::gebp_kernel<LhsScalar, RhsScalar, Index, OutputMapper, mr, nr, false, false> gebp;
-
-    // initialize data mappers
-    LhsMapper lhs(this->m_leftImpl, this->m_left_nocontract_strides, this->m_i_strides,
-                  this->m_left_contracting_strides, this->m_k_strides);
-
-    RhsMapper rhs(this->m_rightImpl, this->m_right_nocontract_strides, this->m_j_strides,
-                  this->m_right_contracting_strides, this->m_k_strides);
-
-    OutputMapper output(buffer, m);
-
-    // Sizes of the blocks to load in cache. See the Goto paper for details.
-    internal::TensorContractionBlocking<LhsMapper, RhsMapper, Index, internal::ShardByCol> blocking(k, m, n, 1);
-    const Index kc = blocking.kc();
-    const Index mc = numext::mini(m, blocking.mc());
-    const Index nc = numext::mini(n, blocking.nc());
-    const Index sizeA = mc * kc;
-    const Index sizeB = kc * nc;
-
-    LhsScalar* blockA = static_cast<LhsScalar *>(this->m_device.allocate(sizeA * sizeof(LhsScalar)));
-    RhsScalar* blockB = static_cast<RhsScalar *>(this->m_device.allocate(sizeB * sizeof(RhsScalar)));
-
-    for(Index i2=0; i2<m; i2+=mc)
-    {
-      const Index actual_mc = numext::mini(i2+mc,m)-i2;
-      for (Index k2 = 0; k2 < k; k2 += kc) {
-        // make sure we don't overshoot right edge of left matrix, then pack vertical panel
-        const Index actual_kc = numext::mini(k2 + kc, k) - k2;
-        pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc, 0, 0);
-
-        // series of horizontal blocks
-        for (Index j2 = 0; j2 < n; j2 += nc) {
-          // make sure we don't overshoot right edge of right matrix, then pack block
-          const Index actual_nc = numext::mini(j2 + nc, n) - j2;
-          pack_rhs(blockB, rhs.getSubMapper(k2, j2), actual_kc, actual_nc, 0, 0);
-
-          // call gebp (matrix kernel)
-          // The parameters here are copied from Eigen's GEMM implementation
-          gebp(output.getSubMapper(i2, j2), blockA, blockB, actual_mc, actual_kc, actual_nc, Scalar(1), -1, -1, 0, 0);
-        }
-      }
-    }
-
-    this->m_device.deallocate(blockA);
-    this->m_device.deallocate(blockB);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_leftImpl.cleanup();
-    m_rightImpl.cleanup();
-
-    if (m_result != NULL) {
-      m_device.deallocate(m_result);
-      m_result = NULL;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const {
-    return m_result[index];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool) const {
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const {
-    return internal::ploadt<PacketReturnType, LoadMode>(m_result + index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar* data() const { return m_result; }
-
-  protected:
-  // Prevent assignment
-  TensorContractionEvaluatorBase& operator = (const TensorContractionEvaluatorBase&);
-  Dimensions m_dimensions;
-
-  contract_t m_k_strides;
-  contract_t m_left_contracting_strides;
-  contract_t m_right_contracting_strides;
-
-  bool m_lhs_inner_dim_contiguous;
-  bool m_rhs_inner_dim_contiguous;
-  bool m_rhs_inner_dim_reordered;
-
-  left_nocontract_t m_i_strides;
-  right_nocontract_t m_j_strides;
-  left_nocontract_t m_left_nocontract_strides;
-  right_nocontract_t m_right_nocontract_strides;
-
-  Index m_i_size;
-  Index m_j_size;
-  Index m_k_size;
-
-  TensorEvaluator<EvalLeftArgType, Device> m_leftImpl;
-  TensorEvaluator<EvalRightArgType, Device> m_rightImpl;
-  const Device& m_device;
-  Scalar* m_result;
-};
-
-
-// evaluator for default device
-template<typename Indices, typename LeftArgType, typename RightArgType, typename Device>
-struct TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, Device> :
-    public TensorContractionEvaluatorBase<
-      TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, Device> > {
-  typedef TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, Device> Self;
-  typedef TensorContractionEvaluatorBase<Self> Base;
-
-  typedef TensorContractionOp<Indices, LeftArgType, RightArgType> XprType;
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-
-  enum {
-    Layout = TensorEvaluator<LeftArgType, Device>::Layout
-  };
-
-  // Most of the code is assuming that both input tensors are ColMajor. If the
-  // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS:
-  // If we want to compute A * B = C, where A is LHS and B is RHS, the code
-  // will pretend B is LHS and A is RHS.
-  typedef typename internal::conditional<
-    static_cast<int>(Layout) == static_cast<int>(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType;
-  typedef typename internal::conditional<
-    static_cast<int>(Layout) == static_cast<int>(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType;
-
-  static const int LDims =
-      internal::array_size<typename TensorEvaluator<EvalLeftArgType, Device>::Dimensions>::value;
-  static const int RDims =
-      internal::array_size<typename TensorEvaluator<EvalRightArgType, Device>::Dimensions>::value;
-  static const int ContractDims = internal::array_size<Indices>::value;
-
-  typedef array<Index, ContractDims> contract_t;
-  typedef array<Index, LDims - ContractDims> left_nocontract_t;
-  typedef array<Index, RDims - ContractDims> right_nocontract_t;
-
-  static const int NumDims = LDims + RDims - 2 * ContractDims;
-
-  // Could we use NumDimensions here?
-  typedef DSizes<Index, NumDims> Dimensions;
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) :
-      Base(op, device) { }
-
-  template <bool lhs_inner_dim_contiguous, bool rhs_inner_dim_contiguous, bool rhs_inner_dim_reordered, int Alignment>
-  EIGEN_DEVICE_FUNC void evalProduct(Scalar* buffer) const {
-    if (this->m_j_size == 1) {
-      this->template evalGemv<lhs_inner_dim_contiguous, rhs_inner_dim_contiguous, rhs_inner_dim_reordered, Alignment>(buffer);
-      return;
-    }
-
-    this->template evalGemm<lhs_inner_dim_contiguous, rhs_inner_dim_contiguous, rhs_inner_dim_reordered, Alignment>(buffer);
-  }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionBlocking.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionBlocking.h
deleted file mode 100644
index 5cf7b4f7189a75..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionBlocking.h
+++ /dev/null
@@ -1,56 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_BLOCKING_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_BLOCKING_H
-
-
-namespace Eigen {
-namespace internal {
-
-enum {
-  ShardByRow = 0,
-  ShardByCol = 1
-};
-
-
-// Default Blocking Strategy
-template <typename LhsMapper, typename RhsMapper, typename Index, int ShardingType=ShardByCol>
-class TensorContractionBlocking {
- public:
-
-  typedef typename LhsMapper::Scalar LhsScalar;
-  typedef typename RhsMapper::Scalar RhsScalar;
-
-  EIGEN_DEVICE_FUNC TensorContractionBlocking(Index k, Index m, Index n, Index num_threads = 1) :
-      kc_(k), mc_(m), nc_(n)
-  {
-    if (ShardingType == ShardByCol) {
-      computeProductBlockingSizes<LhsScalar, RhsScalar, 1>(kc_, mc_, nc_, num_threads);
-    }
-    else {
-      computeProductBlockingSizes<LhsScalar, RhsScalar, 1>(kc_, nc_, mc_, num_threads);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index kc() const { return kc_; }
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index mc() const { return mc_; }
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index nc() const { return nc_; }
-
- private:
-  Index kc_;
-  Index mc_;
-  Index nc_;
-};
-
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_BLOCKING_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionCuda.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionCuda.h
deleted file mode 100644
index d65dbb40f1887a..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionCuda.h
+++ /dev/null
@@ -1,1391 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014-2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-// Copyright (C) 2015 Navdeep Jaitly <ndjaitly@google.com>
-// Copyright (C) 2014 Eric Martin <eric@ericmart.in>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_CUDA_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_CUDA_H
-
-#if defined(EIGEN_USE_GPU) && defined(__CUDACC__)
-
-namespace Eigen {
-
-template<typename Scalar, typename Index, typename LhsMapper,
-         typename RhsMapper, typename OutputMapper, bool needs_edge_check>
-__device__ EIGEN_STRONG_INLINE void
-EigenContractionKernelInternal(const LhsMapper lhs, const RhsMapper rhs,
-                               const OutputMapper output, Scalar* lhs_shmem, Scalar* rhs_shmem,
-                       const Index m_size, const Index n_size, const Index k_size) {
-
-  const Index m_block_idx = blockIdx.x;
-  const Index n_block_idx = blockIdx.y;
-
-  const Index base_m = 64 * m_block_idx;
-  const Index base_n = 64 * n_block_idx;
-
-  // declare and initialize 64 registers for output 8x8 block
-
-  // prefetch registers
-  Scalar lhs_pf0;
-  Scalar lhs_pf1;
-  Scalar lhs_pf2;
-  Scalar lhs_pf3;
-  Scalar lhs_pf4;
-  Scalar lhs_pf5;
-  Scalar lhs_pf6;
-  Scalar lhs_pf7;
-
-  Scalar rhs_pf0;
-  Scalar rhs_pf1;
-  Scalar rhs_pf2;
-  Scalar rhs_pf3;
-  Scalar rhs_pf4;
-  Scalar rhs_pf5;
-  Scalar rhs_pf6;
-  Scalar rhs_pf7;
-
-  // shared memory is formatted
-  // (contract idx in block, nocontract idx in block, block idx)
-  // where block idx is column major. This transposition limits the number of
-  // bank conflicts when reading the LHS. The core idea is that since the contracting
-  // index is shared by both sides, then the contracting index should be in threadIdx.x.
-
-  // On the LHS, we pad each row inside of each block with an extra element. This makes
-  // each block 8 rows of 9 elements, which is 72 elements. This gives no bank conflicts
-  // on writes and very few 2-way conflicts on reads. There is an 8x8 grid of these blocks.
-
-  // On the RHS we just add 8 padding elements to the end of each block. This gives no bank
-  // conflicts on writes and also none on reads.
-
-  // storage indices
-  const Index lhs_store_idx_base = threadIdx.y * 72 + threadIdx.x * 9 + threadIdx.z;
-  const Index rhs_store_idx_base = threadIdx.y * 72 + threadIdx.z * 8 + threadIdx.x;
-
-  const Index lhs_store_idx_0 = lhs_store_idx_base + 576 * 0;
-  const Index lhs_store_idx_1 = lhs_store_idx_base + 576 * 1;
-  const Index lhs_store_idx_2 = lhs_store_idx_base + 576 * 2;
-  const Index lhs_store_idx_3 = lhs_store_idx_base + 576 * 3;
-  const Index lhs_store_idx_4 = lhs_store_idx_base + 576 * 4;
-  const Index lhs_store_idx_5 = lhs_store_idx_base + 576 * 5;
-  const Index lhs_store_idx_6 = lhs_store_idx_base + 576 * 6;
-  const Index lhs_store_idx_7 = lhs_store_idx_base + 576 * 7;
-
-  const Index rhs_store_idx_0 = rhs_store_idx_base + 576 * 0;
-  const Index rhs_store_idx_1 = rhs_store_idx_base + 576 * 1;
-  const Index rhs_store_idx_2 = rhs_store_idx_base + 576 * 2;
-  const Index rhs_store_idx_3 = rhs_store_idx_base + 576 * 3;
-  const Index rhs_store_idx_4 = rhs_store_idx_base + 576 * 4;
-  const Index rhs_store_idx_5 = rhs_store_idx_base + 576 * 5;
-  const Index rhs_store_idx_6 = rhs_store_idx_base + 576 * 6;
-  const Index rhs_store_idx_7 = rhs_store_idx_base + 576 * 7;
-
-  // in the loading code, the following variables are important:
-  // threadIdx.x: the vertical position in an 8x8 block
-  // threadIdx.y: the vertical index of the 8x8 block in the grid
-  // threadIdx.z: the horizontal position in an 8x8 block
-  // k: the horizontal index of the 8x8 block in the grid
-  //
-  // The k parameter is implicit (it was the loop counter for a loop that went
-  // from 0 to <8, but now that loop is unrolled in the below code.
-
-  const Index load_idx_vert = threadIdx.x + 8 * threadIdx.y;
-  const Index lhs_vert = base_m + load_idx_vert;
-
-#define prefetchIntoRegisters(base_k)                           \
-  {                                                             \
-    lhs_pf0 = conv(0);                                          \
-    lhs_pf1 = conv(0);                                          \
-    lhs_pf2 = conv(0);                                          \
-    lhs_pf3 = conv(0);                                          \
-    lhs_pf4 = conv(0);                                          \
-    lhs_pf5 = conv(0);                                          \
-    lhs_pf6 = conv(0);                                          \
-    lhs_pf7 = conv(0);                                          \
-                                                                \
-    rhs_pf0 = conv(0);                                          \
-    rhs_pf1 = conv(0);                                          \
-    rhs_pf2 = conv(0);                                          \
-    rhs_pf3 = conv(0);                                          \
-    rhs_pf4 = conv(0);                                          \
-    rhs_pf5 = conv(0);                                          \
-    rhs_pf6 = conv(0);                                          \
-    rhs_pf7 = conv(0);                                          \
-                                                                \
-    if (!needs_edge_check || lhs_vert < m_size) {               \
-      const Index lhs_horiz_0 = base_k + threadIdx.z + 0 * 8;   \
-      const Index lhs_horiz_1 = base_k + threadIdx.z + 1 * 8;   \
-      const Index lhs_horiz_2 = base_k + threadIdx.z + 2 * 8;   \
-      const Index lhs_horiz_3 = base_k + threadIdx.z + 3 * 8;   \
-      const Index lhs_horiz_4 = base_k + threadIdx.z + 4 * 8;   \
-      const Index lhs_horiz_5 = base_k + threadIdx.z + 5 * 8;   \
-      const Index lhs_horiz_6 = base_k + threadIdx.z + 6 * 8;   \
-      const Index lhs_horiz_7 = base_k + threadIdx.z + 7 * 8;   \
-                                                                \
-      if (!needs_edge_check || lhs_horiz_7 < k_size) {          \
-        lhs_pf0 = lhs(lhs_vert, lhs_horiz_0);                   \
-        lhs_pf1 = lhs(lhs_vert, lhs_horiz_1);                   \
-        lhs_pf2 = lhs(lhs_vert, lhs_horiz_2);                   \
-        lhs_pf3 = lhs(lhs_vert, lhs_horiz_3);                   \
-        lhs_pf4 = lhs(lhs_vert, lhs_horiz_4);                   \
-        lhs_pf5 = lhs(lhs_vert, lhs_horiz_5);                   \
-        lhs_pf6 = lhs(lhs_vert, lhs_horiz_6);                   \
-        lhs_pf7 = lhs(lhs_vert, lhs_horiz_7);                   \
-      } else if (lhs_horiz_6 < k_size) {                        \
-        lhs_pf0 = lhs(lhs_vert, lhs_horiz_0);                   \
-        lhs_pf1 = lhs(lhs_vert, lhs_horiz_1);                   \
-        lhs_pf2 = lhs(lhs_vert, lhs_horiz_2);                   \
-        lhs_pf3 = lhs(lhs_vert, lhs_horiz_3);                   \
-        lhs_pf4 = lhs(lhs_vert, lhs_horiz_4);                   \
-        lhs_pf5 = lhs(lhs_vert, lhs_horiz_5);                   \
-        lhs_pf6 = lhs(lhs_vert, lhs_horiz_6);                   \
-      } else if (lhs_horiz_5 < k_size) {                        \
-        lhs_pf0 = lhs(lhs_vert, lhs_horiz_0);                   \
-        lhs_pf1 = lhs(lhs_vert, lhs_horiz_1);                   \
-        lhs_pf2 = lhs(lhs_vert, lhs_horiz_2);                   \
-        lhs_pf3 = lhs(lhs_vert, lhs_horiz_3);                   \
-        lhs_pf4 = lhs(lhs_vert, lhs_horiz_4);                   \
-        lhs_pf5 = lhs(lhs_vert, lhs_horiz_5);                   \
-      } else if (lhs_horiz_4 < k_size) {                        \
-        lhs_pf0 = lhs(lhs_vert, lhs_horiz_0);                   \
-        lhs_pf1 = lhs(lhs_vert, lhs_horiz_1);                   \
-        lhs_pf2 = lhs(lhs_vert, lhs_horiz_2);                   \
-        lhs_pf3 = lhs(lhs_vert, lhs_horiz_3);                   \
-        lhs_pf4 = lhs(lhs_vert, lhs_horiz_4);                   \
-      } else if (lhs_horiz_3 < k_size) {                        \
-        lhs_pf0 = lhs(lhs_vert, lhs_horiz_0);                   \
-        lhs_pf1 = lhs(lhs_vert, lhs_horiz_1);                   \
-        lhs_pf2 = lhs(lhs_vert, lhs_horiz_2);                   \
-        lhs_pf3 = lhs(lhs_vert, lhs_horiz_3);                   \
-      } else if (lhs_horiz_2 < k_size) {                        \
-        lhs_pf0 = lhs(lhs_vert, lhs_horiz_0);                   \
-        lhs_pf1 = lhs(lhs_vert, lhs_horiz_1);                   \
-        lhs_pf2 = lhs(lhs_vert, lhs_horiz_2);                   \
-      } else if (lhs_horiz_1 < k_size) {                        \
-        lhs_pf0 = lhs(lhs_vert, lhs_horiz_0);                   \
-        lhs_pf1 = lhs(lhs_vert, lhs_horiz_1);                   \
-      } else if (lhs_horiz_0 < k_size) {                        \
-        lhs_pf0 = lhs(lhs_vert, lhs_horiz_0);                   \
-      }                                                         \
-    }                                                           \
-                                                                \
-    const Index rhs_vert = base_k + load_idx_vert;              \
-    if (!needs_edge_check || rhs_vert < k_size) {               \
-      const Index rhs_horiz_0 = base_n + threadIdx.z + 0 * 8;   \
-      const Index rhs_horiz_1 = base_n + threadIdx.z + 1 * 8;   \
-      const Index rhs_horiz_2 = base_n + threadIdx.z + 2 * 8;   \
-      const Index rhs_horiz_3 = base_n + threadIdx.z + 3 * 8;   \
-      const Index rhs_horiz_4 = base_n + threadIdx.z + 4 * 8;   \
-      const Index rhs_horiz_5 = base_n + threadIdx.z + 5 * 8;   \
-      const Index rhs_horiz_6 = base_n + threadIdx.z + 6 * 8;   \
-      const Index rhs_horiz_7 = base_n + threadIdx.z + 7 * 8;   \
-                                                                \
-      if (rhs_horiz_7 < n_size) {                               \
-        rhs_pf0 = rhs(rhs_vert, rhs_horiz_0);                   \
-        rhs_pf1 = rhs(rhs_vert, rhs_horiz_1);                   \
-        rhs_pf2 = rhs(rhs_vert, rhs_horiz_2);                   \
-        rhs_pf3 = rhs(rhs_vert, rhs_horiz_3);                   \
-        rhs_pf4 = rhs(rhs_vert, rhs_horiz_4);                   \
-        rhs_pf5 = rhs(rhs_vert, rhs_horiz_5);                   \
-        rhs_pf6 = rhs(rhs_vert, rhs_horiz_6);                   \
-        rhs_pf7 = rhs(rhs_vert, rhs_horiz_7);                   \
-      } else if (rhs_horiz_6 < n_size) {                        \
-        rhs_pf0 = rhs(rhs_vert, rhs_horiz_0);                   \
-        rhs_pf1 = rhs(rhs_vert, rhs_horiz_1);                   \
-        rhs_pf2 = rhs(rhs_vert, rhs_horiz_2);                   \
-        rhs_pf3 = rhs(rhs_vert, rhs_horiz_3);                   \
-        rhs_pf4 = rhs(rhs_vert, rhs_horiz_4);                   \
-        rhs_pf5 = rhs(rhs_vert, rhs_horiz_5);                   \
-        rhs_pf6 = rhs(rhs_vert, rhs_horiz_6);                   \
-      } else if (rhs_horiz_5 < n_size) {                        \
-        rhs_pf0 = rhs(rhs_vert, rhs_horiz_0);                   \
-        rhs_pf1 = rhs(rhs_vert, rhs_horiz_1);                   \
-        rhs_pf2 = rhs(rhs_vert, rhs_horiz_2);                   \
-        rhs_pf3 = rhs(rhs_vert, rhs_horiz_3);                   \
-        rhs_pf4 = rhs(rhs_vert, rhs_horiz_4);                   \
-        rhs_pf5 = rhs(rhs_vert, rhs_horiz_5);                   \
-      } else if (rhs_horiz_4 < n_size) {                        \
-        rhs_pf0 = rhs(rhs_vert, rhs_horiz_0);                   \
-        rhs_pf1 = rhs(rhs_vert, rhs_horiz_1);                   \
-        rhs_pf2 = rhs(rhs_vert, rhs_horiz_2);                   \
-        rhs_pf3 = rhs(rhs_vert, rhs_horiz_3);                   \
-        rhs_pf4 = rhs(rhs_vert, rhs_horiz_4);                   \
-      } else if (rhs_horiz_3 < n_size) {                        \
-        rhs_pf0 = rhs(rhs_vert, rhs_horiz_0);                   \
-        rhs_pf1 = rhs(rhs_vert, rhs_horiz_1);                   \
-        rhs_pf2 = rhs(rhs_vert, rhs_horiz_2);                   \
-        rhs_pf3 = rhs(rhs_vert, rhs_horiz_3);                   \
-      } else if (rhs_horiz_2 < n_size) {                        \
-        rhs_pf0 = rhs(rhs_vert, rhs_horiz_0);                   \
-        rhs_pf1 = rhs(rhs_vert, rhs_horiz_1);                   \
-        rhs_pf2 = rhs(rhs_vert, rhs_horiz_2);                   \
-      } else if (rhs_horiz_1 < n_size) {                        \
-        rhs_pf0 = rhs(rhs_vert, rhs_horiz_0);                   \
-        rhs_pf1 = rhs(rhs_vert, rhs_horiz_1);                   \
-      } else if (rhs_horiz_0 < n_size) {                        \
-        rhs_pf0 = rhs(rhs_vert, rhs_horiz_0);                   \
-      }                                                         \
-    }                                                           \
-  }                                                             \
-
-#define writeRegToShmem(_)                      \
-  lhs_shmem[lhs_store_idx_0] = lhs_pf0;         \
-  rhs_shmem[rhs_store_idx_0] = rhs_pf0;         \
-                                                \
-  lhs_shmem[lhs_store_idx_1] = lhs_pf1;         \
-  rhs_shmem[rhs_store_idx_1] = rhs_pf1;         \
-                                                \
-  lhs_shmem[lhs_store_idx_2] = lhs_pf2;         \
-  rhs_shmem[rhs_store_idx_2] = rhs_pf2;         \
-                                                \
-  lhs_shmem[lhs_store_idx_3] = lhs_pf3;         \
-  rhs_shmem[rhs_store_idx_3] = rhs_pf3;         \
-                                                \
-  lhs_shmem[lhs_store_idx_4] = lhs_pf4;         \
-  rhs_shmem[rhs_store_idx_4] = rhs_pf4;         \
-                                                \
-  lhs_shmem[lhs_store_idx_5] = lhs_pf5;         \
-  rhs_shmem[rhs_store_idx_5] = rhs_pf5;         \
-                                                \
-  lhs_shmem[lhs_store_idx_6] = lhs_pf6;         \
-  rhs_shmem[rhs_store_idx_6] = rhs_pf6;         \
-                                                \
-  lhs_shmem[lhs_store_idx_7] = lhs_pf7;         \
-  rhs_shmem[rhs_store_idx_7] = rhs_pf7;         \
-
-  // declare and initialize result array
-#define res(i, j) _res_##i##j
-#define initResultRow(i)                        \
-  Scalar res(i, 0) = conv(0);                   \
-  Scalar res(i, 1) = conv(0);                   \
-  Scalar res(i, 2) = conv(0);                   \
-  Scalar res(i, 3) = conv(0);                   \
-  Scalar res(i, 4) = conv(0);                   \
-  Scalar res(i, 5) = conv(0);                   \
-  Scalar res(i, 6) = conv(0);                   \
-  Scalar res(i, 7) = conv(0);                   \
-
-  internal::scalar_cast_op<int, Scalar> conv;
-  initResultRow(0);
-  initResultRow(1);
-  initResultRow(2);
-  initResultRow(3);
-  initResultRow(4);
-  initResultRow(5);
-  initResultRow(6);
-  initResultRow(7);
-#undef initResultRow
-
-  for (Index base_k = 0; base_k < k_size; base_k += 64) {
-    // wait for previous iteration to finish with shmem. Despite common sense,
-    // the code is a bit faster with this here then at bottom of loop
-    __syncthreads();
-
-    prefetchIntoRegisters(base_k);
-    writeRegToShmem();
-
-    #undef prefetchIntoRegisters
-    #undef writeRegToShmem
-
-    // wait for shared mem packing to be done before starting computation
-    __syncthreads();
-
-    // compute 8x8 matrix product by outer product. This involves packing one column
-    // of LHS and one row of RHS into registers (takes 16 registers).
-
-#define lcol(i) _lcol##i
-    Scalar lcol(0);
-    Scalar lcol(1);
-    Scalar lcol(2);
-    Scalar lcol(3);
-    Scalar lcol(4);
-    Scalar lcol(5);
-    Scalar lcol(6);
-    Scalar lcol(7);
-
-#define rrow(j) _rrow##j
-    Scalar rrow(0);
-    Scalar rrow(1);
-    Scalar rrow(2);
-    Scalar rrow(3);
-    Scalar rrow(4);
-    Scalar rrow(5);
-    Scalar rrow(6);
-    Scalar rrow(7);
-
-    // Now x corresponds to k, y to m, and z to n
-    const Scalar* lhs_block = &lhs_shmem[threadIdx.x + 9 * threadIdx.y];
-    const Scalar* rhs_block = &rhs_shmem[threadIdx.x + 8 * threadIdx.z];
-
-#define lhs_element(i, j) lhs_block[72 * ((i) + 8 * (j))]
-#define rhs_element(i, j) rhs_block[72 * ((i) + 8 * (j))]
-
-#define loadData(i, j)                          \
-    lcol(0) = lhs_element(0, j);               \
-    rrow(0) = rhs_element(i, 0);               \
-    lcol(1) = lhs_element(1, j);               \
-    rrow(1) = rhs_element(i, 1);               \
-    lcol(2) = lhs_element(2, j);               \
-    rrow(2) = rhs_element(i, 2);               \
-    lcol(3) = lhs_element(3, j);               \
-    rrow(3) = rhs_element(i, 3);               \
-    lcol(4) = lhs_element(4, j);               \
-    rrow(4) = rhs_element(i, 4);               \
-    lcol(5) = lhs_element(5, j);               \
-    rrow(5) = rhs_element(i, 5);               \
-    lcol(6) = lhs_element(6, j);               \
-    rrow(6) = rhs_element(i, 6);               \
-    lcol(7) = lhs_element(7, j);               \
-    rrow(7) = rhs_element(i, 7);               \
-
-#define computeCol(j)                           \
-    res(0, j) += lcol(0) * rrow(j);             \
-    res(1, j) += lcol(1) * rrow(j);             \
-    res(2, j) += lcol(2) * rrow(j);             \
-    res(3, j) += lcol(3) * rrow(j);             \
-    res(4, j) += lcol(4) * rrow(j);             \
-    res(5, j) += lcol(5) * rrow(j);             \
-    res(6, j) += lcol(6) * rrow(j);             \
-    res(7, j) += lcol(7) * rrow(j);             \
-
-#define computePass(i)                          \
-    loadData(i, i);                             \
-                                                \
-    computeCol(0);                              \
-    computeCol(1);                              \
-    computeCol(2);                              \
-    computeCol(3);                              \
-    computeCol(4);                              \
-    computeCol(5);                              \
-    computeCol(6);                              \
-    computeCol(7);                              \
-
-    computePass(0);
-    computePass(1);
-    computePass(2);
-    computePass(3);
-    computePass(4);
-    computePass(5);
-    computePass(6);
-    computePass(7);
-
-#undef lcol
-#undef rrow
-#undef lhs_element
-#undef rhs_element
-#undef loadData
-#undef computeCol
-#undef computePass
-  } // end loop over k
-
-  // we've now iterated over all of the large (ie width 64) k blocks and
-  // accumulated results in registers. At this point thread (x, y, z) contains
-  // the sum across all big k blocks of the product of little k block of index (x, y)
-  // with block of index (y, z). To compute the final output, we need to reduce
-  // the 8 threads over y by summation.
-#define shuffleInc(i, j, mask) res(i, j) += __shfl_xor(res(i, j), mask)
-
-#define reduceRow(i, mask)                      \
-  shuffleInc(i, 0, mask);                       \
-  shuffleInc(i, 1, mask);                       \
-  shuffleInc(i, 2, mask);                       \
-  shuffleInc(i, 3, mask);                       \
-  shuffleInc(i, 4, mask);                       \
-  shuffleInc(i, 5, mask);                       \
-  shuffleInc(i, 6, mask);                       \
-  shuffleInc(i, 7, mask);                       \
-
-#define reduceMatrix(mask)                      \
-  reduceRow(0, mask);                           \
-  reduceRow(1, mask);                           \
-  reduceRow(2, mask);                           \
-  reduceRow(3, mask);                           \
-  reduceRow(4, mask);                           \
-  reduceRow(5, mask);                           \
-  reduceRow(6, mask);                           \
-  reduceRow(7, mask);                           \
-
-  // actually perform the reduction, now each thread of index (_, y, z)
-  // contains the correct values in its registers that belong in the output
-  // block
-  reduceMatrix(1);
-  reduceMatrix(2);
-  reduceMatrix(4);
-
-#undef shuffleInc
-#undef reduceRow
-#undef reduceMatrix
-
-  // now we need to copy the 64 values into main memory. We can't split work
-  // among threads because all variables are in registers. There's 2 ways
-  // to do this:
-  // (1) have 1 thread do 64 writes from registers into global memory
-  // (2) have 1 thread do 64 writes into shared memory, and then 8 threads
-  //     each do 8 writes into global memory. We can just overwrite the shared
-  //     memory from the problem we just solved.
-  // (2) is slightly faster than (1) due to less branching and more ILP
-
-  // TODO: won't yield much gain, but could just use currently unused shared mem
-  //       and then we won't have to sync
-  // wait for shared mem to be out of use
-  __syncthreads();
-
-#define writeResultShmem(i, j)                                          \
-  lhs_shmem[i + 8 * threadIdx.y + 64 * threadIdx.z + 512 * j] = res(i, j); \
-
-#define writeRow(i)                             \
-  writeResultShmem(i, 0);                       \
-  writeResultShmem(i, 1);                       \
-  writeResultShmem(i, 2);                       \
-  writeResultShmem(i, 3);                       \
-  writeResultShmem(i, 4);                       \
-  writeResultShmem(i, 5);                       \
-  writeResultShmem(i, 6);                       \
-  writeResultShmem(i, 7);                       \
-
-  if (threadIdx.x == 0) {
-    writeRow(0);
-    writeRow(1);
-    writeRow(2);
-    writeRow(3);
-    writeRow(4);
-    writeRow(5);
-    writeRow(6);
-    writeRow(7);
-  }
-#undef writeResultShmem
-#undef writeRow
-
-  const int max_i_write = numext::mini((int)((m_size - base_m - threadIdx.y + 7) / 8), 8);
-  const int max_j_write = numext::mini((int)((n_size - base_n - threadIdx.z + 7) / 8), 8);
-
-  if (threadIdx.x < max_i_write) {
-    if (max_j_write == 8) {
-      // TODO: can i trade bank conflicts for coalesced writes?
-      Scalar val0 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 0];
-      Scalar val1 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 1];
-      Scalar val2 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 2];
-      Scalar val3 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 3];
-      Scalar val4 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 4];
-      Scalar val5 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 5];
-      Scalar val6 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 6];
-      Scalar val7 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 7];
-
-      output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 0) = val0;
-      output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 1) = val1;
-      output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 2) = val2;
-      output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 3) = val3;
-      output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 4) = val4;
-      output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 5) = val5;
-      output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 6) = val6;
-      output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 7) = val7;
-    } else {
-#pragma unroll 7
-      for (int j = 0; j < max_j_write; j++) {
-        Scalar val = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * j];
-        output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * j) = val;
-      }
-    }
-  }
-#undef res
-}
-
-
-template<typename Scalar, typename Index, typename LhsMapper,
-         typename RhsMapper, typename OutputMapper>
-__global__ void
-__launch_bounds__(512)
-EigenContractionKernel(const LhsMapper lhs, const RhsMapper rhs,
-                       const OutputMapper output,
-                       const Index m_size, const Index n_size, const Index k_size) {
-  __shared__ Scalar lhs_shmem[72 * 64];
-  __shared__ Scalar rhs_shmem[72 * 64];
-
-  const Index m_block_idx = blockIdx.x;
-  const Index n_block_idx = blockIdx.y;
-
-  const Index base_m = 64 * m_block_idx;
-  const Index base_n = 64 * n_block_idx;
-
-  if (base_m + 63 < m_size && base_n + 63 < n_size) {
-    EigenContractionKernelInternal<Scalar, Index, LhsMapper, RhsMapper, OutputMapper, false>(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size);
-  } else {
-    EigenContractionKernelInternal<Scalar, Index, LhsMapper, RhsMapper, OutputMapper, true>(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size);
-  }
-}
-
-
-template<typename Index, typename LhsMapper,
-         typename RhsMapper, typename OutputMapper, bool CHECK_LHS_BOUNDARY,
-         bool CHECK_RHS_BOUNDARY>
-__device__ EIGEN_STRONG_INLINE void
-EigenFloatContractionKernelInternal16x16(const LhsMapper lhs, const RhsMapper rhs,
-                       const OutputMapper output, float2 lhs_shmem2[][16],
-                       float2 rhs_shmem2[][8], const Index m_size,
-                       const Index n_size, const Index k_size,
-                       const Index base_m, const Index base_n) {
-  typedef float Scalar;
-
-  // prefetch registers
-  float4 lhs_pf0, rhs_pf0;
-
-  float4 results[4];
-  for (int i=0; i < 4; i++) {
-    results[i].x = results[i].y = results[i].z = results[i].w = 0;
-  }
-
-
-#define prefetch_lhs(reg, row, col)                   \
-    if (!CHECK_LHS_BOUNDARY) {                        \
-      if (col < k_size) {                             \
-        reg =lhs.loadPacket<Unaligned>(row, col);     \
-      }                                               \
-    } else {                                          \
-      if (col < k_size) {                             \
-        if (row + 3 < m_size) {                       \
-          reg =lhs.loadPacket<Unaligned>(row, col);   \
-        } else if (row + 2 < m_size) {                \
-          reg.x =lhs(row + 0, col);                   \
-          reg.y =lhs(row + 1, col);                   \
-          reg.z =lhs(row + 2, col);                   \
-        } else if (row + 1 < m_size) {                \
-          reg.x =lhs(row + 0, col);                   \
-          reg.y =lhs(row + 1, col);                   \
-        } else if (row  < m_size) {                   \
-          reg.x =lhs(row + 0, col);                   \
-        }                                             \
-      }                                               \
-    }                                                 \
-
-
-  Index lhs_vert = base_m+threadIdx.x*4;
-
-  for (Index k = 0; k < k_size; k += 16) {
-    lhs_pf0 = internal::pset1<float4>(0);
-    rhs_pf0 = internal::pset1<float4>(0);
-
-    Index lhs_horiz = threadIdx.y+k;
-    prefetch_lhs(lhs_pf0, lhs_vert, lhs_horiz)
-
-    Index rhs_vert = k+(threadIdx.x%4)*4;
-    Index rhs_horiz0 = (threadIdx.x>>2)+threadIdx.y*4+base_n;
-
-    if (!CHECK_RHS_BOUNDARY) {
-      if ((rhs_vert + 3) < k_size) {
-        // just CHECK_RHS_BOUNDARY
-        rhs_pf0 = rhs.loadPacket<Unaligned>(rhs_vert, rhs_horiz0);
-      } else if (rhs_vert + 2 < k_size) {
-        // just CHECK_RHS_BOUNDARY
-        rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-        rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-        rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0);
-      } else if (rhs_vert + 1 < k_size) {
-        rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-        rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-      } else if (rhs_vert  < k_size) {
-        rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-      }
-    } else {
-      if (rhs_horiz0 < n_size) {
-        if ((rhs_vert + 3) < k_size) {
-          rhs_pf0 = rhs.loadPacket<Unaligned>(rhs_vert, rhs_horiz0);
-        } else if ((rhs_vert + 2) < k_size) {
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-          rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-          rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0);
-        } else if ((rhs_vert + 1) < k_size) {
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-          rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-        } else if (rhs_vert  < k_size) {
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-        }
-      }
-    }
-    float x1, x2 ;
-    // the following can be a bitwise operation..... some day.
-    if((threadIdx.x%8) < 4) {
-      x1 = rhs_pf0.y;
-      x2 = rhs_pf0.w;
-    } else {
-      x1 = rhs_pf0.x;
-      x2 = rhs_pf0.z;
-    }
-    x1 = __shfl_xor(x1, 4);
-    x2 = __shfl_xor(x2, 4);
-    if((threadIdx.x%8) < 4) {
-      rhs_pf0.y = x1;
-      rhs_pf0.w = x2;
-    } else {
-      rhs_pf0.x = x1;
-      rhs_pf0.z = x2;
-    }
-
-    // We have 64 features.
-    // Row 0 -> times (0, 4, 8, 12, 1, 5, 9, 13) for features 0, 1.
-    // Row 1 -> times (0, 4, 8, 12, 1, 5, 9, 13) for features 2, 3.
-    // ...
-    // Row 31 -> times (0, 4, 8, 12, 1, 5, 9, 13) for features 62, 63
-    // Row 32 -> times (2, 6, 10, 14, 3, 7, 11, 15) for features 0, 1
-    // ...
-    rhs_shmem2[(threadIdx.x>>3)+ threadIdx.y*2][threadIdx.x%8] = make_float2(rhs_pf0.x, rhs_pf0.y);
-    rhs_shmem2[(threadIdx.x>>3)+ threadIdx.y*2+32][threadIdx.x%8] = make_float2(rhs_pf0.z, rhs_pf0.w);
-
-    // Row 0 (time 0) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), ..  (60, 61)
-    // Row 1 (time 1) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), ..  (60, 61)
-    // ...
-    // Row 15 (time 15) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), ..  (60, 61)
-    // Row 16 (time 0) -> features (2, 3), (6, 7), .. (30, 31), (34, 35), ..  (62, 63)
-    // ...
-
-    lhs_shmem2[threadIdx.y][threadIdx.x] = make_float2(lhs_pf0.x, lhs_pf0.y);
-    lhs_shmem2[threadIdx.y+16][threadIdx.x] = make_float2(lhs_pf0.z, lhs_pf0.w);
-
-
-#define add_vals(fl1, fl2, fr1, fr2)\
-    results[0].x += fl1.x * fr1.x;\
-    results[0].y += fl1.y * fr1.x;\
-    results[0].z += fl2.x * fr1.x;\
-    results[0].w += fl2.y * fr1.x;\
-\
-    results[1].x += fl1.x * fr1.y;\
-    results[1].y += fl1.y * fr1.y;\
-    results[1].z += fl2.x * fr1.y;\
-    results[1].w += fl2.y * fr1.y;\
-\
-    results[2].x += fl1.x * fr2.x;\
-    results[2].y += fl1.y * fr2.x;\
-    results[2].z += fl2.x * fr2.x;\
-    results[2].w += fl2.y * fr2.x;\
-\
-    results[3].x += fl1.x * fr2.y;\
-    results[3].y += fl1.y * fr2.y;\
-    results[3].z += fl2.x * fr2.y;\
-    results[3].w += fl2.y * fr2.y;\
-
-    __syncthreads();
-
-    // Do the multiplies.
-    #pragma unroll
-    for (int koff = 0; koff < 16; koff ++) {
-      // 32 x threads.
-      float2 fl1 = lhs_shmem2[koff][threadIdx.x];
-      float2 fl2 = lhs_shmem2[koff + 16][threadIdx.x];
-
-      int start_feature = threadIdx.y * 4;
-      float2 fr1 = rhs_shmem2[(start_feature>>1) + 32*((koff%4)/2)][koff/4 + (koff%2)*4];
-      float2 fr2 = rhs_shmem2[(start_feature>>1) + 1 + 32*((koff%4)/2)][koff/4 + (koff%2)*4];
-
-      add_vals(fl1, fl2, fr1, fr2)
-    }
-    __syncthreads();
-  }
-
-#undef prefetch_lhs
-#undef add_vals
-
-  Index horiz_base = threadIdx.y*4+base_n;
-  if (!CHECK_LHS_BOUNDARY && !CHECK_RHS_BOUNDARY) {
-    for (int i = 0; i < 4; i++) {
-      output(lhs_vert, horiz_base + i) = results[i].x;
-      output(lhs_vert + 1, horiz_base + i) = results[i].y;
-      output(lhs_vert + 2, horiz_base + i) = results[i].z;
-      output(lhs_vert + 3, horiz_base + i) = results[i].w;
-    }
-  } else if (!CHECK_RHS_BOUNDARY) {
-    // CHECK LHS
-    if (lhs_vert + 3 < m_size) {
-      for (int i = 0; i < 4; i++) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-        output(lhs_vert + 1, horiz_base + i) = results[i].y;
-        output(lhs_vert + 2, horiz_base + i) = results[i].z;
-        output(lhs_vert + 3, horiz_base + i) = results[i].w;
-      }
-    } else if (lhs_vert + 2 < m_size) {
-      for (int i = 0; i < 4; i++) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-        output(lhs_vert + 1, horiz_base + i) = results[i].y;
-        output(lhs_vert + 2, horiz_base + i) = results[i].z;
-      }
-    } else if (lhs_vert + 1 < m_size) {
-      for (int i = 0; i < 4; i++) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-        output(lhs_vert + 1, horiz_base + i) = results[i].y;
-      }
-    } else if (lhs_vert  < m_size) {
-      for (int i = 0; i < 4; i++) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-      }
-    }
-  } else if (!CHECK_LHS_BOUNDARY) {
-    // CHECK RHS
-    /*
-    int ncols_rem = fminf(n_size- horiz_base, 4);
-    for (int i = 0; i < ncols_rem; i++) {
-      output(lhs_vert, horiz_base + i) = results[i].x;
-      output(lhs_vert + 1, horiz_base + i) = results[i].y;
-      output(lhs_vert + 2, horiz_base + i) = results[i].z;
-      output(lhs_vert + 3, horiz_base + i) = results[i].w;
-    }*/
-    for (int i = 0; i < 4; i++) {
-      if (horiz_base+i < n_size) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-        output(lhs_vert + 1, horiz_base + i) = results[i].y;
-        output(lhs_vert + 2, horiz_base + i) = results[i].z;
-        output(lhs_vert + 3, horiz_base + i) = results[i].w;
-       }
-    }
-  } else {
-    // CHECK both boundaries.
-    for (int i = 0; i < 4; i++) {
-      if (horiz_base+i < n_size) {
-        if (lhs_vert < m_size)
-          output(lhs_vert, horiz_base + i) = results[i].x;
-        if (lhs_vert + 1 < m_size)
-          output(lhs_vert + 1, horiz_base + i) = results[i].y;
-        if (lhs_vert + 2 < m_size)
-          output(lhs_vert + 2, horiz_base + i) = results[i].z;
-        if (lhs_vert + 3 < m_size)
-          output(lhs_vert + 3, horiz_base + i) = results[i].w;
-      }
-    }
-  }
-}
-
-
-template<typename Index, typename LhsMapper,
-         typename RhsMapper, typename OutputMapper, bool CHECK_LHS_BOUNDARY,
-         bool CHECK_RHS_BOUNDARY>
-__device__ EIGEN_STRONG_INLINE void
-EigenFloatContractionKernelInternal(const LhsMapper lhs, const RhsMapper rhs,
-                       const OutputMapper output, float2 lhs_shmem2[][32],
-                       float2 rhs_shmem2[][8], const Index m_size,
-                       const Index n_size, const Index k_size,
-                       const Index base_m, const Index base_n) {
-  typedef float Scalar;
-
-  // prefetch registers
-  float4 lhs_pf0, lhs_pf1, lhs_pf2, lhs_pf3;
-  float4 rhs_pf0, rhs_pf1;
-
-  float4 results[8];
-  for (int i=0; i < 8; i++) {
-    results[i].x = results[i].y = results[i].z = results[i].w = 0;
-  }
-
-
-  Index lhs_vert = base_m+threadIdx.x*4+(threadIdx.y%4)*32;
-  for (Index k = 0; k < k_size; k += 32) {
-    lhs_pf0 = internal::pset1<float4>(0);
-    lhs_pf1 = internal::pset1<float4>(0);
-    lhs_pf2 = internal::pset1<float4>(0);
-    lhs_pf3 = internal::pset1<float4>(0);
-
-    rhs_pf0 = internal::pset1<float4>(0);
-    rhs_pf1 = internal::pset1<float4>(0);
-
-     if (!CHECK_LHS_BOUNDARY) {
-      if ((threadIdx.y/4+k+24) < k_size) {
-        lhs_pf0 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k));
-        lhs_pf1 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+8));
-        lhs_pf2 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+16));
-        lhs_pf3 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+24));
-      } else if ((threadIdx.y/4+k+16) < k_size) {
-        lhs_pf0 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k));
-        lhs_pf1 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+8));
-        lhs_pf2 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+16));
-      } else if ((threadIdx.y/4+k+8) < k_size) {
-        lhs_pf0 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k));
-        lhs_pf1 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+8));
-      } else if ((threadIdx.y/4+k) < k_size) {
-        lhs_pf0 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k));
-      }
-    } else {
-      // just CHECK_LHS_BOUNDARY
-      if (lhs_vert + 3 < m_size) {
-        if ((threadIdx.y/4+k+24) < k_size) {
-          lhs_pf0 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k));
-          lhs_pf1 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+8));
-          lhs_pf2 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+16));
-          lhs_pf3 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+24));
-        } else if ((threadIdx.y/4+k+16) < k_size) {
-          lhs_pf0 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k));
-          lhs_pf1 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+8));
-          lhs_pf2 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+16));
-        } else if ((threadIdx.y/4+k+8) < k_size) {
-          lhs_pf0 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k));
-          lhs_pf1 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k+8));
-        } else if ((threadIdx.y/4+k) < k_size) {
-          lhs_pf0 =lhs.loadPacket<Unaligned>(lhs_vert, (threadIdx.y/4+k));
-        }
-      } else if (lhs_vert + 2 < m_size) {
-        if ((threadIdx.y/4+k+24) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k));
-          lhs_pf0.z =lhs(lhs_vert + 2, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-          lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8));
-          lhs_pf1.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+8));
-          lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16));
-          lhs_pf2.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+16));
-          lhs_pf2.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+16));
-          lhs_pf3.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+24));
-          lhs_pf3.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+24));
-          lhs_pf3.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+24));
-        } else if ((threadIdx.y/4+k+16) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k));
-          lhs_pf0.z =lhs(lhs_vert + 2, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-          lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8));
-          lhs_pf1.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+8));
-          lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16));
-          lhs_pf2.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+16));
-          lhs_pf2.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+16));
-        } else if ((threadIdx.y/4+k+8) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k));
-          lhs_pf0.z =lhs(lhs_vert + 2, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-          lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8));
-          lhs_pf1.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+8));
-        } else if ((threadIdx.y/4+k) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k));
-          lhs_pf0.z =lhs(lhs_vert + 2, (threadIdx.y/4+k));
-        }
-      } else if (lhs_vert + 1 < m_size) {
-        if ((threadIdx.y/4+k+24) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-          lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8));
-          lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16));
-          lhs_pf2.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+16));
-          lhs_pf3.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+24));
-          lhs_pf3.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+24));
-        } else if ((threadIdx.y/4+k+16) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-          lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8));
-          lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16));
-          lhs_pf2.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+16));
-        } else if ((threadIdx.y/4+k+8) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-          lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8));
-        } else if ((threadIdx.y/4+k) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k));
-        }
-      } else if (lhs_vert < m_size) {
-        if ((threadIdx.y/4+k+24) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-          lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16));
-          lhs_pf3.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+24));
-        } else if ((threadIdx.y/4+k+16) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-          lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16));
-        } else if ((threadIdx.y/4+k+8) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-          lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8));
-        } else if ((threadIdx.y/4+k) < k_size) {
-          lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k));
-        }
-      }
-    }
-    __syncthreads();
-    Index rhs_vert = k+threadIdx.x*4;
-    Index rhs_horiz0 = threadIdx.y*2+base_n;
-    Index rhs_horiz1 = threadIdx.y*2+1+base_n;
-    if (!CHECK_RHS_BOUNDARY) {
-      if ((rhs_vert + 3) < k_size) {
-        // just CHECK_RHS_BOUNDARY
-        rhs_pf0 = rhs.loadPacket<Unaligned>(rhs_vert, rhs_horiz0);
-        rhs_pf1 = rhs.loadPacket<Unaligned>(rhs_vert, rhs_horiz1);
-      } else if (rhs_vert + 2 < k_size) {
-        // just CHECK_RHS_BOUNDARY
-        rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-        rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-        rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0);
-        rhs_pf1.x = rhs(rhs_vert, rhs_horiz1);
-        rhs_pf1.y = rhs(rhs_vert + 1, rhs_horiz1);
-        rhs_pf1.z = rhs(rhs_vert + 2, rhs_horiz1);
-      } else if (rhs_vert + 1 < k_size) {
-        rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-        rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-        rhs_pf1.x = rhs(rhs_vert, rhs_horiz1);
-        rhs_pf1.y = rhs(rhs_vert + 1, rhs_horiz1);
-      } else if (rhs_vert  < k_size) {
-        rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-        rhs_pf1.x = rhs(rhs_vert, rhs_horiz1);
-      }
-    } else {
-      if (rhs_horiz1 < n_size) {
-        if ((rhs_vert + 3) < k_size) {
-          // just CHECK_RHS_BOUNDARY
-          rhs_pf0 = rhs.loadPacket<Unaligned>(rhs_vert, rhs_horiz0);
-          rhs_pf1 = rhs.loadPacket<Unaligned>(rhs_vert, rhs_horiz1);
-        } else if (rhs_vert + 2 < k_size) {
-          // just CHECK_RHS_BOUNDARY
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-          rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-          rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0);
-          rhs_pf1.x = rhs(rhs_vert, rhs_horiz1);
-          rhs_pf1.y = rhs(rhs_vert + 1, rhs_horiz1);
-          rhs_pf1.z = rhs(rhs_vert + 2, rhs_horiz1);
-        } else if (k+threadIdx.x*4 + 1 < k_size) {
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-          rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-          rhs_pf1.x = rhs(rhs_vert, rhs_horiz1);
-          rhs_pf1.y = rhs(rhs_vert + 1, rhs_horiz1);
-        } else if (k+threadIdx.x*4  < k_size) {
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-          rhs_pf1.x = rhs(rhs_vert, rhs_horiz1);
-        }
-      } else if (rhs_horiz0 < n_size) {
-        if ((rhs_vert + 3) < k_size) {
-          // just CHECK_RHS_BOUNDARY
-          rhs_pf0 = rhs.loadPacket<Unaligned>(rhs_vert, rhs_horiz0);
-        } else if ((rhs_vert + 2) < k_size) {
-          // just CHECK_RHS_BOUNDARY
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-          rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-          rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0);
-        } else if ((rhs_vert + 1) < k_size) {
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-          rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0);
-        } else if (rhs_vert  < k_size) {
-          rhs_pf0.x = rhs(rhs_vert, rhs_horiz0);
-        }
-      }
-    }
-    __syncthreads();
-    // Loaded. Do computation
-    // Row 0 -> times (0, 4, 8, .. 28) for features 0, 1.
-    // Row 1 -> times (0, 4, 8, .. 28) for features 2, 3.
-    // ..
-    // Row 31 -> times (0, 4, 8, .. 28) for features 62, 63
-    rhs_shmem2[threadIdx.y][threadIdx.x] = make_float2(rhs_pf0.x, rhs_pf1.x);
-    // Row 32 -> times (1, 5, 9, .. 29) for features 0, 1.
-    // Row 33 -> times (1, 5, 9, .. 29) for features 2, 3.
-    // ..
-    rhs_shmem2[threadIdx.y+32][threadIdx.x] = make_float2(rhs_pf0.y, rhs_pf1.y);
-    // Row 64 -> times (2, 6, 10, .. 30) for features 0, 1.
-    // Row 65 -> times (2, 6, 10, .. 30) for features 2, 3.
-    rhs_shmem2[threadIdx.y+64][threadIdx.x] = make_float2(rhs_pf0.z, rhs_pf1.z);
-    // Row 96 -> times (3, 7, 11, .. 31) for features 0, 1.
-    // Row 97 -> times (3, 7, 11, .. 31) for features 2, 3.
-    rhs_shmem2[threadIdx.y+96][threadIdx.x] = make_float2(rhs_pf0.w, rhs_pf1.w);
-
-    // LHS.
-    // Row 0 (time 0) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), ..  (60, 61) .. (124, 125)
-    // Row 1 (time 1) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), ..  (60, 61) .. (124, 125)
-    // ...
-    // Row 8 (time 0) -> features (2, 3), (6, 7), .. (30, 31), (34, 35), ..  (62, 63) .. (126, 127)
-    // Row 15 (time 7) -> features (2, 3), (6, 7), .. (30, 31), (34, 35), ..  (62, 63) .. (126, 127)
-
-
-#define add_vals(a_feat1, a_feat2, f1, f2, f3, f4)\
-      results[0].x += a_feat1.x * f1.x;\
-      results[1].x += a_feat1.x * f1.y;\
-      results[2].x += a_feat1.x * f2.x;\
-      results[3].x += a_feat1.x * f2.y;\
-      results[4].x += a_feat1.x * f3.x;\
-      results[5].x += a_feat1.x * f3.y;\
-      results[6].x += a_feat1.x * f4.x;\
-      results[7].x += a_feat1.x * f4.y;\
-\
-      results[0].y += a_feat1.y * f1.x;\
-      results[1].y += a_feat1.y * f1.y;\
-      results[2].y += a_feat1.y * f2.x;\
-      results[3].y += a_feat1.y * f2.y;\
-      results[4].y += a_feat1.y * f3.x;\
-      results[5].y += a_feat1.y * f3.y;\
-      results[6].y += a_feat1.y * f4.x;\
-      results[7].y += a_feat1.y * f4.y;\
-\
-      results[0].z += a_feat2.x * f1.x;\
-      results[1].z += a_feat2.x * f1.y;\
-      results[2].z += a_feat2.x * f2.x;\
-      results[3].z += a_feat2.x * f2.y;\
-      results[4].z += a_feat2.x * f3.x;\
-      results[5].z += a_feat2.x * f3.y;\
-      results[6].z += a_feat2.x * f4.x;\
-      results[7].z += a_feat2.x * f4.y;\
-\
-      results[0].w += a_feat2.y * f1.x;\
-      results[1].w += a_feat2.y * f1.y;\
-      results[2].w += a_feat2.y * f2.x;\
-      results[3].w += a_feat2.y * f2.y;\
-      results[4].w += a_feat2.y * f3.x;\
-      results[5].w += a_feat2.y * f3.y;\
-      results[6].w += a_feat2.y * f4.x;\
-      results[7].w += a_feat2.y * f4.y;\
-
-    lhs_shmem2[threadIdx.y/4][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf0.x, lhs_pf0.y);
-    lhs_shmem2[threadIdx.y/4+8][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf1.x, lhs_pf1.y);
-    lhs_shmem2[threadIdx.y/4+16][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf2.x, lhs_pf2.y);
-    lhs_shmem2[threadIdx.y/4+24][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf3.x, lhs_pf3.y);
-
-    lhs_shmem2[threadIdx.y/4 + 32][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf0.z, lhs_pf0.w);
-    lhs_shmem2[threadIdx.y/4 + 40][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf1.z, lhs_pf1.w);
-    lhs_shmem2[threadIdx.y/4 + 48][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf2.z, lhs_pf2.w);
-    lhs_shmem2[threadIdx.y/4 + 56][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf3.z, lhs_pf3.w);
-
-    __syncthreads();
-
-    // Do the multiplies.
-    #pragma unroll
-    for (int koff = 0; koff < 32; koff ++) {
-      float2 a3 = lhs_shmem2[koff][threadIdx.x + (threadIdx.y % 4) * 8];
-      float2 a4 = lhs_shmem2[koff + 32][threadIdx.x + (threadIdx.y % 4) * 8];
-
-      // first feature is at (threadIdx.y/4) * 8 last is at start + 8.
-      int start_feature = (threadIdx.y / 4) * 8;
-
-      float2 br1 = rhs_shmem2[start_feature/2 +     (koff % 4) * 32][koff/4];
-      float2 br2 = rhs_shmem2[start_feature/2 + 1 + (koff % 4) * 32][koff/4];
-      float2 br3 = rhs_shmem2[start_feature/2 + 2 + (koff % 4) * 32][koff/4];
-      float2 br4 = rhs_shmem2[start_feature/2 + 3 + (koff % 4) * 32][koff/4];
-
-      add_vals(a3, a4, br1, br2, br3, br4)
-    }
-    __syncthreads();
-  } // end loop over k
-
-
-  __syncthreads();
-  Index horiz_base = (threadIdx.y/4)*8+base_n;
-  if (!CHECK_LHS_BOUNDARY && !CHECK_RHS_BOUNDARY) {
-    for (int i = 0; i < 8; i++) {
-      output(lhs_vert, horiz_base + i) = results[i].x;
-      output(lhs_vert + 1, horiz_base + i) = results[i].y;
-      output(lhs_vert + 2, horiz_base + i) = results[i].z;
-      output(lhs_vert + 3, horiz_base + i) = results[i].w;
-    }
-  } else if (!CHECK_RHS_BOUNDARY) {
-    if (lhs_vert + 3 < m_size) {
-      for (int i = 0; i < 8; i++) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-        output(lhs_vert + 1, horiz_base + i) = results[i].y;
-        output(lhs_vert + 2, horiz_base + i) = results[i].z;
-        output(lhs_vert + 3, horiz_base + i) = results[i].w;
-      }
-    } else if (lhs_vert + 2 < m_size) {
-      for (int i = 0; i < 8; i++) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-        output(lhs_vert + 1, horiz_base + i) = results[i].y;
-        output(lhs_vert + 2, horiz_base + i) = results[i].z;
-      }
-    } else if (lhs_vert + 1 < m_size) {
-      for (int i = 0; i < 8; i++) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-        output(lhs_vert + 1, horiz_base + i) = results[i].y;
-      }
-    } else if (lhs_vert  < m_size) {
-      for (int i = 0; i < 8; i++) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-      }
-    }
-  } else if (!CHECK_LHS_BOUNDARY) {
-    // CHECK BOUNDARY_B
-    for (int i = 0; i < 8; i++) {
-      if (horiz_base + i < n_size) {
-        output(lhs_vert, horiz_base + i) = results[i].x;
-        output(lhs_vert + 1, horiz_base + i) = results[i].y;
-        output(lhs_vert + 2, horiz_base + i) = results[i].z;
-        output(lhs_vert + 3, horiz_base + i) = results[i].w;
-      }
-    }
-  } else {
-    // CHECK both boundaries.
-    for (int i = 0; i < 8; i++) {
-      if (horiz_base + i < n_size) {
-        if (lhs_vert < m_size)
-          output(lhs_vert, horiz_base + i) = results[i].x;
-        if (lhs_vert + 1 < m_size)
-          output(lhs_vert + 1, horiz_base + i) = results[i].y;
-        if (lhs_vert + 2 < m_size)
-          output(lhs_vert + 2, horiz_base + i) = results[i].z;
-        if (lhs_vert + 3 < m_size)
-          output(lhs_vert + 3, horiz_base + i) = results[i].w;
-      }
-    }
-  }
-}
-
-
-template<typename Index, typename LhsMapper,
-         typename RhsMapper, typename OutputMapper>
-__global__ void
-__launch_bounds__(256)
-EigenFloatContractionKernel(const LhsMapper lhs, const RhsMapper rhs,
-                       const OutputMapper output,
-                       const Index m_size, const Index n_size, const Index k_size) {
-  __shared__ float2 lhs_shmem[64*32];
-  __shared__ float2 rhs_shmem[128*8];
-
-  typedef float2 LHS_MEM[64][32];
-  typedef float2 RHS_MEM[128][8];
-
-  typedef float2 LHS_MEM16x16[32][16];
-  typedef float2 RHS_MEM16x16[64][8];
-
-  const Index m_block_idx = blockIdx.x;
-  const Index n_block_idx = blockIdx.y;
-
-  const Index base_m = 128 * m_block_idx;
-  const Index base_n = 64 * n_block_idx;
-
-  bool check_rhs = (base_n + 63) >= n_size;
-  bool check_lhs128 = (base_m + 127) >= m_size;
-
-  if (!check_rhs) {
-    if (!check_lhs128) {
-      // >= 128 rows left
-      EigenFloatContractionKernelInternal<Index, LhsMapper, RhsMapper, OutputMapper, false, false>(
-                     lhs, rhs, output, *((LHS_MEM *) lhs_shmem), *((RHS_MEM *) rhs_shmem), m_size, n_size, k_size, base_m, base_n);
-    } else {
-      EigenFloatContractionKernelInternal<Index, LhsMapper, RhsMapper, OutputMapper, true, false>(
-                     lhs, rhs, output, *((LHS_MEM *) lhs_shmem), *((RHS_MEM *) rhs_shmem), m_size, n_size, k_size, base_m, base_n);
-    }
-  } else {
-    if (!check_lhs128) {
-      // >= 128 rows left
-      EigenFloatContractionKernelInternal<Index, LhsMapper, RhsMapper, OutputMapper, false, true>(
-                     lhs, rhs, output, *((LHS_MEM *) lhs_shmem), *((RHS_MEM *) rhs_shmem), m_size, n_size, k_size, base_m, base_n);
-    } else {
-      EigenFloatContractionKernelInternal<Index, LhsMapper, RhsMapper, OutputMapper, true, true>(
-                     lhs, rhs, output, *((LHS_MEM *) lhs_shmem), *((RHS_MEM *) rhs_shmem), m_size, n_size, k_size, base_m, base_n);
-    }
-  }
-}
-
-template<typename Index, typename LhsMapper,
-         typename RhsMapper, typename OutputMapper>
-__global__ void
-__launch_bounds__(256)
-EigenFloatContractionKernel16x16(const LhsMapper lhs, const RhsMapper rhs,
-                       const OutputMapper output,
-                       const Index m_size, const Index n_size, const Index k_size) {
-  __shared__ float2 lhs_shmem[32][16];
-  __shared__ float2 rhs_shmem[64][8];
-
-  const Index m_block_idx = blockIdx.x;
-  const Index n_block_idx = blockIdx.y;
-
-  const Index base_m = 64 * m_block_idx;
-  const Index base_n = 64 * n_block_idx;
-
-  if (base_m + 63 < m_size) {
-    if (base_n + 63 < n_size) {
-      EigenFloatContractionKernelInternal16x16<Index, LhsMapper, RhsMapper, OutputMapper, false, false>(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size, base_m, base_n);
-    } else {
-      EigenFloatContractionKernelInternal16x16<Index, LhsMapper, RhsMapper, OutputMapper, false, true>(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size, base_m, base_n);
-    }
-  } else {
-    if (base_n + 63 < n_size) {
-      EigenFloatContractionKernelInternal16x16<Index, LhsMapper, RhsMapper, OutputMapper, true, false>(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size, base_m, base_n);
-    } else {
-      EigenFloatContractionKernelInternal16x16<Index, LhsMapper, RhsMapper, OutputMapper, true, true>(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size, base_m, base_n);
-    }
-  }
-}
-
-
-template<typename Indices, typename LeftArgType, typename RightArgType>
-struct TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, GpuDevice> :
-    public TensorContractionEvaluatorBase<TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, GpuDevice> > {
-
-  typedef GpuDevice Device;
-
-  typedef TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, Device> Self;
-  typedef TensorContractionEvaluatorBase<Self> Base;
-
-  typedef TensorContractionOp<Indices, LeftArgType, RightArgType> XprType;
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, GpuDevice>::type PacketReturnType;
-
-  enum {
-    Layout = TensorEvaluator<LeftArgType, Device>::Layout,
-  };
-
-  // Most of the code is assuming that both input tensors are ColMajor. If the
-  // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS:
-  // If we want to compute A * B = C, where A is LHS and B is RHS, the code
-  // will pretend B is LHS and A is RHS.
-  typedef typename internal::conditional<
-    static_cast<int>(Layout) == static_cast<int>(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType;
-  typedef typename internal::conditional<
-    static_cast<int>(Layout) == static_cast<int>(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType;
-
-  static const int LDims =
-      internal::array_size<typename TensorEvaluator<EvalLeftArgType, Device>::Dimensions>::value;
-  static const int RDims =
-      internal::array_size<typename TensorEvaluator<EvalRightArgType, Device>::Dimensions>::value;
-  static const int ContractDims = internal::array_size<Indices>::value;
-
-  typedef array<Index, LDims> left_dim_mapper_t;
-  typedef array<Index, RDims> right_dim_mapper_t;
-
-  typedef array<Index, ContractDims> contract_t;
-  typedef array<Index, LDims - ContractDims> left_nocontract_t;
-  typedef array<Index, RDims - ContractDims> right_nocontract_t;
-
-  static const int NumDims = LDims + RDims - 2 * ContractDims;
-
-  typedef DSizes<Index, NumDims> Dimensions;
-
-  // typedefs needed in evalTo
-  typedef typename internal::remove_const<typename EvalLeftArgType::Scalar>::type LhsScalar;
-  typedef typename internal::remove_const<typename EvalRightArgType::Scalar>::type RhsScalar;
-
-  typedef TensorEvaluator<EvalLeftArgType, Device> LeftEvaluator;
-  typedef TensorEvaluator<EvalRightArgType, Device> RightEvaluator;
-
-  typedef typename LeftEvaluator::Dimensions LeftDimensions;
-  typedef typename RightEvaluator::Dimensions RightDimensions;
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) :
-      Base(op, device) {}
-
-  // We need to redefine this method to make nvcc happy
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) {
-    this->m_leftImpl.evalSubExprsIfNeeded(NULL);
-    this->m_rightImpl.evalSubExprsIfNeeded(NULL);
-    if (data) {
-      evalTo(data);
-      return false;
-    } else {
-      this->m_result = static_cast<Scalar *>(this->m_device.allocate(this->dimensions().TotalSize() * sizeof(Scalar)));
-      evalTo(this->m_result);
-      return true;
-    }
-  }
-
-  void evalTo(Scalar* buffer) const {
-    if (this->m_lhs_inner_dim_contiguous) {
-      if (this->m_rhs_inner_dim_contiguous) {
-        if (this->m_rhs_inner_dim_reordered) {
-          evalTyped<true, true, true, Unaligned>(buffer);
-        }
-        else {
-          evalTyped<true, true, false, Unaligned>(buffer);
-        }
-      }
-      else {
-       if (this->m_rhs_inner_dim_reordered) {
-          evalTyped<true, false, true, Unaligned>(buffer);
-        }
-        else {
-          evalTyped<true, false, false, Unaligned>(buffer);
-        }
-      }
-    }
-    else {
-      if (this->m_rhs_inner_dim_contiguous) {
-        if (this->m_rhs_inner_dim_reordered) {
-          evalTyped<false, true, true, Unaligned>(buffer);
-        }
-        else {
-          evalTyped<false, true, false, Unaligned>(buffer);
-        }
-      }
-      else {
-       if (this->m_rhs_inner_dim_reordered) {
-          evalTyped<false, false, true, Unaligned>(buffer);
-        }
-        else {
-          evalTyped<false, false, false, Unaligned>(buffer);
-        }
-      }
-    }
-  }
-
-  template <typename LhsScalar, typename RhsScalar, typename Index, typename LhsMapper, typename RhsMapper, typename OutputMapper> struct LaunchKernels {
-    static void Run(const LhsMapper& lhs, const RhsMapper& rhs, const OutputMapper& output, Index m, Index n, Index k, const GpuDevice& device) {
-    const Index m_blocks = (m + 63) / 64;
-    const Index n_blocks = (n + 63) / 64;
-    const dim3 num_blocks(m_blocks, n_blocks, 1);
-    const dim3 block_size(8, 8, 8);
-    LAUNCH_CUDA_KERNEL((EigenContractionKernel<Scalar, Index, LhsMapper, RhsMapper, OutputMapper>), num_blocks, block_size, 0, device, lhs, rhs, output, m, n, k);
-    }
-  };
-
-  template <typename Index, typename LhsMapper, typename RhsMapper, typename OutputMapper> struct LaunchKernels<float, float, Index, LhsMapper, RhsMapper, OutputMapper> {
-    static void Run(const LhsMapper& lhs, const RhsMapper& rhs, const OutputMapper& output, Index m, Index n, Index k, const GpuDevice& device) {
-      if (m < 768 || n < 768) {
-        const Index m_blocks = (m + 63) / 64;
-        const Index n_blocks = (n + 63) / 64;
-        const dim3 num_blocks(m_blocks, n_blocks, 1);
-        const dim3 block_size(16, 16, 1);
-        LAUNCH_CUDA_KERNEL((EigenFloatContractionKernel16x16<Index, LhsMapper, RhsMapper, OutputMapper>), num_blocks, block_size, 0, device, lhs, rhs, output, m, n, k);
-      } else {
-        const Index m_blocks = (m + 127) / 128;
-        const Index n_blocks = (n + 63) / 64;
-        const dim3 num_blocks(m_blocks, n_blocks, 1);
-        const dim3 block_size(8, 32, 1);
-        LAUNCH_CUDA_KERNEL((EigenFloatContractionKernel<Index, LhsMapper, RhsMapper, OutputMapper>), num_blocks, block_size, 0, device, lhs, rhs, output, m, n, k);
-      }
-    }
-  };
-
-  template <bool lhs_inner_dim_contiguous, bool rhs_inner_dim_contiguous, bool rhs_inner_dim_reordered, int Alignment>
-  void evalTyped(Scalar* buffer) const {
-    // columns in left side, rows in right side
-    const Index k = this->m_k_size;
-    EIGEN_UNUSED_VARIABLE(k)
-
-    // rows in left side
-    const Index m = this->m_i_size;
-
-    // columns in right side
-    const Index n = this->m_j_size;
-
-    // zero out the result buffer (which must be of size at least m * n * sizeof(Scalar)
-    this->m_device.memset(buffer, 0, m * n * sizeof(Scalar));
-
-    typedef internal::TensorContractionInputMapper<LhsScalar, Index, internal::Lhs,
-                                                   LeftEvaluator, left_nocontract_t,
-                                                   contract_t, 4,
-                                                   lhs_inner_dim_contiguous,
-                                                   false, Unaligned> LhsMapper;
-
-    typedef internal::TensorContractionInputMapper<RhsScalar, Index, internal::Rhs,
-                                                   RightEvaluator, right_nocontract_t,
-                                                   contract_t, 4,
-                                                   rhs_inner_dim_contiguous,
-                                                   rhs_inner_dim_reordered, Unaligned> RhsMapper;
-
-    typedef internal::blas_data_mapper<Scalar, Index, ColMajor> OutputMapper;
-
-
-    // initialize data mappers
-    LhsMapper lhs(this->m_leftImpl, this->m_left_nocontract_strides, this->m_i_strides,
-                  this->m_left_contracting_strides, this->m_k_strides);
-
-    RhsMapper rhs(this->m_rightImpl, this->m_right_nocontract_strides, this->m_j_strides,
-                  this->m_right_contracting_strides, this->m_k_strides);
-
-    OutputMapper output(buffer, m);
-
-    setCudaSharedMemConfig(cudaSharedMemBankSizeEightByte);
-    LaunchKernels<LhsScalar, RhsScalar, Index, LhsMapper, RhsMapper, OutputMapper>::Run(lhs, rhs, output,  m, n, k, this->m_device);
-  }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_USE_GPU and __CUDACC__
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_CUDA_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionMapper.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionMapper.h
deleted file mode 100644
index 9b2cb3ff6bcbf9..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionMapper.h
+++ /dev/null
@@ -1,467 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_MAPPER_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_MAPPER_H
-
-namespace Eigen {
-
-namespace internal {
-
-enum {
-  Rhs = 0,
-  Lhs = 1
-};
-
-/*
- * Implementation of the Eigen blas_data_mapper class for tensors.
- */
-
-template <typename Tensor, bool HasRawAccess> struct CoeffLoader {
-  enum {
-    DirectOffsets = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE CoeffLoader(const Tensor& tensor) : m_tensor(tensor) { }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void offsetBuffer(typename Tensor::Index) {
-    eigen_assert(false && "unsupported");
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE typename Tensor::Scalar coeff(typename Tensor::Index index) const { return m_tensor.coeff(index); }
-
- template<int LoadMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
- typename Tensor::PacketReturnType packet(typename Tensor::Index index) const
-  {
-    return m_tensor.template packet<LoadMode>(index);
-  }
-
-
- private:
-  const Tensor m_tensor;
-};
-
-template <typename Tensor> struct CoeffLoader<Tensor, true> {
-  enum {
-    DirectOffsets = true
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE CoeffLoader(const Tensor& tensor) : m_data(tensor.data()) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void offsetBuffer(typename Tensor::Index offset) {
-    m_data += offset;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE typename Tensor::Scalar coeff(typename Tensor::Index index) const { return loadConstant(m_data+index); }
-
- template<int LoadMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
- typename Tensor::PacketReturnType packet(typename Tensor::Index index) const
-  {
-    return internal::ploadt_ro<typename Tensor::PacketReturnType, LoadMode>(m_data + index);
-  }
- private:
-  typedef typename Tensor::Scalar Scalar;
-  const Scalar* m_data;
-};
-
-template<typename Scalar, typename Index, int side,
-         typename Tensor,
-         typename nocontract_t, typename contract_t,
-         int packet_size, bool inner_dim_contiguous, int Alignment>
-class SimpleTensorContractionMapper {
-  public:
-  EIGEN_DEVICE_FUNC
-  SimpleTensorContractionMapper(const Tensor& tensor,
-                                const nocontract_t& nocontract_strides,
-                                const nocontract_t& ij_strides,
-                                const contract_t& contract_strides,
-                                const contract_t& k_strides) :
-      m_tensor(tensor),
-      m_nocontract_strides(nocontract_strides),
-      m_ij_strides(ij_strides),
-      m_contract_strides(contract_strides),
-      m_k_strides(k_strides) { }
-
-  enum {
-    DirectOffsets = CoeffLoader<Tensor, Tensor::RawAccess>::DirectOffsets
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void offsetBuffer(typename Tensor::Index offset) {
-    m_tensor.offsetBuffer(offset);
-  }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE void prefetch(Index /*i*/) { }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE Scalar operator()(Index row) const {
-    // column major assumption
-    return operator()(row, 0);
-  }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE Scalar operator()(Index row, Index col) const {
-    return m_tensor.coeff(computeIndex(row, col));
-  }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE Index computeIndex(Index row, Index col) const {
-    const bool left = (side == Lhs);
-    Index nocontract_val = left ? row : col;
-    Index linidx = 0;
-    for (int i = static_cast<int>(array_size<nocontract_t>::value) - 1; i > 0; i--) {
-      const Index idx = nocontract_val / m_ij_strides[i];
-      linidx += idx * m_nocontract_strides[i];
-      nocontract_val -= idx * m_ij_strides[i];
-    }
-    if (array_size<typename Tensor::Dimensions>::value > array_size<contract_t>::value) {
-      if (side == Lhs && inner_dim_contiguous) {
-        eigen_assert(m_nocontract_strides[0] == 1);
-        linidx += nocontract_val;
-      } else {
-        linidx += nocontract_val * m_nocontract_strides[0];
-      }
-    }
-
-    Index contract_val = left ? col : row;
-    if(array_size<contract_t>::value > 0) {
-      for (int i = static_cast<int>(array_size<contract_t>::value) - 1; i > 0; i--) {
-        const Index idx = contract_val / m_k_strides[i];
-        linidx += idx * m_contract_strides[i];
-        contract_val -= idx * m_k_strides[i];
-      }
-
-      if (side == Rhs && inner_dim_contiguous) {
-        eigen_assert(m_contract_strides[0] == 1);
-        linidx += contract_val;
-      } else {
-        linidx += contract_val * m_contract_strides[0];
-      }
-    }
-
-    return linidx;
-  }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE IndexPair<Index> computeIndexPair(Index row, Index col, const Index distance) const {
-    const bool left = (side == Lhs);
-    Index nocontract_val[2] = {left ? row : col, left ? row + distance : col};
-    Index linidx[2] = {0, 0};
-    if (array_size<typename Tensor::Dimensions>::value > array_size<contract_t>::value) {
-      for (int i = static_cast<int>(array_size<nocontract_t>::value) - 1; i > 0; i--) {
-        const Index idx0 = nocontract_val[0] / m_ij_strides[i];
-        const Index idx1 = nocontract_val[1] / m_ij_strides[i];
-        linidx[0] += idx0 * m_nocontract_strides[i];
-        linidx[1] += idx1 * m_nocontract_strides[i];
-        nocontract_val[0] -= idx0 * m_ij_strides[i];
-        nocontract_val[1] -= idx1 * m_ij_strides[i];
-      }
-      if (side == Lhs && inner_dim_contiguous) {
-        eigen_assert(m_nocontract_strides[0] == 1);
-        linidx[0] += nocontract_val[0];
-        linidx[1] += nocontract_val[1];
-      } else {
-        linidx[0] += nocontract_val[0] * m_nocontract_strides[0];
-        linidx[1] += nocontract_val[1] * m_nocontract_strides[0];
-      }
-    }
-
-    Index contract_val[2] = {left ? col : row, left ? col : row + distance};
-    if (array_size<contract_t>::value> 0) {
-      for (int i = static_cast<int>(array_size<contract_t>::value) - 1; i > 0; i--) {
-        const Index idx0 = contract_val[0] / m_k_strides[i];
-        const Index idx1 = contract_val[1] / m_k_strides[i];
-        linidx[0] += idx0 * m_contract_strides[i];
-        linidx[1] += idx1 * m_contract_strides[i];
-        contract_val[0] -= idx0 * m_k_strides[i];
-        contract_val[1] -= idx1 * m_k_strides[i];
-      }
-
-      if (side == Rhs && inner_dim_contiguous) {
-        eigen_assert(m_contract_strides[0] == 1);
-        linidx[0] += contract_val[0];
-        linidx[1] += contract_val[1];
-      } else {
-        linidx[0] += contract_val[0] * m_contract_strides[0];
-        linidx[1] += contract_val[1] * m_contract_strides[0];
-      }
-    }
-    return IndexPair<Index>(linidx[0], linidx[1]);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index firstAligned(Index size) const {
-    // Only claim alignment when we can compute the actual stride (ie when we're
-    // dealing with the lhs with inner_dim_contiguous. This is because the
-    // matrix-vector product relies on the stride when dealing with aligned inputs.
-    return (Alignment == Aligned) && (side == Lhs) && inner_dim_contiguous ? 0 : size;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index stride() const {
-    return ((side == Lhs) && inner_dim_contiguous && array_size<contract_t>::value > 0) ? m_contract_strides[0] : 1;
-  }
-
- protected:
-  CoeffLoader<Tensor, Tensor::RawAccess> m_tensor;
-  const nocontract_t m_nocontract_strides;
-  const nocontract_t m_ij_strides;
-  const contract_t m_contract_strides;
-  const contract_t m_k_strides;
-};
-
-
-template<typename Scalar, typename Index, int side,
-         typename Tensor,
-         typename nocontract_t, typename contract_t,
-         int packet_size, bool inner_dim_contiguous,
-         bool inner_dim_reordered, int Alignment>
-class BaseTensorContractionMapper : public SimpleTensorContractionMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, packet_size, inner_dim_contiguous, Alignment>
-{
- public:
-  typedef SimpleTensorContractionMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, packet_size, inner_dim_contiguous, Alignment> ParentMapper;
-
-  EIGEN_DEVICE_FUNC
-  BaseTensorContractionMapper(const Tensor& tensor,
-                              const nocontract_t& nocontract_strides,
-                              const nocontract_t& ij_strides,
-                              const contract_t& contract_strides,
-                              const contract_t& k_strides) :
-  ParentMapper(tensor, nocontract_strides, ij_strides, contract_strides, k_strides) { }
-
-  typedef typename Tensor::PacketReturnType Packet;
-  typedef typename unpacket_traits<Packet>::half HalfPacket;
-
-  template <int AlignmentType>
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE Packet loadPacket(Index i, Index j) const {
-    // whole method makes column major assumption
-
-    // don't need to add offsets for now (because operator handles that)
-    // current code assumes packet size must be a multiple of 2
-    EIGEN_STATIC_ASSERT(packet_size % 2 == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    if (Tensor::PacketAccess && inner_dim_contiguous && !inner_dim_reordered) {
-      const Index index = this->computeIndex(i, j);
-      eigen_assert(this->computeIndex(i+packet_size-1, j) == index + packet_size-1);
-      return this->m_tensor.template packet<AlignmentType>(index);
-    }
-
-    const IndexPair<Index> indexPair = this->computeIndexPair(i, j, packet_size - 1);
-    const Index first = indexPair.first;
-    const Index last = indexPair.second;
-
-    // We can always do optimized packet reads from left hand side right now, because
-    // the vertical matrix dimension on the left hand side is never contracting.
-    // On the right hand side we need to check if the contracting dimensions may have
-    // been shuffled first.
-    if (Tensor::PacketAccess &&
-        (side == Lhs || internal::array_size<contract_t>::value <= 1 || !inner_dim_reordered) &&
-        (last - first) == (packet_size - 1)) {
-
-      return this->m_tensor.template packet<AlignmentType>(first);
-    }
-
-    EIGEN_ALIGN_MAX Scalar data[packet_size];
-
-    data[0] = this->m_tensor.coeff(first);
-    for (Index k = 1; k < packet_size - 1; k += 2) {
-      const IndexPair<Index> internal_pair = this->computeIndexPair(i + k, j, 1);
-      data[k] = this->m_tensor.coeff(internal_pair.first);
-      data[k + 1] = this->m_tensor.coeff(internal_pair.second);
-    }
-    data[packet_size - 1] = this->m_tensor.coeff(last);
-
-    return pload<Packet>(data);
-  }
-
-  template <int AlignmentType>
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE HalfPacket loadHalfPacket(Index i, Index j) const {
-    // whole method makes column major assumption
-
-    // don't need to add offsets for now (because operator handles that)
-    const Index half_packet_size = unpacket_traits<HalfPacket>::size;
-    if (half_packet_size == packet_size) {
-      return loadPacket<AlignmentType>(i, j);
-    }
-    EIGEN_ALIGN_MAX Scalar data[half_packet_size];
-    for (Index k = 0; k < half_packet_size; k++) {
-      data[k] = operator()(i + k, j);
-    }
-    return pload<HalfPacket>(data);
-  }
-};
-
-
-template<typename Scalar, typename Index, int side,
-         typename Tensor,
-         typename nocontract_t, typename contract_t,
-         bool inner_dim_contiguous,
-         bool inner_dim_reordered, int Alignment>
-class BaseTensorContractionMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, 1, inner_dim_contiguous, inner_dim_reordered, Alignment> : public SimpleTensorContractionMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, 1, inner_dim_contiguous, Alignment>
-{
- public:
-  typedef SimpleTensorContractionMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, 1, inner_dim_contiguous, Alignment> ParentMapper;
-
-  EIGEN_DEVICE_FUNC
-  BaseTensorContractionMapper(const Tensor& tensor,
-                              const nocontract_t& nocontract_strides,
-                              const nocontract_t& ij_strides,
-                              const contract_t& contract_strides,
-                              const contract_t& k_strides) :
-  ParentMapper(tensor, nocontract_strides, ij_strides, contract_strides, k_strides) { }
-
-  typedef typename Tensor::PacketReturnType Packet;
-  template <int> EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE Packet loadPacket(Index i, Index j) const {
-    EIGEN_ALIGN_MAX Scalar data[1];
-    data[0] = this->m_tensor.coeff(this->computeIndex(i, j));
-    return pload<typename Tensor::PacketReturnType>(data);
-  }
-  template <int> EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE Packet loadHalfPacket(Index i, Index j) const {
-    return loadPacket(i, j);
-  }
-};
-
-
-template<typename Scalar, typename Index, int side,
-         typename Tensor,
-         typename nocontract_t, typename contract_t,
-         int packet_size,
-         bool inner_dim_contiguous, bool inner_dim_reordered, int Alignment>
-class TensorContractionSubMapper {
- public:
-  typedef typename Tensor::PacketReturnType Packet;
-  typedef typename unpacket_traits<Packet>::half HalfPacket;
-
-  typedef BaseTensorContractionMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, packet_size, inner_dim_contiguous, inner_dim_reordered, Alignment> ParentMapper;
-  typedef TensorContractionSubMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, packet_size, inner_dim_contiguous, inner_dim_reordered, Alignment> Self;
-  typedef Self LinearMapper;
-
-  enum {
-    // We can use direct offsets iff the parent mapper supports then and we can compute the strides.
-    // TODO: we should also enable direct offsets for the Rhs case.
-    UseDirectOffsets = ParentMapper::DirectOffsets && (side == Lhs) && inner_dim_contiguous && (array_size<contract_t>::value > 0)
-  };
-
-  EIGEN_DEVICE_FUNC TensorContractionSubMapper(const ParentMapper& base_mapper, Index vert_offset, Index horiz_offset)
-      : m_base_mapper(base_mapper), m_vert_offset(vert_offset), m_horiz_offset(horiz_offset) {
-    // Bake the offsets into the buffer used by the base mapper whenever possible. This avoids the need to recompute
-    // this offset every time we attempt to access a coefficient.
-    if (UseDirectOffsets) {
-      Index stride = m_base_mapper.stride();
-      m_base_mapper.offsetBuffer(vert_offset + horiz_offset * stride);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar operator()(Index i) const {
-    if (UseDirectOffsets) {
-      return m_base_mapper(i, 0);
-    }
-    return m_base_mapper(i + m_vert_offset, m_horiz_offset);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar operator()(Index i, Index j) const {
-    if (UseDirectOffsets) {
-      return m_base_mapper(i, j);
-    }
-    return m_base_mapper(i + m_vert_offset, j + m_horiz_offset);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i) const {
-    if (UseDirectOffsets) {
-      return m_base_mapper.template loadPacket<Alignment>(i, 0);
-    }
-    return m_base_mapper.template loadPacket<Alignment>(i + m_vert_offset, m_horiz_offset);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i, Index j) const {
-    if (UseDirectOffsets) {
-      return m_base_mapper.template loadPacket<Alignment>(i, j);
-    }
-    return m_base_mapper.template loadPacket<Alignment>(i + m_vert_offset, j + m_horiz_offset);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i) const {
-    if (UseDirectOffsets) {
-      return m_base_mapper.template loadHalfPacket<Alignment>(i, 0);
-    }
-    return m_base_mapper.template loadHalfPacket<Alignment>(i + m_vert_offset, m_horiz_offset);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, Packet p) const {
-    if (UseDirectOffsets) {
-      m_base_mapper.storePacket(i, 0, p);
-    }
-    m_base_mapper.storePacket(i + m_vert_offset, m_horiz_offset, p);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE LinearMapper getLinearMapper(Index i, Index j) const {
-    if (UseDirectOffsets) {
-      return LinearMapper(m_base_mapper, i, j);
-    }
-    return LinearMapper(m_base_mapper, i + m_vert_offset, j + m_horiz_offset);
-  }
-
-  template <typename PacketT, int AlignmentType>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketT load(Index i) const {
-    EIGEN_STATIC_ASSERT((internal::is_same<PacketT, Packet>::value), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    const int ActualAlignment = (AlignmentType == Aligned) && (Alignment == Aligned) ? Aligned : Unaligned;
-    if (UseDirectOffsets) {
-     return m_base_mapper.template loadPacket<ActualAlignment>(i, 0);
-    }
-    return m_base_mapper.template loadPacket<ActualAlignment>(i + m_vert_offset, m_horiz_offset);
-  }
-
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool aligned(Index) const {
-    return false;
-  }
-
- private:
-  ParentMapper m_base_mapper;
-  const Index m_vert_offset;
-  const Index m_horiz_offset;
-};
-
-
-template<typename Scalar_, typename Index, int side,
-         typename Tensor,
-         typename nocontract_t, typename contract_t,
-         int packet_size,
-         bool inner_dim_contiguous, bool inner_dim_reordered, int Alignment>
-class TensorContractionInputMapper
-  : public BaseTensorContractionMapper<Scalar_, Index, side, Tensor, nocontract_t, contract_t, packet_size, inner_dim_contiguous, inner_dim_reordered, Alignment> {
-
- public:
-  typedef Scalar_ Scalar;
-  typedef BaseTensorContractionMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, packet_size, inner_dim_contiguous, inner_dim_reordered, Alignment> Base;
-  typedef TensorContractionSubMapper<Scalar, Index, side, Tensor, nocontract_t, contract_t, packet_size, inner_dim_contiguous, inner_dim_reordered, Alignment> SubMapper;
-  typedef SubMapper VectorMapper;
-
-  EIGEN_DEVICE_FUNC TensorContractionInputMapper(const Tensor& tensor,
-                               const nocontract_t& nocontract_strides,
-                               const nocontract_t& ij_strides,
-                               const contract_t& contract_strides,
-                               const contract_t& k_strides)
-      : Base(tensor, nocontract_strides, ij_strides, contract_strides, k_strides) { }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE SubMapper getSubMapper(Index i, Index j) const {
-    return SubMapper(*this, i, j);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE VectorMapper getVectorMapper(Index i, Index j) const {
-    return VectorMapper(*this, i, j);
-  }
-};
-
-
-
-}  // end namespace internal
-}  // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_MAPPER_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionThreadPool.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionThreadPool.h
deleted file mode 100644
index ee16cde9b19316..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionThreadPool.h
+++ /dev/null
@@ -1,1052 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_THREAD_POOL_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_THREAD_POOL_H
-
-// evaluator for thread pool device
-#ifdef EIGEN_USE_THREADS
-
-namespace Eigen {
-
-#ifdef EIGEN_USE_SIMPLE_THREAD_POOL
-namespace internal {
-
-template<typename LhsScalar, typename LhsMapper, typename Index>
-struct packLhsArg {
-  LhsScalar* blockA;
-  const LhsMapper& lhs;
-  const Index m_start;
-  const Index k_start;
-  const Index mc;
-  const Index kc;
-};
-
-template<typename LhsScalar, typename RhsScalar, typename RhsMapper, typename OutputMapper, typename Index>
-struct packRhsAndKernelArg {
-  const MaxSizeVector<LhsScalar*>* blockAs;
-  RhsScalar* blockB;
-  const RhsMapper& rhs;
-  OutputMapper& output;
-  const Index m;
-  const Index k;
-  const Index n;
-  const Index mc;
-  const Index kc;
-  const Index nc;
-  const Index num_threads;
-  const Index num_blockAs;
-  const Index max_m;
-  const Index k_block_idx;
-  const Index m_block_idx;
-  const Index n_block_idx;
-  const Index m_blocks;
-  const Index n_blocks;
-  MaxSizeVector<Notification*>* kernel_notifications;
-  const MaxSizeVector<Notification*>* lhs_notifications;
-  const bool need_to_pack;
-};
-
-}  // end namespace internal
-#endif  // EIGEN_USE_SIMPLE_THREAD_POOL
-
-template<typename Indices, typename LeftArgType, typename RightArgType>
-struct TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, ThreadPoolDevice> :
-    public TensorContractionEvaluatorBase<TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, ThreadPoolDevice> > {
-
-  typedef ThreadPoolDevice Device;
-
-  typedef TensorEvaluator<const TensorContractionOp<Indices, LeftArgType, RightArgType>, Device> Self;
-  typedef TensorContractionEvaluatorBase<Self> Base;
-
-  typedef TensorContractionOp<Indices, LeftArgType, RightArgType> XprType;
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-
-  enum {
-    Layout = TensorEvaluator<LeftArgType, Device>::Layout,
-  };
-
-  // Most of the code is assuming that both input tensors are ColMajor. If the
-  // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS:
-  // If we want to compute A * B = C, where A is LHS and B is RHS, the code
-  // will pretend B is LHS and A is RHS.
-  typedef typename internal::conditional<
-    static_cast<int>(Layout) == static_cast<int>(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType;
-  typedef typename internal::conditional<
-    static_cast<int>(Layout) == static_cast<int>(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType;
-
-  static const int LDims =
-      internal::array_size<typename TensorEvaluator<EvalLeftArgType, Device>::Dimensions>::value;
-  static const int RDims =
-      internal::array_size<typename TensorEvaluator<EvalRightArgType, Device>::Dimensions>::value;
-  static const int ContractDims = internal::array_size<Indices>::value;
-
-  typedef array<Index, LDims> left_dim_mapper_t;
-  typedef array<Index, RDims> right_dim_mapper_t;
-
-  typedef array<Index, ContractDims> contract_t;
-  typedef array<Index, LDims - ContractDims> left_nocontract_t;
-  typedef array<Index, RDims - ContractDims> right_nocontract_t;
-
-  static const int NumDims = LDims + RDims - 2 * ContractDims;
-
-  typedef DSizes<Index, NumDims> Dimensions;
-
-  // typedefs needed in evalTo
-  typedef typename internal::remove_const<typename EvalLeftArgType::Scalar>::type LhsScalar;
-  typedef typename internal::remove_const<typename EvalRightArgType::Scalar>::type RhsScalar;
-  typedef typename internal::gebp_traits<LhsScalar, RhsScalar> Traits;
-
-  typedef TensorEvaluator<EvalLeftArgType, Device> LeftEvaluator;
-  typedef TensorEvaluator<EvalRightArgType, Device> RightEvaluator;
-
-  TensorEvaluator(const XprType& op, const Device& device) :
-      Base(op, device) {}
-
-#ifndef EIGEN_USE_SIMPLE_THREAD_POOL
-  template <bool lhs_inner_dim_contiguous, bool rhs_inner_dim_contiguous,
-            bool rhs_inner_dim_reordered, int Alignment>
-  void evalProduct(Scalar* buffer) const {
-    typedef
-        typename internal::remove_const<typename EvalLeftArgType::Scalar>::type
-            LhsScalar;
-    typedef
-        typename internal::remove_const<typename EvalRightArgType::Scalar>::type
-            RhsScalar;
-    typedef typename internal::gebp_traits<LhsScalar, RhsScalar> Traits;
-    typedef TensorEvaluator<EvalLeftArgType, Device> LeftEvaluator;
-    typedef TensorEvaluator<EvalRightArgType, Device> RightEvaluator;
-    typedef internal::TensorContractionInputMapper<
-        LhsScalar, Index, internal::Lhs, LeftEvaluator, left_nocontract_t,
-        contract_t, internal::packet_traits<LhsScalar>::size,
-        lhs_inner_dim_contiguous, false, Unaligned>
-        LhsMapper;
-    typedef internal::TensorContractionInputMapper<
-        RhsScalar, Index, internal::Rhs, RightEvaluator, right_nocontract_t,
-        contract_t, internal::packet_traits<RhsScalar>::size,
-        rhs_inner_dim_contiguous, rhs_inner_dim_reordered, Unaligned>
-        RhsMapper;
-    typedef internal::blas_data_mapper<Scalar, Index, ColMajor> OutputMapper;
-    typedef internal::gemm_pack_lhs<LhsScalar, Index,
-                                    typename LhsMapper::SubMapper, Traits::mr,
-                                    Traits::LhsProgress, ColMajor>
-        LhsPacker;
-    typedef internal::gemm_pack_rhs<
-        RhsScalar, Index, typename RhsMapper::SubMapper, Traits::nr, ColMajor>
-        RhsPacker;
-    typedef internal::gebp_kernel<LhsScalar, RhsScalar, Index, OutputMapper,
-                                  Traits::mr, Traits::nr, false, false>
-        GebpKernel;
-
-    const Index m = this->m_i_size;
-    const Index n = this->m_j_size;
-    const Index k = this->m_k_size;
-    if (m == 0 || n == 0 || k == 0) return;
-
-    // Compute a set of algorithm parameters:
-    // - kernel block sizes (bm, bn, bk)
-    // - task grain sizes (number of kernels executed per task: gm, gn)
-    // - number of threads
-    // - sharding by row/column
-    // - parallel packing or first lhs then rhs
-    // and some derived parameters:
-    // - number of tasks (nm, nn, nk)
-    // - number of kernels (nm0, nn0)
-    // Unfortunately, all these parameters are tightly interdependent.
-    // So in some cases we first compute approximate values, then compute other
-    // values based on these approximations and then refine the approximations.
-
-    // There are lots of heuristics here. There is some reasoning behind them,
-    // but ultimately they are just tuned on contraction benchmarks for
-    // different input configurations, thread counts and instruction sets.
-    // So feel free to question any of them.
-
-    // Compute whether we want to shard by row or by column.
-    // This is a first approximation, it will be refined later. Since we don't
-    // know number of threads yet we use 2, because what's we are most
-    // interested in at this point is whether it makes sense to use
-    // parallelization at all or not.
-    bool shard_by_col = shardByCol(m, n, 2);
-
-    // First approximation of kernel blocking sizes.
-    // Again, we don't know number of threads yet, so we use 2.
-    Index bm, bn, bk;
-    if (shard_by_col) {
-      internal::TensorContractionBlocking<LhsMapper, RhsMapper, Index,
-                                          internal::ShardByCol>
-          blocking(k, m, n, 2);
-      bm = blocking.mc();
-      bn = blocking.nc();
-      bk = blocking.kc();
-    } else {
-      internal::TensorContractionBlocking<LhsMapper, RhsMapper, Index,
-                                          internal::ShardByRow>
-          blocking(k, m, n, 2);
-      bm = blocking.mc();
-      bn = blocking.nc();
-      bk = blocking.kc();
-    }
-
-    // Compute optimal number of threads.
-    // Note: we use bk instead of k here because we are interested in amount of
-    // _parallelizable_ computations, and computations are not parallelizable
-    // across k dimension.
-    const TensorOpCost cost =
-        contractionCost(m, n, bm, bn, bk, shard_by_col, false);
-    int num_threads = TensorCostModel<ThreadPoolDevice>::numThreads(
-        static_cast<double>(n) * m, cost, this->m_device.numThreads());
-
-    // TODO(dvyukov): this is a stop-gap to prevent regressions while the cost
-    // model is not tuned. Remove this when the cost model is tuned.
-    if (n == 1) num_threads = 1;
-
-    if (num_threads == 1) {
-      // The single-threaded algorithm should be faster in this case.
-      if (n == 1)
-        this->template evalGemv<lhs_inner_dim_contiguous,
-                                rhs_inner_dim_contiguous,
-                                rhs_inner_dim_reordered, Alignment>(buffer);
-      else
-        this->template evalGemm<lhs_inner_dim_contiguous,
-                                rhs_inner_dim_contiguous,
-                                rhs_inner_dim_reordered, Alignment>(buffer);
-      return;
-    }
-
-    // Now that we know number of threads, recalculate sharding and blocking.
-    shard_by_col = shardByCol(m, n, num_threads);
-    if (shard_by_col) {
-      internal::TensorContractionBlocking<LhsMapper, RhsMapper, Index,
-                                          internal::ShardByCol>
-          blocking(k, m, n, num_threads);
-      bm = blocking.mc();
-      bn = blocking.nc();
-      bk = blocking.kc();
-    } else {
-      internal::TensorContractionBlocking<LhsMapper, RhsMapper, Index,
-                                          internal::ShardByRow>
-          blocking(k, m, n, num_threads);
-      bm = blocking.mc();
-      bn = blocking.nc();
-      bk = blocking.kc();
-    }
-
-    // Number of kernels for each dimension.
-    Index nm0 = divup(m, bm);
-    Index nn0 = divup(n, bn);
-    Index nk = divup(k, bk);
-
-    // Calculate task grain size (number of kernels executed per task).
-    // This task size coarsening serves two purposes:
-    // 1. It reduces per-task overheads including synchronization overheads.
-    // 2. It allows to use caches better (reuse the same packed rhs in several
-    // consecutive kernels).
-    Index gm = 1;
-    Index gn = 1;
-    // If we are sharding by column, then we prefer to reduce rows first.
-    if (shard_by_col) {
-      gm = coarsenM(m, n, bm, bn, bk, gn, num_threads, shard_by_col);
-      gn = coarsenN(m, n, bm, bn, bk, gm, num_threads, shard_by_col);
-    } else {
-      gn = coarsenN(m, n, bm, bn, bk, gm, num_threads, shard_by_col);
-      gm = coarsenM(m, n, bm, bn, bk, gn, num_threads, shard_by_col);
-    }
-    // Number of tasks in each dimension.
-    Index nm = divup(nm0, gm);
-    Index nn = divup(nn0, gn);
-
-    // Last by not least, decide whether we want to issue both lhs and rhs
-    // packing in parallel; or issue lhs packing first, and then issue rhs
-    // packing when lhs packing completes (for !shard_by_col lhs and rhs are
-    // swapped). Parallel packing allows more parallelism (for both packing and
-    // kernels), while sequential packing provides better locality (once
-    // a thread finishes rhs packing it proceed to kernels with that rhs).
-    // First, we are interested in parallel packing if there are few tasks.
-    bool parallel_pack = num_threads >= nm * nn;
-    // Also do parallel packing if all data fits into L2$.
-    if (m * bk * Index(sizeof(LhsScalar)) + n * bk * Index(sizeof(RhsScalar)) <=
-        l2CacheSize() * num_threads)
-      parallel_pack = true;
-    // But don't do it if we will use each rhs only once. Locality seems to be
-    // more important in this case.
-    if ((shard_by_col ? nm : nn) == 1) parallel_pack = false;
-
-    LhsMapper lhs(this->m_leftImpl, this->m_left_nocontract_strides,
-                  this->m_i_strides, this->m_left_contracting_strides,
-                  this->m_k_strides);
-
-    RhsMapper rhs(this->m_rightImpl, this->m_right_nocontract_strides,
-                  this->m_j_strides, this->m_right_contracting_strides,
-                  this->m_k_strides);
-
-    Context<LhsPacker, RhsPacker, GebpKernel, LhsMapper, RhsMapper,
-            OutputMapper>(this->m_device, num_threads, lhs, rhs, buffer, m, n,
-                          k, bm, bn, bk, nm, nn, nk, gm, gn, nm0, nn0,
-                          shard_by_col, parallel_pack)
-        .run();
-  }
-
-  // Context coordinates a single parallel gemm operation.
-  template <typename LhsPacker, typename RhsPacker, typename GebpKernel,
-            typename LhsMapper, typename RhsMapper, typename OutputMapper>
-  class Context {
-   public:
-    Context(const Device& device, int num_threads, LhsMapper& lhs,
-            RhsMapper& rhs, Scalar* buffer, Index tm, Index tn, Index tk, Index bm,
-            Index bn, Index bk, Index nm, Index nn, Index nk, Index gm,
-            Index gn, Index nm0, Index nn0, bool shard_by_col,
-            bool parallel_pack)
-        : device_(device),
-          lhs_(lhs),
-          rhs_(rhs),
-          buffer_(buffer),
-          output_(buffer, tm),
-          num_threads_(num_threads),
-          shard_by_col_(shard_by_col),
-          parallel_pack_(parallel_pack),
-          m_(tm),
-          n_(tn),
-          k_(tk),
-          bm_(bm),
-          bn_(bn),
-          bk_(bk),
-          nm_(nm),
-          nn_(nn),
-          nk_(nk),
-          gm_(gm),
-          gn_(gn),
-          nm0_(nm0),
-          nn0_(nn0)
-  {
-      for (Index x = 0; x < P; x++) {
-        // Normal number of notifications for k slice switch is
-        // nm_ + nn_ + nm_ * nn_. However, first P - 1 slices will receive only
-        // nm_ + nn_ notifications, because they will not receive notifications
-        // from preceeding kernels.
-        state_switch_[x] =
-            x == 0
-                ? 1
-                : (parallel_pack_ ? nn_ + nm_ : (shard_by_col_ ? nn_ : nm_)) +
-                      (x == P - 1 ? nm_ * nn_ : 0);
-        state_packing_ready_[x] =
-            parallel_pack_ ? 0 : (shard_by_col_ ? nm_ : nn_);
-        state_kernel_[x] = new std::atomic<uint8_t>*[nm_];
-        for (Index m = 0; m < nm_; m++) {
-          state_kernel_[x][m] = new std::atomic<uint8_t>[nn_];
-          // Kernels generally receive 3 notifications (previous kernel + 2
-          // packing), but the first slice won't get notifications from previous
-          // kernels.
-          for (Index n = 0; n < nn_; n++)
-            state_kernel_[x][m][n].store(
-                (x == 0 ? 0 : 1) + (parallel_pack_ ? 2 : 1),
-                std::memory_order_relaxed);
-        }
-      }
-
-      // Allocate memory for packed rhs/lhs matrices.
-      size_t align = numext::maxi(EIGEN_MAX_ALIGN_BYTES, 1);
-      size_t lhs_size =
-          divup<size_t>(bm_ * bk_ * sizeof(LhsScalar), align) * align;
-      size_t rhs_size =
-          divup<size_t>(bn_ * bk_ * sizeof(RhsScalar), align) * align;
-      packed_mem_ = static_cast<char*>(internal::aligned_malloc(
-          (nm0_ * lhs_size + nn0_ * rhs_size) * std::min<size_t>(nk_, P - 1)));
-      char* mem = static_cast<char*>(packed_mem_);
-      for (Index x = 0; x < numext::mini<Index>(nk_, P - 1); x++) {
-        packed_lhs_[x].resize(nm0_);
-        for (Index m = 0; m < nm0_; m++) {
-          packed_lhs_[x][m] = reinterpret_cast<LhsScalar*>(mem);
-          mem += lhs_size;
-        }
-        packed_rhs_[x].resize(nn0_);
-        for (Index n = 0; n < nn0_; n++) {
-          packed_rhs_[x][n] = reinterpret_cast<RhsScalar*>(mem);
-          mem += rhs_size;
-        }
-      }
-    }
-
-    ~Context() {
-      for (Index x = 0; x < P; x++) {
-        for (Index m = 0; m < nm_; m++) delete[] state_kernel_[x][m];
-        delete[] state_kernel_[x];
-      }
-      internal::aligned_free(packed_mem_);
-    }
-
-    void run() {
-      // Kick off packing of the first slice.
-      signal_switch(0, 1);
-      // Wait for overall completion.
-      // TODO(dvyukov): this wait can lead to deadlock.
-      // If nthreads contractions are concurrently submitted from worker
-      // threads, this wait will block all worker threads and the system will
-      // deadlock.
-      done_.Wait();
-    }
-
-   private:
-    Notification done_;
-    const Device& device_;
-    LhsMapper& lhs_;
-    RhsMapper& rhs_;
-    Scalar* const buffer_;
-    OutputMapper output_;
-    const int num_threads_;
-    const bool shard_by_col_;
-    const bool parallel_pack_;
-    // Matrix sizes.
-    const Index m_;
-    const Index n_;
-    const Index k_;
-    // Block sizes.
-    const Index bm_;
-    const Index bn_;
-    const Index bk_;
-    // Number of tasks.
-    const Index nm_;
-    const Index nn_;
-    const Index nk_;
-    // Task grain sizes (number of kernels executed per task).
-    const Index gm_;
-    const Index gn_;
-    // Number of blocks (this is different from ni_/nn_ because of task size
-    // coarsening).
-    const Index nm0_;
-    const Index nn0_;
-
-    // Parallelization strategy.
-    //
-    // Blocks related to the same k block can run in parallel because they write
-    // to different output blocks. So we parallelize within k slices, this
-    // gives us parallelism level of m x n. Before we can start any kernels
-    // related to k-th slice, we need to issue m lhs packing tasks and n rhs
-    // packing tasks.
-    //
-    // However, there is a bottleneck when we are finishing kernels for k-th
-    // slice (at the very end there is only 1 runnable kernel). To mitigate this
-    // bottleneck we allow kernels from k-th and k+1-th slices to run in
-    // parallel. Note that (m, n, k) and (m, n, k+1) kernels write to the same
-    // output block, so they must not run in parallel.
-    //
-    // This gives us the following dependency graph.
-    // On each k slice we have m x n kernel tasks, m lhs paking tasks and n rhs
-    // packing tasks.
-    // Kernel (m, n, k) can start when:
-    //  - kernel (m, n, k-1) has finished
-    //  - lhs packing (m, k) has finished
-    //  - rhs packing (n, k) has finished
-    // Lhs/rhs packing can start when:
-    //  - all k-1 packing has finished (artificially imposed to limit amount of
-    //  parallel packing)
-    //
-    // On top of that we limit runnable tasks to two consecutive k slices.
-    // This is done to limit amount of memory we need for packed lhs/rhs
-    // (for each k slice we need m*bk + n*bk memory in packed_lhs_/packed_rhs_).
-    //
-    // state_switch_ tracks when we are ready to switch to the next k slice.
-    // state_kernel_[m][n] tracks when we are ready to kick off kernel (m, n).
-    // These variable are rolling over 3 consecutive k slices: first two we are
-    // actively executing + one to track completion of kernels in the second
-    // slice.
-    static const Index P = 3;
-    void* packed_mem_;
-    std::vector<LhsScalar*> packed_lhs_[P - 1];
-    std::vector<RhsScalar*> packed_rhs_[P - 1];
-    std::atomic<uint8_t>** state_kernel_[P];
-    // state_switch_ is frequently modified by worker threads, while other
-    // fields are read-only after constructor. Let's move it to a separate cache
-    // line to reduce cache-coherency traffic.
-    char pad_[128];
-    std::atomic<Index> state_packing_ready_[P];
-    std::atomic<Index> state_switch_[P];
-
-    void pack_lhs(Index m, Index k) {
-      const Index mend = m * gm_ + gm(m);
-      for (Index m1 = m * gm_; m1 < mend; m1++)
-        LhsPacker()(packed_lhs_[k % (P - 1)][m1],
-                    lhs_.getSubMapper(m1 * bm_, k * bk_), bk(k), bm(m1));
-
-      if (!parallel_pack_ && shard_by_col_) {
-        signal_packing(k);
-      } else {
-        signal_switch(k + 1);
-        for (Index n = nn_ - 1; n >= 0; n--) signal_kernel(m, n, k, n == 0);
-      }
-    }
-
-    void pack_rhs(Index n, Index k) {
-      const Index nend = n * gn_ + gn(n);
-      for (Index n1 = n * gn_; n1 < nend; n1++) {
-        if (k == 0) {
-          // Zero the output memory in parallel.
-          // On 10000x2x10000 mm zeroing can easily take half of time.
-          // Zero (bn x m) row. Safe to do here because all kernels that will
-          // write to this memory depend on completion of this task.
-          // Note: don't call device_.memset() here. device_.memset() blocks on
-          // thread pool worker thread, which can lead to underutilization and
-          // deadlocks.
-          memset(buffer_ + n1 * bn_ * m_, 0, bn(n1) * m_ * sizeof(Scalar));
-        }
-        RhsPacker()(packed_rhs_[k % (P - 1)][n1],
-                    rhs_.getSubMapper(k * bk_, n1 * bn_), bk(k), bn(n1));
-      }
-
-      if (parallel_pack_ || shard_by_col_) {
-        signal_switch(k + 1);
-        for (Index m = nm_ - 1; m >= 0; m--) signal_kernel(m, n, k, m == 0);
-      } else {
-        signal_packing(k);
-      }
-    }
-
-    void kernel(Index m, Index n, Index k) {
-      // Note: order of iteration matters here. Iteration over m is innermost
-      // because we want to reuse the same packed rhs in consequetive tasks
-      // (rhs fits into L2$ while lhs only into L3$).
-      const Index nend = n * gn_ + gn(n);
-      const Index mend = m * gm_ + gm(m);
-      if (shard_by_col_) {
-        for (Index n1 = n * gn_; n1 < nend; n1++) {
-          for (Index m1 = m * gm_; m1 < mend; m1++)
-            GebpKernel()(output_.getSubMapper(m1 * bm_, n1 * bn_),
-                         packed_lhs_[k % (P - 1)][m1],
-                         packed_rhs_[k % (P - 1)][n1], bm(m1), bk(k), bn(n1),
-                         Scalar(1), -1, -1, 0, 0);
-        }
-      } else {
-        for (Index m1 = m * gm_; m1 < mend; m1++)
-          for (Index n1 = n * gn_; n1 < nend; n1++) {
-            GebpKernel()(output_.getSubMapper(m1 * bm_, n1 * bn_),
-                         packed_lhs_[k % (P - 1)][m1],
-                         packed_rhs_[k % (P - 1)][n1], bm(m1), bk(k), bn(n1),
-                         Scalar(1), -1, -1, 0, 0);
-          }
-      }
-      signal_kernel(m, n, k + 1, false);
-      signal_switch(k + 2);
-    }
-
-    void signal_packing(Index k) {
-      eigen_assert(!parallel_pack_);
-      Index s = state_packing_ready_[k % P].fetch_sub(1);
-      eigen_assert(s > 0);
-      if (s != 1) return;
-      state_packing_ready_[k % P] = shard_by_col_ ? nm_ : nn_;
-      enqueue_packing(k, shard_by_col_);
-    }
-
-    void signal_kernel(Index m, Index n, Index k, bool sync) {
-      std::atomic<uint8_t>* state = &state_kernel_[k % P][m][n];
-      Index s = state->load();
-      eigen_assert(s > 0);
-      if (s != 1 && state->fetch_sub(1) != 1) return;
-      state->store(parallel_pack_ ? 3 : 2, std::memory_order_relaxed);
-      if (sync)
-        kernel(m, n, k);
-      else
-        device_.enqueueNoNotification([=]() { kernel(m, n, k); });
-    }
-
-    void signal_switch(Index k, Index v = 1) {
-      Index s = state_switch_[k % P].fetch_sub(v);
-      eigen_assert(s >= v);
-      if (s != v) return;
-
-      // Ready to switch to the next k slice.
-      // Reset counter for the next iteration.
-      state_switch_[k % P] =
-          (parallel_pack_ ? nm_ + nn_ : (shard_by_col_ ? nn_ : nm_)) +
-          nm_ * nn_;
-      if (k < nk_) {
-        // Issue lhs/rhs packing. Their completion will in turn kick off
-        // kernels.
-        if (parallel_pack_) {
-          enqueue_packing(k, !shard_by_col_);
-          enqueue_packing(k, shard_by_col_);
-        } else if (shard_by_col_) {
-          enqueue_packing(k, false);
-        } else {
-          enqueue_packing(k, true);
-        }
-
-        // Termination handling.
-        // Because kernel completion signals k + 2 switch, we need to finish nk
-        // + 2 slices without issuing any tasks on nk + 1 slice. So here we
-        // pretend that all nk + 1 packing tasks just finish instantly; so that
-        // nk + 2 switch only waits for completion of nk kernels.
-      } else if (k == nk_) {
-        signal_switch(k + 1,
-                      parallel_pack_ ? nm_ + nn_ : (shard_by_col_ ? nn_ : nm_));
-      } else {
-        done_.Notify();
-      }
-    }
-
-    // Enqueue all rhs/lhs packing for k-th slice.
-    void enqueue_packing(Index k, bool rhs) {
-      enqueue_packing_helper(0, rhs ? nn_ : nm_, k, rhs);
-    }
-
-    void enqueue_packing_helper(Index start, Index end, Index k, bool rhs) {
-      if (end - start == 1) {
-        if (rhs)
-          pack_rhs(start, k);
-        else
-          pack_lhs(start, k);
-      } else {
-        Index mid = (start + end) / 2;
-        device_.enqueueNoNotification(
-            [=]() { enqueue_packing_helper(mid, end, k, rhs); });
-        device_.enqueueNoNotification(
-            [=]() { enqueue_packing_helper(start, mid, k, rhs); });
-      }
-    }
-
-    // Block sizes with accounting for potentially incomplete last block.
-    Index bm(Index m) const { return m + 1 < nm0_ ? bm_ : m_ + bm_ - bm_ * nm0_; }
-    Index bn(Index n) const { return n + 1 < nn0_ ? bn_ : n_ + bn_ - bn_ * nn0_; }
-    Index bk(Index k) const { return k + 1 < nk_ ? bk_ : k_ + bk_ - bk_ * nk_; }
-    // Task grain sizes accounting for potentially incomplete last task.
-    Index gm(Index m) const { return m + 1 < nm_ ? gm_ : nm0_ + gm_ - gm_ * nm_; }
-    Index gn(Index n) const { return n + 1 < nn_ ? gn_ : nn0_ + gn_ - gn_ * nn_; }
-
-    Context(const Context&) = delete;
-    void operator=(const Context&) = delete;
-  };
-
-  // Decide whether we want to shard m x n contraction by columns or by rows.
-  static bool shardByCol(Index m, Index n, Index num_threads) {
-    // Note: we are comparing both n and m against Traits::nr, it is not
-    // a mistake. We are trying to figure out how both n and m will fit into
-    // the main sharding dimension.
-
-    // Sharding by column is the default
-    // ... unless there is enough data for vectorization over rows
-    if (m / num_threads >= Traits::nr &&
-        // and not enough data for vectorization over columns
-        (n / num_threads < Traits::nr ||
-         // ... or barely enough data for vectorization over columns,
-         // but it is not evenly dividable across threads
-         (n / num_threads < 4 * Traits::nr &&
-          (n % (num_threads * Traits::nr)) != 0 &&
-          // ... and it is evenly dividable across threads for rows
-          ((m % (num_threads * Traits::nr)) == 0 ||
-           // .. or it is not evenly dividable for both dimensions but
-           // there is much more data over rows so that corner effects are
-           // mitigated.
-           (m / n >= 6)))))
-      return false;
-    // Wait, or if matrices are just substantially prolonged over the other
-    // dimension.
-    if (n / num_threads < 16 * Traits::nr && m > n * 32) return false;
-    return true;
-  }
-
-  Index coarsenM(Index m, Index n, Index bm, Index bn, Index bk, Index gn,
-                 int num_threads, bool shard_by_col) const {
-    Index gm = 1;
-    Index gm1 = 1;
-    Index nm0 = divup(m, bm);
-    Index nm1 = nm0;
-    for (;;) {
-      // Find the next candidate for m grain size. It needs to result in
-      // different number of blocks. E.g. if we have 10 kernels, we want to try
-      // 5 and 10, but not 6, 7, 8 and 9.
-      while (gm1 <= nm0 && nm1 == divup(nm0, gm1)) gm1++;
-      if (gm1 > nm0) break;
-      // Check the candidate.
-      int res = checkGrain(m, n, bm, bn, bk, gm1, gn, gm, gn, num_threads,
-                           shard_by_col);
-      if (res < 0) break;
-      nm1 = divup(nm0, gm1);
-      if (res == 0) continue;
-      // Commit new grain size.
-      gm = gm1;
-    }
-    return gm;
-  }
-
-  Index coarsenN(Index m, Index n, Index bm, Index bn, Index bk, Index gm,
-                 int num_threads, bool shard_by_col) const {
-    Index gn = 1;
-    Index gn1 = 1;
-    Index nn0 = divup(n, bn);
-    Index nn1 = nn0;
-    for (;;) {
-      while (gn1 <= nn0 && nn1 == divup(nn0, gn1)) gn1++;
-      if (gn1 > nn0) break;
-      int res = checkGrain(m, n, bm, bn, bk, gm, gn1, gm, gn, num_threads,
-                           shard_by_col);
-      if (res < 0) break;
-      nn1 = divup(nn0, gn1);
-      if (res == 0) continue;
-      gn = gn1;
-    }
-    return gn;
-  }
-
-  // checkGrain checks whether grain (gm, gn) is suitable and is better than
-  // (oldgm, oldgn).
-  int checkGrain(Index m, Index n, Index bm, Index bn, Index bk, Index gm,
-                 Index gn, Index oldgm, Index oldgn, int num_threads,
-                 bool shard_by_col) const {
-    const TensorOpCost cost =
-        contractionCost(bm * gm, bn * gn, bm, bn, bk, shard_by_col, true);
-    double taskSize = TensorCostModel<ThreadPoolDevice>::taskSize(
-        static_cast<double>(bm) * gm * bn * gn, cost);
-    // If the task is too small, then we agree on it regardless of anything
-    // else. Otherwise synchronization overheads will dominate.
-    if (taskSize < 1) return 1;
-    // If it is too large, then we reject it and all larger tasks.
-    if (taskSize > 2) return -1;
-    // Now we are in presumably good task size range.
-    // The main deciding factor here is parallelism. Consider that we have 12
-    // kernels and 4 threads. Grains of 2, 3 and 4 all yield good task sizes.
-    // But 2/4 yield 6/3 tasks, which gives us parallelism of 0.75 (at most 3/4
-    // of cores will be busy). While grain size 3 gives us 4 tasks, which gives
-    // us parallelism of 1 (we can load all cores).
-    Index nm0 = divup(m, bm);
-    Index nn0 = divup(n, bn);
-    Index new_tasks = divup(nm0, gm) * divup(nn0, gn);
-    double new_parallelism = static_cast<double>(new_tasks) /
-                             (divup<int>(new_tasks, num_threads) * num_threads);
-    Index old_tasks = divup(nm0, oldgm) * divup(nn0, oldgn);
-    double old_parallelism = static_cast<double>(old_tasks) /
-                             (divup<int>(old_tasks, num_threads) * num_threads);
-    if (new_parallelism > old_parallelism || new_parallelism == 1) return 1;
-    return 0;
-  }
-
-#else  // EIGEN_USE_SIMPLE_THREAD_POOL
-
-  template <bool lhs_inner_dim_contiguous, bool rhs_inner_dim_contiguous, bool rhs_inner_dim_reordered, int Alignment>
-  void evalProduct(Scalar* buffer) const {
-    if (this->m_j_size == 1) {
-      this->template evalGemv<lhs_inner_dim_contiguous, rhs_inner_dim_contiguous, rhs_inner_dim_reordered, Alignment>(buffer);
-      return;
-    }
-
-    evalGemm<lhs_inner_dim_contiguous, rhs_inner_dim_contiguous, rhs_inner_dim_reordered, Alignment>(buffer);
-  }
-
-  template <bool lhs_inner_dim_contiguous, bool rhs_inner_dim_contiguous, bool rhs_inner_dim_reordered, int Alignment>
-  void evalGemm(Scalar* buffer) const {
-    // columns in left side, rows in right side
-    const Index k = this->m_k_size;
-
-    // rows in left side
-    const Index m = this->m_i_size;
-
-    // columns in right side
-    const Index n = this->m_j_size;
-
-    // zero out the result buffer (which must be of size at least m * n * sizeof(Scalar)
-    this->m_device.memset(buffer, 0, m * n * sizeof(Scalar));
-
-
-    const int lhs_packet_size = internal::unpacket_traits<typename LeftEvaluator::PacketReturnType>::size;
-    const int rhs_packet_size = internal::unpacket_traits<typename RightEvaluator::PacketReturnType>::size;
-
-    typedef internal::TensorContractionInputMapper<LhsScalar, Index, internal::Lhs,
-                                                   LeftEvaluator, left_nocontract_t,
-                                                   contract_t, lhs_packet_size,
-                                                   lhs_inner_dim_contiguous,
-                                                   false, Unaligned> LhsMapper;
-
-    typedef internal::TensorContractionInputMapper<RhsScalar, Index, internal::Rhs,
-                                                   RightEvaluator, right_nocontract_t,
-                                                   contract_t, rhs_packet_size,
-                                                   rhs_inner_dim_contiguous,
-                                                   rhs_inner_dim_reordered, Unaligned> RhsMapper;
-
-    typedef internal::blas_data_mapper<Scalar, Index, ColMajor> OutputMapper;
-
-    // TODO: packing could be faster sometimes if we supported row major tensor mappers
-    typedef internal::gemm_pack_lhs<LhsScalar, Index, typename LhsMapper::SubMapper, Traits::mr,
-                                    Traits::LhsProgress, ColMajor> LhsPacker;
-    typedef internal::gemm_pack_rhs<RhsScalar, Index, typename RhsMapper::SubMapper, Traits::nr, ColMajor> RhsPacker;
-
-    // TODO: replace false, false with conjugate values?
-    typedef internal::gebp_kernel<LhsScalar, RhsScalar, Index, OutputMapper,
-                                  Traits::mr, Traits::nr, false, false> GebpKernel;
-
-    typedef internal::packLhsArg<LhsScalar, LhsMapper, Index> packLArg;
-    typedef internal::packRhsAndKernelArg<LhsScalar, RhsScalar, RhsMapper, OutputMapper, Index> packRKArg;
-
-    // initialize data mappers
-    LhsMapper lhs(this->m_leftImpl, this->m_left_nocontract_strides, this->m_i_strides,
-                  this->m_left_contracting_strides, this->m_k_strides);
-
-    RhsMapper rhs(this->m_rightImpl, this->m_right_nocontract_strides, this->m_j_strides,
-                  this->m_right_contracting_strides, this->m_k_strides);
-
-    OutputMapper output(buffer, m);
-
-    // compute block sizes (which depend on number of threads)
-    const Index num_threads = this->m_device.numThreads();
-    internal::TensorContractionBlocking<LhsMapper, RhsMapper, Index, internal::ShardByCol> blocking(k, m, n, num_threads);
-    Index mc = blocking.mc();
-    Index nc = blocking.nc();
-    Index kc = blocking.kc();
-    eigen_assert(mc <= m);
-    eigen_assert(nc <= n);
-    eigen_assert(kc <= k);
-
-#define CEIL_DIV(a, b) (((a) + (b) - 1) / (b))
-    const Index k_blocks = CEIL_DIV(k, kc);
-    const Index n_blocks = CEIL_DIV(n, nc);
-    const Index m_blocks = CEIL_DIV(m, mc);
-    const Index sizeA = mc * kc;
-    const Index sizeB = kc * nc;
-
-    /*    cout << "m: " << m << " n: " << n << " k: " << k << endl;
-    cout << "mc: " << mc << " nc: " << nc << " kc: " << kc << endl;
-    cout << "m_blocks: " << m_blocks << " n_blocks: " << n_blocks << " k_blocks: " << k_blocks << endl;
-    cout << "num threads: " << num_threads << endl;
-    */
-
-    // note: m_device.allocate should return 16 byte aligned pointers, but if blockA and blockB
-    //       aren't 16 byte aligned segfaults will happen due to SIMD instructions
-    // note: You can get away with allocating just a single blockA and offsets and meet the
-    //       the alignment requirements with the assumption that
-    //       (Traits::mr * sizeof(ResScalar)) % 16 == 0
-    const Index numBlockAs = numext::mini(num_threads, m_blocks);
-    MaxSizeVector<LhsScalar *> blockAs(num_threads);
-    for (int i = 0; i < num_threads; i++) {
-      blockAs.push_back(static_cast<LhsScalar *>(this->m_device.allocate(sizeA * sizeof(LhsScalar))));
-    }
-
-    // To circumvent alignment issues, I'm just going to separately allocate the memory for each thread
-    // TODO: is this too much memory to allocate? This simplifies coding a lot, but is wasteful.
-    //       Other options: (1) reuse memory when a thread finishes. con: tricky
-    //                      (2) allocate block B memory in each thread. con: overhead
-    MaxSizeVector<RhsScalar *> blockBs(n_blocks);
-    for (int i = 0; i < n_blocks; i++) {
-      blockBs.push_back(static_cast<RhsScalar *>(this->m_device.allocate(sizeB * sizeof(RhsScalar))));
-    }
-
-    // lhs_notifications starts with all null Notifications
-    MaxSizeVector<Notification*> lhs_notifications(num_threads, nullptr);
-
-    // this should really be numBlockAs * n_blocks;
-    const Index num_kernel_notifications = num_threads * n_blocks;
-    MaxSizeVector<Notification*> kernel_notifications(num_kernel_notifications,
-                                                    nullptr);
-
-    for (Index k_block_idx = 0; k_block_idx < k_blocks; k_block_idx++) {
-      const Index k_start = k_block_idx * kc;
-      // make sure we don't overshoot right edge of left matrix
-      const Index actual_kc = numext::mini(k_start + kc, k) - k_start;
-
-      for (Index m_block_idx = 0; m_block_idx < m_blocks; m_block_idx += numBlockAs) {
-        const Index num_blocks = numext::mini(m_blocks-m_block_idx, numBlockAs);
-
-        for (Index mt_block_idx = m_block_idx; mt_block_idx < m_block_idx+num_blocks; mt_block_idx++) {
-          const Index m_start = mt_block_idx * mc;
-          const Index actual_mc = numext::mini(m_start + mc, m) - m_start;
-          eigen_assert(actual_mc > 0);
-
-          Index blockAId = (k_block_idx * m_blocks + mt_block_idx) % num_threads;
-
-          for (int i = 0; i < n_blocks; ++i) {
-            Index notification_id = (blockAId * n_blocks + i);
-            // Wait for any current kernels using this slot to complete
-            // before using it.
-            if (kernel_notifications[notification_id]) {
-              wait_until_ready(kernel_notifications[notification_id]);
-              delete kernel_notifications[notification_id];
-            }
-            kernel_notifications[notification_id] = new Notification();
-          }
-          const packLArg arg = {
-            blockAs[blockAId], // blockA
-            lhs,        // lhs
-            m_start,    // m
-            k_start,    // k
-            actual_mc,  // mc
-            actual_kc,  // kc
-          };
-
-          // Delete any existing notification since we may be
-          // replacing it.  The algorithm should ensure that there are
-          // no existing waiters on this notification.
-          delete lhs_notifications[blockAId];
-          lhs_notifications[blockAId] =
-          this->m_device.enqueue(&Self::packLhs<packLArg, LhsPacker>, arg);
-        }
-
-        // now start kernels.
-        const Index m_base_start = m_block_idx * mc;
-        const bool need_to_pack = m_block_idx == 0;
-
-        for (Index n_block_idx = 0; n_block_idx < n_blocks; n_block_idx++) {
-          const Index n_start = n_block_idx * nc;
-          const Index actual_nc = numext::mini(n_start + nc, n) - n_start;
-
-          // first make sure the previous kernels are all done before overwriting rhs. Also wait if
-          // we're going to start new k. In both cases need_to_pack is true.
-          if (need_to_pack) {
-            for (Index i = num_blocks; i < num_threads; ++i) {
-              Index blockAId = (k_block_idx * m_blocks + i + m_block_idx) % num_threads;
-              Index future_id = (blockAId * n_blocks + n_block_idx);
-              wait_until_ready(kernel_notifications[future_id]);
-            }
-          }
-
-          packRKArg arg = {
-            &blockAs, // blockA
-            blockBs[n_block_idx], // blockB
-            rhs,          // rhs
-            output,       // output
-            m_base_start, // m
-            k_start,      // k
-            n_start,      // n
-            mc,           // mc
-            actual_kc,    // kc
-            actual_nc,    // nc
-            num_threads,
-            numBlockAs,
-            m,
-            k_block_idx,
-            m_block_idx,
-            n_block_idx, // n_block_idx
-            m_blocks, // m_blocks
-            n_blocks, // n_blocks
-            &kernel_notifications, // kernel notifications
-            &lhs_notifications,    // lhs notifications
-            need_to_pack, // need_to_pack
-          };
-
-          // We asynchronously kick off this function, which ends up
-          // notifying the appropriate kernel_notifications objects,
-          // which this thread waits on before exiting.
-          this->m_device.enqueueNoNotification(&Self::packRhsAndKernel<packRKArg, RhsPacker, GebpKernel>, arg);
-        }
-      }
-    }
-
-    // Make sure all the kernels are done.
-    for (size_t i = 0; i < kernel_notifications.size(); ++i) {
-      wait_until_ready(kernel_notifications[i]);
-      delete kernel_notifications[i];
-    }
-
-    // No need to wait for lhs notifications since they should have
-    // already been waited on.  Just clean them up.
-    for (size_t i = 0; i < lhs_notifications.size(); ++i) {
-      delete lhs_notifications[i];
-    }
-
-    // deallocate all of the memory for both A and B's
-    for (size_t i = 0; i < blockAs.size(); i++) {
-      this->m_device.deallocate(blockAs[i]);
-    }
-    for (size_t i = 0; i < blockBs.size(); i++) {
-      this->m_device.deallocate(blockBs[i]);
-    }
-
-#undef CEIL_DIV
-  }
-
-  /*
-   * Packs a LHS block of size (mt, kc) starting at lhs(m, k). Before packing
-   * the LHS block, check that all of the kernels that worked on the same
-   * mt_block_idx in the previous m_block are done.
-   */
-  template <typename packLArg, typename LhsPacker>
-  static void packLhs(const packLArg arg) {
-    // perform actual packing
-    LhsPacker pack_lhs;
-    pack_lhs(arg.blockA, arg.lhs.getSubMapper(arg.m_start, arg.k_start), arg.kc, arg.mc);
-  }
-
-  /*
-   * Packs a RHS block of size (kc, nc) starting at (k, n) after checking that
-   * all kernels in the previous block are done.
-   * Then for each LHS future, we wait on the future and then call GEBP
-   * on the area packed by the future (which starts at
-   * blockA + future_idx * mt * kc) on the LHS and with the full packed
-   * RHS block.
-   * The output of this GEBP is written to output(m + i * mt, n).
-   */
-  template <typename packRKArg, typename RhsPacker, typename GebpKernel>
-  static void packRhsAndKernel(packRKArg arg) {
-    if (arg.need_to_pack) {
-      RhsPacker pack_rhs;
-      pack_rhs(arg.blockB, arg.rhs.getSubMapper(arg.k, arg.n), arg.kc, arg.nc);
-    }
-
-    GebpKernel gebp;
-    for (Index mt_block_idx = 0; mt_block_idx < arg.num_blockAs; mt_block_idx++) {
-      const Index m_base_start = arg.m + arg.mc*mt_block_idx;
-      if (m_base_start < arg.max_m) {
-        Index blockAId = (arg.k_block_idx * arg.m_blocks + mt_block_idx + arg.m_block_idx) % arg.num_threads;
-        wait_until_ready((*arg.lhs_notifications)[blockAId]);
-        const Index actual_mc = numext::mini(m_base_start + arg.mc, arg.max_m) - m_base_start;
-        gebp(arg.output.getSubMapper(m_base_start, arg.n),
-             (*arg.blockAs)[blockAId], arg.blockB,
-             actual_mc, arg.kc, arg.nc, Scalar(1), -1, -1, 0, 0);
-
-        // Notify that the kernel is done.
-        const Index set_idx = blockAId * arg.n_blocks + arg.n_block_idx;
-        (*arg.kernel_notifications)[set_idx]->Notify();
-      }
-    }
-  }
-#endif  // EIGEN_USE_SIMPLE_THREAD_POOL
-
-  TensorOpCost contractionCost(Index m, Index n, Index bm, Index bn, Index bk,
-                               bool shard_by_col, bool prepacked) const {
-    const int packed_size = std::min<int>(PacketType<LhsScalar, Device>::size,
-                                          PacketType<RhsScalar, Device>::size);
-    const int output_packet_size = internal::unpacket_traits<PacketReturnType>::size;
-    const double kd = static_cast<double>(bk);
-    // Peak VFMA bandwidth is 0.5. However if we have not enough data for
-    // vectorization bandwidth drops. The 4.0 and 2.0 bandwidth is determined
-    // experimentally.
-    double computeBandwidth = bk == 1 ? 4.0 :
-          (shard_by_col ? bn : bm) < Traits::nr ||
-          (shard_by_col ? bm : bn) < Traits::mr ? 2.0 : 0.5;
-#ifndef EIGEN_VECTORIZE_FMA
-    // Bandwidth of all of VFMA/MULPS/ADDPS is 0.5 on latest Intel processors.
-    // However for MULPS/ADDPS we have dependent sequence of 2 such instructions,
-    // so overall bandwidth is 1.0.
-    if (computeBandwidth == 0.5) computeBandwidth = 1.0;
-#endif
-    // Computations.
-    TensorOpCost cost = TensorOpCost(0, 0, kd * computeBandwidth, true, packed_size);
-    // Output stores.
-    cost += TensorOpCost(0, sizeof(CoeffReturnType), 0, true, output_packet_size);
-    if (prepacked) {
-      // Packing and kernels are executed in different tasks. When we calculate
-      // task grain size we look only at kernel cost assuming that kernel
-      // is more expensive than packing.
-      return cost;
-    }
-    // Lhs/rhs loads + computations.
-    TensorOpCost lhsCost = this->m_leftImpl.costPerCoeff(true) * (kd / n);
-    TensorOpCost rhsCost = this->m_rightImpl.costPerCoeff(true) * (kd / m);
-    // Lhs packing memory cost does not contribute considerably to overall
-    // execution time because lhs is prefetched early and accessed sequentially.
-    if (shard_by_col)
-      lhsCost.dropMemoryCost();
-    else
-      rhsCost.dropMemoryCost();
-    return cost + lhsCost + rhsCost;
-  }
-};
-
-} // end namespace Eigen
-
-#endif  // EIGEN_USE_THREADS
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_THREAD_POOL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConversion.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConversion.h
deleted file mode 100644
index 860a6949a9bde6..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConversion.h
+++ /dev/null
@@ -1,279 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONVERSION_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CONVERSION_H
-
-namespace Eigen {
-
-/** \class TensorConversionOp
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor conversion class. This class makes it possible to vectorize
-  * type casting operations when the number of scalars per packet in the source
-  * and the destination type differ
-  */
-namespace internal {
-template<typename TargetType, typename XprType>
-struct traits<TensorConversionOp<TargetType, XprType> >
-{
-  // Type promotion to handle the case where the types of the lhs and the rhs are different.
-  typedef TargetType Scalar;
-  typedef typename traits<XprType>::StorageKind StorageKind;
-  typedef typename traits<XprType>::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = traits<XprType>::NumDimensions;
-  static const int Layout = traits<XprType>::Layout;
-  enum { Flags = 0 };
-};
-
-template<typename TargetType, typename XprType>
-struct eval<TensorConversionOp<TargetType, XprType>, Eigen::Dense>
-{
-  typedef const TensorConversionOp<TargetType, XprType>& type;
-};
-
-template<typename TargetType, typename XprType>
-struct nested<TensorConversionOp<TargetType, XprType>, 1, typename eval<TensorConversionOp<TargetType, XprType> >::type>
-{
-  typedef TensorConversionOp<TargetType, XprType> type;
-};
-
-}  // end namespace internal
-
-
-template <typename TensorEvaluator, typename SrcPacket, typename TgtPacket, int SrcCoeffRatio, int TgtCoeffRatio>
-struct PacketConverter {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  PacketConverter(const TensorEvaluator& impl)
-      : m_impl(impl) {}
-
-  template<int LoadMode, typename Index>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TgtPacket packet(Index index) const {
-    return internal::pcast<SrcPacket, TgtPacket>(m_impl.template packet<LoadMode>(index));
-  }
-
- private:
-  const TensorEvaluator& m_impl;
-};
-
-
-template <typename TensorEvaluator, typename SrcPacket, typename TgtPacket>
-struct PacketConverter<TensorEvaluator, SrcPacket, TgtPacket, 2, 1> {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  PacketConverter(const TensorEvaluator& impl)
-      : m_impl(impl) {}
-
-  template<int LoadMode, typename Index>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TgtPacket packet(Index index) const {
-    const int SrcPacketSize = internal::unpacket_traits<SrcPacket>::size;
-
-    SrcPacket src1 = m_impl.template packet<LoadMode>(index);
-    SrcPacket src2 = m_impl.template packet<LoadMode>(index + SrcPacketSize);
-    TgtPacket result = internal::pcast<SrcPacket, TgtPacket>(src1, src2);
-    return result;
-  }
-
- private:
-  const TensorEvaluator& m_impl;
-};
-
-template <typename TensorEvaluator, typename SrcPacket, typename TgtPacket>
-struct PacketConverter<TensorEvaluator, SrcPacket, TgtPacket, 4, 1> {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  PacketConverter(const TensorEvaluator& impl)
-      : m_impl(impl) {}
-
-  template<int LoadMode, typename Index>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TgtPacket packet(Index index) const {
-    const int SrcPacketSize = internal::unpacket_traits<SrcPacket>::size;
-
-    SrcPacket src1 = m_impl.template packet<LoadMode>(index);
-    SrcPacket src2 = m_impl.template packet<LoadMode>(index + SrcPacketSize);
-    SrcPacket src3 = m_impl.template packet<LoadMode>(index + 2 * SrcPacketSize);
-    SrcPacket src4 = m_impl.template packet<LoadMode>(index + 3 * SrcPacketSize);
-    TgtPacket result = internal::pcast<SrcPacket, TgtPacket>(src1, src2, src3, src4);
-    return result;
-  }
-
- private:
-  const TensorEvaluator& m_impl;
-};
-
-template <typename TensorEvaluator, typename SrcPacket, typename TgtPacket>
-struct PacketConverter<TensorEvaluator, SrcPacket, TgtPacket, 1, 2> {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  PacketConverter(const TensorEvaluator& impl)
-      : m_impl(impl), m_maxIndex(impl.dimensions().TotalSize()) {}
-
-  template<int LoadMode, typename Index>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TgtPacket packet(Index index) const {
-    const int SrcPacketSize = internal::unpacket_traits<SrcPacket>::size;
-    // Only call m_impl.packet() when we have direct access to the underlying data. This
-    // ensures that we don't compute the subexpression twice. We may however load some
-    // coefficients twice, but in practice this doesn't negatively impact performance.
-    if (m_impl.data() && (index + SrcPacketSize < m_maxIndex)) {
-      // Force unaligned memory loads since we can't ensure alignment anymore
-      return internal::pcast<SrcPacket, TgtPacket>(m_impl.template packet<Unaligned>(index));
-    } else {
-      const int TgtPacketSize = internal::unpacket_traits<TgtPacket>::size;
-      typedef typename internal::unpacket_traits<SrcPacket>::type SrcType;
-      typedef typename internal::unpacket_traits<TgtPacket>::type TgtType;
-      internal::scalar_cast_op<SrcType, TgtType> converter;
-      EIGEN_ALIGN_MAX typename internal::unpacket_traits<TgtPacket>::type values[TgtPacketSize];
-      for (int i = 0; i < TgtPacketSize; ++i) {
-        values[i] = converter(m_impl.coeff(index+i));
-      }
-      TgtPacket rslt = internal::pload<TgtPacket>(values);
-      return rslt;
-    }
-  }
-
- private:
-  const TensorEvaluator& m_impl;
-  const typename TensorEvaluator::Index m_maxIndex;
-};
-
-template<typename TargetType, typename XprType>
-class TensorConversionOp : public TensorBase<TensorConversionOp<TargetType, XprType>, ReadOnlyAccessors>
-{
-  public:
-    typedef typename internal::traits<TensorConversionOp>::Scalar Scalar;
-    typedef typename internal::traits<TensorConversionOp>::StorageKind StorageKind;
-    typedef typename internal::traits<TensorConversionOp>::Index Index;
-    typedef typename internal::nested<TensorConversionOp>::type Nested;
-    typedef Scalar CoeffReturnType;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorConversionOp(const XprType& xpr)
-        : m_xpr(xpr) {}
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-};
-
-template <bool SameType, typename Eval, typename Scalar> struct ConversionSubExprEval {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool run(Eval& impl, Scalar*) {
-    impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-};
-
-template <typename Eval, typename Scalar> struct ConversionSubExprEval<true, Eval, Scalar> {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool run(Eval& impl, Scalar* data) {
-    return impl.evalSubExprsIfNeeded(data);
-  }
-};
-
-
-// Eval as rvalue
-template<typename TargetType, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorConversionOp<TargetType, ArgType>, Device>
-{
-  typedef TensorConversionOp<TargetType, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions Dimensions;
-  typedef TargetType Scalar;
-  typedef TargetType CoeffReturnType;
-  typedef typename internal::remove_all<typename internal::traits<ArgType>::Scalar>::type SrcType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef typename PacketType<SrcType, Device>::type PacketSourceType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = true,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-    : m_impl(op.expression(), device)
-  {
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_impl.dimensions(); }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data)
-  {
-    return ConversionSubExprEval<internal::is_same<TargetType, SrcType>::value, TensorEvaluator<ArgType, Device>, Scalar>::run(m_impl, data);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup()
-  {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    internal::scalar_cast_op<SrcType, TargetType> converter;
-    return converter(m_impl.coeff(index));
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    const bool Vectorizable = TensorEvaluator<ArgType, Device>::PacketAccess &
-        internal::type_casting_traits<SrcType, TargetType>::VectorizedCast;
-    return PacketConv<LoadMode, Vectorizable>::run(m_impl, index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    const double cast_cost = TensorOpCost::CastCost<SrcType, TargetType>();
-    if (vectorized) {
-      const double SrcCoeffRatio =
-          internal::type_casting_traits<SrcType, TargetType>::SrcCoeffRatio;
-      const double TgtCoeffRatio =
-          internal::type_casting_traits<SrcType, TargetType>::TgtCoeffRatio;
-      return m_impl.costPerCoeff(vectorized) * (SrcCoeffRatio / PacketSize) +
-          TensorOpCost(0, 0, TgtCoeffRatio * (cast_cost / PacketSize));
-    } else {
-      return m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, cast_cost);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
-  protected:
-  template <int LoadMode, bool ActuallyVectorize>
-  struct PacketConv {
-    static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType run(const TensorEvaluator<ArgType, Device>& impl, Index index) {
-      internal::scalar_cast_op<SrcType, TargetType> converter;
-      EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-      for (int i = 0; i < PacketSize; ++i) {
-        values[i] = converter(impl.coeff(index+i));
-      }
-      PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-      return rslt;
-    }
-  };
-
-  template <int LoadMode>
-  struct PacketConv<LoadMode, true> {
-    static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType run(const TensorEvaluator<ArgType, Device>& impl, Index index) {
-      const int SrcCoeffRatio = internal::type_casting_traits<SrcType, TargetType>::SrcCoeffRatio;
-      const int TgtCoeffRatio = internal::type_casting_traits<SrcType, TargetType>::TgtCoeffRatio;
-      PacketConverter<TensorEvaluator<ArgType, Device>, PacketSourceType, PacketReturnType,
-                      SrcCoeffRatio, TgtCoeffRatio> converter(impl);
-      return converter.template packet<LoadMode>(index);
-    }
-  };
-
-  TensorEvaluator<ArgType, Device> m_impl;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CONVERSION_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolution.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolution.h
deleted file mode 100644
index abdf742c6ef859..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolution.h
+++ /dev/null
@@ -1,1104 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_H
-
-namespace Eigen {
-
-/** \class TensorConvolution
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor convolution class.
-  *
-  *
-  */
-namespace internal {
-
-template <typename Index, typename InputDims, int NumKernelDims, int Layout>
-class IndexMapper {
- public:
-  IndexMapper(const InputDims& input_dims, const array<Index, NumKernelDims>& kernel_dims,
-              const array<Index, NumKernelDims>& indices) {
-
-    array<Index, NumDims> dimensions = input_dims;
-    for (int i = 0; i < NumKernelDims; ++i) {
-      const Index index = indices[i];
-      const Index input_dim = input_dims[index];
-      const Index kernel_dim = kernel_dims[i];
-      const Index result_dim = input_dim - kernel_dim + 1;
-      dimensions[index] = result_dim;
-    }
-
-    array<Index, NumDims> inputStrides;
-    array<Index, NumDims> outputStrides;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      inputStrides[0] = 1;
-      outputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        inputStrides[i] = inputStrides[i-1] * input_dims[i-1];
-        outputStrides[i] = outputStrides[i-1] * dimensions[i-1];
-      }
-    } else {
-      inputStrides[NumDims - 1] = 1;
-      outputStrides[NumDims - 1] = 1;
-      for (int i = static_cast<int>(NumDims) - 2; i >= 0; --i) {
-        inputStrides[i] = inputStrides[i + 1] * input_dims[i + 1];
-        outputStrides[i] = outputStrides[i + 1] * dimensions[i + 1];
-      }
-    }
-
-    array<Index, NumDims> cudaInputDimensions;
-    array<Index, NumDims> cudaOutputDimensions;
-    array<Index, NumDims> tmp = dimensions;
-    array<Index, NumDims> ordering;
-    const size_t offset = static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                              ? 0
-                              : NumDims - NumKernelDims;
-    for (int i = 0; i < NumKernelDims; ++i) {
-      const Index index = i + offset;
-      ordering[index] = indices[i];
-      tmp[indices[i]] = -1;
-      cudaInputDimensions[index] = input_dims[indices[i]];
-      cudaOutputDimensions[index] = dimensions[indices[i]];
-    }
-
-    int written = static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                      ? NumKernelDims
-                      : 0;
-    for (int i = 0; i < NumDims; ++i) {
-      if (tmp[i] >= 0) {
-        ordering[written] = i;
-        cudaInputDimensions[written] = input_dims[i];
-        cudaOutputDimensions[written] = dimensions[i];
-        ++written;
-      }
-    }
-
-    for (int i = 0; i < NumDims; ++i) {
-      m_inputStrides[i] = inputStrides[ordering[i]];
-      m_outputStrides[i] = outputStrides[ordering[i]];
-    }
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = 0; i < NumDims; ++i) {
-        if (i > NumKernelDims) {
-          m_cudaInputStrides[i] =
-              m_cudaInputStrides[i - 1] * cudaInputDimensions[i - 1];
-          m_cudaOutputStrides[i] =
-              m_cudaOutputStrides[i - 1] * cudaOutputDimensions[i - 1];
-        } else {
-          m_cudaInputStrides[i] = 1;
-          m_cudaOutputStrides[i] = 1;
-        }
-      }
-    } else {
-      for (int i = NumDims - 1; i >= 0; --i) {
-        if (i + 1 < offset) {
-          m_cudaInputStrides[i] =
-              m_cudaInputStrides[i + 1] * cudaInputDimensions[i + 1];
-          m_cudaOutputStrides[i] =
-              m_cudaOutputStrides[i + 1] * cudaOutputDimensions[i + 1];
-        } else {
-          m_cudaInputStrides[i] = 1;
-          m_cudaOutputStrides[i] = 1;
-        }
-      }
-    }
-  }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaInputPlaneToTensorInputOffset(Index p) const {
-    Index inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int d = NumDims - 1; d > NumKernelDims; --d) {
-        const Index idx = p / m_cudaInputStrides[d];
-        inputIndex += idx * m_inputStrides[d];
-        p -= idx * m_cudaInputStrides[d];
-      }
-      inputIndex += p * m_inputStrides[NumKernelDims];
-    } else {
-      std::ptrdiff_t limit = 0;
-      if (NumKernelDims < NumDims) {
-        limit = NumDims - NumKernelDims - 1;
-      }
-      for (int d = 0; d < limit; ++d) {
-        const Index idx = p / m_cudaInputStrides[d];
-        inputIndex += idx * m_inputStrides[d];
-        p -= idx * m_cudaInputStrides[d];
-      }
-      inputIndex += p * m_inputStrides[limit];
-    }
-    return inputIndex;
-  }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaOutputPlaneToTensorOutputOffset(Index p) const {
-    Index outputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int d = NumDims - 1; d > NumKernelDims; --d) {
-        const Index idx = p / m_cudaOutputStrides[d];
-        outputIndex += idx * m_outputStrides[d];
-        p -= idx * m_cudaOutputStrides[d];
-      }
-      outputIndex += p * m_outputStrides[NumKernelDims];
-    } else {
-      std::ptrdiff_t limit = 0;
-      if (NumKernelDims < NumDims) {
-        limit = NumDims - NumKernelDims - 1;
-      }
-      for (int d = 0; d < limit; ++d) {
-        const Index idx = p / m_cudaOutputStrides[d];
-        outputIndex += idx * m_outputStrides[d];
-        p -= idx * m_cudaOutputStrides[d];
-      }
-      outputIndex += p * m_outputStrides[limit];
-    }
-    return outputIndex;
-  }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaInputKernelToTensorInputOffset(Index i) const {
-    const size_t offset = static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                              ? 0
-                              : NumDims - NumKernelDims;
-    return i * m_inputStrides[offset];
-  }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaOutputKernelToTensorOutputOffset(Index i) const {
-    const size_t offset = static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                              ? 0
-                              : NumDims - NumKernelDims;
-    return i * m_outputStrides[offset];
-  }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaInputKernelToTensorInputOffset(Index i, Index j) const {
-    const size_t offset = static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                              ? 0
-                              : NumDims - NumKernelDims;
-    return i * m_inputStrides[offset] + j * m_inputStrides[offset + 1];
-  }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaOutputKernelToTensorOutputOffset(Index i, Index j) const {
-    const size_t offset = static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                              ? 0
-                              : NumDims - NumKernelDims;
-    return i * m_outputStrides[offset] + j * m_outputStrides[offset + 1];
-  }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaInputKernelToTensorInputOffset(Index i, Index j, Index k) const {
-    const size_t offset = static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                              ? 0
-                              : NumDims - NumKernelDims;
-    return i * m_inputStrides[offset] + j * m_inputStrides[offset + 1] +
-           k * m_inputStrides[offset + 2];
-  }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaOutputKernelToTensorOutputOffset(Index i, Index j, Index k) const {
-    const size_t offset = static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                              ? 0
-                              : NumDims - NumKernelDims;
-    return i * m_outputStrides[offset] + j * m_outputStrides[offset + 1] +
-           k * m_outputStrides[offset + 2];
-  }
-
- private:
-  static const int NumDims = internal::array_size<InputDims>::value;
-  array<Index, NumDims> m_inputStrides;
-  array<Index, NumDims> m_outputStrides;
-  array<Index, NumDims> m_cudaInputStrides;
-  array<Index, NumDims> m_cudaOutputStrides;
-};
-
-
-
-template<typename Dimensions, typename InputXprType, typename KernelXprType>
-struct traits<TensorConvolutionOp<Dimensions, InputXprType, KernelXprType> >
-{
-  // Type promotion to handle the case where the types of the lhs and the rhs are different.
-  typedef typename promote_storage_type<typename InputXprType::Scalar,
-                                        typename KernelXprType::Scalar>::ret Scalar;
-  typedef typename promote_storage_type<typename traits<InputXprType>::StorageKind,
-                                        typename traits<KernelXprType>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<InputXprType>::Index,
-                                      typename traits<KernelXprType>::Index>::type Index;
-  typedef typename InputXprType::Nested LhsNested;
-  typedef typename KernelXprType::Nested RhsNested;
-  typedef typename remove_reference<LhsNested>::type _LhsNested;
-  typedef typename remove_reference<RhsNested>::type _RhsNested;
-  static const int NumDimensions = traits<InputXprType>::NumDimensions;
-  static const int Layout = traits<InputXprType>::Layout;
-
-  enum {
-    Flags = 0
-  };
-};
-
-template<typename Dimensions, typename InputXprType, typename KernelXprType>
-struct eval<TensorConvolutionOp<Dimensions, InputXprType, KernelXprType>, Eigen::Dense>
-{
-  typedef const TensorConvolutionOp<Dimensions, InputXprType, KernelXprType>& type;
-};
-
-template<typename Dimensions, typename InputXprType, typename KernelXprType>
-struct nested<TensorConvolutionOp<Dimensions, InputXprType, KernelXprType>, 1, typename eval<TensorConvolutionOp<Dimensions, InputXprType, KernelXprType> >::type>
-{
-  typedef TensorConvolutionOp<Dimensions, InputXprType, KernelXprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename Indices, typename InputXprType, typename KernelXprType>
-class TensorConvolutionOp : public TensorBase<TensorConvolutionOp<Indices, InputXprType, KernelXprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorConvolutionOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename internal::promote_storage_type<typename InputXprType::CoeffReturnType,
-                                                  typename KernelXprType::CoeffReturnType>::ret CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorConvolutionOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorConvolutionOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorConvolutionOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorConvolutionOp(const InputXprType& input, const KernelXprType& kernel, const Indices& dims)
-      : m_input_xpr(input), m_kernel_xpr(kernel), m_indices(dims) {}
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const Indices& indices() const { return m_indices; }
-
-    /** \returns the nested expressions */
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const typename internal::remove_all<typename InputXprType::Nested>::type&
-    inputExpression() const { return m_input_xpr; }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const typename internal::remove_all<typename KernelXprType::Nested>::type&
-    kernelExpression() const { return m_kernel_xpr; }
-
-  protected:
-    typename InputXprType::Nested m_input_xpr;
-    typename KernelXprType::Nested m_kernel_xpr;
-    const Indices m_indices;
-};
-
-
-template<typename Indices, typename InputArgType, typename KernelArgType, typename Device>
-struct TensorEvaluator<const TensorConvolutionOp<Indices, InputArgType, KernelArgType>, Device>
-{
-  typedef TensorConvolutionOp<Indices, InputArgType, KernelArgType> XprType;
-
-  static const int NumDims = internal::array_size<typename TensorEvaluator<InputArgType, Device>::Dimensions>::value;
-  static const int NumKernelDims = internal::array_size<Indices>::value;
-  typedef typename XprType::Index Index;
-  typedef DSizes<Index, NumDims> Dimensions;
-
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = TensorEvaluator<InputArgType, Device>::IsAligned & TensorEvaluator<KernelArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<InputArgType, Device>::PacketAccess & TensorEvaluator<KernelArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<InputArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_inputImpl(op.inputExpression(), device), m_kernelImpl(op.kernelExpression(), device), m_kernelArg(op.kernelExpression()), m_kernel(NULL), m_local_kernel(false), m_device(device)
-  {
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<InputArgType, Device>::Layout) == static_cast<int>(TensorEvaluator<KernelArgType, Device>::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    const typename TensorEvaluator<InputArgType, Device>::Dimensions& input_dims = m_inputImpl.dimensions();
-    const typename TensorEvaluator<KernelArgType, Device>::Dimensions& kernel_dims = m_kernelImpl.dimensions();
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_inputStride[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_inputStride[i] = m_inputStride[i - 1] * input_dims[i - 1];
-      }
-    } else {
-      m_inputStride[NumDims - 1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_inputStride[i] = m_inputStride[i + 1] * input_dims[i + 1];
-      }
-    }
-
-    m_dimensions = m_inputImpl.dimensions();
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = 0; i < NumKernelDims; ++i) {
-        const Index index = op.indices()[i];
-        const Index input_dim = input_dims[index];
-        const Index kernel_dim = kernel_dims[i];
-        const Index result_dim = input_dim - kernel_dim + 1;
-        m_dimensions[index] = result_dim;
-        if (i > 0) {
-          m_kernelStride[i] = m_kernelStride[i - 1] * kernel_dims[i - 1];
-        } else {
-          m_kernelStride[0] = 1;
-        }
-        m_indexStride[i] = m_inputStride[index];
-      }
-
-      m_outputStride[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_outputStride[i] = m_outputStride[i - 1] * m_dimensions[i - 1];
-      }
-    } else {
-      for (int i = NumKernelDims - 1; i >= 0; --i) {
-        const Index index = op.indices()[i];
-        const Index input_dim = input_dims[index];
-        const Index kernel_dim = kernel_dims[i];
-        const Index result_dim = input_dim - kernel_dim + 1;
-        m_dimensions[index] = result_dim;
-        if (i < NumKernelDims - 1) {
-          m_kernelStride[i] = m_kernelStride[i + 1] * kernel_dims[i + 1];
-        } else {
-          m_kernelStride[NumKernelDims - 1] = 1;
-        }
-        m_indexStride[i] = m_inputStride[index];
-      }
-
-      m_outputStride[NumDims - 1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_outputStride[i] = m_outputStride[i + 1] * m_dimensions[i + 1];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) {
-    m_inputImpl.evalSubExprsIfNeeded(NULL);
-    preloadKernel();
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_inputImpl.cleanup();
-    if (m_local_kernel) {
-      m_device.deallocate((void*)m_kernel);
-      m_local_kernel = false;
-    }
-    m_kernel = NULL;
-  }
-
-  void evalTo(typename XprType::Scalar* buffer) {
-    evalSubExprsIfNeeded(NULL);
-    for (int i = 0; i < dimensions().TotalSize(); ++i) {
-      buffer[i] += coeff(i);
-    }
-    cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    CoeffReturnType result = CoeffReturnType(0);
-    convolve(firstInput(index), 0, NumKernelDims-1, result);
-    return result;
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC PacketReturnType packet(const Index index) const
-  {
-    Index indices[2] = {index, index+PacketSize-1};
-    Index startInputs[2] = {0, 0};
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx0 = indices[0] / m_outputStride[i];
-        const Index idx1 = indices[1] / m_outputStride[i];
-        startInputs[0] += idx0 * m_inputStride[i];
-        startInputs[1] += idx1 * m_inputStride[i];
-        indices[0] -= idx0 * m_outputStride[i];
-        indices[1] -= idx1 * m_outputStride[i];
-      }
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx0 = indices[0] / m_outputStride[i];
-        const Index idx1 = indices[1] / m_outputStride[i];
-        startInputs[0] += idx0 * m_inputStride[i];
-        startInputs[1] += idx1 * m_inputStride[i];
-        indices[0] -= idx0 * m_outputStride[i];
-        indices[1] -= idx1 * m_outputStride[i];
-      }
-    }
-    startInputs[0] += indices[0];
-    startInputs[1] += indices[1];
-
-    if (startInputs[1]-startInputs[0] == PacketSize-1) {
-      PacketReturnType result = internal::pset1<PacketReturnType>(0);
-      convolvePacket(startInputs[0], 0, NumKernelDims-1, result);
-      return result;
-    } else {
-      EIGEN_ALIGN_MAX Scalar data[PacketSize];
-      data[0] = Scalar(0);
-      convolve(startInputs[0], 0, NumKernelDims-1, data[0]);
-      for (int i = 1; i < PacketSize-1; ++i) {
-        data[i] = Scalar(0);
-        convolve(firstInput(index+i), 0, NumKernelDims-1, data[i]);
-      }
-      data[PacketSize-1] = Scalar(0);
-      convolve(startInputs[1], 0, NumKernelDims-1, data[PacketSize-1]);
-      return internal::pload<PacketReturnType>(data);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    const double kernel_size = m_kernelImpl.dimensions().TotalSize();
-    // We ignore the use of fused multiply-add.
-    const double convolve_compute_cost =
-        TensorOpCost::AddCost<Scalar>() + TensorOpCost::MulCost<Scalar>();
-    const double firstIndex_compute_cost =
-        NumDims *
-        (2 * TensorOpCost::AddCost<Index>() + 2 * TensorOpCost::MulCost<Index>() +
-         TensorOpCost::DivCost<Index>());
-    return TensorOpCost(0, 0, firstIndex_compute_cost, vectorized, PacketSize) +
-           kernel_size * (m_inputImpl.costPerCoeff(vectorized) +
-                          m_kernelImpl.costPerCoeff(vectorized) +
-                          TensorOpCost(0, 0, convolve_compute_cost, vectorized,
-                                       PacketSize));
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- private:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index firstInput(Index index) const {
-    Index startInput = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx = index / m_outputStride[i];
-        startInput += idx * m_inputStride[i];
-        index -= idx * m_outputStride[i];
-      }
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx = index / m_outputStride[i];
-        startInput += idx * m_inputStride[i];
-        index -= idx * m_outputStride[i];
-      }
-    }
-    startInput += index;
-    return startInput;
-  }
-
-  EIGEN_DEVICE_FUNC void convolve(Index firstIndex, Index firstKernel, int DimIndex, CoeffReturnType& accum) const {
-    for (int j = 0; j < m_kernelImpl.dimensions()[DimIndex]; ++j) {
-      const Index input = firstIndex + j * m_indexStride[DimIndex];
-      const Index kernel = firstKernel + j * m_kernelStride[DimIndex];
-      if (DimIndex > 0) {
-        convolve(input, kernel, DimIndex-1, accum);
-      } else {
-        accum += m_inputImpl.coeff(input) * m_kernel[kernel];
-      }
-    }
-  }
-
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC void convolvePacket(Index firstIndex, Index firstKernel, int DimIndex, Packet& accum) const {
-    for (int j = 0; j < m_kernelImpl.dimensions()[DimIndex]; ++j) {
-      const Index input = firstIndex + j * m_indexStride[DimIndex];
-      const Index kernel = firstKernel + j * m_kernelStride[DimIndex];
-      if (DimIndex > 0) {
-        convolvePacket(input, kernel, DimIndex-1, accum);
-      } else {
-        accum = internal::pmadd<Packet>(m_inputImpl.template packet<Unaligned>(input), internal::pset1<Packet>(m_kernel[kernel]), accum);
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void preloadKernel() {
-    // Don't make a local copy of the kernel unless we have to (i.e. it's an
-    // expression that needs to be evaluated)
-    const Scalar* in_place = m_kernelImpl.data();
-    if (in_place) {
-      m_kernel = in_place;
-      m_local_kernel = false;
-    } else {
-      size_t kernel_sz = m_kernelImpl.dimensions().TotalSize() * sizeof(Scalar);
-      Scalar* local = (Scalar*)m_device.allocate(kernel_sz);
-      typedef TensorEvalToOp<const KernelArgType> EvalTo;
-      EvalTo evalToTmp(local, m_kernelArg);
-      const bool PacketAccess = internal::IsVectorizable<Device, KernelArgType>::value;
-      internal::TensorExecutor<const EvalTo, Device, PacketAccess>::run(evalToTmp, m_device);
-
-      m_kernel = local;
-      m_local_kernel = true;
-    }
-  }
-
-  array<Index, NumDims> m_inputStride;
-  array<Index, NumDims> m_outputStride;
-
-  array<Index, NumKernelDims> m_indexStride;
-  array<Index, NumKernelDims> m_kernelStride;
-  TensorEvaluator<InputArgType, Device> m_inputImpl;
-  TensorEvaluator<KernelArgType, Device> m_kernelImpl;
-  Dimensions m_dimensions;
-
-  KernelArgType m_kernelArg;
-  const Scalar* m_kernel;
-  bool m_local_kernel;
-  const Device& m_device;
-};
-
-
-
-
-// Use an optimized implementation of the evaluation code for GPUs whenever possible.
-#if defined(EIGEN_USE_GPU) && defined(__CUDACC__)
-
-template <int StaticKernelSize>
-struct GetKernelSize {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int operator() (const int /*kernelSize*/) const {
-    return StaticKernelSize;
-  }
-};
-template <>
-struct GetKernelSize<Dynamic> {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int operator() (const int kernelSize) const {
-    return kernelSize;
-  }
-};
-
-template <typename InputEvaluator, typename Index, typename InputDims,
-          int StaticKernelSize>
-__global__ void EigenConvolutionKernel1D(
-    InputEvaluator eval,
-    const internal::IndexMapper<Index, InputDims, 1, InputEvaluator::Layout>
-        indexMapper,
-    const float* __restrict kernel, const int numPlanes, const int numX,
-    const int maxX, const int kernelSize, float* buffer) {
-  extern __shared__ float s[];
-
-  const int first_x = blockIdx.x * maxX;
-  const int last_x = (first_x + maxX < numX ? first_x + maxX : numX) - 1;
-  const int num_x_input = last_x - first_x + GetKernelSize<StaticKernelSize>()(kernelSize);
-  const int num_x_output = last_x - first_x + 1;
-
-  const int first_plane = blockIdx.y * blockDim.y;
-  const int plane_stride = blockDim.y * gridDim.y;
-
-  for (int p = first_plane + threadIdx.y; p < numPlanes; p += plane_stride) {
-    // Load inputs to shared memory
-    const int plane_input_offset = indexMapper.mapCudaInputPlaneToTensorInputOffset(p);
-    const int plane_kernel_offset = threadIdx.y * num_x_input;
-    #pragma unroll
-    for (int i = threadIdx.x; i < num_x_input; i += blockDim.x) {
-      const int tensor_index = plane_input_offset + indexMapper.mapCudaInputKernelToTensorInputOffset(i+first_x);
-      s[i + plane_kernel_offset] = eval.coeff(tensor_index);
-    }
-
-    __syncthreads();
-
-    // Compute the convolution
-    const int plane_output_offset = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(p);
-
-    #pragma unroll
-    for (int i = threadIdx.x; i < num_x_output; i += blockDim.x) {
-      const int kernel_offset = plane_kernel_offset + i;
-      float result = 0.0f;
-      #pragma unroll
-      for (int k = 0; k < GetKernelSize<StaticKernelSize>()(kernelSize); ++k) {
-        result += s[k + kernel_offset] * kernel[k];
-      }
-      const int tensor_index = plane_output_offset + indexMapper.mapCudaOutputKernelToTensorOutputOffset(i+first_x);
-      buffer[tensor_index] = result;
-    }
-    __syncthreads();
-  }
-};
-
-template <typename InputEvaluator, typename Index, typename InputDims,
-          int StaticKernelSizeX, int StaticKernelSizeY>
-__global__ void EigenConvolutionKernel2D(
-    InputEvaluator eval,
-    const internal::IndexMapper<Index, InputDims, 2, InputEvaluator::Layout>
-        indexMapper,
-    const float* __restrict kernel, const int numPlanes, const int numX,
-    const int maxX, const int numY, const int maxY, const int kernelSizeX,
-    const int kernelSizeY, float* buffer) {
-  extern __shared__ float s[];
-
-  const int first_x = blockIdx.x * maxX;
-  const int last_x = (first_x + maxX < numX ? first_x + maxX : numX) - 1;
-  const int num_x_input = last_x - first_x + GetKernelSize<StaticKernelSizeX>()(kernelSizeX);
-  const int num_x_output = last_x - first_x + 1;
-
-  const int first_y = blockIdx.y * maxY;
-  const int last_y = (first_y + maxY < numY ? first_y + maxY : numY) - 1;
-  const int num_y_input = last_y - first_y + GetKernelSize<StaticKernelSizeY>()(kernelSizeY);
-  const int num_y_output = last_y - first_y + 1;
-
-  const int first_plane = blockIdx.z * blockDim.z;
-  const int plane_stride = blockDim.z * gridDim.z;
-
-  for (int p = first_plane + threadIdx.z; p < numPlanes; p += plane_stride) {
-
-    const int plane_input_offset = indexMapper.mapCudaInputPlaneToTensorInputOffset(p);
-    const int plane_kernel_offset = threadIdx.z * num_y_input;
-
-    // Load inputs to shared memory
-    #pragma unroll
-    for (int j = threadIdx.y; j < num_y_input; j += blockDim.y) {
-      const int input_offset = num_x_input * (j + plane_kernel_offset);
-      #pragma unroll
-      for (int i = threadIdx.x; i < num_x_input; i += blockDim.x) {
-        const int tensor_index = plane_input_offset + indexMapper.mapCudaInputKernelToTensorInputOffset(i+first_x, j+first_y);
-        s[i + input_offset] = eval.coeff(tensor_index);
-      }
-    }
-
-    __syncthreads();
-
-    // Convolution
-    const int plane_output_offset = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(p);
-
-    #pragma unroll
-    for (int j = threadIdx.y; j < num_y_output; j += blockDim.y) {
-      #pragma unroll
-      for (int i = threadIdx.x; i < num_x_output; i += blockDim.x) {
-        float result = 0.0f;
-        #pragma unroll
-        for (int l = 0; l < GetKernelSize<StaticKernelSizeY>()(kernelSizeY); ++l) {
-          const int kernel_offset = kernelSizeX * l;
-          const int input_offset = i + num_x_input * (j + l + plane_kernel_offset);
-          #pragma unroll
-          for (int k = 0; k < GetKernelSize<StaticKernelSizeX>()(kernelSizeX); ++k) {
-            result += s[k + input_offset] * kernel[k + kernel_offset];
-          }
-        }
-        const int tensor_index = plane_output_offset + indexMapper.mapCudaOutputKernelToTensorOutputOffset(i+first_x, j+first_y);
-        buffer[tensor_index] = result;
-      }
-    }
-
-    __syncthreads();
-  }
-};
-
-template <typename InputEvaluator, typename Index, typename InputDims>
-__global__ void EigenConvolutionKernel3D(
-    InputEvaluator eval,
-    const internal::IndexMapper<Index, InputDims, 3, InputEvaluator::Layout>
-        indexMapper,
-    const float* __restrict kernel, const size_t numPlanes, const size_t numX,
-    const size_t maxX, const size_t numY, const size_t maxY, const size_t numZ,
-    const size_t maxZ, const size_t kernelSizeX, const size_t kernelSizeY,
-    const size_t kernelSizeZ, float* buffer) {
-  extern __shared__ float s[];
-
-  // Load inputs to shared memory
-  const int first_x = blockIdx.x * maxX;
-  const int last_x = (first_x + maxX < numX ? first_x + maxX : numX) - 1;
-  const int num_x_input = last_x - first_x + kernelSizeX;
-
-  const int first_y = blockIdx.y * maxY;
-  const int last_y = (first_y + maxY < numY ? first_y + maxY : numY) - 1;
-  const int num_y_input = last_y - first_y + kernelSizeY;
-
-  const int first_z = blockIdx.z * maxZ;
-  const int last_z = (first_z + maxZ < numZ ? first_z + maxZ : numZ) - 1;
-  const int num_z_input = last_z - first_z + kernelSizeZ;
-
-  for (int p = 0; p < numPlanes; ++p) {
-
-    const int plane_input_offset = indexMapper.mapCudaInputPlaneToTensorInputOffset(p);
-    const int plane_kernel_offset = 0;
-
-    for (int k = threadIdx.z; k < num_z_input; k += blockDim.z) {
-      for (int j = threadIdx.y; j < num_y_input; j += blockDim.y) {
-        for (int i = threadIdx.x; i < num_x_input; i += blockDim.x) {
-          const int tensor_index = plane_input_offset + indexMapper.mapCudaInputKernelToTensorInputOffset(i+first_x, j+first_y, k+first_z);
-          s[i + num_x_input * (j + num_y_input * (k + plane_kernel_offset))] = eval.coeff(tensor_index);
-        }
-      }
-    }
-
-    __syncthreads();
-
-    // Convolution
-    const int num_z_output = last_z - first_z + 1;
-    const int num_y_output = last_y - first_y + 1;
-    const int num_x_output = last_x - first_x + 1;
-    const int plane_output_offset = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(p);
-
-    for (int k = threadIdx.z; k < num_z_output; k += blockDim.z) {
-      for (int j = threadIdx.y; j < num_y_output; j += blockDim.y) {
-        for (int i = threadIdx.x; i < num_x_output; i += blockDim.x) {
-          float result = 0.0f;
-          for (int n = 0; n < kernelSizeZ; ++n) {
-            for (int m = 0; m < kernelSizeY; ++m) {
-              for (int l = 0; l < kernelSizeX; ++l) {
-                result += s[i + l + num_x_input * (j + m + num_y_input * (k + n + plane_kernel_offset))] * kernel[l + kernelSizeX * (m + kernelSizeY * n)];
-              }
-            }
-          }
-          const int tensor_index = plane_output_offset + indexMapper.mapCudaOutputKernelToTensorOutputOffset(i+first_x, j+first_y, k+first_z);
-          buffer[tensor_index] = result;
-        }
-      }
-    }
-    __syncthreads();
-  }
-};
-
-
-
-template<typename Indices, typename InputArgType, typename KernelArgType>
-struct TensorEvaluator<const TensorConvolutionOp<Indices, InputArgType, KernelArgType>, GpuDevice>
-{
-  typedef TensorConvolutionOp<Indices, InputArgType, KernelArgType> XprType;
-
-  static const int NumDims =  internal::array_size<typename TensorEvaluator<InputArgType, GpuDevice>::Dimensions>::value;
-  static const int NumKernelDims = internal::array_size<Indices>::value;
-  typedef typename XprType::Index Index;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename TensorEvaluator<KernelArgType, GpuDevice>::Dimensions KernelDimensions;
-
-  enum {
-    IsAligned = TensorEvaluator<InputArgType, GpuDevice>::IsAligned & TensorEvaluator<KernelArgType, GpuDevice>::IsAligned,
-    PacketAccess = false,
-    Layout = TensorEvaluator<InputArgType, GpuDevice>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const GpuDevice& device)
-      : m_inputImpl(op.inputExpression(), device), m_kernelArg(op.kernelExpression()), m_kernelImpl(op.kernelExpression(), device), m_indices(op.indices()), m_buf(NULL), m_kernel(NULL), m_local_kernel(false), m_device(device)
-  {
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<InputArgType, GpuDevice>::Layout) == static_cast<int>(TensorEvaluator<KernelArgType, GpuDevice>::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    const typename TensorEvaluator<InputArgType, GpuDevice>::Dimensions& input_dims = m_inputImpl.dimensions();
-    const typename TensorEvaluator<KernelArgType, GpuDevice>::Dimensions& kernel_dims = m_kernelImpl.dimensions();
-
-    m_dimensions = m_inputImpl.dimensions();
-    for (int i = 0; i < NumKernelDims; ++i) {
-      const Index index = op.indices()[i];
-      const Index input_dim = input_dims[index];
-      const Index kernel_dim = kernel_dims[i];
-      const Index result_dim = input_dim - kernel_dim + 1;
-      m_dimensions[index] = result_dim;
-    }
-  }
-
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, GpuDevice>::type PacketReturnType;
-  typedef typename InputArgType::Scalar Scalar;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) {
-    preloadKernel();
-    m_inputImpl.evalSubExprsIfNeeded(NULL);
-    if (data) {
-      executeEval(data);
-      return false;
-    } else {
-      m_buf = (Scalar*)m_device.allocate(dimensions().TotalSize() * sizeof(Scalar));
-      executeEval(m_buf);
-      return true;
-    }
-  }
-
-  EIGEN_STRONG_INLINE void cleanup() {
-    m_inputImpl.cleanup();
-    if (m_buf) {
-      m_device.deallocate(m_buf);
-      m_buf = NULL;
-    }
-    if (m_local_kernel) {
-      m_device.deallocate((void*)m_kernel);
-      m_local_kernel = false;
-    }
-    m_kernel = NULL;
-  }
-
-  EIGEN_STRONG_INLINE void preloadKernel() {
-    // Don't make a local copy of the kernel unless we have to (i.e. it's an
-    // expression that needs to be evaluated)
-    const Scalar* in_place = m_kernelImpl.data();
-    if (in_place) {
-      m_kernel = in_place;
-      m_local_kernel = false;
-    } else {
-      size_t kernel_sz = m_kernelImpl.dimensions().TotalSize() * sizeof(Scalar);
-      Scalar* local = (Scalar*)m_device.allocate(kernel_sz);
-      typedef TensorEvalToOp<const KernelArgType> EvalTo;
-      EvalTo evalToTmp(local, m_kernelArg);
-      const bool PacketAccess = internal::IsVectorizable<GpuDevice, KernelArgType>::value;
-      internal::TensorExecutor<const EvalTo, GpuDevice, PacketAccess>::run(evalToTmp, m_device);
-
-      m_kernel = local;
-      m_local_kernel = true;
-    }
-  }
-
-  static unsigned int ceil(unsigned int num, unsigned int denom) {
-    const unsigned int rounded_toward_zero = num / denom;
-    if (num > rounded_toward_zero * denom) {
-      return rounded_toward_zero + 1;
-    }
-    return rounded_toward_zero;
-  }
-
-  void executeEval(Scalar* data) const {
-    typedef typename TensorEvaluator<InputArgType, GpuDevice>::Dimensions InputDims;
-
-    const int maxSharedMem = m_device.sharedMemPerBlock();
-    const int maxThreadsPerBlock = m_device.maxCudaThreadsPerBlock();
-    const int maxBlocksPerProcessor = m_device.maxCudaThreadsPerMultiProcessor() / maxThreadsPerBlock;
-    const int numMultiProcessors = m_device.getNumCudaMultiProcessors();
-    const int warpSize = 32;
-
-    switch (NumKernelDims) {
-      case 1: {
-        const int kernel_size = m_kernelImpl.dimensions().TotalSize();
-
-        const int numX = dimensions()[m_indices[0]];
-        const int numP = dimensions().TotalSize() / numX;
-        int maxX;
-        dim3 block_size;
-
-        const int single_stride_dim =
-            static_cast<int>(Layout) == static_cast<int>(ColMajor)
-                ? 0
-                : m_inputImpl.dimensions().rank() - 1;
-        if (m_indices[0] == single_stride_dim) {
-          // Maximum the reuse
-          const int inner_dim = ((maxSharedMem / (sizeof(Scalar)) - kernel_size + 1 + 31) / 32) * 32;
-          maxX = numext::mini<int>(inner_dim, numX);
-          const int maxP = numext::mini<int>(maxSharedMem / ((kernel_size - 1 + maxX) * sizeof(Scalar)), numP);
-          block_size.x = numext::mini(maxThreadsPerBlock, maxX);
-          block_size.y = numext::mini<int>(maxThreadsPerBlock / block_size.x, maxP);
-        }
-        else {
-          // Read as much as possible alongside the inner most dimension, that is the plane
-          const int inner_dim = maxSharedMem / ((warpSize + kernel_size) * sizeof(Scalar));
-          const int maxP = numext::mini<int>(inner_dim, numP);
-          maxX = numext::mini<int>(maxSharedMem / (inner_dim * sizeof(Scalar)) - kernel_size + 1, numX);
-
-          block_size.x = numext::mini(warpSize, maxX);
-          block_size.y = numext::mini<int>(maxThreadsPerBlock/block_size.x, maxP);
-        }
-
-        const int shared_mem = block_size.y * (maxX + kernel_size - 1) * sizeof(Scalar);
-        assert(shared_mem <= maxSharedMem);
-
-        const int num_x_blocks = ceil(numX, maxX);
-        const int blocksPerProcessor = numext::mini(maxBlocksPerProcessor, maxSharedMem / shared_mem);
-        const int num_y_blocks = ceil(numMultiProcessors * blocksPerProcessor, num_x_blocks);
-
-        dim3 num_blocks(num_x_blocks, numext::mini<int>(num_y_blocks, ceil(numP, block_size.y)));
-
-
-        //cout << "launching 1D kernel with block_size.x: " << block_size.x << " block_size.y: " << block_size.y << " num_blocks.x: " << num_blocks.x << " num_blocks.y: " << num_blocks.y << " maxX: " << maxX << " shared_mem: " << shared_mem << " in stream " << m_device.stream() << endl;
-
-        const array<Index, 1> indices(m_indices[0]);
-        const array<Index, 1> kernel_dims(m_kernelImpl.dimensions()[0]);
-        internal::IndexMapper<Index, InputDims, 1, Layout> indexMapper(
-            m_inputImpl.dimensions(), kernel_dims, indices);
-        switch(kernel_size) {
-          case 4: {
-            LAUNCH_CUDA_KERNEL((EigenConvolutionKernel1D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims, 4>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, 4, data);
-            break;
-          }
-          case 7: {
-            LAUNCH_CUDA_KERNEL((EigenConvolutionKernel1D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims, 7>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, 7, data);
-            break;
-          }
-          default: {
-            LAUNCH_CUDA_KERNEL((EigenConvolutionKernel1D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims, Dynamic>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, kernel_size, data);
-          }
-        }
-        break;
-      }
-
-      case 2: {
-        const int idxX =
-            static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 0 : 1;
-        const int idxY =
-            static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 1 : 0;
-        const int kernel_size_x = m_kernelImpl.dimensions()[idxX];
-        const int kernel_size_y = m_kernelImpl.dimensions()[idxY];
-
-        const int numX = dimensions()[m_indices[idxX]];
-        const int numY = dimensions()[m_indices[idxY]];
-        const int numP = dimensions().TotalSize() / (numX*numY);
-
-        const float scaling_factor = sqrtf(static_cast<float>(maxSharedMem) / (sizeof(Scalar) * kernel_size_y * kernel_size_x));
-
-        // Snap maxX to warp size
-        int inner_dim = ((static_cast<int>(scaling_factor * kernel_size_x) - kernel_size_x + 1 + 32) / 32) * 32;
-        const int maxX = numext::mini<int>(inner_dim, numX);
-        const int maxY = numext::mini<int>(maxSharedMem / (sizeof(Scalar) * (maxX + kernel_size_x - 1)) - kernel_size_y + 1, numY);
-        const int maxP = numext::mini<int>(maxSharedMem / ((kernel_size_x - 1 + maxX) * (kernel_size_y - 1 + maxY) * sizeof(Scalar)), numP);
-
-        dim3 block_size;
-        block_size.x = numext::mini(1024, maxX);
-        block_size.y = numext::mini<int>(1024/block_size.x, maxY);
-        block_size.z = numext::mini<int>(1024/(block_size.x*block_size.y), maxP);
-
-        const int shared_mem = block_size.z * (maxX + kernel_size_x - 1) * (maxY + kernel_size_y - 1) * sizeof(Scalar);
-        assert(shared_mem <= maxSharedMem);
-
-        const int num_x_blocks = ceil(numX, maxX);
-        const int num_y_blocks = ceil(numY, maxY);
-        const int blocksPerProcessor = numext::mini(maxBlocksPerProcessor, maxSharedMem / shared_mem);
-        const int num_z_blocks = ceil(numMultiProcessors * blocksPerProcessor, num_x_blocks * num_y_blocks);
-
-        dim3 num_blocks(num_x_blocks, num_y_blocks, numext::mini<int>(num_z_blocks, ceil(numP, block_size.z)));
-
-
-        //cout << "launching 2D kernel with block_size.x: " << block_size.x << " block_size.y: " << block_size.y  << " block_size.z: " << block_size.z << " num_blocks.x: " << num_blocks.x << " num_blocks.y: " << num_blocks.y << " num_blocks.z: " << num_blocks.z << " maxX: " << maxX << " maxY: " << maxY << " maxP: " << maxP << " shared_mem: " << shared_mem << " in stream " << m_device.stream() << endl;
-
-        const array<Index, 2> indices(m_indices[idxX], m_indices[idxY]);
-        const array<Index, 2> kernel_dims(m_kernelImpl.dimensions()[idxX],
-                                          m_kernelImpl.dimensions()[idxY]);
-        internal::IndexMapper<Index, InputDims, 2, Layout> indexMapper(
-            m_inputImpl.dimensions(), kernel_dims, indices);
-        switch (kernel_size_x) {
-          case 4: {
-            switch (kernel_size_y) {
-              case 7: {
-                LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims, 4, 7>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, 4, 7, data);
-                break;
-              }
-              default: {
-                LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims, 4, Dynamic>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, 4, kernel_size_y, data);
-                break;
-              }
-            }
-            break;
-          }
-          case 7: {
-            switch (kernel_size_y) {
-              case 4: {
-                LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims, 7, 4>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, 7, 4, data);
-                break;
-              }
-              default: {
-                LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims, 7, Dynamic>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, 7, kernel_size_y, data);
-                break;
-              }
-            }
-            break;
-          }
-          default: {
-            LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims, Dynamic, Dynamic>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, kernel_size_x, kernel_size_y, data);
-            break;
-          }
-        }
-        break;
-      }
-
-      case 3: {
-        const int idxX =
-            static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 0 : 2;
-        const int idxY =
-            static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 1 : 1;
-        const int idxZ =
-            static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 2 : 0;
-
-        const int kernel_size_x = m_kernelImpl.dimensions()[idxX];
-        const int kernel_size_y = m_kernelImpl.dimensions()[idxY];
-        const int kernel_size_z = m_kernelImpl.dimensions()[idxZ];
-
-        const int numX = dimensions()[m_indices[idxX]];
-        const int numY = dimensions()[m_indices[idxY]];
-        const int numZ = dimensions()[m_indices[idxZ]];
-        const int numP = dimensions().TotalSize() / (numX*numY*numZ);
-
-        const int maxX = numext::mini<int>(128, numext::mini<int>(maxSharedMem / (sizeof(Scalar) * kernel_size_y * kernel_size_z) - kernel_size_x + 1, numX));
-        const int maxY = numext::mini<int>(128, numext::mini<int>(maxSharedMem / (sizeof(Scalar) * (maxX + kernel_size_x - 1) * kernel_size_z) - kernel_size_y + 1, numY));
-        const int maxZ = numext::mini<int>(128, numext::mini<int>(maxSharedMem / (sizeof(Scalar) * (maxX + kernel_size_x - 1) * (maxY + kernel_size_y - 1)) - kernel_size_z + 1, numZ));
-
-        dim3 block_size;
-        block_size.x = numext::mini(32, maxX);
-        block_size.y = numext::mini(32, maxY);
-        block_size.z = numext::mini<int>(1024/(block_size.x*block_size.y), maxZ);
-        dim3 num_blocks(ceil(numX, maxX), ceil(numY, maxY), ceil(numZ, maxZ));
-
-        const int shared_mem = (maxX + kernel_size_x - 1) * (maxY + kernel_size_y - 1) * (maxZ + kernel_size_z - 1) * sizeof(Scalar);
-        assert(shared_mem <= maxSharedMem);
-
-        //cout << "launching 3D kernel with block_size.x: " << block_size.x << " block_size.y: " << block_size.y  << " block_size.z: " << block_size.z << " num_blocks.x: " << num_blocks.x << " num_blocks.y: " << num_blocks.y << " num_blocks.z: " << num_blocks.z  << " shared_mem: " << shared_mem << " in stream " << m_device.stream() << endl;
-        const array<Index, 3> indices(m_indices[idxX], m_indices[idxY],
-                                      m_indices[idxZ]);
-        const array<Index, 3> kernel_dims(m_kernelImpl.dimensions()[idxX],
-                                          m_kernelImpl.dimensions()[idxY],
-                                          m_kernelImpl.dimensions()[idxZ]);
-        internal::IndexMapper<Index, InputDims, 3, Layout> indexMapper(
-            m_inputImpl.dimensions(), kernel_dims, indices);
-
-        LAUNCH_CUDA_KERNEL((EigenConvolutionKernel3D<TensorEvaluator<InputArgType, GpuDevice>, Index, InputDims>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, numZ, maxZ, kernel_size_x, kernel_size_y, kernel_size_z, data);
-        break;
-      }
-
-      default: {
-        EIGEN_STATIC_ASSERT((NumKernelDims >= 1 && NumKernelDims <= 3), THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE);
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    eigen_assert(m_buf);
-    eigen_assert(index < m_dimensions.TotalSize());
-    return m_buf[index];
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(const Index index) const
-  {
-    eigen_assert(m_buf);
-    eigen_assert(index < m_dimensions.TotalSize());
-    return internal::ploadt<PacketReturnType, LoadMode>(m_buf+index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    // TODO(rmlarsen): FIXME: For now, this is just a copy of the CPU cost
-    // model.
-    const double kernel_size = m_kernelImpl.dimensions().TotalSize();
-    // We ignore the use of fused multiply-add.
-    const double convolve_compute_cost =
-        TensorOpCost::AddCost<Scalar>() + TensorOpCost::MulCost<Scalar>();
-    const double firstIndex_compute_cost =
-        NumDims *
-        (2 * TensorOpCost::AddCost<Index>() + 2 * TensorOpCost::MulCost<Index>() +
-         TensorOpCost::DivCost<Index>());
-    return TensorOpCost(0, 0, firstIndex_compute_cost, vectorized, PacketSize) +
-           kernel_size * (m_inputImpl.costPerCoeff(vectorized) +
-                          m_kernelImpl.costPerCoeff(vectorized) +
-                          TensorOpCost(0, 0, convolve_compute_cost, vectorized,
-                                       PacketSize));
-  }
-
- private:
-  // No assignment (copies are needed by the kernels)
-  TensorEvaluator& operator = (const TensorEvaluator&);
-
-  TensorEvaluator<InputArgType, GpuDevice> m_inputImpl;
-  TensorEvaluator<KernelArgType, GpuDevice> m_kernelImpl;
-  KernelArgType m_kernelArg;
-  Indices m_indices;
-  Dimensions m_dimensions;
-  Scalar* m_buf;
-  const Scalar* m_kernel;
-  bool m_local_kernel;
-
-  const GpuDevice& m_device;
-};
-#endif
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCostModel.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCostModel.h
deleted file mode 100644
index 83c449cf192713..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCostModel.h
+++ /dev/null
@@ -1,212 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Rasmus Munk Larsen <rmlarsen@google.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_COST_MODEL_H
-#define EIGEN_CXX11_TENSOR_TENSOR_COST_MODEL_H
-
-namespace Eigen {
-
-/** \class TensorEvaluator
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief A cost model used to limit the number of threads used for evaluating
-  * tensor expression.
-  *
-  */
-
-// Class storing the cost of evaluating a tensor expression in terms of the
-// estimated number of operand bytes loads, bytes stored, and compute cycles.
-class TensorOpCost {
- public:
-  // TODO(rmlarsen): Fix the scalar op costs in Eigen proper. Even a simple
-  // model based on minimal reciprocal throughput numbers from Intel or
-  // Agner Fog's tables would be better than what is there now.
-  template <typename ArgType>
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int MulCost() {
-    return internal::functor_traits<
-        internal::scalar_product_op<ArgType, ArgType> >::Cost;
-  }
-  template <typename ArgType>
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int AddCost() {
-    return internal::functor_traits<internal::scalar_sum_op<ArgType> >::Cost;
-  }
-  template <typename ArgType>
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int DivCost() {
-    return internal::functor_traits<
-        internal::scalar_quotient_op<ArgType, ArgType> >::Cost;
-  }
-  template <typename ArgType>
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int ModCost() {
-    return internal::functor_traits<internal::scalar_mod_op<ArgType> >::Cost;
-  }
-  template <typename SrcType, typename TargetType>
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int CastCost() {
-    return internal::functor_traits<
-        internal::scalar_cast_op<SrcType, TargetType> >::Cost;
-  }
-
-  EIGEN_DEVICE_FUNC
-  TensorOpCost() : bytes_loaded_(0), bytes_stored_(0), compute_cycles_(0) {}
-  EIGEN_DEVICE_FUNC
-  TensorOpCost(double bytes_loaded, double bytes_stored, double compute_cycles)
-      : bytes_loaded_(bytes_loaded),
-        bytes_stored_(bytes_stored),
-        compute_cycles_(compute_cycles) {}
-
-  EIGEN_DEVICE_FUNC
-  TensorOpCost(double bytes_loaded, double bytes_stored, double compute_cycles,
-               bool vectorized, double packet_size)
-      : bytes_loaded_(bytes_loaded),
-        bytes_stored_(bytes_stored),
-        compute_cycles_(vectorized ? compute_cycles / packet_size
-                                   : compute_cycles) {
-    eigen_assert(bytes_loaded >= 0 && (numext::isfinite)(bytes_loaded));
-    eigen_assert(bytes_stored >= 0 && (numext::isfinite)(bytes_stored));
-    eigen_assert(compute_cycles >= 0 && (numext::isfinite)(compute_cycles));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double bytes_loaded() const {
-    return bytes_loaded_;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double bytes_stored() const {
-    return bytes_stored_;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double compute_cycles() const {
-    return compute_cycles_;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double total_cost(
-      double load_cost, double store_cost, double compute_cost) const {
-    return load_cost * bytes_loaded_ + store_cost * bytes_stored_ +
-           compute_cost * compute_cycles_;
-  }
-
-  // Drop memory access component. Intended for cases when memory accesses are
-  // sequential or are completely masked by computations.
-  EIGEN_DEVICE_FUNC void dropMemoryCost() {
-    bytes_loaded_ = 0;
-    bytes_stored_ = 0;
-  }
-
-  // TODO(rmlarsen): Define min in terms of total cost, not elementwise.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost cwiseMin(
-      const TensorOpCost& rhs) const {
-    double bytes_loaded = numext::mini(bytes_loaded_, rhs.bytes_loaded());
-    double bytes_stored = numext::mini(bytes_stored_, rhs.bytes_stored());
-    double compute_cycles = numext::mini(compute_cycles_, rhs.compute_cycles());
-    return TensorOpCost(bytes_loaded, bytes_stored, compute_cycles);
-  }
-
-  // TODO(rmlarsen): Define max in terms of total cost, not elementwise.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost cwiseMax(
-      const TensorOpCost& rhs) const {
-    double bytes_loaded = numext::maxi(bytes_loaded_, rhs.bytes_loaded());
-    double bytes_stored = numext::maxi(bytes_stored_, rhs.bytes_stored());
-    double compute_cycles = numext::maxi(compute_cycles_, rhs.compute_cycles());
-    return TensorOpCost(bytes_loaded, bytes_stored, compute_cycles);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost& operator+=(
-      const TensorOpCost& rhs) {
-    bytes_loaded_ += rhs.bytes_loaded();
-    bytes_stored_ += rhs.bytes_stored();
-    compute_cycles_ += rhs.compute_cycles();
-    return *this;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost& operator*=(double rhs) {
-    bytes_loaded_ *= rhs;
-    bytes_stored_ *= rhs;
-    compute_cycles_ *= rhs;
-    return *this;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend TensorOpCost operator+(
-      TensorOpCost lhs, const TensorOpCost& rhs) {
-    lhs += rhs;
-    return lhs;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend TensorOpCost operator*(
-      TensorOpCost lhs, double rhs) {
-    lhs *= rhs;
-    return lhs;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend TensorOpCost operator*(
-      double lhs, TensorOpCost rhs) {
-    rhs *= lhs;
-    return rhs;
-  }
-
-  friend std::ostream& operator<<(std::ostream& os, const TensorOpCost& tc) {
-    return os << "[bytes_loaded = " << tc.bytes_loaded()
-              << ", bytes_stored = " << tc.bytes_stored()
-              << ", compute_cycles = " << tc.compute_cycles() << "]";
-  }
-
- private:
-  double bytes_loaded_;
-  double bytes_stored_;
-  double compute_cycles_;
-};
-
-// TODO(rmlarsen): Implement a policy that chooses an "optimal" number of theads
-// in [1:max_threads] instead of just switching multi-threading off for small
-// work units.
-template <typename Device>
-class TensorCostModel {
- public:
-  // Scaling from Eigen compute cost to device cycles.
-  static const int kDeviceCyclesPerComputeCycle = 1;
-
- // Costs in device cycles.
-  static const int kStartupCycles = 100000;
-  static const int kPerThreadCycles = 100000;
-  static const int kTaskSize = 40000;
-
-  // Returns the number of threads in [1:max_threads] to use for
-  // evaluating an expression with the given output size and cost per
-  // coefficient.
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int numThreads(
-      double output_size, const TensorOpCost& cost_per_coeff, int max_threads) {
-    double cost = totalCost(output_size, cost_per_coeff);
-    int threads = (cost - kStartupCycles) / kPerThreadCycles + 0.9;
-    return numext::mini(max_threads, numext::maxi(1, threads));
-  }
-
-  // taskSize assesses parallel task size.
-  // Value of 1.0 means ideal parallel task size. Values < 1.0 mean that task
-  // granularity needs to be increased to mitigate parallelization overheads.
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double taskSize(
-      double output_size, const TensorOpCost& cost_per_coeff) {
-    return totalCost(output_size, cost_per_coeff) / kTaskSize;
-  }
-
- private:
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double totalCost(
-      double output_size, const TensorOpCost& cost_per_coeff) {
-    // Cost of memory fetches from L2 cache. 64 is typical cache line size.
-    // 11 is L2 cache latency on Haswell.
-    // We don't know whether data is in L1, L2 or L3. But we are most interested
-    // in single-threaded computational time around 100us-10ms (smaller time
-    // is too small for parallelization, larger time is not intersting
-    // either because we are probably using all available threads already).
-    // And for the target time range, L2 seems to be what matters. Data set
-    // fitting into L1 is too small to take noticeable time. Data set fitting
-    // only into L3 presumably will take more than 10ms to load and process.
-    const double kLoadCycles = 1.0 / 64 * 11;
-    const double kStoreCycles = 1.0 / 64 * 11;
-    // Scaling from Eigen compute cost to device cycles.
-    return output_size *
-        cost_per_coeff.total_cost(kLoadCycles, kStoreCycles,
-                                  kDeviceCyclesPerComputeCycle);
-  }
-};
-
-}  // namespace Eigen
-
-#endif  // EIGEN_CXX11_TENSOR_TENSOR_COST_MODEL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCustomOp.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCustomOp.h
deleted file mode 100644
index e020d076f02db0..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCustomOp.h
+++ /dev/null
@@ -1,313 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_CUSTOM_OP_H
-#define EIGEN_CXX11_TENSOR_TENSOR_CUSTOM_OP_H
-
-namespace Eigen {
-
-/** \class TensorCustomUnaryOp
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor custom class.
-  *
-  *
-  */
-namespace internal {
-template<typename CustomUnaryFunc, typename XprType>
-struct traits<TensorCustomUnaryOp<CustomUnaryFunc, XprType> >
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::StorageKind StorageKind;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = traits<XprType>::NumDimensions;
-  static const int Layout = traits<XprType>::Layout;
-};
-
-template<typename CustomUnaryFunc, typename XprType>
-struct eval<TensorCustomUnaryOp<CustomUnaryFunc, XprType>, Eigen::Dense>
-{
-  typedef const TensorCustomUnaryOp<CustomUnaryFunc, XprType>& type;
-};
-
-template<typename CustomUnaryFunc, typename XprType>
-struct nested<TensorCustomUnaryOp<CustomUnaryFunc, XprType> >
-{
-  typedef TensorCustomUnaryOp<CustomUnaryFunc, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename CustomUnaryFunc, typename XprType>
-class TensorCustomUnaryOp : public TensorBase<TensorCustomUnaryOp<CustomUnaryFunc, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename internal::traits<TensorCustomUnaryOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename internal::nested<TensorCustomUnaryOp>::type Nested;
-  typedef typename internal::traits<TensorCustomUnaryOp>::StorageKind StorageKind;
-  typedef typename internal::traits<TensorCustomUnaryOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCustomUnaryOp(const XprType& expr, const CustomUnaryFunc& func)
-      : m_expr(expr), m_func(func) {}
-
-  EIGEN_DEVICE_FUNC
-  const CustomUnaryFunc& func() const { return m_func; }
-
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename XprType::Nested>::type&
-  expression() const { return m_expr; }
-
-  protected:
-    typename XprType::Nested m_expr;
-    const CustomUnaryFunc m_func;
-};
-
-
-// Eval as rvalue
-template<typename CustomUnaryFunc, typename XprType, typename Device>
-struct TensorEvaluator<const TensorCustomUnaryOp<CustomUnaryFunc, XprType>, Device>
-{
-  typedef TensorCustomUnaryOp<CustomUnaryFunc, XprType> ArgType;
-  typedef typename internal::traits<ArgType>::Index Index;
-  static const int NumDims = internal::traits<ArgType>::NumDimensions;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename internal::remove_const<typename ArgType::Scalar>::type Scalar;
-  typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = (internal::packet_traits<Scalar>::size > 1),
-    BlockAccess = false,
-    Layout = TensorEvaluator<XprType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const ArgType& op, const Device& device)
-      : m_op(op), m_device(device), m_result(NULL)
-  {
-    m_dimensions = op.func().dimensions(op.expression());
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) {
-    if (data) {
-      evalTo(data);
-      return false;
-    } else {
-      m_result = static_cast<CoeffReturnType*>(
-          m_device.allocate(dimensions().TotalSize() * sizeof(Scalar)));
-      evalTo(m_result);
-      return true;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    if (m_result != NULL) {
-      m_device.deallocate(m_result);
-      m_result = NULL;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const {
-    return m_result[index];
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const {
-    return internal::ploadt<PacketReturnType, LoadMode>(m_result + index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    // TODO(rmlarsen): Extend CustomOp API to return its cost estimate.
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return m_result; }
-
- protected:
-  EIGEN_DEVICE_FUNC void evalTo(Scalar* data) {
-    TensorMap<Tensor<CoeffReturnType, NumDims, Layout, Index> > result(
-        data, m_dimensions);
-    m_op.func().eval(m_op.expression(), result, m_device);
-  }
-
-  Dimensions m_dimensions;
-  const ArgType m_op;
-  const Device& m_device;
-  CoeffReturnType* m_result;
-};
-
-
-
-/** \class TensorCustomBinaryOp
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor custom class.
-  *
-  *
-  */
-namespace internal {
-template<typename CustomBinaryFunc, typename LhsXprType, typename RhsXprType>
-struct traits<TensorCustomBinaryOp<CustomBinaryFunc, LhsXprType, RhsXprType> >
-{
-  typedef typename internal::promote_storage_type<typename LhsXprType::Scalar,
-                                                  typename RhsXprType::Scalar>::ret Scalar;
-  typedef typename internal::promote_storage_type<typename LhsXprType::CoeffReturnType,
-                                                  typename RhsXprType::CoeffReturnType>::ret CoeffReturnType;
-  typedef typename promote_storage_type<typename traits<LhsXprType>::StorageKind,
-                                        typename traits<RhsXprType>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<LhsXprType>::Index,
-                                      typename traits<RhsXprType>::Index>::type Index;
-  typedef typename LhsXprType::Nested LhsNested;
-  typedef typename RhsXprType::Nested RhsNested;
-  typedef typename remove_reference<LhsNested>::type _LhsNested;
-  typedef typename remove_reference<RhsNested>::type _RhsNested;
-  static const int NumDimensions = traits<LhsXprType>::NumDimensions;
-  static const int Layout = traits<LhsXprType>::Layout;
-};
-
-template<typename CustomBinaryFunc, typename LhsXprType, typename RhsXprType>
-struct eval<TensorCustomBinaryOp<CustomBinaryFunc, LhsXprType, RhsXprType>, Eigen::Dense>
-{
-  typedef const TensorCustomBinaryOp<CustomBinaryFunc, LhsXprType, RhsXprType>& type;
-};
-
-template<typename CustomBinaryFunc, typename LhsXprType, typename RhsXprType>
-struct nested<TensorCustomBinaryOp<CustomBinaryFunc, LhsXprType, RhsXprType> >
-{
-  typedef TensorCustomBinaryOp<CustomBinaryFunc, LhsXprType, RhsXprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename CustomBinaryFunc, typename LhsXprType, typename RhsXprType>
-class TensorCustomBinaryOp : public TensorBase<TensorCustomBinaryOp<CustomBinaryFunc, LhsXprType, RhsXprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename internal::traits<TensorCustomBinaryOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename internal::traits<TensorCustomBinaryOp>::CoeffReturnType CoeffReturnType;
-  typedef typename internal::nested<TensorCustomBinaryOp>::type Nested;
-  typedef typename internal::traits<TensorCustomBinaryOp>::StorageKind StorageKind;
-  typedef typename internal::traits<TensorCustomBinaryOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCustomBinaryOp(const LhsXprType& lhs, const RhsXprType& rhs, const CustomBinaryFunc& func)
-
-      : m_lhs_xpr(lhs), m_rhs_xpr(rhs), m_func(func) {}
-
-  EIGEN_DEVICE_FUNC
-  const CustomBinaryFunc& func() const { return m_func; }
-
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename LhsXprType::Nested>::type&
-  lhsExpression() const { return m_lhs_xpr; }
-
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename RhsXprType::Nested>::type&
-  rhsExpression() const { return m_rhs_xpr; }
-
-  protected:
-    typename LhsXprType::Nested m_lhs_xpr;
-    typename RhsXprType::Nested m_rhs_xpr;
-    const CustomBinaryFunc m_func;
-};
-
-
-// Eval as rvalue
-template<typename CustomBinaryFunc, typename LhsXprType, typename RhsXprType, typename Device>
-struct TensorEvaluator<const TensorCustomBinaryOp<CustomBinaryFunc, LhsXprType, RhsXprType>, Device>
-{
-  typedef TensorCustomBinaryOp<CustomBinaryFunc, LhsXprType, RhsXprType> XprType;
-  typedef typename internal::traits<XprType>::Index Index;
-  static const int NumDims = internal::traits<XprType>::NumDimensions;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = (internal::packet_traits<Scalar>::size > 1),
-    BlockAccess = false,
-    Layout = TensorEvaluator<LhsXprType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_op(op), m_device(device), m_result(NULL)
-  {
-    m_dimensions = op.func().dimensions(op.lhsExpression(), op.rhsExpression());
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) {
-    if (data) {
-      evalTo(data);
-      return false;
-    } else {
-      m_result = static_cast<Scalar *>(m_device.allocate(dimensions().TotalSize() * sizeof(Scalar)));
-      evalTo(m_result);
-      return true;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    if (m_result != NULL) {
-      m_device.deallocate(m_result);
-      m_result = NULL;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const {
-    return m_result[index];
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const {
-    return internal::ploadt<PacketReturnType, LoadMode>(m_result + index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    // TODO(rmlarsen): Extend CustomOp API to return its cost estimate.
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return m_result; }
-
- protected:
-  EIGEN_DEVICE_FUNC void evalTo(Scalar* data) {
-    TensorMap<Tensor<Scalar, NumDims, Layout> > result(data, m_dimensions);
-    m_op.func().eval(m_op.lhsExpression(), m_op.rhsExpression(), result, m_device);
-  }
-
-  Dimensions m_dimensions;
-  const XprType m_op;
-  const Device& m_device;
-  CoeffReturnType* m_result;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_CUSTOM_OP_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDevice.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDevice.h
deleted file mode 100644
index 29e50a3b2df90d..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDevice.h
+++ /dev/null
@@ -1,68 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_DEVICE_H
-#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_H
-
-namespace Eigen {
-
-/** \class TensorDevice
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Pseudo expression providing an operator = that will evaluate its argument
-  * on the specified computing 'device' (GPU, thread pool, ...)
-  *
-  * Example:
-  *    C.device(EIGEN_GPU) = A + B;
-  *
-  * Todo: operator *= and /=.
-  */
-
-template <typename ExpressionType, typename DeviceType> class TensorDevice {
-  public:
-    TensorDevice(const DeviceType& device, ExpressionType& expression) : m_device(device), m_expression(expression) {}
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE TensorDevice& operator=(const OtherDerived& other) {
-      typedef TensorAssignOp<ExpressionType, const OtherDerived> Assign;
-      Assign assign(m_expression, other);
-      internal::TensorExecutor<const Assign, DeviceType>::run(assign, m_device);
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE TensorDevice& operator+=(const OtherDerived& other) {
-      typedef typename OtherDerived::Scalar Scalar;
-      typedef TensorCwiseBinaryOp<internal::scalar_sum_op<Scalar>, const ExpressionType, const OtherDerived> Sum;
-      Sum sum(m_expression, other);
-      typedef TensorAssignOp<ExpressionType, const Sum> Assign;
-      Assign assign(m_expression, sum);
-      internal::TensorExecutor<const Assign, DeviceType>::run(assign, m_device);
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE TensorDevice& operator-=(const OtherDerived& other) {
-      typedef typename OtherDerived::Scalar Scalar;
-      typedef TensorCwiseBinaryOp<internal::scalar_difference_op<Scalar>, const ExpressionType, const OtherDerived> Difference;
-      Difference difference(m_expression, other);
-      typedef TensorAssignOp<ExpressionType, const Difference> Assign;
-      Assign assign(m_expression, difference);
-      internal::TensorExecutor<const Assign, DeviceType>::run(assign, m_device);
-      return *this;
-    }
-
-  protected:
-    const DeviceType& m_device;
-    ExpressionType& m_expression;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceCuda.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceCuda.h
deleted file mode 100644
index 4f5767bc7f7296..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceCuda.h
+++ /dev/null
@@ -1,337 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#if defined(EIGEN_USE_GPU) && !defined(EIGEN_CXX11_TENSOR_TENSOR_DEVICE_CUDA_H)
-#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_CUDA_H
-
-namespace Eigen {
-
-static const int kCudaScratchSize = 1024;
-
-// This defines an interface that GPUDevice can take to use
-// CUDA streams underneath.
-class StreamInterface {
- public:
-  virtual ~StreamInterface() {}
-
-  virtual const cudaStream_t& stream() const = 0;
-  virtual const cudaDeviceProp& deviceProperties() const = 0;
-
-  // Allocate memory on the actual device where the computation will run
-  virtual void* allocate(size_t num_bytes) const = 0;
-  virtual void deallocate(void* buffer) const = 0;
-
-  // Return a scratchpad buffer of size 1k
-  virtual void* scratchpad() const = 0;
-
-  // Return a semaphore. The semaphore is initially initialized to 0, and
-  // each kernel using it is responsible for resetting to 0 upon completion
-  // to maintain the invariant that the semaphore is always equal to 0 upon
-  // each kernel start.
-  virtual unsigned int* semaphore() const = 0;
-};
-
-static cudaDeviceProp* m_deviceProperties;
-static bool m_devicePropInitialized = false;
-
-static void initializeDeviceProp() {
-  if (!m_devicePropInitialized) {
-    // Attempts to ensure proper behavior in the case of multiple threads
-    // calling this function simultaneously. This would be trivial to
-    // implement if we could use std::mutex, but unfortunately mutex don't
-    // compile with nvcc, so we resort to atomics and thread fences instead.
-    // Note that if the caller uses a compiler that doesn't support c++11 we
-    // can't ensure that the initialization is thread safe.
-#if __cplusplus >= 201103L
-    static std::atomic<bool> first(true);
-    if (first.exchange(false)) {
-#else
-    static bool first = true;
-    if (first) {
-      first = false;
-#endif
-      // We're the first thread to reach this point.
-      int num_devices;
-      cudaError_t status = cudaGetDeviceCount(&num_devices);
-      if (status != cudaSuccess) {
-        std::cerr << "Failed to get the number of CUDA devices: "
-                  << cudaGetErrorString(status)
-                  << std::endl;
-        assert(status == cudaSuccess);
-      }
-      m_deviceProperties = new cudaDeviceProp[num_devices];
-      for (int i = 0; i < num_devices; ++i) {
-        status = cudaGetDeviceProperties(&m_deviceProperties[i], i);
-        if (status != cudaSuccess) {
-          std::cerr << "Failed to initialize CUDA device #"
-                    << i
-                    << ": "
-                    << cudaGetErrorString(status)
-                    << std::endl;
-          assert(status == cudaSuccess);
-        }
-      }
-
-#if __cplusplus >= 201103L
-      std::atomic_thread_fence(std::memory_order_release);
-#endif
-      m_devicePropInitialized = true;
-    } else {
-      // Wait for the other thread to inititialize the properties.
-      while (!m_devicePropInitialized) {
-#if __cplusplus >= 201103L
-        std::atomic_thread_fence(std::memory_order_acquire);
-#endif
-        sleep(1);
-      }
-    }
-  }
-}
-
-static const cudaStream_t default_stream = cudaStreamDefault;
-
-class CudaStreamDevice : public StreamInterface {
- public:
-  // Use the default stream on the current device
-  CudaStreamDevice() : stream_(&default_stream), scratch_(NULL), semaphore_(NULL) {
-    cudaGetDevice(&device_);
-    initializeDeviceProp();
-  }
-  // Use the default stream on the specified device
-  CudaStreamDevice(int device) : stream_(&default_stream), device_(device), scratch_(NULL), semaphore_(NULL) {
-    initializeDeviceProp();
-  }
-  // Use the specified stream. Note that it's the
-  // caller responsibility to ensure that the stream can run on
-  // the specified device. If no device is specified the code
-  // assumes that the stream is associated to the current gpu device.
-  CudaStreamDevice(const cudaStream_t* stream, int device = -1)
-      : stream_(stream), device_(device), scratch_(NULL), semaphore_(NULL) {
-    if (device < 0) {
-      cudaGetDevice(&device_);
-    } else {
-      int num_devices;
-      cudaError_t err = cudaGetDeviceCount(&num_devices);
-      EIGEN_UNUSED_VARIABLE(err)
-      assert(err == cudaSuccess);
-      assert(device < num_devices);
-      device_ = device;
-    }
-    initializeDeviceProp();
-  }
-
-  virtual ~CudaStreamDevice() {
-    if (scratch_) {
-      deallocate(scratch_);
-    }
-  }
-
-  const cudaStream_t& stream() const { return *stream_; }
-  const cudaDeviceProp& deviceProperties() const {
-    return m_deviceProperties[device_];
-  }
-  virtual void* allocate(size_t num_bytes) const {
-    cudaError_t err = cudaSetDevice(device_);
-    EIGEN_UNUSED_VARIABLE(err)
-    assert(err == cudaSuccess);
-    void* result;
-    err = cudaMalloc(&result, num_bytes);
-    assert(err == cudaSuccess);
-    assert(result != NULL);
-    return result;
-  }
-  virtual void deallocate(void* buffer) const {
-    cudaError_t err = cudaSetDevice(device_);
-    EIGEN_UNUSED_VARIABLE(err)
-    assert(err == cudaSuccess);
-    assert(buffer != NULL);
-    err = cudaFree(buffer);
-    assert(err == cudaSuccess);
-  }
-
-  virtual void* scratchpad() const {
-    if (scratch_ == NULL) {
-      scratch_ = allocate(kCudaScratchSize + sizeof(unsigned int));
-    }
-    return scratch_;
-  }
-
-  virtual unsigned int* semaphore() const {
-    if (semaphore_ == NULL) {
-      char* scratch = static_cast<char*>(scratchpad()) + kCudaScratchSize;
-      semaphore_ = reinterpret_cast<unsigned int*>(scratch);
-      cudaError_t err = cudaMemsetAsync(semaphore_, 0, sizeof(unsigned int), *stream_);
-      EIGEN_UNUSED_VARIABLE(err)
-      assert(err == cudaSuccess);
-    }
-    return semaphore_;
-  }
-
- private:
-  const cudaStream_t* stream_;
-  int device_;
-  mutable void* scratch_;
-  mutable unsigned int* semaphore_;
-};
-
-struct GpuDevice {
-  // The StreamInterface is not owned: the caller is
-  // responsible for its initialization and eventual destruction.
-  explicit GpuDevice(const StreamInterface* stream) : stream_(stream), max_blocks_(INT_MAX) {
-    eigen_assert(stream);
-  }
-  explicit GpuDevice(const StreamInterface* stream, int num_blocks) : stream_(stream), max_blocks_(num_blocks) {
-    eigen_assert(stream);
-  }
-  // TODO(bsteiner): This is an internal API, we should not expose it.
-  EIGEN_STRONG_INLINE const cudaStream_t& stream() const {
-    return stream_->stream();
-  }
-
-  EIGEN_STRONG_INLINE void* allocate(size_t num_bytes) const {
-    return stream_->allocate(num_bytes);
-  }
-
-  EIGEN_STRONG_INLINE void deallocate(void* buffer) const {
-    stream_->deallocate(buffer);
-  }
-
-  EIGEN_STRONG_INLINE void* scratchpad() const {
-    return stream_->scratchpad();
-  }
-
-  EIGEN_STRONG_INLINE unsigned int* semaphore() const {
-    return stream_->semaphore();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpy(void* dst, const void* src, size_t n) const {
-#ifndef __CUDA_ARCH__
-    cudaError_t err = cudaMemcpyAsync(dst, src, n, cudaMemcpyDeviceToDevice,
-                                      stream_->stream());
-    EIGEN_UNUSED_VARIABLE(err)
-    assert(err == cudaSuccess);
-#else
-  eigen_assert(false && "The default device should be used instead to generate kernel code");
-#endif
-  }
-
-  EIGEN_STRONG_INLINE void memcpyHostToDevice(void* dst, const void* src, size_t n) const {
-    cudaError_t err =
-        cudaMemcpyAsync(dst, src, n, cudaMemcpyHostToDevice, stream_->stream());
-    EIGEN_UNUSED_VARIABLE(err)
-    assert(err == cudaSuccess);
-  }
-
-  EIGEN_STRONG_INLINE void memcpyDeviceToHost(void* dst, const void* src, size_t n) const {
-    cudaError_t err =
-        cudaMemcpyAsync(dst, src, n, cudaMemcpyDeviceToHost, stream_->stream());
-    EIGEN_UNUSED_VARIABLE(err)
-    assert(err == cudaSuccess);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memset(void* buffer, int c, size_t n) const {
-#ifndef __CUDA_ARCH__
-    cudaError_t err = cudaMemsetAsync(buffer, c, n, stream_->stream());
-    EIGEN_UNUSED_VARIABLE(err)
-    assert(err == cudaSuccess);
-#else
-  eigen_assert(false && "The default device should be used instead to generate kernel code");
-#endif
-  }
-
-  EIGEN_STRONG_INLINE size_t numThreads() const {
-    // FIXME
-    return 32;
-  }
-
-  EIGEN_STRONG_INLINE size_t firstLevelCacheSize() const {
-    // FIXME
-    return 48*1024;
-  }
-
-  EIGEN_STRONG_INLINE size_t lastLevelCacheSize() const {
-    // We won't try to take advantage of the l2 cache for the time being, and
-    // there is no l3 cache on cuda devices.
-    return firstLevelCacheSize();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void synchronize() const {
-#if defined(__CUDACC__) && !defined(__CUDA_ARCH__)
-    cudaError_t err = cudaStreamSynchronize(stream_->stream());
-    if (err != cudaSuccess) {
-      std::cerr << "Error detected in CUDA stream: "
-                << cudaGetErrorString(err)
-                << std::endl;
-      assert(err == cudaSuccess);
-    }
-#else
-    assert(false && "The default device should be used instead to generate kernel code");
-#endif
-  }
-
-  EIGEN_STRONG_INLINE int getNumCudaMultiProcessors() const {
-    return stream_->deviceProperties().multiProcessorCount;
-  }
-  EIGEN_STRONG_INLINE int maxCudaThreadsPerBlock() const {
-    return stream_->deviceProperties().maxThreadsPerBlock;
-  }
-  EIGEN_STRONG_INLINE int maxCudaThreadsPerMultiProcessor() const {
-    return stream_->deviceProperties().maxThreadsPerMultiProcessor;
-  }
-  EIGEN_STRONG_INLINE int sharedMemPerBlock() const {
-    return stream_->deviceProperties().sharedMemPerBlock;
-  }
-  EIGEN_STRONG_INLINE int majorDeviceVersion() const {
-    return stream_->deviceProperties().major;
-  }
-  EIGEN_STRONG_INLINE int minorDeviceVersion() const {
-    return stream_->deviceProperties().minor;
-  }
-
-  EIGEN_STRONG_INLINE int maxBlocks() const {
-    return max_blocks_;
-  }
-
-  // This function checks if the CUDA runtime recorded an error for the
-  // underlying stream device.
-  inline bool ok() const {
-#ifdef __CUDACC__
-    cudaError_t error = cudaStreamQuery(stream_->stream());
-    return (error == cudaSuccess) || (error == cudaErrorNotReady);
-#else
-    return false;
-#endif
-  }
-
- private:
-  const StreamInterface* stream_;
-  int max_blocks_;
-};
-
-#define LAUNCH_CUDA_KERNEL(kernel, gridsize, blocksize, sharedmem, device, ...)             \
-  (kernel) <<< (gridsize), (blocksize), (sharedmem), (device).stream() >>> (__VA_ARGS__);   \
-  assert(cudaGetLastError() == cudaSuccess);
-
-
-// FIXME: Should be device and kernel specific.
-#ifdef __CUDACC__
-static EIGEN_DEVICE_FUNC inline void setCudaSharedMemConfig(cudaSharedMemConfig config) {
-#ifndef __CUDA_ARCH__
-  cudaError_t status = cudaDeviceSetSharedMemConfig(config);
-  EIGEN_UNUSED_VARIABLE(status)
-  assert(status == cudaSuccess);
-#else
-  EIGEN_UNUSED_VARIABLE(config)
-#endif
-}
-#endif
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_CUDA_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceDefault.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceDefault.h
deleted file mode 100644
index 9d141395b7a407..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceDefault.h
+++ /dev/null
@@ -1,81 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_DEVICE_DEFAULT_H
-#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_DEFAULT_H
-
-
-namespace Eigen {
-
-// Default device for the machine (typically a single cpu core)
-struct DefaultDevice {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void* allocate(size_t num_bytes) const {
-    return internal::aligned_malloc(num_bytes);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void deallocate(void* buffer) const {
-    internal::aligned_free(buffer);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpy(void* dst, const void* src, size_t n) const {
-    ::memcpy(dst, src, n);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpyHostToDevice(void* dst, const void* src, size_t n) const {
-    memcpy(dst, src, n);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpyDeviceToHost(void* dst, const void* src, size_t n) const {
-    memcpy(dst, src, n);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memset(void* buffer, int c, size_t n) const {
-    ::memset(buffer, c, n);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t numThreads() const {
-#ifndef __CUDA_ARCH__
-    // Running on the host CPU
-    return 1;
-#else
-    // Running on a CUDA device
-    return 32;
-#endif
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t firstLevelCacheSize() const {
-#ifndef __CUDA_ARCH__
-    // Running on the host CPU
-    return l1CacheSize();
-#else
-    // Running on a CUDA device, return the amount of shared memory available.
-    return 48*1024;
-#endif
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t lastLevelCacheSize() const {
-#ifndef __CUDA_ARCH__
-    // Running single threaded on the host CPU
-    return l3CacheSize();
-#else
-    // Running on a CUDA device
-    return firstLevelCacheSize();
-#endif
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int majorDeviceVersion() const {
-#ifndef __CUDA_ARCH__
-    // Running single threaded on the host CPU
-    // Should return an enum that encodes the ISA supported by the CPU
-    return 1;
-#else
-    // Running on a CUDA device
-    return __CUDA_ARCH__ / 100;
-#endif
-  }
-};
-
-}  // namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_DEFAULT_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceSycl.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceSycl.h
deleted file mode 100644
index 7c039890e2e920..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceSycl.h
+++ /dev/null
@@ -1,122 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#if defined(EIGEN_USE_SYCL) && !defined(EIGEN_CXX11_TENSOR_TENSOR_DEVICE_SYCL_H)
-#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_SYCL_H
-
-namespace Eigen {
-struct SyclDevice {
-  /// class members
-  /// sycl queue
-  mutable cl::sycl::queue m_queue;
-  /// std::map is the container used to make sure that we create only one buffer
-  /// per pointer. The lifespan of the buffer now depends on the lifespan of SyclDevice.
-  /// If a non-read-only pointer is needed to be accessed on the host we should manually deallocate it.
-  mutable std::map<const void *, std::shared_ptr<void>> buffer_map;
-  /// creating device by using selector
-  template<typename dev_Selector> SyclDevice(dev_Selector s)
-  :
-#ifdef EIGEN_EXCEPTIONS
-  m_queue(cl::sycl::queue(s, [=](cl::sycl::exception_list l) {
-    for (const auto& e : l) {
-      try {
-        std::rethrow_exception(e);
-      } catch (cl::sycl::exception e) {
-          std::cout << e.what() << std::endl;
-        }
-    }
-  }))
-#else
-  m_queue(cl::sycl::queue(s))
-#endif
-  {}
-  // destructor
-  ~SyclDevice() { deallocate_all(); }
-
-  template <typename T> void deallocate(T *p) const {
-    auto it = buffer_map.find(p);
-    if (it != buffer_map.end()) {
-      buffer_map.erase(it);
-      internal::aligned_free(p);
-    }
-  }
-  void deallocate_all() const {
-    std::map<const void *, std::shared_ptr<void>>::iterator it=buffer_map.begin();
-    while (it!=buffer_map.end()) {
-      auto p=it->first;
-      buffer_map.erase(it);
-      internal::aligned_free(const_cast<void*>(p));
-      it=buffer_map.begin();
-    }
-    buffer_map.clear();
-  }
-
-  /// creation of sycl accessor for a buffer. This function first tries to find
-  /// the buffer in the buffer_map. If found it gets the accessor from it, if not,
-  ///the function then adds an entry by creating a sycl buffer for that particular pointer.
-  template <cl::sycl::access::mode AcMd, typename T> inline cl::sycl::accessor<T, 1, AcMd, cl::sycl::access::target::global_buffer>
-  get_sycl_accessor(size_t num_bytes, cl::sycl::handler &cgh, const T * ptr) const {
-    return (get_sycl_buffer<T>(num_bytes, ptr)->template get_access<AcMd, cl::sycl::access::target::global_buffer>(cgh));
-  }
-
-  template<typename T> inline  std::pair<std::map<const void *, std::shared_ptr<void>>::iterator,bool> add_sycl_buffer(const T *ptr, size_t num_bytes) const {
-    using Type = cl::sycl::buffer<T, 1>;
-    std::pair<std::map<const void *, std::shared_ptr<void>>::iterator,bool> ret = buffer_map.insert(std::pair<const void *, std::shared_ptr<void>>(ptr, std::shared_ptr<void>(new Type(cl::sycl::range<1>(num_bytes)),
-      [](void *dataMem) { delete static_cast<Type*>(dataMem); })));
-    (static_cast<Type*>(buffer_map.at(ptr).get()))->set_final_data(nullptr);
-    return ret;
-  }
-
-  template <typename T> inline cl::sycl::buffer<T, 1>* get_sycl_buffer(size_t num_bytes,const T * ptr) const {
-    return static_cast<cl::sycl::buffer<T, 1>*>(add_sycl_buffer(ptr, num_bytes).first->second.get());
-  }
-
-  /// allocating memory on the cpu
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void *allocate(size_t) const {
-    return internal::aligned_malloc(8);
-  }
-
-  // some runtime conditions that can be applied here
-  bool isDeviceSuitable() const { return true; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpy(void *dst, const void *src, size_t n) const {
-    ::memcpy(dst, src, n);
-  }
-
-  template<typename T> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpyHostToDevice(T *dst, const T *src, size_t n) const {
-    auto host_acc= (static_cast<cl::sycl::buffer<T, 1>*>(add_sycl_buffer(dst, n).first->second.get()))-> template get_access<cl::sycl::access::mode::discard_write, cl::sycl::access::target::host_buffer>();
-    memcpy(host_acc.get_pointer(), src, n);
-  }
- /// whith the current implementation of sycl, the data is copied twice from device to host. This will be fixed soon.
-  template<typename T> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpyDeviceToHost(T *dst, const T *src, size_t n) const {
-    auto it = buffer_map.find(src);
-    if (it != buffer_map.end()) {
-      auto host_acc= (static_cast<cl::sycl::buffer<T, 1>*>(it->second.get()))-> template get_access<cl::sycl::access::mode::read, cl::sycl::access::target::host_buffer>();
-      memcpy(dst,host_acc.get_pointer(),  n);
-    } else{
-      eigen_assert("no device memory found. The memory might be destroyed before creation");
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memset(void *buffer, int c, size_t n) const {
-    ::memset(buffer, c, n);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int majorDeviceVersion() const {
-  return 1;
-  }
-};
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_SYCL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceThreadPool.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceThreadPool.h
deleted file mode 100644
index 069680a117e942..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceThreadPool.h
+++ /dev/null
@@ -1,279 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#if defined(EIGEN_USE_THREADS) && !defined(EIGEN_CXX11_TENSOR_TENSOR_DEVICE_THREAD_POOL_H)
-#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_THREAD_POOL_H
-
-namespace Eigen {
-
-// Use the SimpleThreadPool by default. We'll switch to the new non blocking
-// thread pool later.
-#ifndef EIGEN_USE_SIMPLE_THREAD_POOL
-template <typename Env> using ThreadPoolTempl = NonBlockingThreadPoolTempl<Env>;
-typedef NonBlockingThreadPool ThreadPool;
-#else
-template <typename Env> using ThreadPoolTempl = SimpleThreadPoolTempl<Env>;
-typedef SimpleThreadPool ThreadPool;
-#endif
-
-
-// Barrier is an object that allows one or more threads to wait until
-// Notify has been called a specified number of times.
-class Barrier {
- public:
-  Barrier(unsigned int count) : state_(count << 1), notified_(false) {
-    eigen_assert(((count << 1) >> 1) == count);
-  }
-  ~Barrier() {
-    eigen_assert((state_>>1) == 0);
-  }
-
-  void Notify() {
-    unsigned int v = state_.fetch_sub(2, std::memory_order_acq_rel) - 2;
-    if (v != 1) {
-      eigen_assert(((v + 2) & ~1) != 0);
-      return;  // either count has not dropped to 0, or waiter is not waiting
-    }
-    std::unique_lock<std::mutex> l(mu_);
-    eigen_assert(!notified_);
-    notified_ = true;
-    cv_.notify_all();
-  }
-
-  void Wait() {
-    unsigned int v = state_.fetch_or(1, std::memory_order_acq_rel);
-    if ((v >> 1) == 0) return;
-    std::unique_lock<std::mutex> l(mu_);
-    while (!notified_) {
-      cv_.wait(l);
-    }
-  }
-
- private:
-  std::mutex mu_;
-  std::condition_variable cv_;
-  std::atomic<unsigned int> state_;  // low bit is waiter flag
-  bool notified_;
-};
-
-
-// Notification is an object that allows a user to to wait for another
-// thread to signal a notification that an event has occurred.
-//
-// Multiple threads can wait on the same Notification object,
-// but only one caller must call Notify() on the object.
-struct Notification : Barrier {
-  Notification() : Barrier(1) {};
-};
-
-
-// Runs an arbitrary function and then calls Notify() on the passed in
-// Notification.
-template <typename Function, typename... Args> struct FunctionWrapperWithNotification
-{
-  static void run(Notification* n, Function f, Args... args) {
-    f(args...);
-    if (n) {
-      n->Notify();
-    }
-  }
-};
-
-template <typename Function, typename... Args> struct FunctionWrapperWithBarrier
-{
-  static void run(Barrier* b, Function f, Args... args) {
-    f(args...);
-    if (b) {
-      b->Notify();
-    }
-  }
-};
-
-template <typename SyncType>
-static EIGEN_STRONG_INLINE void wait_until_ready(SyncType* n) {
-  if (n) {
-    n->Wait();
-  }
-}
-
-
-// Build a thread pool device on top the an existing pool of threads.
-struct ThreadPoolDevice {
-  // The ownership of the thread pool remains with the caller.
-  ThreadPoolDevice(ThreadPoolInterface* pool, int num_cores) : pool_(pool), num_threads_(num_cores) { }
-
-  EIGEN_STRONG_INLINE void* allocate(size_t num_bytes) const {
-    return internal::aligned_malloc(num_bytes);
-  }
-
-  EIGEN_STRONG_INLINE void deallocate(void* buffer) const {
-    internal::aligned_free(buffer);
-  }
-
-  EIGEN_STRONG_INLINE void memcpy(void* dst, const void* src, size_t n) const {
-    ::memcpy(dst, src, n);
-  }
-  EIGEN_STRONG_INLINE void memcpyHostToDevice(void* dst, const void* src, size_t n) const {
-    memcpy(dst, src, n);
-  }
-  EIGEN_STRONG_INLINE void memcpyDeviceToHost(void* dst, const void* src, size_t n) const {
-    memcpy(dst, src, n);
-  }
-
-  EIGEN_STRONG_INLINE void memset(void* buffer, int c, size_t n) const {
-    ::memset(buffer, c, n);
-  }
-
-  EIGEN_STRONG_INLINE int numThreads() const {
-    return num_threads_;
-  }
-
-  EIGEN_STRONG_INLINE size_t firstLevelCacheSize() const {
-    return l1CacheSize();
-  }
-
-  EIGEN_STRONG_INLINE size_t lastLevelCacheSize() const {
-    // The l3 cache size is shared between all the cores.
-    return l3CacheSize() / num_threads_;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int majorDeviceVersion() const {
-    // Should return an enum that encodes the ISA supported by the CPU
-    return 1;
-  }
-
-  template <class Function, class... Args>
-  EIGEN_STRONG_INLINE Notification* enqueue(Function&& f, Args&&... args) const {
-    Notification* n = new Notification();
-    pool_->Schedule(std::bind(&FunctionWrapperWithNotification<Function, Args...>::run, n, f, args...));
-    return n;
-  }
-
-  template <class Function, class... Args>
-  EIGEN_STRONG_INLINE void enqueue_with_barrier(Barrier* b,
-                                                Function&& f,
-                                                Args&&... args) const {
-    pool_->Schedule(std::bind(
-        &FunctionWrapperWithBarrier<Function, Args...>::run, b, f, args...));
-  }
-
-  template <class Function, class... Args>
-  EIGEN_STRONG_INLINE void enqueueNoNotification(Function&& f, Args&&... args) const {
-    pool_->Schedule(std::bind(f, args...));
-  }
-
-  // Returns a logical thread index between 0 and pool_->NumThreads() - 1 if
-  // called from one of the threads in pool_. Returns -1 otherwise.
-  EIGEN_STRONG_INLINE int currentThreadId() const {
-    return pool_->CurrentThreadId();
-  }
-
-  // parallelFor executes f with [0, n) arguments in parallel and waits for
-  // completion. F accepts a half-open interval [first, last).
-  // Block size is choosen based on the iteration cost and resulting parallel
-  // efficiency. If block_align is not nullptr, it is called to round up the
-  // block size.
-  void parallelFor(Index n, const TensorOpCost& cost,
-                   std::function<Index(Index)> block_align,
-                   std::function<void(Index, Index)> f) const {
-    typedef TensorCostModel<ThreadPoolDevice> CostModel;
-    if (n <= 1 || numThreads() == 1 ||
-        CostModel::numThreads(n, cost, static_cast<int>(numThreads())) == 1) {
-      f(0, n);
-      return;
-    }
-
-    // Calculate block size based on (1) the iteration cost and (2) parallel
-    // efficiency. We want blocks to be not too small to mitigate
-    // parallelization overheads; not too large to mitigate tail
-    // effect and potential load imbalance and we also want number
-    // of blocks to be evenly dividable across threads.
-
-    double block_size_f = 1.0 / CostModel::taskSize(1, cost);
-    Index block_size = numext::mini(n, numext::maxi<Index>(1, block_size_f));
-    const Index max_block_size =
-        numext::mini(n, numext::maxi<Index>(1, 2 * block_size_f));
-    if (block_align) {
-      Index new_block_size = block_align(block_size);
-      eigen_assert(new_block_size >= block_size);
-      block_size = numext::mini(n, new_block_size);
-    }
-    Index block_count = divup(n, block_size);
-    // Calculate parallel efficiency as fraction of total CPU time used for
-    // computations:
-    double max_efficiency =
-        static_cast<double>(block_count) /
-        (divup<int>(block_count, numThreads()) * numThreads());
-    // Now try to increase block size up to max_block_size as long as it
-    // doesn't decrease parallel efficiency.
-    for (Index prev_block_count = block_count; prev_block_count > 1;) {
-      // This is the next block size that divides size into a smaller number
-      // of blocks than the current block_size.
-      Index coarser_block_size = divup(n, prev_block_count - 1);
-      if (block_align) {
-        Index new_block_size = block_align(coarser_block_size);
-        eigen_assert(new_block_size >= coarser_block_size);
-        coarser_block_size = numext::mini(n, new_block_size);
-      }
-      if (coarser_block_size > max_block_size) {
-        break;  // Reached max block size. Stop.
-      }
-      // Recalculate parallel efficiency.
-      const Index coarser_block_count = divup(n, coarser_block_size);
-      eigen_assert(coarser_block_count < prev_block_count);
-      prev_block_count = coarser_block_count;
-      const double coarser_efficiency =
-          static_cast<double>(coarser_block_count) /
-          (divup<int>(coarser_block_count, numThreads()) * numThreads());
-      if (coarser_efficiency + 0.01 >= max_efficiency) {
-        // Taking it.
-        block_size = coarser_block_size;
-        block_count = coarser_block_count;
-        if (max_efficiency < coarser_efficiency) {
-          max_efficiency = coarser_efficiency;
-        }
-      }
-    }
-
-    // Recursively divide size into halves until we reach block_size.
-    // Division code rounds mid to block_size, so we are guaranteed to get
-    // block_count leaves that do actual computations.
-    Barrier barrier(static_cast<unsigned int>(block_count));
-    std::function<void(Index, Index)> handleRange;
-    handleRange = [=, &handleRange, &barrier, &f](Index first, Index last) {
-      if (last - first <= block_size) {
-        // Single block or less, execute directly.
-        f(first, last);
-        barrier.Notify();
-        return;
-      }
-      // Split into halves and submit to the pool.
-      Index mid = first + divup((last - first) / 2, block_size) * block_size;
-      pool_->Schedule([=, &handleRange]() { handleRange(mid, last); });
-      pool_->Schedule([=, &handleRange]() { handleRange(first, mid); });
-    };
-    handleRange(0, n);
-    barrier.Wait();
-  }
-
-  // Convenience wrapper for parallelFor that does not align blocks.
-  void parallelFor(Index n, const TensorOpCost& cost,
-                   std::function<void(Index, Index)> f) const {
-    parallelFor(n, cost, nullptr, std::move(f));
-  }
-
- private:
-  ThreadPoolInterface* pool_;
-  int num_threads_;
-};
-
-
-}  // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_THREAD_POOL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensionList.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensionList.h
deleted file mode 100644
index 1a30e45fb10be8..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensionList.h
+++ /dev/null
@@ -1,236 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_DIMENSION_LIST_H
-#define EIGEN_CXX11_TENSOR_TENSOR_DIMENSION_LIST_H
-
-namespace Eigen {
-
-/** \internal
-  *
-  * \class TensorDimensionList
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Special case of tensor index list used to list all the dimensions of a tensor of rank n.
-  *
-  * \sa Tensor
-  */
-
-template <typename Index, std::size_t Rank> struct DimensionList {
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-  const Index operator[] (const Index i) const { return i; }
-};
-
-namespace internal {
-
-template<typename Index, std::size_t Rank> struct array_size<DimensionList<Index, Rank> > {
-  static const size_t value = Rank;
-};
-template<typename Index, std::size_t Rank> struct array_size<const DimensionList<Index, Rank> > {
-  static const size_t value = Rank;
-};
-
-template<DenseIndex n, typename Index, std::size_t Rank> const Index array_get(DimensionList<Index, Rank>&) {
-  return n;
-}
-template<DenseIndex n, typename Index, std::size_t Rank> const Index array_get(const DimensionList<Index, Rank>&) {
-  return n;
-}
-
-
-#if EIGEN_HAS_CONSTEXPR
-template <typename Index, std::size_t Rank>
-struct index_known_statically_impl<DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex) {
-    return true;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_known_statically_impl<const DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex) {
-    return true;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct all_indices_known_statically_impl<DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return true;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct all_indices_known_statically_impl<const DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return true;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct indices_statically_known_to_increase_impl<DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return true;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct indices_statically_known_to_increase_impl<const DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return true;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct index_statically_eq_impl<DimensionList<Index, Rank> > {
-  static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return i == value;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_statically_eq_impl<const DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return i == value;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct index_statically_ne_impl<DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return i != value;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_statically_ne_impl<const DimensionList<Index, Rank> > {
-  static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return i != value;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct index_statically_gt_impl<DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return i > value;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_statically_gt_impl<const DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return i > value;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct index_statically_lt_impl<DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return i < value;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_statically_lt_impl<const DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return i < value;
-  }
-};
-
-#else
-template <typename Index, std::size_t Rank>
-struct index_known_statically_impl<DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE bool run(const DenseIndex) {
-    return true;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_known_statically_impl<const DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE bool run(const DenseIndex) {
-    return true;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct all_indices_known_statically_impl<DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE bool run() {
-    return true;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct all_indices_known_statically_impl<const DimensionList<Index, Rank> > {
-  EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE bool run() {
-    return true;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct indices_statically_known_to_increase_impl<DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run() {
-    return true;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct indices_statically_known_to_increase_impl<const DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run() {
-    return true;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct index_statically_eq_impl<DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) {
-    return false;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_statically_eq_impl<const DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) {
-    return false;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct index_statically_ne_impl<DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex){
-    return false;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_statically_ne_impl<const DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) {
-    return false;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct index_statically_gt_impl<DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) {
-    return false;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_statically_gt_impl<const DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) {
-    return false;
-  }
-};
-
-template <typename Index, std::size_t Rank>
-struct index_statically_lt_impl<DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) {
-    return false;
-  }
-};
-template <typename Index, std::size_t Rank>
-struct index_statically_lt_impl<const DimensionList<Index, Rank> > {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) {
-    return false;
-  }
-};
-#endif
-
-}  // end namespace internal
-}  // end namespace Eigen
-
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_DIMENSION_LIST_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensions.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensions.h
deleted file mode 100644
index b24cdebf1e7277..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensions.h
+++ /dev/null
@@ -1,428 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_DIMENSIONS_H
-#define EIGEN_CXX11_TENSOR_TENSOR_DIMENSIONS_H
-
-
-namespace Eigen {
-
-/** \internal
-  *
-  * \class TensorDimensions
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Set of classes used to encode and store the dimensions of a Tensor.
-  *
-  * The Sizes class encodes as part of the type the number of dimensions and the
-  * sizes corresponding to each dimension. It uses no storage space since it is
-  * entirely known at compile time.
-  * The DSizes class is its dynamic sibling: the number of dimensions is known
-  * at compile time but the sizes are set during execution.
-  *
-  * \sa Tensor
-  */
-
-// Boilerplate code
-namespace internal {
-
-template<std::size_t n, typename Dimension> struct dget {
-  static const std::size_t value = get<n, Dimension>::value;
-};
-
-
-template<typename Index, std::size_t NumIndices, std::size_t n, bool RowMajor>
-struct fixed_size_tensor_index_linearization_helper
-{
-  template <typename Dimensions> EIGEN_DEVICE_FUNC
-  static inline Index run(array<Index, NumIndices> const& indices,
-                          const Dimensions& dimensions)
-  {
-    return array_get<RowMajor ? n - 1 : (NumIndices - n)>(indices) +
-        dget<RowMajor ? n - 1 : (NumIndices - n), Dimensions>::value *
-        fixed_size_tensor_index_linearization_helper<Index, NumIndices, n - 1, RowMajor>::run(indices, dimensions);
-  }
-};
-
-template<typename Index, std::size_t NumIndices, bool RowMajor>
-struct fixed_size_tensor_index_linearization_helper<Index, NumIndices, 0, RowMajor>
-{
-  template <typename Dimensions> EIGEN_DEVICE_FUNC
-  static inline Index run(array<Index, NumIndices> const&, const Dimensions&)
-  {
-    return 0;
-  }
-};
-
-template<typename Index, std::size_t n>
-struct fixed_size_tensor_index_extraction_helper
-{
-  template <typename Dimensions> EIGEN_DEVICE_FUNC
-  static inline Index run(const Index index,
-                          const Dimensions& dimensions)
-  {
-    const Index mult = (index == n-1) ? 1 : 0;
-    return array_get<n-1>(dimensions) * mult +
-        fixed_size_tensor_index_extraction_helper<Index, n - 1>::run(index, dimensions);
-  }
-};
-
-template<typename Index>
-struct fixed_size_tensor_index_extraction_helper<Index, 0>
-{
-  template <typename Dimensions> EIGEN_DEVICE_FUNC
-  static inline Index run(const Index,
-                          const Dimensions&)
-  {
-    return 0;
-  }
-  };
-
-}  // end namespace internal
-
-
-// Fixed size
-#ifndef EIGEN_EMULATE_CXX11_META_H
-template <typename std::ptrdiff_t... Indices>
-struct Sizes : internal::numeric_list<std::ptrdiff_t, Indices...> {
-  typedef internal::numeric_list<std::ptrdiff_t, Indices...> Base;
-  static const std::ptrdiff_t total_size = internal::arg_prod(Indices...);
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t rank() const {
-    return Base::count;
-  }
-
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t TotalSize() {
-    return internal::arg_prod(Indices...);
-  }
-
-  EIGEN_DEVICE_FUNC Sizes() { }
-  template <typename DenseIndex>
-  explicit EIGEN_DEVICE_FUNC Sizes(const array<DenseIndex, Base::count>& /*indices*/) {
-    // todo: add assertion
-  }
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-  template <typename... DenseIndex> EIGEN_DEVICE_FUNC Sizes(DenseIndex...) { }
-  explicit EIGEN_DEVICE_FUNC Sizes(std::initializer_list<std::ptrdiff_t> /*l*/) {
-    // todo: add assertion
-  }
-#endif
-
-  template <typename T> Sizes& operator = (const T& /*other*/) {
-    // add assertion failure if the size of other is different
-    return *this;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t operator[] (const std::size_t index) const {
-    return internal::fixed_size_tensor_index_extraction_helper<std::ptrdiff_t, Base::count>::run(index, *this);
-  }
-
-  template <typename DenseIndex> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  size_t IndexOfColMajor(const array<DenseIndex, Base::count>& indices) const {
-    return internal::fixed_size_tensor_index_linearization_helper<DenseIndex, Base::count, Base::count, false>::run(indices, *static_cast<const Base*>(this));
-  }
-  template <typename DenseIndex> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  size_t IndexOfRowMajor(const array<DenseIndex, Base::count>& indices) const {
-    return internal::fixed_size_tensor_index_linearization_helper<DenseIndex, Base::count, Base::count, true>::run(indices, *static_cast<const Base*>(this));
-  }
-};
-
-namespace internal {
-template <typename std::ptrdiff_t... Indices>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t array_prod(const Sizes<Indices...>&) {
-  return Sizes<Indices...>::total_size;
-}
-}
-
-#else
-
-template <std::size_t n>
-struct non_zero_size {
-  typedef internal::type2val<std::size_t, n> type;
-};
-template <>
-struct non_zero_size<0> {
-  typedef internal::null_type type;
-};
-
-template <std::size_t V1=0, std::size_t V2=0, std::size_t V3=0, std::size_t V4=0, std::size_t V5=0> struct Sizes {
-  typedef typename internal::make_type_list<typename non_zero_size<V1>::type, typename non_zero_size<V2>::type, typename non_zero_size<V3>::type, typename non_zero_size<V4>::type, typename non_zero_size<V5>::type >::type Base;
-  static const size_t count = Base::count;
-  static const std::size_t total_size = internal::arg_prod<Base>::value;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t rank() const {
-    return count;
-  }
-
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t TotalSize() {
-    return internal::arg_prod<Base>::value;
-  }
-
-  Sizes() { }
-  template <typename DenseIndex>
-  explicit Sizes(const array<DenseIndex, Base::count>& /*indices*/) {
-    // todo: add assertion
-  }
-  template <typename T> Sizes& operator = (const T& /*other*/) {
-    // add assertion failure if the size of other is different
-    return *this;
-  }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-  template <typename... DenseIndex> Sizes(DenseIndex... /*indices*/) { }
-  explicit Sizes(std::initializer_list<std::size_t>) {
-    // todo: add assertion
-  }
-#else
-  EIGEN_DEVICE_FUNC explicit Sizes(const DenseIndex) {
-  }
-  EIGEN_DEVICE_FUNC Sizes(const DenseIndex, const DenseIndex) {
-  }
-  EIGEN_DEVICE_FUNC Sizes(const DenseIndex, const DenseIndex, const DenseIndex) {
-  }
-  EIGEN_DEVICE_FUNC Sizes(const DenseIndex, const DenseIndex, const DenseIndex, const DenseIndex) {
-  }
-  EIGEN_DEVICE_FUNC Sizes(const DenseIndex, const DenseIndex, const DenseIndex, const DenseIndex, const DenseIndex) {
-  }
-#endif
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex operator[] (const int index) const {
-    switch (index) {
-      case 0:
-        return internal::get<0, Base>::value;
-      case 1:
-        return internal::get<1, Base>::value;
-      case 2:
-        return internal::get<2, Base>::value;
-      case 3:
-        return internal::get<3, Base>::value;
-      case 4:
-        return internal::get<4, Base>::value;
-      default:
-        eigen_assert(false && "index overflow");
-        return static_cast<DenseIndex>(-1);
-    }
-  }
-
-  template <typename DenseIndex> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  size_t IndexOfColMajor(const array<DenseIndex, Base::count>& indices) const {
-    return internal::fixed_size_tensor_index_linearization_helper<DenseIndex, Base::count, Base::count, false>::run(indices, *reinterpret_cast<const Base*>(this));
-  }
-  template <typename DenseIndex> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  size_t IndexOfRowMajor(const array<DenseIndex, Base::count>& indices) const {
-    return internal::fixed_size_tensor_index_linearization_helper<DenseIndex, Base::count, Base::count, true>::run(indices, *reinterpret_cast<const Base*>(this));
-  }
-};
-
-namespace internal {
-template <std::size_t V1, std::size_t V2, std::size_t V3, std::size_t V4, std::size_t V5>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t array_prod(const Sizes<V1, V2, V3, V4, V5>&) {
-  return Sizes<V1, V2, V3, V4, V5>::total_size;
-}
-}
-
-#endif
-
-// Boilerplate
-namespace internal {
-template<typename Index, std::size_t NumIndices, std::size_t n, bool RowMajor>
-struct tensor_index_linearization_helper
-{
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Index run(array<Index, NumIndices> const& indices, array<Index, NumIndices> const& dimensions)
-  {
-    return array_get<RowMajor ? n : (NumIndices - n - 1)>(indices) +
-      array_get<RowMajor ? n : (NumIndices - n - 1)>(dimensions) *
-        tensor_index_linearization_helper<Index, NumIndices, n - 1, RowMajor>::run(indices, dimensions);
-  }
-};
-
-template<typename Index, std::size_t NumIndices, bool RowMajor>
-struct tensor_index_linearization_helper<Index, NumIndices, 0, RowMajor>
-{
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Index run(array<Index, NumIndices> const& indices, array<Index, NumIndices> const&)
-  {
-    return array_get<RowMajor ? 0 : NumIndices - 1>(indices);
-  }
-};
-}  // end namespace internal
-
-
-
-// Dynamic size
-template <typename DenseIndex, int NumDims>
-struct DSizes : array<DenseIndex, NumDims> {
-  typedef array<DenseIndex, NumDims> Base;
-  static const int count = NumDims;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t rank() const {
-    return NumDims;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex TotalSize() const {
-    return (NumDims == 0) ? 1 : internal::array_prod(*static_cast<const Base*>(this));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DSizes() {
-    for (int i = 0 ; i < NumDims; ++i) {
-      (*this)[i] = 0;
-    }
-  }
-  EIGEN_DEVICE_FUNC explicit DSizes(const array<DenseIndex, NumDims>& a) : Base(a) { }
-
-  EIGEN_DEVICE_FUNC explicit DSizes(const DenseIndex i0) {
-    eigen_assert(NumDims == 1);
-    (*this)[0] = i0;
-  }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-  template<typename... IndexTypes> EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE explicit DSizes(DenseIndex firstDimension, DenseIndex secondDimension, IndexTypes... otherDimensions) : Base({{firstDimension, secondDimension, otherDimensions...}}) {
-    EIGEN_STATIC_ASSERT(sizeof...(otherDimensions) + 2 == NumDims, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  }
-#else
-  EIGEN_DEVICE_FUNC DSizes(const DenseIndex i0, const DenseIndex i1) {
-    eigen_assert(NumDims == 2);
-    (*this)[0] = i0;
-    (*this)[1] = i1;
-  }
-  EIGEN_DEVICE_FUNC DSizes(const DenseIndex i0, const DenseIndex i1, const DenseIndex i2) {
-    eigen_assert(NumDims == 3);
-    (*this)[0] = i0;
-    (*this)[1] = i1;
-    (*this)[2] = i2;
-  }
-  EIGEN_DEVICE_FUNC DSizes(const DenseIndex i0, const DenseIndex i1, const DenseIndex i2, const DenseIndex i3) {
-    eigen_assert(NumDims == 4);
-    (*this)[0] = i0;
-    (*this)[1] = i1;
-    (*this)[2] = i2;
-    (*this)[3] = i3;
-  }
-  EIGEN_DEVICE_FUNC DSizes(const DenseIndex i0, const DenseIndex i1, const DenseIndex i2, const DenseIndex i3, const DenseIndex i4) {
-    eigen_assert(NumDims == 5);
-    (*this)[0] = i0;
-    (*this)[1] = i1;
-    (*this)[2] = i2;
-    (*this)[3] = i3;
-    (*this)[4] = i4;
-  }
-#endif
-
-  EIGEN_DEVICE_FUNC DSizes& operator = (const array<DenseIndex, NumDims>& other) {
-    *static_cast<Base*>(this) = other;
-    return *this;
-  }
-
-  // A constexpr would be so much better here
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex IndexOfColMajor(const array<DenseIndex, NumDims>& indices) const {
-    return internal::tensor_index_linearization_helper<DenseIndex, NumDims, NumDims - 1, false>::run(indices, *static_cast<const Base*>(this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex IndexOfRowMajor(const array<DenseIndex, NumDims>& indices) const {
-    return internal::tensor_index_linearization_helper<DenseIndex, NumDims, NumDims - 1, true>::run(indices, *static_cast<const Base*>(this));
-  }
-};
-
-
-
-
-// Boilerplate
-namespace internal {
-template<typename Index, std::size_t NumIndices, std::size_t n, bool RowMajor>
-struct tensor_vsize_index_linearization_helper
-{
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Index run(array<Index, NumIndices> const& indices, std::vector<DenseIndex> const& dimensions)
-  {
-    return array_get<RowMajor ? n : (NumIndices - n - 1)>(indices) +
-      array_get<RowMajor ? n : (NumIndices - n - 1)>(dimensions) *
-        tensor_vsize_index_linearization_helper<Index, NumIndices, n - 1, RowMajor>::run(indices, dimensions);
-  }
-};
-
-template<typename Index, std::size_t NumIndices, bool RowMajor>
-struct tensor_vsize_index_linearization_helper<Index, NumIndices, 0, RowMajor>
-{
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Index run(array<Index, NumIndices> const& indices, std::vector<DenseIndex> const&)
-  {
-    return array_get<RowMajor ? 0 : NumIndices - 1>(indices);
-  }
-};
-}  // end namespace internal
-
-
-namespace internal {
-
-template <typename DenseIndex, int NumDims> struct array_size<const DSizes<DenseIndex, NumDims> > {
-  static const size_t value = NumDims;
-};
-template <typename DenseIndex, int NumDims> struct array_size<DSizes<DenseIndex, NumDims> > {
-  static const size_t value = NumDims;
-};
-#ifndef EIGEN_EMULATE_CXX11_META_H
-template <typename std::ptrdiff_t... Indices> struct array_size<const Sizes<Indices...> > {
-static const std::ptrdiff_t value = Sizes<Indices...>::count;
-};
-template <typename std::ptrdiff_t... Indices> struct array_size<Sizes<Indices...> > {
-static const std::ptrdiff_t value = Sizes<Indices...>::count;
-};
-template <std::ptrdiff_t n, typename std::ptrdiff_t... Indices> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t array_get(const Sizes<Indices...>&) {
-  return get<n, internal::numeric_list<std::size_t, Indices...> >::value;
-}
-template <std::ptrdiff_t n> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t array_get(const Sizes<>&) {
-  eigen_assert(false && "should never be called");
-  return -1;
-}
-#else
-template <std::size_t V1, std::size_t V2, std::size_t V3, std::size_t V4, std::size_t V5> struct array_size<const Sizes<V1,V2,V3,V4,V5> > {
-  static const size_t value = Sizes<V1,V2,V3,V4,V5>::count;
-};
-template <std::size_t V1, std::size_t V2, std::size_t V3, std::size_t V4, std::size_t V5> struct array_size<Sizes<V1,V2,V3,V4,V5> > {
-  static const size_t value = Sizes<V1,V2,V3,V4,V5>::count;
-};
-template <std::size_t n, std::size_t V1, std::size_t V2, std::size_t V3, std::size_t V4, std::size_t V5> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t array_get(const Sizes<V1,V2,V3,V4,V5>&) {
-  return get<n, typename Sizes<V1,V2,V3,V4,V5>::Base>::value;
-}
-
-#endif
-
-
-template <typename Dims1, typename Dims2, size_t n, size_t m>
-struct sizes_match_below_dim {
-  static EIGEN_DEVICE_FUNC  inline bool run(Dims1&, Dims2&) {
-    return false;
-  }
-};
-template <typename Dims1, typename Dims2, size_t n>
-struct sizes_match_below_dim<Dims1, Dims2, n, n> {
-  static EIGEN_DEVICE_FUNC  inline bool run(Dims1& dims1, Dims2& dims2) {
-    return (array_get<n-1>(dims1) == array_get<n-1>(dims2)) &
-        sizes_match_below_dim<Dims1, Dims2, n-1, n-1>::run(dims1, dims2);
-  }
-};
-template <typename Dims1, typename Dims2>
-struct sizes_match_below_dim<Dims1, Dims2, 0, 0> {
-  static EIGEN_DEVICE_FUNC  inline bool run(Dims1&, Dims2&) {
-    return true;
-  }
-};
-
-} // end namespace internal
-
-
-template <typename Dims1, typename Dims2>
-EIGEN_DEVICE_FUNC bool dimensions_match(Dims1& dims1, Dims2& dims2) {
-  return internal::sizes_match_below_dim<Dims1, Dims2, internal::array_size<Dims1>::value, internal::array_size<Dims2>::value>::run(dims1, dims2);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_DIMENSIONS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvalTo.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvalTo.h
deleted file mode 100644
index 06987132b69cc0..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvalTo.h
+++ /dev/null
@@ -1,181 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_EVAL_TO_H
-#define EIGEN_CXX11_TENSOR_TENSOR_EVAL_TO_H
-
-namespace Eigen {
-
-/** \class TensorForcedEval
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor reshaping class.
-  *
-  *
-  */
-namespace internal {
-template<typename XprType, template <class> class MakePointer_>
-struct traits<TensorEvalToOp<XprType, MakePointer_> >
-{
-  // Type promotion to handle the case where the types of the lhs and the rhs are different.
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-
-  enum {
-    Flags = 0
-  };
-  template <class T>
-  struct MakePointer {
-    // Intermediate typedef to workaround MSVC issue.
-    typedef MakePointer_<T> MakePointerT;
-    typedef typename MakePointerT::Type Type;
-  };
-};
-
-template<typename XprType, template <class> class MakePointer_>
-struct eval<TensorEvalToOp<XprType, MakePointer_>, Eigen::Dense>
-{
-  typedef const TensorEvalToOp<XprType, MakePointer_>& type;
-};
-
-template<typename XprType, template <class> class MakePointer_>
-struct nested<TensorEvalToOp<XprType, MakePointer_>, 1, typename eval<TensorEvalToOp<XprType, MakePointer_> >::type>
-{
-  typedef TensorEvalToOp<XprType, MakePointer_> type;
-};
-
-}  // end namespace internal
-
-
-
-
-template<typename XprType, template <class> class MakePointer_>
-class TensorEvalToOp : public TensorBase<TensorEvalToOp<XprType, MakePointer_>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorEvalToOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-  typedef typename MakePointer_<CoeffReturnType>::Type PointerType;
-  typedef typename Eigen::internal::nested<TensorEvalToOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorEvalToOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorEvalToOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvalToOp(PointerType buffer, const XprType& expr)
-      : m_xpr(expr), m_buffer(buffer) {}
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-    EIGEN_DEVICE_FUNC PointerType buffer() const { return m_buffer; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    PointerType m_buffer;
-};
-
-
-
-template<typename ArgType, typename Device, template <class> class MakePointer_>
-struct TensorEvaluator<const TensorEvalToOp<ArgType, MakePointer_>, Device>
-{
-  typedef TensorEvalToOp<ArgType, MakePointer_> XprType;
-  typedef typename ArgType::Scalar Scalar;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions Dimensions;
-  typedef typename XprType::Index Index;
-  typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = TensorEvaluator<ArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = true
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device), m_device(device),
-          m_buffer(op.buffer()), m_op(op), m_expression(op.expression())
-  { }
-
-  // Used for accessor extraction in SYCL Managed TensorMap:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const XprType& op() const {
-    return m_op;
-  }
-  
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ~TensorEvaluator() {
-  }
-
-  typedef typename internal::traits<const TensorEvalToOp<ArgType, MakePointer_> >::template MakePointer<CoeffReturnType>::Type DevicePointer;
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_impl.dimensions(); }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(DevicePointer scalar) {
-    EIGEN_UNUSED_VARIABLE(scalar);
-    eigen_assert(scalar == NULL);
-    return m_impl.evalSubExprsIfNeeded(m_buffer);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalScalar(Index i) {
-    m_buffer[i] = m_impl.coeff(i);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalPacket(Index i) {
-    internal::pstoret<CoeffReturnType, PacketReturnType, Aligned>(m_buffer + i, m_impl.template packet<TensorEvaluator<ArgType, Device>::IsAligned ? Aligned : Unaligned>(i));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_buffer[index];
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    return internal::ploadt<PacketReturnType, LoadMode>(m_buffer + index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    // We assume that evalPacket or evalScalar is called to perform the
-    // assignment and account for the cost of the write here.
-    return m_impl.costPerCoeff(vectorized) +
-        TensorOpCost(0, sizeof(CoeffReturnType), 0, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC DevicePointer data() const { return m_buffer; }
-  ArgType expression() const { return m_expression; }
-
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<ArgType, Device>& impl() const { return m_impl; }
-  /// added for sycl in order to construct the buffer from the sycl device
-  const Device& device() const{return m_device;}
-
- private:
-  TensorEvaluator<ArgType, Device> m_impl;
-  const Device& m_device;
-  DevicePointer m_buffer;
-  const XprType& m_op;
-  const ArgType m_expression;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_EVAL_TO_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h
deleted file mode 100644
index 834ce07df55800..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h
+++ /dev/null
@@ -1,633 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_EVALUATOR_H
-#define EIGEN_CXX11_TENSOR_TENSOR_EVALUATOR_H
-
-namespace Eigen {
-
-/** \class TensorEvaluator
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief The tensor evaluator classes.
-  *
-  * These classes are responsible for the evaluation of the tensor expression.
-  *
-  * TODO: add support for more types of expressions, in particular expressions
-  * leading to lvalues (slicing, reshaping, etc...)
-  */
-
-// Generic evaluator
-template<typename Derived, typename Device>
-struct TensorEvaluator
-{
-  typedef typename Derived::Index Index;
-  typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef typename Derived::Dimensions Dimensions;
-
-  // NumDimensions is -1 for variable dim tensors
-  static const int NumCoords = internal::traits<Derived>::NumDimensions > 0 ?
-                               internal::traits<Derived>::NumDimensions : 0;
-
-  enum {
-    IsAligned = Derived::IsAligned,
-    PacketAccess = (internal::unpacket_traits<PacketReturnType>::size > 1),
-    Layout = Derived::Layout,
-    CoordAccess = NumCoords > 0,
-    RawAccess = true
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const Derived& m, const Device& device)
-      : m_data(const_cast<typename internal::traits<Derived>::template MakePointer<Scalar>::Type>(m.data())), m_dims(m.dimensions()), m_device(device), m_impl(m)
-  { }
-
-  // Used for accessor extraction in SYCL Managed TensorMap:
-  const Derived& derived() const { return m_impl; }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dims; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* dest) {
-    if (dest) {
-      m_device.memcpy((void*)dest, m_data, sizeof(Scalar) * m_dims.TotalSize());
-      return false;
-    }
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const {
-    eigen_assert(m_data);
-    return m_data[index];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) {
-    eigen_assert(m_data);
-    return m_data[index];
-  }
-
-  template<int LoadMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  PacketReturnType packet(Index index) const
-  {
-    return internal::ploadt<PacketReturnType, LoadMode>(m_data + index);
-  }
-
-  template <int StoreMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x)
-  {
-    return internal::pstoret<Scalar, PacketReturnType, StoreMode>(m_data + index, x);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(const array<DenseIndex, NumCoords>& coords) const {
-    eigen_assert(m_data);
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      return m_data[m_dims.IndexOfColMajor(coords)];
-    } else {
-      return m_data[m_dims.IndexOfRowMajor(coords)];
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(const array<DenseIndex, NumCoords>& coords) {
-    eigen_assert(m_data);
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      return m_data[m_dims.IndexOfColMajor(coords)];
-    } else {
-      return m_data[m_dims.IndexOfRowMajor(coords)];
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized,
-                        internal::unpacket_traits<PacketReturnType>::size);
-  }
-
-  EIGEN_DEVICE_FUNC typename internal::traits<Derived>::template MakePointer<Scalar>::Type data() const { return m_data; }
-
-  /// required by sycl in order to construct sycl buffer from raw pointer
-  const Device& device() const{return m_device;}
-
- protected:
-  typename internal::traits<Derived>::template MakePointer<Scalar>::Type m_data;
-  Dimensions m_dims;
-  const Device& m_device;
-  const Derived& m_impl;
-};
-
-namespace {
-template <typename T> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T loadConstant(const T* address) {
-  return *address;
-}
-// Use the texture cache on CUDA devices whenever possible
-#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
-template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-float loadConstant(const float* address) {
-  return __ldg(address);
-}
-template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-double loadConstant(const double* address) {
-  return __ldg(address);
-}
-template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-Eigen::half loadConstant(const Eigen::half* address) {
-  return Eigen::half(half_impl::raw_uint16_to_half(__ldg(&address->x)));
-}
-#endif
-}
-
-
-// Default evaluator for rvalues
-template<typename Derived, typename Device>
-struct TensorEvaluator<const Derived, Device>
-{
-  typedef typename Derived::Index Index;
-  typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef typename Derived::Dimensions Dimensions;
-
-  // NumDimensions is -1 for variable dim tensors
-  static const int NumCoords = internal::traits<Derived>::NumDimensions > 0 ?
-                               internal::traits<Derived>::NumDimensions : 0;
-
-  enum {
-    IsAligned = Derived::IsAligned,
-    PacketAccess = (internal::unpacket_traits<PacketReturnType>::size > 1),
-    Layout = Derived::Layout,
-    CoordAccess = NumCoords > 0,
-    RawAccess = true
-  };
-
-  // Used for accessor extraction in SYCL Managed TensorMap:
-  const Derived& derived() const { return m_impl; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const Derived& m, const Device& device)
-      : m_data(m.data()), m_dims(m.dimensions()), m_device(device), m_impl(m)
-  { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dims; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) {
-    if (!NumTraits<typename internal::remove_const<Scalar>::type>::RequireInitialization && data) {
-      m_device.memcpy((void*)data, m_data, m_dims.TotalSize() * sizeof(Scalar));
-      return false;
-    }
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const {
-    eigen_assert(m_data);
-    return loadConstant(m_data+index);
-  }
-
-  template<int LoadMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  PacketReturnType packet(Index index) const
-  {
-    return internal::ploadt_ro<PacketReturnType, LoadMode>(m_data + index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(const array<DenseIndex, NumCoords>& coords) const {
-    eigen_assert(m_data);
-    const Index index = (static_cast<int>(Layout) == static_cast<int>(ColMajor)) ? m_dims.IndexOfColMajor(coords)
-                        : m_dims.IndexOfRowMajor(coords);
-    return loadConstant(m_data+index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized,
-                        internal::unpacket_traits<PacketReturnType>::size);
-  }
-
-  EIGEN_DEVICE_FUNC typename internal::traits<Derived>::template MakePointer<const Scalar>::Type data() const { return m_data; }
-
-  /// added for sycl in order to construct the buffer from the sycl device
-  const Device& device() const{return m_device;}
-
- protected:
-  typename internal::traits<Derived>::template MakePointer<const Scalar>::Type m_data;
-  Dimensions m_dims;
-  const Device& m_device;
-  const Derived& m_impl;
-};
-
-
-
-
-// -------------------- CwiseNullaryOp --------------------
-
-template<typename NullaryOp, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorCwiseNullaryOp<NullaryOp, ArgType>, Device>
-{
-  typedef TensorCwiseNullaryOp<NullaryOp, ArgType> XprType;
-
-  enum {
-    IsAligned = true,
-    PacketAccess = internal::functor_traits<NullaryOp>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC
-  TensorEvaluator(const XprType& op, const Device& device)
-      : m_functor(op.functor()), m_argImpl(op.nestedExpression(), device), m_wrapper()
-  { }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename internal::traits<XprType>::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions Dimensions;
-
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_argImpl.dimensions(); }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) { return true; }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const
-  {
-    return m_wrapper(m_functor, index);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    return m_wrapper.template packetOp<PacketReturnType, Index>(m_functor, index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized,
-                        internal::unpacket_traits<PacketReturnType>::size);
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return NULL; }
-
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<ArgType, Device>& impl() const { return m_argImpl; }
-  /// required by sycl in order to extract the accessor
-  NullaryOp functor() const { return m_functor; }
-
-
- private:
-  const NullaryOp m_functor;
-  TensorEvaluator<ArgType, Device> m_argImpl;
-  const internal::nullary_wrapper<CoeffReturnType,NullaryOp> m_wrapper;
-};
-
-
-
-// -------------------- CwiseUnaryOp --------------------
-
-template<typename UnaryOp, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorCwiseUnaryOp<UnaryOp, ArgType>, Device>
-{
-  typedef TensorCwiseUnaryOp<UnaryOp, ArgType> XprType;
-
-  enum {
-    IsAligned = TensorEvaluator<ArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess & internal::functor_traits<UnaryOp>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device)
-    : m_functor(op.functor()),
-      m_argImpl(op.nestedExpression(), device)
-  { }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename internal::traits<XprType>::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions Dimensions;
-
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_argImpl.dimensions(); }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) {
-    m_argImpl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_argImpl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const
-  {
-    return m_functor(m_argImpl.coeff(index));
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    return m_functor.packetOp(m_argImpl.template packet<LoadMode>(index));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    const double functor_cost = internal::functor_traits<UnaryOp>::Cost;
-    return m_argImpl.costPerCoeff(vectorized) +
-        TensorOpCost(0, 0, functor_cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return NULL; }
-
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<ArgType, Device> & impl() const { return m_argImpl; }
-  /// added for sycl in order to construct the buffer from sycl device
-  UnaryOp functor() const { return m_functor; }
-
-
- private:
-  const UnaryOp m_functor;
-  TensorEvaluator<ArgType, Device> m_argImpl;
-};
-
-
-// -------------------- CwiseBinaryOp --------------------
-
-template<typename BinaryOp, typename LeftArgType, typename RightArgType, typename Device>
-struct TensorEvaluator<const TensorCwiseBinaryOp<BinaryOp, LeftArgType, RightArgType>, Device>
-{
-  typedef TensorCwiseBinaryOp<BinaryOp, LeftArgType, RightArgType> XprType;
-
-  enum {
-    IsAligned = TensorEvaluator<LeftArgType, Device>::IsAligned & TensorEvaluator<RightArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<LeftArgType, Device>::PacketAccess & TensorEvaluator<RightArgType, Device>::PacketAccess &
-                   internal::functor_traits<BinaryOp>::PacketAccess,
-    Layout = TensorEvaluator<LeftArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device)
-    : m_functor(op.functor()),
-      m_leftImpl(op.lhsExpression(), device),
-      m_rightImpl(op.rhsExpression(), device)
-  {
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<LeftArgType, Device>::Layout) == static_cast<int>(TensorEvaluator<RightArgType, Device>::Layout) || internal::traits<XprType>::NumDimensions <= 1), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    eigen_assert(dimensions_match(m_leftImpl.dimensions(), m_rightImpl.dimensions()));
-  }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename internal::traits<XprType>::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-  typedef typename TensorEvaluator<LeftArgType, Device>::Dimensions Dimensions;
-
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const
-  {
-    // TODO: use right impl instead if right impl dimensions are known at compile time.
-    return m_leftImpl.dimensions();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) {
-    m_leftImpl.evalSubExprsIfNeeded(NULL);
-    m_rightImpl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_leftImpl.cleanup();
-    m_rightImpl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const
-  {
-    return m_functor(m_leftImpl.coeff(index), m_rightImpl.coeff(index));
-  }
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    return m_functor.packetOp(m_leftImpl.template packet<LoadMode>(index), m_rightImpl.template packet<LoadMode>(index));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    const double functor_cost = internal::functor_traits<BinaryOp>::Cost;
-    return m_leftImpl.costPerCoeff(vectorized) +
-           m_rightImpl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, functor_cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return NULL; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<LeftArgType, Device>& left_impl() const { return m_leftImpl; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<RightArgType, Device>& right_impl() const { return m_rightImpl; }
-  /// required by sycl in order to extract the accessor
-  BinaryOp functor() const { return m_functor; }
-
- private:
-  const BinaryOp m_functor;
-  TensorEvaluator<LeftArgType, Device> m_leftImpl;
-  TensorEvaluator<RightArgType, Device> m_rightImpl;
-};
-
-// -------------------- CwiseTernaryOp --------------------
-
-template<typename TernaryOp, typename Arg1Type, typename Arg2Type, typename Arg3Type, typename Device>
-struct TensorEvaluator<const TensorCwiseTernaryOp<TernaryOp, Arg1Type, Arg2Type, Arg3Type>, Device>
-{
-  typedef TensorCwiseTernaryOp<TernaryOp, Arg1Type, Arg2Type, Arg3Type> XprType;
-
-  enum {
-    IsAligned = TensorEvaluator<Arg1Type, Device>::IsAligned & TensorEvaluator<Arg2Type, Device>::IsAligned & TensorEvaluator<Arg3Type, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<Arg1Type, Device>::PacketAccess & TensorEvaluator<Arg2Type, Device>::PacketAccess & TensorEvaluator<Arg3Type, Device>::PacketAccess &
-                   internal::functor_traits<TernaryOp>::PacketAccess,
-    Layout = TensorEvaluator<Arg1Type, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device)
-    : m_functor(op.functor()),
-      m_arg1Impl(op.arg1Expression(), device),
-      m_arg2Impl(op.arg2Expression(), device),
-      m_arg3Impl(op.arg3Expression(), device)
-  {
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<Arg1Type, Device>::Layout) == static_cast<int>(TensorEvaluator<Arg3Type, Device>::Layout) || internal::traits<XprType>::NumDimensions <= 1), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    EIGEN_STATIC_ASSERT((internal::is_same<typename internal::traits<Arg1Type>::StorageKind,
-                         typename internal::traits<Arg2Type>::StorageKind>::value),
-                        STORAGE_KIND_MUST_MATCH)
-    EIGEN_STATIC_ASSERT((internal::is_same<typename internal::traits<Arg1Type>::StorageKind,
-                         typename internal::traits<Arg3Type>::StorageKind>::value),
-                        STORAGE_KIND_MUST_MATCH)
-    EIGEN_STATIC_ASSERT((internal::is_same<typename internal::traits<Arg1Type>::Index,
-                         typename internal::traits<Arg2Type>::Index>::value),
-                        STORAGE_INDEX_MUST_MATCH)
-    EIGEN_STATIC_ASSERT((internal::is_same<typename internal::traits<Arg1Type>::Index,
-                         typename internal::traits<Arg3Type>::Index>::value),
-                        STORAGE_INDEX_MUST_MATCH)
-
-    eigen_assert(dimensions_match(m_arg1Impl.dimensions(), m_arg2Impl.dimensions()) && dimensions_match(m_arg1Impl.dimensions(), m_arg3Impl.dimensions()));
-  }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename internal::traits<XprType>::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-  typedef typename TensorEvaluator<Arg1Type, Device>::Dimensions Dimensions;
-
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const
-  {
-    // TODO: use arg2 or arg3 dimensions if they are known at compile time.
-    return m_arg1Impl.dimensions();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) {
-    m_arg1Impl.evalSubExprsIfNeeded(NULL);
-    m_arg2Impl.evalSubExprsIfNeeded(NULL);
-    m_arg3Impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_arg1Impl.cleanup();
-    m_arg2Impl.cleanup();
-    m_arg3Impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const
-  {
-    return m_functor(m_arg1Impl.coeff(index), m_arg2Impl.coeff(index), m_arg3Impl.coeff(index));
-  }
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    return m_functor.packetOp(m_arg1Impl.template packet<LoadMode>(index),
-                              m_arg2Impl.template packet<LoadMode>(index),
-                              m_arg3Impl.template packet<LoadMode>(index));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    const double functor_cost = internal::functor_traits<TernaryOp>::Cost;
-    return m_arg1Impl.costPerCoeff(vectorized) +
-           m_arg2Impl.costPerCoeff(vectorized) +
-           m_arg3Impl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, functor_cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return NULL; }
-
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<Arg1Type, Device> & arg1Impl() const { return m_arg1Impl; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<Arg2Type, Device>& arg2Impl() const { return m_arg2Impl; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<Arg3Type, Device>& arg3Impl() const { return m_arg3Impl; }
-
- private:
-  const TernaryOp m_functor;
-  TensorEvaluator<Arg1Type, Device> m_arg1Impl;
-  TensorEvaluator<Arg2Type, Device> m_arg2Impl;
-  TensorEvaluator<Arg3Type, Device> m_arg3Impl;
-};
-
-
-// -------------------- SelectOp --------------------
-
-template<typename IfArgType, typename ThenArgType, typename ElseArgType, typename Device>
-struct TensorEvaluator<const TensorSelectOp<IfArgType, ThenArgType, ElseArgType>, Device>
-{
-  typedef TensorSelectOp<IfArgType, ThenArgType, ElseArgType> XprType;
-  typedef typename XprType::Scalar Scalar;
-
-  enum {
-    IsAligned = TensorEvaluator<ThenArgType, Device>::IsAligned & TensorEvaluator<ElseArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<ThenArgType, Device>::PacketAccess & TensorEvaluator<ElseArgType, Device>::PacketAccess &
-                   internal::packet_traits<Scalar>::HasBlend,
-    Layout = TensorEvaluator<IfArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device)
-    : m_condImpl(op.ifExpression(), device),
-      m_thenImpl(op.thenExpression(), device),
-      m_elseImpl(op.elseExpression(), device)
-  {
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<IfArgType, Device>::Layout) == static_cast<int>(TensorEvaluator<ThenArgType, Device>::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    EIGEN_STATIC_ASSERT((static_cast<int>(TensorEvaluator<IfArgType, Device>::Layout) == static_cast<int>(TensorEvaluator<ElseArgType, Device>::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    eigen_assert(dimensions_match(m_condImpl.dimensions(), m_thenImpl.dimensions()));
-    eigen_assert(dimensions_match(m_thenImpl.dimensions(), m_elseImpl.dimensions()));
-  }
-
-  typedef typename XprType::Index Index;
-  typedef typename internal::traits<XprType>::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-  typedef typename TensorEvaluator<IfArgType, Device>::Dimensions Dimensions;
-
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const
-  {
-    // TODO: use then or else impl instead if they happen to be known at compile time.
-    return m_condImpl.dimensions();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) {
-    m_condImpl.evalSubExprsIfNeeded(NULL);
-    m_thenImpl.evalSubExprsIfNeeded(NULL);
-    m_elseImpl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_condImpl.cleanup();
-    m_thenImpl.cleanup();
-    m_elseImpl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const
-  {
-    return m_condImpl.coeff(index) ? m_thenImpl.coeff(index) : m_elseImpl.coeff(index);
-  }
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const
-  {
-    internal::Selector<PacketSize> select;
-    for (Index i = 0; i < PacketSize; ++i) {
-      select.select[i] = m_condImpl.coeff(index+i);
-    }
-    return internal::pblend(select,
-                            m_thenImpl.template packet<LoadMode>(index),
-                            m_elseImpl.template packet<LoadMode>(index));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    return m_condImpl.costPerCoeff(vectorized) +
-           m_thenImpl.costPerCoeff(vectorized)
-        .cwiseMax(m_elseImpl.costPerCoeff(vectorized));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType* data() const { return NULL; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<IfArgType, Device> & cond_impl() const { return m_condImpl; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<ThenArgType, Device>& then_impl() const { return m_thenImpl; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<ElseArgType, Device>& else_impl() const { return m_elseImpl; }
-
- private:
-  TensorEvaluator<IfArgType, Device> m_condImpl;
-  TensorEvaluator<ThenArgType, Device> m_thenImpl;
-  TensorEvaluator<ElseArgType, Device> m_elseImpl;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_EVALUATOR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h
deleted file mode 100644
index f01d77c0a061a3..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h
+++ /dev/null
@@ -1,288 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_EXECUTOR_H
-#define EIGEN_CXX11_TENSOR_TENSOR_EXECUTOR_H
-
-namespace Eigen {
-
-/** \class TensorExecutor
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief The tensor executor class.
-  *
-  * This class is responsible for launch the evaluation of the expression on
-  * the specified computing device.
-  */
-namespace internal {
-
-// Default strategy: the expression is evaluated with a single cpu thread.
-template<typename Expression, typename Device, bool Vectorizable>
-class TensorExecutor
-{
- public:
-  typedef typename Expression::Index Index;
-  EIGEN_DEVICE_FUNC
-  static inline void run(const Expression& expr, const Device& device = Device())
-  {
-    TensorEvaluator<Expression, Device> evaluator(expr, device);
-    const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL);
-    if (needs_assign)
-    {
-      const Index size = array_prod(evaluator.dimensions());
-      for (Index i = 0; i < size; ++i) {
-        evaluator.evalScalar(i);
-      }
-    }
-    evaluator.cleanup();
-  }
-};
-
-
-template<typename Expression>
-class TensorExecutor<Expression, DefaultDevice, true>
-{
- public:
-  typedef typename Expression::Index Index;
-  EIGEN_DEVICE_FUNC
-  static inline void run(const Expression& expr, const DefaultDevice& device = DefaultDevice())
-  {
-    TensorEvaluator<Expression, DefaultDevice> evaluator(expr, device);
-    const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL);
-    if (needs_assign)
-    {
-      const Index size = array_prod(evaluator.dimensions());
-      const int PacketSize = unpacket_traits<typename TensorEvaluator<Expression, DefaultDevice>::PacketReturnType>::size;
-      // Give the compiler a strong hint to unroll the loop. But don't insist
-      // on unrolling, because if the function is expensive the compiler should not
-      // unroll the loop at the expense of inlining.
-      const Index UnrolledSize = (size / (4 * PacketSize)) * 4 * PacketSize;
-      for (Index i = 0; i < UnrolledSize; i += 4*PacketSize) {
-        for (Index j = 0; j < 4; j++) {
-          evaluator.evalPacket(i + j * PacketSize);
-        }
-      }
-      const Index VectorizedSize = (size / PacketSize) * PacketSize;
-      for (Index i = UnrolledSize; i < VectorizedSize; i += PacketSize) {
-        evaluator.evalPacket(i);
-      }
-      for (Index i = VectorizedSize; i < size; ++i) {
-        evaluator.evalScalar(i);
-      }
-    }
-    evaluator.cleanup();
-  }
-};
-
-
-
-// Multicore strategy: the index space is partitioned and each partition is executed on a single core
-#ifdef EIGEN_USE_THREADS
-template <typename Evaluator, typename Index, bool Vectorizable>
-struct EvalRange {
-  static void run(Evaluator* evaluator_in, const Index first, const Index last) {
-    Evaluator evaluator = *evaluator_in;
-    eigen_assert(last >= first);
-    for (Index i = first; i < last; ++i) {
-      evaluator.evalScalar(i);
-    }
-  }
-
-  static Index alignBlockSize(Index size) {
-    return size;
-  }
-};
-
-template <typename Evaluator, typename Index>
-struct EvalRange<Evaluator, Index, true> {
-  static const int PacketSize = unpacket_traits<typename Evaluator::PacketReturnType>::size;
-
-  static void run(Evaluator* evaluator_in, const Index first, const Index last) {
-    Evaluator evaluator = *evaluator_in;
-    eigen_assert(last >= first);
-    Index i = first;
-    if (last - first >= PacketSize) {
-      eigen_assert(first % PacketSize == 0);
-      Index last_chunk_offset = last - 4 * PacketSize;
-      // Give the compiler a strong hint to unroll the loop. But don't insist
-      // on unrolling, because if the function is expensive the compiler should not
-      // unroll the loop at the expense of inlining.
-      for (; i <= last_chunk_offset; i += 4*PacketSize) {
-        for (Index j = 0; j < 4; j++) {
-          evaluator.evalPacket(i + j * PacketSize);
-        }
-      }
-      last_chunk_offset = last - PacketSize;
-      for (; i <= last_chunk_offset; i += PacketSize) {
-        evaluator.evalPacket(i);
-      }
-    }
-    for (; i < last; ++i) {
-      evaluator.evalScalar(i);
-    }
-  }
-
-  static Index alignBlockSize(Index size) {
-    // Align block size to packet size and account for unrolling in run above.
-    if (size >= 16 * PacketSize) {
-      return (size + 4 * PacketSize - 1) & ~(4 * PacketSize - 1);
-    }
-    // Aligning to 4 * PacketSize would increase block size by more than 25%.
-    return (size + PacketSize - 1) & ~(PacketSize - 1);
-  }
-};
-
-template <typename Expression, bool Vectorizable>
-class TensorExecutor<Expression, ThreadPoolDevice, Vectorizable> {
- public:
-  typedef typename Expression::Index Index;
-  static inline void run(const Expression& expr, const ThreadPoolDevice& device)
-  {
-    typedef TensorEvaluator<Expression, ThreadPoolDevice> Evaluator;
-    Evaluator evaluator(expr, device);
-    const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL);
-    if (needs_assign)
-    {
-      const Index size = array_prod(evaluator.dimensions());
-#if !defined(EIGEN_USE_SIMPLE_THREAD_POOL)
-      device.parallelFor(size, evaluator.costPerCoeff(Vectorizable),
-                         EvalRange<Evaluator, Index, Vectorizable>::alignBlockSize,
-                         [&evaluator](Index first, Index last) {
-                           EvalRange<Evaluator, Index, Vectorizable>::run(&evaluator, first, last);
-                         });
-#else
-      size_t num_threads = device.numThreads();
-      if (num_threads > 1) {
-        num_threads = TensorCostModel<ThreadPoolDevice>::numThreads(
-            size, evaluator.costPerCoeff(Vectorizable), num_threads);
-      }
-      if (num_threads == 1) {
-        EvalRange<Evaluator, Index, Vectorizable>::run(&evaluator, 0, size);
-      } else {
-        const Index PacketSize = Vectorizable ? unpacket_traits<typename Evaluator::PacketReturnType>::size : 1;
-        Index blocksz = std::ceil<Index>(static_cast<float>(size)/num_threads) + PacketSize - 1;
-        const Index blocksize = numext::maxi<Index>(PacketSize, (blocksz - (blocksz % PacketSize)));
-        const Index numblocks = size / blocksize;
-
-        Barrier barrier(numblocks);
-        for (int i = 0; i < numblocks; ++i) {
-          device.enqueue_with_barrier(
-              &barrier, &EvalRange<Evaluator, Index, Vectorizable>::run,
-              &evaluator, i * blocksize, (i + 1) * blocksize);
-        }
-        if (numblocks * blocksize < size) {
-          EvalRange<Evaluator, Index, Vectorizable>::run(
-              &evaluator, numblocks * blocksize, size);
-        }
-        barrier.Wait();
-      }
-#endif  // defined(!EIGEN_USE_SIMPLE_THREAD_POOL)
-    }
-    evaluator.cleanup();
-  }
-};
-#endif  // EIGEN_USE_THREADS
-
-
-// GPU: the evaluation of the expression is offloaded to a GPU.
-#if defined(EIGEN_USE_GPU)
-
-template <typename Expression, bool Vectorizable>
-class TensorExecutor<Expression, GpuDevice, Vectorizable> {
- public:
-  typedef typename Expression::Index Index;
-  static void run(const Expression& expr, const GpuDevice& device);
-};
-
-
-#if defined(__CUDACC__)
-template <typename Evaluator, typename Index, bool Vectorizable>
-struct EigenMetaKernelEval {
-  static __device__ EIGEN_ALWAYS_INLINE
-  void run(Evaluator& eval, Index first, Index last, Index step_size) {
-    for (Index i = first; i < last; i += step_size) {
-      eval.evalScalar(i);
-    }
-  }
-};
-
-template <typename Evaluator, typename Index>
-struct EigenMetaKernelEval<Evaluator, Index, true> {
-  static __device__ EIGEN_ALWAYS_INLINE
-  void run(Evaluator& eval, Index first, Index last, Index step_size) {
-    const Index PacketSize = unpacket_traits<typename Evaluator::PacketReturnType>::size;
-    const Index vectorized_size = (last / PacketSize) * PacketSize;
-    const Index vectorized_step_size = step_size * PacketSize;
-
-    // Use the vector path
-    for (Index i = first * PacketSize; i < vectorized_size;
-         i += vectorized_step_size) {
-      eval.evalPacket(i);
-    }
-    for (Index i = vectorized_size + first; i < last; i += step_size) {
-      eval.evalScalar(i);
-    }
-  }
-};
-
-template <typename Evaluator, typename Index>
-__global__ void
-__launch_bounds__(1024)
-EigenMetaKernel(Evaluator eval, Index size) {
-
-  const Index first_index = blockIdx.x * blockDim.x + threadIdx.x;
-  const Index step_size = blockDim.x * gridDim.x;
-
-  const bool vectorizable = Evaluator::PacketAccess & Evaluator::IsAligned;
-  EigenMetaKernelEval<Evaluator, Index, vectorizable>::run(eval, first_index, size, step_size);
-}
-
-/*static*/
-template <typename Expression, bool Vectorizable>
-inline void TensorExecutor<Expression, GpuDevice, Vectorizable>::run(
-    const Expression& expr, const GpuDevice& device) {
-  TensorEvaluator<Expression, GpuDevice> evaluator(expr, device);
-  const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL);
-  if (needs_assign) {
-    const int block_size = device.maxCudaThreadsPerBlock();
-    const int max_blocks = device.getNumCudaMultiProcessors() *
-                           device.maxCudaThreadsPerMultiProcessor() / block_size;
-    const Index size = array_prod(evaluator.dimensions());
-    // Create a least one block to ensure we won't crash when tensorflow calls with tensors of size 0.
-    const int num_blocks = numext::maxi<int>(numext::mini<int>(max_blocks, divup<int>(size, block_size)), 1);
-
-    LAUNCH_CUDA_KERNEL(
-        (EigenMetaKernel<TensorEvaluator<Expression, GpuDevice>, Index>),
-        num_blocks, block_size, 0, device, evaluator, size);
-  }
-  evaluator.cleanup();
-}
-
-#endif  // __CUDACC__
-#endif  // EIGEN_USE_GPU
-
-// SYCL Executor policy
-#ifdef EIGEN_USE_SYCL
-
-template <typename Expression, bool Vectorizable>
-class TensorExecutor<Expression, SyclDevice, Vectorizable> {
-public:
-  static inline void run(const Expression &expr, const SyclDevice &device) {
-    // call TensorSYCL module
-    TensorSycl::run(expr, device);
-  }
-};
-
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_EXECUTOR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExpr.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExpr.h
deleted file mode 100644
index 85dfc7a69f760e..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExpr.h
+++ /dev/null
@@ -1,371 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_EXPR_H
-#define EIGEN_CXX11_TENSOR_TENSOR_EXPR_H
-
-namespace Eigen {
-
-/** \class TensorExpr
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor expression classes.
-  *
-  * The TensorCwiseNullaryOp class applies a nullary operators to an expression.
-  * This is typically used to generate constants.
-  *
-  * The TensorCwiseUnaryOp class represents an expression where a unary operator
-  * (e.g. cwiseSqrt) is applied to an expression.
-  *
-  * The TensorCwiseBinaryOp class represents an expression where a binary
-  * operator (e.g. addition) is applied to a lhs and a rhs expression.
-  *
-  */
-namespace internal {
-template<typename NullaryOp, typename XprType>
-struct traits<TensorCwiseNullaryOp<NullaryOp, XprType> >
-    : traits<XprType>
-{
-  typedef traits<XprType> XprTraits;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::Nested XprTypeNested;
-  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-
-  enum {
-    Flags = 0
-  };
-};
-
-}  // end namespace internal
-
-
-
-template<typename NullaryOp, typename XprType>
-class TensorCwiseNullaryOp : public TensorBase<TensorCwiseNullaryOp<NullaryOp, XprType>, ReadOnlyAccessors>
-{
-  public:
-    typedef typename Eigen::internal::traits<TensorCwiseNullaryOp>::Scalar Scalar;
-    typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-    typedef typename XprType::CoeffReturnType CoeffReturnType;
-    typedef TensorCwiseNullaryOp<NullaryOp, XprType> Nested;
-    typedef typename Eigen::internal::traits<TensorCwiseNullaryOp>::StorageKind StorageKind;
-    typedef typename Eigen::internal::traits<TensorCwiseNullaryOp>::Index Index;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCwiseNullaryOp(const XprType& xpr, const NullaryOp& func = NullaryOp())
-        : m_xpr(xpr), m_functor(func) {}
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    nestedExpression() const { return m_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    const NullaryOp& functor() const { return m_functor; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const NullaryOp m_functor;
-};
-
-
-
-namespace internal {
-template<typename UnaryOp, typename XprType>
-struct traits<TensorCwiseUnaryOp<UnaryOp, XprType> >
-    : traits<XprType>
-{
-  // TODO(phli): Add InputScalar, InputPacket.  Check references to
-  // current Scalar/Packet to see if the intent is Input or Output.
-  typedef typename result_of<UnaryOp(typename XprType::Scalar)>::type Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprType::Nested XprTypeNested;
-  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename UnaryOp, typename XprType>
-struct eval<TensorCwiseUnaryOp<UnaryOp, XprType>, Eigen::Dense>
-{
-  typedef const TensorCwiseUnaryOp<UnaryOp, XprType>& type;
-};
-
-template<typename UnaryOp, typename XprType>
-struct nested<TensorCwiseUnaryOp<UnaryOp, XprType>, 1, typename eval<TensorCwiseUnaryOp<UnaryOp, XprType> >::type>
-{
-  typedef TensorCwiseUnaryOp<UnaryOp, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename UnaryOp, typename XprType>
-class TensorCwiseUnaryOp : public TensorBase<TensorCwiseUnaryOp<UnaryOp, XprType>, ReadOnlyAccessors>
-{
-  public:
-    // TODO(phli): Add InputScalar, InputPacket.  Check references to
-    // current Scalar/Packet to see if the intent is Input or Output.
-    typedef typename Eigen::internal::traits<TensorCwiseUnaryOp>::Scalar Scalar;
-    typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-    typedef Scalar CoeffReturnType;
-    typedef typename Eigen::internal::nested<TensorCwiseUnaryOp>::type Nested;
-    typedef typename Eigen::internal::traits<TensorCwiseUnaryOp>::StorageKind StorageKind;
-    typedef typename Eigen::internal::traits<TensorCwiseUnaryOp>::Index Index;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
-      : m_xpr(xpr), m_functor(func) {}
-
-    EIGEN_DEVICE_FUNC
-    const UnaryOp& functor() const { return m_functor; }
-
-    /** \returns the nested expression */
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    nestedExpression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const UnaryOp m_functor;
-};
-
-
-namespace internal {
-template<typename BinaryOp, typename LhsXprType, typename RhsXprType>
-struct traits<TensorCwiseBinaryOp<BinaryOp, LhsXprType, RhsXprType> >
-{
-  // Type promotion to handle the case where the types of the lhs and the rhs
-  // are different.
-  // TODO(phli): Add Lhs/RhsScalar, Lhs/RhsPacket.  Check references to
-  // current Scalar/Packet to see if the intent is Inputs or Output.
-  typedef typename result_of<
-      BinaryOp(typename LhsXprType::Scalar,
-               typename RhsXprType::Scalar)>::type Scalar;
-  typedef traits<LhsXprType> XprTraits;
-  typedef typename promote_storage_type<
-      typename traits<LhsXprType>::StorageKind,
-      typename traits<RhsXprType>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<
-      typename traits<LhsXprType>::Index,
-      typename traits<RhsXprType>::Index>::type Index;
-  typedef typename LhsXprType::Nested LhsNested;
-  typedef typename RhsXprType::Nested RhsNested;
-  typedef typename remove_reference<LhsNested>::type _LhsNested;
-  typedef typename remove_reference<RhsNested>::type _RhsNested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-
-  enum {
-    Flags = 0
-  };
-};
-
-template<typename BinaryOp, typename LhsXprType, typename RhsXprType>
-struct eval<TensorCwiseBinaryOp<BinaryOp, LhsXprType, RhsXprType>, Eigen::Dense>
-{
-  typedef const TensorCwiseBinaryOp<BinaryOp, LhsXprType, RhsXprType>& type;
-};
-
-template<typename BinaryOp, typename LhsXprType, typename RhsXprType>
-struct nested<TensorCwiseBinaryOp<BinaryOp, LhsXprType, RhsXprType>, 1, typename eval<TensorCwiseBinaryOp<BinaryOp, LhsXprType, RhsXprType> >::type>
-{
-  typedef TensorCwiseBinaryOp<BinaryOp, LhsXprType, RhsXprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename BinaryOp, typename LhsXprType, typename RhsXprType>
-class TensorCwiseBinaryOp : public TensorBase<TensorCwiseBinaryOp<BinaryOp, LhsXprType, RhsXprType>, ReadOnlyAccessors>
-{
-  public:
-    // TODO(phli): Add Lhs/RhsScalar, Lhs/RhsPacket.  Check references to
-    // current Scalar/Packet to see if the intent is Inputs or Output.
-    typedef typename Eigen::internal::traits<TensorCwiseBinaryOp>::Scalar Scalar;
-    typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-    typedef Scalar CoeffReturnType;
-    typedef typename Eigen::internal::nested<TensorCwiseBinaryOp>::type Nested;
-    typedef typename Eigen::internal::traits<TensorCwiseBinaryOp>::StorageKind StorageKind;
-    typedef typename Eigen::internal::traits<TensorCwiseBinaryOp>::Index Index;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCwiseBinaryOp(const LhsXprType& lhs, const RhsXprType& rhs, const BinaryOp& func = BinaryOp())
-        : m_lhs_xpr(lhs), m_rhs_xpr(rhs), m_functor(func) {}
-
-    EIGEN_DEVICE_FUNC
-    const BinaryOp& functor() const { return m_functor; }
-
-    /** \returns the nested expressions */
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename LhsXprType::Nested>::type&
-    lhsExpression() const { return m_lhs_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename RhsXprType::Nested>::type&
-    rhsExpression() const { return m_rhs_xpr; }
-
-  protected:
-    typename LhsXprType::Nested m_lhs_xpr;
-    typename RhsXprType::Nested m_rhs_xpr;
-    const BinaryOp m_functor;
-};
-
-
-namespace internal {
-template<typename TernaryOp, typename Arg1XprType, typename Arg2XprType, typename Arg3XprType>
-struct traits<TensorCwiseTernaryOp<TernaryOp, Arg1XprType, Arg2XprType, Arg3XprType> >
-{
-  // Type promotion to handle the case where the types of the args are different.
-  typedef typename result_of<
-      TernaryOp(typename Arg1XprType::Scalar,
-                typename Arg2XprType::Scalar,
-                typename Arg3XprType::Scalar)>::type Scalar;
-  typedef traits<Arg1XprType> XprTraits;
-  typedef typename traits<Arg1XprType>::StorageKind StorageKind;
-  typedef typename traits<Arg1XprType>::Index Index;
-  typedef typename Arg1XprType::Nested Arg1Nested;
-  typedef typename Arg2XprType::Nested Arg2Nested;
-  typedef typename Arg3XprType::Nested Arg3Nested;
-  typedef typename remove_reference<Arg1Nested>::type _Arg1Nested;
-  typedef typename remove_reference<Arg2Nested>::type _Arg2Nested;
-  typedef typename remove_reference<Arg3Nested>::type _Arg3Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-
-  enum {
-    Flags = 0
-  };
-};
-
-template<typename TernaryOp, typename Arg1XprType, typename Arg2XprType, typename Arg3XprType>
-struct eval<TensorCwiseTernaryOp<TernaryOp, Arg1XprType, Arg2XprType, Arg3XprType>, Eigen::Dense>
-{
-  typedef const TensorCwiseTernaryOp<TernaryOp, Arg1XprType, Arg2XprType, Arg3XprType>& type;
-};
-
-template<typename TernaryOp, typename Arg1XprType, typename Arg2XprType, typename Arg3XprType>
-struct nested<TensorCwiseTernaryOp<TernaryOp, Arg1XprType, Arg2XprType, Arg3XprType>, 1, typename eval<TensorCwiseTernaryOp<TernaryOp, Arg1XprType, Arg2XprType, Arg3XprType> >::type>
-{
-  typedef TensorCwiseTernaryOp<TernaryOp, Arg1XprType, Arg2XprType, Arg3XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename TernaryOp, typename Arg1XprType, typename Arg2XprType, typename Arg3XprType>
-class TensorCwiseTernaryOp : public TensorBase<TensorCwiseTernaryOp<TernaryOp, Arg1XprType, Arg2XprType, Arg3XprType>, ReadOnlyAccessors>
-{
-  public:
-    typedef typename Eigen::internal::traits<TensorCwiseTernaryOp>::Scalar Scalar;
-    typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-    typedef Scalar CoeffReturnType;
-    typedef typename Eigen::internal::nested<TensorCwiseTernaryOp>::type Nested;
-    typedef typename Eigen::internal::traits<TensorCwiseTernaryOp>::StorageKind StorageKind;
-    typedef typename Eigen::internal::traits<TensorCwiseTernaryOp>::Index Index;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCwiseTernaryOp(const Arg1XprType& arg1, const Arg2XprType& arg2, const Arg3XprType& arg3, const TernaryOp& func = TernaryOp())
-        : m_arg1_xpr(arg1), m_arg2_xpr(arg2), m_arg3_xpr(arg3), m_functor(func) {}
-
-    EIGEN_DEVICE_FUNC
-    const TernaryOp& functor() const { return m_functor; }
-
-    /** \returns the nested expressions */
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename Arg1XprType::Nested>::type&
-    arg1Expression() const { return m_arg1_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename Arg2XprType::Nested>::type&
-    arg2Expression() const { return m_arg2_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename Arg3XprType::Nested>::type&
-    arg3Expression() const { return m_arg3_xpr; }
-
-  protected:
-    typename Arg1XprType::Nested m_arg1_xpr;
-    typename Arg2XprType::Nested m_arg2_xpr;
-    typename Arg3XprType::Nested m_arg3_xpr;
-    const TernaryOp m_functor;
-};
-
-
-namespace internal {
-template<typename IfXprType, typename ThenXprType, typename ElseXprType>
-struct traits<TensorSelectOp<IfXprType, ThenXprType, ElseXprType> >
-    : traits<ThenXprType>
-{
-  typedef typename traits<ThenXprType>::Scalar Scalar;
-  typedef traits<ThenXprType> XprTraits;
-  typedef typename promote_storage_type<typename traits<ThenXprType>::StorageKind,
-                                        typename traits<ElseXprType>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<ElseXprType>::Index,
-                                      typename traits<ThenXprType>::Index>::type Index;
-  typedef typename IfXprType::Nested IfNested;
-  typedef typename ThenXprType::Nested ThenNested;
-  typedef typename ElseXprType::Nested ElseNested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename IfXprType, typename ThenXprType, typename ElseXprType>
-struct eval<TensorSelectOp<IfXprType, ThenXprType, ElseXprType>, Eigen::Dense>
-{
-  typedef const TensorSelectOp<IfXprType, ThenXprType, ElseXprType>& type;
-};
-
-template<typename IfXprType, typename ThenXprType, typename ElseXprType>
-struct nested<TensorSelectOp<IfXprType, ThenXprType, ElseXprType>, 1, typename eval<TensorSelectOp<IfXprType, ThenXprType, ElseXprType> >::type>
-{
-  typedef TensorSelectOp<IfXprType, ThenXprType, ElseXprType> type;
-};
-
-}  // end namespace internal
-
-
-template<typename IfXprType, typename ThenXprType, typename ElseXprType>
-class TensorSelectOp : public TensorBase<TensorSelectOp<IfXprType, ThenXprType, ElseXprType>, ReadOnlyAccessors>
-{
-  public:
-    typedef typename Eigen::internal::traits<TensorSelectOp>::Scalar Scalar;
-    typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-    typedef typename internal::promote_storage_type<typename ThenXprType::CoeffReturnType,
-                                                    typename ElseXprType::CoeffReturnType>::ret CoeffReturnType;
-    typedef typename Eigen::internal::nested<TensorSelectOp>::type Nested;
-    typedef typename Eigen::internal::traits<TensorSelectOp>::StorageKind StorageKind;
-    typedef typename Eigen::internal::traits<TensorSelectOp>::Index Index;
-
-    EIGEN_DEVICE_FUNC
-    TensorSelectOp(const IfXprType& a_condition,
-                   const ThenXprType& a_then,
-                   const ElseXprType& a_else)
-      : m_condition(a_condition), m_then(a_then), m_else(a_else)
-    { }
-
-    EIGEN_DEVICE_FUNC
-    const IfXprType& ifExpression() const { return m_condition; }
-
-    EIGEN_DEVICE_FUNC
-    const ThenXprType& thenExpression() const { return m_then; }
-
-    EIGEN_DEVICE_FUNC
-    const ElseXprType& elseExpression() const { return m_else; }
-
-  protected:
-    typename IfXprType::Nested m_condition;
-    typename ThenXprType::Nested m_then;
-    typename ElseXprType::Nested m_else;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_EXPR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h
deleted file mode 100644
index 08eb5595a28e96..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h
+++ /dev/null
@@ -1,651 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Jianwei Cui <thucjw@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_FFT_H
-#define EIGEN_CXX11_TENSOR_TENSOR_FFT_H
-
-// This code requires the ability to initialize arrays of constant
-// values directly inside a class.
-#if __cplusplus >= 201103L || EIGEN_COMP_MSVC >= 1900
-
-namespace Eigen {
-
-/** \class TensorFFT
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor FFT class.
-  *
-  * TODO:
-  * Vectorize the Cooley Tukey and the Bluestein algorithm
-  * Add support for multithreaded evaluation
-  * Improve the performance on GPU
-  */
-
-template <bool NeedUprade> struct MakeComplex {
-  template <typename T>
-  EIGEN_DEVICE_FUNC
-  T operator() (const T& val) const { return val; }
-};
-
-template <> struct MakeComplex<true> {
-  template <typename T>
-  EIGEN_DEVICE_FUNC
-  std::complex<T> operator() (const T& val) const { return std::complex<T>(val, 0); }
-};
-
-template <> struct MakeComplex<false> {
-  template <typename T>
-  EIGEN_DEVICE_FUNC
-  std::complex<T> operator() (const std::complex<T>& val) const { return val; }
-};
-
-template <int ResultType> struct PartOf {
-  template <typename T> T operator() (const T& val) const { return val; }
-};
-
-template <> struct PartOf<RealPart> {
-  template <typename T> T operator() (const std::complex<T>& val) const { return val.real(); }
-};
-
-template <> struct PartOf<ImagPart> {
-  template <typename T> T operator() (const std::complex<T>& val) const { return val.imag(); }
-};
-
-namespace internal {
-template <typename FFT, typename XprType, int FFTResultType, int FFTDir>
-struct traits<TensorFFTOp<FFT, XprType, FFTResultType, FFTDir> > : public traits<XprType> {
-  typedef traits<XprType> XprTraits;
-  typedef typename NumTraits<typename XprTraits::Scalar>::Real RealScalar;
-  typedef typename std::complex<RealScalar> ComplexScalar;
-  typedef typename XprTraits::Scalar InputScalar;
-  typedef typename conditional<FFTResultType == RealPart || FFTResultType == ImagPart, RealScalar, ComplexScalar>::type OutputScalar;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template <typename FFT, typename XprType, int FFTResultType, int FFTDirection>
-struct eval<TensorFFTOp<FFT, XprType, FFTResultType, FFTDirection>, Eigen::Dense> {
-  typedef const TensorFFTOp<FFT, XprType, FFTResultType, FFTDirection>& type;
-};
-
-template <typename FFT, typename XprType, int FFTResultType, int FFTDirection>
-struct nested<TensorFFTOp<FFT, XprType, FFTResultType, FFTDirection>, 1, typename eval<TensorFFTOp<FFT, XprType, FFTResultType, FFTDirection> >::type> {
-  typedef TensorFFTOp<FFT, XprType, FFTResultType, FFTDirection> type;
-};
-
-}  // end namespace internal
-
-template <typename FFT, typename XprType, int FFTResultType, int FFTDir>
-class TensorFFTOp : public TensorBase<TensorFFTOp<FFT, XprType, FFTResultType, FFTDir>, ReadOnlyAccessors> {
- public:
-  typedef typename Eigen::internal::traits<TensorFFTOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename std::complex<RealScalar> ComplexScalar;
-  typedef typename internal::conditional<FFTResultType == RealPart || FFTResultType == ImagPart, RealScalar, ComplexScalar>::type OutputScalar;
-  typedef OutputScalar CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorFFTOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorFFTOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorFFTOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorFFTOp(const XprType& expr, const FFT& fft)
-      : m_xpr(expr), m_fft(fft) {}
-
-  EIGEN_DEVICE_FUNC
-  const FFT& fft() const { return m_fft; }
-
-  EIGEN_DEVICE_FUNC
-  const typename internal::remove_all<typename XprType::Nested>::type& expression() const {
-    return m_xpr;
-  }
-
- protected:
-  typename XprType::Nested m_xpr;
-  const FFT m_fft;
-};
-
-// Eval as rvalue
-template <typename FFT, typename ArgType, typename Device, int FFTResultType, int FFTDir>
-struct TensorEvaluator<const TensorFFTOp<FFT, ArgType, FFTResultType, FFTDir>, Device> {
-  typedef TensorFFTOp<FFT, ArgType, FFTResultType, FFTDir> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename std::complex<RealScalar> ComplexScalar;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions InputDimensions;
-  typedef internal::traits<XprType> XprTraits;
-  typedef typename XprTraits::Scalar InputScalar;
-  typedef typename internal::conditional<FFTResultType == RealPart || FFTResultType == ImagPart, RealScalar, ComplexScalar>::type OutputScalar;
-  typedef OutputScalar CoeffReturnType;
-  typedef typename PacketType<OutputScalar, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = true,
-    BlockAccess = false,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) : m_fft(op.fft()), m_impl(op.expression(), device), m_data(NULL), m_device(device) {
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    for (int i = 0; i < NumDims; ++i) {
-      eigen_assert(input_dims[i] > 0);
-      m_dimensions[i] = input_dims[i];
-    }
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_strides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_strides[i] = m_strides[i - 1] * m_dimensions[i - 1];
-      }
-    } else {
-      m_strides[NumDims - 1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_strides[i] = m_strides[i + 1] * m_dimensions[i + 1];
-      }
-    }
-    m_size = m_dimensions.TotalSize();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const {
-    return m_dimensions;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(OutputScalar* data) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    if (data) {
-      evalToBuf(data);
-      return false;
-    } else {
-      m_data = (CoeffReturnType*)m_device.allocate(sizeof(CoeffReturnType) * m_size);
-      evalToBuf(m_data);
-      return true;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    if (m_data) {
-      m_device.deallocate(m_data);
-      m_data = NULL;
-    }
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE CoeffReturnType coeff(Index index) const {
-    return m_data[index];
-  }
-
-  template <int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketReturnType
-  packet(Index index) const {
-    return internal::ploadt<PacketReturnType, LoadMode>(m_data + index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return m_data; }
-
-
- private:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalToBuf(OutputScalar* data) {
-    const bool write_to_out = internal::is_same<OutputScalar, ComplexScalar>::value;
-    ComplexScalar* buf = write_to_out ? (ComplexScalar*)data : (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * m_size);
-
-    for (Index i = 0; i < m_size; ++i) {
-      buf[i] = MakeComplex<internal::is_same<InputScalar, RealScalar>::value>()(m_impl.coeff(i));
-    }
-
-    for (size_t i = 0; i < m_fft.size(); ++i) {
-      Index dim = m_fft[i];
-      eigen_assert(dim >= 0 && dim < NumDims);
-      Index line_len = m_dimensions[dim];
-      eigen_assert(line_len >= 1);
-      ComplexScalar* line_buf = (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * line_len);
-      const bool is_power_of_two = isPowerOfTwo(line_len);
-      const Index good_composite = is_power_of_two ? 0 : findGoodComposite(line_len);
-      const Index log_len = is_power_of_two ? getLog2(line_len) : getLog2(good_composite);
-
-      ComplexScalar* a = is_power_of_two ? NULL : (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * good_composite);
-      ComplexScalar* b = is_power_of_two ? NULL : (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * good_composite);
-      ComplexScalar* pos_j_base_powered = is_power_of_two ? NULL : (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * (line_len + 1));
-      if (!is_power_of_two) {
-        // Compute twiddle factors
-        //   t_n = exp(sqrt(-1) * pi * n^2 / line_len)
-        // for n = 0, 1,..., line_len-1.
-        // For n > 2 we use the recurrence t_n = t_{n-1}^2 / t_{n-2} * t_1^2
-        pos_j_base_powered[0] = ComplexScalar(1, 0);
-        if (line_len > 1) {
-          const RealScalar pi_over_len(EIGEN_PI / line_len);
-          const ComplexScalar pos_j_base = ComplexScalar(
-	       std::cos(pi_over_len), std::sin(pi_over_len));
-          pos_j_base_powered[1] = pos_j_base;
-          if (line_len > 2) {
-            const ComplexScalar pos_j_base_sq = pos_j_base * pos_j_base;
-            for (int j = 2; j < line_len + 1; ++j) {
-              pos_j_base_powered[j] = pos_j_base_powered[j - 1] *
-                                      pos_j_base_powered[j - 1] /
-                                      pos_j_base_powered[j - 2] * pos_j_base_sq;
-            }
-          }
-        }
-      }
-
-      for (Index partial_index = 0; partial_index < m_size / line_len; ++partial_index) {
-        const Index base_offset = getBaseOffsetFromIndex(partial_index, dim);
-
-        // get data into line_buf
-        const Index stride = m_strides[dim];
-        if (stride == 1) {
-          memcpy(line_buf, &buf[base_offset], line_len*sizeof(ComplexScalar));
-        } else {
-          Index offset = base_offset;
-          for (int j = 0; j < line_len; ++j, offset += stride) {
-            line_buf[j] = buf[offset];
-          }
-        }
-
-        // processs the line
-        if (is_power_of_two) {
-          processDataLineCooleyTukey(line_buf, line_len, log_len);
-        }
-        else {
-          processDataLineBluestein(line_buf, line_len, good_composite, log_len, a, b, pos_j_base_powered);
-        }
-
-        // write back
-        if (FFTDir == FFT_FORWARD && stride == 1) {
-          memcpy(&buf[base_offset], line_buf, line_len*sizeof(ComplexScalar));
-        } else {
-          Index offset = base_offset;
-          const ComplexScalar div_factor =  ComplexScalar(1.0 / line_len, 0);
-          for (int j = 0; j < line_len; ++j, offset += stride) {
-             buf[offset] = (FFTDir == FFT_FORWARD) ? line_buf[j] : line_buf[j] * div_factor;
-          }
-        }
-      }
-      m_device.deallocate(line_buf);
-      if (!is_power_of_two) {
-        m_device.deallocate(a);
-        m_device.deallocate(b);
-        m_device.deallocate(pos_j_base_powered);
-      }
-    }
-
-    if(!write_to_out) {
-      for (Index i = 0; i < m_size; ++i) {
-        data[i] = PartOf<FFTResultType>()(buf[i]);
-      }
-      m_device.deallocate(buf);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static bool isPowerOfTwo(Index x) {
-    eigen_assert(x > 0);
-    return !(x & (x - 1));
-  }
-
-  // The composite number for padding, used in Bluestein's FFT algorithm
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static Index findGoodComposite(Index n) {
-    Index i = 2;
-    while (i < 2 * n - 1) i *= 2;
-    return i;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static Index getLog2(Index m) {
-    Index log2m = 0;
-    while (m >>= 1) log2m++;
-    return log2m;
-  }
-
-  // Call Cooley Tukey algorithm directly, data length must be power of 2
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void processDataLineCooleyTukey(ComplexScalar* line_buf, Index line_len, Index log_len) {
-    eigen_assert(isPowerOfTwo(line_len));
-    scramble_FFT(line_buf, line_len);
-    compute_1D_Butterfly<FFTDir>(line_buf, line_len, log_len);
-  }
-
-  // Call Bluestein's FFT algorithm, m is a good composite number greater than (2 * n - 1), used as the padding length
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void processDataLineBluestein(ComplexScalar* line_buf, Index line_len, Index good_composite, Index log_len, ComplexScalar* a, ComplexScalar* b, const ComplexScalar* pos_j_base_powered) {
-    Index n = line_len;
-    Index m = good_composite;
-    ComplexScalar* data = line_buf;
-
-    for (Index i = 0; i < n; ++i) {
-      if(FFTDir == FFT_FORWARD) {
-        a[i] = data[i] * numext::conj(pos_j_base_powered[i]);
-      }
-      else {
-        a[i] = data[i] * pos_j_base_powered[i];
-      }
-    }
-    for (Index i = n; i < m; ++i) {
-      a[i] = ComplexScalar(0, 0);
-    }
-
-    for (Index i = 0; i < n; ++i) {
-      if(FFTDir == FFT_FORWARD) {
-        b[i] = pos_j_base_powered[i];
-      }
-      else {
-        b[i] = numext::conj(pos_j_base_powered[i]);
-      }
-    }
-    for (Index i = n; i < m - n; ++i) {
-      b[i] = ComplexScalar(0, 0);
-    }
-    for (Index i = m - n; i < m; ++i) {
-      if(FFTDir == FFT_FORWARD) {
-        b[i] = pos_j_base_powered[m-i];
-      }
-      else {
-        b[i] = numext::conj(pos_j_base_powered[m-i]);
-      }
-    }
-
-    scramble_FFT(a, m);
-    compute_1D_Butterfly<FFT_FORWARD>(a, m, log_len);
-
-    scramble_FFT(b, m);
-    compute_1D_Butterfly<FFT_FORWARD>(b, m, log_len);
-
-    for (Index i = 0; i < m; ++i) {
-      a[i] *= b[i];
-    }
-
-    scramble_FFT(a, m);
-    compute_1D_Butterfly<FFT_REVERSE>(a, m, log_len);
-
-    //Do the scaling after ifft
-    for (Index i = 0; i < m; ++i) {
-      a[i] /= m;
-    }
-
-    for (Index i = 0; i < n; ++i) {
-      if(FFTDir == FFT_FORWARD) {
-        data[i] = a[i] * numext::conj(pos_j_base_powered[i]);
-      }
-      else {
-        data[i] = a[i] * pos_j_base_powered[i];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static void scramble_FFT(ComplexScalar* data, Index n) {
-    eigen_assert(isPowerOfTwo(n));
-    Index j = 1;
-    for (Index i = 1; i < n; ++i){
-      if (j > i) {
-        std::swap(data[j-1], data[i-1]);
-      }
-      Index m = n >> 1;
-      while (m >= 2 && j > m) {
-        j -= m;
-        m >>= 1;
-      }
-      j += m;
-    }
-  }
-
-  template <int Dir>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_2(ComplexScalar* data) {
-    ComplexScalar tmp = data[1];
-    data[1] = data[0] - data[1];
-    data[0] += tmp;
-  }
-
-  template <int Dir>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_4(ComplexScalar* data) {
-    ComplexScalar tmp[4];
-    tmp[0] = data[0] + data[1];
-    tmp[1] = data[0] - data[1];
-    tmp[2] = data[2] + data[3];
-    if (Dir == FFT_FORWARD) {
-      tmp[3] = ComplexScalar(0.0, -1.0) * (data[2] - data[3]);
-    } else {
-      tmp[3] = ComplexScalar(0.0, 1.0) * (data[2] - data[3]);
-    }
-    data[0] = tmp[0] + tmp[2];
-    data[1] = tmp[1] + tmp[3];
-    data[2] = tmp[0] - tmp[2];
-    data[3] = tmp[1] - tmp[3];
-  }
-
-  template <int Dir>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_8(ComplexScalar* data) {
-    ComplexScalar tmp_1[8];
-    ComplexScalar tmp_2[8];
-
-    tmp_1[0] = data[0] + data[1];
-    tmp_1[1] = data[0] - data[1];
-    tmp_1[2] = data[2] + data[3];
-    if (Dir == FFT_FORWARD) {
-      tmp_1[3] = (data[2] - data[3]) * ComplexScalar(0, -1);
-    } else {
-      tmp_1[3] = (data[2] - data[3]) * ComplexScalar(0, 1);
-    }
-    tmp_1[4] = data[4] + data[5];
-    tmp_1[5] = data[4] - data[5];
-    tmp_1[6] = data[6] + data[7];
-    if (Dir == FFT_FORWARD) {
-      tmp_1[7] = (data[6] - data[7]) * ComplexScalar(0, -1);
-    } else {
-      tmp_1[7] = (data[6] - data[7]) * ComplexScalar(0, 1);
-    }
-    tmp_2[0] = tmp_1[0] + tmp_1[2];
-    tmp_2[1] = tmp_1[1] + tmp_1[3];
-    tmp_2[2] = tmp_1[0] - tmp_1[2];
-    tmp_2[3] = tmp_1[1] - tmp_1[3];
-    tmp_2[4] = tmp_1[4] + tmp_1[6];
-// SQRT2DIV2 = sqrt(2)/2
-#define SQRT2DIV2 0.7071067811865476
-    if (Dir == FFT_FORWARD) {
-      tmp_2[5] = (tmp_1[5] + tmp_1[7]) * ComplexScalar(SQRT2DIV2, -SQRT2DIV2);
-      tmp_2[6] = (tmp_1[4] - tmp_1[6]) * ComplexScalar(0, -1);
-      tmp_2[7] = (tmp_1[5] - tmp_1[7]) * ComplexScalar(-SQRT2DIV2, -SQRT2DIV2);
-    } else {
-      tmp_2[5] = (tmp_1[5] + tmp_1[7]) * ComplexScalar(SQRT2DIV2, SQRT2DIV2);
-      tmp_2[6] = (tmp_1[4] - tmp_1[6]) * ComplexScalar(0, 1);
-      tmp_2[7] = (tmp_1[5] - tmp_1[7]) * ComplexScalar(-SQRT2DIV2, SQRT2DIV2);
-    }
-    data[0] = tmp_2[0] + tmp_2[4];
-    data[1] = tmp_2[1] + tmp_2[5];
-    data[2] = tmp_2[2] + tmp_2[6];
-    data[3] = tmp_2[3] + tmp_2[7];
-    data[4] = tmp_2[0] - tmp_2[4];
-    data[5] = tmp_2[1] - tmp_2[5];
-    data[6] = tmp_2[2] - tmp_2[6];
-    data[7] = tmp_2[3] - tmp_2[7];
-  }
-
-  template <int Dir>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_1D_merge(
-      ComplexScalar* data, Index n, Index n_power_of_2) {
-    // Original code:
-    // RealScalar wtemp = std::sin(M_PI/n);
-    // RealScalar wpi =  -std::sin(2 * M_PI/n);
-    const RealScalar wtemp = m_sin_PI_div_n_LUT[n_power_of_2];
-    const RealScalar wpi = (Dir == FFT_FORWARD)
-                               ? m_minus_sin_2_PI_div_n_LUT[n_power_of_2]
-                               : -m_minus_sin_2_PI_div_n_LUT[n_power_of_2];
-
-    const ComplexScalar wp(wtemp, wpi);
-    const ComplexScalar wp_one = wp + ComplexScalar(1, 0);
-    const ComplexScalar wp_one_2 = wp_one * wp_one;
-    const ComplexScalar wp_one_3 = wp_one_2 * wp_one;
-    const ComplexScalar wp_one_4 = wp_one_3 * wp_one;
-    const Index n2 = n / 2;
-    ComplexScalar w(1.0, 0.0);
-    for (Index i = 0; i < n2; i += 4) {
-       ComplexScalar temp0(data[i + n2] * w);
-       ComplexScalar temp1(data[i + 1 + n2] * w * wp_one);
-       ComplexScalar temp2(data[i + 2 + n2] * w * wp_one_2);
-       ComplexScalar temp3(data[i + 3 + n2] * w * wp_one_3);
-       w = w * wp_one_4;
-
-       data[i + n2] = data[i] - temp0;
-       data[i] += temp0;
-
-       data[i + 1 + n2] = data[i + 1] - temp1;
-       data[i + 1] += temp1;
-
-       data[i + 2 + n2] = data[i + 2] - temp2;
-       data[i + 2] += temp2;
-
-       data[i + 3 + n2] = data[i + 3] - temp3;
-       data[i + 3] += temp3;
-    }
-  }
-
- template <int Dir>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void compute_1D_Butterfly(
-      ComplexScalar* data, Index n, Index n_power_of_2) {
-    eigen_assert(isPowerOfTwo(n));
-    if (n > 8) {
-      compute_1D_Butterfly<Dir>(data, n / 2, n_power_of_2 - 1);
-      compute_1D_Butterfly<Dir>(data + n / 2, n / 2, n_power_of_2 - 1);
-      butterfly_1D_merge<Dir>(data, n, n_power_of_2);
-    } else if (n == 8) {
-      butterfly_8<Dir>(data);
-    } else if (n == 4) {
-      butterfly_4<Dir>(data);
-    } else if (n == 2) {
-      butterfly_2<Dir>(data);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index getBaseOffsetFromIndex(Index index, Index omitted_dim) const {
-    Index result = 0;
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > omitted_dim; --i) {
-        const Index partial_m_stride = m_strides[i] / m_dimensions[omitted_dim];
-        const Index idx = index / partial_m_stride;
-        index -= idx * partial_m_stride;
-        result += idx * m_strides[i];
-      }
-      result += index;
-    }
-    else {
-      for (Index i = 0; i < omitted_dim; ++i) {
-        const Index partial_m_stride = m_strides[i] / m_dimensions[omitted_dim];
-        const Index idx = index / partial_m_stride;
-        index -= idx * partial_m_stride;
-        result += idx * m_strides[i];
-      }
-      result += index;
-    }
-    // Value of index_coords[omitted_dim] is not determined to this step
-    return result;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index getIndexFromOffset(Index base, Index omitted_dim, Index offset) const {
-    Index result = base + offset * m_strides[omitted_dim] ;
-    return result;
-  }
-
- protected:
-  Index m_size;
-  const FFT& m_fft;
-  Dimensions m_dimensions;
-  array<Index, NumDims> m_strides;
-  TensorEvaluator<ArgType, Device> m_impl;
-  CoeffReturnType* m_data;
-  const Device& m_device;
-
-  // This will support a maximum FFT size of 2^32 for each dimension
-  // m_sin_PI_div_n_LUT[i] = (-2) * std::sin(M_PI / std::pow(2,i)) ^ 2;
-  const RealScalar m_sin_PI_div_n_LUT[32] = {
-    RealScalar(0.0),
-    RealScalar(-2),
-    RealScalar(-0.999999999999999),
-    RealScalar(-0.292893218813453),
-    RealScalar(-0.0761204674887130),
-    RealScalar(-0.0192147195967696),
-    RealScalar(-0.00481527332780311),
-    RealScalar(-0.00120454379482761),
-    RealScalar(-3.01181303795779e-04),
-    RealScalar(-7.52981608554592e-05),
-    RealScalar(-1.88247173988574e-05),
-    RealScalar(-4.70619042382852e-06),
-    RealScalar(-1.17654829809007e-06),
-    RealScalar(-2.94137117780840e-07),
-    RealScalar(-7.35342821488550e-08),
-    RealScalar(-1.83835707061916e-08),
-    RealScalar(-4.59589268710903e-09),
-    RealScalar(-1.14897317243732e-09),
-    RealScalar(-2.87243293150586e-10),
-    RealScalar( -7.18108232902250e-11),
-    RealScalar(-1.79527058227174e-11),
-    RealScalar(-4.48817645568941e-12),
-    RealScalar(-1.12204411392298e-12),
-    RealScalar(-2.80511028480785e-13),
-    RealScalar(-7.01277571201985e-14),
-    RealScalar(-1.75319392800498e-14),
-    RealScalar(-4.38298482001247e-15),
-    RealScalar(-1.09574620500312e-15),
-    RealScalar(-2.73936551250781e-16),
-    RealScalar(-6.84841378126949e-17),
-    RealScalar(-1.71210344531737e-17),
-    RealScalar(-4.28025861329343e-18)
-  };
-
-  // m_minus_sin_2_PI_div_n_LUT[i] = -std::sin(2 * M_PI / std::pow(2,i));
-  const RealScalar m_minus_sin_2_PI_div_n_LUT[32] = {
-    RealScalar(0.0),
-    RealScalar(0.0),
-    RealScalar(-1.00000000000000e+00),
-    RealScalar(-7.07106781186547e-01),
-    RealScalar(-3.82683432365090e-01),
-    RealScalar(-1.95090322016128e-01),
-    RealScalar(-9.80171403295606e-02),
-    RealScalar(-4.90676743274180e-02),
-    RealScalar(-2.45412285229123e-02),
-    RealScalar(-1.22715382857199e-02),
-    RealScalar(-6.13588464915448e-03),
-    RealScalar(-3.06795676296598e-03),
-    RealScalar(-1.53398018628477e-03),
-    RealScalar(-7.66990318742704e-04),
-    RealScalar(-3.83495187571396e-04),
-    RealScalar(-1.91747597310703e-04),
-    RealScalar(-9.58737990959773e-05),
-    RealScalar(-4.79368996030669e-05),
-    RealScalar(-2.39684498084182e-05),
-    RealScalar(-1.19842249050697e-05),
-    RealScalar(-5.99211245264243e-06),
-    RealScalar(-2.99605622633466e-06),
-    RealScalar(-1.49802811316901e-06),
-    RealScalar(-7.49014056584716e-07),
-    RealScalar(-3.74507028292384e-07),
-    RealScalar(-1.87253514146195e-07),
-    RealScalar(-9.36267570730981e-08),
-    RealScalar(-4.68133785365491e-08),
-    RealScalar(-2.34066892682746e-08),
-    RealScalar(-1.17033446341373e-08),
-    RealScalar(-5.85167231706864e-09),
-    RealScalar(-2.92583615853432e-09)
-  };
-};
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_HAS_CONSTEXPR
-
-
-#endif  // EIGEN_CXX11_TENSOR_TENSOR_FFT_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFixedSize.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFixedSize.h
deleted file mode 100644
index fcee5f60d03688..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFixedSize.h
+++ /dev/null
@@ -1,389 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_FIXED_SIZE_H
-#define EIGEN_CXX11_TENSOR_TENSOR_FIXED_SIZE_H
-
-namespace Eigen {
-
-/** \class TensorFixedSize
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief The fixed sized version of the tensor class.
-  *
-  * The fixed sized equivalent of
-  * Eigen::Tensor<float, 3> t(3, 5, 7);
-  * is
-  * Eigen::TensorFixedSize<float, Size<3,5,7>> t;
-  */
-
-template<typename Scalar_, typename Dimensions_, int Options_, typename IndexType>
-class TensorFixedSize : public TensorBase<TensorFixedSize<Scalar_, Dimensions_, Options_, IndexType> >
-{
-  public:
-    typedef TensorFixedSize<Scalar_, Dimensions_, Options_, IndexType> Self;
-    typedef TensorBase<TensorFixedSize<Scalar_, Dimensions_, Options_, IndexType> > Base;
-    typedef typename Eigen::internal::nested<Self>::type Nested;
-    typedef typename internal::traits<Self>::StorageKind StorageKind;
-    typedef typename internal::traits<Self>::Index Index;
-    typedef Scalar_ Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename Base::CoeffReturnType CoeffReturnType;
-
-    static const int Options = Options_;
-
-    enum {
-      IsAligned = bool(EIGEN_MAX_ALIGN_BYTES>0),
-      Layout = Options_ & RowMajor ? RowMajor : ColMajor,
-      CoordAccess = true,
-      RawAccess = true
-    };
-
-  typedef Dimensions_ Dimensions;
-  static const std::size_t NumIndices = Dimensions::count;
-
-  protected:
-  TensorStorage<Scalar, Dimensions, Options> m_storage;
-
-  public:
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index                    rank()                   const { return NumIndices; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index                    dimension(std::size_t n) const { return m_storage.dimensions()[n]; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions&        dimensions()             const { return m_storage.dimensions(); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index                    size()                   const { return m_storage.size(); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar                   *data()                        { return m_storage.data(); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar             *data()                  const { return m_storage.data(); }
-
-    // This makes EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
-    // work, because that uses base().coeffRef() - and we don't yet
-    // implement a similar class hierarchy
-    inline Self& base()             { return *this; }
-    inline const Self& base() const { return *this; }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(Index firstIndex, IndexTypes... otherIndices) const
-    {
-      // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return coeff(array<Index, NumIndices>{{firstIndex, otherIndices...}});
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& coeff(const array<Index, NumIndices>& indices) const
-    {
-      eigen_internal_assert(checkIndexRange(indices));
-      return m_storage.data()[linearizedIndex(indices)];
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      return m_storage.data()[index];
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& coeff() const
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return m_storage.data()[0];
-    }
-
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index firstIndex, IndexTypes... otherIndices)
-    {
-      // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return coeffRef(array<Index, NumIndices>{{firstIndex, otherIndices...}});
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(const array<Index, NumIndices>& indices)
-    {
-      eigen_internal_assert(checkIndexRange(indices));
-      return m_storage.data()[linearizedIndex(indices)];
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      return m_storage.data()[index];
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef()
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return m_storage.data()[0];
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()(Index firstIndex, IndexTypes... otherIndices) const
-    {
-      // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return this->operator()(array<Index, NumIndices>{{firstIndex, otherIndices...}});
-    }
-#else
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1) const
-    {
-      if (Options&RowMajor) {
-        const Index index = i1 + i0 * m_storage.dimensions()[1];
-        return m_storage.data()[index];
-      } else {
-        const Index index = i0 + i1 * m_storage.dimensions()[0];
-        return m_storage.data()[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2) const
-    {
-      if (Options&RowMajor) {
-         const Index index = i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0);
-         return m_storage.data()[index];
-      } else {
-         const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * i2);
-        return m_storage.data()[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3) const
-    {
-      if (Options&RowMajor) {
-        const Index index = i3 + m_storage.dimensions()[3] * (i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0));
-        return m_storage.data()[index];
-      } else {
-        const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * (i2 + m_storage.dimensions()[2] * i3));
-        return m_storage.data()[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) const
-    {
-      if (Options&RowMajor) {
-        const Index index = i4 + m_storage.dimensions()[4] * (i3 + m_storage.dimensions()[3] * (i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0)));
-        return m_storage.data()[index];
-      } else {
-        const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * (i2 + m_storage.dimensions()[2] * (i3 + m_storage.dimensions()[3] * i4)));
-        return m_storage.data()[index];
-      }
-    }
-#endif
-
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(const array<Index, NumIndices>& indices) const
-    {
-      eigen_assert(checkIndexRange(indices));
-      return coeff(indices);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index index) const
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      return coeff(index);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()() const
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return coeff();
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator[](Index index) const
-    {
-      // The bracket operator is only for vectors, use the parenthesis operator instead.
-      EIGEN_STATIC_ASSERT(NumIndices == 1, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return coeff(index);
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(Index firstIndex, IndexTypes... otherIndices)
-    {
-      // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return operator()(array<Index, NumIndices>{{firstIndex, otherIndices...}});
-    }
-#else
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1)
-    {
-       if (Options&RowMajor) {
-         const Index index = i1 + i0 * m_storage.dimensions()[1];
-        return m_storage.data()[index];
-      } else {
-        const Index index = i0 + i1 * m_storage.dimensions()[0];
-        return m_storage.data()[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2)
-    {
-       if (Options&RowMajor) {
-         const Index index = i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0);
-        return m_storage.data()[index];
-      } else {
-         const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * i2);
-        return m_storage.data()[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3)
-    {
-      if (Options&RowMajor) {
-        const Index index = i3 + m_storage.dimensions()[3] * (i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0));
-        return m_storage.data()[index];
-      } else {
-        const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * (i2 + m_storage.dimensions()[2] * i3));
-        return m_storage.data()[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4)
-    {
-      if (Options&RowMajor) {
-        const Index index = i4 + m_storage.dimensions()[4] * (i3 + m_storage.dimensions()[3] * (i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0)));
-        return m_storage.data()[index];
-      } else {
-        const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * (i2 + m_storage.dimensions()[2] * (i3 + m_storage.dimensions()[3] * i4)));
-        return m_storage.data()[index];
-      }
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(const array<Index, NumIndices>& indices)
-    {
-      eigen_assert(checkIndexRange(indices));
-      return coeffRef(indices);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index index)
-    {
-      eigen_assert(index >= 0 && index < size());
-      return coeffRef(index);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()()
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return coeffRef();
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator[](Index index)
-    {
-      // The bracket operator is only for vectors, use the parenthesis operator instead
-      EIGEN_STATIC_ASSERT(NumIndices == 1, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return coeffRef(index);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorFixedSize()
-      : m_storage()
-    {
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorFixedSize(const Self& other)
-      : m_storage(other.m_storage)
-    {
-    }
-
-#if EIGEN_HAS_RVALUE_REFERENCES
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorFixedSize(Self&& other)
-      : m_storage(other.m_storage)
-    {
-    }
-#endif
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorFixedSize(const TensorBase<OtherDerived, ReadOnlyAccessors>& other)
-    {
-      typedef TensorAssignOp<TensorFixedSize, const OtherDerived> Assign;
-      Assign assign(*this, other.derived());
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-    }
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorFixedSize(const TensorBase<OtherDerived, WriteAccessors>& other)
-    {
-      typedef TensorAssignOp<TensorFixedSize, const OtherDerived> Assign;
-      Assign assign(*this, other.derived());
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorFixedSize& operator=(const TensorFixedSize& other)
-    {
-      // FIXME: check that the dimensions of other match the dimensions of *this.
-      // Unfortunately this isn't possible yet when the rhs is an expression.
-      typedef TensorAssignOp<Self, const TensorFixedSize> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorFixedSize& operator=(const OtherDerived& other)
-    {
-      // FIXME: check that the dimensions of other match the dimensions of *this.
-      // Unfortunately this isn't possible yet when the rhs is an expression.
-      typedef TensorAssignOp<Self, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-  protected:
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE bool checkIndexRange(const array<Index, NumIndices>& /*indices*/) const
-    {
-      using internal::array_apply_and_reduce;
-      using internal::array_zip_and_reduce;
-      using internal::greater_equal_zero_op;
-      using internal::logical_and_op;
-      using internal::lesser_op;
-
-      return true;
-        // check whether the indices are all >= 0
-          /*       array_apply_and_reduce<logical_and_op, greater_equal_zero_op>(indices) &&
-        // check whether the indices fit in the dimensions
-        array_zip_and_reduce<logical_and_op, lesser_op>(indices, m_storage.dimensions());*/
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index linearizedIndex(const array<Index, NumIndices>& indices) const
-    {
-      if (Options&RowMajor) {
-        return m_storage.dimensions().IndexOfRowMajor(indices);
-      } else {
-        return m_storage.dimensions().IndexOfColMajor(indices);
-      }
-    }
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_FIXED_SIZE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForcedEval.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForcedEval.h
deleted file mode 100644
index bbd5eb3743613e..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForcedEval.h
+++ /dev/null
@@ -1,167 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_FORCED_EVAL_H
-#define EIGEN_CXX11_TENSOR_TENSOR_FORCED_EVAL_H
-
-namespace Eigen {
-
-/** \class TensorForcedEval
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor reshaping class.
-  *
-  *
-  */
-/// template <class> class MakePointer_ is added to convert the host pointer to the device pointer.
-/// It is added due to the fact that for our device compiler T* is not allowed.
-/// If we wanted to use the same Evaluator functions we have to convert that type to our pointer T.
-/// This is done through our MakePointer_ class. By default the Type in the MakePointer_<T> is T* .
-/// Therefore, by adding the default value, we managed to convert the type and it does not break any
-/// existing code as its default value is T*.
-namespace internal {
-template<typename XprType, template <class> class MakePointer_>
-struct traits<TensorForcedEvalOp<XprType, MakePointer_> >
-{
-  // Type promotion to handle the case where the types of the lhs and the rhs are different.
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename traits<XprType>::StorageKind StorageKind;
-  typedef typename traits<XprType>::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-
-  enum {
-    Flags = 0
-  };
-  template <class T> struct MakePointer {
-    // Intermediate typedef to workaround MSVC issue.
-    typedef MakePointer_<T> MakePointerT;
-    typedef typename MakePointerT::Type Type;
-  };
-};
-
-template<typename XprType, template <class> class MakePointer_>
-struct eval<TensorForcedEvalOp<XprType, MakePointer_>, Eigen::Dense>
-{
-  typedef const TensorForcedEvalOp<XprType, MakePointer_>& type;
-};
-
-template<typename XprType, template <class> class MakePointer_>
-struct nested<TensorForcedEvalOp<XprType, MakePointer_>, 1, typename eval<TensorForcedEvalOp<XprType, MakePointer_> >::type>
-{
-  typedef TensorForcedEvalOp<XprType, MakePointer_> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename XprType, template <class> class MakePointer_>
-class TensorForcedEvalOp : public TensorBase<TensorForcedEvalOp<XprType, MakePointer_>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorForcedEvalOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorForcedEvalOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorForcedEvalOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorForcedEvalOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorForcedEvalOp(const XprType& expr)
-      : m_xpr(expr) {}
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-};
-
-
-template<typename ArgType, typename Device, template <class> class MakePointer_>
-struct TensorEvaluator<const TensorForcedEvalOp<ArgType, MakePointer_>, Device>
-{
-  typedef TensorForcedEvalOp<ArgType, MakePointer_> XprType;
-  typedef typename ArgType::Scalar Scalar;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions Dimensions;
-  typedef typename XprType::Index Index;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = true,
-    PacketAccess = (PacketSize > 1),
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    RawAccess = true
-  };
-
-  EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device)
-	/// op_ is used for sycl
-      : m_impl(op.expression(), device), m_op(op.expression()), m_device(device), m_buffer(NULL)
-  { }
-
-  EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_impl.dimensions(); }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) {
-    const Index numValues =  internal::array_prod(m_impl.dimensions());
-    m_buffer = (CoeffReturnType*)m_device.allocate(numValues * sizeof(CoeffReturnType));
-    // Should initialize the memory in case we're dealing with non POD types.
-    if (NumTraits<CoeffReturnType>::RequireInitialization) {
-      for (Index i = 0; i < numValues; ++i) {
-        new(m_buffer+i) CoeffReturnType();
-      }
-    }
-    typedef TensorEvalToOp< const typename internal::remove_const<ArgType>::type > EvalTo;
-    EvalTo evalToTmp(m_buffer, m_op);
-    const bool PacketAccess = internal::IsVectorizable<Device, const ArgType>::value;
-    internal::TensorExecutor<const EvalTo, typename internal::remove_const<Device>::type, PacketAccess>::run(evalToTmp, m_device);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_device.deallocate(m_buffer);
-    m_buffer = NULL;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_buffer[index];
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    return internal::ploadt<PacketReturnType, LoadMode>(m_buffer + index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC typename MakePointer<Scalar>::Type data() const { return m_buffer; }
-
-  /// required by sycl in order to extract the sycl accessor
-  const TensorEvaluator<ArgType, Device>& impl() { return m_impl; }
-  /// used by sycl in order to build the sycl buffer
-  const Device& device() const{return m_device;}
- private:
-  TensorEvaluator<ArgType, Device> m_impl;
-  const ArgType m_op;
-  const Device& m_device;
-  typename MakePointer<CoeffReturnType>::Type m_buffer;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_FORCED_EVAL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForwardDeclarations.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForwardDeclarations.h
deleted file mode 100644
index 52b803d7f269b3..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForwardDeclarations.h
+++ /dev/null
@@ -1,109 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_FORWARD_DECLARATIONS_H
-#define EIGEN_CXX11_TENSOR_TENSOR_FORWARD_DECLARATIONS_H
-
-namespace Eigen {
-
-// MakePointer class is used as a container of the adress space of the pointer
-// on the host and on the device. From the host side it generates the T* pointer
-// and when EIGEN_USE_SYCL is used it construct a buffer with a map_allocator to
-// T* m_data on the host. It is always called on the device.
-// Specialisation of MakePointer class for creating the sycl buffer with
-// map_allocator.
-template<typename T> struct MakePointer {
-  typedef T* Type;
-};
-
-template<typename PlainObjectType, int Options_ = Unaligned, template <class> class MakePointer_ = MakePointer> class TensorMap;
-template<typename Scalar_, int NumIndices_, int Options_ = 0, typename IndexType = DenseIndex> class Tensor;
-template<typename Scalar_, typename Dimensions, int Options_ = 0, typename IndexType = DenseIndex> class TensorFixedSize;
-template<typename PlainObjectType> class TensorRef;
-template<typename Derived, int AccessLevel> class TensorBase;
-
-template<typename NullaryOp, typename PlainObjectType> class TensorCwiseNullaryOp;
-template<typename UnaryOp, typename XprType> class TensorCwiseUnaryOp;
-template<typename BinaryOp, typename LeftXprType, typename RightXprType> class TensorCwiseBinaryOp;
-template<typename TernaryOp, typename Arg1XprType, typename Arg2XprType, typename Arg3XprType> class TensorCwiseTernaryOp;
-template<typename IfXprType, typename ThenXprType, typename ElseXprType> class TensorSelectOp;
-template<typename Op, typename Dims, typename XprType, template <class> class MakePointer_ = MakePointer > class TensorReductionOp;
-template<typename XprType> class TensorIndexTupleOp;
-template<typename ReduceOp, typename Dims, typename XprType> class TensorTupleReducerOp;
-template<typename Axis, typename LeftXprType, typename RightXprType> class TensorConcatenationOp;
-template<typename Dimensions, typename LeftXprType, typename RightXprType> class TensorContractionOp;
-template<typename TargetType, typename XprType> class TensorConversionOp;
-template<typename Dimensions, typename InputXprType, typename KernelXprType> class TensorConvolutionOp;
-template<typename FFT, typename XprType, int FFTDataType, int FFTDirection> class TensorFFTOp;
-template<typename PatchDim, typename XprType> class TensorPatchOp;
-template<DenseIndex Rows, DenseIndex Cols, typename XprType> class TensorImagePatchOp;
-template<DenseIndex Planes, DenseIndex Rows, DenseIndex Cols, typename XprType> class TensorVolumePatchOp;
-template<typename Broadcast, typename XprType> class TensorBroadcastingOp;
-template<DenseIndex DimId, typename XprType> class TensorChippingOp;
-template<typename NewDimensions, typename XprType> class TensorReshapingOp;
-template<typename XprType> class TensorLayoutSwapOp;
-template<typename StartIndices, typename Sizes, typename XprType> class TensorSlicingOp;
-template<typename ReverseDimensions, typename XprType> class TensorReverseOp;
-template<typename PaddingDimensions, typename XprType> class TensorPaddingOp;
-template<typename Shuffle, typename XprType> class TensorShufflingOp;
-template<typename Strides, typename XprType> class TensorStridingOp;
-template<typename StartIndices, typename StopIndices, typename Strides, typename XprType> class TensorStridingSlicingOp;
-template<typename Strides, typename XprType> class TensorInflationOp;
-template<typename Generator, typename XprType> class TensorGeneratorOp;
-template<typename LeftXprType, typename RightXprType> class TensorAssignOp;
-template<typename Op, typename XprType> class TensorScanOp;
-
-template<typename CustomUnaryFunc, typename XprType> class TensorCustomUnaryOp;
-template<typename CustomBinaryFunc, typename LhsXprType, typename RhsXprType> class TensorCustomBinaryOp;
-
-template<typename XprType, template <class> class MakePointer_ = MakePointer> class TensorEvalToOp;
-template<typename XprType, template <class> class MakePointer_ = MakePointer> class TensorForcedEvalOp;
-
-template<typename ExpressionType, typename DeviceType> class TensorDevice;
-template<typename Derived, typename Device> struct TensorEvaluator;
-
-struct DefaultDevice;
-struct ThreadPoolDevice;
-struct GpuDevice;
-struct SyclDevice;
-
-enum FFTResultType {
-  RealPart = 0,
-  ImagPart = 1,
-  BothParts = 2
-};
-
-enum FFTDirection {
-    FFT_FORWARD = 0,
-    FFT_REVERSE = 1
-};
-
-
-namespace internal {
-
-template <typename Device, typename Expression>
-struct IsVectorizable {
-  static const bool value = TensorEvaluator<Expression, Device>::PacketAccess;
-};
-
-template <typename Expression>
-struct IsVectorizable<GpuDevice, Expression> {
-  static const bool value = TensorEvaluator<Expression, GpuDevice>::PacketAccess &&
-                            TensorEvaluator<Expression, GpuDevice>::IsAligned;
-};
-
-template <typename Expression, typename Device,
-          bool Vectorizable = IsVectorizable<Device, Expression>::value>
-class TensorExecutor;
-
-}  // end namespace internal
-
-}  // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_FORWARD_DECLARATIONS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFunctors.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFunctors.h
deleted file mode 100644
index d73f6dc68338fa..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFunctors.h
+++ /dev/null
@@ -1,489 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_FUNCTORS_H
-#define EIGEN_CXX11_TENSOR_TENSOR_FUNCTORS_H
-
-namespace Eigen {
-namespace internal {
-
-
-/** \internal
- * \brief Template functor to compute the modulo between an array and a scalar.
- */
-template <typename Scalar>
-struct scalar_mod_op {
-  EIGEN_DEVICE_FUNC scalar_mod_op(const Scalar& divisor) : m_divisor(divisor) {}
-  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a % m_divisor; }
-  const Scalar m_divisor;
-};
-template <typename Scalar>
-struct functor_traits<scalar_mod_op<Scalar> >
-{ enum { Cost = scalar_div_cost<Scalar,false>::value, PacketAccess = false }; };
-
-
-/** \internal
- * \brief Template functor to compute the modulo between 2 arrays.
- */
-template <typename Scalar>
-struct scalar_mod2_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_mod2_op);
-  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a, const Scalar& b) const { return a % b; }
-};
-template <typename Scalar>
-struct functor_traits<scalar_mod2_op<Scalar> >
-{ enum { Cost = scalar_div_cost<Scalar,false>::value, PacketAccess = false }; };
-
-template <typename Scalar>
-struct scalar_fmod_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_fmod_op);
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar
-  operator()(const Scalar& a, const Scalar& b) const {
-    return numext::fmod(a, b);
-  }
-};
-template <typename Scalar>
-struct functor_traits<scalar_fmod_op<Scalar> > {
-  enum { Cost = 13,  // Reciprocal throughput of FPREM on Haswell.
-         PacketAccess = false };
-};
-
-
-/** \internal
-  * \brief Template functor to compute the sigmoid of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::sigmoid()
-  */
-template <typename T>
-struct scalar_sigmoid_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sigmoid_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T operator()(const T& x) const {
-    const T one = T(1);
-    return one / (one + numext::exp(-x));
-  }
-
-  template <typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Packet packetOp(const Packet& x) const {
-    const Packet one = pset1<Packet>(T(1));
-    return pdiv(one, padd(one, pexp(pnegate(x))));
-  }
-};
-
-template <typename T>
-struct functor_traits<scalar_sigmoid_op<T> > {
-  enum {
-    Cost = NumTraits<T>::AddCost * 2 + NumTraits<T>::MulCost * 6,
-    PacketAccess = packet_traits<T>::HasAdd && packet_traits<T>::HasDiv &&
-                   packet_traits<T>::HasNegate && packet_traits<T>::HasExp
-  };
-};
-
-
-template<typename Reducer, typename Device>
-struct reducer_traits {
-  enum {
-    Cost = 1,
-    PacketAccess = false
-  };
-};
-
-// Standard reduction functors
-template <typename T> struct SumReducer
-{
-  static const bool PacketAccess = packet_traits<T>::HasAdd;
-  static const bool IsStateful = false;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const {
-    internal::scalar_sum_op<T> sum_op;
-    *accum = sum_op(*accum, t);
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) const {
-    (*accum) = padd<Packet>(*accum, p);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const {
-    internal::scalar_cast_op<int, T> conv;
-    return conv(0);
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const {
-    return pset1<Packet>(initialize());
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const {
-    return accum;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const {
-    return vaccum;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const {
-    internal::scalar_sum_op<T> sum_op;
-    return sum_op(saccum, predux(vaccum));
-  }
-};
-
-template <typename T, typename Device>
-struct reducer_traits<SumReducer<T>, Device> {
-  enum {
-    Cost = NumTraits<T>::AddCost,
-    PacketAccess = PacketType<T, Device>::HasAdd
-  };
-};
-
-
-template <typename T> struct MeanReducer
-{
-  static const bool PacketAccess = packet_traits<T>::HasAdd && !NumTraits<T>::IsInteger;
-  static const bool IsStateful = true;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  MeanReducer() : scalarCount_(0), packetCount_(0) { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) {
-    internal::scalar_sum_op<T> sum_op;
-    *accum = sum_op(*accum, t);
-    scalarCount_++;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) {
-    (*accum) = padd<Packet>(*accum, p);
-    packetCount_++;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const {
-    internal::scalar_cast_op<int, T> conv;
-    return conv(0);
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const {
-    return pset1<Packet>(initialize());
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const {
-    return accum / scalarCount_;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const {
-    return pdiv(vaccum, pset1<Packet>(packetCount_));
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const {
-    internal::scalar_sum_op<T> sum_op;
-    return sum_op(saccum, predux(vaccum)) / (scalarCount_ + packetCount_ * unpacket_traits<Packet>::size);
-  }
-
-  protected:
-    DenseIndex scalarCount_;
-    DenseIndex packetCount_;
-};
-
-template <typename T, typename Device>
-struct reducer_traits<MeanReducer<T>, Device> {
-  enum {
-    Cost = NumTraits<T>::AddCost,
-    PacketAccess = PacketType<T, Device>::HasAdd
-  };
-};
-
-
-template <typename T, bool IsMax = true, bool IsInteger = true>
-struct MinMaxBottomValue {
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T bottom_value() {
-    return Eigen::NumTraits<T>::lowest();
-  }
-};
-template <typename T>
-struct MinMaxBottomValue<T, true, false> {
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T bottom_value() {
-    return -Eigen::NumTraits<T>::infinity();
-  }
-};
-template <typename T>
-struct MinMaxBottomValue<T, false, true> {
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T bottom_value() {
-    return Eigen::NumTraits<T>::highest();
-  }
-};
-template <typename T>
-struct MinMaxBottomValue<T, false, false> {
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T bottom_value() {
-    return Eigen::NumTraits<T>::infinity();
-  }
-};
-
-
-template <typename T> struct MaxReducer
-{
-  static const bool PacketAccess = packet_traits<T>::HasMax;
-  static const bool IsStateful = false;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const {
-    if (t > *accum) { *accum = t; }
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) const {
-    (*accum) = pmax<Packet>(*accum, p);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const {
-    return MinMaxBottomValue<T, true, Eigen::NumTraits<T>::IsInteger>::bottom_value();
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const {
-    return pset1<Packet>(initialize());
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const {
-    return accum;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const {
-    return vaccum;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const {
-    return numext::maxi(saccum, predux_max(vaccum));
-  }
-};
-
-template <typename T, typename Device>
-struct reducer_traits<MaxReducer<T>, Device> {
-  enum {
-    Cost = NumTraits<T>::AddCost,
-    PacketAccess = PacketType<T, Device>::HasMax
-  };
-};
-
-
-template <typename T> struct MinReducer
-{
-  static const bool PacketAccess = packet_traits<T>::HasMin;
-  static const bool IsStateful = false;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const {
-    if (t < *accum) { *accum = t; }
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) const {
-    (*accum) = pmin<Packet>(*accum, p);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const {
-    return MinMaxBottomValue<T, false, Eigen::NumTraits<T>::IsInteger>::bottom_value();
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const {
-    return pset1<Packet>(initialize());
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const {
-    return accum;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const {
-    return vaccum;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const {
-    return numext::mini(saccum, predux_min(vaccum));
-  }
-};
-
-template <typename T, typename Device>
-struct reducer_traits<MinReducer<T>, Device> {
-  enum {
-    Cost = NumTraits<T>::AddCost,
-    PacketAccess = PacketType<T, Device>::HasMin
-  };
-};
-
-
-template <typename T> struct ProdReducer
-{
-  static const bool PacketAccess = packet_traits<T>::HasMul;
-  static const bool IsStateful = false;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const {
-    internal::scalar_product_op<T> prod_op;
-    (*accum) = prod_op(*accum, t);
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) const {
-    (*accum) = pmul<Packet>(*accum, p);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const {
-    internal::scalar_cast_op<int, T> conv;
-    return conv(1);
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const {
-    return pset1<Packet>(initialize());
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const {
-    return accum;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const {
-    return vaccum;
-  }
-  template <typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const {
-    internal::scalar_product_op<T> prod_op;
-    return prod_op(saccum, predux_mul(vaccum));
-  }
-};
-
-template <typename T, typename Device>
-struct reducer_traits<ProdReducer<T>, Device> {
-  enum {
-    Cost = NumTraits<T>::MulCost,
-    PacketAccess = PacketType<T, Device>::HasMul
-  };
-};
-
-
-struct AndReducer
-{
-  static const bool PacketAccess = false;
-  static const bool IsStateful = false;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(bool t, bool* accum) const {
-    *accum = *accum && t;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool initialize() const {
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool finalize(bool accum) const {
-    return accum;
-  }
-};
-
-template <typename Device>
-struct reducer_traits<AndReducer, Device> {
-  enum {
-    Cost = 1,
-    PacketAccess = false
-  };
-};
-
-
-struct OrReducer {
-  static const bool PacketAccess = false;
-  static const bool IsStateful = false;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(bool t, bool* accum) const {
-    *accum = *accum || t;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool initialize() const {
-    return false;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool finalize(bool accum) const {
-    return accum;
-  }
-};
-
-template <typename Device>
-struct reducer_traits<OrReducer, Device> {
-  enum {
-    Cost = 1,
-    PacketAccess = false
-  };
-};
-
-
-// Argmin/Argmax reducers
-template <typename T> struct ArgMaxTupleReducer
-{
-  static const bool PacketAccess = false;
-  static const bool IsStateful = false;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const {
-    if (t.second > accum->second) { *accum = t; }
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const {
-    return T(0, NumTraits<typename T::second_type>::lowest());
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T& accum) const {
-    return accum;
-  }
-};
-
-template <typename T, typename Device>
-struct reducer_traits<ArgMaxTupleReducer<T>, Device> {
-  enum {
-    Cost = NumTraits<T>::AddCost,
-    PacketAccess = false
-  };
-};
-
-
-template <typename T> struct ArgMinTupleReducer
-{
-  static const bool PacketAccess = false;
-  static const bool IsStateful = false;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T& t, T* accum) const {
-    if (t.second < accum->second) { *accum = t; }
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const {
-    return T(0, NumTraits<typename T::second_type>::highest());
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T& accum) const {
-    return accum;
-  }
-};
-
-template <typename T, typename Device>
-struct reducer_traits<ArgMinTupleReducer<T>, Device> {
-  enum {
-    Cost = NumTraits<T>::AddCost,
-    PacketAccess = false
-  };
-};
-
-
-template <typename T, typename Index, size_t NumDims>
-class GaussianGenerator {
- public:
-  static const bool PacketAccess = false;
-
-  EIGEN_DEVICE_FUNC GaussianGenerator(const array<T, NumDims>& means,
-                                      const array<T, NumDims>& std_devs)
-      : m_means(means)
-  {
-    for (size_t i = 0; i < NumDims; ++i) {
-      m_two_sigmas[i] = std_devs[i] * std_devs[i] * 2;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC T operator()(const array<Index, NumDims>& coordinates) const {
-    T tmp = T(0);
-    for (size_t i = 0; i < NumDims; ++i) {
-      T offset = coordinates[i] - m_means[i];
-      tmp += offset * offset / m_two_sigmas[i];
-    }
-    return numext::exp(-tmp);
-  }
-
- private:
-  array<T, NumDims> m_means;
-  array<T, NumDims> m_two_sigmas;
-};
-
-template <typename T, typename Index, size_t NumDims>
-struct functor_traits<GaussianGenerator<T, Index, NumDims> > {
-  enum {
-    Cost = NumDims * (2 * NumTraits<T>::AddCost + NumTraits<T>::MulCost +
-                      functor_traits<scalar_quotient_op<T, T> >::Cost) +
-           functor_traits<scalar_exp_op<T> >::Cost,
-    PacketAccess = GaussianGenerator<T, Index, NumDims>::PacketAccess
-  };
-};
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_FUNCTORS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h
deleted file mode 100644
index eb1d4934ed6520..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h
+++ /dev/null
@@ -1,185 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_GENERATOR_H
-#define EIGEN_CXX11_TENSOR_TENSOR_GENERATOR_H
-
-namespace Eigen {
-
-/** \class TensorGenerator
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor generator class.
-  *
-  *
-  */
-namespace internal {
-template<typename Generator, typename XprType>
-struct traits<TensorGeneratorOp<Generator, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename Generator, typename XprType>
-struct eval<TensorGeneratorOp<Generator, XprType>, Eigen::Dense>
-{
-  typedef const TensorGeneratorOp<Generator, XprType>& type;
-};
-
-template<typename Generator, typename XprType>
-struct nested<TensorGeneratorOp<Generator, XprType>, 1, typename eval<TensorGeneratorOp<Generator, XprType> >::type>
-{
-  typedef TensorGeneratorOp<Generator, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename Generator, typename XprType>
-class TensorGeneratorOp : public TensorBase<TensorGeneratorOp<Generator, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorGeneratorOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorGeneratorOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorGeneratorOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorGeneratorOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorGeneratorOp(const XprType& expr, const Generator& generator)
-      : m_xpr(expr), m_generator(generator) {}
-
-    EIGEN_DEVICE_FUNC
-    const Generator& generator() const { return m_generator; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const Generator m_generator;
-};
-
-
-// Eval as rvalue
-template<typename Generator, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorGeneratorOp<Generator, ArgType>, Device>
-{
-  typedef TensorGeneratorOp<Generator, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions Dimensions;
-  static const int NumDims = internal::array_size<Dimensions>::value;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  enum {
-    IsAligned = false,
-    PacketAccess = (internal::unpacket_traits<PacketReturnType>::size > 1),
-    BlockAccess = false,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_generator(op.generator())
-  {
-    TensorEvaluator<ArgType, Device> impl(op.expression(), device);
-    m_dimensions = impl.dimensions();
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_strides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_strides[i] = m_strides[i - 1] * m_dimensions[i - 1];
-      }
-    } else {
-      m_strides[NumDims - 1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_strides[i] = m_strides[i + 1] * m_dimensions[i + 1];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    array<Index, NumDims> coords;
-    extract_coordinates(index, coords);
-    return m_generator(coords);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    const int packetSize = internal::unpacket_traits<PacketReturnType>::size;
-    EIGEN_STATIC_ASSERT((packetSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+packetSize-1 < dimensions().TotalSize());
-
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[packetSize];
-    for (int i = 0; i < packetSize; ++i) {
-      values[i] = coeff(index+i);
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool) const {
-    // TODO(rmlarsen): This is just a placeholder. Define interface to make
-    // generators return their cost.
-    return TensorOpCost(0, 0, TensorOpCost::AddCost<Scalar>() +
-                                  TensorOpCost::MulCost<Scalar>());
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- protected:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void extract_coordinates(Index index, array<Index, NumDims>& coords) const {
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx = index / m_strides[i];
-        index -= idx * m_strides[i];
-        coords[i] = idx;
-      }
-      coords[0] = index;
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx = index / m_strides[i];
-        index -= idx * m_strides[i];
-        coords[i] = idx;
-      }
-      coords[NumDims-1] = index;
-    }
-  }
-
-  Dimensions m_dimensions;
-  array<Index, NumDims> m_strides;
-  Generator m_generator;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_GENERATOR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGlobalFunctions.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGlobalFunctions.h
deleted file mode 100644
index 665b861cfd1432..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGlobalFunctions.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_GLOBAL_FUNCTIONS_H
-#define EIGEN_CXX11_TENSOR_TENSOR_GLOBAL_FUNCTIONS_H
-
-namespace Eigen {
-
-/** \cpp11 \returns an expression of the coefficient-wise betainc(\a x, \a a, \a b) to the given tensors.
- *
- * This function computes the regularized incomplete beta function (integral).
- *
- */
-template <typename ADerived, typename BDerived, typename XDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const
-    TensorCwiseTernaryOp<internal::scalar_betainc_op<typename XDerived::Scalar>,
-                         const ADerived, const BDerived, const XDerived>
-    betainc(const ADerived& a, const BDerived& b, const XDerived& x) {
-  return TensorCwiseTernaryOp<
-      internal::scalar_betainc_op<typename XDerived::Scalar>, const ADerived,
-      const BDerived, const XDerived>(
-      a, b, x, internal::scalar_betainc_op<typename XDerived::Scalar>());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_GLOBAL_FUNCTIONS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIO.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIO.h
deleted file mode 100644
index a901c5dd4534a4..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIO.h
+++ /dev/null
@@ -1,79 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_IO_H
-#define EIGEN_CXX11_TENSOR_TENSOR_IO_H
-
-namespace Eigen {
-
-namespace internal {
-
-// Print the tensor as a 2d matrix
-template <typename Tensor, int Rank>
-struct TensorPrinter {
-  static void run (std::ostream& os, const Tensor& tensor) {
-    typedef typename internal::remove_const<typename Tensor::Scalar>::type Scalar;
-    typedef typename Tensor::Index Index;
-    const Index total_size = internal::array_prod(tensor.dimensions());
-    if (total_size > 0) {
-      const Index first_dim = Eigen::internal::array_get<0>(tensor.dimensions());
-      static const int layout = Tensor::Layout;
-      Map<const Array<Scalar, Dynamic, Dynamic, layout> > matrix(const_cast<Scalar*>(tensor.data()), first_dim, total_size/first_dim);
-      os << matrix;
-    }
-  }
-};
-
-
-// Print the tensor as a vector
-template <typename Tensor>
-struct TensorPrinter<Tensor, 1> {
-  static void run (std::ostream& os, const Tensor& tensor) {
-    typedef typename internal::remove_const<typename Tensor::Scalar>::type Scalar;
-    typedef typename Tensor::Index Index;
-    const Index total_size = internal::array_prod(tensor.dimensions());
-    if (total_size > 0) {
-      Map<const Array<Scalar, Dynamic, 1> > array(const_cast<Scalar*>(tensor.data()), total_size);
-      os << array;
-    }
-  }
-};
-
-
-// Print the tensor as a scalar
-template <typename Tensor>
-struct TensorPrinter<Tensor, 0> {
-  static void run (std::ostream& os, const Tensor& tensor) {
-    os << tensor.coeff(0);
-  }
-};
-}
-
-template <typename T>
-std::ostream& operator << (std::ostream& os, const TensorBase<T, ReadOnlyAccessors>& expr) {
-  typedef TensorEvaluator<const TensorForcedEvalOp<const T>, DefaultDevice> Evaluator;
-  typedef typename Evaluator::Dimensions Dimensions;
-
-  // Evaluate the expression if needed
-  TensorForcedEvalOp<const T> eval = expr.eval();
-  Evaluator tensor(eval, DefaultDevice());
-  tensor.evalSubExprsIfNeeded(NULL);
-
-  // Print the result
-  static const int rank = internal::array_size<Dimensions>::value;
-  internal::TensorPrinter<Evaluator, rank>::run(os, tensor);
-
-  // Cleanup.
-  tensor.cleanup();
-  return os;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_IO_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorImagePatch.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorImagePatch.h
deleted file mode 100644
index 566856ed20028d..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorImagePatch.h
+++ /dev/null
@@ -1,509 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_IMAGE_PATCH_H
-#define EIGEN_CXX11_TENSOR_TENSOR_IMAGE_PATCH_H
-
-namespace Eigen {
-
-/** \class TensorImagePatch
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Patch extraction specialized for image processing.
-  * This assumes that the input has a least 3 dimensions ordered as follow:
-  *  1st dimension: channels (of size d)
-  *  2nd dimension: rows (of size r)
-  *  3rd dimension: columns (of size c)
-  *  There can be additional dimensions such as time (for video) or batch (for
-  * bulk processing after the first 3.
-  * Calling the image patch code with patch_rows and patch_cols is equivalent
-  * to calling the regular patch extraction code with parameters d, patch_rows,
-  * patch_cols, and 1 for all the additional dimensions.
-  */
-namespace internal {
-template<DenseIndex Rows, DenseIndex Cols, typename XprType>
-struct traits<TensorImagePatchOp<Rows, Cols, XprType> > : public traits<XprType>
-{
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions + 1;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<DenseIndex Rows, DenseIndex Cols, typename XprType>
-struct eval<TensorImagePatchOp<Rows, Cols, XprType>, Eigen::Dense>
-{
-  typedef const TensorImagePatchOp<Rows, Cols, XprType>& type;
-};
-
-template<DenseIndex Rows, DenseIndex Cols, typename XprType>
-struct nested<TensorImagePatchOp<Rows, Cols, XprType>, 1, typename eval<TensorImagePatchOp<Rows, Cols, XprType> >::type>
-{
-  typedef TensorImagePatchOp<Rows, Cols, XprType> type;
-};
-
-}  // end namespace internal
-
-template<DenseIndex Rows, DenseIndex Cols, typename XprType>
-class TensorImagePatchOp : public TensorBase<TensorImagePatchOp<Rows, Cols, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorImagePatchOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorImagePatchOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorImagePatchOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorImagePatchOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorImagePatchOp(const XprType& expr, DenseIndex patch_rows, DenseIndex patch_cols,
-                                                           DenseIndex row_strides, DenseIndex col_strides,
-                                                           DenseIndex in_row_strides, DenseIndex in_col_strides,
-                                                           DenseIndex row_inflate_strides, DenseIndex col_inflate_strides,
-                                                           PaddingType padding_type, Scalar padding_value)
-      : m_xpr(expr), m_patch_rows(patch_rows), m_patch_cols(patch_cols),
-        m_row_strides(row_strides), m_col_strides(col_strides),
-        m_in_row_strides(in_row_strides), m_in_col_strides(in_col_strides),
-        m_row_inflate_strides(row_inflate_strides), m_col_inflate_strides(col_inflate_strides),
-        m_padding_explicit(false), m_padding_top(0), m_padding_bottom(0), m_padding_left(0), m_padding_right(0),
-        m_padding_type(padding_type), m_padding_value(padding_value) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorImagePatchOp(const XprType& expr, DenseIndex patch_rows, DenseIndex patch_cols,
-                                                           DenseIndex row_strides, DenseIndex col_strides,
-                                                           DenseIndex in_row_strides, DenseIndex in_col_strides,
-                                                           DenseIndex row_inflate_strides, DenseIndex col_inflate_strides,
-                                                           DenseIndex padding_top, DenseIndex padding_bottom,
-                                                           DenseIndex padding_left, DenseIndex padding_right,
-                                                           Scalar padding_value)
-      : m_xpr(expr), m_patch_rows(patch_rows), m_patch_cols(patch_cols),
-        m_row_strides(row_strides), m_col_strides(col_strides),
-        m_in_row_strides(in_row_strides), m_in_col_strides(in_col_strides),
-        m_row_inflate_strides(row_inflate_strides), m_col_inflate_strides(col_inflate_strides),
-        m_padding_explicit(true), m_padding_top(padding_top), m_padding_bottom(padding_bottom),
-        m_padding_left(padding_left), m_padding_right(padding_right),
-        m_padding_type(PADDING_VALID), m_padding_value(padding_value) {}
-
-    EIGEN_DEVICE_FUNC
-    DenseIndex patch_rows() const { return m_patch_rows; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex patch_cols() const { return m_patch_cols; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex row_strides() const { return m_row_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex col_strides() const { return m_col_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex in_row_strides() const { return m_in_row_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex in_col_strides() const { return m_in_col_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex row_inflate_strides() const { return m_row_inflate_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex col_inflate_strides() const { return m_col_inflate_strides; }
-    EIGEN_DEVICE_FUNC
-    bool padding_explicit() const { return m_padding_explicit; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_top() const { return m_padding_top; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_bottom() const { return m_padding_bottom; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_left() const { return m_padding_left; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_right() const { return m_padding_right; }
-    EIGEN_DEVICE_FUNC
-    PaddingType padding_type() const { return m_padding_type; }
-    EIGEN_DEVICE_FUNC
-    Scalar padding_value() const { return m_padding_value; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const DenseIndex m_patch_rows;
-    const DenseIndex m_patch_cols;
-    const DenseIndex m_row_strides;
-    const DenseIndex m_col_strides;
-    const DenseIndex m_in_row_strides;
-    const DenseIndex m_in_col_strides;
-    const DenseIndex m_row_inflate_strides;
-    const DenseIndex m_col_inflate_strides;
-    const bool m_padding_explicit;
-    const DenseIndex m_padding_top;
-    const DenseIndex m_padding_bottom;
-    const DenseIndex m_padding_left;
-    const DenseIndex m_padding_right;
-    const PaddingType m_padding_type;
-    const Scalar m_padding_value;
-};
-
-// Eval as rvalue
-template<DenseIndex Rows, DenseIndex Cols, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorImagePatchOp<Rows, Cols, ArgType>, Device>
-{
-  typedef TensorImagePatchOp<Rows, Cols, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumInputDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  static const int NumDims = NumInputDims + 1;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef TensorEvaluator<const TensorImagePatchOp<Rows, Cols, ArgType>,
-                          Device> Self;
-  typedef TensorEvaluator<ArgType, Device> Impl;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device)
-  {
-    EIGEN_STATIC_ASSERT((NumDims >= 4), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    m_paddingValue = op.padding_value();
-
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-
-    // Caches a few variables.
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_inputDepth = input_dims[0];
-      m_inputRows = input_dims[1];
-      m_inputCols = input_dims[2];
-    } else {
-      m_inputDepth = input_dims[NumInputDims-1];
-      m_inputRows = input_dims[NumInputDims-2];
-      m_inputCols = input_dims[NumInputDims-3];
-    }
-
-    m_row_strides = op.row_strides();
-    m_col_strides = op.col_strides();
-
-    // Input strides and effective input/patch size
-    m_in_row_strides = op.in_row_strides();
-    m_in_col_strides = op.in_col_strides();
-    m_row_inflate_strides = op.row_inflate_strides();
-    m_col_inflate_strides = op.col_inflate_strides();
-    // The "effective" input rows and input cols are the input rows and cols
-    // after inflating them with zeros.
-    // For examples, a 2x3 matrix with row_inflate_strides and
-    // col_inflate_strides of 2 comes from:
-    //   A B C
-    //   D E F
-    //
-    // to a matrix is 3 x 5:
-    //
-    //   A . B . C
-    //   . . . . .
-    //   D . E . F
-
-    m_input_rows_eff = (m_inputRows - 1) * m_row_inflate_strides + 1;
-    m_input_cols_eff = (m_inputCols - 1) * m_col_inflate_strides + 1;
-    m_patch_rows_eff = op.patch_rows() + (op.patch_rows() - 1) * (m_in_row_strides - 1);
-    m_patch_cols_eff = op.patch_cols() + (op.patch_cols() - 1) * (m_in_col_strides - 1);
-
-    if (op.padding_explicit()) {
-      m_outputRows = numext::ceil((m_input_rows_eff + op.padding_top() + op.padding_bottom() - m_patch_rows_eff + 1.f) / static_cast<float>(m_row_strides));
-      m_outputCols = numext::ceil((m_input_cols_eff + op.padding_left() + op.padding_right() - m_patch_cols_eff + 1.f) / static_cast<float>(m_col_strides));
-      m_rowPaddingTop = op.padding_top();
-      m_colPaddingLeft = op.padding_left();
-    } else {
-      // Computing padding from the type
-      switch (op.padding_type()) {
-        case PADDING_VALID:
-          m_outputRows = numext::ceil((m_input_rows_eff - m_patch_rows_eff + 1.f) / static_cast<float>(m_row_strides));
-          m_outputCols = numext::ceil((m_input_cols_eff - m_patch_cols_eff + 1.f) / static_cast<float>(m_col_strides));
-          // Calculate the padding
-          m_rowPaddingTop = numext::maxi<Index>(0, ((m_outputRows - 1) * m_row_strides + m_patch_rows_eff - m_input_rows_eff) / 2);
-          m_colPaddingLeft = numext::maxi<Index>(0, ((m_outputCols - 1) * m_col_strides + m_patch_cols_eff - m_input_cols_eff) / 2);
-          break;
-        case PADDING_SAME:
-          m_outputRows = numext::ceil(m_input_rows_eff / static_cast<float>(m_row_strides));
-          m_outputCols = numext::ceil(m_input_cols_eff / static_cast<float>(m_col_strides));
-          // Calculate the padding
-          m_rowPaddingTop = ((m_outputRows - 1) * m_row_strides + m_patch_rows_eff - m_input_rows_eff) / 2;
-          m_colPaddingLeft = ((m_outputCols - 1) * m_col_strides + m_patch_cols_eff - m_input_cols_eff) / 2;
-          break;
-        default:
-          eigen_assert(false && "unexpected padding");
-      }
-    }
-    eigen_assert(m_outputRows > 0);
-    eigen_assert(m_outputCols > 0);
-
-    // Dimensions for result of extraction.
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      // ColMajor
-      // 0: depth
-      // 1: patch_rows
-      // 2: patch_cols
-      // 3: number of patches
-      // 4 and beyond: anything else (such as batch).
-      m_dimensions[0] = input_dims[0];
-      m_dimensions[1] = op.patch_rows();
-      m_dimensions[2] = op.patch_cols();
-      m_dimensions[3] = m_outputRows * m_outputCols;
-      for (int i = 4; i < NumDims; ++i) {
-        m_dimensions[i] = input_dims[i-1];
-      }
-    } else {
-      // RowMajor
-      // NumDims-1: depth
-      // NumDims-2: patch_rows
-      // NumDims-3: patch_cols
-      // NumDims-4: number of patches
-      // NumDims-5 and beyond: anything else (such as batch).
-      m_dimensions[NumDims-1] = input_dims[NumInputDims-1];
-      m_dimensions[NumDims-2] = op.patch_rows();
-      m_dimensions[NumDims-3] = op.patch_cols();
-      m_dimensions[NumDims-4] = m_outputRows * m_outputCols;
-      for (int i = NumDims-5; i >= 0; --i) {
-        m_dimensions[i] = input_dims[i];
-      }
-    }
-
-    // Strides for moving the patch in various dimensions.
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_colStride = m_dimensions[1];
-      m_patchStride = m_colStride * m_dimensions[2] * m_dimensions[0];
-      m_otherStride = m_patchStride * m_dimensions[3];
-    } else {
-      m_colStride = m_dimensions[NumDims-2];
-      m_patchStride = m_colStride * m_dimensions[NumDims-3] * m_dimensions[NumDims-1];
-      m_otherStride = m_patchStride * m_dimensions[NumDims-4];
-    }
-
-    // Strides for navigating through the input tensor.
-    m_rowInputStride = m_inputDepth;
-    m_colInputStride = m_inputDepth * m_inputRows;
-    m_patchInputStride = m_inputDepth * m_inputRows * m_inputCols;
-
-    // Fast representations of different variables.
-    m_fastOtherStride = internal::TensorIntDivisor<Index>(m_otherStride);
-    m_fastPatchStride = internal::TensorIntDivisor<Index>(m_patchStride);
-    m_fastColStride = internal::TensorIntDivisor<Index>(m_colStride);
-    m_fastInflateRowStride = internal::TensorIntDivisor<Index>(m_row_inflate_strides);
-    m_fastInflateColStride = internal::TensorIntDivisor<Index>(m_col_inflate_strides);
-    m_fastInputColsEff = internal::TensorIntDivisor<Index>(m_input_cols_eff);
-
-    // Number of patches in the width dimension.
-    m_fastOutputRows = internal::TensorIntDivisor<Index>(m_outputRows);
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_fastOutputDepth = internal::TensorIntDivisor<Index>(m_dimensions[0]);
-    } else {
-      m_fastOutputDepth = internal::TensorIntDivisor<Index>(m_dimensions[NumDims-1]);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    // Patch index corresponding to the passed in index.
-    const Index patchIndex = index / m_fastPatchStride;
-    // Find the offset of the element wrt the location of the first element.
-    const Index patchOffset = (index - patchIndex * m_patchStride) / m_fastOutputDepth;
-
-    // Other ways to index this element.
-    const Index otherIndex = (NumDims == 4) ? 0 : index / m_fastOtherStride;
-    const Index patch2DIndex = (NumDims == 4) ? patchIndex : (index - otherIndex * m_otherStride) / m_fastPatchStride;
-
-    // Calculate col index in the input original tensor.
-    const Index colIndex = patch2DIndex / m_fastOutputRows;
-    const Index colOffset = patchOffset / m_fastColStride;
-    const Index inputCol = colIndex * m_col_strides + colOffset * m_in_col_strides - m_colPaddingLeft;
-    const Index origInputCol = (m_col_inflate_strides == 1) ? inputCol : ((inputCol >= 0) ? (inputCol / m_fastInflateColStride) : 0);
-    if (inputCol < 0 || inputCol >= m_input_cols_eff ||
-        ((m_col_inflate_strides != 1) && (inputCol != origInputCol * m_col_inflate_strides))) {
-      return Scalar(m_paddingValue);
-    }
-
-    // Calculate row index in the original input tensor.
-    const Index rowIndex = patch2DIndex - colIndex * m_outputRows;
-    const Index rowOffset = patchOffset - colOffset * m_colStride;
-    const Index inputRow = rowIndex * m_row_strides + rowOffset * m_in_row_strides - m_rowPaddingTop;
-    const Index origInputRow = (m_row_inflate_strides == 1) ? inputRow : ((inputRow >= 0) ? (inputRow / m_fastInflateRowStride) : 0);
-    if (inputRow < 0 || inputRow >= m_input_rows_eff ||
-        ((m_row_inflate_strides != 1) && (inputRow != origInputRow * m_row_inflate_strides))) {
-      return Scalar(m_paddingValue);
-    }
-
-    const int depth_index = static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 0 : NumDims - 1;
-    const Index depth = index - (index / m_fastOutputDepth) * m_dimensions[depth_index];
-
-    const Index inputIndex = depth + origInputRow * m_rowInputStride + origInputCol * m_colInputStride + otherIndex * m_patchInputStride;
-    return m_impl.coeff(inputIndex);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    if (m_in_row_strides != 1 || m_in_col_strides != 1 || m_row_inflate_strides != 1 || m_col_inflate_strides != 1) {
-      return packetWithPossibleZero(index);
-    }
-
-    const Index indices[2] = {index, index + PacketSize - 1};
-    const Index patchIndex = indices[0] / m_fastPatchStride;
-    if (patchIndex != indices[1] / m_fastPatchStride) {
-      return packetWithPossibleZero(index);
-    }
-    const Index otherIndex = (NumDims == 4) ? 0 : indices[0] / m_fastOtherStride;
-    eigen_assert(otherIndex == indices[1] / m_fastOtherStride);
-
-    // Find the offset of the element wrt the location of the first element.
-    const Index patchOffsets[2] = {(indices[0] - patchIndex * m_patchStride) / m_fastOutputDepth,
-                                   (indices[1] - patchIndex * m_patchStride) / m_fastOutputDepth};
-
-    const Index patch2DIndex = (NumDims == 4) ? patchIndex : (indices[0] - otherIndex * m_otherStride) / m_fastPatchStride;
-    eigen_assert(patch2DIndex == (indices[1] - otherIndex * m_otherStride) / m_fastPatchStride);
-
-    const Index colIndex = patch2DIndex / m_fastOutputRows;
-    const Index colOffsets[2] = {patchOffsets[0] / m_fastColStride, patchOffsets[1] / m_fastColStride};
-
-    // Calculate col indices in the original input tensor.
-    const Index inputCols[2] = {colIndex * m_col_strides + colOffsets[0] -
-      m_colPaddingLeft, colIndex * m_col_strides + colOffsets[1] - m_colPaddingLeft};
-    if (inputCols[1] < 0 || inputCols[0] >= m_inputCols) {
-      return internal::pset1<PacketReturnType>(Scalar(m_paddingValue));
-    }
-
-    if (inputCols[0] == inputCols[1]) {
-      const Index rowIndex = patch2DIndex - colIndex * m_outputRows;
-      const Index rowOffsets[2] = {patchOffsets[0] - colOffsets[0]*m_colStride, patchOffsets[1] - colOffsets[1]*m_colStride};
-      eigen_assert(rowOffsets[0] <= rowOffsets[1]);
-      // Calculate col indices in the original input tensor.
-      const Index inputRows[2] = {rowIndex * m_row_strides + rowOffsets[0] -
-        m_rowPaddingTop, rowIndex * m_row_strides + rowOffsets[1] - m_rowPaddingTop};
-
-      if (inputRows[1] < 0 || inputRows[0] >= m_inputRows) {
-        return internal::pset1<PacketReturnType>(Scalar(m_paddingValue));
-      }
-
-      if (inputRows[0] >= 0 && inputRows[1] < m_inputRows) {
-        // no padding
-        const int depth_index = static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 0 : NumDims - 1;
-        const Index depth = index - (index / m_fastOutputDepth) * m_dimensions[depth_index];
-        const Index inputIndex = depth + inputRows[0] * m_rowInputStride + inputCols[0] * m_colInputStride + otherIndex * m_patchInputStride;
-        return m_impl.template packet<Unaligned>(inputIndex);
-      }
-    }
-
-    return packetWithPossibleZero(index);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
-  const TensorEvaluator<ArgType, Device>& impl() const { return m_impl; }
-
-  Index rowPaddingTop() const { return m_rowPaddingTop; }
-  Index colPaddingLeft() const { return m_colPaddingLeft; }
-  Index outputRows() const { return m_outputRows; }
-  Index outputCols() const { return m_outputCols; }
-  Index userRowStride() const { return m_row_strides; }
-  Index userColStride() const { return m_col_strides; }
-  Index userInRowStride() const { return m_in_row_strides; }
-  Index userInColStride() const { return m_in_col_strides; }
-  Index rowInflateStride() const { return m_row_inflate_strides; }
-  Index colInflateStride() const { return m_col_inflate_strides; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    // We conservatively estimate the cost for the code path where the computed
-    // index is inside the original image and
-    // TensorEvaluator<ArgType, Device>::CoordAccess is false.
-    const double compute_cost = 3 * TensorOpCost::DivCost<Index>() +
-                                6 * TensorOpCost::MulCost<Index>() +
-                                8 * TensorOpCost::MulCost<Index>();
-    return m_impl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, compute_cost, vectorized, PacketSize);
-  }
-
- protected:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetWithPossibleZero(Index index) const
-  {
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-    for (int i = 0; i < PacketSize; ++i) {
-      values[i] = coeff(index+i);
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  Dimensions m_dimensions;
-
-  Index m_otherStride;
-  Index m_patchStride;
-  Index m_colStride;
-  Index m_row_strides;
-  Index m_col_strides;
-
-  Index m_in_row_strides;
-  Index m_in_col_strides;
-  Index m_row_inflate_strides;
-  Index m_col_inflate_strides;
-
-  Index m_input_rows_eff;
-  Index m_input_cols_eff;
-  Index m_patch_rows_eff;
-  Index m_patch_cols_eff;
-
-  internal::TensorIntDivisor<Index> m_fastOtherStride;
-  internal::TensorIntDivisor<Index> m_fastPatchStride;
-  internal::TensorIntDivisor<Index> m_fastColStride;
-  internal::TensorIntDivisor<Index> m_fastInflateRowStride;
-  internal::TensorIntDivisor<Index> m_fastInflateColStride;
-  internal::TensorIntDivisor<Index> m_fastInputColsEff;
-
-  Index m_rowInputStride;
-  Index m_colInputStride;
-  Index m_patchInputStride;
-
-  Index m_inputDepth;
-  Index m_inputRows;
-  Index m_inputCols;
-
-  Index m_outputRows;
-  Index m_outputCols;
-
-  Index m_rowPaddingTop;
-  Index m_colPaddingLeft;
-
-  internal::TensorIntDivisor<Index> m_fastOutputRows;
-  internal::TensorIntDivisor<Index> m_fastOutputDepth;
-
-  Scalar m_paddingValue;
-
-  TensorEvaluator<ArgType, Device> m_impl;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_IMAGE_PATCH_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIndexList.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIndexList.h
deleted file mode 100644
index 3209fecd34d770..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIndexList.h
+++ /dev/null
@@ -1,725 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_INDEX_LIST_H
-#define EIGEN_CXX11_TENSOR_TENSOR_INDEX_LIST_H
-
-
-#if EIGEN_HAS_CONSTEXPR && EIGEN_HAS_VARIADIC_TEMPLATES
-
-#define EIGEN_HAS_INDEX_LIST
-
-namespace Eigen {
-
-/** \internal
-  *
-  * \class TensorIndexList
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Set of classes used to encode a set of Tensor dimensions/indices.
-  *
-  * The indices in the list can be known at compile time or at runtime. A mix
-  * of static and dynamic indices can also be provided if needed. The tensor
-  * code will attempt to take advantage of the indices that are known at
-  * compile time to optimize the code it generates.
-  *
-  * This functionality requires a c++11 compliant compiler. If your compiler
-  * is older you need to use arrays of indices instead.
-  *
-  * Several examples are provided in the cxx11_tensor_index_list.cpp file.
-  *
-  * \sa Tensor
-  */
-
-template <DenseIndex n>
-struct type2index {
-  static const DenseIndex value = n;
-  EIGEN_DEVICE_FUNC constexpr operator DenseIndex() const { return n; }
-  EIGEN_DEVICE_FUNC void set(DenseIndex val) {
-    eigen_assert(val == n);
-  }
-};
-
-// This can be used with IndexPairList to get compile-time constant pairs,
-// such as IndexPairList<type2indexpair<1,2>, type2indexpair<3,4>>().
-template <DenseIndex f, DenseIndex s>
-struct type2indexpair {
-  static const DenseIndex first = f;
-  static const DenseIndex second = s;
-
-  constexpr EIGEN_DEVICE_FUNC operator IndexPair<DenseIndex>() const {
-    return IndexPair<DenseIndex>(f, s);
-  }
-
-  EIGEN_DEVICE_FUNC void set(const IndexPair<DenseIndex>& val) {
-    eigen_assert(val.first == f);
-    eigen_assert(val.second == s);
-  }
-};
-
-
-template<DenseIndex n> struct NumTraits<type2index<n> >
-{
-  typedef DenseIndex Real;
-  enum {
-    IsComplex = 0,
-    RequireInitialization = false,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-
-  EIGEN_DEVICE_FUNC static inline Real epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC static inline Real dummy_precision() { return 0; }
-  EIGEN_DEVICE_FUNC static inline Real highest() { return n; }
-  EIGEN_DEVICE_FUNC static inline Real lowest() { return n; }
-};
-
-namespace internal {
-template <typename T>
-EIGEN_DEVICE_FUNC void update_value(T& val, DenseIndex new_val) {
-  val = new_val;
-}
-template <DenseIndex n>
-EIGEN_DEVICE_FUNC void update_value(type2index<n>& val, DenseIndex new_val) {
-  val.set(new_val);
-}
-
-template <typename T>
-EIGEN_DEVICE_FUNC void update_value(T& val, IndexPair<DenseIndex> new_val) {
-  val = new_val;
-}
-template <DenseIndex f, DenseIndex s>
-EIGEN_DEVICE_FUNC void update_value(type2indexpair<f, s>& val, IndexPair<DenseIndex> new_val) {
-  val.set(new_val);
-}
-
-
-template <typename T>
-struct is_compile_time_constant {
-  static constexpr bool value = false;
-};
-
-template <DenseIndex idx>
-struct is_compile_time_constant<type2index<idx> > {
-  static constexpr bool value = true;
-};
-template <DenseIndex idx>
-struct is_compile_time_constant<const type2index<idx> > {
-  static constexpr bool value = true;
-};
-template <DenseIndex idx>
-struct is_compile_time_constant<type2index<idx>& > {
-  static constexpr bool value = true;
-};
-template <DenseIndex idx>
-struct is_compile_time_constant<const type2index<idx>& > {
-  static constexpr bool value = true;
-};
-
-template <DenseIndex f, DenseIndex s>
-struct is_compile_time_constant<type2indexpair<f, s> > {
-  static constexpr bool value = true;
-};
-template <DenseIndex f, DenseIndex s>
-struct is_compile_time_constant<const type2indexpair<f, s> > {
-  static constexpr bool value = true;
-};
-template <DenseIndex f, DenseIndex s>
-struct is_compile_time_constant<type2indexpair<f, s>& > {
-  static constexpr bool value = true;
-};
-template <DenseIndex f, DenseIndex s>
-struct is_compile_time_constant<const type2indexpair<f, s>& > {
-  static constexpr bool value = true;
-};
-
-
-template<typename... T>
-struct IndexTuple;
-
-template<typename T, typename... O>
-struct IndexTuple<T, O...> {
-  EIGEN_DEVICE_FUNC constexpr IndexTuple() : head(), others() { }
-  EIGEN_DEVICE_FUNC constexpr IndexTuple(const T& v, const O... o) : head(v), others(o...) { }
-
-  constexpr static int count = 1 + sizeof...(O);
-  T head;
-  IndexTuple<O...> others;
-  typedef T Head;
-  typedef IndexTuple<O...> Other;
-};
-
-template<typename T>
-  struct IndexTuple<T> {
-  EIGEN_DEVICE_FUNC constexpr IndexTuple() : head() { }
-  EIGEN_DEVICE_FUNC constexpr IndexTuple(const T& v) : head(v) { }
-
-  constexpr static int count = 1;
-  T head;
-  typedef T Head;
-};
-
-
-template<int N, typename... T>
-struct IndexTupleExtractor;
-
-template<int N, typename T, typename... O>
-struct IndexTupleExtractor<N, T, O...> {
-
-  typedef typename IndexTupleExtractor<N-1, O...>::ValType ValType;
-
-  EIGEN_DEVICE_FUNC static constexpr ValType& get_val(IndexTuple<T, O...>& val) {
-    return IndexTupleExtractor<N-1, O...>::get_val(val.others);
-  }
-
-  EIGEN_DEVICE_FUNC static constexpr const ValType& get_val(const IndexTuple<T, O...>& val) {
-    return IndexTupleExtractor<N-1, O...>::get_val(val.others);
-  }
-  template <typename V>
-  EIGEN_DEVICE_FUNC static void set_val(IndexTuple<T, O...>& val, V& new_val) {
-    IndexTupleExtractor<N-1, O...>::set_val(val.others, new_val);
-  }
-
-};
-
-template<typename T, typename... O>
-  struct IndexTupleExtractor<0, T, O...> {
-
-  typedef T ValType;
-
-  EIGEN_DEVICE_FUNC static constexpr ValType& get_val(IndexTuple<T, O...>& val) {
-    return val.head;
-  }
-  EIGEN_DEVICE_FUNC static constexpr const ValType& get_val(const IndexTuple<T, O...>& val) {
-    return val.head;
-  }
-  template <typename V>
-  EIGEN_DEVICE_FUNC static void set_val(IndexTuple<T, O...>& val, V& new_val) {
-    val.head = new_val;
-  }
-};
-
-
-
-template <int N, typename T, typename... O>
-EIGEN_DEVICE_FUNC constexpr typename IndexTupleExtractor<N, T, O...>::ValType& array_get(IndexTuple<T, O...>& tuple) {
-  return IndexTupleExtractor<N, T, O...>::get_val(tuple);
-}
-template <int N, typename T, typename... O>
-EIGEN_DEVICE_FUNC constexpr const typename IndexTupleExtractor<N, T, O...>::ValType& array_get(const IndexTuple<T, O...>& tuple) {
-  return IndexTupleExtractor<N, T, O...>::get_val(tuple);
-}
-template <typename T, typename... O>
-  struct array_size<IndexTuple<T, O...> > {
-  static const size_t value = IndexTuple<T, O...>::count;
-};
-template <typename T, typename... O>
-  struct array_size<const IndexTuple<T, O...> > {
-  static const size_t value = IndexTuple<T, O...>::count;
-};
-
-
-
-
-template <DenseIndex Idx, typename ValueT>
-struct tuple_coeff {
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static constexpr ValueT get(const DenseIndex i, const IndexTuple<T...>& t) {
-    //    return array_get<Idx>(t) * (i == Idx) + tuple_coeff<Idx-1>::get(i, t) * (i != Idx);
-    return (i == Idx ? array_get<Idx>(t) : tuple_coeff<Idx-1, ValueT>::get(i, t));
-  }
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static void set(const DenseIndex i, IndexTuple<T...>& t, const ValueT& value) {
-    if (i == Idx) {
-      update_value(array_get<Idx>(t), value);
-    } else {
-      tuple_coeff<Idx-1, ValueT>::set(i, t, value);
-    }
-  }
-
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static constexpr bool value_known_statically(const DenseIndex i, const IndexTuple<T...>& t) {
-    return ((i == Idx) & is_compile_time_constant<typename IndexTupleExtractor<Idx, T...>::ValType>::value) ||
-        tuple_coeff<Idx-1, ValueT>::value_known_statically(i, t);
-  }
-
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static constexpr bool values_up_to_known_statically(const IndexTuple<T...>& t) {
-    return is_compile_time_constant<typename IndexTupleExtractor<Idx, T...>::ValType>::value &&
-        tuple_coeff<Idx-1, ValueT>::values_up_to_known_statically(t);
-  }
-
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static constexpr bool values_up_to_statically_known_to_increase(const IndexTuple<T...>& t) {
-    return is_compile_time_constant<typename IndexTupleExtractor<Idx, T...>::ValType>::value &&
-           is_compile_time_constant<typename IndexTupleExtractor<Idx, T...>::ValType>::value &&
-           array_get<Idx>(t) > array_get<Idx-1>(t) &&
-           tuple_coeff<Idx-1, ValueT>::values_up_to_statically_known_to_increase(t);
-  }
-};
-
-template <typename ValueT>
-struct tuple_coeff<0, ValueT> {
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static constexpr ValueT get(const DenseIndex /*i*/, const IndexTuple<T...>& t) {
-    //  eigen_assert (i == 0);  // gcc fails to compile assertions in constexpr
-    return array_get<0>(t)/* * (i == 0)*/;
-  }
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static void set(const DenseIndex i, IndexTuple<T...>& t, const ValueT value) {
-    eigen_assert (i == 0);
-    update_value(array_get<0>(t), value);
-  }
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static constexpr bool value_known_statically(const DenseIndex i, const IndexTuple<T...>&) {
-    return is_compile_time_constant<typename IndexTupleExtractor<0, T...>::ValType>::value & (i == 0);
-  }
-
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static constexpr bool values_up_to_known_statically(const IndexTuple<T...>&) {
-    return is_compile_time_constant<typename IndexTupleExtractor<0, T...>::ValType>::value;
-  }
-
-  template <typename... T>
-  EIGEN_DEVICE_FUNC static constexpr bool values_up_to_statically_known_to_increase(const IndexTuple<T...>&) {
-    return true;
-  }
-};
-}  // namespace internal
-
-
-
-template<typename FirstType, typename... OtherTypes>
-struct IndexList : internal::IndexTuple<FirstType, OtherTypes...> {
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC constexpr DenseIndex operator[] (const DenseIndex i) const {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...> >::value-1, DenseIndex>::get(i, *this);
-  }
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC constexpr DenseIndex get(const DenseIndex i) const {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...> >::value-1, DenseIndex>::get(i, *this);
-  }
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC void set(const DenseIndex i, const DenseIndex value) {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...> >::value-1, DenseIndex>::set(i, *this, value);
-  }
-
-  EIGEN_DEVICE_FUNC constexpr IndexList(const internal::IndexTuple<FirstType, OtherTypes...>& other) : internal::IndexTuple<FirstType, OtherTypes...>(other) { }
-  EIGEN_DEVICE_FUNC constexpr IndexList(FirstType& first, OtherTypes... other) : internal::IndexTuple<FirstType, OtherTypes...>(first, other...) { }
-  EIGEN_DEVICE_FUNC constexpr IndexList() : internal::IndexTuple<FirstType, OtherTypes...>() { }
-
-  EIGEN_DEVICE_FUNC constexpr bool value_known_statically(const DenseIndex i) const {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...> >::value-1, DenseIndex>::value_known_statically(i, *this);
-  }
-  EIGEN_DEVICE_FUNC constexpr bool all_values_known_statically() const {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...> >::value-1, DenseIndex>::values_up_to_known_statically(*this);
-  }
-
-  EIGEN_DEVICE_FUNC constexpr bool values_statically_known_to_increase() const {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...> >::value-1, DenseIndex>::values_up_to_statically_known_to_increase(*this);
-  }
-};
-
-
-template<typename FirstType, typename... OtherTypes>
-constexpr IndexList<FirstType, OtherTypes...> make_index_list(FirstType val1, OtherTypes... other_vals) {
-  return IndexList<FirstType, OtherTypes...>(val1, other_vals...);
-}
-
-
-template<typename FirstType, typename... OtherTypes>
-struct IndexPairList : internal::IndexTuple<FirstType, OtherTypes...> {
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC constexpr IndexPair<DenseIndex> operator[] (const DenseIndex i) const {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...> >::value-1, IndexPair<DenseIndex>>::get(i, *this);
-  }
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC void set(const DenseIndex i, const IndexPair<DenseIndex> value) {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...>>::value-1, IndexPair<DenseIndex> >::set(i, *this, value);
-  }
-
-  EIGEN_DEVICE_FUNC  constexpr IndexPairList(const internal::IndexTuple<FirstType, OtherTypes...>& other) : internal::IndexTuple<FirstType, OtherTypes...>(other) { }
-  EIGEN_DEVICE_FUNC  constexpr IndexPairList() : internal::IndexTuple<FirstType, OtherTypes...>() { }
-
-  EIGEN_DEVICE_FUNC constexpr bool value_known_statically(const DenseIndex i) const {
-    return internal::tuple_coeff<internal::array_size<internal::IndexTuple<FirstType, OtherTypes...> >::value-1, DenseIndex>::value_known_statically(i, *this);
-  }
-};
-
-namespace internal {
-
-template<typename FirstType, typename... OtherTypes> size_t array_prod(const IndexList<FirstType, OtherTypes...>& sizes) {
-  size_t result = 1;
-  for (int i = 0; i < array_size<IndexList<FirstType, OtherTypes...> >::value; ++i) {
-    result *= sizes[i];
-  }
-  return result;
-}
-
-template<typename FirstType, typename... OtherTypes> struct array_size<IndexList<FirstType, OtherTypes...> > {
-  static const size_t value = array_size<IndexTuple<FirstType, OtherTypes...> >::value;
-};
-template<typename FirstType, typename... OtherTypes> struct array_size<const IndexList<FirstType, OtherTypes...> > {
-  static const size_t value = array_size<IndexTuple<FirstType, OtherTypes...> >::value;
-};
-
-template<typename FirstType, typename... OtherTypes> struct array_size<IndexPairList<FirstType, OtherTypes...> > {
-  static const size_t value = std::tuple_size<std::tuple<FirstType, OtherTypes...> >::value;
-};
-template<typename FirstType, typename... OtherTypes> struct array_size<const IndexPairList<FirstType, OtherTypes...> > {
-  static const size_t value = std::tuple_size<std::tuple<FirstType, OtherTypes...> >::value;
-};
-
-template<DenseIndex N, typename FirstType, typename... OtherTypes> EIGEN_DEVICE_FUNC constexpr DenseIndex array_get(IndexList<FirstType, OtherTypes...>& a) {
-  return IndexTupleExtractor<N, FirstType, OtherTypes...>::get_val(a);
-}
-template<DenseIndex N, typename FirstType, typename... OtherTypes> EIGEN_DEVICE_FUNC constexpr DenseIndex array_get(const IndexList<FirstType, OtherTypes...>& a) {
-  return IndexTupleExtractor<N, FirstType, OtherTypes...>::get_val(a);
-}
-
-template <typename T>
-struct index_known_statically_impl {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex) {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_known_statically_impl<IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i);
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_known_statically_impl<const IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i);
-  }
-};
-
-
-template <typename T>
-struct all_indices_known_statically_impl {
-  static constexpr bool run() {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct all_indices_known_statically_impl<IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return IndexList<FirstType, OtherTypes...>().all_values_known_statically();
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct all_indices_known_statically_impl<const IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return IndexList<FirstType, OtherTypes...>().all_values_known_statically();
-  }
-};
-
-
-template <typename T>
-struct indices_statically_known_to_increase_impl {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-  struct indices_statically_known_to_increase_impl<IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return Eigen::IndexList<FirstType, OtherTypes...>().values_statically_known_to_increase();
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-  struct indices_statically_known_to_increase_impl<const IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run() {
-    return Eigen::IndexList<FirstType, OtherTypes...>().values_statically_known_to_increase();
-  }
-};
-
-
-template <typename Tx>
-struct index_statically_eq_impl {
-  EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_statically_eq_impl<IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexList<FirstType, OtherTypes...>().get(i) == value);
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_statically_eq_impl<const IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexList<FirstType, OtherTypes...>().get(i) == value);
-  }
-};
-
-
-template <typename T>
-struct index_statically_ne_impl {
-  EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_statically_ne_impl<IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexList<FirstType, OtherTypes...>().get(i) != value);
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_statically_ne_impl<const IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexList<FirstType, OtherTypes...>().get(i) != value);
-  }
-};
-
-
-template <typename T>
-struct index_statically_gt_impl {
-  EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_statically_gt_impl<IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexList<FirstType, OtherTypes...>().get(i) > value);
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_statically_gt_impl<const IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexList<FirstType, OtherTypes...>().get(i) > value);
-  }
-};
-
-
-
-template <typename T>
-struct index_statically_lt_impl {
-  EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_statically_lt_impl<IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexList<FirstType, OtherTypes...>().get(i) < value);
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_statically_lt_impl<const IndexList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexList<FirstType, OtherTypes...>().get(i) < value);
-  }
-};
-
-
-
-template <typename Tx>
-struct index_pair_first_statically_eq_impl {
-  EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_pair_first_statically_eq_impl<IndexPairList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexPairList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexPairList<FirstType, OtherTypes...>().operator[](i).first == value);
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_pair_first_statically_eq_impl<const IndexPairList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexPairList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexPairList<FirstType, OtherTypes...>().operator[](i).first == value);
-  }
-};
-
-
-
-template <typename Tx>
-struct index_pair_second_statically_eq_impl {
-  EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_pair_second_statically_eq_impl<IndexPairList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexPairList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexPairList<FirstType, OtherTypes...>().operator[](i).second == value);
-  }
-};
-
-template <typename FirstType, typename... OtherTypes>
-struct index_pair_second_statically_eq_impl<const IndexPairList<FirstType, OtherTypes...> > {
-  EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) {
-    return IndexPairList<FirstType, OtherTypes...>().value_known_statically(i) &
-        (IndexPairList<FirstType, OtherTypes...>().operator[](i).second == value);
-  }
-};
-
-
-}  // end namespace internal
-}  // end namespace Eigen
-
-#else
-
-namespace Eigen {
-namespace internal {
-
-template <typename T>
-struct index_known_statically_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex) {
-    return false;
-  }
-};
-
-template <typename T>
-struct all_indices_known_statically_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run() {
-    return false;
-  }
-};
-
-template <typename T>
-struct indices_statically_known_to_increase_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run() {
-    return false;
-  }
-};
-
-template <typename T>
-struct index_statically_eq_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename T>
-struct index_statically_ne_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename T>
-struct index_statically_gt_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename T>
-struct index_statically_lt_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename Tx>
-struct index_pair_first_statically_eq_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-template <typename Tx>
-struct index_pair_second_statically_eq_impl {
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) {
-    return false;
-  }
-};
-
-
-
-}  // end namespace internal
-}  // end namespace Eigen
-
-#endif
-
-
-namespace Eigen {
-namespace internal {
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_known_statically(DenseIndex i) {
-  return index_known_statically_impl<T>::run(i);
-}
-
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool all_indices_known_statically() {
-  return all_indices_known_statically_impl<T>::run();
-}
-
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool indices_statically_known_to_increase() {
-  return indices_statically_known_to_increase_impl<T>::run();
-}
-
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_statically_eq(DenseIndex i, DenseIndex value) {
-  return index_statically_eq_impl<T>::run(i, value);
-}
-
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_statically_ne(DenseIndex i, DenseIndex value) {
-  return index_statically_ne_impl<T>::run(i, value);
-}
-
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_statically_gt(DenseIndex i, DenseIndex value) {
-  return index_statically_gt_impl<T>::run(i, value);
-}
-
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_statically_lt(DenseIndex i, DenseIndex value) {
-  return index_statically_lt_impl<T>::run(i, value);
-}
-
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_pair_first_statically_eq(DenseIndex i, DenseIndex value) {
-  return index_pair_first_statically_eq_impl<T>::run(i, value);
-}
-
-template <typename T>
-static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_pair_second_statically_eq(DenseIndex i, DenseIndex value) {
-  return index_pair_second_statically_eq_impl<T>::run(i, value);
-}
-
-}  // end namespace internal
-}  // end namespace Eigen
-
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_INDEX_LIST_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInflation.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInflation.h
deleted file mode 100644
index f391fb9ee55dbd..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInflation.h
+++ /dev/null
@@ -1,229 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Ke Yang <yangke@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_INFLATION_H
-#define EIGEN_CXX11_TENSOR_TENSOR_INFLATION_H
-
-namespace Eigen {
-
-/** \class TensorInflation
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor inflation class.
-  *
-  *
-  */
-namespace internal {
-template<typename Strides, typename XprType>
-struct traits<TensorInflationOp<Strides, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename Strides, typename XprType>
-struct eval<TensorInflationOp<Strides, XprType>, Eigen::Dense>
-{
-  typedef const TensorInflationOp<Strides, XprType>& type;
-};
-
-template<typename Strides, typename XprType>
-struct nested<TensorInflationOp<Strides, XprType>, 1, typename eval<TensorInflationOp<Strides, XprType> >::type>
-{
-  typedef TensorInflationOp<Strides, XprType> type;
-};
-
-}  // end namespace internal
-
-template<typename Strides, typename XprType>
-class TensorInflationOp : public TensorBase<TensorInflationOp<Strides, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorInflationOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorInflationOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorInflationOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorInflationOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorInflationOp(const XprType& expr, const Strides& strides)
-      : m_xpr(expr), m_strides(strides) {}
-
-    EIGEN_DEVICE_FUNC
-    const Strides& strides() const { return m_strides; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const Strides m_strides;
-};
-
-// Eval as rvalue
-template<typename Strides, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorInflationOp<Strides, ArgType>, Device>
-{
-  typedef TensorInflationOp<Strides, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = /*TensorEvaluator<ArgType, Device>::IsAligned*/ false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    BlockAccess = false,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device), m_strides(op.strides())
-  {
-    m_dimensions = m_impl.dimensions();
-    // Expand each dimension to the inflated dimension.
-    for (int i = 0; i < NumDims; ++i) {
-      m_dimensions[i] = (m_dimensions[i] - 1) * op.strides()[i] + 1;
-    }
-
-    // Remember the strides for fast division.
-    for (int i = 0; i < NumDims; ++i) {
-      m_fastStrides[i] = internal::TensorIntDivisor<Index>(m_strides[i]);
-    }
-
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_outputStrides[0] = 1;
-      m_inputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1];
-        m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1];
-      }
-    } else {  // RowMajor
-      m_outputStrides[NumDims-1] = 1;
-      m_inputStrides[NumDims-1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_outputStrides[i] = m_outputStrides[i+1] * m_dimensions[i+1];
-        m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  // Computes the input index given the output index. Returns true if the output
-  // index doesn't fall into a hole.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool getInputIndex(Index index, Index* inputIndex) const
-  {
-    eigen_assert(index < dimensions().TotalSize());
-    *inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx = index / m_outputStrides[i];
-        if (idx != idx / m_fastStrides[i] * m_strides[i]) {
-          return false;
-        }
-        *inputIndex += idx / m_strides[i] * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      if (index != index / m_fastStrides[0] * m_strides[0]) {
-        return false;
-      }
-      *inputIndex += index / m_strides[0];
-      return true;
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx = index / m_outputStrides[i];
-        if (idx != idx / m_fastStrides[i] * m_strides[i]) {
-          return false;
-        }
-        *inputIndex += idx / m_strides[i] * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      if (index != index / m_fastStrides[NumDims-1] * m_strides[NumDims-1]) {
-        return false;
-      }
-      *inputIndex += index / m_strides[NumDims - 1];
-    }
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    Index inputIndex = 0;
-    if (getInputIndex(index, &inputIndex)) {
-     return m_impl.coeff(inputIndex);
-    } else {
-     return Scalar(0);
-    }
-  }
-
-  // TODO(yangke): optimize this function so that we can detect and produce
-  // all-zero packets
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-    for (int i = 0; i < PacketSize; ++i) {
-      values[i] = coeff(index+i);
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    const double compute_cost = NumDims * (3 * TensorOpCost::DivCost<Index>() +
-                                           3 * TensorOpCost::MulCost<Index>() +
-                                           2 * TensorOpCost::AddCost<Index>());
-    const double input_size = m_impl.dimensions().TotalSize();
-    const double output_size = m_dimensions.TotalSize();
-    if (output_size == 0)
-      return TensorOpCost();
-    return m_impl.costPerCoeff(vectorized) +
-           TensorOpCost(sizeof(CoeffReturnType) * input_size / output_size, 0,
-                        compute_cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- protected:
-  Dimensions m_dimensions;
-  array<Index, NumDims> m_outputStrides;
-  array<Index, NumDims> m_inputStrides;
-  TensorEvaluator<ArgType, Device> m_impl;
-  const Strides m_strides;
-  array<internal::TensorIntDivisor<Index>, NumDims> m_fastStrides;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_INFLATION_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInitializer.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInitializer.h
deleted file mode 100644
index 33edc49e39a9e0..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInitializer.h
+++ /dev/null
@@ -1,82 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_INITIALIZER_H
-#define EIGEN_CXX11_TENSOR_TENSOR_INITIALIZER_H
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-
-#include <initializer_list>
-
-namespace Eigen {
-
-/** \class TensorInitializer
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Helper template to initialize Tensors from std::initializer_lists.
-  */
-namespace internal {
-
-template <typename Derived, int N>
-struct Initializer {
-  typedef std::initializer_list<
-    typename Initializer<Derived, N - 1>::InitList> InitList;
-
-  static void run(TensorEvaluator<Derived, DefaultDevice>& tensor,
-                  Eigen::array<typename traits<Derived>::Index, traits<Derived>::NumDimensions>* indices,
-                  const InitList& vals) {
-    int i = 0;
-    for (auto v : vals) {
-      (*indices)[traits<Derived>::NumDimensions - N] = i++;
-      Initializer<Derived, N - 1>::run(tensor, indices, v);
-    }
-  }
-};
-
-template <typename Derived>
-struct Initializer<Derived, 1> {
-  typedef std::initializer_list<typename traits<Derived>::Scalar> InitList;
-
-  static void run(TensorEvaluator<Derived, DefaultDevice>& tensor,
-                  Eigen::array<typename traits<Derived>::Index, traits<Derived>::NumDimensions>* indices,
-                  const InitList& vals) {
-    int i = 0;
-    // There is likely a faster way to do that than iterating.
-    for (auto v : vals) {
-      (*indices)[traits<Derived>::NumDimensions - 1] = i++;
-      tensor.coeffRef(*indices) = v;
-    }
-  }
-};
-
-template <typename Derived>
-struct Initializer<Derived, 0> {
-  typedef typename traits<Derived>::Scalar InitList;
-
-  static void run(TensorEvaluator<Derived, DefaultDevice>& tensor,
-                  Eigen::array<typename traits<Derived>::Index, traits<Derived>::NumDimensions>*,
-                  const InitList& v) {
-    tensor.coeffRef(0) = v;
-  }
-};
-
-
-template <typename Derived, int N>
-void initialize_tensor(TensorEvaluator<Derived, DefaultDevice>& tensor,
-                       const typename Initializer<Derived, traits<Derived>::NumDimensions>::InitList& vals) {
-  Eigen::array<typename traits<Derived>::Index, traits<Derived>::NumDimensions> indices;
-  Initializer<Derived, traits<Derived>::NumDimensions>::run(tensor, &indices, vals);
-}
-
-}  // namespace internal
-}  // namespace Eigen
-
-#endif  // EIGEN_HAS_VARIADIC_TEMPLATES
-
-#endif  // EIGEN_CXX11_TENSOR_TENSOR_INITIALIZER_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIntDiv.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIntDiv.h
deleted file mode 100644
index ede3939c260dfd..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIntDiv.h
+++ /dev/null
@@ -1,253 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_INTDIV_H
-#define EIGEN_CXX11_TENSOR_TENSOR_INTDIV_H
-
-
-namespace Eigen {
-
-/** \internal
-  *
-  * \class TensorIntDiv
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Fast integer division by a constant.
-  *
-  * See the paper from Granlund and Montgomery for explanation.
-  *   (at http://dx.doi.org/10.1145/773473.178249)
-  *
-  * \sa Tensor
-  */
-
-namespace internal {
-
-namespace {
-
-  // Note: result is undefined if val == 0
-  template <typename T>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-  typename internal::enable_if<sizeof(T)==4,int>::type count_leading_zeros(const T val)
-  {
-#ifdef __CUDA_ARCH__
-    return __clz(val);
-#elif EIGEN_COMP_MSVC
-    unsigned long index;
-    _BitScanReverse(&index, val);
-    return 31 - index;
-#else
-    EIGEN_STATIC_ASSERT(sizeof(unsigned long long) == 8, YOU_MADE_A_PROGRAMMING_MISTAKE);
-    return __builtin_clz(static_cast<uint32_t>(val));
-#endif
-  }
-
-  template <typename T>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-  typename internal::enable_if<sizeof(T)==8,int>::type count_leading_zeros(const T val)
-  {
-#ifdef __CUDA_ARCH__
-    return __clzll(val);
-#elif EIGEN_COMP_MSVC && EIGEN_ARCH_x86_64
-    unsigned long index;
-    _BitScanReverse64(&index, val);
-    return 63 - index;
-#elif EIGEN_COMP_MSVC
-    // MSVC's _BitScanReverse64 is not available for 32bits builds.
-    unsigned int lo = (unsigned int)(val&0xffffffff);
-    unsigned int hi = (unsigned int)((val>>32)&0xffffffff);
-    int n;
-    if(hi==0)
-      n = 32 + count_leading_zeros<unsigned int>(lo);
-    else
-      n = count_leading_zeros<unsigned int>(hi);
-    return n;
-#else
-    EIGEN_STATIC_ASSERT(sizeof(unsigned long long) == 8, YOU_MADE_A_PROGRAMMING_MISTAKE);
-    return __builtin_clzll(static_cast<uint64_t>(val));
-#endif
-  }
-
-  template <typename T>
-  struct UnsignedTraits {
-    typedef typename conditional<sizeof(T) == 8, uint64_t, uint32_t>::type type;
-  };
-
-  template <typename T>
-  struct DividerTraits {
-    typedef typename UnsignedTraits<T>::type type;
-    static const int N = sizeof(T) * 8;
-  };
-
-  template <typename T>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE uint32_t muluh(const uint32_t a, const T b) {
-#if defined(__CUDA_ARCH__)
-    return __umulhi(a, b);
-#else
-    return (static_cast<uint64_t>(a) * b) >> 32;
-#endif
-  }
-
-  template <typename T>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE uint64_t muluh(const uint64_t a, const T b) {
-#if defined(__CUDA_ARCH__)
-    return __umul64hi(a, b);
-#elif defined(__SIZEOF_INT128__)
-    __uint128_t v = static_cast<__uint128_t>(a) * static_cast<__uint128_t>(b);
-    return static_cast<uint64_t>(v >> 64);
-#else
-    return (TensorUInt128<static_val<0>, uint64_t>(a) * TensorUInt128<static_val<0>, uint64_t>(b)).upper();
-#endif
-  }
-
-  template <int N, typename T>
-  struct DividerHelper {
-    static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE uint32_t computeMultiplier(const int log_div, const T divider) {
-      EIGEN_STATIC_ASSERT(N == 32, YOU_MADE_A_PROGRAMMING_MISTAKE);
-      return static_cast<uint32_t>((static_cast<uint64_t>(1) << (N+log_div)) / divider - (static_cast<uint64_t>(1) << N) + 1);
-    }
-  };
-
-  template <typename T>
-  struct DividerHelper<64, T> {
-    static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE uint64_t computeMultiplier(const int log_div, const T divider) {
-#if defined(__SIZEOF_INT128__) && !defined(__CUDA_ARCH__)
-      return static_cast<uint64_t>((static_cast<__uint128_t>(1) << (64+log_div)) / static_cast<__uint128_t>(divider) - (static_cast<__uint128_t>(1) << 64) + 1);
-#else
-      const uint64_t shift = 1ULL << log_div;
-      TensorUInt128<uint64_t, uint64_t> result = TensorUInt128<uint64_t, static_val<0> >(shift, 0) / TensorUInt128<static_val<0>, uint64_t>(divider)
-                                               - TensorUInt128<static_val<1>, static_val<0> >(1, 0)
-                                               + TensorUInt128<static_val<0>, static_val<1> >(1);
-      return static_cast<uint64_t>(result);
-#endif
-    }
-  };
-}
-
-
-template <typename T, bool div_gt_one = false>
-struct TensorIntDivisor {
- public:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorIntDivisor() {
-    multiplier = 0;
-    shift1 = 0;
-    shift2 = 0;
-  }
-
-  // Must have 0 < divider < 2^31. This is relaxed to
-  // 0 < divider < 2^63 when using 64-bit indices on platforms that support
-  // the __uint128_t type.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorIntDivisor(const T divider) {
-    const int N = DividerTraits<T>::N;
-    eigen_assert(static_cast<typename UnsignedTraits<T>::type>(divider) < NumTraits<UnsignedType>::highest()/2);
-    eigen_assert(divider > 0);
-
-    // fast ln2
-    const int leading_zeros = count_leading_zeros(static_cast<UnsignedType>(divider));
-    int log_div = N - leading_zeros;
-    // if divider is a power of two then log_div is 1 more than it should be.
-    if ((static_cast<typename UnsignedTraits<T>::type>(1) << (log_div-1)) == static_cast<typename UnsignedTraits<T>::type>(divider))
-      log_div--;
-
-    multiplier = DividerHelper<N, T>::computeMultiplier(log_div, divider);
-    shift1 = log_div > 1 ? 1 : log_div;
-    shift2 = log_div > 1 ? log_div-1 : 0;
-  }
-
-  // Must have 0 <= numerator. On platforms that dont support the __uint128_t
-  // type numerator should also be less than 2^32-1.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T divide(const T numerator) const {
-    eigen_assert(static_cast<typename UnsignedTraits<T>::type>(numerator) < NumTraits<UnsignedType>::highest()/2);
-    //eigen_assert(numerator >= 0); // this is implicitly asserted by the line above
-
-    UnsignedType t1 = muluh(multiplier, numerator);
-    UnsignedType t = (static_cast<UnsignedType>(numerator) - t1) >> shift1;
-    return (t1 + t) >> shift2;
-  }
-
- private:
-  typedef typename DividerTraits<T>::type UnsignedType;
-  UnsignedType multiplier;
-  int32_t shift1;
-  int32_t shift2;
-};
-
-
-// Optimized version for signed 32 bit integers.
-// Derived from Hacker's Delight.
-// Only works for divisors strictly greater than one
-template <>
-class TensorIntDivisor<int32_t, true> {
- public:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorIntDivisor() {
-    magic = 0;
-    shift = 0;
-  }
-  // Must have 2 <= divider
-  EIGEN_DEVICE_FUNC TensorIntDivisor(int32_t divider)  {
-    eigen_assert(divider >= 2);
-    calcMagic(divider);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE int divide(const int32_t n) const {
-#ifdef __CUDA_ARCH__
-    return (__umulhi(magic, n) >> shift);
-#else
-    uint64_t v = static_cast<uint64_t>(magic) * static_cast<uint64_t>(n);
-    return (static_cast<uint32_t>(v >> 32) >> shift);
-#endif
-  }
-
-private:
-  // Compute the magic numbers. See Hacker's Delight section 10 for an in
-  // depth explanation.
-  EIGEN_DEVICE_FUNC void calcMagic(int32_t d) {
-   const unsigned two31 = 0x80000000;     // 2**31.
-   unsigned ad = d;
-   unsigned t = two31 + (ad >> 31);
-   unsigned anc = t - 1 - t%ad;     // Absolute value of nc.
-   int p = 31;                      // Init. p.
-   unsigned q1 = two31/anc;         // Init. q1 = 2**p/|nc|.
-   unsigned r1 = two31 - q1*anc;    // Init. r1 = rem(2**p, |nc|).
-   unsigned q2 = two31/ad;          // Init. q2 = 2**p/|d|.
-   unsigned r2 = two31 - q2*ad;     // Init. r2 = rem(2**p, |d|).
-   unsigned delta = 0;
-   do {
-      p = p + 1;
-      q1 = 2*q1;           // Update q1 = 2**p/|nc|.
-      r1 = 2*r1;           // Update r1 = rem(2**p, |nc|).
-      if (r1 >= anc) {     // (Must be an unsigned
-         q1 = q1 + 1;      // comparison here).
-         r1 = r1 - anc;}
-      q2 = 2*q2;           // Update q2 = 2**p/|d|.
-      r2 = 2*r2;           // Update r2 = rem(2**p, |d|).
-      if (r2 >= ad) {      // (Must be an unsigned
-         q2 = q2 + 1;      // comparison here).
-         r2 = r2 - ad;}
-      delta = ad - r2;
-   } while (q1 < delta || (q1 == delta && r1 == 0));
-
-   magic = (unsigned)(q2 + 1);
-   shift = p - 32;
-  }
-
-  uint32_t magic;
-  int32_t shift;
-};
-
-
-template <typename T, bool div_gt_one>
-static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T operator / (const T& numerator, const TensorIntDivisor<T, div_gt_one>& divisor) {
-  return divisor.divide(numerator);
-}
-
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_INTDIV_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorLayoutSwap.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorLayoutSwap.h
deleted file mode 100644
index cd0109ef44d2b2..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorLayoutSwap.h
+++ /dev/null
@@ -1,209 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_LAYOUT_SWAP_H
-#define EIGEN_CXX11_TENSOR_TENSOR_LAYOUT_SWAP_H
-
-namespace Eigen {
-
-/** \class TensorLayoutSwap
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Swap the layout from col-major to row-major, or row-major
-  * to col-major, and invert the order of the dimensions.
-  *
-  * Beware: the dimensions are reversed by this operation. If you want to
-  * preserve the ordering of the dimensions, you need to combine this
-  * operation with a shuffle.
-  *
-  * \example:
-  * Tensor<float, 2, ColMajor> input(2, 4);
-  * Tensor<float, 2, RowMajor> output = input.swap_layout();
-  * eigen_assert(output.dimension(0) == 4);
-  * eigen_assert(output.dimension(1) == 2);
-  *
-  * array<int, 2> shuffle(1, 0);
-  * output = input.swap_layout().shuffle(shuffle);
-  * eigen_assert(output.dimension(0) == 2);
-  * eigen_assert(output.dimension(1) == 4);
-  *
-  */
-namespace internal {
-template<typename XprType>
-struct traits<TensorLayoutSwapOp<XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = traits<XprType>::NumDimensions;
-  static const int Layout = (traits<XprType>::Layout == ColMajor) ? RowMajor : ColMajor;
-};
-
-template<typename XprType>
-struct eval<TensorLayoutSwapOp<XprType>, Eigen::Dense>
-{
-  typedef const TensorLayoutSwapOp<XprType>& type;
-};
-
-template<typename XprType>
-struct nested<TensorLayoutSwapOp<XprType>, 1, typename eval<TensorLayoutSwapOp<XprType> >::type>
-{
-  typedef TensorLayoutSwapOp<XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename XprType>
-class TensorLayoutSwapOp : public TensorBase<TensorLayoutSwapOp<XprType>, WriteAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorLayoutSwapOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorLayoutSwapOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorLayoutSwapOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorLayoutSwapOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorLayoutSwapOp(const XprType& expr)
-      : m_xpr(expr) {}
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorLayoutSwapOp& operator = (const TensorLayoutSwapOp& other)
-    {
-      typedef TensorAssignOp<TensorLayoutSwapOp, const TensorLayoutSwapOp> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorLayoutSwapOp& operator = (const OtherDerived& other)
-    {
-      typedef TensorAssignOp<TensorLayoutSwapOp, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-  protected:
-    typename XprType::Nested m_xpr;
-};
-
-
-// Eval as rvalue
-template<typename ArgType, typename Device>
-struct TensorEvaluator<const TensorLayoutSwapOp<ArgType>, Device>
-{
-  typedef TensorLayoutSwapOp<ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-
-  enum {
-    IsAligned = TensorEvaluator<ArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = (static_cast<int>(TensorEvaluator<ArgType, Device>::Layout) == static_cast<int>(ColMajor)) ? RowMajor : ColMajor,
-    CoordAccess = false,  // to be implemented
-    RawAccess = TensorEvaluator<ArgType, Device>::RawAccess
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device)
-  {
-    for(int i = 0; i < NumDims; ++i) {
-      m_dimensions[i] = m_impl.dimensions()[NumDims-1-i];
-    }
-  }
-
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) {
-    return m_impl.evalSubExprsIfNeeded(data);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_impl.coeff(index);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    return m_impl.template packet<LoadMode>(index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    return m_impl.costPerCoeff(vectorized);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return m_impl.data(); }
-
-  const TensorEvaluator<ArgType, Device>& impl() const { return m_impl; }
-
- protected:
-  TensorEvaluator<ArgType, Device> m_impl;
-  Dimensions m_dimensions;
-};
-
-
-// Eval as lvalue
-template<typename ArgType, typename Device>
-  struct TensorEvaluator<TensorLayoutSwapOp<ArgType>, Device>
-  : public TensorEvaluator<const TensorLayoutSwapOp<ArgType>, Device>
-{
-  typedef TensorEvaluator<const TensorLayoutSwapOp<ArgType>, Device> Base;
-  typedef TensorLayoutSwapOp<ArgType> XprType;
-
-  enum {
-    IsAligned = TensorEvaluator<ArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = (static_cast<int>(TensorEvaluator<ArgType, Device>::Layout) == static_cast<int>(ColMajor)) ? RowMajor : ColMajor,
-    CoordAccess = false  // to be implemented
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-    : Base(op, device)
-  { }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index)
-  {
-    return this->m_impl.coeffRef(index);
-  }
-  template <int StoreMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x)
-  {
-    this->m_impl.template writePacket<StoreMode>(index, x);
-  }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_LAYOUT_SWAP_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMacros.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMacros.h
deleted file mode 100644
index ee0078bbcc4cbf..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMacros.h
+++ /dev/null
@@ -1,54 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_META_MACROS_H
-#define EIGEN_CXX11_TENSOR_TENSOR_META_MACROS_H
-
-
-/** use this macro in sfinae selection in templated functions
- *
- *   template<typename T,
- *            typename std::enable_if< isBanana<T>::value , int >::type = 0
- *   >
- *   void foo(){}
- *
- *   becomes =>
- *
- *   template<typename TopoType,
- *           SFINAE_ENABLE_IF( isBanana<T>::value )
- *   >
- *   void foo(){}
- */
-
-// SFINAE requires variadic templates
-#ifndef __CUDACC__
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-  // SFINAE doesn't work for gcc <= 4.7
-  #ifdef EIGEN_COMP_GNUC
-    #if EIGEN_GNUC_AT_LEAST(4,8)
-      #define EIGEN_HAS_SFINAE
-    #endif
-  #else
-    #define EIGEN_HAS_SFINAE
-  #endif
-#endif
-#endif
-
-#define EIGEN_SFINAE_ENABLE_IF( __condition__ ) \
-    typename internal::enable_if< ( __condition__ ) , int >::type = 0
-
-
-#if EIGEN_HAS_CONSTEXPR
-#define EIGEN_CONSTEXPR constexpr
-#else
-#define EIGEN_CONSTEXPR
-#endif
-
-
-#endif
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h
deleted file mode 100644
index a8e55757e41ab2..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h
+++ /dev/null
@@ -1,321 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_MAP_H
-#define EIGEN_CXX11_TENSOR_TENSOR_MAP_H
-
-namespace Eigen {
-
-/** \class TensorMap
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief A tensor expression mapping an existing array of data.
-  *
-  */
-/// template <class> class MakePointer_ is added to convert the host pointer to the device pointer.
-/// It is added due to the fact that for our device compiler T* is not allowed.
-/// If we wanted to use the same Evaluator functions we have to convert that type to our pointer T.
-/// This is done through our MakePointer_ class. By default the Type in the MakePointer_<T> is T* .
-/// Therefore, by adding the default value, we managed to convert the type and it does not break any
-/// existing code as its default value is T*.
-template<typename PlainObjectType, int Options_, template <class> class MakePointer_> class TensorMap : public TensorBase<TensorMap<PlainObjectType, Options_, MakePointer_> >
-{
-  public:
-    typedef TensorMap<PlainObjectType, Options_, MakePointer_> Self;
-    typedef typename PlainObjectType::Base Base;
-    typedef typename Eigen::internal::nested<Self>::type Nested;
-    typedef typename internal::traits<PlainObjectType>::StorageKind StorageKind;
-    typedef typename internal::traits<PlainObjectType>::Index Index;
-    typedef typename internal::traits<PlainObjectType>::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename Base::CoeffReturnType CoeffReturnType;
-
-  /*    typedef typename internal::conditional<
-                         bool(internal::is_lvalue<PlainObjectType>::value),
-                         Scalar *,
-                         const Scalar *>::type
-                     PointerType;*/
-    typedef typename MakePointer_<Scalar>::Type PointerType;
-    typedef PointerType PointerArgType;
-
-    static const int Options = Options_;
-
-    static const Index NumIndices = PlainObjectType::NumIndices;
-    typedef typename PlainObjectType::Dimensions Dimensions;
-
-    enum {
-      IsAligned = ((int(Options_)&Aligned)==Aligned),
-      Layout = PlainObjectType::Layout,
-      CoordAccess = true,
-      RawAccess = true
-    };
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr) : m_data(dataPtr), m_dimensions() {
-      // The number of dimensions used to construct a tensor must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT((0 == NumIndices || NumIndices == Dynamic), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index firstDimension, IndexTypes... otherDimensions) : m_data(dataPtr), m_dimensions(firstDimension, otherDimensions...) {
-      // The number of dimensions used to construct a tensor must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT((sizeof...(otherDimensions) + 1 == NumIndices || NumIndices == Dynamic), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-#else
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index firstDimension) : m_data(dataPtr), m_dimensions(firstDimension) {
-      // The number of dimensions used to construct a tensor must be equal to the rank of the tensor.
-      EIGEN_STATIC_ASSERT((1 == NumIndices || NumIndices == Dynamic), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index dim1, Index dim2) : m_data(dataPtr), m_dimensions(dim1, dim2) {
-      EIGEN_STATIC_ASSERT(2 == NumIndices || NumIndices == Dynamic, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index dim1, Index dim2, Index dim3) : m_data(dataPtr), m_dimensions(dim1, dim2, dim3) {
-      EIGEN_STATIC_ASSERT(3 == NumIndices || NumIndices == Dynamic, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index dim1, Index dim2, Index dim3, Index dim4) : m_data(dataPtr), m_dimensions(dim1, dim2, dim3, dim4) {
-      EIGEN_STATIC_ASSERT(4 == NumIndices || NumIndices == Dynamic, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index dim1, Index dim2, Index dim3, Index dim4, Index dim5) : m_data(dataPtr), m_dimensions(dim1, dim2, dim3, dim4, dim5) {
-      EIGEN_STATIC_ASSERT(5 == NumIndices || NumIndices == Dynamic, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    }
-#endif
-
-   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, const array<Index, NumIndices>& dimensions)
-      : m_data(dataPtr), m_dimensions(dimensions)
-    { }
-
-    template <typename Dimensions>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, const Dimensions& dimensions)
-      : m_data(dataPtr), m_dimensions(dimensions)
-    { }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorMap(PlainObjectType& tensor)
-      : m_data(tensor.data()), m_dimensions(tensor.dimensions())
-    { }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rank() const { return m_dimensions.rank(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index dimension(Index n) const { return m_dimensions[n]; }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index size() const { return m_dimensions.TotalSize(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE PointerType data() { return m_data; }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const PointerType data() const { return m_data; }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(const array<Index, NumIndices>& indices) const
-    {
-      //      eigen_assert(checkIndexRange(indices));
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = m_dimensions.IndexOfRowMajor(indices);
-        return m_data[index];
-      } else {
-        const Index index = m_dimensions.IndexOfColMajor(indices);
-        return m_data[index];
-      }
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()() const
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return m_data[0];
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index index) const
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      return m_data[index];
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) const
-    {
-      EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = m_dimensions.IndexOfRowMajor(array<Index, NumIndices>{{firstIndex, secondIndex, otherIndices...}});
-        return m_data[index];
-      } else {
-        const Index index = m_dimensions.IndexOfColMajor(array<Index, NumIndices>{{firstIndex, secondIndex, otherIndices...}});
-        return m_data[index];
-      }
-    }
-#else
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1) const
-    {
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = i1 + i0 * m_dimensions[1];
-        return m_data[index];
-      } else {
-        const Index index = i0 + i1 * m_dimensions[0];
-        return m_data[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2) const
-    {
-      if (PlainObjectType::Options&RowMajor) {
-         const Index index = i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0);
-         return m_data[index];
-      } else {
-         const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * i2);
-        return m_data[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3) const
-    {
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = i3 + m_dimensions[3] * (i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0));
-        return m_data[index];
-      } else {
-        const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * (i2 + m_dimensions[2] * i3));
-        return m_data[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) const
-    {
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = i4 + m_dimensions[4] * (i3 + m_dimensions[3] * (i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0)));
-        return m_data[index];
-      } else {
-        const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * (i2 + m_dimensions[2] * (i3 + m_dimensions[3] * i4)));
-        return m_data[index];
-      }
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(const array<Index, NumIndices>& indices)
-    {
-      //      eigen_assert(checkIndexRange(indices));
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = m_dimensions.IndexOfRowMajor(indices);
-        return m_data[index];
-      } else {
-        const Index index = m_dimensions.IndexOfColMajor(indices);
-        return m_data[index];
-      }
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()()
-    {
-      EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE)
-      return m_data[0];
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index index)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      return m_data[index];
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index firstIndex, Index secondIndex, IndexTypes... otherIndices)
-    {
-      static_assert(sizeof...(otherIndices) + 2 == NumIndices || NumIndices == Dynamic, "Number of indices used to access a tensor coefficient must be equal to the rank of the tensor.");
-      const std::size_t NumDims = sizeof...(otherIndices) + 2;
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = m_dimensions.IndexOfRowMajor(array<Index, NumDims>{{firstIndex, secondIndex, otherIndices...}});
-        return m_data[index];
-      } else {
-        const Index index = m_dimensions.IndexOfColMajor(array<Index, NumDims>{{firstIndex, secondIndex, otherIndices...}});
-        return m_data[index];
-      }
-    }
-#else
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1)
-    {
-       if (PlainObjectType::Options&RowMajor) {
-         const Index index = i1 + i0 * m_dimensions[1];
-        return m_data[index];
-      } else {
-        const Index index = i0 + i1 * m_dimensions[0];
-        return m_data[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2)
-    {
-       if (PlainObjectType::Options&RowMajor) {
-         const Index index = i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0);
-        return m_data[index];
-      } else {
-         const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * i2);
-        return m_data[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3)
-    {
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = i3 + m_dimensions[3] * (i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0));
-        return m_data[index];
-      } else {
-        const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * (i2 + m_dimensions[2] * i3));
-        return m_data[index];
-      }
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4)
-    {
-      if (PlainObjectType::Options&RowMajor) {
-        const Index index = i4 + m_dimensions[4] * (i3 + m_dimensions[3] * (i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0)));
-        return m_data[index];
-      } else {
-        const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * (i2 + m_dimensions[2] * (i3 + m_dimensions[3] * i4)));
-        return m_data[index];
-      }
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Self& operator=(const Self& other)
-    {
-      typedef TensorAssignOp<Self, const Self> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Self& operator=(const OtherDerived& other)
-    {
-      typedef TensorAssignOp<Self, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-  private:
-    typename MakePointer_<Scalar>::Type m_data;
-    Dimensions m_dimensions;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_MAP_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMeta.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMeta.h
deleted file mode 100644
index 615559d445473a..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMeta.h
+++ /dev/null
@@ -1,218 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_META_H
-#define EIGEN_CXX11_TENSOR_TENSOR_META_H
-
-namespace Eigen {
-
-template<bool cond> struct Cond {};
-
-template<typename T1, typename T2> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-const T1& choose(Cond<true>, const T1& first, const T2&) {
-  return first;
-}
-
-template<typename T1, typename T2> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-const T2& choose(Cond<false>, const T1&, const T2& second) {
-  return second;
-}
-
-
-template <typename T, typename X, typename Y>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T divup(const X x, const Y y) {
-  return static_cast<T>((x + y - 1) / y);
-}
-
-template <typename T>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T divup(const T x, const T y) {
-  return static_cast<T>((x + y - 1) / y);
-}
-
-template <size_t n> struct max_n_1 {
-  static const size_t size = n;
-};
-template <> struct max_n_1<0> {
-  static const size_t size = 1;
-};
-
-
-// Default packet types
-template <typename Scalar, typename Device>
-struct PacketType : internal::packet_traits<Scalar> {
-  typedef typename internal::packet_traits<Scalar>::type type;
-};
-
-// For CUDA packet types when using a GpuDevice
-#if defined(EIGEN_USE_GPU) && defined(__CUDACC__) && defined(EIGEN_HAS_CUDA_FP16)
-template <>
-struct PacketType<half, GpuDevice> {
-  typedef half2 type;
-  static const int size = 2;
-  enum {
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasNegate = 1,
-    HasAbs    = 1,
-    HasArg    = 0,
-    HasAbs2   = 0,
-    HasMin    = 1,
-    HasMax    = 1,
-    HasConj   = 0,
-    HasSetLinear = 0,
-    HasBlend  = 0,
-
-    HasDiv    = 1,
-    HasSqrt   = 1,
-    HasRsqrt  = 1,
-    HasExp    = 1,
-    HasLog    = 1,
-    HasLog1p  = 0,
-    HasLog10  = 0,
-    HasPow    = 1,
-  };
-};
-#endif
-
-#if defined(EIGEN_USE_SYCL)
-template <typename T>
-  struct PacketType<T, SyclDevice> {
-  typedef T type;
-  static const int size = 1;
-  enum {
-    HasAdd    = 0,
-    HasSub    = 0,
-    HasMul    = 0,
-    HasNegate = 0,
-    HasAbs    = 0,
-    HasArg    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasConj   = 0,
-    HasSetLinear = 0,
-    HasBlend  = 0
-  };
-};
-#endif
-
-
-// Tuple mimics std::pair but works on e.g. nvcc.
-template <typename U, typename V> struct Tuple {
- public:
-  U first;
-  V second;
-
-  typedef U first_type;
-  typedef V second_type;
-
-  EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Tuple() : first(), second() {}
-
-  EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Tuple(const U& f, const V& s) : first(f), second(s) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Tuple& operator= (const Tuple& rhs) {
-    if (&rhs == this) return *this;
-    first = rhs.first;
-    second = rhs.second;
-    return *this;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void swap(Tuple& rhs) {
-    using numext::swap;
-    swap(first, rhs.first);
-    swap(second, rhs.second);
-  }
-};
-
-template <typename U, typename V>
-EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-bool operator==(const Tuple<U, V>& x, const Tuple<U, V>& y) {
-  return (x.first == y.first && x.second == y.second);
-}
-
-template <typename U, typename V>
-EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-bool operator!=(const Tuple<U, V>& x, const Tuple<U, V>& y) {
-  return !(x == y);
-}
-
-
-// Can't use std::pairs on cuda devices
-template <typename Idx> struct IndexPair {
-  EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE IndexPair() : first(0), second(0) {}
-  EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE IndexPair(Idx f, Idx s) : first(f), second(s) {}
-
-  EIGEN_DEVICE_FUNC void set(IndexPair<Idx> val) {
-    first = val.first;
-    second = val.second;
-  }
-
-  Idx first;
-  Idx second;
-};
-
-
-#ifdef EIGEN_HAS_SFINAE
-namespace internal {
-
-  template<typename IndexType, Index... Is>
-  EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  array<Index, sizeof...(Is)> customIndices2Array(IndexType& idx, numeric_list<Index, Is...>) {
-    return { idx[Is]... };
-  }
-  template<typename IndexType>
-  EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  array<Index, 0> customIndices2Array(IndexType&, numeric_list<Index>) {
-    return array<Index, 0>();
-  }
-
-  /** Make an array (for index/dimensions) out of a custom index */
-  template<typename Index, std::size_t NumIndices, typename IndexType>
-  EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  array<Index, NumIndices> customIndices2Array(IndexType& idx) {
-    return customIndices2Array(idx, typename gen_numeric_list<Index, NumIndices>::type{});
-  }
-
-
-  template <typename B, typename D>
-  struct is_base_of
-  {
-
-    typedef char (&yes)[1];
-    typedef char (&no)[2];
-
-    template <typename BB, typename DD>
-    struct Host
-    {
-      operator BB*() const;
-      operator DD*();
-    };
-
-    template<typename T>
-    static yes check(D*, T);
-    static no check(B*, int);
-
-    static const bool value = sizeof(check(Host<B,D>(), int())) == sizeof(yes);
-  };
-
-}
-#endif
-
-
-
-}  // namespace Eigen
-
-#endif  // EIGEN_CXX11_TENSOR_TENSOR_META_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMorphing.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMorphing.h
deleted file mode 100644
index d34f1e328c60d9..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMorphing.h
+++ /dev/null
@@ -1,888 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_MORPHING_H
-#define EIGEN_CXX11_TENSOR_TENSOR_MORPHING_H
-
-namespace Eigen {
-
-/** \class TensorReshaping
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor reshaping class.
-  *
-  *
-  */
-namespace internal {
-template<typename NewDimensions, typename XprType>
-struct traits<TensorReshapingOp<NewDimensions, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = array_size<NewDimensions>::value;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename NewDimensions, typename XprType>
-struct eval<TensorReshapingOp<NewDimensions, XprType>, Eigen::Dense>
-{
-  typedef const TensorReshapingOp<NewDimensions, XprType>& type;
-};
-
-template<typename NewDimensions, typename XprType>
-struct nested<TensorReshapingOp<NewDimensions, XprType>, 1, typename eval<TensorReshapingOp<NewDimensions, XprType> >::type>
-{
-  typedef TensorReshapingOp<NewDimensions, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename NewDimensions, typename XprType>
-class TensorReshapingOp : public TensorBase<TensorReshapingOp<NewDimensions, XprType>, WriteAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorReshapingOp>::Scalar Scalar;
-  typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorReshapingOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorReshapingOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorReshapingOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorReshapingOp(const XprType& expr, const NewDimensions& dims)
-      : m_xpr(expr), m_dims(dims) {}
-
-    EIGEN_DEVICE_FUNC
-    const NewDimensions& dimensions() const { return m_dims; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorReshapingOp& operator = (const TensorReshapingOp& other)
-    {
-      typedef TensorAssignOp<TensorReshapingOp, const TensorReshapingOp> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorReshapingOp& operator = (const OtherDerived& other)
-    {
-      typedef TensorAssignOp<TensorReshapingOp, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const NewDimensions m_dims;
-};
-
-
-// Eval as rvalue
-template<typename NewDimensions, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorReshapingOp<NewDimensions, ArgType>, Device>
-{
-  typedef TensorReshapingOp<NewDimensions, ArgType> XprType;
-  typedef NewDimensions Dimensions;
-
-  enum {
-    IsAligned = TensorEvaluator<ArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = TensorEvaluator<ArgType, Device>::RawAccess
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device), m_dimensions(op.dimensions())
-  {
-    // The total size of the reshaped tensor must be equal to the total size
-    // of the input tensor.
-    eigen_assert(internal::array_prod(m_impl.dimensions()) == internal::array_prod(op.dimensions()));
-  }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) {
-    return m_impl.evalSubExprsIfNeeded(data);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_impl.coeff(index);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    return m_impl.template packet<LoadMode>(index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    return m_impl.costPerCoeff(vectorized);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return const_cast<Scalar*>(m_impl.data()); }
-
-  EIGEN_DEVICE_FUNC const TensorEvaluator<ArgType, Device>& impl() const { return m_impl; }
-
- protected:
-  TensorEvaluator<ArgType, Device> m_impl;
-  NewDimensions m_dimensions;
-};
-
-
-// Eval as lvalue
-template<typename NewDimensions, typename ArgType, typename Device>
-  struct TensorEvaluator<TensorReshapingOp<NewDimensions, ArgType>, Device>
-  : public TensorEvaluator<const TensorReshapingOp<NewDimensions, ArgType>, Device>
-
-{
-  typedef TensorEvaluator<const TensorReshapingOp<NewDimensions, ArgType>, Device> Base;
-  typedef TensorReshapingOp<NewDimensions, ArgType> XprType;
-  typedef NewDimensions Dimensions;
-
-  enum {
-    IsAligned = TensorEvaluator<ArgType, Device>::IsAligned,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = TensorEvaluator<ArgType, Device>::RawAccess
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-    : Base(op, device)
-  { }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index)
-  {
-    return this->m_impl.coeffRef(index);
-  }
-  template <int StoreMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x)
-  {
-    this->m_impl.template writePacket<StoreMode>(index, x);
-  }
-};
-
-
-/** \class TensorSlicing
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor slicing class.
-  *
-  *
-  */
-namespace internal {
-template<typename StartIndices, typename Sizes, typename XprType>
-struct traits<TensorSlicingOp<StartIndices, Sizes, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = array_size<StartIndices>::value;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename StartIndices, typename Sizes, typename XprType>
-struct eval<TensorSlicingOp<StartIndices, Sizes, XprType>, Eigen::Dense>
-{
-  typedef const TensorSlicingOp<StartIndices, Sizes, XprType>& type;
-};
-
-template<typename StartIndices, typename Sizes, typename XprType>
-struct nested<TensorSlicingOp<StartIndices, Sizes, XprType>, 1, typename eval<TensorSlicingOp<StartIndices, Sizes, XprType> >::type>
-{
-  typedef TensorSlicingOp<StartIndices, Sizes, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename StartIndices, typename Sizes, typename XprType>
-class TensorSlicingOp : public TensorBase<TensorSlicingOp<StartIndices, Sizes, XprType> >
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorSlicingOp>::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorSlicingOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorSlicingOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorSlicingOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorSlicingOp(const XprType& expr, const StartIndices& indices, const Sizes& sizes)
-      : m_xpr(expr), m_indices(indices), m_sizes(sizes) {}
-
-    EIGEN_DEVICE_FUNC
-    const StartIndices& startIndices() const { return m_indices; }
-    EIGEN_DEVICE_FUNC
-    const Sizes& sizes() const { return m_sizes; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorSlicingOp& operator = (const OtherDerived& other)
-    {
-      typedef TensorAssignOp<TensorSlicingOp, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorSlicingOp& operator = (const TensorSlicingOp& other)
-    {
-      typedef TensorAssignOp<TensorSlicingOp, const TensorSlicingOp> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const StartIndices m_indices;
-    const Sizes m_sizes;
-};
-
-
-// Fixme: figure out the exact threshold
-namespace {
-template <typename Index, typename Device> struct MemcpyTriggerForSlicing {
-  EIGEN_DEVICE_FUNC MemcpyTriggerForSlicing(const Device& device) : threshold_(2 * device.numThreads()) { }
-  EIGEN_DEVICE_FUNC bool operator ()(Index val) const { return val > threshold_; }
-
- private:
-  Index threshold_;
-};
-
-// It is very expensive to start the memcpy kernel on GPU: we therefore only
-// use it for large copies.
-#ifdef EIGEN_USE_GPU
-template <typename Index> struct MemcpyTriggerForSlicing<Index, GpuDevice>  {
-  EIGEN_DEVICE_FUNC MemcpyTriggerForSlicing(const GpuDevice&) { }
-  EIGEN_DEVICE_FUNC bool operator ()(Index val) const { return val > 4*1024*1024; }
-};
-#endif
-}
-
-// Eval as rvalue
-template<typename StartIndices, typename Sizes, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorSlicingOp<StartIndices, Sizes, ArgType>, Device>
-{
-  typedef TensorSlicingOp<StartIndices, Sizes, ArgType> XprType;
-  static const int NumDims = internal::array_size<Sizes>::value;
-
-  enum {
-    // Alignment can't be guaranteed at compile time since it depends on the
-    // slice offsets and sizes.
-    IsAligned = /*TensorEvaluator<ArgType, Device>::IsAligned*/false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device), m_device(device), m_dimensions(op.sizes()), m_offsets(op.startIndices())
-  {
-    for (std::size_t i = 0; i < internal::array_size<Dimensions>::value; ++i) {
-      eigen_assert(m_impl.dimensions()[i] >= op.sizes()[i] + op.startIndices()[i]);
-    }
-
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    const Sizes& output_dims = op.sizes();
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_inputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1];
-      }
-
-     // Don't initialize m_fastOutputStrides[0] since it won't ever be accessed.
-      m_outputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_outputStrides[i] = m_outputStrides[i-1] * output_dims[i-1];
-        m_fastOutputStrides[i] = internal::TensorIntDivisor<Index>(m_outputStrides[i]);
-      }
-    } else {
-      m_inputStrides[NumDims-1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1];
-      }
-
-     // Don't initialize m_fastOutputStrides[NumDims-1] since it won't ever be accessed.
-      m_outputStrides[NumDims-1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_outputStrides[i] = m_outputStrides[i+1] * output_dims[i+1];
-        m_fastOutputStrides[i] = internal::TensorIntDivisor<Index>(m_outputStrides[i]);
-      }
-    }
-  }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef Sizes Dimensions;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    if (!NumTraits<typename internal::remove_const<Scalar>::type>::RequireInitialization && data && m_impl.data()) {
-      Index contiguous_values = 1;
-      if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-        for (int i = 0; i < NumDims; ++i) {
-          contiguous_values *= dimensions()[i];
-          if (dimensions()[i] != m_impl.dimensions()[i]) {
-            break;
-          }
-        }
-      } else {
-        for (int i = NumDims-1; i >= 0; --i) {
-          contiguous_values *= dimensions()[i];
-          if (dimensions()[i] != m_impl.dimensions()[i]) {
-            break;
-          }
-        }
-      }
-      // Use memcpy if it's going to be faster than using the regular evaluation.
-      const MemcpyTriggerForSlicing<Index, Device> trigger(m_device);
-      if (trigger(contiguous_values)) {
-        Scalar* src = (Scalar*)m_impl.data();
-        for (int i = 0; i < internal::array_prod(dimensions()); i += contiguous_values) {
-          Index offset = srcCoeff(i);
-          m_device.memcpy((void*)(data+i), src+offset, contiguous_values * sizeof(Scalar));
-        }
-        return false;
-      }
-    }
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_impl.coeff(srcCoeff(index));
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    const int packetSize = internal::unpacket_traits<PacketReturnType>::size;
-    EIGEN_STATIC_ASSERT((packetSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+packetSize-1 < internal::array_prod(dimensions()));
-
-    Index inputIndices[] = {0, 0};
-    Index indices[] = {index, index + packetSize - 1};
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx0 = indices[0] / m_fastOutputStrides[i];
-        const Index idx1 = indices[1] / m_fastOutputStrides[i];
-        inputIndices[0] += (idx0 + m_offsets[i]) * m_inputStrides[i];
-        inputIndices[1] += (idx1 + m_offsets[i]) * m_inputStrides[i];
-        indices[0] -= idx0 * m_outputStrides[i];
-        indices[1] -= idx1 * m_outputStrides[i];
-      }
-      inputIndices[0] += (indices[0] + m_offsets[0]);
-      inputIndices[1] += (indices[1] + m_offsets[0]);
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx0 = indices[0] / m_fastOutputStrides[i];
-        const Index idx1 = indices[1] / m_fastOutputStrides[i];
-        inputIndices[0] += (idx0 + m_offsets[i]) * m_inputStrides[i];
-        inputIndices[1] += (idx1 + m_offsets[i]) * m_inputStrides[i];
-        indices[0] -= idx0 * m_outputStrides[i];
-        indices[1] -= idx1 * m_outputStrides[i];
-      }
-      inputIndices[0] += (indices[0] + m_offsets[NumDims-1]);
-      inputIndices[1] += (indices[1] + m_offsets[NumDims-1]);
-    }
-    if (inputIndices[1] - inputIndices[0] == packetSize - 1) {
-      PacketReturnType rslt = m_impl.template packet<Unaligned>(inputIndices[0]);
-      return rslt;
-    }
-    else {
-      EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[packetSize];
-      values[0] = m_impl.coeff(inputIndices[0]);
-      values[packetSize-1] = m_impl.coeff(inputIndices[1]);
-      for (int i = 1; i < packetSize-1; ++i) {
-        values[i] = coeff(index+i);
-      }
-      PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-      return rslt;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    return m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, NumDims);
-  }
-
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar* data() const {
-    Scalar* result = m_impl.data();
-    if (result) {
-      Index offset = 0;
-      if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-        for (int i = 0; i < NumDims; ++i) {
-          if (m_dimensions[i] != m_impl.dimensions()[i]) {
-            offset += m_offsets[i] * m_inputStrides[i];
-            for (int j = i+1; j < NumDims; ++j) {
-              if (m_dimensions[j] > 1) {
-                return NULL;
-              }
-              offset += m_offsets[j] * m_inputStrides[j];
-            }
-            break;
-          }
-        }
-      } else {
-        for (int i = NumDims - 1; i >= 0; --i) {
-          if (m_dimensions[i] != m_impl.dimensions()[i]) {
-            offset += m_offsets[i] * m_inputStrides[i];
-            for (int j = i-1; j >= 0; --j) {
-              if (m_dimensions[j] > 1) {
-                return NULL;
-              }
-              offset += m_offsets[j] * m_inputStrides[j];
-            }
-            break;
-          }
-        }
-      }
-      return result + offset;
-    }
-    return NULL;
-  }
-
- protected:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index srcCoeff(Index index) const
-  {
-    Index inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx = index / m_fastOutputStrides[i];
-        inputIndex += (idx + m_offsets[i]) * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      inputIndex += (index + m_offsets[0]);
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx = index / m_fastOutputStrides[i];
-        inputIndex += (idx + m_offsets[i]) * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      inputIndex += (index + m_offsets[NumDims-1]);
-    }
-    return inputIndex;
-  }
-
-  array<Index, NumDims> m_outputStrides;
-  array<internal::TensorIntDivisor<Index>, NumDims> m_fastOutputStrides;
-  array<Index, NumDims> m_inputStrides;
-  TensorEvaluator<ArgType, Device> m_impl;
-  const Device& m_device;
-  Dimensions m_dimensions;
-  const StartIndices m_offsets;
-};
-
-
-// Eval as lvalue
-template<typename StartIndices, typename Sizes, typename ArgType, typename Device>
-struct TensorEvaluator<TensorSlicingOp<StartIndices, Sizes, ArgType>, Device>
-  : public TensorEvaluator<const TensorSlicingOp<StartIndices, Sizes, ArgType>, Device>
-{
-  typedef TensorEvaluator<const TensorSlicingOp<StartIndices, Sizes, ArgType>, Device> Base;
-  typedef TensorSlicingOp<StartIndices, Sizes, ArgType> XprType;
-  static const int NumDims = internal::array_size<Sizes>::value;
-
-  enum {
-    IsAligned = /*TensorEvaluator<ArgType, Device>::IsAligned*/false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-    : Base(op, device)
-    { }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef Sizes Dimensions;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index)
-  {
-    return this->m_impl.coeffRef(this->srcCoeff(index));
-  }
-
-  template <int StoreMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x)
-  {
-    const int packetSize = internal::unpacket_traits<PacketReturnType>::size;
-    Index inputIndices[] = {0, 0};
-    Index indices[] = {index, index + packetSize - 1};
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx0 = indices[0] / this->m_fastOutputStrides[i];
-        const Index idx1 = indices[1] / this->m_fastOutputStrides[i];
-        inputIndices[0] += (idx0 + this->m_offsets[i]) * this->m_inputStrides[i];
-        inputIndices[1] += (idx1 + this->m_offsets[i]) * this->m_inputStrides[i];
-        indices[0] -= idx0 * this->m_outputStrides[i];
-        indices[1] -= idx1 * this->m_outputStrides[i];
-      }
-      inputIndices[0] += (indices[0] + this->m_offsets[0]);
-      inputIndices[1] += (indices[1] + this->m_offsets[0]);
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx0 = indices[0] / this->m_fastOutputStrides[i];
-        const Index idx1 = indices[1] / this->m_fastOutputStrides[i];
-        inputIndices[0] += (idx0 + this->m_offsets[i]) * this->m_inputStrides[i];
-        inputIndices[1] += (idx1 + this->m_offsets[i]) * this->m_inputStrides[i];
-        indices[0] -= idx0 * this->m_outputStrides[i];
-        indices[1] -= idx1 * this->m_outputStrides[i];
-      }
-      inputIndices[0] += (indices[0] + this->m_offsets[NumDims-1]);
-      inputIndices[1] += (indices[1] + this->m_offsets[NumDims-1]);
-    }
-    if (inputIndices[1] - inputIndices[0] == packetSize - 1) {
-      this->m_impl.template writePacket<StoreMode>(inputIndices[0], x);
-    }
-    else {
-      EIGEN_ALIGN_MAX CoeffReturnType values[packetSize];
-      internal::pstore<CoeffReturnType, PacketReturnType>(values, x);
-      this->m_impl.coeffRef(inputIndices[0]) = values[0];
-      this->m_impl.coeffRef(inputIndices[1]) = values[packetSize-1];
-      for (int i = 1; i < packetSize-1; ++i) {
-        this->coeffRef(index+i) = values[i];
-      }
-    }
-  }
-};
-
-
-
-namespace internal {
-template<typename StartIndices, typename StopIndices, typename Strides, typename XprType>
-struct traits<TensorStridingSlicingOp<StartIndices, StopIndices, Strides, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = array_size<StartIndices>::value;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename StartIndices, typename StopIndices, typename Strides, typename XprType>
-struct eval<TensorStridingSlicingOp<StartIndices, StopIndices, Strides, XprType>, Eigen::Dense>
-{
-  typedef const TensorStridingSlicingOp<StartIndices, StopIndices, Strides, XprType>& type;
-};
-
-template<typename StartIndices, typename StopIndices, typename Strides, typename XprType>
-struct nested<TensorStridingSlicingOp<StartIndices, StopIndices, Strides, XprType>, 1, typename eval<TensorStridingSlicingOp<StartIndices, StopIndices, Strides, XprType> >::type>
-{
-  typedef TensorStridingSlicingOp<StartIndices, StopIndices, Strides, XprType> type;
-};
-
-}  // end namespace internal
-
-
-template<typename StartIndices, typename StopIndices, typename Strides, typename XprType>
-class TensorStridingSlicingOp : public TensorBase<TensorStridingSlicingOp<StartIndices, StopIndices, Strides, XprType> >
-{
-  public:
-  typedef typename internal::traits<TensorStridingSlicingOp>::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename internal::nested<TensorStridingSlicingOp>::type Nested;
-  typedef typename internal::traits<TensorStridingSlicingOp>::StorageKind StorageKind;
-  typedef typename internal::traits<TensorStridingSlicingOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorStridingSlicingOp(
-    const XprType& expr, const StartIndices& startIndices,
-    const StopIndices& stopIndices, const Strides& strides)
-      : m_xpr(expr), m_startIndices(startIndices), m_stopIndices(stopIndices),
-        m_strides(strides) {}
-
-    EIGEN_DEVICE_FUNC
-    const StartIndices& startIndices() const { return m_startIndices; }
-    EIGEN_DEVICE_FUNC
-    const StartIndices& stopIndices() const { return m_stopIndices; }
-    EIGEN_DEVICE_FUNC
-    const StartIndices& strides() const { return m_strides; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorStridingSlicingOp& operator = (const TensorStridingSlicingOp& other)
-    {
-      typedef TensorAssignOp<TensorStridingSlicingOp, const TensorStridingSlicingOp> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(
-          assign, DefaultDevice());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorStridingSlicingOp& operator = (const OtherDerived& other)
-    {
-      typedef TensorAssignOp<TensorStridingSlicingOp, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(
-          assign, DefaultDevice());
-      return *this;
-    }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const StartIndices m_startIndices;
-    const StopIndices m_stopIndices;
-    const Strides m_strides;
-};
-
-// Eval as rvalue
-template<typename StartIndices, typename StopIndices, typename Strides, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorStridingSlicingOp<StartIndices, StopIndices, Strides, ArgType>, Device>
-{
-  typedef TensorStridingSlicingOp<StartIndices, StopIndices, Strides, ArgType> XprType;
-  static const int NumDims = internal::array_size<Strides>::value;
-
-  enum {
-    // Alignment can't be guaranteed at compile time since it depends on the
-    // slice offsets and sizes.
-    IsAligned = false,
-    PacketAccess = false,
-    BlockAccess = false,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device), m_device(device), m_strides(op.strides())
-  {
-    // Handle degenerate intervals by gracefully clamping and allowing m_dimensions to be zero
-    DSizes<Index,NumDims> startIndicesClamped, stopIndicesClamped;
-    for (size_t i = 0; i < internal::array_size<Dimensions>::value; ++i) {
-      eigen_assert(m_strides[i] != 0 && "0 stride is invalid");
-      if(m_strides[i]>0){
-        startIndicesClamped[i] = clamp(op.startIndices()[i], 0, m_impl.dimensions()[i]);
-        stopIndicesClamped[i] = clamp(op.stopIndices()[i], 0, m_impl.dimensions()[i]);
-      }else{
-        /* implies m_strides[i]<0 by assert */
-        startIndicesClamped[i] = clamp(op.startIndices()[i], -1, m_impl.dimensions()[i] - 1);
-        stopIndicesClamped[i] = clamp(op.stopIndices()[i], -1, m_impl.dimensions()[i] - 1);
-      }
-      m_startIndices[i] = startIndicesClamped[i];
-    }
-
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-
-    // check for degenerate intervals and compute output tensor shape
-    bool degenerate = false;;
-    for(int i = 0; i < NumDims; i++){
-      Index interval = stopIndicesClamped[i] - startIndicesClamped[i];
-      if(interval == 0 || ((interval<0) != (m_strides[i]<0))){
-        m_dimensions[i] = 0;
-        degenerate = true;
-      }else{
-        m_dimensions[i] = interval / m_strides[i]
-                          + (interval % m_strides[i] != 0 ? 1 : 0);
-        eigen_assert(m_dimensions[i] >= 0);
-      }
-    }
-    Strides output_dims = m_dimensions;
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_inputStrides[0] = m_strides[0];
-      m_offsets[0] = startIndicesClamped[0];
-      Index previousDimProduct = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        previousDimProduct *= input_dims[i-1];
-        m_inputStrides[i] = previousDimProduct * m_strides[i];
-        m_offsets[i] = startIndicesClamped[i] * previousDimProduct;
-      }
-
-      // Don't initialize m_fastOutputStrides[0] since it won't ever be accessed.
-      m_outputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_outputStrides[i] = m_outputStrides[i-1] * output_dims[i-1];
-        // NOTE: if tensor is degenerate, we send 1 to prevent TensorIntDivisor constructor crash
-        m_fastOutputStrides[i] = internal::TensorIntDivisor<Index>(degenerate ? 1 : m_outputStrides[i]);
-      }
-    } else {
-      m_inputStrides[NumDims-1] = m_strides[NumDims-1];
-      m_offsets[NumDims-1] = startIndicesClamped[NumDims-1];
-      Index previousDimProduct = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        previousDimProduct *= input_dims[i+1];
-        m_inputStrides[i] = previousDimProduct * m_strides[i];
-        m_offsets[i] = startIndicesClamped[i] * previousDimProduct;
-      }
-
-      m_outputStrides[NumDims-1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_outputStrides[i] = m_outputStrides[i+1] * output_dims[i+1];
-        // NOTE: if tensor is degenerate, we send 1 to prevent TensorIntDivisor constructor crash
-        m_fastOutputStrides[i] = internal::TensorIntDivisor<Index>(degenerate ? 1 : m_outputStrides[i]);
-      }
-    }
-    m_block_total_size_max = numext::maxi(static_cast<std::size_t>(1),
-                                          device.lastLevelCacheSize() /
-                                          sizeof(Scalar));
-  }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename internal::remove_const<Scalar>::type ScalarNonConst;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef Strides Dimensions;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_impl.coeff(srcCoeff(index));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    return m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, NumDims);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar* data() const {
-    return NULL;
-  }
-
- protected:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index srcCoeff(Index index) const
-  {
-    Index inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i >= 0; --i) {
-        const Index idx = index / m_fastOutputStrides[i];
-        inputIndex += idx * m_inputStrides[i] + m_offsets[i];
-        index -= idx * m_outputStrides[i];
-      }
-    } else {
-      for (int i = 0; i < NumDims; ++i) {
-        const Index idx = index / m_fastOutputStrides[i];
-        inputIndex += idx * m_inputStrides[i] + m_offsets[i];
-        index -= idx * m_outputStrides[i];
-      }
-    }
-    return inputIndex;
-  }
-
-  static EIGEN_STRONG_INLINE Index clamp(Index value, Index min, Index max) {
-    return numext::maxi(min, numext::mini(max,value));
-  }
-
-  array<Index, NumDims> m_outputStrides;
-  array<internal::TensorIntDivisor<Index>, NumDims> m_fastOutputStrides;
-  array<Index, NumDims> m_inputStrides;
-  TensorEvaluator<ArgType, Device> m_impl;
-  const Device& m_device;
-  DSizes<Index, NumDims> m_startIndices; // clamped startIndices
-  DSizes<Index, NumDims> m_dimensions;
-  DSizes<Index, NumDims> m_offsets; // offset in a flattened shape
-  const Strides m_strides;
-  std::size_t m_block_total_size_max;
-};
-
-// Eval as lvalue
-template<typename StartIndices, typename StopIndices, typename Strides, typename ArgType, typename Device>
-struct TensorEvaluator<TensorStridingSlicingOp<StartIndices, StopIndices, Strides, ArgType>, Device>
-  : public TensorEvaluator<const TensorStridingSlicingOp<StartIndices, StopIndices, Strides, ArgType>, Device>
-{
-  typedef TensorEvaluator<const TensorStridingSlicingOp<StartIndices, StopIndices, Strides, ArgType>, Device> Base;
-  typedef TensorStridingSlicingOp<StartIndices, StopIndices, Strides, ArgType> XprType;
-  static const int NumDims = internal::array_size<Strides>::value;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = false,
-    BlockAccess = false,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = TensorEvaluator<ArgType, Device>::CoordAccess,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-    : Base(op, device)
-    { }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename internal::remove_const<Scalar>::type ScalarNonConst;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef Strides Dimensions;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index)
-  {
-    return this->m_impl.coeffRef(this->srcCoeff(index));
-  }
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_MORPHING_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h
deleted file mode 100644
index 647bcf10887e26..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_PADDING_H
-#define EIGEN_CXX11_TENSOR_TENSOR_PADDING_H
-
-namespace Eigen {
-
-/** \class TensorPadding
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor padding class.
-  * At the moment only padding with a constant value is supported.
-  *
-  */
-namespace internal {
-template<typename PaddingDimensions, typename XprType>
-struct traits<TensorPaddingOp<PaddingDimensions, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename PaddingDimensions, typename XprType>
-struct eval<TensorPaddingOp<PaddingDimensions, XprType>, Eigen::Dense>
-{
-  typedef const TensorPaddingOp<PaddingDimensions, XprType>& type;
-};
-
-template<typename PaddingDimensions, typename XprType>
-struct nested<TensorPaddingOp<PaddingDimensions, XprType>, 1, typename eval<TensorPaddingOp<PaddingDimensions, XprType> >::type>
-{
-  typedef TensorPaddingOp<PaddingDimensions, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename PaddingDimensions, typename XprType>
-class TensorPaddingOp : public TensorBase<TensorPaddingOp<PaddingDimensions, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorPaddingOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorPaddingOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorPaddingOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorPaddingOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorPaddingOp(const XprType& expr, const PaddingDimensions& padding_dims, const Scalar padding_value)
-      : m_xpr(expr), m_padding_dims(padding_dims), m_padding_value(padding_value) {}
-
-    EIGEN_DEVICE_FUNC
-    const PaddingDimensions& padding() const { return m_padding_dims; }
-    EIGEN_DEVICE_FUNC
-    Scalar padding_value() const { return m_padding_value; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const PaddingDimensions m_padding_dims;
-    const Scalar m_padding_value;
-};
-
-
-// Eval as rvalue
-template<typename PaddingDimensions, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorPaddingOp<PaddingDimensions, ArgType>, Device>
-{
-  typedef TensorPaddingOp<PaddingDimensions, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<PaddingDimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = true,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = true,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device), m_padding(op.padding()), m_paddingValue(op.padding_value())
-  {
-    // The padding op doesn't change the rank of the tensor. Directly padding a scalar would lead
-    // to a vector, which doesn't make sense. Instead one should reshape the scalar into a vector
-    // of 1 element first and then pad.
-    EIGEN_STATIC_ASSERT((NumDims > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    // Compute dimensions
-    m_dimensions = m_impl.dimensions();
-    for (int i = 0; i < NumDims; ++i) {
-      m_dimensions[i] += m_padding[i].first + m_padding[i].second;
-    }
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_inputStrides[0] = 1;
-      m_outputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1];
-        m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1];
-      }
-      m_outputStrides[NumDims] = m_outputStrides[NumDims-1] * m_dimensions[NumDims-1];
-    } else {
-      m_inputStrides[NumDims - 1] = 1;
-      m_outputStrides[NumDims] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1];
-        m_outputStrides[i+1] = m_outputStrides[i+2] * m_dimensions[i+1];
-      }
-      m_outputStrides[0] = m_outputStrides[1] * m_dimensions[0];
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    eigen_assert(index < dimensions().TotalSize());
-    Index inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx = index / m_outputStrides[i];
-        if (isPaddingAtIndexForDim(idx, i)) {
-          return m_paddingValue;
-        }
-        inputIndex += (idx - m_padding[i].first) * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      if (isPaddingAtIndexForDim(index, 0)) {
-        return m_paddingValue;
-      }
-      inputIndex += (index - m_padding[0].first);
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx = index / m_outputStrides[i+1];
-        if (isPaddingAtIndexForDim(idx, i)) {
-          return m_paddingValue;
-        }
-        inputIndex += (idx - m_padding[i].first) * m_inputStrides[i];
-        index -= idx * m_outputStrides[i+1];
-      }
-      if (isPaddingAtIndexForDim(index, NumDims-1)) {
-        return m_paddingValue;
-      }
-      inputIndex += (index - m_padding[NumDims-1].first);
-    }
-    return m_impl.coeff(inputIndex);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      return packetColMajor(index);
-    }
-    return packetRowMajor(index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    TensorOpCost cost = m_impl.costPerCoeff(vectorized);
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = 0; i < NumDims; ++i)
-        updateCostPerDimension(cost, i, i == 0);
-    } else {
-      for (int i = NumDims - 1; i >= 0; --i)
-        updateCostPerDimension(cost, i, i == NumDims - 1);
-    }
-    return cost;
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- private:
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool isPaddingAtIndexForDim(
-      Index index, int dim_index) const {
-#if defined(EIGEN_HAS_INDEX_LIST)
-    return (!internal::index_pair_first_statically_eq<PaddingDimensions>(dim_index, 0) &&
-            index < m_padding[dim_index].first) ||
-        (!internal::index_pair_second_statically_eq<PaddingDimensions>(dim_index, 0) &&
-         index >= m_dimensions[dim_index] - m_padding[dim_index].second);
-#else
-    return (index < m_padding[dim_index].first) ||
-           (index >= m_dimensions[dim_index] - m_padding[dim_index].second);
-#endif
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool isLeftPaddingCompileTimeZero(
-      int dim_index) const {
-#if defined(EIGEN_HAS_INDEX_LIST)
-    return internal::index_pair_first_statically_eq<PaddingDimensions>(dim_index, 0);
-#else
-    EIGEN_UNUSED_VARIABLE(dim_index);
-    return false;
-#endif
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool isRightPaddingCompileTimeZero(
-      int dim_index) const {
-#if defined(EIGEN_HAS_INDEX_LIST)
-    return internal::index_pair_second_statically_eq<PaddingDimensions>(dim_index, 0);
-#else
-    EIGEN_UNUSED_VARIABLE(dim_index);
-    return false;
-#endif
-  }
-
-
-  void updateCostPerDimension(TensorOpCost& cost, int i, bool first) const {
-    const double in = static_cast<double>(m_impl.dimensions()[i]);
-    const double out = in + m_padding[i].first + m_padding[i].second;
-    if (out == 0)
-      return;
-    const double reduction = in / out;
-    cost *= reduction;
-    if (first) {
-      cost += TensorOpCost(0, 0, 2 * TensorOpCost::AddCost<Index>() +
-                    reduction * (1 * TensorOpCost::AddCost<Index>()));
-    } else {
-      cost += TensorOpCost(0, 0, 2 * TensorOpCost::AddCost<Index>() +
-                                 2 * TensorOpCost::MulCost<Index>() +
-                    reduction * (2 * TensorOpCost::MulCost<Index>() +
-                                 1 * TensorOpCost::DivCost<Index>()));
-    }
-  }
-
- protected:
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetColMajor(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    const Index initialIndex = index;
-    Index inputIndex = 0;
-    for (int i = NumDims - 1; i > 0; --i) {
-      const Index first = index;
-      const Index last = index + PacketSize - 1;
-      const Index lastPaddedLeft = m_padding[i].first * m_outputStrides[i];
-      const Index firstPaddedRight = (m_dimensions[i] - m_padding[i].second) * m_outputStrides[i];
-      const Index lastPaddedRight = m_outputStrides[i+1];
-
-      if (!isLeftPaddingCompileTimeZero(i) && last < lastPaddedLeft) {
-        // all the coefficient are in the padding zone.
-        return internal::pset1<PacketReturnType>(m_paddingValue);
-      }
-      else if (!isRightPaddingCompileTimeZero(i) && first >= firstPaddedRight && last < lastPaddedRight) {
-        // all the coefficient are in the padding zone.
-        return internal::pset1<PacketReturnType>(m_paddingValue);
-      }
-      else if ((isLeftPaddingCompileTimeZero(i) && isRightPaddingCompileTimeZero(i)) || (first >= lastPaddedLeft && last < firstPaddedRight)) {
-        // all the coefficient are between the 2 padding zones.
-        const Index idx = index / m_outputStrides[i];
-        inputIndex += (idx - m_padding[i].first) * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      else {
-        // Every other case
-        return packetWithPossibleZero(initialIndex);
-      }
-    }
-
-    const Index last = index + PacketSize - 1;
-    const Index first = index;
-    const Index lastPaddedLeft = m_padding[0].first;
-    const Index firstPaddedRight = (m_dimensions[0] - m_padding[0].second);
-    const Index lastPaddedRight = m_outputStrides[1];
-
-    if (!isLeftPaddingCompileTimeZero(0) && last < lastPaddedLeft) {
-      // all the coefficient are in the padding zone.
-      return internal::pset1<PacketReturnType>(m_paddingValue);
-    }
-    else if (!isRightPaddingCompileTimeZero(0) && first >= firstPaddedRight && last < lastPaddedRight) {
-      // all the coefficient are in the padding zone.
-      return internal::pset1<PacketReturnType>(m_paddingValue);
-    }
-    else if ((isLeftPaddingCompileTimeZero(0) && isRightPaddingCompileTimeZero(0)) || (first >= lastPaddedLeft && last < firstPaddedRight)) {
-      // all the coefficient are between the 2 padding zones.
-      inputIndex += (index - m_padding[0].first);
-      return m_impl.template packet<Unaligned>(inputIndex);
-    }
-    // Every other case
-    return packetWithPossibleZero(initialIndex);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetRowMajor(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    const Index initialIndex = index;
-    Index inputIndex = 0;
-
-    for (int i = 0; i < NumDims - 1; ++i) {
-      const Index first = index;
-      const Index last = index + PacketSize - 1;
-      const Index lastPaddedLeft = m_padding[i].first * m_outputStrides[i+1];
-      const Index firstPaddedRight = (m_dimensions[i] - m_padding[i].second) * m_outputStrides[i+1];
-      const Index lastPaddedRight = m_outputStrides[i];
-
-      if (!isLeftPaddingCompileTimeZero(i) && last < lastPaddedLeft) {
-        // all the coefficient are in the padding zone.
-        return internal::pset1<PacketReturnType>(m_paddingValue);
-      }
-      else if (!isRightPaddingCompileTimeZero(i) && first >= firstPaddedRight && last < lastPaddedRight) {
-        // all the coefficient are in the padding zone.
-        return internal::pset1<PacketReturnType>(m_paddingValue);
-      }
-      else if ((isLeftPaddingCompileTimeZero(i) && isRightPaddingCompileTimeZero(i)) || (first >= lastPaddedLeft && last < firstPaddedRight)) {
-        // all the coefficient are between the 2 padding zones.
-        const Index idx = index / m_outputStrides[i+1];
-        inputIndex += (idx - m_padding[i].first) * m_inputStrides[i];
-        index -= idx * m_outputStrides[i+1];
-      }
-      else {
-        // Every other case
-        return packetWithPossibleZero(initialIndex);
-      }
-    }
-
-    const Index last = index + PacketSize - 1;
-    const Index first = index;
-    const Index lastPaddedLeft = m_padding[NumDims-1].first;
-    const Index firstPaddedRight = (m_dimensions[NumDims-1] - m_padding[NumDims-1].second);
-    const Index lastPaddedRight = m_outputStrides[NumDims-1];
-
-    if (!isLeftPaddingCompileTimeZero(NumDims-1) && last < lastPaddedLeft) {
-      // all the coefficient are in the padding zone.
-      return internal::pset1<PacketReturnType>(m_paddingValue);
-    }
-    else if (!isRightPaddingCompileTimeZero(NumDims-1) && first >= firstPaddedRight && last < lastPaddedRight) {
-      // all the coefficient are in the padding zone.
-      return internal::pset1<PacketReturnType>(m_paddingValue);
-    }
-    else if ((isLeftPaddingCompileTimeZero(NumDims-1) && isRightPaddingCompileTimeZero(NumDims-1)) || (first >= lastPaddedLeft && last < firstPaddedRight)) {
-      // all the coefficient are between the 2 padding zones.
-      inputIndex += (index - m_padding[NumDims-1].first);
-      return m_impl.template packet<Unaligned>(inputIndex);
-    }
-    // Every other case
-    return packetWithPossibleZero(initialIndex);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetWithPossibleZero(Index index) const
-  {
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-    for (int i = 0; i < PacketSize; ++i) {
-      values[i] = coeff(index+i);
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  Dimensions m_dimensions;
-  array<Index, NumDims+1> m_outputStrides;
-  array<Index, NumDims> m_inputStrides;
-  TensorEvaluator<ArgType, Device> m_impl;
-  PaddingDimensions m_padding;
-
-  Scalar m_paddingValue;
-};
-
-
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_PADDING_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPatch.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPatch.h
deleted file mode 100644
index 886a254f66ffde..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPatch.h
+++ /dev/null
@@ -1,269 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_PATCH_H
-#define EIGEN_CXX11_TENSOR_TENSOR_PATCH_H
-
-namespace Eigen {
-
-/** \class TensorPatch
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor patch class.
-  *
-  *
-  */
-namespace internal {
-template<typename PatchDim, typename XprType>
-struct traits<TensorPatchOp<PatchDim, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions + 1;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename PatchDim, typename XprType>
-struct eval<TensorPatchOp<PatchDim, XprType>, Eigen::Dense>
-{
-  typedef const TensorPatchOp<PatchDim, XprType>& type;
-};
-
-template<typename PatchDim, typename XprType>
-struct nested<TensorPatchOp<PatchDim, XprType>, 1, typename eval<TensorPatchOp<PatchDim, XprType> >::type>
-{
-  typedef TensorPatchOp<PatchDim, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename PatchDim, typename XprType>
-class TensorPatchOp : public TensorBase<TensorPatchOp<PatchDim, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorPatchOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorPatchOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorPatchOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorPatchOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorPatchOp(const XprType& expr, const PatchDim& patch_dims)
-      : m_xpr(expr), m_patch_dims(patch_dims) {}
-
-    EIGEN_DEVICE_FUNC
-    const PatchDim& patch_dims() const { return m_patch_dims; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const PatchDim m_patch_dims;
-};
-
-
-// Eval as rvalue
-template<typename PatchDim, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorPatchOp<PatchDim, ArgType>, Device>
-{
-  typedef TensorPatchOp<PatchDim, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value + 1;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-
-  enum {
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,
-    RawAccess = false
- };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device)
-  {
-    Index num_patches = 1;
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    const PatchDim& patch_dims = op.patch_dims();
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = 0; i < NumDims-1; ++i) {
-        m_dimensions[i] = patch_dims[i];
-        num_patches *= (input_dims[i] - patch_dims[i] + 1);
-      }
-      m_dimensions[NumDims-1] = num_patches;
-
-      m_inputStrides[0] = 1;
-      m_patchStrides[0] = 1;
-      for (int i = 1; i < NumDims-1; ++i) {
-        m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1];
-        m_patchStrides[i] = m_patchStrides[i-1] * (input_dims[i-1] - patch_dims[i-1] + 1);
-      }
-      m_outputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1];
-      }
-    } else {
-      for (int i = 0; i < NumDims-1; ++i) {
-        m_dimensions[i+1] = patch_dims[i];
-        num_patches *= (input_dims[i] - patch_dims[i] + 1);
-      }
-      m_dimensions[0] = num_patches;
-
-      m_inputStrides[NumDims-2] = 1;
-      m_patchStrides[NumDims-2] = 1;
-      for (int i = NumDims-3; i >= 0; --i) {
-        m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1];
-        m_patchStrides[i] = m_patchStrides[i+1] * (input_dims[i+1] - patch_dims[i+1] + 1);
-      }
-      m_outputStrides[NumDims-1] = 1;
-      for (int i = NumDims-2; i >= 0; --i) {
-        m_outputStrides[i] = m_outputStrides[i+1] * m_dimensions[i+1];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    Index output_stride_index = (static_cast<int>(Layout) == static_cast<int>(ColMajor)) ? NumDims - 1 : 0;
-    // Find the location of the first element of the patch.
-    Index patchIndex = index / m_outputStrides[output_stride_index];
-    // Find the offset of the element wrt the location of the first element.
-    Index patchOffset = index - patchIndex * m_outputStrides[output_stride_index];
-    Index inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 2; i > 0; --i) {
-        const Index patchIdx = patchIndex / m_patchStrides[i];
-        patchIndex -= patchIdx * m_patchStrides[i];
-        const Index offsetIdx = patchOffset / m_outputStrides[i];
-        patchOffset -= offsetIdx * m_outputStrides[i];
-        inputIndex += (patchIdx + offsetIdx) * m_inputStrides[i];
-      }
-    } else {
-      for (int i = 0; i < NumDims - 2; ++i) {
-        const Index patchIdx = patchIndex / m_patchStrides[i];
-        patchIndex -= patchIdx * m_patchStrides[i];
-        const Index offsetIdx = patchOffset / m_outputStrides[i+1];
-        patchOffset -= offsetIdx * m_outputStrides[i+1];
-        inputIndex += (patchIdx + offsetIdx) * m_inputStrides[i];
-      }
-    }
-    inputIndex += (patchIndex + patchOffset);
-    return m_impl.coeff(inputIndex);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    Index output_stride_index = (static_cast<int>(Layout) == static_cast<int>(ColMajor)) ? NumDims - 1 : 0;
-    Index indices[2] = {index, index + PacketSize - 1};
-    Index patchIndices[2] = {indices[0] / m_outputStrides[output_stride_index],
-                             indices[1] / m_outputStrides[output_stride_index]};
-    Index patchOffsets[2] = {indices[0] - patchIndices[0] * m_outputStrides[output_stride_index],
-                             indices[1] - patchIndices[1] * m_outputStrides[output_stride_index]};
-
-    Index inputIndices[2] = {0, 0};
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 2; i > 0; --i) {
-        const Index patchIdx[2] = {patchIndices[0] / m_patchStrides[i],
-                                   patchIndices[1] / m_patchStrides[i]};
-        patchIndices[0] -= patchIdx[0] * m_patchStrides[i];
-        patchIndices[1] -= patchIdx[1] * m_patchStrides[i];
-
-        const Index offsetIdx[2] = {patchOffsets[0] / m_outputStrides[i],
-                                    patchOffsets[1] / m_outputStrides[i]};
-        patchOffsets[0] -= offsetIdx[0] * m_outputStrides[i];
-        patchOffsets[1] -= offsetIdx[1] * m_outputStrides[i];
-
-        inputIndices[0] += (patchIdx[0] + offsetIdx[0]) * m_inputStrides[i];
-        inputIndices[1] += (patchIdx[1] + offsetIdx[1]) * m_inputStrides[i];
-      }
-    } else {
-      for (int i = 0; i < NumDims - 2; ++i) {
-        const Index patchIdx[2] = {patchIndices[0] / m_patchStrides[i],
-                                   patchIndices[1] / m_patchStrides[i]};
-        patchIndices[0] -= patchIdx[0] * m_patchStrides[i];
-        patchIndices[1] -= patchIdx[1] * m_patchStrides[i];
-
-        const Index offsetIdx[2] = {patchOffsets[0] / m_outputStrides[i+1],
-                                    patchOffsets[1] / m_outputStrides[i+1]};
-        patchOffsets[0] -= offsetIdx[0] * m_outputStrides[i+1];
-        patchOffsets[1] -= offsetIdx[1] * m_outputStrides[i+1];
-
-        inputIndices[0] += (patchIdx[0] + offsetIdx[0]) * m_inputStrides[i];
-        inputIndices[1] += (patchIdx[1] + offsetIdx[1]) * m_inputStrides[i];
-      }
-    }
-    inputIndices[0] += (patchIndices[0] + patchOffsets[0]);
-    inputIndices[1] += (patchIndices[1] + patchOffsets[1]);
-
-    if (inputIndices[1] - inputIndices[0] == PacketSize - 1) {
-      PacketReturnType rslt = m_impl.template packet<Unaligned>(inputIndices[0]);
-      return rslt;
-    }
-    else {
-      EIGEN_ALIGN_MAX CoeffReturnType values[PacketSize];
-      values[0] = m_impl.coeff(inputIndices[0]);
-      values[PacketSize-1] = m_impl.coeff(inputIndices[1]);
-      for (int i = 1; i < PacketSize-1; ++i) {
-        values[i] = coeff(index+i);
-      }
-      PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-      return rslt;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    const double compute_cost = NumDims * (TensorOpCost::DivCost<Index>() +
-                                           TensorOpCost::MulCost<Index>() +
-                                           2 * TensorOpCost::AddCost<Index>());
-    return m_impl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, compute_cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- protected:
-  Dimensions m_dimensions;
-  array<Index, NumDims> m_outputStrides;
-  array<Index, NumDims-1> m_inputStrides;
-  array<Index, NumDims-1> m_patchStrides;
-
-  TensorEvaluator<ArgType, Device> m_impl;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_PATCH_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRandom.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRandom.h
deleted file mode 100644
index 1655a813e4f2f4..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRandom.h
+++ /dev/null
@@ -1,276 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_RANDOM_H
-#define EIGEN_CXX11_TENSOR_TENSOR_RANDOM_H
-
-namespace Eigen {
-namespace internal {
-
-namespace {
-
-EIGEN_DEVICE_FUNC uint64_t get_random_seed() {
-#ifdef __CUDA_ARCH__
-  // We don't support 3d kernels since we currently only use 1 and
-  // 2d kernels.
-  assert(threadIdx.z == 0);
-  return clock64() +
-      blockIdx.x * blockDim.x + threadIdx.x +
-      gridDim.x * blockDim.x * (blockIdx.y * blockDim.y + threadIdx.y);
-
-#elif defined _WIN32
-  // Use the current time as a baseline.
-  SYSTEMTIME st;
-  GetSystemTime(&st);
-  int time = st.wSecond + 1000 * st.wMilliseconds;
-  // Mix in a random number to make sure that we get different seeds if
-  // we try to generate seeds faster than the clock resolution.
-  // We need 2 random values since the generator only generate 16 bits at
-  // a time (https://msdn.microsoft.com/en-us/library/398ax69y.aspx)
-  int rnd1 = ::rand();
-  int rnd2 = ::rand();
-  uint64_t rnd = (rnd1 | rnd2 << 16) ^ time;
-  return rnd;
-
-#elif defined __APPLE__
-  // Same approach as for win32, except that the random number generator
-  // is better (// https://developer.apple.com/legacy/library/documentation/Darwin/Reference/ManPages/man3/random.3.html#//apple_ref/doc/man/3/random).
-  uint64_t rnd = ::random() ^ mach_absolute_time();
-  return rnd;
-
-#else
-  // Augment the current time with pseudo random number generation
-  // to ensure that we get different seeds if we try to generate seeds
-  // faster than the clock resolution.
-  timespec ts;
-  clock_gettime(CLOCK_REALTIME, &ts);
-  uint64_t rnd = ::random() ^ ts.tv_nsec;
-  return rnd;
-#endif
-}
-
-static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE unsigned PCG_XSH_RS_generator(uint64_t* state) {
-  // TODO: Unify with the implementation in the non blocking thread pool.
-  uint64_t current = *state;
-  // Update the internal state
-  *state = current * 6364136223846793005ULL + 0xda3e39cb94b95bdbULL;
-  // Generate the random output (using the PCG-XSH-RS scheme)
-  return static_cast<unsigned>((current ^ (current >> 22)) >> (22 + (current >> 61)));
-}
-
-static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE uint64_t PCG_XSH_RS_state(uint64_t seed) {
-  seed = seed ? seed : get_random_seed();
-  return seed * 6364136223846793005ULL + 0xda3e39cb94b95bdbULL;
-}
-
-}  // namespace
-
-
-template <typename T> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-T RandomToTypeUniform(uint64_t* state) {
-  unsigned rnd = PCG_XSH_RS_generator(state);
-  return static_cast<T>(rnd);
-}
-
-
-template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-Eigen::half RandomToTypeUniform<Eigen::half>(uint64_t* state) {
-  Eigen::half result;
-  // Generate 10 random bits for the mantissa
-  unsigned rnd = PCG_XSH_RS_generator(state);
-  result.x = static_cast<uint16_t>(rnd & 0x3ffu);
-  // Set the exponent
-  result.x |= (static_cast<uint16_t>(15) << 10);
-  // Return the final result
-  return result - Eigen::half(1.0f);
-}
-
-
-template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float RandomToTypeUniform<float>(uint64_t* state) {
-  typedef union {
-    uint32_t raw;
-    float fp;
-  } internal;
-  internal result;
-  // Generate 23 random bits for the mantissa mantissa
-  const unsigned rnd = PCG_XSH_RS_generator(state);
-  result.raw = rnd & 0x7fffffu;
-  // Set the exponent
-  result.raw |= (static_cast<uint32_t>(127) << 23);
-  // Return the final result
-  return result.fp - 1.0f;
-}
-
-template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double RandomToTypeUniform<double>(uint64_t* state) {
-  typedef union {
-    uint64_t raw;
-    double dp;
-  } internal;
-  internal result;
-  result.raw = 0;
-  // Generate 52 random bits for the mantissa
-  // First generate the upper 20 bits
-  unsigned rnd1 = PCG_XSH_RS_generator(state) & 0xfffffu;
-  // The generate the lower 32 bits
-  unsigned rnd2 = PCG_XSH_RS_generator(state);
-  result.raw = (static_cast<uint64_t>(rnd1) << 32) | rnd2;
-  // Set the exponent
-  result.raw |= (static_cast<uint64_t>(1023) << 52);
-  // Return the final result
-  return result.dp - 1.0;
-}
-
-template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-std::complex<float> RandomToTypeUniform<std::complex<float> >(uint64_t* state) {
-  return std::complex<float>(RandomToTypeUniform<float>(state),
-                             RandomToTypeUniform<float>(state));
-}
-template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-std::complex<double> RandomToTypeUniform<std::complex<double> >(uint64_t* state) {
-  return std::complex<double>(RandomToTypeUniform<double>(state),
-                              RandomToTypeUniform<double>(state));
-}
-
-template <typename T> class UniformRandomGenerator {
- public:
-  static const bool PacketAccess = true;
-
-  // Uses the given "seed" if non-zero, otherwise uses a random seed.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE UniformRandomGenerator(
-      uint64_t seed = 0) {
-    m_state = PCG_XSH_RS_state(seed);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE UniformRandomGenerator(
-      const UniformRandomGenerator& other) {
-    m_state = other.m_state;
-  }
-
-  template<typename Index> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  T operator()(Index i) const {
-    uint64_t local_state = m_state + i;
-    T result = RandomToTypeUniform<T>(&local_state);
-    m_state = local_state;
-    return result;
-  }
-
-  template<typename Packet, typename Index> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Packet packetOp(Index i) const {
-    const int packetSize = internal::unpacket_traits<Packet>::size;
-    EIGEN_ALIGN_MAX T values[packetSize];
-    uint64_t local_state = m_state + i;
-    for (int j = 0; j < packetSize; ++j) {
-      values[j] = RandomToTypeUniform<T>(&local_state);
-    }
-    m_state = local_state;
-    return internal::pload<Packet>(values);
-  }
-
- private:
-  mutable uint64_t m_state;
-};
-
-template <typename Scalar>
-struct functor_traits<UniformRandomGenerator<Scalar> > {
-  enum {
-    // Rough estimate for floating point, multiplied by ceil(sizeof(T) / sizeof(float)).
-    Cost = 12 * NumTraits<Scalar>::AddCost *
-           ((sizeof(Scalar) + sizeof(float) - 1) / sizeof(float)),
-    PacketAccess = UniformRandomGenerator<Scalar>::PacketAccess
-  };
-};
-
-
-
-template <typename T> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-T RandomToTypeNormal(uint64_t* state) {
-  // Use the ratio of uniform method to generate numbers following a normal
-  // distribution. See for example Numerical Recipes chapter 7.3.9 for the
-  // details.
-  T u, v, q;
-  do {
-    u = RandomToTypeUniform<T>(state);
-    v = T(1.7156) * (RandomToTypeUniform<T>(state) - T(0.5));
-    const T x = u - T(0.449871);
-    const T y = numext::abs(v) + T(0.386595);
-    q = x*x + y * (T(0.196)*y - T(0.25472)*x);
-  } while (q > T(0.27597) &&
-           (q > T(0.27846) || v*v > T(-4) * numext::log(u) * u*u));
-
-  return v/u;
-}
-
-template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-std::complex<float> RandomToTypeNormal<std::complex<float> >(uint64_t* state) {
-  return std::complex<float>(RandomToTypeNormal<float>(state),
-                             RandomToTypeNormal<float>(state));
-}
-template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-std::complex<double> RandomToTypeNormal<std::complex<double> >(uint64_t* state) {
-  return std::complex<double>(RandomToTypeNormal<double>(state),
-                              RandomToTypeNormal<double>(state));
-}
-
-
-template <typename T> class NormalRandomGenerator {
- public:
-  static const bool PacketAccess = true;
-
-  // Uses the given "seed" if non-zero, otherwise uses a random seed.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE NormalRandomGenerator(uint64_t seed = 0) {
-    m_state = PCG_XSH_RS_state(seed);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE NormalRandomGenerator(
-      const NormalRandomGenerator& other) {
-    m_state = other.m_state;
-  }
-
- template<typename Index> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  T operator()(Index i) const {
-    uint64_t local_state = m_state + i;
-    T result = RandomToTypeNormal<T>(&local_state);
-    m_state = local_state;
-    return result;
-  }
-
-  template<typename Packet, typename Index> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  Packet packetOp(Index i) const {
-    const int packetSize = internal::unpacket_traits<Packet>::size;
-    EIGEN_ALIGN_MAX T values[packetSize];
-    uint64_t local_state = m_state + i;
-    for (int j = 0; j < packetSize; ++j) {
-      values[j] = RandomToTypeNormal<T>(&local_state);
-    }
-    m_state = local_state;
-    return internal::pload<Packet>(values);
-  }
-
- private:
-  mutable uint64_t m_state;
-};
-
-
-template <typename Scalar>
-struct functor_traits<NormalRandomGenerator<Scalar> > {
-  enum {
-    // On average, we need to generate about 3 random numbers
-    // 15 mul, 8 add, 1.5 logs
-    Cost = 3 * functor_traits<UniformRandomGenerator<Scalar> >::Cost +
-           15 * NumTraits<Scalar>::AddCost + 8 * NumTraits<Scalar>::AddCost +
-           3 * functor_traits<scalar_log_op<Scalar> >::Cost / 2,
-    PacketAccess = NormalRandomGenerator<Scalar>::PacketAccess
-  };
-};
-
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_RANDOM_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReduction.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReduction.h
deleted file mode 100644
index 41d0d0022fd36b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReduction.h
+++ /dev/null
@@ -1,781 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-// Copyright (C) 2016 Mehdi Goli, Codeplay Software Ltd <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_H
-#define EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_H
-
-namespace Eigen {
-
-/** \class TensorReduction
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor reduction class.
-  *
-  */
-
-namespace internal {
-  template<typename Op, typename Dims, typename XprType,template <class> class MakePointer_ >
-  struct traits<TensorReductionOp<Op, Dims, XprType, MakePointer_> >
- : traits<XprType>
-{
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::Scalar Scalar;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  static const int NumDimensions = XprTraits::NumDimensions - array_size<Dims>::value;
-  static const int Layout = XprTraits::Layout;
-
-  template <class T> struct MakePointer {
-    // Intermediate typedef to workaround MSVC issue.
-    typedef MakePointer_<T> MakePointerT;
-    typedef typename MakePointerT::Type Type;
-  };
-};
-
-template<typename Op, typename Dims, typename XprType, template <class> class MakePointer_>
-struct eval<TensorReductionOp<Op, Dims, XprType, MakePointer_>, Eigen::Dense>
-{
-  typedef const TensorReductionOp<Op, Dims, XprType, MakePointer_>& type;
-};
-
-template<typename Op, typename Dims, typename XprType, template <class> class MakePointer_>
-struct nested<TensorReductionOp<Op, Dims, XprType, MakePointer_>, 1, typename eval<TensorReductionOp<Op, Dims, XprType, MakePointer_> >::type>
-{
-  typedef TensorReductionOp<Op, Dims, XprType, MakePointer_> type;
-};
-
-
-template <typename OutputDims> struct DimInitializer {
-  template <typename InputDims, typename ReducedDims> EIGEN_DEVICE_FUNC
-  static void run(const InputDims& input_dims,
-                  const array<bool, internal::array_size<InputDims>::value>& reduced,
-                  OutputDims* output_dims, ReducedDims* reduced_dims) {
-    const int NumInputDims = internal::array_size<InputDims>::value;
-    int outputIndex = 0;
-    int reduceIndex = 0;
-    for (int i = 0; i < NumInputDims; ++i) {
-      if (reduced[i]) {
-        (*reduced_dims)[reduceIndex] = input_dims[i];
-        ++reduceIndex;
-      } else {
-        (*output_dims)[outputIndex] = input_dims[i];
-        ++outputIndex;
-      }
-    }
-  }
-};
-
-template <> struct DimInitializer<Sizes<> > {
-  template <typename InputDims, typename Index, size_t Rank> EIGEN_DEVICE_FUNC
-  static void run(const InputDims& input_dims, const array<bool, Rank>&,
-                  Sizes<>*, array<Index, Rank>* reduced_dims) {
-    const int NumInputDims = internal::array_size<InputDims>::value;
-    for (int i = 0; i < NumInputDims; ++i) {
-      (*reduced_dims)[i] = input_dims[i];
-    }
-  }
-};
-
-
-template <typename ReducedDims, int NumTensorDims, int Layout>
-struct are_inner_most_dims {
-  static const bool value = false;
-};
-template <typename ReducedDims, int NumTensorDims, int Layout>
-struct preserve_inner_most_dims {
-  static const bool value = false;
-};
-
-#if EIGEN_HAS_CONSTEXPR && EIGEN_HAS_VARIADIC_TEMPLATES
-template <typename ReducedDims, int NumTensorDims>
-struct are_inner_most_dims<ReducedDims, NumTensorDims, ColMajor>{
-  static const bool tmp1 = indices_statically_known_to_increase<ReducedDims>();
-  static const bool tmp2 = index_statically_eq<ReducedDims>(0, 0);
-  static const bool tmp3 = index_statically_eq<ReducedDims>(array_size<ReducedDims>::value-1, array_size<ReducedDims>::value-1);
-  static const bool value = tmp1 & tmp2 & tmp3;
-};
-template <typename ReducedDims, int NumTensorDims>
-struct are_inner_most_dims<ReducedDims, NumTensorDims, RowMajor>{
-  static const bool tmp1 = indices_statically_known_to_increase<ReducedDims>();
-  static const bool tmp2 = index_statically_eq<ReducedDims>(0, NumTensorDims - array_size<ReducedDims>::value);
-  static const bool tmp3 = index_statically_eq<ReducedDims>(array_size<ReducedDims>::value - 1, NumTensorDims - 1);
-  static const bool value = tmp1 & tmp2 & tmp3;
-
-};
-template <typename ReducedDims, int NumTensorDims>
-struct preserve_inner_most_dims<ReducedDims, NumTensorDims, ColMajor>{
-  static const bool tmp1 = indices_statically_known_to_increase<ReducedDims>();
-  static const bool tmp2 = index_statically_gt<ReducedDims>(0, 0);
-  static const bool value = tmp1 & tmp2;
-
-};
-template <typename ReducedDims, int NumTensorDims>
-struct preserve_inner_most_dims<ReducedDims, NumTensorDims, RowMajor>{
-  static const bool tmp1 = indices_statically_known_to_increase<ReducedDims>();
-  static const bool tmp2 = index_statically_lt<ReducedDims>(array_size<ReducedDims>::value - 1, NumTensorDims - 1);
-  static const bool value = tmp1 & tmp2;
-};
-#endif
-
-
-template <int DimIndex, typename Self, typename Op>
-struct GenericDimReducer {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index firstIndex, Op& reducer, typename Self::CoeffReturnType* accum) {
-    EIGEN_STATIC_ASSERT((DimIndex > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    for (int j = 0; j < self.m_reducedDims[DimIndex]; ++j) {
-      const typename Self::Index input = firstIndex + j * self.m_reducedStrides[DimIndex];
-      GenericDimReducer<DimIndex-1, Self, Op>::reduce(self, input, reducer, accum);
-    }
-  }
-};
-template <typename Self, typename Op>
-struct GenericDimReducer<0, Self, Op> {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index firstIndex, Op& reducer, typename Self::CoeffReturnType* accum) {
-    for (int j = 0; j < self.m_reducedDims[0]; ++j) {
-      const typename Self::Index input = firstIndex + j * self.m_reducedStrides[0];
-      reducer.reduce(self.m_impl.coeff(input), accum);
-    }
-  }
-};
-template <typename Self, typename Op>
-struct GenericDimReducer<-1, Self, Op> {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index index, Op& reducer, typename Self::CoeffReturnType* accum) {
-    reducer.reduce(self.m_impl.coeff(index), accum);
-  }
-};
-
-template <typename Self, typename Op, bool Vectorizable = (Self::InputPacketAccess & Op::PacketAccess)>
-struct InnerMostDimReducer {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename Self::CoeffReturnType reduce(const Self& self, typename Self::Index firstIndex, typename Self::Index numValuesToReduce, Op& reducer) {
-    typename Self::CoeffReturnType accum = reducer.initialize();
-    for (typename Self::Index j = 0; j < numValuesToReduce; ++j) {
-      reducer.reduce(self.m_impl.coeff(firstIndex + j), &accum);
-    }
-    return reducer.finalize(accum);
-  }
-};
-
-template <typename Self, typename Op>
-struct InnerMostDimReducer<Self, Op, true> {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename Self::CoeffReturnType reduce(const Self& self, typename Self::Index firstIndex, typename Self::Index numValuesToReduce, Op& reducer) {
-    const int packetSize = internal::unpacket_traits<typename Self::PacketReturnType>::size;
-    const typename Self::Index VectorizedSize = (numValuesToReduce / packetSize) * packetSize;
-    typename Self::PacketReturnType p = reducer.template initializePacket<typename Self::PacketReturnType>();
-    for (typename Self::Index j = 0; j < VectorizedSize; j += packetSize) {
-      reducer.reducePacket(self.m_impl.template packet<Unaligned>(firstIndex + j), &p);
-    }
-    typename Self::CoeffReturnType accum = reducer.initialize();
-    for (typename Self::Index j = VectorizedSize; j < numValuesToReduce; ++j) {
-      reducer.reduce(self.m_impl.coeff(firstIndex + j), &accum);
-    }
-    return reducer.finalizeBoth(accum, p);
-  }
-};
-
-template <int DimIndex, typename Self, typename Op, bool vectorizable = (Self::InputPacketAccess & Op::PacketAccess)>
-struct InnerMostDimPreserver {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self&, typename Self::Index, Op&, typename Self::PacketReturnType*) {
-    eigen_assert(false && "should never be called");
-  }
-};
-
-template <int DimIndex, typename Self, typename Op>
-struct InnerMostDimPreserver<DimIndex, Self, Op, true> {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index firstIndex, Op& reducer, typename Self::PacketReturnType* accum) {
-    EIGEN_STATIC_ASSERT((DimIndex > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    for (typename Self::Index j = 0; j < self.m_reducedDims[DimIndex]; ++j) {
-      const typename Self::Index input = firstIndex + j * self.m_reducedStrides[DimIndex];
-      InnerMostDimPreserver<DimIndex-1, Self, Op>::reduce(self, input, reducer, accum);
-    }
-  }
-};
-
-template <typename Self, typename Op>
-struct InnerMostDimPreserver<0, Self, Op, true> {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index firstIndex, Op& reducer, typename Self::PacketReturnType* accum) {
-    for (typename Self::Index j = 0; j < self.m_reducedDims[0]; ++j) {
-      const typename Self::Index input = firstIndex + j * self.m_reducedStrides[0];
-      reducer.reducePacket(self.m_impl.template packet<Unaligned>(input), accum);
-    }
-  }
-};
-template <typename Self, typename Op>
-struct InnerMostDimPreserver<-1, Self, Op, true> {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self&, typename Self::Index, Op&, typename Self::PacketReturnType*) {
-    eigen_assert(false && "should never be called");
-  }
-};
-
-// Default full reducer
-template <typename Self, typename Op, typename Device, bool Vectorizable = (Self::InputPacketAccess & Op::PacketAccess)>
-struct FullReducer {
-  static const bool HasOptimizedImplementation = false;
-
-  static EIGEN_DEVICE_FUNC void run(const Self& self, Op& reducer, const Device&, typename Self::CoeffReturnType* output) {
-    const typename Self::Index num_coeffs = array_prod(self.m_impl.dimensions());
-    *output = InnerMostDimReducer<Self, Op, Vectorizable>::reduce(self, 0, num_coeffs, reducer);
-  }
-};
-
-
-#ifdef EIGEN_USE_THREADS
-// Multithreaded full reducers
-template <typename Self, typename Op,
-          bool Vectorizable = (Self::InputPacketAccess & Op::PacketAccess)>
-struct FullReducerShard {
-  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(const Self& self, typename Self::Index firstIndex,
-                  typename Self::Index numValuesToReduce, Op& reducer,
-                  typename Self::CoeffReturnType* output) {
-    *output = InnerMostDimReducer<Self, Op, Vectorizable>::reduce(
-        self, firstIndex, numValuesToReduce, reducer);
-  }
-};
-
-// Multithreaded full reducer
-template <typename Self, typename Op, bool Vectorizable>
-struct FullReducer<Self, Op, ThreadPoolDevice, Vectorizable> {
-  static const bool HasOptimizedImplementation = !Op::IsStateful;
-  static const int PacketSize =
-      unpacket_traits<typename Self::PacketReturnType>::size;
-
-  // launch one reducer per thread and accumulate the result.
-  static void run(const Self& self, Op& reducer, const ThreadPoolDevice& device,
-                  typename Self::CoeffReturnType* output) {
-    typedef typename Self::Index Index;
-    const Index num_coeffs = array_prod(self.m_impl.dimensions());
-    if (num_coeffs == 0) {
-      *output = reducer.finalize(reducer.initialize());
-      return;
-    }
-    const TensorOpCost cost =
-        self.m_impl.costPerCoeff(Vectorizable) +
-        TensorOpCost(0, 0, internal::functor_traits<Op>::Cost, Vectorizable,
-                     PacketSize);
-    const int num_threads = TensorCostModel<ThreadPoolDevice>::numThreads(
-        num_coeffs, cost, device.numThreads());
-    if (num_threads == 1) {
-      *output =
-          InnerMostDimReducer<Self, Op, Vectorizable>::reduce(self, 0, num_coeffs, reducer);
-      return;
-    }
-    const Index blocksize =
-        std::floor<Index>(static_cast<float>(num_coeffs) / num_threads);
-    const Index numblocks = blocksize > 0 ? num_coeffs / blocksize : 0;
-    eigen_assert(num_coeffs >= numblocks * blocksize);
-
-    Barrier barrier(internal::convert_index<unsigned int>(numblocks));
-    MaxSizeVector<typename Self::CoeffReturnType> shards(numblocks, reducer.initialize());
-    for (Index i = 0; i < numblocks; ++i) {
-      device.enqueue_with_barrier(&barrier, &FullReducerShard<Self, Op, Vectorizable>::run,
-                                  self, i * blocksize, blocksize, reducer,
-                                  &shards[i]);
-    }
-    typename Self::CoeffReturnType finalShard;
-    if (numblocks * blocksize < num_coeffs) {
-      finalShard = InnerMostDimReducer<Self, Op, Vectorizable>::reduce(
-          self, numblocks * blocksize, num_coeffs - numblocks * blocksize,
-          reducer);
-    } else {
-      finalShard = reducer.initialize();
-    }
-    barrier.Wait();
-
-    for (Index i = 0; i < numblocks; ++i) {
-      reducer.reduce(shards[i], &finalShard);
-    }
-    *output = reducer.finalize(finalShard);
-  }
-};
-
-#endif
-
-
-// Default inner reducer
-template <typename Self, typename Op, typename Device>
-struct InnerReducer {
-  static const bool HasOptimizedImplementation = false;
-
-  EIGEN_DEVICE_FUNC static bool run(const Self&, Op&, const Device&, typename Self::CoeffReturnType*, typename Self::Index, typename Self::Index) {
-    eigen_assert(false && "Not implemented");
-    return true;
-  }
-};
-
-// Default outer reducer
-template <typename Self, typename Op, typename Device>
-struct OuterReducer {
-  static const bool HasOptimizedImplementation = false;
-
-  EIGEN_DEVICE_FUNC static bool run(const Self&, Op&, const Device&, typename Self::CoeffReturnType*, typename Self::Index, typename Self::Index) {
-    eigen_assert(false && "Not implemented");
-    return true;
-  }
-};
-
-
-#if defined(EIGEN_USE_GPU) && defined(__CUDACC__)
-template <int B, int N, typename S, typename R, typename I>
-__global__ void FullReductionKernel(R, const S, I, typename S::CoeffReturnType*, unsigned int*);
-
-
-#ifdef EIGEN_HAS_CUDA_FP16
-template <typename S, typename R, typename I>
-__global__ void ReductionInitFullReduxKernelHalfFloat(R, const S, I, half2*);
-template <int B, int N, typename S, typename R, typename I>
-__global__ void FullReductionKernelHalfFloat(R, const S, I, half*, half2*);
-template <int NPT, typename S, typename R, typename I>
-__global__ void InnerReductionKernelHalfFloat(R, const S, I, I, half*);
-
-#endif
-
-template <int NPT, typename S, typename R, typename I>
-__global__ void InnerReductionKernel(R, const S, I, I, typename S::CoeffReturnType*);
-
-template <int NPT, typename S, typename R, typename I>
-__global__ void OuterReductionKernel(R, const S, I, I, typename S::CoeffReturnType*);
-#endif
-
-}  // end namespace internal
-
-
-template <typename Op, typename Dims, typename XprType,  template <class> class MakePointer_>
-class TensorReductionOp : public TensorBase<TensorReductionOp<Op, Dims, XprType, MakePointer_>, ReadOnlyAccessors> {
-  public:
-    typedef typename Eigen::internal::traits<TensorReductionOp>::Scalar Scalar;
-    typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-    typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-    typedef typename Eigen::internal::nested<TensorReductionOp>::type Nested;
-    typedef typename Eigen::internal::traits<TensorReductionOp>::StorageKind StorageKind;
-    typedef typename Eigen::internal::traits<TensorReductionOp>::Index Index;
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorReductionOp(const XprType& expr, const Dims& dims) : m_expr(expr), m_dims(dims)
-    { }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    TensorReductionOp(const XprType& expr, const Dims& dims, const Op& reducer) : m_expr(expr), m_dims(dims), m_reducer(reducer)
-    { }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const XprType& expression() const { return m_expr; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const Dims& dims() const { return m_dims; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const Op& reducer() const { return m_reducer; }
-
-  protected:
-    typename XprType::Nested m_expr;
-    const Dims m_dims;
-    const Op m_reducer;
-};
-
-
-// Eval as rvalue
-template<typename Op, typename Dims, typename ArgType, template <class> class MakePointer_, typename Device>
-struct TensorEvaluator<const TensorReductionOp<Op, Dims, ArgType, MakePointer_>, Device>
-{
-  typedef TensorReductionOp<Op, Dims, ArgType, MakePointer_> XprType;
-  typedef typename XprType::Index Index;
-  typedef ArgType ChildType;
-  typedef typename TensorEvaluator<ArgType, Device>::Dimensions InputDimensions;
-  static const int NumInputDims = internal::array_size<InputDimensions>::value;
-  static const int NumReducedDims = internal::array_size<Dims>::value;
-  static const int NumOutputDims = NumInputDims - NumReducedDims;
-  typedef typename internal::conditional<NumOutputDims==0, Sizes<>, DSizes<Index, NumOutputDims> >::type Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef TensorEvaluator<const TensorReductionOp<Op, Dims, ArgType, MakePointer_>, Device> Self;
-  static const bool InputPacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess;
-  typedef typename internal::remove_const<typename XprType::CoeffReturnType>::type CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = Self::InputPacketAccess && Op::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  static const bool ReducingInnerMostDims = internal::are_inner_most_dims<Dims, NumInputDims, Layout>::value;
-  static const bool PreservingInnerMostDims = internal::preserve_inner_most_dims<Dims, NumInputDims, Layout>::value;
-  static const bool RunningFullReduction = (NumOutputDims==0);
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device), m_reducer(op.reducer()), m_result(NULL), m_device(device), m_xpr_dims(op.dims())
-  {
-    EIGEN_STATIC_ASSERT((NumInputDims >= NumReducedDims), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    EIGEN_STATIC_ASSERT((!ReducingInnerMostDims | !PreservingInnerMostDims | (NumReducedDims == NumInputDims)),
-                        YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    // Build the bitmap indicating if an input dimension is reduced or not.
-    for (int i = 0; i < NumInputDims; ++i) {
-      m_reduced[i] = false;
-    }
-    for (int i = 0; i < NumReducedDims; ++i) {
-      eigen_assert(op.dims()[i] >= 0);
-      eigen_assert(op.dims()[i] < NumInputDims);
-      m_reduced[op.dims()[i]] = true;
-    }
-
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    internal::DimInitializer<Dimensions>::run(input_dims, m_reduced, &m_dimensions, &m_reducedDims);
-
-    // Precompute output strides.
-    if (NumOutputDims > 0) {
-      if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-        m_outputStrides[0] = 1;
-        for (int i = 1; i < NumOutputDims; ++i) {
-          m_outputStrides[i] = m_outputStrides[i - 1] * m_dimensions[i - 1];
-        }
-      } else {
-        m_outputStrides.back() = 1;
-        for (int i = NumOutputDims - 2; i >= 0; --i) {
-          m_outputStrides[i] = m_outputStrides[i + 1] * m_dimensions[i + 1];
-        }
-      }
-    }
-
-    // Precompute input strides.
-    if (NumInputDims > 0) {
-      array<Index, NumInputDims> input_strides;
-      if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-        input_strides[0] = 1;
-        for (int i = 1; i < NumInputDims; ++i) {
-          input_strides[i] = input_strides[i-1] * input_dims[i-1];
-        }
-      } else {
-        input_strides.back() = 1;
-        for (int i = NumInputDims - 2; i >= 0; --i) {
-          input_strides[i] = input_strides[i + 1] * input_dims[i + 1];
-        }
-      }
-
-      int outputIndex = 0;
-      int reduceIndex = 0;
-      for (int i = 0; i < NumInputDims; ++i) {
-        if (m_reduced[i]) {
-          m_reducedStrides[reduceIndex] = input_strides[i];
-          ++reduceIndex;
-        } else {
-          m_preservedStrides[outputIndex] = input_strides[i];
-          ++outputIndex;
-        }
-      }
-    }
-
-    // Special case for full reductions
-    if (NumOutputDims == 0) {
-      m_preservedStrides[0] = internal::array_prod(input_dims);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool evalSubExprsIfNeeded(typename MakePointer_<CoeffReturnType>::Type data) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-
-    // Use the FullReducer if possible.
-    if ((RunningFullReduction && RunningOnSycl) ||(RunningFullReduction &&
-        internal::FullReducer<Self, Op, Device>::HasOptimizedImplementation &&
-        ((RunningOnGPU && (m_device.majorDeviceVersion() >= 3)) ||
-         !RunningOnGPU))) {
-      bool need_assign = false;
-      if (!data) {
-        m_result = static_cast<CoeffReturnType*>(m_device.allocate(sizeof(CoeffReturnType)));
-        data = m_result;
-        need_assign = true;
-      }
-      Op reducer(m_reducer);
-      internal::FullReducer<Self, Op, Device>::run(*this, reducer, m_device, data);
-      return need_assign;
-    }
-    else if(RunningOnSycl){
-      const Index num_values_to_reduce = internal::array_prod(m_reducedDims);
-      const Index num_coeffs_to_preserve = internal::array_prod(m_dimensions);
-      if (!data) {
-        data = static_cast<CoeffReturnType*>(m_device.allocate(sizeof(CoeffReturnType) * num_coeffs_to_preserve));
-        m_result = data;
-      }
-      Op reducer(m_reducer);
-      internal::InnerReducer<Self, Op, Device>::run(*this, reducer, m_device, data, num_values_to_reduce, num_coeffs_to_preserve);
-      return (m_result != NULL);
-    }
-
-    // Attempt to use an optimized reduction.
-    else if (RunningOnGPU && (m_device.majorDeviceVersion() >= 3)) {
-      bool reducing_inner_dims = true;
-      for (int i = 0; i < NumReducedDims; ++i) {
-        if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-          reducing_inner_dims &= m_reduced[i];
-        } else {
-          reducing_inner_dims &= m_reduced[NumInputDims - 1 - i];
-        }
-      }
-      if (internal::InnerReducer<Self, Op, Device>::HasOptimizedImplementation &&
-          (reducing_inner_dims || ReducingInnerMostDims)) {
-        const Index num_values_to_reduce = internal::array_prod(m_reducedDims);
-        const Index num_coeffs_to_preserve = internal::array_prod(m_dimensions);
-        if (!data) {
-          if (num_coeffs_to_preserve < 1024 && num_values_to_reduce > num_coeffs_to_preserve && num_values_to_reduce > 128) {
-            data = static_cast<CoeffReturnType*>(m_device.allocate(sizeof(CoeffReturnType) * num_coeffs_to_preserve));
-            m_result = data;
-          }
-          else {
-            return true;
-          }
-        }
-        Op reducer(m_reducer);
-        if (internal::InnerReducer<Self, Op, Device>::run(*this, reducer, m_device, data, num_values_to_reduce, num_coeffs_to_preserve)) {
-          if (m_result) {
-            m_device.deallocate(m_result);
-            m_result = NULL;
-          }
-          return true;
-        } else {
-          return (m_result != NULL);
-        }
-      }
-
-      bool preserving_inner_dims = true;
-      for (int i = 0; i < NumReducedDims; ++i) {
-        if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-          preserving_inner_dims &= m_reduced[NumInputDims - 1 - i];
-        } else {
-          preserving_inner_dims &= m_reduced[i];
-        }
-      }
-      if (internal::OuterReducer<Self, Op, Device>::HasOptimizedImplementation &&
-          preserving_inner_dims) {
-        const Index num_values_to_reduce = internal::array_prod(m_reducedDims);
-        const Index num_coeffs_to_preserve = internal::array_prod(m_dimensions);
-        if (!data) {
-          if (num_coeffs_to_preserve < 1024 && num_values_to_reduce > num_coeffs_to_preserve && num_values_to_reduce > 32) {
-            data = static_cast<CoeffReturnType*>(m_device.allocate(sizeof(CoeffReturnType) * num_coeffs_to_preserve));
-            m_result = data;
-          }
-          else {
-            return true;
-          }
-        }
-        Op reducer(m_reducer);
-        if (internal::OuterReducer<Self, Op, Device>::run(*this, reducer, m_device, data, num_values_to_reduce, num_coeffs_to_preserve)) {
-          if (m_result) {
-            m_device.deallocate(m_result);
-            m_result = NULL;
-          }
-          return true;
-        } else {
-          return (m_result != NULL);
-        }
-      }
-    }
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-    if (m_result) {
-      m_device.deallocate(m_result);
-      m_result = NULL;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    if ((RunningOnSycl || RunningFullReduction || RunningOnGPU) && m_result) {
-      return *(m_result + index);
-    }
-    Op reducer(m_reducer);
-    if (ReducingInnerMostDims || RunningFullReduction) {
-      const Index num_values_to_reduce =
-        (static_cast<int>(Layout) == static_cast<int>(ColMajor)) ? m_preservedStrides[0] : m_preservedStrides[NumPreservedStrides - 1];
-      return internal::InnerMostDimReducer<Self, Op>::reduce(*this, firstInput(index),
-                                                             num_values_to_reduce, reducer);
-    } else {
-      typename Self::CoeffReturnType accum = reducer.initialize();
-      internal::GenericDimReducer<NumReducedDims-1, Self, Op>::reduce(*this, firstInput(index), reducer, &accum);
-      return reducer.finalize(accum);
-    }
-  }
-
-  // TODO(bsteiner): provide a more efficient implementation.
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index + PacketSize - 1 < Index(internal::array_prod(dimensions())));
-
-    if (RunningOnGPU && m_result) {
-      return internal::pload<PacketReturnType>(m_result + index);
-    }
-
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-    if (ReducingInnerMostDims) {
-      const Index num_values_to_reduce =
-        (static_cast<int>(Layout) == static_cast<int>(ColMajor)) ? m_preservedStrides[0] : m_preservedStrides[NumPreservedStrides - 1];
-      const Index firstIndex = firstInput(index);
-      for (Index i = 0; i < PacketSize; ++i) {
-        Op reducer(m_reducer);
-        values[i] = internal::InnerMostDimReducer<Self, Op>::reduce(*this, firstIndex + i * num_values_to_reduce,
-                                                                    num_values_to_reduce, reducer);
-      }
-    } else if (PreservingInnerMostDims) {
-      const Index firstIndex = firstInput(index);
-      const int innermost_dim = (static_cast<int>(Layout) == static_cast<int>(ColMajor)) ? 0 : NumOutputDims - 1;
-      // TBD: extend this the the n innermost dimensions that we preserve.
-      if (((firstIndex % m_dimensions[innermost_dim]) + PacketSize - 1) < m_dimensions[innermost_dim]) {
-        Op reducer(m_reducer);
-        typename Self::PacketReturnType accum = reducer.template initializePacket<typename Self::PacketReturnType>();
-        internal::InnerMostDimPreserver<NumReducedDims-1, Self, Op>::reduce(*this, firstIndex, reducer, &accum);
-        return reducer.finalizePacket(accum);
-      } else {
-        for (int i = 0; i < PacketSize; ++i) {
-          values[i] = coeff(index + i);
-        }
-      }
-    } else {
-      for (int i = 0; i < PacketSize; ++i) {
-        values[i] = coeff(index + i);
-      }
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  // Must be called after evalSubExprsIfNeeded().
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    if (RunningFullReduction && m_result) {
-      return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize);
-    } else {
-      const Index num_values_to_reduce = internal::array_prod(m_reducedDims);
-      const double compute_cost = num_values_to_reduce * internal::functor_traits<Op>::Cost;
-      return m_impl.costPerCoeff(vectorized) * num_values_to_reduce +
-          TensorOpCost(0, 0, compute_cost, vectorized, PacketSize);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC typename MakePointer_<Scalar>::Type data() const { return m_result; }
-  /// required by sycl in order to extract the accessor
-  const TensorEvaluator<ArgType, Device>& impl() const { return m_impl; }
-  /// added for sycl in order to construct the buffer from the sycl device
-  const Device& device() const{return m_device;}
-  /// added for sycl in order to re-construct the reduction eval on the device for the sub-kernel
-  const Dims& xprDims() const {return m_xpr_dims;}
-
-
-  private:
-  template <int, typename, typename> friend struct internal::GenericDimReducer;
-  template <typename, typename, bool> friend struct internal::InnerMostDimReducer;
-  template <int, typename, typename, bool> friend struct internal::InnerMostDimPreserver;
-  template <typename S, typename O, typename D, bool V> friend struct internal::FullReducer;
-#ifdef EIGEN_USE_THREADS
-  template <typename S, typename O, bool V> friend struct internal::FullReducerShard;
-#endif
-#if defined(EIGEN_USE_GPU) && defined(__CUDACC__)
-  template <int B, int N, typename S, typename R, typename I> friend void internal::FullReductionKernel(R, const S, I, typename S::CoeffReturnType*, unsigned int*);
-#ifdef EIGEN_HAS_CUDA_FP16
-  template <typename S, typename R, typename I> friend void internal::ReductionInitFullReduxKernelHalfFloat(R, const S, I, half2*);
-  template <int B, int N, typename S, typename R, typename I> friend void internal::FullReductionKernelHalfFloat(R, const S, I, half*, half2*);
-  template <int NPT, typename S, typename R, typename I> friend void internal::InnerReductionKernelHalfFloat(R, const S, I, I, half*);
-#endif
-  template <int NPT, typename S, typename R, typename I> friend void internal::InnerReductionKernel(R, const S, I, I, typename S::CoeffReturnType*);
-
-  template <int NPT, typename S, typename R, typename I> friend void internal::OuterReductionKernel(R, const S, I, I, typename S::CoeffReturnType*);
-#endif
-
-  template <typename S, typename O, typename D> friend struct internal::InnerReducer;
-
-  // Returns the Index in the input tensor of the first value that needs to be
-  // used to compute the reduction at output index "index".
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index firstInput(Index index) const {
-    if (ReducingInnerMostDims) {
-      if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-        return index * m_preservedStrides[0];
-      } else {
-        return index * m_preservedStrides[NumPreservedStrides - 1];
-      }
-    }
-    // TBD: optimize the case where we preserve the innermost dimensions.
-    Index startInput = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumOutputDims - 1; i > 0; --i) {
-        // This is index_i in the output tensor.
-        const Index idx = index / m_outputStrides[i];
-        startInput += idx * m_preservedStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      if (PreservingInnerMostDims) {
-        eigen_assert(m_preservedStrides[0] == 1);
-        startInput += index;
-      } else {
-        startInput += index * m_preservedStrides[0];
-      }
-    } else {
-      for (int i = 0; i < NumOutputDims - 1; ++i) {
-        // This is index_i in the output tensor.
-        const Index idx = index / m_outputStrides[i];
-        startInput += idx * m_preservedStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      if (PreservingInnerMostDims) {
-        eigen_assert(m_preservedStrides[NumPreservedStrides - 1] == 1);
-        startInput += index;
-      } else {
-        startInput += index * m_preservedStrides[NumPreservedStrides - 1];
-      }
-    }
-    return startInput;
-  }
-
-  // Bitmap indicating if an input dimension is reduced or not.
-  array<bool, NumInputDims> m_reduced;
-  // Dimensions of the output of the operation.
-  Dimensions m_dimensions;
-  // Precomputed strides for the output tensor.
-  array<Index, NumOutputDims> m_outputStrides;
-  // Subset of strides of the input tensor for the non-reduced dimensions.
-  // Indexed by output dimensions.
-  static const int NumPreservedStrides = max_n_1<NumOutputDims>::size;
-  array<Index, NumPreservedStrides> m_preservedStrides;
-
-  // Subset of strides of the input tensor for the reduced dimensions.
-  // Indexed by reduced dimensions.
-  array<Index, NumReducedDims> m_reducedStrides;
-  // Size of the input dimensions that are reduced.
-  // Indexed by reduced dimensions.
-  array<Index, NumReducedDims> m_reducedDims;
-
-  // Evaluator for the input expression.
-  TensorEvaluator<ArgType, Device> m_impl;
-
-  // Operation to apply for computing the reduction.
-  Op m_reducer;
-
-  // For full reductions
-#if defined(EIGEN_USE_GPU) && defined(__CUDACC__)
-  static const bool RunningOnGPU = internal::is_same<Device, Eigen::GpuDevice>::value;
-  static const bool RunningOnSycl = false;
-#elif defined(EIGEN_USE_SYCL)
-static const bool RunningOnSycl = internal::is_same<typename internal::remove_all<Device>::type, Eigen::SyclDevice>::value;
-static const bool RunningOnGPU = false;
-#else
-  static const bool RunningOnGPU = false;
-  static const bool RunningOnSycl = false;
-#endif
-  typename MakePointer_<CoeffReturnType>::Type m_result;
-
-  const Device& m_device;
-  const Dims& m_xpr_dims;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionCuda.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionCuda.h
deleted file mode 100644
index 65638b6a8408d0..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionCuda.h
+++ /dev/null
@@ -1,750 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_CUDA_H
-#define EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_CUDA_H
-
-namespace Eigen {
-namespace internal {
-
-
-#if defined(EIGEN_USE_GPU) && defined(__CUDACC__)
-// Full reducers for GPU, don't vectorize for now
-
-// Reducer function that enables multiple cuda thread to safely accumulate at the same
-// output address. It basically reads the current value of the output variable, and
-// attempts to update it with the new value. If in the meantime another cuda thread
-// updated the content of the output address it will try again.
-template <typename T, typename R>
-__device__ EIGEN_ALWAYS_INLINE void atomicReduce(T* output, T accum, R& reducer) {
-#if __CUDA_ARCH__ >= 300
-  if (sizeof(T) == 4)
-  {
-    unsigned int oldval = *reinterpret_cast<unsigned int*>(output);
-    unsigned int newval = oldval;
-    reducer.reduce(accum, reinterpret_cast<T*>(&newval));
-    if (newval == oldval) {
-      return;
-    }
-    unsigned int readback;
-    while ((readback = atomicCAS((unsigned int*)output, oldval, newval)) != oldval) {
-      oldval = readback;
-      newval = oldval;
-      reducer.reduce(accum, reinterpret_cast<T*>(&newval));
-      if (newval == oldval) {
-        return;
-      }
-    }
-  }
-  else if (sizeof(T) == 8) {
-    unsigned long long oldval = *reinterpret_cast<unsigned long long*>(output);
-    unsigned long long newval = oldval;
-    reducer.reduce(accum, reinterpret_cast<T*>(&newval));
-    if (newval == oldval) {
-      return;
-    }
-    unsigned long long readback;
-    while ((readback = atomicCAS((unsigned long long*)output, oldval, newval)) != oldval) {
-      oldval = readback;
-      newval = oldval;
-      reducer.reduce(accum, reinterpret_cast<T*>(&newval));
-      if (newval == oldval) {
-        return;
-      }
-    }
-  }
-  else {
-    assert(0 && "Wordsize not supported");
-  }
-#else
-  assert(0 && "Shouldn't be called on unsupported device");
-#endif
-}
-
-// We extend atomicExch to support extra data types
-template <typename Type>
-__device__ inline Type atomicExchCustom(Type* address, Type val) {
-  return atomicExch(address, val);
-}
-
-template <>
-__device__ inline double atomicExchCustom(double* address, double val) {
-  unsigned long long int* address_as_ull = reinterpret_cast<unsigned long long int*>(address);
-  return __longlong_as_double(atomicExch(address_as_ull, __double_as_longlong(val)));
-}
-
-#ifdef EIGEN_HAS_CUDA_FP16
-template <template <typename T> class R>
-__device__ inline void atomicReduce(half2* output, half2 accum, R<half>& reducer) {
-  unsigned int oldval = *reinterpret_cast<unsigned int*>(output);
-  unsigned int newval = oldval;
-  reducer.reducePacket(accum, reinterpret_cast<half2*>(&newval));
-  if (newval == oldval) {
-    return;
-  }
-  unsigned int readback;
-  while ((readback = atomicCAS((unsigned int*)output, oldval, newval)) != oldval) {
-    oldval = readback;
-    newval = oldval;
-    reducer.reducePacket(accum, reinterpret_cast<half2*>(&newval));
-    if (newval == oldval) {
-      return;
-    }
-  }
-}
-#endif
-
-template <>
-__device__ inline void atomicReduce(float* output, float accum, SumReducer<float>&) {
-#if __CUDA_ARCH__ >= 300
-  atomicAdd(output, accum);
-#else
-  assert(0 && "Shouldn't be called on unsupported device");
-#endif
-}
-
-
-template <typename CoeffType, typename Index>
-__global__ void ReductionInitKernel(const CoeffType val, Index num_preserved_coeffs, CoeffType* output) {
-  const Index thread_id = blockIdx.x * blockDim.x + threadIdx.x;
-  const Index num_threads = blockDim.x * gridDim.x;
-  for (Index i = thread_id; i < num_preserved_coeffs; i += num_threads) {
-    output[i] = val;
-  }
-}
-
-
-template <int BlockSize, int NumPerThread, typename Self,
-          typename Reducer, typename Index>
-__global__ void FullReductionKernel(Reducer reducer, const Self input, Index num_coeffs,
-                                    typename Self::CoeffReturnType* output, unsigned int* semaphore) {
-#if __CUDA_ARCH__ >= 300
-  // Initialize the output value
-  const Index first_index = blockIdx.x * BlockSize * NumPerThread + threadIdx.x;
-  if (gridDim.x == 1) {
-    if (first_index == 0) {
-      *output = reducer.initialize();
-    }
-  }
-  else {
-    if (threadIdx.x == 0) {
-      unsigned int block = atomicCAS(semaphore, 0u, 1u);
-      if (block == 0) {
-        // We're the first block to run, initialize the output value
-        atomicExchCustom(output, reducer.initialize());
-        __threadfence();
-        atomicExch(semaphore, 2u);
-      }
-      else {
-        // Wait for the first block to initialize the output value.
-        // Use atomicCAS here to ensure that the reads aren't cached
-        unsigned int val;
-        do {
-          val = atomicCAS(semaphore, 2u, 2u);
-        }
-        while (val < 2u);
-      }
-    }
-  }
-
-  __syncthreads();
-
-  eigen_assert(gridDim.x == 1 || *semaphore >= 2u);
-
-  typename Self::CoeffReturnType accum = reducer.initialize();
-  Index max_iter = numext::mini<Index>(num_coeffs - first_index, NumPerThread*BlockSize);
-  for (Index i = 0; i < max_iter; i+=BlockSize) {
-    const Index index = first_index + i;
-    eigen_assert(index < num_coeffs);
-    typename Self::CoeffReturnType val = input.m_impl.coeff(index);
-    reducer.reduce(val, &accum);
-  }
-
-#pragma unroll
-  for (int offset = warpSize/2; offset > 0; offset /= 2) {
-    reducer.reduce(__shfl_down(accum, offset, warpSize), &accum);
-  }
-
-  if ((threadIdx.x & (warpSize - 1)) == 0) {
-    atomicReduce(output, accum, reducer);
-  }
-
-  if (gridDim.x > 1 && threadIdx.x == 0) {
-    // Let the last block reset the semaphore
-    atomicInc(semaphore, gridDim.x + 1);
-  }
-#else
-  assert(0 && "Shouldn't be called on unsupported device");
-#endif
-}
-
-
-#ifdef EIGEN_HAS_CUDA_FP16
-template <typename Self,
-          typename Reducer, typename Index>
-__global__ void ReductionInitFullReduxKernelHalfFloat(Reducer reducer, const Self input, Index num_coeffs, half2* scratch) {
-  eigen_assert(blockDim.x == 1);
-  eigen_assert(gridDim.x == 1);
-  if (num_coeffs % 2 != 0) {
-    half last = input.m_impl.coeff(num_coeffs-1);
-    *scratch = __halves2half2(last, reducer.initialize());
-  } else {
-    *scratch = reducer.template initializePacket<half2>();
-  }
-}
-
-template <typename Self,
-          typename Reducer, typename Index>
-__global__ void ReductionInitKernelHalfFloat(Reducer reducer, const Self input, Index num_coeffs, half* output) {
-  const Index thread_id = blockIdx.x * blockDim.x + threadIdx.x;
-  const Index num_threads = blockDim.x * gridDim.x;
-  const Index num_packets = num_coeffs / 2;
-  for (Index i = thread_id; i < num_packets; i += num_threads) {
-    ((half2*)output)[i] = reducer.template initializePacket<half2>();
-  }
-
-  if (thread_id == 0 && num_coeffs % 2 != 0) {
-    output[num_coeffs-1] = reducer.initialize();
-  }
-}
-
-template <int BlockSize, int NumPerThread, typename Self,
-          typename Reducer, typename Index>
-__global__ void FullReductionKernelHalfFloat(Reducer reducer, const Self input, Index num_coeffs,
-                                    half* output, half2* scratch) {
-  eigen_assert(NumPerThread % 2 == 0);
-
-  const Index first_index = blockIdx.x * BlockSize * NumPerThread + 2*threadIdx.x;
-
-  // Initialize the output value if it wasn't initialized by the ReductionInitKernel
-  if (gridDim.x == 1 && first_index == 0) {
-    if (num_coeffs % 2 != 0) {
-      half last = input.m_impl.coeff(num_coeffs-1);
-      *scratch = __halves2half2(last, reducer.initialize());
-    } else {
-      *scratch = reducer.template initializePacket<half2>();
-    }
-    __syncthreads();
-  }
-
-  half2 accum = reducer.template initializePacket<half2>();
-  const Index max_iter = numext::mini<Index>((num_coeffs - first_index) / 2, NumPerThread*BlockSize / 2);
-  for (Index i = 0; i < max_iter; i += BlockSize) {
-    const Index index = first_index + 2*i;
-    eigen_assert(index + 1 < num_coeffs);
-    half2 val = input.m_impl.template packet<Unaligned>(index);
-    reducer.reducePacket(val, &accum);
-  }
-
-#pragma unroll
-  for (int offset = warpSize/2; offset > 0; offset /= 2) {
-    reducer.reducePacket(__shfl_down(accum, offset, warpSize), &accum);
-  }
-
-  if ((threadIdx.x & (warpSize - 1)) == 0) {
-    atomicReduce(scratch, accum, reducer);
-  }
-
-  __syncthreads();
-
-  if (gridDim.x == 1 && first_index == 0) {
-    half tmp = __low2half(*scratch);
-    reducer.reduce(__high2half(*scratch), &tmp);
-    *output = tmp;
-  }
-}
-
-template <typename Op>
-__global__ void ReductionCleanupKernelHalfFloat(Op& reducer, half* output, half2* scratch) {
-  eigen_assert(threadIdx.x == 1);
-  half tmp = __low2half(*scratch);
-  reducer.reduce(__high2half(*scratch), &tmp);
-  *output = tmp;
-}
-
-#endif
-
-template <typename Self, typename Op, typename OutputType, bool PacketAccess, typename Enabled = void>
-struct FullReductionLauncher {
-  static void run(const Self&, Op&, const GpuDevice&, OutputType*, typename Self::Index) {
-    assert(false && "Should only be called on doubles, floats and half floats");
-  }
-};
-
-// Specialization for float and double
-template <typename Self, typename Op, typename OutputType, bool PacketAccess>
-struct FullReductionLauncher<
-    Self, Op, OutputType, PacketAccess,
-    typename internal::enable_if<
-      internal::is_same<float, OutputType>::value ||
-      internal::is_same<double, OutputType>::value,
-    void>::type> {
-  static void run(const Self& self, Op& reducer, const GpuDevice& device, OutputType* output, typename Self::Index num_coeffs) {
-    typedef typename Self::Index Index;
-    typedef typename Self::CoeffReturnType Scalar;
-    const int block_size = 256;
-    const int num_per_thread = 128;
-    const int num_blocks = divup<int>(num_coeffs, block_size * num_per_thread);
-
-    unsigned int* semaphore = NULL;
-    if (num_blocks > 1) {
-      semaphore = device.semaphore();
-    }
-
-    LAUNCH_CUDA_KERNEL((FullReductionKernel<block_size, num_per_thread, Self, Op, Index>),
-                       num_blocks, block_size, 0, device, reducer, self, num_coeffs, output, semaphore);
-  }
-};
-
-#ifdef EIGEN_HAS_CUDA_FP16
-template <typename Self, typename Op>
-struct FullReductionLauncher<Self, Op, Eigen::half, false> {
-  static void run(const Self&, Op&, const GpuDevice&, half*, typename Self::Index) {
-    assert(false && "Should not be called since there is no packet accessor");
-  }
-};
-
-template <typename Self, typename Op>
-struct FullReductionLauncher<Self, Op, Eigen::half, true> {
-  static void run(const Self& self, Op& reducer, const GpuDevice& device, half* output, typename Self::Index num_coeffs) {
-    typedef typename Self::Index Index;
-
-    const int block_size = 256;
-    const int num_per_thread = 128;
-    const int num_blocks = divup<int>(num_coeffs, block_size * num_per_thread);
-    half2* scratch = static_cast<half2*>(device.scratchpad());
-
-    if (num_blocks > 1) {
-      // We initialize the output and the scrathpad outside the reduction kernel when we can't be sure that there
-      // won't be a race conditions between multiple thread blocks.
-      LAUNCH_CUDA_KERNEL((ReductionInitFullReduxKernelHalfFloat<Self, Op, Index>),
-                         1, 1, 0, device, reducer, self, num_coeffs, scratch);
-    }
-
-    LAUNCH_CUDA_KERNEL((FullReductionKernelHalfFloat<block_size, num_per_thread, Self, Op, Index>),
-                       num_blocks, block_size, 0, device, reducer, self, num_coeffs, output, scratch);
-
-    if (num_blocks > 1) {
-      LAUNCH_CUDA_KERNEL((ReductionCleanupKernelHalfFloat<Op>),
-                         1, 1, 0, device, reducer, output, scratch);
-    }
-  }
-};
-#endif
-
-
-template <typename Self, typename Op, bool Vectorizable>
-struct FullReducer<Self, Op, GpuDevice, Vectorizable> {
-  // Unfortunately nvidia doesn't support well exotic types such as complex,
-  // so reduce the scope of the optimized version of the code to the simple cases
-  // of doubles, floats and half floats
-#ifdef EIGEN_HAS_CUDA_FP16
-  static const bool HasOptimizedImplementation = !Op::IsStateful &&
-      (internal::is_same<typename Self::CoeffReturnType, float>::value ||
-       internal::is_same<typename Self::CoeffReturnType, double>::value ||
-       (internal::is_same<typename Self::CoeffReturnType, Eigen::half>::value && reducer_traits<Op, GpuDevice>::PacketAccess));
-#else
-  static const bool HasOptimizedImplementation = !Op::IsStateful &&
-                                                (internal::is_same<typename Self::CoeffReturnType, float>::value ||
-                                                 internal::is_same<typename Self::CoeffReturnType, double>::value);
-#endif
-
-  template <typename OutputType>
-  static void run(const Self& self, Op& reducer, const GpuDevice& device, OutputType* output) {
-    assert(HasOptimizedImplementation && "Should only be called on doubles, floats or half floats");
-    const Index num_coeffs = array_prod(self.m_impl.dimensions());
-    // Don't crash when we're called with an input tensor of size 0.
-    if (num_coeffs == 0) {
-      return;
-    }
-
-    FullReductionLauncher<Self, Op, OutputType, reducer_traits<Op, GpuDevice>::PacketAccess>::run(self, reducer, device, output, num_coeffs);
-  }
-};
-
-
-template <int NumPerThread, typename Self,
-          typename Reducer, typename Index>
-__global__ void InnerReductionKernel(Reducer reducer, const Self input, Index num_coeffs_to_reduce, Index num_preserved_coeffs,
-                                         typename Self::CoeffReturnType* output) {
-#if __CUDA_ARCH__ >= 300
-  typedef typename Self::CoeffReturnType Type;
-  eigen_assert(blockDim.y == 1);
-  eigen_assert(blockDim.z == 1);
-  eigen_assert(gridDim.y == 1);
-  eigen_assert(gridDim.z == 1);
-
-  const int unroll_times = 16;
-  eigen_assert(NumPerThread % unroll_times == 0);
-
-  const Index input_col_blocks = divup<Index>(num_coeffs_to_reduce, blockDim.x * NumPerThread);
-  const Index num_input_blocks = input_col_blocks * num_preserved_coeffs;
-
-  const Index num_threads = blockDim.x * gridDim.x;
-  const Index thread_id = blockIdx.x * blockDim.x + threadIdx.x;
-
-  // Initialize the output values if they weren't initialized by the ReductionInitKernel
-  if (gridDim.x == 1) {
-    for (Index i = thread_id; i < num_preserved_coeffs; i += num_threads) {
-      output[i] = reducer.initialize();
-    }
-    __syncthreads();
-  }
-
-  for (Index i = blockIdx.x; i < num_input_blocks; i += gridDim.x) {
-    const Index row = i / input_col_blocks;
-
-    if (row < num_preserved_coeffs) {
-      const Index col_block = i % input_col_blocks;
-      const Index col_begin = col_block * blockDim.x * NumPerThread + threadIdx.x;
-
-      Type reduced_val = reducer.initialize();
-
-      for (Index j = 0; j < NumPerThread; j += unroll_times) {
-        const Index last_col = col_begin + blockDim.x * (j + unroll_times - 1);
-        if (last_col >= num_coeffs_to_reduce) {
-          for (Index col = col_begin + blockDim.x * j; col < num_coeffs_to_reduce; col += blockDim.x) {
-            const Type val = input.m_impl.coeff(row * num_coeffs_to_reduce + col);
-            reducer.reduce(val, &reduced_val);
-          }
-          break;
-        } else {
-          // Faster version of the loop with no branches after unrolling.
-#pragma unroll
-          for (int k = 0; k < unroll_times; ++k) {
-            const Index col = col_begin + blockDim.x * (j + k);
-            reducer.reduce(input.m_impl.coeff(row * num_coeffs_to_reduce + col), &reduced_val);
-          }
-        }
-      }
-
-#pragma unroll
-      for (int offset = warpSize/2; offset > 0; offset /= 2) {
-        reducer.reduce(__shfl_down(reduced_val, offset), &reduced_val);
-      }
-
-      if ((threadIdx.x & (warpSize - 1)) == 0) {
-        atomicReduce(&(output[row]), reduced_val, reducer);
-      }
-    }
-  }
-#else
-  assert(0 && "Shouldn't be called on unsupported device");
-#endif
-}
-
-#ifdef EIGEN_HAS_CUDA_FP16
-
-template <int NumPerThread, typename Self,
-          typename Reducer, typename Index>
-__global__ void InnerReductionKernelHalfFloat(Reducer reducer, const Self input, Index num_coeffs_to_reduce, Index num_preserved_coeffs,
-                                              half* output) {
-  eigen_assert(blockDim.y == 1);
-  eigen_assert(blockDim.z == 1);
-  eigen_assert(gridDim.y == 1);
-  eigen_assert(gridDim.z == 1);
-
-  const int unroll_times = 16;
-  eigen_assert(NumPerThread % unroll_times == 0);
-  eigen_assert(unroll_times % 2 == 0);
-
-  const Index input_col_blocks = divup<Index>(num_coeffs_to_reduce, blockDim.x * NumPerThread * 2);
-  const Index num_input_blocks = divup<Index>(input_col_blocks * num_preserved_coeffs, 2);
-
-  const Index num_threads = blockDim.x * gridDim.x;
-  const Index thread_id = blockIdx.x * blockDim.x + threadIdx.x;
-
-  // Initialize the output values if they weren't initialized by the ReductionInitKernel
-  if (gridDim.x == 1) {
-    Index i = 2*thread_id;
-    for (; i + 1 < num_preserved_coeffs; i += 2*num_threads) {
-      half* loc = output + i;
-      *((half2*)loc) = reducer.template initializePacket<half2>();
-    }
-    if (i < num_preserved_coeffs) {
-      output[i] = reducer.initialize();
-    }
-    __syncthreads();
-  }
-
-  for (Index i = blockIdx.x; i < num_input_blocks; i += gridDim.x) {
-    const Index row = 2 * (i / input_col_blocks);
-
-    if (row + 1 < num_preserved_coeffs) {
-      const Index col_block = i % input_col_blocks;
-      const Index col_begin = 2 * (col_block * blockDim.x * NumPerThread + threadIdx.x);
-
-      half2 reduced_val1 = reducer.template initializePacket<half2>();
-      half2 reduced_val2 = reducer.template initializePacket<half2>();
-
-      for (Index j = 0; j < NumPerThread; j += unroll_times) {
-        const Index last_col = col_begin + blockDim.x * (j + unroll_times - 1) * 2;
-        if (last_col >= num_coeffs_to_reduce) {
-          Index col = col_begin + blockDim.x * j;
-          for (; col + 1 < num_coeffs_to_reduce; col += blockDim.x) {
-            const half2 val1 = input.m_impl.template packet<Unaligned>(row * num_coeffs_to_reduce + col);
-            reducer.reducePacket(val1, &reduced_val1);
-            const half2 val2 = input.m_impl.template packet<Unaligned>((row+1) * num_coeffs_to_reduce + col);
-            reducer.reducePacket(val2, &reduced_val2);
-          }
-          if (col < num_coeffs_to_reduce) {
-            // Peel;
-            const half last1 = input.m_impl.coeff(row * num_coeffs_to_reduce + col);
-            const half2 val1 = __halves2half2(last1, reducer.initialize());
-            reducer.reducePacket(val1, &reduced_val1);
-            const half last2 = input.m_impl.coeff((row+1) * num_coeffs_to_reduce + col);
-            const half2 val2 = __halves2half2(last2, reducer.initialize());
-            reducer.reducePacket(val2, &reduced_val2);
-          }
-          break;
-        } else {
-          // Faster version of the loop with no branches after unrolling.
-#pragma unroll
-          for (int k = 0; k < unroll_times; ++k) {
-            const Index col = col_begin + blockDim.x * (j + k) * 2;
-            reducer.reducePacket(input.m_impl.template packet<Unaligned>(row * num_coeffs_to_reduce + col), &reduced_val1);
-            reducer.reducePacket(input.m_impl.template packet<Unaligned>((row + 1)* num_coeffs_to_reduce + col), &reduced_val2);
-          }
-        }
-      }
-
-#pragma unroll
-      for (int offset = warpSize/2; offset > 0; offset /= 2) {
-        reducer.reducePacket(__shfl_down(reduced_val1, offset, warpSize), &reduced_val1);
-        reducer.reducePacket(__shfl_down(reduced_val2, offset, warpSize), &reduced_val2);
-      }
-
-      half val1 =  __low2half(reduced_val1);
-      reducer.reduce(__high2half(reduced_val1), &val1);
-      half val2 =  __low2half(reduced_val2);
-      reducer.reduce(__high2half(reduced_val2), &val2);
-      half2 val = __halves2half2(val1, val2);
-
-      if ((threadIdx.x & (warpSize - 1)) == 0) {
-        half* loc = output + row;
-        atomicReduce((half2*)loc, val, reducer);
-      }
-    }
-  }
-}
-
-#endif
-
-template <typename Self, typename Op, typename OutputType, bool PacketAccess, typename Enabled = void>
-struct InnerReductionLauncher {
-  static EIGEN_DEVICE_FUNC bool run(const Self&, Op&, const GpuDevice&, OutputType*, typename Self::Index, typename Self::Index) {
-    assert(false && "Should only be called to reduce doubles, floats and half floats on a gpu device");
-    return true;
-  }
-};
-
-// Specialization for float and double
-template <typename Self, typename Op, typename OutputType, bool PacketAccess>
-struct InnerReductionLauncher<
-  Self, Op, OutputType, PacketAccess,
-  typename internal::enable_if<
-    internal::is_same<float, OutputType>::value ||
-    internal::is_same<double, OutputType>::value,
-  void>::type> {
-  static bool run(const Self& self, Op& reducer, const GpuDevice& device, OutputType* output, typename Self::Index num_coeffs_to_reduce, typename Self::Index num_preserved_vals) {
-    typedef typename Self::Index Index;
-
-    const Index num_coeffs = num_coeffs_to_reduce * num_preserved_vals;
-    const int block_size = 256;
-    const int num_per_thread = 128;
-    const int dyn_blocks = divup<int>(num_coeffs, block_size * num_per_thread);
-    const int max_blocks = device.getNumCudaMultiProcessors() *
-                           device.maxCudaThreadsPerMultiProcessor() / block_size;
-    const int num_blocks = numext::mini<int>(max_blocks, dyn_blocks);
-
-    if (num_blocks > 1) {
-      // We initialize the outputs outside the reduction kernel when we can't be sure that there
-      // won't be a race conditions between multiple thread blocks.
-      const int dyn_blocks = divup<int>(num_preserved_vals, 1024);
-      const int max_blocks = device.getNumCudaMultiProcessors() *
-                           device.maxCudaThreadsPerMultiProcessor() / 1024;
-      const int num_blocks = numext::mini<int>(max_blocks, dyn_blocks);
-      LAUNCH_CUDA_KERNEL((ReductionInitKernel<OutputType, Index>),
-                         num_blocks, 1024, 0, device, reducer.initialize(),
-                         num_preserved_vals, output);
-    }
-
-    LAUNCH_CUDA_KERNEL((InnerReductionKernel<num_per_thread, Self, Op, Index>),
-                       num_blocks, block_size, 0, device, reducer, self, num_coeffs_to_reduce, num_preserved_vals, output);
-
-    return false;
-  }
-};
-
-#ifdef EIGEN_HAS_CUDA_FP16
-template <typename Self, typename Op>
-struct InnerReductionLauncher<Self, Op, Eigen::half, false> {
-  static bool run(const Self&, Op&, const GpuDevice&, half*, typename Self::Index, typename Self::Index) {
-    assert(false && "Should not be called since there is no packet accessor");
-    return true;
-  }
-};
-
-template <typename Self, typename Op>
-struct InnerReductionLauncher<Self, Op, Eigen::half, true> {
-  static bool run(const Self& self, Op& reducer, const GpuDevice& device, half* output, typename Self::Index num_coeffs_to_reduce, typename Self::Index num_preserved_vals) {
-    typedef typename Self::Index Index;
-
-    if (num_preserved_vals % 2 != 0) {
-      // Not supported yet, revert to the slower code path
-      return true;
-    }
-
-    const Index num_coeffs = num_coeffs_to_reduce * num_preserved_vals;
-    const int block_size = /*256*/128;
-    const int num_per_thread = /*128*/64;
-    const int dyn_blocks = divup<int>(num_coeffs, block_size * num_per_thread);
-    const int max_blocks = device.getNumCudaMultiProcessors() *
-                           device.maxCudaThreadsPerMultiProcessor() / block_size;
-    const int num_blocks = numext::mini<int>(max_blocks, dyn_blocks);
-
-    if (num_blocks > 1) {
-      // We initialize the outputs outside the reduction kernel when we can't be sure that there
-      // won't be a race conditions between multiple thread blocks.
-      const int dyn_blocks = divup<int>(num_preserved_vals, 1024);
-      const int max_blocks = device.getNumCudaMultiProcessors() *
-                           device.maxCudaThreadsPerMultiProcessor() / 1024;
-      const int num_blocks = numext::mini<int>(max_blocks, dyn_blocks);
-      LAUNCH_CUDA_KERNEL((ReductionInitKernelHalfFloat<Self, Op, Index>),
-                         1, 1, 0, device, reducer, self, num_preserved_vals, output);
-    }
-
-    LAUNCH_CUDA_KERNEL((InnerReductionKernelHalfFloat<num_per_thread, Self, Op, Index>),
-                       num_blocks, block_size, 0, device, reducer, self, num_coeffs_to_reduce, num_preserved_vals, output);
-
-    return false;
-  }
-};
-#endif
-
-
-template <typename Self, typename Op>
-struct InnerReducer<Self, Op, GpuDevice> {
-  // Unfortunately nvidia doesn't support well exotic types such as complex,
-  // so reduce the scope of the optimized version of the code to the simple case
-  // of floats and half floats.
-#ifdef EIGEN_HAS_CUDA_FP16
-  static const bool HasOptimizedImplementation = !Op::IsStateful &&
-      (internal::is_same<typename Self::CoeffReturnType, float>::value ||
-       internal::is_same<typename Self::CoeffReturnType, double>::value ||
-       (internal::is_same<typename Self::CoeffReturnType, Eigen::half>::value && reducer_traits<Op, GpuDevice>::PacketAccess));
-#else
-  static const bool HasOptimizedImplementation = !Op::IsStateful &&
-                                                 (internal::is_same<typename Self::CoeffReturnType, float>::value ||
-                                                  internal::is_same<typename Self::CoeffReturnType, double>::value);
-#endif
-
-  template <typename OutputType>
-  static bool run(const Self& self, Op& reducer, const GpuDevice& device, OutputType* output, typename Self::Index num_coeffs_to_reduce, typename Self::Index num_preserved_vals) {
-    assert(HasOptimizedImplementation && "Should only be called on doubles, floats or half floats");
-    const Index num_coeffs = array_prod(self.m_impl.dimensions());
-    // Don't crash when we're called with an input tensor of size 0.
-    if (num_coeffs == 0) {
-      return true;
-    }
-    // It's faster to use the usual code.
-    if (num_coeffs_to_reduce <= 128) {
-      return true;
-    }
-
-    return InnerReductionLauncher<Self, Op, OutputType, reducer_traits<Op, GpuDevice>::PacketAccess>::run(self, reducer, device, output, num_coeffs_to_reduce, num_preserved_vals);
-  }
-};
-
-template <int NumPerThread, typename Self,
-          typename Reducer, typename Index>
-__global__ void OuterReductionKernel(Reducer reducer, const Self input, Index num_coeffs_to_reduce, Index num_preserved_coeffs,
-                                     typename Self::CoeffReturnType* output) {
-  const Index num_threads = blockDim.x * gridDim.x;
-  const Index thread_id = blockIdx.x * blockDim.x + threadIdx.x;
-  // Initialize the output values if they weren't initialized by the ReductionInitKernel
-  if (gridDim.x == 1) {
-    for (Index i = thread_id; i < num_preserved_coeffs; i += num_threads) {
-      output[i] = reducer.initialize();
-    }
-    __syncthreads();
-  }
-
-  // Do the reduction.
-  const Index max_iter = num_preserved_coeffs * divup<Index>(num_coeffs_to_reduce, NumPerThread);
-  for (Index i = thread_id; i < max_iter; i += num_threads) {
-    const Index input_col = i % num_preserved_coeffs;
-    const Index input_row = (i / num_preserved_coeffs) * NumPerThread;
-    typename Self::CoeffReturnType reduced_val = reducer.initialize();
-    const Index max_row = numext::mini(input_row + NumPerThread, num_coeffs_to_reduce);
-    for (Index j = input_row; j < max_row; j++) {
-      typename Self::CoeffReturnType val = input.m_impl.coeff(j * num_preserved_coeffs + input_col);
-      reducer.reduce(val, &reduced_val);
-    }
-    atomicReduce(&(output[input_col]), reduced_val, reducer);
-  }
-}
-
-
-template <typename Self, typename Op>
-struct OuterReducer<Self, Op, GpuDevice> {
-  // Unfortunately nvidia doesn't support well exotic types such as complex,
-  // so reduce the scope of the optimized version of the code to the simple case
-  // of floats.
-  static const bool HasOptimizedImplementation = !Op::IsStateful &&
-                                                 (internal::is_same<typename Self::CoeffReturnType, float>::value ||
-                                                  internal::is_same<typename Self::CoeffReturnType, double>::value);
-  template <typename Device, typename OutputType>
-  static EIGEN_DEVICE_FUNC bool run(const Self&, Op&, const Device&, OutputType*, typename Self::Index, typename Self::Index) {
-    assert(false && "Should only be called to reduce doubles or floats on a gpu device");
-    return true;
-  }
-
-  static bool run(const Self& self, Op& reducer, const GpuDevice& device, float* output, typename Self::Index num_coeffs_to_reduce, typename Self::Index num_preserved_vals) {
-    typedef typename Self::Index Index;
-
-    // It's faster to use the usual code.
-    if (num_coeffs_to_reduce <= 32) {
-      return true;
-    }
-
-    const Index num_coeffs = num_coeffs_to_reduce * num_preserved_vals;
-    const int block_size = 256;
-    const int num_per_thread = 16;
-    const int dyn_blocks = divup<int>(num_coeffs, block_size * num_per_thread);
-    const int max_blocks = device.getNumCudaMultiProcessors() *
-                           device.maxCudaThreadsPerMultiProcessor() / block_size;
-    const int num_blocks = numext::mini<int>(max_blocks, dyn_blocks);
-
-    if (num_blocks > 1) {
-      // We initialize the outputs in the reduction kernel itself when we don't have to worry
-      // about race conditions between multiple thread blocks.
-      const int dyn_blocks = divup<int>(num_preserved_vals, 1024);
-      const int max_blocks = device.getNumCudaMultiProcessors() *
-                             device.maxCudaThreadsPerMultiProcessor() / 1024;
-      const int num_blocks = numext::mini<int>(max_blocks, dyn_blocks);
-      LAUNCH_CUDA_KERNEL((ReductionInitKernel<float, Index>),
-                         num_blocks, 1024, 0, device, reducer.initialize(),
-                         num_preserved_vals, output);
-    }
-
-    LAUNCH_CUDA_KERNEL((OuterReductionKernel<num_per_thread, Self, Op, Index>),
-                       num_blocks, block_size, 0, device, reducer, self, num_coeffs_to_reduce, num_preserved_vals, output);
-
-    return false;
-  }
-};
-
-#endif
-
-
-} // end namespace internal
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_CUDA_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionSycl.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionSycl.h
deleted file mode 100644
index 3daecb04540883..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionSycl.h
+++ /dev/null
@@ -1,242 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensorSyclPlaceHolderExpr.h
- *
- * \brief:
- *  This is the specialisation of the placeholder expression based on the
- * operation type
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSOR_REDUCTION_SYCL_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSOR_REDUCTION_SYCL_HPP
-
-namespace Eigen {
-namespace internal {
-
-template<typename CoeffReturnType, typename KernelName> struct syclGenericBufferReducer{
-template<typename BufferTOut, typename BufferTIn>
-static void run(BufferTOut* bufOut, BufferTIn& bufI, const Eigen::SyclDevice& dev, size_t length, size_t local){
-  do {
-          auto f = [length, local, bufOut, &bufI](cl::sycl::handler& h) mutable {
-            cl::sycl::nd_range<1> r{cl::sycl::range<1>{std::max(length, local)},
-                                    cl::sycl::range<1>{std::min(length, local)}};
-            /* Two accessors are used: one to the buffer that is being reduced,
-             * and a second to local memory, used to store intermediate data. */
-            auto aI =
-                bufI.template get_access<cl::sycl::access::mode::read_write>(h);
-            auto aOut =
-                bufOut->template get_access<cl::sycl::access::mode::discard_write>(h);
-            cl::sycl::accessor<CoeffReturnType, 1, cl::sycl::access::mode::read_write,
-                               cl::sycl::access::target::local>
-                scratch(cl::sycl::range<1>(local), h);
-
-            /* The parallel_for invocation chosen is the variant with an nd_item
-             * parameter, since the code requires barriers for correctness. */
-            h.parallel_for<KernelName>(
-                r, [aOut, aI, scratch, local, length](cl::sycl::nd_item<1> id) {
-                  size_t globalid = id.get_global(0);
-                  size_t localid = id.get_local(0);
-                  /* All threads collectively read from global memory into local.
-                   * The barrier ensures all threads' IO is resolved before
-                   * execution continues (strictly speaking, all threads within
-                   * a single work-group - there is no co-ordination between
-                   * work-groups, only work-items). */
-                  if (globalid < length) {
-                    scratch[localid] = aI[globalid];
-                  }
-                  id.barrier(cl::sycl::access::fence_space::local_space);
-
-                  /* Apply the reduction operation between the current local
-                   * id and the one on the other half of the vector. */
-                  if (globalid < length) {
-                    int min = (length < local) ? length : local;
-                    for (size_t offset = min / 2; offset > 0; offset /= 2) {
-                      if (localid < offset) {
-                        scratch[localid] += scratch[localid + offset];
-                      }
-                      id.barrier(cl::sycl::access::fence_space::local_space);
-                    }
-                    /* The final result will be stored in local id 0. */
-                    if (localid == 0) {
-                      aI[id.get_group(0)] = scratch[localid];
-                      if((length<=local) && globalid ==0){
-                        aOut[globalid]=scratch[localid];
-                      }
-                    }
-                  }
-                });
-          };
-            dev.m_queue.submit(f);
-            dev.m_queue.throw_asynchronous();
-
-          /* At this point, you could queue::wait_and_throw() to ensure that
-           * errors are caught quickly. However, this would likely impact
-           * performance negatively. */
-          length = length / local;
-
-        } while (length > 1);
-
-
-
-}
-
-};
-
-/// For now let's start with a full reducer
-/// Self is useless here because in expression construction we are going to treat reduction as a leafnode.
-/// we want to take reduction child and then build a construction and apply the full reducer function on it. Fullreducre applies the
-/// reduction operation on the child of the reduction. once it is done the reduction is an empty shell and can be thrown away and treated as
-// a leafNode.
-template <typename Self, typename Op, bool Vectorizable>
-struct FullReducer<Self, Op, const Eigen::SyclDevice, Vectorizable> {
-
-  typedef typename Self::CoeffReturnType CoeffReturnType;
-  static const bool HasOptimizedImplementation = false;
-
-  static void run(const Self& self, Op& reducer, const Eigen::SyclDevice& dev, CoeffReturnType* output) {
-    typedef const typename Self::ChildType HostExpr; /// this is the child of reduction
-    typedef  typename TensorSycl::internal::createPlaceHolderExpression<HostExpr>::Type PlaceHolderExpr;
-    auto functors = TensorSycl::internal::extractFunctors(self.impl());
-    int red_factor =256; /// initial reduction. If the size is less than red_factor we only creates one thread.
-    size_t inputSize =self.impl().dimensions().TotalSize();
-    size_t rng = inputSize/red_factor; // the total number of thread initially is half the size of the input
-    size_t remaining = inputSize% red_factor;
-    if(rng ==0) {
-      red_factor=1;
-    };
-    size_t tileSize =dev.m_queue.get_device(). template get_info<cl::sycl::info::device::max_work_group_size>()/2;
-    size_t GRange=std::max((size_t )1, rng);
-
-    // convert global range to power of 2 for redecution
-    GRange--;
-    GRange |= GRange >> 1;
-    GRange |= GRange >> 2;
-    GRange |= GRange >> 4;
-    GRange |= GRange >> 8;
-    GRange |= GRange >> 16;
-#if __x86_64__ || __ppc64__ || _WIN64
-    GRange |= GRange >> 32;
-#endif
-    GRange++;
-    size_t  outTileSize = tileSize;
-    /// if the shared memory is less than the GRange, we set shared_mem size to the TotalSize and in this case one kernel would be created for recursion to reduce all to one.
-    if (GRange < outTileSize) outTileSize=GRange;
-    // getting final out buffer at the moment the created buffer is true because there is no need for assign
-    auto out_buffer =dev.template get_sycl_buffer<typename Eigen::internal::remove_all<CoeffReturnType>::type>(self.dimensions().TotalSize(), output);
-    /// creating the shared memory for calculating reduction.
-    /// This one is used to collect all the reduced value of shared memory as we dont have global barrier on GPU. Once it is saved we can
-    /// recursively apply reduction on it in order to reduce the whole.
-    auto temp_global_buffer =cl::sycl::buffer<CoeffReturnType, 1>(cl::sycl::range<1>(GRange));
-    typedef typename Eigen::internal::remove_all<decltype(self.xprDims())>::type Dims;
-    Dims dims= self.xprDims();
-    Op functor = reducer;
-    dev.m_queue.submit([&](cl::sycl::handler &cgh) {
-      // create a tuple of accessors from Evaluator
-      auto tuple_of_accessors =  TensorSycl::internal::createTupleOfAccessors(cgh, self.impl());
-      auto tmp_global_accessor = temp_global_buffer. template get_access<cl::sycl::access::mode::read_write, cl::sycl::access::target::global_buffer>(cgh);
-
-      cgh.parallel_for<PlaceHolderExpr>( cl::sycl::nd_range<1>(cl::sycl::range<1>(GRange), cl::sycl::range<1>(outTileSize)), [=](cl::sycl::nd_item<1> itemID) {
-        typedef typename TensorSycl::internal::ConvertToDeviceExpression<const HostExpr>::Type DevExpr;
-        auto device_expr = TensorSycl::internal::createDeviceExpression<DevExpr, PlaceHolderExpr>(functors, tuple_of_accessors);
-        /// reduction cannot be captured automatically through our device conversion recursion. The reason is that reduction has two behaviour
-        /// the first behaviour is when it is used as a root to lauch the sub-kernel. The second one is when it is treated as a leafnode to pass the
-        /// calculated result to its parent kernel. While the latter is automatically detected through our device expression generator. The former is created here.
-        const auto device_self_expr= TensorReductionOp<Op, Dims, decltype(device_expr.expr) ,MakeGlobalPointer>(device_expr.expr, dims, functor);
-        /// This is the evaluator for device_self_expr. This is exactly similar to the self which has been passed to run function. The difference is
-        /// the device_evaluator is detectable and recognisable on the device.
-        auto device_self_evaluator = Eigen::TensorEvaluator<decltype(device_self_expr), Eigen::DefaultDevice>(device_self_expr, Eigen::DefaultDevice());
-        /// const cast added as a naive solution to solve the qualifier drop error
-        auto globalid=itemID.get_global_linear_id();
-
-        if(globalid<rng)
-          tmp_global_accessor.get_pointer()[globalid]=InnerMostDimReducer<decltype(device_self_evaluator), Op, false>::reduce(device_self_evaluator, red_factor*globalid, red_factor, const_cast<Op&>(functor));
-        else
-          tmp_global_accessor.get_pointer()[globalid]=static_cast<CoeffReturnType>(0);
-
-        if(remaining!=0 && globalid==0 )
-          // this will add the rest of input buffer when the input size is not devidable to red_factor.
-          tmp_global_accessor.get_pointer()[globalid]+=InnerMostDimReducer<decltype(device_self_evaluator), Op, false>::reduce(device_self_evaluator, red_factor*(rng), remaining, const_cast<Op&>(functor));
-      });
-    });
-  dev.m_queue.throw_asynchronous();
-
-/// This is used to recursively reduce the tmp value to an element of 1;
-  syclGenericBufferReducer<CoeffReturnType,HostExpr>::run(out_buffer, temp_global_buffer,dev, GRange,  outTileSize);
-  }
-
-};
-
-template <typename Self, typename Op>
-struct InnerReducer<Self, Op, const Eigen::SyclDevice> {
-
-  typedef typename Self::CoeffReturnType CoeffReturnType;
-  static const bool HasOptimizedImplementation = false;
-
-  static bool run(const Self& self, Op& reducer, const Eigen::SyclDevice& dev, CoeffReturnType* output, typename Self::Index , typename Self::Index num_coeffs_to_preserve) {
-    typedef const typename Self::ChildType HostExpr; /// this is the child of reduction
-    typedef  typename TensorSycl::internal::createPlaceHolderExpression<HostExpr>::Type PlaceHolderExpr;
-    auto functors = TensorSycl::internal::extractFunctors(self.impl());
-
-    size_t tileSize =dev.m_queue.get_device(). template get_info<cl::sycl::info::device::max_work_group_size>()/2;
-
-    size_t GRange=num_coeffs_to_preserve;
-    if (tileSize>GRange) tileSize=GRange;
-    else if(GRange>tileSize){
-      size_t xMode = GRange % tileSize;
-      if (xMode != 0) GRange += (tileSize - xMode);
-    }
-    // getting final out buffer at the moment the created buffer is true because there is no need for assign
-    /// creating the shared memory for calculating reduction.
-    /// This one is used to collect all the reduced value of shared memory as we dont have global barrier on GPU. Once it is saved we can
-    /// recursively apply reduction on it in order to reduce the whole.
-    typedef typename Eigen::internal::remove_all<decltype(self.xprDims())>::type Dims;
-    Dims dims= self.xprDims();
-    Op functor = reducer;
-
-    dev.m_queue.submit([&](cl::sycl::handler &cgh) {
-      // create a tuple of accessors from Evaluator
-      auto tuple_of_accessors =  TensorSycl::internal::createTupleOfAccessors(cgh, self.impl());
-      auto output_accessor = dev.template get_sycl_accessor<cl::sycl::access::mode::discard_write>(num_coeffs_to_preserve,cgh, output);
-
-      cgh.parallel_for<Self>( cl::sycl::nd_range<1>(cl::sycl::range<1>(GRange), cl::sycl::range<1>(tileSize)), [=](cl::sycl::nd_item<1> itemID) {
-        typedef typename TensorSycl::internal::ConvertToDeviceExpression<const HostExpr>::Type DevExpr;
-        auto device_expr = TensorSycl::internal::createDeviceExpression<DevExpr, PlaceHolderExpr>(functors, tuple_of_accessors);
-        /// reduction cannot be captured automatically through our device conversion recursion. The reason is that reduction has two behaviour
-        /// the first behaviour is when it is used as a root to lauch the sub-kernel. The second one is when it is treated as a leafnode to pass the
-        /// calculated result to its parent kernel. While the latter is automatically detected through our device expression generator. The former is created here.
-        const auto device_self_expr= TensorReductionOp<Op, Dims, decltype(device_expr.expr) ,MakeGlobalPointer>(device_expr.expr, dims, functor);
-        /// This is the evaluator for device_self_expr. This is exactly similar to the self which has been passed to run function. The difference is
-        /// the device_evaluator is detectable and recognisable on the device.
-        typedef Eigen::TensorEvaluator<decltype(device_self_expr), Eigen::DefaultDevice> DeiceSelf;
-        auto device_self_evaluator = Eigen::TensorEvaluator<decltype(device_self_expr), Eigen::DefaultDevice>(device_self_expr, Eigen::DefaultDevice());
-        /// const cast added as a naive solution to solve the qualifier drop error
-        auto globalid=itemID.get_global_linear_id();
-        if (globalid< static_cast<size_t>(num_coeffs_to_preserve)) {
-          typename DeiceSelf::CoeffReturnType accum = functor.initialize();
-          GenericDimReducer<DeiceSelf::NumReducedDims-1, DeiceSelf, Op>::reduce(device_self_evaluator, device_self_evaluator.firstInput(globalid),const_cast<Op&>(functor), &accum);
-          functor.finalize(accum);
-          output_accessor.get_pointer()[globalid]= accum;
-        }
-      });
-    });
-  dev.m_queue.throw_asynchronous();
-    return false;
-  }
-};
-
-}  // end namespace internal
-}  // namespace Eigen
-
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSOR_REDUCTION_SYCL_HPP
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRef.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRef.h
deleted file mode 100644
index 99245f7789ce9e..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRef.h
+++ /dev/null
@@ -1,429 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_REF_H
-#define EIGEN_CXX11_TENSOR_TENSOR_REF_H
-
-namespace Eigen {
-
-namespace internal {
-
-template <typename Dimensions, typename Scalar>
-class TensorLazyBaseEvaluator {
- public:
-  TensorLazyBaseEvaluator() : m_refcount(0) { }
-  virtual ~TensorLazyBaseEvaluator() { }
-
-  EIGEN_DEVICE_FUNC virtual const Dimensions& dimensions() const = 0;
-  EIGEN_DEVICE_FUNC virtual const Scalar* data() const = 0;
-
-  EIGEN_DEVICE_FUNC virtual const Scalar coeff(DenseIndex index) const = 0;
-  EIGEN_DEVICE_FUNC virtual Scalar& coeffRef(DenseIndex index) = 0;
-
-  void incrRefCount() { ++m_refcount; }
-  void decrRefCount() { --m_refcount; }
-  int refCount() const { return m_refcount; }
-
- private:
-  // No copy, no assigment;
-  TensorLazyBaseEvaluator(const TensorLazyBaseEvaluator& other);
-  TensorLazyBaseEvaluator& operator = (const TensorLazyBaseEvaluator& other);
-
-  int m_refcount;
-};
-
-
-template <typename Dimensions, typename Expr, typename Device>
-class TensorLazyEvaluatorReadOnly : public TensorLazyBaseEvaluator<Dimensions, typename TensorEvaluator<Expr, Device>::Scalar> {
- public:
-  //  typedef typename TensorEvaluator<Expr, Device>::Dimensions Dimensions;
-  typedef typename TensorEvaluator<Expr, Device>::Scalar Scalar;
-
-  TensorLazyEvaluatorReadOnly(const Expr& expr, const Device& device) : m_impl(expr, device), m_dummy(Scalar(0)) {
-    m_dims = m_impl.dimensions();
-    m_impl.evalSubExprsIfNeeded(NULL);
-  }
-  virtual ~TensorLazyEvaluatorReadOnly() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC virtual const Dimensions& dimensions() const {
-    return m_dims;
-  }
-  EIGEN_DEVICE_FUNC virtual const Scalar* data() const {
-    return m_impl.data();
-  }
-
-  EIGEN_DEVICE_FUNC virtual const Scalar coeff(DenseIndex index) const {
-    return m_impl.coeff(index);
-  }
-  EIGEN_DEVICE_FUNC virtual Scalar& coeffRef(DenseIndex /*index*/) {
-    eigen_assert(false && "can't reference the coefficient of a rvalue");
-    return m_dummy;
-  };
-
- protected:
-  TensorEvaluator<Expr, Device> m_impl;
-  Dimensions m_dims;
-  Scalar m_dummy;
-};
-
-template <typename Dimensions, typename Expr, typename Device>
-class TensorLazyEvaluatorWritable : public TensorLazyEvaluatorReadOnly<Dimensions, Expr, Device> {
- public:
-  typedef TensorLazyEvaluatorReadOnly<Dimensions, Expr, Device> Base;
-  typedef typename Base::Scalar Scalar;
-
-  TensorLazyEvaluatorWritable(const Expr& expr, const Device& device) : Base(expr, device) {
-  }
-  virtual ~TensorLazyEvaluatorWritable() {
-  }
-
-  EIGEN_DEVICE_FUNC virtual Scalar& coeffRef(DenseIndex index) {
-    return this->m_impl.coeffRef(index);
-  }
-};
-
-template <typename Dimensions, typename Expr, typename Device>
-class TensorLazyEvaluator : public internal::conditional<bool(internal::is_lvalue<Expr>::value),
-                            TensorLazyEvaluatorWritable<Dimensions, Expr, Device>,
-                            TensorLazyEvaluatorReadOnly<Dimensions, const Expr, Device> >::type {
- public:
-  typedef typename internal::conditional<bool(internal::is_lvalue<Expr>::value),
-                                         TensorLazyEvaluatorWritable<Dimensions, Expr, Device>,
-                                         TensorLazyEvaluatorReadOnly<Dimensions, const Expr, Device> >::type Base;
-  typedef typename Base::Scalar Scalar;
-
-  TensorLazyEvaluator(const Expr& expr, const Device& device) : Base(expr, device) {
-  }
-  virtual ~TensorLazyEvaluator() {
-  }
-};
-
-}  // namespace internal
-
-
-/** \class TensorRef
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief A reference to a tensor expression
-  * The expression will be evaluated lazily (as much as possible).
-  *
-  */
-template<typename PlainObjectType> class TensorRef : public TensorBase<TensorRef<PlainObjectType> >
-{
-  public:
-    typedef TensorRef<PlainObjectType> Self;
-    typedef typename PlainObjectType::Base Base;
-    typedef typename Eigen::internal::nested<Self>::type Nested;
-    typedef typename internal::traits<PlainObjectType>::StorageKind StorageKind;
-    typedef typename internal::traits<PlainObjectType>::Index Index;
-    typedef typename internal::traits<PlainObjectType>::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename Base::CoeffReturnType CoeffReturnType;
-    typedef Scalar* PointerType;
-    typedef PointerType PointerArgType;
-
-    static const Index NumIndices = PlainObjectType::NumIndices;
-    typedef typename PlainObjectType::Dimensions Dimensions;
-
-    enum {
-      IsAligned = false,
-      PacketAccess = false,
-      Layout = PlainObjectType::Layout,
-      CoordAccess = false,  // to be implemented
-      RawAccess = false
-    };
-
-    EIGEN_STRONG_INLINE TensorRef() : m_evaluator(NULL) {
-    }
-
-    template <typename Expression>
-    EIGEN_STRONG_INLINE TensorRef(const Expression& expr) : m_evaluator(new internal::TensorLazyEvaluator<Dimensions, Expression, DefaultDevice>(expr, DefaultDevice())) {
-      m_evaluator->incrRefCount();
-    }
-
-    template <typename Expression>
-    EIGEN_STRONG_INLINE TensorRef& operator = (const Expression& expr) {
-      unrefEvaluator();
-      m_evaluator = new internal::TensorLazyEvaluator<Dimensions, Expression, DefaultDevice>(expr, DefaultDevice());
-      m_evaluator->incrRefCount();
-      return *this;
-    }
-
-    ~TensorRef() {
-      unrefEvaluator();
-    }
-
-    TensorRef(const TensorRef& other) : m_evaluator(other.m_evaluator) {
-      eigen_assert(m_evaluator->refCount() > 0);
-      m_evaluator->incrRefCount();
-    }
-
-    TensorRef& operator = (const TensorRef& other) {
-      if (this != &other) {
-        unrefEvaluator();
-        m_evaluator = other.m_evaluator;
-        eigen_assert(m_evaluator->refCount() > 0);
-        m_evaluator->incrRefCount();
-      }
-      return *this;
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rank() const { return m_evaluator->dimensions().size(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index dimension(Index n) const { return m_evaluator->dimensions()[n]; }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_evaluator->dimensions(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index size() const { return m_evaluator->dimensions().TotalSize(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar* data() const { return m_evaluator->data(); }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar operator()(Index index) const
-    {
-      return m_evaluator->coeff(index);
-    }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template<typename... IndexTypes> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar operator()(Index firstIndex, IndexTypes... otherIndices) const
-    {
-      const std::size_t num_indices = (sizeof...(otherIndices) + 1);
-      const array<Index, num_indices> indices{{firstIndex, otherIndices...}};
-      return coeff(indices);
-    }
-    template<typename... IndexTypes> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index firstIndex, IndexTypes... otherIndices)
-    {
-      const std::size_t num_indices = (sizeof...(otherIndices) + 1);
-      const array<Index, num_indices> indices{{firstIndex, otherIndices...}};
-      return coeffRef(indices);
-    }
-#else
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar operator()(Index i0, Index i1) const
-    {
-      array<Index, 2> indices;
-      indices[0] = i0;
-      indices[1] = i1;
-      return coeff(indices);
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar operator()(Index i0, Index i1, Index i2) const
-    {
-      array<Index, 3> indices;
-      indices[0] = i0;
-      indices[1] = i1;
-      indices[2] = i2;
-      return coeff(indices);
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar operator()(Index i0, Index i1, Index i2, Index i3) const
-    {
-      array<Index, 4> indices;
-      indices[0] = i0;
-      indices[1] = i1;
-      indices[2] = i2;
-      indices[3] = i3;
-      return coeff(indices);
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar operator()(Index i0, Index i1, Index i2, Index i3, Index i4) const
-    {
-      array<Index, 5> indices;
-      indices[0] = i0;
-      indices[1] = i1;
-      indices[2] = i2;
-      indices[3] = i3;
-      indices[4] = i4;
-      return coeff(indices);
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index i0, Index i1)
-    {
-      array<Index, 2> indices;
-      indices[0] = i0;
-      indices[1] = i1;
-      return coeffRef(indices);
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index i0, Index i1, Index i2)
-    {
-      array<Index, 3> indices;
-      indices[0] = i0;
-      indices[1] = i1;
-      indices[2] = i2;
-      return coeffRef(indices);
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3)
-    {
-      array<Index, 4> indices;
-      indices[0] = i0;
-      indices[1] = i1;
-      indices[2] = i2;
-      indices[3] = i3;
-      return coeffRef(indices);
-    }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index i0, Index i1, Index i2, Index i3, Index i4)
-    {
-      array<Index, 5> indices;
-      indices[0] = i0;
-      indices[1] = i1;
-      indices[2] = i2;
-      indices[3] = i3;
-      indices[4] = i4;
-      return coeffRef(indices);
-    }
-#endif
-
-    template <std::size_t NumIndices> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar coeff(const array<Index, NumIndices>& indices) const
-    {
-      const Dimensions& dims = this->dimensions();
-      Index index = 0;
-      if (PlainObjectType::Options & RowMajor) {
-        index += indices[0];
-        for (size_t i = 1; i < NumIndices; ++i) {
-          index = index * dims[i] + indices[i];
-        }
-      } else {
-        index += indices[NumIndices-1];
-        for (int i = NumIndices-2; i >= 0; --i) {
-          index = index * dims[i] + indices[i];
-        }
-      }
-      return m_evaluator->coeff(index);
-    }
-    template <std::size_t NumIndices> EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(const array<Index, NumIndices>& indices)
-    {
-      const Dimensions& dims = this->dimensions();
-      Index index = 0;
-      if (PlainObjectType::Options & RowMajor) {
-        index += indices[0];
-        for (size_t i = 1; i < NumIndices; ++i) {
-          index = index * dims[i] + indices[i];
-        }
-      } else {
-        index += indices[NumIndices-1];
-        for (int i = NumIndices-2; i >= 0; --i) {
-          index = index * dims[i] + indices[i];
-        }
-      }
-      return m_evaluator->coeffRef(index);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
-    {
-      return m_evaluator->coeff(index);
-    }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
-    {
-      return m_evaluator->coeffRef(index);
-    }
-
-  private:
-    EIGEN_STRONG_INLINE void unrefEvaluator() {
-      if (m_evaluator) {
-        m_evaluator->decrRefCount();
-        if (m_evaluator->refCount() == 0) {
-          delete m_evaluator;
-        }
-      }
-    }
-
-  internal::TensorLazyBaseEvaluator<Dimensions, Scalar>* m_evaluator;
-};
-
-
-// evaluator for rvalues
-template<typename Derived, typename Device>
-struct TensorEvaluator<const TensorRef<Derived>, Device>
-{
-  typedef typename Derived::Index Index;
-  typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef typename Derived::Dimensions Dimensions;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = false,
-    Layout = TensorRef<Derived>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const TensorRef<Derived>& m, const Device&)
-      : m_ref(m)
-  { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_ref.dimensions(); }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) {
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const {
-    return m_ref.coeff(index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) {
-    return m_ref.coeffRef(index);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return m_ref.data(); }
-
- protected:
-  TensorRef<Derived> m_ref;
-};
-
-
-// evaluator for lvalues
-template<typename Derived, typename Device>
-struct TensorEvaluator<TensorRef<Derived>, Device> : public TensorEvaluator<const TensorRef<Derived>, Device>
-{
-  typedef typename Derived::Index Index;
-  typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Scalar CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef typename Derived::Dimensions Dimensions;
-
-  typedef TensorEvaluator<const TensorRef<Derived>, Device> Base;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = false,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(TensorRef<Derived>& m, const Device& d) : Base(m, d)
-  { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) {
-    return this->m_ref.coeffRef(index);
-  }
-};
-
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_REF_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReverse.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReverse.h
deleted file mode 100644
index 14e392e365eafd..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReverse.h
+++ /dev/null
@@ -1,288 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Navdeep Jaitly <ndjaitly@google.com>
-//                    Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_REVERSE_H
-#define EIGEN_CXX11_TENSOR_TENSOR_REVERSE_H
-namespace Eigen {
-
-/** \class TensorReverse
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor reverse elements class.
-  *
-  */
-namespace internal {
-template<typename ReverseDimensions, typename XprType>
-struct traits<TensorReverseOp<ReverseDimensions,
-                              XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename ReverseDimensions, typename XprType>
-struct eval<TensorReverseOp<ReverseDimensions, XprType>, Eigen::Dense>
-{
-  typedef const TensorReverseOp<ReverseDimensions, XprType>& type;
-};
-
-template<typename ReverseDimensions, typename XprType>
-struct nested<TensorReverseOp<ReverseDimensions, XprType>, 1,
-            typename eval<TensorReverseOp<ReverseDimensions, XprType> >::type>
-{
-  typedef TensorReverseOp<ReverseDimensions, XprType> type;
-};
-
-}  // end namespace internal
-
-template<typename ReverseDimensions, typename XprType>
-class TensorReverseOp : public TensorBase<TensorReverseOp<ReverseDimensions,
-                                          XprType>, WriteAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorReverseOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorReverseOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorReverseOp>::StorageKind
-                                                                    StorageKind;
-  typedef typename Eigen::internal::traits<TensorReverseOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorReverseOp(
-      const XprType& expr, const ReverseDimensions& reverse_dims)
-      : m_xpr(expr), m_reverse_dims(reverse_dims) { }
-
-    EIGEN_DEVICE_FUNC
-    const ReverseDimensions& reverse() const { return m_reverse_dims; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorReverseOp& operator = (const TensorReverseOp& other)
-    {
-      typedef TensorAssignOp<TensorReverseOp, const TensorReverseOp> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorReverseOp& operator = (const OtherDerived& other)
-    {
-      typedef TensorAssignOp<TensorReverseOp, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const ReverseDimensions m_reverse_dims;
-};
-
-// Eval as rvalue
-template<typename ReverseDimensions, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorReverseOp<ReverseDimensions, ArgType>, Device>
-{
-  typedef TensorReverseOp<ReverseDimensions, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<ReverseDimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op,
-                                                        const Device& device)
-      : m_impl(op.expression(), device), m_reverse(op.reverse())
-  {
-    // Reversing a scalar isn't supported yet. It would be a no-op anyway.
-    EIGEN_STATIC_ASSERT((NumDims > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    // Compute strides
-    m_dimensions = m_impl.dimensions();
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_strides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_strides[i] = m_strides[i-1] * m_dimensions[i-1];
-      }
-    } else {
-      m_strides[NumDims-1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_strides[i] = m_strides[i+1] * m_dimensions[i+1];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index reverseIndex(
-      Index index) const {
-    eigen_assert(index < dimensions().TotalSize());
-    Index inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        Index idx = index / m_strides[i];
-        index -= idx * m_strides[i];
-        if (m_reverse[i]) {
-          idx = m_dimensions[i] - idx - 1;
-        }
-        inputIndex += idx * m_strides[i] ;
-      }
-      if (m_reverse[0]) {
-        inputIndex += (m_dimensions[0] - index - 1);
-      } else {
-        inputIndex += index;
-      }
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        Index idx = index / m_strides[i];
-        index -= idx * m_strides[i];
-        if (m_reverse[i]) {
-          idx = m_dimensions[i] - idx - 1;
-        }
-        inputIndex += idx * m_strides[i] ;
-      }
-      if (m_reverse[NumDims-1]) {
-        inputIndex += (m_dimensions[NumDims-1] - index - 1);
-      } else {
-        inputIndex += index;
-      }
-    }
-    return inputIndex;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(
-      Index index) const  {
-    return m_impl.coeff(reverseIndex(index));
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    // TODO(ndjaitly): write a better packing routine that uses
-    // local structure.
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type
-                                                            values[PacketSize];
-    for (int i = 0; i < PacketSize; ++i) {
-      values[i] = coeff(index+i);
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    double compute_cost = NumDims * (2 * TensorOpCost::AddCost<Index>() +
-                                     2 * TensorOpCost::MulCost<Index>() +
-                                     TensorOpCost::DivCost<Index>());
-    for (int i = 0; i < NumDims; ++i) {
-      if (m_reverse[i]) {
-        compute_cost += 2 * TensorOpCost::AddCost<Index>();
-      }
-    }
-    return m_impl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, compute_cost, false /* vectorized */, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- protected:
-  Dimensions m_dimensions;
-  array<Index, NumDims> m_strides;
-  TensorEvaluator<ArgType, Device> m_impl;
-  ReverseDimensions m_reverse;
-};
-
-// Eval as lvalue
-
-template <typename ReverseDimensions, typename ArgType, typename Device>
-struct TensorEvaluator<TensorReverseOp<ReverseDimensions, ArgType>, Device>
-    : public TensorEvaluator<const TensorReverseOp<ReverseDimensions, ArgType>,
-                             Device> {
-  typedef TensorEvaluator<const TensorReverseOp<ReverseDimensions, ArgType>,
-                          Device> Base;
-  typedef TensorReverseOp<ReverseDimensions, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<ReverseDimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op,
-                                                        const Device& device)
-      : Base(op, device) {}
-
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Dimensions& dimensions() const { return this->m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) {
-    return this->m_impl.coeffRef(this->reverseIndex(index));
-  }
-
-  template <int StoreMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x) {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    // This code is pilfered from TensorMorphing.h
-    EIGEN_ALIGN_MAX CoeffReturnType values[PacketSize];
-    internal::pstore<CoeffReturnType, PacketReturnType>(values, x);
-    for (int i = 0; i < PacketSize; ++i) {
-      this->coeffRef(index+i) = values[i];
-    }
-  }
-
-};
-
-
-}  // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_REVERSE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorScan.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorScan.h
deleted file mode 100644
index 8501466ce602e8..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorScan.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Igor Babuschkin <igor@babuschk.in>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_SCAN_H
-#define EIGEN_CXX11_TENSOR_TENSOR_SCAN_H
-
-namespace Eigen {
-
-namespace internal {
-
-template <typename Op, typename XprType>
-struct traits<TensorScanOp<Op, XprType> >
-    : public traits<XprType> {
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename Op, typename XprType>
-struct eval<TensorScanOp<Op, XprType>, Eigen::Dense>
-{
-  typedef const TensorScanOp<Op, XprType>& type;
-};
-
-template<typename Op, typename XprType>
-struct nested<TensorScanOp<Op, XprType>, 1,
-            typename eval<TensorScanOp<Op, XprType> >::type>
-{
-  typedef TensorScanOp<Op, XprType> type;
-};
-} // end namespace internal
-
-/** \class TensorScan
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor scan class.
-  */
-template <typename Op, typename XprType>
-class TensorScanOp
-    : public TensorBase<TensorScanOp<Op, XprType>, ReadOnlyAccessors> {
-public:
-  typedef typename Eigen::internal::traits<TensorScanOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorScanOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorScanOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorScanOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorScanOp(
-      const XprType& expr, const Index& axis, bool exclusive = false, const Op& op = Op())
-      : m_expr(expr), m_axis(axis), m_accumulator(op), m_exclusive(exclusive) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Index axis() const { return m_axis; }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const XprType& expression() const { return m_expr; }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Op accumulator() const { return m_accumulator; }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  bool exclusive() const { return m_exclusive; }
-
-protected:
-  typename XprType::Nested m_expr;
-  const Index m_axis;
-  const Op m_accumulator;
-  const bool m_exclusive;
-};
-
-template <typename Self, typename Reducer, typename Device>
-struct ScanLauncher;
-
-// Eval as rvalue
-template <typename Op, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorScanOp<Op, ArgType>, Device> {
-
-  typedef TensorScanOp<Op, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  typedef TensorEvaluator<const TensorScanOp<Op, ArgType>, Device> Self;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = (internal::unpacket_traits<PacketReturnType>::size > 1),
-    BlockAccess = false,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,
-    RawAccess = true
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op,
-                                                        const Device& device)
-      : m_impl(op.expression(), device),
-        m_device(device),
-        m_exclusive(op.exclusive()),
-        m_accumulator(op.accumulator()),
-        m_size(m_impl.dimensions()[op.axis()]),
-        m_stride(1),
-        m_output(NULL) {
-
-    // Accumulating a scalar isn't supported.
-    EIGEN_STATIC_ASSERT((NumDims > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    eigen_assert(op.axis() >= 0 && op.axis() < NumDims);
-
-    // Compute stride of scan axis
-    const Dimensions& dims = m_impl.dimensions();
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = 0; i < op.axis(); ++i) {
-        m_stride = m_stride * dims[i];
-      }
-    } else {
-      for (int i = NumDims - 1; i > op.axis(); --i) {
-        m_stride = m_stride * dims[i];
-      }
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const {
-    return m_impl.dimensions();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Index& stride() const {
-    return m_stride;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Index& size() const {
-    return m_size;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Op& accumulator() const {
-    return m_accumulator;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool exclusive() const {
-    return m_exclusive;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const TensorEvaluator<ArgType, Device>& inner() const {
-    return m_impl;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Device& device() const {
-    return m_device;
-  }
-
-  EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    ScanLauncher<Self, Op, Device> launcher;
-    if (data) {
-      launcher(*this, data);
-      return false;
-    }
-
-    const Index total_size = internal::array_prod(dimensions());
-    m_output = static_cast<CoeffReturnType*>(m_device.allocate(total_size * sizeof(Scalar)));
-    launcher(*this, m_output);
-    return true;
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const {
-    return internal::ploadt<PacketReturnType, LoadMode>(m_output + index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType* data() const
-  {
-    return m_output;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_output[index];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool) const {
-    return TensorOpCost(sizeof(CoeffReturnType), 0, 0);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    if (m_output != NULL) {
-      m_device.deallocate(m_output);
-      m_output = NULL;
-    }
-    m_impl.cleanup();
-  }
-
-protected:
-  TensorEvaluator<ArgType, Device> m_impl;
-  const Device& m_device;
-  const bool m_exclusive;
-  Op m_accumulator;
-  const Index m_size;
-  Index m_stride;
-  CoeffReturnType* m_output;
-};
-
-// CPU implementation of scan
-// TODO(ibab) This single-threaded implementation should be parallelized,
-// at least by running multiple scans at the same time.
-template <typename Self, typename Reducer, typename Device>
-struct ScanLauncher {
-  void operator()(Self& self, typename Self::CoeffReturnType *data) {
-    Index total_size = internal::array_prod(self.dimensions());
-
-    // We fix the index along the scan axis to 0 and perform a
-    // scan per remaining entry. The iteration is split into two nested
-    // loops to avoid an integer division by keeping track of each idx1 and idx2.
-    for (Index idx1 = 0; idx1 < total_size; idx1 += self.stride() * self.size()) {
-      for (Index idx2 = 0; idx2 < self.stride(); idx2++) {
-        // Calculate the starting offset for the scan
-        Index offset = idx1 + idx2;
-
-        // Compute the scan along the axis, starting at the calculated offset
-        typename Self::CoeffReturnType accum = self.accumulator().initialize();
-        for (Index idx3 = 0; idx3 < self.size(); idx3++) {
-          Index curr = offset + idx3 * self.stride();
-
-          if (self.exclusive()) {
-            data[curr] = self.accumulator().finalize(accum);
-            self.accumulator().reduce(self.inner().coeff(curr), &accum);
-          } else {
-            self.accumulator().reduce(self.inner().coeff(curr), &accum);
-            data[curr] = self.accumulator().finalize(accum);
-          }
-        }
-      }
-    }
-  }
-};
-
-#if defined(EIGEN_USE_GPU) && defined(__CUDACC__)
-
-// GPU implementation of scan
-// TODO(ibab) This placeholder implementation performs multiple scans in
-// parallel, but it would be better to use a parallel scan algorithm and
-// optimize memory access.
-template <typename Self, typename Reducer>
-__global__ void ScanKernel(Self self, Index total_size, typename Self::CoeffReturnType* data) {
-  // Compute offset as in the CPU version
-  Index val = threadIdx.x + blockIdx.x * blockDim.x;
-  Index offset = (val / self.stride()) * self.stride() * self.size() + val % self.stride();
-
-  if (offset + (self.size() - 1) * self.stride() < total_size) {
-    // Compute the scan along the axis, starting at the calculated offset
-    typename Self::CoeffReturnType accum = self.accumulator().initialize();
-    for (Index idx = 0; idx < self.size(); idx++) {
-      Index curr = offset + idx * self.stride();
-      if (self.exclusive()) {
-        data[curr] = self.accumulator().finalize(accum);
-        self.accumulator().reduce(self.inner().coeff(curr), &accum);
-      } else {
-        self.accumulator().reduce(self.inner().coeff(curr), &accum);
-        data[curr] = self.accumulator().finalize(accum);
-      }
-    }
-  }
-  __syncthreads();
-
-}
-
-template <typename Self, typename Reducer>
-struct ScanLauncher<Self, Reducer, GpuDevice> {
-  void operator()(const Self& self, typename Self::CoeffReturnType* data) {
-     Index total_size = internal::array_prod(self.dimensions());
-     Index num_blocks = (total_size / self.size() + 63) / 64;
-     Index block_size = 64;
-     LAUNCH_CUDA_KERNEL((ScanKernel<Self, Reducer>), num_blocks, block_size, 0, self.device(), self, total_size, data);
-  }
-};
-#endif  // EIGEN_USE_GPU && __CUDACC__
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_CXX11_TENSOR_TENSOR_SCAN_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h
deleted file mode 100644
index 113c060e3f12c3..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h
+++ /dev/null
@@ -1,264 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_SHUFFLING_H
-#define EIGEN_CXX11_TENSOR_TENSOR_SHUFFLING_H
-
-namespace Eigen {
-
-/** \class TensorShuffling
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor shuffling class.
-  *
-  *
-  */
-namespace internal {
-template<typename Shuffle, typename XprType>
-struct traits<TensorShufflingOp<Shuffle, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename Shuffle, typename XprType>
-struct eval<TensorShufflingOp<Shuffle, XprType>, Eigen::Dense>
-{
-  typedef const TensorShufflingOp<Shuffle, XprType>& type;
-};
-
-template<typename Shuffle, typename XprType>
-struct nested<TensorShufflingOp<Shuffle, XprType>, 1, typename eval<TensorShufflingOp<Shuffle, XprType> >::type>
-{
-  typedef TensorShufflingOp<Shuffle, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename Shuffle, typename XprType>
-class TensorShufflingOp : public TensorBase<TensorShufflingOp<Shuffle, XprType> >
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorShufflingOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorShufflingOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorShufflingOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorShufflingOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorShufflingOp(const XprType& expr, const Shuffle& shuffle)
-      : m_xpr(expr), m_shuffle(shuffle) {}
-
-    EIGEN_DEVICE_FUNC
-    const Shuffle& shufflePermutation() const { return m_shuffle; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorShufflingOp& operator = (const TensorShufflingOp& other)
-    {
-      typedef TensorAssignOp<TensorShufflingOp, const TensorShufflingOp> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorShufflingOp& operator = (const OtherDerived& other)
-    {
-      typedef TensorAssignOp<TensorShufflingOp, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const Shuffle m_shuffle;
-};
-
-
-// Eval as rvalue
-template<typename Shuffle, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorShufflingOp<Shuffle, ArgType>, Device>
-{
-  typedef TensorShufflingOp<Shuffle, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = (internal::packet_traits<Scalar>::size > 1),
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device)
-  {
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    const Shuffle& shuffle = op.shufflePermutation();
-    for (int i = 0; i < NumDims; ++i) {
-      m_dimensions[i] = input_dims[shuffle[i]];
-    }
-
-    array<Index, NumDims> inputStrides;
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      inputStrides[0] = 1;
-      m_outputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        inputStrides[i] = inputStrides[i - 1] * input_dims[i - 1];
-        m_outputStrides[i] = m_outputStrides[i - 1] * m_dimensions[i - 1];
-      }
-    } else {
-      inputStrides[NumDims - 1] = 1;
-      m_outputStrides[NumDims - 1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        inputStrides[i] = inputStrides[i + 1] * input_dims[i + 1];
-        m_outputStrides[i] = m_outputStrides[i + 1] * m_dimensions[i + 1];
-      }
-    }
-
-    for (int i = 0; i < NumDims; ++i) {
-      m_inputStrides[i] = inputStrides[shuffle[i]];
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_impl.coeff(srcCoeff(index));
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-    for (int i = 0; i < PacketSize; ++i) {
-      values[i] = coeff(index+i);
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    const double compute_cost = NumDims * (2 * TensorOpCost::AddCost<Index>() +
-                                           2 * TensorOpCost::MulCost<Index>() +
-                                           TensorOpCost::DivCost<Index>());
-    return m_impl.costPerCoeff(vectorized) +
-           TensorOpCost(0, 0, compute_cost, false /* vectorized */, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- protected:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index srcCoeff(Index index) const {
-    Index inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx = index / m_outputStrides[i];
-        inputIndex += idx * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      return inputIndex + index * m_inputStrides[0];
-    } else {
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx = index / m_outputStrides[i];
-        inputIndex += idx * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      return inputIndex + index * m_inputStrides[NumDims - 1];
-    }
-  }
-
-  Dimensions m_dimensions;
-  array<Index, NumDims> m_outputStrides;
-  array<Index, NumDims> m_inputStrides;
-  TensorEvaluator<ArgType, Device> m_impl;
-};
-
-
-// Eval as lvalue
-template<typename Shuffle, typename ArgType, typename Device>
-struct TensorEvaluator<TensorShufflingOp<Shuffle, ArgType>, Device>
-    : public TensorEvaluator<const TensorShufflingOp<Shuffle, ArgType>, Device>
-{
-  typedef TensorEvaluator<const TensorShufflingOp<Shuffle, ArgType>, Device> Base;
-
-  typedef TensorShufflingOp<Shuffle, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = (internal::packet_traits<Scalar>::size > 1),
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : Base(op, device)
-  { }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index)
-  {
-    return this->m_impl.coeffRef(this->srcCoeff(index));
-  }
-
-  template <int StoreMode> EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x)
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-    internal::pstore<CoeffReturnType, PacketReturnType>(values, x);
-    for (int i = 0; i < PacketSize; ++i) {
-      this->coeffRef(index+i) = values[i];
-    }
-  }
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_SHUFFLING_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorStorage.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorStorage.h
deleted file mode 100644
index 2854a4a177e626..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorStorage.h
+++ /dev/null
@@ -1,146 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-// Copyright (C) 2014-2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSORSTORAGE_H
-#define EIGEN_CXX11_TENSOR_TENSORSTORAGE_H
-
-#ifdef EIGEN_TENSOR_STORAGE_CTOR_PLUGIN
-  #define EIGEN_INTERNAL_TENSOR_STORAGE_CTOR_PLUGIN EIGEN_TENSOR_STORAGE_CTOR_PLUGIN;
-#else
-  #define EIGEN_INTERNAL_TENSOR_STORAGE_CTOR_PLUGIN
-#endif
-
-namespace Eigen {
-
-/** \internal
-  *
-  * \class TensorStorage
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Stores the data of a tensor
-  *
-  * This class stores the data of fixed-size, dynamic-size or mixed tensors
-  * in a way as compact as possible.
-  *
-  * \sa Tensor
-  */
-template<typename T, typename Dimensions, int Options_> class TensorStorage;
-
-
-// Pure fixed-size storage
-template<typename T, int Options_, typename FixedDimensions>
-class TensorStorage<T, FixedDimensions, Options_>
-{
- private:
-  static const std::size_t Size = FixedDimensions::total_size;
-
-  // Allocate an array of size at least one to prevent compiler warnings.
-  static const std::size_t MinSize = max_n_1<Size>::size;
-  EIGEN_ALIGN_MAX T m_data[MinSize];
-
-  FixedDimensions m_dimensions;
-
- public:
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE TensorStorage() {
-  }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE T *data() { return m_data; }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const T *data() const { return m_data; }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const FixedDimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE DenseIndex size() const { return m_dimensions.TotalSize(); }
-};
-
-
-// pure dynamic
-template<typename T, int Options_, typename IndexType, int NumIndices_>
-class TensorStorage<T, DSizes<IndexType, NumIndices_>, Options_>
-{
-  public:
-    typedef IndexType Index;
-    typedef DSizes<IndexType, NumIndices_> Dimensions;
-    typedef TensorStorage<T, DSizes<IndexType, NumIndices_>, Options_> Self;
-
-    EIGEN_DEVICE_FUNC TensorStorage() : m_data(0), m_dimensions() {
-      if (NumIndices_ == 0) {
-	m_data = internal::conditional_aligned_new_auto<T,(Options_&DontAlign)==0>(1);
-      }
-    }
-    EIGEN_DEVICE_FUNC TensorStorage(internal::constructor_without_unaligned_array_assert)
-      : m_data(0), m_dimensions(internal::template repeat<NumIndices_, Index>(0)) {}
-    EIGEN_DEVICE_FUNC TensorStorage(Index size, const array<Index, NumIndices_>& dimensions)
-        : m_data(internal::conditional_aligned_new_auto<T,(Options_&DontAlign)==0>(size)), m_dimensions(dimensions)
-      { EIGEN_INTERNAL_TENSOR_STORAGE_CTOR_PLUGIN }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    template <typename... DenseIndex>
-    EIGEN_DEVICE_FUNC TensorStorage(DenseIndex... indices) : m_dimensions(indices...) {
-      m_data = internal::conditional_aligned_new_auto<T,(Options_&DontAlign)==0>(internal::array_prod(m_dimensions));
-    }
-#endif
-
-    EIGEN_DEVICE_FUNC TensorStorage(const Self& other)
-      : m_data(internal::conditional_aligned_new_auto<T,(Options_&DontAlign)==0>(internal::array_prod(other.m_dimensions)))
-      , m_dimensions(other.m_dimensions)
-    {
-      internal::smart_copy(other.m_data, other.m_data+internal::array_prod(other.m_dimensions), m_data);
-    }
-    EIGEN_DEVICE_FUNC Self& operator=(const Self& other)
-    {
-      if (this != &other) {
-        Self tmp(other);
-        this->swap(tmp);
-      }
-      return *this;
-    }
-
-    EIGEN_DEVICE_FUNC  ~TensorStorage() { internal::conditional_aligned_delete_auto<T,(Options_&DontAlign)==0>(m_data, internal::array_prod(m_dimensions)); }
-    EIGEN_DEVICE_FUNC  void swap(Self& other)
-    { numext::swap(m_data,other.m_data); numext::swap(m_dimensions,other.m_dimensions); }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const {return m_dimensions;}
-
-    EIGEN_DEVICE_FUNC void resize(Index size, const array<Index, NumIndices_>& nbDimensions)
-    {
-      const Index currentSz = internal::array_prod(m_dimensions);
-      if(size != currentSz)
-      {
-        internal::conditional_aligned_delete_auto<T,(Options_&DontAlign)==0>(m_data, currentSz);
-        if (size)
-          m_data = internal::conditional_aligned_new_auto<T,(Options_&DontAlign)==0>(size);
-        else if (NumIndices_ == 0) {
-	  m_data = internal::conditional_aligned_new_auto<T,(Options_&DontAlign)==0>(1);
-	}
-	else 
-          m_data = 0;
-        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
-      }
-      m_dimensions = nbDimensions;
-    }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T *data() { return m_data; }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const T *data() const { return m_data; }
-
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index size() const { return m_dimensions.TotalSize(); }
-
- private:
-  T *m_data;
-  Dimensions m_dimensions;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSORSTORAGE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h
deleted file mode 100644
index 6c35bfdb6ce48b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h
+++ /dev/null
@@ -1,338 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_STRIDING_H
-#define EIGEN_CXX11_TENSOR_TENSOR_STRIDING_H
-
-namespace Eigen {
-
-/** \class TensorStriding
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Tensor striding class.
-  *
-  *
-  */
-namespace internal {
-template<typename Strides, typename XprType>
-struct traits<TensorStridingOp<Strides, XprType> > : public traits<XprType>
-{
-  typedef typename XprType::Scalar Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<typename Strides, typename XprType>
-struct eval<TensorStridingOp<Strides, XprType>, Eigen::Dense>
-{
-  typedef const TensorStridingOp<Strides, XprType>& type;
-};
-
-template<typename Strides, typename XprType>
-struct nested<TensorStridingOp<Strides, XprType>, 1, typename eval<TensorStridingOp<Strides, XprType> >::type>
-{
-  typedef TensorStridingOp<Strides, XprType> type;
-};
-
-}  // end namespace internal
-
-
-
-template<typename Strides, typename XprType>
-class TensorStridingOp : public TensorBase<TensorStridingOp<Strides, XprType> >
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorStridingOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorStridingOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorStridingOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorStridingOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorStridingOp(const XprType& expr, const Strides& dims)
-      : m_xpr(expr), m_dims(dims) {}
-
-    EIGEN_DEVICE_FUNC
-    const Strides& strides() const { return m_dims; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorStridingOp& operator = (const TensorStridingOp& other)
-    {
-      typedef TensorAssignOp<TensorStridingOp, const TensorStridingOp> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE TensorStridingOp& operator = (const OtherDerived& other)
-    {
-      typedef TensorAssignOp<TensorStridingOp, const OtherDerived> Assign;
-      Assign assign(*this, other);
-      internal::TensorExecutor<const Assign, DefaultDevice>::run(assign, DefaultDevice());
-      return *this;
-    }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const Strides m_dims;
-};
-
-
-// Eval as rvalue
-template<typename Strides, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorStridingOp<Strides, ArgType>, Device>
-{
-  typedef TensorStridingOp<Strides, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = /*TensorEvaluator<ArgType, Device>::IsAligned*/false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device)
-  {
-    m_dimensions = m_impl.dimensions();
-    for (int i = 0; i < NumDims; ++i) {
-      m_dimensions[i] = ceilf(static_cast<float>(m_dimensions[i]) / op.strides()[i]);
-    }
-
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_outputStrides[0] = 1;
-      m_inputStrides[0] = 1;
-      for (int i = 1; i < NumDims; ++i) {
-        m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1];
-        m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1];
-        m_inputStrides[i-1] *= op.strides()[i-1];
-      }
-      m_inputStrides[NumDims-1] *= op.strides()[NumDims-1];
-    } else {  // RowMajor
-      m_outputStrides[NumDims-1] = 1;
-      m_inputStrides[NumDims-1] = 1;
-      for (int i = NumDims - 2; i >= 0; --i) {
-        m_outputStrides[i] = m_outputStrides[i+1] * m_dimensions[i+1];
-        m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1];
-        m_inputStrides[i+1] *= op.strides()[i+1];
-      }
-      m_inputStrides[0] *= op.strides()[0];
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    return m_impl.coeff(srcCoeff(index));
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    Index inputIndices[] = {0, 0};
-    Index indices[] = {index, index + PacketSize - 1};
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx0 = indices[0] / m_outputStrides[i];
-        const Index idx1 = indices[1] / m_outputStrides[i];
-        inputIndices[0] += idx0 * m_inputStrides[i];
-        inputIndices[1] += idx1 * m_inputStrides[i];
-        indices[0] -= idx0 * m_outputStrides[i];
-        indices[1] -= idx1 * m_outputStrides[i];
-      }
-      inputIndices[0] += indices[0] * m_inputStrides[0];
-      inputIndices[1] += indices[1] * m_inputStrides[0];
-    } else {  // RowMajor
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx0 = indices[0] / m_outputStrides[i];
-        const Index idx1 = indices[1] / m_outputStrides[i];
-        inputIndices[0] += idx0 * m_inputStrides[i];
-        inputIndices[1] += idx1 * m_inputStrides[i];
-        indices[0] -= idx0 * m_outputStrides[i];
-        indices[1] -= idx1 * m_outputStrides[i];
-      }
-      inputIndices[0] += indices[0] * m_inputStrides[NumDims-1];
-      inputIndices[1] += indices[1] * m_inputStrides[NumDims-1];
-    }
-    if (inputIndices[1] - inputIndices[0] == PacketSize - 1) {
-      PacketReturnType rslt = m_impl.template packet<Unaligned>(inputIndices[0]);
-      return rslt;
-    }
-    else {
-      EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-      values[0] = m_impl.coeff(inputIndices[0]);
-      values[PacketSize-1] = m_impl.coeff(inputIndices[1]);
-      for (int i = 1; i < PacketSize-1; ++i) {
-        values[i] = coeff(index+i);
-      }
-      PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-      return rslt;
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const {
-    double compute_cost = (NumDims - 1) * (TensorOpCost::AddCost<Index>() +
-                                           TensorOpCost::MulCost<Index>() +
-                                           TensorOpCost::DivCost<Index>()) +
-        TensorOpCost::MulCost<Index>();
-    if (vectorized) {
-      compute_cost *= 2;  // packet() computes two indices
-    }
-    const int innerDim = (static_cast<int>(Layout) == static_cast<int>(ColMajor)) ? 0 : (NumDims - 1);
-    return m_impl.costPerCoeff(vectorized && m_inputStrides[innerDim] == 1) +
-        // Computation is not vectorized per se, but it is done once per packet.
-        TensorOpCost(0, 0, compute_cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
- protected:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index srcCoeff(Index index) const
-  {
-    Index inputIndex = 0;
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx = index / m_outputStrides[i];
-        inputIndex += idx * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      inputIndex += index * m_inputStrides[0];
-    } else {  // RowMajor
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx = index / m_outputStrides[i];
-        inputIndex += idx * m_inputStrides[i];
-        index -= idx * m_outputStrides[i];
-      }
-      inputIndex += index * m_inputStrides[NumDims-1];
-    }
-    return inputIndex;
-  }
-
-  Dimensions m_dimensions;
-  array<Index, NumDims> m_outputStrides;
-  array<Index, NumDims> m_inputStrides;
-  TensorEvaluator<ArgType, Device> m_impl;
-};
-
-
-// Eval as lvalue
-template<typename Strides, typename ArgType, typename Device>
-struct TensorEvaluator<TensorStridingOp<Strides, ArgType>, Device>
-    : public TensorEvaluator<const TensorStridingOp<Strides, ArgType>, Device>
-{
-  typedef TensorStridingOp<Strides, ArgType> XprType;
-  typedef TensorEvaluator<const XprType, Device> Base;
-  //  typedef typename XprType::Index Index;
-  static const int NumDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  //  typedef DSizes<Index, NumDims> Dimensions;
-
-  enum {
-    IsAligned = /*TensorEvaluator<ArgType, Device>::IsAligned*/false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,  // to be implemented
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : Base(op, device) { }
-
-  typedef typename XprType::Index Index;
-  typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
-  {
-    return this->m_impl.coeffRef(this->srcCoeff(index));
-  }
-
-  template <int StoreMode> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketReturnType& x)
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < this->dimensions().TotalSize());
-
-    Index inputIndices[] = {0, 0};
-    Index indices[] = {index, index + PacketSize - 1};
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      for (int i = NumDims - 1; i > 0; --i) {
-        const Index idx0 = indices[0] / this->m_outputStrides[i];
-        const Index idx1 = indices[1] / this->m_outputStrides[i];
-        inputIndices[0] += idx0 * this->m_inputStrides[i];
-        inputIndices[1] += idx1 * this->m_inputStrides[i];
-        indices[0] -= idx0 * this->m_outputStrides[i];
-        indices[1] -= idx1 * this->m_outputStrides[i];
-      }
-      inputIndices[0] += indices[0] * this->m_inputStrides[0];
-      inputIndices[1] += indices[1] * this->m_inputStrides[0];
-    } else {  // RowMajor
-      for (int i = 0; i < NumDims - 1; ++i) {
-        const Index idx0 = indices[0] / this->m_outputStrides[i];
-        const Index idx1 = indices[1] / this->m_outputStrides[i];
-        inputIndices[0] += idx0 * this->m_inputStrides[i];
-        inputIndices[1] += idx1 * this->m_inputStrides[i];
-        indices[0] -= idx0 * this->m_outputStrides[i];
-        indices[1] -= idx1 * this->m_outputStrides[i];
-      }
-      inputIndices[0] += indices[0] * this->m_inputStrides[NumDims-1];
-      inputIndices[1] += indices[1] * this->m_inputStrides[NumDims-1];
-    }
-    if (inputIndices[1] - inputIndices[0] == PacketSize - 1) {
-      this->m_impl.template writePacket<Unaligned>(inputIndices[0], x);
-    }
-    else {
-      EIGEN_ALIGN_MAX Scalar values[PacketSize];
-      internal::pstore<Scalar, PacketReturnType>(values, x);
-      this->m_impl.coeffRef(inputIndices[0]) = values[0];
-      this->m_impl.coeffRef(inputIndices[1]) = values[PacketSize-1];
-      for (int i = 1; i < PacketSize-1; ++i) {
-        this->coeffRef(index+i) = values[i];
-      }
-    }
-  }
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_STRIDING_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSycl.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSycl.h
deleted file mode 100644
index bb8800d458ca4b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSycl.h
+++ /dev/null
@@ -1,82 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: eigen@codeplay.com
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// General include header of SYCL target for Tensor Module
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_H
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_H
-
-#ifdef EIGEN_USE_SYCL
-
-// global pointer to set different attribute state for a class
-template <class T>
-struct MakeGlobalPointer {
-  typedef typename cl::sycl::global_ptr<T>::pointer_t Type;
-};
-
-// global pointer to set different attribute state for a class
-template <class T>
-struct MakeLocalPointer {
-  typedef typename cl::sycl::local_ptr<T>::pointer_t Type;
-};
-
-
-namespace Eigen {
-namespace TensorSycl {
-namespace internal {
-
-/// This struct is used for special expression nodes with no operations (for example assign and selectOP).
-  struct NoOP;
-
-template<bool IsConst, typename T> struct GetType{
-  typedef const T Type;
-};
-template<typename T> struct GetType<false, T>{
-  typedef T Type;
-};
-
-}
-}
-}
-
-// tuple construction
-#include "TensorSyclTuple.h"
-
-// counting number of leaf at compile time
-#include "TensorSyclLeafCount.h"
-
-// The index PlaceHolder takes the actual expression and replaces the actual
-// data on it with the place holder. It uses the same pre-order expression tree
-// traverse as the leaf count in order to give the right access number to each
-// node in the expression
-#include "TensorSyclPlaceHolderExpr.h"
-
-// creation of an accessor tuple from a tuple of SYCL buffers
-#include "TensorSyclExtractAccessor.h"
-
-// this is used to change the address space type in tensor map for GPU
-#include "TensorSyclConvertToDeviceExpression.h"
-
-// this is used to extract the functors
-#include "TensorSyclExtractFunctors.h"
-
-// this is used to create tensormap on the device
-// this is used to construct the expression on the device
-#include "TensorSyclExprConstructor.h"
-
-/// this is used for extracting tensor reduction
-#include "TensorReductionSycl.h"
-
-// kernel execution using fusion
-#include "TensorSyclRun.h"
-
-#endif  // end of EIGEN_USE_SYCL
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclConvertToDeviceExpression.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclConvertToDeviceExpression.h
deleted file mode 100644
index 8729c86ee8a270..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclConvertToDeviceExpression.h
+++ /dev/null
@@ -1,121 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensorSyclConvertToDeviceExpression.h
- *
- * \brief:
- *  Conversion from host pointer to device pointer
- *  inside leaf nodes of the expression.
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_CONVERT_TO_DEVICE_EXPRESSION_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_CONVERT_TO_DEVICE_EXPRESSION_HPP
-
-namespace Eigen {
-namespace TensorSycl {
-namespace internal {
-
-/// \struct ConvertToDeviceExpression
-/// \brief This struct is used to convert the MakePointer in the host expression
-/// to the MakeGlobalPointer for the device expression. For the leafNodes
-/// containing the pointer. This is due to the fact that the address space of
-/// the pointer T* is different on the host and the device.
-template <typename Expr>
-struct ConvertToDeviceExpression;
-
-template<template<class...> class NonOpCategory, bool IsConst, typename... Args>
-struct NonOpConversion{
-  typedef typename GetType<IsConst, NonOpCategory<typename ConvertToDeviceExpression<Args>::Type...> >::Type Type;
-};
-
-
-template<template<class, template <class> class > class NonOpCategory, bool IsConst, typename Args>
-struct DeviceConvertor{
-  typedef typename GetType<IsConst, NonOpCategory<typename ConvertToDeviceExpression<Args>::Type, MakeGlobalPointer> >::Type Type;
-};
-
-/// specialisation of the \ref ConvertToDeviceExpression struct when the node
-/// type is TensorMap
-#define TENSORMAPCONVERT(CVQual)\
-template <typename Scalar_, int Options_, int Options2_, int NumIndices_, typename IndexType_, template <class> class MakePointer_>\
-struct ConvertToDeviceExpression<CVQual TensorMap<Tensor<Scalar_, NumIndices_, Options_, IndexType_>, Options2_, MakePointer_> > {\
-  typedef CVQual TensorMap<Tensor<Scalar_, NumIndices_, Options_, IndexType_>, Options2_, MakeGlobalPointer> Type;\
-};
-
-TENSORMAPCONVERT(const)
-TENSORMAPCONVERT()
-#undef TENSORMAPCONVERT
-
-/// specialisation of the \ref ConvertToDeviceExpression struct when the node
-/// type is TensorCwiseNullaryOp, TensorCwiseUnaryOp, TensorCwiseBinaryOp, TensorCwiseTernaryOp, TensorBroadcastingOp
-#define CATEGORYCONVERT(CVQual)\
-template <template<class, class...> class Category, typename OP, typename... subExprs>\
-struct ConvertToDeviceExpression<CVQual Category<OP, subExprs...> > {\
-  typedef CVQual Category<OP, typename ConvertToDeviceExpression<subExprs>::Type... > Type;\
-};
-CATEGORYCONVERT(const)
-CATEGORYCONVERT()
-#undef CATEGORYCONVERT
-
-
-/// specialisation of the \ref ConvertToDeviceExpression struct when the node
-/// type is  TensorCwiseSelectOp
-#define SELECTOPCONVERT(CVQual, Res)\
-template <typename IfExpr, typename ThenExpr, typename ElseExpr>\
-struct ConvertToDeviceExpression<CVQual TensorSelectOp<IfExpr, ThenExpr, ElseExpr> >\
-: NonOpConversion<TensorSelectOp, Res, IfExpr, ThenExpr, ElseExpr> {};
-SELECTOPCONVERT(const, true)
-SELECTOPCONVERT(, false)
-#undef SELECTOPCONVERT
-
-/// specialisation of the \ref ConvertToDeviceExpression struct when the node
-/// type is const AssingOP
-#define ASSIGNCONVERT(CVQual, Res)\
-template <typename LHSExpr, typename RHSExpr>\
-struct ConvertToDeviceExpression<CVQual TensorAssignOp<LHSExpr, RHSExpr> >\
-: NonOpConversion<TensorAssignOp, Res, LHSExpr, RHSExpr>{};
-
-ASSIGNCONVERT(const, true)
-ASSIGNCONVERT(, false)
-#undef ASSIGNCONVERT
-
-/// specialisation of the \ref ConvertToDeviceExpression struct when the node
-/// type is either TensorForcedEvalOp or TensorEvalToOp
-#define KERNELBROKERCONVERT(CVQual, Res, ExprNode)\
-template <typename Expr>\
-struct ConvertToDeviceExpression<CVQual ExprNode<Expr> > \
-: DeviceConvertor<ExprNode, Res, Expr>{};
-
-KERNELBROKERCONVERT(const, true, TensorForcedEvalOp)
-KERNELBROKERCONVERT(, false, TensorForcedEvalOp)
-KERNELBROKERCONVERT(const, true, TensorEvalToOp)
-KERNELBROKERCONVERT(, false, TensorEvalToOp)
-#undef KERNELBROKERCONVERT
-
-/// specialisation of the \ref ConvertToDeviceExpression struct when the node type is TensorReductionOp
-#define KERNELBROKERCONVERTREDUCTION(CVQual)\
-template <typename OP, typename Dim, typename subExpr, template <class> class MakePointer_>\
-struct ConvertToDeviceExpression<CVQual TensorReductionOp<OP, Dim, subExpr, MakePointer_> > {\
-  typedef CVQual TensorReductionOp<OP, Dim, typename ConvertToDeviceExpression<subExpr>::Type, MakeGlobalPointer> Type;\
-};
-
-KERNELBROKERCONVERTREDUCTION(const)
-KERNELBROKERCONVERTREDUCTION()
-#undef KERNELBROKERCONVERTREDUCTION
-
-}  // namespace internal
-}  // namespace TensorSycl
-}  // namespace Eigen
-
-#endif  // UNSUPPORTED_EIGEN_CXX1
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExprConstructor.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExprConstructor.h
deleted file mode 100644
index 7ed3a3a56e79e1..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExprConstructor.h
+++ /dev/null
@@ -1,239 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensorSyclExprConstructor.h
- *
- * \brief:
- *  This file re-create an expression on the SYCL device in order
- *  to use the original tensor evaluator.
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXPR_CONSTRUCTOR_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXPR_CONSTRUCTOR_HPP
-
-namespace Eigen {
-namespace TensorSycl {
-namespace internal {
-/// this class is used by EvalToOp in order to create an lhs expression which is
-/// a pointer from an accessor on device-only buffer
-template <typename PtrType, size_t N, typename... Params>
-struct EvalToLHSConstructor {
-  PtrType expr;
-  EvalToLHSConstructor(const utility::tuple::Tuple<Params...> &t): expr((&(*(utility::tuple::get<N>(t).get_pointer())))) {}
-};
-
-/// \struct ExprConstructor is used to reconstruct the expression on the device and
-/// recreate the expression with MakeGlobalPointer containing the device address
-/// space for the TensorMap pointers used in eval function.
-/// It receives the original expression type, the functor of the node, the tuple
-/// of accessors, and the device expression type to re-instantiate the
-/// expression tree for the device
-template <typename OrigExpr, typename IndexExpr, typename... Params>
-struct ExprConstructor;
-
-/// specialisation of the \ref ExprConstructor struct when the node type is
-/// TensorMap
-#define TENSORMAP(CVQual)\
-template <typename Scalar_, int Options_, int Options2_, int Options3_, int NumIndices_, typename IndexType_,\
-template <class> class MakePointer_, size_t N, typename... Params>\
-struct ExprConstructor< CVQual TensorMap<Tensor<Scalar_, NumIndices_, Options_, IndexType_>, Options2_, MakeGlobalPointer>,\
-CVQual PlaceHolder<CVQual TensorMap<Tensor<Scalar_, NumIndices_, Options_, IndexType_>, Options3_, MakePointer_>, N>, Params...>{\
-  typedef  CVQual TensorMap<Tensor<Scalar_, NumIndices_, Options_, IndexType_>, Options2_, MakeGlobalPointer>  Type;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &fd, const utility::tuple::Tuple<Params...> &t)\
-  : expr(Type((&(*(utility::tuple::get<N>(t).get_pointer()))), fd.dimensions())) {}\
-};
-
-TENSORMAP(const)
-TENSORMAP()
-#undef TENSORMAP
-
-#define UNARYCATEGORY(CVQual)\
-template <template<class, class> class UnaryCategory, typename OP, typename OrigRHSExpr, typename RHSExpr, typename... Params>\
-struct ExprConstructor<CVQual UnaryCategory<OP, OrigRHSExpr>, CVQual UnaryCategory<OP, RHSExpr>, Params...> {\
-  typedef  ExprConstructor<OrigRHSExpr, RHSExpr, Params...> my_type;\
-  my_type rhsExpr;\
-  typedef CVQual UnaryCategory<OP, typename my_type::Type> Type;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &funcD, const utility::tuple::Tuple<Params...> &t)\
-  : rhsExpr(funcD.rhsExpr, t), expr(rhsExpr.expr, funcD.func) {}\
-};
-
-UNARYCATEGORY(const)
-UNARYCATEGORY()
-#undef UNARYCATEGORY
-
-/// specialisation of the \ref ExprConstructor struct when the node type is
-/// TensorBinaryOp
-#define BINARYCATEGORY(CVQual)\
-template <template<class, class, class> class BinaryCategory, typename OP, typename OrigLHSExpr, typename OrigRHSExpr, typename LHSExpr,\
-typename RHSExpr, typename... Params>\
-struct ExprConstructor<CVQual BinaryCategory<OP, OrigLHSExpr, OrigRHSExpr>,  CVQual BinaryCategory<OP, LHSExpr, RHSExpr>, Params...> {\
-  typedef  ExprConstructor<OrigLHSExpr, LHSExpr, Params...> my_left_type;\
-  typedef  ExprConstructor<OrigRHSExpr, RHSExpr, Params...> my_right_type;\
-  typedef  CVQual BinaryCategory<OP, typename my_left_type::Type, typename my_right_type::Type> Type;\
-  my_left_type lhsExpr;\
-  my_right_type rhsExpr;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &funcD, const utility::tuple::Tuple<Params...> &t)\
-  : lhsExpr(funcD.lhsExpr, t),rhsExpr(funcD.rhsExpr, t), expr(lhsExpr.expr, rhsExpr.expr, funcD.func) {}\
-};
-
-BINARYCATEGORY(const)
-BINARYCATEGORY()
-#undef BINARYCATEGORY
-
-/// specialisation of the \ref ExprConstructor struct when the node type is
-/// TensorCwiseTernaryOp
-#define TERNARYCATEGORY(CVQual)\
-template <template <class, class, class, class> class TernaryCategory, typename OP, typename OrigArg1Expr, typename OrigArg2Expr,typename OrigArg3Expr,\
-typename Arg1Expr, typename Arg2Expr, typename Arg3Expr, typename... Params>\
-struct ExprConstructor<CVQual TernaryCategory<OP, OrigArg1Expr, OrigArg2Expr, OrigArg3Expr>, CVQual TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Params...> {\
-  typedef ExprConstructor<OrigArg1Expr, Arg1Expr, Params...> my_arg1_type;\
-  typedef ExprConstructor<OrigArg2Expr, Arg2Expr, Params...> my_arg2_type;\
-  typedef ExprConstructor<OrigArg3Expr, Arg3Expr, Params...> my_arg3_type;\
-  typedef  CVQual TernaryCategory<OP, typename my_arg1_type::Type, typename my_arg2_type::Type, typename my_arg3_type::Type> Type;\
-  my_arg1_type arg1Expr;\
-  my_arg2_type arg2Expr;\
-  my_arg3_type arg3Expr;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &funcD,const utility::tuple::Tuple<Params...> &t)\
-  : arg1Expr(funcD.arg1Expr, t), arg2Expr(funcD.arg2Expr, t), arg3Expr(funcD.arg3Expr, t), expr(arg1Expr.expr, arg2Expr.expr, arg3Expr.expr, funcD.func) {}\
-};
-
-TERNARYCATEGORY(const)
-TERNARYCATEGORY()
-#undef TERNARYCATEGORY
-
-/// specialisation of the \ref ExprConstructor struct when the node type is
-/// TensorCwiseSelectOp
-#define SELECTOP(CVQual)\
-template <typename OrigIfExpr, typename OrigThenExpr, typename OrigElseExpr, typename IfExpr, typename ThenExpr, typename ElseExpr, typename... Params>\
-struct ExprConstructor< CVQual TensorSelectOp<OrigIfExpr, OrigThenExpr, OrigElseExpr>, CVQual TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Params...> {\
-  typedef  ExprConstructor<OrigIfExpr, IfExpr, Params...> my_if_type;\
-  typedef  ExprConstructor<OrigThenExpr, ThenExpr, Params...> my_then_type;\
-  typedef  ExprConstructor<OrigElseExpr, ElseExpr, Params...> my_else_type;\
-  typedef CVQual TensorSelectOp<typename my_if_type::Type, typename my_then_type::Type, typename my_else_type::Type> Type;\
-  my_if_type ifExpr;\
-  my_then_type thenExpr;\
-  my_else_type elseExpr;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &funcD, const utility::tuple::Tuple<Params...> &t)\
-  : ifExpr(funcD.ifExpr, t), thenExpr(funcD.thenExpr, t), elseExpr(funcD.elseExpr, t), expr(ifExpr.expr, thenExpr.expr, elseExpr.expr) {}\
-};
-
-SELECTOP(const)
-SELECTOP()
-#undef SELECTOP
-
-/// specialisation of the \ref ExprConstructor struct when the node type is
-/// const TensorAssignOp
-#define ASSIGN(CVQual)\
-template <typename OrigLHSExpr, typename OrigRHSExpr, typename LHSExpr, typename RHSExpr, typename... Params>\
-struct ExprConstructor<CVQual TensorAssignOp<OrigLHSExpr, OrigRHSExpr>,  CVQual TensorAssignOp<LHSExpr, RHSExpr>, Params...> {\
-  typedef ExprConstructor<OrigLHSExpr, LHSExpr, Params...> my_left_type;\
-  typedef ExprConstructor<OrigRHSExpr, RHSExpr, Params...> my_right_type;\
-  typedef CVQual TensorAssignOp<typename my_left_type::Type, typename my_right_type::Type>  Type;\
-  my_left_type lhsExpr;\
-  my_right_type rhsExpr;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &funcD, const utility::tuple::Tuple<Params...> &t)\
-  : lhsExpr(funcD.lhsExpr, t), rhsExpr(funcD.rhsExpr, t), expr(lhsExpr.expr, rhsExpr.expr) {}\
- };
-
- ASSIGN(const)
- ASSIGN()
- #undef ASSIGN
-/// specialisation of the \ref ExprConstructor struct when the node type is
-///  TensorEvalToOp
-#define EVALTO(CVQual)\
-template <typename OrigExpr, typename Expr, typename... Params>\
-struct ExprConstructor<CVQual TensorEvalToOp<OrigExpr, MakeGlobalPointer>, CVQual TensorEvalToOp<Expr>, Params...> {\
-  typedef ExprConstructor<OrigExpr, Expr, Params...> my_expr_type;\
-  typedef typename TensorEvalToOp<OrigExpr, MakeGlobalPointer>::PointerType my_buffer_type;\
-  typedef CVQual TensorEvalToOp<typename my_expr_type::Type, MakeGlobalPointer> Type;\
-  my_expr_type nestedExpression;\
-  EvalToLHSConstructor<my_buffer_type, 0, Params...> buffer;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &funcD, const utility::tuple::Tuple<Params...> &t)\
-  : nestedExpression(funcD.rhsExpr, t), buffer(t), expr(buffer.expr, nestedExpression.expr) {}\
-};
-
-EVALTO(const)
-EVALTO()
-#undef EVALTO
-
-/// specialisation of the \ref ExprConstructor struct when the node type is
-/// TensorForcedEvalOp
-#define FORCEDEVAL(CVQual)\
-template <typename OrigExpr, typename DevExpr, size_t N, typename... Params>\
-struct ExprConstructor<CVQual TensorForcedEvalOp<OrigExpr, MakeGlobalPointer>,\
-CVQual PlaceHolder<CVQual TensorForcedEvalOp<DevExpr>, N>, Params...> {\
-  typedef CVQual TensorMap<Tensor<typename TensorForcedEvalOp<DevExpr, MakeGlobalPointer>::Scalar,\
-  TensorForcedEvalOp<DevExpr, MakeGlobalPointer>::NumDimensions, 0, typename TensorForcedEvalOp<DevExpr>::Index>, 0, MakeGlobalPointer> Type;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &fd, const utility::tuple::Tuple<Params...> &t)\
-  : expr(Type((&(*(utility::tuple::get<N>(t).get_pointer()))), fd.dimensions())) {}\
-};
-
-FORCEDEVAL(const)
-FORCEDEVAL()
-#undef FORCEDEVAL
-
-template <bool Conds,  size_t X , size_t Y > struct ValueCondition {
-  static const size_t Res =X;
-};
-template<size_t X, size_t Y> struct ValueCondition<false, X , Y> {
-  static const size_t Res =Y;
-};
-
-/// specialisation of the \ref ExprConstructor struct when the node type is TensorReductionOp
-#define SYCLREDUCTIONEXPR(CVQual)\
-template <typename OP, typename Dim, typename OrigExpr, typename DevExpr, size_t N, typename... Params>\
-struct ExprConstructor<CVQual TensorReductionOp<OP, Dim, OrigExpr, MakeGlobalPointer>,\
-CVQual PlaceHolder<CVQual TensorReductionOp<OP, Dim, DevExpr>, N>, Params...> {\
-  static const size_t NumIndices= ValueCondition< TensorReductionOp<OP, Dim, DevExpr, MakeGlobalPointer>::NumDimensions==0,  1, TensorReductionOp<OP, Dim, DevExpr, MakeGlobalPointer>::NumDimensions >::Res;\
-  typedef CVQual TensorMap<Tensor<typename TensorReductionOp<OP, Dim, DevExpr, MakeGlobalPointer>::Scalar,\
-  NumIndices, 0, typename TensorReductionOp<OP, Dim, DevExpr>::Index>, 0, MakeGlobalPointer> Type;\
-  Type expr;\
-  template <typename FuncDetector>\
-  ExprConstructor(FuncDetector &fd, const utility::tuple::Tuple<Params...> &t)\
-  : expr(Type((&(*(utility::tuple::get<N>(t).get_pointer()))), fd.dimensions())) {}\
-};
-
-SYCLREDUCTIONEXPR(const)
-SYCLREDUCTIONEXPR()
-#undef SYCLREDUCTIONEXPR
-
-/// template deduction for \ref ExprConstructor struct
-template <typename OrigExpr, typename IndexExpr, typename FuncD, typename... Params>
-auto createDeviceExpression(FuncD &funcD, const utility::tuple::Tuple<Params...> &t)
-    -> decltype(ExprConstructor<OrigExpr, IndexExpr, Params...>(funcD, t)) {
-  return ExprConstructor<OrigExpr, IndexExpr, Params...>(funcD, t);
-}
-
-} /// namespace TensorSycl
-} /// namespace internal
-} /// namespace Eigen
-
-
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXPR_CONSTRUCTOR_HPP
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractAccessor.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractAccessor.h
deleted file mode 100644
index b1da6858ece288..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractAccessor.h
+++ /dev/null
@@ -1,204 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensorSyclExtractAccessor.h
- *
- * \brief:
- * ExtractAccessor takes Expression placeHolder expression and the tuple of sycl
- * buffers as an input. Using pre-order tree traversal, ExtractAccessor
- * recursively calls itself for its children in the expression tree. The
- * leaf node in the PlaceHolder expression is nothing but a container preserving
- * the order of the actual data in the tuple of sycl buffer. By invoking the
- * extract accessor for the PlaceHolder<N>, an accessor is created for the Nth
- * buffer in the tuple of buffers. This accessor is then added as an Nth
- * element in the tuple of accessors. In this case we preserve the order of data
- * in the expression tree.
- *
- * This is the specialisation of extract accessor method for different operation
- * type in the PlaceHolder expression.
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXTRACT_ACCESSOR_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXTRACT_ACCESSOR_HPP
-
-namespace Eigen {
-namespace TensorSycl {
-namespace internal {
-/// \struct ExtractAccessor: Extract Accessor Class is used to extract the
-/// accessor from a buffer.
-/// Depending on the type of the leaf node we can get a read accessor or a
-/// read_write accessor
-template <typename Evaluator>
-struct ExtractAccessor;
-
-struct AccessorConstructor{
-  template<typename Arg> static inline auto getTuple(cl::sycl::handler& cgh, Arg eval)
-  -> decltype(ExtractAccessor<Arg>::getTuple(cgh, eval)) {
-  return ExtractAccessor<Arg>::getTuple(cgh, eval);
-  }
-
-  template<typename Arg1, typename Arg2> static inline auto getTuple(cl::sycl::handler& cgh, Arg1 eval1, Arg2 eval2)
-  -> decltype(utility::tuple::append(ExtractAccessor<Arg1>::getTuple(cgh, eval1), ExtractAccessor<Arg2>::getTuple(cgh, eval2))) {
-    return utility::tuple::append(ExtractAccessor<Arg1>::getTuple(cgh, eval1), ExtractAccessor<Arg2>::getTuple(cgh, eval2));
-  }
-  template<typename Arg1, typename Arg2, typename Arg3>	static inline auto getTuple(cl::sycl::handler& cgh, Arg1 eval1 , Arg2 eval2 , Arg3 eval3)
-  -> decltype(utility::tuple::append(ExtractAccessor<Arg1>::getTuple(cgh, eval1),utility::tuple::append(ExtractAccessor<Arg2>::getTuple(cgh, eval2), ExtractAccessor<Arg3>::getTuple(cgh, eval3)))) {
-    return utility::tuple::append(ExtractAccessor<Arg1>::getTuple(cgh, eval1),utility::tuple::append(ExtractAccessor<Arg2>::getTuple(cgh, eval2), ExtractAccessor<Arg3>::getTuple(cgh, eval3)));
-  }
-  template< cl::sycl::access::mode AcM, typename Arg> static inline auto getAccessor(cl::sycl::handler& cgh, Arg eval)
-  -> decltype(utility::tuple::make_tuple( eval.device().template get_sycl_accessor<AcM,
-  typename Eigen::internal::remove_all<typename Arg::CoeffReturnType>::type>(eval.dimensions().TotalSize(), cgh,eval.data()))){
-    return utility::tuple::make_tuple(eval.device().template get_sycl_accessor<AcM, typename Eigen::internal::remove_all<typename Arg::CoeffReturnType>::type>(eval.dimensions().TotalSize(), cgh,eval.data()));
-  }
-};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is
-/// const TensorCwiseNullaryOp, const TensorCwiseUnaryOp and const TensorBroadcastingOp
-template <template<class, class> class UnaryCategory, typename OP, typename RHSExpr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<const UnaryCategory<OP, RHSExpr>, Dev> > {
-  static inline auto getTuple(cl::sycl::handler& cgh, const TensorEvaluator<const UnaryCategory<OP, RHSExpr>, Dev> eval)
-  -> decltype(AccessorConstructor::getTuple(cgh, eval.impl())){
-    return AccessorConstructor::getTuple(cgh, eval.impl());
-  }
-};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is TensorCwiseNullaryOp,  TensorCwiseUnaryOp and  TensorBroadcastingOp
-template <template<class, class> class UnaryCategory, typename OP, typename RHSExpr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<UnaryCategory<OP, RHSExpr>, Dev> >
-: ExtractAccessor<TensorEvaluator<const UnaryCategory<OP, RHSExpr>, Dev> > {};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is const TensorCwiseBinaryOp
-template <template<class, class, class> class BinaryCategory, typename OP,  typename LHSExpr, typename RHSExpr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<const BinaryCategory<OP, LHSExpr, RHSExpr>, Dev> > {
-  static inline auto getTuple(cl::sycl::handler& cgh, const TensorEvaluator<const BinaryCategory<OP, LHSExpr, RHSExpr>, Dev> eval)
-  -> decltype(AccessorConstructor::getTuple(cgh, eval.left_impl(), eval.right_impl())){
-    return AccessorConstructor::getTuple(cgh, eval.left_impl(), eval.right_impl());
-  }
-};
-/// specialisation of the \ref ExtractAccessor struct when the node type is TensorCwiseBinaryOp
-template <template<class, class, class> class BinaryCategory, typename OP,  typename LHSExpr, typename RHSExpr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<BinaryCategory<OP, LHSExpr, RHSExpr>, Dev> >
-: ExtractAccessor<TensorEvaluator<const BinaryCategory<OP, LHSExpr, RHSExpr>, Dev> >{};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is
-/// const TensorCwiseTernaryOp
-template <template<class, class, class, class> class TernaryCategory, typename OP, typename Arg1Expr, typename Arg2Expr, typename Arg3Expr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<const TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Dev> > {
-  static inline auto getTuple(cl::sycl::handler& cgh, const TensorEvaluator<const TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Dev> eval)
-  -> decltype(AccessorConstructor::getTuple(cgh, eval.arg1Impl(), eval.arg2Impl(), eval.arg3Impl())){
-    return AccessorConstructor::getTuple(cgh, eval.arg1Impl(), eval.arg2Impl(), eval.arg3Impl());
-  }
-};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is TensorCwiseTernaryOp
-template <template<class, class, class, class> class TernaryCategory, typename OP, typename Arg1Expr, typename Arg2Expr, typename Arg3Expr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Dev> >
-: ExtractAccessor<TensorEvaluator<const TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Dev> >{};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is
-/// const TensorCwiseSelectOp. This is a special case where there is no OP
-template <typename IfExpr, typename ThenExpr, typename ElseExpr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<const TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Dev> > {
-  static inline auto getTuple(cl::sycl::handler& cgh, const TensorEvaluator<const TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Dev> eval)
-  -> decltype(AccessorConstructor::getTuple(cgh, eval.cond_impl(), eval.then_impl(), eval.else_impl())){
-    return AccessorConstructor::getTuple(cgh, eval.cond_impl(), eval.then_impl(), eval.else_impl());
-  }
-};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is
-/// TensorCwiseSelectOp. This is a special case where there is no OP
-template <typename IfExpr, typename ThenExpr, typename ElseExpr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Dev> >
-: ExtractAccessor<TensorEvaluator<const TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Dev> >{};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is const TensorAssignOp
-template <typename LHSExpr, typename RHSExpr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<const TensorAssignOp<LHSExpr, RHSExpr>, Dev> > {
-  static inline auto getTuple(cl::sycl::handler& cgh, const TensorEvaluator<const TensorAssignOp<LHSExpr, RHSExpr>, Dev> eval)
-  -> decltype(AccessorConstructor::getTuple(cgh, eval.left_impl(), eval.right_impl())){
-    return AccessorConstructor::getTuple(cgh, eval.left_impl(), eval.right_impl());
- }
-};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is TensorAssignOp
-template <typename LHSExpr, typename RHSExpr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<TensorAssignOp<LHSExpr, RHSExpr>, Dev> >
-: ExtractAccessor<TensorEvaluator<const TensorAssignOp<LHSExpr, RHSExpr>, Dev> >{};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is const TensorMap
-#define TENSORMAPEXPR(CVQual, ACCType)\
-template <typename PlainObjectType, int Options_, typename Dev>\
-struct ExtractAccessor<TensorEvaluator<CVQual TensorMap<PlainObjectType, Options_>, Dev> > {\
-  static inline auto getTuple(cl::sycl::handler& cgh,const TensorEvaluator<CVQual TensorMap<PlainObjectType, Options_>, Dev> eval)\
-  -> decltype(AccessorConstructor::template getAccessor<ACCType>(cgh, eval)){\
-    return AccessorConstructor::template getAccessor<ACCType>(cgh, eval);\
-  }\
-};
-TENSORMAPEXPR(const, cl::sycl::access::mode::read)
-TENSORMAPEXPR(, cl::sycl::access::mode::read_write)
-#undef TENSORMAPEXPR
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is const TensorForcedEvalOp
-template <typename Expr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<const TensorForcedEvalOp<Expr>, Dev> > {
-  static inline auto getTuple(cl::sycl::handler& cgh, const TensorEvaluator<const TensorForcedEvalOp<Expr>, Dev> eval)
-  -> decltype(AccessorConstructor::template getAccessor<cl::sycl::access::mode::read>(cgh, eval)){
-    return AccessorConstructor::template getAccessor<cl::sycl::access::mode::read>(cgh, eval);
-  }
-};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is TensorForcedEvalOp
-template <typename Expr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<TensorForcedEvalOp<Expr>, Dev> >
-: ExtractAccessor<TensorEvaluator<const TensorForcedEvalOp<Expr>, Dev> >{};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is const TensorEvalToOp
-template <typename Expr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<const TensorEvalToOp<Expr>, Dev> > {
-  static inline auto getTuple(cl::sycl::handler& cgh,const TensorEvaluator<const TensorEvalToOp<Expr>, Dev> eval)
-  -> decltype(utility::tuple::append(AccessorConstructor::template getAccessor<cl::sycl::access::mode::write>(cgh, eval), AccessorConstructor::getTuple(cgh, eval.impl()))){
-    return utility::tuple::append(AccessorConstructor::template getAccessor<cl::sycl::access::mode::write>(cgh, eval), AccessorConstructor::getTuple(cgh, eval.impl()));
-  }
-};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is TensorEvalToOp
-template <typename Expr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<TensorEvalToOp<Expr>, Dev> >
-: ExtractAccessor<TensorEvaluator<const TensorEvalToOp<Expr>, Dev> >{};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is const TensorReductionOp
-template <typename OP, typename Dim, typename Expr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<const TensorReductionOp<OP, Dim, Expr>, Dev> > {
-  static inline auto getTuple(cl::sycl::handler& cgh, const TensorEvaluator<const TensorReductionOp<OP, Dim, Expr>, Dev> eval)
-  -> decltype(AccessorConstructor::template getAccessor<cl::sycl::access::mode::read>(cgh, eval)){
-    return AccessorConstructor::template getAccessor<cl::sycl::access::mode::read>(cgh, eval);
-  }
-};
-
-/// specialisation of the \ref ExtractAccessor struct when the node type is TensorReductionOp
-template <typename OP, typename Dim, typename Expr, typename Dev>
-struct ExtractAccessor<TensorEvaluator<TensorReductionOp<OP, Dim, Expr>, Dev> >
-: ExtractAccessor<TensorEvaluator<const TensorReductionOp<OP, Dim, Expr>, Dev> >{};
-
-/// template deduction for \ref ExtractAccessor
-template <typename Evaluator>
-auto createTupleOfAccessors(cl::sycl::handler& cgh, const Evaluator& expr)
--> decltype(ExtractAccessor<Evaluator>::getTuple(cgh, expr)) {
-  return ExtractAccessor<Evaluator>::getTuple(cgh, expr);
-}
-
-} /// namespace TensorSycl
-} /// namespace internal
-} /// namespace Eigen
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXTRACT_ACCESSOR_HPP
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractFunctors.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractFunctors.h
deleted file mode 100644
index 4271253436e36b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractFunctors.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensorSyclextractFunctors.h
- *
- * \brief:
- *  Used to extract all the functors allocated to each node of the expression
-*tree.
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXTRACT_FUNCTORS_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXTRACT_FUNCTORS_HPP
-
-namespace Eigen {
-namespace TensorSycl {
-namespace internal {
-/// \struct FunctorExtractor:  This struct is used to extract the functors
-/// constructed on
-/// the host-side, to pack them and reuse them in reconstruction of the
-/// expression on the device.
-/// We have to do that as in Eigen the functors are not stateless so we cannot
-/// re-instantiate them on the device.
-/// We have to pass instantiated functors to the device.
-// This struct is used for leafNode (TensorMap) and nodes behaving like leafNode (TensorForcedEval).
-template <typename Evaluator> struct FunctorExtractor{
-  typedef typename Evaluator::Dimensions Dimensions;
-  const Dimensions m_dimensions;
-  const Dimensions& dimensions() const { return m_dimensions; }
-  FunctorExtractor(const Evaluator& expr)
-  : m_dimensions(expr.dimensions()) {}
-
-};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// const TensorCwiseNullaryOp, const TensorCwiseUnaryOp, and const TensorBroadcastingOp
-template <template <class, class> class UnaryCategory, typename OP, typename RHSExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<const UnaryCategory<OP, RHSExpr>, Dev> > {
-  FunctorExtractor<TensorEvaluator<RHSExpr, Dev> > rhsExpr;
-  OP func;
-  FunctorExtractor(const TensorEvaluator<const UnaryCategory<OP, RHSExpr>, Dev>& expr)
-  : rhsExpr(expr.impl()), func(expr.functor()) {}
-};
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// TensorCwiseNullaryOp, TensorCwiseUnaryOp, and TensorBroadcastingOp
-template <template <class, class> class UnaryCategory, typename OP, typename RHSExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<UnaryCategory<OP, RHSExpr>, Dev> >
-: FunctorExtractor<TensorEvaluator<const UnaryCategory<OP, RHSExpr>, Dev> >{};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// const TensorCwiseBinaryOp
-template <template<class, class, class> class BinaryCategory, typename OP, typename LHSExpr, typename RHSExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<const BinaryCategory<OP, LHSExpr, RHSExpr>, Dev> > {
-  FunctorExtractor<TensorEvaluator<LHSExpr, Dev> > lhsExpr;
-  FunctorExtractor<TensorEvaluator<RHSExpr, Dev> > rhsExpr;
-  OP func;
-  FunctorExtractor(const TensorEvaluator<const BinaryCategory<OP, LHSExpr, RHSExpr>, Dev>& expr)
-  : lhsExpr(expr.left_impl()),rhsExpr(expr.right_impl()),func(expr.functor()) {}
-};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// const TensorCwiseBinaryOp
-template <template <class, class, class> class BinaryCategory, typename OP, typename LHSExpr, typename RHSExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<BinaryCategory<OP,  LHSExpr, RHSExpr>, Dev> >
-: FunctorExtractor<TensorEvaluator<const BinaryCategory<OP,  LHSExpr, RHSExpr>, Dev> >{};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// const TensorCwiseTernaryOp
-template <template <class, class, class, class> class TernaryCategory, typename OP, typename Arg1Expr, typename Arg2Expr, typename Arg3Expr,typename Dev>
-struct FunctorExtractor<TensorEvaluator<const TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Dev> > {
-  FunctorExtractor<TensorEvaluator<Arg1Expr, Dev> > arg1Expr;
-  FunctorExtractor<TensorEvaluator<Arg2Expr, Dev> > arg2Expr;
-  FunctorExtractor<TensorEvaluator<Arg3Expr, Dev> > arg3Expr;
-  OP func;
-  FunctorExtractor(const TensorEvaluator<const TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Dev>& expr)
-  : arg1Expr(expr.arg1Impl()), arg2Expr(expr.arg2Impl()), arg3Expr(expr.arg3Impl()), func(expr.functor()) {}
-};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// TensorCwiseTernaryOp
-template <template <class, class, class, class> class TernaryCategory, typename OP, typename Arg1Expr, typename Arg2Expr, typename Arg3Expr, typename Dev>
-struct FunctorExtractor<TensorEvaluator< TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Dev> >
-:FunctorExtractor<TensorEvaluator<const TernaryCategory<OP, Arg1Expr, Arg2Expr, Arg3Expr>, Dev> >{};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// const TensorCwiseSelectOp. This is an specialisation without OP so it has to be separated.
-template <typename IfExpr, typename ThenExpr, typename ElseExpr, typename Dev>
-struct FunctorExtractor< TensorEvaluator<const TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Dev> > {
-  FunctorExtractor<TensorEvaluator<IfExpr, Dev> > ifExpr;
-  FunctorExtractor<TensorEvaluator<ThenExpr, Dev> > thenExpr;
-  FunctorExtractor<TensorEvaluator<ElseExpr, Dev> > elseExpr;
-  FunctorExtractor(const TensorEvaluator<const TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Dev>& expr)
-  : ifExpr(expr.cond_impl()), thenExpr(expr.then_impl()), elseExpr(expr.else_impl()) {}
-};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// TensorCwiseSelectOp. This is an specialisation without OP so it has to be separated
-template <typename IfExpr, typename ThenExpr, typename ElseExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Dev> >
-:FunctorExtractor< TensorEvaluator<const TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, Dev> > {};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// const TensorAssignOp. This is an specialisation without OP so it has to be separated.
-template <typename LHSExpr, typename RHSExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<const TensorAssignOp<LHSExpr, RHSExpr>, Dev> > {
-  FunctorExtractor<TensorEvaluator<LHSExpr, Dev> > lhsExpr;
-  FunctorExtractor<TensorEvaluator<RHSExpr, Dev> > rhsExpr;
-  FunctorExtractor(const TensorEvaluator<const TensorAssignOp<LHSExpr, RHSExpr>, Dev>& expr)
-  : lhsExpr(expr.left_impl()), rhsExpr(expr.right_impl()) {}
-};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// TensorAssignOp. This is an specialisation without OP so it has to be separated.
-template <typename LHSExpr, typename RHSExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<TensorAssignOp<LHSExpr, RHSExpr>, Dev> >
-:FunctorExtractor<TensorEvaluator<const TensorAssignOp<LHSExpr, RHSExpr>, Dev> >{};
-
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// const TensorEvalToOp, This is an specialisation without OP so it has to be separated.
-template <typename RHSExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<const TensorEvalToOp<RHSExpr>, Dev> > {
-  FunctorExtractor<TensorEvaluator<RHSExpr, Dev> > rhsExpr;
-  FunctorExtractor(const TensorEvaluator<const TensorEvalToOp<RHSExpr>, Dev>& expr)
-  : rhsExpr(expr.impl()) {}
-};
-
-/// specialisation of the \ref FunctorExtractor struct when the node type is
-/// TensorEvalToOp. This is a specialisation without OP so it has to be separated.
-template <typename RHSExpr, typename Dev>
-struct FunctorExtractor<TensorEvaluator<TensorEvalToOp<RHSExpr>, Dev> >
-: FunctorExtractor<TensorEvaluator<const TensorEvalToOp<RHSExpr>, Dev> > {};
-
-template<typename Dim, size_t NumOutputDim> struct DimConstr {
-template<typename InDim>
-  static inline Dim getDim(InDim dims ) {return dims;}
-};
-
-template<typename Dim> struct DimConstr<Dim, 0> {
-  template<typename InDim>
-    static inline Dim getDim(InDim dims ) {return Dim(dims.TotalSize());}
-};
-
-template<typename Op, typename Dims, typename ArgType, template <class> class MakePointer_, typename Device>
-struct FunctorExtractor<TensorEvaluator<const TensorReductionOp<Op, Dims, ArgType, MakePointer_>, Device>>{
-  typedef TensorEvaluator<const TensorReductionOp<Op, Dims, ArgType, MakePointer_>, Device> Evaluator;
-  typedef typename Eigen::internal::conditional<Evaluator::NumOutputDims==0, DSizes<typename Evaluator::Index, 1>, typename Evaluator::Dimensions >::type Dimensions;
-  const Dimensions m_dimensions;
-  const Dimensions& dimensions() const { return m_dimensions; }
-  FunctorExtractor(const TensorEvaluator<const TensorReductionOp<Op, Dims, ArgType, MakePointer_>, Device>& expr)
-  : m_dimensions(DimConstr<Dimensions, Evaluator::NumOutputDims>::getDim(expr.dimensions())) {}
-};
-
-
-template<typename Op, typename Dims, typename ArgType, template <class> class MakePointer_, typename Device>
-struct FunctorExtractor<TensorEvaluator<TensorReductionOp<Op, Dims, ArgType, MakePointer_>, Device>>
-: FunctorExtractor<TensorEvaluator<const TensorReductionOp<Op, Dims, ArgType, MakePointer_>, Device>>{};
-/// template deduction function for FunctorExtractor
-template <typename Evaluator>
-auto inline extractFunctors(const Evaluator& evaluator)-> FunctorExtractor<Evaluator> {
-  return FunctorExtractor<Evaluator>(evaluator);
-}
-}  // namespace internal
-}  // namespace TensorSycl
-}  // namespace Eigen
-
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_EXTRACT_FUNCTORS_HPP
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclLeafCount.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclLeafCount.h
deleted file mode 100644
index 25d1fac9bfc5d3..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclLeafCount.h
+++ /dev/null
@@ -1,114 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensorSyclLeafCount.h
- *
- * \brief:
- *  The leaf count used the pre-order expression tree traverse in order to name
- *  count the number of leaf nodes in the expression
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_LEAF_COUNT_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_LEAF_COUNT_HPP
-
-namespace Eigen {
-namespace TensorSycl {
-namespace internal {
-/// \brief LeafCount used to counting terminal nodes. The total number of
-/// leaf nodes is used by MakePlaceHolderExprHelper to find the order
-/// of the leaf node in a expression tree at compile time.
-template <typename Expr>
-struct LeafCount;
-
-template<typename... Args> struct CategoryCount;
-
-template<> struct CategoryCount<>
-{
-  static const size_t Count =0;
-};
-
-template<typename Arg, typename... Args>
-struct CategoryCount<Arg,Args...>{
-  static const size_t Count = LeafCount<Arg>::Count + CategoryCount<Args...>::Count;
-};
-
-/// specialisation of the \ref LeafCount struct when the node type is const TensorMap
-template <typename PlainObjectType, int Options_, template <class> class MakePointer_>
-struct LeafCount<const TensorMap<PlainObjectType, Options_, MakePointer_> > {
-  static const size_t Count =1;
-};
-
-/// specialisation of the \ref LeafCount struct when the node type is TensorMap
-template <typename PlainObjectType, int Options_, template <class> class MakePointer_>
-struct LeafCount<TensorMap<PlainObjectType, Options_, MakePointer_> > :LeafCount<const TensorMap<PlainObjectType, Options_, MakePointer_> >{};
-
-// const TensorCwiseUnaryOp, const TensorCwiseNullaryOp, const TensorCwiseBinaryOp, const TensorCwiseTernaryOp, and Const TensorBroadcastingOp
-template <template <class, class...> class CategoryExpr, typename OP, typename... RHSExpr>
-struct LeafCount<const CategoryExpr<OP, RHSExpr...> >: CategoryCount<RHSExpr...> {};
-// TensorCwiseUnaryOp,  TensorCwiseNullaryOp,  TensorCwiseBinaryOp,  TensorCwiseTernaryOp, and  TensorBroadcastingOp
-template <template <class, class...> class CategoryExpr, typename OP, typename... RHSExpr>
-struct LeafCount<CategoryExpr<OP, RHSExpr...> > :LeafCount<const CategoryExpr<OP, RHSExpr...> >{};
-
-/// specialisation of the \ref LeafCount struct when the node type is const TensorSelectOp is an exception
-template <typename IfExpr, typename ThenExpr, typename ElseExpr>
-struct LeafCount<const TensorSelectOp<IfExpr, ThenExpr, ElseExpr> > : CategoryCount<IfExpr, ThenExpr, ElseExpr> {};
-/// specialisation of the \ref LeafCount struct when the node type is TensorSelectOp
-template <typename IfExpr, typename ThenExpr, typename ElseExpr>
-struct LeafCount<TensorSelectOp<IfExpr, ThenExpr, ElseExpr> >: LeafCount<const TensorSelectOp<IfExpr, ThenExpr, ElseExpr> > {};
-
-
-/// specialisation of the \ref LeafCount struct when the node type is const TensorAssignOp
-template <typename LHSExpr, typename RHSExpr>
-struct LeafCount<const TensorAssignOp<LHSExpr, RHSExpr> >: CategoryCount<LHSExpr,RHSExpr> {};
-
-/// specialisation of the \ref LeafCount struct when the node type is
-/// TensorAssignOp is an exception. It is not the same as Unary
-template <typename LHSExpr, typename RHSExpr>
-struct LeafCount<TensorAssignOp<LHSExpr, RHSExpr> > :LeafCount<const TensorAssignOp<LHSExpr, RHSExpr> >{};
-
-/// specialisation of the \ref LeafCount struct when the node type is const TensorForcedEvalOp
-template <typename Expr>
-struct LeafCount<const TensorForcedEvalOp<Expr> > {
-    static const size_t Count =1;
-};
-
-/// specialisation of the \ref LeafCount struct when the node type is TensorForcedEvalOp
-template <typename Expr>
-struct LeafCount<TensorForcedEvalOp<Expr> >: LeafCount<const TensorForcedEvalOp<Expr> > {};
-
-/// specialisation of the \ref LeafCount struct when the node type is const TensorEvalToOp
-template <typename Expr>
-struct LeafCount<const TensorEvalToOp<Expr> > {
-  static const size_t Count = 1 + CategoryCount<Expr>::Count;
-};
-
-/// specialisation of the \ref LeafCount struct when the node type is const TensorReductionOp
-template <typename OP, typename Dim, typename Expr>
-struct LeafCount<const TensorReductionOp<OP, Dim, Expr> > {
-    static const size_t Count =1;
-};
-
-/// specialisation of the \ref LeafCount struct when the node type is TensorReductionOp
-template <typename OP, typename Dim, typename Expr>
-struct LeafCount<TensorReductionOp<OP, Dim, Expr> >: LeafCount<const TensorReductionOp<OP, Dim, Expr> >{};
-
-/// specialisation of the \ref LeafCount struct when the node type is TensorEvalToOp
-template <typename Expr>
-struct LeafCount<TensorEvalToOp<Expr> >: LeafCount<const TensorEvalToOp<Expr> >{};
-
-} /// namespace TensorSycl
-} /// namespace internal
-} /// namespace Eigen
-
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_LEAF_COUNT_HPP
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclPlaceHolderExpr.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclPlaceHolderExpr.h
deleted file mode 100644
index d4c250c6dd35be..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclPlaceHolderExpr.h
+++ /dev/null
@@ -1,181 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensorSyclPlaceHolderExpr.h
- *
- * \brief:
- *  This is the specialisation of the placeholder expression based on the
- * operation type
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_PLACEHOLDER_EXPR_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_PLACEHOLDER_EXPR_HPP
-
-namespace Eigen {
-namespace TensorSycl {
-namespace internal {
-
-/// \struct PlaceHolder
-/// \brief PlaceHolder is used to replace the \ref TensorMap in the expression
-/// tree.
-/// PlaceHolder contains the order of the leaf node in the expression tree.
-template <typename Scalar, size_t N>
-struct PlaceHolder {
-  static constexpr size_t I = N;
-  typedef Scalar Type;
-};
-
-/// \sttruct PlaceHolderExpression
-/// \brief it is used to create the PlaceHolder expression. The PlaceHolder
-/// expression is a copy of expression type in which the TensorMap of the has
-/// been replaced with PlaceHolder.
-template <typename Expr, size_t N>
-struct PlaceHolderExpression;
-
-template<size_t N, typename... Args>
-struct CalculateIndex;
-
-template<size_t N, typename Arg>
-struct CalculateIndex<N, Arg>{
-  typedef typename PlaceHolderExpression<Arg, N>::Type ArgType;
-  typedef utility::tuple::Tuple<ArgType> ArgsTuple;
-};
-
-template<size_t N, typename Arg1, typename Arg2>
-struct CalculateIndex<N, Arg1, Arg2>{
-  static const size_t Arg2LeafCount = LeafCount<Arg2>::Count;
-  typedef typename PlaceHolderExpression<Arg1, N - Arg2LeafCount>::Type Arg1Type;
-  typedef typename PlaceHolderExpression<Arg2, N>::Type Arg2Type;
-  typedef utility::tuple::Tuple<Arg1Type, Arg2Type> ArgsTuple;
-};
-
-template<size_t N, typename Arg1, typename Arg2, typename Arg3>
-struct CalculateIndex<N, Arg1, Arg2, Arg3> {
-  static const size_t Arg3LeafCount = LeafCount<Arg3>::Count;
-  static const size_t Arg2LeafCount = LeafCount<Arg2>::Count;
-  typedef typename PlaceHolderExpression<Arg1, N - Arg3LeafCount - Arg2LeafCount>::Type Arg1Type;
-  typedef typename PlaceHolderExpression<Arg2, N - Arg3LeafCount>::Type Arg2Type;
-  typedef typename PlaceHolderExpression<Arg3, N>::Type Arg3Type;
-  typedef utility::tuple::Tuple<Arg1Type, Arg2Type, Arg3Type> ArgsTuple;
-};
-
-template<template<class...> class Category , class OP, class TPL>
-struct CategoryHelper;
-
-template<template<class...> class Category , class OP, class ...T >
-struct CategoryHelper<Category, OP, utility::tuple::Tuple<T...> > {
-  typedef Category<OP, T... > Type;
-};
-
-template<template<class...> class Category , class ...T >
-struct CategoryHelper<Category, NoOP, utility::tuple::Tuple<T...> > {
-  typedef Category<T... > Type;
-};
-
-/// specialisation of the \ref PlaceHolderExpression when the node is
-/// TensorCwiseNullaryOp, TensorCwiseUnaryOp, TensorBroadcastingOp, TensorCwiseBinaryOp,  TensorCwiseTernaryOp
-#define OPEXPRCATEGORY(CVQual)\
-template <template <class, class... > class Category, typename OP, typename... SubExpr, size_t N>\
-struct PlaceHolderExpression<CVQual Category<OP, SubExpr...>, N>{\
-  typedef CVQual typename CategoryHelper<Category, OP, typename CalculateIndex<N, SubExpr...>::ArgsTuple>::Type Type;\
-};
-
-OPEXPRCATEGORY(const)
-OPEXPRCATEGORY()
-#undef OPEXPRCATEGORY
-
-/// specialisation of the \ref PlaceHolderExpression when the node is
-/// TensorCwiseSelectOp
-#define SELECTEXPR(CVQual)\
-template <typename IfExpr, typename ThenExpr, typename ElseExpr, size_t N>\
-struct PlaceHolderExpression<CVQual TensorSelectOp<IfExpr, ThenExpr, ElseExpr>, N> {\
-  typedef CVQual typename CategoryHelper<TensorSelectOp, NoOP, typename CalculateIndex<N, IfExpr, ThenExpr, ElseExpr>::ArgsTuple>::Type Type;\
-};
-
-SELECTEXPR(const)
-SELECTEXPR()
-#undef SELECTEXPR
-
-/// specialisation of the \ref PlaceHolderExpression when the node is
-/// TensorAssignOp
-#define ASSIGNEXPR(CVQual)\
-template <typename LHSExpr, typename RHSExpr, size_t N>\
-struct PlaceHolderExpression<CVQual TensorAssignOp<LHSExpr, RHSExpr>, N> {\
-  typedef CVQual typename CategoryHelper<TensorAssignOp, NoOP, typename CalculateIndex<N, LHSExpr, RHSExpr>::ArgsTuple>::Type Type;\
-};
-
-ASSIGNEXPR(const)
-ASSIGNEXPR()
-#undef ASSIGNEXPR
-
-/// specialisation of the \ref PlaceHolderExpression when the node is
-/// TensorMap
-#define TENSORMAPEXPR(CVQual)\
-template <typename Scalar_, int Options_, int Options2_, int NumIndices_, typename IndexType_, template <class> class MakePointer_, size_t N>\
-struct PlaceHolderExpression< CVQual TensorMap< Tensor<Scalar_, NumIndices_, Options_, IndexType_>, Options2_, MakePointer_>, N> {\
-  typedef CVQual PlaceHolder<CVQual TensorMap<Tensor<Scalar_, NumIndices_, Options_, IndexType_>, Options2_, MakePointer_>, N> Type;\
-};
-
-TENSORMAPEXPR(const)
-TENSORMAPEXPR()
-#undef TENSORMAPEXPR
-
-/// specialisation of the \ref PlaceHolderExpression when the node is
-/// TensorForcedEvalOp
-#define FORCEDEVAL(CVQual)\
-template <typename Expr, size_t N>\
-struct PlaceHolderExpression<CVQual TensorForcedEvalOp<Expr>, N> {\
-  typedef CVQual PlaceHolder<CVQual TensorForcedEvalOp<Expr>, N> Type;\
-};
-
-FORCEDEVAL(const)
-FORCEDEVAL()
-#undef FORCEDEVAL
-
-/// specialisation of the \ref PlaceHolderExpression when the node is
-/// TensorEvalToOp
-#define EVALTO(CVQual)\
-template <typename Expr, size_t N>\
-struct PlaceHolderExpression<CVQual TensorEvalToOp<Expr>, N> {\
-  typedef CVQual TensorEvalToOp<typename CalculateIndex <N, Expr>::ArgType> Type;\
-};
-
-EVALTO(const)
-EVALTO()
-#undef EVALTO
-
-
-/// specialisation of the \ref PlaceHolderExpression when the node is
-/// TensorReductionOp
-#define SYCLREDUCTION(CVQual)\
-template <typename OP, typename Dims, typename Expr, size_t N>\
-struct PlaceHolderExpression<CVQual TensorReductionOp<OP, Dims, Expr>, N>{\
-  typedef CVQual PlaceHolder<CVQual TensorReductionOp<OP, Dims,Expr>, N> Type;\
-};
-SYCLREDUCTION(const)
-SYCLREDUCTION()
-#undef SYCLREDUCTION
-
-/// template deduction for \ref PlaceHolderExpression struct
-template <typename Expr>
-struct createPlaceHolderExpression {
-  static const size_t TotalLeaves = LeafCount<Expr>::Count;
-  typedef typename PlaceHolderExpression<Expr, TotalLeaves - 1>::Type Type;
-};
-
-}  // internal
-}  // TensorSycl
-}  // namespace Eigen
-
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_PLACEHOLDER_EXPR_HPP
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h
deleted file mode 100644
index 7914b6fad64d7e..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h
+++ /dev/null
@@ -1,70 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Cummins Chris PhD student at The University of Edinburgh.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensorSyclRun.h
- *
- * \brief:
- * Schedule_kernel invoke an specialised version of kernel struct. The
- * specialisation is based on the data dimension in sycl buffer
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_SYCLRUN_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_SYCLRUN_HPP
-
-namespace Eigen {
-namespace TensorSycl {
-/// The run function in tensor sycl convert the expression tree to a buffer
-/// based expression tree;
-/// creates the expression tree for the device with accessor to buffers;
-/// construct the kernel and submit it to the sycl queue.
-template <typename Expr, typename Dev>
-void run(Expr &expr, Dev &dev) {
-  Eigen::TensorEvaluator<Expr, Dev> evaluator(expr, dev);
-  const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL);
-  if (needs_assign) {
-    typedef  typename internal::createPlaceHolderExpression<Expr>::Type PlaceHolderExpr;
-    auto functors = internal::extractFunctors(evaluator);
-
-    size_t tileSize =dev.m_queue.get_device(). template get_info<cl::sycl::info::device::max_work_group_size>()/2;
-    dev.m_queue.submit([&](cl::sycl::handler &cgh) {
-
-      // create a tuple of accessors from Evaluator
-      auto tuple_of_accessors = internal::createTupleOfAccessors<decltype(evaluator)>(cgh, evaluator);
-      const auto range = utility::tuple::get<0>(tuple_of_accessors).get_range()[0];
-      size_t GRange=range;
-      if (tileSize>GRange) tileSize=GRange;
-      else if(GRange>tileSize){
-        size_t xMode = GRange % tileSize;
-        if (xMode != 0) GRange += (tileSize - xMode);
-      }
-      // run the kernel
-      cgh.parallel_for<PlaceHolderExpr>( cl::sycl::nd_range<1>(cl::sycl::range<1>(GRange), cl::sycl::range<1>(tileSize)), [=](cl::sycl::nd_item<1> itemID) {
-        typedef  typename internal::ConvertToDeviceExpression<Expr>::Type DevExpr;
-        auto device_expr =internal::createDeviceExpression<DevExpr, PlaceHolderExpr>(functors, tuple_of_accessors);
-        auto device_evaluator = Eigen::TensorEvaluator<decltype(device_expr.expr), Eigen::DefaultDevice>(device_expr.expr, Eigen::DefaultDevice());
-        if (itemID.get_global_linear_id() < range) {
-          device_evaluator.evalScalar(static_cast<int>(itemID.get_global_linear_id()));
-        }
-      });
-    });
-    dev.m_queue.throw_asynchronous();
-  }
-
-  evaluator.cleanup();
-}
-}  // namespace TensorSycl
-}  // namespace Eigen
-
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_SYCLRUN_HPP
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h
deleted file mode 100644
index 063b027e8ab3b6..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h
+++ /dev/null
@@ -1,234 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Mehdi Goli    Codeplay Software Ltd.
-// Ralph Potter  Codeplay Software Ltd.
-// Luke Iwanski  Codeplay Software Ltd.
-// Contact: <eigen@codeplay.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-/*****************************************************************
- * TensroSyclTuple.h
- *
- * \brief:
- *  Minimal implementation of std::tuple that can be used inside a SYCL kernel.
- *
-*****************************************************************/
-
-#ifndef UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_TUPLE_HPP
-#define UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_TUPLE_HPP
-namespace utility {
-namespace tuple {
-/// \struct StaticIf
-/// \brief The StaticIf struct is used to statically choose the type based on the
-/// condition.
-template <bool, typename T = void> struct StaticIf;
-/// \brief specialisation of the \ref StaticIf when the condition is true
-template <typename T>
-struct StaticIf<true, T> {
-  typedef T type;
-};
-
-/// \struct Tuple
-/// \brief is a fixed-size collection of heterogeneous values
-/// \ztparam Ts...	-	the types of the elements that the tuple stores.
-/// Empty list is supported.
-template <class... Ts>
-struct Tuple {};
-
-/// \brief specialisation of the \ref Tuple class when the tuple has at least
-/// one element.
-/// \tparam T : the type of the first element in the tuple.
-/// \tparam Ts... the rest of the elements in the tuple. Ts... can be empty.
-template <class T, class... Ts>
-struct Tuple<T, Ts...> {
-  Tuple(T t, Ts... ts) : head(t), tail(ts...) {}
-  T head;
-  Tuple<Ts...> tail;
-};
-
-///\ struct ElemTypeHolder
-/// \brief ElemTypeHolder class is used to specify the types of the
-/// elements inside the tuple
-/// \tparam size_t the number of elements inside the tuple
-/// \tparam class the tuple class
-template <size_t, class>
-struct ElemTypeHolder;
-
-/// \brief specialisation of the \ref ElemTypeHolder class when the number of
-/// elements inside the tuple is 1
-template <class T, class... Ts>
-struct ElemTypeHolder<0, Tuple<T, Ts...> > {
-  typedef T type;
-};
-
-/// \brief specialisation of the \ref ElemTypeHolder class when the number of
-/// elements inside the tuple is bigger than 1. It recursively calls itself to
-/// detect the type of each element in the tuple
-/// \tparam T : the type of the first element in the tuple.
-/// \tparam Ts... the rest of the elements in the tuple. Ts... can be empty.
-/// \tparam K is the Kth element in the tuple
-template <size_t k, class T, class... Ts>
-struct ElemTypeHolder<k, Tuple<T, Ts...> > {
-  typedef typename ElemTypeHolder<k - 1, Tuple<Ts...> >::type type;
-};
-
-/// get
-/// \brief Extracts the first element from the tuple.
-/// K=0 represents the first element of the tuple. The tuple cannot be empty.
-/// \tparam Ts... are the type of the elements in the tuple.
-/// \param t is the tuple whose contents to extract
-/// \return  typename ElemTypeHolder<0, Tuple<Ts...> >::type &>::type
-
-#define TERMINATE_CONDS_TUPLE_GET(CVQual) \
-template <size_t k, class... Ts> \
-typename StaticIf<k == 0, CVQual typename ElemTypeHolder<0, Tuple<Ts...> >::type &>::type \
-get(CVQual Tuple<Ts...> &t) { \
-  static_assert(sizeof...(Ts)!=0, "The requseted value is bigger than the size of the tuple"); \
-  return t.head; \
-}
-
-TERMINATE_CONDS_TUPLE_GET(const)
-TERMINATE_CONDS_TUPLE_GET()
-#undef TERMINATE_CONDS_TUPLE_GET
-/// get
-/// \brief Extracts the Kth element from the tuple.
-///\tparam K is an integer value in [0,sizeof...(Types)).
-/// \tparam T is the (sizeof...(Types) -(K+1)) element in the tuple
-/// \tparam Ts... are the type of the elements  in the tuple.
-/// \param t is the tuple whose contents to extract
-/// \return  typename ElemTypeHolder<K, Tuple<Ts...> >::type &>::type
-#define RECURSIVE_TUPLE_GET(CVQual) \
-template <size_t k, class T, class... Ts> \
-typename StaticIf<k != 0, CVQual typename ElemTypeHolder<k, Tuple<T, Ts...> >::type &>::type \
-get(CVQual Tuple<T, Ts...> &t) { \
-  return utility::tuple::get<k - 1>(t.tail); \
-}
-RECURSIVE_TUPLE_GET(const)
-RECURSIVE_TUPLE_GET()
-#undef RECURSIVE_TUPLE_GET
-
-/// make_tuple
-/// \brief Creates a tuple object, deducing the target type from the types of
-/// arguments.
-/// \tparam Args the type of the arguments to construct the tuple from
-/// \param args zero or more arguments to construct the tuple from
-/// \return Tuple<Args...>
-template <typename... Args>
-Tuple<Args...> make_tuple(Args... args) {
-  return Tuple<Args...>(args...);
-}
-
-/// size
-/// \brief Provides access to the number of elements in a tuple as a
-/// compile-time constant expression.
-/// \tparam Args the type of the arguments to construct the tuple from
-/// \return size_t
-template <typename... Args>
-static constexpr size_t size(Tuple<Args...> &) {
-  return sizeof...(Args);
-}
-
-/// \struct IndexList
-/// \brief Creates a list of index from the elements in the tuple
-/// \tparam Is... a list of index from [0 to sizeof...(tuple elements))
-template <size_t... Is>
-struct IndexList {};
-
-/// \struct RangeBuilder
-/// \brief Collects internal details for generating index ranges [MIN, MAX)
-/// Declare primary template for index range builder
-/// \tparam MIN is the starting index in the tuple
-/// \tparam N represents sizeof..(elemens)- sizeof...(Is)
-/// \tparam Is... are the list of generated index so far
-template <size_t MIN, size_t N, size_t... Is>
-struct RangeBuilder;
-
-/// \brief base Step: Specialisation of the \ref RangeBuilder when the
-/// MIN==MAX. In this case the Is... is [0 to sizeof...(tuple elements))
-/// \tparam MIN is the starting index of the tuple
-/// \tparam Is is [0 to sizeof...(tuple elements))
-template <size_t MIN, size_t... Is>
-struct RangeBuilder<MIN, MIN, Is...> {
-  typedef IndexList<Is...> type;
-};
-
-/// Induction step: Specialisation of the RangeBuilder class when N!=MIN
-/// in this case we are recursively subtracting N by one and adding one
-/// index to Is... list until MIN==N
-/// \tparam MIN is the starting index in the tuple
-/// \tparam N represents sizeof..(elemens)- sizeof...(Is)
-/// \tparam Is... are the list of generated index so far
-template <size_t MIN, size_t N, size_t... Is>
-struct RangeBuilder : public RangeBuilder<MIN, N - 1, N - 1, Is...> {};
-
-/// \brief IndexRange that returns a [MIN, MAX) index range
-/// \tparam MIN is the starting index in the tuple
-/// \tparam MAX is the size of the tuple
-template <size_t MIN, size_t MAX>
-struct IndexRange: RangeBuilder<MIN, MAX>::type {};
-
-/// append_base
-/// \brief unpacking the elements of the input tuple t and creating a new tuple
-/// by adding element a at the end of it.
-///\tparam Args... the type of the elements inside the tuple t
-/// \tparam T the type of the new element going to be added at the end of tuple
-/// \tparam I... is the list of index from [0 to sizeof...(t))
-/// \param t the tuple on which we want to append a.
-/// \param a the new elements going to be added to the tuple
-/// \return Tuple<Args..., T>
-template <typename... Args, typename T, size_t... I>
-Tuple<Args..., T> append_base(Tuple<Args...> t, T a,IndexList<I...>) {
-  return utility::tuple::make_tuple(get<I>(t)..., a);
-}
-
-/// append
-/// \brief the deduction function for \ref append_base that automatically
-/// generate the \ref IndexRange
-///\tparam Args... the type of the elements inside the tuple t
-/// \tparam T the type of the new element going to be added at the end of tuple
-/// \param t the tuple on which we want to append a.
-/// \param a the new elements going to be added to the tuple
-/// \return Tuple<Args..., T>
-template <typename... Args, typename T>
-Tuple<Args..., T> append(Tuple<Args...> t, T a) {
-  return utility::tuple::append_base(t, a,  IndexRange<0, sizeof...(Args)>());
-}
-
-/// append_base
-/// \brief This is a specialisation of \ref append_base when we want to
-/// concatenate
-/// tuple t2 at the end of the tuple t1. Here we unpack both tuples, generate the
-/// IndexRange for each of them and create an output tuple T that contains both
-/// elements of t1 and t2.
-///\tparam Args1... the type of the elements inside the tuple t1
-///\tparam Args2... the type of the elements inside the tuple t2
-/// \tparam I1... is the list of index from [0 to sizeof...(t1))
-/// \tparam I2... is the list of index from [0 to sizeof...(t2))
-/// \param t1 is the tuple on which we want to append t2.
-/// \param t2 is the tuple that is going to be added on t1.
-/// \return Tuple<Args1..., Args2...>
-template <typename... Args1, typename... Args2, size_t... I1, size_t... I2>
-Tuple<Args1..., Args2...> append_base(Tuple<Args1...> t1, Tuple<Args2...> t2, IndexList<I1...>, IndexList<I2...>) {
-  return utility::tuple::make_tuple(get<I1>(t1)...,get<I2>(t2)...);
-}
-
-/// append
-/// \brief deduction function for \ref append_base when we are appending tuple
-/// t1 by tuple t2. In this case the \ref IndexRange for both tuple are
-/// automatically generated.
-///\tparam Args1... the type of the elements inside the tuple t1
-///\tparam Args2... the type of the elements inside the tuple t2
-/// \param t1 is the tuple on which we want to append t2.
-/// \param t2 is the tuple that is going to be added on t1.
-/// \return Tuple<Args1..., Args2...>
-template <typename... Args1, typename... Args2>
-Tuple<Args1..., Args2...> append(Tuple<Args1...> t1,Tuple<Args2...> t2) {
-  return utility::tuple::append_base(t1, t2, IndexRange<0, sizeof...(Args1)>(), IndexRange<0, sizeof...(Args2)>());
-}
-}  // tuple
-}  // utility
-#endif  // UNSUPPORTED_EIGEN_CXX11_SRC_TENSOR_TENSORSYCL_TUPLE_HPP
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h
deleted file mode 100644
index ffcf8b00f3c071..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h
+++ /dev/null
@@ -1,272 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_TRAITS_H
-#define EIGEN_CXX11_TENSOR_TENSOR_TRAITS_H
-
-namespace Eigen {
-namespace internal {
-
-
-template<typename Scalar, int Options>
-class compute_tensor_flags
-{
-  enum {
-    is_dynamic_size_storage = 1,
-
-    is_aligned =
-    (
-        ((Options&DontAlign)==0) && (
-#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
-            (!is_dynamic_size_storage)
-#else
-            0
-#endif
-            |
-#if EIGEN_MAX_ALIGN_BYTES>0
-            is_dynamic_size_storage
-#else
-            0
-#endif
-      )
-     ),
-    packet_access_bit = packet_traits<Scalar>::Vectorizable && is_aligned ? PacketAccessBit : 0
-  };
-
-  public:
-    enum { ret = packet_access_bit };
-};
-
-
-template<typename Scalar_, int NumIndices_, int Options_, typename IndexType_>
-struct traits<Tensor<Scalar_, NumIndices_, Options_, IndexType_> >
-{
-  typedef Scalar_ Scalar;
-  typedef Dense StorageKind;
-  typedef IndexType_ Index;
-  static const int NumDimensions = NumIndices_;
-  static const int Layout = Options_ & RowMajor ? RowMajor : ColMajor;
-  enum {
-    Options = Options_,
-    Flags = compute_tensor_flags<Scalar_, Options_>::ret | (is_const<Scalar_>::value ? 0 : LvalueBit)
-  };
-  template <typename T> struct MakePointer {
-    typedef T* Type;
-  };
-};
-
-
-template<typename Scalar_, typename Dimensions, int Options_, typename IndexType_>
-struct traits<TensorFixedSize<Scalar_, Dimensions, Options_, IndexType_> >
-{
-  typedef Scalar_ Scalar;
-  typedef Dense StorageKind;
-  typedef IndexType_ Index;
-  static const int NumDimensions = array_size<Dimensions>::value;
-  static const int Layout = Options_ & RowMajor ? RowMajor : ColMajor;
-  enum {
-    Options = Options_,
-    Flags = compute_tensor_flags<Scalar_, Options_>::ret | (is_const<Scalar_>::value ? 0: LvalueBit)
-  };
-  template <typename T> struct MakePointer {
-    typedef T* Type;
-  };
-};
-
-
-template<typename PlainObjectType, int Options_, template <class> class MakePointer_>
-struct traits<TensorMap<PlainObjectType, Options_, MakePointer_> >
-  : public traits<PlainObjectType>
-{
-  typedef traits<PlainObjectType> BaseTraits;
-  typedef typename BaseTraits::Scalar Scalar;
-  typedef typename BaseTraits::StorageKind StorageKind;
-  typedef typename BaseTraits::Index Index;
-  static const int NumDimensions = BaseTraits::NumDimensions;
-  static const int Layout = BaseTraits::Layout;
-  enum {
-    Options = Options_,
-    Flags = BaseTraits::Flags
-  };
-  template <class T> struct MakePointer {
-    // Intermediate typedef to workaround MSVC issue.
-    typedef MakePointer_<T> MakePointerT;
-    typedef typename MakePointerT::Type Type;
-  };
-};
-
-template<typename PlainObjectType>
-struct traits<TensorRef<PlainObjectType> >
-  : public traits<PlainObjectType>
-{
-  typedef traits<PlainObjectType> BaseTraits;
-  typedef typename BaseTraits::Scalar Scalar;
-  typedef typename BaseTraits::StorageKind StorageKind;
-  typedef typename BaseTraits::Index Index;
-  static const int NumDimensions = BaseTraits::NumDimensions;
-  static const int Layout = BaseTraits::Layout;
-  enum {
-    Options = BaseTraits::Options,
-    Flags = BaseTraits::Flags
-  };
-};
-
-
-template<typename _Scalar, int NumIndices_, int Options, typename IndexType_>
-struct eval<Tensor<_Scalar, NumIndices_, Options, IndexType_>, Eigen::Dense>
-{
-  typedef const Tensor<_Scalar, NumIndices_, Options, IndexType_>& type;
-};
-
-template<typename _Scalar, int NumIndices_, int Options, typename IndexType_>
-struct eval<const Tensor<_Scalar, NumIndices_, Options, IndexType_>, Eigen::Dense>
-{
-  typedef const Tensor<_Scalar, NumIndices_, Options, IndexType_>& type;
-};
-
-template<typename Scalar_, typename Dimensions, int Options, typename IndexType_>
-struct eval<TensorFixedSize<Scalar_, Dimensions, Options, IndexType_>, Eigen::Dense>
-{
-  typedef const TensorFixedSize<Scalar_, Dimensions, Options, IndexType_>& type;
-};
-
-template<typename Scalar_, typename Dimensions, int Options, typename IndexType_>
-struct eval<const TensorFixedSize<Scalar_, Dimensions, Options, IndexType_>, Eigen::Dense>
-{
-  typedef const TensorFixedSize<Scalar_, Dimensions, Options, IndexType_>& type;
-};
-
-template<typename PlainObjectType, int Options, template <class> class MakePointer>
-struct eval<TensorMap<PlainObjectType, Options, MakePointer>, Eigen::Dense>
-{
-  typedef const TensorMap<PlainObjectType, Options, MakePointer>& type;
-};
-
-template<typename PlainObjectType, int Options, template <class> class MakePointer>
-struct eval<const TensorMap<PlainObjectType, Options, MakePointer>, Eigen::Dense>
-{
-  typedef const TensorMap<PlainObjectType, Options, MakePointer>& type;
-};
-
-template<typename PlainObjectType>
-struct eval<TensorRef<PlainObjectType>, Eigen::Dense>
-{
-  typedef const TensorRef<PlainObjectType>& type;
-};
-
-template<typename PlainObjectType>
-struct eval<const TensorRef<PlainObjectType>, Eigen::Dense>
-{
-  typedef const TensorRef<PlainObjectType>& type;
-};
-
-// TODO nested<> does not exist anymore in Eigen/Core, and it thus has to be removed in favor of ref_selector.
-template<typename T, int n=1, typename PlainObject = void> struct nested
-{
-  typedef typename ref_selector<T>::type type;
-};
-
-template <typename Scalar_, int NumIndices_, int Options_, typename IndexType_>
-struct nested<Tensor<Scalar_, NumIndices_, Options_, IndexType_> >
-{
-  typedef const Tensor<Scalar_, NumIndices_, Options_, IndexType_>& type;
-};
-
-template <typename Scalar_, int NumIndices_, int Options_, typename IndexType_>
-struct nested<const Tensor<Scalar_, NumIndices_, Options_, IndexType_> >
-{
-  typedef const Tensor<Scalar_, NumIndices_, Options_, IndexType_>& type;
-};
-
-template <typename Scalar_, typename Dimensions, int Options, typename IndexType_>
-struct nested<TensorFixedSize<Scalar_, Dimensions, Options, IndexType_> >
-{
-  typedef const TensorFixedSize<Scalar_, Dimensions, Options, IndexType_>& type;
-};
-
-template <typename Scalar_, typename Dimensions, int Options, typename IndexType_>
-struct nested<const TensorFixedSize<Scalar_, Dimensions, Options, IndexType_> >
-{
-  typedef const TensorFixedSize<Scalar_, Dimensions, Options, IndexType_>& type;
-};
-
-
-template <typename PlainObjectType, int Options, template <class> class MakePointer>
-struct nested<TensorMap<PlainObjectType, Options, MakePointer> >
-{
-  typedef const TensorMap<PlainObjectType, Options, MakePointer>& type;
-};
-
-template <typename PlainObjectType, int Options, template <class> class MakePointer>
-struct nested<const TensorMap<PlainObjectType, Options, MakePointer> >
-{
-  typedef const TensorMap<PlainObjectType, Options, MakePointer>& type;
-};
-
-template <typename PlainObjectType>
-struct nested<TensorRef<PlainObjectType> >
-{
-  typedef const TensorRef<PlainObjectType>& type;
-};
-
-template <typename PlainObjectType>
-struct nested<const TensorRef<PlainObjectType> >
-{
-  typedef const TensorRef<PlainObjectType>& type;
-};
-
-}  // end namespace internal
-
-// Convolutional layers take in an input tensor of shape (D, R, C, B), or (D, C,
-// R, B), and convolve it with a set of filters, which can also be presented as
-// a tensor (D, K, K, M), where M is the number of filters, K is the filter
-// size, and each 3-dimensional tensor of size (D, K, K) is a filter. For
-// simplicity we assume that we always use square filters (which is usually the
-// case in images), hence the two Ks in the tensor dimension.  It also takes in
-// a few additional parameters:
-// Stride (S): The convolution stride is the offset between locations where we
-//             apply the filters.  A larger stride means that the output will be
-//             spatially smaller.
-// Padding (P): The padding we apply to the input tensor along the R and C
-//              dimensions.  This is usually used to make sure that the spatial
-//              dimensions of the output matches our intention.
-//
-// Two types of padding are often used:
-//   SAME: The pad value is computed so that the output will have size
-//         R/S and C/S.
-//   VALID: no padding is carried out.
-// When we do padding, the padded values at the padded locations are usually
-// zero.
-//
-// The output dimensions for convolution, when given all the parameters above,
-// are as follows:
-// When Padding = SAME: the output size is (B, R', C', M), where
-//   R' = ceil(float(R) / float(S))
-//   C' = ceil(float(C) / float(S))
-// where ceil is the ceiling function.  The input tensor is padded with 0 as
-// needed.  The number of padded rows and columns are computed as:
-//   Pr = ((R' - 1) * S + K - R) / 2
-//   Pc = ((C' - 1) * S + K - C) / 2
-// when the stride is 1, we have the simplified case R'=R, C'=C, Pr=Pc=(K-1)/2.
-// This is where SAME comes from - the output has the same size as the input has.
-// When Padding = VALID: the output size is computed as
-//   R' = ceil(float(R - K + 1) / float(S))
-//   C' = ceil(float(C - K + 1) / float(S))
-// and the number of padded rows and columns are computed in the same way as in
-// the SAME case.
-// When the stride is 1, we have the simplified case R'=R-K+1, C'=C-K+1, Pr=0,
-// Pc=0.
-typedef enum {
-  PADDING_VALID = 1,
-  PADDING_SAME = 2
-} PaddingType;
-
-}  // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_TRAITS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h
deleted file mode 100644
index 3523e7c94519c1..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h
+++ /dev/null
@@ -1,248 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_UINT128_H
-#define EIGEN_CXX11_TENSOR_TENSOR_UINT128_H
-
-namespace Eigen {
-namespace internal {
-
-
-template <uint64_t n>
-struct static_val {
-  static const uint64_t value = n;
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE operator uint64_t() const { return n; }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE static_val() { }
-
-  template <typename T>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE static_val(const T& v) {
-    eigen_assert(v == n);
-  }
-};
-
-
-template <typename HIGH = uint64_t, typename LOW = uint64_t>
-struct TensorUInt128
-{
-  HIGH high;
-  LOW low;
-
-  template<typename OTHER_HIGH, typename OTHER_LOW>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-  TensorUInt128(const TensorUInt128<OTHER_HIGH, OTHER_LOW>& other) : high(other.high), low(other.low) {
-    EIGEN_STATIC_ASSERT(sizeof(OTHER_HIGH) <= sizeof(HIGH), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    EIGEN_STATIC_ASSERT(sizeof(OTHER_LOW) <= sizeof(LOW), YOU_MADE_A_PROGRAMMING_MISTAKE);
-  }
-
-  template<typename OTHER_HIGH, typename OTHER_LOW>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-  TensorUInt128& operator = (const TensorUInt128<OTHER_HIGH, OTHER_LOW>& other) {
-    EIGEN_STATIC_ASSERT(sizeof(OTHER_HIGH) <= sizeof(HIGH), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    EIGEN_STATIC_ASSERT(sizeof(OTHER_LOW) <= sizeof(LOW), YOU_MADE_A_PROGRAMMING_MISTAKE);
-    high = other.high;
-    low = other.low;
-    return *this;
-  }
-
-  template<typename T>
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-  explicit TensorUInt128(const T& x) : high(0), low(x) {
-    eigen_assert((static_cast<typename conditional<sizeof(T) == 8, uint64_t, uint32_t>::type>(x) <= NumTraits<uint64_t>::highest()));
-    eigen_assert(x >= 0);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-  TensorUInt128(HIGH y, LOW x) : high(y), low(x) { }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE operator LOW() const {
-    return low;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE LOW lower() const {
-    return low;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HIGH upper() const {
-    return high;
-  }
-};
-
-
-template <typename HL, typename LL, typename HR, typename LR>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool operator == (const TensorUInt128<HL, LL>& lhs, const TensorUInt128<HR, LR>& rhs)
-{
-  return (lhs.high == rhs.high) & (lhs.low == rhs.low);
-}
-
-template <typename HL, typename LL, typename HR, typename LR>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool operator != (const TensorUInt128<HL, LL>& lhs, const TensorUInt128<HR, LR>& rhs)
-{
-  return (lhs.high != rhs.high) | (lhs.low != rhs.low);
-}
-
-template <typename HL, typename LL, typename HR, typename LR>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool operator >= (const TensorUInt128<HL, LL>& lhs, const TensorUInt128<HR, LR>& rhs)
-{
-  if (lhs.high != rhs.high) {
-    return lhs.high > rhs.high;
-  }
-  return lhs.low >= rhs.low;
-}
-
-template <typename HL, typename LL, typename HR, typename LR>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool operator < (const TensorUInt128<HL, LL>& lhs, const TensorUInt128<HR, LR>& rhs)
-{
-  if (lhs.high != rhs.high) {
-    return lhs.high < rhs.high;
-  }
-  return lhs.low < rhs.low;
-}
-
-template <typename HL, typename LL, typename HR, typename LR>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-TensorUInt128<uint64_t, uint64_t> operator + (const TensorUInt128<HL, LL>& lhs, const TensorUInt128<HR, LR>& rhs)
-{
-  TensorUInt128<uint64_t, uint64_t> result(lhs.high + rhs.high, lhs.low + rhs.low);
-  if (result.low < rhs.low) {
-    result.high += 1;
-  }
-  return result;
-}
-
-template <typename HL, typename LL, typename HR, typename LR>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-TensorUInt128<uint64_t, uint64_t> operator - (const TensorUInt128<HL, LL>& lhs, const TensorUInt128<HR, LR>& rhs)
-{
-  TensorUInt128<uint64_t, uint64_t> result(lhs.high - rhs.high, lhs.low - rhs.low);
-  if (result.low > lhs.low) {
-    result.high -= 1;
-  }
-  return result;
-}
-
-
-template <typename HL, typename LL, typename HR, typename LR>
-static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-TensorUInt128<uint64_t, uint64_t> operator * (const TensorUInt128<HL, LL>& lhs, const TensorUInt128<HR, LR>& rhs)
-{
-  // Split each 128-bit integer into 4 32-bit integers, and then do the
-  // multiplications by hand as follow:
-  //   lhs      a  b  c  d
-  //   rhs      e  f  g  h
-  //           -----------
-  //           ah bh ch dh
-  //           bg cg dg
-  //           cf df
-  //           de
-  // The result is stored in 2 64bit integers, high and low.
-
-  const uint64_t LOW = 0x00000000FFFFFFFFLL;
-  const uint64_t HIGH = 0xFFFFFFFF00000000LL;
-
-  uint64_t d = lhs.low & LOW;
-  uint64_t c = (lhs.low & HIGH) >> 32LL;
-  uint64_t b = lhs.high & LOW;
-  uint64_t a = (lhs.high & HIGH) >> 32LL;
-
-  uint64_t h = rhs.low & LOW;
-  uint64_t g = (rhs.low & HIGH) >> 32LL;
-  uint64_t f = rhs.high & LOW;
-  uint64_t e = (rhs.high & HIGH) >> 32LL;
-
-  // Compute the low 32 bits of low
-  uint64_t acc = d * h;
-  uint64_t low = acc & LOW;
-  //  Compute the high 32 bits of low. Add a carry every time we wrap around
-  acc >>= 32LL;
-  uint64_t carry = 0;
-  uint64_t acc2 = acc + c * h;
-  if (acc2 < acc) {
-    carry++;
-  }
-  acc = acc2 + d * g;
-  if (acc < acc2) {
-    carry++;
-  }
-  low |= (acc << 32LL);
-
-  // Carry forward the high bits of acc to initiate the computation of the
-  // low 32 bits of high
-  acc2 = (acc >> 32LL) | (carry << 32LL);
-  carry = 0;
-
-  acc = acc2 + b * h;
-  if (acc < acc2) {
-    carry++;
-  }
-  acc2 = acc + c * g;
-  if (acc2 < acc) {
-    carry++;
-  }
-  acc = acc2 + d * f;
-  if (acc < acc2) {
-    carry++;
-  }
-  uint64_t high = acc & LOW;
-
-  // Start to compute the high 32 bits of high.
-  acc2 = (acc >> 32LL) | (carry << 32LL);
-
-  acc = acc2 + a * h;
-  acc2 = acc + b * g;
-  acc = acc2 + c * f;
-  acc2 = acc + d * e;
-  high |= (acc2 << 32LL);
-
-  return TensorUInt128<uint64_t, uint64_t>(high, low);
-}
-
-template <typename HL, typename LL, typename HR, typename LR>
-static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-TensorUInt128<uint64_t, uint64_t> operator / (const TensorUInt128<HL, LL>& lhs, const TensorUInt128<HR, LR>& rhs)
-{
-  if (rhs == TensorUInt128<static_val<0>, static_val<1> >(1)) {
-    return TensorUInt128<uint64_t, uint64_t>(lhs.high, lhs.low);
-  } else if (lhs < rhs) {
-    return TensorUInt128<uint64_t, uint64_t>(0);
-  } else {
-    // calculate the biggest power of 2 times rhs that's less than or equal to lhs
-    TensorUInt128<uint64_t, uint64_t> power2(1);
-    TensorUInt128<uint64_t, uint64_t> d(rhs);
-    TensorUInt128<uint64_t, uint64_t> tmp(lhs - d);
-    while (lhs >= d) {
-      tmp = tmp - d;
-      d = d + d;
-      power2 = power2 + power2;
-    }
-
-    tmp = TensorUInt128<uint64_t, uint64_t>(lhs.high, lhs.low);
-    TensorUInt128<uint64_t, uint64_t> result(0);
-    while (power2 != TensorUInt128<static_val<0>, static_val<0> >(0)) {
-      if (tmp >= d) {
-        tmp = tmp - d;
-        result = result + power2;
-      }
-      // Shift right
-      power2 = TensorUInt128<uint64_t, uint64_t>(power2.high >> 1, (power2.low >> 1) | (power2.high << 63));
-      d = TensorUInt128<uint64_t, uint64_t>(d.high >> 1, (d.low >> 1) | (d.high << 63));
-    }
-
-    return result;
-  }
-}
-
-
-}  // namespace internal
-}  // namespace Eigen
-
-
-#endif  // EIGEN_CXX11_TENSOR_TENSOR_UINT128_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h
deleted file mode 100644
index 0ca2cac8451a2a..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h
+++ /dev/null
@@ -1,608 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-
-#ifndef EIGEN_CXX11_TENSOR_TENSOR_VOLUME_PATCH_H
-#define EIGEN_CXX11_TENSOR_TENSOR_VOLUME_PATCH_H
-
-namespace Eigen {
-
-/** \class TensorVolumePatch
-  * \ingroup CXX11_Tensor_Module
-  *
-  * \brief Patch extraction specialized for processing of volumetric data.
-  * This assumes that the input has a least 4 dimensions ordered as follows:
-  *  - channels
-  *  - planes
-  *  - rows
-  *  - columns
-  *  - (optional) additional dimensions such as time or batch size.
-  * Calling the volume patch code with patch_planes, patch_rows, and patch_cols
-  * is equivalent to calling the regular patch extraction code with parameters
-  * d, patch_planes, patch_rows, patch_cols, and 1 for all the additional
-  * dimensions.
-  */
-namespace internal {
-template<DenseIndex Planes, DenseIndex Rows, DenseIndex Cols, typename XprType>
-struct traits<TensorVolumePatchOp<Planes, Rows, Cols, XprType> > : public traits<XprType>
-{
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef traits<XprType> XprTraits;
-  typedef typename XprTraits::StorageKind StorageKind;
-  typedef typename XprTraits::Index Index;
-  typedef typename XprType::Nested Nested;
-  typedef typename remove_reference<Nested>::type _Nested;
-  static const int NumDimensions = XprTraits::NumDimensions + 1;
-  static const int Layout = XprTraits::Layout;
-};
-
-template<DenseIndex Planes, DenseIndex Rows, DenseIndex Cols, typename XprType>
-struct eval<TensorVolumePatchOp<Planes, Rows, Cols, XprType>, Eigen::Dense>
-{
-  typedef const TensorVolumePatchOp<Planes, Rows, Cols, XprType>& type;
-};
-
-template<DenseIndex Planes, DenseIndex Rows, DenseIndex Cols, typename XprType>
-struct nested<TensorVolumePatchOp<Planes, Rows, Cols, XprType>, 1, typename eval<TensorVolumePatchOp<Planes, Rows, Cols, XprType> >::type>
-{
-  typedef TensorVolumePatchOp<Planes, Rows, Cols, XprType> type;
-};
-
-}  // end namespace internal
-
-template<DenseIndex Planes, DenseIndex Rows, DenseIndex Cols, typename XprType>
-class TensorVolumePatchOp : public TensorBase<TensorVolumePatchOp<Planes, Rows, Cols, XprType>, ReadOnlyAccessors>
-{
-  public:
-  typedef typename Eigen::internal::traits<TensorVolumePatchOp>::Scalar Scalar;
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename Eigen::internal::nested<TensorVolumePatchOp>::type Nested;
-  typedef typename Eigen::internal::traits<TensorVolumePatchOp>::StorageKind StorageKind;
-  typedef typename Eigen::internal::traits<TensorVolumePatchOp>::Index Index;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorVolumePatchOp(const XprType& expr, DenseIndex patch_planes, DenseIndex patch_rows, DenseIndex patch_cols,
-                                                            DenseIndex plane_strides, DenseIndex row_strides, DenseIndex col_strides,
-                                                            DenseIndex in_plane_strides, DenseIndex in_row_strides, DenseIndex in_col_strides,
-                                                            DenseIndex plane_inflate_strides, DenseIndex row_inflate_strides, DenseIndex col_inflate_strides,
-                                                            PaddingType padding_type, Scalar padding_value)
-      : m_xpr(expr), m_patch_planes(patch_planes), m_patch_rows(patch_rows), m_patch_cols(patch_cols),
-        m_plane_strides(plane_strides), m_row_strides(row_strides), m_col_strides(col_strides),
-        m_in_plane_strides(in_plane_strides), m_in_row_strides(in_row_strides), m_in_col_strides(in_col_strides),
-        m_plane_inflate_strides(plane_inflate_strides), m_row_inflate_strides(row_inflate_strides), m_col_inflate_strides(col_inflate_strides),
-        m_padding_explicit(false), m_padding_top_z(0), m_padding_bottom_z(0), m_padding_top(0), m_padding_bottom(0), m_padding_left(0), m_padding_right(0),
-        m_padding_type(padding_type), m_padding_value(padding_value) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorVolumePatchOp(const XprType& expr, DenseIndex patch_planes, DenseIndex patch_rows, DenseIndex patch_cols,
-                                                           DenseIndex plane_strides, DenseIndex row_strides, DenseIndex col_strides,
-                                                           DenseIndex in_plane_strides, DenseIndex in_row_strides, DenseIndex in_col_strides,
-                                                           DenseIndex plane_inflate_strides, DenseIndex row_inflate_strides, DenseIndex col_inflate_strides,
-                                                           DenseIndex padding_top_z, DenseIndex padding_bottom_z,
-                                                           DenseIndex padding_top, DenseIndex padding_bottom,
-                                                           DenseIndex padding_left, DenseIndex padding_right,
-                                                           Scalar padding_value)
-      : m_xpr(expr), m_patch_planes(patch_planes), m_patch_rows(patch_rows), m_patch_cols(patch_cols),
-        m_plane_strides(plane_strides), m_row_strides(row_strides), m_col_strides(col_strides),
-        m_in_plane_strides(in_plane_strides), m_in_row_strides(in_row_strides), m_in_col_strides(in_col_strides),
-        m_plane_inflate_strides(plane_inflate_strides), m_row_inflate_strides(row_inflate_strides), m_col_inflate_strides(col_inflate_strides),
-        m_padding_explicit(true), m_padding_top_z(padding_top_z), m_padding_bottom_z(padding_bottom_z), m_padding_top(padding_top), m_padding_bottom(padding_bottom),
-        m_padding_left(padding_left), m_padding_right(padding_right),
-        m_padding_type(PADDING_VALID), m_padding_value(padding_value) {}
-
-    EIGEN_DEVICE_FUNC
-    DenseIndex patch_planes() const { return m_patch_planes; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex patch_rows() const { return m_patch_rows; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex patch_cols() const { return m_patch_cols; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex plane_strides() const { return m_plane_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex row_strides() const { return m_row_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex col_strides() const { return m_col_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex in_plane_strides() const { return m_in_plane_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex in_row_strides() const { return m_in_row_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex in_col_strides() const { return m_in_col_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex plane_inflate_strides() const { return m_plane_inflate_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex row_inflate_strides() const { return m_row_inflate_strides; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex col_inflate_strides() const { return m_col_inflate_strides; }
-    EIGEN_DEVICE_FUNC
-    bool padding_explicit() const { return m_padding_explicit; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_top_z() const { return m_padding_top_z; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_bottom_z() const { return m_padding_bottom_z; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_top() const { return m_padding_top; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_bottom() const { return m_padding_bottom; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_left() const { return m_padding_left; }
-    EIGEN_DEVICE_FUNC
-    DenseIndex padding_right() const { return m_padding_right; }
-    EIGEN_DEVICE_FUNC
-    PaddingType padding_type() const { return m_padding_type; }
-    EIGEN_DEVICE_FUNC
-    Scalar padding_value() const { return m_padding_value; }
-
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<typename XprType::Nested>::type&
-    expression() const { return m_xpr; }
-
-  protected:
-    typename XprType::Nested m_xpr;
-    const DenseIndex m_patch_planes;
-    const DenseIndex m_patch_rows;
-    const DenseIndex m_patch_cols;
-    const DenseIndex m_plane_strides;
-    const DenseIndex m_row_strides;
-    const DenseIndex m_col_strides;
-    const DenseIndex m_in_plane_strides;
-    const DenseIndex m_in_row_strides;
-    const DenseIndex m_in_col_strides;
-    const DenseIndex m_plane_inflate_strides;
-    const DenseIndex m_row_inflate_strides;
-    const DenseIndex m_col_inflate_strides;
-    const bool m_padding_explicit;
-    const DenseIndex m_padding_top_z;
-    const DenseIndex m_padding_bottom_z;
-    const DenseIndex m_padding_top;
-    const DenseIndex m_padding_bottom;
-    const DenseIndex m_padding_left;
-    const DenseIndex m_padding_right;
-    const PaddingType m_padding_type;
-    const Scalar m_padding_value;
-};
-
-
-// Eval as rvalue
-template<DenseIndex Planes, DenseIndex Rows, DenseIndex Cols, typename ArgType, typename Device>
-struct TensorEvaluator<const TensorVolumePatchOp<Planes, Rows, Cols, ArgType>, Device>
-{
-  typedef TensorVolumePatchOp<Planes, Rows, Cols, ArgType> XprType;
-  typedef typename XprType::Index Index;
-  static const int NumInputDims = internal::array_size<typename TensorEvaluator<ArgType, Device>::Dimensions>::value;
-  static const int NumDims = NumInputDims + 1;
-  typedef DSizes<Index, NumDims> Dimensions;
-  typedef typename internal::remove_const<typename XprType::Scalar>::type Scalar;
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-  typedef typename PacketType<CoeffReturnType, Device>::type PacketReturnType;
-  static const int PacketSize = internal::unpacket_traits<PacketReturnType>::size;
-
-  enum {
-    IsAligned = false,
-    PacketAccess = TensorEvaluator<ArgType, Device>::PacketAccess,
-    BlockAccess = false,
-    Layout = TensorEvaluator<ArgType, Device>::Layout,
-    CoordAccess = false,
-    RawAccess = false
-  };
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device)
-      : m_impl(op.expression(), device)
-  {
-    EIGEN_STATIC_ASSERT((NumDims >= 5), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    m_paddingValue = op.padding_value();
-
-    const typename TensorEvaluator<ArgType, Device>::Dimensions& input_dims = m_impl.dimensions();
-
-    // Cache a few variables.
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_inputDepth = input_dims[0];
-      m_inputPlanes = input_dims[1];
-      m_inputRows = input_dims[2];
-      m_inputCols = input_dims[3];
-    } else {
-      m_inputDepth = input_dims[NumInputDims-1];
-      m_inputPlanes = input_dims[NumInputDims-2];
-      m_inputRows = input_dims[NumInputDims-3];
-      m_inputCols = input_dims[NumInputDims-4];
-    }
-
-    m_plane_strides = op.plane_strides();
-    m_row_strides = op.row_strides();
-    m_col_strides = op.col_strides();
-
-    // Input strides and effective input/patch size
-    m_in_plane_strides = op.in_plane_strides();
-    m_in_row_strides = op.in_row_strides();
-    m_in_col_strides = op.in_col_strides();
-    m_plane_inflate_strides = op.plane_inflate_strides();
-    m_row_inflate_strides = op.row_inflate_strides();
-    m_col_inflate_strides = op.col_inflate_strides();
-
-    // The "effective" spatial size after inflating data with zeros.
-    m_input_planes_eff = (m_inputPlanes - 1) * m_plane_inflate_strides + 1;
-    m_input_rows_eff = (m_inputRows - 1) * m_row_inflate_strides + 1;
-    m_input_cols_eff = (m_inputCols - 1) * m_col_inflate_strides + 1;
-    m_patch_planes_eff = op.patch_planes() + (op.patch_planes() - 1) * (m_in_plane_strides - 1);
-    m_patch_rows_eff = op.patch_rows() + (op.patch_rows() - 1) * (m_in_row_strides - 1);
-    m_patch_cols_eff = op.patch_cols() + (op.patch_cols() - 1) * (m_in_col_strides - 1);
-
-    if (op.padding_explicit()) {
-      m_outputPlanes = numext::ceil((m_input_planes_eff + op.padding_top_z() + op.padding_bottom_z() - m_patch_planes_eff + 1.f) / static_cast<float>(m_plane_strides));
-      m_outputRows = numext::ceil((m_input_rows_eff + op.padding_top() + op.padding_bottom() - m_patch_rows_eff + 1.f) / static_cast<float>(m_row_strides));
-      m_outputCols = numext::ceil((m_input_cols_eff + op.padding_left() + op.padding_right() - m_patch_cols_eff + 1.f) / static_cast<float>(m_col_strides));
-      m_planePaddingTop = op.padding_top_z();
-      m_rowPaddingTop = op.padding_top();
-      m_colPaddingLeft = op.padding_left();
-    } else {
-      // Computing padding from the type
-      switch (op.padding_type()) {
-        case PADDING_VALID:
-          m_outputPlanes = numext::ceil((m_input_planes_eff - m_patch_planes_eff + 1.f) / static_cast<float>(m_plane_strides));
-          m_outputRows = numext::ceil((m_input_rows_eff - m_patch_rows_eff + 1.f) / static_cast<float>(m_row_strides));
-          m_outputCols = numext::ceil((m_input_cols_eff - m_patch_cols_eff + 1.f) / static_cast<float>(m_col_strides));
-          m_planePaddingTop = 0;
-          m_rowPaddingTop = 0;
-          m_colPaddingLeft = 0;
-          break;
-        case PADDING_SAME: {
-          m_outputPlanes = numext::ceil(m_input_planes_eff / static_cast<float>(m_plane_strides));
-          m_outputRows = numext::ceil(m_input_rows_eff / static_cast<float>(m_row_strides));
-          m_outputCols = numext::ceil(m_input_cols_eff / static_cast<float>(m_col_strides));
-          const Index dz = m_outputPlanes * m_plane_strides + m_patch_planes_eff - 1 - m_input_planes_eff;
-          const Index dy = m_outputRows * m_row_strides + m_patch_rows_eff - 1 - m_input_rows_eff;
-          const Index dx = m_outputCols * m_col_strides + m_patch_cols_eff - 1 - m_input_cols_eff;
-          m_planePaddingTop = dz - dz / 2;
-          m_rowPaddingTop = dy - dy / 2;
-          m_colPaddingLeft = dx - dx / 2;
-          break;
-        }
-        default:
-          eigen_assert(false && "unexpected padding");
-      }
-    }
-    eigen_assert(m_outputRows > 0);
-    eigen_assert(m_outputCols > 0);
-    eigen_assert(m_outputPlanes > 0);
-
-    // Dimensions for result of extraction.
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      // ColMajor
-      // 0: depth
-      // 1: patch_planes
-      // 2: patch_rows
-      // 3: patch_cols
-      // 4: number of patches
-      // 5 and beyond: anything else (such as batch).
-      m_dimensions[0] = input_dims[0];
-      m_dimensions[1] = op.patch_planes();
-      m_dimensions[2] = op.patch_rows();
-      m_dimensions[3] = op.patch_cols();
-      m_dimensions[4] = m_outputPlanes * m_outputRows * m_outputCols;
-      for (int i = 5; i < NumDims; ++i) {
-        m_dimensions[i] = input_dims[i-1];
-      }
-    } else {
-      // RowMajor
-      // NumDims-1: depth
-      // NumDims-2: patch_planes
-      // NumDims-3: patch_rows
-      // NumDims-4: patch_cols
-      // NumDims-5: number of patches
-      // NumDims-6 and beyond: anything else (such as batch).
-      m_dimensions[NumDims-1] = input_dims[NumInputDims-1];
-      m_dimensions[NumDims-2] = op.patch_planes();
-      m_dimensions[NumDims-3] = op.patch_rows();
-      m_dimensions[NumDims-4] = op.patch_cols();
-      m_dimensions[NumDims-5] = m_outputPlanes * m_outputRows * m_outputCols;
-      for (int i = NumDims-6; i >= 0; --i) {
-        m_dimensions[i] = input_dims[i];
-      }
-    }
-
-    // Strides for the output tensor.
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_rowStride = m_dimensions[1];
-      m_colStride = m_dimensions[2] * m_rowStride;
-      m_patchStride = m_colStride * m_dimensions[3] * m_dimensions[0];
-      m_otherStride = m_patchStride * m_dimensions[4];
-    } else {
-      m_rowStride = m_dimensions[NumDims-2];
-      m_colStride = m_dimensions[NumDims-3] * m_rowStride;
-      m_patchStride = m_colStride * m_dimensions[NumDims-4] * m_dimensions[NumDims-1];
-      m_otherStride = m_patchStride * m_dimensions[NumDims-5];
-    }
-
-    // Strides for navigating through the input tensor.
-    m_planeInputStride = m_inputDepth;
-    m_rowInputStride = m_inputDepth * m_inputPlanes;
-    m_colInputStride = m_inputDepth * m_inputRows * m_inputPlanes;
-    m_otherInputStride = m_inputDepth * m_inputRows * m_inputCols * m_inputPlanes;
-
-    m_outputPlanesRows = m_outputPlanes * m_outputRows;
-
-    // Fast representations of different variables.
-    m_fastOtherStride = internal::TensorIntDivisor<Index>(m_otherStride);
-    m_fastPatchStride = internal::TensorIntDivisor<Index>(m_patchStride);
-    m_fastColStride = internal::TensorIntDivisor<Index>(m_colStride);
-    m_fastRowStride = internal::TensorIntDivisor<Index>(m_rowStride);
-    m_fastInputRowStride = internal::TensorIntDivisor<Index>(m_row_inflate_strides);
-    m_fastInputColStride = internal::TensorIntDivisor<Index>(m_col_inflate_strides);
-    m_fastInputPlaneStride = internal::TensorIntDivisor<Index>(m_plane_inflate_strides);
-    m_fastInputColsEff = internal::TensorIntDivisor<Index>(m_input_cols_eff);
-    m_fastOutputPlanes = internal::TensorIntDivisor<Index>(m_outputPlanes);
-    m_fastOutputPlanesRows = internal::TensorIntDivisor<Index>(m_outputPlanesRows);
-
-    if (static_cast<int>(Layout) == static_cast<int>(ColMajor)) {
-      m_fastOutputDepth = internal::TensorIntDivisor<Index>(m_dimensions[0]);
-    } else {
-      m_fastOutputDepth = internal::TensorIntDivisor<Index>(m_dimensions[NumDims-1]);
-    }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) {
-    m_impl.evalSubExprsIfNeeded(NULL);
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() {
-    m_impl.cleanup();
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-  {
-    // Patch index corresponding to the passed in index.
-    const Index patchIndex = index / m_fastPatchStride;
-
-    // Spatial offset within the patch. This has to be translated into 3D
-    // coordinates within the patch.
-    const Index patchOffset = (index - patchIndex * m_patchStride) / m_fastOutputDepth;
-
-    // Batch, etc.
-    const Index otherIndex = (NumDims == 5) ? 0 : index / m_fastOtherStride;
-    const Index patch3DIndex = (NumDims == 5) ? patchIndex : (index - otherIndex * m_otherStride) / m_fastPatchStride;
-
-    // Calculate column index in the input original tensor.
-    const Index colIndex = patch3DIndex / m_fastOutputPlanesRows;
-    const Index colOffset = patchOffset / m_fastColStride;
-    const Index inputCol = colIndex * m_col_strides + colOffset * m_in_col_strides - m_colPaddingLeft;
-    const Index origInputCol = (m_col_inflate_strides == 1) ? inputCol : ((inputCol >= 0) ? (inputCol / m_fastInputColStride) : 0);
-    if (inputCol < 0 || inputCol >= m_input_cols_eff ||
-        ((m_col_inflate_strides != 1) && (inputCol != origInputCol * m_col_inflate_strides))) {
-      return Scalar(m_paddingValue);
-    }
-
-    // Calculate row index in the original input tensor.
-    const Index rowIndex = (patch3DIndex - colIndex * m_outputPlanesRows) / m_fastOutputPlanes;
-    const Index rowOffset = (patchOffset - colOffset * m_colStride) / m_fastRowStride;
-    const Index inputRow = rowIndex * m_row_strides + rowOffset * m_in_row_strides - m_rowPaddingTop;
-    const Index origInputRow = (m_row_inflate_strides == 1) ? inputRow : ((inputRow >= 0) ? (inputRow / m_fastInputRowStride) : 0);
-    if (inputRow < 0 || inputRow >= m_input_rows_eff ||
-        ((m_row_inflate_strides != 1) && (inputRow != origInputRow * m_row_inflate_strides))) {
-      return Scalar(m_paddingValue);
-    }
-
-    // Calculate plane index in the original input tensor.
-    const Index planeIndex = (patch3DIndex - m_outputPlanes * (colIndex * m_outputRows + rowIndex));
-    const Index planeOffset = patchOffset - colOffset * m_colStride - rowOffset * m_rowStride;
-    const Index inputPlane = planeIndex * m_plane_strides + planeOffset * m_in_plane_strides - m_planePaddingTop;
-    const Index origInputPlane = (m_plane_inflate_strides == 1) ? inputPlane : ((inputPlane >= 0) ? (inputPlane / m_fastInputPlaneStride) : 0);
-    if (inputPlane < 0 || inputPlane >= m_input_planes_eff ||
-        ((m_plane_inflate_strides != 1) && (inputPlane != origInputPlane * m_plane_inflate_strides))) {
-      return Scalar(m_paddingValue);
-    }
-
-    const int depth_index = static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 0 : NumDims - 1;
-    const Index depth = index - (index / m_fastOutputDepth) * m_dimensions[depth_index];
-
-    const Index inputIndex = depth +
-        origInputRow * m_rowInputStride +
-        origInputCol * m_colInputStride +
-        origInputPlane * m_planeInputStride +
-        otherIndex * m_otherInputStride;
-
-    return m_impl.coeff(inputIndex);
-  }
-
-  template<int LoadMode>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
-  {
-    EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE)
-    eigen_assert(index+PacketSize-1 < dimensions().TotalSize());
-
-    if (m_in_row_strides != 1 || m_in_col_strides != 1 || m_row_inflate_strides != 1 || m_col_inflate_strides != 1 ||
-        m_in_plane_strides != 1 || m_plane_inflate_strides != 1) {
-      return packetWithPossibleZero(index);
-    }
-
-    const Index indices[2] = {index, index + PacketSize - 1};
-    const Index patchIndex = indices[0] / m_fastPatchStride;
-    if (patchIndex != indices[1] / m_fastPatchStride) {
-      return packetWithPossibleZero(index);
-    }
-    const Index otherIndex = (NumDims == 5) ? 0 : indices[0] / m_fastOtherStride;
-    eigen_assert(otherIndex == indices[1] / m_fastOtherStride);
-
-    // Find the offset of the element wrt the location of the first element.
-    const Index patchOffsets[2] = {(indices[0] - patchIndex * m_patchStride) / m_fastOutputDepth,
-                                   (indices[1] - patchIndex * m_patchStride) / m_fastOutputDepth};
-
-    const Index patch3DIndex = (NumDims == 5) ? patchIndex : (indices[0] - otherIndex * m_otherStride) / m_fastPatchStride;
-    eigen_assert(patch3DIndex == (indices[1] - otherIndex * m_otherStride) / m_fastPatchStride);
-
-    const Index colIndex = patch3DIndex / m_fastOutputPlanesRows;
-    const Index colOffsets[2] = {
-      patchOffsets[0] / m_fastColStride,
-      patchOffsets[1] / m_fastColStride};
-
-    // Calculate col indices in the original input tensor.
-    const Index inputCols[2] = {
-      colIndex * m_col_strides + colOffsets[0] - m_colPaddingLeft,
-      colIndex * m_col_strides + colOffsets[1] - m_colPaddingLeft};
-    if (inputCols[1] < 0 || inputCols[0] >= m_inputCols) {
-      return internal::pset1<PacketReturnType>(Scalar(m_paddingValue));
-    }
-
-    if (inputCols[0] != inputCols[1]) {
-      return packetWithPossibleZero(index);
-    }
-
-    const Index rowIndex = (patch3DIndex - colIndex * m_outputPlanesRows) / m_fastOutputPlanes;
-    const Index rowOffsets[2] = {
-      (patchOffsets[0] - colOffsets[0] * m_colStride) / m_fastRowStride,
-      (patchOffsets[1] - colOffsets[1] * m_colStride) / m_fastRowStride};
-    eigen_assert(rowOffsets[0] <= rowOffsets[1]);
-    // Calculate col indices in the original input tensor.
-    const Index inputRows[2] = {
-      rowIndex * m_row_strides + rowOffsets[0] - m_rowPaddingTop,
-      rowIndex * m_row_strides + rowOffsets[1] - m_rowPaddingTop};
-
-    if (inputRows[1] < 0 || inputRows[0] >= m_inputRows) {
-      return internal::pset1<PacketReturnType>(Scalar(m_paddingValue));
-    }
-
-    if (inputRows[0] != inputRows[1]) {
-      return packetWithPossibleZero(index);
-    }
-
-    const Index planeIndex = (patch3DIndex - m_outputPlanes * (colIndex * m_outputRows + rowIndex));
-    const Index planeOffsets[2] = {
-      patchOffsets[0] - colOffsets[0] * m_colStride - rowOffsets[0] * m_rowStride,
-      patchOffsets[1] - colOffsets[1] * m_colStride - rowOffsets[1] * m_rowStride};
-    eigen_assert(planeOffsets[0] <= planeOffsets[1]);
-    const Index inputPlanes[2] = {
-      planeIndex * m_plane_strides + planeOffsets[0] - m_planePaddingTop,
-      planeIndex * m_plane_strides + planeOffsets[1] - m_planePaddingTop};
-
-    if (inputPlanes[1] < 0 || inputPlanes[0] >= m_inputPlanes) {
-      return internal::pset1<PacketReturnType>(Scalar(m_paddingValue));
-    }
-
-    if (inputPlanes[0] >= 0 && inputPlanes[1] < m_inputPlanes) {
-      // no padding
-      const int depth_index = static_cast<int>(Layout) == static_cast<int>(ColMajor) ? 0 : NumDims - 1;
-      const Index depth = index - (index / m_fastOutputDepth) * m_dimensions[depth_index];
-      const Index inputIndex = depth +
-          inputRows[0] * m_rowInputStride +
-          inputCols[0] * m_colInputStride +
-          m_planeInputStride * inputPlanes[0] +
-          otherIndex * m_otherInputStride;
-      return m_impl.template packet<Unaligned>(inputIndex);
-    }
-
-    return packetWithPossibleZero(index);
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost
-  costPerCoeff(bool vectorized) const {
-    const double compute_cost =
-        10 * TensorOpCost::DivCost<Index>() + 21 * TensorOpCost::MulCost<Index>() +
-        8 * TensorOpCost::AddCost<Index>();
-    return TensorOpCost(0, 0, compute_cost, vectorized, PacketSize);
-  }
-
-  EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; }
-
-  const TensorEvaluator<ArgType, Device>& impl() const { return m_impl; }
-
-  Index planePaddingTop() const { return m_planePaddingTop; }
-  Index rowPaddingTop() const { return m_rowPaddingTop; }
-  Index colPaddingLeft() const { return m_colPaddingLeft; }
-  Index outputPlanes() const { return m_outputPlanes; }
-  Index outputRows() const { return m_outputRows; }
-  Index outputCols() const { return m_outputCols; }
-  Index userPlaneStride() const { return m_plane_strides; }
-  Index userRowStride() const { return m_row_strides; }
-  Index userColStride() const { return m_col_strides; }
-  Index userInPlaneStride() const { return m_in_plane_strides; }
-  Index userInRowStride() const { return m_in_row_strides; }
-  Index userInColStride() const { return m_in_col_strides; }
-  Index planeInflateStride() const { return m_plane_inflate_strides; }
-  Index rowInflateStride() const { return m_row_inflate_strides; }
-  Index colInflateStride() const { return m_col_inflate_strides; }
-
- protected:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetWithPossibleZero(Index index) const
-  {
-    EIGEN_ALIGN_MAX typename internal::remove_const<CoeffReturnType>::type values[PacketSize];
-    for (int i = 0; i < PacketSize; ++i) {
-      values[i] = coeff(index+i);
-    }
-    PacketReturnType rslt = internal::pload<PacketReturnType>(values);
-    return rslt;
-  }
-
-  Dimensions m_dimensions;
-
-  // Parameters passed to the costructor.
-  Index m_plane_strides;
-  Index m_row_strides;
-  Index m_col_strides;
-
-  Index m_outputPlanes;
-  Index m_outputRows;
-  Index m_outputCols;
-
-  Index m_planePaddingTop;
-  Index m_rowPaddingTop;
-  Index m_colPaddingLeft;
-
-  Index m_in_plane_strides;
-  Index m_in_row_strides;
-  Index m_in_col_strides;
-
-  Index m_plane_inflate_strides;
-  Index m_row_inflate_strides;
-  Index m_col_inflate_strides;
-
-  // Cached input size.
-  Index m_inputDepth;
-  Index m_inputPlanes;
-  Index m_inputRows;
-  Index m_inputCols;
-
-  // Other cached variables.
-  Index m_outputPlanesRows;
-
-  // Effective input/patch post-inflation size.
-  Index m_input_planes_eff;
-  Index m_input_rows_eff;
-  Index m_input_cols_eff;
-  Index m_patch_planes_eff;
-  Index m_patch_rows_eff;
-  Index m_patch_cols_eff;
-
-  // Strides for the output tensor.
-  Index m_otherStride;
-  Index m_patchStride;
-  Index m_rowStride;
-  Index m_colStride;
-
-  // Strides for the input tensor.
-  Index m_planeInputStride;
-  Index m_rowInputStride;
-  Index m_colInputStride;
-  Index m_otherInputStride;
-
-  internal::TensorIntDivisor<Index> m_fastOtherStride;
-  internal::TensorIntDivisor<Index> m_fastPatchStride;
-  internal::TensorIntDivisor<Index> m_fastColStride;
-  internal::TensorIntDivisor<Index> m_fastRowStride;
-  internal::TensorIntDivisor<Index> m_fastInputPlaneStride;
-  internal::TensorIntDivisor<Index> m_fastInputRowStride;
-  internal::TensorIntDivisor<Index> m_fastInputColStride;
-  internal::TensorIntDivisor<Index> m_fastInputColsEff;
-  internal::TensorIntDivisor<Index> m_fastOutputPlanesRows;
-  internal::TensorIntDivisor<Index> m_fastOutputPlanes;
-  internal::TensorIntDivisor<Index> m_fastOutputDepth;
-
-  Scalar m_paddingValue;
-
-  TensorEvaluator<ArgType, Device> m_impl;
-};
-
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSOR_TENSOR_VOLUME_PATCH_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h
deleted file mode 100644
index bc4f2025f65442..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h
+++ /dev/null
@@ -1,293 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSORSYMMETRY_DYNAMICSYMMETRY_H
-#define EIGEN_CXX11_TENSORSYMMETRY_DYNAMICSYMMETRY_H
-
-namespace Eigen {
-
-class DynamicSGroup
-{
-  public:
-    inline explicit DynamicSGroup() : m_numIndices(1), m_elements(), m_generators(), m_globalFlags(0) { m_elements.push_back(ge(Generator(0, 0, 0))); }
-    inline DynamicSGroup(const DynamicSGroup& o) : m_numIndices(o.m_numIndices), m_elements(o.m_elements), m_generators(o.m_generators), m_globalFlags(o.m_globalFlags) { }
-    inline DynamicSGroup(DynamicSGroup&& o) : m_numIndices(o.m_numIndices), m_elements(), m_generators(o.m_generators), m_globalFlags(o.m_globalFlags) { std::swap(m_elements, o.m_elements); }
-    inline DynamicSGroup& operator=(const DynamicSGroup& o) { m_numIndices = o.m_numIndices; m_elements = o.m_elements; m_generators = o.m_generators; m_globalFlags = o.m_globalFlags; return *this; }
-    inline DynamicSGroup& operator=(DynamicSGroup&& o) { m_numIndices = o.m_numIndices; std::swap(m_elements, o.m_elements); m_generators = o.m_generators; m_globalFlags = o.m_globalFlags; return *this; }
-
-    void add(int one, int two, int flags = 0);
-
-    template<typename Gen_>
-    inline void add(Gen_) { add(Gen_::One, Gen_::Two, Gen_::Flags); }
-    inline void addSymmetry(int one, int two) { add(one, two, 0); }
-    inline void addAntiSymmetry(int one, int two) { add(one, two, NegationFlag); }
-    inline void addHermiticity(int one, int two) { add(one, two, ConjugationFlag); }
-    inline void addAntiHermiticity(int one, int two) { add(one, two, NegationFlag | ConjugationFlag); }
-
-    template<typename Op, typename RV, typename Index, std::size_t N, typename... Args>
-    inline RV apply(const std::array<Index, N>& idx, RV initial, Args&&... args) const
-    {
-      eigen_assert(N >= m_numIndices && "Can only apply symmetry group to objects that have at least the required amount of indices.");
-      for (std::size_t i = 0; i < size(); i++)
-        initial = Op::run(h_permute(i, idx, typename internal::gen_numeric_list<int, N>::type()), m_elements[i].flags, initial, std::forward<Args>(args)...);
-      return initial;
-    }
-
-    template<typename Op, typename RV, typename Index, typename... Args>
-    inline RV apply(const std::vector<Index>& idx, RV initial, Args&&... args) const
-    {
-      eigen_assert(idx.size() >= m_numIndices && "Can only apply symmetry group to objects that have at least the required amount of indices.");
-      for (std::size_t i = 0; i < size(); i++)
-        initial = Op::run(h_permute(i, idx), m_elements[i].flags, initial, std::forward<Args>(args)...);
-      return initial;
-    }
-
-    inline int globalFlags() const { return m_globalFlags; }
-    inline std::size_t size() const { return m_elements.size(); }
-
-    template<typename Tensor_, typename... IndexTypes>
-    inline internal::tensor_symmetry_value_setter<Tensor_, DynamicSGroup> operator()(Tensor_& tensor, typename Tensor_::Index firstIndex, IndexTypes... otherIndices) const
-    {
-      static_assert(sizeof...(otherIndices) + 1 == Tensor_::NumIndices, "Number of indices used to access a tensor coefficient must be equal to the rank of the tensor.");
-      return operator()(tensor, std::array<typename Tensor_::Index, Tensor_::NumIndices>{{firstIndex, otherIndices...}});
-    }
-
-    template<typename Tensor_>
-    inline internal::tensor_symmetry_value_setter<Tensor_, DynamicSGroup> operator()(Tensor_& tensor, std::array<typename Tensor_::Index, Tensor_::NumIndices> const& indices) const
-    {
-      return internal::tensor_symmetry_value_setter<Tensor_, DynamicSGroup>(tensor, *this, indices);
-    }
-  private:
-    struct GroupElement {
-      std::vector<int> representation;
-      int flags;
-      bool isId() const
-      {
-        for (std::size_t i = 0; i < representation.size(); i++)
-          if (i != (size_t)representation[i])
-            return false;
-        return true;
-      }
-    };
-    struct Generator {
-      int one;
-      int two;
-      int flags;
-      constexpr inline Generator(int one_, int two_, int flags_) : one(one_), two(two_), flags(flags_) {}
-    };
-
-    std::size_t m_numIndices;
-    std::vector<GroupElement> m_elements;
-    std::vector<Generator> m_generators;
-    int m_globalFlags;
-
-    template<typename Index, std::size_t N, int... n>
-    inline std::array<Index, N> h_permute(std::size_t which, const std::array<Index, N>& idx, internal::numeric_list<int, n...>) const
-    {
-      return std::array<Index, N>{{ idx[n >= m_numIndices ? n : m_elements[which].representation[n]]... }};
-    }
-
-    template<typename Index>
-    inline std::vector<Index> h_permute(std::size_t which, std::vector<Index> idx) const
-    {
-      std::vector<Index> result;
-      result.reserve(idx.size());
-      for (auto k : m_elements[which].representation)
-        result.push_back(idx[k]);
-      for (std::size_t i = m_numIndices; i < idx.size(); i++)
-        result.push_back(idx[i]);
-      return result;
-    }
-
-    inline GroupElement ge(Generator const& g) const
-    {
-      GroupElement result;
-      result.representation.reserve(m_numIndices);
-      result.flags = g.flags;
-      for (std::size_t k = 0; k < m_numIndices; k++) {
-        if (k == (std::size_t)g.one)
-          result.representation.push_back(g.two);
-        else if (k == (std::size_t)g.two)
-          result.representation.push_back(g.one);
-        else
-          result.representation.push_back(int(k));
-      }
-      return result;
-    }
-
-    GroupElement mul(GroupElement, GroupElement) const;
-    inline GroupElement mul(Generator g1, GroupElement g2) const
-    {
-      return mul(ge(g1), g2);
-    }
-
-    inline GroupElement mul(GroupElement g1, Generator g2) const
-    {
-      return mul(g1, ge(g2));
-    }
-
-    inline GroupElement mul(Generator g1, Generator g2) const
-    {
-      return mul(ge(g1), ge(g2));
-    }
-
-    inline int findElement(GroupElement e) const
-    {
-      for (auto ee : m_elements) {
-        if (ee.representation == e.representation)
-          return ee.flags ^ e.flags;
-      }
-      return -1;
-    }
-
-    void updateGlobalFlags(int flagDiffOfSameGenerator);
-};
-
-// dynamic symmetry group that auto-adds the template parameters in the constructor
-template<typename... Gen>
-class DynamicSGroupFromTemplateArgs : public DynamicSGroup
-{
-  public:
-    inline DynamicSGroupFromTemplateArgs() : DynamicSGroup()
-    {
-      add_all(internal::type_list<Gen...>());
-    }
-    inline DynamicSGroupFromTemplateArgs(DynamicSGroupFromTemplateArgs const& other) : DynamicSGroup(other) { }
-    inline DynamicSGroupFromTemplateArgs(DynamicSGroupFromTemplateArgs&& other) : DynamicSGroup(other) { }
-    inline DynamicSGroupFromTemplateArgs<Gen...>& operator=(const DynamicSGroupFromTemplateArgs<Gen...>& o) { DynamicSGroup::operator=(o); return *this; }
-    inline DynamicSGroupFromTemplateArgs<Gen...>& operator=(DynamicSGroupFromTemplateArgs<Gen...>&& o) { DynamicSGroup::operator=(o); return *this; }
-  
-  private:
-    template<typename Gen1, typename... GenNext>
-    inline void add_all(internal::type_list<Gen1, GenNext...>)
-    {
-      add(Gen1());
-      add_all(internal::type_list<GenNext...>());
-    }
-
-    inline void add_all(internal::type_list<>)
-    {
-    }
-};
-
-inline DynamicSGroup::GroupElement DynamicSGroup::mul(GroupElement g1, GroupElement g2) const
-{
-  eigen_internal_assert(g1.representation.size() == m_numIndices);
-  eigen_internal_assert(g2.representation.size() == m_numIndices);
-
-  GroupElement result;
-  result.representation.reserve(m_numIndices);
-  for (std::size_t i = 0; i < m_numIndices; i++) {
-    int v = g2.representation[g1.representation[i]];
-    eigen_assert(v >= 0);
-    result.representation.push_back(v);
-  }
-  result.flags = g1.flags ^ g2.flags;
-  return result;
-}
-
-inline void DynamicSGroup::add(int one, int two, int flags)
-{
-  eigen_assert(one >= 0);
-  eigen_assert(two >= 0);
-  eigen_assert(one != two);
-
-  if ((std::size_t)one >= m_numIndices || (std::size_t)two >= m_numIndices) {
-    std::size_t newNumIndices = (one > two) ? one : two + 1;
-    for (auto& gelem : m_elements) {
-      gelem.representation.reserve(newNumIndices);
-      for (std::size_t i = m_numIndices; i < newNumIndices; i++)
-        gelem.representation.push_back(i);
-    }
-    m_numIndices = newNumIndices;
-  }
-
-  Generator g{one, two, flags};
-  GroupElement e = ge(g);
-
-  /* special case for first generator */
-  if (m_elements.size() == 1) {
-    while (!e.isId()) {
-      m_elements.push_back(e);
-      e = mul(e, g);
-    }
-
-    if (e.flags > 0)
-      updateGlobalFlags(e.flags);
-
-    // only add in case we didn't have identity
-    if (m_elements.size() > 1)
-      m_generators.push_back(g);
-    return;
-  }
-
-  int p = findElement(e);
-  if (p >= 0) {
-    updateGlobalFlags(p);
-    return;
-  }
-
-  std::size_t coset_order = m_elements.size();
-  m_elements.push_back(e);
-  for (std::size_t i = 1; i < coset_order; i++)
-    m_elements.push_back(mul(m_elements[i], e));
-  m_generators.push_back(g);
-
-  std::size_t coset_rep = coset_order;
-  do {
-    for (auto g : m_generators) {
-      e = mul(m_elements[coset_rep], g);
-      p = findElement(e);
-      if (p < 0) {
-        // element not yet in group
-        m_elements.push_back(e);
-        for (std::size_t i = 1; i < coset_order; i++)
-          m_elements.push_back(mul(m_elements[i], e));
-      } else if (p > 0) {
-        updateGlobalFlags(p);
-      }
-    }
-    coset_rep += coset_order;
-  } while (coset_rep < m_elements.size());
-}
-
-inline void DynamicSGroup::updateGlobalFlags(int flagDiffOfSameGenerator)
-{
-    switch (flagDiffOfSameGenerator) {
-      case 0:
-      default:
-        // nothing happened
-        break;
-      case NegationFlag:
-        // every element is it's own negative => whole tensor is zero
-        m_globalFlags |= GlobalZeroFlag;
-        break;
-      case ConjugationFlag:
-        // every element is it's own conjugate => whole tensor is real
-        m_globalFlags |= GlobalRealFlag;
-        break;
-      case (NegationFlag | ConjugationFlag):
-        // every element is it's own negative conjugate => whole tensor is imaginary
-        m_globalFlags |= GlobalImagFlag;
-        break;
-      /* NOTE:
-       *   since GlobalZeroFlag == GlobalRealFlag | GlobalImagFlag, if one generator
-       *   causes the tensor to be real and the next one to be imaginary, this will
-       *   trivially give the correct result
-       */
-    }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSORSYMMETRY_DYNAMICSYMMETRY_H
-
-/*
- * kate: space-indent on; indent-width 2; mixedindent off; indent-mode cstyle;
- */
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h
deleted file mode 100644
index 942293bd710e6b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h
+++ /dev/null
@@ -1,236 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSORSYMMETRY_STATICSYMMETRY_H
-#define EIGEN_CXX11_TENSORSYMMETRY_STATICSYMMETRY_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename list> struct tensor_static_symgroup_permutate;
-
-template<int... nn>
-struct tensor_static_symgroup_permutate<numeric_list<int, nn...>>
-{
-  constexpr static std::size_t N = sizeof...(nn);
-
-  template<typename T>
-  constexpr static inline std::array<T, N> run(const std::array<T, N>& indices)
-  {
-    return {{indices[nn]...}};
-  }
-};
-
-template<typename indices_, int flags_>
-struct tensor_static_symgroup_element
-{
-  typedef indices_ indices;
-  constexpr static int flags = flags_;
-};
-
-template<typename Gen, int N>
-struct tensor_static_symgroup_element_ctor
-{
-  typedef tensor_static_symgroup_element<
-    typename gen_numeric_list_swapped_pair<int, N, Gen::One, Gen::Two>::type,
-    Gen::Flags
-  > type;
-};
-
-template<int N>
-struct tensor_static_symgroup_identity_ctor
-{
-  typedef tensor_static_symgroup_element<
-    typename gen_numeric_list<int, N>::type,
-    0
-  > type;
-};
-
-template<typename iib>
-struct tensor_static_symgroup_multiply_helper
-{
-  template<int... iia>
-  constexpr static inline numeric_list<int, get<iia, iib>::value...> helper(numeric_list<int, iia...>) {
-    return numeric_list<int, get<iia, iib>::value...>();
-  }
-};
-
-template<typename A, typename B>
-struct tensor_static_symgroup_multiply
-{
-  private:
-    typedef typename A::indices iia;
-    typedef typename B::indices iib;
-    constexpr static int ffa = A::flags;
-    constexpr static int ffb = B::flags;
-  
-  public:
-    static_assert(iia::count == iib::count, "Cannot multiply symmetry elements with different number of indices.");
-
-    typedef tensor_static_symgroup_element<
-      decltype(tensor_static_symgroup_multiply_helper<iib>::helper(iia())),
-      ffa ^ ffb
-    > type;
-};
-
-template<typename A, typename B>
-struct tensor_static_symgroup_equality
-{
-    typedef typename A::indices iia;
-    typedef typename B::indices iib;
-    constexpr static int ffa = A::flags;
-    constexpr static int ffb = B::flags;
-    static_assert(iia::count == iib::count, "Cannot compare symmetry elements with different number of indices.");
-
-    constexpr static bool value = is_same<iia, iib>::value;
-
-  private:
-    /* this should be zero if they are identical, or else the tensor
-     * will be forced to be pure real, pure imaginary or even pure zero
-     */
-    constexpr static int flags_cmp_ = ffa ^ ffb;
-
-    /* either they are not equal, then we don't care whether the flags
-     * match, or they are equal, and then we have to check
-     */
-    constexpr static bool is_zero      = value && flags_cmp_ == NegationFlag;
-    constexpr static bool is_real      = value && flags_cmp_ == ConjugationFlag;
-    constexpr static bool is_imag      = value && flags_cmp_ == (NegationFlag | ConjugationFlag);
-
-  public:
-    constexpr static int global_flags = 
-      (is_real ? GlobalRealFlag : 0) |
-      (is_imag ? GlobalImagFlag : 0) |
-      (is_zero ? GlobalZeroFlag : 0);
-};
-
-template<std::size_t NumIndices, typename... Gen>
-struct tensor_static_symgroup
-{
-  typedef StaticSGroup<Gen...> type;
-  constexpr static std::size_t size = type::static_size;
-};
-
-template<typename Index, std::size_t N, int... ii, int... jj>
-constexpr static inline std::array<Index, N> tensor_static_symgroup_index_permute(std::array<Index, N> idx, internal::numeric_list<int, ii...>, internal::numeric_list<int, jj...>)
-{
-  return {{ idx[ii]..., idx[jj]... }};
-}
-
-template<typename Index, int... ii>
-static inline std::vector<Index> tensor_static_symgroup_index_permute(std::vector<Index> idx, internal::numeric_list<int, ii...>)
-{
-  std::vector<Index> result{{ idx[ii]... }};
-  std::size_t target_size = idx.size();
-  for (std::size_t i = result.size(); i < target_size; i++)
-    result.push_back(idx[i]);
-  return result;
-}
-
-template<typename T> struct tensor_static_symgroup_do_apply;
-
-template<typename first, typename... next>
-struct tensor_static_symgroup_do_apply<internal::type_list<first, next...>>
-{
-  template<typename Op, typename RV, std::size_t SGNumIndices, typename Index, std::size_t NumIndices, typename... Args>
-  static inline RV run(const std::array<Index, NumIndices>& idx, RV initial, Args&&... args)
-  {
-    static_assert(NumIndices >= SGNumIndices, "Can only apply symmetry group to objects that have at least the required amount of indices.");
-    typedef typename internal::gen_numeric_list<int, NumIndices - SGNumIndices, SGNumIndices>::type remaining_indices;
-    initial = Op::run(tensor_static_symgroup_index_permute(idx, typename first::indices(), remaining_indices()), first::flags, initial, std::forward<Args>(args)...);
-    return tensor_static_symgroup_do_apply<internal::type_list<next...>>::template run<Op, RV, SGNumIndices>(idx, initial, args...);
-  }
-
-  template<typename Op, typename RV, std::size_t SGNumIndices, typename Index, typename... Args>
-  static inline RV run(const std::vector<Index>& idx, RV initial, Args&&... args)
-  {
-    eigen_assert(idx.size() >= SGNumIndices && "Can only apply symmetry group to objects that have at least the required amount of indices.");
-    initial = Op::run(tensor_static_symgroup_index_permute(idx, typename first::indices()), first::flags, initial, std::forward<Args>(args)...);
-    return tensor_static_symgroup_do_apply<internal::type_list<next...>>::template run<Op, RV, SGNumIndices>(idx, initial, args...);
-  }
-};
-
-template<EIGEN_TPL_PP_SPEC_HACK_DEF(typename, empty)>
-struct tensor_static_symgroup_do_apply<internal::type_list<EIGEN_TPL_PP_SPEC_HACK_USE(empty)>>
-{
-  template<typename Op, typename RV, std::size_t SGNumIndices, typename Index, std::size_t NumIndices, typename... Args>
-  static inline RV run(const std::array<Index, NumIndices>&, RV initial, Args&&...)
-  {
-    // do nothing
-    return initial;
-  }
-
-  template<typename Op, typename RV, std::size_t SGNumIndices, typename Index, typename... Args>
-  static inline RV run(const std::vector<Index>&, RV initial, Args&&...)
-  {
-    // do nothing
-    return initial;
-  }
-};
-
-} // end namespace internal
-
-template<typename... Gen>
-class StaticSGroup
-{
-    constexpr static std::size_t NumIndices = internal::tensor_symmetry_num_indices<Gen...>::value;
-    typedef internal::group_theory::enumerate_group_elements<
-      internal::tensor_static_symgroup_multiply,
-      internal::tensor_static_symgroup_equality,
-      typename internal::tensor_static_symgroup_identity_ctor<NumIndices>::type,
-      internal::type_list<typename internal::tensor_static_symgroup_element_ctor<Gen, NumIndices>::type...>
-    > group_elements;
-    typedef typename group_elements::type ge;
-  public:
-    constexpr inline StaticSGroup() {}
-    constexpr inline StaticSGroup(const StaticSGroup<Gen...>&) {}
-    constexpr inline StaticSGroup(StaticSGroup<Gen...>&&) {}
-
-    template<typename Op, typename RV, typename Index, std::size_t N, typename... Args>
-    static inline RV apply(const std::array<Index, N>& idx, RV initial, Args&&... args)
-    {
-      return internal::tensor_static_symgroup_do_apply<ge>::template run<Op, RV, NumIndices>(idx, initial, args...);
-    }
-
-    template<typename Op, typename RV, typename Index, typename... Args>
-    static inline RV apply(const std::vector<Index>& idx, RV initial, Args&&... args)
-    {
-      eigen_assert(idx.size() == NumIndices);
-      return internal::tensor_static_symgroup_do_apply<ge>::template run<Op, RV, NumIndices>(idx, initial, args...);
-    }
-
-    constexpr static std::size_t static_size = ge::count;
-
-    constexpr static inline std::size_t size() {
-      return ge::count;
-    }
-    constexpr static inline int globalFlags() { return group_elements::global_flags; }
-
-    template<typename Tensor_, typename... IndexTypes>
-    inline internal::tensor_symmetry_value_setter<Tensor_, StaticSGroup<Gen...>> operator()(Tensor_& tensor, typename Tensor_::Index firstIndex, IndexTypes... otherIndices) const
-    {
-      static_assert(sizeof...(otherIndices) + 1 == Tensor_::NumIndices, "Number of indices used to access a tensor coefficient must be equal to the rank of the tensor.");
-      return operator()(tensor, std::array<typename Tensor_::Index, Tensor_::NumIndices>{{firstIndex, otherIndices...}});
-    }
-
-    template<typename Tensor_>
-    inline internal::tensor_symmetry_value_setter<Tensor_, StaticSGroup<Gen...>> operator()(Tensor_& tensor, std::array<typename Tensor_::Index, Tensor_::NumIndices> const& indices) const
-    {
-      return internal::tensor_symmetry_value_setter<Tensor_, StaticSGroup<Gen...>>(tensor, *this, indices);
-    }
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSORSYMMETRY_STATICSYMMETRY_H
-
-/*
- * kate: space-indent on; indent-width 2; mixedindent off; indent-mode cstyle;
- */
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h
deleted file mode 100644
index 879d6cd77b2a2c..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h
+++ /dev/null
@@ -1,338 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSORSYMMETRY_SYMMETRY_H
-#define EIGEN_CXX11_TENSORSYMMETRY_SYMMETRY_H
-
-namespace Eigen {
-
-enum {
-  NegationFlag           = 0x01,
-  ConjugationFlag        = 0x02
-};
-
-enum {
-  GlobalRealFlag         = 0x01,
-  GlobalImagFlag         = 0x02,
-  GlobalZeroFlag         = 0x03
-};
-
-namespace internal {
-
-template<std::size_t NumIndices, typename... Sym>                   struct tensor_symmetry_pre_analysis;
-template<std::size_t NumIndices, typename... Sym>                   struct tensor_static_symgroup;
-template<bool instantiate, std::size_t NumIndices, typename... Sym> struct tensor_static_symgroup_if;
-template<typename Tensor_> struct tensor_symmetry_calculate_flags;
-template<typename Tensor_> struct tensor_symmetry_assign_value;
-template<typename... Sym> struct tensor_symmetry_num_indices;
-
-} // end namespace internal
-
-template<int One_, int Two_>
-struct Symmetry
-{
-  static_assert(One_ != Two_, "Symmetries must cover distinct indices.");
-  constexpr static int One = One_;
-  constexpr static int Two = Two_;
-  constexpr static int Flags = 0;
-};
-
-template<int One_, int Two_>
-struct AntiSymmetry
-{
-  static_assert(One_ != Two_, "Symmetries must cover distinct indices.");
-  constexpr static int One = One_;
-  constexpr static int Two = Two_;
-  constexpr static int Flags = NegationFlag;
-};
-
-template<int One_, int Two_>
-struct Hermiticity
-{
-  static_assert(One_ != Two_, "Symmetries must cover distinct indices.");
-  constexpr static int One = One_;
-  constexpr static int Two = Two_;
-  constexpr static int Flags = ConjugationFlag;
-};
-
-template<int One_, int Two_>
-struct AntiHermiticity
-{
-  static_assert(One_ != Two_, "Symmetries must cover distinct indices.");
-  constexpr static int One = One_;
-  constexpr static int Two = Two_;
-  constexpr static int Flags = ConjugationFlag | NegationFlag;
-};
-
-/** \class DynamicSGroup
-  * \ingroup TensorSymmetry_Module
-  *
-  * \brief Dynamic symmetry group
-  *
-  * The %DynamicSGroup class represents a symmetry group that need not be known at
-  * compile time. It is useful if one wants to support arbitrary run-time defineable
-  * symmetries for tensors, but it is also instantiated if a symmetry group is defined
-  * at compile time that would be either too large for the compiler to reasonably
-  * generate (using templates to calculate this at compile time is very inefficient)
-  * or that the compiler could generate the group but that it wouldn't make sense to
-  * unroll the loop for setting coefficients anymore.
-  */
-class DynamicSGroup;
-
-/** \internal
-  *
-  * \class DynamicSGroupFromTemplateArgs
-  * \ingroup TensorSymmetry_Module
-  *
-  * \brief Dynamic symmetry group, initialized from template arguments
-  *
-  * This class is a child class of DynamicSGroup. It uses the template arguments
-  * specified to initialize itself.
-  */
-template<typename... Gen>
-class DynamicSGroupFromTemplateArgs;
-
-/** \class StaticSGroup
-  * \ingroup TensorSymmetry_Module
-  *
-  * \brief Static symmetry group
-  *
-  * This class represents a symmetry group that is known and resolved completely
-  * at compile time. Ideally, no run-time penalty is incurred compared to the
-  * manual unrolling of the symmetry.
-  *
-  * <b><i>CAUTION:</i></b>
-  *
-  * Do not use this class directly for large symmetry groups. The compiler
-  * may run into a limit, or segfault or in the very least will take a very,
-  * very, very long time to compile the code. Use the SGroup class instead
-  * if you want a static group. That class contains logic that will
-  * automatically select the DynamicSGroup class instead if the symmetry
-  * group becomes too large. (In that case, unrolling may not even be
-  * beneficial.)
-  */
-template<typename... Gen>
-class StaticSGroup;
-
-/** \class SGroup
-  * \ingroup TensorSymmetry_Module
-  *
-  * \brief Symmetry group, initialized from template arguments
-  *
-  * This class represents a symmetry group whose generators are already
-  * known at compile time. It may or may not be resolved at compile time,
-  * depending on the estimated size of the group.
-  *
-  * \sa StaticSGroup
-  * \sa DynamicSGroup
-  */
-template<typename... Gen>
-class SGroup : public internal::tensor_symmetry_pre_analysis<internal::tensor_symmetry_num_indices<Gen...>::value, Gen...>::root_type
-{
-  public:
-    constexpr static std::size_t NumIndices = internal::tensor_symmetry_num_indices<Gen...>::value;
-    typedef typename internal::tensor_symmetry_pre_analysis<NumIndices, Gen...>::root_type Base;
-
-    // make standard constructors + assignment operators public
-    inline SGroup() : Base() { }
-    inline SGroup(const SGroup<Gen...>& other) : Base(other) { }
-    inline SGroup(SGroup<Gen...>&& other) : Base(other) { }
-    inline SGroup<Gen...>& operator=(const SGroup<Gen...>& other) { Base::operator=(other); return *this; }
-    inline SGroup<Gen...>& operator=(SGroup<Gen...>&& other) { Base::operator=(other); return *this; }
-
-    // all else is defined in the base class
-};
-
-namespace internal {
-
-template<typename... Sym> struct tensor_symmetry_num_indices
-{
-  constexpr static std::size_t value = 1;
-};
-
-template<int One_, int Two_, typename... Sym> struct tensor_symmetry_num_indices<Symmetry<One_, Two_>, Sym...>
-{
-private:
-  constexpr static std::size_t One = static_cast<std::size_t>(One_);
-  constexpr static std::size_t Two = static_cast<std::size_t>(Two_);
-  constexpr static std::size_t Three = tensor_symmetry_num_indices<Sym...>::value;
-
-  // don't use std::max, since it's not constexpr until C++14...
-  constexpr static std::size_t maxOneTwoPlusOne = ((One > Two) ? One : Two) + 1;
-public:
-  constexpr static std::size_t value = (maxOneTwoPlusOne > Three) ? maxOneTwoPlusOne : Three;
-};
-
-template<int One_, int Two_, typename... Sym> struct tensor_symmetry_num_indices<AntiSymmetry<One_, Two_>, Sym...>
-  : public tensor_symmetry_num_indices<Symmetry<One_, Two_>, Sym...> {};
-template<int One_, int Two_, typename... Sym> struct tensor_symmetry_num_indices<Hermiticity<One_, Two_>, Sym...>
-  : public tensor_symmetry_num_indices<Symmetry<One_, Two_>, Sym...> {};
-template<int One_, int Two_, typename... Sym> struct tensor_symmetry_num_indices<AntiHermiticity<One_, Two_>, Sym...>
-  : public tensor_symmetry_num_indices<Symmetry<One_, Two_>, Sym...> {};
-
-/** \internal
-  *
-  * \class tensor_symmetry_pre_analysis
-  * \ingroup TensorSymmetry_Module
-  *
-  * \brief Pre-select whether to use a static or dynamic symmetry group
-  *
-  * When a symmetry group could in principle be determined at compile time,
-  * this template implements the logic whether to actually do that or whether
-  * to rather defer that to runtime.
-  *
-  * The logic is as follows:
-  * <dl>
-  * <dt><b>No generators (trivial symmetry):</b></dt>
-  * <dd>Use a trivial static group. Ideally, this has no performance impact
-  *     compared to not using symmetry at all. In practice, this might not
-  *     be the case.</dd>
-  * <dt><b>More than 4 generators:</b></dt>
-  * <dd>Calculate the group at run time, it is likely far too large for the
-  *     compiler to be able to properly generate it in a realistic time.</dd>
-  * <dt><b>Up to and including 4 generators:</b></dt>
-  * <dd>Actually enumerate all group elements, but then check how many there
-  *     are. If there are more than 16, it is unlikely that unrolling the
-  *     loop (as is done in the static compile-time case) is sensible, so
-  *     use a dynamic group instead. If there are at most 16 elements, actually
-  *     use that static group. Note that the largest group with 4 generators
-  *     still compiles with reasonable resources.</dd>
-  * </dl>
-  *
-  * Note: Example compile time performance with g++-4.6 on an Intenl Core i5-3470
-  *       with 16 GiB RAM (all generators non-redundant and the subgroups don't
-  *       factorize):
-  *
-  *          # Generators          -O0 -ggdb               -O2
-  *          -------------------------------------------------------------------
-  *          1                 0.5 s  /   250 MiB     0.45s /   230 MiB
-  *          2                 0.5 s  /   260 MiB     0.5 s /   250 MiB
-  *          3                 0.65s  /   310 MiB     0.62s /   310 MiB
-  *          4                 2.2 s  /   860 MiB     1.7 s /   770 MiB
-  *          5               130   s  / 13000 MiB   120   s / 11000 MiB
-  *
-  * It is clear that everything is still very efficient up to 4 generators, then
-  * the memory and CPU requirements become unreasonable. Thus we only instantiate
-  * the template group theory logic if the number of generators supplied is 4 or
-  * lower, otherwise this will be forced to be done during runtime, where the
-  * algorithm is reasonably fast.
-  */
-template<std::size_t NumIndices>
-struct tensor_symmetry_pre_analysis<NumIndices>
-{
-  typedef StaticSGroup<> root_type;
-};
-
-template<std::size_t NumIndices, typename Gen_, typename... Gens_>
-struct tensor_symmetry_pre_analysis<NumIndices, Gen_, Gens_...>
-{
-  constexpr static std::size_t max_static_generators = 4;
-  constexpr static std::size_t max_static_elements = 16;
-  typedef tensor_static_symgroup_if<(sizeof...(Gens_) + 1 <= max_static_generators), NumIndices, Gen_, Gens_...> helper;
-  constexpr static std::size_t possible_size = helper::size;
-
-  typedef typename conditional<
-    possible_size == 0 || possible_size >= max_static_elements,
-    DynamicSGroupFromTemplateArgs<Gen_, Gens_...>,
-    typename helper::type
-  >::type root_type;
-};
-
-template<bool instantiate, std::size_t NumIndices, typename... Gens>
-struct tensor_static_symgroup_if
-{
-  constexpr static std::size_t size = 0;
-  typedef void type;
-};
-
-template<std::size_t NumIndices, typename... Gens>
-struct tensor_static_symgroup_if<true, NumIndices, Gens...> : tensor_static_symgroup<NumIndices, Gens...> {};
-
-template<typename Tensor_>
-struct tensor_symmetry_assign_value
-{
-  typedef typename Tensor_::Index Index;
-  typedef typename Tensor_::Scalar Scalar;
-  constexpr static std::size_t NumIndices = Tensor_::NumIndices;
-
-  static inline int run(const std::array<Index, NumIndices>& transformed_indices, int transformation_flags, int dummy, Tensor_& tensor, const Scalar& value_)
-  {
-    Scalar value(value_);
-    if (transformation_flags & ConjugationFlag)
-      value = numext::conj(value);
-    if (transformation_flags & NegationFlag)
-      value = -value;
-    tensor.coeffRef(transformed_indices) = value;
-    return dummy;
-  }
-};
-
-template<typename Tensor_>
-struct tensor_symmetry_calculate_flags
-{
-  typedef typename Tensor_::Index Index;
-  constexpr static std::size_t NumIndices = Tensor_::NumIndices;
-
-  static inline int run(const std::array<Index, NumIndices>& transformed_indices, int transform_flags, int current_flags, const std::array<Index, NumIndices>& orig_indices)
-  {
-    if (transformed_indices == orig_indices) {
-      if (transform_flags & (ConjugationFlag | NegationFlag))
-        return current_flags | GlobalImagFlag; // anti-hermitian diagonal
-      else if (transform_flags & ConjugationFlag)
-        return current_flags | GlobalRealFlag; // hermitian diagonal
-      else if (transform_flags & NegationFlag)
-        return current_flags | GlobalZeroFlag; // anti-symmetric diagonal
-    }
-    return current_flags;
-  }
-};
-
-template<typename Tensor_, typename Symmetry_, int Flags = 0>
-class tensor_symmetry_value_setter
-{
-  public:
-    typedef typename Tensor_::Index Index;
-    typedef typename Tensor_::Scalar Scalar;
-    constexpr static std::size_t NumIndices = Tensor_::NumIndices;
-
-    inline tensor_symmetry_value_setter(Tensor_& tensor, Symmetry_ const& symmetry, std::array<Index, NumIndices> const& indices)
-      : m_tensor(tensor), m_symmetry(symmetry), m_indices(indices) { }
-
-    inline tensor_symmetry_value_setter<Tensor_, Symmetry_, Flags>& operator=(Scalar const& value)
-    {
-      doAssign(value);
-      return *this;
-    }
-  private:
-    Tensor_& m_tensor;
-    Symmetry_ m_symmetry;
-    std::array<Index, NumIndices> m_indices;
-
-    inline void doAssign(Scalar const& value)
-    {
-      #ifdef EIGEN_TENSOR_SYMMETRY_CHECK_VALUES
-        int value_flags = m_symmetry.template apply<internal::tensor_symmetry_calculate_flags<Tensor_>, int>(m_indices, m_symmetry.globalFlags(), m_indices);
-        if (value_flags & GlobalRealFlag)
-          eigen_assert(numext::imag(value) == 0);
-        if (value_flags & GlobalImagFlag)
-          eigen_assert(numext::real(value) == 0);
-      #endif
-      m_symmetry.template apply<internal::tensor_symmetry_assign_value<Tensor_>, int>(m_indices, 0, m_tensor, value);
-    }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSORSYMMETRY_SYMMETRY_H
-
-/*
- * kate: space-indent on; indent-width 2; mixedindent off; indent-mode cstyle;
- */
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h
deleted file mode 100644
index 0fe0b7c46de522..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h
+++ /dev/null
@@ -1,666 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_TENSORSYMMETRY_TEMPLATEGROUPTHEORY_H
-#define EIGEN_CXX11_TENSORSYMMETRY_TEMPLATEGROUPTHEORY_H
-
-namespace Eigen {
-
-namespace internal {
-
-namespace group_theory {
-
-/** \internal
-  * \file CXX11/Tensor/util/TemplateGroupTheory.h
-  * This file contains C++ templates that implement group theory algorithms.
-  *
-  * The algorithms allow for a compile-time analysis of finite groups.
-  *
-  * Currently only Dimino's algorithm is implemented, which returns a list
-  * of all elements in a group given a set of (possibly redundant) generators.
-  * (One could also do that with the so-called orbital algorithm, but that
-  * is much more expensive and usually has no advantages.)
-  */
-
-/**********************************************************************
- *                "Ok kid, here is where it gets complicated."
- *                         - Amelia Pond in the "Doctor Who" episode
- *                           "The Big Bang"
- *
- * Dimino's algorithm
- * ==================
- *
- * The following is Dimino's algorithm in sequential form:
- *
- * Input: identity element, list of generators, equality check,
- *        multiplication operation
- * Output: list of group elements
- *
- * 1. add identity element
- * 2. remove identities from list of generators
- * 3. add all powers of first generator that aren't the
- *    identity element
- * 4. go through all remaining generators:
- *        a. if generator is already in the list of elements
- *                -> do nothing
- *        b. otherwise
- *                i.   remember current # of elements
- *                     (i.e. the size of the current subgroup)
- *                ii.  add all current elements (which includes
- *                     the identity) each multiplied from right
- *                     with the current generator to the group
- *                iii. add all remaining cosets that are generated
- *                     by products of the new generator with itself
- *                     and all other generators seen so far
- *
- * In functional form, this is implemented as a long set of recursive
- * templates that have a complicated relationship.
- *
- * The main interface for Dimino's algorithm is the template
- * enumerate_group_elements. All lists are implemented as variadic
- * type_list<typename...> and numeric_list<typename = int, int...>
- * templates.
- *
- * 'Calling' templates is usually done via typedefs.
- *
- * This algorithm is an extended version of the basic version. The
- * extension consists in the fact that each group element has a set
- * of flags associated with it. Multiplication of two group elements
- * with each other results in a group element whose flags are the
- * XOR of the flags of the previous elements. Each time the algorithm
- * notices that a group element it just calculated is already in the
- * list of current elements, the flags of both will be compared and
- * added to the so-called 'global flags' of the group.
- *
- * The rationale behind this extension is that this allows not only
- * for the description of symmetries between tensor indices, but
- * also allows for the description of hermiticity, antisymmetry and
- * antihermiticity. Negation and conjugation each are specific bit
- * in the flags value and if two different ways to reach a group
- * element lead to two different flags, this poses a constraint on
- * the allowed values of the resulting tensor. For example, if a
- * group element is reach both with and without the conjugation
- * flags, it is clear that the resulting tensor has to be real.
- *
- * Note that this flag mechanism is quite generic and may have other
- * uses beyond tensor properties.
- *
- * IMPORTANT: 
- *     This algorithm assumes the group to be finite. If you try to
- *     run it with a group that's infinite, the algorithm will only
- *     terminate once you hit a compiler limit (max template depth).
- *     Also note that trying to use this implementation to create a
- *     very large group will probably either make you hit the same
- *     limit, cause the compiler to segfault or at the very least
- *     take a *really* long time (hours, days, weeks - sic!) to
- *     compile. It is not recommended to plug in more than 4
- *     generators, unless they are independent of each other.
- */
-
-/** \internal
-  *
-  * \class strip_identities
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Cleanse a list of group elements of the identity element
-  *
-  * This template is used to make a first pass through all initial
-  * generators of Dimino's algorithm and remove the identity
-  * elements.
-  *
-  * \sa enumerate_group_elements
-  */
-template<template<typename, typename> class Equality, typename id, typename L> struct strip_identities;
-
-template<
-  template<typename, typename> class Equality,
-  typename id,
-  typename t,
-  typename... ts
->
-struct strip_identities<Equality, id, type_list<t, ts...>>
-{
-  typedef typename conditional<
-    Equality<id, t>::value,
-    typename strip_identities<Equality, id, type_list<ts...>>::type,
-    typename concat<type_list<t>, typename strip_identities<Equality, id, type_list<ts...>>::type>::type
-  >::type type;
-  constexpr static int global_flags = Equality<id, t>::global_flags | strip_identities<Equality, id, type_list<ts...>>::global_flags;
-};
-
-template<
-  template<typename, typename> class Equality,
-  typename id
-  EIGEN_TPL_PP_SPEC_HACK_DEFC(typename, ts)
->
-struct strip_identities<Equality, id, type_list<EIGEN_TPL_PP_SPEC_HACK_USE(ts)>>
-{
-  typedef type_list<> type;
-  constexpr static int global_flags = 0;
-};
-
-/** \internal
-  *
-  * \class dimino_first_step_elements_helper 
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Recursive template that adds powers of the first generator to the list of group elements
-  *
-  * This template calls itself recursively to add powers of the first
-  * generator to the list of group elements. It stops if it reaches
-  * the identity element again.
-  *
-  * \sa enumerate_group_elements, dimino_first_step_elements
-  */
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename g,
-  typename current_element,
-  typename elements,
-  bool dont_add_current_element   // = false
->
-struct dimino_first_step_elements_helper :
-  public dimino_first_step_elements_helper<
-    Multiply,
-    Equality,
-    id,
-    g,
-    typename Multiply<current_element, g>::type,
-    typename concat<elements, type_list<current_element>>::type,
-    Equality<typename Multiply<current_element, g>::type, id>::value
-  > {};
-
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename g,
-  typename current_element,
-  typename elements
->
-struct dimino_first_step_elements_helper<Multiply, Equality, id, g, current_element, elements, true>
-{
-  typedef elements type;
-  constexpr static int global_flags = Equality<current_element, id>::global_flags;
-};
-
-/** \internal
-  *
-  * \class dimino_first_step_elements
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Add all powers of the first generator to the list of group elements
-  *
-  * This template takes the first non-identity generator and generates the initial
-  * list of elements which consists of all powers of that generator. For a group
-  * with just one generated, it would be enumerated after this.
-  *
-  * \sa enumerate_group_elements
-  */
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename generators
->
-struct dimino_first_step_elements
-{
-  typedef typename get<0, generators>::type first_generator;
-  typedef typename skip<1, generators>::type next_generators;
-  typedef type_list<first_generator> generators_done;
-
-  typedef dimino_first_step_elements_helper<
-    Multiply,
-    Equality,
-    id,
-    first_generator,
-    first_generator,
-    type_list<id>,
-    false
-  > helper;
-  typedef typename helper::type type;
-  constexpr static int global_flags = helper::global_flags;
-};
-
-/** \internal
-  *
-  * \class dimino_get_coset_elements
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Generate all elements of a specific coset
-  *
-  * This template generates all the elements of a specific coset by
-  * multiplying all elements in the given subgroup with the new
-  * coset representative. Note that the first element of the
-  * subgroup is always the identity element, so the first element of
-  * ther result of this template is going to be the coset
-  * representative itself.
-  *
-  * Note that this template accepts an additional boolean parameter
-  * that specifies whether to actually generate the coset (true) or
-  * just return an empty list (false).
-  *
-  * \sa enumerate_group_elements, dimino_add_cosets_for_rep
-  */
-template<
-  template<typename, typename> class Multiply,
-  typename sub_group_elements,
-  typename new_coset_rep,
-  bool generate_coset      // = true
->
-struct dimino_get_coset_elements
-{
-  typedef typename apply_op_from_right<Multiply, new_coset_rep, sub_group_elements>::type type;
-};
-
-template<
-  template<typename, typename> class Multiply,
-  typename sub_group_elements,
-  typename new_coset_rep
->
-struct dimino_get_coset_elements<Multiply, sub_group_elements, new_coset_rep, false>
-{
-  typedef type_list<> type;
-};
-
-/** \internal
-  *
-  * \class dimino_add_cosets_for_rep
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Recursive template for adding coset spaces
-  *
-  * This template multiplies the coset representative with a generator
-  * from the list of previous generators. If the new element is not in
-  * the group already, it adds the corresponding coset. Finally it
-  * proceeds to call itself with the next generator from the list.
-  *
-  * \sa enumerate_group_elements, dimino_add_all_coset_spaces
-  */
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename sub_group_elements,
-  typename elements,
-  typename generators,
-  typename rep_element,
-  int sub_group_size
->
-struct dimino_add_cosets_for_rep;
-
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename sub_group_elements,
-  typename elements,
-  typename g,
-  typename... gs,
-  typename rep_element,
-  int sub_group_size
->
-struct dimino_add_cosets_for_rep<Multiply, Equality, id, sub_group_elements, elements, type_list<g, gs...>, rep_element, sub_group_size>
-{
-  typedef typename Multiply<rep_element, g>::type new_coset_rep;
-  typedef contained_in_list_gf<Equality, new_coset_rep, elements> _cil;
-  constexpr static bool add_coset = !_cil::value;
-
-  typedef typename dimino_get_coset_elements<
-    Multiply,
-    sub_group_elements,
-    new_coset_rep,
-    add_coset
-  >::type coset_elements;
-
-  typedef dimino_add_cosets_for_rep<
-    Multiply,
-    Equality,
-    id,
-    sub_group_elements,
-    typename concat<elements, coset_elements>::type,
-    type_list<gs...>,
-    rep_element,
-    sub_group_size
-  > _helper;
-
-  typedef typename _helper::type type;
-  constexpr static int global_flags = _cil::global_flags | _helper::global_flags;
-
-  /* Note that we don't have to update global flags here, since
-   * we will only add these elements if they are not part of
-   * the group already. But that only happens if the coset rep
-   * is not already in the group, so the check for the coset rep
-   * will catch this.
-   */
-};
-
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename sub_group_elements,
-  typename elements
-  EIGEN_TPL_PP_SPEC_HACK_DEFC(typename, empty),
-  typename rep_element,
-  int sub_group_size
->
-struct dimino_add_cosets_for_rep<Multiply, Equality, id, sub_group_elements, elements, type_list<EIGEN_TPL_PP_SPEC_HACK_USE(empty)>, rep_element, sub_group_size>
-{
-  typedef elements type;
-  constexpr static int global_flags = 0;
-};
-
-/** \internal
-  *
-  * \class dimino_add_all_coset_spaces
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Recursive template for adding all coset spaces for a new generator
-  *
-  * This template tries to go through the list of generators (with
-  * the help of the dimino_add_cosets_for_rep template) as long as
-  * it still finds elements that are not part of the group and add
-  * the corresponding cosets.
-  *
-  * \sa enumerate_group_elements, dimino_add_cosets_for_rep
-  */
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename sub_group_elements,
-  typename elements,
-  typename generators,
-  int sub_group_size,
-  int rep_pos,
-  bool stop_condition        // = false
->
-struct dimino_add_all_coset_spaces
-{
-  typedef typename get<rep_pos, elements>::type rep_element;
-  typedef dimino_add_cosets_for_rep<
-    Multiply,
-    Equality,
-    id,
-    sub_group_elements,
-    elements,
-    generators,
-    rep_element,
-    sub_group_elements::count
-  > _ac4r;
-  typedef typename _ac4r::type new_elements;
-  
-  constexpr static int new_rep_pos = rep_pos + sub_group_elements::count;
-  constexpr static bool new_stop_condition = new_rep_pos >= new_elements::count;
-
-  typedef dimino_add_all_coset_spaces<
-    Multiply,
-    Equality,
-    id,
-    sub_group_elements,
-    new_elements,
-    generators,
-    sub_group_size,
-    new_rep_pos,
-    new_stop_condition
-  > _helper;
-
-  typedef typename _helper::type type;
-  constexpr static int global_flags = _helper::global_flags | _ac4r::global_flags;
-};
-
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename sub_group_elements,
-  typename elements,
-  typename generators,
-  int sub_group_size,
-  int rep_pos
->
-struct dimino_add_all_coset_spaces<Multiply, Equality, id, sub_group_elements, elements, generators, sub_group_size, rep_pos, true>
-{
-  typedef elements type;
-  constexpr static int global_flags = 0;
-};
-
-/** \internal
-  *
-  * \class dimino_add_generator
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Enlarge the group by adding a new generator.
-  *
-  * It accepts a boolean parameter that determines if the generator is redundant,
-  * i.e. was already seen in the group. In that case, it reduces to a no-op.
-  *
-  * \sa enumerate_group_elements, dimino_add_all_coset_spaces
-  */
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename elements,
-  typename generators_done,
-  typename current_generator,
-  bool redundant          // = false
->
-struct dimino_add_generator
-{
-  /* this template is only called if the generator is not redundant
-   * => all elements of the group multiplied with the new generator
-   *    are going to be new elements of the most trivial coset space
-   */
-  typedef typename apply_op_from_right<Multiply, current_generator, elements>::type multiplied_elements;
-  typedef typename concat<elements, multiplied_elements>::type new_elements;
-
-  constexpr static int rep_pos = elements::count;
-
-  typedef dimino_add_all_coset_spaces<
-    Multiply,
-    Equality,
-    id,
-    elements, // elements of previous subgroup
-    new_elements,
-    typename concat<generators_done, type_list<current_generator>>::type,
-    elements::count, // size of previous subgroup
-    rep_pos,
-    false // don't stop (because rep_pos >= new_elements::count is always false at this point)
-  > _helper;
-  typedef typename _helper::type type;
-  constexpr static int global_flags = _helper::global_flags;
-};
-
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename elements,
-  typename generators_done,
-  typename current_generator
->
-struct dimino_add_generator<Multiply, Equality, id, elements, generators_done, current_generator, true>
-{
-  // redundant case
-  typedef elements type;
-  constexpr static int global_flags = 0;
-};
-
-/** \internal
-  *
-  * \class dimino_add_remaining_generators
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Recursive template that adds all remaining generators to a group
-  *
-  * Loop through the list of generators that remain and successively
-  * add them to the group.
-  *
-  * \sa enumerate_group_elements, dimino_add_generator
-  */
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename generators_done,
-  typename remaining_generators,
-  typename elements
->
-struct dimino_add_remaining_generators
-{
-  typedef typename get<0, remaining_generators>::type first_generator;
-  typedef typename skip<1, remaining_generators>::type next_generators;
-
-  typedef contained_in_list_gf<Equality, first_generator, elements> _cil;
-
-  typedef dimino_add_generator<
-    Multiply,
-    Equality,
-    id,
-    elements,
-    generators_done,
-    first_generator,
-    _cil::value
-  > _helper;
-
-  typedef typename _helper::type new_elements;
-
-  typedef dimino_add_remaining_generators<
-    Multiply,
-    Equality,
-    id,
-    typename concat<generators_done, type_list<first_generator>>::type,
-    next_generators,
-    new_elements
-  > _next_iter;
-
-  typedef typename _next_iter::type type;
-  constexpr static int global_flags =
-    _cil::global_flags |
-    _helper::global_flags |
-    _next_iter::global_flags;
-};
-
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename generators_done,
-  typename elements
->
-struct dimino_add_remaining_generators<Multiply, Equality, id, generators_done, type_list<>, elements>
-{
-  typedef elements type;
-  constexpr static int global_flags = 0;
-};
-
-/** \internal
-  *
-  * \class enumerate_group_elements_noid
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Helper template that implements group element enumeration
-  *
-  * This is a helper template that implements the actual enumeration
-  * of group elements. This has been split so that the list of
-  * generators can be cleansed of the identity element before
-  * performing the actual operation.
-  *
-  * \sa enumerate_group_elements
-  */
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename generators,
-  int initial_global_flags = 0
->
-struct enumerate_group_elements_noid
-{
-  typedef dimino_first_step_elements<Multiply, Equality, id, generators> first_step;
-  typedef typename first_step::type first_step_elements;
-
-  typedef dimino_add_remaining_generators<
-    Multiply,
-    Equality,
-    id,
-    typename first_step::generators_done,
-    typename first_step::next_generators, // remaining_generators
-    typename first_step::type // first_step elements
-  > _helper;
-
-  typedef typename _helper::type type;
-  constexpr static int global_flags =
-    initial_global_flags |
-    first_step::global_flags |
-    _helper::global_flags;
-};
-
-// in case when no generators are specified
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  int initial_global_flags
->
-struct enumerate_group_elements_noid<Multiply, Equality, id, type_list<>, initial_global_flags>
-{
-  typedef type_list<id> type;
-  constexpr static int global_flags = initial_global_flags;
-};
-
-/** \internal
-  *
-  * \class enumerate_group_elements
-  * \ingroup CXX11_TensorSymmetry_Module
-  *
-  * \brief Enumerate all elements in a finite group
-  *
-  * This template enumerates all elements in a finite group. It accepts
-  * the following template parameters:
-  *
-  * \tparam Multiply      The multiplication operation that multiplies two group elements
-  *                       with each other.
-  * \tparam Equality      The equality check operation that checks if two group elements
-  *                       are equal to another.
-  * \tparam id            The identity element
-  * \tparam _generators   A list of (possibly redundant) generators of the group
-  */
-template<
-  template<typename, typename> class Multiply,
-  template<typename, typename> class Equality,
-  typename id,
-  typename _generators
->
-struct enumerate_group_elements
-  : public enumerate_group_elements_noid<
-      Multiply,
-      Equality,
-      id,
-      typename strip_identities<Equality, id, _generators>::type,
-      strip_identities<Equality, id, _generators>::global_flags
-    >
-{
-};
-
-} // end namespace group_theory
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11_TENSORSYMMETRY_TEMPLATEGROUPTHEORY_H
-
-/*
- * kate: space-indent on; indent-width 2; mixedindent off; indent-mode cstyle;
- */
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h
deleted file mode 100644
index 71d55552de6534..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h
+++ /dev/null
@@ -1,233 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Dmitry Vyukov <dvyukov@google.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_EVENTCOUNT_H_
-#define EIGEN_CXX11_THREADPOOL_EVENTCOUNT_H_
-
-namespace Eigen {
-
-// EventCount allows to wait for arbitrary predicates in non-blocking
-// algorithms. Think of condition variable, but wait predicate does not need to
-// be protected by a mutex. Usage:
-// Waiting thread does:
-//
-//   if (predicate)
-//     return act();
-//   EventCount::Waiter& w = waiters[my_index];
-//   ec.Prewait(&w);
-//   if (predicate) {
-//     ec.CancelWait(&w);
-//     return act();
-//   }
-//   ec.CommitWait(&w);
-//
-// Notifying thread does:
-//
-//   predicate = true;
-//   ec.Notify(true);
-//
-// Notify is cheap if there are no waiting threads. Prewait/CommitWait are not
-// cheap, but they are executed only if the preceeding predicate check has
-// failed.
-//
-// Algorihtm outline:
-// There are two main variables: predicate (managed by user) and state_.
-// Operation closely resembles Dekker mutual algorithm:
-// https://en.wikipedia.org/wiki/Dekker%27s_algorithm
-// Waiting thread sets state_ then checks predicate, Notifying thread sets
-// predicate then checks state_. Due to seq_cst fences in between these
-// operations it is guaranteed than either waiter will see predicate change
-// and won't block, or notifying thread will see state_ change and will unblock
-// the waiter, or both. But it can't happen that both threads don't see each
-// other changes, which would lead to deadlock.
-class EventCount {
- public:
-  class Waiter;
-
-  EventCount(MaxSizeVector<Waiter>& waiters) : waiters_(waiters) {
-    eigen_assert(waiters.size() < (1 << kWaiterBits) - 1);
-    // Initialize epoch to something close to overflow to test overflow.
-    state_ = kStackMask | (kEpochMask - kEpochInc * waiters.size() * 2);
-  }
-
-  ~EventCount() {
-    // Ensure there are no waiters.
-    eigen_assert((state_.load() & (kStackMask | kWaiterMask)) == kStackMask);
-  }
-
-  // Prewait prepares for waiting.
-  // After calling this function the thread must re-check the wait predicate
-  // and call either CancelWait or CommitWait passing the same Waiter object.
-  void Prewait(Waiter* w) {
-    w->epoch = state_.fetch_add(kWaiterInc, std::memory_order_relaxed);
-    std::atomic_thread_fence(std::memory_order_seq_cst);
-  }
-
-  // CommitWait commits waiting.
-  void CommitWait(Waiter* w) {
-    w->state = Waiter::kNotSignaled;
-    // Modification epoch of this waiter.
-    uint64_t epoch =
-        (w->epoch & kEpochMask) +
-        (((w->epoch & kWaiterMask) >> kWaiterShift) << kEpochShift);
-    uint64_t state = state_.load(std::memory_order_seq_cst);
-    for (;;) {
-      if (int64_t((state & kEpochMask) - epoch) < 0) {
-        // The preceeding waiter has not decided on its fate. Wait until it
-        // calls either CancelWait or CommitWait, or is notified.
-        EIGEN_THREAD_YIELD();
-        state = state_.load(std::memory_order_seq_cst);
-        continue;
-      }
-      // We've already been notified.
-      if (int64_t((state & kEpochMask) - epoch) > 0) return;
-      // Remove this thread from prewait counter and add it to the waiter list.
-      eigen_assert((state & kWaiterMask) != 0);
-      uint64_t newstate = state - kWaiterInc + kEpochInc;
-      newstate = (newstate & ~kStackMask) | (w - &waiters_[0]);
-      if ((state & kStackMask) == kStackMask)
-        w->next.store(nullptr, std::memory_order_relaxed);
-      else
-        w->next.store(&waiters_[state & kStackMask], std::memory_order_relaxed);
-      if (state_.compare_exchange_weak(state, newstate,
-                                       std::memory_order_release))
-        break;
-    }
-    Park(w);
-  }
-
-  // CancelWait cancels effects of the previous Prewait call.
-  void CancelWait(Waiter* w) {
-    uint64_t epoch =
-        (w->epoch & kEpochMask) +
-        (((w->epoch & kWaiterMask) >> kWaiterShift) << kEpochShift);
-    uint64_t state = state_.load(std::memory_order_relaxed);
-    for (;;) {
-      if (int64_t((state & kEpochMask) - epoch) < 0) {
-        // The preceeding waiter has not decided on its fate. Wait until it
-        // calls either CancelWait or CommitWait, or is notified.
-        EIGEN_THREAD_YIELD();
-        state = state_.load(std::memory_order_relaxed);
-        continue;
-      }
-      // We've already been notified.
-      if (int64_t((state & kEpochMask) - epoch) > 0) return;
-      // Remove this thread from prewait counter.
-      eigen_assert((state & kWaiterMask) != 0);
-      if (state_.compare_exchange_weak(state, state - kWaiterInc + kEpochInc,
-                                       std::memory_order_relaxed))
-        return;
-    }
-  }
-
-  // Notify wakes one or all waiting threads.
-  // Must be called after changing the associated wait predicate.
-  void Notify(bool all) {
-    std::atomic_thread_fence(std::memory_order_seq_cst);
-    uint64_t state = state_.load(std::memory_order_acquire);
-    for (;;) {
-      // Easy case: no waiters.
-      if ((state & kStackMask) == kStackMask && (state & kWaiterMask) == 0)
-        return;
-      uint64_t waiters = (state & kWaiterMask) >> kWaiterShift;
-      uint64_t newstate;
-      if (all) {
-        // Reset prewait counter and empty wait list.
-        newstate = (state & kEpochMask) + (kEpochInc * waiters) + kStackMask;
-      } else if (waiters) {
-        // There is a thread in pre-wait state, unblock it.
-        newstate = state + kEpochInc - kWaiterInc;
-      } else {
-        // Pop a waiter from list and unpark it.
-        Waiter* w = &waiters_[state & kStackMask];
-        Waiter* wnext = w->next.load(std::memory_order_relaxed);
-        uint64_t next = kStackMask;
-        if (wnext != nullptr) next = wnext - &waiters_[0];
-        // Note: we don't add kEpochInc here. ABA problem on the lock-free stack
-        // can't happen because a waiter is re-pushed onto the stack only after
-        // it was in the pre-wait state which inevitably leads to epoch
-        // increment.
-        newstate = (state & kEpochMask) + next;
-      }
-      if (state_.compare_exchange_weak(state, newstate,
-                                       std::memory_order_acquire)) {
-        if (!all && waiters) return;  // unblocked pre-wait thread
-        if ((state & kStackMask) == kStackMask) return;
-        Waiter* w = &waiters_[state & kStackMask];
-        if (!all) w->next.store(nullptr, std::memory_order_relaxed);
-        Unpark(w);
-        return;
-      }
-    }
-  }
-
-  class Waiter {
-    friend class EventCount;
-    // Align to 128 byte boundary to prevent false sharing with other Waiter objects in the same vector.
-    EIGEN_ALIGN_TO_BOUNDARY(128) std::atomic<Waiter*> next;
-    std::mutex mu;
-    std::condition_variable cv;
-    uint64_t epoch;
-    unsigned state;
-    enum {
-      kNotSignaled,
-      kWaiting,
-      kSignaled,
-    };
-  };
-
- private:
-  // State_ layout:
-  // - low kStackBits is a stack of waiters committed wait.
-  // - next kWaiterBits is count of waiters in prewait state.
-  // - next kEpochBits is modification counter.
-  static const uint64_t kStackBits = 16;
-  static const uint64_t kStackMask = (1ull << kStackBits) - 1;
-  static const uint64_t kWaiterBits = 16;
-  static const uint64_t kWaiterShift = 16;
-  static const uint64_t kWaiterMask = ((1ull << kWaiterBits) - 1)
-                                      << kWaiterShift;
-  static const uint64_t kWaiterInc = 1ull << kWaiterBits;
-  static const uint64_t kEpochBits = 32;
-  static const uint64_t kEpochShift = 32;
-  static const uint64_t kEpochMask = ((1ull << kEpochBits) - 1) << kEpochShift;
-  static const uint64_t kEpochInc = 1ull << kEpochShift;
-  std::atomic<uint64_t> state_;
-  MaxSizeVector<Waiter>& waiters_;
-
-  void Park(Waiter* w) {
-    std::unique_lock<std::mutex> lock(w->mu);
-    while (w->state != Waiter::kSignaled) {
-      w->state = Waiter::kWaiting;
-      w->cv.wait(lock);
-    }
-  }
-
-  void Unpark(Waiter* waiters) {
-    Waiter* next = nullptr;
-    for (Waiter* w = waiters; w; w = next) {
-      next = w->next.load(std::memory_order_relaxed);
-      unsigned state;
-      {
-        std::unique_lock<std::mutex> lock(w->mu);
-        state = w->state;
-        w->state = Waiter::kSignaled;
-      }
-      // Avoid notifying if it wasn't waiting.
-      if (state == Waiter::kWaiting) w->cv.notify_one();
-    }
-  }
-
-  EventCount(const EventCount&) = delete;
-  void operator=(const EventCount&) = delete;
-};
-
-}  // namespace Eigen
-
-#endif  // EIGEN_CXX11_THREADPOOL_EVENTCOUNT_H_
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/NonBlockingThreadPool.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/NonBlockingThreadPool.h
deleted file mode 100644
index 354bce52aee3dc..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/NonBlockingThreadPool.h
+++ /dev/null
@@ -1,274 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Dmitry Vyukov <dvyukov@google.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_NONBLOCKING_THREAD_POOL_H
-#define EIGEN_CXX11_THREADPOOL_NONBLOCKING_THREAD_POOL_H
-
-
-namespace Eigen {
-
-template <typename Environment>
-class NonBlockingThreadPoolTempl : public Eigen::ThreadPoolInterface {
- public:
-  typedef typename Environment::Task Task;
-  typedef RunQueue<Task, 1024> Queue;
-
-  NonBlockingThreadPoolTempl(int num_threads, Environment env = Environment())
-      : env_(env),
-        threads_(num_threads),
-        queues_(num_threads),
-        coprimes_(num_threads),
-        waiters_(num_threads),
-        blocked_(0),
-        spinning_(0),
-        done_(false),
-        ec_(waiters_) {
-    waiters_.resize(num_threads);
-
-    // Calculate coprimes of num_threads.
-    // Coprimes are used for a random walk over all threads in Steal
-    // and NonEmptyQueueIndex. Iteration is based on the fact that if we take
-    // a walk starting thread index t and calculate num_threads - 1 subsequent
-    // indices as (t + coprime) % num_threads, we will cover all threads without
-    // repetitions (effectively getting a presudo-random permutation of thread
-    // indices).
-    for (int i = 1; i <= num_threads; i++) {
-      unsigned a = i;
-      unsigned b = num_threads;
-      // If GCD(a, b) == 1, then a and b are coprimes.
-      while (b != 0) {
-        unsigned tmp = a;
-        a = b;
-        b = tmp % b;
-      }
-      if (a == 1) {
-        coprimes_.push_back(i);
-      }
-    }
-    for (int i = 0; i < num_threads; i++) {
-      queues_.push_back(new Queue());
-    }
-    for (int i = 0; i < num_threads; i++) {
-      threads_.push_back(env_.CreateThread([this, i]() { WorkerLoop(i); }));
-    }
-  }
-
-  ~NonBlockingThreadPoolTempl() {
-    done_ = true;
-    // Now if all threads block without work, they will start exiting.
-    // But note that threads can continue to work arbitrary long,
-    // block, submit new work, unblock and otherwise live full life.
-    ec_.Notify(true);
-
-    // Join threads explicitly to avoid destruction order issues.
-    for (size_t i = 0; i < threads_.size(); i++) delete threads_[i];
-    for (size_t i = 0; i < threads_.size(); i++) delete queues_[i];
-  }
-
-  void Schedule(std::function<void()> fn) {
-    Task t = env_.CreateTask(std::move(fn));
-    PerThread* pt = GetPerThread();
-    if (pt->pool == this) {
-      // Worker thread of this pool, push onto the thread's queue.
-      Queue* q = queues_[pt->thread_id];
-      t = q->PushFront(std::move(t));
-    } else {
-      // A free-standing thread (or worker of another pool), push onto a random
-      // queue.
-      Queue* q = queues_[Rand(&pt->rand) % queues_.size()];
-      t = q->PushBack(std::move(t));
-    }
-    // Note: below we touch this after making w available to worker threads.
-    // Strictly speaking, this can lead to a racy-use-after-free. Consider that
-    // Schedule is called from a thread that is neither main thread nor a worker
-    // thread of this pool. Then, execution of w directly or indirectly
-    // completes overall computations, which in turn leads to destruction of
-    // this. We expect that such scenario is prevented by program, that is,
-    // this is kept alive while any threads can potentially be in Schedule.
-    if (!t.f)
-      ec_.Notify(false);
-    else
-      env_.ExecuteTask(t);  // Push failed, execute directly.
-  }
-
-  int NumThreads() const final {
-    return static_cast<int>(threads_.size());
-  }
-
-  int CurrentThreadId() const final {
-    const PerThread* pt =
-        const_cast<NonBlockingThreadPoolTempl*>(this)->GetPerThread();
-    if (pt->pool == this) {
-      return pt->thread_id;
-    } else {
-      return -1;
-    }
-  }
-
- private:
-  typedef typename Environment::EnvThread Thread;
-
-  struct PerThread {
-    constexpr PerThread() : pool(NULL), rand(0), thread_id(-1) { }
-    NonBlockingThreadPoolTempl* pool;  // Parent pool, or null for normal threads.
-    uint64_t rand;  // Random generator state.
-    int thread_id;  // Worker thread index in pool.
-  };
-
-  Environment env_;
-  MaxSizeVector<Thread*> threads_;
-  MaxSizeVector<Queue*> queues_;
-  MaxSizeVector<unsigned> coprimes_;
-  MaxSizeVector<EventCount::Waiter> waiters_;
-  std::atomic<unsigned> blocked_;
-  std::atomic<bool> spinning_;
-  std::atomic<bool> done_;
-  EventCount ec_;
-
-  // Main worker thread loop.
-  void WorkerLoop(int thread_id) {
-    PerThread* pt = GetPerThread();
-    pt->pool = this;
-    pt->rand = std::hash<std::thread::id>()(std::this_thread::get_id());
-    pt->thread_id = thread_id;
-    Queue* q = queues_[thread_id];
-    EventCount::Waiter* waiter = &waiters_[thread_id];
-    for (;;) {
-      Task t = q->PopFront();
-      if (!t.f) {
-        t = Steal();
-        if (!t.f) {
-          // Leave one thread spinning. This reduces latency.
-          // TODO(dvyukov): 1000 iterations is based on fair dice roll, tune it.
-          // Also, the time it takes to attempt to steal work 1000 times depends
-          // on the size of the thread pool. However the speed at which the user
-          // of the thread pool submit tasks is independent of the size of the
-          // pool. Consider a time based limit instead.
-          if (!spinning_ && !spinning_.exchange(true)) {
-            for (int i = 0; i < 1000 && !t.f; i++) {
-              t = Steal();
-            }
-            spinning_ = false;
-          }
-          if (!t.f) {
-            if (!WaitForWork(waiter, &t)) {
-              return;
-            }
-          }
-        }
-      }
-      if (t.f) {
-        env_.ExecuteTask(t);
-      }
-    }
-  }
-
-  // Steal tries to steal work from other worker threads in best-effort manner.
-  Task Steal() {
-    PerThread* pt = GetPerThread();
-    const size_t size = queues_.size();
-    unsigned r = Rand(&pt->rand);
-    unsigned inc = coprimes_[r % coprimes_.size()];
-    unsigned victim = r % size;
-    for (unsigned i = 0; i < size; i++) {
-      Task t = queues_[victim]->PopBack();
-      if (t.f) {
-        return t;
-      }
-      victim += inc;
-      if (victim >= size) {
-        victim -= size;
-      }
-    }
-    return Task();
-  }
-
-  // WaitForWork blocks until new work is available (returns true), or if it is
-  // time to exit (returns false). Can optionally return a task to execute in t
-  // (in such case t.f != nullptr on return).
-  bool WaitForWork(EventCount::Waiter* waiter, Task* t) {
-    eigen_assert(!t->f);
-    // We already did best-effort emptiness check in Steal, so prepare for
-    // blocking.
-    ec_.Prewait(waiter);
-    // Now do a reliable emptiness check.
-    int victim = NonEmptyQueueIndex();
-    if (victim != -1) {
-      ec_.CancelWait(waiter);
-      *t = queues_[victim]->PopBack();
-      return true;
-    }
-    // Number of blocked threads is used as termination condition.
-    // If we are shutting down and all worker threads blocked without work,
-    // that's we are done.
-    blocked_++;
-    if (done_ && blocked_ == threads_.size()) {
-      ec_.CancelWait(waiter);
-      // Almost done, but need to re-check queues.
-      // Consider that all queues are empty and all worker threads are preempted
-      // right after incrementing blocked_ above. Now a free-standing thread
-      // submits work and calls destructor (which sets done_). If we don't
-      // re-check queues, we will exit leaving the work unexecuted.
-      if (NonEmptyQueueIndex() != -1) {
-        // Note: we must not pop from queues before we decrement blocked_,
-        // otherwise the following scenario is possible. Consider that instead
-        // of checking for emptiness we popped the only element from queues.
-        // Now other worker threads can start exiting, which is bad if the
-        // work item submits other work. So we just check emptiness here,
-        // which ensures that all worker threads exit at the same time.
-        blocked_--;
-        return true;
-      }
-      // Reached stable termination state.
-      ec_.Notify(true);
-      return false;
-    }
-    ec_.CommitWait(waiter);
-    blocked_--;
-    return true;
-  }
-
-  int NonEmptyQueueIndex() {
-    PerThread* pt = GetPerThread();
-    const size_t size = queues_.size();
-    unsigned r = Rand(&pt->rand);
-    unsigned inc = coprimes_[r % coprimes_.size()];
-    unsigned victim = r % size;
-    for (unsigned i = 0; i < size; i++) {
-      if (!queues_[victim]->Empty()) {
-        return victim;
-      }
-      victim += inc;
-      if (victim >= size) {
-        victim -= size;
-      }
-    }
-    return -1;
-  }
-
-  static EIGEN_STRONG_INLINE PerThread* GetPerThread() {
-    EIGEN_THREAD_LOCAL PerThread per_thread_;
-    PerThread* pt = &per_thread_;
-    return pt;
-  }
-
-  static EIGEN_STRONG_INLINE unsigned Rand(uint64_t* state) {
-    uint64_t current = *state;
-    // Update the internal state
-    *state = current * 6364136223846793005ULL + 0xda3e39cb94b95bdbULL;
-    // Generate the random output (using the PCG-XSH-RS scheme)
-    return static_cast<unsigned>((current ^ (current >> 22)) >> (22 + (current >> 61)));
-  }
-};
-
-typedef NonBlockingThreadPoolTempl<StlThreadEnvironment> NonBlockingThreadPool;
-
-}  // namespace Eigen
-
-#endif  // EIGEN_CXX11_THREADPOOL_NONBLOCKING_THREAD_POOL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/RunQueue.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/RunQueue.h
deleted file mode 100644
index 05ed76cbe49497..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/RunQueue.h
+++ /dev/null
@@ -1,210 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Dmitry Vyukov <dvyukov@google.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_RUNQUEUE_H_
-#define EIGEN_CXX11_THREADPOOL_RUNQUEUE_H_
-
-
-namespace Eigen {
-
-// RunQueue is a fixed-size, partially non-blocking deque or Work items.
-// Operations on front of the queue must be done by a single thread (owner),
-// operations on back of the queue can be done by multiple threads concurrently.
-//
-// Algorithm outline:
-// All remote threads operating on the queue back are serialized by a mutex.
-// This ensures that at most two threads access state: owner and one remote
-// thread (Size aside). The algorithm ensures that the occupied region of the
-// underlying array is logically continuous (can wraparound, but no stray
-// occupied elements). Owner operates on one end of this region, remote thread
-// operates on the other end. Synchronization between these threads
-// (potential consumption of the last element and take up of the last empty
-// element) happens by means of state variable in each element. States are:
-// empty, busy (in process of insertion of removal) and ready. Threads claim
-// elements (empty->busy and ready->busy transitions) by means of a CAS
-// operation. The finishing transition (busy->empty and busy->ready) are done
-// with plain store as the element is exclusively owned by the current thread.
-//
-// Note: we could permit only pointers as elements, then we would not need
-// separate state variable as null/non-null pointer value would serve as state,
-// but that would require malloc/free per operation for large, complex values
-// (and this is designed to store std::function<()>).
-template <typename Work, unsigned kSize>
-class RunQueue {
- public:
-  RunQueue() : front_(0), back_(0) {
-    // require power-of-two for fast masking
-    eigen_assert((kSize & (kSize - 1)) == 0);
-    eigen_assert(kSize > 2);            // why would you do this?
-    eigen_assert(kSize <= (64 << 10));  // leave enough space for counter
-    for (unsigned i = 0; i < kSize; i++)
-      array_[i].state.store(kEmpty, std::memory_order_relaxed);
-  }
-
-  ~RunQueue() { eigen_assert(Size() == 0); }
-
-  // PushFront inserts w at the beginning of the queue.
-  // If queue is full returns w, otherwise returns default-constructed Work.
-  Work PushFront(Work w) {
-    unsigned front = front_.load(std::memory_order_relaxed);
-    Elem* e = &array_[front & kMask];
-    uint8_t s = e->state.load(std::memory_order_relaxed);
-    if (s != kEmpty ||
-        !e->state.compare_exchange_strong(s, kBusy, std::memory_order_acquire))
-      return w;
-    front_.store(front + 1 + (kSize << 1), std::memory_order_relaxed);
-    e->w = std::move(w);
-    e->state.store(kReady, std::memory_order_release);
-    return Work();
-  }
-
-  // PopFront removes and returns the first element in the queue.
-  // If the queue was empty returns default-constructed Work.
-  Work PopFront() {
-    unsigned front = front_.load(std::memory_order_relaxed);
-    Elem* e = &array_[(front - 1) & kMask];
-    uint8_t s = e->state.load(std::memory_order_relaxed);
-    if (s != kReady ||
-        !e->state.compare_exchange_strong(s, kBusy, std::memory_order_acquire))
-      return Work();
-    Work w = std::move(e->w);
-    e->state.store(kEmpty, std::memory_order_release);
-    front = ((front - 1) & kMask2) | (front & ~kMask2);
-    front_.store(front, std::memory_order_relaxed);
-    return w;
-  }
-
-  // PushBack adds w at the end of the queue.
-  // If queue is full returns w, otherwise returns default-constructed Work.
-  Work PushBack(Work w) {
-    std::unique_lock<std::mutex> lock(mutex_);
-    unsigned back = back_.load(std::memory_order_relaxed);
-    Elem* e = &array_[(back - 1) & kMask];
-    uint8_t s = e->state.load(std::memory_order_relaxed);
-    if (s != kEmpty ||
-        !e->state.compare_exchange_strong(s, kBusy, std::memory_order_acquire))
-      return w;
-    back = ((back - 1) & kMask2) | (back & ~kMask2);
-    back_.store(back, std::memory_order_relaxed);
-    e->w = std::move(w);
-    e->state.store(kReady, std::memory_order_release);
-    return Work();
-  }
-
-  // PopBack removes and returns the last elements in the queue.
-  // Can fail spuriously.
-  Work PopBack() {
-    if (Empty()) return Work();
-    std::unique_lock<std::mutex> lock(mutex_, std::try_to_lock);
-    if (!lock) return Work();
-    unsigned back = back_.load(std::memory_order_relaxed);
-    Elem* e = &array_[back & kMask];
-    uint8_t s = e->state.load(std::memory_order_relaxed);
-    if (s != kReady ||
-        !e->state.compare_exchange_strong(s, kBusy, std::memory_order_acquire))
-      return Work();
-    Work w = std::move(e->w);
-    e->state.store(kEmpty, std::memory_order_release);
-    back_.store(back + 1 + (kSize << 1), std::memory_order_relaxed);
-    return w;
-  }
-
-  // PopBackHalf removes and returns half last elements in the queue.
-  // Returns number of elements removed. But can also fail spuriously.
-  unsigned PopBackHalf(std::vector<Work>* result) {
-    if (Empty()) return 0;
-    std::unique_lock<std::mutex> lock(mutex_, std::try_to_lock);
-    if (!lock) return 0;
-    unsigned back = back_.load(std::memory_order_relaxed);
-    unsigned size = Size();
-    unsigned mid = back;
-    if (size > 1) mid = back + (size - 1) / 2;
-    unsigned n = 0;
-    unsigned start = 0;
-    for (; static_cast<int>(mid - back) >= 0; mid--) {
-      Elem* e = &array_[mid & kMask];
-      uint8_t s = e->state.load(std::memory_order_relaxed);
-      if (n == 0) {
-        if (s != kReady ||
-            !e->state.compare_exchange_strong(s, kBusy,
-                                              std::memory_order_acquire))
-          continue;
-        start = mid;
-      } else {
-        // Note: no need to store temporal kBusy, we exclusively own these
-        // elements.
-        eigen_assert(s == kReady);
-      }
-      result->push_back(std::move(e->w));
-      e->state.store(kEmpty, std::memory_order_release);
-      n++;
-    }
-    if (n != 0)
-      back_.store(start + 1 + (kSize << 1), std::memory_order_relaxed);
-    return n;
-  }
-
-  // Size returns current queue size.
-  // Can be called by any thread at any time.
-  unsigned Size() const {
-    // Emptiness plays critical role in thread pool blocking. So we go to great
-    // effort to not produce false positives (claim non-empty queue as empty).
-    for (;;) {
-      // Capture a consistent snapshot of front/tail.
-      unsigned front = front_.load(std::memory_order_acquire);
-      unsigned back = back_.load(std::memory_order_acquire);
-      unsigned front1 = front_.load(std::memory_order_relaxed);
-      if (front != front1) continue;
-      int size = (front & kMask2) - (back & kMask2);
-      // Fix overflow.
-      if (size < 0) size += 2 * kSize;
-      // Order of modification in push/pop is crafted to make the queue look
-      // larger than it is during concurrent modifications. E.g. pop can
-      // decrement size before the corresponding push has incremented it.
-      // So the computed size can be up to kSize + 1, fix it.
-      if (size > static_cast<int>(kSize)) size = kSize;
-      return size;
-    }
-  }
-
-  // Empty tests whether container is empty.
-  // Can be called by any thread at any time.
-  bool Empty() const { return Size() == 0; }
-
- private:
-  static const unsigned kMask = kSize - 1;
-  static const unsigned kMask2 = (kSize << 1) - 1;
-  struct Elem {
-    std::atomic<uint8_t> state;
-    Work w;
-  };
-  enum {
-    kEmpty,
-    kBusy,
-    kReady,
-  };
-  std::mutex mutex_;
-  // Low log(kSize) + 1 bits in front_ and back_ contain rolling index of
-  // front/back, repsectively. The remaining bits contain modification counters
-  // that are incremented on Push operations. This allows us to (1) distinguish
-  // between empty and full conditions (if we would use log(kSize) bits for
-  // position, these conditions would be indistinguishable); (2) obtain
-  // consistent snapshot of front_/back_ for Size operation using the
-  // modification counters.
-  std::atomic<unsigned> front_;
-  std::atomic<unsigned> back_;
-  Elem array_[kSize];
-
-  RunQueue(const RunQueue&) = delete;
-  void operator=(const RunQueue&) = delete;
-};
-
-}  // namespace Eigen
-
-#endif  // EIGEN_CXX11_THREADPOOL_RUNQUEUE_H_
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/SimpleThreadPool.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/SimpleThreadPool.h
deleted file mode 100644
index e75d0f467aaa25..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/SimpleThreadPool.h
+++ /dev/null
@@ -1,154 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_SIMPLE_THREAD_POOL_H
-#define EIGEN_CXX11_THREADPOOL_SIMPLE_THREAD_POOL_H
-
-namespace Eigen {
-
-// The implementation of the ThreadPool type ensures that the Schedule method
-// runs the functions it is provided in FIFO order when the scheduling is done
-// by a single thread.
-// Environment provides a way to create threads and also allows to intercept
-// task submission and execution.
-template <typename Environment>
-class SimpleThreadPoolTempl : public ThreadPoolInterface {
- public:
-  // Construct a pool that contains "num_threads" threads.
-  explicit SimpleThreadPoolTempl(int num_threads, Environment env = Environment())
-      : env_(env), threads_(num_threads), waiters_(num_threads) {
-    for (int i = 0; i < num_threads; i++) {
-      threads_.push_back(env.CreateThread([this, i]() { WorkerLoop(i); }));
-    }
-  }
-
-  // Wait until all scheduled work has finished and then destroy the
-  // set of threads.
-  ~SimpleThreadPoolTempl() {
-    {
-      // Wait for all work to get done.
-      std::unique_lock<std::mutex> l(mu_);
-      while (!pending_.empty()) {
-        empty_.wait(l);
-      }
-      exiting_ = true;
-
-      // Wakeup all waiters.
-      for (auto w : waiters_) {
-        w->ready = true;
-        w->task.f = nullptr;
-        w->cv.notify_one();
-      }
-    }
-
-    // Wait for threads to finish.
-    for (auto t : threads_) {
-      delete t;
-    }
-  }
-
-  // Schedule fn() for execution in the pool of threads. The functions are
-  // executed in the order in which they are scheduled.
-  void Schedule(std::function<void()> fn) final {
-    Task t = env_.CreateTask(std::move(fn));
-    std::unique_lock<std::mutex> l(mu_);
-    if (waiters_.empty()) {
-      pending_.push_back(std::move(t));
-    } else {
-      Waiter* w = waiters_.back();
-      waiters_.pop_back();
-      w->ready = true;
-      w->task = std::move(t);
-      w->cv.notify_one();
-    }
-  }
-
-  int NumThreads() const final {
-    return static_cast<int>(threads_.size());
-  }
-
-  int CurrentThreadId() const final {
-    const PerThread* pt = this->GetPerThread();
-    if (pt->pool == this) {
-      return pt->thread_id;
-    } else {
-      return -1;
-    }
-  }
-
- protected:
-  void WorkerLoop(int thread_id) {
-    std::unique_lock<std::mutex> l(mu_);
-    PerThread* pt = GetPerThread();
-    pt->pool = this;
-    pt->thread_id = thread_id;
-    Waiter w;
-    Task t;
-    while (!exiting_) {
-      if (pending_.empty()) {
-        // Wait for work to be assigned to me
-        w.ready = false;
-        waiters_.push_back(&w);
-        while (!w.ready) {
-          w.cv.wait(l);
-        }
-        t = w.task;
-        w.task.f = nullptr;
-      } else {
-        // Pick up pending work
-        t = std::move(pending_.front());
-        pending_.pop_front();
-        if (pending_.empty()) {
-          empty_.notify_all();
-        }
-      }
-      if (t.f) {
-        mu_.unlock();
-        env_.ExecuteTask(t);
-        t.f = nullptr;
-        mu_.lock();
-      }
-    }
-  }
-
- private:
-  typedef typename Environment::Task Task;
-  typedef typename Environment::EnvThread Thread;
-
-  struct Waiter {
-    std::condition_variable cv;
-    Task task;
-    bool ready;
-  };
-
-  struct PerThread {
-    constexpr PerThread() : pool(NULL), thread_id(-1) { }
-    SimpleThreadPoolTempl* pool;  // Parent pool, or null for normal threads.
-    int thread_id;                // Worker thread index in pool.
-  };
-
-  Environment env_;
-  std::mutex mu_;
-  MaxSizeVector<Thread*> threads_;  // All threads
-  MaxSizeVector<Waiter*> waiters_;  // Stack of waiting threads.
-  std::deque<Task> pending_;        // Queue of pending work
-  std::condition_variable empty_;   // Signaled on pending_.empty()
-  bool exiting_ = false;
-
-  PerThread* GetPerThread() const {
-    EIGEN_THREAD_LOCAL PerThread per_thread;
-    return &per_thread;
-  }
-};
-
-typedef SimpleThreadPoolTempl<StlThreadEnvironment> SimpleThreadPool;
-
-}  // namespace Eigen
-
-#endif  // EIGEN_CXX11_THREADPOOL_SIMPLE_THREAD_POOL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadEnvironment.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadEnvironment.h
deleted file mode 100644
index 399f95cc158cc1..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadEnvironment.h
+++ /dev/null
@@ -1,38 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_THREAD_ENVIRONMENT_H
-#define EIGEN_CXX11_THREADPOOL_THREAD_ENVIRONMENT_H
-
-namespace Eigen {
-
-struct StlThreadEnvironment {
-  struct Task {
-    std::function<void()> f;
-  };
-
-  // EnvThread constructor must start the thread,
-  // destructor must join the thread.
-  class EnvThread {
-   public:
-    EnvThread(std::function<void()> f) : thr_(std::move(f)) {}
-    ~EnvThread() { thr_.join(); }
-
-   private:
-    std::thread thr_;
-  };
-
-  EnvThread* CreateThread(std::function<void()> f) { return new EnvThread(std::move(f)); }
-  Task CreateTask(std::function<void()> f) { return Task{std::move(f)}; }
-  void ExecuteTask(const Task& t) { t.f(); }
-};
-
-}  // namespace Eigen
-
-#endif  // EIGEN_CXX11_THREADPOOL_THREAD_ENVIRONMENT_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadLocal.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadLocal.h
deleted file mode 100644
index cfa22173203aaa..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadLocal.h
+++ /dev/null
@@ -1,22 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_THREAD_LOCAL_H
-#define EIGEN_CXX11_THREADPOOL_THREAD_LOCAL_H
-
-// Try to come up with a portable implementation of thread local variables
-#if EIGEN_COMP_GNUC && EIGEN_GNUC_AT_MOST(4, 7)
-#define EIGEN_THREAD_LOCAL static __thread
-#elif EIGEN_COMP_CLANG
-#define EIGEN_THREAD_LOCAL static __thread
-#else
-#define EIGEN_THREAD_LOCAL static thread_local
-#endif
-
-#endif  // EIGEN_CXX11_THREADPOOL_THREAD_LOCAL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadPoolInterface.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadPoolInterface.h
deleted file mode 100644
index a65ee97c96a535..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadPoolInterface.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_THREAD_POOL_INTERFACE_H
-#define EIGEN_CXX11_THREADPOOL_THREAD_POOL_INTERFACE_H
-
-namespace Eigen {
-
-// This defines an interface that ThreadPoolDevice can take to use
-// custom thread pools underneath.
-class ThreadPoolInterface {
- public:
-  virtual void Schedule(std::function<void()> fn) = 0;
-
-  // Returns the number of threads in the pool.
-  virtual int NumThreads() const = 0;
-
-  // Returns a logical thread index between 0 and NumThreads() - 1 if called
-  // from one of the threads in the pool. Returns -1 otherwise.
-  virtual int CurrentThreadId() const = 0;
-
-  virtual ~ThreadPoolInterface() {}
-};
-
-}  // namespace Eigen
-
-#endif  // EIGEN_CXX11_THREADPOOL_THREAD_POOL_INTERFACE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadYield.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadYield.h
deleted file mode 100644
index a859c7ba3ca8ce..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadYield.h
+++ /dev/null
@@ -1,20 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11_THREADPOOL_THREAD_YIELD_H
-#define EIGEN_CXX11_THREADPOOL_THREAD_YIELD_H
-
-// Try to come up with a portable way to yield
-#if EIGEN_COMP_GNUC && EIGEN_GNUC_AT_MOST(4, 7)
-#define EIGEN_THREAD_YIELD() sched_yield()
-#else
-#define EIGEN_THREAD_YIELD() std::this_thread::yield()
-#endif
-
-#endif  // EIGEN_CXX11_THREADPOOL_THREAD_YIELD_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/CXX11Meta.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/CXX11Meta.h
deleted file mode 100644
index ec27eddb8a88fc..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/CXX11Meta.h
+++ /dev/null
@@ -1,542 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11META_H
-#define EIGEN_CXX11META_H
-
-#include <vector>
-#include "EmulateArray.h"
-
-// Emulate the cxx11 functionality that we need if the compiler doesn't support it.
-// Visual studio 2015 doesn't advertise itself as cxx11 compliant, although it
-// supports enough of the standard for our needs
-#if __cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900
-
-#include "CXX11Workarounds.h"
-
-namespace Eigen {
-
-namespace internal {
-
-/** \internal
-  * \file CXX11/util/CXX11Meta.h
-  * This file contains generic metaprogramming classes which are not specifically related to Eigen.
-  * This file expands upon Core/util/Meta.h and adds support for C++11 specific features.
-  */
-
-template<typename... tt>
-struct type_list { constexpr static int count = sizeof...(tt); };
-
-template<typename t, typename... tt>
-struct type_list<t, tt...> { constexpr static int count = sizeof...(tt) + 1; typedef t first_type; };
-
-template<typename T, T... nn>
-struct numeric_list { constexpr static std::size_t count = sizeof...(nn); };
-
-template<typename T, T n, T... nn>
-struct numeric_list<T, n, nn...> { constexpr static std::size_t count = sizeof...(nn) + 1; constexpr static T first_value = n; };
-
-/* numeric list constructors
- *
- * equivalencies:
- *     constructor                                              result
- *     typename gen_numeric_list<int, 5>::type                  numeric_list<int, 0,1,2,3,4>
- *     typename gen_numeric_list_reversed<int, 5>::type         numeric_list<int, 4,3,2,1,0>
- *     typename gen_numeric_list_swapped_pair<int, 5,1,2>::type numeric_list<int, 0,2,1,3,4>
- *     typename gen_numeric_list_repeated<int, 0, 5>::type      numeric_list<int, 0,0,0,0,0>
- */
-
-template<typename T, std::size_t n, T start = 0, T... ii> struct gen_numeric_list                     : gen_numeric_list<T, n-1, start, start + n-1, ii...> {};
-template<typename T, T start, T... ii>                    struct gen_numeric_list<T, 0, start, ii...> { typedef numeric_list<T, ii...> type; };
-
-template<typename T, std::size_t n, T start = 0, T... ii> struct gen_numeric_list_reversed                     : gen_numeric_list_reversed<T, n-1, start, ii..., start + n-1> {};
-template<typename T, T start, T... ii>                    struct gen_numeric_list_reversed<T, 0, start, ii...> { typedef numeric_list<T, ii...> type; };
-
-template<typename T, std::size_t n, T a, T b, T start = 0, T... ii> struct gen_numeric_list_swapped_pair                           : gen_numeric_list_swapped_pair<T, n-1, a, b, start, (start + n-1) == a ? b : ((start + n-1) == b ? a : (start + n-1)), ii...> {};
-template<typename T, T a, T b, T start, T... ii>                    struct gen_numeric_list_swapped_pair<T, 0, a, b, start, ii...> { typedef numeric_list<T, ii...> type; };
-
-template<typename T, std::size_t n, T V, T... nn> struct gen_numeric_list_repeated                 : gen_numeric_list_repeated<T, n-1, V, V, nn...> {};
-template<typename T, T V, T... nn>                struct gen_numeric_list_repeated<T, 0, V, nn...> { typedef numeric_list<T, nn...> type; };
-
-/* list manipulation: concatenate */
-
-template<class a, class b> struct concat;
-
-template<typename... as, typename... bs> struct concat<type_list<as...>,       type_list<bs...>>        { typedef type_list<as..., bs...> type; };
-template<typename T, T... as, T... bs>   struct concat<numeric_list<T, as...>, numeric_list<T, bs...> > { typedef numeric_list<T, as..., bs...> type; };
-
-template<typename... p> struct mconcat;
-template<typename a>                             struct mconcat<a>           { typedef a type; };
-template<typename a, typename b>                 struct mconcat<a, b>        : concat<a, b> {};
-template<typename a, typename b, typename... cs> struct mconcat<a, b, cs...> : concat<a, typename mconcat<b, cs...>::type> {};
-
-/* list manipulation: extract slices */
-
-template<int n, typename x> struct take;
-template<int n, typename a, typename... as> struct take<n, type_list<a, as...>> : concat<type_list<a>, typename take<n-1, type_list<as...>>::type> {};
-template<int n>                             struct take<n, type_list<>>         { typedef type_list<> type; };
-template<typename a, typename... as>        struct take<0, type_list<a, as...>> { typedef type_list<> type; };
-template<>                                  struct take<0, type_list<>>         { typedef type_list<> type; };
-
-template<typename T, int n, T a, T... as> struct take<n, numeric_list<T, a, as...>> : concat<numeric_list<T, a>, typename take<n-1, numeric_list<T, as...>>::type> {};
-template<typename T, int n>               struct take<n, numeric_list<T>>           { typedef numeric_list<T> type; };
-template<typename T, T a, T... as>        struct take<0, numeric_list<T, a, as...>> { typedef numeric_list<T> type; };
-template<typename T>                      struct take<0, numeric_list<T>>           { typedef numeric_list<T> type; };
-
-template<typename T, int n, T... ii>      struct h_skip_helper_numeric;
-template<typename T, int n, T i, T... ii> struct h_skip_helper_numeric<T, n, i, ii...> : h_skip_helper_numeric<T, n-1, ii...> {};
-template<typename T, T i, T... ii>        struct h_skip_helper_numeric<T, 0, i, ii...> { typedef numeric_list<T, i, ii...> type; };
-template<typename T, int n>               struct h_skip_helper_numeric<T, n>           { typedef numeric_list<T> type; };
-template<typename T>                      struct h_skip_helper_numeric<T, 0>           { typedef numeric_list<T> type; };
-
-template<int n, typename... tt>             struct h_skip_helper_type;
-template<int n, typename t, typename... tt> struct h_skip_helper_type<n, t, tt...> : h_skip_helper_type<n-1, tt...> {};
-template<typename t, typename... tt>        struct h_skip_helper_type<0, t, tt...> { typedef type_list<t, tt...> type; };
-template<int n>                             struct h_skip_helper_type<n>           { typedef type_list<> type; };
-template<>                                  struct h_skip_helper_type<0>           { typedef type_list<> type; };
-
-template<int n>
-struct h_skip {
-  template<typename T, T... ii>
-  constexpr static inline typename h_skip_helper_numeric<T, n, ii...>::type helper(numeric_list<T, ii...>) { return typename h_skip_helper_numeric<T, n, ii...>::type(); }
-  template<typename... tt>
-  constexpr static inline typename h_skip_helper_type<n, tt...>::type helper(type_list<tt...>) { return typename h_skip_helper_type<n, tt...>::type(); }
-};
-
-template<int n, typename a> struct skip { typedef decltype(h_skip<n>::helper(a())) type; };
-
-template<int start, int count, typename a> struct slice : take<count, typename skip<start, a>::type> {};
-
-/* list manipulation: retrieve single element from list */
-
-template<int n, typename x> struct get;
-
-template<int n, typename a, typename... as>               struct get<n, type_list<a, as...>>   : get<n-1, type_list<as...>> {};
-template<typename a, typename... as>                      struct get<0, type_list<a, as...>>   { typedef a type; };
-
-template<typename T, int n, T a, T... as>                        struct get<n, numeric_list<T, a, as...>>   : get<n-1, numeric_list<T, as...>> {};
-template<typename T, T a, T... as>                               struct get<0, numeric_list<T, a, as...>>   { constexpr static T value = a; };
-
-/* always get type, regardless of dummy; good for parameter pack expansion */
-
-template<typename T, T dummy, typename t> struct id_numeric  { typedef t type; };
-template<typename dummy, typename t>      struct id_type     { typedef t type; };
-
-/* equality checking, flagged version */
-
-template<typename a, typename b> struct is_same_gf : is_same<a, b> { constexpr static int global_flags = 0; };
-
-/* apply_op to list */
-
-template<
-  bool from_left, // false
-  template<typename, typename> class op,
-  typename additional_param,
-  typename... values
->
-struct h_apply_op_helper                                        { typedef type_list<typename op<values, additional_param>::type...> type; };
-template<
-  template<typename, typename> class op,
-  typename additional_param,
-  typename... values
->
-struct h_apply_op_helper<true, op, additional_param, values...> { typedef type_list<typename op<additional_param, values>::type...> type; };
-
-template<
-  bool from_left,
-  template<typename, typename> class op,
-  typename additional_param
->
-struct h_apply_op
-{
-  template<typename... values>
-  constexpr static typename h_apply_op_helper<from_left, op, additional_param, values...>::type helper(type_list<values...>)
-  { return typename h_apply_op_helper<from_left, op, additional_param, values...>::type(); }
-};
-
-template<
-  template<typename, typename> class op,
-  typename additional_param,
-  typename a
->
-struct apply_op_from_left { typedef decltype(h_apply_op<true, op, additional_param>::helper(a())) type; };
-
-template<
-  template<typename, typename> class op,
-  typename additional_param,
-  typename a
->
-struct apply_op_from_right { typedef decltype(h_apply_op<false, op, additional_param>::helper(a())) type; };
-
-/* see if an element is in a list */
-
-template<
-  template<typename, typename> class test,
-  typename check_against,
-  typename h_list,
-  bool last_check_positive = false
->
-struct contained_in_list;
-
-template<
-  template<typename, typename> class test,
-  typename check_against,
-  typename h_list
->
-struct contained_in_list<test, check_against, h_list, true>
-{
-  constexpr static bool value = true;
-};
-
-template<
-  template<typename, typename> class test,
-  typename check_against,
-  typename a,
-  typename... as
->
-struct contained_in_list<test, check_against, type_list<a, as...>, false> : contained_in_list<test, check_against, type_list<as...>, test<check_against, a>::value> {};
-
-template<
-  template<typename, typename> class test,
-  typename check_against
-  EIGEN_TPL_PP_SPEC_HACK_DEFC(typename, empty)
->
-struct contained_in_list<test, check_against, type_list<EIGEN_TPL_PP_SPEC_HACK_USE(empty)>, false> { constexpr static bool value = false; };
-
-/* see if an element is in a list and check for global flags */
-
-template<
-  template<typename, typename> class test,
-  typename check_against,
-  typename h_list,
-  int default_flags = 0,
-  bool last_check_positive = false,
-  int last_check_flags = default_flags
->
-struct contained_in_list_gf;
-
-template<
-  template<typename, typename> class test,
-  typename check_against,
-  typename h_list,
-  int default_flags,
-  int last_check_flags
->
-struct contained_in_list_gf<test, check_against, h_list, default_flags, true, last_check_flags>
-{
-  constexpr static bool value = true;
-  constexpr static int global_flags = last_check_flags;
-};
-
-template<
-  template<typename, typename> class test,
-  typename check_against,
-  typename a,
-  typename... as,
-  int default_flags,
-  int last_check_flags
->
-struct contained_in_list_gf<test, check_against, type_list<a, as...>, default_flags, false, last_check_flags> : contained_in_list_gf<test, check_against, type_list<as...>, default_flags, test<check_against, a>::value, test<check_against, a>::global_flags> {};
-
-template<
-  template<typename, typename> class test,
-  typename check_against
-  EIGEN_TPL_PP_SPEC_HACK_DEFC(typename, empty),
-  int default_flags,
-  int last_check_flags
->
-struct contained_in_list_gf<test, check_against, type_list<EIGEN_TPL_PP_SPEC_HACK_USE(empty)>, default_flags, false, last_check_flags> { constexpr static bool value = false; constexpr static int global_flags = default_flags; };
-
-/* generic reductions */
-
-template<
-  typename Reducer,
-  typename... Ts
-> struct reduce;
-
-template<
-  typename Reducer
-> struct reduce<Reducer>
-{
-  constexpr static inline int run() { return Reducer::Identity; }
-};
-
-template<
-  typename Reducer,
-  typename A
-> struct reduce<Reducer, A>
-{
-  constexpr static inline A run(A a) { return a; }
-};
-
-template<
-  typename Reducer,
-  typename A,
-  typename... Ts
-> struct reduce<Reducer, A, Ts...>
-{
-  constexpr static inline auto run(A a, Ts... ts) -> decltype(Reducer::run(a, reduce<Reducer, Ts...>::run(ts...))) {
-    return Reducer::run(a, reduce<Reducer, Ts...>::run(ts...));
-  }
-};
-
-/* generic binary operations */
-
-struct sum_op           {
-  template<typename A, typename B> EIGEN_DEVICE_FUNC constexpr static inline auto run(A a, B b) -> decltype(a + b)   { return a + b;   }
-  static constexpr int Identity = 0;
-};
-struct product_op       {
-  template<typename A, typename B> EIGEN_DEVICE_FUNC constexpr static inline auto run(A a, B b) -> decltype(a * b)   { return a * b;   }
-  static constexpr int Identity = 1;
-};
-
-struct logical_and_op   { template<typename A, typename B> constexpr static inline auto run(A a, B b) -> decltype(a && b)  { return a && b;  } };
-struct logical_or_op    { template<typename A, typename B> constexpr static inline auto run(A a, B b) -> decltype(a || b)  { return a || b;  } };
-
-struct equal_op         { template<typename A, typename B> constexpr static inline auto run(A a, B b) -> decltype(a == b)  { return a == b;  } };
-struct not_equal_op     { template<typename A, typename B> constexpr static inline auto run(A a, B b) -> decltype(a != b)  { return a != b;  } };
-struct lesser_op        { template<typename A, typename B> constexpr static inline auto run(A a, B b) -> decltype(a < b)   { return a < b;   } };
-struct lesser_equal_op  { template<typename A, typename B> constexpr static inline auto run(A a, B b) -> decltype(a <= b)  { return a <= b;  } };
-struct greater_op       { template<typename A, typename B> constexpr static inline auto run(A a, B b) -> decltype(a > b)   { return a > b;   } };
-struct greater_equal_op { template<typename A, typename B> constexpr static inline auto run(A a, B b) -> decltype(a >= b)  { return a >= b;  } };
-
-/* generic unary operations */
-
-struct not_op                { template<typename A> constexpr static inline auto run(A a) -> decltype(!a)      { return !a;      } };
-struct negation_op           { template<typename A> constexpr static inline auto run(A a) -> decltype(-a)      { return -a;      } };
-struct greater_equal_zero_op { template<typename A> constexpr static inline auto run(A a) -> decltype(a >= 0)  { return a >= 0;  } };
-
-
-/* reductions for lists */
-
-// using auto -> return value spec makes ICC 13.0 and 13.1 crash here, so we have to hack it
-// together in front... (13.0 doesn't work with array_prod/array_reduce/... anyway, but 13.1
-// does...
-template<typename... Ts>
-constexpr inline decltype(reduce<product_op, Ts...>::run((*((Ts*)0))...)) arg_prod(Ts... ts)
-{
-  return reduce<product_op, Ts...>::run(ts...);
-}
-
-template<typename... Ts>
-constexpr inline decltype(reduce<sum_op, Ts...>::run((*((Ts*)0))...)) arg_sum(Ts... ts)
-{
-  return reduce<sum_op, Ts...>::run(ts...);
-}
-
-/* reverse arrays */
-
-template<typename Array, int... n>
-constexpr inline Array h_array_reverse(Array arr, numeric_list<int, n...>)
-{
-  return {{array_get<sizeof...(n) - n - 1>(arr)...}};
-}
-
-template<typename T, std::size_t N>
-constexpr inline array<T, N> array_reverse(array<T, N> arr)
-{
-  return h_array_reverse(arr, typename gen_numeric_list<int, N>::type());
-}
-
-
-/* generic array reductions */
-
-// can't reuse standard reduce() interface above because Intel's Compiler
-// *really* doesn't like it, so we just reimplement the stuff
-// (start from N - 1 and work down to 0 because specialization for
-// n == N - 1 also doesn't work in Intel's compiler, so it goes into
-// an infinite loop)
-template<typename Reducer, typename T, std::size_t N, std::size_t n = N - 1>
-struct h_array_reduce {
-  EIGEN_DEVICE_FUNC constexpr static inline auto run(array<T, N> arr, T identity) -> decltype(Reducer::run(h_array_reduce<Reducer, T, N, n - 1>::run(arr, identity), array_get<n>(arr)))
-  {
-    return Reducer::run(h_array_reduce<Reducer, T, N, n - 1>::run(arr, identity), array_get<n>(arr));
-  }
-};
-
-template<typename Reducer, typename T, std::size_t N>
-struct h_array_reduce<Reducer, T, N, 0>
-{
-  EIGEN_DEVICE_FUNC constexpr static inline T run(const array<T, N>& arr, T)
-  {
-    return array_get<0>(arr);
-  }
-};
-
-template<typename Reducer, typename T>
-struct h_array_reduce<Reducer, T, 0>
-{
-  EIGEN_DEVICE_FUNC constexpr static inline T run(const array<T, 0>&, T identity)
-  {
-    return identity;
-  }
-};
-
-template<typename Reducer, typename T, std::size_t N>
-EIGEN_DEVICE_FUNC constexpr inline auto array_reduce(const array<T, N>& arr, T identity) -> decltype(h_array_reduce<Reducer, T, N>::run(arr, identity))
-{
-  return h_array_reduce<Reducer, T, N>::run(arr, identity);
-}
-
-/* standard array reductions */
-
-template<typename T, std::size_t N>
-EIGEN_DEVICE_FUNC constexpr inline auto array_sum(const array<T, N>& arr) -> decltype(array_reduce<sum_op, T, N>(arr, static_cast<T>(0)))
-{
-  return array_reduce<sum_op, T, N>(arr, static_cast<T>(0));
-}
-
-template<typename T, std::size_t N>
-EIGEN_DEVICE_FUNC constexpr inline auto array_prod(const array<T, N>& arr) -> decltype(array_reduce<product_op, T, N>(arr, static_cast<T>(1)))
-{
-  return array_reduce<product_op, T, N>(arr, static_cast<T>(1));
-}
-
-template<typename t>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE t array_prod(const std::vector<t>& a) {
-  eigen_assert(a.size() > 0);
-  t prod = 1;
-  for (size_t i = 0; i < a.size(); ++i) { prod *= a[i]; }
-  return prod;
-}
-
-/* zip an array */
-
-template<typename Op, typename A, typename B, std::size_t N, int... n>
-constexpr inline array<decltype(Op::run(A(), B())),N> h_array_zip(array<A, N> a, array<B, N> b, numeric_list<int, n...>)
-{
-  return array<decltype(Op::run(A(), B())),N>{{ Op::run(array_get<n>(a), array_get<n>(b))... }};
-}
-
-template<typename Op, typename A, typename B, std::size_t N>
-constexpr inline array<decltype(Op::run(A(), B())),N> array_zip(array<A, N> a, array<B, N> b)
-{
-  return h_array_zip<Op>(a, b, typename gen_numeric_list<int, N>::type());
-}
-
-/* zip an array and reduce the result */
-
-template<typename Reducer, typename Op, typename A, typename B, std::size_t N, int... n>
-constexpr inline auto h_array_zip_and_reduce(array<A, N> a, array<B, N> b, numeric_list<int, n...>) -> decltype(reduce<Reducer, typename id_numeric<int,n,decltype(Op::run(A(), B()))>::type...>::run(Op::run(array_get<n>(a), array_get<n>(b))...))
-{
-  return reduce<Reducer, typename id_numeric<int,n,decltype(Op::run(A(), B()))>::type...>::run(Op::run(array_get<n>(a), array_get<n>(b))...);
-}
-
-template<typename Reducer, typename Op, typename A, typename B, std::size_t N>
-constexpr inline auto array_zip_and_reduce(array<A, N> a, array<B, N> b) -> decltype(h_array_zip_and_reduce<Reducer, Op, A, B, N>(a, b, typename gen_numeric_list<int, N>::type()))
-{
-  return h_array_zip_and_reduce<Reducer, Op, A, B, N>(a, b, typename gen_numeric_list<int, N>::type());
-}
-
-/* apply stuff to an array */
-
-template<typename Op, typename A, std::size_t N, int... n>
-constexpr inline array<decltype(Op::run(A())),N> h_array_apply(array<A, N> a, numeric_list<int, n...>)
-{
-  return array<decltype(Op::run(A())),N>{{ Op::run(array_get<n>(a))... }};
-}
-
-template<typename Op, typename A, std::size_t N>
-constexpr inline array<decltype(Op::run(A())),N> array_apply(array<A, N> a)
-{
-  return h_array_apply<Op>(a, typename gen_numeric_list<int, N>::type());
-}
-
-/* apply stuff to an array and reduce */
-
-template<typename Reducer, typename Op, typename A, std::size_t N, int... n>
-constexpr inline auto h_array_apply_and_reduce(array<A, N> arr, numeric_list<int, n...>) -> decltype(reduce<Reducer, typename id_numeric<int,n,decltype(Op::run(A()))>::type...>::run(Op::run(array_get<n>(arr))...))
-{
-  return reduce<Reducer, typename id_numeric<int,n,decltype(Op::run(A()))>::type...>::run(Op::run(array_get<n>(arr))...);
-}
-
-template<typename Reducer, typename Op, typename A, std::size_t N>
-constexpr inline auto array_apply_and_reduce(array<A, N> a) -> decltype(h_array_apply_and_reduce<Reducer, Op, A, N>(a, typename gen_numeric_list<int, N>::type()))
-{
-  return h_array_apply_and_reduce<Reducer, Op, A, N>(a, typename gen_numeric_list<int, N>::type());
-}
-
-/* repeat a value n times (and make an array out of it
- * usage:
- *   array<int, 16> = repeat<16>(42);
- */
-
-template<int n>
-struct h_repeat
-{
-  template<typename t, int... ii>
-  constexpr static inline array<t, n> run(t v, numeric_list<int, ii...>)
-  {
-    return {{ typename id_numeric<int, ii, t>::type(v)... }};
-  }
-};
-
-template<int n, typename t>
-constexpr array<t, n> repeat(t v) { return h_repeat<n>::run(v, typename gen_numeric_list<int, n>::type()); }
-
-/* instantiate a class by a C-style array */
-template<class InstType, typename ArrType, std::size_t N, bool Reverse, typename... Ps>
-struct h_instantiate_by_c_array;
-
-template<class InstType, typename ArrType, std::size_t N, typename... Ps>
-struct h_instantiate_by_c_array<InstType, ArrType, N, false, Ps...>
-{
-  static InstType run(ArrType* arr, Ps... args)
-  {
-    return h_instantiate_by_c_array<InstType, ArrType, N - 1, false, Ps..., ArrType>::run(arr + 1, args..., arr[0]);
-  }
-};
-
-template<class InstType, typename ArrType, std::size_t N, typename... Ps>
-struct h_instantiate_by_c_array<InstType, ArrType, N, true, Ps...>
-{
-  static InstType run(ArrType* arr, Ps... args)
-  {
-    return h_instantiate_by_c_array<InstType, ArrType, N - 1, false, ArrType, Ps...>::run(arr + 1, arr[0], args...);
-  }
-};
-
-template<class InstType, typename ArrType, typename... Ps>
-struct h_instantiate_by_c_array<InstType, ArrType, 0, false, Ps...>
-{
-  static InstType run(ArrType* arr, Ps... args)
-  {
-    (void)arr;
-    return InstType(args...);
-  }
-};
-
-template<class InstType, typename ArrType, typename... Ps>
-struct h_instantiate_by_c_array<InstType, ArrType, 0, true, Ps...>
-{
-  static InstType run(ArrType* arr, Ps... args)
-  {
-    (void)arr;
-    return InstType(args...);
-  }
-};
-
-template<class InstType, typename ArrType, std::size_t N, bool Reverse = false>
-InstType instantiate_by_c_array(ArrType* arr)
-{
-  return h_instantiate_by_c_array<InstType, ArrType, N, Reverse>::run(arr);
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#else // Non C++11, fallback to emulation mode
-
-#include "EmulateCXX11Meta.h"
-
-#endif
-
-#endif // EIGEN_CXX11META_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/CXX11Workarounds.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/CXX11Workarounds.h
deleted file mode 100644
index fe4d22803ef981..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/CXX11Workarounds.h
+++ /dev/null
@@ -1,88 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Christian Seiler <christian@iwakd.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CXX11WORKAROUNDS_H
-#define EIGEN_CXX11WORKAROUNDS_H
-
-/* COMPATIBILITY CHECKS
- * (so users of compilers that are too old get some realistic error messages)
- */
-#if defined(__INTEL_COMPILER) && (__INTEL_COMPILER < 1310)
-#error Intel Compiler only supports required C++ features since version 13.1.
-// note that most stuff in principle works with 13.0 but when combining
-// some features, at some point 13.0 will just fail with an internal assertion
-#elif defined(__GNUC__) && !defined(__clang__) && !defined(__INTEL_COMPILER) && (__GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 6))
-// G++ < 4.6 by default will continue processing the source files - even if we use #error to make
-// it error out. For this reason, we use the pragma to make sure G++ aborts at the first error
-// it sees. Unfortunately, that is still not our #error directive, but at least the output is
-// short enough the user has a chance to see that the compiler version is not sufficient for
-// the funky template mojo we use.
-#pragma GCC diagnostic error "-Wfatal-errors"
-#error GNU C++ Compiler (g++) only supports required C++ features since version 4.6.
-#endif
-
-/* Check that the compiler at least claims to support C++11. It might not be sufficient
- * because the compiler may not implement it correctly, but at least we'll know.
- * On the other hand, visual studio still doesn't claim to support C++11 although it's
- * compliant enugh for our purpose.
- */
-#if (__cplusplus <= 199711L) && (EIGEN_COMP_MSVC < 1900)
-#if defined(__GNUC__) && !defined(__clang__) && !defined(__INTEL_COMPILER)
-#pragma GCC diagnostic error "-Wfatal-errors"
-#endif
-#error This library needs at least a C++11 compliant compiler. If you use g++/clang, please enable the -std=c++11 compiler flag. (-std=c++0x on older versions.)
-#endif
-
-namespace Eigen {
-
-namespace internal {
-
-/* std::get is only constexpr in C++14, not yet in C++11
- */
-
-
-template<std::size_t I, class T> constexpr inline T&       array_get(std::vector<T>&       a) { return a[I]; }
-template<std::size_t I, class T> constexpr inline T&&      array_get(std::vector<T>&&      a) { return a[I]; }
-template<std::size_t I, class T> constexpr inline T const& array_get(std::vector<T> const& a) { return a[I]; }
-
-/* Suppose you have a template of the form
- * template<typename T> struct X;
- * And you want to specialize it in such a way:
- *    template<typename S1, typename... SN> struct X<Foo<S1, SN...>> { ::: };
- *    template<>                            struct X<Foo<>>          { ::: };
- * This will work in Intel's compiler 13.0, but only to some extent in g++ 4.6, since
- * g++ can only match templates called with parameter packs if the number of template
- * arguments is not a fixed size (so inside the first specialization, referencing
- * X<Foo<Sn...>> will fail in g++). On the other hand, g++ will accept the following:
- *    template<typename S...> struct X<Foo<S...>> { ::: }:
- * as an additional (!) specialization, which will then only match the empty case.
- * But Intel's compiler 13.0 won't accept that, it will only accept the empty syntax,
- * so we have to create a workaround for this.
- */
-#if defined(__GNUC__) && !defined(__INTEL_COMPILER)
-#define EIGEN_TPL_PP_SPEC_HACK_DEF(mt, n)    mt... n
-#define EIGEN_TPL_PP_SPEC_HACK_DEFC(mt, n)   , EIGEN_TPL_PP_SPEC_HACK_DEF(mt, n)
-#define EIGEN_TPL_PP_SPEC_HACK_USE(n)        n...
-#define EIGEN_TPL_PP_SPEC_HACK_USEC(n)       , n...
-#else
-#define EIGEN_TPL_PP_SPEC_HACK_DEF(mt, n)
-#define EIGEN_TPL_PP_SPEC_HACK_DEFC(mt, n)
-#define EIGEN_TPL_PP_SPEC_HACK_USE(n)
-#define EIGEN_TPL_PP_SPEC_HACK_USEC(n)
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CXX11WORKAROUNDS_H
-
-/*
- * kate: space-indent on; indent-width 2; mixedindent off; indent-mode cstyle;
- */
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/EmulateArray.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/EmulateArray.h
deleted file mode 100644
index 30d3ebcff3e17b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/EmulateArray.h
+++ /dev/null
@@ -1,267 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EMULATE_ARRAY_H
-#define EIGEN_EMULATE_ARRAY_H
-
-
-
-// The array class is only available starting with cxx11. Emulate our own here
-// if needed. Beware, msvc still doesn't advertise itself as a c++11 compiler!
-// Moreover, CUDA doesn't support the STL containers, so we use our own instead.
-#if (__cplusplus <= 199711L && EIGEN_COMP_MSVC < 1900) || defined(__CUDACC__) || defined(EIGEN_AVOID_STL_ARRAY)
-
-namespace Eigen {
-template <typename T, size_t n> class array {
- public:
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE T& operator[] (size_t index) { return values[index]; }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const T& operator[] (size_t index) const { return values[index]; }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE T& front() { return values[0]; }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const T& front() const { return values[0]; }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE T& back() { return values[n-1]; }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const T& back() const { return values[n-1]; }
-
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-  static std::size_t size() { return n; }
-
-  T values[n];
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array() { }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(const T& v) {
-    EIGEN_STATIC_ASSERT(n==1, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    values[0] = v;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(const T& v1, const T& v2) {
-    EIGEN_STATIC_ASSERT(n==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    values[0] = v1;
-    values[1] = v2;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(const T& v1, const T& v2, const T& v3) {
-    EIGEN_STATIC_ASSERT(n==3, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    values[0] = v1;
-    values[1] = v2;
-    values[2] = v3;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(const T& v1, const T& v2, const T& v3,
-                            const T& v4) {
-    EIGEN_STATIC_ASSERT(n==4, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    values[0] = v1;
-    values[1] = v2;
-    values[2] = v3;
-    values[3] = v4;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(const T& v1, const T& v2, const T& v3, const T& v4,
-                            const T& v5) {
-    EIGEN_STATIC_ASSERT(n==5, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    values[0] = v1;
-    values[1] = v2;
-    values[2] = v3;
-    values[3] = v4;
-    values[4] = v5;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(const T& v1, const T& v2, const T& v3, const T& v4,
-                            const T& v5, const T& v6) {
-    EIGEN_STATIC_ASSERT(n==6, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    values[0] = v1;
-    values[1] = v2;
-    values[2] = v3;
-    values[3] = v4;
-    values[4] = v5;
-    values[5] = v6;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(const T& v1, const T& v2, const T& v3, const T& v4,
-                            const T& v5, const T& v6, const T& v7) {
-    EIGEN_STATIC_ASSERT(n==7, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    values[0] = v1;
-    values[1] = v2;
-    values[2] = v3;
-    values[3] = v4;
-    values[4] = v5;
-    values[5] = v6;
-    values[6] = v7;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(
-      const T& v1, const T& v2, const T& v3, const T& v4,
-      const T& v5, const T& v6, const T& v7, const T& v8) {
-    EIGEN_STATIC_ASSERT(n==8, YOU_MADE_A_PROGRAMMING_MISTAKE)
-    values[0] = v1;
-    values[1] = v2;
-    values[2] = v3;
-    values[3] = v4;
-    values[4] = v5;
-    values[5] = v6;
-    values[6] = v7;
-    values[7] = v8;
-  }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array(std::initializer_list<T> l) {
-    eigen_assert(l.size() == n);
-    internal::smart_copy(l.begin(), l.end(), values);
-  }
-#endif
-};
-
-
-// Specialize array for zero size
-template <typename T> class array<T, 0> {
- public:
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE T& operator[] (size_t) {
-    eigen_assert(false && "Can't index a zero size array");
-    return dummy;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const T& operator[] (size_t) const {
-    eigen_assert(false && "Can't index a zero size array");
-    return dummy;
-  }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE T& front() {
-    eigen_assert(false && "Can't index a zero size array");
-    return dummy;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const T& front() const {
-    eigen_assert(false && "Can't index a zero size array");
-    return dummy;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE T& back() {
-    eigen_assert(false && "Can't index a zero size array");
-    return dummy;
-  }
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const T& back() const {
-    eigen_assert(false && "Can't index a zero size array");
-    return dummy;
-  }
-
-  static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE std::size_t size() { return 0; }
-
-  EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE array() : dummy() { }
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-  EIGEN_DEVICE_FUNC array(std::initializer_list<T> l) : dummy() {
-    eigen_assert(l.size() == 0);
-  }
-#endif
-
- private:
-  T dummy;
-};
-
-// Comparison operator
-// Todo: implement !=, <, <=, >,  and >=
-template<class T, std::size_t N>
-EIGEN_DEVICE_FUNC bool operator==(const array<T,N>& lhs, const array<T,N>& rhs) {
-  for (std::size_t i = 0; i < N; ++i) {
-    if (lhs[i] != rhs[i]) {
-      return false;
-    }
-  }
-  return true;
-}
-
-
-namespace internal {
-template<std::size_t I, class T, std::size_t N>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T& array_get(array<T,N>& a) {
-  return a[I];
-}
-template<std::size_t I, class T, std::size_t N>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const T& array_get(const array<T,N>& a) {
-  return a[I];
-}
-
-template <typename T> struct array_size;
-template<class T, std::size_t N> struct array_size<array<T,N> > {
-  static const size_t value = N;
-};
-template <typename T> struct array_size;
-template<class T, std::size_t N> struct array_size<array<T,N>& > {
-  static const size_t value = N;
-};
-template <typename T> struct array_size;
-template<class T, std::size_t N> struct array_size<const array<T,N> > {
-  static const size_t value = N;
-};
-template <typename T> struct array_size;
-template<class T, std::size_t N> struct array_size<const array<T,N>& > {
-  static const size_t value = N;
-};
-
-}  // end namespace internal
-}  // end namespace Eigen
-
-#else
-
-// The compiler supports c++11, and we're not targetting cuda: use std::array as Eigen::array
-#include <array>
-namespace Eigen {
-
-template <typename T, std::size_t N> using array = std::array<T, N>;
-
-namespace internal {
-/* std::get is only constexpr in C++14, not yet in C++11
- *     - libstdc++ from version 4.7 onwards has it nevertheless,
- *                                          so use that
- *     - libstdc++ older versions: use _M_instance directly
- *     - libc++ all versions so far: use __elems_ directly
- *     - all other libs: use std::get to be portable, but
- *                       this may not be constexpr
- */
-#if defined(__GLIBCXX__) && __GLIBCXX__ < 20120322
-#define STD_GET_ARR_HACK             a._M_instance[I]
-#elif defined(_LIBCPP_VERSION)
-#define STD_GET_ARR_HACK             a.__elems_[I]
-#else
-#define STD_GET_ARR_HACK             std::template get<I, T, N>(a)
-#endif
-
-template<std::size_t I, class T, std::size_t N> constexpr inline T&       array_get(std::array<T,N>&       a) { return (T&)       STD_GET_ARR_HACK; }
-template<std::size_t I, class T, std::size_t N> constexpr inline T&&      array_get(std::array<T,N>&&      a) { return (T&&)      STD_GET_ARR_HACK; }
-template<std::size_t I, class T, std::size_t N> constexpr inline T const& array_get(std::array<T,N> const& a) { return (T const&) STD_GET_ARR_HACK; }
-
-#undef STD_GET_ARR_HACK
-
-template <typename T> struct array_size;
-template<class T, std::size_t N> struct array_size<const std::array<T,N> > {
-  static const size_t value = N;
-};
-template <typename T> struct array_size;
-template<class T, std::size_t N> struct array_size<std::array<T,N> > {
-  static const size_t value = N;
-};
-}  // end namespace internal
-}  // end namespace Eigen
-
-#endif
-
-#endif  // EIGEN_EMULATE_ARRAY_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/EmulateCXX11Meta.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/EmulateCXX11Meta.h
deleted file mode 100644
index f3aa1b1448bff3..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/EmulateCXX11Meta.h
+++ /dev/null
@@ -1,311 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EMULATE_CXX11_META_H
-#define EIGEN_EMULATE_CXX11_META_H
-
-
-
-namespace Eigen {
-
-namespace internal {
-
-/** \internal
-  * \file CXX11/util/EmulateCXX11Meta.h
-  * This file emulates a subset of the functionality provided by CXXMeta.h for
-  * compilers that don't yet support cxx11 such as nvcc.
-  */
-
-struct empty_list { static const std::size_t count = 0; };
-
-template<typename T, typename Tail=empty_list> struct type_list {
-  typedef T HeadType;
-  typedef Tail TailType;
-  static const T head;
-  static const Tail tail;
-  static const std::size_t count = 1 + Tail::count;
-};
-
-struct null_type { };
-
-template<typename T1 = null_type, typename T2 = null_type, typename T3 = null_type,
-         typename T4 = null_type, typename T5 = null_type, typename T6 = null_type,
-         typename T7 = null_type, typename T8 = null_type>
-struct make_type_list {
-  typedef typename make_type_list<T2, T3, T4, T5, T6, T7, T8>::type tailresult;
-
-  typedef type_list<T1, tailresult> type;
-};
-
-template<> struct make_type_list<> {
-  typedef empty_list type;
-};
-
-
-template <std::size_t index, class TList> struct get_type;
-
-template <class Head, class Tail>
-struct get_type<0, type_list<Head, Tail> >
-{
-  typedef Head type;
-};
-
-template <std::size_t i, class Head, class Tail>
-struct get_type<i, type_list<Head, Tail> >
-{
-  typedef typename get_type<i-1, Tail>::type type;
-};
-
-
-/* numeric list */
-template <typename T, T n>
-struct type2val {
-  typedef T type;
-  static const T value = n;
-};
-
-
-template<typename T, size_t n, T V> struct gen_numeric_list_repeated;
-
-template<typename T, T V> struct gen_numeric_list_repeated<T, 1, V> {
-  typedef typename make_type_list<type2val<T, V> >::type type;
-};
-
-template<typename T, T V> struct gen_numeric_list_repeated<T, 2, V> {
-  typedef typename make_type_list<type2val<T, V>, type2val<T, V> >::type type;
-};
-
-template<typename T, T V> struct gen_numeric_list_repeated<T, 3, V> {
-  typedef typename make_type_list<type2val<T, V>, type2val<T, V>, type2val<T, V> >::type type;
-};
-
-template<typename T, T V> struct gen_numeric_list_repeated<T, 4, V> {
-  typedef typename make_type_list<type2val<T, V>, type2val<T, V>, type2val<T, V>, type2val<T, V> >::type type;
-};
-
-template<typename T, T V> struct gen_numeric_list_repeated<T, 5, V> {
-  typedef typename make_type_list<type2val<T, V>, type2val<T, V>, type2val<T, V>, type2val<T, V>, type2val<T, V> >::type type;
-};
-
-template<typename T, T V> struct gen_numeric_list_repeated<T, 6, V> {
-  typedef typename make_type_list<type2val<T, V>, type2val<T, V>, type2val<T, V>,
-                                  type2val<T, V>, type2val<T, V>, type2val<T, V> >::type type;
-};
-
-template<typename T, T V> struct gen_numeric_list_repeated<T, 7, V> {
-  typedef typename make_type_list<type2val<T, V>, type2val<T, V>, type2val<T, V>,
-                                  type2val<T, V>, type2val<T, V>, type2val<T, V>,
-                                  type2val<T, V> >::type type;
-};
-
-template<typename T, T V> struct gen_numeric_list_repeated<T, 8, V> {
-  typedef typename make_type_list<type2val<T, V>, type2val<T, V>, type2val<T, V>,
-                                  type2val<T, V>, type2val<T, V>, type2val<T, V>,
-                                  type2val<T, V>, type2val<T, V> >::type type;
-};
-
-
-template <std::size_t index, class NList> struct get;
-
-template <std::size_t i>
-struct get<i, empty_list>
-{
-  get() { eigen_assert(false && "index overflow"); }
-  typedef void type;
-  static const char value = '\0';
-};
-
-template <std::size_t i, class Head>
-struct get<i, type_list<Head, empty_list> >
-{
-  get() { eigen_assert(false && "index overflow"); }
-  typedef void type;
-  static const char value = '\0';
-};
-
-template <class Head>
-struct get<0, type_list<Head, empty_list> >
-{
-  typedef typename Head::type type;
-  static const type value = Head::value;
-};
-
-template <class Head, class Tail>
-struct get<0, type_list<Head, Tail> >
-{
-  typedef typename Head::type type;
-  static const type value = Head::value;
-};
-
-template <std::size_t i, class Head, class Tail>
-struct get<i, type_list<Head, Tail> >
-{
-  typedef typename Tail::HeadType::type type;
-  static const type value = get<i-1, Tail>::value;
-};
-
-
-template <class NList> struct arg_prod {
-  static const typename NList::HeadType::type value = get<0, NList>::value * arg_prod<typename NList::TailType>::value;
-};
-template <> struct arg_prod<empty_list> {
-  static const int value = 1;
-};
-
-
-template<int n, typename t>
-array<t, n> repeat(t v) {
-  array<t, n> array;
-  array.fill(v);
-  return array;
-}
-
-template<std::size_t I, class Head, class Tail>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename Head::type array_get(type_list<Head, Tail>&) {
-  return get<I, type_list<Head, Tail> >::value;
-}
-template<std::size_t I, class Head, class Tail>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename Head::type array_get(const type_list<Head, Tail>&) {
-  return get<I, type_list<Head, Tail> >::value;
-}
-
-template <class NList>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename NList::HeadType::type array_prod(const NList&) {
-  return arg_prod<NList>::value;
-}
-
-template<typename t, std::size_t n>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE t array_prod(const array<t, n>& a) {
-  t prod = 1;
-  for (size_t i = 0; i < n; ++i) { prod *= a[i]; }
-  return prod;
-}
-template<typename t>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE t array_prod(const array<t, 0>& /*a*/) {
-  return 0;
-}
-
-template<typename t>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE t array_prod(const std::vector<t>& a) {
-  eigen_assert(a.size() > 0);
-  t prod = 1;
-  for (size_t i = 0; i < a.size(); ++i) { prod *= a[i]; }
-  return prod;
-}
-
-
-template<std::size_t I, class T>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T& array_get(std::vector<T>& a) {
-  return a[I];
-}
-template<std::size_t I, class T>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const T& array_get(const std::vector<T>& a) {
-  return a[I];
-}
-
-struct sum_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a + b; }
-};
-struct product_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a * b; }
-};
-
-struct logical_and_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a && b; }
-};
-struct logical_or_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a || b; }
-};
-
-struct equal_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a == b; }
-};
-struct not_equal_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a != b; }
-};
-struct lesser_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a < b; }
-};
-struct lesser_equal_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a <= b; }
-};
-
-struct greater_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a > b; }
-};
-struct greater_equal_op {
-  template<typename A, typename B> static inline bool run(A a, B b) { return a >= b; }
-};
-
-struct not_op {
-  template<typename A> static inline bool run(A a) { return !a; }
-};
-struct negation_op {
-  template<typename A> static inline bool run(A a) { return -a; }
-};
-struct greater_equal_zero_op {
-  template<typename A> static inline bool run(A a) { return a >= 0; }
-};
-
-
-template<typename Reducer, typename Op, typename A, std::size_t N>
-struct ArrayApplyAndReduce {
-  static inline bool run(const array<A, N>& a) {
-    EIGEN_STATIC_ASSERT(N >= 2, YOU_MADE_A_PROGRAMMING_MISTAKE);
-    bool result = Reducer::run(Op::run(a[0]), Op::run(a[1]));
-    for (size_t i = 2; i < N; ++i) {
-      result = Reducer::run(result, Op::run(a[i]));
-    }
-    return result;
-  }
-};
-
-template<typename Reducer, typename Op, typename A>
-struct ArrayApplyAndReduce<Reducer, Op, A, 1>  {
-  static inline bool run(const array<A, 1>& a) {
-    return Op::run(a[0]);
-  }
-};
-
-template<typename Reducer, typename Op, typename A, std::size_t N>
-inline bool array_apply_and_reduce(const array<A, N>& a) {
-  return ArrayApplyAndReduce<Reducer, Op, A, N>::run(a);
-}
-
-template<typename Reducer, typename Op, typename A, typename B, std::size_t N>
-struct ArrayZipAndReduce {
-  static inline bool run(const array<A, N>& a, const array<B, N>& b) {
-    EIGEN_STATIC_ASSERT(N >= 2, YOU_MADE_A_PROGRAMMING_MISTAKE);
-    bool result = Reducer::run(Op::run(a[0], b[0]), Op::run(a[1], b[1]));
-    for (size_t i = 2; i < N; ++i) {
-      result = Reducer::run(result, Op::run(a[i], b[i]));
-    }
-    return result;
-  }
-};
-
-template<typename Reducer, typename Op, typename A, typename B>
-struct ArrayZipAndReduce<Reducer, Op, A, B, 1> {
-  static inline bool run(const array<A, 1>& a, const array<B, 1>& b) {
-    return Op::run(a[0], b[0]);
-  }
-};
-
-template<typename Reducer, typename Op, typename A, typename B, std::size_t N>
-inline bool array_zip_and_reduce(const array<A, N>& a, const array<B, N>& b) {
-  return ArrayZipAndReduce<Reducer, Op, A, B, N>::run(a, b);
-}
-
-}  // end namespace internal
-
-}  // end namespace Eigen
-
-
-
-#endif  // EIGEN_EMULATE_CXX11_META_H
diff --git a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/MaxSizeVector.h b/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/MaxSizeVector.h
deleted file mode 100644
index 4bc3dd1ba3fcd9..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/CXX11/src/util/MaxSizeVector.h
+++ /dev/null
@@ -1,141 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FIXEDSIZEVECTOR_H
-#define EIGEN_FIXEDSIZEVECTOR_H
-
-namespace Eigen {
-
-/** \class MaxSizeVector
-  * \ingroup Core
-  *
-  * \brief The MaxSizeVector class.
-  *
-  * The %MaxSizeVector provides a subset of std::vector functionality.
-  *
-  * The goal is to provide basic std::vector operations when using
-  * std::vector is not an option (e.g. on GPU or when compiling using
-  * FMA/AVX, as this can cause either compilation failures or illegal
-  * instruction failures).
-  *
-  * Beware: The constructors are not API compatible with these of
-  * std::vector.
-  */
-template <typename T>
-class MaxSizeVector {
- public:
-  // Construct a new MaxSizeVector, reserve n elements.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  explicit MaxSizeVector(size_t n)
-      : reserve_(n), size_(0),
-        data_(static_cast<T*>(internal::aligned_malloc(n * sizeof(T)))) {
-    for (size_t i = 0; i < n; ++i) { new (&data_[i]) T; }
-  }
-
-  // Construct a new MaxSizeVector, reserve and resize to n.
-  // Copy the init value to all elements.
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  MaxSizeVector(size_t n, const T& init)
-      : reserve_(n), size_(n),
-        data_(static_cast<T*>(internal::aligned_malloc(n * sizeof(T)))) {
-    for (size_t i = 0; i < n; ++i) { new (&data_[i]) T(init); }
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  ~MaxSizeVector() {
-    for (size_t i = 0; i < size_; ++i) {
-      data_[i].~T();
-    }
-    internal::aligned_free(data_);
-  }
-
-  void resize(size_t n) {
-    eigen_assert(n <= reserve_);
-    for (size_t i = size_; i < n; ++i) {
-      new (&data_[i]) T;
-    }
-    for (size_t i = n; i < size_; ++i) {
-      data_[i].~T();
-    }
-    size_ = n;
-  }
-
-  // Append new elements (up to reserved size).
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void push_back(const T& t) {
-    eigen_assert(size_ < reserve_);
-    data_[size_++] = t;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const T& operator[] (size_t i) const {
-    eigen_assert(i < size_);
-    return data_[i];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  T& operator[] (size_t i) {
-    eigen_assert(i < size_);
-    return data_[i];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  T& back() {
-    eigen_assert(size_ > 0);
-    return data_[size_ - 1];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const T& back() const {
-    eigen_assert(size_ > 0);
-    return data_[size_ - 1];
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  void pop_back() {
-    // NOTE: This does not destroy the value at the end the way
-    // std::vector's version of pop_back() does.  That happens when
-    // the Vector is destroyed.
-    eigen_assert(size_ > 0);
-    size_--;
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  size_t size() const { return size_; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  bool empty() const { return size_ == 0; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  T* data() { return data_; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const T* data() const { return data_; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  T* begin() { return data_; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  T* end() { return data_ + size_; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const T* begin() const { return data_; }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const T* end() const { return data_ + size_; }
-
- private:
-  size_t reserve_;
-  size_t size_;
-  T* data_;
-};
-
-}  // namespace Eigen
-
-#endif  // EIGEN_FIXEDSIZEVECTOR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/EulerAngles b/phonelibs/eigen/unsupported/Eigen/EulerAngles
deleted file mode 100644
index 521fa3f762bf03..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/EulerAngles
+++ /dev/null
@@ -1,43 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EULERANGLES_MODULE_H
-#define EIGEN_EULERANGLES_MODULE_H
-
-
-#include "Eigen/Core"
-#include "Eigen/Geometry"
-
-#include "Eigen/src/Core/util/DisableStupidWarnings.h"
-
-namespace Eigen {
-
-/**
-  * \defgroup EulerAngles_Module EulerAngles module
-  * \brief This module provides generic euler angles rotation.
-  *
-  * Euler angles are a way to represent 3D rotation.
-  *
-  * In order to use this module in your code, include this header:
-  * \code
-  * #include <unsupported/Eigen/EulerAngles>
-  * \endcode
-  *
-  * See \ref EulerAngles for more information.
-  *
-  */
-
-}
-
-#include "src/EulerAngles/EulerSystem.h"
-#include "src/EulerAngles/EulerAngles.h"
-
-#include "Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_EULERANGLES_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/FFT b/phonelibs/eigen/unsupported/Eigen/FFT
deleted file mode 100644
index 2c45b3999e7f93..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/FFT
+++ /dev/null
@@ -1,418 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. 
-//
-// Copyright (C) 2009 Mark Borgerding mark a borgerding net
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FFT_H
-#define EIGEN_FFT_H
-
-#include <complex>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-
-
-/**
-  * \defgroup FFT_Module Fast Fourier Transform module
-  *
-  * \code
-  * #include <unsupported/Eigen/FFT>
-  * \endcode
-  *
-  * This module provides Fast Fourier transformation, with a configurable backend
-  * implementation.
-  *
-  * The default implementation is based on kissfft. It is a small, free, and
-  * reasonably efficient default.
-  *
-  * There are currently two implementation backend:
-  *
-  * - fftw (http://www.fftw.org) : faster, GPL -- incompatible with Eigen in LGPL form, bigger code size.
-  * - MKL (http://en.wikipedia.org/wiki/Math_Kernel_Library) : fastest, commercial -- may be incompatible with Eigen in GPL form.
-  *
-  * \section FFTDesign Design
-  *
-  * The following design decisions were made concerning scaling and
-  * half-spectrum for real FFT.
-  *
-  * The intent is to facilitate generic programming and ease migrating code
-  * from  Matlab/octave.
-  * We think the default behavior of Eigen/FFT should favor correctness and
-  * generality over speed. Of course, the caller should be able to "opt-out" from this
-  * behavior and get the speed increase if they want it.
-  *
-  * 1) %Scaling:
-  * Other libraries (FFTW,IMKL,KISSFFT)  do not perform scaling, so there
-  * is a constant gain incurred after the forward&inverse transforms , so 
-  * IFFT(FFT(x)) = Kx;  this is done to avoid a vector-by-value multiply.  
-  * The downside is that algorithms that worked correctly in Matlab/octave 
-  * don't behave the same way once implemented in C++.
-  *
-  * How Eigen/FFT differs: invertible scaling is performed so IFFT( FFT(x) ) = x. 
-  *
-  * 2) Real FFT half-spectrum
-  * Other libraries use only half the frequency spectrum (plus one extra 
-  * sample for the Nyquist bin) for a real FFT, the other half is the 
-  * conjugate-symmetric of the first half.  This saves them a copy and some 
-  * memory.  The downside is the caller needs to have special logic for the 
-  * number of bins in complex vs real.
-  *
-  * How Eigen/FFT differs: The full spectrum is returned from the forward 
-  * transform.  This facilitates generic template programming by obviating 
-  * separate specializations for real vs complex.  On the inverse
-  * transform, only half the spectrum is actually used if the output type is real.
-  */
- 
-
-#ifdef EIGEN_FFTW_DEFAULT
-// FFTW: faster, GPL -- incompatible with Eigen in LGPL form, bigger code size
-#  include <fftw3.h>
-#  include "src/FFT/ei_fftw_impl.h"
-   namespace Eigen {
-     //template <typename T> typedef struct internal::fftw_impl  default_fft_impl; this does not work
-     template <typename T> struct default_fft_impl : public internal::fftw_impl<T> {};
-   }
-#elif defined EIGEN_MKL_DEFAULT
-// TODO 
-// intel Math Kernel Library: fastest, commercial -- may be incompatible with Eigen in GPL form
-#  include "src/FFT/ei_imklfft_impl.h"
-   namespace Eigen {
-     template <typename T> struct default_fft_impl : public internal::imklfft_impl {};
-   }
-#else
-// internal::kissfft_impl:  small, free, reasonably efficient default, derived from kissfft
-//
-# include "src/FFT/ei_kissfft_impl.h"
-  namespace Eigen {
-     template <typename T> 
-       struct default_fft_impl : public internal::kissfft_impl<T> {};
-  }
-#endif
-
-namespace Eigen {
-
- 
-// 
-template<typename T_SrcMat,typename T_FftIfc> struct fft_fwd_proxy;
-template<typename T_SrcMat,typename T_FftIfc> struct fft_inv_proxy;
-
-namespace internal {
-template<typename T_SrcMat,typename T_FftIfc>
-struct traits< fft_fwd_proxy<T_SrcMat,T_FftIfc> >
-{
-  typedef typename T_SrcMat::PlainObject ReturnType;
-};
-template<typename T_SrcMat,typename T_FftIfc>
-struct traits< fft_inv_proxy<T_SrcMat,T_FftIfc> >
-{
-  typedef typename T_SrcMat::PlainObject ReturnType;
-};
-}
-
-template<typename T_SrcMat,typename T_FftIfc> 
-struct fft_fwd_proxy
- : public ReturnByValue<fft_fwd_proxy<T_SrcMat,T_FftIfc> >
-{
-  typedef DenseIndex Index;
-
-  fft_fwd_proxy(const T_SrcMat& src,T_FftIfc & fft, Index nfft) : m_src(src),m_ifc(fft), m_nfft(nfft) {}
-
-  template<typename T_DestMat> void evalTo(T_DestMat& dst) const;
-
-  Index rows() const { return m_src.rows(); }
-  Index cols() const { return m_src.cols(); }
-protected:
-  const T_SrcMat & m_src;
-  T_FftIfc & m_ifc;
-  Index m_nfft;
-private:
-  fft_fwd_proxy& operator=(const fft_fwd_proxy&);
-};
-
-template<typename T_SrcMat,typename T_FftIfc> 
-struct fft_inv_proxy
- : public ReturnByValue<fft_inv_proxy<T_SrcMat,T_FftIfc> >
-{
-  typedef DenseIndex Index;
-
-  fft_inv_proxy(const T_SrcMat& src,T_FftIfc & fft, Index nfft) : m_src(src),m_ifc(fft), m_nfft(nfft) {}
-
-  template<typename T_DestMat> void evalTo(T_DestMat& dst) const;
-
-  Index rows() const { return m_src.rows(); }
-  Index cols() const { return m_src.cols(); }
-protected:
-  const T_SrcMat & m_src;
-  T_FftIfc & m_ifc;
-  Index m_nfft;
-private:
-  fft_inv_proxy& operator=(const fft_inv_proxy&);
-};
-
-
-template <typename T_Scalar,
-         typename T_Impl=default_fft_impl<T_Scalar> >
-class FFT
-{
-  public:
-    typedef T_Impl impl_type;
-    typedef DenseIndex Index;
-    typedef typename impl_type::Scalar Scalar;
-    typedef typename impl_type::Complex Complex;
-
-    enum Flag {
-      Default=0, // goof proof
-      Unscaled=1,
-      HalfSpectrum=2,
-      // SomeOtherSpeedOptimization=4
-      Speedy=32767
-    };
-
-    FFT( const impl_type & impl=impl_type() , Flag flags=Default ) :m_impl(impl),m_flag(flags) { }
-
-    inline
-    bool HasFlag(Flag f) const { return (m_flag & (int)f) == f;}
-
-    inline
-    void SetFlag(Flag f) { m_flag |= (int)f;}
-
-    inline
-    void ClearFlag(Flag f) { m_flag &= (~(int)f);}
-
-    inline
-    void fwd( Complex * dst, const Scalar * src, Index nfft)
-    {
-        m_impl.fwd(dst,src,static_cast<int>(nfft));
-        if ( HasFlag(HalfSpectrum) == false)
-          ReflectSpectrum(dst,nfft);
-    }
-
-    inline
-    void fwd( Complex * dst, const Complex * src, Index nfft)
-    {
-        m_impl.fwd(dst,src,static_cast<int>(nfft));
-    }
-
-    /*
-    inline 
-    void fwd2(Complex * dst, const Complex * src, int n0,int n1)
-    {
-      m_impl.fwd2(dst,src,n0,n1);
-    }
-    */
-
-    template <typename _Input>
-    inline
-    void fwd( std::vector<Complex> & dst, const std::vector<_Input> & src) 
-    {
-      if ( NumTraits<_Input>::IsComplex == 0 && HasFlag(HalfSpectrum) )
-        dst.resize( (src.size()>>1)+1); // half the bins + Nyquist bin
-      else
-        dst.resize(src.size());
-      fwd(&dst[0],&src[0],src.size());
-    }
-
-    template<typename InputDerived, typename ComplexDerived>
-    inline
-    void fwd( MatrixBase<ComplexDerived> & dst, const MatrixBase<InputDerived> & src, Index nfft=-1)
-    {
-      typedef typename ComplexDerived::Scalar dst_type;
-      typedef typename InputDerived::Scalar src_type;
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(InputDerived)
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(ComplexDerived)
-      EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ComplexDerived,InputDerived) // size at compile-time
-      EIGEN_STATIC_ASSERT((internal::is_same<dst_type, Complex>::value),
-            YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      EIGEN_STATIC_ASSERT(int(InputDerived::Flags)&int(ComplexDerived::Flags)&DirectAccessBit,
-            THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES)
-
-      if (nfft<1)
-        nfft = src.size();
-
-      if ( NumTraits< src_type >::IsComplex == 0 && HasFlag(HalfSpectrum) )
-        dst.derived().resize( (nfft>>1)+1);
-      else
-        dst.derived().resize(nfft);
-
-      if ( src.innerStride() != 1 || src.size() < nfft ) {
-        Matrix<src_type,1,Dynamic> tmp;
-        if (src.size()<nfft) {
-          tmp.setZero(nfft);
-          tmp.block(0,0,src.size(),1 ) = src;
-        }else{
-          tmp = src;
-        }
-        fwd( &dst[0],&tmp[0],nfft );
-      }else{
-        fwd( &dst[0],&src[0],nfft );
-      }
-    }
- 
-    template<typename InputDerived>
-    inline
-    fft_fwd_proxy< MatrixBase<InputDerived>, FFT<T_Scalar,T_Impl> >
-    fwd( const MatrixBase<InputDerived> & src, Index nfft=-1)
-    {
-      return fft_fwd_proxy< MatrixBase<InputDerived> ,FFT<T_Scalar,T_Impl> >( src, *this,nfft );
-    }
-
-    template<typename InputDerived>
-    inline
-    fft_inv_proxy< MatrixBase<InputDerived>, FFT<T_Scalar,T_Impl> >
-    inv( const MatrixBase<InputDerived> & src, Index nfft=-1)
-    {
-      return  fft_inv_proxy< MatrixBase<InputDerived> ,FFT<T_Scalar,T_Impl> >( src, *this,nfft );
-    }
-
-    inline
-    void inv( Complex * dst, const Complex * src, Index nfft)
-    {
-      m_impl.inv( dst,src,static_cast<int>(nfft) );
-      if ( HasFlag( Unscaled ) == false)
-        scale(dst,Scalar(1./nfft),nfft); // scale the time series
-    }
-
-    inline
-    void inv( Scalar * dst, const Complex * src, Index nfft)
-    {
-      m_impl.inv( dst,src,static_cast<int>(nfft) );
-      if ( HasFlag( Unscaled ) == false)
-        scale(dst,Scalar(1./nfft),nfft); // scale the time series
-    }
-
-    template<typename OutputDerived, typename ComplexDerived>
-    inline
-    void inv( MatrixBase<OutputDerived> & dst, const MatrixBase<ComplexDerived> & src, Index nfft=-1)
-    {
-      typedef typename ComplexDerived::Scalar src_type;
-      typedef typename OutputDerived::Scalar dst_type;
-      const bool realfft= (NumTraits<dst_type>::IsComplex == 0);
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OutputDerived)
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(ComplexDerived)
-      EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ComplexDerived,OutputDerived) // size at compile-time
-      EIGEN_STATIC_ASSERT((internal::is_same<src_type, Complex>::value),
-            YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      EIGEN_STATIC_ASSERT(int(OutputDerived::Flags)&int(ComplexDerived::Flags)&DirectAccessBit,
-            THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES)
-
-      if (nfft<1) { //automatic FFT size determination
-        if ( realfft && HasFlag(HalfSpectrum) ) 
-          nfft = 2*(src.size()-1); //assume even fft size
-        else
-          nfft = src.size();
-      }
-      dst.derived().resize( nfft );
-
-      // check for nfft that does not fit the input data size
-      Index resize_input= ( realfft && HasFlag(HalfSpectrum) )
-        ? ( (nfft/2+1) - src.size() )
-        : ( nfft - src.size() );
-
-      if ( src.innerStride() != 1 || resize_input ) {
-        // if the vector is strided, then we need to copy it to a packed temporary
-        Matrix<src_type,1,Dynamic> tmp;
-        if ( resize_input ) {
-          size_t ncopy = (std::min)(src.size(),src.size() + resize_input);
-          tmp.setZero(src.size() + resize_input);
-          if ( realfft && HasFlag(HalfSpectrum) ) {
-            // pad at the Nyquist bin
-            tmp.head(ncopy) = src.head(ncopy);
-            tmp(ncopy-1) = real(tmp(ncopy-1)); // enforce real-only Nyquist bin
-          }else{
-            size_t nhead,ntail;
-            nhead = 1+ncopy/2-1; // range  [0:pi)
-            ntail = ncopy/2-1;   // range (-pi:0)
-            tmp.head(nhead) = src.head(nhead);
-            tmp.tail(ntail) = src.tail(ntail);
-            if (resize_input<0) { //shrinking -- create the Nyquist bin as the average of the two bins that fold into it
-              tmp(nhead) = ( src(nfft/2) + src( src.size() - nfft/2 ) )*src_type(.5);
-            }else{ // expanding -- split the old Nyquist bin into two halves
-              tmp(nhead) = src(nhead) * src_type(.5);
-              tmp(tmp.size()-nhead) = tmp(nhead);
-            }
-          }
-        }else{
-          tmp = src;
-        }
-        inv( &dst[0],&tmp[0], nfft);
-      }else{
-        inv( &dst[0],&src[0], nfft);
-      }
-    }
-
-    template <typename _Output>
-    inline
-    void inv( std::vector<_Output> & dst, const std::vector<Complex> & src,Index nfft=-1)
-    {
-      if (nfft<1)
-        nfft = ( NumTraits<_Output>::IsComplex == 0 && HasFlag(HalfSpectrum) ) ? 2*(src.size()-1) : src.size();
-      dst.resize( nfft );
-      inv( &dst[0],&src[0],nfft);
-    }
-
-
-    /*
-    // TODO: multi-dimensional FFTs
-    inline 
-    void inv2(Complex * dst, const Complex * src, int n0,int n1)
-    {
-      m_impl.inv2(dst,src,n0,n1);
-      if ( HasFlag( Unscaled ) == false)
-          scale(dst,1./(n0*n1),n0*n1);
-    }
-  */
-
-    inline
-    impl_type & impl() {return m_impl;}
-  private:
-
-    template <typename T_Data>
-    inline
-    void scale(T_Data * x,Scalar s,Index nx)
-    {
-#if 1
-      for (int k=0;k<nx;++k)
-        *x++ *= s;
-#else
-      if ( ((ptrdiff_t)x) & 15 )
-        Matrix<T_Data, Dynamic, 1>::Map(x,nx) *= s;
-      else
-        Matrix<T_Data, Dynamic, 1>::MapAligned(x,nx) *= s;
-         //Matrix<T_Data, Dynamic, Dynamic>::Map(x,nx) * s;
-#endif  
-    }
-
-    inline
-    void ReflectSpectrum(Complex * freq, Index nfft)
-    {
-      // create the implicit right-half spectrum (conjugate-mirror of the left-half)
-      Index nhbins=(nfft>>1)+1;
-      for (Index k=nhbins;k < nfft; ++k )
-        freq[k] = conj(freq[nfft-k]);
-    }
-
-    impl_type m_impl;
-    int m_flag;
-};
-
-template<typename T_SrcMat,typename T_FftIfc> 
-template<typename T_DestMat> inline 
-void fft_fwd_proxy<T_SrcMat,T_FftIfc>::evalTo(T_DestMat& dst) const
-{
-    m_ifc.fwd( dst, m_src, m_nfft);
-}
-
-template<typename T_SrcMat,typename T_FftIfc> 
-template<typename T_DestMat> inline 
-void fft_inv_proxy<T_SrcMat,T_FftIfc>::evalTo(T_DestMat& dst) const
-{
-    m_ifc.inv( dst, m_src, m_nfft);
-}
-
-}
-#endif
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/unsupported/Eigen/IterativeSolvers b/phonelibs/eigen/unsupported/Eigen/IterativeSolvers
deleted file mode 100644
index 31e880bdc11101..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/IterativeSolvers
+++ /dev/null
@@ -1,42 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ITERATIVE_SOLVERS_MODULE_H
-#define EIGEN_ITERATIVE_SOLVERS_MODULE_H
-
-#include <Eigen/Sparse>
-
-/**
-  * \defgroup IterativeSolvers_Module Iterative solvers module
-  * This module aims to provide various iterative linear and non linear solver algorithms.
-  * It currently provides:
-  *  - a constrained conjugate gradient
-  *  - a Householder GMRES implementation
-  * \code
-  * #include <unsupported/Eigen/IterativeSolvers>
-  * \endcode
-  */
-//@{
-
-#ifndef EIGEN_MPL2_ONLY
-#include "src/IterativeSolvers/IterationController.h"
-#include "src/IterativeSolvers/ConstrainedConjGrad.h"
-#endif
-
-#include "src/IterativeSolvers/IncompleteLU.h"
-#include "../../Eigen/Jacobi"
-#include "../../Eigen/Householder"
-#include "src/IterativeSolvers/GMRES.h"
-#include "src/IterativeSolvers/DGMRES.h"
-//#include "src/IterativeSolvers/SSORPreconditioner.h"
-#include "src/IterativeSolvers/MINRES.h"
-
-//@}
-
-#endif // EIGEN_ITERATIVE_SOLVERS_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/KroneckerProduct b/phonelibs/eigen/unsupported/Eigen/KroneckerProduct
deleted file mode 100644
index 5f5afb8cfdca72..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/KroneckerProduct
+++ /dev/null
@@ -1,36 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_KRONECKER_PRODUCT_MODULE_H
-#define EIGEN_KRONECKER_PRODUCT_MODULE_H
-
-#include "../../Eigen/Core"
-
-#include "../../Eigen/src/Core/util/DisableStupidWarnings.h"
-
-#include "../../Eigen/src/SparseCore/SparseUtil.h"
-
-namespace Eigen {
-
-/**
-  * \defgroup KroneckerProduct_Module KroneckerProduct module
-  *
-  * This module contains an experimental Kronecker product implementation.
-  *
-  * \code
-  * #include <Eigen/KroneckerProduct>
-  * \endcode
-  */
-
-} // namespace Eigen
-
-#include "src/KroneckerProduct/KroneckerTensorProduct.h"
-
-#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_KRONECKER_PRODUCT_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/LevenbergMarquardt b/phonelibs/eigen/unsupported/Eigen/LevenbergMarquardt
deleted file mode 100644
index 0fe2680bab0a50..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/LevenbergMarquardt
+++ /dev/null
@@ -1,45 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LEVENBERGMARQUARDT_MODULE
-#define EIGEN_LEVENBERGMARQUARDT_MODULE
-
-// #include <vector>
-
-#include <Eigen/Core>
-#include <Eigen/Jacobi>
-#include <Eigen/QR>
-#include <unsupported/Eigen/NumericalDiff> 
-
-#include <Eigen/SparseQR>
-
-/**
-  * \defgroup LevenbergMarquardt_Module Levenberg-Marquardt module
-  *
-  * \code
-  * #include </Eigen/LevenbergMarquardt>
-  * \endcode
-  *
-  * 
-  */
-
-#include "Eigen/SparseCore"
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-#include "src/LevenbergMarquardt/LMqrsolv.h"
-#include "src/LevenbergMarquardt/LMcovar.h"
-#include "src/LevenbergMarquardt/LMpar.h"
-
-#endif
-
-#include "src/LevenbergMarquardt/LevenbergMarquardt.h"
-#include "src/LevenbergMarquardt/LMonestep.h"
-
-
-#endif // EIGEN_LEVENBERGMARQUARDT_MODULE
diff --git a/phonelibs/eigen/unsupported/Eigen/MPRealSupport b/phonelibs/eigen/unsupported/Eigen/MPRealSupport
deleted file mode 100644
index 7f0b70c63995df..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/MPRealSupport
+++ /dev/null
@@ -1,209 +0,0 @@
-// This file is part of a joint effort between Eigen, a lightweight C++ template library
-// for linear algebra, and MPFR C++, a C++ interface to MPFR library (http://www.holoborodko.com/pavel/)
-//
-// Copyright (C) 2010-2012 Pavel Holoborodko <pavel@holoborodko.com>
-// Copyright (C) 2010 Konstantin Holoborodko <konstantin@holoborodko.com>
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MPREALSUPPORT_MODULE_H
-#define EIGEN_MPREALSUPPORT_MODULE_H
-
-#include <Eigen/Core>
-#include <mpreal.h>
-
-namespace Eigen {
-  
-/**
-  * \defgroup MPRealSupport_Module MPFRC++ Support module
-  * \code
-  * #include <Eigen/MPRealSupport>
-  * \endcode
-  *
-  * This module provides support for multi precision floating point numbers
-  * via the <a href="http://www.holoborodko.com/pavel/mpfr">MPFR C++</a>
-  * library which itself is built upon <a href="http://www.mpfr.org/">MPFR</a>/<a href="http://gmplib.org/">GMP</a>.
-  *
-  * \warning MPFR C++ is licensed under the GPL.
-  *
-  * You can find a copy of MPFR C++ that is known to be compatible in the unsupported/test/mpreal folder.
-  *
-  * Here is an example:
-  *
-\code
-#include <iostream>
-#include <Eigen/MPRealSupport>
-#include <Eigen/LU>
-using namespace mpfr;
-using namespace Eigen;
-int main()
-{
-  // set precision to 256 bits (double has only 53 bits)
-  mpreal::set_default_prec(256);
-  // Declare matrix and vector types with multi-precision scalar type
-  typedef Matrix<mpreal,Dynamic,Dynamic>  MatrixXmp;
-  typedef Matrix<mpreal,Dynamic,1>        VectorXmp;
-
-  MatrixXmp A = MatrixXmp::Random(100,100);
-  VectorXmp b = VectorXmp::Random(100);
-
-  // Solve Ax=b using LU
-  VectorXmp x = A.lu().solve(b);
-  std::cout << "relative error: " << (A*x - b).norm() / b.norm() << std::endl;
-  return 0;
-}
-\endcode
-  *
-  */
-	
-  template<> struct NumTraits<mpfr::mpreal>
-    : GenericNumTraits<mpfr::mpreal>
-  {
-    enum {
-      IsInteger = 0,
-      IsSigned = 1,
-      IsComplex = 0,
-      RequireInitialization = 1,
-      ReadCost = HugeCost,
-      AddCost  = HugeCost,
-      MulCost  = HugeCost
-    };
-
-    typedef mpfr::mpreal Real;
-    typedef mpfr::mpreal NonInteger;
-    
-    static inline Real highest  (long Precision = mpfr::mpreal::get_default_prec()) { return  mpfr::maxval(Precision); }
-    static inline Real lowest   (long Precision = mpfr::mpreal::get_default_prec()) { return -mpfr::maxval(Precision); }
-
-    // Constants
-    static inline Real Pi      (long Precision = mpfr::mpreal::get_default_prec())  { return mpfr::const_pi(Precision);        }
-    static inline Real Euler   (long Precision = mpfr::mpreal::get_default_prec())  { return mpfr::const_euler(Precision);     }
-    static inline Real Log2    (long Precision = mpfr::mpreal::get_default_prec())  { return mpfr::const_log2(Precision);      }
-    static inline Real Catalan (long Precision = mpfr::mpreal::get_default_prec())  { return mpfr::const_catalan(Precision);   }
-
-    static inline Real epsilon (long Precision = mpfr::mpreal::get_default_prec())  { return mpfr::machine_epsilon(Precision); }
-    static inline Real epsilon (const Real& x)                                      { return mpfr::machine_epsilon(x); }
-
-#ifdef MPREAL_HAVE_DYNAMIC_STD_NUMERIC_LIMITS
-    static inline int digits10 (long Precision = mpfr::mpreal::get_default_prec())  { return std::numeric_limits<Real>::digits10(Precision); }
-    static inline int digits10 (const Real& x)                                      { return std::numeric_limits<Real>::digits10(x); }
-#endif
-
-    static inline Real dummy_precision()
-    {
-      mpfr_prec_t weak_prec = ((mpfr::mpreal::get_default_prec()-1) * 90) / 100;
-      return mpfr::machine_epsilon(weak_prec);
-    }
-  };
-
-  namespace internal {
-
-  template<> inline mpfr::mpreal random<mpfr::mpreal>()
-  {
-    return mpfr::random();
-  }
-
-  template<> inline mpfr::mpreal random<mpfr::mpreal>(const mpfr::mpreal& a, const mpfr::mpreal& b)
-  {
-    return a + (b-a) * random<mpfr::mpreal>();
-  }
-
-  inline bool isMuchSmallerThan(const mpfr::mpreal& a, const mpfr::mpreal& b, const mpfr::mpreal& eps)
-  {
-    return mpfr::abs(a) <= mpfr::abs(b) * eps;
-  }
-
-  inline bool isApprox(const mpfr::mpreal& a, const mpfr::mpreal& b, const mpfr::mpreal& eps)
-  {
-    return mpfr::isEqualFuzzy(a,b,eps);
-  }
-
-  inline bool isApproxOrLessThan(const mpfr::mpreal& a, const mpfr::mpreal& b, const mpfr::mpreal& eps)
-  {
-    return a <= b || mpfr::isEqualFuzzy(a,b,eps);
-  }
-
-  template<> inline long double cast<mpfr::mpreal,long double>(const mpfr::mpreal& x)
-  { return x.toLDouble(); }
-
-  template<> inline double cast<mpfr::mpreal,double>(const mpfr::mpreal& x)
-  { return x.toDouble(); }
-
-  template<> inline long cast<mpfr::mpreal,long>(const mpfr::mpreal& x)
-  { return x.toLong(); }
-
-  template<> inline int cast<mpfr::mpreal,int>(const mpfr::mpreal& x)
-  { return int(x.toLong()); }
-
-  // Specialize GEBP kernel and traits for mpreal (no need for peeling, nor complicated stuff)
-  // This also permits to directly call mpfr's routines and avoid many temporaries produced by mpreal
-    template<>
-    class gebp_traits<mpfr::mpreal, mpfr::mpreal, false, false>
-    {
-    public:
-      typedef mpfr::mpreal ResScalar;
-      enum {
-        Vectorizable = false,
-        LhsPacketSize = 1,
-        RhsPacketSize = 1,
-        ResPacketSize = 1,
-        NumberOfRegisters = 1,
-        nr = 1,
-        mr = 1,
-        LhsProgress = 1,
-        RhsProgress = 1
-      };
-      typedef ResScalar LhsPacket;
-      typedef ResScalar RhsPacket;
-      typedef ResScalar ResPacket;
-      
-    };
-
-
-
-    template<typename Index, typename DataMapper, bool ConjugateLhs, bool ConjugateRhs>
-    struct gebp_kernel<mpfr::mpreal,mpfr::mpreal,Index,DataMapper,1,1,ConjugateLhs,ConjugateRhs>
-    {
-      typedef mpfr::mpreal mpreal;
-
-      EIGEN_DONT_INLINE
-      void operator()(const DataMapper& res, const mpreal* blockA, const mpreal* blockB, 
-                      Index rows, Index depth, Index cols, const mpreal& alpha,
-                      Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0)
-      {
-        if(rows==0 || cols==0 || depth==0)
-          return;
-
-        mpreal  acc1(0,mpfr_get_prec(blockA[0].mpfr_srcptr())),
-                tmp (0,mpfr_get_prec(blockA[0].mpfr_srcptr()));
-
-        if(strideA==-1) strideA = depth;
-        if(strideB==-1) strideB = depth;
-
-        for(Index i=0; i<rows; ++i)
-        {
-          for(Index j=0; j<cols; ++j)
-          {
-            const mpreal *A = blockA + i*strideA + offsetA;
-            const mpreal *B = blockB + j*strideB + offsetB;
-            
-            acc1 = 0;
-            for(Index k=0; k<depth; k++)
-            {
-              mpfr_mul(tmp.mpfr_ptr(), A[k].mpfr_srcptr(), B[k].mpfr_srcptr(), mpreal::get_default_rnd());
-              mpfr_add(acc1.mpfr_ptr(), acc1.mpfr_ptr(), tmp.mpfr_ptr(),  mpreal::get_default_rnd());
-            }
-            
-            mpfr_mul(acc1.mpfr_ptr(), acc1.mpfr_srcptr(), alpha.mpfr_srcptr(), mpreal::get_default_rnd());
-            mpfr_add(res(i,j).mpfr_ptr(), res(i,j).mpfr_srcptr(), acc1.mpfr_srcptr(),  mpreal::get_default_rnd());
-          }
-        }
-      }
-    };
-  } // end namespace internal
-}
-
-#endif // EIGEN_MPREALSUPPORT_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/MatrixFunctions b/phonelibs/eigen/unsupported/Eigen/MatrixFunctions
deleted file mode 100644
index 0320606c1d3d2b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/MatrixFunctions
+++ /dev/null
@@ -1,501 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2012 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_FUNCTIONS
-#define EIGEN_MATRIX_FUNCTIONS
-
-#include <cfloat>
-#include <list>
-
-#include <Eigen/Core>
-#include <Eigen/LU>
-#include <Eigen/Eigenvalues>
-
-/**
-  * \defgroup MatrixFunctions_Module Matrix functions module
-  * \brief This module aims to provide various methods for the computation of
-  * matrix functions. 
-  *
-  * To use this module, add 
-  * \code
-  * #include <unsupported/Eigen/MatrixFunctions>
-  * \endcode
-  * at the start of your source file.
-  *
-  * This module defines the following MatrixBase methods.
-  *  - \ref matrixbase_cos "MatrixBase::cos()", for computing the matrix cosine
-  *  - \ref matrixbase_cosh "MatrixBase::cosh()", for computing the matrix hyperbolic cosine
-  *  - \ref matrixbase_exp "MatrixBase::exp()", for computing the matrix exponential
-  *  - \ref matrixbase_log "MatrixBase::log()", for computing the matrix logarithm
-  *  - \ref matrixbase_pow "MatrixBase::pow()", for computing the matrix power
-  *  - \ref matrixbase_matrixfunction "MatrixBase::matrixFunction()", for computing general matrix functions
-  *  - \ref matrixbase_sin "MatrixBase::sin()", for computing the matrix sine
-  *  - \ref matrixbase_sinh "MatrixBase::sinh()", for computing the matrix hyperbolic sine
-  *  - \ref matrixbase_sqrt "MatrixBase::sqrt()", for computing the matrix square root
-  *
-  * These methods are the main entry points to this module. 
-  *
-  * %Matrix functions are defined as follows.  Suppose that \f$ f \f$
-  * is an entire function (that is, a function on the complex plane
-  * that is everywhere complex differentiable).  Then its Taylor
-  * series
-  * \f[ f(0) + f'(0) x + \frac{f''(0)}{2} x^2 + \frac{f'''(0)}{3!} x^3 + \cdots \f]
-  * converges to \f$ f(x) \f$. In this case, we can define the matrix
-  * function by the same series:
-  * \f[ f(M) = f(0) + f'(0) M + \frac{f''(0)}{2} M^2 + \frac{f'''(0)}{3!} M^3 + \cdots \f]
-  *
-  */
-
-#include "src/MatrixFunctions/MatrixExponential.h"
-#include "src/MatrixFunctions/MatrixFunction.h"
-#include "src/MatrixFunctions/MatrixSquareRoot.h"
-#include "src/MatrixFunctions/MatrixLogarithm.h"
-#include "src/MatrixFunctions/MatrixPower.h"
-
-
-/** 
-\page matrixbaseextra_page
-\ingroup MatrixFunctions_Module
-
-\section matrixbaseextra MatrixBase methods defined in the MatrixFunctions module
-
-The remainder of the page documents the following MatrixBase methods
-which are defined in the MatrixFunctions module.
-
-
-
-\subsection matrixbase_cos MatrixBase::cos()
-
-Compute the matrix cosine.
-
-\code
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cos() const
-\endcode
-
-\param[in]  M  a square matrix.
-\returns  expression representing \f$ \cos(M) \f$.
-
-This function computes the matrix cosine. Use ArrayBase::cos() for computing the entry-wise cosine.
-
-The implementation calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::cos().
-
-\sa \ref matrixbase_sin "sin()" for an example.
-
-
-
-\subsection matrixbase_cosh MatrixBase::cosh()
-
-Compute the matrix hyberbolic cosine.
-
-\code
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cosh() const
-\endcode
-
-\param[in]  M  a square matrix.
-\returns  expression representing \f$ \cosh(M) \f$
-
-This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::cosh().
-
-\sa \ref matrixbase_sinh "sinh()" for an example.
-
-
-
-\subsection matrixbase_exp MatrixBase::exp()
-
-Compute the matrix exponential.
-
-\code
-const MatrixExponentialReturnValue<Derived> MatrixBase<Derived>::exp() const
-\endcode
-
-\param[in]  M  matrix whose exponential is to be computed.
-\returns    expression representing the matrix exponential of \p M.
-
-The matrix exponential of \f$ M \f$ is defined by
-\f[ \exp(M) = \sum_{k=0}^\infty \frac{M^k}{k!}. \f]
-The matrix exponential can be used to solve linear ordinary
-differential equations: the solution of \f$ y' = My \f$ with the
-initial condition \f$ y(0) = y_0 \f$ is given by
-\f$ y(t) = \exp(M) y_0 \f$.
-
-The matrix exponential is different from applying the exp function to all the entries in the matrix.
-Use ArrayBase::exp() if you want to do the latter.
-
-The cost of the computation is approximately \f$ 20 n^3 \f$ for
-matrices of size \f$ n \f$. The number 20 depends weakly on the
-norm of the matrix.
-
-The matrix exponential is computed using the scaling-and-squaring
-method combined with Pad&eacute; approximation. The matrix is first
-rescaled, then the exponential of the reduced matrix is computed
-approximant, and then the rescaling is undone by repeated
-squaring. The degree of the Pad&eacute; approximant is chosen such
-that the approximation error is less than the round-off
-error. However, errors may accumulate during the squaring phase.
-
-Details of the algorithm can be found in: Nicholas J. Higham, "The
-scaling and squaring method for the matrix exponential revisited,"
-<em>SIAM J. %Matrix Anal. Applic.</em>, <b>26</b>:1179&ndash;1193,
-2005.
-
-Example: The following program checks that
-\f[ \exp \left[ \begin{array}{ccc}
-      0 & \frac14\pi & 0 \\
-      -\frac14\pi & 0 & 0 \\
-      0 & 0 & 0
-    \end{array} \right] = \left[ \begin{array}{ccc}
-      \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
-      \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
-      0 & 0 & 1
-    \end{array} \right]. \f]
-This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
-the z-axis.
-
-\include MatrixExponential.cpp
-Output: \verbinclude MatrixExponential.out
-
-\note \p M has to be a matrix of \c float, \c double, \c long double
-\c complex<float>, \c complex<double>, or \c complex<long double> .
-
-
-\subsection matrixbase_log MatrixBase::log()
-
-Compute the matrix logarithm.
-
-\code
-const MatrixLogarithmReturnValue<Derived> MatrixBase<Derived>::log() const
-\endcode
-
-\param[in]  M  invertible matrix whose logarithm is to be computed.
-\returns    expression representing the matrix logarithm root of \p M.
-
-The matrix logarithm of \f$ M \f$ is a matrix \f$ X \f$ such that 
-\f$ \exp(X) = M \f$ where exp denotes the matrix exponential. As for
-the scalar logarithm, the equation \f$ \exp(X) = M \f$ may have
-multiple solutions; this function returns a matrix whose eigenvalues
-have imaginary part in the interval \f$ (-\pi,\pi] \f$.
-
-The matrix logarithm is different from applying the log function to all the entries in the matrix.
-Use ArrayBase::log() if you want to do the latter.
-
-In the real case, the matrix \f$ M \f$ should be invertible and
-it should have no eigenvalues which are real and negative (pairs of
-complex conjugate eigenvalues are allowed). In the complex case, it
-only needs to be invertible.
-
-This function computes the matrix logarithm using the Schur-Parlett
-algorithm as implemented by MatrixBase::matrixFunction(). The
-logarithm of an atomic block is computed by MatrixLogarithmAtomic,
-which uses direct computation for 1-by-1 and 2-by-2 blocks and an
-inverse scaling-and-squaring algorithm for bigger blocks, with the
-square roots computed by MatrixBase::sqrt().
-
-Details of the algorithm can be found in Section 11.6.2 of:
-Nicholas J. Higham,
-<em>Functions of Matrices: Theory and Computation</em>,
-SIAM 2008. ISBN 978-0-898716-46-7.
-
-Example: The following program checks that
-\f[ \log \left[ \begin{array}{ccc} 
-      \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
-      \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
-      0 & 0 & 1
-    \end{array} \right] = \left[ \begin{array}{ccc}
-      0 & \frac14\pi & 0 \\ 
-      -\frac14\pi & 0 & 0 \\
-      0 & 0 & 0 
-    \end{array} \right]. \f]
-This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
-the z-axis. This is the inverse of the example used in the
-documentation of \ref matrixbase_exp "exp()".
-
-\include MatrixLogarithm.cpp
-Output: \verbinclude MatrixLogarithm.out
-
-\note \p M has to be a matrix of \c float, \c double, <tt>long
-double</tt>, \c complex<float>, \c complex<double>, or \c complex<long
-double> .
-
-\sa MatrixBase::exp(), MatrixBase::matrixFunction(), 
-    class MatrixLogarithmAtomic, MatrixBase::sqrt().
-
-
-\subsection matrixbase_pow MatrixBase::pow()
-
-Compute the matrix raised to arbitrary real power.
-
-\code
-const MatrixPowerReturnValue<Derived> MatrixBase<Derived>::pow(RealScalar p) const
-\endcode
-
-\param[in]  M  base of the matrix power, should be a square matrix.
-\param[in]  p  exponent of the matrix power.
-
-The matrix power \f$ M^p \f$ is defined as \f$ \exp(p \log(M)) \f$,
-where exp denotes the matrix exponential, and log denotes the matrix
-logarithm. This is different from raising all the entries in the matrix
-to the p-th power. Use ArrayBase::pow() if you want to do the latter.
-
-If \p p is complex, the scalar type of \p M should be the type of \p
-p . \f$ M^p \f$ simply evaluates into \f$ \exp(p \log(M)) \f$.
-Therefore, the matrix \f$ M \f$ should meet the conditions to be an
-argument of matrix logarithm.
-
-If \p p is real, it is casted into the real scalar type of \p M. Then
-this function computes the matrix power using the Schur-Pad&eacute;
-algorithm as implemented by class MatrixPower. The exponent is split
-into integral part and fractional part, where the fractional part is
-in the interval \f$ (-1, 1) \f$. The main diagonal and the first
-super-diagonal is directly computed.
-
-If \p M is singular with a semisimple zero eigenvalue and \p p is
-positive, the Schur factor \f$ T \f$ is reordered with Givens
-rotations, i.e.
-
-\f[ T = \left[ \begin{array}{cc}
-      T_1 & T_2 \\
-      0   & 0
-    \end{array} \right] \f]
-
-where \f$ T_1 \f$ is invertible. Then \f$ T^p \f$ is given by
-
-\f[ T^p = \left[ \begin{array}{cc}
-      T_1^p & T_1^{-1} T_1^p T_2 \\
-      0     & 0
-    \end{array}. \right] \f]
-
-\warning Fractional power of a matrix with a non-semisimple zero
-eigenvalue is not well-defined. We introduce an assertion failure
-against inaccurate result, e.g. \code
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-int main()
-{
-  Eigen::Matrix4d A;
-  A << 0, 0, 2, 3,
-       0, 0, 4, 5,
-       0, 0, 6, 7,
-       0, 0, 8, 9;
-  std::cout << A.pow(0.37) << std::endl;
-  
-  // The 1 makes eigenvalue 0 non-semisimple.
-  A.coeffRef(0, 1) = 1;
-
-  // This fails if EIGEN_NO_DEBUG is undefined.
-  std::cout << A.pow(0.37) << std::endl;
-
-  return 0;
-}
-\endcode
-
-Details of the algorithm can be found in: Nicholas J. Higham and
-Lijing Lin, "A Schur-Pad&eacute; algorithm for fractional powers of a
-matrix," <em>SIAM J. %Matrix Anal. Applic.</em>,
-<b>32(3)</b>:1056&ndash;1078, 2011.
-
-Example: The following program checks that
-\f[ \left[ \begin{array}{ccc}
-      \cos1 & -\sin1 & 0 \\
-      \sin1 & \cos1 & 0 \\
-      0 & 0 & 1
-    \end{array} \right]^{\frac14\pi} = \left[ \begin{array}{ccc}
-      \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
-      \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
-      0 & 0 & 1
-    \end{array} \right]. \f]
-This corresponds to \f$ \frac14\pi \f$ rotations of 1 radian around
-the z-axis.
-
-\include MatrixPower.cpp
-Output: \verbinclude MatrixPower.out
-
-MatrixBase::pow() is user-friendly. However, there are some
-circumstances under which you should use class MatrixPower directly.
-MatrixPower can save the result of Schur decomposition, so it's
-better for computing various powers for the same matrix.
-
-Example:
-\include MatrixPower_optimal.cpp
-Output: \verbinclude MatrixPower_optimal.out
-
-\note \p M has to be a matrix of \c float, \c double, <tt>long
-double</tt>, \c complex<float>, \c complex<double>, or \c complex<long
-double> .
-
-\sa MatrixBase::exp(), MatrixBase::log(), class MatrixPower.
-
-
-\subsection matrixbase_matrixfunction MatrixBase::matrixFunction()
-
-Compute a matrix function.
-
-\code
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::matrixFunction(typename internal::stem_function<typename internal::traits<Derived>::Scalar>::type f) const
-\endcode
-
-\param[in]  M  argument of matrix function, should be a square matrix.
-\param[in]  f  an entire function; \c f(x,n) should compute the n-th
-derivative of f at x.
-\returns  expression representing \p f applied to \p M.
-
-Suppose that \p M is a matrix whose entries have type \c Scalar. 
-Then, the second argument, \p f, should be a function with prototype
-\code 
-ComplexScalar f(ComplexScalar, int) 
-\endcode
-where \c ComplexScalar = \c std::complex<Scalar> if \c Scalar is
-real (e.g., \c float or \c double) and \c ComplexScalar =
-\c Scalar if \c Scalar is complex. The return value of \c f(x,n)
-should be \f$ f^{(n)}(x) \f$, the n-th derivative of f at x.
-
-This routine uses the algorithm described in:
-Philip Davies and Nicholas J. Higham, 
-"A Schur-Parlett algorithm for computing matrix functions", 
-<em>SIAM J. %Matrix Anal. Applic.</em>, <b>25</b>:464&ndash;485, 2003.
-
-The actual work is done by the MatrixFunction class.
-
-Example: The following program checks that
-\f[ \exp \left[ \begin{array}{ccc} 
-      0 & \frac14\pi & 0 \\ 
-      -\frac14\pi & 0 & 0 \\
-      0 & 0 & 0 
-    \end{array} \right] = \left[ \begin{array}{ccc}
-      \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
-      \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
-      0 & 0 & 1
-    \end{array} \right]. \f]
-This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
-the z-axis. This is the same example as used in the documentation
-of \ref matrixbase_exp "exp()".
-
-\include MatrixFunction.cpp
-Output: \verbinclude MatrixFunction.out
-
-Note that the function \c expfn is defined for complex numbers 
-\c x, even though the matrix \c A is over the reals. Instead of
-\c expfn, we could also have used StdStemFunctions::exp:
-\code
-A.matrixFunction(StdStemFunctions<std::complex<double> >::exp, &B);
-\endcode
-
-
-
-\subsection matrixbase_sin MatrixBase::sin()
-
-Compute the matrix sine.
-
-\code
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sin() const
-\endcode
-
-\param[in]  M  a square matrix.
-\returns  expression representing \f$ \sin(M) \f$.
-
-This function computes the matrix sine. Use ArrayBase::sin() for computing the entry-wise sine.
-
-The implementation calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::sin().
-
-Example: \include MatrixSine.cpp
-Output: \verbinclude MatrixSine.out
-
-
-
-\subsection matrixbase_sinh MatrixBase::sinh()
-
-Compute the matrix hyperbolic sine.
-
-\code
-MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sinh() const
-\endcode
-
-\param[in]  M  a square matrix.
-\returns  expression representing \f$ \sinh(M) \f$
-
-This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::sinh().
-
-Example: \include MatrixSinh.cpp
-Output: \verbinclude MatrixSinh.out
-
-
-\subsection matrixbase_sqrt MatrixBase::sqrt()
-
-Compute the matrix square root.
-
-\code
-const MatrixSquareRootReturnValue<Derived> MatrixBase<Derived>::sqrt() const
-\endcode
-
-\param[in]  M  invertible matrix whose square root is to be computed.
-\returns    expression representing the matrix square root of \p M.
-
-The matrix square root of \f$ M \f$ is the matrix \f$ M^{1/2} \f$
-whose square is the original matrix; so if \f$ S = M^{1/2} \f$ then
-\f$ S^2 = M \f$. This is different from taking the square root of all
-the entries in the matrix; use ArrayBase::sqrt() if you want to do the
-latter.
-
-In the <b>real case</b>, the matrix \f$ M \f$ should be invertible and
-it should have no eigenvalues which are real and negative (pairs of
-complex conjugate eigenvalues are allowed). In that case, the matrix
-has a square root which is also real, and this is the square root
-computed by this function. 
-
-The matrix square root is computed by first reducing the matrix to
-quasi-triangular form with the real Schur decomposition. The square
-root of the quasi-triangular matrix can then be computed directly. The
-cost is approximately \f$ 25 n^3 \f$ real flops for the real Schur
-decomposition and \f$ 3\frac13 n^3 \f$ real flops for the remainder
-(though the computation time in practice is likely more than this
-indicates).
-
-Details of the algorithm can be found in: Nicholas J. Highan,
-"Computing real square roots of a real matrix", <em>Linear Algebra
-Appl.</em>, 88/89:405&ndash;430, 1987.
-
-If the matrix is <b>positive-definite symmetric</b>, then the square
-root is also positive-definite symmetric. In this case, it is best to
-use SelfAdjointEigenSolver::operatorSqrt() to compute it.
-
-In the <b>complex case</b>, the matrix \f$ M \f$ should be invertible;
-this is a restriction of the algorithm. The square root computed by
-this algorithm is the one whose eigenvalues have an argument in the
-interval \f$ (-\frac12\pi, \frac12\pi] \f$. This is the usual branch
-cut.
-
-The computation is the same as in the real case, except that the
-complex Schur decomposition is used to reduce the matrix to a
-triangular matrix. The theoretical cost is the same. Details are in:
-&Aring;ke Bj&ouml;rck and Sven Hammarling, "A Schur method for the
-square root of a matrix", <em>Linear Algebra Appl.</em>,
-52/53:127&ndash;140, 1983.
-
-Example: The following program checks that the square root of
-\f[ \left[ \begin{array}{cc} 
-              \cos(\frac13\pi) & -\sin(\frac13\pi) \\
-              \sin(\frac13\pi) & \cos(\frac13\pi)
-    \end{array} \right], \f]
-corresponding to a rotation over 60 degrees, is a rotation over 30 degrees:
-\f[ \left[ \begin{array}{cc} 
-              \cos(\frac16\pi) & -\sin(\frac16\pi) \\
-              \sin(\frac16\pi) & \cos(\frac16\pi)
-    \end{array} \right]. \f]
-
-\include MatrixSquareRoot.cpp
-Output: \verbinclude MatrixSquareRoot.out
-
-\sa class RealSchur, class ComplexSchur, class MatrixSquareRoot,
-    SelfAdjointEigenSolver::operatorSqrt().
-
-*/
-
-#endif // EIGEN_MATRIX_FUNCTIONS
-
diff --git a/phonelibs/eigen/unsupported/Eigen/MoreVectorization b/phonelibs/eigen/unsupported/Eigen/MoreVectorization
deleted file mode 100644
index 470e7243086388..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/MoreVectorization
+++ /dev/null
@@ -1,24 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MOREVECTORIZATION_MODULE_H
-#define EIGEN_MOREVECTORIZATION_MODULE_H
-
-#include <Eigen/Core>
-
-namespace Eigen {
-
-/**
-  * \defgroup MoreVectorization More vectorization module
-  */
-
-}
-
-#include "src/MoreVectorization/MathFunctions.h"
-
-#endif // EIGEN_MOREVECTORIZATION_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/NonLinearOptimization b/phonelibs/eigen/unsupported/Eigen/NonLinearOptimization
deleted file mode 100644
index 600ab4c12e298e..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/NonLinearOptimization
+++ /dev/null
@@ -1,134 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NONLINEAROPTIMIZATION_MODULE
-#define EIGEN_NONLINEAROPTIMIZATION_MODULE
-
-#include <vector>
-
-#include <Eigen/Core>
-#include <Eigen/Jacobi>
-#include <Eigen/QR>
-#include <unsupported/Eigen/NumericalDiff>
-
-/**
-  * \defgroup NonLinearOptimization_Module Non linear optimization module
-  *
-  * \code
-  * #include <unsupported/Eigen/NonLinearOptimization>
-  * \endcode
-  *
-  * This module provides implementation of two important algorithms in non linear
-  * optimization. In both cases, we consider a system of non linear functions. Of
-  * course, this should work, and even work very well if those functions are
-  * actually linear. But if this is so, you should probably better use other
-  * methods more fitted to this special case.
-  *
-  * One algorithm allows to find an extremum of such a system (Levenberg
-  * Marquardt algorithm) and the second one is used to find 
-  * a zero for the system (Powell hybrid "dogleg" method).
-  *
-  * This code is a port of minpack (http://en.wikipedia.org/wiki/MINPACK).
-  * Minpack is a very famous, old, robust and well-reknown package, written in 
-  * fortran. Those implementations have been carefully tuned, tested, and used
-  * for several decades.
-  *
-  * The original fortran code was automatically translated using f2c (http://en.wikipedia.org/wiki/F2c) in C,
-  * then c++, and then cleaned by several different authors.
-  * The last one of those cleanings being our starting point : 
-  * http://devernay.free.fr/hacks/cminpack.html
-  * 
-  * Finally, we ported this code to Eigen, creating classes and API
-  * coherent with Eigen. When possible, we switched to Eigen
-  * implementation, such as most linear algebra (vectors, matrices, stable norms).
-  *
-  * Doing so, we were very careful to check the tests we setup at the very
-  * beginning, which ensure that the same results are found.
-  *
-  * \section Tests Tests
-  * 
-  * The tests are placed in the file unsupported/test/NonLinear.cpp.
-  * 
-  * There are two kinds of tests : those that come from examples bundled with cminpack.
-  * They guaranty we get the same results as the original algorithms (value for 'x',
-  * for the number of evaluations of the function, and for the number of evaluations
-  * of the jacobian if ever).
-  * 
-  * Other tests were added by myself at the very beginning of the 
-  * process and check the results for levenberg-marquardt using the reference data 
-  * on http://www.itl.nist.gov/div898/strd/nls/nls_main.shtml. Since then i've 
-  * carefully checked that the same results were obtained when modifiying the 
-  * code. Please note that we do not always get the exact same decimals as they do,
-  * but this is ok : they use 128bits float, and we do the tests using the C type 'double',
-  * which is 64 bits on most platforms (x86 and amd64, at least).
-  * I've performed those tests on several other implementations of levenberg-marquardt, and
-  * (c)minpack performs VERY well compared to those, both in accuracy and speed.
-  * 
-  * The documentation for running the tests is on the wiki
-  * http://eigen.tuxfamily.org/index.php?title=Tests
-  * 
-  * \section API API : overview of methods
-  * 
-  * Both algorithms can use either the jacobian (provided by the user) or compute 
-  * an approximation by themselves (actually using Eigen \ref NumericalDiff_Module).
-  * The part of API referring to the latter use 'NumericalDiff' in the method names
-  * (exemple: LevenbergMarquardt.minimizeNumericalDiff() ) 
-  * 
-  * The methods LevenbergMarquardt.lmder1()/lmdif1()/lmstr1() and 
-  * HybridNonLinearSolver.hybrj1()/hybrd1() are specific methods from the original 
-  * minpack package that you probably should NOT use until you are porting a code that
-  *  was previously using minpack. They just define a 'simple' API with default values 
-  * for some parameters.
-  * 
-  * All algorithms are provided using Two APIs :
-  *     - one where the user inits the algorithm, and uses '*OneStep()' as much as he wants : 
-  * this way the caller have control over the steps
-  *     - one where the user just calls a method (optimize() or solve()) which will 
-  * handle the loop: init + loop until a stop condition is met. Those are provided for
-  *  convenience.
-  * 
-  * As an example, the method LevenbergMarquardt::minimize() is 
-  * implemented as follow : 
-  * \code
-  * Status LevenbergMarquardt<FunctorType,Scalar>::minimize(FVectorType  &x, const int mode)
-  * {
-  *     Status status = minimizeInit(x, mode);
-  *     do {
-  *         status = minimizeOneStep(x, mode);
-  *     } while (status==Running);
-  *     return status;
-  * }
-  * \endcode
-  * 
-  * \section examples Examples
-  * 
-  * The easiest way to understand how to use this module is by looking at the many examples in the file
-  * unsupported/test/NonLinearOptimization.cpp.
-  */
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-#include "src/NonLinearOptimization/qrsolv.h"
-#include "src/NonLinearOptimization/r1updt.h"
-#include "src/NonLinearOptimization/r1mpyq.h"
-#include "src/NonLinearOptimization/rwupdt.h"
-#include "src/NonLinearOptimization/fdjac1.h"
-#include "src/NonLinearOptimization/lmpar.h"
-#include "src/NonLinearOptimization/dogleg.h"
-#include "src/NonLinearOptimization/covar.h"
-
-#include "src/NonLinearOptimization/chkder.h"
-
-#endif
-
-#include "src/NonLinearOptimization/HybridNonLinearSolver.h"
-#include "src/NonLinearOptimization/LevenbergMarquardt.h"
-
-
-#endif // EIGEN_NONLINEAROPTIMIZATION_MODULE
diff --git a/phonelibs/eigen/unsupported/Eigen/NumericalDiff b/phonelibs/eigen/unsupported/Eigen/NumericalDiff
deleted file mode 100644
index 433334ca80b7f9..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/NumericalDiff
+++ /dev/null
@@ -1,56 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NUMERICALDIFF_MODULE
-#define EIGEN_NUMERICALDIFF_MODULE
-
-#include <Eigen/Core>
-
-namespace Eigen {
-
-/**
-  * \defgroup NumericalDiff_Module Numerical differentiation module
-  *
-  * \code
-  * #include <unsupported/Eigen/NumericalDiff>
-  * \endcode
-  *
-  * See http://en.wikipedia.org/wiki/Numerical_differentiation
-  *
-  * Warning : this should NOT be confused with automatic differentiation, which
-  * is a different method and has its own module in Eigen : \ref
-  * AutoDiff_Module.
-  *
-  * Currently only "Forward" and "Central" schemes are implemented. Those
-  * are basic methods, and there exist some more elaborated way of
-  * computing such approximates. They are implemented using both
-  * proprietary and free software, and usually requires linking to an
-  * external library. It is very easy for you to write a functor
-  * using such software, and the purpose is quite orthogonal to what we
-  * want to achieve with Eigen.
-  *
-  * This is why we will not provide wrappers for every great numerical
-  * differentiation software that exist, but should rather stick with those
-  * basic ones, that still are useful for testing.
-  *
-  * Also, the \ref NonLinearOptimization_Module needs this in order to
-  * provide full features compatibility with the original (c)minpack
-  * package.
-  *
-  */
-}
-
-//@{
-
-#include "src/NumericalDiff/NumericalDiff.h"
-
-//@}
-
-
-#endif // EIGEN_NUMERICALDIFF_MODULE
diff --git a/phonelibs/eigen/unsupported/Eigen/OpenGLSupport b/phonelibs/eigen/unsupported/Eigen/OpenGLSupport
deleted file mode 100644
index 87f50947daaa4a..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/OpenGLSupport
+++ /dev/null
@@ -1,322 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_OPENGL_MODULE
-#define EIGEN_OPENGL_MODULE
-
-#include <Eigen/Geometry>
-
-#if defined(__APPLE_CC__)
-  #include <OpenGL/gl.h>
-#else
-  #include <GL/gl.h>
-#endif
-
-namespace Eigen {
-
-/**
-  * \defgroup OpenGLSUpport_Module OpenGL Support module
-  *
-  * This module provides wrapper functions for a couple of OpenGL functions
-  * which simplify the way to pass Eigen's object to openGL.
-  * Here is an exmaple:
-  * 
-  * \code
-  * // You need to add path_to_eigen/unsupported to your include path.
-  * #include <Eigen/OpenGLSupport>
-  * // ...
-  * Vector3f x, y;
-  * Matrix3f rot;
-  * 
-  * glVertex(y + x * rot);
-  * 
-  * Quaternion q;
-  * glRotate(q);
-  * 
-  * // ...
-  * \endcode
-  *
-  */
-//@{
-
-#define EIGEN_GL_FUNC_DECLARATION(FUNC)                                                                             \
-namespace internal {                                                                                                \
-  template< typename XprType,                                                                                       \
-            typename Scalar = typename XprType::Scalar,                                                             \
-            int Rows = XprType::RowsAtCompileTime,                                                                  \
-            int Cols = XprType::ColsAtCompileTime,                                                                  \
-            bool IsGLCompatible = bool(internal::evaluator<XprType>::Flags&LinearAccessBit)                         \
-                              && bool(XprType::Flags&DirectAccessBit)                                               \
-                              && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)>               \
-  struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl);                                                                      \
-                                                                                                                    \
-  template<typename XprType, typename Scalar, int Rows, int Cols>                                                   \
-  struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> {                                     \
-    inline static void run(const XprType& p) {                                                                      \
-      EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(p); }       \
-  };                                                                                                                \
-}                                                                                                                   \
-                                                                                                                    \
-template<typename Derived> inline void FUNC(const Eigen::DenseBase<Derived>& p) {                                   \
-  EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(p.derived());                                        \
-}
-
-
-#define EIGEN_GL_FUNC_SPECIALIZATION_MAT(FUNC,SCALAR,ROWS,COLS,SUFFIX)                                              \
-namespace internal {                                                                                                \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> {      \
-    inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); }                                            \
-  };                                                                                                                \
-}
-
-  
-#define EIGEN_GL_FUNC_SPECIALIZATION_VEC(FUNC,SCALAR,SIZE,SUFFIX)                                                   \
-namespace internal {                                                                                                \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> {         \
-    inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); }                                            \
-  };                                                                                                                \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> {         \
-    inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); }                                            \
-  };                                                                                                                \
-}
-
-  
-EIGEN_GL_FUNC_DECLARATION       (glVertex)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int,    2,2iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short,  2,2sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int,    3,3iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short,  3,3sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 3,3dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int,    4,4iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short,  4,4sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float,  4,4fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 4,4dv)
-
-EIGEN_GL_FUNC_DECLARATION       (glTexCoord)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int,    2,2iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short,  2,2sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int,    3,3iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short,  3,3sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 3,3dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int,    4,4iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short,  4,4sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float,  4,4fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 4,4dv)
-
-EIGEN_GL_FUNC_DECLARATION       (glColor)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int,    2,2iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short,  2,2sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int,    3,3iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short,  3,3sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 3,3dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int,    4,4iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short,  4,4sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float,  4,4fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 4,4dv)
-
-EIGEN_GL_FUNC_DECLARATION       (glNormal)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,int,    3,3iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,short,  3,3sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,double, 3,3dv)
-
-inline void glScale2fv(const float*  v) { glScalef(v[0], v[1], 1.f);  }
-inline void glScale2dv(const double* v) { glScaled(v[0], v[1], 1.0);  }
-inline void glScale3fv(const float*  v) { glScalef(v[0], v[1], v[2]); }
-inline void glScale3dv(const double* v) { glScaled(v[0], v[1], v[2]); }
-
-EIGEN_GL_FUNC_DECLARATION       (glScale)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 3,3dv)
-
-template<typename Scalar> void glScale(const UniformScaling<Scalar>& s)  { glScale(Matrix<Scalar,3,1>::Constant(s.factor())); }
-
-inline void glTranslate2fv(const float*  v) { glTranslatef(v[0], v[1], 0.f);  }
-inline void glTranslate2dv(const double* v) { glTranslated(v[0], v[1], 0.0);  }
-inline void glTranslate3fv(const float*  v) { glTranslatef(v[0], v[1], v[2]); }
-inline void glTranslate3dv(const double* v) { glTranslated(v[0], v[1], v[2]); }
-
-EIGEN_GL_FUNC_DECLARATION       (glTranslate)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 3,3dv)
-
-template<typename Scalar> void glTranslate(const Translation<Scalar,2>& t)  { glTranslate(t.vector()); }
-template<typename Scalar> void glTranslate(const Translation<Scalar,3>& t)  { glTranslate(t.vector()); }
-
-EIGEN_GL_FUNC_DECLARATION       (glMultMatrix)
-EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,float,  4,4,f)
-EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,double, 4,4,d)
-
-template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Affine>& t)        { glMultMatrix(t.matrix()); }
-template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Projective>& t)    { glMultMatrix(t.matrix()); }
-template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,AffineCompact>& t) { glMultMatrix(Transform<Scalar,3,Affine>(t).matrix()); }
-
-EIGEN_GL_FUNC_DECLARATION       (glLoadMatrix)
-EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,float,  4,4,f)
-EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,double, 4,4,d)
-
-template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Affine>& t)        { glLoadMatrix(t.matrix()); }
-template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Projective>& t)    { glLoadMatrix(t.matrix()); }
-template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,AffineCompact>& t) { glLoadMatrix(Transform<Scalar,3,Affine>(t).matrix()); }
-
-inline void glRotate(const Rotation2D<float>& rot)
-{
-  glRotatef(rot.angle()*180.f/float(EIGEN_PI), 0.f, 0.f, 1.f);
-}
-inline void glRotate(const Rotation2D<double>& rot)
-{
-  glRotated(rot.angle()*180.0/EIGEN_PI, 0.0, 0.0, 1.0);
-}
-
-template<typename Derived> void glRotate(const RotationBase<Derived,3>& rot)
-{  
-  Transform<typename Derived::Scalar,3,Projective> tr(rot);
-  glMultMatrix(tr.matrix());
-}
-
-#define EIGEN_GL_MAKE_CONST_const const
-#define EIGEN_GL_MAKE_CONST__ 
-#define EIGEN_GL_EVAL(X) X
-
-#define EIGEN_GL_FUNC1_DECLARATION(FUNC,ARG1,CONST)                                                                             \
-namespace internal {                                                                                                            \
-  template< typename XprType,                                                                                                   \
-            typename Scalar = typename XprType::Scalar,                                                                         \
-            int Rows = XprType::RowsAtCompileTime,                                                                              \
-            int Cols = XprType::ColsAtCompileTime,                                                                              \
-            bool IsGLCompatible = bool(internal::evaluator<XprType>::Flags&LinearAccessBit)                                     \
-                              && bool(XprType::Flags&DirectAccessBit)                                                           \
-                              && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)>                           \
-  struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl);                                                                                  \
-                                                                                                                                \
-  template<typename XprType, typename Scalar, int Rows, int Cols>                                                               \
-  struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> {                                                 \
-    inline static void run(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) {                                      \
-      EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(a,p); }                 \
-  };                                                                                                                            \
-}                                                                                                                               \
-                                                                                                                                \
-template<typename Derived> inline void FUNC(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) Eigen::DenseBase<Derived>& p) {   \
-  EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(a,p.derived());                                                  \
-}
-
-
-#define EIGEN_GL_FUNC1_SPECIALIZATION_MAT(FUNC,ARG1,CONST,SCALAR,ROWS,COLS,SUFFIX)                                              \
-namespace internal {                                                                                                            \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> {                  \
-    inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); }         \
-  }; \
-}
-
-  
-#define EIGEN_GL_FUNC1_SPECIALIZATION_VEC(FUNC,ARG1,CONST,SCALAR,SIZE,SUFFIX)                                                   \
-namespace internal {                                                                                                            \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> {                     \
-    inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); }         \
-  };                                                                                                                            \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> {                     \
-    inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); }         \
-  };                                                                                                                            \
-}
-
-EIGEN_GL_FUNC1_DECLARATION       (glGet,GLenum,_)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,float,  4,4,Floatv)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,double, 4,4,Doublev)
-
-// glUniform API
-
-#ifdef GL_VERSION_2_0
-
-inline void glUniform2fv_ei  (GLint loc, const float* v)         { glUniform2fv(loc,1,v); }
-inline void glUniform2iv_ei  (GLint loc, const int* v)           { glUniform2iv(loc,1,v); }
-
-inline void glUniform3fv_ei  (GLint loc, const float* v)         { glUniform3fv(loc,1,v); }
-inline void glUniform3iv_ei  (GLint loc, const int* v)           { glUniform3iv(loc,1,v); }
-
-inline void glUniform4fv_ei  (GLint loc, const float* v)         { glUniform4fv(loc,1,v); }
-inline void glUniform4iv_ei  (GLint loc, const int* v)           { glUniform4iv(loc,1,v); }
-
-inline void glUniformMatrix2fv_ei  (GLint loc, const float* v)         { glUniformMatrix2fv(loc,1,false,v); }
-inline void glUniformMatrix3fv_ei  (GLint loc, const float* v)         { glUniformMatrix3fv(loc,1,false,v); }
-inline void glUniformMatrix4fv_ei  (GLint loc, const float* v)         { glUniformMatrix4fv(loc,1,false,v); }
-
-
-EIGEN_GL_FUNC1_DECLARATION       (glUniform,GLint,const)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float,        2,2fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int,          2,2iv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float,        3,3fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int,          3,3iv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float,        4,4fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int,          4,4iv_ei)
-
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        2,2,Matrix2fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        3,3,Matrix3fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        4,4,Matrix4fv_ei)
-
-#endif
-
-#ifdef GL_VERSION_2_1
-
-inline void glUniformMatrix2x3fv_ei(GLint loc, const float* v)         { glUniformMatrix2x3fv(loc,1,false,v); }
-inline void glUniformMatrix3x2fv_ei(GLint loc, const float* v)         { glUniformMatrix3x2fv(loc,1,false,v); }
-inline void glUniformMatrix2x4fv_ei(GLint loc, const float* v)         { glUniformMatrix2x4fv(loc,1,false,v); }
-inline void glUniformMatrix4x2fv_ei(GLint loc, const float* v)         { glUniformMatrix4x2fv(loc,1,false,v); }
-inline void glUniformMatrix3x4fv_ei(GLint loc, const float* v)         { glUniformMatrix3x4fv(loc,1,false,v); }
-inline void glUniformMatrix4x3fv_ei(GLint loc, const float* v)         { glUniformMatrix4x3fv(loc,1,false,v); }
-
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        2,3,Matrix2x3fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        3,2,Matrix3x2fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        2,4,Matrix2x4fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        4,2,Matrix4x2fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        3,4,Matrix3x4fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        4,3,Matrix4x3fv_ei)
-
-#endif
-
-#ifdef GL_VERSION_3_0
-
-inline void glUniform2uiv_ei (GLint loc, const unsigned int* v)  { glUniform2uiv(loc,1,v); }
-inline void glUniform3uiv_ei (GLint loc, const unsigned int* v)  { glUniform3uiv(loc,1,v); }
-inline void glUniform4uiv_ei (GLint loc, const unsigned int* v)  { glUniform4uiv(loc,1,v); }
-
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 2,2uiv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 3,3uiv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 4,4uiv_ei)
-
-#endif
-
-#ifdef GL_ARB_gpu_shader_fp64
-inline void glUniform2dv_ei  (GLint loc, const double* v)        { glUniform2dv(loc,1,v); }
-inline void glUniform3dv_ei  (GLint loc, const double* v)        { glUniform3dv(loc,1,v); }
-inline void glUniform4dv_ei  (GLint loc, const double* v)        { glUniform4dv(loc,1,v); }
-
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double,       2,2dv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double,       3,3dv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double,       4,4dv_ei)
-#endif
-
-
-//@}
-
-}
-
-#endif // EIGEN_OPENGL_MODULE
diff --git a/phonelibs/eigen/unsupported/Eigen/Polynomials b/phonelibs/eigen/unsupported/Eigen/Polynomials
deleted file mode 100644
index cece563374e2c7..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/Polynomials
+++ /dev/null
@@ -1,138 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_POLYNOMIALS_MODULE_H
-#define EIGEN_POLYNOMIALS_MODULE_H
-
-#include <Eigen/Core>
-
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-#include <Eigen/Eigenvalues>
-
-// Note that EIGEN_HIDE_HEAVY_CODE has to be defined per module
-#if (defined EIGEN_EXTERN_INSTANTIATIONS) && (EIGEN_EXTERN_INSTANTIATIONS>=2)
-  #ifndef EIGEN_HIDE_HEAVY_CODE
-  #define EIGEN_HIDE_HEAVY_CODE
-  #endif
-#elif defined EIGEN_HIDE_HEAVY_CODE
-  #undef EIGEN_HIDE_HEAVY_CODE
-#endif
-
-/**
-  * \defgroup Polynomials_Module Polynomials module
-  * \brief This module provides a QR based polynomial solver.
-	*
-  * To use this module, add
-  * \code
-  * #include <unsupported/Eigen/Polynomials>
-  * \endcode
-	* at the start of your source file.
-  */
-
-#include "src/Polynomials/PolynomialUtils.h"
-#include "src/Polynomials/Companion.h"
-#include "src/Polynomials/PolynomialSolver.h"
-
-/**
-	\page polynomials Polynomials defines functions for dealing with polynomials
-	and a QR based polynomial solver.
-	\ingroup Polynomials_Module
-
-	The remainder of the page documents first the functions for evaluating, computing
-	polynomials, computing estimates about polynomials and next the QR based polynomial
-	solver.
-
-	\section polynomialUtils convenient functions to deal with polynomials
-	\subsection roots_to_monicPolynomial
-	The function
-	\code
-	void roots_to_monicPolynomial( const RootVector& rv, Polynomial& poly )
-	\endcode
-	computes the coefficients \f$ a_i \f$ of
-
-	\f$ p(x) = a_0 + a_{1}x + ... + a_{n-1}x^{n-1} + x^n \f$
-
-	where \f$ p \f$ is known through its roots i.e. \f$ p(x) = (x-r_1)(x-r_2)...(x-r_n) \f$.
-
-	\subsection poly_eval
-	The function
-	\code
-	T poly_eval( const Polynomials& poly, const T& x )
-	\endcode
-	evaluates a polynomial at a given point using stabilized H&ouml;rner method.
-
-	The following code: first computes the coefficients in the monomial basis of the monic polynomial that has the provided roots;
-	then, it evaluates the computed polynomial, using a stabilized H&ouml;rner method.
-
-	\include PolynomialUtils1.cpp
-  Output: \verbinclude PolynomialUtils1.out
-
-	\subsection Cauchy bounds
-	The function
-	\code
-	Real cauchy_max_bound( const Polynomial& poly )
-	\endcode
-	provides a maximum bound (the Cauchy one: \f$C(p)\f$) for the absolute value of a root of the given polynomial i.e.
-	\f$ \forall r_i \f$ root of \f$ p(x) = \sum_{k=0}^d a_k x^k \f$,
-	\f$ |r_i| \le C(p) = \sum_{k=0}^{d} \left | \frac{a_k}{a_d} \right | \f$
-	The leading coefficient \f$ p \f$: should be non zero \f$a_d \neq 0\f$.
-
-
-	The function
-	\code
-	Real cauchy_min_bound( const Polynomial& poly )
-	\endcode
-	provides a minimum bound (the Cauchy one: \f$c(p)\f$) for the absolute value of a non zero root of the given polynomial i.e.
-	\f$ \forall r_i \neq 0 \f$ root of \f$ p(x) = \sum_{k=0}^d a_k x^k \f$,
-	\f$ |r_i| \ge c(p) = \left( \sum_{k=0}^{d} \left | \frac{a_k}{a_0} \right | \right)^{-1} \f$
-
-
-
-
-	\section QR polynomial solver class
-	Computes the complex roots of a polynomial by computing the eigenvalues of the associated companion matrix with the QR algorithm.
-	
-	The roots of \f$ p(x) = a_0 + a_1 x + a_2 x^2 + a_{3} x^3 + x^4 \f$ are the eigenvalues of
-	\f$
-	\left [
-	\begin{array}{cccc}
-	0 & 0 &  0 & a_0 \\
-	1 & 0 &  0 & a_1 \\
-	0 & 1 &  0 & a_2 \\
-	0 & 0 &  1 & a_3
-	\end{array} \right ]
-	\f$
-
-	However, the QR algorithm is not guaranteed to converge when there are several eigenvalues with same modulus.
-
-	Therefore the current polynomial solver is guaranteed to provide a correct result only when the complex roots \f$r_1,r_2,...,r_d\f$ have distinct moduli i.e.
-	
-	\f$ \forall i,j \in [1;d],~ \| r_i \| \neq \| r_j \| \f$.
-
-	With 32bit (float) floating types this problem shows up frequently.
-  However, almost always, correct accuracy is reached even in these cases for 64bit
-  (double) floating types and small polynomial degree (<20).
-
-	\include PolynomialSolver1.cpp
-	
-	In the above example:
-	
-	-# a simple use of the polynomial solver is shown;
-	-# the accuracy problem with the QR algorithm is presented: a polynomial with almost conjugate roots is provided to the solver.
-	Those roots have almost same module therefore the QR algorithm failed to converge: the accuracy
-	of the last root is bad;
-	-# a simple way to circumvent the problem is shown: use doubles instead of floats.
-
-  Output: \verbinclude PolynomialSolver1.out
-*/
-
-#include <Eigen/src/Core/util/ReenableStupidWarnings.h>
-
-#endif // EIGEN_POLYNOMIALS_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/unsupported/Eigen/Skyline b/phonelibs/eigen/unsupported/Eigen/Skyline
deleted file mode 100644
index 71a68cb422ce34..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/Skyline
+++ /dev/null
@@ -1,39 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINE_MODULE_H
-#define EIGEN_SKYLINE_MODULE_H
-
-
-#include "Eigen/Core"
-
-#include "Eigen/src/Core/util/DisableStupidWarnings.h"
-
-#include <map>
-#include <cstdlib>
-#include <cstring>
-#include <algorithm>
-
-/**
- *  \defgroup Skyline_Module Skyline module
- *
- *
- *
- *
- */
-
-#include "src/Skyline/SkylineUtil.h"
-#include "src/Skyline/SkylineMatrixBase.h"
-#include "src/Skyline/SkylineStorage.h"
-#include "src/Skyline/SkylineMatrix.h"
-#include "src/Skyline/SkylineInplaceLU.h"
-#include "src/Skyline/SkylineProduct.h"
-
-#include "Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SKYLINE_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/SparseExtra b/phonelibs/eigen/unsupported/Eigen/SparseExtra
deleted file mode 100644
index 819cffa27584cb..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/SparseExtra
+++ /dev/null
@@ -1,53 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_EXTRA_MODULE_H
-#define EIGEN_SPARSE_EXTRA_MODULE_H
-
-#include "../../Eigen/Sparse"
-
-#include "../../Eigen/src/Core/util/DisableStupidWarnings.h"
-
-#include <vector>
-#include <map>
-#include <cstdlib>
-#include <cstring>
-#include <algorithm>
-#include <fstream>
-#include <sstream>
-
-#ifdef EIGEN_GOOGLEHASH_SUPPORT
-  #include <google/dense_hash_map>
-#endif
-
-/**
-  * \defgroup SparseExtra_Module SparseExtra module
-  *
-  * This module contains some experimental features extending the sparse module.
-  *
-  * \code
-  * #include <Eigen/SparseExtra>
-  * \endcode
-  */
-
-
-#include "src/SparseExtra/DynamicSparseMatrix.h"
-#include "src/SparseExtra/BlockOfDynamicSparseMatrix.h"
-#include "src/SparseExtra/RandomSetter.h"
-
-#include "src/SparseExtra/MarketIO.h"
-
-#if !defined(_WIN32)
-#include <dirent.h>
-#include "src/SparseExtra/MatrixMarketIterator.h"
-#endif
-
-#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SPARSE_EXTRA_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/SpecialFunctions b/phonelibs/eigen/unsupported/Eigen/SpecialFunctions
deleted file mode 100644
index a2ad4925e9c7c0..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/SpecialFunctions
+++ /dev/null
@@ -1,63 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPECIALFUNCTIONS_MODULE
-#define EIGEN_SPECIALFUNCTIONS_MODULE
-
-#include <math.h>
-
-#include "../../Eigen/Core"
-
-#include "../../Eigen/src/Core/util/DisableStupidWarnings.h"
-
-namespace Eigen {
-
-/**
-  * \defgroup SpecialFunctions_Module Special math functions module
-  *
-  * This module features additional coefficient-wise math functions available
-  * within the numext:: namespace for the scalar version, and as method and/or free
-  * functions of Array. Those include:
-  *
-  * - erf
-  * - erfc
-  * - lgamma
-  * - igamma
-  * - igammac
-  * - digamma
-  * - polygamma
-  * - zeta
-  * - betainc
-  *
-  * \code
-  * #include <unsupported/Eigen/SpecialFunctions>
-  * \endcode
-  */
-//@{
-
-}
-
-#include "src/SpecialFunctions/SpecialFunctionsImpl.h"
-#include "src/SpecialFunctions/SpecialFunctionsPacketMath.h"
-#include "src/SpecialFunctions/SpecialFunctionsHalf.h"
-#include "src/SpecialFunctions/SpecialFunctionsFunctors.h"
-#include "src/SpecialFunctions/SpecialFunctionsArrayAPI.h"
-
-#if defined EIGEN_VECTORIZE_CUDA
-  #include "src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h"
-#endif
-
-namespace Eigen {
-//@}
-}
-
-
-#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SPECIALFUNCTIONS_MODULE
diff --git a/phonelibs/eigen/unsupported/Eigen/Splines b/phonelibs/eigen/unsupported/Eigen/Splines
deleted file mode 100644
index 322e6b9f5c7057..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/Splines
+++ /dev/null
@@ -1,31 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPLINES_MODULE_H
-#define EIGEN_SPLINES_MODULE_H
-
-namespace Eigen 
-{
-/**
-  * \defgroup Splines_Module Spline and spline fitting module
-  *
-  * This module provides a simple multi-dimensional spline class while
-  * offering most basic functionality to fit a spline to point sets.
-  *
-  * \code
-  * #include <unsupported/Eigen/Splines>
-  * \endcode
-  */
-}
-
-#include "src/Splines/SplineFwd.h"
-#include "src/Splines/Spline.h"
-#include "src/Splines/SplineFitting.h"
-
-#endif // EIGEN_SPLINES_MODULE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
deleted file mode 100644
index 33b6c393f49aa1..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
+++ /dev/null
@@ -1,108 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AUTODIFF_JACOBIAN_H
-#define EIGEN_AUTODIFF_JACOBIAN_H
-
-namespace Eigen
-{
-
-template<typename Functor> class AutoDiffJacobian : public Functor
-{
-public:
-  AutoDiffJacobian() : Functor() {}
-  AutoDiffJacobian(const Functor& f) : Functor(f) {}
-
-  // forward constructors
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-  template<typename... T>
-  AutoDiffJacobian(const T& ...Values) : Functor(Values...) {}
-#else
-  template<typename T0>
-  AutoDiffJacobian(const T0& a0) : Functor(a0) {}
-  template<typename T0, typename T1>
-  AutoDiffJacobian(const T0& a0, const T1& a1) : Functor(a0, a1) {}
-  template<typename T0, typename T1, typename T2>
-  AutoDiffJacobian(const T0& a0, const T1& a1, const T2& a2) : Functor(a0, a1, a2) {}
-#endif
-
-  typedef typename Functor::InputType InputType;
-  typedef typename Functor::ValueType ValueType;
-  typedef typename ValueType::Scalar Scalar;
-
-  enum {
-    InputsAtCompileTime = InputType::RowsAtCompileTime,
-    ValuesAtCompileTime = ValueType::RowsAtCompileTime
-  };
-
-  typedef Matrix<Scalar, ValuesAtCompileTime, InputsAtCompileTime> JacobianType;
-  typedef typename JacobianType::Index Index;
-
-  typedef Matrix<Scalar, InputsAtCompileTime, 1> DerivativeType;
-  typedef AutoDiffScalar<DerivativeType> ActiveScalar;
-
-  typedef Matrix<ActiveScalar, InputsAtCompileTime, 1> ActiveInput;
-  typedef Matrix<ActiveScalar, ValuesAtCompileTime, 1> ActiveValue;
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-  // Some compilers don't accept variadic parameters after a default parameter,
-  // i.e., we can't just write _jac=0 but we need to overload operator():
-  EIGEN_STRONG_INLINE
-  void operator() (const InputType& x, ValueType* v) const
-  {
-      this->operator()(x, v, 0);
-  }
-  template<typename... ParamsType>
-  void operator() (const InputType& x, ValueType* v, JacobianType* _jac,
-                   const ParamsType&... Params) const
-#else
-  void operator() (const InputType& x, ValueType* v, JacobianType* _jac=0) const
-#endif
-  {
-    eigen_assert(v!=0);
-
-    if (!_jac)
-    {
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-      Functor::operator()(x, v, Params...);
-#else
-      Functor::operator()(x, v);
-#endif
-      return;
-    }
-
-    JacobianType& jac = *_jac;
-
-    ActiveInput ax = x.template cast<ActiveScalar>();
-    ActiveValue av(jac.rows());
-
-    if(InputsAtCompileTime==Dynamic)
-      for (Index j=0; j<jac.rows(); j++)
-        av[j].derivatives().resize(x.rows());
-
-    for (Index i=0; i<jac.cols(); i++)
-      ax[i].derivatives() = DerivativeType::Unit(x.rows(),i);
-
-#if EIGEN_HAS_VARIADIC_TEMPLATES
-    Functor::operator()(ax, &av, Params...);
-#else
-    Functor::operator()(ax, &av);
-#endif
-
-    for (Index i=0; i<jac.rows(); i++)
-    {
-      (*v)[i] = av[i].value();
-      jac.row(i) = av[i].derivatives();
-    }
-  }
-};
-
-}
-
-#endif // EIGEN_AUTODIFF_JACOBIAN_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
deleted file mode 100755
index 50fedf6ac8bd4d..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
+++ /dev/null
@@ -1,684 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AUTODIFF_SCALAR_H
-#define EIGEN_AUTODIFF_SCALAR_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename A, typename B>
-struct make_coherent_impl {
-  static void run(A&, B&) {}
-};
-
-// resize a to match b is a.size()==0, and conversely.
-template<typename A, typename B>
-void make_coherent(const A& a, const B&b)
-{
-  make_coherent_impl<A,B>::run(a.const_cast_derived(), b.const_cast_derived());
-}
-
-template<typename _DerType, bool Enable> struct auto_diff_special_op;
-
-} // end namespace internal
-
-template<typename _DerType> class AutoDiffScalar;
-
-template<typename NewDerType>
-inline AutoDiffScalar<NewDerType> MakeAutoDiffScalar(const typename NewDerType::Scalar& value, const NewDerType &der) {
-  return AutoDiffScalar<NewDerType>(value,der);
-}
-
-/** \class AutoDiffScalar
-  * \brief A scalar type replacement with automatic differentation capability
-  *
-  * \param _DerType the vector type used to store/represent the derivatives. The base scalar type
-  *                 as well as the number of derivatives to compute are determined from this type.
-  *                 Typical choices include, e.g., \c Vector4f for 4 derivatives, or \c VectorXf
-  *                 if the number of derivatives is not known at compile time, and/or, the number
-  *                 of derivatives is large.
-  *                 Note that _DerType can also be a reference (e.g., \c VectorXf&) to wrap a
-  *                 existing vector into an AutoDiffScalar.
-  *                 Finally, _DerType can also be any Eigen compatible expression.
-  *
-  * This class represents a scalar value while tracking its respective derivatives using Eigen's expression
-  * template mechanism.
-  *
-  * It supports the following list of global math function:
-  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
-  *  - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos,
-  *  - internal::conj, internal::real, internal::imag, numext::abs2.
-  *
-  * AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However,
-  * in that case, the expression template mechanism only occurs at the top Matrix level,
-  * while derivatives are computed right away.
-  *
-  */
-
-template<typename _DerType>
-class AutoDiffScalar
-  : public internal::auto_diff_special_op
-            <_DerType, !internal::is_same<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar,
-                                          typename NumTraits<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar>::Real>::value>
-{
-  public:
-    typedef internal::auto_diff_special_op
-            <_DerType, !internal::is_same<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar,
-                       typename NumTraits<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar>::Real>::value> Base;
-    typedef typename internal::remove_all<_DerType>::type DerType;
-    typedef typename internal::traits<DerType>::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real Real;
-
-    using Base::operator+;
-    using Base::operator*;
-
-    /** Default constructor without any initialization. */
-    AutoDiffScalar() {}
-
-    /** Constructs an active scalar from its \a value,
-        and initializes the \a nbDer derivatives such that it corresponds to the \a derNumber -th variable */
-    AutoDiffScalar(const Scalar& value, int nbDer, int derNumber)
-      : m_value(value), m_derivatives(DerType::Zero(nbDer))
-    {
-      m_derivatives.coeffRef(derNumber) = Scalar(1);
-    }
-
-    /** Conversion from a scalar constant to an active scalar.
-      * The derivatives are set to zero. */
-    /*explicit*/ AutoDiffScalar(const Real& value)
-      : m_value(value)
-    {
-      if(m_derivatives.size()>0)
-        m_derivatives.setZero();
-    }
-
-    /** Constructs an active scalar from its \a value and derivatives \a der */
-    AutoDiffScalar(const Scalar& value, const DerType& der)
-      : m_value(value), m_derivatives(der)
-    {}
-
-    template<typename OtherDerType>
-    AutoDiffScalar(const AutoDiffScalar<OtherDerType>& other
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    , typename internal::enable_if<internal::is_same<Scalar, typename internal::traits<typename internal::remove_all<OtherDerType>::type>::Scalar>::value,void*>::type = 0
-#endif
-    )
-      : m_value(other.value()), m_derivatives(other.derivatives())
-    {}
-
-    friend  std::ostream & operator << (std::ostream & s, const AutoDiffScalar& a)
-    {
-      return s << a.value();
-    }
-
-    AutoDiffScalar(const AutoDiffScalar& other)
-      : m_value(other.value()), m_derivatives(other.derivatives())
-    {}
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar& operator=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      m_value = other.value();
-      m_derivatives = other.derivatives();
-      return *this;
-    }
-
-    inline AutoDiffScalar& operator=(const AutoDiffScalar& other)
-    {
-      m_value = other.value();
-      m_derivatives = other.derivatives();
-      return *this;
-    }
-
-    inline AutoDiffScalar& operator=(const Scalar& other)
-    {
-      m_value = other;
-      if(m_derivatives.size()>0)
-        m_derivatives.setZero();
-      return *this;
-    }
-
-//     inline operator const Scalar& () const { return m_value; }
-//     inline operator Scalar& () { return m_value; }
-
-    inline const Scalar& value() const { return m_value; }
-    inline Scalar& value() { return m_value; }
-
-    inline const DerType& derivatives() const { return m_derivatives; }
-    inline DerType& derivatives() { return m_derivatives; }
-
-    inline bool operator< (const Scalar& other) const  { return m_value <  other; }
-    inline bool operator<=(const Scalar& other) const  { return m_value <= other; }
-    inline bool operator> (const Scalar& other) const  { return m_value >  other; }
-    inline bool operator>=(const Scalar& other) const  { return m_value >= other; }
-    inline bool operator==(const Scalar& other) const  { return m_value == other; }
-    inline bool operator!=(const Scalar& other) const  { return m_value != other; }
-
-    friend inline bool operator< (const Scalar& a, const AutoDiffScalar& b) { return a <  b.value(); }
-    friend inline bool operator<=(const Scalar& a, const AutoDiffScalar& b) { return a <= b.value(); }
-    friend inline bool operator> (const Scalar& a, const AutoDiffScalar& b) { return a >  b.value(); }
-    friend inline bool operator>=(const Scalar& a, const AutoDiffScalar& b) { return a >= b.value(); }
-    friend inline bool operator==(const Scalar& a, const AutoDiffScalar& b) { return a == b.value(); }
-    friend inline bool operator!=(const Scalar& a, const AutoDiffScalar& b) { return a != b.value(); }
-
-    template<typename OtherDerType> inline bool operator< (const AutoDiffScalar<OtherDerType>& b) const  { return m_value <  b.value(); }
-    template<typename OtherDerType> inline bool operator<=(const AutoDiffScalar<OtherDerType>& b) const  { return m_value <= b.value(); }
-    template<typename OtherDerType> inline bool operator> (const AutoDiffScalar<OtherDerType>& b) const  { return m_value >  b.value(); }
-    template<typename OtherDerType> inline bool operator>=(const AutoDiffScalar<OtherDerType>& b) const  { return m_value >= b.value(); }
-    template<typename OtherDerType> inline bool operator==(const AutoDiffScalar<OtherDerType>& b) const  { return m_value == b.value(); }
-    template<typename OtherDerType> inline bool operator!=(const AutoDiffScalar<OtherDerType>& b) const  { return m_value != b.value(); }
-
-    inline const AutoDiffScalar<DerType&> operator+(const Scalar& other) const
-    {
-      return AutoDiffScalar<DerType&>(m_value + other, m_derivatives);
-    }
-
-    friend inline const AutoDiffScalar<DerType&> operator+(const Scalar& a, const AutoDiffScalar& b)
-    {
-      return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives());
-    }
-
-//     inline const AutoDiffScalar<DerType&> operator+(const Real& other) const
-//     {
-//       return AutoDiffScalar<DerType&>(m_value + other, m_derivatives);
-//     }
-
-//     friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar& b)
-//     {
-//       return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives());
-//     }
-
-    inline AutoDiffScalar& operator+=(const Scalar& other)
-    {
-      value() += other;
-      return *this;
-    }
-
-    template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,const DerType,const typename internal::remove_all<OtherDerType>::type> >
-    operator+(const AutoDiffScalar<OtherDerType>& other) const
-    {
-      internal::make_coherent(m_derivatives, other.derivatives());
-      return AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,const DerType,const typename internal::remove_all<OtherDerType>::type> >(
-        m_value + other.value(),
-        m_derivatives + other.derivatives());
-    }
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar&
-    operator+=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      (*this) = (*this) + other;
-      return *this;
-    }
-
-    inline const AutoDiffScalar<DerType&> operator-(const Scalar& b) const
-    {
-      return AutoDiffScalar<DerType&>(m_value - b, m_derivatives);
-    }
-
-    friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >
-    operator-(const Scalar& a, const AutoDiffScalar& b)
-    {
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >
-            (a - b.value(), -b.derivatives());
-    }
-
-    inline AutoDiffScalar& operator-=(const Scalar& other)
-    {
-      value() -= other;
-      return *this;
-    }
-
-    template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_difference_op<Scalar>, const DerType,const typename internal::remove_all<OtherDerType>::type> >
-    operator-(const AutoDiffScalar<OtherDerType>& other) const
-    {
-      internal::make_coherent(m_derivatives, other.derivatives());
-      return AutoDiffScalar<CwiseBinaryOp<internal::scalar_difference_op<Scalar>, const DerType,const typename internal::remove_all<OtherDerType>::type> >(
-        m_value - other.value(),
-        m_derivatives - other.derivatives());
-    }
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar&
-    operator-=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      *this = *this - other;
-      return *this;
-    }
-
-    inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >
-    operator-() const
-    {
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >(
-        -m_value,
-        -m_derivatives);
-    }
-
-    inline const AutoDiffScalar<EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType,Scalar,product) >
-    operator*(const Scalar& other) const
-    {
-      return MakeAutoDiffScalar(m_value * other, m_derivatives * other);
-    }
-
-    friend inline const AutoDiffScalar<EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType,Scalar,product) >
-    operator*(const Scalar& other, const AutoDiffScalar& a)
-    {
-      return MakeAutoDiffScalar(a.value() * other, a.derivatives() * other);
-    }
-
-//     inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
-//     operator*(const Real& other) const
-//     {
-//       return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
-//         m_value * other,
-//         (m_derivatives * other));
-//     }
-//
-//     friend inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
-//     operator*(const Real& other, const AutoDiffScalar& a)
-//     {
-//       return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
-//         a.value() * other,
-//         a.derivatives() * other);
-//     }
-
-    inline const AutoDiffScalar<EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType,Scalar,product) >
-    operator/(const Scalar& other) const
-    {
-      return MakeAutoDiffScalar(m_value / other, (m_derivatives * (Scalar(1)/other)));
-    }
-
-    friend inline const AutoDiffScalar<EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType,Scalar,product) >
-    operator/(const Scalar& other, const AutoDiffScalar& a)
-    {
-      return MakeAutoDiffScalar(other / a.value(), a.derivatives() * (Scalar(-other) / (a.value()*a.value())));
-    }
-
-//     inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
-//     operator/(const Real& other) const
-//     {
-//       return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
-//         m_value / other,
-//         (m_derivatives * (Real(1)/other)));
-//     }
-//
-//     friend inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
-//     operator/(const Real& other, const AutoDiffScalar& a)
-//     {
-//       return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
-//         other / a.value(),
-//         a.derivatives() * (-Real(1)/other));
-//     }
-
-    template<typename OtherDerType>
-    inline const AutoDiffScalar<EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(
-        CwiseBinaryOp<internal::scalar_difference_op<Scalar> EIGEN_COMMA
-          const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType,Scalar,product) EIGEN_COMMA
-          const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(typename internal::remove_all<OtherDerType>::type,Scalar,product) >,Scalar,product) >
-    operator/(const AutoDiffScalar<OtherDerType>& other) const
-    {
-      internal::make_coherent(m_derivatives, other.derivatives());
-      return MakeAutoDiffScalar(
-        m_value / other.value(),
-          ((m_derivatives * other.value()) - (other.derivatives() * m_value))
-        * (Scalar(1)/(other.value()*other.value())));
-    }
-
-    template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-        const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType,Scalar,product),
-        const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(typename internal::remove_all<OtherDerType>::type,Scalar,product) > >
-    operator*(const AutoDiffScalar<OtherDerType>& other) const
-    {
-      internal::make_coherent(m_derivatives, other.derivatives());
-      return MakeAutoDiffScalar(
-        m_value * other.value(),
-        (m_derivatives * other.value()) + (other.derivatives() * m_value));
-    }
-
-    inline AutoDiffScalar& operator*=(const Scalar& other)
-    {
-      *this = *this * other;
-      return *this;
-    }
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar& operator*=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      *this = *this * other;
-      return *this;
-    }
-
-    inline AutoDiffScalar& operator/=(const Scalar& other)
-    {
-      *this = *this / other;
-      return *this;
-    }
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar& operator/=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      *this = *this / other;
-      return *this;
-    }
-
-  protected:
-    Scalar m_value;
-    DerType m_derivatives;
-
-};
-
-namespace internal {
-
-template<typename _DerType>
-struct auto_diff_special_op<_DerType, true>
-//   : auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
-//                            is_same<Scalar,typename NumTraits<Scalar>::Real>::value>
-{
-  typedef typename remove_all<_DerType>::type DerType;
-  typedef typename traits<DerType>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real Real;
-
-//   typedef auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
-//                            is_same<Scalar,typename NumTraits<Scalar>::Real>::value> Base;
-
-//   using Base::operator+;
-//   using Base::operator+=;
-//   using Base::operator-;
-//   using Base::operator-=;
-//   using Base::operator*;
-//   using Base::operator*=;
-
-  const AutoDiffScalar<_DerType>& derived() const { return *static_cast<const AutoDiffScalar<_DerType>*>(this); }
-  AutoDiffScalar<_DerType>& derived() { return *static_cast<AutoDiffScalar<_DerType>*>(this); }
-
-
-  inline const AutoDiffScalar<DerType&> operator+(const Real& other) const
-  {
-    return AutoDiffScalar<DerType&>(derived().value() + other, derived().derivatives());
-  }
-
-  friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar<_DerType>& b)
-  {
-    return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives());
-  }
-
-  inline AutoDiffScalar<_DerType>& operator+=(const Real& other)
-  {
-    derived().value() += other;
-    return derived();
-  }
-
-
-  inline const AutoDiffScalar<typename CwiseUnaryOp<bind2nd_op<scalar_product_op<Scalar,Real> >, DerType>::Type >
-  operator*(const Real& other) const
-  {
-    return AutoDiffScalar<typename CwiseUnaryOp<bind2nd_op<scalar_product_op<Scalar,Real> >, DerType>::Type >(
-      derived().value() * other,
-      derived().derivatives() * other);
-  }
-
-  friend inline const AutoDiffScalar<typename CwiseUnaryOp<bind1st_op<scalar_product_op<Real,Scalar> >, DerType>::Type >
-  operator*(const Real& other, const AutoDiffScalar<_DerType>& a)
-  {
-    return AutoDiffScalar<typename CwiseUnaryOp<bind1st_op<scalar_product_op<Real,Scalar> >, DerType>::Type >(
-      a.value() * other,
-      a.derivatives() * other);
-  }
-
-  inline AutoDiffScalar<_DerType>& operator*=(const Scalar& other)
-  {
-    *this = *this * other;
-    return derived();
-  }
-};
-
-template<typename _DerType>
-struct auto_diff_special_op<_DerType, false>
-{
-  void operator*() const;
-  void operator-() const;
-  void operator+() const;
-};
-
-template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols, typename B>
-struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>, B> {
-  typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A;
-  static void run(A& a, B& b) {
-    if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0))
-    {
-      a.resize(b.size());
-      a.setZero();
-    }
-  }
-};
-
-template<typename A, typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols>
-struct make_coherent_impl<A, Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
-  typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B;
-  static void run(A& a, B& b) {
-    if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0))
-    {
-      b.resize(a.size());
-      b.setZero();
-    }
-  }
-};
-
-template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols,
-         typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols>
-struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,
-                             Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
-  typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A;
-  typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B;
-  static void run(A& a, B& b) {
-    if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0))
-    {
-      a.resize(b.size());
-      a.setZero();
-    }
-    else if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0))
-    {
-      b.resize(a.size());
-      b.setZero();
-    }
-  }
-};
-
-} // end namespace internal
-
-template<typename DerType, typename BinOp>
-struct ScalarBinaryOpTraits<AutoDiffScalar<DerType>,typename DerType::Scalar,BinOp>
-{
-  typedef AutoDiffScalar<DerType> ReturnType;
-};
-
-template<typename DerType, typename BinOp>
-struct ScalarBinaryOpTraits<typename DerType::Scalar,AutoDiffScalar<DerType>, BinOp>
-{
-  typedef AutoDiffScalar<DerType> ReturnType;
-};
-
-
-// The following is an attempt to let Eigen's known about expression template, but that's more tricky!
-
-// template<typename DerType, typename BinOp>
-// struct ScalarBinaryOpTraits<AutoDiffScalar<DerType>,AutoDiffScalar<DerType>, BinOp>
-// {
-//   enum { Defined = 1 };
-//   typedef AutoDiffScalar<typename DerType::PlainObject> ReturnType;
-// };
-//
-// template<typename DerType1,typename DerType2, typename BinOp>
-// struct ScalarBinaryOpTraits<AutoDiffScalar<DerType1>,AutoDiffScalar<DerType2>, BinOp>
-// {
-//   enum { Defined = 1 };//internal::is_same<typename DerType1::Scalar,typename DerType2::Scalar>::value };
-//   typedef AutoDiffScalar<typename DerType1::PlainObject> ReturnType;
-// };
-
-#define EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(FUNC,CODE) \
-  template<typename DerType> \
-  inline const Eigen::AutoDiffScalar< \
-  EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(typename Eigen::internal::remove_all<DerType>::type, typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar, product) > \
-  FUNC(const Eigen::AutoDiffScalar<DerType>& x) { \
-    using namespace Eigen; \
-    EIGEN_UNUSED typedef typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar Scalar; \
-    CODE; \
-  }
-
-template<typename DerType>
-inline const AutoDiffScalar<DerType>& conj(const AutoDiffScalar<DerType>& x)  { return x; }
-template<typename DerType>
-inline const AutoDiffScalar<DerType>& real(const AutoDiffScalar<DerType>& x)  { return x; }
-template<typename DerType>
-inline typename DerType::Scalar imag(const AutoDiffScalar<DerType>&)    { return 0.; }
-template<typename DerType, typename T>
-inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const AutoDiffScalar<DerType>& x, const T& y) {
-  typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS;
-  return (x <= y ? ADS(x) : ADS(y));
-}
-template<typename DerType, typename T>
-inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const AutoDiffScalar<DerType>& x, const T& y) {
-  typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS;
-  return (x >= y ? ADS(x) : ADS(y));
-}
-template<typename DerType, typename T>
-inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const T& x, const AutoDiffScalar<DerType>& y) {
-  typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS;
-  return (x < y ? ADS(x) : ADS(y));
-}
-template<typename DerType, typename T>
-inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const T& x, const AutoDiffScalar<DerType>& y) {
-  typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS;
-  return (x > y ? ADS(x) : ADS(y));
-}
-template<typename DerType>
-inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) {
-  return (x.value() < y.value() ? x : y);
-}
-template<typename DerType>
-inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) {
-  return (x.value() >= y.value() ? x : y);
-}
-
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs,
-  using std::abs;
-  return Eigen::MakeAutoDiffScalar(abs(x.value()), x.derivatives() * (x.value()<0 ? -1 : 1) );)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs2,
-  using numext::abs2;
-  return Eigen::MakeAutoDiffScalar(abs2(x.value()), x.derivatives() * (Scalar(2)*x.value()));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sqrt,
-  using std::sqrt;
-  Scalar sqrtx = sqrt(x.value());
-  return Eigen::MakeAutoDiffScalar(sqrtx,x.derivatives() * (Scalar(0.5) / sqrtx));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos,
-  using std::cos;
-  using std::sin;
-  return Eigen::MakeAutoDiffScalar(cos(x.value()), x.derivatives() * (-sin(x.value())));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sin,
-  using std::sin;
-  using std::cos;
-  return Eigen::MakeAutoDiffScalar(sin(x.value()),x.derivatives() * cos(x.value()));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp,
-  using std::exp;
-  Scalar expx = exp(x.value());
-  return Eigen::MakeAutoDiffScalar(expx,x.derivatives() * expx);)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(log,
-  using std::log;
-  return Eigen::MakeAutoDiffScalar(log(x.value()),x.derivatives() * (Scalar(1)/x.value()));)
-
-template<typename DerType>
-inline const Eigen::AutoDiffScalar<
-EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(typename internal::remove_all<DerType>::type,typename internal::traits<typename internal::remove_all<DerType>::type>::Scalar,product) >
-pow(const Eigen::AutoDiffScalar<DerType> &x, const typename internal::traits<typename internal::remove_all<DerType>::type>::Scalar &y)
-{
-  using namespace Eigen;
-  using std::pow;
-  return Eigen::MakeAutoDiffScalar(pow(x.value(),y), x.derivatives() * (y * pow(x.value(),y-1)));
-}
-
-
-template<typename DerTypeA,typename DerTypeB>
-inline const AutoDiffScalar<Matrix<typename internal::traits<typename internal::remove_all<DerTypeA>::type>::Scalar,Dynamic,1> >
-atan2(const AutoDiffScalar<DerTypeA>& a, const AutoDiffScalar<DerTypeB>& b)
-{
-  using std::atan2;
-  typedef typename internal::traits<typename internal::remove_all<DerTypeA>::type>::Scalar Scalar;
-  typedef AutoDiffScalar<Matrix<Scalar,Dynamic,1> > PlainADS;
-  PlainADS ret;
-  ret.value() = atan2(a.value(), b.value());
-  
-  Scalar squared_hypot = a.value() * a.value() + b.value() * b.value();
-  
-  // if (squared_hypot==0) the derivation is undefined and the following results in a NaN:
-  ret.derivatives() = (a.derivatives() * b.value() - a.value() * b.derivatives()) / squared_hypot;
-
-  return ret;
-}
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(tan,
-  using std::tan;
-  using std::cos;
-  return Eigen::MakeAutoDiffScalar(tan(x.value()),x.derivatives() * (Scalar(1)/numext::abs2(cos(x.value()))));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(asin,
-  using std::sqrt;
-  using std::asin;
-  return Eigen::MakeAutoDiffScalar(asin(x.value()),x.derivatives() * (Scalar(1)/sqrt(1-numext::abs2(x.value()))));)
-  
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(acos,
-  using std::sqrt;
-  using std::acos;
-  return Eigen::MakeAutoDiffScalar(acos(x.value()),x.derivatives() * (Scalar(-1)/sqrt(1-numext::abs2(x.value()))));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(tanh,
-  using std::cosh;
-  using std::tanh;
-  return Eigen::MakeAutoDiffScalar(tanh(x.value()),x.derivatives() * (Scalar(1)/numext::abs2(cosh(x.value()))));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sinh,
-  using std::sinh;
-  using std::cosh;
-  return Eigen::MakeAutoDiffScalar(sinh(x.value()),x.derivatives() * cosh(x.value()));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cosh,
-  using std::sinh;
-  using std::cosh;
-  return Eigen::MakeAutoDiffScalar(cosh(x.value()),x.derivatives() * sinh(x.value()));)
-
-#undef EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
-
-template<typename DerType> struct NumTraits<AutoDiffScalar<DerType> >
-  : NumTraits< typename NumTraits<typename internal::remove_all<DerType>::type::Scalar>::Real >
-{
-  typedef typename internal::remove_all<DerType>::type DerTypeCleaned;
-  typedef AutoDiffScalar<Matrix<typename NumTraits<typename DerTypeCleaned::Scalar>::Real,DerTypeCleaned::RowsAtCompileTime,DerTypeCleaned::ColsAtCompileTime,
-                                0, DerTypeCleaned::MaxRowsAtCompileTime, DerTypeCleaned::MaxColsAtCompileTime> > Real;
-  typedef AutoDiffScalar<DerType> NonInteger;
-  typedef AutoDiffScalar<DerType> Nested;
-  typedef typename NumTraits<typename DerTypeCleaned::Scalar>::Literal Literal;
-  enum{
-    RequireInitialization = 1
-  };
-};
-
-}
-
-#endif // EIGEN_AUTODIFF_SCALAR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h b/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
deleted file mode 100644
index 8c2d04830da5f5..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
+++ /dev/null
@@ -1,220 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AUTODIFF_VECTOR_H
-#define EIGEN_AUTODIFF_VECTOR_H
-
-namespace Eigen {
-
-/* \class AutoDiffScalar
-  * \brief A scalar type replacement with automatic differentation capability
-  *
-  * \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f)
-  *
-  * This class represents a scalar value while tracking its respective derivatives.
-  *
-  * It supports the following list of global math function:
-  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
-  *  - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos,
-  *  - internal::conj, internal::real, internal::imag, numext::abs2.
-  *
-  * AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However,
-  * in that case, the expression template mechanism only occurs at the top Matrix level,
-  * while derivatives are computed right away.
-  *
-  */
-template<typename ValueType, typename JacobianType>
-class AutoDiffVector
-{
-  public:
-    //typedef typename internal::traits<ValueType>::Scalar Scalar;
-    typedef typename internal::traits<ValueType>::Scalar BaseScalar;
-    typedef AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar;
-    typedef ActiveScalar Scalar;
-    typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType;
-    typedef typename JacobianType::Index Index;
-
-    inline AutoDiffVector() {}
-
-    inline AutoDiffVector(const ValueType& values)
-      : m_values(values)
-    {
-      m_jacobian.setZero();
-    }
-
-
-    CoeffType operator[] (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType operator[] (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    CoeffType operator() (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType operator() (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    CoeffType coeffRef(Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType coeffRef(Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    Index size() const { return m_values.size(); }
-
-    // FIXME here we could return an expression of the sum
-    Scalar sum() const { /*std::cerr << "sum \n\n";*/ /*std::cerr << m_jacobian.rowwise().sum() << "\n\n";*/ return Scalar(m_values.sum(), m_jacobian.rowwise().sum()); }
-
-
-    inline AutoDiffVector(const ValueType& values, const JacobianType& jac)
-      : m_values(values), m_jacobian(jac)
-    {}
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
-      : m_values(other.values()), m_jacobian(other.jacobian())
-    {}
-
-    inline AutoDiffVector(const AutoDiffVector& other)
-      : m_values(other.values()), m_jacobian(other.jacobian())
-    {}
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
-    {
-      m_values = other.values();
-      m_jacobian = other.jacobian();
-      return *this;
-    }
-
-    inline AutoDiffVector& operator=(const AutoDiffVector& other)
-    {
-      m_values = other.values();
-      m_jacobian = other.jacobian();
-      return *this;
-    }
-
-    inline const ValueType& values() const { return m_values; }
-    inline ValueType& values() { return m_values; }
-
-    inline const JacobianType& jacobian() const { return m_jacobian; }
-    inline JacobianType& jacobian() { return m_jacobian; }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline const AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >
-    operator+(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-    {
-      return AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(
-        m_values + other.values(),
-        m_jacobian + other.jacobian());
-    }
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector&
-    operator+=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      m_values += other.values();
-      m_jacobian += other.jacobian();
-      return *this;
-    }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline const AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >
-    operator-(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
-        typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(
-          m_values - other.values(),
-          m_jacobian - other.jacobian());
-    }
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector&
-    operator-=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      m_values -= other.values();
-      m_jacobian -= other.jacobian();
-      return *this;
-    }
-
-    inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >
-    operator-() const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >(
-          -m_values,
-          -m_jacobian);
-    }
-
-    inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type>
-    operator*(const BaseScalar& other) const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
-          m_values * other,
-          m_jacobian * other);
-    }
-
-    friend inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >
-    operator*(const Scalar& other, const AutoDiffVector& v)
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
-          v.values() * other,
-          v.jacobian() * other);
-    }
-
-//     template<typename OtherValueType,typename OtherJacobianType>
-//     inline const AutoDiffVector<
-//       CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType>
-//       CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-//         CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,
-//         CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >
-//     operator*(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-//     {
-//       return AutoDiffVector<
-//         CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType>
-//         CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-//           CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,
-//           CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >(
-//             m_values.cwise() * other.values(),
-//             (m_jacobian * other.values()) + (m_values * other.jacobian()));
-//     }
-
-    inline AutoDiffVector& operator*=(const Scalar& other)
-    {
-      m_values *= other;
-      m_jacobian *= other;
-      return *this;
-    }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      *this = *this * other;
-      return *this;
-    }
-
-  protected:
-    ValueType m_values;
-    JacobianType m_jacobian;
-
-};
-
-}
-
-#endif // EIGEN_AUTODIFF_VECTOR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h b/phonelibs/eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h
deleted file mode 100644
index 994c8af54ccbb3..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h
+++ /dev/null
@@ -1,293 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BVALGORITHMS_H
-#define EIGEN_BVALGORITHMS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename BVH, typename Intersector>
-bool intersect_helper(const BVH &tree, Intersector &intersector, typename BVH::Index root)
-{
-  typedef typename BVH::Index Index;
-  typedef typename BVH::VolumeIterator VolIter;
-  typedef typename BVH::ObjectIterator ObjIter;
-
-  VolIter vBegin = VolIter(), vEnd = VolIter();
-  ObjIter oBegin = ObjIter(), oEnd = ObjIter();
-
-  std::vector<Index> todo(1, root);
-
-  while(!todo.empty()) {
-    tree.getChildren(todo.back(), vBegin, vEnd, oBegin, oEnd);
-    todo.pop_back();
-
-    for(; vBegin != vEnd; ++vBegin) //go through child volumes
-      if(intersector.intersectVolume(tree.getVolume(*vBegin)))
-        todo.push_back(*vBegin);
-
-    for(; oBegin != oEnd; ++oBegin) //go through child objects
-      if(intersector.intersectObject(*oBegin))
-        return true; //intersector said to stop query
-  }
-  return false;
-}
-#endif //not EIGEN_PARSED_BY_DOXYGEN
-
-template<typename Volume1, typename Object1, typename Object2, typename Intersector>
-struct intersector_helper1
-{
-  intersector_helper1(const Object2 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
-  bool intersectVolume(const Volume1 &vol) { return intersector.intersectVolumeObject(vol, stored); }
-  bool intersectObject(const Object1 &obj) { return intersector.intersectObjectObject(obj, stored); }
-  Object2 stored;
-  Intersector &intersector;
-private:
-  intersector_helper1& operator=(const intersector_helper1&);
-};
-
-template<typename Volume2, typename Object2, typename Object1, typename Intersector>
-struct intersector_helper2
-{
-  intersector_helper2(const Object1 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
-  bool intersectVolume(const Volume2 &vol) { return intersector.intersectObjectVolume(stored, vol); }
-  bool intersectObject(const Object2 &obj) { return intersector.intersectObjectObject(stored, obj); }
-  Object1 stored;
-  Intersector &intersector;
-private:
-  intersector_helper2& operator=(const intersector_helper2&);
-};
-
-} // end namespace internal
-
-/**  Given a BVH, runs the query encapsulated by \a intersector.
-  *  The Intersector type must provide the following members: \code
-     bool intersectVolume(const BVH::Volume &volume) //returns true if volume intersects the query
-     bool intersectObject(const BVH::Object &object) //returns true if the search should terminate immediately
-  \endcode
-  */
-template<typename BVH, typename Intersector>
-void BVIntersect(const BVH &tree, Intersector &intersector)
-{
-  internal::intersect_helper(tree, intersector, tree.getRootIndex());
-}
-
-/**  Given two BVH's, runs the query on their Cartesian product encapsulated by \a intersector.
-  *  The Intersector type must provide the following members: \code
-     bool intersectVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) //returns true if product of volumes intersects the query
-     bool intersectVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2) //returns true if the volume-object product intersects the query
-     bool intersectObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2) //returns true if the volume-object product intersects the query
-     bool intersectObjectObject(const BVH1::Object &o1, const BVH2::Object &o2) //returns true if the search should terminate immediately
-  \endcode
-  */
-template<typename BVH1, typename BVH2, typename Intersector>
-void BVIntersect(const BVH1 &tree1, const BVH2 &tree2, Intersector &intersector) //TODO: tandem descent when it makes sense
-{
-  typedef typename BVH1::Index Index1;
-  typedef typename BVH2::Index Index2;
-  typedef internal::intersector_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Intersector> Helper1;
-  typedef internal::intersector_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Intersector> Helper2;
-  typedef typename BVH1::VolumeIterator VolIter1;
-  typedef typename BVH1::ObjectIterator ObjIter1;
-  typedef typename BVH2::VolumeIterator VolIter2;
-  typedef typename BVH2::ObjectIterator ObjIter2;
-
-  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();
-  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
-  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
-  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
-
-  std::vector<std::pair<Index1, Index2> > todo(1, std::make_pair(tree1.getRootIndex(), tree2.getRootIndex()));
-
-  while(!todo.empty()) {
-    tree1.getChildren(todo.back().first, vBegin1, vEnd1, oBegin1, oEnd1);
-    tree2.getChildren(todo.back().second, vBegin2, vEnd2, oBegin2, oEnd2);
-    todo.pop_back();
-
-    for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
-      const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        if(intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2)))
-          todo.push_back(std::make_pair(*vBegin1, *vCur2));
-      }
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        Helper1 helper(*oCur2, intersector);
-        if(internal::intersect_helper(tree1, helper, *vBegin1))
-          return; //intersector said to stop query
-      }
-    }
-
-    for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Helper2 helper(*oBegin1, intersector);
-        if(internal::intersect_helper(tree2, helper, *vCur2))
-          return; //intersector said to stop query
-      }
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        if(intersector.intersectObjectObject(*oBegin1, *oCur2))
-          return; //intersector said to stop query
-      }
-    }
-  }
-}
-
-namespace internal {
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename BVH, typename Minimizer>
-typename Minimizer::Scalar minimize_helper(const BVH &tree, Minimizer &minimizer, typename BVH::Index root, typename Minimizer::Scalar minimum)
-{
-  typedef typename Minimizer::Scalar Scalar;
-  typedef typename BVH::Index Index;
-  typedef std::pair<Scalar, Index> QueueElement; //first element is priority
-  typedef typename BVH::VolumeIterator VolIter;
-  typedef typename BVH::ObjectIterator ObjIter;
-
-  VolIter vBegin = VolIter(), vEnd = VolIter();
-  ObjIter oBegin = ObjIter(), oEnd = ObjIter();
-  std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
-
-  todo.push(std::make_pair(Scalar(), root));
-
-  while(!todo.empty()) {
-    tree.getChildren(todo.top().second, vBegin, vEnd, oBegin, oEnd);
-    todo.pop();
-
-    for(; oBegin != oEnd; ++oBegin) //go through child objects
-      minimum = (std::min)(minimum, minimizer.minimumOnObject(*oBegin));
-
-    for(; vBegin != vEnd; ++vBegin) { //go through child volumes
-      Scalar val = minimizer.minimumOnVolume(tree.getVolume(*vBegin));
-      if(val < minimum)
-        todo.push(std::make_pair(val, *vBegin));
-    }
-  }
-
-  return minimum;
-}
-#endif //not EIGEN_PARSED_BY_DOXYGEN
-
-
-template<typename Volume1, typename Object1, typename Object2, typename Minimizer>
-struct minimizer_helper1
-{
-  typedef typename Minimizer::Scalar Scalar;
-  minimizer_helper1(const Object2 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
-  Scalar minimumOnVolume(const Volume1 &vol) { return minimizer.minimumOnVolumeObject(vol, stored); }
-  Scalar minimumOnObject(const Object1 &obj) { return minimizer.minimumOnObjectObject(obj, stored); }
-  Object2 stored;
-  Minimizer &minimizer;
-private:
-  minimizer_helper1& operator=(const minimizer_helper1&);
-};
-
-template<typename Volume2, typename Object2, typename Object1, typename Minimizer>
-struct minimizer_helper2
-{
-  typedef typename Minimizer::Scalar Scalar;
-  minimizer_helper2(const Object1 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
-  Scalar minimumOnVolume(const Volume2 &vol) { return minimizer.minimumOnObjectVolume(stored, vol); }
-  Scalar minimumOnObject(const Object2 &obj) { return minimizer.minimumOnObjectObject(stored, obj); }
-  Object1 stored;
-  Minimizer &minimizer;
-private:
-  minimizer_helper2& operator=(const minimizer_helper2&);
-};
-
-} // end namespace internal
-
-/**  Given a BVH, runs the query encapsulated by \a minimizer.
-  *  \returns the minimum value.
-  *  The Minimizer type must provide the following members: \code
-     typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
-     Scalar minimumOnVolume(const BVH::Volume &volume)
-     Scalar minimumOnObject(const BVH::Object &object)
-  \endcode
-  */
-template<typename BVH, typename Minimizer>
-typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer)
-{
-  return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)());
-}
-
-/**  Given two BVH's, runs the query on their cartesian product encapsulated by \a minimizer.
-  *  \returns the minimum value.
-  *  The Minimizer type must provide the following members: \code
-     typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
-     Scalar minimumOnVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2)
-     Scalar minimumOnVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2)
-     Scalar minimumOnObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2)
-     Scalar minimumOnObjectObject(const BVH1::Object &o1, const BVH2::Object &o2)
-  \endcode
-  */
-template<typename BVH1, typename BVH2, typename Minimizer>
-typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Minimizer &minimizer)
-{
-  typedef typename Minimizer::Scalar Scalar;
-  typedef typename BVH1::Index Index1;
-  typedef typename BVH2::Index Index2;
-  typedef internal::minimizer_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer> Helper1;
-  typedef internal::minimizer_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer> Helper2;
-  typedef std::pair<Scalar, std::pair<Index1, Index2> > QueueElement; //first element is priority
-  typedef typename BVH1::VolumeIterator VolIter1;
-  typedef typename BVH1::ObjectIterator ObjIter1;
-  typedef typename BVH2::VolumeIterator VolIter2;
-  typedef typename BVH2::ObjectIterator ObjIter2;
-
-  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();
-  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
-  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
-  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
-  std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
-
-  Scalar minimum = (std::numeric_limits<Scalar>::max)();
-  todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));
-
-  while(!todo.empty()) {
-    tree1.getChildren(todo.top().second.first, vBegin1, vEnd1, oBegin1, oEnd1);
-    tree2.getChildren(todo.top().second.second, vBegin2, vEnd2, oBegin2, oEnd2);
-    todo.pop();
-
-    for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        minimum = (std::min)(minimum, minimizer.minimumOnObjectObject(*oBegin1, *oCur2));
-      }
-
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Helper2 helper(*oBegin1, minimizer);
-        minimum = (std::min)(minimum, internal::minimize_helper(tree2, helper, *vCur2, minimum));
-      }
-    }
-
-    for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
-      const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        Helper1 helper(*oCur2, minimizer);
-        minimum = (std::min)(minimum, internal::minimize_helper(tree1, helper, *vBegin1, minimum));
-      }
-
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Scalar val = minimizer.minimumOnVolumeVolume(vol1, tree2.getVolume(*vCur2));
-        if(val < minimum)
-          todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2)));
-      }
-    }
-  }
-  return minimum;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_BVALGORITHMS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/BVH/KdBVH.h b/phonelibs/eigen/unsupported/Eigen/src/BVH/KdBVH.h
deleted file mode 100644
index 1b8d75865463dc..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/BVH/KdBVH.h
+++ /dev/null
@@ -1,222 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef KDBVH_H_INCLUDED
-#define KDBVH_H_INCLUDED
-
-namespace Eigen { 
-
-namespace internal {
-
-//internal pair class for the BVH--used instead of std::pair because of alignment
-template<typename Scalar, int Dim>
-struct vector_int_pair
-{
-EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar, Dim)
-  typedef Matrix<Scalar, Dim, 1> VectorType;
-
-  vector_int_pair(const VectorType &v, int i) : first(v), second(i) {}
-
-  VectorType first;
-  int second;
-};
-
-//these templates help the tree initializer get the bounding boxes either from a provided
-//iterator range or using bounding_box in a unified way
-template<typename ObjectList, typename VolumeList, typename BoxIter>
-struct get_boxes_helper {
-  void operator()(const ObjectList &objects, BoxIter boxBegin, BoxIter boxEnd, VolumeList &outBoxes)
-  {
-    outBoxes.insert(outBoxes.end(), boxBegin, boxEnd);
-    eigen_assert(outBoxes.size() == objects.size());
-  }
-};
-
-template<typename ObjectList, typename VolumeList>
-struct get_boxes_helper<ObjectList, VolumeList, int> {
-  void operator()(const ObjectList &objects, int, int, VolumeList &outBoxes)
-  {
-    outBoxes.reserve(objects.size());
-    for(int i = 0; i < (int)objects.size(); ++i)
-      outBoxes.push_back(bounding_box(objects[i]));
-  }
-};
-
-} // end namespace internal
-
-
-/** \class KdBVH
- *  \brief A simple bounding volume hierarchy based on AlignedBox
- *
- *  \param _Scalar The underlying scalar type of the bounding boxes
- *  \param _Dim The dimension of the space in which the hierarchy lives
- *  \param _Object The object type that lives in the hierarchy.  It must have value semantics.  Either bounding_box(_Object) must
- *                 be defined and return an AlignedBox<_Scalar, _Dim> or bounding boxes must be provided to the tree initializer.
- *
- *  This class provides a simple (as opposed to optimized) implementation of a bounding volume hierarchy analogous to a Kd-tree.
- *  Given a sequence of objects, it computes their bounding boxes, constructs a Kd-tree of their centers
- *  and builds a BVH with the structure of that Kd-tree.  When the elements of the tree are too expensive to be copied around,
- *  it is useful for _Object to be a pointer.
- */
-template<typename _Scalar, int _Dim, typename _Object> class KdBVH
-{
-public:
-  enum { Dim = _Dim };
-  typedef _Object Object;
-  typedef std::vector<Object, aligned_allocator<Object> > ObjectList;
-  typedef _Scalar Scalar;
-  typedef AlignedBox<Scalar, Dim> Volume;
-  typedef std::vector<Volume, aligned_allocator<Volume> > VolumeList;
-  typedef int Index;
-  typedef const int *VolumeIterator; //the iterators are just pointers into the tree's vectors
-  typedef const Object *ObjectIterator;
-
-  KdBVH() {}
-
-  /** Given an iterator range over \a Object references, constructs the BVH.  Requires that bounding_box(Object) return a Volume. */
-  template<typename Iter> KdBVH(Iter begin, Iter end) { init(begin, end, 0, 0); } //int is recognized by init as not being an iterator type
-
-  /** Given an iterator range over \a Object references and an iterator range over their bounding boxes, constructs the BVH */
-  template<typename OIter, typename BIter> KdBVH(OIter begin, OIter end, BIter boxBegin, BIter boxEnd) { init(begin, end, boxBegin, boxEnd); }
-
-  /** Given an iterator range over \a Object references, constructs the BVH, overwriting whatever is in there currently.
-    * Requires that bounding_box(Object) return a Volume. */
-  template<typename Iter> void init(Iter begin, Iter end) { init(begin, end, 0, 0); }
-
-  /** Given an iterator range over \a Object references and an iterator range over their bounding boxes,
-    * constructs the BVH, overwriting whatever is in there currently. */
-  template<typename OIter, typename BIter> void init(OIter begin, OIter end, BIter boxBegin, BIter boxEnd)
-  {
-    objects.clear();
-    boxes.clear();
-    children.clear();
-
-    objects.insert(objects.end(), begin, end);
-    int n = static_cast<int>(objects.size());
-
-    if(n < 2)
-      return; //if we have at most one object, we don't need any internal nodes
-
-    VolumeList objBoxes;
-    VIPairList objCenters;
-
-    //compute the bounding boxes depending on BIter type
-    internal::get_boxes_helper<ObjectList, VolumeList, BIter>()(objects, boxBegin, boxEnd, objBoxes);
-
-    objCenters.reserve(n);
-    boxes.reserve(n - 1);
-    children.reserve(2 * n - 2);
-
-    for(int i = 0; i < n; ++i)
-      objCenters.push_back(VIPair(objBoxes[i].center(), i));
-
-    build(objCenters, 0, n, objBoxes, 0); //the recursive part of the algorithm
-
-    ObjectList tmp(n);
-    tmp.swap(objects);
-    for(int i = 0; i < n; ++i)
-      objects[i] = tmp[objCenters[i].second];
-  }
-
-  /** \returns the index of the root of the hierarchy */
-  inline Index getRootIndex() const { return (int)boxes.size() - 1; }
-
-  /** Given an \a index of a node, on exit, \a outVBegin and \a outVEnd range over the indices of the volume children of the node
-    * and \a outOBegin and \a outOEnd range over the object children of the node */
-  EIGEN_STRONG_INLINE void getChildren(Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd,
-                                       ObjectIterator &outOBegin, ObjectIterator &outOEnd) const
-  { //inlining this function should open lots of optimization opportunities to the compiler
-    if(index < 0) {
-      outVBegin = outVEnd;
-      if(!objects.empty())
-        outOBegin = &(objects[0]);
-      outOEnd = outOBegin + objects.size(); //output all objects--necessary when the tree has only one object
-      return;
-    }
-
-    int numBoxes = static_cast<int>(boxes.size());
-
-    int idx = index * 2;
-    if(children[idx + 1] < numBoxes) { //second index is always bigger
-      outVBegin = &(children[idx]);
-      outVEnd = outVBegin + 2;
-      outOBegin = outOEnd;
-    }
-    else if(children[idx] >= numBoxes) { //if both children are objects
-      outVBegin = outVEnd;
-      outOBegin = &(objects[children[idx] - numBoxes]);
-      outOEnd = outOBegin + 2;
-    } else { //if the first child is a volume and the second is an object
-      outVBegin = &(children[idx]);
-      outVEnd = outVBegin + 1;
-      outOBegin = &(objects[children[idx + 1] - numBoxes]);
-      outOEnd = outOBegin + 1;
-    }
-  }
-
-  /** \returns the bounding box of the node at \a index */
-  inline const Volume &getVolume(Index index) const
-  {
-    return boxes[index];
-  }
-
-private:
-  typedef internal::vector_int_pair<Scalar, Dim> VIPair;
-  typedef std::vector<VIPair, aligned_allocator<VIPair> > VIPairList;
-  typedef Matrix<Scalar, Dim, 1> VectorType;
-  struct VectorComparator //compares vectors, or, more specificall, VIPairs along a particular dimension
-  {
-    VectorComparator(int inDim) : dim(inDim) {}
-    inline bool operator()(const VIPair &v1, const VIPair &v2) const { return v1.first[dim] < v2.first[dim]; }
-    int dim;
-  };
-
-  //Build the part of the tree between objects[from] and objects[to] (not including objects[to]).
-  //This routine partitions the objCenters in [from, to) along the dimension dim, recursively constructs
-  //the two halves, and adds their parent node.  TODO: a cache-friendlier layout
-  void build(VIPairList &objCenters, int from, int to, const VolumeList &objBoxes, int dim)
-  {
-    eigen_assert(to - from > 1);
-    if(to - from == 2) {
-      boxes.push_back(objBoxes[objCenters[from].second].merged(objBoxes[objCenters[from + 1].second]));
-      children.push_back(from + (int)objects.size() - 1); //there are objects.size() - 1 tree nodes
-      children.push_back(from + (int)objects.size());
-    }
-    else if(to - from == 3) {
-      int mid = from + 2;
-      std::nth_element(objCenters.begin() + from, objCenters.begin() + mid,
-                        objCenters.begin() + to, VectorComparator(dim)); //partition
-      build(objCenters, from, mid, objBoxes, (dim + 1) % Dim);
-      int idx1 = (int)boxes.size() - 1;
-      boxes.push_back(boxes[idx1].merged(objBoxes[objCenters[mid].second]));
-      children.push_back(idx1);
-      children.push_back(mid + (int)objects.size() - 1);
-    }
-    else {
-      int mid = from + (to - from) / 2;
-      nth_element(objCenters.begin() + from, objCenters.begin() + mid,
-                  objCenters.begin() + to, VectorComparator(dim)); //partition
-      build(objCenters, from, mid, objBoxes, (dim + 1) % Dim);
-      int idx1 = (int)boxes.size() - 1;
-      build(objCenters, mid, to, objBoxes, (dim + 1) % Dim);
-      int idx2 = (int)boxes.size() - 1;
-      boxes.push_back(boxes[idx1].merged(boxes[idx2]));
-      children.push_back(idx1);
-      children.push_back(idx2);
-    }
-  }
-
-  std::vector<int> children; //children of x are children[2x] and children[2x+1], indices bigger than boxes.size() index into objects.
-  VolumeList boxes;
-  ObjectList objects;
-};
-
-} // end namespace Eigen
-
-#endif //KDBVH_H_INCLUDED
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Eigenvalues/ArpackSelfAdjointEigenSolver.h b/phonelibs/eigen/unsupported/Eigen/src/Eigenvalues/ArpackSelfAdjointEigenSolver.h
deleted file mode 100644
index 866a8a46018c8d..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Eigenvalues/ArpackSelfAdjointEigenSolver.h
+++ /dev/null
@@ -1,805 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 David Harmon <dharmon@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_ARPACKGENERALIZEDSELFADJOINTEIGENSOLVER_H
-#define EIGEN_ARPACKGENERALIZEDSELFADJOINTEIGENSOLVER_H
-
-#include <Eigen/Dense>
-
-namespace Eigen { 
-
-namespace internal {
-  template<typename Scalar, typename RealScalar> struct arpack_wrapper;
-  template<typename MatrixSolver, typename MatrixType, typename Scalar, bool BisSPD> struct OP;
-}
-
-
-
-template<typename MatrixType, typename MatrixSolver=SimplicialLLT<MatrixType>, bool BisSPD=false>
-class ArpackGeneralizedSelfAdjointEigenSolver
-{
-public:
-  //typedef typename MatrixSolver::MatrixType MatrixType;
-
-  /** \brief Scalar type for matrices of type \p MatrixType. */
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
-
-  /** \brief Real scalar type for \p MatrixType.
-   *
-   * This is just \c Scalar if #Scalar is real (e.g., \c float or
-   * \c Scalar), and the type of the real part of \c Scalar if #Scalar is
-   * complex.
-   */
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-
-  /** \brief Type for vector of eigenvalues as returned by eigenvalues().
-   *
-   * This is a column vector with entries of type #RealScalar.
-   * The length of the vector is the size of \p nbrEigenvalues.
-   */
-  typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
-
-  /** \brief Default constructor.
-   *
-   * The default constructor is for cases in which the user intends to
-   * perform decompositions via compute().
-   *
-   */
-  ArpackGeneralizedSelfAdjointEigenSolver()
-   : m_eivec(),
-     m_eivalues(),
-     m_isInitialized(false),
-     m_eigenvectorsOk(false),
-     m_nbrConverged(0),
-     m_nbrIterations(0)
-  { }
-
-  /** \brief Constructor; computes generalized eigenvalues of given matrix with respect to another matrix.
-   *
-   * \param[in] A Self-adjoint matrix whose eigenvalues / eigenvectors will
-   *    computed. By default, the upper triangular part is used, but can be changed
-   *    through the template parameter.
-   * \param[in] B Self-adjoint matrix for the generalized eigenvalue problem.
-   * \param[in] nbrEigenvalues The number of eigenvalues / eigenvectors to compute.
-   *    Must be less than the size of the input matrix, or an error is returned.
-   * \param[in] eigs_sigma String containing either "LM", "SM", "LA", or "SA", with
-   *    respective meanings to find the largest magnitude , smallest magnitude,
-   *    largest algebraic, or smallest algebraic eigenvalues. Alternatively, this
-   *    value can contain floating point value in string form, in which case the
-   *    eigenvalues closest to this value will be found.
-   * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-   * \param[in] tol What tolerance to find the eigenvalues to. Default is 0, which
-   *    means machine precision.
-   *
-   * This constructor calls compute(const MatrixType&, const MatrixType&, Index, string, int, RealScalar)
-   * to compute the eigenvalues of the matrix \p A with respect to \p B. The eigenvectors are computed if
-   * \p options equals #ComputeEigenvectors.
-   *
-   */
-  ArpackGeneralizedSelfAdjointEigenSolver(const MatrixType& A, const MatrixType& B,
-                                          Index nbrEigenvalues, std::string eigs_sigma="LM",
-                               int options=ComputeEigenvectors, RealScalar tol=0.0)
-    : m_eivec(),
-      m_eivalues(),
-      m_isInitialized(false),
-      m_eigenvectorsOk(false),
-      m_nbrConverged(0),
-      m_nbrIterations(0)
-  {
-    compute(A, B, nbrEigenvalues, eigs_sigma, options, tol);
-  }
-
-  /** \brief Constructor; computes eigenvalues of given matrix.
-   *
-   * \param[in] A Self-adjoint matrix whose eigenvalues / eigenvectors will
-   *    computed. By default, the upper triangular part is used, but can be changed
-   *    through the template parameter.
-   * \param[in] nbrEigenvalues The number of eigenvalues / eigenvectors to compute.
-   *    Must be less than the size of the input matrix, or an error is returned.
-   * \param[in] eigs_sigma String containing either "LM", "SM", "LA", or "SA", with
-   *    respective meanings to find the largest magnitude , smallest magnitude,
-   *    largest algebraic, or smallest algebraic eigenvalues. Alternatively, this
-   *    value can contain floating point value in string form, in which case the
-   *    eigenvalues closest to this value will be found.
-   * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-   * \param[in] tol What tolerance to find the eigenvalues to. Default is 0, which
-   *    means machine precision.
-   *
-   * This constructor calls compute(const MatrixType&, Index, string, int, RealScalar)
-   * to compute the eigenvalues of the matrix \p A. The eigenvectors are computed if
-   * \p options equals #ComputeEigenvectors.
-   *
-   */
-
-  ArpackGeneralizedSelfAdjointEigenSolver(const MatrixType& A,
-                                          Index nbrEigenvalues, std::string eigs_sigma="LM",
-                               int options=ComputeEigenvectors, RealScalar tol=0.0)
-    : m_eivec(),
-      m_eivalues(),
-      m_isInitialized(false),
-      m_eigenvectorsOk(false),
-      m_nbrConverged(0),
-      m_nbrIterations(0)
-  {
-    compute(A, nbrEigenvalues, eigs_sigma, options, tol);
-  }
-
-
-  /** \brief Computes generalized eigenvalues / eigenvectors of given matrix using the external ARPACK library.
-   *
-   * \param[in]  A  Selfadjoint matrix whose eigendecomposition is to be computed.
-   * \param[in]  B  Selfadjoint matrix for generalized eigenvalues.
-   * \param[in] nbrEigenvalues The number of eigenvalues / eigenvectors to compute.
-   *    Must be less than the size of the input matrix, or an error is returned.
-   * \param[in] eigs_sigma String containing either "LM", "SM", "LA", or "SA", with
-   *    respective meanings to find the largest magnitude , smallest magnitude,
-   *    largest algebraic, or smallest algebraic eigenvalues. Alternatively, this
-   *    value can contain floating point value in string form, in which case the
-   *    eigenvalues closest to this value will be found.
-   * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-   * \param[in] tol What tolerance to find the eigenvalues to. Default is 0, which
-   *    means machine precision.
-   *
-   * \returns    Reference to \c *this
-   *
-   * This function computes the generalized eigenvalues of \p A with respect to \p B using ARPACK.  The eigenvalues()
-   * function can be used to retrieve them.  If \p options equals #ComputeEigenvectors,
-   * then the eigenvectors are also computed and can be retrieved by
-   * calling eigenvectors().
-   *
-   */
-  ArpackGeneralizedSelfAdjointEigenSolver& compute(const MatrixType& A, const MatrixType& B,
-                                                   Index nbrEigenvalues, std::string eigs_sigma="LM",
-                                        int options=ComputeEigenvectors, RealScalar tol=0.0);
-  
-  /** \brief Computes eigenvalues / eigenvectors of given matrix using the external ARPACK library.
-   *
-   * \param[in]  A  Selfadjoint matrix whose eigendecomposition is to be computed.
-   * \param[in] nbrEigenvalues The number of eigenvalues / eigenvectors to compute.
-   *    Must be less than the size of the input matrix, or an error is returned.
-   * \param[in] eigs_sigma String containing either "LM", "SM", "LA", or "SA", with
-   *    respective meanings to find the largest magnitude , smallest magnitude,
-   *    largest algebraic, or smallest algebraic eigenvalues. Alternatively, this
-   *    value can contain floating point value in string form, in which case the
-   *    eigenvalues closest to this value will be found.
-   * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-   * \param[in] tol What tolerance to find the eigenvalues to. Default is 0, which
-   *    means machine precision.
-   *
-   * \returns    Reference to \c *this
-   *
-   * This function computes the eigenvalues of \p A using ARPACK.  The eigenvalues()
-   * function can be used to retrieve them.  If \p options equals #ComputeEigenvectors,
-   * then the eigenvectors are also computed and can be retrieved by
-   * calling eigenvectors().
-   *
-   */
-  ArpackGeneralizedSelfAdjointEigenSolver& compute(const MatrixType& A,
-                                                   Index nbrEigenvalues, std::string eigs_sigma="LM",
-                                        int options=ComputeEigenvectors, RealScalar tol=0.0);
-
-
-  /** \brief Returns the eigenvectors of given matrix.
-   *
-   * \returns  A const reference to the matrix whose columns are the eigenvectors.
-   *
-   * \pre The eigenvectors have been computed before.
-   *
-   * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
-   * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
-   * eigenvectors are normalized to have (Euclidean) norm equal to one. If
-   * this object was used to solve the eigenproblem for the selfadjoint
-   * matrix \f$ A \f$, then the matrix returned by this function is the
-   * matrix \f$ V \f$ in the eigendecomposition \f$ A V = D V \f$.
-   * For the generalized eigenproblem, the matrix returned is the solution \f$ A V = D B V \f$
-   *
-   * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
-   * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
-   *
-   * \sa eigenvalues()
-   */
-  const Matrix<Scalar, Dynamic, Dynamic>& eigenvectors() const
-  {
-    eigen_assert(m_isInitialized && "ArpackGeneralizedSelfAdjointEigenSolver is not initialized.");
-    eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-    return m_eivec;
-  }
-
-  /** \brief Returns the eigenvalues of given matrix.
-   *
-   * \returns A const reference to the column vector containing the eigenvalues.
-   *
-   * \pre The eigenvalues have been computed before.
-   *
-   * The eigenvalues are repeated according to their algebraic multiplicity,
-   * so there are as many eigenvalues as rows in the matrix. The eigenvalues
-   * are sorted in increasing order.
-   *
-   * Example: \include SelfAdjointEigenSolver_eigenvalues.cpp
-   * Output: \verbinclude SelfAdjointEigenSolver_eigenvalues.out
-   *
-   * \sa eigenvectors(), MatrixBase::eigenvalues()
-   */
-  const Matrix<Scalar, Dynamic, 1>& eigenvalues() const
-  {
-    eigen_assert(m_isInitialized && "ArpackGeneralizedSelfAdjointEigenSolver is not initialized.");
-    return m_eivalues;
-  }
-
-  /** \brief Computes the positive-definite square root of the matrix.
-   *
-   * \returns the positive-definite square root of the matrix
-   *
-   * \pre The eigenvalues and eigenvectors of a positive-definite matrix
-   * have been computed before.
-   *
-   * The square root of a positive-definite matrix \f$ A \f$ is the
-   * positive-definite matrix whose square equals \f$ A \f$. This function
-   * uses the eigendecomposition \f$ A = V D V^{-1} \f$ to compute the
-   * square root as \f$ A^{1/2} = V D^{1/2} V^{-1} \f$.
-   *
-   * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
-   * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
-   *
-   * \sa operatorInverseSqrt(),
-   *     \ref MatrixFunctions_Module "MatrixFunctions Module"
-   */
-  Matrix<Scalar, Dynamic, Dynamic> operatorSqrt() const
-  {
-    eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-    eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-    return m_eivec * m_eivalues.cwiseSqrt().asDiagonal() * m_eivec.adjoint();
-  }
-
-  /** \brief Computes the inverse square root of the matrix.
-   *
-   * \returns the inverse positive-definite square root of the matrix
-   *
-   * \pre The eigenvalues and eigenvectors of a positive-definite matrix
-   * have been computed before.
-   *
-   * This function uses the eigendecomposition \f$ A = V D V^{-1} \f$ to
-   * compute the inverse square root as \f$ V D^{-1/2} V^{-1} \f$. This is
-   * cheaper than first computing the square root with operatorSqrt() and
-   * then its inverse with MatrixBase::inverse().
-   *
-   * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
-   * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
-   *
-   * \sa operatorSqrt(), MatrixBase::inverse(),
-   *     \ref MatrixFunctions_Module "MatrixFunctions Module"
-   */
-  Matrix<Scalar, Dynamic, Dynamic> operatorInverseSqrt() const
-  {
-    eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-    eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-    return m_eivec * m_eivalues.cwiseInverse().cwiseSqrt().asDiagonal() * m_eivec.adjoint();
-  }
-
-  /** \brief Reports whether previous computation was successful.
-   *
-   * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
-   */
-  ComputationInfo info() const
-  {
-    eigen_assert(m_isInitialized && "ArpackGeneralizedSelfAdjointEigenSolver is not initialized.");
-    return m_info;
-  }
-
-  size_t getNbrConvergedEigenValues() const
-  { return m_nbrConverged; }
-
-  size_t getNbrIterations() const
-  { return m_nbrIterations; }
-
-protected:
-  Matrix<Scalar, Dynamic, Dynamic> m_eivec;
-  Matrix<Scalar, Dynamic, 1> m_eivalues;
-  ComputationInfo m_info;
-  bool m_isInitialized;
-  bool m_eigenvectorsOk;
-
-  size_t m_nbrConverged;
-  size_t m_nbrIterations;
-};
-
-
-
-
-
-template<typename MatrixType, typename MatrixSolver, bool BisSPD>
-ArpackGeneralizedSelfAdjointEigenSolver<MatrixType, MatrixSolver, BisSPD>&
-    ArpackGeneralizedSelfAdjointEigenSolver<MatrixType, MatrixSolver, BisSPD>
-::compute(const MatrixType& A, Index nbrEigenvalues,
-          std::string eigs_sigma, int options, RealScalar tol)
-{
-    MatrixType B(0,0);
-    compute(A, B, nbrEigenvalues, eigs_sigma, options, tol);
-    
-    return *this;
-}
-
-
-template<typename MatrixType, typename MatrixSolver, bool BisSPD>
-ArpackGeneralizedSelfAdjointEigenSolver<MatrixType, MatrixSolver, BisSPD>&
-    ArpackGeneralizedSelfAdjointEigenSolver<MatrixType, MatrixSolver, BisSPD>
-::compute(const MatrixType& A, const MatrixType& B, Index nbrEigenvalues,
-          std::string eigs_sigma, int options, RealScalar tol)
-{
-  eigen_assert(A.cols() == A.rows());
-  eigen_assert(B.cols() == B.rows());
-  eigen_assert(B.rows() == 0 || A.cols() == B.rows());
-  eigen_assert((options &~ (EigVecMask | GenEigMask)) == 0
-            && (options & EigVecMask) != EigVecMask
-            && "invalid option parameter");
-
-  bool isBempty = (B.rows() == 0) || (B.cols() == 0);
-
-  // For clarity, all parameters match their ARPACK name
-  //
-  // Always 0 on the first call
-  //
-  int ido = 0;
-
-  int n = (int)A.cols();
-
-  // User options: "LA", "SA", "SM", "LM", "BE"
-  //
-  char whch[3] = "LM";
-    
-  // Specifies the shift if iparam[6] = { 3, 4, 5 }, not used if iparam[6] = { 1, 2 }
-  //
-  RealScalar sigma = 0.0;
-
-  if (eigs_sigma.length() >= 2 && isalpha(eigs_sigma[0]) && isalpha(eigs_sigma[1]))
-  {
-      eigs_sigma[0] = toupper(eigs_sigma[0]);
-      eigs_sigma[1] = toupper(eigs_sigma[1]);
-
-      // In the following special case we're going to invert the problem, since solving
-      // for larger magnitude is much much faster
-      // i.e., if 'SM' is specified, we're going to really use 'LM', the default
-      //
-      if (eigs_sigma.substr(0,2) != "SM")
-      {
-          whch[0] = eigs_sigma[0];
-          whch[1] = eigs_sigma[1];
-      }
-  }
-  else
-  {
-      eigen_assert(false && "Specifying clustered eigenvalues is not yet supported!");
-
-      // If it's not scalar values, then the user may be explicitly
-      // specifying the sigma value to cluster the evs around
-      //
-      sigma = atof(eigs_sigma.c_str());
-
-      // If atof fails, it returns 0.0, which is a fine default
-      //
-  }
-
-  // "I" means normal eigenvalue problem, "G" means generalized
-  //
-  char bmat[2] = "I";
-  if (eigs_sigma.substr(0,2) == "SM" || !(isalpha(eigs_sigma[0]) && isalpha(eigs_sigma[1])) || (!isBempty && !BisSPD))
-      bmat[0] = 'G';
-
-  // Now we determine the mode to use
-  //
-  int mode = (bmat[0] == 'G') + 1;
-  if (eigs_sigma.substr(0,2) == "SM" || !(isalpha(eigs_sigma[0]) && isalpha(eigs_sigma[1])))
-  {
-      // We're going to use shift-and-invert mode, and basically find
-      // the largest eigenvalues of the inverse operator
-      //
-      mode = 3;
-  }
-
-  // The user-specified number of eigenvalues/vectors to compute
-  //
-  int nev = (int)nbrEigenvalues;
-
-  // Allocate space for ARPACK to store the residual
-  //
-  Scalar *resid = new Scalar[n];
-
-  // Number of Lanczos vectors, must satisfy nev < ncv <= n
-  // Note that this indicates that nev != n, and we cannot compute
-  // all eigenvalues of a mtrix
-  //
-  int ncv = std::min(std::max(2*nev, 20), n);
-
-  // The working n x ncv matrix, also store the final eigenvectors (if computed)
-  //
-  Scalar *v = new Scalar[n*ncv];
-  int ldv = n;
-
-  // Working space
-  //
-  Scalar *workd = new Scalar[3*n];
-  int lworkl = ncv*ncv+8*ncv; // Must be at least this length
-  Scalar *workl = new Scalar[lworkl];
-
-  int *iparam= new int[11];
-  iparam[0] = 1; // 1 means we let ARPACK perform the shifts, 0 means we'd have to do it
-  iparam[2] = std::max(300, (int)std::ceil(2*n/std::max(ncv,1)));
-  iparam[6] = mode; // The mode, 1 is standard ev problem, 2 for generalized ev, 3 for shift-and-invert
-
-  // Used during reverse communicate to notify where arrays start
-  //
-  int *ipntr = new int[11]; 
-
-  // Error codes are returned in here, initial value of 0 indicates a random initial
-  // residual vector is used, any other values means resid contains the initial residual
-  // vector, possibly from a previous run
-  //
-  int info = 0;
-
-  Scalar scale = 1.0;
-  //if (!isBempty)
-  //{
-  //Scalar scale = B.norm() / std::sqrt(n);
-  //scale = std::pow(2, std::floor(std::log(scale+1)));
-  ////M /= scale;
-  //for (size_t i=0; i<(size_t)B.outerSize(); i++)
-  //    for (typename MatrixType::InnerIterator it(B, i); it; ++it)
-  //        it.valueRef() /= scale;
-  //}
-
-  MatrixSolver OP;
-  if (mode == 1 || mode == 2)
-  {
-      if (!isBempty)
-          OP.compute(B);
-  }
-  else if (mode == 3)
-  {
-      if (sigma == 0.0)
-      {
-          OP.compute(A);
-      }
-      else
-      {
-          // Note: We will never enter here because sigma must be 0.0
-          //
-          if (isBempty)
-          {
-            MatrixType AminusSigmaB(A);
-            for (Index i=0; i<A.rows(); ++i)
-                AminusSigmaB.coeffRef(i,i) -= sigma;
-            
-            OP.compute(AminusSigmaB);
-          }
-          else
-          {
-              MatrixType AminusSigmaB = A - sigma * B;
-              OP.compute(AminusSigmaB);
-          }
-      }
-  }
- 
-  if (!(mode == 1 && isBempty) && !(mode == 2 && isBempty) && OP.info() != Success)
-      std::cout << "Error factoring matrix" << std::endl;
-
-  do
-  {
-    internal::arpack_wrapper<Scalar, RealScalar>::saupd(&ido, bmat, &n, whch, &nev, &tol, resid, 
-                                                        &ncv, v, &ldv, iparam, ipntr, workd, workl,
-                                                        &lworkl, &info);
-
-    if (ido == -1 || ido == 1)
-    {
-      Scalar *in  = workd + ipntr[0] - 1;
-      Scalar *out = workd + ipntr[1] - 1;
-
-      if (ido == 1 && mode != 2)
-      {
-          Scalar *out2 = workd + ipntr[2] - 1;
-          if (isBempty || mode == 1)
-            Matrix<Scalar, Dynamic, 1>::Map(out2, n) = Matrix<Scalar, Dynamic, 1>::Map(in, n);
-          else
-            Matrix<Scalar, Dynamic, 1>::Map(out2, n) = B * Matrix<Scalar, Dynamic, 1>::Map(in, n);
-          
-          in = workd + ipntr[2] - 1;
-      }
-
-      if (mode == 1)
-      {
-        if (isBempty)
-        {
-          // OP = A
-          //
-          Matrix<Scalar, Dynamic, 1>::Map(out, n) = A * Matrix<Scalar, Dynamic, 1>::Map(in, n);
-        }
-        else
-        {
-          // OP = L^{-1}AL^{-T}
-          //
-          internal::OP<MatrixSolver, MatrixType, Scalar, BisSPD>::applyOP(OP, A, n, in, out);
-        }
-      }
-      else if (mode == 2)
-      {
-        if (ido == 1)
-          Matrix<Scalar, Dynamic, 1>::Map(in, n)  = A * Matrix<Scalar, Dynamic, 1>::Map(in, n);
-        
-        // OP = B^{-1} A
-        //
-        Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.solve(Matrix<Scalar, Dynamic, 1>::Map(in, n));
-      }
-      else if (mode == 3)
-      {
-        // OP = (A-\sigmaB)B (\sigma could be 0, and B could be I)
-        // The B * in is already computed and stored at in if ido == 1
-        //
-        if (ido == 1 || isBempty)
-          Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.solve(Matrix<Scalar, Dynamic, 1>::Map(in, n));
-        else
-          Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.solve(B * Matrix<Scalar, Dynamic, 1>::Map(in, n));
-      }
-    }
-    else if (ido == 2)
-    {
-      Scalar *in  = workd + ipntr[0] - 1;
-      Scalar *out = workd + ipntr[1] - 1;
-
-      if (isBempty || mode == 1)
-        Matrix<Scalar, Dynamic, 1>::Map(out, n) = Matrix<Scalar, Dynamic, 1>::Map(in, n);
-      else
-        Matrix<Scalar, Dynamic, 1>::Map(out, n) = B * Matrix<Scalar, Dynamic, 1>::Map(in, n);
-    }
-  } while (ido != 99);
-
-  if (info == 1)
-    m_info = NoConvergence;
-  else if (info == 3)
-    m_info = NumericalIssue;
-  else if (info < 0)
-    m_info = InvalidInput;
-  else if (info != 0)
-    eigen_assert(false && "Unknown ARPACK return value!");
-  else
-  {
-    // Do we compute eigenvectors or not?
-    //
-    int rvec = (options & ComputeEigenvectors) == ComputeEigenvectors;
-
-    // "A" means "All", use "S" to choose specific eigenvalues (not yet supported in ARPACK))
-    //
-    char howmny[2] = "A"; 
-
-    // if howmny == "S", specifies the eigenvalues to compute (not implemented in ARPACK)
-    //
-    int *select = new int[ncv];
-
-    // Final eigenvalues
-    //
-    m_eivalues.resize(nev, 1);
-
-    internal::arpack_wrapper<Scalar, RealScalar>::seupd(&rvec, howmny, select, m_eivalues.data(), v, &ldv,
-                                                        &sigma, bmat, &n, whch, &nev, &tol, resid, &ncv,
-                                                        v, &ldv, iparam, ipntr, workd, workl, &lworkl, &info);
-
-    if (info == -14)
-      m_info = NoConvergence;
-    else if (info != 0)
-      m_info = InvalidInput;
-    else
-    {
-      if (rvec)
-      {
-        m_eivec.resize(A.rows(), nev);
-        for (int i=0; i<nev; i++)
-          for (int j=0; j<n; j++)
-            m_eivec(j,i) = v[i*n+j] / scale;
-      
-        if (mode == 1 && !isBempty && BisSPD)
-          internal::OP<MatrixSolver, MatrixType, Scalar, BisSPD>::project(OP, n, nev, m_eivec.data());
-
-        m_eigenvectorsOk = true;
-      }
-
-      m_nbrIterations = iparam[2];
-      m_nbrConverged  = iparam[4];
-
-      m_info = Success;
-    }
-
-    delete[] select;
-  }
-
-  delete[] v;
-  delete[] iparam;
-  delete[] ipntr;
-  delete[] workd;
-  delete[] workl;
-  delete[] resid;
-
-  m_isInitialized = true;
-
-  return *this;
-}
-
-
-// Single precision
-//
-extern "C" void ssaupd_(int *ido, char *bmat, int *n, char *which,
-    int *nev, float *tol, float *resid, int *ncv,
-    float *v, int *ldv, int *iparam, int *ipntr,
-    float *workd, float *workl, int *lworkl,
-    int *info);
-
-extern "C" void sseupd_(int *rvec, char *All, int *select, float *d,
-    float *z, int *ldz, float *sigma, 
-    char *bmat, int *n, char *which, int *nev,
-    float *tol, float *resid, int *ncv, float *v,
-    int *ldv, int *iparam, int *ipntr, float *workd,
-    float *workl, int *lworkl, int *ierr);
-
-// Double precision
-//
-extern "C" void dsaupd_(int *ido, char *bmat, int *n, char *which,
-    int *nev, double *tol, double *resid, int *ncv,
-    double *v, int *ldv, int *iparam, int *ipntr,
-    double *workd, double *workl, int *lworkl,
-    int *info);
-
-extern "C" void dseupd_(int *rvec, char *All, int *select, double *d,
-    double *z, int *ldz, double *sigma, 
-    char *bmat, int *n, char *which, int *nev,
-    double *tol, double *resid, int *ncv, double *v,
-    int *ldv, int *iparam, int *ipntr, double *workd,
-    double *workl, int *lworkl, int *ierr);
-
-
-namespace internal {
-
-template<typename Scalar, typename RealScalar> struct arpack_wrapper
-{
-  static inline void saupd(int *ido, char *bmat, int *n, char *which,
-      int *nev, RealScalar *tol, Scalar *resid, int *ncv,
-      Scalar *v, int *ldv, int *iparam, int *ipntr,
-      Scalar *workd, Scalar *workl, int *lworkl, int *info)
-  { 
-    EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
-  }
-
-  static inline void seupd(int *rvec, char *All, int *select, Scalar *d,
-      Scalar *z, int *ldz, RealScalar *sigma,
-      char *bmat, int *n, char *which, int *nev,
-      RealScalar *tol, Scalar *resid, int *ncv, Scalar *v,
-      int *ldv, int *iparam, int *ipntr, Scalar *workd,
-      Scalar *workl, int *lworkl, int *ierr)
-  {
-    EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
-  }
-};
-
-template <> struct arpack_wrapper<float, float>
-{
-  static inline void saupd(int *ido, char *bmat, int *n, char *which,
-      int *nev, float *tol, float *resid, int *ncv,
-      float *v, int *ldv, int *iparam, int *ipntr,
-      float *workd, float *workl, int *lworkl, int *info)
-  {
-    ssaupd_(ido, bmat, n, which, nev, tol, resid, ncv, v, ldv, iparam, ipntr, workd, workl, lworkl, info);
-  }
-
-  static inline void seupd(int *rvec, char *All, int *select, float *d,
-      float *z, int *ldz, float *sigma,
-      char *bmat, int *n, char *which, int *nev,
-      float *tol, float *resid, int *ncv, float *v,
-      int *ldv, int *iparam, int *ipntr, float *workd,
-      float *workl, int *lworkl, int *ierr)
-  {
-    sseupd_(rvec, All, select, d, z, ldz, sigma, bmat, n, which, nev, tol, resid, ncv, v, ldv, iparam, ipntr,
-        workd, workl, lworkl, ierr);
-  }
-};
-
-template <> struct arpack_wrapper<double, double>
-{
-  static inline void saupd(int *ido, char *bmat, int *n, char *which,
-      int *nev, double *tol, double *resid, int *ncv,
-      double *v, int *ldv, int *iparam, int *ipntr,
-      double *workd, double *workl, int *lworkl, int *info)
-  {
-    dsaupd_(ido, bmat, n, which, nev, tol, resid, ncv, v, ldv, iparam, ipntr, workd, workl, lworkl, info);
-  }
-
-  static inline void seupd(int *rvec, char *All, int *select, double *d,
-      double *z, int *ldz, double *sigma,
-      char *bmat, int *n, char *which, int *nev,
-      double *tol, double *resid, int *ncv, double *v,
-      int *ldv, int *iparam, int *ipntr, double *workd,
-      double *workl, int *lworkl, int *ierr)
-  {
-    dseupd_(rvec, All, select, d, v, ldv, sigma, bmat, n, which, nev, tol, resid, ncv, v, ldv, iparam, ipntr,
-        workd, workl, lworkl, ierr);
-  }
-};
-
-
-template<typename MatrixSolver, typename MatrixType, typename Scalar, bool BisSPD>
-struct OP
-{
-    static inline void applyOP(MatrixSolver &OP, const MatrixType &A, int n, Scalar *in, Scalar *out);
-    static inline void project(MatrixSolver &OP, int n, int k, Scalar *vecs);
-};
-
-template<typename MatrixSolver, typename MatrixType, typename Scalar>
-struct OP<MatrixSolver, MatrixType, Scalar, true>
-{
-  static inline void applyOP(MatrixSolver &OP, const MatrixType &A, int n, Scalar *in, Scalar *out)
-{
-    // OP = L^{-1} A L^{-T}  (B = LL^T)
-    //
-    // First solve L^T out = in
-    //
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.matrixU().solve(Matrix<Scalar, Dynamic, 1>::Map(in, n));
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.permutationPinv() * Matrix<Scalar, Dynamic, 1>::Map(out, n);
-
-    // Then compute out = A out
-    //
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = A * Matrix<Scalar, Dynamic, 1>::Map(out, n);
-
-    // Then solve L out = out
-    //
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.permutationP() * Matrix<Scalar, Dynamic, 1>::Map(out, n);
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.matrixL().solve(Matrix<Scalar, Dynamic, 1>::Map(out, n));
-}
-
-  static inline void project(MatrixSolver &OP, int n, int k, Scalar *vecs)
-{
-    // Solve L^T out = in
-    //
-    Matrix<Scalar, Dynamic, Dynamic>::Map(vecs, n, k) = OP.matrixU().solve(Matrix<Scalar, Dynamic, Dynamic>::Map(vecs, n, k));
-    Matrix<Scalar, Dynamic, Dynamic>::Map(vecs, n, k) = OP.permutationPinv() * Matrix<Scalar, Dynamic, Dynamic>::Map(vecs, n, k);
-}
-
-};
-
-template<typename MatrixSolver, typename MatrixType, typename Scalar>
-struct OP<MatrixSolver, MatrixType, Scalar, false>
-{
-  static inline void applyOP(MatrixSolver &OP, const MatrixType &A, int n, Scalar *in, Scalar *out)
-{
-    eigen_assert(false && "Should never be in here...");
-}
-
-  static inline void project(MatrixSolver &OP, int n, int k, Scalar *vecs)
-{
-    eigen_assert(false && "Should never be in here...");
-}
-
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_ARPACKSELFADJOINTEIGENSOLVER_H
-
diff --git a/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/CMakeLists.txt b/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/CMakeLists.txt
deleted file mode 100644
index 40af550e8a9298..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_EulerAngles_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_EulerAngles_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/EulerAngles COMPONENT Devel
-  )
diff --git a/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/EulerAngles.h b/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/EulerAngles.h
deleted file mode 100644
index 13a0da1ab44517..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/EulerAngles.h
+++ /dev/null
@@ -1,386 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EULERANGLESCLASS_H// TODO: Fix previous "EIGEN_EULERANGLES_H" definition?
-#define EIGEN_EULERANGLESCLASS_H
-
-namespace Eigen
-{
-  /*template<typename Other,
-         int OtherRows=Other::RowsAtCompileTime,
-         int OtherCols=Other::ColsAtCompileTime>
-  struct ei_eulerangles_assign_impl;*/
-
-  /** \class EulerAngles
-    *
-    * \ingroup EulerAngles_Module
-    *
-    * \brief Represents a rotation in a 3 dimensional space as three Euler angles.
-    *
-    * Euler rotation is a set of three rotation of three angles over three fixed axes, defined by the EulerSystem given as a template parameter.
-    * 
-    * Here is how intrinsic Euler angles works:
-    *  - first, rotate the axes system over the alpha axis in angle alpha
-    *  - then, rotate the axes system over the beta axis(which was rotated in the first stage) in angle beta
-    *  - then, rotate the axes system over the gamma axis(which was rotated in the two stages above) in angle gamma
-    *
-    * \note This class support only intrinsic Euler angles for simplicity,
-    *  see EulerSystem how to easily overcome this for extrinsic systems.
-    *
-    * ### Rotation representation and conversions ###
-    *
-    * It has been proved(see Wikipedia link below) that every rotation can be represented
-    *  by Euler angles, but there is no singular representation (e.g. unlike rotation matrices).
-    * Therefore, you can convert from Eigen rotation and to them
-    *  (including rotation matrices, which is not called "rotations" by Eigen design).
-    *
-    * Euler angles usually used for:
-    *  - convenient human representation of rotation, especially in interactive GUI.
-    *  - gimbal systems and robotics
-    *  - efficient encoding(i.e. 3 floats only) of rotation for network protocols.
-    *
-    * However, Euler angles are slow comparing to quaternion or matrices,
-    *  because their unnatural math definition, although it's simple for human.
-    * To overcome this, this class provide easy movement from the math friendly representation
-    *  to the human friendly representation, and vise-versa.
-    *
-    * All the user need to do is a safe simple C++ type conversion,
-    *  and this class take care for the math.
-    * Additionally, some axes related computation is done in compile time.
-    *
-    * #### Euler angles ranges in conversions ####
-    *
-    * When converting some rotation to Euler angles, there are some ways you can guarantee
-    *  the Euler angles ranges.
-    *
-    * #### implicit ranges ####
-    * When using implicit ranges, all angles are guarantee to be in the range [-PI, +PI],
-    *  unless you convert from some other Euler angles.
-    * In this case, the range is __undefined__ (might be even less than -PI or greater than +2*PI).
-    * \sa EulerAngles(const MatrixBase<Derived>&)
-    * \sa EulerAngles(const RotationBase<Derived, 3>&)
-    *
-    * #### explicit ranges ####
-    * When using explicit ranges, all angles are guarantee to be in the range you choose.
-    * In the range Boolean parameter, you're been ask whether you prefer the positive range or not:
-    * - _true_ - force the range between [0, +2*PI]
-    * - _false_ - force the range between [-PI, +PI]
-    *
-    * ##### compile time ranges #####
-    * This is when you have compile time ranges and you prefer to
-    *  use template parameter. (e.g. for performance)
-    * \sa FromRotation()
-    *
-    * ##### run-time time ranges #####
-    * Run-time ranges are also supported.
-    * \sa EulerAngles(const MatrixBase<Derived>&, bool, bool, bool)
-    * \sa EulerAngles(const RotationBase<Derived, 3>&, bool, bool, bool)
-    *
-    * ### Convenient user typedefs ###
-    *
-    * Convenient typedefs for EulerAngles exist for float and double scalar,
-    *  in a form of EulerAngles{A}{B}{C}{scalar},
-    *  e.g. \ref EulerAnglesXYZd, \ref EulerAnglesZYZf.
-    *
-    * Only for positive axes{+x,+y,+z} Euler systems are have convenient typedef.
-    * If you need negative axes{-x,-y,-z}, it is recommended to create you own typedef with
-    *  a word that represent what you need.
-    *
-    * ### Example ###
-    *
-    * \include EulerAngles.cpp
-    * Output: \verbinclude EulerAngles.out
-    *
-    * ### Additional reading ###
-    *
-    * If you're want to get more idea about how Euler system work in Eigen see EulerSystem.
-    *
-    * More information about Euler angles: https://en.wikipedia.org/wiki/Euler_angles
-    *
-    * \tparam _Scalar the scalar type, i.e., the type of the angles.
-    *
-    * \tparam _System the EulerSystem to use, which represents the axes of rotation.
-    */
-  template <typename _Scalar, class _System>
-  class EulerAngles : public RotationBase<EulerAngles<_Scalar, _System>, 3>
-  {
-    public:
-      /** the scalar type of the angles */
-      typedef _Scalar Scalar;
-      
-      /** the EulerSystem to use, which represents the axes of rotation. */
-      typedef _System System;
-    
-      typedef Matrix<Scalar,3,3> Matrix3; /*!< the equivalent rotation matrix type */
-      typedef Matrix<Scalar,3,1> Vector3; /*!< the equivalent 3 dimension vector type */
-      typedef Quaternion<Scalar> QuaternionType; /*!< the equivalent quaternion type */
-      typedef AngleAxis<Scalar> AngleAxisType; /*!< the equivalent angle-axis type */
-      
-      /** \returns the axis vector of the first (alpha) rotation */
-      static Vector3 AlphaAxisVector() {
-        const Vector3& u = Vector3::Unit(System::AlphaAxisAbs - 1);
-        return System::IsAlphaOpposite ? -u : u;
-      }
-      
-      /** \returns the axis vector of the second (beta) rotation */
-      static Vector3 BetaAxisVector() {
-        const Vector3& u = Vector3::Unit(System::BetaAxisAbs - 1);
-        return System::IsBetaOpposite ? -u : u;
-      }
-      
-      /** \returns the axis vector of the third (gamma) rotation */
-      static Vector3 GammaAxisVector() {
-        const Vector3& u = Vector3::Unit(System::GammaAxisAbs - 1);
-        return System::IsGammaOpposite ? -u : u;
-      }
-
-    private:
-      Vector3 m_angles;
-
-    public:
-      /** Default constructor without initialization. */
-      EulerAngles() {}
-      /** Constructs and initialize Euler angles(\p alpha, \p beta, \p gamma). */
-      EulerAngles(const Scalar& alpha, const Scalar& beta, const Scalar& gamma) :
-        m_angles(alpha, beta, gamma) {}
-      
-      /** Constructs and initialize Euler angles from a 3x3 rotation matrix \p m.
-        *
-        * \note All angles will be in the range [-PI, PI].
-      */
-      template<typename Derived>
-      EulerAngles(const MatrixBase<Derived>& m) { *this = m; }
-      
-      /** Constructs and initialize Euler angles from a 3x3 rotation matrix \p m,
-        *  with options to choose for each angle the requested range.
-        *
-        * If positive range is true, then the specified angle will be in the range [0, +2*PI].
-        * Otherwise, the specified angle will be in the range [-PI, +PI].
-        *
-        * \param m The 3x3 rotation matrix to convert
-        * \param positiveRangeAlpha If true, alpha will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        * \param positiveRangeBeta If true, beta will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        * \param positiveRangeGamma If true, gamma will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-      */
-      template<typename Derived>
-      EulerAngles(
-        const MatrixBase<Derived>& m,
-        bool positiveRangeAlpha,
-        bool positiveRangeBeta,
-        bool positiveRangeGamma) {
-        
-        System::CalcEulerAngles(*this, m, positiveRangeAlpha, positiveRangeBeta, positiveRangeGamma);
-      }
-      
-      /** Constructs and initialize Euler angles from a rotation \p rot.
-        *
-        * \note All angles will be in the range [-PI, PI], unless \p rot is an EulerAngles.
-        *  If rot is an EulerAngles, expected EulerAngles range is __undefined__.
-        *  (Use other functions here for enforcing range if this effect is desired)
-      */
-      template<typename Derived>
-      EulerAngles(const RotationBase<Derived, 3>& rot) { *this = rot; }
-      
-      /** Constructs and initialize Euler angles from a rotation \p rot,
-        *  with options to choose for each angle the requested range.
-        *
-        * If positive range is true, then the specified angle will be in the range [0, +2*PI].
-        * Otherwise, the specified angle will be in the range [-PI, +PI].
-        *
-        * \param rot The 3x3 rotation matrix to convert
-        * \param positiveRangeAlpha If true, alpha will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        * \param positiveRangeBeta If true, beta will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        * \param positiveRangeGamma If true, gamma will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-      */
-      template<typename Derived>
-      EulerAngles(
-        const RotationBase<Derived, 3>& rot,
-        bool positiveRangeAlpha,
-        bool positiveRangeBeta,
-        bool positiveRangeGamma) {
-        
-        System::CalcEulerAngles(*this, rot.toRotationMatrix(), positiveRangeAlpha, positiveRangeBeta, positiveRangeGamma);
-      }
-
-      /** \returns The angle values stored in a vector (alpha, beta, gamma). */
-      const Vector3& angles() const { return m_angles; }
-      /** \returns A read-write reference to the angle values stored in a vector (alpha, beta, gamma). */
-      Vector3& angles() { return m_angles; }
-
-      /** \returns The value of the first angle. */
-      Scalar alpha() const { return m_angles[0]; }
-      /** \returns A read-write reference to the angle of the first angle. */
-      Scalar& alpha() { return m_angles[0]; }
-
-      /** \returns The value of the second angle. */
-      Scalar beta() const { return m_angles[1]; }
-      /** \returns A read-write reference to the angle of the second angle. */
-      Scalar& beta() { return m_angles[1]; }
-
-      /** \returns The value of the third angle. */
-      Scalar gamma() const { return m_angles[2]; }
-      /** \returns A read-write reference to the angle of the third angle. */
-      Scalar& gamma() { return m_angles[2]; }
-
-      /** \returns The Euler angles rotation inverse (which is as same as the negative),
-        *  (-alpha, -beta, -gamma).
-      */
-      EulerAngles inverse() const
-      {
-        EulerAngles res;
-        res.m_angles = -m_angles;
-        return res;
-      }
-
-      /** \returns The Euler angles rotation negative (which is as same as the inverse),
-        *  (-alpha, -beta, -gamma).
-      */
-      EulerAngles operator -() const
-      {
-        return inverse();
-      }
-      
-      /** Constructs and initialize Euler angles from a 3x3 rotation matrix \p m,
-        *  with options to choose for each angle the requested range (__only in compile time__).
-        *
-        * If positive range is true, then the specified angle will be in the range [0, +2*PI].
-        * Otherwise, the specified angle will be in the range [-PI, +PI].
-        *
-        * \param m The 3x3 rotation matrix to convert
-        * \tparam positiveRangeAlpha If true, alpha will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        * \tparam positiveRangeBeta If true, beta will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        * \tparam positiveRangeGamma If true, gamma will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        */
-      template<
-        bool PositiveRangeAlpha,
-        bool PositiveRangeBeta,
-        bool PositiveRangeGamma,
-        typename Derived>
-      static EulerAngles FromRotation(const MatrixBase<Derived>& m)
-      {
-        EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
-        
-        EulerAngles e;
-        System::template CalcEulerAngles<
-          PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma, _Scalar>(e, m);
-        return e;
-      }
-      
-      /** Constructs and initialize Euler angles from a rotation \p rot,
-        *  with options to choose for each angle the requested range (__only in compile time__).
-        *
-        * If positive range is true, then the specified angle will be in the range [0, +2*PI].
-        * Otherwise, the specified angle will be in the range [-PI, +PI].
-        *
-        * \param rot The 3x3 rotation matrix to convert
-        * \tparam positiveRangeAlpha If true, alpha will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        * \tparam positiveRangeBeta If true, beta will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-        * \tparam positiveRangeGamma If true, gamma will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
-      */
-      template<
-        bool PositiveRangeAlpha,
-        bool PositiveRangeBeta,
-        bool PositiveRangeGamma,
-        typename Derived>
-      static EulerAngles FromRotation(const RotationBase<Derived, 3>& rot)
-      {
-        return FromRotation<PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma>(rot.toRotationMatrix());
-      }
-      
-      /*EulerAngles& fromQuaternion(const QuaternionType& q)
-      {
-        // TODO: Implement it in a faster way for quaternions
-        // According to http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
-        //  we can compute only the needed matrix cells and then convert to euler angles. (see ZYX example below)
-        // Currently we compute all matrix cells from quaternion.
-
-        // Special case only for ZYX
-        //Scalar y2 = q.y() * q.y();
-        //m_angles[0] = std::atan2(2*(q.w()*q.z() + q.x()*q.y()), (1 - 2*(y2 + q.z()*q.z())));
-        //m_angles[1] = std::asin( 2*(q.w()*q.y() - q.z()*q.x()));
-        //m_angles[2] = std::atan2(2*(q.w()*q.x() + q.y()*q.z()), (1 - 2*(q.x()*q.x() + y2)));
-      }*/
-      
-      /** Set \c *this from a rotation matrix(i.e. pure orthogonal matrix with determinant of +1). */
-      template<typename Derived>
-      EulerAngles& operator=(const MatrixBase<Derived>& m) {
-        EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
-        
-        System::CalcEulerAngles(*this, m);
-        return *this;
-      }
-
-      // TODO: Assign and construct from another EulerAngles (with different system)
-      
-      /** Set \c *this from a rotation. */
-      template<typename Derived>
-      EulerAngles& operator=(const RotationBase<Derived, 3>& rot) {
-        System::CalcEulerAngles(*this, rot.toRotationMatrix());
-        return *this;
-      }
-      
-      // TODO: Support isApprox function
-
-      /** \returns an equivalent 3x3 rotation matrix. */
-      Matrix3 toRotationMatrix() const
-      {
-        return static_cast<QuaternionType>(*this).toRotationMatrix();
-      }
-
-      /** Convert the Euler angles to quaternion. */
-      operator QuaternionType() const
-      {
-        return
-          AngleAxisType(alpha(), AlphaAxisVector()) *
-          AngleAxisType(beta(), BetaAxisVector())   *
-          AngleAxisType(gamma(), GammaAxisVector());
-      }
-      
-      friend std::ostream& operator<<(std::ostream& s, const EulerAngles<Scalar, System>& eulerAngles)
-      {
-        s << eulerAngles.angles().transpose();
-        return s;
-      }
-  };
-
-#define EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(AXES, SCALAR_TYPE, SCALAR_POSTFIX) \
-  /** \ingroup EulerAngles_Module */ \
-  typedef EulerAngles<SCALAR_TYPE, EulerSystem##AXES> EulerAngles##AXES##SCALAR_POSTFIX;
-
-#define EIGEN_EULER_ANGLES_TYPEDEFS(SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYZ, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYX, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XZY, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XZX, SCALAR_TYPE, SCALAR_POSTFIX) \
- \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YZX, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YZY, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YXZ, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YXY, SCALAR_TYPE, SCALAR_POSTFIX) \
- \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZXY, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZXZ, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZYX, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZYZ, SCALAR_TYPE, SCALAR_POSTFIX)
-
-EIGEN_EULER_ANGLES_TYPEDEFS(float, f)
-EIGEN_EULER_ANGLES_TYPEDEFS(double, d)
-
-  namespace internal
-  {
-    template<typename _Scalar, class _System>
-    struct traits<EulerAngles<_Scalar, _System> >
-    {
-      typedef _Scalar Scalar;
-    };
-  }
-  
-}
-
-#endif // EIGEN_EULERANGLESCLASS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/EulerSystem.h b/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/EulerSystem.h
deleted file mode 100644
index 98f9f647df170b..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/EulerAngles/EulerSystem.h
+++ /dev/null
@@ -1,326 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EULERSYSTEM_H
-#define EIGEN_EULERSYSTEM_H
-
-namespace Eigen
-{
-  // Forward declerations
-  template <typename _Scalar, class _System>
-  class EulerAngles;
-  
-  namespace internal
-  {
-    // TODO: Check if already exists on the rest API
-    template <int Num, bool IsPositive = (Num > 0)>
-    struct Abs
-    {
-      enum { value = Num };
-    };
-  
-    template <int Num>
-    struct Abs<Num, false>
-    {
-      enum { value = -Num };
-    };
-
-    template <int Axis>
-    struct IsValidAxis
-    {
-      enum { value = Axis != 0 && Abs<Axis>::value <= 3 };
-    };
-  }
-  
-  #define EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(COND,MSG) typedef char static_assertion_##MSG[(COND)?1:-1]
-  
-  /** \brief Representation of a fixed signed rotation axis for EulerSystem.
-    *
-    * \ingroup EulerAngles_Module
-    *
-    * Values here represent:
-    *  - The axis of the rotation: X, Y or Z.
-    *  - The sign (i.e. direction of the rotation along the axis): positive(+) or negative(-)
-    *
-    * Therefore, this could express all the axes {+X,+Y,+Z,-X,-Y,-Z}
-    *
-    * For positive axis, use +EULER_{axis}, and for negative axis use -EULER_{axis}.
-    */
-  enum EulerAxis
-  {
-    EULER_X = 1, /*!< the X axis */
-    EULER_Y = 2, /*!< the Y axis */
-    EULER_Z = 3  /*!< the Z axis */
-  };
-  
-  /** \class EulerSystem
-    *
-    * \ingroup EulerAngles_Module
-    *
-    * \brief Represents a fixed Euler rotation system.
-    *
-    * This meta-class goal is to represent the Euler system in compilation time, for EulerAngles.
-    *
-    * You can use this class to get two things:
-    *  - Build an Euler system, and then pass it as a template parameter to EulerAngles.
-    *  - Query some compile time data about an Euler system. (e.g. Whether it's tait bryan)
-    *
-    * Euler rotation is a set of three rotation on fixed axes. (see \ref EulerAngles)
-    * This meta-class store constantly those signed axes. (see \ref EulerAxis)
-    *
-    * ### Types of Euler systems ###
-    *
-    * All and only valid 3 dimension Euler rotation over standard
-    *  signed axes{+X,+Y,+Z,-X,-Y,-Z} are supported:
-    *  - all axes X, Y, Z in each valid order (see below what order is valid)
-    *  - rotation over the axis is supported both over the positive and negative directions.
-    *  - both tait bryan and proper/classic Euler angles (i.e. the opposite).
-    *
-    * Since EulerSystem support both positive and negative directions,
-    *  you may call this rotation distinction in other names:
-    *  - _right handed_ or _left handed_
-    *  - _counterclockwise_ or _clockwise_
-    *
-    * Notice all axed combination are valid, and would trigger a static assertion.
-    * Same unsigned axes can't be neighbors, e.g. {X,X,Y} is invalid.
-    * This yield two and only two classes:
-    *  - _tait bryan_ - all unsigned axes are distinct, e.g. {X,Y,Z}
-    *  - _proper/classic Euler angles_ - The first and the third unsigned axes is equal,
-    *     and the second is different, e.g. {X,Y,X}
-    *
-    * ### Intrinsic vs extrinsic Euler systems ###
-    *
-    * Only intrinsic Euler systems are supported for simplicity.
-    *  If you want to use extrinsic Euler systems,
-    *   just use the equal intrinsic opposite order for axes and angles.
-    *  I.e axes (A,B,C) becomes (C,B,A), and angles (a,b,c) becomes (c,b,a).
-    *
-    * ### Convenient user typedefs ###
-    *
-    * Convenient typedefs for EulerSystem exist (only for positive axes Euler systems),
-    *  in a form of EulerSystem{A}{B}{C}, e.g. \ref EulerSystemXYZ.
-    *
-    * ### Additional reading ###
-    *
-    * More information about Euler angles: https://en.wikipedia.org/wiki/Euler_angles
-    *
-    * \tparam _AlphaAxis the first fixed EulerAxis
-    *
-    * \tparam _AlphaAxis the second fixed EulerAxis
-    *
-    * \tparam _AlphaAxis the third fixed EulerAxis
-    */
-  template <int _AlphaAxis, int _BetaAxis, int _GammaAxis>
-  class EulerSystem
-  {
-    public:
-    // It's defined this way and not as enum, because I think
-    //  that enum is not guerantee to support negative numbers
-    
-    /** The first rotation axis */
-    static const int AlphaAxis = _AlphaAxis;
-    
-    /** The second rotation axis */
-    static const int BetaAxis = _BetaAxis;
-    
-    /** The third rotation axis */
-    static const int GammaAxis = _GammaAxis;
-
-    enum
-    {
-      AlphaAxisAbs = internal::Abs<AlphaAxis>::value, /*!< the first rotation axis unsigned */
-      BetaAxisAbs = internal::Abs<BetaAxis>::value, /*!< the second rotation axis unsigned */
-      GammaAxisAbs = internal::Abs<GammaAxis>::value, /*!< the third rotation axis unsigned */
-      
-      IsAlphaOpposite = (AlphaAxis < 0) ? 1 : 0, /*!< weather alpha axis is negative */
-      IsBetaOpposite = (BetaAxis < 0) ? 1 : 0, /*!< weather beta axis is negative */
-      IsGammaOpposite = (GammaAxis < 0) ? 1 : 0, /*!< weather gamma axis is negative */
-      
-      IsOdd = ((AlphaAxisAbs)%3 == (BetaAxisAbs - 1)%3) ? 0 : 1, /*!< weather the Euler system is odd */
-      IsEven = IsOdd ? 0 : 1, /*!< weather the Euler system is even */
-
-      IsTaitBryan = ((unsigned)AlphaAxisAbs != (unsigned)GammaAxisAbs) ? 1 : 0 /*!< weather the Euler system is tait bryan */
-    };
-    
-    private:
-    
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<AlphaAxis>::value,
-      ALPHA_AXIS_IS_INVALID);
-      
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<BetaAxis>::value,
-      BETA_AXIS_IS_INVALID);
-      
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<GammaAxis>::value,
-      GAMMA_AXIS_IS_INVALID);
-      
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT((unsigned)AlphaAxisAbs != (unsigned)BetaAxisAbs,
-      ALPHA_AXIS_CANT_BE_EQUAL_TO_BETA_AXIS);
-      
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT((unsigned)BetaAxisAbs != (unsigned)GammaAxisAbs,
-      BETA_AXIS_CANT_BE_EQUAL_TO_GAMMA_AXIS);
-
-    enum
-    {
-      // I, J, K are the pivot indexes permutation for the rotation matrix, that match this Euler system. 
-      // They are used in this class converters.
-      // They are always different from each other, and their possible values are: 0, 1, or 2.
-      I = AlphaAxisAbs - 1,
-      J = (AlphaAxisAbs - 1 + 1 + IsOdd)%3,
-      K = (AlphaAxisAbs - 1 + 2 - IsOdd)%3
-    };
-    
-    // TODO: Get @mat parameter in form that avoids double evaluation.
-    template <typename Derived>
-    static void CalcEulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type /*isTaitBryan*/)
-    {
-      using std::atan2;
-      using std::sin;
-      using std::cos;
-      
-      typedef typename Derived::Scalar Scalar;
-      typedef Matrix<Scalar,2,1> Vector2;
-      
-      res[0] = atan2(mat(J,K), mat(K,K));
-      Scalar c2 = Vector2(mat(I,I), mat(I,J)).norm();
-      if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0))) {
-        if(res[0] > Scalar(0)) {
-          res[0] -= Scalar(EIGEN_PI);
-        }
-        else {
-          res[0] += Scalar(EIGEN_PI);
-        }
-        res[1] = atan2(-mat(I,K), -c2);
-      }
-      else
-        res[1] = atan2(-mat(I,K), c2);
-      Scalar s1 = sin(res[0]);
-      Scalar c1 = cos(res[0]);
-      res[2] = atan2(s1*mat(K,I)-c1*mat(J,I), c1*mat(J,J) - s1 * mat(K,J));
-    }
-
-    template <typename Derived>
-    static void CalcEulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res, const MatrixBase<Derived>& mat, internal::false_type /*isTaitBryan*/)
-    {
-      using std::atan2;
-      using std::sin;
-      using std::cos;
-
-      typedef typename Derived::Scalar Scalar;
-      typedef Matrix<Scalar,2,1> Vector2;
-      
-      res[0] = atan2(mat(J,I), mat(K,I));
-      if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0)))
-      {
-        if(res[0] > Scalar(0)) {
-          res[0] -= Scalar(EIGEN_PI);
-        }
-        else {
-          res[0] += Scalar(EIGEN_PI);
-        }
-        Scalar s2 = Vector2(mat(J,I), mat(K,I)).norm();
-        res[1] = -atan2(s2, mat(I,I));
-      }
-      else
-      {
-        Scalar s2 = Vector2(mat(J,I), mat(K,I)).norm();
-        res[1] = atan2(s2, mat(I,I));
-      }
-
-      // With a=(0,1,0), we have i=0; j=1; k=2, and after computing the first two angles,
-      // we can compute their respective rotation, and apply its inverse to M. Since the result must
-      // be a rotation around x, we have:
-      //
-      //  c2  s1.s2 c1.s2                   1  0   0 
-      //  0   c1    -s1       *    M    =   0  c3  s3
-      //  -s2 s1.c2 c1.c2                   0 -s3  c3
-      //
-      //  Thus:  m11.c1 - m21.s1 = c3  &   m12.c1 - m22.s1 = s3
-
-      Scalar s1 = sin(res[0]);
-      Scalar c1 = cos(res[0]);
-      res[2] = atan2(c1*mat(J,K)-s1*mat(K,K), c1*mat(J,J) - s1 * mat(K,J));
-    }
-    
-    template<typename Scalar>
-    static void CalcEulerAngles(
-      EulerAngles<Scalar, EulerSystem>& res,
-      const typename EulerAngles<Scalar, EulerSystem>::Matrix3& mat)
-    {
-      CalcEulerAngles(res, mat, false, false, false);
-    }
-    
-    template<
-      bool PositiveRangeAlpha,
-      bool PositiveRangeBeta,
-      bool PositiveRangeGamma,
-      typename Scalar>
-    static void CalcEulerAngles(
-      EulerAngles<Scalar, EulerSystem>& res,
-      const typename EulerAngles<Scalar, EulerSystem>::Matrix3& mat)
-    {
-      CalcEulerAngles(res, mat, PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma);
-    }
-    
-    template<typename Scalar>
-    static void CalcEulerAngles(
-      EulerAngles<Scalar, EulerSystem>& res,
-      const typename EulerAngles<Scalar, EulerSystem>::Matrix3& mat,
-      bool PositiveRangeAlpha,
-      bool PositiveRangeBeta,
-      bool PositiveRangeGamma)
-    {
-      CalcEulerAngles_imp(
-        res.angles(), mat,
-        typename internal::conditional<IsTaitBryan, internal::true_type, internal::false_type>::type());
-
-      if (IsAlphaOpposite == IsOdd)
-        res.alpha() = -res.alpha();
-        
-      if (IsBetaOpposite == IsOdd)
-        res.beta() = -res.beta();
-        
-      if (IsGammaOpposite == IsOdd)
-        res.gamma() = -res.gamma();
-      
-      // Saturate results to the requested range
-      if (PositiveRangeAlpha && (res.alpha() < 0))
-        res.alpha() += Scalar(2 * EIGEN_PI);
-      
-      if (PositiveRangeBeta && (res.beta() < 0))
-        res.beta() += Scalar(2 * EIGEN_PI);
-      
-      if (PositiveRangeGamma && (res.gamma() < 0))
-        res.gamma() += Scalar(2 * EIGEN_PI);
-    }
-    
-    template <typename _Scalar, class _System>
-    friend class Eigen::EulerAngles;
-  };
-
-#define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) \
-  /** \ingroup EulerAngles_Module */ \
-  typedef EulerSystem<EULER_##A, EULER_##B, EULER_##C> EulerSystem##A##B##C;
-  
-  EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,Z)
-  EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,X)
-  EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,Y)
-  EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,X)
-  
-  EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,X)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,Y)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Z)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Y)
-  
-  EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Y)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Z)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,X)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,Z)
-}
-
-#endif // EIGEN_EULERSYSTEM_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h b/phonelibs/eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h
deleted file mode 100644
index d49aa17f510a97..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h
+++ /dev/null
@@ -1,261 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. 
-//
-// Copyright (C) 2009 Mark Borgerding mark a borgerding net
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-namespace Eigen { 
-
-namespace internal {
-
-  // FFTW uses non-const arguments
-  // so we must use ugly const_cast calls for all the args it uses
-  //
-  // This should be safe as long as 
-  // 1. we use FFTW_ESTIMATE for all our planning
-  //       see the FFTW docs section 4.3.2 "Planner Flags"
-  // 2. fftw_complex is compatible with std::complex
-  //    This assumes std::complex<T> layout is array of size 2 with real,imag
-  template <typename T> 
-  inline 
-  T * fftw_cast(const T* p)
-  { 
-      return const_cast<T*>( p); 
-  }
-
-  inline 
-  fftw_complex * fftw_cast( const std::complex<double> * p)
-  {
-      return const_cast<fftw_complex*>( reinterpret_cast<const fftw_complex*>(p) ); 
-  }
-
-  inline 
-  fftwf_complex * fftw_cast( const std::complex<float> * p)
-  { 
-      return const_cast<fftwf_complex*>( reinterpret_cast<const fftwf_complex*>(p) ); 
-  }
-
-  inline 
-  fftwl_complex * fftw_cast( const std::complex<long double> * p)
-  { 
-      return const_cast<fftwl_complex*>( reinterpret_cast<const fftwl_complex*>(p) ); 
-  }
-
-  template <typename T> 
-  struct fftw_plan {};
-
-  template <> 
-  struct fftw_plan<float>
-  {
-      typedef float scalar_type;
-      typedef fftwf_complex complex_type;
-      fftwf_plan m_plan;
-      fftw_plan() :m_plan(NULL) {}
-      ~fftw_plan() {if (m_plan) fftwf_destroy_plan(m_plan);}
-
-      inline
-      void fwd(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void inv(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void fwd(complex_type * dst,scalar_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft_r2c( m_plan,src,dst);
-      }
-      inline
-      void inv(scalar_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL)
-              m_plan = fftwf_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft_c2r( m_plan, src,dst);
-      }
-
-      inline 
-      void fwd2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_2d(n0,n1,src,dst,FFTW_FORWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft( m_plan, src,dst);
-      }
-      inline 
-      void inv2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_2d(n0,n1,src,dst,FFTW_BACKWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft( m_plan, src,dst);
-      }
-
-  };
-  template <> 
-  struct fftw_plan<double>
-  {
-      typedef double scalar_type;
-      typedef fftw_complex complex_type;
-      ::fftw_plan m_plan;
-      fftw_plan() :m_plan(NULL) {}
-      ~fftw_plan() {if (m_plan) fftw_destroy_plan(m_plan);}
-
-      inline
-      void fwd(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void inv(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void fwd(complex_type * dst,scalar_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft_r2c( m_plan,src,dst);
-      }
-      inline
-      void inv(scalar_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL)
-              m_plan = fftw_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft_c2r( m_plan, src,dst);
-      }
-      inline 
-      void fwd2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_2d(n0,n1,src,dst,FFTW_FORWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft( m_plan, src,dst);
-      }
-      inline 
-      void inv2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_2d(n0,n1,src,dst,FFTW_BACKWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft( m_plan, src,dst);
-      }
-  };
-  template <> 
-  struct fftw_plan<long double>
-  {
-      typedef long double scalar_type;
-      typedef fftwl_complex complex_type;
-      fftwl_plan m_plan;
-      fftw_plan() :m_plan(NULL) {}
-      ~fftw_plan() {if (m_plan) fftwl_destroy_plan(m_plan);}
-
-      inline
-      void fwd(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void inv(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void fwd(complex_type * dst,scalar_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft_r2c( m_plan,src,dst);
-      }
-      inline
-      void inv(scalar_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL)
-              m_plan = fftwl_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft_c2r( m_plan, src,dst);
-      }
-      inline 
-      void fwd2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_2d(n0,n1,src,dst,FFTW_FORWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft( m_plan, src,dst);
-      }
-      inline 
-      void inv2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_2d(n0,n1,src,dst,FFTW_BACKWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft( m_plan, src,dst);
-      }
-  };
-
-  template <typename _Scalar>
-  struct fftw_impl
-  {
-      typedef _Scalar Scalar;
-      typedef std::complex<Scalar> Complex;
-
-      inline
-      void clear() 
-      {
-        m_plans.clear();
-      }
-
-      // complex-to-complex forward FFT
-      inline
-      void fwd( Complex * dst,const Complex *src,int nfft)
-      {
-        get_plan(nfft,false,dst,src).fwd(fftw_cast(dst), fftw_cast(src),nfft );
-      }
-
-      // real-to-complex forward FFT
-      inline
-      void fwd( Complex * dst,const Scalar * src,int nfft) 
-      {
-          get_plan(nfft,false,dst,src).fwd(fftw_cast(dst), fftw_cast(src) ,nfft);
-      }
-
-      // 2-d complex-to-complex
-      inline
-      void fwd2(Complex * dst, const Complex * src, int n0,int n1)
-      {
-          get_plan(n0,n1,false,dst,src).fwd2(fftw_cast(dst), fftw_cast(src) ,n0,n1);
-      }
-
-      // inverse complex-to-complex
-      inline
-      void inv(Complex * dst,const Complex  *src,int nfft)
-      {
-        get_plan(nfft,true,dst,src).inv(fftw_cast(dst), fftw_cast(src),nfft );
-      }
-
-      // half-complex to scalar
-      inline
-      void inv( Scalar * dst,const Complex * src,int nfft) 
-      {
-        get_plan(nfft,true,dst,src).inv(fftw_cast(dst), fftw_cast(src),nfft );
-      }
-
-      // 2-d complex-to-complex
-      inline
-      void inv2(Complex * dst, const Complex * src, int n0,int n1)
-      {
-        get_plan(n0,n1,true,dst,src).inv2(fftw_cast(dst), fftw_cast(src) ,n0,n1);
-      }
-
-
-  protected:
-      typedef fftw_plan<Scalar> PlanData;
-
-      typedef std::map<int64_t,PlanData> PlanMap;
-
-      PlanMap m_plans;
-
-      inline
-      PlanData & get_plan(int nfft,bool inverse,void * dst,const void * src)
-      {
-          bool inplace = (dst==src);
-          bool aligned = ( (reinterpret_cast<size_t>(src)&15) | (reinterpret_cast<size_t>(dst)&15) ) == 0;
-          int64_t key = ( (nfft<<3 ) | (inverse<<2) | (inplace<<1) | aligned ) << 1;
-          return m_plans[key];
-      }
-
-      inline
-      PlanData & get_plan(int n0,int n1,bool inverse,void * dst,const void * src)
-      {
-          bool inplace = (dst==src);
-          bool aligned = ( (reinterpret_cast<size_t>(src)&15) | (reinterpret_cast<size_t>(dst)&15) ) == 0;
-          int64_t key = ( ( (((int64_t)n0) << 30)|(n1<<3 ) | (inverse<<2) | (inplace<<1) | aligned ) << 1 ) + 1;
-          return m_plans[key];
-      }
-  };
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h b/phonelibs/eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
deleted file mode 100644
index be51b4e6feb1aa..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
+++ /dev/null
@@ -1,420 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Mark Borgerding mark a borgerding net
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-namespace Eigen { 
-
-namespace internal {
-
-  // This FFT implementation was derived from kissfft http:sourceforge.net/projects/kissfft
-  // Copyright 2003-2009 Mark Borgerding
-
-template <typename _Scalar>
-struct kiss_cpx_fft
-{
-  typedef _Scalar Scalar;
-  typedef std::complex<Scalar> Complex;
-  std::vector<Complex> m_twiddles;
-  std::vector<int> m_stageRadix;
-  std::vector<int> m_stageRemainder;
-  std::vector<Complex> m_scratchBuf;
-  bool m_inverse;
-
-  inline
-    void make_twiddles(int nfft,bool inverse)
-    {
-      using std::acos;
-      m_inverse = inverse;
-      m_twiddles.resize(nfft);
-      Scalar phinc =  (inverse?2:-2)* acos( (Scalar) -1)  / nfft;
-      for (int i=0;i<nfft;++i)
-        m_twiddles[i] = exp( Complex(0,i*phinc) );
-    }
-
-  void factorize(int nfft)
-  {
-    //start factoring out 4's, then 2's, then 3,5,7,9,...
-    int n= nfft;
-    int p=4;
-    do {
-      while (n % p) {
-        switch (p) {
-          case 4: p = 2; break;
-          case 2: p = 3; break;
-          default: p += 2; break;
-        }
-        if (p*p>n)
-          p=n;// impossible to have a factor > sqrt(n)
-      }
-      n /= p;
-      m_stageRadix.push_back(p);
-      m_stageRemainder.push_back(n);
-      if ( p > 5 )
-        m_scratchBuf.resize(p); // scratchbuf will be needed in bfly_generic
-    }while(n>1);
-  }
-
-  template <typename _Src>
-    inline
-    void work( int stage,Complex * xout, const _Src * xin, size_t fstride,size_t in_stride)
-    {
-      int p = m_stageRadix[stage];
-      int m = m_stageRemainder[stage];
-      Complex * Fout_beg = xout;
-      Complex * Fout_end = xout + p*m;
-
-      if (m>1) {
-        do{
-          // recursive call:
-          // DFT of size m*p performed by doing
-          // p instances of smaller DFTs of size m, 
-          // each one takes a decimated version of the input
-          work(stage+1, xout , xin, fstride*p,in_stride);
-          xin += fstride*in_stride;
-        }while( (xout += m) != Fout_end );
-      }else{
-        do{
-          *xout = *xin;
-          xin += fstride*in_stride;
-        }while(++xout != Fout_end );
-      }
-      xout=Fout_beg;
-
-      // recombine the p smaller DFTs 
-      switch (p) {
-        case 2: bfly2(xout,fstride,m); break;
-        case 3: bfly3(xout,fstride,m); break;
-        case 4: bfly4(xout,fstride,m); break;
-        case 5: bfly5(xout,fstride,m); break;
-        default: bfly_generic(xout,fstride,m,p); break;
-      }
-    }
-
-  inline
-    void bfly2( Complex * Fout, const size_t fstride, int m)
-    {
-      for (int k=0;k<m;++k) {
-        Complex t = Fout[m+k] * m_twiddles[k*fstride];
-        Fout[m+k] = Fout[k] - t;
-        Fout[k] += t;
-      }
-    }
-
-  inline
-    void bfly4( Complex * Fout, const size_t fstride, const size_t m)
-    {
-      Complex scratch[6];
-      int negative_if_inverse = m_inverse * -2 +1;
-      for (size_t k=0;k<m;++k) {
-        scratch[0] = Fout[k+m] * m_twiddles[k*fstride];
-        scratch[1] = Fout[k+2*m] * m_twiddles[k*fstride*2];
-        scratch[2] = Fout[k+3*m] * m_twiddles[k*fstride*3];
-        scratch[5] = Fout[k] - scratch[1];
-
-        Fout[k] += scratch[1];
-        scratch[3] = scratch[0] + scratch[2];
-        scratch[4] = scratch[0] - scratch[2];
-        scratch[4] = Complex( scratch[4].imag()*negative_if_inverse , -scratch[4].real()* negative_if_inverse );
-
-        Fout[k+2*m]  = Fout[k] - scratch[3];
-        Fout[k] += scratch[3];
-        Fout[k+m] = scratch[5] + scratch[4];
-        Fout[k+3*m] = scratch[5] - scratch[4];
-      }
-    }
-
-  inline
-    void bfly3( Complex * Fout, const size_t fstride, const size_t m)
-    {
-      size_t k=m;
-      const size_t m2 = 2*m;
-      Complex *tw1,*tw2;
-      Complex scratch[5];
-      Complex epi3;
-      epi3 = m_twiddles[fstride*m];
-
-      tw1=tw2=&m_twiddles[0];
-
-      do{
-        scratch[1]=Fout[m] * *tw1;
-        scratch[2]=Fout[m2] * *tw2;
-
-        scratch[3]=scratch[1]+scratch[2];
-        scratch[0]=scratch[1]-scratch[2];
-        tw1 += fstride;
-        tw2 += fstride*2;
-        Fout[m] = Complex( Fout->real() - Scalar(.5)*scratch[3].real() , Fout->imag() - Scalar(.5)*scratch[3].imag() );
-        scratch[0] *= epi3.imag();
-        *Fout += scratch[3];
-        Fout[m2] = Complex(  Fout[m].real() + scratch[0].imag() , Fout[m].imag() - scratch[0].real() );
-        Fout[m] += Complex( -scratch[0].imag(),scratch[0].real() );
-        ++Fout;
-      }while(--k);
-    }
-
-  inline
-    void bfly5( Complex * Fout, const size_t fstride, const size_t m)
-    {
-      Complex *Fout0,*Fout1,*Fout2,*Fout3,*Fout4;
-      size_t u;
-      Complex scratch[13];
-      Complex * twiddles = &m_twiddles[0];
-      Complex *tw;
-      Complex ya,yb;
-      ya = twiddles[fstride*m];
-      yb = twiddles[fstride*2*m];
-
-      Fout0=Fout;
-      Fout1=Fout0+m;
-      Fout2=Fout0+2*m;
-      Fout3=Fout0+3*m;
-      Fout4=Fout0+4*m;
-
-      tw=twiddles;
-      for ( u=0; u<m; ++u ) {
-        scratch[0] = *Fout0;
-
-        scratch[1]  = *Fout1 * tw[u*fstride];
-        scratch[2]  = *Fout2 * tw[2*u*fstride];
-        scratch[3]  = *Fout3 * tw[3*u*fstride];
-        scratch[4]  = *Fout4 * tw[4*u*fstride];
-
-        scratch[7] = scratch[1] + scratch[4];
-        scratch[10] = scratch[1] - scratch[4];
-        scratch[8] = scratch[2] + scratch[3];
-        scratch[9] = scratch[2] - scratch[3];
-
-        *Fout0 +=  scratch[7];
-        *Fout0 +=  scratch[8];
-
-        scratch[5] = scratch[0] + Complex(
-            (scratch[7].real()*ya.real() ) + (scratch[8].real() *yb.real() ),
-            (scratch[7].imag()*ya.real()) + (scratch[8].imag()*yb.real())
-            );
-
-        scratch[6] = Complex(
-            (scratch[10].imag()*ya.imag()) + (scratch[9].imag()*yb.imag()),
-            -(scratch[10].real()*ya.imag()) - (scratch[9].real()*yb.imag())
-            );
-
-        *Fout1 = scratch[5] - scratch[6];
-        *Fout4 = scratch[5] + scratch[6];
-
-        scratch[11] = scratch[0] +
-          Complex(
-              (scratch[7].real()*yb.real()) + (scratch[8].real()*ya.real()),
-              (scratch[7].imag()*yb.real()) + (scratch[8].imag()*ya.real())
-              );
-
-        scratch[12] = Complex(
-            -(scratch[10].imag()*yb.imag()) + (scratch[9].imag()*ya.imag()),
-            (scratch[10].real()*yb.imag()) - (scratch[9].real()*ya.imag())
-            );
-
-        *Fout2=scratch[11]+scratch[12];
-        *Fout3=scratch[11]-scratch[12];
-
-        ++Fout0;++Fout1;++Fout2;++Fout3;++Fout4;
-      }
-    }
-
-  /* perform the butterfly for one stage of a mixed radix FFT */
-  inline
-    void bfly_generic(
-        Complex * Fout,
-        const size_t fstride,
-        int m,
-        int p
-        )
-    {
-      int u,k,q1,q;
-      Complex * twiddles = &m_twiddles[0];
-      Complex t;
-      int Norig = static_cast<int>(m_twiddles.size());
-      Complex * scratchbuf = &m_scratchBuf[0];
-
-      for ( u=0; u<m; ++u ) {
-        k=u;
-        for ( q1=0 ; q1<p ; ++q1 ) {
-          scratchbuf[q1] = Fout[ k  ];
-          k += m;
-        }
-
-        k=u;
-        for ( q1=0 ; q1<p ; ++q1 ) {
-          int twidx=0;
-          Fout[ k ] = scratchbuf[0];
-          for (q=1;q<p;++q ) {
-            twidx += static_cast<int>(fstride) * k;
-            if (twidx>=Norig) twidx-=Norig;
-            t=scratchbuf[q] * twiddles[twidx];
-            Fout[ k ] += t;
-          }
-          k += m;
-        }
-      }
-    }
-};
-
-template <typename _Scalar>
-struct kissfft_impl
-{
-  typedef _Scalar Scalar;
-  typedef std::complex<Scalar> Complex;
-
-  void clear() 
-  {
-    m_plans.clear();
-    m_realTwiddles.clear();
-  }
-
-  inline
-    void fwd( Complex * dst,const Complex *src,int nfft)
-    {
-      get_plan(nfft,false).work(0, dst, src, 1,1);
-    }
-
-  inline
-    void fwd2( Complex * dst,const Complex *src,int n0,int n1)
-    {
-        EIGEN_UNUSED_VARIABLE(dst);
-        EIGEN_UNUSED_VARIABLE(src);
-        EIGEN_UNUSED_VARIABLE(n0);
-        EIGEN_UNUSED_VARIABLE(n1);
-    }
-
-  inline
-    void inv2( Complex * dst,const Complex *src,int n0,int n1)
-    {
-        EIGEN_UNUSED_VARIABLE(dst);
-        EIGEN_UNUSED_VARIABLE(src);
-        EIGEN_UNUSED_VARIABLE(n0);
-        EIGEN_UNUSED_VARIABLE(n1);
-    }
-
-  // real-to-complex forward FFT
-  // perform two FFTs of src even and src odd
-  // then twiddle to recombine them into the half-spectrum format
-  // then fill in the conjugate symmetric half
-  inline
-    void fwd( Complex * dst,const Scalar * src,int nfft) 
-    {
-      if ( nfft&3  ) {
-        // use generic mode for odd
-        m_tmpBuf1.resize(nfft);
-        get_plan(nfft,false).work(0, &m_tmpBuf1[0], src, 1,1);
-        std::copy(m_tmpBuf1.begin(),m_tmpBuf1.begin()+(nfft>>1)+1,dst );
-      }else{
-        int ncfft = nfft>>1;
-        int ncfft2 = nfft>>2;
-        Complex * rtw = real_twiddles(ncfft2);
-
-        // use optimized mode for even real
-        fwd( dst, reinterpret_cast<const Complex*> (src), ncfft);
-        Complex dc = dst[0].real() +  dst[0].imag();
-        Complex nyquist = dst[0].real() -  dst[0].imag();
-        int k;
-        for ( k=1;k <= ncfft2 ; ++k ) {
-          Complex fpk = dst[k];
-          Complex fpnk = conj(dst[ncfft-k]);
-          Complex f1k = fpk + fpnk;
-          Complex f2k = fpk - fpnk;
-          Complex tw= f2k * rtw[k-1];
-          dst[k] =  (f1k + tw) * Scalar(.5);
-          dst[ncfft-k] =  conj(f1k -tw)*Scalar(.5);
-        }
-        dst[0] = dc;
-        dst[ncfft] = nyquist;
-      }
-    }
-
-  // inverse complex-to-complex
-  inline
-    void inv(Complex * dst,const Complex  *src,int nfft)
-    {
-      get_plan(nfft,true).work(0, dst, src, 1,1);
-    }
-
-  // half-complex to scalar
-  inline
-    void inv( Scalar * dst,const Complex * src,int nfft) 
-    {
-      if (nfft&3) {
-        m_tmpBuf1.resize(nfft);
-        m_tmpBuf2.resize(nfft);
-        std::copy(src,src+(nfft>>1)+1,m_tmpBuf1.begin() );
-        for (int k=1;k<(nfft>>1)+1;++k)
-          m_tmpBuf1[nfft-k] = conj(m_tmpBuf1[k]);
-        inv(&m_tmpBuf2[0],&m_tmpBuf1[0],nfft);
-        for (int k=0;k<nfft;++k)
-          dst[k] = m_tmpBuf2[k].real();
-      }else{
-        // optimized version for multiple of 4
-        int ncfft = nfft>>1;
-        int ncfft2 = nfft>>2;
-        Complex * rtw = real_twiddles(ncfft2);
-        m_tmpBuf1.resize(ncfft);
-        m_tmpBuf1[0] = Complex( src[0].real() + src[ncfft].real(), src[0].real() - src[ncfft].real() );
-        for (int k = 1; k <= ncfft / 2; ++k) {
-          Complex fk = src[k];
-          Complex fnkc = conj(src[ncfft-k]);
-          Complex fek = fk + fnkc;
-          Complex tmp = fk - fnkc;
-          Complex fok = tmp * conj(rtw[k-1]);
-          m_tmpBuf1[k] = fek + fok;
-          m_tmpBuf1[ncfft-k] = conj(fek - fok);
-        }
-        get_plan(ncfft,true).work(0, reinterpret_cast<Complex*>(dst), &m_tmpBuf1[0], 1,1);
-      }
-    }
-
-  protected:
-  typedef kiss_cpx_fft<Scalar> PlanData;
-  typedef std::map<int,PlanData> PlanMap;
-
-  PlanMap m_plans;
-  std::map<int, std::vector<Complex> > m_realTwiddles;
-  std::vector<Complex> m_tmpBuf1;
-  std::vector<Complex> m_tmpBuf2;
-
-  inline
-    int PlanKey(int nfft, bool isinverse) const { return (nfft<<1) | int(isinverse); }
-
-  inline
-    PlanData & get_plan(int nfft, bool inverse)
-    {
-      // TODO look for PlanKey(nfft, ! inverse) and conjugate the twiddles
-      PlanData & pd = m_plans[ PlanKey(nfft,inverse) ];
-      if ( pd.m_twiddles.size() == 0 ) {
-        pd.make_twiddles(nfft,inverse);
-        pd.factorize(nfft);
-      }
-      return pd;
-    }
-
-  inline
-    Complex * real_twiddles(int ncfft2)
-    {
-      using std::acos;
-      std::vector<Complex> & twidref = m_realTwiddles[ncfft2];// creates new if not there
-      if ( (int)twidref.size() != ncfft2 ) {
-        twidref.resize(ncfft2);
-        int ncfft= ncfft2<<1;
-        Scalar pi =  acos( Scalar(-1) );
-        for (int k=1;k<=ncfft2;++k) 
-          twidref[k-1] = exp( Complex(0,-pi * (Scalar(k) / ncfft + Scalar(.5)) ) );
-      }
-      return &twidref[0];
-    }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h b/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h
deleted file mode 100644
index dc0093eb9792c8..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h
+++ /dev/null
@@ -1,189 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-
-/* NOTE The functions of this file have been adapted from the GMM++ library */
-
-//========================================================================
-//
-// Copyright (C) 2002-2007 Yves Renard
-//
-// This file is a part of GETFEM++
-//
-// Getfem++ is free software; you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as
-// published by the Free Software Foundation; version 2.1 of the License.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU Lesser General Public License for more details.
-// You should have received a copy of the GNU Lesser General Public
-// License along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301,
-// USA.
-//
-//========================================================================
-
-#include "../../../../Eigen/src/Core/util/NonMPL2.h"
-
-#ifndef EIGEN_CONSTRAINEDCG_H
-#define EIGEN_CONSTRAINEDCG_H
-
-#include <Eigen/Core>
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \ingroup IterativeSolvers_Module
-  * Compute the pseudo inverse of the non-square matrix C such that
-  * \f$ CINV = (C * C^T)^{-1} * C \f$ based on a conjugate gradient method.
-  *
-  * This function is internally used by constrained_cg.
-  */
-template <typename CMatrix, typename CINVMatrix>
-void pseudo_inverse(const CMatrix &C, CINVMatrix &CINV)
-{
-  // optimisable : copie de la ligne, precalcul de C * trans(C).
-  typedef typename CMatrix::Scalar Scalar;
-  typedef typename CMatrix::Index Index;
-  // FIXME use sparse vectors ?
-  typedef Matrix<Scalar,Dynamic,1> TmpVec;
-
-  Index rows = C.rows(), cols = C.cols();
-
-  TmpVec d(rows), e(rows), l(cols), p(rows), q(rows), r(rows);
-  Scalar rho, rho_1, alpha;
-  d.setZero();
-
-  typedef Triplet<double> T;
-  std::vector<T> tripletList;
-    
-  for (Index i = 0; i < rows; ++i)
-  {
-    d[i] = 1.0;
-    rho = 1.0;
-    e.setZero();
-    r = d;
-    p = d;
-
-    while (rho >= 1e-38)
-    { /* conjugate gradient to compute e             */
-      /* which is the i-th row of inv(C * trans(C))  */
-      l = C.transpose() * p;
-      q = C * l;
-      alpha = rho / p.dot(q);
-      e +=  alpha * p;
-      r += -alpha * q;
-      rho_1 = rho;
-      rho = r.dot(r);
-      p = (rho/rho_1) * p + r;
-    }
-
-    l = C.transpose() * e; // l is the i-th row of CINV
-    // FIXME add a generic "prune/filter" expression for both dense and sparse object to sparse
-    for (Index j=0; j<l.size(); ++j)
-      if (l[j]<1e-15)
-	tripletList.push_back(T(i,j,l(j)));
-
-	
-    d[i] = 0.0;
-  }
-  CINV.setFromTriplets(tripletList.begin(), tripletList.end());
-}
-
-
-
-/** \ingroup IterativeSolvers_Module
-  * Constrained conjugate gradient
-  *
-  * Computes the minimum of \f$ 1/2((Ax).x) - bx \f$ under the contraint \f$ Cx \le f \f$
-  */
-template<typename TMatrix, typename CMatrix,
-         typename VectorX, typename VectorB, typename VectorF>
-void constrained_cg(const TMatrix& A, const CMatrix& C, VectorX& x,
-                       const VectorB& b, const VectorF& f, IterationController &iter)
-{
-  using std::sqrt;
-  typedef typename TMatrix::Scalar Scalar;
-  typedef typename TMatrix::Index Index;
-  typedef Matrix<Scalar,Dynamic,1>  TmpVec;
-
-  Scalar rho = 1.0, rho_1, lambda, gamma;
-  Index xSize = x.size();
-  TmpVec  p(xSize), q(xSize), q2(xSize),
-          r(xSize), old_z(xSize), z(xSize),
-          memox(xSize);
-  std::vector<bool> satured(C.rows());
-  p.setZero();
-  iter.setRhsNorm(sqrt(b.dot(b))); // gael vect_sp(PS, b, b)
-  if (iter.rhsNorm() == 0.0) iter.setRhsNorm(1.0);
-
-  SparseMatrix<Scalar,RowMajor> CINV(C.rows(), C.cols());
-  pseudo_inverse(C, CINV);
-
-  while(true)
-  {
-    // computation of residual
-    old_z = z;
-    memox = x;
-    r = b;
-    r += A * -x;
-    z = r;
-    bool transition = false;
-    for (Index i = 0; i < C.rows(); ++i)
-    {
-      Scalar al = C.row(i).dot(x) - f.coeff(i);
-      if (al >= -1.0E-15)
-      {
-        if (!satured[i])
-        {
-          satured[i] = true;
-          transition = true;
-        }
-        Scalar bb = CINV.row(i).dot(z);
-        if (bb > 0.0)
-          // FIXME: we should allow that: z += -bb * C.row(i);
-          for (typename CMatrix::InnerIterator it(C,i); it; ++it)
-            z.coeffRef(it.index()) -= bb*it.value();
-      }
-      else
-        satured[i] = false;
-    }
-
-    // descent direction
-    rho_1 = rho;
-    rho = r.dot(z);
-
-    if (iter.finished(rho)) break;
-
-    if (iter.noiseLevel() > 0 && transition) std::cerr << "CCG: transition\n";
-    if (transition || iter.first()) gamma = 0.0;
-    else gamma = (std::max)(0.0, (rho - old_z.dot(z)) / rho_1);
-    p = z + gamma*p;
-
-    ++iter;
-    // one dimensionnal optimization
-    q = A * p;
-    lambda = rho / q.dot(p);
-    for (Index i = 0; i < C.rows(); ++i)
-    {
-      if (!satured[i])
-      {
-        Scalar bb = C.row(i).dot(p) - f[i];
-        if (bb > 0.0)
-          lambda = (std::min)(lambda, (f.coeff(i)-C.row(i).dot(x)) / bb);
-      }
-    }
-    x += lambda * p;
-    memox -= x;
-  }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CONSTRAINEDCG_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/DGMRES.h b/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/DGMRES.h
deleted file mode 100644
index bae04fc30c8795..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/DGMRES.h
+++ /dev/null
@@ -1,513 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DGMRES_H
-#define EIGEN_DGMRES_H
-
-#include <Eigen/Eigenvalues>
-
-namespace Eigen { 
-  
-template< typename _MatrixType,
-          typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar> >
-class DGMRES;
-
-namespace internal {
-
-template< typename _MatrixType, typename _Preconditioner>
-struct traits<DGMRES<_MatrixType,_Preconditioner> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Preconditioner Preconditioner;
-};
-
-/** \brief Computes a permutation vector to have a sorted sequence
-  * \param vec The vector to reorder.
-  * \param perm gives the sorted sequence on output. Must be initialized with 0..n-1
-  * \param ncut Put  the ncut smallest elements at the end of the vector
-  * WARNING This is an expensive sort, so should be used only 
-  * for small size vectors
-  * TODO Use modified QuickSplit or std::nth_element to get the smallest values 
-  */
-template <typename VectorType, typename IndexType>
-void sortWithPermutation (VectorType& vec, IndexType& perm, typename IndexType::Scalar& ncut)
-{
-  eigen_assert(vec.size() == perm.size());
-  typedef typename IndexType::Scalar Index; 
-  bool flag; 
-  for (Index k  = 0; k < ncut; k++)
-  {
-    flag = false;
-    for (Index j = 0; j < vec.size()-1; j++)
-    {
-      if ( vec(perm(j)) < vec(perm(j+1)) )
-      {
-        std::swap(perm(j),perm(j+1)); 
-        flag = true;
-      }
-      if (!flag) break; // The vector is in sorted order
-    }
-  }
-}
-
-}
-/**
- * \ingroup IterativeLInearSolvers_Module
- * \brief A Restarted GMRES with deflation.
- * This class implements a modification of the GMRES solver for
- * sparse linear systems. The basis is built with modified 
- * Gram-Schmidt. At each restart, a few approximated eigenvectors
- * corresponding to the smallest eigenvalues are used to build a
- * preconditioner for the next cycle. This preconditioner 
- * for deflation can be combined with any other preconditioner, 
- * the IncompleteLUT for instance. The preconditioner is applied 
- * at right of the matrix and the combination is multiplicative.
- * 
- * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
- * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
- * Typical usage :
- * \code
- * SparseMatrix<double> A;
- * VectorXd x, b; 
- * //Fill A and b ...
- * DGMRES<SparseMatrix<double> > solver;
- * solver.set_restart(30); // Set restarting value
- * solver.setEigenv(1); // Set the number of eigenvalues to deflate
- * solver.compute(A);
- * x = solver.solve(b);
- * \endcode
- * 
- * DGMRES can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
- *
- * References :
- * [1] D. NUENTSA WAKAM and F. PACULL, Memory Efficient Hybrid
- *  Algebraic Solvers for Linear Systems Arising from Compressible
- *  Flows, Computers and Fluids, In Press,
- *  http://dx.doi.org/10.1016/j.compfluid.2012.03.023   
- * [2] K. Burrage and J. Erhel, On the performance of various 
- * adaptive preconditioned GMRES strategies, 5(1998), 101-121.
- * [3] J. Erhel, K. Burrage and B. Pohl, Restarted GMRES 
- *  preconditioned by deflation,J. Computational and Applied
- *  Mathematics, 69(1996), 303-318. 
-
- * 
- */
-template< typename _MatrixType, typename _Preconditioner>
-class DGMRES : public IterativeSolverBase<DGMRES<_MatrixType,_Preconditioner> >
-{
-    typedef IterativeSolverBase<DGMRES> Base;
-    using Base::matrix;
-    using Base::m_error;
-    using Base::m_iterations;
-    using Base::m_info;
-    using Base::m_isInitialized;
-    using Base::m_tolerance; 
-  public:
-    using Base::_solve_impl;
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef _Preconditioner Preconditioner;
-    typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix; 
-    typedef Matrix<RealScalar,Dynamic,Dynamic> DenseRealMatrix; 
-    typedef Matrix<Scalar,Dynamic,1> DenseVector;
-    typedef Matrix<RealScalar,Dynamic,1> DenseRealVector; 
-    typedef Matrix<std::complex<RealScalar>, Dynamic, 1> ComplexVector;
- 
-    
-  /** Default constructor. */
-  DGMRES() : Base(),m_restart(30),m_neig(0),m_r(0),m_maxNeig(5),m_isDeflAllocated(false),m_isDeflInitialized(false) {}
-
-  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    * 
-    * This constructor is a shortcut for the default constructor followed
-    * by a call to compute().
-    * 
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  template<typename MatrixDerived>
-  explicit DGMRES(const EigenBase<MatrixDerived>& A) : Base(A.derived()), m_restart(30),m_neig(0),m_r(0),m_maxNeig(5),m_isDeflAllocated(false),m_isDeflInitialized(false) {}
-
-  ~DGMRES() {}
-  
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
-  {    
-    bool failed = false;
-    for(int j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-      
-      typename Dest::ColXpr xj(x,j);
-      dgmres(matrix(), b.col(j), xj, Base::m_preconditioner);
-    }
-    m_info = failed ? NumericalIssue
-           : m_error <= Base::m_tolerance ? Success
-           : NoConvergence;
-    m_isInitialized = true;
-  }
-
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve_impl(const Rhs& b, MatrixBase<Dest>& x) const
-  {
-    x = b;
-    _solve_with_guess_impl(b,x.derived());
-  }
-  /** 
-   * Get the restart value
-    */
-  int restart() { return m_restart; }
-  
-  /** 
-   * Set the restart value (default is 30)  
-   */
-  void set_restart(const int restart) { m_restart=restart; }
-  
-  /** 
-   * Set the number of eigenvalues to deflate at each restart 
-   */
-  void setEigenv(const int neig) 
-  {
-    m_neig = neig;
-    if (neig+1 > m_maxNeig) m_maxNeig = neig+1; // To allow for complex conjugates
-  }
-  
-  /** 
-   * Get the size of the deflation subspace size
-   */ 
-  int deflSize() {return m_r; }
-  
-  /**
-   * Set the maximum size of the deflation subspace
-   */
-  void setMaxEigenv(const int maxNeig) { m_maxNeig = maxNeig; }
-  
-  protected:
-    // DGMRES algorithm 
-    template<typename Rhs, typename Dest>
-    void dgmres(const MatrixType& mat,const Rhs& rhs, Dest& x, const Preconditioner& precond) const;
-    // Perform one cycle of GMRES
-    template<typename Dest>
-    int dgmresCycle(const MatrixType& mat, const Preconditioner& precond, Dest& x, DenseVector& r0, RealScalar& beta, const RealScalar& normRhs, int& nbIts) const; 
-    // Compute data to use for deflation 
-    int dgmresComputeDeflationData(const MatrixType& mat, const Preconditioner& precond, const Index& it, StorageIndex& neig) const;
-    // Apply deflation to a vector
-    template<typename RhsType, typename DestType>
-    int dgmresApplyDeflation(const RhsType& In, DestType& Out) const; 
-    ComplexVector schurValues(const ComplexSchur<DenseMatrix>& schurofH) const;
-    ComplexVector schurValues(const RealSchur<DenseMatrix>& schurofH) const;
-    // Init data for deflation
-    void dgmresInitDeflation(Index& rows) const; 
-    mutable DenseMatrix m_V; // Krylov basis vectors
-    mutable DenseMatrix m_H; // Hessenberg matrix 
-    mutable DenseMatrix m_Hes; // Initial hessenberg matrix wihout Givens rotations applied
-    mutable Index m_restart; // Maximum size of the Krylov subspace
-    mutable DenseMatrix m_U; // Vectors that form the basis of the invariant subspace 
-    mutable DenseMatrix m_MU; // matrix operator applied to m_U (for next cycles)
-    mutable DenseMatrix m_T; /* T=U^T*M^{-1}*A*U */
-    mutable PartialPivLU<DenseMatrix> m_luT; // LU factorization of m_T
-    mutable StorageIndex m_neig; //Number of eigenvalues to extract at each restart
-    mutable int m_r; // Current number of deflated eigenvalues, size of m_U
-    mutable int m_maxNeig; // Maximum number of eigenvalues to deflate
-    mutable RealScalar m_lambdaN; //Modulus of the largest eigenvalue of A
-    mutable bool m_isDeflAllocated;
-    mutable bool m_isDeflInitialized;
-    
-    //Adaptive strategy 
-    mutable RealScalar m_smv; // Smaller multiple of the remaining number of steps allowed
-    mutable bool m_force; // Force the use of deflation at each restart
-    
-}; 
-/** 
- * \brief Perform several cycles of restarted GMRES with modified Gram Schmidt, 
- * 
- * A right preconditioner is used combined with deflation.
- * 
- */
-template< typename _MatrixType, typename _Preconditioner>
-template<typename Rhs, typename Dest>
-void DGMRES<_MatrixType, _Preconditioner>::dgmres(const MatrixType& mat,const Rhs& rhs, Dest& x,
-              const Preconditioner& precond) const
-{
-  //Initialization
-  int n = mat.rows(); 
-  DenseVector r0(n); 
-  int nbIts = 0; 
-  m_H.resize(m_restart+1, m_restart);
-  m_Hes.resize(m_restart, m_restart);
-  m_V.resize(n,m_restart+1);
-  //Initial residual vector and intial norm
-  x = precond.solve(x);
-  r0 = rhs - mat * x; 
-  RealScalar beta = r0.norm(); 
-  RealScalar normRhs = rhs.norm();
-  m_error = beta/normRhs; 
-  if(m_error < m_tolerance)
-    m_info = Success; 
-  else
-    m_info = NoConvergence;
-  
-  // Iterative process
-  while (nbIts < m_iterations && m_info == NoConvergence)
-  {
-    dgmresCycle(mat, precond, x, r0, beta, normRhs, nbIts); 
-    
-    // Compute the new residual vector for the restart 
-    if (nbIts < m_iterations && m_info == NoConvergence)
-      r0 = rhs - mat * x; 
-  }
-} 
-
-/**
- * \brief Perform one restart cycle of DGMRES
- * \param mat The coefficient matrix
- * \param precond The preconditioner
- * \param x the new approximated solution
- * \param r0 The initial residual vector
- * \param beta The norm of the residual computed so far
- * \param normRhs The norm of the right hand side vector
- * \param nbIts The number of iterations
- */
-template< typename _MatrixType, typename _Preconditioner>
-template<typename Dest>
-int DGMRES<_MatrixType, _Preconditioner>::dgmresCycle(const MatrixType& mat, const Preconditioner& precond, Dest& x, DenseVector& r0, RealScalar& beta, const RealScalar& normRhs, int& nbIts) const
-{
-  //Initialization 
-  DenseVector g(m_restart+1); // Right hand side of the least square problem
-  g.setZero();  
-  g(0) = Scalar(beta); 
-  m_V.col(0) = r0/beta; 
-  m_info = NoConvergence; 
-  std::vector<JacobiRotation<Scalar> >gr(m_restart); // Givens rotations
-  int it = 0; // Number of inner iterations 
-  int n = mat.rows();
-  DenseVector tv1(n), tv2(n);  //Temporary vectors
-  while (m_info == NoConvergence && it < m_restart && nbIts < m_iterations)
-  {    
-    // Apply preconditioner(s) at right
-    if (m_isDeflInitialized )
-    {
-      dgmresApplyDeflation(m_V.col(it), tv1); // Deflation
-      tv2 = precond.solve(tv1); 
-    }
-    else
-    {
-      tv2 = precond.solve(m_V.col(it)); // User's selected preconditioner
-    }
-    tv1 = mat * tv2; 
-   
-    // Orthogonalize it with the previous basis in the basis using modified Gram-Schmidt
-    Scalar coef; 
-    for (int i = 0; i <= it; ++i)
-    { 
-      coef = tv1.dot(m_V.col(i));
-      tv1 = tv1 - coef * m_V.col(i); 
-      m_H(i,it) = coef; 
-      m_Hes(i,it) = coef; 
-    }
-    // Normalize the vector 
-    coef = tv1.norm(); 
-    m_V.col(it+1) = tv1/coef;
-    m_H(it+1, it) = coef;
-//     m_Hes(it+1,it) = coef; 
-    
-    // FIXME Check for happy breakdown 
-    
-    // Update Hessenberg matrix with Givens rotations
-    for (int i = 1; i <= it; ++i) 
-    {
-      m_H.col(it).applyOnTheLeft(i-1,i,gr[i-1].adjoint());
-    }
-    // Compute the new plane rotation 
-    gr[it].makeGivens(m_H(it, it), m_H(it+1,it)); 
-    // Apply the new rotation
-    m_H.col(it).applyOnTheLeft(it,it+1,gr[it].adjoint());
-    g.applyOnTheLeft(it,it+1, gr[it].adjoint()); 
-    
-    beta = std::abs(g(it+1));
-    m_error = beta/normRhs; 
-    // std::cerr << nbIts << " Relative Residual Norm " << m_error << std::endl;
-    it++; nbIts++; 
-    
-    if (m_error < m_tolerance)
-    {
-      // The method has converged
-      m_info = Success;
-      break;
-    }
-  }
-  
-  // Compute the new coefficients by solving the least square problem
-//   it++;
-  //FIXME  Check first if the matrix is singular ... zero diagonal
-  DenseVector nrs(m_restart); 
-  nrs = m_H.topLeftCorner(it,it).template triangularView<Upper>().solve(g.head(it)); 
-  
-  // Form the new solution
-  if (m_isDeflInitialized)
-  {
-    tv1 = m_V.leftCols(it) * nrs; 
-    dgmresApplyDeflation(tv1, tv2); 
-    x = x + precond.solve(tv2);
-  }
-  else
-    x = x + precond.solve(m_V.leftCols(it) * nrs); 
-  
-  // Go for a new cycle and compute data for deflation
-  if(nbIts < m_iterations && m_info == NoConvergence && m_neig > 0 && (m_r+m_neig) < m_maxNeig)
-    dgmresComputeDeflationData(mat, precond, it, m_neig); 
-  return 0; 
-  
-}
-
-
-template< typename _MatrixType, typename _Preconditioner>
-void DGMRES<_MatrixType, _Preconditioner>::dgmresInitDeflation(Index& rows) const
-{
-  m_U.resize(rows, m_maxNeig);
-  m_MU.resize(rows, m_maxNeig); 
-  m_T.resize(m_maxNeig, m_maxNeig);
-  m_lambdaN = 0.0; 
-  m_isDeflAllocated = true; 
-}
-
-template< typename _MatrixType, typename _Preconditioner>
-inline typename DGMRES<_MatrixType, _Preconditioner>::ComplexVector DGMRES<_MatrixType, _Preconditioner>::schurValues(const ComplexSchur<DenseMatrix>& schurofH) const
-{
-  return schurofH.matrixT().diagonal();
-}
-
-template< typename _MatrixType, typename _Preconditioner>
-inline typename DGMRES<_MatrixType, _Preconditioner>::ComplexVector DGMRES<_MatrixType, _Preconditioner>::schurValues(const RealSchur<DenseMatrix>& schurofH) const
-{
-  typedef typename MatrixType::Index Index;
-  const DenseMatrix& T = schurofH.matrixT();
-  Index it = T.rows();
-  ComplexVector eig(it);
-  Index j = 0;
-  while (j < it-1)
-  {
-    if (T(j+1,j) ==Scalar(0))
-    {
-      eig(j) = std::complex<RealScalar>(T(j,j),RealScalar(0)); 
-      j++; 
-    }
-    else
-    {
-      eig(j) = std::complex<RealScalar>(T(j,j),T(j+1,j)); 
-      eig(j+1) = std::complex<RealScalar>(T(j,j+1),T(j+1,j+1));
-      j++;
-    }
-  }
-  if (j < it-1) eig(j) = std::complex<RealScalar>(T(j,j),RealScalar(0));
-  return eig;
-}
-
-template< typename _MatrixType, typename _Preconditioner>
-int DGMRES<_MatrixType, _Preconditioner>::dgmresComputeDeflationData(const MatrixType& mat, const Preconditioner& precond, const Index& it, StorageIndex& neig) const
-{
-  // First, find the Schur form of the Hessenberg matrix H
-  typename internal::conditional<NumTraits<Scalar>::IsComplex, ComplexSchur<DenseMatrix>, RealSchur<DenseMatrix> >::type schurofH; 
-  bool computeU = true;
-  DenseMatrix matrixQ(it,it); 
-  matrixQ.setIdentity();
-  schurofH.computeFromHessenberg(m_Hes.topLeftCorner(it,it), matrixQ, computeU); 
-  
-  ComplexVector eig(it);
-  Matrix<StorageIndex,Dynamic,1>perm(it);
-  eig = this->schurValues(schurofH);
-  
-  // Reorder the absolute values of Schur values
-  DenseRealVector modulEig(it); 
-  for (int j=0; j<it; ++j) modulEig(j) = std::abs(eig(j)); 
-  perm.setLinSpaced(it,0,it-1);
-  internal::sortWithPermutation(modulEig, perm, neig);
-  
-  if (!m_lambdaN)
-  {
-    m_lambdaN = (std::max)(modulEig.maxCoeff(), m_lambdaN);
-  }
-  //Count the real number of extracted eigenvalues (with complex conjugates)
-  int nbrEig = 0; 
-  while (nbrEig < neig)
-  {
-    if(eig(perm(it-nbrEig-1)).imag() == RealScalar(0)) nbrEig++; 
-    else nbrEig += 2; 
-  }
-  // Extract the  Schur vectors corresponding to the smallest Ritz values
-  DenseMatrix Sr(it, nbrEig); 
-  Sr.setZero();
-  for (int j = 0; j < nbrEig; j++)
-  {
-    Sr.col(j) = schurofH.matrixU().col(perm(it-j-1));
-  }
-  
-  // Form the Schur vectors of the initial matrix using the Krylov basis
-  DenseMatrix X; 
-  X = m_V.leftCols(it) * Sr;
-  if (m_r)
-  {
-   // Orthogonalize X against m_U using modified Gram-Schmidt
-   for (int j = 0; j < nbrEig; j++)
-     for (int k =0; k < m_r; k++)
-      X.col(j) = X.col(j) - (m_U.col(k).dot(X.col(j)))*m_U.col(k); 
-  }
-  
-  // Compute m_MX = A * M^-1 * X
-  Index m = m_V.rows();
-  if (!m_isDeflAllocated) 
-    dgmresInitDeflation(m); 
-  DenseMatrix MX(m, nbrEig);
-  DenseVector tv1(m);
-  for (int j = 0; j < nbrEig; j++)
-  {
-    tv1 = mat * X.col(j);
-    MX.col(j) = precond.solve(tv1);
-  }
-  
-  //Update m_T = [U'MU U'MX; X'MU X'MX]
-  m_T.block(m_r, m_r, nbrEig, nbrEig) = X.transpose() * MX; 
-  if(m_r)
-  {
-    m_T.block(0, m_r, m_r, nbrEig) = m_U.leftCols(m_r).transpose() * MX; 
-    m_T.block(m_r, 0, nbrEig, m_r) = X.transpose() * m_MU.leftCols(m_r);
-  }
-  
-  // Save X into m_U and m_MX in m_MU
-  for (int j = 0; j < nbrEig; j++) m_U.col(m_r+j) = X.col(j);
-  for (int j = 0; j < nbrEig; j++) m_MU.col(m_r+j) = MX.col(j);
-  // Increase the size of the invariant subspace
-  m_r += nbrEig; 
-  
-  // Factorize m_T into m_luT
-  m_luT.compute(m_T.topLeftCorner(m_r, m_r));
-  
-  //FIXME CHeck if the factorization was correctly done (nonsingular matrix)
-  m_isDeflInitialized = true;
-  return 0; 
-}
-template<typename _MatrixType, typename _Preconditioner>
-template<typename RhsType, typename DestType>
-int DGMRES<_MatrixType, _Preconditioner>::dgmresApplyDeflation(const RhsType &x, DestType &y) const
-{
-  DenseVector x1 = m_U.leftCols(m_r).transpose() * x; 
-  y = x + m_U.leftCols(m_r) * ( m_lambdaN * m_luT.solve(x1) - x1);
-  return 0; 
-}
-
-} // end namespace Eigen
-#endif 
diff --git a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h b/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h
deleted file mode 100644
index 5a82b0df63f3e5..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h
+++ /dev/null
@@ -1,343 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2012, 2014 Kolja Brix <brix@igpm.rwth-aaachen.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GMRES_H
-#define EIGEN_GMRES_H
-
-namespace Eigen {
-
-namespace internal {
-
-/**
-* Generalized Minimal Residual Algorithm based on the
-* Arnoldi algorithm implemented with Householder reflections.
-*
-* Parameters:
-*  \param mat       matrix of linear system of equations
-*  \param Rhs       right hand side vector of linear system of equations
-*  \param x         on input: initial guess, on output: solution
-*  \param precond   preconditioner used
-*  \param iters     on input: maximum number of iterations to perform
-*                   on output: number of iterations performed
-*  \param restart   number of iterations for a restart
-*  \param tol_error on input: relative residual tolerance
-*                   on output: residuum achieved
-*
-* \sa IterativeMethods::bicgstab()
-*
-*
-* For references, please see:
-*
-* Saad, Y. and Schultz, M. H.
-* GMRES: A Generalized Minimal Residual Algorithm for Solving Nonsymmetric Linear Systems.
-* SIAM J.Sci.Stat.Comp. 7, 1986, pp. 856 - 869.
-*
-* Saad, Y.
-* Iterative Methods for Sparse Linear Systems.
-* Society for Industrial and Applied Mathematics, Philadelphia, 2003.
-*
-* Walker, H. F.
-* Implementations of the GMRES method.
-* Comput.Phys.Comm. 53, 1989, pp. 311 - 320.
-*
-* Walker, H. F.
-* Implementation of the GMRES Method using Householder Transformations.
-* SIAM J.Sci.Stat.Comp. 9, 1988, pp. 152 - 163.
-*
-*/
-template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
-bool gmres(const MatrixType & mat, const Rhs & rhs, Dest & x, const Preconditioner & precond,
-    Index &iters, const Index &restart, typename Dest::RealScalar & tol_error) {
-
-  using std::sqrt;
-  using std::abs;
-
-  typedef typename Dest::RealScalar RealScalar;
-  typedef typename Dest::Scalar Scalar;
-  typedef Matrix < Scalar, Dynamic, 1 > VectorType;
-  typedef Matrix < Scalar, Dynamic, Dynamic, ColMajor> FMatrixType;
-
-  RealScalar tol = tol_error;
-  const Index maxIters = iters;
-  iters = 0;
-
-  const Index m = mat.rows();
-
-  // residual and preconditioned residual
-  VectorType p0 = rhs - mat*x;
-  VectorType r0 = precond.solve(p0);
-
-  const RealScalar r0Norm = r0.norm();
-
-  // is initial guess already good enough?
-  if(r0Norm == 0)
-  {
-    tol_error = 0;
-    return true;
-  }
-
-  // storage for Hessenberg matrix and Householder data
-  FMatrixType H   = FMatrixType::Zero(m, restart + 1);
-  VectorType w    = VectorType::Zero(restart + 1);
-  VectorType tau  = VectorType::Zero(restart + 1);
-
-  // storage for Jacobi rotations
-  std::vector < JacobiRotation < Scalar > > G(restart);
-  
-  // storage for temporaries
-  VectorType t(m), v(m), workspace(m), x_new(m);
-
-  // generate first Householder vector
-  Ref<VectorType> H0_tail = H.col(0).tail(m - 1);
-  RealScalar beta;
-  r0.makeHouseholder(H0_tail, tau.coeffRef(0), beta);
-  w(0) = Scalar(beta);
-  
-  for (Index k = 1; k <= restart; ++k)
-  {
-    ++iters;
-
-    v = VectorType::Unit(m, k - 1);
-
-    // apply Householder reflections H_{1} ... H_{k-1} to v
-    // TODO: use a HouseholderSequence
-    for (Index i = k - 1; i >= 0; --i) {
-      v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
-    }
-
-    // apply matrix M to v:  v = mat * v;
-    t.noalias() = mat * v;
-    v = precond.solve(t);
-
-    // apply Householder reflections H_{k-1} ... H_{1} to v
-    // TODO: use a HouseholderSequence
-    for (Index i = 0; i < k; ++i) {
-      v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
-    }
-
-    if (v.tail(m - k).norm() != 0.0)
-    {
-      if (k <= restart)
-      {
-        // generate new Householder vector
-        Ref<VectorType> Hk_tail = H.col(k).tail(m - k - 1);
-        v.tail(m - k).makeHouseholder(Hk_tail, tau.coeffRef(k), beta);
-
-        // apply Householder reflection H_{k} to v
-        v.tail(m - k).applyHouseholderOnTheLeft(Hk_tail, tau.coeffRef(k), workspace.data());
-      }
-    }
-
-    if (k > 1)
-    {
-      for (Index i = 0; i < k - 1; ++i)
-      {
-        // apply old Givens rotations to v
-        v.applyOnTheLeft(i, i + 1, G[i].adjoint());
-      }
-    }
-
-    if (k<m && v(k) != (Scalar) 0)
-    {
-      // determine next Givens rotation
-      G[k - 1].makeGivens(v(k - 1), v(k));
-
-      // apply Givens rotation to v and w
-      v.applyOnTheLeft(k - 1, k, G[k - 1].adjoint());
-      w.applyOnTheLeft(k - 1, k, G[k - 1].adjoint());
-    }
-
-    // insert coefficients into upper matrix triangle
-    H.col(k-1).head(k) = v.head(k);
-
-    tol_error = abs(w(k)) / r0Norm;
-    bool stop = (k==m || tol_error < tol || iters == maxIters);
-
-    if (stop || k == restart)
-    {
-      // solve upper triangular system
-      Ref<VectorType> y = w.head(k);
-      H.topLeftCorner(k, k).template triangularView <Upper>().solveInPlace(y);
-
-      // use Horner-like scheme to calculate solution vector
-      x_new.setZero();
-      for (Index i = k - 1; i >= 0; --i)
-      {
-        x_new(i) += y(i);
-        // apply Householder reflection H_{i} to x_new
-        x_new.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
-      }
-
-      x += x_new;
-
-      if(stop)
-      {
-        return true;
-      }
-      else
-      {
-        k=0;
-
-        // reset data for restart
-        p0.noalias() = rhs - mat*x;
-        r0 = precond.solve(p0);
-
-        // clear Hessenberg matrix and Householder data
-        H.setZero();
-        w.setZero();
-        tau.setZero();
-
-        // generate first Householder vector
-        r0.makeHouseholder(H0_tail, tau.coeffRef(0), beta);
-        w(0) = Scalar(beta);
-      }
-    }
-  }
-
-  return false;
-
-}
-
-}
-
-template< typename _MatrixType,
-          typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar> >
-class GMRES;
-
-namespace internal {
-
-template< typename _MatrixType, typename _Preconditioner>
-struct traits<GMRES<_MatrixType,_Preconditioner> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Preconditioner Preconditioner;
-};
-
-}
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief A GMRES solver for sparse square problems
-  *
-  * This class allows to solve for A.x = b sparse linear problems using a generalized minimal
-  * residual method. The vectors x and b can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
-  * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
-  *
-  * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
-  * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
-  * and NumTraits<Scalar>::epsilon() for the tolerance.
-  *
-  * This class can be used as the direct solver classes. Here is a typical usage example:
-  * \code
-  * int n = 10000;
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double> A(n,n);
-  * // fill A and b
-  * GMRES<SparseMatrix<double> > solver(A);
-  * x = solver.solve(b);
-  * std::cout << "#iterations:     " << solver.iterations() << std::endl;
-  * std::cout << "estimated error: " << solver.error()      << std::endl;
-  * // update b, and solve again
-  * x = solver.solve(b);
-  * \endcode
-  *
-  * By default the iterations start with x=0 as an initial guess of the solution.
-  * One can control the start using the solveWithGuess() method.
-  * 
-  * GMRES can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
-  *
-  * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
-  */
-template< typename _MatrixType, typename _Preconditioner>
-class GMRES : public IterativeSolverBase<GMRES<_MatrixType,_Preconditioner> >
-{
-  typedef IterativeSolverBase<GMRES> Base;
-  using Base::matrix;
-  using Base::m_error;
-  using Base::m_iterations;
-  using Base::m_info;
-  using Base::m_isInitialized;
-
-private:
-  Index m_restart;
-
-public:
-  using Base::_solve_impl;
-  typedef _MatrixType MatrixType;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef _Preconditioner Preconditioner;
-
-public:
-
-  /** Default constructor. */
-  GMRES() : Base(), m_restart(30) {}
-
-  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    *
-    * This constructor is a shortcut for the default constructor followed
-    * by a call to compute().
-    *
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  template<typename MatrixDerived>
-  explicit GMRES(const EigenBase<MatrixDerived>& A) : Base(A.derived()), m_restart(30) {}
-
-  ~GMRES() {}
-
-  /** Get the number of iterations after that a restart is performed.
-    */
-  Index get_restart() { return m_restart; }
-
-  /** Set the number of iterations after that a restart is performed.
-    *  \param restart   number of iterations for a restarti, default is 30.
-    */
-  void set_restart(const Index restart) { m_restart=restart; }
-
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
-  {
-    bool failed = false;
-    for(Index j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-
-      typename Dest::ColXpr xj(x,j);
-      if(!internal::gmres(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_restart, m_error))
-        failed = true;
-    }
-    m_info = failed ? NumericalIssue
-          : m_error <= Base::m_tolerance ? Success
-          : NoConvergence;
-    m_isInitialized = true;
-  }
-
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve_impl(const Rhs& b, MatrixBase<Dest> &x) const
-  {
-    x = b;
-    if(x.squaredNorm() == 0) return; // Check Zero right hand side
-    _solve_with_guess_impl(b,x.derived());
-  }
-
-protected:
-
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_GMRES_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h b/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h
deleted file mode 100644
index 7d08c3515f703e..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h
+++ /dev/null
@@ -1,90 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_INCOMPLETE_LU_H
-#define EIGEN_INCOMPLETE_LU_H
-
-namespace Eigen { 
-
-template <typename _Scalar>
-class IncompleteLU : public SparseSolverBase<IncompleteLU<_Scalar> >
-{
-  protected:
-    typedef SparseSolverBase<IncompleteLU<_Scalar> > Base;
-    using Base::m_isInitialized;
-    
-    typedef _Scalar Scalar;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef typename Vector::Index Index;
-    typedef SparseMatrix<Scalar,RowMajor> FactorType;
-
-  public:
-    typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
-
-    IncompleteLU() {}
-
-    template<typename MatrixType>
-    IncompleteLU(const MatrixType& mat)
-    {
-      compute(mat);
-    }
-
-    Index rows() const { return m_lu.rows(); }
-    Index cols() const { return m_lu.cols(); }
-
-    template<typename MatrixType>
-    IncompleteLU& compute(const MatrixType& mat)
-    {
-      m_lu = mat;
-      int size = mat.cols();
-      Vector diag(size);
-      for(int i=0; i<size; ++i)
-      {
-        typename FactorType::InnerIterator k_it(m_lu,i);
-        for(; k_it && k_it.index()<i; ++k_it)
-        {
-          int k = k_it.index();
-          k_it.valueRef() /= diag(k);
-
-          typename FactorType::InnerIterator j_it(k_it);
-          typename FactorType::InnerIterator kj_it(m_lu, k);
-          while(kj_it && kj_it.index()<=k) ++kj_it;
-          for(++j_it; j_it; )
-          {
-            if(kj_it.index()==j_it.index())
-            {
-              j_it.valueRef() -= k_it.value() * kj_it.value();
-              ++j_it;
-              ++kj_it;
-            }
-            else if(kj_it.index()<j_it.index()) ++kj_it;
-            else                                ++j_it;
-          }
-        }
-        if(k_it && k_it.index()==i) diag(i) = k_it.value();
-        else                        diag(i) = 1;
-      }
-      m_isInitialized = true;
-      return *this;
-    }
-
-    template<typename Rhs, typename Dest>
-    void _solve_impl(const Rhs& b, Dest& x) const
-    {
-      x = m_lu.template triangularView<UnitLower>().solve(b);
-      x = m_lu.template triangularView<Upper>().solve(x);
-    }
-
-  protected:
-    FactorType m_lu;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_INCOMPLETE_LU_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h b/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h
deleted file mode 100644
index c9c1a4be29cd40..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h
+++ /dev/null
@@ -1,154 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-
-/* NOTE The class IterationController has been adapted from the iteration
- *      class of the GMM++ and ITL libraries.
- */
-
-//=======================================================================
-// Copyright (C) 1997-2001
-// Authors: Andrew Lumsdaine <lums@osl.iu.edu> 
-//          Lie-Quan Lee     <llee@osl.iu.edu>
-//
-// This file is part of the Iterative Template Library
-//
-// You should have received a copy of the License Agreement for the
-// Iterative Template Library along with the software;  see the
-// file LICENSE.  
-//
-// Permission to modify the code and to distribute modified code is
-// granted, provided the text of this NOTICE is retained, a notice that
-// the code was modified is included with the above COPYRIGHT NOTICE and
-// with the COPYRIGHT NOTICE in the LICENSE file, and that the LICENSE
-// file is distributed with the modified code.
-//
-// LICENSOR MAKES NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR IMPLIED.
-// By way of example, but not limitation, Licensor MAKES NO
-// REPRESENTATIONS OR WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY
-// PARTICULAR PURPOSE OR THAT THE USE OF THE LICENSED SOFTWARE COMPONENTS
-// OR DOCUMENTATION WILL NOT INFRINGE ANY PATENTS, COPYRIGHTS, TRADEMARKS
-// OR OTHER RIGHTS.
-//=======================================================================
-
-//========================================================================
-//
-// Copyright (C) 2002-2007 Yves Renard
-//
-// This file is a part of GETFEM++
-//
-// Getfem++ is free software; you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as
-// published by the Free Software Foundation; version 2.1 of the License.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU Lesser General Public License for more details.
-// You should have received a copy of the GNU Lesser General Public
-// License along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301,
-// USA.
-//
-//========================================================================
-
-#include "../../../../Eigen/src/Core/util/NonMPL2.h"
-
-#ifndef EIGEN_ITERATION_CONTROLLER_H
-#define EIGEN_ITERATION_CONTROLLER_H
-
-namespace Eigen { 
-
-/** \ingroup IterativeSolvers_Module
-  * \class IterationController
-  *
-  * \brief Controls the iterations of the iterative solvers
-  *
-  * This class has been adapted from the iteration class of GMM++ and ITL libraries.
-  *
-  */
-class IterationController
-{
-  protected :
-    double m_rhsn;        ///< Right hand side norm
-    size_t m_maxiter;     ///< Max. number of iterations
-    int m_noise;          ///< if noise > 0 iterations are printed
-    double m_resmax;      ///< maximum residual
-    double m_resminreach, m_resadd;
-    size_t m_nit;         ///< iteration number
-    double m_res;         ///< last computed residual
-    bool m_written;
-    void (*m_callback)(const IterationController&);
-  public :
-
-    void init()
-    {
-      m_nit = 0; m_res = 0.0; m_written = false;
-      m_resminreach = 1E50; m_resadd = 0.0;
-      m_callback = 0;
-    }
-
-    IterationController(double r = 1.0E-8, int noi = 0, size_t mit = size_t(-1))
-      : m_rhsn(1.0), m_maxiter(mit), m_noise(noi), m_resmax(r) { init(); }
-
-    void operator ++(int) { m_nit++; m_written = false; m_resadd += m_res; }
-    void operator ++() { (*this)++; }
-
-    bool first() { return m_nit == 0; }
-
-    /* get/set the "noisyness" (verbosity) of the solvers */
-    int noiseLevel() const { return m_noise; }
-    void setNoiseLevel(int n) { m_noise = n; }
-    void reduceNoiseLevel() { if (m_noise > 0) m_noise--; }
-
-    double maxResidual() const { return m_resmax; }
-    void setMaxResidual(double r) { m_resmax = r; }
-
-    double residual() const { return m_res; }
-
-    /* change the user-definable callback, called after each iteration */
-    void setCallback(void (*t)(const IterationController&))
-    {
-      m_callback = t;
-    }
-
-    size_t iteration() const { return m_nit; }
-    void setIteration(size_t i) { m_nit = i; }
-
-    size_t maxIterarions() const { return m_maxiter; }
-    void setMaxIterations(size_t i) { m_maxiter = i; }
-
-    double rhsNorm() const { return m_rhsn; }
-    void setRhsNorm(double r) { m_rhsn = r; }
-
-    bool converged() const { return m_res <= m_rhsn * m_resmax; }
-    bool converged(double nr)
-    {
-      using std::abs;
-      m_res = abs(nr); 
-      m_resminreach = (std::min)(m_resminreach, m_res);
-      return converged();
-    }
-    template<typename VectorType> bool converged(const VectorType &v)
-    { return converged(v.squaredNorm()); }
-
-    bool finished(double nr)
-    {
-      if (m_callback) m_callback(*this);
-      if (m_noise > 0 && !m_written)
-      {
-        converged(nr);
-        m_written = true;
-      }
-      return (m_nit >= m_maxiter || converged(nr));
-    }
-    template <typename VectorType>
-    bool finished(const MatrixBase<VectorType> &v)
-    { return finished(double(v.squaredNorm())); }
-
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_ITERATION_CONTROLLER_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h b/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h
deleted file mode 100644
index 256990c1af2452..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h
+++ /dev/null
@@ -1,289 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Giacomo Po <gpo@ucla.edu>
-// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#ifndef EIGEN_MINRES_H_
-#define EIGEN_MINRES_H_
-
-
-namespace Eigen {
-    
-    namespace internal {
-        
-        /** \internal Low-level MINRES algorithm
-         * \param mat The matrix A
-         * \param rhs The right hand side vector b
-         * \param x On input and initial solution, on output the computed solution.
-         * \param precond A right preconditioner being able to efficiently solve for an
-         *                approximation of Ax=b (regardless of b)
-         * \param iters On input the max number of iteration, on output the number of performed iterations.
-         * \param tol_error On input the tolerance error, on output an estimation of the relative error.
-         */
-        template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
-        EIGEN_DONT_INLINE
-        void minres(const MatrixType& mat, const Rhs& rhs, Dest& x,
-                    const Preconditioner& precond, Index& iters,
-                    typename Dest::RealScalar& tol_error)
-        {
-            using std::sqrt;
-            typedef typename Dest::RealScalar RealScalar;
-            typedef typename Dest::Scalar Scalar;
-            typedef Matrix<Scalar,Dynamic,1> VectorType;
-
-            // Check for zero rhs
-            const RealScalar rhsNorm2(rhs.squaredNorm());
-            if(rhsNorm2 == 0)
-            {
-                x.setZero();
-                iters = 0;
-                tol_error = 0;
-                return;
-            }
-            
-            // initialize
-            const Index maxIters(iters);  // initialize maxIters to iters
-            const Index N(mat.cols());    // the size of the matrix
-            const RealScalar threshold2(tol_error*tol_error*rhsNorm2); // convergence threshold (compared to residualNorm2)
-            
-            // Initialize preconditioned Lanczos
-            VectorType v_old(N); // will be initialized inside loop
-            VectorType v( VectorType::Zero(N) ); //initialize v
-            VectorType v_new(rhs-mat*x); //initialize v_new
-            RealScalar residualNorm2(v_new.squaredNorm());
-            VectorType w(N); // will be initialized inside loop
-            VectorType w_new(precond.solve(v_new)); // initialize w_new
-//            RealScalar beta; // will be initialized inside loop
-            RealScalar beta_new2(v_new.dot(w_new));
-            eigen_assert(beta_new2 >= 0.0 && "PRECONDITIONER IS NOT POSITIVE DEFINITE");
-            RealScalar beta_new(sqrt(beta_new2));
-            const RealScalar beta_one(beta_new);
-            v_new /= beta_new;
-            w_new /= beta_new;
-            // Initialize other variables
-            RealScalar c(1.0); // the cosine of the Givens rotation
-            RealScalar c_old(1.0);
-            RealScalar s(0.0); // the sine of the Givens rotation
-            RealScalar s_old(0.0); // the sine of the Givens rotation
-            VectorType p_oold(N); // will be initialized in loop
-            VectorType p_old(VectorType::Zero(N)); // initialize p_old=0
-            VectorType p(p_old); // initialize p=0
-            RealScalar eta(1.0);
-                        
-            iters = 0; // reset iters
-            while ( iters < maxIters )
-            {
-                // Preconditioned Lanczos
-                /* Note that there are 4 variants on the Lanczos algorithm. These are
-                 * described in Paige, C. C. (1972). Computational variants of
-                 * the Lanczos method for the eigenproblem. IMA Journal of Applied
-                 * Mathematics, 10(3), 373–381. The current implementation corresponds 
-                 * to the case A(2,7) in the paper. It also corresponds to 
-                 * algorithm 6.14 in Y. Saad, Iterative Methods for Sparse Linear
-                 * Systems, 2003 p.173. For the preconditioned version see 
-                 * A. Greenbaum, Iterative Methods for Solving Linear Systems, SIAM (1987).
-                 */
-                const RealScalar beta(beta_new);
-                v_old = v; // update: at first time step, this makes v_old = 0 so value of beta doesn't matter
-//                const VectorType v_old(v); // NOT SURE IF CREATING v_old EVERY ITERATION IS EFFICIENT
-                v = v_new; // update
-                w = w_new; // update
-//                const VectorType w(w_new); // NOT SURE IF CREATING w EVERY ITERATION IS EFFICIENT
-                v_new.noalias() = mat*w - beta*v_old; // compute v_new
-                const RealScalar alpha = v_new.dot(w);
-                v_new -= alpha*v; // overwrite v_new
-                w_new = precond.solve(v_new); // overwrite w_new
-                beta_new2 = v_new.dot(w_new); // compute beta_new
-                eigen_assert(beta_new2 >= 0.0 && "PRECONDITIONER IS NOT POSITIVE DEFINITE");
-                beta_new = sqrt(beta_new2); // compute beta_new
-                v_new /= beta_new; // overwrite v_new for next iteration
-                w_new /= beta_new; // overwrite w_new for next iteration
-                
-                // Givens rotation
-                const RealScalar r2 =s*alpha+c*c_old*beta; // s, s_old, c and c_old are still from previous iteration
-                const RealScalar r3 =s_old*beta; // s, s_old, c and c_old are still from previous iteration
-                const RealScalar r1_hat=c*alpha-c_old*s*beta;
-                const RealScalar r1 =sqrt( std::pow(r1_hat,2) + std::pow(beta_new,2) );
-                c_old = c; // store for next iteration
-                s_old = s; // store for next iteration
-                c=r1_hat/r1; // new cosine
-                s=beta_new/r1; // new sine
-                
-                // Update solution
-                p_oold = p_old;
-//                const VectorType p_oold(p_old); // NOT SURE IF CREATING p_oold EVERY ITERATION IS EFFICIENT
-                p_old = p;
-                p.noalias()=(w-r2*p_old-r3*p_oold) /r1; // IS NOALIAS REQUIRED?
-                x += beta_one*c*eta*p;
-                
-                /* Update the squared residual. Note that this is the estimated residual.
-                The real residual |Ax-b|^2 may be slightly larger */
-                residualNorm2 *= s*s;
-                
-                if ( residualNorm2 < threshold2)
-                {
-                    break;
-                }
-                
-                eta=-s*eta; // update eta
-                iters++; // increment iteration number (for output purposes)
-            }
-            
-            /* Compute error. Note that this is the estimated error. The real 
-             error |Ax-b|/|b| may be slightly larger */
-            tol_error = std::sqrt(residualNorm2 / rhsNorm2);
-        }
-        
-    }
-    
-    template< typename _MatrixType, int _UpLo=Lower,
-    typename _Preconditioner = IdentityPreconditioner>
-    class MINRES;
-    
-    namespace internal {
-        
-        template< typename _MatrixType, int _UpLo, typename _Preconditioner>
-        struct traits<MINRES<_MatrixType,_UpLo,_Preconditioner> >
-        {
-            typedef _MatrixType MatrixType;
-            typedef _Preconditioner Preconditioner;
-        };
-        
-    }
-    
-    /** \ingroup IterativeLinearSolvers_Module
-     * \brief A minimal residual solver for sparse symmetric problems
-     *
-     * This class allows to solve for A.x = b sparse linear problems using the MINRES algorithm
-     * of Paige and Saunders (1975). The sparse matrix A must be symmetric (possibly indefinite).
-     * The vectors x and b can be either dense or sparse.
-     *
-     * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
-     * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower,
-     *               Upper, or Lower|Upper in which the full matrix entries will be considered. Default is Lower.
-     * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
-     *
-     * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
-     * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
-     * and NumTraits<Scalar>::epsilon() for the tolerance.
-     *
-     * This class can be used as the direct solver classes. Here is a typical usage example:
-     * \code
-     * int n = 10000;
-     * VectorXd x(n), b(n);
-     * SparseMatrix<double> A(n,n);
-     * // fill A and b
-     * MINRES<SparseMatrix<double> > mr;
-     * mr.compute(A);
-     * x = mr.solve(b);
-     * std::cout << "#iterations:     " << mr.iterations() << std::endl;
-     * std::cout << "estimated error: " << mr.error()      << std::endl;
-     * // update b, and solve again
-     * x = mr.solve(b);
-     * \endcode
-     *
-     * By default the iterations start with x=0 as an initial guess of the solution.
-     * One can control the start using the solveWithGuess() method.
-     *
-     * MINRES can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
-     *
-     * \sa class ConjugateGradient, BiCGSTAB, SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
-     */
-    template< typename _MatrixType, int _UpLo, typename _Preconditioner>
-    class MINRES : public IterativeSolverBase<MINRES<_MatrixType,_UpLo,_Preconditioner> >
-    {
-        
-        typedef IterativeSolverBase<MINRES> Base;
-        using Base::matrix;
-        using Base::m_error;
-        using Base::m_iterations;
-        using Base::m_info;
-        using Base::m_isInitialized;
-    public:
-        using Base::_solve_impl;
-        typedef _MatrixType MatrixType;
-        typedef typename MatrixType::Scalar Scalar;
-        typedef typename MatrixType::RealScalar RealScalar;
-        typedef _Preconditioner Preconditioner;
-        
-        enum {UpLo = _UpLo};
-        
-    public:
-        
-        /** Default constructor. */
-        MINRES() : Base() {}
-        
-        /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-         *
-         * This constructor is a shortcut for the default constructor followed
-         * by a call to compute().
-         *
-         * \warning this class stores a reference to the matrix A as well as some
-         * precomputed values that depend on it. Therefore, if \a A is changed
-         * this class becomes invalid. Call compute() to update it with the new
-         * matrix A, or modify a copy of A.
-         */
-        template<typename MatrixDerived>
-        explicit MINRES(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
-        
-        /** Destructor. */
-        ~MINRES(){}
-
-        /** \internal */
-        template<typename Rhs,typename Dest>
-        void _solve_with_guess_impl(const Rhs& b, Dest& x) const
-        {
-            typedef typename Base::MatrixWrapper MatrixWrapper;
-            typedef typename Base::ActualMatrixType ActualMatrixType;
-            enum {
-              TransposeInput  =   (!MatrixWrapper::MatrixFree)
-                              &&  (UpLo==(Lower|Upper))
-                              &&  (!MatrixType::IsRowMajor)
-                              &&  (!NumTraits<Scalar>::IsComplex)
-            };
-            typedef typename internal::conditional<TransposeInput,Transpose<const ActualMatrixType>, ActualMatrixType const&>::type RowMajorWrapper;
-            EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(MatrixWrapper::MatrixFree,UpLo==(Lower|Upper)),MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY);
-            typedef typename internal::conditional<UpLo==(Lower|Upper),
-                                                  RowMajorWrapper,
-                                                  typename MatrixWrapper::template ConstSelfAdjointViewReturnType<UpLo>::Type
-                                            >::type SelfAdjointWrapper;
-
-            m_iterations = Base::maxIterations();
-            m_error = Base::m_tolerance;
-            RowMajorWrapper row_mat(matrix());
-            for(int j=0; j<b.cols(); ++j)
-            {
-                m_iterations = Base::maxIterations();
-                m_error = Base::m_tolerance;
-                
-                typename Dest::ColXpr xj(x,j);
-                internal::minres(SelfAdjointWrapper(row_mat), b.col(j), xj,
-                                 Base::m_preconditioner, m_iterations, m_error);
-            }
-            
-            m_isInitialized = true;
-            m_info = m_error <= Base::m_tolerance ? Success : NoConvergence;
-        }
-        
-        /** \internal */
-        template<typename Rhs,typename Dest>
-        void _solve_impl(const Rhs& b, MatrixBase<Dest> &x) const
-        {
-            x.setZero();
-            _solve_with_guess_impl(b,x.derived());
-        }
-        
-    protected:
-        
-    };
-
-} // end namespace Eigen
-
-#endif // EIGEN_MINRES_H
-
diff --git a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h b/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h
deleted file mode 100644
index d113e6e9033c61..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h
+++ /dev/null
@@ -1,187 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ITERSCALING_H
-#define EIGEN_ITERSCALING_H
-
-namespace Eigen {
-
-/**
-  * \ingroup IterativeSolvers_Module
-  * \brief iterative scaling algorithm to equilibrate rows and column norms in matrices
-  * 
-  * This class can be used as a preprocessing tool to accelerate the convergence of iterative methods 
-  * 
-  * This feature is  useful to limit the pivoting amount during LU/ILU factorization
-  * The  scaling strategy as presented here preserves the symmetry of the problem
-  * NOTE It is assumed that the matrix does not have empty row or column, 
-  * 
-  * Example with key steps 
-  * \code
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double> A;
-  * // fill A and b;
-  * IterScaling<SparseMatrix<double> > scal; 
-  * // Compute the left and right scaling vectors. The matrix is equilibrated at output
-  * scal.computeRef(A); 
-  * // Scale the right hand side
-  * b = scal.LeftScaling().cwiseProduct(b); 
-  * // Now, solve the equilibrated linear system with any available solver
-  * 
-  * // Scale back the computed solution
-  * x = scal.RightScaling().cwiseProduct(x); 
-  * \endcode
-  * 
-  * \tparam _MatrixType the type of the matrix. It should be a real square sparsematrix
-  * 
-  * References : D. Ruiz and B. Ucar, A Symmetry Preserving Algorithm for Matrix Scaling, INRIA Research report RR-7552
-  * 
-  * \sa \ref IncompleteLUT 
-  */
-template<typename _MatrixType>
-class IterScaling
-{
-  public:
-    typedef _MatrixType MatrixType; 
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    
-  public:
-    IterScaling() { init(); }
-    
-    IterScaling(const MatrixType& matrix)
-    {
-      init();
-      compute(matrix);
-    }
-    
-    ~IterScaling() { }
-    
-    /** 
-     * Compute the left and right diagonal matrices to scale the input matrix @p mat
-     * 
-     * FIXME This algorithm will be modified such that the diagonal elements are permuted on the diagonal. 
-     * 
-     * \sa LeftScaling() RightScaling()
-     */
-    void compute (const MatrixType& mat)
-    {
-      using std::abs;
-      int m = mat.rows(); 
-      int n = mat.cols();
-      eigen_assert((m>0 && m == n) && "Please give a non - empty matrix");
-      m_left.resize(m); 
-      m_right.resize(n);
-      m_left.setOnes();
-      m_right.setOnes();
-      m_matrix = mat;
-      VectorXd Dr, Dc, DrRes, DcRes; // Temporary Left and right scaling vectors
-      Dr.resize(m); Dc.resize(n);
-      DrRes.resize(m); DcRes.resize(n);
-      double EpsRow = 1.0, EpsCol = 1.0;
-      int its = 0; 
-      do
-      { // Iterate until the infinite norm of each row and column is approximately 1
-        // Get the maximum value in each row and column
-        Dr.setZero(); Dc.setZero();
-        for (int k=0; k<m_matrix.outerSize(); ++k)
-        {
-          for (typename MatrixType::InnerIterator it(m_matrix, k); it; ++it)
-          {
-            if ( Dr(it.row()) < abs(it.value()) )
-              Dr(it.row()) = abs(it.value());
-            
-            if ( Dc(it.col()) < abs(it.value()) )
-              Dc(it.col()) = abs(it.value());
-          }
-        }
-        for (int i = 0; i < m; ++i) 
-        {
-          Dr(i) = std::sqrt(Dr(i));
-          Dc(i) = std::sqrt(Dc(i));
-        }
-        // Save the scaling factors 
-        for (int i = 0; i < m; ++i) 
-        {
-          m_left(i) /= Dr(i);
-          m_right(i) /= Dc(i);
-        }
-        // Scale the rows and the columns of the matrix
-        DrRes.setZero(); DcRes.setZero(); 
-        for (int k=0; k<m_matrix.outerSize(); ++k)
-        {
-          for (typename MatrixType::InnerIterator it(m_matrix, k); it; ++it)
-          {
-            it.valueRef() = it.value()/( Dr(it.row()) * Dc(it.col()) );
-            // Accumulate the norms of the row and column vectors   
-            if ( DrRes(it.row()) < abs(it.value()) )
-              DrRes(it.row()) = abs(it.value());
-            
-            if ( DcRes(it.col()) < abs(it.value()) )
-              DcRes(it.col()) = abs(it.value());
-          }
-        }  
-        DrRes.array() = (1-DrRes.array()).abs();
-        EpsRow = DrRes.maxCoeff();
-        DcRes.array() = (1-DcRes.array()).abs();
-        EpsCol = DcRes.maxCoeff();
-        its++;
-      }while ( (EpsRow >m_tol || EpsCol > m_tol) && (its < m_maxits) );
-      m_isInitialized = true;
-    }
-    /** Compute the left and right vectors to scale the vectors
-     * the input matrix is scaled with the computed vectors at output
-     * 
-     * \sa compute()
-     */
-    void computeRef (MatrixType& mat)
-    {
-      compute (mat);
-      mat = m_matrix;
-    }
-    /** Get the vector to scale the rows of the matrix 
-     */
-    VectorXd& LeftScaling()
-    {
-      return m_left;
-    }
-    
-    /** Get the vector to scale the columns of the matrix 
-     */
-    VectorXd& RightScaling()
-    {
-      return m_right;
-    }
-    
-    /** Set the tolerance for the convergence of the iterative scaling algorithm
-     */
-    void setTolerance(double tol)
-    {
-      m_tol = tol; 
-    }
-      
-  protected:
-    
-    void init()
-    {
-      m_tol = 1e-10;
-      m_maxits = 5;
-      m_isInitialized = false;
-    }
-    
-    MatrixType m_matrix;
-    mutable ComputationInfo m_info; 
-    bool m_isInitialized; 
-    VectorXd m_left; // Left scaling vector
-    VectorXd m_right; // m_right scaling vector
-    double m_tol; 
-    int m_maxits; // Maximum number of iterations allowed
-};
-}
-#endif
diff --git a/phonelibs/eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h b/phonelibs/eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h
deleted file mode 100644
index 582fa8512d513a..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h
+++ /dev/null
@@ -1,305 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Kolja Brix <brix@igpm.rwth-aachen.de>
-// Copyright (C) 2011 Andreas Platen <andiplaten@gmx.de>
-// Copyright (C) 2012 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef KRONECKER_TENSOR_PRODUCT_H
-#define KRONECKER_TENSOR_PRODUCT_H
-
-namespace Eigen {
-
-/*!
- * \ingroup KroneckerProduct_Module
- *
- * \brief The base class of dense and sparse Kronecker product.
- *
- * \tparam Derived is the derived type.
- */
-template<typename Derived>
-class KroneckerProductBase : public ReturnByValue<Derived>
-{
-  private:
-    typedef typename internal::traits<Derived> Traits;
-    typedef typename Traits::Scalar Scalar;
-
-  protected:
-    typedef typename Traits::Lhs Lhs;
-    typedef typename Traits::Rhs Rhs;
-
-  public:
-    /*! \brief Constructor. */
-    KroneckerProductBase(const Lhs& A, const Rhs& B)
-      : m_A(A), m_B(B)
-    {}
-
-    inline Index rows() const { return m_A.rows() * m_B.rows(); }
-    inline Index cols() const { return m_A.cols() * m_B.cols(); }
-
-    /*!
-     * This overrides ReturnByValue::coeff because this function is
-     * efficient enough.
-     */
-    Scalar coeff(Index row, Index col) const
-    {
-      return m_A.coeff(row / m_B.rows(), col / m_B.cols()) *
-             m_B.coeff(row % m_B.rows(), col % m_B.cols());
-    }
-
-    /*!
-     * This overrides ReturnByValue::coeff because this function is
-     * efficient enough.
-     */
-    Scalar coeff(Index i) const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-      return m_A.coeff(i / m_A.size()) * m_B.coeff(i % m_A.size());
-    }
-
-  protected:
-    typename Lhs::Nested m_A;
-    typename Rhs::Nested m_B;
-};
-
-/*!
- * \ingroup KroneckerProduct_Module
- *
- * \brief Kronecker tensor product helper class for dense matrices
- *
- * This class is the return value of kroneckerProduct(MatrixBase,
- * MatrixBase). Use the function rather than construct this class
- * directly to avoid specifying template prarameters.
- *
- * \tparam Lhs  Type of the left-hand side, a matrix expression.
- * \tparam Rhs  Type of the rignt-hand side, a matrix expression.
- */
-template<typename Lhs, typename Rhs>
-class KroneckerProduct : public KroneckerProductBase<KroneckerProduct<Lhs,Rhs> >
-{
-  private:
-    typedef KroneckerProductBase<KroneckerProduct> Base;
-    using Base::m_A;
-    using Base::m_B;
-
-  public:
-    /*! \brief Constructor. */
-    KroneckerProduct(const Lhs& A, const Rhs& B)
-      : Base(A, B)
-    {}
-
-    /*! \brief Evaluate the Kronecker tensor product. */
-    template<typename Dest> void evalTo(Dest& dst) const;
-};
-
-/*!
- * \ingroup KroneckerProduct_Module
- *
- * \brief Kronecker tensor product helper class for sparse matrices
- *
- * If at least one of the operands is a sparse matrix expression,
- * then this class is returned and evaluates into a sparse matrix.
- *
- * This class is the return value of kroneckerProduct(EigenBase,
- * EigenBase). Use the function rather than construct this class
- * directly to avoid specifying template prarameters.
- *
- * \tparam Lhs  Type of the left-hand side, a matrix expression.
- * \tparam Rhs  Type of the rignt-hand side, a matrix expression.
- */
-template<typename Lhs, typename Rhs>
-class KroneckerProductSparse : public KroneckerProductBase<KroneckerProductSparse<Lhs,Rhs> >
-{
-  private:
-    typedef KroneckerProductBase<KroneckerProductSparse> Base;
-    using Base::m_A;
-    using Base::m_B;
-
-  public:
-    /*! \brief Constructor. */
-    KroneckerProductSparse(const Lhs& A, const Rhs& B)
-      : Base(A, B)
-    {}
-
-    /*! \brief Evaluate the Kronecker tensor product. */
-    template<typename Dest> void evalTo(Dest& dst) const;
-};
-
-template<typename Lhs, typename Rhs>
-template<typename Dest>
-void KroneckerProduct<Lhs,Rhs>::evalTo(Dest& dst) const
-{
-  const int BlockRows = Rhs::RowsAtCompileTime,
-            BlockCols = Rhs::ColsAtCompileTime;
-  const Index Br = m_B.rows(),
-              Bc = m_B.cols();
-  for (Index i=0; i < m_A.rows(); ++i)
-    for (Index j=0; j < m_A.cols(); ++j)
-      Block<Dest,BlockRows,BlockCols>(dst,i*Br,j*Bc,Br,Bc) = m_A.coeff(i,j) * m_B;
-}
-
-template<typename Lhs, typename Rhs>
-template<typename Dest>
-void KroneckerProductSparse<Lhs,Rhs>::evalTo(Dest& dst) const
-{
-  Index Br = m_B.rows(), Bc = m_B.cols();
-  dst.resize(this->rows(), this->cols());
-  dst.resizeNonZeros(0);
-  
-  // 1 - evaluate the operands if needed:
-  typedef typename internal::nested_eval<Lhs,Dynamic>::type Lhs1;
-  typedef typename internal::remove_all<Lhs1>::type Lhs1Cleaned;
-  const Lhs1 lhs1(m_A);
-  typedef typename internal::nested_eval<Rhs,Dynamic>::type Rhs1;
-  typedef typename internal::remove_all<Rhs1>::type Rhs1Cleaned;
-  const Rhs1 rhs1(m_B);
-    
-  // 2 - construct respective iterators
-  typedef Eigen::InnerIterator<Lhs1Cleaned> LhsInnerIterator;
-  typedef Eigen::InnerIterator<Rhs1Cleaned> RhsInnerIterator;
-  
-  // compute number of non-zeros per innervectors of dst
-  {
-    // TODO VectorXi is not necessarily big enough!
-    VectorXi nnzA = VectorXi::Zero(Dest::IsRowMajor ? m_A.rows() : m_A.cols());
-    for (Index kA=0; kA < m_A.outerSize(); ++kA)
-      for (LhsInnerIterator itA(lhs1,kA); itA; ++itA)
-        nnzA(Dest::IsRowMajor ? itA.row() : itA.col())++;
-      
-    VectorXi nnzB = VectorXi::Zero(Dest::IsRowMajor ? m_B.rows() : m_B.cols());
-    for (Index kB=0; kB < m_B.outerSize(); ++kB)
-      for (RhsInnerIterator itB(rhs1,kB); itB; ++itB)
-        nnzB(Dest::IsRowMajor ? itB.row() : itB.col())++;
-    
-    Matrix<int,Dynamic,Dynamic,ColMajor> nnzAB = nnzB * nnzA.transpose();
-    dst.reserve(VectorXi::Map(nnzAB.data(), nnzAB.size()));
-  }
-
-  for (Index kA=0; kA < m_A.outerSize(); ++kA)
-  {
-    for (Index kB=0; kB < m_B.outerSize(); ++kB)
-    {
-      for (LhsInnerIterator itA(lhs1,kA); itA; ++itA)
-      {
-        for (RhsInnerIterator itB(rhs1,kB); itB; ++itB)
-        {
-          Index i = itA.row() * Br + itB.row(),
-                j = itA.col() * Bc + itB.col();
-          dst.insert(i,j) = itA.value() * itB.value();
-        }
-      }
-    }
-  }
-}
-
-namespace internal {
-
-template<typename _Lhs, typename _Rhs>
-struct traits<KroneckerProduct<_Lhs,_Rhs> >
-{
-  typedef typename remove_all<_Lhs>::type Lhs;
-  typedef typename remove_all<_Rhs>::type Rhs;
-  typedef typename ScalarBinaryOpTraits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar;
-  typedef typename promote_index_type<typename Lhs::StorageIndex, typename Rhs::StorageIndex>::type StorageIndex;
-
-  enum {
-    Rows = size_at_compile_time<traits<Lhs>::RowsAtCompileTime, traits<Rhs>::RowsAtCompileTime>::ret,
-    Cols = size_at_compile_time<traits<Lhs>::ColsAtCompileTime, traits<Rhs>::ColsAtCompileTime>::ret,
-    MaxRows = size_at_compile_time<traits<Lhs>::MaxRowsAtCompileTime, traits<Rhs>::MaxRowsAtCompileTime>::ret,
-    MaxCols = size_at_compile_time<traits<Lhs>::MaxColsAtCompileTime, traits<Rhs>::MaxColsAtCompileTime>::ret
-  };
-
-  typedef Matrix<Scalar,Rows,Cols> ReturnType;
-};
-
-template<typename _Lhs, typename _Rhs>
-struct traits<KroneckerProductSparse<_Lhs,_Rhs> >
-{
-  typedef MatrixXpr XprKind;
-  typedef typename remove_all<_Lhs>::type Lhs;
-  typedef typename remove_all<_Rhs>::type Rhs;
-  typedef typename ScalarBinaryOpTraits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar;
-  typedef typename cwise_promote_storage_type<typename traits<Lhs>::StorageKind, typename traits<Rhs>::StorageKind, scalar_product_op<typename Lhs::Scalar, typename Rhs::Scalar> >::ret StorageKind;
-  typedef typename promote_index_type<typename Lhs::StorageIndex, typename Rhs::StorageIndex>::type StorageIndex;
-
-  enum {
-    LhsFlags = Lhs::Flags,
-    RhsFlags = Rhs::Flags,
-
-    RowsAtCompileTime = size_at_compile_time<traits<Lhs>::RowsAtCompileTime, traits<Rhs>::RowsAtCompileTime>::ret,
-    ColsAtCompileTime = size_at_compile_time<traits<Lhs>::ColsAtCompileTime, traits<Rhs>::ColsAtCompileTime>::ret,
-    MaxRowsAtCompileTime = size_at_compile_time<traits<Lhs>::MaxRowsAtCompileTime, traits<Rhs>::MaxRowsAtCompileTime>::ret,
-    MaxColsAtCompileTime = size_at_compile_time<traits<Lhs>::MaxColsAtCompileTime, traits<Rhs>::MaxColsAtCompileTime>::ret,
-
-    EvalToRowMajor = (LhsFlags & RhsFlags & RowMajorBit),
-    RemovedBits = ~(EvalToRowMajor ? 0 : RowMajorBit),
-
-    Flags = ((LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-          | EvalBeforeNestingBit,
-    CoeffReadCost = HugeCost
-  };
-
-  typedef SparseMatrix<Scalar, 0, StorageIndex> ReturnType;
-};
-
-} // end namespace internal
-
-/*!
- * \ingroup KroneckerProduct_Module
- *
- * Computes Kronecker tensor product of two dense matrices
- *
- * \warning If you want to replace a matrix by its Kronecker product
- *          with some matrix, do \b NOT do this:
- * \code
- * A = kroneckerProduct(A,B); // bug!!! caused by aliasing effect
- * \endcode
- * instead, use eval() to work around this:
- * \code
- * A = kroneckerProduct(A,B).eval();
- * \endcode
- *
- * \param a  Dense matrix a
- * \param b  Dense matrix b
- * \return   Kronecker tensor product of a and b
- */
-template<typename A, typename B>
-KroneckerProduct<A,B> kroneckerProduct(const MatrixBase<A>& a, const MatrixBase<B>& b)
-{
-  return KroneckerProduct<A, B>(a.derived(), b.derived());
-}
-
-/*!
- * \ingroup KroneckerProduct_Module
- *
- * Computes Kronecker tensor product of two matrices, at least one of
- * which is sparse
- *
- * \warning If you want to replace a matrix by its Kronecker product
- *          with some matrix, do \b NOT do this:
- * \code
- * A = kroneckerProduct(A,B); // bug!!! caused by aliasing effect
- * \endcode
- * instead, use eval() to work around this:
- * \code
- * A = kroneckerProduct(A,B).eval();
- * \endcode
- *
- * \param a  Dense/sparse matrix a
- * \param b  Dense/sparse matrix b
- * \return   Kronecker tensor product of a and b, stored in a sparse
- *           matrix
- */
-template<typename A, typename B>
-KroneckerProductSparse<A,B> kroneckerProduct(const EigenBase<A>& a, const EigenBase<B>& b)
-{
-  return KroneckerProductSparse<A,B>(a.derived(), b.derived());
-}
-
-} // end namespace Eigen
-
-#endif // KRONECKER_TENSOR_PRODUCT_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt b/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt
deleted file mode 100644
index ae7984daec98f7..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt
+++ /dev/null
@@ -1,52 +0,0 @@
-Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
-
-Redistribution and use in source and binary forms, with or
-without modification, are permitted provided that the
-following conditions are met:
-
-1. Redistributions of source code must retain the above
-copyright notice, this list of conditions and the following
-disclaimer.
-
-2. Redistributions in binary form must reproduce the above
-copyright notice, this list of conditions and the following
-disclaimer in the documentation and/or other materials
-provided with the distribution.
-
-3. The end-user documentation included with the
-redistribution, if any, must include the following
-acknowledgment:
-
-   "This product includes software developed by the
-   University of Chicago, as Operator of Argonne National
-   Laboratory.
-
-Alternately, this acknowledgment may appear in the software
-itself, if and wherever such third-party acknowledgments
-normally appear.
-
-4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
-WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
-UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
-THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
-OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
-OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
-USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
-THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
-DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
-UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
-BE CORRECTED.
-
-5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
-HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
-ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
-INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
-ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
-PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
-SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
-(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
-EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
-POSSIBILITY OF SUCH LOSS OR DAMAGES.
-
diff --git a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h b/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h
deleted file mode 100644
index b75bea25f63c03..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h
+++ /dev/null
@@ -1,84 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This code initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-
-#ifndef EIGEN_LMCOVAR_H
-#define EIGEN_LMCOVAR_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void covar(
-        Matrix< Scalar, Dynamic, Dynamic > &r,
-        const VectorXi& ipvt,
-        Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon()) )
-{
-    using std::abs;
-    /* Local variables */
-    Index i, j, k, l, ii, jj;
-    bool sing;
-    Scalar temp;
-
-    /* Function Body */
-    const Index n = r.cols();
-    const Scalar tolr = tol * abs(r(0,0));
-    Matrix< Scalar, Dynamic, 1 > wa(n);
-    eigen_assert(ipvt.size()==n);
-
-    /* form the inverse of r in the full upper triangle of r. */
-    l = -1;
-    for (k = 0; k < n; ++k)
-        if (abs(r(k,k)) > tolr) {
-            r(k,k) = 1. / r(k,k);
-            for (j = 0; j <= k-1; ++j) {
-                temp = r(k,k) * r(j,k);
-                r(j,k) = 0.;
-                r.col(k).head(j+1) -= r.col(j).head(j+1) * temp;
-            }
-            l = k;
-        }
-
-    /* form the full upper triangle of the inverse of (r transpose)*r */
-    /* in the full upper triangle of r. */
-    for (k = 0; k <= l; ++k) {
-        for (j = 0; j <= k-1; ++j)
-            r.col(j).head(j+1) += r.col(k).head(j+1) * r(j,k);
-        r.col(k).head(k+1) *= r(k,k);
-    }
-
-    /* form the full lower triangle of the covariance matrix */
-    /* in the strict lower triangle of r and in wa. */
-    for (j = 0; j < n; ++j) {
-        jj = ipvt[j];
-        sing = j > l;
-        for (i = 0; i <= j; ++i) {
-            if (sing)
-                r(i,j) = 0.;
-            ii = ipvt[i];
-            if (ii > jj)
-                r(ii,jj) = r(i,j);
-            if (ii < jj)
-                r(jj,ii) = r(i,j);
-        }
-        wa[jj] = r(j,j);
-    }
-
-    /* symmetrize the covariance matrix in r. */
-    r.topLeftCorner(n,n).template triangularView<StrictlyUpper>() = r.topLeftCorner(n,n).transpose();
-    r.diagonal() = wa;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_LMCOVAR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h b/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h
deleted file mode 100644
index 25b32ec5b9b124..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h
+++ /dev/null
@@ -1,202 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This code initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-
-#ifndef EIGEN_LMONESTEP_H
-#define EIGEN_LMONESTEP_H
-
-namespace Eigen {
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::minimizeOneStep(FVectorType  &x)
-{
-  using std::abs;
-  using std::sqrt;
-  RealScalar temp, temp1,temp2; 
-  RealScalar ratio; 
-  RealScalar pnorm, xnorm, fnorm1, actred, dirder, prered;
-  eigen_assert(x.size()==n); // check the caller is not cheating us
-
-  temp = 0.0; xnorm = 0.0;
-  /* calculate the jacobian matrix. */
-  Index df_ret = m_functor.df(x, m_fjac);
-  if (df_ret<0)
-      return LevenbergMarquardtSpace::UserAsked;
-  if (df_ret>0)
-      // numerical diff, we evaluated the function df_ret times
-      m_nfev += df_ret;
-  else m_njev++;
-
-  /* compute the qr factorization of the jacobian. */
-  for (int j = 0; j < x.size(); ++j)
-    m_wa2(j) = m_fjac.col(j).blueNorm();
-  QRSolver qrfac(m_fjac);
-  if(qrfac.info() != Success) {
-    m_info = NumericalIssue;
-    return LevenbergMarquardtSpace::ImproperInputParameters;
-  }
-  // Make a copy of the first factor with the associated permutation
-  m_rfactor = qrfac.matrixR();
-  m_permutation = (qrfac.colsPermutation());
-
-  /* on the first iteration and if external scaling is not used, scale according */
-  /* to the norms of the columns of the initial jacobian. */
-  if (m_iter == 1) {
-      if (!m_useExternalScaling)
-          for (Index j = 0; j < n; ++j)
-              m_diag[j] = (m_wa2[j]==0.)? 1. : m_wa2[j];
-
-      /* on the first iteration, calculate the norm of the scaled x */
-      /* and initialize the step bound m_delta. */
-      xnorm = m_diag.cwiseProduct(x).stableNorm();
-      m_delta = m_factor * xnorm;
-      if (m_delta == 0.)
-          m_delta = m_factor;
-  }
-
-  /* form (q transpose)*m_fvec and store the first n components in */
-  /* m_qtf. */
-  m_wa4 = m_fvec;
-  m_wa4 = qrfac.matrixQ().adjoint() * m_fvec; 
-  m_qtf = m_wa4.head(n);
-
-  /* compute the norm of the scaled gradient. */
-  m_gnorm = 0.;
-  if (m_fnorm != 0.)
-      for (Index j = 0; j < n; ++j)
-          if (m_wa2[m_permutation.indices()[j]] != 0.)
-              m_gnorm = (std::max)(m_gnorm, abs( m_rfactor.col(j).head(j+1).dot(m_qtf.head(j+1)/m_fnorm) / m_wa2[m_permutation.indices()[j]]));
-
-  /* test for convergence of the gradient norm. */
-  if (m_gnorm <= m_gtol) {
-    m_info = Success;
-    return LevenbergMarquardtSpace::CosinusTooSmall;
-  }
-
-  /* rescale if necessary. */
-  if (!m_useExternalScaling)
-      m_diag = m_diag.cwiseMax(m_wa2);
-
-  do {
-    /* determine the levenberg-marquardt parameter. */
-    internal::lmpar2(qrfac, m_diag, m_qtf, m_delta, m_par, m_wa1);
-
-    /* store the direction p and x + p. calculate the norm of p. */
-    m_wa1 = -m_wa1;
-    m_wa2 = x + m_wa1;
-    pnorm = m_diag.cwiseProduct(m_wa1).stableNorm();
-
-    /* on the first iteration, adjust the initial step bound. */
-    if (m_iter == 1)
-        m_delta = (std::min)(m_delta,pnorm);
-
-    /* evaluate the function at x + p and calculate its norm. */
-    if ( m_functor(m_wa2, m_wa4) < 0)
-        return LevenbergMarquardtSpace::UserAsked;
-    ++m_nfev;
-    fnorm1 = m_wa4.stableNorm();
-
-    /* compute the scaled actual reduction. */
-    actred = -1.;
-    if (Scalar(.1) * fnorm1 < m_fnorm)
-        actred = 1. - numext::abs2(fnorm1 / m_fnorm);
-
-    /* compute the scaled predicted reduction and */
-    /* the scaled directional derivative. */
-    m_wa3 = m_rfactor.template triangularView<Upper>() * (m_permutation.inverse() *m_wa1);
-    temp1 = numext::abs2(m_wa3.stableNorm() / m_fnorm);
-    temp2 = numext::abs2(sqrt(m_par) * pnorm / m_fnorm);
-    prered = temp1 + temp2 / Scalar(.5);
-    dirder = -(temp1 + temp2);
-
-    /* compute the ratio of the actual to the predicted */
-    /* reduction. */
-    ratio = 0.;
-    if (prered != 0.)
-        ratio = actred / prered;
-
-    /* update the step bound. */
-    if (ratio <= Scalar(.25)) {
-        if (actred >= 0.)
-            temp = RealScalar(.5);
-        if (actred < 0.)
-            temp = RealScalar(.5) * dirder / (dirder + RealScalar(.5) * actred);
-        if (RealScalar(.1) * fnorm1 >= m_fnorm || temp < RealScalar(.1))
-            temp = Scalar(.1);
-        /* Computing MIN */
-        m_delta = temp * (std::min)(m_delta, pnorm / RealScalar(.1));
-        m_par /= temp;
-    } else if (!(m_par != 0. && ratio < RealScalar(.75))) {
-        m_delta = pnorm / RealScalar(.5);
-        m_par = RealScalar(.5) * m_par;
-    }
-
-    /* test for successful iteration. */
-    if (ratio >= RealScalar(1e-4)) {
-        /* successful iteration. update x, m_fvec, and their norms. */
-        x = m_wa2;
-        m_wa2 = m_diag.cwiseProduct(x);
-        m_fvec = m_wa4;
-        xnorm = m_wa2.stableNorm();
-        m_fnorm = fnorm1;
-        ++m_iter;
-    }
-
-    /* tests for convergence. */
-    if (abs(actred) <= m_ftol && prered <= m_ftol && Scalar(.5) * ratio <= 1. && m_delta <= m_xtol * xnorm)
-    {
-       m_info = Success;
-      return LevenbergMarquardtSpace::RelativeErrorAndReductionTooSmall;
-    }
-    if (abs(actred) <= m_ftol && prered <= m_ftol && Scalar(.5) * ratio <= 1.) 
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::RelativeReductionTooSmall;
-    }
-    if (m_delta <= m_xtol * xnorm)
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::RelativeErrorTooSmall;
-    }
-
-    /* tests for termination and stringent tolerances. */
-    if (m_nfev >= m_maxfev) 
-    {
-      m_info = NoConvergence;
-      return LevenbergMarquardtSpace::TooManyFunctionEvaluation;
-    }
-    if (abs(actred) <= NumTraits<Scalar>::epsilon() && prered <= NumTraits<Scalar>::epsilon() && Scalar(.5) * ratio <= 1.)
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::FtolTooSmall;
-    }
-    if (m_delta <= NumTraits<Scalar>::epsilon() * xnorm) 
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::XtolTooSmall;
-    }
-    if (m_gnorm <= NumTraits<Scalar>::epsilon())
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::GtolTooSmall;
-    }
-
-  } while (ratio < Scalar(1e-4));
-
-  return LevenbergMarquardtSpace::Running;
-}
-
-  
-} // end namespace Eigen
-
-#endif // EIGEN_LMONESTEP_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h b/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h
deleted file mode 100644
index 9a4836547ecb77..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h
+++ /dev/null
@@ -1,160 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This code initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-
-#ifndef EIGEN_LMPAR_H
-#define EIGEN_LMPAR_H
-
-namespace Eigen {
-
-namespace internal {
-  
-  template <typename QRSolver, typename VectorType>
-    void lmpar2(
-    const QRSolver &qr,
-    const VectorType  &diag,
-    const VectorType  &qtb,
-    typename VectorType::Scalar m_delta,
-    typename VectorType::Scalar &par,
-    VectorType  &x)
-
-  {
-    using std::sqrt;
-    using std::abs;
-    typedef typename QRSolver::MatrixType MatrixType;
-    typedef typename QRSolver::Scalar Scalar;
-//    typedef typename QRSolver::StorageIndex StorageIndex;
-
-    /* Local variables */
-    Index j;
-    Scalar fp;
-    Scalar parc, parl;
-    Index iter;
-    Scalar temp, paru;
-    Scalar gnorm;
-    Scalar dxnorm;
-    
-    // Make a copy of the triangular factor. 
-    // This copy is modified during call the qrsolv
-    MatrixType s;
-    s = qr.matrixR();
-
-    /* Function Body */
-    const Scalar dwarf = (std::numeric_limits<Scalar>::min)();
-    const Index n = qr.matrixR().cols();
-    eigen_assert(n==diag.size());
-    eigen_assert(n==qtb.size());
-
-    VectorType  wa1, wa2;
-
-    /* compute and store in x the gauss-newton direction. if the */
-    /* jacobian is rank-deficient, obtain a least squares solution. */
-
-    //    const Index rank = qr.nonzeroPivots(); // exactly double(0.)
-    const Index rank = qr.rank(); // use a threshold
-    wa1 = qtb;
-    wa1.tail(n-rank).setZero();
-    //FIXME There is no solve in place for sparse triangularView
-    wa1.head(rank) = s.topLeftCorner(rank,rank).template triangularView<Upper>().solve(qtb.head(rank));
-
-    x = qr.colsPermutation()*wa1;
-
-    /* initialize the iteration counter. */
-    /* evaluate the function at the origin, and test */
-    /* for acceptance of the gauss-newton direction. */
-    iter = 0;
-    wa2 = diag.cwiseProduct(x);
-    dxnorm = wa2.blueNorm();
-    fp = dxnorm - m_delta;
-    if (fp <= Scalar(0.1) * m_delta) {
-      par = 0;
-      return;
-    }
-
-    /* if the jacobian is not rank deficient, the newton */
-    /* step provides a lower bound, parl, for the zero of */
-    /* the function. otherwise set this bound to zero. */
-    parl = 0.;
-    if (rank==n) {
-      wa1 = qr.colsPermutation().inverse() *  diag.cwiseProduct(wa2)/dxnorm;
-      s.topLeftCorner(n,n).transpose().template triangularView<Lower>().solveInPlace(wa1);
-      temp = wa1.blueNorm();
-      parl = fp / m_delta / temp / temp;
-    }
-
-    /* calculate an upper bound, paru, for the zero of the function. */
-    for (j = 0; j < n; ++j)
-      wa1[j] = s.col(j).head(j+1).dot(qtb.head(j+1)) / diag[qr.colsPermutation().indices()(j)];
-
-    gnorm = wa1.stableNorm();
-    paru = gnorm / m_delta;
-    if (paru == 0.)
-      paru = dwarf / (std::min)(m_delta,Scalar(0.1));
-
-    /* if the input par lies outside of the interval (parl,paru), */
-    /* set par to the closer endpoint. */
-    par = (std::max)(par,parl);
-    par = (std::min)(par,paru);
-    if (par == 0.)
-      par = gnorm / dxnorm;
-
-    /* beginning of an iteration. */
-    while (true) {
-      ++iter;
-
-      /* evaluate the function at the current value of par. */
-      if (par == 0.)
-        par = (std::max)(dwarf,Scalar(.001) * paru); /* Computing MAX */
-      wa1 = sqrt(par)* diag;
-
-      VectorType sdiag(n);
-      lmqrsolv(s, qr.colsPermutation(), wa1, qtb, x, sdiag);
-
-      wa2 = diag.cwiseProduct(x);
-      dxnorm = wa2.blueNorm();
-      temp = fp;
-      fp = dxnorm - m_delta;
-
-      /* if the function is small enough, accept the current value */
-      /* of par. also test for the exceptional cases where parl */
-      /* is zero or the number of iterations has reached 10. */
-      if (abs(fp) <= Scalar(0.1) * m_delta || (parl == 0. && fp <= temp && temp < 0.) || iter == 10)
-        break;
-
-      /* compute the newton correction. */
-      wa1 = qr.colsPermutation().inverse() * diag.cwiseProduct(wa2/dxnorm);
-      // we could almost use this here, but the diagonal is outside qr, in sdiag[]
-      for (j = 0; j < n; ++j) {
-        wa1[j] /= sdiag[j];
-        temp = wa1[j];
-        for (Index i = j+1; i < n; ++i)
-          wa1[i] -= s.coeff(i,j) * temp;
-      }
-      temp = wa1.blueNorm();
-      parc = fp / m_delta / temp / temp;
-
-      /* depending on the sign of the function, update parl or paru. */
-      if (fp > 0.)
-        parl = (std::max)(parl,par);
-      if (fp < 0.)
-        paru = (std::min)(paru,par);
-
-      /* compute an improved estimate for par. */
-      par = (std::max)(parl,par+parc);
-    }
-    if (iter == 0)
-      par = 0.;
-    return;
-  }
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_LMPAR_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h b/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h
deleted file mode 100644
index ae9d793b1173c0..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h
+++ /dev/null
@@ -1,188 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-// Copyright (C) 2012 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-//
-// This code initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-
-#ifndef EIGEN_LMQRSOLV_H
-#define EIGEN_LMQRSOLV_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar,int Rows, int Cols, typename PermIndex>
-void lmqrsolv(
-  Matrix<Scalar,Rows,Cols> &s,
-  const PermutationMatrix<Dynamic,Dynamic,PermIndex> &iPerm,
-  const Matrix<Scalar,Dynamic,1> &diag,
-  const Matrix<Scalar,Dynamic,1> &qtb,
-  Matrix<Scalar,Dynamic,1> &x,
-  Matrix<Scalar,Dynamic,1> &sdiag)
-{
-    /* Local variables */
-    Index i, j, k;
-    Scalar temp;
-    Index n = s.cols();
-    Matrix<Scalar,Dynamic,1>  wa(n);
-    JacobiRotation<Scalar> givens;
-
-    /* Function Body */
-    // the following will only change the lower triangular part of s, including
-    // the diagonal, though the diagonal is restored afterward
-
-    /*     copy r and (q transpose)*b to preserve input and initialize s. */
-    /*     in particular, save the diagonal elements of r in x. */
-    x = s.diagonal();
-    wa = qtb;
-    
-   
-    s.topLeftCorner(n,n).template triangularView<StrictlyLower>() = s.topLeftCorner(n,n).transpose();
-    /*     eliminate the diagonal matrix d using a givens rotation. */
-    for (j = 0; j < n; ++j) {
-
-        /*        prepare the row of d to be eliminated, locating the */
-        /*        diagonal element using p from the qr factorization. */
-        const PermIndex l = iPerm.indices()(j);
-        if (diag[l] == 0.)
-            break;
-        sdiag.tail(n-j).setZero();
-        sdiag[j] = diag[l];
-
-        /*        the transformations to eliminate the row of d */
-        /*        modify only a single element of (q transpose)*b */
-        /*        beyond the first n, which is initially zero. */
-        Scalar qtbpj = 0.;
-        for (k = j; k < n; ++k) {
-            /*           determine a givens rotation which eliminates the */
-            /*           appropriate element in the current row of d. */
-            givens.makeGivens(-s(k,k), sdiag[k]);
-
-            /*           compute the modified diagonal element of r and */
-            /*           the modified element of ((q transpose)*b,0). */
-            s(k,k) = givens.c() * s(k,k) + givens.s() * sdiag[k];
-            temp = givens.c() * wa[k] + givens.s() * qtbpj;
-            qtbpj = -givens.s() * wa[k] + givens.c() * qtbpj;
-            wa[k] = temp;
-
-            /*           accumulate the tranformation in the row of s. */
-            for (i = k+1; i<n; ++i) {
-                temp = givens.c() * s(i,k) + givens.s() * sdiag[i];
-                sdiag[i] = -givens.s() * s(i,k) + givens.c() * sdiag[i];
-                s(i,k) = temp;
-            }
-        }
-    }
-  
-    /*     solve the triangular system for z. if the system is */
-    /*     singular, then obtain a least squares solution. */
-    Index nsing;
-    for(nsing=0; nsing<n && sdiag[nsing]!=0; nsing++) {}
-
-    wa.tail(n-nsing).setZero();
-    s.topLeftCorner(nsing, nsing).transpose().template triangularView<Upper>().solveInPlace(wa.head(nsing));
-  
-    // restore
-    sdiag = s.diagonal();
-    s.diagonal() = x;
-
-    /* permute the components of z back to components of x. */
-    x = iPerm * wa; 
-}
-
-template <typename Scalar, int _Options, typename Index>
-void lmqrsolv(
-  SparseMatrix<Scalar,_Options,Index> &s,
-  const PermutationMatrix<Dynamic,Dynamic> &iPerm,
-  const Matrix<Scalar,Dynamic,1> &diag,
-  const Matrix<Scalar,Dynamic,1> &qtb,
-  Matrix<Scalar,Dynamic,1> &x,
-  Matrix<Scalar,Dynamic,1> &sdiag)
-{
-  /* Local variables */
-  typedef SparseMatrix<Scalar,RowMajor,Index> FactorType;
-    Index i, j, k, l;
-    Scalar temp;
-    Index n = s.cols();
-    Matrix<Scalar,Dynamic,1>  wa(n);
-    JacobiRotation<Scalar> givens;
-
-    /* Function Body */
-    // the following will only change the lower triangular part of s, including
-    // the diagonal, though the diagonal is restored afterward
-
-    /*     copy r and (q transpose)*b to preserve input and initialize R. */
-    wa = qtb;
-    FactorType R(s);
-    // Eliminate the diagonal matrix d using a givens rotation
-    for (j = 0; j < n; ++j)
-    {
-      // Prepare the row of d to be eliminated, locating the 
-      // diagonal element using p from the qr factorization
-      l = iPerm.indices()(j);
-      if (diag(l) == Scalar(0)) 
-        break; 
-      sdiag.tail(n-j).setZero();
-      sdiag[j] = diag[l];
-      // the transformations to eliminate the row of d
-      // modify only a single element of (q transpose)*b
-      // beyond the first n, which is initially zero. 
-      
-      Scalar qtbpj = 0; 
-      // Browse the nonzero elements of row j of the upper triangular s
-      for (k = j; k < n; ++k)
-      {
-        typename FactorType::InnerIterator itk(R,k);
-        for (; itk; ++itk){
-          if (itk.index() < k) continue;
-          else break;
-        }
-        //At this point, we have the diagonal element R(k,k)
-        // Determine a givens rotation which eliminates 
-        // the appropriate element in the current row of d
-        givens.makeGivens(-itk.value(), sdiag(k));
-        
-        // Compute the modified diagonal element of r and 
-        // the modified element of ((q transpose)*b,0).
-        itk.valueRef() = givens.c() * itk.value() + givens.s() * sdiag(k);
-        temp = givens.c() * wa(k) + givens.s() * qtbpj; 
-        qtbpj = -givens.s() * wa(k) + givens.c() * qtbpj;
-        wa(k) = temp;
-        
-        // Accumulate the transformation in the remaining k row/column of R
-        for (++itk; itk; ++itk)
-        {
-          i = itk.index();
-          temp = givens.c() *  itk.value() + givens.s() * sdiag(i);
-          sdiag(i) = -givens.s() * itk.value() + givens.c() * sdiag(i);
-          itk.valueRef() = temp;
-        }
-      }
-    }
-    
-    // Solve the triangular system for z. If the system is 
-    // singular, then obtain a least squares solution
-    Index nsing;
-    for(nsing = 0; nsing<n && sdiag(nsing) !=0; nsing++) {}
-    
-    wa.tail(n-nsing).setZero();
-//     x = wa; 
-    wa.head(nsing) = R.topLeftCorner(nsing,nsing).template triangularView<Upper>().solve/*InPlace*/(wa.head(nsing));
-    
-    sdiag = R.diagonal();
-    // Permute the components of z back to components of x
-    x = iPerm * wa; 
-}
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_LMQRSOLV_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h b/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h
deleted file mode 100644
index 9954279789903f..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h
+++ /dev/null
@@ -1,396 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-// Copyright (C) 2012 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-//
-// The algorithm of this class initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LEVENBERGMARQUARDT_H
-#define EIGEN_LEVENBERGMARQUARDT_H
-
-
-namespace Eigen {
-namespace LevenbergMarquardtSpace {
-    enum Status {
-        NotStarted = -2,
-        Running = -1,
-        ImproperInputParameters = 0,
-        RelativeReductionTooSmall = 1,
-        RelativeErrorTooSmall = 2,
-        RelativeErrorAndReductionTooSmall = 3,
-        CosinusTooSmall = 4,
-        TooManyFunctionEvaluation = 5,
-        FtolTooSmall = 6,
-        XtolTooSmall = 7,
-        GtolTooSmall = 8,
-        UserAsked = 9
-    };
-}
-
-template <typename _Scalar, int NX=Dynamic, int NY=Dynamic>
-struct DenseFunctor
-{
-  typedef _Scalar Scalar;
-  enum {
-    InputsAtCompileTime = NX,
-    ValuesAtCompileTime = NY
-  };
-  typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
-  typedef ColPivHouseholderQR<JacobianType> QRSolver;
-  const int m_inputs, m_values;
-
-  DenseFunctor() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}
-  DenseFunctor(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-
-  int inputs() const { return m_inputs; }
-  int values() const { return m_values; }
-
-  //int operator()(const InputType &x, ValueType& fvec) { }
-  // should be defined in derived classes
-  
-  //int df(const InputType &x, JacobianType& fjac) { }
-  // should be defined in derived classes
-};
-
-template <typename _Scalar, typename _Index>
-struct SparseFunctor
-{
-  typedef _Scalar Scalar;
-  typedef _Index Index;
-  typedef Matrix<Scalar,Dynamic,1> InputType;
-  typedef Matrix<Scalar,Dynamic,1> ValueType;
-  typedef SparseMatrix<Scalar, ColMajor, Index> JacobianType;
-  typedef SparseQR<JacobianType, COLAMDOrdering<int> > QRSolver;
-  enum {
-    InputsAtCompileTime = Dynamic,
-    ValuesAtCompileTime = Dynamic
-  };
-  
-  SparseFunctor(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-
-  int inputs() const { return m_inputs; }
-  int values() const { return m_values; }
-  
-  const int m_inputs, m_values;
-  //int operator()(const InputType &x, ValueType& fvec) { }
-  // to be defined in the functor
-  
-  //int df(const InputType &x, JacobianType& fjac) { }
-  // to be defined in the functor if no automatic differentiation
-  
-};
-namespace internal {
-template <typename QRSolver, typename VectorType>
-void lmpar2(const QRSolver &qr, const VectorType  &diag, const VectorType  &qtb,
-	    typename VectorType::Scalar m_delta, typename VectorType::Scalar &par,
-	    VectorType  &x);
-    }
-/**
-  * \ingroup NonLinearOptimization_Module
-  * \brief Performs non linear optimization over a non-linear function,
-  * using a variant of the Levenberg Marquardt algorithm.
-  *
-  * Check wikipedia for more information.
-  * http://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm
-  */
-template<typename _FunctorType>
-class LevenbergMarquardt : internal::no_assignment_operator
-{
-  public:
-    typedef _FunctorType FunctorType;
-    typedef typename FunctorType::QRSolver QRSolver;
-    typedef typename FunctorType::JacobianType JacobianType;
-    typedef typename JacobianType::Scalar Scalar;
-    typedef typename JacobianType::RealScalar RealScalar; 
-    typedef typename QRSolver::StorageIndex PermIndex;
-    typedef Matrix<Scalar,Dynamic,1> FVectorType;
-    typedef PermutationMatrix<Dynamic,Dynamic> PermutationType;
-  public:
-    LevenbergMarquardt(FunctorType& functor) 
-    : m_functor(functor),m_nfev(0),m_njev(0),m_fnorm(0.0),m_gnorm(0),
-      m_isInitialized(false),m_info(InvalidInput)
-    {
-      resetParameters();
-      m_useExternalScaling=false; 
-    }
-    
-    LevenbergMarquardtSpace::Status minimize(FVectorType &x);
-    LevenbergMarquardtSpace::Status minimizeInit(FVectorType &x);
-    LevenbergMarquardtSpace::Status minimizeOneStep(FVectorType &x);
-    LevenbergMarquardtSpace::Status lmder1(
-      FVectorType  &x, 
-      const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-    );
-    static LevenbergMarquardtSpace::Status lmdif1(
-            FunctorType &functor,
-            FVectorType  &x,
-            Index *nfev,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-    
-    /** Sets the default parameters */
-    void resetParameters() 
-    {
-      using std::sqrt;        
-
-      m_factor = 100.; 
-      m_maxfev = 400; 
-      m_ftol = sqrt(NumTraits<RealScalar>::epsilon());
-      m_xtol = sqrt(NumTraits<RealScalar>::epsilon());
-      m_gtol = 0. ; 
-      m_epsfcn = 0. ;
-    }
-    
-    /** Sets the tolerance for the norm of the solution vector*/
-    void setXtol(RealScalar xtol) { m_xtol = xtol; }
-    
-    /** Sets the tolerance for the norm of the vector function*/
-    void setFtol(RealScalar ftol) { m_ftol = ftol; }
-    
-    /** Sets the tolerance for the norm of the gradient of the error vector*/
-    void setGtol(RealScalar gtol) { m_gtol = gtol; }
-    
-    /** Sets the step bound for the diagonal shift */
-    void setFactor(RealScalar factor) { m_factor = factor; }    
-    
-    /** Sets the error precision  */
-    void setEpsilon (RealScalar epsfcn) { m_epsfcn = epsfcn; }
-    
-    /** Sets the maximum number of function evaluation */
-    void setMaxfev(Index maxfev) {m_maxfev = maxfev; }
-    
-    /** Use an external Scaling. If set to true, pass a nonzero diagonal to diag() */
-    void setExternalScaling(bool value) {m_useExternalScaling  = value; }
-    
-    /** \returns the tolerance for the norm of the solution vector */
-    RealScalar xtol() const {return m_xtol; }
-    
-    /** \returns the tolerance for the norm of the vector function */
-    RealScalar ftol() const {return m_ftol; }
-    
-    /** \returns the tolerance for the norm of the gradient of the error vector */
-    RealScalar gtol() const {return m_gtol; }
-    
-    /** \returns the step bound for the diagonal shift */
-    RealScalar factor() const {return m_factor; }
-    
-    /** \returns the error precision */
-    RealScalar epsilon() const {return m_epsfcn; }
-    
-    /** \returns the maximum number of function evaluation */
-    Index maxfev() const {return m_maxfev; }
-    
-    /** \returns a reference to the diagonal of the jacobian */
-    FVectorType& diag() {return m_diag; }
-    
-    /** \returns the number of iterations performed */
-    Index iterations() { return m_iter; }
-    
-    /** \returns the number of functions evaluation */
-    Index nfev() { return m_nfev; }
-    
-    /** \returns the number of jacobian evaluation */
-    Index njev() { return m_njev; }
-    
-    /** \returns the norm of current vector function */
-    RealScalar fnorm() {return m_fnorm; }
-    
-    /** \returns the norm of the gradient of the error */
-    RealScalar gnorm() {return m_gnorm; }
-    
-    /** \returns the LevenbergMarquardt parameter */
-    RealScalar lm_param(void) { return m_par; }
-    
-    /** \returns a reference to the  current vector function 
-     */
-    FVectorType& fvec() {return m_fvec; }
-    
-    /** \returns a reference to the matrix where the current Jacobian matrix is stored
-     */
-    JacobianType& jacobian() {return m_fjac; }
-    
-    /** \returns a reference to the triangular matrix R from the QR of the jacobian matrix.
-     * \sa jacobian()
-     */
-    JacobianType& matrixR() {return m_rfactor; }
-    
-    /** the permutation used in the QR factorization
-     */
-    PermutationType permutation() {return m_permutation; }
-    
-    /** 
-     * \brief Reports whether the minimization was successful
-     * \returns \c Success if the minimization was succesful,
-     *         \c NumericalIssue if a numerical problem arises during the 
-     *          minimization process, for exemple during the QR factorization
-     *         \c NoConvergence if the minimization did not converge after 
-     *          the maximum number of function evaluation allowed
-     *          \c InvalidInput if the input matrix is invalid
-     */
-    ComputationInfo info() const
-    {
-      
-      return m_info;
-    }
-  private:
-    JacobianType m_fjac; 
-    JacobianType m_rfactor; // The triangular matrix R from the QR of the jacobian matrix m_fjac
-    FunctorType &m_functor;
-    FVectorType m_fvec, m_qtf, m_diag; 
-    Index n;
-    Index m; 
-    Index m_nfev;
-    Index m_njev; 
-    RealScalar m_fnorm; // Norm of the current vector function
-    RealScalar m_gnorm; //Norm of the gradient of the error 
-    RealScalar m_factor; //
-    Index m_maxfev; // Maximum number of function evaluation
-    RealScalar m_ftol; //Tolerance in the norm of the vector function
-    RealScalar m_xtol; // 
-    RealScalar m_gtol; //tolerance of the norm of the error gradient
-    RealScalar m_epsfcn; //
-    Index m_iter; // Number of iterations performed
-    RealScalar m_delta;
-    bool m_useExternalScaling;
-    PermutationType m_permutation;
-    FVectorType m_wa1, m_wa2, m_wa3, m_wa4; //Temporary vectors
-    RealScalar m_par;
-    bool m_isInitialized; // Check whether the minimization step has been called
-    ComputationInfo m_info; 
-};
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::minimize(FVectorType  &x)
-{
-    LevenbergMarquardtSpace::Status status = minimizeInit(x);
-    if (status==LevenbergMarquardtSpace::ImproperInputParameters) {
-      m_isInitialized = true;
-      return status;
-    }
-    do {
-//       std::cout << " uv " << x.transpose() << "\n";
-        status = minimizeOneStep(x);
-    } while (status==LevenbergMarquardtSpace::Running);
-     m_isInitialized = true;
-     return status;
-}
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::minimizeInit(FVectorType  &x)
-{
-    n = x.size();
-    m = m_functor.values();
-
-    m_wa1.resize(n); m_wa2.resize(n); m_wa3.resize(n);
-    m_wa4.resize(m);
-    m_fvec.resize(m);
-    //FIXME Sparse Case : Allocate space for the jacobian
-    m_fjac.resize(m, n);
-//     m_fjac.reserve(VectorXi::Constant(n,5)); // FIXME Find a better alternative
-    if (!m_useExternalScaling)
-        m_diag.resize(n);
-    eigen_assert( (!m_useExternalScaling || m_diag.size()==n) && "When m_useExternalScaling is set, the caller must provide a valid 'm_diag'");
-    m_qtf.resize(n);
-
-    /* Function Body */
-    m_nfev = 0;
-    m_njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || m < n || m_ftol < 0. || m_xtol < 0. || m_gtol < 0. || m_maxfev <= 0 || m_factor <= 0.){
-      m_info = InvalidInput;
-      return LevenbergMarquardtSpace::ImproperInputParameters;
-    }
-
-    if (m_useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (m_diag[j] <= 0.) 
-            {
-              m_info = InvalidInput;
-              return LevenbergMarquardtSpace::ImproperInputParameters;
-            }
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    m_nfev = 1;
-    if ( m_functor(x, m_fvec) < 0)
-        return LevenbergMarquardtSpace::UserAsked;
-    m_fnorm = m_fvec.stableNorm();
-
-    /*     initialize levenberg-marquardt parameter and iteration counter. */
-    m_par = 0.;
-    m_iter = 1;
-
-    return LevenbergMarquardtSpace::NotStarted;
-}
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::lmder1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-    m = m_functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    resetParameters();
-    m_ftol = tol;
-    m_xtol = tol;
-    m_maxfev = 100*(n+1);
-
-    return minimize(x);
-}
-
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::lmdif1(
-        FunctorType &functor,
-        FVectorType  &x,
-        Index *nfev,
-        const Scalar tol
-        )
-{
-    Index n = x.size();
-    Index m = functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    NumericalDiff<FunctorType> numDiff(functor);
-    // embedded LevenbergMarquardt
-    LevenbergMarquardt<NumericalDiff<FunctorType> > lm(numDiff);
-    lm.setFtol(tol);
-    lm.setXtol(tol);
-    lm.setMaxfev(200*(n+1));
-
-    LevenbergMarquardtSpace::Status info = LevenbergMarquardtSpace::Status(lm.minimize(x));
-    if (nfev)
-        * nfev = lm.nfev();
-    return info;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LEVENBERGMARQUARDT_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
deleted file mode 100644
index bb6d9e1fe4f34c..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
+++ /dev/null
@@ -1,432 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009, 2010, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2011, 2013 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_EXPONENTIAL
-#define EIGEN_MATRIX_EXPONENTIAL
-
-#include "StemFunction.h"
-
-namespace Eigen {
-namespace internal {
-
-/** \brief Scaling operator.
- *
- * This struct is used by CwiseUnaryOp to scale a matrix by \f$ 2^{-s} \f$.
- */
-template <typename RealScalar>
-struct MatrixExponentialScalingOp
-{
-  /** \brief Constructor.
-   *
-   * \param[in] squarings  The integer \f$ s \f$ in this document.
-   */
-  MatrixExponentialScalingOp(int squarings) : m_squarings(squarings) { }
-
-
-  /** \brief Scale a matrix coefficient.
-   *
-   * \param[in,out] x  The scalar to be scaled, becoming \f$ 2^{-s} x \f$.
-   */
-  inline const RealScalar operator() (const RealScalar& x) const
-  {
-    using std::ldexp;
-    return ldexp(x, -m_squarings);
-  }
-
-  typedef std::complex<RealScalar> ComplexScalar;
-
-  /** \brief Scale a matrix coefficient.
-   *
-   * \param[in,out] x  The scalar to be scaled, becoming \f$ 2^{-s} x \f$.
-   */
-  inline const ComplexScalar operator() (const ComplexScalar& x) const
-  {
-    using std::ldexp;
-    return ComplexScalar(ldexp(x.real(), -m_squarings), ldexp(x.imag(), -m_squarings));
-  }
-
-  private:
-    int m_squarings;
-};
-
-/** \brief Compute the (3,3)-Pad&eacute; approximant to the exponential.
- *
- *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
- *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
- */
-template <typename MatA, typename MatU, typename MatV>
-void matrix_exp_pade3(const MatA& A, MatU& U, MatV& V)
-{
-  typedef typename MatA::PlainObject MatrixType;
-  typedef typename NumTraits<typename traits<MatA>::Scalar>::Real RealScalar;
-  const RealScalar b[] = {120.L, 60.L, 12.L, 1.L};
-  const MatrixType A2 = A * A;
-  const MatrixType tmp = b[3] * A2 + b[1] * MatrixType::Identity(A.rows(), A.cols());
-  U.noalias() = A * tmp;
-  V = b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
-}
-
-/** \brief Compute the (5,5)-Pad&eacute; approximant to the exponential.
- *
- *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
- *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
- */
-template <typename MatA, typename MatU, typename MatV>
-void matrix_exp_pade5(const MatA& A, MatU& U, MatV& V)
-{
-  typedef typename MatA::PlainObject MatrixType;
-  typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
-  const RealScalar b[] = {30240.L, 15120.L, 3360.L, 420.L, 30.L, 1.L};
-  const MatrixType A2 = A * A;
-  const MatrixType A4 = A2 * A2;
-  const MatrixType tmp = b[5] * A4 + b[3] * A2 + b[1] * MatrixType::Identity(A.rows(), A.cols());
-  U.noalias() = A * tmp;
-  V = b[4] * A4 + b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
-}
-
-/** \brief Compute the (7,7)-Pad&eacute; approximant to the exponential.
- *
- *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
- *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
- */
-template <typename MatA, typename MatU, typename MatV>
-void matrix_exp_pade7(const MatA& A, MatU& U, MatV& V)
-{
-  typedef typename MatA::PlainObject MatrixType;
-  typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
-  const RealScalar b[] = {17297280.L, 8648640.L, 1995840.L, 277200.L, 25200.L, 1512.L, 56.L, 1.L};
-  const MatrixType A2 = A * A;
-  const MatrixType A4 = A2 * A2;
-  const MatrixType A6 = A4 * A2;
-  const MatrixType tmp = b[7] * A6 + b[5] * A4 + b[3] * A2 
-    + b[1] * MatrixType::Identity(A.rows(), A.cols());
-  U.noalias() = A * tmp;
-  V = b[6] * A6 + b[4] * A4 + b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
-
-}
-
-/** \brief Compute the (9,9)-Pad&eacute; approximant to the exponential.
- *
- *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
- *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
- */
-template <typename MatA, typename MatU, typename MatV>
-void matrix_exp_pade9(const MatA& A, MatU& U, MatV& V)
-{
-  typedef typename MatA::PlainObject MatrixType;
-  typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
-  const RealScalar b[] = {17643225600.L, 8821612800.L, 2075673600.L, 302702400.L, 30270240.L,
-                          2162160.L, 110880.L, 3960.L, 90.L, 1.L};
-  const MatrixType A2 = A * A;
-  const MatrixType A4 = A2 * A2;
-  const MatrixType A6 = A4 * A2;
-  const MatrixType A8 = A6 * A2;
-  const MatrixType tmp = b[9] * A8 + b[7] * A6 + b[5] * A4 + b[3] * A2 
-    + b[1] * MatrixType::Identity(A.rows(), A.cols());
-  U.noalias() = A * tmp;
-  V = b[8] * A8 + b[6] * A6 + b[4] * A4 + b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
-}
-
-/** \brief Compute the (13,13)-Pad&eacute; approximant to the exponential.
- *
- *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
- *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
- */
-template <typename MatA, typename MatU, typename MatV>
-void matrix_exp_pade13(const MatA& A, MatU& U, MatV& V)
-{
-  typedef typename MatA::PlainObject MatrixType;
-  typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
-  const RealScalar b[] = {64764752532480000.L, 32382376266240000.L, 7771770303897600.L,
-                          1187353796428800.L, 129060195264000.L, 10559470521600.L, 670442572800.L,
-                          33522128640.L, 1323241920.L, 40840800.L, 960960.L, 16380.L, 182.L, 1.L};
-  const MatrixType A2 = A * A;
-  const MatrixType A4 = A2 * A2;
-  const MatrixType A6 = A4 * A2;
-  V = b[13] * A6 + b[11] * A4 + b[9] * A2; // used for temporary storage
-  MatrixType tmp = A6 * V;
-  tmp += b[7] * A6 + b[5] * A4 + b[3] * A2 + b[1] * MatrixType::Identity(A.rows(), A.cols());
-  U.noalias() = A * tmp;
-  tmp = b[12] * A6 + b[10] * A4 + b[8] * A2;
-  V.noalias() = A6 * tmp;
-  V += b[6] * A6 + b[4] * A4 + b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
-}
-
-/** \brief Compute the (17,17)-Pad&eacute; approximant to the exponential.
- *
- *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
- *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
- *
- *  This function activates only if your long double is double-double or quadruple.
- */
-#if LDBL_MANT_DIG > 64
-template <typename MatA, typename MatU, typename MatV>
-void matrix_exp_pade17(const MatA& A, MatU& U, MatV& V)
-{
-  typedef typename MatA::PlainObject MatrixType;
-  typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
-  const RealScalar b[] = {830034394580628357120000.L, 415017197290314178560000.L,
-                          100610229646136770560000.L, 15720348382208870400000.L,
-                          1774878043152614400000.L, 153822763739893248000.L, 10608466464820224000.L,
-                          595373117923584000.L, 27563570274240000.L, 1060137318240000.L,
-                          33924394183680.L, 899510451840.L, 19554575040.L, 341863200.L, 4651200.L,
-                          46512.L, 306.L, 1.L};
-  const MatrixType A2 = A * A;
-  const MatrixType A4 = A2 * A2;
-  const MatrixType A6 = A4 * A2;
-  const MatrixType A8 = A4 * A4;
-  V = b[17] * A8 + b[15] * A6 + b[13] * A4 + b[11] * A2; // used for temporary storage
-  MatrixType tmp = A8 * V;
-  tmp += b[9] * A8 + b[7] * A6 + b[5] * A4 + b[3] * A2 
-    + b[1] * MatrixType::Identity(A.rows(), A.cols());
-  U.noalias() = A * tmp;
-  tmp = b[16] * A8 + b[14] * A6 + b[12] * A4 + b[10] * A2;
-  V.noalias() = tmp * A8;
-  V += b[8] * A8 + b[6] * A6 + b[4] * A4 + b[2] * A2 
-    + b[0] * MatrixType::Identity(A.rows(), A.cols());
-}
-#endif
-
-template <typename MatrixType, typename RealScalar = typename NumTraits<typename traits<MatrixType>::Scalar>::Real>
-struct matrix_exp_computeUV
-{
-  /** \brief Compute Pad&eacute; approximant to the exponential.
-    *
-    * Computes \c U, \c V and \c squarings such that \f$ (V+U)(V-U)^{-1} \f$ is a Pad&eacute;
-    * approximant of \f$ \exp(2^{-\mbox{squarings}}M) \f$ around \f$ M = 0 \f$, where \f$ M \f$
-    * denotes the matrix \c arg. The degree of the Pad&eacute; approximant and the value of squarings
-    * are chosen such that the approximation error is no more than the round-off error.
-    */
-  static void run(const MatrixType& arg, MatrixType& U, MatrixType& V, int& squarings);
-};
-
-template <typename MatrixType>
-struct matrix_exp_computeUV<MatrixType, float>
-{
-  template <typename ArgType>
-  static void run(const ArgType& arg, MatrixType& U, MatrixType& V, int& squarings)
-  {
-    using std::frexp;
-    using std::pow;
-    const float l1norm = arg.cwiseAbs().colwise().sum().maxCoeff();
-    squarings = 0;
-    if (l1norm < 4.258730016922831e-001f) {
-      matrix_exp_pade3(arg, U, V);
-    } else if (l1norm < 1.880152677804762e+000f) {
-      matrix_exp_pade5(arg, U, V);
-    } else {
-      const float maxnorm = 3.925724783138660f;
-      frexp(l1norm / maxnorm, &squarings);
-      if (squarings < 0) squarings = 0;
-      MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<float>(squarings));
-      matrix_exp_pade7(A, U, V);
-    }
-  }
-};
-
-template <typename MatrixType>
-struct matrix_exp_computeUV<MatrixType, double>
-{
-  template <typename ArgType>
-  static void run(const ArgType& arg, MatrixType& U, MatrixType& V, int& squarings)
-  {
-    using std::frexp;
-    using std::pow;
-    const double l1norm = arg.cwiseAbs().colwise().sum().maxCoeff();
-    squarings = 0;
-    if (l1norm < 1.495585217958292e-002) {
-      matrix_exp_pade3(arg, U, V);
-    } else if (l1norm < 2.539398330063230e-001) {
-      matrix_exp_pade5(arg, U, V);
-    } else if (l1norm < 9.504178996162932e-001) {
-      matrix_exp_pade7(arg, U, V);
-    } else if (l1norm < 2.097847961257068e+000) {
-      matrix_exp_pade9(arg, U, V);
-    } else {
-      const double maxnorm = 5.371920351148152;
-      frexp(l1norm / maxnorm, &squarings);
-      if (squarings < 0) squarings = 0;
-      MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<double>(squarings));
-      matrix_exp_pade13(A, U, V);
-    }
-  }
-};
-  
-template <typename MatrixType>
-struct matrix_exp_computeUV<MatrixType, long double>
-{
-  template <typename ArgType>
-  static void run(const ArgType& arg, MatrixType& U, MatrixType& V, int& squarings)
-  {
-#if   LDBL_MANT_DIG == 53   // double precision
-    matrix_exp_computeUV<MatrixType, double>::run(arg, U, V, squarings);
-  
-#else
-  
-    using std::frexp;
-    using std::pow;
-    const long double l1norm = arg.cwiseAbs().colwise().sum().maxCoeff();
-    squarings = 0;
-  
-#if LDBL_MANT_DIG <= 64   // extended precision
-  
-    if (l1norm < 4.1968497232266989671e-003L) {
-      matrix_exp_pade3(arg, U, V);
-    } else if (l1norm < 1.1848116734693823091e-001L) {
-      matrix_exp_pade5(arg, U, V);
-    } else if (l1norm < 5.5170388480686700274e-001L) {
-      matrix_exp_pade7(arg, U, V);
-    } else if (l1norm < 1.3759868875587845383e+000L) {
-      matrix_exp_pade9(arg, U, V);
-    } else {
-      const long double maxnorm = 4.0246098906697353063L;
-      frexp(l1norm / maxnorm, &squarings);
-      if (squarings < 0) squarings = 0;
-      MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<long double>(squarings));
-      matrix_exp_pade13(A, U, V);
-    }
-  
-#elif LDBL_MANT_DIG <= 106  // double-double
-  
-    if (l1norm < 3.2787892205607026992947488108213e-005L) {
-      matrix_exp_pade3(arg, U, V);
-    } else if (l1norm < 6.4467025060072760084130906076332e-003L) {
-      matrix_exp_pade5(arg, U, V);
-    } else if (l1norm < 6.8988028496595374751374122881143e-002L) {
-      matrix_exp_pade7(arg, U, V);
-    } else if (l1norm < 2.7339737518502231741495857201670e-001L) {
-      matrix_exp_pade9(arg, U, V);
-    } else if (l1norm < 1.3203382096514474905666448850278e+000L) {
-      matrix_exp_pade13(arg, U, V);
-    } else {
-      const long double maxnorm = 3.2579440895405400856599663723517L;
-      frexp(l1norm / maxnorm, &squarings);
-      if (squarings < 0) squarings = 0;
-      MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<long double>(squarings));
-      matrix_exp_pade17(A, U, V);
-    }
-  
-#elif LDBL_MANT_DIG <= 112  // quadruple precison
-  
-    if (l1norm < 1.639394610288918690547467954466970e-005L) {
-      matrix_exp_pade3(arg, U, V);
-    } else if (l1norm < 4.253237712165275566025884344433009e-003L) {
-      matrix_exp_pade5(arg, U, V);
-    } else if (l1norm < 5.125804063165764409885122032933142e-002L) {
-      matrix_exp_pade7(arg, U, V);
-    } else if (l1norm < 2.170000765161155195453205651889853e-001L) {
-      matrix_exp_pade9(arg, U, V);
-    } else if (l1norm < 1.125358383453143065081397882891878e+000L) {
-      matrix_exp_pade13(arg, U, V);
-    } else {
-      frexp(l1norm / maxnorm, &squarings);
-      if (squarings < 0) squarings = 0;
-      MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<long double>(squarings));
-      matrix_exp_pade17(A, U, V);
-    }
-  
-#else
-  
-    // this case should be handled in compute()
-    eigen_assert(false && "Bug in MatrixExponential"); 
-  
-#endif
-#endif  // LDBL_MANT_DIG
-  }
-};
-
-
-/* Computes the matrix exponential
- *
- * \param arg    argument of matrix exponential (should be plain object)
- * \param result variable in which result will be stored
- */
-template <typename ArgType, typename ResultType>
-void matrix_exp_compute(const ArgType& arg, ResultType &result)
-{
-  typedef typename ArgType::PlainObject MatrixType;
-#if LDBL_MANT_DIG > 112 // rarely happens
-  typedef typename traits<MatrixType>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef typename std::complex<RealScalar> ComplexScalar;
-  if (sizeof(RealScalar) > 14) {
-    result = arg.matrixFunction(internal::stem_function_exp<ComplexScalar>);
-    return;
-  }
-#endif
-  MatrixType U, V;
-  int squarings; 
-  matrix_exp_computeUV<MatrixType>::run(arg, U, V, squarings); // Pade approximant is (U+V) / (-U+V)
-  MatrixType numer = U + V;
-  MatrixType denom = -U + V;
-  result = denom.partialPivLu().solve(numer);
-  for (int i=0; i<squarings; i++)
-    result *= result;   // undo scaling by repeated squaring
-}
-
-} // end namespace Eigen::internal
-
-/** \ingroup MatrixFunctions_Module
-  *
-  * \brief Proxy for the matrix exponential of some matrix (expression).
-  *
-  * \tparam Derived  Type of the argument to the matrix exponential.
-  *
-  * This class holds the argument to the matrix exponential until it is assigned or evaluated for
-  * some other reason (so the argument should not be changed in the meantime). It is the return type
-  * of MatrixBase::exp() and most of the time this is the only way it is used.
-  */
-template<typename Derived> struct MatrixExponentialReturnValue
-: public ReturnByValue<MatrixExponentialReturnValue<Derived> >
-{
-    typedef typename Derived::Index Index;
-  public:
-    /** \brief Constructor.
-      *
-      * \param src %Matrix (expression) forming the argument of the matrix exponential.
-      */
-    MatrixExponentialReturnValue(const Derived& src) : m_src(src) { }
-
-    /** \brief Compute the matrix exponential.
-      *
-      * \param result the matrix exponential of \p src in the constructor.
-      */
-    template <typename ResultType>
-    inline void evalTo(ResultType& result) const
-    {
-      const typename internal::nested_eval<Derived, 10>::type tmp(m_src);
-      internal::matrix_exp_compute(tmp, result);
-    }
-
-    Index rows() const { return m_src.rows(); }
-    Index cols() const { return m_src.cols(); }
-
-  protected:
-    const typename internal::ref_selector<Derived>::type m_src;
-};
-
-namespace internal {
-template<typename Derived>
-struct traits<MatrixExponentialReturnValue<Derived> >
-{
-  typedef typename Derived::PlainObject ReturnType;
-};
-}
-
-template <typename Derived>
-const MatrixExponentialReturnValue<Derived> MatrixBase<Derived>::exp() const
-{
-  eigen_assert(rows() == cols());
-  return MatrixExponentialReturnValue<Derived>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_EXPONENTIAL
diff --git a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h b/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
deleted file mode 100644
index db2449d02de172..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
+++ /dev/null
@@ -1,581 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2011, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_FUNCTION
-#define EIGEN_MATRIX_FUNCTION
-
-#include "StemFunction.h"
-
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \brief Maximum distance allowed between eigenvalues to be considered "close". */
-static const float matrix_function_separation = 0.1f;
-
-/** \ingroup MatrixFunctions_Module
-  * \class MatrixFunctionAtomic
-  * \brief Helper class for computing matrix functions of atomic matrices.
-  *
-  * Here, an atomic matrix is a triangular matrix whose diagonal entries are close to each other.
-  */
-template <typename MatrixType>
-class MatrixFunctionAtomic 
-{
-  public:
-
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename stem_function<Scalar>::type StemFunction;
-
-    /** \brief Constructor
-      * \param[in]  f  matrix function to compute.
-      */
-    MatrixFunctionAtomic(StemFunction f) : m_f(f) { }
-
-    /** \brief Compute matrix function of atomic matrix
-      * \param[in]  A  argument of matrix function, should be upper triangular and atomic
-      * \returns  f(A), the matrix function evaluated at the given matrix
-      */
-    MatrixType compute(const MatrixType& A);
-
-  private:
-    StemFunction* m_f;
-};
-
-template <typename MatrixType>
-typename NumTraits<typename MatrixType::Scalar>::Real matrix_function_compute_mu(const MatrixType& A)
-{
-  typedef typename plain_col_type<MatrixType>::type VectorType;
-  typename MatrixType::Index rows = A.rows();
-  const MatrixType N = MatrixType::Identity(rows, rows) - A;
-  VectorType e = VectorType::Ones(rows);
-  N.template triangularView<Upper>().solveInPlace(e);
-  return e.cwiseAbs().maxCoeff();
-}
-
-template <typename MatrixType>
-MatrixType MatrixFunctionAtomic<MatrixType>::compute(const MatrixType& A)
-{
-  // TODO: Use that A is upper triangular
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef typename MatrixType::Index Index;
-  Index rows = A.rows();
-  Scalar avgEival = A.trace() / Scalar(RealScalar(rows));
-  MatrixType Ashifted = A - avgEival * MatrixType::Identity(rows, rows);
-  RealScalar mu = matrix_function_compute_mu(Ashifted);
-  MatrixType F = m_f(avgEival, 0) * MatrixType::Identity(rows, rows);
-  MatrixType P = Ashifted;
-  MatrixType Fincr;
-  for (Index s = 1; s < 1.1 * rows + 10; s++) { // upper limit is fairly arbitrary
-    Fincr = m_f(avgEival, static_cast<int>(s)) * P;
-    F += Fincr;
-    P = Scalar(RealScalar(1.0/(s + 1))) * P * Ashifted;
-
-    // test whether Taylor series converged
-    const RealScalar F_norm = F.cwiseAbs().rowwise().sum().maxCoeff();
-    const RealScalar Fincr_norm = Fincr.cwiseAbs().rowwise().sum().maxCoeff();
-    if (Fincr_norm < NumTraits<Scalar>::epsilon() * F_norm) {
-      RealScalar delta = 0;
-      RealScalar rfactorial = 1;
-      for (Index r = 0; r < rows; r++) {
-        RealScalar mx = 0;
-        for (Index i = 0; i < rows; i++)
-          mx = (std::max)(mx, std::abs(m_f(Ashifted(i, i) + avgEival, static_cast<int>(s+r))));
-        if (r != 0)
-          rfactorial *= RealScalar(r);
-        delta = (std::max)(delta, mx / rfactorial);
-      }
-      const RealScalar P_norm = P.cwiseAbs().rowwise().sum().maxCoeff();
-      if (mu * delta * P_norm < NumTraits<Scalar>::epsilon() * F_norm) // series converged
-        break;
-    }
-  }
-  return F;
-}
-
-/** \brief Find cluster in \p clusters containing some value 
-  * \param[in] key Value to find
-  * \returns Iterator to cluster containing \p key, or \c clusters.end() if no cluster in \p m_clusters
-  * contains \p key.
-  */
-template <typename Index, typename ListOfClusters>
-typename ListOfClusters::iterator matrix_function_find_cluster(Index key, ListOfClusters& clusters)
-{
-  typename std::list<Index>::iterator j;
-  for (typename ListOfClusters::iterator i = clusters.begin(); i != clusters.end(); ++i) {
-    j = std::find(i->begin(), i->end(), key);
-    if (j != i->end())
-      return i;
-  }
-  return clusters.end();
-}
-
-/** \brief Partition eigenvalues in clusters of ei'vals close to each other
-  * 
-  * \param[in]  eivals    Eigenvalues
-  * \param[out] clusters  Resulting partition of eigenvalues
-  *
-  * The partition satisfies the following two properties:
-  * # Any eigenvalue in a certain cluster is at most matrix_function_separation() away from another eigenvalue
-  *   in the same cluster.
-  * # The distance between two eigenvalues in different clusters is more than matrix_function_separation().  
-  * The implementation follows Algorithm 4.1 in the paper of Davies and Higham.
-  */
-template <typename EivalsType, typename Cluster>
-void matrix_function_partition_eigenvalues(const EivalsType& eivals, std::list<Cluster>& clusters)
-{
-  typedef typename EivalsType::Index Index;
-  typedef typename EivalsType::RealScalar RealScalar;
-  for (Index i=0; i<eivals.rows(); ++i) {
-    // Find cluster containing i-th ei'val, adding a new cluster if necessary
-    typename std::list<Cluster>::iterator qi = matrix_function_find_cluster(i, clusters);
-    if (qi == clusters.end()) {
-      Cluster l;
-      l.push_back(i);
-      clusters.push_back(l);
-      qi = clusters.end();
-      --qi;
-    }
-
-    // Look for other element to add to the set
-    for (Index j=i+1; j<eivals.rows(); ++j) {
-      if (abs(eivals(j) - eivals(i)) <= RealScalar(matrix_function_separation)
-          && std::find(qi->begin(), qi->end(), j) == qi->end()) {
-        typename std::list<Cluster>::iterator qj = matrix_function_find_cluster(j, clusters);
-        if (qj == clusters.end()) {
-          qi->push_back(j);
-        } else {
-          qi->insert(qi->end(), qj->begin(), qj->end());
-          clusters.erase(qj);
-        }
-      }
-    }
-  }
-}
-
-/** \brief Compute size of each cluster given a partitioning */
-template <typename ListOfClusters, typename Index>
-void matrix_function_compute_cluster_size(const ListOfClusters& clusters, Matrix<Index, Dynamic, 1>& clusterSize)
-{
-  const Index numClusters = static_cast<Index>(clusters.size());
-  clusterSize.setZero(numClusters);
-  Index clusterIndex = 0;
-  for (typename ListOfClusters::const_iterator cluster = clusters.begin(); cluster != clusters.end(); ++cluster) {
-    clusterSize[clusterIndex] = cluster->size();
-    ++clusterIndex;
-  }
-}
-
-/** \brief Compute start of each block using clusterSize */
-template <typename VectorType>
-void matrix_function_compute_block_start(const VectorType& clusterSize, VectorType& blockStart)
-{
-  blockStart.resize(clusterSize.rows());
-  blockStart(0) = 0;
-  for (typename VectorType::Index i = 1; i < clusterSize.rows(); i++) {
-    blockStart(i) = blockStart(i-1) + clusterSize(i-1);
-  }
-}
-
-/** \brief Compute mapping of eigenvalue indices to cluster indices */
-template <typename EivalsType, typename ListOfClusters, typename VectorType>
-void matrix_function_compute_map(const EivalsType& eivals, const ListOfClusters& clusters, VectorType& eivalToCluster)
-{
-  typedef typename EivalsType::Index Index;
-  eivalToCluster.resize(eivals.rows());
-  Index clusterIndex = 0;
-  for (typename ListOfClusters::const_iterator cluster = clusters.begin(); cluster != clusters.end(); ++cluster) {
-    for (Index i = 0; i < eivals.rows(); ++i) {
-      if (std::find(cluster->begin(), cluster->end(), i) != cluster->end()) {
-        eivalToCluster[i] = clusterIndex;
-      }
-    }
-    ++clusterIndex;
-  }
-}
-
-/** \brief Compute permutation which groups ei'vals in same cluster together */
-template <typename DynVectorType, typename VectorType>
-void matrix_function_compute_permutation(const DynVectorType& blockStart, const DynVectorType& eivalToCluster, VectorType& permutation)
-{
-  typedef typename VectorType::Index Index;
-  DynVectorType indexNextEntry = blockStart;
-  permutation.resize(eivalToCluster.rows());
-  for (Index i = 0; i < eivalToCluster.rows(); i++) {
-    Index cluster = eivalToCluster[i];
-    permutation[i] = indexNextEntry[cluster];
-    ++indexNextEntry[cluster];
-  }
-}  
-
-/** \brief Permute Schur decomposition in U and T according to permutation */
-template <typename VectorType, typename MatrixType>
-void matrix_function_permute_schur(VectorType& permutation, MatrixType& U, MatrixType& T)
-{
-  typedef typename VectorType::Index Index;
-  for (Index i = 0; i < permutation.rows() - 1; i++) {
-    Index j;
-    for (j = i; j < permutation.rows(); j++) {
-      if (permutation(j) == i) break;
-    }
-    eigen_assert(permutation(j) == i);
-    for (Index k = j-1; k >= i; k--) {
-      JacobiRotation<typename MatrixType::Scalar> rotation;
-      rotation.makeGivens(T(k, k+1), T(k+1, k+1) - T(k, k));
-      T.applyOnTheLeft(k, k+1, rotation.adjoint());
-      T.applyOnTheRight(k, k+1, rotation);
-      U.applyOnTheRight(k, k+1, rotation);
-      std::swap(permutation.coeffRef(k), permutation.coeffRef(k+1));
-    }
-  }
-}
-
-/** \brief Compute block diagonal part of matrix function.
-  *
-  * This routine computes the matrix function applied to the block diagonal part of \p T (which should be
-  * upper triangular), with the blocking given by \p blockStart and \p clusterSize. The matrix function of
-  * each diagonal block is computed by \p atomic. The off-diagonal parts of \p fT are set to zero.
-  */
-template <typename MatrixType, typename AtomicType, typename VectorType>
-void matrix_function_compute_block_atomic(const MatrixType& T, AtomicType& atomic, const VectorType& blockStart, const VectorType& clusterSize, MatrixType& fT)
-{ 
-  fT.setZero(T.rows(), T.cols());
-  for (typename VectorType::Index i = 0; i < clusterSize.rows(); ++i) {
-    fT.block(blockStart(i), blockStart(i), clusterSize(i), clusterSize(i))
-      = atomic.compute(T.block(blockStart(i), blockStart(i), clusterSize(i), clusterSize(i)));
-  }
-}
-
-/** \brief Solve a triangular Sylvester equation AX + XB = C 
-  *
-  * \param[in]  A  the matrix A; should be square and upper triangular
-  * \param[in]  B  the matrix B; should be square and upper triangular
-  * \param[in]  C  the matrix C; should have correct size.
-  *
-  * \returns the solution X.
-  *
-  * If A is m-by-m and B is n-by-n, then both C and X are m-by-n.  The (i,j)-th component of the Sylvester
-  * equation is
-  * \f[ 
-  *     \sum_{k=i}^m A_{ik} X_{kj} + \sum_{k=1}^j X_{ik} B_{kj} = C_{ij}. 
-  * \f]
-  * This can be re-arranged to yield:
-  * \f[ 
-  *     X_{ij} = \frac{1}{A_{ii} + B_{jj}} \Bigl( C_{ij}
-  *     - \sum_{k=i+1}^m A_{ik} X_{kj} - \sum_{k=1}^{j-1} X_{ik} B_{kj} \Bigr).
-  * \f]
-  * It is assumed that A and B are such that the numerator is never zero (otherwise the Sylvester equation
-  * does not have a unique solution). In that case, these equations can be evaluated in the order 
-  * \f$ i=m,\ldots,1 \f$ and \f$ j=1,\ldots,n \f$.
-  */
-template <typename MatrixType>
-MatrixType matrix_function_solve_triangular_sylvester(const MatrixType& A, const MatrixType& B, const MatrixType& C)
-{
-  eigen_assert(A.rows() == A.cols());
-  eigen_assert(A.isUpperTriangular());
-  eigen_assert(B.rows() == B.cols());
-  eigen_assert(B.isUpperTriangular());
-  eigen_assert(C.rows() == A.rows());
-  eigen_assert(C.cols() == B.rows());
-
-  typedef typename MatrixType::Index Index;
-  typedef typename MatrixType::Scalar Scalar;
-
-  Index m = A.rows();
-  Index n = B.rows();
-  MatrixType X(m, n);
-
-  for (Index i = m - 1; i >= 0; --i) {
-    for (Index j = 0; j < n; ++j) {
-
-      // Compute AX = \sum_{k=i+1}^m A_{ik} X_{kj}
-      Scalar AX;
-      if (i == m - 1) {
-	AX = 0; 
-      } else {
-	Matrix<Scalar,1,1> AXmatrix = A.row(i).tail(m-1-i) * X.col(j).tail(m-1-i);
-	AX = AXmatrix(0,0);
-      }
-
-      // Compute XB = \sum_{k=1}^{j-1} X_{ik} B_{kj}
-      Scalar XB;
-      if (j == 0) {
-	XB = 0; 
-      } else {
-	Matrix<Scalar,1,1> XBmatrix = X.row(i).head(j) * B.col(j).head(j);
-	XB = XBmatrix(0,0);
-      }
-
-      X(i,j) = (C(i,j) - AX - XB) / (A(i,i) + B(j,j));
-    }
-  }
-  return X;
-}
-
-/** \brief Compute part of matrix function above block diagonal.
-  *
-  * This routine completes the computation of \p fT, denoting a matrix function applied to the triangular
-  * matrix \p T. It assumes that the block diagonal part of \p fT has already been computed. The part below
-  * the diagonal is zero, because \p T is upper triangular.
-  */
-template <typename MatrixType, typename VectorType>
-void matrix_function_compute_above_diagonal(const MatrixType& T, const VectorType& blockStart, const VectorType& clusterSize, MatrixType& fT)
-{ 
-  typedef internal::traits<MatrixType> Traits;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
-  static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
-  static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
-  static const int Options = MatrixType::Options;
-  typedef Matrix<Scalar, Dynamic, Dynamic, Options, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
-
-  for (Index k = 1; k < clusterSize.rows(); k++) {
-    for (Index i = 0; i < clusterSize.rows() - k; i++) {
-      // compute (i, i+k) block
-      DynMatrixType A = T.block(blockStart(i), blockStart(i), clusterSize(i), clusterSize(i));
-      DynMatrixType B = -T.block(blockStart(i+k), blockStart(i+k), clusterSize(i+k), clusterSize(i+k));
-      DynMatrixType C = fT.block(blockStart(i), blockStart(i), clusterSize(i), clusterSize(i))
-        * T.block(blockStart(i), blockStart(i+k), clusterSize(i), clusterSize(i+k));
-      C -= T.block(blockStart(i), blockStart(i+k), clusterSize(i), clusterSize(i+k))
-        * fT.block(blockStart(i+k), blockStart(i+k), clusterSize(i+k), clusterSize(i+k));
-      for (Index m = i + 1; m < i + k; m++) {
-        C += fT.block(blockStart(i), blockStart(m), clusterSize(i), clusterSize(m))
-          * T.block(blockStart(m), blockStart(i+k), clusterSize(m), clusterSize(i+k));
-        C -= T.block(blockStart(i), blockStart(m), clusterSize(i), clusterSize(m))
-          * fT.block(blockStart(m), blockStart(i+k), clusterSize(m), clusterSize(i+k));
-      }
-      fT.block(blockStart(i), blockStart(i+k), clusterSize(i), clusterSize(i+k))
-        = matrix_function_solve_triangular_sylvester(A, B, C);
-    }
-  }
-}
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Class for computing matrix functions.
-  * \tparam  MatrixType  type of the argument of the matrix function,
-  *                      expected to be an instantiation of the Matrix class template.
-  * \tparam  AtomicType  type for computing matrix function of atomic blocks.
-  * \tparam  IsComplex   used internally to select correct specialization.
-  *
-  * This class implements the Schur-Parlett algorithm for computing matrix functions. The spectrum of the
-  * matrix is divided in clustered of eigenvalues that lies close together. This class delegates the
-  * computation of the matrix function on every block corresponding to these clusters to an object of type
-  * \p AtomicType and uses these results to compute the matrix function of the whole matrix. The class
-  * \p AtomicType should have a \p compute() member function for computing the matrix function of a block.
-  *
-  * \sa class MatrixFunctionAtomic, class MatrixLogarithmAtomic
-  */
-template <typename MatrixType, int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
-struct matrix_function_compute
-{  
-    /** \brief Compute the matrix function.
-      *
-      * \param[in]  A       argument of matrix function, should be a square matrix.
-      * \param[in]  atomic  class for computing matrix function of atomic blocks.
-      * \param[out] result  the function \p f applied to \p A, as
-      * specified in the constructor.
-      *
-      * See MatrixBase::matrixFunction() for details on how this computation
-      * is implemented.
-      */
-    template <typename AtomicType, typename ResultType> 
-    static void run(const MatrixType& A, AtomicType& atomic, ResultType &result);    
-};
-
-/** \internal \ingroup MatrixFunctions_Module 
-  * \brief Partial specialization of MatrixFunction for real matrices
-  *
-  * This converts the real matrix to a complex matrix, compute the matrix function of that matrix, and then
-  * converts the result back to a real matrix.
-  */
-template <typename MatrixType>
-struct matrix_function_compute<MatrixType, 0>
-{  
-  template <typename AtomicType, typename ResultType> 
-  static void run(const MatrixType& A, AtomicType& atomic, ResultType &result)
-  {
-    typedef internal::traits<MatrixType> Traits;
-    typedef typename Traits::Scalar Scalar;
-    static const int Rows = Traits::RowsAtCompileTime, Cols = Traits::ColsAtCompileTime;
-    static const int MaxRows = Traits::MaxRowsAtCompileTime, MaxCols = Traits::MaxColsAtCompileTime;
-
-    typedef std::complex<Scalar> ComplexScalar;
-    typedef Matrix<ComplexScalar, Rows, Cols, 0, MaxRows, MaxCols> ComplexMatrix;
-
-    ComplexMatrix CA = A.template cast<ComplexScalar>();
-    ComplexMatrix Cresult;
-    matrix_function_compute<ComplexMatrix>::run(CA, atomic, Cresult);
-    result = Cresult.real();
-  }
-};
-
-/** \internal \ingroup MatrixFunctions_Module 
-  * \brief Partial specialization of MatrixFunction for complex matrices
-  */
-template <typename MatrixType>
-struct matrix_function_compute<MatrixType, 1>
-{
-  template <typename AtomicType, typename ResultType> 
-  static void run(const MatrixType& A, AtomicType& atomic, ResultType &result)
-  {
-    typedef internal::traits<MatrixType> Traits;
-    typedef typename MatrixType::Index Index;
-    
-    // compute Schur decomposition of A
-    const ComplexSchur<MatrixType> schurOfA(A);  
-    MatrixType T = schurOfA.matrixT();
-    MatrixType U = schurOfA.matrixU();
-
-    // partition eigenvalues into clusters of ei'vals "close" to each other
-    std::list<std::list<Index> > clusters; 
-    matrix_function_partition_eigenvalues(T.diagonal(), clusters);
-
-    // compute size of each cluster
-    Matrix<Index, Dynamic, 1> clusterSize;
-    matrix_function_compute_cluster_size(clusters, clusterSize);
-
-    // blockStart[i] is row index at which block corresponding to i-th cluster starts 
-    Matrix<Index, Dynamic, 1> blockStart; 
-    matrix_function_compute_block_start(clusterSize, blockStart);
-
-    // compute map so that eivalToCluster[i] = j means that i-th ei'val is in j-th cluster 
-    Matrix<Index, Dynamic, 1> eivalToCluster;
-    matrix_function_compute_map(T.diagonal(), clusters, eivalToCluster);
-
-    // compute permutation which groups ei'vals in same cluster together 
-    Matrix<Index, Traits::RowsAtCompileTime, 1> permutation;
-    matrix_function_compute_permutation(blockStart, eivalToCluster, permutation);
-
-    // permute Schur decomposition
-    matrix_function_permute_schur(permutation, U, T);
-
-    // compute result
-    MatrixType fT; // matrix function applied to T
-    matrix_function_compute_block_atomic(T, atomic, blockStart, clusterSize, fT);
-    matrix_function_compute_above_diagonal(T, blockStart, clusterSize, fT);
-    result = U * (fT.template triangularView<Upper>() * U.adjoint());
-  }
-};
-
-} // end of namespace internal
-
-/** \ingroup MatrixFunctions_Module
-  *
-  * \brief Proxy for the matrix function of some matrix (expression).
-  *
-  * \tparam Derived  Type of the argument to the matrix function.
-  *
-  * This class holds the argument to the matrix function until it is assigned or evaluated for some other
-  * reason (so the argument should not be changed in the meantime). It is the return type of
-  * matrixBase::matrixFunction() and related functions and most of the time this is the only way it is used.
-  */
-template<typename Derived> class MatrixFunctionReturnValue
-: public ReturnByValue<MatrixFunctionReturnValue<Derived> >
-{
-  public:
-    typedef typename Derived::Scalar Scalar;
-    typedef typename Derived::Index Index;
-    typedef typename internal::stem_function<Scalar>::type StemFunction;
-
-  protected:
-    typedef typename internal::ref_selector<Derived>::type DerivedNested;
-
-  public:
-
-    /** \brief Constructor.
-      *
-      * \param[in] A  %Matrix (expression) forming the argument of the matrix function.
-      * \param[in] f  Stem function for matrix function under consideration.
-      */
-    MatrixFunctionReturnValue(const Derived& A, StemFunction f) : m_A(A), m_f(f) { }
-
-    /** \brief Compute the matrix function.
-      *
-      * \param[out] result \p f applied to \p A, where \p f and \p A are as in the constructor.
-      */
-    template <typename ResultType>
-    inline void evalTo(ResultType& result) const
-    {
-      typedef typename internal::nested_eval<Derived, 10>::type NestedEvalType;
-      typedef typename internal::remove_all<NestedEvalType>::type NestedEvalTypeClean;
-      typedef internal::traits<NestedEvalTypeClean> Traits;
-      static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
-      static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
-      typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-      typedef Matrix<ComplexScalar, Dynamic, Dynamic, 0, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
-
-      typedef internal::MatrixFunctionAtomic<DynMatrixType> AtomicType;
-      AtomicType atomic(m_f);
-
-      internal::matrix_function_compute<NestedEvalTypeClean>::run(m_A, atomic, result);
-    }
-
-    Index rows() const { return m_A.rows(); }
-    Index cols() const { return m_A.cols(); }
-
-  private:
-    const DerivedNested m_A;
-    StemFunction *m_f;
-};
-
-namespace internal {
-template<typename Derived>
-struct traits<MatrixFunctionReturnValue<Derived> >
-{
-  typedef typename Derived::PlainObject ReturnType;
-};
-}
-
-
-/********** MatrixBase methods **********/
-
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::matrixFunction(typename internal::stem_function<typename internal::traits<Derived>::Scalar>::type f) const
-{
-  eigen_assert(rows() == cols());
-  return MatrixFunctionReturnValue<Derived>(derived(), f);
-}
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sin() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
-  return MatrixFunctionReturnValue<Derived>(derived(), internal::stem_function_sin<ComplexScalar>);
-}
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cos() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
-  return MatrixFunctionReturnValue<Derived>(derived(), internal::stem_function_cos<ComplexScalar>);
-}
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sinh() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
-  return MatrixFunctionReturnValue<Derived>(derived(), internal::stem_function_sinh<ComplexScalar>);
-}
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cosh() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
-  return MatrixFunctionReturnValue<Derived>(derived(), internal::stem_function_cosh<ComplexScalar>);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_FUNCTION
diff --git a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h b/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
deleted file mode 100644
index 1acfbed9e2adc4..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
+++ /dev/null
@@ -1,373 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2011 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_LOGARITHM
-#define EIGEN_MATRIX_LOGARITHM
-
-namespace Eigen { 
-
-namespace internal { 
-
-template <typename Scalar>
-struct matrix_log_min_pade_degree 
-{
-  static const int value = 3;
-};
-
-template <typename Scalar>
-struct matrix_log_max_pade_degree 
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  static const int value = std::numeric_limits<RealScalar>::digits<= 24?  5:  // single precision
-                           std::numeric_limits<RealScalar>::digits<= 53?  7:  // double precision
-                           std::numeric_limits<RealScalar>::digits<= 64?  8:  // extended precision
-                           std::numeric_limits<RealScalar>::digits<=106? 10:  // double-double
-                                                                         11;  // quadruple precision
-};
-
-/** \brief Compute logarithm of 2x2 triangular matrix. */
-template <typename MatrixType>
-void matrix_log_compute_2x2(const MatrixType& A, MatrixType& result)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  using std::abs;
-  using std::ceil;
-  using std::imag;
-  using std::log;
-
-  Scalar logA00 = log(A(0,0));
-  Scalar logA11 = log(A(1,1));
-
-  result(0,0) = logA00;
-  result(1,0) = Scalar(0);
-  result(1,1) = logA11;
-
-  Scalar y = A(1,1) - A(0,0);
-  if (y==Scalar(0))
-  {
-    result(0,1) = A(0,1) / A(0,0);
-  }
-  else if ((abs(A(0,0)) < RealScalar(0.5)*abs(A(1,1))) || (abs(A(0,0)) > 2*abs(A(1,1))))
-  {
-    result(0,1) = A(0,1) * (logA11 - logA00) / y;
-  }
-  else
-  {
-    // computation in previous branch is inaccurate if A(1,1) \approx A(0,0)
-    int unwindingNumber = static_cast<int>(ceil((imag(logA11 - logA00) - RealScalar(EIGEN_PI)) / RealScalar(2*EIGEN_PI)));
-    result(0,1) = A(0,1) * (numext::log1p(y/A(0,0)) + Scalar(0,2*EIGEN_PI*unwindingNumber)) / y;
-  }
-}
-
-/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = float) */
-inline int matrix_log_get_pade_degree(float normTminusI)
-{
-  const float maxNormForPade[] = { 2.5111573934555054e-1 /* degree = 3 */ , 4.0535837411880493e-1,
-            5.3149729967117310e-1 };
-  const int minPadeDegree = matrix_log_min_pade_degree<float>::value;
-  const int maxPadeDegree = matrix_log_max_pade_degree<float>::value;
-  int degree = minPadeDegree;
-  for (; degree <= maxPadeDegree; ++degree) 
-    if (normTminusI <= maxNormForPade[degree - minPadeDegree])
-      break;
-  return degree;
-}
-
-/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = double) */
-inline int matrix_log_get_pade_degree(double normTminusI)
-{
-  const double maxNormForPade[] = { 1.6206284795015624e-2 /* degree = 3 */ , 5.3873532631381171e-2,
-            1.1352802267628681e-1, 1.8662860613541288e-1, 2.642960831111435e-1 };
-  const int minPadeDegree = matrix_log_min_pade_degree<double>::value;
-  const int maxPadeDegree = matrix_log_max_pade_degree<double>::value;
-  int degree = minPadeDegree;
-  for (; degree <= maxPadeDegree; ++degree)
-    if (normTminusI <= maxNormForPade[degree - minPadeDegree])
-      break;
-  return degree;
-}
-
-/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = long double) */
-inline int matrix_log_get_pade_degree(long double normTminusI)
-{
-#if   LDBL_MANT_DIG == 53         // double precision
-  const long double maxNormForPade[] = { 1.6206284795015624e-2L /* degree = 3 */ , 5.3873532631381171e-2L,
-            1.1352802267628681e-1L, 1.8662860613541288e-1L, 2.642960831111435e-1L };
-#elif LDBL_MANT_DIG <= 64         // extended precision
-  const long double maxNormForPade[] = { 5.48256690357782863103e-3L /* degree = 3 */, 2.34559162387971167321e-2L,
-            5.84603923897347449857e-2L, 1.08486423756725170223e-1L, 1.68385767881294446649e-1L,
-            2.32777776523703892094e-1L };
-#elif LDBL_MANT_DIG <= 106        // double-double
-  const long double maxNormForPade[] = { 8.58970550342939562202529664318890e-5L /* degree = 3 */,
-            9.34074328446359654039446552677759e-4L, 4.26117194647672175773064114582860e-3L,
-            1.21546224740281848743149666560464e-2L, 2.61100544998339436713088248557444e-2L,
-            4.66170074627052749243018566390567e-2L, 7.32585144444135027565872014932387e-2L,
-            1.05026503471351080481093652651105e-1L };
-#else                             // quadruple precision
-  const long double maxNormForPade[] = { 4.7419931187193005048501568167858103e-5L /* degree = 3 */,
-            5.8853168473544560470387769480192666e-4L, 2.9216120366601315391789493628113520e-3L,
-            8.8415758124319434347116734705174308e-3L, 1.9850836029449446668518049562565291e-2L,
-            3.6688019729653446926585242192447447e-2L, 5.9290962294020186998954055264528393e-2L,
-            8.6998436081634343903250580992127677e-2L, 1.1880960220216759245467951592883642e-1L };
-#endif
-  const int minPadeDegree = matrix_log_min_pade_degree<long double>::value;
-  const int maxPadeDegree = matrix_log_max_pade_degree<long double>::value;
-  int degree = minPadeDegree;
-  for (; degree <= maxPadeDegree; ++degree)
-    if (normTminusI <= maxNormForPade[degree - minPadeDegree])
-      break;
-  return degree;
-}
-
-/* \brief Compute Pade approximation to matrix logarithm */
-template <typename MatrixType>
-void matrix_log_compute_pade(MatrixType& result, const MatrixType& T, int degree)
-{
-  typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-  const int minPadeDegree = 3;
-  const int maxPadeDegree = 11;
-  assert(degree >= minPadeDegree && degree <= maxPadeDegree);
-
-  const RealScalar nodes[][maxPadeDegree] = { 
-    { 0.1127016653792583114820734600217600L, 0.5000000000000000000000000000000000L,  // degree 3
-      0.8872983346207416885179265399782400L }, 
-    { 0.0694318442029737123880267555535953L, 0.3300094782075718675986671204483777L,  // degree 4
-      0.6699905217924281324013328795516223L, 0.9305681557970262876119732444464048L },
-    { 0.0469100770306680036011865608503035L, 0.2307653449471584544818427896498956L,  // degree 5
-      0.5000000000000000000000000000000000L, 0.7692346550528415455181572103501044L,
-      0.9530899229693319963988134391496965L },
-    { 0.0337652428984239860938492227530027L, 0.1693953067668677431693002024900473L,  // degree 6
-      0.3806904069584015456847491391596440L, 0.6193095930415984543152508608403560L,
-      0.8306046932331322568306997975099527L, 0.9662347571015760139061507772469973L },
-    { 0.0254460438286207377369051579760744L, 0.1292344072003027800680676133596058L,  // degree 7
-      0.2970774243113014165466967939615193L, 0.5000000000000000000000000000000000L,
-      0.7029225756886985834533032060384807L, 0.8707655927996972199319323866403942L,
-      0.9745539561713792622630948420239256L },
-    { 0.0198550717512318841582195657152635L, 0.1016667612931866302042230317620848L,  // degree 8
-      0.2372337950418355070911304754053768L, 0.4082826787521750975302619288199080L,
-      0.5917173212478249024697380711800920L, 0.7627662049581644929088695245946232L,
-      0.8983332387068133697957769682379152L, 0.9801449282487681158417804342847365L },
-    { 0.0159198802461869550822118985481636L, 0.0819844463366821028502851059651326L,  // degree 9
-      0.1933142836497048013456489803292629L, 0.3378732882980955354807309926783317L,
-      0.5000000000000000000000000000000000L, 0.6621267117019044645192690073216683L,
-      0.8066857163502951986543510196707371L, 0.9180155536633178971497148940348674L,
-      0.9840801197538130449177881014518364L },
-    { 0.0130467357414141399610179939577740L, 0.0674683166555077446339516557882535L,  // degree 10
-      0.1602952158504877968828363174425632L, 0.2833023029353764046003670284171079L,
-      0.4255628305091843945575869994351400L, 0.5744371694908156054424130005648600L,
-      0.7166976970646235953996329715828921L, 0.8397047841495122031171636825574368L,
-      0.9325316833444922553660483442117465L, 0.9869532642585858600389820060422260L },
-    { 0.0108856709269715035980309994385713L, 0.0564687001159523504624211153480364L,  // degree 11
-      0.1349239972129753379532918739844233L, 0.2404519353965940920371371652706952L,
-      0.3652284220238275138342340072995692L, 0.5000000000000000000000000000000000L,
-      0.6347715779761724861657659927004308L, 0.7595480646034059079628628347293048L,
-      0.8650760027870246620467081260155767L, 0.9435312998840476495375788846519636L,
-      0.9891143290730284964019690005614287L } };
-
-  const RealScalar weights[][maxPadeDegree] = { 
-    { 0.2777777777777777777777777777777778L, 0.4444444444444444444444444444444444L,  // degree 3
-      0.2777777777777777777777777777777778L },
-    { 0.1739274225687269286865319746109997L, 0.3260725774312730713134680253890003L,  // degree 4
-      0.3260725774312730713134680253890003L, 0.1739274225687269286865319746109997L },
-    { 0.1184634425280945437571320203599587L, 0.2393143352496832340206457574178191L,  // degree 5
-      0.2844444444444444444444444444444444L, 0.2393143352496832340206457574178191L,
-      0.1184634425280945437571320203599587L },
-    { 0.0856622461895851725201480710863665L, 0.1803807865240693037849167569188581L,  // degree 6
-      0.2339569672863455236949351719947755L, 0.2339569672863455236949351719947755L,
-      0.1803807865240693037849167569188581L, 0.0856622461895851725201480710863665L },
-    { 0.0647424830844348466353057163395410L, 0.1398526957446383339507338857118898L,  // degree 7
-      0.1909150252525594724751848877444876L, 0.2089795918367346938775510204081633L,
-      0.1909150252525594724751848877444876L, 0.1398526957446383339507338857118898L,
-      0.0647424830844348466353057163395410L },
-    { 0.0506142681451881295762656771549811L, 0.1111905172266872352721779972131204L,  // degree 8
-      0.1568533229389436436689811009933007L, 0.1813418916891809914825752246385978L,
-      0.1813418916891809914825752246385978L, 0.1568533229389436436689811009933007L,
-      0.1111905172266872352721779972131204L, 0.0506142681451881295762656771549811L },
-    { 0.0406371941807872059859460790552618L, 0.0903240803474287020292360156214564L,  // degree 9
-      0.1303053482014677311593714347093164L, 0.1561735385200014200343152032922218L,
-      0.1651196775006298815822625346434870L, 0.1561735385200014200343152032922218L,
-      0.1303053482014677311593714347093164L, 0.0903240803474287020292360156214564L,
-      0.0406371941807872059859460790552618L },
-    { 0.0333356721543440687967844049466659L, 0.0747256745752902965728881698288487L,  // degree 10
-      0.1095431812579910219977674671140816L, 0.1346333596549981775456134607847347L,
-      0.1477621123573764350869464973256692L, 0.1477621123573764350869464973256692L,
-      0.1346333596549981775456134607847347L, 0.1095431812579910219977674671140816L,
-      0.0747256745752902965728881698288487L, 0.0333356721543440687967844049466659L },
-    { 0.0278342835580868332413768602212743L, 0.0627901847324523123173471496119701L,  // degree 11
-      0.0931451054638671257130488207158280L, 0.1165968822959952399592618524215876L,
-      0.1314022722551233310903444349452546L, 0.1364625433889503153572417641681711L,
-      0.1314022722551233310903444349452546L, 0.1165968822959952399592618524215876L,
-      0.0931451054638671257130488207158280L, 0.0627901847324523123173471496119701L,
-      0.0278342835580868332413768602212743L } };
-
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k) {
-    RealScalar weight = weights[degree-minPadeDegree][k];
-    RealScalar node = nodes[degree-minPadeDegree][k];
-    result += weight * (MatrixType::Identity(T.rows(), T.rows()) + node * TminusI)
-                       .template triangularView<Upper>().solve(TminusI);
-  }
-} 
-
-/** \brief Compute logarithm of triangular matrices with size > 2. 
-  * \details This uses a inverse scale-and-square algorithm. */
-template <typename MatrixType>
-void matrix_log_compute_big(const MatrixType& A, MatrixType& result)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  using std::pow;
-
-  int numberOfSquareRoots = 0;
-  int numberOfExtraSquareRoots = 0;
-  int degree;
-  MatrixType T = A, sqrtT;
-
-  int maxPadeDegree = matrix_log_max_pade_degree<Scalar>::value;
-  const RealScalar maxNormForPade = maxPadeDegree<= 5? 5.3149729967117310e-1L:                    // single precision
-                                    maxPadeDegree<= 7? 2.6429608311114350e-1L:                    // double precision
-                                    maxPadeDegree<= 8? 2.32777776523703892094e-1L:                // extended precision
-                                    maxPadeDegree<=10? 1.05026503471351080481093652651105e-1L:    // double-double
-                                                       1.1880960220216759245467951592883642e-1L;  // quadruple precision
-
-  while (true) {
-    RealScalar normTminusI = (T - MatrixType::Identity(T.rows(), T.rows())).cwiseAbs().colwise().sum().maxCoeff();
-    if (normTminusI < maxNormForPade) {
-      degree = matrix_log_get_pade_degree(normTminusI);
-      int degree2 = matrix_log_get_pade_degree(normTminusI / RealScalar(2));
-      if ((degree - degree2 <= 1) || (numberOfExtraSquareRoots == 1)) 
-        break;
-      ++numberOfExtraSquareRoots;
-    }
-    matrix_sqrt_triangular(T, sqrtT);
-    T = sqrtT.template triangularView<Upper>();
-    ++numberOfSquareRoots;
-  }
-
-  matrix_log_compute_pade(result, T, degree);
-  result *= pow(RealScalar(2), numberOfSquareRoots);
-}
-
-/** \ingroup MatrixFunctions_Module
-  * \class MatrixLogarithmAtomic
-  * \brief Helper class for computing matrix logarithm of atomic matrices.
-  *
-  * Here, an atomic matrix is a triangular matrix whose diagonal entries are close to each other.
-  *
-  * \sa class MatrixFunctionAtomic, MatrixBase::log()
-  */
-template <typename MatrixType>
-class MatrixLogarithmAtomic
-{
-public:
-  /** \brief Compute matrix logarithm of atomic matrix
-    * \param[in]  A  argument of matrix logarithm, should be upper triangular and atomic
-    * \returns  The logarithm of \p A.
-    */
-  MatrixType compute(const MatrixType& A);
-};
-
-template <typename MatrixType>
-MatrixType MatrixLogarithmAtomic<MatrixType>::compute(const MatrixType& A)
-{
-  using std::log;
-  MatrixType result(A.rows(), A.rows());
-  if (A.rows() == 1)
-    result(0,0) = log(A(0,0));
-  else if (A.rows() == 2)
-    matrix_log_compute_2x2(A, result);
-  else
-    matrix_log_compute_big(A, result);
-  return result;
-}
-
-} // end of namespace internal
-
-/** \ingroup MatrixFunctions_Module
-  *
-  * \brief Proxy for the matrix logarithm of some matrix (expression).
-  *
-  * \tparam Derived  Type of the argument to the matrix function.
-  *
-  * This class holds the argument to the matrix function until it is
-  * assigned or evaluated for some other reason (so the argument
-  * should not be changed in the meantime). It is the return type of
-  * MatrixBase::log() and most of the time this is the only way it
-  * is used.
-  */
-template<typename Derived> class MatrixLogarithmReturnValue
-: public ReturnByValue<MatrixLogarithmReturnValue<Derived> >
-{
-public:
-  typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Index Index;
-
-protected:
-  typedef typename internal::ref_selector<Derived>::type DerivedNested;
-
-public:
-
-  /** \brief Constructor.
-    *
-    * \param[in]  A  %Matrix (expression) forming the argument of the matrix logarithm.
-    */
-  explicit MatrixLogarithmReturnValue(const Derived& A) : m_A(A) { }
-  
-  /** \brief Compute the matrix logarithm.
-    *
-    * \param[out]  result  Logarithm of \p A, where \A is as specified in the constructor.
-    */
-  template <typename ResultType>
-  inline void evalTo(ResultType& result) const
-  {
-    typedef typename internal::nested_eval<Derived, 10>::type DerivedEvalType;
-    typedef typename internal::remove_all<DerivedEvalType>::type DerivedEvalTypeClean;
-    typedef internal::traits<DerivedEvalTypeClean> Traits;
-    static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
-    static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
-    typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-    typedef Matrix<ComplexScalar, Dynamic, Dynamic, 0, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
-    typedef internal::MatrixLogarithmAtomic<DynMatrixType> AtomicType;
-    AtomicType atomic;
-    
-    internal::matrix_function_compute<DerivedEvalTypeClean>::run(m_A, atomic, result);
-  }
-
-  Index rows() const { return m_A.rows(); }
-  Index cols() const { return m_A.cols(); }
-  
-private:
-  const DerivedNested m_A;
-};
-
-namespace internal {
-  template<typename Derived>
-  struct traits<MatrixLogarithmReturnValue<Derived> >
-  {
-    typedef typename Derived::PlainObject ReturnType;
-  };
-}
-
-
-/********** MatrixBase method **********/
-
-
-template <typename Derived>
-const MatrixLogarithmReturnValue<Derived> MatrixBase<Derived>::log() const
-{
-  eigen_assert(rows() == cols());
-  return MatrixLogarithmReturnValue<Derived>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_LOGARITHM
diff --git a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h b/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h
deleted file mode 100644
index ebc433d89e427e..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h
+++ /dev/null
@@ -1,709 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012, 2013 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_POWER
-#define EIGEN_MATRIX_POWER
-
-namespace Eigen {
-
-template<typename MatrixType> class MatrixPower;
-
-/**
- * \ingroup MatrixFunctions_Module
- *
- * \brief Proxy for the matrix power of some matrix.
- *
- * \tparam MatrixType  type of the base, a matrix.
- *
- * This class holds the arguments to the matrix power until it is
- * assigned or evaluated for some other reason (so the argument
- * should not be changed in the meantime). It is the return type of
- * MatrixPower::operator() and related functions and most of the
- * time this is the only way it is used.
- */
-/* TODO This class is only used by MatrixPower, so it should be nested
- * into MatrixPower, like MatrixPower::ReturnValue. However, my
- * compiler complained about unused template parameter in the
- * following declaration in namespace internal.
- *
- * template<typename MatrixType>
- * struct traits<MatrixPower<MatrixType>::ReturnValue>;
- */
-template<typename MatrixType>
-class MatrixPowerParenthesesReturnValue : public ReturnByValue< MatrixPowerParenthesesReturnValue<MatrixType> >
-{
-  public:
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-
-    /**
-     * \brief Constructor.
-     *
-     * \param[in] pow  %MatrixPower storing the base.
-     * \param[in] p    scalar, the exponent of the matrix power.
-     */
-    MatrixPowerParenthesesReturnValue(MatrixPower<MatrixType>& pow, RealScalar p) : m_pow(pow), m_p(p)
-    { }
-
-    /**
-     * \brief Compute the matrix power.
-     *
-     * \param[out] result
-     */
-    template<typename ResultType>
-    inline void evalTo(ResultType& res) const
-    { m_pow.compute(res, m_p); }
-
-    Index rows() const { return m_pow.rows(); }
-    Index cols() const { return m_pow.cols(); }
-
-  private:
-    MatrixPower<MatrixType>& m_pow;
-    const RealScalar m_p;
-};
-
-/**
- * \ingroup MatrixFunctions_Module
- *
- * \brief Class for computing matrix powers.
- *
- * \tparam MatrixType  type of the base, expected to be an instantiation
- * of the Matrix class template.
- *
- * This class is capable of computing triangular real/complex matrices
- * raised to a power in the interval \f$ (-1, 1) \f$.
- *
- * \note Currently this class is only used by MatrixPower. One may
- * insist that this be nested into MatrixPower. This class is here to
- * faciliate future development of triangular matrix functions.
- */
-template<typename MatrixType>
-class MatrixPowerAtomic : internal::noncopyable
-{
-  private:
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef std::complex<RealScalar> ComplexScalar;
-    typedef typename MatrixType::Index Index;
-    typedef Block<MatrixType,Dynamic,Dynamic> ResultType;
-
-    const MatrixType& m_A;
-    RealScalar m_p;
-
-    void computePade(int degree, const MatrixType& IminusT, ResultType& res) const;
-    void compute2x2(ResultType& res, RealScalar p) const;
-    void computeBig(ResultType& res) const;
-    static int getPadeDegree(float normIminusT);
-    static int getPadeDegree(double normIminusT);
-    static int getPadeDegree(long double normIminusT);
-    static ComplexScalar computeSuperDiag(const ComplexScalar&, const ComplexScalar&, RealScalar p);
-    static RealScalar computeSuperDiag(RealScalar, RealScalar, RealScalar p);
-
-  public:
-    /**
-     * \brief Constructor.
-     *
-     * \param[in] T  the base of the matrix power.
-     * \param[in] p  the exponent of the matrix power, should be in
-     * \f$ (-1, 1) \f$.
-     *
-     * The class stores a reference to T, so it should not be changed
-     * (or destroyed) before evaluation. Only the upper triangular
-     * part of T is read.
-     */
-    MatrixPowerAtomic(const MatrixType& T, RealScalar p);
-    
-    /**
-     * \brief Compute the matrix power.
-     *
-     * \param[out] res  \f$ A^p \f$ where A and p are specified in the
-     * constructor.
-     */
-    void compute(ResultType& res) const;
-};
-
-template<typename MatrixType>
-MatrixPowerAtomic<MatrixType>::MatrixPowerAtomic(const MatrixType& T, RealScalar p) :
-  m_A(T), m_p(p)
-{
-  eigen_assert(T.rows() == T.cols());
-  eigen_assert(p > -1 && p < 1);
-}
-
-template<typename MatrixType>
-void MatrixPowerAtomic<MatrixType>::compute(ResultType& res) const
-{
-  using std::pow;
-  switch (m_A.rows()) {
-    case 0:
-      break;
-    case 1:
-      res(0,0) = pow(m_A(0,0), m_p);
-      break;
-    case 2:
-      compute2x2(res, m_p);
-      break;
-    default:
-      computeBig(res);
-  }
-}
-
-template<typename MatrixType>
-void MatrixPowerAtomic<MatrixType>::computePade(int degree, const MatrixType& IminusT, ResultType& res) const
-{
-  int i = 2*degree;
-  res = (m_p-degree) / (2*i-2) * IminusT;
-
-  for (--i; i; --i) {
-    res = (MatrixType::Identity(IminusT.rows(), IminusT.cols()) + res).template triangularView<Upper>()
-	.solve((i==1 ? -m_p : i&1 ? (-m_p-i/2)/(2*i) : (m_p-i/2)/(2*i-2)) * IminusT).eval();
-  }
-  res += MatrixType::Identity(IminusT.rows(), IminusT.cols());
-}
-
-// This function assumes that res has the correct size (see bug 614)
-template<typename MatrixType>
-void MatrixPowerAtomic<MatrixType>::compute2x2(ResultType& res, RealScalar p) const
-{
-  using std::abs;
-  using std::pow;
-  res.coeffRef(0,0) = pow(m_A.coeff(0,0), p);
-
-  for (Index i=1; i < m_A.cols(); ++i) {
-    res.coeffRef(i,i) = pow(m_A.coeff(i,i), p);
-    if (m_A.coeff(i-1,i-1) == m_A.coeff(i,i))
-      res.coeffRef(i-1,i) = p * pow(m_A.coeff(i,i), p-1);
-    else if (2*abs(m_A.coeff(i-1,i-1)) < abs(m_A.coeff(i,i)) || 2*abs(m_A.coeff(i,i)) < abs(m_A.coeff(i-1,i-1)))
-      res.coeffRef(i-1,i) = (res.coeff(i,i)-res.coeff(i-1,i-1)) / (m_A.coeff(i,i)-m_A.coeff(i-1,i-1));
-    else
-      res.coeffRef(i-1,i) = computeSuperDiag(m_A.coeff(i,i), m_A.coeff(i-1,i-1), p);
-    res.coeffRef(i-1,i) *= m_A.coeff(i-1,i);
-  }
-}
-
-template<typename MatrixType>
-void MatrixPowerAtomic<MatrixType>::computeBig(ResultType& res) const
-{
-  using std::ldexp;
-  const int digits = std::numeric_limits<RealScalar>::digits;
-  const RealScalar maxNormForPade = digits <=  24? 4.3386528e-1L                            // single precision
-                                  : digits <=  53? 2.789358995219730e-1L                    // double precision
-                                  : digits <=  64? 2.4471944416607995472e-1L                // extended precision
-                                  : digits <= 106? 1.1016843812851143391275867258512e-1L    // double-double
-                                  :                9.134603732914548552537150753385375e-2L; // quadruple precision
-  MatrixType IminusT, sqrtT, T = m_A.template triangularView<Upper>();
-  RealScalar normIminusT;
-  int degree, degree2, numberOfSquareRoots = 0;
-  bool hasExtraSquareRoot = false;
-
-  for (Index i=0; i < m_A.cols(); ++i)
-    eigen_assert(m_A(i,i) != RealScalar(0));
-
-  while (true) {
-    IminusT = MatrixType::Identity(m_A.rows(), m_A.cols()) - T;
-    normIminusT = IminusT.cwiseAbs().colwise().sum().maxCoeff();
-    if (normIminusT < maxNormForPade) {
-      degree = getPadeDegree(normIminusT);
-      degree2 = getPadeDegree(normIminusT/2);
-      if (degree - degree2 <= 1 || hasExtraSquareRoot)
-	break;
-      hasExtraSquareRoot = true;
-    }
-    matrix_sqrt_triangular(T, sqrtT);
-    T = sqrtT.template triangularView<Upper>();
-    ++numberOfSquareRoots;
-  }
-  computePade(degree, IminusT, res);
-
-  for (; numberOfSquareRoots; --numberOfSquareRoots) {
-    compute2x2(res, ldexp(m_p, -numberOfSquareRoots));
-    res = res.template triangularView<Upper>() * res;
-  }
-  compute2x2(res, m_p);
-}
-  
-template<typename MatrixType>
-inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(float normIminusT)
-{
-  const float maxNormForPade[] = { 2.8064004e-1f /* degree = 3 */ , 4.3386528e-1f };
-  int degree = 3;
-  for (; degree <= 4; ++degree)
-    if (normIminusT <= maxNormForPade[degree - 3])
-      break;
-  return degree;
-}
-
-template<typename MatrixType>
-inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(double normIminusT)
-{
-  const double maxNormForPade[] = { 1.884160592658218e-2 /* degree = 3 */ , 6.038881904059573e-2, 1.239917516308172e-1,
-      1.999045567181744e-1, 2.789358995219730e-1 };
-  int degree = 3;
-  for (; degree <= 7; ++degree)
-    if (normIminusT <= maxNormForPade[degree - 3])
-      break;
-  return degree;
-}
-
-template<typename MatrixType>
-inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(long double normIminusT)
-{
-#if   LDBL_MANT_DIG == 53
-  const int maxPadeDegree = 7;
-  const double maxNormForPade[] = { 1.884160592658218e-2L /* degree = 3 */ , 6.038881904059573e-2L, 1.239917516308172e-1L,
-      1.999045567181744e-1L, 2.789358995219730e-1L };
-#elif LDBL_MANT_DIG <= 64
-  const int maxPadeDegree = 8;
-  const long double maxNormForPade[] = { 6.3854693117491799460e-3L /* degree = 3 */ , 2.6394893435456973676e-2L,
-      6.4216043030404063729e-2L, 1.1701165502926694307e-1L, 1.7904284231268670284e-1L, 2.4471944416607995472e-1L };
-#elif LDBL_MANT_DIG <= 106
-  const int maxPadeDegree = 10;
-  const double maxNormForPade[] = { 1.0007161601787493236741409687186e-4L /* degree = 3 */ ,
-      1.0007161601787493236741409687186e-3L, 4.7069769360887572939882574746264e-3L, 1.3220386624169159689406653101695e-2L,
-      2.8063482381631737920612944054906e-2L, 4.9625993951953473052385361085058e-2L, 7.7367040706027886224557538328171e-2L,
-      1.1016843812851143391275867258512e-1L };
-#else
-  const int maxPadeDegree = 10;
-  const double maxNormForPade[] = { 5.524506147036624377378713555116378e-5L /* degree = 3 */ ,
-      6.640600568157479679823602193345995e-4L, 3.227716520106894279249709728084626e-3L,
-      9.619593944683432960546978734646284e-3L, 2.134595382433742403911124458161147e-2L,
-      3.908166513900489428442993794761185e-2L, 6.266780814639442865832535460550138e-2L,
-      9.134603732914548552537150753385375e-2L };
-#endif
-  int degree = 3;
-  for (; degree <= maxPadeDegree; ++degree)
-    if (normIminusT <= maxNormForPade[degree - 3])
-      break;
-  return degree;
-}
-
-template<typename MatrixType>
-inline typename MatrixPowerAtomic<MatrixType>::ComplexScalar
-MatrixPowerAtomic<MatrixType>::computeSuperDiag(const ComplexScalar& curr, const ComplexScalar& prev, RealScalar p)
-{
-  using std::ceil;
-  using std::exp;
-  using std::log;
-  using std::sinh;
-
-  ComplexScalar logCurr = log(curr);
-  ComplexScalar logPrev = log(prev);
-  int unwindingNumber = ceil((numext::imag(logCurr - logPrev) - RealScalar(EIGEN_PI)) / RealScalar(2*EIGEN_PI));
-  ComplexScalar w = numext::log1p((curr-prev)/prev)/RealScalar(2) + ComplexScalar(0, EIGEN_PI*unwindingNumber);
-  return RealScalar(2) * exp(RealScalar(0.5) * p * (logCurr + logPrev)) * sinh(p * w) / (curr - prev);
-}
-
-template<typename MatrixType>
-inline typename MatrixPowerAtomic<MatrixType>::RealScalar
-MatrixPowerAtomic<MatrixType>::computeSuperDiag(RealScalar curr, RealScalar prev, RealScalar p)
-{
-  using std::exp;
-  using std::log;
-  using std::sinh;
-
-  RealScalar w = numext::log1p((curr-prev)/prev)/RealScalar(2);
-  return 2 * exp(p * (log(curr) + log(prev)) / 2) * sinh(p * w) / (curr - prev);
-}
-
-/**
- * \ingroup MatrixFunctions_Module
- *
- * \brief Class for computing matrix powers.
- *
- * \tparam MatrixType  type of the base, expected to be an instantiation
- * of the Matrix class template.
- *
- * This class is capable of computing real/complex matrices raised to
- * an arbitrary real power. Meanwhile, it saves the result of Schur
- * decomposition if an non-integral power has even been calculated.
- * Therefore, if you want to compute multiple (>= 2) matrix powers
- * for the same matrix, using the class directly is more efficient than
- * calling MatrixBase::pow().
- *
- * Example:
- * \include MatrixPower_optimal.cpp
- * Output: \verbinclude MatrixPower_optimal.out
- */
-template<typename MatrixType>
-class MatrixPower : internal::noncopyable
-{
-  private:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-
-  public:
-    /**
-     * \brief Constructor.
-     *
-     * \param[in] A  the base of the matrix power.
-     *
-     * The class stores a reference to A, so it should not be changed
-     * (or destroyed) before evaluation.
-     */
-    explicit MatrixPower(const MatrixType& A) :
-      m_A(A),
-      m_conditionNumber(0),
-      m_rank(A.cols()),
-      m_nulls(0)
-    { eigen_assert(A.rows() == A.cols()); }
-
-    /**
-     * \brief Returns the matrix power.
-     *
-     * \param[in] p  exponent, a real scalar.
-     * \return The expression \f$ A^p \f$, where A is specified in the
-     * constructor.
-     */
-    const MatrixPowerParenthesesReturnValue<MatrixType> operator()(RealScalar p)
-    { return MatrixPowerParenthesesReturnValue<MatrixType>(*this, p); }
-
-    /**
-     * \brief Compute the matrix power.
-     *
-     * \param[in]  p    exponent, a real scalar.
-     * \param[out] res  \f$ A^p \f$ where A is specified in the
-     * constructor.
-     */
-    template<typename ResultType>
-    void compute(ResultType& res, RealScalar p);
-    
-    Index rows() const { return m_A.rows(); }
-    Index cols() const { return m_A.cols(); }
-
-  private:
-    typedef std::complex<RealScalar> ComplexScalar;
-    typedef Matrix<ComplexScalar, Dynamic, Dynamic, 0,
-              MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime> ComplexMatrix;
-
-    /** \brief Reference to the base of matrix power. */
-    typename MatrixType::Nested m_A;
-
-    /** \brief Temporary storage. */
-    MatrixType m_tmp;
-
-    /** \brief Store the result of Schur decomposition. */
-    ComplexMatrix m_T, m_U;
-    
-    /** \brief Store fractional power of m_T. */
-    ComplexMatrix m_fT;
-
-    /**
-     * \brief Condition number of m_A.
-     *
-     * It is initialized as 0 to avoid performing unnecessary Schur
-     * decomposition, which is the bottleneck.
-     */
-    RealScalar m_conditionNumber;
-
-    /** \brief Rank of m_A. */
-    Index m_rank;
-    
-    /** \brief Rank deficiency of m_A. */
-    Index m_nulls;
-
-    /**
-     * \brief Split p into integral part and fractional part.
-     *
-     * \param[in]  p        The exponent.
-     * \param[out] p        The fractional part ranging in \f$ (-1, 1) \f$.
-     * \param[out] intpart  The integral part.
-     *
-     * Only if the fractional part is nonzero, it calls initialize().
-     */
-    void split(RealScalar& p, RealScalar& intpart);
-
-    /** \brief Perform Schur decomposition for fractional power. */
-    void initialize();
-
-    template<typename ResultType>
-    void computeIntPower(ResultType& res, RealScalar p);
-
-    template<typename ResultType>
-    void computeFracPower(ResultType& res, RealScalar p);
-
-    template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-    static void revertSchur(
-        Matrix<ComplexScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
-        const ComplexMatrix& T,
-        const ComplexMatrix& U);
-
-    template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-    static void revertSchur(
-        Matrix<RealScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
-        const ComplexMatrix& T,
-        const ComplexMatrix& U);
-};
-
-template<typename MatrixType>
-template<typename ResultType>
-void MatrixPower<MatrixType>::compute(ResultType& res, RealScalar p)
-{
-  using std::pow;
-  switch (cols()) {
-    case 0:
-      break;
-    case 1:
-      res(0,0) = pow(m_A.coeff(0,0), p);
-      break;
-    default:
-      RealScalar intpart;
-      split(p, intpart);
-
-      res = MatrixType::Identity(rows(), cols());
-      computeIntPower(res, intpart);
-      if (p) computeFracPower(res, p);
-  }
-}
-
-template<typename MatrixType>
-void MatrixPower<MatrixType>::split(RealScalar& p, RealScalar& intpart)
-{
-  using std::floor;
-  using std::pow;
-
-  intpart = floor(p);
-  p -= intpart;
-
-  // Perform Schur decomposition if it is not yet performed and the power is
-  // not an integer.
-  if (!m_conditionNumber && p)
-    initialize();
-
-  // Choose the more stable of intpart = floor(p) and intpart = ceil(p).
-  if (p > RealScalar(0.5) && p > (1-p) * pow(m_conditionNumber, p)) {
-    --p;
-    ++intpart;
-  }
-}
-
-template<typename MatrixType>
-void MatrixPower<MatrixType>::initialize()
-{
-  const ComplexSchur<MatrixType> schurOfA(m_A);
-  JacobiRotation<ComplexScalar> rot;
-  ComplexScalar eigenvalue;
-
-  m_fT.resizeLike(m_A);
-  m_T = schurOfA.matrixT();
-  m_U = schurOfA.matrixU();
-  m_conditionNumber = m_T.diagonal().array().abs().maxCoeff() / m_T.diagonal().array().abs().minCoeff();
-
-  // Move zero eigenvalues to the bottom right corner.
-  for (Index i = cols()-1; i>=0; --i) {
-    if (m_rank <= 2)
-      return;
-    if (m_T.coeff(i,i) == RealScalar(0)) {
-      for (Index j=i+1; j < m_rank; ++j) {
-        eigenvalue = m_T.coeff(j,j);
-        rot.makeGivens(m_T.coeff(j-1,j), eigenvalue);
-        m_T.applyOnTheRight(j-1, j, rot);
-        m_T.applyOnTheLeft(j-1, j, rot.adjoint());
-        m_T.coeffRef(j-1,j-1) = eigenvalue;
-        m_T.coeffRef(j,j) = RealScalar(0);
-        m_U.applyOnTheRight(j-1, j, rot);
-      }
-      --m_rank;
-    }
-  }
-
-  m_nulls = rows() - m_rank;
-  if (m_nulls) {
-    eigen_assert(m_T.bottomRightCorner(m_nulls, m_nulls).isZero()
-        && "Base of matrix power should be invertible or with a semisimple zero eigenvalue.");
-    m_fT.bottomRows(m_nulls).fill(RealScalar(0));
-  }
-}
-
-template<typename MatrixType>
-template<typename ResultType>
-void MatrixPower<MatrixType>::computeIntPower(ResultType& res, RealScalar p)
-{
-  using std::abs;
-  using std::fmod;
-  RealScalar pp = abs(p);
-
-  if (p<0) 
-    m_tmp = m_A.inverse();
-  else     
-    m_tmp = m_A;
-
-  while (true) {
-    if (fmod(pp, 2) >= 1)
-      res = m_tmp * res;
-    pp /= 2;
-    if (pp < 1)
-      break;
-    m_tmp *= m_tmp;
-  }
-}
-
-template<typename MatrixType>
-template<typename ResultType>
-void MatrixPower<MatrixType>::computeFracPower(ResultType& res, RealScalar p)
-{
-  Block<ComplexMatrix,Dynamic,Dynamic> blockTp(m_fT, 0, 0, m_rank, m_rank);
-  eigen_assert(m_conditionNumber);
-  eigen_assert(m_rank + m_nulls == rows());
-
-  MatrixPowerAtomic<ComplexMatrix>(m_T.topLeftCorner(m_rank, m_rank), p).compute(blockTp);
-  if (m_nulls) {
-    m_fT.topRightCorner(m_rank, m_nulls) = m_T.topLeftCorner(m_rank, m_rank).template triangularView<Upper>()
-        .solve(blockTp * m_T.topRightCorner(m_rank, m_nulls));
-  }
-  revertSchur(m_tmp, m_fT, m_U);
-  res = m_tmp * res;
-}
-
-template<typename MatrixType>
-template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-inline void MatrixPower<MatrixType>::revertSchur(
-    Matrix<ComplexScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
-    const ComplexMatrix& T,
-    const ComplexMatrix& U)
-{ res.noalias() = U * (T.template triangularView<Upper>() * U.adjoint()); }
-
-template<typename MatrixType>
-template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-inline void MatrixPower<MatrixType>::revertSchur(
-    Matrix<RealScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
-    const ComplexMatrix& T,
-    const ComplexMatrix& U)
-{ res.noalias() = (U * (T.template triangularView<Upper>() * U.adjoint())).real(); }
-
-/**
- * \ingroup MatrixFunctions_Module
- *
- * \brief Proxy for the matrix power of some matrix (expression).
- *
- * \tparam Derived  type of the base, a matrix (expression).
- *
- * This class holds the arguments to the matrix power until it is
- * assigned or evaluated for some other reason (so the argument
- * should not be changed in the meantime). It is the return type of
- * MatrixBase::pow() and related functions and most of the
- * time this is the only way it is used.
- */
-template<typename Derived>
-class MatrixPowerReturnValue : public ReturnByValue< MatrixPowerReturnValue<Derived> >
-{
-  public:
-    typedef typename Derived::PlainObject PlainObject;
-    typedef typename Derived::RealScalar RealScalar;
-    typedef typename Derived::Index Index;
-
-    /**
-     * \brief Constructor.
-     *
-     * \param[in] A  %Matrix (expression), the base of the matrix power.
-     * \param[in] p  real scalar, the exponent of the matrix power.
-     */
-    MatrixPowerReturnValue(const Derived& A, RealScalar p) : m_A(A), m_p(p)
-    { }
-
-    /**
-     * \brief Compute the matrix power.
-     *
-     * \param[out] result  \f$ A^p \f$ where \p A and \p p are as in the
-     * constructor.
-     */
-    template<typename ResultType>
-    inline void evalTo(ResultType& res) const
-    { MatrixPower<PlainObject>(m_A.eval()).compute(res, m_p); }
-
-    Index rows() const { return m_A.rows(); }
-    Index cols() const { return m_A.cols(); }
-
-  private:
-    const Derived& m_A;
-    const RealScalar m_p;
-};
-
-/**
- * \ingroup MatrixFunctions_Module
- *
- * \brief Proxy for the matrix power of some matrix (expression).
- *
- * \tparam Derived  type of the base, a matrix (expression).
- *
- * This class holds the arguments to the matrix power until it is
- * assigned or evaluated for some other reason (so the argument
- * should not be changed in the meantime). It is the return type of
- * MatrixBase::pow() and related functions and most of the
- * time this is the only way it is used.
- */
-template<typename Derived>
-class MatrixComplexPowerReturnValue : public ReturnByValue< MatrixComplexPowerReturnValue<Derived> >
-{
-  public:
-    typedef typename Derived::PlainObject PlainObject;
-    typedef typename std::complex<typename Derived::RealScalar> ComplexScalar;
-    typedef typename Derived::Index Index;
-
-    /**
-     * \brief Constructor.
-     *
-     * \param[in] A  %Matrix (expression), the base of the matrix power.
-     * \param[in] p  complex scalar, the exponent of the matrix power.
-     */
-    MatrixComplexPowerReturnValue(const Derived& A, const ComplexScalar& p) : m_A(A), m_p(p)
-    { }
-
-    /**
-     * \brief Compute the matrix power.
-     *
-     * Because \p p is complex, \f$ A^p \f$ is simply evaluated as \f$
-     * \exp(p \log(A)) \f$.
-     *
-     * \param[out] result  \f$ A^p \f$ where \p A and \p p are as in the
-     * constructor.
-     */
-    template<typename ResultType>
-    inline void evalTo(ResultType& res) const
-    { res = (m_p * m_A.log()).exp(); }
-
-    Index rows() const { return m_A.rows(); }
-    Index cols() const { return m_A.cols(); }
-
-  private:
-    const Derived& m_A;
-    const ComplexScalar m_p;
-};
-
-namespace internal {
-
-template<typename MatrixPowerType>
-struct traits< MatrixPowerParenthesesReturnValue<MatrixPowerType> >
-{ typedef typename MatrixPowerType::PlainObject ReturnType; };
-
-template<typename Derived>
-struct traits< MatrixPowerReturnValue<Derived> >
-{ typedef typename Derived::PlainObject ReturnType; };
-
-template<typename Derived>
-struct traits< MatrixComplexPowerReturnValue<Derived> >
-{ typedef typename Derived::PlainObject ReturnType; };
-
-}
-
-template<typename Derived>
-const MatrixPowerReturnValue<Derived> MatrixBase<Derived>::pow(const RealScalar& p) const
-{ return MatrixPowerReturnValue<Derived>(derived(), p); }
-
-template<typename Derived>
-const MatrixComplexPowerReturnValue<Derived> MatrixBase<Derived>::pow(const std::complex<RealScalar>& p) const
-{ return MatrixComplexPowerReturnValue<Derived>(derived(), p); }
-
-} // namespace Eigen
-
-#endif // EIGEN_MATRIX_POWER
diff --git a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h b/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
deleted file mode 100644
index afd88ec4de322f..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
+++ /dev/null
@@ -1,370 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_SQUARE_ROOT
-#define EIGEN_MATRIX_SQUARE_ROOT
-
-namespace Eigen { 
-
-namespace internal {
-
-// pre:  T.block(i,i,2,2) has complex conjugate eigenvalues
-// post: sqrtT.block(i,i,2,2) is square root of T.block(i,i,2,2)
-template <typename MatrixType, typename ResultType>
-void matrix_sqrt_quasi_triangular_2x2_diagonal_block(const MatrixType& T, typename MatrixType::Index i, ResultType& sqrtT)
-{
-  // TODO: This case (2-by-2 blocks with complex conjugate eigenvalues) is probably hidden somewhere
-  //       in EigenSolver. If we expose it, we could call it directly from here.
-  typedef typename traits<MatrixType>::Scalar Scalar;
-  Matrix<Scalar,2,2> block = T.template block<2,2>(i,i);
-  EigenSolver<Matrix<Scalar,2,2> > es(block);
-  sqrtT.template block<2,2>(i,i)
-    = (es.eigenvectors() * es.eigenvalues().cwiseSqrt().asDiagonal() * es.eigenvectors().inverse()).real();
-}
-
-// pre:  block structure of T is such that (i,j) is a 1x1 block,
-//       all blocks of sqrtT to left of and below (i,j) are correct
-// post: sqrtT(i,j) has the correct value
-template <typename MatrixType, typename ResultType>
-void matrix_sqrt_quasi_triangular_1x1_off_diagonal_block(const MatrixType& T, typename MatrixType::Index i, typename MatrixType::Index j, ResultType& sqrtT)
-{
-  typedef typename traits<MatrixType>::Scalar Scalar;
-  Scalar tmp = (sqrtT.row(i).segment(i+1,j-i-1) * sqrtT.col(j).segment(i+1,j-i-1)).value();
-  sqrtT.coeffRef(i,j) = (T.coeff(i,j) - tmp) / (sqrtT.coeff(i,i) + sqrtT.coeff(j,j));
-}
-
-// similar to compute1x1offDiagonalBlock()
-template <typename MatrixType, typename ResultType>
-void matrix_sqrt_quasi_triangular_1x2_off_diagonal_block(const MatrixType& T, typename MatrixType::Index i, typename MatrixType::Index j, ResultType& sqrtT)
-{
-  typedef typename traits<MatrixType>::Scalar Scalar;
-  Matrix<Scalar,1,2> rhs = T.template block<1,2>(i,j);
-  if (j-i > 1)
-    rhs -= sqrtT.block(i, i+1, 1, j-i-1) * sqrtT.block(i+1, j, j-i-1, 2);
-  Matrix<Scalar,2,2> A = sqrtT.coeff(i,i) * Matrix<Scalar,2,2>::Identity();
-  A += sqrtT.template block<2,2>(j,j).transpose();
-  sqrtT.template block<1,2>(i,j).transpose() = A.fullPivLu().solve(rhs.transpose());
-}
-
-// similar to compute1x1offDiagonalBlock()
-template <typename MatrixType, typename ResultType>
-void matrix_sqrt_quasi_triangular_2x1_off_diagonal_block(const MatrixType& T, typename MatrixType::Index i, typename MatrixType::Index j, ResultType& sqrtT)
-{
-  typedef typename traits<MatrixType>::Scalar Scalar;
-  Matrix<Scalar,2,1> rhs = T.template block<2,1>(i,j);
-  if (j-i > 2)
-    rhs -= sqrtT.block(i, i+2, 2, j-i-2) * sqrtT.block(i+2, j, j-i-2, 1);
-  Matrix<Scalar,2,2> A = sqrtT.coeff(j,j) * Matrix<Scalar,2,2>::Identity();
-  A += sqrtT.template block<2,2>(i,i);
-  sqrtT.template block<2,1>(i,j) = A.fullPivLu().solve(rhs);
-}
-
-// solves the equation A X + X B = C where all matrices are 2-by-2
-template <typename MatrixType>
-void matrix_sqrt_quasi_triangular_solve_auxiliary_equation(MatrixType& X, const MatrixType& A, const MatrixType& B, const MatrixType& C)
-{
-  typedef typename traits<MatrixType>::Scalar Scalar;
-  Matrix<Scalar,4,4> coeffMatrix = Matrix<Scalar,4,4>::Zero();
-  coeffMatrix.coeffRef(0,0) = A.coeff(0,0) + B.coeff(0,0);
-  coeffMatrix.coeffRef(1,1) = A.coeff(0,0) + B.coeff(1,1);
-  coeffMatrix.coeffRef(2,2) = A.coeff(1,1) + B.coeff(0,0);
-  coeffMatrix.coeffRef(3,3) = A.coeff(1,1) + B.coeff(1,1);
-  coeffMatrix.coeffRef(0,1) = B.coeff(1,0);
-  coeffMatrix.coeffRef(0,2) = A.coeff(0,1);
-  coeffMatrix.coeffRef(1,0) = B.coeff(0,1);
-  coeffMatrix.coeffRef(1,3) = A.coeff(0,1);
-  coeffMatrix.coeffRef(2,0) = A.coeff(1,0);
-  coeffMatrix.coeffRef(2,3) = B.coeff(1,0);
-  coeffMatrix.coeffRef(3,1) = A.coeff(1,0);
-  coeffMatrix.coeffRef(3,2) = B.coeff(0,1);
-
-  Matrix<Scalar,4,1> rhs;
-  rhs.coeffRef(0) = C.coeff(0,0);
-  rhs.coeffRef(1) = C.coeff(0,1);
-  rhs.coeffRef(2) = C.coeff(1,0);
-  rhs.coeffRef(3) = C.coeff(1,1);
-
-  Matrix<Scalar,4,1> result;
-  result = coeffMatrix.fullPivLu().solve(rhs);
-
-  X.coeffRef(0,0) = result.coeff(0);
-  X.coeffRef(0,1) = result.coeff(1);
-  X.coeffRef(1,0) = result.coeff(2);
-  X.coeffRef(1,1) = result.coeff(3);
-}
-
-// similar to compute1x1offDiagonalBlock()
-template <typename MatrixType, typename ResultType>
-void matrix_sqrt_quasi_triangular_2x2_off_diagonal_block(const MatrixType& T, typename MatrixType::Index i, typename MatrixType::Index j, ResultType& sqrtT)
-{
-  typedef typename traits<MatrixType>::Scalar Scalar;
-  Matrix<Scalar,2,2> A = sqrtT.template block<2,2>(i,i);
-  Matrix<Scalar,2,2> B = sqrtT.template block<2,2>(j,j);
-  Matrix<Scalar,2,2> C = T.template block<2,2>(i,j);
-  if (j-i > 2)
-    C -= sqrtT.block(i, i+2, 2, j-i-2) * sqrtT.block(i+2, j, j-i-2, 2);
-  Matrix<Scalar,2,2> X;
-  matrix_sqrt_quasi_triangular_solve_auxiliary_equation(X, A, B, C);
-  sqrtT.template block<2,2>(i,j) = X;
-}
-
-// pre:  T is quasi-upper-triangular and sqrtT is a zero matrix of the same size
-// post: the diagonal blocks of sqrtT are the square roots of the diagonal blocks of T
-template <typename MatrixType, typename ResultType>
-void matrix_sqrt_quasi_triangular_diagonal(const MatrixType& T, ResultType& sqrtT)
-{
-  using std::sqrt;
-  typedef typename MatrixType::Index Index;
-  const Index size = T.rows();
-  for (Index i = 0; i < size; i++) {
-    if (i == size - 1 || T.coeff(i+1, i) == 0) {
-      eigen_assert(T(i,i) >= 0);
-      sqrtT.coeffRef(i,i) = sqrt(T.coeff(i,i));
-    }
-    else {
-      matrix_sqrt_quasi_triangular_2x2_diagonal_block(T, i, sqrtT);
-      ++i;
-    }
-  }
-}
-
-// pre:  T is quasi-upper-triangular and diagonal blocks of sqrtT are square root of diagonal blocks of T.
-// post: sqrtT is the square root of T.
-template <typename MatrixType, typename ResultType>
-void matrix_sqrt_quasi_triangular_off_diagonal(const MatrixType& T, ResultType& sqrtT)
-{
-  typedef typename MatrixType::Index Index;
-  const Index size = T.rows();
-  for (Index j = 1; j < size; j++) {
-      if (T.coeff(j, j-1) != 0)  // if T(j-1:j, j-1:j) is a 2-by-2 block
-	continue;
-    for (Index i = j-1; i >= 0; i--) {
-      if (i > 0 && T.coeff(i, i-1) != 0)  // if T(i-1:i, i-1:i) is a 2-by-2 block
-	continue;
-      bool iBlockIs2x2 = (i < size - 1) && (T.coeff(i+1, i) != 0);
-      bool jBlockIs2x2 = (j < size - 1) && (T.coeff(j+1, j) != 0);
-      if (iBlockIs2x2 && jBlockIs2x2) 
-        matrix_sqrt_quasi_triangular_2x2_off_diagonal_block(T, i, j, sqrtT);
-      else if (iBlockIs2x2 && !jBlockIs2x2) 
-        matrix_sqrt_quasi_triangular_2x1_off_diagonal_block(T, i, j, sqrtT);
-      else if (!iBlockIs2x2 && jBlockIs2x2) 
-        matrix_sqrt_quasi_triangular_1x2_off_diagonal_block(T, i, j, sqrtT);
-      else if (!iBlockIs2x2 && !jBlockIs2x2) 
-        matrix_sqrt_quasi_triangular_1x1_off_diagonal_block(T, i, j, sqrtT);
-    }
-  }
-}
-
-} // end of namespace internal
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Compute matrix square root of quasi-triangular matrix.
-  *
-  * \tparam  MatrixType  type of \p arg, the argument of matrix square root,
-  *                      expected to be an instantiation of the Matrix class template.
-  * \tparam  ResultType  type of \p result, where result is to be stored.
-  * \param[in]  arg      argument of matrix square root.
-  * \param[out] result   matrix square root of upper Hessenberg part of \p arg.
-  *
-  * This function computes the square root of the upper quasi-triangular matrix stored in the upper
-  * Hessenberg part of \p arg.  Only the upper Hessenberg part of \p result is updated, the rest is
-  * not touched.  See MatrixBase::sqrt() for details on how this computation is implemented.
-  *
-  * \sa MatrixSquareRoot, MatrixSquareRootQuasiTriangular
-  */
-template <typename MatrixType, typename ResultType> 
-void matrix_sqrt_quasi_triangular(const MatrixType &arg, ResultType &result)
-{
-  eigen_assert(arg.rows() == arg.cols());
-  result.resize(arg.rows(), arg.cols());
-  internal::matrix_sqrt_quasi_triangular_diagonal(arg, result);
-  internal::matrix_sqrt_quasi_triangular_off_diagonal(arg, result);
-}
-
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Compute matrix square root of triangular matrix.
-  *
-  * \tparam  MatrixType  type of \p arg, the argument of matrix square root,
-  *                      expected to be an instantiation of the Matrix class template.
-  * \tparam  ResultType  type of \p result, where result is to be stored.
-  * \param[in]  arg      argument of matrix square root.
-  * \param[out] result   matrix square root of upper triangular part of \p arg.
-  *
-  * Only the upper triangular part (including the diagonal) of \p result is updated, the rest is not
-  * touched.  See MatrixBase::sqrt() for details on how this computation is implemented.
-  *
-  * \sa MatrixSquareRoot, MatrixSquareRootQuasiTriangular
-  */
-template <typename MatrixType, typename ResultType> 
-void matrix_sqrt_triangular(const MatrixType &arg, ResultType &result)
-{
-  using std::sqrt;
-  typedef typename MatrixType::Index Index;
-      typedef typename MatrixType::Scalar Scalar;
-
-  eigen_assert(arg.rows() == arg.cols());
-
-  // Compute square root of arg and store it in upper triangular part of result
-  // This uses that the square root of triangular matrices can be computed directly.
-  result.resize(arg.rows(), arg.cols());
-  for (Index i = 0; i < arg.rows(); i++) {
-    result.coeffRef(i,i) = sqrt(arg.coeff(i,i));
-  }
-  for (Index j = 1; j < arg.cols(); j++) {
-    for (Index i = j-1; i >= 0; i--) {
-      // if i = j-1, then segment has length 0 so tmp = 0
-      Scalar tmp = (result.row(i).segment(i+1,j-i-1) * result.col(j).segment(i+1,j-i-1)).value();
-      // denominator may be zero if original matrix is singular
-      result.coeffRef(i,j) = (arg.coeff(i,j) - tmp) / (result.coeff(i,i) + result.coeff(j,j));
-    }
-  }
-}
-
-
-namespace internal {
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Helper struct for computing matrix square roots of general matrices.
-  * \tparam  MatrixType  type of the argument of the matrix square root,
-  *                      expected to be an instantiation of the Matrix class template.
-  *
-  * \sa MatrixSquareRootTriangular, MatrixSquareRootQuasiTriangular, MatrixBase::sqrt()
-  */
-template <typename MatrixType, int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
-struct matrix_sqrt_compute
-{
-  /** \brief Compute the matrix square root
-    *
-    * \param[in]  arg     matrix whose square root is to be computed.
-    * \param[out] result  square root of \p arg.
-    *
-    * See MatrixBase::sqrt() for details on how this computation is implemented.
-    */
-  template <typename ResultType> static void run(const MatrixType &arg, ResultType &result);    
-};
-
-
-// ********** Partial specialization for real matrices **********
-
-template <typename MatrixType>
-struct matrix_sqrt_compute<MatrixType, 0>
-{
-  template <typename ResultType>
-  static void run(const MatrixType &arg, ResultType &result)
-  {
-    eigen_assert(arg.rows() == arg.cols());
-
-    // Compute Schur decomposition of arg
-    const RealSchur<MatrixType> schurOfA(arg);  
-    const MatrixType& T = schurOfA.matrixT();
-    const MatrixType& U = schurOfA.matrixU();
-    
-    // Compute square root of T
-    MatrixType sqrtT = MatrixType::Zero(arg.rows(), arg.cols());
-    matrix_sqrt_quasi_triangular(T, sqrtT);
-    
-    // Compute square root of arg
-    result = U * sqrtT * U.adjoint();
-  }
-};
-
-
-// ********** Partial specialization for complex matrices **********
-
-template <typename MatrixType>
-struct matrix_sqrt_compute<MatrixType, 1>
-{
-  template <typename ResultType>
-  static void run(const MatrixType &arg, ResultType &result)
-  {
-    eigen_assert(arg.rows() == arg.cols());
-
-    // Compute Schur decomposition of arg
-    const ComplexSchur<MatrixType> schurOfA(arg);  
-    const MatrixType& T = schurOfA.matrixT();
-    const MatrixType& U = schurOfA.matrixU();
-    
-    // Compute square root of T
-    MatrixType sqrtT;
-    matrix_sqrt_triangular(T, sqrtT);
-    
-    // Compute square root of arg
-    result = U * (sqrtT.template triangularView<Upper>() * U.adjoint());
-  }
-};
-
-} // end namespace internal
-
-/** \ingroup MatrixFunctions_Module
-  *
-  * \brief Proxy for the matrix square root of some matrix (expression).
-  *
-  * \tparam Derived  Type of the argument to the matrix square root.
-  *
-  * This class holds the argument to the matrix square root until it
-  * is assigned or evaluated for some other reason (so the argument
-  * should not be changed in the meantime). It is the return type of
-  * MatrixBase::sqrt() and most of the time this is the only way it is
-  * used.
-  */
-template<typename Derived> class MatrixSquareRootReturnValue
-: public ReturnByValue<MatrixSquareRootReturnValue<Derived> >
-{
-  protected:
-    typedef typename Derived::Index Index;
-    typedef typename internal::ref_selector<Derived>::type DerivedNested;
-
-  public:
-    /** \brief Constructor.
-      *
-      * \param[in]  src  %Matrix (expression) forming the argument of the
-      * matrix square root.
-      */
-    explicit MatrixSquareRootReturnValue(const Derived& src) : m_src(src) { }
-
-    /** \brief Compute the matrix square root.
-      *
-      * \param[out]  result  the matrix square root of \p src in the
-      * constructor.
-      */
-    template <typename ResultType>
-    inline void evalTo(ResultType& result) const
-    {
-      typedef typename internal::nested_eval<Derived, 10>::type DerivedEvalType;
-      typedef typename internal::remove_all<DerivedEvalType>::type DerivedEvalTypeClean;
-      DerivedEvalType tmp(m_src);
-      internal::matrix_sqrt_compute<DerivedEvalTypeClean>::run(tmp, result);
-    }
-
-    Index rows() const { return m_src.rows(); }
-    Index cols() const { return m_src.cols(); }
-
-  protected:
-    const DerivedNested m_src;
-};
-
-namespace internal {
-template<typename Derived>
-struct traits<MatrixSquareRootReturnValue<Derived> >
-{
-  typedef typename Derived::PlainObject ReturnType;
-};
-}
-
-template <typename Derived>
-const MatrixSquareRootReturnValue<Derived> MatrixBase<Derived>::sqrt() const
-{
-  eigen_assert(rows() == cols());
-  return MatrixSquareRootReturnValue<Derived>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_FUNCTION
diff --git a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h b/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
deleted file mode 100644
index 7604df9031ff02..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
+++ /dev/null
@@ -1,117 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STEM_FUNCTION
-#define EIGEN_STEM_FUNCTION
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \brief The exponential function (and its derivatives). */
-template <typename Scalar>
-Scalar stem_function_exp(Scalar x, int)
-{
-  using std::exp;
-  return exp(x);
-}
-
-/** \brief Cosine (and its derivatives). */
-template <typename Scalar>
-Scalar stem_function_cos(Scalar x, int n)
-{
-  using std::cos;
-  using std::sin;
-  Scalar res;
-
-  switch (n % 4) {
-  case 0: 
-    res = std::cos(x);
-    break;
-  case 1:
-    res = -std::sin(x);
-    break;
-  case 2:
-    res = -std::cos(x);
-    break;
-  case 3:
-    res = std::sin(x);
-    break;
-  }
-  return res;
-}
-
-/** \brief Sine (and its derivatives). */
-template <typename Scalar>
-Scalar stem_function_sin(Scalar x, int n)
-{
-  using std::cos;
-  using std::sin;
-  Scalar res;
-
-  switch (n % 4) {
-  case 0:
-    res = std::sin(x);
-    break;
-  case 1:
-    res = std::cos(x);
-    break;
-  case 2:
-    res = -std::sin(x);
-    break;
-  case 3:
-    res = -std::cos(x);
-    break;
-  }
-  return res;
-}
-
-/** \brief Hyperbolic cosine (and its derivatives). */
-template <typename Scalar>
-Scalar stem_function_cosh(Scalar x, int n)
-{
-  using std::cosh;
-  using std::sinh;
-  Scalar res;
-  
-  switch (n % 2) {
-  case 0:
-    res = std::cosh(x);
-    break;
-  case 1:
-    res = std::sinh(x);
-    break;
-  }
-  return res;
-}
-	
-/** \brief Hyperbolic sine (and its derivatives). */
-template <typename Scalar>
-Scalar stem_function_sinh(Scalar x, int n)
-{
-  using std::cosh;
-  using std::sinh;
-  Scalar res;
-  
-  switch (n % 2) {
-  case 0:
-    res = std::sinh(x);
-    break;
-  case 1:
-    res = std::cosh(x);
-    break;
-  }
-  return res;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_STEM_FUNCTION
diff --git a/phonelibs/eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h b/phonelibs/eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h
deleted file mode 100644
index 63cb28dea42c77..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h
+++ /dev/null
@@ -1,95 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H
-#define EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal \returns the arcsin of \a a (coeff-wise) */
-template<typename Packet> inline static Packet pasin(Packet a) { return std::asin(a); }
-
-#ifdef EIGEN_VECTORIZE_SSE
-
-template<> EIGEN_DONT_INLINE Packet4f pasin(Packet4f x)
-{
-  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5);
-  _EIGEN_DECLARE_CONST_Packet4f(minus_half, -0.5);
-  _EIGEN_DECLARE_CONST_Packet4f(3half, 1.5);
-
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(sign_mask, 0x80000000);
-
-  _EIGEN_DECLARE_CONST_Packet4f(pi, 3.141592654);
-  _EIGEN_DECLARE_CONST_Packet4f(pi_over_2, 3.141592654*0.5);
-
-  _EIGEN_DECLARE_CONST_Packet4f(asin1, 4.2163199048E-2);
-  _EIGEN_DECLARE_CONST_Packet4f(asin2, 2.4181311049E-2);
-  _EIGEN_DECLARE_CONST_Packet4f(asin3, 4.5470025998E-2);
-  _EIGEN_DECLARE_CONST_Packet4f(asin4, 7.4953002686E-2);
-  _EIGEN_DECLARE_CONST_Packet4f(asin5, 1.6666752422E-1);
-
-  Packet4f a = pabs(x);//got the absolute value
-
-  Packet4f sign_bit= _mm_and_ps(x, p4f_sign_mask);//extracted the sign bit
-
-  Packet4f z1,z2;//will need them during computation    
-
-
-//will compute the two branches for asin
-//so first compare with half
-
-  Packet4f branch_mask= _mm_cmpgt_ps(a, p4f_half);//this is to select which branch to take
-//both will be taken, and finally results will be merged
-//the branch for values >0.5
-
-    {
-//the core series expansion 
-    z1=pmadd(p4f_minus_half,a,p4f_half);
-    Packet4f x1=psqrt(z1);
-    Packet4f s1=pmadd(p4f_asin1, z1, p4f_asin2);
-    Packet4f s2=pmadd(s1, z1, p4f_asin3);
-    Packet4f s3=pmadd(s2,z1, p4f_asin4);
-    Packet4f s4=pmadd(s3,z1, p4f_asin5);
-    Packet4f temp=pmul(s4,z1);//not really a madd but a mul by z so that the next term can be a madd
-    z1=pmadd(temp,x1,x1);
-    z1=padd(z1,z1);
-    z1=psub(p4f_pi_over_2,z1);
-    }
-
-    {
-//the core series expansion 
-    Packet4f x2=a;
-    z2=pmul(x2,x2);
-    Packet4f s1=pmadd(p4f_asin1, z2, p4f_asin2);
-    Packet4f s2=pmadd(s1, z2, p4f_asin3);
-    Packet4f s3=pmadd(s2,z2, p4f_asin4);
-    Packet4f s4=pmadd(s3,z2, p4f_asin5);
-    Packet4f temp=pmul(s4,z2);//not really a madd but a mul by z so that the next term can be a madd
-    z2=pmadd(temp,x2,x2);
-    }
-
-/* select the correct result from the two branch evaluations */
-  z1  = _mm_and_ps(branch_mask, z1);
-  z2  = _mm_andnot_ps(branch_mask, z2);
-  Packet4f z  = _mm_or_ps(z1,z2);
-
-/* update the sign */
-  return _mm_xor_ps(z, sign_bit);
-}
-
-#endif // EIGEN_VECTORIZE_SSE
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
deleted file mode 100644
index 8fe3ed86b28aa9..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
+++ /dev/null
@@ -1,601 +0,0 @@
-// -*- coding: utf-8
-// vim: set fileencoding=utf-8
-
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HYBRIDNONLINEARSOLVER_H
-#define EIGEN_HYBRIDNONLINEARSOLVER_H
-
-namespace Eigen { 
-
-namespace HybridNonLinearSolverSpace { 
-    enum Status {
-        Running = -1,
-        ImproperInputParameters = 0,
-        RelativeErrorTooSmall = 1,
-        TooManyFunctionEvaluation = 2,
-        TolTooSmall = 3,
-        NotMakingProgressJacobian = 4,
-        NotMakingProgressIterations = 5,
-        UserAsked = 6
-    };
-}
-
-/**
-  * \ingroup NonLinearOptimization_Module
-  * \brief Finds a zero of a system of n
-  * nonlinear functions in n variables by a modification of the Powell
-  * hybrid method ("dogleg").
-  *
-  * The user must provide a subroutine which calculates the
-  * functions. The Jacobian is either provided by the user, or approximated
-  * using a forward-difference method.
-  *
-  */
-template<typename FunctorType, typename Scalar=double>
-class HybridNonLinearSolver
-{
-public:
-    typedef DenseIndex Index;
-
-    HybridNonLinearSolver(FunctorType &_functor)
-        : functor(_functor) { nfev=njev=iter = 0;  fnorm= 0.; useExternalScaling=false;}
-
-    struct Parameters {
-        Parameters()
-            : factor(Scalar(100.))
-            , maxfev(1000)
-            , xtol(std::sqrt(NumTraits<Scalar>::epsilon()))
-            , nb_of_subdiagonals(-1)
-            , nb_of_superdiagonals(-1)
-            , epsfcn(Scalar(0.)) {}
-        Scalar factor;
-        Index maxfev;   // maximum number of function evaluation
-        Scalar xtol;
-        Index nb_of_subdiagonals;
-        Index nb_of_superdiagonals;
-        Scalar epsfcn;
-    };
-    typedef Matrix< Scalar, Dynamic, 1 > FVectorType;
-    typedef Matrix< Scalar, Dynamic, Dynamic > JacobianType;
-    /* TODO: if eigen provides a triangular storage, use it here */
-    typedef Matrix< Scalar, Dynamic, Dynamic > UpperTriangularType;
-
-    HybridNonLinearSolverSpace::Status hybrj1(
-            FVectorType  &x,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-
-    HybridNonLinearSolverSpace::Status solveInit(FVectorType  &x);
-    HybridNonLinearSolverSpace::Status solveOneStep(FVectorType  &x);
-    HybridNonLinearSolverSpace::Status solve(FVectorType  &x);
-
-    HybridNonLinearSolverSpace::Status hybrd1(
-            FVectorType  &x,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-
-    HybridNonLinearSolverSpace::Status solveNumericalDiffInit(FVectorType  &x);
-    HybridNonLinearSolverSpace::Status solveNumericalDiffOneStep(FVectorType  &x);
-    HybridNonLinearSolverSpace::Status solveNumericalDiff(FVectorType  &x);
-
-    void resetParameters(void) { parameters = Parameters(); }
-    Parameters parameters;
-    FVectorType  fvec, qtf, diag;
-    JacobianType fjac;
-    UpperTriangularType R;
-    Index nfev;
-    Index njev;
-    Index iter;
-    Scalar fnorm;
-    bool useExternalScaling; 
-private:
-    FunctorType &functor;
-    Index n;
-    Scalar sum;
-    bool sing;
-    Scalar temp;
-    Scalar delta;
-    bool jeval;
-    Index ncsuc;
-    Scalar ratio;
-    Scalar pnorm, xnorm, fnorm1;
-    Index nslow1, nslow2;
-    Index ncfail;
-    Scalar actred, prered;
-    FVectorType wa1, wa2, wa3, wa4;
-
-    HybridNonLinearSolver& operator=(const HybridNonLinearSolver&);
-};
-
-
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::hybrj1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || tol < 0.)
-        return HybridNonLinearSolverSpace::ImproperInputParameters;
-
-    resetParameters();
-    parameters.maxfev = 100*(n+1);
-    parameters.xtol = tol;
-    diag.setConstant(n, 1.);
-    useExternalScaling = true;
-    return solve(x);
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveInit(FVectorType  &x)
-{
-    n = x.size();
-
-    wa1.resize(n); wa2.resize(n); wa3.resize(n); wa4.resize(n);
-    fvec.resize(n);
-    qtf.resize(n);
-    fjac.resize(n, n);
-    if (!useExternalScaling)
-        diag.resize(n);
-    eigen_assert( (!useExternalScaling || diag.size()==n) && "When useExternalScaling is set, the caller must provide a valid 'diag'");
-
-    /* Function Body */
-    nfev = 0;
-    njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || parameters.xtol < 0. || parameters.maxfev <= 0 || parameters.factor <= 0. )
-        return HybridNonLinearSolverSpace::ImproperInputParameters;
-    if (useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (diag[j] <= 0.)
-                return HybridNonLinearSolverSpace::ImproperInputParameters;
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    nfev = 1;
-    if ( functor(x, fvec) < 0)
-        return HybridNonLinearSolverSpace::UserAsked;
-    fnorm = fvec.stableNorm();
-
-    /*     initialize iteration counter and monitors. */
-    iter = 1;
-    ncsuc = 0;
-    ncfail = 0;
-    nslow1 = 0;
-    nslow2 = 0;
-
-    return HybridNonLinearSolverSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveOneStep(FVectorType  &x)
-{
-    using std::abs;
-    
-    eigen_assert(x.size()==n); // check the caller is not cheating us
-
-    Index j;
-    std::vector<JacobiRotation<Scalar> > v_givens(n), w_givens(n);
-
-    jeval = true;
-
-    /* calculate the jacobian matrix. */
-    if ( functor.df(x, fjac) < 0)
-        return HybridNonLinearSolverSpace::UserAsked;
-    ++njev;
-
-    wa2 = fjac.colwise().blueNorm();
-
-    /* on the first iteration and if external scaling is not used, scale according */
-    /* to the norms of the columns of the initial jacobian. */
-    if (iter == 1) {
-        if (!useExternalScaling)
-            for (j = 0; j < n; ++j)
-                diag[j] = (wa2[j]==0.) ? 1. : wa2[j];
-
-        /* on the first iteration, calculate the norm of the scaled x */
-        /* and initialize the step bound delta. */
-        xnorm = diag.cwiseProduct(x).stableNorm();
-        delta = parameters.factor * xnorm;
-        if (delta == 0.)
-            delta = parameters.factor;
-    }
-
-    /* compute the qr factorization of the jacobian. */
-    HouseholderQR<JacobianType> qrfac(fjac); // no pivoting:
-
-    /* copy the triangular factor of the qr factorization into r. */
-    R = qrfac.matrixQR();
-
-    /* accumulate the orthogonal factor in fjac. */
-    fjac = qrfac.householderQ();
-
-    /* form (q transpose)*fvec and store in qtf. */
-    qtf = fjac.transpose() * fvec;
-
-    /* rescale if necessary. */
-    if (!useExternalScaling)
-        diag = diag.cwiseMax(wa2);
-
-    while (true) {
-        /* determine the direction p. */
-        internal::dogleg<Scalar>(R, diag, qtf, delta, wa1);
-
-        /* store the direction p and x + p. calculate the norm of p. */
-        wa1 = -wa1;
-        wa2 = x + wa1;
-        pnorm = diag.cwiseProduct(wa1).stableNorm();
-
-        /* on the first iteration, adjust the initial step bound. */
-        if (iter == 1)
-            delta = (std::min)(delta,pnorm);
-
-        /* evaluate the function at x + p and calculate its norm. */
-        if ( functor(wa2, wa4) < 0)
-            return HybridNonLinearSolverSpace::UserAsked;
-        ++nfev;
-        fnorm1 = wa4.stableNorm();
-
-        /* compute the scaled actual reduction. */
-        actred = -1.;
-        if (fnorm1 < fnorm) /* Computing 2nd power */
-            actred = 1. - numext::abs2(fnorm1 / fnorm);
-
-        /* compute the scaled predicted reduction. */
-        wa3 = R.template triangularView<Upper>()*wa1 + qtf;
-        temp = wa3.stableNorm();
-        prered = 0.;
-        if (temp < fnorm) /* Computing 2nd power */
-            prered = 1. - numext::abs2(temp / fnorm);
-
-        /* compute the ratio of the actual to the predicted reduction. */
-        ratio = 0.;
-        if (prered > 0.)
-            ratio = actred / prered;
-
-        /* update the step bound. */
-        if (ratio < Scalar(.1)) {
-            ncsuc = 0;
-            ++ncfail;
-            delta = Scalar(.5) * delta;
-        } else {
-            ncfail = 0;
-            ++ncsuc;
-            if (ratio >= Scalar(.5) || ncsuc > 1)
-                delta = (std::max)(delta, pnorm / Scalar(.5));
-            if (abs(ratio - 1.) <= Scalar(.1)) {
-                delta = pnorm / Scalar(.5);
-            }
-        }
-
-        /* test for successful iteration. */
-        if (ratio >= Scalar(1e-4)) {
-            /* successful iteration. update x, fvec, and their norms. */
-            x = wa2;
-            wa2 = diag.cwiseProduct(x);
-            fvec = wa4;
-            xnorm = wa2.stableNorm();
-            fnorm = fnorm1;
-            ++iter;
-        }
-
-        /* determine the progress of the iteration. */
-        ++nslow1;
-        if (actred >= Scalar(.001))
-            nslow1 = 0;
-        if (jeval)
-            ++nslow2;
-        if (actred >= Scalar(.1))
-            nslow2 = 0;
-
-        /* test for convergence. */
-        if (delta <= parameters.xtol * xnorm || fnorm == 0.)
-            return HybridNonLinearSolverSpace::RelativeErrorTooSmall;
-
-        /* tests for termination and stringent tolerances. */
-        if (nfev >= parameters.maxfev)
-            return HybridNonLinearSolverSpace::TooManyFunctionEvaluation;
-        if (Scalar(.1) * (std::max)(Scalar(.1) * delta, pnorm) <= NumTraits<Scalar>::epsilon() * xnorm)
-            return HybridNonLinearSolverSpace::TolTooSmall;
-        if (nslow2 == 5)
-            return HybridNonLinearSolverSpace::NotMakingProgressJacobian;
-        if (nslow1 == 10)
-            return HybridNonLinearSolverSpace::NotMakingProgressIterations;
-
-        /* criterion for recalculating jacobian. */
-        if (ncfail == 2)
-            break; // leave inner loop and go for the next outer loop iteration
-
-        /* calculate the rank one modification to the jacobian */
-        /* and update qtf if necessary. */
-        wa1 = diag.cwiseProduct( diag.cwiseProduct(wa1)/pnorm );
-        wa2 = fjac.transpose() * wa4;
-        if (ratio >= Scalar(1e-4))
-            qtf = wa2;
-        wa2 = (wa2-wa3)/pnorm;
-
-        /* compute the qr factorization of the updated jacobian. */
-        internal::r1updt<Scalar>(R, wa1, v_givens, w_givens, wa2, wa3, &sing);
-        internal::r1mpyq<Scalar>(n, n, fjac.data(), v_givens, w_givens);
-        internal::r1mpyq<Scalar>(1, n, qtf.data(), v_givens, w_givens);
-
-        jeval = false;
-    }
-    return HybridNonLinearSolverSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solve(FVectorType  &x)
-{
-    HybridNonLinearSolverSpace::Status status = solveInit(x);
-    if (status==HybridNonLinearSolverSpace::ImproperInputParameters)
-        return status;
-    while (status==HybridNonLinearSolverSpace::Running)
-        status = solveOneStep(x);
-    return status;
-}
-
-
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::hybrd1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || tol < 0.)
-        return HybridNonLinearSolverSpace::ImproperInputParameters;
-
-    resetParameters();
-    parameters.maxfev = 200*(n+1);
-    parameters.xtol = tol;
-
-    diag.setConstant(n, 1.);
-    useExternalScaling = true;
-    return solveNumericalDiff(x);
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiffInit(FVectorType  &x)
-{
-    n = x.size();
-
-    if (parameters.nb_of_subdiagonals<0) parameters.nb_of_subdiagonals= n-1;
-    if (parameters.nb_of_superdiagonals<0) parameters.nb_of_superdiagonals= n-1;
-
-    wa1.resize(n); wa2.resize(n); wa3.resize(n); wa4.resize(n);
-    qtf.resize(n);
-    fjac.resize(n, n);
-    fvec.resize(n);
-    if (!useExternalScaling)
-        diag.resize(n);
-    eigen_assert( (!useExternalScaling || diag.size()==n) && "When useExternalScaling is set, the caller must provide a valid 'diag'");
-
-    /* Function Body */
-    nfev = 0;
-    njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || parameters.xtol < 0. || parameters.maxfev <= 0 || parameters.nb_of_subdiagonals< 0 || parameters.nb_of_superdiagonals< 0 || parameters.factor <= 0. )
-        return HybridNonLinearSolverSpace::ImproperInputParameters;
-    if (useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (diag[j] <= 0.)
-                return HybridNonLinearSolverSpace::ImproperInputParameters;
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    nfev = 1;
-    if ( functor(x, fvec) < 0)
-        return HybridNonLinearSolverSpace::UserAsked;
-    fnorm = fvec.stableNorm();
-
-    /*     initialize iteration counter and monitors. */
-    iter = 1;
-    ncsuc = 0;
-    ncfail = 0;
-    nslow1 = 0;
-    nslow2 = 0;
-
-    return HybridNonLinearSolverSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiffOneStep(FVectorType  &x)
-{
-    using std::sqrt;
-    using std::abs;
-    
-    assert(x.size()==n); // check the caller is not cheating us
-
-    Index j;
-    std::vector<JacobiRotation<Scalar> > v_givens(n), w_givens(n);
-
-    jeval = true;
-    if (parameters.nb_of_subdiagonals<0) parameters.nb_of_subdiagonals= n-1;
-    if (parameters.nb_of_superdiagonals<0) parameters.nb_of_superdiagonals= n-1;
-
-    /* calculate the jacobian matrix. */
-    if (internal::fdjac1(functor, x, fvec, fjac, parameters.nb_of_subdiagonals, parameters.nb_of_superdiagonals, parameters.epsfcn) <0)
-        return HybridNonLinearSolverSpace::UserAsked;
-    nfev += (std::min)(parameters.nb_of_subdiagonals+parameters.nb_of_superdiagonals+ 1, n);
-
-    wa2 = fjac.colwise().blueNorm();
-
-    /* on the first iteration and if external scaling is not used, scale according */
-    /* to the norms of the columns of the initial jacobian. */
-    if (iter == 1) {
-        if (!useExternalScaling)
-            for (j = 0; j < n; ++j)
-                diag[j] = (wa2[j]==0.) ? 1. : wa2[j];
-
-        /* on the first iteration, calculate the norm of the scaled x */
-        /* and initialize the step bound delta. */
-        xnorm = diag.cwiseProduct(x).stableNorm();
-        delta = parameters.factor * xnorm;
-        if (delta == 0.)
-            delta = parameters.factor;
-    }
-
-    /* compute the qr factorization of the jacobian. */
-    HouseholderQR<JacobianType> qrfac(fjac); // no pivoting:
-
-    /* copy the triangular factor of the qr factorization into r. */
-    R = qrfac.matrixQR();
-
-    /* accumulate the orthogonal factor in fjac. */
-    fjac = qrfac.householderQ();
-
-    /* form (q transpose)*fvec and store in qtf. */
-    qtf = fjac.transpose() * fvec;
-
-    /* rescale if necessary. */
-    if (!useExternalScaling)
-        diag = diag.cwiseMax(wa2);
-
-    while (true) {
-        /* determine the direction p. */
-        internal::dogleg<Scalar>(R, diag, qtf, delta, wa1);
-
-        /* store the direction p and x + p. calculate the norm of p. */
-        wa1 = -wa1;
-        wa2 = x + wa1;
-        pnorm = diag.cwiseProduct(wa1).stableNorm();
-
-        /* on the first iteration, adjust the initial step bound. */
-        if (iter == 1)
-            delta = (std::min)(delta,pnorm);
-
-        /* evaluate the function at x + p and calculate its norm. */
-        if ( functor(wa2, wa4) < 0)
-            return HybridNonLinearSolverSpace::UserAsked;
-        ++nfev;
-        fnorm1 = wa4.stableNorm();
-
-        /* compute the scaled actual reduction. */
-        actred = -1.;
-        if (fnorm1 < fnorm) /* Computing 2nd power */
-            actred = 1. - numext::abs2(fnorm1 / fnorm);
-
-        /* compute the scaled predicted reduction. */
-        wa3 = R.template triangularView<Upper>()*wa1 + qtf;
-        temp = wa3.stableNorm();
-        prered = 0.;
-        if (temp < fnorm) /* Computing 2nd power */
-            prered = 1. - numext::abs2(temp / fnorm);
-
-        /* compute the ratio of the actual to the predicted reduction. */
-        ratio = 0.;
-        if (prered > 0.)
-            ratio = actred / prered;
-
-        /* update the step bound. */
-        if (ratio < Scalar(.1)) {
-            ncsuc = 0;
-            ++ncfail;
-            delta = Scalar(.5) * delta;
-        } else {
-            ncfail = 0;
-            ++ncsuc;
-            if (ratio >= Scalar(.5) || ncsuc > 1)
-                delta = (std::max)(delta, pnorm / Scalar(.5));
-            if (abs(ratio - 1.) <= Scalar(.1)) {
-                delta = pnorm / Scalar(.5);
-            }
-        }
-
-        /* test for successful iteration. */
-        if (ratio >= Scalar(1e-4)) {
-            /* successful iteration. update x, fvec, and their norms. */
-            x = wa2;
-            wa2 = diag.cwiseProduct(x);
-            fvec = wa4;
-            xnorm = wa2.stableNorm();
-            fnorm = fnorm1;
-            ++iter;
-        }
-
-        /* determine the progress of the iteration. */
-        ++nslow1;
-        if (actred >= Scalar(.001))
-            nslow1 = 0;
-        if (jeval)
-            ++nslow2;
-        if (actred >= Scalar(.1))
-            nslow2 = 0;
-
-        /* test for convergence. */
-        if (delta <= parameters.xtol * xnorm || fnorm == 0.)
-            return HybridNonLinearSolverSpace::RelativeErrorTooSmall;
-
-        /* tests for termination and stringent tolerances. */
-        if (nfev >= parameters.maxfev)
-            return HybridNonLinearSolverSpace::TooManyFunctionEvaluation;
-        if (Scalar(.1) * (std::max)(Scalar(.1) * delta, pnorm) <= NumTraits<Scalar>::epsilon() * xnorm)
-            return HybridNonLinearSolverSpace::TolTooSmall;
-        if (nslow2 == 5)
-            return HybridNonLinearSolverSpace::NotMakingProgressJacobian;
-        if (nslow1 == 10)
-            return HybridNonLinearSolverSpace::NotMakingProgressIterations;
-
-        /* criterion for recalculating jacobian. */
-        if (ncfail == 2)
-            break; // leave inner loop and go for the next outer loop iteration
-
-        /* calculate the rank one modification to the jacobian */
-        /* and update qtf if necessary. */
-        wa1 = diag.cwiseProduct( diag.cwiseProduct(wa1)/pnorm );
-        wa2 = fjac.transpose() * wa4;
-        if (ratio >= Scalar(1e-4))
-            qtf = wa2;
-        wa2 = (wa2-wa3)/pnorm;
-
-        /* compute the qr factorization of the updated jacobian. */
-        internal::r1updt<Scalar>(R, wa1, v_givens, w_givens, wa2, wa3, &sing);
-        internal::r1mpyq<Scalar>(n, n, fjac.data(), v_givens, w_givens);
-        internal::r1mpyq<Scalar>(1, n, qtf.data(), v_givens, w_givens);
-
-        jeval = false;
-    }
-    return HybridNonLinearSolverSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiff(FVectorType  &x)
-{
-    HybridNonLinearSolverSpace::Status status = solveNumericalDiffInit(x);
-    if (status==HybridNonLinearSolverSpace::ImproperInputParameters)
-        return status;
-    while (status==HybridNonLinearSolverSpace::Running)
-        status = solveNumericalDiffOneStep(x);
-    return status;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_HYBRIDNONLINEARSOLVER_H
-
-//vim: ai ts=4 sts=4 et sw=4
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h
deleted file mode 100644
index fe3b79ca7e7a53..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h
+++ /dev/null
@@ -1,657 +0,0 @@
-// -*- coding: utf-8
-// vim: set fileencoding=utf-8
-
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LEVENBERGMARQUARDT__H
-#define EIGEN_LEVENBERGMARQUARDT__H
-
-namespace Eigen { 
-
-namespace LevenbergMarquardtSpace {
-    enum Status {
-        NotStarted = -2,
-        Running = -1,
-        ImproperInputParameters = 0,
-        RelativeReductionTooSmall = 1,
-        RelativeErrorTooSmall = 2,
-        RelativeErrorAndReductionTooSmall = 3,
-        CosinusTooSmall = 4,
-        TooManyFunctionEvaluation = 5,
-        FtolTooSmall = 6,
-        XtolTooSmall = 7,
-        GtolTooSmall = 8,
-        UserAsked = 9
-    };
-}
-
-
-
-/**
-  * \ingroup NonLinearOptimization_Module
-  * \brief Performs non linear optimization over a non-linear function,
-  * using a variant of the Levenberg Marquardt algorithm.
-  *
-  * Check wikipedia for more information.
-  * http://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm
-  */
-template<typename FunctorType, typename Scalar=double>
-class LevenbergMarquardt
-{
-    static Scalar sqrt_epsilon()
-    {
-      using std::sqrt;
-      return sqrt(NumTraits<Scalar>::epsilon());
-    }
-    
-public:
-    LevenbergMarquardt(FunctorType &_functor)
-        : functor(_functor) { nfev = njev = iter = 0;  fnorm = gnorm = 0.; useExternalScaling=false; }
-
-    typedef DenseIndex Index;
-    
-    struct Parameters {
-        Parameters()
-            : factor(Scalar(100.))
-            , maxfev(400)
-            , ftol(sqrt_epsilon())
-            , xtol(sqrt_epsilon())
-            , gtol(Scalar(0.))
-            , epsfcn(Scalar(0.)) {}
-        Scalar factor;
-        Index maxfev;   // maximum number of function evaluation
-        Scalar ftol;
-        Scalar xtol;
-        Scalar gtol;
-        Scalar epsfcn;
-    };
-
-    typedef Matrix< Scalar, Dynamic, 1 > FVectorType;
-    typedef Matrix< Scalar, Dynamic, Dynamic > JacobianType;
-
-    LevenbergMarquardtSpace::Status lmder1(
-            FVectorType &x,
-            const Scalar tol = sqrt_epsilon()
-            );
-
-    LevenbergMarquardtSpace::Status minimize(FVectorType &x);
-    LevenbergMarquardtSpace::Status minimizeInit(FVectorType &x);
-    LevenbergMarquardtSpace::Status minimizeOneStep(FVectorType &x);
-
-    static LevenbergMarquardtSpace::Status lmdif1(
-            FunctorType &functor,
-            FVectorType &x,
-            Index *nfev,
-            const Scalar tol = sqrt_epsilon()
-            );
-
-    LevenbergMarquardtSpace::Status lmstr1(
-            FVectorType  &x,
-            const Scalar tol = sqrt_epsilon()
-            );
-
-    LevenbergMarquardtSpace::Status minimizeOptimumStorage(FVectorType  &x);
-    LevenbergMarquardtSpace::Status minimizeOptimumStorageInit(FVectorType  &x);
-    LevenbergMarquardtSpace::Status minimizeOptimumStorageOneStep(FVectorType  &x);
-
-    void resetParameters(void) { parameters = Parameters(); }
-
-    Parameters parameters;
-    FVectorType  fvec, qtf, diag;
-    JacobianType fjac;
-    PermutationMatrix<Dynamic,Dynamic> permutation;
-    Index nfev;
-    Index njev;
-    Index iter;
-    Scalar fnorm, gnorm;
-    bool useExternalScaling; 
-
-    Scalar lm_param(void) { return par; }
-private:
-    
-    FunctorType &functor;
-    Index n;
-    Index m;
-    FVectorType wa1, wa2, wa3, wa4;
-
-    Scalar par, sum;
-    Scalar temp, temp1, temp2;
-    Scalar delta;
-    Scalar ratio;
-    Scalar pnorm, xnorm, fnorm1, actred, dirder, prered;
-
-    LevenbergMarquardt& operator=(const LevenbergMarquardt&);
-};
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::lmder1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-    m = functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    resetParameters();
-    parameters.ftol = tol;
-    parameters.xtol = tol;
-    parameters.maxfev = 100*(n+1);
-
-    return minimize(x);
-}
-
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimize(FVectorType  &x)
-{
-    LevenbergMarquardtSpace::Status status = minimizeInit(x);
-    if (status==LevenbergMarquardtSpace::ImproperInputParameters)
-        return status;
-    do {
-        status = minimizeOneStep(x);
-    } while (status==LevenbergMarquardtSpace::Running);
-    return status;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeInit(FVectorType  &x)
-{
-    n = x.size();
-    m = functor.values();
-
-    wa1.resize(n); wa2.resize(n); wa3.resize(n);
-    wa4.resize(m);
-    fvec.resize(m);
-    fjac.resize(m, n);
-    if (!useExternalScaling)
-        diag.resize(n);
-    eigen_assert( (!useExternalScaling || diag.size()==n) && "When useExternalScaling is set, the caller must provide a valid 'diag'");
-    qtf.resize(n);
-
-    /* Function Body */
-    nfev = 0;
-    njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || m < n || parameters.ftol < 0. || parameters.xtol < 0. || parameters.gtol < 0. || parameters.maxfev <= 0 || parameters.factor <= 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    if (useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (diag[j] <= 0.)
-                return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    nfev = 1;
-    if ( functor(x, fvec) < 0)
-        return LevenbergMarquardtSpace::UserAsked;
-    fnorm = fvec.stableNorm();
-
-    /*     initialize levenberg-marquardt parameter and iteration counter. */
-    par = 0.;
-    iter = 1;
-
-    return LevenbergMarquardtSpace::NotStarted;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeOneStep(FVectorType  &x)
-{
-    using std::abs;
-    using std::sqrt;
-
-    eigen_assert(x.size()==n); // check the caller is not cheating us
-
-    /* calculate the jacobian matrix. */
-    Index df_ret = functor.df(x, fjac);
-    if (df_ret<0)
-        return LevenbergMarquardtSpace::UserAsked;
-    if (df_ret>0)
-        // numerical diff, we evaluated the function df_ret times
-        nfev += df_ret;
-    else njev++;
-
-    /* compute the qr factorization of the jacobian. */
-    wa2 = fjac.colwise().blueNorm();
-    ColPivHouseholderQR<JacobianType> qrfac(fjac);
-    fjac = qrfac.matrixQR();
-    permutation = qrfac.colsPermutation();
-
-    /* on the first iteration and if external scaling is not used, scale according */
-    /* to the norms of the columns of the initial jacobian. */
-    if (iter == 1) {
-        if (!useExternalScaling)
-            for (Index j = 0; j < n; ++j)
-                diag[j] = (wa2[j]==0.)? 1. : wa2[j];
-
-        /* on the first iteration, calculate the norm of the scaled x */
-        /* and initialize the step bound delta. */
-        xnorm = diag.cwiseProduct(x).stableNorm();
-        delta = parameters.factor * xnorm;
-        if (delta == 0.)
-            delta = parameters.factor;
-    }
-
-    /* form (q transpose)*fvec and store the first n components in */
-    /* qtf. */
-    wa4 = fvec;
-    wa4.applyOnTheLeft(qrfac.householderQ().adjoint());
-    qtf = wa4.head(n);
-
-    /* compute the norm of the scaled gradient. */
-    gnorm = 0.;
-    if (fnorm != 0.)
-        for (Index j = 0; j < n; ++j)
-            if (wa2[permutation.indices()[j]] != 0.)
-                gnorm = (std::max)(gnorm, abs( fjac.col(j).head(j+1).dot(qtf.head(j+1)/fnorm) / wa2[permutation.indices()[j]]));
-
-    /* test for convergence of the gradient norm. */
-    if (gnorm <= parameters.gtol)
-        return LevenbergMarquardtSpace::CosinusTooSmall;
-
-    /* rescale if necessary. */
-    if (!useExternalScaling)
-        diag = diag.cwiseMax(wa2);
-
-    do {
-
-        /* determine the levenberg-marquardt parameter. */
-        internal::lmpar2<Scalar>(qrfac, diag, qtf, delta, par, wa1);
-
-        /* store the direction p and x + p. calculate the norm of p. */
-        wa1 = -wa1;
-        wa2 = x + wa1;
-        pnorm = diag.cwiseProduct(wa1).stableNorm();
-
-        /* on the first iteration, adjust the initial step bound. */
-        if (iter == 1)
-            delta = (std::min)(delta,pnorm);
-
-        /* evaluate the function at x + p and calculate its norm. */
-        if ( functor(wa2, wa4) < 0)
-            return LevenbergMarquardtSpace::UserAsked;
-        ++nfev;
-        fnorm1 = wa4.stableNorm();
-
-        /* compute the scaled actual reduction. */
-        actred = -1.;
-        if (Scalar(.1) * fnorm1 < fnorm)
-            actred = 1. - numext::abs2(fnorm1 / fnorm);
-
-        /* compute the scaled predicted reduction and */
-        /* the scaled directional derivative. */
-        wa3 = fjac.template triangularView<Upper>() * (qrfac.colsPermutation().inverse() *wa1);
-        temp1 = numext::abs2(wa3.stableNorm() / fnorm);
-        temp2 = numext::abs2(sqrt(par) * pnorm / fnorm);
-        prered = temp1 + temp2 / Scalar(.5);
-        dirder = -(temp1 + temp2);
-
-        /* compute the ratio of the actual to the predicted */
-        /* reduction. */
-        ratio = 0.;
-        if (prered != 0.)
-            ratio = actred / prered;
-
-        /* update the step bound. */
-        if (ratio <= Scalar(.25)) {
-            if (actred >= 0.)
-                temp = Scalar(.5);
-            if (actred < 0.)
-                temp = Scalar(.5) * dirder / (dirder + Scalar(.5) * actred);
-            if (Scalar(.1) * fnorm1 >= fnorm || temp < Scalar(.1))
-                temp = Scalar(.1);
-            /* Computing MIN */
-            delta = temp * (std::min)(delta, pnorm / Scalar(.1));
-            par /= temp;
-        } else if (!(par != 0. && ratio < Scalar(.75))) {
-            delta = pnorm / Scalar(.5);
-            par = Scalar(.5) * par;
-        }
-
-        /* test for successful iteration. */
-        if (ratio >= Scalar(1e-4)) {
-            /* successful iteration. update x, fvec, and their norms. */
-            x = wa2;
-            wa2 = diag.cwiseProduct(x);
-            fvec = wa4;
-            xnorm = wa2.stableNorm();
-            fnorm = fnorm1;
-            ++iter;
-        }
-
-        /* tests for convergence. */
-        if (abs(actred) <= parameters.ftol && prered <= parameters.ftol && Scalar(.5) * ratio <= 1. && delta <= parameters.xtol * xnorm)
-            return LevenbergMarquardtSpace::RelativeErrorAndReductionTooSmall;
-        if (abs(actred) <= parameters.ftol && prered <= parameters.ftol && Scalar(.5) * ratio <= 1.)
-            return LevenbergMarquardtSpace::RelativeReductionTooSmall;
-        if (delta <= parameters.xtol * xnorm)
-            return LevenbergMarquardtSpace::RelativeErrorTooSmall;
-
-        /* tests for termination and stringent tolerances. */
-        if (nfev >= parameters.maxfev)
-            return LevenbergMarquardtSpace::TooManyFunctionEvaluation;
-        if (abs(actred) <= NumTraits<Scalar>::epsilon() && prered <= NumTraits<Scalar>::epsilon() && Scalar(.5) * ratio <= 1.)
-            return LevenbergMarquardtSpace::FtolTooSmall;
-        if (delta <= NumTraits<Scalar>::epsilon() * xnorm)
-            return LevenbergMarquardtSpace::XtolTooSmall;
-        if (gnorm <= NumTraits<Scalar>::epsilon())
-            return LevenbergMarquardtSpace::GtolTooSmall;
-
-    } while (ratio < Scalar(1e-4));
-
-    return LevenbergMarquardtSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::lmstr1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-    m = functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    resetParameters();
-    parameters.ftol = tol;
-    parameters.xtol = tol;
-    parameters.maxfev = 100*(n+1);
-
-    return minimizeOptimumStorage(x);
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeOptimumStorageInit(FVectorType  &x)
-{
-    n = x.size();
-    m = functor.values();
-
-    wa1.resize(n); wa2.resize(n); wa3.resize(n);
-    wa4.resize(m);
-    fvec.resize(m);
-    // Only R is stored in fjac. Q is only used to compute 'qtf', which is
-    // Q.transpose()*rhs. qtf will be updated using givens rotation,
-    // instead of storing them in Q.
-    // The purpose it to only use a nxn matrix, instead of mxn here, so
-    // that we can handle cases where m>>n :
-    fjac.resize(n, n);
-    if (!useExternalScaling)
-        diag.resize(n);
-    eigen_assert( (!useExternalScaling || diag.size()==n) && "When useExternalScaling is set, the caller must provide a valid 'diag'");
-    qtf.resize(n);
-
-    /* Function Body */
-    nfev = 0;
-    njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || m < n || parameters.ftol < 0. || parameters.xtol < 0. || parameters.gtol < 0. || parameters.maxfev <= 0 || parameters.factor <= 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    if (useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (diag[j] <= 0.)
-                return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    nfev = 1;
-    if ( functor(x, fvec) < 0)
-        return LevenbergMarquardtSpace::UserAsked;
-    fnorm = fvec.stableNorm();
-
-    /*     initialize levenberg-marquardt parameter and iteration counter. */
-    par = 0.;
-    iter = 1;
-
-    return LevenbergMarquardtSpace::NotStarted;
-}
-
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeOptimumStorageOneStep(FVectorType  &x)
-{
-    using std::abs;
-    using std::sqrt;
-    
-    eigen_assert(x.size()==n); // check the caller is not cheating us
-
-    Index i, j;
-    bool sing;
-
-    /* compute the qr factorization of the jacobian matrix */
-    /* calculated one row at a time, while simultaneously */
-    /* forming (q transpose)*fvec and storing the first */
-    /* n components in qtf. */
-    qtf.fill(0.);
-    fjac.fill(0.);
-    Index rownb = 2;
-    for (i = 0; i < m; ++i) {
-        if (functor.df(x, wa3, rownb) < 0) return LevenbergMarquardtSpace::UserAsked;
-        internal::rwupdt<Scalar>(fjac, wa3, qtf, fvec[i]);
-        ++rownb;
-    }
-    ++njev;
-
-    /* if the jacobian is rank deficient, call qrfac to */
-    /* reorder its columns and update the components of qtf. */
-    sing = false;
-    for (j = 0; j < n; ++j) {
-        if (fjac(j,j) == 0.)
-            sing = true;
-        wa2[j] = fjac.col(j).head(j).stableNorm();
-    }
-    permutation.setIdentity(n);
-    if (sing) {
-        wa2 = fjac.colwise().blueNorm();
-        // TODO We have no unit test covering this code path, do not modify
-        // until it is carefully tested
-        ColPivHouseholderQR<JacobianType> qrfac(fjac);
-        fjac = qrfac.matrixQR();
-        wa1 = fjac.diagonal();
-        fjac.diagonal() = qrfac.hCoeffs();
-        permutation = qrfac.colsPermutation();
-        // TODO : avoid this:
-        for(Index ii=0; ii< fjac.cols(); ii++) fjac.col(ii).segment(ii+1, fjac.rows()-ii-1) *= fjac(ii,ii); // rescale vectors
-
-        for (j = 0; j < n; ++j) {
-            if (fjac(j,j) != 0.) {
-                sum = 0.;
-                for (i = j; i < n; ++i)
-                    sum += fjac(i,j) * qtf[i];
-                temp = -sum / fjac(j,j);
-                for (i = j; i < n; ++i)
-                    qtf[i] += fjac(i,j) * temp;
-            }
-            fjac(j,j) = wa1[j];
-        }
-    }
-
-    /* on the first iteration and if external scaling is not used, scale according */
-    /* to the norms of the columns of the initial jacobian. */
-    if (iter == 1) {
-        if (!useExternalScaling)
-            for (j = 0; j < n; ++j)
-                diag[j] = (wa2[j]==0.)? 1. : wa2[j];
-
-        /* on the first iteration, calculate the norm of the scaled x */
-        /* and initialize the step bound delta. */
-        xnorm = diag.cwiseProduct(x).stableNorm();
-        delta = parameters.factor * xnorm;
-        if (delta == 0.)
-            delta = parameters.factor;
-    }
-
-    /* compute the norm of the scaled gradient. */
-    gnorm = 0.;
-    if (fnorm != 0.)
-        for (j = 0; j < n; ++j)
-            if (wa2[permutation.indices()[j]] != 0.)
-                gnorm = (std::max)(gnorm, abs( fjac.col(j).head(j+1).dot(qtf.head(j+1)/fnorm) / wa2[permutation.indices()[j]]));
-
-    /* test for convergence of the gradient norm. */
-    if (gnorm <= parameters.gtol)
-        return LevenbergMarquardtSpace::CosinusTooSmall;
-
-    /* rescale if necessary. */
-    if (!useExternalScaling)
-        diag = diag.cwiseMax(wa2);
-
-    do {
-
-        /* determine the levenberg-marquardt parameter. */
-        internal::lmpar<Scalar>(fjac, permutation.indices(), diag, qtf, delta, par, wa1);
-
-        /* store the direction p and x + p. calculate the norm of p. */
-        wa1 = -wa1;
-        wa2 = x + wa1;
-        pnorm = diag.cwiseProduct(wa1).stableNorm();
-
-        /* on the first iteration, adjust the initial step bound. */
-        if (iter == 1)
-            delta = (std::min)(delta,pnorm);
-
-        /* evaluate the function at x + p and calculate its norm. */
-        if ( functor(wa2, wa4) < 0)
-            return LevenbergMarquardtSpace::UserAsked;
-        ++nfev;
-        fnorm1 = wa4.stableNorm();
-
-        /* compute the scaled actual reduction. */
-        actred = -1.;
-        if (Scalar(.1) * fnorm1 < fnorm)
-            actred = 1. - numext::abs2(fnorm1 / fnorm);
-
-        /* compute the scaled predicted reduction and */
-        /* the scaled directional derivative. */
-        wa3 = fjac.topLeftCorner(n,n).template triangularView<Upper>() * (permutation.inverse() * wa1);
-        temp1 = numext::abs2(wa3.stableNorm() / fnorm);
-        temp2 = numext::abs2(sqrt(par) * pnorm / fnorm);
-        prered = temp1 + temp2 / Scalar(.5);
-        dirder = -(temp1 + temp2);
-
-        /* compute the ratio of the actual to the predicted */
-        /* reduction. */
-        ratio = 0.;
-        if (prered != 0.)
-            ratio = actred / prered;
-
-        /* update the step bound. */
-        if (ratio <= Scalar(.25)) {
-            if (actred >= 0.)
-                temp = Scalar(.5);
-            if (actred < 0.)
-                temp = Scalar(.5) * dirder / (dirder + Scalar(.5) * actred);
-            if (Scalar(.1) * fnorm1 >= fnorm || temp < Scalar(.1))
-                temp = Scalar(.1);
-            /* Computing MIN */
-            delta = temp * (std::min)(delta, pnorm / Scalar(.1));
-            par /= temp;
-        } else if (!(par != 0. && ratio < Scalar(.75))) {
-            delta = pnorm / Scalar(.5);
-            par = Scalar(.5) * par;
-        }
-
-        /* test for successful iteration. */
-        if (ratio >= Scalar(1e-4)) {
-            /* successful iteration. update x, fvec, and their norms. */
-            x = wa2;
-            wa2 = diag.cwiseProduct(x);
-            fvec = wa4;
-            xnorm = wa2.stableNorm();
-            fnorm = fnorm1;
-            ++iter;
-        }
-
-        /* tests for convergence. */
-        if (abs(actred) <= parameters.ftol && prered <= parameters.ftol && Scalar(.5) * ratio <= 1. && delta <= parameters.xtol * xnorm)
-            return LevenbergMarquardtSpace::RelativeErrorAndReductionTooSmall;
-        if (abs(actred) <= parameters.ftol && prered <= parameters.ftol && Scalar(.5) * ratio <= 1.)
-            return LevenbergMarquardtSpace::RelativeReductionTooSmall;
-        if (delta <= parameters.xtol * xnorm)
-            return LevenbergMarquardtSpace::RelativeErrorTooSmall;
-
-        /* tests for termination and stringent tolerances. */
-        if (nfev >= parameters.maxfev)
-            return LevenbergMarquardtSpace::TooManyFunctionEvaluation;
-        if (abs(actred) <= NumTraits<Scalar>::epsilon() && prered <= NumTraits<Scalar>::epsilon() && Scalar(.5) * ratio <= 1.)
-            return LevenbergMarquardtSpace::FtolTooSmall;
-        if (delta <= NumTraits<Scalar>::epsilon() * xnorm)
-            return LevenbergMarquardtSpace::XtolTooSmall;
-        if (gnorm <= NumTraits<Scalar>::epsilon())
-            return LevenbergMarquardtSpace::GtolTooSmall;
-
-    } while (ratio < Scalar(1e-4));
-
-    return LevenbergMarquardtSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeOptimumStorage(FVectorType  &x)
-{
-    LevenbergMarquardtSpace::Status status = minimizeOptimumStorageInit(x);
-    if (status==LevenbergMarquardtSpace::ImproperInputParameters)
-        return status;
-    do {
-        status = minimizeOptimumStorageOneStep(x);
-    } while (status==LevenbergMarquardtSpace::Running);
-    return status;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::lmdif1(
-        FunctorType &functor,
-        FVectorType  &x,
-        Index *nfev,
-        const Scalar tol
-        )
-{
-    Index n = x.size();
-    Index m = functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    NumericalDiff<FunctorType> numDiff(functor);
-    // embedded LevenbergMarquardt
-    LevenbergMarquardt<NumericalDiff<FunctorType>, Scalar > lm(numDiff);
-    lm.parameters.ftol = tol;
-    lm.parameters.xtol = tol;
-    lm.parameters.maxfev = 200*(n+1);
-
-    LevenbergMarquardtSpace::Status info = LevenbergMarquardtSpace::Status(lm.minimize(x));
-    if (nfev)
-        * nfev = lm.nfev;
-    return info;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LEVENBERGMARQUARDT__H
-
-//vim: ai ts=4 sts=4 et sw=4
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h
deleted file mode 100644
index db8ff7d6e90c23..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#define chkder_log10e 0.43429448190325182765
-#define chkder_factor 100.
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Scalar>
-void chkder(
-        const Matrix< Scalar, Dynamic, 1 >  &x,
-        const Matrix< Scalar, Dynamic, 1 >  &fvec,
-        const Matrix< Scalar, Dynamic, Dynamic > &fjac,
-        Matrix< Scalar, Dynamic, 1 >  &xp,
-        const Matrix< Scalar, Dynamic, 1 >  &fvecp,
-        int mode,
-        Matrix< Scalar, Dynamic, 1 >  &err
-        )
-{
-    using std::sqrt;
-    using std::abs;
-    using std::log;
-    
-    typedef DenseIndex Index;
-
-    const Scalar eps = sqrt(NumTraits<Scalar>::epsilon());
-    const Scalar epsf = chkder_factor * NumTraits<Scalar>::epsilon();
-    const Scalar epslog = chkder_log10e * log(eps);
-    Scalar temp;
-
-    const Index m = fvec.size(), n = x.size();
-
-    if (mode != 2) {
-        /* mode = 1. */
-        xp.resize(n);
-        for (Index j = 0; j < n; ++j) {
-            temp = eps * abs(x[j]);
-            if (temp == 0.)
-                temp = eps;
-            xp[j] = x[j] + temp;
-        }
-    }
-    else {
-        /* mode = 2. */
-        err.setZero(m); 
-        for (Index j = 0; j < n; ++j) {
-            temp = abs(x[j]);
-            if (temp == 0.)
-                temp = 1.;
-            err += temp * fjac.col(j);
-        }
-        for (Index i = 0; i < m; ++i) {
-            temp = 1.;
-            if (fvec[i] != 0. && fvecp[i] != 0. && abs(fvecp[i] - fvec[i]) >= epsf * abs(fvec[i]))
-                temp = eps * abs((fvecp[i] - fvec[i]) / eps - err[i]) / (abs(fvec[i]) + abs(fvecp[i]));
-            err[i] = 1.;
-            if (temp > NumTraits<Scalar>::epsilon() && temp < eps)
-                err[i] = (chkder_log10e * log(temp) - epslog) / epslog;
-            if (temp >= eps)
-                err[i] = 0.;
-        }
-    }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/covar.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/covar.h
deleted file mode 100644
index 68260d1911f2cc..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/covar.h
+++ /dev/null
@@ -1,70 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void covar(
-        Matrix< Scalar, Dynamic, Dynamic > &r,
-        const VectorXi &ipvt,
-        Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon()) )
-{
-    using std::abs;
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index i, j, k, l, ii, jj;
-    bool sing;
-    Scalar temp;
-
-    /* Function Body */
-    const Index n = r.cols();
-    const Scalar tolr = tol * abs(r(0,0));
-    Matrix< Scalar, Dynamic, 1 > wa(n);
-    eigen_assert(ipvt.size()==n);
-
-    /* form the inverse of r in the full upper triangle of r. */
-    l = -1;
-    for (k = 0; k < n; ++k)
-        if (abs(r(k,k)) > tolr) {
-            r(k,k) = 1. / r(k,k);
-            for (j = 0; j <= k-1; ++j) {
-                temp = r(k,k) * r(j,k);
-                r(j,k) = 0.;
-                r.col(k).head(j+1) -= r.col(j).head(j+1) * temp;
-            }
-            l = k;
-        }
-
-    /* form the full upper triangle of the inverse of (r transpose)*r */
-    /* in the full upper triangle of r. */
-    for (k = 0; k <= l; ++k) {
-        for (j = 0; j <= k-1; ++j)
-            r.col(j).head(j+1) += r.col(k).head(j+1) * r(j,k);
-        r.col(k).head(k+1) *= r(k,k);
-    }
-
-    /* form the full lower triangle of the covariance matrix */
-    /* in the strict lower triangle of r and in wa. */
-    for (j = 0; j < n; ++j) {
-        jj = ipvt[j];
-        sing = j > l;
-        for (i = 0; i <= j; ++i) {
-            if (sing)
-                r(i,j) = 0.;
-            ii = ipvt[i];
-            if (ii > jj)
-                r(ii,jj) = r(i,j);
-            if (ii < jj)
-                r(jj,ii) = r(i,j);
-        }
-        wa[jj] = r(j,j);
-    }
-
-    /* symmetrize the covariance matrix in r. */
-    r.topLeftCorner(n,n).template triangularView<StrictlyUpper>() = r.topLeftCorner(n,n).transpose();
-    r.diagonal() = wa;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/dogleg.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/dogleg.h
deleted file mode 100644
index 80c5d277bbfac1..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/dogleg.h
+++ /dev/null
@@ -1,107 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void dogleg(
-        const Matrix< Scalar, Dynamic, Dynamic >  &qrfac,
-        const Matrix< Scalar, Dynamic, 1 >  &diag,
-        const Matrix< Scalar, Dynamic, 1 >  &qtb,
-        Scalar delta,
-        Matrix< Scalar, Dynamic, 1 >  &x)
-{
-    using std::abs;
-    using std::sqrt;
-    
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index i, j;
-    Scalar sum, temp, alpha, bnorm;
-    Scalar gnorm, qnorm;
-    Scalar sgnorm;
-
-    /* Function Body */
-    const Scalar epsmch = NumTraits<Scalar>::epsilon();
-    const Index n = qrfac.cols();
-    eigen_assert(n==qtb.size());
-    eigen_assert(n==x.size());
-    eigen_assert(n==diag.size());
-    Matrix< Scalar, Dynamic, 1 >  wa1(n), wa2(n);
-
-    /* first, calculate the gauss-newton direction. */
-    for (j = n-1; j >=0; --j) {
-        temp = qrfac(j,j);
-        if (temp == 0.) {
-            temp = epsmch * qrfac.col(j).head(j+1).maxCoeff();
-            if (temp == 0.)
-                temp = epsmch;
-        }
-        if (j==n-1)
-            x[j] = qtb[j] / temp;
-        else
-            x[j] = (qtb[j] - qrfac.row(j).tail(n-j-1).dot(x.tail(n-j-1))) / temp;
-    }
-
-    /* test whether the gauss-newton direction is acceptable. */
-    qnorm = diag.cwiseProduct(x).stableNorm();
-    if (qnorm <= delta)
-        return;
-
-    // TODO : this path is not tested by Eigen unit tests
-
-    /* the gauss-newton direction is not acceptable. */
-    /* next, calculate the scaled gradient direction. */
-
-    wa1.fill(0.);
-    for (j = 0; j < n; ++j) {
-        wa1.tail(n-j) += qrfac.row(j).tail(n-j) * qtb[j];
-        wa1[j] /= diag[j];
-    }
-
-    /* calculate the norm of the scaled gradient and test for */
-    /* the special case in which the scaled gradient is zero. */
-    gnorm = wa1.stableNorm();
-    sgnorm = 0.;
-    alpha = delta / qnorm;
-    if (gnorm == 0.)
-        goto algo_end;
-
-    /* calculate the point along the scaled gradient */
-    /* at which the quadratic is minimized. */
-    wa1.array() /= (diag*gnorm).array();
-    // TODO : once unit tests cover this part,:
-    // wa2 = qrfac.template triangularView<Upper>() * wa1;
-    for (j = 0; j < n; ++j) {
-        sum = 0.;
-        for (i = j; i < n; ++i) {
-            sum += qrfac(j,i) * wa1[i];
-        }
-        wa2[j] = sum;
-    }
-    temp = wa2.stableNorm();
-    sgnorm = gnorm / temp / temp;
-
-    /* test whether the scaled gradient direction is acceptable. */
-    alpha = 0.;
-    if (sgnorm >= delta)
-        goto algo_end;
-
-    /* the scaled gradient direction is not acceptable. */
-    /* finally, calculate the point along the dogleg */
-    /* at which the quadratic is minimized. */
-    bnorm = qtb.stableNorm();
-    temp = bnorm / gnorm * (bnorm / qnorm) * (sgnorm / delta);
-    temp = temp - delta / qnorm * numext::abs2(sgnorm / delta) + sqrt(numext::abs2(temp - delta / qnorm) + (1.-numext::abs2(delta / qnorm)) * (1.-numext::abs2(sgnorm / delta)));
-    alpha = delta / qnorm * (1. - numext::abs2(sgnorm / delta)) / temp;
-algo_end:
-
-    /* form appropriate convex combination of the gauss-newton */
-    /* direction and the scaled gradient direction. */
-    temp = (1.-alpha) * (std::min)(sgnorm,delta);
-    x = temp * wa1 + alpha * x;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h
deleted file mode 100644
index bb7cf267b00dfe..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h
+++ /dev/null
@@ -1,79 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template<typename FunctorType, typename Scalar>
-DenseIndex fdjac1(
-        const FunctorType &Functor,
-        Matrix< Scalar, Dynamic, 1 >  &x,
-        Matrix< Scalar, Dynamic, 1 >  &fvec,
-        Matrix< Scalar, Dynamic, Dynamic > &fjac,
-        DenseIndex ml, DenseIndex mu,
-        Scalar epsfcn)
-{
-    using std::sqrt;
-    using std::abs;
-    
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Scalar h;
-    Index j, k;
-    Scalar eps, temp;
-    Index msum;
-    int iflag;
-    Index start, length;
-
-    /* Function Body */
-    const Scalar epsmch = NumTraits<Scalar>::epsilon();
-    const Index n = x.size();
-    eigen_assert(fvec.size()==n);
-    Matrix< Scalar, Dynamic, 1 >  wa1(n);
-    Matrix< Scalar, Dynamic, 1 >  wa2(n);
-
-    eps = sqrt((std::max)(epsfcn,epsmch));
-    msum = ml + mu + 1;
-    if (msum >= n) {
-        /* computation of dense approximate jacobian. */
-        for (j = 0; j < n; ++j) {
-            temp = x[j];
-            h = eps * abs(temp);
-            if (h == 0.)
-                h = eps;
-            x[j] = temp + h;
-            iflag = Functor(x, wa1);
-            if (iflag < 0)
-                return iflag;
-            x[j] = temp;
-            fjac.col(j) = (wa1-fvec)/h;
-        }
-
-    }else {
-        /* computation of banded approximate jacobian. */
-        for (k = 0; k < msum; ++k) {
-            for (j = k; (msum<0) ? (j>n): (j<n); j += msum) {
-                wa2[j] = x[j];
-                h = eps * abs(wa2[j]);
-                if (h == 0.) h = eps;
-                x[j] = wa2[j] + h;
-            }
-            iflag = Functor(x, wa1);
-            if (iflag < 0)
-                return iflag;
-            for (j = k; (msum<0) ? (j>n): (j<n); j += msum) {
-                x[j] = wa2[j];
-                h = eps * abs(wa2[j]);
-                if (h == 0.) h = eps;
-                fjac.col(j).setZero();
-                start = std::max<Index>(0,j-mu);
-                length = (std::min)(n-1, j+ml) - start + 1;
-                fjac.col(j).segment(start, length) = ( wa1.segment(start, length)-fvec.segment(start, length))/h;
-            }
-        }
-    }
-    return 0;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/lmpar.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/lmpar.h
deleted file mode 100644
index 4c17d4cdf43965..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/lmpar.h
+++ /dev/null
@@ -1,298 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void lmpar(
-        Matrix< Scalar, Dynamic, Dynamic > &r,
-        const VectorXi &ipvt,
-        const Matrix< Scalar, Dynamic, 1 >  &diag,
-        const Matrix< Scalar, Dynamic, 1 >  &qtb,
-        Scalar delta,
-        Scalar &par,
-        Matrix< Scalar, Dynamic, 1 >  &x)
-{
-    using std::abs;
-    using std::sqrt;
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index i, j, l;
-    Scalar fp;
-    Scalar parc, parl;
-    Index iter;
-    Scalar temp, paru;
-    Scalar gnorm;
-    Scalar dxnorm;
-
-
-    /* Function Body */
-    const Scalar dwarf = (std::numeric_limits<Scalar>::min)();
-    const Index n = r.cols();
-    eigen_assert(n==diag.size());
-    eigen_assert(n==qtb.size());
-    eigen_assert(n==x.size());
-
-    Matrix< Scalar, Dynamic, 1 >  wa1, wa2;
-
-    /* compute and store in x the gauss-newton direction. if the */
-    /* jacobian is rank-deficient, obtain a least squares solution. */
-    Index nsing = n-1;
-    wa1 = qtb;
-    for (j = 0; j < n; ++j) {
-        if (r(j,j) == 0. && nsing == n-1)
-            nsing = j - 1;
-        if (nsing < n-1)
-            wa1[j] = 0.;
-    }
-    for (j = nsing; j>=0; --j) {
-        wa1[j] /= r(j,j);
-        temp = wa1[j];
-        for (i = 0; i < j ; ++i)
-            wa1[i] -= r(i,j) * temp;
-    }
-
-    for (j = 0; j < n; ++j)
-        x[ipvt[j]] = wa1[j];
-
-    /* initialize the iteration counter. */
-    /* evaluate the function at the origin, and test */
-    /* for acceptance of the gauss-newton direction. */
-    iter = 0;
-    wa2 = diag.cwiseProduct(x);
-    dxnorm = wa2.blueNorm();
-    fp = dxnorm - delta;
-    if (fp <= Scalar(0.1) * delta) {
-        par = 0;
-        return;
-    }
-
-    /* if the jacobian is not rank deficient, the newton */
-    /* step provides a lower bound, parl, for the zero of */
-    /* the function. otherwise set this bound to zero. */
-    parl = 0.;
-    if (nsing >= n-1) {
-        for (j = 0; j < n; ++j) {
-            l = ipvt[j];
-            wa1[j] = diag[l] * (wa2[l] / dxnorm);
-        }
-        // it's actually a triangularView.solveInplace(), though in a weird
-        // way:
-        for (j = 0; j < n; ++j) {
-            Scalar sum = 0.;
-            for (i = 0; i < j; ++i)
-                sum += r(i,j) * wa1[i];
-            wa1[j] = (wa1[j] - sum) / r(j,j);
-        }
-        temp = wa1.blueNorm();
-        parl = fp / delta / temp / temp;
-    }
-
-    /* calculate an upper bound, paru, for the zero of the function. */
-    for (j = 0; j < n; ++j)
-        wa1[j] = r.col(j).head(j+1).dot(qtb.head(j+1)) / diag[ipvt[j]];
-
-    gnorm = wa1.stableNorm();
-    paru = gnorm / delta;
-    if (paru == 0.)
-        paru = dwarf / (std::min)(delta,Scalar(0.1));
-
-    /* if the input par lies outside of the interval (parl,paru), */
-    /* set par to the closer endpoint. */
-    par = (std::max)(par,parl);
-    par = (std::min)(par,paru);
-    if (par == 0.)
-        par = gnorm / dxnorm;
-
-    /* beginning of an iteration. */
-    while (true) {
-        ++iter;
-
-        /* evaluate the function at the current value of par. */
-        if (par == 0.)
-            par = (std::max)(dwarf,Scalar(.001) * paru); /* Computing MAX */
-        wa1 = sqrt(par)* diag;
-
-        Matrix< Scalar, Dynamic, 1 > sdiag(n);
-        qrsolv<Scalar>(r, ipvt, wa1, qtb, x, sdiag);
-
-        wa2 = diag.cwiseProduct(x);
-        dxnorm = wa2.blueNorm();
-        temp = fp;
-        fp = dxnorm - delta;
-
-        /* if the function is small enough, accept the current value */
-        /* of par. also test for the exceptional cases where parl */
-        /* is zero or the number of iterations has reached 10. */
-        if (abs(fp) <= Scalar(0.1) * delta || (parl == 0. && fp <= temp && temp < 0.) || iter == 10)
-            break;
-
-        /* compute the newton correction. */
-        for (j = 0; j < n; ++j) {
-            l = ipvt[j];
-            wa1[j] = diag[l] * (wa2[l] / dxnorm);
-        }
-        for (j = 0; j < n; ++j) {
-            wa1[j] /= sdiag[j];
-            temp = wa1[j];
-            for (i = j+1; i < n; ++i)
-                wa1[i] -= r(i,j) * temp;
-        }
-        temp = wa1.blueNorm();
-        parc = fp / delta / temp / temp;
-
-        /* depending on the sign of the function, update parl or paru. */
-        if (fp > 0.)
-            parl = (std::max)(parl,par);
-        if (fp < 0.)
-            paru = (std::min)(paru,par);
-
-        /* compute an improved estimate for par. */
-        /* Computing MAX */
-        par = (std::max)(parl,par+parc);
-
-        /* end of an iteration. */
-    }
-
-    /* termination. */
-    if (iter == 0)
-        par = 0.;
-    return;
-}
-
-template <typename Scalar>
-void lmpar2(
-        const ColPivHouseholderQR<Matrix< Scalar, Dynamic, Dynamic> > &qr,
-        const Matrix< Scalar, Dynamic, 1 >  &diag,
-        const Matrix< Scalar, Dynamic, 1 >  &qtb,
-        Scalar delta,
-        Scalar &par,
-        Matrix< Scalar, Dynamic, 1 >  &x)
-
-{
-    using std::sqrt;
-    using std::abs;
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index j;
-    Scalar fp;
-    Scalar parc, parl;
-    Index iter;
-    Scalar temp, paru;
-    Scalar gnorm;
-    Scalar dxnorm;
-
-
-    /* Function Body */
-    const Scalar dwarf = (std::numeric_limits<Scalar>::min)();
-    const Index n = qr.matrixQR().cols();
-    eigen_assert(n==diag.size());
-    eigen_assert(n==qtb.size());
-
-    Matrix< Scalar, Dynamic, 1 >  wa1, wa2;
-
-    /* compute and store in x the gauss-newton direction. if the */
-    /* jacobian is rank-deficient, obtain a least squares solution. */
-
-//    const Index rank = qr.nonzeroPivots(); // exactly double(0.)
-    const Index rank = qr.rank(); // use a threshold
-    wa1 = qtb;
-    wa1.tail(n-rank).setZero();
-    qr.matrixQR().topLeftCorner(rank, rank).template triangularView<Upper>().solveInPlace(wa1.head(rank));
-
-    x = qr.colsPermutation()*wa1;
-
-    /* initialize the iteration counter. */
-    /* evaluate the function at the origin, and test */
-    /* for acceptance of the gauss-newton direction. */
-    iter = 0;
-    wa2 = diag.cwiseProduct(x);
-    dxnorm = wa2.blueNorm();
-    fp = dxnorm - delta;
-    if (fp <= Scalar(0.1) * delta) {
-        par = 0;
-        return;
-    }
-
-    /* if the jacobian is not rank deficient, the newton */
-    /* step provides a lower bound, parl, for the zero of */
-    /* the function. otherwise set this bound to zero. */
-    parl = 0.;
-    if (rank==n) {
-        wa1 = qr.colsPermutation().inverse() *  diag.cwiseProduct(wa2)/dxnorm;
-        qr.matrixQR().topLeftCorner(n, n).transpose().template triangularView<Lower>().solveInPlace(wa1);
-        temp = wa1.blueNorm();
-        parl = fp / delta / temp / temp;
-    }
-
-    /* calculate an upper bound, paru, for the zero of the function. */
-    for (j = 0; j < n; ++j)
-        wa1[j] = qr.matrixQR().col(j).head(j+1).dot(qtb.head(j+1)) / diag[qr.colsPermutation().indices()(j)];
-
-    gnorm = wa1.stableNorm();
-    paru = gnorm / delta;
-    if (paru == 0.)
-        paru = dwarf / (std::min)(delta,Scalar(0.1));
-
-    /* if the input par lies outside of the interval (parl,paru), */
-    /* set par to the closer endpoint. */
-    par = (std::max)(par,parl);
-    par = (std::min)(par,paru);
-    if (par == 0.)
-        par = gnorm / dxnorm;
-
-    /* beginning of an iteration. */
-    Matrix< Scalar, Dynamic, Dynamic > s = qr.matrixQR();
-    while (true) {
-        ++iter;
-
-        /* evaluate the function at the current value of par. */
-        if (par == 0.)
-            par = (std::max)(dwarf,Scalar(.001) * paru); /* Computing MAX */
-        wa1 = sqrt(par)* diag;
-
-        Matrix< Scalar, Dynamic, 1 > sdiag(n);
-        qrsolv<Scalar>(s, qr.colsPermutation().indices(), wa1, qtb, x, sdiag);
-
-        wa2 = diag.cwiseProduct(x);
-        dxnorm = wa2.blueNorm();
-        temp = fp;
-        fp = dxnorm - delta;
-
-        /* if the function is small enough, accept the current value */
-        /* of par. also test for the exceptional cases where parl */
-        /* is zero or the number of iterations has reached 10. */
-        if (abs(fp) <= Scalar(0.1) * delta || (parl == 0. && fp <= temp && temp < 0.) || iter == 10)
-            break;
-
-        /* compute the newton correction. */
-        wa1 = qr.colsPermutation().inverse() * diag.cwiseProduct(wa2/dxnorm);
-        // we could almost use this here, but the diagonal is outside qr, in sdiag[]
-        // qr.matrixQR().topLeftCorner(n, n).transpose().template triangularView<Lower>().solveInPlace(wa1);
-        for (j = 0; j < n; ++j) {
-            wa1[j] /= sdiag[j];
-            temp = wa1[j];
-            for (Index i = j+1; i < n; ++i)
-                wa1[i] -= s(i,j) * temp;
-        }
-        temp = wa1.blueNorm();
-        parc = fp / delta / temp / temp;
-
-        /* depending on the sign of the function, update parl or paru. */
-        if (fp > 0.)
-            parl = (std::max)(parl,par);
-        if (fp < 0.)
-            paru = (std::min)(paru,par);
-
-        /* compute an improved estimate for par. */
-        par = (std::max)(parl,par+parc);
-    }
-    if (iter == 0)
-        par = 0.;
-    return;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
deleted file mode 100644
index feafd62a8dd686..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
+++ /dev/null
@@ -1,91 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-// TODO : once qrsolv2 is removed, use ColPivHouseholderQR or PermutationMatrix instead of ipvt
-template <typename Scalar>
-void qrsolv(
-        Matrix< Scalar, Dynamic, Dynamic > &s,
-        // TODO : use a PermutationMatrix once lmpar is no more:
-        const VectorXi &ipvt,
-        const Matrix< Scalar, Dynamic, 1 >  &diag,
-        const Matrix< Scalar, Dynamic, 1 >  &qtb,
-        Matrix< Scalar, Dynamic, 1 >  &x,
-        Matrix< Scalar, Dynamic, 1 >  &sdiag)
-
-{
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index i, j, k, l;
-    Scalar temp;
-    Index n = s.cols();
-    Matrix< Scalar, Dynamic, 1 >  wa(n);
-    JacobiRotation<Scalar> givens;
-
-    /* Function Body */
-    // the following will only change the lower triangular part of s, including
-    // the diagonal, though the diagonal is restored afterward
-
-    /*     copy r and (q transpose)*b to preserve input and initialize s. */
-    /*     in particular, save the diagonal elements of r in x. */
-    x = s.diagonal();
-    wa = qtb;
-
-    s.topLeftCorner(n,n).template triangularView<StrictlyLower>() = s.topLeftCorner(n,n).transpose();
-
-    /*     eliminate the diagonal matrix d using a givens rotation. */
-    for (j = 0; j < n; ++j) {
-
-        /*        prepare the row of d to be eliminated, locating the */
-        /*        diagonal element using p from the qr factorization. */
-        l = ipvt[j];
-        if (diag[l] == 0.)
-            break;
-        sdiag.tail(n-j).setZero();
-        sdiag[j] = diag[l];
-
-        /*        the transformations to eliminate the row of d */
-        /*        modify only a single element of (q transpose)*b */
-        /*        beyond the first n, which is initially zero. */
-        Scalar qtbpj = 0.;
-        for (k = j; k < n; ++k) {
-            /*           determine a givens rotation which eliminates the */
-            /*           appropriate element in the current row of d. */
-            givens.makeGivens(-s(k,k), sdiag[k]);
-
-            /*           compute the modified diagonal element of r and */
-            /*           the modified element of ((q transpose)*b,0). */
-            s(k,k) = givens.c() * s(k,k) + givens.s() * sdiag[k];
-            temp = givens.c() * wa[k] + givens.s() * qtbpj;
-            qtbpj = -givens.s() * wa[k] + givens.c() * qtbpj;
-            wa[k] = temp;
-
-            /*           accumulate the tranformation in the row of s. */
-            for (i = k+1; i<n; ++i) {
-                temp = givens.c() * s(i,k) + givens.s() * sdiag[i];
-                sdiag[i] = -givens.s() * s(i,k) + givens.c() * sdiag[i];
-                s(i,k) = temp;
-            }
-        }
-    }
-
-    /*     solve the triangular system for z. if the system is */
-    /*     singular, then obtain a least squares solution. */
-    Index nsing;
-    for(nsing=0; nsing<n && sdiag[nsing]!=0; nsing++) {}
-
-    wa.tail(n-nsing).setZero();
-    s.topLeftCorner(nsing, nsing).transpose().template triangularView<Upper>().solveInPlace(wa.head(nsing));
-
-    // restore
-    sdiag = s.diagonal();
-    s.diagonal() = x;
-
-    /*     permute the components of z back to components of x. */
-    for (j = 0; j < n; ++j) x[ipvt[j]] = wa[j];
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h
deleted file mode 100644
index 36ff700e98ae72..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h
+++ /dev/null
@@ -1,30 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-// TODO : move this to GivensQR once there's such a thing in Eigen
-
-template <typename Scalar>
-void r1mpyq(DenseIndex m, DenseIndex n, Scalar *a, const std::vector<JacobiRotation<Scalar> > &v_givens, const std::vector<JacobiRotation<Scalar> > &w_givens)
-{
-    typedef DenseIndex Index;
-
-    /*     apply the first set of givens rotations to a. */
-    for (Index j = n-2; j>=0; --j)
-        for (Index i = 0; i<m; ++i) {
-            Scalar temp = v_givens[j].c() * a[i+m*j] - v_givens[j].s() * a[i+m*(n-1)];
-            a[i+m*(n-1)] = v_givens[j].s() * a[i+m*j] + v_givens[j].c() * a[i+m*(n-1)];
-            a[i+m*j] = temp;
-        }
-    /*     apply the second set of givens rotations to a. */
-    for (Index j = 0; j<n-1; ++j)
-        for (Index i = 0; i<m; ++i) {
-            Scalar temp = w_givens[j].c() * a[i+m*j] + w_givens[j].s() * a[i+m*(n-1)];
-            a[i+m*(n-1)] = -w_givens[j].s() * a[i+m*j] + w_givens[j].c() * a[i+m*(n-1)];
-            a[i+m*j] = temp;
-        }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/r1updt.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/r1updt.h
deleted file mode 100644
index f28766061d5d98..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/r1updt.h
+++ /dev/null
@@ -1,99 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void r1updt(
-        Matrix< Scalar, Dynamic, Dynamic > &s,
-        const Matrix< Scalar, Dynamic, 1> &u,
-        std::vector<JacobiRotation<Scalar> > &v_givens,
-        std::vector<JacobiRotation<Scalar> > &w_givens,
-        Matrix< Scalar, Dynamic, 1> &v,
-        Matrix< Scalar, Dynamic, 1> &w,
-        bool *sing)
-{
-    typedef DenseIndex Index;
-    const JacobiRotation<Scalar> IdentityRotation = JacobiRotation<Scalar>(1,0);
-
-    /* Local variables */
-    const Index m = s.rows();
-    const Index n = s.cols();
-    Index i, j=1;
-    Scalar temp;
-    JacobiRotation<Scalar> givens;
-
-    // r1updt had a broader usecase, but we dont use it here. And, more
-    // importantly, we can not test it.
-    eigen_assert(m==n);
-    eigen_assert(u.size()==m);
-    eigen_assert(v.size()==n);
-    eigen_assert(w.size()==n);
-
-    /* move the nontrivial part of the last column of s into w. */
-    w[n-1] = s(n-1,n-1);
-
-    /* rotate the vector v into a multiple of the n-th unit vector */
-    /* in such a way that a spike is introduced into w. */
-    for (j=n-2; j>=0; --j) {
-        w[j] = 0.;
-        if (v[j] != 0.) {
-            /* determine a givens rotation which eliminates the */
-            /* j-th element of v. */
-            givens.makeGivens(-v[n-1], v[j]);
-
-            /* apply the transformation to v and store the information */
-            /* necessary to recover the givens rotation. */
-            v[n-1] = givens.s() * v[j] + givens.c() * v[n-1];
-            v_givens[j] = givens;
-
-            /* apply the transformation to s and extend the spike in w. */
-            for (i = j; i < m; ++i) {
-                temp = givens.c() * s(j,i) - givens.s() * w[i];
-                w[i] = givens.s() * s(j,i) + givens.c() * w[i];
-                s(j,i) = temp;
-            }
-        } else
-            v_givens[j] = IdentityRotation;
-    }
-
-    /* add the spike from the rank 1 update to w. */
-    w += v[n-1] * u;
-
-    /* eliminate the spike. */
-    *sing = false;
-    for (j = 0; j < n-1; ++j) {
-        if (w[j] != 0.) {
-            /* determine a givens rotation which eliminates the */
-            /* j-th element of the spike. */
-            givens.makeGivens(-s(j,j), w[j]);
-
-            /* apply the transformation to s and reduce the spike in w. */
-            for (i = j; i < m; ++i) {
-                temp = givens.c() * s(j,i) + givens.s() * w[i];
-                w[i] = -givens.s() * s(j,i) + givens.c() * w[i];
-                s(j,i) = temp;
-            }
-
-            /* store the information necessary to recover the */
-            /* givens rotation. */
-            w_givens[j] = givens;
-        } else
-            v_givens[j] = IdentityRotation;
-
-        /* test for zero diagonal elements in the output s. */
-        if (s(j,j) == 0.) {
-            *sing = true;
-        }
-    }
-    /* move w back into the last column of the output s. */
-    s(n-1,n-1) = w[n-1];
-
-    if (s(j,j) == 0.) {
-        *sing = true;
-    }
-    return;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h b/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h
deleted file mode 100644
index 6ebf8563f7f441..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h
+++ /dev/null
@@ -1,49 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void rwupdt(
-        Matrix< Scalar, Dynamic, Dynamic >  &r,
-        const Matrix< Scalar, Dynamic, 1>  &w,
-        Matrix< Scalar, Dynamic, 1>  &b,
-        Scalar alpha)
-{
-    typedef DenseIndex Index;
-
-    const Index n = r.cols();
-    eigen_assert(r.rows()>=n);
-    std::vector<JacobiRotation<Scalar> > givens(n);
-
-    /* Local variables */
-    Scalar temp, rowj;
-
-    /* Function Body */
-    for (Index j = 0; j < n; ++j) {
-        rowj = w[j];
-
-        /* apply the previous transformations to */
-        /* r(i,j), i=0,1,...,j-1, and to w(j). */
-        for (Index i = 0; i < j; ++i) {
-            temp = givens[i].c() * r(i,j) + givens[i].s() * rowj;
-            rowj = -givens[i].s() * r(i,j) + givens[i].c() * rowj;
-            r(i,j) = temp;
-        }
-
-        /* determine a givens rotation which eliminates w(j). */
-        givens[j].makeGivens(-r(j,j), rowj);
-
-        if (rowj == 0.)
-            continue; // givens[j] is identity
-
-        /* apply the current transformation to r(j,j), b(j), and alpha. */
-        r(j,j) = givens[j].c() * r(j,j) + givens[j].s() * rowj;
-        temp = givens[j].c() * b[j] + givens[j].s() * alpha;
-        alpha = -givens[j].s() * b[j] + givens[j].c() * alpha;
-        b[j] = temp;
-    }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/phonelibs/eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h b/phonelibs/eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
deleted file mode 100644
index ea5d8bc2749bb0..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
+++ /dev/null
@@ -1,130 +0,0 @@
-// -*- coding: utf-8
-// vim: set fileencoding=utf-8
-
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NUMERICAL_DIFF_H
-#define EIGEN_NUMERICAL_DIFF_H
-
-namespace Eigen { 
-
-enum NumericalDiffMode {
-    Forward,
-    Central
-};
-
-
-/**
-  * This class allows you to add a method df() to your functor, which will 
-  * use numerical differentiation to compute an approximate of the
-  * derivative for the functor. Of course, if you have an analytical form
-  * for the derivative, you should rather implement df() by yourself.
-  *
-  * More information on
-  * http://en.wikipedia.org/wiki/Numerical_differentiation
-  *
-  * Currently only "Forward" and "Central" scheme are implemented.
-  */
-template<typename _Functor, NumericalDiffMode mode=Forward>
-class NumericalDiff : public _Functor
-{
-public:
-    typedef _Functor Functor;
-    typedef typename Functor::Scalar Scalar;
-    typedef typename Functor::InputType InputType;
-    typedef typename Functor::ValueType ValueType;
-    typedef typename Functor::JacobianType JacobianType;
-
-    NumericalDiff(Scalar _epsfcn=0.) : Functor(), epsfcn(_epsfcn) {}
-    NumericalDiff(const Functor& f, Scalar _epsfcn=0.) : Functor(f), epsfcn(_epsfcn) {}
-
-    // forward constructors
-    template<typename T0>
-        NumericalDiff(const T0& a0) : Functor(a0), epsfcn(0) {}
-    template<typename T0, typename T1>
-        NumericalDiff(const T0& a0, const T1& a1) : Functor(a0, a1), epsfcn(0) {}
-    template<typename T0, typename T1, typename T2>
-        NumericalDiff(const T0& a0, const T1& a1, const T2& a2) : Functor(a0, a1, a2), epsfcn(0) {}
-
-    enum {
-        InputsAtCompileTime = Functor::InputsAtCompileTime,
-        ValuesAtCompileTime = Functor::ValuesAtCompileTime
-    };
-
-    /**
-      * return the number of evaluation of functor
-     */
-    int df(const InputType& _x, JacobianType &jac) const
-    {
-        using std::sqrt;
-        using std::abs;
-        /* Local variables */
-        Scalar h;
-        int nfev=0;
-        const typename InputType::Index n = _x.size();
-        const Scalar eps = sqrt(((std::max)(epsfcn,NumTraits<Scalar>::epsilon() )));
-        ValueType val1, val2;
-        InputType x = _x;
-        // TODO : we should do this only if the size is not already known
-        val1.resize(Functor::values());
-        val2.resize(Functor::values());
-
-        // initialization
-        switch(mode) {
-            case Forward:
-                // compute f(x)
-                Functor::operator()(x, val1); nfev++;
-                break;
-            case Central:
-                // do nothing
-                break;
-            default:
-                eigen_assert(false);
-        };
-
-        // Function Body
-        for (int j = 0; j < n; ++j) {
-            h = eps * abs(x[j]);
-            if (h == 0.) {
-                h = eps;
-            }
-            switch(mode) {
-                case Forward:
-                    x[j] += h;
-                    Functor::operator()(x, val2);
-                    nfev++;
-                    x[j] = _x[j];
-                    jac.col(j) = (val2-val1)/h;
-                    break;
-                case Central:
-                    x[j] += h;
-                    Functor::operator()(x, val2); nfev++;
-                    x[j] -= 2*h;
-                    Functor::operator()(x, val1); nfev++;
-                    x[j] = _x[j];
-                    jac.col(j) = (val2-val1)/(2*h);
-                    break;
-                default:
-                    eigen_assert(false);
-            };
-        }
-        return nfev;
-    }
-private:
-    Scalar epsfcn;
-
-    NumericalDiff& operator=(const NumericalDiff&);
-};
-
-} // end namespace Eigen
-
-//vim: ai ts=4 sts=4 et sw=4
-#endif // EIGEN_NUMERICAL_DIFF_H
-
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Polynomials/Companion.h b/phonelibs/eigen/unsupported/Eigen/src/Polynomials/Companion.h
deleted file mode 100644
index b515c29208ee94..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Polynomials/Companion.h
+++ /dev/null
@@ -1,276 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Manuel Yguel <manuel.yguel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPANION_H
-#define EIGEN_COMPANION_H
-
-// This file requires the user to include
-// * Eigen/Core
-// * Eigen/src/PolynomialSolver.h
-
-namespace Eigen { 
-
-namespace internal {
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-template <typename T>
-T radix(){ return 2; }
-
-template <typename T>
-T radix2(){ return radix<T>()*radix<T>(); }
-
-template<int Size>
-struct decrement_if_fixed_size
-{
-  enum {
-    ret = (Size == Dynamic) ? Dynamic : Size-1 };
-};
-
-#endif
-
-template< typename _Scalar, int _Deg >
-class companion
-{
-  public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Deg==Dynamic ? Dynamic : _Deg)
-
-    enum {
-      Deg = _Deg,
-      Deg_1=decrement_if_fixed_size<Deg>::ret
-    };
-
-    typedef _Scalar                                Scalar;
-    typedef typename NumTraits<Scalar>::Real       RealScalar;
-    typedef Matrix<Scalar, Deg, 1>                 RightColumn;
-    //typedef DiagonalMatrix< Scalar, Deg_1, Deg_1 > BottomLeftDiagonal;
-    typedef Matrix<Scalar, Deg_1, 1>               BottomLeftDiagonal;
-
-    typedef Matrix<Scalar, Deg, Deg>               DenseCompanionMatrixType;
-    typedef Matrix< Scalar, _Deg, Deg_1 >          LeftBlock;
-    typedef Matrix< Scalar, Deg_1, Deg_1 >         BottomLeftBlock;
-    typedef Matrix< Scalar, 1, Deg_1 >             LeftBlockFirstRow;
-
-    typedef DenseIndex Index;
-
-  public:
-    EIGEN_STRONG_INLINE const _Scalar operator()(Index row, Index col ) const
-    {
-      if( m_bl_diag.rows() > col )
-      {
-        if( 0 < row ){ return m_bl_diag[col]; }
-        else{ return 0; }
-      }
-      else{ return m_monic[row]; }
-    }
-
-  public:
-    template<typename VectorType>
-    void setPolynomial( const VectorType& poly )
-    {
-      const Index deg = poly.size()-1;
-      m_monic = -1/poly[deg] * poly.head(deg);
-      //m_bl_diag.setIdentity( deg-1 );
-      m_bl_diag.setOnes(deg-1);
-    }
-
-    template<typename VectorType>
-    companion( const VectorType& poly ){
-      setPolynomial( poly ); }
-
-  public:
-    DenseCompanionMatrixType denseMatrix() const
-    {
-      const Index deg   = m_monic.size();
-      const Index deg_1 = deg-1;
-      DenseCompanionMatrixType companion(deg,deg);
-      companion <<
-        ( LeftBlock(deg,deg_1)
-          << LeftBlockFirstRow::Zero(1,deg_1),
-          BottomLeftBlock::Identity(deg-1,deg-1)*m_bl_diag.asDiagonal() ).finished()
-        , m_monic;
-      return companion;
-    }
-
-
-
-  protected:
-    /** Helper function for the balancing algorithm.
-     * \returns true if the row and the column, having colNorm and rowNorm
-     * as norms, are balanced, false otherwise.
-     * colB and rowB are repectively the multipliers for
-     * the column and the row in order to balance them.
-     * */
-    bool balanced( Scalar colNorm, Scalar rowNorm,
-        bool& isBalanced, Scalar& colB, Scalar& rowB );
-
-    /** Helper function for the balancing algorithm.
-     * \returns true if the row and the column, having colNorm and rowNorm
-     * as norms, are balanced, false otherwise.
-     * colB and rowB are repectively the multipliers for
-     * the column and the row in order to balance them.
-     * */
-    bool balancedR( Scalar colNorm, Scalar rowNorm,
-        bool& isBalanced, Scalar& colB, Scalar& rowB );
-
-  public:
-    /**
-     * Balancing algorithm from B. N. PARLETT and C. REINSCH (1969)
-     * "Balancing a matrix for calculation of eigenvalues and eigenvectors"
-     * adapted to the case of companion matrices.
-     * A matrix with non zero row and non zero column is balanced
-     * for a certain norm if the i-th row and the i-th column
-     * have same norm for all i.
-     */
-    void balance();
-
-  protected:
-      RightColumn                m_monic;
-      BottomLeftDiagonal         m_bl_diag;
-};
-
-
-
-template< typename _Scalar, int _Deg >
-inline
-bool companion<_Scalar,_Deg>::balanced( Scalar colNorm, Scalar rowNorm,
-    bool& isBalanced, Scalar& colB, Scalar& rowB )
-{
-  if( Scalar(0) == colNorm || Scalar(0) == rowNorm ){ return true; }
-  else
-  {
-    //To find the balancing coefficients, if the radix is 2,
-    //one finds \f$ \sigma \f$ such that
-    // \f$ 2^{2\sigma-1} < rowNorm / colNorm \le 2^{2\sigma+1} \f$
-    // then the balancing coefficient for the row is \f$ 1/2^{\sigma} \f$
-    // and the balancing coefficient for the column is \f$ 2^{\sigma} \f$
-    rowB = rowNorm / radix<Scalar>();
-    colB = Scalar(1);
-    const Scalar s = colNorm + rowNorm;
-
-    while (colNorm < rowB)
-    {
-      colB *= radix<Scalar>();
-      colNorm *= radix2<Scalar>();
-    }
-
-    rowB = rowNorm * radix<Scalar>();
-
-    while (colNorm >= rowB)
-    {
-      colB /= radix<Scalar>();
-      colNorm /= radix2<Scalar>();
-    }
-
-    //This line is used to avoid insubstantial balancing
-    if ((rowNorm + colNorm) < Scalar(0.95) * s * colB)
-    {
-      isBalanced = false;
-      rowB = Scalar(1) / colB;
-      return false;
-    }
-    else{
-      return true; }
-  }
-}
-
-template< typename _Scalar, int _Deg >
-inline
-bool companion<_Scalar,_Deg>::balancedR( Scalar colNorm, Scalar rowNorm,
-    bool& isBalanced, Scalar& colB, Scalar& rowB )
-{
-  if( Scalar(0) == colNorm || Scalar(0) == rowNorm ){ return true; }
-  else
-  {
-    /**
-     * Set the norm of the column and the row to the geometric mean
-     * of the row and column norm
-     */
-    const _Scalar q = colNorm/rowNorm;
-    if( !isApprox( q, _Scalar(1) ) )
-    {
-      rowB = sqrt( colNorm/rowNorm );
-      colB = Scalar(1)/rowB;
-
-      isBalanced = false;
-      return false;
-    }
-    else{
-      return true; }
-  }
-}
-
-
-template< typename _Scalar, int _Deg >
-void companion<_Scalar,_Deg>::balance()
-{
-  using std::abs;
-  EIGEN_STATIC_ASSERT( Deg == Dynamic || 1 < Deg, YOU_MADE_A_PROGRAMMING_MISTAKE );
-  const Index deg   = m_monic.size();
-  const Index deg_1 = deg-1;
-
-  bool hasConverged=false;
-  while( !hasConverged )
-  {
-    hasConverged = true;
-    Scalar colNorm,rowNorm;
-    Scalar colB,rowB;
-
-    //First row, first column excluding the diagonal
-    //==============================================
-    colNorm = abs(m_bl_diag[0]);
-    rowNorm = abs(m_monic[0]);
-
-    //Compute balancing of the row and the column
-    if( !balanced( colNorm, rowNorm, hasConverged, colB, rowB ) )
-    {
-      m_bl_diag[0] *= colB;
-      m_monic[0] *= rowB;
-    }
-
-    //Middle rows and columns excluding the diagonal
-    //==============================================
-    for( Index i=1; i<deg_1; ++i )
-    {
-      // column norm, excluding the diagonal
-      colNorm = abs(m_bl_diag[i]);
-
-      // row norm, excluding the diagonal
-      rowNorm = abs(m_bl_diag[i-1]) + abs(m_monic[i]);
-
-      //Compute balancing of the row and the column
-      if( !balanced( colNorm, rowNorm, hasConverged, colB, rowB ) )
-      {
-        m_bl_diag[i]   *= colB;
-        m_bl_diag[i-1] *= rowB;
-        m_monic[i]     *= rowB;
-      }
-    }
-
-    //Last row, last column excluding the diagonal
-    //============================================
-    const Index ebl = m_bl_diag.size()-1;
-    VectorBlock<RightColumn,Deg_1> headMonic( m_monic, 0, deg_1 );
-    colNorm = headMonic.array().abs().sum();
-    rowNorm = abs( m_bl_diag[ebl] );
-
-    //Compute balancing of the row and the column
-    if( !balanced( colNorm, rowNorm, hasConverged, colB, rowB ) )
-    {
-      headMonic      *= colB;
-      m_bl_diag[ebl] *= rowB;
-    }
-  }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPANION_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h b/phonelibs/eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h
deleted file mode 100644
index 03198ec8ee27aa..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h
+++ /dev/null
@@ -1,406 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Manuel Yguel <manuel.yguel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_POLYNOMIAL_SOLVER_H
-#define EIGEN_POLYNOMIAL_SOLVER_H
-
-namespace Eigen { 
-
-/** \ingroup Polynomials_Module
- *  \class PolynomialSolverBase.
- *
- * \brief Defined to be inherited by polynomial solvers: it provides
- * convenient methods such as
- *  - real roots,
- *  - greatest, smallest complex roots,
- *  - real roots with greatest, smallest absolute real value,
- *  - greatest, smallest real roots.
- *
- * It stores the set of roots as a vector of complexes.
- *
- */
-template< typename _Scalar, int _Deg >
-class PolynomialSolverBase
-{
-  public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Deg==Dynamic ? Dynamic : _Deg)
-
-    typedef _Scalar                             Scalar;
-    typedef typename NumTraits<Scalar>::Real    RealScalar;
-    typedef std::complex<RealScalar>            RootType;
-    typedef Matrix<RootType,_Deg,1>             RootsType;
-
-    typedef DenseIndex Index;
-
-  protected:
-    template< typename OtherPolynomial >
-    inline void setPolynomial( const OtherPolynomial& poly ){
-      m_roots.resize(poly.size()-1); }
-
-  public:
-    template< typename OtherPolynomial >
-    inline PolynomialSolverBase( const OtherPolynomial& poly ){
-      setPolynomial( poly() ); }
-
-    inline PolynomialSolverBase(){}
-
-  public:
-    /** \returns the complex roots of the polynomial */
-    inline const RootsType& roots() const { return m_roots; }
-
-  public:
-    /** Clear and fills the back insertion sequence with the real roots of the polynomial
-     * i.e. the real part of the complex roots that have an imaginary part which
-     * absolute value is smaller than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     *
-     * \param[out] bi_seq : the back insertion sequence (stl concept)
-     * \param[in]  absImaginaryThreshold : the maximum bound of the imaginary part of a complex
-     *  number that is considered as real.
-     * */
-    template<typename Stl_back_insertion_sequence>
-    inline void realRoots( Stl_back_insertion_sequence& bi_seq,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      using std::abs;
-      bi_seq.clear();
-      for(Index i=0; i<m_roots.size(); ++i )
-      {
-        if( abs( m_roots[i].imag() ) < absImaginaryThreshold ){
-          bi_seq.push_back( m_roots[i].real() ); }
-      }
-    }
-
-  protected:
-    template<typename squaredNormBinaryPredicate>
-    inline const RootType& selectComplexRoot_withRespectToNorm( squaredNormBinaryPredicate& pred ) const
-    {
-      Index res=0;
-      RealScalar norm2 = numext::abs2( m_roots[0] );
-      for( Index i=1; i<m_roots.size(); ++i )
-      {
-        const RealScalar currNorm2 = numext::abs2( m_roots[i] );
-        if( pred( currNorm2, norm2 ) ){
-          res=i; norm2=currNorm2; }
-      }
-      return m_roots[res];
-    }
-
-  public:
-    /**
-     * \returns the complex root with greatest norm.
-     */
-    inline const RootType& greatestRoot() const
-    {
-      std::greater<Scalar> greater;
-      return selectComplexRoot_withRespectToNorm( greater );
-    }
-
-    /**
-     * \returns the complex root with smallest norm.
-     */
-    inline const RootType& smallestRoot() const
-    {
-      std::less<Scalar> less;
-      return selectComplexRoot_withRespectToNorm( less );
-    }
-
-  protected:
-    template<typename squaredRealPartBinaryPredicate>
-    inline const RealScalar& selectRealRoot_withRespectToAbsRealPart(
-        squaredRealPartBinaryPredicate& pred,
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      using std::abs;
-      hasArealRoot = false;
-      Index res=0;
-      RealScalar abs2(0);
-
-      for( Index i=0; i<m_roots.size(); ++i )
-      {
-        if( abs( m_roots[i].imag() ) < absImaginaryThreshold )
-        {
-          if( !hasArealRoot )
-          {
-            hasArealRoot = true;
-            res = i;
-            abs2 = m_roots[i].real() * m_roots[i].real();
-          }
-          else
-          {
-            const RealScalar currAbs2 = m_roots[i].real() * m_roots[i].real();
-            if( pred( currAbs2, abs2 ) )
-            {
-              abs2 = currAbs2;
-              res = i;
-            }
-          }
-        }
-        else
-        {
-          if( abs( m_roots[i].imag() ) < abs( m_roots[res].imag() ) ){
-            res = i; }
-        }
-      }
-      return numext::real_ref(m_roots[res]);
-    }
-
-
-    template<typename RealPartBinaryPredicate>
-    inline const RealScalar& selectRealRoot_withRespectToRealPart(
-        RealPartBinaryPredicate& pred,
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      using std::abs;
-      hasArealRoot = false;
-      Index res=0;
-      RealScalar val(0);
-
-      for( Index i=0; i<m_roots.size(); ++i )
-      {
-        if( abs( m_roots[i].imag() ) < absImaginaryThreshold )
-        {
-          if( !hasArealRoot )
-          {
-            hasArealRoot = true;
-            res = i;
-            val = m_roots[i].real();
-          }
-          else
-          {
-            const RealScalar curr = m_roots[i].real();
-            if( pred( curr, val ) )
-            {
-              val = curr;
-              res = i;
-            }
-          }
-        }
-        else
-        {
-          if( abs( m_roots[i].imag() ) < abs( m_roots[res].imag() ) ){
-            res = i; }
-        }
-      }
-      return numext::real_ref(m_roots[res]);
-    }
-
-  public:
-    /**
-     * \returns a real root with greatest absolute magnitude.
-     * A real root is defined as the real part of a complex root with absolute imaginary
-     * part smallest than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     * If no real root is found the boolean hasArealRoot is set to false and the real part of
-     * the root with smallest absolute imaginary part is returned instead.
-     *
-     * \param[out] hasArealRoot : boolean true if a real root is found according to the
-     *  absImaginaryThreshold criterion, false otherwise.
-     * \param[in] absImaginaryThreshold : threshold on the absolute imaginary part to decide
-     *  whether or not a root is real.
-     */
-    inline const RealScalar& absGreatestRealRoot(
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      std::greater<Scalar> greater;
-      return selectRealRoot_withRespectToAbsRealPart( greater, hasArealRoot, absImaginaryThreshold );
-    }
-
-
-    /**
-     * \returns a real root with smallest absolute magnitude.
-     * A real root is defined as the real part of a complex root with absolute imaginary
-     * part smallest than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     * If no real root is found the boolean hasArealRoot is set to false and the real part of
-     * the root with smallest absolute imaginary part is returned instead.
-     *
-     * \param[out] hasArealRoot : boolean true if a real root is found according to the
-     *  absImaginaryThreshold criterion, false otherwise.
-     * \param[in] absImaginaryThreshold : threshold on the absolute imaginary part to decide
-     *  whether or not a root is real.
-     */
-    inline const RealScalar& absSmallestRealRoot(
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      std::less<Scalar> less;
-      return selectRealRoot_withRespectToAbsRealPart( less, hasArealRoot, absImaginaryThreshold );
-    }
-
-
-    /**
-     * \returns the real root with greatest value.
-     * A real root is defined as the real part of a complex root with absolute imaginary
-     * part smallest than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     * If no real root is found the boolean hasArealRoot is set to false and the real part of
-     * the root with smallest absolute imaginary part is returned instead.
-     *
-     * \param[out] hasArealRoot : boolean true if a real root is found according to the
-     *  absImaginaryThreshold criterion, false otherwise.
-     * \param[in] absImaginaryThreshold : threshold on the absolute imaginary part to decide
-     *  whether or not a root is real.
-     */
-    inline const RealScalar& greatestRealRoot(
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      std::greater<Scalar> greater;
-      return selectRealRoot_withRespectToRealPart( greater, hasArealRoot, absImaginaryThreshold );
-    }
-
-
-    /**
-     * \returns the real root with smallest value.
-     * A real root is defined as the real part of a complex root with absolute imaginary
-     * part smallest than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     * If no real root is found the boolean hasArealRoot is set to false and the real part of
-     * the root with smallest absolute imaginary part is returned instead.
-     *
-     * \param[out] hasArealRoot : boolean true if a real root is found according to the
-     *  absImaginaryThreshold criterion, false otherwise.
-     * \param[in] absImaginaryThreshold : threshold on the absolute imaginary part to decide
-     *  whether or not a root is real.
-     */
-    inline const RealScalar& smallestRealRoot(
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      std::less<Scalar> less;
-      return selectRealRoot_withRespectToRealPart( less, hasArealRoot, absImaginaryThreshold );
-    }
-
-  protected:
-    RootsType               m_roots;
-};
-
-#define EIGEN_POLYNOMIAL_SOLVER_BASE_INHERITED_TYPES( BASE )  \
-  typedef typename BASE::Scalar                 Scalar;       \
-  typedef typename BASE::RealScalar             RealScalar;   \
-  typedef typename BASE::RootType               RootType;     \
-  typedef typename BASE::RootsType              RootsType;
-
-
-
-/** \ingroup Polynomials_Module
-  *
-  * \class PolynomialSolver
-  *
-  * \brief A polynomial solver
-  *
-  * Computes the complex roots of a real polynomial.
-  *
-  * \param _Scalar the scalar type, i.e., the type of the polynomial coefficients
-  * \param _Deg the degree of the polynomial, can be a compile time value or Dynamic.
-  *             Notice that the number of polynomial coefficients is _Deg+1.
-  *
-  * This class implements a polynomial solver and provides convenient methods such as
-  * - real roots,
-  * - greatest, smallest complex roots,
-  * - real roots with greatest, smallest absolute real value.
-  * - greatest, smallest real roots.
-  *
-  * WARNING: this polynomial solver is experimental, part of the unsupported Eigen modules.
-  *
-  *
-  * Currently a QR algorithm is used to compute the eigenvalues of the companion matrix of
-  * the polynomial to compute its roots.
-  * This supposes that the complex moduli of the roots are all distinct: e.g. there should
-  * be no multiple roots or conjugate roots for instance.
-  * With 32bit (float) floating types this problem shows up frequently.
-  * However, almost always, correct accuracy is reached even in these cases for 64bit
-  * (double) floating types and small polynomial degree (<20).
-  */
-template< typename _Scalar, int _Deg >
-class PolynomialSolver : public PolynomialSolverBase<_Scalar,_Deg>
-{
-  public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Deg==Dynamic ? Dynamic : _Deg)
-
-    typedef PolynomialSolverBase<_Scalar,_Deg>    PS_Base;
-    EIGEN_POLYNOMIAL_SOLVER_BASE_INHERITED_TYPES( PS_Base )
-
-    typedef Matrix<Scalar,_Deg,_Deg>                 CompanionMatrixType;
-    typedef EigenSolver<CompanionMatrixType>         EigenSolverType;
-
-  public:
-    /** Computes the complex roots of a new polynomial. */
-    template< typename OtherPolynomial >
-    void compute( const OtherPolynomial& poly )
-    {
-      eigen_assert( Scalar(0) != poly[poly.size()-1] );
-      eigen_assert( poly.size() > 1 );
-      if(poly.size() >  2 )
-      {
-        internal::companion<Scalar,_Deg> companion( poly );
-        companion.balance();
-        m_eigenSolver.compute( companion.denseMatrix() );
-        m_roots = m_eigenSolver.eigenvalues();
-      }
-      else if(poly.size () == 2)
-      {
-        m_roots.resize(1);
-        m_roots[0] = -poly[0]/poly[1];
-      }
-    }
-
-  public:
-    template< typename OtherPolynomial >
-    inline PolynomialSolver( const OtherPolynomial& poly ){
-      compute( poly ); }
-
-    inline PolynomialSolver(){}
-
-  protected:
-    using                   PS_Base::m_roots;
-    EigenSolverType         m_eigenSolver;
-};
-
-
-template< typename _Scalar >
-class PolynomialSolver<_Scalar,1> : public PolynomialSolverBase<_Scalar,1>
-{
-  public:
-    typedef PolynomialSolverBase<_Scalar,1>    PS_Base;
-    EIGEN_POLYNOMIAL_SOLVER_BASE_INHERITED_TYPES( PS_Base )
-
-  public:
-    /** Computes the complex roots of a new polynomial. */
-    template< typename OtherPolynomial >
-    void compute( const OtherPolynomial& poly )
-    {
-      eigen_assert( poly.size() == 2 );
-      eigen_assert( Scalar(0) != poly[1] );
-      m_roots[0] = -poly[0]/poly[1];
-    }
-
-  public:
-    template< typename OtherPolynomial >
-    inline PolynomialSolver( const OtherPolynomial& poly ){
-      compute( poly ); }
-
-    inline PolynomialSolver(){}
-
-  protected:
-    using                   PS_Base::m_roots;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_POLYNOMIAL_SOLVER_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h b/phonelibs/eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h
deleted file mode 100644
index 40ba65b7e06d05..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h
+++ /dev/null
@@ -1,143 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Manuel Yguel <manuel.yguel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_POLYNOMIAL_UTILS_H
-#define EIGEN_POLYNOMIAL_UTILS_H
-
-namespace Eigen { 
-
-/** \ingroup Polynomials_Module
- * \returns the evaluation of the polynomial at x using Horner algorithm.
- *
- * \param[in] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 1 + 3x^2 \f$ is stored as a vector \f$ [ 1, 0, 3 ] \f$.
- * \param[in] x : the value to evaluate the polynomial at.
- *
- * <i><b>Note for stability:</b></i>
- *  <dd> \f$ |x| \le 1 \f$ </dd>
- */
-template <typename Polynomials, typename T>
-inline
-T poly_eval_horner( const Polynomials& poly, const T& x )
-{
-  T val=poly[poly.size()-1];
-  for(DenseIndex i=poly.size()-2; i>=0; --i ){
-    val = val*x + poly[i]; }
-  return val;
-}
-
-/** \ingroup Polynomials_Module
- * \returns the evaluation of the polynomial at x using stabilized Horner algorithm.
- *
- * \param[in] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 1 + 3x^2 \f$ is stored as a vector \f$ [ 1, 0, 3 ] \f$.
- * \param[in] x : the value to evaluate the polynomial at.
- */
-template <typename Polynomials, typename T>
-inline
-T poly_eval( const Polynomials& poly, const T& x )
-{
-  typedef typename NumTraits<T>::Real Real;
-
-  if( numext::abs2( x ) <= Real(1) ){
-    return poly_eval_horner( poly, x ); }
-  else
-  {
-    T val=poly[0];
-    T inv_x = T(1)/x;
-    for( DenseIndex i=1; i<poly.size(); ++i ){
-      val = val*inv_x + poly[i]; }
-
-    return numext::pow(x,(T)(poly.size()-1)) * val;
-  }
-}
-
-/** \ingroup Polynomials_Module
- * \returns a maximum bound for the absolute value of any root of the polynomial.
- *
- * \param[in] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 1 + 3x^2 \f$ is stored as a vector \f$ [ 1, 0, 3 ] \f$.
- *
- *  <i><b>Precondition:</b></i>
- *  <dd> the leading coefficient of the input polynomial poly must be non zero </dd>
- */
-template <typename Polynomial>
-inline
-typename NumTraits<typename Polynomial::Scalar>::Real cauchy_max_bound( const Polynomial& poly )
-{
-  using std::abs;
-  typedef typename Polynomial::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real Real;
-
-  eigen_assert( Scalar(0) != poly[poly.size()-1] );
-  const Scalar inv_leading_coeff = Scalar(1)/poly[poly.size()-1];
-  Real cb(0);
-
-  for( DenseIndex i=0; i<poly.size()-1; ++i ){
-    cb += abs(poly[i]*inv_leading_coeff); }
-  return cb + Real(1);
-}
-
-/** \ingroup Polynomials_Module
- * \returns a minimum bound for the absolute value of any non zero root of the polynomial.
- * \param[in] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 1 + 3x^2 \f$ is stored as a vector \f$ [ 1, 0, 3 ] \f$.
- */
-template <typename Polynomial>
-inline
-typename NumTraits<typename Polynomial::Scalar>::Real cauchy_min_bound( const Polynomial& poly )
-{
-  using std::abs;
-  typedef typename Polynomial::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real Real;
-
-  DenseIndex i=0;
-  while( i<poly.size()-1 && Scalar(0) == poly(i) ){ ++i; }
-  if( poly.size()-1 == i ){
-    return Real(1); }
-
-  const Scalar inv_min_coeff = Scalar(1)/poly[i];
-  Real cb(1);
-  for( DenseIndex j=i+1; j<poly.size(); ++j ){
-    cb += abs(poly[j]*inv_min_coeff); }
-  return Real(1)/cb;
-}
-
-/** \ingroup Polynomials_Module
- * Given the roots of a polynomial compute the coefficients in the
- * monomial basis of the monic polynomial with same roots and minimal degree.
- * If RootVector is a vector of complexes, Polynomial should also be a vector
- * of complexes.
- * \param[in] rv : a vector containing the roots of a polynomial.
- * \param[out] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 3 + x^2 \f$ is stored as a vector \f$ [ 3, 0, 1 ] \f$.
- */
-template <typename RootVector, typename Polynomial>
-void roots_to_monicPolynomial( const RootVector& rv, Polynomial& poly )
-{
-
-  typedef typename Polynomial::Scalar Scalar;
-
-  poly.setZero( rv.size()+1 );
-  poly[0] = -rv[0]; poly[1] = Scalar(1);
-  for( DenseIndex i=1; i< rv.size(); ++i )
-  {
-    for( DenseIndex j=i+1; j>0; --j ){ poly[j] = poly[j-1] - rv[i]*poly[j]; }
-    poly[0] = -rv[i]*poly[0];
-  }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_POLYNOMIAL_UTILS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h b/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h
deleted file mode 100644
index a1f54ed359b037..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h
+++ /dev/null
@@ -1,352 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEINPLACELU_H
-#define EIGEN_SKYLINEINPLACELU_H
-
-namespace Eigen { 
-
-/** \ingroup Skyline_Module
- *
- * \class SkylineInplaceLU
- *
- * \brief Inplace LU decomposition of a skyline matrix and associated features
- *
- * \param MatrixType the type of the matrix of which we are computing the LU factorization
- *
- */
-template<typename MatrixType>
-class SkylineInplaceLU {
-protected:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-
-public:
-
-    /** Creates a LU object and compute the respective factorization of \a matrix using
-     * flags \a flags. */
-    SkylineInplaceLU(MatrixType& matrix, int flags = 0)
-    : /*m_matrix(matrix.rows(), matrix.cols()),*/ m_flags(flags), m_status(0), m_lu(matrix) {
-        m_precision = RealScalar(0.1) * Eigen::dummy_precision<RealScalar > ();
-        m_lu.IsRowMajor ? computeRowMajor() : compute();
-    }
-
-    /** Sets the relative threshold value used to prune zero coefficients during the decomposition.
-     *
-     * Setting a value greater than zero speeds up computation, and yields to an imcomplete
-     * factorization with fewer non zero coefficients. Such approximate factors are especially
-     * useful to initialize an iterative solver.
-     *
-     * Note that the exact meaning of this parameter might depends on the actual
-     * backend. Moreover, not all backends support this feature.
-     *
-     * \sa precision() */
-    void setPrecision(RealScalar v) {
-        m_precision = v;
-    }
-
-    /** \returns the current precision.
-     *
-     * \sa setPrecision() */
-    RealScalar precision() const {
-        return m_precision;
-    }
-
-    /** Sets the flags. Possible values are:
-     *  - CompleteFactorization
-     *  - IncompleteFactorization
-     *  - MemoryEfficient
-     *  - one of the ordering methods
-     *  - etc...
-     *
-     * \sa flags() */
-    void setFlags(int f) {
-        m_flags = f;
-    }
-
-    /** \returns the current flags */
-    int flags() const {
-        return m_flags;
-    }
-
-    void setOrderingMethod(int m) {
-        m_flags = m;
-    }
-
-    int orderingMethod() const {
-        return m_flags;
-    }
-
-    /** Computes/re-computes the LU factorization */
-    void compute();
-    void computeRowMajor();
-
-    /** \returns the lower triangular matrix L */
-    //inline const MatrixType& matrixL() const { return m_matrixL; }
-
-    /** \returns the upper triangular matrix U */
-    //inline const MatrixType& matrixU() const { return m_matrixU; }
-
-    template<typename BDerived, typename XDerived>
-    bool solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>* x,
-            const int transposed = 0) const;
-
-    /** \returns true if the factorization succeeded */
-    inline bool succeeded(void) const {
-        return m_succeeded;
-    }
-
-protected:
-    RealScalar m_precision;
-    int m_flags;
-    mutable int m_status;
-    bool m_succeeded;
-    MatrixType& m_lu;
-};
-
-/** Computes / recomputes the in place LU decomposition of the SkylineInplaceLU.
- * using the default algorithm.
- */
-template<typename MatrixType>
-//template<typename _Scalar>
-void SkylineInplaceLU<MatrixType>::compute() {
-    const size_t rows = m_lu.rows();
-    const size_t cols = m_lu.cols();
-
-    eigen_assert(rows == cols && "We do not (yet) support rectangular LU.");
-    eigen_assert(!m_lu.IsRowMajor && "LU decomposition does not work with rowMajor Storage");
-
-    for (Index row = 0; row < rows; row++) {
-        const double pivot = m_lu.coeffDiag(row);
-
-        //Lower matrix Columns update
-        const Index& col = row;
-        for (typename MatrixType::InnerLowerIterator lIt(m_lu, col); lIt; ++lIt) {
-            lIt.valueRef() /= pivot;
-        }
-
-        //Upper matrix update -> contiguous memory access
-        typename MatrixType::InnerLowerIterator lIt(m_lu, col);
-        for (Index rrow = row + 1; rrow < m_lu.rows(); rrow++) {
-            typename MatrixType::InnerUpperIterator uItPivot(m_lu, row);
-            typename MatrixType::InnerUpperIterator uIt(m_lu, rrow);
-            const double coef = lIt.value();
-
-            uItPivot += (rrow - row - 1);
-
-            //update upper part  -> contiguous memory access
-            for (++uItPivot; uIt && uItPivot;) {
-                uIt.valueRef() -= uItPivot.value() * coef;
-
-                ++uIt;
-                ++uItPivot;
-            }
-            ++lIt;
-        }
-
-        //Upper matrix update -> non contiguous memory access
-        typename MatrixType::InnerLowerIterator lIt3(m_lu, col);
-        for (Index rrow = row + 1; rrow < m_lu.rows(); rrow++) {
-            typename MatrixType::InnerUpperIterator uItPivot(m_lu, row);
-            const double coef = lIt3.value();
-
-            //update lower part ->  non contiguous memory access
-            for (Index i = 0; i < rrow - row - 1; i++) {
-                m_lu.coeffRefLower(rrow, row + i + 1) -= uItPivot.value() * coef;
-                ++uItPivot;
-            }
-            ++lIt3;
-        }
-        //update diag -> contiguous
-        typename MatrixType::InnerLowerIterator lIt2(m_lu, col);
-        for (Index rrow = row + 1; rrow < m_lu.rows(); rrow++) {
-
-            typename MatrixType::InnerUpperIterator uItPivot(m_lu, row);
-            typename MatrixType::InnerUpperIterator uIt(m_lu, rrow);
-            const double coef = lIt2.value();
-
-            uItPivot += (rrow - row - 1);
-            m_lu.coeffRefDiag(rrow) -= uItPivot.value() * coef;
-            ++lIt2;
-        }
-    }
-}
-
-template<typename MatrixType>
-void SkylineInplaceLU<MatrixType>::computeRowMajor() {
-    const size_t rows = m_lu.rows();
-    const size_t cols = m_lu.cols();
-
-    eigen_assert(rows == cols && "We do not (yet) support rectangular LU.");
-    eigen_assert(m_lu.IsRowMajor && "You're trying to apply rowMajor decomposition on a ColMajor matrix !");
-
-    for (Index row = 0; row < rows; row++) {
-        typename MatrixType::InnerLowerIterator llIt(m_lu, row);
-
-
-        for (Index col = llIt.col(); col < row; col++) {
-            if (m_lu.coeffExistLower(row, col)) {
-                const double diag = m_lu.coeffDiag(col);
-
-                typename MatrixType::InnerLowerIterator lIt(m_lu, row);
-                typename MatrixType::InnerUpperIterator uIt(m_lu, col);
-
-
-                const Index offset = lIt.col() - uIt.row();
-
-
-                Index stop = offset > 0 ? col - lIt.col() : col - uIt.row();
-
-                //#define VECTORIZE
-#ifdef VECTORIZE
-                Map<VectorXd > rowVal(lIt.valuePtr() + (offset > 0 ? 0 : -offset), stop);
-                Map<VectorXd > colVal(uIt.valuePtr() + (offset > 0 ? offset : 0), stop);
-
-
-                Scalar newCoeff = m_lu.coeffLower(row, col) - rowVal.dot(colVal);
-#else
-                if (offset > 0) //Skip zero value of lIt
-                    uIt += offset;
-                else //Skip zero values of uIt
-                    lIt += -offset;
-                Scalar newCoeff = m_lu.coeffLower(row, col);
-
-                for (Index k = 0; k < stop; ++k) {
-                    const Scalar tmp = newCoeff;
-                    newCoeff = tmp - lIt.value() * uIt.value();
-                    ++lIt;
-                    ++uIt;
-                }
-#endif
-
-                m_lu.coeffRefLower(row, col) = newCoeff / diag;
-            }
-        }
-
-        //Upper matrix update
-        const Index col = row;
-        typename MatrixType::InnerUpperIterator uuIt(m_lu, col);
-        for (Index rrow = uuIt.row(); rrow < col; rrow++) {
-
-            typename MatrixType::InnerLowerIterator lIt(m_lu, rrow);
-            typename MatrixType::InnerUpperIterator uIt(m_lu, col);
-            const Index offset = lIt.col() - uIt.row();
-
-            Index stop = offset > 0 ? rrow - lIt.col() : rrow - uIt.row();
-
-#ifdef VECTORIZE
-            Map<VectorXd > rowVal(lIt.valuePtr() + (offset > 0 ? 0 : -offset), stop);
-            Map<VectorXd > colVal(uIt.valuePtr() + (offset > 0 ? offset : 0), stop);
-
-            Scalar newCoeff = m_lu.coeffUpper(rrow, col) - rowVal.dot(colVal);
-#else
-            if (offset > 0) //Skip zero value of lIt
-                uIt += offset;
-            else //Skip zero values of uIt
-                lIt += -offset;
-            Scalar newCoeff = m_lu.coeffUpper(rrow, col);
-            for (Index k = 0; k < stop; ++k) {
-                const Scalar tmp = newCoeff;
-                newCoeff = tmp - lIt.value() * uIt.value();
-
-                ++lIt;
-                ++uIt;
-            }
-#endif
-            m_lu.coeffRefUpper(rrow, col) = newCoeff;
-        }
-
-
-        //Diag matrix update
-        typename MatrixType::InnerLowerIterator lIt(m_lu, row);
-        typename MatrixType::InnerUpperIterator uIt(m_lu, row);
-
-        const Index offset = lIt.col() - uIt.row();
-
-
-        Index stop = offset > 0 ? lIt.size() : uIt.size();
-#ifdef VECTORIZE
-        Map<VectorXd > rowVal(lIt.valuePtr() + (offset > 0 ? 0 : -offset), stop);
-        Map<VectorXd > colVal(uIt.valuePtr() + (offset > 0 ? offset : 0), stop);
-        Scalar newCoeff = m_lu.coeffDiag(row) - rowVal.dot(colVal);
-#else
-        if (offset > 0) //Skip zero value of lIt
-            uIt += offset;
-        else //Skip zero values of uIt
-            lIt += -offset;
-        Scalar newCoeff = m_lu.coeffDiag(row);
-        for (Index k = 0; k < stop; ++k) {
-            const Scalar tmp = newCoeff;
-            newCoeff = tmp - lIt.value() * uIt.value();
-            ++lIt;
-            ++uIt;
-        }
-#endif
-        m_lu.coeffRefDiag(row) = newCoeff;
-    }
-}
-
-/** Computes *x = U^-1 L^-1 b
- *
- * If \a transpose is set to SvTranspose or SvAdjoint, the solution
- * of the transposed/adjoint system is computed instead.
- *
- * Not all backends implement the solution of the transposed or
- * adjoint system.
- */
-template<typename MatrixType>
-template<typename BDerived, typename XDerived>
-bool SkylineInplaceLU<MatrixType>::solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>* x, const int transposed) const {
-    const size_t rows = m_lu.rows();
-    const size_t cols = m_lu.cols();
-
-
-    for (Index row = 0; row < rows; row++) {
-        x->coeffRef(row) = b.coeff(row);
-        Scalar newVal = x->coeff(row);
-        typename MatrixType::InnerLowerIterator lIt(m_lu, row);
-
-        Index col = lIt.col();
-        while (lIt.col() < row) {
-
-            newVal -= x->coeff(col++) * lIt.value();
-            ++lIt;
-        }
-
-        x->coeffRef(row) = newVal;
-    }
-
-
-    for (Index col = rows - 1; col > 0; col--) {
-        x->coeffRef(col) = x->coeff(col) / m_lu.coeffDiag(col);
-
-        const Scalar x_col = x->coeff(col);
-
-        typename MatrixType::InnerUpperIterator uIt(m_lu, col);
-        uIt += uIt.size()-1;
-
-
-        while (uIt) {
-            x->coeffRef(uIt.row()) -= x_col * uIt.value();
-            //TODO : introduce --operator
-            uIt += -1;
-        }
-
-
-    }
-    x->coeffRef(0) = x->coeff(0) / m_lu.coeffDiag(0);
-
-    return true;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SKYLINELU_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h b/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h
deleted file mode 100644
index a2a8933ca50481..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h
+++ /dev/null
@@ -1,862 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEMATRIX_H
-#define EIGEN_SKYLINEMATRIX_H
-
-#include "SkylineStorage.h"
-#include "SkylineMatrixBase.h"
-
-namespace Eigen { 
-
-/** \ingroup Skyline_Module
- *
- * \class SkylineMatrix
- *
- * \brief The main skyline matrix class
- *
- * This class implements a skyline matrix using the very uncommon storage
- * scheme.
- *
- * \param _Scalar the scalar type, i.e. the type of the coefficients
- * \param _Options Union of bit flags controlling the storage scheme. Currently the only possibility
- *                 is RowMajor. The default is 0 which means column-major.
- *
- *
- */
-namespace internal {
-template<typename _Scalar, int _Options>
-struct traits<SkylineMatrix<_Scalar, _Options> > {
-    typedef _Scalar Scalar;
-    typedef Sparse StorageKind;
-
-    enum {
-        RowsAtCompileTime = Dynamic,
-        ColsAtCompileTime = Dynamic,
-        MaxRowsAtCompileTime = Dynamic,
-        MaxColsAtCompileTime = Dynamic,
-        Flags = SkylineBit | _Options,
-        CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    };
-};
-}
-
-template<typename _Scalar, int _Options>
-class SkylineMatrix
-: public SkylineMatrixBase<SkylineMatrix<_Scalar, _Options> > {
-public:
-    EIGEN_SKYLINE_GENERIC_PUBLIC_INTERFACE(SkylineMatrix)
-    EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(SkylineMatrix, +=)
-    EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(SkylineMatrix, -=)
-
-    using Base::IsRowMajor;
-
-protected:
-
-    typedef SkylineMatrix<Scalar, (Flags&~RowMajorBit) | (IsRowMajor ? RowMajorBit : 0) > TransposedSkylineMatrix;
-
-    Index m_outerSize;
-    Index m_innerSize;
-
-public:
-    Index* m_colStartIndex;
-    Index* m_rowStartIndex;
-    SkylineStorage<Scalar> m_data;
-
-public:
-
-    inline Index rows() const {
-        return IsRowMajor ? m_outerSize : m_innerSize;
-    }
-
-    inline Index cols() const {
-        return IsRowMajor ? m_innerSize : m_outerSize;
-    }
-
-    inline Index innerSize() const {
-        return m_innerSize;
-    }
-
-    inline Index outerSize() const {
-        return m_outerSize;
-    }
-
-    inline Index upperNonZeros() const {
-        return m_data.upperSize();
-    }
-
-    inline Index lowerNonZeros() const {
-        return m_data.lowerSize();
-    }
-
-    inline Index upperNonZeros(Index j) const {
-        return m_colStartIndex[j + 1] - m_colStartIndex[j];
-    }
-
-    inline Index lowerNonZeros(Index j) const {
-        return m_rowStartIndex[j + 1] - m_rowStartIndex[j];
-    }
-
-    inline const Scalar* _diagPtr() const {
-        return &m_data.diag(0);
-    }
-
-    inline Scalar* _diagPtr() {
-        return &m_data.diag(0);
-    }
-
-    inline const Scalar* _upperPtr() const {
-        return &m_data.upper(0);
-    }
-
-    inline Scalar* _upperPtr() {
-        return &m_data.upper(0);
-    }
-
-    inline const Scalar* _lowerPtr() const {
-        return &m_data.lower(0);
-    }
-
-    inline Scalar* _lowerPtr() {
-        return &m_data.lower(0);
-    }
-
-    inline const Index* _upperProfilePtr() const {
-        return &m_data.upperProfile(0);
-    }
-
-    inline Index* _upperProfilePtr() {
-        return &m_data.upperProfile(0);
-    }
-
-    inline const Index* _lowerProfilePtr() const {
-        return &m_data.lowerProfile(0);
-    }
-
-    inline Index* _lowerProfilePtr() {
-        return &m_data.lowerProfile(0);
-    }
-
-    inline Scalar coeff(Index row, Index col) const {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-
-        if (outer == inner)
-            return this->m_data.diag(outer);
-
-        if (IsRowMajor) {
-            if (inner > outer) //upper matrix
-            {
-                const Index minOuterIndex = inner - m_data.upperProfile(inner);
-                if (outer >= minOuterIndex)
-                    return this->m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-                else
-                    return Scalar(0);
-            }
-            if (inner < outer) //lower matrix
-            {
-                const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-                if (inner >= minInnerIndex)
-                    return this->m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-                else
-                    return Scalar(0);
-            }
-            return m_data.upper(m_colStartIndex[inner] + outer - inner);
-        } else {
-            if (outer > inner) //upper matrix
-            {
-                const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-                if (outer <= maxOuterIndex)
-                    return this->m_data.upper(m_colStartIndex[inner] + (outer - inner));
-                else
-                    return Scalar(0);
-            }
-            if (outer < inner) //lower matrix
-            {
-                const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-
-                if (inner <= maxInnerIndex)
-                    return this->m_data.lower(m_rowStartIndex[outer] + (inner - outer));
-                else
-                    return Scalar(0);
-            }
-        }
-    }
-
-    inline Scalar& coeffRef(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-
-        if (outer == inner)
-            return this->m_data.diag(outer);
-
-        if (IsRowMajor) {
-            if (col > row) //upper matrix
-            {
-                const Index minOuterIndex = inner - m_data.upperProfile(inner);
-                eigen_assert(outer >= minOuterIndex && "you try to acces a coeff that do not exist in the storage");
-                return this->m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-            }
-            if (col < row) //lower matrix
-            {
-                const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-                eigen_assert(inner >= minInnerIndex && "you try to acces a coeff that do not exist in the storage");
-                return this->m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-            }
-        } else {
-            if (outer > inner) //upper matrix
-            {
-                const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-                eigen_assert(outer <= maxOuterIndex && "you try to acces a coeff that do not exist in the storage");
-                return this->m_data.upper(m_colStartIndex[inner] + (outer - inner));
-            }
-            if (outer < inner) //lower matrix
-            {
-                const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-                eigen_assert(inner <= maxInnerIndex && "you try to acces a coeff that do not exist in the storage");
-                return this->m_data.lower(m_rowStartIndex[outer] + (inner - outer));
-            }
-        }
-    }
-
-    inline Scalar coeffDiag(Index idx) const {
-        eigen_assert(idx < outerSize());
-        eigen_assert(idx < innerSize());
-        return this->m_data.diag(idx);
-    }
-
-    inline Scalar coeffLower(Index row, Index col) const {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-            if (inner >= minInnerIndex)
-                return this->m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-            else
-                return Scalar(0);
-
-        } else {
-            const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-            if (inner <= maxInnerIndex)
-                return this->m_data.lower(m_rowStartIndex[outer] + (inner - outer));
-            else
-                return Scalar(0);
-        }
-    }
-
-    inline Scalar coeffUpper(Index row, Index col) const {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minOuterIndex = inner - m_data.upperProfile(inner);
-            if (outer >= minOuterIndex)
-                return this->m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-            else
-                return Scalar(0);
-        } else {
-            const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-            if (outer <= maxOuterIndex)
-                return this->m_data.upper(m_colStartIndex[inner] + (outer - inner));
-            else
-                return Scalar(0);
-        }
-    }
-
-    inline Scalar& coeffRefDiag(Index idx) {
-        eigen_assert(idx < outerSize());
-        eigen_assert(idx < innerSize());
-        return this->m_data.diag(idx);
-    }
-
-    inline Scalar& coeffRefLower(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-            eigen_assert(inner >= minInnerIndex && "you try to acces a coeff that do not exist in the storage");
-            return this->m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-        } else {
-            const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-            eigen_assert(inner <= maxInnerIndex && "you try to acces a coeff that do not exist in the storage");
-            return this->m_data.lower(m_rowStartIndex[outer] + (inner - outer));
-        }
-    }
-
-    inline bool coeffExistLower(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-            return inner >= minInnerIndex;
-        } else {
-            const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-            return inner <= maxInnerIndex;
-        }
-    }
-
-    inline Scalar& coeffRefUpper(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minOuterIndex = inner - m_data.upperProfile(inner);
-            eigen_assert(outer >= minOuterIndex && "you try to acces a coeff that do not exist in the storage");
-            return this->m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-        } else {
-            const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-            eigen_assert(outer <= maxOuterIndex && "you try to acces a coeff that do not exist in the storage");
-            return this->m_data.upper(m_colStartIndex[inner] + (outer - inner));
-        }
-    }
-
-    inline bool coeffExistUpper(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minOuterIndex = inner - m_data.upperProfile(inner);
-            return outer >= minOuterIndex;
-        } else {
-            const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-            return outer <= maxOuterIndex;
-        }
-    }
-
-
-protected:
-
-public:
-    class InnerUpperIterator;
-    class InnerLowerIterator;
-
-    class OuterUpperIterator;
-    class OuterLowerIterator;
-
-    /** Removes all non zeros */
-    inline void setZero() {
-        m_data.clear();
-        memset(m_colStartIndex, 0, (m_outerSize + 1) * sizeof (Index));
-        memset(m_rowStartIndex, 0, (m_outerSize + 1) * sizeof (Index));
-    }
-
-    /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const {
-        return m_data.diagSize() + m_data.upperSize() + m_data.lowerSize();
-    }
-
-    /** Preallocates \a reserveSize non zeros */
-    inline void reserve(Index reserveSize, Index reserveUpperSize, Index reserveLowerSize) {
-        m_data.reserve(reserveSize, reserveUpperSize, reserveLowerSize);
-    }
-
-    /** \returns a reference to a novel non zero coefficient with coordinates \a row x \a col.
-
-     *
-     * \warning This function can be extremely slow if the non zero coefficients
-     * are not inserted in a coherent order.
-     *
-     * After an insertion session, you should call the finalize() function.
-     */
-    EIGEN_DONT_INLINE Scalar & insert(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-
-        if (outer == inner)
-            return m_data.diag(col);
-
-        if (IsRowMajor) {
-            if (outer < inner) //upper matrix
-            {
-                Index minOuterIndex = 0;
-                minOuterIndex = inner - m_data.upperProfile(inner);
-
-                if (outer < minOuterIndex) //The value does not yet exist
-                {
-                    const Index previousProfile = m_data.upperProfile(inner);
-
-                    m_data.upperProfile(inner) = inner - outer;
-
-
-                    const Index bandIncrement = m_data.upperProfile(inner) - previousProfile;
-                    //shift data stored after this new one
-                    const Index stop = m_colStartIndex[cols()];
-                    const Index start = m_colStartIndex[inner];
-
-
-                    for (Index innerIdx = stop; innerIdx >= start; innerIdx--) {
-                        m_data.upper(innerIdx + bandIncrement) = m_data.upper(innerIdx);
-                    }
-
-                    for (Index innerIdx = cols(); innerIdx > inner; innerIdx--) {
-                        m_colStartIndex[innerIdx] += bandIncrement;
-                    }
-
-                    //zeros new data
-                    memset(this->_upperPtr() + start, 0, (bandIncrement - 1) * sizeof (Scalar));
-
-                    return m_data.upper(m_colStartIndex[inner]);
-                } else {
-                    return m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-                }
-            }
-
-            if (outer > inner) //lower matrix
-            {
-                const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-                if (inner < minInnerIndex) //The value does not yet exist
-                {
-                    const Index previousProfile = m_data.lowerProfile(outer);
-                    m_data.lowerProfile(outer) = outer - inner;
-
-                    const Index bandIncrement = m_data.lowerProfile(outer) - previousProfile;
-                    //shift data stored after this new one
-                    const Index stop = m_rowStartIndex[rows()];
-                    const Index start = m_rowStartIndex[outer];
-
-
-                    for (Index innerIdx = stop; innerIdx >= start; innerIdx--) {
-                        m_data.lower(innerIdx + bandIncrement) = m_data.lower(innerIdx);
-                    }
-
-                    for (Index innerIdx = rows(); innerIdx > outer; innerIdx--) {
-                        m_rowStartIndex[innerIdx] += bandIncrement;
-                    }
-
-                    //zeros new data
-                    memset(this->_lowerPtr() + start, 0, (bandIncrement - 1) * sizeof (Scalar));
-                    return m_data.lower(m_rowStartIndex[outer]);
-                } else {
-                    return m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-                }
-            }
-        } else {
-            if (outer > inner) //upper matrix
-            {
-                const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-                if (outer > maxOuterIndex) //The value does not yet exist
-                {
-                    const Index previousProfile = m_data.upperProfile(inner);
-                    m_data.upperProfile(inner) = outer - inner;
-
-                    const Index bandIncrement = m_data.upperProfile(inner) - previousProfile;
-                    //shift data stored after this new one
-                    const Index stop = m_rowStartIndex[rows()];
-                    const Index start = m_rowStartIndex[inner + 1];
-
-                    for (Index innerIdx = stop; innerIdx >= start; innerIdx--) {
-                        m_data.upper(innerIdx + bandIncrement) = m_data.upper(innerIdx);
-                    }
-
-                    for (Index innerIdx = inner + 1; innerIdx < outerSize() + 1; innerIdx++) {
-                        m_rowStartIndex[innerIdx] += bandIncrement;
-                    }
-                    memset(this->_upperPtr() + m_rowStartIndex[inner] + previousProfile + 1, 0, (bandIncrement - 1) * sizeof (Scalar));
-                    return m_data.upper(m_rowStartIndex[inner] + m_data.upperProfile(inner));
-                } else {
-                    return m_data.upper(m_rowStartIndex[inner] + (outer - inner));
-                }
-            }
-
-            if (outer < inner) //lower matrix
-            {
-                const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-                if (inner > maxInnerIndex) //The value does not yet exist
-                {
-                    const Index previousProfile = m_data.lowerProfile(outer);
-                    m_data.lowerProfile(outer) = inner - outer;
-
-                    const Index bandIncrement = m_data.lowerProfile(outer) - previousProfile;
-                    //shift data stored after this new one
-                    const Index stop = m_colStartIndex[cols()];
-                    const Index start = m_colStartIndex[outer + 1];
-
-                    for (Index innerIdx = stop; innerIdx >= start; innerIdx--) {
-                        m_data.lower(innerIdx + bandIncrement) = m_data.lower(innerIdx);
-                    }
-
-                    for (Index innerIdx = outer + 1; innerIdx < outerSize() + 1; innerIdx++) {
-                        m_colStartIndex[innerIdx] += bandIncrement;
-                    }
-                    memset(this->_lowerPtr() + m_colStartIndex[outer] + previousProfile + 1, 0, (bandIncrement - 1) * sizeof (Scalar));
-                    return m_data.lower(m_colStartIndex[outer] + m_data.lowerProfile(outer));
-                } else {
-                    return m_data.lower(m_colStartIndex[outer] + (inner - outer));
-                }
-            }
-        }
-    }
-
-    /** Must be called after inserting a set of non zero entries.
-     */
-    inline void finalize() {
-        if (IsRowMajor) {
-            if (rows() > cols())
-                m_data.resize(cols(), cols(), rows(), m_colStartIndex[cols()] + 1, m_rowStartIndex[rows()] + 1);
-            else
-                m_data.resize(rows(), cols(), rows(), m_colStartIndex[cols()] + 1, m_rowStartIndex[rows()] + 1);
-
-            //            eigen_assert(rows() == cols() && "memory reorganisatrion only works with suare matrix");
-            //
-            //            Scalar* newArray = new Scalar[m_colStartIndex[cols()] + 1 + m_rowStartIndex[rows()] + 1];
-            //            Index dataIdx = 0;
-            //            for (Index row = 0; row < rows(); row++) {
-            //
-            //                const Index nbLowerElts = m_rowStartIndex[row + 1] - m_rowStartIndex[row];
-            //                //                std::cout << "nbLowerElts" << nbLowerElts << std::endl;
-            //                memcpy(newArray + dataIdx, m_data.m_lower + m_rowStartIndex[row], nbLowerElts * sizeof (Scalar));
-            //                m_rowStartIndex[row] = dataIdx;
-            //                dataIdx += nbLowerElts;
-            //
-            //                const Index nbUpperElts = m_colStartIndex[row + 1] - m_colStartIndex[row];
-            //                memcpy(newArray + dataIdx, m_data.m_upper + m_colStartIndex[row], nbUpperElts * sizeof (Scalar));
-            //                m_colStartIndex[row] = dataIdx;
-            //                dataIdx += nbUpperElts;
-            //
-            //
-            //            }
-            //            //todo : don't access m_data profile directly : add an accessor from SkylineMatrix
-            //            m_rowStartIndex[rows()] = m_rowStartIndex[rows()-1] + m_data.lowerProfile(rows()-1);
-            //            m_colStartIndex[cols()] = m_colStartIndex[cols()-1] + m_data.upperProfile(cols()-1);
-            //
-            //            delete[] m_data.m_lower;
-            //            delete[] m_data.m_upper;
-            //
-            //            m_data.m_lower = newArray;
-            //            m_data.m_upper = newArray;
-        } else {
-            if (rows() > cols())
-                m_data.resize(cols(), rows(), cols(), m_rowStartIndex[cols()] + 1, m_colStartIndex[cols()] + 1);
-            else
-                m_data.resize(rows(), rows(), cols(), m_rowStartIndex[rows()] + 1, m_colStartIndex[rows()] + 1);
-        }
-    }
-
-    inline void squeeze() {
-        finalize();
-        m_data.squeeze();
-    }
-
-    void prune(Scalar reference, RealScalar epsilon = dummy_precision<RealScalar > ()) {
-        //TODO
-    }
-
-    /** Resizes the matrix to a \a rows x \a cols matrix and initializes it to zero
-     * \sa resizeNonZeros(Index), reserve(), setZero()
-     */
-    void resize(size_t rows, size_t cols) {
-        const Index diagSize = rows > cols ? cols : rows;
-        m_innerSize = IsRowMajor ? cols : rows;
-
-        eigen_assert(rows == cols && "Skyline matrix must be square matrix");
-
-        if (diagSize % 2) { // diagSize is odd
-            const Index k = (diagSize - 1) / 2;
-
-            m_data.resize(diagSize, IsRowMajor ? cols : rows, IsRowMajor ? rows : cols,
-                    2 * k * k + k + 1,
-                    2 * k * k + k + 1);
-
-        } else // diagSize is even
-        {
-            const Index k = diagSize / 2;
-            m_data.resize(diagSize, IsRowMajor ? cols : rows, IsRowMajor ? rows : cols,
-                    2 * k * k - k + 1,
-                    2 * k * k - k + 1);
-        }
-
-        if (m_colStartIndex && m_rowStartIndex) {
-            delete[] m_colStartIndex;
-            delete[] m_rowStartIndex;
-        }
-        m_colStartIndex = new Index [cols + 1];
-        m_rowStartIndex = new Index [rows + 1];
-        m_outerSize = diagSize;
-
-        m_data.reset();
-        m_data.clear();
-
-        m_outerSize = diagSize;
-        memset(m_colStartIndex, 0, (cols + 1) * sizeof (Index));
-        memset(m_rowStartIndex, 0, (rows + 1) * sizeof (Index));
-    }
-
-    void resizeNonZeros(Index size) {
-        m_data.resize(size);
-    }
-
-    inline SkylineMatrix()
-    : m_outerSize(-1), m_innerSize(0), m_colStartIndex(0), m_rowStartIndex(0) {
-        resize(0, 0);
-    }
-
-    inline SkylineMatrix(size_t rows, size_t cols)
-    : m_outerSize(0), m_innerSize(0), m_colStartIndex(0), m_rowStartIndex(0) {
-        resize(rows, cols);
-    }
-
-    template<typename OtherDerived>
-    inline SkylineMatrix(const SkylineMatrixBase<OtherDerived>& other)
-    : m_outerSize(0), m_innerSize(0), m_colStartIndex(0), m_rowStartIndex(0) {
-        *this = other.derived();
-    }
-
-    inline SkylineMatrix(const SkylineMatrix & other)
-    : Base(), m_outerSize(0), m_innerSize(0), m_colStartIndex(0), m_rowStartIndex(0) {
-        *this = other.derived();
-    }
-
-    inline void swap(SkylineMatrix & other) {
-        //EIGEN_DBG_SKYLINE(std::cout << "SkylineMatrix:: swap\n");
-        std::swap(m_colStartIndex, other.m_colStartIndex);
-        std::swap(m_rowStartIndex, other.m_rowStartIndex);
-        std::swap(m_innerSize, other.m_innerSize);
-        std::swap(m_outerSize, other.m_outerSize);
-        m_data.swap(other.m_data);
-    }
-
-    inline SkylineMatrix & operator=(const SkylineMatrix & other) {
-        std::cout << "SkylineMatrix& operator=(const SkylineMatrix& other)\n";
-        if (other.isRValue()) {
-            swap(other.const_cast_derived());
-        } else {
-            resize(other.rows(), other.cols());
-            memcpy(m_colStartIndex, other.m_colStartIndex, (m_outerSize + 1) * sizeof (Index));
-            memcpy(m_rowStartIndex, other.m_rowStartIndex, (m_outerSize + 1) * sizeof (Index));
-            m_data = other.m_data;
-        }
-        return *this;
-    }
-
-    template<typename OtherDerived>
-            inline SkylineMatrix & operator=(const SkylineMatrixBase<OtherDerived>& other) {
-        const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
-        if (needToTranspose) {
-            //         TODO
-            //            return *this;
-        } else {
-            // there is no special optimization
-            return SkylineMatrixBase<SkylineMatrix>::operator=(other.derived());
-        }
-    }
-
-    friend std::ostream & operator <<(std::ostream & s, const SkylineMatrix & m) {
-
-        EIGEN_DBG_SKYLINE(
-        std::cout << "upper elements : " << std::endl;
-        for (Index i = 0; i < m.m_data.upperSize(); i++)
-            std::cout << m.m_data.upper(i) << "\t";
-        std::cout << std::endl;
-        std::cout << "upper profile : " << std::endl;
-        for (Index i = 0; i < m.m_data.upperProfileSize(); i++)
-            std::cout << m.m_data.upperProfile(i) << "\t";
-        std::cout << std::endl;
-        std::cout << "lower startIdx : " << std::endl;
-        for (Index i = 0; i < m.m_data.upperProfileSize(); i++)
-            std::cout << (IsRowMajor ? m.m_colStartIndex[i] : m.m_rowStartIndex[i]) << "\t";
-        std::cout << std::endl;
-
-
-        std::cout << "lower elements : " << std::endl;
-        for (Index i = 0; i < m.m_data.lowerSize(); i++)
-            std::cout << m.m_data.lower(i) << "\t";
-        std::cout << std::endl;
-        std::cout << "lower profile : " << std::endl;
-        for (Index i = 0; i < m.m_data.lowerProfileSize(); i++)
-            std::cout << m.m_data.lowerProfile(i) << "\t";
-        std::cout << std::endl;
-        std::cout << "lower startIdx : " << std::endl;
-        for (Index i = 0; i < m.m_data.lowerProfileSize(); i++)
-            std::cout << (IsRowMajor ? m.m_rowStartIndex[i] : m.m_colStartIndex[i]) << "\t";
-        std::cout << std::endl;
-        );
-        for (Index rowIdx = 0; rowIdx < m.rows(); rowIdx++) {
-            for (Index colIdx = 0; colIdx < m.cols(); colIdx++) {
-                s << m.coeff(rowIdx, colIdx) << "\t";
-            }
-            s << std::endl;
-        }
-        return s;
-    }
-
-    /** Destructor */
-    inline ~SkylineMatrix() {
-        delete[] m_colStartIndex;
-        delete[] m_rowStartIndex;
-    }
-
-    /** Overloaded for performance */
-    Scalar sum() const;
-};
-
-template<typename Scalar, int _Options>
-class SkylineMatrix<Scalar, _Options>::InnerUpperIterator {
-public:
-
-    InnerUpperIterator(const SkylineMatrix& mat, Index outer)
-    : m_matrix(mat), m_outer(outer),
-    m_id(_Options == RowMajor ? mat.m_colStartIndex[outer] : mat.m_rowStartIndex[outer] + 1),
-    m_start(m_id),
-    m_end(_Options == RowMajor ? mat.m_colStartIndex[outer + 1] : mat.m_rowStartIndex[outer + 1] + 1) {
-    }
-
-    inline InnerUpperIterator & operator++() {
-        m_id++;
-        return *this;
-    }
-
-    inline InnerUpperIterator & operator+=(Index shift) {
-        m_id += shift;
-        return *this;
-    }
-
-    inline Scalar value() const {
-        return m_matrix.m_data.upper(m_id);
-    }
-
-    inline Scalar* valuePtr() {
-        return const_cast<Scalar*> (&(m_matrix.m_data.upper(m_id)));
-    }
-
-    inline Scalar& valueRef() {
-        return const_cast<Scalar&> (m_matrix.m_data.upper(m_id));
-    }
-
-    inline Index index() const {
-        return IsRowMajor ? m_outer - m_matrix.m_data.upperProfile(m_outer) + (m_id - m_start) :
-                m_outer + (m_id - m_start) + 1;
-    }
-
-    inline Index row() const {
-        return IsRowMajor ? index() : m_outer;
-    }
-
-    inline Index col() const {
-        return IsRowMajor ? m_outer : index();
-    }
-
-    inline size_t size() const {
-        return m_matrix.m_data.upperProfile(m_outer);
-    }
-
-    inline operator bool() const {
-        return (m_id < m_end) && (m_id >= m_start);
-    }
-
-protected:
-    const SkylineMatrix& m_matrix;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-    const Index m_end;
-};
-
-template<typename Scalar, int _Options>
-class SkylineMatrix<Scalar, _Options>::InnerLowerIterator {
-public:
-
-    InnerLowerIterator(const SkylineMatrix& mat, Index outer)
-    : m_matrix(mat),
-    m_outer(outer),
-    m_id(_Options == RowMajor ? mat.m_rowStartIndex[outer] : mat.m_colStartIndex[outer] + 1),
-    m_start(m_id),
-    m_end(_Options == RowMajor ? mat.m_rowStartIndex[outer + 1] : mat.m_colStartIndex[outer + 1] + 1) {
-    }
-
-    inline InnerLowerIterator & operator++() {
-        m_id++;
-        return *this;
-    }
-
-    inline InnerLowerIterator & operator+=(Index shift) {
-        m_id += shift;
-        return *this;
-    }
-
-    inline Scalar value() const {
-        return m_matrix.m_data.lower(m_id);
-    }
-
-    inline Scalar* valuePtr() {
-        return const_cast<Scalar*> (&(m_matrix.m_data.lower(m_id)));
-    }
-
-    inline Scalar& valueRef() {
-        return const_cast<Scalar&> (m_matrix.m_data.lower(m_id));
-    }
-
-    inline Index index() const {
-        return IsRowMajor ? m_outer - m_matrix.m_data.lowerProfile(m_outer) + (m_id - m_start) :
-                m_outer + (m_id - m_start) + 1;
-        ;
-    }
-
-    inline Index row() const {
-        return IsRowMajor ? m_outer : index();
-    }
-
-    inline Index col() const {
-        return IsRowMajor ? index() : m_outer;
-    }
-
-    inline size_t size() const {
-        return m_matrix.m_data.lowerProfile(m_outer);
-    }
-
-    inline operator bool() const {
-        return (m_id < m_end) && (m_id >= m_start);
-    }
-
-protected:
-    const SkylineMatrix& m_matrix;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-    const Index m_end;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_SkylineMatrix_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h b/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h
deleted file mode 100644
index b3a237230c14a4..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h
+++ /dev/null
@@ -1,212 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEMATRIXBASE_H
-#define EIGEN_SKYLINEMATRIXBASE_H
-
-#include "SkylineUtil.h"
-
-namespace Eigen { 
-
-/** \ingroup Skyline_Module
- *
- * \class SkylineMatrixBase
- *
- * \brief Base class of any skyline matrices or skyline expressions
- *
- * \param Derived
- *
- */
-template<typename Derived> class SkylineMatrixBase : public EigenBase<Derived> {
-public:
-
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::index<StorageKind>::type Index;
-
-    enum {
-        RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
-        /**< The number of rows at compile-time. This is just a copy of the value provided
-         * by the \a Derived type. If a value is not known at compile-time,
-         * it is set to the \a Dynamic constant.
-         * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
-
-        ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
-        /**< The number of columns at compile-time. This is just a copy of the value provided
-         * by the \a Derived type. If a value is not known at compile-time,
-         * it is set to the \a Dynamic constant.
-         * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
-
-
-        SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
-        internal::traits<Derived>::ColsAtCompileTime>::ret),
-        /**< This is equal to the number of coefficients, i.e. the number of
-         * rows times the number of columns, or to \a Dynamic if this is not
-         * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
-
-        MaxRowsAtCompileTime = RowsAtCompileTime,
-        MaxColsAtCompileTime = ColsAtCompileTime,
-
-        MaxSizeAtCompileTime = (internal::size_at_compile_time<MaxRowsAtCompileTime,
-        MaxColsAtCompileTime>::ret),
-
-        IsVectorAtCompileTime = RowsAtCompileTime == 1 || ColsAtCompileTime == 1,
-        /**< This is set to true if either the number of rows or the number of
-         * columns is known at compile-time to be equal to 1. Indeed, in that case,
-         * we are dealing with a column-vector (if there is only one column) or with
-         * a row-vector (if there is only one row). */
-
-        Flags = internal::traits<Derived>::Flags,
-        /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
-         * constructed from this one. See the \ref flags "list of flags".
-         */
-
-        CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
-        /**< This is a rough measure of how expensive it is to read one coefficient from
-         * this expression.
-         */
-
-        IsRowMajor = Flags & RowMajorBit ? 1 : 0
-    };
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is the "real scalar" type; if the \a Scalar type is already real numbers
-     * (e.g. int, float or double) then \a RealScalar is just the same as \a Scalar. If
-     * \a Scalar is \a std::complex<T> then RealScalar is \a T.
-     *
-     * \sa class NumTraits
-     */
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    /** type of the equivalent square matrix */
-    typedef Matrix<Scalar, EIGEN_SIZE_MAX(RowsAtCompileTime, ColsAtCompileTime),
-                           EIGEN_SIZE_MAX(RowsAtCompileTime, ColsAtCompileTime) > SquareMatrixType;
-
-    inline const Derived& derived() const {
-        return *static_cast<const Derived*> (this);
-    }
-
-    inline Derived& derived() {
-        return *static_cast<Derived*> (this);
-    }
-
-    inline Derived& const_cast_derived() const {
-        return *static_cast<Derived*> (const_cast<SkylineMatrixBase*> (this));
-    }
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
-    inline Index rows() const {
-        return derived().rows();
-    }
-
-    /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
-    inline Index cols() const {
-        return derived().cols();
-    }
-
-    /** \returns the number of coefficients, which is \a rows()*cols().
-     * \sa rows(), cols(), SizeAtCompileTime. */
-    inline Index size() const {
-        return rows() * cols();
-    }
-
-    /** \returns the number of nonzero coefficients which is in practice the number
-     * of stored coefficients. */
-    inline Index nonZeros() const {
-        return derived().nonZeros();
-    }
-
-    /** \returns the size of the storage major dimension,
-     * i.e., the number of columns for a columns major matrix, and the number of rows otherwise */
-    Index outerSize() const {
-        return (int(Flags) & RowMajorBit) ? this->rows() : this->cols();
-    }
-
-    /** \returns the size of the inner dimension according to the storage order,
-     * i.e., the number of rows for a columns major matrix, and the number of cols otherwise */
-    Index innerSize() const {
-        return (int(Flags) & RowMajorBit) ? this->cols() : this->rows();
-    }
-
-    bool isRValue() const {
-        return m_isRValue;
-    }
-
-    Derived& markAsRValue() {
-        m_isRValue = true;
-        return derived();
-    }
-
-    SkylineMatrixBase() : m_isRValue(false) {
-        /* TODO check flags */
-    }
-
-    inline Derived & operator=(const Derived& other) {
-        this->operator=<Derived > (other);
-        return derived();
-    }
-
-    template<typename OtherDerived>
-    inline void assignGeneric(const OtherDerived& other) {
-        derived().resize(other.rows(), other.cols());
-        for (Index row = 0; row < rows(); row++)
-            for (Index col = 0; col < cols(); col++) {
-                if (other.coeff(row, col) != Scalar(0))
-                    derived().insert(row, col) = other.coeff(row, col);
-            }
-        derived().finalize();
-    }
-
-    template<typename OtherDerived>
-            inline Derived & operator=(const SkylineMatrixBase<OtherDerived>& other) {
-        //TODO
-    }
-
-    template<typename Lhs, typename Rhs>
-            inline Derived & operator=(const SkylineProduct<Lhs, Rhs, SkylineTimeSkylineProduct>& product);
-
-    friend std::ostream & operator <<(std::ostream & s, const SkylineMatrixBase& m) {
-        s << m.derived();
-        return s;
-    }
-
-    template<typename OtherDerived>
-    const typename SkylineProductReturnType<Derived, OtherDerived>::Type
-    operator*(const MatrixBase<OtherDerived> &other) const;
-
-    /** \internal use operator= */
-    template<typename DenseDerived>
-    void evalTo(MatrixBase<DenseDerived>& dst) const {
-        dst.setZero();
-        for (Index i = 0; i < rows(); i++)
-            for (Index j = 0; j < rows(); j++)
-                dst(i, j) = derived().coeff(i, j);
-    }
-
-    Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime> toDense() const {
-        return derived();
-    }
-
-    /** \returns the matrix or vector obtained by evaluating this expression.
-     *
-     * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
-     * a const reference, in order to avoid a useless copy.
-     */
-    EIGEN_STRONG_INLINE const typename internal::eval<Derived, IsSkyline>::type eval() const {
-        return typename internal::eval<Derived>::type(derived());
-    }
-
-protected:
-    bool m_isRValue;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_SkylineMatrixBase_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h b/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h
deleted file mode 100644
index d9eb814c1c081e..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h
+++ /dev/null
@@ -1,295 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEPRODUCT_H
-#define EIGEN_SKYLINEPRODUCT_H
-
-namespace Eigen { 
-
-template<typename Lhs, typename Rhs, int ProductMode>
-struct SkylineProductReturnType {
-    typedef const typename internal::nested_eval<Lhs, Rhs::RowsAtCompileTime>::type LhsNested;
-    typedef const typename internal::nested_eval<Rhs, Lhs::RowsAtCompileTime>::type RhsNested;
-
-    typedef SkylineProduct<LhsNested, RhsNested, ProductMode> Type;
-};
-
-template<typename LhsNested, typename RhsNested, int ProductMode>
-struct internal::traits<SkylineProduct<LhsNested, RhsNested, ProductMode> > {
-    // clean the nested types:
-    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
-    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
-    typedef typename _LhsNested::Scalar Scalar;
-
-    enum {
-        LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-        RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-        LhsFlags = _LhsNested::Flags,
-        RhsFlags = _RhsNested::Flags,
-
-        RowsAtCompileTime = _LhsNested::RowsAtCompileTime,
-        ColsAtCompileTime = _RhsNested::ColsAtCompileTime,
-        InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
-
-        MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
-        MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
-
-        EvalToRowMajor = (RhsFlags & LhsFlags & RowMajorBit),
-        ResultIsSkyline = ProductMode == SkylineTimeSkylineProduct,
-
-        RemovedBits = ~((EvalToRowMajor ? 0 : RowMajorBit) | (ResultIsSkyline ? 0 : SkylineBit)),
-
-        Flags = (int(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-        | EvalBeforeAssigningBit
-        | EvalBeforeNestingBit,
-
-        CoeffReadCost = HugeCost
-    };
-
-    typedef typename internal::conditional<ResultIsSkyline,
-            SkylineMatrixBase<SkylineProduct<LhsNested, RhsNested, ProductMode> >,
-            MatrixBase<SkylineProduct<LhsNested, RhsNested, ProductMode> > >::type Base;
-};
-
-namespace internal {
-template<typename LhsNested, typename RhsNested, int ProductMode>
-class SkylineProduct : no_assignment_operator,
-public traits<SkylineProduct<LhsNested, RhsNested, ProductMode> >::Base {
-public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(SkylineProduct)
-
-private:
-
-    typedef typename traits<SkylineProduct>::_LhsNested _LhsNested;
-    typedef typename traits<SkylineProduct>::_RhsNested _RhsNested;
-
-public:
-
-    template<typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE SkylineProduct(const Lhs& lhs, const Rhs& rhs)
-    : m_lhs(lhs), m_rhs(rhs) {
-        eigen_assert(lhs.cols() == rhs.rows());
-
-        enum {
-            ProductIsValid = _LhsNested::ColsAtCompileTime == Dynamic
-            || _RhsNested::RowsAtCompileTime == Dynamic
-            || int(_LhsNested::ColsAtCompileTime) == int(_RhsNested::RowsAtCompileTime),
-            AreVectors = _LhsNested::IsVectorAtCompileTime && _RhsNested::IsVectorAtCompileTime,
-            SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(_LhsNested, _RhsNested)
-        };
-        // note to the lost user:
-        //    * for a dot product use: v1.dot(v2)
-        //    * for a coeff-wise product use: v1.cwise()*v2
-        EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
-                INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
-                EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
-                INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
-                EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const {
-        return m_lhs.rows();
-    }
-
-    EIGEN_STRONG_INLINE Index cols() const {
-        return m_rhs.cols();
-    }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const {
-        return m_lhs;
-    }
-
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const {
-        return m_rhs;
-    }
-
-protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-};
-
-// dense = skyline * dense
-// Note that here we force no inlining and separate the setZero() because GCC messes up otherwise
-
-template<typename Lhs, typename Rhs, typename Dest>
-EIGEN_DONT_INLINE void skyline_row_major_time_dense_product(const Lhs& lhs, const Rhs& rhs, Dest& dst) {
-    typedef typename remove_all<Lhs>::type _Lhs;
-    typedef typename remove_all<Rhs>::type _Rhs;
-    typedef typename traits<Lhs>::Scalar Scalar;
-
-    enum {
-        LhsIsRowMajor = (_Lhs::Flags & RowMajorBit) == RowMajorBit,
-        LhsIsSelfAdjoint = (_Lhs::Flags & SelfAdjointBit) == SelfAdjointBit,
-        ProcessFirstHalf = LhsIsSelfAdjoint
-        && (((_Lhs::Flags & (UpperTriangularBit | LowerTriangularBit)) == 0)
-        || ((_Lhs::Flags & UpperTriangularBit) && !LhsIsRowMajor)
-        || ((_Lhs::Flags & LowerTriangularBit) && LhsIsRowMajor)),
-        ProcessSecondHalf = LhsIsSelfAdjoint && (!ProcessFirstHalf)
-    };
-
-    //Use matrix diagonal part <- Improvement : use inner iterator on dense matrix.
-    for (Index col = 0; col < rhs.cols(); col++) {
-        for (Index row = 0; row < lhs.rows(); row++) {
-            dst(row, col) = lhs.coeffDiag(row) * rhs(row, col);
-        }
-    }
-    //Use matrix lower triangular part
-    for (Index row = 0; row < lhs.rows(); row++) {
-        typename _Lhs::InnerLowerIterator lIt(lhs, row);
-        const Index stop = lIt.col() + lIt.size();
-        for (Index col = 0; col < rhs.cols(); col++) {
-
-            Index k = lIt.col();
-            Scalar tmp = 0;
-            while (k < stop) {
-                tmp +=
-                        lIt.value() *
-                        rhs(k++, col);
-                ++lIt;
-            }
-            dst(row, col) += tmp;
-            lIt += -lIt.size();
-        }
-
-    }
-
-    //Use matrix upper triangular part
-    for (Index lhscol = 0; lhscol < lhs.cols(); lhscol++) {
-        typename _Lhs::InnerUpperIterator uIt(lhs, lhscol);
-        const Index stop = uIt.size() + uIt.row();
-        for (Index rhscol = 0; rhscol < rhs.cols(); rhscol++) {
-
-
-            const Scalar rhsCoeff = rhs.coeff(lhscol, rhscol);
-            Index k = uIt.row();
-            while (k < stop) {
-                dst(k++, rhscol) +=
-                        uIt.value() *
-                        rhsCoeff;
-                ++uIt;
-            }
-            uIt += -uIt.size();
-        }
-    }
-
-}
-
-template<typename Lhs, typename Rhs, typename Dest>
-EIGEN_DONT_INLINE void skyline_col_major_time_dense_product(const Lhs& lhs, const Rhs& rhs, Dest& dst) {
-    typedef typename remove_all<Lhs>::type _Lhs;
-    typedef typename remove_all<Rhs>::type _Rhs;
-    typedef typename traits<Lhs>::Scalar Scalar;
-
-    enum {
-        LhsIsRowMajor = (_Lhs::Flags & RowMajorBit) == RowMajorBit,
-        LhsIsSelfAdjoint = (_Lhs::Flags & SelfAdjointBit) == SelfAdjointBit,
-        ProcessFirstHalf = LhsIsSelfAdjoint
-        && (((_Lhs::Flags & (UpperTriangularBit | LowerTriangularBit)) == 0)
-        || ((_Lhs::Flags & UpperTriangularBit) && !LhsIsRowMajor)
-        || ((_Lhs::Flags & LowerTriangularBit) && LhsIsRowMajor)),
-        ProcessSecondHalf = LhsIsSelfAdjoint && (!ProcessFirstHalf)
-    };
-
-    //Use matrix diagonal part <- Improvement : use inner iterator on dense matrix.
-    for (Index col = 0; col < rhs.cols(); col++) {
-        for (Index row = 0; row < lhs.rows(); row++) {
-            dst(row, col) = lhs.coeffDiag(row) * rhs(row, col);
-        }
-    }
-
-    //Use matrix upper triangular part
-    for (Index row = 0; row < lhs.rows(); row++) {
-        typename _Lhs::InnerUpperIterator uIt(lhs, row);
-        const Index stop = uIt.col() + uIt.size();
-        for (Index col = 0; col < rhs.cols(); col++) {
-
-            Index k = uIt.col();
-            Scalar tmp = 0;
-            while (k < stop) {
-                tmp +=
-                        uIt.value() *
-                        rhs(k++, col);
-                ++uIt;
-            }
-
-
-            dst(row, col) += tmp;
-            uIt += -uIt.size();
-        }
-    }
-
-    //Use matrix lower triangular part
-    for (Index lhscol = 0; lhscol < lhs.cols(); lhscol++) {
-        typename _Lhs::InnerLowerIterator lIt(lhs, lhscol);
-        const Index stop = lIt.size() + lIt.row();
-        for (Index rhscol = 0; rhscol < rhs.cols(); rhscol++) {
-
-            const Scalar rhsCoeff = rhs.coeff(lhscol, rhscol);
-            Index k = lIt.row();
-            while (k < stop) {
-                dst(k++, rhscol) +=
-                        lIt.value() *
-                        rhsCoeff;
-                ++lIt;
-            }
-            lIt += -lIt.size();
-        }
-    }
-
-}
-
-template<typename Lhs, typename Rhs, typename ResultType,
-        int LhsStorageOrder = traits<Lhs>::Flags&RowMajorBit>
-        struct skyline_product_selector;
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct skyline_product_selector<Lhs, Rhs, ResultType, RowMajor> {
-    typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
-
-    static void run(const Lhs& lhs, const Rhs& rhs, ResultType & res) {
-        skyline_row_major_time_dense_product<Lhs, Rhs, ResultType > (lhs, rhs, res);
-    }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct skyline_product_selector<Lhs, Rhs, ResultType, ColMajor> {
-    typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
-
-    static void run(const Lhs& lhs, const Rhs& rhs, ResultType & res) {
-        skyline_col_major_time_dense_product<Lhs, Rhs, ResultType > (lhs, rhs, res);
-    }
-};
-
-} // end namespace internal
-
-// template<typename Derived>
-// template<typename Lhs, typename Rhs >
-// Derived & MatrixBase<Derived>::lazyAssign(const SkylineProduct<Lhs, Rhs, SkylineTimeDenseProduct>& product) {
-//     typedef typename internal::remove_all<Lhs>::type _Lhs;
-//     internal::skyline_product_selector<typename internal::remove_all<Lhs>::type,
-//             typename internal::remove_all<Rhs>::type,
-//             Derived>::run(product.lhs(), product.rhs(), derived());
-// 
-//     return derived();
-// }
-
-// skyline * dense
-
-template<typename Derived>
-template<typename OtherDerived >
-EIGEN_STRONG_INLINE const typename SkylineProductReturnType<Derived, OtherDerived>::Type
-SkylineMatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const {
-
-    return typename SkylineProductReturnType<Derived, OtherDerived>::Type(derived(), other.derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SKYLINEPRODUCT_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h b/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h
deleted file mode 100644
index 378a8deb4fc1c9..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h
+++ /dev/null
@@ -1,259 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINE_STORAGE_H
-#define EIGEN_SKYLINE_STORAGE_H
-
-namespace Eigen { 
-
-/** Stores a skyline set of values in three structures :
- * The diagonal elements
- * The upper elements
- * The lower elements
- *
- */
-template<typename Scalar>
-class SkylineStorage {
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef SparseIndex Index;
-public:
-
-    SkylineStorage()
-    : m_diag(0),
-    m_lower(0),
-    m_upper(0),
-    m_lowerProfile(0),
-    m_upperProfile(0),
-    m_diagSize(0),
-    m_upperSize(0),
-    m_lowerSize(0),
-    m_upperProfileSize(0),
-    m_lowerProfileSize(0),
-    m_allocatedSize(0) {
-    }
-
-    SkylineStorage(const SkylineStorage& other)
-    : m_diag(0),
-    m_lower(0),
-    m_upper(0),
-    m_lowerProfile(0),
-    m_upperProfile(0),
-    m_diagSize(0),
-    m_upperSize(0),
-    m_lowerSize(0),
-    m_upperProfileSize(0),
-    m_lowerProfileSize(0),
-    m_allocatedSize(0) {
-        *this = other;
-    }
-
-    SkylineStorage & operator=(const SkylineStorage& other) {
-        resize(other.diagSize(), other.m_upperProfileSize, other.m_lowerProfileSize, other.upperSize(), other.lowerSize());
-        memcpy(m_diag, other.m_diag, m_diagSize * sizeof (Scalar));
-        memcpy(m_upper, other.m_upper, other.upperSize() * sizeof (Scalar));
-        memcpy(m_lower, other.m_lower, other.lowerSize() * sizeof (Scalar));
-        memcpy(m_upperProfile, other.m_upperProfile, m_upperProfileSize * sizeof (Index));
-        memcpy(m_lowerProfile, other.m_lowerProfile, m_lowerProfileSize * sizeof (Index));
-        return *this;
-    }
-
-    void swap(SkylineStorage& other) {
-        std::swap(m_diag, other.m_diag);
-        std::swap(m_upper, other.m_upper);
-        std::swap(m_lower, other.m_lower);
-        std::swap(m_upperProfile, other.m_upperProfile);
-        std::swap(m_lowerProfile, other.m_lowerProfile);
-        std::swap(m_diagSize, other.m_diagSize);
-        std::swap(m_upperSize, other.m_upperSize);
-        std::swap(m_lowerSize, other.m_lowerSize);
-        std::swap(m_allocatedSize, other.m_allocatedSize);
-    }
-
-    ~SkylineStorage() {
-        delete[] m_diag;
-        delete[] m_upper;
-        if (m_upper != m_lower)
-            delete[] m_lower;
-        delete[] m_upperProfile;
-        delete[] m_lowerProfile;
-    }
-
-    void reserve(Index size, Index upperProfileSize, Index lowerProfileSize, Index upperSize, Index lowerSize) {
-        Index newAllocatedSize = size + upperSize + lowerSize;
-        if (newAllocatedSize > m_allocatedSize)
-            reallocate(size, upperProfileSize, lowerProfileSize, upperSize, lowerSize);
-    }
-
-    void squeeze() {
-        if (m_allocatedSize > m_diagSize + m_upperSize + m_lowerSize)
-            reallocate(m_diagSize, m_upperProfileSize, m_lowerProfileSize, m_upperSize, m_lowerSize);
-    }
-
-    void resize(Index diagSize, Index upperProfileSize, Index lowerProfileSize, Index upperSize, Index lowerSize, float reserveSizeFactor = 0) {
-        if (m_allocatedSize < diagSize + upperSize + lowerSize)
-            reallocate(diagSize, upperProfileSize, lowerProfileSize, upperSize + Index(reserveSizeFactor * upperSize), lowerSize + Index(reserveSizeFactor * lowerSize));
-        m_diagSize = diagSize;
-        m_upperSize = upperSize;
-        m_lowerSize = lowerSize;
-        m_upperProfileSize = upperProfileSize;
-        m_lowerProfileSize = lowerProfileSize;
-    }
-
-    inline Index diagSize() const {
-        return m_diagSize;
-    }
-
-    inline Index upperSize() const {
-        return m_upperSize;
-    }
-
-    inline Index lowerSize() const {
-        return m_lowerSize;
-    }
-
-    inline Index upperProfileSize() const {
-        return m_upperProfileSize;
-    }
-
-    inline Index lowerProfileSize() const {
-        return m_lowerProfileSize;
-    }
-
-    inline Index allocatedSize() const {
-        return m_allocatedSize;
-    }
-
-    inline void clear() {
-        m_diagSize = 0;
-    }
-
-    inline Scalar& diag(Index i) {
-        return m_diag[i];
-    }
-
-    inline const Scalar& diag(Index i) const {
-        return m_diag[i];
-    }
-
-    inline Scalar& upper(Index i) {
-        return m_upper[i];
-    }
-
-    inline const Scalar& upper(Index i) const {
-        return m_upper[i];
-    }
-
-    inline Scalar& lower(Index i) {
-        return m_lower[i];
-    }
-
-    inline const Scalar& lower(Index i) const {
-        return m_lower[i];
-    }
-
-    inline Index& upperProfile(Index i) {
-        return m_upperProfile[i];
-    }
-
-    inline const Index& upperProfile(Index i) const {
-        return m_upperProfile[i];
-    }
-
-    inline Index& lowerProfile(Index i) {
-        return m_lowerProfile[i];
-    }
-
-    inline const Index& lowerProfile(Index i) const {
-        return m_lowerProfile[i];
-    }
-
-    static SkylineStorage Map(Index* upperProfile, Index* lowerProfile, Scalar* diag, Scalar* upper, Scalar* lower, Index size, Index upperSize, Index lowerSize) {
-        SkylineStorage res;
-        res.m_upperProfile = upperProfile;
-        res.m_lowerProfile = lowerProfile;
-        res.m_diag = diag;
-        res.m_upper = upper;
-        res.m_lower = lower;
-        res.m_allocatedSize = res.m_diagSize = size;
-        res.m_upperSize = upperSize;
-        res.m_lowerSize = lowerSize;
-        return res;
-    }
-
-    inline void reset() {
-        memset(m_diag, 0, m_diagSize * sizeof (Scalar));
-        memset(m_upper, 0, m_upperSize * sizeof (Scalar));
-        memset(m_lower, 0, m_lowerSize * sizeof (Scalar));
-        memset(m_upperProfile, 0, m_diagSize * sizeof (Index));
-        memset(m_lowerProfile, 0, m_diagSize * sizeof (Index));
-    }
-
-    void prune(Scalar reference, RealScalar epsilon = dummy_precision<RealScalar>()) {
-        //TODO
-    }
-
-protected:
-
-    inline void reallocate(Index diagSize, Index upperProfileSize, Index lowerProfileSize, Index upperSize, Index lowerSize) {
-
-        Scalar* diag = new Scalar[diagSize];
-        Scalar* upper = new Scalar[upperSize];
-        Scalar* lower = new Scalar[lowerSize];
-        Index* upperProfile = new Index[upperProfileSize];
-        Index* lowerProfile = new Index[lowerProfileSize];
-
-        Index copyDiagSize = (std::min)(diagSize, m_diagSize);
-        Index copyUpperSize = (std::min)(upperSize, m_upperSize);
-        Index copyLowerSize = (std::min)(lowerSize, m_lowerSize);
-        Index copyUpperProfileSize = (std::min)(upperProfileSize, m_upperProfileSize);
-        Index copyLowerProfileSize = (std::min)(lowerProfileSize, m_lowerProfileSize);
-
-        // copy
-        memcpy(diag, m_diag, copyDiagSize * sizeof (Scalar));
-        memcpy(upper, m_upper, copyUpperSize * sizeof (Scalar));
-        memcpy(lower, m_lower, copyLowerSize * sizeof (Scalar));
-        memcpy(upperProfile, m_upperProfile, copyUpperProfileSize * sizeof (Index));
-        memcpy(lowerProfile, m_lowerProfile, copyLowerProfileSize * sizeof (Index));
-
-
-
-        // delete old stuff
-        delete[] m_diag;
-        delete[] m_upper;
-        delete[] m_lower;
-        delete[] m_upperProfile;
-        delete[] m_lowerProfile;
-        m_diag = diag;
-        m_upper = upper;
-        m_lower = lower;
-        m_upperProfile = upperProfile;
-        m_lowerProfile = lowerProfile;
-        m_allocatedSize = diagSize + upperSize + lowerSize;
-        m_upperSize = upperSize;
-        m_lowerSize = lowerSize;
-    }
-
-public:
-    Scalar* m_diag;
-    Scalar* m_upper;
-    Scalar* m_lower;
-    Index* m_upperProfile;
-    Index* m_lowerProfile;
-    Index m_diagSize;
-    Index m_upperSize;
-    Index m_lowerSize;
-    Index m_upperProfileSize;
-    Index m_lowerProfileSize;
-    Index m_allocatedSize;
-
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPRESSED_STORAGE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h b/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h
deleted file mode 100644
index 75eb612f4c002a..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h
+++ /dev/null
@@ -1,89 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEUTIL_H
-#define EIGEN_SKYLINEUTIL_H
-
-namespace Eigen { 
-
-#ifdef NDEBUG
-#define EIGEN_DBG_SKYLINE(X)
-#else
-#define EIGEN_DBG_SKYLINE(X) X
-#endif
-
-const unsigned int SkylineBit = 0x1200;
-template<typename Lhs, typename Rhs, int ProductMode> class SkylineProduct;
-enum AdditionalProductEvaluationMode {SkylineTimeDenseProduct, SkylineTimeSkylineProduct, DenseTimeSkylineProduct};
-enum {IsSkyline = SkylineBit};
-
-
-#define EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename OtherDerived> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::SkylineMatrixBase<OtherDerived>& other) \
-{ \
-  return Base::operator Op(other.derived()); \
-} \
-EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
-{ \
-  return Base::operator Op(other); \
-}
-
-#define EIGEN_SKYLINE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename Other> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
-{ \
-  return Base::operator Op(scalar); \
-}
-
-#define EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
-  EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
-  EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
-  EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
-  EIGEN_SKYLINE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
-  EIGEN_SKYLINE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
-
-#define _EIGEN_SKYLINE_GENERIC_PUBLIC_INTERFACE(Derived, BaseClass) \
-  typedef BaseClass Base; \
-  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; \
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; \
-  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
-  typedef typename Eigen::internal::index<StorageKind>::type Index; \
-  enum {  Flags = Eigen::internal::traits<Derived>::Flags, };
-
-#define EIGEN_SKYLINE_GENERIC_PUBLIC_INTERFACE(Derived) \
-  _EIGEN_SKYLINE_GENERIC_PUBLIC_INTERFACE(Derived, Eigen::SkylineMatrixBase<Derived>)
-
-template<typename Derived> class SkylineMatrixBase;
-template<typename _Scalar, int _Flags = 0> class SkylineMatrix;
-template<typename _Scalar, int _Flags = 0> class DynamicSkylineMatrix;
-template<typename _Scalar, int _Flags = 0> class SkylineVector;
-template<typename _Scalar, int _Flags = 0> class MappedSkylineMatrix;
-
-namespace internal {
-
-template<typename Lhs, typename Rhs> struct skyline_product_mode;
-template<typename Lhs, typename Rhs, int ProductMode = skyline_product_mode<Lhs,Rhs>::value> struct SkylineProductReturnType;
-
-template<typename T> class eval<T,IsSkyline>
-{
-    typedef typename traits<T>::Scalar _Scalar;
-    enum {
-          _Flags = traits<T>::Flags
-    };
-
-  public:
-    typedef SkylineMatrix<_Scalar, _Flags> type;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SKYLINEUTIL_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h b/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h
deleted file mode 100644
index e9ec746e3b174d..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h
+++ /dev/null
@@ -1,122 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H
-#define EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H
-
-namespace Eigen { 
-
-#if 0
-
-// NOTE Have to be reimplemented as a specialization of BlockImpl< DynamicSparseMatrix<_Scalar, _Options, _Index>, ... >
-// See SparseBlock.h for an example
-
-
-/***************************************************************************
-* specialisation for DynamicSparseMatrix
-***************************************************************************/
-
-template<typename _Scalar, int _Options, typename _Index, int Size>
-class SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options, _Index>, Size>
-  : public SparseMatrixBase<SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options, _Index>, Size> >
-{
-    typedef DynamicSparseMatrix<_Scalar, _Options, _Index> MatrixType;
-  public:
-
-    enum { IsRowMajor = internal::traits<SparseInnerVectorSet>::IsRowMajor };
-
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet)
-    class InnerIterator: public MatrixType::InnerIterator
-    {
-      public:
-        inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer)
-          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-
-    inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize)
-      : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
-    {
-      eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
-    }
-
-    inline SparseInnerVectorSet(const MatrixType& matrix, Index outer)
-      : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
-    {
-      eigen_assert(Size!=Dynamic);
-      eigen_assert( (outer>=0) && (outer<matrix.outerSize()) );
-    }
-
-    template<typename OtherDerived>
-    inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
-    {
-      if (IsRowMajor != ((OtherDerived::Flags&RowMajorBit)==RowMajorBit))
-      {
-        // need to transpose => perform a block evaluation followed by a big swap
-        DynamicSparseMatrix<Scalar,IsRowMajor?RowMajorBit:0> aux(other);
-        *this = aux.markAsRValue();
-      }
-      else
-      {
-        // evaluate/copy vector per vector
-        for (Index j=0; j<m_outerSize.value(); ++j)
-        {
-          SparseVector<Scalar,IsRowMajor ? RowMajorBit : 0> aux(other.innerVector(j));
-          m_matrix.const_cast_derived()._data()[m_outerStart+j].swap(aux._data());
-        }
-      }
-      return *this;
-    }
-
-    inline SparseInnerVectorSet& operator=(const SparseInnerVectorSet& other)
-    {
-      return operator=<SparseInnerVectorSet>(other);
-    }
-
-    Index nonZeros() const
-    {
-      Index count = 0;
-      for (Index j=0; j<m_outerSize.value(); ++j)
-        count += m_matrix._data()[m_outerStart+j].size();
-      return count;
-    }
-
-    const Scalar& lastCoeff() const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(SparseInnerVectorSet);
-      eigen_assert(m_matrix.data()[m_outerStart].size()>0);
-      return m_matrix.data()[m_outerStart].vale(m_matrix.data()[m_outerStart].size()-1);
-    }
-
-//     template<typename Sparse>
-//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
-//     {
-//       return *this;
-//     }
-
-    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
-
-  protected:
-
-    const typename MatrixType::Nested m_matrix;
-    Index m_outerStart;
-    const internal::variable_if_dynamic<Index, Size> m_outerSize;
-
-};
-
-#endif
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h b/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h
deleted file mode 100644
index 0e8350a7dbd052..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h
+++ /dev/null
@@ -1,1079 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2013 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEBLOCKMATRIX_H
-#define EIGEN_SPARSEBLOCKMATRIX_H
-
-namespace Eigen { 
-/** \ingroup SparseCore_Module
-  *
-  * \class BlockSparseMatrix
-  *
-  * \brief A versatile sparse matrix representation where each element is a block
-  *
-  * This class provides routines to manipulate block sparse matrices stored in a
-  * BSR-like representation. There are two main types :
-  *
-  * 1. All blocks have the same number of rows and columns, called block size
-  * in the following. In this case, if this block size is known at compile time,
-  * it can be given as a template parameter like
-  * \code
-  * BlockSparseMatrix<Scalar, 3, ColMajor> bmat(b_rows, b_cols);
-  * \endcode
-  * Here, bmat is a b_rows x b_cols block sparse matrix
-  * where each coefficient is a 3x3 dense matrix.
-  * If the block size is fixed but will be given at runtime,
-  * \code
-  * BlockSparseMatrix<Scalar, Dynamic, ColMajor> bmat(b_rows, b_cols);
-  * bmat.setBlockSize(block_size);
-  * \endcode
-  *
-  * 2. The second case is for variable-block sparse matrices.
-  * Here each block has its own dimensions. The only restriction is that all the blocks
-  * in a row (resp. a column) should have the same number of rows (resp. of columns).
-  * It is thus required in this case to describe the layout of the matrix by calling
-  * setBlockLayout(rowBlocks, colBlocks).
-  *
-  * In any of the previous case, the matrix can be filled by calling setFromTriplets().
-  * A regular sparse matrix can be converted to a block sparse matrix and vice versa.
-  * It is obviously required to describe the block layout beforehand by calling either
-  * setBlockSize() for fixed-size blocks or setBlockLayout for variable-size blocks.
-  *
-  * \tparam _Scalar The Scalar type
-  * \tparam _BlockAtCompileTime The block layout option. It takes the following values
-  * Dynamic : block size known at runtime
-  * a numeric number : fixed-size block known at compile time
-  */
-template<typename _Scalar, int _BlockAtCompileTime=Dynamic, int _Options=ColMajor, typename _StorageIndex=int> class BlockSparseMatrix;
-
-template<typename BlockSparseMatrixT> class BlockSparseMatrixView;
-
-namespace internal {
-template<typename _Scalar, int _BlockAtCompileTime, int _Options, typename _Index>
-struct traits<BlockSparseMatrix<_Scalar,_BlockAtCompileTime,_Options, _Index> >
-{
-  typedef _Scalar Scalar;
-  typedef _Index Index;
-  typedef Sparse StorageKind; // FIXME Where is it used ??
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = Dynamic,
-    MaxRowsAtCompileTime = Dynamic,
-    MaxColsAtCompileTime = Dynamic,
-    BlockSize = _BlockAtCompileTime,
-    Flags = _Options | NestByRefBit | LvalueBit,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    SupportedAccessPatterns = InnerRandomAccessPattern
-  };
-};
-template<typename BlockSparseMatrixT>
-struct traits<BlockSparseMatrixView<BlockSparseMatrixT> >
-{
-  typedef Ref<Matrix<typename BlockSparseMatrixT::Scalar, BlockSparseMatrixT::BlockSize, BlockSparseMatrixT::BlockSize> > Scalar;
-  typedef Ref<Matrix<typename BlockSparseMatrixT::RealScalar, BlockSparseMatrixT::BlockSize, BlockSparseMatrixT::BlockSize> > RealScalar;
-
-};
-
-// Function object to sort a triplet list
-template<typename Iterator, bool IsColMajor>
-struct TripletComp
-{
-  typedef typename Iterator::value_type Triplet;
-  bool operator()(const Triplet& a, const Triplet& b)
-  { if(IsColMajor)
-      return ((a.col() == b.col() && a.row() < b.row()) || (a.col() < b.col()));
-    else
-      return ((a.row() == b.row() && a.col() < b.col()) || (a.row() < b.row()));
-  }
-};
-} // end namespace internal
-
-
-/* Proxy to view the block sparse matrix as a regular sparse matrix */
-template<typename BlockSparseMatrixT>
-class BlockSparseMatrixView : public SparseMatrixBase<BlockSparseMatrixT>
-{
-  public:
-    typedef Ref<typename BlockSparseMatrixT::BlockScalar> Scalar;
-    typedef Ref<typename BlockSparseMatrixT::BlockRealScalar> RealScalar;
-    typedef typename BlockSparseMatrixT::Index Index;
-    typedef  BlockSparseMatrixT Nested;
-    enum {
-      Flags = BlockSparseMatrixT::Options,
-      Options = BlockSparseMatrixT::Options,
-      RowsAtCompileTime = BlockSparseMatrixT::RowsAtCompileTime,
-      ColsAtCompileTime = BlockSparseMatrixT::ColsAtCompileTime,
-      MaxColsAtCompileTime = BlockSparseMatrixT::MaxColsAtCompileTime,
-      MaxRowsAtCompileTime = BlockSparseMatrixT::MaxRowsAtCompileTime
-    };
-  public:
-    BlockSparseMatrixView(const BlockSparseMatrixT& spblockmat)
-     : m_spblockmat(spblockmat)
-    {}
-
-    Index outerSize() const
-    {
-      return (Flags&RowMajorBit) == 1 ? this->rows() : this->cols();
-    }
-    Index cols() const
-    {
-      return m_spblockmat.blockCols();
-    }
-    Index rows() const
-    {
-      return m_spblockmat.blockRows();
-    }
-    Scalar coeff(Index row, Index col)
-    {
-      return m_spblockmat.coeff(row, col);
-    }
-    Scalar coeffRef(Index row, Index col)
-    {
-      return m_spblockmat.coeffRef(row, col);
-    }
-    // Wrapper to iterate over all blocks
-    class InnerIterator : public BlockSparseMatrixT::BlockInnerIterator
-    {
-      public:
-      InnerIterator(const BlockSparseMatrixView& mat, Index outer)
-          : BlockSparseMatrixT::BlockInnerIterator(mat.m_spblockmat, outer)
-      {}
-
-    };
-
-  protected:
-    const BlockSparseMatrixT& m_spblockmat;
-};
-
-// Proxy to view a regular vector as a block vector
-template<typename BlockSparseMatrixT, typename VectorType>
-class BlockVectorView
-{
-  public:
-    enum {
-      BlockSize = BlockSparseMatrixT::BlockSize,
-      ColsAtCompileTime = VectorType::ColsAtCompileTime,
-      RowsAtCompileTime = VectorType::RowsAtCompileTime,
-      Flags = VectorType::Flags
-    };
-    typedef Ref<const Matrix<typename BlockSparseMatrixT::Scalar, (RowsAtCompileTime==1)? 1 : BlockSize, (ColsAtCompileTime==1)? 1 : BlockSize> >Scalar;
-    typedef typename BlockSparseMatrixT::Index Index;
-  public:
-    BlockVectorView(const BlockSparseMatrixT& spblockmat, const VectorType& vec)
-    : m_spblockmat(spblockmat),m_vec(vec)
-    { }
-    inline Index cols() const
-    {
-      return m_vec.cols();
-    }
-    inline Index size() const
-    {
-      return m_spblockmat.blockRows();
-    }
-    inline Scalar coeff(Index bi) const
-    {
-      Index startRow = m_spblockmat.blockRowsIndex(bi);
-      Index rowSize = m_spblockmat.blockRowsIndex(bi+1) - startRow;
-      return m_vec.middleRows(startRow, rowSize);
-    }
-    inline Scalar coeff(Index bi, Index j) const
-    {
-      Index startRow = m_spblockmat.blockRowsIndex(bi);
-      Index rowSize = m_spblockmat.blockRowsIndex(bi+1) - startRow;
-      return m_vec.block(startRow, j, rowSize, 1);
-    }
-  protected:
-    const BlockSparseMatrixT& m_spblockmat;
-    const VectorType& m_vec;
-};
-
-template<typename VectorType, typename Index> class BlockVectorReturn;
-
-
-// Proxy to view a regular vector as a block vector
-template<typename BlockSparseMatrixT, typename VectorType>
-class BlockVectorReturn
-{
-  public:
-    enum {
-      ColsAtCompileTime = VectorType::ColsAtCompileTime,
-      RowsAtCompileTime = VectorType::RowsAtCompileTime,
-      Flags = VectorType::Flags
-    };
-    typedef Ref<Matrix<typename VectorType::Scalar, RowsAtCompileTime, ColsAtCompileTime> > Scalar;
-    typedef typename BlockSparseMatrixT::Index Index;
-  public:
-    BlockVectorReturn(const BlockSparseMatrixT& spblockmat, VectorType& vec)
-    : m_spblockmat(spblockmat),m_vec(vec)
-    { }
-    inline Index size() const
-    {
-      return m_spblockmat.blockRows();
-    }
-    inline Scalar coeffRef(Index bi)
-    {
-      Index startRow = m_spblockmat.blockRowsIndex(bi);
-      Index rowSize = m_spblockmat.blockRowsIndex(bi+1) - startRow;
-      return m_vec.middleRows(startRow, rowSize);
-    }
-    inline Scalar coeffRef(Index bi, Index j)
-    {
-      Index startRow = m_spblockmat.blockRowsIndex(bi);
-      Index rowSize = m_spblockmat.blockRowsIndex(bi+1) - startRow;
-      return m_vec.block(startRow, j, rowSize, 1);
-    }
-
-  protected:
-    const BlockSparseMatrixT& m_spblockmat;
-    VectorType& m_vec;
-};
-
-// Block version of the sparse dense product
-template<typename Lhs, typename Rhs>
-class BlockSparseTimeDenseProduct;
-
-namespace internal {
-
-template<typename BlockSparseMatrixT, typename VecType>
-struct traits<BlockSparseTimeDenseProduct<BlockSparseMatrixT, VecType> >
-{
-  typedef Dense StorageKind;
-  typedef MatrixXpr XprKind;
-  typedef typename BlockSparseMatrixT::Scalar Scalar;
-  typedef typename BlockSparseMatrixT::Index Index;
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = Dynamic,
-    MaxRowsAtCompileTime = Dynamic,
-    MaxColsAtCompileTime = Dynamic,
-    Flags = 0,
-    CoeffReadCost = internal::traits<BlockSparseMatrixT>::CoeffReadCost
-  };
-};
-} // end namespace internal
-
-template<typename Lhs, typename Rhs>
-class BlockSparseTimeDenseProduct
-  : public ProductBase<BlockSparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs>
-{
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(BlockSparseTimeDenseProduct)
-
-    BlockSparseTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {}
-
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const typename Rhs::Scalar& alpha) const
-    {
-      BlockVectorReturn<Lhs,Dest> tmpDest(m_lhs, dest);
-      internal::sparse_time_dense_product( BlockSparseMatrixView<Lhs>(m_lhs),  BlockVectorView<Lhs, Rhs>(m_lhs, m_rhs), tmpDest, alpha);
-    }
-
-  private:
-    BlockSparseTimeDenseProduct& operator=(const BlockSparseTimeDenseProduct&);
-};
-
-template<typename _Scalar, int _BlockAtCompileTime, int _Options, typename _StorageIndex>
-class BlockSparseMatrix : public SparseMatrixBase<BlockSparseMatrix<_Scalar,_BlockAtCompileTime, _Options,_StorageIndex> >
-{
-  public:
-    typedef _Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef _StorageIndex StorageIndex;
-    typedef typename internal::ref_selector<BlockSparseMatrix<_Scalar, _BlockAtCompileTime, _Options, _StorageIndex> >::type Nested;
-
-    enum {
-      Options = _Options,
-      Flags = Options,
-      BlockSize=_BlockAtCompileTime,
-      RowsAtCompileTime = Dynamic,
-      ColsAtCompileTime = Dynamic,
-      MaxRowsAtCompileTime = Dynamic,
-      MaxColsAtCompileTime = Dynamic,
-      IsVectorAtCompileTime = 0,
-      IsColMajor = Flags&RowMajorBit ? 0 : 1
-    };
-    typedef Matrix<Scalar, _BlockAtCompileTime, _BlockAtCompileTime,IsColMajor ? ColMajor : RowMajor> BlockScalar;
-    typedef Matrix<RealScalar, _BlockAtCompileTime, _BlockAtCompileTime,IsColMajor ? ColMajor : RowMajor> BlockRealScalar;
-    typedef typename internal::conditional<_BlockAtCompileTime==Dynamic, Scalar, BlockScalar>::type BlockScalarReturnType;
-    typedef BlockSparseMatrix<Scalar, BlockSize, IsColMajor ? ColMajor : RowMajor, StorageIndex> PlainObject;
-  public:
-    // Default constructor
-    BlockSparseMatrix()
-    : m_innerBSize(0),m_outerBSize(0),m_innerOffset(0),m_outerOffset(0),
-      m_nonzerosblocks(0),m_values(0),m_blockPtr(0),m_indices(0),
-      m_outerIndex(0),m_blockSize(BlockSize)
-    { }
-
-
-    /**
-     * \brief Construct and resize
-     *
-     */
-    BlockSparseMatrix(Index brow, Index bcol)
-      : m_innerBSize(IsColMajor ? brow : bcol),
-        m_outerBSize(IsColMajor ? bcol : brow),
-        m_innerOffset(0),m_outerOffset(0),m_nonzerosblocks(0),
-        m_values(0),m_blockPtr(0),m_indices(0),
-        m_outerIndex(0),m_blockSize(BlockSize)
-    { }
-
-    /**
-     * \brief Copy-constructor
-     */
-    BlockSparseMatrix(const BlockSparseMatrix& other)
-      : m_innerBSize(other.m_innerBSize),m_outerBSize(other.m_outerBSize),
-        m_nonzerosblocks(other.m_nonzerosblocks),m_nonzeros(other.m_nonzeros),
-        m_blockPtr(0),m_blockSize(other.m_blockSize)
-    {
-      // should we allow copying between variable-size blocks and fixed-size blocks ??
-      eigen_assert(m_blockSize == BlockSize && " CAN NOT COPY BETWEEN FIXED-SIZE AND VARIABLE-SIZE BLOCKS");
-
-      std::copy(other.m_innerOffset, other.m_innerOffset+m_innerBSize+1, m_innerOffset);
-      std::copy(other.m_outerOffset, other.m_outerOffset+m_outerBSize+1, m_outerOffset);
-      std::copy(other.m_values, other.m_values+m_nonzeros, m_values);
-
-      if(m_blockSize != Dynamic)
-        std::copy(other.m_blockPtr, other.m_blockPtr+m_nonzerosblocks, m_blockPtr);
-
-      std::copy(other.m_indices, other.m_indices+m_nonzerosblocks, m_indices);
-      std::copy(other.m_outerIndex, other.m_outerIndex+m_outerBSize, m_outerIndex);
-    }
-
-    friend void swap(BlockSparseMatrix& first, BlockSparseMatrix& second)
-    {
-      std::swap(first.m_innerBSize, second.m_innerBSize);
-      std::swap(first.m_outerBSize, second.m_outerBSize);
-      std::swap(first.m_innerOffset, second.m_innerOffset);
-      std::swap(first.m_outerOffset, second.m_outerOffset);
-      std::swap(first.m_nonzerosblocks, second.m_nonzerosblocks);
-      std::swap(first.m_nonzeros, second.m_nonzeros);
-      std::swap(first.m_values, second.m_values);
-      std::swap(first.m_blockPtr, second.m_blockPtr);
-      std::swap(first.m_indices, second.m_indices);
-      std::swap(first.m_outerIndex, second.m_outerIndex);
-      std::swap(first.m_BlockSize, second.m_blockSize);
-    }
-
-    BlockSparseMatrix& operator=(BlockSparseMatrix other)
-    {
-      //Copy-and-swap paradigm ... avoid leaked data if thrown
-      swap(*this, other);
-      return *this;
-    }
-
-    // Destructor
-    ~BlockSparseMatrix()
-    {
-      delete[] m_outerIndex;
-      delete[] m_innerOffset;
-      delete[] m_outerOffset;
-      delete[] m_indices;
-      delete[] m_blockPtr;
-      delete[] m_values;
-    }
-
-
-    /**
-      * \brief Constructor from a sparse matrix
-      *
-      */
-    template<typename MatrixType>
-    inline BlockSparseMatrix(const MatrixType& spmat) : m_blockSize(BlockSize)
-    {
-      EIGEN_STATIC_ASSERT((m_blockSize != Dynamic), THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE);
-
-      *this = spmat;
-    }
-
-    /**
-      * \brief Assignment from a sparse matrix with the same storage order
-      *
-      * Convert from a sparse matrix to block sparse matrix.
-      * \warning Before calling this function, tt is necessary to call
-      * either setBlockLayout() (matrices with variable-size blocks)
-      * or setBlockSize() (for fixed-size blocks).
-      */
-    template<typename MatrixType>
-    inline BlockSparseMatrix& operator=(const MatrixType& spmat)
-    {
-      eigen_assert((m_innerBSize != 0 && m_outerBSize != 0)
-                   && "Trying to assign to a zero-size matrix, call resize() first");
-      eigen_assert(((MatrixType::Options&RowMajorBit) != IsColMajor) && "Wrong storage order");
-      typedef SparseMatrix<bool,MatrixType::Options,typename MatrixType::Index> MatrixPatternType;
-      MatrixPatternType  blockPattern(blockRows(), blockCols());
-      m_nonzeros = 0;
-
-      // First, compute the number of nonzero blocks and their locations
-      for(StorageIndex bj = 0; bj < m_outerBSize; ++bj)
-      {
-        // Browse each outer block and compute the structure
-        std::vector<bool> nzblocksFlag(m_innerBSize,false);  // Record the existing blocks
-        blockPattern.startVec(bj);
-        for(StorageIndex j = blockOuterIndex(bj); j < blockOuterIndex(bj+1); ++j)
-        {
-          typename MatrixType::InnerIterator it_spmat(spmat, j);
-          for(; it_spmat; ++it_spmat)
-          {
-            StorageIndex bi = innerToBlock(it_spmat.index()); // Index of the current nonzero block
-            if(!nzblocksFlag[bi])
-            {
-              // Save the index of this nonzero block
-              nzblocksFlag[bi] = true;
-              blockPattern.insertBackByOuterInnerUnordered(bj, bi) = true;
-              // Compute the total number of nonzeros (including explicit zeros in blocks)
-              m_nonzeros += blockOuterSize(bj) * blockInnerSize(bi);
-            }
-          }
-        } // end current outer block
-      }
-      blockPattern.finalize();
-
-      // Allocate the internal arrays
-      setBlockStructure(blockPattern);
-
-      for(StorageIndex nz = 0; nz < m_nonzeros; ++nz) m_values[nz] = Scalar(0);
-      for(StorageIndex bj = 0; bj < m_outerBSize; ++bj)
-      {
-        // Now copy the values
-        for(StorageIndex j = blockOuterIndex(bj); j < blockOuterIndex(bj+1); ++j)
-        {
-          // Browse the outer block column by column (for column-major matrices)
-          typename MatrixType::InnerIterator it_spmat(spmat, j);
-          for(; it_spmat; ++it_spmat)
-          {
-            StorageIndex idx = 0; // Position of this block in the column block
-            StorageIndex bi = innerToBlock(it_spmat.index()); // Index of the current nonzero block
-            // Go to the inner block where this element belongs to
-            while(bi > m_indices[m_outerIndex[bj]+idx]) ++idx; // Not expensive for ordered blocks
-            StorageIndex idxVal;// Get the right position in the array of values for this element
-            if(m_blockSize == Dynamic)
-            {
-              // Offset from all blocks before ...
-              idxVal =  m_blockPtr[m_outerIndex[bj]+idx];
-              // ... and offset inside the block
-              idxVal += (j - blockOuterIndex(bj)) * blockOuterSize(bj) + it_spmat.index() - m_innerOffset[bi];
-            }
-            else
-            {
-              // All blocks before
-              idxVal = (m_outerIndex[bj] + idx) * m_blockSize * m_blockSize;
-              // inside the block
-              idxVal += (j - blockOuterIndex(bj)) * m_blockSize + (it_spmat.index()%m_blockSize);
-            }
-            // Insert the value
-            m_values[idxVal] = it_spmat.value();
-          } // end of this column
-        } // end of this block
-      } // end of this outer block
-
-      return *this;
-    }
-
-    /**
-      * \brief Set the nonzero block pattern of the matrix
-      *
-      * Given a sparse matrix describing the nonzero block pattern,
-      * this function prepares the internal pointers for values.
-      * After calling this function, any *nonzero* block (bi, bj) can be set
-      * with a simple call to coeffRef(bi,bj).
-      *
-      *
-      * \warning Before calling this function, tt is necessary to call
-      * either setBlockLayout() (matrices with variable-size blocks)
-      * or setBlockSize() (for fixed-size blocks).
-      *
-      * \param blockPattern Sparse matrix of boolean elements describing the block structure
-      *
-      * \sa setBlockLayout() \sa setBlockSize()
-      */
-    template<typename MatrixType>
-    void setBlockStructure(const MatrixType& blockPattern)
-    {
-      resize(blockPattern.rows(), blockPattern.cols());
-      reserve(blockPattern.nonZeros());
-
-      // Browse the block pattern and set up the various pointers
-      m_outerIndex[0] = 0;
-      if(m_blockSize == Dynamic) m_blockPtr[0] = 0;
-      for(StorageIndex nz = 0; nz < m_nonzeros; ++nz) m_values[nz] = Scalar(0);
-      for(StorageIndex bj = 0; bj < m_outerBSize; ++bj)
-      {
-        //Browse each outer block
-
-        //First, copy and save the indices of nonzero blocks
-        //FIXME : find a way to avoid this ...
-        std::vector<int> nzBlockIdx;
-        typename MatrixType::InnerIterator it(blockPattern, bj);
-        for(; it; ++it)
-        {
-          nzBlockIdx.push_back(it.index());
-        }
-        std::sort(nzBlockIdx.begin(), nzBlockIdx.end());
-
-        // Now, fill block indices and (eventually) pointers to blocks
-        for(StorageIndex idx = 0; idx < nzBlockIdx.size(); ++idx)
-        {
-          StorageIndex offset = m_outerIndex[bj]+idx; // offset in m_indices
-          m_indices[offset] = nzBlockIdx[idx];
-          if(m_blockSize == Dynamic)
-            m_blockPtr[offset] = m_blockPtr[offset-1] + blockInnerSize(nzBlockIdx[idx]) * blockOuterSize(bj);
-          // There is no blockPtr for fixed-size blocks... not needed !???
-        }
-        // Save the pointer to the next outer block
-        m_outerIndex[bj+1] = m_outerIndex[bj] + nzBlockIdx.size();
-      }
-    }
-
-    /**
-      * \brief Set the number of rows and columns blocks
-      */
-    inline void resize(Index brow, Index bcol)
-    {
-      m_innerBSize = IsColMajor ? brow : bcol;
-      m_outerBSize = IsColMajor ? bcol : brow;
-    }
-
-    /**
-      * \brief set the block size at runtime for fixed-size block layout
-      *
-      * Call this only for fixed-size blocks
-      */
-    inline void setBlockSize(Index blockSize)
-    {
-      m_blockSize = blockSize;
-    }
-
-    /**
-      * \brief Set the row and column block layouts,
-      *
-      * This function set the size of each row and column block.
-      * So this function should be used only for blocks with variable size.
-      * \param rowBlocks : Number of rows per row block
-      * \param colBlocks : Number of columns per column block
-      * \sa resize(), setBlockSize()
-      */
-    inline void setBlockLayout(const VectorXi& rowBlocks, const VectorXi& colBlocks)
-    {
-      const VectorXi& innerBlocks = IsColMajor ? rowBlocks : colBlocks;
-      const VectorXi& outerBlocks = IsColMajor ? colBlocks : rowBlocks;
-      eigen_assert(m_innerBSize == innerBlocks.size() && "CHECK THE NUMBER OF ROW OR COLUMN BLOCKS");
-      eigen_assert(m_outerBSize == outerBlocks.size() && "CHECK THE NUMBER OF ROW OR COLUMN BLOCKS");
-      m_outerBSize = outerBlocks.size();
-      //  starting index of blocks... cumulative sums
-      m_innerOffset = new StorageIndex[m_innerBSize+1];
-      m_outerOffset = new StorageIndex[m_outerBSize+1];
-      m_innerOffset[0] = 0;
-      m_outerOffset[0] = 0;
-      std::partial_sum(&innerBlocks[0], &innerBlocks[m_innerBSize-1]+1, &m_innerOffset[1]);
-      std::partial_sum(&outerBlocks[0], &outerBlocks[m_outerBSize-1]+1, &m_outerOffset[1]);
-
-      // Compute the total number of nonzeros
-      m_nonzeros = 0;
-      for(StorageIndex bj = 0; bj < m_outerBSize; ++bj)
-        for(StorageIndex bi = 0; bi < m_innerBSize; ++bi)
-          m_nonzeros += outerBlocks[bj] * innerBlocks[bi];
-
-    }
-
-    /**
-      * \brief Allocate the internal array of pointers to blocks and their inner indices
-      *
-      * \note For fixed-size blocks, call setBlockSize() to set the block.
-      * And For variable-size blocks, call setBlockLayout() before using this function
-      *
-      * \param nonzerosblocks Number of nonzero blocks. The total number of nonzeros is
-      * is computed in setBlockLayout() for variable-size blocks
-      * \sa setBlockSize()
-      */
-    inline void reserve(const Index nonzerosblocks)
-    {
-      eigen_assert((m_innerBSize != 0 && m_outerBSize != 0) &&
-          "TRYING TO RESERVE ZERO-SIZE MATRICES, CALL resize() first");
-
-      //FIXME Should free if already allocated
-      m_outerIndex = new StorageIndex[m_outerBSize+1];
-
-      m_nonzerosblocks = nonzerosblocks;
-      if(m_blockSize != Dynamic)
-      {
-        m_nonzeros = nonzerosblocks * (m_blockSize * m_blockSize);
-        m_blockPtr = 0;
-      }
-      else
-      {
-        // m_nonzeros  is already computed in setBlockLayout()
-        m_blockPtr = new StorageIndex[m_nonzerosblocks+1];
-      }
-      m_indices = new StorageIndex[m_nonzerosblocks+1];
-      m_values = new Scalar[m_nonzeros];
-    }
-
-
-    /**
-      * \brief Fill values in a matrix  from a triplet list.
-      *
-      * Each triplet item has a block stored in an Eigen dense matrix.
-      * The InputIterator class should provide the functions row(), col() and value()
-      *
-      * \note For fixed-size blocks, call setBlockSize() before this function.
-      *
-      * FIXME Do not accept duplicates
-      */
-    template<typename InputIterator>
-    void setFromTriplets(const InputIterator& begin, const InputIterator& end)
-    {
-      eigen_assert((m_innerBSize!=0 && m_outerBSize !=0) && "ZERO BLOCKS, PLEASE CALL resize() before");
-
-      /* First, sort the triplet list
-        * FIXME This can be unnecessarily expensive since only the inner indices have to be sorted
-        * The best approach is like in SparseMatrix::setFromTriplets()
-        */
-      internal::TripletComp<InputIterator, IsColMajor> tripletcomp;
-      std::sort(begin, end, tripletcomp);
-
-      /* Count the number of rows and column blocks,
-       * and the number of nonzero blocks per outer dimension
-       */
-      VectorXi rowBlocks(m_innerBSize); // Size of each block row
-      VectorXi colBlocks(m_outerBSize); // Size of each block column
-      rowBlocks.setZero(); colBlocks.setZero();
-      VectorXi nzblock_outer(m_outerBSize); // Number of nz blocks per outer vector
-      VectorXi nz_outer(m_outerBSize); // Number of nz per outer vector...for variable-size blocks
-      nzblock_outer.setZero();
-      nz_outer.setZero();
-      for(InputIterator it(begin); it !=end; ++it)
-      {
-        eigen_assert(it->row() >= 0 && it->row() < this->blockRows() && it->col() >= 0 && it->col() < this->blockCols());
-        eigen_assert((it->value().rows() == it->value().cols() && (it->value().rows() == m_blockSize))
-                     || (m_blockSize == Dynamic));
-
-        if(m_blockSize == Dynamic)
-        {
-          eigen_assert((rowBlocks[it->row()] == 0 || rowBlocks[it->row()] == it->value().rows()) &&
-              "NON CORRESPONDING SIZES FOR ROW BLOCKS");
-          eigen_assert((colBlocks[it->col()] == 0 || colBlocks[it->col()] == it->value().cols()) &&
-              "NON CORRESPONDING SIZES FOR COLUMN BLOCKS");
-          rowBlocks[it->row()] =it->value().rows();
-          colBlocks[it->col()] = it->value().cols();
-        }
-        nz_outer(IsColMajor ? it->col() : it->row()) += it->value().rows() * it->value().cols();
-        nzblock_outer(IsColMajor ? it->col() : it->row())++;
-      }
-      // Allocate member arrays
-      if(m_blockSize == Dynamic) setBlockLayout(rowBlocks, colBlocks);
-      StorageIndex nzblocks = nzblock_outer.sum();
-      reserve(nzblocks);
-
-       // Temporary markers
-      VectorXi block_id(m_outerBSize); // To be used as a block marker during insertion
-
-      // Setup outer index pointers and markers
-      m_outerIndex[0] = 0;
-      if (m_blockSize == Dynamic)  m_blockPtr[0] =  0;
-      for(StorageIndex bj = 0; bj < m_outerBSize; ++bj)
-      {
-        m_outerIndex[bj+1] = m_outerIndex[bj] + nzblock_outer(bj);
-        block_id(bj) = m_outerIndex[bj];
-        if(m_blockSize==Dynamic)
-        {
-          m_blockPtr[m_outerIndex[bj+1]] = m_blockPtr[m_outerIndex[bj]] + nz_outer(bj);
-        }
-      }
-
-      // Fill the matrix
-      for(InputIterator it(begin); it!=end; ++it)
-      {
-        StorageIndex outer = IsColMajor ? it->col() : it->row();
-        StorageIndex inner = IsColMajor ? it->row() : it->col();
-        m_indices[block_id(outer)] = inner;
-        StorageIndex block_size = it->value().rows()*it->value().cols();
-        StorageIndex nz_marker = blockPtr(block_id[outer]);
-        memcpy(&(m_values[nz_marker]), it->value().data(), block_size * sizeof(Scalar));
-        if(m_blockSize == Dynamic)
-        {
-          m_blockPtr[block_id(outer)+1] = m_blockPtr[block_id(outer)] + block_size;
-        }
-        block_id(outer)++;
-      }
-
-      // An alternative when the outer indices are sorted...no need to use an array of markers
-//      for(Index bcol = 0; bcol < m_outerBSize; ++bcol)
-//      {
-//      Index id = 0, id_nz = 0, id_nzblock = 0;
-//      for(InputIterator it(begin); it!=end; ++it)
-//      {
-//        while (id<bcol) // one pass should do the job unless there are empty columns
-//        {
-//          id++;
-//          m_outerIndex[id+1]=m_outerIndex[id];
-//        }
-//        m_outerIndex[id+1] += 1;
-//        m_indices[id_nzblock]=brow;
-//        Index block_size = it->value().rows()*it->value().cols();
-//        m_blockPtr[id_nzblock+1] = m_blockPtr[id_nzblock] + block_size;
-//        id_nzblock++;
-//        memcpy(&(m_values[id_nz]),it->value().data(), block_size*sizeof(Scalar));
-//        id_nz += block_size;
-//      }
-//      while(id < m_outerBSize-1) // Empty columns at the end
-//      {
-//        id++;
-//        m_outerIndex[id+1]=m_outerIndex[id];
-//      }
-//      }
-    }
-
-
-    /**
-      * \returns the number of rows
-      */
-    inline Index rows() const
-    {
-//      return blockRows();
-      return (IsColMajor ? innerSize() : outerSize());
-    }
-
-    /**
-      * \returns the number of cols
-      */
-    inline Index cols() const
-    {
-//      return blockCols();
-      return (IsColMajor ? outerSize() : innerSize());
-    }
-
-    inline Index innerSize() const
-    {
-      if(m_blockSize == Dynamic) return m_innerOffset[m_innerBSize];
-      else return  (m_innerBSize * m_blockSize) ;
-    }
-
-    inline Index outerSize() const
-    {
-      if(m_blockSize == Dynamic) return m_outerOffset[m_outerBSize];
-      else return  (m_outerBSize * m_blockSize) ;
-    }
-    /** \returns the number of rows grouped by blocks */
-    inline Index blockRows() const
-    {
-      return (IsColMajor ? m_innerBSize : m_outerBSize);
-    }
-    /** \returns the number of columns grouped by blocks */
-    inline Index blockCols() const
-    {
-      return (IsColMajor ? m_outerBSize : m_innerBSize);
-    }
-
-    inline Index outerBlocks() const { return m_outerBSize; }
-    inline Index innerBlocks() const { return m_innerBSize; }
-
-    /** \returns the block index where outer belongs to */
-    inline Index outerToBlock(Index outer) const
-    {
-      eigen_assert(outer < outerSize() && "OUTER INDEX OUT OF BOUNDS");
-
-      if(m_blockSize != Dynamic)
-        return (outer / m_blockSize); // Integer division
-
-      StorageIndex b_outer = 0;
-      while(m_outerOffset[b_outer] <= outer) ++b_outer;
-      return b_outer - 1;
-    }
-    /** \returns  the block index where inner belongs to */
-    inline Index innerToBlock(Index inner) const
-    {
-      eigen_assert(inner < innerSize() && "OUTER INDEX OUT OF BOUNDS");
-
-      if(m_blockSize != Dynamic)
-        return (inner / m_blockSize); // Integer division
-
-      StorageIndex b_inner = 0;
-      while(m_innerOffset[b_inner] <= inner) ++b_inner;
-      return b_inner - 1;
-    }
-
-    /**
-      *\returns a reference to the (i,j) block as an Eigen Dense Matrix
-      */
-    Ref<BlockScalar> coeffRef(Index brow, Index bcol)
-    {
-      eigen_assert(brow < blockRows() && "BLOCK ROW INDEX OUT OF BOUNDS");
-      eigen_assert(bcol < blockCols() && "BLOCK nzblocksFlagCOLUMN OUT OF BOUNDS");
-
-      StorageIndex rsize = IsColMajor ? blockInnerSize(brow): blockOuterSize(bcol);
-      StorageIndex csize = IsColMajor ? blockOuterSize(bcol) : blockInnerSize(brow);
-      StorageIndex inner = IsColMajor ? brow : bcol;
-      StorageIndex outer = IsColMajor ? bcol : brow;
-      StorageIndex offset = m_outerIndex[outer];
-      while(offset < m_outerIndex[outer+1] && m_indices[offset] != inner)
-        offset++;
-      if(m_indices[offset] == inner)
-      {
-        return Map<BlockScalar>(&(m_values[blockPtr(offset)]), rsize, csize);
-      }
-      else
-      {
-        //FIXME the block does not exist, Insert it !!!!!!!!!
-        eigen_assert("DYNAMIC INSERTION IS NOT YET SUPPORTED");
-      }
-    }
-
-    /**
-      * \returns the value of the (i,j) block as an Eigen Dense Matrix
-      */
-    Map<const BlockScalar> coeff(Index brow, Index bcol) const
-    {
-      eigen_assert(brow < blockRows() && "BLOCK ROW INDEX OUT OF BOUNDS");
-      eigen_assert(bcol < blockCols() && "BLOCK COLUMN OUT OF BOUNDS");
-
-      StorageIndex rsize = IsColMajor ? blockInnerSize(brow): blockOuterSize(bcol);
-      StorageIndex csize = IsColMajor ? blockOuterSize(bcol) : blockInnerSize(brow);
-      StorageIndex inner = IsColMajor ? brow : bcol;
-      StorageIndex outer = IsColMajor ? bcol : brow;
-      StorageIndex offset = m_outerIndex[outer];
-      while(offset < m_outerIndex[outer+1] && m_indices[offset] != inner) offset++;
-      if(m_indices[offset] == inner)
-      {
-        return Map<const BlockScalar> (&(m_values[blockPtr(offset)]), rsize, csize);
-      }
-      else
-//        return BlockScalar::Zero(rsize, csize);
-        eigen_assert("NOT YET SUPPORTED");
-    }
-
-    // Block Matrix times vector product
-    template<typename VecType>
-    BlockSparseTimeDenseProduct<BlockSparseMatrix, VecType> operator*(const VecType& lhs) const
-    {
-      return BlockSparseTimeDenseProduct<BlockSparseMatrix, VecType>(*this, lhs);
-    }
-
-    /** \returns the number of nonzero blocks */
-    inline Index nonZerosBlocks() const { return m_nonzerosblocks; }
-    /** \returns the total number of nonzero elements, including eventual explicit zeros in blocks */
-    inline Index nonZeros() const { return m_nonzeros; }
-
-    inline BlockScalarReturnType *valuePtr() {return static_cast<BlockScalarReturnType *>(m_values);}
-//    inline Scalar *valuePtr(){ return m_values; }
-    inline StorageIndex *innerIndexPtr() {return m_indices; }
-    inline const StorageIndex *innerIndexPtr() const {return m_indices; }
-    inline StorageIndex *outerIndexPtr() {return m_outerIndex; }
-    inline const StorageIndex* outerIndexPtr() const {return m_outerIndex; }
-
-    /** \brief for compatibility purposes with the SparseMatrix class */
-    inline bool isCompressed() const {return true;}
-    /**
-      * \returns the starting index of the bi row block
-      */
-    inline Index blockRowsIndex(Index bi) const
-    {
-      return IsColMajor ? blockInnerIndex(bi) : blockOuterIndex(bi);
-    }
-
-    /**
-      * \returns the starting index of the bj col block
-      */
-    inline Index blockColsIndex(Index bj) const
-    {
-      return IsColMajor ? blockOuterIndex(bj) : blockInnerIndex(bj);
-    }
-
-    inline Index blockOuterIndex(Index bj) const
-    {
-      return (m_blockSize == Dynamic) ? m_outerOffset[bj] : (bj * m_blockSize);
-    }
-    inline Index blockInnerIndex(Index bi) const
-    {
-      return (m_blockSize == Dynamic) ? m_innerOffset[bi] : (bi * m_blockSize);
-    }
-
-    // Not needed ???
-    inline Index blockInnerSize(Index bi) const
-    {
-      return (m_blockSize == Dynamic) ? (m_innerOffset[bi+1] - m_innerOffset[bi]) : m_blockSize;
-    }
-    inline Index blockOuterSize(Index bj) const
-    {
-      return (m_blockSize == Dynamic) ? (m_outerOffset[bj+1]- m_outerOffset[bj]) : m_blockSize;
-    }
-
-    /**
-      * \brief Browse the matrix by outer index
-      */
-    class InnerIterator; // Browse column by column
-
-    /**
-      * \brief Browse the matrix by block outer index
-      */
-    class BlockInnerIterator; // Browse block by block
-
-    friend std::ostream & operator << (std::ostream & s, const BlockSparseMatrix& m)
-    {
-      for (StorageIndex j = 0; j < m.outerBlocks(); ++j)
-      {
-        BlockInnerIterator itb(m, j);
-        for(; itb; ++itb)
-        {
-          s << "("<<itb.row() << ", " << itb.col() << ")\n";
-          s << itb.value() <<"\n";
-        }
-      }
-      s << std::endl;
-      return s;
-    }
-
-    /**
-      * \returns the starting position of the block <id> in the array of values
-      */
-    Index blockPtr(Index id) const
-    {
-      if(m_blockSize == Dynamic) return m_blockPtr[id];
-      else return id * m_blockSize * m_blockSize;
-      //return blockDynIdx(id, typename internal::conditional<(BlockSize==Dynamic), internal::true_type, internal::false_type>::type());
-    }
-
-
-  protected:
-//    inline Index blockDynIdx(Index id, internal::true_type) const
-//    {
-//      return m_blockPtr[id];
-//    }
-//    inline Index blockDynIdx(Index id, internal::false_type) const
-//    {
-//      return id * BlockSize * BlockSize;
-//    }
-
-    // To be implemented
-    // Insert a block at a particular location... need to make a room for that
-    Map<BlockScalar> insert(Index brow, Index bcol);
-
-    Index m_innerBSize; // Number of block rows
-    Index m_outerBSize; // Number of block columns
-    StorageIndex *m_innerOffset; // Starting index of each inner block (size m_innerBSize+1)
-    StorageIndex *m_outerOffset; // Starting index of each outer block (size m_outerBSize+1)
-    Index m_nonzerosblocks; // Total nonzeros blocks (lower than  m_innerBSize x m_outerBSize)
-    Index m_nonzeros; // Total nonzeros elements
-    Scalar *m_values; //Values stored block column after block column (size m_nonzeros)
-    StorageIndex *m_blockPtr; // Pointer to the beginning of each block in m_values, size m_nonzeroblocks ... null for fixed-size blocks
-    StorageIndex *m_indices; //Inner block indices, size m_nonzerosblocks ... OK
-    StorageIndex *m_outerIndex; // Starting pointer of each block column in m_indices (size m_outerBSize)... OK
-    Index m_blockSize; // Size of a block for fixed-size blocks, otherwise -1
-};
-
-template<typename _Scalar, int _BlockAtCompileTime, int _Options, typename _StorageIndex>
-class BlockSparseMatrix<_Scalar, _BlockAtCompileTime, _Options, _StorageIndex>::BlockInnerIterator
-{
-  public:
-
-    enum{
-      Flags = _Options
-    };
-
-    BlockInnerIterator(const BlockSparseMatrix& mat, const Index outer)
-    : m_mat(mat),m_outer(outer),
-      m_id(mat.m_outerIndex[outer]),
-      m_end(mat.m_outerIndex[outer+1])
-    {
-    }
-
-    inline BlockInnerIterator& operator++() {m_id++; return *this; }
-
-    inline const Map<const BlockScalar> value() const
-    {
-      return Map<const BlockScalar>(&(m_mat.m_values[m_mat.blockPtr(m_id)]),
-          rows(),cols());
-    }
-    inline Map<BlockScalar> valueRef()
-    {
-      return Map<BlockScalar>(&(m_mat.m_values[m_mat.blockPtr(m_id)]),
-          rows(),cols());
-    }
-    // Block inner index
-    inline Index index() const {return m_mat.m_indices[m_id]; }
-    inline Index outer() const { return m_outer; }
-    // block row index
-    inline Index row() const  {return index(); }
-    // block column index
-    inline Index col() const {return outer(); }
-    // FIXME Number of rows in the current block
-    inline Index rows() const { return (m_mat.m_blockSize==Dynamic) ? (m_mat.m_innerOffset[index()+1] - m_mat.m_innerOffset[index()]) : m_mat.m_blockSize; }
-    // Number of columns in the current block ...
-    inline Index cols() const { return (m_mat.m_blockSize==Dynamic) ? (m_mat.m_outerOffset[m_outer+1]-m_mat.m_outerOffset[m_outer]) : m_mat.m_blockSize;}
-    inline operator bool() const { return (m_id < m_end); }
-
-  protected:
-    const BlockSparseMatrix<_Scalar, _BlockAtCompileTime, _Options, StorageIndex>& m_mat;
-    const Index m_outer;
-    Index m_id;
-    Index m_end;
-};
-
-template<typename _Scalar, int _BlockAtCompileTime, int _Options, typename _StorageIndex>
-class BlockSparseMatrix<_Scalar, _BlockAtCompileTime, _Options, _StorageIndex>::InnerIterator
-{
-  public:
-    InnerIterator(const BlockSparseMatrix& mat, Index outer)
-    : m_mat(mat),m_outerB(mat.outerToBlock(outer)),m_outer(outer),
-      itb(mat, mat.outerToBlock(outer)),
-      m_offset(outer - mat.blockOuterIndex(m_outerB))
-     {
-        if (itb)
-        {
-          m_id = m_mat.blockInnerIndex(itb.index());
-          m_start = m_id;
-          m_end = m_mat.blockInnerIndex(itb.index()+1);
-        }
-     }
-    inline InnerIterator& operator++()
-    {
-      m_id++;
-      if (m_id >= m_end)
-      {
-        ++itb;
-        if (itb)
-        {
-          m_id = m_mat.blockInnerIndex(itb.index());
-          m_start = m_id;
-          m_end = m_mat.blockInnerIndex(itb.index()+1);
-        }
-      }
-      return *this;
-    }
-    inline const Scalar& value() const
-    {
-      return itb.value().coeff(m_id - m_start, m_offset);
-    }
-    inline Scalar& valueRef()
-    {
-      return itb.valueRef().coeff(m_id - m_start, m_offset);
-    }
-    inline Index index() const { return m_id; }
-    inline Index outer() const {return m_outer; }
-    inline Index col() const {return outer(); }
-    inline Index row() const { return index();}
-    inline operator bool() const
-    {
-      return itb;
-    }
-  protected:
-    const BlockSparseMatrix& m_mat;
-    const Index m_outer;
-    const Index m_outerB;
-    BlockInnerIterator itb; // Iterator through the blocks
-    const Index m_offset; // Position of this column in the block
-    Index m_start; // starting inner index of this block
-    Index m_id; // current inner index in the block
-    Index m_end; // starting inner index of the next block
-
-};
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSEBLOCKMATRIX_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h b/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
deleted file mode 100644
index 037a13f86aff88..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
+++ /dev/null
@@ -1,392 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DYNAMIC_SPARSEMATRIX_H
-#define EIGEN_DYNAMIC_SPARSEMATRIX_H
-
-namespace Eigen { 
-
-/** \deprecated use a SparseMatrix in an uncompressed mode
-  *
-  * \class DynamicSparseMatrix
-  *
-  * \brief A sparse matrix class designed for matrix assembly purpose
-  *
-  * \param _Scalar the scalar type, i.e. the type of the coefficients
-  *
-  * Unlike SparseMatrix, this class provides a much higher degree of flexibility. In particular, it allows
-  * random read/write accesses in log(rho*outer_size) where \c rho is the probability that a coefficient is
-  * nonzero and outer_size is the number of columns if the matrix is column-major and the number of rows
-  * otherwise.
-  *
-  * Internally, the data are stored as a std::vector of compressed vector. The performances of random writes might
-  * decrease as the number of nonzeros per inner-vector increase. In practice, we observed very good performance
-  * till about 100 nonzeros/vector, and the performance remains relatively good till 500 nonzeros/vectors.
-  *
-  * \see SparseMatrix
-  */
-
-namespace internal {
-template<typename _Scalar, int _Options, typename _StorageIndex>
-struct traits<DynamicSparseMatrix<_Scalar, _Options, _StorageIndex> >
-{
-  typedef _Scalar Scalar;
-  typedef _StorageIndex StorageIndex;
-  typedef Sparse StorageKind;
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = Dynamic,
-    MaxRowsAtCompileTime = Dynamic,
-    MaxColsAtCompileTime = Dynamic,
-    Flags = _Options | NestByRefBit | LvalueBit,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    SupportedAccessPatterns = OuterRandomAccessPattern
-  };
-};
-}
-
-template<typename _Scalar, int _Options, typename _StorageIndex>
- class  DynamicSparseMatrix
-  : public SparseMatrixBase<DynamicSparseMatrix<_Scalar, _Options, _StorageIndex> >
-{
-    typedef SparseMatrixBase<DynamicSparseMatrix> Base;
-    using Base::convert_index;
-  public:
-    EIGEN_SPARSE_PUBLIC_INTERFACE(DynamicSparseMatrix)
-    // FIXME: why are these operator already alvailable ???
-    // EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(DynamicSparseMatrix, +=)
-    // EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(DynamicSparseMatrix, -=)
-    typedef MappedSparseMatrix<Scalar,Flags> Map;
-    using Base::IsRowMajor;
-    using Base::operator=;
-    enum {
-      Options = _Options
-    };
-
-  protected:
-
-    typedef DynamicSparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0), StorageIndex> TransposedSparseMatrix;
-
-    Index m_innerSize;
-    std::vector<internal::CompressedStorage<Scalar,StorageIndex> > m_data;
-
-  public:
-
-    inline Index rows() const { return IsRowMajor ? outerSize() : m_innerSize; }
-    inline Index cols() const { return IsRowMajor ? m_innerSize : outerSize(); }
-    inline Index innerSize() const { return m_innerSize; }
-    inline Index outerSize() const { return convert_index(m_data.size()); }
-    inline Index innerNonZeros(Index j) const { return m_data[j].size(); }
-
-    std::vector<internal::CompressedStorage<Scalar,StorageIndex> >& _data() { return m_data; }
-    const std::vector<internal::CompressedStorage<Scalar,StorageIndex> >& _data() const { return m_data; }
-
-    /** \returns the coefficient value at given position \a row, \a col
-      * This operation involes a log(rho*outer_size) binary search.
-      */
-    inline Scalar coeff(Index row, Index col) const
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-      return m_data[outer].at(inner);
-    }
-
-    /** \returns a reference to the coefficient value at given position \a row, \a col
-      * This operation involes a log(rho*outer_size) binary search. If the coefficient does not
-      * exist yet, then a sorted insertion into a sequential buffer is performed.
-      */
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-      return m_data[outer].atWithInsertion(inner);
-    }
-
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    void setZero()
-    {
-      for (Index j=0; j<outerSize(); ++j)
-        m_data[j].clear();
-    }
-
-    /** \returns the number of non zero coefficients */
-    Index nonZeros() const
-    {
-      Index res = 0;
-      for (Index j=0; j<outerSize(); ++j)
-        res += m_data[j].size();
-      return res;
-    }
-
-
-
-    void reserve(Index reserveSize = 1000)
-    {
-      if (outerSize()>0)
-      {
-        Index reserveSizePerVector = (std::max)(reserveSize/outerSize(),Index(4));
-        for (Index j=0; j<outerSize(); ++j)
-        {
-          m_data[j].reserve(reserveSizePerVector);
-        }
-      }
-    }
-
-    /** Does nothing: provided for compatibility with SparseMatrix */
-    inline void startVec(Index /*outer*/) {}
-
-    /** \returns a reference to the non zero coefficient at position \a row, \a col assuming that:
-      * - the nonzero does not already exist
-      * - the new coefficient is the last one of the given inner vector.
-      *
-      * \sa insert, insertBackByOuterInner */
-    inline Scalar& insertBack(Index row, Index col)
-    {
-      return insertBackByOuterInner(IsRowMajor?row:col, IsRowMajor?col:row);
-    }
-
-    /** \sa insertBack */
-    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
-    {
-      eigen_assert(outer<Index(m_data.size()) && inner<m_innerSize && "out of range");
-      eigen_assert(((m_data[outer].size()==0) || (m_data[outer].index(m_data[outer].size()-1)<inner))
-                && "wrong sorted insertion");
-      m_data[outer].append(0, inner);
-      return m_data[outer].value(m_data[outer].size()-1);
-    }
-
-    inline Scalar& insert(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      Index startId = 0;
-      Index id = static_cast<Index>(m_data[outer].size()) - 1;
-      m_data[outer].resize(id+2,1);
-
-      while ( (id >= startId) && (m_data[outer].index(id) > inner) )
-      {
-        m_data[outer].index(id+1) = m_data[outer].index(id);
-        m_data[outer].value(id+1) = m_data[outer].value(id);
-        --id;
-      }
-      m_data[outer].index(id+1) = inner;
-      m_data[outer].value(id+1) = 0;
-      return m_data[outer].value(id+1);
-    }
-
-    /** Does nothing: provided for compatibility with SparseMatrix */
-    inline void finalize() {}
-
-    /** Suppress all nonzeros which are smaller than \a reference under the tolerence \a epsilon */
-    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
-    {
-      for (Index j=0; j<outerSize(); ++j)
-        m_data[j].prune(reference,epsilon);
-    }
-
-    /** Resize the matrix without preserving the data (the matrix is set to zero)
-      */
-    void resize(Index rows, Index cols)
-    {
-      const Index outerSize = IsRowMajor ? rows : cols;
-      m_innerSize = convert_index(IsRowMajor ? cols : rows);
-      setZero();
-      if (Index(m_data.size()) != outerSize)
-      {
-        m_data.resize(outerSize);
-      }
-    }
-
-    void resizeAndKeepData(Index rows, Index cols)
-    {
-      const Index outerSize = IsRowMajor ? rows : cols;
-      const Index innerSize = IsRowMajor ? cols : rows;
-      if (m_innerSize>innerSize)
-      {
-        // remove all coefficients with innerCoord>=innerSize
-        // TODO
-        //std::cerr << "not implemented yet\n";
-        exit(2);
-      }
-      if (m_data.size() != outerSize)
-      {
-        m_data.resize(outerSize);
-      }
-    }
-
-    /** The class DynamicSparseMatrix is deprectaed */
-    EIGEN_DEPRECATED inline DynamicSparseMatrix()
-      : m_innerSize(0), m_data(0)
-    {
-      eigen_assert(innerSize()==0 && outerSize()==0);
-    }
-
-    /** The class DynamicSparseMatrix is deprectaed */
-    EIGEN_DEPRECATED inline DynamicSparseMatrix(Index rows, Index cols)
-      : m_innerSize(0)
-    {
-      resize(rows, cols);
-    }
-
-    /** The class DynamicSparseMatrix is deprectaed */
-    template<typename OtherDerived>
-    EIGEN_DEPRECATED explicit inline DynamicSparseMatrix(const SparseMatrixBase<OtherDerived>& other)
-      : m_innerSize(0)
-    {
-    Base::operator=(other.derived());
-    }
-
-    inline DynamicSparseMatrix(const DynamicSparseMatrix& other)
-      : Base(), m_innerSize(0)
-    {
-      *this = other.derived();
-    }
-
-    inline void swap(DynamicSparseMatrix& other)
-    {
-      //EIGEN_DBG_SPARSE(std::cout << "SparseMatrix:: swap\n");
-      std::swap(m_innerSize, other.m_innerSize);
-      //std::swap(m_outerSize, other.m_outerSize);
-      m_data.swap(other.m_data);
-    }
-
-    inline DynamicSparseMatrix& operator=(const DynamicSparseMatrix& other)
-    {
-      if (other.isRValue())
-      {
-        swap(other.const_cast_derived());
-      }
-      else
-      {
-        resize(other.rows(), other.cols());
-        m_data = other.m_data;
-      }
-      return *this;
-    }
-
-    /** Destructor */
-    inline ~DynamicSparseMatrix() {}
-
-  public:
-
-    /** \deprecated
-      * Set the matrix to zero and reserve the memory for \a reserveSize nonzero coefficients. */
-    EIGEN_DEPRECATED void startFill(Index reserveSize = 1000)
-    {
-      setZero();
-      reserve(reserveSize);
-    }
-
-    /** \deprecated use insert()
-      * inserts a nonzero coefficient at given coordinates \a row, \a col and returns its reference assuming that:
-      *  1 - the coefficient does not exist yet
-      *  2 - this the coefficient with greater inner coordinate for the given outer coordinate.
-      * In other words, assuming \c *this is column-major, then there must not exists any nonzero coefficient of coordinates
-      * \c i \c x \a col such that \c i >= \a row. Otherwise the matrix is invalid.
-      *
-      * \see fillrand(), coeffRef()
-      */
-    EIGEN_DEPRECATED Scalar& fill(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-      return insertBack(outer,inner);
-    }
-
-    /** \deprecated use insert()
-      * Like fill() but with random inner coordinates.
-      * Compared to the generic coeffRef(), the unique limitation is that we assume
-      * the coefficient does not exist yet.
-      */
-    EIGEN_DEPRECATED Scalar& fillrand(Index row, Index col)
-    {
-      return insert(row,col);
-    }
-
-    /** \deprecated use finalize()
-      * Does nothing. Provided for compatibility with SparseMatrix. */
-    EIGEN_DEPRECATED void endFill() {}
-    
-#   ifdef EIGEN_DYNAMICSPARSEMATRIX_PLUGIN
-#     include EIGEN_DYNAMICSPARSEMATRIX_PLUGIN
-#   endif
- };
-
-template<typename Scalar, int _Options, typename _StorageIndex>
-class DynamicSparseMatrix<Scalar,_Options,_StorageIndex>::InnerIterator : public SparseVector<Scalar,_Options,_StorageIndex>::InnerIterator
-{
-    typedef typename SparseVector<Scalar,_Options,_StorageIndex>::InnerIterator Base;
-  public:
-    InnerIterator(const DynamicSparseMatrix& mat, Index outer)
-      : Base(mat.m_data[outer]), m_outer(outer)
-    {}
-
-    inline Index row() const { return IsRowMajor ? m_outer : Base::index(); }
-    inline Index col() const { return IsRowMajor ? Base::index() : m_outer; }
-    inline Index outer() const { return m_outer; }
-
-  protected:
-    const Index m_outer;
-};
-
-template<typename Scalar, int _Options, typename _StorageIndex>
-class DynamicSparseMatrix<Scalar,_Options,_StorageIndex>::ReverseInnerIterator : public SparseVector<Scalar,_Options,_StorageIndex>::ReverseInnerIterator
-{
-    typedef typename SparseVector<Scalar,_Options,_StorageIndex>::ReverseInnerIterator Base;
-  public:
-    ReverseInnerIterator(const DynamicSparseMatrix& mat, Index outer)
-      : Base(mat.m_data[outer]), m_outer(outer)
-    {}
-
-    inline Index row() const { return IsRowMajor ? m_outer : Base::index(); }
-    inline Index col() const { return IsRowMajor ? Base::index() : m_outer; }
-    inline Index outer() const { return m_outer; }
-
-  protected:
-    const Index m_outer;
-};
-
-namespace internal {
-
-template<typename _Scalar, int _Options, typename _StorageIndex>
-struct evaluator<DynamicSparseMatrix<_Scalar,_Options,_StorageIndex> >
-  : evaluator_base<DynamicSparseMatrix<_Scalar,_Options,_StorageIndex> >
-{
-  typedef _Scalar Scalar;
-  typedef DynamicSparseMatrix<_Scalar,_Options,_StorageIndex> SparseMatrixType;
-  typedef typename SparseMatrixType::InnerIterator InnerIterator;
-  typedef typename SparseMatrixType::ReverseInnerIterator ReverseInnerIterator;
-  
-  enum {
-    CoeffReadCost = NumTraits<_Scalar>::ReadCost,
-    Flags = SparseMatrixType::Flags
-  };
-  
-  evaluator() : m_matrix(0) {}
-  evaluator(const SparseMatrixType &mat) : m_matrix(&mat) {}
-  
-  operator SparseMatrixType&() { return m_matrix->const_cast_derived(); }
-  operator const SparseMatrixType&() const { return *m_matrix; }
-  
-  Scalar coeff(Index row, Index col) const { return m_matrix->coeff(row,col); }
-  
-  Index nonZerosEstimate() const { return m_matrix->nonZeros(); }
-
-  const SparseMatrixType *m_matrix;
-};
-
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_DYNAMIC_SPARSEMATRIX_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h b/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h
deleted file mode 100644
index cdc14f86e7c7c6..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h
+++ /dev/null
@@ -1,274 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_MARKET_IO_H
-#define EIGEN_SPARSE_MARKET_IO_H
-
-#include <iostream>
-
-namespace Eigen { 
-
-namespace internal 
-{
-  template <typename Scalar>
-  inline bool GetMarketLine (std::stringstream& line, Index& M, Index& N, Index& i, Index& j, Scalar& value)
-  {
-    line >> i >> j >> value;
-    i--;
-    j--;
-    if(i>=0 && j>=0 && i<M && j<N)
-    {
-      return true; 
-    }
-    else
-      return false;
-  }
-  template <typename Scalar>
-  inline bool GetMarketLine (std::stringstream& line, Index& M, Index& N, Index& i, Index& j, std::complex<Scalar>& value)
-  {
-    Scalar valR, valI;
-    line >> i >> j >> valR >> valI;
-    i--;
-    j--;
-    if(i>=0 && j>=0 && i<M && j<N)
-    {
-      value = std::complex<Scalar>(valR, valI);
-      return true; 
-    }
-    else
-      return false;
-  }
-
-  template <typename RealScalar>
-  inline void  GetVectorElt (const std::string& line, RealScalar& val)
-  {
-    std::istringstream newline(line);
-    newline >> val;  
-  }
-
-  template <typename RealScalar>
-  inline void GetVectorElt (const std::string& line, std::complex<RealScalar>& val)
-  {
-    RealScalar valR, valI; 
-    std::istringstream newline(line);
-    newline >> valR >> valI; 
-    val = std::complex<RealScalar>(valR, valI);
-  }
-  
-  template<typename Scalar>
-  inline void putMarketHeader(std::string& header,int sym)
-  {
-    header= "%%MatrixMarket matrix coordinate ";
-    if(internal::is_same<Scalar, std::complex<float> >::value || internal::is_same<Scalar, std::complex<double> >::value)
-    {
-      header += " complex"; 
-      if(sym == Symmetric) header += " symmetric";
-      else if (sym == SelfAdjoint) header += " Hermitian";
-      else header += " general";
-    }
-    else
-    {
-      header += " real"; 
-      if(sym == Symmetric) header += " symmetric";
-      else header += " general";
-    }
-  }
-
-  template<typename Scalar>
-  inline void PutMatrixElt(Scalar value, int row, int col, std::ofstream& out)
-  {
-    out << row << " "<< col << " " << value << "\n";
-  }
-  template<typename Scalar>
-  inline void PutMatrixElt(std::complex<Scalar> value, int row, int col, std::ofstream& out)
-  {
-    out << row << " " << col << " " << value.real() << " " << value.imag() << "\n";
-  }
-
-
-  template<typename Scalar>
-  inline void putVectorElt(Scalar value, std::ofstream& out)
-  {
-    out << value << "\n"; 
-  }
-  template<typename Scalar>
-  inline void putVectorElt(std::complex<Scalar> value, std::ofstream& out)
-  {
-    out << value.real << " " << value.imag()<< "\n"; 
-  }
-
-} // end namepsace internal
-
-inline bool getMarketHeader(const std::string& filename, int& sym, bool& iscomplex, bool& isvector)
-{
-  sym = 0; 
-  isvector = false;
-  std::ifstream in(filename.c_str(),std::ios::in);
-  if(!in)
-    return false;
-  
-  std::string line; 
-  // The matrix header is always the first line in the file 
-  std::getline(in, line); eigen_assert(in.good());
-  
-  std::stringstream fmtline(line); 
-  std::string substr[5];
-  fmtline>> substr[0] >> substr[1] >> substr[2] >> substr[3] >> substr[4];
-  if(substr[2].compare("array") == 0) isvector = true;
-  if(substr[3].compare("complex") == 0) iscomplex = true;
-  if(substr[4].compare("symmetric") == 0) sym = Symmetric;
-  else if (substr[4].compare("Hermitian") == 0) sym = SelfAdjoint;
-  
-  return true;
-}
-  
-template<typename SparseMatrixType>
-bool loadMarket(SparseMatrixType& mat, const std::string& filename)
-{
-  typedef typename SparseMatrixType::Scalar Scalar;
-  typedef typename SparseMatrixType::Index Index;
-  std::ifstream input(filename.c_str(),std::ios::in);
-  if(!input)
-    return false;
-  
-  const int maxBuffersize = 2048;
-  char buffer[maxBuffersize];
-  
-  bool readsizes = false;
-
-  typedef Triplet<Scalar,Index> T;
-  std::vector<T> elements;
-  
-  Index M(-1), N(-1), NNZ(-1);
-  Index count = 0;
-  while(input.getline(buffer, maxBuffersize))
-  {
-    // skip comments   
-    //NOTE An appropriate test should be done on the header to get the  symmetry
-    if(buffer[0]=='%')
-      continue;
-    
-    std::stringstream line(buffer);
-    
-    if(!readsizes)
-    {
-      line >> M >> N >> NNZ;
-      if(M > 0 && N > 0 && NNZ > 0) 
-      {
-        readsizes = true;
-        //std::cout << "sizes: " << M << "," << N << "," << NNZ << "\n";
-        mat.resize(M,N);
-        mat.reserve(NNZ);
-      }
-    }
-    else
-    { 
-      Index i(-1), j(-1);
-      Scalar value; 
-      if( internal::GetMarketLine(line, M, N, i, j, value) ) 
-      {
-        ++ count;
-        elements.push_back(T(i,j,value));
-      }
-      else 
-        std::cerr << "Invalid read: " << i << "," << j << "\n";        
-    }
-  }
-  mat.setFromTriplets(elements.begin(), elements.end());
-  if(count!=NNZ)
-    std::cerr << count << "!=" << NNZ << "\n";
-  
-  input.close();
-  return true;
-}
-
-template<typename VectorType>
-bool loadMarketVector(VectorType& vec, const std::string& filename)
-{
-   typedef typename VectorType::Scalar Scalar;
-  std::ifstream in(filename.c_str(), std::ios::in);
-  if(!in)
-    return false;
-  
-  std::string line; 
-  int n(0), col(0); 
-  do 
-  { // Skip comments
-    std::getline(in, line); eigen_assert(in.good());
-  } while (line[0] == '%');
-  std::istringstream newline(line);
-  newline  >> n >> col; 
-  eigen_assert(n>0 && col>0);
-  vec.resize(n);
-  int i = 0; 
-  Scalar value; 
-  while ( std::getline(in, line) && (i < n) ){
-    internal::GetVectorElt(line, value); 
-    vec(i++) = value; 
-  }
-  in.close();
-  if (i!=n){
-    std::cerr<< "Unable to read all elements from file " << filename << "\n";
-    return false;
-  }
-  return true;
-}
-
-template<typename SparseMatrixType>
-bool saveMarket(const SparseMatrixType& mat, const std::string& filename, int sym = 0)
-{
-  typedef typename SparseMatrixType::Scalar Scalar;
-  std::ofstream out(filename.c_str(),std::ios::out);
-  if(!out)
-    return false;
-  
-  out.flags(std::ios_base::scientific);
-  out.precision(64);
-  std::string header; 
-  internal::putMarketHeader<Scalar>(header, sym); 
-  out << header << std::endl; 
-  out << mat.rows() << " " << mat.cols() << " " << mat.nonZeros() << "\n";
-  int count = 0;
-  for(int j=0; j<mat.outerSize(); ++j)
-    for(typename SparseMatrixType::InnerIterator it(mat,j); it; ++it)
-    {
-      ++ count;
-      internal::PutMatrixElt(it.value(), it.row()+1, it.col()+1, out);
-      // out << it.row()+1 << " " << it.col()+1 << " " << it.value() << "\n";
-    }
-  out.close();
-  return true;
-}
-
-template<typename VectorType>
-bool saveMarketVector (const VectorType& vec, const std::string& filename)
-{
- typedef typename VectorType::Scalar Scalar; 
- std::ofstream out(filename.c_str(),std::ios::out);
-  if(!out)
-    return false;
-  
-  out.flags(std::ios_base::scientific);
-  out.precision(64);
-  if(internal::is_same<Scalar, std::complex<float> >::value || internal::is_same<Scalar, std::complex<double> >::value)
-      out << "%%MatrixMarket matrix array complex general\n"; 
-  else
-    out << "%%MatrixMarket matrix array real general\n"; 
-  out << vec.size() << " "<< 1 << "\n";
-  for (int i=0; i < vec.size(); i++){
-    internal::putVectorElt(vec(i), out); 
-  }
-  out.close();
-  return true; 
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_MARKET_IO_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h b/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h
deleted file mode 100644
index 02916ea6f00623..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h
+++ /dev/null
@@ -1,247 +0,0 @@
-
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BROWSE_MATRICES_H
-#define EIGEN_BROWSE_MATRICES_H
-
-namespace Eigen {
-
-enum {
-  SPD = 0x100,
-  NonSymmetric = 0x0
-}; 
-
-/** 
- * @brief Iterator to browse matrices from a specified folder
- * 
- * This is used to load all the matrices from a folder. 
- * The matrices should be in Matrix Market format
- * It is assumed that the matrices are named as matname.mtx
- * and matname_SPD.mtx if the matrix is Symmetric and positive definite (or Hermitian)
- * The right hand side vectors are loaded as well, if they exist.
- * They should be named as matname_b.mtx. 
- * Note that the right hand side for a SPD matrix is named as matname_SPD_b.mtx
- * 
- * Sometimes a reference solution is available. In this case, it should be named as matname_x.mtx
- * 
- * Sample code
- * \code
- * 
- * \endcode
- * 
- * \tparam Scalar The scalar type 
- */
-template <typename Scalar>
-class MatrixMarketIterator 
-{
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-  public:
-    typedef Matrix<Scalar,Dynamic,1> VectorType; 
-    typedef SparseMatrix<Scalar,ColMajor> MatrixType; 
-  
-  public:
-    MatrixMarketIterator(const std::string &folder)
-      : m_sym(0), m_isvalid(false), m_matIsLoaded(false), m_hasRhs(false), m_hasrefX(false), m_folder(folder)
-    {
-      m_folder_id = opendir(folder.c_str());
-      if(m_folder_id)
-        Getnextvalidmatrix();
-    }
-    
-    ~MatrixMarketIterator()
-    {
-      if (m_folder_id) closedir(m_folder_id); 
-    }
-    
-    inline MatrixMarketIterator& operator++()
-    {
-      m_matIsLoaded = false;
-      m_hasrefX = false;
-      m_hasRhs = false;
-      Getnextvalidmatrix();
-      return *this;
-    }
-    inline operator bool() const { return m_isvalid;}
-    
-    /** Return the sparse matrix corresponding to the current file */
-    inline MatrixType& matrix() 
-    { 
-      // Read the matrix
-      if (m_matIsLoaded) return m_mat;
-      
-      std::string matrix_file = m_folder + "/" + m_matname + ".mtx";
-      if ( !loadMarket(m_mat, matrix_file)) 
-      {
-        std::cerr << "Warning loadMarket failed when loading \"" << matrix_file << "\"" << std::endl;
-        m_matIsLoaded = false;
-        return m_mat;
-      }
-      m_matIsLoaded = true; 
-
-      if (m_sym != NonSymmetric) 
-      {
-        // Check whether we need to restore a full matrix:
-        RealScalar diag_norm  = m_mat.diagonal().norm();
-        RealScalar lower_norm = m_mat.template triangularView<Lower>().norm();
-        RealScalar upper_norm = m_mat.template triangularView<Upper>().norm();
-        if(lower_norm>diag_norm && upper_norm==diag_norm)
-        {
-          // only the lower part is stored
-          MatrixType tmp(m_mat);
-          m_mat = tmp.template selfadjointView<Lower>();
-        }
-        else if(upper_norm>diag_norm && lower_norm==diag_norm)
-        {
-          // only the upper part is stored
-          MatrixType tmp(m_mat);
-          m_mat = tmp.template selfadjointView<Upper>();
-        }
-      }
-      return m_mat; 
-    }
-    
-    /** Return the right hand side corresponding to the current matrix. 
-     * If the rhs file is not provided, a random rhs is generated
-     */
-    inline VectorType& rhs() 
-    { 
-       // Get the right hand side
-      if (m_hasRhs) return m_rhs;
-      
-      std::string rhs_file;
-      rhs_file = m_folder + "/" + m_matname + "_b.mtx"; // The pattern is matname_b.mtx
-      m_hasRhs = Fileexists(rhs_file);
-      if (m_hasRhs)
-      {
-        m_rhs.resize(m_mat.cols());
-        m_hasRhs = loadMarketVector(m_rhs, rhs_file);
-      }
-      if (!m_hasRhs)
-      {
-        // Generate a random right hand side
-        if (!m_matIsLoaded) this->matrix(); 
-        m_refX.resize(m_mat.cols());
-        m_refX.setRandom();
-        m_rhs = m_mat * m_refX;
-        m_hasrefX = true;
-        m_hasRhs = true;
-      }
-      return m_rhs; 
-    }
-    
-    /** Return a reference solution
-     * If it is not provided and if the right hand side is not available
-     * then refX is randomly generated such that A*refX = b 
-     * where A and b are the matrix and the rhs. 
-     * Note that when a rhs is provided, refX is not available 
-     */
-    inline VectorType& refX() 
-    { 
-      // Check if a reference solution is provided
-      if (m_hasrefX) return m_refX;
-      
-      std::string lhs_file;
-      lhs_file = m_folder + "/" + m_matname + "_x.mtx"; 
-      m_hasrefX = Fileexists(lhs_file);
-      if (m_hasrefX)
-      {
-        m_refX.resize(m_mat.cols());
-        m_hasrefX = loadMarketVector(m_refX, lhs_file);
-      }
-      else
-        m_refX.resize(0);
-      return m_refX; 
-    }
-    
-    inline std::string& matname() { return m_matname; }
-    
-    inline int sym() { return m_sym; }
-    
-    bool hasRhs() {return m_hasRhs; }
-    bool hasrefX() {return m_hasrefX; }
-    bool isFolderValid() { return bool(m_folder_id); }
-    
-  protected:
-    
-    inline bool Fileexists(std::string file)
-    {
-      std::ifstream file_id(file.c_str());
-      if (!file_id.good() ) 
-      {
-        return false;
-      }
-      else 
-      {
-        file_id.close();
-        return true;
-      }
-    }
-    
-    void Getnextvalidmatrix( )
-    {
-      m_isvalid = false;
-      // Here, we return with the next valid matrix in the folder
-      while ( (m_curs_id = readdir(m_folder_id)) != NULL) {
-        m_isvalid = false;
-        std::string curfile;
-        curfile = m_folder + "/" + m_curs_id->d_name;
-        // Discard if it is a folder
-        if (m_curs_id->d_type == DT_DIR) continue; //FIXME This may not be available on non BSD systems
-//         struct stat st_buf; 
-//         stat (curfile.c_str(), &st_buf);
-//         if (S_ISDIR(st_buf.st_mode)) continue;
-        
-        // Determine from the header if it is a matrix or a right hand side 
-        bool isvector,iscomplex=false;
-        if(!getMarketHeader(curfile,m_sym,iscomplex,isvector)) continue;
-        if(isvector) continue;
-        if (!iscomplex)
-        {
-          if(internal::is_same<Scalar, std::complex<float> >::value || internal::is_same<Scalar, std::complex<double> >::value)
-            continue; 
-        }
-        if (iscomplex)
-        {
-          if(internal::is_same<Scalar, float>::value || internal::is_same<Scalar, double>::value)
-            continue; 
-        }
-        
-        
-        // Get the matrix name
-        std::string filename = m_curs_id->d_name;
-        m_matname = filename.substr(0, filename.length()-4); 
-        
-        // Find if the matrix is SPD 
-        size_t found = m_matname.find("SPD");
-        if( (found!=std::string::npos) && (m_sym != NonSymmetric) )
-          m_sym = SPD;
-       
-        m_isvalid = true;
-        break; 
-      }
-    }
-    int m_sym; // Symmetry of the matrix
-    MatrixType m_mat; // Current matrix  
-    VectorType m_rhs;  // Current vector
-    VectorType m_refX; // The reference solution, if exists
-    std::string m_matname; // Matrix Name
-    bool m_isvalid; 
-    bool m_matIsLoaded; // Determine if the matrix has already been loaded from the file
-    bool m_hasRhs; // The right hand side exists
-    bool m_hasrefX; // A reference solution is provided
-    std::string m_folder;
-    DIR * m_folder_id;
-    struct dirent *m_curs_id; 
-    
-};
-
-} // end namespace Eigen
-
-#endif
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h b/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h
deleted file mode 100644
index ee97299af9b594..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h
+++ /dev/null
@@ -1,327 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_RANDOMSETTER_H
-#define EIGEN_RANDOMSETTER_H
-
-namespace Eigen { 
-
-/** Represents a std::map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct StdMapTraits
-{
-  typedef int KeyType;
-  typedef std::map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 1
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-
-#ifdef EIGEN_UNORDERED_MAP_SUPPORT
-/** Represents a std::unordered_map
-  *
-  * To use it you need to both define EIGEN_UNORDERED_MAP_SUPPORT and include the unordered_map header file
-  * yourself making sure that unordered_map is defined in the std namespace.
-  *
-  * For instance, with current version of gcc you can either enable C++0x standard (-std=c++0x) or do:
-  * \code
-  * #include <tr1/unordered_map>
-  * #define EIGEN_UNORDERED_MAP_SUPPORT
-  * namespace std {
-  *   using std::tr1::unordered_map;
-  * }
-  * \endcode
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct StdUnorderedMapTraits
-{
-  typedef int KeyType;
-  typedef std::unordered_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-#endif // EIGEN_UNORDERED_MAP_SUPPORT
-
-#ifdef _DENSE_HASH_MAP_H_
-/** Represents a google::dense_hash_map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct GoogleDenseHashMapTraits
-{
-  typedef int KeyType;
-  typedef google::dense_hash_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type& map, const KeyType& k)
-  { map.set_empty_key(k); }
-};
-#endif
-
-#ifdef _SPARSE_HASH_MAP_H_
-/** Represents a google::sparse_hash_map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct GoogleSparseHashMapTraits
-{
-  typedef int KeyType;
-  typedef google::sparse_hash_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-#endif
-
-/** \class RandomSetter
-  *
-  * \brief The RandomSetter is a wrapper object allowing to set/update a sparse matrix with random access
-  *
-  * \tparam SparseMatrixType the type of the sparse matrix we are updating
-  * \tparam MapTraits a traits class representing the map implementation used for the temporary sparse storage.
-  *                  Its default value depends on the system.
-  * \tparam OuterPacketBits defines the number of rows (or columns) manage by a single map object
-  *                        as a power of two exponent.
-  *
-  * This class temporarily represents a sparse matrix object using a generic map implementation allowing for
-  * efficient random access. The conversion from the compressed representation to a hash_map object is performed
-  * in the RandomSetter constructor, while the sparse matrix is updated back at destruction time. This strategy
-  * suggest the use of nested blocks as in this example:
-  *
-  * \code
-  * SparseMatrix<double> m(rows,cols);
-  * {
-  *   RandomSetter<SparseMatrix<double> > w(m);
-  *   // don't use m but w instead with read/write random access to the coefficients:
-  *   for(;;)
-  *     w(rand(),rand()) = rand;
-  * }
-  * // when w is deleted, the data are copied back to m
-  * // and m is ready to use.
-  * \endcode
-  *
-  * Since hash_map objects are not fully sorted, representing a full matrix as a single hash_map would
-  * involve a big and costly sort to update the compressed matrix back. To overcome this issue, a RandomSetter
-  * use multiple hash_map, each representing 2^OuterPacketBits columns or rows according to the storage order.
-  * To reach optimal performance, this value should be adjusted according to the average number of nonzeros
-  * per rows/columns.
-  *
-  * The possible values for the template parameter MapTraits are:
-  *  - \b StdMapTraits: corresponds to std::map. (does not perform very well)
-  *  - \b GnuHashMapTraits: corresponds to __gnu_cxx::hash_map (available only with GCC)
-  *  - \b GoogleDenseHashMapTraits: corresponds to google::dense_hash_map (best efficiency, reasonable memory consumption)
-  *  - \b GoogleSparseHashMapTraits: corresponds to google::sparse_hash_map (best memory consumption, relatively good performance)
-  *
-  * The default map implementation depends on the availability, and the preferred order is:
-  * GoogleSparseHashMapTraits, GnuHashMapTraits, and finally StdMapTraits.
-  *
-  * For performance and memory consumption reasons it is highly recommended to use one of
-  * the Google's hash_map implementation. To enable the support for them, you have two options:
-  *  - \#include <google/dense_hash_map> yourself \b before Eigen/Sparse header
-  *  - define EIGEN_GOOGLEHASH_SUPPORT
-  * In the later case the inclusion of <google/dense_hash_map> is made for you.
-  *
-  * \see http://code.google.com/p/google-sparsehash/
-  */
-template<typename SparseMatrixType,
-         template <typename T> class MapTraits =
-#if defined _DENSE_HASH_MAP_H_
-          GoogleDenseHashMapTraits
-#elif defined _HASH_MAP
-          GnuHashMapTraits
-#else
-          StdMapTraits
-#endif
-         ,int OuterPacketBits = 6>
-class RandomSetter
-{
-    typedef typename SparseMatrixType::Scalar Scalar;
-    typedef typename SparseMatrixType::StorageIndex StorageIndex;
-
-    struct ScalarWrapper
-    {
-      ScalarWrapper() : value(0) {}
-      Scalar value;
-    };
-    typedef typename MapTraits<ScalarWrapper>::KeyType KeyType;
-    typedef typename MapTraits<ScalarWrapper>::Type HashMapType;
-    static const int OuterPacketMask = (1 << OuterPacketBits) - 1;
-    enum {
-      SwapStorage = 1 - MapTraits<ScalarWrapper>::IsSorted,
-      TargetRowMajor = (SparseMatrixType::Flags & RowMajorBit) ? 1 : 0,
-      SetterRowMajor = SwapStorage ? 1-TargetRowMajor : TargetRowMajor
-    };
-
-  public:
-
-    /** Constructs a random setter object from the sparse matrix \a target
-      *
-      * Note that the initial value of \a target are imported. If you want to re-set
-      * a sparse matrix from scratch, then you must set it to zero first using the
-      * setZero() function.
-      */
-    inline RandomSetter(SparseMatrixType& target)
-      : mp_target(&target)
-    {
-      const Index outerSize = SwapStorage ? target.innerSize() : target.outerSize();
-      const Index innerSize = SwapStorage ? target.outerSize() : target.innerSize();
-      m_outerPackets = outerSize >> OuterPacketBits;
-      if (outerSize&OuterPacketMask)
-        m_outerPackets += 1;
-      m_hashmaps = new HashMapType[m_outerPackets];
-      // compute number of bits needed to store inner indices
-      Index aux = innerSize - 1;
-      m_keyBitsOffset = 0;
-      while (aux)
-      {
-        ++m_keyBitsOffset;
-        aux = aux >> 1;
-      }
-      KeyType ik = (1<<(OuterPacketBits+m_keyBitsOffset));
-      for (Index k=0; k<m_outerPackets; ++k)
-        MapTraits<ScalarWrapper>::setInvalidKey(m_hashmaps[k],ik);
-
-      // insert current coeffs
-      for (Index j=0; j<mp_target->outerSize(); ++j)
-        for (typename SparseMatrixType::InnerIterator it(*mp_target,j); it; ++it)
-          (*this)(TargetRowMajor?j:it.index(), TargetRowMajor?it.index():j) = it.value();
-    }
-
-    /** Destructor updating back the sparse matrix target */
-    ~RandomSetter()
-    {
-      KeyType keyBitsMask = (1<<m_keyBitsOffset)-1;
-      if (!SwapStorage) // also means the map is sorted
-      {
-        mp_target->setZero();
-        mp_target->makeCompressed();
-        mp_target->reserve(nonZeros());
-        Index prevOuter = -1;
-        for (Index k=0; k<m_outerPackets; ++k)
-        {
-          const Index outerOffset = (1<<OuterPacketBits) * k;
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const Index outer = (it->first >> m_keyBitsOffset) + outerOffset;
-            const Index inner = it->first & keyBitsMask;
-            if (prevOuter!=outer)
-            {
-              for (Index j=prevOuter+1;j<=outer;++j)
-                mp_target->startVec(j);
-              prevOuter = outer;
-            }
-            mp_target->insertBackByOuterInner(outer, inner) = it->second.value;
-          }
-        }
-        mp_target->finalize();
-      }
-      else
-      {
-        VectorXi positions(mp_target->outerSize());
-        positions.setZero();
-        // pass 1
-        for (Index k=0; k<m_outerPackets; ++k)
-        {
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const Index outer = it->first & keyBitsMask;
-            ++positions[outer];
-          }
-        }
-        // prefix sum
-        Index count = 0;
-        for (Index j=0; j<mp_target->outerSize(); ++j)
-        {
-          Index tmp = positions[j];
-          mp_target->outerIndexPtr()[j] = count;
-          positions[j] = count;
-          count += tmp;
-        }
-        mp_target->makeCompressed();
-        mp_target->outerIndexPtr()[mp_target->outerSize()] = count;
-        mp_target->resizeNonZeros(count);
-        // pass 2
-        for (Index k=0; k<m_outerPackets; ++k)
-        {
-          const Index outerOffset = (1<<OuterPacketBits) * k;
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const Index inner = (it->first >> m_keyBitsOffset) + outerOffset;
-            const Index outer = it->first & keyBitsMask;
-            // sorted insertion
-            // Note that we have to deal with at most 2^OuterPacketBits unsorted coefficients,
-            // moreover those 2^OuterPacketBits coeffs are likely to be sparse, an so only a
-            // small fraction of them have to be sorted, whence the following simple procedure:
-            Index posStart = mp_target->outerIndexPtr()[outer];
-            Index i = (positions[outer]++) - 1;
-            while ( (i >= posStart) && (mp_target->innerIndexPtr()[i] > inner) )
-            {
-              mp_target->valuePtr()[i+1] = mp_target->valuePtr()[i];
-              mp_target->innerIndexPtr()[i+1] = mp_target->innerIndexPtr()[i];
-              --i;
-            }
-            mp_target->innerIndexPtr()[i+1] = inner;
-            mp_target->valuePtr()[i+1] = it->second.value;
-          }
-        }
-      }
-      delete[] m_hashmaps;
-    }
-
-    /** \returns a reference to the coefficient at given coordinates \a row, \a col */
-    Scalar& operator() (Index row, Index col)
-    {
-      const Index outer = SetterRowMajor ? row : col;
-      const Index inner = SetterRowMajor ? col : row;
-      const Index outerMajor = outer >> OuterPacketBits; // index of the packet/map
-      const Index outerMinor = outer & OuterPacketMask;  // index of the inner vector in the packet
-      const KeyType key = internal::convert_index<KeyType>((outerMinor<<m_keyBitsOffset) | inner);
-      return m_hashmaps[outerMajor][key].value;
-    }
-
-    /** \returns the number of non zero coefficients
-      *
-      * \note According to the underlying map/hash_map implementation,
-      * this function might be quite expensive.
-      */
-    Index nonZeros() const
-    {
-      Index nz = 0;
-      for (Index k=0; k<m_outerPackets; ++k)
-        nz += static_cast<Index>(m_hashmaps[k].size());
-      return nz;
-    }
-
-
-  protected:
-
-    HashMapType* m_hashmaps;
-    SparseMatrixType* mp_target;
-    Index m_outerPackets;
-    unsigned char m_keyBitsOffset;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_RANDOMSETTER_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h b/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h
deleted file mode 100644
index ed415db990da50..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h
+++ /dev/null
@@ -1,124 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#ifndef EIGEN_SPECIALFUNCTIONS_ARRAYAPI_H
-#define EIGEN_SPECIALFUNCTIONS_ARRAYAPI_H
-
-namespace Eigen {
-
-/** \cpp11 \returns an expression of the coefficient-wise igamma(\a a, \a x) to the given arrays.
-  *
-  * This function computes the coefficient-wise incomplete gamma function.
-  *
-  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
-  * or float/double in non c++11 mode, the user has to provide implementations of igammac(T,T) for any scalar
-  * type T to be supported.
-  *
-  * \sa Eigen::igammac(), Eigen::lgamma()
-  */
-template<typename Derived,typename ExponentDerived>
-inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_igamma_op<typename Derived::Scalar>, const Derived, const ExponentDerived>
-igamma(const Eigen::ArrayBase<Derived>& a, const Eigen::ArrayBase<ExponentDerived>& x)
-{
-  return Eigen::CwiseBinaryOp<Eigen::internal::scalar_igamma_op<typename Derived::Scalar>, const Derived, const ExponentDerived>(
-    a.derived(),
-    x.derived()
-  );
-}
-
-/** \cpp11 \returns an expression of the coefficient-wise igammac(\a a, \a x) to the given arrays.
-  *
-  * This function computes the coefficient-wise complementary incomplete gamma function.
-  *
-  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
-  * or float/double in non c++11 mode, the user has to provide implementations of igammac(T,T) for any scalar
-  * type T to be supported.
-  *
-  * \sa Eigen::igamma(), Eigen::lgamma()
-  */
-template<typename Derived,typename ExponentDerived>
-inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_igammac_op<typename Derived::Scalar>, const Derived, const ExponentDerived>
-igammac(const Eigen::ArrayBase<Derived>& a, const Eigen::ArrayBase<ExponentDerived>& x)
-{
-  return Eigen::CwiseBinaryOp<Eigen::internal::scalar_igammac_op<typename Derived::Scalar>, const Derived, const ExponentDerived>(
-    a.derived(),
-    x.derived()
-  );
-}
-
-/** \cpp11 \returns an expression of the coefficient-wise polygamma(\a n, \a x) to the given arrays.
-  *
-  * It returns the \a n -th derivative of the digamma(psi) evaluated at \c x.
-  *
-  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
-  * or float/double in non c++11 mode, the user has to provide implementations of polygamma(T,T) for any scalar
-  * type T to be supported.
-  *
-  * \sa Eigen::digamma()
-  */
-// * \warning Be careful with the order of the parameters: x.polygamma(n) is equivalent to polygamma(n,x)
-// * \sa ArrayBase::polygamma()
-template<typename DerivedN,typename DerivedX>
-inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_polygamma_op<typename DerivedX::Scalar>, const DerivedN, const DerivedX>
-polygamma(const Eigen::ArrayBase<DerivedN>& n, const Eigen::ArrayBase<DerivedX>& x)
-{
-  return Eigen::CwiseBinaryOp<Eigen::internal::scalar_polygamma_op<typename DerivedX::Scalar>, const DerivedN, const DerivedX>(
-    n.derived(),
-    x.derived()
-  );
-}
-
-/** \cpp11 \returns an expression of the coefficient-wise betainc(\a x, \a a, \a b) to the given arrays.
-  *
-  * This function computes the regularized incomplete beta function (integral).
-  *
-  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
-  * or float/double in non c++11 mode, the user has to provide implementations of betainc(T,T,T) for any scalar
-  * type T to be supported.
-  *
-  * \sa Eigen::betainc(), Eigen::lgamma()
-  */
-template<typename ArgADerived, typename ArgBDerived, typename ArgXDerived>
-inline const Eigen::CwiseTernaryOp<Eigen::internal::scalar_betainc_op<typename ArgXDerived::Scalar>, const ArgADerived, const ArgBDerived, const ArgXDerived>
-betainc(const Eigen::ArrayBase<ArgADerived>& a, const Eigen::ArrayBase<ArgBDerived>& b, const Eigen::ArrayBase<ArgXDerived>& x)
-{
-  return Eigen::CwiseTernaryOp<Eigen::internal::scalar_betainc_op<typename ArgXDerived::Scalar>, const ArgADerived, const ArgBDerived, const ArgXDerived>(
-    a.derived(),
-    b.derived(),
-    x.derived()
-  );
-}
-
-
-/** \returns an expression of the coefficient-wise zeta(\a x, \a q) to the given arrays.
-  *
-  * It returns the Riemann zeta function of two arguments \a x and \a q:
-  *
-  * \param x is the exposent, it must be > 1
-  * \param q is the shift, it must be > 0
-  *
-  * \note This function supports only float and double scalar types. To support other scalar types, the user has
-  * to provide implementations of zeta(T,T) for any scalar type T to be supported.
-  *
-  * \sa ArrayBase::zeta()
-  */
-template<typename DerivedX,typename DerivedQ>
-inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_zeta_op<typename DerivedX::Scalar>, const DerivedX, const DerivedQ>
-zeta(const Eigen::ArrayBase<DerivedX>& x, const Eigen::ArrayBase<DerivedQ>& q)
-{
-  return Eigen::CwiseBinaryOp<Eigen::internal::scalar_zeta_op<typename DerivedX::Scalar>, const DerivedX, const DerivedQ>(
-    x.derived(),
-    q.derived()
-  );
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPECIALFUNCTIONS_ARRAYAPI_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h b/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h
deleted file mode 100644
index d8f2363bea71a3..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h
+++ /dev/null
@@ -1,236 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com>
-// Copyright (C) 2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPECIALFUNCTIONS_FUNCTORS_H
-#define EIGEN_SPECIALFUNCTIONS_FUNCTORS_H
-
-namespace Eigen {
-
-namespace internal {
-
-
-/** \internal
-  * \brief Template functor to compute the incomplete gamma function igamma(a, x)
-  *
-  * \sa class CwiseBinaryOp, Cwise::igamma
-  */
-template<typename Scalar> struct scalar_igamma_op : binary_op_base<Scalar,Scalar>
-{
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_igamma_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& x) const {
-    using numext::igamma; return igamma(a, x);
-  }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& x) const {
-    return internal::pigamma(a, x);
-  }
-};
-template<typename Scalar>
-struct functor_traits<scalar_igamma_op<Scalar> > {
-  enum {
-    // Guesstimate
-    Cost = 20 * NumTraits<Scalar>::MulCost + 10 * NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasIGamma
-  };
-};
-
-
-/** \internal
-  * \brief Template functor to compute the complementary incomplete gamma function igammac(a, x)
-  *
-  * \sa class CwiseBinaryOp, Cwise::igammac
-  */
-template<typename Scalar> struct scalar_igammac_op : binary_op_base<Scalar,Scalar>
-{
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_igammac_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& x) const {
-    using numext::igammac; return igammac(a, x);
-  }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& x) const
-  {
-    return internal::pigammac(a, x);
-  }
-};
-template<typename Scalar>
-struct functor_traits<scalar_igammac_op<Scalar> > {
-  enum {
-    // Guesstimate
-    Cost = 20 * NumTraits<Scalar>::MulCost + 10 * NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasIGammac
-  };
-};
-
-
-/** \internal
-  * \brief Template functor to compute the incomplete beta integral betainc(a, b, x)
-  *
-  */
-template<typename Scalar> struct scalar_betainc_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_betainc_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& x, const Scalar& a, const Scalar& b) const {
-    using numext::betainc; return betainc(x, a, b);
-  }
-  template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& x, const Packet& a, const Packet& b) const
-  {
-    return internal::pbetainc(x, a, b);
-  }
-};
-template<typename Scalar>
-struct functor_traits<scalar_betainc_op<Scalar> > {
-  enum {
-    // Guesstimate
-    Cost = 400 * NumTraits<Scalar>::MulCost + 400 * NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasBetaInc
-  };
-};
-
-
-/** \internal
- * \brief Template functor to compute the natural log of the absolute
- * value of Gamma of a scalar
- * \sa class CwiseUnaryOp, Cwise::lgamma()
- */
-template<typename Scalar> struct scalar_lgamma_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_lgamma_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const {
-    using numext::lgamma; return lgamma(a);
-  }
-  typedef typename packet_traits<Scalar>::type Packet;
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plgamma(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_lgamma_op<Scalar> >
-{
-  enum {
-    // Guesstimate
-    Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasLGamma
-  };
-};
-
-/** \internal
- * \brief Template functor to compute psi, the derivative of lgamma of a scalar.
- * \sa class CwiseUnaryOp, Cwise::digamma()
- */
-template<typename Scalar> struct scalar_digamma_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_digamma_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const {
-    using numext::digamma; return digamma(a);
-  }
-  typedef typename packet_traits<Scalar>::type Packet;
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pdigamma(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_digamma_op<Scalar> >
-{
-  enum {
-    // Guesstimate
-    Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasDiGamma
-  };
-};
-
-/** \internal
- * \brief Template functor to compute the Riemann Zeta function of two arguments.
- * \sa class CwiseUnaryOp, Cwise::zeta()
- */
-template<typename Scalar> struct scalar_zeta_op {
-    EIGEN_EMPTY_STRUCT_CTOR(scalar_zeta_op)
-    EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& x, const Scalar& q) const {
-        using numext::zeta; return zeta(x, q);
-    }
-    typedef typename packet_traits<Scalar>::type Packet;
-    EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& x, const Packet& q) const { return internal::pzeta(x, q); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_zeta_op<Scalar> >
-{
-    enum {
-        // Guesstimate
-        Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost,
-        PacketAccess = packet_traits<Scalar>::HasZeta
-    };
-};
-
-/** \internal
- * \brief Template functor to compute the polygamma function.
- * \sa class CwiseUnaryOp, Cwise::polygamma()
- */
-template<typename Scalar> struct scalar_polygamma_op {
-    EIGEN_EMPTY_STRUCT_CTOR(scalar_polygamma_op)
-    EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& n, const Scalar& x) const {
-        using numext::polygamma; return polygamma(n, x);
-    }
-    typedef typename packet_traits<Scalar>::type Packet;
-    EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& n, const Packet& x) const { return internal::ppolygamma(n, x); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_polygamma_op<Scalar> >
-{
-    enum {
-        // Guesstimate
-        Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost,
-        PacketAccess = packet_traits<Scalar>::HasPolygamma
-    };
-};
-
-/** \internal
- * \brief Template functor to compute the Gauss error function of a
- * scalar
- * \sa class CwiseUnaryOp, Cwise::erf()
- */
-template<typename Scalar> struct scalar_erf_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_erf_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const {
-    using numext::erf; return erf(a);
-  }
-  typedef typename packet_traits<Scalar>::type Packet;
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::perf(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_erf_op<Scalar> >
-{
-  enum {
-    // Guesstimate
-    Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasErf
-  };
-};
-
-/** \internal
- * \brief Template functor to compute the Complementary Error Function
- * of a scalar
- * \sa class CwiseUnaryOp, Cwise::erfc()
- */
-template<typename Scalar> struct scalar_erfc_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_erfc_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const {
-    using numext::erfc; return erfc(a);
-  }
-  typedef typename packet_traits<Scalar>::type Packet;
-  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::perfc(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_erfc_op<Scalar> >
-{
-  enum {
-    // Guesstimate
-    Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasErfc
-  };
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPECIALFUNCTIONS_FUNCTORS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h b/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h
deleted file mode 100644
index 553bcda6a65b03..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h
+++ /dev/null
@@ -1,47 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPECIALFUNCTIONS_HALF_H
-#define EIGEN_SPECIALFUNCTIONS_HALF_H
-
-namespace Eigen {
-namespace numext {
-
-#if EIGEN_HAS_C99_MATH
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half lgamma(const Eigen::half& a) {
-  return Eigen::half(Eigen::numext::lgamma(static_cast<float>(a)));
-}
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half digamma(const Eigen::half& a) {
-  return Eigen::half(Eigen::numext::digamma(static_cast<float>(a)));
-}
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half zeta(const Eigen::half& x, const Eigen::half& q) {
-  return Eigen::half(Eigen::numext::zeta(static_cast<float>(x), static_cast<float>(q)));
-}
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half polygamma(const Eigen::half& n, const Eigen::half& x) {
-  return Eigen::half(Eigen::numext::polygamma(static_cast<float>(n), static_cast<float>(x)));
-}
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half erf(const Eigen::half& a) {
-  return Eigen::half(Eigen::numext::erf(static_cast<float>(a)));
-}
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half erfc(const Eigen::half& a) {
-  return Eigen::half(Eigen::numext::erfc(static_cast<float>(a)));
-}
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half igamma(const Eigen::half& a, const Eigen::half& x) {
-  return Eigen::half(Eigen::numext::igamma(static_cast<float>(a), static_cast<float>(x)));
-}
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half igammac(const Eigen::half& a, const Eigen::half& x) {
-  return Eigen::half(Eigen::numext::igammac(static_cast<float>(a), static_cast<float>(x)));
-}
-template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half betainc(const Eigen::half& a, const Eigen::half& b, const Eigen::half& x) {
-  return Eigen::half(Eigen::numext::betainc(static_cast<float>(a), static_cast<float>(b), static_cast<float>(x)));
-}
-#endif
-
-}  // end namespace numext
-}  // end namespace Eigen
-
-#endif  // EIGEN_SPECIALFUNCTIONS_HALF_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h b/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h
deleted file mode 100644
index f524d7137741e6..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h
+++ /dev/null
@@ -1,1565 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Eugene Brevdo <ebrevdo@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPECIAL_FUNCTIONS_H
-#define EIGEN_SPECIAL_FUNCTIONS_H
-
-namespace Eigen {
-namespace internal {
-
-//  Parts of this code are based on the Cephes Math Library.
-//
-//  Cephes Math Library Release 2.8:  June, 2000
-//  Copyright 1984, 1987, 1992, 2000 by Stephen L. Moshier
-//
-//  Permission has been kindly provided by the original author
-//  to incorporate the Cephes software into the Eigen codebase:
-//
-//    From: Stephen Moshier
-//    To: Eugene Brevdo
-//    Subject: Re: Permission to wrap several cephes functions in Eigen
-//
-//    Hello Eugene,
-//
-//    Thank you for writing.
-//
-//    If your licensing is similar to BSD, the formal way that has been
-//    handled is simply to add a statement to the effect that you are incorporating
-//    the Cephes software by permission of the author.
-//
-//    Good luck with your project,
-//    Steve
-
-namespace cephes {
-
-/* polevl (modified for Eigen)
- *
- *      Evaluate polynomial
- *
- *
- *
- * SYNOPSIS:
- *
- * int N;
- * Scalar x, y, coef[N+1];
- *
- * y = polevl<decltype(x), N>( x, coef);
- *
- *
- *
- * DESCRIPTION:
- *
- * Evaluates polynomial of degree N:
- *
- *                     2          N
- * y  =  C  + C x + C x  +...+ C x
- *        0    1     2          N
- *
- * Coefficients are stored in reverse order:
- *
- * coef[0] = C  , ..., coef[N] = C  .
- *            N                   0
- *
- *  The function p1evl() assumes that coef[N] = 1.0 and is
- * omitted from the array.  Its calling arguments are
- * otherwise the same as polevl().
- *
- *
- * The Eigen implementation is templatized.  For best speed, store
- * coef as a const array (constexpr), e.g.
- *
- * const double coef[] = {1.0, 2.0, 3.0, ...};
- *
- */
-template <typename Scalar, int N>
-struct polevl {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Scalar x, const Scalar coef[]) {
-    EIGEN_STATIC_ASSERT((N > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
-
-    return polevl<Scalar, N - 1>::run(x, coef) * x + coef[N];
-  }
-};
-
-template <typename Scalar>
-struct polevl<Scalar, 0> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Scalar, const Scalar coef[]) {
-    return coef[0];
-  }
-};
-
-}  // end namespace cephes
-
-/****************************************************************************
- * Implementation of lgamma, requires C++11/C99                             *
- ****************************************************************************/
-
-template <typename Scalar>
-struct lgamma_impl {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Scalar) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-template <typename Scalar>
-struct lgamma_retval {
-  typedef Scalar type;
-};
-
-#if EIGEN_HAS_C99_MATH
-template <>
-struct lgamma_impl<float> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE float run(float x) {
-#if !defined(__CUDA_ARCH__) && (defined(_BSD_SOURCE) || defined(_SVID_SOURCE)) && !defined(__APPLE__)
-    int signgam;
-    return ::lgammaf_r(x, &signgam);
-#else
-    return ::lgammaf(x);
-#endif
-  }
-};
-
-template <>
-struct lgamma_impl<double> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE double run(double x) {
-#if !defined(__CUDA_ARCH__) && (defined(_BSD_SOURCE) || defined(_SVID_SOURCE)) && !defined(__APPLE__)
-    int signgam;
-    return ::lgamma_r(x, &signgam);
-#else
-    return ::lgamma(x);
-#endif
-  }
-};
-#endif
-
-/****************************************************************************
- * Implementation of digamma (psi), based on Cephes                         *
- ****************************************************************************/
-
-template <typename Scalar>
-struct digamma_retval {
-  typedef Scalar type;
-};
-
-/*
- *
- * Polynomial evaluation helper for the Psi (digamma) function.
- *
- * digamma_impl_maybe_poly::run(s) evaluates the asymptotic Psi expansion for
- * input Scalar s, assuming s is above 10.0.
- *
- * If s is above a certain threshold for the given Scalar type, zero
- * is returned.  Otherwise the polynomial is evaluated with enough
- * coefficients for results matching Scalar machine precision.
- *
- *
- */
-template <typename Scalar>
-struct digamma_impl_maybe_poly {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Scalar) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-
-template <>
-struct digamma_impl_maybe_poly<float> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE float run(const float s) {
-    const float A[] = {
-      -4.16666666666666666667E-3f,
-      3.96825396825396825397E-3f,
-      -8.33333333333333333333E-3f,
-      8.33333333333333333333E-2f
-    };
-
-    float z;
-    if (s < 1.0e8f) {
-      z = 1.0f / (s * s);
-      return z * cephes::polevl<float, 3>::run(z, A);
-    } else return 0.0f;
-  }
-};
-
-template <>
-struct digamma_impl_maybe_poly<double> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE double run(const double s) {
-    const double A[] = {
-      8.33333333333333333333E-2,
-      -2.10927960927960927961E-2,
-      7.57575757575757575758E-3,
-      -4.16666666666666666667E-3,
-      3.96825396825396825397E-3,
-      -8.33333333333333333333E-3,
-      8.33333333333333333333E-2
-    };
-
-    double z;
-    if (s < 1.0e17) {
-      z = 1.0 / (s * s);
-      return z * cephes::polevl<double, 6>::run(z, A);
-    }
-    else return 0.0;
-  }
-};
-
-template <typename Scalar>
-struct digamma_impl {
-  EIGEN_DEVICE_FUNC
-  static Scalar run(Scalar x) {
-    /*
-     *
-     *     Psi (digamma) function (modified for Eigen)
-     *
-     *
-     * SYNOPSIS:
-     *
-     * double x, y, psi();
-     *
-     * y = psi( x );
-     *
-     *
-     * DESCRIPTION:
-     *
-     *              d      -
-     *   psi(x)  =  -- ln | (x)
-     *              dx
-     *
-     * is the logarithmic derivative of the gamma function.
-     * For integer x,
-     *                   n-1
-     *                    -
-     * psi(n) = -EUL  +   >  1/k.
-     *                    -
-     *                   k=1
-     *
-     * If x is negative, it is transformed to a positive argument by the
-     * reflection formula  psi(1-x) = psi(x) + pi cot(pi x).
-     * For general positive x, the argument is made greater than 10
-     * using the recurrence  psi(x+1) = psi(x) + 1/x.
-     * Then the following asymptotic expansion is applied:
-     *
-     *                           inf.   B
-     *                            -      2k
-     * psi(x) = log(x) - 1/2x -   >   -------
-     *                            -        2k
-     *                           k=1   2k x
-     *
-     * where the B2k are Bernoulli numbers.
-     *
-     * ACCURACY (float):
-     *    Relative error (except absolute when |psi| < 1):
-     * arithmetic   domain     # trials      peak         rms
-     *    IEEE      0,30        30000       1.3e-15     1.4e-16
-     *    IEEE      -30,0       40000       1.5e-15     2.2e-16
-     *
-     * ACCURACY (double):
-     *    Absolute error,  relative when |psi| > 1 :
-     * arithmetic   domain     # trials      peak         rms
-     *    IEEE      -33,0        30000      8.2e-7      1.2e-7
-     *    IEEE      0,33        100000      7.3e-7      7.7e-8
-     *
-     * ERROR MESSAGES:
-     *     message         condition      value returned
-     * psi singularity    x integer <=0      INFINITY
-     */
-
-    Scalar p, q, nz, s, w, y;
-    bool negative = false;
-
-    const Scalar maxnum = NumTraits<Scalar>::infinity();
-    const Scalar m_pi = Scalar(EIGEN_PI);
-
-    const Scalar zero = Scalar(0);
-    const Scalar one = Scalar(1);
-    const Scalar half = Scalar(0.5);
-    nz = zero;
-
-    if (x <= zero) {
-      negative = true;
-      q = x;
-      p = numext::floor(q);
-      if (p == q) {
-        return maxnum;
-      }
-      /* Remove the zeros of tan(m_pi x)
-       * by subtracting the nearest integer from x
-       */
-      nz = q - p;
-      if (nz != half) {
-        if (nz > half) {
-          p += one;
-          nz = q - p;
-        }
-        nz = m_pi / numext::tan(m_pi * nz);
-      }
-      else {
-        nz = zero;
-      }
-      x = one - x;
-    }
-
-    /* use the recurrence psi(x+1) = psi(x) + 1/x. */
-    s = x;
-    w = zero;
-    while (s < Scalar(10)) {
-      w += one / s;
-      s += one;
-    }
-
-    y = digamma_impl_maybe_poly<Scalar>::run(s);
-
-    y = numext::log(s) - (half / s) - y - w;
-
-    return (negative) ? y - nz : y;
-  }
-};
-
-/****************************************************************************
- * Implementation of erf, requires C++11/C99                                *
- ****************************************************************************/
-
-template <typename Scalar>
-struct erf_impl {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Scalar) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-template <typename Scalar>
-struct erf_retval {
-  typedef Scalar type;
-};
-
-#if EIGEN_HAS_C99_MATH
-template <>
-struct erf_impl<float> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE float run(float x) { return ::erff(x); }
-};
-
-template <>
-struct erf_impl<double> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE double run(double x) { return ::erf(x); }
-};
-#endif  // EIGEN_HAS_C99_MATH
-
-/***************************************************************************
-* Implementation of erfc, requires C++11/C99                               *
-****************************************************************************/
-
-template <typename Scalar>
-struct erfc_impl {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Scalar) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-template <typename Scalar>
-struct erfc_retval {
-  typedef Scalar type;
-};
-
-#if EIGEN_HAS_C99_MATH
-template <>
-struct erfc_impl<float> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE float run(const float x) { return ::erfcf(x); }
-};
-
-template <>
-struct erfc_impl<double> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE double run(const double x) { return ::erfc(x); }
-};
-#endif  // EIGEN_HAS_C99_MATH
-
-/**************************************************************************************************************
- * Implementation of igammac (complemented incomplete gamma integral), based on Cephes but requires C++11/C99 *
- **************************************************************************************************************/
-
-template <typename Scalar>
-struct igammac_retval {
-  typedef Scalar type;
-};
-
-// NOTE: cephes_helper is also used to implement zeta
-template <typename Scalar>
-struct cephes_helper {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar machep() { assert(false && "machep not supported for this type"); return 0.0; }
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar big() { assert(false && "big not supported for this type"); return 0.0; }
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar biginv() { assert(false && "biginv not supported for this type"); return 0.0; }
-};
-
-template <>
-struct cephes_helper<float> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE float machep() {
-    return NumTraits<float>::epsilon() / 2;  // 1.0 - machep == 1.0
-  }
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE float big() {
-    // use epsneg (1.0 - epsneg == 1.0)
-    return 1.0f / (NumTraits<float>::epsilon() / 2);
-  }
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE float biginv() {
-    // epsneg
-    return machep();
-  }
-};
-
-template <>
-struct cephes_helper<double> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE double machep() {
-    return NumTraits<double>::epsilon() / 2;  // 1.0 - machep == 1.0
-  }
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE double big() {
-    return 1.0 / NumTraits<double>::epsilon();
-  }
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE double biginv() {
-    // inverse of eps
-    return NumTraits<double>::epsilon();
-  }
-};
-
-#if !EIGEN_HAS_C99_MATH
-
-template <typename Scalar>
-struct igammac_impl {
-  EIGEN_DEVICE_FUNC
-  static Scalar run(Scalar a, Scalar x) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-#else
-
-template <typename Scalar> struct igamma_impl;  // predeclare igamma_impl
-
-template <typename Scalar>
-struct igammac_impl {
-  EIGEN_DEVICE_FUNC
-  static Scalar run(Scalar a, Scalar x) {
-    /*  igamc()
-     *
-     *	Incomplete gamma integral (modified for Eigen)
-     *
-     *
-     *
-     * SYNOPSIS:
-     *
-     * double a, x, y, igamc();
-     *
-     * y = igamc( a, x );
-     *
-     * DESCRIPTION:
-     *
-     * The function is defined by
-     *
-     *
-     *  igamc(a,x)   =   1 - igam(a,x)
-     *
-     *                            inf.
-     *                              -
-     *                     1       | |  -t  a-1
-     *               =   -----     |   e   t   dt.
-     *                    -      | |
-     *                   | (a)    -
-     *                             x
-     *
-     *
-     * In this implementation both arguments must be positive.
-     * The integral is evaluated by either a power series or
-     * continued fraction expansion, depending on the relative
-     * values of a and x.
-     *
-     * ACCURACY (float):
-     *
-     *                      Relative error:
-     * arithmetic   domain     # trials      peak         rms
-     *    IEEE      0,30        30000       7.8e-6      5.9e-7
-     *
-     *
-     * ACCURACY (double):
-     *
-     * Tested at random a, x.
-     *                a         x                      Relative error:
-     * arithmetic   domain   domain     # trials      peak         rms
-     *    IEEE     0.5,100   0,100      200000       1.9e-14     1.7e-15
-     *    IEEE     0.01,0.5  0,100      200000       1.4e-13     1.6e-15
-     *
-     */
-    /*
-      Cephes Math Library Release 2.2: June, 1992
-      Copyright 1985, 1987, 1992 by Stephen L. Moshier
-      Direct inquiries to 30 Frost Street, Cambridge, MA 02140
-    */
-    const Scalar zero = 0;
-    const Scalar one = 1;
-    const Scalar nan = NumTraits<Scalar>::quiet_NaN();
-
-    if ((x < zero) || (a <= zero)) {
-      // domain error
-      return nan;
-    }
-
-    if ((x < one) || (x < a)) {
-      /* The checks above ensure that we meet the preconditions for
-       * igamma_impl::Impl(), so call it, rather than igamma_impl::Run().
-       * Calling Run() would also work, but in that case the compiler may not be
-       * able to prove that igammac_impl::Run and igamma_impl::Run are not
-       * mutually recursive.  This leads to worse code, particularly on
-       * platforms like nvptx, where recursion is allowed only begrudgingly.
-       */
-      return (one - igamma_impl<Scalar>::Impl(a, x));
-    }
-
-    return Impl(a, x);
-  }
-
- private:
-  /* igamma_impl calls igammac_impl::Impl. */
-  friend struct igamma_impl<Scalar>;
-
-  /* Actually computes igamc(a, x).
-   *
-   * Preconditions:
-   *   a > 0
-   *   x >= 1
-   *   x >= a
-   */
-  EIGEN_DEVICE_FUNC static Scalar Impl(Scalar a, Scalar x) {
-    const Scalar zero = 0;
-    const Scalar one = 1;
-    const Scalar two = 2;
-    const Scalar machep = cephes_helper<Scalar>::machep();
-    const Scalar maxlog = numext::log(NumTraits<Scalar>::highest());
-    const Scalar big = cephes_helper<Scalar>::big();
-    const Scalar biginv = cephes_helper<Scalar>::biginv();
-    const Scalar inf = NumTraits<Scalar>::infinity();
-
-    Scalar ans, ax, c, yc, r, t, y, z;
-    Scalar pk, pkm1, pkm2, qk, qkm1, qkm2;
-
-    if (x == inf) return zero;  // std::isinf crashes on CUDA
-
-    /* Compute  x**a * exp(-x) / gamma(a)  */
-    ax = a * numext::log(x) - x - lgamma_impl<Scalar>::run(a);
-    if (ax < -maxlog) {  // underflow
-      return zero;
-    }
-    ax = numext::exp(ax);
-
-    // continued fraction
-    y = one - a;
-    z = x + y + one;
-    c = zero;
-    pkm2 = one;
-    qkm2 = x;
-    pkm1 = x + one;
-    qkm1 = z * x;
-    ans = pkm1 / qkm1;
-
-    while (true) {
-      c += one;
-      y += one;
-      z += two;
-      yc = y * c;
-      pk = pkm1 * z - pkm2 * yc;
-      qk = qkm1 * z - qkm2 * yc;
-      if (qk != zero) {
-        r = pk / qk;
-        t = numext::abs((ans - r) / r);
-        ans = r;
-      } else {
-        t = one;
-      }
-      pkm2 = pkm1;
-      pkm1 = pk;
-      qkm2 = qkm1;
-      qkm1 = qk;
-      if (numext::abs(pk) > big) {
-        pkm2 *= biginv;
-        pkm1 *= biginv;
-        qkm2 *= biginv;
-        qkm1 *= biginv;
-      }
-      if (t <= machep) {
-        break;
-      }
-    }
-
-    return (ans * ax);
-  }
-};
-
-#endif  // EIGEN_HAS_C99_MATH
-
-/************************************************************************************************
- * Implementation of igamma (incomplete gamma integral), based on Cephes but requires C++11/C99 *
- ************************************************************************************************/
-
-template <typename Scalar>
-struct igamma_retval {
-  typedef Scalar type;
-};
-
-#if !EIGEN_HAS_C99_MATH
-
-template <typename Scalar>
-struct igamma_impl {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(Scalar a, Scalar x) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-#else
-
-template <typename Scalar>
-struct igamma_impl {
-  EIGEN_DEVICE_FUNC
-  static Scalar run(Scalar a, Scalar x) {
-    /*	igam()
-     *	Incomplete gamma integral
-     *
-     *
-     *
-     * SYNOPSIS:
-     *
-     * double a, x, y, igam();
-     *
-     * y = igam( a, x );
-     *
-     * DESCRIPTION:
-     *
-     * The function is defined by
-     *
-     *                           x
-     *                            -
-     *                   1       | |  -t  a-1
-     *  igam(a,x)  =   -----     |   e   t   dt.
-     *                  -      | |
-     *                 | (a)    -
-     *                           0
-     *
-     *
-     * In this implementation both arguments must be positive.
-     * The integral is evaluated by either a power series or
-     * continued fraction expansion, depending on the relative
-     * values of a and x.
-     *
-     * ACCURACY (double):
-     *
-     *                      Relative error:
-     * arithmetic   domain     # trials      peak         rms
-     *    IEEE      0,30       200000       3.6e-14     2.9e-15
-     *    IEEE      0,100      300000       9.9e-14     1.5e-14
-     *
-     *
-     * ACCURACY (float):
-     *
-     *                      Relative error:
-     * arithmetic   domain     # trials      peak         rms
-     *    IEEE      0,30        20000       7.8e-6      5.9e-7
-     *
-     */
-    /*
-      Cephes Math Library Release 2.2: June, 1992
-      Copyright 1985, 1987, 1992 by Stephen L. Moshier
-      Direct inquiries to 30 Frost Street, Cambridge, MA 02140
-    */
-
-
-    /* left tail of incomplete gamma function:
-     *
-     *          inf.      k
-     *   a  -x   -       x
-     *  x  e     >   ----------
-     *           -     -
-     *          k=0   | (a+k+1)
-     *
-     */
-    const Scalar zero = 0;
-    const Scalar one = 1;
-    const Scalar nan = NumTraits<Scalar>::quiet_NaN();
-
-    if (x == zero) return zero;
-
-    if ((x < zero) || (a <= zero)) {  // domain error
-      return nan;
-    }
-
-    if ((x > one) && (x > a)) {
-      /* The checks above ensure that we meet the preconditions for
-       * igammac_impl::Impl(), so call it, rather than igammac_impl::Run().
-       * Calling Run() would also work, but in that case the compiler may not be
-       * able to prove that igammac_impl::Run and igamma_impl::Run are not
-       * mutually recursive.  This leads to worse code, particularly on
-       * platforms like nvptx, where recursion is allowed only begrudgingly.
-       */
-      return (one - igammac_impl<Scalar>::Impl(a, x));
-    }
-
-    return Impl(a, x);
-  }
-
- private:
-  /* igammac_impl calls igamma_impl::Impl. */
-  friend struct igammac_impl<Scalar>;
-
-  /* Actually computes igam(a, x).
-   *
-   * Preconditions:
-   *   x > 0
-   *   a > 0
-   *   !(x > 1 && x > a)
-   */
-  EIGEN_DEVICE_FUNC static Scalar Impl(Scalar a, Scalar x) {
-    const Scalar zero = 0;
-    const Scalar one = 1;
-    const Scalar machep = cephes_helper<Scalar>::machep();
-    const Scalar maxlog = numext::log(NumTraits<Scalar>::highest());
-
-    Scalar ans, ax, c, r;
-
-    /* Compute  x**a * exp(-x) / gamma(a)  */
-    ax = a * numext::log(x) - x - lgamma_impl<Scalar>::run(a);
-    if (ax < -maxlog) {
-      // underflow
-      return zero;
-    }
-    ax = numext::exp(ax);
-
-    /* power series */
-    r = a;
-    c = one;
-    ans = one;
-
-    while (true) {
-      r += one;
-      c *= x/r;
-      ans += c;
-      if (c/ans <= machep) {
-        break;
-      }
-    }
-
-    return (ans * ax / a);
-  }
-};
-
-#endif  // EIGEN_HAS_C99_MATH
-
-/*****************************************************************************
- * Implementation of Riemann zeta function of two arguments, based on Cephes *
- *****************************************************************************/
-
-template <typename Scalar>
-struct zeta_retval {
-    typedef Scalar type;
-};
-
-template <typename Scalar>
-struct zeta_impl_series {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Scalar) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-template <>
-struct zeta_impl_series<float> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE bool run(float& a, float& b, float& s, const float x, const float machep) {
-    int i = 0;
-    while(i < 9)
-    {
-        i += 1;
-        a += 1.0f;
-        b = numext::pow( a, -x );
-        s += b;
-        if( numext::abs(b/s) < machep )
-            return true;
-    }
-
-    //Return whether we are done
-    return false;
-  }
-};
-
-template <>
-struct zeta_impl_series<double> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE bool run(double& a, double& b, double& s, const double x, const double machep) {
-    int i = 0;
-    while( (i < 9) || (a <= 9.0) )
-    {
-        i += 1;
-        a += 1.0;
-        b = numext::pow( a, -x );
-        s += b;
-        if( numext::abs(b/s) < machep )
-            return true;
-    }
-
-    //Return whether we are done
-    return false;
-  }
-};
-
-template <typename Scalar>
-struct zeta_impl {
-    EIGEN_DEVICE_FUNC
-    static Scalar run(Scalar x, Scalar q) {
-        /*							zeta.c
-         *
-         *	Riemann zeta function of two arguments
-         *
-         *
-         *
-         * SYNOPSIS:
-         *
-         * double x, q, y, zeta();
-         *
-         * y = zeta( x, q );
-         *
-         *
-         *
-         * DESCRIPTION:
-         *
-         *
-         *
-         *                 inf.
-         *                  -        -x
-         *   zeta(x,q)  =   >   (k+q)
-         *                  -
-         *                 k=0
-         *
-         * where x > 1 and q is not a negative integer or zero.
-         * The Euler-Maclaurin summation formula is used to obtain
-         * the expansion
-         *
-         *                n
-         *                -       -x
-         * zeta(x,q)  =   >  (k+q)
-         *                -
-         *               k=1
-         *
-         *           1-x                 inf.  B   x(x+1)...(x+2j)
-         *      (n+q)           1         -     2j
-         *  +  ---------  -  -------  +   >    --------------------
-         *        x-1              x      -                   x+2j+1
-         *                   2(n+q)      j=1       (2j)! (n+q)
-         *
-         * where the B2j are Bernoulli numbers.  Note that (see zetac.c)
-         * zeta(x,1) = zetac(x) + 1.
-         *
-         *
-         *
-         * ACCURACY:
-         *
-         * Relative error for single precision:
-         * arithmetic   domain     # trials      peak         rms
-         *    IEEE      0,25        10000       6.9e-7      1.0e-7
-         *
-         * Large arguments may produce underflow in powf(), in which
-         * case the results are inaccurate.
-         *
-         * REFERENCE:
-         *
-         * Gradshteyn, I. S., and I. M. Ryzhik, Tables of Integrals,
-         * Series, and Products, p. 1073; Academic Press, 1980.
-         *
-         */
-
-        int i;
-        Scalar p, r, a, b, k, s, t, w;
-
-        const Scalar A[] = {
-            Scalar(12.0),
-            Scalar(-720.0),
-            Scalar(30240.0),
-            Scalar(-1209600.0),
-            Scalar(47900160.0),
-            Scalar(-1.8924375803183791606e9), /*1.307674368e12/691*/
-            Scalar(7.47242496e10),
-            Scalar(-2.950130727918164224e12), /*1.067062284288e16/3617*/
-            Scalar(1.1646782814350067249e14), /*5.109094217170944e18/43867*/
-            Scalar(-4.5979787224074726105e15), /*8.028576626982912e20/174611*/
-            Scalar(1.8152105401943546773e17), /*1.5511210043330985984e23/854513*/
-            Scalar(-7.1661652561756670113e18) /*1.6938241367317436694528e27/236364091*/
-            };
-
-        const Scalar maxnum = NumTraits<Scalar>::infinity();
-        const Scalar zero = 0.0, half = 0.5, one = 1.0;
-        const Scalar machep = cephes_helper<Scalar>::machep();
-        const Scalar nan = NumTraits<Scalar>::quiet_NaN();
-
-        if( x == one )
-            return maxnum;
-
-        if( x < one )
-        {
-            return nan;
-        }
-
-        if( q <= zero )
-        {
-            if(q == numext::floor(q))
-            {
-                return maxnum;
-            }
-            p = x;
-            r = numext::floor(p);
-            if (p != r)
-                return nan;
-        }
-
-        /* Permit negative q but continue sum until n+q > +9 .
-         * This case should be handled by a reflection formula.
-         * If q<0 and x is an integer, there is a relation to
-         * the polygamma function.
-         */
-        s = numext::pow( q, -x );
-        a = q;
-        b = zero;
-        // Run the summation in a helper function that is specific to the floating precision
-        if (zeta_impl_series<Scalar>::run(a, b, s, x, machep)) {
-            return s;
-        }
-
-        w = a;
-        s += b*w/(x-one);
-        s -= half * b;
-        a = one;
-        k = zero;
-        for( i=0; i<12; i++ )
-        {
-            a *= x + k;
-            b /= w;
-            t = a*b/A[i];
-            s = s + t;
-            t = numext::abs(t/s);
-            if( t < machep ) {
-              break;
-            }
-            k += one;
-            a *= x + k;
-            b /= w;
-            k += one;
-        }
-        return s;
-  }
-};
-
-/****************************************************************************
- * Implementation of polygamma function, requires C++11/C99                 *
- ****************************************************************************/
-
-template <typename Scalar>
-struct polygamma_retval {
-    typedef Scalar type;
-};
-
-#if !EIGEN_HAS_C99_MATH
-
-template <typename Scalar>
-struct polygamma_impl {
-    EIGEN_DEVICE_FUNC
-    static EIGEN_STRONG_INLINE Scalar run(Scalar n, Scalar x) {
-        EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                            THIS_TYPE_IS_NOT_SUPPORTED);
-        return Scalar(0);
-    }
-};
-
-#else
-
-template <typename Scalar>
-struct polygamma_impl {
-    EIGEN_DEVICE_FUNC
-    static Scalar run(Scalar n, Scalar x) {
-        Scalar zero = 0.0, one = 1.0;
-        Scalar nplus = n + one;
-        const Scalar nan = NumTraits<Scalar>::quiet_NaN();
-
-        // Check that n is an integer
-        if (numext::floor(n) != n) {
-            return nan;
-        }
-        // Just return the digamma function for n = 1
-        else if (n == zero) {
-            return digamma_impl<Scalar>::run(x);
-        }
-        // Use the same implementation as scipy
-        else {
-            Scalar factorial = numext::exp(lgamma_impl<Scalar>::run(nplus));
-            return numext::pow(-one, nplus) * factorial * zeta_impl<Scalar>::run(nplus, x);
-        }
-  }
-};
-
-#endif  // EIGEN_HAS_C99_MATH
-
-/************************************************************************************************
- * Implementation of betainc (incomplete beta integral), based on Cephes but requires C++11/C99 *
- ************************************************************************************************/
-
-template <typename Scalar>
-struct betainc_retval {
-  typedef Scalar type;
-};
-
-#if !EIGEN_HAS_C99_MATH
-
-template <typename Scalar>
-struct betainc_impl {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(Scalar a, Scalar b, Scalar x) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-#else
-
-template <typename Scalar>
-struct betainc_impl {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(Scalar, Scalar, Scalar) {
-    /*	betaincf.c
-     *
-     *	Incomplete beta integral
-     *
-     *
-     * SYNOPSIS:
-     *
-     * float a, b, x, y, betaincf();
-     *
-     * y = betaincf( a, b, x );
-     *
-     *
-     * DESCRIPTION:
-     *
-     * Returns incomplete beta integral of the arguments, evaluated
-     * from zero to x.  The function is defined as
-     *
-     *                  x
-     *     -            -
-     *    | (a+b)      | |  a-1     b-1
-     *  -----------    |   t   (1-t)   dt.
-     *   -     -     | |
-     *  | (a) | (b)   -
-     *                 0
-     *
-     * The domain of definition is 0 <= x <= 1.  In this
-     * implementation a and b are restricted to positive values.
-     * The integral from x to 1 may be obtained by the symmetry
-     * relation
-     *
-     *    1 - betainc( a, b, x )  =  betainc( b, a, 1-x ).
-     *
-     * The integral is evaluated by a continued fraction expansion.
-     * If a < 1, the function calls itself recursively after a
-     * transformation to increase a to a+1.
-     *
-     * ACCURACY (float):
-     *
-     * Tested at random points (a,b,x) with a and b in the indicated
-     * interval and x between 0 and 1.
-     *
-     * arithmetic   domain     # trials      peak         rms
-     * Relative error:
-     *    IEEE       0,30       10000       3.7e-5      5.1e-6
-     *    IEEE       0,100      10000       1.7e-4      2.5e-5
-     * The useful domain for relative error is limited by underflow
-     * of the single precision exponential function.
-     * Absolute error:
-     *    IEEE       0,30      100000       2.2e-5      9.6e-7
-     *    IEEE       0,100      10000       6.5e-5      3.7e-6
-     *
-     * Larger errors may occur for extreme ratios of a and b.
-     *
-     * ACCURACY (double):
-     * arithmetic   domain     # trials      peak         rms
-     *    IEEE      0,5         10000       6.9e-15     4.5e-16
-     *    IEEE      0,85       250000       2.2e-13     1.7e-14
-     *    IEEE      0,1000      30000       5.3e-12     6.3e-13
-     *    IEEE      0,10000    250000       9.3e-11     7.1e-12
-     *    IEEE      0,100000    10000       8.7e-10     4.8e-11
-     * Outputs smaller than the IEEE gradual underflow threshold
-     * were excluded from these statistics.
-     *
-     * ERROR MESSAGES:
-     *   message         condition      value returned
-     * incbet domain      x<0, x>1          nan
-     * incbet underflow                     nan
-     */
-
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, Scalar>::value == false),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    return Scalar(0);
-  }
-};
-
-/* Continued fraction expansion #1 for incomplete beta integral (small_branch = True)
- * Continued fraction expansion #2 for incomplete beta integral (small_branch = False)
- */
-template <typename Scalar>
-struct incbeta_cfe {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(Scalar a, Scalar b, Scalar x, bool small_branch) {
-    EIGEN_STATIC_ASSERT((internal::is_same<Scalar, float>::value ||
-                         internal::is_same<Scalar, double>::value),
-                        THIS_TYPE_IS_NOT_SUPPORTED);
-    const Scalar big = cephes_helper<Scalar>::big();
-    const Scalar machep = cephes_helper<Scalar>::machep();
-    const Scalar biginv = cephes_helper<Scalar>::biginv();
-
-    const Scalar zero = 0;
-    const Scalar one = 1;
-    const Scalar two = 2;
-
-    Scalar xk, pk, pkm1, pkm2, qk, qkm1, qkm2;
-    Scalar k1, k2, k3, k4, k5, k6, k7, k8, k26update;
-    Scalar ans;
-    int n;
-
-    const int num_iters = (internal::is_same<Scalar, float>::value) ? 100 : 300;
-    const Scalar thresh =
-        (internal::is_same<Scalar, float>::value) ? machep : Scalar(3) * machep;
-    Scalar r = (internal::is_same<Scalar, float>::value) ? zero : one;
-
-    if (small_branch) {
-      k1 = a;
-      k2 = a + b;
-      k3 = a;
-      k4 = a + one;
-      k5 = one;
-      k6 = b - one;
-      k7 = k4;
-      k8 = a + two;
-      k26update = one;
-    } else {
-      k1 = a;
-      k2 = b - one;
-      k3 = a;
-      k4 = a + one;
-      k5 = one;
-      k6 = a + b;
-      k7 = a + one;
-      k8 = a + two;
-      k26update = -one;
-      x = x / (one - x);
-    }
-
-    pkm2 = zero;
-    qkm2 = one;
-    pkm1 = one;
-    qkm1 = one;
-    ans = one;
-    n = 0;
-
-    do {
-      xk = -(x * k1 * k2) / (k3 * k4);
-      pk = pkm1 + pkm2 * xk;
-      qk = qkm1 + qkm2 * xk;
-      pkm2 = pkm1;
-      pkm1 = pk;
-      qkm2 = qkm1;
-      qkm1 = qk;
-
-      xk = (x * k5 * k6) / (k7 * k8);
-      pk = pkm1 + pkm2 * xk;
-      qk = qkm1 + qkm2 * xk;
-      pkm2 = pkm1;
-      pkm1 = pk;
-      qkm2 = qkm1;
-      qkm1 = qk;
-
-      if (qk != zero) {
-        r = pk / qk;
-        if (numext::abs(ans - r) < numext::abs(r) * thresh) {
-          return r;
-        }
-        ans = r;
-      }
-
-      k1 += one;
-      k2 += k26update;
-      k3 += two;
-      k4 += two;
-      k5 += one;
-      k6 -= k26update;
-      k7 += two;
-      k8 += two;
-
-      if ((numext::abs(qk) + numext::abs(pk)) > big) {
-        pkm2 *= biginv;
-        pkm1 *= biginv;
-        qkm2 *= biginv;
-        qkm1 *= biginv;
-      }
-      if ((numext::abs(qk) < biginv) || (numext::abs(pk) < biginv)) {
-        pkm2 *= big;
-        pkm1 *= big;
-        qkm2 *= big;
-        qkm1 *= big;
-      }
-    } while (++n < num_iters);
-
-    return ans;
-  }
-};
-
-/* Helper functions depending on the Scalar type */
-template <typename Scalar>
-struct betainc_helper {};
-
-template <>
-struct betainc_helper<float> {
-  /* Core implementation, assumes a large (> 1.0) */
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE float incbsa(float aa, float bb,
-                                                            float xx) {
-    float ans, a, b, t, x, onemx;
-    bool reversed_a_b = false;
-
-    onemx = 1.0f - xx;
-
-    /* see if x is greater than the mean */
-    if (xx > (aa / (aa + bb))) {
-      reversed_a_b = true;
-      a = bb;
-      b = aa;
-      t = xx;
-      x = onemx;
-    } else {
-      a = aa;
-      b = bb;
-      t = onemx;
-      x = xx;
-    }
-
-    /* Choose expansion for optimal convergence */
-    if (b > 10.0f) {
-      if (numext::abs(b * x / a) < 0.3f) {
-        t = betainc_helper<float>::incbps(a, b, x);
-        if (reversed_a_b) t = 1.0f - t;
-        return t;
-      }
-    }
-
-    ans = x * (a + b - 2.0f) / (a - 1.0f);
-    if (ans < 1.0f) {
-      ans = incbeta_cfe<float>::run(a, b, x, true /* small_branch */);
-      t = b * numext::log(t);
-    } else {
-      ans = incbeta_cfe<float>::run(a, b, x, false /* small_branch */);
-      t = (b - 1.0f) * numext::log(t);
-    }
-
-    t += a * numext::log(x) + lgamma_impl<float>::run(a + b) -
-         lgamma_impl<float>::run(a) - lgamma_impl<float>::run(b);
-    t += numext::log(ans / a);
-    t = numext::exp(t);
-
-    if (reversed_a_b) t = 1.0f - t;
-    return t;
-  }
-
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE float incbps(float a, float b, float x) {
-    float t, u, y, s;
-    const float machep = cephes_helper<float>::machep();
-
-    y = a * numext::log(x) + (b - 1.0f) * numext::log1p(-x) - numext::log(a);
-    y -= lgamma_impl<float>::run(a) + lgamma_impl<float>::run(b);
-    y += lgamma_impl<float>::run(a + b);
-
-    t = x / (1.0f - x);
-    s = 0.0f;
-    u = 1.0f;
-    do {
-      b -= 1.0f;
-      if (b == 0.0f) {
-        break;
-      }
-      a += 1.0f;
-      u *= t * b / a;
-      s += u;
-    } while (numext::abs(u) > machep);
-
-    return numext::exp(y) * (1.0f + s);
-  }
-};
-
-template <>
-struct betainc_impl<float> {
-  EIGEN_DEVICE_FUNC
-  static float run(float a, float b, float x) {
-    const float nan = NumTraits<float>::quiet_NaN();
-    float ans, t;
-
-    if (a <= 0.0f) return nan;
-    if (b <= 0.0f) return nan;
-    if ((x <= 0.0f) || (x >= 1.0f)) {
-      if (x == 0.0f) return 0.0f;
-      if (x == 1.0f) return 1.0f;
-      // mtherr("betaincf", DOMAIN);
-      return nan;
-    }
-
-    /* transformation for small aa */
-    if (a <= 1.0f) {
-      ans = betainc_helper<float>::incbsa(a + 1.0f, b, x);
-      t = a * numext::log(x) + b * numext::log1p(-x) +
-          lgamma_impl<float>::run(a + b) - lgamma_impl<float>::run(a + 1.0f) -
-          lgamma_impl<float>::run(b);
-      return (ans + numext::exp(t));
-    } else {
-      return betainc_helper<float>::incbsa(a, b, x);
-    }
-  }
-};
-
-template <>
-struct betainc_helper<double> {
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE double incbps(double a, double b, double x) {
-    const double machep = cephes_helper<double>::machep();
-
-    double s, t, u, v, n, t1, z, ai;
-
-    ai = 1.0 / a;
-    u = (1.0 - b) * x;
-    v = u / (a + 1.0);
-    t1 = v;
-    t = u;
-    n = 2.0;
-    s = 0.0;
-    z = machep * ai;
-    while (numext::abs(v) > z) {
-      u = (n - b) * x / n;
-      t *= u;
-      v = t / (a + n);
-      s += v;
-      n += 1.0;
-    }
-    s += t1;
-    s += ai;
-
-    u = a * numext::log(x);
-    // TODO: gamma() is not directly implemented in Eigen.
-    /*
-    if ((a + b) < maxgam && numext::abs(u) < maxlog) {
-      t = gamma(a + b) / (gamma(a) * gamma(b));
-      s = s * t * pow(x, a);
-    } else {
-    */
-    t = lgamma_impl<double>::run(a + b) - lgamma_impl<double>::run(a) -
-        lgamma_impl<double>::run(b) + u + numext::log(s);
-    return s = numext::exp(t);
-  }
-};
-
-template <>
-struct betainc_impl<double> {
-  EIGEN_DEVICE_FUNC
-  static double run(double aa, double bb, double xx) {
-    const double nan = NumTraits<double>::quiet_NaN();
-    const double machep = cephes_helper<double>::machep();
-    // const double maxgam = 171.624376956302725;
-
-    double a, b, t, x, xc, w, y;
-    bool reversed_a_b = false;
-
-    if (aa <= 0.0 || bb <= 0.0) {
-      return nan;  // goto domerr;
-    }
-
-    if ((xx <= 0.0) || (xx >= 1.0)) {
-      if (xx == 0.0) return (0.0);
-      if (xx == 1.0) return (1.0);
-      // mtherr("incbet", DOMAIN);
-      return nan;
-    }
-
-    if ((bb * xx) <= 1.0 && xx <= 0.95) {
-      return betainc_helper<double>::incbps(aa, bb, xx);
-    }
-
-    w = 1.0 - xx;
-
-    /* Reverse a and b if x is greater than the mean. */
-    if (xx > (aa / (aa + bb))) {
-      reversed_a_b = true;
-      a = bb;
-      b = aa;
-      xc = xx;
-      x = w;
-    } else {
-      a = aa;
-      b = bb;
-      xc = w;
-      x = xx;
-    }
-
-    if (reversed_a_b && (b * x) <= 1.0 && x <= 0.95) {
-      t = betainc_helper<double>::incbps(a, b, x);
-      if (t <= machep) {
-        t = 1.0 - machep;
-      } else {
-        t = 1.0 - t;
-      }
-      return t;
-    }
-
-    /* Choose expansion for better convergence. */
-    y = x * (a + b - 2.0) - (a - 1.0);
-    if (y < 0.0) {
-      w = incbeta_cfe<double>::run(a, b, x, true /* small_branch */);
-    } else {
-      w = incbeta_cfe<double>::run(a, b, x, false /* small_branch */) / xc;
-    }
-
-    /* Multiply w by the factor
-         a      b   _             _     _
-        x  (1-x)   | (a+b) / ( a | (a) | (b) ) .   */
-
-    y = a * numext::log(x);
-    t = b * numext::log(xc);
-    // TODO: gamma is not directly implemented in Eigen.
-    /*
-    if ((a + b) < maxgam && numext::abs(y) < maxlog && numext::abs(t) < maxlog)
-    {
-      t = pow(xc, b);
-      t *= pow(x, a);
-      t /= a;
-      t *= w;
-      t *= gamma(a + b) / (gamma(a) * gamma(b));
-    } else {
-    */
-    /* Resort to logarithms.  */
-    y += t + lgamma_impl<double>::run(a + b) - lgamma_impl<double>::run(a) -
-         lgamma_impl<double>::run(b);
-    y += numext::log(w / a);
-    t = numext::exp(y);
-
-    /* } */
-    // done:
-
-    if (reversed_a_b) {
-      if (t <= machep) {
-        t = 1.0 - machep;
-      } else {
-        t = 1.0 - t;
-      }
-    }
-    return t;
-  }
-};
-
-#endif  // EIGEN_HAS_C99_MATH
-
-}  // end namespace internal
-
-namespace numext {
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(lgamma, Scalar)
-    lgamma(const Scalar& x) {
-  return EIGEN_MATHFUNC_IMPL(lgamma, Scalar)::run(x);
-}
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(digamma, Scalar)
-    digamma(const Scalar& x) {
-  return EIGEN_MATHFUNC_IMPL(digamma, Scalar)::run(x);
-}
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(zeta, Scalar)
-zeta(const Scalar& x, const Scalar& q) {
-    return EIGEN_MATHFUNC_IMPL(zeta, Scalar)::run(x, q);
-}
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(polygamma, Scalar)
-polygamma(const Scalar& n, const Scalar& x) {
-    return EIGEN_MATHFUNC_IMPL(polygamma, Scalar)::run(n, x);
-}
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(erf, Scalar)
-    erf(const Scalar& x) {
-  return EIGEN_MATHFUNC_IMPL(erf, Scalar)::run(x);
-}
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(erfc, Scalar)
-    erfc(const Scalar& x) {
-  return EIGEN_MATHFUNC_IMPL(erfc, Scalar)::run(x);
-}
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(igamma, Scalar)
-    igamma(const Scalar& a, const Scalar& x) {
-  return EIGEN_MATHFUNC_IMPL(igamma, Scalar)::run(a, x);
-}
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(igammac, Scalar)
-    igammac(const Scalar& a, const Scalar& x) {
-  return EIGEN_MATHFUNC_IMPL(igammac, Scalar)::run(a, x);
-}
-
-template <typename Scalar>
-EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(betainc, Scalar)
-    betainc(const Scalar& a, const Scalar& b, const Scalar& x) {
-  return EIGEN_MATHFUNC_IMPL(betainc, Scalar)::run(a, b, x);
-}
-
-}  // end namespace numext
-
-
-}  // end namespace Eigen
-
-#endif  // EIGEN_SPECIAL_FUNCTIONS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h b/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h
deleted file mode 100644
index 46d60d323e99f4..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h
+++ /dev/null
@@ -1,58 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPECIALFUNCTIONS_PACKETMATH_H
-#define EIGEN_SPECIALFUNCTIONS_PACKETMATH_H
-
-namespace Eigen {
-
-namespace internal {
-
-/** \internal \returns the ln(|gamma(\a a)|) (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet plgamma(const Packet& a) { using numext::lgamma; return lgamma(a); }
-
-/** \internal \returns the derivative of lgamma, psi(\a a) (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pdigamma(const Packet& a) { using numext::digamma; return digamma(a); }
-
-/** \internal \returns the zeta function of two arguments (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pzeta(const Packet& x, const Packet& q) { using numext::zeta; return zeta(x, q); }
-
-/** \internal \returns the polygamma function (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet ppolygamma(const Packet& n, const Packet& x) { using numext::polygamma; return polygamma(n, x); }
-
-/** \internal \returns the erf(\a a) (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet perf(const Packet& a) { using numext::erf; return erf(a); }
-
-/** \internal \returns the erfc(\a a) (coeff-wise) */
-template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet perfc(const Packet& a) { using numext::erfc; return erfc(a); }
-
-/** \internal \returns the incomplete gamma function igamma(\a a, \a x) */
-template<typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-Packet pigamma(const Packet& a, const Packet& x) { using numext::igamma; return igamma(a, x); }
-
-/** \internal \returns the complementary incomplete gamma function igammac(\a a, \a x) */
-template<typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-Packet pigammac(const Packet& a, const Packet& x) { using numext::igammac; return igammac(a, x); }
-
-/** \internal \returns the complementary incomplete gamma function betainc(\a a, \a b, \a x) */
-template<typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-Packet pbetainc(const Packet& a, const Packet& b,const Packet& x) { using numext::betainc; return betainc(a, b, x); }
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPECIALFUNCTIONS_PACKETMATH_H
-
diff --git a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h b/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h
deleted file mode 100644
index ec4fa84488cb7a..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h
+++ /dev/null
@@ -1,165 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CUDA_SPECIALFUNCTIONS_H
-#define EIGEN_CUDA_SPECIALFUNCTIONS_H
-
-namespace Eigen {
-
-namespace internal {
-
-// Make sure this is only available when targeting a GPU: we don't want to
-// introduce conflicts between these packet_traits definitions and the ones
-// we'll use on the host side (SSE, AVX, ...)
-#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 plgamma<float4>(const float4& a)
-{
-  return make_float4(lgammaf(a.x), lgammaf(a.y), lgammaf(a.z), lgammaf(a.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 plgamma<double2>(const double2& a)
-{
-  using numext::lgamma;
-  return make_double2(lgamma(a.x), lgamma(a.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 pdigamma<float4>(const float4& a)
-{
-  using numext::digamma;
-  return make_float4(digamma(a.x), digamma(a.y), digamma(a.z), digamma(a.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 pdigamma<double2>(const double2& a)
-{
-  using numext::digamma;
-  return make_double2(digamma(a.x), digamma(a.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 pzeta<float4>(const float4& x, const float4& q)
-{
-    using numext::zeta;
-    return make_float4(zeta(x.x, q.x), zeta(x.y, q.y), zeta(x.z, q.z), zeta(x.w, q.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 pzeta<double2>(const double2& x, const double2& q)
-{
-    using numext::zeta;
-    return make_double2(zeta(x.x, q.x), zeta(x.y, q.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 ppolygamma<float4>(const float4& n, const float4& x)
-{
-    using numext::polygamma;
-    return make_float4(polygamma(n.x, x.x), polygamma(n.y, x.y), polygamma(n.z, x.z), polygamma(n.w, x.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 ppolygamma<double2>(const double2& n, const double2& x)
-{
-    using numext::polygamma;
-    return make_double2(polygamma(n.x, x.x), polygamma(n.y, x.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 perf<float4>(const float4& a)
-{
-  return make_float4(erff(a.x), erff(a.y), erff(a.z), erff(a.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 perf<double2>(const double2& a)
-{
-  using numext::erf;
-  return make_double2(erf(a.x), erf(a.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 perfc<float4>(const float4& a)
-{
-  using numext::erfc;
-  return make_float4(erfc(a.x), erfc(a.y), erfc(a.z), erfc(a.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 perfc<double2>(const double2& a)
-{
-  using numext::erfc;
-  return make_double2(erfc(a.x), erfc(a.y));
-}
-
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 pigamma<float4>(const float4& a, const float4& x)
-{
-  using numext::igamma;
-  return make_float4(
-      igamma(a.x, x.x),
-      igamma(a.y, x.y),
-      igamma(a.z, x.z),
-      igamma(a.w, x.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 pigamma<double2>(const double2& a, const double2& x)
-{
-  using numext::igamma;
-  return make_double2(igamma(a.x, x.x), igamma(a.y, x.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 pigammac<float4>(const float4& a, const float4& x)
-{
-  using numext::igammac;
-  return make_float4(
-      igammac(a.x, x.x),
-      igammac(a.y, x.y),
-      igammac(a.z, x.z),
-      igammac(a.w, x.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 pigammac<double2>(const double2& a, const double2& x)
-{
-  using numext::igammac;
-  return make_double2(igammac(a.x, x.x), igammac(a.y, x.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-float4 pbetainc<float4>(const float4& a, const float4& b, const float4& x)
-{
-  using numext::betainc;
-  return make_float4(
-      betainc(a.x, b.x, x.x),
-      betainc(a.y, b.y, x.y),
-      betainc(a.z, b.z, x.z),
-      betainc(a.w, b.w, x.w));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-double2 pbetainc<double2>(const double2& a, const double2& b, const double2& x)
-{
-  using numext::betainc;
-  return make_double2(betainc(a.x, b.x, x.x), betainc(a.y, b.y, x.y));
-}
-
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CUDA_SPECIALFUNCTIONS_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Splines/Spline.h b/phonelibs/eigen/unsupported/Eigen/src/Splines/Spline.h
deleted file mode 100644
index 627f6e482d4968..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Splines/Spline.h
+++ /dev/null
@@ -1,512 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPLINE_H
-#define EIGEN_SPLINE_H
-
-#include "SplineFwd.h"
-
-namespace Eigen
-{
-    /**
-     * \ingroup Splines_Module
-     * \class Spline
-     * \brief A class representing multi-dimensional spline curves.
-     *
-     * The class represents B-splines with non-uniform knot vectors. Each control
-     * point of the B-spline is associated with a basis function
-     * \f{align*}
-     *   C(u) & = \sum_{i=0}^{n}N_{i,p}(u)P_i
-     * \f}
-     *
-     * \tparam _Scalar The underlying data type (typically float or double)
-     * \tparam _Dim The curve dimension (e.g. 2 or 3)
-     * \tparam _Degree Per default set to Dynamic; could be set to the actual desired
-     *                degree for optimization purposes (would result in stack allocation
-     *                of several temporary variables).
-     **/
-  template <typename _Scalar, int _Dim, int _Degree>
-  class Spline
-  {
-  public:
-    typedef _Scalar Scalar; /*!< The spline curve's scalar type. */
-    enum { Dimension = _Dim /*!< The spline curve's dimension. */ };
-    enum { Degree = _Degree /*!< The spline curve's degree. */ };
-
-    /** \brief The point type the spline is representing. */
-    typedef typename SplineTraits<Spline>::PointType PointType;
-    
-    /** \brief The data type used to store knot vectors. */
-    typedef typename SplineTraits<Spline>::KnotVectorType KnotVectorType;
-
-    /** \brief The data type used to store parameter vectors. */
-    typedef typename SplineTraits<Spline>::ParameterVectorType ParameterVectorType;
-    
-    /** \brief The data type used to store non-zero basis functions. */
-    typedef typename SplineTraits<Spline>::BasisVectorType BasisVectorType;
-
-    /** \brief The data type used to store the values of the basis function derivatives. */
-    typedef typename SplineTraits<Spline>::BasisDerivativeType BasisDerivativeType;
-    
-    /** \brief The data type representing the spline's control points. */
-    typedef typename SplineTraits<Spline>::ControlPointVectorType ControlPointVectorType;
-    
-    /**
-    * \brief Creates a (constant) zero spline.
-    * For Splines with dynamic degree, the resulting degree will be 0.
-    **/
-    Spline() 
-    : m_knots(1, (Degree==Dynamic ? 2 : 2*Degree+2))
-    , m_ctrls(ControlPointVectorType::Zero(Dimension,(Degree==Dynamic ? 1 : Degree+1))) 
-    {
-      // in theory this code can go to the initializer list but it will get pretty
-      // much unreadable ...
-      enum { MinDegree = (Degree==Dynamic ? 0 : Degree) };
-      m_knots.template segment<MinDegree+1>(0) = Array<Scalar,1,MinDegree+1>::Zero();
-      m_knots.template segment<MinDegree+1>(MinDegree+1) = Array<Scalar,1,MinDegree+1>::Ones();
-    }
-
-    /**
-    * \brief Creates a spline from a knot vector and control points.
-    * \param knots The spline's knot vector.
-    * \param ctrls The spline's control point vector.
-    **/
-    template <typename OtherVectorType, typename OtherArrayType>
-    Spline(const OtherVectorType& knots, const OtherArrayType& ctrls) : m_knots(knots), m_ctrls(ctrls) {}
-
-    /**
-    * \brief Copy constructor for splines.
-    * \param spline The input spline.
-    **/
-    template <int OtherDegree>
-    Spline(const Spline<Scalar, Dimension, OtherDegree>& spline) : 
-    m_knots(spline.knots()), m_ctrls(spline.ctrls()) {}
-
-    /**
-     * \brief Returns the knots of the underlying spline.
-     **/
-    const KnotVectorType& knots() const { return m_knots; }
-    
-    /**
-     * \brief Returns the ctrls of the underlying spline.
-     **/    
-    const ControlPointVectorType& ctrls() const { return m_ctrls; }
-
-    /**
-     * \brief Returns the spline value at a given site \f$u\f$.
-     *
-     * The function returns
-     * \f{align*}
-     *   C(u) & = \sum_{i=0}^{n}N_{i,p}P_i
-     * \f}
-     *
-     * \param u Parameter \f$u \in [0;1]\f$ at which the spline is evaluated.
-     * \return The spline value at the given location \f$u\f$.
-     **/
-    PointType operator()(Scalar u) const;
-
-    /**
-     * \brief Evaluation of spline derivatives of up-to given order.
-     *
-     * The function returns
-     * \f{align*}
-     *   \frac{d^i}{du^i}C(u) & = \sum_{i=0}^{n} \frac{d^i}{du^i} N_{i,p}(u)P_i
-     * \f}
-     * for i ranging between 0 and order.
-     *
-     * \param u Parameter \f$u \in [0;1]\f$ at which the spline derivative is evaluated.
-     * \param order The order up to which the derivatives are computed.
-     **/
-    typename SplineTraits<Spline>::DerivativeType
-      derivatives(Scalar u, DenseIndex order) const;
-
-    /**
-     * \copydoc Spline::derivatives
-     * Using the template version of this function is more efficieent since
-     * temporary objects are allocated on the stack whenever this is possible.
-     **/    
-    template <int DerivativeOrder>
-    typename SplineTraits<Spline,DerivativeOrder>::DerivativeType
-      derivatives(Scalar u, DenseIndex order = DerivativeOrder) const;
-
-    /**
-     * \brief Computes the non-zero basis functions at the given site.
-     *
-     * Splines have local support and a point from their image is defined
-     * by exactly \f$p+1\f$ control points \f$P_i\f$ where \f$p\f$ is the
-     * spline degree.
-     *
-     * This function computes the \f$p+1\f$ non-zero basis function values
-     * for a given parameter value \f$u\f$. It returns
-     * \f{align*}{
-     *   N_{i,p}(u), \hdots, N_{i+p+1,p}(u)
-     * \f}
-     *
-     * \param u Parameter \f$u \in [0;1]\f$ at which the non-zero basis functions 
-     *          are computed.
-     **/
-    typename SplineTraits<Spline>::BasisVectorType
-      basisFunctions(Scalar u) const;
-
-    /**
-     * \brief Computes the non-zero spline basis function derivatives up to given order.
-     *
-     * The function computes
-     * \f{align*}{
-     *   \frac{d^i}{du^i} N_{i,p}(u), \hdots, \frac{d^i}{du^i} N_{i+p+1,p}(u)
-     * \f}
-     * with i ranging from 0 up to the specified order.
-     *
-     * \param u Parameter \f$u \in [0;1]\f$ at which the non-zero basis function
-     *          derivatives are computed.
-     * \param order The order up to which the basis function derivatives are computes.
-     **/
-    typename SplineTraits<Spline>::BasisDerivativeType
-      basisFunctionDerivatives(Scalar u, DenseIndex order) const;
-
-    /**
-     * \copydoc Spline::basisFunctionDerivatives
-     * Using the template version of this function is more efficieent since
-     * temporary objects are allocated on the stack whenever this is possible.
-     **/    
-    template <int DerivativeOrder>
-    typename SplineTraits<Spline,DerivativeOrder>::BasisDerivativeType
-      basisFunctionDerivatives(Scalar u, DenseIndex order = DerivativeOrder) const;
-
-    /**
-     * \brief Returns the spline degree.
-     **/ 
-    DenseIndex degree() const;
-
-    /** 
-     * \brief Returns the span within the knot vector in which u is falling.
-     * \param u The site for which the span is determined.
-     **/
-    DenseIndex span(Scalar u) const;
-
-    /**
-     * \brief Computes the spang within the provided knot vector in which u is falling.
-     **/
-    static DenseIndex Span(typename SplineTraits<Spline>::Scalar u, DenseIndex degree, const typename SplineTraits<Spline>::KnotVectorType& knots);
-    
-    /**
-     * \brief Returns the spline's non-zero basis functions.
-     *
-     * The function computes and returns
-     * \f{align*}{
-     *   N_{i,p}(u), \hdots, N_{i+p+1,p}(u)
-     * \f}
-     *
-     * \param u The site at which the basis functions are computed.
-     * \param degree The degree of the underlying spline.
-     * \param knots The underlying spline's knot vector.
-     **/
-    static BasisVectorType BasisFunctions(Scalar u, DenseIndex degree, const KnotVectorType& knots);
-
-    /**
-     * \copydoc Spline::basisFunctionDerivatives
-     * \param degree The degree of the underlying spline
-     * \param knots The underlying spline's knot vector.
-     **/    
-    static BasisDerivativeType BasisFunctionDerivatives(
-      const Scalar u, const DenseIndex order, const DenseIndex degree, const KnotVectorType& knots);
-
-  private:
-    KnotVectorType m_knots; /*!< Knot vector. */
-    ControlPointVectorType  m_ctrls; /*!< Control points. */
-
-    template <typename DerivativeType>
-    static void BasisFunctionDerivativesImpl(
-      const typename Spline<_Scalar, _Dim, _Degree>::Scalar u,
-      const DenseIndex order,
-      const DenseIndex p, 
-      const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& U,
-      DerivativeType& N_);
-  };
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  DenseIndex Spline<_Scalar, _Dim, _Degree>::Span(
-    typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::Scalar u,
-    DenseIndex degree,
-    const typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::KnotVectorType& knots)
-  {
-    // Piegl & Tiller, "The NURBS Book", A2.1 (p. 68)
-    if (u <= knots(0)) return degree;
-    const Scalar* pos = std::upper_bound(knots.data()+degree-1, knots.data()+knots.size()-degree-1, u);
-    return static_cast<DenseIndex>( std::distance(knots.data(), pos) - 1 );
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename Spline<_Scalar, _Dim, _Degree>::BasisVectorType
-    Spline<_Scalar, _Dim, _Degree>::BasisFunctions(
-    typename Spline<_Scalar, _Dim, _Degree>::Scalar u,
-    DenseIndex degree,
-    const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& knots)
-  {
-    typedef typename Spline<_Scalar, _Dim, _Degree>::BasisVectorType BasisVectorType;
-
-    const DenseIndex p = degree;
-    const DenseIndex i = Spline::Span(u, degree, knots);
-
-    const KnotVectorType& U = knots;
-
-    BasisVectorType left(p+1); left(0) = Scalar(0);
-    BasisVectorType right(p+1); right(0) = Scalar(0);        
-
-    VectorBlock<BasisVectorType,Degree>(left,1,p) = u - VectorBlock<const KnotVectorType,Degree>(U,i+1-p,p).reverse();
-    VectorBlock<BasisVectorType,Degree>(right,1,p) = VectorBlock<const KnotVectorType,Degree>(U,i+1,p) - u;
-
-    BasisVectorType N(1,p+1);
-    N(0) = Scalar(1);
-    for (DenseIndex j=1; j<=p; ++j)
-    {
-      Scalar saved = Scalar(0);
-      for (DenseIndex r=0; r<j; r++)
-      {
-        const Scalar tmp = N(r)/(right(r+1)+left(j-r));
-        N[r] = saved + right(r+1)*tmp;
-        saved = left(j-r)*tmp;
-      }
-      N(j) = saved;
-    }
-    return N;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  DenseIndex Spline<_Scalar, _Dim, _Degree>::degree() const
-  {
-    if (_Degree == Dynamic)
-      return m_knots.size() - m_ctrls.cols() - 1;
-    else
-      return _Degree;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  DenseIndex Spline<_Scalar, _Dim, _Degree>::span(Scalar u) const
-  {
-    return Spline::Span(u, degree(), knots());
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename Spline<_Scalar, _Dim, _Degree>::PointType Spline<_Scalar, _Dim, _Degree>::operator()(Scalar u) const
-  {
-    enum { Order = SplineTraits<Spline>::OrderAtCompileTime };
-
-    const DenseIndex span = this->span(u);
-    const DenseIndex p = degree();
-    const BasisVectorType basis_funcs = basisFunctions(u);
-
-    const Replicate<BasisVectorType,Dimension,1> ctrl_weights(basis_funcs);
-    const Block<const ControlPointVectorType,Dimension,Order> ctrl_pts(ctrls(),0,span-p,Dimension,p+1);
-    return (ctrl_weights * ctrl_pts).rowwise().sum();
-  }
-
-  /* --------------------------------------------------------------------------------------------- */
-
-  template <typename SplineType, typename DerivativeType>
-  void derivativesImpl(const SplineType& spline, typename SplineType::Scalar u, DenseIndex order, DerivativeType& der)
-  {    
-    enum { Dimension = SplineTraits<SplineType>::Dimension };
-    enum { Order = SplineTraits<SplineType>::OrderAtCompileTime };
-    enum { DerivativeOrder = DerivativeType::ColsAtCompileTime };
-
-    typedef typename SplineTraits<SplineType>::ControlPointVectorType ControlPointVectorType;
-    typedef typename SplineTraits<SplineType,DerivativeOrder>::BasisDerivativeType BasisDerivativeType;
-    typedef typename BasisDerivativeType::ConstRowXpr BasisDerivativeRowXpr;    
-
-    const DenseIndex p = spline.degree();
-    const DenseIndex span = spline.span(u);
-
-    const DenseIndex n = (std::min)(p, order);
-
-    der.resize(Dimension,n+1);
-
-    // Retrieve the basis function derivatives up to the desired order...    
-    const BasisDerivativeType basis_func_ders = spline.template basisFunctionDerivatives<DerivativeOrder>(u, n+1);
-
-    // ... and perform the linear combinations of the control points.
-    for (DenseIndex der_order=0; der_order<n+1; ++der_order)
-    {
-      const Replicate<BasisDerivativeRowXpr,Dimension,1> ctrl_weights( basis_func_ders.row(der_order) );
-      const Block<const ControlPointVectorType,Dimension,Order> ctrl_pts(spline.ctrls(),0,span-p,Dimension,p+1);
-      der.col(der_order) = (ctrl_weights * ctrl_pts).rowwise().sum();
-    }
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::DerivativeType
-    Spline<_Scalar, _Dim, _Degree>::derivatives(Scalar u, DenseIndex order) const
-  {
-    typename SplineTraits< Spline >::DerivativeType res;
-    derivativesImpl(*this, u, order, res);
-    return res;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  template <int DerivativeOrder>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::DerivativeType
-    Spline<_Scalar, _Dim, _Degree>::derivatives(Scalar u, DenseIndex order) const
-  {
-    typename SplineTraits< Spline, DerivativeOrder >::DerivativeType res;
-    derivativesImpl(*this, u, order, res);
-    return res;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::BasisVectorType
-    Spline<_Scalar, _Dim, _Degree>::basisFunctions(Scalar u) const
-  {
-    return Spline::BasisFunctions(u, degree(), knots());
-  }
-
-  /* --------------------------------------------------------------------------------------------- */
-  
-  
-  template <typename _Scalar, int _Dim, int _Degree>
-  template <typename DerivativeType>
-  void Spline<_Scalar, _Dim, _Degree>::BasisFunctionDerivativesImpl(
-    const typename Spline<_Scalar, _Dim, _Degree>::Scalar u,
-    const DenseIndex order,
-    const DenseIndex p, 
-    const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& U,
-    DerivativeType& N_)
-  {
-    typedef Spline<_Scalar, _Dim, _Degree> SplineType;
-    enum { Order = SplineTraits<SplineType>::OrderAtCompileTime };
-
-    typedef typename SplineTraits<SplineType>::Scalar Scalar;
-    typedef typename SplineTraits<SplineType>::BasisVectorType BasisVectorType;
-  
-    const DenseIndex span = SplineType::Span(u, p, U);
-
-    const DenseIndex n = (std::min)(p, order);
-
-    N_.resize(n+1, p+1);
-
-    BasisVectorType left = BasisVectorType::Zero(p+1);
-    BasisVectorType right = BasisVectorType::Zero(p+1);
-
-    Matrix<Scalar,Order,Order> ndu(p+1,p+1);
-
-    Scalar saved, temp; // FIXME These were double instead of Scalar. Was there a reason for that?
-
-    ndu(0,0) = 1.0;
-
-    DenseIndex j;
-    for (j=1; j<=p; ++j)
-    {
-      left[j] = u-U[span+1-j];
-      right[j] = U[span+j]-u;
-      saved = 0.0;
-
-      for (DenseIndex r=0; r<j; ++r)
-      {
-        /* Lower triangle */
-        ndu(j,r) = right[r+1]+left[j-r];
-        temp = ndu(r,j-1)/ndu(j,r);
-        /* Upper triangle */
-        ndu(r,j) = static_cast<Scalar>(saved+right[r+1] * temp);
-        saved = left[j-r] * temp;
-      }
-
-      ndu(j,j) = static_cast<Scalar>(saved);
-    }
-
-    for (j = p; j>=0; --j) 
-      N_(0,j) = ndu(j,p);
-
-    // Compute the derivatives
-    DerivativeType a(n+1,p+1);
-    DenseIndex r=0;
-    for (; r<=p; ++r)
-    {
-      DenseIndex s1,s2;
-      s1 = 0; s2 = 1; // alternate rows in array a
-      a(0,0) = 1.0;
-
-      // Compute the k-th derivative
-      for (DenseIndex k=1; k<=static_cast<DenseIndex>(n); ++k)
-      {
-        Scalar d = 0.0;
-        DenseIndex rk,pk,j1,j2;
-        rk = r-k; pk = p-k;
-
-        if (r>=k)
-        {
-          a(s2,0) = a(s1,0)/ndu(pk+1,rk);
-          d = a(s2,0)*ndu(rk,pk);
-        }
-
-        if (rk>=-1) j1 = 1;
-        else        j1 = -rk;
-
-        if (r-1 <= pk) j2 = k-1;
-        else           j2 = p-r;
-
-        for (j=j1; j<=j2; ++j)
-        {
-          a(s2,j) = (a(s1,j)-a(s1,j-1))/ndu(pk+1,rk+j);
-          d += a(s2,j)*ndu(rk+j,pk);
-        }
-
-        if (r<=pk)
-        {
-          a(s2,k) = -a(s1,k-1)/ndu(pk+1,r);
-          d += a(s2,k)*ndu(r,pk);
-        }
-
-        N_(k,r) = static_cast<Scalar>(d);
-        j = s1; s1 = s2; s2 = j; // Switch rows
-      }
-    }
-
-    /* Multiply through by the correct factors */
-    /* (Eq. [2.9])                             */
-    r = p;
-    for (DenseIndex k=1; k<=static_cast<DenseIndex>(n); ++k)
-    {
-      for (j=p; j>=0; --j) N_(k,j) *= r;
-      r *= p-k;
-    }
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType
-    Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const
-  {
-    typename SplineTraits<Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType der;
-    BasisFunctionDerivativesImpl(u, order, degree(), knots(), der);
-    return der;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  template <int DerivativeOrder>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::BasisDerivativeType
-    Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const
-  {
-    typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::BasisDerivativeType der;
-    BasisFunctionDerivativesImpl(u, order, degree(), knots(), der);
-    return der;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename SplineTraits<Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType
-  Spline<_Scalar, _Dim, _Degree>::BasisFunctionDerivatives(
-    const typename Spline<_Scalar, _Dim, _Degree>::Scalar u,
-    const DenseIndex order,
-    const DenseIndex degree,
-    const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& knots)
-  {
-    typename SplineTraits<Spline>::BasisDerivativeType der;
-    BasisFunctionDerivativesImpl(u, order, degree, knots, der);
-    return der;
-  }
-}
-
-#endif // EIGEN_SPLINE_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Splines/SplineFitting.h b/phonelibs/eigen/unsupported/Eigen/src/Splines/SplineFitting.h
deleted file mode 100644
index c761a9b3d89838..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Splines/SplineFitting.h
+++ /dev/null
@@ -1,430 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPLINE_FITTING_H
-#define EIGEN_SPLINE_FITTING_H
-
-#include <algorithm>
-#include <functional>
-#include <numeric>
-#include <vector>
-
-#include "SplineFwd.h"
-
-#include <Eigen/LU>
-#include <Eigen/QR>
-
-namespace Eigen
-{
-  /**
-   * \brief Computes knot averages.
-   * \ingroup Splines_Module
-   *
-   * The knots are computed as
-   * \f{align*}
-   *  u_0 & = \hdots = u_p = 0 \\
-   *  u_{m-p} & = \hdots = u_{m} = 1 \\
-   *  u_{j+p} & = \frac{1}{p}\sum_{i=j}^{j+p-1}\bar{u}_i \quad\quad j=1,\hdots,n-p
-   * \f}
-   * where \f$p\f$ is the degree and \f$m+1\f$ the number knots
-   * of the desired interpolating spline.
-   *
-   * \param[in] parameters The input parameters. During interpolation one for each data point.
-   * \param[in] degree The spline degree which is used during the interpolation.
-   * \param[out] knots The output knot vector.
-   *
-   * \sa Les Piegl and Wayne Tiller, The NURBS book (2nd ed.), 1997, 9.2.1 Global Curve Interpolation to Point Data
-   **/
-  template <typename KnotVectorType>
-  void KnotAveraging(const KnotVectorType& parameters, DenseIndex degree, KnotVectorType& knots)
-  {
-    knots.resize(parameters.size()+degree+1);      
-
-    for (DenseIndex j=1; j<parameters.size()-degree; ++j)
-      knots(j+degree) = parameters.segment(j,degree).mean();
-
-    knots.segment(0,degree+1) = KnotVectorType::Zero(degree+1);
-    knots.segment(knots.size()-degree-1,degree+1) = KnotVectorType::Ones(degree+1);
-  }
-
-  /**
-   * \brief Computes knot averages when derivative constraints are present.
-   * Note that this is a technical interpretation of the referenced article
-   * since the algorithm contained therein is incorrect as written.
-   * \ingroup Splines_Module
-   *
-   * \param[in] parameters The parameters at which the interpolation B-Spline
-   *            will intersect the given interpolation points. The parameters
-   *            are assumed to be a non-decreasing sequence.
-   * \param[in] degree The degree of the interpolating B-Spline. This must be
-   *            greater than zero.
-   * \param[in] derivativeIndices The indices corresponding to parameters at
-   *            which there are derivative constraints. The indices are assumed
-   *            to be a non-decreasing sequence.
-   * \param[out] knots The calculated knot vector. These will be returned as a
-   *             non-decreasing sequence
-   *
-   * \sa Les A. Piegl, Khairan Rajab, Volha Smarodzinana. 2008.
-   * Curve interpolation with directional constraints for engineering design. 
-   * Engineering with Computers
-   **/
-  template <typename KnotVectorType, typename ParameterVectorType, typename IndexArray>
-  void KnotAveragingWithDerivatives(const ParameterVectorType& parameters,
-                                    const unsigned int degree,
-                                    const IndexArray& derivativeIndices,
-                                    KnotVectorType& knots)
-  {
-    typedef typename ParameterVectorType::Scalar Scalar;
-
-    DenseIndex numParameters = parameters.size();
-    DenseIndex numDerivatives = derivativeIndices.size();
-
-    if (numDerivatives < 1)
-    {
-      KnotAveraging(parameters, degree, knots);
-      return;
-    }
-
-    DenseIndex startIndex;
-    DenseIndex endIndex;
-  
-    DenseIndex numInternalDerivatives = numDerivatives;
-    
-    if (derivativeIndices[0] == 0)
-    {
-      startIndex = 0;
-      --numInternalDerivatives;
-    }
-    else
-    {
-      startIndex = 1;
-    }
-    if (derivativeIndices[numDerivatives - 1] == numParameters - 1)
-    {
-      endIndex = numParameters - degree;
-      --numInternalDerivatives;
-    }
-    else
-    {
-      endIndex = numParameters - degree - 1;
-    }
-
-    // There are (endIndex - startIndex + 1) knots obtained from the averaging
-    // and 2 for the first and last parameters.
-    DenseIndex numAverageKnots = endIndex - startIndex + 3;
-    KnotVectorType averageKnots(numAverageKnots);
-    averageKnots[0] = parameters[0];
-
-    int newKnotIndex = 0;
-    for (DenseIndex i = startIndex; i <= endIndex; ++i)
-      averageKnots[++newKnotIndex] = parameters.segment(i, degree).mean();
-    averageKnots[++newKnotIndex] = parameters[numParameters - 1];
-
-    newKnotIndex = -1;
-  
-    ParameterVectorType temporaryParameters(numParameters + 1);
-    KnotVectorType derivativeKnots(numInternalDerivatives);
-    for (DenseIndex i = 0; i < numAverageKnots - 1; ++i)
-    {
-      temporaryParameters[0] = averageKnots[i];
-      ParameterVectorType parameterIndices(numParameters);
-      int temporaryParameterIndex = 1;
-      for (DenseIndex j = 0; j < numParameters; ++j)
-      {
-        Scalar parameter = parameters[j];
-        if (parameter >= averageKnots[i] && parameter < averageKnots[i + 1])
-        {
-          parameterIndices[temporaryParameterIndex] = j;
-          temporaryParameters[temporaryParameterIndex++] = parameter;
-        }
-      }
-      temporaryParameters[temporaryParameterIndex] = averageKnots[i + 1];
-
-      for (int j = 0; j <= temporaryParameterIndex - 2; ++j)
-      {
-        for (DenseIndex k = 0; k < derivativeIndices.size(); ++k)
-        {
-          if (parameterIndices[j + 1] == derivativeIndices[k]
-              && parameterIndices[j + 1] != 0
-              && parameterIndices[j + 1] != numParameters - 1)
-          {
-            derivativeKnots[++newKnotIndex] = temporaryParameters.segment(j, 3).mean();
-            break;
-          }
-        }
-      }
-    }
-    
-    KnotVectorType temporaryKnots(averageKnots.size() + derivativeKnots.size());
-
-    std::merge(averageKnots.data(), averageKnots.data() + averageKnots.size(),
-               derivativeKnots.data(), derivativeKnots.data() + derivativeKnots.size(),
-               temporaryKnots.data());
-
-    // Number of knots (one for each point and derivative) plus spline order.
-    DenseIndex numKnots = numParameters + numDerivatives + degree + 1;
-    knots.resize(numKnots);
-
-    knots.head(degree).fill(temporaryKnots[0]);
-    knots.tail(degree).fill(temporaryKnots.template tail<1>()[0]);
-    knots.segment(degree, temporaryKnots.size()) = temporaryKnots;
-  }
-
-  /**
-   * \brief Computes chord length parameters which are required for spline interpolation.
-   * \ingroup Splines_Module
-   *
-   * \param[in] pts The data points to which a spline should be fit.
-   * \param[out] chord_lengths The resulting chord lenggth vector.
-   *
-   * \sa Les Piegl and Wayne Tiller, The NURBS book (2nd ed.), 1997, 9.2.1 Global Curve Interpolation to Point Data
-   **/   
-  template <typename PointArrayType, typename KnotVectorType>
-  void ChordLengths(const PointArrayType& pts, KnotVectorType& chord_lengths)
-  {
-    typedef typename KnotVectorType::Scalar Scalar;
-
-    const DenseIndex n = pts.cols();
-
-    // 1. compute the column-wise norms
-    chord_lengths.resize(pts.cols());
-    chord_lengths[0] = 0;
-    chord_lengths.rightCols(n-1) = (pts.array().leftCols(n-1) - pts.array().rightCols(n-1)).matrix().colwise().norm();
-
-    // 2. compute the partial sums
-    std::partial_sum(chord_lengths.data(), chord_lengths.data()+n, chord_lengths.data());
-
-    // 3. normalize the data
-    chord_lengths /= chord_lengths(n-1);
-    chord_lengths(n-1) = Scalar(1);
-  }
-
-  /**
-   * \brief Spline fitting methods.
-   * \ingroup Splines_Module
-   **/     
-  template <typename SplineType>
-  struct SplineFitting
-  {
-    typedef typename SplineType::KnotVectorType KnotVectorType;
-    typedef typename SplineType::ParameterVectorType ParameterVectorType;
-
-    /**
-     * \brief Fits an interpolating Spline to the given data points.
-     *
-     * \param pts The points for which an interpolating spline will be computed.
-     * \param degree The degree of the interpolating spline.
-     *
-     * \returns A spline interpolating the initially provided points.
-     **/
-    template <typename PointArrayType>
-    static SplineType Interpolate(const PointArrayType& pts, DenseIndex degree);
-
-    /**
-     * \brief Fits an interpolating Spline to the given data points.
-     *
-     * \param pts The points for which an interpolating spline will be computed.
-     * \param degree The degree of the interpolating spline.
-     * \param knot_parameters The knot parameters for the interpolation.
-     *
-     * \returns A spline interpolating the initially provided points.
-     **/
-    template <typename PointArrayType>
-    static SplineType Interpolate(const PointArrayType& pts, DenseIndex degree, const KnotVectorType& knot_parameters);
-
-    /**
-     * \brief Fits an interpolating spline to the given data points and
-     * derivatives.
-     * 
-     * \param points The points for which an interpolating spline will be computed.
-     * \param derivatives The desired derivatives of the interpolating spline at interpolation
-     *                    points.
-     * \param derivativeIndices An array indicating which point each derivative belongs to. This
-     *                          must be the same size as @a derivatives.
-     * \param degree The degree of the interpolating spline.
-     *
-     * \returns A spline interpolating @a points with @a derivatives at those points.
-     *
-     * \sa Les A. Piegl, Khairan Rajab, Volha Smarodzinana. 2008.
-     * Curve interpolation with directional constraints for engineering design. 
-     * Engineering with Computers
-     **/
-    template <typename PointArrayType, typename IndexArray>
-    static SplineType InterpolateWithDerivatives(const PointArrayType& points,
-                                                 const PointArrayType& derivatives,
-                                                 const IndexArray& derivativeIndices,
-                                                 const unsigned int degree);
-
-    /**
-     * \brief Fits an interpolating spline to the given data points and derivatives.
-     * 
-     * \param points The points for which an interpolating spline will be computed.
-     * \param derivatives The desired derivatives of the interpolating spline at interpolation points.
-     * \param derivativeIndices An array indicating which point each derivative belongs to. This
-     *                          must be the same size as @a derivatives.
-     * \param degree The degree of the interpolating spline.
-     * \param parameters The parameters corresponding to the interpolation points.
-     *
-     * \returns A spline interpolating @a points with @a derivatives at those points.
-     *
-     * \sa Les A. Piegl, Khairan Rajab, Volha Smarodzinana. 2008.
-     * Curve interpolation with directional constraints for engineering design. 
-     * Engineering with Computers
-     */
-    template <typename PointArrayType, typename IndexArray>
-    static SplineType InterpolateWithDerivatives(const PointArrayType& points,
-                                                 const PointArrayType& derivatives,
-                                                 const IndexArray& derivativeIndices,
-                                                 const unsigned int degree,
-                                                 const ParameterVectorType& parameters);
-  };
-
-  template <typename SplineType>
-  template <typename PointArrayType>
-  SplineType SplineFitting<SplineType>::Interpolate(const PointArrayType& pts, DenseIndex degree, const KnotVectorType& knot_parameters)
-  {
-    typedef typename SplineType::KnotVectorType::Scalar Scalar;      
-    typedef typename SplineType::ControlPointVectorType ControlPointVectorType;      
-
-    typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
-
-    KnotVectorType knots;
-    KnotAveraging(knot_parameters, degree, knots);
-
-    DenseIndex n = pts.cols();
-    MatrixType A = MatrixType::Zero(n,n);
-    for (DenseIndex i=1; i<n-1; ++i)
-    {
-      const DenseIndex span = SplineType::Span(knot_parameters[i], degree, knots);
-
-      // The segment call should somehow be told the spline order at compile time.
-      A.row(i).segment(span-degree, degree+1) = SplineType::BasisFunctions(knot_parameters[i], degree, knots);
-    }
-    A(0,0) = 1.0;
-    A(n-1,n-1) = 1.0;
-
-    HouseholderQR<MatrixType> qr(A);
-
-    // Here, we are creating a temporary due to an Eigen issue.
-    ControlPointVectorType ctrls = qr.solve(MatrixType(pts.transpose())).transpose();
-
-    return SplineType(knots, ctrls);
-  }
-
-  template <typename SplineType>
-  template <typename PointArrayType>
-  SplineType SplineFitting<SplineType>::Interpolate(const PointArrayType& pts, DenseIndex degree)
-  {
-    KnotVectorType chord_lengths; // knot parameters
-    ChordLengths(pts, chord_lengths);
-    return Interpolate(pts, degree, chord_lengths);
-  }
-  
-  template <typename SplineType>
-  template <typename PointArrayType, typename IndexArray>
-  SplineType 
-  SplineFitting<SplineType>::InterpolateWithDerivatives(const PointArrayType& points,
-                                                        const PointArrayType& derivatives,
-                                                        const IndexArray& derivativeIndices,
-                                                        const unsigned int degree,
-                                                        const ParameterVectorType& parameters)
-  {
-    typedef typename SplineType::KnotVectorType::Scalar Scalar;      
-    typedef typename SplineType::ControlPointVectorType ControlPointVectorType;
-
-    typedef Matrix<Scalar, Dynamic, Dynamic> MatrixType;
-
-    const DenseIndex n = points.cols() + derivatives.cols();
-    
-    KnotVectorType knots;
-
-    KnotAveragingWithDerivatives(parameters, degree, derivativeIndices, knots);
-    
-    // fill matrix
-    MatrixType A = MatrixType::Zero(n, n);
-
-    // Use these dimensions for quicker populating, then transpose for solving.
-    MatrixType b(points.rows(), n);
-
-    DenseIndex startRow;
-    DenseIndex derivativeStart;
-
-    // End derivatives.
-    if (derivativeIndices[0] == 0)
-    {
-      A.template block<1, 2>(1, 0) << -1, 1;
-      
-      Scalar y = (knots(degree + 1) - knots(0)) / degree;
-      b.col(1) = y*derivatives.col(0);
-      
-      startRow = 2;
-      derivativeStart = 1;
-    }
-    else
-    {
-      startRow = 1;
-      derivativeStart = 0;
-    }
-    if (derivativeIndices[derivatives.cols() - 1] == points.cols() - 1)
-    {
-      A.template block<1, 2>(n - 2, n - 2) << -1, 1;
-
-      Scalar y = (knots(knots.size() - 1) - knots(knots.size() - (degree + 2))) / degree;
-      b.col(b.cols() - 2) = y*derivatives.col(derivatives.cols() - 1);
-    }
-    
-    DenseIndex row = startRow;
-    DenseIndex derivativeIndex = derivativeStart;
-    for (DenseIndex i = 1; i < parameters.size() - 1; ++i)
-    {
-      const DenseIndex span = SplineType::Span(parameters[i], degree, knots);
-
-      if (derivativeIndices[derivativeIndex] == i)
-      {
-        A.block(row, span - degree, 2, degree + 1)
-          = SplineType::BasisFunctionDerivatives(parameters[i], 1, degree, knots);
-
-        b.col(row++) = points.col(i);
-        b.col(row++) = derivatives.col(derivativeIndex++);
-      }
-      else
-      {
-        A.row(row++).segment(span - degree, degree + 1)
-          = SplineType::BasisFunctions(parameters[i], degree, knots);
-      }
-    }
-    b.col(0) = points.col(0);
-    b.col(b.cols() - 1) = points.col(points.cols() - 1);
-    A(0,0) = 1;
-    A(n - 1, n - 1) = 1;
-    
-    // Solve
-    FullPivLU<MatrixType> lu(A);
-    ControlPointVectorType controlPoints = lu.solve(MatrixType(b.transpose())).transpose();
-
-    SplineType spline(knots, controlPoints);
-    
-    return spline;
-  }
-  
-  template <typename SplineType>
-  template <typename PointArrayType, typename IndexArray>
-  SplineType
-  SplineFitting<SplineType>::InterpolateWithDerivatives(const PointArrayType& points,
-                                                        const PointArrayType& derivatives,
-                                                        const IndexArray& derivativeIndices,
-                                                        const unsigned int degree)
-  {
-    ParameterVectorType parameters;
-    ChordLengths(points, parameters);
-    return InterpolateWithDerivatives(points, derivatives, derivativeIndices, degree, parameters);
-  }
-}
-
-#endif // EIGEN_SPLINE_FITTING_H
diff --git a/phonelibs/eigen/unsupported/Eigen/src/Splines/SplineFwd.h b/phonelibs/eigen/unsupported/Eigen/src/Splines/SplineFwd.h
deleted file mode 100644
index 0a95fbf3ead4c2..00000000000000
--- a/phonelibs/eigen/unsupported/Eigen/src/Splines/SplineFwd.h
+++ /dev/null
@@ -1,93 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPLINES_FWD_H
-#define EIGEN_SPLINES_FWD_H
-
-#include <Eigen/Core>
-
-namespace Eigen
-{
-    template <typename Scalar, int Dim, int Degree = Dynamic> class Spline;
-
-    template < typename SplineType, int DerivativeOrder = Dynamic > struct SplineTraits {};
-
-    /**
-     * \ingroup Splines_Module
-     * \brief Compile-time attributes of the Spline class for Dynamic degree.
-     **/
-    template <typename _Scalar, int _Dim, int _Degree>
-    struct SplineTraits< Spline<_Scalar, _Dim, _Degree>, Dynamic >
-    {
-      typedef _Scalar Scalar; /*!< The spline curve's scalar type. */
-      enum { Dimension = _Dim /*!< The spline curve's dimension. */ };
-      enum { Degree = _Degree /*!< The spline curve's degree. */ };
-
-      enum { OrderAtCompileTime = _Degree==Dynamic ? Dynamic : _Degree+1 /*!< The spline curve's order at compile-time. */ };
-      enum { NumOfDerivativesAtCompileTime = OrderAtCompileTime /*!< The number of derivatives defined for the current spline. */ };
-      
-      enum { DerivativeMemoryLayout = Dimension==1 ? RowMajor : ColMajor /*!< The derivative type's memory layout. */ };
-
-      /** \brief The data type used to store non-zero basis functions. */
-      typedef Array<Scalar,1,OrderAtCompileTime> BasisVectorType;
-
-      /** \brief The data type used to store the values of the basis function derivatives. */
-      typedef Array<Scalar,Dynamic,Dynamic,RowMajor,NumOfDerivativesAtCompileTime,OrderAtCompileTime> BasisDerivativeType;
-      
-      /** \brief The data type used to store the spline's derivative values. */
-      typedef Array<Scalar,Dimension,Dynamic,DerivativeMemoryLayout,Dimension,NumOfDerivativesAtCompileTime> DerivativeType;
-
-      /** \brief The point type the spline is representing. */
-      typedef Array<Scalar,Dimension,1> PointType;
-      
-      /** \brief The data type used to store knot vectors. */
-      typedef Array<Scalar,1,Dynamic> KnotVectorType;
-
-      /** \brief The data type used to store parameter vectors. */
-      typedef Array<Scalar,1,Dynamic> ParameterVectorType;
-      
-      /** \brief The data type representing the spline's control points. */
-      typedef Array<Scalar,Dimension,Dynamic> ControlPointVectorType;
-    };
-
-    /**
-     * \ingroup Splines_Module
-     * \brief Compile-time attributes of the Spline class for fixed degree.
-     *
-     * The traits class inherits all attributes from the SplineTraits of Dynamic degree.
-     **/
-    template < typename _Scalar, int _Dim, int _Degree, int _DerivativeOrder >
-    struct SplineTraits< Spline<_Scalar, _Dim, _Degree>, _DerivativeOrder > : public SplineTraits< Spline<_Scalar, _Dim, _Degree> >
-    {
-      enum { OrderAtCompileTime = _Degree==Dynamic ? Dynamic : _Degree+1 /*!< The spline curve's order at compile-time. */ };
-      enum { NumOfDerivativesAtCompileTime = _DerivativeOrder==Dynamic ? Dynamic : _DerivativeOrder+1 /*!< The number of derivatives defined for the current spline. */ };
-      
-      enum { DerivativeMemoryLayout = _Dim==1 ? RowMajor : ColMajor /*!< The derivative type's memory layout. */ };
-
-      /** \brief The data type used to store the values of the basis function derivatives. */
-      typedef Array<_Scalar,Dynamic,Dynamic,RowMajor,NumOfDerivativesAtCompileTime,OrderAtCompileTime> BasisDerivativeType;
-      
-      /** \brief The data type used to store the spline's derivative values. */      
-      typedef Array<_Scalar,_Dim,Dynamic,DerivativeMemoryLayout,_Dim,NumOfDerivativesAtCompileTime> DerivativeType;
-    };
-
-    /** \brief 2D float B-spline with dynamic degree. */
-    typedef Spline<float,2> Spline2f;
-    
-    /** \brief 3D float B-spline with dynamic degree. */
-    typedef Spline<float,3> Spline3f;
-
-    /** \brief 2D double B-spline with dynamic degree. */
-    typedef Spline<double,2> Spline2d;
-    
-    /** \brief 3D double B-spline with dynamic degree. */
-    typedef Spline<double,3> Spline3d;
-}
-
-#endif // EIGEN_SPLINES_FWD_H
diff --git a/phonelibs/eigen/unsupported/README.txt b/phonelibs/eigen/unsupported/README.txt
deleted file mode 100644
index 83479ff0bb549d..00000000000000
--- a/phonelibs/eigen/unsupported/README.txt
+++ /dev/null
@@ -1,50 +0,0 @@
-This directory contains contributions from various users.
-They are provided "as is", without any support. Nevertheless,
-most of them are subject to be included in Eigen in the future.
-
-In order to use an unsupported module you have to do either:
-
- - add the path_to_eigen/unsupported directory to your include path and do:
-   #include <Eigen/ModuleHeader>
-
- - or directly do:
-   #include <unsupported/Eigen/ModuleHeader>
-
-
-If you are interested in contributing to one of them, or have other stuff
-you would like to share, feel free to contact us:
-http://eigen.tuxfamily.org/index.php?title=Main_Page#Mailing_list
-
-Any kind of contributions are much appreciated, even very preliminary ones.
-However, it:
- - must rely on Eigen,
- - must be highly related to math,
- - should have some general purpose in the sense that it could
-   potentially become an offical Eigen module (or be merged into another one).
-
-In doubt feel free to contact us. For instance, if your addons is very too specific
-but it shows an interesting way of using Eigen, then it could be a nice demo.
-
-
-This directory is organized as follow:
-
-unsupported/Eigen/ModuleHeader1
-unsupported/Eigen/ModuleHeader2
-unsupported/Eigen/...
-unsupported/Eigen/src/Module1/SourceFile1.h
-unsupported/Eigen/src/Module1/SourceFile2.h
-unsupported/Eigen/src/Module1/...
-unsupported/Eigen/src/Module2/SourceFile1.h
-unsupported/Eigen/src/Module2/SourceFile2.h
-unsupported/Eigen/src/Module2/...
-unsupported/Eigen/src/...
-unsupported/doc/snippets/.cpp   <- code snippets for the doc
-unsupported/doc/examples/.cpp   <- examples for the doc
-unsupported/doc/TutorialModule1.dox
-unsupported/doc/TutorialModule2.dox
-unsupported/doc/...
-unsupported/test/.cpp           <- unit test files
-
-The documentation is generated at the same time than the main Eigen documentation.
-The .html files are generated in: build_dir/doc/html/unsupported/
-
diff --git a/phonelibs/eigen/unsupported/doc/CMakeLists.txt b/phonelibs/eigen/unsupported/doc/CMakeLists.txt
deleted file mode 100644
index 9e9ab98007eb18..00000000000000
--- a/phonelibs/eigen/unsupported/doc/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-set_directory_properties(PROPERTIES EXCLUDE_FROM_ALL TRUE)
-
-add_subdirectory(examples)
-add_subdirectory(snippets)
diff --git a/phonelibs/eigen/unsupported/doc/Overview.dox b/phonelibs/eigen/unsupported/doc/Overview.dox
deleted file mode 100644
index 45464a5458f37c..00000000000000
--- a/phonelibs/eigen/unsupported/doc/Overview.dox
+++ /dev/null
@@ -1,28 +0,0 @@
-/// \brief Namespace containing all symbols from the %Eigen library.
-namespace Eigen {
-
-/** \mainpage %Eigen's unsupported modules
-
-This is the API documentation for %Eigen's unsupported modules.
-
-These modules are contributions from various users. They are provided "as is", without any support.
-
-Click on the \e Modules tab at the top of this page to get a list of all unsupported modules.
-
-Don't miss the <a href="../index.html">official Eigen documentation</a>.
-
-*/
-
-/*
-
-\defgroup Unsupported_modules Unsupported modules
-
-The unsupported modules are contributions from various users. They are
-provided "as is", without any support. Nevertheless, some of them are
-subject to be included in %Eigen in the future.
-
-*/
-
-/// \internal \brief Namespace containing low-level routines from the %Eigen library.
-namespace internal {}
-}
diff --git a/phonelibs/eigen/unsupported/doc/eigendoxy_layout.xml.in b/phonelibs/eigen/unsupported/doc/eigendoxy_layout.xml.in
deleted file mode 100644
index c93621ed3a92cd..00000000000000
--- a/phonelibs/eigen/unsupported/doc/eigendoxy_layout.xml.in
+++ /dev/null
@@ -1,177 +0,0 @@
-<?xml version="1.0"?>
-<doxygenlayout version="1.0">
-  <!-- Navigation index tabs for HTML output -->
-  <navindex>
-    <tab type="user" url="index.html" title="Overview" />
-    <tab type="modules" visible="yes" title="Unsupported Modules" intro=""/>
-<!--     <tab type="mainpage" visible="yes" title=""/> -->
-    <tab type="classlist" visible="yes" title="" intro=""/>
-<!--     <tab type="classmembers" visible="yes" title="" intro=""/> -->
-  </navindex>
-
-  <!-- Layout definition for a class page -->
-  <class>
-    <briefdescription visible="no"/>
-    <includes visible="$SHOW_INCLUDE_FILES"/>
-    <detaileddescription title=""/>
-    <inheritancegraph visible="$CLASS_GRAPH"/>
-    <collaborationgraph visible="$COLLABORATION_GRAPH"/>
-    <allmemberslink visible="yes"/>
-    <memberdecl>
-      <nestedclasses visible="yes" title=""/>
-      <publictypes title=""/>
-      <publicslots title=""/>
-      <signals title=""/>
-      <publicmethods title=""/>
-      <publicstaticmethods title=""/>
-      <publicattributes title=""/>
-      <publicstaticattributes title=""/>
-      <protectedtypes title=""/>
-      <protectedslots title=""/>
-      <protectedmethods title=""/>
-      <protectedstaticmethods title=""/>
-      <protectedattributes title=""/>
-      <protectedstaticattributes title=""/>
-      <packagetypes title=""/>
-      <packagemethods title=""/>
-      <packagestaticmethods title=""/>
-      <packageattributes title=""/>
-      <packagestaticattributes title=""/>
-      <properties title=""/>
-      <events title=""/>
-      <privatetypes title=""/>
-      <privateslots title=""/>
-      <privatemethods title=""/>
-      <privatestaticmethods title=""/>
-      <privateattributes title=""/>
-      <privatestaticattributes title=""/>
-      <friends title=""/>
-      <related title="" subtitle=""/>
-      <membergroups visible="yes"/>
-    </memberdecl>
-    
-    <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <constructors title=""/>
-      <functions title=""/>
-      <related title=""/>
-      <variables title=""/>
-      <properties title=""/>
-      <events title=""/>
-    </memberdef>
-    <usedfiles visible="$SHOW_USED_FILES"/>
-    <authorsection visible="yes"/>
-  </class>
-
-  <!-- Layout definition for a namespace page -->
-  <namespace>
-    <briefdescription visible="yes"/>
-    <memberdecl>
-      <nestednamespaces visible="yes" title=""/>
-      <classes visible="yes" title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
-    </memberdecl>
-    <detaileddescription title=""/>
-    <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
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-
-  <!-- Layout definition for a file page -->
-  <file>
-    <briefdescription visible="yes"/>
-    <includes visible="$SHOW_INCLUDE_FILES"/>
-    <includegraph visible="$INCLUDE_GRAPH"/>
-    <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
-    <sourcelink visible="yes"/>
-    <memberdecl>
-      <classes visible="yes" title=""/>
-      <namespaces visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
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-
-  <!-- Layout definition for a group page -->
-  <group>
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-      <dirs visible="yes" title=""/>
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diff --git a/phonelibs/eigen/unsupported/doc/examples/BVH_Example.cpp b/phonelibs/eigen/unsupported/doc/examples/BVH_Example.cpp
deleted file mode 100644
index afb0c94c240998..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/BVH_Example.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#include <Eigen/StdVector>
-#include <unsupported/Eigen/BVH>
-#include <iostream>
-
-using namespace Eigen;
-typedef AlignedBox<double, 2> Box2d;
-
-namespace Eigen {
-  Box2d bounding_box(const Vector2d &v) { return Box2d(v, v); } //compute the bounding box of a single point
-}
-
-struct PointPointMinimizer //how to compute squared distances between points and rectangles
-{
-  PointPointMinimizer() : calls(0) {}
-  typedef double Scalar;
-
-  double minimumOnVolumeVolume(const Box2d &r1, const Box2d &r2) { ++calls; return r1.squaredExteriorDistance(r2); }
-  double minimumOnVolumeObject(const Box2d &r, const Vector2d &v) { ++calls; return r.squaredExteriorDistance(v); }
-  double minimumOnObjectVolume(const Vector2d &v, const Box2d &r) { ++calls; return r.squaredExteriorDistance(v); }
-  double minimumOnObjectObject(const Vector2d &v1, const Vector2d &v2) { ++calls; return (v1 - v2).squaredNorm(); }
-
-  int calls;
-};
-
-int main()
-{
-  typedef std::vector<Vector2d, aligned_allocator<Vector2d> > StdVectorOfVector2d;
-  StdVectorOfVector2d redPoints, bluePoints;
-  for(int i = 0; i < 100; ++i) { //initialize random set of red points and blue points
-    redPoints.push_back(Vector2d::Random());
-    bluePoints.push_back(Vector2d::Random());
-  }
-
-  PointPointMinimizer minimizer;
-  double minDistSq = std::numeric_limits<double>::max();
-
-  //brute force to find closest red-blue pair
-  for(int i = 0; i < (int)redPoints.size(); ++i)
-    for(int j = 0; j < (int)bluePoints.size(); ++j)
-      minDistSq = std::min(minDistSq, minimizer.minimumOnObjectObject(redPoints[i], bluePoints[j]));
-  std::cout << "Brute force distance = " << sqrt(minDistSq) << ", calls = " << minimizer.calls << std::endl;
-
-  //using BVH to find closest red-blue pair
-  minimizer.calls = 0;
-  KdBVH<double, 2, Vector2d> redTree(redPoints.begin(), redPoints.end()), blueTree(bluePoints.begin(), bluePoints.end()); //construct the trees
-  minDistSq = BVMinimize(redTree, blueTree, minimizer); //actual BVH minimization call
-  std::cout << "BVH distance         = " << sqrt(minDistSq) << ", calls = " << minimizer.calls << std::endl;
-
-  return 0;
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/CMakeLists.txt b/phonelibs/eigen/unsupported/doc/examples/CMakeLists.txt
deleted file mode 100644
index c47646dfca9d76..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-FILE(GLOB examples_SRCS "*.cpp")
-
-ADD_CUSTOM_TARGET(unsupported_examples)
-
-INCLUDE_DIRECTORIES(../../../unsupported ../../../unsupported/test)
-
-FOREACH(example_src ${examples_SRCS})
-  GET_FILENAME_COMPONENT(example ${example_src} NAME_WE)
-  ADD_EXECUTABLE(example_${example} ${example_src})
-  if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
-    target_link_libraries(example_${example} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
-  endif()
-  ADD_CUSTOM_COMMAND(
-    TARGET example_${example}
-    POST_BUILD
-    COMMAND example_${example}
-    ARGS >${CMAKE_CURRENT_BINARY_DIR}/${example}.out
-  )
-  ADD_DEPENDENCIES(unsupported_examples example_${example})
-ENDFOREACH(example_src)
diff --git a/phonelibs/eigen/unsupported/doc/examples/EulerAngles.cpp b/phonelibs/eigen/unsupported/doc/examples/EulerAngles.cpp
deleted file mode 100644
index 1ef6aee182d6c8..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/EulerAngles.cpp
+++ /dev/null
@@ -1,46 +0,0 @@
-#include <unsupported/Eigen/EulerAngles>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  // A common Euler system by many armies around the world,
-  //  where the first one is the azimuth(the angle from the north -
-  //   the same angle that is show in compass)
-  //  and the second one is elevation(the angle from the horizon)
-  //  and the third one is roll(the angle between the horizontal body
-  //   direction and the plane ground surface)
-  // Keep remembering we're using radian angles here!
-  typedef EulerSystem<-EULER_Z, EULER_Y, EULER_X> MyArmySystem;
-  typedef EulerAngles<double, MyArmySystem> MyArmyAngles;
-  
-  MyArmyAngles vehicleAngles(
-    3.14/*PI*/ / 2, /* heading to east, notice that this angle is counter-clockwise */
-    -0.3, /* going down from a mountain */
-    0.1); /* slightly rolled to the right */
-  
-  // Some Euler angles representation that our plane use.
-  EulerAnglesZYZd planeAngles(0.78474, 0.5271, -0.513794);
-  
-  MyArmyAngles planeAnglesInMyArmyAngles = MyArmyAngles::FromRotation<true, false, false>(planeAngles);
-  
-  std::cout << "vehicle angles(MyArmy):     " << vehicleAngles << std::endl;
-  std::cout << "plane angles(ZYZ):        " << planeAngles << std::endl;
-  std::cout << "plane angles(MyArmy):     " << planeAnglesInMyArmyAngles << std::endl;
-  
-  // Now lets rotate the plane a little bit
-  std::cout << "==========================================================\n";
-  std::cout << "rotating plane now!\n";
-  std::cout << "==========================================================\n";
-  
-  Quaterniond planeRotated = AngleAxisd(-0.342, Vector3d::UnitY()) * planeAngles;
-  
-  planeAngles = planeRotated;
-  planeAnglesInMyArmyAngles = MyArmyAngles::FromRotation<true, false, false>(planeRotated);
-  
-  std::cout << "new plane angles(ZYZ):     " << planeAngles << std::endl;
-  std::cout << "new plane angles(MyArmy): " << planeAnglesInMyArmyAngles << std::endl;
-  
-  return 0;
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/FFT.cpp b/phonelibs/eigen/unsupported/doc/examples/FFT.cpp
deleted file mode 100644
index fcbf81276d23db..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/FFT.cpp
+++ /dev/null
@@ -1,118 +0,0 @@
-//  To use the simple FFT implementation
-//  g++ -o demofft -I.. -Wall -O3 FFT.cpp 
-
-//  To use the FFTW implementation
-//  g++ -o demofft -I.. -DUSE_FFTW -Wall -O3 FFT.cpp -lfftw3 -lfftw3f -lfftw3l
-
-#ifdef USE_FFTW
-#include <fftw3.h>
-#endif
-
-#include <vector>
-#include <complex>
-#include <algorithm>
-#include <iterator>
-#include <iostream>
-#include <Eigen/Core>
-#include <unsupported/Eigen/FFT>
-
-using namespace std;
-using namespace Eigen;
-
-template <typename T>
-T mag2(T a)
-{
-    return a*a;
-}
-template <typename T>
-T mag2(std::complex<T> a)
-{
-    return norm(a);
-}
-
-template <typename T>
-T mag2(const std::vector<T> & vec)
-{
-    T out=0;
-    for (size_t k=0;k<vec.size();++k)
-        out += mag2(vec[k]);
-    return out;
-}
-
-template <typename T>
-T mag2(const std::vector<std::complex<T> > & vec)
-{
-    T out=0;
-    for (size_t k=0;k<vec.size();++k)
-        out += mag2(vec[k]);
-    return out;
-}
-
-template <typename T>
-vector<T> operator-(const vector<T> & a,const vector<T> & b )
-{
-    vector<T> c(a);
-    for (size_t k=0;k<b.size();++k) 
-        c[k] -= b[k];
-    return c;
-}
-
-template <typename T>
-void RandomFill(std::vector<T> & vec)
-{
-    for (size_t k=0;k<vec.size();++k)
-        vec[k] = T( rand() )/T(RAND_MAX) - .5;
-}
-
-template <typename T>
-void RandomFill(std::vector<std::complex<T> > & vec)
-{
-    for (size_t k=0;k<vec.size();++k)
-        vec[k] = std::complex<T> ( T( rand() )/T(RAND_MAX) - .5, T( rand() )/T(RAND_MAX) - .5);
-}
-
-template <typename T_time,typename T_freq>
-void fwd_inv(size_t nfft)
-{
-    typedef typename NumTraits<T_freq>::Real Scalar;
-    vector<T_time> timebuf(nfft);
-    RandomFill(timebuf);
-
-    vector<T_freq> freqbuf;
-    static FFT<Scalar> fft;
-    fft.fwd(freqbuf,timebuf);
-
-    vector<T_time> timebuf2;
-    fft.inv(timebuf2,freqbuf);
-
-    long double rmse = mag2(timebuf - timebuf2) / mag2(timebuf);
-    cout << "roundtrip rmse: " << rmse << endl;
-}
-
-template <typename T_scalar>
-void two_demos(int nfft)
-{
-    cout << "     scalar ";
-    fwd_inv<T_scalar,std::complex<T_scalar> >(nfft);
-    cout << "    complex ";
-    fwd_inv<std::complex<T_scalar>,std::complex<T_scalar> >(nfft);
-}
-
-void demo_all_types(int nfft)
-{
-    cout << "nfft=" << nfft << endl;
-    cout << "   float" << endl;
-    two_demos<float>(nfft);
-    cout << "   double" << endl;
-    two_demos<double>(nfft);
-    cout << "   long double" << endl;
-    two_demos<long double>(nfft);
-}
-
-int main()
-{
-    demo_all_types( 2*3*4*5*7 );
-    demo_all_types( 2*9*16*25 );
-    demo_all_types( 1024 );
-    return 0;
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/MatrixExponential.cpp b/phonelibs/eigen/unsupported/doc/examples/MatrixExponential.cpp
deleted file mode 100644
index ebd3b967506b2e..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/MatrixExponential.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  const double pi = std::acos(-1.0);
-
-  MatrixXd A(3,3);
-  A << 0,    -pi/4, 0,
-       pi/4, 0,     0,
-       0,    0,     0;
-  std::cout << "The matrix A is:\n" << A << "\n\n";
-  std::cout << "The matrix exponential of A is:\n" << A.exp() << "\n\n";
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/MatrixFunction.cpp b/phonelibs/eigen/unsupported/doc/examples/MatrixFunction.cpp
deleted file mode 100644
index a4172e4aebb432..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/MatrixFunction.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-std::complex<double> expfn(std::complex<double> x, int)
-{
-  return std::exp(x);
-}
-
-int main()
-{
-  const double pi = std::acos(-1.0);
-
-  MatrixXd A(3,3);
-  A << 0,    -pi/4, 0,
-       pi/4, 0,     0,
-       0,    0,     0;
-
-  std::cout << "The matrix A is:\n" << A << "\n\n";
-  std::cout << "The matrix exponential of A is:\n" 
-            << A.matrixFunction(expfn) << "\n\n";
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/MatrixLogarithm.cpp b/phonelibs/eigen/unsupported/doc/examples/MatrixLogarithm.cpp
deleted file mode 100644
index 8c5d970546bfe4..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/MatrixLogarithm.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  using std::sqrt;
-  MatrixXd A(3,3);
-  A << 0.5*sqrt(2), -0.5*sqrt(2), 0,
-       0.5*sqrt(2),  0.5*sqrt(2), 0,
-       0,            0,           1;
-  std::cout << "The matrix A is:\n" << A << "\n\n";
-  std::cout << "The matrix logarithm of A is:\n" << A.log() << "\n";
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/MatrixPower.cpp b/phonelibs/eigen/unsupported/doc/examples/MatrixPower.cpp
deleted file mode 100644
index 222452476066ed..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/MatrixPower.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  const double pi = std::acos(-1.0);
-  Matrix3d A;
-  A << cos(1), -sin(1), 0,
-       sin(1),  cos(1), 0,
-	   0 ,      0 , 1;
-  std::cout << "The matrix A is:\n" << A << "\n\n"
-	       "The matrix power A^(pi/4) is:\n" << A.pow(pi/4) << std::endl;
-  return 0;
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/MatrixPower_optimal.cpp b/phonelibs/eigen/unsupported/doc/examples/MatrixPower_optimal.cpp
deleted file mode 100644
index 86470ba0a84b32..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/MatrixPower_optimal.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  Matrix4cd A = Matrix4cd::Random();
-  MatrixPower<Matrix4cd> Apow(A);
-
-  std::cout << "The matrix A is:\n" << A << "\n\n"
-	       "A^3.1 is:\n" << Apow(3.1) << "\n\n"
-	       "A^3.3 is:\n" << Apow(3.3) << "\n\n"
-	       "A^3.7 is:\n" << Apow(3.7) << "\n\n"
-	       "A^3.9 is:\n" << Apow(3.9) << std::endl;
-  return 0;
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/MatrixSine.cpp b/phonelibs/eigen/unsupported/doc/examples/MatrixSine.cpp
deleted file mode 100644
index 9eea9a0814253f..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/MatrixSine.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  MatrixXd A = MatrixXd::Random(3,3);
-  std::cout << "A = \n" << A << "\n\n";
-
-  MatrixXd sinA = A.sin();
-  std::cout << "sin(A) = \n" << sinA << "\n\n";
-
-  MatrixXd cosA = A.cos();
-  std::cout << "cos(A) = \n" << cosA << "\n\n";
-  
-  // The matrix functions satisfy sin^2(A) + cos^2(A) = I, 
-  // like the scalar functions.
-  std::cout << "sin^2(A) + cos^2(A) = \n" << sinA*sinA + cosA*cosA << "\n\n";
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/MatrixSinh.cpp b/phonelibs/eigen/unsupported/doc/examples/MatrixSinh.cpp
deleted file mode 100644
index f7718672413f6b..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/MatrixSinh.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  MatrixXf A = MatrixXf::Random(3,3);
-  std::cout << "A = \n" << A << "\n\n";
-
-  MatrixXf sinhA = A.sinh();
-  std::cout << "sinh(A) = \n" << sinhA << "\n\n";
-
-  MatrixXf coshA = A.cosh();
-  std::cout << "cosh(A) = \n" << coshA << "\n\n";
-  
-  // The matrix functions satisfy cosh^2(A) - sinh^2(A) = I, 
-  // like the scalar functions.
-  std::cout << "cosh^2(A) - sinh^2(A) = \n" << coshA*coshA - sinhA*sinhA << "\n\n";
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/MatrixSquareRoot.cpp b/phonelibs/eigen/unsupported/doc/examples/MatrixSquareRoot.cpp
deleted file mode 100644
index 88e7557d789fcc..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/MatrixSquareRoot.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  const double pi = std::acos(-1.0);
-
-  MatrixXd A(2,2);
-  A << cos(pi/3), -sin(pi/3), 
-       sin(pi/3),  cos(pi/3);
-  std::cout << "The matrix A is:\n" << A << "\n\n";
-  std::cout << "The matrix square root of A is:\n" << A.sqrt() << "\n\n";
-  std::cout << "The square of the last matrix is:\n" << A.sqrt() * A.sqrt() << "\n";
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/PolynomialSolver1.cpp b/phonelibs/eigen/unsupported/doc/examples/PolynomialSolver1.cpp
deleted file mode 100644
index cd777a4e2d085e..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/PolynomialSolver1.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-#include <unsupported/Eigen/Polynomials>
-#include <vector>
-#include <iostream>
-
-using namespace Eigen;
-using namespace std;
-
-int main()
-{
-  typedef Matrix<double,5,1> Vector5d;
-
-  Vector5d roots = Vector5d::Random();
-  cout << "Roots: " << roots.transpose() << endl;
-  Eigen::Matrix<double,6,1> polynomial;
-  roots_to_monicPolynomial( roots, polynomial );
-
-  PolynomialSolver<double,5> psolve( polynomial );
-  cout << "Complex roots: " << psolve.roots().transpose() << endl;
-
-  std::vector<double> realRoots;
-  psolve.realRoots( realRoots );
-  Map<Vector5d> mapRR( &realRoots[0] );
-  cout << "Real roots: " << mapRR.transpose() << endl;
-
-  cout << endl;
-  cout << "Illustration of the convergence problem with the QR algorithm: " << endl;
-  cout << "---------------------------------------------------------------" << endl;
-  Eigen::Matrix<float,7,1> hardCase_polynomial;
-  hardCase_polynomial <<
-  -0.957, 0.9219, 0.3516, 0.9453, -0.4023, -0.5508, -0.03125;
-  cout << "Hard case polynomial defined by floats: " << hardCase_polynomial.transpose() << endl;
-  PolynomialSolver<float,6> psolvef( hardCase_polynomial );
-  cout << "Complex roots: " << psolvef.roots().transpose() << endl;
-  Eigen::Matrix<float,6,1> evals;
-  for( int i=0; i<6; ++i ){ evals[i] = std::abs( poly_eval( hardCase_polynomial, psolvef.roots()[i] ) ); }
-  cout << "Norms of the evaluations of the polynomial at the roots: " << evals.transpose() << endl << endl;
-
-  cout << "Using double's almost always solves the problem for small degrees: " << endl;
-  cout << "-------------------------------------------------------------------" << endl;
-  PolynomialSolver<double,6> psolve6d( hardCase_polynomial.cast<double>() );
-  cout << "Complex roots: " << psolve6d.roots().transpose() << endl;
-  for( int i=0; i<6; ++i )
-  {
-    std::complex<float> castedRoot( psolve6d.roots()[i].real(), psolve6d.roots()[i].imag() );
-    evals[i] = std::abs( poly_eval( hardCase_polynomial, castedRoot ) );
-  }
-  cout << "Norms of the evaluations of the polynomial at the roots: " << evals.transpose() << endl << endl;
-
-  cout.precision(10);
-  cout << "The last root in float then in double: " << psolvef.roots()[5] << "\t" << psolve6d.roots()[5] << endl;
-  std::complex<float> castedRoot( psolve6d.roots()[5].real(), psolve6d.roots()[5].imag() );
-  cout << "Norm of the difference: " << std::abs( psolvef.roots()[5] - castedRoot ) << endl;
-}
diff --git a/phonelibs/eigen/unsupported/doc/examples/PolynomialUtils1.cpp b/phonelibs/eigen/unsupported/doc/examples/PolynomialUtils1.cpp
deleted file mode 100644
index dbfe520b570418..00000000000000
--- a/phonelibs/eigen/unsupported/doc/examples/PolynomialUtils1.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <unsupported/Eigen/Polynomials>
-#include <iostream>
-
-using namespace Eigen;
-using namespace std;
-
-int main()
-{
-  Vector4d roots = Vector4d::Random();
-  cout << "Roots: " << roots.transpose() << endl;
-  Eigen::Matrix<double,5,1> polynomial;
-  roots_to_monicPolynomial( roots, polynomial );
-  cout << "Polynomial: ";
-  for( int i=0; i<4; ++i ){ cout << polynomial[i] << ".x^" << i << "+ "; }
-  cout << polynomial[4] << ".x^4" << endl;
-  Vector4d evaluation;
-  for( int i=0; i<4; ++i ){
-    evaluation[i] = poly_eval( polynomial, roots[i] ); }
-  cout << "Evaluation of the polynomial at the roots: " << evaluation.transpose();
-}
diff --git a/phonelibs/eigen/unsupported/doc/snippets/CMakeLists.txt b/phonelibs/eigen/unsupported/doc/snippets/CMakeLists.txt
deleted file mode 100644
index f0c5cc2a84dd65..00000000000000
--- a/phonelibs/eigen/unsupported/doc/snippets/CMakeLists.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-FILE(GLOB snippets_SRCS "*.cpp")
-
-ADD_CUSTOM_TARGET(unsupported_snippets)
-
-FOREACH(snippet_src ${snippets_SRCS})
-  GET_FILENAME_COMPONENT(snippet ${snippet_src} NAME_WE)
-  SET(compile_snippet_target compile_${snippet})
-  SET(compile_snippet_src ${compile_snippet_target}.cpp)
-  FILE(READ ${snippet_src} snippet_source_code)
-  CONFIGURE_FILE(${PROJECT_SOURCE_DIR}/doc/snippets/compile_snippet.cpp.in
-                 ${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src})
-  ADD_EXECUTABLE(${compile_snippet_target}
-                 ${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src})
-  if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
-    target_link_libraries(${compile_snippet_target} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
-  endif()
-  ADD_CUSTOM_COMMAND(
-    TARGET ${compile_snippet_target}
-    POST_BUILD
-    COMMAND ${compile_snippet_target}
-    ARGS >${CMAKE_CURRENT_BINARY_DIR}/${snippet}.out
-  )
-  ADD_DEPENDENCIES(unsupported_snippets ${compile_snippet_target})
-  set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src}
-                              PROPERTIES OBJECT_DEPENDS ${snippet_src})
-ENDFOREACH(snippet_src)
diff --git a/phonelibs/fastcv/aarch64/include/fastcv.h b/phonelibs/fastcv/aarch64/include/fastcv.h
deleted file mode 100644
index 4827b2b6f9ab36..00000000000000
--- a/phonelibs/fastcv/aarch64/include/fastcv.h
+++ /dev/null
@@ -1,34089 +0,0 @@
-#ifndef FASTCV_H
-#define FASTCV_H
-
-/**=============================================================================
-
-@file
-   fastcv.h
-
-@brief
-   Public API
-
-
-Copyright (c) 2011-2015 Qualcomm Technologies, Inc.
-All Rights Reserved.
-Confidential and Proprietary - Qualcomm Technologies, Inc.
-
-=============================================================================**/
-
-/**=============================================================================
-@mainpage FastCV Public API Documentation
-
-@version 1.7.1
-
-@section Overview Overview
-
-FastCV provides two main features to computer vision application developers:
-   - First, it provides a library of  frequently used computer vision (CV)
-   functions, optimized to run efficiently on mobile devices.
-   - Second, it provides a clean processor-agnostic hardware acceleration API,
-   under which  chipset vendors can hardware accelerate FastCV functions on
-   their hardware.
-
-FastCV 1.7.1 supports Android and Windows mobile developers.
-FastCV 1.7.1 is available for download for free from developer.qualcomm.com.
-
-FastCV 1.7.1 is released as a unified binary, a single binary containing two
-implementations of the library.
-   - The first implementation runs on ARM processor, and is referred to as
-   the "FastCV for ARM."
-   - The second implementation runs only on Qualcomm Snapdragon
-   chipsets, and is called "FastCV for Snapdragon."
-
-Releases are generally motivated for the following reasons:
-   - Changes to previously released APIs
-   - Addition of new functions
-   - Performance improvements and/or bug fixes - also known as implementation
-     modifications
-
-    Each motivation has a varying degree of impact on the user of the library.
-    The general release numbering scheme captures this variety of motivations.
-
-    Given release ID: A.B.C
-
-    An increase in "A" indicates that a previously released API has changed,
-    so a developer may encounter compilation issues which require modification
-    of their code in order to adhear to the modified API.  Qualcomm will make
-    every effort to minimize these changes.  Additionally, new functions and
-    implementation modifications may be present.
-
-    An increase in "B" indicates that new functions have been added to the
-    library, so additional functionality is available, however existing APIs
-    have not changed.  Additionally, implementation modifications may be
-    present.
-
-    An increase in "C" indicates that implementation modifications only have
-    been made.
-
-@defgroup math_vector Math / Vector Operations
-@details Commonly used vector & math functions
-
-@defgroup image_processing Image processing
-@details Image filtering, convolution and scaling operations
-
-@defgroup image_transform Image transformation
-@details Warp perspective, affine transformations
-
-@defgroup feature_detection Feature detection
-@details Fast corner detection, harris corner detection, canny edge detection, etc.
-
-@defgroup object_detection Object detection
-@details Object detection functions such as NCC template match, etc.
-
-@defgroup 3D_reconstruction 3D reconstruction
-@details Homography, pose evaluation functions
-
-@defgroup color_conversion Color conversion
-@details Commonly used formats supported: e.g., YUV, RGB, YCrCb, etc.
-
-@defgroup clustering_and_search Clustering and search
-@details K clusters best fitting of a set of input points
-
-@defgroup Motion_and_Object_Tracking Motion and object tracking
-@details Supports and tracking functions
-
-@defgroup Structural_Analysis_and_Drawing Shape and drawing
-@details Contour and polygon drawing functions
-
-@defgroup mem_management Memory Management
-@details Functions to allocate and deallocate memory for use with fastCV.
-
-@defgroup misc Miscellaneous
-@details Support functions
-
-@defgroup machine_learning Machine Learning
-@details  Machine learning functions such as SVM prediction, etc.
-
-**/
-
-//==============================================================================
-// Defines
-//==============================================================================
-
-#ifdef __GNUC__
-   /// Macro to align memory at 4-bytes (32-bits) for GNU-based compilers.
-   #define FASTCV_ALIGN32( VAR ) (VAR)  __attribute__ ((aligned(4)))
-   /// Macro to align memory at 8-bytes (64-bits) for GNU-based compilers.
-   #define FASTCV_ALIGN64( VAR )  (VAR) __attribute__ ((aligned(8)))
-   /// Macro to align memory at 16-bytes (128-bits) for GNU-based compilers.
-   #define FASTCV_ALIGN128( VAR ) (VAR) __attribute__ ((aligned(16)))
-   #ifdef BUILDING_SO
-   /// MACRO enables function to be visible in shared-library case.
-   #define FASTCV_API __attribute__ ((visibility ("default")))
-   #else
-   /// MACRO empty for non-shared-library case.
-   #define FASTCV_API
-   #endif
-#else
-   /// Macro to align memory at 4-bytes (32-bits) for MSVC compiler.
-   #define FASTCV_ALIGN32( VAR ) __declspec(align(4)) (VAR)
-   /// Macro to align memory at 8-bytes (64-bits) for MSVC compiler.
-   #define FASTCV_ALIGN64( VAR ) __declspec(align(8)) (VAR)
-   /// Macro to align memory at 16-bytes (128-bits) for MSVC compiler.
-   #define FASTCV_ALIGN128( VAR ) __declspec(align(16)) (VAR)
-   #ifdef BUILDING_DLL
-   /// MACRO enables function to be visible in shared-library case.
-   #define FASTCV_API __declspec(dllexport)
-   #else
-   /// MACRO empty for non-shared-library case.
-   #define FASTCV_API
-   #endif
-#endif
-
-//==============================================================================
-// Included modules
-//==============================================================================
-
-#include <stddef.h>
-#include <stdint.h>
-typedef float  float32_t;
-typedef double float64_t;
-
-//==============================================================================
-// Declarations
-//==============================================================================
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines operational mode of interface to allow the end developer to
-///    dictate how the target optimized implementation should behave.
-//------------------------------------------------------------------------------
-typedef enum
-{
-   /// Target-optimized implementation uses lowest power consuming
-   /// implementation.
-   FASTCV_OP_LOW_POWER       = 0,
-
-   /// Target-optimized implementation uses highest performance implementation.
-   FASTCV_OP_PERFORMANCE     = 1,
-
-   /// Target-optimized implementation offloads as much of the CPU as possible.
-   FASTCV_OP_CPU_OFFLOAD     = 2,
-
-   /// Target-optimized implementation uses CPU highest performance implementation.
-   FASTCV_OP_CPU_PERFORMANCE = 3,
-
-   /// Values >= 0x80000000 are reserved
-   FASTCV_OP_RESERVED        = 0x80000000
-
-} fcvOperationMode;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the flip directions for matrix flip functions.
-//------------------------------------------------------------------------------
-typedef enum
-{
-   /// Flip horizontally.
-   FASTCV_FLIP_HORIZ    = 1,
-
-   /// Flip vertically.
-   FASTCV_FLIP_VERT     = 2,
-
-   /// Flip horizontally and vertically.
-   FASTCV_FLIP_BOTH     = 3
-
-} fcvFlipDir;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the clockwise rotation degrees for image rotation functions.
-//------------------------------------------------------------------------------
-typedef enum
-{
-   /// Rotate 90 degrees clockwise.
-   FASTCV_ROTATE_90     = 1,
-
-   /// Rotate 180 degrees clockwise.
-   FASTCV_ROTATE_180    = 2,
-
-   /// Rotate 270 degrees clockwise.
-   FASTCV_ROTATE_270    = 3
-
-} fcvRotateDegree;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the interpolation types.
-//------------------------------------------------------------------------------
-
-typedef enum
-{
-   /// Nearest neighbor interpolation
-   FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR = 0,
-
-   /// Bilinear interpolation
-   FASTCV_INTERPOLATION_TYPE_BILINEAR,
-
-   /// Interpolation by area
-   FASTCV_INTERPOLATION_TYPE_AREA
-
-} fcvInterpolationType;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the policy to handle integer overflow.
-//------------------------------------------------------------------------------
-
-typedef enum
-{
-   /// Do nothing to the overflow.
-   /// Let the overflowed number wrap around.
-   /// May save runtime if overflow unlikely to occur,
-   /// or users do not care about overflow.
-   FASTCV_CONVERT_POLICY_WRAP = 0,
-
-   /// Clamped to the maximum interger if overflow,
-   /// clamped to the minimum integer if underflow.
-   /// May require more runtime than FASTCV_CONVERT_POLICY_WRAP.
-   FASTCV_CONVERT_POLICY_SATURATE
-
-} fcvConvertPolicy;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the border types.
-//------------------------------------------------------------------------------
-
-typedef enum
-{
-   /// Border behavior undefined, left to the implementation.
-   FASTCV_BORDER_UNDEFINED = 0,
-
-   /// For out-of-bound pixels, apply a user-specified constant value.
-   FASTCV_BORDER_CONSTANT,
-
-   /// For out-of-bound pixels, apply values from the nearest edge pixels.
-   FASTCV_BORDER_REPLICATE
-
-} fcvBorderType;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the norm for a vector.
-//------------------------------------------------------------------------------
-
-typedef enum
-{
-   /// L1 norm. The norm is the sum of absolute values of every component in a vector.
-   FASTCV_NORM_L1,
-
-   /// L2 norm, i.e., the Euclidean norm of a vector.
-   FASTCV_NORM_L2
-
-} fcvNormType;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines all supported channel indices
-//------------------------------------------------------------------------------
-
-typedef enum
-{
-    /// The first channel of the image.
-    FASTCV_CHANNEL_0,
-
-    /// The second channel of the image.
-    FASTCV_CHANNEL_1,
-
-    /// The third channel of the image.
-    FASTCV_CHANNEL_2,
-
-    /// The fourth channel of the image.
-    FASTCV_CHANNEL_3,
-
-    /// The RED channel of the image.
-    FASTCV_CHANNEL_R,
-
-    /// The GREEN channel of the image.
-    FASTCV_CHANNEL_G,
-
-    /// The BLUE channel of the image.
-    FASTCV_CHANNEL_B,
-
-    /// The ALPHA channel of the image.
-    FASTCV_CHANNEL_A,
-
-    /// The LUMA channel of the image.
-    FASTCV_CHANNEL_Y,
-
-    /// The Cb/U channel of the image.
-    FASTCV_CHANNEL_U,
-
-    /// The Cr/V/Value channel of the image.
-    FASTCV_CHANNEL_V
-
-}  fcvChannelType;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines all supported image formats based on the FOURCC definition
-//------------------------------------------------------------------------------
-
-typedef enum
-{
-    /// A single plane of 24 bit pixel as 3 interleaved 8 bit units of R then G then B data.
-    FASTCV_RGB,
-
-    /// A single plane of 32 bit pixel as 4 interleaved 8 bit units of R then G then B data, then a �don�t care?byte.
-    FASTCV_RGBX,
-
-    /// A 2 plane YUV format of Luma (Y) and interleaved UV data at 4:2:0 sampling.
-    /// For a frame of width W and height H, Y plane has the size of W * H, while the UV plane has the size of W * H/2.
-    /// The extracted U or V plane is then expected to be W/2 * H/2.
-    FASTCV_NV12,
-
-    /// A 2 plane YUV format of Luma (Y) and interleaved VU data at 4:2:0 sampling.
-    /// For a frame of width W and height H, Y plane has the size of W * H, while the VU plane has the size of W * H/2.
-    /// The extracted U or V plane is then expected to be W/2 * H/2.
-    FASTCV_NV21,
-
-    /// A single plane of 32 bit macro pixel of U0, Y0, V0, Y1 bytes.
-    /// For a frame of width W and height H, its buffer size is at least 2*W * H.
-    /// The extracted Y plane is expected to be W * H while the U or V plane is expected to be W/2 * H.
-    FASTCV_UYVY,
-
-    /// A single plane of 32 bit macro pixel of Y0, U0, Y1, V0 bytes.
-    /// For a frame of width W and height H, its buffer size is at least 2*W * H.
-    /// The extracted Y plane is expected to be W * H while the U or V plane is expected to be W/2 * H.
-    FASTCV_YUYV,
-
-    /// A 3 plane of 8 bit 4:2:0 sampled Y, U, V planes.
-    /// For a frame of width W and height H, Y plane has the size of W * H, while the U or I plane each has a size of W/2 * H/2.
-    FASTCV_IYUV,
-
-    /// A 3 plane of 8 bit 4:4:4 sampled Y, U, V planes.
-    /// For a frame of width W and height H, Y or U or V plane each has the size of W * H.
-    FASTCV_YUV4
-
-} fcvImageFormat;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the status returned by a function.
-//------------------------------------------------------------------------------
-typedef enum
-{
-   //// Success
-   FASTCV_SUCCESS = 0,
-
-   /// General failure
-   FASTCV_EFAIL,
-
-   /// Unaligned pointer parameter
-   FASTCV_EUNALIGNPARAM,
-
-   /// Bad parameters
-   FASTCV_EBADPARAM,
-
-   /// Called at invalid state
-   FASTCV_EINVALSTATE,
-
-   /// Insufficient resources, memory, thread...
-   FASTCV_ENORES,
-
-   /// Unsupported feature
-   FASTCV_EUNSUPPORTED,
-
-   /// Hardware QDSP failed to respond
-   FASTCV_EHWQDSP,
-
-   /// Hardware GPU failed to respond
-   FASTCV_EHWGPU
-
-} fcvStatus;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the kernel functions of SVM prediction.
-//------------------------------------------------------------------------------
-typedef enum
-{
-   FASTCV_SVM_LINEAR,
-   FASTCV_SVM_POLY,
-   FASTCV_SVM_RBF,
-   FASTCV_SVM_SIGMOID
-} fcvSVMKernelType;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the different scaling options for the pyramid
-//------------------------------------------------------------------------------
-typedef enum
-{
-    FASTCV_PYRAMID_SCALE_HALF,
-    FASTCV_PYRAMID_SCALE_ORB
-} fcvPyramidScale;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the termination criteria list.
-//------------------------------------------------------------------------------
-typedef enum
-{
-    /// Indicates a termination after a set number of iterations
-    FASTCV_TERM_CRITERIA_ITERATIONS,
-
-    /// Indicates a termination after matching against the value of eplison provided to the function
-    FASTCV_TERM_CRITERIA_EPSILON,
-
-    /// Indicates that both an iterations and eplison method are employed. Whichever one matches first causes the termination.
-    FASTCV_TERM_CRITERIA_BOTH,
-} fcvTerminationCriteria;
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the normalization method in the HOG extraction process
-//------------------------------------------------------------------------------
-typedef enum
-{
-   /// Do the regular normalization method
-   FASTCV_HOG_NORM_REGULAR = 0,
-
-   /// Do re-normalization
-   FASTCV_HOG_NORM_RENORMALIZATION = 1,
-
-   /// Use F-HOG method
-   FASTCV_HOG_NORM_FHOG = 2,
-
-} fcvHOGNormMethod;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Defines the vaiance estimator type
-//------------------------------------------------------------------------------
-typedef enum
-{
-   /// Sums the squared deviation and devides by (n-1)
-   /// As known as sample variance
-   FASTCV_UNBIASED_VARIANCE_ESTIMATOR = 0,
-
-   /// Sums the squared deviation and devides by n
-   /// As known as population variance
-   FASTCV_BIASED_VARIANCE_ESTIMATOR = 1,
-
-} fcvVarianceEstimator;
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Defines a structure to contain points correspondence data.
-//------------------------------------------------------------------------------
-typedef struct
-{
-   ///   Tuples of 3 values: xFrom,yFrom,zFrom. Float array which this points to
-   ///   must be greater than or equal to 3 * numCorrespondences.
-   const float32_t*               from;
-   /*~ FIELD fcvCorrespondences.from
-       VARRAY LENGTH ( fcvCorrespondences.numCorrespondences * \
-       (fcvCorrespondences.fromStride ? fcvCorrespondences.fromStride : 3) ) */
-
-   ///   Tuples of 2 values: xTo,yTo. Float array which this points to
-   ///   must be greater than or equal to 2 * numCorrespondences.
-   const float32_t*               to;
-   /*~ FIELD fcvCorrespondences.to
-       VARRAY LENGTH ( fcvCorrespondences.numCorrespondences * \
-       (fcvCorrespondences.toStride ? fcvCorrespondences.toStride : 2) ) */
-
-   ///   Distance in bytes between two coordinates in the from array.
-   ///   If this parameter is set to 2 or 3, a dense array is assume (stride will
-   ///   be sizeof(float) times 2 or 3). The minimum value of fromStride
-   ///   should be 2.
-   uint32_t                       fromStride;
-
-   ///   Distance in bytes between two coordinates in the to array.
-   ///   If this parameter is set to 2, a dense array is assume (stride will
-   ///   be 2 * sizeof(float)). The minimum value of toStride
-   ///   should be 2.
-   uint32_t                       toStride;
-
-   ///   Number of points in points correspondences.
-   uint32_t                       numCorrespondences;
-
-   ///   Array of inlier indices for corrs array. Processing will only occur on
-   ///   the indices supplied in this array. Array which this points to must be
-   ///   at least numIndices long.
-   const uint16_t*                indices;
-   /*~ FIELD fcvCorrespondences.indices VARRAY LENGTH (fcvCorrespondences.numIndices) */
-
-   ///   Length of indices array.
-   uint32_t                       numIndices;
-} fcvCorrespondences;
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Structure representing an image pyramid level
-//------------------------------------------------------------------------------
-
-typedef struct
-{
-   const void* ptr;
-   unsigned int width;
-   unsigned int height;
-} fcvPyramidLevel ;
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Structure representing an image pyramid level (version2 with stride)
-//------------------------------------------------------------------------------
-
-typedef struct
-{
-   const void* ptr;
-   unsigned int width;
-   unsigned int height;
-   unsigned int stride;
-} fcvPyramidLevel_v2 ;
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Structure describing node of a tree;
-///   Assumption is that nodes of all trees are stored in in a single array
-///   and all indices refer to this array
-/// @remark
-///   if indices of both children are negative the node is a leaf
-// ----------------------------------------------------------------------------
-typedef struct fcvKDTreeNodef32
-{
-   /// the split value at the node
-   float32_t divVal;
-
-   /// dimension at which the split is made;
-   /// if this is a leaf (both children equal to -1) then this is
-   /// the index of the dataset vector
-   int32_t divFeat;
-
-   /// index of the child node with dataset items to the left
-   /// of the split value
-   int32_t childLeft;
-
-   /// index of the child node with dataset items to the right
-   /// of the split value
-   int32_t childRight;
-
-} fcvKDTreeNodef32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   structure describing a branch (subtree)
-/// @remark
-///   branches are stored on the priority queue (heap) for backtracking
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeBranchf32
-{
-   /// square of minimal distance from query for all nodes below
-   float32_t minDistSq;
-
-   /// index of the top node of the branch
-   int32_t topNode;
-
-} fcvKDTreeBranchf32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Structure with KDTrees data
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeDatas8f32
-{
-   // info about the dataset for which KDTrees are constructed
-   /// the dataset of vectors
-   const int8_t *dataset;
-
-   /// array with inverse lengths of dataset vectors
-   const float32_t* invLen;
-
-   /// number of vectors in the dataset
-   int32_t numVectors;
-
-   // info about trees
-   /// indice of root nodes of trees
-   int32_t* trees;
-
-   /// array of nodes of all trees
-   fcvKDTreeNodef32* nodes;
-
-   /// number of all nodes
-   int32_t numNodes;
-
-   /// capacity of node array
-   int32_t maxNumNodes;
-
-   // info used during lookups
-   /// priority queue
-   fcvKDTreeBranchf32* heap;
-
-   /// number of branches on the priority queue
-   int32_t numBranches;
-
-   /// capactiy of the priority queue
-   int32_t maxNumBranches;
-
-   /// array of indices to vectors in the dataset;
-   /// during searches used to mark checkID;
-   /// should have numVectors capacity
-   int32_t* vind;
-
-   /// unique ID for each lookup
-   int32_t checkID;
-
-   /// number of nearest neighbors to find
-   int32_t numNNs;
-
-} fcvKDTreeDatas8f32;
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   fixed point kdtrees
-///   Structure describing node of tree;
-///   Assumption is that nodes of all trees are stored in in a single array
-///   and all indices refer to this array
-/// @remark
-///   if indices of both children are negative the node is a leaf
-// ----------------------------------------------------------------------------
-typedef struct fcvKDTreeNodes32
-{
-   /// the split value at the node
-   int32_t divVal;
-
-   /// dimension at which the split is made;
-   /// if this is a leaf (both children equal to -1) then this is
-   /// the index of the dataset vector
-   int32_t divFeat;
-
-   /// index of the child node with dataset items to the left
-   /// of the split value
-   int32_t childLeft;
-
-   /// index of the child node with dataset items to the right
-   /// of the split value
-   int32_t childRight;
-
-} fcvKDTreeNodes32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   fixed point kdtrees
-///   structure describing a branch (subtree)
-/// @remark
-///   branches are stored on the priority queue (heap) for backtracking
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeBranchs32
-{
-   /// square of minimal distance from query for all nodes below
-   int32_t minDistSq;
-
-   /// index of the top node of the branch
-   int32_t topNode;
-
-} fcvKDTreeBranchs32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   fixed point kdtrees
-///   Structure with KDTrees data
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeDatas8s32
-{
-   // info about the dataset for which KDTrees are constructed
-   /// the dataset of vectors
-   const int8_t *dataset;
-
-   /// array with inverse lengths of dataset vectors
-   const int32_t* invLen;
-
-   /// number of vectors in the dataset
-   int32_t numVectors;
-
-   // info about trees
-   /// indices of root nodes of all trees
-   int32_t* trees;
-
-   /// number of trees used
-   int32_t numTrees;
-
-   /// array of nodes of all trees
-   fcvKDTreeNodes32* nodes;
-
-   /// number of all nodes
-   int32_t numNodes;
-
-   /// capacity of node array
-   int32_t maxNumNodes;
-
-   // info used during lookups
-   /// priority queue
-   fcvKDTreeBranchs32* heap;
-
-   /// number of branches on the priority queue
-   int32_t numBranches;
-
-   /// capactiy of the priority queue
-   int32_t maxNumBranches;
-
-   /// array of indices to vectors in the dataset;
-   /// during searches used to mark checkID;
-   /// should have numVectors capacity
-   int32_t* vind;
-
-   /// unique ID for each lookup
-   int32_t checkID;
-
-   /// number of nearest neighbors to find
-   int32_t numNNs;
-
-} fcvKDTreeDatas8s32;
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Defines a struct of rectangle
-//------------------------------------------------------------------------------
-typedef struct
-{
-    ///x-coordinate of the top-left corner
-    int32_t x;
-    ///y-coordinate of the top-left corner
-    int32_t y;
-    ///width of the rectangle
-    uint32_t width;
-    ///height of the rectangle
-    uint32_t height;
-} fcvRectangleInt;
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Defines a struct of termination criteria
-//------------------------------------------------------------------------------
-typedef struct
-{
-    /// Maxmimum number of iteration
-    int32_t      max_iter;
-    ///
-    float32_t    epsilon;
-}fcvTermCriteria;
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Defines a struct of 2D box used for tracking
-//------------------------------------------------------------------------------
-typedef struct
-{
-    // Center of the box
-    ///x-coordinate of the 2D point
-    int32_t x;
-    ///y-coordinate of the 2D point
-    int32_t y;
-    // The box size
-    int32_t    columns;
-    int32_t    rows;
-    // The orientation of the principal axis
-    int32_t orientation;
-}fcvBox2D;
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Defines a struct of image moments
-//------------------------------------------------------------------------------
-typedef struct {
-    // spatial moments
-    float32_t m00, m10, m01, m20, m11, m02, m30, m21, m12, m03;
-    // central moments
-    float32_t mu20, mu11, mu02, mu30, mu21, mu12, mu03;
-    // m00 != 0 ? 1/sqrt(m00) : 0
-    float32_t inv_sqrt_m00;
-} fcvMoments;
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Defines a struct of code word
-//------------------------------------------------------------------------------
-typedef struct fcvBGCodeWord
-{
-    /// Pointer to next codebook element
-    struct fcvBGCodeWord* next;
-
-    /// Last update time
-    int32_t tLastUpdate;
-
-    /// Longest period of inactivity
-    int32_t stale;
-    /// Min value of pixel for each channel
-    uint8_t min0, min1, min2;
-
-    /// Max value of pixel for each channel
-    uint8_t max0, max1, max2;
-
-    /// Min value of learning boundary for each channel
-    uint8_t learnLow0, learnLow1, learnLow2;
-
-    /// Max value of learning boundary for each channel
-    uint8_t learnHigh0, learnHigh1, learnHigh2;
-} fcvBGCodeWord;
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Defines a struct for circle
-//------------------------------------------------------------------------------
-typedef struct fcvCircle
-{
-    int32_t x;
-    int32_t y;
-    int32_t radius;
-} fcvCircle;
-
-
-typedef struct fcvPoint2D
-{
-    float x;
-    float y;
-} fcvPoint2D;
-
-typedef struct fcvLine
-{
-    fcvPoint2D start;
-    fcvPoint2D end;
-} fcvLine;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Defines a struct for parameters for line segment detection
-//------------------------------------------------------------------------------
-typedef struct fcvLineSegment {
-    fcvPoint2D start, end;          ///< Two ending points
-    float32_t  normal[2];           ///< Orientation, average of the gradient direction
-    uint32_t   nPoints;             ///< (Optional) Number of pixels in pointsList
-    int32_t   pointsStartIndex;     ///< (Optional) Starting index of the pixel positions contributed to line segment fitting stored in indexBuffer
-    uint32_t   sumMag;              ///< Sum of all pixels gradient magnitude
-} fcvLineSegment;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Parameters for fusing a depth map into a cuboid fusion block
-///
-/// @details
-///   This structure describes a single cuboid block that shall be fused
-///   with data from a depth map. All coordinates must be pre-transformed
-///   into the coordinate frame of the depth frame.
-///
-//------------------------------------------------------------------------------
-typedef struct fcvDepthFusionBlockConfig {
-    uint32_t  flags;                    ///< Option specified as a bit field - 0x0000:N/A, 0x0001:run clipping
-    float32_t ramp;                     ///< Fusion ramp: maximum allowed distance between volume sample position and depth map sample position
-    float32_t p0[3],                    ///< Location of the 1st sample in the volume
-              dX[3],                    ///< One sample step in X-direction in the volume
-              dY[3],                    ///< One sample step in Y-direction in the volume
-              dZ[3];                    ///< One sample step in Z-direction in the volume
-    uint32_t  volumeIndex;              ///< Index of the volume to be updated
-} fcvDepthFusionBlockConfig;
-
-//==============================================================================
-// UTILITY FUNCTIONS
-//==============================================================================
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Retrieves version of FastCV library.
-///
-/// @param version
-///   Pointer to location to put string.
-///
-/// @param versionLength
-///   Length of storage for version string.
-///
-/// @ingroup misc
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGetVersion( char*        version,
-               unsigned int versionLength );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Selects HW units for all routines at run-time.
-///   \n\b WARNING: Should be called once at the very beginning to update mode
-///
-/// @param mode
-///   See enum for details.
-///
-/// @return
-///   0 if successful.
-///   999 if minmum HW requirement not met.
-///   other #'s if unsuccessful.
-///
-/// @ingroup misc
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvSetOperationMode( fcvOperationMode mode );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///    Clean up FastCV resources. Must be called before the program exits.
-///
-/// @ingroup misc
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCleanUp( void );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Allocates memory for Pyramid
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvPyramidAllocate_v2(). In the 2.0.0 release,
-///   fcvPyramidAllocate_v2 will be renamed to fcvPyramidAllocate
-///   and the signature of fcvPyramidAllocate as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param pyr
-///   Pointer to an array of fcvPyramidLevel
-///
-/// @param baseWidth
-///   Width of the base level: the value assigned to pyr[0].width
-///
-/// @param baseHeight
-///   Height of the base level: the value assigned to pyr[0].height
-///
-/// @param bytesPerPixel
-///   Number of bytes per pixel:
-///   \n e.g for uint8_t pyramid,  bytesPerPixel = 1
-///   \n for int32_t pyramid, bytesPerPixel = 4
-///
-/// @param numLevels
-///   number of levels in the pyramid
-///
-/// @param allocateBase
-///   \n if set to 1, memory will be allocated for the base level
-///   \n if set to 0, memory for the base level is allocated by the callee
-///   \n\b WARNING: How this parameter is set will impact how the memory is freed.
-///                 Please refer to fcvPyramidDelete for details.
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidAllocate( fcvPyramidLevel* pyr,
-                    unsigned int     baseWidth,
-                    unsigned int     baseHeight,
-                    unsigned int     bytesPerPixel,
-                    unsigned int     numLevels,
-                    int              allocateBase );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Allocates memory for Pyramid
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvPyramidAllocate() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvPyramidAllocate,
-///   \a fcvPyramidAllocate_v2 will be removed, and the current signature
-///   for \a fcvPyramidAllocate will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvPyramidAllocate when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param pyr
-///   Pointer to an array of fcvPyramidLevel_v2
-///
-/// @param baseWidth
-///   Width of the base level: the value assigned to pyr[0].width
-///
-/// @param baseHeight
-///   Height of the base level: the value assigned to pyr[0].height
-///
-/// @param baseStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   Stride of the base level: the value assigned to pyr[0].stride
-///   \n \b NOTE: stride of non-base pyramid image is the same as
-///   width*bytesPerPixel of the non-base pyramid image
-///
-/// @param bytesPerPixel
-///   Number of bytes per pixel:
-///   \n e.g for uint8_t pyramid,  bytesPerPixel = 1
-///   \n for int32_t pyramid, bytesPerPixel = 4
-///
-/// @param numLevels
-///   number of levels in the pyramid
-///
-/// @param allocateBase
-///   \n if set to 1, memory will be allocated for the base level
-///   \n if set to 0, memory for the base level is allocated by the callee
-///   \n\b WARNING: How this parameter is set will impact how the memory is freed.
-///                 Please refer to fcvPyramidDelete for details.
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidAllocate_v2(  fcvPyramidLevel_v2* pyr,
-                        uint32_t            baseWidth,
-                        uint32_t            baseHeight,
-                        uint32_t            baseStride,
-                        uint32_t            bytesPerPixel,
-                        uint32_t            numLevels,
-                        int32_t             allocateBase );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Allocates memory for Pyramid
-///   DO NOT USE THIS API unless for testing purposes.
-///   This API can be removed without notice.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvPyramidAllocate_v2() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvPyramidAllocate,
-///   \a fcvPyramidAllocate_v3 will be removed, and the current signature
-///   for \a fcvPyramidAllocate will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvPyramidAllocate when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param pyr
-///   Pointer to an array of fcvPyramidLevel_v2
-///
-/// @param baseWidth
-///   Width of the base level: the value assigned to pyr[0].width
-///
-/// @param baseHeight
-///   Height of the base level: the value assigned to pyr[0].height
-///
-/// @param baseStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   Stride of the base level: the value assigned to pyr[0].stride
-///   \n \b NOTE: stride of non-base pyramid image is the same as
-///   width*bytesPerPixel of the non-base pyramid image
-///
-/// @param bytesPerPixel
-///   Number of bytes per pixel:
-///   \n e.g for uint8_t pyramid,  bytesPerPixel = 1
-///   \n for int32_t pyramid, bytesPerPixel = 4
-///
-/// @param alignment
-///   Used to specify the alignment of each pyramid level other than the base. Must be a multiple
-///   of 8. If set to 0, the alignment will be set as 8 bits.
-///
-/// @param numLevels
-///   number of levels in the pyramid
-///
-/// @param scale
-///   Defines the type of scaling used for each pyramid level.
-///   FASTCV_PYRAMID_SCALE_HALF downscales each level of the pyramid by a factor of 2.
-///   FASTCV_PYRAMID_SCALE_ORB  downscales each level of the pyramid by a factor of 1/(2)^(1/4),
-///   which is approximated as 0.8408964f
-///
-/// @param allocateBase
-///   \n if set to 1, memory will be allocated for the base level
-///   \n if set to 0, memory for the base level is allocated by the callee
-///   \n\b WARNING: How this parameter is set will impact how the memory is freed.
-///                 Please refer to fcvPyramidDelete_v2 for details.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvPyramidAllocate_v3(fcvPyramidLevel_v2* __restrict  pyr,
-                      uint32_t            baseWidth,
-                      uint32_t            baseHeight,
-                      uint32_t            baseStride,
-                      uint32_t            bytesPerPixel,
-                      uint32_t            alignment,
-                      uint32_t            numLevels,
-                      fcvPyramidScale     scale,
-                      int32_t             allocateBase);
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Deallocates an array of fcvPyramidLevel. Can be used for any
-///   type(f32/s8/u8).
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvPyramidDelete_v2(). In the 2.0.0 release,
-///   fcvPyramidDelete_v2 will be renamed to fcvPyramidDelete
-///   and the signature of fcvPyramidDelete as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param pyr
-///   pyramid to deallocate
-///
-/// @param numLevels
-///   Number of levels in the pyramid
-///
-/// @param startLevel
-///   Start level of the pyramid
-///    \n\b WARNING: if pyr was allocated with allocateBase=0 which means baselevel memory
-///                  was allocated outside of fcvPyramidAllocate, then startLevel
-///                  for fcvPyramidDelete has to be set to 1 (or higher).
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvPyramidDelete( fcvPyramidLevel* pyr,
-                  unsigned int     numLevels,
-                  unsigned int     startLevel );
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Deallocates an array of fcvPyramidLevel. Can be used for any
-///   type(f32/s8/u8).
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvPyramidDelete() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvPyramidDelete,
-///   \a fcvPyramidDelete_v2 will be removed, and the current signature
-///   for \a fcvPyramidDelete will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvPyramidDelete when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param pyr
-///   pyramid to deallocate
-///
-/// @param numLevels
-///   Number of levels in the pyramid
-///
-/// @param startLevel
-///   Start level of the pyramid
-///    \n\b WARNING: if pyr was allocated with allocateBase=0 which means baselevel memory
-///                  was allocated outside of fcvPyramidAllocate, then startLevel
-///                  for fcvPyramidDelete_v2 has to be set to 1 (or higher).
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvPyramidDelete_v2( fcvPyramidLevel_v2* pyr,
-                     uint32_t            numLevels,
-                     uint32_t            startLevel );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Allocates aligned memory.
-///
-/// @param nBytes
-///    Number of bytes.
-///
-/// @param byteAlignment
-///    Alignment specified in bytes (e.g., 16 = 128-bit alignment).
-///    \n\b WARNING: must be < 255 bytes
-///
-/// @return
-///    SUCCESS: pointer to aligned memory
-///    FAILURE: 0
-///
-/// @ingroup mem_management
-//------------------------------------------------------------------------------
-
-FASTCV_API void*
-fcvMemAlloc( unsigned int nBytes,
-             unsigned int byteAlignment );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///    Frees memory allocated by fcvMemAlloc().
-///
-/// @param ptr
-///    Pointer to memory.
-///
-/// @ingroup mem_management
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvMemFree( void* ptr );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Initialize the Memory sub-system in FastCV. The sub-system handles
-///   temporary/scratch memory requirements from several FastCV functions
-///   that do not have parameters to have this supplied by the users of those
-///   functions.
-///
-///   \b Important:
-///   \n 1. Every call to this function should be followed by a call to
-///   fcvMemDeInit().
-///   \n 2. This function (and the fcvMemDeInit) only needs to called once per
-///   process.
-///   \n 3. Any call to FastCV functions that uses internal temporary memory
-///   outside of fcvMemInit and fcvMemDeInit pair will use non-optimum memory
-///   allocation.
-///   \n 4. A call to this function without a corresponding call to fcvMemDeInit
-///   can result in memory leak.
-///
-/// @ingroup mem_management
-// -----------------------------------------------------------------------------
-FASTCV_API void
-fcvMemInit(void);
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Initialize the Memory sub-system in FastCV with pre-allocated buffer.
-///   The sub-system handles temporary/scratch memory requirements from several
-///   FastCV functions that do not have parameters to have this supplied by the
-///   users of those functions.
-///
-///   \b Important:
-///   \n 1. Every call to this function should be followed by a call to
-///   fcvMemDeInit().
-///   \n 2. This function (and the fcvMemDeInit) only needs to called once per
-///   process.
-///   \n 3. Any call to FastCV functions that uses internal temporary memory
-///   outside of fcvMemInit and fcvMemDeInit pair will use non-optimum memory
-///   allocation.
-///   \n 4. A call to this function without a corresponding call to fcvMemDeInit
-///   can result in memory leak.
-///
-/// @param preAllocBytes
-///    Number of bytes for the pre-allocated buffer.
-///
-/// @ingroup mem_management
-// -----------------------------------------------------------------------------
-FASTCV_API void
-fcvMemInitPreAlloc( uint32_t preAllocBytes );
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   De-Initialize the Memory sub-system initialized by fcvMemInit() function.
-///
-///   \b Important:
-///   \n 1. Call to this function without a corresponding call to fcvMemInit will
-///   result in no-op.
-///
-/// @ingroup mem_management
-// -----------------------------------------------------------------------------
-FASTCV_API void
-fcvMemDeInit(void);
-
-//End - Utility functions
-
-
-//==============================================================================
-// FUNCTIONS
-//==============================================================================
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 3x3 median filter
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterMedian3x3u8_v2(). In the 2.0.0 release,
-///   fcvFilterMedian3x3u8_v2 will be renamed to fcvFilterMedian3x3u8
-///   and the signature of fcvFilterMedian3x3u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Border values are ignored. The 3x3 mask convolves with the image area
-///   | a(1,1)          ,    a12,    ...,   a(1,srcWidth-2)            |\n
-///   |       ...       ,    ...,    ...,              ...             |\n
-///   | a(srcHeight-2,1),    ...,    ...,   a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param srcImg
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dstImg
-///   Output 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterMedian3x3u8( const uint8_t* __restrict srcImg,
-                      unsigned int              srcWidth,
-                      unsigned int              srcHeight,
-                      uint8_t* __restrict       dstImg );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 3x3 median filter
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterMedian3x3u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterMedian3x3u8,
-///   \a fcvFilterMedian3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterMedian3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterMedian3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Border values are ignored. The 3x3 mask convolves with the image area
-///   | a(1,1)          ,    a12,    ...,   a(1,srcWidth-2)            |\n
-///   |       ...       ,    ...,    ...,              ...             |\n
-///   | a(srcHeight-2,1),    ...,    ...,   a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param srcImg
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dstImg
-///   Output 8-bit image. Size of buffer is dstStride*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterMedian3x3u8_v2( const uint8_t* __restrict srcImg,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         unsigned int              srcStride,
-                         uint8_t* __restrict       dstImg,
-                         unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 3x3 Gaussian filter
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterGaussian3x3u8_v2(). In the 2.0.0 release,
-///   fcvFilterGaussian3x3u8_v2 will be renamed to fcvFilterGaussian3x3u8
-///   and the signature of fcvFilterGaussian3x3u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-/// Gaussian kernel:
-///   \n 1 2 1
-///   \n 2 4 2
-///   \n 1 2 1
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit image. Destination buffer size is srcWidth*srcHeight.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-///   If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-///   borders up to half-kernel width are ignored (e.g. 1 pixel in the 3x3
-///   case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian3x3u8( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        uint8_t* __restrict       dst,
-                        int                       blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 3x3 Gaussian filter
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterGaussian3x3u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterGaussian3x3u8,
-///   \a fcvFilterGaussian3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterGaussian3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterGaussian3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Convolution with 3x3 Gaussian kernel:
-///   \n 1 2 1
-///   \n 2 4 2
-///   \n 1 2 1
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-/// @param blurBorder
-///   If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-///   borders up to half-kernel width are ignored (e.g. 1 pixel in the 3x3
-///   case).
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian3x3u8_v2( const uint8_t* __restrict src,
-                           unsigned int              srcWidth,
-                           unsigned int              srcHeight,
-                           unsigned int              srcStride,
-                           uint8_t* __restrict       dst,
-                           unsigned int              dstStride,
-                           int                       blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 5x5 Gaussian filter
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterGaussian5x5u8_v2(). In the 2.0.0 release,
-///   fcvFilterGaussian5x5u8_v2 will be renamed to fcvFilterGaussian5x5u8
-///   and the signature of fcvFilterGaussian5x5u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Convolution with 5x5 Gaussian kernel:
-///   \n 1  4  6  4 1
-///   \n 4 16 24 16 4
-///   \n 6 24 36 24 6
-///   \n 4 16 24 16 4
-///   \n 1  4  6  4 1
-///
-/// @param src
-///   Input int data (can be sq. of gradient, etc). Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-///   If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-///   borders up to half-kernel width are ignored (e.g. 2 pixel in the 5x5
-///   case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5u8( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        uint8_t* __restrict       dst,
-                        int                       blurBorder );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 5x5 Gaussian filter
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterGaussian5x5u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterGaussian5x5u8,
-///   \a fcvFilterGaussian5x5u8_v2 will be removed, and the current signature
-///   for \a fcvFilterGaussian5x5u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterGaussian5x5u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Convolution with 5x5 Gaussian kernel:
-///   \n 1  4  6  4 1
-///   \n 4 16 24 16 4
-///   \n 6 24 36 24 6
-///   \n 4 16 24 16 4
-///   \n 1  4  6  4 1
-///
-/// @param src
-///   Input int data (can be sq. of gradient, etc).  Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image.  Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-/// @param blurBorder
-///   If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-///   borders up to half-kernel width are ignored (e.g. 2 pixel in the 5x5
-///   case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5u8_v2( const uint8_t* __restrict src,
-                           unsigned int              srcWidth,
-                           unsigned int              srcHeight,
-                           unsigned int              srcStride,
-                           uint8_t* __restrict       dst,
-                           unsigned int              dstStride,
-                           int                       blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 11x11 Gaussian filter
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterGaussian11x11u8_v2(). In the 2.0.0 release,
-///   fcvFilterGaussian11x11u8_v2 will be renamed to fcvFilterGaussian11x11u8
-///   and the signature of fcvFilterGaussian11x11u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Convolution with 11x11 Gaussian kernel:
-///   \n 1     10     45     120     210     252     210     120     45     10     1
-///   \n 10    100    450    1200    2100    2520    2100    1200    450    100    10
-///   \n 45    450    2025   5400    9450    11340   9450    5400    2025   450    45
-///   \n 120   1200   5400   14400   25200   30240   25200   14400   5400   1200   120
-///   \n 210   2100   9450   25200   44100   52920   44100   25200   9450   2100   210
-///   \n 252   2520   11340  30240   52920   63504   52920   30240   11340  2520   252
-///   \n 210   2100   9450   25200   44100   52920   44100   25200   9450   2100   210
-///   \n 120   1200   5400   14400   25200   30240   25200   14400   5400   1200   120
-///   \n 45    450    2025   5400    9450    11340   9450    5400    2025   450    45
-///   \n 10    100    450    1200    2100    2520    2100    1200    450    100    10
-///   \n 1     10     45     120     210     252     210     120     45     10 ,   1
-///
-/// @param src
-///   Input 8-bit image.  Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit image.  Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-///   If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-///   borders up to half-kernel width are ignored (e.g. 5 pixel in the 11x11
-///   case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian11x11u8( const uint8_t* __restrict src,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          uint8_t* __restrict       dst,
-                          int                       blurBorder );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 11x11 Gaussian filter
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterGaussian11x11u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterGaussian11x11u8,
-///   \a fcvFilterGaussian11x11u8_v2 will be removed, and the current signature
-///   for \a fcvFilterGaussian11x11u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterGaussian11x11u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Convolution with 11x11 Gaussian kernel:
-///   \n 1     10     45     120     210     252     210     120     45     10     1
-///   \n 10    100    450    1200    2100    2520    2100    1200    450    100    10
-///   \n 45    450    2025   5400    9450    11340   9450    5400    2025   450    45
-///   \n 120   1200   5400   14400   25200   30240   25200   14400   5400   1200   120
-///   \n 210   2100   9450   25200   44100   52920   44100   25200   9450   2100   210
-///   \n 252   2520   11340  30240   52920   63504   52920   30240   11340  2520   252
-///   \n 210   2100   9450   25200   44100   52920   44100   25200   9450   2100   210
-///   \n 120   1200   5400   14400   25200   30240   25200   14400   5400   1200   120
-///   \n 45    450    2025   5400    9450    11340   9450    5400    2025   450    45
-///   \n 10    100    450    1200    2100    2520    2100    1200    450    100    10
-///   \n 1     10     45     120     210     252     210     120     45     10 ,   1
-///
-/// @param src
-///   Input 8-bit image.  Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image.  Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param blurBorder
-///   If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-///   borders up to half-kernel width are ignored (e.g. 5 pixel in the 11x11
-///   case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian11x11u8_v2( const uint8_t* __restrict src,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             unsigned int              srcStride,
-                             uint8_t* __restrict       dst,
-                             unsigned int              dstStride,
-                             int                       blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YUV (YCrCb) 4:2:0 PesudoPlanar (Interleaved) to RGB 8888.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvColorYCrCb420PseudoPlanarToRGB8888u8. In the 2.0.0 release,
-///   the signature of fcvColorYUV420toRGB8888u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   8-bit image of input YUV 4:2:0 values.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///   The input are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CrCb plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cr0  Cb0  Cr1  Cb1 ...
-///
-/// @param dst
-///   32-bit image of output RGB 8888 values. R is at LSB.
-///   \n\b WARNING: size must match input yuv420.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYUV420toRGB8888u8( const uint8_t* __restrict src,
-                           unsigned int              srcWidth,
-                           unsigned int              srcHeight,
-                           uint32_t* __restrict      dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YUV (YCrCb) 4:2:0 PesudoPlanar (Interleaved CrCb) to RGB 888.
-///
-///   \n\b ATTENTION: The name of this function will be changed when the 2.0.0 release
-///   of this library is made.
-///   Until 2.0.0, the developer should use this implementation with the expectation of
-///   moving to a different name when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   8-bit image of input YUV picture.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///   The input are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CrCb plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cr0  Cb0  Cr1  Cb1 ...
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcYStride
-///   Stride (in bytes) of input image Y component (i.e., number of bytes between
-///   column 0 of row 1 and column 0 of row 2).
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param srcCStride
-///   Stride (in bytes) of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 1 and column 0 of row 2)
-///   \n\b WARNING: should be multiple of 4 (4 * 1-byte values).
-///
-/// @param dst
-///   32-bit image of output RGB 8888 values. R in LSB.
-///   \n\b WARNING: size must match input yuv420.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 1 and column 0 of row 2)
-///   \n\b WARNING: should be multiple of 32 (8 * 4-byte values).
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCb420PseudoPlanarToRGB8888u8( const uint8_t* __restrict src,
-                                         unsigned int              srcWidth,
-                                         unsigned int              srcHeight,
-                                         unsigned int              srcYStride,
-                                         unsigned int              srcCStride,
-                                         uint32_t* __restrict      dst,
-                                         unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YUV (YCbCr) 4:2:0 PesudoPlanar (Interleaved CbCr) to RGB 565.
-///
-///   \n\b ATTENTION: The name of this function will be changed when the 2.0.0 release
-///   of this library is made.
-///   Until 2.0.0, the developer should use this implementation with the expectation of
-///   moving to a different name when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   8-bit image of input YUV 4:2:0 values.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///   The input are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CbCr plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cb0  Cr0  Cb1  Cr1 ...
-///
-/// @param dst
-///   16-bit image of output RGB 565 values. R in LSBs.
-///   2 pixels are packed into one 32-bit output
-///   \n\b WARNING: size must match input yuv420.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 4
-///
-/// @param srcHeight
-///   Image height.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYUV420toRGB565u8( const uint8_t* __restrict src,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          uint32_t*  __restrict     dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr H1V1 to RGB 888.
-///
-/// @details
-///   Color conversion from YCbCr H1V1 (YCbCr 4:4:4 planar) to RGB 888.
-///   \n R = Y                    + 1.40200*(Cr-128)
-///   \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-///   \n B = Y + 1.77200*(CB-128)
-///
-/// @param src
-///   8-bit image of input values. Stored as YCbCr H1V1 planar format in 8x8 blocks for Y,Cb,Cr.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   8-bit image of output RGB 888 values. R in LSB.
-///   \n\b WARNING: size must match input crcb.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH1V1toRGB888u8( const uint8_t* __restrict src,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr H2V2 to RGB 888.
-///
-/// @details
-///   Color conversion from YCbCr H2V2 (YCbCr 4:2:0 planar) to RGB 888.
-///   \n R = Y                    + 1.40200*(Cr-128)
-///   \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-///   \n B = Y + 1.77200*(CB-128)
-///
-/// @param ysrc
-///   8-bit input values. Stored as YCbCr H2V2 planar format in 16x16 blocks for Y, 8x8 blocks for Cb, Cr.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   8-bit image of output RGB 888 values. R in LSB.
-///   \n\b WARNING: size must match input crcb.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH2V2toRGB888u8( const uint8_t* __restrict ysrc,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             uint8_t* __restrict       dst );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr H2V1 to RGB 888.
-///
-/// @details
-///   Color conversion from YCbCr H2V1 (YCbCr 4:2:2) to RGB 888.
-///   \n R = Y                    + 1.40200*(Cr-128)
-///   \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-///   \n B = Y + 1.77200*(CB-128)
-///
-/// @param src
-///   8-bit input values. Stored as YCbCr H2V1 planar format in 16x8 blocks for Y, 8x8 blocks for Cb, Cr.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   8-bit image of output RGB 888 values. R in LSB.
-///   \n\b WARNING: size must match input crcb.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH2V1toRGB888u8( const uint8_t* __restrict src,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr H1V2 to RGB 888.
-///
-/// @details
-///   Color conversion from YCbCr H1V2 (YCbCr 4:2:2) to RGB 888.
-///   \n R = Y                    + 1.40200*(Cr-128)
-///   \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-///   \n B = Y + 1.77200*(CB-128)
-///
-/// @param ysrc
-///   8-bit input values. Stored as YCbCr H1V2 planar format in 8x16 blocks for Y, 8x8 blocks for Cb, Cr.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   8-bit image of output RGB 888 values. R in LSB.
-///   \n\b WARNING: size must match input crcb.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH1V2toRGB888u8( const uint8_t* __restrict ysrc,
-
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             uint8_t* __restrict       dst );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB 888 to YCrCb.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvColorRGB888toYCrCbu8_v2(). In the 2.0.0 release,
-///   fcvColorRGB888toYCrCbu8_v2 will be renamed to fcvColorRGB888toYCrCbu8
-///   and the signature of fcvColorRGB888toYCrCbu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Color conversion from RGB 888 to YCrCb 4:4:4 interleaved.
-///
-/// @param src
-///   8-bit input values.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   8-bit output values. Stored as Y, Cr, Cb interleaved format.
-///   \n\b WARNING: size must match input crcb.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888toYCrCbu8( const uint8_t* __restrict src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB 888 to YCrCb 4:4:4 (Full interleaved, similar to
-///   3-channel RGB).
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvColorRGB888toYCrCbu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvColorRGB888toYCrCbu8,
-///   \a fcvColorRGB888toYCrCbu8_v2 will be removed, and the current signature
-///   for \a fcvColorRGB888toYCrCbu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvColorRGB888toYCrCbu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Color conversion from RGB 888 to YCrCb 4:4:4 interleaved.
-///
-/// @param src
-///   8-bit input values.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b WARNING: Must be at least 3*srcWidth.
-///
-/// @param dst
-///   8-bit output values. Stored as Y, Cr, Cb interleaved format.
-///   \n\b WARNING: size must match input crcb.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b WARNING: Must be at least 3*srcWidth.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888toYCrCbu8_v2( const uint8_t* __restrict src,
-                            unsigned int              srcWidth,
-                            unsigned int              srcHeight,
-                            unsigned int              srcStride,
-                            uint8_t* __restrict       dst,
-                            unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Create a 36-dimension gradient based descriptor on 17x17 patch.
-///
-/// @details
-///
-/// @param patch
-///   Input luminance data for 17x17 patch to describe.
-///
-/// @param descriptorChar
-///   Output descriptor vector. 36 x 8-bit vector. Normalized and quantized to range [-127, 127]
-///
-/// @param descriptorNormSq
-///   Output squared norm (L2 norm) of the descriptor vector.
-///
-///
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvDescriptor17x17u8To36s8( const uint8_t* __restrict patch,
-                            int8_t* __restrict        descriptorChar,
-                            int32_t* __restrict       descriptorNormSq );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of two 8-bit vectors.
-///
-/// @param a
-///   Vector.
-///
-/// @param b
-///   Vector.
-///
-/// @param abSize
-///   Number of elements in A and B.
-///
-/// @return
-///   Dot product <A|B>.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProducts8( const int8_t* __restrict a,
-                 const int8_t* __restrict b,
-                 unsigned int             abSize );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of two 8-bit vectors.
-///
-/// @param a
-///   Vector A.
-///
-/// @param b
-///   Vector B.
-///
-/// @param abSize
-///   Number of elements in A and B.
-///
-/// @return
-///   Dot product <A|B>.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProductu8( const uint8_t* __restrict  a,
-                 const uint8_t* __restrict  b,
-                 unsigned int               abSize );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of two 36-byte vectors.
-///
-/// @param a
-///   Vector.
-///
-/// @param b
-///   Vector.
-///
-/// @return
-///   Dot product <a|b>.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProduct36x1s8( const int8_t* __restrict a,
-                     const int8_t* __restrict b );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of one 36-byte vector against 4 others.
-///
-/// @details
-///   Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
-///   <a|b>, <a|c>, <a|d>, <a|e>
-///
-/// @param a
-///   Vector.
-///
-/// @param b
-///   Vector.
-///
-/// @param c
-///   Vector.
-///
-/// @param d
-///   Vector.
-///
-/// @param e
-///   Vector.
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b>, <a|c>, <a|d>, <a|e> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct36x4s8( const int8_t* __restrict a,
-                     const int8_t* __restrict b,
-                     const int8_t* __restrict c,
-                     const int8_t* __restrict d,
-                     const int8_t* __restrict e,
-                     int32_t* __restrict      dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Normalized dot product of one 36-byte vector against 4 others.
-///
-/// @details
-///   Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-///   <a|b0>, <a|b1>, <a|b2>, <a|b3>
-///   using their given inverse lengths for normalization.
-///
-/// @param a
-///   Vector.
-///
-/// @param invLengthA
-///   Inverse of vector A.
-///
-/// @param b0
-///   Vector.
-///
-/// @param b1
-///   Vector.
-///
-/// @param b2
-///   Vector.
-///
-/// @param b3
-///   Vector.
-///
-/// @param invLengthsB
-///   Pointer to an array of the inverse values of each B vector.
-///   The pointer must point to 4 floating point values.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b0>, <a|b1>, <a|b2>, <a|b3> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm36x4s8( const int8_t* __restrict a,
-                         float                    invLengthA,
-                         const int8_t* __restrict b0,
-                         const int8_t* __restrict b1,
-                         const int8_t* __restrict b2,
-                         const int8_t* __restrict b3,
-                         float* __restrict        invLengthsB,
-                         float* __restrict        dotProducts  );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of two 36-byte vectors.
-///
-/// @param a
-///   Vector.
-///
-/// @param b
-///   Vector.
-///
-/// @return
-///   Dot product <a|b>.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProduct36x1u8( const uint8_t* __restrict a,
-                     const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of one 36-byte vector against 4 others.
-///
-/// @details
-///   Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
-///   <a|b>, <a|c>, <a|d>, <a|e>
-///
-/// @param a
-///   Vector.
-///
-/// @param b
-///   Vector.
-///
-/// @param c
-///   Vector.
-///
-/// @param d
-///   Vector.
-///
-/// @param e
-///   Vector.
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b>, <a|c>, <a|d>, <a|e> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct36x4u8( const uint8_t* __restrict a,
-                     const uint8_t* __restrict b,
-                     const uint8_t* __restrict c,
-                     const uint8_t* __restrict d,
-                     const uint8_t* __restrict e,
-                     uint32_t* __restrict      dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Normalized dot product of one 36-byte vector against 4 others.
-///
-/// @details
-///   Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-///   <a|b0>, <a|b1>, <a|b2>, <a|b3>
-///   using their given inverse lengths for normalization.
-///
-/// @param a
-///   Vector.
-///
-/// @param invLengthA
-///   Inverse of vector A.
-///
-/// @param b0
-///   Vector.
-///
-/// @param b1
-///   Vector.
-///
-/// @param b2
-///   Vector.
-///
-/// @param b3
-///   Vector.
-///
-/// @param invLengthsB
-///   Pointer to an array of the inverse values of each B vector.
-///   The pointer must point to 4 floating point values.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b0>, <a|b1>, <a|b2>, <a|b3> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm36x4u8( const uint8_t* __restrict  a,
-                         float                      invLengthA,
-                         const uint8_t* __restrict  b0,
-                         const uint8_t* __restrict  b1,
-                         const uint8_t* __restrict  b2,
-                         const uint8_t* __restrict  b3,
-                         float* __restrict          invLengthsB,
-                         float* __restrict          dotProducts );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of two 64-byte vectors.
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @return
-///   Dot product <a|b>.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProduct64x1s8( const int8_t* __restrict a,
-                     const int8_t* __restrict b );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of one 64-byte vector against 4 others.
-///
-/// @details
-///   Dot product of vector (a) against 4 others (b,c,d,e):\n
-///   <a|b>, <a|c>, <a|d>, <a|e>
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param c
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param d
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param e
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b>, <a|c>, <a|d>, <a|e> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct64x4s8( const int8_t* __restrict a,
-                     const int8_t* __restrict b,
-                     const int8_t* __restrict c,
-                     const int8_t* __restrict d,
-                     const int8_t* __restrict e,
-                     int32_t* __restrict      dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Normalized dot product of one 64-byte vector against 4 others.
-///
-/// @details
-///   Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-///   <a|b0>, <a|b1>, <a|b2>, <a|b3>
-///   using their given inverse lengths for normalization.
-///
-/// @param a
-///   Vector.
-///
-/// @param invLengthA
-///   Inverse of vector A.
-///
-/// @param b0
-///   Vector.
-///
-/// @param b1
-///   Vector.
-///
-/// @param b2
-///   Vector.
-///
-/// @param b3
-///   Vector.
-///
-/// @param invLengthsB
-///   Pointer to an array of the inverse values of each B vector.
-///   The pointer must point to 4 floating point values.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b0>, <a|b1>, <a|b2>, <a|b3> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm64x4s8( const int8_t* __restrict a,
-                         float                    invLengthA,
-                         const int8_t* __restrict b0,
-                         const int8_t* __restrict b1,
-                         const int8_t* __restrict b2,
-                         const int8_t* __restrict b3,
-                         float* __restrict        invLengthsB,
-                         float* __restrict        dotProducts  );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of two 64-byte vectors.
-///
-/// @param a
-///   Vector.
-///
-/// @param b
-///   Vector.
-///
-/// @return
-///   Dot product <a|b>.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProduct64x1u8( const uint8_t* __restrict a,
-                     const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of one 64-byte vector against 4 others.
-///
-/// @details
-///   Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
-///   <a|b>, <a|c>, <a|d>, <a|e>
-///
-/// @param a
-///   Vector.
-///
-/// @param b
-///   Vector.
-///
-/// @param c
-///   Vector.
-///
-/// @param d
-///   Vector.
-///
-/// @param e
-///   Vector.
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b>, <a|c>, <a|d>, <a|e> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct64x4u8( const uint8_t* __restrict a,
-                     const uint8_t* __restrict b,
-                     const uint8_t* __restrict c,
-                     const uint8_t* __restrict d,
-                     const uint8_t* __restrict e,
-                     uint32_t* __restrict      dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Normalized dot product of one 64-byte vector against 4 others.
-///
-/// @details
-///   Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-///   <a|b0>, <a|b1>, <a|b2>, <a|b3>
-///   using their given inverse lengths for normalization.
-///
-/// @param a
-///   Vector.
-///
-/// @param invLengthA
-///   Inverse of vector A.
-///
-/// @param b0
-///   Vector.
-///
-/// @param b1
-///   Vector.
-///
-/// @param b2
-///   Vector.
-///
-/// @param b3
-///   Vector.
-///
-/// @param invLengthsB
-///   Pointer to an array of the inverse values of each B vector.
-///   The pointer must point to 4 floating point values.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b0>, <a|b1>, <a|b2>, <a|b3> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm64x4u8( const uint8_t* __restrict  a,
-                         float                      invLengthA,
-                         const uint8_t* __restrict  b0,
-                         const uint8_t* __restrict  b1,
-                         const uint8_t* __restrict  b2,
-                         const uint8_t* __restrict  b3,
-                         float* __restrict          invLengthsB,
-                         float* __restrict          dotProducts );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of two 128-byte vectors.
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @return
-///   Dot product <a|b>.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProduct128x1s8( const int8_t* __restrict a,
-                      const int8_t* __restrict b );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of one 128-byte vector against 4 others.
-///
-/// @details
-///   Dot product of vector (a) against 4 others (b,c,d,e):\n
-///   <a|b>, <a|c>, <a|d>, <a|e>
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param c
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param d
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param e
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b>, <a|c>, <a|d>, <a|e> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct128x4s8( const int8_t* __restrict a,
-                      const int8_t* __restrict b,
-                      const int8_t* __restrict c,
-                      const int8_t* __restrict d,
-                      const int8_t* __restrict e,
-                      int32_t* __restrict      dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Normalized dot product of one 128-byte vector against 4 others.
-///
-/// @details
-///   Dot product of vector (a) against 4 others (b0,b1,b2,b3):\n
-///   <a|b0>, <a|b1>, <a|b2>, <a|b3>
-///   using their given inverse lengths for normalization.
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLengthA
-///   Inverse of vector A.
-///
-/// @param b0
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b1
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b2
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b3
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLengthsB
-///   Pointer to an array of the inverse values of each B vector.
-///   The pointer must point to 4 floating point values.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b0>, <a|b1>, <a|b2>, <a|b3> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm128x4s8( const int8_t* __restrict a,
-                          float                    invLengthA,
-                          const int8_t* __restrict b0,
-                          const int8_t* __restrict b1,
-                          const int8_t* __restrict b2,
-                          const int8_t* __restrict b3,
-                          float* __restrict        invLengthsB,
-                          float* __restrict        dotProducts  );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of two 128-byte vectors.
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @return
-///   Dot product <a|b>.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProduct128x1u8( const uint8_t* __restrict a,
-                      const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of one 128-byte vector against 4 others.
-///
-/// @details
-///   Dot product of vector (a) against 4 others (b,c,d,e):\n
-///   <a|b>, <a|c>, <a|d>, <a|e>
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param c
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param d
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param e
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b>, <a|c>, <a|d>, <a|e> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct128x4u8( const uint8_t* __restrict a,
-                      const uint8_t* __restrict b,
-                      const uint8_t* __restrict c,
-                      const uint8_t* __restrict d,
-                      const uint8_t* __restrict e,
-                      uint32_t* __restrict      dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Normalized dot product of one 128-byte vector against 4 others.
-///
-/// @details
-///   Dot product of vector (a) against 4 others (b0,b1,b2,b3):\n
-///   <a|b0>, <a|b1>, <a|b2>, <a|b3>
-///   using their given inverse lengths for normalization.
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLengthA
-///   Inverse of vector A.
-///
-/// @param b0
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b1
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b2
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b3
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLengthsB
-///   Pointer to an array of the inverse values of each B vector.
-///   The pointer must point to 4 floating point values.
-///
-/// @param dotProducts
-///   Output of the 4 results { <a|b0>, <a|b1>, <a|b2>, <a|b3> }.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm128x4u8( const uint8_t* __restrict  a,
-                          float                      invLengthA,
-                          const uint8_t* __restrict  b0,
-                          const uint8_t* __restrict  b1,
-                          const uint8_t* __restrict  b2,
-                          const uint8_t* __restrict  b3,
-                          float* __restrict          invLengthsB,
-                          float* __restrict          dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of 1 patch (8x8 byte square) with several (n) 8x8 squares
-///   along a line of pixels in an image.
-///
-/// @param patchPixels
-///   Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param imagePixels
-///   Pointer to 8-bit image pixel values linearly laid out in memory.
-///
-/// @param imgW
-///   Width in pixels of the source image.
-///
-/// @param imgH
-///   Height in pixels of the source image.
-///
-/// @param nX
-///   X location on image of starting search pixel.
-///
-/// @param nY
-///   Y location on image of starting search pixel.
-///
-/// @param nNum
-///   Number of pixels (in X direction) on image to sweep.
-///
-/// @param dotProducts
-///   Output dot product values of nNum pixels.
-///   \n\b WARNING: array size must be a multiple of 4 (e.g., 4, 8, 12, ...)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct8x8u8( const uint8_t* __restrict patchPixels,
-                    const uint8_t* __restrict imagePixels,
-                    unsigned short            imgW,
-                    unsigned short            imgH,
-                    int                       nX,
-                    int                       nY,
-                    unsigned int              nNum,
-                    int32_t* __restrict       dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dot product of 1 patch (8x8 byte square) with 8x8 squares in 11x12
-///   rectangle around the center search pixel (iX,iY).
-///
-/// @param patchPixels
-///   Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param imagePixels
-///   Pointer to 8-bit image pixel values linearly laid out in memory.
-///
-/// @param imgW
-///   Width in pixels of the image.
-///
-/// @param imgH
-///   Height in pixels of the image.
-///
-/// @param iX
-///   X location on image of the center of the search window.
-///
-/// @param iY
-///   Y location on image of the center of the search window.
-///
-/// @param dotProducts
-///   Output 11x12 dot product values.
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct11x12u8( const uint8_t* __restrict patchPixels,
-                      const uint8_t* __restrict imagePixels,
-                      unsigned short            imgW,
-                      unsigned short            imgH,
-                      int                       iX,
-                      int                       iY,
-                      int32_t* __restrict       dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   3x3 Sobel edge filter
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterSobel3x3u8_v2(). In the 2.0.0 release,
-///   fcvFilterSobel3x3u8_v2 will be renamed to fcvFilterSobel3x3u8
-///   and the signature of fcvFilterSobel3x3u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   This function calculates an image derivative by convolving the image with an appropriate 3x3 kernel.
-///   Border values are ignored. The 3x3 mask convolves with the image area
-///   | a(1,1)          ,    a12,    ...,   a(1,srcWidth-2)            |\n
-///   |       ...       ,    ...,    ...,              ...             |\n
-///   | a(srcHeight-2,1),    ...,    ...,   a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit image of |dx|+|dy|. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: dst is saturated to 255
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterSobel3x3u8( const uint8_t* __restrict src,
-                     unsigned int              srcWidth,
-                     unsigned int              srcHeight,
-                     uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   3x3 Sobel edge filter
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterSobel3x3u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterSobel3x3u8,
-///   \a fcvFilterSobel3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterSobel3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterSobel3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   This function calculates an image derivative by convolving the image with an appropriate 3x3 kernel.
-///   Border values are ignored. The 3x3 mask convolves with the image area
-///   | a(1,1)          ,    a12,    ...,   a(1,srcWidth-2)            |\n
-///   |       ...       ,    ...,    ...,              ...             |\n
-///   | a(srcHeight-2,1),    ...,    ...,   a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image of |dx|+|dy|. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: dst is saturated to 255
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterSobel3x3u8_v2( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        uint8_t* __restrict       dst,
-                        unsigned int              dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Canny edge filter
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterCanny3x3u8_v2(). In the 2.0.0 release,
-///   fcvFilterCanny3x3u8_v2 will be renamed to fcvFilterCanny3x3u8
-///   and the signature of fcvFilterCanny3x3u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Canny edge detector applied to a 8 bit grayscale image. The min threshold
-///   is set to 0 and the max threshold is set to 15. The aperture size used
-///   is set to 3. This function will output the edge, since its working with a
-///   3x3 window, it leaves  one row/col of pixels at the corners
-///   map stored as a binarized image (0x0 - not an edge, 0xFF - edge).
-///   | a(1,1)          ,    a12,    ...,   a(1,srcWidth-2)            |\n
-///   |       ...       ,    ...,    ...,              ...             |\n
-///   | a(srcHeight-2,1),    ...,    ...,   a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit image containing the edge detection results.
-///   Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param lowThresh
-///   For all the intermediate pixels along the edge, the magnitude of the
-///   gradient at the pixel locations should be greater than 'low'
-///   (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
-///
-/// @param highThresh
-///   For an edge starting point, i.e. either the first or last
-///   pixel of the edge, the magnitude of the gradient at the pixel should be
-///   greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
-///   Y gradient).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCanny3x3u8( const uint8_t* __restrict src,
-                     unsigned int              srcWidth,
-                     unsigned int              srcHeight,
-                     uint8_t* __restrict       dst,
-                     int                       lowThresh,
-                     int                       highThresh );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Canny edge filter
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterCanny3x3u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterCanny3x3u8,
-///   \a fcvFilterCanny3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterCanny3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterCanny3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Canny edge detector applied to a 8 bit grayscale image. The Canny edge
-///   detector uses min/max threshold to classify an edge. The min threshold
-///   is set to 0 and the max threshold is set to 15. The aperture size used
-///   in the Canny edge detector will be same as the filter footprint in the
-///   Sobel edge detector and is set to 3. This function will output the edge
-///   map stored as a binarized image (0x0 - not an edge, 0xFF - edge), since
-///   it works with 3x3 windows, it leaves 1 row/col of pixels at the corners.
-///   | a(1,1)          ,    a12,    ...,   a(1,srcWidth-2)            |\n
-///   |       ...       ,    ...,    ...,              ...             |\n
-///   | a(srcHeight-2,1),    ...,    ...,   a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image containing the edge detection results.
-///   Size of buffer is dstStride*srcHeight bytes.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param lowThresh
-///   For all the intermediate pixels along the edge, the magnitude of the
-///   gradient at the pixel locations should be greater than 'low'
-///   (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
-///
-/// @param highThresh
-///   For an edge starting point, i.e. either the first or last
-///   pixel of the edge, the magnitude of the gradient at the pixel should be
-///   greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
-///   Y gradient).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCanny3x3u8_v2( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        uint8_t* __restrict       dst,
-                        unsigned int              dstStride,
-                        int                       lowThresh,
-                        int                       highThresh );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Canny edge filter
-///
-///   \n\b ATTENTION: This function is in the extension lib.
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterCanny3x3u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterCanny3x3u8,
-///   \a fcvFilterCanny3x3u8_v3 will be removed, and the current signature
-///   for \a fcvFilterCanny3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterCanny3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Canny edge detector applied to a 8 bit grayscale image. The Canny edge
-///   detector uses min/max threshold to classify an edge. The min threshold
-///   is set to 0 and the max threshold is set to 15. The aperture size used
-///   in the Canny edge detector will be same as the filter footprint in the
-///   Sobel edge detector and is set to 3. This function will output the edge
-///   map stored as a binarized image (0x0 - not an edge, 0xFF - edge), since
-///   it works with 3x3 windows, it leaves 1 row/col of pixels at the corners.
-///   | a(1,1)          ,    a12,    ...,   a(1,srcWidth-2)            |\n
-///   |       ...       ,    ...,    ...,              ...             |\n
-///   | a(srcHeight-2,1),    ...,    ...,   a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image containing the edge detection results.
-///   Size of buffer is dstStride*srcHeight bytes.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gx
-///   gradient in X direction.
-///   \n\b NOTE: use NULL if do not need the gradient output.
-///
-/// @param gy
-///   gradient in Y direction.
-///   \n\b NOTE: use NULL if do not need the gradient output.
-///
-/// @param gradStride
-///   Output stride for gx and gy.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth*2.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param lowThresh
-///   For all the intermediate pixels along the edge, the magnitude of the
-///   gradient at the pixel locations should be greater than 'low'
-///   (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
-///
-/// @param highThresh
-///   For an edge starting point, i.e. either the first or last
-///   pixel of the edge, the magnitude of the gradient at the pixel should be
-///   greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
-///   Y gradient).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCanny3x3u8_v3( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        uint8_t* __restrict       dst,
-                        unsigned int              dstStride,
-                        int16_t* __restrict       gx,
-                        int16_t* __restrict       gy,
-                        unsigned int              gradStride,
-                        int                       lowThresh,
-                        int                       highThresh );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs image difference by subracting src2 from src1. dst=src1-src2.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageDiffu8_v2(). In the 2.0.0 release,
-///   fcvImageDiffu8_v2 will be renamed to fcvImageDiffu8
-///   and the signature of fcvImageDiffu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   dst[i,j] = (uint8_t) max( min((short)(src1[i,j]-src2[i,j]), 255), 0 );
-///
-/// @param src1
-///   First source image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-///   Second source image, must be same size as src1.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Destination. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: Must be same size as src1 and src2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageDiffu8(   const uint8_t* __restrict src1,
-                  const uint8_t* __restrict src2,
-                   unsigned int             srcWidth,
-                   unsigned int             srcHeight,
-                        uint8_t* __restrict dst );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs image difference by subracting src2 from src1. dst=src1-src2.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageDiffu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageDiffu8,
-///   \a fcvImageDiffu8_v2 will be removed, and the current signature
-///   for \a fcvImageDiffu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageDiffu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   dst[i,j] = (uint8_t) max( min((short)(src1[i,j]-src2[i,j]), 255), 0 );
-///
-/// @param src1
-///   First source image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-///   Second source image, must be same size as src1.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of input image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Destination. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: Must be same size as src1 and src2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageDiffu8_v2( const uint8_t* __restrict src1,
-                   const uint8_t* __restrict src2,
-                   unsigned int              srcWidth,
-                   unsigned int              srcHeight,
-                   unsigned int              srcStride,
-                   uint8_t* __restrict       dst,
-                   unsigned int              dstStride );
-
-
-//--------------------------------------------------------------------------
-/// @brief
-///   Compute image difference src1-src2
-///
-/// @param src1
-///   Input image1 of int16 type. Size of buffer is srcStride*srcHeight*2 bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-///   Input image2, must have same size as src1
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output image, saturated for int16 type. Size of buffer is dstStride*srcHeight*2 bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-////------------------------------------------------------------------------
-FASTCV_API void
-fcvImageDiffs16( const int16_t* __restrict src1,
-                 const int16_t* __restrict src2,
-                       unsigned int             srcWidth,
-                       unsigned int             srcHeight,
-                       unsigned int             srcStride,
-                            int16_t* __restrict dst,
-                       unsigned int             dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs image difference by subracting src2 from src1. dst=src1-src2.
-///
-/// @details
-///
-/// @param src1
-///   First source image. Size of buffer is srcStride*srcHeight*4 bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-///   Second source image, must be same size as src1.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of input image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Destination.  Size of buffer is dstStride*srcHeight*4 bytes.
-///   \n\b NOTE: Must be same size as src1 and src2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageDifff32( const float* __restrict src1,
-                 const float* __restrict src2,
-                unsigned int             srcWidth,
-                unsigned int             srcHeight,
-                unsigned int             srcStride,
-                       float* __restrict dst,
-                unsigned int             dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs image difference by promoting both src1 and src 2 to
-///   floating point values and then subracting src2 from src1. dst=src1-src2.
-///
-/// @details
-///
-/// @param src1
-///   First source image
-///
-/// @param src2
-///   Second source image, must be same size as src1.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of input image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-///   Destination image in float type
-///   \n\b NOTE: Must be same size as src1 and src2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageDiffu8f32( const uint8_t* __restrict src1,
-                   const uint8_t* __restrict src2,
-                    unsigned int             srcWidth,
-                    unsigned int             srcHeight,
-                    unsigned int             srcStride,
-                           float* __restrict dst,
-                    unsigned int             dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs image difference by subracting src2 from src1.
-///   dst = ( src1 >> 1) - ( src2 >> 1).
-///
-/// @details
-///
-/// @param src1
-///   First source image
-///
-/// @param src2
-///   Second source image, must be same size as src1.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of input image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-///   Destination image in int8 type
-///   \n\b NOTE: Must be same size as src1 and src2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageDiffu8s8( const uint8_t* __restrict src1,
-                  const uint8_t* __restrict src2,
-                   unsigned int             srcWidth,
-                   unsigned int             srcHeight,
-                   unsigned int             srcStride,
-                         int8_t* __restrict dst,
-                    unsigned int             dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Creates 2D gradient from source illuminance data.
-///   This function considers only the left/right neighbors
-///   for x-gradients and top/bottom neighbors for y-gradients.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientInterleaveds16_v2(). In the 2.0.0 release,
-///   fcvImageGradientInterleaveds16_v2 will be renamed to fcvImageGradientInterleaveds16
-///   and the signature of fcvImageGradientInterleaveds16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param  src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///    Height of src data to create gradient.
-///
-/// @param  srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param  gradients
-///    Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientInterleaveds16( const uint8_t* __restrict src,
-                                unsigned int              srcWidth,
-                                unsigned int              srcHeight,
-                                unsigned int              srcStride,
-                                int16_t* __restrict       gradients
-                              );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Creates 2D gradient from source illuminance data.
-///   This function considers only the left/right neighbors
-///   for x-gradients and top/bottom neighbors for y-gradients.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientInterleaveds16() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientInterleaveds16,
-///   \a fcvImageGradientInterleaveds16_v2 will be removed, and the current signature
-///   for \a fcvImageGradientInterleaveds16 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientInterleaveds16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param  src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param  srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param  gradients
-///   Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
-///
-/// @param gradStride
-///   Stride in bytes of the interleaved gradients array.
-///   \n\b NOTE: if 0, srcStride is set as 4*(srcWidth-2).
-///   \n\b WARNING: should be multiple of 16 ( 8 * 2-byte values ), and at least as much as 4*(srcWidth-2) if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientInterleaveds16_v2( const uint8_t* __restrict src,
-                                   unsigned int              srcWidth,
-                                   unsigned int              srcHeight,
-                                   unsigned int              srcStride,
-                                   int16_t* __restrict       gradients,
-                                   unsigned int              gradStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Function to initialize MSER. To invoke MSER functionality, 3 functions have to be called:
-///    fcvMserInit, fcvMseru8, fcvMserRelease.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserInit (width,........,&mserHandle))
-///      {
-///          fcvMseru8 (mserHandle,...);
-///          fcvMserRelease(mserHandle);
-///      }
-///
-/// @param width
-///   Width of the image  for which MSER has to be done.
-///
-/// @param height
-///   Height of the image for which MSER has to be done.
-///
-/// @param delta
-///   Delta to be used in MSER algorithm (the difference in grayscale values
-///   within which the region is stable ).
-///   Typical value range [0.8 8], typical value 2
-///
-/// @param minArea
-///   Minimum area (number of pixels) of a mser contour.
-///   Typical value range [10 50], typical value 30
-///
-/// @param maxArea
-///   Maximum area (number of pixels) of a  mser contour.
-///   Typical value 14400 or 0.25*width*height
-///
-/// @param maxVariation
-///   Maximum variation in grayscale between 2 levels allowed.
-///   Typical value range [0.1 1.0], typical value 0.15
-///
-/// @param minDiversity
-///   Minimum diversity in grayscale between 2 levels allowed.
-///   Typical value range [0.1 1.0], typical value 0.2
-///
-/// @param mserHandle
-///   Output. the mserHandle to be used in subsequent calls.
-///
-/// @return
-///   1 if successful.
-///   0 if unsuccessful, mserHandle is invalid.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserInit(const unsigned int width,
-            const unsigned int height,
-            unsigned int       delta,
-            unsigned int       minArea,
-            unsigned int       maxArea,
-            float              maxVariation,
-            float              minDiversity,
-            void            ** mserHandle );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Function to release  MSER resources.
-///
-/// @param mserHandle
-///   Handle to be used to free up MSER resources.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvMserRelease(void *mserHandle);
-
-///---------------------------------------------------------------------------
-/// @brief
-///   Function to invoke  MSER.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserInit (width,........,&mserHandle))
-///      {
-///          fcvMseru8 (mserHandle,...);
-///          fcvMserRelease(mserHandle);
-///      }
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMseru8_v2(). In the 2.0.0 release,
-///   fcvMseru8_v2 will be renamed to fcvMseru8.
-///   and the signature of fcvMseru8 as it appears now, will be removed.
-///   \n\n
-///
-/// @param mserHandle
-///   The MSER Handle returned by init.
-///
-/// @param srcPtr
-///   Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-///   Width of the source image.
-///   \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-///   Height of the source image.
-///   \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-///   Stride of the source image.
-///
-/// @param maxContours
-///   Maximum contours that will be returned.
-///
-/// @param numContours
-///   Output, Number of MSER contours in the region.
-///
-/// @param numPointsInContour
-///   Output, Number of points in each contour. This will have values filled up for the
-///   first (*numContours) values. This memory has to be allocated by the caller.
-///
-/// @param pointsArraySize
-///   Size of the output points Array.
-///   Typical size: (# of pixels in source image) * 30
-///
-/// @param pointsArray
-///   Output. This is the points in all the contours. This is a linear array, whose memory
-///   has to be allocated by the caller.
-///   Typical allocation size: pointArraySize.
-///   pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
-///   pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-///   and so on.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvMseru8( void                     *mserHandle,
-           const uint8_t* __restrict srcPtr,
-           unsigned int              srcWidth,
-           unsigned int              srcHeight,
-           unsigned int              srcStride,
-           unsigned int              maxContours,
-           unsigned int * __restrict numContours,
-           unsigned int * __restrict numPointsInContour,
-           unsigned int              pointsArraySize,
-           unsigned int * __restrict pointsArray);
-
-///---------------------------------------------------------------------------
-/// @brief
-///   Function to invoke  MSER, with additional outputs for each contour.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserInit (width,........,&mserHandle))
-///      {
-///          fcvMserExtu8 (mserHandle,...);
-///          fcvMserRelease(mserHandle);
-///      }
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMserExtu8_v2(). In the 2.0.0 release,
-///   fcvMserExtu8_v2 will be renamed to fcvMserExtu8.
-///   and the signature of fcvMserExtu8 as it appears now, will be removed.
-///   \n\n
-///
-/// @param mserHandle
-///   The MSER Handle returned by init.
-///
-/// @param srcPtr
-///   Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-///   Width of the source image.
-///   \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-///   Height of the source image.
-///   \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-///   Stride of the source image.
-///
-/// @param maxContours
-///   Maximum contours that will be returned.
-///   Application dependent. OCR usually requires 100-1000 contours.
-///   Segmentation usually requires 50-100
-///
-/// @param numContours
-///   Output, Number of MSER contours in the region.
-///
-/// @param numPointsInContour
-///   Output, Number of points in each contour. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller.
-///
-/// @param pointsArraySize
-///   Size of the output points Array.
-///   Typical size: (# of pixels in source image)*30
-///
-/// @param pointsArray
-///   Output. This is the points in all the contours. This is a linear array, whose memory
-///   has to be allocated by the caller.
-///   Typical allocation size:  pointArraySize.
-///   pointsArray[0...numPointsInContour[0]-1] defines the first MSER region;
-///   pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-///   and so on.
-///
-/// @param contourVariation
-///   Output, Variation for each contour from previous grey level.
-///   This will have values filled up for the first (*numContours) values.
-///   This memory has to be allocated by the caller with size of maxContours.
-///
-/// @param contourPolarity
-///   Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
-///   -1 if this is a MSER- region. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours.
-///
-/// @param contourNodeId
-///   Output, Node id for each contour.  This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours
-///
-/// @param contourNodeCounter
-///   Output, Node counter for each contour. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvMserExtu8( void                     *mserHandle,
-              const uint8_t* __restrict srcPtr,
-              unsigned int              srcWidth,
-              unsigned int              srcHeight,
-              unsigned int              srcStride,
-              unsigned int              maxContours,
-              unsigned int * __restrict numContours,
-              unsigned int * __restrict numPointsInContour,
-              unsigned int * __restrict pointsArray,
-              unsigned int              pointsArraySize,
-              unsigned int * __restrict contourVariation,
-              int * __restrict          contourPolarity,
-              unsigned int * __restrict contourNodeId,
-              unsigned int * __restrict contourNodeCounter);
-
-///---------------------------------------------------------------------------
-/// @brief
-///   Function to invoke MSER with a smaller memory footprint and the (optional) output of contour bound boxes.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserInit (width,........,&mserHandle))
-///      {
-///          if ( !fcvMseru8_v2 (mserHandle,...) )
-///          {
-///             // Error handle
-///          }
-///          fcvMserRelease(mserHandle);
-///      }
-///
-/// @param mserHandle
-///   The MSER Handle returned by init.
-///
-/// @param srcPtr
-///   Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-///   Width of the source image.
-///   \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-///   Height of the source image.
-///   \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-///   Stride of the source image.
-///
-/// @param maxContours
-///   Maximum contours that will be returned.
-///
-/// @param numContours
-///   Output, Number of MSER contours in the region.
-///
-/// @param recArray
-///   Output, This is the bounding rectangle info for each contour.
-///   If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-///   Typical allocation size: 4*maxContours.
-///   rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-///   rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @param numPointsInContour
-///   Output, Number of points in each contour. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller.
-///
-/// @param pointsArraySize
-///   Size of the output points Array.
-///   Typical size: (# of pixels in source image) * 30
-///
-/// @param pointsArray
-///   Output. This is the points in all the contours. This is a linear array, whose memory
-///   has to be allocated by the caller.
-///   Typical allocation size:  pointArraySize.
-///   pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
-///   pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-///   and so on.
-///
-/// @return
-///   1 if successful.
-///   0 if failure, e.g., to indicate detected contours are greater than maxContours.
-///     In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMseru8_v2( void                     *mserHandle,
-              const uint8_t* __restrict srcPtr,
-              uint32_t                  srcWidth,
-              uint32_t                  srcHeight,
-              uint32_t                  srcStride,
-              uint32_t                  maxContours,
-              uint32_t* __restrict      numContours,
-              uint16_t* __restrict      recArray,
-              uint32_t* __restrict      numPointsInContour,
-              uint32_t                  pointsArraySize,
-              uint16_t* __restrict      pointsArray);
-
-///---------------------------------------------------------------------------
-/// @brief
-///   Function to invoke MSER with a smaller memory footprint,
-///   the (optional) output of contour bound boxes, and additional information.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserInit (width,........,&mserHandle))
-///      {
-///          if ( !fcvMserExtu8_v2 (mserHandle,...) )
-///          {
-///              // Error handle
-///          }
-///          fcvMserRelease(mserHandle);
-///      }
-///
-/// @param mserHandle
-///   The MSER Handle returned by init.
-///
-/// @param srcPtr
-///   Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-///   Width of the source image.
-///   \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-///   Height of the source image.
-///   \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-///   Stride of the source image.
-///
-/// @param maxContours
-///   Maximum contours that will be returned.
-///
-/// @param numContours
-///   Output, Number of MSER contours in the region.
-///
-/// @param recArray
-///   Output, This is the bounding rectangle info for each contour.
-///   If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-///   Typical allocation size: 4*maxContours.
-///   rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-///   rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @param numPointsInContour
-///   Output, Number of points in each contour. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller.
-///
-/// @param pointsArraySize
-///   Size of the output points Array.
-///   Typical size: (# of pixels in source image) * 30
-///
-/// @param pointsArray
-///   Output. This is the points in all the contours. This is a linear array, whose memory
-///   has to be allocated by the caller.
-///   Typical allocation size:  pointArraySize.
-///   pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
-///   pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-///   and so on.
-///
-/// @param contourVariation
-///   Output, Variation for each contour from previous grey level.
-///   This will have values filled up for the first (*numContours) values.
-///   This memory has to be allocated by the caller with size of maxContours.
-///
-/// @param contourPolarity
-///   Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
-///   -1 if this is a MSER- region. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours.
-///
-/// @param contourNodeId
-///   Output, Node id for each contour.  This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours
-///
-/// @param contourNodeCounter
-///   Output, Node counter for each contour. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours.
-///
-/// @return
-///   1 if successful.
-///   0 if failure, e.g., to indicate detected contours are greater than maxContours.
-///     In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserExtu8_v2( void                     *mserHandle,
-                 const uint8_t* __restrict srcPtr,
-                 uint32_t                  srcWidth,
-                 uint32_t                  srcHeight,
-                 uint32_t                  srcStride,
-                 uint32_t                  maxContours,
-                 uint32_t* __restrict      numContours,
-                 uint16_t* __restrict      recArray,
-                 uint32_t* __restrict      numPointsInContour,
-                 uint32_t                  pointsArraySize,
-                 uint16_t* __restrict      pointsArray,
-                 uint32_t* __restrict      contourVariation,
-                 int8_t* __restrict        contourPolarity,
-                 uint32_t* __restrict      contourNodeId,
-                 uint32_t* __restrict      contourNodeCounter);
-
-///---------------------------------------------------------------------------
-/// @brief
-///   Function to invoke MSER with a smaller memory footprint,
-///   the (optional) output of contour bound boxes, and additional information.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserInit (width,........,&mserHandle))
-///      {
-///          if ( !fcvMserExtu8_v3 (mserHandle,...) )
-///          {
-///              // Error handle
-///          }
-///          fcvMserRelease(mserHandle);
-///      }
-///
-/// @param mserHandle
-///   The MSER Handle returned by init.
-///
-/// @param srcPtr
-///   Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-///   Width of the source image.
-///   \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-///   Height of the source image.
-///   \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-///   Stride of the source image.
-///
-/// @param maxContours
-///   Maximum contours that will be returned.
-///
-/// @param numContours
-///   Output, Number of MSER contours in the region.
-///
-/// @param recArray
-///   Output, This is the bounding rectangle info for each contour.
-///   If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-///   Typical allocation size: 4*maxContours.
-///   rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-///   rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @param staPointsInPath
-///   Output. Return the index of contour starting points in pathArray.
-///   This memory has to be allocated by the caller. The allocated size should be maxContours*sizeof(uint32_t).
-///
-/// @param numPointsInContour
-///   Output, Number of points in each contour. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller.
-///
-/// @param pathArraySize
-///   Input. The size of output pathArray in terms of how many uint16_t numbers. Must be srcWidth*srcHeight*4.
-///   Note: this parameter is not measured in terms of bytes.
-///
-/// @param pathArray
-///   Output. This is the compressed representation of points in all the contours. This is a linear array, whose memory
-///   has to be allocated by the caller.
-///   Typical allocation size:  pathArraySize*sizeof(uint16_t).
-///   For example:
-///   pathArray[ staPointsInPath[0] ] : x coord of the FIRST point in the FIRST mser region.
-///   pathArray[ staPointsInPath[0] + 1 ] : y coord of the FIRST point in the FIRST mser region.
-///   pathArray[ staPointsInPath[0] + 2 ] : x coord of the SECOND point in the FIRST mser region.
-///   pathArray[ staPointsInPath[0] + 3 ] : y coord of the SECOND point in the FIRST mser region.
-///   . . .
-///   pathArray[ staPointsInPath[0] + 2*numPointsInContour[0] - 2 ] : x coord of the LAST point in the FIRST mser region.
-///   pathArray[ staPointsInPath[0] + 2*numPointsInContour[0] - 1 ] : y coord of the LAST point in the FIRST mser region.
-///      and
-///   pathArray[ staPointsInPath[1] ] : x coord of the FIRST point in the SECOND mser region.
-///   pathArray[ staPointsInPath[1] + 1 ] : y coord of the FIRST point in the SECOND mser region.
-///   pathArray[ staPointsInPath[1] + 2 ] : x coord of the SECOND point in the SECOND mser region.
-///   pathArray[ staPointsInPath[1] + 3 ] : y coord of the SECOND point in the SECOND mser region.
-///   . . .
-///   pathArray[ staPointsInPath[1] + 2*numPointsInContour[1] - 2 ] : x coord of the LAST point in the SECOND mser region.
-///   pathArray[ staPointsInPath[1] + 2*numPointsInContour[1] - 1 ] : y coord of the LAST point in the SECOND mser region.
-///   . . .
-///
-/// @param contourVariation
-///   Output, Variation for each contour from previous grey level.
-///   This will have values filled up for the first (*numContours) values.
-///   This memory has to be allocated by the caller with size of maxContours.
-///
-/// @param contourPolarity
-///   Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
-///   -1 if this is a MSER- region. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours.
-///
-/// @param contourNodeId
-///   Output, Node id for each contour.  This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours
-///
-/// @param contourNodeCounter
-///   Output, Node counter for each contour. This will have values filled up
-///   for the first (*numContours) values. This memory has to be allocated by
-///   the caller with size of maxContours.
-///
-/// @return
-///   1 if successful.
-///   0 if failure, e.g., to indicate detected contours are greater than maxContours.
-///     In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserExtu8_v3( void                     *mserHandle,
-                 const uint8_t* __restrict srcPtr,
-                 uint32_t                  srcWidth,
-                 uint32_t                  srcHeight,
-                 uint32_t                  srcStride,
-                 uint32_t                  maxContours,
-                 uint32_t* __restrict      numContours,
-                 uint16_t* __restrict      recArray,
-                 uint32_t* __restrict      staPointsInPath,
-                 uint32_t* __restrict      numPointsInContour,
-                 uint32_t                  pathArraySize,
-                 uint16_t* __restrict      pathArray,
-                 uint32_t* __restrict      contourVariation,
-                 int8_t* __restrict        contourPolarity,
-                 uint32_t* __restrict      contourNodeId,
-                 uint32_t* __restrict      contourNodeCounter);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Function to initialize 8-neighbor MSER. To invoke 8-neighbor MSER functionality, 3 functions have to be called:
-///    fcvMserNN8Init, fcvMserNN8u8, fcvMserRelease.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserNN8Init (width,........,&mserHandle))
-///      {
-///          if ( !fcvMserNN8u8 (mserHandle,...) )
-///          {
-///             // Error handle
-///          }
-///          fcvMserRelease(mserHandle);
-///      }
-///
-/// @param width
-///   Width of the image  for which MSER has to be done.
-///
-/// @param height
-///   Height of the image for which MSER has to be done.
-///
-/// @param delta
-///   Delta to be used in MSER algorithm (the difference in grayscale values
-///   within which the region is stable ).
-///   Typical value range [0.8 8], typical value 2
-///
-/// @param minArea
-///   Minimum area (number of pixels) of a mser contour.
-///   Typical value range [10 50], typical value 30
-///
-/// @param maxArea
-///   Maximum area (number of pixels) of a  mser contour.
-///   Typical value 14400 or 0.25*width*height
-///
-/// @param maxVariation
-///   Maximum variation in grayscale between 2 levels allowed.
-///   Typical value range [0.1 1.0], typical value 0.15
-///
-/// @param minDiversity
-///   Minimum diversity in grayscale between 2 levels allowed.
-///   Typical value range [0.1 1.0], typical value 0.2
-///
-/// @param mserHandle
-///   Output. the mserHandle to be used in subsequent calls.
-///
-/// @return
-///   1 if successful.
-///   0 if unsuccessful, mserHandle is invalid.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserNN8Init(const uint32_t width,
-               const uint32_t height,
-               uint32_t       delta,
-               uint32_t       minArea ,
-               uint32_t       maxArea ,
-               float32_t      maxVariation ,
-               float32_t      minDiversity ,
-               void         **mserHandle );
-
-///---------------------------------------------------------------------------
-/// @brief
-///   Function to invoke 8-neighbor MSER.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserNN8Init (width,........,&mserHandle))
-///      {
-///          if ( !fcvMserNN8u8 (mserHandle,...) )
-///          {
-///              // Error handle
-///          }
-///          fcvMserRelease(mserHandle);
-///      }
-///
-/// @param mserHandle
-///   The MSER Handle returned by init.
-///
-/// @param srcPtr
-///   Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-///   Width of the source image.
-///   \n\b NOTE: srcWidth must be <= the width passed to fcvMserNN8Init.
-///
-/// @param srcHeight
-///   Height of the source image.
-///   \n\b NOTE: srcHeight must be <= the height passed to fcvMserNN8Init.
-///
-/// @param srcStride
-///   Stride of the source image.
-///
-/// @param maxContours
-///   Maximum contours that will be returned.
-///
-/// @param numContours
-///   Output, Number of MSER contours in the region.
-///
-/// @param recArray
-///   Output, This is the bounding rectangle info for each contour.
-///   If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-///   Typical allocation size: 4*maxContours.
-///   rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-///   rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @param numPointsInContour
-///   Output, Number of points in each contour. This will have values filled up for the
-///   first (*numContours) values. This memory has to be allocated by the caller.
-///
-/// @param pointsArraySize
-///   Size of the output points Array.
-///   Typical size: (# of pixels in source image) * 30
-///
-/// @param pointsArray
-///   Output. This is the points in all the contours. This is a linear array, whose memory
-///   has to be allocated by the caller.
-///   Typical allocation size: pointArraySize.
-///   pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
-///   pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-///   and so on.
-///
-/// @return
-///   1 if successful.
-///   0 if failure, e.g., to indicate detected contours are greater than maxContours.
-///     In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserNN8u8 ( void                      *mserHandle,
-               const uint8_t* __restrict  srcPtr,
-               uint32_t                   srcWidth,
-               uint32_t                   srcHeight,
-               uint32_t                   srcStride,
-               uint32_t                   maxContours,
-               uint32_t* __restrict       numContours,
-               uint16_t* __restrict       recArray,
-               uint32_t* __restrict       numPointsInContour,
-               uint32_t                   pointsArraySize,
-               uint16_t* __restrict       pointsArray);
-
-///---------------------------------------------------------------------------
-/// @brief
-///   Function to invoke 8-neighbor MSER, , with additional outputs for each contour.
-///   Image width has to be greater than 50, and image height has to be greater than 5.
-///   Pixels at the image boundary are not processed. If boundary pixels are important
-///   for a particular application, please consider padding the input image with dummy
-///   pixels of one pixel wide.
-///   Here is the typical usage:
-///    void *mserHandle;
-///     if (fcvMserNN8Init (width,........,&mserHandle))
-///      {
-///          if ( !fcvMserExtNN8u8 (mserHandle,...) )
-///          {
-///              // Error handle
-///          }
-///          fcvMserRelease(mserHandle);
-///      }
-///
-/// @param mserHandle
-///   The MSER Handle returned by init.
-///
-/// @param srcPtr
-///   Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-///   Width of the source image.
-///   \n\b NOTE: srcWidth must be <= the width passed to fcvMserNN8Init.
-///
-/// @param srcHeight
-///   Height of the source image.
-///   \n\b NOTE: srcHeight must be <= the height passed to fcvMserNN8Init.
-///
-/// @param srcStride
-///   Stride of the source image.
-///
-/// @param maxContours
-///   Maximum contours that will be returned.
-///
-/// @param numContours
-///   Output, Number of MSER contours in the region.
-///
-/// @param recArray
-///   Output, This is the bounding rectangle info for each contour.
-///   If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-///   Typical allocation size: 4*maxContours.
-///   rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-///   rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @return
-///   1 if successful.
-///   0 if failure, e.g., to indicate detected contours are greater than maxContours.
-///     In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserExtNN8u8(void                     *mserHandle,
-                const uint8_t* __restrict srcPtr,
-                uint32_t                  srcWidth,
-                uint32_t                  srcHeight,
-                uint32_t                  srcStride,
-                uint32_t                  maxContours,
-                uint32_t* __restrict      numContours,
-                uint16_t* __restrict      recArray,
-                uint32_t* __restrict      numPointsInContour,
-                uint32_t                  pointsArraySize,
-                uint16_t* __restrict      pointsArray,
-                uint32_t* __restrict      contourVariation,
-                int8_t* __restrict        contourPolarity,
-                uint32_t* __restrict      contourNodeId,
-                uint32_t* __restrict      contourNodeCounter);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Creates 2D gradient from source illuminance data.
-///   This function considers only the left/right neighbors
-///   for x-gradients and top/bottom neighbors for y-gradients.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientInterleavedf32_v2(). In the 2.0.0 release,
-///   fcvImageGradientInterleavedf32_v2 will be renamed to fcvImageGradientInterleavedf32
-///   and the signature of fcvImageGradientInterleavedf32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///  Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///    Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///    Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param gradients
-///    Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientInterleavedf32( const uint8_t* __restrict src,
-                                unsigned int              srcWidth,
-                                unsigned int              srcHeight,
-                                unsigned int              srcStride,
-                                float* __restrict         gradients );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Creates 2D gradient from source illuminance data.
-///   This function considers only the left/right neighbors
-///   for x-gradients and top/bottom neighbors for y-gradients.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientInterleavedf32() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientInterleavedf32,
-///   \a fcvImageGradientInterleavedf32_v2 will be removed, and the current signature
-///   for \a fcvImageGradientInterleavedf32 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientInterleavedf32 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gradients
-///   Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param gradStride
-///   Stride (in bytes) of the interleaved gradients array.
-///   \n\b NOTE: if 0, srcStride is set as (srcWidth-2)*2*sizeof(float).
-///   \n\b WARNING: should be multiple of 32 ( 8 * 4-byte values ), and at least as much as 8 * srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientInterleavedf32_v2( const uint8_t* __restrict src,
-                                   unsigned int              srcWidth,
-                                   unsigned int              srcHeight,
-                                   unsigned int              srcStride,
-                                   float* __restrict         gradients,
-                                   unsigned int              gradStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Creates 2D gradient from source illuminance data.
-///   This function considers only the left/right neighbors
-///   for x-gradients and top/bottom neighbors for y-gradients.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientPlanars16_v2(). In the 2.0.0 release,
-///   fcvImageGradientPlanars16_v2 will be renamed to fcvImageGradientPlanars16
-///   and the signature of fcvImageGradientPlanars16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///    Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///    Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param dx
-///    Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///    Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientPlanars16( const uint8_t* __restrict src,
-                           unsigned int              srcWidth,
-                           unsigned int              srcHeight,
-                           unsigned int              srcStride,
-                           int16_t* __restrict       dx,
-                           int16_t* __restrict       dy );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Creates 2D gradient from source illuminance data.
-///   This function considers only the left/right neighbors
-///   for x-gradients and top/bottom neighbors for y-gradients.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientPlanars16() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientPlanars16,
-///   \a fcvImageGradientPlanars16_v2 will be removed, and the current signature
-///   for \a fcvImageGradientPlanars16 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientPlanars16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///    Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dx
-///    Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///    Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' arrays.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 16 (8 * 2-bytes per gradient value), and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientPlanars16_v2( const uint8_t* __restrict src,
-                              unsigned int              srcWidth,
-                              unsigned int              srcHeight,
-                              unsigned int              srcStride,
-                              int16_t* __restrict       dx,
-                              int16_t* __restrict       dy,
-                              unsigned int              dxyStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Creates 2D gradient from source illuminance data.
-///   This function considers only the left/right neighbors
-///   for x-gradients and top/bottom neighbors for y-gradients.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientPlanarf32_v2(). In the 2.0.0 release,
-///   fcvImageGradientPlanarf32_v2 will be renamed to fcvImageGradientPlanarf32
-///   and the signature of fcvImageGradientPlanarf32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///
-/// @param dx
-///   Buffer to store horizontal gradient. Must be (width)*(height) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (width)*(height) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientPlanarf32( const uint8_t* __restrict src,
-                           unsigned int              srcWidth,
-                           unsigned int              srcHeight,
-                           unsigned int              srcStride,
-                           float* __restrict         dx,
-                           float* __restrict         dy );
-
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Creates 2D gradient from source illuminance data.
-///   This function considers only the left/right neighbors
-///   for x-gradients and top/bottom neighbors for y-gradients.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientPlanarf32() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientPlanarf32,
-///   \a fcvImageGradientPlanarf32_v2 will be removed, and the current signature
-///   for \a fcvImageGradientPlanarf32 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientPlanarf32 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dx
-///   Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride of Gradient values ('dx' and 'dy' arrays) measured in bytes.
-///   \n\b NOTE: if 0, srcStride is set as 4*srcWidth.
-///   \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value), and at least as much as 4*srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientPlanarf32_v2( const uint8_t* __restrict src,
-                              unsigned int              srcWidth,
-                              unsigned int              srcHeight,
-                              unsigned int              srcStride,
-                              float* __restrict         dx,
-                              float* __restrict         dy,
-                              unsigned int              dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners from the image. This function tests the whole image
-///   for corners (apart from the border). FAST-9 looks for continuous segments on the
-///   pixel ring of 9 pixels or more.
-///
-/// @param src
-///   Pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///   \n\b WARNING: should be a multiple of 8.
-///   \n\b WARNING: must be <= 2048.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2). If 0 is passed, srcStride is set to width.
-///   \n\b WARNING: should be a multiple of 8.
-///
-/// @param barrier
-///   FAST threshold. The threshold is used to compare difference between intensity value of
-///   the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   pointer to  the output array containing the interleaved x,y position of the
-///   detected corners
-///   \n e.g. struct { int x, y; } xy;
-///   \n\b WARNING: should be 128-bit aligned.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9u8( const uint8_t* __restrict src,
-                  unsigned int              srcWidth,
-                  unsigned int              srcHeight,
-                  unsigned int              srcStride,
-                  int                       barrier,
-                  unsigned int              border,
-                  uint32_t* __restrict      xy,
-                  unsigned int              nCornersMax,
-                  uint32_t* __restrict      nCorners );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners from the image. This function takes a bit mask so
-///   that only image areas masked with '0' are tested for corners (if these
-///   areas are also not part of the border). FAST-9 looks for continuous segments on the
-///   pixel ring of 9 pixels or more.
-///
-/// @param src
-///   pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   image width
-///   \n\b WARNING: must be <= 2048.
-///   \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-///   image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b WARNING: should be a multiple of 8. If left at 0 srcStride is default to srcWidth.
-///
-/// @param barrier
-///   FAST threshold. The threshold is used to compare difference between intensity value of
-///   the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   pointer to the output array containing the interleaved x,y position of the
-///   detected corners
-///   \n\b WARNING: should be 128-bit aligned.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of corners
-///   is exceeded
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param mask
-///   Per-pixel mask for each pixel represented in input image.
-///   If a bit set to 0, pixel will be a candidate for corner detection.
-///   If a bit set to 1, pixel will be ignored.
-///
-/// @param maskWidth
-///   Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-///   Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9InMasku8( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        int                       barrier,
-                        unsigned int              border,
-                        uint32_t* __restrict      xy,
-                        unsigned int              nCornersMax,
-                        uint32_t* __restrict      nCorners,
-                        const uint8_t* __restrict mask,
-                        unsigned int              maskWidth,
-                        unsigned int              maskHeight );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners from the image. This function tests the whole image
-///   for corners (apart from the border). FAST-10 looks for continuous segments on the
-///   pixel ring of 10 pixels or more.
-///
-/// @param src
-///   Pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///   \n\b WARNING: should be a multiple of 8.
-///   \n\b WARNING: must be <= 2048.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2). If 0 is passed, srcStride is set to width.
-///
-/// @param barrier
-///   FAST threshold. The threshold is used to compare difference between intensity value of
-///   the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   pointer to  the output array containing the interleaved x,y position of the
-///   detected corners
-///   \n e.g. struct { int x, y; } xy;
-///   \n\b WARNING: should be 128-bit aligned.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exists when the maximum number of
-///   corners is exceeded
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast10u8( const uint8_t* __restrict src,
-                   uint32_t                  srcWidth,
-                   uint32_t                  srcHeight,
-                   uint32_t                  srcStride,
-                   int32_t                   barrier,
-                   uint32_t                  border,
-                   uint32_t* __restrict      xy,
-                   uint32_t                  nCornersMax,
-                   uint32_t* __restrict      nCorners);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners from the image. This function takes a bit mask so
-///   that only image areas masked with '0' are tested for corners (if these
-///   areas are also not part of the border). FAST-10 looks for continuous segments on the
-///   pixel ring of 10 pixels or more.
-///
-/// @param src
-///   pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   image width
-///   \n\b WARNING: must be <= 2048.
-///   \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-///   image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param barrier
-///   FAST threshold. The threshold is used to compare difference between intensity value of
-///   the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   pointer to the output array containing the interleaved x,y position of the
-///   detected corners
-///   \n\b WARNING: should be 128-bit aligned.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exists when the maximum number of corners
-///   is exceeded
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param mask
-///   Per-pixel mask for each pixel represented in input image.
-///   If a bit set to 0, pixel will be a candidate for corner detection.
-///   If a bit set to 1, pixel will be ignored.
-///
-/// @param maskWidth
-///   Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-///   Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast10InMasku8( const uint8_t* __restrict src,
-                         uint32_t                  srcWidth,
-                         uint32_t                  srcHeight,
-                         uint32_t                  srcStride,
-                         int32_t                   barrier,
-                         uint32_t                  border,
-                         uint32_t* __restrict      xy,
-                         uint32_t                  nCornersMax,
-                         uint32_t* __restrict      nCorners,
-                         const uint8_t* __restrict mask,
-                         uint32_t                  maskWidth,
-                         uint32_t                  maskHeight );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts Harris corners from the image. This function tests the whole
-///   image for corners (apart from the border).
-///
-/// @param src
-///   Pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///   \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///
-/// @param xy
-///   pointer to  the output array containing the interleaved x,y position of the
-///   detected corners
-///   \n\b WARNING: should be 128-bit aligned.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param threshold
-///   Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
-///   regarded as a corner.
-///
-/// @return
-///   0 if successful.
-///
-///
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerHarrisu8( const uint8_t* __restrict src,
-                   unsigned int              srcWidth,
-                   unsigned int              srcHeight,
-                   unsigned int              srcStride,
-                   unsigned int              border,
-                   uint32_t* __restrict      xy,
-                   unsigned int              nCornersMax,
-                   uint32_t* __restrict      nCorners,
-                   int                       threshold );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Local Harris Max applies the Harris Corner algorithm on an 11x11 patch
-///   within an image to determine if a corner is present.
-///
-/// @param src
-///   Pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///   \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).  If srcStride == 0, then will use srcWidth.
-///
-/// @param posX
-///   Center X coordinate of the search window
-///
-/// @param posY
-///   Center Y coordinate of the search window
-///
-/// @param maxX
-///   pointer to the X coordinate identified as a corner
-///
-/// @param maxY
-///   pointer to the Y coordinate identified as a corner
-///
-/// @param maxScore
-///   pointer to the Harris score associated with the corner
-///
-/// @return
-///   0 if no corner is found (maxX, maxY, and maxScore are invalid)
-///     or if posX and/or posY position the patch outside of the range of
-///     the source image.
-///   1 if a corner is found (maxX, maxY, and maxScore are valid)
-///
-///
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API unsigned int
-fcvLocalHarrisMaxu8( const uint8_t* __restrict src,
-                     unsigned int              srcWidth,
-                     unsigned int              srcHeight,
-                     unsigned int              srcStride,
-                     unsigned int              posX,
-                     unsigned int              posY,
-                     unsigned int             *maxX,
-                     unsigned int             *maxY,
-                     int                      *maxScore);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts Harris corners from the image. This function takes a bit mask so
-///   that only image areas masked with '0' are tested for corners (if these
-///   areas are also not part of the border).
-///
-/// @param src
-///   pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   image width
-///   \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-///   image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///
-/// @param xy
-///   pointer to  the output array containing the interleaved x,y position of the
-///   detected corners
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of corners
-///   is exceeded
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param threshold
-///   Minimum "Harris Score" or "Harris Corner Respose" of a pixel for it to be
-///   regarded as a corner.
-///
-/// @param mask
-///   Per-pixel mask for each pixel represented in input image.
-///   If a bit set to 0, pixel will be a candidate for corner detection.
-///   If a bit set to 1, pixel will be ignored.
-///
-/// @param maskWidth
-///   Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-///   Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @return
-///   0 if successful.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerHarrisInMasku8( const uint8_t* __restrict src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         unsigned int              srcStride,
-                         unsigned int              border,
-                         uint32_t* __restrict      xy,
-                         unsigned int              nCornersMax,
-                         uint32_t* __restrict      nCorners,
-                         int                       threshold,
-                         const uint8_t* __restrict mask,
-                         unsigned int              maskWidth,
-                         unsigned int              maskHeight );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts Harris corners from the image. This function tests the whole
-///   image for corners (apart from the border). It is an improved version
-///   which is more robust to low contrast images.
-///
-/// @param src
-///   Pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b WARNING: should be a multiple of 8.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///
-/// @param xy
-///   pointer to  the output array containing the interleaved x,y position of the
-///   detected corners
-///   \n\b WARNING: should be 128-bit aligned.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param threshold
-///   Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
-///   regarded as a corner.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerHarrisAdaptiveu8( const uint8_t* __restrict src,
-                           uint32_t                  srcWidth,
-                           uint32_t                  srcHeight,
-                           uint32_t                  srcStride,
-                           uint32_t                  border,
-                           float32_t* __restrict     xy,
-                           uint32_t                  nCornersMax,
-                           uint32_t* __restrict      nCorners,
-                           int32_t                   threshold);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts Harris corners from the image.
-///   \n\b ATTENTION: Compared to fcvCornerHarrisu8, this API gives more accurate results
-///   in exchange for slower execution time.\n\n
-///
-///   DO NOT USE THIS API unless for testing purposes.
-///   This API can be removed without notice.
-///
-/// @details
-///   This function extracts Harris Corner features from the image. The input is
-///   an unsigned 8 bit image. Based on the values of the kernel size, the block size,
-///   the sensitivity, the function generates a Harris Response map (Harris Score).
-///   This map is then thresholded using the threshold parameter to locate local maxima.
-///   Additionally, if the Non Maximum Suppression flag is enabled, the function performs
-///   non maximum suppression of the thresholded response using the min distance parameter
-///   to calculate the neighborhood.
-///
-/// @param src
-///   Input unsigned 8 bit image from which corner features are to be detected
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input Image height
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If srcStride is equal to 0,
-///   it will be set to srcWidth.
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param harrisResp
-///   The computed Harris Response Map of the image. If the @param normalizeResponse flag is set,
-///   then all values in the map are normalized between 0 and 255. If the @param normalizeResponse flag
-///   is not set, then the map is not normalized to this range.
-///   This buffer MUST be allocated as srcWidth*srcHeight*sizeof(float32_t).
-///
-/// @param respStride
-///   Harris response stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If respStride is equal to 0,
-///   it will be set to srcWidth * sizeof(float32_t).
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param xy
-///   pointer to  the output array containing the interleaved x,y positions of the
-///   detected corners.
-///   \n\b WARNING: should be 128-bit aligned.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners that should be detected. The function exits when the
-///   maximum number of corners is exceeded.
-///   \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param threshold
-///   Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
-///   regarded as a corner. If the @param normalizeResponse flag is set, then this parameter MUST be a value between
-///   0 and 255. If the @param normalizeResponse flag is not set, then this parameter can be any value in the range of
-///   int32_t. This parameter is used to threshold @param harrisResp to detect corner features.
-///
-/// @param sensitivity
-///   This parameter represents the sensitivity threshold from the Harris Stephens
-///   equation. Typical values are between 0.04 and 0.06
-///
-/// @param kernelSize
-///   Size of the Sobel Kernel used to compute the gradients from the input image
-///   MUST be 3,5 or 7.
-///
-/// @param blockSize
-///   Size of an average block for computing a derivative covariation matrix over each
-///   pixel neighborhood.
-///
-/// @param nmsEnabled
-///   A flag to enable or disable non maximum suppression. Set flag to 1 to enable it and
-///   0 to disable.
-///   \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-///   points before NMS
-///
-/// @param minDistance
-///   The radial euclidean distance to perform non-maximum suppression.
-///
-/// @param normalizeResponse
-///   This parameter is a flag to enable or disable normalization of the harris response.
-///   If it is set, then it enables normalization of the response to the range between 0 and 255. If it
-///   is not set, then the response is NOT normalized to this range.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvCornerHarrisScoreu8(const uint8_t* __restrict src,
-                       uint32_t srcWidth,
-                       uint32_t srcHeight,
-                       uint32_t srcStride,
-                       float32_t*  __restrict harrisResp,
-                       uint32_t respStride,
-                       uint32_t* __restrict xy,
-                       uint32_t nCornersMax,
-                       uint32_t*  __restrict nCorners,
-                       float32_t threshold,
-                       float32_t sensitivity,
-                       uint32_t kernelSize,
-                       uint32_t blockSize,
-                       uint32_t nmsEnabled,
-                       float32_t minDistance,
-                       uint32_t normalizeResponse);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Computes affine trans. for a given set of corresponding features points
-///   using a linear least square colver based on Cholkesky decomposition.
-///
-/// @param corrs
-///  Correspondence data struct containing coords of points in two frames
-///
-/// @param affine
-///  3 x 3 affine matrix (computed best fit affine transformation)
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeomAffineFitf32( const fcvCorrespondences* __restrict corrs,
-                     float* __restrict                    affine );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Evaluates specified affine transformation against provided points
-///   correspondences. Checks which correspondence members have a projection
-///   error that is smaller than the given one (maxSquErr).
-///
-/// @param corrs
-///   Pointer to correspondences structure.
-///
-/// @param affine
-///   Affine matrix representing relationship between ptTo and ptFrom
-///   correspondences stored as 3x3 floating point matrix formatted as
-///   @todo r0h0, r0h1
-///   Pointer storage must be at least a 9-element floating point array.
-///
-/// @param maxsqerr
-///   Maximum error value squared.
-///
-/// @param inliers
-///   Output array for those indices that passed the test - the array MUST
-///   be able to store numIndices items.
-///
-/// @param numinliers
-///   Output number of corrs that passed the test.
-///
-/// @return
-///   0 if successfull
-///   -1 if error value square is >= maxsqerr
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomAffineEvaluatef32( const fcvCorrespondences* __restrict corrs,
-                          float* __restrict                    affine,
-                          float                                maxsqerr,
-                          uint16_t* __restrict                 inliers,
-                          int32_t*                             numinliers );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs cholesky homography fitting on specified points correspondences.
-///   \n
-///   \n [x_to]     [ a11 a12 a13 ]   [ x_from ]
-///   \n [y_to] =   [ a21 a22 a23 ] * [ y_from ]
-///   \n [ 1  ]     [ a31 a32 a33 ]   [   1    ]
-///   \n note that all the correspondences are considered, if correspondence pairs
-///    are smaller than 4, the API returns. If correspondence pairs are larger than
-///    4, the API takes all the correspondences into consideration using least
-///    squared method.
-///
-/// @details
-///   Output precision is within 3e-3
-///
-/// @param corrs
-///   Pointer to correspondences structure.
-///
-/// @param homography
-///   3x3 floating point matrix formatted as @todo r0h0, r0h1
-///   Pointer storage must be at least a 9-element floating point array.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeomHomographyFitf32( const fcvCorrespondences* __restrict corrs,
-                         float* __restrict                    homography );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Evaluates specified homography against provided points correspondences.
-///   Check which correspondence members have a projection error that is
-///   smaller than the given one (maxSquErr).
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvGeomHomographyEvaluatef32_v2(). In the 2.0.0 release,
-///   fcvGeomHomographyEvaluatef32_v2 will be renamed to fcvGeomHomographyEvaluatef32
-///   and the signature of fcvGeomHomographyEvaluatef32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param corrs
-///   Pointer to correspondences structure.
-///
-/// @param homography
-///   Homography representing relationship between ptTo and ptFrom
-///   correspondences stored as 3x3 floating point matrix formatted as
-///   @todo r0h0, r0h1
-///   Pointer storage must be at least a 9-element floating point array.
-///
-/// @param maxsqerr
-///   Maximum error value squared.
-///
-/// @param inliers
-///   Output array for those indices that passed the test - the array MUST
-///   be able to store numIndices items.
-///
-/// @param numinliers
-///   Output number of corrs that passed the test.
-///
-/// @return
-///   0 that error is less than maximum error, -1 greater or equal to maximum
-///   error.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomHomographyEvaluatef32( const fcvCorrespondences* __restrict corrs,
-                              float* __restrict                    homography,
-                              float                                maxsqerr,
-                              uint16_t* __restrict                 inliers,
-                              int32_t*                             numinliers );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Evaluates specified homography against provided points correspondences.
-///   Check which correspondence members have a projection error that is
-///   smaller than the given one (maxSquErr).
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvGeomHomographyEvaluatef32() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvGeomHomographyEvaluatef32,
-///   \a fcvGeomHomographyEvaluatef32_v2 will be removed, and the current signature
-///   for \a fcvGeomHomographyEvaluatef32 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvGeomHomographyEvaluatef32 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param corrs
-///   Pointer to correspondences structure.
-///
-/// @param homography
-///   Homography representing relationship between ptTo and ptFrom
-///   correspondences stored as 3x3 floating point matrix formatted as
-///   @todo r0h0, r0h1
-///   Pointer storage must be at least a 9-element floating point array.
-///
-/// @param maxsqerr
-///   Maximum error value squared.
-///
-/// @param inliers
-///   Output array for those indices that passed the test - the array MUST
-///   be able to store numIndices items.
-///
-/// @param errinliers
-///   Output array for the error of indices of correspondences that passed
-///   the test.
-///
-/// @param numinliers
-///   Output number of corrs that passed the test.
-///
-/// @return
-///   0 that error is less than maximum error, -1 greater or equal to maximum
-///   error.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomHomographyEvaluatef32_v2( const fcvCorrespondences* __restrict corrs,
-                                 float32_t* __restrict                homography,
-                                 float32_t                            maxsqerr,
-                                 uint16_t* __restrict                 inliers,
-                                 float32_t*__restrict                 errinliers,
-                                 int32_t*                             numinliers );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs cholesky pose fitting on specified points correspondences.
-///   Takes a pose and uses the correspondences to refine it using iterative
-///   Gauss-Newton optimization.
-///
-/// @param corrs
-///   Pointer to correspondences structure.
-///
-/// @param minIterations
-///   Minimum number of iterations to refine.
-///
-/// @param maxIterations
-///   Maximum number of iterations to refine.
-///
-/// @param stopCriteria
-///   Improvement threshold, iterations stop if improvement is less than this
-///   value.
-///
-/// @param initpose
-///   Pose representing initial pose
-///   correspondences stored as a
-///   3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-///   matrix and t is the translation vector. The matrix  stored in pose is row
-///   major ordering: \n
-///   a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-///   matrix is: \n
-///   | a11, a12, a13 , a14|\n
-///   | a21, a22, a23, a24 |\n
-///   | a31, a32, a33, a34 |\n
-///   Pointer storage must be at least a 12-element floating point array.
-///
-/// @param refinedpose
-///   Pose representing refined pose
-///   correspondences stored as a
-///   3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-///   matrix and t is the translation vector. The matrix  stored in pose is row
-///   major ordering: \n
-///   a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-///   matrix is: \n
-///   | a11, a12, a13 , a14|\n
-///   | a21, a22, a23, a24 |\n
-///   | a31, a32, a33, a34 |\n
-///   Pointer storage must be at least a 12-element floating point array.
-///
-/// @return
-///   Final reprojection error.
-///
-///
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API float
-fcvGeomPoseRefineGNf32( const fcvCorrespondences* __restrict corrs,
-                        short                                minIterations,
-                        short                                maxIterations,
-                        float                                stopCriteria,
-                        float*                               initpose,
-                        float*                               refinedpose );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Update and compute the differential pose based on the specified points correspondences
-///   This function and fcvGeomPoseOptimizeGNf32
-///   can be used iteratively to perform poseRefine GN.
-///
-/// @param projected
-///   2D position after projection
-///
-/// @param reprojErr
-///   2D reprojection error in camera coordinates (not in pixels!)
-///
-/// @param invz
-///   Inverse depth (z)
-///
-/// @param reprojVariance
-///   Reprojection variance in camera coordinates
-///
-/// @param numpts
-///    Number of points
-///
-/// @param pose
-///   Pose representing differential pose
-///   correspondences stored as a
-///   3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-///   matrix and t is the translation vector. The matrix  stored in pose is row
-///   major ordering: \n
-///   a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-///   matrix is: \n
-///   | a11, a12, a13 , a14|\n
-///   | a21, a22, a23, a24 |\n
-///   | a31, a32, a33, a34 |\n
-///   Pointer storage must be at least a 12-element floating point array.
-///
-/// @return
-///   0 if successfully clustered, otherwise error code
-///
-///
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomPoseUpdatef32(
-   const float* __restrict projected,
-   const float* __restrict reprojErr,
-   const float* __restrict invz,
-   const float* __restrict reprojVariance,
-   unsigned int                numpts,
-   float*       __restrict pose );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Update the pose based on the specified points correspondences
-///   using Gauss-Newton optimization. This function and fcvGeomPoseEvaluateErrorf32
-///   can be used iteratively to perform poseRefine GN.
-///
-/// @param projected
-///   2D position after projection
-///
-/// @param reprojErr
-///   2D reprojection error in camera coordinates (not in pixels!)
-///
-/// @param invz
-///   Inverse depth (z)
-///
-/// @param reprojVariance
-///   Reprojection variance in camera coordinates
-///
-/// @param numpts
-///    Number of points
-///
-/// @param pose
-///   Pose representing updated pose
-///   correspondences stored as a
-///   3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-///   matrix and t is the translation vector. The matrix  stored in pose is row
-///   major ordering: \n
-///   a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-///   matrix is: \n
-///   | a11, a12, a13 , a14|\n
-///   | a21, a22, a23, a24 |\n
-///   | a31, a32, a33, a34 |\n
-///   Pointer storage must be at least a 12-element floating point array.
-///
-/// @return
-///   0 if successfully clustered, otherwise error code
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomPoseOptimizeGNf32( const float* __restrict projected,
-                          const float* __restrict reprojErr,
-                          const float* __restrict invz,
-                          const float* __restrict reprojVariance,
-                          unsigned int            numpts,
-                          float*       __restrict pose );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Calculate the reprojection error based on the input pose.
-///   This function and fcvGeomPoseOptimizef32 can be used iteratively
-///   to perform poseRefine (GN or LM)..
-///
-/// @param corrs
-///   Pointer to correspondences structure.
-///
-/// @param pose
-///   Pose representing updated pose
-///   correspondences stored as a
-///   3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-///   matrix and t is the translation vector. The matrix  stored in pose is row
-///   major ordering: \n
-///   a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-///   matrix is: \n
-///   | a11, a12, a13 , a14|\n
-///   | a21, a22, a23, a24 |\n
-///   | a31, a32, a33, a34 |\n
-///   Pointer storage must be at least a 12-element floating point array.
-///
-/// @param projected
-///   2D position after projection
-///
-/// @param reprojErr
-///   2D reprojection error in camera coordinates (not in pixels!)
-///
-/// @param invz
-///   Inverse depth (z)
-///
-/// @param reprojVariance
-///   Reprojection variance in camera coordinates
-///
-/// @return
-///   Reprojection error.
-///
-///
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API float
-fcvGeomPoseEvaluateErrorf32( const fcvCorrespondences* __restrict corrs,
-                             const float*              __restrict pose,
-                             float*                    __restrict projected,
-                             float*                    __restrict reprojErr,
-                             float*                    __restrict invz,
-                             float*                    __restrict reprojVariance );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Checks which members have a projection error that is smaller than the
-///   given one.
-///
-/// @param corrs
-///   Pointer to correspondences structure.
-///
-/// @param pose
-///   Pose representing relationship between ptTo and ptFrom
-///   correspondences stored as a
-///   3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-///   matrix and t is the translation vector. The matrix  stored in pose is row
-///   major ordering: \n
-///   a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-///   matrix is: \n
-///   | a11, a12, a13 , a14|\n
-///   | a21, a22, a23, a24 |\n
-///   | a31, a32, a33, a34 |\n
-///   Pointer storage must be at least a 12-element floating point array.
-///
-/// @param maxSquErr
-///   Maximum error value squared.
-///
-/// @param inliers
-///   Output array for those indices that passed the test - the array MUST
-///   be able to store numIndices items.
-///
-/// @param numInliers
-///   Output number of corrs that passed the test.
-///
-/// @return
-///   0 that error is less than maximum error, -1 greater or equal to maximum
-///   error.
-///
-///
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomPoseEvaluatef32( const fcvCorrespondences* __restrict corrs,
-                        const float*                         pose,
-                        float                                maxSquErr,
-                        uint16_t* __restrict                 inliers,
-                        uint32_t*                            numInliers );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Estimates a 6DOF pose
-///  \n\b NOTE: Given the coordinates of three 3D points (in world reference frame),
-///             and their corresponding perspective projections in an image,
-///             this algorithm determines the position and orientation of the camera in
-///             the world reference frame. The function provides up to four solutions
-///             that can be disambiguated using a fourth point.
-///             When used in conjunction with RANSAC, this function can perform efficient outlier rejection.
-///             Two degenerate cases should be avoided when using this function:
-///             - Indeterminate configuration:
-///                  When the three points are collinear in space, there will be a family of poses mapping the
-///                  three points to the same image points.
-///             - Unstable configuration:
-///                  The camera center is located on a circular cylinder passing through the three points and
-///                  the camera optical axis is perpendicular to the plane derived by the three points.
-///                  With this configuration, a small change in the position of the three points will
-///                  result in a large change of the estimated pose..
-///
-/// @param corrs
-///  2D-3D correspondence points
-///
-/// @param pose
-///  computed pose (numPoses * 12 data)
-///
-/// @param numPoses (max = 4)
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeom3PointPoseEstimatef32( const fcvCorrespondences* __restrict corrs,
-                                                 float*            pose,
-                                               int32_t*            numPoses );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   3x3 correlation with non-separable kernel.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterCorr3x3s8_v2(). In the 2.0.0 release,
-///   fcvFilterCorr3x3s8_v2 will be renamed to fcvFilterCorr3x3s8
-///   and the signature of fcvFilterCorr3x3s8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param kernel
-///   2-D 3x3 kernel.
-///   \n\b NOTE: Normalized to Q4.4
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: must be an even number
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE: must be an even number
-///
-/// @param dst
-///   Output convolution. Border values are ignored in this function.
-///   Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorr3x3s8( const int8_t* __restrict  kernel,
-                    const uint8_t* __restrict src,
-                    unsigned int              srcWidth,
-                    unsigned int              srcHeight,
-                    uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   3x3 correlation with non-separable kernel.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterCorr3x3s8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterCorr3x3s8,
-///   \a fcvFilterCorr3x3s8_v2 will be removed, and the current signature
-///   for \a fcvFilterCorr3x3s8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterCorr3x3s8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param kernel
-///   2-D 3x3 kernel.
-///   \n\b NOTE: Normalized to Q4.4
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: must be an even number
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE: must be an even number
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output convolution. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride. Border values are ignored in this function.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorr3x3s8_v2( const int8_t* __restrict  kernel,
-                       const uint8_t* __restrict src,
-                       unsigned int              srcWidth,
-                       unsigned int              srcHeight,
-                       unsigned int              srcStride,
-                       uint8_t* __restrict       dst,
-                       unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   NxN correlation with non-separable kernel.
-///   Border values are ignored in this function. The filling of dst starts
-///   at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
-///   \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
-///
-/// @param kernel
-///   2-D NxN kernel of float32_t.
-///
-/// @param N
-///   Dimension of kernel.
-///
-/// @param src
-///   Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Src image stride, stride of image is the number of bytes between column 0 of
-///   row 1 and column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output correlation. Size of buffer is dstStride*srcHeight*sizeof(float32_t) bytes.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride, stride of image is the number of bytes between column 0 of
-///   row 1 and column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(float32_t).
-///   \n\b WARNING: should be multiple of 8, and at least as much as
-///                 srcWidth*sizeof(float32_t) if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCorrNxNu8f32( const float32_t* __restrict kernel,
-                       uint32_t                    N,
-                       const uint8_t* __restrict   src,
-                       uint32_t                    srcWidth,
-                       uint32_t                    srcHeight,
-                       uint32_t                    srcStride,
-                       float32_t* __restrict       dst,
-                       uint32_t                    dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   NxN correlation with non-separable kernel.
-///   Border values are ignored in this function. The filling of dst starts
-///   at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
-///   \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
-///
-/// @param kernel
-///   2-D NxN kernel of int8_t.
-///
-/// @param N
-///   Dimension of kernel.
-///
-/// @param shift
-///   The right shift count used to normalize output. Shift can be considered as Q factor of kernel.
-///
-/// @param src
-///   Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Src image stride, stride of image is the number of bytes between column 0 of
-///   row 1 and column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output correlation. Size of buffer is dstStride*srcHeight*sizeof(int16_t) bytes.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride, stride of image is the number of bytes between column 0 of
-///   row 1 and column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(int16_t).
-///   \n\b WARNING: should be multiple of 8, and at least as much as
-///                 srcWidth*sizeof(int16_t) if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCorrNxNu8s16( const int8_t* __restrict   kernel,
-                       uint32_t                   N,
-                       int8_t                     shift,
-                       const uint8_t* __restrict  src,
-                       uint32_t                   srcWidth,
-                       uint32_t                   srcHeight,
-                       uint32_t                   srcStride,
-                       int16_t* __restrict        dst,
-                       uint32_t                   dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   NxN correlation with non-separable kernel.
-///   Border values are ignored in this function. The filling of dst starts
-///   at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
-///   \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
-///
-/// @param kernel
-///   2-D NxN kernel of int8_t.
-///
-/// @param N
-///   Dimension of kernel.
-///
-/// @param shift
-///   The right shift count used to normalize output.  Shift can be considered as Q factor of kernel.
-///
-/// @param src
-///   Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Src image stride, stride of image is the number of bytes between column 0 of
-///   row 1 and column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output correlation. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride, stride of image is the number of bytes between column 0 of
-///   row 1 and column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as
-///                 srcWidth if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCorrNxNu8( const int8_t* __restrict kernel,
-                      uint32_t                    N,
-                      int8_t                      shift,
-                      const uint8_t* __restrict   src,
-                      uint32_t                    srcWidth,
-                      uint32_t                    srcHeight,
-                      uint32_t                    srcStride,
-                      uint8_t* __restrict         dst,
-                      uint32_t                    dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   9x9 correlation with separable kernel.
-///   If src and dst point to the same address, it will do in-place.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterCorrSep9x9s16_v2(). In the 2.0.0 release,
-///   fcvFilterCorrSep9x9s16_v2 will be renamed to fcvFilterCorrSep9x9s16
-///   and the signature of fcvFilterCorrSep9x9s16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel in Q15.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///   \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param tmp
-///   Temporary image buffer used internally.
-///   Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dst
-///   Output correlation. Border values are ignored in this function.
-///   Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep9x9s16( const int16_t* __restrict kernel,
-                        const int16_t*            src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        int16_t* __restrict       tmp,
-                        int16_t*                  dst );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   9x9 FIR filter (convolution) with seperable kernel.
-///   If srcImg and dstImg point to the same address
-///   and srcStride equals to dstStride, it will do in-place.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterCorrSep9x9s16() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterCorrSep9x9s16,
-///   \a fcvFilterCorrSep9x9s16_v2 will be removed, and the current signature
-///   for \a fcvFilterCorrSep9x9s16 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterCorrSep9x9s16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///
-/// @param srcImg
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image tile width.
-///
-/// @param srcHeight
-///   Image tile height.
-///
-/// @param srcStride
-///   source Image width
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Size = width * ( height + knlSize - 1 )
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-///   Output correlation.  Border values are ignored in this function.
-///   Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: Size = width * heigth
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-///   dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep9x9s16_v2( const int16_t* __restrict kernel,
-                           const int16_t*            srcImg,
-                           unsigned int              srcWidth,
-                           unsigned int              srcHeight,
-                           unsigned int              srcStride,
-                           int16_t* __restrict       tmpImg,
-                           int16_t*                  dstImg,
-                           unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   11x11 correlation with separable kernel.
-///   If src and dst point to the same address, it will do in-place.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterCorrSep11x11s16_v2(). In the 2.0.0 release,
-///   fcvFilterCorrSep11x11s16_v2 will be renamed to fcvFilterCorrSep11x11s16
-///   and the signature of fcvFilterCorrSep11x11s16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b NOTE: array must be >=12 elements with kernel[11]=0
-///   \n\b WARNING: should be 128-bit aligned.
-///   \n\b NOTE: Normalized to Q1.15
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///   \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dst
-///   Output correlation.  Border values are ignored in this function.
-///   Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep11x11s16( const int16_t* __restrict kernel,
-                          const int16_t*            src,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          int16_t* __restrict       tmpImg,
-                          int16_t*                  dst );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   11x11 FIR filter (convolution) with seperable kernel.
-///   If srcImg and dstImg point to the same address
-///   and srcStride equals to dstStride, it will do in-place.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterCorrSep11x11s16() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterCorrSep11x11s16,
-///   \a fcvFilterCorrSep11x11s16_v2 will be removed, and the current signature
-///   for \a fcvFilterCorrSep11x11s16 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterCorrSep11x11s16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcImg
-///   Input image. Size of buffer is srStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image tile width.
-///   \n\b WARNING: should be multiple of 8.
-///   \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-///   Image tile height.
-///
-/// @param srcStride
-///   source Image width
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Size = width * ( height + knlSize - 1 )
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-///   Output correlation.  Border values are ignored in this function.
-///   \n\b NOTE: Size = dstStride * srcHeigth
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-///   dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep11x11s16_v2( const int16_t* __restrict kernel,
-                             const int16_t*            srcImg,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             unsigned int              srcStride,
-                             int16_t* __restrict       tmpImg,
-                             int16_t*                  dstImg,
-                             unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   13x13 correlation with separable kernel.
-///   If src and dst point to the same address, it will do in-place.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterCorrSep13x13s16_v2(). In the 2.0.0 release,
-///   fcvFilterCorrSep13x13s16_v2 will be renamed to fcvFilterCorrSep13x13s16
-///   and the signature of fcvFilterCorrSep13x13s16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b NOTE: Normalized to Q1.15
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///   \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dst
-///   Output correlation.  Border values are ignored in this function.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep13x13s16( const int16_t* __restrict kernel,
-                          const int16_t*            src,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          int16_t* __restrict       tmpImg,
-                          int16_t*                  dst );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   13x13 FIR filter (convolution) with seperable kernel.
-///   If srcImg and dstImg point to the same address
-///   and srcStride equals to dstStride, it will do in-place.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterCorrSep13x13s16() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterCorrSep13x13s16,
-///   \a fcvFilterCorrSep13x13s16_v2 will be removed, and the current signature
-///   for \a fcvFilterCorrSep13x13s16 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterCorrSep13x13s16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcImg
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image tile width.
-///   \n\b WARNING: should be multiple of 8.
-///   \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-///   Image tile height.
-///
-/// @param srcStride
-///   source Image width
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Size = width * ( height + knlSize - 1 )
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-///   Output correlation.  Border values are ignored in this function.
-///   \n\b NOTE: Size = dstStride * srcHeigth
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-///   dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep13x13s16_v2( const int16_t* __restrict kernel,
-                             const int16_t*            srcImg,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             unsigned int              srcStride,
-                             int16_t* __restrict       tmpImg,
-                             int16_t*                  dstImg,
-                             unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   15x15 correlation with separable kernel.
-///   If src and dst point to the same address, it will do in-place.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterCorrSep15x15s16_v2(). In the 2.0.0 release,
-///   fcvFilterCorrSep15x15s16_v2 will be renamed to fcvFilterCorrSep15x15s16
-///   and the signature of fcvFilterCorrSep15x15s16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b NOTE: array must be 16 elements with kernel[15]=0
-///   \n\b NOTE: Normalized to Q1.15
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///   \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Must be same size as src
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dst
-///   Output correlation. Border values are ignored in this function.
-///   \n\b NOTE: Must be same size as src
-///   \n\b NOTE: data should be 128-bit aligned
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep15x15s16( const int16_t* __restrict kernel,
-                          const int16_t*            src,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          int16_t* __restrict       tmpImg,
-                          int16_t*                  dst );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   15x15 FIR filter (convolution) with seperable kernel.
-///   If srcImg and dstImg point to the same address
-///   and srcStride equals to dstStride, it will do in-place.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterCorrSep15x15s16() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterCorrSep15x15s16,
-///   \a fcvFilterCorrSep15x15s16_v2 will be removed, and the current signature
-///   for \a fcvFilterCorrSep15x15s16 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterCorrSep15x15s16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b NOTE: array must be 16 elements with kernel[15]=0
-///   \n\b NOTE: Normalized to Q1.15
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcImg
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image tile width.
-///   \n\b WARNING: should be multiple of 8.
-///   \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-///   Image tile height.
-///
-/// @param srcStride
-///   source Image width
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Size = width * ( height + knlSize - 1 )
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-///   Output correlation. Border values are ignored in this function.
-///   \n\b NOTE: Size = dstStride * srcHeigth
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-///   dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep15x15s16_v2( const int16_t* __restrict kernel,
-                             const int16_t*            srcImg,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             unsigned int              srcStride,
-                             int16_t* __restrict       tmpImg,
-                             int16_t*                  dstImg,
-                             unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   17x17 correlation with separable kernel.
-///   If src and dst point to the same address, it will do in-place.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterCorrSep17x17s16_v2(). In the 2.0.0 release,
-///   fcvFilterCorrSep17x17s16_v2 will be renamed to fcvFilterCorrSep17x17s16
-///   and the signature of fcvFilterCorrSep17x17s16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b NOTE: Normalized to Q1.15
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///   \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dst
-///   Output correlation.. Border values are ignored in this function.
-///   \n\b NOTE: Must be same size as src
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep17x17s16( const int16_t* __restrict kernel,
-                          const int16_t*            src,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          int16_t* __restrict       tmpImg,
-                          int16_t*                  dst );
-
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   17x17 FIR filter (convolution) with seperable kernel.
-///   If srcImg and dstImg point to the same address
-///   and srcStride equals to dstStride, it will do in-place.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterCorrSep17x17s16() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterCorrSep17x17s16,
-///   \a fcvFilterCorrSep17x17s16_v2 will be removed, and the current signature
-///   for \a fcvFilterCorrSep17x17s16 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterCorrSep17x17s16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcImg
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image tile width.
-///
-/// @param srcHeight
-///   Image tile height.
-///
-/// @param srcStride
-///   source Image width
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Size = width * ( height + knlSize - 1 )
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-///   Output correlation. Border values are ignored in this function.
-///   \n\b NOTE: Size = dstStride * srcHeigth
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-///   dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep17x17s16_v2( const int16_t* __restrict kernel,
-                             const int16_t*            srcImg,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             unsigned int              srcStride,
-                             int16_t* __restrict       tmpImg,
-                             int16_t*                  dstImg,
-                             unsigned int              dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   NxN correlation with separable kernel.
-///   If srcImg and dstImg point to the same address
-///   and srcStride equals to dstStride, it will do in-place.
-///
-/// @param kernel
-///   1-D kernel.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param knlSize
-///   Seperable kernel size.
-///
-/// @param srcImg
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image tile width.
-///
-/// @param srcHeight
-///   Image tile height.
-///
-/// @param srcStride
-///   source Image width
-///
-/// @param tmpImg
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Size = width * ( height + knlSize - 1 )
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-///   Output correlation. Border values are ignored in this function.
-///   \n\b NOTE: Size = dstStride * srcHeigth
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-///   dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSepNxNs16( const int16_t* __restrict kernel,
-                        int                       knlSize,
-                        const int16_t*            srcImg,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        int16_t* __restrict       tmpImg,
-                        int16_t*                  dstImg,
-                        unsigned int              dstStride );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   MxN correlation with separable kernel.
-///
-/// @param kernelX
-///   1-D kernel of int8_t. The kernel is first applied to rows.
-///   kernelX has Q factor equal to shift.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param knlSizeX
-///   Seperable kernel size of kernelX.
-///   \n\b NOTE: kenrelX must be <= 32.
-///
-/// @param kernelY
-///   1-D kernel of int8_t. The kernel is applied to columns after kernelX
-///   is applied. It could be the same buffer as kernelX which makes it a
-///   NxN symetric kernel.
-///   kernelY has Q factor equal to shift.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param knlSizeY
-///   Seperable kernel size of kernelY.
-///
-/// @param shift
-///   The Q factor of kernels. Output is right-shifted by 2*shift to compensate for two rounds of filtering
-///
-/// @param srcImg
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Src image stride, stride of image is the number of bytes between column 0 of
-///   row 1 and column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dstImg
-///   Output correlation. Can do in-place filtering (i.e. dstImg=srcImg).
-///   \n\b NOTE: Size = dstStride * srcHeigth
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-///   Output stride, stride of image is the number of bytes between column 0 of
-///   row 1 and column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCorrSepMxNu8( const int8_t*               kernelX,
-                       uint32_t                    knlSizeX,
-                       const int8_t*               kernelY,
-                       uint32_t                    knlSizeY,
-                       int8_t                      shift,
-                       const uint8_t*              srcImg,
-                       uint32_t                    srcWidth,
-                       uint32_t                    srcHeight,
-                       uint32_t                    srcStride,
-                       uint8_t*                    dstImg,
-                       uint32_t                    dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Calculates the mean and variance of intensities of a rectangle in a
-///   grayscale image.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageIntensityStats_v2(). In the 2.0.0 release,
-///   fcvImageIntensityStats_v2 will be renamed to fcvImageIntensityStats
-///   and the signature of fcvImageIntensityStats as it appears now,
-///   will be removed.
-///   This API is the same as fcvImageIntensityStats_v2 with
-///   FASTCV_UNBIASED_VARIANCE_ESTIMATOR
-///   \n\n
-///
-/// @param src
-///   pointer to 8-bit grayscale image
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of source image
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param xBegin
-///   x coordinate of top left of rectangle
-///
-/// @param yBegin
-///   y coordinate of top left of rectangle
-///
-/// @param recWidth
-///   width of rectangular region
-///
-/// @param recHeight
-///   height of rectangular region
-///
-/// @param mean
-///   output of mean of region
-///
-/// @param variance
-///   output of variance of region
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageIntensityStats( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        int                       xBegin,
-                        int                       yBegin,
-                        unsigned int              recWidth,
-                        unsigned int              recHeight,
-                        float*                    mean,
-                        float*                    variance );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Calculates the mean and variance of intensities of a rectangle in a
-///   grayscale image.
-///
-/// @param src
-///   pointer to 8-bit grayscale image
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of source image
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param xBegin
-///   x coordinate of top left of rectangle
-///
-/// @param yBegin
-///   y coordinate of top left of rectangle
-///
-/// @param recWidth
-///   width of rectangular region
-///
-/// @param recHeight
-///   height of rectangular region
-///
-/// @param mean
-///   output of mean of region
-///
-/// @param variance
-///   output of variance of region
-///
-/// @param varianceEstimator
-///   variance estimator
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvImageIntensityStats_v2( const uint8_t* __restrict src,
-                           unsigned int              srcWidth,
-                           int                       xBegin,
-                           int                       yBegin,
-                           uint32_t                  recWidth,
-                           uint32_t                  recHeight,
-                           float32_t*                mean,
-                           float32_t*                variance,
-                           fcvVarianceEstimator      varianceEstimator);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a histogram of intensities for a rectangular region of a grayscale
-///   image. Bins each pixel into a histogram of size 256, depending on the
-///   intensity of the pixel (in the range 0 to 255).
-///
-/// @details
-///
-/// @param src
-///   pointer to 8-bit grayscale image
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of source image
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param xBegin
-///   x coordinate of top left of rectangle
-///
-/// @param yBegin
-///   y coordinate of top left of rectangle
-///
-/// @param recWidth
-///   Width of rectangular region
-///
-/// @param recHeight
-///   Height of rectangular region
-///
-/// @param histogram
-///   Array of size 256 for storing the histogram
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageIntensityHistogram( const uint8_t* __restrict src,
-                            unsigned int              srcWidth,
-                            int                       xBegin,
-                            int                       yBegin,
-                            unsigned int              recWidth,
-                            unsigned int              recHeight,
-                            int32_t*                  histogram  );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 8-bit image and adds an
-///   unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvIntegratePatchu8_v2(). In the 2.0.0 release,
-///   fcvIntegratePatchu8_v2 will be renamed to fcvIntegratePatchu8
-///   and the signature of fcvIntegratePatchu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE: height must be <= 2048
-///
-/// @param dst
-///   Output integral-image. Should point to a memory of size (width+1)*(height+1).
-///   Zero borders for 1st column.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegrateImageu8( const uint8_t* __restrict src,
-                     unsigned int              srcWidth,
-                     unsigned int              srcHeight,
-                     uint32_t* __restrict      dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 8-bit image and adds an
-///   unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvIntegrateImageu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvIntegrateImageu8,
-///   \a fcvIntegrateImageu8_v2 will be removed, and the current signature
-///   for \a fcvIntegrateImageu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvIntegrateImageu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE: height must be <= 2048
-///
-/// @param srcStride
-///   Stride (in bytes) of the image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-///   Output integral-image. Should point to a memory of size at least (width+1)*(height+1).
-///   Zero borders for 1st column.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride (in bytes) of integral image.
-///   \n\b WARNING: should be multiple of 32 (8 * 4-byte values).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegrateImageu8_v2( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        uint32_t* __restrict      dst,
-                        unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 8-bit patch values and their
-///   squares and adds an unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvIntegratePatchu8_v2(). In the 2.0.0 release,
-///   fcvIntegratePatchu8_v2 will be renamed to fcvIntegratePatchu8
-///   and the signature of fcvIntegratePatchu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b WARNING: height must be <= 2048
-///
-/// @param patchX
-///   Patch location on image of upper-left patch corner.
-///
-/// @param patchY
-///   Patch location on image of upper-left patch corner.
-///
-/// @param patchW
-///   Patch width.
-///
-/// @param patchH
-///   Patch height.
-///
-/// @param intgrlImgOut
-///   Integral image.
-///   Zero borders for 1st column.
-///   \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-/// @param intgrlSqrdImgOut
-///   Integral image of squared values.
-///   \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatchu8( const uint8_t* __restrict src,
-                     unsigned int              srcWidth,
-                     unsigned int              srcHeight,
-                     int                       patchX,
-                     int                       patchY,
-                     unsigned int              patchW,
-                     unsigned int              patchH,
-                     uint32_t* __restrict      intgrlImgOut,
-                     uint32_t* __restrict      intgrlSqrdImgOut );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 8-bit patch values and their
-///   squares and adds an unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvIntegratePatchu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvIntegratePatchu8,
-///   \a fcvIntegratePatchu8_v2 will be removed, and the current signature
-///   for \a fcvIntegratePatchu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvIntegratePatchu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b WARNING: height must be <= 2048
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param patchX
-///   Patch location on image of upper-left patch corner.
-///
-/// @param patchY
-///   Patch location on image of upper-left patch corner.
-///
-/// @param patchW
-///   Patch width.
-///   \n\b WARNING: (patchW * patchH) should be less than 66051, to avoid overflow.
-///
-/// @param patchH
-///   Patch height.
-///   \n\b WARNING: (patchW * patchH) should be less than 66051, to avoid overflow.
-///
-/// @param intgrlImgOut
-///   Integral image.
-///   Zero borders for 1st column.
-///   \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-/// @param intgrlSqrdImgOut
-///   Integral image of squared values.
-///   \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatchu8_v2( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        int                       patchX,
-                        int                       patchY,
-                        unsigned int              patchW,
-                        unsigned int              patchH,
-                        uint32_t* __restrict      intgrlImgOut,
-                        uint32_t* __restrict      intgrlSqrdImgOut );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 8-bit patch values and their
-///   squares and adds an unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvIntegratePatchu8() and fcvIntegratePatchu8_v2() with the addition of
-///   extra parameters. This function has been added to allow for backward
-///   compatibility with the original function. When the 2.0.0 release of this
-///   library is made, this function will be renamed to: \a fcvIntegratePatchu8,
-///   \a fcvIntegratePatchu8_v2 and fcvIntegratePatchu8_v3 will be removed, and
-///   the current signature for \a fcvIntegratePatchu8 and fcvIntegratePatchu8_v2
-///   will be removed. Until 2.0.0, the developer should use this implementation
-///   with the expectation of renaming it to \a fcvIntegratePatchu8 when
-///   transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b WARNING: height must be <= 2048
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b WARNING: should be multiple of 8 .
-///
-/// @param patchX
-///   X coordinate of upper-left patch corner.
-///
-/// @param patchY
-///   Y coordinate of upper-left patch corner.
-///
-/// @param patchW
-///   Patch width.
-///   \n\b WARNING: (patchW * patchH) should be less than 66051, to avoid overflow.
-///
-/// @param patchH
-///   Patch height.
-///   \n\b WARNING: (patchW * patchH) should be less than 66051, to avoid overflow.
-///
-/// @param intgrlImgOut
-///   Integral image.
-///   Zero borders for 1st column.
-///   \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-/// @param intgrlStride
-///   Stride in bytes of the Integral Image
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param intgrlSqrdImgOut
-///   Integral image of squared values.
-///   \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-/// @param intgrlSqrdStride
-///   Stride in bytes of the Squared Integral Image
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvIntegratePatchu8_v3(const uint8_t* __restrict src,
-                       uint32_t    srcWidth,
-                       uint32_t    srcHeight,
-                       uint32_t    srcStride,
-                       uint32_t    patchX,
-                       uint32_t    patchY,
-                       uint32_t    patchW,
-                       uint32_t    patchH,
-                       uint32_t* __restrict      intgrlImgOut,
-                       uint32_t    intgrlStride,
-                       uint32_t* __restrict      intgrlSqrdImgOut,
-                       uint32_t    intgrlSqrdStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 12x12 8-bit patch values and
-///   their squares.  It also adds an unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvIntegratePatch12x12u8_v2(). In the 2.0.0 release,
-///   fcvIntegratePatch12x12u8_v2 will be renamed to fcvIntegratePatch12x12u8
-///   and the signature of fcvIntegratePatch12x12u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param patchX
-///   Patch location on image of upper-left patch corner.
-///
-/// @param patchY
-///   Patch location on image of upper-left patch corner.
-///
-/// @param intgrlImgOut
-///   Integral image.
-///   Zero borders for 1st column.
-///   \n\b NOTE: Memory must be > (12+1)(12+1)
-///
-/// @param intgrlSqrdImgOut
-///   Integral image of squared values.
-///   \n\b NOTE: Memory must be > (12+1)(12+1)
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatch12x12u8( const uint8_t* __restrict src,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          int                       patchX,
-                          int                       patchY,
-                          uint32_t* __restrict      intgrlImgOut,
-                          uint32_t* __restrict      intgrlSqrdImgOut );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 12x12 8-bit patch values and
-///   their squares.  It also adds an unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvIntegratePatch12x12u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvIntegratePatch12x12u8,
-///   \a fcvIntegratePatch12x12u8_v2 will be removed, and the current signature
-///   for \a fcvIntegratePatch12x12u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvIntegratePatch12x12u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///   \n\b WARNING: do not use - under construction.
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param patchX
-///   Patch location on image of upper-left patch corner.
-///
-/// @param patchY
-///   Patch location on image of upper-left patch corner.
-///
-/// @param intgrlImgOut
-///   Integral image.
-///   Zero borders for 1st column.
-///   \n\b NOTE: Memory must be > (12+1)(12+1)
-///
-/// @param intgrlSqrdImgOut
-///   Integral image of squared values.
-///   \n\b NOTE: Memory must be > (12+1)(12+1)
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatch12x12u8_v2( const uint8_t* __restrict src,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             unsigned int              srcStride,
-                             int                       patchX,
-                             int                       patchY,
-                             uint32_t* __restrict      intgrlImgOut,
-                             uint32_t* __restrict      intgrlSqrdImgOut );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 18x18 8-bit patch values and
-///   their squares.  It also adds an unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvIntegratePatch18x18u8_v2(). In the 2.0.0 release,
-///   fcvIntegratePatch18x18u8_v2 will be renamed to fcvIntegratePatch18x18u8
-///   and the signature of fcvIntegratePatch18x18u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param srcWidth
-///   Image srcWidth.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param patchX
-///   Patch location on image of upper-left patch corner.
-///
-/// @param patchY
-///   Patch location on image of upper-left patch corner.
-///
-/// @param intgrlImgOut
-///   Integral image.
-///   Zero borders for 1st column.
-///   \n\b NOTE: Memory must be > (18+1)(18+1)
-///
-/// @param intgrlSqrdImgOut
-///   Integral image of squared values.
-///   \n\b NOTE: Memory must be > (18+1)(18+1)
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatch18x18u8( const uint8_t* __restrict src,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          int                       patchX,
-                          int                       patchY,
-                          uint32_t* __restrict      intgrlImgOut,
-                          uint32_t* __restrict      intgrlSqrdImgOut );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 18x18 8-bit patch values and
-///   their squares.  It also adds an unfilled border on top and to the left.
-///   \n NOTE: border usually zero filled elsewhere.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvIntegratePatch18x18u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvIntegratePatch18x18u8,
-///   \a fcvIntegratePatch18x18u8_v2 will be removed, and the current signature
-///   for \a fcvIntegratePatch18x18u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvIntegratePatch18x18u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   sum (X,Y) = sum_{x<X,y<Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Image srcWidth.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param patchX
-///   Patch location on image of upper-left patch corner.
-///
-/// @param patchY
-///   Patch location on image of upper-left patch corner.
-///
-/// @param intgrlImgOut
-///   Integral image.
-///   Zero borders for 1st column.
-///   \n\b NOTE: Memory must be > (18+1)(18+1)
-///
-/// @param intgrlSqrdImgOut
-///   Integral image of squared values.
-///   \n\b NOTE: Memory must be > (18+1)(18+1)
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatch18x18u8_v2( const uint8_t* __restrict src,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             unsigned int              srcStride,
-                             int                       patchX,
-                             int                       patchY,
-                             uint32_t* __restrict      intgrlImgOut,
-                             uint32_t* __restrict      intgrlSqrdImgOut );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Integrates one line of an image or any portion of an image that is
-///   contiguous in memory.
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Number of pixels.
-///   \n NOTE: bit width enforces numPxls < 2^16
-///
-/// @param intgrl
-///   Sum of values from specified pixels.
-///
-/// @param intgrlSqrd
-///   Sum of squared values from specified pixels.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegrateImageLineu8( const uint8_t* __restrict src,
-                         uint16_t                  srcWidth,
-                         uint32_t*                 intgrl,
-                         uint32_t*                 intgrlSqrd );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Integrates 64 contiguous pixels of an image.
-///
-/// @param src
-///   Input image.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param intgrl
-///   Sum of values from specified pixels.
-///
-/// @param intgrlSqrd
-///   Sum of squared values from specified pixels.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegrateImageLine64u8( const uint8_t* __restrict src,
-                           uint16_t*                 intgrl,
-                           uint32_t*                 intgrlSqrd );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   compute approximate mean and variance for the range of NFT4 float
-///   descriptors where descriptor elements along dimension are treated
-///   as random vars
-///
-/// @param src
-///   contiguous block of descriptors of dimension 36
-///
-/// @param first
-///   index of the first descriptor in range array vind for computing mean and var
-///
-/// @param last
-///   index of the last descriptor in range array vind for computing mean and range
-///
-/// @param vind
-///   array of randomized indexes of descriptors
-///
-/// @param means
-///   buffer for approximate means, must be 36 long
-///
-/// @param vars
-///   buffer for approximate variances, must be 36 long
-///
-/// @param temp
-///   bufffer, must be 46 long
-///
-/// @return
-///   0        - success
-///   EFAULT   - invalid address
-///   EINVAL   - invalid argument
-///
-/// @remark
-///   If descriptor range is > 100 then only
-///   100 samples are drawn from the range to compute
-///   approximate means and variances.
-///
-///   Variances computed here do not have to be true variances because their
-///   values do not matter in kdtrees. The only thing that matters is that
-///   the ordering relation of variances is preserved
-///
-///
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvDescriptorSampledMeanAndVar36f32( const float* __restrict src,
-                                     int                     first,
-                                     int                     last,
-                                     int32_t*                vind,
-                                     float* __restrict       means,
-                                     float* __restrict       vars,
-                                     float* __restrict       temp );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Searches a 8x8 patch within radius around a center pixel for the max NCC.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvNCCPatchOnCircle8x8u8_v2(). In the 2.0.0 release,
-///   fcvNCCPatchOnCircle8x8u8_v2 will be renamed to fcvNCCPatchOnCircle8x8u8
-///   and the signature of fcvNCCPatchOnCircle8x8u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param patch
-///   Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param src
-///   Pointer to 8-bit image pixel values linearly laid out in memory.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width in pixels of the image.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height in pixels of the image.
-///
-/// @param search_center_x
-///   X location of search center in pixels of the image.
-///
-/// @param search_center_y
-///   Y location of search center in pixels of the image.
-///
-/// @param search_radius
-///   Radius of search in pixels. Must be <=5.
-///
-/// @param best_x
-///   Center X location on the image of the best NCC match.  The center X has
-///   4 pixels to the left and 3 to the right.
-///
-/// @param best_y
-///   Center Y location on the image of the best NCC match.  The center Y has
-///   4 pixels above and 3 pixels below.
-///
-/// @param bestNCC
-///   Largest value of the normalized cross-correlation found in the NCC search.
-///   It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param findSubPixel (0 or 1)
-///   Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-///   Sub-pixel estimate for optimal NCC relative to best_x.
-///   \n e.g., float x = (float)best_x + subX;
-///
-/// @param subY
-///   Sub-pixel estimate for optimal NCC relative to best_y.
-///
-/// @return
-///   0 = OK \n
-///   1 = "search_radius" too large\n
-///   2 = invalid "search_center_x,y"\n
-///   3 = not found\n
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvNCCPatchOnCircle8x8u8( const uint8_t* __restrict patch,
-                          const uint8_t* __restrict src,
-                          unsigned short            srcWidth,
-                          unsigned short            srcHeight,
-                          unsigned short            search_center_x,
-                          unsigned short            search_center_y,
-                          unsigned short            search_radius,
-                          uint16_t*                 best_x,
-                          uint16_t*                 best_y,
-                          uint32_t*                 bestNCC,
-                          int                       findSubPixel,
-                          float*                    subX,
-                          float*                    subY );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Searches a 8x8 patch within radius around a center pixel for the max NCC.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvNCCPatchOnCircle8x8u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvNCCPatchOnCircle8x8u8,
-///   \a fcvNCCPatchOnCircle8x8u8_v2 will be removed, and the current signature
-///   for \a fcvNCCPatchOnCircle8x8u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvNCCPatchOnCircle8x8u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param patch
-///   Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param src
-///   Pointer to 8-bit image pixel values linearly laid out in memory.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width in pixels of the image.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height in pixels of the image.
-///
-/// @param search_center_x
-///   X location of search center in pixels of the image.
-///
-/// @param search_center_y
-///   Y location of search center in pixels of the image.
-///
-/// @param search_radius
-///   Radius of search in pixels. Must be <=5.
-///
-/// @param filterLowVariance
-///   Minimum variance. Used to as threshold to compare against variance of
-///   8x8 block of src or patch.
-///
-/// @param best_x
-///   Center X location on the image of the best NCC match.  The center X has
-///   4 pixels to the left and 3 to the right.
-///
-/// @param best_y
-///   Center Y location on the image of the best NCC match.  The center Y has
-///   4 pixels above and 3 pixels below.
-///
-/// @param bestNCC
-///   Largest value of the normalized cross-correlation found in the NCC search.
-///   It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param findSubPixel (0 or 1)
-///   Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-///   Sub-pixel estimate for optimal NCC relative to best_x.
-///   \n e.g., float x = (float)best_x + subX;
-///
-/// @param subY
-///   Sub-pixel estimate for optimal NCC relative to best_y.
-///
-/// @return
-///   0 = OK \n
-///   1 = "search_radius" too large\n
-///   2 = invalid "search_center_x,y"\n
-///   3 = not found\n
-///   4 = Patch has too low variance\n
-///   5 = Image region has too low variance\n
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvNCCPatchOnCircle8x8u8_v2( const uint8_t* __restrict patch,
-                             const uint8_t* __restrict src,
-                             unsigned short            srcWidth,
-                             unsigned short            srcHeight,
-                             unsigned short            search_center_x,
-                             unsigned short            search_center_y,
-                             unsigned short            search_radius,
-                             int                       filterLowVariance,
-                             uint16_t*                 best_x,
-                             uint16_t*                 best_y,
-                             uint32_t*                 bestNCC,
-                             int                       findSubPixel,
-                             float*                    subX,
-                             float*                    subY );
-
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Searches a 8x8 patch within square region around a center pixel
-///   for the max NCC.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvNCCPatchOnSquare8x8u8_v2(). In the 2.0.0 release,
-///   fcvNCCPatchOnSquare8x8u8_v2 will be renamed to fcvNCCPatchOnSquare8x8u8
-///   and the signature of fcvNCCPatchOnSquare8x8u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param patch
-///   Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param src
-///   Pointer to 8-bit image pixel values linearly laid out in memory.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width in pixels of the image.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height in pixels of the image.
-///
-/// @param search_center_x
-///   Center X coordinate of the search window
-///
-/// @param search_center_y
-///   Center Y coordinate of the search window
-///
-/// @param search_w
-///   Width of search square in pixels
-///   \n\b WARNING: must be 11 or less.
-///
-/// @param best_x
-///   Center X location on the image of the best NCC match.  The center X has
-///   4 pixels to the left and 3 to the right.
-///
-/// @param best_y
-///   Center Y location on the image of the best NCC match.  The center Y has
-///   4 pixels above and 3 pixels below.
-///
-/// @param bestNCC
-///   NCC value of the best match block.
-///   It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param doSubPixel (0 or 1)
-///   Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-///   Sub-pixel estimate for optimal NCC relative to best_x.
-///   \n e.g., float x = (float)best_x + subX;
-///
-/// @param subY
-///   Sub-pixel estimate for optimal NCC relative to best_y.
-///
-/// @return
-///   0 = OK \n
-///   1 = "search_radius" too large\n
-///   2 = invalid "search_center_x,y"\n
-///   3 = not found\n
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvNCCPatchOnSquare8x8u8( const uint8_t* __restrict patch,
-                          const uint8_t* __restrict src,
-                          unsigned short            srcWidth,
-                          unsigned short            srcHeight,
-                          unsigned short            search_center_x,
-                          unsigned short            search_center_y,
-                          unsigned short            search_w,
-                          uint16_t*                 best_x,
-                          uint16_t*                 best_y,
-                          uint32_t*                 bestNCC,
-                          int                       doSubPixel,
-                          float*                    subX,
-                          float*                    subY );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Searches a 8x8 patch within square region around a center pixel
-///   for the max NCC.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvNCCPatchOnSquare8x8u8 with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvNCCPatchOnSquare8x8u8,
-///   \a fcvNCCPatchOnSquare8x8u8_v2 will be removed, and the current signature
-///   for \a fcvNCCPatchOnSquare8x8u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvNCCPatchOnSquare8x8u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param patch
-///   Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param src
-///   Pointer to 8-bit image pixel values linearly laid out in memory.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width in pixels of the image.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height in pixels of the image.
-///
-/// @param search_center_x
-///   Center X coordinate of the search window
-///
-/// @param search_center_y
-///   Center Y coordinate of the search window
-///
-/// @param search_w
-///   Width of search square in pixels
-///   \n\b WARNING: must be 11 or less.
-///
-/// @param filterLowVariance
-///   Minimum variance. Used to as threshold to compare against variance of
-///   8x8 block of src or patch.
-///
-/// @param best_x
-///   Center X location on the image of the best NCC match.  The center X has
-///   4 pixels to the left and 3 to the right.
-///
-/// @param best_y
-///   Center Y location on the image of the best NCC match.  The center Y has
-///   4 pixels above and 3 pixels below.
-///
-/// @param bestNCC
-///   NCC value of the best match block.
-///   It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param doSubPixel (0 or 1)
-///   Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-///   Sub-pixel estimate for optimal NCC relative to best_x.
-///   \n e.g., float x = (float)best_x + subX;
-///
-/// @param subY
-///   Sub-pixel estimate for optimal NCC relative to best_y.
-///
-/// @return
-///   0 = OK \n
-///   1 = "search_radius" too large\n
-///   2 = invalid "search_center_x,y"\n
-///   3 = not found\n
-///   4 = Patch has too low variance\n
-///   5 = Image region has too low variance\n
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvNCCPatchOnSquare8x8u8_v2( const uint8_t* __restrict patch,
-                             const uint8_t* __restrict src,
-                             unsigned short            srcWidth,
-                             unsigned short            srcHeight,
-                             unsigned short            search_center_x,
-                             unsigned short            search_center_y,
-                             unsigned short            search_w,
-                             int                       filterLowVariance,
-                             uint16_t*                 best_x,
-                             uint16_t*                 best_y,
-                             uint32_t*                 bestNCC,
-                             int                       doSubPixel,
-                             float*                    subX,
-                             float*                    subY );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sum of absolute differences of an image against an 8x8 template.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvSumOfAbsoluteDiffs8x8u8_v2(). In the 2.0.0 release,
-///   fcvSumOfAbsoluteDiffs8x8u8_v2 will be renamed to fcvSumOfAbsoluteDiffs8x8u8
-///   and the signature of fcvSumOfAbsoluteDiffs8x8u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   8x8 sum of ||A-B||. The template patch is swept over the entire image and
-///   the results are put in dst.
-///
-/// @param patch
-///   8x8 template
-///
-/// @param src
-///   Reference Image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///    Width of the src image.
-///
-/// @param srcHeight
-///    Height of the src image.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param dst
-///   The dst buffer shall be width X height bytes in length.
-///   Output of SAD(A,B). dst[4][4] correspondes to the 0,0 pixel of the template
-///   aligned with the 0,0 pixel of src. The dst border values not covered by
-///   entire 8x8 patch window will remain unmodified by the function. The caller
-///   should either initialize these to 0 or ignore.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfAbsoluteDiffs8x8u8( const uint8_t* __restrict patch,
-                            const uint8_t* __restrict src,
-                            unsigned int              srcWidth,
-                            unsigned int              srcHeight,
-                            unsigned int              srcStride,
-                            uint16_t* __restrict      dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sum of absolute differences of an image against an 8x8 template.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvSumOfAbsoluteDiffs8x8u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvSumOfAbsoluteDiffs8x8u8,
-///   \a fcvSumOfAbsoluteDiffs8x8u8_v2 will be removed, and the current signature
-///   for \a fcvSumOfAbsoluteDiffs8x8u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvSumOfAbsoluteDiffs8x8u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   8x8 sum of ||A-B||. The template patch is swept over the entire image and
-///   the results are put in dst.
-///
-/// @param patch
-///   8x8 template
-///
-/// @param patchStride
-///   Stride of the 8x8 template buffer
-///
-/// @param dstStride
-///   Stride of the patch (in bytes) - i.e., how many bytes between column 0 of row N
-///   and column 0 of row N+1.
-///
-/// @param src
-///   Reference Image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///    Width of the src image.
-///
-/// @param srcHeight
-///    Height of the src image.
-///
-/// @param srcStride
-///   Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
-///   and column 0 of row N+1.
-///
-/// @param dst
-///   The dst buffer shall be at least ( width x height ) values in length.
-///   Output of SAD(A,B). dst[4][4]correspondes to the 0,0 pixel of the template
-///   aligned with the 0,0 pixel of src. The dst border values not covered by
-///   entire 8x8 patch window will remain unmodified by the function. The caller
-///   should either initialize these to 0 or ignore.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of destination (in bytes) - i.e., how many bytes between column 0 of row N
-///   and column 0 of row N+1.
-///
-///
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfAbsoluteDiffs8x8u8_v2( const uint8_t* __restrict patch,
-                               unsigned int              patchStride,
-                               const uint8_t* __restrict src,
-                               unsigned int              srcWidth,
-                               unsigned int              srcHeight,
-                               unsigned int              srcStride,
-                               uint16_t* __restrict      dst,
-                               unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Down-scale the image to half width and height by averaging 2x2 pixels
-///   into one.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvScaleDownBy2u8_v2(). In the 2.0.0 release,
-///   fcvScaleDownBy2u8_v2 will be renamed to fcvScaleDownBy2u8
-///   and the signature of fcvScaleDownBy2u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   A box filter downsampling the next pixel, the pixel below, and the next
-///   pixel to the pixel below into one pixel.\n
-///   | px00 px01 px02 px03 |\n
-///   | px10 px11 px12 px13 |\n
-///   to:\n
-///   | (px00+px01+px10+px11)/4 (px02+px03+px12+px13)/4 |\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE:must be a multiple of 2
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is srcWidth*srcHeight/4 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownBy2u8( const uint8_t* __restrict src,
-                   unsigned int              srcWidth,
-                   unsigned int              srcHeight,
-                   uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Down-scale the image to half width and height by averaging 2x2 pixels
-///   into one.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvScaleDownBy2u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvScaleDownBy2u8,
-///   \a fcvScaleDownBy2u8_v2 will be removed, and the current signature
-///   for \a fcvScaleDownBy2u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvScaleDownBy2u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   A box filter downsampling the next pixel, the pixel below, and the next
-///   pixel to the pixel below into one pixel.\n
-///   | px00 px01 px02 px03 |\n
-///   | px10 px11 px12 px13 |\n
-///   to:\n
-///   | (px00+px01+px10+px11)/4 (px02+px03+px12+px13)/4 |\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE:must be a multiple of 2
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is dstStride*srcHeight/2 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth/2.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/2 if not 0.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownBy2u8_v2( const uint8_t* __restrict src,
-                      unsigned int              srcWidth,
-                      unsigned int              srcHeight,
-                      unsigned int              srcStride,
-                      uint8_t* __restrict       dst,
-                      unsigned int              dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Downscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvScaleDownBy2Gaussian5x5u8_v2(). In the 2.0.0 release,
-///   fcvScaleDownBy2Gaussian5x5u8_v2 will be renamed to fcvScaleDownBy2Gaussian5x5u8
-///   and the signature of fcvScaleDownBy2Gaussian5x5u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Downsamples the image using a 5x5 Gaussian filter kernel.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE:must be a multiple of 2
-///
-/// @param dst
-///   Output 8-bit downscale image of size (width / 2) x (height / 2).
-///   \n\b NOTE: border values have been taken cared w.r.t. the pixel coordinate.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownBy2Gaussian5x5u8( const uint8_t* __restrict src,
-                              unsigned int              srcWidth,
-                              unsigned int              srcHeight,
-                              uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Downscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvScaleDownBy2Gaussian5x5u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvScaleDownBy2Gaussian5x5u8,
-///   \a fcvScaleDownBy2Gaussian5x5u8_v2 will be removed, and the current signature
-///   for \a fcvScaleDownBy2Gaussian5x5u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvScaleDownBy2Gaussian5x5u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Downsamples the image using a 5x5 Gaussian filter kernel.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit downscale image of size (width / 2) x (height / 2).
-///   \n\b NOTE: border values have been taken cared w.r.t. the pixel coordinate.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth/2.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/2 if not 0.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownBy2Gaussian5x5u8_v2( const uint8_t* __restrict src,
-                                 unsigned int              srcWidth,
-                                 unsigned int              srcHeight,
-                                 unsigned int              srcStride,
-                                 uint8_t* __restrict       dst,
-                                 unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Downscale the image to quarter width and height by averaging 4x4 pixels
-///   into one..
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvScaleDownBy4u8_v2(). In the 2.0.0 release,
-///   fcvScaleDownBy4u8_v2 will be renamed to fcvScaleDownBy4u8
-///   and the signature of fcvScaleDownBy4u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   A 4x4 downsampling box filter across adjacent pixels is applied.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE:must be a multiple of 4
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is srcWidth*srcHeight/16 bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownBy4u8( const uint8_t* __restrict src,
-                    unsigned int             srcWidth,
-                    unsigned int             srcHeight,
-                    uint8_t* __restrict      dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Downscale the image to quarter width and height by averaging 4x4 pixels
-///   into one..
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvScaleDownBy4u8_v2() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvScaleDownBy4u8_v2,
-///   \a fcvScaleDownBy4u8_v2 will be removed, and the current signature
-///   for \a fcvScaleDownBy4u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvScaleDownBy4u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   A 4x4 downsampling box filter across adjacent pixels is applied.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE:must be a multiple of 4
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is dstStride*srcHeight/4 bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth/4.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/4 if not 0.
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownBy4u8_v2( const uint8_t* __restrict src,
-                      unsigned int              srcWidth,
-                      unsigned int              srcHeight,
-                      unsigned int              srcStride,
-                      uint8_t* __restrict       dst,
-                      unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Downscale the image to 2/3 width and height by averaging 3x3 pixels
-///   into one..
-///
-/// @details
-///   A 3x3 downsampling box filter across adjacent pixels is applied.
-///
-/// @param src
-///   Input 8-bit image.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: In case of non multiple of 3, it will crop to the closest multiple of 3
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE: In case of non multiple of 3, it will crop to the closest multiple of 3
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2). If 0 is passed, srcStride is set to srcWidth.
-///
-/// @param dst
-///   Output 8-bit image.
-///   \n\b WARNING: should be 128-bit aligned.
-///   Memory must be pre-allocated at least srcWidth * srcHeight * 2 / 3
-///   dstWidth  = srcWidth/3*2
-///   dstHeight = srcHeight/3*2
-///
-/// @param dstStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2). If 0 is passed, dstStride is set to dstWidth which is srcWidth *2/3.
-///
-/// @return
-///   0 if successful
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDown3To2u8( const uint8_t* __restrict src,
-                    unsigned                  srcWidth,
-                    unsigned                  srcHeight,
-                    unsigned int              srcStride,
-                    uint8_t* __restrict       dst,
-                    unsigned int              dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Downsample Horizontaly and/or Vertically by an *integer* scale.
-///
-/// @details
-///    Uses Nearest Neighbor method
-///
-/// @param src
-///   Input 8-bit image.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Source Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Source Image height.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2). If 0 is passed, srcStride is set to srcWidth.
-///
-/// @param dst
-///   Output 8-bit image.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Destination Image width.
-///
-/// @param dstHeight
-///   Destination Image height.
-///
-/// @param dstStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2). If 0 is passed, dstStride is set to dstWidth which is srcWidth *2/3.
-///
-/// @return
-///   0 if successful
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownNNu8( const uint8_t* __restrict src,
-                  unsigned int              srcWidth,
-                  unsigned int              srcHeight,
-                  unsigned int              srcStride,
-                  uint8_t* __restrict       dst,
-                  unsigned int              dstWidth,
-                  unsigned int              dstHeight,
-                  unsigned int              dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Downsample Horizontaly and/or Vertically by an *integer* scale.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvScaleDownu8_v2(). In the 2.0.0 release,
-///   fcvScaleDownu8_v2 will be renamed to fcvScaleDownu8
-///   and the signature of fcvScaleDownu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///    Uses an box averaging filter of size MxN where M is the scale factor
-///    in horizontal dimension and N is the scale factor in the vertical
-///    dimension.
-///    \n \b NOTE: input dimensions should be multiple of output dimensions.
-///    \n NOTE: On different processors, some output pixel values may be off by 1
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Source Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Source Image height.
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is dstWidth*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Destination Image width.
-///
-/// @param dstHeight
-///   Destination Image height.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownu8( const uint8_t* __restrict src,
-                unsigned int              srcWidth,
-                unsigned int              srcHeight,
-                uint8_t* __restrict       dst,
-                unsigned int              dstWidth,
-                unsigned int              dstHeight );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Downsample Horizontaly and/or Vertically by an *integer* scale.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvScaleDownu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvScaleDownu8,
-///   \a fcvScaleDownu8_v2 will be removed, and the current signature
-///   for \a fcvScaleDownu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvScaleDownu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///    Uses an box averaging filter of size MxN where M is the scale factor
-///    in horizontal dimension and N is the scale factor in the vertical
-///    dimension
-///    \n \b NOTE: input dimensions should be multiple of output dimensions.
-///    \n NOTE: On different processors, some output pixel values may be off by 1
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Source Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Source Image height.
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Destination Image width.
-///
-/// @param dstHeight
-///   Destination Image height.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownu8_v2( const uint8_t* __restrict src,
-                   unsigned int              srcWidth,
-                   unsigned int              srcHeight,
-                   unsigned int              srcStride,
-                   uint8_t* __restrict       dst,
-                   unsigned int              dstWidth,
-                   unsigned int              dstHeight,
-                   unsigned int              dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Upscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvScaleUpBy2Gaussian5x5u8_v2(). In the 2.0.0 release,
-///   fcvScaleUpBy2Gaussian5x5u8_v2 will be renamed to fcvScaleUpBy2Gaussian5x5u8
-///   and the signature of fcvScaleUpBy2Gaussian5x5u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Upsamples the image using a 5x5 Gaussian filter kernel.
-///   /n/b NOTE: border values have been taken care with Gaussion coefficients.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit upsampled image of size (2*width) x (2*height).
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleUpBy2Gaussian5x5u8( const uint8_t* __restrict src,
-                            unsigned int              srcWidth,
-                            unsigned int              srcHeight,
-                            uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Upscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvScaleUpBy2Gaussian5x5u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvScaleUpBy2Gaussian5x5u8,
-///   \a fcvScaleUpBy2Gaussian5x5u8_v2 will be removed, and the current signature
-///   for \a fcvScaleUpBy2Gaussian5x5u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvScaleUpBy2Gaussian5x5u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Upsamples the image using a 5x5 Gaussian filter kernel.
-///   /n/b NOTE: border values have been taken care with Gaussion coefficients.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit upsampled image of size (2*dstStride) x (2*srcHeight).
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth*2.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth*2 if not 0.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleUpBy2Gaussian5x5u8_v2( const uint8_t* __restrict src,
-                               unsigned int              srcWidth,
-                               unsigned int              srcHeight,
-                               unsigned int              srcStride,
-                               uint8_t* __restrict       dst,
-                               unsigned int              dstStride );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Translate to float and normalize 36 8-bit elements
-///
-/// @param src
-///   Pointer to the first input vector
-///
-/// @param invLen
-///   Pointer to inverse length of the first input vector
-///   located right after each 36 element vector
-///
-/// @param numVecs
-///   Number of vectors to translate
-///
-/// @param reqNorm
-///   Required norm
-///
-/// @param srcStride
-///   Step in bytes to data of the next vector
-///   Each vector has 36 8-bit elements and 1 float invLen
-///
-/// @param dst
-///   Pointer to contiguous block for output vectors
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param stopBuild
-///   Allows other threads to break this function in the middle of processing.
-///   When set to 1, the function will exit on the next iteration.
-///
-/// @return
-///   0        - success
-///   EFAULT   - invalid address
-///   EINVAL   - invalid argument
-///
-/// @ingroup math_vector
-// -----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvVecNormalize36s8f32( const int8_t* __restrict src,
-                        unsigned int             srcStride,
-                        const float*  __restrict invLen,
-                        unsigned int             numVecs,
-                        float                    reqNorm,
-                        float*        __restrict dst,
-                        int32_t*                 stopBuild );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Sum of squared differences of one 36-byte vector against 4 others.
-///
-/// @details
-///   SSD of one vector (a) against 4 others (b0,b1,b2,b3) using their given
-///   inverse lengths for normalization.
-///   \n\n SSD(a,b0), SSD(a,b1), SSD(a,b2), SSD(a,b3)
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-///   Inverse of vector A = 1/|A|
-///
-/// @param b0
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b1
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b2
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b3
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenB
-///   Inverse of vectors b0...b3 = 1/|b0|,... 1/|b3|
-///   \n\b WARNING: array should be 128-bit aligned
-///
-/// @param distances
-///   Output of the 4 results { SSD(a,b0), SSD(a,b1), SSD(a,b2), SSD(a,b3) }.
-///   \n ACCURACY: 1.0e-6
-///   \n\b WARNING: array should be 128-bit aligned
-///
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffs36x4s8( const int8_t* __restrict a,
-                            float                    invLenA,
-                            const int8_t* __restrict b0,
-                            const int8_t* __restrict b1,
-                            const int8_t* __restrict b2,
-                            const int8_t* __restrict b3,
-                            const float* __restrict  invLenB,
-                            float* __restrict        distances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Sum of squared differences of one 36-byte vector against N others.
-///
-/// @details
-///   SSD of one vector (a) against N other 36-byte vectors
-///   ( b[0], b[1], ..., b[n-1] )
-///   using their given inverse lengths for normalization.
-///   \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-///   Inverse of vector A = 1/|A|
-///
-/// @param b
-///   Vectors b[0]...b[n-1].
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param invLenB
-///   Inverse of vectors b[0]...b[n-1]  = 1/|b[0]|,... 1/|b[n-1]|
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param numB
-///   Number of B vectors.
-///
-/// @param distances
-///   Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }.
-///   \n ACCURACY: 1.0e-6
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffs36xNs8( const int8_t* __restrict         a,
-                            float                            invLenA,
-                            const int8_t* const * __restrict b,
-                            const float* __restrict          invLenB,
-                            unsigned int                     numB,
-                            float* __restrict                distances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Sorting of 8 float numbers
-///
-/// @details
-///   Perform sorting of 8 scores in ascending order (output of SumOfSquaredDiffs)
-///
-/// @param inScores
-///   Input 8 element float array
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param outScores
-///   Output is 8 element sorted float array
-///   \n\b WARNING: array should be 128-bit aligned
-///
-///
-///
-///   @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSort8Scoresf32( float* __restrict inScores, float* __restrict outScores );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on a threshold value.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterThresholdu8_v2(). In the 2.0.0 release,
-///   fcvFilterThresholdu8_v2 will be renamed to fcvFilterThresholdu8
-///   and the signature of fcvFilterThresholdu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Sets the pixel to max(255) if it's value is greater than the threshold;
-///   else, set the pixel to min(0).
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit binarized image. Size of buffer is srcWidth*srcHeight bytes.
-///   If src equals to dst, it will do in-place.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param threshold
-///   Threshold value for binarization.
-///   \n\b WARNING: must be larger than 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterThresholdu8( const uint8_t*            src,
-                      unsigned int              srcWidth,
-                      unsigned int              srcHeight,
-                      uint8_t*                  dst,
-                      unsigned int              threshold );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on a threshold value.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterThresholdu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterThresholdu8,
-///   \a fcvFilterThresholdu8_v2 will be removed, and the current signature
-///   for \a fcvFilterThresholdu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterThresholdu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Sets the pixel to max(255) if it's value is greater than the threshold;
-///   else, set the pixel to min(0).
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-///   If src equals to dst and srcStride equals to dstStride, it will do in-place.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param threshold
-///   Threshold value for binarization.
-///   \n\b WARNING: must be larger than 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterThresholdu8_v2( const uint8_t*            src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         unsigned int              srcStride,
-                         uint8_t*                  dst,
-                         unsigned int              dstStride,
-                         unsigned int              threshold );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on a threshold value.
-///   The binarized image will be in the two values selected by user.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterThresholdu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterThresholdu8,
-///   \a fcvFilterThresholdu8_v3 will be removed, and the current signature
-///   for \a fcvFilterThresholdu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterThresholdu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Sets the pixel to max(255) if it's value is greater than the threshold;
-///   else, set the pixel to min(0).
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-///   If src equals to dst and srcStride equals to dstStride, it will do in-place.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param threshold
-///   Threshold value for binarization.
-///   \n\b WARNING: must be larger than 0.
-///
-/// @param trueValue
-///   The value in type of uint8_t assigned to the destination pixel if the source is larger than threshold
-///
-/// @param falseValue
-///   The value in type of uint8_t assigned to the destination pixel if the source is smaller than or equal to threshold
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterThresholdu8_v3( const uint8_t*            src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        uint8_t*                  dst,
-                        unsigned int              dstStride,
-                        unsigned int              threshold,
-                        uint8_t                   trueValue,
-                        uint8_t                   falseValue);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on a pair of threshold values.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterThresholdRangeu8_v2(). In the 2.0.0 release,
-///   fcvFilterThresholdRangeu8_v2 will be renamed to fcvFilterThresholdRangeu8
-///   and the signature of fcvFilterThresholdRangeu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Sets the pixel to min(0) if it's value is greater than the higher threshold
-///   or smaller than the lower threshold;
-///   else, set the pixel to max(255).
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-///   If src equals to dst and srcStride equals to dstStride, it will do in-place.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param lowThresh
-///   The lower threshold value for binarization.
-///
-/// @param highThresh
-///   The higher threshold value for binarization.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterThresholdRangeu8( const uint8_t* src,
-                           uint32_t srcWidth,
-                           uint32_t srcHeight,
-                           uint32_t srcStride,
-                           uint8_t* dst,
-                           uint32_t dstStride,
-                           uint8_t lowThresh,
-                           uint8_t highThresh );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on a pair of threshold values.
-///   The binarized image will be in the two values selected by user.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterThresholdRangeu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterThresholdRangeu8,
-///   \a fcvFilterThresholdRangeu8_v2 will be removed, and the current signature
-///   for \a fcvFilterThresholdRangeu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterThresholdRangeu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Sets the pixel to min(0) if it's value is greater than the higher threshold
-///   or smaller than the lower threshold;
-///   else, set the pixel to max(255).
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-///   If src equals to dst and srcStride equals to dstStride, it will do in-place.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param lowThresh
-///   The lower threshold value for binarization.
-///
-/// @param highThresh
-///   The higher threshold value for binarization.
-///
-/// @param trueValue
-///   The value in type of uint8_t assigned to the destination pixel if the source is
-///   within the range inclusively defined by the pair of threshold values
-///
-/// @param falseValue
-///   The value in type of uint8_t assigned to the destination pixel if the source is
-///   out of the range defined by the pair of threshold values
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterThresholdRangeu8_v2( const uint8_t*    src,
-                                uint32_t        srcWidth,
-                                uint32_t        srcHeight,
-                                uint32_t        srcStride,
-                                uint8_t*        dst,
-                                uint32_t        dstStride,
-                                uint8_t         lowThresh,
-                                uint8_t         highThresh,
-                                uint8_t         trueValue,
-                                uint8_t         falseValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterDilate3x3u8_v2(). In the 2.0.0 release,
-///   fcvFilterDilate3x3u8_v2 will be renamed to fcvFilterDilate3x3u8
-///   and the signature of fcvFilterDilate3x3u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit dilated image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterDilate3x3u8( const uint8_t* __restrict src,
-                      unsigned int              srcWidth,
-                      unsigned int              srcHeight,
-                      uint8_t* __restrict       dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterDilate3x3u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterDilate3x3u8,
-///   \a fcvFilterDilate3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterDilate3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterDilate3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterDilate3x3u8_v2( const uint8_t* __restrict src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         unsigned int              srcStride,
-                         uint8_t* __restrict       dst,
-                         unsigned int              dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Erode a grayscale image by taking the local minima of 3x3 neighborhood window.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterErode3x3u8_v2(). In the 2.0.0 release,
-///   fcvFilterErode3x3u8_v2 will be renamed to fcvFilterErode3x3u8
-///   and the signature of fcvFilterErode3x3u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output 8-bit eroded image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterErode3x3u8( const uint8_t* __restrict src,
-                     unsigned int              srcWidth,
-                     unsigned int              srcHeight,
-                     uint8_t* __restrict       dst );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Erode a grayscale image by taking the local minima of 3x3 nbhd window.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterErode3x3u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterErode3x3u8,
-///   \a fcvFilterErode3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterErode3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterErode3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterErode3x3u8_v2( const uint8_t* __restrict src,
-                        unsigned int              srcWidth,
-                        unsigned int              srcHeight,
-                        unsigned int              srcStride,
-                        uint8_t* __restrict       dst,
-                        unsigned int              dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Warps the patch centered at nPos in the input image using the affine
-///   transform in nAffine
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvTransformAffine8x8u8_v2(). In the 2.0.0 release,
-///   fcvTransformAffine8x8u8_v2 will be renamed to fcvTransformAffine8x8u8
-///   and the signature of fcvTransformAffine8x8u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param nPos[ 2 ]
-///   Position in the image in 32 bit fixed point (Q16)
-///   \n\b NOTE: if any 1 coordinates of the warped square are inside the image, return 1 and
-///   \n   leave function. Otherwise, return 0.
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param nAffine[ 2 ][ 2 ]
-///   Transformation matrix in 32 bit fixed point (Q16). The matrix stored
-///    in nAffine is using row major ordering: \n
-///    a11, a12, a21, a22 where the matrix is: \n
-///    | a11, a12 |\n
-///    | a21, a22 |\n
-///
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param nPatch
-///   Transformed patch.
-///
-/// @return
-///   0 if the transformation is valid
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvTransformAffine8x8u8( const uint8_t* __restrict src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         const int32_t* __restrict nPos,
-                         const int32_t* __restrict nAffine,
-                         uint8_t* __restrict       nPatch );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Warps the patch centered at nPos in the input image using the affine
-///   transform in nAffine
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvTransformAffine8x8u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvTransformAffine8x8u8,
-///   \a fcvTransformAffine8x8u8_v2 will be removed, and the current signature
-///   for \a fcvTransformAffine8x8u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvTransformAffine8x8u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
-///   and column 0 of row N+1.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: must be at least as much as srcWidth if not 0.
-///
-/// @param nPos[ 2 ]
-///   Position in the image in 32 bit fixed point (Q16)
-///   \n\b NOTE: if any 1 coordinates of the warped square are inside the image, return 1 and
-///   \n   leave function. Otherwise, return 0.
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param nAffine[ 2 ][ 2 ]
-///   Transformation matrix in 32 bit fixed point (Q16). The matrix stored
-///    in nAffine is using row major ordering: \n
-///    a11, a12, a21, a22 where the matrix is: \n
-///    | a11, a12 |\n
-///    | a21, a22 |\n
-///
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param patch
-///   Transformed patch.
-///
-/// @param patchStride
-///   Stride of patch (in bytes) - i.e., how many bytes between column 0 of row N
-///   and column 0 of row N+1.
-///   \n\b NOTE: if 0, srcStride is set as 8.
-///   \n\b WARNING: must be at least as much as 8 if not 0.
-///
-/// @return
-///   0 if the transformation is valid
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvTransformAffine8x8u8_v2( const uint8_t* __restrict src,
-                            unsigned int              srcWidth,
-                            unsigned int              srcHeight,
-                            unsigned int              srcStride,
-                            const int32_t* __restrict nPos,
-                            const int32_t* __restrict nAffine,
-                            uint8_t* __restrict       patch,
-                            unsigned int              patchStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Warps a grayscale image using the a perspective projection transformation
-///   matrix (also known as a homography). This type of transformation is an
-///   invertible transformation which maps straight lines to straight lines.
-///   Bi-linear interpolation is used where applicable.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvWarpPerspectiveu8_v2(). In the 2.0.0 release,
-///   fcvWarpPerspectiveu8_v2 will be renamed to fcvWarpPerspectiveu8
-///   and the signature of fcvWarpPerspectiveu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Warps an image taking into consideration the perspective scaling.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-///   Warped output image. Size of buffer is dstWidth*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Dst image width.
-///   \n\b NOTE: data should be multiple of 8.
-///
-/// @param dstHeight
-///   Dst image height.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param projectionMatrix
-///   3x3 perspective transformation matrix (generally a homography). The
-///   matrix stored in homography is row major ordering: \n
-///   a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-///   | a11, a12, a13 |\n
-///   | a21, a22, a23 |\n
-///   | a31, a32, a33 |\n
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///   Note:
-///      The projection matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the projection matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of projection matrices are assumed. If not,
-///      please transform the projection matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvWarpPerspectiveu8( const uint8_t* __restrict src,
-                      unsigned int              srcWidth,
-                      unsigned int              srcHeight,
-                      uint8_t* __restrict       dst,
-                      unsigned int              dstWidth,
-                      unsigned int              dstHeight,
-                      float* __restrict         projectionMatrix );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Warps a grayscale image using the a perspective projection transformation
-///   matrix (also known as a homography). This type of transformation is an
-///   invertible transformation which maps straight lines to straight lines.
-///   Bi-linear interpolation is used where applicable.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvWarpPerspectiveu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
-///   \a fcvWarpPerspectiveu8_v2 will be removed, and the current signature
-///   for \a fcvWarpPerspectiveu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Warps an image taking into consideration the perspective scaling.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcStride
-///   Input image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Warped output image. Size of buffer is dstStride*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Dst image width.
-///   \n\b NOTE: data should be multiple of 8.
-///
-/// @param dstHeight
-///   Dst image height.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param dstStride
-///   Output image stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
-///
-/// @param projectionMatrix
-///   3x3 perspective transformation matrix (generally a homography). The
-///   matrix stored in homography is row major ordering: \n
-///   a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-///   | a11, a12, a13 |\n
-///   | a21, a22, a23 |\n
-///   | a31, a32, a33 |\n
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///   Note:
-///      The projection matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the projection matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of projection matrices are assumed. If not,
-///      please transform the projection matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvWarpPerspectiveu8_v2( const uint8_t* __restrict src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         unsigned int              srcStride,
-                         uint8_t* __restrict       dst,
-                         unsigned int              dstWidth,
-                         unsigned int              dstHeight,
-                         unsigned int              dstStride,
-                         float* __restrict         projectionMatrix );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Warps a 3 color channel image based on a 3x3 perspective projection matrix using
-///   bilinear interpolation.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcv3ChannelWarpPerspectiveu8_v2(). In the 2.0.0 release,
-///   fcv3ChannelWarpPerspectiveu8_v2 will be renamed to fcv3ChannelWarpPerspectiveu8
-///   and the signature of fcv3ChannelWarpPerspectiveu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight*3 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Input image height.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param dst
-///   Warped output image. Size of buffer is dstWidth*dstHeight*3 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width.
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @param dstHeight
-///   Output image height.
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @param projectionMatrix
-///   3x3 perspective transformation matrix (generally a homography). The
-///   matrix stored in homography is row major ordering: \n
-///   a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-///   | a11, a12, a13 |\n
-///   | a21, a22, a23 |\n
-///   | a31, a32, a33 |\n
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///   Note:
-///      The projection matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the projection matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of projection matrices are assumed. If not,
-///      please transform the projection matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcv3ChannelWarpPerspectiveu8( const uint8_t* __restrict src,
-                              unsigned int              srcWidth,
-                              unsigned int              srcHeight,
-                              uint8_t* __restrict       dst,
-                              unsigned int              dstWidth,
-                              unsigned int              dstHeight,
-                              float* __restrict         projectionMatrix );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Warps a 3 color channel image based on a 3x3 perspective projection
-///   matrix using bilinear interpolation.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcv3ChannelWarpPerspectiveu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcv3ChannelWarpPerspectiveu8,
-///   \a fcv3ChannelWarpPerspectiveu8_v2 will be removed, and the current signature
-///   for \a fcv3ChannelWarpPerspectiveu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcv3ChannelWarpPerspectiveu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-///   Input image height.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcStride
-///   Input image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth*3.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth*3 if not 0.
-///
-/// @param dst
-///   Warped output image. Size of buffer is dstStride*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dstHeight
-///   Output image height.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dstStride
-///   Output image stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as dstWidth*3.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth*3 if not 0.
-///
-/// @param projectionMatrix
-///   3x3 perspective transformation matrix (generally a homography). The
-///   matrix stored in homography is row major ordering: \n
-///   a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-///   | a11, a12, a13 |\n
-///   | a21, a22, a23 |\n
-///   | a31, a32, a33 |\n
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///   Note:
-///      The projection matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the projection matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of projection matrices are assumed. If not,
-///      please transform the projection matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcv3ChannelWarpPerspectiveu8_v2( const uint8_t* __restrict src,
-                                 unsigned int              srcWidth,
-                                 unsigned int              srcHeight,
-                                 unsigned int              srcStride,
-                                 uint8_t* __restrict       dst,
-                                 unsigned int              dstWidth,
-                                 unsigned int              dstHeight,
-                                 unsigned int              dstStride,
-                                 float* __restrict         projectionMatrix );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   General function for computing cluster centers and cluster bindings
-///   for a set of points of dimension dim.
-///
-/// @param points
-///   Array of all points. Array size must be greater than
-///   numPoints * dim.
-///
-/// @param numPoints
-///   Number of points in points array.
-///
-/// @param dim
-///   dimension, e.g. 36
-///
-/// @param pointStride
-///   Byte distance between adjacent points in array
-///
-/// @param indices
-///   Array of point indices in points array. Processing will only
-///   occur on points whose indices are in this array. Each index in array
-///   must be smaller numPoints.
-///
-/// @param numIndices
-///   Length of indices array. numIndieces must be <= numPoints.
-///
-/// @param numClusters
-///   Number of cluster centers
-///
-/// @param clusterCenters
-///   current cluster centers;
-///   elements are distant by clusterCenterStride
-///
-/// @param clusterCenterStride
-///   byte distance between adjacent cluster centers in array
-///
-/// @param newClusterCenters
-///   array for new cluster centers; should be numClusterCenters long
-///
-/// @param clusterMemberCounts
-///   Element counts for each cluster; should be numClusterCenters long
-///
-/// @param clusterBindings
-///   Output indices of the clusters to which each vector belongs to, array must
-///   be numIndices long.
-///
-/// @param sumOfClusterDistances
-///   Array for sum of distances of cluster elements to cluster centers;
-///   Must be numClusters long
-///
-/// @return
-///   0 if successfully clustered, otherwise error code
-///
-/// @remark
-///   This is general clusterer. There are no assumptions on points other
-///   than they belong to a vector space
-///
-///
-///
-/// @ingroup clustering_and_search
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvClusterEuclideanf32( const float* __restrict  points,
-                        int                      numPoints,  // actually not used but helpful
-                        int                      dim,
-                        int                      pointStride,
-                        const size_t* __restrict indices,
-                        int                      numIndices,
-                        int                      numClusters,
-                        float* __restrict        clusterCenters,
-                        int                      clusterCenterStride,
-                        float* __restrict        newClusterCenters,
-                        size_t* __restrict       clusterMemberCounts,
-                        size_t* __restrict       clusterBindings,
-                        float*                   sumOfClusterDistances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Function for computing cluster centers and cluster bindings
-///   for a set of normalized points of dimension dim. Cluster centers
-///   are also normalized (see remark below)
-///
-/// @param points
-///   Array of all points. Array size must be greater than
-///   numPoints * dim.
-///
-/// @param numPoints
-///   Number of points in points array.
-///
-/// @param dim
-///   dimension, e.g. 36
-///
-/// @param pointStride
-///   Byte distance between adjacent points in array
-///
-/// @param indices
-///   Array of point indices in points array. Processing will only
-///   occur on points whose indices are in this array. Each index in array
-///   must be smaller numPoints.
-///
-/// @param numIndices
-///   Length of indices array. numIndieces must be <= numPoints.
-///
-/// @param numClusters
-///   Number of cluster centers
-///
-/// @param clusterCenters
-///   current cluster centers;
-///   elements are distant by clusterCenterStride
-///
-/// @param clusterCenterStride
-///   byte distance between adjacent cluster centers in array
-///
-/// @param newClusterCenters
-///   array for new cluster centers; should be numClusterCenters long
-///
-/// @param clusterMemberCounts
-///   Element counts for each cluster; should be numClusterCenters long
-///
-/// @param clusterBindings
-///   Output indices of the clusters to which each vector belongs to, a
-///   rray must be numIndices long.
-///
-/// @param sumOfClusterDistances
-///   Array for sum of distances of cluster elements to cluster centers;
-///   Must be numClusters long
-///
-/// @return
-///   0 if successfully clustered, otherwise error code
-///
-/// @remark
-///   this function assumes that points are normalized (e.g. NFT4
-///   descriptors). Cluster centers are also normalized. Normalized points
-///   are on a surface of unit sphere which is not a vector space but
-///   curved manifold of dimension (dim-1) embeded in Euclidean vector space
-///   of dimension dim
-///
-/// @ingroup clustering_and_search
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvClusterEuclideanNormedf32( const float* __restrict  points,
-                              int                      numPoints,
-                              int                      dim,
-                              int                      pointStride,
-                              const size_t* __restrict indices,
-                              int                      numIndices,
-                              int                      numClusters,
-                              float* __restrict        clusterCenters,
-                              int                      clusterCenterStride,
-                              float* __restrict        newClusterCenters,
-                              size_t* __restrict       clusterMemberCounts,
-                              size_t* __restrict       clusterBindings,
-                              float*                   sumOfClusterDistances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Function for computing cluster centers and cluster bindings
-///   for a set of normalized points of dimension 36. Cluster centers
-///   are also normalized (see remark below)
-///
-/// @param points
-///   Array of all points. Array size must be greater than
-///   numPoints * 36.
-///
-/// @param numPoints
-///   Number of points in points array.
-///
-/// @param pointStride
-///   Byte distance between adjacent points in array
-///
-/// @param indices
-///   Array of point indices in points array. Processing will only
-///   occur on points whose indices are in this array. Each index in array
-///   must be smaller numPoints.
-///
-/// @param numIndices
-///   Length of indices array. numIndieces must be <= numPoints.
-///
-/// @param numClusters
-///   Number of cluster centers
-///
-/// @param clusterCenters
-///   current cluster centers;
-///   elements are distant by clusterCenterStride
-///
-/// @param clusterCenterStride
-///   byte distance between adjacent cluster centers in array
-///
-/// @param newClusterCenters
-///   array for new cluster centers; should be numClusterCenters long
-///
-/// @param clusterMemberCounts
-///   Element counts for each cluster; should be numClusterCenters long
-///
-/// @param clusterBindings
-///   Output indices of the clusters to which each vector belongs to, a
-///   rray must be numIndices long.
-///
-/// @param sumOfClusterDistances
-///   Array for sum of distances of cluster elements to cluster centers;
-///   Must be numClusters long
-///
-/// @return
-///   0 if successfully clustered, otherwise error code
-///
-/// @remark
-///   this function assumes that points are normalized (e.g. NFT4
-///   descriptors). Cluster centers are also normalized. Normalized points
-///   are on a surphace of unit sphere which is not a vector space but
-///   curved manifold of dimension (dim-1) embeded in Euclidean vector space
-///   of dimension dim
-///
-/// @ingroup clustering_and_search
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvClusterEuclideanNormed36f32( const float* __restrict  points,
-                                int                      numPoints,
-                                int                      pointStride,
-                                const size_t* __restrict indices,
-                                int                      numIndices,
-                                int                      numClusters,
-                                float* __restrict        clusterCenters,
-                                int                      clusterCenterStride,
-                                float* __restrict        newClusterCenters,
-                                size_t* __restrict       clusterMemberCounts,
-                                size_t* __restrict       clusterBindings,
-                                float*                   sumOfClusterDistances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Blur with 5x5 Gaussian filter
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterGaussian5x5s16_v2(). In the 2.0.0 release,
-///   fcvFilterGaussian5x5s16_v2 will be renamed to fcvFilterGaussian5x5s16
-///   and the signature of fcvFilterGaussian5x5s16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Convolution with 5x5 Gaussian kernel:
-///   \n 1  4  6  4 1
-///   \n 4 16 24 16 4
-///   \n 6 24 36 24 6
-///   \n 4 16 24 16 4
-///   \n 1  4  6  4 1
-///
-/// @param src
-///   Input int data (can be sq. of gradient, etc).
-///   \n\b NOTE: Size of buffer is srcWidth*srcHeight*2 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output int data. Size of buffer is srcWidth*srcHeight*2 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-///   If set to 0, border is ignored.
-///   If set to 1, border is blurred by 0-padding adjacent values.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5s16( const int16_t* __restrict src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         int16_t* __restrict       dst,
-                         int                       blurBorder );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Blur with 5x5 Gaussian filter
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterGaussian5x5s16() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterGaussian5x5s16,
-///   \a fcvFilterGaussian5x5s16_v2 will be removed, and the current signature
-///   for \a fcvFilterGaussian5x5s16 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterGaussian5x5s16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Convolution with 5x5 Gaussian kernel:
-///   \n 1  4  6  4 1
-///   \n 4 16 24 16 4
-///   \n 6 24 36 24 6
-///   \n 4 16 24 16 4
-///   \n 1  4  6  4 1
-///
-/// @param src
-///   Input int data (can be sq. of gradient, etc).
-///   Size of buffer is srcStride*srcHeight*2 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth*2.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
-///
-/// @param dst
-///   Output int data. Size of buffer is dstStride*srcHeight*2 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride in bytes.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth*2.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
-///
-/// @param blurBorder
-///   If set to 0, border is ignored.
-///   If set to 1, border is blurred by 0-padding adjacent values.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5s16_v2( const int16_t* __restrict src,
-                            unsigned int              srcWidth,
-                            unsigned int              srcHeight,
-                            unsigned int              srcStride,
-                            int16_t* __restrict       dst,
-                            unsigned int              dstStride,
-                            int                       blurBorder );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Blur with 5x5 Gaussian filter
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterGaussian5x5s32_v2(). In the 2.0.0 release,
-///   fcvFilterGaussian5x5s32_v2 will be renamed to fcvFilterGaussian5x5s32
-///   and the signature of fcvFilterGaussian5x5s32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   Convolution with 5x5 Gaussian kernel:
-///   \n 1  4  6  4 1
-///   \n 4 16 24 16 4
-///   \n 6 24 36 24 6
-///   \n 4 16 24 16 4
-///   \n 1  4  6  4 1
-///
-/// @param src
-///   Input int data (can be sq. of gradient, etc).
-///   Size of buffer is srcWidth*srcHeight*4 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param dst
-///   Output int data. Size of buffer is srcWidth*srcHeight*4 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-///   If set to 0, border is ignored.
-///   If set to 1, border is blurred by 0-padding adjacent values.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5s32( const int32_t* __restrict src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         int32_t* __restrict       dst,
-                         int                       blurBorder );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Blur with 5x5 Gaussian filter
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterGaussian5x5s32() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterGaussian5x5s32,
-///   \a fcvFilterGaussian5x5s32_v2 will be removed, and the current signature
-///   for \a fcvFilterGaussian5x5s32 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterGaussian5x5s32 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Convolution with 5x5 Gaussian kernel:
-///   \n 1  4  6  4 1
-///   \n 4 16 24 16 4
-///   \n 6 24 36 24 6
-///   \n 4 16 24 16 4
-///   \n 1  4  6  4 1
-///
-/// @param src
-///   Input int data (can be sq. of gradient, etc).
-///   Size of buffer is srcStride*srcHeight*4 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Input Image stride in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth*sizeof(int32_t).
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output int data. Size of buffer is dstStride*srcHeight*4 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output Image stride in bytes.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(int32_t).
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param blurBorder
-///   If set to 0, border is ignored.
-///   If set to 1, border is blurred by 0-padding adjacent values.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5s32_v2( const int32_t* __restrict src,
-                            unsigned int              srcWidth,
-                            unsigned int              srcHeight,
-                            unsigned int              srcStride,
-                            int32_t* __restrict       dst,
-                            unsigned int              dstStride,
-                            int                       blurBorder );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Segments an image (3 or 1 channel) into meaningful regions,
-///   depending on the color or gray scale uniformity of the neighborhood pixels.
-///
-/// @param src
-///   Pointer to 8-bit color (3-channel) or grayscale (1-channel) image.
-///
-/// @param srcWidth
-///   Width of src image, measured by pixels.
-///
-/// @param srcHeight
-///   Height of src image, measured by pixels.
-///
-/// @param srcStride
-///   Stride of src image, measured by bytes.
-///   WARNING: should be multiple of 8, and at least as much as srcWidth*numChannel if not 0.
-///
-/// @param numChannel
-///   Number of channels of src image. 1 for gray scale and 3 for color image.
-///
-/// @param thresholdSplit
-///   Threshold for region split. Higher value: larger uniform region segmented.
-///   Range of 3-channel image segmentation 20~500: 20~50 for heavy over-segmentation, 50~100 for median over-segmentation, 100~150 for light over-segmentation, 150~250 for normal segmentation, 250~400 for light under-segmentation, 400~500 for heavy under-segmentation.
-///   Range of 1-channel image segmentation 3~150: 3~10 for heavy over-segmentation, 10~15 for median over-segmentation, 15~25 for light over-segmentation, 25~50 for normal segmentation, 50~75 for light under-segmentation, 75~150 for heavy under-segmentation.
-///
-/// @param thresholdMerge
-///   Threshold for region merge, measured by the region area (pixels). Higher value: larger uniform region segmented. Range 10~1000 for VGA size image.
-///   Range of 3-channel image segmentation 10~1000: 10~30 for heavy over-segmentation, 30~60 for median over-segmentation, 60~150 for light over-segmentation, 150~400 for normal segmentation, 400~600 for light under-segmentation, 600~1000 for heavy under-segmentation.
-///   Same for the 1-channel image.
-///   For other image size, please tune the thresholdMerge value proportional to the VGA size.
-///
-/// @param segLabel
-///   Segmented labels. 1 channel with same size of src. Pixel belonging to the same region is uniformly labeled by a non-zero number.
-///
-/// @param segLabelStride
-///   Stride of segmented labels, measured by bytes.
-///   WARNING: should be multiple of 8, and at least as much as srcWidth*4 if not 0.
-///
-/// @param data
-///   data buffer for inner function buffer allocation. The buffer size is recommended below,
-///   for 3-channel image: *data = (uint8_t *) malloc ( srcWidth*srcHeight*18*sizeof(uint8_t) );
-///   for 1-channel image: *data = (uint8_t *) malloc ( srcWidth*srcHeight*16*sizeof(uint8_t) );
-///
-/// @return
-///   0 if successful.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvImageSegmentationRegionGrow( const uint8_t* __restrict src,
-                                uint32_t srcWidth,
-                                uint32_t srcHeight,
-                                uint32_t srcStride,
-                                uint32_t numChannel,
-                                uint32_t thresholdSplit,
-                                uint32_t thresholdMerge,
-                                uint32_t* __restrict segLabel,
-                                uint32_t segLabelStride,
-                                uint8_t* __restrict data );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Warps the patch centered at nPos in the input image using the affine
-///   transform in nAffine
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvTransformAffineu8_v2(). In the 2.0.0 release,
-///   fcvTransformAffineu8_v2 will be renamed to fcvTransformAffineu8
-///   and the signature of fcvTransformAffineu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image. Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param position[ 2 ]
-///   Position in the image
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param affine[ 2 ][ 2 ]
-///   Transformation matrix. The matrix stored
-///    in affine is using row major ordering: \n
-///    a11, a12, a21, a22 where the matrix is: \n
-///    | a11, a12 |\n
-///    | a21, a22 |\n
-///
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param patch
-///   Transformed patch.
-///
-/// @param patchWidth
-///   Patch width.
-///
-/// @param patchHeight
-///   Patch height.
-///
-/// @return
-///   0 if the transformation is valid
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvTransformAffineu8( const uint8_t* __restrict src,
-                      unsigned int              srcWidth,
-                      unsigned int              srcHeight,
-                      const float* __restrict   position,
-                      const float* __restrict   affine,
-                      uint8_t* __restrict       patch,
-                      unsigned int              patchWidth,
-                      unsigned int              patchHeight );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Warps the patch centered at nPos in the input image using the affine
-///   transform in nAffine
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvTransformAffineu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvTransformAffineu8,
-///   \a fcvTransformAffineu8_v2 will be removed, and the current signature
-///   for \a fcvTransformAffineu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvTransformAffineu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
-///   and column 0 of row N+1.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: must be at least as much as srcWidth if not 0.
-///
-/// @param position[ 2 ]
-///   Position in the image
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param affine[ 2 ][ 2 ]
-///   Transformation matrix. The matrix stored
-///    in affine is using row major ordering: \n
-///    a11, a12, a21, a22 where the matrix is: \n
-///    | a11, a12 |\n
-///    | a21, a22 |\n
-///
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param patch
-///   Transformed patch.
-///
-/// @param patchWidth
-///   Patch width.
-///
-/// @param patchHeight
-///   Patch height.
-///
-/// @param patchStride
-///   Stride of patch (in bytes) - i.e., how many bytes between column 0 of row N
-///   and column 0 of row N+1.
-///   \n\b NOTE: if 0, patchStride is set as patchWidth.
-///   \n\b WARNING: must be at least as much as patchWidth if not 0.
-///
-/// @return
-///   0 if the transformation is valid
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvTransformAffineu8_v2( const uint8_t* __restrict src,
-                         unsigned int              srcWidth,
-                         unsigned int              srcHeight,
-                         unsigned int              srcStride,
-                         const float* __restrict   position,
-                         const float* __restrict   affine,
-                         uint8_t* __restrict       patch,
-                         unsigned int              patchWidth,
-                         unsigned int              patchHeight,
-                         unsigned int              patchStride );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extracts a 17x17 rotation corrected patch from a 25x25 image.
-///
-/// @param src
-///   25x25 input image in continuous memory.
-///
-/// @param dst
-///   17x17 output patch.
-///
-/// @param orientation
-///   Rotation angle of patch relative to src.
-///   \n 10-bit fixed-point angle around unit circle.
-///   \n NOTE: 0 = 0 degrees and 1024 = 360 degrees.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCopyRotated17x17u8( const uint8_t* __restrict src,
-                       uint8_t* __restrict       dst,
-                       int                       orientation );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Counts "1" bits in supplied vector.
-///
-/// @param src
-///   Pointer to vector to count bits that are 1.
-///
-/// @param srcLength
-///   Length of the vector to count bits. Assumed that the remainder of bits modulo 8
-///   will be set to 0 a priori.
-///
-/// @return
-///   total number of "1" bits in supplied vector
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBitCountu8( const uint8_t* __restrict src,
-               unsigned int              srcLength );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Counts "1" bits in supplied 32-byte vector.
-///
-/// @param src
-///   Pointer to 32-byte vector(s) to count bits that are 1.
-///
-/// @return
-///   total number of "1" bits in supplied vector
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBitCount32x1u8( const uint8_t* __restrict src );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Counts bits in supplied 4, 32-byte vectors.
-///
-/// @param a
-///   Pointer to 32-byte vector to count bits.
-///
-/// @param b
-///   Pointer to 32-byte vector to count bits.
-///
-/// @param c
-///   Pointer to 32-byte vector to count bits.
-///
-/// @param d
-///   Pointer to 32-byte vector to count bits.
-///
-/// @param bitCount
-///   Array to store the four resultant bit counts.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBitCount32x4u8( const uint8_t* __restrict a,
-                   const uint8_t* __restrict b,
-                   const uint8_t* __restrict c,
-                   const uint8_t* __restrict d,
-                   uint32_t* __restrict      bitCount );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Counts bits in supplied 64-byte vector.
-///
-/// @param src
-///   Pointer to 64-byte vector(s) to count bits.
-///
-/// @return
-///   Bit count.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBitCount64x1u8( const uint8_t* __restrict src );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Counts bits in supplied 4, 64-byte vectors.
-///
-/// @param a
-///   Pointer to 64-byte vector to count bits.
-///
-/// @param b
-///   Pointer to 64-byte vector to count bits.
-///
-/// @param c
-///   Pointer to 64-byte vector to count bits.
-///
-/// @param d
-///   Pointer to 64-byte vector to count bits.
-///
-/// @param bitCount
-///   Array to store the four resultant bit counts.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBitCount64x4u8( const uint8_t* __restrict a,
-                   const uint8_t* __restrict b,
-                   const uint8_t* __restrict c,
-                   const uint8_t* __restrict d,
-                   uint32_t* __restrict      bitCount );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Counts bits in supplied  vector of unsigned intergers.
-///
-/// @param src
-///   Pointer to vector(s) to count bits.
-///
-/// @param srcLength
-///   Number of elements in vector
-///
-/// @return
-///   Bit count.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBitCountu32( const uint32_t* __restrict src,
-                unsigned int               srcLength );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Hamming distance between the two supplied arbitrary length
-///   vectors.
-///
-/// @param a
-///   Pointer to vector to compute distance.
-///
-/// @param b
-///   Pointer to vector to compute distance.
-///
-/// @param abLength
-///   Length in bits of each of the vectors. Assumed that the remainder of
-///   bits modulo 8 will be set to 0 a priori.
-///
-/// @return
-///   Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistanceu8( const uint8_t* __restrict a,
-                      const uint8_t* __restrict b,
-                      unsigned int              abLength );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Hamming distance between the two supplied 32-byte vectors.
-///
-/// @param a
-///   Pointer to 32-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-///   Pointer to 32-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @return
-///   Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistance32x1u8a4( const uint8_t* __restrict a,
-                            const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Hamming distance between the two supplied 64-byte vectors.
-///
-/// @param a
-///   Pointer to 64-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-///   Pointer to 64-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @return
-///   Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistance64x1u8a4( const uint8_t* __restrict a,
-                            const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Hamming distance between the two supplied 32-byte vectors.
-///
-/// @param a
-///   Pointer to 32-byte vector to compute distance.
-///
-/// @param b
-///   Pointer to 32-byte vector to compute distance.
-///
-/// @return
-///   Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistance32x1u8( const uint8_t* __restrict a,
-                          const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Hamming distance between the two supplied 64-byte vectors.
-///
-/// @param a
-///   Pointer to 64-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-///   Pointer to 64-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @return
-///   Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistance64x1u8( const uint8_t* __restrict a,
-                          const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Hamming distance between A and each of B,C,D,E 32-byte vectors.
-///
-/// @param a
-///   Pointer to 32-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-///   Pointer to 32-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param c
-///   Pointer to 32-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param d
-///   Pointer to 32-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param e
-///   Pointer to 32-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param hammingDistances
-///   Array to store each Hamming distance between the vectors.
-///   \n\b WARNING: should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvHammingDistance32x4u8a4( const uint8_t* __restrict a,
-                            const uint8_t* __restrict b,
-                            const uint8_t* __restrict c,
-                            const uint8_t* __restrict d,
-                            const uint8_t* __restrict e,
-                            uint32_t* __restrict      hammingDistances );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Hamming distance between A and each of B,C,D,E 64-byte
-///   vectors.
-///
-/// @param a
-///   Pointer to 32-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-///   Pointer to 32-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param c
-///   Pointer to 32-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param d
-///   Pointer to 32-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param e
-///   Pointer to 32-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param hammingDistances
-///   Array to store each Hamming distance between the vectors.
-///   \n\b WARNING: should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvHammingDistance64x4u8a4( const uint8_t* __restrict a,
-                            const uint8_t* __restrict b,
-                            const uint8_t* __restrict c,
-                            const uint8_t* __restrict d,
-                            const uint8_t* __restrict e,
-                            uint32_t* __restrict      hammingDistances );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Hamming distance between A and each of B,C,D,E 64-byte vectors.
-///
-/// @param a
-///   Pointer to 64-byte vector to compute distance.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-///   Pointer to 64-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param c
-///   Pointer to 64-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param d
-///   Pointer to 64-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param e
-///   Pointer to 64-byte vector to compute distance from A.
-///   \n\b WARNING: must be 32-bit aligned
-///
-/// @param hammingDistances
-///   Array to store each Hamming distance between the vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvHammingDistance64x4u8( const uint8_t* __restrict a,
-                          const uint8_t* __restrict b,
-                          const uint8_t* __restrict c,
-                          const uint8_t* __restrict d,
-                          const uint8_t* __restrict e,
-                          uint32_t* __restrict      hammingDistances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners and scores from the image
-///
-/// @param src
-///   8-bit image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///   \n\b NOTE: should be a multiple of 8.
-///   \n\b WARNING: must be <= 2048.
-///
-/// @param srcHeight
-///   image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param barrier
-///  FAST threshold. The threshold is used to compare difference between intensity value of
-///  the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   pointer to the output array cointaining the interleaved x,y position of the
-///   detected corners.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-///   Pointer to the output array containing the scores of the detected corners.
-///   The score is the highest threshold that can still validate the detected corner.
-///   Must be greater than barrier. A higher score value indicates a stronger corner feature.
-///   For example, a corner of score 108 is stronger than a corner of score 50.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded.
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9Scoreu8( const uint8_t* __restrict src,
-                       unsigned int              srcWidth,
-                       unsigned int              srcHeight,
-                       unsigned int              srcStride,
-                       int                       barrier,
-                       unsigned int              border,
-                       uint32_t* __restrict      xy,
-                       uint32_t* __restrict      scores,
-                       unsigned int              nCornersMax,
-                       uint32_t* __restrict      nCorners );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners and scores from the image
-///
-/// @param src
-///   Grayscale image with one byte per pixel
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   image width
-///   \n\b NOTE: should be a multiple of 8.
-///   \n\b WARNING: must be <= 2048.
-///
-/// @param srcHeight
-///   image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param barrier
-///  FAST threshold. The threshold is used to compare difference between intensity value of
-///  the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   Pointer to the output array cointaining the interleaved x,y position of the
-///   detected corners.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-///   Pointer to the output array containing the scores of the detected corners.
-///   The score is the highest threshold that can still validate the detected corner.
-///   Must be greater than barrier. A higher score value indicates a stronger corner feature.
-///   For example, a corner of score 108 is stronger than a corner of score 50.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded.
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param mask
-///   Per-pixel mask for each pixel represented in input image.
-///   If a bit set to 0, pixel will be a candidate for corner detection.
-///   If a bit set to 1, pixel will be ignored.
-///
-/// @param maskWidth
-///   Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-///   Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9InMaskScoreu8( const uint8_t* __restrict src,
-                             unsigned int              srcWidth,
-                             unsigned int              srcHeight,
-                             unsigned int              srcStride,
-                             int                       barrier,
-                             unsigned int              border,
-                             uint32_t* __restrict      xy,
-                             uint32_t* __restrict      scores,
-                             unsigned int              nCornersMax,
-                             uint32_t* __restrict      nCorners,
-                             const uint8_t* __restrict mask,
-                             unsigned int              maskWidth,
-                             unsigned int              maskHeight );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners and scores from the image
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvCornerFast9Scoreu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvCornerFast9Scoreu8,
-///   \a fcvCornerFast9Scoreu8_v2 will be removed, and the current signature
-///   for \a fcvCornerFast9Scoreu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvCornerFast9Scoreu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   non-maximum suppression can be enabled to reduce the number of false corners.
-///
-/// @param src
-///   8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param barrier
-///   FAST threshold. The threshold is used to compare difference between intensity value of
-///   the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   Pointer to the output array cointaining the interleaved x,y position of the
-///   detected corners.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-///   Pointer to the output array containing the scores of the detected corners.
-///   The score is the highest threshold that can still validate the detected corner.
-///   Must be greater than barrier. A higher score value indicates a stronger corner feature.
-///   For example, a corner of score 108 is stronger than a corner of score 50.
-///   \n\b NOTE: should be 128-bit aligned.
-///   \n\b NOTE: size of buffer is @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded.
-///   \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-///   Pointer to an integer storing the number of corners detected
-///
-/// @param nmsEnabled
-///   Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
-///   \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-///   points before NMS
-///
-/// @param tempBuf
-///   Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
-///   Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9Scoreu8_v2( const uint8_t* __restrict src,
-                           unsigned int             srcWidth,
-                           unsigned int             srcHeight,
-                           unsigned int             srcStride,
-                                    int             barrier,
-                           unsigned int             border,
-                               uint32_t* __restrict xy,
-                               uint32_t* __restrict scores,
-                           unsigned int             nCornersMax,
-                               uint32_t* __restrict nCorners,
-                               uint32_t             nmsEnabled,
-                                   void* __restrict tempBuf);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners and scores from the image based on the mask. The mask specifies pixels
-///   to be ignored by the detector.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvCornerFast9InMaskScoreu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvCornerFast9InMaskScoreu8,
-///   \a fcvCornerFast9InMaskScoreu8_v2 will be removed, and the current signature
-///   for \a fcvCornerFast9InMaskScoreu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvCornerFast9InMaskScoreu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   non-maximum suppression can be enabled to reduce the number of false corners.
-///
-/// @param src
-///   8-bit grayscale image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param barrier
-///   FAST threshold. The threshold is used to compare difference between intensity value of
-///   the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   Pointer to the output array cointaining the interleaved x,y position of the
-///   detected corners.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-///   Pointer to the output array containing the scores of the detected corners.
-///   The score is the highest threshold that can still validate the detected corner.
-///   Must be greater than barrier. A higher score value indicates a stronger corner feature.
-///   For example, a corner of score 108 is stronger than a corner of score 50.
-///   \n\b NOTE: should be 128-bit aligned.
-///   \n\b NOTE: size of buffer is @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded.
-///   \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-///   Pointer to an integer storing the number of corners detected
-///
-/// @param mask
-///   Mask used to omit regions of the image. For allowed mask sizes refer to
-///   @param maskWidth and @param maskHeight . The mask is so defined to work with multiple
-///   scales if necessary. For any pixel set to '1' in the mask, the corresponding pixel in the image
-///   will be ignored.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param maskWidth
-///   Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-///   Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param nmsEnabled
-///   Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
-///   \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-///   points before NMS
-///
-/// @param tempBuf
-///   Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
-///   Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9InMaskScoreu8_v2( const uint8_t* __restrict src,
-                                 unsigned int             srcWidth,
-                                 unsigned int             srcHeight,
-                                 unsigned int             srcStride,
-                                          int             barrier,
-                                 unsigned int             border,
-                                     uint32_t* __restrict xy,
-                                     uint32_t* __restrict scores,
-                                 unsigned int             nCornersMax,
-                                     uint32_t* __restrict nCorners,
-                                const uint8_t* __restrict mask,
-                                 unsigned int             maskWidth,
-                                 unsigned int             maskHeight,
-                                     uint32_t             nmsEnabled,
-                                         void* __restrict tempBuf);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners and scores from the image
-///
-/// @details
-///   non-maximum suppression can be enabled to reduce the number of false corners.
-///
-/// @param src
-///   8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param barrier
-///   FAST threshold. The threshold is used to compare difference between intensity value of
-///   the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   Pointer to the output array cointaining the interleaved x,y position of the
-///   detected corners.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-///   Pointer to the output array containing the scores of the detected corners.
-///   The score is the highest threshold that can still validate the detected corner.
-///   Must be greater than barrier. A higher score value indicates a stronger corner feature.
-///   For example, a corner of score 108 is stronger than a corner of score 50.
-///   \n\b NOTE: should be 128-bit aligned.
-///   \n\b NOTE: size of buffer is @param nCornersMax
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded.
-///   \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param nmsEnabled
-///   Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
-///   \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-///   points before NMS
-///
-/// @param tempBuf
-///   Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
-///   Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast10Scoreu8( const uint8_t* __restrict src,
-                             uint32_t             srcWidth,
-                             uint32_t             srcHeight,
-                             uint32_t             srcStride,
-                              int32_t             barrier,
-                             uint32_t             border,
-                             uint32_t* __restrict xy,
-                             uint32_t* __restrict scores,
-                             uint32_t             nCornersMax,
-                             uint32_t* __restrict nCorners,
-                             uint32_t             nmsEnabled,
-                                 void* __restrict tempBuf);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extracts FAST corners and scores from the image based on the mask. The mask specifies pixels
-///   to be ignored by the detector.
-///
-/// @param src
-///   8-bit grayscale image where keypoints are detected
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param barrier
-///   FAST threshold. The threshold is used to compare difference between intensity value of
-///   the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom,right,left of the image
-///   \n\b WARNING: If border < 3, it will be default to 3.
-///   \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-///   Pointer to the output array cointaining the interleaved x,y position of the
-///   detected corners.
-///   \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param scores
-///   Pointer to the output array containing the scores of the detected corners.
-///   The score is the highest threshold that can still validate the detected corner.
-///   Must be greater than barrier. A higher score value indicates a stronger corner feature.
-///   For example, a corner of score 108 is stronger than a corner of score 50.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param nCornersMax
-///   Maximum number of corners. The function exits when the maximum number of
-///   corners is exceeded.
-///   \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-///   pointer to an integer storing the number of corners detected
-///
-/// @param mask
-///   Mask used to omit regions of the image. For allowed mask sizes refer to
-///   @param maskWidth and @param maskHeight. The mask is so defined to work with multiple
-///   scales if necessary. For any pixel set to '1' in the mask, the corresponding pixel in the image
-///   will be ignored.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param maskWidth
-///   Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-///   Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-///   where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param nmsEnabled
-///   Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
-///   \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-///   points before NMS
-///
-/// @param tempBuf
-///   Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
-///   Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast10InMaskScoreu8( const uint8_t* __restrict src,
-                                   uint32_t             srcWidth,
-                                   uint32_t             srcHeight,
-                                   uint32_t             srcStride,
-                                    int32_t             barrier,
-                                   uint32_t             border,
-                                   uint32_t* __restrict xy,
-                                   uint32_t* __restrict scores,
-                                   uint32_t             nCornersMax,
-                                   uint32_t* __restrict nCorners,
-                              const uint8_t* __restrict mask,
-                                   uint32_t             maskWidth,
-                                   uint32_t             maskHeight,
-                                   uint32_t             nmsEnabled,
-                                       void* __restrict tempBuf);
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Optical flow. Bitwidth optimized implementation
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvTrackLKOpticalFlowu8_v2(). In the 2.0.0 release,
-///   fcvTrackLKOpticalFlowu8_v2 will be renamed to fcvTrackLKOpticalFlowu8
-///   and the signature of fcvTrackLKOpticalFlowu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src1
-///   Input image from frame #1.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-///   Input image from frame #2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param src1Pyr
-///   Image Pyradmid of src1
-///   \n\b WARNING: obtained by calling fcvPyramidCreateu8
-///
-/// @param src2Pyr
-///   Image Pyradmid of src2
-///   \n\b WARNING: obtained by calling fcvPyramidCreateu8
-///
-/// @param dx1Pyr
-///   Horizontal Sobel gradient pyramid for src1
-///  \n\b NOTE: To be left NULL. In this case the function will
-///   build the pyramid internally.
-///
-/// @param dy1Pyr
-///  Vertical Sobel grading pyraid for src1
-///  \n\b NOTE: To be left NULL. In this case the function will
-///   build the pyramid internally.
-///
-/// @param featureXY
-///   Pointer to X,Y floating point, sub-pixel coordinates for features to
-///   track. Stored as X,Y tuples. featureXY array storage must
-///   be >= featureLen*2.
-///
-/// @param featureXY_out
-///   Pointer to X,Y floating point, sub-pixel coordinates for tracked features
-///   Stored as X,Y tuples. featureXY array storage must
-///   be >= featureLen*2.
-///
-/// @param featureStatus
-///   Pointer to integer array for status of each feature defined in
-///   featureXY. featureStatus array storage must
-///   be >= featureLen.
-///
-/// @param featureLen
-///   Number of features in featuresXY and featureStatus array.
-///
-/// @param windowWidth
-///   Width of window for optical flow searching. Must be odd number.
-///    \n\b NOTE: suggested value 5, 7 or 9
-///
-/// @param windowHeight
-///   Height of window for optical flow searching. Must be odd number.
-///   \n\b NOTE:: suggested value 5, 7 or 9
-///
-/// @param maxIterations
-///   Maximum number of LK iterations to perform per pyramid level.
-///   \n\b NOTE: suggested value 5 or 7
-///
-/// @param nPyramidLevels
-///   Number of pyramid levels.
-///   \n\b NOTE: suggested value 3 or 4 depending on size of image
-///
-/// @param maxResidue
-///   Maximum feature residue above which feature is declared lost.
-///   \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param minDisplacement
-///   Minimum displacement solved below which iterations are stopped.
-///   \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param minEigenvalue
-///  Threshold for feature goodness. If it is  set it to 0, the check is disabled.
-///  \n\b NOTE: If good features are passed  to the function, then it is  suggested
-///  that you set it to 0 to have faster function time
-///   \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param lightingNormalized
-///   if 1 Enable  lightning normalization
-///   \n if 0 Disable lightning normalization
-///   \n\b NOTE: obsolete parameters, set to 0
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTrackLKOpticalFlowu8( const uint8_t* __restrict src1,
-                         const uint8_t* __restrict src2,
-                         int                       srcWidth,
-                         int                       srcHeight,
-                         const fcvPyramidLevel*    src1Pyr,
-                         const fcvPyramidLevel*    src2Pyr,
-                         const fcvPyramidLevel*    dx1Pyr,
-                         const fcvPyramidLevel*    dy1Pyr,
-                         const float*              featureXY,
-                         float*                    featureXY_out,
-                         int32_t*                  featureStatus,
-                         int                       featureLen,
-                         int                       windowWidth,
-                         int                       windowHeight,
-                         int                       maxIterations,
-                         int                       nPyramidLevels,
-                         float                     maxResidue,
-                         float                     minDisplacement,
-                         float                     minEigenvalue,
-                         int                       lightingNormalized );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Optical flow (with stride so ROI can be supported)
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvTrackLKOpticalFlowu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvTrackLKOpticalFlowu8,
-///   \a fcvTrackLKOpticalFlowu8_v2 will be removed, and the current signature
-///   for \a fcvTrackLKOpticalFlowu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a ffcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src1
-///   Input image from frame #1.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-///   Input image from frame #2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param width
-///   Input image width.
-///
-/// @param height
-///   Input image height.
-///
-/// @param stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to width.
-///   NOTE: should be a multiple of 8.
-///
-/// @param src1Pyr
-///   Image Pyramid of src1 (with stride)
-///   \n\b WARNING: obtained by calling fcvPyramidCreateu8_v2
-///
-/// @param src2Pyr
-/// Image Pyradmid of src2 (with stride)
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v2
-///
-/// @param featureXY
-///   Pointer to X,Y floating point, sub-pixel coordinates for features to
-///   track. Stored as X,Y tuples. featureXY array storage must
-///   be >= featureLen*2.
-///
-/// @param featureXY_out
-///   Pointer to X,Y floating point, sub-pixel coordinates for tracked features
-///   Stored as X,Y tuples. featureXY array storage must
-///   be >= featureLen*2.
-///
-/// @param featureStatus
-///   Pointer to integer array for status of each feature defined in
-///   featureXY. featureStatus array storage must
-///   be >= featureLen.
-///
-/// @param featureLen
-///   Number of features in featuresXY and featureStatus array.
-///
-/// @param windowWidth
-///   Width of window for optical flow searching. Must be odd number.
-///    \n\b NOTE: suggested value 5, 7 or 9
-///
-/// @param windowHeight
-///   Height of window for optical flow searching. Must be odd number.
-///   \n\b NOTE:: suggested value 5, 7 or 9
-///
-/// @param maxIterations
-///   Maximum number of LK iterations to perform per pyramid level.
-///   \n\b NOTE: suggested value 5 or 7
-///
-/// @param nPyramidLevels
-///   Number of pyramid levels.
-///   \n\b NOTE: suggested value 3 or 4 depending on size of image
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTrackLKOpticalFlowu8_v2(  const uint8_t* __restrict   src1,
-                             const uint8_t* __restrict   src2,
-                             uint32_t                    width,
-                             uint32_t                    height,
-                             uint32_t                    stride,
-                             const fcvPyramidLevel_v2    *src1Pyr,
-                             const fcvPyramidLevel_v2    *src2Pyr,
-                             const float32_t*            featureXY,
-                             float32_t*                  featureXY_out,
-                             int32_t*                    featureStatus,
-                             int32_t                     featureLen,
-                             int32_t                     windowWidth,
-                             int32_t                     windowHeight,
-                             int32_t                     maxIterations,
-                             int32_t                     nPyramidLevels);
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Optical flow.
-///
-///   \n\b ATTENTION: This function will be removed when the 2.0.0 release of this library
-///   is made. Until 2.0.0, the developer should use this implementation with the expectation of
-///   using \a fcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src1
-///   Input image from frame #1.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-///   Input image from frame #2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param src1Pyr
-///   Image Pyradmid of src1
-///   \n\b WARNING: obtained by calling fcvPyramidCreateu8
-///
-/// @param src2Pyr
-///   Image Pyradmid of src2
-///   \n\b WARNING: obtained by calling fcvPyramidCreateu8
-///
-/// @param dx1Pyr
-///   Horizontal Sobel gradient pyramid for src1
-///  \n\b NOTE: To be left NULL. In this case the function will
-///   build the pyramid internally.
-///
-/// @param dy1Pyr
-///  Vertical Sobel grading pyraid for src1
-///  \n\b NOTE: To be left NULL. In this case the function will
-///   build the pyramid internally.
-///
-/// @param featureXY
-///   Pointer to X,Y floating point, sub-pixel coordinates for features to
-///   track. Stored as X,Y tuples. featureXY array storage must
-///   be >= featureLen*2.
-///
-/// @param featureXY_out
-///   Pointer to X,Y floating point, sub-pixel coordinates for tracked features
-///   Stored as X,Y tuples. featureXY array storage must
-///   be >= featureLen*2.
-///
-/// @param featureStatus
-///   Pointer to integer array for status of each feature defined in
-///   featureXY. featureStatus array storage must
-///   be >= featureLen.
-///   \n\b NOTE: Possible status are :
-///   \n    TRACKED           1
-///   \n    NOT_FOUND        -1
-///   \n    SMALL_DET        -2
-///   \n    MAX_ITERATIONS   -3
-///   \n    OUT_OF_BOUNDS    -4
-///   \n    LARGE_RESIDUE    -5
-///   \n    SMALL_EIGVAL     -6
-///   \n    INVALID          -99
-///
-/// @param featureLen
-///   Number of features in featuresXY and featureStatus array.
-///
-/// @param windowWidth
-///   Width of window for optical flow searching. Must be odd number.
-///    \n\b NOTE: suggested value 5, 7 or 9
-///
-/// @param windowHeight
-///   Height of window for optical flow searching. Must be odd number.
-///   \n\b NOTE:: suggested value 5, 7 or 9
-///
-/// @param maxIterations
-///   Maximum number of LK iterations to perform per pyramid level.
-///   \n\b NOTE: suggested value 5 or 7
-///
-/// @param nPyramidLevels
-///   Number of pyramid levels.
-///   \n\b NOTE: suggested value 3 or 4 depending on size of image
-///
-/// @param maxResidue
-///   Maximum feature residue above which feature is declared lost.
-///   \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param minDisplacement
-///   Minimum displacement solved below which iterations are stopped.
-///   \n\b NOTE : Suggest that be set  to between 0.1 and 0.2, say 0.15
-///   \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param minEigenvalue
-///  Threshold for feature goodness. If it is  set it to 0, the check is disabled.
-///  \n\b NOTE: If good features are passed  to the function, then it is  suggested
-///  that you set it to 0 to have faster function time
-///   \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param lightingNormalized
-///   if 1 Enable  lightning normalization
-///   \n if 0 Disable lightning normalization
-///   \n\b NOTE: obsolete parameters, set to 0
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTrackLKOpticalFlowf32( const uint8_t* __restrict src1,
-                          const uint8_t* __restrict src2,
-                          unsigned int              srcWidth,
-                          unsigned int              srcHeight,
-                          const fcvPyramidLevel*    src1Pyr,
-                          const fcvPyramidLevel*    src2Pyr,
-                          const fcvPyramidLevel*    dx1Pyr,
-                          const fcvPyramidLevel*    dy1Pyr,
-                          const float*              featureXY,
-                          float*                    featureXY_out,
-                          int32_t*                  featureStatus,
-                          int                       featureLen,
-                          int                       windowWidth,
-                          int                       windowHeight,
-                          int                       maxIterations,
-                          int                       nPyramidLevels,
-                          float                     maxResidue,
-                          float                     minDisplacement,
-                          float                     minEigenvalue,
-                          int                       lightingNormalized );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///    Builds an image pyramid of float32 arising from a single
-///    original image - that are successively downscaled w.r.t. the
-///    pre-set levels.
-///    \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvPyramidCreatef32_v2(). In the 2.0.0 release,
-///   fcvPyramidCreatef32_v2 will be renamed to fcvPyramidCreatef32
-///   and the signature of fcvPyramidCreatef32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///    Base image. Size of buffer is srcWidth*srcHeight*4 bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///    Width of base image
-///    \n\b WARNING: must be a multiple of 2^numLevels
-///
-/// @param srcHeight
-///    Height of base image
-///    \n\b WARNING: must be a multiple of 2^numLevels
-///
-/// @param numLevels
-///    Number of levels of  the pyramid
-///
-/// @param pyramid
-///    Output pyramid of numLevels+1 images of the same type as src .
-///    pyramid[0] will be the same as src . pyramid[1] is the next
-///    pyramid layer, a smoothed and down-sized src , and so on.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidCreatef32( const float* __restrict src,
-                     unsigned int            srcWidth,
-                     unsigned int            srcHeight,
-                     unsigned int            numLevels,
-                     fcvPyramidLevel*        pyramid );
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Builds an image pyramid (with stride).
-///   \n\b NOTE: Memory should be deallocated using fcvPyramidDelete_v2
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvPyramidCreatef32() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvPyramidCreatef32,
-///   \a fcvPyramidCreatef32_v2 will be removed, and the current signature
-///   for \a fcvPyramidCreatef32 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvPyramidCreatef32 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   base image
-///
-/// @param srcWidth
-///  width of base image
-///   \n\b NOTE: Needs to be a multiple of 2^numLevels
-///
-/// @param srcHeight
-///  height of base image
-///   \n\b NOTE: Needs to be a multiple of 2^numLevel
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory (base image).
-///   \n\b NOTE: Needs to be a multiple of 2^numLevels
-///   \n\b NOTE: If left at 0, pyramid (non-base) image stride is the same as its srcWidth*sizeof(float32_t)
-///
-/// @param numLevels
-///  Number of levels of  the pyramid
-///
-/// @param fcvPyramidLevel_v2
-///   output pyramid (with stride) of numLevels+1 images of the same type as src .
-///   pyramid[0] will be the same as src . pyramid[1] is the next
-///   pyramid layer, a smoothed and down-sized src , and so on.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidCreatef32_v2( const float32_t* __restrict src,
-                        uint32_t                    srcWidth,
-                        uint32_t                    srcHeight,
-                        uint32_t                    srcStride,
-                        uint32_t                    numLevels,
-                        fcvPyramidLevel_v2*         pyramid );
-
-// -----------------------------------------------------------------------------
-/// @brief
-///    Builds an image pyramid of uint8_t arising from a single
-///    original image - that are successively downscaled w.r.t. the
-///    pre-set levels.
-///    \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvPyramidCreateu8_v2(). In the 2.0.0 release,
-///   fcvPyramidCreateu8_v2 will be renamed to fcvPyramidCreateu8
-///   and the signature of fcvPyramidCreateu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///    Base image. Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param srcWidth
-///    Width of base image
-///    \n\b WARNING: must be a multiple of 2^(numLevels-1)
-///
-/// @param srcHeight
-///    height of base image
-///    \n\b NOTE: must be a multiple of 2^(numLevels-1)
-///
-/// @param numLevels
-///    Number of levels of  the pyramid
-///
-/// @param pyramid
-///    Output pyramid of numLevels+1 images of the same type as src .
-///    pyramid[0] will be the same as src . pyramid[1] is the next
-///    pyramid layer, a smoothed and down-sized src , and so on.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidCreateu8( const uint8_t* __restrict src,
-                    unsigned int              srcWidth,
-                    unsigned int              srcHeight,
-                    unsigned int              numLevels,
-                    fcvPyramidLevel*          pyramid );
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Builds an image pyramid (with stride).
-///   \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvPyramidCreateu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvPyramidCreateu8,
-///   \a fcvPyramidCreateu8_v2 will be removed, and the current signature
-///   for \a fcvPyramidCreateu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvPyramidCreateu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   base image
-///
-/// @param srcWidth
-///  width of base image
-///   \n\b NOTE: Needs to be a multiple of 2^numLevels
-///
-/// @param srcHeight
-///  height of base image
-///   \n\b NOTE: Needs to be a multiple of 2^numLevel
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory (base image).
-///   \n\b NOTE: Needs to be a multiple of 2^numLevels
-///   \n\b NOTE: Pyramid (non-base) image stride is the same as its width
-///
-/// @param numLevels
-///  Number of levels of  the pyramid
-///
-/// @param fcvPyramidLevel_v2
-///   output pyramid (with stride) of numLevels+1 images of the same type as src .
-///   pyramid[0] will be the same as src . pyramid[1] is the next
-///   pyramid layer, a smoothed and down-sized src , and so on.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidCreateu8_v2( const uint8_t * __restrict src,
-                       uint32_t                   srcWidth,
-                       uint32_t                   srcHeight,
-                       uint32_t                   srcStride,
-                       uint32_t                   numLevels,
-                       fcvPyramidLevel_v2*        pyramid );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Builds a Gaussian image pyramid.
-///   DO NOT USE THIS API unless for testing purposes.
-///   This API can be removed without notice.
-///
-/// @details
-///   This function builds a Gaussian image Pyramid given an input image. Each level
-///   of the pyramid is computed by first applying a gaussian filter on the previous level,
-///   and then scaling the image based on the type of scale factor selected. The memory for
-///   the pyramid must be allocated using fcvPyramidAllocate_v3(), and should be
-///   deallocated using fcvPyramidDelete_v2()
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvPyramidCreateu8_v2() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvPyramidCreateu8,
-///   \a fcvPyramidCreateu8_v3 will be removed, and the current signature
-///   for \a fcvPyramidCreateu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvPyramidCreateu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   base image
-///
-/// @param srcWidth
-///   Width of base image
-///
-/// @param srcHeight
-///   Height of base image
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory (base image).
-///   \n\b NOTE: The stride of pyramid levels other than the base are set to be the same as their width
-///
-/// @param numLevels
-///   Number of levels of  the pyramid
-///
-/// @param scale
-///   Defines the type of scaling used for each pyramid level.
-///   FASTCV_PYRAMID_SCALE_HALF downscales each level of the pyramid by a factor of 2.
-///   FASTCV_PYRAMID_SCALE_ORB  downscales each level of the pyramid by a factor of 1/(2)^(1/4),
-///   which is approximated as 0.8408964f
-///
-/// @param pyramidGaussian
-///   output pyramid of "numLevels" images of the same type as src .
-///   pyramidGaussian[0] will be the same as src . pyramidGaussian[1] is the next
-///   pyramid layer, a smoothed and scaled src, and so on.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvPyramidCreateu8_v3(const uint8_t * __restrict src,
-                      uint32_t           srcWidth,
-                      uint32_t           srcHeight,
-                      uint32_t           srcStride,
-                      uint32_t           numLevels,
-                      fcvPyramidScale  scale,
-                      fcvPyramidLevel_v2*  __restrict      pyramidGaussian);
-
-// -----------------------------------------------------------------------------
-/// @brief
-///    Creates a gradient pyramid of int16_t from an image pyramid of uint8_t
-///
-/// @param imgPyr
-///    Input Image Pyramid
-///
-/// @param dxPyr
-///    Horizontal Sobel gradient pyramid
-///
-/// @param dyPyr
-///    Verical Sobel gradient pyramid
-///
-/// @param numLevels
-///    Number of levels in the pyramids
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidSobelGradientCreatei16( const fcvPyramidLevel* imgPyr,
-                                  fcvPyramidLevel*       dxPyr,
-                                  fcvPyramidLevel*       dyPyr,
-                                  unsigned int           numLevels );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///    Creates a gradient pyramid of float32 from an image pyramid of uint8_t
-///
-/// @param imgPyr
-///    input Image Pyramid
-///
-/// @param dxPyr
-///    Horizontal Sobel gradient pyramid
-///
-/// @param dyPyr
-///    Verical Sobel gradient pyramid
-///
-/// @param numLevels
-///    Number of levels in the pyramids
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidSobelGradientCreatef32( const fcvPyramidLevel* imgPyr,
-                                  fcvPyramidLevel*       dxPyr,
-                                  fcvPyramidLevel*       dyPyr,
-                                  unsigned int           numLevels  );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///    Creates a gradient pyramid of integer8 from an image pyramid of uint8_t
-///
-/// @param imgPyr
-///    input Image Pyramid
-///
-/// @param dxPyr
-///    Horizontal Sobel gradient pyramid
-///
-/// @param dyPyr
-///    Verical Sobel gradient pyramid
-///
-/// @param numLevels
-///    Number of levels in the pyramids
-///
-/// @ingroup image_processing
-// -----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidSobelGradientCreatei8( const fcvPyramidLevel* imgPyr,
-                                 fcvPyramidLevel*       dxPyr,
-                                 fcvPyramidLevel*       dyPyr,
-                                 unsigned int           numLevels );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientSobelPlanars16_v3(). In the 2.0.0 release,
-///   fcvImageGradientSobelPlanars16_v3 will be renamed to fcvImageGradientSobelPlanars16
-///   and the signature of fcvImageGradientSobelPlanars16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (width)*(height) in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values
-///   Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (width)*(height) in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values
-///   Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelPlanars16( const uint8_t* __restrict  src,
-                                unsigned int               srcWidth,
-                                unsigned int               srcHeight,
-                                unsigned int               srcStride,
-                                int16_t* __restrict        dx,
-                                int16_t* __restrict        dy);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientSobelPlanars16_v3(). In the 2.0.0 release,
-///   fcvImageGradientSobelPlanars16_v3 will be renamed to fcvImageGradientSobelPlanars16
-///   and the signature of fcvImageGradientSobelPlanars16_v2 and
-///   fcvImageGradientSobelPlanars16_v3 as it appears now, will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values
-///   Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values
-///   Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' gradient arrays.
-///   \n\b NOTE: if 0, dxyStride is set as (srcWidth*sizeof(int16_t)).
-///   \n\b WARNING: should be multiple of 16 (8 * 2-bytes per gradient value), and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelPlanars16_v2( const uint8_t* __restrict  src,
-                                   unsigned int               srcWidth,
-                                   unsigned int               srcHeight,
-                                   unsigned int               srcStride,
-                                   int16_t* __restrict        dx,
-                                   int16_t* __restrict        dy,
-                                   unsigned int               dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data without normalization.
-///   This function computes central differences on 3x3 neighborhood and then convolves
-///   the result with Sobel kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientSobelPlanars16_v2() with a change in behavior: no normalization
-///   at the end of the calculation.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientSobelPlanars16,
-///   \a fcvImageGradientSobelPlanars16_v2 and fcvImageGradientSobelPlanars16_v3
-///   will be removed, and the current signature for \a fcvImageGradientSobelPlanars16
-///   and fcvImageGradientSobelPlanars16_v3 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientSobelPlanars16 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient. The number of pixels in a row.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///  \n\b NOTE: should be multiple of 8.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanars16_v3( const uint8_t* __restrict  src,
-                                    unsigned int              srcWidth,
-                                    unsigned int              srcHeight,
-                                    unsigned int              srcStride,
-                                         int16_t* __restrict  dx,
-                                         int16_t* __restrict  dy,
-                                    unsigned int              dxyStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientSobelInterleaveds16_v3(). In the 2.0.0 release,
-///   fcvImageGradientSobelInterleaveds16_v3 will be renamed to fcvImageGradientSobelInterleaveds16
-///   and the signature of fcvImageGradientSobelInterleaveds16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param gradients
-///   Buffer to store horizontal and vertical gradient. Must be
-///   (width-2)*(height-2) *2 in size.
-///   Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelInterleaveds16( const uint8_t* __restrict  src,
-                                     unsigned int               srcWidth,
-                                     unsigned int               srcHeight,
-                                     unsigned int               srcStride,
-                                     int16_t* __restrict        gradients );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientSobelInterleaveds16_v3(). In the 2.0.0 release,
-///   fcvImageGradientSobelInterleaveds16_v3 will be renamed to fcvImageGradientSobelInterleaveds16
-///   and the signature of fcvImageGradientSobelInterleaveds16 and
-///   fcvImageGradientSobelInterleaveds16_v2 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gradients
-///   Buffer to store horizontal and vertical gradient. Must be
-///   gradStride*(height-2) *2 bytes in size.
-///   Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param gradStride
-///   Stride (in bytes) of the interleaved gradients array.
-///   \n\b NOTE: if 0, gradStride is set as (srcWidth-2)*2*sizeof(int16_t).
-///   \n\b WARNING: should be multiple of 8, and at least as much as 4*srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelInterleaveds16_v2( const uint8_t* __restrict  src,
-                                        unsigned int               srcWidth,
-                                        unsigned int               srcHeight,
-                                        unsigned int               srcStride,
-                                        int16_t* __restrict        gradients,
-                                        unsigned int               gradStride );
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///   \n Compared to the original and v2 functions, this v3 functions does not normalize
-///   \n the gradients (divide by 8). It just returns the actual dx, dy values.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientSobelInterleaveds16_v2() with a change in behavior: no
-///   normalization at the end of the calculation.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientSobelInterleaveds16,
-///   \a fcvImageGradientSobelInterleaveds16_v2 and fcvImageGradientSobelInterleaveds16_v3
-///   will be removed, and the current signature for \a fcvImageGradientSobelInterleaveds16
-///   and fcvImageGradientSobelInterleaveds16_v3 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientSobelInterleaveds16 when transitioning to 2.0.0.
-///   \n\n
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient. The number of pixels in a row.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param gradients
-///   Buffer to store horizontal and vertical gradient. Must be
-///   gradStride*(height-2) *2 bytes in size.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param gradStride
-///   Stride (in bytes) is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in the interleaved gradients array. If left at 0 gradStride is default to 4 * (srcWidth-2).
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @ingroup image_processing
-// -----------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelInterleaveds16_v3( const uint8_t* __restrict  src,
-                                        unsigned int               srcWidth,
-                                        unsigned int               srcHeight,
-                                        unsigned int               srcStride,
-                                        int16_t*       __restrict  gradients,
-                                        unsigned int               gradStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientSobelInterleavedf32_v2(). In the 2.0.0 release,
-///   fcvImageGradientSobelInterleavedf32_v2 will be renamed to fcvImageGradientSobelInterleavedf32
-///   and the signature of fcvImageGradientSobelInterleavedf32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param gradients
-///   Buffer to store horizontal and vertical gradient. Must be
-///   (width-2)*(height-2) *2 floats in size.
-///   Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelInterleavedf32( const uint8_t* __restrict src,
-                                     unsigned int              srcWidth,
-                                     unsigned int              srcHeight,
-                                     unsigned int              srcStride,
-                                     float* __restrict         gradients);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientSobelInterleavedf32() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientSobelInterleavedf32,
-///   \a fcvImageGradientSobelInterleavedf32_v2 will be removed, and the current signature
-///   for \a fcvImageGradientSobelInterleavedf32 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientSobelInterleavedf32 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gradients
-///   Buffer to store horizontal and vertical gradient. Must be
-///   gradStride*(height-2) *2 bytes in size.
-///   Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param gradStride
-///   Stride (in bytes) of the interleaved gradients array.
-///   \n\b NOTE: if 0, gradStride is set as (srcWidth-2)*2*sizeof(float).
-///   \n\b WARNING: should be multiple of 8, and at least as much as (srcWidth-2)*2*sizeof(float) if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelInterleavedf32_v2( const uint8_t* __restrict src,
-                                        unsigned int              srcWidth,
-                                        unsigned int              srcHeight,
-                                        unsigned int              srcStride,
-                                        float* __restrict         gradients,
-                                        unsigned int              gradStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function
-///   computes central differences on 3x3 neighborhood and then convolves the
-///   result with Sobel kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvFilterGaussian3x3u8_v2(). In the 2.0.0 release,
-///   fcvImageGradientSobelPlanars8_v2 will be renamed to fcvImageGradientSobelPlanars8
-///   and the signature of fcvImageGradientSobelPlanars8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (width)*(height) in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (width)*(height) in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelPlanars8( const uint8_t* __restrict src,
-                               unsigned int              srcWidth,
-                               unsigned int              srcHeight,
-                               unsigned int              srcStride,
-                               int8_t* __restrict        dx,
-                               int8_t* __restrict        dy);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function
-///   computes central differences on 3x3 neighborhood and then convolves the
-///   result with Sobel kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientSobelPlanars8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientSobelPlanars8,
-///   \a fcvImageGradientSobelPlanars8_v2 will be removed, and the current signature
-///   for \a fcvImageGradientSobelPlanars8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientSobelPlanars8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (dxyStride)*(height) in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' gradient arrays.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelPlanars8_v2( const uint8_t* __restrict src,
-                                  unsigned int              srcWidth,
-                                  unsigned int              srcHeight,
-                                  unsigned int              srcStride,
-                                  int8_t* __restrict        dx,
-                                  int8_t* __restrict        dy,
-                                  unsigned int              dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientSobelPlanarf32_v2(). In the 2.0.0 release,
-///   fcvImageGradientSobelPlanarf32_v2 will be renamed to fcvImageGradientSobelPlanarf32
-///   and the signature of fcvImageGradientSobelPlanarf32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (width)*(height) in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (width)*(height) in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanarf32( const uint8_t* __restrict  src,
-                                unsigned int               srcWidth,
-                                unsigned int               srcHeight,
-                                unsigned int               srcStride,
-                                float*                     dx,
-                                float*                     dy);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientSobelPlanarf32() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientSobelPlanarf32,
-///   \a fcvImageGradientSobelPlanarf32_v2 will be removed, and the current signature
-///   for \a fcvImageGradientSobelPlanarf32 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientSobelPlanarf32 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' gradient arrays.
-///   \n\b NOTE: if 0, dxyStride is set as 4*srcWidth.
-///   \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value),and at least as much as srcWidth*sizeof(float) if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanarf32_v2( const uint8_t* __restrict  src,
-                                   unsigned int               srcWidth,
-                                   unsigned int               srcHeight,
-                                   unsigned int               srcStride,
-                                   float*                     dx,
-                                   float*                     dy,
-                                   unsigned int               dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageGradientSobelPlanarf32f32_v2(). In the 2.0.0 release,
-///   fcvImageGradientSobelPlanarf32f32_v2 will be renamed to fcvImageGradientSobelPlanarf32f32
-///   and the signature of fcvImageGradientSobelPlanarf32f32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight floats.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels (not bytes) between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (width)*(height) floats in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (width)*(height) floats in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanarf32f32( const float * __restrict  src,
-                                   unsigned int              srcWidth,
-                                   unsigned int              srcHeight,
-                                   unsigned int              srcStride,
-                                   float*                    dx,
-                                   float*                    dy);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data. This function computes
-///   central differences on 3x3 neighborhood and then convolves the result with Sobel
-///   kernel
-///   \n
-///   \n      [ -1 0 +1 ]              [ -1 -2 -1 ]
-///   \n dx = [ -2 0 +2 ] * src   dy = [  0  0  0 ] * src
-///   \n      [ -1 0 +1 ]              [ +1 +2 +1 ]
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageGradientSobelPlanarf32f32()() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageGradientSobelPlanarf32f32(),
-///   \a fcvImageGradientSobelPlanarf32f32_v2 will be removed, and the current signature
-///   for \a fcvImageGradientSobelPlanarf32f32 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageGradientSobelPlanarf32f32 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight floats.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride (in bytes) of image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b WARNING: should be multiple of 32 (8 * 4-bytes), and at least as much as srcWidth*sizeof(float) if not 0.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth*4.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-///   \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-///   contains undefined values. Gradient output is scaled by 1/8.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' gradient arrays.
-///   \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value).
-///   \n\b WARNING: should be multiple of 32 (8 * 4-bytes), and at least as much as srcWidth*sizeof(float) if not 0.
-///   \n\b NOTE: if 0, dxyStride is set as srcWidth*4.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanarf32f32_v2( const float * __restrict  src,
-                                      unsigned int              srcWidth,
-                                      unsigned int              srcHeight,
-                                      unsigned int              srcStride,
-                                      float*                    dx,
-                                      float*                    dy,
-                                      unsigned int              dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Block Optical Flow 16x16 - Tracks all 16x16 blocks in the Region of Interest
-///   (ROI) from Source-1 to Source-2. Generates Motion Vectors for blocks where
-///   motion is detected.
-///
-/// @details
-///
-/// @param[in] src1
-///   Pointer to source image where the original blocks are present.
-///   \n Dimensions should be same as \a src2, and equal to \a srcWidth,
-///   \a srcHeight, \a srcStride.
-///   \n\b WARNING: should be 128-bit aligned. Buffer size is srcStride*srcHeight bytes.
-///
-/// @param[in] src2
-///   Pointer to second source image where motion vectors for blocks in \a img1
-///   are to be located.
-///   \n Dimensions should be same as \a src1, and equal to \a srcWidth,
-///   \a srcHeight, \a srcStride.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param[in] srcWidth
-///   Width of source images pointed by \a src1 and \a src2.
-///
-/// @param[in] srcHeight
-///   Height of source images pointed by \a src1 and \a src2.
-///
-/// @param[in] srcStride
-///   Stride of source images pointed by \a src1 and \a src2.
-///
-/// @param[in] roiLeft
-///   Left co-ordinate (x0) of Region-of-Interest (ROI).
-///
-/// @param[in] roiTop
-///   Top co-orgdinate (y0) of Region-of-Interest (ROI).
-///
-/// @param[in] roiRight
-///   Right co-ordinate (x1) of Region-of-Interest (ROI).
-///
-/// @param[in] roiBottom
-///   Bottom co-ordinate (y1) of Region-of-Interest (ROI).
-///
-/// @param[in] shiftSize
-///   Distance in number of pixels (both horizontally and vertically) between
-///   consecutive blocks for which motion vector is searched.
-///   \n\b NOTE: Larger the value, less number of blocks will be tracked, and
-///   hence the function will run faster.
-///
-/// @param[in] searchWidth
-///   Numbers of pixels horizontally on left and right of the source block (src2) where a
-///   match is searched for. For example, if searchWidth is 8 and searchHeight
-///   is 8, then the search area for any given block will be 32x32 around
-///   the location of that block.
-///
-/// @param[in] searchHeight
-///   Numbers of pixels vertically on top and bottom of the source block (src2) where a
-///   match is searched for. For example, if searchWidth is 8 and searchHeight
-///   is 8, then the search area for any given block will be 32x32 around
-///   the location of that block.
-///
-/// @param[in] searchStep
-///   Distance in number of pixels between consecutive search targets within
-///   the above search window.
-///   \n\b NOTE: Larger the value, more coarse the search will be and thus
-///   will make the fucntion run faster. Smaller the value, more dense the
-///   search will be, making the funciton run slower.
-///
-/// @param[in] usePrevious
-///   Indicates if the function should use the existing motion vectors in
-///   locX and locY as the starting point for motion vector search.
-///   \n\b NOTE: This parameter is redundant at the moment.
-///
-/// @param[out] numMv
-///   Pointer to variable that will store the count of Motion Vectors
-///   generated by the function.
-///   \n\b WARNING: This pointer should be Non-NULL.
-///
-/// @param[out] locX
-///   Pointer to an array which will store the X co-ordinates of the
-///   original Block for which a Motion Vector is generated.
-///   \n\b NOTE: The array will contain \a numMv valid entries.
-///   \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
-///              (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
-///   \n\b WARNING: This pointer should be Non-NULL, and the array size should
-///   be >= number of 16x16 blocks in ROI.
-///
-/// @param[out] locY
-///   Pointer to an array which will store the Y co-ordinates of the
-///   original Block for which a Motion Vector is generated.
-///   \n\b NOTE: The array will contain \a numMv valid entries.
-///   \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
-///              (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
-///   \n\b WARNING: This pointer should be Non-NULL, and the array size should
-///   be >= number of 16x16 blocks in ROI.
-///
-/// @param[out] mvX
-///   Pointer to an array which will store the X co-ordinates of the block in \a src2
-///   corresponding block in \a src1. (\a mvX[i]-\a locX[i]) will give the motion
-///   vector for the block in \a src1.
-///   \n\b NOTE: The array will contain \a numMv valid entries.
-///   \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
-///              (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
-///   \n\b WARNING: This pointer should be Non-NULL, and the array size should
-///   be >= number of 16x16 blocks in ROI.
-///
-/// @param[out] mvY
-///   Pointer to an array which will store the Y co-ordinates of the block in \a src2
-///   corresponding block in \a src1. (\a mvY[i]-\a locY[i]) will give the motion
-///   vector for the block in \a src1.
-///   \n\b NOTE: The array will contain \a numMv valid entries.
-///   \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
-///              (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
-///   \n\b WARNING: This pointer should be Non-NULL, and the array size should
-///   be >= number of 16x16 blocks in ROI.
-///
-/// @return
-///    0 - Success, Failure otherwise.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvTrackBMOpticalFlow16x16u8( const uint8_t* __restrict   src1,
-                              const uint8_t* __restrict   src2,
-                              uint32_t                    srcWidth,
-                              uint32_t                    srcHeight,
-                              uint32_t                    srcStride,
-                              uint32_t                    roiLeft,
-                              uint32_t                    roiTop,
-                              uint32_t                    roiRight,
-                              uint32_t                    roiBottom,
-                              uint32_t                    shiftSize,
-                              uint32_t                    searchWidth,
-                              uint32_t                    searchHeight,
-                              uint32_t                    searchStep,
-                              uint32_t                    usePrevious,
-                              uint32_t *                  numMv,
-                              uint32_t *                  locX,
-                              uint32_t *                  locY,
-                              uint32_t *                  mvX,
-                              uint32_t *                  mvY);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Searches a set of patches within the source image for the max NCCs. The search
-///   regions are corresponding to the patches in the search list.
-///
-/// @param patches
-///   Pointer to a set of 8-bit patches, each patch takes patchWidth *patchHeight pixel
-///   values which are linearly laid out in memory.
-///   \n\b WARNING: patchWidth * patchHeight must be <= 256
-///
-/// @param patchWidth
-///   Width in pixels of the patch.
-///
-/// @param patchHeight
-///   Height in pixels of the patch.
-///
-/// @param src
-///   Pointer to 8-bit image for search.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width in pixels of the image.
-///
-/// @param srcHeight
-///   Height in pixels of the image.
-///
-/// @param srcStride
-///   The stride of the imge. Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param searchCenterX
-///   The list of Center X coordinate of each search window
-///
-/// @param searchCenterY
-///   The list of Center Y coordinate of each search window
-///
-/// @param searchWidth
-///   Width of search range in pixels
-///   \n\b WARNING: must be odd number.
-///
-/// @param searchHeight
-///   Height of search range in pixels
-///   \n\b WARNING: must be odd number.
-///
-/// @param filterLowVariance
-///   Minimum variance. Used to as threshold to compare against variance of
-///   the block of src or patch.
-///
-/// @param bestX
-///   The list of Center X location on the image of the best NCC matches.
-///   The center X has (patchWidth/2) pixels to the left and
-///   (patchWidth - (patchWidth/2) - 1) to the right.
-///
-/// @param bestY
-///   The list of Center Y location on the image of the best NCC matches.
-///   The center Y has (patchWidth/2) pixels above and
-///   (patchWidth - (patchWidth/2) - 1) below.
-///
-/// @param bestNCC
-///   NCC value of the best match blocks.
-///   It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param findSubPixel (0 or 1)
-///   Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-///   Sub-pixel estimate for optimal NCC relative to bestX.
-///   \n e.g., float x = (float)bestX + subX;
-///
-/// @param subY
-///   Sub-pixel estimate for optimal NCC relative to bestY.
-///
-/// @param numSearches
-///   number of patch searches in the image.
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvNCCPatchesOnRectu8 ( const uint8_t* __restrict     patches,
-                        uint32_t                      patchWidth,
-                        uint32_t                      patchHeight,
-                        const uint8_t* __restrict     src,
-                        uint32_t                      srcWidth,
-                        uint32_t                      srcHeight,
-                        uint32_t                      srcStride,
-                        const uint32_t * __restrict   searchCenterX,
-                        const uint32_t * __restrict   searchCenterY,
-                        uint32_t                      searchWidth,
-                        uint32_t                      searchHeight,
-                        int32_t                       filterLowVariance,
-                        uint32_t* __restrict          bestX,
-                        uint32_t* __restrict          bestY,
-                        uint32_t* __restrict          bestNCC,
-                        int32_t                       findSubPixel,
-                        float32_t* __restrict         subX,
-                        float32_t* __restrict         subY,
-                        uint32_t                      numSearches );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs per-element bitwise-OR operation on two 8-bit single channel images.
-///   Two images should have the same size. dst(I)=src1(I) V src2(I) if mask(I) is not zero.
-///
-/// @param src1
-///   Pointer to the 8-bit source image 1.
-///
-/// @param src2
-///   Pointer to the 8-bit source image 2.
-///
-/// @param srcWidth
-///   Width of source images pointed by src1 and src2.
-///
-/// @param srcHeight
-///   Height of source images pointed by src1 and src2.
-///
-/// @param srcStride
-///   Stride of source images (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param dst
-///    Pointer to the 8-bit destination image.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param mask
-///   Pointer to the 8-bit single channel mask. It specifies elements of the destination array to be changed.
-///   The mask is optional. If there is no mask, the value is NULL.
-///
-/// @param maskStride
-///   Stride of the mask (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If there is no mask, the value is 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBitwiseOru8(const uint8_t* __restrict src1,
-                                const uint8_t* __restrict src2,
-                                uint32_t                  srcWidth,
-                                uint32_t                  srcHeight,
-                                uint32_t                  srcStride,
-                                uint8_t * __restrict      dst,
-                                uint32_t                  dstStride,
-                                uint8_t * __restrict      mask,
-                                uint32_t                  maskStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs per-element bitwise-OR operation on two 32-bit single channel images.
-///   Two images should have the same size. dst(I)=src1(I) V src2(I) if mask(I) is not zero.
-///
-/// @param src1
-///   Pointer to the 32-bit source image 1.
-///
-/// @param src2
-///   Pointer to the 32-bit source image 2.
-///
-/// @param srcWidth
-///   Width of source images pointed by src1 and src2.
-///
-/// @param srcHeight
-///   Height of source images pointed by src1 and src2.
-///
-/// @param srcStride
-///   Stride of source images (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param dst
-///    Pointer to the 8-bit destination image.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param mask
-///   Pointer to the 8-bit single channel mask. It specifies elements of the destination array to be changed.
-///   The mask is optional. If there is no mask, the value is NULL.
-///
-/// @param maskStride
-///   Stride of the mask (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If there is no mask, the value is 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBitwiseOrs32(const int32_t* __restrict src1,
-                                 const int32_t* __restrict src2,
-                                 uint32_t                  srcWidth,
-                                 uint32_t                  srcHeight,
-                                 uint32_t                  srcStride,
-                                 int32_t * __restrict      dst,
-                                 uint32_t                  dstStride,
-                                 uint8_t * __restrict      mask,
-                                 uint32_t                  maskStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Converts an image from RGB space to grayscale
-///
-/// @details
-///
-/// @param src
-///   Source 8-bit image, BGR888 format (R is lowest byte for the pixel)
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Source image width.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Source image height.
-///
-/// @param srcStride
-///   Stride of source image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, srcStride=srcWidth as default
-///
-/// @param dst
-///   Destination 8-bit gray-scale image.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, dstStride=srcStride as default
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvColorRGB888ToGrayu8( const uint8_t* __restrict src,
-                     uint32_t srcWidth,
-                     uint32_t srcHeight,
-                     uint32_t srcStride,
-                     uint8_t* __restrict dst,
-                     uint32_t  dstStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Integral of the image tilted by 45 degrees
-///
-/// @details
-///   Calculates the tilted integral image of an input image
-///   and adds an zero-filled border on top. Left border not zero.
-///   dst[i,j]=sum (src[m,n]), where n<j, abs(m-i+1) <= j-n-1
-///
-/// @param src
-///   Source image, single channel, unsigned char type
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of source image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, srcStride is srcWidth in bytes as default
-///
-/// @param dst
-///   Destination image of size (srcWidth+1)*(srcHeight+1)
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTiltedIntegralu8s32( const uint8_t* __restrict src,
-                                        uint32_t             srcWidth,
-                                        uint32_t            srcHeight,
-                                        uint32_t            srcStride,
-                                        int32_t* __restrict       dst,
-                                        uint32_t            dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs a valid convolution of two images
-///
-/// @details
-///   This function does convolution of two images.
-///   Values are computed for the region where one image is completely within the other image.
-///
-/// @param src1
-///   First source image of int16 type
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src1Width
-///   Image width.
-///
-/// @param src1Height
-///   Image height.
-///
-/// @param src1Stride
-///   Stride of source image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, srcStride is srcWidth in bytes as default
-///
-/// @param src2
-///   Second source image of int16 type
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2Width
-///   Image width.
-///   Must meet this condition: src2Width <= src1Width
-///
-/// @param src2Height
-///   Image height.
-///   Must meet this condition: src2Height <= src1Height
-///
-/// @param src2Stride
-///   Stride of source images (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, srcStride is src2Width in bytes as default
-///
-/// @param dst
-///   Destination image of int32 type.
-///   Size of destination is (src1Width-src2Width+1) x (src1Height-src2Height+1)
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvConvValids16( const int16_t* __restrict src1,
-                 uint32_t src1Width,
-                 uint32_t src1Height,
-                 uint32_t src1Stride,
-                 const int16_t* __restrict src2,
-                 uint32_t src2Width,
-                 uint32_t src2Height,
-                 uint32_t src2Stride,
-                 int32_t* __restrict dst,
-                 uint32_t dstStride);
-
-
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///  Function to find the bounding rectangle of a set of points.
-///
-///
-/// @param [in] xy               Set of points (x,y) for which the bounding rectangle has to be found.
-///                              The points are expressed in interleaved format:  [x1,y1,x2,y2....]
-/// @param [in] numPoints        Number of points in the array.
-/// @param [out] rectTopLeftX    Lower left's X value for the rectangle.
-/// @param [out] rectTopLeftY    Lower Left's Y value for the rectangle;
-/// @param [out] rectWidth       Width of the rectangle.
-/// @param [out] rectHeight      Height of the rectangle.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvBoundingRectangle(const uint32_t * __restrict xy, uint32_t numPoints,
-                                      uint32_t * rectTopLeftX, uint32_t * rectTopLeftY,
-                                      uint32_t * rectWidth, uint32_t *rectHeight);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs vertical upsampling on input Chroma data
-///
-/// @details
-///   This function performs vertical 1:2 upsampling on the input Chroma data.
-///   The input shall be non-inteleaved planar Chroma data. The Chroma data
-///   can be either Cb component or Cr component.
-///   The output height is doubled after upsampling. Caller needs to pass in
-///   the output buffer large enough to hold the upsampled data.
-///
-/// @param src
-///   Input Chroma component, either Cb or Cr
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input width in number of Chroma pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input height in number of Chroma lines
-///
-/// @param srcStride
-///   Stride of input data (i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output Chroma data that has been upsampled vertically
-///   \n\b WARNING: output height is doubled
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output data(i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, dstStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvUpsampleVerticalu8( const uint8_t* __restrict src,
-                       uint32_t                  srcWidth,
-                       uint32_t                  srcHeight,
-                       uint32_t                  srcStride,
-                       uint8_t* __restrict       dst,
-                       uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs horizontal upsampling on input Chroma data
-///
-/// @details
-///   This function performs horizontal 1:2 upsampling on the input Chroma data.
-///   The input shall be non-interleaved planar Chroma data. The Chroma data
-///   can be either Cb component or Cr component.
-///   The output width is doubled after upsampling. Caller needs to pass in
-///   the output buffer large enough to hold the upsampled data.
-///
-/// @param src
-///   Input Chroma component, either Cb or Cr
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input width in number of Chroma pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input height in number of Chroma lines
-///
-/// @param srcStride
-///   Stride of input data (i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output Chroma data that has been upsampled horizontally
-///   \n\b WARNING: output width is doubled
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output data(i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, dstStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvUpsampleHorizontalu8( const uint8_t* __restrict src,
-                         uint32_t                  srcWidth,
-                         uint32_t                  srcHeight,
-                         uint32_t                  srcStride,
-                         uint8_t* __restrict       dst,
-                         uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs both horizontal and vertical upsampling on input Chroma data
-///
-/// @details
-///   This function performs horizontal 1:2 upsampling and vertical 1:2
-///   upsampling on the input Chroma data.
-///   The input shall be non-interleaved planar Chroma data. The Chroma data
-///   can be either Cb component or Cr component.
-///   The output width and height are doubled after upsampling. Caller needs
-///   to pass in the output buffer large enough to hold the upsampled data.
-///
-/// @param src
-///   Input Chroma component, either Cb or Cr
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input width in number of Chroma pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input height in number of Chroma lines
-///
-/// @param srcStride
-///   Stride of input data (i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output Chroma data that has been upsampled both horizontally and vertically
-///   \n\b WARNING: both output width and output height are doubled
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output data(i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, dstStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvUpsample2Du8( const uint8_t* __restrict src,
-                 uint32_t                  srcWidth,
-                 uint32_t                  srcHeight,
-                 uint32_t                  srcStride,
-                 uint8_t* __restrict       dst,
-                 uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs vertical upsampling on input interleaved Chroma data
-///
-/// @details
-///   This function performs vertical 1:2 upsampling on the input
-///   interleaved Chroma data.
-///   The input shall be interleaved Chroma data in pairs of CbCr or CrCb.
-///   The output height is doubled after upsampling. Caller needs to pass in
-///   the output buffer large enough to hold the upsampled data.
-///
-/// @param src
-///   Input interleaved Chroma data in pairs of CbCr or CrCb
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input width in number of Chroma pairs (CbCr pair or CrCb pair)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input height in number of Chroma lines
-///
-/// @param srcStride
-///   Stride of input data (i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, srcStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output Chroma data that has been upsampled vertically
-///   \n\b WARNING: output height is doubled
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output data(i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, dstStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvUpsampleVerticalInterleavedu8( const uint8_t* __restrict src,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcStride,
-                                  uint8_t* __restrict       dst,
-                                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs horizontal upsampling on input interleaved Chroma data
-///
-/// @details
-///   This function performs horizontal 1:2 upsampling on the input
-///   interleaved Chroma data.
-///   The input shall be interleaved Chroma data in pairs of CbCr or CrCb.
-///   The output width is doubled after upsampling. Caller needs to pass in
-///   the output buffer large enough to hold the upsampled data.
-///
-/// @param src
-///   Input interleaved Chroma data in pairs of CbCr or CrCb
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input width in number of Chroma pairs (CbCr pair or CrCb pair)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input height in number of Chroma lines
-///
-/// @param srcStride
-///   Stride of input data (i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, srcStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output Chroma data that has been upsampled horizontally
-///   \n\b WARNING: output width is doubled
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output data(i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, dstStride is default to srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvUpsampleHorizontalInterleavedu8( const uint8_t* __restrict src,
-                                    uint32_t                  srcWidth,
-                                    uint32_t                  srcHeight,
-                                    uint32_t                  srcStride,
-                                    uint8_t* __restrict       dst,
-                                    uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs both horizontal and vertical upsampling on input interleaved
-///   Chroma data
-///
-/// @details
-///   This function performs horizontal 1:2 upsampling and vertical 1:2
-///   upsampling on the input interleaved Chroma data.
-///   The input shall be interleaved Chroma data in pairs of CbCr or CrCb.
-///   The output width and height are doubled after upsampling. Caller needs
-///   to pass in the output buffer large enough to hold the upsampled data.
-///
-/// @param src
-///   Input interleaved Chroma data in pairs of CbCr or CrCb
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input width in number of Chroma pairs (CbCr pair or CrCb pair)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input height in number of Chroma lines
-///
-/// @param srcStride
-///   Stride of input data (i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, srcStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output Chroma data that has been upsampled both horizontally and vertically
-///   \n\b WARNING: both output width and output height are doubled
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output data(i.e., number of bytes between column 0 of row 0 and
-///   column 0 of row 1). If left at 0, dstStride is default to srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvUpsample2DInterleavedu8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to YCbCr444
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB565 to
-///   planar YCbCr444.
-///
-///   The input is one interleaved RGB565 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB565 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes:
-///   Y plane:  Y0  Y1  Y2  Y3 ...
-///   Cb plane: Cb0 Cb1 Cb2 Cb3...
-///   Cr plane: Cr0 Cr1 Cr2 Cr3...
-///
-/// @param src
-///   The intput of interleaved RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB565 pixels (2 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB565 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToYCbCr444Planaru8( const uint8_t* __restrict src,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcStride,
-                                  uint8_t* __restrict       dstY,
-                                  uint8_t* __restrict       dstCb,
-                                  uint8_t* __restrict       dstCr,
-                                  uint32_t                  dstYStride,
-                                  uint32_t                  dstCbStride,
-                                  uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to YCbCr422
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB565 to
-///   planar YCbCr422.
-///
-///   The input is one interleaved RGB565 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB565 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes, with Cb and Cb planes
-///   horizontally sub-sampled:
-///   Y plane                          : Y0  Y1  Y2  Y3 ...
-///   Horizontally sub-sampled Cb plane:   Cb0     Cb1  ...
-///   Horizontally sub-sampled Cr plane:   Cr0     Cr1  ...
-///
-/// @param src
-///   The intput of interleaved RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB565 pixels (2 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB565 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component that has been sub-sampled horizontally
-///   \n\b WARNING: width is half of the input RGB565 image width, height is
-///   the same to the input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component that has been sub-sampled horizontally
-///   \n\b WARNING: width is half of the input RGB565 image width, height is
-///   the same to the input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToYCbCr422Planaru8( const uint8_t* __restrict src,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcStride,
-                                  uint8_t* __restrict       dstY,
-                                  uint8_t* __restrict       dstCb,
-                                  uint8_t* __restrict       dstCr,
-                                  uint32_t                  dstYStride,
-                                  uint32_t                  dstCbStride,
-                                  uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to YCbCr420
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB565 to
-///   planar YCbCr420.
-///
-///   The input is one interleaved RGB565 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB565 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes, with Cb and Cb planes
-///   horizontally and vertically (2D) sub-sampled:
-///   Y plane                : Y00  Y01  Y02  Y03 ...
-///                            Y10  Y11  Y12  Y13 ...
-///   2D sub-sampled Cb plane:    Cb0     Cb1     ...
-///   2D sub-sampled Cr plane:    Cr0     Cr1     ...
-///
-/// @param src
-///   The intput of interleaved RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB565 pixels (2 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB565 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component that has been sub-sampled both horizontally
-///   and vertically
-///   \n\b WARNING: width and height are both half of the input RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component that has been sub-sampled both horizontally
-///   and vertically
-///   \n\b WARNING: width and height are both half of the input RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToYCbCr420Planaru8( const uint8_t* __restrict src,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcStride,
-                                  uint8_t* __restrict       dstY,
-                                  uint8_t* __restrict       dstCb,
-                                  uint8_t* __restrict       dstCr,
-                                  uint32_t                  dstYStride,
-                                  uint32_t                  dstCbStride,
-                                  uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to YCbCr444
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB888 to
-///   planar YCbCr444.
-///
-///   The input is one interleaved RGB888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB888 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes:
-///   Y plane:  Y0  Y1  Y2  Y3 ...
-///   Cb plane: Cb0 Cb1 Cb2 Cb3...
-///   Cr plane: Cr0 Cr1 Cr2 Cr3...
-///
-/// @param src
-///   The intput of interleaved RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB888 pixels (3 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToYCbCr444Planaru8( const uint8_t* __restrict src,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcStride,
-                                  uint8_t* __restrict       dstY,
-                                  uint8_t* __restrict       dstCb,
-                                  uint8_t* __restrict       dstCr,
-                                  uint32_t                  dstYStride,
-                                  uint32_t                  dstCbStride,
-                                  uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to YCbCr422
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB888 to
-///   planar YCbCr422.
-///
-///   The input is one interleaved RGB888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB888 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes, with Cb and Cb planes
-///   horizontally sub-sampled:
-///   Y plane                          : Y0  Y1  Y2  Y3 ...
-///   Horizontally sub-sampled Cb plane:   Cb0     Cb1  ...
-///   Horizontally sub-sampled Cr plane:   Cr0     Cr1  ...
-///
-/// @param src
-///   The intput of interleaved RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB888 pixels (3 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component that has been sub-sampled horizontally
-///   \n\b WARNING: width is half of the input RGB888 image width, height is
-///   the same to the input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component that has been sub-sampled horizontally
-///   \n\b WARNING: width is half of the input RGB888 image width, height is
-///   the same to the input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToYCbCr422Planaru8( const uint8_t* __restrict src,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcStride,
-                                  uint8_t* __restrict       dstY,
-                                  uint8_t* __restrict       dstCb,
-                                  uint8_t* __restrict       dstCr,
-                                  uint32_t                  dstYStride,
-                                  uint32_t                  dstCbStride,
-                                  uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to YCbCr420
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB888 to
-///   planar YCbCr420.
-///
-///   The input is one interleaved RGB888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB888 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes, with Cb and Cb planes
-///   horizontally and vertically (2D) sub-sampled:
-///   Y plane                : Y00  Y01  Y02  Y03 ...
-///                            Y10  Y11  Y12  Y13 ...
-///   2D sub-sampled Cb plane:    Cb0     Cb1     ...
-///   2D sub-sampled Cr plane:    Cr0     Cr1     ...
-///
-/// @param src
-///   The intput of interleaved RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB888 pixels (3 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component that has been sub-sampled both horizontally
-///   and vertically
-///   \n\b WARNING: width and height are both half of the input RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component that has been sub-sampled both horizontally
-///   and vertically
-///   \n\b WARNING: width and height are both half of the input RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToYCbCr420Planaru8( const uint8_t* __restrict src,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcStride,
-                                  uint8_t* __restrict       dstY,
-                                  uint8_t* __restrict       dstCb,
-                                  uint8_t* __restrict       dstCr,
-                                  uint32_t                  dstYStride,
-                                  uint32_t                  dstCbStride,
-                                  uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to YCbCr444
-///
-/// @details
-///   This function performs color space conversion from interleaved RGBA8888 to
-///   planar YCbCr444.
-///
-///   The input is one interleaved RGBA8888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGBA8888 plane: B0 G0 R0 A0 B1 G1 R1 A1 B2 G2 R2 A2 B3 G3 R3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes:
-///   Y plane:  Y0  Y1  Y2  Y3 ...
-///   Cb plane: Cb0 Cb1 Cb2 Cb3...
-///   Cr plane: Cr0 Cr1 Cr2 Cr3...
-///
-/// @param src
-///   The intput of interleaved RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGBA8888 pixels (4 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGBA8888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToYCbCr444Planaru8( const uint8_t* __restrict src,
-                                    uint32_t                  srcWidth,
-                                    uint32_t                  srcHeight,
-                                    uint32_t                  srcStride,
-                                    uint8_t* __restrict       dstY,
-                                    uint8_t* __restrict       dstCb,
-                                    uint8_t* __restrict       dstCr,
-                                    uint32_t                  dstYStride,
-                                    uint32_t                  dstCbStride,
-                                    uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to YCbCr422
-///
-/// @details
-///   This function performs color space conversion from interleaved RGBA8888 to
-///   planar YCbCr422.
-///
-///   The input is one interleaved RGBA8888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGBA8888 plane: B0 G0 R0 A0 B1 G1 R1 A1 B2 G2 R2 A2 B3 G3 R3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes, with Cb and Cb planes
-///   horizontally sub-sampled:
-///   Y plane                          : Y0  Y1  Y2  Y3 ...
-///   Horizontally sub-sampled Cb plane:   Cb0     Cb1  ...
-///   Horizontally sub-sampled Cr plane:   Cr0     Cr1  ...
-///
-/// @param src
-///   The intput of interleaved RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGBA8888 pixels (4 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGBA8888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component that has been sub-sampled horizontally
-///   \n\b WARNING: width is half of the input RGBA8888 image width, height is
-///   the same to the input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component that has been sub-sampled horizontally
-///   \n\b WARNING: width is half of the input RGBA8888 image width, height is
-///   the same to the input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToYCbCr422Planaru8( const uint8_t* __restrict src,
-                                    uint32_t                  srcWidth,
-                                    uint32_t                  srcHeight,
-                                    uint32_t                  srcStride,
-                                    uint8_t* __restrict       dstY,
-                                    uint8_t* __restrict       dstCb,
-                                    uint8_t* __restrict       dstCr,
-                                    uint32_t                  dstYStride,
-                                    uint32_t                  dstCbStride,
-                                    uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to YCbCr420
-///
-/// @details
-///   This function performs color space conversion from interleaved RGBA8888 to
-///   planar YCbCr420.
-///
-///   The input is one interleaved RGBA8888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGBA8888 plane: B0 G0 R0 A0 B1 G1 R1 A1 B2 G2 R2 A2 B3 G3 R3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///   The output are three separated Y, Cb and Cr planes, with Cb and Cb planes
-///   horizontally and vertically (2D) sub-sampled:
-///   Y plane                : Y00  Y01  Y02  Y03 ...
-///                            Y10  Y11  Y12  Y13 ...
-///   2D sub-sampled Cb plane:    Cb0     Cb1     ...
-///   2D sub-sampled Cr plane:    Cr0     Cr1     ...
-///
-/// @param src
-///   The intput of interleaved RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGBA8888 pixels (4 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGBA8888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCb
-///   Output image Cb component that has been sub-sampled both horizontally
-///   and vertically
-///   \n\b WARNING: width and height are both half of the input RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstCr
-///   Output image Cr component that has been sub-sampled both horizontally
-///   and vertically
-///   \n\b WARNING: width and height are both half of the input RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output image Cb component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCbStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output image Cr component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCrStride is
-///   default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToYCbCr420Planaru8( const uint8_t* __restrict src,
-                                    uint32_t                  srcWidth,
-                                    uint32_t                  srcHeight,
-                                    uint32_t                  srcStride,
-                                    uint8_t* __restrict       dstY,
-                                    uint8_t* __restrict       dstCb,
-                                    uint8_t* __restrict       dstCr,
-                                    uint32_t                  dstYStride,
-                                    uint32_t                  dstCbStride,
-                                    uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to pseudo-planar YCbCr444
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB565 to
-///   pseudo-planar YCbCr444.
-///
-///   The input is one interleaved RGB565 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB565 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///   The output are one Y plane followed by one interleaved CbCr (or CrCb) plane:
-///   Y plane          :    Y0      Y1      Y2      Y3   ...
-///   Interleaved plane: Cb0 Cr0 Cb1 Cr1 Cb2 Cr2 Cb3 Cr3 ...
-///
-/// @param src
-///   The intput of interleaved RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB565 pixels (2 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB565 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: size must match input RGB565 (Chroma width is in number
-///   of CbCr pairs)
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToYCbCr444PseudoPlanaru8( const uint8_t* __restrict src,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcStride,
-                                        uint8_t* __restrict       dstY,
-                                        uint8_t* __restrict       dstC,
-                                        uint32_t                  dstYStride,
-                                        uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to pseudo-planar YCbCr422
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB565 to
-///   pseudo-planar YCbCr422.
-///
-///   The input is one interleaved RGB565 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB565 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///   The output are Y plane followed by one interleaved and horizontally
-///   sub-sampled CbCr (or CrCb) plane:
-///   Y plane                          : Y0  Y1  Y2  Y3  ...
-///   Interleaved and sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
-///
-/// @param src
-///   The intput of interleaved RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB565 pixels (2 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB565 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: Chroma width in number of pairs is half of the input
-///   RGB565 image width, Chroma height in number of Chroma lines is the same
-///   to input RGB565 image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToYCbCr422PseudoPlanaru8( const uint8_t* __restrict src,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcStride,
-                                        uint8_t* __restrict       dstY,
-                                        uint8_t* __restrict       dstC,
-                                        uint32_t                  dstYStride,
-                                        uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to pseudo-planar YCbCr420
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB565 to
-///   pseudo-planar YCbCr420.
-///
-///   The input is one interleaved RGB565 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB565 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///   The output are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CbCr (or CrCb) plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cb0  Cr0  Cb1  Cr1 ...
-///
-/// @param src
-///   The intput of interleaved RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB565 pixels (2 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB565 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: Chroma width in number of pairs is half of the input
-///   RGB565 image width, Chroma height in number of Chroma lines is also half
-///   of the input RGB565 image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToYCbCr420PseudoPlanaru8( const uint8_t* __restrict src,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcStride,
-                                        uint8_t* __restrict       dstY,
-                                        uint8_t* __restrict       dstC,
-                                        uint32_t                  dstYStride,
-                                        uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to pseudo-planar YCbCr444
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB888 to
-///   pseudo-planar YCbCr444.
-///
-///   The input is one interleaved RGB888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB888 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///   The output are one Y plane followed by one interleaved CbCr (or CrCb) plane:
-///   Y plane          :    Y0      Y1      Y2      Y3   ...
-///   Interleaved plane: Cb0 Cr0 Cb1 Cr1 Cb2 Cr2 Cb3 Cr3 ...
-///
-/// @param src
-///   The intput of interleaved RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB888 pixels (3 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: size must match input RGB888 (Chroma width is in number
-///   of CbCr pairs)
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToYCbCr444PseudoPlanaru8( const uint8_t* __restrict src,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcStride,
-                                        uint8_t* __restrict       dstY,
-                                        uint8_t* __restrict       dstC,
-                                        uint32_t                  dstYStride,
-                                        uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to pseudo-planar YCbCr422
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB888 to
-///   pseudo-planar YCbCr422.
-///
-///   The input is one interleaved RGB888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB888 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///   The output are Y plane followed by one interleaved and horizontally
-///   sub-sampled CbCr (or CrCb) plane:
-///   Y plane                          : Y0  Y1  Y2  Y3  ...
-///   Interleaved and sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
-///
-/// @param src
-///   The intput of interleaved RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB888 pixels (3 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: Chroma width in number of pairs is half of the input
-///   RGB888 image width, Chroma height in number of Chroma lines is the same
-///   to input RGB888 image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToYCbCr422PseudoPlanaru8( const uint8_t* __restrict src,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcStride,
-                                        uint8_t* __restrict       dstY,
-                                        uint8_t* __restrict       dstC,
-                                        uint32_t                  dstYStride,
-                                        uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to pseudo-planar YCbCr420
-///
-/// @details
-///   This function performs color space conversion from interleaved RGB888 to
-///   pseudo-planar YCbCr420.
-///
-///   The input is one interleaved RGB888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGB888 plane: B0 G0 R0 B1 G1 R1 B2 G2 R2 B3 G3 R3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///   The output are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CbCr (or CrCb) plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cb0  Cr0  Cb1  Cr1 ...
-///
-/// @param src
-///   The intput of interleaved RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGB888 pixels (3 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGB888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: Chroma width in number of pairs is half of the input
-///   RGB888 image width, Chroma height in number of Chroma lines is also half
-///   of the input RGB888 image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToYCbCr420PseudoPlanaru8( const uint8_t* __restrict src,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcStride,
-                                        uint8_t* __restrict       dstY,
-                                        uint8_t* __restrict       dstC,
-                                        uint32_t                  dstYStride,
-                                        uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to pseudo-planar YCbCr444
-///
-/// @details
-///   This function performs color space conversion from interleaved RGBA8888 to
-///   pseudo-planar YCbCr444.
-///
-///   The input is one interleaved RGBA8888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGBA8888 plane: B0 G0 R0 A0 B1 G1 R1 A1 B2 G2 R2 A2 B3 G3 R3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///   The output are one Y plane followed by one interleaved CbCr (or CrCb) plane:
-///   Y plane          :    Y0      Y1      Y2      Y3   ...
-///   Interleaved plane: Cb0 Cr0 Cb1 Cr1 Cb2 Cr2 Cb3 Cr3 ...
-///
-/// @param src
-///   The intput of interleaved RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGBA8888 pixels (4 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGBA8888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: size must match input RGBA8888 (Chroma width is in number
-///   of CbCr pairs)
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToYCbCr444PseudoPlanaru8( const uint8_t* __restrict src,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcStride,
-                                          uint8_t* __restrict       dstY,
-                                          uint8_t* __restrict       dstC,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to pseudo-planar YCbCr422
-///
-/// @details
-///   This function performs color space conversion from interleaved RGBA8888 to
-///   pseudo-planar YCbCr422.
-///
-///   The input is one interleaved RGBA8888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGBA8888 plane: B0 G0 R0 A0 B1 G1 R1 A1 B2 G2 R2 A2 B3 G3 R3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///   The output are Y plane followed by one interleaved and horizontally
-///   sub-sampled CbCr (or CrCb) plane:
-///   Y plane                          : Y0  Y1  Y2  Y3  ...
-///   Interleaved and sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
-///
-/// @param src
-///   The intput of interleaved RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGBA8888 pixels (4 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGBA8888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: Chroma width in number of pairs is half of the input
-///   RGBA8888 image width, Chroma height in number of Chroma lines is the same
-///   to input RGBA8888 image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToYCbCr422PseudoPlanaru8( const uint8_t* __restrict src,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcStride,
-                                          uint8_t* __restrict       dstY,
-                                          uint8_t* __restrict       dstC,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to pseudo-planar YCbCr420
-///
-/// @details
-///   This function performs color space conversion from interleaved RGBA8888 to
-///   pseudo-planar YCbCr420.
-///
-///   The input is one interleaved RGBA8888 plane with blue stored at the lowest
-///   address, green next then red:
-///   RGBA8888 plane: B0 G0 R0 A0 B1 G1 R1 A1 B2 G2 R2 A2 B3 G3 R3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///   The output are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CbCr (or CrCb) plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cb0  Cr0  Cb1  Cr1 ...
-///
-/// @param src
-///   The intput of interleaved RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of RGBA8888 pixels (4 bytes per pixel)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of RGBA8888 lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Output image Y component
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstC
-///   Output image Chroma component
-///   \n\b WARNING: Chroma width in number of pairs is half of the input
-///   RGBA8888 image width, Chroma height in number of Chroma lines is also half
-///   of the input RGBA8888 image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstYStride
-///   Stride of output image Y component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstYStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1). If left at 0, dstCStride is
-///   default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToYCbCr420PseudoPlanaru8( const uint8_t* __restrict src,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcStride,
-                                          uint8_t* __restrict       dstY,
-                                          uint8_t* __restrict       dstC,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to RGB888 or from BGR565 to BGR888
-///
-/// @details
-///   This function performs RGB conversion from 16-bit interleaved RGB565 to
-///   24-bit interleaved RGB888, it can be used to convert 16-bit interleaved
-///   BGR565 to 24-bit interleaved BGR888 as well.
-///
-/// @param src
-///   Pointer to the input RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB565 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output RGB888
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToRGB888u8( const uint8_t* __restrict src,
-                          uint32_t                  srcWidth,
-                          uint32_t                  srcHeight,
-                          uint32_t                  srcStride,
-                          uint8_t* __restrict       dst,
-                          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to RGBA8888 or from BGR565 to BGRA8888
-///
-/// @details
-///   This function performs RGB conversion from 16-bit interleaved RGB565 to
-///   32-bit interleaved RGBA8888, it can be used to convert 16-bit interleaved
-///   BGR565 to 32-bit interleaved BGRA8888 as well.
-///
-/// @param src
-///   Pointer to the input RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB565 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output RGBA8888
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGBA8888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToRGBA8888u8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to BGR565 or from BGR565 to RGB565
-///
-/// @details
-///   This function performs RGB conversion from 16-bit interleaved RGB565 to
-///   16-bit interleaved BGR565, it can be used to convert 16-bit interleaved
-///   BGR565 to 16-bit interleaved RGB565 as well.
-///
-/// @param src
-///   Pointer to the input RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB565 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGR565
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGR565 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToBGR565u8( const uint8_t* __restrict src,
-                          uint32_t                  srcWidth,
-                          uint32_t                  srcHeight,
-                          uint32_t                  srcStride,
-                          uint8_t* __restrict       dst,
-                          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to BGR888 or from BGR565 to RGB888
-///
-/// @details
-///   This function performs RGB conversion from 16-bit interleaved RGB565 to
-///   24-bit interleaved BGR888 it can be used to convert 16-bit interleaved
-///   BGR565 to 24-bit interleaved RGB888 as well.
-///
-/// @param src
-///   Pointer to the input RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB565 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGR888
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGR888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToBGR888u8( const uint8_t* __restrict src,
-                          uint32_t                  srcWidth,
-                          uint32_t                  srcHeight,
-                          uint32_t                  srcStride,
-                          uint8_t* __restrict       dst,
-                          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB565 to BGRA8888 or from BGR565 to RGBA8888
-///
-/// @details
-///   This function performs RGB conversion from 16-bit interleaved RGB565 to
-///   32-bit interleaved BGRA8888, it can be used to convert 16-bit interleaved
-///   BGR565 to 32-bit interleaved RGBA8888 as well.
-///
-/// @param src
-///   Pointer to the input RGB565 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB565 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGRA8888
-///   \n\b WARNING: size must match input RGB565
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGRA8888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB565ToBGRA8888u8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to RGB565 or from BGR888 to BGR565
-///
-/// @details
-///   This function performs RGB conversion from 24-bit interleaved RGB888 to
-///   16-bit interleaved RGB565, it can be used to convert 24-bit interleaved
-///   BGR888 to 16-bit interleaved BGR565 as well.
-///
-/// @param src
-///   Pointer to the input RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output RGB565
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB565 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToRGB565u8( const uint8_t* __restrict src,
-                          uint32_t                  srcWidth,
-                          uint32_t                  srcHeight,
-                          uint32_t                  srcStride,
-                          uint8_t* __restrict       dst,
-                          uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to RGBA8888or from BGR888 to BGRA8888
-///
-/// @details
-///   This function performs RGB conversion from 24-bit interleaved RGB888 to
-///   32-bit interleaved RGBA8888, it can be used to convert 24-bit interleaved
-///   BGR888 to 32-bit interleaved BGRA8888 as well.
-///
-/// @param src
-///   Pointer to the input RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output RGBA8888
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGBA8888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToRGBA8888u8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to BGR565 or from BGR888 to RGB565
-///
-/// @details
-///   This function performs RGB conversion from 24-bit interleaved RGB888 to
-///   16-bit interleaved BGR565, it can be used to convert 24-bit interleaved
-///   BGR888 to 16-bit interleaved RGB565 as well.
-///
-/// @param src
-///   Pointer to the input RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGR565
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGR565 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToBGR565u8( const uint8_t* __restrict src,
-                          uint32_t                  srcWidth,
-                          uint32_t                  srcHeight,
-                          uint32_t                  srcStride,
-                          uint8_t* __restrict       dst,
-                          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to BGR888 or from BGR888 to RGB888
-///
-/// @details
-///   This function performs RGB conversion from 24-bit interleaved RGB888 to
-///   24-bit interleaved BGR888, it can be used to convert 24-bit interleaved
-///   BGR888 to 24-bit interleaved RGB888 as well.
-///
-/// @param src
-///   Pointer to the input RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGR888
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGR888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToBGR888u8( const uint8_t* __restrict src,
-                          uint32_t                  srcWidth,
-                          uint32_t                  srcHeight,
-                          uint32_t                  srcStride,
-                          uint8_t* __restrict       dst,
-                          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGB888 to BGRA8888 or from BGR888 to RGBA8888
-///
-/// @details
-///   This function performs RGB conversion from 24-bit interleaved RGB888 to
-///   32-bit interleaved BGRA8888, it can be used to convert 24-bit interleaved
-///   BGR888 to 32-bit interleaved RGBA8888 as well.
-///
-/// @param src
-///   Pointer to the input RGB888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGB888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGRA8888
-///   \n\b WARNING: size must match input RGB888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGRA8888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888ToBGRA8888u8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to RGB565 or BGRA8888 to BGR565
-///
-/// @details
-///   This function performs RGB conversion from 32-bit interleaved RGBA8888 to
-///   16-bit interleaved RGB565, it can be used to convert 32-bit interleaved
-///   BGRA8888 to 16-bit interleaved BGR565 as well.
-///
-/// @param src
-///   Pointer to the input RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGBA8888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output RGB565
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB565 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToRGB565u8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to RGB888 or from BGRA8888 to BGR888
-///
-/// @details
-///   This function performs RGB conversion from 32-bit interleaved RGBA8888 to
-///   24-bit interleaved RGB888, it can be used to convert 32-bit interleaved
-///   BGRA8888 to 24-bit interleaved BGR888 as well.
-///
-/// @param src
-///   Pointer to the input RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGBA8888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output RGB888
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToRGB888u8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to BGR565 or from BGRA8888 to RGB565
-///
-/// @details
-///   This function performs RGB conversion from 32-bit interleaved RGBA8888 to
-///   16-bit interleaved BGR565, it can be used to convert 32-bit interleaved
-///   BGRA8888 to 16-bit interleaved RGB565 as well.
-///
-/// @param src
-///   Pointer to the input RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGBA8888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGR565
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGR565 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToBGR565u8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to BGR888 or from BGRA8888 to RGB888
-///
-/// @details
-///   This function performs RGB conversion from 32-bit interleaved RGBA8888 to
-///   24-bit interleaved BGR888, it can be used to convert 32-bit interleaved
-///   BGRA8888 to 24-bit interleaved RGB888 as well.
-///
-/// @param src
-///   Pointer to the input RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGBA8888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGR888
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGR888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToBGR888u8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to BGRA8888 or from BGRA8888 to RGBA8888
-///
-/// @details
-///   This function performs RGB conversion from 32-bit interleaved RGBA8888 to
-///   32-bit interleaved  BGRA8888, it can be used to convert 32-bit interleaved
-///   BGRA8888 to 32-bit interleaved RGBA8888 as well.
-///
-/// @param src
-///   Pointer to the input RGBA8888 image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input RGBA8888 image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output BGRA8888
-///   \n\b WARNING: size must match input RGBA8888
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output BGRA8888 image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToBGRA8888u8( const uint8_t* __restrict src,
-                              uint32_t                  srcWidth,
-                              uint32_t                  srcHeight,
-                              uint32_t                  srcStride,
-                              uint8_t* __restrict       dst,
-                              uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from RGBA8888 to LAB color space
-///
-/// @details
-///   This function performs color space conversion from interleaved RGBA8888
-///   to interleaved LAB.
-///
-///   The input is arranged as:
-///   [B G R A B G R A ...]
-///   However, A is ignored in the conversion.
-///
-///   The output is arragned as:
-///   [L A B 0 L A B 0 L A B 0...]
-///
-///   Each component (B/G/R/A/L/A/B/0) are 8 bits.
-///
-/// @param src
-///   Input RGBA image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in the number of pixels.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of lines
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of LAB image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output LAB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGBA8888ToLABu8( const uint8_t* __restrict src,
-                         uint32_t            srcWidth,
-                         uint32_t            srcHeight,
-                         uint32_t            srcStride,
-                         uint8_t* __restrict dst,
-                         uint32_t            dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr444 to planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width of the output Cb component is half of the input
-///   width, height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width of the output Cr component is half of the input
-///   width, height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PlanarToYCbCr422Planaru8( const uint8_t*            srcY,
-                                          const uint8_t* __restrict srcCb,
-                                          const uint8_t* __restrict srcCr,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCbStride,
-                                          uint32_t                  srcCrStride,
-                                          uint8_t*                  dstY,
-                                          uint8_t* __restrict       dstCb,
-                                          uint8_t* __restrict       dstCr,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCbStride,
-                                          uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr444 to planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component is half of
-///   the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component is half of
-///   the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PlanarToYCbCr420Planaru8( const uint8_t*            srcY,
-                                          const uint8_t* __restrict srcCb,
-                                          const uint8_t* __restrict srcCr,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCbStride,
-                                          uint32_t                  srcCrStride,
-                                          uint8_t*                  dstY,
-                                          uint8_t* __restrict       dstCb,
-                                          uint8_t* __restrict       dstCr,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCbStride,
-                                          uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr444 to pseudo planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) and height of the output
-///   CbCr component are the same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, srcStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0
-///   ofrow 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PlanarToYCbCr444PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr444 to pseudo planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) of the output CbCr
-///   component is half of the input width, height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0
-///   ofrow 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PlanarToYCbCr422PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr444 to pseudo planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) and height of the output
-///   CbCr component is half of the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0
-///   ofrow 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PlanarToYCbCr420PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr422 to planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr422.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PlanarToYCbCr444Planaru8( const uint8_t*            srcY,
-                                          const uint8_t* __restrict srcCb,
-                                          const uint8_t* __restrict srcCr,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCbStride,
-                                          uint32_t                  srcCrStride,
-                                          uint8_t*                  dstY,
-                                          uint8_t* __restrict       dstCb,
-                                          uint8_t* __restrict       dstCr,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCbStride,
-                                          uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr422 to planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component is half of
-///   the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component is half of
-///   the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PlanarToYCbCr420Planaru8( const uint8_t*            srcY,
-                                          const uint8_t* __restrict srcCb,
-                                          const uint8_t* __restrict srcCr,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCbStride,
-                                          uint32_t                  srcCrStride,
-                                          uint8_t*                  dstY,
-                                          uint8_t* __restrict       dstCb,
-                                          uint8_t* __restrict       dstCr,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCbStride,
-                                          uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr422 to pseudo planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) and height of the output
-///   CbCr component are the same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0
-///   ofrow 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PlanarToYCbCr444PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr422 to pseudo planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) of the output CbCr
-///   component is half of the input width, height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0
-///   ofrow 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PlanarToYCbCr422PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr422 to pseudo planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) and height of the output
-///   CbCr component is half of the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0
-///   ofrow 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PlanarToYCbCr420PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr420 to planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr420.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PlanarToYCbCr444Planaru8( const uint8_t*            srcY,
-                                          const uint8_t* __restrict srcCb,
-                                          const uint8_t* __restrict srcCr,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCbStride,
-                                          uint32_t                  srcCrStride,
-                                          uint8_t*                  dstY,
-                                          uint8_t* __restrict       dstCb,
-                                          uint8_t* __restrict       dstCr,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCbStride,
-                                          uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr420 to planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width of the output Cb component is half of the input
-///   width, height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING:  The width of the output Cr component is half of the input
-///   width, height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PlanarToYCbCr422Planaru8( const uint8_t*            srcY,
-                                          const uint8_t* __restrict srcCb,
-                                          const uint8_t* __restrict srcCr,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCbStride,
-                                          uint32_t                  srcCrStride,
-                                          uint8_t*                  dstY,
-                                          uint8_t* __restrict       dstCb,
-                                          uint8_t* __restrict       dstCr,
-                                          uint32_t                  dstYStride,
-                                          uint32_t                  dstCbStride,
-                                          uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr420 to pseudo planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) and height of the output
-///   CbCr component are the same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0
-///   ofrow 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PlanarToYCbCr444PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr420 to pseudo planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default
-///   to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) of the output CbCr
-///   component is half of the input width, height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0
-///   ofrow 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PlanarToYCbCr422PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from planar YCbCr420 to pseudo planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCb
-///   Pointer to the input Cb component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcCr
-///   Pointer to the input Cr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(number of CbCr pairs) and height of the output
-///   CbCr component is half of the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0  of
-///   row 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PlanarToYCbCr420PseudoPlanaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcCb,
-                                                const uint8_t* __restrict srcCr,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCbStride,
-                                                uint32_t                  srcCrStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstC,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr444 to pseudo planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width of the output CbCr component, which is the number
-///   of the CbCr pairs, is half of the input width, height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PseudoPlanarToYCbCr422PseudoPlanaru8( const uint8_t*            srcY,
-                                                      const uint8_t* __restrict srcC,
-                                                      uint32_t                  srcWidth,
-                                                      uint32_t                  srcHeight,
-                                                      uint32_t                  srcYStride,
-                                                      uint32_t                  srcCStride,
-                                                      uint8_t*                  dstY,
-                                                      uint8_t* __restrict       dstC,
-                                                      uint32_t                  dstYStride,
-                                                      uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr444 to pseudo planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(the number of the CbCr pairs) and height of the
-///   output CbCr component are half of the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PseudoPlanarToYCbCr420PseudoPlanaru8( const uint8_t*            srcY,
-                                                      const uint8_t* __restrict srcC,
-                                                      uint32_t                  srcWidth,
-                                                      uint32_t                  srcHeight,
-                                                      uint32_t                  srcYStride,
-                                                      uint32_t                  srcCStride,
-                                                      uint8_t*                  dstY,
-                                                      uint8_t* __restrict       dstC,
-                                                      uint32_t                  dstYStride,
-                                                      uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr444 to planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PseudoPlanarToYCbCr444Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr444 to planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width of the output Cb component is half to the input
-///   width, the output height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width of the output Cr component is half to the input
-///   width, the output height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PseudoPlanarToYCbCr422Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr444 to planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component is half
-///   to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component is half
-///   to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PseudoPlanarToYCbCr420Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr422 to pseudo planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width and height of the output CbCr component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PseudoPlanarToYCbCr444PseudoPlanaru8( const uint8_t*            srcY,
-                                                      const uint8_t* __restrict srcC,
-                                                      uint32_t                  srcWidth,
-                                                      uint32_t                  srcHeight,
-                                                      uint32_t                  srcYStride,
-                                                      uint32_t                  srcCStride,
-                                                      uint8_t*                  dstY,
-                                                      uint8_t* __restrict       dstC,
-                                                      uint32_t                  dstYStride,
-                                                      uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr422 to pseudo planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width(the number of CbCr pairs) and height of the
-///   output CbCr component are half of the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PseudoPlanarToYCbCr420PseudoPlanaru8( const uint8_t*            srcY,
-                                                      const uint8_t* __restrict srcC,
-                                                      uint32_t                  srcWidth,
-                                                      uint32_t                  srcHeight,
-                                                      uint32_t                  srcYStride,
-                                                      uint32_t                  srcCStride,
-                                                      uint8_t*                  dstY,
-                                                      uint8_t* __restrict       dstC,
-                                                      uint32_t                  dstYStride,
-                                                      uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr422 to planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PseudoPlanarToYCbCr444Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr422 to planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width of the output Cb component is half to the input
-///   width, the output height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width of the output Cr component is half to the input
-///   width, the output height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PseudoPlanarToYCbCr422Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr422 to planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, dstCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component are half
-///   to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component are half
-///   to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PseudoPlanarToYCbCr420Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr420 to pseudo planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width and height of the output CbCr component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PseudoPlanarToYCbCr444PseudoPlanaru8( const uint8_t*            srcY,
-                                                      const uint8_t* __restrict srcC,
-                                                      uint32_t                  srcWidth,
-                                                      uint32_t                  srcHeight,
-                                                      uint32_t                  srcYStride,
-                                                      uint32_t                  srcCStride,
-                                                      uint8_t*                  dstY,
-                                                      uint8_t* __restrict       dstC,
-                                                      uint32_t                  dstYStride,
-                                                      uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr420 to pseudo planar YCbCr422
-///
-/// @details
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstC
-///   Pointer to the output CbCr component
-///   \n\b WARNING: The width and height of the output CbCr component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCStride
-///   Stride of output CbCr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PseudoPlanarToYCbCr422PseudoPlanaru8( const uint8_t*            srcY,
-                                                      const uint8_t* __restrict srcC,
-                                                      uint32_t                  srcWidth,
-                                                      uint32_t                  srcHeight,
-                                                      uint32_t                  srcYStride,
-                                                      uint32_t                  srcCStride,
-                                                      uint8_t*                  dstY,
-                                                      uint8_t* __restrict       dstC,
-                                                      uint32_t                  dstYStride,
-                                                      uint32_t                  dstCStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr420 to planar YCbCr444
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component are the
-///   same to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PseudoPlanarToYCbCr444Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr420 to planar YCbCr422
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width of the output Cb component is half to the input
-///   width, the output height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width of the output Cr component is half to the input
-///   width, the output height remains the same.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PseudoPlanarToYCbCr422Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo planar YCbCr420 to planar YCbCr420
-///
-/// @details
-///   This function performs YCbCr color space conversion.
-///   User can specify the destination Y pointer to be the same as the source
-///   Y pointer, in such case,
-///   the source and destination Y components share the same allocated memory.
-///
-/// @param srcY
-///   Pointer to the input Y component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcC
-///   Pointer to the input CbCr component
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcYStride
-///   Stride of input Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcYStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input CbCr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1). If left at 0, srcCStride is default
-///   to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstY
-///   Pointer to the output Y component.
-///   User can set the output pointer to be the same as the input pointer,
-///   in such case the Y component won't be touched.
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCb
-///   Pointer to the output Cb component
-///   \n\b WARNING: The width and height of the output Cb component is half
-///   to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstCr
-///   Pointer to the output Cr component
-///   \n\b WARNING: The width and height of the output Cr component is half
-///   to the input width and height.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstYStride
-///   Stride of output Y component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstYStride is default to
-///   srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCbStride
-///   Stride of output Cb component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCbStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstCrStride
-///   Stride of output Cr component (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstCrStride is default to
-///   srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PseudoPlanarToYCbCr420Planaru8( const uint8_t*            srcY,
-                                                const uint8_t* __restrict srcC,
-                                                uint32_t                  srcWidth,
-                                                uint32_t                  srcHeight,
-                                                uint32_t                  srcYStride,
-                                                uint32_t                  srcCStride,
-                                                uint8_t*                  dstY,
-                                                uint8_t* __restrict       dstCb,
-                                                uint8_t* __restrict       dstCr,
-                                                uint32_t                  dstYStride,
-                                                uint32_t                  dstCbStride,
-                                                uint32_t                  dstCrStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr444 to RGB565
-///
-/// @details
-///   This function performs color space conversion from YCbCr444 to RGB565.
-///
-///   The input are three separated Y, Cb and Cr planes:
-///   Y plane:  Y0  Y1  Y2  Y3 ...
-///   Cb plane: Cb0 Cb1 Cb2 Cb3...
-///   Cr plane: Cr0 Cr1 Cr2 Cr3...
-///
-///   The output is one interleaved RGB565 plane:
-///   RGB565 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB565 image
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PlanarToRGB565u8( const uint8_t* __restrict srcY,
-                                  const uint8_t* __restrict srcCb,
-                                  const uint8_t* __restrict srcCr,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcYStride,
-                                  uint32_t                  srcCbStride,
-                                  uint32_t                  srcCrStride,
-                                  uint8_t* __restrict       dst,
-                                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr444 to RGB888
-///
-/// @details
-///   This function performs color space conversion from YCbCr444 to RGB888.
-///
-///   The input are three separated Y, Cb and Cr planes:
-///   Y plane:  Y0  Y1  Y2  Y3 ...
-///   Cb plane: Cb0 Cb1 Cb2 Cb3...
-///   Cr plane: Cr0 Cr1 Cr2 Cr3...
-///
-///   The output is one interleaved RGB888 plane:
-///   RGB888 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB888 image
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PlanarToRGB888u8( const uint8_t* __restrict srcY,
-                                  const uint8_t* __restrict srcCb,
-                                  const uint8_t* __restrict srcCr,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcYStride,
-                                  uint32_t                  srcCbStride,
-                                  uint32_t                  srcCrStride,
-                                  uint8_t* __restrict       dst,
-                                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr444 to RGBA8888
-///
-/// @details
-///   This function performs color space conversion from YCbCr444 to RGBA8888.
-///
-///   The input are three separated Y, Cb and Cr planes:
-///   Y plane:  Y0  Y1  Y2  Y3 ...
-///   Cb plane: Cb0 Cb1 Cb2 Cb3...
-///   Cr plane: Cr0 Cr1 Cr2 Cr3...
-///
-///   The output is one interleaved RGBA8888 plane:
-///   RGBA8888 plane: R0 G0 B0 A0 R1 G1 B1 A1 R2 G2 B2 A2 R3 G3 B3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGBA8888 image
-///   \n\b WARNING: size must match input YCbCr 444
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 4
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PlanarToRGBA8888u8( const uint8_t* __restrict srcY,
-                                    const uint8_t* __restrict srcCb,
-                                    const uint8_t* __restrict srcCr,
-                                    uint32_t                  srcWidth,
-                                    uint32_t                  srcHeight,
-                                    uint32_t                  srcYStride,
-                                    uint32_t                  srcCbStride,
-                                    uint32_t                  srcCrStride,
-                                    uint8_t* __restrict       dst,
-                                    uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr422 to RGB565
-///
-/// @details
-///   This function performs color space conversion from YCbCr422 to RGB565.
-///
-///   The input are three separated Y, Cb and Cr planes, with horizontally
-///   sub-sampled Cb and Cr planes:
-///   Y plane                          : Y0  Y1  Y2  Y3 ...
-///   Horizontally sub-sampled Cb plane:   Cb0     Cb1  ...
-///   Horizontally sub-sampled Cr plane:   Cr0     Cr1  ...
-///
-///   The output is one interleaved RGB565 plane:
-///   RGB565 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component that has been sub-sampled horizontally
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component that has been sub-sampled horizontally
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB565 image
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PlanarToRGB565u8( const uint8_t* __restrict srcY,
-                                  const uint8_t* __restrict srcCb,
-                                  const uint8_t* __restrict srcCr,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcYStride,
-                                  uint32_t                  srcCbStride,
-                                  uint32_t                  srcCrStride,
-                                  uint8_t* __restrict       dst,
-                                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr422 to RGB888
-///
-/// @details
-///   This function performs color space conversion from YCbCr422 to RGB888.
-///
-///   The input are three separated Y, Cb and Cr planes, with horizontally
-///   sub-sampled Cb and Cr planes:
-///   Y plane                          : Y0  Y1  Y2  Y3 ...
-///   Horizontally sub-sampled Cb plane:   Cb0     Cb1  ...
-///   Horizontally sub-sampled Cr plane:   Cr0     Cr1  ...
-///
-///   The output is one interleaved RGB888 plane:
-///   RGB888 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB888 image
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PlanarToRGB888u8( const uint8_t* __restrict srcY,
-                                  const uint8_t* __restrict srcCb,
-                                  const uint8_t* __restrict srcCr,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcYStride,
-                                  uint32_t                  srcCbStride,
-                                  uint32_t                  srcCrStride,
-                                  uint8_t* __restrict       dst,
-                                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr422 to RGBA8888
-///
-/// @details
-///   This function performs color space conversion from YCbCr422 to RGBA8888.
-///
-///   The input are three separated Y, Cb and Cr planes, with horizontally
-///   sub-sampled Cb and Cr planes:
-///   Y plane                          : Y0  Y1  Y2  Y3 ...
-///   Horizontally sub-sampled Cb plane:   Cb0     Cb1  ...
-///   Horizontally sub-sampled Cr plane:   Cr0     Cr1  ...
-///
-///   The output is one interleaved RGBA8888 plane:
-///   RGBA8888 plane: R0 G0 B0 A0 R1 G1 B1 A1 R2 G2 B2 A2 R3 G3 B3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGBA8888 image
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PlanarToRGBA8888u8( const uint8_t* __restrict srcY,
-                                    const uint8_t* __restrict srcCb,
-                                    const uint8_t* __restrict srcCr,
-                                    uint32_t                  srcWidth,
-                                    uint32_t                  srcHeight,
-                                    uint32_t                  srcYStride,
-                                    uint32_t                  srcCbStride,
-                                    uint32_t                  srcCrStride,
-                                    uint8_t* __restrict       dst,
-                                    uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr420 to RGB565
-///
-/// @details
-///   This function performs color space conversion from YCbCr420 to RGB565.
-///
-///   The input are three separated Y, Cb and Cr planes, with horizontally
-///   and vertically (2D) sub-sampled Cb and Cr planes:
-///   Y plane                : Y00  Y01  Y02  Y03 ...
-///                            Y10  Y11  Y12  Y13 ...
-///   2D sub-sampled Cb plane:    Cb0     Cb1     ...
-///   2D sub-sampled Cr plane:    Cr0     Cr1     ...
-///
-///   The output is one interleaved RGB565 plane:
-///   RGB565 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB565 image
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PlanarToRGB565u8( const uint8_t* __restrict srcY,
-                                  const uint8_t* __restrict srcCb,
-                                  const uint8_t* __restrict srcCr,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcYStride,
-                                  uint32_t                  srcCbStride,
-                                  uint32_t                  srcCrStride,
-                                  uint8_t* __restrict       dst,
-                                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr420 to RGB888
-///
-/// @details
-///   This function performs color space conversion from YCbCr420 to RGB888.
-///
-///   The input are three separated Y, Cb and Cr planes, with horizontally
-///   and vertically (2D) sub-sampled Cb and Cr planes:
-///   Y plane                : Y00  Y01  Y02  Y03 ...
-///                            Y10  Y11  Y12  Y13 ...
-///   2D sub-sampled Cb plane:    Cb0     Cb1     ...
-///   2D sub-sampled Cr plane:    Cr0     Cr1     ...
-///
-///   The output is one interleaved RGB888 plane:
-///   RGB888 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB888 image
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PlanarToRGB888u8( const uint8_t* __restrict srcY,
-                                  const uint8_t* __restrict srcCb,
-                                  const uint8_t* __restrict srcCr,
-                                  uint32_t                  srcWidth,
-                                  uint32_t                  srcHeight,
-                                  uint32_t                  srcYStride,
-                                  uint32_t                  srcCbStride,
-                                  uint32_t                  srcCrStride,
-                                  uint8_t* __restrict       dst,
-                                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from YCbCr420 to RGBA8888
-///
-/// @details
-///   This function performs color space conversion from YCbCr420 to RGBA8888.
-///
-///   The input are three separated Y, Cb and Cr planes, with horizontally
-///   and vertically (2D) sub-sampled Cb and Cr planes:
-///   Y plane                : Y00  Y01  Y02  Y03 ...
-///                            Y10  Y11  Y12  Y13 ...
-///   2D sub-sampled Cb plane:    Cb0     Cb1     ...
-///   2D sub-sampled Cr plane:    Cr0     Cr1     ...
-///
-///   The output is one interleaved RGBA8888 plane:
-///   RGBA8888 plane: R0 G0 B0 A0 R1 G1 B1 A1 R2 G2 B2 A2 R3 G3 B3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCb
-///   Input image Cb component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcCr
-///   Input image Cr component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   Stride of input image Cb component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCbStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   Stride of input image Cr component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcCrStride is default to srcWidth / 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGBA8888 image
-///   \n\b WARNING: size must match input YCbCr 420
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PlanarToRGBA8888u8( const uint8_t* __restrict srcY,
-                                    const uint8_t* __restrict srcCb,
-                                    const uint8_t* __restrict srcCr,
-                                    uint32_t                  srcWidth,
-                                    uint32_t                  srcHeight,
-                                    uint32_t                  srcYStride,
-                                    uint32_t                  srcCbStride,
-                                    uint32_t                  srcCrStride,
-                                    uint8_t* __restrict       dst,
-                                    uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr444 to RGB565
-///
-/// @details
-///   This function performs color space conversion from YCbCr444 to RGB565.
-///
-///   The input are one Y plane followed by one interleaved CbCr (or CrCb) plane:
-///   Y plane          :    Y0      Y1      Y2      Y3   ...
-///   Interleaved plane: Cb0 Cr0 Cb1 Cr1 Cb2 Cr2 Cb3 Cr3 ...
-///
-///   The output is one interleaved RGB565 plane:
-///   RGB565 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB565 image
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PseudoPlanarToRGB565u8( const uint8_t* __restrict srcY,
-                                        const uint8_t* __restrict srcC,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcYStride,
-                                        uint32_t                  srcCStride,
-                                        uint8_t* __restrict       dst,
-                                        uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr444 to RGB888
-///
-/// @details
-///   This function performs color space conversion from YCbCr444 to RGB888.
-///
-///   The input are one Y plane followed by one interleaved CbCr (or CrCb) plane:
-///   Y plane          :    Y0      Y1      Y2      Y3   ...
-///   Interleaved plane: Cb0 Cr0 Cb1 Cr1 Cb2 Cr2 Cb3 Cr3 ...
-///
-///   The output is one interleaved RGB888 plane:
-///   RGB888 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB888 image
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PseudoPlanarToRGB888u8( const uint8_t* __restrict srcY,
-                                        const uint8_t* __restrict srcC,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcYStride,
-                                        uint32_t                  srcCStride,
-                                        uint8_t* __restrict       dst,
-                                        uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr444 to RGBA8888
-///
-/// @details
-///   This function performs color space conversion from YCbCr444 to RGBA8888.
-///
-///   The input are one Y plane followed by one interleaved CbCr (or CrCb) plane:
-///   Y plane          :    Y0      Y1      Y2      Y3   ...
-///   Interleaved plane: Cb0 Cr0 Cb1 Cr1 Cb2 Cr2 Cb3 Cr3 ...
-///
-///   The output is one interleaved RGBA8888 plane:
-///   RGBA8888 plane: R0 G0 B0 A0 R1 G1 B1 A1 R2 G2 B2 A2 R3 G3 B3 A3 ...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGBA8888 image
-///   \n\b WARNING: size must match input YCbCr444
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr444PseudoPlanarToRGBA8888u8( const uint8_t* __restrict srcY,
-                                          const uint8_t* __restrict srcC,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCStride,
-                                          uint8_t* __restrict       dst,
-                                          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr422 to RGB565
-///
-/// @details
-///   This function performs color space conversion from YCbCr422 to RGB565.
-///
-///   The input are one Y plane followed by one interleaved and horizontally
-///   sub-sampled CbCr (or CrCb) plane:
-///   Y plane                          : Y0  Y1  Y2  Y3  ...
-///   Interleaved and sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
-///
-///   The output is one interleaved RGB565 plane:
-///   RGB565 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB565 image
-///   \n\b WARNING: size must match input YCbCr 422
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PseudoPlanarToRGB565u8( const uint8_t* __restrict srcY,
-                                        const uint8_t* __restrict srcC,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcYStride,
-                                        uint32_t                  srcCStride,
-                                        uint8_t* __restrict       dst,
-                                        uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr422 to RGB888
-///
-/// @details
-///   This function performs color space conversion from YCbCr422 to RGB888.
-///
-///   The input are one Y plane followed by one interleaved and horizontally
-///   sub-sampled CbCr (or CrCb) plane:
-///   Y plane                          : Y0  Y1  Y2  Y3  ...
-///   Interleaved and sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
-///
-///   The output is one interleaved RGB888 plane:
-///   RGB888 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB888 image
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PseudoPlanarToRGB888u8( const uint8_t* __restrict srcY,
-                                        const uint8_t* __restrict srcC,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcYStride,
-                                        uint32_t                  srcCStride,
-                                        uint8_t* __restrict       dst,
-                                        uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr422 to RGBA8888
-///
-/// @details
-///   This function performs color space conversion from YCbCr422 to RGBA8888.
-///
-///   The input are one Y plane followed by one interleaved and horizontally
-///   sub-sampled CbCr (or CrCb) plane:
-///   Y plane                          : Y0  Y1  Y2  Y3  ...
-///   Interleaved and sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
-///
-///   The output is one interleaved RGBA8888 plane:
-///   RGBA8888 plane: R0 G0 B0 A0 R1 G1 B1 A1 R2 G2 B2 A2 R3 G3 B3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGBA8888 image
-///   \n\b WARNING: size must match input YCbCr422
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr422PseudoPlanarToRGBA8888u8( const uint8_t* __restrict srcY,
-                                          const uint8_t* __restrict srcC,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCStride,
-                                          uint8_t* __restrict       dst,
-                                          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr420 to RGB565
-///
-/// @details
-///   This function performs color space conversion from YCbCr420 to RGB565.
-///
-///   The input are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CbCr (or CrCb) plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cb0  Cr0  Cb1  Cr1 ...
-///
-///   The output is one interleaved RGB565 plane:
-///   RGB565 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB565 pixel is arranged with 5-bit Red component, 6-bit Green component,
-///   and 5-bit Blue component. One RGB565 pixel is made up of 16-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB565 image
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PseudoPlanarToRGB565u8( const uint8_t* __restrict srcY,
-                                        const uint8_t* __restrict srcC,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcYStride,
-                                        uint32_t                  srcCStride,
-                                        uint8_t* __restrict       dst,
-                                        uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr420 to RGB888
-///
-/// @details
-///   This function performs color space conversion from YCbCr420 to RGB888.
-///
-///   The input are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CbCr (or CrCb) plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cb0  Cr0  Cb1  Cr1 ...
-///
-///   The output is one interleaved RGB888 plane:
-///   RGB888 plane: R0 G0 B0 R1 G1 B1 R2 G2 B2 R3 G3 B3...
-///
-///   RGB888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   and 8-bit Blue component. One RGB888 pixel is made up of 24-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGB888 image
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PseudoPlanarToRGB888u8( const uint8_t* __restrict srcY,
-                                        const uint8_t* __restrict srcC,
-                                        uint32_t                  srcWidth,
-                                        uint32_t                  srcHeight,
-                                        uint32_t                  srcYStride,
-                                        uint32_t                  srcCStride,
-                                        uint8_t* __restrict       dst,
-                                        uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Color conversion from pseudo-planar YCbCr420 to RGBA8888
-///
-/// @details
-///   This function performs color space conversion from YCbCr420 to RGBA8888.
-///
-///   The input are one Y plane followed by one interleaved and 2D (both
-///   horizontally and vertically) sub-sampled CbCr (or CrCb) plane:
-///   Y plane                             : Y00  Y01  Y02  Y03 ...
-///                                         Y10  Y11  Y12  Y13 ...
-///   Interleaved and 2D sub-sampled plane: Cb0  Cr0  Cb1  Cr1 ...
-///
-///   The output is one interleaved RGBA8888 plane:
-///   RGBA8888 plane: R0 G0 B0 A0 R1 G1 B1 A1 R2 G2 B2 A2 R3 G3 B3 A3...
-///
-///   RGBA8888 pixel is arranged with 8-bit Red component, 8-bit Green component,
-///   8-bit Blue component, and 8-bit A component. One RGBA8888 pixel is made
-///   up of 32-bit data.
-///
-///
-/// @param srcY
-///   Input image Y component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   Input image Chroma component
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width in number of Y pixels
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height in number of Y lines
-///
-/// @param srcYStride
-///   Stride of input image Y component (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcYStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCStride
-///   Stride of input image Chroma component (i.e., number of bytes between
-///   column 0 of row 0 and column 0 of row 1).
-///   If left at 0, srcCStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The output of interleaved RGBA8888 image
-///   \n\b WARNING: size must match input YCbCr420
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output RGB image (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * 4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCbCr420PseudoPlanarToRGBA8888u8( const uint8_t* __restrict srcY,
-                                          const uint8_t* __restrict srcC,
-                                          uint32_t                  srcWidth,
-                                          uint32_t                  srcHeight,
-                                          uint32_t                  srcYStride,
-                                          uint32_t                  srcCStride,
-                                          uint8_t* __restrict       dst,
-                                          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs edge weighting on input image.
-///
-/// @details
-///   The following filtes are used for edge weighting.
-///
-///                           [  0  1 -1  ]
-///   Vertical edge filter:   [  0  2 -2  ]
-///                           [  0  1 -1  ]
-///
-///                           [  0  0  0  ]
-///   Horizontal edge filter: [  1  2  1  ]
-///                           [ -1 -2 -1  ]
-///
-/// @param edgeMap
-///   Input edge map data
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param edgeMapWidth
-///   Input edge map width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param edgeMapHeight
-///   Input edge map height
-///
-/// @param edgeMapStride
-///   Stride of input edge map (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, edgeMapStride is default to edgeMapWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param weight
-///   The given edge weighting weight.
-///   It is set to be 6554 (0.2 in Q15 format).
-///
-/// @param edge_limit
-///   The threshold to distinguish edges from noises. A pixel is from
-///   an edge if the filtered value is greater than the edge_limit.
-///
-///
-/// @param hl_threshold
-///   The limit of a pixel value reduction in HL band.
-///
-///
-/// @param hh_threshold
-///   The limit of a pixel value reduction in HH band.
-///
-///
-/// @param edge_denoise_factor
-///   Edge denoising factor to make sure a pixel value is reduced only when
-///   the pixel is a noise pixel.
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvEdgeWeightings16( int16_t* __restrict edgeMap,
-                     const uint32_t      edgeMapWidth,
-                     const uint32_t      edgeMapHeight,
-                     const uint32_t      edgeMapStride,
-                     const uint32_t      weight,
-                     const uint32_t      edge_limit,
-                     const uint32_t      hl_threshold,
-                     const uint32_t      hh_threshold,
-                     const uint32_t      edge_denoise_factor );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performe image deinterleave for unsigned byte data.
-///
-/// @details
-///   Deinterleave color compoentonts from src to dst0 and dst1.
-///   Data in src [d0 t0 d1 t1 d2 t2...]
-///   Results in dst0 [d0 d1 d2...]
-///   Results in dst1 [t0 t1 t2...]
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width, number of data pairs. For example, CrCb or CbCr pairs.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst0
-///   Pointer to one of the output image. For example,  Cb or Cr components.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dst0Stride
-///   Stride of one of the output image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, dst0Stride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst1
-///   Pointer to one of the output image. For example,  Cb or Cr components.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dst1Stride
-///   Stride of one of the output image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, dst1Stride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDeinterleaveu8( const uint8_t* __restrict src,
-                   uint32_t                  srcWidth,
-                   uint32_t                  srcHeight,
-                   uint32_t                  srcStride,
-                   uint8_t* __restrict       dst0,
-                   uint32_t                  dst0Stride,
-                   uint8_t* __restrict       dst1,
-                   uint32_t                  dst1Stride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performe image interleave
-///
-/// @details
-///   Interleav data from src0 and src1 to dst.
-///   Data in src0 [d0 d1 d2 d3...]
-///   Data in src1 [t0 t1 t2 t3...]
-///   Results in dst [d0 t0 d1 t1 d2 t2 d3 t3...]
-///
-/// @param src0
-///   One of the input images ( For example, Cb or Cr component)
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param src1
-///   One of the input images ( For example, Cb or Cr component)
-///   \n\b NOTE: should be 128-bit aligned.
-
-/// @param imageWidth
-///   Input image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param imageHeight
-///   Input image height
-///
-/// @param src0Stride
-///   Stride of input image 0 (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, src0Stride is default to imageWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param src1Stride
-///   Stride of input image 1 (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, src1Stride is default to imageWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to the output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of the output image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to imageWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvInterleaveu8( const uint8_t* __restrict src0,
-                 const uint8_t* __restrict src1,
-                 uint32_t                  imageWidth,
-                 uint32_t                  imageHeight,
-                 uint32_t                  src0Stride,
-                 uint32_t                  src1Stride,
-                 uint8_t* __restrict       dst,
-                 uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs forward Haar discrete wavelet transform on input image and
-///   transpose the result.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvDWTHaarTransposeu8(). In the 2.0.0 release,
-///   the signature of fcvDWTHarrTransposeu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1)
-///   If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1)
-///   If left at 0, dstStride is default to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDWTHarrTransposeu8( const uint8_t* __restrict src,
-                       uint32_t                  srcWidth,
-                       uint32_t                  srcHeight,
-                       uint32_t                  srcStride,
-                       int16_t* __restrict       dst,
-                       uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs forward Haar discrete wavelet transform on input image and
-///   transposes the result.
-///
-/// @details
-///   This function performs forward discrete wavelet transform on input image
-///   using the Haar kernel:
-///   Low pass:  [ 1   1 ] * 2^(-1/2)
-///   High pass: [ 1  -1 ] * 2^(-1/2)
-///   This function also transposes the result.
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image that has been transformed and transposed
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDWTHaarTransposeu8( const uint8_t* __restrict src,
-                       uint32_t                  srcWidth,
-                       uint32_t                  srcHeight,
-                       uint32_t                  srcStride,
-                       int16_t* __restrict       dst,
-                       uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs forward 5-3 Tab discrete wavelet transform on input image and
-///   transposes the result.
-///
-/// @details
-///   This function performs forward discrete wavelet transform on input image
-///   using the 5-tab low pass filter and the 3-tab high pass filter:
-///   5-tab low pass:  [ -1/8  1/4  3/4  1/4  -1/8 ] * 2^(1/2)
-///   3-tab high pass: [      -1/2   1  -1/2       ] * 2^(-1/2)
-///   This function also transposes the result.
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image that has been transformed and transposed
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDWT53TabTransposes16( const int16_t* __restrict src,
-                         uint32_t                  srcWidth,
-                         uint32_t                  srcHeight,
-                         uint32_t                  srcStride,
-                         int16_t* __restrict       dst,
-                         uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs inverse 5-3 Tab discrete wavelet transform on input image and
-///   transposes the result.
-///
-/// @details
-///   This function performs inverse discrete wavelet transform on input image
-///   using the 3-tab low pass filter and the 5-tab high pass filter:
-///   3-tab low  pass: [      -1/2   1  -1/2       ] * 2^(-1/2)
-///   5-tab high pass: [ -1/8  1/4  3/4  1/4  -1/8 ] * 2^(1/2)
-///   This function also transposes the result.
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image that has been transformed and transposed
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIDWT53TabTransposes16( const int16_t*   __restrict src,
-                          uint32_t                    srcWidth,
-                          uint32_t                    srcHeight,
-                          uint32_t                    srcStride,
-                          int16_t* __restrict         dst,
-                          uint32_t                    dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs inverse Haar discrete wavelet transform on input image and
-///   transpose the result.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvIDWTHaarTransposes16(). In the 2.0.0 release,
-///   the signature of fcvIDWTHarrTransposes16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIDWTHarrTransposes16( const int16_t* __restrict src,
-                         uint32_t                  srcWidth,
-                         uint32_t                  srcHeight,
-                         uint32_t                  srcStride,
-                         uint8_t* __restrict       dst,
-                         uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs inverse Haar discrete wavelet transform on input image and
-///   transposes the result.
-///
-/// @details
-///   This function performs inverse discrete wavelet transform on input image
-///   using the Haar kernel:
-///   Low pass:  [ 1   1 ] * 2^(-1/2)
-///   High pass: [ 1  -1 ] * 2^(-1/2)
-///   This function also transposes the result.
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image that has been transformed and transposed
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1).
-///   If left at 0, dstStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIDWTHaarTransposes16( const int16_t* __restrict src,
-                         uint32_t                  srcWidth,
-                         uint32_t                  srcHeight,
-                         uint32_t                  srcStride,
-                         uint8_t* __restrict       dst,
-                         uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs forward Haar discrete wavelet transform on input image
-///
-///
-/// @details
-///   This function performs forward discrete wavelet transform on the input
-///   image using Haar kernel.
-///
-///
-/// @param src
-///   Pointer to input single plane image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, dstStride is default to
-///   srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDWTHaaru8( const uint8_t* __restrict src,
-              uint32_t                  srcWidth,
-              uint32_t                  srcHeight,
-              uint32_t                  srcStride,
-              int16_t* __restrict       dst,
-              uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs forward 5-3 Tab discrete wavelet transform on input image
-///
-///
-/// @details
-///   This function performs forward discrete wavelet transform on the input
-///   image using 5-3 Tab kernel.
-///
-/// @param src
-///   Pointer to input single plane image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, srcStride is default to
-///   srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, dstStride is default to
-///   srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDWT53Tabs16( const int16_t* __restrict src,
-                uint32_t                  srcWidth,
-                uint32_t                  srcHeight,
-                uint32_t                  srcStride,
-                int16_t* __restrict       dst,
-                uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs inverse 5-3 Tab discrete wavelet transform on input image
-///
-///
-/// @details
-///   This function performs inverse discrete wavelet transform on the input
-///   image using 5-3 Tab kernel.
-///
-/// @param src
-///   Pointer to input single plane image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, srcStride is default to
-///   srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, dstStride is default to
-///   srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIDWT53Tabs16( const int16_t*   __restrict src,
-                 uint32_t                    srcWidth,
-                 uint32_t                    srcHeight,
-                 uint32_t                    srcStride,
-                 int16_t* __restrict         dst,
-                 uint32_t                    dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs inverse Haar discrete wavelet transform on input image
-///
-///
-/// @details
-///   This function performs inverse discrete wavelet transform on the input
-///   image using Haar kernel.
-///
-///
-/// @param src
-///   Pointer to input single plane image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, srcStride is default to
-///   srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, dstStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIDWTHaars16( const int16_t* __restrict src,
-                uint32_t                  srcWidth,
-                uint32_t                  srcHeight,
-                uint32_t                  srcStride,
-                uint8_t* __restrict       dst,
-                uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs forward discrete Cosine transform on uint8_t pixels
-///
-///
-/// @details
-///   This function performs 8x8 forward discrete Cosine transform on input
-///   image
-///
-/// @param src
-///   Pointer to input single plane image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, dstStride is default to
-///   srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDCTu8( const uint8_t* __restrict src,
-          uint32_t                  srcWidth,
-          uint32_t                  srcHeight,
-          uint32_t                  srcStride,
-          int16_t* __restrict       dst,
-          uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs inverse discrete cosine transform on int16_t coefficients
-///
-///
-/// @details
-///  This function performs 8x8 inverse discrete Cosine transform on input
-///   image
-///
-/// @param src
-///   Pointer to input single plane image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the input image
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, srcStride is default to
-///   srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0 of row 1
-///   and column 0 of row 2). If left at 0, dstStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIDCTs16( const int16_t* __restrict src,
-            uint32_t                  srcWidth,
-            uint32_t                  srcHeight,
-            uint32_t                  srcStride,
-            uint8_t* __restrict       dst,
-            uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Perform image upscaling using polyphase filters
-///
-/// @details
-///   Perform image upscaling using polyphase filters. The image data type is
-///   unsigned byte.
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstHeight
-///   Output image height
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to dstWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleUpPolyu8( const uint8_t* __restrict src,
-                  uint32_t                  srcWidth,
-                  uint32_t                  srcHeight,
-                  uint32_t                  srcStride,
-                  uint8_t* __restrict       dst,
-                  uint32_t                  dstWidth,
-                  uint32_t                  dstHeight,
-                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Interleaved image (CbCr or CrCb) upscaling using polyphase filters
-///
-/// @details
-///   Perform interleaved image (CbCr or CrCb) upscaling using polyphase
-///   filters. Data type is unsigned byte.
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width, number of (CrCb/CbCr) pairs
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width, number of (CrCb/CbCr) pairs
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstHeight
-///   Output image height
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to dstWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleUpPolyInterleaveu8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstWidth,
-                            uint32_t                  dstHeight,
-                            uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Image downscaling using MN method
-///   \n\b NOTE: This MN downscalar supports up to 1/20x downscaling.
-///
-/// @details
-///   The M over N downscale algorithm works on an arbitrary length (N) of
-///   input data, and generates another arbitrary length (M) of output data,
-///   with the output length M less or equal to the input length N.
-
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width
-///
-/// @param dstHeight
-///   Output image height
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1)
-///   If left at 0, dstStride is default to dstWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownMNu8( const uint8_t* __restrict src,
-                  uint32_t                  srcWidth,
-                  uint32_t                  srcHeight,
-                  uint32_t                  srcStride,
-                  uint8_t* __restrict       dst,
-                  uint32_t                  dstWidth,
-                  uint32_t                  dstHeight,
-                  uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Interleaved image downscaling using MN method
-///
-/// @details
-///   The M over N downscale algorithm works on an arbitrary length (N) of
-///   input data, and generates another arbitrary length (M) of output data,
-///   with the output length M less or equal to the input length N.
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width, number of (CrCb/CbCr) pair
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width , number of (CrCb/CbCr) pair
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstHeight
-///   Output image height
-///
-/// @param dstStride
-///   Stride of output image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to dstWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownMNInterleaveu8( const uint8_t* __restrict src,
-                            uint32_t                  srcWidth,
-                            uint32_t                  srcHeight,
-                            uint32_t                  srcStride,
-                            uint8_t* __restrict       dst,
-                            uint32_t                  dstWidth,
-                            uint32_t                  dstHeight,
-                            uint32_t                  dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Search K-Means tree, where each node connects to up to 10 children,
-///   and the center (mean) is a 36-tuple vector of 8-bit signed value.
-///
-/// @param nodeChildrenCenter
-///   A pointer to uint8_t [numNodes][10][36],
-///   which stores the center vectors of node children.
-///   The outer-most dimension represents the nodes in the tree.
-///   The middle dimension represents the children of each node.
-///   The inner-most dimension represents the tuples of the center vector.
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param nodeChildrenInvLenQ32
-///   A pointer to uint32_t [numNodes][10],
-///   which stores the inverse lengths of the center vectors.
-///   The inverse lengths are in Q32 format.
-///   The outer-most dimension represents the nodes in the tree.
-///   The inner-most dimension represents the children of each node.
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param nodeChildrenIndex
-///   A pointer to uint32_t [numNodes][10],
-///   which stores the indices of the children nodes.
-///   If the MSB is 0, the index points to a node within the tree.
-///   If the MSB is 1, the index (with MSB removed) points to a leaf node,
-///   which is returned by this function as the search result.
-///   See nodeChildrenInvLenQ32 for the definition of each dimension.
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param nodeNumChildren
-///   A pointer to uint8_t [numNodes],
-///   which stores the number of children in each node.
-///
-/// @param numNodes
-///   Number of nodes in the K-Means tree.
-///
-/// @param key
-///   A pointer to int8_t [36], which stores the key to be searched.
-///
-/// @return
-///   Index of the leaf node.
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvKMeansTreeSearch36x10s8( const   int8_t* __restrict  nodeChildrenCenter,
-                            const uint32_t* __restrict  nodeChildrenInvLenQ32,
-                            const uint32_t* __restrict  nodeChildrenIndex,
-                            const  uint8_t* __restrict  nodeNumChildren,
-                                  uint32_t              numNodes,
-                            const  int8_t * __restrict  key );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Sorts in-place the pairs of <descDB, descDBInvLenQ38 > according to
-///   descDBTargetId.
-///
-/// @param dbLUT
-///   A pointer to uint32_t [numDBLUT][2],
-///   which stores the starting index of descDB and
-///   the number of descriptors
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param numDBLUT
-///   The size of dbLUT
-///
-/// @param descDB
-///   A pointer to int8_t [numDescDB][36],
-///   which stores descriptors
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param descDBInvLenQ38
-///   A pointer to uint32_t [numDescDB],
-///   which stores the inverse length of descDB.
-///   The value is in Q38 format.
-///
-/// @param descDBTargetId
-///   A pointer to uint16_t [numDescDB],
-///   which stores the target id.
-///
-/// @param descDBOldIdx
-///   A pointer to uint32_t [numDescDB],
-///   which stores the old index of the desc before sorting
-///
-/// @param numDescDB
-///   Number of descriptor in the database.
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvLinearSearchPrepare8x36s8(  uint32_t * __restrict   dbLUT,
-                               uint32_t                numDBLUT,
-                               int8_t   * __restrict   descDB,
-                               uint32_t * __restrict   descDBInvLenQ38,
-                               uint16_t * __restrict   descDBTargetId,
-                               uint32_t * __restrict   descDBOldIdx,
-                               uint32_t                numDescDB );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Perform linear search of descriptor in a database
-///
-/// @param dbLUT
-///   A pointer to uint32_t [numDBLUT][2],
-///   which stores the starting index of descDB and
-///   the number of descriptors
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param numDBLUT
-///   The size of dbLUT
-///
-/// @param descDB
-///   A pointer to int8_t [numDescDB][36],
-///   which stores descriptors
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param descDBInvLenQ38
-///   A pointer to uint32_t [numDescDB],
-///   which stores the inverse length of descDB.
-///   The value is in Q38 format.
-///
-/// @param descDBTargetId
-///   A pointer to uint16_t [numDescDB],
-///   which stores the target id.
-///
-/// @param numDescDB
-///   Number of descriptor in the database.
-///
-/// @param srcDesc
-///   A pointer to int8_t [numSrcDesc][36],
-///   which stores descriptors.
-///   \n\b WARNING: must be 64-bit aligned.
-///
-/// @param srcDescInvLenQ38
-///   A pointer to uint32_t [numSrcDec],
-///   which stores the inverse length of srcDesc.
-///   The value is in Q38 format.
-///
-/// @param srcDescIdx
-///   A pointer to the dbLUT data
-///
-/// @param numSrcDesc
-///   Number of source descriptor
-///
-/// @param targetsToIgnore
-///   A list of target IDs to be ignored
-///
-/// @param numTargetsToIgnore
-///   Number of targets to be ignored
-///
-/// @param maxDistanceQ31
-///   Maximum distance for correspondences.
-///   In Q31 format.
-///
-/// @param correspondenceDBIdx
-///   A pointer to uint32_t [maxNumCorrespondences],
-///   which will be used by this function to output indices of featuresDB
-///   as a part of correspondences.
-///
-/// @param correspondenceSrcDescIdx
-///   A pointer to uint32_t [maxNumCorrespondences],
-///   which will be used by this function to output indices of descriptors
-///   as a part of correspondences.
-///
-/// @param correspondenceDistanceQ31
-///   A pointer to uint32_t [maxNumCorrespondences],
-///   which will be used by this function to output the distances
-///   as a part of correspondences.
-///   In Q31 format.
-///
-/// @param maxNumCorrespondences
-///   Maximum number of correspondences allowed
-///
-/// @param numCorrespondences
-///   Number of correspondences returned by this function
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvLinearSearch8x36s8(
-   const uint32_t * __restrict dbLUT,
-   uint32_t                    numDBLUT,
-   const int8_t   * __restrict descDB,
-   const uint32_t * __restrict descDBInvLenQ38,
-   const uint16_t * __restrict descDBTargetId,
-   uint32_t                    numDescDB,
-   const int8_t   * __restrict srcDesc,
-   const uint32_t * __restrict srcDescInvLenQ38,
-   const uint32_t * __restrict srcDescIdx,
-   uint32_t                    numSrcDesc,
-   const uint16_t * __restrict targetsToIgnore,
-   uint32_t                    numTargetsToIgnore,
-   uint32_t                    maxDistanceQ31,
-   uint32_t       * __restrict correspondenceDBIdx,
-   uint32_t       * __restrict correspondenceSrcDescIdx,
-   uint32_t       * __restrict correspondenceDistanceQ31,
-   uint32_t                    maxNumCorrespondences,
-   uint32_t       * __restrict numCorrespondences );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds only extreme outer contours in a binary image.  There is no nesting
-///   relationship between contours.  It sets hierarchy[i][2]=hierarchy[i][3]=-1
-///   for all the contours.
-///
-/// @param src
-///   Grayscale image with one byte per pixel.  Non-zero pixels are treated as
-///   1's. Zero pixels remain 0's, so the image is treated as binary.
-///
-/// @param srcWidth
-///   Image width
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param maxNumContours
-///   Maximum number of contours can be found
-///
-/// @param numContours
-///   Number of actually found contours
-///
-/// @param numContourPoints
-///   Number of points in each found contour
-///
-/// @param contourStartPoints
-///   Pointers to the start point of each found contour
-///
-/// @param pointBuffer
-///   Pointer to point buffer for contour points' coordinates.  It should
-///   be allocated before calling this function.
-///
-/// @param pointBufferSize
-///   Size of point buffer in terms of uint32_t
-///
-/// @param hierarchy
-///   Information about the image topology.  It has numContours elements.
-///   For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
-///   hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
-///   next and previous contours at the same hierarchical level, the first
-///   child contour and the parent contour, respectively.  If for a contour i
-///   there are no next, previous, parent, or nested contours, the corresponding
-///   elements of hierarchy[i] will be negative.
-///
-/// @param contourHandle
-///   Pointer to assistant and intermediate data.  It should be allocated by
-///   fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursExternalu8( uint8_t* __restrict   src,
-                           uint32_t              srcWidth,
-                           uint32_t              srcHeight,
-                           uint32_t              srcStride,
-                           uint32_t              maxNumContours,
-                           uint32_t* __restrict  numContours,
-                           uint32_t* __restrict  numContourPoints,
-                           uint32_t** __restrict contourStartPoints,
-                           uint32_t* __restrict  pointBuffer,
-                           uint32_t              pointBufferSize,
-                           int32_t               hierarchy[][4],
-                           void*                 contourHandle );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds contours in a binary image without any hierarchical relationships.
-///
-/// @param src
-///   Grayscale image with one byte per pixel.  Non-zero pixels are treated as
-///   1's. Zero pixels remain 0's, so the image is treated as binary.
-///
-/// @param srcWidth
-///   Image width
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param maxNumContours
-///   Maximum number of contours can be found
-///
-/// @param numContours
-///   Number of actually found contours
-///
-/// @param numContourPoints
-///   Number of points in each found contour
-///
-/// @param contourStartPoints
-///   Pointers to the start point of each found contour
-///
-/// @param pointBuffer
-///   Pointer to point buffer for contour points' coordinates.  It should
-///   be allocated before calling this function.
-///
-/// @param pointBufferSize
-///   Size of point buffer in terms of uint32_t
-///
-/// @param contourHandle
-///   Pointer to assistant and intermediate data.  It should be allocated by
-///   fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursListu8( uint8_t* __restrict   src,
-                       uint32_t              srcWidth,
-                       uint32_t              srcHeight,
-                       uint32_t              srcStride,
-                       uint32_t              maxNumContours,
-                       uint32_t* __restrict  numContours,
-                       uint32_t* __restrict  numContourPoints,
-                       uint32_t** __restrict contourStartPoints,
-                       uint32_t* __restrict  pointBuffer,
-                       uint32_t              pointBufferSize,
-                       void*                 contourHandle );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds contours in a binary image and organizes them into a two-level
-///   hierarchy.  At the top level, there are external boundaries of the
-///   components. At the second level, there are boundaries of the holes.
-///   If there is another contour inside a hole of a connected component,
-///   it is still put at the top level.
-///
-/// @param src
-///   Grayscale image with one byte per pixel.  Non-zero pixels are treated as
-///   1's. Zero pixels remain 0's, so the image is treated as binary.
-///
-/// @param srcWidth
-///   Image width
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param maxNumContours
-///   Maximum number of contours can be found (<= 126)
-///
-/// @param numContours
-///   Number of actually found contours
-///
-/// @param holeFlag
-///   Hole flag for each found contour to indicate whether it is a hole or not
-///
-/// @param numContourPoints
-///   Number of points in each found contour
-///
-/// @param contourStartPoints
-///   Pointers to the start point of each found contour
-///
-/// @param pointBuffer
-///   Pointer to point buffer for contour points' coordinates.  It should
-///   be allocated before calling this function.
-///
-/// @param pointBufferSize
-///   Size of point buffer in terms of uint32_t
-///
-/// @param hierarchy
-///   Information about the image topology.  It has numContours elements.
-///   For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
-///   hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
-///   next and previous contours at the same hierarchical level, the first
-///   child contour and the parent contour, respectively.  If for a contour i
-///   there are no next, previous, parent, or nested contours, the corresponding
-///   elements of hierarchy[i] will be negative.
-///
-/// @param contourHandle
-///   Pointer to assistant and intermediate data.  It should be allocated by
-///   fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursCcompu8( uint8_t* __restrict   src,
-                        uint32_t              srcWidth,
-                        uint32_t              srcHeight,
-                        uint32_t              srcStride,
-                        uint32_t              maxNumContours,
-                        uint32_t* __restrict   numContours,
-                        uint32_t* __restrict  holeFlag,
-                        uint32_t* __restrict  numContourPoints,
-                        uint32_t** __restrict contourStartPoints,
-                        uint32_t* __restrict  pointBuffer,
-                        uint32_t              pointBufferSize,
-                        int32_t               hierarchy[][4],
-                        void*                 contourHandle );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds contours in a binary image and reconstructs a full hierarchy of
-///   nested contours
-///
-/// @param src
-///   Grayscale image with one byte per pixel.  Non-zero pixels are treated as
-///   1's. Zero pixels remain 0's, so the image is treated as binary.
-///
-/// @param srcWidth
-///   Image width
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param numContours
-///   Number of actually found contours
-///
-/// @param maxNumContours
-///   Maximum number of contours can be found (<= 126)
-///
-/// @param holeFlag
-///   Hole flag for each found contour to indicate whether it is a hole or not
-///
-/// @param numContourPoints
-///   Number of points in each found contour
-///
-/// @param contourStartPoints
-///   Pointers to the start point of each found contour
-///
-/// @param pointBuffer
-///   Pointer to point buffer for contour points' coordinates.  It should
-///   be allocated before calling this function.
-///
-/// @param pointBufferSize
-///   Size of point buffer in terms of uint32_t
-///
-/// @param hierarchy
-///   Information about the image topology.  It has numContours elements.
-///   For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
-///   hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
-///   next and previous contours at the same hierarchical level, the first
-///   child contour and the parent contour, respectively.  If for a contour i
-///   there are no next, previous, parent, or nested contours, the corresponding
-///   elements of hierarchy[i] will be negative.
-///
-/// @param contourHandle
-///   Pointer to assistant and intermediate data.  It should be allocated by
-///   fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursTreeu8( uint8_t* __restrict   src,
-                       uint32_t              srcWidth,
-                       uint32_t              srcHeight,
-                       uint32_t              srcStride,
-                       uint32_t              maxNumContours,
-                       uint32_t* __restrict  numContours,
-                       uint32_t* __restrict  holeFlag,
-                       uint32_t* __restrict  numContourPoints,
-                       uint32_t** __restrict contourStartPoints,
-                       uint32_t* __restrict  pointBuffer,
-                       uint32_t              pointBufferSize,
-                       int32_t               hierarchy[][4],
-                       void*                 contourHandle );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Allocates assistant and intermediate data for contour
-///
-/// @param srcStride
-///   Stride of image (i.e., how many pixels between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @return
-///   Pointer to allocated data
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void*
-fcvFindContoursAllocate( uint32_t srcStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Deallocates assistant and intermediate data for contour
-///
-/// @param contourHandle
-///   Pointer to assistant and intermediate data
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursDelete( void* contourHandle );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Solve linear equation system
-///          Ax = b
-///
-/// @details
-///
-///
-/// @param A
-///    The matrix contains coefficients of the linear equation system
-///
-/// @param numRows
-///    The number of rows for the matrix A
-///
-/// @param numCols
-///    The number of columns for the matrix A
-///
-/// @param b
-///    The right side value
-///
-/// @param x
-///    The solution vector
-///
-///
-/// @return
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSolvef32(const float32_t * __restrict A,
-            int32_t numCols,
-            int32_t numRows,
-            const float32_t * __restrict b,
-            float32_t * __restrict x);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Calculates a perspective transform from four pairs of the corresponding
-///   points.
-///   NOTE: in order to guarantee a valid output transform, any three points
-///         in src1 or src2 cannot be collinear.
-///
-/// @param src1
-///   Coordinates of quadrangle vertices in the source image
-///
-/// @param src2
-///   Coordinates of the corresponding quadrangle vertices in the destination
-///   image
-///
-/// @param transformCoefficient
-///   3x3 matrix of a perspective transform
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvGetPerspectiveTransformf32( const float32_t src1[8],
-                               const float32_t src2[8],
-                               float32_t  transformCoefficient[9] );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of a uint8_t single channel array to a given value.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value
-///    the input uint8_t value
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///       array to be changed.
-///
-/// @param maskStride
-///    Stride for the mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSetElementsu8(        uint8_t * __restrict dst,
-                         uint32_t             dstWidth,
-                         uint32_t             dstHeight,
-                         uint32_t             dstStride,
-                         uint8_t              value,
-                   const uint8_t * __restrict mask,
-                         uint32_t             maskStride
-                 );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of an int32_t  single channel array to a given value.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value
-///    the input int32_t value
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///    array to be changed
-///
-/// @param maskStride
-///    Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementss32(          int32_t * __restrict dst,
-                             uint32_t             dstWidth,
-                             uint32_t             dstHeight,
-                             uint32_t             dstStride,
-                             int32_t              value,
-                       const uint8_t * __restrict mask ,
-                             uint32_t             maskStride
-                     );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of a float32_t single channel array to a given value.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value
-///    the input float32_t value
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///    array to be changed
-///
-/// @param maskStride
-///    Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsf32(        float32_t * __restrict dst,
-                          uint32_t               dstWidth,
-                          uint32_t               dstHeight,
-                          uint32_t               dstStride,
-                          float32_t              value,
-                    const uint8_t   * __restrict mask,
-                          uint32_t               maskStride
-                   );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of a uint8_t 4-channel  array to a given 4-element scalar.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-///    First uint8_t value of the Scalar
-///
-/// @param value2
-///    Second uint8_t value of the Scalar
-///
-/// @param value3
-///    Third uint8_t value of the Scalar
-///
-/// @param value4
-///    Fourth uint8_t value of the Scalar
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///    array to be changed
-///
-/// @param maskStride
-///    Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc4u8(         uint8_t * __restrict dst,
-                            uint32_t             dstWidth,
-                            uint32_t             dstHeight,
-                            uint32_t             dstStride,
-                            uint8_t              value1,
-                            uint8_t              value2,
-                            uint8_t              value3,
-                            uint8_t              value4,
-                      const uint8_t * __restrict mask,
-                            uint32_t             maskStride
-                    );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of an int32_t 4-channel  array to a given 4-element scalar.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-///    First int32_t value of the Scalar
-///
-/// @param value2
-///    Second int32_t value of the Scalar
-///
-/// @param value3
-///    Third int32_t value of the Scalar
-///
-/// @param value4
-///    Fourth int32_t value of the Scalar
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///    array to be changed.
-///
-/// @param maskStride
-///    Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc4s32(         int32_t * __restrict dst,
-                             uint32_t             dstWidth,
-                             uint32_t             dstHeight,
-                             uint32_t             dstStride,
-                             int32_t              value1,
-                             int32_t              value2,
-                             int32_t              value3,
-                             int32_t              value4,
-                       const uint8_t * __restrict mask,
-                             uint32_t             maskStride
-                     );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of a float32_t 4-channel  array to a given 4-element scalar.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-///    First float32_t value of the Scalar
-///
-/// @param value2
-///    Second float32_t value of the Scalar
-///
-/// @param value3
-///    Third float32_t value of the Scalar
-///
-/// @param value4
-///    Fourth float32_t value of the Scalar
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///    array to be changed
-///
-/// @param maskStride
-///    Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc4f32(         float32_t * __restrict dst,
-                             uint32_t               dstWidth,
-                             uint32_t               dstHeight,
-                             uint32_t               dstStride,
-                             float32_t              value1,
-                             float32_t              value2,
-                             float32_t              value3,
-                             float32_t              value4,
-                       const uint8_t   * __restrict mask,
-                             uint32_t               maskStride
-                     );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of a uint8_t 3-channel  array to a given 3-element scalar.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-///    First uint8_t value of the Scalar
-///
-/// @param value2
-///    Second uint8_t value of the Scalar
-///
-/// @param value3
-///    Third uint8_t value of the Scalar
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///    array to be changed
-///
-/// @param maskStride
-///    Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc3u8(         uint8_t * __restrict dst,
-                            uint32_t             dstWidth,
-                            uint32_t             dstHeight,
-                            uint32_t             dstStride,
-                            uint8_t              value1,
-                            uint8_t              value2,
-                            uint8_t              value3,
-                      const uint8_t * __restrict mask,
-                            uint32_t             maskStride
-                    );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of an int32_t 3-channel  array to a given 3-element scalar.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-///    First int32_t value of the Scalar
-///
-/// @param value2
-///    Second int32_t value of the Scalar
-///
-/// @param value3
-///    Third int32_t value of the Scalar
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///    array to be changed.
-///
-/// @param maskStride
-///    Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc3s32(         int32_t * __restrict dst,
-                             uint32_t             dstWidth,
-                             uint32_t             dstHeight,
-                             uint32_t             dstStride,
-                             int32_t              value1,
-                             int32_t              value2,
-                             int32_t              value3,
-                       const uint8_t * __restrict mask,
-                             uint32_t             maskStride
-                     );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Sets every element of a float32_t 3-channel  array to a given 3-element scalar.
-///
-/// @details
-///   A non-zero element of the mask array indicates the corresponding element
-///   of the destination array to be changed. The mask itself equals to zero means that
-///   all elements of the dst array need to be changed. The mask is assumed to
-///    have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-///    The destination matrix
-///
-/// @param dstWidth
-///    Destination matrix width
-///
-/// @param dstHeight
-///    Destination matrix height
-///
-/// @param dstStride
-///    Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-///    First float32_t value of the Scalar
-///
-/// @param value2
-///    Second float32_t value of the Scalar
-///
-/// @param value3
-///    Third float32_t value of the Scalar
-///
-/// @param mask
-///    Operation mask, 8-bit single channel array; specifies elements of the src
-///    array to be changed
-///
-/// @param maskStride
-///    Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc3f32(         float32_t * __restrict dst,
-                             uint32_t               dstWidth,
-                             uint32_t               dstHeight,
-                             uint32_t               dstStride,
-                             float32_t              value1,
-                             float32_t              value2,
-                             float32_t              value3,
-                       const uint8_t   * __restrict mask,
-                             uint32_t               maskStride
-                     );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Defines an enumeration to list threshold types used in fcvAdaptiveThreshold
-//------------------------------------------------------------------------------
-
-typedef enum {
-    FCV_THRESH_BINARY      = 0,   // value = value > threshold ? max_value : 0
-    FCV_THRESH_BINARY_INV       // value = value > threshold ? 0 : max_value
-} fcvThreshType;
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on an adaptive threshold value calculated from 3x3 Gaussian kernel.
-///
-/// @details
-///   For each pixel, the threshold is computed adaptively based on cross-correlation with a
-///   3x3 Gaussian kernel minus value (parameter). The standard deviation is used for Gaussian kernel.
-///   For FCV_THRESH_BINARY threshold type, the pixel is set as maxValue if it's value is greater than the threshold;
-///   else, it is set as zero. For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's value is greater than the threshold;
-///   else, it is set as maxValue.
-///
-/// @param src
-///   Pointer to the 8-bit input image.
-///
-/// @param srcWidth
-///   Width of source images pointed by src.
-///
-/// @param srcHeight
-///   Height of source images pointed by src.
-///
-/// @param srcStride
-///   Stride of source image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @param maxValue
-///   The maximum integer value to be used. 0<maxValue<256.
-///
-/// @param thresholdType
-///   Threshold type. It could be either FCV_THRESH_BINARY or FCV_THRESH_BINARY_INV.
-///
-/// @param value
-///   The constant value subtracted after the cross-correlation with Gaussian kernel.
-///   It is usually positive but could be 0 or negative too.
-///
-/// @param dst
-///   Pointer to the 8-bit destination image. Destination iamge has the same size as input image.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAdaptiveThresholdGaussian3x3u8( const uint8_t* __restrict src,
-                        uint32_t             srcWidth,
-                        uint32_t             srcHeight,
-                        uint32_t             srcStride,
-                        uint8_t              maxValue,
-                        fcvThreshType        thresholdType,
-                        int32_t              value,
-                        uint8_t* __restrict  dst,
-                        uint32_t             dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on an adaptive threshold value calculated from 5x5 Gaussian kernel.
-///
-/// @details
-///   For each pixel, the threshold is computed adaptively based on cross-correlation with a
-///   5x5 Gaussian kernel minus value (parameter). The standard deviation is used for Gaussian kernel.
-///   For FCV_THRESH_BINARY threshold type, the pixel is set as maxValue if it's value is greater than the threshold;
-///   else, it is set as zero. For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's value is greater than the threshold;
-///   else, it is set as maxValue.
-///
-/// @param src
-///   Pointer to the 8-bit input image.
-///
-/// @param srcWidth
-///   Width of source images pointed by src.
-///
-/// @param srcHeight
-///   Height of source images pointed by src.
-///
-/// @param srcStride
-///   Stride of source image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @param maxValue
-///   The maximum integer value to be used. 0<maxValue<256.
-///
-/// @param thresholdType
-///   Threshold type. It could be either FCV_THRESH_BINARY or FCV_THRESH_BINARY_INV.
-///
-/// @param value
-///   The constant value subtracted after the cross-correlation with Gaussian kernel.
-///   It is usually positive but could be 0 or negative too.
-///
-/// @param dst
-///   Pointer to the 8-bit destination image. Destination iamge has the same size as input image.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvAdaptiveThresholdGaussian5x5u8( const uint8_t* __restrict src,
-                        uint32_t             srcWidth,
-                        uint32_t             srcHeight,
-                        uint32_t             srcStride,
-                        uint8_t              maxValue,
-                        fcvThreshType        thresholdType,
-                        int32_t              value,
-                        uint8_t* __restrict  dst,
-                        uint32_t             dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on an adaptive threshold value calculated from 11x11 Gaussian kernel.
-///
-/// @details
-///   For each pixel, the threshold is computed adaptively based on cross-correlation with a
-///   11x11 Gaussian kernel minus value (parameter). The standard deviation is used for Gaussian kernel.
-///   For FCV_THRESH_BINARY threshold type, the pixel is set as maxValue if it's value is greater than the threshold;
-///   else, it is set as zero. For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's value is greater than the threshold;
-///   else, it is set as maxValue.
-///
-/// @param src
-///   Pointer to the 8-bit input image.
-///
-/// @param srcWidth
-///   Width of source images pointed by src.
-///
-/// @param srcHeight
-///   Height of source images pointed by src.
-///
-/// @param srcStride
-///   Stride of source image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @param maxValue
-///   The maximum integer value to be used. 0<maxValue<256.
-///
-/// @param thresholdType
-///   Threshold type. It could be either FCV_THRESH_BINARY or FCV_THRESH_BINARY_INV.
-///
-/// @param value
-///   The constant value subtracted after the cross-correlation with Gaussian kernel.
-///   It is usually positive but could be 0 or negative too.
-///
-/// @param dst
-///   Pointer to the 8-bit destination image. Destination iamge has the same size as input image.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvAdaptiveThresholdGaussian11x11u8( const uint8_t* __restrict src,
-                        uint32_t             srcWidth,
-                        uint32_t             srcHeight,
-                        uint32_t             srcStride,
-                        uint8_t              maxValue,
-                        fcvThreshType        thresholdType,
-                        int32_t              value,
-                        uint8_t* __restrict  dst,
-                        uint32_t             dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on an adaptive threshold value calculated from 3x3 mean.
-///
-/// @details
-///   For each pixel, the threshold is computed adaptively based on the mean of 3x3 block centered on the pixel
-///   minus value (parameter). For FCV_THRESH_BINARY threshold type, the pixel is set as maxValue if it's value is greater than the threshold;
-///   else, it is set as zero. For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's value is greater than the threshold;
-///   else, it is set as maxValue.
-///
-/// @param src
-///   Pointer to the 8-bit input image.
-///
-/// @param srcWidth
-///   Width of source images pointed by src.
-///
-/// @param srcHeight
-///   Height of source images pointed by src.
-///
-/// @param srcStride
-///   Stride of source image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @param maxValue
-///   The maximum integer value to be used. 0<maxValue<256.
-///
-/// @param thresholdType
-///   Threshold type. It could be either FCV_THRESH_BINARY or FCV_THRESH_BINARY_INV.
-///
-/// @param value
-///   The constant value subtracted from the mean.
-///   It is usually positive but could be 0 or negative too.
-///
-/// @param dst
-///   Pointer to the 8-bit destination image. Destination iamge has the same size as input image.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvAdaptiveThresholdMean3x3u8( const uint8_t* __restrict src,
-                        uint32_t             srcWidth,
-                        uint32_t             srcHeight,
-                        uint32_t             srcStride,
-                        uint8_t              maxValue,
-                        fcvThreshType        thresholdType,
-                        int32_t              value,
-                        uint8_t* __restrict  dst,
-                        uint32_t             dstStride );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on an adaptive threshold value calculated from 5x5 mean.
-///
-/// @details
-///   For each pixel, the threshold is computed adaptively based on the mean of 5x5 block centered on the pixel
-///   minus value (parameter). For FCV_THRESH_BINARY threshold type, the pixel is set as maxValue if it's value is greater than the threshold;
-///   else, it is set as zero. For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's value is greater than the threshold;
-///   else, it is set as maxValue.
-///
-/// @param src
-///   Pointer to the 8-bit input image.
-///
-/// @param srcWidth
-///   Width of source images pointed by src.
-///
-/// @param srcHeight
-///   Height of source images pointed by src.
-///
-/// @param srcStride
-///   Stride of source image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @param maxValue
-///   The maximum integer value to be used. 0<maxValue<256.
-///
-/// @param thresholdType
-///   Threshold type. It could be either FCV_THRESH_BINARY or FCV_THRESH_BINARY_INV.
-///
-/// @param value
-///   The constant value subtracted from the mean.
-///   It is usually positive but could be 0 or negative too.
-///
-/// @param dst
-///   Pointer to the 8-bit destination image. Destination iamge has the same size as input image.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvAdaptiveThresholdMean5x5u8( const uint8_t* __restrict src,
-                        uint32_t             srcWidth,
-                        uint32_t             srcHeight,
-                        uint32_t             srcStride,
-                        uint8_t              maxValue,
-                        fcvThreshType        thresholdType,
-                        int32_t              value,
-                        uint8_t* __restrict  dst,
-                        uint32_t             dstStride );
-//---------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image based on an adaptive threshold value calculated from 11x11 mean.
-///
-/// @details
-///   For each pixel, the threshold is computed adaptively based on the mean of 11x11 block centered on the pixel
-///   minus value (parameter). For FCV_THRESH_BINARY threshold type, the pixel is set as maxValue if it's value is greater than the threshold;
-///   else, it is set as zero. For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's value is greater than the threshold;
-///   else, it is set as maxValue.
-///
-/// @param src
-///   Pointer to the 8-bit input image.
-///
-/// @param srcWidth
-///   Width of source images pointed by src.
-///
-/// @param srcHeight
-///   Height of source images pointed by src.
-///
-/// @param srcStride
-///   Stride of source image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @param maxValue
-///   The maximum integer value to be used. 0<maxValue<256.
-///
-/// @param thresholdType
-///   Threshold type. It could be either FCV_THRESH_BINARY or FCV_THRESH_BINARY_INV.
-///
-/// @param value
-///   The constant value subtracted from the mean.
-///   It is usually positive but could be 0 or negative too.
-///
-/// @param dst
-///   Pointer to the 8-bit destination image. Destination iamge has the same size as input image.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvAdaptiveThresholdMean11x11u8( const uint8_t* __restrict src,
-                        uint32_t             srcWidth,
-                        uint32_t             srcHeight,
-                        uint32_t             srcStride,
-                        uint8_t              maxValue,
-                        fcvThreshType        thresholdType,
-                        int32_t              value,
-                        uint8_t* __restrict  dst,
-                        uint32_t             dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Smooth a uint8_t image with a 3x3 box filter
-///
-/// @details
-///   smooth with 3x3 box kernel and normalize:
-///   \n[ 1 1 1
-///   \n  1 1 1
-///   \n  1 1 1 ]/9
-///
-/// @param src
-///   Input uint8_t image.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBoxFilter3x3u8( const uint8_t* __restrict src,
-                         uint32_t            srcWidth,
-                         uint32_t            srcHeight,
-                         uint32_t            srcStride,
-                         uint8_t* __restrict dst,
-                         uint32_t            dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Smooth a uint8_t image with a 5x5 box filter
-///
-/// @details
-///   smooth with 5x5 box kernel and normalize:
-///   \n[ 1 1 1 1 1
-///   \n  1 1 1 1 1
-///   \n  1 1 1 1 1
-///   \n  1 1 1 1 1
-///   \n  1 1 1 1 1 ]/25
-///
-/// @param src
-///   Input uint8_t image.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBoxFilter5x5u8( const uint8_t* __restrict src,
-                         uint32_t            srcWidth,
-                         uint32_t            srcHeight,
-                         uint32_t            srcStride,
-                         uint8_t* __restrict dst,
-                         uint32_t            dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Smooth a uint8_t image with a 11x11 box filter
-///
-/// @details
-///   smooth with 11x11 box kernel and normalize:
-///
-/// @param src
-///   Input uint8_t image.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBoxFilter11x11u8(const uint8_t* __restrict src,
-                          uint32_t            srcWidth,
-                          uint32_t            srcHeight,
-                          uint32_t            srcStride,
-                          uint8_t* __restrict dst,
-                          uint32_t            dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Smooth a float32_t image with a NxN box filter.
-///   If srcImg and dstImg point to the same address
-///   and srcStride equals to dstStride, it will do in-place.
-///
-/// @details
-///   smooth with NxN box kernel and normalize:
-///
-/// @param src
-///   Input float32_t image.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param N
-///   Seperable kernel size. N must be greater than 1.
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.
-///   If srcImg and dstImg point to the same address and srcStride equals to dstStride, it will do in-place.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBoxFilterNxNf32(const float32_t*  src,
-                         uint32_t    srcWidth,
-                         uint32_t    srcHeight,
-                         uint32_t    srcStride,
-                         uint32_t    N,
-                         float32_t*  dst,
-                         uint32_t    dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   bilateral smoothing with a 5x5 bilateral kernel
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvBilateralFilter5x5u8_v2(). In the 2.0.0 release,
-///   fcvBilateralFilter5x5u8_v2 will be renamed to fcvBilateralFilter5x5u8
-///   and the signature of fcvBilateralFilter5x5u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   The bilateral filter applied here considered 5-pixel diameter of each pixel's neighborhood.
-/// The filter sigma in color space is set to 50 and the sigma in coordinate space is set to 1.
-///
-/// @param src
-///   Input uint8_t image.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvBilateralFilter5x5u8(const uint8_t* __restrict src,
-                              uint32_t            srcWidth,
-                              uint32_t            srcHeight,
-                              uint32_t            srcStride,
-                              uint8_t* __restrict dst,
-                              uint32_t            dstStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   bilateral smoothing with a 5x5 bilateral kernel
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvBilateralFilter5x5u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvBilateralFilter5x5u8,
-///   \a fcvBilateralFilter5x5u8_v2 will be removed, and the current signature
-///   for \a fcvBilateralFilter5x5u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvBilateralFilter5x5u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   The bilateral filter applied here considered 5-pixel diameter of each pixel's neighborhood.
-///   If sigmaColor is set to 50 and sigmaSpace is set to 1, then fcvBilateralFilter5x5u8 is called
-///
-/// @param src
-///   Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-///   Output uint8_t image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param sigmaColor
-///   Filter sigma in the color space. Typical value is 50.0f. Increasing this value means increasing the influence of the neighboring
-///pixels of more different Color to the smoothing result.
-///
-/// @param sigmaSpace
-///   Filter sigma in the coordinate space. Typical value is 1.0f. Increasing this value means increasing the influence of farther
-/// neighboring pixels within the kernel size distance to the smoothing result.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvBilateralFilter5x5u8_v2(const uint8_t* __restrict src,
-                                 uint32_t            srcWidth,
-                                 uint32_t            srcHeight,
-                                 uint32_t            srcStride,
-                                 uint8_t* __restrict dst,
-                                 uint32_t            dstStride,
-                                 float32_t           sigmaColor,
-                                 float32_t           sigmaSpace);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Bilateral smoothing with 7x7 bilateral kernel
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvBilateralFilter7x7u8_v2(). In the 2.0.0 release,
-///   fcvBilateralFilter7x7u8_v2 will be renamed to fcvBilateralFilter7x7u8
-///   and the signature of fcvBilateralFilter7x7u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   The bilateral filter applied here considered 7-pixel diameter of each pixel's neighborhood.
-/// The filter sigma in color space is set to 50 and the sigma in coordinate space is set to 1.5 .
-///
-/// @param src
-///   Input uint8_t image.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvBilateralFilter7x7u8(const uint8_t* __restrict src,
-                              uint32_t            srcWidth,
-                              uint32_t            srcHeight,
-                              uint32_t            srcStride,
-                              uint8_t* __restrict dst,
-                              uint32_t            dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Bilateral smoothing with 7x7 bilateral kernel
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvBilateralFilter7x7u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvBilateralFilter7x7u8,
-///   \a fcvBilateralFilter7x7u8_v2 will be removed, and the current signature
-///   for \a fcvBilateralFilter7x7u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvBilateralFilter7x7u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   The bilateral filter applied here considered 7-pixel diameter of each pixel's neighborhood.
-/// If sigmaColor is set to 50 and sigmaSpace is set to 1.5 then fcvBilateralFilter7x7u8 is called.
-///
-/// @param src
-///   Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-///   Output uint8_t image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param sigmaColor
-///   Filter sigma in the color space. Typical value is 50.0f. Increasing this value means increasing the influence of the neighboring
-///pixels of more different Color to the smoothing result.
-///
-/// @param sigmaSpace
-///   Filter sigma in the coordinate space. Typical value is 1.5f. Increasing this value means increasing the influence of farther
-/// neighboring pixels within the kernel size distance to the smoothing result.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvBilateralFilter7x7u8_v2(const uint8_t* __restrict src,
-                                 uint32_t            srcWidth,
-                                 uint32_t            srcHeight,
-                                 uint32_t            srcStride,
-                                 uint8_t* __restrict dst,
-                                 uint32_t            dstStride,
-                                 float32_t           sigmaColor,
-                                 float32_t           sigmaSpace);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Bilateral smoothing with 9x9 bilateral kernel
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvBilateralFilter9x9u8_v2(). In the 2.0.0 release,
-///   fcvBilateralFilter9x9u8_v2 will be renamed to fcvBilateralFilter9x9u8
-///   and the signature of fcvBilateralFilter9x9u8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///   The bilateral filter applied here considered 9-pixel diameter of each pixel's neighborhood.
-/// The filter sigma in color space is set to 50 and the sigma in coordinate space is set to 2.
-///
-/// @param src
-///   Input uint8_t image.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvBilateralFilter9x9u8(const uint8_t* __restrict src,
-                               uint32_t            srcWidth,
-                               uint32_t            srcHeight,
-                               uint32_t            srcStride,
-                               uint8_t* __restrict dst,
-                               uint32_t            dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Bilateral smoothing with 9x9 bilateral kernel
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvBilateralFilter9x9u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvBilateralFilter9x9u8,
-///   \a fcvBilateralFilter9x9u8_v2 will be removed, and the current signature
-///   for \a fcvBilateralFilter9x9u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvBilateralFilter9x9u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   The bilateral filter applied here considered 9-pixel diameter of each pixel's neighborhood.
-/// If sigmaColor is set to 50 and sigmaSpace is set to 2, then fcvBilateralFilter9x9u8 is called.
-///
-/// @param src
-///   Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-///   Output uint8_t image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param sigmaColor
-///   Filter sigma in the color space. Typical value is 50.0f. Increasing this value means increasing the influence of the neighboring
-///pixels of more different Color to the smoothing result.
-///
-/// @param sigmaSpace
-///   Filter sigma in the coordinate space. Typical value is 2.0f. Increasing this value means increasing the influence of farther
-/// neighboring pixels within the kernel size range to the smoothing result.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvBilateralFilter9x9u8_v2(const uint8_t* __restrict src,
-                                 uint32_t            srcWidth,
-                                 uint32_t            srcHeight,
-                                 uint32_t            srcStride,
-                                 uint8_t* __restrict dst,
-                                 uint32_t            dstStride,
-                                 float32_t           sigmaColor,
-                                 float32_t           sigmaSpace);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   This function will remove small patches in the source image based on the input threshold.
-///
-/// @details
-///   The function will remove the small contoured area of the source image. The input is a 8 bit
-/// grayscale image, where zero value denotes the background.
-///
-/// @param src
-///   The input image/patch. Must be 8 bit grayscale and zero value indicates the background.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   The stride of the input source image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///
-/// @param Polygonal
-///   If it is 0 then we use convex hull to do approximation on the original contour, otherwise we do
-/// polygonal approximation. Currently it simple use the original contour, the parameter will be
-/// valid after the convex hull or polygonal approximation function is ready.
-///
-/// @param perimScale
-///   The minimum perimscale of the contours; If a contour's perimeter is smaller than this value,
-/// It will be removed from the original source image.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSegmentFGMasku8(uint8_t* __restrict    src,
-                   uint32_t               srcWidth,
-                   uint32_t               srcHeight,
-                   uint32_t               srcStride,
-                   uint8_t                Polygonal,
-                   uint32_t               perimScale);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between two
-///   uint8_t matrices
-///
-/// @details
-///
-///
-/// @param src1
-///    The first input matrix
-///
-/// @param src2
-///    Second input matrix which has the same width and length as src1
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width and length as src1
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvAbsDiffu8(const uint8_t * __restrict src1,
-             const uint8_t * __restrict src2,
-                   uint32_t             srcWidth,
-                   uint32_t             srcHeight,
-                   uint32_t             srcStride,
-                   uint8_t * __restrict dst,
-                   uint32_t             dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between two
-///   int32_t matrices
-///
-/// @details
-///
-///
-/// @param src1
-///    The first input matrix
-///
-/// @param src2
-///    Second input matrix which has the same width and length as src1
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width and length as src1
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffs32(const int32_t * __restrict  src1,
-              const int32_t * __restrict  src2,
-                    uint32_t              srcWidth,
-                    uint32_t              srcHeight,
-                    uint32_t              srcStride,
-                    int32_t * __restrict  dst,
-                    uint32_t              dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between two
-///   float32_t matrices
-///
-/// @details
-///
-///
-/// @param src1
-///    First input matrix
-///
-/// @param src2
-///    Second input matrix which has the same width and length as src1
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width and length as src1
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDifff32(const float32_t * __restrict  src1,
-              const float32_t * __restrict  src2,
-                    uint32_t                srcWidth,
-                    uint32_t                srcHeight,
-                    uint32_t                srcStride,
-                    float32_t * __restrict  dst,
-                    uint32_t                dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one matrix and one value
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value
-///    Input value
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width and length as src
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVu8(const uint8_t * __restrict src,
-                    uint8_t              value,
-                    uint32_t             srcWidth,
-                    uint32_t             srcHeight,
-                    uint32_t             srcStride,
-                    uint8_t * __restrict dst,
-                    uint32_t             dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one matrix and one value
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value
-///    Input value
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width and length as src
-///
-/// @param dstStride
-///   Stride for output image , i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVs32(const int32_t * __restrict src,
-                     int32_t              value,
-                     uint32_t             srcWidth,
-                     uint32_t             srcHeight,
-                     uint32_t             srcStride,
-                     int32_t * __restrict dst,
-                     uint32_t             dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one matrix and one value
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value
-///    Input value
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width and length as src
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVf32(const float32_t * __restrict src,
-                     float32_t              value,
-                     uint32_t               srcWidth,
-                     uint32_t               srcHeight,
-                     uint32_t               srcStride,
-                     float32_t * __restrict dst,
-                     uint32_t               dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one 4-channel matrix and a 4-element Scalar
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value1
-///    First value of the Scalar
-///
-/// @param value2
-///    Second value of the Scalar
-///
-/// @param value3
-///    Third value of the Scalar
-///
-/// @param value4
-///    Fourth value of the Scalar
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width, length and channel number as src
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVc4u8(const uint8_t * __restrict src,
-                    uint8_t              value1,
-                    uint8_t              value2,
-                    uint8_t              value3,
-                    uint8_t              value4,
-                    uint32_t             srcWidth,
-                    uint32_t             srcHeight,
-                    uint32_t             srcStride,
-                    uint8_t * __restrict dst,
-                    uint32_t             dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one 4-channel matrix and a 4-element Scalar
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value1
-///    First value of the Scalar
-///
-/// @param value2
-///    Second value of the Scalar
-///
-/// @param value3
-///    Third value of the Scalar
-///
-/// @param value4
-///    Fourth value of the Scalar
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width, length and channel number as src
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVc4s32(const int32_t * __restrict src,
-                     int32_t              value1,
-                     int32_t              value2,
-                     int32_t              value3,
-                     int32_t              value4,
-                     uint32_t             srcWidth,
-                     uint32_t             srcHeight,
-                     uint32_t             srcStride,
-                     int32_t * __restrict dst,
-                     uint32_t             dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one 4-channel matrix and a 4-element Scalar
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value1
-///    First value of the Scalar
-///
-/// @param value2
-///    Second value of the Scalar
-///
-/// @param value3
-///    Third value of the Scalar
-///
-/// @param value4
-///    Fourth value of the Scalar
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width, length and channel number as src
-///
-/// @param dstStride
-///   Stride for output image , i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVc4f32(const float32_t * __restrict src,
-                     float32_t              value1,
-                     float32_t              value2,
-                     float32_t              value3,
-                     float32_t              value4,
-                     uint32_t               srcWidth,
-                     uint32_t               srcHeight,
-                     uint32_t               srcStride,
-                     float32_t * __restrict dst,
-                     uint32_t               dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one 3-channel matrix and a 3-element Scalar
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value1
-///    First value of the Scalar
-///
-/// @param value2
-///    Second value of the Scalar
-///
-/// @param value3
-///    Third value of the Scalar
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width, length and channel number as src
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVc3u8(const uint8_t * __restrict src,
-                    uint8_t              value1,
-                    uint8_t              value2,
-                    uint8_t              value3,
-                    uint32_t             srcWidth,
-                    uint32_t             srcHeight,
-                    uint32_t             srcStride,
-                    uint8_t * __restrict dst,
-                    uint32_t             dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one 3-channel matrix and a 3-element Scalar
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value1
-///    First value of the Scalar
-///
-/// @param value2
-///    Second value of the Scalar
-///
-/// @param value3
-///    Third value of the Scalar
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width, length and channel number as src
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVc3s32(const int32_t * __restrict src,
-                     int32_t              value1,
-                     int32_t              value2,
-                     int32_t              value3,
-                     uint32_t             srcWidth,
-                     uint32_t             srcHeight,
-                     uint32_t             srcStride,
-                     int32_t * __restrict dst,
-                     uint32_t             dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the per-element absolute difference between one 3-channel matrix and a 3-element Scalar
-///
-/// @details
-///
-///
-/// @param src
-///    Input matrix
-///
-/// @param value1
-///    First value of the Scalar
-///
-/// @param value2
-///    Second value of the Scalar
-///
-/// @param value3
-///    Third value of the Scalar
-///
-/// @param srcWidth
-///    Input matrix width
-///
-/// @param srcHeight
-///    Input matrix height
-///
-/// @param srcStride
-///    Stride for the input matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///    Output matrix which has the same width, length and channel number as src
-///
-/// @param dstStride
-///   Stride for output image, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-///   No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAbsDiffVc3f32(const float32_t * __restrict src,
-                     float32_t              value1,
-                     float32_t              value2,
-                     float32_t              value3,
-                     uint32_t               srcWidth,
-                     uint32_t               srcHeight,
-                     uint32_t               srcStride,
-                     float32_t * __restrict dst,
-                     uint32_t               dstStride);
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   create KDTrees for dataset of 36D vectors
-///
-/// @details
-///   KDTree is very efficient search structure for multidimensional data.
-///   Usage:
-///   assume we have 36D of type int8_t data e.g. target image feature
-///   descriptors in array named vectors
-///
-///      int8_t* descriptors;
-///
-///   the number of descriptors is numVectors
-///
-///      int numDescriptors;
-///
-///   the inverse length of each descriptor in array invLengths
-///
-///      float32_t* invLenghts;
-///
-/// pointer to KDTree structure
-///
-///      fcvKDTreeDatas8f32* kdTree = 0;
-///
-///   kdTree is created as
-///
-///      int err = fcvKDTreeCreate36s8f32( descriptors, invLengths,
-///                                        numDescriptors, kdTree );
-/// @param vectors
-///   pointer to dataset being array of 36D vectors
-///
-/// @param invLengths
-///   array of inverse lengths for each vector in the dataset
-///
-/// @param numVectors
-///   number of 36D vectors in the dataset
-///
-/// @param kdtrees
-///   address for pointer to the newly created KDTrees
-///
-/// @return
-///   0      - success
-///   EINVAL - invalid parameter
-///   ENOMEM - not enough memory
-///   -1     - other error
-///
-/// @ingroup feature_detection
-// -----------------------------------------------------------------------------
-FASTCV_API int
-fcvKDTreeCreate36s8f32( const        int8_t*  __restrict vectors,
-                            const     float32_t*  __restrict invLengths,
-                                            int              numVectors,
-                             fcvKDTreeDatas8f32**            kdtrees );
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   release KDTrees data structures
-///
-/// @details
-///   Once we are done with all searches we should release kdTree resources
-///
-/// @param kdtrees
-///   KDTrees to be destroyed
-///
-/// @return
-///   0      - success
-///   EINVAL - invalid parameter
-///   -1     - other error
-///
-/// @ingroup feature_detection
-// -----------------------------------------------------------------------------
-FASTCV_API int
-fcvKDTreeDestroy36s8f32( fcvKDTreeDatas8f32* kdtrees );
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   find nearest neighbors (NN) for query
-///
-/// @details
-///   Assuming KD tree creation is successful we may start using our kdTree
-///   for nearest neighbors (NN) for descriptors of camera features. Let our
-///   camera descriptors be in array camDescriptors and their number
-///   in numCamDescriptors
-///
-///      int8_t* camDescriptors;
-///      int numCamDescriptors;
-///
-///   The inverse lengths of descriptors is in
-///
-///      float* camDescriptorsInvLengths;
-///
-/// Assume we want to find 8 NNs for each camera
-///   descriptor. We declare variables for results of NN searches
-///
-///      \#define NUM_NN 8                 // number of NN required
-///      \#define MAX_CHECKS 32            // max number of checks in kdtree
-///
-///      int32_t numFound = 0;            // for numer of NNs found
-///      int32_t foundInds[ NUM_NN ];     // for indices to target descriptors
-///      float32_t foundDists[ NUM_NN ];  // for distances to target descriptors
-///      float32_t maxDist = 0.1f;        // max distance to query allowed
-///
-///   the search for NNs for i-th query would be like this
-///
-///      err = fcvKDTreeQuery36s8f32( kdTree, camDescriptors + i * 36,
-///            camDescriptorsInvLengths[ i ], maxDist, MAX_CHECKS, 0,
-///            &numFound, foundInds, foundDists );
-///
-///   where maxDists is an upper bound on distance of NN from the query
-///   and MAX_CHECKS is max number of comparisons of query to target
-///   descriptors. The higher MAX_CHECKS the better NNs we get at the cost
-///   of longer search. Assuming everything went fine will return us
-///   search results. numFound will contain the number of target descriptors
-///   found whose distance to query is less than maxDist. foundInds will
-///   contain indices to target descriptors being NNs and foundDists their
-///   distances to query.
-///
-/// @param kdtrees
-///   KDTrees
-///
-/// @param query
-///   query vector
-///
-/// @param queryInvLen
-///   inverse length of query vector
-///
-/// @param maxNNs
-///   max number of NNs to be found
-///
-/// @param maxDist
-///   max distance between NN and query
-///
-/// @param maxChecks
-///   max number of leafs to check
-///
-/// @param mask
-///   array of flags for all vectors in the dataset; may be NULL;
-///   if not NULL then its legth must be equal to number of dataset
-///   vectors and i-th mask corresponds to i-th vector; values:
-///      0x00 - corresponding vector must not be considered NN regardless
-///             of its distance to query
-///      0xFF - corresponding vector may be candidate for NN
-///      other - not supported
-/// @param numNNsFound
-///   for number of NNs found
-///
-/// @param NNInds
-///   array for indices of found NNs; must have maxNNs length
-///
-/// @param NNDists
-///   array for NN distances to query; must have maxNNs length
-///
-/// @return
-///   0      - success
-///   EINVAL - invalid parameter
-///   -1     - other error
-///
-/// @ingroup feature_detection
-// -----------------------------------------------------------------------------
-FASTCV_API int
-fcvKDTreeQuery36s8f32( fcvKDTreeDatas8f32*       kdtrees,
-                           const  int8_t* __restrict query,
-                               float32_t             queryInvLen,
-                                     int             maxNNs,
-                               float32_t             maxDist,
-                                     int             maxChecks,
-                           const uint8_t* __restrict mask,
-                                 int32_t*            numNNsFound,
-                                 int32_t* __restrict NNInds,
-                               float32_t* __restrict NNDists );
-
-typedef struct fcvConnectedComponent
-{
-    uint32_t area;    //area of the cc
-    uint32_t avgValue; //average value of the cc
-    uint32_t rectTopLeftX; // the x of the topleft corner of the bounding box of the cc.
-    uint32_t rectTopLeftY; // the y of the topleft corner of the bounding box of the cc.
-    uint32_t rectWidth;    // the width of the bounding box of the cc.
-    uint32_t rectHeight;   // the height of the bounding box of the cc.
-}fcvConnectedComponent;
-
-//---------------------------------------------------------------------------
-/// @brief
-///   This function fills the image with a starting seed  and
-///   neighborhood (4 or 8). It then returns the connected component (cc) that's filled.
-///
-/// @details
-///   This function first obtains the grayscale value at the (xBegin,yBegin) position of the src
-/// image. Then it finds all the neighbor pixels that has the same value based on 4 or 8 connectivity.
-/// The corresponding positions of all of these pixels in the image dst then will be set
-/// to the new value. Note that the new value cannot be zero since zero is indicating a mask background
-/// here. The dst image will have the new value at the corresponding positions and 0 at all
-/// other positions.
-///
-/// @param src
-///   The input image/patch. Must be 8 bit grayscale image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   \n\b NOTE: should be a multiple of 8. If left at 0 srcStride is default to srcWidth.
-///
-/// @param dst
-///   The output image/patch. Must be 8 bit grayscale image.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @param dstStride
-///   The stride of the output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: should be a multiple of 8. If left at 0 dstStride is default to srcWidth.
-///
-/// @param xBegin
-///   The x coordinate of the pixel where we start the floodfill.
-///
-/// @param yBegin
-///   The y coordinate of the pixel where we start the floodfill.
-///
-/// @param newVal
-///   The new value that will be set on the dst image, correspoinding to the area
-///  that's floodfilled starting from the (xBegin,yBegin) position.
-///
-/// @param cc
-///   The pointer that's pointing to the connected component that's representing the
-/// floodfilled area.
-///
-/// @param connectivity
-///   It can be either 4 or 8, indicating whether we use a 4-neighborhood or
-/// 8-neighborhood to do the floodfill.
-///
-/// @param lineBuffer
-///   The input scratch buffer that needs to be allocated by the user and passed in.
-/// The size of the buffer must be: Max(srcWidth,srcHeight)*48 bytes.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFloodfillSimpleu8( const uint8_t* __restrict src,
-                           uint32_t             srcWidth,
-                           uint32_t             srcHeight,
-                           uint32_t             srcStride,
-                            uint8_t* __restrict dst,
-                           uint32_t             dstStride,
-                           uint32_t             xBegin,
-                           uint32_t             yBegin,
-                            uint8_t             newVal, //new Val can't be zero. zero is background.
-              fcvConnectedComponent*            cc,
-                            uint8_t             connectivity,
-                               void*            lineBuffer);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   This function fills the image with a starting seed  and
-///   neighborhood (4 or 8). It then returns the connected component (cc) that's filled.
-///
-/// @details
-///   This function first obtains the grayscale value at the (xBegin,yBegin) position of the src
-/// image. Then it finds all the neighbor pixels that has the same value based on 4 or 8 connectivity.
-/// The corresponding positions of all of these pixels in the image dst then will be set
-/// to the newVal. The dst image will have the same value as src at all other positions.
-///
-/// @param src
-///   The input image/patch. Must be 8 bit grayscale image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   \n\b NOTE: should be a multiple of 8. If left at 0 srcStride is default to srcWidth.
-///
-/// @param dst
-///   The output image/patch. Must be 8 bit grayscale image.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @param dstStride
-///   The stride of the output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: should be a multiple of 8. If left at 0 dstStride is default to srcWidth.
-///
-/// @param xBegin
-///   The x coordinate of the pixel where we start the floodfill.
-///
-/// @param yBegin
-///   The y coordinate of the pixel where we start the floodfill.
-///
-/// @param newVal
-///   The new value that will be set on the dst image, correspoinding to the area
-///   that's floodfilled starting from the (xBegin,yBegin) position.
-///
-/// @param cc
-///   The pointer that's pointing to the connected component that's representing the
-/// floodfilled area.
-///
-/// @param connectivity
-///   It can be either 4 or 8, indicating whether we use a 4-neighborhood or
-/// 8-neighborhood to do the floodfill.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFloodfillMergedu8( const uint8_t* __restrict             src,
-                       uint32_t                             srcWidth,
-                       uint32_t                             srcHeight,
-                       uint32_t                             srcStride,
-                       uint8_t* __restrict                  dst,
-                       uint32_t                             dstStride,
-                       uint32_t                             xBegin,
-                       uint32_t                             yBegin,
-                       uint8_t                              newVal,
-                       fcvConnectedComponent* __restrict    cc,
-                       uint8_t                              connectivity );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   This function calculates the motion history image.
-///
-/// @details
-///   This function updates the motion history image based on the input motion image.
-/// src is a motion image where pixelvalue!=0 indicates a moving pixel. The function go through
-/// all the pixels in the src image. If the value is non zero, it sets the corresponding value
-/// of the dst image as the timestamp value. If the value is zero, it compares the corresponding
-/// value at the dst image with the timestamp value, if the difference is larger than the
-//  maxhistory, it resets the value to zero.
-///
-/// @param src
-///   The input image/patch. Must be 8 bit grayscale image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE:should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   The input image/patch. Must be 8 bit grayscale image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE:should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param timeStamp
-///   The timestamp value of the current frame that's being updated.
-///
-/// @param maxHistory
-///   The maximum window size that the motion history image will keep.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvUpdateMotionHistoryu8s32( const uint8_t* __restrict src,
-                                  uint32_t             srcWidth,
-                                  uint32_t             srcHeight,
-                                  uint32_t             srcStride,
-                                   int32_t* __restrict dst,
-                                  uint32_t             dstStride,
-                                   int32_t             timeStamp,
-                                   int32_t             maxHistory);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   This function calculates the integral image of a YCbCr image.
-///
-/// @details
-///   This function calculates the integral images of a YCbCr420 image, where the input YCbCr420 has
-/// UV interleaved. The output is 3 seperate channels. The output integralY will be (srcWidth+1)x(srcHeight+1).
-/// IntegralU and IntegralV are (srcWidth/2+1)x(srcHeight/2+1).
-///
-/// @param srcY
-///   The input image/patch Y in planar format.
-///   Size of buffer is srcYStride*srcHeight bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcC
-///   The input image/patch. Pointer to CbCr are interleaved. Size of buffer is srcCStride*srcHeight/2 bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: must be a multiple of 16.
-///
-/// @param srcHeight
-///   Image height.
-///   \n\b NOTE: must be a multiple of 2.
-///
-/// @param srcYStride
-///   The stride of the input source image's Y channel. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 srcYStride is default to srcWidth.
-///   \n\b NOTE: must be a multiple of 16.
-///
-/// @param srcCStride
-///   The stride of the input source image's CbCr channel. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 srcCStride is default to srcWidth.
-///   \n\b NOTE: must be a multiple of 16.
-///
-/// @param integralY
-///   The output integral image/patch for Y channel. Must be 32 bit image. The size will be
-///  (srcWidth+1)x(srcHeight+1). Size of buffer is integralYStride*(srcHeight+1) bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param integralCb
-///   The output integral image/patch for Cb channel. Must be 32 bit image. The size will be
-///  (srcWidth/2+1)x(srcHeight/2+1). Size of buffer is integralCbStride*(srcHeight/2+1) bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param integralCr
-///   The output integral image/patch for Cr channel. Must be 32 bit image. The size will be
-///  (srcWidth/2+1)x(srcHeight/2+1). Size of buffer is integralCrStride*(srcHeight/2+1) bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param integralYStride
-///   The stride of integralY. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 integralYStride is default to (srcWidth+8)*sizeof(uint32_t)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param integralCbStride
-///   The stride of integralCb. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 integralCbStride is default to (srcWidth>>1+8) *sizeof(uint32_t)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param integralCrStride
-///   The stride of integralCr. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 integralCrStride is default to (srcWidth>>1+8) *sizeof(uint32_t)
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvIntegrateImageYCbCr420PseudoPlanaru8(
-                        const uint8_t* __restrict srcY,
-                        const uint8_t* __restrict srcC,
-                             uint32_t             srcWidth,
-                             uint32_t             srcHeight,
-                             uint32_t             srcYStride,
-                             uint32_t             srcCStride,
-                             uint32_t* __restrict integralY,
-                             uint32_t* __restrict integralCb,
-                             uint32_t* __restrict integralCr,
-                             uint32_t             integralYStride,
-                             uint32_t             integralCbStride,
-                             uint32_t             integralCrStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   This function finds the foreground.
-///
-/// @details
-///   This function tries to find a forgound in the current image (represented by: fgIntegralY,
-/// fgIntegralCb, fgIntegralCr) based on the current background model (represented by: bgIntegralY,
-/// bgIntegralCb, bgIntegralCr). For example, the tuple (bgIntegralY, bgIntegralCb, bgIntegralCr) may be
-/// from a picture shooting a wall. Then the tuple (fgIntegralY, fgIntegralCb, fgIntegralCr) may be
-/// the wall with a paint on it. Note that all the first six parameters are indicating integral images
-/// that's computed from a YUV420 image, which maybe computed from the function:
-/// fcvIntegrateImageYCbCr420PseudoPlanaru8. Generally the size of fgIntegralY and bgIntegralY are
-/// (srcWidth+1)*(srcHeight+1). And the size of fgIntegralU, fgIntegralV, bgIntegralU and bgIntegralV
-/// are (srcWidth/2+1)*(srcHeight/2+1). The value of the outputWidth and outputHeight are usually indicating
-/// the desired block size. For example, if the user wants a 20x15 blocks on a 800x480 image. Then
-/// outputWidth=800/20 and outputHeight=480/15. After return, if the value in the outputMask image is
-/// 255, then a moving block is indicated, otherwise a non-moving block is indicated.
-///
-/// @param bgIntegralY
-///   The input image/patch that's indicating the Y channel of the integral image of the background image.
-///   Size of buffer is srcYStride*srcHeight bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param bgIntegralCb
-///   The input image/patch that's indicating the Cb channel of the integral image of the background image.
-///   Size of buffer is srcCbStride*srcHeight/2 bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param bgIntegralCr
-///   The input image/patch that's indicating the Cr channel of the integral image of the background image.
-///   Size of buffer is srcCrStride*srcHeight/2 bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param fgIntegralY
-///   The input image/patch that's indicating the Y channel of the integral image of the image
-///  on which we want to find the foreground.
-///   Size of buffer is srcYStride*srcHeight bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param fgIntegralCb
-///   The input image/patch that's indicating the Cb channel of the integral image of the image
-///   on which we want to find the foreground.
-///   Size of buffer is srcCbStride*srcHeight/2 bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param fgIntegralCr
-///   The input image/patch that's indicating the Cr channel of the integral image of the image
-///  on which we want to find the foreground.
-///   Size of buffer is srcCrStride*srcHeight/2 bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row. See the details.
-///   \n\b NOTE: must be a multiple of 16.
-///
-/// @param srcHeight
-///   The height of the source image. See the details.
-///   \n\b NOTE: must be a multiple of 2.
-///
-/// @param srcYStride
-///   The stride of the input source image's Y channel. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 srcStride is default to (srcWidth+8)*sizeof(uint32_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-///   The stride of the input source image's Cb channel. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 srcStride is default to (srcWidth>>1+8)*sizeof(uint32_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-///   The stride of the input source image's Cr channel. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 srcStride is default to (srcWidth>>1+8)*sizeof(uint32_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param outputMask
-///   The output mask image. Each pixel represent the motion condition for a block in the original image.
-///   Size of buffer is outputMaskStride*outputHeight bytes
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param outputWidth
-///   The width of the output mask image.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param outputHeight
-///   The height of the output mask image.
-///
-/// @param outputMaskStride
-///   The stride of the output mask image. (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2). If left at 0 outputMaskStride is default to outputWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param threshold
-///   The threshold that's used to decide if a block is moving or not. (recommend the value of 20).
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindForegroundIntegrateImageYCbCr420u32(
-    const uint32_t * __restrict bgIntegralY,
-    const uint32_t * __restrict bgIntegralCb,
-    const uint32_t * __restrict bgIntegralCr,
-    const uint32_t * __restrict fgIntegralY,
-    const uint32_t * __restrict fgIntegralCb,
-    const uint32_t * __restrict fgIntegralCr,
-          uint32_t              srcWidth,
-          uint32_t              srcHeight,
-          uint32_t              srcYStride,
-          uint32_t              srcCbStride,
-          uint32_t              srcCrStride,
-           uint8_t * __restrict outputMask,
-          uint32_t              outputWidth,
-          uint32_t              outputHeight,
-          uint32_t              outputMaskStride,
-         float32_t              threshold );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   This function calculates the average value of an image.
-///
-/// @details
-///   This function sums all the pixel value in an image and divide the result by the number of pixels in the image.
-///
-/// @param src
-///   The input image/patch. Must be 32 bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param avgValue
-///   The output average value.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvAverages32(
-              const int32_t* __restrict src,
-                   uint32_t             srcWidth,
-                   uint32_t             srcHeight,
-                   uint32_t             srcStride,
-                  float32_t* __restrict avgValue);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   This function calculates the average value of an image.
-///
-/// @details
-///   This function sums all the pixel value in an image and divide the result by the number of pixels in the image.
-///
-/// @param src
-///   8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param avgValue
-///   The output average value.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvAverageu8(
-             const uint8_t* __restrict src,
-                  uint32_t             srcWidth,
-                  uint32_t             srcHeight,
-                  uint32_t             srcStride,
-                 float32_t* __restrict avgValue);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Applies the meanshift procedure and obtains the final converged position
-///
-/// @details
-///   This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
-///   The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-///   Pointer to the original image which is usually a probability image computed based on object histogram. Must be 8 bit grayscale image.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-///   Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-///   The criteria used to finish the MeanShift which consists of two termination criteria:
-///   1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @return
-///   The actually number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvMeanShiftu8(const uint8_t* __restrict src,
-                    uint32_t             srcWidth,
-                    uint32_t             srcHeight,
-                    uint32_t             srcStride,
-             fcvRectangleInt*            window,
-             fcvTermCriteria             criteria);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Applies the meanshift procedure and obtains the final converged position
-///
-/// @details
-///   This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
-///   The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-///   Pointer to the original image which is usually a probability image computed based on object histogram. Must be int 32bit grayscale image.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-///   Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-///   The criteria used to finish the MeanShift which consists of two termination criteria:
-///   1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @return
-///   Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvMeanShifts32(const int32_t* __restrict src,
-                     uint32_t             srcWidth,
-                     uint32_t             srcHeight,
-                     uint32_t             srcStride,
-              fcvRectangleInt*            window,
-              fcvTermCriteria             criteria);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Applies the meanshift procedure and obtains the final converged position
-///
-/// @details
-///   This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
-///   The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-///   Pointer to the original image which is usually a probability image computed based on object histogram. Must be float 32bit grayscale image.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-///   Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-///   The criteria used to finish the MeanShift which consists of two termination criteria:
-///   1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @return
-///   Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvMeanShiftf32(const float32_t* __restrict src,
-                       uint32_t             srcWidth,
-                       uint32_t             srcHeight,
-                       uint32_t             srcStride,
-                fcvRectangleInt*            window,
-                fcvTermCriteria             criteria);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Applies the ConAdaTrack procedure and find the object center, size and orientation
-///
-/// @details
-///   This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
-///   The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-///   Pointer to the original image which is usually a probability image computed based on object histogram. Must be 8bit grayscale image.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-///   Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-///   The criteria used to finish the object search which consists of two termination criteria:
-///   1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @param circuBox
-///   The circumscribed box around the object
-///
-/// @return
-///   Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvConAdaTracku8(const uint8_t* __restrict src,
-                   uint32_t             srcWidth,
-                   uint32_t             srcHeight,
-                   uint32_t             srcStride,
-            fcvRectangleInt*            window,
-            fcvTermCriteria             criteria,
-                   fcvBox2D*            circuBox);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Applies the ConAdaTrack procedure and find the object center, size and orientation
-///
-/// @details
-///   This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
-///   The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-///   Pointer to the original image which is usually a probability image computed based on object histogram. Must be int 32bit grayscale image.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-///   Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-///   The criteria used to finish the object search which consists of two termination criteria:
-///   1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @param circuBox
-///   The circumscribed box around the object
-///
-/// @return
-///   Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvConAdaTracks32(const int32_t* __restrict src,
-                    uint32_t             srcWidth,
-                    uint32_t             srcHeight,
-                    uint32_t             srcStride,
-             fcvRectangleInt*            window,
-             fcvTermCriteria             criteria,
-                    fcvBox2D*            circuBox);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Applies the ConAdaTrack procedure and find the object center, size and orientation
-///
-/// @details
-///   This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
-///   The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-///   Pointer to the original image which is usually a probability image computed based on object histogram. Must be float 32bit grayscale image.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-///   Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-///   The criteria used to finish the object search which consists of two termination criteria:
-///   1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @param circuBox
-///   The circumscribed box around the object
-///
-/// @return
-///   Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvConAdaTrackf32(const float32_t* __restrict src,
-                      uint32_t             srcWidth,
-                      uint32_t             srcHeight,
-                      uint32_t             srcStride,
-               fcvRectangleInt*            window,
-               fcvTermCriteria             criteria,
-                      fcvBox2D*            circuBox);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Compute a singular value decomposition of a matrix of a float type
-///         A = U*diag[w]*Vt;
-///   It is used for solving problems like least-squares, under-determined linear systems, matrix
-///   inversion and so forth. The algorithm used here does not compute the full U and V matrices
-///   however it computes a condensed version of U and V described below which is sufficient to solve
-///   most problems which use SVD.
-///
-/// @details
-///
-///
-/// @param A
-///    The input matrix of dimensions m x n
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param m
-///    The number of rows of matrix A
-///
-/// @param n
-///    The number of columns of matrix A
-///
-/// @param w
-///    The pointer to the buffer that holds n singular values. When m>n it
-///    contains n singular values while when m<n, only the first m singular values
-///    are of any significance. However, during allocation, it should be allocated as
-///    a buffer to hold n floats.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param U
-///    The U matrix whose dimension is m x min(m,n). This is not the full size U
-///    matrix obtained from the conventional SVD algorithm but is sufficient for
-///    solving problems like least-squares, under-determined linear systems, matrix
-///    inversion and so forth. While allocating, allocate as a matrix of m x n floats.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param Vt
-///    The V matrix whose dimension is n x min(m,n). This is not the full size V
-///    matrix obtained from the conventional SVD algorithm but is sufficient for
-///    solving problems like least-squares, under-determined linear systems, matrix
-///    inversion and so forth. While allocating, allocate as a matrix of n x n floats.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param tmpU
-///    Temporary buffer used in processing. It must be allocated as an array of size m x n
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param tmpV
-///    Temporary buffer used in processing. It must be allocated as an array of size n x n
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @return
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSVDf32(const float32_t * __restrict A,
-                 uint32_t              m,
-                 uint32_t              n,
-                float32_t * __restrict w,
-                float32_t * __restrict U,
-                float32_t * __restrict Vt,
-                float32_t *            tmpU,
-                float32_t *            tmpV);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Draw convex polygon
-///
-/// @details
-///   This function fills the interior of a convex polygon with the specified color.
-///
-/// @param polygon
-///   Coordinates of polygon vertices (x0,y0,x1,y1,...), size of buffer is 2*nPts
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param nPts
-///   Number of polygon vertices
-///
-/// @param color
-///   Color of drawn polygon stored as B,G,R and A(if supported)
-///
-/// @param nChannel
-///   Number of color channels (typical value is 1 or 3)
-///
-/// @param dst
-///   Destination image, size of image buffer is (dstStride * dstHeight) bytes
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Image width, the number of pixels in a row.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstHeight
-///   Image height.
-///
-/// @param dstStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to (dstWidth * nChannel).
-///   \n\b NOTE: should be a multiple of 8.
-///
-///
-/// @ingroup Structural_Analysis_and_Drawing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFillConvexPolyu8( uint32_t             nPts,
-               const uint32_t* __restrict polygon,
-                 uint32_t             nChannel,
-                const uint8_t* __restrict color,
-                  uint8_t* __restrict dst,
-                 uint32_t             dstWidth,
-                 uint32_t             dstHeight,
-                 uint32_t             dstStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Determines whether a given point is inside a contour, outside, or lies on an edge
-///   (or coincides with a vertex). It returns positive, negative or zero value, correspondingly.
-///   Also measures distance between the point and the nearest contour edge if distance
-///   is requested.
-///
-/// @details
-///
-/// @param nPts
-///   Total number of points in the contour. For example if there are 10 point sets, i.e. (x,y) in the contour,
-///   then nPts equals 20.
-///
-/// @param polygonContour
-///   Input contour containing the points of the polygon. Coordinates are stored in the interleaved form as x y x y.
-///   Size of buffer is @param nPts
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param px
-///   The x-coordinate of the input point to be tested.
-///
-/// @param py
-///   The y-coordinate of the input point to be tested.
-///
-/// @param distance
-///   It contains the signed distance of the point to the closest edge of the contour
-///   If passed as a NULL pointer, then no distance is computed.
-///
-/// @param resultFlag
-///   Assumes the value of -1, 0 or 1 based on whether the point is outside, coincides with
-///   a vertex, or lies inside the contour respectively.
-///
-///
-///
-/// @ingroup Structural_Analysis_and_Drawing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvPointPolygonTest(uint32_t             nPts,
-              const uint32_t* __restrict polygonContour,
-                    uint32_t             px,
-                    uint32_t             py,
-                   float32_t*            distance,
-                     int16_t*            resultFlag);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Find the convex hull of the input polygon
-///
-/// @details
-///   Determines the convex hull of a simple polygon using the Melkman algorithm.
-///   The input to the function is the interleaved coordinates of the polygon and
-///   the output is the set of interleaved coordinates of the convex hull of the polygon.
-///   The algorithm assumes that the coordinates of the polygon are provided in the manner
-///   of an ordered traversal.
-///
-/// @param polygonContour
-///   Input contour containing the points of the polygon for which the convex hull is to be found.
-///   Coordinates are stored in the interleaved form as x y x y. NOTE: The polygon must be a simple
-///   polygon, i.e., it has no self intersections. Also coordinates are assumed to be stored in the
-///   manner of an ordered traversal.
-///   \n\b WARNING: should be 128-bit aligned. Size of buffer is @param nPtsContour
-///
-/// @param nPtsContour
-///   Total number of points in the contour. For example if there are 10 point sets, i.e. (x,y) in the contour,
-///   then nPtsContour equals 20.
-///
-///
-/// @param convexHull
-///   The output buffer containing the interleaved coordinates of the convex hull.
-///   \n\b WARNING: should be 128-bit aligned. Size of buffer is @param nPtsHull
-///
-/// @param nPtsHull
-///   Total number of points in the convex hull. For example if there are 10 point sets, i.e. (x,y) in the contour,
-///   then nPtsHull equals 20.
-///
-/// @param tmpBuff
-///   Scratch buffer used in the computation of the convex hull.
-///   \n\b NOTE: MUST be allocated twice as large in size as the input polygonContour.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-/// @ingroup Structural_Analysis_and_Drawing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFindConvexHull( uint32_t* __restrict polygonContour,
-                                   uint32_t             nPtsContour,
-                                   uint32_t* __restrict convexHull,
-                                   uint32_t*            nPtsHull,
-                                   uint32_t* __restrict tmpBuff);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Executes Cholesky decomposition algorithm on a symmetric and positive
-///   definite matrix to solve the linear system A*x = b, where A is an NxN
-///   matrix and x & b are vectors of size N.
-///
-/// @param A
-///   Pointer to the matrix A or size NxN.
-///   \n\b NOTE: This matrix WILL BE MODIFIED during computation.
-///         Please SAVE THE ORIGINAL MATRIX properly if necessary.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param b
-///   Pointer to the vector b of size N.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param diag
-///   Pointer to the buffer for the diagonal of matrix A.
-///   This buffer is used for computation.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param N
-///   Size of matrix and vectors.
-///
-/// @param x
-///   Pointer to the output vector x of size N.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @return
-///   1 if the linear system could be solved or 0 otherwise.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-FASTCV_API int32_t
-fcvSolveCholeskyf32( float32_t* __restrict A,
-               const float32_t* __restrict b,
-                     float32_t* __restrict diag,
-                      uint32_t             N,
-                     float32_t* __restrict x);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies radial distortion to a 2D coordinate in camera coordinates
-///   and returns the distorted coordinate in device coordinates.
-///
-/// @details
-///   input: (x,y)
-///   focal length: f1,f2
-///   principle point: p1,p2
-///   radical distortion: k1,k2
-///   tangential distortion: t1,t2
-///   Output (xd,yd)
-///   r^2 = x^2+y^2
-///   cdist = 1+k1*r^2 + k2*r^4
-///   a0 = 2*x*y, a1 = 3*x^2 + y^2, a2 = x^2+3*y^2
-///   xd = (x*cdist + t1*a1 + t2*a2)*f1 + p1
-///   yd = (y*cdist + t1*a3 + t2*a1)*f2 + p2
-///
-/// @param cameraCalibration
-///   Camera calibration with 8 parameter: focal-length (x and y),
-///   principal point (x & y), radial distortion (2 parameters),
-///   tangential distortion (2 parameters).
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param xyCamera
-///   Input of the undistorted 2D camera coordinate (2 float values).
-///
-/// @param xyDevice
-///   Output of the distorted 2D device coordinate (2 float values).
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvGeomDistortPoint2x1f32(const float32_t* __restrict cameraCalibration,
-                          const float32_t* __restrict xyCamera,
-                                float32_t* __restrict xyDevice);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies radial distortion to a set of 2D coordinates in camera coordinates
-///   and returns the distorted coordinates in device coordinates.
-///   brief algorithm desribed in fcvGeomDistortPoint2x1f32
-///
-/// @param cameraCalibration
-///   Camera calibration with 8 parameter: focal-length (x and y),
-///   principal point (x & y), radial distortion (2 parameters),
-///   tangential distortion (2 parameters).
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param xyCamera
-///   Input of the undistorted 2D camera coordinates
-///   (Nx2 float values). While allocating, allocate enough memory to accomodate
-///   the points (Nx2) keeping in mind the stride of the input points.
-///   Total memory allocated must be large enough to accomodate the input+padding,
-///   which has size of N*srcStride (in bytes)
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcStride
-///   Stride between consecutive input camera coordinates. Stride here is defined as
-///   the number of units between consecutive x coordinates. For example, if the input
-///   array has points as follows x0 y0 0 0 0 x1 y1 0 0 0 x2 y2 ..., then the stride is
-///   5 * size(float32_t) = 20
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param xySize
-///   Number of points N
-///
-/// @param xyDevice
-///   Output of the distorted 2D device coordinates
-///   (Nx2 float values). While allocating, allocate enough memory to accomodate
-///   the points (Nx2) keeping in mind the stride of the output points.
-///   Total memory allocated must be large enough to accomodate the output+padding,
-///   which has size of N*dstStride (in bytes)
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride between consecutive input camera coordinates. Stride here is defined as
-///   the number of units between consecutive x coordinates. For example, if the output
-///   array has points as follows x0 y0 0 0 0 x1 y1 0 0 0 x2 y2 ..., then the stride is
-///   5 * size(float32_t) = 20
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeomDistortPoint2xNf32(const float32_t* __restrict cameraCalibration,
-                          const float32_t* __restrict xyCamera,
-                                 uint32_t             srcStride,
-                                 uint32_t             xySize,
-                                float32_t* __restrict xyDevice,
-                                 uint32_t             dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies radial undistortion to a 2D coordinate in device coordinates
-///   and returns the undistorted coordinate in camera coordinates.
-///
-/// @param cameraCalibration
-///   Camera calibration with 8 parameter: Inverse focal-length (x and y),
-///   principal point (x & y), radial distortion (2 parameters),
-///   tangential distortion (2 parameters).
-///   \n\b NOTE: The first two entries of this parameter for this function are the
-///   Inverse of the focal length and not the focal length itself.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param xyDevice
-///   Input of the distorted 2D device coordinate (2 float values).
-///
-/// @param xyCamera
-///   Output of the undistorted 2D camera coordinate (2 float values).
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvGeomUndistortPoint2x1f32(const float32_t* __restrict cameraCalibration,
-                            const float32_t* __restrict xyDevice,
-                                  float32_t* __restrict xyCamera);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies radial undistortion to a 2D coordinate in device coordinates
-///   and returns the undistorted coordinate in camera coordinates.
-///   brief algorithm desribed in fcvGeomUndistortPoint2x1f32
-///
-/// @param cameraCalibration
-///   Camera calibration with 8 parameter: inverse focal-length (x and y),
-///   principal point (x & y), radial distortion (2 parameters),
-///   tangential distortion (2 parameters).
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param xyDevice
-///   Input of the distorted 2D device coordinates
-///   (Nx2 float values). While allocating, allocate enough memory to accomodate
-///   the points (Nx2) keeping in mind the stride of the input points.
-///   Total memory allocated must be large enough to accomodate the input+padding,
-///   which has size of N*srcStride (in bytes)
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcStride
-///   Stride between consecutive input camera coordinates. Stride here is defined as
-///   the number of units between consecutive x coordinates. For example, if the input
-///   array has points as follows x0 y0 0 0 0 x1 y1 0 0 0 x2 y2 ..., then the stride is
-///   5 * size(float32_t) = 20
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param xySize
-///   Number of points N
-///
-/// @param xyCamera
-///   Output of the undistorted 2D camera coordinates
-///   (Nx2 float values). While allocating, allocate enough memory to accomodate
-///   the points (Nx2) keeping in mind the stride of the output points.
-///   Total memory allocated must be large enough to accomodate the output+padding,
-///   which has size of N*dstStride (in bytes)
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride between consecutive input camera coordinates. Stride here is defined as
-///   the number of units between consecutive x coordinates. For example, if the output
-///   array has points as follows x0 y0 0 0 0 x1 y1 0 0 0 x2 y2 ..., then the stride is
-///   5 * size(float32_t) = 20
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeomUndistortPoint2xNf32(const float32_t* __restrict cameraCalibration,
-                            const float32_t* __restrict xyDevice,
-                                   uint32_t             srcStride,
-                                   uint32_t             xySize,
-                                  float32_t* __restrict xyCamera,
-                                   uint32_t             dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Transforms a 3D point using a pose-matrix, projects the transformed point,
-///   distorts the projected 2D point and converts to device coordinates.
-///
-/// @details
-///   (x_camera, y_camera, z_camera) = Pose * (x,y,z,1)'
-///   xCamera = x_camera/z_camera, yCamera = y_camera/z_camera
-///   xyDevice = distortion(xyCamera) - described in fcvGeomDistortPoint2x1f32
-///
-/// @param pose
-///   Pose matrix of size 3x4 (12 float values) in row-major format.
-///
-/// @param cameraCalibration
-///   Camera calibration with 8 parameter: focal-length (x and y),
-///   principal point (x & y), radial distortion (2 parameters),
-///   tangential distortion (2 parameters).
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param xyz
-///   3D point (x,y,z) as three float values
-///
-/// @param xyCamera
-///   Output of the projected 2D camera coordinate (2 float values)
-///
-/// @param xyDevice
-///   Output of the projected and distorted 2D device coordinate
-///   (2 float values)
-///
-/// @return
-///   1 if transformed point lies in front of the camera plane.
-///   0 otherwise
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-FASTCV_API int32_t
-fcvGeomProjectPoint3x1f32(const float32_t* __restrict pose,
-                          const float32_t* __restrict cameraCalibration,
-                          const float32_t* __restrict xyz,
-                                float32_t* __restrict xyCamera,
-                                float32_t* __restrict xyDevice);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Transforms a 3D point using a pose-matrix, projects the transformed point,
-///   distorts the projected 2D point and converts to device coordinates.
-///   brief algorithm desribed in fcvGeomProjectPoint3x1f32
-///
-/// @param pose
-///   Pose matrix of size 3x4 (12 float values) in row-major format.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param cameraCalibration
-///   Camera calibration with 8 parameter: focal-length (x and y),
-///   principal point (x & y), radial distortion (2 parameters),
-///   tangential distortion (2 parameters).
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param xyz
-///   3D points (x,y,z) as sets of three float values. While allocating, allocate
-///   enough memory to accomodate the points (Nx3) keeping in mind the stride of the
-///   input points. Total memory allocated must be large enough to accomodate the input
-///   +padding.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcStride
-///   Stride between consecutive input camera coordinates. Stride here is defined as
-///   the number of units between consecutive x coordinates. For example, if the input
-///   array has points as follows x0 y0 z0 0 0 x1 y1 z1 0 0 x2 y2 z2.., then the stride is
-///   5 * size(float32_t) = 20
-///
-/// @param xyzSize
-///   Number of points N
-///
-/// @param xyCamera
-///   Output of the projected 2D camera coordinates
-///   (Nx2 float values). While allocating, allocate enough memory to accomodate
-///   the points (Nx2) keeping in mind the stride of the output points.
-///   Total memory allocated must be large enough to accomodate the output+padding.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param xyDevice
-///   Output of the projected and distorted 2D device coordinates.
-///   (Nx2 float values). While allocating, allocate enough memory to accomodate
-///   the points (Nx2) keeping in mind the stride of the output points.
-///   Total memory allocated must be large enough to accomodate the output+padding.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride between consecutive input camera coordinates. Stride here is defined as
-///   the number of units between consecutive x coordinates. For example, if the output
-///   array has points as follows x0 y0 0 0 0 x1 y1 0 0 0 x2 y2 ..., then the stride is
-///   5 * size(float32_t) = 20
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param inFront
-///   Is 1 if transformed point lies in front of the camera plane and 0 otherwise
-///   It must be allocated as a Nx1 vector.
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeomProjectPoint3xNf32(const float32_t* __restrict pose,
-                          const float32_t* __restrict cameraCalibration,
-                          const float32_t* __restrict xyz,
-                                 uint32_t             srcStride,
-                                 uint32_t             xyzSize,
-                                float32_t* __restrict xyCamera,
-                                float32_t* __restrict xyDevice,
-                                 uint32_t             dstStride,
-                                 uint32_t*            inFront);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Invert an affine transformation
-///
-/// @details
-///   Invert an affine transformation which is commonly used to transform back
-///
-/// @param M
-///   Input 3x3 affine transformation matrix
-///
-/// @param invAffineMat
-///   Output 3x3 reverse affine transformation
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvInvertAffineTransformf32( const float32_t *__restrict    M,
-                             float32_t *__restrict   invAffineMat );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Performs robust homography fitting on specified points correspondences
-///
-/// @details
-///   Perform RANSAC-based robust method to estimate the perspective transformation fitting on specified
-///   points correspondences.
-///
-/// @param corr
-///   Pointer to correspondences structure
-///
-/// @param homography
-///   Homography stored as 3x3 floating point matrix
-///
-/// @param reprojThreshold
-///   Threshold of reprojection error to treat the feature pair as an inliers
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvGeomHomographyRobustFitf32( const fcvCorrespondences* __restrict corr,
-                               float32_t  *__restrict   homography,
-                               float32_t   reprojThreshold);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Compute Point-to-Plane ICP Jacobian matrix and errors for SE3 motion
-///
-/// @details
-///   This function computes the Jacobian matrix and errors for point-to-plane ICP
-///   (Iterative Closest Point) algorithm given reference 3D points and normal vectors and
-///   a depth map.
-///
-/// @param depthData
-///   Pointer to the depth map. Depth data is stored as
-///   unsigned short scaled by 1000x with respect to scene units (e.g. millimeters vs meters).
-///
-/// @param depthWidth
-///   Width of the depth map
-///
-/// @param depthHeight
-///   Height of the depth map
-///
-/// @param depthStride
-///   Number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-///   If left as 0 depthMapStride is set to default: depthMapWidth * sizeof(uint16_t).
-///
-/// @param refPointsNormals
-///   Reference 3D points and 3D normal vectors of total N (numPoints) points
-///   (x1,y1,z1,nx1,ny1,nz1, x2,y2,z2,nx2,ny2,nz2, ..., xN,yN,zN,nxN,nyN,nzN)
-///
-/// @param numPoints
-///   Number of reference points and normals
-///
-/// @param refPose
-///   Reference pose stored in 3 x 4 matrix
-///
-/// @param camera
-///   Camera calibration parameters (fx, fy, cx, cy, 1/fx, 1/fy)
-///
-/// @param sqDistThreshold
-///   Squared distance threshold for filtering out outliers
-///
-/// @param sqDists
-///   Output squared distances. Memory should be allocated beforehand (numPoints x sizeof(float32_t)).
-///
-/// @param errors
-///   Output errors. Memory should be allocated beforehand (numPoints x sizeof(float32_t)).
-///
-/// @param jacobian
-///   Output Jacobian matrix. Memory should be allocated beforehand (numPoints x 6 x sizeof(float32_t)).
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   Other status codes upon failure
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvICPJacobianErrorSE3f32(const uint16_t* __restrict  depthData,
-                          uint32_t                    depthWidth,
-                          uint32_t                    depthHeight,
-                          uint32_t                    depthStride,
-                          const float32_t* __restrict refPointsNormals,
-                          uint32_t                    numPoints,
-                          const float32_t* __restrict refPose,
-                          const float32_t*__restrict  camera,
-                          float32_t                   sqDistThreshold,
-                          float32_t* __restrict       sqDists,
-                          float32_t* __restrict       errors,
-                          float32_t* __restrict       jacobian);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Performs homography fitting on specified points correspondences.
-///   \n
-///   \n [x_to]     [ a11 a12 a13 ]   [ x_from ]
-///   \n [y_to] =   [ a21 a22 a23 ] * [ y_from ]
-///   \n [ 1  ]     [ a31 a32 a33 ]   [   1    ]
-///   \n note that all the correspondences are considered, if correspondence pairs
-///    are smaller than 4, the API returns. If correspondence pairs are larger than
-///    4, the API takes all the correspondences into consideration using least
-///    squared method.
-///
-/// @param corrs
-///   Pointer to correspondences structure.
-///
-/// @param homography
-///   3x3 floating point matrix formatted as @todo r0h0, r0h1
-///   Pointer storage must be at least a 9-element floating point array.
-///
-/// @param mode
-///   Mode set to 0 for high speed, 1 for high accuracy
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvGeomHomographyFitf32_v2( const fcvCorrespondences* __restrict corrs,
-                            float32_t* __restrict                    homography,
-                            uint32_t    mode);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Performs robust homography fitting on specified points correspondences
-///
-/// @details
-///   Perform RANSAC-based robust method to estimate the perspective transformation fitting on specified
-///   points correspondences.
-///
-/// @param corr
-///   Pointer to correspondences structure
-///
-/// @param homography
-///   Homography stored as 3x3 floating point matrix
-///
-/// @param reprojThreshold
-///   Threshold of reprojection error to treat the feature pair as an inliers
-///
-/// @param mode
-///   Mode set to 0 for high speed, 1 for high accuracy
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvGeomHomographyRobustFitf32_v2( const fcvCorrespondences* __restrict corr,
-                               float32_t  *__restrict   homography,
-                               float32_t   reprojThreshold,
-                               uint32_t    mode);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Volumetric depth fusion into multiple 8x8x8 blocks
-///
-/// @details
-///   Fuses a depth map into one or more volume blocks of 8x8x8 samples each.
-///   The volume blocks have a size of 9x9x9 samples, but only 8x8x8 samples
-///   will be processed, leaving a border of one sample that can be used to
-///   create an overlap with neighboring blocks. Each sample consists of two
-///   16-bit values encoding the distance (scaled by the ramp) and the fusion
-///   count. The volume block samples must be initialized to (32766, 0) before
-///   the first fusion.
-///   The samples of the blocks are updated by calculating a running average
-///   with respect to depth map samples.
-///
-/// @param configs
-///    Setup details for the fusion blocks. Must contain numBlocks items.
-///
-/// @param volumes
-///    An array of numBlocks pointers to the raw fusion data. Each block
-///    consists of 8x8x8 samples, which each consist of two 16-bit values.
-///
-/// @param numBlocks
-///    Number of blocks to fuse.
-///
-/// @param volumeStride
-///    Volume stride, i.e. the gap (in terms of bytes) between the first element
-///    of a volume and that of the successive volume.
-///    If srcStride is equal to 0, it will be set to 2048 (the size of volume).
-///
-/// @param depthData
-///    Pointer to the depth map to fuse into the blocks. Depth data is stored as
-///    float in scale of scene units (e.g. meters).
-///
-/// @param depthWidth
-///    Width of the depth map in pixels
-///
-/// @param depthHeight
-///    Height of the depth map in pixels
-///
-/// @param depthStride
-///    Stride of the depth map in bytes
-///
-/// @param cameraCalibration
-///   Camera calibration with 4 parameters:
-///   focal-length (x and y) and principal point (x and y) in pixels
-///
-/// @param maxWeight
-///   Maximum weight for the running average. After maxWeight fusions a sample
-///   is being updated with a weight of 1/maxWeight. Must be smaller than 128.
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   Other status codes upon failure
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvDepthFusion8x8x8xNs16(const fcvDepthFusionBlockConfig* __restrict configs,
-                         int16_t* __restrict volumes,
-                         uint32_t numBlocks,
-                         uint32_t volumeStride,
-                         const float32_t* __restrict depthData,
-                         uint32_t  depthWidth,
-                         uint32_t  depthHeight,
-                         uint32_t  depthStride,
-                         const float32_t* __restrict cameraCalibration,
-                         int16_t maxWeight);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies a generic geometrical transformation to a 4-channel uint8 image.
-///   The interpolation method is nearest neighbor.
-///
-/// @details
-///   The brightness of each pixel in the destination image is obtained from a location of the source image
-/// through a per-element mapping as defined in the mapping matrices. The mapping has subpixel precision, thus interpolations
-/// are involved.
-///
-/// @param src
-///   Input uint8_t image. The size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if srcStride is equal to 0, it will be set to srcWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image. The size of buffer is dstStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width.
-///
-/// @param dstHeight
-///   Output image height.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if dstStride is equal to 0, it will be set to dstWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param mapX
-///   a floating point matrix, each element is the column coordinate of the mapped location in the src image. E.g. if dst(i,j) is
-///   mapped to src(ii,jj), then mapX(i,j) =jj.
-///   the matrix has the same width, height as the dst image.  The size of buffer is mapStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapY
-///   a floating point matrix, each element is the row coordinate of the mapped location in the src image.E.g. if dst(i,j) is
-///   mapped to src(ii,jj), then mapY(i,j) =ii.
-///   the matrix has the same width, height as the dst image.  The size of buffer is mapStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapStride
-///   the stride of the mapX and mapY
-///   if mapStride is equal to 0, it will be set to dstWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvRemapRGBA8888NNu8( const uint8_t*  __restrict src,
-                            uint32_t             srcWidth,
-                            uint32_t             srcHeight,
-                            uint32_t             srcStride,
-                             uint8_t* __restrict dst,
-                            uint32_t             dstWidth,
-                            uint32_t             dstHeight,
-                            uint32_t             dstStride,
-                     const float32_t* __restrict mapX,
-                     const float32_t* __restrict mapY,
-                            uint32_t             mapStride
-                      );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies a generic geometrical transformation to a 4-channel uint8 image with bilinear interpolation.
-///
-/// @details
-///   The brightness of each pixel in the destination image is obtained from a location of the source image
-/// through a per-element mapping as defined in the mapping matrices. The mapping has subpixel precision, thus interpolations
-/// are involved.
-///
-/// @param src
-///   Input uint8_t image. The size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if srcStride is equal to 0, it will be set to srcWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.  The size of buffer is dstStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width.
-///
-/// @param dstHeight
-///   Output image height.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if dstStride equals to 0, it will be set to dstWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param mapX
-///   a floating point matrix, each element is the column coordinate of the mapped location in the src image. E.g. if dst(i,j) is
-///   mapped to src(ii,jj), then mapX(i,j) =jj.
-///   the matrix has the same width, height as the dst image.  The size of buffer is mapStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapY
-///   a floating point matrix, each element is the row coordinate of the mapped location in the src image.E.g. if dst(i,j) is
-///   mapped to src(ii,jj), then mapY(i,j) =ii.
-///   the matrix has the same width, height as the dst image.  The size of buffer is mapStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapStride
-///   the stride of the mapX and mapY
-///   if mapStride equals to 0, it will be set to dstWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvRemapRGBA8888BLu8(  const uint8_t* __restrict src,
-                            uint32_t             srcWidth,
-                            uint32_t             srcHeight,
-                            uint32_t             srcStride,
-                             uint8_t* __restrict dst,
-                            uint32_t             dstWidth,
-                            uint32_t             dstHeight,
-                            uint32_t             dstStride,
-                     const float32_t* __restrict mapX,
-                     const float32_t* __restrict mapY,
-                            uint32_t             mapStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Calculates JTJ, JTE and the sum absolute, normalized pixel differences
-///   for a target image and a reference image of same size for an SE2 image
-///   motion model.
-///   Since gradients are required for this algorithm all border pixels in
-///   referenceImage and targetImage are ignored.
-///   \n\b NOTE: Only works for images with even width and height.
-///
-/// @param warpedImage
-///   Grayscale 8-bit image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param warpedBorder
-///   Array with the x-coordinates of left-most and right-most
-///   pixels for each scanline to consider in warpedImage.
-///   Format is l0,r0,l1,r1,l2,... where l_ and r_ are the left-most
-///   and right-most pixel coordinates for a scanline.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param targetImage
-///   Grayscale 8-bit image.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param targetDX
-///   X-gradients of the target image as 16-bit signed integers.
-///   \n\b NOTE: share same width, height and stride as targetImage. Stride is in units of pixels instead of bytes for targetDX.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param targetDY
-///   Y-gradients of the target image as 16-bit signed integers.
-///   \n\b NOTE: share same width, height and stride as targetImage. Stride is in units of pixels instead of bytes for targetDY.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param width
-///   Width of the reference image and target image. Must be even.
-///
-/// @param height
-///   Height of the reference image and target image. Must be even.
-///
-/// @param stride
-///   Stride (in bytes) of reference image and target image, is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 stride is default to width.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param sumJTJ
-///   3x3 matrix (9 floats) receiving the sum of JTJ for all pixels.
-///   Only the upper half triangle matrix is filled.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param sumJTE
-///   3 vector (3 floats) receiving the sum of JTE for all pixels.
-///
-/// @param sumError
-///   Sum of absolute, normalized pixel differences for all
-///   processed pixels (1 float).
-///
-/// @param numPixels
-///   Number of pixels that have been processed (1 integer).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvJacobianSE2f32(const uint8_t* __restrict warpedImage,
-                 const uint16_t* __restrict warpedBorder,
-                  const uint8_t* __restrict targetImage,
-                  const int16_t* __restrict targetDX,
-                  const int16_t* __restrict targetDY,
-                       uint32_t             width,
-                       uint32_t             height,
-                       uint32_t             stride,
-                      float32_t* __restrict sumJTJ,
-                      float32_t* __restrict sumJTE,
-                      float32_t* __restrict sumError,
-                       uint32_t* __restrict numPixels);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies an affine transformation on a grayscale image using a 2x3
-///   matrix. Pixels are sampled using bi-linear interpolation.
-///   Pixels that would be sampled from outside the source image
-///   are not modified in the target image. The left-most and right-most
-///   pixel coordinates of each scanline are written to dstBorder.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvTransformAffineClippedu8_v2(). In the 2.0.0 release,
-///   fcvTransformAffineClippedu8_v2 will be renamed to fcvTransformAffineClippedu8
-///   and the signature of fcvTransformAffineClippedu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image.
-///   \n\b NOTE: data should be 128-bit aligned. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Input image width. The number of pixels in a row.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param affineMatrix
-///   2x3 perspective transformation matrix. The matrix stored
-///    in affineMatrix is using row major ordering: \n
-///    a11, a12, a13, a21, a22, a23 where the matrix is: \n
-///    | a11, a12, a13 |\n
-///    | a21, a22, a23 |\n
-///
-///    Warning:
-///      The convention for rotation angle is: positive for clockwise rotation
-///      and negative for counter-clockwise rotation. If there's unexpected
-///      result, it could be due to different rotation convention.
-///      If that's the case, negate the angle before calculating transform matrix.
-///
-///      The affine matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the affine matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of affine matrices are assumed. If not,
-///      please transform the affine matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dst
-///   Transformed output 8-bit image.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Dst image width.
-///
-/// @param dstHeight
-///   Dst image height.
-///
-/// @param dstStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to dstWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstBorder
-///   Output array receiving the x-coordinates of left-most and right-most
-///   pixels for each scanline. The format of the array is:
-///   l0,r0,l1,r1,l2,r2,... where l0 is the left-most pixel coordinate
-///   in scanline 0 and r0 is the right-most pixel coordinate
-///   in scanline 0.
-///   The buffer must therefore be 2*dstHeight integers in size.
-///   If dstBorder is set as NULL, then the border isn't processed.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------/
-
-FASTCV_API void
-fcvTransformAffineClippedu8(const uint8_t* __restrict src,
-                                 uint32_t             srcWidth,
-                                 uint32_t             srcHeight,
-                                 uint32_t             srcStride,
-                          const float32_t* __restrict affineMatrix,
-                                  uint8_t* __restrict dst,
-                                 uint32_t             dstWidth,
-                                 uint32_t             dstHeight,
-                                 uint32_t             dstStride,
-                                 uint32_t* __restrict dstBorder);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies an affine transformation on a grayscale image using a 2x3
-///   matrix. Pixels that would be sampled from outside the source image
-///   are not modified in the target image. The left-most and right-most
-///   pixel coordinates of each scanline are written to dstBorder.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvTransformAffineClippedu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvTransformAffineClippedu8,
-///   \a fcvTransformAffineClippedu8_v2 will be removed, and the current signature
-///   for \a fcvTransformAffineClippedu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvTransformAffineClippedu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image.
-///   \n\b NOTE: data should be 128-bit aligned. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Input image width. The number of pixels in a row.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param affineMatrix
-///   2x3 perspective transformation matrix. The matrix stored
-///    in affineMatrix is using row major ordering: \n
-///    a11, a12, a13, a21, a22, a23 where the matrix is: \n
-///    | a11, a12, a13 |\n
-///    | a21, a22, a23 |\n
-///    Warning:
-///      The convention for rotation angle is: positive for clockwise rotation
-///      and negative for counter-clockwise rotation. If there's unexpected
-///      result, it could be due to different rotation convention.
-///      If that's the case, negate the angle before calculating transform matrix.
-///
-///      The affine matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the affine matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of affine matrices are assumed. If not,
-///      please transform the affine matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dst
-///   Transformed output 8-bit image.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Dst image width.
-///
-/// @param dstHeight
-///   Dst image height.
-///
-/// @param dstStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to dstWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstBorder
-///   Output array receiving the x-coordinates of left-most and right-most
-///   pixels for each scanline. The format of the array is:
-///   l0,r0,l1,r1,l2,r2,... where l0 is the left-most pixel coordinate
-///   in scanline 0 and r0 is the right-most pixel coordinate
-///   in scanline 0.
-///   The buffer must therefore be 2*dstHeight integers in size.
-///   If the dstBorder is set as NULL, then the border isn't processed.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param interpolation
-///   Specifies the interpolation method to use for sampling.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------/
-
-FASTCV_API fcvStatus
-fcvTransformAffineClippedu8_v2( const uint8_t* __restrict src,
-                                uint32_t             srcWidth,
-                                uint32_t             srcHeight,
-                                uint32_t             srcStride,
-                                const float32_t* __restrict affineMatrix,
-                                uint8_t* __restrict dst,
-                                uint32_t             dstWidth,
-                                uint32_t             dstHeight,
-                                uint32_t             dstStride,
-                                uint32_t* __restrict dstBorder,
-                                fcvInterpolationType  interpolation );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies an affine transformation on a grayscale image using a 2x3
-///   matrix. Pixels that would be sampled from outside the source image
-///   are not modified in the target image. The left-most and right-most
-///   pixel coordinates of each scanline are written to dstBorder.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvTransformAffineClippedu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvTransformAffineClippedu8,
-///   \a fcvTransformAffineClippedu8_v3 will be removed, and the current signature
-///   for \a fcvTransformAffineClippedu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvTransformAffineClippedu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image.
-///   \n\b NOTE: data should be 128-bit aligned. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Input image width. The number of pixels in a row.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param affineMatrix
-///   2x3 perspective transformation matrix. The matrix stored
-///    in affineMatrix is using row major ordering: \n
-///    a11, a12, a13, a21, a22, a23 where the matrix is: \n
-///    | a11, a12, a13 |\n
-///    | a21, a22, a23 |\n
-///    Warning:
-///      The convention for rotation angle is: positive for clockwise rotation
-///      and negative for counter-clockwise rotation. If there's unexpected
-///      result, it could be due to different rotation convention.
-///      If that's the case, negate the angle before calculating transform matrix.
-///
-///      The affine matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the affine matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of affine matrices are assumed. If not,
-///      please transform the affine matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dst
-///   Transformed output 8-bit image.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Dst image width.
-///
-/// @param dstHeight
-///   Dst image height.
-///
-/// @param dstStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to dstWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dstBorder
-///   Output array receiving the x-coordinates of left-most and right-most
-///   pixels for each scanline. The format of the array is:
-///   l0,r0,l1,r1,l2,r2,... where l0 is the left-most pixel coordinate
-///   in scanline 0 and r0 is the right-most pixel coordinate
-///   in scanline 0.
-///   The buffer must therefore be 2*dstHeight integers in size.
-///   If the dstBorder is set as NULL, then the border isn't processed.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param interpolation
-///   Specifies the interpolation method to use for sampling.
-///
-/// @param borderType
-///   The border mode for dst pixels not mapped to the src image.
-///   Supported modes are FASTCV_BORDER_UNDEFINED and FASTCV_BORDER_CONSTANT.
-///
-/// @param borderValue
-///   The user-specified constant pixel value,
-///   in case FASTCV_BORDER_CONSTANT is chosen for borderType.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------/
-
-FASTCV_API fcvStatus
-fcvTransformAffineClippedu8_v3( const uint8_t* __restrict src,
-                                uint32_t             srcWidth,
-                                uint32_t             srcHeight,
-                                uint32_t             srcStride,
-                                const float32_t* __restrict affineMatrix,
-                                uint8_t* __restrict dst,
-                                uint32_t             dstWidth,
-                                uint32_t             dstHeight,
-                                uint32_t             dstStride,
-                                uint32_t* __restrict dstBorder,
-                                fcvInterpolationType  interpolation,
-                                fcvBorderType borderType,
-                                uint8_t  borderValue );
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Creates codebook model according to the image size
-///
-/// @details
-///     This function creates codebook model and returns codebook map.
-///     These 2 parameters will be used in fcvBGCodeBookUpdateu8(), fcvBGCodeBookDiffu8()
-///     and fcvBGCodeBookClearStaleu8(). Codebook functions are useful in background subtraction
-///     in many use cases, such as video surveillance.
-/// @param srcWidth
-///     Width of the input image.
-///     \n\b NOTE: should be multiple of 8. The number of pixels in a row.
-/// @param srcHeight
-///     Height of the input image.
-///
-/// @param cbmodel
-///     Double pointer to codebook model.
-///     Codebook model contains parameters for generating and maintaining codebook model.
-/// @return
-///     Double pointer to codebook map.
-///     Codebook map is a pointer map consisting of code word for each pixel of input image.
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API fcvBGCodeWord**
-fcvCreateBGCodeBookModel( uint32_t            srcWidth,
-                          uint32_t            srcHeight,
-                          void**   __restrict cbmodel );
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Releases codebook model and codebook map
-///
-/// @details
-///     This function release codebook model and codebook map. Codebook map is
-///     referred in codebook model.
-/// @param cbmodel
-///     Double pointer to codebook model
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvReleaseBGCodeBookModel( void** cbmodel );
-
-//------------------------------------------------------------------------------
-/// @brief
-///     configure codebook model
-///
-/// @details
-///     This function configure codebook model. It takes three parameters. They
-///     are codebook boundary, minimum and maximum mode for each channel (generally 3).
-///     These three parameters are firstly configured in fcvCreateBGCodeBookModel,
-///     and the values are (10,10,10), (3,1,1) and (10,1,1) respectively.
-/// @param cbmodel
-///     Pointer to codebook model
-///
-/// @param cbBound
-///     Pointer to uint8_t array that should be of 3 elements. This parameter is
-///     for updating codebook model in fcvBGCodeBookUpdateu8 that specifies
-///     the boundary of each channel.
-///
-/// @param minMod
-///     Pointer to uint8_t array that should be of 3 elements. This parameter is
-///     for generating the mask in fcvBGCodeBookDiffu8 that specifies the minimum
-///     mode of each channel of the code word.
-///
-/// @param maxMod
-///     Pointer to uint8_t array that should be of 3 elements. This parameter is
-///     for generating the mask in fcvBGCodeBookDiffu8 that specifies the maximum
-///     mode of each channel of the code word.
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvConfigBGCodeBookModel(   void* cbmodel,
-                            uint8_t cbBound[3],
-                            uint8_t minMod[3],
-                            uint8_t maxMod[3]);
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Updates codebook map according to input image. fgMask can be a reference.
-///
-/// @details
-///     This function updates codebook map according to input image. fgMask is generated by
-///     fcvBGCodeBookDiffu8() and can be a reference in this function. Therefore, fgMask is
-///     NULL at the first time.
-///     Codebook functions are useful in background subtraction in many use cases, such as
-///     video surveillance.
-/// @param cbmodel
-///     Pointer to codebook model
-///     Codebook model contains parameters for generating and maintaining codebook model
-/// @param src
-///     Pointer to the input image
-///     \n\b WARNING: should be 128-bit aligned. must be a 3-channel image.
-/// @param srcWidth
-///     Width of the image in pixel. The number of pixels in a row.
-///     \n\b NOTE: should be multiple of 8.
-/// @param srcHeight
-///     Height of the image in pixel
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*3.
-///     \n\b NOTE: should be multiple of 8.
-/// @param fgMask
-///     Pointer to the returned foreground mask image. Use NULL as default
-///     \n\b WARNING: should be 128-bit aligned. must be a 1-channel image, same width & height as src.
-/// @param fgMaskStride
-///     Stride of the foreground mask image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 fgMaskStride is default to srcWidth.
-///     \n\b NOTE: should be multiple of 8.
-/// @param cbMap
-///     Pointer to codebook map
-///     \n Codebook map is a pointer map consisting of code word for each pixel of input image.
-/// @param updateTime
-///     Update time.
-///     \n updateTime is a return value.
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvBGCodeBookUpdateu8( void*  __restrict cbmodel,
-              const uint8_t*  __restrict src,
-                   uint32_t              srcWidth,
-                   uint32_t              srcHeight,
-                   uint32_t              srcStride,
-              const uint8_t*  __restrict fgMask,
-                   uint32_t              fgMaskStride,
-              fcvBGCodeWord** __restrict cbMap,
-                    int32_t*  __restrict updateTime );
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Generates differential mask of input frame according to background codebook map.
-///
-/// @details
-///     This function generates differential mask  of input frame according to background codebook map.
-///     Codebook functions are useful in background subtraction in many use cases, such as
-///     video surveillance.
-///
-/// @param cbmodel
-///     Pointer to codebook model
-///     Codebook model contains parameters for generating and maintaining codebook model
-///
-/// @param src
-///     Pointer to the input image
-///     \n\b WARNING: should be 128-bit aligned. must be a 3-channel image.
-/// @param srcWidth
-///     Width of the image in pixel. The number of pixels in a row.
-///     \n\b NOTE: should be multiple of 8.
-/// @param srcHeight
-///     Height of the image in pixel
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*3.
-///     \n\b NOTE: should be multiple of 8.
-///
-/// @param fgMask
-///     Pointer to the returned foreground mask image.
-///     \n\b WARNING: should be 128-bit aligned. must be a 1-channel image, same width & height as src.
-/// @param fgMaskStride
-///     Stride of the foreground mask image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 fgMaskStride is default to srcWidth.
-///     \n\b NOTE: should be multiple of 8.
-///
-/// @param cbMap
-///     Pointer to code book map.
-///     \n Codebook map is a pointer map consisting of code word for each pixel of input image.
-/// @param numFgMask
-///     Number of foreground pixels in the mask
-///     \n numFgMask is a return value.
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvBGCodeBookDiffu8( void*  __restrict cbmodel,
-            const uint8_t*  __restrict src,
-                 uint32_t              srcWidth,
-                 uint32_t              srcHeight,
-                 uint32_t              srcStride,
-                  uint8_t*  __restrict fgMask,
-                 uint32_t              fgMaskStride,
-            fcvBGCodeWord** __restrict cbMap,
-                  int32_t*  __restrict numFgMask );
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Removes stale element in codebook according to foreground mask
-///
-/// @details
-///     This function removes stale element in codebook according to foreground mask.
-///     Threshold is defined in staleThresh.
-///     Codebook functions are useful in background subtraction in many use cases, such as
-///     video surveillance.
-///
-/// @param cbmodel
-///     Pointer to codebook model
-///     Codebook model contains parameters for generating and maintaining codebook model
-///
-/// @param staleThresh
-///     Threshold of stale element
-///
-/// @param fgMask
-///     Pointer to the foreground mask image in ROI. Use NULL as default
-///     \n\b NOTE: should be 128-bit aligned. must be a 1-channel image.
-/// @param fgMaskWidth
-///     Width of the mask in pixel, which is the same as input image
-///     \n\b NOTE: should be multiple of 8.
-/// @param fgMaskHeight
-///     Height of the mask in pixel, which is the same as input image
-///
-/// @param fgMaskStride
-///     Stride of the foreground mask image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 fgMaskStride is default to fgMaskWidth.
-///     \n\b NOTE: should be multiple of 8.
-///
-/// @param cbMap
-///     Pointer to code book map
-///     \n Codebook map is a pointer map consisting of code word for each pixel of input image.
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvBGCodeBookClearStaleu8( void*  __restrict cbmodel,
-                        int32_t              staleThresh,
-                  const uint8_t*  __restrict fgMask,
-                       uint32_t              fgMaskWidth,
-                       uint32_t              fgMaskHeight,
-                       uint32_t              fgMaskStride,
-                  fcvBGCodeWord** __restrict cbMap );
-
-//------------------------------------------------------------------------------
-/// @brief
-///     Finds circles in a grayscale image using Hough transform.
-///
-/// @details
-///     This function detect circles in a grayscale image. The number is up to maxCircle.
-///     The radius of circle varies from 0 to max(srcWidth, srcHeight).
-///
-/// @param src
-///     8-bit, single-channel, binary source image.  Size of buffer is srcStride*srcHeight bytes.
-///     \n\b WARNING: should be 128-bit aligned. must be a 1-channel image.
-///
-/// @param srcWidth
-///     Width of input image, the number of pixels in a row.
-///
-/// @param srcHeight
-///     Height of input image.
-///
-/// @param srcStride
-///     Stride of input image(in bytes) is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param circles
-///     Pointer to fcvCircle.
-///     fcvCircle is a struct including x, y position and radius
-///
-/// @param numCircle
-///     Pointer to numCircle.
-///     numCircle is an algorithm result indicating
-///     the number of circle detected by this algorithm.
-///
-/// @param maxCircle
-///     Maximum number of circles.
-///
-/// @param minDist
-///     Minimum distance between the centers of the detected circles
-///
-/// @param cannyThreshold
-///     The higher threshold of the two passed to the Canny() edge detector
-///     (the lower one is twice smaller). default is 100.
-///
-/// @param accThreshold
-///     The accumulator threshold for the circle centers at the detection
-////    stage. The smaller it is, the more false circles may be detected.
-///     Circles, corresponding to the larger accumulator values, will be
-///     returned first. default is 100.
-///
-/// @param minRadius
-///     Minimum circle radius. default is 0.
-///
-/// @param maxRadius
-///     Maximum circle radius. default is 0.
-///
-/// @param data
-///     Pointer to a buffer required by this algorithm. The recommended size
-///     is 16 times of input image (16*srcStride*srcHeigth in bytes).
-///     \n\b WARNING: should be 128-bit aligned.
-///
-/// @return
-///     void
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvHoughCircleu8( const uint8_t* __restrict src,
-                       uint32_t             srcWidth,
-                       uint32_t             srcHeight,
-                       uint32_t             srcStride,
-                      fcvCircle* __restrict circles,
-                       uint32_t* __restrict numCircle,
-                       uint32_t             maxCircle,
-                       uint32_t             minDist,
-                       uint32_t             cannyThreshold,
-                       uint32_t             accThreshold,
-                       uint32_t             minRadius,
-                       uint32_t             maxRadius,
-                           void* __restrict data);
-
-
-
-
-//-----------------------------------------------------------------------
-///@brief
-///    Performs Hough Line detection.
-///
-/// @details
-///     This function detects lines in a grayscale image. The maximum number
-///     of lines detected is defined by the maxLines parameter.
-///
-/// @param src
-///     8bit, single-channel, binary source image. Size of buffer is
-///     srcStride * srcHeight bytes.
-///
-/// @param srcWidth
-///    Width of the input image, the number of pixels in a row. should be a multiple of 8.
-///
-/// @param srcHeight
-///    Input image height in pixels.
-///
-/// @param srcStride
-///    Stride of input image in bytes is the number of bytes between column 0 of row 1
-///    and column 0 of row 2 in data memory. If left at 0 srcStride will default
-///    to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param threshold
-///     Controls the minimal length of a detected line. Value must be between 0.0 and 1.0
-///     Values close to 1.0 reduces the number of detected lines. Values close to 0.0
-///     detect more lines, but may be noisy. Recommended value is 0.25.
-///
-/// @param maxLines
-///   Maximum number of lines to be detected.
-///
-/// @param pNumLines
-///    Number of lines detected. The memory for this array must be allocated
-///    by the user of the function.
-///
-/// @param pLines
-///     Resulting lines detected. The memory for this array must be allocated
-///     by the user of the function.
-///
-/// @return
-///    void
-///
-/// @ingroup feature_detection
-//-----------------------------------------------------------------------
-FASTCV_API void
-fcvHoughLineu8(const uint8_t*  __restrict src,
-                    uint32_t              srcWidth,
-                    uint32_t              srcHeight,
-                    uint32_t              srcStride,
-                    float32_t             threshold,
-                    uint32_t              maxLines,
-                    uint32_t*  __restrict pNumLines,
-                    fcvLine*   __restrict pLines);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Draw the contour or fill the area enclosed by the contour. The algorithm using even-odd rule to fill the contour.
-///   Currently Antialiazing is not supported.
-///
-/// @param src
-///   8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param nContours
-///   The total number of contours to be drawn.
-///
-/// @param holeFlag
-///   The flag arrays indicate if the corresponding contour is a hole.
-/// 1 indicates a hole and 0 indicates it's not a hole.
-///
-/// @param numContourPoints
-///   The array that stores the length of each contour;
-///
-/// @param contourStartPoints
-///   The array that stores the pointer of the starting point of each contour
-///
-/// @param pointBufferSize
-///   The size of the point buffer, in the number of bytes.
-///
-/// @param pointBuffer
-///   The array that stores all the x,y coordinates of all the contours.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param hierarchy
-///   The array that stores the left,right,ancestor and decendant of each contour.
-///
-/// @param max_level
-///   The max level we at which we draw the contour, it stops drawing after we reach this level.
-///
-/// @param thickness
-///   Indicate the thickness of the contour to be drawn, if it's 0, do a fill.
-///
-///  @param color
-///   The color value used to draw/fill the contour, currently support grayscale value from 0-255;
-///
-///  @param hole_color
-///   The color value used to fill the hole;
-///
-/// @ingroup Structural_Analysis_and_Drawing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvDrawContouru8(uint8_t*  __restrict src,
-                uint32_t              srcWidth,
-                uint32_t              srcHeight,
-                uint32_t              srcStride,
-                uint32_t              nContours,
-          const uint32_t*  __restrict holeFlag,
-          const uint32_t*  __restrict numContourPoints,
-          const uint32_t** __restrict contourStartPoints,
-                uint32_t              pointBufferSize,
-          const uint32_t*  __restrict pointBuffer,
-                 int32_t              hierarchy[][4],
-                uint32_t              max_level,
-                 int32_t              thickness,
-                 uint8_t              color,
-                 uint8_t              hole_color);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Draw the contour or fill the area enclosed by the contour.
-///   Currently Antialiazing is not supported.
-///
-/// @param src
-///   Input image/patch. It's 3 channel RGB color image in interleaved format. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*3.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param nContours
-///   The total number of contours to be drawn.
-///
-/// @param holeFlag
-///   The flag arrays indicate if the corresponding contour is a hole.
-/// 1 indicates a hole and 0 indicates it's not a hole.
-///
-/// @param numContourPoints
-///   The array that stores the length of each contour;
-///
-/// @param contourStartPoints
-///   The array that stores the pointer of the starting point of each contour
-///
-/// @param pointBufferSize
-///   The size of the point buffer, in the number of bytes.
-///
-/// @param pointBuffer
-///   The array that stores all the x,y coordinates of all the contours.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param hierarchy
-///   The array that stores the left,right,ancestor and decendant of each contour.
-///
-/// @param max_level
-///   The max level we at which we draw the contour, it stops drawing after we reach this level.
-///
-/// @param thickness
-///   Indicate the thickness of the contour to be drawn, if it's 0, do a fill.
-///
-/// @param colorR, colorG, colorB
-///   The color value used to draw/fill the contour, currently support value from 0-255;
-///
-/// @param hole_colorR, hole_colorG, hole_colorB
-///   The color value used to fill the hole, currently support value from 0-255;
-///
-/// @ingroup Structural_Analysis_and_Drawing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvDrawContourInterleavedu8( uint8_t*  __restrict src,
-                            uint32_t              srcWidth,
-                            uint32_t              srcHeight,
-                            uint32_t              srcStride,
-                            uint32_t              nContours,
-                      const uint32_t*  __restrict holeFlag,
-                      const uint32_t*  __restrict numContourPoints,
-                      const uint32_t** __restrict contourStartPoints,
-                            uint32_t              pointBufferSize,
-                      const uint32_t*  __restrict pointBuffer,
-                             int32_t              hierarchy[][4],
-                            uint32_t              max_level,
-                             int32_t              thickness,
-                             uint8_t              colorR,
-                             uint8_t              colorG,
-                             uint8_t              colorB,
-                             uint8_t              hole_colorR,
-                             uint8_t              hole_colorG,
-                             uint8_t              hole_colorB);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Draw the contour or fill the area enclosed by the contour.
-///   Currently Antialiazing is not supported.
-///
-/// @param src
-///   Input image/patch. It's 3 channel RGB color image in planar format. Size of buffer is srcStride*srcHeight*3 bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory of any color plane. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param nContours
-///   The total number of contours to be drawn.
-///
-/// @param holeFlag
-///   The flag arrays indicate if the corresponding contour is a hole.
-///   1 indicates a hole and 0 indicates it's not a hole.
-///
-/// @param numContourPoints
-///   The array that stores the length of each contour;
-///
-/// @param contourStartPoints
-///   The array that stores the pointer of the starting point of each contour
-///
-/// @param pointBufferSize
-///   The size of the point buffer, in the number of bytes.
-///
-/// @param pointBuffer
-///   The array that stores all the x,y coordinates of all the contours.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param hierarchy
-///   The array that stores the left,right,ancestor and decendant of each contour.
-///
-/// @param max_level
-///   The max level we at which we draw the contour, it stops drawing after we reach this level.
-///
-/// @param thickness
-///   Indicate the thickness of the contour to be drawn, if it's 0, do a fill.
-///
-/// @param colorR, colorG, colorB
-///   The color value used to draw/fill the contour, currently support value from 0-255;
-///
-/// @param hole_colorR, hole_colorG, hole_colorB
-///   The color value used to fill the hole, currently support value from 0-255;
-///
-/// @ingroup Structural_Analysis_and_Drawing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvDrawContourPlanaru8( uint8_t*  __restrict src,
-                       uint32_t              srcWidth,
-                       uint32_t              srcHeight,
-                       uint32_t              srcStride,
-                       uint32_t              nContours,
-                 const uint32_t*  __restrict holeFlag,
-                 const uint32_t*  __restrict numContourPoints,
-                 const uint32_t** __restrict contourStartPoints,
-                       uint32_t              pointBufferSize,
-                 const uint32_t*  __restrict pointBuffer,
-                        int32_t              hierarchy[][4],
-                       uint32_t              max_level,
-                        int32_t              thickness,
-                        uint8_t              colorR,
-                        uint8_t              colorG,
-                        uint8_t              colorB,
-                        uint8_t              hole_colorR,
-                        uint8_t              hole_colorG,
-                        uint8_t              hole_colorB);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes weighted average (moment) of the image pixels' intensities
-///
-/// @details
-///   This function computes image moment, i.e., a certain particular weighted
-///   average (moment) of the image pixels' intensities, or a function of such
-///   moments, usually chosen to have some attractive property or interpretation.
-///   Image moments are useful to describe objects after segmentation.
-///
-/// @param src
-///   Pointer to the original Input 8-bit image.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param moments
-///   Pointer to the a struct of image moments which is a certain particular weighted
-///  average (moment) of the image pixels' intensities, it includes 18 elements.
-///
-/// @param binary
-///   if 1, binary image (0x00-black, oxff-white); if 0, grayscale image
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageMomentsu8( const uint8_t* __restrict   src,
-                   uint32_t                    srcWidth,
-                   uint32_t                    srcHeight,
-                   uint32_t                    srcStride,
-                   fcvMoments*                 moments,
-                   uint8_t                     binary);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes weighted average (moment) of the image pixels' intensities
-///
-/// @details
-///   This function computes image moment, i.e., a certain particular weighted
-///   average (moment) of the image pixels' intensities, or a function of such
-///   moments, usually chosen to have some attractive property or interpretation.
-///   Image moments are useful to describe objects after segmentation.
-///
-/// @param src
-///   Pointer to the original input of data type int32_t.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param moments
-///   Pointer to the a struct of image moments which is a certain particular weighted
-///  average (moment) of the image pixels' intensities, it includes 18 elements.
-///
-/// @param binary
-///   if 1, binary image (0x00-black, oxff-white); if 0, grayscale image
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageMomentss32( const int32_t* __restrict src,
-                    uint32_t                  srcWidth,
-                    uint32_t                  srcHeight,
-                    uint32_t                  srcStride,
-                    fcvMoments*               moments,
-                    uint8_t                   binary);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes weighted average (moment) of the image pixels' intensities
-///
-/// @details
-///   This function computes image moment, i.e., a certain particular weighted
-///   average (moment) of the image pixels' intensities, or a function of such
-///   moments, usually chosen to have some attractive property or interpretation.
-///   Image moments are useful to describe objects after segmentation.
-///
-/// @param src
-///   Pointer to the original Input of data type float32_t.
-///   Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   The width of the input source image.
-///
-/// @param srcHeight
-///   The height of the input source image.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param moments
-///   Pointer to the a struct of image moments which is a certain particular weighted
-///  average (moment) of the image pixels' intensities, it includes 18 elements.
-///
-/// @param binary
-///   if 1, binary image (0x00-black, oxff-white); if 0, grayscale image
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageMomentsf32(const float32_t* __restrict src,
-                  uint32_t              srcWidth,
-                  uint32_t              srcHeight,
-                  uint32_t              srcStride,
-                  fcvMoments*           moments,
-                  uint8_t               binary);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Executes LDL decomposition algorithm on a symmetric and positive
-///   definite matrix to solve the linear system A*x = b, where A is an NxN
-///   matrix and x & b are vectors of size N.
-///
-/// @param A
-///   Pointer to the matrix A or size NxN.
-///   \n\b NOTE: This matrix WILL BE MODIFIED during computation.
-///         Please SAVE THE ORIGINAL MATRIX properly if necessary.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param b
-///   Pointer to the vector b of size N.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param diag
-///   Pointer to the buffer for the diagonal of matrix A.
-///   This buffer is used for computation.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param N
-///   Size of matrix and vectors.
-///
-/// @param x
-///   Pointer to the output vector x of size N.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @return
-///   1 if the linear system could be solved or 0 otherwise.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API int32_t
-fcvSolveLDLf32( float32_t *__restrict         A,
-                const float32_t *__restrict   b,
-                float32_t *__restrict         diag,
-                uint32_t                      N,
-                float32_t *__restrict         x );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Executes dot product of two floating point vectors
-///
-/// @param a
-///   Pointer to the vector a of size N.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param b
-///   Pointer to the vector b of size N.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param N
-///   Size of matrix and vectors.
-///
-/// @return
-///   the dot product in float32_t.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API float32_t
-fcvDotProductf32( const float32_t *__restrict a,
-                  const float32_t *__restrict b,
-                  uint32_t                    N);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies an affine transformation on a 3-color channel image using a 2x3
-///   matrix using bicubic interpolation.
-///   Pixels that would be sampled from outside the source image
-///   are not modified in the target image. The left-most and right-most
-///   pixel coordinates of each scanline are written to dstBorder.
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth*3.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as
-///        much as srcWidth*3 if not 0.
-///
-/// @param affineMatrix
-///   2x3 perspective transformation matrix. The matrix stored
-///    in affineMatrix is using row major ordering: \n
-///    a11, a12, a13, a21, a22, a23 where the matrix is: \n
-///    | a11, a12, a13 |\n
-///    | a21, a22, a23 |\n
-///    Warning:
-///      the convention for rotation angle is: positive for clockwise rotation
-///      and negative for counter-clockwise rotation. If there's unexpected
-///      result, it could be due to different rotation convention.
-///      If that's the case, negate the angle before calculating transform matrix.
-///
-///      The affine matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the affine matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of affine matrices are assumed. If not,
-///      please transform the affine matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @param dst
-///   Warped output image. Size of buffer is dstStride*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width.
-///
-/// @param dstHeight
-///   Output image height.
-///
-/// @param dstStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth*3.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least
-///        as much as dstWidth*3 if not 0.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstBorder
-///   Output array receiving the x-coordinates of left-most and right-most
-///   pixels for each scanline. The format of the array is:
-///   l0,r0,l1,r1,l2,r2,... where l0 is the left-most pixel coordinate
-///   in scanline 0 and r0 is the right-most pixel coordinate
-///   in scanline 0.
-///   The buffer must therefore be 2*dstHeight integers in size.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------/
-
-FASTCV_API void
-fcv3ChannelTransformAffineClippedBCu8(  const uint8_t *__restrict      src,
-                                        uint32_t                       srcWidth,
-                                        uint32_t                       srcHeight,
-                                        uint32_t                       srcStride,
-                                        const float32_t *__restrict    affineMatrix,
-                                        uint8_t *__restrict            dst,
-                                        uint32_t                       dstWidth,
-                                        uint32_t                       dstHeight,
-                                        uint32_t                       dstStride,
-                                        uint32_t *__restrict           dstBorder);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Binarizes a grayscale image using Otsu's method.
-///
-/// @details
-///   Sets the pixel to max(255) if it's value is greater than the threshold;
-///   else, set the pixel to min(0). The threshold is searched that minimizes
-///   the intra-class variance (the variance within the class)
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-///   If src equals to dst and srcStride equals to dstStride, it will do in-place.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param thresholdType
-///   Threshold type that can be either FCV_THRESH_BINARY or FCV_THRESH_BINARY_INV.
-///   \n\b NOTE: ///   For FCV_THRESH_BINARY threshold type, the pixel is set as
-///   maxValue if it's value is greater than the threshold; else, it is set as zero.
-///   For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's
-///   value is greater than the threshold; else, it is set as maxValue.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterThresholdOtsuu8( const uint8_t *__restrict   src,
-                          uint32_t                    srcWidth,
-                          uint32_t                    srcHeight,
-                          uint32_t                    srcStride,
-                          uint8_t *__restrict         dst,
-                          uint32_t                    dstStride,
-                          fcvThreshType               thresholdType);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extracts edge locations from the image. This function tests for edges a grid
-///   of pixels within a bounding box.
-///
-/// @param gxgy
-///   Pointer to gradient direction image array containing the interleaved x,y
-///   components of the direction vector.
-///
-/// @param mag
-///   Pointer to gradient magnitude image array stored as a 4-byte unsigned integer
-///   per pixel.
-///
-/// @param gradStride
-///   gradStride is the number of pixels between column 0 of row 1 and
-///   column 0 of row 2 in data memory for gxgy and mag.
-///   should be multiple of 8
-///
-/// @param topLeftX
-///  The x coordinate of the top-left corner of the bounding box.
-///
-/// @param topLeftY
-///  The y coordinate of the top-left corner of the bounding box.
-///
-/// @param width
-///  The width of the bounding box.
-///
-/// @param height
-///  The height of the bounding box.
-///
-/// @param gridSize
-///  The spacing between pixels that are tested for edges.
-///
-/// @param threshold
-///  The threshold is used for early filtering edge candidate pixels based on
-///  gradient magnitude.
-///
-/// @param nEdgePixelsMax
-///   Maximum number of edge pixels. The function exits when the maximum number of
-///   edges is exceeded.
-///
-/// @param nEdgePixels
-///   Pointer to an integer storing the number of edge pixels detected.
-///
-/// @param coordEdgePixels
-///   Pointer to the output array containing the interleaved x,y position of the
-///   detected edges.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageDetectEdgePixelsu8( const int16_t* __restrict  gxgy,
-                            const uint32_t*__restrict  mag,
-                            uint32_t                   gradStride,
-                            uint32_t                   topLeftX,
-                            uint32_t                   topLeftY,
-                            uint32_t                   width,
-                            uint32_t                   height,
-                            uint32_t                   gridSize,
-                            float32_t                  threshold,
-                            uint32_t                   nEdgePixelsMax,
-                            uint32_t* __restrict       nEdgePixels,
-                            uint32_t* __restrict       coordEdgePixels );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Computes the Generalized Local Binary Pattern Features for a single channel image.
-///
-/// @details
-///   The function computes the Circular Local Binary Pattern (LBP) Code of each pixel of
-///   an input image "src" A number of neighboring pixels "neighbors" are sampled from a
-///   circle of radius "radius" around each pixel to  compute the LBP code. In this
-///   implementation, it is assumed that the number of neighbors vary between 1 & 8.
-///   It is also assumed that the dimensions of the output image "dst" is computed as
-///   follows from the size of the input image �src": dstWidth = srcWidth - 2*radius,
-///   and dstHeight = srcHeight - 2*radius.
-///
-/// @param src
-///   Input unsigned 8-bit integer image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the source image.
-///
-/// @param srcHeight
-///   Height of the source image.
-///
-/// @param srcStride
-///   Stride of the Image in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param radius
-///   The radius of the circle centered around each pixel. The value of radius specifies
-///   the size of the region around each pixel from which the neighbors are sampled.
-///
-/// @param neighbors
-///   The number of neighbors sampled from the circle around each pixel.
-///   \n\b NOTE : MUST be > 0 and less than or equal to 8.
-///
-/// @param dst
-///   Output unsigned 8-bit integer image. Size of buffer is dstStride*srcHeight bytes.
-///   The dimensions of the image are dstWidth = srcWidth - 2*radius,
-///   and dstHeight = srcHeight - 2*radius.
-
-///
-/// @param dstStride
-///   Stride of the output image in bytes.
-///   \n\b NOTE: dstWidth = srcWidth  - 2*radius, dstHeight = srcHeight - 2*radius.
-///   \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvGLBPu8(const uint8_t *__restrict src,
-           uint32_t srcWidth,
-           uint32_t srcHeight,
-           uint32_t srcStride,
-           uint32_t radius,
-           uint32_t neighbors,
-           uint8_t *__restrict dst,
-           uint32_t dstStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Refine corner location
-///
-/// @details
-///   Refine the detected corners location into sub-Pixels which is more precise than integer pixels
-///
-/// @param src
-///   Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param blockWidth
-///   Width of the location search window.
-///
-/// @param blockHeight
-///   Height of the location search window.
-///
-/// @param maxIterations
-///   Maximum number of iteration to refine
-///
-/// @param stopCriteria
-///   Improvement threshold, iteration stop if the corner position moves less by this value
-///
-/// @param xyInitial
-///   Pointer to the initial input array containing the interleaved x,y position of the corner
-///
-/// @param nCorners
-///   Number of the corners
-///
-/// @param xyOut
-///   Pointer to the output array containing the refined interleaved x,y position of the corner
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvCornerRefineSubPixu8( const uint8_t * __restrict src,
-                         uint32_t        srcWidth,
-                         uint32_t        srcHeight,
-                         uint32_t        srcStride,
-                         uint32_t        blockWidth,
-                         uint32_t        blockHeight,
-                         uint32_t        maxIterations,
-                         float32_t       stopCriteria,
-                         const uint32_t*__restrict  xyInitial,
-                         uint32_t        nCorners,
-                         float32_t * __restrict     xyOut);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extract strong corners from image to track
-///
-/// @details
-///   Extract strong corners from image to track based on the according paper "Good Feature to Track" by J.Shi and C.Tomasi
-///
-/// @param src
-///   Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param distanceMin
-///   Minimum Euclidean distance between the found corners
-///
-/// @param border
-///   Number for pixels to ignore from top,bottom
-///
-/// @param barrier
-///   Quality threshold
-///
-/// @param xy
-///   Pointer to the output array containing the interleaved x,y position of the detected features
-///
-/// @maxnumcorners
-///   Maximum number of features to detect
-///
-/// @numcorners
-///   Pointer to integer of actual detected features number
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvGoodFeatureToTracku8( const uint8_t * __restrict src,
-                         uint32_t         srcWidth,
-                         uint32_t         srcHeight,
-                         uint32_t         srcStride,
-                         float32_t        distanceMin,
-                         uint32_t         border,
-                         float32_t        barrier,
-                         uint32_t * __restrict   xy,
-                         uint32_t         maxnumcorners,
-                         uint32_t * __restrict  numcorners);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Find multiple maxima along the normal direction of the line
-///
-/// @param src
-///   8-bit input image
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Input image stride
-///
-/// @param pos
-///   2D position to start searching maximas in the input image
-///
-/// @param normal
-///   Normalized line normal at pos
-///
-/// @param maxDistance
-///   Search distance along the normal direction; [-normal*maxDistance, normal*maxDistance]
-///
-/// @param maxNumMaxima
-///   Maximum maxima to find, e.g., 5
-///
-/// @param minGradient
-///   Minimum 1D gradient of the pixels on the search line (normal direction)
-///
-/// @param maxAngleDiff
-///   Cosine value threshold to filter the pixels that have large angle difference
-///
-/// @param maxima
-///   List of found maxima 1D positions; Actuall 2D position of maxima = (normal * 1D position) + pos
-///
-/// @param numMaxima
-///   Number of found maxima
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFindMultipleMaximau8(const uint8_t *__restrict src,
-                        uint32_t srcWidth,
-                        uint32_t srcHeight,
-                        uint32_t srcStride,
-                        const float32_t* __restrict pos,
-                        const float32_t* __restrict normal,
-                        uint32_t maxDistance,
-                        uint32_t maxNumMaxima,
-                        int32_t minGradient,
-                        float32_t maxAngleDiff,
-                        float32_t* __restrict maxima,
-                        uint32_t* __restrict numMaxima);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Extract the straight line segments from the image
-///
-/// @param srcPyr
-///   Pointer to an array of fcvPyramidLevel_v2. Only 2 levels at max will be used
-///   to extract the straight line segments.
-///
-/// @param pyrLevel
-///   Image pyramid level, if it is set to 1, then do not use multi-scale approach.
-///   pyrLevel should be greater than or equal to 1.
-///
-/// @param doBlurImage
-///   Do image-blurring inside the function (if the image is not blurred)
-///
-/// @param maxLineAngle
-///   Cosine threshold to stop following (extending) pixels, e.g., cos(22.5 deg)
-///   maxLineAngle should be between [0.5 - 1.0]
-///
-/// @param minLineLength
-///   Minimum line segment length in pixels
-///
-/// @param minMagnitude
-///   Minimum pixel gradient magnitude, e.g., 10
-///
-/// @param maxLineNum
-///   Maximum line segments from the image
-///
-/// @param indexBuffer
-///   Optionally store the index(:= y * image_width + x) of the pixels consisting of the line segments
-///   into pointsList in fcvLineSegment structure. e.g., One can provide the buffer[maxLineNum*(image width + height)]
-///   Pass NULL if it is not necessary.
-///
-/// @param lineSegments
-///   List of the detected line segments
-///
-/// @param numLineSegments
-///   Number of found line segments
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvImageDetectLineSegmentsu8(const fcvPyramidLevel_v2* __restrict srcPyr,
-                             uint32_t pyrLevel,
-                             uint32_t doBlurImage,
-                             float32_t maxLineAngle,
-                             uint32_t minLineLength,
-                             uint32_t minMagnitude,
-                             uint32_t maxLineNum,
-                             uint32_t* __restrict indexBuffer,
-                             fcvLineSegment* __restrict lineSegments,
-                             uint32_t* __restrict numLineSegments);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Sum of squared differences of one L-byte vector against N others.
-///
-/// @details
-///   SSD of one vector (a) against N other L-byte vectors
-///   ( b[0], b[1], ..., b[n-1] )
-///   using their given inverse lengths for normalization.
-///   \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-///   Inverse of vector A = 1/|A|
-///
-/// @param dim
-///   Number of element of vector A
-///
-/// @param bList
-///   Vectors b[0]...b[n-1].
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param invLenB
-///   Inverse of vectors b[0]...b[n-1]  = 1/|b[0]|,... 1/|b[n-1]|
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param numB
-///   Number of B vectors.
-///
-/// @param distances
-///   Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffsu8( const uint8_t* __restrict                 a,
-                        float32_t                                 invLenA,
-                        uint32_t                                  dim,
-                        const uint8_t* const * __restrict         bList,
-                        const float32_t* __restrict               invLenB,
-                        uint32_t                                  numB,
-                        float32_t* __restrict                     distances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Sum of squared differences of one floating vector of L-elements against N others.
-///
-/// @details
-///   SSD of one vector (a) against N other L-elements vectors
-///   ( b[0], b[1], ..., b[n-1] )
-///   using their given inverse lengths for normalization.
-///   \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-///   Inverse of vector A = 1/|A|
-///
-/// @param dim
-///   Number of element of vector A
-///
-/// @param bList
-///   Vectors b[0]...b[n-1].
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param invLenB
-///   Inverse of vectors b[0]...b[n-1]  = 1/|b[0]|,... 1/|b[n-1]|
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param numB
-///   Number of B vectors.
-///
-/// @param distances
-///   Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffsf32( const float32_t* __restrict             a,
-                         float32_t                               invLenA,
-                         uint32_t                                dim,
-                         const float32_t* const * __restrict     bList,
-                         const float32_t* __restrict             invLenB,
-                         uint32_t                                numB,
-                         float32_t* __restrict                   distances );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   General function for computing cluster centers and cluster bindings
-///   for a set of points of dimension dim.
-///
-/// @param points
-///   Array of all points. Array size must be greater than
-///   numPoints * pointStride.
-///
-/// @param numPoints
-///   Number of points in points array.
-///
-/// @param dim
-///   dimension, e.g. 36
-///
-/// @param pointStride
-///   Byte distance between adjacent points in array
-///
-/// @param numPointsUsed
-///   Total number of points used for clustering, {0,1,...(numPointsUsed-1)}
-///
-/// @param numClusters
-///   Number of clusters
-///
-/// @param clusterCenters
-///   current cluster centers;
-///   elements are distant by clusterCenterStride
-///
-/// @param clusterCenterStride
-///   byte distance between adjacent cluster centers in array
-///
-/// @param newClusterCenters
-///   array for new cluster centers; should be numClusterCenters long
-///
-/// @param newClusterMemberCounts
-///   Element counts for each cluster; should be numClusterCenters long
-///
-/// @param clusterBindings
-///   Output indices of the clusters to which each vector belongs to, array must
-///   be numPointsUsed long.
-///
-/// @param sumOfClusterDistances
-///    the sum of distances between each cluster center to its belonging points. The
-///    size should be numClusterCenters*sizeof(float_32)
-///
-/// @return
-///   0 if successfully clustered, otherwise error code
-///
-/// @remark
-///   This is general clusterer. There are no assumptions on points other
-///   than they belong to a vector space
-///
-/// @ingroup clustering_and_search
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvClusterEuclideanu8( const uint8_t* __restrict     points,
-                       int32_t                      numPoints,
-                       int32_t                      dim,
-                       int32_t                      pointStride,
-                       int32_t                      numPointsUsed,
-                       int32_t                      numClusters,
-                       float32_t* __restrict        clusterCenters,
-                       int32_t                      clusterCenterStride,
-                       float32_t* __restrict        newClusterCenters,
-                       uint32_t* __restrict         clusterMemberCounts,
-                       uint32_t* __restrict         clusterBindings,
-                       float32_t*                   sumOfClusterDistances );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix transpose of one uint8_t type matrix.
-///
-/// @param src
-///   Source matrix.The size of src is srcStride*srcHeight.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the source matrix.
-///
-/// @param srcHeight
-///   Height of the source matrix.
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   Transpose of the source matrix. The size of dst is dstStride*srcWidth.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTransposeu8( const uint8_t * __restrict  src,
-                uint32_t                    srcWidth,
-                uint32_t                    srcHeight,
-                uint32_t                    srcStride,
-                uint8_t * __restrict        dst,
-                uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix transpose of one uint16_t type matrix.
-///
-/// @param src
-///   Source matrix. The size of src is srcStride*srcHeight.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the source matrix.
-///
-/// @param srcHeight
-///   Height of the source matrix.
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   Transpose of the source matrix. The size of dst is dstStride*srcWidth.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTransposeu16(  const uint16_t * __restrict  src,
-                  uint32_t                     srcWidth,
-                  uint32_t                     srcHeight,
-                  uint32_t                     srcStride,
-                  uint16_t * __restrict        dst,
-                  uint32_t                     dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix transpose of one float32_t type matrix.
-///
-/// @param src
-///   Source matrix. The size of src is srcStride*srcHeight.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the source matrix.
-///
-/// @param srcHeight
-///   Height of the source matrix.
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   Transpose of the source matrix. The size of dst is dstStride*srcWidth.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTransposef32(  const float32_t * __restrict  src,
-                  uint32_t                      srcWidth,
-                  uint32_t                      srcHeight,
-                  uint32_t                      srcStride,
-                  float32_t * __restrict        dst,
-                  uint32_t                      dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Flip one uint8_t type matrix. If src and dst point to the same address
-///   and srcStride equals to dstStride, it will do in-place flip.
-///
-/// @param src
-///   Source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the source matrix.
-///
-/// @param srcHeight
-///   Height of the source matrix.
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix. If src equals to dst and srcStride equals to dstStride,
-///   it will do in-place flip.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dir
-///   Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFlipu8( const uint8_t * src,
-           uint32_t        srcWidth,
-           uint32_t        srcHeight,
-           uint32_t        srcStride,
-           uint8_t *       dst,
-           uint32_t        dstStride,
-           fcvFlipDir      dir );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Flip one uint16_t type matrix. If src and dst point to the same address,
-///   and srcStride equals to dstStride, it will do in-place flip.
-///
-/// @param src
-///   Source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the source matrix.
-///
-/// @param srcHeight
-///   Height of the source matrix.
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix. If src equals to dst and srcStride equals to dstStride,
-///   it will do in-place flip.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dir
-///   Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFlipu16( const uint16_t * src,
-            uint32_t         srcWidth,
-            uint32_t         srcHeight,
-            uint32_t         srcStride,
-            uint16_t *       dst,
-            uint32_t         dstStride,
-            fcvFlipDir       dir );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Flips an interleaved RGB image
-///
-/// @details
-///   Flips one uint8_t type interleaved RGB image . If src and dst point to the same address
-///   and srcStride equals to dstStride, it will do in-place flip.
-///
-/// @param src
-///   Input unsigned 8-bit integer image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the image.
-///
-/// @param srcHeight
-///   Height of the source image.
-///
-/// @param srcStride
-///   Stride of the Image in bytes.
-///   \n\b NOTE: if 0, srcStride is set as 3 x srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
-///
-/// @param dst
-///   Output unsigned 8-bit integer image. Size of buffer is dstStride*srcHeight bytes.
-///   If src equals to dst and srcStride equals to dstStride,it will do in-place flip.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of the output image in bytes.
-///   \n\b NOTE: if 0, dstStride is set as 3 x srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
-///
-/// @param dir
-///   Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvFlipRGB888u8(const uint8_t * src,
-                uint32_t  srcWidth,
-                uint32_t srcHeight,
-                uint32_t srcStride,
-                uint8_t * dst,
-                uint32_t dstStride,
-                fcvFlipDir dir);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Rotate one uint8_t type image.
-///
-/// @param src
-///   Source image.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the source image.
-///
-/// @param srcHeight
-///   Height of the source image.
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result image.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth
-///   (FASTCV_ROTATE_180) or srcHeight (FASTCV_ROTATE_90 or FASTCV_ROTATE_270).
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param degree
-///   Rotate degree (FASTCV_ROTATE_90, FASTCV_ROTATE_180 or FASTCV_ROTATE_270).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRotateImageu8( const uint8_t *      src,
-                  uint32_t             srcWidth,
-                  uint32_t             srcHeight,
-                  uint32_t             srcStride,
-                  uint8_t *            dst,
-                  uint32_t             dstStride,
-                  fcvRotateDegree      degree );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Rotate one interleaved uint8_t type image (e.g. UV channel in NV21).
-///
-/// @param src
-///   Source image.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Number of interleaved pairs in one row.
-///   For example, srcWidth = 4 in UVUVUVUV image row.
-///
-/// @param srcHeight
-///   Height of the source image.
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to 2*srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result image.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to 2*srcWidth
-///   (FASTCV_ROTATE_180) or 2*srcHeight (FASTCV_ROTATE_90 or FASTCV_ROTATE_270).
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param degree
-///   Rotate degree (FASTCV_ROTATE_90, FASTCV_ROTATE_180 or FASTCV_ROTATE_270).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRotateImageInterleavedu8( const uint8_t *      src,
-                             uint32_t             srcWidth,
-                             uint32_t             srcHeight,
-                             uint32_t             srcStride,
-                             uint8_t *            dst,
-                             uint32_t             dstStride,
-                             fcvRotateDegree      degree );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Element-wise multiplication of two uint8_t type matrices.
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (uint16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvElementMultiplyu8u16( const uint8_t *             src1,
-                         uint32_t                    width,
-                         uint32_t                    height,
-                         uint32_t                    src1Stride,
-                         const uint8_t *             src2,
-                         uint32_t                    src2Stride,
-                         uint16_t * __restrict       dst,
-                         uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Element-wise multiplication of two float32_t type matrices.
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (float32_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvElementMultiplyf32(  const float32_t *            src1,
-                        uint32_t                     width,
-                        uint32_t                     height,
-                        uint32_t                     src1Stride,
-                        const float32_t *            src2,
-                        uint32_t                     src2Stride,
-                        float32_t * __restrict       dst,
-                        uint32_t                     dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix multiplication of two int8_t type matrices.
-///
-/// @param src1
-///   First source matrix. The size of src1 is src1Stride*src1Height.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src1Width
-///   Width of the first source matrix.
-///   \n\b NOTE: src1Width should not be larger than 131072
-///
-/// @param src1Height
-///   Height of the first source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix. The size of src2 is src2Stride*src1Width.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Width
-///   Width of the second source matrix.
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (int32_t type). The size of dst is dstStride*src1Height.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to src2Width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvMatrixMultiplys8s32( const int8_t * __restrict  src1,
-                        uint32_t                   src1Width,
-                        uint32_t                   src1Height,
-                        uint32_t                   src1Stride,
-                        const int8_t * __restrict  src2,
-                        uint32_t                   src2Width,
-                        uint32_t                   src2Stride,
-                        int32_t * __restrict       dst,
-                        uint32_t                   dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix multiplication of two float32_t type matrices.
-///
-/// @param src1
-///   First source matrix. The size of src1 is src1Stride*src1Height.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src1Width
-///   Width of the first source matrix.
-///
-/// @param src1Height
-///   Height of the first source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix. The size of src2 is src2Stride*src1Width.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Width
-///   Width of the second source matrix.
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (int32_t type). The size of dst is dstStride*src1Height.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to src2Width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvMatrixMultiplyf32( const float32_t * __restrict   src1,
-                      uint32_t                       src1Width,
-                      uint32_t                       src1Height,
-                      uint32_t                       src1Stride,
-                      const float32_t * __restrict   src2,
-                      uint32_t                       src2Width,
-                      uint32_t                       src2Stride,
-                      float32_t * __restrict         dst,
-                      uint32_t                       dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of two uint8_t type blocks.
-///
-/// @param src1
-///   First source block.
-///
-/// @param blockWidth
-///   Width of the source block.
-///
-/// @param blockHeight
-///   Height of the source block.
-///   \n\b NOTE: blockWidth*blockHeight should not be larger than 65536
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source block.
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   Block dot product (uint32_t).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBlockDotProductu8( const uint8_t * __restrict  src1,
-                      uint32_t                    blockWidth,
-                      uint32_t                    blockHeight,
-                      uint32_t                    src1Stride,
-                      const uint8_t * __restrict  src2,
-                      uint32_t                    src2Stride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Dot product of two float32_t type blocks.
-///
-/// @param src1
-///   First source block.
-///
-/// @param blockWidth
-///   Width of the source block.
-///
-/// @param blockHeight
-///   Height of the source block.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source block.
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   Block dot product (float32_t).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API float32_t
-fcvBlockDotProductf32( const float32_t * __restrict  src1,
-                       uint32_t                      blockWidth,
-                       uint32_t                      blockHeight,
-                       uint32_t                      src1Stride,
-                       const float32_t * __restrict  src2,
-                       uint32_t                      src2Stride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix addition of two uint8_t type matrices.
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (uint16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAddu8u16( const uint8_t * __restrict  src1,
-             uint32_t                    width,
-             uint32_t                    height,
-             uint32_t                    src1Stride,
-             const uint8_t * __restrict  src2,
-             uint32_t                    src2Stride,
-             uint16_t * __restrict       dst,
-             uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix addition of two int16_t type matrices with saturation.
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (int16_t type). The result will be saturated to
-///   int16_t.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAdds16( const int16_t * __restrict  src1,
-           uint32_t                    width,
-           uint32_t                    height,
-           uint32_t                    src1Stride,
-           const int16_t * __restrict  src2,
-           uint32_t                    src2Stride,
-           int16_t * __restrict        dst,
-           uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix addition of two float32_t type matrices.
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (float32_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAddf32( const float32_t * __restrict  src1,
-           uint32_t                      width,
-           uint32_t                      height,
-           uint32_t                      src1Stride,
-           const float32_t * __restrict  src2,
-           uint32_t                      src2Stride,
-           float32_t * __restrict        dst,
-           uint32_t                      dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Builds an integral image of the incoming 8-bit patch values and their
-///   squares. This function supports bigger size patch with u64 for squared
-///   integral output.
-///   \n\b NOTE: No extra border lines, the integral output buffer size is the same
-///   as input image buffer size.
-///
-/// @details
-///   sum (X,Y) = sum_{x<=X,y<=Y} I(x,y)
-///
-/// @param src
-///   Input image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param dstIntgrl
-///   Integral image.
-///   \n\b NOTE: Memory must be >= srcWidth*srcHeight*4 bytes
-///
-/// @param dstIntgrlSqrd
-///   Integral image of squared values.
-///   \n\b NOTE: Memory must be >= srcWidth*srcHeight*8 bytes
-///
-/// @param dstIntgrlStride
-///   dstIntgrl Image stride (in bytes).
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*4.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param dstIntgrlSqrdStride
-///   dstIntgrlSqrd Image stride (in bytes).
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*8.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegrateImageu8u64( const uint8_t* __restrict src,
-                        uint32_t                  srcWidth,
-                        uint32_t                  srcHeight,
-                        uint32_t                  srcStride,
-                        uint32_t* __restrict      dstIntgrl,
-                        uint64_t* __restrict      dstIntgrlSqrd,
-                        uint32_t                  dstIntgrlStride,
-                        uint32_t                  dstIntgrlSqrdStride);
-
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Normalize the image according to histogram value of the pixel intensity.
-///
-/// @param src
-///   Pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to output image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-
-FASTCV_API void
-fcvImageHistogramEqualizeu8(  const uint8_t * __restrict src,
-                              uint32_t                   srcWidth,
-                              uint32_t                   srcHeight,
-                              uint32_t                   srcStride,
-                              uint8_t * __restrict       dst,
-                              uint32_t                   dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Calculate histogram at image patches.
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvImageSpatialHistogramu8_v2(). In the 2.0.0 release,
-///   fcvImageSpatialHistogramu8_v2 will be renamed to fcvImageSpatialHistogramu8
-///   and the signature of fcvImageSpatialHistogramu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @param src
-///   Pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param numPatterns
-///    Number of patterns to be computed in the histogram
-///
-/// @param grid_x
-///    The number of grids along x dimension
-///
-/// @param grid_y
-///    The number of grids along y dimension
-///
-/// @param histogram
-///    Output histogram
-///   \n\b NOTE: Memory must be at least numPatterns*grid_x*grid_y*sizeof(float32_t)
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageSpatialHistogramu8(const uint8_t *__restrict src,
-                           uint32_t                  srcWidth,
-                           uint32_t                  srcHeight,
-                           uint32_t                  srcStride,
-                           uint32_t                  numPatterns,
-                           uint32_t                  grid_x,
-                           uint32_t                  grid_y,
-                           float32_t*__restrict      histogram);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data without normalization.
-///   This function computes the gradient of the input image by convolution with the
-///   3x3 Sobel kernel. The Sobel kernel is not normalized in this function.
-///
-///   NOTE: it will replace the fcvFilterSobel3x3u8 in fastCV 2.0.0.
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient. The number of pixels in a row.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///  \n\b NOTE: should be multiple of 8.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-///   If NULL, the horizontal gradient will not be calculated.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-///   If NULL, the vertical gradient will not be calculated.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @param borderType
-///   Define the behavior at the border.
-///   See definition of fcvBorderType.
-///
-/// @param borderValue
-///   Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
-///   Ignored otherwise.
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterSobel3x3u8s16( const uint8_t* __restrict  src,
-                        uint32_t              srcWidth,
-                        uint32_t              srcHeight,
-                        uint32_t              srcStride,
-                        int16_t* __restrict  dx,
-                        int16_t* __restrict  dy,
-                        uint32_t              dxyStride,
-                        fcvBorderType borderType,
-                        uint8_t  borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data without normalization.
-///   This function computes the gradient of the input image by convolution with the
-///   5x5 Sobel kernel. The Sobel kernel is not normalized in this function.
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient. The number of pixels in a row.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///  \n\b NOTE: should be multiple of 8.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-///   If NULL, the horizontal gradient will not be calculated.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-///   If NULL, the vertical gradient will not be calculated.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @param borderType
-///   Define the behavior at the border.
-///   See definition of fcvBorderType.
-///
-/// @param borderValue
-///   Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
-///   Ignored otherwise.
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterSobel5x5u8s16( const uint8_t* __restrict  src,
-                     uint32_t              srcWidth,
-                     uint32_t              srcHeight,
-                     uint32_t              srcStride,
-                     int16_t* __restrict  dx,
-                     int16_t* __restrict  dy,
-                     uint32_t              dxyStride,
-                     fcvBorderType borderType,
-                     uint8_t  borderValue);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Creates a 2D gradient image from source luminance data without normalization.
-///   This function computes the gradient of the input image by convolution with the
-///   7x7 Sobel kernel. The Sobel kernel is not normalized in this function.
-///
-/// @param src
-///   Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of src data to create gradient. The number of pixels in a row.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Height of src data to create gradient.
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///  \n\b NOTE: should be multiple of 8.
-///
-///  @param dx
-///   Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-///   If NULL, the horizontal gradient will not be calculated.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dy
-///   Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-///   If NULL, the vertical gradient will not be calculated.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dxyStride
-///   Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @param borderType
-///   Define the behavior at the border.
-///   See definition of fcvBorderType.
-///
-/// @param borderValue
-///   Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
-///   Ignored otherwise.
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterSobel7x7u8s16( const uint8_t* __restrict  src,
-                     uint32_t              srcWidth,
-                     uint32_t              srcHeight,
-                     uint32_t              srcStride,
-                     int16_t* __restrict  dx,
-                     int16_t* __restrict  dy,
-                     uint32_t              dxyStride,
-                     fcvBorderType borderType,
-                     uint8_t  borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Canny edge detection with more controls to configurate the algorithm.
-///
-/// @details
-///   Canny edge detector applied to a 8 bit grayscale image.
-///   The results are stored as a binarized image (0x0 - not an edge, 0xFF - edge).
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of the input image in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param kernelSize
-///   The Sobel kernel size for calculating gradient. Supported sizes are 3, 5 and 7.
-///
-/// @param lowThresh
-///   For all the intermediate pixels along the edge, the norm of the
-///   gradient at the pixel locations should be greater than 'lowThresh'.
-///
-/// @param highThresh
-///   For an edge starting point, i.e. either the first or last
-///   pixel of the edge, the norm of the gradient at the pixel should be
-///   greater than 'highThresh'.
-///
-/// @param normType
-///   The norm definition to calculate the gradient magnitude. See fcvNormType.
-///
-/// @param dst
-///   Output 8-bit binarized image containing the edge detection results.
-///   Size of buffer is dstStride*srcHeight bytes.
-///   Edges are marked with pixels of 0xFF. The rest pixels have values of 0.
-///
-/// @param dstStride
-///   Stride of the output image in bytes.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///  @param gx
-///   Buffer to store horizontal gradient. Must be (gradStride)*(srcHeight) bytes in size.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param gy
-///   Buffer to store vertical gradient. Must be (gradStride)*(srcHeight) bytes in size.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param gradStride
-///   Stride (in bytes) of 'gx' and 'gy' gradient arrays,
-///   is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in the gradient arrays dx or dy.
-///   If left at 0 gradStride is default to 2 * srcWidth.
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCannyu8( const uint8_t* __restrict src,
-                  uint32_t srcWidth,
-                  uint32_t srcHeight,
-                  uint32_t srcStride,
-                  uint8_t  kernelSize,
-                  int32_t lowThresh,
-                  int32_t highThresh,
-                  fcvNormType normType,
-                  uint8_t* __restrict dst,
-                  uint32_t dstStride,
-                  int16_t* __restrict gx,
-                  int16_t* __restrict gy,
-                  uint32_t gradStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Converts the bit depth of a single-channel uint8 image to int16_t type
-///
-/// @param src
-///   Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if srcStride is equal to 0, it will be set to srcWidth
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param shift
-///   The number of bits to be right-shifted to adjust the output
-///   \n\b NOTE: range from 0 to 8
-///
-/// @param dst
-///   Output image which has the same dimension as the input image in int16_t type
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if dstStride is equal to 0, it will be set to srcWidth*2
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvConvertDepthu8s16(const uint8_t *__restrict  src,
-                     uint32_t                   srcWidth,
-                     uint32_t                   srcHeight,
-                     uint32_t                   srcStride,
-                     uint8_t                    shift,
-                     int16_t *__restrict        dst,
-                     uint32_t                   dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Converts the bit depth of a single-channel int16_t image to uint8_t type
-///
-/// @param src
-///   Input int16_t image. The size of buffer is srcStride*srcHeight bytes
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if srcStride is equal to 0, it will be set to srcWidth*2
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param shift
-///   The number of bits to be left-shifted to adjust the output
-///   \n\b NOTE: range from 0 to 15
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   Output image which has the same dimension as the input image in uint8_t type
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if dstStride is equal to 0, it will be set to srcWidth
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvConvertDepths16u8(const int16_t *__restrict      src,
-                     uint32_t                   srcWidth,
-                     uint32_t                   srcHeight,
-                     uint32_t                   srcStride,
-                     uint8_t                        shift,
-                     fcvConvertPolicy           policy,
-                     uint8_t *__restrict            dst,
-                     uint32_t                   dstStride );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Recursive Bilateral Filtering
-///
-/// @details
-///   The algorithm is described in paper Recursive Bilateral Filtering, ECCV2012 by Prof Yang Qingxiong
-/// Different from traditional bilateral filtering, the bilateral filtering in this algorithm is actually performed in gradient domain.
-/// The results are ususally better than tradition bilateral filters. Filtering is carried out in a recursive way, and it is efficient.
-///
-/// @param src
-///   Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-///   Output uint8_t image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param sigmaColor
-///   Filter sigma in the color space. Typical value 0.03f. Increasing this value means increasing the influence of the neighboring
-///pixels of more different Color to the smoothing result.
-///
-/// @param sigmaSpace
-///   Filter sigma in the coordinate space. Typical value 0.1f. Increasing this value means increasing the influence of farther
-/// pixels to the smoothing result.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBilateralFilterRecursiveu8(const uint8_t* __restrict src,
-                              uint32_t                  srcWidth,
-                              uint32_t                  srcHeight,
-                              uint32_t                  srcStride,
-                              uint8_t* __restrict       dst,
-                              uint32_t                  dstStride,
-                              float32_t                 sigmaColor,
-                              float32_t                 sigmaSpace );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Grow the seeds within the image to meaningful regions,
-///   depending on the color or gray scale uniformity of the neighborhood pixels from the seeds.
-///
-/// @param src
-///   Pointer to 16-bit color (3-channel) or grayscale (1-channel) image.
-///
-/// @param srcWidth
-///   Width of src image, measured by pixels.
-///
-/// @param srcHeight
-///   Height of src image, measured by pixels.
-///
-/// @param srcStride
-///   Stride of src image, measured by bytes.
-///   WARNING: should be multiple of 8, and at least as much as srcWidth*numChannel if not 0.
-///
-/// @param numChannel
-///   Number of channels of src image. 1 for gray scale and 3 for color image.
-///
-/// @param threshGrow
-///   Threshold to grow the seed into a region. Higher value: larger uniform region grown.
-///   Range of 3-channel image segmentation: 10~150.
-///   Range of 1-channel image segmentation: 3~25.
-///
-/// @param pointVector
-///   A 2D point vector of seeds (provided by user) within the image. For N seeds, it is saved as [x0,y0,x1,y1,...,xN-1,yN-1].
-///
-/// @param numSeed
-///   Number of seed points, equal to N used in pointVector.
-///
-/// @param mode
-///   Mode of seed grow. 0: distance measured with neighborhood pixel. 1: distance measured with seed pixel only.
-///
-/// @param segLabel
-///   Segmented labels. 1 channel with same size of src. Pixel belonging to the same region is uniformly labeled by a non-zero number. Pixels not grown from any seeds are labeled 0.
-///
-/// @param segLabelStride
-///   Stride of segmented labels, measured by bytes.
-///   WARNING: should be multiple of 8, and at least as much as srcWidth*4 if not 0.
-///
-/// @return
-///   0 if successful.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvImageSegmentationSeedRegionGrows16( const int16_t* __restrict src,
-                                       uint32_t srcWidth,
-                                       uint32_t srcHeight,
-                                       uint32_t srcStride,
-                                       uint32_t numChannel,
-                                       uint32_t threshGrow,
-                                       const uint32_t* __restrict pointVector,
-                                       uint32_t numSeed,
-                                       uint8_t mode,
-                                       uint32_t* __restrict segLabel,
-                                       uint32_t segLabelStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Calculate the local subtractive and contrastive normalization of the image.
-///   For each pixel of the image, the mean and optionally standard deviation
-///   is calculated for the patch centered around the pixel. Then the pixel is
-///   normalized by the local mean and optionally standard deviation.
-///
-/// @param src
-///   The input image. Must be 8 bit grayscale image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of src image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   \n\b NOTE: should be a multiple of 8. If left at 0 srcStride is default to srcWidth.
-///
-/// @param patchWidth
-///   Width in pixels of the patch to calculate local mean and standard deviation.
-///
-/// @param patchHeight
-///   Height in pixels of the patch to calculate local mean and standard deviation.
-///
-/// @param useStdDev (0 or 1)
-///   if 1, the dst will be normalized with standard deviation.
-///
-/// @param dst
-///   The output image.
-///   Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @param dstStride
-///   The stride of the output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: should be a multiple of 8. If left at 0 dstStride is default to srcWidth.
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvNormalizeLocalBoxu8( const uint8_t * __restrict src,
-                        uint32_t                   srcWidth,
-                        uint32_t                   srcHeight,
-                        uint32_t                   srcStride,
-                        uint32_t                   patchWidth,
-                        uint32_t                   patchHeight,
-                        uint32_t                   useStdDev,
-                        int8_t * __restrict        dst,
-                        uint32_t                   dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Calculate the local subtractive and contrastive normalization of the image.
-///   For each pixel of the image, the mean and optionally standard deviation
-///   is calculated for the patch centered around the pixel. Then the pixel is
-///   normalized by the local mean and optionally standard deviation.
-///
-/// @param src
-///   The input image. Must be 32-bit float image. Size of buffer is
-///   srcStride*srcHeight*sizeof(float32_t) bytes.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width, the number of pixels in a row
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Stride of src image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory.
-///   \n\b NOTE: should be a multiple of 8. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
-///
-/// @param patchWidth
-///   Width in pixels of the patch to calculate local mean and standard deviation.
-///
-/// @param patchHeight
-///   Height in pixels of the patch to calculate local mean and standard deviation.
-///
-/// @param useStdDev (0 or 1)
-///   if 1, the dst will be normalized with standard deviation.
-///
-/// @param dst
-///   The output image.
-///   Size of buffer is dstStride*srcHeight*sizeof(float32_t) bytes.
-///   \n\b NOTE:should be 128-bit aligned.
-///
-/// @param dstStride
-///   The stride of the output image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: should be a multiple of 8. If left at 0 dstStride is default to srcWidth*sizeof(float32_t).
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvNormalizeLocalBoxf32( const float32_t * __restrict src,
-                         uint32_t                     srcWidth,
-                         uint32_t                     srcHeight,
-                         uint32_t                     srcStride,
-                         uint32_t                     patchWidth,
-                         uint32_t                     patchHeight,
-                         uint32_t                     useStdDev,
-                         float32_t * __restrict       dst,
-                         uint32_t                     dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Combine two channels in an interleaved fashion
-///
-/// @details
-///   Interleave data from src1 and src2 to dst.
-///   Data in src1 [d0 d1 d2 d3...]
-///   Data in src2 [t0 t1 t2 t3...]
-///   Results in dst [d0 t0 d1 t1 d2 t2 d3 t3...]
-///   \n\b NOTE: Perform the same functionality as fcvInterleaveu8.
-///
-/// @param src1
-///   One of the input images ( For example, Cb or Cr component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source image.
-///
-/// @param height
-///   Height of the source image.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   One of the input images ( For example, Cb or Cr component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   The result image (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvChannelCombine2Planesu8( const uint8_t *__restrict  src1,
-                            uint32_t                   width,
-                            uint32_t                   height,
-                            uint32_t                   src1Stride,
-                            const uint8_t *__restrict  src2,
-                            uint32_t                   src2Stride,
-                            uint8_t *__restrict        dst,
-                            uint32_t                   dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Combine three channels in an interleaved fashion
-///
-/// @details
-///   Interleave data from src1, src2 and src3 to dst.
-///   Data in src1 [d0 d1 d2 d3...]
-///   Data in src2 [t0 t1 t2 t3...]
-///   Data in src3 [s0 s1 s2 s3...]
-///   Results in dst [d0 t0 s0 d1 t1 s1 d2 t2 s2 d3 t3 s3...]
-///
-/// @param src1
-///   One of the input images ( For example, R or G or B component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source image.
-///
-/// @param height
-///   Height of the source image.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   One of the input images ( For example, R or G or B component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src3
-///   One of the input images ( For example, R or G or B component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src3Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src3Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   The result image (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*3.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvChannelCombine3Planesu8(const uint8_t *__restrict  src1,
-                           uint32_t                   width,
-                           uint32_t                   height,
-                           uint32_t                   src1Stride,
-                           const uint8_t *__restrict  src2,
-                           uint32_t                   src2Stride,
-                           const uint8_t *__restrict  src3,
-                           uint32_t                   src3Stride,
-                           uint8_t *__restrict        dst,
-                           uint32_t                   dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Combine four channels in an interleaved fashion
-///
-/// @details
-///   Interleave data from src1, src2, src3 and src4 to dst.
-///   Data in src1 [d0 d1 d2 d3...]
-///   Data in src2 [t0 t1 t2 t3...]
-///   Data in src3 [s0 s1 s2 s3...]
-///   Data in src3 [r0 r1 r2 r3...]
-///   Results in dst [d0 t0 s0 r0 d1 t1 s1 r1 d2 t2 s2 r2 d3 t3 s3 r3...]
-///
-/// @param src1
-///   One of the input images ( For example, R or G or B or A component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source image.
-///
-/// @param height
-///   Height of the source image.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   One of the input images ( For example, R or G or B or A component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src3
-///   One of the input images ( For example, R or G or B or A component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src3Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src3Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src4
-///   One of the input images ( For example, R or G or B or A component)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src4Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src4Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   The result image (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvChannelCombine4Planesu8(const uint8_t *__restrict    src1,
-                            uint32_t                      width,
-                            uint32_t                   height,
-                            uint32_t                   src1Stride,
-                            const uint8_t *__restrict  src2,
-                            uint32_t                   src2Stride,
-                            const uint8_t *__restrict  src3,
-                            uint32_t                   src3Stride,
-                            const uint8_t *__restrict  src4,
-                            uint32_t                   src4Stride,
-                            uint8_t *__restrict        dst,
-                            uint32_t                   dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Extract channel as a single uint8_t type plane from an interleaved or multi-planar image format
-///
-/// @details
-///
-///
-/// @param src1
-///   The first plane in source image. For example, an intervealved RGB/RGBA plane or the Y plane.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source image.
-///
-/// @param height
-///   Height of the source image.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-///   If left at 0 src1Stride is default to the size required by corresponding image format.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   The second plane in souce image if available; otherwise, left at 0.
-///   For example, the intervealved CbCr plane in FASTCV_NV12/FASTCV_NV21; or the Cb plane in FASTCV_IYUV/FASTCV_YUV4.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-///   If left at 0, src2Stride is default to width for FASTCV_NV12/FASTCV_NV21/FASTCV_YUV4 and width/2 for FASTCV_IYUV.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src3
-///   The third plane in souce image if available; otherwise, left at 0.
-///   For example, the Cr plane in FASTCV_IYUV/FASTCV_YUV4.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src3Stride
-///   Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-///   If left at 0 src3Stride is default to width for FASTCV_YUV4, and width/2 for FASTCV_IYUV.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param srcChannel
-///   The index of the image channel to be extracted. Refer to fcvChannelType for details.
-///
-/// @param srcFormat
-///   The format of the source image. Different image formats require different src
-///   and dst size. Refer to fcvImageFormat for details.
-///
-/// @param dst
-///   The result image (a uint8_t type plane).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-///   If left at 0, dstStride is default to the size required by corresponding image format.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvChannelExtractu8( const uint8_t *__restrict  src1,
-                     uint32_t                   srcWidth,
-                     uint32_t                     srcHeight,
-                     uint32_t                     src1Stride,
-                     const uint8_t *__restrict  src2,
-                     uint32_t                     src2Stride,
-                     const uint8_t *__restrict  src3,
-                     uint32_t                     src3Stride,
-                     fcvChannelType             srcChannel,
-                     fcvImageFormat             srcFormat,
-                     uint8_t *__restrict        dst,
-                     uint32_t                   dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with MxN median filter (M,N have to be odd numbers)
-///
-/// @details
-///   Borders of m pixels in horizontal direction and n in vertical direction
-///   are replaced with the source pixels,  where m = (M-1)/2, n = (N-1)/2
-///   The NxN median filter applies on the image area
-///   | a(n,m)            , a(n,m+1),  ..., a(n,srcWidth-m-1)              |\n
-///   |       ...         , ...,       ...,             ...                |\n
-///   | a(srcHeight-n-1,m), ...,       ..., a(srcHeight-n-1,srcWidth-m-1)  |\n
-///
-/// @param src
-///   Input 16-bit signed image. Size of buffer is srcStride*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth * 2.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
-///
-/// @param M
-///   Filter kernel width
-///   \n\b NOTE: kernel width should be an odd number
-///
-/// @param N
-///   Filter kernel height
-///   \n\b NOTE: kernel height should be an odd number
-///
-/// @param dst
-///   Output 16-bit image. Size of buffer is dstStride*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth * 2
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterMedianMxNs16( const int16_t * __restrict src,
-                       uint32_t srcWidth,
-                       uint32_t srcHeight,
-                       uint32_t srcStride,
-                       uint32_t M,
-                       uint32_t N,
-                       int16_t* __restrict dst,
-                       uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Computes the convolution of an image with an M x N Kernel
-///
-/// @details
-///   The function computes the convolution of an unsigned char input image
-///  with an M x N kernel of type short. The output is of type short
-///  and is of the same size as the input image. The convolution is computed
-///  based on the type of Border handling selected.
-///
-///
-/// @param kernel
-///   Input M x N short kernel matrix. The size of buffer is M*N*sizeof(int16_t) bytes
-///   The kernel can be normalized before passing in by making use of the shift parameter.
-///
-///
-/// @param M
-///   Width of the kernel
-///
-/// @param N
-///   Height of the kernel
-///
-/// @param shift
-///   This parameter can be used to normalize the input kernel by converting the data into
-///   fixed point values. Shift can be considered as Q factor of kernel.
-///
-/// @param src
-///   Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If srcStride is equal to 0,
-///   it will be set to srcWidth.
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param dst
-///   Output image which has the same dimensions as the input matrix.
-///   The output is of type short, and must be allocated as dstStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If dstStride is equal to 0,
-///   it will be set to srcWidth * sizeof(int16_t).
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param borderType
-///   This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-///   FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-///   border values will be set to 0.
-///
-/// @param borderValue
-///   Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-///   set this value as 0. Can take values between 0 to 255.
-///
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterConvolveMxNu8s16( const int16_t* __restrict  kernel,
-                           uint32_t M,
-                           uint32_t N,
-                           int8_t shift,
-                           const uint8_t* __restrict src,
-                           uint32_t srcWidth,
-                           uint32_t srcHeight,
-                           uint32_t srcStride,
-                           int16_t* __restrict dst,
-                           uint32_t dstStride,
-                           fcvBorderType borderType,
-                           uint8_t borderValue );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Computes the convolution of a image with an M x N Kernel
-///
-/// @details
-///   The function computes the convolution of an unsigned char input image
-///  with an M x N kernel of type short. The output is of type unsigned char
-///  and is of the same size as the input image. The convolution is computed
-///  based on the type of Border handling selected.
-///
-///
-/// @param kernel
-///   Input M x N short kernel matrix. The size of buffer is M*N*sizeof(int16_t) bytes
-///   The kernel can be normalized before passing in by making use of the shift parameter.
-///
-///
-/// @param M
-///   Width of the kernel
-///
-/// @param N
-///   Height of the kernel
-///
-/// @param shift
-///   This parameter can be used to normalize the input kernel by converting the data into
-///   fixed point values. Shift can be considered as Q factor of kernel.
-///
-/// @param src
-///   Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If srcStride is equal to 0,
-///   it will be set to srcWidth.
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param dst
-///   Output image which has the same dimensions as the input matrix.
-///   The output is of type unsigned char, and must be allocated as dstStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If dstStride is equal to 0,
-///   it will be set to srcWidth.
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param borderType
-///   This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-///   FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-///   border values will be set to 0.
-///
-/// @param borderValue
-///   Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-///   set this value as 0. Can take values between 0 and 255.
-///
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterConvolveMxNu8(const int16_t* __restrict kernel,
-                       uint32_t M,
-                       uint32_t N,
-                       int8_t shift,
-                       const uint8_t* __restrict src,
-                       uint32_t srcWidth,
-                       uint32_t srcHeight,
-                       uint32_t srcStride,
-                       uint8_t* __restrict dst,
-                       uint32_t dstStride,
-                       fcvBorderType borderType,
-                       uint8_t  borderValue);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Smooth a uint8_t image with a 3x3 box filter with border handling scheme specified by user
-///
-/// @details
-///   smooth with 3x3 box kernel and normalize:
-///   \n[ 1 1 1
-///   \n  1 1 1
-///   \n  1 1 1 ]/9
-///
-/// @param src
-///   Input uint8_t image.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param borderType
-///   This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-///   FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-///   border values will be set to 0.
-///
-/// @param borderValue
-///   Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-///   set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBoxFilter3x3u8_v2( const uint8_t* __restrict src,
-                        uint32_t                srcWidth,
-                        uint32_t                srcHeight,
-                        uint32_t                srcStride,
-                        uint8_t* __restrict     dst,
-                        uint32_t                dstStride,
-                        fcvBorderType           borderType,
-                        uint8_t                 borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Erode a grayscale image by taking the local minima of 3x3 nbhd window
-///   with border handling scheme specified by user
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterErode3x3u8_v2() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterErode3x3u8,
-///   \a fcvFilterErode3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterErode3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterErode3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param borderType
-///   This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-///   FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-///   border values will be set to 255.
-///
-/// @param borderValue
-///   Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-///   set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterErode3x3u8_v3( const uint8_t* __restrict src,
-                        uint32_t                srcWidth,
-                        uint32_t                srcHeight,
-                        uint32_t                srcStride,
-                        uint8_t* __restrict     dst,
-                        uint32_t                dstStride,
-                        fcvBorderType           borderType,
-                        uint8_t                 borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Erode a grayscale image by taking the local minima of NxN neighborhood window.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param N
-///   Dimension of the neighborhood window.
-///   \n\b WARNING: must be an odd number
-///
-/// @param dst
-///   Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterErodeNxNu8(  const uint8_t* __restrict src,
-                      uint32_t                  srcWidth,
-                      uint32_t                  srcHeight,
-                      uint32_t                  srcStride,
-                      uint32_t                  N,
-                      uint8_t* __restrict       dst,
-                      uint32_t                  dstStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window
-///   with border handling scheme specified by user
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterDilate3x3u8_v2() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterDilate3x3u8,
-///   \a fcvFilterDilate3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterDilate3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterDilate3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param borderType
-///   This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-///   FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-///   border values will be set to 0.
-///
-/// @param borderValue
-///   Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-///   set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterDilate3x3u8_v3( const uint8_t* __restrict src,
-                        uint32_t                srcWidth,
-                        uint32_t                srcHeight,
-                        uint32_t                srcStride,
-                        uint8_t* __restrict     dst,
-                        uint32_t                dstStride,
-                        fcvBorderType           borderType,
-                        uint8_t                 borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Dilate a grayscale image by taking the local maxima of NxN neighborhood window.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param N
-///   Dimension of the neighborhood window.
-///   \n\b WARNING: must be an odd number
-///
-/// @param dst
-///   Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of output image.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param tmp
-///   Temporary image scratch space used internally.
-///   \n\b NOTE: Size = width * height
-///   \n\b NOTE: data should be 128-bit aligned
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterDilateNxNu8(  const uint8_t* __restrict src,
-                       uint32_t                  srcWidth,
-                       uint32_t                  srcHeight,
-                       uint32_t                  srcStride,
-                       uint32_t                  N,
-                       uint8_t* __restrict       dst,
-                       uint32_t                  dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 3x3 Gaussian filter
-///   with border handling scheme specified by user
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterGaussian3x3u8_v2() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterGaussian3x3u8,
-///   \a fcvFilterGaussian3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterGaussian3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterGaussian3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Convolution with 3x3 Gaussian kernel:
-///   \n 1 2 1
-///   \n 2 4 2
-///   \n 1 2 1
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-/// @param borderType
-///   This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-///   FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-///   border is blurred by 0-padding adjacent values.
-///
-/// @param borderValue
-///   Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-///   set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterGaussian3x3u8_v3( const uint8_t* __restrict src,
-                        uint32_t                srcWidth,
-                        uint32_t                srcHeight,
-                        uint32_t                srcStride,
-                        uint8_t* __restrict     dst,
-                        uint32_t                dstStride,
-                        fcvBorderType           borderType,
-                        uint8_t                 borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Blurs an image with 3x3 median filter
-///   with border handling scheme specified by user
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvFilterMedian3x3u8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvFilterMedian3x3u8,
-///   \a fcvFilterMedian3x3u8_v2 will be removed, and the current signature
-///   for \a fcvFilterMedian3x3u8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvFilterMedian3x3u8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Border values are extrapolated according to borderType.
-///   The 3x3 mask convolves with the whole image area.
-///
-/// @param srcImg
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-///   Image height.
-///
-/// @param srcStride
-///   Image stride.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dstImg
-///   Output 8-bit image. Size of buffer is dstStride*srcHeight byte.
-///   \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-///   Output stride.
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param borderType
-///   This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-///   FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-///   border values are ignored. The 3x3 mask convolves with the following image area
-///   | a(1,1)          ,    a12,    ...,   a(1,srcWidth-2)            |\n
-///   |       ...       ,    ...,    ...,              ...             |\n
-///   | a(srcHeight-2,1),    ...,    ...,   a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param borderValue
-///   Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-///   set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterMedian3x3u8_v3( const uint8_t* __restrict src,
-                        uint32_t                srcWidth,
-                        uint32_t                srcHeight,
-                        uint32_t                srcStride,
-                        uint8_t* __restrict     dst,
-                        uint32_t                dstStride,
-                        fcvBorderType           borderType,
-                        uint8_t                 borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Calculate histogram at image patches.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvImageSpatialHistogramu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvImageSpatialHistogramu8,
-///   \a fcvImageSpatialHistogramu8_v2 will be removed, and the current signature
-///   for \a fcvImageSpatialHistogramu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvImageSpatialHistogramu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src
-///   Pointer to grayscale image with one byte per pixel
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Image width
-///
-/// @param srcHeight
-///   Image height
-///
-/// @param srcStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param numPatterns
-///    Number of patterns to be computed in the histogram
-///
-/// @param grid_x
-///    The number of grids along x dimension
-///
-/// @param grid_y
-///    The number of grids along y dimension
-///
-/// @param histogram
-///    Output histogram
-///   \n\b NOTE: Memory must be at least numPatterns*grid_x*grid_y*sizeof(float32_t)
-///
-/// @param normalize_factor
-///    Scale factor with float32_t type to normalize result. When set to 0, the result is
-///    normalized by (srcWidth/grid_x) * (srcHeight/grid_y)
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvImageSpatialHistogramu8_v2( const uint8_t *__restrict src,
-                        uint32_t                  srcWidth,
-                        uint32_t                  srcHeight,
-                        uint32_t                  srcStride,
-                        uint32_t                  numPatterns,
-                        uint32_t                  grid_x,
-                        uint32_t                  grid_y,
-                        float32_t*__restrict      histogram,
-                        float32_t                 normalize_factor);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Image downscaling using bilinear method
-///
-/// @param src
-///   Input image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Stride of input image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, srcStride is default to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width
-///
-/// @param dstHeight
-///   Output image height
-///
-/// @param dstStride
-///   Stride of image (i.e., number of bytes between column 0
-///   of row 0 and column 0 of row 1).
-///   If left at 0, dstStride is default to dstWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-///   No return value.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownBLu8( const uint8_t* __restrict  src,
-                  uint32_t                   srcWidth,
-                  uint32_t                   srcHeight,
-                  uint32_t                   srcStride,
-                  uint8_t* __restrict        dst,
-                  uint32_t                   dstWidth,
-                  uint32_t                   dstHeight,
-                  uint32_t                   dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies a Table Look-up transformation to a single-channel uint8 image
-///
-/// @details
-///   Each pixel in the input image is used to index into a look-up table and the indexed look-up table
-/// value is then put into the output image
-///
-/// @param src
-///   Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Input image width
-///
-/// @param srcHeight
-///   Input image height
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if srcStride is equal to 0, it will be set to srcWidth
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @param lut
-///   The Look-up Table given as a 256-element array of type uint8_t
-///
-/// @param dst
-///   Output image which has the same dimension as the input image in uint8_t type
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if dstStride is equal to 0, it will be set to srcWidth
-///   \n\b NOTE: should be a multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvTableLookupu8( const uint8_t *__restrict src,
-                  uint32_t                  srcWidth,
-                  uint32_t                  srcHeight,
-                  uint32_t                  srcStride,
-                  const uint8_t *__restrict lut,
-                  uint8_t *__restrict           dst,
-                  uint32_t                  dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Warps a grayscale image using the a perspective projection transformation
-///   matrix (also known as a homography). This type of transformation is an
-///   invertible transformation which maps straight lines to straight lines.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvWarpPerspectiveu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
-///   \a fcvWarpPerspectiveu8_v3 will be removed, and the current signature
-///   for \a fcvWarpPerspectiveu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Warps an image taking into consideration the perspective scaling.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcStride
-///   Input image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Warped output image. Size of buffer is dstStride*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Dst image width.
-///   \n\b NOTE: data should be multiple of 8.
-///
-/// @param dstHeight
-///   Dst image height.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param dstStride
-///   Output image stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
-///
-/// @param projectionMatrix
-///   3x3 perspective transformation matrix (generally a homography). The
-///   matrix stored in homography is row major ordering: \n
-///   a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-///   | a11, a12, a13 |\n
-///   | a21, a22, a23 |\n
-///   | a31, a32, a33 |\n
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///   Note:
-///      The projection matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the projection matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of projection matrices are assumed. If not,
-///      please transform the projection matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @interpolation
-///   Specifies the interpolation method to be used.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvWarpPerspectiveu8_v3( const uint8_t *__restrict  src,
-                         uint32_t  srcWidth,
-                         uint32_t  srcHeight,
-                         uint32_t  srcStride,
-                         uint8_t *__restrict  dst,
-                         uint32_t  dstWidth,
-                         uint32_t  dstHeight,
-                         uint32_t  dstStride,
-                         float *__restrict  projectionMatrix,
-                         fcvInterpolationType  interpolation );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Warps a grayscale image using the a perspective projection transformation
-///   matrix (also known as a homography). This type of transformation is an
-///   invertible transformation which maps straight lines to straight lines.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvWarpPerspectiveu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
-///   \a fcvWarpPerspectiveu8_v4 will be removed, and the current signature
-///   for \a fcvWarpPerspectiveu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Warps an image taking into consideration the perspective scaling.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcStride
-///   Input image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Warped output image. Size of buffer is dstStride*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Dst image width.
-///   \n\b NOTE: data should be multiple of 8.
-///
-/// @param dstHeight
-///   Dst image height.
-///   \n\b NOTE: should be multiple of 8
-///
-/// @param dstStride
-///   Output image stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as dstWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
-///
-/// @param projectionMatrix
-///   3x3 perspective transformation matrix (generally a homography). The
-///   matrix stored in homography is row major ordering: \n
-///   a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-///   | a11, a12, a13 |\n
-///   | a21, a22, a23 |\n
-///   | a31, a32, a33 |\n
-///   \n\b WARNING: should be 128-bit aligned.
-///
-///   Note:
-///      The projection matrix follows the so-called inverse mapping convention.
-///      It is applied to the dst coordinates to produce the corresponding
-///      src coordinates. In other 3rd party tools, the so-called forward mapping
-///      convention may be used, where the projection matrix refers to the one
-///      applied to the src coordinates to produce the dst coordinates.
-///      When comparing with 3rd party results, please make sure
-///      the same convention of projection matrices are assumed. If not,
-///      please transform the projection matrix into an equivalent form under
-///      the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @interpolation
-///   Specifies the interpolation method to be used.
-///
-/// @param borderType
-///   The border mode for dst pixels not mapped to the src image.
-///   Supported modes are FASTCV_BORDER_UNDEFINED and FASTCV_BORDER_CONSTANT.
-///
-/// @param borderValue
-///   The user-specified constant pixel value,
-///   in case FASTCV_BORDER_CONSTANT is chosen for borderType.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvWarpPerspectiveu8_v4( const uint8_t *__restrict  src,
-                         uint32_t  srcWidth,
-                         uint32_t  srcHeight,
-                         uint32_t  srcStride,
-                         uint8_t *__restrict  dst,
-                         uint32_t  dstWidth,
-                         uint32_t  dstHeight,
-                         uint32_t  dstStride,
-                         float *__restrict  projectionMatrix,
-                         fcvInterpolationType  interpolation,
-                         fcvBorderType borderType,
-                         uint8_t borderValue
-);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies a generic geometrical transformation to a greyscale uint8 image.
-///   The interpolation method is specified through a parameter.
-///
-/// @details
-///   The greyscale of each pixel in the destination image is obtained from a location of the source image
-/// through a per-element mapping as defined in the mapping matrices. The mapping has subpixel precision,
-/// thus interpolations are involved.
-///
-/// @param src
-///   Input uint8_t image. The size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if srcStride is equal to 0, it will be set to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image. The size of buffer is dstStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width.
-///
-/// @param dstHeight
-///   Output image height.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if dstStride is equal to 0, it will be set to dstWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param mapX
-///   a floating point matrix, each element is the column coordinate of the mapped location in the src image. E.g. if dst(i,j) is
-///   mapped to src(ii,jj), then mapX(i,j) =jj.
-///   the matrix has the same width, height as the dst image.  The size of buffer is mapStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapY
-///   a floating point matrix, each element is the row coordinate of the mapped location in the src image.E.g. if dst(i,j) is
-///   mapped to src(ii,jj), then mapY(i,j) =ii.
-///   the matrix has the same width, height as the dst image.  The size of buffer is mapStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapStride
-///   the stride of the mapX and mapY
-///   if mapStride is equal to 0, it will be set to dstWidth*sizeof(float32_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param interpolation
-///   the interpolation method to derive the dst pixel value.
-///   supported methods are nearest neighbor, bilinear and area.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRemapu8(const uint8_t*  __restrict src,
-           uint32_t             srcWidth,
-           uint32_t             srcHeight,
-           uint32_t             srcStride,
-           uint8_t* __restrict dst,
-           uint32_t             dstWidth,
-           uint32_t             dstHeight,
-           uint32_t             dstStride,
-           const float32_t* __restrict mapX,
-           const float32_t* __restrict mapY,
-           uint32_t             mapStride,
-           fcvInterpolationType  interpolation
-);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Applies a generic geometrical transformation to a greyscale uint8 image.
-///   The interpolation method is specified through a parameter.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvRemapu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvRemapu8,
-///   \a fcvRemapu8_v2 will be removed, and the current signature
-///   for \a fcvRemapu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvRemapu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   The greyscale of each pixel in the destination image is obtained from a location of the source image
-/// through a per-element mapping as defined in the mapping matrices. The mapping has subpixel precision,
-/// thus interpolations are involved.
-///
-/// @param src
-///   Input uint8_t image. The size of buffer is srcStride*srcHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Input image width.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param srcStride
-///   Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if srcStride is equal to 0, it will be set to srcWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Output image which has the same type, and size as the input image. The size of buffer is dstStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Output image width.
-///
-/// @param dstHeight
-///   Output image height.
-///
-/// @param dstStride
-///   Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///   if dstStride is equal to 0, it will be set to dstWidth.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param mapX
-///   a floating point matrix, each element is the column coordinate of the mapped location in the src image. E.g. if dst(i,j) is
-///   mapped to src(ii,jj), then mapX(i,j) =jj.
-///   the matrix has the same width, height as the dst image.  The size of buffer is mapStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapY
-///   a floating point matrix, each element is the row coordinate of the mapped location in the src image.E.g. if dst(i,j) is
-///   mapped to src(ii,jj), then mapY(i,j) =ii.
-///   the matrix has the same width, height as the dst image.  The size of buffer is mapStride*dstHeight bytes.
-///   \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapStride
-///   the stride of the mapX and mapY
-///   if mapStride is equal to 0, it will be set to dstWidth*sizeof(float32_t).
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param interpolation
-///   the interpolation method to derive the dst pixel value.
-///   supported methods are nearest neighbor, bilinear and area.
-///
-/// @param borderType
-///   The border mode for dst pixels not mapped to the src image.
-///   Supported modes are FASTCV_BORDER_UNDEFINED and FASTCV_BORDER_CONSTANT.
-///
-/// @param borderValue
-///   The user-specified constant pixel value,
-///   in case FASTCV_BORDER_CONSTANT is chosen for borderType.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRemapu8_v2(const uint8_t*  __restrict src,
-           uint32_t             srcWidth,
-           uint32_t             srcHeight,
-           uint32_t             srcStride,
-           uint8_t* __restrict dst,
-           uint32_t             dstWidth,
-           uint32_t             dstHeight,
-           uint32_t             dstStride,
-           const float32_t* __restrict mapX,
-           const float32_t* __restrict mapY,
-           uint32_t             mapStride,
-           fcvInterpolationType  interpolation,
-           fcvBorderType borderType,
-           uint8_t borderValue
-);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Gradient Magnitude Computation from two int16_t type matrices.
-///
-/// @details
-///   The function takes two gradient matrices in int16_t and computes the
-///   magnitude in int16_t.
-///   \n\b NOTE: Saturation is used when computed magnitude value is larger than max limit of int16_t.
-///
-/// @param src1
-///   The gradient matrix in X direction.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   The gradient matrix in Y direction.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (int16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMagnitudes16( const int16_t *__restrict  src1,
-                  uint32_t                  width,
-                  uint32_t                  height,
-                  uint32_t                  src1Stride,
-                  const int16_t *__restrict src2,
-                  uint32_t                  src2Stride,
-                  int16_t *__restrict       dst,
-                  uint32_t                  dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Gradient Phase Computation from two int16_t type matrices.
-///
-/// @details
-///   The function takes two gradient matrices in int16_t and computes the
-///   phase for each pixel, storing results in a uint8_t matrix. The phase angle is translated
-///   to [0, 2*PI) and then mapped to range [0, 255).
-///
-/// @param src1
-///   The gradient matrix in X direction.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   The gradient matrix in Y direction.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvPhases16 (  const int16_t *__restrict  src1,
-                uint32_t                   width,
-                uint32_t                   height,
-                uint32_t                   src1Stride,
-                const int16_t *__restrict  src2,
-                uint32_t                   src2Stride,
-                uint8_t *__restrict        dst,
-                uint32_t                   dstStride );
-
-
-//--------------------------------------------------------------------------------
-///   Computes the 1D or 2D Fast Fourier Transform of a matrix.
-///
-/// @details
-/// Computes the 1D or 2D Fast Fourier Transform of a real valued matrix.  For the
-/// 2D case, The width and height of the input and output matrix must be powers of 2.
-/// For the 1D case, the height of the matrices must be 1, while the width must be a power of 2.
-///
-/// @param src
-///   An 8 bit unsigned real valued input matrix. The dimensions of the matrix must be powers
-///   of 2 for the 2D case, and in the 1D case, the height must be 1, while the width must be
-///   a power of 2.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the source matrix.
-///   \n\b NOTE: Must be a power of 2
-///
-/// @param srcHeight
-///   Height of the source matrix.
-///   \n\b NOTE: Must be a power of 2 for the 2D case, and must be set to 1 for the 1D case
-///
-/// @param srcStride
-///   Stride of the input matrix. Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is set to srcWidth.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   The computed FFT matrix. The FFT coefficients are stored in interleaved fashion, i.e.,
-///   Re1 Im1 Re2 Im2 and so on. Hence the dimensions of the dst are (2 x srcWidth, srcHeight)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride of the output  matrix. Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0, dstStride is set to 2 x srcWidth x sizeof(float32_t).
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFFTu8(const uint8_t* __restrict src,
-         uint32_t                  srcWidth,
-         uint32_t                  srcHeight,
-         uint32_t                  srcStride,
-         float32_t* __restrict     dst,
-         uint32_t                  dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Computes the 1D or 2D Inverse Fast Fourier Transform of a matrix.
-///
-/// @details
-/// Computes the 1D or 2D Inverse Fast Fourier Transform of a complex valued matrix.  For the
-/// 2D case, The width and height of the input and output matrix must be powers of 2.
-/// For the 1D case, the height of the matrices must be 1, while the width must be a power of 2.
-///
-/// @param src
-///   An 32 bit floating point complex valued input matrix. The data in the matrix must be stored
-///   in an interleaved fashion, i.e., Re1 Im1 Re2 Im2 and so on. The dimensions of the matrix must
-///   be powers of 2 for the 2D case, and in the 1D case, the height must be 1, while the width must be
-///   a power of 2.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-///   Width of the source matrix. The width here is the number of floating point units in the matrix. Since
-///   the data is interleaved fashion, i.e., Re1 Im1 Re2 Im2 and so on, the width is the total number of real
-///   and complex units in the matrix. For example, if the Matrix has data values Re1 Im1 Re2 Im2 Re3 Im3 Re4 Im4,
-///   then the width here is 8 units.
-///   \n\b NOTE: Must be a power of 2
-///
-/// @param srcHeight
-///   Height of the source matrix.
-///   \n\b NOTE: Must be a power of 2 for the 2D case, and must be set to 1 for the 1D case
-///
-/// @param srcStride
-///   Stride of the input matrix. Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is set to srcWidth x sizeof(float32_t).
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   The computed IFFT matrix. The matrix is real valued and has no imaginary components.
-///   Hence the dimensions of the dst are (srcWidth / 2 , srcHeight)
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride of the output  matrix. Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0, dstStride is set to (srcWidth / 2).
-///   \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvIFFTf32( const float32_t* __restrict src,
-            uint32_t                     srcWidth,
-            uint32_t                     srcHeight,
-            uint32_t                     srcStride,
-            uint8_t* __restrict          dst,
-            uint32_t                     dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Scale an image Horizontaly and/or Vertically by arbitrary ratio.
-///   The scaling ratios are automatically determined from the specified
-///   source image size and destination image size.
-///
-/// @details
-///   Scale up or down the source image of size srcWidth-by-srcHeight
-///   to the destination image of size dstWidth-by-dstHeight.
-///   NOTE: dstWidth > 0 && dstHeight > 0.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Source Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Source Image height.
-///
-/// @param srcStride
-///   Stride of source image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, srcStride=srcWidth as default
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Destination Image width.
-///
-/// @param dstHeight
-///   Destination Image height.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, dstStride=dstWidth as default
-///
-/// @param interpolation
-///   The interpolation method used for scaling. Please see fcvInterpolationType.
-///   FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR:
-///      Nearest neighbor interpolation.
-///   FASTCV_INTERPOLATION_TYPE_BILINEAR:
-///      Bilinear interpolation.
-///   FASTCV_INTERPOLATION_TYPE_AREA:
-///      Interpolation by area. Output values are determined by weighted averages of
-///      the source pixels covered by the destination pixel.  The averaging weight
-///      for each source pixel is proportional to its area overlapping with
-///      the destination pixel. Interpolation by area may produce more precise
-///      images for scale down operations.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other values otherwise.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvScaleu8( const uint8_t* __restrict src,
-            uint32_t srcWidth,
-            uint32_t srcHeight,
-            uint32_t srcStride,
-            uint8_t* __restrict dst,
-            uint32_t dstWidth,
-            uint32_t dstHeight,
-            uint32_t dstStride,
-            fcvInterpolationType interpolation);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Scale an image Horizontaly and/or Vertically by arbitrary ratio.
-///   The scaling ratios are automatically determined from the specified
-///   source image size and destination image size.
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvScaleu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvScaleu8,
-///   \a fcvScaleu8_v2 will be removed, and the current signature
-///   for \a fcvScaleu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @details
-///   Scale up or down the source image of size srcWidth-by-srcHeight
-///   to the destination image of size dstWidth-by-dstHeight.
-///   NOTE: dstWidth > 0 && dstHeight > 0.
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Source Image width.
-///   \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-///   Source Image height.
-///
-/// @param srcStride
-///   Stride of source image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, srcStride=srcWidth as default
-///
-/// @param dst
-///   Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-///   Destination Image width.
-///
-/// @param dstHeight
-///   Destination Image height.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, dstStride=dstWidth as default
-///
-/// @param interpolation
-///   The interpolation method used for scaling. Please see fcvInterpolationType.
-///   FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR:
-///      Nearest neighbor interpolation.
-///   FASTCV_INTERPOLATION_TYPE_BILINEAR:
-///      Bilinear interpolation.
-///   FASTCV_INTERPOLATION_TYPE_AREA:
-///      Interpolation by area. Output values are determined by weighted averages of
-///      the source pixels covered by the destination pixel.  The averaging weight
-///      for each source pixel is proportional to its area overlapping with
-///      the destination pixel. Interpolation by area may produce more precise
-///      images for scale down operations.
-///
-/// @param borderType
-///   The border mode for dst pixels not mapped to the src image.
-///   Supported modes are FASTCV_BORDER_UNDEFINED, FASTCV_BORDER_CONSTANT
-///   and FASTCV_BORDER_REPLICATE.
-///
-/// @param borderValue
-///   The user-specified constant pixel value,
-///   in case FASTCV_BORDER_CONSTANT is chosen for borderType.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other values otherwise.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvScaleu8_v2( const uint8_t* __restrict src,
-               uint32_t srcWidth,
-               uint32_t srcHeight,
-               uint32_t srcStride,
-               uint8_t* __restrict dst,
-               uint32_t dstWidth,
-               uint32_t dstHeight,
-               uint32_t dstStride,
-               fcvInterpolationType interpolation,
-               fcvBorderType borderType,
-               uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Perspective warp two images using the same transformation.
-///   Bi-linear interpolation is used where applicable.
-///
-/// @details
-///   Perspective warp two images (or buffer) using the same transformation in one function
-///   call. This can be used, for example, to warp a grayscale image and an alpha image at
-///   the same time, or warp two color channels (for example u and v de-interleaved for YUV).
-///
-/// @param src1
-///   First input 8-bit image. Size of buffer is src1Stride*srcHeight bytes.
-///
-/// @param src2
-///   Second input 8-bit image. Size of buffer is src2Stride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Input image width.
-///
-/// @param srcHeight
-///   Input image height.
-///
-/// @param src1Stride
-///   Input image 1 stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If srcStride is equal to 0,
-///   it will be set to srcWidth.
-///
-/// @param src2Stride
-///   Input image 2 stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If srcStride is equal to 0,
-///   it will be set to srcWidth.
-///
-/// @param dst1
-///   First warped output image (correspond to src1). Size of buffer is dst1Stride*dstHeight bytes.
-///
-/// @param dst2
-///   Second warped output image (correspond to src2). Size of buffer is dst2Stride*dstHeight bytes.
-///
-/// @param dstWidth
-///   Dst image width.
-///
-/// @param dstHeight
-///   Dst image height.
-///
-/// @param dst1Stride
-///   Output image 1 stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If srcStride is equal to 0,
-///   it will be set to dstWidth.
-///
-/// @param dst2Stride
-///   Output image 2 stride, i.e. the gap (in terms of bytes) between the first element
-///   of a row and that of the successive row. If srcStride is equal to 0,
-///   it will be set to dstWidth.
-///
-/// @param warpmatrix
-///   3x3 perspective transformation matrix (generally a homography).
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcv2PlaneWarpPerspectiveu8( const uint8_t* __restrict src1,
-                            const uint8_t* __restrict src2,
-                            uint32_t srcWidth,
-                            uint32_t srcHeight,
-                            uint32_t src1Stride,
-                            uint32_t src2Stride,
-                            uint8_t* __restrict dst1,
-                            uint8_t* __restrict dst2,
-                            uint32_t dstWidth,
-                            uint32_t dstHeight,
-                            uint32_t dst1Stride,
-                            uint32_t dst2Stride,
-                            float32_t* __restrict warpmatrix );
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Downscale a grayscale image by a factor of two using a 3x3 Gaussian filter kernel
-///
-/// @details
-///   This function first blurs the input image using a 3x3 Gaussian kernel, and then downsamples
-///   the image by selecting every other row and column. The dimensions of the destination image are
-///   computed as follows : dstWidth = (srcWidth + 1)/2 , dstHeight = (srcHeight + 1)/2
-///
-/// @param src
-///   Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Width of the input image.
-///
-/// @param srcHeight
-///   Height of the input image
-///
-/// @param srcStride
-///   Image stride (in bytes).
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-///   Output 8-bit downscale image of size (srcWidth + 1) / 2 x (srcHeight + 1) / 2.
-///   \n\b NOTE: border values have been taken care of w.r.t. the pixel coordinate.
-///
-/// @param dstStride
-///   Output stride (in bytes).
-///   \n\b NOTE: if 0, dstStride is set as (srcWidth+1)/2.
-///   \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as (srcWidth+1)/2 if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvScaleDownBy2Gaussian3x3u8(const uint8_t* __restrict src,
-                             uint32_t   srcWidth,
-                             uint32_t   srcHeight,
-                             uint32_t   srcStride,
-                             uint8_t* __restrict       dst,
-                             uint32_t   dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Sum of squared differences of one L-byte vector against N others.
-///
-/// @details
-///   SSD of one vector (a) against N other L-byte vectors
-///   ( b[0], b[1], ..., b[n-1] )
-///   using their given inverse lengths for normalization.
-///   \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
-///
-/// @param a
-///   Vector.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-///   Inverse of vector A = 1/|A|
-///
-/// @param dim
-///   Number of element of vector A
-///
-/// @param bList
-///   Vectors b[0]...b[n-1].
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param invLenB
-///   Inverse of vectors b[0]...b[n-1]  = 1/|b[0]|,... 1/|b[n-1]|
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param numB
-///   Number of B vectors.
-///
-/// @param distances
-///   Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffss8( const int8_t* __restrict                a,
-                        float32_t                               invLenA,
-                        uint32_t                                dim,
-                        const int8_t* const * __restrict        bList,
-                        const float32_t* __restrict             invLenB,
-                        uint32_t                                numB,
-                        float32_t* __restrict                   distances );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Adds a scalar value to every element of a Matrix.
-///
-/// @details
-///   Adds a floating point scalar value to each element of the source Matrix
-///   and stores the result of the addition in the corresponding element
-///   of the destination matrix.
-///
-/// @param src
-///   Input floating point matrix. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param scalar
-///   The floating point scalar to be added to the source matrix.
-///
-/// @param dst
-///   Output 32-bit floating point matrix. Size of buffer is dstStride*srcHeight bytes.
-///
-/// @param dstStride
-///   Stride of the output matrix in bytes.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddScalarf32(const float32_t * __restrict  src,
-                uint32_t srcWidth,
-                uint32_t srcHeight,
-                uint32_t srcStride,
-                float32_t  scalar,
-                float32_t * __restrict dst,
-                uint32_t  dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Adds a scalar value to every element of a Matrix.
-///
-/// @details
-///   Adds a signed 16-bit integer scalar value to each element of the source Matrix
-///   and stores the result of the addition in the corresponding element
-///   of the destination matrix.
-///   \n\b NOTE : If the sum of the scalar and matrix element exceeds the maximum value
-///   of a signed 16-bit integer, the result is clipped to this maximum value, while
-///   if the sum goes below the minimum value of a signed 16-bit integer, it is clipped
-///   to this minimum value.
-///
-/// @param src
-///   Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param scalar
-///   The signed 16-bit integer scalar to be added to the source matrix.
-///
-/// @param dst
-///   Output 16-bit signed integer matrix. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of the output matrix in bytes.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddScalars16(const int16_t * __restrict  src,
-                uint32_t srcWidth,
-                uint32_t srcHeight,
-                uint32_t srcStride,
-                int16_t  scalar,
-                int16_t * __restrict dst,
-                uint32_t  dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Multiplies a scalar value to every element of a Matrix.
-///
-/// @details
-///   Multiplies a floating point scalar value to each element of the source Matrix
-///   and stores the result of the multiplication in the corresponding element
-///   of the destination matrix.
-///
-/// @param src
-///   Input floating point matrix. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param scalar
-///   The floating point scalar to be multiplied to the source matrix.
-///
-/// @param dst
-///   Output 32-bit floating point matrix. Size of buffer is dstStride*srcHeight bytes.
-///
-/// @param dstStride
-///   Stride of the output matrix in bytes.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMultiplyScalarf32(const float32_t * __restrict  src,
-                     uint32_t srcWidth,
-                     uint32_t srcHeight,
-                     uint32_t srcStride,
-                     float32_t  scalar,
-                     float32_t * __restrict dst,
-                     uint32_t  dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Multiplies a scalar value to every element of a Matrix.
-///
-/// @details
-///   Multiplies a signed 16-bit scalar value to each element of the source Matrix
-///   and stores the result of the multiplication in the corresponding element
-///   of the destination matrix.
-///   \n\b NOTE : If the product of the scalar and matrix element exceeds the maximum value
-///   of a signed 16-bit integer, the result is clipped to this maximum value, while
-///   if the product goes below the minimum value of a signed 16-bit integer, it is clipped
-///   to this minimum value. The API can also handle fractional scalars. Use fixed point conversion
-///   and use the shift parameter to decide the number of bits by which the result is shifted by. This
-///   affects the precision of the result. If you wish to perform pure integer multiplication, set the
-///   shift parameter to 0.
-///
-/// @param src
-///   Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param scalar
-///   The signed 8-bit integer scalar to be multiplied to the source matrix.
-///
-/// @param shift
-///   The number of bits that the result has to be shifted by. Used to handle fractional scalar multiplication.
-///   If your input scalar is a pure integer, set shift to 0.
-///
-/// @param dst
-///   Output signed 16-bit integer matrix. Size of buffer is dstStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of the output matrix in bytes.
-///   \n\b NOTE: if 0, dstStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMultiplyScalars16( const int16_t * __restrict  src,
-                      uint32_t srcWidth,
-                      uint32_t srcHeight,
-                      uint32_t srcStride,
-                      int8_t  scalar,
-                      int8_t shift,
-                      int16_t * __restrict dst,
-                      uint32_t  dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their location in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocu8_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocu8_v2 will be renamed to fcvMinMaxLocu8
-///   and the signature of fcvMinMaxLocu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found.
-///
-/// @param src
-///   Input unsigned 8-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-///   The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-///   The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-///   The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocu8(const uint8_t *__restrict src,
-               uint32_t srcWidth,
-               uint32_t srcHeight,
-               uint32_t srcStride,
-               uint8_t *__restrict minVal,
-               uint8_t *__restrict maxVal,
-               uint32_t *__restrict minLocX,
-               uint32_t *__restrict minLocY,
-               uint32_t *__restrict maxLocX,
-               uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their location in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocu16_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocu16_v2 will be renamed to fcvMinMaxLocu16
-///   and the signature of fcvMinMaxLocu16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found.
-///
-/// @param src
-///   Input unsigned 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-///   The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-///   The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-///   The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocu16(const uint16_t *__restrict src,
-                uint32_t srcWidth,
-                uint32_t srcHeight,
-                uint32_t srcStride,
-                uint16_t *__restrict minVal,
-                uint16_t *__restrict maxVal,
-                uint32_t *__restrict minLocX,
-                uint32_t *__restrict minLocY,
-                uint32_t *__restrict maxLocX,
-                uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their location in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocs16_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocs16_v2 will be renamed to fcvMinMaxLocs16
-///   and the signature of fcvMinMaxLocs16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found.
-///
-/// @param src
-///   Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-///   The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-///   The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-///   The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocs16(const int16_t *__restrict src,
-                uint32_t srcWidth,
-                uint32_t srcHeight,
-                uint32_t srcStride,
-                int16_t *__restrict minVal,
-                int16_t *__restrict maxVal,
-                uint32_t *__restrict minLocX,
-                uint32_t *__restrict minLocY,
-                uint32_t *__restrict maxLocX,
-                uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their location in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocu32_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocu32_v2 will be renamed to fcvMinMaxLocu32
-///   and the signature of fcvMinMaxLocu32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found.
-///
-/// @param src
-///   Input unsigned 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-///   The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-///   The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-///   The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocu32(const uint32_t *__restrict src,
-                uint32_t srcWidth,
-                uint32_t srcHeight,
-                uint32_t srcStride,
-                uint32_t *__restrict minVal,
-                uint32_t *__restrict maxVal,
-                uint32_t *__restrict minLocX,
-                uint32_t *__restrict minLocY,
-                uint32_t *__restrict maxLocX,
-                uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their location in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocs32_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocs32_v2 will be renamed to fcvMinMaxLocs32
-///   and the signature of fcvMinMaxLocs32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found.
-///
-/// @param src
-///   Input signed 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-///   The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-///   The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-///   The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocs32(const int32_t *__restrict src,
-                uint32_t srcWidth,
-                uint32_t srcHeight,
-                uint32_t srcStride,
-                int32_t *__restrict minVal,
-                int32_t *__restrict maxVal,
-                uint32_t *__restrict minLocX,
-                uint32_t *__restrict minLocY,
-                uint32_t *__restrict maxLocX,
-                uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their location in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocf32_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocf32_v2 will be renamed to fcvMinMaxLocf32
-///   and the signature of fcvMinMaxLocf32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found.
-///
-/// @param src
-///   Input unsigned 32-bit floating point matrix. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-///   The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-///   The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-///   The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocf32(const float32_t *__restrict src,
-                uint32_t srcWidth,
-                uint32_t srcHeight,
-                uint32_t srcStride,
-                float32_t *__restrict minVal,
-                float32_t *__restrict maxVal,
-                uint32_t *__restrict minLocX,
-                uint32_t *__restrict minLocY,
-                uint32_t *__restrict maxLocX,
-                uint32_t *__restrict maxLocY);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their locations in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocf32_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocf32_v2 will be renamed to fcvMinMaxLocf32
-///   and the signature of fcvMinMaxLocf32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found. If there are multiple minima/maxima, the function returns them all. If the
-///  the number of minima and maxima are greater than the capacity of the minLoc and
-///  maxLoc arrays, then the function returns as many locations as the capacity of these
-///  arrays.
-///
-/// @param src
-///   Input 32-bit floating point matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(float32_t) if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   An array of X coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-///   An array of Y coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-///   An array of X coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-///   An array of Y coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-///   The number of minima found by the function
-///
-/// @param maxCount
-///   The number of maxima found by the function
-///
-/// @param nMinLocSize
-///   The maximum number of minima requested by the user to be found in the input image src.
-///   The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-///   The maximum number of maxima requested by the user to be found in the input image src.
-///   The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocf32_v2(const float32_t *__restrict src,
-                   uint32_t                    srcWidth,
-                   uint32_t                    srcHeight,
-                   uint32_t                    srcStride,
-                   float32_t *__restrict       minVal,
-                   float32_t *__restrict       maxVal,
-                   uint32_t *__restrict        minLocX,
-                   uint32_t *__restrict        minLocY,
-                   uint32_t *__restrict        maxLocX,
-                   uint32_t *__restrict        maxLocY,
-                   uint32_t *__restrict        minCount,
-                   uint32_t *__restrict        maxCount,
-                   uint32_t                    nMinLocSize,
-                   uint32_t                    nMaxLocSize);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their locations in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocu8_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocu8_v2 will be renamed to fcvMinMaxLocu8
-///   and the signature of fcvMinMaxLocu8 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found. If there are multiple minima/maxima, the function returns them all. If the
-///  the number of minima and maxima are greater than the capacity of the minLoc and
-///  maxLoc arrays, then the function returns as many locations as the capacity of these
-///  arrays.
-///
-/// @param src
-///   Input unsigned 8-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint8_t) if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   An array of X coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-///   An array of Y coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-///   An array of X coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-///   An array of Y coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-///   The number of minima found by the function
-///
-/// @param maxCount
-///   The number of maxima found by the function
-///
-/// @param nMinLocSize
-///   The maximum number of minima requested by the user to be found in the input image src.
-///   The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-///   The maximum number of maxima requested by the user to be found in the input image src.
-///   The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocu8_v2(const uint8_t *__restrict src,
-                  uint32_t                  srcWidth,
-                  uint32_t                  srcHeight,
-                  uint32_t                  srcStride,
-                  uint8_t *__restrict       minVal,
-                  uint8_t *__restrict       maxVal,
-                  uint32_t *__restrict      minLocX,
-                  uint32_t *__restrict      minLocY,
-                  uint32_t *__restrict      maxLocX,
-                  uint32_t *__restrict      maxLocY,
-                  uint32_t *__restrict      minCount,
-                  uint32_t *__restrict      maxCount,
-                  uint32_t                  nMinLocSize,
-                  uint32_t                  nMaxLocSize);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their locations in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocu16_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocu16_v2 will be renamed to fcvMinMaxLocu16
-///   and the signature of fcvMinMaxLocu16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found. If there are multiple minima/maxima, the function returns them all. If the
-///  the number of minima and maxima are greater than the capacity of the minLoc and
-///  maxLoc arrays, then the function returns as many locations as the capacity of these
-///  arrays.
-///
-/// @param src
-///   Input unsigned 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint16_t) if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   An array of X coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-///   An array of Y coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-///   An array of X coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-///   An array of Y coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-///   The number of minima found by the function
-///
-/// @param maxCount
-///   The number of maxima found by the function
-///
-/// @param nMinLocSize
-///   The maximum number of minima requested by the user to be found in the input image src.
-///   The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-///   The maximum number of maxima requested by the user to be found in the input image src.
-///   The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocu16_v2(const uint16_t *__restrict src,
-                   uint32_t                   srcWidth,
-                   uint32_t                   srcHeight,
-                   uint32_t                   srcStride,
-                   uint16_t *__restrict       minVal,
-                   uint16_t *__restrict       maxVal,
-                   uint32_t *__restrict       minLocX,
-                   uint32_t *__restrict       minLocY,
-                   uint32_t *__restrict       maxLocX,
-                   uint32_t *__restrict       maxLocY,
-                   uint32_t *__restrict       minCount,
-                   uint32_t *__restrict       maxCount,
-                   uint32_t                   nMinLocSize,
-                   uint32_t                   nMaxLocSize);
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their locations in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocs16_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocs16_v2 will be renamed to fcvMinMaxLocs16
-///   and the signature of fcvMinMaxLocs16 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found. If there are multiple minima/maxima, the function returns them all. If the
-///  the number of minima and maxima are greater than the capacity of the minLoc and
-///  maxLoc arrays, then the function returns as many locations as the capacity of these
-///  arrays.
-///
-/// @param src
-///   Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(int16_t) if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   An array of X coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-///   An array of Y coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-///   An array of X coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-///   An array of Y coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-///   The number of minima found by the function
-///
-/// @param maxCount
-///   The number of maxima found by the function
-///
-/// @param nMinLocSize
-///   The maximum number of minima requested by the user to be found in the input image src.
-///   The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-///   The maximum number of maxima requested by the user to be found in the input image src.
-///   The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocs16_v2(const int16_t *__restrict src,
-                   uint32_t                  srcWidth,
-                   uint32_t                  srcHeight,
-                   uint32_t                  srcStride,
-                   int16_t *__restrict       minVal,
-                   int16_t *__restrict       maxVal,
-                   uint32_t *__restrict      minLocX,
-                   uint32_t *__restrict      minLocY,
-                   uint32_t *__restrict      maxLocX,
-                   uint32_t *__restrict      maxLocY,
-                   uint32_t *__restrict      minCount,
-                   uint32_t *__restrict      maxCount,
-                   uint32_t                  nMinLocSize,
-                   uint32_t                  nMaxLocSize);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their locations in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocu32_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocu32_v2 will be renamed to fcvMinMaxLocu32
-///   and the signature of fcvMinMaxLocu32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found. If there are multiple minima/maxima, the function returns them all. If the
-///  the number of minima and maxima are greater than the capacity of the minLoc and
-///  maxLoc arrays, then the function returns as many locations as the capacity of these
-///  arrays.
-///
-/// @param src
-///   Input unsigned 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint32_t) if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   An array of X coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-///   An array of Y coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-///   An array of X coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-///   An array of Y coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-///   The number of minima found by the function
-///
-/// @param maxCount
-///   The number of maxima found by the function
-///
-/// @param nMinLocSize
-///   The maximum number of minima requested by the user to be found in the input image src.
-///   The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-///   The maximum number of maxima requested by the user to be found in the input image src.
-///   The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocu32_v2(const uint32_t *__restrict src,
-                   uint32_t                   srcWidth,
-                   uint32_t                   srcHeight,
-                   uint32_t                   srcStride,
-                   uint32_t *__restrict       minVal,
-                   uint32_t *__restrict       maxVal,
-                   uint32_t *__restrict       minLocX,
-                   uint32_t *__restrict       minLocY,
-                   uint32_t *__restrict       maxLocX,
-                   uint32_t *__restrict       maxLocY,
-                   uint32_t *__restrict       minCount,
-                   uint32_t *__restrict       maxCount,
-                   uint32_t                   nMinLocSize,
-                   uint32_t                   nMaxLocSize);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Finds the minimum and maximum values, and their locations in a matrix
-///
-///   \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-///   release of this library (2.0.0).  The new interface is specified in the
-///   function: fcvMinMaxLocs32_v2(). In the 2.0.0 release,
-///   fcvMinMaxLocs32_v2 will be renamed to fcvMinMaxLocs32
-///   and the signature of fcvMinMaxLocs32 as it appears now,
-///   will be removed.
-///   \n\n
-///
-/// @details
-///  Finds the minimum and maximum values in a matrix, and returns them. In addition
-///  to this, it also returns the location (x,y) of the minimum and maximum values thus
-///  found. If there are multiple minima/maxima, the function returns them all. If the
-///  the number of minima and maxima are greater than the capacity of the minLoc and
-///  maxLoc arrays, then the function returns as many locations as the capacity of these
-///  arrays.
-///
-/// @param src
-///   Input signed 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Matrix.
-///
-/// @param srcHeight
-///   Height of the Matrix.
-///
-/// @param srcStride
-///   Stride of the Matrix in bytes.
-///   \n\b NOTE: if 0, srcStride is set as srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(int32_t) if not 0.
-///
-/// @param minVal
-///   This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-///   This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-///   An array of X coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-///   An array of Y coordinates of the minimum value's location returned by the function
-///   Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-///   An array of X coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-///   An array of Y coordinates of the maximum value's location returned by the function
-///   Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-///   The number of minima found by the function
-///
-/// @param maxCount
-///   The number of maxima found by the function
-///
-/// @param nMinLocSize
-///   The maximum number of minima requested by the user to be found in the input image src.
-///   The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-///   The maximum number of maxima requested by the user to be found in the input image src.
-///   The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocs32_v2(const int32_t *__restrict src,
-                   uint32_t                  srcWidth,
-                   uint32_t                  srcHeight,
-                   uint32_t                  srcStride,
-                   int32_t *__restrict       minVal,
-                   int32_t *__restrict       maxVal,
-                   uint32_t *__restrict      minLocX,
-                   uint32_t *__restrict      minLocY,
-                   uint32_t *__restrict      maxLocX,
-                   uint32_t *__restrict      maxLocY,
-                   uint32_t *__restrict      minCount,
-                   uint32_t *__restrict      maxCount,
-                   uint32_t                  nMinLocSize,
-                   uint32_t                  nMaxLocSize);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Transposes an interleaved RGB image
-///
-/// @details
-///  Computes the transpose of an interleaved RGB image src, and stores the result in
-///  dst
-///
-/// @param src
-///   Input unsigned 8-bit integer image. Size of buffer is srcStride*srcHeight bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Width of the Image.
-///
-/// @param srcHeight
-///   Height of the Image.
-///
-/// @param srcStride
-///   Stride of the Image in bytes.
-///   \n\b NOTE: if 0, srcStride is set as 3 x srcWidth.
-///   \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
-///
-/// @param dst
-///   Output unsigned 8-bit integer image. Size of buffer is dstStride*srcWidth bytes.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of the output image in bytes.
-///   \n\b NOTE: if 0, srcStride is set as 3 x srcHeight.
-///   \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcHeight if not 0.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvTransposeRGB888u8(const uint8_t * __restrict src,
-                     uint32_t srcWidth,
-                     uint32_t srcHeight,
-                     uint32_t srcStride,
-                     uint8_t * __restrict dst,
-                     uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///  Computes the cross-product of N pairs of 3x1 vectors
-///
-/// @details
-///   Computes the cross-product of N pairs of 3x1 vectors. For each pair of 3x1 vectors,
-///   ai and bi, the output vector ci is given by ci = ai x bi
-///
-/// @param a
-///  Input buffer containing "N" 3x1 Vectors. Must be of length N * 3. The layout of the array is
-///  as follows x0 y0 z0 x1 y1 z1 .......
-///
-/// @param b
-///  Input buffer containing "N" 3x1 Vectors. Must be of length N * 3. The layout of the array is
-///  as follows x0 y0 z0 x1 y1 z1 .......
-///
-/// @param c
-///  Output buffer containing the resultant "N" 3x1 Vectors. Each 3 x 1 Vector in c is computed from the corresponding
-///  3 x 1 pairs in a & b. Must be of length N * 3.
-///
-/// @param N
-///  Number of vector pairs. For example if N = 10, then a, b and c will have to be 10 x 3 in length
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvCrossProduct3x1f32(const float32_t * __restrict  a,
-                      const float32_t * __restrict  b,
-                      float32_t * __restrict  c,
-                      uint32_t N);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Solves a Linear System of Equations using LU-Decomposition
-///
-/// @details
-///  Solves a Linear System of Equations using LU Decomposition. Given
-///  a system defined by A x = b, the function decomposes A into a lower
-///  triangular matrix L and an upper triangular matrix U. It then computes x
-///  by first solving  L y = B by forward substitution for y, and then solving
-///  the system of linear equations U x = y by backward substitution for x.
-///  \n\b NOTE : Pivoting is used here to ensure that any non singular matrix
-///   can be solved. This is because not all Matrices have a LU decomposition.
-///   Pivoting helps to overcome this issue.
-///
-/// @param A
-///   Input coefficient matrix of the linear system of dimension N x N
-///   \n\b WARNING: must be square.
-///
-/// @param b
-///   Component vector of the linear system of dimension N x 1
-///
-/// @param N
-///   Dimension of the input Matrix A and component vector b
-///
-/// @param pivot
-/// An N x 1 pivot array which is populated as follows : For each k = 0, 1,...., N-1
-/// The ith element of pivot contains the row interchanged with row i when k = i.
-/// Pivoting is used both for numerical stability and also ensuring that an LU factorization
-/// exists for the input matrix A.
-///
-/// @param x
-///   The solution of the linear system, an N x 1 Vector.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvSolveLUf32(float32_t* __restrict A,
-              float32_t* __restrict b,
-              uint32_t             N,
-              uint8_t* __restrict pivot,
-              float32_t* __restrict x);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Bitwise AND operation for each element of two uint8_t matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBitwiseAndu8(const uint8_t *             src1,
-                uint32_t                    width,
-                uint32_t                    height,
-                uint32_t                    src1Stride,
-                const uint8_t *__restrict   src2,
-                uint32_t                    src2Stride,
-                uint8_t *                   dst,
-                uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Bitwise Exclusive Or operation for each element of two uint8_t matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBitwiseXoru8( const uint8_t *                src1,
-                    uint32_t                    width,
-                    uint32_t                    height,
-                    uint32_t                    src1Stride,
-                    const uint8_t *__restrict   src2,
-                    uint32_t                    src2Stride,
-                    uint8_t *                   dst,
-                    uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Bitwise Not operation for each element of two uint8_t matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBitwiseNotu8(const uint8_t *                 src,
-                    uint32_t                    width,
-                    uint32_t                    height,
-                    uint32_t                    srcStride,
-                    uint8_t *                   dst,
-                    uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix addition of two uint8_t type matrices to one uint8_t matrix
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   the result matrix (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddu8(const uint8_t *                src1,
-         uint32_t                    width,
-         uint32_t                    height,
-         uint32_t                    src1Stride,
-         const uint8_t * __restrict  src2,
-         uint32_t                    src2Stride,
-         fcvConvertPolicy            policy,
-         uint8_t *                   dst,
-         uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix addition of two int16_t type matrices which allows in-place operation
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   the result matrix (int16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAdds16_v2( const int16_t *              src1,
-                uint32_t                    width,
-                uint32_t                    height,
-                uint32_t                    src1Stride,
-                const int16_t * __restrict  src2,
-                uint32_t                    src2Stride,
-                fcvConvertPolicy            policy,
-                int16_t *                   dst,
-                uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix addition of one uint16_t type matrix and one uint8_t matrix
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   the result matrix (uint16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddu16u8u16 (const uint16_t *            src1,
-                uint32_t                    width,
-                uint32_t                    height,
-                uint32_t                    src1Stride,
-                const uint8_t * __restrict  src2,
-                uint32_t                    src2Stride,
-                fcvConvertPolicy            policy,
-                uint16_t *                  dst,
-                uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix substration of two uint8_t type matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   the result matrix (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvSubtractu8 ( const uint8_t *             src1,
-                uint32_t                    width,
-                uint32_t                    height,
-                uint32_t                    src1Stride,
-                const uint8_t * __restrict  src2,
-                uint32_t                    src2Stride,
-                fcvConvertPolicy            policy,
-                uint8_t *                   dst,
-                uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix substration of two uint16_t type matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   the result matrix (int16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvSubtracts16 (const int16_t *             src1,
-                uint32_t                    width,
-                uint32_t                    height,
-                uint32_t                    src1Stride,
-                const int16_t * __restrict  src2,
-                uint32_t                    src2Stride,
-                fcvConvertPolicy            policy,
-                int16_t *                   dst,
-                uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Matrix substration of two uint8_t type matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-///   the result matrix (int16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvSubtractu8s16 ( const uint8_t * __restrict   src1,
-                    uint32_t                    width,
-                    uint32_t                    height,
-                    uint32_t                    src1Stride,
-                    const uint8_t * __restrict  src2,
-                    uint32_t                    src2Stride,
-                    int16_t *   __restrict      dst,
-                    uint32_t                    dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Element-wise multiplication of two int16_t type matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param scaleFactor
-///   The number of bits to be shifted to scale the result. When scaleFactor > 0, results
-///   are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
-///   of scaleFactor
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   the result matrix (int16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvElementMultiplys16( const int16_t *       src1,
-                       uint32_t              width,
-                       uint32_t              height,
-                       uint32_t              src1Stride,
-                       const int16_t *       src2,
-                       uint32_t              src2Stride,
-                       int8_t                scaleFactor,
-                       fcvConvertPolicy      policy,
-                       int16_t *__restrict   dst,
-                       uint32_t              dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Element-wise multiplication of two uint8_t type matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param scaleFactor
-///   The number of bits to be shifted to scale the result. When scaleFactor > 0, results
-///   are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
-///   of scaleFactor
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   the result matrix (int16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvElementMultiplyu8s16( const uint8_t *        src1,
-                         uint32_t               width,
-                         uint32_t               height,
-                         uint32_t               src1Stride,
-                         const uint8_t *        src2,
-                         uint32_t               src2Stride,
-                         int8_t                 scaleFactor,
-                         fcvConvertPolicy       policy,
-                         int16_t *__restrict    dst,
-                         uint32_t               dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Element-wise multiplication of two uint8_t type matrices
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param scaleFactor
-///   The number of bits to be shifted to scale the result. When scaleFactor > 0, results
-///   are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
-///   of scaleFactor
-///
-/// @param policy
-///   Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-///   the result matrix (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvElementMultiplyu8( const uint8_t *        src1,
-                      uint32_t               width,
-                      uint32_t               height,
-                      uint32_t               src1Stride,
-                      const uint8_t *        src2,
-                      uint32_t               src2Stride,
-                      int8_t                 scaleFactor,
-                      fcvConvertPolicy       policy,
-                      uint8_t *__restrict    dst,
-                      uint32_t               dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Calculate the weighted sum of two uint8_t type matrices
-///
-/// @details
-///   Specifically, when 0 <= alpha <= 1 and beta = 1-alpha, the function accumulates a weighted value from
-///   an input image to an output image
-///   \n\b NOTE: alpha and beta should be within the range of (-128.0, 127.996) and have up to three digits decimal precision
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param alpha
-///   The weight value applied to src1 matrix, provided by float32_t type
-///
-/// @param beta
-///   The weight value applied to src2 matrix, provided by float32_t type
-///
-/// @param dst
-///   the result matrix (uint8_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success,
-///   other values upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddWeightedu8(const uint8_t *           src1,
-                 uint32_t                  srcWidth,
-                 uint32_t                  srcHeight,
-                 uint32_t                  src1Stride,
-                 const uint8_t *__restrict src2,
-                 uint32_t                  src2Stride,
-                 float32_t                 alpha,
-                 float32_t                 beta,
-                 uint8_t *                 dst,
-                 uint32_t                  dstStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-///   Add a squared value of one type uint8 matrix to the other type uint16 type matrix
-///
-/// @param src1
-///   First source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-///   Width of the source matrix.
-///
-/// @param height
-///   Height of the source matrix.
-///
-/// @param src1Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-///   Second source matrix.
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @param scaleFactor
-///   The number of bits to be shifted to scale the result. When scaleFactor > 0, results
-///   are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
-///   of scaleFactor
-///
-/// @param dst
-///   the result matrix (uint16_t type).
-///   \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-///   \n\b WARNING: should be multiple of 8
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddSquaredu8u16(const uint8_t *__restrict    src1,
-                    uint32_t                    width,
-                    uint32_t                    height,
-                    uint32_t                    src1Stride,
-                    const uint16_t *            src2,
-                    uint32_t                    src2Stride,
-                    int8_t                      scaleFactor,
-                    uint16_t *                  dst,
-                    uint32_t                    dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Swap Chroma component order.
-///
-/// @details
-///   This function swaps the interleaved Chroma component order from CbCr to
-///   CrCb or from CrCb to CbCr.
-///
-/// @param src
-///   Pointer to the input image
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-///   Input image width in the number of CbCr or CrCb pairs.
-///
-/// @param srcHeight
-///   The Chroma component height.
-///
-/// @param srcStride
-///   Stride of input image in bytes (i.e., number of bytes between column 0 of row 0
-///   and column 0 of row 1). If left at 0, srcStride is default to srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-///   Pointer to the output image
-///   \n\b WARNING: size must match input image.
-///   \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-///   Stride of output image in bytes (i.e., number of bytes between column 0 of
-///   row 0 and column 0 of row 1). If left at 0, dstStride is default to
-///   srcWidth * 2.
-///   \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorCbCrSwapu8( const uint8_t* __restrict src,
-                    uint32_t                  srcWidth,
-                    uint32_t                  srcHeight,
-                    uint32_t                  srcStride,
-                    uint8_t* __restrict       dst,
-                    uint32_t                  dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Converts an image from RGB space to HSV space.
-///
-/// @details
-///
-/// @param src
-///   Source 24-bit image, RGB888 format (R is MSB byte for the pixel)
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-///   Source image width.
-///
-/// @param srcHeight
-///   Source image height.
-///
-/// @param srcStride
-///   Stride of source image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, srcStride=srcWidth*3 as default
-///
-/// @param dst
-///   Destination 24-bit image. HSV888 format (H is MSB byte for the pixel)
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-///   Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   If set to 0, dstStride=srcWidth*3 as default
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvColorRGB888ToHSV888u8( const uint8_t* __restrict src,
-                          uint32_t                  srcWidth,
-                          uint32_t                  srcHeight,
-                          uint32_t                  srcStride,
-                          uint8_t* __restrict       dst,
-                          uint32_t                  dstStride);
-
-
-//------------------------------------------------------------------------------/
-/// @brief
-///   SVM prediction for two classes
-///
-/// @details
-///   The function returns the confidence scores for test vectors using the equation:
-///   confidence(i) = sum_j( svCoef[j] * Kernel(vec_i, sv_j) - rho;
-///   The SVM model(svCoef, sv, rho) can be obtained using the training function of libSVM or openCV.
-///
-/// @param kernelType
-///   kernelType options: 'FASTCV_SVM_LINEAR','FASTCV_SVM_POLY','FASTCV_SVM_RBF','FASTCV_SVM_SIGMOID'.
-///   FASTCV_SVM_LINEAR: Kernel(xi, xj) = xi'*xj
-///   FASTCV_SVM_POLY: Kernel(xi, xi) = (gamma * xi' * xj + coef0)^degree, (gamma>0 , degree is positive integer).
-///   FASTCV_SVM_RBF: Kernel(xi,xj) = exp(-gamma*||xi-xj||^2), (gamma>0).
-///   FASTCV_SVM_SIGMOID: Kernel(xi, xj) = tanh(gamma * xi' * xj + coef0)
-///
-/// @param degree
-///   Parameter degree of a kernel function (FASTCV_SVM_POLY).
-///   \n\b NOTE: Degree should be positive integer.
-///
-/// @param gamma
-///   Parameter of a kernel function (FASTCV_SVM_POLY / FASTCV_SVM_RBF / FASTCV_SVM_SIGMOID).
-///   \n\b NOTE: gamma > 0 for FASTCV_SVM_Ploy and FASTCV_SVM_RBF
-///
-/// @param coef0
-///   Parameter coef0 of a kernel function (FASTCV_SVM_LINEAR / FASTCV_SVM_POLY / FASTCV_SVM_SIGMOID).
-///
-/// @param sv
-///   Support vectors.
-///
-/// @param svLen
-///   Feature length, (support vector length = feature length).
-///
-/// @param svNum
-///   Number of support vectors.
-///
-/// @param svStride
-///   support vector stride.
-///   Stride of support vector 2D matrix (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, svStride is set as svLen*sizeof(float32_t).
-///   \n\b WARNING: should be multiple of 8, and at least as much as svLen if not 0.
-///
-/// @param svCoef
-///   Coefficent of support vectors, length equals to the Number of SV.
-///
-/// @param rho
-///   SVM bias.
-///
-/// @param vec
-///   Test vectors, it has same width as sv.
-///
-/// @param vecNum
-///   Number of test vectors.
-///
-/// @param vecStride
-///   Stride of test vectors.
-///   Stride of test vector 2D matrix (i.e., how many bytes between column 0 of row 1 and
-///   column 0 of row 2).
-///   \n\b NOTE: if 0, vecStride is set as svLen*sizeof(float32_t).
-///   \n\b WARNING: should be multiple of 8, and at least as much as svLen if not 0.
-///
-/// @param confidence
-///   Output, store confidence value of each test vector. The length is vecNum.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup machine_learning
-//------------------------------------------------------------------------------/
-
-FASTCV_API fcvStatus
-fcvSVMPredict2Classf32( fcvSVMKernelType    kernelType,
-                        uint32_t  degree,
-                        float32_t gamma,
-                        float32_t coef0,
-                        const float32_t* __restrict sv,
-                        uint32_t  svLen,
-                        uint32_t  svNum,
-                        uint32_t  svStride,
-                        const float32_t* __restrict svCoef,
-                        float32_t  rho,
-                        const float32_t*  __restrict vec,
-                        uint32_t  vecNum,
-                        uint32_t  vecStride,
-                        float32_t* __restrict confidence );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Optical flow (with stride so ROI can be supported)
-///
-///   \n\b ATTENTION: This function is a duplication of
-///   fcvTrackLKOpticalFlowu8() with the addition of extra parameters.
-///   This function has been added to allow for backward compatibility
-///   with the original function.  When the 2.0.0 release of this library
-///   is made, this function will be renamed to: \a fcvTrackLKOpticalFlowu8,
-///   \a fcvTrackLKOpticalFlowu8_v3 will be removed, and the current signature
-///   for \a fcvTrackLKOpticalFlowu8 will be removed.  Until 2.0.0, the
-///   developer should use this implementation with the expectation of
-///   renaming it to \a fcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
-///   \n\n
-///
-/// @param src1
-///   Input image from frame #1.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-///   Input image from frame #2.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param width
-///   Input image width.
-///
-/// @param height
-///   Input image height.
-///
-/// @param stride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to width.
-///   NOTE: should be a multiple of 8.
-///
-/// @param src1Pyr
-///   Image Pyramid of src1 (with stride)
-///   \n\b WARNING: obtained by calling fcvPyramidCreateu8_v3
-///
-/// @param src2Pyr
-///   Image Pyradmid of src2 (with stride)
-///   \n\b WARNING: obtained by calling fcvPyramidCreateu8_v3
-///
-/// @param featureXY
-///   Pointer to X,Y floating point, sub-pixel coordinates for features to
-///   track. Stored as X,Y tuples. featureXY array storage must
-///   be >= featureLen*2.
-///
-/// @param featureXY_out
-///   Pointer to X,Y floating point, sub-pixel coordinates for tracked features
-///   Stored as X,Y tuples. featureXY array storage must
-///   be >= featureLen*2.
-///
-/// @param featureXY_estimate
-///   Pointer to X,Y floating point, sub-pixel coordinates for estimated features
-///   on the new frame stored as X,Y tuples. featureXY array storage must
-///   has the same length as featureXY
-///
-/// @param featureStatus
-///   Pointer to integer array for status of each feature defined in
-///   featureXY. featureStatus array storage must
-///   be >= featureLen.
-///
-/// @param featureLen
-///   Number of features in featuresXY and featureStatus array.
-///
-/// @param windowWidth
-///   Width of window for optical flow searching. Must be odd number.
-///    \n\b NOTE: suggested value 5, 7 or 9
-///
-/// @param windowHeight
-///   Height of window for optical flow searching. Must be odd number.
-///   \n\b NOTE:: suggested value 5, 7 or 9
-///
-/// @param nPyramidLevels
-///   Number of pyramid levels.
-///   \n\b NOTE: suggested value 3 or 4 depending on size of image
-///
-/// @param termCriteria
-///   The enum parameter to specify termination criteria. See fcvTerminationCriteria for details
-///
-/// @param maxIterations
-///   Maximum number of LK iterations to perform per pyramid level if
-///   FASTCV_TERM_CRITERIA_ITERATIONS is set as the termCriteria
-///   \n\b NOTE: will be saturated to range [1, 100]; suggested value 5 or 7
-///
-/// @param maxEpsilon
-///   Epsilon value in float32_t for error measure to determine the iteration
-///   \n\b NOTE: the value should be within [0, 10]; suggested value 0.03*0.03
-///
-/// @param use_initial_estimate
-///   The flag indicatiing if to use initial estimations stored in featureXY_estimate
-///   to start the search.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvTrackLKOpticalFlowu8_v3 ( const uint8_t *__restrict              src1,
-                            const uint8_t *__restrict               src2,
-                            uint32_t                                width,
-                            uint32_t                                height,
-                            uint32_t                                stride,
-                            const fcvPyramidLevel_v2 * __restrict   src1Pyr,
-                            const fcvPyramidLevel_v2 * __restrict   src2Pyr,
-                            const float32_t *  __restrict           featureXY,
-                            const float32_t *  __restrict           featureXY_estimate,
-                            float32_t * __restrict                  featureXY_out,
-                            int32_t * __restrict                    featureStatus,
-                            int32_t                                 featureLen,
-                            int32_t                                 windowWidth,
-                            int32_t                                 windowHeight,
-                            int32_t                                 nPyramidLevels,
-                            fcvTerminationCriteria                  termCriteria,
-                            int32_t                                 maxIterations,
-                            float32_t                               maxEpsilon,
-                            int32_t                                 use_initial_estimate);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Undistort a disparity image and optionally convert the undistorted disparity image into a
-///   depth image.
-///
-/// @param src
-///    Pointer to the disparity input image
-///
-/// @param srcWidth
-///    Width of the disparity input image in pixel. The number of pixels in a row.
-///
-/// @param srcHeight
-///    Height of the disparity input image in pixel.
-///
-/// @param srcStride
-///    Stride of image is the number of bytes between column 0 of row 1 and
-///    column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
-///    \n\b NOTE: should be multiple of 8.
-///
-/// @param mask
-///    Pointer to the returned foreground mask image.
-///    It's a 1-channel image, same width and height as src.
-///    If an entry set to 1, there will be a valid undistorted dispartity or depth value.
-///    If an entry set to 0, there will be no valid undistorted dispartity or depth value.
-///
-/// @param maskStride
-///    Stride of the foreground mask image. It's the number of bytes between column 0 of row 1 and
-///    column 0 of row 2 in data memory. If left at 0 MaskStride is default to srcWidth.
-///    \n\b NOTE: should be multiple of 8.
-///
-/// @param pixelDistortion
-///    Pointer to the pixel distortion value for each pixel in the image. It has the same dimensions
-///    as the input image src.
-///
-/// @param pixelDistortionStride
-///    Stride of pixel distortion value for each pixel in the image.
-///    It's the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-///    If left at 0 pixelDistortionStride is default to srcWidth*sizeof(float32_t).
-///    \n\b WARNING: should be multiple of 8
-///
-/// @param convertDepth
-///   This parameter is a flag to enable or disable the conversion of disparity to depth.
-///   If set to 1, then the undistorted disparity values will be converted to depth
-///   and returned in the dst buffer.
-///   If set to 0, then the undistorted disparity will be returned in the dst buffer.
-///
-/// @param imageDistortion
-///   ImageDistortion contains two elements. The First part contains the spatial distortion pattern,
-///   and the second part contains the decay of the distortion effect.
-///
-/// @param depthParam
-///   Parameters used to transform disparity to depth values.
-///   The equation is
-///   undistortedDepthValue = 1 / (undistortedDisparityValue * depthParam[0] + depthParam[1])
-///
-/// @param dst
-///   Output matrix which has the same width, length and channel number as src.
-///   The buffer contains undistorted disparity values if convertDepth is set to 0 and
-///   contains the undistorted depth values if convertDepth is set to 1
-///
-/// @param dstStride
-///   Stride for output image, i.e. the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvUndistortDisparityConvertDepthf32(const float32_t* __restrict  src,
-                                     uint32_t                     srcWidth,
-                                     uint32_t                     srcHeight,
-                                     uint32_t                     srcStride,
-                                     const uint8_t* __restrict    mask,
-                                     uint32_t                     maskStride,
-                                     const float32_t* __restrict  pixelDistortion,
-                                     uint32_t                     pixelDistortionStride,
-                                     uint32_t                     convertDepth,
-                                     const float32_t* __restrict  imageDistortion,
-                                     const float32_t* __restrict  depthParam,
-                                     float32_t* __restrict        dst,
-                                     uint32_t                     dstStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Registers an input Depth Image with an input Color Image
-///
-/// @param src
-///   Pointer to the input depth image
-///
-/// @param srcWidth
-///   The width of the input depth image.
-///
-/// @param srcHeight
-///   The height of the input depth image
-///
-/// @param srcStride
-///   Stride of image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @param Kdinv
-///   Kdinv is an array of 9 elements representing the inverse of the 3x3 depth camera matrix
-///   arranged row wise.
-///
-/// @param Kc
-///   Kc is an array of 9 elements which represents the 3x3 color camera intrinsic parameters
-///   arranged row wise
-///
-/// @param Rd2c
-///   Rd2c is an array of 9 element which represents the 3D Rotation (3x3) matrix from the Depth
-///   Camera to the Color Camera arranged row wise
-///
-/// @param Td2c
-///   Td2c is an array of 3 element which represents the transform parameter from the Depth
-///   Camera to the Color Camera.
-///
-/// @param dst
-///   Output matrix which has the same width, length and channel number as src
-///
-/// @param dstStride
-///   Stride for output image, i.e. the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRegisterDepthImagef32(const float32_t* __restrict src,
-                         uint32_t                    srcWidth,
-                         uint32_t                    srcHeight,
-                         uint32_t                    srcStride,
-                         const float32_t* __restrict Kdinv,
-                         const float32_t* __restrict Kc,
-                         const float32_t* __restrict Rd2c,
-                         const float32_t* __restrict Td2c,
-                         float32_t* __restrict       dst,
-                         uint32_t                    dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-///   Convert depth image into 3D point Cloud
-///
-/// @param src
-///   Pointer to the depth image
-///
-/// @param srcWidth
-///   Width of the depth image in pixel. The number of pixels in a row.
-///
-/// @param srcHeight
-///   Height of the depth image in pixel
-///
-/// @param srcStride
-///   Stride of depth image is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @param Kdinv
-///   Kdinv is an array of 9 elements representing the inverse of the 3x3 depth camera matrix
-///   arranged row wise.
-//
-/// @param dst
-///   Pointer to the 3D point cloud in an interleaved fashion x0,y0,z0,x1,y1,z1.
-///   It has a width of 3*srcWidth and has the same height as the src buffer.
-///
-/// @param dstStride
-///   Stride for output image, i.e. the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 srcStride is default to 3*srcWidth*sizeof(float32_t)
-///   \n\b NOTE: should be multiple of 8.
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvConvertDepthImageToPointCloudf32(const float32_t* __restrict src,
-                                    uint32_t                    srcWidth,
-                                    uint32_t                    srcHeight,
-                                    uint32_t                    srcStride,
-                                    const float32_t* __restrict Kdinv,
-                                    float32_t* __restrict       dst,
-                                    uint32_t                    dstStride);
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Extract Histogram of Oriented Gradients (HOG) descriptor given an image's gradient strength
-///   and orientation
-///
-/// @param strength
-///   The gradient strength at each pixel.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param width
-///   Input window width.
-///
-/// @param height
-///   Input window height.
-///
-/// @param strengthStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 strengthStride is default to width*2.
-///   NOTE: should be a multiple of 8.
-///
-/// @param orientation
-///   Gradient orientation at each pixel. When normMethod is FASTCV_HOG_NORM_REGULAR or
-///   FASTCV_HOG_NORM_RENORMALIZATION, orientation should be within range of [0, 179]; while
-///   FASTCV_HOG_NORM_FHOG is used, orientation should be within [0, 359] to meet its contrast-
-///   sensitive requirements.
-///   \n\b WARNING: should be 128-bit aligned.
-///
-/// @param orientationStride
-///   Stride is the number of bytes between column 0 of row 1 and
-///   column 0 of row 2 in data memory. If left at 0 orientationStride is default to width*2.
-///   NOTE: should be a multiple of 8.
-///
-/// @param cellSize
-///   The size of one cell in pixels. The typical cell size is 4.
-///
-/// @param blockSize
-///   Block size in pixels. It must be a multiple of cellSize.
-///   \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockSize is by default equal to cellSize
-///
-/// @param blockStep
-///   Block step in pixels when sliding the block over the image. If the blockStep
-///   is a multiple of cellSize, faster approach would be taken when normMethod
-///   is FASTCV_HOG_NORM_REGULAR or FASTCV_HOG_NORM_RENORMALIZATION.
-///   \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
-///
-/// @param binSize
-///   Number of bins in the gradient histogram. Typical binSize is 9.
-///
-/// @param normMethod
-///   The enum parameter to specify the normalization method for HOG descriptor construction. See
-///   fcvHOGNormMethod for details.
-///
-/// @param hogVector
-///   The output descriptor vector in uint16_t. The length of the vector is obtained by fcvGetHOGVectorLengthu32
-///
-/// @return
-///   FASTCV_SUCCESS upon success.
-///   Other status codes upon failure.
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvExtractHOGu16(const uint16_t* __restrict strength,
-                 uint32_t                   width,
-                 uint32_t                   height,
-                 uint32_t                   strengthStride,
-                 const uint16_t* __restrict orientation,
-                 uint32_t                   orientationStride,
-                 uint32_t                   cellSize,
-                 uint32_t                   blockSize,
-                 uint32_t                   blockStep,
-                 uint32_t                   binSize,
-                 fcvHOGNormMethod           normMethod,
-                 uint16_t* __restrict       hogVector,
-                 uint32_t                   flen,
-                 void*                      handle);
-
-// -----------------------------------------------------------------------------
-/// @brief
-///   Calculate the length of the output vector for HOG extraction
-///
-/// @param width
-///   Input window width.
-///
-/// @param height
-///   Input window height.
-///
-/// @param cellSize
-///   The size of one cell in pixels. The typical cell size is 4.
-///
-/// @param blockSize
-///   Block size in pixels. It must be a multiple of cellSize.
-/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
-///
-/// @param blockStep
-///   Block step in pixels when sliding the block over the image. If the blockStep
-///   is a multiple of cellSize, faster approach would be taken when normMethod
-///   is FASTCV_HOG_NORM_REGULAR or FASTCV_HOG_NORM_RENORMALIZATION.
-///   \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
-///
-/// @param binSize
-///   Number of bins in the gradient histogram. Typical binSize is 9.
-///
-/// @param normMethod
-///   The enum parameter to specify the normalization method for HOG descriptor construction. See
-///   fcvHOGNormMethod for details.
-///
-/// @param
-///   The length of HOG vector in uint32_t
-///
-/// @param hogHandle
-///   Output. the hogHandle to be used in subsequent calls.
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvHOGInit(uint32_t width,
-                         uint32_t         height,
-                         uint32_t         cellSize,
-                         uint32_t         blockSize,
-                         uint32_t         blockStep,
-                         uint32_t         binSize,
-                         fcvHOGNormMethod normMethod,
-                        uint32_t *vecLength,
-                        void     **hogHandle
-                        );
-//------------------------------------------------------------------------------
-/// @brief Function to release  HOG resources.
-/// @param hogHandle
-/// Handle to be used to free up HOG resources.
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void fcvHOGDeInit(void* hogHandle);
-
-
-
-#ifdef __cplusplus
-}//extern "C"
-#endif
-
-#endif
diff --git a/phonelibs/fastcv/aarch64/libfastcv.a b/phonelibs/fastcv/aarch64/libfastcv.a
deleted file mode 100644
index 32729f8a95faac..00000000000000
Binary files a/phonelibs/fastcv/aarch64/libfastcv.a and /dev/null differ
diff --git a/phonelibs/fastcv/aarch64/libfastcvadsp_stub.so b/phonelibs/fastcv/aarch64/libfastcvadsp_stub.so
deleted file mode 100644
index 78498b6b704f01..00000000000000
Binary files a/phonelibs/fastcv/aarch64/libfastcvadsp_stub.so and /dev/null differ
diff --git a/phonelibs/fastcv/aarch64/libfastcvopt.so b/phonelibs/fastcv/aarch64/libfastcvopt.so
deleted file mode 100644
index 02b5b0a580e44a..00000000000000
Binary files a/phonelibs/fastcv/aarch64/libfastcvopt.so and /dev/null differ
diff --git a/phonelibs/json/src/json.c b/phonelibs/json/src/json.c
deleted file mode 100644
index 2f0452aebe5682..00000000000000
--- a/phonelibs/json/src/json.c
+++ /dev/null
@@ -1,1381 +0,0 @@
-/*
-  Copyright (C) 2011 Joseph A. Adams (joeyadams3.14159@gmail.com)
-  All rights reserved.
-
-  Permission is hereby granted, free of charge, to any person obtaining a copy
-  of this software and associated documentation files (the "Software"), to deal
-  in the Software without restriction, including without limitation the rights
-  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-  copies of the Software, and to permit persons to whom the Software is
-  furnished to do so, subject to the following conditions:
-
-  The above copyright notice and this permission notice shall be included in
-  all copies or substantial portions of the Software.
-
-  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-  THE SOFTWARE.
-*/
-
-#include "json.h"
-
-#include <assert.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#define out_of_memory() do {                    \
-		fprintf(stderr, "Out of memory.\n");    \
-		exit(EXIT_FAILURE);                     \
-	} while (0)
-
-/* Sadly, strdup is not portable. */
-static char *json_strdup(const char *str)
-{
-	char *ret = (char*) malloc(strlen(str) + 1);
-	if (ret == NULL)
-		out_of_memory();
-	strcpy(ret, str);
-	return ret;
-}
-
-/* String buffer */
-
-typedef struct
-{
-	char *cur;
-	char *end;
-	char *start;
-} SB;
-
-static void sb_init(SB *sb)
-{
-	sb->start = (char*) malloc(17);
-	if (sb->start == NULL)
-		out_of_memory();
-	sb->cur = sb->start;
-	sb->end = sb->start + 16;
-}
-
-/* sb and need may be evaluated multiple times. */
-#define sb_need(sb, need) do {                  \
-		if ((sb)->end - (sb)->cur < (need))     \
-			sb_grow(sb, need);                  \
-	} while (0)
-
-static void sb_grow(SB *sb, int need)
-{
-	size_t length = sb->cur - sb->start;
-	size_t alloc = sb->end - sb->start;
-	
-	do {
-		alloc *= 2;
-	} while (alloc < length + need);
-	
-	sb->start = (char*) realloc(sb->start, alloc + 1);
-	if (sb->start == NULL)
-		out_of_memory();
-	sb->cur = sb->start + length;
-	sb->end = sb->start + alloc;
-}
-
-static void sb_put(SB *sb, const char *bytes, int count)
-{
-	sb_need(sb, count);
-	memcpy(sb->cur, bytes, count);
-	sb->cur += count;
-}
-
-#define sb_putc(sb, c) do {         \
-		if ((sb)->cur >= (sb)->end) \
-			sb_grow(sb, 1);         \
-		*(sb)->cur++ = (c);         \
-	} while (0)
-
-static void sb_puts(SB *sb, const char *str)
-{
-	sb_put(sb, str, strlen(str));
-}
-
-static char *sb_finish(SB *sb)
-{
-	*sb->cur = 0;
-	assert(sb->start <= sb->cur && strlen(sb->start) == (size_t)(sb->cur - sb->start));
-	return sb->start;
-}
-
-static void sb_free(SB *sb)
-{
-	free(sb->start);
-}
-
-/*
- * Unicode helper functions
- *
- * These are taken from the ccan/charset module and customized a bit.
- * Putting them here means the compiler can (choose to) inline them,
- * and it keeps ccan/json from having a dependency.
- */
-
-/*
- * Type for Unicode codepoints.
- * We need our own because wchar_t might be 16 bits.
- */
-typedef uint32_t uchar_t;
-
-/*
- * Validate a single UTF-8 character starting at @s.
- * The string must be null-terminated.
- *
- * If it's valid, return its length (1 thru 4).
- * If it's invalid or clipped, return 0.
- *
- * This function implements the syntax given in RFC3629, which is
- * the same as that given in The Unicode Standard, Version 6.0.
- *
- * It has the following properties:
- *
- *  * All codepoints U+0000..U+10FFFF may be encoded,
- *    except for U+D800..U+DFFF, which are reserved
- *    for UTF-16 surrogate pair encoding.
- *  * UTF-8 byte sequences longer than 4 bytes are not permitted,
- *    as they exceed the range of Unicode.
- *  * The sixty-six Unicode "non-characters" are permitted
- *    (namely, U+FDD0..U+FDEF, U+xxFFFE, and U+xxFFFF).
- */
-static int utf8_validate_cz(const char *s)
-{
-	unsigned char c = *s++;
-	
-	if (c <= 0x7F) {        /* 00..7F */
-		return 1;
-	} else if (c <= 0xC1) { /* 80..C1 */
-		/* Disallow overlong 2-byte sequence. */
-		return 0;
-	} else if (c <= 0xDF) { /* C2..DF */
-		/* Make sure subsequent byte is in the range 0x80..0xBF. */
-		if (((unsigned char)*s++ & 0xC0) != 0x80)
-			return 0;
-		
-		return 2;
-	} else if (c <= 0xEF) { /* E0..EF */
-		/* Disallow overlong 3-byte sequence. */
-		if (c == 0xE0 && (unsigned char)*s < 0xA0)
-			return 0;
-		
-		/* Disallow U+D800..U+DFFF. */
-		if (c == 0xED && (unsigned char)*s > 0x9F)
-			return 0;
-		
-		/* Make sure subsequent bytes are in the range 0x80..0xBF. */
-		if (((unsigned char)*s++ & 0xC0) != 0x80)
-			return 0;
-		if (((unsigned char)*s++ & 0xC0) != 0x80)
-			return 0;
-		
-		return 3;
-	} else if (c <= 0xF4) { /* F0..F4 */
-		/* Disallow overlong 4-byte sequence. */
-		if (c == 0xF0 && (unsigned char)*s < 0x90)
-			return 0;
-		
-		/* Disallow codepoints beyond U+10FFFF. */
-		if (c == 0xF4 && (unsigned char)*s > 0x8F)
-			return 0;
-		
-		/* Make sure subsequent bytes are in the range 0x80..0xBF. */
-		if (((unsigned char)*s++ & 0xC0) != 0x80)
-			return 0;
-		if (((unsigned char)*s++ & 0xC0) != 0x80)
-			return 0;
-		if (((unsigned char)*s++ & 0xC0) != 0x80)
-			return 0;
-		
-		return 4;
-	} else {                /* F5..FF */
-		return 0;
-	}
-}
-
-/* Validate a null-terminated UTF-8 string. */
-static bool utf8_validate(const char *s)
-{
-	int len;
-	
-	for (; *s != 0; s += len) {
-		len = utf8_validate_cz(s);
-		if (len == 0)
-			return false;
-	}
-	
-	return true;
-}
-
-/*
- * Read a single UTF-8 character starting at @s,
- * returning the length, in bytes, of the character read.
- *
- * This function assumes input is valid UTF-8,
- * and that there are enough characters in front of @s.
- */
-static int utf8_read_char(const char *s, uchar_t *out)
-{
-	const unsigned char *c = (const unsigned char*) s;
-	
-	assert(utf8_validate_cz(s));
-
-	if (c[0] <= 0x7F) {
-		/* 00..7F */
-		*out = c[0];
-		return 1;
-	} else if (c[0] <= 0xDF) {
-		/* C2..DF (unless input is invalid) */
-		*out = ((uchar_t)c[0] & 0x1F) << 6 |
-		       ((uchar_t)c[1] & 0x3F);
-		return 2;
-	} else if (c[0] <= 0xEF) {
-		/* E0..EF */
-		*out = ((uchar_t)c[0] &  0xF) << 12 |
-		       ((uchar_t)c[1] & 0x3F) << 6  |
-		       ((uchar_t)c[2] & 0x3F);
-		return 3;
-	} else {
-		/* F0..F4 (unless input is invalid) */
-		*out = ((uchar_t)c[0] &  0x7) << 18 |
-		       ((uchar_t)c[1] & 0x3F) << 12 |
-		       ((uchar_t)c[2] & 0x3F) << 6  |
-		       ((uchar_t)c[3] & 0x3F);
-		return 4;
-	}
-}
-
-/*
- * Write a single UTF-8 character to @s,
- * returning the length, in bytes, of the character written.
- *
- * @unicode must be U+0000..U+10FFFF, but not U+D800..U+DFFF.
- *
- * This function will write up to 4 bytes to @out.
- */
-static int utf8_write_char(uchar_t unicode, char *out)
-{
-	unsigned char *o = (unsigned char*) out;
-	
-	assert(unicode <= 0x10FFFF && !(unicode >= 0xD800 && unicode <= 0xDFFF));
-
-	if (unicode <= 0x7F) {
-		/* U+0000..U+007F */
-		*o++ = unicode;
-		return 1;
-	} else if (unicode <= 0x7FF) {
-		/* U+0080..U+07FF */
-		*o++ = 0xC0 | unicode >> 6;
-		*o++ = 0x80 | (unicode & 0x3F);
-		return 2;
-	} else if (unicode <= 0xFFFF) {
-		/* U+0800..U+FFFF */
-		*o++ = 0xE0 | unicode >> 12;
-		*o++ = 0x80 | (unicode >> 6 & 0x3F);
-		*o++ = 0x80 | (unicode & 0x3F);
-		return 3;
-	} else {
-		/* U+10000..U+10FFFF */
-		*o++ = 0xF0 | unicode >> 18;
-		*o++ = 0x80 | (unicode >> 12 & 0x3F);
-		*o++ = 0x80 | (unicode >> 6 & 0x3F);
-		*o++ = 0x80 | (unicode & 0x3F);
-		return 4;
-	}
-}
-
-/*
- * Compute the Unicode codepoint of a UTF-16 surrogate pair.
- *
- * @uc should be 0xD800..0xDBFF, and @lc should be 0xDC00..0xDFFF.
- * If they aren't, this function returns false.
- */
-static bool from_surrogate_pair(uint16_t uc, uint16_t lc, uchar_t *unicode)
-{
-	if (uc >= 0xD800 && uc <= 0xDBFF && lc >= 0xDC00 && lc <= 0xDFFF) {
-		*unicode = 0x10000 + ((((uchar_t)uc & 0x3FF) << 10) | (lc & 0x3FF));
-		return true;
-	} else {
-		return false;
-	}
-}
-
-/*
- * Construct a UTF-16 surrogate pair given a Unicode codepoint.
- *
- * @unicode must be U+10000..U+10FFFF.
- */
-static void to_surrogate_pair(uchar_t unicode, uint16_t *uc, uint16_t *lc)
-{
-	uchar_t n;
-	
-	assert(unicode >= 0x10000 && unicode <= 0x10FFFF);
-	
-	n = unicode - 0x10000;
-	*uc = ((n >> 10) & 0x3FF) | 0xD800;
-	*lc = (n & 0x3FF) | 0xDC00;
-}
-
-#define is_space(c) ((c) == '\t' || (c) == '\n' || (c) == '\r' || (c) == ' ')
-#define is_digit(c) ((c) >= '0' && (c) <= '9')
-
-static bool parse_value     (const char **sp, JsonNode        **out);
-static bool parse_string    (const char **sp, char            **out);
-static bool parse_number    (const char **sp, double           *out);
-static bool parse_array     (const char **sp, JsonNode        **out);
-static bool parse_object    (const char **sp, JsonNode        **out);
-static bool parse_hex16     (const char **sp, uint16_t         *out);
-
-static bool expect_literal  (const char **sp, const char *str);
-static void skip_space      (const char **sp);
-
-static void emit_value              (SB *out, const JsonNode *node);
-static void emit_value_indented     (SB *out, const JsonNode *node, const char *space, int indent_level);
-static void emit_string             (SB *out, const char *str);
-static void emit_number             (SB *out, double num);
-static void emit_array              (SB *out, const JsonNode *array);
-static void emit_array_indented     (SB *out, const JsonNode *array, const char *space, int indent_level);
-static void emit_object             (SB *out, const JsonNode *object);
-static void emit_object_indented    (SB *out, const JsonNode *object, const char *space, int indent_level);
-
-static int write_hex16(char *out, uint16_t val);
-
-static JsonNode *mknode(JsonTag tag);
-static void append_node(JsonNode *parent, JsonNode *child);
-static void prepend_node(JsonNode *parent, JsonNode *child);
-static void append_member(JsonNode *object, char *key, JsonNode *value);
-
-/* Assertion-friendly validity checks */
-static bool tag_is_valid(unsigned int tag);
-static bool number_is_valid(const char *num);
-
-JsonNode *json_decode(const char *json)
-{
-	const char *s = json;
-	JsonNode *ret;
-	
-	skip_space(&s);
-	if (!parse_value(&s, &ret))
-		return NULL;
-	
-	skip_space(&s);
-	if (*s != 0) {
-		json_delete(ret);
-		return NULL;
-	}
-	
-	return ret;
-}
-
-char *json_encode(const JsonNode *node)
-{
-	return json_stringify(node, NULL);
-}
-
-char *json_encode_string(const char *str)
-{
-	SB sb;
-	sb_init(&sb);
-	
-	emit_string(&sb, str);
-	
-	return sb_finish(&sb);
-}
-
-char *json_stringify(const JsonNode *node, const char *space)
-{
-	SB sb;
-	sb_init(&sb);
-	
-	if (space != NULL)
-		emit_value_indented(&sb, node, space, 0);
-	else
-		emit_value(&sb, node);
-	
-	return sb_finish(&sb);
-}
-
-void json_delete(JsonNode *node)
-{
-	if (node != NULL) {
-		json_remove_from_parent(node);
-		
-		switch (node->tag) {
-			case JSON_STRING:
-				free(node->string_);
-				break;
-			case JSON_ARRAY:
-			case JSON_OBJECT:
-			{
-				JsonNode *child, *next;
-				for (child = node->children.head; child != NULL; child = next) {
-					next = child->next;
-					json_delete(child);
-				}
-				break;
-			}
-			default:;
-		}
-		
-		free(node);
-	}
-}
-
-bool json_validate(const char *json)
-{
-	const char *s = json;
-	
-	skip_space(&s);
-	if (!parse_value(&s, NULL))
-		return false;
-	
-	skip_space(&s);
-	if (*s != 0)
-		return false;
-	
-	return true;
-}
-
-JsonNode *json_find_element(JsonNode *array, int index)
-{
-	JsonNode *element;
-	int i = 0;
-	
-	if (array == NULL || array->tag != JSON_ARRAY)
-		return NULL;
-	
-	json_foreach(element, array) {
-		if (i == index)
-			return element;
-		i++;
-	}
-	
-	return NULL;
-}
-
-JsonNode *json_find_member(JsonNode *object, const char *name)
-{
-	JsonNode *member;
-	
-	if (object == NULL || object->tag != JSON_OBJECT)
-		return NULL;
-	
-	json_foreach(member, object)
-		if (strcmp(member->key, name) == 0)
-			return member;
-	
-	return NULL;
-}
-
-JsonNode *json_first_child(const JsonNode *node)
-{
-	if (node != NULL && (node->tag == JSON_ARRAY || node->tag == JSON_OBJECT))
-		return node->children.head;
-	return NULL;
-}
-
-static JsonNode *mknode(JsonTag tag)
-{
-	JsonNode *ret = (JsonNode*) calloc(1, sizeof(JsonNode));
-	if (ret == NULL)
-		out_of_memory();
-	ret->tag = tag;
-	return ret;
-}
-
-JsonNode *json_mknull(void)
-{
-	return mknode(JSON_NULL);
-}
-
-JsonNode *json_mkbool(bool b)
-{
-	JsonNode *ret = mknode(JSON_BOOL);
-	ret->bool_ = b;
-	return ret;
-}
-
-static JsonNode *mkstring(char *s)
-{
-	JsonNode *ret = mknode(JSON_STRING);
-	ret->string_ = s;
-	return ret;
-}
-
-JsonNode *json_mkstring(const char *s)
-{
-	return mkstring(json_strdup(s));
-}
-
-JsonNode *json_mknumber(double n)
-{
-	JsonNode *node = mknode(JSON_NUMBER);
-	node->number_ = n;
-	return node;
-}
-
-JsonNode *json_mkarray(void)
-{
-	return mknode(JSON_ARRAY);
-}
-
-JsonNode *json_mkobject(void)
-{
-	return mknode(JSON_OBJECT);
-}
-
-static void append_node(JsonNode *parent, JsonNode *child)
-{
-	child->parent = parent;
-	child->prev = parent->children.tail;
-	child->next = NULL;
-	
-	if (parent->children.tail != NULL)
-		parent->children.tail->next = child;
-	else
-		parent->children.head = child;
-	parent->children.tail = child;
-}
-
-static void prepend_node(JsonNode *parent, JsonNode *child)
-{
-	child->parent = parent;
-	child->prev = NULL;
-	child->next = parent->children.head;
-	
-	if (parent->children.head != NULL)
-		parent->children.head->prev = child;
-	else
-		parent->children.tail = child;
-	parent->children.head = child;
-}
-
-static void append_member(JsonNode *object, char *key, JsonNode *value)
-{
-	value->key = key;
-	append_node(object, value);
-}
-
-void json_append_element(JsonNode *array, JsonNode *element)
-{
-	assert(array->tag == JSON_ARRAY);
-	assert(element->parent == NULL);
-	
-	append_node(array, element);
-}
-
-void json_prepend_element(JsonNode *array, JsonNode *element)
-{
-	assert(array->tag == JSON_ARRAY);
-	assert(element->parent == NULL);
-	
-	prepend_node(array, element);
-}
-
-void json_append_member(JsonNode *object, const char *key, JsonNode *value)
-{
-	assert(object->tag == JSON_OBJECT);
-	assert(value->parent == NULL);
-	
-	append_member(object, json_strdup(key), value);
-}
-
-void json_prepend_member(JsonNode *object, const char *key, JsonNode *value)
-{
-	assert(object->tag == JSON_OBJECT);
-	assert(value->parent == NULL);
-	
-	value->key = json_strdup(key);
-	prepend_node(object, value);
-}
-
-void json_remove_from_parent(JsonNode *node)
-{
-	JsonNode *parent = node->parent;
-	
-	if (parent != NULL) {
-		if (node->prev != NULL)
-			node->prev->next = node->next;
-		else
-			parent->children.head = node->next;
-		if (node->next != NULL)
-			node->next->prev = node->prev;
-		else
-			parent->children.tail = node->prev;
-		
-		free(node->key);
-		
-		node->parent = NULL;
-		node->prev = node->next = NULL;
-		node->key = NULL;
-	}
-}
-
-static bool parse_value(const char **sp, JsonNode **out)
-{
-	const char *s = *sp;
-	
-	switch (*s) {
-		case 'n':
-			if (expect_literal(&s, "null")) {
-				if (out)
-					*out = json_mknull();
-				*sp = s;
-				return true;
-			}
-			return false;
-		
-		case 'f':
-			if (expect_literal(&s, "false")) {
-				if (out)
-					*out = json_mkbool(false);
-				*sp = s;
-				return true;
-			}
-			return false;
-		
-		case 't':
-			if (expect_literal(&s, "true")) {
-				if (out)
-					*out = json_mkbool(true);
-				*sp = s;
-				return true;
-			}
-			return false;
-		
-		case '"': {
-			char *str;
-			if (parse_string(&s, out ? &str : NULL)) {
-				if (out)
-					*out = mkstring(str);
-				*sp = s;
-				return true;
-			}
-			return false;
-		}
-		
-		case '[':
-			if (parse_array(&s, out)) {
-				*sp = s;
-				return true;
-			}
-			return false;
-		
-		case '{':
-			if (parse_object(&s, out)) {
-				*sp = s;
-				return true;
-			}
-			return false;
-		
-		default: {
-			double num;
-			if (parse_number(&s, out ? &num : NULL)) {
-				if (out)
-					*out = json_mknumber(num);
-				*sp = s;
-				return true;
-			}
-			return false;
-		}
-	}
-}
-
-static bool parse_array(const char **sp, JsonNode **out)
-{
-	const char *s = *sp;
-	JsonNode *ret = out ? json_mkarray() : NULL;
-	JsonNode *element;
-	
-	if (*s++ != '[')
-		goto failure;
-	skip_space(&s);
-	
-	if (*s == ']') {
-		s++;
-		goto success;
-	}
-	
-	for (;;) {
-		if (!parse_value(&s, out ? &element : NULL))
-			goto failure;
-		skip_space(&s);
-		
-		if (out)
-			json_append_element(ret, element);
-		
-		if (*s == ']') {
-			s++;
-			goto success;
-		}
-		
-		if (*s++ != ',')
-			goto failure;
-		skip_space(&s);
-	}
-	
-success:
-	*sp = s;
-	if (out)
-		*out = ret;
-	return true;
-
-failure:
-	json_delete(ret);
-	return false;
-}
-
-static bool parse_object(const char **sp, JsonNode **out)
-{
-	const char *s = *sp;
-	JsonNode *ret = out ? json_mkobject() : NULL;
-	char *key;
-	JsonNode *value;
-	
-	if (*s++ != '{')
-		goto failure;
-	skip_space(&s);
-	
-	if (*s == '}') {
-		s++;
-		goto success;
-	}
-	
-	for (;;) {
-		if (!parse_string(&s, out ? &key : NULL))
-			goto failure;
-		skip_space(&s);
-		
-		if (*s++ != ':')
-			goto failure_free_key;
-		skip_space(&s);
-		
-		if (!parse_value(&s, out ? &value : NULL))
-			goto failure_free_key;
-		skip_space(&s);
-		
-		if (out)
-			append_member(ret, key, value);
-		
-		if (*s == '}') {
-			s++;
-			goto success;
-		}
-		
-		if (*s++ != ',')
-			goto failure;
-		skip_space(&s);
-	}
-	
-success:
-	*sp = s;
-	if (out)
-		*out = ret;
-	return true;
-
-failure_free_key:
-	if (out)
-		free(key);
-failure:
-	json_delete(ret);
-	return false;
-}
-
-bool parse_string(const char **sp, char **out)
-{
-	const char *s = *sp;
-	SB sb;
-	char throwaway_buffer[4];
-		/* enough space for a UTF-8 character */
-	char *b;
-	
-	if (*s++ != '"')
-		return false;
-	
-	if (out) {
-		sb_init(&sb);
-		sb_need(&sb, 4);
-		b = sb.cur;
-	} else {
-		b = throwaway_buffer;
-	}
-	
-	while (*s != '"') {
-		unsigned char c = *s++;
-		
-		/* Parse next character, and write it to b. */
-		if (c == '\\') {
-			c = *s++;
-			switch (c) {
-				case '"':
-				case '\\':
-				case '/':
-					*b++ = c;
-					break;
-				case 'b':
-					*b++ = '\b';
-					break;
-				case 'f':
-					*b++ = '\f';
-					break;
-				case 'n':
-					*b++ = '\n';
-					break;
-				case 'r':
-					*b++ = '\r';
-					break;
-				case 't':
-					*b++ = '\t';
-					break;
-				case 'u':
-				{
-					uint16_t uc, lc;
-					uchar_t unicode;
-					
-					if (!parse_hex16(&s, &uc))
-						goto failed;
-					
-					if (uc >= 0xD800 && uc <= 0xDFFF) {
-						/* Handle UTF-16 surrogate pair. */
-						if (*s++ != '\\' || *s++ != 'u' || !parse_hex16(&s, &lc))
-							goto failed; /* Incomplete surrogate pair. */
-						if (!from_surrogate_pair(uc, lc, &unicode))
-							goto failed; /* Invalid surrogate pair. */
-					} else if (uc == 0) {
-						/* Disallow "\u0000". */
-						goto failed;
-					} else {
-						unicode = uc;
-					}
-					
-					b += utf8_write_char(unicode, b);
-					break;
-				}
-				default:
-					/* Invalid escape */
-					goto failed;
-			}
-		} else if (c <= 0x1F) {
-			/* Control characters are not allowed in string literals. */
-			goto failed;
-		} else {
-			/* Validate and echo a UTF-8 character. */
-			int len;
-			
-			s--;
-			len = utf8_validate_cz(s);
-			if (len == 0)
-				goto failed; /* Invalid UTF-8 character. */
-			
-			while (len--)
-				*b++ = *s++;
-		}
-		
-		/*
-		 * Update sb to know about the new bytes,
-		 * and set up b to write another character.
-		 */
-		if (out) {
-			sb.cur = b;
-			sb_need(&sb, 4);
-			b = sb.cur;
-		} else {
-			b = throwaway_buffer;
-		}
-	}
-	s++;
-	
-	if (out)
-		*out = sb_finish(&sb);
-	*sp = s;
-	return true;
-
-failed:
-	if (out)
-		sb_free(&sb);
-	return false;
-}
-
-/*
- * The JSON spec says that a number shall follow this precise pattern
- * (spaces and quotes added for readability):
- *	 '-'? (0 | [1-9][0-9]*) ('.' [0-9]+)? ([Ee] [+-]? [0-9]+)?
- *
- * However, some JSON parsers are more liberal.  For instance, PHP accepts
- * '.5' and '1.'.  JSON.parse accepts '+3'.
- *
- * This function takes the strict approach.
- */
-bool parse_number(const char **sp, double *out)
-{
-	const char *s = *sp;
-
-	/* '-'? */
-	if (*s == '-')
-		s++;
-
-	/* (0 | [1-9][0-9]*) */
-	if (*s == '0') {
-		s++;
-	} else {
-		if (!is_digit(*s))
-			return false;
-		do {
-			s++;
-		} while (is_digit(*s));
-	}
-
-	/* ('.' [0-9]+)? */
-	if (*s == '.') {
-		s++;
-		if (!is_digit(*s))
-			return false;
-		do {
-			s++;
-		} while (is_digit(*s));
-	}
-
-	/* ([Ee] [+-]? [0-9]+)? */
-	if (*s == 'E' || *s == 'e') {
-		s++;
-		if (*s == '+' || *s == '-')
-			s++;
-		if (!is_digit(*s))
-			return false;
-		do {
-			s++;
-		} while (is_digit(*s));
-	}
-
-	if (out)
-		*out = strtod(*sp, NULL);
-
-	*sp = s;
-	return true;
-}
-
-static void skip_space(const char **sp)
-{
-	const char *s = *sp;
-	while (is_space(*s))
-		s++;
-	*sp = s;
-}
-
-static void emit_value(SB *out, const JsonNode *node)
-{
-	assert(tag_is_valid(node->tag));
-	switch (node->tag) {
-		case JSON_NULL:
-			sb_puts(out, "null");
-			break;
-		case JSON_BOOL:
-			sb_puts(out, node->bool_ ? "true" : "false");
-			break;
-		case JSON_STRING:
-			emit_string(out, node->string_);
-			break;
-		case JSON_NUMBER:
-			emit_number(out, node->number_);
-			break;
-		case JSON_ARRAY:
-			emit_array(out, node);
-			break;
-		case JSON_OBJECT:
-			emit_object(out, node);
-			break;
-		default:
-			assert(false);
-	}
-}
-
-void emit_value_indented(SB *out, const JsonNode *node, const char *space, int indent_level)
-{
-	assert(tag_is_valid(node->tag));
-	switch (node->tag) {
-		case JSON_NULL:
-			sb_puts(out, "null");
-			break;
-		case JSON_BOOL:
-			sb_puts(out, node->bool_ ? "true" : "false");
-			break;
-		case JSON_STRING:
-			emit_string(out, node->string_);
-			break;
-		case JSON_NUMBER:
-			emit_number(out, node->number_);
-			break;
-		case JSON_ARRAY:
-			emit_array_indented(out, node, space, indent_level);
-			break;
-		case JSON_OBJECT:
-			emit_object_indented(out, node, space, indent_level);
-			break;
-		default:
-			assert(false);
-	}
-}
-
-static void emit_array(SB *out, const JsonNode *array)
-{
-	const JsonNode *element;
-	
-	sb_putc(out, '[');
-	json_foreach(element, array) {
-		emit_value(out, element);
-		if (element->next != NULL)
-			sb_putc(out, ',');
-	}
-	sb_putc(out, ']');
-}
-
-static void emit_array_indented(SB *out, const JsonNode *array, const char *space, int indent_level)
-{
-	const JsonNode *element = array->children.head;
-	int i;
-	
-	if (element == NULL) {
-		sb_puts(out, "[]");
-		return;
-	}
-	
-	sb_puts(out, "[\n");
-	while (element != NULL) {
-		for (i = 0; i < indent_level + 1; i++)
-			sb_puts(out, space);
-		emit_value_indented(out, element, space, indent_level + 1);
-		
-		element = element->next;
-		sb_puts(out, element != NULL ? ",\n" : "\n");
-	}
-	for (i = 0; i < indent_level; i++)
-		sb_puts(out, space);
-	sb_putc(out, ']');
-}
-
-static void emit_object(SB *out, const JsonNode *object)
-{
-	const JsonNode *member;
-	
-	sb_putc(out, '{');
-	json_foreach(member, object) {
-		emit_string(out, member->key);
-		sb_putc(out, ':');
-		emit_value(out, member);
-		if (member->next != NULL)
-			sb_putc(out, ',');
-	}
-	sb_putc(out, '}');
-}
-
-static void emit_object_indented(SB *out, const JsonNode *object, const char *space, int indent_level)
-{
-	const JsonNode *member = object->children.head;
-	int i;
-	
-	if (member == NULL) {
-		sb_puts(out, "{}");
-		return;
-	}
-	
-	sb_puts(out, "{\n");
-	while (member != NULL) {
-		for (i = 0; i < indent_level + 1; i++)
-			sb_puts(out, space);
-		emit_string(out, member->key);
-		sb_puts(out, ": ");
-		emit_value_indented(out, member, space, indent_level + 1);
-		
-		member = member->next;
-		sb_puts(out, member != NULL ? ",\n" : "\n");
-	}
-	for (i = 0; i < indent_level; i++)
-		sb_puts(out, space);
-	sb_putc(out, '}');
-}
-
-void emit_string(SB *out, const char *str)
-{
-	bool escape_unicode = false;
-	const char *s = str;
-	char *b;
-	
-	assert(utf8_validate(str));
-	
-	/*
-	 * 14 bytes is enough space to write up to two
-	 * \uXXXX escapes and two quotation marks.
-	 */
-	sb_need(out, 14);
-	b = out->cur;
-	
-	*b++ = '"';
-	while (*s != 0) {
-		unsigned char c = *s++;
-		
-		/* Encode the next character, and write it to b. */
-		switch (c) {
-			case '"':
-				*b++ = '\\';
-				*b++ = '"';
-				break;
-			case '\\':
-				*b++ = '\\';
-				*b++ = '\\';
-				break;
-			case '\b':
-				*b++ = '\\';
-				*b++ = 'b';
-				break;
-			case '\f':
-				*b++ = '\\';
-				*b++ = 'f';
-				break;
-			case '\n':
-				*b++ = '\\';
-				*b++ = 'n';
-				break;
-			case '\r':
-				*b++ = '\\';
-				*b++ = 'r';
-				break;
-			case '\t':
-				*b++ = '\\';
-				*b++ = 't';
-				break;
-			default: {
-				int len;
-				
-				s--;
-				len = utf8_validate_cz(s);
-				
-				if (len == 0) {
-					/*
-					 * Handle invalid UTF-8 character gracefully in production
-					 * by writing a replacement character (U+FFFD)
-					 * and skipping a single byte.
-					 *
-					 * This should never happen when assertions are enabled
-					 * due to the assertion at the beginning of this function.
-					 */
-					assert(false);
-					if (escape_unicode) {
-						strcpy(b, "\\uFFFD");
-						b += 6;
-					} else {
-						*b++ = 0xEF;
-						*b++ = 0xBF;
-						*b++ = 0xBD;
-					}
-					s++;
-				} else if (c < 0x1F || (c >= 0x80 && escape_unicode)) {
-					/* Encode using \u.... */
-					uint32_t unicode;
-					
-					s += utf8_read_char(s, &unicode);
-					
-					if (unicode <= 0xFFFF) {
-						*b++ = '\\';
-						*b++ = 'u';
-						b += write_hex16(b, unicode);
-					} else {
-						/* Produce a surrogate pair. */
-						uint16_t uc, lc;
-						assert(unicode <= 0x10FFFF);
-						to_surrogate_pair(unicode, &uc, &lc);
-						*b++ = '\\';
-						*b++ = 'u';
-						b += write_hex16(b, uc);
-						*b++ = '\\';
-						*b++ = 'u';
-						b += write_hex16(b, lc);
-					}
-				} else {
-					/* Write the character directly. */
-					while (len--)
-						*b++ = *s++;
-				}
-				
-				break;
-			}
-		}
-	
-		/*
-		 * Update *out to know about the new bytes,
-		 * and set up b to write another encoded character.
-		 */
-		out->cur = b;
-		sb_need(out, 14);
-		b = out->cur;
-	}
-	*b++ = '"';
-	
-	out->cur = b;
-}
-
-static void emit_number(SB *out, double num)
-{
-	/*
-	 * This isn't exactly how JavaScript renders numbers,
-	 * but it should produce valid JSON for reasonable numbers
-	 * preserve precision well enough, and avoid some oddities
-	 * like 0.3 -> 0.299999999999999988898 .
-	 */
-	char buf[64];
-	sprintf(buf, "%.16g", num);
-	
-	if (number_is_valid(buf))
-		sb_puts(out, buf);
-	else
-		sb_puts(out, "null");
-}
-
-static bool tag_is_valid(unsigned int tag)
-{
-	return (/* tag >= JSON_NULL && */ tag <= JSON_OBJECT);
-}
-
-static bool number_is_valid(const char *num)
-{
-	return (parse_number(&num, NULL) && *num == '\0');
-}
-
-static bool expect_literal(const char **sp, const char *str)
-{
-	const char *s = *sp;
-	
-	while (*str != '\0')
-		if (*s++ != *str++)
-			return false;
-	
-	*sp = s;
-	return true;
-}
-
-/*
- * Parses exactly 4 hex characters (capital or lowercase).
- * Fails if any input chars are not [0-9A-Fa-f].
- */
-static bool parse_hex16(const char **sp, uint16_t *out)
-{
-	const char *s = *sp;
-	uint16_t ret = 0;
-	uint16_t i;
-	uint16_t tmp;
-	char c;
-
-	for (i = 0; i < 4; i++) {
-		c = *s++;
-		if (c >= '0' && c <= '9')
-			tmp = c - '0';
-		else if (c >= 'A' && c <= 'F')
-			tmp = c - 'A' + 10;
-		else if (c >= 'a' && c <= 'f')
-			tmp = c - 'a' + 10;
-		else
-			return false;
-
-		ret <<= 4;
-		ret += tmp;
-	}
-	
-	if (out)
-		*out = ret;
-	*sp = s;
-	return true;
-}
-
-/*
- * Encodes a 16-bit number into hexadecimal,
- * writing exactly 4 hex chars.
- */
-static int write_hex16(char *out, uint16_t val)
-{
-	const char *hex = "0123456789ABCDEF";
-	
-	*out++ = hex[(val >> 12) & 0xF];
-	*out++ = hex[(val >> 8)  & 0xF];
-	*out++ = hex[(val >> 4)  & 0xF];
-	*out++ = hex[ val        & 0xF];
-	
-	return 4;
-}
-
-bool json_check(const JsonNode *node, char errmsg[256])
-{
-	#define problem(...) do { \
-			if (errmsg != NULL) \
-				snprintf(errmsg, 256, __VA_ARGS__); \
-			return false; \
-		} while (0)
-	
-	if (node->key != NULL && !utf8_validate(node->key))
-		problem("key contains invalid UTF-8");
-	
-	if (!tag_is_valid(node->tag))
-		problem("tag is invalid (%u)", node->tag);
-	
-	if (node->tag == JSON_BOOL) {
-		if (node->bool_ != false && node->bool_ != true)
-			problem("bool_ is neither false (%d) nor true (%d)", (int)false, (int)true);
-	} else if (node->tag == JSON_STRING) {
-		if (node->string_ == NULL)
-			problem("string_ is NULL");
-		if (!utf8_validate(node->string_))
-			problem("string_ contains invalid UTF-8");
-	} else if (node->tag == JSON_ARRAY || node->tag == JSON_OBJECT) {
-		JsonNode *head = node->children.head;
-		JsonNode *tail = node->children.tail;
-		
-		if (head == NULL || tail == NULL) {
-			if (head != NULL)
-				problem("tail is NULL, but head is not");
-			if (tail != NULL)
-				problem("head is NULL, but tail is not");
-		} else {
-			JsonNode *child;
-			JsonNode *last = NULL;
-			
-			if (head->prev != NULL)
-				problem("First child's prev pointer is not NULL");
-			
-			for (child = head; child != NULL; last = child, child = child->next) {
-				if (child == node)
-					problem("node is its own child");
-				if (child->next == child)
-					problem("child->next == child (cycle)");
-				if (child->next == head)
-					problem("child->next == head (cycle)");
-				
-				if (child->parent != node)
-					problem("child does not point back to parent");
-				if (child->next != NULL && child->next->prev != child)
-					problem("child->next does not point back to child");
-				
-				if (node->tag == JSON_ARRAY && child->key != NULL)
-					problem("Array element's key is not NULL");
-				if (node->tag == JSON_OBJECT && child->key == NULL)
-					problem("Object member's key is NULL");
-				
-				if (!json_check(child, errmsg))
-					return false;
-			}
-			
-			if (last != tail)
-				problem("tail does not match pointer found by starting at head and following next links");
-		}
-	}
-	
-	return true;
-	
-	#undef problem
-}
diff --git a/phonelibs/json/src/json.h b/phonelibs/json/src/json.h
deleted file mode 100644
index ed5255e682dae1..00000000000000
--- a/phonelibs/json/src/json.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
-  Copyright (C) 2011 Joseph A. Adams (joeyadams3.14159@gmail.com)
-  All rights reserved.
-
-  Permission is hereby granted, free of charge, to any person obtaining a copy
-  of this software and associated documentation files (the "Software"), to deal
-  in the Software without restriction, including without limitation the rights
-  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-  copies of the Software, and to permit persons to whom the Software is
-  furnished to do so, subject to the following conditions:
-
-  The above copyright notice and this permission notice shall be included in
-  all copies or substantial portions of the Software.
-
-  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-  THE SOFTWARE.
-*/
-
-#ifndef CCAN_JSON_H
-#define CCAN_JSON_H
-
-#include <stdbool.h>
-#include <stddef.h>
-
-typedef enum {
-	JSON_NULL,
-	JSON_BOOL,
-	JSON_STRING,
-	JSON_NUMBER,
-	JSON_ARRAY,
-	JSON_OBJECT,
-} JsonTag;
-
-typedef struct JsonNode JsonNode;
-
-struct JsonNode
-{
-	/* only if parent is an object or array (NULL otherwise) */
-	JsonNode *parent;
-	JsonNode *prev, *next;
-	
-	/* only if parent is an object (NULL otherwise) */
-	char *key; /* Must be valid UTF-8. */
-	
-	JsonTag tag;
-	union {
-		/* JSON_BOOL */
-		bool bool_;
-		
-		/* JSON_STRING */
-		char *string_; /* Must be valid UTF-8. */
-		
-		/* JSON_NUMBER */
-		double number_;
-		
-		/* JSON_ARRAY */
-		/* JSON_OBJECT */
-		struct {
-			JsonNode *head, *tail;
-		} children;
-	};
-};
-
-/*** Encoding, decoding, and validation ***/
-
-JsonNode   *json_decode         (const char *json);
-char       *json_encode         (const JsonNode *node);
-char       *json_encode_string  (const char *str);
-char       *json_stringify      (const JsonNode *node, const char *space);
-void        json_delete         (JsonNode *node);
-
-bool        json_validate       (const char *json);
-
-/*** Lookup and traversal ***/
-
-JsonNode   *json_find_element   (JsonNode *array, int index);
-JsonNode   *json_find_member    (JsonNode *object, const char *key);
-
-JsonNode   *json_first_child    (const JsonNode *node);
-
-#define json_foreach(i, object_or_array)            \
-	for ((i) = json_first_child(object_or_array);   \
-		 (i) != NULL;                               \
-		 (i) = (i)->next)
-
-/*** Construction and manipulation ***/
-
-JsonNode *json_mknull(void);
-JsonNode *json_mkbool(bool b);
-JsonNode *json_mkstring(const char *s);
-JsonNode *json_mknumber(double n);
-JsonNode *json_mkarray(void);
-JsonNode *json_mkobject(void);
-
-void json_append_element(JsonNode *array, JsonNode *element);
-void json_prepend_element(JsonNode *array, JsonNode *element);
-void json_append_member(JsonNode *object, const char *key, JsonNode *value);
-void json_prepend_member(JsonNode *object, const char *key, JsonNode *value);
-
-void json_remove_from_parent(JsonNode *node);
-
-/*** Debugging ***/
-
-/*
- * Look for structure and encoding problems in a JsonNode or its descendents.
- *
- * If a problem is detected, return false, writing a description of the problem
- * to errmsg (unless errmsg is NULL).
- */
-bool json_check(const JsonNode *node, char errmsg[256]);
-
-#endif
diff --git a/phonelibs/nanovg/stb_truetype.h b/phonelibs/nanovg/stb_truetype.h
deleted file mode 100644
index bfb1841f6989ce..00000000000000
--- a/phonelibs/nanovg/stb_truetype.h
+++ /dev/null
@@ -1,3249 +0,0 @@
-// stb_truetype.h - v1.09 - public domain
-// authored from 2009-2015 by Sean Barrett / RAD Game Tools
-//
-//   This library processes TrueType files:
-//        parse files
-//        extract glyph metrics
-//        extract glyph shapes
-//        render glyphs to one-channel bitmaps with antialiasing (box filter)
-//
-//   Todo:
-//        non-MS cmaps
-//        crashproof on bad data
-//        hinting? (no longer patented)
-//        cleartype-style AA?
-//        optimize: use simple memory allocator for intermediates
-//        optimize: build edge-list directly from curves
-//        optimize: rasterize directly from curves?
-//
-// ADDITIONAL CONTRIBUTORS
-//
-//   Mikko Mononen: compound shape support, more cmap formats
-//   Tor Andersson: kerning, subpixel rendering
-//
-//   Bug/warning reports/fixes:
-//       "Zer" on mollyrocket (with fix)
-//       Cass Everitt
-//       stoiko (Haemimont Games)
-//       Brian Hook 
-//       Walter van Niftrik
-//       David Gow
-//       David Given
-//       Ivan-Assen Ivanov
-//       Anthony Pesch
-//       Johan Duparc
-//       Hou Qiming
-//       Fabian "ryg" Giesen
-//       Martins Mozeiko
-//       Cap Petschulat
-//       Omar Cornut
-//       github:aloucks
-//       Peter LaValle
-//       Sergey Popov
-//       Giumo X. Clanjor
-//       Higor Euripedes
-//       Thomas Fields
-//       Derek Vinyard
-//
-//   Misc other:
-//       Ryan Gordon
-//
-// VERSION HISTORY
-//
-//   1.09 (2016-01-16) warning fix; avoid crash on outofmem; use allocation userdata properly
-//   1.08 (2015-09-13) document stbtt_Rasterize(); fixes for vertical & horizontal edges
-//   1.07 (2015-08-01) allow PackFontRanges to accept arrays of sparse codepoints;
-//                     variant PackFontRanges to pack and render in separate phases;
-//                     fix stbtt_GetFontOFfsetForIndex (never worked for non-0 input?);
-//                     fixed an assert() bug in the new rasterizer
-//                     replace assert() with STBTT_assert() in new rasterizer
-//   1.06 (2015-07-14) performance improvements (~35% faster on x86 and x64 on test machine)
-//                     also more precise AA rasterizer, except if shapes overlap
-//                     remove need for STBTT_sort
-//   1.05 (2015-04-15) fix misplaced definitions for STBTT_STATIC
-//   1.04 (2015-04-15) typo in example
-//   1.03 (2015-04-12) STBTT_STATIC, fix memory leak in new packing, various fixes
-//
-//   Full history can be found at the end of this file.
-//
-// LICENSE
-//
-//   This software is in the public domain. Where that dedication is not
-//   recognized, you are granted a perpetual, irrevocable license to copy,
-//   distribute, and modify this file as you see fit.
-//
-// USAGE
-//
-//   Include this file in whatever places neeed to refer to it. In ONE C/C++
-//   file, write:
-//      #define STB_TRUETYPE_IMPLEMENTATION
-//   before the #include of this file. This expands out the actual
-//   implementation into that C/C++ file.
-//
-//   To make the implementation private to the file that generates the implementation,
-//      #define STBTT_STATIC
-//
-//   Simple 3D API (don't ship this, but it's fine for tools and quick start)
-//           stbtt_BakeFontBitmap()               -- bake a font to a bitmap for use as texture
-//           stbtt_GetBakedQuad()                 -- compute quad to draw for a given char
-//
-//   Improved 3D API (more shippable):
-//           #include "stb_rect_pack.h"           -- optional, but you really want it
-//           stbtt_PackBegin()
-//           stbtt_PackSetOversample()            -- for improved quality on small fonts
-//           stbtt_PackFontRanges()               -- pack and renders
-//           stbtt_PackEnd()
-//           stbtt_GetPackedQuad()
-//
-//   "Load" a font file from a memory buffer (you have to keep the buffer loaded)
-//           stbtt_InitFont()
-//           stbtt_GetFontOffsetForIndex()        -- use for TTC font collections
-//
-//   Render a unicode codepoint to a bitmap
-//           stbtt_GetCodepointBitmap()           -- allocates and returns a bitmap
-//           stbtt_MakeCodepointBitmap()          -- renders into bitmap you provide
-//           stbtt_GetCodepointBitmapBox()        -- how big the bitmap must be
-//
-//   Character advance/positioning
-//           stbtt_GetCodepointHMetrics()
-//           stbtt_GetFontVMetrics()
-//           stbtt_GetCodepointKernAdvance()
-//
-//   Starting with version 1.06, the rasterizer was replaced with a new,
-//   faster and generally-more-precise rasterizer. The new rasterizer more
-//   accurately measures pixel coverage for anti-aliasing, except in the case
-//   where multiple shapes overlap, in which case it overestimates the AA pixel
-//   coverage. Thus, anti-aliasing of intersecting shapes may look wrong. If
-//   this turns out to be a problem, you can re-enable the old rasterizer with
-//        #define STBTT_RASTERIZER_VERSION 1
-//   which will incur about a 15% speed hit.
-//
-// ADDITIONAL DOCUMENTATION
-//
-//   Immediately after this block comment are a series of sample programs.
-//
-//   After the sample programs is the "header file" section. This section
-//   includes documentation for each API function.
-//
-//   Some important concepts to understand to use this library:
-//
-//      Codepoint
-//         Characters are defined by unicode codepoints, e.g. 65 is
-//         uppercase A, 231 is lowercase c with a cedilla, 0x7e30 is
-//         the hiragana for "ma".
-//
-//      Glyph
-//         A visual character shape (every codepoint is rendered as
-//         some glyph)
-//
-//      Glyph index
-//         A font-specific integer ID representing a glyph
-//
-//      Baseline
-//         Glyph shapes are defined relative to a baseline, which is the
-//         bottom of uppercase characters. Characters extend both above
-//         and below the baseline.
-//
-//      Current Point
-//         As you draw text to the screen, you keep track of a "current point"
-//         which is the origin of each character. The current point's vertical
-//         position is the baseline. Even "baked fonts" use this model.
-//
-//      Vertical Font Metrics
-//         The vertical qualities of the font, used to vertically position
-//         and space the characters. See docs for stbtt_GetFontVMetrics.
-//
-//      Font Size in Pixels or Points
-//         The preferred interface for specifying font sizes in stb_truetype
-//         is to specify how tall the font's vertical extent should be in pixels.
-//         If that sounds good enough, skip the next paragraph.
-//
-//         Most font APIs instead use "points", which are a common typographic
-//         measurement for describing font size, defined as 72 points per inch.
-//         stb_truetype provides a point API for compatibility. However, true
-//         "per inch" conventions don't make much sense on computer displays
-//         since they different monitors have different number of pixels per
-//         inch. For example, Windows traditionally uses a convention that
-//         there are 96 pixels per inch, thus making 'inch' measurements have
-//         nothing to do with inches, and thus effectively defining a point to
-//         be 1.333 pixels. Additionally, the TrueType font data provides
-//         an explicit scale factor to scale a given font's glyphs to points,
-//         but the author has observed that this scale factor is often wrong
-//         for non-commercial fonts, thus making fonts scaled in points
-//         according to the TrueType spec incoherently sized in practice.
-//
-// ADVANCED USAGE
-//
-//   Quality:
-//
-//    - Use the functions with Subpixel at the end to allow your characters
-//      to have subpixel positioning. Since the font is anti-aliased, not
-//      hinted, this is very import for quality. (This is not possible with
-//      baked fonts.)
-//
-//    - Kerning is now supported, and if you're supporting subpixel rendering
-//      then kerning is worth using to give your text a polished look.
-//
-//   Performance:
-//
-//    - Convert Unicode codepoints to glyph indexes and operate on the glyphs;
-//      if you don't do this, stb_truetype is forced to do the conversion on
-//      every call.
-//
-//    - There are a lot of memory allocations. We should modify it to take
-//      a temp buffer and allocate from the temp buffer (without freeing),
-//      should help performance a lot.
-//
-// NOTES
-//
-//   The system uses the raw data found in the .ttf file without changing it
-//   and without building auxiliary data structures. This is a bit inefficient
-//   on little-endian systems (the data is big-endian), but assuming you're
-//   caching the bitmaps or glyph shapes this shouldn't be a big deal.
-//
-//   It appears to be very hard to programmatically determine what font a
-//   given file is in a general way. I provide an API for this, but I don't
-//   recommend it.
-//
-//
-// SOURCE STATISTICS (based on v0.6c, 2050 LOC)
-//
-//   Documentation & header file        520 LOC  \___ 660 LOC documentation
-//   Sample code                        140 LOC  /
-//   Truetype parsing                   620 LOC  ---- 620 LOC TrueType
-//   Software rasterization             240 LOC  \                           .
-//   Curve tesselation                  120 LOC   \__ 550 LOC Bitmap creation
-//   Bitmap management                  100 LOC   /
-//   Baked bitmap interface              70 LOC  /
-//   Font name matching & access        150 LOC  ---- 150 
-//   C runtime library abstraction       60 LOC  ----  60
-//
-//
-// PERFORMANCE MEASUREMENTS FOR 1.06:
-//
-//                      32-bit     64-bit
-//   Previous release:  8.83 s     7.68 s
-//   Pool allocations:  7.72 s     6.34 s
-//   Inline sort     :  6.54 s     5.65 s
-//   New rasterizer  :  5.63 s     5.00 s
-
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-////
-////  SAMPLE PROGRAMS
-////
-//
-//  Incomplete text-in-3d-api example, which draws quads properly aligned to be lossless
-//
-#if 0
-#define STB_TRUETYPE_IMPLEMENTATION  // force following include to generate implementation
-#include "stb_truetype.h"
-
-unsigned char ttf_buffer[1<<20];
-unsigned char temp_bitmap[512*512];
-
-stbtt_bakedchar cdata[96]; // ASCII 32..126 is 95 glyphs
-GLuint ftex;
-
-void my_stbtt_initfont(void)
-{
-   fread(ttf_buffer, 1, 1<<20, fopen("c:/windows/fonts/times.ttf", "rb"));
-   stbtt_BakeFontBitmap(ttf_buffer,0, 32.0, temp_bitmap,512,512, 32,96, cdata); // no guarantee this fits!
-   // can free ttf_buffer at this point
-   glGenTextures(1, &ftex);
-   glBindTexture(GL_TEXTURE_2D, ftex);
-   glTexImage2D(GL_TEXTURE_2D, 0, GL_ALPHA, 512,512, 0, GL_ALPHA, GL_UNSIGNED_BYTE, temp_bitmap);
-   // can free temp_bitmap at this point
-   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-}
-
-void my_stbtt_print(float x, float y, char *text)
-{
-   // assume orthographic projection with units = screen pixels, origin at top left
-   glEnable(GL_TEXTURE_2D);
-   glBindTexture(GL_TEXTURE_2D, ftex);
-   glBegin(GL_QUADS);
-   while (*text) {
-      if (*text >= 32 && *text < 128) {
-         stbtt_aligned_quad q;
-         stbtt_GetBakedQuad(cdata, 512,512, *text-32, &x,&y,&q,1);//1=opengl & d3d10+,0=d3d9
-         glTexCoord2f(q.s0,q.t1); glVertex2f(q.x0,q.y0);
-         glTexCoord2f(q.s1,q.t1); glVertex2f(q.x1,q.y0);
-         glTexCoord2f(q.s1,q.t0); glVertex2f(q.x1,q.y1);
-         glTexCoord2f(q.s0,q.t0); glVertex2f(q.x0,q.y1);
-      }
-      ++text;
-   }
-   glEnd();
-}
-#endif
-//
-//
-//////////////////////////////////////////////////////////////////////////////
-//
-// Complete program (this compiles): get a single bitmap, print as ASCII art
-//
-#if 0
-#include <stdio.h>
-#define STB_TRUETYPE_IMPLEMENTATION  // force following include to generate implementation
-#include "stb_truetype.h"
-
-char ttf_buffer[1<<25];
-
-int main(int argc, char **argv)
-{
-   stbtt_fontinfo font;
-   unsigned char *bitmap;
-   int w,h,i,j,c = (argc > 1 ? atoi(argv[1]) : 'a'), s = (argc > 2 ? atoi(argv[2]) : 20);
-
-   fread(ttf_buffer, 1, 1<<25, fopen(argc > 3 ? argv[3] : "c:/windows/fonts/arialbd.ttf", "rb"));
-
-   stbtt_InitFont(&font, ttf_buffer, stbtt_GetFontOffsetForIndex(ttf_buffer,0));
-   bitmap = stbtt_GetCodepointBitmap(&font, 0,stbtt_ScaleForPixelHeight(&font, s), c, &w, &h, 0,0);
-
-   for (j=0; j < h; ++j) {
-      for (i=0; i < w; ++i)
-         putchar(" .:ioVM@"[bitmap[j*w+i]>>5]);
-      putchar('\n');
-   }
-   return 0;
-}
-#endif 
-//
-// Output:
-//
-//     .ii.
-//    @@@@@@.
-//   V@Mio@@o
-//   :i.  V@V
-//     :oM@@M
-//   :@@@MM@M
-//   @@o  o@M
-//  :@@.  M@M
-//   @@@o@@@@
-//   :M@@V:@@.
-//  
-//////////////////////////////////////////////////////////////////////////////
-// 
-// Complete program: print "Hello World!" banner, with bugs
-//
-#if 0
-char buffer[24<<20];
-unsigned char screen[20][79];
-
-int main(int arg, char **argv)
-{
-   stbtt_fontinfo font;
-   int i,j,ascent,baseline,ch=0;
-   float scale, xpos=2; // leave a little padding in case the character extends left
-   char *text = "Heljo World!"; // intentionally misspelled to show 'lj' brokenness
-
-   fread(buffer, 1, 1000000, fopen("c:/windows/fonts/arialbd.ttf", "rb"));
-   stbtt_InitFont(&font, buffer, 0);
-
-   scale = stbtt_ScaleForPixelHeight(&font, 15);
-   stbtt_GetFontVMetrics(&font, &ascent,0,0);
-   baseline = (int) (ascent*scale);
-
-   while (text[ch]) {
-      int advance,lsb,x0,y0,x1,y1;
-      float x_shift = xpos - (float) floor(xpos);
-      stbtt_GetCodepointHMetrics(&font, text[ch], &advance, &lsb);
-      stbtt_GetCodepointBitmapBoxSubpixel(&font, text[ch], scale,scale,x_shift,0, &x0,&y0,&x1,&y1);
-      stbtt_MakeCodepointBitmapSubpixel(&font, &screen[baseline + y0][(int) xpos + x0], x1-x0,y1-y0, 79, scale,scale,x_shift,0, text[ch]);
-      // note that this stomps the old data, so where character boxes overlap (e.g. 'lj') it's wrong
-      // because this API is really for baking character bitmaps into textures. if you want to render
-      // a sequence of characters, you really need to render each bitmap to a temp buffer, then
-      // "alpha blend" that into the working buffer
-      xpos += (advance * scale);
-      if (text[ch+1])
-         xpos += scale*stbtt_GetCodepointKernAdvance(&font, text[ch],text[ch+1]);
-      ++ch;
-   }
-
-   for (j=0; j < 20; ++j) {
-      for (i=0; i < 78; ++i)
-         putchar(" .:ioVM@"[screen[j][i]>>5]);
-      putchar('\n');
-   }
-
-   return 0;
-}
-#endif
-
-
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-////
-////   INTEGRATION WITH YOUR CODEBASE
-////
-////   The following sections allow you to supply alternate definitions
-////   of C library functions used by stb_truetype.
-
-#ifdef STB_TRUETYPE_IMPLEMENTATION
-   // #define your own (u)stbtt_int8/16/32 before including to override this
-   #ifndef stbtt_uint8
-   typedef unsigned char   stbtt_uint8;
-   typedef signed   char   stbtt_int8;
-   typedef unsigned short  stbtt_uint16;
-   typedef signed   short  stbtt_int16;
-   typedef unsigned int    stbtt_uint32;
-   typedef signed   int    stbtt_int32;
-   #endif
-
-   typedef char stbtt__check_size32[sizeof(stbtt_int32)==4 ? 1 : -1];
-   typedef char stbtt__check_size16[sizeof(stbtt_int16)==2 ? 1 : -1];
-
-   // #define your own STBTT_ifloor/STBTT_iceil() to avoid math.h
-   #ifndef STBTT_ifloor
-   #include <math.h>
-   #define STBTT_ifloor(x)   ((int) floor(x))
-   #define STBTT_iceil(x)    ((int) ceil(x))
-   #endif
-
-   #ifndef STBTT_sqrt
-   #include <math.h>
-   #define STBTT_sqrt(x)      sqrt(x)
-   #endif
-
-   // #define your own functions "STBTT_malloc" / "STBTT_free" to avoid malloc.h
-   #ifndef STBTT_malloc
-   #include <stdlib.h>
-   #define STBTT_malloc(x,u)  ((void)(u),malloc(x))
-   #define STBTT_free(x,u)    ((void)(u),free(x))
-   #endif
-
-   #ifndef STBTT_assert
-   #include <assert.h>
-   #define STBTT_assert(x)    assert(x)
-   #endif
-
-   #ifndef STBTT_strlen
-   #include <string.h>
-   #define STBTT_strlen(x)    strlen(x)
-   #endif
-
-   #ifndef STBTT_memcpy
-   #include <memory.h>
-   #define STBTT_memcpy       memcpy
-   #define STBTT_memset       memset
-   #endif
-#endif
-
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-////
-////   INTERFACE
-////
-////
-
-#ifndef __STB_INCLUDE_STB_TRUETYPE_H__
-#define __STB_INCLUDE_STB_TRUETYPE_H__
-
-#ifdef STBTT_STATIC
-#define STBTT_DEF static
-#else
-#define STBTT_DEF extern
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// TEXTURE BAKING API
-//
-// If you use this API, you only have to call two functions ever.
-//
-
-typedef struct
-{
-   unsigned short x0,y0,x1,y1; // coordinates of bbox in bitmap
-   float xoff,yoff,xadvance;
-} stbtt_bakedchar;
-
-STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset,  // font location (use offset=0 for plain .ttf)
-                                float pixel_height,                     // height of font in pixels
-                                unsigned char *pixels, int pw, int ph,  // bitmap to be filled in
-                                int first_char, int num_chars,          // characters to bake
-                                stbtt_bakedchar *chardata);             // you allocate this, it's num_chars long
-// if return is positive, the first unused row of the bitmap
-// if return is negative, returns the negative of the number of characters that fit
-// if return is 0, no characters fit and no rows were used
-// This uses a very crappy packing.
-
-typedef struct
-{
-   float x0,y0,s0,t0; // top-left
-   float x1,y1,s1,t1; // bottom-right
-} stbtt_aligned_quad;
-
-STBTT_DEF void stbtt_GetBakedQuad(stbtt_bakedchar *chardata, int pw, int ph,  // same data as above
-                               int char_index,             // character to display
-                               float *xpos, float *ypos,   // pointers to current position in screen pixel space
-                               stbtt_aligned_quad *q,      // output: quad to draw
-                               int opengl_fillrule);       // true if opengl fill rule; false if DX9 or earlier
-// Call GetBakedQuad with char_index = 'character - first_char', and it
-// creates the quad you need to draw and advances the current position.
-//
-// The coordinate system used assumes y increases downwards.
-//
-// Characters will extend both above and below the current position;
-// see discussion of "BASELINE" above.
-//
-// It's inefficient; you might want to c&p it and optimize it.
-
-
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// NEW TEXTURE BAKING API
-//
-// This provides options for packing multiple fonts into one atlas, not
-// perfectly but better than nothing.
-
-typedef struct
-{
-   unsigned short x0,y0,x1,y1; // coordinates of bbox in bitmap
-   float xoff,yoff,xadvance;
-   float xoff2,yoff2;
-} stbtt_packedchar;
-
-typedef struct stbtt_pack_context stbtt_pack_context;
-typedef struct stbtt_fontinfo stbtt_fontinfo;
-#ifndef STB_RECT_PACK_VERSION
-typedef struct stbrp_rect stbrp_rect;
-#endif
-
-STBTT_DEF int  stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, int width, int height, int stride_in_bytes, int padding, void *alloc_context);
-// Initializes a packing context stored in the passed-in stbtt_pack_context.
-// Future calls using this context will pack characters into the bitmap passed
-// in here: a 1-channel bitmap that is weight x height. stride_in_bytes is
-// the distance from one row to the next (or 0 to mean they are packed tightly
-// together). "padding" is the amount of padding to leave between each
-// character (normally you want '1' for bitmaps you'll use as textures with
-// bilinear filtering).
-//
-// Returns 0 on failure, 1 on success.
-
-STBTT_DEF void stbtt_PackEnd  (stbtt_pack_context *spc);
-// Cleans up the packing context and frees all memory.
-
-#define STBTT_POINT_SIZE(x)   (-(x))
-
-STBTT_DEF int  stbtt_PackFontRange(stbtt_pack_context *spc, unsigned char *fontdata, int font_index, float font_size,
-                                int first_unicode_char_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range);
-// Creates character bitmaps from the font_index'th font found in fontdata (use
-// font_index=0 if you don't know what that is). It creates num_chars_in_range
-// bitmaps for characters with unicode values starting at first_unicode_char_in_range
-// and increasing. Data for how to render them is stored in chardata_for_range;
-// pass these to stbtt_GetPackedQuad to get back renderable quads.
-//
-// font_size is the full height of the character from ascender to descender,
-// as computed by stbtt_ScaleForPixelHeight. To use a point size as computed
-// by stbtt_ScaleForMappingEmToPixels, wrap the point size in STBTT_POINT_SIZE()
-// and pass that result as 'font_size':
-//       ...,                  20 , ... // font max minus min y is 20 pixels tall
-//       ..., STBTT_POINT_SIZE(20), ... // 'M' is 20 pixels tall
-
-typedef struct
-{
-   float font_size;
-   int first_unicode_codepoint_in_range;  // if non-zero, then the chars are continuous, and this is the first codepoint
-   int *array_of_unicode_codepoints;       // if non-zero, then this is an array of unicode codepoints
-   int num_chars;
-   stbtt_packedchar *chardata_for_range; // output
-   unsigned char h_oversample, v_oversample; // don't set these, they're used internally
-} stbtt_pack_range;
-
-STBTT_DEF int  stbtt_PackFontRanges(stbtt_pack_context *spc, unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges);
-// Creates character bitmaps from multiple ranges of characters stored in
-// ranges. This will usually create a better-packed bitmap than multiple
-// calls to stbtt_PackFontRange. Note that you can call this multiple
-// times within a single PackBegin/PackEnd.
-
-STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h_oversample, unsigned int v_oversample);
-// Oversampling a font increases the quality by allowing higher-quality subpixel
-// positioning, and is especially valuable at smaller text sizes.
-//
-// This function sets the amount of oversampling for all following calls to
-// stbtt_PackFontRange(s) or stbtt_PackFontRangesGatherRects for a given
-// pack context. The default (no oversampling) is achieved by h_oversample=1
-// and v_oversample=1. The total number of pixels required is
-// h_oversample*v_oversample larger than the default; for example, 2x2
-// oversampling requires 4x the storage of 1x1. For best results, render
-// oversampled textures with bilinear filtering. Look at the readme in
-// stb/tests/oversample for information about oversampled fonts
-//
-// To use with PackFontRangesGather etc., you must set it before calls
-// call to PackFontRangesGatherRects.
-
-STBTT_DEF void stbtt_GetPackedQuad(stbtt_packedchar *chardata, int pw, int ph,  // same data as above
-                               int char_index,             // character to display
-                               float *xpos, float *ypos,   // pointers to current position in screen pixel space
-                               stbtt_aligned_quad *q,      // output: quad to draw
-                               int align_to_integer);
-
-STBTT_DEF int  stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects);
-STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect *rects, int num_rects);
-STBTT_DEF int  stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects);
-// Calling these functions in sequence is roughly equivalent to calling
-// stbtt_PackFontRanges(). If you more control over the packing of multiple
-// fonts, or if you want to pack custom data into a font texture, take a look
-// at the source to of stbtt_PackFontRanges() and create a custom version 
-// using these functions, e.g. call GatherRects multiple times,
-// building up a single array of rects, then call PackRects once,
-// then call RenderIntoRects repeatedly. This may result in a
-// better packing than calling PackFontRanges multiple times
-// (or it may not).
-
-// this is an opaque structure that you shouldn't mess with which holds
-// all the context needed from PackBegin to PackEnd.
-struct stbtt_pack_context {
-   void *user_allocator_context;
-   void *pack_info;
-   int   width;
-   int   height;
-   int   stride_in_bytes;
-   int   padding;
-   unsigned int   h_oversample, v_oversample;
-   unsigned char *pixels;
-   void  *nodes;
-};
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// FONT LOADING
-//
-//
-
-STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index);
-// Each .ttf/.ttc file may have more than one font. Each font has a sequential
-// index number starting from 0. Call this function to get the font offset for
-// a given index; it returns -1 if the index is out of range. A regular .ttf
-// file will only define one font and it always be at offset 0, so it will
-// return '0' for index 0, and -1 for all other indices. You can just skip
-// this step if you know it's that kind of font.
-
-
-// The following structure is defined publically so you can declare one on
-// the stack or as a global or etc, but you should treat it as opaque.
-typedef struct stbtt_fontinfo
-{
-   void           * userdata;
-   unsigned char  * data;              // pointer to .ttf file
-   int              fontstart;         // offset of start of font
-
-   int numGlyphs;                     // number of glyphs, needed for range checking
-
-   int loca,head,glyf,hhea,hmtx,kern; // table locations as offset from start of .ttf
-   int index_map;                     // a cmap mapping for our chosen character encoding
-   int indexToLocFormat;              // format needed to map from glyph index to glyph
-} stbtt_fontinfo;
-
-STBTT_DEF int stbtt_InitFont(stbtt_fontinfo *info, const unsigned char *data, int offset);
-// Given an offset into the file that defines a font, this function builds
-// the necessary cached info for the rest of the system. You must allocate
-// the stbtt_fontinfo yourself, and stbtt_InitFont will fill it out. You don't
-// need to do anything special to free it, because the contents are pure
-// value data with no additional data structures. Returns 0 on failure.
-
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// CHARACTER TO GLYPH-INDEX CONVERSIOn
-
-STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codepoint);
-// If you're going to perform multiple operations on the same character
-// and you want a speed-up, call this function with the character you're
-// going to process, then use glyph-based functions instead of the
-// codepoint-based functions.
-
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// CHARACTER PROPERTIES
-//
-
-STBTT_DEF float stbtt_ScaleForPixelHeight(const stbtt_fontinfo *info, float pixels);
-// computes a scale factor to produce a font whose "height" is 'pixels' tall.
-// Height is measured as the distance from the highest ascender to the lowest
-// descender; in other words, it's equivalent to calling stbtt_GetFontVMetrics
-// and computing:
-//       scale = pixels / (ascent - descent)
-// so if you prefer to measure height by the ascent only, use a similar calculation.
-
-STBTT_DEF float stbtt_ScaleForMappingEmToPixels(const stbtt_fontinfo *info, float pixels);
-// computes a scale factor to produce a font whose EM size is mapped to
-// 'pixels' tall. This is probably what traditional APIs compute, but
-// I'm not positive.
-
-STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, int *descent, int *lineGap);
-// ascent is the coordinate above the baseline the font extends; descent
-// is the coordinate below the baseline the font extends (i.e. it is typically negative)
-// lineGap is the spacing between one row's descent and the next row's ascent...
-// so you should advance the vertical position by "*ascent - *descent + *lineGap"
-//   these are expressed in unscaled coordinates, so you must multiply by
-//   the scale factor for a given size
-
-STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1);
-// the bounding box around all possible characters
-
-STBTT_DEF void stbtt_GetCodepointHMetrics(const stbtt_fontinfo *info, int codepoint, int *advanceWidth, int *leftSideBearing);
-// leftSideBearing is the offset from the current horizontal position to the left edge of the character
-// advanceWidth is the offset from the current horizontal position to the next horizontal position
-//   these are expressed in unscaled coordinates
-
-STBTT_DEF int  stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2);
-// an additional amount to add to the 'advance' value between ch1 and ch2
-
-STBTT_DEF int stbtt_GetCodepointBox(const stbtt_fontinfo *info, int codepoint, int *x0, int *y0, int *x1, int *y1);
-// Gets the bounding box of the visible part of the glyph, in unscaled coordinates
-
-STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_index, int *advanceWidth, int *leftSideBearing);
-STBTT_DEF int  stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2);
-STBTT_DEF int  stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1);
-// as above, but takes one or more glyph indices for greater efficiency
-
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// GLYPH SHAPES (you probably don't need these, but they have to go before
-// the bitmaps for C declaration-order reasons)
-//
-
-#ifndef STBTT_vmove // you can predefine these to use different values (but why?)
-   enum {
-      STBTT_vmove=1,
-      STBTT_vline,
-      STBTT_vcurve
-   };
-#endif
-
-#ifndef stbtt_vertex // you can predefine this to use different values
-                   // (we share this with other code at RAD)
-   #define stbtt_vertex_type short // can't use stbtt_int16 because that's not visible in the header file
-   typedef struct
-   {
-      stbtt_vertex_type x,y,cx,cy;
-      unsigned char type,padding;
-   } stbtt_vertex;
-#endif
-
-STBTT_DEF int stbtt_IsGlyphEmpty(const stbtt_fontinfo *info, int glyph_index);
-// returns non-zero if nothing is drawn for this glyph
-
-STBTT_DEF int stbtt_GetCodepointShape(const stbtt_fontinfo *info, int unicode_codepoint, stbtt_vertex **vertices);
-STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **vertices);
-// returns # of vertices and fills *vertices with the pointer to them
-//   these are expressed in "unscaled" coordinates
-//
-// The shape is a series of countours. Each one starts with
-// a STBTT_moveto, then consists of a series of mixed
-// STBTT_lineto and STBTT_curveto segments. A lineto
-// draws a line from previous endpoint to its x,y; a curveto
-// draws a quadratic bezier from previous endpoint to
-// its x,y, using cx,cy as the bezier control point.
-
-STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *vertices);
-// frees the data allocated above
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// BITMAP RENDERING
-//
-
-STBTT_DEF void stbtt_FreeBitmap(unsigned char *bitmap, void *userdata);
-// frees the bitmap allocated below
-
-STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff);
-// allocates a large-enough single-channel 8bpp bitmap and renders the
-// specified character/glyph at the specified scale into it, with
-// antialiasing. 0 is no coverage (transparent), 255 is fully covered (opaque).
-// *width & *height are filled out with the width & height of the bitmap,
-// which is stored left-to-right, top-to-bottom.
-//
-// xoff/yoff are the offset it pixel space from the glyph origin to the top-left of the bitmap
-
-STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff);
-// the same as stbtt_GetCodepoitnBitmap, but you can specify a subpixel
-// shift for the character
-
-STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint);
-// the same as stbtt_GetCodepointBitmap, but you pass in storage for the bitmap
-// in the form of 'output', with row spacing of 'out_stride' bytes. the bitmap
-// is clipped to out_w/out_h bytes. Call stbtt_GetCodepointBitmapBox to get the
-// width and height and positioning info for it first.
-
-STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint);
-// same as stbtt_MakeCodepointBitmap, but you can specify a subpixel
-// shift for the character
-
-STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1);
-// get the bbox of the bitmap centered around the glyph origin; so the
-// bitmap width is ix1-ix0, height is iy1-iy0, and location to place
-// the bitmap top left is (leftSideBearing*scale,iy0).
-// (Note that the bitmap uses y-increases-down, but the shape uses
-// y-increases-up, so CodepointBitmapBox and CodepointBox are inverted.)
-
-STBTT_DEF void stbtt_GetCodepointBitmapBoxSubpixel(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1);
-// same as stbtt_GetCodepointBitmapBox, but you can specify a subpixel
-// shift for the character
-
-// the following functions are equivalent to the above functions, but operate
-// on glyph indices instead of Unicode codepoints (for efficiency)
-STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff);
-STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff);
-STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph);
-STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph);
-STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1);
-STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1);
-
-
-// @TODO: don't expose this structure
-typedef struct
-{
-   int w,h,stride;
-   unsigned char *pixels;
-} stbtt__bitmap;
-
-// rasterize a shape with quadratic beziers into a bitmap
-STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result,        // 1-channel bitmap to draw into
-                               float flatness_in_pixels,     // allowable error of curve in pixels
-                               stbtt_vertex *vertices,       // array of vertices defining shape
-                               int num_verts,                // number of vertices in above array
-                               float scale_x, float scale_y, // scale applied to input vertices
-                               float shift_x, float shift_y, // translation applied to input vertices
-                               int x_off, int y_off,         // another translation applied to input
-                               int invert,                   // if non-zero, vertically flip shape
-                               void *userdata);              // context for to STBTT_MALLOC
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// Finding the right font...
-//
-// You should really just solve this offline, keep your own tables
-// of what font is what, and don't try to get it out of the .ttf file.
-// That's because getting it out of the .ttf file is really hard, because
-// the names in the file can appear in many possible encodings, in many
-// possible languages, and e.g. if you need a case-insensitive comparison,
-// the details of that depend on the encoding & language in a complex way
-// (actually underspecified in truetype, but also gigantic).
-//
-// But you can use the provided functions in two possible ways:
-//     stbtt_FindMatchingFont() will use *case-sensitive* comparisons on
-//             unicode-encoded names to try to find the font you want;
-//             you can run this before calling stbtt_InitFont()
-//
-//     stbtt_GetFontNameString() lets you get any of the various strings
-//             from the file yourself and do your own comparisons on them.
-//             You have to have called stbtt_InitFont() first.
-
-
-STBTT_DEF int stbtt_FindMatchingFont(const unsigned char *fontdata, const char *name, int flags);
-// returns the offset (not index) of the font that matches, or -1 if none
-//   if you use STBTT_MACSTYLE_DONTCARE, use a font name like "Arial Bold".
-//   if you use any other flag, use a font name like "Arial"; this checks
-//     the 'macStyle' header field; i don't know if fonts set this consistently
-#define STBTT_MACSTYLE_DONTCARE     0
-#define STBTT_MACSTYLE_BOLD         1
-#define STBTT_MACSTYLE_ITALIC       2
-#define STBTT_MACSTYLE_UNDERSCORE   4
-#define STBTT_MACSTYLE_NONE         8   // <= not same as 0, this makes us check the bitfield is 0
-
-STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const char *s2, int len2);
-// returns 1/0 whether the first string interpreted as utf8 is identical to
-// the second string interpreted as big-endian utf16... useful for strings from next func
-
-STBTT_DEF const char *stbtt_GetFontNameString(const stbtt_fontinfo *font, int *length, int platformID, int encodingID, int languageID, int nameID);
-// returns the string (which may be big-endian double byte, e.g. for unicode)
-// and puts the length in bytes in *length.
-//
-// some of the values for the IDs are below; for more see the truetype spec:
-//     http://developer.apple.com/textfonts/TTRefMan/RM06/Chap6name.html
-//     http://www.microsoft.com/typography/otspec/name.htm
-
-enum { // platformID
-   STBTT_PLATFORM_ID_UNICODE   =0,
-   STBTT_PLATFORM_ID_MAC       =1,
-   STBTT_PLATFORM_ID_ISO       =2,
-   STBTT_PLATFORM_ID_MICROSOFT =3
-};
-
-enum { // encodingID for STBTT_PLATFORM_ID_UNICODE
-   STBTT_UNICODE_EID_UNICODE_1_0    =0,
-   STBTT_UNICODE_EID_UNICODE_1_1    =1,
-   STBTT_UNICODE_EID_ISO_10646      =2,
-   STBTT_UNICODE_EID_UNICODE_2_0_BMP=3,
-   STBTT_UNICODE_EID_UNICODE_2_0_FULL=4
-};
-
-enum { // encodingID for STBTT_PLATFORM_ID_MICROSOFT
-   STBTT_MS_EID_SYMBOL        =0,
-   STBTT_MS_EID_UNICODE_BMP   =1,
-   STBTT_MS_EID_SHIFTJIS      =2,
-   STBTT_MS_EID_UNICODE_FULL  =10
-};
-
-enum { // encodingID for STBTT_PLATFORM_ID_MAC; same as Script Manager codes
-   STBTT_MAC_EID_ROMAN        =0,   STBTT_MAC_EID_ARABIC       =4,
-   STBTT_MAC_EID_JAPANESE     =1,   STBTT_MAC_EID_HEBREW       =5,
-   STBTT_MAC_EID_CHINESE_TRAD =2,   STBTT_MAC_EID_GREEK        =6,
-   STBTT_MAC_EID_KOREAN       =3,   STBTT_MAC_EID_RUSSIAN      =7
-};
-
-enum { // languageID for STBTT_PLATFORM_ID_MICROSOFT; same as LCID...
-       // problematic because there are e.g. 16 english LCIDs and 16 arabic LCIDs
-   STBTT_MS_LANG_ENGLISH     =0x0409,   STBTT_MS_LANG_ITALIAN     =0x0410,
-   STBTT_MS_LANG_CHINESE     =0x0804,   STBTT_MS_LANG_JAPANESE    =0x0411,
-   STBTT_MS_LANG_DUTCH       =0x0413,   STBTT_MS_LANG_KOREAN      =0x0412,
-   STBTT_MS_LANG_FRENCH      =0x040c,   STBTT_MS_LANG_RUSSIAN     =0x0419,
-   STBTT_MS_LANG_GERMAN      =0x0407,   STBTT_MS_LANG_SPANISH     =0x0409,
-   STBTT_MS_LANG_HEBREW      =0x040d,   STBTT_MS_LANG_SWEDISH     =0x041D
-};
-
-enum { // languageID for STBTT_PLATFORM_ID_MAC
-   STBTT_MAC_LANG_ENGLISH      =0 ,   STBTT_MAC_LANG_JAPANESE     =11,
-   STBTT_MAC_LANG_ARABIC       =12,   STBTT_MAC_LANG_KOREAN       =23,
-   STBTT_MAC_LANG_DUTCH        =4 ,   STBTT_MAC_LANG_RUSSIAN      =32,
-   STBTT_MAC_LANG_FRENCH       =1 ,   STBTT_MAC_LANG_SPANISH      =6 ,
-   STBTT_MAC_LANG_GERMAN       =2 ,   STBTT_MAC_LANG_SWEDISH      =5 ,
-   STBTT_MAC_LANG_HEBREW       =10,   STBTT_MAC_LANG_CHINESE_SIMPLIFIED =33,
-   STBTT_MAC_LANG_ITALIAN      =3 ,   STBTT_MAC_LANG_CHINESE_TRAD =19
-};
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __STB_INCLUDE_STB_TRUETYPE_H__
-
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-////
-////   IMPLEMENTATION
-////
-////
-
-#ifdef STB_TRUETYPE_IMPLEMENTATION
-
-#ifndef STBTT_MAX_OVERSAMPLE
-#define STBTT_MAX_OVERSAMPLE   8
-#endif
-
-#if STBTT_MAX_OVERSAMPLE > 255
-#error "STBTT_MAX_OVERSAMPLE cannot be > 255"
-#endif
-
-typedef int stbtt__test_oversample_pow2[(STBTT_MAX_OVERSAMPLE & (STBTT_MAX_OVERSAMPLE-1)) == 0 ? 1 : -1];
-
-#ifndef STBTT_RASTERIZER_VERSION
-#define STBTT_RASTERIZER_VERSION 2
-#endif
-
-//////////////////////////////////////////////////////////////////////////
-//
-// accessors to parse data from file
-//
-
-// on platforms that don't allow misaligned reads, if we want to allow
-// truetype fonts that aren't padded to alignment, define ALLOW_UNALIGNED_TRUETYPE
-
-#define ttBYTE(p)     (* (stbtt_uint8 *) (p))
-#define ttCHAR(p)     (* (stbtt_int8 *) (p))
-#define ttFixed(p)    ttLONG(p)
-
-#if defined(STB_TRUETYPE_BIGENDIAN) && !defined(ALLOW_UNALIGNED_TRUETYPE)
-
-   #define ttUSHORT(p)   (* (stbtt_uint16 *) (p))
-   #define ttSHORT(p)    (* (stbtt_int16 *) (p))
-   #define ttULONG(p)    (* (stbtt_uint32 *) (p))
-   #define ttLONG(p)     (* (stbtt_int32 *) (p))
-
-#else
-
-   static stbtt_uint16 ttUSHORT(const stbtt_uint8 *p) { return p[0]*256 + p[1]; }
-   static stbtt_int16 ttSHORT(const stbtt_uint8 *p)   { return p[0]*256 + p[1]; }
-   static stbtt_uint32 ttULONG(const stbtt_uint8 *p)  { return (p[0]<<24) + (p[1]<<16) + (p[2]<<8) + p[3]; }
-   static stbtt_int32 ttLONG(const stbtt_uint8 *p)    { return (p[0]<<24) + (p[1]<<16) + (p[2]<<8) + p[3]; }
-
-#endif
-
-#define stbtt_tag4(p,c0,c1,c2,c3) ((p)[0] == (c0) && (p)[1] == (c1) && (p)[2] == (c2) && (p)[3] == (c3))
-#define stbtt_tag(p,str)           stbtt_tag4(p,str[0],str[1],str[2],str[3])
-
-static int stbtt__isfont(const stbtt_uint8 *font)
-{
-   // check the version number
-   if (stbtt_tag4(font, '1',0,0,0))  return 1; // TrueType 1
-   if (stbtt_tag(font, "typ1"))   return 1; // TrueType with type 1 font -- we don't support this!
-   if (stbtt_tag(font, "OTTO"))   return 1; // OpenType with CFF
-   if (stbtt_tag4(font, 0,1,0,0)) return 1; // OpenType 1.0
-   return 0;
-}
-
-// @OPTIMIZE: binary search
-static stbtt_uint32 stbtt__find_table(stbtt_uint8 *data, stbtt_uint32 fontstart, const char *tag)
-{
-   stbtt_int32 num_tables = ttUSHORT(data+fontstart+4);
-   stbtt_uint32 tabledir = fontstart + 12;
-   stbtt_int32 i;
-   for (i=0; i < num_tables; ++i) {
-      stbtt_uint32 loc = tabledir + 16*i;
-      if (stbtt_tag(data+loc+0, tag))
-         return ttULONG(data+loc+8);
-   }
-   return 0;
-}
-
-STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *font_collection, int index)
-{
-   // if it's just a font, there's only one valid index
-   if (stbtt__isfont(font_collection))
-      return index == 0 ? 0 : -1;
-
-   // check if it's a TTC
-   if (stbtt_tag(font_collection, "ttcf")) {
-      // version 1?
-      if (ttULONG(font_collection+4) == 0x00010000 || ttULONG(font_collection+4) == 0x00020000) {
-         stbtt_int32 n = ttLONG(font_collection+8);
-         if (index >= n)
-            return -1;
-         return ttULONG(font_collection+12+index*4);
-      }
-   }
-   return -1;
-}
-
-STBTT_DEF int stbtt_InitFont(stbtt_fontinfo *info, const unsigned char *data2, int fontstart)
-{
-   stbtt_uint8 *data = (stbtt_uint8 *) data2;
-   stbtt_uint32 cmap, t;
-   stbtt_int32 i,numTables;
-
-   info->data = data;
-   info->fontstart = fontstart;
-
-   cmap = stbtt__find_table(data, fontstart, "cmap");       // required
-   info->loca = stbtt__find_table(data, fontstart, "loca"); // required
-   info->head = stbtt__find_table(data, fontstart, "head"); // required
-   info->glyf = stbtt__find_table(data, fontstart, "glyf"); // required
-   info->hhea = stbtt__find_table(data, fontstart, "hhea"); // required
-   info->hmtx = stbtt__find_table(data, fontstart, "hmtx"); // required
-   info->kern = stbtt__find_table(data, fontstart, "kern"); // not required
-   if (!cmap || !info->loca || !info->head || !info->glyf || !info->hhea || !info->hmtx)
-      return 0;
-
-   t = stbtt__find_table(data, fontstart, "maxp");
-   if (t)
-      info->numGlyphs = ttUSHORT(data+t+4);
-   else
-      info->numGlyphs = 0xffff;
-
-   // find a cmap encoding table we understand *now* to avoid searching
-   // later. (todo: could make this installable)
-   // the same regardless of glyph.
-   numTables = ttUSHORT(data + cmap + 2);
-   info->index_map = 0;
-   for (i=0; i < numTables; ++i) {
-      stbtt_uint32 encoding_record = cmap + 4 + 8 * i;
-      // find an encoding we understand:
-      switch(ttUSHORT(data+encoding_record)) {
-         case STBTT_PLATFORM_ID_MICROSOFT:
-            switch (ttUSHORT(data+encoding_record+2)) {
-               case STBTT_MS_EID_UNICODE_BMP:
-               case STBTT_MS_EID_UNICODE_FULL:
-                  // MS/Unicode
-                  info->index_map = cmap + ttULONG(data+encoding_record+4);
-                  break;
-            }
-            break;
-        case STBTT_PLATFORM_ID_UNICODE:
-            // Mac/iOS has these
-            // all the encodingIDs are unicode, so we don't bother to check it
-            info->index_map = cmap + ttULONG(data+encoding_record+4);
-            break;
-      }
-   }
-   if (info->index_map == 0)
-      return 0;
-
-   info->indexToLocFormat = ttUSHORT(data+info->head + 50);
-   return 1;
-}
-
-STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codepoint)
-{
-   stbtt_uint8 *data = info->data;
-   stbtt_uint32 index_map = info->index_map;
-
-   stbtt_uint16 format = ttUSHORT(data + index_map + 0);
-   if (format == 0) { // apple byte encoding
-      stbtt_int32 bytes = ttUSHORT(data + index_map + 2);
-      if (unicode_codepoint < bytes-6)
-         return ttBYTE(data + index_map + 6 + unicode_codepoint);
-      return 0;
-   } else if (format == 6) {
-      stbtt_uint32 first = ttUSHORT(data + index_map + 6);
-      stbtt_uint32 count = ttUSHORT(data + index_map + 8);
-      if ((stbtt_uint32) unicode_codepoint >= first && (stbtt_uint32) unicode_codepoint < first+count)
-         return ttUSHORT(data + index_map + 10 + (unicode_codepoint - first)*2);
-      return 0;
-   } else if (format == 2) {
-      STBTT_assert(0); // @TODO: high-byte mapping for japanese/chinese/korean
-      return 0;
-   } else if (format == 4) { // standard mapping for windows fonts: binary search collection of ranges
-      stbtt_uint16 segcount = ttUSHORT(data+index_map+6) >> 1;
-      stbtt_uint16 searchRange = ttUSHORT(data+index_map+8) >> 1;
-      stbtt_uint16 entrySelector = ttUSHORT(data+index_map+10);
-      stbtt_uint16 rangeShift = ttUSHORT(data+index_map+12) >> 1;
-
-      // do a binary search of the segments
-      stbtt_uint32 endCount = index_map + 14;
-      stbtt_uint32 search = endCount;
-
-      if (unicode_codepoint > 0xffff)
-         return 0;
-
-      // they lie from endCount .. endCount + segCount
-      // but searchRange is the nearest power of two, so...
-      if (unicode_codepoint >= ttUSHORT(data + search + rangeShift*2))
-         search += rangeShift*2;
-
-      // now decrement to bias correctly to find smallest
-      search -= 2;
-      while (entrySelector) {
-         stbtt_uint16 end;
-         searchRange >>= 1;
-         end = ttUSHORT(data + search + searchRange*2);
-         if (unicode_codepoint > end)
-            search += searchRange*2;
-         --entrySelector;
-      }
-      search += 2;
-
-      {
-         stbtt_uint16 offset, start;
-         stbtt_uint16 item = (stbtt_uint16) ((search - endCount) >> 1);
-
-         STBTT_assert(unicode_codepoint <= ttUSHORT(data + endCount + 2*item));
-         start = ttUSHORT(data + index_map + 14 + segcount*2 + 2 + 2*item);
-         if (unicode_codepoint < start)
-            return 0;
-
-         offset = ttUSHORT(data + index_map + 14 + segcount*6 + 2 + 2*item);
-         if (offset == 0)
-            return (stbtt_uint16) (unicode_codepoint + ttSHORT(data + index_map + 14 + segcount*4 + 2 + 2*item));
-
-         return ttUSHORT(data + offset + (unicode_codepoint-start)*2 + index_map + 14 + segcount*6 + 2 + 2*item);
-      }
-   } else if (format == 12 || format == 13) {
-      stbtt_uint32 ngroups = ttULONG(data+index_map+12);
-      stbtt_int32 low,high;
-      low = 0; high = (stbtt_int32)ngroups;
-      // Binary search the right group.
-      while (low < high) {
-         stbtt_int32 mid = low + ((high-low) >> 1); // rounds down, so low <= mid < high
-         stbtt_uint32 start_char = ttULONG(data+index_map+16+mid*12);
-         stbtt_uint32 end_char = ttULONG(data+index_map+16+mid*12+4);
-         if ((stbtt_uint32) unicode_codepoint < start_char)
-            high = mid;
-         else if ((stbtt_uint32) unicode_codepoint > end_char)
-            low = mid+1;
-         else {
-            stbtt_uint32 start_glyph = ttULONG(data+index_map+16+mid*12+8);
-            if (format == 12)
-               return start_glyph + unicode_codepoint-start_char;
-            else // format == 13
-               return start_glyph;
-         }
-      }
-      return 0; // not found
-   }
-   // @TODO
-   STBTT_assert(0);
-   return 0;
-}
-
-STBTT_DEF int stbtt_GetCodepointShape(const stbtt_fontinfo *info, int unicode_codepoint, stbtt_vertex **vertices)
-{
-   return stbtt_GetGlyphShape(info, stbtt_FindGlyphIndex(info, unicode_codepoint), vertices);
-}
-
-static void stbtt_setvertex(stbtt_vertex *v, stbtt_uint8 type, stbtt_int32 x, stbtt_int32 y, stbtt_int32 cx, stbtt_int32 cy)
-{
-   v->type = type;
-   v->x = (stbtt_int16) x;
-   v->y = (stbtt_int16) y;
-   v->cx = (stbtt_int16) cx;
-   v->cy = (stbtt_int16) cy;
-}
-
-static int stbtt__GetGlyfOffset(const stbtt_fontinfo *info, int glyph_index)
-{
-   int g1,g2;
-
-   if (glyph_index >= info->numGlyphs) return -1; // glyph index out of range
-   if (info->indexToLocFormat >= 2)    return -1; // unknown index->glyph map format
-
-   if (info->indexToLocFormat == 0) {
-      g1 = info->glyf + ttUSHORT(info->data + info->loca + glyph_index * 2) * 2;
-      g2 = info->glyf + ttUSHORT(info->data + info->loca + glyph_index * 2 + 2) * 2;
-   } else {
-      g1 = info->glyf + ttULONG (info->data + info->loca + glyph_index * 4);
-      g2 = info->glyf + ttULONG (info->data + info->loca + glyph_index * 4 + 4);
-   }
-
-   return g1==g2 ? -1 : g1; // if length is 0, return -1
-}
-
-STBTT_DEF int stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1)
-{
-   int g = stbtt__GetGlyfOffset(info, glyph_index);
-   if (g < 0) return 0;
-
-   if (x0) *x0 = ttSHORT(info->data + g + 2);
-   if (y0) *y0 = ttSHORT(info->data + g + 4);
-   if (x1) *x1 = ttSHORT(info->data + g + 6);
-   if (y1) *y1 = ttSHORT(info->data + g + 8);
-   return 1;
-}
-
-STBTT_DEF int stbtt_GetCodepointBox(const stbtt_fontinfo *info, int codepoint, int *x0, int *y0, int *x1, int *y1)
-{
-   return stbtt_GetGlyphBox(info, stbtt_FindGlyphIndex(info,codepoint), x0,y0,x1,y1);
-}
-
-STBTT_DEF int stbtt_IsGlyphEmpty(const stbtt_fontinfo *info, int glyph_index)
-{
-   stbtt_int16 numberOfContours;
-   int g = stbtt__GetGlyfOffset(info, glyph_index);
-   if (g < 0) return 1;
-   numberOfContours = ttSHORT(info->data + g);
-   return numberOfContours == 0;
-}
-
-static int stbtt__close_shape(stbtt_vertex *vertices, int num_vertices, int was_off, int start_off,
-    stbtt_int32 sx, stbtt_int32 sy, stbtt_int32 scx, stbtt_int32 scy, stbtt_int32 cx, stbtt_int32 cy)
-{
-   if (start_off) {
-      if (was_off)
-         stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, (cx+scx)>>1, (cy+scy)>>1, cx,cy);
-      stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, sx,sy,scx,scy);
-   } else {
-      if (was_off)
-         stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve,sx,sy,cx,cy);
-      else
-         stbtt_setvertex(&vertices[num_vertices++], STBTT_vline,sx,sy,0,0);
-   }
-   return num_vertices;
-}
-
-STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices)
-{
-   stbtt_int16 numberOfContours;
-   stbtt_uint8 *endPtsOfContours;
-   stbtt_uint8 *data = info->data;
-   stbtt_vertex *vertices=0;
-   int num_vertices=0;
-   int g = stbtt__GetGlyfOffset(info, glyph_index);
-
-   *pvertices = NULL;
-
-   if (g < 0) return 0;
-
-   numberOfContours = ttSHORT(data + g);
-
-   if (numberOfContours > 0) {
-      stbtt_uint8 flags=0,flagcount;
-      stbtt_int32 ins, i,j=0,m,n, next_move, was_off=0, off, start_off=0;
-      stbtt_int32 x,y,cx,cy,sx,sy, scx,scy;
-      stbtt_uint8 *points;
-      endPtsOfContours = (data + g + 10);
-      ins = ttUSHORT(data + g + 10 + numberOfContours * 2);
-      points = data + g + 10 + numberOfContours * 2 + 2 + ins;
-
-      n = 1+ttUSHORT(endPtsOfContours + numberOfContours*2-2);
-
-      m = n + 2*numberOfContours;  // a loose bound on how many vertices we might need
-      vertices = (stbtt_vertex *) STBTT_malloc(m * sizeof(vertices[0]), info->userdata);
-      if (vertices == 0)
-         return 0;
-
-      next_move = 0;
-      flagcount=0;
-
-      // in first pass, we load uninterpreted data into the allocated array
-      // above, shifted to the end of the array so we won't overwrite it when
-      // we create our final data starting from the front
-
-      off = m - n; // starting offset for uninterpreted data, regardless of how m ends up being calculated
-
-      // first load flags
-
-      for (i=0; i < n; ++i) {
-         if (flagcount == 0) {
-            flags = *points++;
-            if (flags & 8)
-               flagcount = *points++;
-         } else
-            --flagcount;
-         vertices[off+i].type = flags;
-      }
-
-      // now load x coordinates
-      x=0;
-      for (i=0; i < n; ++i) {
-         flags = vertices[off+i].type;
-         if (flags & 2) {
-            stbtt_int16 dx = *points++;
-            x += (flags & 16) ? dx : -dx; // ???
-         } else {
-            if (!(flags & 16)) {
-               x = x + (stbtt_int16) (points[0]*256 + points[1]);
-               points += 2;
-            }
-         }
-         vertices[off+i].x = (stbtt_int16) x;
-      }
-
-      // now load y coordinates
-      y=0;
-      for (i=0; i < n; ++i) {
-         flags = vertices[off+i].type;
-         if (flags & 4) {
-            stbtt_int16 dy = *points++;
-            y += (flags & 32) ? dy : -dy; // ???
-         } else {
-            if (!(flags & 32)) {
-               y = y + (stbtt_int16) (points[0]*256 + points[1]);
-               points += 2;
-            }
-         }
-         vertices[off+i].y = (stbtt_int16) y;
-      }
-
-      // now convert them to our format
-      num_vertices=0;
-      sx = sy = cx = cy = scx = scy = 0;
-      for (i=0; i < n; ++i) {
-         flags = vertices[off+i].type;
-         x     = (stbtt_int16) vertices[off+i].x;
-         y     = (stbtt_int16) vertices[off+i].y;
-
-         if (next_move == i) {
-            if (i != 0)
-               num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy);
-
-            // now start the new one               
-            start_off = !(flags & 1);
-            if (start_off) {
-               // if we start off with an off-curve point, then when we need to find a point on the curve
-               // where we can start, and we need to save some state for when we wraparound.
-               scx = x;
-               scy = y;
-               if (!(vertices[off+i+1].type & 1)) {
-                  // next point is also a curve point, so interpolate an on-point curve
-                  sx = (x + (stbtt_int32) vertices[off+i+1].x) >> 1;
-                  sy = (y + (stbtt_int32) vertices[off+i+1].y) >> 1;
-               } else {
-                  // otherwise just use the next point as our start point
-                  sx = (stbtt_int32) vertices[off+i+1].x;
-                  sy = (stbtt_int32) vertices[off+i+1].y;
-                  ++i; // we're using point i+1 as the starting point, so skip it
-               }
-            } else {
-               sx = x;
-               sy = y;
-            }
-            stbtt_setvertex(&vertices[num_vertices++], STBTT_vmove,sx,sy,0,0);
-            was_off = 0;
-            next_move = 1 + ttUSHORT(endPtsOfContours+j*2);
-            ++j;
-         } else {
-            if (!(flags & 1)) { // if it's a curve
-               if (was_off) // two off-curve control points in a row means interpolate an on-curve midpoint
-                  stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, (cx+x)>>1, (cy+y)>>1, cx, cy);
-               cx = x;
-               cy = y;
-               was_off = 1;
-            } else {
-               if (was_off)
-                  stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, x,y, cx, cy);
-               else
-                  stbtt_setvertex(&vertices[num_vertices++], STBTT_vline, x,y,0,0);
-               was_off = 0;
-            }
-         }
-      }
-      num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy);
-   } else if (numberOfContours == -1) {
-      // Compound shapes.
-      int more = 1;
-      stbtt_uint8 *comp = data + g + 10;
-      num_vertices = 0;
-      vertices = 0;
-      while (more) {
-         stbtt_uint16 flags, gidx;
-         int comp_num_verts = 0, i;
-         stbtt_vertex *comp_verts = 0, *tmp = 0;
-         float mtx[6] = {1,0,0,1,0,0}, m, n;
-         
-         flags = ttSHORT(comp); comp+=2;
-         gidx = ttSHORT(comp); comp+=2;
-
-         if (flags & 2) { // XY values
-            if (flags & 1) { // shorts
-               mtx[4] = ttSHORT(comp); comp+=2;
-               mtx[5] = ttSHORT(comp); comp+=2;
-            } else {
-               mtx[4] = ttCHAR(comp); comp+=1;
-               mtx[5] = ttCHAR(comp); comp+=1;
-            }
-         }
-         else {
-            // @TODO handle matching point
-            STBTT_assert(0);
-         }
-         if (flags & (1<<3)) { // WE_HAVE_A_SCALE
-            mtx[0] = mtx[3] = ttSHORT(comp)/16384.0f; comp+=2;
-            mtx[1] = mtx[2] = 0;
-         } else if (flags & (1<<6)) { // WE_HAVE_AN_X_AND_YSCALE
-            mtx[0] = ttSHORT(comp)/16384.0f; comp+=2;
-            mtx[1] = mtx[2] = 0;
-            mtx[3] = ttSHORT(comp)/16384.0f; comp+=2;
-         } else if (flags & (1<<7)) { // WE_HAVE_A_TWO_BY_TWO
-            mtx[0] = ttSHORT(comp)/16384.0f; comp+=2;
-            mtx[1] = ttSHORT(comp)/16384.0f; comp+=2;
-            mtx[2] = ttSHORT(comp)/16384.0f; comp+=2;
-            mtx[3] = ttSHORT(comp)/16384.0f; comp+=2;
-         }
-         
-         // Find transformation scales.
-         m = (float) STBTT_sqrt(mtx[0]*mtx[0] + mtx[1]*mtx[1]);
-         n = (float) STBTT_sqrt(mtx[2]*mtx[2] + mtx[3]*mtx[3]);
-
-         // Get indexed glyph.
-         comp_num_verts = stbtt_GetGlyphShape(info, gidx, &comp_verts);
-         if (comp_num_verts > 0) {
-            // Transform vertices.
-            for (i = 0; i < comp_num_verts; ++i) {
-               stbtt_vertex* v = &comp_verts[i];
-               stbtt_vertex_type x,y;
-               x=v->x; y=v->y;
-               v->x = (stbtt_vertex_type)(m * (mtx[0]*x + mtx[2]*y + mtx[4]));
-               v->y = (stbtt_vertex_type)(n * (mtx[1]*x + mtx[3]*y + mtx[5]));
-               x=v->cx; y=v->cy;
-               v->cx = (stbtt_vertex_type)(m * (mtx[0]*x + mtx[2]*y + mtx[4]));
-               v->cy = (stbtt_vertex_type)(n * (mtx[1]*x + mtx[3]*y + mtx[5]));
-            }
-            // Append vertices.
-            tmp = (stbtt_vertex*)STBTT_malloc((num_vertices+comp_num_verts)*sizeof(stbtt_vertex), info->userdata);
-            if (!tmp) {
-               if (vertices) STBTT_free(vertices, info->userdata);
-               if (comp_verts) STBTT_free(comp_verts, info->userdata);
-               return 0;
-            }
-            if (num_vertices > 0) STBTT_memcpy(tmp, vertices, num_vertices*sizeof(stbtt_vertex));
-            STBTT_memcpy(tmp+num_vertices, comp_verts, comp_num_verts*sizeof(stbtt_vertex));
-            if (vertices) STBTT_free(vertices, info->userdata);
-            vertices = tmp;
-            STBTT_free(comp_verts, info->userdata);
-            num_vertices += comp_num_verts;
-         }
-         // More components ?
-         more = flags & (1<<5);
-      }
-   } else if (numberOfContours < 0) {
-      // @TODO other compound variations?
-      STBTT_assert(0);
-   } else {
-      // numberOfCounters == 0, do nothing
-   }
-
-   *pvertices = vertices;
-   return num_vertices;
-}
-
-STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_index, int *advanceWidth, int *leftSideBearing)
-{
-   stbtt_uint16 numOfLongHorMetrics = ttUSHORT(info->data+info->hhea + 34);
-   if (glyph_index < numOfLongHorMetrics) {
-      if (advanceWidth)     *advanceWidth    = ttSHORT(info->data + info->hmtx + 4*glyph_index);
-      if (leftSideBearing)  *leftSideBearing = ttSHORT(info->data + info->hmtx + 4*glyph_index + 2);
-   } else {
-      if (advanceWidth)     *advanceWidth    = ttSHORT(info->data + info->hmtx + 4*(numOfLongHorMetrics-1));
-      if (leftSideBearing)  *leftSideBearing = ttSHORT(info->data + info->hmtx + 4*numOfLongHorMetrics + 2*(glyph_index - numOfLongHorMetrics));
-   }
-}
-
-STBTT_DEF int  stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2)
-{
-   stbtt_uint8 *data = info->data + info->kern;
-   stbtt_uint32 needle, straw;
-   int l, r, m;
-
-   // we only look at the first table. it must be 'horizontal' and format 0.
-   if (!info->kern)
-      return 0;
-   if (ttUSHORT(data+2) < 1) // number of tables, need at least 1
-      return 0;
-   if (ttUSHORT(data+8) != 1) // horizontal flag must be set in format
-      return 0;
-
-   l = 0;
-   r = ttUSHORT(data+10) - 1;
-   needle = glyph1 << 16 | glyph2;
-   while (l <= r) {
-      m = (l + r) >> 1;
-      straw = ttULONG(data+18+(m*6)); // note: unaligned read
-      if (needle < straw)
-         r = m - 1;
-      else if (needle > straw)
-         l = m + 1;
-      else
-         return ttSHORT(data+22+(m*6));
-   }
-   return 0;
-}
-
-STBTT_DEF int  stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2)
-{
-   if (!info->kern) // if no kerning table, don't waste time looking up both codepoint->glyphs
-      return 0;
-   return stbtt_GetGlyphKernAdvance(info, stbtt_FindGlyphIndex(info,ch1), stbtt_FindGlyphIndex(info,ch2));
-}
-
-STBTT_DEF void stbtt_GetCodepointHMetrics(const stbtt_fontinfo *info, int codepoint, int *advanceWidth, int *leftSideBearing)
-{
-   stbtt_GetGlyphHMetrics(info, stbtt_FindGlyphIndex(info,codepoint), advanceWidth, leftSideBearing);
-}
-
-STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, int *descent, int *lineGap)
-{
-   if (ascent ) *ascent  = ttSHORT(info->data+info->hhea + 4);
-   if (descent) *descent = ttSHORT(info->data+info->hhea + 6);
-   if (lineGap) *lineGap = ttSHORT(info->data+info->hhea + 8);
-}
-
-STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1)
-{
-   *x0 = ttSHORT(info->data + info->head + 36);
-   *y0 = ttSHORT(info->data + info->head + 38);
-   *x1 = ttSHORT(info->data + info->head + 40);
-   *y1 = ttSHORT(info->data + info->head + 42);
-}
-
-STBTT_DEF float stbtt_ScaleForPixelHeight(const stbtt_fontinfo *info, float height)
-{
-   int fheight = ttSHORT(info->data + info->hhea + 4) - ttSHORT(info->data + info->hhea + 6);
-   return (float) height / fheight;
-}
-
-STBTT_DEF float stbtt_ScaleForMappingEmToPixels(const stbtt_fontinfo *info, float pixels)
-{
-   int unitsPerEm = ttUSHORT(info->data + info->head + 18);
-   return pixels / unitsPerEm;
-}
-
-STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *v)
-{
-   STBTT_free(v, info->userdata);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// antialiasing software rasterizer
-//
-
-STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1)
-{
-   int x0=0,y0=0,x1,y1; // =0 suppresses compiler warning
-   if (!stbtt_GetGlyphBox(font, glyph, &x0,&y0,&x1,&y1)) {
-      // e.g. space character
-      if (ix0) *ix0 = 0;
-      if (iy0) *iy0 = 0;
-      if (ix1) *ix1 = 0;
-      if (iy1) *iy1 = 0;
-   } else {
-      // move to integral bboxes (treating pixels as little squares, what pixels get touched)?
-      if (ix0) *ix0 = STBTT_ifloor( x0 * scale_x + shift_x);
-      if (iy0) *iy0 = STBTT_ifloor(-y1 * scale_y + shift_y);
-      if (ix1) *ix1 = STBTT_iceil ( x1 * scale_x + shift_x);
-      if (iy1) *iy1 = STBTT_iceil (-y0 * scale_y + shift_y);
-   }
-}
-
-STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1)
-{
-   stbtt_GetGlyphBitmapBoxSubpixel(font, glyph, scale_x, scale_y,0.0f,0.0f, ix0, iy0, ix1, iy1);
-}
-
-STBTT_DEF void stbtt_GetCodepointBitmapBoxSubpixel(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1)
-{
-   stbtt_GetGlyphBitmapBoxSubpixel(font, stbtt_FindGlyphIndex(font,codepoint), scale_x, scale_y,shift_x,shift_y, ix0,iy0,ix1,iy1);
-}
-
-STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1)
-{
-   stbtt_GetCodepointBitmapBoxSubpixel(font, codepoint, scale_x, scale_y,0.0f,0.0f, ix0,iy0,ix1,iy1);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//
-//  Rasterizer
-
-typedef struct stbtt__hheap_chunk
-{
-   struct stbtt__hheap_chunk *next;
-} stbtt__hheap_chunk;
-
-typedef struct stbtt__hheap
-{
-   struct stbtt__hheap_chunk *head;
-   void   *first_free;
-   int    num_remaining_in_head_chunk;
-} stbtt__hheap;
-
-static void *stbtt__hheap_alloc(stbtt__hheap *hh, size_t size, void *userdata)
-{
-   if (hh->first_free) {
-      void *p = hh->first_free;
-      hh->first_free = * (void **) p;
-      return p;
-   } else {
-      if (hh->num_remaining_in_head_chunk == 0) {
-         int count = (size < 32 ? 2000 : size < 128 ? 800 : 100);
-         stbtt__hheap_chunk *c = (stbtt__hheap_chunk *) STBTT_malloc(sizeof(stbtt__hheap_chunk) + size * count, userdata);
-         if (c == NULL)
-            return NULL;
-         c->next = hh->head;
-         hh->head = c;
-         hh->num_remaining_in_head_chunk = count;
-      }
-      --hh->num_remaining_in_head_chunk;
-      return (char *) (hh->head) + size * hh->num_remaining_in_head_chunk;
-   }
-}
-
-static void stbtt__hheap_free(stbtt__hheap *hh, void *p)
-{
-   *(void **) p = hh->first_free;
-   hh->first_free = p;
-}
-
-static void stbtt__hheap_cleanup(stbtt__hheap *hh, void *userdata)
-{
-   stbtt__hheap_chunk *c = hh->head;
-   while (c) {
-      stbtt__hheap_chunk *n = c->next;
-      STBTT_free(c, userdata);
-      c = n;
-   }
-}
-
-typedef struct stbtt__edge {
-   float x0,y0, x1,y1;
-   int invert;
-} stbtt__edge;
-
-
-typedef struct stbtt__active_edge
-{
-   struct stbtt__active_edge *next;
-   #if STBTT_RASTERIZER_VERSION==1
-   int x,dx;
-   float ey;
-   int direction;
-   #elif STBTT_RASTERIZER_VERSION==2
-   float fx,fdx,fdy;
-   float direction;
-   float sy;
-   float ey;
-   #else
-   #error "Unrecognized value of STBTT_RASTERIZER_VERSION"
-   #endif
-} stbtt__active_edge;
-
-#if STBTT_RASTERIZER_VERSION == 1
-#define STBTT_FIXSHIFT   10
-#define STBTT_FIX        (1 << STBTT_FIXSHIFT)
-#define STBTT_FIXMASK    (STBTT_FIX-1)
-
-static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, int off_x, float start_point, void *userdata)
-{
-   stbtt__active_edge *z = (stbtt__active_edge *) stbtt__hheap_alloc(hh, sizeof(*z), userdata);
-   float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0);
-   STBTT_assert(z != NULL);
-   if (!z) return z;
-   
-   // round dx down to avoid overshooting
-   if (dxdy < 0)
-      z->dx = -STBTT_ifloor(STBTT_FIX * -dxdy);
-   else
-      z->dx = STBTT_ifloor(STBTT_FIX * dxdy);
-
-   z->x = STBTT_ifloor(STBTT_FIX * e->x0 + z->dx * (start_point - e->y0)); // use z->dx so when we offset later it's by the same amount
-   z->x -= off_x * STBTT_FIX;
-
-   z->ey = e->y1;
-   z->next = 0;
-   z->direction = e->invert ? 1 : -1;
-   return z;
-}
-#elif STBTT_RASTERIZER_VERSION == 2
-static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, int off_x, float start_point, void *userdata)
-{
-   stbtt__active_edge *z = (stbtt__active_edge *) stbtt__hheap_alloc(hh, sizeof(*z), userdata);
-   float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0);
-   STBTT_assert(z != NULL);
-   //STBTT_assert(e->y0 <= start_point);
-   if (!z) return z;
-   z->fdx = dxdy;
-   z->fdy = dxdy != 0.0f ? (1.0f/dxdy) : 0.0f;
-   z->fx = e->x0 + dxdy * (start_point - e->y0);
-   z->fx -= off_x;
-   z->direction = e->invert ? 1.0f : -1.0f;
-   z->sy = e->y0;
-   z->ey = e->y1;
-   z->next = 0;
-   return z;
-}
-#else
-#error "Unrecognized value of STBTT_RASTERIZER_VERSION"
-#endif
-
-#if STBTT_RASTERIZER_VERSION == 1
-// note: this routine clips fills that extend off the edges... ideally this
-// wouldn't happen, but it could happen if the truetype glyph bounding boxes
-// are wrong, or if the user supplies a too-small bitmap
-static void stbtt__fill_active_edges(unsigned char *scanline, int len, stbtt__active_edge *e, int max_weight)
-{
-   // non-zero winding fill
-   int x0=0, w=0;
-
-   while (e) {
-      if (w == 0) {
-         // if we're currently at zero, we need to record the edge start point
-         x0 = e->x; w += e->direction;
-      } else {
-         int x1 = e->x; w += e->direction;
-         // if we went to zero, we need to draw
-         if (w == 0) {
-            int i = x0 >> STBTT_FIXSHIFT;
-            int j = x1 >> STBTT_FIXSHIFT;
-
-            if (i < len && j >= 0) {
-               if (i == j) {
-                  // x0,x1 are the same pixel, so compute combined coverage
-                  scanline[i] = scanline[i] + (stbtt_uint8) ((x1 - x0) * max_weight >> STBTT_FIXSHIFT);
-               } else {
-                  if (i >= 0) // add antialiasing for x0
-                     scanline[i] = scanline[i] + (stbtt_uint8) (((STBTT_FIX - (x0 & STBTT_FIXMASK)) * max_weight) >> STBTT_FIXSHIFT);
-                  else
-                     i = -1; // clip
-
-                  if (j < len) // add antialiasing for x1
-                     scanline[j] = scanline[j] + (stbtt_uint8) (((x1 & STBTT_FIXMASK) * max_weight) >> STBTT_FIXSHIFT);
-                  else
-                     j = len; // clip
-
-                  for (++i; i < j; ++i) // fill pixels between x0 and x1
-                     scanline[i] = scanline[i] + (stbtt_uint8) max_weight;
-               }
-            }
-         }
-      }
-      
-      e = e->next;
-   }
-}
-
-static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e, int n, int vsubsample, int off_x, int off_y, void *userdata)
-{
-   stbtt__hheap hh = { 0, 0, 0 };
-   stbtt__active_edge *active = NULL;
-   int y,j=0;
-   int max_weight = (255 / vsubsample);  // weight per vertical scanline
-   int s; // vertical subsample index
-   unsigned char scanline_data[512], *scanline;
-
-   if (result->w > 512)
-      scanline = (unsigned char *) STBTT_malloc(result->w, userdata);
-   else
-      scanline = scanline_data;
-
-   y = off_y * vsubsample;
-   e[n].y0 = (off_y + result->h) * (float) vsubsample + 1;
-
-   while (j < result->h) {
-      STBTT_memset(scanline, 0, result->w);
-      for (s=0; s < vsubsample; ++s) {
-         // find center of pixel for this scanline
-         float scan_y = y + 0.5f;
-         stbtt__active_edge **step = &active;
-
-         // update all active edges;
-         // remove all active edges that terminate before the center of this scanline
-         while (*step) {
-            stbtt__active_edge * z = *step;
-            if (z->ey <= scan_y) {
-               *step = z->next; // delete from list
-               STBTT_assert(z->direction);
-               z->direction = 0;
-               stbtt__hheap_free(&hh, z);
-            } else {
-               z->x += z->dx; // advance to position for current scanline
-               step = &((*step)->next); // advance through list
-            }
-         }
-
-         // resort the list if needed
-         for(;;) {
-            int changed=0;
-            step = &active;
-            while (*step && (*step)->next) {
-               if ((*step)->x > (*step)->next->x) {
-                  stbtt__active_edge *t = *step;
-                  stbtt__active_edge *q = t->next;
-
-                  t->next = q->next;
-                  q->next = t;
-                  *step = q;
-                  changed = 1;
-               }
-               step = &(*step)->next;
-            }
-            if (!changed) break;
-         }
-
-         // insert all edges that start before the center of this scanline -- omit ones that also end on this scanline
-         while (e->y0 <= scan_y) {
-            if (e->y1 > scan_y) {
-               stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y, userdata);
-               if (z != NULL) {
-                  // find insertion point
-                  if (active == NULL)
-                     active = z;
-                  else if (z->x < active->x) {
-                     // insert at front
-                     z->next = active;
-                     active = z;
-                  } else {
-                     // find thing to insert AFTER
-                     stbtt__active_edge *p = active;
-                     while (p->next && p->next->x < z->x)
-                        p = p->next;
-                     // at this point, p->next->x is NOT < z->x
-                     z->next = p->next;
-                     p->next = z;
-                  }
-               }
-            }
-            ++e;
-         }
-
-         // now process all active edges in XOR fashion
-         if (active)
-            stbtt__fill_active_edges(scanline, result->w, active, max_weight);
-
-         ++y;
-      }
-      STBTT_memcpy(result->pixels + j * result->stride, scanline, result->w);
-      ++j;
-   }
-
-   stbtt__hheap_cleanup(&hh, userdata);
-
-   if (scanline != scanline_data)
-      STBTT_free(scanline, userdata);
-}
-
-#elif STBTT_RASTERIZER_VERSION == 2
-
-// the edge passed in here does not cross the vertical line at x or the vertical line at x+1
-// (i.e. it has already been clipped to those)
-static void stbtt__handle_clipped_edge(float *scanline, int x, stbtt__active_edge *e, float x0, float y0, float x1, float y1)
-{
-   if (y0 == y1) return;
-   STBTT_assert(y0 < y1);
-   STBTT_assert(e->sy <= e->ey);
-   if (y0 > e->ey) return;
-   if (y1 < e->sy) return;
-   if (y0 < e->sy) {
-      x0 += (x1-x0) * (e->sy - y0) / (y1-y0);
-      y0 = e->sy;
-   }
-   if (y1 > e->ey) {
-      x1 += (x1-x0) * (e->ey - y1) / (y1-y0);
-      y1 = e->ey;
-   }
-
-   if (x0 == x)
-      STBTT_assert(x1 <= x+1);
-   else if (x0 == x+1)
-      STBTT_assert(x1 >= x);
-   else if (x0 <= x)
-      STBTT_assert(x1 <= x);
-   else if (x0 >= x+1)
-      STBTT_assert(x1 >= x+1);
-   else
-      STBTT_assert(x1 >= x && x1 <= x+1);
-
-   if (x0 <= x && x1 <= x)
-      scanline[x] += e->direction * (y1-y0);
-   else if (x0 >= x+1 && x1 >= x+1)
-      ;
-   else {
-      STBTT_assert(x0 >= x && x0 <= x+1 && x1 >= x && x1 <= x+1);
-      scanline[x] += e->direction * (y1-y0) * (1-((x0-x)+(x1-x))/2); // coverage = 1 - average x position
-   }
-}
-
-static void stbtt__fill_active_edges_new(float *scanline, float *scanline_fill, int len, stbtt__active_edge *e, float y_top)
-{
-   float y_bottom = y_top+1;
-
-   while (e) {
-      // brute force every pixel
-
-      // compute intersection points with top & bottom
-      STBTT_assert(e->ey >= y_top);
-
-      if (e->fdx == 0) {
-         float x0 = e->fx;
-         if (x0 < len) {
-            if (x0 >= 0) {
-               stbtt__handle_clipped_edge(scanline,(int) x0,e, x0,y_top, x0,y_bottom);
-               stbtt__handle_clipped_edge(scanline_fill-1,(int) x0+1,e, x0,y_top, x0,y_bottom);
-            } else {
-               stbtt__handle_clipped_edge(scanline_fill-1,0,e, x0,y_top, x0,y_bottom);
-            }
-         }
-      } else {
-         float x0 = e->fx;
-         float dx = e->fdx;
-         float xb = x0 + dx;
-         float x_top, x_bottom;
-         float sy0,sy1;
-         float dy = e->fdy;
-         STBTT_assert(e->sy <= y_bottom && e->ey >= y_top);
-
-         // compute endpoints of line segment clipped to this scanline (if the
-         // line segment starts on this scanline. x0 is the intersection of the
-         // line with y_top, but that may be off the line segment.
-         if (e->sy > y_top) {
-            x_top = x0 + dx * (e->sy - y_top);
-            sy0 = e->sy;
-         } else {
-            x_top = x0;
-            sy0 = y_top;
-         }
-         if (e->ey < y_bottom) {
-            x_bottom = x0 + dx * (e->ey - y_top);
-            sy1 = e->ey;
-         } else {
-            x_bottom = xb;
-            sy1 = y_bottom;
-         }
-
-         if (x_top >= 0 && x_bottom >= 0 && x_top < len && x_bottom < len) {
-            // from here on, we don't have to range check x values
-
-            if ((int) x_top == (int) x_bottom) {
-               float height;
-               // simple case, only spans one pixel
-               int x = (int) x_top;
-               height = sy1 - sy0;
-               STBTT_assert(x >= 0 && x < len);
-               scanline[x] += e->direction * (1-((x_top - x) + (x_bottom-x))/2)  * height;
-               scanline_fill[x] += e->direction * height; // everything right of this pixel is filled
-            } else {
-               int x,x1,x2;
-               float y_crossing, step, sign, area;
-               // covers 2+ pixels
-               if (x_top > x_bottom) {
-                  // flip scanline vertically; signed area is the same
-                  float t;
-                  sy0 = y_bottom - (sy0 - y_top);
-                  sy1 = y_bottom - (sy1 - y_top);
-                  t = sy0, sy0 = sy1, sy1 = t;
-                  t = x_bottom, x_bottom = x_top, x_top = t;
-                  dx = -dx;
-                  dy = -dy;
-                  t = x0, x0 = xb, xb = t;
-               }
-
-               x1 = (int) x_top;
-               x2 = (int) x_bottom;
-               // compute intersection with y axis at x1+1
-               y_crossing = (x1+1 - x0) * dy + y_top;
-
-               sign = e->direction;
-               // area of the rectangle covered from y0..y_crossing
-               area = sign * (y_crossing-sy0);
-               // area of the triangle (x_top,y0), (x+1,y0), (x+1,y_crossing)
-               scanline[x1] += area * (1-((x_top - x1)+(x1+1-x1))/2);
-
-               step = sign * dy;
-               for (x = x1+1; x < x2; ++x) {
-                  scanline[x] += area + step/2;
-                  area += step;
-               }
-               y_crossing += dy * (x2 - (x1+1));
-
-               STBTT_assert(fabs(area) <= 1.01f);
-
-               scanline[x2] += area + sign * (1-((x2-x2)+(x_bottom-x2))/2) * (sy1-y_crossing);
-
-               scanline_fill[x2] += sign * (sy1-sy0);
-            }
-         } else {
-            // if edge goes outside of box we're drawing, we require
-            // clipping logic. since this does not match the intended use
-            // of this library, we use a different, very slow brute
-            // force implementation
-            int x;
-            for (x=0; x < len; ++x) {
-               // cases:
-               //
-               // there can be up to two intersections with the pixel. any intersection
-               // with left or right edges can be handled by splitting into two (or three)
-               // regions. intersections with top & bottom do not necessitate case-wise logic.
-               //
-               // the old way of doing this found the intersections with the left & right edges,
-               // then used some simple logic to produce up to three segments in sorted order
-               // from top-to-bottom. however, this had a problem: if an x edge was epsilon
-               // across the x border, then the corresponding y position might not be distinct
-               // from the other y segment, and it might ignored as an empty segment. to avoid
-               // that, we need to explicitly produce segments based on x positions.
-
-               // rename variables to clear pairs
-               float y0 = y_top;
-               float x1 = (float) (x);
-               float x2 = (float) (x+1);
-               float x3 = xb;
-               float y3 = y_bottom;
-               float y1,y2;
-
-               // x = e->x + e->dx * (y-y_top)
-               // (y-y_top) = (x - e->x) / e->dx
-               // y = (x - e->x) / e->dx + y_top
-               y1 = (x - x0) / dx + y_top;
-               y2 = (x+1 - x0) / dx + y_top;
-
-               if (x0 < x1 && x3 > x2) {         // three segments descending down-right
-                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1);
-                  stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x2,y2);
-                  stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3);
-               } else if (x3 < x1 && x0 > x2) {  // three segments descending down-left
-                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2);
-                  stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x1,y1);
-                  stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3);
-               } else if (x0 < x1 && x3 > x1) {  // two segments across x, down-right
-                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1);
-                  stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3);
-               } else if (x3 < x1 && x0 > x1) {  // two segments across x, down-left
-                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1);
-                  stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3);
-               } else if (x0 < x2 && x3 > x2) {  // two segments across x+1, down-right
-                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2);
-                  stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3);
-               } else if (x3 < x2 && x0 > x2) {  // two segments across x+1, down-left
-                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2);
-                  stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3);
-               } else {  // one segment
-                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x3,y3);
-               }
-            }
-         }
-      }
-      e = e->next;
-   }
-}
-
-// directly AA rasterize edges w/o supersampling
-static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e, int n, int vsubsample, int off_x, int off_y, void *userdata)
-{
-   stbtt__hheap hh = { 0, 0, 0 };
-   stbtt__active_edge *active = NULL;
-   int y,j=0, i;
-   float scanline_data[129], *scanline, *scanline2;
-
-   if (result->w > 64)
-      scanline = (float *) STBTT_malloc((result->w*2+1) * sizeof(float), userdata);
-   else
-      scanline = scanline_data;
-
-   scanline2 = scanline + result->w;
-
-   y = off_y;
-   e[n].y0 = (float) (off_y + result->h) + 1;
-
-   while (j < result->h) {
-      // find center of pixel for this scanline
-      float scan_y_top    = y + 0.0f;
-      float scan_y_bottom = y + 1.0f;
-      stbtt__active_edge **step = &active;
-
-      STBTT_memset(scanline , 0, result->w*sizeof(scanline[0]));
-      STBTT_memset(scanline2, 0, (result->w+1)*sizeof(scanline[0]));
-
-      // update all active edges;
-      // remove all active edges that terminate before the top of this scanline
-      while (*step) {
-         stbtt__active_edge * z = *step;
-         if (z->ey <= scan_y_top) {
-            *step = z->next; // delete from list
-            STBTT_assert(z->direction);
-            z->direction = 0;
-            stbtt__hheap_free(&hh, z);
-         } else {
-            step = &((*step)->next); // advance through list
-         }
-      }
-
-      // insert all edges that start before the bottom of this scanline
-      while (e->y0 <= scan_y_bottom) {
-         if (e->y0 != e->y1) {
-            stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y_top, userdata);
-            if (z != NULL) {
-               STBTT_assert(z->ey >= scan_y_top);
-               // insert at front
-               z->next = active;
-               active = z;
-            }
-         }
-         ++e;
-      }
-
-      // now process all active edges
-      if (active)
-         stbtt__fill_active_edges_new(scanline, scanline2+1, result->w, active, scan_y_top);
-
-      {
-         float sum = 0;
-         for (i=0; i < result->w; ++i) {
-            float k;
-            int m;
-            sum += scanline2[i];
-            k = scanline[i] + sum;
-            k = (float) fabs(k)*255 + 0.5f;
-            m = (int) k;
-            if (m > 255) m = 255;
-            result->pixels[j*result->stride + i] = (unsigned char) m;
-         }
-      }
-      // advance all the edges
-      step = &active;
-      while (*step) {
-         stbtt__active_edge *z = *step;
-         z->fx += z->fdx; // advance to position for current scanline
-         step = &((*step)->next); // advance through list
-      }
-
-      ++y;
-      ++j;
-   }
-
-   stbtt__hheap_cleanup(&hh, userdata);
-
-   if (scanline != scanline_data)
-      STBTT_free(scanline, userdata);
-}
-#else
-#error "Unrecognized value of STBTT_RASTERIZER_VERSION"
-#endif
-
-#define STBTT__COMPARE(a,b)  ((a)->y0 < (b)->y0)
-
-static void stbtt__sort_edges_ins_sort(stbtt__edge *p, int n)
-{
-   int i,j;
-   for (i=1; i < n; ++i) {
-      stbtt__edge t = p[i], *a = &t;
-      j = i;
-      while (j > 0) {
-         stbtt__edge *b = &p[j-1];
-         int c = STBTT__COMPARE(a,b);
-         if (!c) break;
-         p[j] = p[j-1];
-         --j;
-      }
-      if (i != j)
-         p[j] = t;
-   }
-}
-
-static void stbtt__sort_edges_quicksort(stbtt__edge *p, int n)
-{
-   /* threshhold for transitioning to insertion sort */
-   while (n > 12) {
-      stbtt__edge t;
-      int c01,c12,c,m,i,j;
-
-      /* compute median of three */
-      m = n >> 1;
-      c01 = STBTT__COMPARE(&p[0],&p[m]);
-      c12 = STBTT__COMPARE(&p[m],&p[n-1]);
-      /* if 0 >= mid >= end, or 0 < mid < end, then use mid */
-      if (c01 != c12) {
-         /* otherwise, we'll need to swap something else to middle */
-         int z;
-         c = STBTT__COMPARE(&p[0],&p[n-1]);
-         /* 0>mid && mid<n:  0>n => n; 0<n => 0 */
-         /* 0<mid && mid>n:  0>n => 0; 0<n => n */
-         z = (c == c12) ? 0 : n-1;
-         t = p[z];
-         p[z] = p[m];
-         p[m] = t;
-      }
-      /* now p[m] is the median-of-three */
-      /* swap it to the beginning so it won't move around */
-      t = p[0];
-      p[0] = p[m];
-      p[m] = t;
-
-      /* partition loop */
-      i=1;
-      j=n-1;
-      for(;;) {
-         /* handling of equality is crucial here */
-         /* for sentinels & efficiency with duplicates */
-         for (;;++i) {
-            if (!STBTT__COMPARE(&p[i], &p[0])) break;
-         }
-         for (;;--j) {
-            if (!STBTT__COMPARE(&p[0], &p[j])) break;
-         }
-         /* make sure we haven't crossed */
-         if (i >= j) break;
-         t = p[i];
-         p[i] = p[j];
-         p[j] = t;
-
-         ++i;
-         --j;
-      }
-      /* recurse on smaller side, iterate on larger */
-      if (j < (n-i)) {
-         stbtt__sort_edges_quicksort(p,j);
-         p = p+i;
-         n = n-i;
-      } else {
-         stbtt__sort_edges_quicksort(p+i, n-i);
-         n = j;
-      }
-   }
-}
-
-static void stbtt__sort_edges(stbtt__edge *p, int n)
-{
-   stbtt__sort_edges_quicksort(p, n);
-   stbtt__sort_edges_ins_sort(p, n);
-}
-
-typedef struct
-{
-   float x,y;
-} stbtt__point;
-
-static void stbtt__rasterize(stbtt__bitmap *result, stbtt__point *pts, int *wcount, int windings, float scale_x, float scale_y, float shift_x, float shift_y, int off_x, int off_y, int invert, void *userdata)
-{
-   float y_scale_inv = invert ? -scale_y : scale_y;
-   stbtt__edge *e;
-   int n,i,j,k,m;
-#if STBTT_RASTERIZER_VERSION == 1
-   int vsubsample = result->h < 8 ? 15 : 5;
-#elif STBTT_RASTERIZER_VERSION == 2
-   int vsubsample = 1;
-#else
-   #error "Unrecognized value of STBTT_RASTERIZER_VERSION"
-#endif
-   // vsubsample should divide 255 evenly; otherwise we won't reach full opacity
-
-   // now we have to blow out the windings into explicit edge lists
-   n = 0;
-   for (i=0; i < windings; ++i)
-      n += wcount[i];
-
-   e = (stbtt__edge *) STBTT_malloc(sizeof(*e) * (n+1), userdata); // add an extra one as a sentinel
-   if (e == 0) return;
-   n = 0;
-
-   m=0;
-   for (i=0; i < windings; ++i) {
-      stbtt__point *p = pts + m;
-      m += wcount[i];
-      j = wcount[i]-1;
-      for (k=0; k < wcount[i]; j=k++) {
-         int a=k,b=j;
-         // skip the edge if horizontal
-         if (p[j].y == p[k].y)
-            continue;
-         // add edge from j to k to the list
-         e[n].invert = 0;
-         if (invert ? p[j].y > p[k].y : p[j].y < p[k].y) {
-            e[n].invert = 1;
-            a=j,b=k;
-         }
-         e[n].x0 = p[a].x * scale_x + shift_x;
-         e[n].y0 = (p[a].y * y_scale_inv + shift_y) * vsubsample;
-         e[n].x1 = p[b].x * scale_x + shift_x;
-         e[n].y1 = (p[b].y * y_scale_inv + shift_y) * vsubsample;
-         ++n;
-      }
-   }
-
-   // now sort the edges by their highest point (should snap to integer, and then by x)
-   //STBTT_sort(e, n, sizeof(e[0]), stbtt__edge_compare);
-   stbtt__sort_edges(e, n);
-
-   // now, traverse the scanlines and find the intersections on each scanline, use xor winding rule
-   stbtt__rasterize_sorted_edges(result, e, n, vsubsample, off_x, off_y, userdata);
-
-   STBTT_free(e, userdata);
-}
-
-static void stbtt__add_point(stbtt__point *points, int n, float x, float y)
-{
-   if (!points) return; // during first pass, it's unallocated
-   points[n].x = x;
-   points[n].y = y;
-}
-
-// tesselate until threshhold p is happy... @TODO warped to compensate for non-linear stretching
-static int stbtt__tesselate_curve(stbtt__point *points, int *num_points, float x0, float y0, float x1, float y1, float x2, float y2, float objspace_flatness_squared, int n)
-{
-   // midpoint
-   float mx = (x0 + 2*x1 + x2)/4;
-   float my = (y0 + 2*y1 + y2)/4;
-   // versus directly drawn line
-   float dx = (x0+x2)/2 - mx;
-   float dy = (y0+y2)/2 - my;
-   if (n > 16) // 65536 segments on one curve better be enough!
-      return 1;
-   if (dx*dx+dy*dy > objspace_flatness_squared) { // half-pixel error allowed... need to be smaller if AA
-      stbtt__tesselate_curve(points, num_points, x0,y0, (x0+x1)/2.0f,(y0+y1)/2.0f, mx,my, objspace_flatness_squared,n+1);
-      stbtt__tesselate_curve(points, num_points, mx,my, (x1+x2)/2.0f,(y1+y2)/2.0f, x2,y2, objspace_flatness_squared,n+1);
-   } else {
-      stbtt__add_point(points, *num_points,x2,y2);
-      *num_points = *num_points+1;
-   }
-   return 1;
-}
-
-// returns number of contours
-static stbtt__point *stbtt_FlattenCurves(stbtt_vertex *vertices, int num_verts, float objspace_flatness, int **contour_lengths, int *num_contours, void *userdata)
-{
-   stbtt__point *points=0;
-   int num_points=0;
-
-   float objspace_flatness_squared = objspace_flatness * objspace_flatness;
-   int i,n=0,start=0, pass;
-
-   // count how many "moves" there are to get the contour count
-   for (i=0; i < num_verts; ++i)
-      if (vertices[i].type == STBTT_vmove)
-         ++n;
-
-   *num_contours = n;
-   if (n == 0) return 0;
-
-   *contour_lengths = (int *) STBTT_malloc(sizeof(**contour_lengths) * n, userdata);
-
-   if (*contour_lengths == 0) {
-      *num_contours = 0;
-      return 0;
-   }
-
-   // make two passes through the points so we don't need to realloc
-   for (pass=0; pass < 2; ++pass) {
-      float x=0,y=0;
-      if (pass == 1) {
-         points = (stbtt__point *) STBTT_malloc(num_points * sizeof(points[0]), userdata);
-         if (points == NULL) goto error;
-      }
-      num_points = 0;
-      n= -1;
-      for (i=0; i < num_verts; ++i) {
-         switch (vertices[i].type) {
-            case STBTT_vmove:
-               // start the next contour
-               if (n >= 0)
-                  (*contour_lengths)[n] = num_points - start;
-               ++n;
-               start = num_points;
-
-               x = vertices[i].x, y = vertices[i].y;
-               stbtt__add_point(points, num_points++, x,y);
-               break;
-            case STBTT_vline:
-               x = vertices[i].x, y = vertices[i].y;
-               stbtt__add_point(points, num_points++, x, y);
-               break;
-            case STBTT_vcurve:
-               stbtt__tesselate_curve(points, &num_points, x,y,
-                                        vertices[i].cx, vertices[i].cy,
-                                        vertices[i].x,  vertices[i].y,
-                                        objspace_flatness_squared, 0);
-               x = vertices[i].x, y = vertices[i].y;
-               break;
-         }
-      }
-      (*contour_lengths)[n] = num_points - start;
-   }
-
-   return points;
-error:
-   STBTT_free(points, userdata);
-   STBTT_free(*contour_lengths, userdata);
-   *contour_lengths = 0;
-   *num_contours = 0;
-   return NULL;
-}
-
-STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result, float flatness_in_pixels, stbtt_vertex *vertices, int num_verts, float scale_x, float scale_y, float shift_x, float shift_y, int x_off, int y_off, int invert, void *userdata)
-{
-   float scale = scale_x > scale_y ? scale_y : scale_x;
-   int winding_count, *winding_lengths;
-   stbtt__point *windings = stbtt_FlattenCurves(vertices, num_verts, flatness_in_pixels / scale, &winding_lengths, &winding_count, userdata);
-   if (windings) {
-      stbtt__rasterize(result, windings, winding_lengths, winding_count, scale_x, scale_y, shift_x, shift_y, x_off, y_off, invert, userdata);
-      STBTT_free(winding_lengths, userdata);
-      STBTT_free(windings, userdata);
-   }
-}
-
-STBTT_DEF void stbtt_FreeBitmap(unsigned char *bitmap, void *userdata)
-{
-   STBTT_free(bitmap, userdata);
-}
-
-STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff)
-{
-   int ix0,iy0,ix1,iy1;
-   stbtt__bitmap gbm;
-   stbtt_vertex *vertices;   
-   int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices);
-
-   if (scale_x == 0) scale_x = scale_y;
-   if (scale_y == 0) {
-      if (scale_x == 0) return NULL;
-      scale_y = scale_x;
-   }
-
-   stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,&ix1,&iy1);
-
-   // now we get the size
-   gbm.w = (ix1 - ix0);
-   gbm.h = (iy1 - iy0);
-   gbm.pixels = NULL; // in case we error
-
-   if (width ) *width  = gbm.w;
-   if (height) *height = gbm.h;
-   if (xoff  ) *xoff   = ix0;
-   if (yoff  ) *yoff   = iy0;
-   
-   if (gbm.w && gbm.h) {
-      gbm.pixels = (unsigned char *) STBTT_malloc(gbm.w * gbm.h, info->userdata);
-      if (gbm.pixels) {
-         gbm.stride = gbm.w;
-
-         stbtt_Rasterize(&gbm, 0.35f, vertices, num_verts, scale_x, scale_y, shift_x, shift_y, ix0, iy0, 1, info->userdata);
-      }
-   }
-   STBTT_free(vertices, info->userdata);
-   return gbm.pixels;
-}   
-
-STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff)
-{
-   return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y, 0.0f, 0.0f, glyph, width, height, xoff, yoff);
-}
-
-STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph)
-{
-   int ix0,iy0;
-   stbtt_vertex *vertices;
-   int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices);
-   stbtt__bitmap gbm;   
-
-   stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,0,0);
-   gbm.pixels = output;
-   gbm.w = out_w;
-   gbm.h = out_h;
-   gbm.stride = out_stride;
-
-   if (gbm.w && gbm.h)
-      stbtt_Rasterize(&gbm, 0.35f, vertices, num_verts, scale_x, scale_y, shift_x, shift_y, ix0,iy0, 1, info->userdata);
-
-   STBTT_free(vertices, info->userdata);
-}
-
-STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph)
-{
-   stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, 0.0f,0.0f, glyph);
-}
-
-STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff)
-{
-   return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y,shift_x,shift_y, stbtt_FindGlyphIndex(info,codepoint), width,height,xoff,yoff);
-}   
-
-STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint)
-{
-   stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, stbtt_FindGlyphIndex(info,codepoint));
-}
-
-STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff)
-{
-   return stbtt_GetCodepointBitmapSubpixel(info, scale_x, scale_y, 0.0f,0.0f, codepoint, width,height,xoff,yoff);
-}   
-
-STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint)
-{
-   stbtt_MakeCodepointBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, 0.0f,0.0f, codepoint);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// bitmap baking
-//
-// This is SUPER-CRAPPY packing to keep source code small
-
-STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset,  // font location (use offset=0 for plain .ttf)
-                                float pixel_height,                     // height of font in pixels
-                                unsigned char *pixels, int pw, int ph,  // bitmap to be filled in
-                                int first_char, int num_chars,          // characters to bake
-                                stbtt_bakedchar *chardata)
-{
-   float scale;
-   int x,y,bottom_y, i;
-   stbtt_fontinfo f;
-   f.userdata = NULL;
-   if (!stbtt_InitFont(&f, data, offset))
-      return -1;
-   STBTT_memset(pixels, 0, pw*ph); // background of 0 around pixels
-   x=y=1;
-   bottom_y = 1;
-
-   scale = stbtt_ScaleForPixelHeight(&f, pixel_height);
-
-   for (i=0; i < num_chars; ++i) {
-      int advance, lsb, x0,y0,x1,y1,gw,gh;
-      int g = stbtt_FindGlyphIndex(&f, first_char + i);
-      stbtt_GetGlyphHMetrics(&f, g, &advance, &lsb);
-      stbtt_GetGlyphBitmapBox(&f, g, scale,scale, &x0,&y0,&x1,&y1);
-      gw = x1-x0;
-      gh = y1-y0;
-      if (x + gw + 1 >= pw)
-         y = bottom_y, x = 1; // advance to next row
-      if (y + gh + 1 >= ph) // check if it fits vertically AFTER potentially moving to next row
-         return -i;
-      STBTT_assert(x+gw < pw);
-      STBTT_assert(y+gh < ph);
-      stbtt_MakeGlyphBitmap(&f, pixels+x+y*pw, gw,gh,pw, scale,scale, g);
-      chardata[i].x0 = (stbtt_int16) x;
-      chardata[i].y0 = (stbtt_int16) y;
-      chardata[i].x1 = (stbtt_int16) (x + gw);
-      chardata[i].y1 = (stbtt_int16) (y + gh);
-      chardata[i].xadvance = scale * advance;
-      chardata[i].xoff     = (float) x0;
-      chardata[i].yoff     = (float) y0;
-      x = x + gw + 1;
-      if (y+gh+1 > bottom_y)
-         bottom_y = y+gh+1;
-   }
-   return bottom_y;
-}
-
-STBTT_DEF void stbtt_GetBakedQuad(stbtt_bakedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int opengl_fillrule)
-{
-   float d3d_bias = opengl_fillrule ? 0 : -0.5f;
-   float ipw = 1.0f / pw, iph = 1.0f / ph;
-   stbtt_bakedchar *b = chardata + char_index;
-   int round_x = STBTT_ifloor((*xpos + b->xoff) + 0.5f);
-   int round_y = STBTT_ifloor((*ypos + b->yoff) + 0.5f);
-
-   q->x0 = round_x + d3d_bias;
-   q->y0 = round_y + d3d_bias;
-   q->x1 = round_x + b->x1 - b->x0 + d3d_bias;
-   q->y1 = round_y + b->y1 - b->y0 + d3d_bias;
-
-   q->s0 = b->x0 * ipw;
-   q->t0 = b->y0 * iph;
-   q->s1 = b->x1 * ipw;
-   q->t1 = b->y1 * iph;
-
-   *xpos += b->xadvance;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// rectangle packing replacement routines if you don't have stb_rect_pack.h
-//
-
-#ifndef STB_RECT_PACK_VERSION
-#ifdef _MSC_VER
-#define STBTT__NOTUSED(v)  (void)(v)
-#else
-#define STBTT__NOTUSED(v)  (void)sizeof(v)
-#endif
-
-typedef int stbrp_coord;
-
-////////////////////////////////////////////////////////////////////////////////////
-//                                                                                //
-//                                                                                //
-// COMPILER WARNING ?!?!?                                                         //
-//                                                                                //
-//                                                                                //
-// if you get a compile warning due to these symbols being defined more than      //
-// once, move #include "stb_rect_pack.h" before #include "stb_truetype.h"         //
-//                                                                                //
-////////////////////////////////////////////////////////////////////////////////////
-
-typedef struct
-{
-   int width,height;
-   int x,y,bottom_y;
-} stbrp_context;
-
-typedef struct
-{
-   unsigned char x;
-} stbrp_node;
-
-struct stbrp_rect
-{
-   stbrp_coord x,y;
-   int id,w,h,was_packed;
-};
-
-static void stbrp_init_target(stbrp_context *con, int pw, int ph, stbrp_node *nodes, int num_nodes)
-{
-   con->width  = pw;
-   con->height = ph;
-   con->x = 0;
-   con->y = 0;
-   con->bottom_y = 0;
-   STBTT__NOTUSED(nodes);
-   STBTT__NOTUSED(num_nodes);   
-}
-
-static void stbrp_pack_rects(stbrp_context *con, stbrp_rect *rects, int num_rects)
-{
-   int i;
-   for (i=0; i < num_rects; ++i) {
-      if (con->x + rects[i].w > con->width) {
-         con->x = 0;
-         con->y = con->bottom_y;
-      }
-      if (con->y + rects[i].h > con->height)
-         break;
-      rects[i].x = con->x;
-      rects[i].y = con->y;
-      rects[i].was_packed = 1;
-      con->x += rects[i].w;
-      if (con->y + rects[i].h > con->bottom_y)
-         con->bottom_y = con->y + rects[i].h;
-   }
-   for (   ; i < num_rects; ++i)
-      rects[i].was_packed = 0;
-}
-#endif
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// bitmap baking
-//
-// This is SUPER-AWESOME (tm Ryan Gordon) packing using stb_rect_pack.h. If
-// stb_rect_pack.h isn't available, it uses the BakeFontBitmap strategy.
-
-STBTT_DEF int stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, int pw, int ph, int stride_in_bytes, int padding, void *alloc_context)
-{
-   stbrp_context *context = (stbrp_context *) STBTT_malloc(sizeof(*context)            ,alloc_context);
-   int            num_nodes = pw - padding;
-   stbrp_node    *nodes   = (stbrp_node    *) STBTT_malloc(sizeof(*nodes  ) * num_nodes,alloc_context);
-
-   if (context == NULL || nodes == NULL) {
-      if (context != NULL) STBTT_free(context, alloc_context);
-      if (nodes   != NULL) STBTT_free(nodes  , alloc_context);
-      return 0;
-   }
-
-   spc->user_allocator_context = alloc_context;
-   spc->width = pw;
-   spc->height = ph;
-   spc->pixels = pixels;
-   spc->pack_info = context;
-   spc->nodes = nodes;
-   spc->padding = padding;
-   spc->stride_in_bytes = stride_in_bytes != 0 ? stride_in_bytes : pw;
-   spc->h_oversample = 1;
-   spc->v_oversample = 1;
-
-   stbrp_init_target(context, pw-padding, ph-padding, nodes, num_nodes);
-
-   if (pixels)
-      STBTT_memset(pixels, 0, pw*ph); // background of 0 around pixels
-
-   return 1;
-}
-
-STBTT_DEF void stbtt_PackEnd  (stbtt_pack_context *spc)
-{
-   STBTT_free(spc->nodes    , spc->user_allocator_context);
-   STBTT_free(spc->pack_info, spc->user_allocator_context);
-}
-
-STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h_oversample, unsigned int v_oversample)
-{
-   STBTT_assert(h_oversample <= STBTT_MAX_OVERSAMPLE);
-   STBTT_assert(v_oversample <= STBTT_MAX_OVERSAMPLE);
-   if (h_oversample <= STBTT_MAX_OVERSAMPLE)
-      spc->h_oversample = h_oversample;
-   if (v_oversample <= STBTT_MAX_OVERSAMPLE)
-      spc->v_oversample = v_oversample;
-}
-
-#define STBTT__OVER_MASK  (STBTT_MAX_OVERSAMPLE-1)
-
-static void stbtt__h_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width)
-{
-   unsigned char buffer[STBTT_MAX_OVERSAMPLE];
-   int safe_w = w - kernel_width;
-   int j;
-   STBTT_memset(buffer, 0, STBTT_MAX_OVERSAMPLE); // suppress bogus warning from VS2013 -analyze
-   for (j=0; j < h; ++j) {
-      int i;
-      unsigned int total;
-      STBTT_memset(buffer, 0, kernel_width);
-
-      total = 0;
-
-      // make kernel_width a constant in common cases so compiler can optimize out the divide
-      switch (kernel_width) {
-         case 2:
-            for (i=0; i <= safe_w; ++i) {
-               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
-               pixels[i] = (unsigned char) (total / 2);
-            }
-            break;
-         case 3:
-            for (i=0; i <= safe_w; ++i) {
-               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
-               pixels[i] = (unsigned char) (total / 3);
-            }
-            break;
-         case 4:
-            for (i=0; i <= safe_w; ++i) {
-               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
-               pixels[i] = (unsigned char) (total / 4);
-            }
-            break;
-         case 5:
-            for (i=0; i <= safe_w; ++i) {
-               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
-               pixels[i] = (unsigned char) (total / 5);
-            }
-            break;
-         default:
-            for (i=0; i <= safe_w; ++i) {
-               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
-               pixels[i] = (unsigned char) (total / kernel_width);
-            }
-            break;
-      }
-
-      for (; i < w; ++i) {
-         STBTT_assert(pixels[i] == 0);
-         total -= buffer[i & STBTT__OVER_MASK];
-         pixels[i] = (unsigned char) (total / kernel_width);
-      }
-
-      pixels += stride_in_bytes;
-   }
-}
-
-static void stbtt__v_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width)
-{
-   unsigned char buffer[STBTT_MAX_OVERSAMPLE];
-   int safe_h = h - kernel_width;
-   int j;
-   STBTT_memset(buffer, 0, STBTT_MAX_OVERSAMPLE); // suppress bogus warning from VS2013 -analyze
-   for (j=0; j < w; ++j) {
-      int i;
-      unsigned int total;
-      STBTT_memset(buffer, 0, kernel_width);
-
-      total = 0;
-
-      // make kernel_width a constant in common cases so compiler can optimize out the divide
-      switch (kernel_width) {
-         case 2:
-            for (i=0; i <= safe_h; ++i) {
-               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
-               pixels[i*stride_in_bytes] = (unsigned char) (total / 2);
-            }
-            break;
-         case 3:
-            for (i=0; i <= safe_h; ++i) {
-               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
-               pixels[i*stride_in_bytes] = (unsigned char) (total / 3);
-            }
-            break;
-         case 4:
-            for (i=0; i <= safe_h; ++i) {
-               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
-               pixels[i*stride_in_bytes] = (unsigned char) (total / 4);
-            }
-            break;
-         case 5:
-            for (i=0; i <= safe_h; ++i) {
-               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
-               pixels[i*stride_in_bytes] = (unsigned char) (total / 5);
-            }
-            break;
-         default:
-            for (i=0; i <= safe_h; ++i) {
-               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
-               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
-               pixels[i*stride_in_bytes] = (unsigned char) (total / kernel_width);
-            }
-            break;
-      }
-
-      for (; i < h; ++i) {
-         STBTT_assert(pixels[i*stride_in_bytes] == 0);
-         total -= buffer[i & STBTT__OVER_MASK];
-         pixels[i*stride_in_bytes] = (unsigned char) (total / kernel_width);
-      }
-
-      pixels += 1;
-   }
-}
-
-static float stbtt__oversample_shift(int oversample)
-{
-   if (!oversample)
-      return 0.0f;
-
-   // The prefilter is a box filter of width "oversample",
-   // which shifts phase by (oversample - 1)/2 pixels in
-   // oversampled space. We want to shift in the opposite
-   // direction to counter this.
-   return (float)-(oversample - 1) / (2.0f * (float)oversample);
-}
-
-// rects array must be big enough to accommodate all characters in the given ranges
-STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects)
-{
-   int i,j,k;
-
-   k=0;
-   for (i=0; i < num_ranges; ++i) {
-      float fh = ranges[i].font_size;
-      float scale = fh > 0 ? stbtt_ScaleForPixelHeight(info, fh) : stbtt_ScaleForMappingEmToPixels(info, -fh);
-      ranges[i].h_oversample = (unsigned char) spc->h_oversample;
-      ranges[i].v_oversample = (unsigned char) spc->v_oversample;
-      for (j=0; j < ranges[i].num_chars; ++j) {
-         int x0,y0,x1,y1;
-         int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j];
-         int glyph = stbtt_FindGlyphIndex(info, codepoint);
-         stbtt_GetGlyphBitmapBoxSubpixel(info,glyph,
-                                         scale * spc->h_oversample,
-                                         scale * spc->v_oversample,
-                                         0,0,
-                                         &x0,&y0,&x1,&y1);
-         rects[k].w = (stbrp_coord) (x1-x0 + spc->padding + spc->h_oversample-1);
-         rects[k].h = (stbrp_coord) (y1-y0 + spc->padding + spc->v_oversample-1);
-         ++k;
-      }
-   }
-
-   return k;
-}
-
-// rects array must be big enough to accommodate all characters in the given ranges
-STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects)
-{
-   int i,j,k, return_value = 1;
-
-   // save current values
-   int old_h_over = spc->h_oversample;
-   int old_v_over = spc->v_oversample;
-
-   k = 0;
-   for (i=0; i < num_ranges; ++i) {
-      float fh = ranges[i].font_size;
-      float scale = fh > 0 ? stbtt_ScaleForPixelHeight(info, fh) : stbtt_ScaleForMappingEmToPixels(info, -fh);
-      float recip_h,recip_v,sub_x,sub_y;
-      spc->h_oversample = ranges[i].h_oversample;
-      spc->v_oversample = ranges[i].v_oversample;
-      recip_h = 1.0f / spc->h_oversample;
-      recip_v = 1.0f / spc->v_oversample;
-      sub_x = stbtt__oversample_shift(spc->h_oversample);
-      sub_y = stbtt__oversample_shift(spc->v_oversample);
-      for (j=0; j < ranges[i].num_chars; ++j) {
-         stbrp_rect *r = &rects[k];
-         if (r->was_packed) {
-            stbtt_packedchar *bc = &ranges[i].chardata_for_range[j];
-            int advance, lsb, x0,y0,x1,y1;
-            int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j];
-            int glyph = stbtt_FindGlyphIndex(info, codepoint);
-            stbrp_coord pad = (stbrp_coord) spc->padding;
-
-            // pad on left and top
-            r->x += pad;
-            r->y += pad;
-            r->w -= pad;
-            r->h -= pad;
-            stbtt_GetGlyphHMetrics(info, glyph, &advance, &lsb);
-            stbtt_GetGlyphBitmapBox(info, glyph,
-                                    scale * spc->h_oversample,
-                                    scale * spc->v_oversample,
-                                    &x0,&y0,&x1,&y1);
-            stbtt_MakeGlyphBitmapSubpixel(info,
-                                          spc->pixels + r->x + r->y*spc->stride_in_bytes,
-                                          r->w - spc->h_oversample+1,
-                                          r->h - spc->v_oversample+1,
-                                          spc->stride_in_bytes,
-                                          scale * spc->h_oversample,
-                                          scale * spc->v_oversample,
-                                          0,0,
-                                          glyph);
-
-            if (spc->h_oversample > 1)
-               stbtt__h_prefilter(spc->pixels + r->x + r->y*spc->stride_in_bytes,
-                                  r->w, r->h, spc->stride_in_bytes,
-                                  spc->h_oversample);
-
-            if (spc->v_oversample > 1)
-               stbtt__v_prefilter(spc->pixels + r->x + r->y*spc->stride_in_bytes,
-                                  r->w, r->h, spc->stride_in_bytes,
-                                  spc->v_oversample);
-
-            bc->x0       = (stbtt_int16)  r->x;
-            bc->y0       = (stbtt_int16)  r->y;
-            bc->x1       = (stbtt_int16) (r->x + r->w);
-            bc->y1       = (stbtt_int16) (r->y + r->h);
-            bc->xadvance =                scale * advance;
-            bc->xoff     =       (float)  x0 * recip_h + sub_x;
-            bc->yoff     =       (float)  y0 * recip_v + sub_y;
-            bc->xoff2    =                (x0 + r->w) * recip_h + sub_x;
-            bc->yoff2    =                (y0 + r->h) * recip_v + sub_y;
-         } else {
-            return_value = 0; // if any fail, report failure
-         }
-
-         ++k;
-      }
-   }
-
-   // restore original values
-   spc->h_oversample = old_h_over;
-   spc->v_oversample = old_v_over;
-
-   return return_value;
-}
-
-STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect *rects, int num_rects)
-{
-   stbrp_pack_rects((stbrp_context *) spc->pack_info, rects, num_rects);
-}
-
-STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges)
-{
-   stbtt_fontinfo info;
-   int i,j,n, return_value = 1;
-   //stbrp_context *context = (stbrp_context *) spc->pack_info;
-   stbrp_rect    *rects;
-
-   // flag all characters as NOT packed
-   for (i=0; i < num_ranges; ++i)
-      for (j=0; j < ranges[i].num_chars; ++j)
-         ranges[i].chardata_for_range[j].x0 =
-         ranges[i].chardata_for_range[j].y0 =
-         ranges[i].chardata_for_range[j].x1 =
-         ranges[i].chardata_for_range[j].y1 = 0;
-
-   n = 0;
-   for (i=0; i < num_ranges; ++i)
-      n += ranges[i].num_chars;
-         
-   rects = (stbrp_rect *) STBTT_malloc(sizeof(*rects) * n, spc->user_allocator_context);
-   if (rects == NULL)
-      return 0;
-
-   info.userdata = spc->user_allocator_context;
-   stbtt_InitFont(&info, fontdata, stbtt_GetFontOffsetForIndex(fontdata,font_index));
-
-   n = stbtt_PackFontRangesGatherRects(spc, &info, ranges, num_ranges, rects);
-
-   stbtt_PackFontRangesPackRects(spc, rects, n);
-  
-   return_value = stbtt_PackFontRangesRenderIntoRects(spc, &info, ranges, num_ranges, rects);
-
-   STBTT_free(rects, spc->user_allocator_context);
-   return return_value;
-}
-
-STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, unsigned char *fontdata, int font_index, float font_size,
-            int first_unicode_codepoint_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range)
-{
-   stbtt_pack_range range;
-   range.first_unicode_codepoint_in_range = first_unicode_codepoint_in_range;
-   range.array_of_unicode_codepoints = NULL;
-   range.num_chars                   = num_chars_in_range;
-   range.chardata_for_range          = chardata_for_range;
-   range.font_size                   = font_size;
-   return stbtt_PackFontRanges(spc, fontdata, font_index, &range, 1);
-}
-
-STBTT_DEF void stbtt_GetPackedQuad(stbtt_packedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int align_to_integer)
-{
-   float ipw = 1.0f / pw, iph = 1.0f / ph;
-   stbtt_packedchar *b = chardata + char_index;
-
-   if (align_to_integer) {
-      float x = (float) STBTT_ifloor((*xpos + b->xoff) + 0.5f);
-      float y = (float) STBTT_ifloor((*ypos + b->yoff) + 0.5f);
-      q->x0 = x;
-      q->y0 = y;
-      q->x1 = x + b->xoff2 - b->xoff;
-      q->y1 = y + b->yoff2 - b->yoff;
-   } else {
-      q->x0 = *xpos + b->xoff;
-      q->y0 = *ypos + b->yoff;
-      q->x1 = *xpos + b->xoff2;
-      q->y1 = *ypos + b->yoff2;
-   }
-
-   q->s0 = b->x0 * ipw;
-   q->t0 = b->y0 * iph;
-   q->s1 = b->x1 * ipw;
-   q->t1 = b->y1 * iph;
-
-   *xpos += b->xadvance;
-}
-
-
-//////////////////////////////////////////////////////////////////////////////
-//
-// font name matching -- recommended not to use this
-//
-
-// check if a utf8 string contains a prefix which is the utf16 string; if so return length of matching utf8 string
-static stbtt_int32 stbtt__CompareUTF8toUTF16_bigendian_prefix(const stbtt_uint8 *s1, stbtt_int32 len1, const stbtt_uint8 *s2, stbtt_int32 len2) 
-{
-   stbtt_int32 i=0;
-
-   // convert utf16 to utf8 and compare the results while converting
-   while (len2) {
-      stbtt_uint16 ch = s2[0]*256 + s2[1];
-      if (ch < 0x80) {
-         if (i >= len1) return -1;
-         if (s1[i++] != ch) return -1;
-      } else if (ch < 0x800) {
-         if (i+1 >= len1) return -1;
-         if (s1[i++] != 0xc0 + (ch >> 6)) return -1;
-         if (s1[i++] != 0x80 + (ch & 0x3f)) return -1;
-      } else if (ch >= 0xd800 && ch < 0xdc00) {
-         stbtt_uint32 c;
-         stbtt_uint16 ch2 = s2[2]*256 + s2[3];
-         if (i+3 >= len1) return -1;
-         c = ((ch - 0xd800) << 10) + (ch2 - 0xdc00) + 0x10000;
-         if (s1[i++] != 0xf0 + (c >> 18)) return -1;
-         if (s1[i++] != 0x80 + ((c >> 12) & 0x3f)) return -1;
-         if (s1[i++] != 0x80 + ((c >>  6) & 0x3f)) return -1;
-         if (s1[i++] != 0x80 + ((c      ) & 0x3f)) return -1;
-         s2 += 2; // plus another 2 below
-         len2 -= 2;
-      } else if (ch >= 0xdc00 && ch < 0xe000) {
-         return -1;
-      } else {
-         if (i+2 >= len1) return -1;
-         if (s1[i++] != 0xe0 + (ch >> 12)) return -1;
-         if (s1[i++] != 0x80 + ((ch >> 6) & 0x3f)) return -1;
-         if (s1[i++] != 0x80 + ((ch     ) & 0x3f)) return -1;
-      }
-      s2 += 2;
-      len2 -= 2;
-   }
-   return i;
-}
-
-STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const char *s2, int len2) 
-{
-   return len1 == stbtt__CompareUTF8toUTF16_bigendian_prefix((const stbtt_uint8*) s1, len1, (const stbtt_uint8*) s2, len2);
-}
-
-// returns results in whatever encoding you request... but note that 2-byte encodings
-// will be BIG-ENDIAN... use stbtt_CompareUTF8toUTF16_bigendian() to compare
-STBTT_DEF const char *stbtt_GetFontNameString(const stbtt_fontinfo *font, int *length, int platformID, int encodingID, int languageID, int nameID)
-{
-   stbtt_int32 i,count,stringOffset;
-   stbtt_uint8 *fc = font->data;
-   stbtt_uint32 offset = font->fontstart;
-   stbtt_uint32 nm = stbtt__find_table(fc, offset, "name");
-   if (!nm) return NULL;
-
-   count = ttUSHORT(fc+nm+2);
-   stringOffset = nm + ttUSHORT(fc+nm+4);
-   for (i=0; i < count; ++i) {
-      stbtt_uint32 loc = nm + 6 + 12 * i;
-      if (platformID == ttUSHORT(fc+loc+0) && encodingID == ttUSHORT(fc+loc+2)
-          && languageID == ttUSHORT(fc+loc+4) && nameID == ttUSHORT(fc+loc+6)) {
-         *length = ttUSHORT(fc+loc+8);
-         return (const char *) (fc+stringOffset+ttUSHORT(fc+loc+10));
-      }
-   }
-   return NULL;
-}
-
-static int stbtt__matchpair(stbtt_uint8 *fc, stbtt_uint32 nm, stbtt_uint8 *name, stbtt_int32 nlen, stbtt_int32 target_id, stbtt_int32 next_id)
-{
-   stbtt_int32 i;
-   stbtt_int32 count = ttUSHORT(fc+nm+2);
-   stbtt_int32 stringOffset = nm + ttUSHORT(fc+nm+4);
-
-   for (i=0; i < count; ++i) {
-      stbtt_uint32 loc = nm + 6 + 12 * i;
-      stbtt_int32 id = ttUSHORT(fc+loc+6);
-      if (id == target_id) {
-         // find the encoding
-         stbtt_int32 platform = ttUSHORT(fc+loc+0), encoding = ttUSHORT(fc+loc+2), language = ttUSHORT(fc+loc+4);
-
-         // is this a Unicode encoding?
-         if (platform == 0 || (platform == 3 && encoding == 1) || (platform == 3 && encoding == 10)) {
-            stbtt_int32 slen = ttUSHORT(fc+loc+8);
-            stbtt_int32 off = ttUSHORT(fc+loc+10);
-
-            // check if there's a prefix match
-            stbtt_int32 matchlen = stbtt__CompareUTF8toUTF16_bigendian_prefix(name, nlen, fc+stringOffset+off,slen);
-            if (matchlen >= 0) {
-               // check for target_id+1 immediately following, with same encoding & language
-               if (i+1 < count && ttUSHORT(fc+loc+12+6) == next_id && ttUSHORT(fc+loc+12) == platform && ttUSHORT(fc+loc+12+2) == encoding && ttUSHORT(fc+loc+12+4) == language) {
-                  slen = ttUSHORT(fc+loc+12+8);
-                  off = ttUSHORT(fc+loc+12+10);
-                  if (slen == 0) {
-                     if (matchlen == nlen)
-                        return 1;
-                  } else if (matchlen < nlen && name[matchlen] == ' ') {
-                     ++matchlen;
-                     if (stbtt_CompareUTF8toUTF16_bigendian((char*) (name+matchlen), nlen-matchlen, (char*)(fc+stringOffset+off),slen))
-                        return 1;
-                  }
-               } else {
-                  // if nothing immediately following
-                  if (matchlen == nlen)
-                     return 1;
-               }
-            }
-         }
-
-         // @TODO handle other encodings
-      }
-   }
-   return 0;
-}
-
-static int stbtt__matches(stbtt_uint8 *fc, stbtt_uint32 offset, stbtt_uint8 *name, stbtt_int32 flags)
-{
-   stbtt_int32 nlen = (stbtt_int32) STBTT_strlen((char *) name);
-   stbtt_uint32 nm,hd;
-   if (!stbtt__isfont(fc+offset)) return 0;
-
-   // check italics/bold/underline flags in macStyle...
-   if (flags) {
-      hd = stbtt__find_table(fc, offset, "head");
-      if ((ttUSHORT(fc+hd+44) & 7) != (flags & 7)) return 0;
-   }
-
-   nm = stbtt__find_table(fc, offset, "name");
-   if (!nm) return 0;
-
-   if (flags) {
-      // if we checked the macStyle flags, then just check the family and ignore the subfamily
-      if (stbtt__matchpair(fc, nm, name, nlen, 16, -1))  return 1;
-      if (stbtt__matchpair(fc, nm, name, nlen,  1, -1))  return 1;
-      if (stbtt__matchpair(fc, nm, name, nlen,  3, -1))  return 1;
-   } else {
-      if (stbtt__matchpair(fc, nm, name, nlen, 16, 17))  return 1;
-      if (stbtt__matchpair(fc, nm, name, nlen,  1,  2))  return 1;
-      if (stbtt__matchpair(fc, nm, name, nlen,  3, -1))  return 1;
-   }
-
-   return 0;
-}
-
-STBTT_DEF int stbtt_FindMatchingFont(const unsigned char *font_collection, const char *name_utf8, stbtt_int32 flags)
-{
-   stbtt_int32 i;
-   for (i=0;;++i) {
-      stbtt_int32 off = stbtt_GetFontOffsetForIndex(font_collection, i);
-      if (off < 0) return off;
-      if (stbtt__matches((stbtt_uint8 *) font_collection, off, (stbtt_uint8*) name_utf8, flags))
-         return off;
-   }
-}
-
-#endif // STB_TRUETYPE_IMPLEMENTATION
-
-
-// FULL VERSION HISTORY
-//
-//   1.09 (2016-01-16) warning fix; avoid crash on outofmem; use alloc userdata for PackFontRanges
-//   1.08 (2015-09-13) document stbtt_Rasterize(); fixes for vertical & horizontal edges
-//   1.07 (2015-08-01) allow PackFontRanges to accept arrays of sparse codepoints;
-//                     allow PackFontRanges to pack and render in separate phases;
-//                     fix stbtt_GetFontOFfsetForIndex (never worked for non-0 input?);
-//                     fixed an assert() bug in the new rasterizer
-//                     replace assert() with STBTT_assert() in new rasterizer
-//   1.06 (2015-07-14) performance improvements (~35% faster on x86 and x64 on test machine)
-//                     also more precise AA rasterizer, except if shapes overlap
-//                     remove need for STBTT_sort
-//   1.05 (2015-04-15) fix misplaced definitions for STBTT_STATIC
-//   1.04 (2015-04-15) typo in example
-//   1.03 (2015-04-12) STBTT_STATIC, fix memory leak in new packing, various fixes
-//   1.02 (2014-12-10) fix various warnings & compile issues w/ stb_rect_pack, C++
-//   1.01 (2014-12-08) fix subpixel position when oversampling to exactly match
-//                        non-oversampled; STBTT_POINT_SIZE for packed case only
-//   1.00 (2014-12-06) add new PackBegin etc. API, w/ support for oversampling
-//   0.99 (2014-09-18) fix multiple bugs with subpixel rendering (ryg)
-//   0.9  (2014-08-07) support certain mac/iOS fonts without an MS platformID
-//   0.8b (2014-07-07) fix a warning
-//   0.8  (2014-05-25) fix a few more warnings
-//   0.7  (2013-09-25) bugfix: subpixel glyph bug fixed in 0.5 had come back
-//   0.6c (2012-07-24) improve documentation
-//   0.6b (2012-07-20) fix a few more warnings
-//   0.6  (2012-07-17) fix warnings; added stbtt_ScaleForMappingEmToPixels,
-//                        stbtt_GetFontBoundingBox, stbtt_IsGlyphEmpty
-//   0.5  (2011-12-09) bugfixes:
-//                        subpixel glyph renderer computed wrong bounding box
-//                        first vertex of shape can be off-curve (FreeSans)
-//   0.4b (2011-12-03) fixed an error in the font baking example
-//   0.4  (2011-12-01) kerning, subpixel rendering (tor)
-//                    bugfixes for:
-//                        codepoint-to-glyph conversion using table fmt=12
-//                        codepoint-to-glyph conversion using table fmt=4
-//                        stbtt_GetBakedQuad with non-square texture (Zer)
-//                    updated Hello World! sample to use kerning and subpixel
-//                    fixed some warnings
-//   0.3  (2009-06-24) cmap fmt=12, compound shapes (MM)
-//                    userdata, malloc-from-userdata, non-zero fill (stb)
-//   0.2  (2009-03-11) Fix unsigned/signed char warnings
-//   0.1  (2009-03-09) First public release
-//
diff --git a/phonelibs/qpoases/EXAMPLES/example1.cpp b/phonelibs/qpoases/EXAMPLES/example1.cpp
deleted file mode 100644
index 92b47fc93798d2..00000000000000
--- a/phonelibs/qpoases/EXAMPLES/example1.cpp
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file EXAMPLES/example1.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Very simple example for testing qpOASES (using QProblem class).
- */
-
-
-#include <QProblem.hpp>
-
-
-/** Example for qpOASES main function using the QProblem class. */
-int main( )
-{
-	/* Setup data of first QP. */
-	real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
-	real_t A[1*2] = { 1.0, 1.0 };
-	real_t g[2] = { 1.5, 1.0 };
-	real_t lb[2] = { 0.5, -2.0 };
-	real_t ub[2] = { 5.0, 2.0 };
-	real_t lbA[1] = { -1.0 };
-	real_t ubA[1] = { 2.0 };
-
-	/* Setup data of second QP. */
-	real_t g_new[2] = { 1.0, 1.5 };
-	real_t lb_new[2] = { 0.0, -1.0 };
-	real_t ub_new[2] = { 5.0, -0.5 };
-	real_t lbA_new[1] = { -2.0 };
-	real_t ubA_new[1] = { 1.0 };
-
-
-	/* Setting up QProblem object. */
-	QProblem example( 2,1 );
-
-	/* Solve first QP. */
-	int nWSR = 10;
-	example.init( H,g,A,lb,ub,lbA,ubA, nWSR,0 );
-
-	/* Solve second QP. */
-	nWSR = 10;
-	example.hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR,0 );
-
-	return 0;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/EXAMPLES/example1b.cpp b/phonelibs/qpoases/EXAMPLES/example1b.cpp
deleted file mode 100644
index 331f19d8da0cbc..00000000000000
--- a/phonelibs/qpoases/EXAMPLES/example1b.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file EXAMPLES/example1b.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3
- *	\date 2007-2008
- *
- *	Very simple example for testing qpOASES using the QProblemB class.
- */
-
-
-#include <QProblemB.hpp>
-
-
-/** Example for qpOASES main function using the QProblemB class. */
-int main( )
-{
-	/* Setup data of first QP. */
-	real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
-	real_t g[2] = { 1.5, 1.0 };
-	real_t lb[2] = { 0.5, -2.0 };
-	real_t ub[2] = { 5.0, 2.0 };
-
-	/* Setup data of second QP. */
-	real_t g_new[2] = { 1.0, 1.5 };
-	real_t lb_new[2] = { 0.0, -1.0 };
-	real_t ub_new[2] = { 5.0, -0.5 };
-
-
-	/* Setting up QProblemB object. */
-	QProblemB example( 2 );
-
-	/* Solve first QP. */
-	int nWSR = 10;
-	example.init( H,g,lb,ub, nWSR,0 );
-
-	/* Solve second QP. */
-	nWSR = 10;
-	example.hotstart( g_new,lb_new,ub_new, nWSR,0 );
-
-	return 0;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/Bounds.hpp b/phonelibs/qpoases/INCLUDE/Bounds.hpp
deleted file mode 100644
index 7260756da07b5b..00000000000000
--- a/phonelibs/qpoases/INCLUDE/Bounds.hpp
+++ /dev/null
@@ -1,189 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/Bounds.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the Bounds class designed to manage working sets of
- *	bounds within a QProblem.
- */
-
-
-#ifndef QPOASES_BOUNDS_HPP
-#define QPOASES_BOUNDS_HPP
-
-
-#include <SubjectTo.hpp>
-
-
-
-/** This class manages working sets of bounds by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class Bounds : public SubjectTo
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		Bounds( );
-
-		/** Copy constructor (deep copy). */
-		Bounds(	const Bounds& rhs	/**< Rhs object. */
-				);
-
-		/** Destructor. */
-		~Bounds( );
-
-		/** Assignment operator (deep copy). */
-		Bounds& operator=(	const Bounds& rhs	/**< Rhs object. */
-							);
-
-
-		/** Pseudo-constructor takes the number of bounds.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init(	int n	/**< Number of bounds. */
-							);
-
-
-		/** Initially adds number of a new (i.e. not yet in the list) bound to
-		 *  given index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SETUP_BOUND_FAILED \n
-					RET_INDEX_OUT_OF_BOUNDS \n
-					RET_INVALID_ARGUMENTS */
-		returnValue setupBound(	int _number,					/**< Number of new bound. */
-								SubjectToStatus _status			/**< Status of new bound. */
-								);
-
-		/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
-		 *  to the index set of free bounds; the order depends on the SujectToType
-		 *  of each index.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SETUP_BOUND_FAILED */
-		returnValue setupAllFree( );
-
-
-		/** Moves index of a bound from index list of fixed to that of free bounds.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MOVING_BOUND_FAILED \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		returnValue moveFixedToFree(	int _number				/**< Number of bound to be freed. */
-										);
-
-		/** Moves index of a bound from index list of free to that of fixed bounds.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MOVING_BOUND_FAILED \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		returnValue moveFreeToFixed(	int _number,			/**< Number of bound to be fixed. */
-										SubjectToStatus _status	/**< Status of bound to be fixed. */
-										);
-
-		/** Swaps the indices of two free bounds within the index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SWAPINDEX_FAILED */
-		returnValue swapFree(	int number1,					/**< Number of first constraint or bound. */
-								int number2						/**< Number of second constraint or bound. */
-								);
-
-
-		/** Returns number of variables.
-		 *	\return Number of variables. */
-		inline int getNV( ) const;
-
-		/** Returns number of implicitly fixed variables.
-		 *	\return Number of implicitly fixed variables. */
-		inline int getNFV( ) const;
-
-		/** Returns number of bounded (but possibly free) variables.
-		 *	\return Number of bounded (but possibly free) variables. */
-		inline int getNBV( ) const;
-
-		/** Returns number of unbounded variables.
-		 *	\return Number of unbounded variables. */
-		inline int getNUV( ) const;
-
-
-		/** Sets number of implicitly fixed variables.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNFV(	int n	/**< Number of implicitly fixed variables. */
-									);
-
-		/** Sets number of bounded (but possibly free) variables.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNBV(	int n	/**< Number of bounded (but possibly free) variables. */
-									);
-
-		/** Sets number of unbounded variables.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNUV(	int n	/**< Number of unbounded variables */
-									);
-
-
-		/** Returns number of free variables.
-		 *	\return Number of free variables. */
-		inline int getNFR( );
-
-		/** Returns number of fixed variables.
-		 *	\return Number of fixed variables. */
-		inline int getNFX( );
-
-
-		/** Returns a pointer to free variables index list.
-		 *	\return Pointer to free variables index list. */
-		inline Indexlist* getFree( );
-
-		/** Returns a pointer to fixed variables index list.
-		 *	\return Pointer to fixed variables index list. */
-		inline Indexlist* getFixed( );
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		int nV;					/**< Number of variables (nV = nFV + nBV + nUV). */
-		int nFV;				/**< Number of implicitly fixed variables. */
-		int	nBV;				/**< Number of bounded (but possibly free) variables. */
-		int nUV;				/**< Number of unbounded variables. */
-
-		Indexlist free;			/**< Index list of free variables. */
-		Indexlist fixed;		/**< Index list of fixed variables. */
-};
-
-#include <Bounds.ipp>
-
-#endif	/* QPOASES_BOUNDS_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/Constants.hpp b/phonelibs/qpoases/INCLUDE/Constants.hpp
deleted file mode 100644
index 92ee812295bf37..00000000000000
--- a/phonelibs/qpoases/INCLUDE/Constants.hpp
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/Constants.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2008
- *
- *	Definition of all global constants.
- */
-
-
-#ifndef QPOASES_CONSTANTS_HPP
-#define QPOASES_CONSTANTS_HPP
-
-#ifndef QPOASES_CUSTOM_INTERFACE
-#include "acado_qpoases_interface.hpp"
-#else
-  #define XSTR(x) #x
-  #define STR(x) XSTR(x)
-  #include STR(QPOASES_CUSTOM_INTERFACE)
-#endif
-
-/** Maximum number of variables within a QP formulation.
-	Note: this value has to be positive! */
-const int NVMAX = QPOASES_NVMAX;
-
-/** Maximum number of constraints within a QP formulation.
-	Note: this value has to be positive! */
-const int NCMAX = QPOASES_NCMAX;
-
-/** Redefinition of NCMAX used for memory allocation, to avoid zero sized arrays
-    and compiler errors. */
-const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX;
-
-/**< Maximum number of working set recalculations.
-	Note: this value has to be positive! */
-const int NWSRMAX = QPOASES_NWSRMAX;
-
-/** Desired KKT tolerance of QP solution; a warning RET_INACCURATE_SOLUTION is
- *  issued if this tolerance is not met.
- *	Note: this value has to be positive! */
-const real_t DESIREDACCURACY = (real_t) 1.0e-3;
-
-/** Critical KKT tolerance of QP solution; an error is issued if this
- *  tolerance is not met.
- *	Note: this value has to be positive! */
-const real_t CRITICALACCURACY = (real_t) 1.0e-2;
-
-
-
-/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
-	Note: this value has to be positive! */
-const real_t EPS = (real_t) QPOASES_EPS;
-
-/** Numerical value of zero (for situations in which it would be
- *	unreasonable to compare with 0.0).
- *	Note: this value has to be positive! */
-const real_t ZERO = (real_t) 1.0e-50;
-
-/** Numerical value of infinity (e.g. for non-existing bounds).
- *	Note: this value has to be positive! */
-const real_t INFTY = (real_t) 1.0e12;
-
-
-/** Lower/upper (constraints') bound tolerance (an inequality constraint
- *	whose lower and upper bound differ by less than BOUNDTOL is regarded
- *	to be an equality constraint).
- *	Note: this value has to be positive! */
-const real_t BOUNDTOL = (real_t) 1.0e-10;
-
-/** Offset for relaxing (constraints') bounds at beginning of an initial homotopy.
- *	Note: this value has to be positive! */
-const real_t BOUNDRELAXATION = (real_t) 1.0e3;
-
-
-/** Factor that determines physical lengths of index lists.
- *	Note: this value has to be greater than 1! */
-const int INDEXLISTFACTOR = 5;
-
-
-#endif	/* QPOASES_CONSTANTS_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/Constraints.hpp b/phonelibs/qpoases/INCLUDE/Constraints.hpp
deleted file mode 100644
index 899167942a7dd3..00000000000000
--- a/phonelibs/qpoases/INCLUDE/Constraints.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/Constraints.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the Constraints class designed to manage working sets of
- *	constraints within a QProblem.
- */
-
-
-#ifndef QPOASES_CONSTRAINTS_HPP
-#define QPOASES_CONSTRAINTS_HPP
-
-
-#include <SubjectTo.hpp>
-
-
-
-/** This class manages working sets of constraints by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class Constraints : public SubjectTo
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		Constraints( );
-
-		/** Copy constructor (deep copy). */
-		Constraints(	const Constraints& rhs	/**< Rhs object. */
-						);
-
-		/** Destructor. */
-		~Constraints( );
-
-		/** Assignment operator (deep copy). */
-		Constraints& operator=(	const Constraints& rhs	/**< Rhs object. */
-								);
-
-
-		/** Pseudo-constructor takes the number of constraints.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init(	int n	/**< Number of constraints. */
-							);
-
-
-		/** Initially adds number of a new (i.e. not yet in the list) constraint to
-		 *  a given index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SETUP_CONSTRAINT_FAILED \n
-					RET_INDEX_OUT_OF_BOUNDS \n
-					RET_INVALID_ARGUMENTS */
-		returnValue setupConstraint(	int _number,				/**< Number of new constraint. */
-										SubjectToStatus _status		/**< Status of new constraint. */
-										);
-
-		/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
-		 *  to the index set of inactive constraints; the order depends on the SujectToType
-		 *  of each index. Only disabled constraints are added to index set of disabled constraints!
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SETUP_CONSTRAINT_FAILED */
-		returnValue setupAllInactive( );
-
-
-		/** Moves index of a constraint from index list of active to that of inactive constraints.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MOVING_CONSTRAINT_FAILED */
-		returnValue moveActiveToInactive(	int _number				/**< Number of constraint to become inactive. */
-											);
-
-		/** Moves index of a constraint from index list of inactive to that of active constraints.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MOVING_CONSTRAINT_FAILED */
-		returnValue moveInactiveToActive(	int _number,			/**< Number of constraint to become active. */
-											SubjectToStatus _status	/**< Status of constraint to become active. */
-											);
-
-
-		/** Returns the number of constraints.
-		 *	\return Number of constraints. */
-		inline int getNC( ) const;
-
-		/** Returns the number of implicit equality constraints.
-		 *	\return Number of implicit equality constraints. */
-		inline int getNEC( ) const;
-
-		/** Returns the number of "real" inequality constraints.
-		 *	\return Number of "real" inequality constraints. */
-		inline int getNIC( ) const;
-
-		/** Returns the number of unbounded constraints (i.e. without any bounds).
-		 *	\return Number of unbounded constraints (i.e. without any bounds). */
-		inline int getNUC( ) const;
-
-
-		/** Sets number of implicit equality constraints.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNEC(	int n	/**< Number of implicit equality constraints. */
-							);
-
-		/** Sets number of "real" inequality constraints.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNIC(	int n	/**< Number of "real" inequality constraints. */
-									);
-
-		/** Sets number of unbounded constraints (i.e. without any bounds).
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNUC(	int n	/**< Number of unbounded constraints (i.e. without any bounds). */
-									);
-
-
-		/** Returns the number of active constraints.
-		 *	\return Number of constraints. */
-		inline int getNAC( );
-
-		/** Returns the number of inactive constraints.
-		 *	\return Number of constraints. */
-		inline int getNIAC( );
-
-
-		/** Returns a pointer to active constraints index list.
-		 *	\return Pointer to active constraints index list. */
-		inline Indexlist* getActive( );
-
-		/** Returns a pointer to inactive constraints index list.
-		 *	\return Pointer to inactive constraints index list. */
-		inline Indexlist* getInactive( );
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		int nC;					/**< Number of constraints (nC = nEC + nIC + nUC). */
-		int nEC;				/**< Number of implicit equality constraints. */
-		int	nIC;				/**< Number of "real" inequality constraints. */
-		int nUC;				/**< Number of unbounded constraints (i.e. without any bounds). */
-
-		Indexlist active;		/**< Index list of active constraints. */
-		Indexlist inactive;		/**< Index list of inactive constraints. */
-};
-
-
-#include <Constraints.ipp>
-
-#endif	/* QPOASES_CONSTRAINTS_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/CyclingManager.hpp b/phonelibs/qpoases/INCLUDE/CyclingManager.hpp
deleted file mode 100644
index b4410b106e61ea..00000000000000
--- a/phonelibs/qpoases/INCLUDE/CyclingManager.hpp
+++ /dev/null
@@ -1,126 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/CyclingManager.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the CyclingManager class designed to detect
- *	and handle possible cycling during QP iterations.
- */
-
-
-#ifndef QPOASES_CYCLINGMANAGER_HPP
-#define QPOASES_CYCLINGMANAGER_HPP
-
-
-#include <Utils.hpp>
-
-
-
-/** This class is intended to detect and handle possible cycling during QP iterations.
- *	As cycling seems to occur quite rarely, this class is NOT FULLY IMPLEMENTED YET!
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class CyclingManager
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		CyclingManager( );
-
-		/** Copy constructor (deep copy). */
-		CyclingManager(	const CyclingManager& rhs	/**< Rhs object. */
-						);
-
-		/** Destructor. */
-		~CyclingManager( );
-
-		/** Copy asingment operator (deep copy). */
-		CyclingManager& operator=(	const CyclingManager& rhs	/**< Rhs object. */
-									);
-
-
-		/** Pseudo-constructor which takes the number of bounds/constraints.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init(	int _nV,	/**< Number of bounds to be managed. */
-							int _nC		/**< Number of constraints to be managed. */
-							);
-
-
-		/** Stores index of a bound/constraint that might cause cycling.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		returnValue setCyclingStatus(	int number,				/**< Number of bound/constraint. */
-										BooleanType isBound,	/**< Flag that indicates if given number corresponds to a
-																 *   bound (BT_TRUE) or a constraint (BT_FALSE). */
-										CyclingStatus _status	/**< Cycling status of bound/constraint. */
-										);
-
-		/** Returns if bound/constraint might cause cycling.
-		 *	\return BT_TRUE: bound/constraint might cause cycling \n
-		 			BT_FALSE: otherwise */
-		CyclingStatus getCyclingStatus(	int number,			/**< Number of bound/constraint. */
-										BooleanType isBound	/**< Flag that indicates if given number corresponds to
-															 *   a bound (BT_TRUE) or a constraint (BT_FALSE). */
-										) const;
-
-
-		/** Clears all previous cycling information.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue clearCyclingData( );
-
-
-		/** Returns if cycling was detected.
-		 *	\return BT_TRUE iff cycling was detected. */
-		inline BooleanType isCyclingDetected( ) const;
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		int	nV;									/**< Number of managed bounds. */
-		int	nC;									/**< Number of managed constraints. */
-
-		CyclingStatus status[NVMAX+NCMAX];		/**< Array to store cycling status of all bounds/constraints. */
-
-		BooleanType cyclingDetected;			/**< Flag if cycling was detected. */
-};
-
-
-#include <CyclingManager.ipp>
-
-#endif	/* QPOASES_CYCLINGMANAGER_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp b/phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp
deleted file mode 100644
index 056bb26f02d09d..00000000000000
--- a/phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/EXTRAS/SolutionAnalysis.hpp
- *	\author Milan Vukov, Boris Houska, Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2012
- *
- *	Solution analysis class, based on a class in the standard version of the qpOASES
- */
-
-
-//
-
-#ifndef QPOASES_SOLUTIONANALYSIS_HPP
-#define QPOASES_SOLUTIONANALYSIS_HPP
-
-#include <QProblem.hpp>
-
-/** Enables the computation of variance as is in the standard version of qpOASES */
-#define QPOASES_USE_OLD_VERSION 0
-
-#if QPOASES_USE_OLD_VERSION
-#define KKT_DIM (2 * NVMAX + NCMAX)
-#endif
-
-class SolutionAnalysis
-{
-public:
-	
-	/** Default constructor. */
-	SolutionAnalysis( );
-	
-	/** Copy constructor (deep copy). */
-	SolutionAnalysis( 	const SolutionAnalysis& rhs	/**< Rhs object. */
-						);
-	
-	/** Destructor. */
-	~SolutionAnalysis( );
-	
-	/** Copy asingment operator (deep copy). */
-	SolutionAnalysis& operator=(	const SolutionAnalysis& rhs	/**< Rhs object. */
-									);
-	
-	/** A routine for computation of inverse of the Hessian matrix. */
-	returnValue getHessianInverse(
-									QProblem* qp,			/** QP */
-									real_t* hessianInverse	/** Inverse of the Hessian matrix*/
-									);
-	
-	/** A routine for computation of inverse of the Hessian matrix. */
-	returnValue getHessianInverse(	QProblemB* qp,			/** QP */
-									real_t* hessianInverse	/** Inverse of the Hessian matrix*/
-									);
-
-#if QPOASES_USE_OLD_VERSION
-	returnValue getVarianceCovariance(
-										QProblem* qp,
-										real_t* g_b_bA_VAR,
-										real_t* Primal_Dual_VAR
-										);
-#endif
-	
-private:
-	
-	real_t delta_g_cov[ NVMAX ];		/** A covariance-vector of g */
-	real_t delta_lb_cov[ NVMAX ];		/** A covariance-vector of lb */
-	real_t delta_ub_cov[ NVMAX ];		/** A covariance-vector of ub */
-	real_t delta_lbA_cov[ NCMAX_ALLOC ];		/** A covariance-vector of lbA */
-	real_t delta_ubA_cov[ NCMAX_ALLOC ];		/** A covariance-vector of ubA */
-	
-#if QPOASES_USE_OLD_VERSION
-	real_t K[KKT_DIM * KKT_DIM];		/** A matrix to store an intermediate result */
-#endif
-	
-	int FR_idx[ NVMAX ];				/** Index array for free variables */
-	int FX_idx[ NVMAX ];				/** Index array for fixed variables */
-	int AC_idx[ NCMAX_ALLOC ];				/** Index array for active constraints */
-	
-	real_t delta_xFR[ NVMAX ];			/** QP reaction, primal, w.r.t. free */
-	real_t delta_xFX[ NVMAX ];			/** QP reaction, primal, w.r.t. fixed */
-	real_t delta_yAC[ NVMAX ];			/** QP reaction, dual, w.r.t. active */
-	real_t delta_yFX[ NVMAX ];			/** QP reaction, dual, w.r.t. fixed*/
-};
-
-#endif // QPOASES_SOLUTIONANALYSIS_HPP
diff --git a/phonelibs/qpoases/INCLUDE/Indexlist.hpp b/phonelibs/qpoases/INCLUDE/Indexlist.hpp
deleted file mode 100644
index 21c31ddb9215bb..00000000000000
--- a/phonelibs/qpoases/INCLUDE/Indexlist.hpp
+++ /dev/null
@@ -1,154 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/Indexlist.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a SubjectTo object.
- */
-
-
-#ifndef QPOASES_INDEXLIST_HPP
-#define QPOASES_INDEXLIST_HPP
-
-
-#include <Utils.hpp>
-
-
-/** This class manages index lists.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class Indexlist
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		Indexlist( );
-
-		/** Copy constructor (deep copy). */
-		Indexlist(	const Indexlist& rhs	/**< Rhs object. */
-					);
-
-		/** Destructor. */
-		~Indexlist( );
-
-		/** Assingment operator (deep copy). */
-		Indexlist& operator=(	const Indexlist& rhs	/**< Rhs object. */
-								);
-
-		/** Pseudo-constructor.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init( );
-
-
-		/** Creates an array of all numbers within the index set in correct order.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEXLIST_CORRUPTED */
-		returnValue	getNumberArray(	int* const numberarray	/**< Output: Array of numbers (NULL on error). */
-									) const;
-
-
-		/** Determines the index within the index list at with a given number is stored.
-		 *	\return >= 0: Index of given number. \n
-		 			-1: Number not found. */
-		int	getIndex(	int givennumber	/**< Number whose index shall be determined. */
-						) const;
-
-		/** Determines the physical index within the index list at with a given number is stored.
-		 *	\return >= 0: Index of given number. \n
-		 			-1: Number not found. */
-		int	getPhysicalIndex(	int givennumber	/**< Number whose physical index shall be determined. */
-								) const;
-
-		/** Returns the number stored at a given physical index.
-		 *	\return >= 0: Number stored at given physical index. \n
-		 			-RET_INDEXLIST_OUTOFBOUNDS */
-		int	getNumber(	int physicalindex	/**< Physical index of the number to be returned. */
-						) const;
-
-
-		/** Returns the current length of the index list.
-		 *	\return Current length of the index list. */
-		inline int getLength( );
-
-		/** Returns last number within the index list.
-		 *	\return Last number within the index list. */
-		inline int getLastNumber( ) const;
-
-
-		/** Adds number to index list.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEXLIST_MUST_BE_REORDERD \n
-		 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
-		returnValue addNumber(	int addnumber	/**< Number to be added. */
-								);
-
-		/** Removes number from index list.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue removeNumber(	int removenumber	/**< Number to be removed. */
-									);
-
-		/** Swaps two numbers within index list.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue swapNumbers(	int number1,/**< First number for swapping. */
-									int number2	/**< Second number for swapping. */
-									);
-
-		/** Determines if a given number is contained in the index set.
-		 *	\return BT_TRUE iff number is contain in the index set */
-		inline BooleanType isMember(	int _number	/**< Number to be tested for membership. */
-										) const;
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		int number[INDEXLISTFACTOR*(NVMAX+NCMAX)];		/**< Array to store numbers of constraints or bounds. */
-		int next[INDEXLISTFACTOR*(NVMAX+NCMAX)];		/**< Array to store physical index of successor. */
-		int previous[INDEXLISTFACTOR*(NVMAX+NCMAX)];	/**< Array to store physical index of predecossor. */
-		int	length;										/**< Length of index list. */
-		int	first;										/**< Physical index of first element. */
-		int	last;										/**< Physical index of last element. */
-		int	lastusedindex;								/**< Physical index of last entry in index list. */
-		int	physicallength;								/**< Physical length of index list. */
-};
-
-
-#include <Indexlist.ipp>
-
-#endif	/* QPOASES_INDEXLIST_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/MessageHandling.hpp b/phonelibs/qpoases/INCLUDE/MessageHandling.hpp
deleted file mode 100644
index 3d17498ade0738..00000000000000
--- a/phonelibs/qpoases/INCLUDE/MessageHandling.hpp
+++ /dev/null
@@ -1,415 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/MessageHandling.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the MessageHandling class including global return values.
- */
-
-
-#ifndef QPOASES_MESSAGEHANDLING_HPP
-#define QPOASES_MESSAGEHANDLING_HPP
-
-// #define PC_DEBUG
-
-#ifdef PC_DEBUG
-  #include <stdio.h>
-
-  /** Defines an alias for  FILE  from stdio.h. */
-  #define myFILE FILE
-  /** Defines an alias for  stderr  from stdio.h. */
-  #define myStderr stderr
-  /** Defines an alias for  stdout  from stdio.h. */
-  #define myStdout stdout
-#else
-  /** Defines an alias for  FILE  from stdio.h. */
-  #define myFILE int
-  /** Defines an alias for  stderr  from stdio.h. */
-  #define myStderr 0
-  /** Defines an alias for  stdout  from stdio.h. */
-  #define myStdout 0
-#endif
-
-
-#include <Types.hpp>
-#include <Constants.hpp>
-
-
-/** Defines symbols for global return values. \n
- *  Important: All return values are assumed to be nonnegative! */
-enum returnValue
-{
-TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
-/* miscellaneous */
-SUCCESSFUL_RETURN = 0,							/**< Successful return. */
-RET_DIV_BY_ZERO,		   						/**< Division by zero. */
-RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
-RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
-RET_ERROR_UNDEFINED,							/**< Error number undefined. */
-RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
-RET_INFO_UNDEFINED,								/**< Info number undefined. */
-RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
-RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
-RET_UNKNOWN_BUG,								/**< The error occured is not yet known. */
-RET_PRINTLEVEL_CHANGED,							/**< 10 Print level changed. */
-RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
-/* Indexlist */
-RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
-RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
-RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
-RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
-RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
-RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
-/* SubjectTo / Bounds / Constraints */
-RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. */
-RET_ADDINDEX_FAILED,							/**< Cannot swap between different indexsets. */
-RET_SWAPINDEX_FAILED,							/**< 20 Adding index to index set failed. */
-RET_NOTHING_TO_DO,								/**< Nothing to do. */
-RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
-RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
-RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
-RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
-/* QProblem */
-RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. */
-RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
-RET_RESET_FAILED,								/**< Reset failed. */
-RET_INIT_FAILED,								/**< Initialisation failed. */
-RET_INIT_FAILED_TQ,								/**< 30 Initialisation failed due to TQ factorisation. */
-RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
-RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
-RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
-RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
-RET_INIT_SUCCESSFUL,							/**< Initialisation done. */
-RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
-RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
-RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
-RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
-RET_QP_UNBOUNDED,								/**< 40 QP is unbounded. */
-RET_QP_INFEASIBLE,								/**< QP is infeasible. */
-RET_QP_NOT_SOLVED,								/**< Problems occured while solving QP with standard solver. */
-RET_QP_SOLVED,									/**< QP successfully solved. */
-RET_UNABLE_TO_SOLVE_QP,							/**< Problems occured while solving QP. */
-RET_INITIALISATION_STARTED,						/**< Starting problem initialisation. */
-RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
-RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
-RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
-RET_ITERATION_STARTED,							/**< Iteration... */
-RET_SHIFT_DETERMINATION_FAILED,					/**< 50 Determination of shift of the QP data failed. */
-RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
-RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. */
-RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
-RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
-RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
-RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
-RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
-RET_INVALID_FACTORISATION_FLAG,					/**< 60 Invalid factorisation flag. */
-RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
-RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
-RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
-RET_CYCLING_DETECTED,							/**< Cycling detected. */
-RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
-RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
-RET_STEPSIZE,									/**< For displaying performed stepsize. */
-RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
-RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
-RET_ADDCONSTRAINT_FAILED,						/**< 70 Addition of constraint to working set failed. */
-RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
-RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
-RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
-RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. */
-RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
-RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
-RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
-RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
-RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
-RET_CONSTRAINT_ALREADY_ACTIVE,					/**< 80 Constraint is already active. */
-RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
-RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
-RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
-RET_LI_RESOLVED,								/**< Linear independence of active contraint matrix successfully resolved. */
-RET_ENSURELI_FAILED,							/**< Failed to ensure linear indepence of active contraint matrix. */
-RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
-RET_ENSURELI_FAILED_NOINDEX,					/**< No index found, QP probably infeasible. */
-RET_ENSURELI_FAILED_CYCLING,					/**< Cycling detected, QP probably infeasible. */
-RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
-RET_ALL_BOUNDS_ACTIVE,							/**< 90 All bounds are active, no further bound can be added. */
-RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
-RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
-RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
-RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
-RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
-RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
-RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
-/* Utils */
-RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
-RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
-RET_UNABLE_TO_READ_FILE,						/**< 100 Unable to read from file. */
-RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. */
-/* SolutionAnalysis */
-RET_NO_SOLUTION, 								/**< QP solution does not satisfy KKT optimality conditions. */
-RET_INACCURATE_SOLUTION							/**< KKT optimality conditions not satisfied to sufficient accuracy. */
-};
-
-
-
-/** This class handles all kinds of messages (errors, warnings, infos) initiated
- *  by qpOASES modules and stores the correspoding global preferences.
- *
- *	\author Hans Joachim Ferreau (special thanks to Leonard Wirsching)
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class MessageHandling
-{
-	/*
-	 *	INTERNAL DATA STRUCTURES
-	 */
-	public:
-		/** Data structure for entries in global message list. */
-		typedef struct {
-			returnValue key;							/**< Global return value. */
-			const char* data;							/**< Corresponding message. */
-			VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
-														* 	 If this value is set to VS_HIDDEN, no message is printed! */
-		} ReturnValueList;
-
-
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		MessageHandling( );
-
-		/** Constructor which takes the desired output file. */
-		MessageHandling(  myFILE* _outputFile					/**< Output file. */
-						  );
-
-		/** Constructor which takes the desired visibility states. */
-		MessageHandling(	VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
-							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
-							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
-							);
-
-		/** Constructor which takes the desired output file and desired visibility states. */
-		MessageHandling(	myFILE* _outputFile,				/**< Output file. */
-							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
-							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
-							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
-							);
-
-		/** Copy constructor (deep copy). */
-		MessageHandling(	const MessageHandling& rhs	/**< Rhs object. */
-							);
-
-		/** Destructor. */
-		~MessageHandling( );
-
-		/** Assignment operator (deep copy). */
-		MessageHandling& operator=(	const MessageHandling& rhs	/**< Rhs object. */
-									);
-
-
-		/** Prints an error message(a simplified macro THROWERROR is also provided). \n
-		 *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
-		 *  Errors of a sub function should be commented by the calling function by means of a warning message
-		 *  (if this error does not cause an error of the calling function, either)!
-		 *  \return Error number returned by sub function call
-		 */
-		returnValue throwError(
-			returnValue Enumber,					/**< Error number returned by sub function call. */
-			const char* additionaltext,				/**< Additional error text (0, if none). */
-			const char* functionname,				/**< Name of function which caused the error. */
-			const char* filename,					/**< Name of file which caused the error. */
-			const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
-			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to myStderr.
-			   									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-	   			 								 *   no message is printed, anyway! */
-		);
-
-		/** Prints a warning message (a simplified macro THROWWARNING is also provided).
-		 *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
-		 *  \return Warning number returned by sub function call
-		 */
-		returnValue throwWarning(
-			returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
-			const char* additionaltext,				/**< Additional warning text (0, if none). */
-			const char* functionname,				/**< Name of function which caused the warning. */
-			const char* filename,   				/**< Name of file which caused the warning. */
-			const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
-			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to myStderr.
-		   		  									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-					 								 *   no message is printed, anyway! */
-			);
-
-	   /** Prints a info message (a simplified macro THROWINFO is also provided).
-		 *  \return Info number returned by sub function call
-		 */
-		returnValue throwInfo(
-			returnValue Inumber,	 				/**< Info number returned by sub function call. */
-			const char* additionaltext,	 			/**< Additional warning text (0, if none). */
-			const char* functionname,				/**< Name of function which submitted the info. */
-			const char* filename,   				/**< Name of file which submitted the info. */
-			const unsigned long linenumber,			/**< Number of line which submitted the info. */
-			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to myStderr.
-				  									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-				   									 *   no message is printed, anyway! */
-			);
-
-
-		/** Resets all preferences to default values.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue reset( );
-
-
-		/** Prints a complete list of all messages to output file.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue listAllMessages( );
-
-
-		/** Returns visibility status for error messages.
-		 *	\return Visibility status for error messages. */
-		inline VisibilityStatus getErrorVisibilityStatus( ) const;
-
-		/** Returns visibility status for warning messages.
-		 *	\return Visibility status for warning messages. */
-		inline VisibilityStatus getWarningVisibilityStatus( ) const;
-
-		/** Returns visibility status for info messages.
-		 *	\return Visibility status for info messages. */
-		inline VisibilityStatus getInfoVisibilityStatus( ) const;
-
-		/** Returns pointer to output file.
-		 *	\return Pointer to output file. */
-		inline myFILE* getOutputFile( ) const;
-
-		/** Returns error count value.
-		 *	\return Error count value. */
-		inline int getErrorCount( ) const;
-
-
-		/** Changes visibility status for error messages. */
-		inline void setErrorVisibilityStatus(	VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
-												);
-
-		/** Changes visibility status for warning messages. */
-		inline void setWarningVisibilityStatus(	VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
-												);
-
-		/** Changes visibility status for info messages. */
-		inline void setInfoVisibilityStatus(	VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
-												);
-
-		/** Changes output file for messages. */
-		inline void setOutputFile(	myFILE* _outputFile	/**< New output file for messages. */
-									);
-
-		/** Changes error count.
-		 * \return SUCCESSFUL_RETURN \n
-		 *		   RET_INVALID_ARGUMENT */
-		inline returnValue setErrorCount(	int _errorCount	/**< New error count value. */
-											);
-
-		/** Return the error code string. */
-		static const char* getErrorString(int error);
-
-	/*
-	 *	PROTECTED MEMBER FUNCTIONS
-	 */
-	protected:
-		/** Prints a info message to myStderr (auxiliary function).
-		 *  \return Error/warning/info number returned by sub function call
-		 */
-		returnValue throwMessage(
-			returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
-			const char* additionaltext,				/**< Additional warning text (0, if none). */
-			const char* functionname,				/**< Name of function which caused the error/warning/info. */
-			const char* filename,   				/**< Name of file which caused the error/warning/info. */
-			const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
-			VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to myStderr.
-					  								 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-				   									 *   no message is printed, anyway! */
-			const char* RETstring					/**< Leading string of error/warning/info message. */
-			);
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		VisibilityStatus errorVisibility;		/**< Error messages visible? */
-		VisibilityStatus warningVisibility;		/**< Warning messages visible? */
-		VisibilityStatus infoVisibility;		/**< Info messages visible? */
-
-		myFILE* outputFile;						/**< Output file for messages. */
-
-		int errorCount; 						/**< Counts number of errors (for nicer output only). */
-};
-
-
-#ifndef __FUNCTION__
-  /** Ensures that __FUNCTION__ macro is defined. */
-  #define __FUNCTION__ 0
-#endif
-
-#ifndef __FILE__
-  /** Ensures that __FILE__ macro is defined. */
-  #define __FILE__ 0
-#endif
-
-#ifndef __LINE__
-  /** Ensures that __LINE__ macro is defined. */
-  #define __LINE__ 0
-#endif
-
-
-/** Short version of throwError with default values, only returnValue is needed */
-#define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwWarning with default values, only returnValue is needed */
-#define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwInfo with default values, only returnValue is needed */
-#define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
-
-
-/** Returns a pointer to global message handler.
- *  \return Pointer to global message handler.
- */
-MessageHandling* getGlobalMessageHandler( );
-
-
-#include <MessageHandling.ipp>
-
-#endif /* QPOASES_MESSAGEHANDLING_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/QProblem.hpp b/phonelibs/qpoases/INCLUDE/QProblem.hpp
deleted file mode 100644
index 91dc43417542a5..00000000000000
--- a/phonelibs/qpoases/INCLUDE/QProblem.hpp
+++ /dev/null
@@ -1,666 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/QProblem.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the QProblem class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming.
- */
-
-
-
-#ifndef QPOASES_QPROBLEM_HPP
-#define QPOASES_QPROBLEM_HPP
-
-
-#include <QProblemB.hpp>
-#include <Constraints.hpp>
-#include <CyclingManager.hpp>
-
-
-/** A class for setting up and solving quadratic programs. The main feature is
- *	the possibily to use the newly developed online active set strategy for
- * 	parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class QProblem : public QProblemB
-{
-	/* allow SolutionAnalysis class to access private members */
-	friend class SolutionAnalysis;
-	
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		QProblem( );
-
-		/** Constructor which takes the QP dimensions only. */
-		QProblem(	int _nV,	  				/**< Number of variables. */
-					int _nC  					/**< Number of constraints. */
-					);
-
-		/** Copy constructor (deep copy). */
-		QProblem(	const QProblem& rhs	/**< Rhs object. */
-					);
-
-		/** Destructor. */
-		~QProblem( );
-
-		/** Assignment operator (deep copy). */
-		QProblem& operator=(	const QProblem& rhs		/**< Rhs object. */
-								);
-
-
-		/** Clears all data structures of QProblemB except for QP data.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_RESET_FAILED */
-		returnValue reset( );
-
-
-		/** Initialises a QProblem with given QP data and solves it
-		 *	using an initial homotopy with empty working set (at most nWSR iterations).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INIT_FAILED \n
-					RET_INIT_FAILED_CHOLESKY \n
-					RET_INIT_FAILED_TQ \n
-					RET_INIT_FAILED_HOTSTART \n
-					RET_INIT_FAILED_INFEASIBILITY \n
-					RET_INIT_FAILED_UNBOUNDEDNESS \n
-					RET_MAX_NWSR_REACHED \n
-					RET_INVALID_ARGUMENTS \n
-					RET_INACCURATE_SOLUTION \n
-		 			RET_NO_SOLUTION */
-		returnValue init(	const real_t* const _H, 		/**< Hessian matrix. */
-							const real_t* const _g, 		/**< Gradient vector. */
-							const real_t* const _A,  		/**< Constraint matrix. */
-							const real_t* const _lb,		/**< Lower bound vector (on variables). \n
-																If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,		/**< Upper bound vector (on variables). \n
-																If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,		/**< Lower constraints' bound vector. \n
-																If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,		/**< Upper constraints' bound vector. \n
-																If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int& nWSR,						/**< Input: Maximum number of working set recalculations when using initial homotopy.
-																Output: Number of performed working set recalculations. */
-							const real_t* const yOpt = 0,	/**< Initial guess for dual solution vector. */
-							real_t* const cputime = 0		/**< Output: CPU time required to initialise QP. */
-							);
-
-
-		/** Initialises a QProblem with given QP data and solves it
-		 *	using an initial homotopy with empty working set (at most nWSR iterations).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INIT_FAILED \n
-					RET_INIT_FAILED_CHOLESKY \n
-					RET_INIT_FAILED_TQ \n
-					RET_INIT_FAILED_HOTSTART \n
-					RET_INIT_FAILED_INFEASIBILITY \n
-					RET_INIT_FAILED_UNBOUNDEDNESS \n
-					RET_MAX_NWSR_REACHED \n
-					RET_INVALID_ARGUMENTS \n
-					RET_INACCURATE_SOLUTION \n
-		 			RET_NO_SOLUTION */
-		returnValue init(	const real_t* const _H, 		/**< Hessian matrix. */
-							const real_t* const _R, 		/**< Cholesky factorization of the Hessian matrix. */
-							const real_t* const _g, 		/**< Gradient vector. */
-							const real_t* const _A,  		/**< Constraint matrix. */
-							const real_t* const _lb,		/**< Lower bound vector (on variables). \n
-																If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,		/**< Upper bound vector (on variables). \n
-																If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,		/**< Lower constraints' bound vector. \n
-																If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,		/**< Upper constraints' bound vector. \n
-																If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int& nWSR,						/**< Input: Maximum number of working set recalculations when using initial homotopy.
-																Output: Number of performed working set recalculations. */
-							const real_t* const yOpt = 0,	/**< Initial guess for dual solution vector. */
-							real_t* const cputime = 0		/**< Output: CPU time required to initialise QP. */
-							);
-
-
-		/** Solves QProblem using online active set strategy.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MAX_NWSR_REACHED \n
-		 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-					RET_HOTSTART_FAILED \n
-					RET_SHIFT_DETERMINATION_FAILED \n
-					RET_STEPDIRECTION_DETERMINATION_FAILED \n
-					RET_STEPLENGTH_DETERMINATION_FAILED \n
-					RET_HOMOTOPY_STEP_FAILED \n
-					RET_HOTSTART_STOPPED_INFEASIBILITY \n
-					RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-					RET_INACCURATE_SOLUTION \n
-		 			RET_NO_SOLUTION */
-		returnValue hotstart(	const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-													 			 	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-													 			 	 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-													 			 	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-													 			 	 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int& nWSR,						/**< Input: Maximum number of working set recalculations; \n
-															 		 Output: Number of performed working set recalculations. */
-								real_t* const cputime			/**< Output: CPU time required to solve QP (or to perform nWSR iterations). */
-								);
-
-
-		/** Returns constraint matrix of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getA(	real_t* const _A	/**< Array of appropriate dimension for copying constraint matrix.*/
-									) const;
-
-		/** Returns a single row of constraint matrix of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue getA(	int number,			/**< Number of entry to be returned. */
-									real_t* const row	/**< Array of appropriate dimension for copying (number)th constraint. */
-									) const;
-
-		/** Returns lower constraints' bound vector of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getLBA(	real_t* const _lbA	/**< Array of appropriate dimension for copying lower constraints' bound vector.*/
-									) const;
-
-		/** Returns single entry of lower constraints' bound vector of the QP.
-		  *	\return SUCCESSFUL_RETURN \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue getLBA(	int number,		/**< Number of entry to be returned. */
-									real_t& value	/**< Output: lbA[number].*/
-									) const;
-
-		/** Returns upper constraints' bound vector of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getUBA(	real_t* const _ubA	/**< Array of appropriate dimension for copying upper constraints' bound vector.*/
-									) const;
-
-		/** Returns single entry of upper constraints' bound vector of the QP.
-		  *	\return SUCCESSFUL_RETURN \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue getUBA(	int number,		/**< Number of entry to be returned. */
-									real_t& value	/**< Output: ubA[number].*/
-									) const;
-
-
-		/** Returns current constraints object of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getConstraints(	Constraints* const _constraints	/** Output: Constraints object. */
-											) const;
-
-
-		/** Returns the number of constraints.
-		 *	\return Number of constraints. */
-		inline int getNC( ) const;
-
-		/** Returns the number of (implicitly defined) equality constraints.
-		 *	\return Number of (implicitly defined) equality constraints. */
-		inline int getNEC( ) const;
-
-		/** Returns the number of active constraints.
-		 *	\return Number of active constraints. */
-		inline int getNAC( );
-
-		/** Returns the number of inactive constraints.
-		 *	\return Number of inactive constraints. */
-		inline int getNIAC( );
-
-		/** Returns the dimension of null space.
-		 *	\return Dimension of null space. */
-		int getNZ( );
-
-
-		/** Returns the dual solution vector (deep copy).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_QP_NOT_SOLVED */
-		returnValue getDualSolution(	real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										) const;
-
-
-	/*
-	 *	PROTECTED MEMBER FUNCTIONS
-	 */
-	protected:
-		/** Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_SETUPSUBJECTTOTYPE_FAILED */
-		returnValue setupSubjectToType( );
-
-		/** Computes the Cholesky decomposition R of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
-		 *	\return SUCCESSFUL_RETURN \n
-		 *			RET_INDEXLIST_CORRUPTED */
-		returnValue setupCholeskyDecompositionProjected( );
-
-		/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEXLIST_CORRUPTED */
-		returnValue setupTQfactorisation( );
-
-
-		/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
-		 *  A guess for its primal/dual optimal solution vectors and the corresponding
-		 *  working sets of bounds and constraints can be provided.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INIT_FAILED \n
-					RET_INIT_FAILED_CHOLESKY \n
-					RET_INIT_FAILED_TQ \n
-					RET_INIT_FAILED_HOTSTART \n
-					RET_INIT_FAILED_INFEASIBILITY \n
-					RET_INIT_FAILED_UNBOUNDEDNESS \n
-					RET_MAX_NWSR_REACHED */
-		returnValue solveInitialQP(	const real_t* const xOpt,						/**< Optimal primal solution vector.
-																					 *	 A NULL pointer can be passed. */
-									const real_t* const yOpt,						/**< Optimal dual solution vector.
-																					 *	 A NULL pointer can be passed. */
-									const Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt).
-																		 			 *	 A NULL pointer can be passed. */
-									const Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt).
-																		 			 *	 A NULL pointer can be passed. */
-									int& nWSR, 										/**< Input: Maximum number of working set recalculations; \n
-																 					 *	 Output: Number of performed working set recalculations. */
-									real_t* const cputime							/**< Output: CPU time required to solve QP (or to perform nWSR iterations). */
-									);
-
-		/** Obtains the desired working set for the auxiliary initial QP in
-		 *  accordance with the user specifications
-		 *  (assumes that member AX has already been initialised!)
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_OBTAINING_WORKINGSET_FAILED \n
-					RET_INVALID_ARGUMENTS */
-		returnValue obtainAuxiliaryWorkingSet(	const real_t* const xOpt,						/**< Optimal primal solution vector.
-																								 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const real_t* const yOpt,						/**< Optimal dual solution vector.
-																								 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
-												const Constraints* const guessedConstraints,	/**< Guessed working set for solution (xOpt,yOpt). */
-												Bounds* auxiliaryBounds,						/**< Input: Allocated bound object. \n
-																								 *	 Ouput: Working set of constraints for auxiliary QP. */
-												Constraints* auxiliaryConstraints				/**< Input: Allocated bound object. \n
-																								 *	 Ouput: Working set for auxiliary QP. */
-												) const;
-
-		/** Setups bound and constraints data structures according to auxiliaryBounds/Constraints.
-		 *  (If the working set shall be setup afresh, make sure that
-		 *  bounds and constraints data structure have been resetted
-		 *  and the TQ factorisation has been initialised!)
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_SETUP_WORKINGSET_FAILED \n
-					RET_INVALID_ARGUMENTS \n
-					RET_UNKNOWN BUG */
-		returnValue setupAuxiliaryWorkingSet(	const Bounds* const auxiliaryBounds,			/**< Working set of bounds for auxiliary QP. */
-												const Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType setupAfresh							/**< Flag indicating if given working set shall be
-																								 *    setup afresh or by updating the current one. */
-												);
-
-		/** Setups the optimal primal/dual solution of the auxiliary initial QP.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue setupAuxiliaryQPsolution(	const real_t* const xOpt,			/**< Optimal primal solution vector.
-																				 	*	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt			/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-		/** Setups gradient of the auxiliary initial QP for given
-		 *  optimal primal/dual solution and given initial working set
-		 *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue setupAuxiliaryQPgradient( );
-
-		/** Setups (constraints') bounds of the auxiliary initial QP for given
-		 *  optimal primal/dual solution and given initial working set
-		 *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_UNKNOWN BUG */
-		returnValue setupAuxiliaryQPbounds(	const Bounds* const auxiliaryBounds,			/**< Working set of bounds for auxiliary QP. */
-											const Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-											BooleanType useRelaxation						/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
-											);
-
-
-		/** Adds a constraint to active set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_ADDCONSTRAINT_FAILED \n
-					RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
-					RET_ENSURELI_FAILED */
-		returnValue addConstraint(	int number,					/**< Number of constraint to be added to active set. */
-									SubjectToStatus C_status,	/**< Status of new active constraint. */
-									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									);
-
-		/** Checks if new active constraint to be added is linearly dependent from
-		 *	from row of the active constraints matrix.
-		 *	\return	 RET_LINEARLY_DEPENDENT \n
-		 			 RET_LINEARLY_INDEPENDENT \n
-					 RET_INDEXLIST_CORRUPTED */
-		returnValue addConstraint_checkLI(	int number			/**< Number of constraint to be added to active set. */
-											);
-
-		/** Ensures linear independence of constraint matrix when a new constraint is added.
-		 * 	To this end a bound or constraint is removed simultaneously if necessary.
-		 *	\return	 SUCCESSFUL_RETURN \n
-		 			 RET_LI_RESOLVED \n
-					 RET_ENSURELI_FAILED \n
-					 RET_ENSURELI_FAILED_TQ \n
-					 RET_ENSURELI_FAILED_NOINDEX \n
-					 RET_REMOVE_FROM_ACTIVESET */
-		returnValue addConstraint_ensureLI(	int number,					/**< Number of constraint to be added to active set. */
-											SubjectToStatus C_status	/**< Status of new active bound. */
-											);
-
-		/** Adds a bound to active set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_ADDBOUND_FAILED \n
-					RET_ADDBOUND_FAILED_INFEASIBILITY \n
-					RET_ENSURELI_FAILED */
-		returnValue addBound(	int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								);
-
-		/** Checks if new active bound to be added is linearly dependent from
-		 *	from row of the active constraints matrix.
-		 *	\return	 RET_LINEARLY_DEPENDENT \n
-		 			 RET_LINEARLY_INDEPENDENT */
-		returnValue addBound_checkLI(	int number			/**< Number of bound to be added to active set. */
-										);
-
-		/** Ensures linear independence of constraint matrix when a new bound is added.
-		 *	To this end a bound or constraint is removed simultaneously if necessary.
-		 *	\return	 SUCCESSFUL_RETURN \n
-		 			 RET_LI_RESOLVED \n
-					 RET_ENSURELI_FAILED \n
-					 RET_ENSURELI_FAILED_TQ \n
-					 RET_ENSURELI_FAILED_NOINDEX \n
-					 RET_REMOVE_FROM_ACTIVESET */
-		returnValue addBound_ensureLI(	int number,					/**< Number of bound to be added to active set. */
-										SubjectToStatus B_status	/**< Status of new active bound. */
-										);
-
-		/** Removes a constraint from active set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_CONSTRAINT_NOT_ACTIVE \n
-					RET_REMOVECONSTRAINT_FAILED \n
-					RET_HESSIAN_NOT_SPD */
-		returnValue removeConstraint(	int number,					/**< Number of constraint to be removed from active set. */
-										BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-										);
-
-		/** Removes a bounds from active set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_BOUND_NOT_ACTIVE \n
-					RET_HESSIAN_NOT_SPD \n
-					RET_REMOVEBOUND_FAILED */
-		returnValue removeBound(	int number,					/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									);
-
-
-		/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_DIV_BY_ZERO */
-		returnValue backsolveR(	const real_t* const b,	/**< Right hand side vector. */
-								BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-								real_t* const a 		/**< Output: Solution vector */
-								);
-
-		/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
-		 *  Special variant for the case that this function is called from within "removeBound()".
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_DIV_BY_ZERO */
-		returnValue backsolveR(	const real_t* const b,		/**< Right hand side vector. */
-								BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-								BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-								real_t* const a 			/**< Output: Solution vector */
-								);
-
-
-		/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_DIV_BY_ZERO */
-		returnValue backsolveT(	const real_t* const b,	/**< Right hand side vector. */
-								BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-								real_t* const a 		/**< Output: Solution vector */
-								);
-
-
-		/** Determines step direction of the shift of the QP data.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue hotstart_determineDataShift(const int* const FX_idx, 	/**< Index array of fixed variables. */
-												const int* const AC_idx, 	/**< Index array of active constraints. */
-												const real_t* const g_new,	/**< New gradient vector. */
-												const real_t* const lbA_new,/**< New lower constraints' bounds. */
-												const real_t* const ubA_new,/**< New upper constraints' bounds. */
-												const real_t* const lb_new,	/**< New lower bounds. */
-												const real_t* const ub_new,	/**< New upper bounds. */
-												real_t* const delta_g,	 	/**< Output: Step direction of gradient vector. */
-												real_t* const delta_lbA,	/**< Output: Step direction of lower constraints' bounds. */
-												real_t* const delta_ubA,	/**< Output: Step direction of upper constraints' bounds. */
-												real_t* const delta_lb,	 	/**< Output: Step direction of lower bounds. */
-												real_t* const delta_ub,	 	/**< Output: Step direction of upper bounds. */
-												BooleanType& Delta_bC_isZero,/**< Output: Indicates if active constraints' bounds are to be shifted. */
-												BooleanType& Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */
-												);
-
-		/** Determines step direction of the homotopy path.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_STEPDIRECTION_FAILED_TQ \n
-					RET_STEPDIRECTION_FAILED_CHOLESKY */
-		returnValue hotstart_determineStepDirection(const int* const FR_idx, 		/**< Index array of free variables. */
-													const int* const FX_idx, 		/**< Index array of fixed variables. */
-													const int* const AC_idx, 		/**< Index array of active constraints. */
-													const real_t* const delta_g,	/**< Step direction of gradient vector. */
-													const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
-													const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
-													const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-													const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-													BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
-													BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-													real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-													real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-													real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
-													real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-													);
-
-		/** Determines the maximum possible step length along the homotopy path.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue hotstart_determineStepLength(	const int* const FR_idx, 			/**< Index array of free variables. */
-													const int* const FX_idx, 			/**< Index array of fixed variables. */
-													const int* const AC_idx, 			/**< Index array of active constraints. */
-													const int* const IAC_idx, 			/**< Index array of inactive constraints. */
-													const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
-													const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
-													const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
-													const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
-													const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
-													const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
-													const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
-													const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
-													real_t* const delta_Ax,				/**< Output: Step in vector Ax. */
-													int& BC_idx, 						/**< Output: Index of blocking constraint. */
-													SubjectToStatus& BC_status,			/**< Output: Status of blocking constraint. */
-													BooleanType& BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
-													);
-
-		/** Performs a step along the homotopy path (and updates active set).
-		 *	\return  SUCCESSFUL_RETURN \n
-		 			 RET_OPTIMAL_SOLUTION_FOUND \n
-		 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-					 RET_ADD_TO_ACTIVESET_FAILED \n
-					 RET_QP_INFEASIBLE */
-		returnValue hotstart_performStep(	const int* const FR_idx, 			/**< Index array of free variables. */
-											const int* const FX_idx, 			/**< Index array of fixed variables. */
-											const int* const AC_idx, 			/**< Index array of active constraints. */
-											const int* const IAC_idx, 			/**< Index array of inactive constraints. */
-											const real_t* const delta_g,	 	/**< Step direction of gradient vector. */
-											const real_t* const delta_lbA,	 	/**< Step direction of lower constraints' bounds. */
-											const real_t* const delta_ubA,	 	/**< Step direction of upper constraints' bounds. */
-											const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
-											const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
-											const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
-											const real_t* const delta_xFR,	 	/**< Primal homotopy step direction of free variables. */
-											const real_t* const delta_yAC,	 	/**< Dual homotopy step direction of active constraints' multiplier. */
-											const real_t* const delta_yFX, 		/**< Dual homotopy step direction of fixed variables' multiplier. */
-											const real_t* const delta_Ax, 		/**< Step in vector Ax. */
-											int BC_idx, 						/**< Index of blocking constraint. */
-											SubjectToStatus BC_status,			/**< Status of blocking constraint. */
-											BooleanType BC_isBound 				/**< Indicates if blocking constraint is a bound. */
-											);
-
-
-		/** Checks if lower/upper (constraints') bounds remain consistent
-		 *  (i.e. if lb <= ub and lbA <= ubA ) during the current step.
-		 *	\return BT_TRUE iff (constraints") bounds remain consistent
-		 */
-		BooleanType areBoundsConsistent(	const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-											const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-											const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
-											const real_t* const delta_ubA	/**< Step direction of upper constraints' bounds. */
-											) const;
-
-
-		/** Setups internal QP data.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INVALID_ARGUMENTS */
-		returnValue setupQPdata(	const real_t* const _H, 	/**< Hessian matrix. */
-									const real_t* const _R, 	/**< Cholesky factorization of the Hessian matrix. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									const real_t* const _A,  	/**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-
-		#ifdef PC_DEBUG  /* Define print functions only for debugging! */
-
-		/** Prints concise information on the current iteration.
-		 *	\return  SUCCESSFUL_RETURN \n */
-		returnValue printIteration(	int iteration,				/**< Number of current iteration. */
-									int BC_idx, 				/**< Index of blocking constraint. */
-									SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-									BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
-									);
-
-		/** Prints concise information on the current iteration.
-		 *  NOTE: ONLY DEFINED FOR SUPPRESSING A COMPILER WARNING!!
-		 *	\return  SUCCESSFUL_RETURN \n */
-		returnValue printIteration(	int iteration,				/**< Number of current iteration. */
-									int BC_idx, 				/**< Index of blocking bound. */
-									SubjectToStatus BC_status	/**< Status of blocking bound. */
-									);
-
-		#endif  /* PC_DEBUG */
-
-
-		/** Determines the maximum violation of the KKT optimality conditions
-		 *  of the current iterate within the QProblem object.
-		 *	\return SUCCESSFUL_RETURN \n
-		 * 			RET_INACCURATE_SOLUTION \n
-		 * 			RET_NO_SOLUTION */
-		returnValue checkKKTconditions( );
-
-
-		/** Sets constraint matrix of the QP. \n
-			(Remark: Also internal vector Ax is recomputed!)
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setA(	const real_t* const A_new	/**< New constraint matrix (with correct dimension!). */
-									);
-
-		/** Changes single row of constraint matrix of the QP. \n
-			(Remark: Also correponding component of internal vector Ax is recomputed!)
-		 *	\return SUCCESSFUL_RETURN  \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setA(	int number,					/**< Number of row to be changed. */
-									const real_t* const value	/**< New (number)th constraint (with correct dimension!). */
-									);
-
-
-		/** Sets constraints' lower bound vector of the QP.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setLBA(	const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
-									);
-
-		/** Changes single entry of lower constraints' bound vector of the QP.
-		 *	\return SUCCESSFUL_RETURN  \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setLBA(	int number,		/**< Number of entry to be changed. */
-									real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
-									);
-
-		/** Sets constraints' upper bound vector of the QP.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setUBA(	const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
-									);
-
-		/** Changes single entry of upper constraints' bound vector of the QP.
-		 *	\return SUCCESSFUL_RETURN  \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setUBA(	int number,		/**< Number of entry to be changed. */
-									real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
-									);
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		real_t A[NCMAX_ALLOC*NVMAX];		/**< Constraint matrix. */
-		real_t lbA[NCMAX_ALLOC];			/**< Lower constraints' bound vector. */
-		real_t ubA[NCMAX_ALLOC];			/**< Upper constraints' bound vector. */
-
-		Constraints constraints;			/**< Data structure for problem's constraints. */
-
-		real_t T[NVMAX*NVMAX];				/**< Reverse triangular matrix, A = [0 T]*Q'. */
-		real_t Q[NVMAX*NVMAX];				/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-		int sizeT;							/**< Matrix T is stored in a (sizeT x sizeT) array. */
-
-		real_t Ax[NCMAX_ALLOC];				/**< Stores the current product A*x (for increased efficiency only). */
-
-		CyclingManager cyclingManager;		/**< Data structure for storing (possible) cycling information (NOT YET IMPLEMENTED!). */
-};
-
-
-#include <QProblem.ipp>
-
-#endif	/* QPOASES_QPROBLEM_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/QProblemB.hpp b/phonelibs/qpoases/INCLUDE/QProblemB.hpp
deleted file mode 100644
index 49ace9ef9d0047..00000000000000
--- a/phonelibs/qpoases/INCLUDE/QProblemB.hpp
+++ /dev/null
@@ -1,628 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/QProblemB.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the QProblemB class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming
- *	for problems with (simple) bounds only.
- */
-
-
-
-#ifndef QPOASES_QPROBLEMB_HPP
-#define QPOASES_QPROBLEMB_HPP
-
-
-#include <Bounds.hpp>
-
-
-
-class SolutionAnalysis;
-
-/** Class for setting up and solving quadratic programs with (simple) bounds only.
- *	The main feature is the possibily to use the newly developed online active set strategy
- *	for parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class QProblemB
-{
-	/* allow SolutionAnalysis class to access private members */
-	friend class SolutionAnalysis;
-	
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		QProblemB( );
-
-		/** Constructor which takes the QP dimension only. */
-		QProblemB(	int _nV						/**< Number of variables. */
-					);
-
-		/** Copy constructor (deep copy). */
-		QProblemB(	const QProblemB& rhs	/**< Rhs object. */
-					);
-
-		/** Destructor. */
-		~QProblemB( );
-
-		/** Assignment operator (deep copy). */
-		QProblemB& operator=(	const QProblemB& rhs	/**< Rhs object. */
-								);
-
-
-		/** Clears all data structures of QProblemB except for QP data.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_RESET_FAILED */
-		returnValue reset( );
-
-
-		/** Initialises a QProblemB with given QP data and solves it
-		 *	using an initial homotopy with empty working set (at most nWSR iterations).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INIT_FAILED \n
-					RET_INIT_FAILED_CHOLESKY \n
-					RET_INIT_FAILED_HOTSTART \n
-					RET_INIT_FAILED_INFEASIBILITY \n
-					RET_INIT_FAILED_UNBOUNDEDNESS \n
-					RET_MAX_NWSR_REACHED \n
-					RET_INVALID_ARGUMENTS \n
-					RET_INACCURATE_SOLUTION \n
-		 			RET_NO_SOLUTION */
-		returnValue init(	const real_t* const _H, 		/**< Hessian matrix. */
-							const real_t* const _g,			/**< Gradient vector. */
-							const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																If no upper bounds exist, a NULL pointer can be passed. */
-							int& nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																Output: Number of performed working set recalculations. */
-							const real_t* const yOpt = 0,	/**< Initial guess for dual solution vector. */
-				 			real_t* const cputime = 0		/**< Output: CPU time required to initialise QP. */
-							);
-
-
-		/** Initialises a QProblemB with given QP data and solves it
-		 *	using an initial homotopy with empty working set (at most nWSR iterations).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INIT_FAILED \n
-					RET_INIT_FAILED_CHOLESKY \n
-					RET_INIT_FAILED_HOTSTART \n
-					RET_INIT_FAILED_INFEASIBILITY \n
-					RET_INIT_FAILED_UNBOUNDEDNESS \n
-					RET_MAX_NWSR_REACHED \n
-					RET_INVALID_ARGUMENTS \n
-					RET_INACCURATE_SOLUTION \n
-		 			RET_NO_SOLUTION */
-		returnValue init(	const real_t* const _H, 		/**< Hessian matrix. */
-							const real_t* const _R, 		/**< Cholesky factorization of the Hessian matrix. */
-							const real_t* const _g,			/**< Gradient vector. */
-							const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																If no upper bounds exist, a NULL pointer can be passed. */
-							int& nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																Output: Number of performed working set recalculations. */
-							const real_t* const yOpt = 0,	/**< Initial guess for dual solution vector. */
-				 			real_t* const cputime = 0		/**< Output: CPU time required to initialise QP. */
-							);
-
-
-		/** Solves an initialised QProblemB using online active set strategy.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_MAX_NWSR_REACHED \n
-					RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-					RET_HOTSTART_FAILED \n
-					RET_SHIFT_DETERMINATION_FAILED \n
-					RET_STEPDIRECTION_DETERMINATION_FAILED \n
-					RET_STEPLENGTH_DETERMINATION_FAILED \n
-					RET_HOMOTOPY_STEP_FAILED \n
-					RET_HOTSTART_STOPPED_INFEASIBILITY \n
-					RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-					RET_INACCURATE_SOLUTION \n
-		 			RET_NO_SOLUTION */
-		returnValue hotstart(	const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-													 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-													 			 If no upper bounds exist, a NULL pointer can be passed. */
-								int& nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime		/**< Output: CPU time required to solve QP (or to perform nWSR iterations). */
-								);
-
-
-		/** Returns Hessian matrix of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getH(	real_t* const _H	/**< Array of appropriate dimension for copying Hessian matrix.*/
-									) const;
-
-		/** Returns gradient vector of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getG(	real_t* const _g	/**< Array of appropriate dimension for copying gradient vector.*/
-									) const;
-
-		/** Returns lower bound vector of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getLB(	real_t* const _lb	/**< Array of appropriate dimension for copying lower bound vector.*/
-									) const;
-
-		/** Returns single entry of lower bound vector of the QP.
-		  *	\return SUCCESSFUL_RETURN \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue getLB(	int number,		/**< Number of entry to be returned. */
-									real_t& value	/**< Output: lb[number].*/
-									) const;
-
-		/** Returns upper bound vector of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getUB(	real_t* const _ub	/**< Array of appropriate dimension for copying upper bound vector.*/
-									) const;
-
-		/** Returns single entry of upper bound vector of the QP.
-		  *	\return SUCCESSFUL_RETURN \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue getUB(	int number,		/**< Number of entry to be returned. */
-									real_t& value	/**< Output: ub[number].*/
-									) const;
-
-
-		/** Returns current bounds object of the QP (deep copy).
-		  *	\return SUCCESSFUL_RETURN */
-		inline returnValue getBounds(	Bounds* const _bounds	/** Output: Bounds object. */
-										) const;
-
-
-		/** Returns the number of variables.
-		 *	\return Number of variables. */
-		inline int getNV( ) const;
-
-		/** Returns the number of free variables.
-		 *	\return Number of free variables. */
-		inline int getNFR( );
-
-		/** Returns the number of fixed variables.
-		 *	\return Number of fixed variables. */
-		inline int getNFX( );
-
-		/** Returns the number of implicitly fixed variables.
-		 *	\return Number of implicitly fixed variables. */
-		inline int getNFV( ) const;
-
-		/** Returns the dimension of null space.
-		 *	\return Dimension of null space. */
-		int getNZ( );
-
-
-		/** Returns the optimal objective function value.
-		 *	\return finite value: Optimal objective function value (QP was solved) \n
-		 			+infinity:	  QP was not yet solved */
-		real_t getObjVal( ) const;
-
-		/** Returns the objective function value at an arbitrary point x.
-		 *	\return Objective function value at point x */
-		real_t getObjVal(	const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-							) const;
-
-		/** Returns the primal solution vector.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_QP_NOT_SOLVED */
-		returnValue getPrimalSolution(	real_t* const xOpt			/**< Output: Primal solution vector (if QP has been solved). */
-										) const;
-
-		/** Returns the dual solution vector.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_QP_NOT_SOLVED */
-		returnValue getDualSolution(	real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										) const;
-
-
-		/** Returns status of the solution process.
-		 *	\return Status of solution process. */
-		inline QProblemStatus getStatus( ) const;
-
-
-		/** Returns if the QProblem object is initialised.
-		 *	\return BT_TRUE:  QProblemB initialised \n
-		 			BT_FALSE: QProblemB not initialised */
-		inline BooleanType isInitialised( ) const;
-
-		/** Returns if the QP has been solved.
-		 *	\return BT_TRUE:  QProblemB solved \n
-		 			BT_FALSE: QProblemB not solved */
-		inline BooleanType isSolved( ) const;
-
-		/** Returns if the QP is infeasible.
-		 *	\return BT_TRUE:  QP infeasible \n
-		 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-		inline BooleanType isInfeasible( ) const;
-
-		/** Returns if the QP is unbounded.
-		 *	\return BT_TRUE:  QP unbounded \n
-		 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-		inline BooleanType isUnbounded( ) const;
-
-
-		/** Returns the print level.
-		 *	\return Print level. */
-		inline PrintLevel getPrintLevel( ) const;
-
-		/** Changes the print level.
- 		 *	\return SUCCESSFUL_RETURN */
-		returnValue setPrintLevel(	PrintLevel _printlevel	/**< New print level. */
-									);
-
-
-		/** Returns Hessian type flag (type is not determined due to this call!).
-		 *	\return Hessian type. */
-		inline HessianType getHessianType( ) const;
-
-		/** Changes the print level.
- 		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setHessianType(	HessianType _hessianType /**< New Hessian type. */
-											);
-
-
-	/*
-	 *	PROTECTED MEMBER FUNCTIONS
-	 */
-	protected:
-		/** Checks if Hessian happens to be the identity matrix,
-		 *  and sets corresponding status flag (otherwise the flag remains unaltered!).
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue checkForIdentityHessian( );
-
-		/** Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_SETUPSUBJECTTOTYPE_FAILED */
-		returnValue setupSubjectToType( );
-
-		/** Computes the Cholesky decomposition R of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z).
-		 *  It only works in the case where Z is a simple projection matrix!
-		 *	\return SUCCESSFUL_RETURN \n
-		 *			RET_INDEXLIST_CORRUPTED */
-		returnValue setupCholeskyDecomposition( );
-
-
-		/** Solves a QProblemB whose QP data is assumed to be stored in the member variables.
-		 *  A guess for its primal/dual optimal solution vectors and the corresponding
-		 *  optimal working set can be provided.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INIT_FAILED \n
-					RET_INIT_FAILED_CHOLESKY \n
-					RET_INIT_FAILED_HOTSTART \n
-					RET_INIT_FAILED_INFEASIBILITY \n
-					RET_INIT_FAILED_UNBOUNDEDNESS \n
-					RET_MAX_NWSR_REACHED */
-		returnValue solveInitialQP(	const real_t* const xOpt,			/**< Optimal primal solution vector.
-																		 *	 A NULL pointer can be passed. */
-									const real_t* const yOpt,			/**< Optimal dual solution vector.
-																		 *	 A NULL pointer can be passed. */
-									const Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt).
-																		 *	 A NULL pointer can be passed. */
-									int& nWSR, 							/**< Input: Maximum number of working set recalculations; \n
-																 		 *	 Output: Number of performed working set recalculations. */
-									real_t* const cputime				/**< Output: CPU time required to solve QP (or to perform nWSR iterations). */
-									);
-
-
-		/** Obtains the desired working set for the auxiliary initial QP in
-		 *  accordance with the user specifications
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_OBTAINING_WORKINGSET_FAILED \n
-					RET_INVALID_ARGUMENTS */
-		returnValue obtainAuxiliaryWorkingSet(	const real_t* const xOpt,			/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const real_t* const yOpt,			/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-												Bounds* auxiliaryBounds				/**< Input: Allocated bound object. \n
-																					 *	 Ouput: Working set for auxiliary QP. */
-												) const;
-
-		/** Setups bound data structure according to auxiliaryBounds.
-		 *  (If the working set shall be setup afresh, make sure that
-		 *  bounds data structure has been resetted!)
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_SETUP_WORKINGSET_FAILED \n
-					RET_INVALID_ARGUMENTS \n
-					RET_UNKNOWN BUG */
-		returnValue setupAuxiliaryWorkingSet(	const Bounds* const auxiliaryBounds,	/**< Working set for auxiliary QP. */
-												BooleanType setupAfresh					/**< Flag indicating if given working set shall be
-																						 *    setup afresh or by updating the current one. */
-												);
-
-		/** Setups the optimal primal/dual solution of the auxiliary initial QP.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue setupAuxiliaryQPsolution(	const real_t* const xOpt,			/**< Optimal primal solution vector.
-																				 	*	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt			/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-		/** Setups gradient of the auxiliary initial QP for given
-		 *  optimal primal/dual solution and given initial working set
-		 *  (assumes that members X, Y and BOUNDS have already been initialised!).
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue setupAuxiliaryQPgradient( );
-
-		/** Setups bounds of the auxiliary initial QP for given
-		 *  optimal primal/dual solution and given initial working set
-		 *  (assumes that members X, Y and BOUNDS have already been initialised!).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_UNKNOWN BUG */
-		returnValue setupAuxiliaryQPbounds( BooleanType useRelaxation	/**< Flag indicating if inactive bounds shall be relaxed. */
-											);
-
-
-		/** Adds a bound to active set (specialised version for the case where no constraints exist).
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_ADDBOUND_FAILED */
-		returnValue addBound(	int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								);
-
-		/** Removes a bounds from active set (specialised version for the case where no constraints exist).
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_HESSIAN_NOT_SPD \n
-					RET_REMOVEBOUND_FAILED */
-		returnValue removeBound(	int number,					/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									);
-
-
-		/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_DIV_BY_ZERO */
-		returnValue backsolveR(	const real_t* const b,	/**< Right hand side vector. */
-								BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-								real_t* const a 		/**< Output: Solution vector */
-								);
-
-		/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
-		 *  Special variant for the case that this function is called from within "removeBound()".
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_DIV_BY_ZERO */
-		returnValue backsolveR(	const real_t* const b,		/**< Right hand side vector. */
-								BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-								BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-								real_t* const a 			/**< Output: Solution vector */
-								);
-
-
-		/** Determines step direction of the shift of the QP data.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue hotstart_determineDataShift(const int* const FX_idx, 	/**< Index array of fixed variables. */
-												const real_t* const g_new,	/**< New gradient vector. */
-												const real_t* const lb_new,	/**< New lower bounds. */
-												const real_t* const ub_new,	/**< New upper bounds. */
-												real_t* const delta_g,	 	/**< Output: Step direction of gradient vector. */
-												real_t* const delta_lb,	 	/**< Output: Step direction of lower bounds. */
-												real_t* const delta_ub,	 	/**< Output: Step direction of upper bounds. */
-												BooleanType& Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */
-												);
-
-
-		/** Checks if lower/upper bounds remain consistent
-		 *  (i.e. if lb <= ub) during the current step.
-		 *	\return BT_TRUE iff bounds remain consistent
-		 */
-		BooleanType areBoundsConsistent(	const real_t* const delta_lb,		/**< Step direction of lower bounds. */
-											const real_t* const delta_ub		/**< Step direction of upper bounds. */
-											) const;
-
-
-		/** Setups internal QP data.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INVALID_ARGUMENTS */
-		returnValue setupQPdata(	const real_t* const _H, 	/**< Hessian matrix. */
-									const real_t* const _R, 	/**< Cholesky factorization of the Hessian matrix. */
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-
-		/** Sets Hessian matrix of the QP.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setH(	const real_t* const H_new	/**< New Hessian matrix (with correct dimension!). */
-									);
-
-		/** Changes gradient vector of the QP.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setG(	const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-									);
-
-		/** Changes lower bound vector of the QP.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setLB(	const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-									);
-
-		/** Changes single entry of lower bound vector of the QP.
-		 *	\return SUCCESSFUL_RETURN  \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setLB(	int number,		/**< Number of entry to be changed. */
-									real_t value	/**< New value for entry of lower bound vector. */
-									);
-
-		/** Changes upper bound vector of the QP.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setUB(	const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-									);
-
-		/** Changes single entry of upper bound vector of the QP.
-		 *	\return SUCCESSFUL_RETURN  \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setUB(	int number,		/**< Number of entry to be changed. */
-									real_t value	/**< New value for entry of upper bound vector. */
-									);
-
-
-		/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
-		 *	\return SUCCESSFUL_RETURN */
-		inline void computeGivens(	real_t xold,	/**< Matrix entry to be normalised. */
-									real_t yold,	/**< Matrix entry to be annihilated. */
-									real_t& xnew,	/**< Output: Normalised matrix entry. */
-									real_t& ynew,	/**< Output: Annihilated matrix entry. */
-									real_t& c,		/**< Output: Cosine entry of Givens matrix. */
-									real_t& s 		/**< Output: Sine entry of Givens matrix. */
-									) const;
-
-		/** Applies Givens matrix determined by c and s (cf. computeGivens).
-		 *	\return SUCCESSFUL_RETURN */
-		inline void applyGivens(	real_t c,		/**< Cosine entry of Givens matrix. */
-									real_t s,		/**< Sine entry of Givens matrix. */
-									real_t xold,	/**< Matrix entry to be transformed corresponding to
-													 *	 the normalised entry of the original matrix. */
-									real_t yold, 	/**< Matrix entry to be transformed corresponding to
-													 *	 the annihilated entry of the original matrix. */
-									real_t& xnew,	/**< Output: Transformed matrix entry corresponding to
-													 *	 the normalised entry of the original matrix. */
-									real_t& ynew	/**< Output: Transformed matrix entry corresponding to
-													 *	 the annihilated entry of the original matrix. */
-									) const;
-
-
-	/*
-	 *	PRIVATE MEMBER FUNCTIONS
-	 */
-	private:
-		/** Determines step direction of the homotopy path.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_STEPDIRECTION_FAILED_CHOLESKY */
-		returnValue hotstart_determineStepDirection(const int* const FR_idx, 		/**< Index array of free variables. */
-													const int* const FX_idx, 		/**< Index array of fixed variables. */
-													const real_t* const delta_g,	/**< Step direction of gradient vector. */
-													const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-													const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-													BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-													real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-													real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-													real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-													);
-
-		/** Determines the maximum possible step length along the homotopy path.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue hotstart_determineStepLength(	const int* const FR_idx, 		/**< Index array of free variables. */
-													const int* const FX_idx, 		/**< Index array of fixed variables. */
-													const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-													const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-													const real_t* const delta_xFR,	/**< Primal homotopy step direction of free variables. */
-													const real_t* const delta_yFX,	/**< Dual homotopy step direction of fixed variables' multiplier. */
-													int& BC_idx, 					/**< Output: Index of blocking constraint. */
-													SubjectToStatus& BC_status		/**< Output: Status of blocking constraint. */
-													);
-
-		/** Performs a step along the homotopy path (and updates active set).
-		 *	\return  SUCCESSFUL_RETURN \n
-		 			 RET_OPTIMAL_SOLUTION_FOUND \n
-		 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-					 RET_ADD_TO_ACTIVESET_FAILED \n
-					 RET_QP_INFEASIBLE */
-		returnValue hotstart_performStep(	const int* const FR_idx, 			/**< Index array of free variables. */
-											const int* const FX_idx, 			/**< Index array of fixed variables. */
-											const real_t* const delta_g,	 	/**< Step direction of gradient vector. */
-											const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
-											const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
-											const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
-											const real_t* const delta_xFR,	 	/**< Primal homotopy step direction of free variables. */
-											const real_t* const delta_yFX, 		/**< Dual homotopy step direction of fixed variables' multiplier. */
-											int BC_idx, 						/**< Index of blocking constraint. */
-											SubjectToStatus BC_status 			/**< Status of blocking constraint. */
-											);
-
-
-		#ifdef PC_DEBUG  /* Define print functions only for debugging! */
-
-		/** Prints concise information on the current iteration.
-		 *	\return  SUCCESSFUL_RETURN \n */
-		returnValue printIteration(	int iteration,				/**< Number of current iteration. */
-									int BC_idx, 				/**< Index of blocking bound. */
-									SubjectToStatus BC_status	/**< Status of blocking bound. */
-									);
-
-		#endif  /* PC_DEBUG */
-
-
-		/** Determines the maximum violation of the KKT optimality conditions
-		 *  of the current iterate within the QProblemB object.
-		 *	\return SUCCESSFUL_RETURN \n
-		 * 			RET_INACCURATE_SOLUTION \n
-		 * 			RET_NO_SOLUTION */
-		returnValue checkKKTconditions( );
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		real_t H[NVMAX*NVMAX];		/**< Hessian matrix. */
-		BooleanType hasHessian;		/**< Flag indicating whether H contains Hessian or corresponding Cholesky factor R; \sa init. */
-
-		real_t g[NVMAX];			/**< Gradient. */
-		real_t lb[NVMAX];			/**< Lower bound vector (on variables). */
-		real_t ub[NVMAX];			/**< Upper bound vector (on variables). */
-
-		Bounds bounds;				/**< Data structure for problem's bounds. */
-
-		real_t R[NVMAX*NVMAX];		/**< Cholesky decomposition of H (i.e. H = R^T*R). */
-		BooleanType hasCholesky;	/**< Flag indicating whether Cholesky decomposition has already been setup. */
-
-		real_t x[NVMAX];			/**< Primal solution vector. */
-		real_t y[NVMAX+NCMAX];		/**< Dual solution vector. */
-
-		real_t tau;					/**< Last homotopy step length. */
-
-		QProblemStatus status;		/**< Current status of the solution process. */
-
-		BooleanType infeasible;		/**< QP infeasible? */
-		BooleanType unbounded;		/**< QP unbounded? */
-
-		HessianType hessianType;	/**< Type of Hessian matrix. */
-
-		PrintLevel printlevel;		/**< Print level. */
-
-		int count;					/**< Counts the number of hotstart function calls (internal usage only!). */
-};
-
-
-#include <QProblemB.ipp>
-
-#endif	/* QPOASES_QPROBLEMB_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/SubjectTo.hpp b/phonelibs/qpoases/INCLUDE/SubjectTo.hpp
deleted file mode 100644
index e07bf0421ec799..00000000000000
--- a/phonelibs/qpoases/INCLUDE/SubjectTo.hpp
+++ /dev/null
@@ -1,178 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/SubjectTo.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the SubjectTo class designed to manage working sets of
- *	constraints and bounds within a QProblem.
- */
-
-
-#ifndef QPOASES_SUBJECTTO_HPP
-#define QPOASES_SUBJECTTO_HPP
-
-
-#include <Indexlist.hpp>
-
-
-
-/** This class manages working sets of constraints and bounds by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class SubjectTo
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		SubjectTo( );
-
-		/** Copy constructor (deep copy). */
-		SubjectTo(	const SubjectTo& rhs	/**< Rhs object. */
-					);
-
-		/** Destructor. */
-		~SubjectTo( );
-
-		/** Assignment operator (deep copy). */
-		SubjectTo& operator=(	const SubjectTo& rhs	/**< Rhs object. */
-								);
-
-
-		/** Pseudo-constructor takes the number of constraints or bounds.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init(	int n 	/**< Number of constraints or bounds. */
-							);
-
-
-		/** Returns type of (constraints') bound.
-		 *	\return Type of (constraints') bound \n
-		 			RET_INDEX_OUT_OF_BOUNDS */
-		inline SubjectToType getType(	int i		/**< Number of (constraints') bound. */
-										) const ;
-
-		/** Returns status of (constraints') bound.
-		 *	\return Status of (constraints') bound \n
-		 			ST_UNDEFINED */
-		inline SubjectToStatus getStatus(	int i		/**< Number of (constraints') bound. */
-											) const;
-
-
-		/** Sets type of (constraints') bound.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setType(	int i,				/**< Number of (constraints') bound. */
-									SubjectToType value	/**< Type of (constraints') bound. */
-									);
-
-		/** Sets status of (constraints') bound.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setStatus(	int i,					/**< Number of (constraints') bound. */
-										SubjectToStatus value	/**< Status of (constraints') bound. */
-										);
-
-
-		/** Sets status of lower (constraints') bounds. */
-		inline void setNoLower(	BooleanType _status		/**< Status of lower (constraints') bounds. */
-								);
-
-		/** Sets status of upper (constraints') bounds. */
-		inline void setNoUpper(	BooleanType _status		/**< Status of upper (constraints') bounds. */
-								);
-
-
-		/** Returns status of lower (constraints') bounds.
-		 *	\return BT_TRUE if there is no lower (constraints') bound on any variable. */
-		inline BooleanType isNoLower( ) const;
-
-		/** Returns status of upper bounds.
-		 *	\return BT_TRUE if there is no upper (constraints') bound on any variable. */
-		inline BooleanType isNoUpper( ) const;
-
-
-	/*
-	 *	PROTECTED MEMBER FUNCTIONS
-	 */
-	protected:
-		/** Adds the index of a new constraint or bound to index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_ADDINDEX_FAILED */
-		returnValue addIndex(	Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-								int newnumber,				/**< Number of new constraint or bound. */
-								SubjectToStatus newstatus	/**< Status of new constraint or bound. */
-								);
-
-		/** Removes the index of a constraint or bound from index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_UNKNOWN_BUG */
-		returnValue removeIndex(	Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-									int removenumber			/**< Number of constraint or bound to be removed. */
-									);
-
-		/** Swaps the indices of two constraints or bounds within the index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SWAPINDEX_FAILED */
-		returnValue swapIndex(	Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-								int number1,				/**< Number of first constraint or bound. */
-								int number2					/**< Number of second constraint or bound. */
-								);
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		SubjectToType type[NVMAX+NCMAX]; 		/**< Type of constraints/bounds. */
-		SubjectToStatus status[NVMAX+NCMAX];	/**< Status of constraints/bounds. */
-
-		BooleanType noLower;				 	/**< This flag indicates if there is no lower bound on any variable. */
-		BooleanType noUpper;	 				/**< This flag indicates if there is no upper bound on any variable. */
-
-
-	/*
-	 *	PRIVATE MEMBER VARIABLES
-	 */
-	private:
-		int size;
-};
-
-
-
-#include <SubjectTo.ipp>
-
-#endif	/* QPOASES_SUBJECTTO_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/Types.hpp b/phonelibs/qpoases/INCLUDE/Types.hpp
deleted file mode 100644
index 5b873ad070a875..00000000000000
--- a/phonelibs/qpoases/INCLUDE/Types.hpp
+++ /dev/null
@@ -1,131 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/Types.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2008
- *
- *	Declaration of all non-built-in types (except for classes).
- */
-
-
-#ifndef QPOASES_TYPES_HPP
-#define QPOASES_TYPES_HPP
-
-
-
-/** Define real_t for facilitating switching between double and float. */
-// typedef double real_t;
-
-
-/** Summarises all possible logical values. */
-enum BooleanType
-{
-	BT_FALSE,					/**< Logical value for "false". */
-	BT_TRUE						/**< Logical value for "true". */
-};
-
-
-/** Summarises all possible print levels. Print levels are used to describe
- *	the desired amount of output during runtime of qpOASES. */
-enum PrintLevel
-{
-	PL_NONE,					/**< No output. */
-	PL_LOW,						/**< Print error messages only. */
-	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
-	PL_HIGH						/**< Print all messages with full details. */
-};
-
-
-/** Defines visibility status of a message. */
-enum VisibilityStatus
-{
-	VS_VISIBLE,					/**< Message visible. */
-	VS_HIDDEN					/**< Message not visible. */
-};
-
-
-/** Summarises all possible states of the (S)QProblem(B) object during the
-solution process of a QP sequence. */
-enum QProblemStatus
-{
-	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
-	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
-								 *   set strategy is performed. */
-	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
-	QPS_SOLVED					/**< The solution of the actual QP was found. */
-};
-
-
-/** Summarises all possible types of bounds and constraints. */
-enum SubjectToType
-{
-	ST_UNBOUNDED,				/**< Bound/constraint is unbounded. */
-	ST_BOUNDED,					/**< Bound/constraint is bounded but not fixed. */
-	ST_EQUALITY,				/**< Bound/constraint is fixed (implicit equality bound/constraint). */
-	ST_UNKNOWN					/**< Type of bound/constraint unknown. */
-};
-
-
-/** Summarises all possible states of bounds and constraints. */
-enum SubjectToStatus
-{
-	ST_INACTIVE,				/**< Bound/constraint is inactive. */
-	ST_LOWER,					/**< Bound/constraint is at its lower bound. */
-	ST_UPPER,					/**< Bound/constraint is at its upper bound. */
-	ST_UNDEFINED				/**< Status of bound/constraint undefined. */
-};
-
-
-/** Summarises all possible cycling states of bounds and constraints. */
-enum CyclingStatus
-{
-	CYC_NOT_INVOLVED,			/**< Bound/constraint is not involved in current cycling. */
-	CYC_PREV_ADDED,				/**< Bound/constraint has previously been added during the current cycling. */
-	CYC_PREV_REMOVED			/**< Bound/constraint has previously been removed during the current cycling. */
-};
-
-
-/** Summarises all possible types of the QP's Hessian matrix. */
-enum HessianType
-{
-	HST_SEMIDEF,				/**< Hessian is positive semi-definite. */
-	HST_POSDEF_NULLSPACE,		/**< Hessian is positive definite on null space of active bounds/constraints. */
-	HST_POSDEF,					/**< Hessian is (strictly) positive definite. */
-	HST_IDENTITY				/**< Hessian is identity matrix. */
-};
-
-
-
-#endif	/* QPOASES_TYPES_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/INCLUDE/Utils.hpp b/phonelibs/qpoases/INCLUDE/Utils.hpp
deleted file mode 100644
index a91ee78ccb5cd7..00000000000000
--- a/phonelibs/qpoases/INCLUDE/Utils.hpp
+++ /dev/null
@@ -1,197 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file INCLUDE/Utils.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of global utility functions for working with qpOASES.
- */
-
-
-#ifndef QPOASES_UTILS_HPP
-#define QPOASES_UTILS_HPP
-
-
-#include <MessageHandling.hpp>
-
-
-#ifdef PC_DEBUG  /* Define print functions only for debugging! */
-
-/** Prints a vector.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const v,	/**< Vector to be printed. */
-					int n					/**< Length of vector. */
-					);
-
-/** Prints a permuted vector.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const v,		/**< Vector to be printed. */
-					int n,						/**< Length of vector. */
-					const int* const V_idx		/**< Pemutation vector. */
-					);
-
-/** Prints a named vector.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const v,	/**< Vector to be printed. */
-					int n,					/**< Length of vector. */
-					const char* name		/** Name of vector. */
-					);
-
-/** Prints a matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const M,	/**< Matrix to be printed. */
-					int nrow,				/**< Row number of matrix. */
-					int ncol				/**< Column number of matrix. */
-					);
-
-/** Prints a permuted matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const M,		/**< Matrix to be printed. */
-					int nrow,					/**< Row number of matrix. */
-					int ncol	,				/**< Column number of matrix. */
-					const int* const ROW_idx,	/**< Row pemutation vector. */
-					const int* const COL_idx	/**< Column pemutation vector. */
-					);
-
-/** Prints a named matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const M,	/**< Matrix to be printed. */
-					int nrow,				/**< Row number of matrix. */
-					int ncol,				/**< Column number of matrix. */
-					const char* name		/** Name of matrix. */
-					);
-
-/** Prints an index array.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const int* const index,	/**< Index array to be printed. */
-					int n					/**< Length of index array. */
-					);
-
-/** Prints a named index array.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const int* const index,	/**< Index array to be printed. */
-					int n,					/**< Length of index array. */
-					const char* name		/**< Name of index array. */
-					);
-
-
-/** Prints a string to desired output target (useful also for MATLAB output!).
- * \return SUCCESSFUL_RETURN */
-returnValue myPrintf(	const char* s	/**< String to be written. */
-						);
-
-
-/** Prints qpOASES copyright notice.
- * \return SUCCESSFUL_RETURN */
-returnValue printCopyrightNotice( );
-
-
-/** Reads a real_t matrix from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue readFromFile(	real_t* data,				/**< Matrix to be read from file. */
-							int nrow,					/**< Row number of matrix. */
-							int ncol,					/**< Column number of matrix. */
-							const char* datafilename	/**< Data file name. */
-							);
-
-/** Reads a real_t vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue readFromFile(	real_t* data,				/**< Vector to be read from file. */
-							int n,						/**< Length of vector. */
-							const char* datafilename	/**< Data file name. */
-							);
-
-/** Reads an integer (column) vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue readFromFile(	int* data,					/**< Vector to be read from file. */
-							int n,						/**< Length of vector. */
-							const char* datafilename	/**< Data file name. */
-							);
-
-
-/** Writes a real_t matrix into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue writeIntoFile(	const real_t* const data,	/**< Matrix to be written into file. */
-							int nrow,					/**< Row number of matrix. */
-							int ncol,					/**< Column number of matrix. */
-							const char* datafilename,	/**< Data file name. */
-							BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-							);
-
-/** Writes a real_t vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue writeIntoFile(	const real_t* const data,	/**< Vector to be written into file. */
-							int n,						/**< Length of vector. */
-							const char* datafilename,	/**< Data file name. */
-							BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-							);
-
-/** Writes an integer (column) vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE */
-returnValue writeIntoFile(	const int* const integer,	/**< Integer vector to be written into file. */
-							int n,						/**< Length of vector. */
-							const char* datafilename,	/**< Data file name. */
-							BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
-							);
-
-#endif  /* PC_DEBUG */
-
-
-/** Returns the current system time.
- * \return current system time */
-real_t getCPUtime( );
-
-
-/** Returns the Euclidean norm of a vector.
- * \return 0: successful */
-real_t getNorm(	const real_t* const v,	/**< Vector. */
-				int n					/**< Vector's dimension. */
-				);
-
-/** Returns the absolute value of a real_t.
- * \return Absolute value of a real_t */
-inline real_t getAbs(	real_t x		/**< Input argument. */
-						);
-
-
-
-#include <Utils.ipp>
-
-#endif	/* QPOASES_UTILS_HPP */
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/LICENSE.txt b/phonelibs/qpoases/LICENSE.txt
deleted file mode 100644
index 5ab7695ab8cabe..00000000000000
--- a/phonelibs/qpoases/LICENSE.txt
+++ /dev/null
@@ -1,504 +0,0 @@
-		  GNU LESSER GENERAL PUBLIC LICENSE
-		       Version 2.1, February 1999
-
- Copyright (C) 1991, 1999 Free Software Foundation, Inc.
- 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-[This is the first released version of the Lesser GPL.  It also counts
- as the successor of the GNU Library Public License, version 2, hence
- the version number 2.1.]
-
-			    Preamble
-
-  The licenses for most software are designed to take away your
-freedom to share and change it.  By contrast, the GNU General Public
-Licenses are intended to guarantee your freedom to share and change
-free software--to make sure the software is free for all its users.
-
-  This license, the Lesser General Public License, applies to some
-specially designated software packages--typically libraries--of the
-Free Software Foundation and other authors who decide to use it.  You
-can use it too, but we suggest you first think carefully about whether
-this license or the ordinary General Public License is the better
-strategy to use in any particular case, based on the explanations below.
-
-  When we speak of free software, we are referring to freedom of use,
-not price.  Our General Public Licenses are designed to make sure that
-you have the freedom to distribute copies of free software (and charge
-for this service if you wish); that you receive source code or can get
-it if you want it; that you can change the software and use pieces of
-it in new free programs; and that you are informed that you can do
-these things.
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-distributors to deny you these rights or to ask you to surrender these
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-    This library is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-    Lesser General Public License for more details.
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-Also add information on how to contact you by electronic and paper mail.
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-
-That's all there is to it!
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diff --git a/phonelibs/qpoases/README.txt b/phonelibs/qpoases/README.txt
deleted file mode 100644
index 53fc2ab4f86279..00000000000000
--- a/phonelibs/qpoases/README.txt
+++ /dev/null
@@ -1,92 +0,0 @@
-##
-##	qpOASES -- An Implementation of the Online Active Set Strategy.
-##	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
-##
-##	qpOASES is free software; you can redistribute it and/or
-##	modify it under the terms of the GNU Lesser General Public
-##	License as published by the Free Software Foundation; either
-##	version 2.1 of the License, or (at your option) any later version.
-##
-##	qpOASES is distributed in the hope that it will be useful,
-##	but WITHOUT ANY WARRANTY; without even the implied warranty of
-##	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-##	Lesser General Public License for more details.
-##
-##	You should have received a copy of the GNU Lesser General Public
-##	License along with qpOASES; if not, write to the Free Software
-##	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
-##
-
-
-
-INTRODUCTION
-=============
-
-qpOASES is an open-source C++ implementation of the recently proposed 
-online active set strategy (see [1], [2]), which was inspired by important 
-observations from the field of parametric quadratic programming. It has 
-several theoretical features that make it particularly suited for model 
-predictive control (MPC) applications.
-
-The software package qpOASES implements these ideas and has already been 
-successfully used for closed-loop control of a real-world Diesel engine [3].
-
-
-References:
-
-[1] H.J. Ferreau. An Online Active Set Strategy for Fast Solution of 
-Parametric Quadratic Programs with Applications to Predictive Engine Control. 
-Diplom thesis, University of Heidelberg, 2006.
-
-[2] H.J. Ferreau, H.G. Bock, M. Diehl. An online active set strategy to 
-overcome the limitations of explicit MPC. International Journal of Robust 
-and Nonlinear Control, 18 (8), pp. 816-830, 2008.
-
-[3] H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, M. Diehl. Predictive 
-Control of a Real-World Diesel Engine using an Extended Online Active Set 
-Strategy. Annual Reviews in Control, 31 (2), pp. 293-301, 2007.
-
-
-
-GETTING STARTED
-================
-
-1. For installation, usage and additional information on this software package 
-   see the qpOASES User's Manual located at ./DOC/manual.pdf!
-
-
-2. The file ./LICENSE.txt contains a copy of the GNU Lesser General Public 
-   License. Please read it carefully before using qpOASES!
-
-
-3. The whole software package can be downloaded from 
-
-        http://homes.esat.kuleuven.be/~optec/software/qpOASES/ 
-
-   On this webpage you will also find a list of frequently asked questions.
-
-
-
-CONTACT THE AUTHORS
-====================
-
-If you have got questions, remarks or comments on qpOASES 
-please contact the main author:
-
-        Hans Joachim Ferreau
-        Katholieke Universiteit Leuven
-        Department of Electrical Engineering (ESAT)
-        Kasteelpark Arenberg 10, bus 2446
-        B-3001 Leuven-Heverlee, Belgium
-
-        Phone: +32 16 32 03 63
-        E-mail: joachim.ferreau@esat.kuleuven.be
-                qpOASES@esat.kuleuven.be
-
-Also bug reports and source code extensions are most welcome!
-
-
-
-##
-##	end of file
-##
diff --git a/phonelibs/qpoases/SConscript b/phonelibs/qpoases/SConscript
deleted file mode 100644
index 932dbc700acdb1..00000000000000
--- a/phonelibs/qpoases/SConscript
+++ /dev/null
@@ -1,16 +0,0 @@
-Import('env', 'interface_dir')
-
-qp_files = [
-    Glob("SRC/*.cpp"),
-    Glob("SRC/EXTRAS/*.cpp"),
-]
-
-cpp_path = [
-    ".",
-    "INCLUDE",
-    "INCLUDE/EXTRAS",
-    "SRC/",
-    interface_dir,
-]
-
-env.Library('qpoases', qp_files,  CPPPATH=cpp_path)
diff --git a/phonelibs/qpoases/SRC/Bounds.cpp b/phonelibs/qpoases/SRC/Bounds.cpp
deleted file mode 100644
index cf8ed69890623f..00000000000000
--- a/phonelibs/qpoases/SRC/Bounds.cpp
+++ /dev/null
@@ -1,252 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/Bounds.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the Bounds class designed to manage working sets of
- *	bounds within a QProblem.
- */
-
-
-#include <Bounds.hpp>
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	B o u n d s
- */
-Bounds::Bounds( ) :	SubjectTo( ),
-					nV( 0 ),
-					nFV( 0 ),
-					nBV( 0 ),
-					nUV( 0 )
-{
-}
-
-
-/*
- *	B o u n d s
- */
-Bounds::Bounds( const Bounds& rhs ) :	SubjectTo( rhs ),
-										nV( rhs.nV ),
-										nFV( rhs.nFV ),
-										nBV( rhs.nBV ),
-										nUV( rhs.nUV )
-{
-	free  = rhs.free;
-	fixed = rhs.fixed;
-}
-
-
-/*
- *	~ B o u n d s
- */
-Bounds::~Bounds( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-Bounds& Bounds::operator=( const Bounds& rhs )
-{
-	if ( this != &rhs )
-	{
-		SubjectTo::operator=( rhs );
-
-		nV  = rhs.nV;
-		nFV = rhs.nFV;
-		nBV = rhs.nBV;
-		nUV = rhs.nUV;
-
-		free  = rhs.free;
-		fixed = rhs.fixed;
-	}
-
-	return *this;
-}
-
-
-/*
- *	i n i t
- */
-returnValue Bounds::init( int n )
-{
-	nV = n;
-	nFV = 0;
-	nBV = 0;
-	nUV = 0;
-
-	free.init( );
-	fixed.init( );
-
-	return SubjectTo::init( n );
-}
-
-
-/*
- *	s e t u p B o u n d
- */
-returnValue Bounds::setupBound(	int _number, SubjectToStatus _status
-								)
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	
-	/* Add bound index to respective index list. */
-	switch ( _status )
-	{
-		case ST_INACTIVE:
-			if ( this->addIndex( this->getFree( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-			break;
-
-		case ST_LOWER:
-			if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-			break;
-
-		case ST_UPPER:
-			if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-			break;
-
-		default:
-			return THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A l l F r e e
- */
-returnValue Bounds::setupAllFree( )
-{
-	int i;
-
-	/* 1) Place unbounded variables at the beginning of the index list of free variables. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( getType( i ) == ST_UNBOUNDED )
-		{
-			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_BOUND_FAILED );
-		}
-	}
-
-	/* 2) Add remaining (i.e. bounded but possibly free) variables to the index list of free variables. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( getType( i ) == ST_BOUNDED )
-		{
-			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-		}
-	}
-
-	/* 3) Place implicitly fixed variables at the end of the index list of free variables. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( getType( i ) == ST_EQUALITY )
-		{
-			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	m o v e F i x e d T o F r e e
- */
-returnValue Bounds::moveFixedToFree( int _number )
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Move index from indexlist of fixed variables to that of free ones. */
-	if ( this->removeIndex( this->getFixed( ),_number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	if ( this->addIndex( this->getFree( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	m o v e F r e e T o F i x e d
- */
-returnValue Bounds::moveFreeToFixed(	int _number, SubjectToStatus _status
-										)
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Move index from indexlist of free variables to that of fixed ones. */
-	if ( this->removeIndex( this->getFree( ),_number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s w a p F r e e
- */
-returnValue Bounds::swapFree(	int number1, int number2
-								)
-{
-	/* consistency check */
-	if ( ( number1 < 0 ) || ( number1 >= getNV( ) ) || ( number2 < 0 ) || ( number2 >= getNV( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Swap index within indexlist of free variables. */
-	return this->swapIndex( this->getFree( ),number1,number2 );
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/Bounds.ipp b/phonelibs/qpoases/SRC/Bounds.ipp
deleted file mode 100644
index d2ab1ba2d89835..00000000000000
--- a/phonelibs/qpoases/SRC/Bounds.ipp
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/Bounds.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the Bounds class designed 
- *	to manage working sets of bounds within a QProblem.
- */
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t N V
- */
-inline int Bounds::getNV( ) const
-{
- 	return nV;
-}
-
-
-/*
- *	g e t N F X
- */
-inline int Bounds::getNFV( ) const
-{
- 	return nFV;
-}
-
-
-/*
- *	g e t N B V
- */
-inline int Bounds::getNBV( ) const
-{
- 	return nBV;
-}
- 
-
-/*
- *	g e t N U V
- */
-inline int Bounds::getNUV( ) const
-{
-	return nUV;
-}
-
-
-
-/*
- *	s e t N F X
- */
-inline returnValue Bounds::setNFV( int n )
-{
- 	nFV = n;
-	return SUCCESSFUL_RETURN;	
-}
- 
- 
-/*
- *	s e t N B V
- */
-inline returnValue Bounds::setNBV( int n )
-{
- 	nBV = n;
-	return SUCCESSFUL_RETURN;
-}
- 
-
-/*
- *	s e t N U V
- */
-inline returnValue Bounds::setNUV( int n )
-{
-	nUV = n;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N F R
- */
-inline int Bounds::getNFR( )
-{
- 	return free.getLength( );
-}
-
-
-/*
- *	g e t N F X
- */
-inline int Bounds::getNFX( )
-{
- 	return fixed.getLength( );
-}
-
-
-/*
- *	g e t F r e e
- */
-inline Indexlist* Bounds::getFree( )
-{
-	return &free;
-}
-
-
-/*
- *	g e t F i x e d
- */
-inline Indexlist* Bounds::getFixed( )
-{
-	return &fixed;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/Constraints.cpp b/phonelibs/qpoases/SRC/Constraints.cpp
deleted file mode 100644
index b2ad5bd111547e..00000000000000
--- a/phonelibs/qpoases/SRC/Constraints.cpp
+++ /dev/null
@@ -1,248 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/Constraints.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the Constraints class designed to manage working sets of
- *	constraints within a QProblem.
- */
-
-
-#include <Constraints.hpp>
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	C o n s t r a i n t s
- */
-Constraints::Constraints( ) :	SubjectTo( ),
-								nC( 0 ),
-								nEC( 0 ),
-								nIC( 0 ),
-								nUC( 0 )
-{
-}
-
-
-/*
- *	C o n s t r a i n t s
- */
-Constraints::Constraints( const Constraints& rhs ) :	SubjectTo( rhs ),
-														nC( rhs.nC ),
-														nEC( rhs.nEC ),
-														nIC( rhs.nIC ),
-														nUC( rhs.nUC )
-{
-	active =   rhs.active;
-	inactive = rhs.inactive;
-}
-
-
-/*
- *	~ C o n s t r a i n t s
- */
-Constraints::~Constraints( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-Constraints& Constraints::operator=( const Constraints& rhs )
-{
-	if ( this != &rhs )
-	{
-		SubjectTo::operator=( rhs );
-
-		nC  = rhs.nC;
-		nEC = rhs.nEC;
-		nIC = rhs.nIC;
-		nUC = rhs.nUC;
-
-		active =   rhs.active;
-		inactive = rhs.inactive;
-	}
-
-	return *this;
-}
-
-
-/*
- *	i n i t
- */
-returnValue Constraints::init( int n )
-{
-	nC = n;
-	nEC = 0;
-	nIC = 0;
-	nUC = 0;
-
-	active.init( );
-	inactive.init( );
-
-	return SubjectTo::init( n );
-}
-
-
-/*
- *	s e t u p C o n s t r a i n t
- */
-returnValue Constraints::setupConstraint(	int _number, SubjectToStatus _status
-											)
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	
-	/* Add constraint index to respective index list. */
-	switch ( _status )
-	{
-		case ST_INACTIVE:
-			if ( this->addIndex( this->getInactive( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-			break;
-
-		case ST_LOWER:
-			if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-			break;
-
-		case ST_UPPER:
-			if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-			break;
-
-		default:
-			return THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A l l I n a c t i v e
- */
-returnValue Constraints::setupAllInactive( )
-{
-	int i;
-
-
-	/* 1) Place unbounded constraints at the beginning of the index list of inactive constraints. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( getType( i ) == ST_UNBOUNDED )
-		{
-			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-		}
-	}
-
-	/* 2) Add remaining (i.e. "real" inequality) constraints to the index list of inactive constraints. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( getType( i ) == ST_BOUNDED )
-		{
-			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-		}
-	}
-
-	/* 3) Place implicit equality constraints at the end of the index list of inactive constraints. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( getType( i ) == ST_EQUALITY )
-		{
-			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-		}
-	}
-
-	/* 4) Moreover, add all constraints of unknown type. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( getType( i ) == ST_UNKNOWN )
-		{
-			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	m o v e A c t i v e T o I n a c t i v e
- */
-returnValue Constraints::moveActiveToInactive( int _number )
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Move index from indexlist of active constraints to that of inactive ones. */
-	if ( this->removeIndex( this->getActive( ),_number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	if ( this->addIndex( this->getInactive( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	m o v e I n a c t i v e T o A c t i v e
- */
-returnValue Constraints::moveInactiveToActive(	int _number, SubjectToStatus _status
-												)
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Move index from indexlist of inactive constraints to that of active ones. */
-	if ( this->removeIndex( this->getInactive( ),_number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/Constraints.ipp b/phonelibs/qpoases/SRC/Constraints.ipp
deleted file mode 100644
index 1b874ef3c6596b..00000000000000
--- a/phonelibs/qpoases/SRC/Constraints.ipp
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/Constraints.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of inlined member functions of the Constraints class designed 
- *	to manage working sets of constraints within a QProblem.
- */
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t N C
- */
-inline int Constraints::getNC( ) const
-{
- 	return nC;
-}
- 
-
-/*
- *	g e t N E C
- */
-inline int Constraints::getNEC( ) const
-{
- 	return nEC;
-}
- 
-
-/*
- *	g e t N I C
- */
-inline int Constraints::getNIC( ) const
-{
- 	return nIC;
-}
- 
-
-/*
- *	g e t N U C
- */
-inline int Constraints::getNUC( ) const
-{
- 	return nUC;
-}
-
-
-/*
- *	s e t N E C
- */
-inline returnValue Constraints::setNEC( int n )
-{
- 	nEC = n;
-	return SUCCESSFUL_RETURN;
-}
- 
-
-/*
- *	s e t N I C
- */
-inline returnValue Constraints::setNIC( int n )
-{
- 	nIC = n;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t N U C
- */
-inline returnValue Constraints::setNUC( int n )
-{
- 	nUC = n;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N A C
- */
-inline int Constraints::getNAC( )
-{
- 	return active.getLength( );
-}
-
-
-/*
- *	g e t N I A C
- */
-inline int Constraints::getNIAC( )
-{
- 	return inactive.getLength( );
-}
-
-
-/*
- *	g e t A c t i v e
- */
-inline Indexlist* Constraints::getActive( )
-{
-	return &active;
-}
-
-
-/*
- *	g e t I n a c t i v e
- */
-inline Indexlist* Constraints::getInactive( )
-{
-	return &inactive;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/CyclingManager.cpp b/phonelibs/qpoases/SRC/CyclingManager.cpp
deleted file mode 100644
index 27c2996ef3fff2..00000000000000
--- a/phonelibs/qpoases/SRC/CyclingManager.cpp
+++ /dev/null
@@ -1,188 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/CyclingManager.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the CyclingManager class designed to detect
- *	and handle possible cycling during QP iterations.
- *
- */
-
-
-#include <CyclingManager.hpp>
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	C y c l i n g M a n a g e r
- */
-CyclingManager::CyclingManager( ) :	nV( 0 ),
-									nC( 0 )
-{
-	cyclingDetected = BT_FALSE;
-}
-
-
-/*
- *	C y c l i n g M a n a g e r
- */
-CyclingManager::CyclingManager( const CyclingManager& rhs ) :	nV( rhs.nV ),
-																nC( rhs.nC ),
-																cyclingDetected( rhs.cyclingDetected )
-{
-	int i;
-
-	for( i=0; i<nV+nC; ++i )
-		status[i] = rhs.status[i];
-}
-
-
-/*
- *	~ C y c l i n g M a n a g e r
- */
-CyclingManager::~CyclingManager( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-CyclingManager& CyclingManager::operator=( const CyclingManager& rhs )
-{
-	int i;
-
-	if ( this != &rhs )
-	{
-		nV = rhs.nV;
-		nC = rhs.nC;
-
-		for( i=0; i<nV+nC; ++i )
-			status[i] = rhs.status[i];
-
-		cyclingDetected = rhs.cyclingDetected;
-	}
-
-	return *this;
-}
-
-
-
-/*
- *	i n i t
- */
-returnValue CyclingManager::init( int _nV, int _nC )
-{
-	nV = _nV;
-	nC = _nC;
-
-	cyclingDetected = BT_FALSE;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	s e t C y c l i n g S t a t u s
- */
-returnValue CyclingManager::setCyclingStatus(	int number,
-												BooleanType isBound, CyclingStatus _status
-												)
-{
-	if ( isBound == BT_TRUE )
-	{
-		/* Set cycling status of a bound. */
-		if ( ( number >= 0 ) && ( number < nV ) )
-		{
-			status[number] = _status;
-			return SUCCESSFUL_RETURN;
-		}
-		else
-			return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-	else
-	{
-		/* Set cycling status of a constraint. */
-		if ( ( number >= 0 ) && ( number < nC ) )
-		{
-			status[nV+number] = _status;
-			return SUCCESSFUL_RETURN;
-		}
-		else
-			return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	g e t C y c l i n g S t a t u s
- */
-CyclingStatus CyclingManager::getCyclingStatus( int number, BooleanType isBound ) const
-{
-	if ( isBound == BT_TRUE )
-	{
-		/* Return cycling status of a bound. */
-		if ( ( number >= 0 ) && ( number < nV ) )
-			return status[number];
-	}
-	else
-	{
-		/* Return cycling status of a constraint. */
-		if ( ( number >= 0 ) && ( number < nC ) )
-			return status[nV+number];
-	}
-
-	return CYC_NOT_INVOLVED;
-}
-
-
-/*
- *	c l e a r C y c l i n g D a t a
- */
-returnValue CyclingManager::clearCyclingData( )
-{
-	int i;
-
-	/* Reset all status values ... */
-	for( i=0; i<nV+nC; ++i )
-		status[i] = CYC_NOT_INVOLVED;
-
-	/* ... and the main cycling flag. */
-	cyclingDetected = BT_FALSE;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/CyclingManager.ipp b/phonelibs/qpoases/SRC/CyclingManager.ipp
deleted file mode 100644
index 386409a532bee4..00000000000000
--- a/phonelibs/qpoases/SRC/CyclingManager.ipp
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/CyclingManager.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the CyclingManager class 
- *	designed to detect and handle possible cycling during QP iterations.
- *	
- */
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	i s C y c l i n g D e t e c t e d
- */
-inline BooleanType CyclingManager::isCyclingDetected( ) const
-{
-	return cyclingDetected;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp b/phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp
deleted file mode 100644
index c744adc0d60fb6..00000000000000
--- a/phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp
+++ /dev/null
@@ -1,434 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/EXTRAS/SolutionAnalysis.cpp
- *	\author Milan Vukov, Boris Houska, Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2012
- *
- *	Solution analysis class, based on a class in the standard version of the qpOASES
- */
-
-#include <EXTRAS/SolutionAnalysis.hpp>
-
-/*
- *	S o l u t i o n A n a l y s i s
- */
-SolutionAnalysis::SolutionAnalysis( )
-{
-	
-}
-
-/*
- *	S o l u t i o n A n a l y s i s
- */
-SolutionAnalysis::SolutionAnalysis( const SolutionAnalysis& rhs )
-{
-	
-}
-
-/*
- *	~ S o l u t i o n A n a l y s i s
- */
-SolutionAnalysis::~SolutionAnalysis( )
-{
-	
-}
-
-/*
- *	o p e r a t o r =
- */
-SolutionAnalysis& SolutionAnalysis::operator=( const SolutionAnalysis& rhs )
-{
-	if ( this != &rhs )
-	{
-		
-	}
-	
-	return *this;
-}
-
-/*
- * g e t H e s s i a n I n v e r s e
- */
-returnValue SolutionAnalysis::getHessianInverse( QProblem* qp, real_t* hessianInverse )
-{
-	returnValue returnvalue; /* the return value */
-	BooleanType Delta_bC_isZero = BT_FALSE; /* (just use FALSE here) */
-	BooleanType Delta_bB_isZero = BT_FALSE; /* (just use FALSE here) */
-	
-	register int run1, run2, run3;
-	
-	register int nFR, nFX;
-	
-	/* Ask for the number of free and fixed variables, assumes that active set
-	 * is constant for the covariance evaluation */
-	nFR = qp->getNFR( );
-	nFX = qp->getNFX( );
-	
-	/* Ask for the corresponding index arrays: */
-	if ( qp->bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_HOTSTART_FAILED );
-	
-	if ( qp->bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_HOTSTART_FAILED );
-	
-	if ( qp->constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_HOTSTART_FAILED );
-	
-	/* Initialization: */
-	for( run1 = 0; run1 < NVMAX; run1++ )
-		delta_g_cov[ run1 ] = 0.0;
-	
-	for( run1 = 0; run1 < NVMAX; run1++ )
-		delta_lb_cov[ run1 ] = 0.0;
-	
-	for( run1 = 0; run1 < NVMAX; run1++ )
-		delta_ub_cov[ run1 ] = 0.0;
-	
-	for( run1 = 0; run1 < NCMAX; run1++ )
-		delta_lbA_cov[ run1 ] = 0.0;
-	
-	for( run1 = 0; run1 < NCMAX; run1++ )
-		delta_ubA_cov[ run1 ] = 0.0;
-	
-	/* The following loop solves the following:
-	 *
-	 * KKT * x =
-	 *   [delta_g_cov', delta_lbA_cov', delta_ubA_cov', delta_lb_cov', delta_ub_cov]'
-	 *
-	 * for the first NVMAX (negative) elementary vectors in order to get
-	 * transposed inverse of the Hessian. Assuming that the Hessian is
-	 * symmetric, the function will return transposed inverse, instead of the
-	 * true inverse.
-	 *
-	 * Note, that we use negative elementary vectors due because internal
-	 * implementation of the function hotstart_determineStepDirection requires
-	 * so.
-	 *
-	 * */
-	
-	for( run3 = 0; run3 < NVMAX; run3++ )
-	{
-		/* Line wise loading of the corresponding (negative) elementary vector: */
-		delta_g_cov[ run3 ] = -1.0;
-		
-		/* Evaluation of the step: */
-		returnvalue = qp->hotstart_determineStepDirection(
-			FR_idx, FX_idx, AC_idx,
-			delta_g_cov, delta_lbA_cov, delta_ubA_cov, delta_lb_cov, delta_ub_cov,
-			Delta_bC_isZero, Delta_bB_isZero,
-			delta_xFX, delta_xFR, delta_yAC, delta_yFX
-			);
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			return returnvalue;
-		}
-		
-		/* Line wise storage of the QP reaction: */
-		for( run1 = 0; run1 < nFR; run1++ )
-		{
-			run2 = FR_idx[ run1 ];
-			
-			hessianInverse[run3 * NVMAX + run2] = delta_xFR[ run1 ];
-		} 
-		
-		for( run1 = 0; run1 < nFX; run1++ )
-		{ 
-			run2 = FX_idx[ run1 ];
-			
-			hessianInverse[run3 * NVMAX + run2] = delta_xFX[ run1 ];
-		}
-		
-		/* Prepare for the next iteration */
-		delta_g_cov[ run3 ] = 0.0;
-	}
-	
-	// TODO: Perform the transpose of the inverse of the Hessian matrix
-	
-	return SUCCESSFUL_RETURN; 
-}
-
-/*
- * g e t H e s s i a n I n v e r s e
- */
-returnValue SolutionAnalysis::getHessianInverse( QProblemB* qp, real_t* hessianInverse )
-{
-	returnValue returnvalue; /* the return value */
-	BooleanType Delta_bB_isZero = BT_FALSE; /* (just use FALSE here) */
-	
-	register int run1, run2, run3;
-	
-	register int nFR, nFX;
-	
-	/* Ask for the number of free and fixed variables, assumes that active set
-	 * is constant for the covariance evaluation */
-	nFR = qp->getNFR( );
-	nFX = qp->getNFX( );
-	
-	/* Ask for the corresponding index arrays: */
-	if ( qp->bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_HOTSTART_FAILED );
-	
-	if ( qp->bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_HOTSTART_FAILED );
-	
-	/* Initialization: */
-	for( run1 = 0; run1 < NVMAX; run1++ )
-		delta_g_cov[ run1 ] = 0.0;
-	
-	for( run1 = 0; run1 < NVMAX; run1++ )
-		delta_lb_cov[ run1 ] = 0.0;
-	
-	for( run1 = 0; run1 < NVMAX; run1++ )
-		delta_ub_cov[ run1 ] = 0.0;
-	
-	/* The following loop solves the following:
-	 *
-	 * KKT * x =
-	 *   [delta_g_cov', delta_lb_cov', delta_ub_cov']'
-	 *
-	 * for the first NVMAX (negative) elementary vectors in order to get
-	 * transposed inverse of the Hessian. Assuming that the Hessian is
-	 * symmetric, the function will return transposed inverse, instead of the
-	 * true inverse.
-	 *
-	 * Note, that we use negative elementary vectors due because internal
-	 * implementation of the function hotstart_determineStepDirection requires
-	 * so.
-	 *
-	 * */
-	
-	for( run3 = 0; run3 < NVMAX; run3++ )
-	{
-		/* Line wise loading of the corresponding (negative) elementary vector: */
-		delta_g_cov[ run3 ] = -1.0;
-		
-		/* Evaluation of the step: */
-		returnvalue = qp->hotstart_determineStepDirection(
-			FR_idx, FX_idx,
-			delta_g_cov, delta_lb_cov, delta_ub_cov,
-			Delta_bB_isZero,
-			delta_xFX, delta_xFR, delta_yFX
-			);
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			return returnvalue;
-		}
-				
-		/* Line wise storage of the QP reaction: */
-		for( run1 = 0; run1 < nFR; run1++ )
-		{
-			run2 = FR_idx[ run1 ];
-			
-			hessianInverse[run3 * NVMAX + run2] = delta_xFR[ run1 ];
-		} 
-		
-		for( run1 = 0; run1 < nFX; run1++ )
-		{ 
-			run2 = FX_idx[ run1 ];
-			
-			hessianInverse[run3 * NVMAX + run2] = delta_xFX[ run1 ];
-		}
-		
-		/* Prepare for the next iteration */
-		delta_g_cov[ run3 ] = 0.0;
-	}
-	
-	// TODO: Perform the transpose of the inverse of the Hessian matrix
-	
-	return SUCCESSFUL_RETURN; 
-}
-
-/*
- * g e t V a r i a n c e C o v a r i a n c e
- */
-
-#if QPOASES_USE_OLD_VERSION
-
-returnValue SolutionAnalysis::getVarianceCovariance( QProblem* qp, real_t* g_b_bA_VAR, real_t* Primal_Dual_VAR )
-{
-	int run1, run2, run3; /* simple run variables (for loops). */
-	
-	returnValue returnvalue; /* the return value */
-	BooleanType Delta_bC_isZero = BT_FALSE; /* (just use FALSE here) */
-	BooleanType Delta_bB_isZero = BT_FALSE; /* (just use FALSE here) */
-	
-	/* ASK FOR THE NUMBER OF FREE AND FIXED VARIABLES:
-	 * (ASSUMES THAT ACTIVE SET IS CONSTANT FOR THE
-	 *  VARIANCE-COVARIANCE EVALUATION)
-	 * ----------------------------------------------- */
-	int nFR, nFX, nAC;
-	
-	nFR = qp->getNFR( );
-	nFX = qp->getNFX( );
-	nAC = qp->getNAC( );
-	
-	if ( qp->bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_HOTSTART_FAILED );
-	
-	if ( qp->bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_HOTSTART_FAILED );
-	
-	if ( qp->constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_HOTSTART_FAILED );
-	
-	/* SOME INITIALIZATIONS:
-	 * --------------------- */
-	for( run1 = 0; run1 < KKT_DIM * KKT_DIM; run1++ )
-	{
-		K [run1] = 0.0;
-		Primal_Dual_VAR[run1] = 0.0;
-	}
-	
-	/* ================================================================= */
-	
-	/* FIRST MATRIX MULTIPLICATION (OBTAINS THE INTERMEDIATE RESULT
-	 *  K := [ ("ACTIVE" KKT-MATRIX OF THE QP)^(-1) * g_b_bA_VAR ]^T )
-	 * THE EVALUATION OF THE INVERSE OF THE KKT-MATRIX OF THE QP
-	 * WITH RESPECT TO THE CURRENT ACTIVE SET
-	 * USES THE EXISTING CHOLESKY AND TQ-DECOMPOSITIONS. FOR DETAILS
-	 * cf. THE (protected) FUNCTION determineStepDirection. */
-	
-	for( run3 = 0; run3 < KKT_DIM; run3++ )
-	{
-		
-		for( run1 = 0; run1 < NVMAX; run1++ )
-		{
-			delta_g_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+run1];
-			delta_lb_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+NVMAX+run1]; /*  LINE-WISE LOADING OF THE INPUT */
-			delta_ub_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+NVMAX+run1]; /*  VARIANCE-COVARIANCE            */
-		}
-		for( run1 = 0; run1 < NCMAX; run1++ )
-		{
-			delta_lbA_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+2*NVMAX+run1];
-			delta_ubA_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+2*NVMAX+run1];
-		}
-		
-		/* EVALUATION OF THE STEP:
-		 * ------------------------------------------------------------------------------ */
-		
-		returnvalue = qp->hotstart_determineStepDirection(
-			FR_idx, FX_idx, AC_idx,
-			delta_g_cov, delta_lbA_cov, delta_ubA_cov, delta_lb_cov, delta_ub_cov,
-			Delta_bC_isZero, Delta_bB_isZero, delta_xFX,delta_xFR,
-			delta_yAC,delta_yFX );
-		
-		/* ------------------------------------------------------------------------------ */
-		
-		/* STOP THE ALGORITHM IN THE CASE OF NO SUCCESFUL RETURN:
-		 * ------------------------------------------------------ */
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			return returnvalue;
-		}
-		
-		/*  LINE WISE                  */
-		/*  STORAGE OF THE QP-REACTION */
-		/*  (uses the index list)      */
-		
-		for( run1=0; run1<nFR; run1++ )
-		{
-			run2 = FR_idx[run1];
-			K[run3*KKT_DIM+run2] = delta_xFR[run1];
-		} 
-		for( run1=0; run1<nFX; run1++ )
-		{ 
-			run2 = FX_idx[run1]; 
-			K[run3*KKT_DIM+run2] = delta_xFX[run1];
-			K[run3*KKT_DIM+NVMAX+run2] = delta_yFX[run1];
-		}
-		for( run1=0; run1<nAC; run1++ )
-		{
-			run2 = AC_idx[run1];
-			K[run3*KKT_DIM+2*NVMAX+run2] = delta_yAC[run1];
-		}
-	}
-	
-	/* ================================================================= */
-	
-	/* SECOND MATRIX MULTIPLICATION (OBTAINS THE FINAL RESULT
-	 * Primal_Dual_VAR := ("ACTIVE" KKT-MATRIX OF THE QP)^(-1) * K )
-	 * THE APPLICATION OF THE KKT-INVERSE IS AGAIN REALIZED
-	 * BY USING THE PROTECTED FUNCTION
-	 * determineStepDirection */
-	
-	for( run3 = 0; run3 < KKT_DIM; run3++ )
-	{
-		
-		for( run1 = 0; run1 < NVMAX; run1++ )
-		{
-			delta_g_cov [run1] = K[run3+ run1*KKT_DIM];
-			delta_lb_cov [run1] = K[run3+(NVMAX+run1)*KKT_DIM]; /*  ROW WISE LOADING OF THE */
-			delta_ub_cov [run1] = K[run3+(NVMAX+run1)*KKT_DIM]; /*  INTERMEDIATE RESULT K   */
-		}
-		for( run1 = 0; run1 < NCMAX; run1++ )
-		{
-			delta_lbA_cov [run1] = K[run3+(2*NVMAX+run1)*KKT_DIM];
-			delta_ubA_cov [run1] = K[run3+(2*NVMAX+run1)*KKT_DIM];
-		}
-		
-		/* EVALUATION OF THE STEP:
-		 * ------------------------------------------------------------------------------ */
-		
-		returnvalue = qp->hotstart_determineStepDirection(
-			FR_idx, FX_idx, AC_idx,
-			delta_g_cov, delta_lbA_cov, delta_ubA_cov, delta_lb_cov, delta_ub_cov,
-			Delta_bC_isZero, Delta_bB_isZero, delta_xFX,delta_xFR,
-			delta_yAC,delta_yFX );
-		
-		/* ------------------------------------------------------------------------------ */
-		
-		/* STOP THE ALGORITHM IN THE CASE OF NO SUCCESFUL RETURN:
-		 * ------------------------------------------------------ */
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			return returnvalue;
-		}
-		
-		/*  ROW-WISE STORAGE */
-		/*  OF THE RESULT.   */
-		
-		for( run1=0; run1<nFR; run1++ )
-		{
-			run2 = FR_idx[run1];
-			Primal_Dual_VAR[run3+run2*KKT_DIM] = delta_xFR[run1];
-		}
-		for( run1=0; run1<nFX; run1++ )
-		{ 
-			run2 = FX_idx[run1]; 
-			Primal_Dual_VAR[run3+run2*KKT_DIM ] = delta_xFX[run1];
-			Primal_Dual_VAR[run3+(NVMAX+run2)*KKT_DIM] = delta_yFX[run1];
-		}
-		for( run1=0; run1<nAC; run1++ )
-		{
-			run2 = AC_idx[run1];
-			Primal_Dual_VAR[run3+(2*NVMAX+run2)*KKT_DIM] = delta_yAC[run1];
-		}
-	}
-	
-	return SUCCESSFUL_RETURN;
-}
-
-#endif
diff --git a/phonelibs/qpoases/SRC/Indexlist.cpp b/phonelibs/qpoases/SRC/Indexlist.cpp
deleted file mode 100644
index b512569a800be2..00000000000000
--- a/phonelibs/qpoases/SRC/Indexlist.cpp
+++ /dev/null
@@ -1,342 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/Indexlist.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a QProblem_SubjectTo.
- */
-
-
-#include <Indexlist.hpp>
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	I n d e x l i s t
- */
-Indexlist::Indexlist( ) :	length( 0 ),
-							first( -1 ),
-							last( -1 ),
-							lastusedindex( -1 ),
-							physicallength( INDEXLISTFACTOR*(NVMAX+NCMAX) )
-{
-	int i;
-
-	for( i=0; i<physicallength; ++i )
-	{
-		number[i] = -1;
-		next[i] = -1;
-		previous[i] = -1;
-	}
-}
-
-
-/*
- *	I n d e x l i s t
- */
-Indexlist::Indexlist( const Indexlist& rhs ) :	length( rhs.length ),
-												first( rhs.first ),
-												last( rhs.last ),
-												lastusedindex( rhs.lastusedindex ),
-												physicallength( rhs.physicallength )
-{
-	int i;
-
-	for( i=0; i<physicallength; ++i )
-	{
-		number[i] = rhs.number[i];
-		next[i] = rhs.next[i];
-		previous[i] = rhs.previous[i];
-	}
-}
-
-
-/*
- *	~ I n d e x l i s t
- */
-Indexlist::~Indexlist( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-Indexlist& Indexlist::operator=( const Indexlist& rhs )
-{
-	int i;
-
-	if ( this != &rhs )
-	{
-		length = rhs.length;
-		first = rhs.first;
-		last = rhs.last;
-		lastusedindex = rhs.lastusedindex;
-		physicallength = rhs.physicallength;
-
-		for( i=0; i<physicallength; ++i )
-		{
-			number[i] = rhs.number[i];
-			next[i] = rhs.next[i];
-			previous[i] = rhs.previous[i];
-		}
-	}
-
-	return *this;
-}
-
-
-/*
- *	i n i t
- */
-returnValue Indexlist::init( )
-{
-	int i;
-
-	length = 0;
-	first = -1;
-	last = -1;
-	lastusedindex = -1;
-	physicallength = INDEXLISTFACTOR*(NVMAX+NCMAX);
-
-	for( i=0; i<physicallength; ++i )
-	{
-		number[i] = -1;
-		next[i] = -1;
-		previous[i] = -1;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N u m b e r A r r a y
- */
-returnValue Indexlist::getNumberArray( int* const numberarray ) const
-{
-	int i;
-	int n = first;
-
-	/* Run trough indexlist and store numbers in numberarray. */
-	for( i=0; i<length; ++i )
-	{
-		if ( ( n >= 0 ) && ( number[n] >= 0 ) )
-			numberarray[i] = number[n];
-		else
-			return THROWERROR( RET_INDEXLIST_CORRUPTED );
-
-		n = next[n];
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t I n d e x
- */
-int Indexlist::getIndex( int givennumber ) const
-{
-	int i;
-	int n = first;
-	int index = -1;	/* return -1 by default */
-
-	/* Run trough indexlist until number is found, if so return it index. */
-	for ( i=0; i<length; ++i )
-	{
-		if ( number[n] == givennumber )
-		{
-			index = i;
-			break;
-		}
-
-		n = next[n];
-	}
-
-	return index;
-}
-
-
-/*
- *	g e t P h y s i c a l I n d e x
- */
-int Indexlist::getPhysicalIndex( int givennumber ) const
-{
-	int i;
-	int n = first;
-	int index = -1;	/* return -1 by default */
-
-	/* Run trough indexlist until number is found, if so return it physicalindex. */
-	for ( i=0; i<length; ++i )
-	{
-		if ( number[n] == givennumber )
-		{
-			index = n;
-			break;
-		}
-
-		n = next[n];
-	}
-
-	return index;
-}
-
-
-/*
- *	a d d N u m b e r
- */
-returnValue Indexlist::addNumber( int addnumber )
-{
-	int i;
-
-	if ( lastusedindex+1 < physicallength )
-	{
-		/* If there is enough storage, add number to indexlist. */
-		++lastusedindex;
-		number[lastusedindex] = addnumber;
-		next[lastusedindex] = 0;
-
-		if ( length == 0 )
-		{
-			first = lastusedindex;
-			previous[lastusedindex] = 0;
-		}
-		else
-		{
-			next[last] = lastusedindex;
-			previous[lastusedindex] = last;
-		}
-
-		last = lastusedindex;
-		++length;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		/* Rearrangement of index list necessary! */
-		if ( length == physicallength )
-			return THROWERROR( RET_INDEXLIST_EXCEEDS_MAX_LENGTH );
-		else
-		{
-			int numberArray[NVMAX+NCMAX];
-			getNumberArray( numberArray );
-
-			/* copy existing elements */
-			for ( i=0; i<length; ++i )
-			{
-				number[i] = numberArray[i];
-				next[i] = i+1;
-				previous[i] = i-1;
-			}
-
-			/* add new number at end of list */
-			number[length] = addnumber;
-			next[length] = -1;
-			previous[length] = length-1;
-
-			/* and set remaining entries to empty */
-			for ( i=length+1; i<physicallength; ++i )
-			{
-				number[i] = -1;
-				next[i] = -1;
-				previous[i] = -1;
-			}
-
-			first = 0;
-			last = length;
-			lastusedindex = length;
-			++length;
-
-			return THROWWARNING( RET_INDEXLIST_MUST_BE_REORDERD );
-		}
-	}
-}
-
-
-/*
- *	r e m o v e N u m b e r
- */
-returnValue Indexlist::removeNumber( int removenumber )
-{
-	int i = getPhysicalIndex( removenumber );
-
-	/* nothing to be done if number is not contained in index set */
-	if ( i < 0 )
-		return SUCCESSFUL_RETURN;
-
-	int p = previous[i];
-	int n = next[i];
-
-	if ( i == last )
-		last = p;
-	else
-		previous[n] = p;
-
-	if ( i == first )
-		first = n;
-	else
-		next[p] = n;
-
-	number[i] = -1;
-	next[i] = -1;
-	previous[i] = -1;
-	--length;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s w a p N u m b e r s
- */
-returnValue Indexlist::swapNumbers( int number1, int number2 )
-{
-	int index1 = getPhysicalIndex( number1 );
-	int index2 = getPhysicalIndex( number2 );
-
-	/* consistency check */
-	if ( ( index1 < 0 ) || ( index2 < 0 ) )
-		return THROWERROR( RET_INDEXLIST_CORRUPTED );
-
-	int tmp = number[index1];
-	number[index1] = number[index2];
-	number[index2] = tmp;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/Indexlist.ipp b/phonelibs/qpoases/SRC/Indexlist.ipp
deleted file mode 100644
index b75db81ae97490..00000000000000
--- a/phonelibs/qpoases/SRC/Indexlist.ipp
+++ /dev/null
@@ -1,85 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/Indexlist.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the Indexlist class designed 
- *	to manage index lists of constraints and bounds within a QProblem_SubjectTo.
- */
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t N u m b e r
- */
-inline int Indexlist::getNumber( int physicalindex ) const
-{
-	/* consistency check */
-	if ( ( physicalindex < 0 ) || ( physicalindex > length ) )
-		return -RET_INDEXLIST_OUTOFBOUNDS;
-
-	return number[physicalindex];
-}
-
-
-/*
- *	g e t L e n g t h
- */
-inline int Indexlist::getLength( )
-{
-	return length;
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-inline int Indexlist::getLastNumber( ) const
-{
-	return number[last];
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-inline BooleanType Indexlist::isMember( int _number ) const
-{
-	if ( getIndex( _number ) >= 0 )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/MessageHandling.cpp b/phonelibs/qpoases/SRC/MessageHandling.cpp
deleted file mode 100644
index 18a7654a104afa..00000000000000
--- a/phonelibs/qpoases/SRC/MessageHandling.cpp
+++ /dev/null
@@ -1,529 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/MessageHandling.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the MessageHandling class including global return values.
- *
- */
-
-
-
-#include <MessageHandling.hpp>
-#include <Utils.hpp>
-
-
-
-
-/** Defines pairs of global return values and messages. */
-MessageHandling::ReturnValueList returnValueList[] =
-{
-/* miscellaneous */
-{ SUCCESSFUL_RETURN, "Successful return", VS_VISIBLE },
-{ RET_DIV_BY_ZERO, "Division by zero", VS_VISIBLE },
-{ RET_INDEX_OUT_OF_BOUNDS, "Index out of bounds", VS_VISIBLE },
-{ RET_INVALID_ARGUMENTS, "At least one of the arguments is invalid", VS_VISIBLE },
-{ RET_ERROR_UNDEFINED, "Error number undefined", VS_VISIBLE },
-{ RET_WARNING_UNDEFINED, "Warning number undefined", VS_VISIBLE },
-{ RET_INFO_UNDEFINED, "Info number undefined", VS_VISIBLE },
-{ RET_EWI_UNDEFINED, "Error/warning/info number undefined", VS_VISIBLE },
-{ RET_AVAILABLE_WITH_LINUX_ONLY, "This function is available under Linux only", VS_HIDDEN },
-{ RET_UNKNOWN_BUG, "The error occured is not yet known", VS_VISIBLE },
-{ RET_PRINTLEVEL_CHANGED, "Print level changed", VS_VISIBLE },
-{ RET_NOT_YET_IMPLEMENTED, "Requested function is not yet implemented.", VS_VISIBLE },
-/* Indexlist */
-{ RET_INDEXLIST_MUST_BE_REORDERD, "Index list has to be reordered", VS_VISIBLE },
-{ RET_INDEXLIST_EXCEEDS_MAX_LENGTH, "Index list exceeds its maximal physical length", VS_VISIBLE },
-{ RET_INDEXLIST_CORRUPTED, "Index list corrupted", VS_VISIBLE },
-{ RET_INDEXLIST_OUTOFBOUNDS, "Physical index is out of bounds", VS_VISIBLE },
-{ RET_INDEXLIST_ADD_FAILED, "Adding indices from another index set failed", VS_VISIBLE },
-{ RET_INDEXLIST_INTERSECT_FAILED, "Intersection with another index set failed", VS_VISIBLE },
-/* SubjectTo / Bounds / Constraints */
-{ RET_INDEX_ALREADY_OF_DESIRED_STATUS, "Index is already of desired status", VS_VISIBLE },
-{ RET_SWAPINDEX_FAILED, "Cannot swap between different indexsets", VS_VISIBLE },
-{ RET_ADDINDEX_FAILED, "Adding index to index set failed", VS_VISIBLE },
-{ RET_NOTHING_TO_DO, "Nothing to do", VS_VISIBLE },
-{ RET_SETUP_BOUND_FAILED, "Setting up bound index failed", VS_VISIBLE },
-{ RET_SETUP_CONSTRAINT_FAILED, "Setting up constraint index failed", VS_VISIBLE },
-{ RET_MOVING_BOUND_FAILED, "Moving bound between index sets failed", VS_VISIBLE },
-{ RET_MOVING_CONSTRAINT_FAILED, "Moving constraint between index sets failed", VS_VISIBLE },
-/* QProblem */
-{ RET_QP_ALREADY_INITIALISED, "QProblem has already been initialised", VS_VISIBLE },
-{ RET_NO_INIT_WITH_STANDARD_SOLVER, "Initialisation via extern QP solver is not yet implemented", VS_VISIBLE },
-{ RET_RESET_FAILED, "Reset failed", VS_VISIBLE },
-{ RET_INIT_FAILED, "Initialisation failed", VS_VISIBLE },
-{ RET_INIT_FAILED_TQ, "Initialisation failed due to TQ factorisation", VS_VISIBLE },
-{ RET_INIT_FAILED_CHOLESKY, "Initialisation failed due to Cholesky decomposition", VS_VISIBLE },
-{ RET_INIT_FAILED_HOTSTART, "Initialisation failed! QP could not be solved!", VS_VISIBLE },
-{ RET_INIT_FAILED_INFEASIBILITY, "Initial QP could not be solved due to infeasibility!", VS_VISIBLE },
-{ RET_INIT_FAILED_UNBOUNDEDNESS, "Initial QP could not be solved due to unboundedness!", VS_VISIBLE },
-{ RET_INIT_SUCCESSFUL, "Initialisation done", VS_VISIBLE },
-{ RET_OBTAINING_WORKINGSET_FAILED, "Failed to obtain working set for auxiliary QP", VS_VISIBLE },
-{ RET_SETUP_WORKINGSET_FAILED, "Failed to setup working set for auxiliary QP", VS_VISIBLE },
-{ RET_SETUP_AUXILIARYQP_FAILED, "Failed to setup auxiliary QP for initialised homotopy", VS_VISIBLE },
-{ RET_NO_EXTERN_SOLVER, "No extern QP solver available", VS_VISIBLE },
-{ RET_QP_UNBOUNDED, "QP is unbounded", VS_VISIBLE },
-{ RET_QP_INFEASIBLE, "QP is infeasible", VS_VISIBLE },
-{ RET_QP_NOT_SOLVED, "Problems occured while solving QP with standard solver", VS_VISIBLE },
-{ RET_QP_SOLVED, "QP successfully solved", VS_VISIBLE },
-{ RET_UNABLE_TO_SOLVE_QP, "Problems occured while solving QP", VS_VISIBLE },
-{ RET_INITIALISATION_STARTED, "Starting problem initialisation...", VS_VISIBLE },
-{ RET_HOTSTART_FAILED, "Unable to perform homotopy due to internal error", VS_VISIBLE },
-{ RET_HOTSTART_FAILED_TO_INIT, "Unable to initialise problem", VS_VISIBLE },
-{ RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, "Unable to perform homotopy as previous QP is not solved", VS_VISIBLE },
-{ RET_ITERATION_STARTED, "Iteration", VS_VISIBLE },
-{ RET_SHIFT_DETERMINATION_FAILED, "Determination of shift of the QP data failed", VS_VISIBLE },
-{ RET_STEPDIRECTION_DETERMINATION_FAILED, "Determination of step direction failed", VS_VISIBLE },
-{ RET_STEPLENGTH_DETERMINATION_FAILED, "Determination of step direction failed", VS_VISIBLE },
-{ RET_OPTIMAL_SOLUTION_FOUND, "Optimal solution of neighbouring QP found", VS_VISIBLE },
-{ RET_HOMOTOPY_STEP_FAILED, "Unable to perform homotopy step", VS_VISIBLE },
-{ RET_HOTSTART_STOPPED_INFEASIBILITY, "Premature homotopy termination because QP is infeasible", VS_VISIBLE },
-{ RET_HOTSTART_STOPPED_UNBOUNDEDNESS, "Premature homotopy termination because QP is unbounded", VS_VISIBLE },
-{ RET_WORKINGSET_UPDATE_FAILED, "Unable to update working sets according to initial guesses", VS_VISIBLE },
-{ RET_MAX_NWSR_REACHED, "Maximum number of working set recalculations performed", VS_VISIBLE },
-{ RET_CONSTRAINTS_NOT_SPECIFIED, "Problem does comprise constraints! You have to specify new constraints' bounds", VS_VISIBLE },
-{ RET_INVALID_FACTORISATION_FLAG, "Invalid factorisation flag", VS_VISIBLE },
-{ RET_UNABLE_TO_SAVE_QPDATA, "Unable to save QP data", VS_VISIBLE },
-{ RET_STEPDIRECTION_FAILED_TQ, "Abnormal termination due to TQ factorisation", VS_VISIBLE },
-{ RET_STEPDIRECTION_FAILED_CHOLESKY, "Abnormal termination due to Cholesky factorisation", VS_VISIBLE },
-{ RET_CYCLING_DETECTED, "Cycling detected", VS_VISIBLE },
-{ RET_CYCLING_NOT_RESOLVED, "Cycling cannot be resolved, QP is probably infeasible", VS_VISIBLE },
-{ RET_CYCLING_RESOLVED, "Cycling probably resolved", VS_VISIBLE },
-{ RET_STEPSIZE, "", VS_VISIBLE },
-{ RET_STEPSIZE_NONPOSITIVE, "", VS_VISIBLE },
-{ RET_SETUPSUBJECTTOTYPE_FAILED, "Setup of SubjectToTypes failed", VS_VISIBLE },
-{ RET_ADDCONSTRAINT_FAILED, "Addition of constraint to working set failed", VS_VISIBLE },
-{ RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, "Addition of constraint to working set failed", VS_VISIBLE },
-{ RET_ADDBOUND_FAILED, "Addition of bound to working set failed", VS_VISIBLE },
-{ RET_ADDBOUND_FAILED_INFEASIBILITY, "Addition of bound to working set failed", VS_VISIBLE },
-{ RET_REMOVECONSTRAINT_FAILED, "Removal of constraint from working set failed", VS_VISIBLE },
-{ RET_REMOVEBOUND_FAILED, "Removal of bound from working set failed", VS_VISIBLE },
-{ RET_REMOVE_FROM_ACTIVESET, "Removing from active set:", VS_VISIBLE },
-{ RET_ADD_TO_ACTIVESET, "Adding to active set:", VS_VISIBLE },
-{ RET_REMOVE_FROM_ACTIVESET_FAILED, "Removing from active set failed", VS_VISIBLE },
-{ RET_ADD_TO_ACTIVESET_FAILED, "Adding to active set failed", VS_VISIBLE },
-{ RET_CONSTRAINT_ALREADY_ACTIVE, "Constraint is already active", VS_VISIBLE },
-{ RET_ALL_CONSTRAINTS_ACTIVE, "All constraints are active, no further constraint can be added", VS_VISIBLE },
-{ RET_LINEARLY_DEPENDENT, "New bound/constraint is linearly dependent", VS_VISIBLE },
-{ RET_LINEARLY_INDEPENDENT, "New bound/constraint is linearly independent", VS_VISIBLE },
-{ RET_LI_RESOLVED, "Linear independence of active contraint matrix successfully resolved", VS_VISIBLE },
-{ RET_ENSURELI_FAILED, "Failed to ensure linear indepence of active contraint matrix", VS_VISIBLE },
-{ RET_ENSURELI_FAILED_TQ, "Abnormal termination due to TQ factorisation", VS_VISIBLE },
-{ RET_ENSURELI_FAILED_NOINDEX, "No index found, QP is probably infeasible", VS_VISIBLE },
-{ RET_ENSURELI_FAILED_CYCLING, "Cycling detected, QP is probably infeasible", VS_VISIBLE },
-{ RET_BOUND_ALREADY_ACTIVE, "Bound is already active", VS_VISIBLE },
-{ RET_ALL_BOUNDS_ACTIVE, "All bounds are active, no further bound can be added", VS_VISIBLE },
-{ RET_CONSTRAINT_NOT_ACTIVE, "Constraint is not active", VS_VISIBLE },
-{ RET_BOUND_NOT_ACTIVE, "Bound is not active", VS_VISIBLE },
-{ RET_HESSIAN_NOT_SPD, "Projected Hessian matrix not positive definite", VS_VISIBLE },
-{ RET_MATRIX_SHIFT_FAILED, "Unable to update matrices or to transform vectors", VS_VISIBLE },
-{ RET_MATRIX_FACTORISATION_FAILED, "Unable to calculate new matrix factorisations", VS_VISIBLE },
-{ RET_PRINT_ITERATION_FAILED, "Unable to print information on current iteration", VS_VISIBLE },
-{ RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, "No global message output file initialised", VS_VISIBLE },
-/* Utils */
-{ RET_UNABLE_TO_OPEN_FILE, "Unable to open file", VS_VISIBLE },
-{ RET_UNABLE_TO_WRITE_FILE, "Unable to write into file", VS_VISIBLE },
-{ RET_UNABLE_TO_READ_FILE, "Unable to read from file", VS_VISIBLE },
-{ RET_FILEDATA_INCONSISTENT, "File contains inconsistent data", VS_VISIBLE },
-/* SolutionAnalysis */
-{ RET_NO_SOLUTION, "QP solution does not satisfy KKT optimality conditions", VS_VISIBLE },
-{ RET_INACCURATE_SOLUTION, "KKT optimality conditions not satisfied to sufficient accuracy", VS_VISIBLE },
-{ TERMINAL_LIST_ELEMENT, "", VS_HIDDEN } /* IMPORTANT: Terminal list element! */
-};
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	M e s s a g e H a n d l i n g
- */
-MessageHandling::MessageHandling( ) :	errorVisibility( VS_VISIBLE ),
-										warningVisibility( VS_VISIBLE ),
-										infoVisibility( VS_VISIBLE ),
-										outputFile( myStdout ),
-										errorCount( 0 )
-{
-}
-
-/*
- *	M e s s a g e H a n d l i n g
- */
-MessageHandling::MessageHandling( myFILE* _outputFile ) :
-										errorVisibility( VS_VISIBLE ),
-										warningVisibility( VS_VISIBLE ),
-										infoVisibility( VS_VISIBLE ),
-										outputFile( _outputFile ),
-										errorCount( 0 )
-{
-}
-
-/*
- *	M e s s a g e H a n d l i n g
- */
-MessageHandling::MessageHandling(	VisibilityStatus _errorVisibility,
-									VisibilityStatus _warningVisibility,
-		 							VisibilityStatus _infoVisibility
-									) :
-										errorVisibility( _errorVisibility ),
-										warningVisibility( _warningVisibility ),
-										infoVisibility( _infoVisibility ),
-										outputFile( myStderr ),
-										errorCount( 0 )
-{
-}
-
-/*
- *	M e s s a g e H a n d l i n g
- */
-MessageHandling::MessageHandling( 	myFILE* _outputFile,
-									VisibilityStatus _errorVisibility,
-									VisibilityStatus _warningVisibility,
-		 							VisibilityStatus _infoVisibility
-									) :
-										errorVisibility( _errorVisibility ),
-										warningVisibility( _warningVisibility ),
-										infoVisibility( _infoVisibility ),
-										outputFile( _outputFile ),
-										errorCount( 0 )
-{
-}
-
-
-
-/*
- *	M e s s a g e H a n d l i n g
- */
-MessageHandling::MessageHandling( const MessageHandling& rhs ) :
-										errorVisibility( rhs.errorVisibility ),
-										warningVisibility( rhs.warningVisibility ),
-										infoVisibility( rhs.infoVisibility ),
-										outputFile( rhs.outputFile ),
-										errorCount( rhs.errorCount )
-{
-}
-
-
-/*
- *	~ M e s s a g e H a n d l i n g
- */
-MessageHandling::~MessageHandling( )
-{
-	#ifdef PC_DEBUG
-	if ( outputFile != 0 )
-		fclose( outputFile );
-	#endif
-}
-
-
-/*
- *	o p e r a t o r =
- */
-MessageHandling& MessageHandling::operator=( const MessageHandling& rhs )
-{
-	if ( this != &rhs )
-	{
-		errorVisibility = rhs.errorVisibility;
-		warningVisibility = rhs.warningVisibility;
-		infoVisibility = rhs.infoVisibility;
-		outputFile = rhs.outputFile;
-		errorCount = rhs.errorCount;
-	}
-
-	return *this;
-}
-
-
-/*
- *	t h r o w E r r o r
- */
-returnValue MessageHandling::throwError(
-	returnValue Enumber,
-	const char* additionaltext,
-	const char* functionname,
-	const char* filename,
-	const unsigned long linenumber,
-	VisibilityStatus localVisibilityStatus
-	)
-{
-	/* consistency check */
-	if ( Enumber <= SUCCESSFUL_RETURN )
-		return throwError( RET_ERROR_UNDEFINED,0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-
-	/* Call to common throwMessage function if error shall be displayed. */
-	if ( errorVisibility == VS_VISIBLE )
-		return throwMessage( Enumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"ERROR" );
-	else
-		return Enumber;
-}
-
-
-/*
- *	t h r o w W a r n i n g
- */
-returnValue MessageHandling::throwWarning(
-	returnValue Wnumber,
-	const char* additionaltext,
-	const char* functionname,
-	const char* filename,
-	const unsigned long linenumber,
-	VisibilityStatus localVisibilityStatus
-  	)
-{
-	/* consistency check */
-  	if ( Wnumber <= SUCCESSFUL_RETURN )
-		return throwError( RET_WARNING_UNDEFINED,0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-
-	/* Call to common throwMessage function if warning shall be displayed. */
-	if ( warningVisibility == VS_VISIBLE )
-		return throwMessage( Wnumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"WARNING" );
-  	else
-  		return Wnumber;
-}
-
-
-/*
- *	t h r o w I n f o
- */
-returnValue MessageHandling::throwInfo(
-  	returnValue Inumber,
-	const char* additionaltext,
-  	const char* functionname,
-	const char* filename,
-	const unsigned long linenumber,
-	VisibilityStatus localVisibilityStatus
- 	)
-{
-	/* consistency check */
-	if ( Inumber < SUCCESSFUL_RETURN )
-		return throwError( RET_INFO_UNDEFINED,0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-
-	/* Call to common throwMessage function if info shall be displayed. */
-	if ( infoVisibility == VS_VISIBLE )
-		return throwMessage( Inumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"INFO" );
-	else
-		return Inumber;
-}
-
-
-/*
- *	r e s e t
- */
-returnValue MessageHandling::reset( )
-{
-	setErrorVisibilityStatus(   VS_VISIBLE );
-	setWarningVisibilityStatus( VS_VISIBLE );
-	setInfoVisibilityStatus(    VS_VISIBLE );
-
-	setOutputFile( myStderr );
-	setErrorCount( 0 );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	l i s t A l l M e s s a g e s
- */
-returnValue MessageHandling::listAllMessages( )
-{
-	#ifdef PC_DEBUG
-	int keypos = 0;
-	char myPrintfString[160];
-
-	/* Run through whole returnValueList and print each item. */
-	while ( returnValueList[keypos].key != TERMINAL_LIST_ELEMENT )
-	{
-		sprintf( myPrintfString," %d - %s \n",keypos,returnValueList[keypos].data );
-		myPrintf( myPrintfString );
-
-		++keypos;
-	}
-	#endif
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-#ifdef PC_DEBUG  /* Re-define throwMessage function for embedded code! */
-
-/*
- *	t h r o w M e s s a g e
- */
-returnValue MessageHandling::throwMessage(
-	returnValue RETnumber,
-	const char* additionaltext,
-	const char* functionname,
-	const char* filename,
-	const unsigned long linenumber,
-	VisibilityStatus localVisibilityStatus,
-	const char* RETstring
- 	)
-{
-	int i;
-
-	int keypos = 0;
-	char myPrintfString[160];
-
-	/* 1) Determine number of whitespace for output. */
-	char whitespaces[41];
-	int numberOfWhitespaces = (errorCount-1)*2;
-
-	if ( numberOfWhitespaces < 0 )
-		numberOfWhitespaces = 0;
-
-	if ( numberOfWhitespaces > 40 )
-		numberOfWhitespaces = 40;
-
-	for( i=0; i<numberOfWhitespaces; ++i )
-		whitespaces[i] = ' ';
-	whitespaces[numberOfWhitespaces] = '\0';
-
-	/* 2) Find error/warning/info in list. */
-	while ( returnValueList[keypos].key != TERMINAL_LIST_ELEMENT )
-	{
-		if ( returnValueList[keypos].key == RETnumber )
-			break;
-		else
-			++keypos;
-	}
-
-	if ( returnValueList[keypos].key == TERMINAL_LIST_ELEMENT )
-	{
-		throwError( RET_EWI_UNDEFINED,0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		return RETnumber;
-	}
-
-	/* 3) Print error/warning/info. */
-	if ( ( returnValueList[keypos].globalVisibilityStatus == VS_VISIBLE ) && ( localVisibilityStatus == VS_VISIBLE ) )
-	{
-		if ( errorCount > 0 )
-		{
-			sprintf( myPrintfString,"%s->", whitespaces );
-			myPrintf( myPrintfString );
-		}
-
-		if ( additionaltext == 0 )
-		{
-			sprintf(	myPrintfString,"%s (%s, %s:%d): \t%s\n",
-						RETstring,functionname,filename,(int)linenumber,returnValueList[keypos].data
-						);
-			myPrintf( myPrintfString );
-		}
-		else
-		{
-			sprintf(	myPrintfString,"%s (%s, %s:%d): \t%s %s\n",
-						RETstring,functionname,filename,(int)linenumber,returnValueList[keypos].data,additionaltext
-						);
-			myPrintf( myPrintfString );
-		}
-
-		/* take care of proper indention for subsequent error messages */
-		if ( RETstring[0] == 'E' )
-		{
-			++errorCount;
-		}
-		else
-		{
-			if ( errorCount > 0 )
-				myPrintf( "\n" );
-			errorCount = 0;
-		}
-	}
-
-	return RETnumber;
-}
-
-#else  /* = PC_DEBUG not defined */
-
-/*
- *	t h r o w M e s s a g e
- */
-returnValue MessageHandling::throwMessage(
-	returnValue RETnumber,
-	const char* additionaltext,
-	const char* functionname,
-	const char* filename,
-	const unsigned long linenumber,
-	VisibilityStatus localVisibilityStatus,
-	const char* RETstring
- 	)
-{
-	/* DUMMY CODE FOR PRETENDING USE OF ARGUMENTS
-	 * FOR SUPPRESSING COMPILER WARNINGS! */
-	int i = 0;
-	if ( additionaltext == 0 ) i++;
-	if ( functionname == 0 ) i++;
-	if ( filename == 0 ) i++;
-	if ( linenumber == 0 ) i++;
-	if ( localVisibilityStatus == VS_VISIBLE ) i++;
-	if ( RETstring == 0 ) i++;
-	/* END OF DUMMY CODE */
-
-	return RETnumber;
-}
-
-#endif  /* PC_DEBUG */
-
-
-
-/*****************************************************************************
- *  G L O B A L  M E S S A G E  H A N D L E R                                *
- *****************************************************************************/
-
-
-/** Global message handler for all qpOASES modules.*/
-MessageHandling globalMessageHandler( myStderr,VS_VISIBLE,VS_VISIBLE,VS_VISIBLE );
-
-
-/*
- *	g e t G l o b a l M e s s a g e H a n d l e r
- */
-MessageHandling* getGlobalMessageHandler( )
-{
-	return &globalMessageHandler;
-}
-
-const char* MessageHandling::getErrorString(int error)
-{
-	return returnValueList[ error ].data;
-}
-
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/MessageHandling.ipp b/phonelibs/qpoases/SRC/MessageHandling.ipp
deleted file mode 100644
index 033957b2842610..00000000000000
--- a/phonelibs/qpoases/SRC/MessageHandling.ipp
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/MessageHandling.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the MessageHandling class. 
- */
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
- 
-/*
- *	g e t E r r o r V i s i b i l i t y S t a t u s
- */
-inline VisibilityStatus MessageHandling::getErrorVisibilityStatus( ) const
-{
- 	return errorVisibility;
-}
-
-
-/*
- *	g e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-inline VisibilityStatus MessageHandling::getWarningVisibilityStatus( ) const
-{
- 	return warningVisibility;
-}
-
-
-/*
- *	g e t I n f o V i s i b i l i t y S t a t u s
- */
-inline VisibilityStatus MessageHandling::getInfoVisibilityStatus( ) const
-{
- 	return infoVisibility;
-}
-
-
-/*
- *	g e t O u t p u t F i l e
- */
-inline myFILE* MessageHandling::getOutputFile( ) const
-{
- 	return outputFile;
-}
-
-
-/*
- *	g e t E r r o r C o u n t
- */
-inline int MessageHandling::getErrorCount( ) const
-{
- 	return errorCount;
-}
-
-
-/*
- *	s e t E r r o r V i s i b i l i t y S t a t u s
- */
-inline void MessageHandling::setErrorVisibilityStatus( VisibilityStatus _errorVisibility ) 
-{
- 	errorVisibility = _errorVisibility;
-}
-
-
-/*
- *	s e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-inline void MessageHandling::setWarningVisibilityStatus( VisibilityStatus _warningVisibility ) 
-{
- 	warningVisibility = _warningVisibility;
-}
-
-
-/*
- *	s e t I n f o V i s i b i l i t y S t a t u s
- */
-inline void MessageHandling::setInfoVisibilityStatus( VisibilityStatus _infoVisibility ) 
-{
- 	infoVisibility = _infoVisibility;
-}
-
-
-/*
- *	s e t O u t p u t F i l e
- */
-inline void MessageHandling::setOutputFile( myFILE* _outputFile ) 
-{
- 	outputFile = _outputFile;
-}
-
-
-/*
- *	s e t E r r o r C o u n t
- */
-inline returnValue MessageHandling::setErrorCount( int _errorCount )
-{
-	if ( _errorCount >= 0 ) 	
-	{
-		errorCount = _errorCount;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return RET_INVALID_ARGUMENTS;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/QProblem.cpp b/phonelibs/qpoases/SRC/QProblem.cpp
deleted file mode 100644
index 75e2f324d567c5..00000000000000
--- a/phonelibs/qpoases/SRC/QProblem.cpp
+++ /dev/null
@@ -1,3867 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/QProblem.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the QProblem class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming.
- */
-
-
-#include <QProblem.hpp>
-
-#include <stdio.h>
-
-void printmatrix2(char *name, double *A, int m, int n) {
-  int i, j;
-
-  printf("%s = [...\n", name);
-  for (i = 0; i < m; i++) {
-    for (j = 0; j < n; j++)
-        printf("  % 9.4f", A[i*n+j]);
-    printf(",\n");
-  }
-  printf("];\n");
-}
-
-//#define __PERFORM_KKT_TEST__
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	Q P r o b l e m
- */
-QProblem::QProblem( ) : QProblemB( )
-{
-	constraints.init( 0 );
-
-	sizeT = 0;
-
-	cyclingManager.init( 0,0 );
-}
-
-
-/*
- *	Q P r o b l e m
- */
-QProblem::QProblem( int _nV, int _nC ) : QProblemB( _nV )
-{
-	/* consistency checks */
-	if ( _nV <= 0 )
-		_nV = 1;
-
-	if ( _nC < 0 )
-	{
-		_nC = 0;
-		THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-	constraints.init( _nC );
-
-
-	sizeT = _nC;
-	if ( _nC > _nV )
-		sizeT = _nV;
-
-	cyclingManager.init( _nV,_nC );
-}
-
-
-/*
- *	Q P r o b l e m
- */
-QProblem::QProblem( const QProblem& rhs ) :	QProblemB( rhs )
-{
-	int i, j;
-
-	int _nV = rhs.bounds.getNV( );
-	int _nC = rhs.constraints.getNC( );
-
-	for( i=0; i<_nC; ++i )
-		for( j=0; j<_nV; ++j )
-			A[i*NVMAX + j] = rhs.A[i*NVMAX + j];
-
-	for( i=0; i<_nC; ++i )
-		lbA[i] = rhs.lbA[i];
-
-	for( i=0; i<_nC; ++i )
-			ubA[i] = rhs.ubA[i];
-
-	constraints = rhs.constraints;
-
-	for( i=0; i<(_nV+_nC); ++i )
-		y[i] = rhs.y[i];
-
-
-	sizeT = rhs.sizeT;
-
-	for( i=0; i<sizeT; ++i )
-		for( j=0; j<sizeT; ++j )
-			T[i*NVMAX + j] = rhs.T[i*NVMAX + j];
-
-	for( i=0; i<_nV; ++i )
-		for( j=0; j<_nV; ++j )
-			Q[i*NVMAX + j] = rhs.Q[i*NVMAX + j];
-
-	for( i=0; i<_nC; ++i )
-		Ax[i] = rhs.Ax[i];
-
-	cyclingManager = rhs.cyclingManager;
-}
-
-
-/*
- *	~ Q P r o b l e m
- */
-QProblem::~QProblem( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-QProblem& QProblem::operator=( const QProblem& rhs )
-{
-	int i, j;
-
-	if ( this != &rhs )
-	{
-		QProblemB::operator=( rhs );
-
-
-		int _nV = rhs.bounds.getNV( );
-		int _nC = rhs.constraints.getNC( );
-
-		for( i=0; i<_nC; ++i )
-			for( j=0; j<_nV; ++j )
-				A[i*NVMAX + j] = rhs.A[i*NVMAX + j];
-
-		for( i=0; i<_nC; ++i )
-			lbA[i] = rhs.lbA[i];
-
-		for( i=0; i<_nC; ++i )
-			ubA[i] = rhs.ubA[i];
-
-		constraints = rhs.constraints;
-
-		for( i=0; i<(_nV+_nC); ++i )
-			y[i] = rhs.y[i];
-
-
-		sizeT = rhs.sizeT;
-
-		for( i=0; i<sizeT; ++i )
-			for( j=0; j<sizeT; ++j )
-				T[i*NVMAX + j] = rhs.T[i*NVMAX + j];
-
-		for( i=0; i<_nV; ++i )
-			for( j=0; j<_nV; ++j )
-				Q[i*NVMAX + j] = rhs.Q[i*NVMAX + j];
-
-		for( i=0; i<_nC; ++i )
-			Ax[i] = rhs.Ax[i];
-
-		cyclingManager = rhs.cyclingManager;
-	}
-
-	return *this;
-}
-
-
-/*
- *	r e s e t
- */
-returnValue QProblem::reset( )
-{
-	int i, j;
-	int nV = getNV( );
-	int nC = getNC( );
-
-
-	/* 1) Reset bounds, Cholesky decomposition and status flags. */
-	if ( QProblemB::reset( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_RESET_FAILED );
-
-	/* 2) Reset constraints. */
-	constraints.init( nC );
-
-	/* 3) Reset TQ factorisation. */
-	for( i=0; i<sizeT; ++i )
-		for( j=0; j<sizeT; ++j )
-			T[i*NVMAX + j] = 0.0;
-
-	for( i=0; i<nV; ++i )
-		for( j=0; j<nV; ++j )
-			Q[i*NVMAX + j] = 0.0;
-
-	/* 4) Reset cycling manager. */
-	if ( cyclingManager.clearCyclingData( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_RESET_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	i n i t
- */
-returnValue QProblem::init(	const real_t* const _H, const real_t* const _g, const real_t* const _A,
-							const real_t* const _lb, const real_t* const _ub,
-							const real_t* const _lbA, const real_t* const _ubA,
-							int& nWSR, const real_t* const yOpt, real_t* const cputime
-							)
-{
-	/* 1) Setup QP data. */
-	if (setupQPdata(_H, 0, _g, _A, _lb, _ub, _lbA, _ubA) != SUCCESSFUL_RETURN)
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	/* 2) Call to main initialisation routine (without any additional information). */
-	return solveInitialQP( 0,yOpt,0,0, nWSR,cputime );
-}
-
-returnValue QProblem::init(	const real_t* const _H, const real_t* const _R, const real_t* const _g, const real_t* const _A,
-							const real_t* const _lb, const real_t* const _ub,
-							const real_t* const _lbA, const real_t* const _ubA,
-							int& nWSR, const real_t* const yOpt, real_t* const cputime
-							)
-{
-	/* 1) Setup QP data. */
-	if (setupQPdata(_H, _R, _g, _A, _lb, _ub, _lbA, _ubA) != SUCCESSFUL_RETURN)
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	/* 2) Call to main initialisation routine (without any additional information). */
-	return solveInitialQP( 0,yOpt,0,0, nWSR,cputime );
-}
-
-
-/*
- *	h o t s t a r t
- */
-returnValue QProblem::hotstart(	const real_t* const g_new, const real_t* const lb_new, const real_t* const ub_new,
-								const real_t* const lbA_new, const real_t* const ubA_new,
-								int& nWSR, real_t* const cputime
-								)
-{
-	int l;
-
-	/* consistency check */
-	if ( ( getStatus( ) == QPS_NOTINITIALISED )       ||
-		 ( getStatus( ) == QPS_PREPARINGAUXILIARYQP ) ||
-		 ( getStatus( ) == QPS_PERFORMINGHOMOTOPY )   )
-	{
-		return THROWERROR( RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED );
-	}
-
-	/* start runtime measurement */
-	real_t starttime = 0.0;
-	if ( cputime != 0 )
-		starttime = getCPUtime( );
-
-
-	/* I) PREPARATIONS */
-	/* 1) Reset cycling and status flags and increase QP counter. */
-	cyclingManager.clearCyclingData( );
-
-	infeasible = BT_FALSE;
-	unbounded = BT_FALSE;
-
-	++count;
-
-	/* 2) Allocate delta vectors of gradient and (constraints') bounds. */
-	returnValue returnvalue;
-	BooleanType Delta_bC_isZero, Delta_bB_isZero;
-
-	int FR_idx[NVMAX];
-	int FX_idx[NVMAX];
-	int AC_idx[NCMAX_ALLOC];
-	int IAC_idx[NCMAX_ALLOC];
-
-	real_t delta_g[NVMAX];
-	real_t delta_lb[NVMAX];
-	real_t delta_ub[NVMAX];
-	real_t delta_lbA[NCMAX_ALLOC];
-	real_t delta_ubA[NCMAX_ALLOC];
-
-	real_t delta_xFR[NVMAX];
-	real_t delta_xFX[NVMAX];
-	real_t delta_yAC[NCMAX_ALLOC];
-	real_t delta_yFX[NVMAX];
-	real_t delta_Ax[NCMAX_ALLOC];
-
-	int BC_idx;
-	SubjectToStatus BC_status;
-	BooleanType BC_isBound;
-
-	#ifdef PC_DEBUG
-	char messageString[80];
-	#endif
-
-
-	/* II) MAIN HOMOTOPY LOOP */
-	for( l=0; l<nWSR; ++l )
-	{
-		status = QPS_PERFORMINGHOMOTOPY;
-
-		if ( printlevel == PL_HIGH )
-		{
-			#ifdef PC_DEBUG
-			sprintf( messageString,"%d ...",l );
-		  	getGlobalMessageHandler( )->throwInfo( RET_ITERATION_STARTED,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-			#endif
-		}
-
-		/* 1) Setup index arrays. */
-		if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_HOTSTART_FAILED );
-
-		if ( bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_HOTSTART_FAILED );
-
-		if ( constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_HOTSTART_FAILED );
-
-		if ( constraints.getInactive( )->getNumberArray( IAC_idx ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_HOTSTART_FAILED );
-
-		/* 2) Detemination of shift direction of the gradient and the (constraints') bounds. */
-		returnvalue = hotstart_determineDataShift(  FX_idx, AC_idx,
-													g_new,lbA_new,ubA_new,lb_new,ub_new,
-													delta_g,delta_lbA,delta_ubA,delta_lb,delta_ub,
-													Delta_bC_isZero, Delta_bB_isZero );
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			nWSR = l;
-			THROWERROR( RET_SHIFT_DETERMINATION_FAILED );
-			return returnvalue;
-		}
-
-		/* 3) Determination of step direction of X and Y. */
-		returnvalue = hotstart_determineStepDirection(	FR_idx,FX_idx,AC_idx,
-														delta_g,delta_lbA,delta_ubA,delta_lb,delta_ub,
-														Delta_bC_isZero, Delta_bB_isZero,
-														delta_xFX,delta_xFR,delta_yAC,delta_yFX
-														);
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			nWSR = l;
-			THROWERROR( RET_STEPDIRECTION_DETERMINATION_FAILED );
-			return returnvalue;
-		}
-
-		/* 4) Determination of step length TAU. */
-		returnvalue = hotstart_determineStepLength(	FR_idx,FX_idx,AC_idx,IAC_idx,
-													delta_lbA,delta_ubA,delta_lb,delta_ub,
-													delta_xFX,delta_xFR,delta_yAC,delta_yFX,delta_Ax,
-													BC_idx,BC_status,BC_isBound
-													);
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			nWSR = l;
-			THROWERROR( RET_STEPLENGTH_DETERMINATION_FAILED );
-			return returnvalue;
-		}
-
-		/* 5) Realisation of the homotopy step. */
-		returnvalue = hotstart_performStep(	FR_idx,FX_idx,AC_idx,IAC_idx,
-											delta_g,delta_lbA,delta_ubA,delta_lb,delta_ub,
-											delta_xFX,delta_xFR,delta_yAC,delta_yFX,delta_Ax,
-											BC_idx,BC_status,BC_isBound
-											);
-
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			nWSR = l;
-
-			/* stop runtime measurement */
-			if ( cputime != 0 )
-					*cputime = getCPUtime( ) - starttime;
-
-			/* optimal solution found? */
-			if ( returnvalue == RET_OPTIMAL_SOLUTION_FOUND )
-			{
-				status = QPS_SOLVED;
-
-				if ( printlevel == PL_HIGH )
-					THROWINFO( RET_OPTIMAL_SOLUTION_FOUND );
-
-				#ifdef PC_DEBUG
-	 			if ( printIteration( l,BC_idx,BC_status,BC_isBound ) != SUCCESSFUL_RETURN )
-					THROWERROR( RET_PRINT_ITERATION_FAILED ); /* do not pass this as return value! */
-				#endif
-
-				/* check KKT optimality conditions */
-				return checkKKTconditions( );
-			}
-			else
-			{
-				/* checks for infeasibility... */
-				if ( isInfeasible( ) == BT_TRUE )
-				{
-					status = QPS_HOMOTOPYQPSOLVED;
-					return THROWERROR( RET_HOTSTART_STOPPED_INFEASIBILITY );
-				}
-
-				/* ...unboundedness... */
-				if ( unbounded == BT_TRUE ) /* not necessary since objective function convex! */
-					return THROWERROR( RET_HOTSTART_STOPPED_UNBOUNDEDNESS );
-
-				/* ... and throw unspecific error otherwise */
-				THROWERROR( RET_HOMOTOPY_STEP_FAILED );
-				return returnvalue;
-			}
-		}
-
-		/* 6) Output information of successful QP iteration. */
-		status = QPS_HOMOTOPYQPSOLVED;
-
-		#ifdef PC_DEBUG
-		if ( printIteration( l,BC_idx,BC_status,BC_isBound ) != SUCCESSFUL_RETURN )
-			THROWERROR( RET_PRINT_ITERATION_FAILED ); /* do not pass this as return value! */
-		#endif
-	}
-
-
-	/* stop runtime measurement */
-	if ( cputime != 0 )
-		*cputime = getCPUtime( ) - starttime;
-
-
-	/* if programm gets to here, output information that QP could not be solved
-	 * within the given maximum numbers of working set changes */
-	if ( printlevel == PL_HIGH )
-	{
-		#ifdef PC_DEBUG
-		sprintf( messageString,"(nWSR = %d)",nWSR );
-		return getGlobalMessageHandler( )->throwWarning( RET_MAX_NWSR_REACHED,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		#endif
-	}
-
-	/* Finally check KKT optimality conditions. */
-	returnValue returnvalueKKTcheck = checkKKTconditions( );
-
-	if ( returnvalueKKTcheck != SUCCESSFUL_RETURN )
-		return returnvalueKKTcheck;
-	else
-		return RET_MAX_NWSR_REACHED;
-}
-
-
-/*
- *	g e t N Z
- */
-int QProblem::getNZ( )
-{
-	/* nZ = nFR - nAC */
-	return bounds.getFree( )->getLength( ) - constraints.getActive( )->getLength( );
-}
-
-
-/*
- *	g e t D u a l S o l u t i o n
- */
-returnValue QProblem::getDualSolution( real_t* const yOpt ) const
-{
-	int i;
-
-	/* return optimal dual solution vector
-	 * only if current QP has been solved */
-	if ( ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
-		 ( getStatus( ) == QPS_SOLVED ) )
-	{
-		for( i=0; i<getNV( )+getNC( ); ++i )
-			yOpt[i] = y[i];
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return RET_QP_NOT_SOLVED;
-	}
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-/*
- *	s e t u p S u b j e c t T o T y p e
- */
-returnValue QProblem::setupSubjectToType( )
-{
-	int i;
-	int nC = getNC( );
-
-
-	/* I) SETUP SUBJECTTOTYPE FOR BOUNDS */
-	if ( QProblemB::setupSubjectToType( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_SETUPSUBJECTTOTYPE_FAILED );
-
-
-	/* II) SETUP SUBJECTTOTYPE FOR CONSTRAINTS */
-	/* 1) Check if lower constraints' bounds are present. */
-	constraints.setNoLower( BT_TRUE );
-	for( i=0; i<nC; ++i )
-	{
-		if ( lbA[i] > -INFTY )
-		{
-			constraints.setNoLower( BT_FALSE );
-			break;
-		}
-	}
-
-	/* 2) Check if upper constraints' bounds are present. */
-	constraints.setNoUpper( BT_TRUE );
-	for( i=0; i<nC; ++i )
-	{
-		if ( ubA[i] < INFTY )
-		{
-			constraints.setNoUpper( BT_FALSE );
-			break;
-		}
-	}
-
-	/* 3) Determine implicit equality constraints and unbounded constraints. */
-	int nEC = 0;
-	int nUC = 0;
-
-	for( i=0; i<nC; ++i )
-	{
-		if ( ( lbA[i] < -INFTY + BOUNDTOL ) && ( ubA[i] > INFTY - BOUNDTOL ) )
-		{
-			constraints.setType( i,ST_UNBOUNDED );
-			++nUC;
-		}
-		else
-		{
-			if ( lbA[i] > ubA[i] - BOUNDTOL )
-			{
-				constraints.setType( i,ST_EQUALITY );
-				++nEC;
-			}
-			else
-			{
-				constraints.setType( i,ST_BOUNDED );
-			}
-		}
-	}
-
-	/* 4) Set dimensions of constraints structure. */
-	constraints.setNEC( nEC );
-	constraints.setNUC( nUC );
-	constraints.setNIC( nC - nEC - nUC );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	c h o l e s k y D e c o m p o s i t i o n P r o j e c t e d
- */
-returnValue QProblem::setupCholeskyDecompositionProjected( )
-{
-	int i, j, k, ii, kk;
-	int nV  = getNV( );
-	int nFR = getNFR( );
-	int nZ  = getNZ( );
-
-	/* 1) Initialises R with all zeros. */
-	for( i=0; i<nV; ++i )
-		for( j=0; j<nV; ++j )
-			R[i*NVMAX + j] = 0.0;
-
-	/* 2) Calculate Cholesky decomposition of projected Hessian Z'*H*Z. */
-	if ( hessianType == HST_IDENTITY )
-	{
-		/* if Hessian is identity, so is its Cholesky factor. */
-		for( i=0; i<nV; ++i )
-			R[i*NVMAX + i] = 1.0;
-	}
-	else
-	{
-		if ( nZ > 0 )
-		{
-			int FR_idx[NVMAX];
-			if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_INDEXLIST_CORRUPTED );
-
-#if 0
-			real_t HZ[NVMAX*NVMAX];
-			real_t ZHZ[NVMAX*NVMAX];
-
-			/* calculate H*Z */
-			for ( i=0; i<nFR; ++i )
-			{
-				ii = FR_idx[i];
-
-				for ( j=0; j<nZ; ++j )
-				{
-					real_t sum = 0.0;
-					for ( k=0; k<nFR; ++k )
-					{
-						kk = FR_idx[k];
-						sum += H[ii*NVMAX + kk] * Q[kk*NVMAX + j];
-					}
-					HZ[i * NVMAX + j] = sum;
-				}
-			}
-
-			/* calculate Z'*H*Z */
-			for ( i=0; i<nZ; ++i )
-				for ( j=0; j<nZ; ++j )
-				{
-					real_t sum = 0.0;
-					for ( k=0; k<nFR; ++k )
-					{
-						kk = FR_idx[k];
-						sum += Q[kk*NVMAX + i] * HZ[k*NVMAX + j];
-					}
-					ZHZ[i * NVMAX + j] = sum;
-				}
-
-			/* R'*R = Z'*H*Z */
-			real_t sum, inv;
-
-			for( i=0; i<nZ; ++i )
-			{
-				/* j == i */
-				sum = ZHZ[i*NVMAX + i];
-
-				for( k=(i-1); k>=0; --k )
-					sum -= R[k*NVMAX + i] * R[k*NVMAX + i];
-
-				if ( sum > 0.0 )
-				{
-					R[i*NVMAX + i] = sqrt( sum );
-					inv = 1.0 / R[i * NVMAX + i];
-				}
-				else
-				{
-					hessianType = HST_SEMIDEF;
-					return THROWERROR( RET_HESSIAN_NOT_SPD );
-				}
-
-				for( j=(i+1); j<nZ; ++j )
-				{
-					sum = ZHZ[j*NVMAX + i];
-
-					for( k=(i-1); k>=0; --k )
-						sum -= R[k*NVMAX + i] * R[k*NVMAX + j];
-
-					R[i*NVMAX + j] = sum * inv;
-				}
-			}
-#else
-			real_t HZ[NVMAX];
-			real_t ZHZ[NVMAX];
-
-			real_t sum, inv;
-			for (j = 0; j < nZ; ++j)
-			{
-				/* Cache one column of Z. */
-				for (i = 0; i < NVMAX; ++i)
-					ZHZ[i] = Q[i * NVMAX + j];
-
-				/* Create one column of the product H * Z. */
-				for (i = 0; i < nFR; ++i)
-				{
-					ii = FR_idx[i];
-
-					sum = 0.0;
-					for (k = 0; k < nFR; ++k)
-					{
-						kk = FR_idx[k];
-						sum += H[ii * NVMAX + kk] * ZHZ[kk];
-					}
-					HZ[ii] = sum;
-				}
-
-				/* Create one column of the product Z^T * H * Z. */
-				for (i = j; i < nZ; ++i)
-					ZHZ[ i ] = 0.0;
-
-				for (k = 0; k < nFR; ++k)
-				{
-					kk = FR_idx[k];
-					real_t q = HZ[kk];
-					for (i = j; i < nZ; ++i)
-					{
-						ZHZ[i] += Q[kk * NVMAX + i] * q;
-					}
-				}
-
-				/* Use the computed column to update the factorization. */
-				/* j == i */
-				sum = ZHZ[j];
-
-				for (k = (j - 1); k >= 0; --k)
-					sum -= R[k * NVMAX + j] * R[k * NVMAX + j];
-
-				if (sum > 0.0)
-				{
-					R[j * NVMAX + j] = sqrt(sum);
-					inv = 1.0 / R[j * NVMAX + j];
-				}
-				else
-				{
-					hessianType = HST_SEMIDEF;
-					return THROWERROR( RET_HESSIAN_NOT_SPD );
-				}
-
-				for (i = (j + 1); i < nZ; ++i)
-				{
-					sum = ZHZ[i];
-
-					for (k = (j - 1); k >= 0; --k)
-						sum -= R[k * NVMAX + j] * R[k * NVMAX + i];
-
-					R[j * NVMAX + i] = sum * inv;
-				}
-			}
-#endif
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p T Q f a c t o r i s a t i o n
- */
-returnValue QProblem::setupTQfactorisation( )
-{
-	int i, j, ii;
-	int nV  = getNV( );
-	int nFR = getNFR( );
-
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INDEXLIST_CORRUPTED );
-
-	/* 1) Set Q to unity matrix. */
-	for( i=0; i<nV; ++i )
-		for( j=0; j<nV; ++j )
-			Q[i*NVMAX + j] = 0.0;
-
-	for( i=0; i<nFR; ++i )
-	{
-		ii = FR_idx[i];
-		Q[ii*NVMAX + i] = 1.0;
-	}
-
- 	/* 2) Set T to zero matrix. */
-	for( i=0; i<sizeT; ++i )
-		for( j=0; j<sizeT; ++j )
-			T[i*NVMAX + j] = 0.0;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s o l v e I n i t i a l Q P
- */
-returnValue QProblem::solveInitialQP(	const real_t* const xOpt, const real_t* const yOpt,
-										const Bounds* const guessedBounds, const Constraints* const guessedConstraints,
-										int& nWSR, real_t* const cputime
-										)
-{
-	int i;
-
-	/* some definitions */
-	int nV = getNV( );
-	int nC = getNC( );
-
-
-	/* start runtime measurement */
-	real_t starttime = 0.0;
-	if ( cputime != 0 )
-		starttime = getCPUtime( );
-
-
-	status = QPS_NOTINITIALISED;
-
-	/* I) ANALYSE QP DATA: */
-	/* 1) Check if Hessian happens to be the identity matrix. */
-	if ( checkForIdentityHessian( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 2) Setup type of bounds and constraints (i.e. unbounded, implicitly fixed etc.). */
-	if ( setupSubjectToType( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 3) Initialise cycling manager. */
-	cyclingManager.clearCyclingData( );
-
-	status = QPS_PREPARINGAUXILIARYQP;
-
-
-	/* II) SETUP AUXILIARY QP WITH GIVEN OPTIMAL SOLUTION: */
-	/* 1) Setup bounds and constraints data structure. */
-	if ( bounds.setupAllFree( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	if ( constraints.setupAllInactive( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 2) Setup optimal primal/dual solution for auxiliary QP. */
-	if ( setupAuxiliaryQPsolution( xOpt,yOpt ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 3) Obtain linear independent working set for auxiliary QP. */
-
-	static Bounds auxiliaryBounds;
-
-	auxiliaryBounds.init( nV );
-
-	static Constraints auxiliaryConstraints;
-
-	auxiliaryConstraints.init( nC );
-
-	if ( obtainAuxiliaryWorkingSet(	xOpt,yOpt,guessedBounds,guessedConstraints,
-									&auxiliaryBounds,&auxiliaryConstraints ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 4) Setup working set of auxiliary QP and setup matrix factorisations. */
-	if ( setupTQfactorisation( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED_TQ );
-
-	if ( setupAuxiliaryWorkingSet( &auxiliaryBounds,&auxiliaryConstraints,BT_TRUE ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	if ( ( getNAC( ) + getNFX( ) ) == 0 )
-	{
-		/* Factorise full Hessian if no bounds/constraints are active. */
-		if (hasCholesky == BT_FALSE)
-			if ( setupCholeskyDecomposition( ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_INIT_FAILED_CHOLESKY );
-		/* ... else we use user provided Cholesky factorization. At the moment
-		 * we can do that only for cold-started solver. */
-	}
-	else
-	{
-		/* Factorise projected Hessian if there active bounds/constraints. */
-		if ( setupCholeskyDecompositionProjected( ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_INIT_FAILED_CHOLESKY );
-		/* TODO: use user-supplied Hessian decomposition. R_Z = R * Z. */
-	}
-
-	/* 5) Store original QP formulation... */
-	real_t g_original[NVMAX];
-	real_t lb_original[NVMAX];
-	real_t ub_original[NVMAX];
-	real_t lbA_original[NCMAX_ALLOC];
-	real_t ubA_original[NCMAX_ALLOC];
-
-	for( i=0; i<nV; ++i )
-	{
-		g_original[i] = g[i];
-		lb_original[i] = lb[i];
-		ub_original[i] = ub[i];
-	}
-
-	for( i=0; i<nC; ++i )
-	{
-		lbA_original[i] = lbA[i];
-		ubA_original[i] = ubA[i];
-	}
-
-	/* ... and setup QP data of an auxiliary QP having an optimal solution
-	 * as specified by the user (or xOpt = yOpt = 0, by default). */
-	if ( setupAuxiliaryQPgradient( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	if ( setupAuxiliaryQPbounds( &auxiliaryBounds,&auxiliaryConstraints,BT_TRUE ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	status = QPS_AUXILIARYQPSOLVED;
-
-
-	/* III) SOLVE ACTUAL INITIAL QP: */
-	/* Use hotstart method to find the solution of the original initial QP,... */
-	returnValue returnvalue = hotstart( g_original,lb_original,ub_original,lbA_original,ubA_original, nWSR,0 );
-
-
-	/* ... check for infeasibility and unboundedness... */
-	if ( isInfeasible( ) == BT_TRUE )
-		return THROWERROR( RET_INIT_FAILED_INFEASIBILITY );
-
-	if ( isUnbounded( ) == BT_TRUE )
-		return THROWERROR( RET_INIT_FAILED_UNBOUNDEDNESS );
-
-	/* ... and internal errors. */
-	if ( ( returnvalue != SUCCESSFUL_RETURN ) && ( returnvalue != RET_MAX_NWSR_REACHED )  &&
-	     ( returnvalue != RET_INACCURATE_SOLUTION ) && ( returnvalue != RET_NO_SOLUTION ) )
-		return THROWERROR( RET_INIT_FAILED_HOTSTART );
-
-
-	/* stop runtime measurement */
-	if ( cputime != 0 )
-		*cputime = getCPUtime( ) - starttime;
-
-	if ( printlevel == PL_HIGH )
-		THROWINFO( RET_INIT_SUCCESSFUL );
-
-	return returnvalue;
-}
-
-
-/*
- *	o b t a i n A u x i l i a r y W o r k i n g S e t
- */
-returnValue QProblem::obtainAuxiliaryWorkingSet(	const real_t* const xOpt, const real_t* const yOpt,
-													const Bounds* const guessedBounds, const Constraints* const guessedConstraints,
-													Bounds* auxiliaryBounds, Constraints* auxiliaryConstraints
-													) const
-{
-	int i = 0;
-	int nV = getNV( );
-	int nC = getNC( );
-
-
-	/* 1) Ensure that desiredBounds is allocated (and different from guessedBounds). */
-	if ( ( auxiliaryBounds == 0 ) || ( auxiliaryBounds == guessedBounds ) )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	if ( ( auxiliaryConstraints == 0 ) || ( auxiliaryConstraints == guessedConstraints ) )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-
-	SubjectToStatus guessedStatus;
-
-	/* 2) Setup working set of bounds for auxiliary initial QP. */
-	if ( QProblemB::obtainAuxiliaryWorkingSet( xOpt,yOpt,guessedBounds, auxiliaryBounds ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-
-	/* 3) Setup working set of constraints for auxiliary initial QP. */
-	if ( guessedConstraints != 0 )
-	{
-		/* If an initial working set is specific, use it!
-		 * Moreover, add all equality constraints if specified. */
-		for( i=0; i<nC; ++i )
-		{
-			guessedStatus = guessedConstraints->getStatus( i );
-
-			if ( constraints.getType( i ) == ST_EQUALITY )
-			{
-				if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-			}
-			else
-			{
-				if ( auxiliaryConstraints->setupConstraint( i,guessedStatus ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-			}
-		}
-	}
-	else	/* No initial working set specified. */
-	{
-		/* Obtain initial working set by "clipping". */
-		if ( ( xOpt != 0 ) && ( yOpt == 0 ) )
-		{
-			for( i=0; i<nC; ++i )
-			{
-				if ( Ax[i] <= lbA[i] + BOUNDTOL )
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-					continue;
-				}
-
-				if ( Ax[i] >= ubA[i] - BOUNDTOL )
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_UPPER ) != SUCCESSFUL_RETURN )
-							return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-					continue;
-				}
-
-				/* Moreover, add all equality constraints if specified. */
-				if ( constraints.getType( i ) == ST_EQUALITY )
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-				else
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-			}
-		}
-
-		/* Obtain initial working set in accordance to sign of dual solution vector. */
-		if ( ( xOpt == 0 ) && ( yOpt != 0 ) )
-		{
-			for( i=0; i<nC; ++i )
-			{
-				if ( yOpt[nV+i] > ZERO )
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-					continue;
-				}
-
-				if ( yOpt[nV+i] < -ZERO )
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_UPPER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-					continue;
-				}
-
-				/* Moreover, add all equality constraints if specified. */
-				if ( constraints.getType( i ) == ST_EQUALITY )
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-				else
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-			}
-		}
-
-		/* If xOpt and yOpt are null pointer and no initial working is specified,
-		 * start with empty working set (or implicitly fixed bounds and equality constraints only)
-		 * for auxiliary QP. */
-		if ( ( xOpt == 0 ) && ( yOpt == 0 ) )
-		{
-			for( i=0; i<nC; ++i )
-			{
-				/* Only add all equality constraints if specified. */
-				if ( constraints.getType( i ) == ST_EQUALITY )
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-				else
-				{
-					if ( auxiliaryConstraints->setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-			}
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	s e t u p A u x i l i a r y W o r k i n g S e t
- */
-returnValue QProblem::setupAuxiliaryWorkingSet(	const Bounds* const auxiliaryBounds,
-												const Constraints* const auxiliaryConstraints,
-												BooleanType setupAfresh
-												)
-{
-	int i;
-	int nV = getNV( );
-	int nC = getNC( );
-
-	/* consistency checks */
-	if ( auxiliaryBounds != 0 )
-	{
-		for( i=0; i<nV; ++i )
-			if ( ( bounds.getStatus( i ) == ST_UNDEFINED ) || ( auxiliaryBounds->getStatus( i ) == ST_UNDEFINED ) )
-				return THROWERROR( RET_UNKNOWN_BUG );
-	}
-	else
-	{
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-	if ( auxiliaryConstraints != 0 )
-	{
-		for( i=0; i<nC; ++i )
-			if ( ( constraints.getStatus( i ) == ST_UNDEFINED ) || ( auxiliaryConstraints->getStatus( i ) == ST_UNDEFINED ) )
-				return THROWERROR( RET_UNKNOWN_BUG );
-	}
-	else
-	{
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-
-	/* I) SETUP CHOLESKY FLAG:
-	 *    Cholesky decomposition shall only be updated if working set
-	 *    shall be updated (i.e. NOT setup afresh!) */
-	BooleanType updateCholesky;
-	if ( setupAfresh == BT_TRUE )
-		updateCholesky = BT_FALSE;
-	else
-		updateCholesky = BT_TRUE;
-
-
-	/* II) REMOVE FORMERLY ACTIVE (CONSTRAINTS') BOUNDS (IF NECESSARY): */
-	if ( setupAfresh == BT_FALSE )
-	{
-		/* 1) Remove all active constraints that shall be inactive AND
-		*    all active constraints that are active at the wrong bound. */
-		for( i=0; i<nC; ++i )
-		{
-			if ( ( constraints.getStatus( i ) == ST_LOWER ) && ( auxiliaryConstraints->getStatus( i ) != ST_LOWER ) )
-				if ( removeConstraint( i,updateCholesky ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-
-			if ( ( constraints.getStatus( i ) == ST_UPPER ) && ( auxiliaryConstraints->getStatus( i ) != ST_UPPER ) )
-				if ( removeConstraint( i,updateCholesky ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-		}
-
-		/* 2) Remove all active bounds that shall be inactive AND
-		*    all active bounds that are active at the wrong bound. */
-		for( i=0; i<nV; ++i )
-		{
-			if ( ( bounds.getStatus( i ) == ST_LOWER ) && ( auxiliaryBounds->getStatus( i ) != ST_LOWER ) )
-				if ( removeBound( i,updateCholesky ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-
-			if ( ( bounds.getStatus( i ) == ST_UPPER ) && ( auxiliaryBounds->getStatus( i ) != ST_UPPER ) )
-				if ( removeBound( i,updateCholesky ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-		}
-	}
-
-
-	/* III) ADD NEWLY ACTIVE (CONSTRAINTS') BOUNDS: */
-	/* 1) Add all inactive bounds that shall be active AND
-	 *    all formerly active bounds that have been active at the wrong bound. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( ( bounds.getStatus( i ) == ST_INACTIVE ) && ( auxiliaryBounds->getStatus( i ) != ST_INACTIVE ) )
-		{
-			/* Add bound only if it is linearly independent from the current working set. */
-			if ( addBound_checkLI( i ) == RET_LINEARLY_INDEPENDENT )
-			{
-				if ( addBound( i,auxiliaryBounds->getStatus( i ),updateCholesky ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-			}
-		}
-	}
-
-	/* 2) Add all inactive constraints that shall be active AND
-	 *    all formerly active constraints that have been active at the wrong bound. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( ( auxiliaryConstraints->getStatus( i ) == ST_LOWER ) || ( auxiliaryConstraints->getStatus( i ) == ST_UPPER ) )
-		{
-			/* formerly inactive */
-			if ( constraints.getStatus( i ) == ST_INACTIVE )
-			{
-				/* Add constraint only if it is linearly independent from the current working set. */
-				if ( addConstraint_checkLI( i ) == RET_LINEARLY_INDEPENDENT )
-				{
-					if ( addConstraint( i,auxiliaryConstraints->getStatus( i ),updateCholesky ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-				}
-			}
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A u x i l i a r y Q P s o l u t i o n
- */
-returnValue QProblem::setupAuxiliaryQPsolution(	const real_t* const xOpt, const real_t* const yOpt
-												)
-{
-	int i, j;
-	int nV = getNV( );
-	int nC = getNC( );
-
-
-	/* Setup primal/dual solution vector for auxiliary initial QP:
-	 * if a null pointer is passed, a zero vector is assigned;
-	 *  old solution vector is kept if pointer to internal solution vevtor is passed. */
-	if ( xOpt != 0 )
-	{
-		if ( xOpt != x )
-			for( i=0; i<nV; ++i )
-				x[i] = xOpt[i];
-
-		for ( j=0; j<nC; ++j )
-		{
-			Ax[j] = 0.0;
-
-			for( i=0; i<nV; ++i )
-				Ax[j] += A[j*NVMAX + i] * x[i];
-		}
-	}
-	else
-	{
-		for( i=0; i<nV; ++i )
-			x[i] = 0.0;
-
-		for ( j=0; j<nC; ++j )
-			Ax[j] = 0.0;
-	}
-
-	if ( yOpt != 0 )
-	{
-		if ( yOpt != y )
-			for( i=0; i<nV+nC; ++i )
-				y[i] = yOpt[i];
-	}
-	else
-	{
-		for( i=0; i<nV+nC; ++i )
-			y[i] = 0.0;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A u x i l i a r y Q P g r a d i e n t
- */
-returnValue QProblem::setupAuxiliaryQPgradient( )
-{
-	int i, j;
-	int nV = getNV( );
-	int nC = getNC( );
-
-
-	/* Setup gradient vector: g = -H*x + [Id A]'*[yB yC]. */
-	for ( i=0; i<nV; ++i )
-	{
-		/* Id'*yB */
-		g[i] = y[i];
-
-		/* A'*yC */
-		for ( j=0; j<nC; ++j )
-			g[i] += A[j*NVMAX + i] * y[nV+j];
-
-		/* -H*x */
-		for ( j=0; j<nV; ++j )
-			g[i] -= H[i*NVMAX + j] * x[j];
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A u x i l i a r y Q P b o u n d s
- */
-returnValue QProblem::setupAuxiliaryQPbounds(	const Bounds* const auxiliaryBounds,
-												const Constraints* const auxiliaryConstraints,
-												BooleanType useRelaxation
-												)
-{
-	int i;
-	int nV = getNV( );
-	int nC = getNC( );
-
-
-	/* 1) Setup bound vectors. */
-	for ( i=0; i<nV; ++i )
-	{
-		switch ( bounds.getStatus( i ) )
-		{
-			case ST_INACTIVE:
-				if ( useRelaxation == BT_TRUE )
-				{
-					if ( bounds.getType( i ) == ST_EQUALITY )
-					{
-						lb[i] = x[i];
-						ub[i] = x[i];
-					}
-					else
-					{
-						/* If a bound is inactive although it was supposed to be
-						* active by the auxiliaryBounds, it could not be added
-						* due to linear dependence. Thus set it "strongly inactive". */
-						if ( auxiliaryBounds->getStatus( i ) == ST_LOWER )
-							lb[i] = x[i];
-						else
-							lb[i] = x[i] - BOUNDRELAXATION;
-
-						if ( auxiliaryBounds->getStatus( i ) == ST_UPPER )
-							ub[i] = x[i];
-						else
-							ub[i] = x[i] + BOUNDRELAXATION;
-					}
-				}
-				break;
-
-			case ST_LOWER:
-				lb[i] = x[i];
-				if ( bounds.getType( i ) == ST_EQUALITY )
-				{
-					ub[i] = x[i];
-				}
-				else
-				{
-					if ( useRelaxation == BT_TRUE )
-						ub[i] = x[i] + BOUNDRELAXATION;
-				}
-				break;
-
-			case ST_UPPER:
-				ub[i] = x[i];
-				if ( bounds.getType( i ) == ST_EQUALITY )
-				{
-					lb[i] = x[i];
-				}
-				else
-				{
-					if ( useRelaxation == BT_TRUE )
-						lb[i] = x[i] - BOUNDRELAXATION;
-				}
-				break;
-
-			default:
-				return THROWERROR( RET_UNKNOWN_BUG );
-		}
-	}
-
-	/* 2) Setup constraints vectors. */
-	for ( i=0; i<nC; ++i )
-	{
-		switch ( constraints.getStatus( i ) )
-		{
-			case ST_INACTIVE:
-				if ( useRelaxation == BT_TRUE )
-				{
-					if ( constraints.getType( i ) == ST_EQUALITY )
-					{
-						lbA[i] = Ax[i];
-						ubA[i] = Ax[i];
-					}
-					else
-					{
-						/* If a constraint is inactive although it was supposed to be
-						* active by the auxiliaryConstraints, it could not be added
-						* due to linear dependence. Thus set it "strongly inactive". */
-						if ( auxiliaryConstraints->getStatus( i ) == ST_LOWER )
-							lbA[i] = Ax[i];
-						else
-							lbA[i] = Ax[i] - BOUNDRELAXATION;
-
-						if ( auxiliaryConstraints->getStatus( i ) == ST_UPPER )
-							ubA[i] = Ax[i];
-						else
-							ubA[i] = Ax[i] + BOUNDRELAXATION;
-					}
-				}
-				break;
-
-			case ST_LOWER:
-				lbA[i] = Ax[i];
-				if ( constraints.getType( i ) == ST_EQUALITY )
-				{
-					ubA[i] = Ax[i];
-				}
-				else
-				{
-					if ( useRelaxation == BT_TRUE )
-						ubA[i] = Ax[i] + BOUNDRELAXATION;
-				}
-				break;
-
-			case ST_UPPER:
-				ubA[i] = Ax[i];
-				if ( constraints.getType( i ) == ST_EQUALITY )
-				{
-					lbA[i] = Ax[i];
-				}
-				else
-				{
-					if ( useRelaxation == BT_TRUE )
-						lbA[i] = Ax[i] - BOUNDRELAXATION;
-				}
-				break;
-
-			default:
-				return THROWERROR( RET_UNKNOWN_BUG );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	a d d C o n s t r a i n t
- */
-returnValue QProblem::addConstraint(	int number, SubjectToStatus C_status,
-										BooleanType updateCholesky
-										)
-{
-	int i, j, ii;
-
-	/* consistency checks */
-	if ( constraints.getStatus( number ) != ST_INACTIVE )
-		return THROWERROR( RET_CONSTRAINT_ALREADY_ACTIVE );
-
-	if ( ( constraints.getNC( ) - getNAC( ) ) == constraints.getNUC( ) )
-		return THROWERROR( RET_ALL_CONSTRAINTS_ACTIVE );
-
-	if ( ( getStatus( ) == QPS_NOTINITIALISED )    ||
-		 ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
-		 ( getStatus( ) == QPS_SOLVED )            )
-	{
-		return THROWERROR( RET_UNKNOWN_BUG );
-	}
-
-
-	/* I) ENSURE LINEAR INDEPENDENCE OF THE WORKING SET,
-	 *    i.e. remove a constraint or bound if linear dependence occurs. */
-	/* check for LI only if Cholesky decomposition shall be updated! */
-	if ( updateCholesky == BT_TRUE )
-	{
-		returnValue ensureLIreturnvalue = addConstraint_ensureLI( number,C_status );
-
-		switch ( ensureLIreturnvalue )
-		{
-			case SUCCESSFUL_RETURN:
-				break;
-
-			case RET_LI_RESOLVED:
-				break;
-
-			case RET_ENSURELI_FAILED_NOINDEX:
-				return THROWERROR( RET_ADDCONSTRAINT_FAILED_INFEASIBILITY );
-
-			case RET_ENSURELI_FAILED_CYCLING:
-				return THROWERROR( RET_ADDCONSTRAINT_FAILED_INFEASIBILITY );
-
-			default:
-				return THROWERROR( RET_ENSURELI_FAILED );
-		}
-	}
-
-	/* some definitions */
-	int nFR = getNFR( );
-	int nAC = getNAC( );
-	int nZ  = getNZ( );
-
-	int tcol = sizeT - nAC;
-
-
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ADDCONSTRAINT_FAILED );
-
-	real_t aFR[NVMAX];
-	real_t wZ[NVMAX];
-	for( i=0; i<nZ; ++i )
-		wZ[i] = 0.0;
-
-
-	/* II) ADD NEW ACTIVE CONSTRAINT TO MATRIX T: */
-	/* 1) Add row [wZ wY] = aFR'*[Z Y] to the end of T: assign aFR. */
-	for( i=0; i<nFR; ++i )
-	{
-		ii = FR_idx[i];
-		aFR[i] = A[number*NVMAX + ii];
-	}
-
-	/* calculate wZ */
-	for( i=0; i<nFR; ++i )
-	{
-		ii = FR_idx[i];
-		for( j=0; j<nZ; ++j )
-			wZ[j] += aFR[i] * Q[ii*NVMAX + j];
-	}
-
-	/* 2) Calculate wY and store it directly into T. */
-	if ( nAC > 0 )
-	{
-		for( j=0; j<nAC; ++j )
-			T[nAC*NVMAX + tcol+j] = 0.0;
-		for( i=0; i<nFR; ++i )
-		{
-			ii = FR_idx[i];
-			for( j=0; j<nAC; ++j )
-				T[nAC*NVMAX + tcol+j] += aFR[i] * Q[ii*NVMAX + nZ+j];
-		}
-	}
-
-
-	real_t c, s;
-
-	if ( nZ > 0 )
-	{
-		/* II) RESTORE TRIANGULAR FORM OF T: */
-		/*     Use column-wise Givens rotations to restore reverse triangular form
-		*      of T, simultanenous change of Q (i.e. Z) and R. */
-		for( j=0; j<nZ-1; ++j )
-		{
-			computeGivens( wZ[j+1],wZ[j], wZ[j+1],wZ[j],c,s );
-
-			for( i=0; i<nFR; ++i )
-			{
-				ii = FR_idx[i];
-				applyGivens( c,s,Q[ii*NVMAX + 1+j],Q[ii*NVMAX + j], Q[ii*NVMAX + 1+j],Q[ii*NVMAX + j] );
-			}
-
-			if ( ( updateCholesky == BT_TRUE ) && ( hessianType != HST_IDENTITY ) )
-			{
-				for( i=0; i<=j+1; ++i )
-					applyGivens( c,s,R[i*NVMAX + 1+j],R[i*NVMAX + j], R[i*NVMAX + 1+j],R[i*NVMAX + j] );
-			}
-		}
-
-		T[nAC*NVMAX + tcol-1] = wZ[nZ-1];
-
-
-		if ( ( updateCholesky == BT_TRUE ) && ( hessianType != HST_IDENTITY ) )
-		{
-			/* III) RESTORE TRIANGULAR FORM OF R:
-			 *      Use row-wise Givens rotations to restore upper triangular form of R. */
-			for( i=0; i<nZ-1; ++i )
-			{
-				computeGivens( R[i*NVMAX + i],R[(1+i)*NVMAX + i], R[i*NVMAX + i],R[(1+i)*NVMAX + i],c,s );
-
-				for( j=(1+i); j<(nZ-1); ++j ) /* last column of R is thrown away */
-					applyGivens( c,s,R[i*NVMAX + j],R[(1+i)*NVMAX + j], R[i*NVMAX + j],R[(1+i)*NVMAX + j] );
-			}
-			/* last column of R is thrown away */
-			for( i=0; i<nZ; ++i )
-				R[i*NVMAX + nZ-1] = 0.0;
-		}
-	}
-
-
-	/* IV) UPDATE INDICES */
-	if ( constraints.moveInactiveToActive( number,C_status ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ADDCONSTRAINT_FAILED );
-
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	a d d C o n s t r a i n t _ c h e c k L I
- */
-returnValue QProblem::addConstraint_checkLI( int number )
-{
-	int i, j, jj;
-	int nFR = getNFR( );
-	int nZ  = getNZ( );
-
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INDEXLIST_CORRUPTED );
-
-	/* Check if constraint <number> is linearly independent from the
-	   the active ones (<=> is element of null space of Afr). */
-	real_t sum;
-
-	for( i=0; i<nZ; ++i )
-	{
-		sum = 0.0;
-		for( j=0; j<nFR; ++j )
-		{
-			jj = FR_idx[j];
-			sum += Q[jj*NVMAX + i] * A[number*NVMAX + jj];
-		}
-
-		if ( getAbs( sum ) > 10.0*EPS )
-			return RET_LINEARLY_INDEPENDENT;
-	}
-
-	return RET_LINEARLY_DEPENDENT;
-}
-
-
-/*
- *	a d d C o n s t r a i n t _ e n s u r e L I
- */
-returnValue QProblem::addConstraint_ensureLI( int number, SubjectToStatus C_status )
-{
-	int i, j, ii, jj;
-	int nV  = getNV( );
-	int nFR = getNFR( );
-	int nFX = getNFX( );
-	int nAC = getNAC( );
-	int nZ  = getNZ( );
-
-
-	/* I) Check if new constraint is linearly independent from the active ones. */
-	returnValue returnvalueCheckLI = addConstraint_checkLI( number );
-
-	if ( returnvalueCheckLI == RET_INDEXLIST_CORRUPTED )
-		return THROWERROR( RET_ENSURELI_FAILED );
-
-	if ( returnvalueCheckLI == RET_LINEARLY_INDEPENDENT )
-		return SUCCESSFUL_RETURN;
-
-
- 	/* II) NEW CONSTRAINT IS LINEARLY DEPENDENT: */
-	/* 1) Determine coefficients of linear combination,
-	 *    cf. M.J. Best. Applied Mathematics and Parallel Computing, chapter:
-	 *    An Algorithm for the Solution of the Parametric Quadratic Programming
-	 *    Problem, pages 57-76. Physica-Verlag, Heidelberg, 1996. */
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ENSURELI_FAILED );
-
-	int FX_idx[NVMAX];
-	if ( bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ENSURELI_FAILED );
-
-	real_t xiC[NCMAX_ALLOC];
-	real_t xiC_TMP[NCMAX_ALLOC];
-	real_t xiB[NVMAX];
-
-	/* 2) Calculate xiC */
-	if ( nAC > 0 )
-	{
-		if ( C_status == ST_LOWER )
-		{
-			for( i=0; i<nAC; ++i )
-			{
-				xiC_TMP[i] = 0.0;
-				for( j=0; j<nFR; ++j )
-				{
-					jj = FR_idx[j];
-					xiC_TMP[i] += Q[jj*NVMAX + nZ+i] * A[number*NVMAX + jj];
-				}
-			}
-		}
-		else
-		{
-			for( i=0; i<nAC; ++i )
-			{
-				xiC_TMP[i] = 0.0;
-				for( j=0; j<nFR; ++j )
-				{
-					jj = FR_idx[j];
-					xiC_TMP[i] -= Q[jj*NVMAX + nZ+i] * A[number*NVMAX + jj];
-				}
-			}
-		}
-
-		if ( backsolveT( xiC_TMP, BT_TRUE, xiC ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_ENSURELI_FAILED_TQ );
-	}
-
-	/* 3) Calculate xiB. */
-	int AC_idx[NCMAX_ALLOC];
-	if ( constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ENSURELI_FAILED );
-
-	if ( C_status == ST_LOWER )
-	{
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-			xiB[i] = A[number*NVMAX + ii];
-
-			for( j=0; j<nAC; ++j )
-			{
-				jj = AC_idx[j];
-				xiB[i] -= A[jj*NVMAX + ii] * xiC[j];
-			}
-		}
-	}
-	else
-	{
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-			xiB[i] = -A[number*NVMAX + ii];
-
-			for( j=0; j<nAC; ++j )
-			{
-				jj = AC_idx[j];
-				xiB[i] -= A[jj*NVMAX + ii] * xiC[j];
-			}
-		}
-	}
-
-
-	/* III) DETERMINE CONSTRAINT/BOUND TO BE REMOVED. */
-	real_t y_min = INFTY * INFTY;
-	int y_min_number = -1;
-	BooleanType y_min_isBound = BT_FALSE;
-
-	/* 1) Constraints. */
-	for( i=0; i<nAC; ++i )
-	{
-		ii = AC_idx[i];
-
-		if ( constraints.getStatus( ii ) == ST_LOWER )
-		{
-			if ( ( xiC[i] > ZERO ) && ( y[nV+ii] >= 0.0 ) )
-			{
-				if ( y[nV+ii]/xiC[i] < y_min )
-				{
-					y_min = y[nV+ii]/xiC[i];
-					y_min_number = ii;
-				}
-			}
-		}
-		else
-		{
-			if ( ( xiC[i] < -ZERO ) && ( y[nV+ii] <= 0.0 ) )
-			{
-				if ( y[nV+ii]/xiC[i] < y_min )
-				{
-					y_min = y[nV+ii]/xiC[i];
-					y_min_number = ii;
-				}
-			}
-		}
-	}
-
-	/* 2) Bounds. */
-	for( i=0; i<nFX; ++i )
-	{
-		ii = FX_idx[i];
-
-		if ( bounds.getStatus( ii ) == ST_LOWER )
-		{
-			if ( ( xiB[i] > ZERO ) && ( y[ii] >= 0.0 ) )
-			{
-				if ( y[ii]/xiB[i] < y_min )
-				{
-					y_min = y[ii]/xiB[i];
-					y_min_number = ii;
-					y_min_isBound = BT_TRUE;
-				}
-			}
-		}
-		else
-		{
-			if ( ( xiB[i] < -ZERO ) && ( y[ii] <= 0.0 ) )
-			{
-				if ( y[ii]/xiB[i] < y_min )
-				{
-					y_min = y[ii]/xiB[i];
-					y_min_number = ii;
-					y_min_isBound = BT_TRUE;
-				}
-			}
-		}
-	}
-
-	/* setup output preferences */
-	#ifdef PC_DEBUG
-	char messageString[80];
-	VisibilityStatus visibilityStatus;
-
-	if ( printlevel == PL_HIGH )
-		visibilityStatus = VS_VISIBLE;
-	else
-		visibilityStatus = VS_HIDDEN;
-	#endif
-
-
-	/* IV) REMOVE CONSTRAINT/BOUND FOR RESOLVING LINEAR DEPENDENCE: */
-	if ( y_min_number >= 0 )
-	{
-		/* 1) Check for cycling due to infeasibility. */
-		if ( ( cyclingManager.getCyclingStatus( number,BT_FALSE ) == CYC_PREV_REMOVED ) &&
-			 ( cyclingManager.getCyclingStatus( y_min_number,y_min_isBound ) == CYC_PREV_ADDED ) )
-		{
-			infeasible = BT_TRUE;
-
-			return THROWERROR( RET_ENSURELI_FAILED_CYCLING );
-		}
-		else
-		{
-			/* set cycling data */
-			cyclingManager.clearCyclingData( );
-			cyclingManager.setCyclingStatus( number,BT_FALSE, CYC_PREV_ADDED );
-			cyclingManager.setCyclingStatus( y_min_number,y_min_isBound, CYC_PREV_REMOVED );
-		}
-
-		/* 2) Update Lagrange multiplier... */
-		for( i=0; i<nAC; ++i )
-		{
-			ii = AC_idx[i];
-			y[nV+ii] -= y_min * xiC[i];
-		}
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-			y[ii] -= y_min * xiB[i];
-		}
-
-		/* ... also for newly active constraint... */
-		if ( C_status == ST_LOWER )
-			y[nV+number] = y_min;
-		else
-			y[nV+number] = -y_min;
-
-		/* ... and for constraint to be removed. */
-		if ( y_min_isBound == BT_TRUE )
-		{
-			#ifdef PC_DEBUG
-			sprintf( messageString,"bound no. %d.",y_min_number );
-			getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-			#endif
-
-			if ( removeBound( y_min_number,BT_TRUE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED );
-
-			y[y_min_number] = 0.0;
-		}
-		else
-		{
-			#ifdef PC_DEBUG
-			sprintf( messageString,"constraint no. %d.",y_min_number );
-			getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-			#endif
-
-			if ( removeConstraint( y_min_number,BT_TRUE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED );
-
-			y[nV+y_min_number] = 0.0;
-		}
-	}
-	else
-	{
-		/* no constraint/bound can be removed => QP is infeasible! */
-		infeasible = BT_TRUE;
-
-		return THROWERROR( RET_ENSURELI_FAILED_NOINDEX );
-	}
-
-	return getGlobalMessageHandler( )->throwInfo( RET_LI_RESOLVED,0,__FUNCTION__,__FILE__,__LINE__,VS_HIDDEN );
-}
-
-
-
-/*
- *	a d d B o u n d
- */
-returnValue QProblem::addBound(	int number, SubjectToStatus B_status,
-								BooleanType updateCholesky
-								)
-{
-	int i, j, ii;
-
-	/* consistency checks */
-	if ( bounds.getStatus( number ) != ST_INACTIVE )
-		return THROWERROR( RET_BOUND_ALREADY_ACTIVE );
-
-	if ( getNFR( ) == bounds.getNUV( ) )
-		return THROWERROR( RET_ALL_BOUNDS_ACTIVE );
-
-	if ( ( getStatus( ) == QPS_NOTINITIALISED )    ||
-		 ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
- 		 ( getStatus( ) == QPS_SOLVED )            )
-	{
-		return THROWERROR( RET_UNKNOWN_BUG );
-	}
-
-
-	/* I) ENSURE LINEAR INDEPENDENCE OF THE WORKING SET,
-	 *    i.e. remove a constraint or bound if linear dependence occurs. */
-	/* check for LI only if Cholesky decomposition shall be updated! */
-	if ( updateCholesky == BT_TRUE )
-	{
-		returnValue ensureLIreturnvalue = addBound_ensureLI( number,B_status );
-
-		switch ( ensureLIreturnvalue )
-		{
-			case SUCCESSFUL_RETURN:
-				break;
-
-			case RET_LI_RESOLVED:
-				break;
-
-			case RET_ENSURELI_FAILED_NOINDEX:
-				return THROWERROR( RET_ADDBOUND_FAILED_INFEASIBILITY );
-
-			case RET_ENSURELI_FAILED_CYCLING:
-				return THROWERROR( RET_ADDBOUND_FAILED_INFEASIBILITY );
-
-			default:
-				return THROWERROR( RET_ENSURELI_FAILED );
-		}
-	}
-
-
-	/* some definitions */
-	int nFR = getNFR( );
-	int nAC = getNAC( );
-	int nZ  = getNZ( );
-
-	int tcol = sizeT - nAC;
-
-
-	/* I) SWAP INDEXLIST OF FREE VARIABLES:
-	 *    move the variable to be fixed to the end of the list of free variables. */
-	int lastfreenumber = bounds.getFree( )->getLastNumber( );
-	if ( lastfreenumber != number )
-		if ( bounds.swapFree( number,lastfreenumber ) != SUCCESSFUL_RETURN )
-			THROWERROR( RET_ADDBOUND_FAILED );
-
-
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ADDBOUND_FAILED );
-
-	real_t w[NVMAX];
-
-
-	/* II) ADD NEW ACTIVE BOUND TO TOP OF MATRIX T: */
-	/* 1) add row [wZ wY] = [Z Y](number) at the top of T: assign w */
-	for( i=0; i<nFR; ++i )
-		w[i] = Q[FR_idx[nFR-1]*NVMAX + i];
-
-
-	/* 2) Use column-wise Givens rotations to restore reverse triangular form
-	 *    of the first row of T, simultanenous change of Q (i.e. Z) and R. */
-	real_t c, s;
-
-	for( j=0; j<nZ-1; ++j )
-	{
-		computeGivens( w[j+1],w[j], w[j+1],w[j],c,s );
-
-		for( i=0; i<nFR; ++i )
-		{
-			ii = FR_idx[i];
-			applyGivens( c,s,Q[ii*NVMAX + 1+j],Q[ii*NVMAX + j], Q[ii*NVMAX + 1+j],Q[ii*NVMAX + j] );
-		}
-
-		if ( ( updateCholesky == BT_TRUE ) && ( hessianType != HST_IDENTITY ) )
-		{
-			for( i=0; i<=j+1; ++i )
-				applyGivens( c,s,R[i*NVMAX + 1+j],R[i*NVMAX + j], R[i*NVMAX + 1+j],R[i*NVMAX + j] );
-		}
-	}
-
-
-	if ( nAC > 0 )	  /* ( nAC == 0 ) <=> ( nZ == nFR ) <=> Y and T are empty => nothing to do */
-	{
-		/* store new column a in a temporary vector instead of shifting T one column to the left */
-		real_t tmp[NCMAX_ALLOC];
-		for( i=0; i<nAC; ++i )
-			tmp[i] = 0.0;
-
-		{
-			j = nZ-1;
-
-			computeGivens( w[j+1],w[j], w[j+1],w[j],c,s );
-
-			for( i=0; i<nFR; ++i )
-			{
-				ii = FR_idx[i];
-				applyGivens( c,s,Q[ii*NVMAX + 1+j],Q[ii*NVMAX + j], Q[ii*NVMAX + 1+j],Q[ii*NVMAX + j] );
-			}
-
-			applyGivens( c,s,T[(nAC-1)*NVMAX + tcol],tmp[nAC-1], tmp[nAC-1],T[(nAC-1)*NVMAX + tcol] );
-		}
-
-		for( j=nZ; j<nFR-1; ++j )
-		{
-			computeGivens( w[j+1],w[j], w[j+1],w[j],c,s );
-
-			for( i=0; i<nFR; ++i )
-			{
-				ii = FR_idx[i];
-				applyGivens( c,s,Q[ii*NVMAX + 1+j],Q[ii*NVMAX + j], Q[ii*NVMAX + 1+j],Q[ii*NVMAX + j] );
-			}
-
-			for( i=(nFR-2-j); i<nAC; ++i )
-				applyGivens( c,s,T[i*NVMAX + 1+tcol-nZ+j],tmp[i], tmp[i],T[i*NVMAX + 1+tcol-nZ+j] );
-		}
-
-	}
-
-
-	if ( ( updateCholesky == BT_TRUE ) && ( hessianType != HST_IDENTITY ) )
-	{
-		/* III) RESTORE TRIANGULAR FORM OF R:
-		 *      use row-wise Givens rotations to restore upper triangular form of R */
-		for( i=0; i<nZ-1; ++i )
-		{
-			computeGivens( R[i*NVMAX + i],R[(1+i)*NVMAX + i], R[i*NVMAX + i],R[(1+i)*NVMAX + i],c,s );
-
-			for( j=(1+i); j<nZ-1; ++j ) /* last column of R is thrown away */
-				applyGivens( c,s,R[i*NVMAX + j],R[(1+i)*NVMAX + j], R[i*NVMAX + j],R[(1+i)*NVMAX + j] );
-		}
-		/* last column of R is thrown away */
-		for( i=0; i<nZ; ++i )
-			R[i*NVMAX + nZ-1] = 0.0;
-	}
-
-
-	/* IV) UPDATE INDICES */
-	if ( bounds.moveFreeToFixed( number,B_status ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ADDBOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	a d d B o u n d _ c h e c k L I
- */
-returnValue QProblem::addBound_checkLI( int number )
-{
-	int i;
-
-	/* some definitions */
-	int nZ  = getNZ( );
-
-	/* Check if constraint <number> is linearly independent from the
-	   the active ones (<=> is element of null space of Afr). */
-	for( i=0; i<nZ; ++i )
-	{
-		if ( getAbs( Q[number*NVMAX + i] ) > EPS )
-			return RET_LINEARLY_INDEPENDENT;
-	}
-
-	return RET_LINEARLY_DEPENDENT;
-}
-
-
-/*
- *	a d d B o u n d _ e n s u r e L I
- */
-returnValue QProblem::addBound_ensureLI( int number, SubjectToStatus B_status )
-{
-	int i, j, ii, jj;
-	int nV  = getNV( );
-	int nFX = getNFX( );
-	int nAC = getNAC( );
-	int nZ  = getNZ( );
-
-
-	/* I) Check if new constraint is linearly independent from the active ones. */
-	returnValue returnvalueCheckLI = addBound_checkLI( number );
-
-	if ( returnvalueCheckLI == RET_LINEARLY_INDEPENDENT )
-		return SUCCESSFUL_RETURN;
-
-
- 	/* II) NEW BOUND IS LINEARLY DEPENDENT: */
-	/* 1) Determine coefficients of linear combination,
-	 *    cf. M.J. Best. Applied Mathematics and Parallel Computing, chapter:
-	 *    An Algorithm for the Solution of the Parametric Quadratic Programming
-	 *    Problem, pages 57-76. Physica-Verlag, Heidelberg, 1996. */
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ENSURELI_FAILED );
-
-	int FX_idx[NVMAX];
-	if ( bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ENSURELI_FAILED );
-
-	int AC_idx[NCMAX_ALLOC];
-	if ( constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ENSURELI_FAILED );
-
-	real_t xiC[NCMAX_ALLOC];
-	real_t xiC_TMP[NCMAX_ALLOC];
-	real_t xiB[NVMAX];
-
-	/* 2) Calculate xiC. */
-	if ( nAC > 0 )
-	{
-		if ( B_status == ST_LOWER )
-		{
-			for( i=0; i<nAC; ++i )
-				xiC_TMP[i] = Q[number*NVMAX + nZ+i];
-		}
-		else
-		{
-			for( i=0; i<nAC; ++i )
-				xiC_TMP[i] = -Q[number*NVMAX + nZ+i];
-		}
-
-		if ( backsolveT( xiC_TMP, BT_TRUE, xiC ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_ENSURELI_FAILED_TQ );
-	}
-
-	/* 3) Calculate xiB. */
-	for( i=0; i<nFX; ++i )
-	{
-		ii = FX_idx[i];
-
-		xiB[i] = 0.0;
-		for( j=0; j<nAC; ++j )
-		{
-			jj = AC_idx[j];
-			xiB[i] -= A[jj*NVMAX + ii] * xiC[j];
-		}
-	}
-
-
-	/* III) DETERMINE CONSTRAINT/BOUND TO BE REMOVED. */
-	real_t y_min = INFTY * INFTY;
-	int y_min_number = -1;
-	BooleanType y_min_isBound = BT_FALSE;
-
-	/* 1) Constraints. */
-	for( i=0; i<nAC; ++i )
-	{
-		ii = AC_idx[i];
-
-		if ( constraints.getStatus( ii ) == ST_LOWER )
-		{
-			if ( ( xiC[i] > ZERO ) && ( y[nV+ii] >= 0.0 ) )
-			{
-				if ( y[nV+ii]/xiC[i] < y_min )
-				{
-					y_min = y[nV+ii]/xiC[i];
-					y_min_number = ii;
-				}
-			}
-		}
-		else
-		{
-			if ( ( xiC[i] < -ZERO ) && ( y[nV+ii] <= 0.0 ) )
-			{
-				if ( y[nV+ii]/xiC[i] < y_min )
-				{
-					y_min = y[nV+ii]/xiC[i];
-					y_min_number = ii;
-				}
-			}
-		}
-	}
-
-	/* 2) Bounds. */
-	for( i=0; i<nFX; ++i )
-	{
-		ii = FX_idx[i];
-
-		if ( bounds.getStatus( ii ) == ST_LOWER )
-		{
-			if ( ( xiB[i] > ZERO ) && ( y[ii] >= 0.0 ) )
-			{
-				if ( y[ii]/xiB[i] < y_min )
-				{
-					y_min = y[ii]/xiB[i];
-					y_min_number = ii;
-					y_min_isBound = BT_TRUE;
-				}
-			}
-		}
-		else
-		{
-			if ( ( xiB[i] < -ZERO ) && ( y[ii] <= 0.0 ) )
-			{
-				if ( y[ii]/xiB[i] < y_min )
-				{
-					y_min = y[ii]/xiB[i];
-					y_min_number = ii;
-					y_min_isBound = BT_TRUE;
-				}
-			}
-		}
-	}
-
-	/* setup output preferences */
-	#ifdef PC_DEBUG
-	char messageString[80];
-	VisibilityStatus visibilityStatus;
-
-	if ( printlevel == PL_HIGH )
-		visibilityStatus = VS_VISIBLE;
-	else
-		visibilityStatus = VS_HIDDEN;
-	#endif
-
-
-	/* IV) REMOVE CONSTRAINT/BOUND FOR RESOLVING LINEAR DEPENDENCE: */
-	if ( y_min_number >= 0 )
-	{
-		/* 1) Check for cycling due to infeasibility. */
-		if ( ( cyclingManager.getCyclingStatus( number,BT_TRUE ) == CYC_PREV_REMOVED ) &&
-			 ( cyclingManager.getCyclingStatus( y_min_number,y_min_isBound ) == CYC_PREV_ADDED ) )
-		{
-			infeasible = BT_TRUE;
-
-			return THROWERROR( RET_ENSURELI_FAILED_CYCLING );
-		}
-		else
-		{
-			/* set cycling data */
-			cyclingManager.clearCyclingData( );
-			cyclingManager.setCyclingStatus( number,BT_TRUE, CYC_PREV_ADDED );
-			cyclingManager.setCyclingStatus( y_min_number,y_min_isBound, CYC_PREV_REMOVED );
-		}
-
-
-		/* 2) Update Lagrange multiplier... */
-		for( i=0; i<nAC; ++i )
-		{
-			ii = AC_idx[i];
-			y[nV+ii] -= y_min * xiC[i];
-		}
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-			y[ii] -= y_min * xiB[i];
-		}
-
-		/* ... also for newly active bound ... */
-		if ( B_status == ST_LOWER )
-			y[number] = y_min;
-		else
-			y[number] = -y_min;
-
-		/* ... and for bound to be removed. */
-		if ( y_min_isBound == BT_TRUE )
-		{
-			#ifdef PC_DEBUG
-			sprintf( messageString,"bound no. %d.",y_min_number );
-			getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-			#endif
-
-			if ( removeBound( y_min_number,BT_TRUE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED );
-
-			y[y_min_number] = 0.0;
-		}
-		else
-		{
-			#ifdef PC_DEBUG
-			sprintf( messageString,"constraint no. %d.",y_min_number );
-			getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-			#endif
-
-			if ( removeConstraint( y_min_number,BT_TRUE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED );
-
-			y[nV+y_min_number] = 0.0;
-		}
-	}
-	else
-	{
-		/* no constraint/bound can be removed => QP is infeasible! */
-		infeasible = BT_TRUE;
-
-		return THROWERROR( RET_ENSURELI_FAILED_NOINDEX );
-	}
-
-	return getGlobalMessageHandler( )->throwInfo( RET_LI_RESOLVED,0,__FUNCTION__,__FILE__,__LINE__,VS_HIDDEN );
-}
-
-
-
-/*
- *	r e m o v e C o n s t r a i n t
- */
-returnValue QProblem::removeConstraint(	int number,
-										BooleanType updateCholesky
-										)
-{
-	int i, j, ii, jj;
-
-	/* consistency check */
-	if ( ( getStatus( ) == QPS_NOTINITIALISED )    ||
-		 ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
- 		 ( getStatus( ) == QPS_SOLVED )            )
-	{
-		return THROWERROR( RET_UNKNOWN_BUG );
-	}
-
-	/* some definitions */
-	int nFR = getNFR( );
-	int nAC = getNAC( );
-	int nZ  = getNZ( );
-
-	int tcol = sizeT - nAC;
-	int number_idx = constraints.getActive( )->getIndex( number );
-
-
-	/* consistency checks */
-	if ( constraints.getStatus( number ) == ST_INACTIVE )
-		return THROWERROR( RET_CONSTRAINT_NOT_ACTIVE );
-
-	if ( ( number_idx < 0 ) || ( number_idx >= nAC ) )
-		return THROWERROR( RET_CONSTRAINT_NOT_ACTIVE );
-
-
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_REMOVECONSTRAINT_FAILED );
-
-
-	/* I) REMOVE <number>th ROW FROM T,
-	 *    i.e. shift rows number+1 through nAC  upwards (instead of the actual
-	 *    constraint number its corresponding index within matrix A is used). */
-	if ( number_idx < nAC-1 )
-	{
-		for( i=(number_idx+1); i<nAC; ++i )
-			for( j=(nAC-i-1); j<nAC; ++j )
-				T[(i-1)*NVMAX + tcol+j] = T[i*NVMAX + tcol+j];
-		/* gimmick: write zeros into the last row of T */
-		for( j=0; j<nAC; ++j )
-			T[(nAC-1)*NVMAX + tcol+j] = 0.0;
-
-
-		/* II) RESTORE TRIANGULAR FORM OF T,
-		 *     use column-wise Givens rotations to restore reverse triangular form
-		 *     of T simultanenous change of Q (i.e. Y). */
-		real_t c, s;
-
-		for( j=(nAC-2-number_idx); j>=0; --j )
-		{
-			computeGivens( T[(nAC-2-j)*NVMAX + tcol+1+j],T[(nAC-2-j)*NVMAX + tcol+j], T[(nAC-2-j)*NVMAX + tcol+1+j],T[(nAC-2-j)*NVMAX + tcol+j],c,s );
-
-			for( i=(nAC-j-1); i<(nAC-1); ++i )
-				applyGivens( c,s,T[i*NVMAX + tcol+1+j],T[i*NVMAX + tcol+j], T[i*NVMAX + tcol+1+j],T[i*NVMAX + tcol+j] );
-
-			for( i=0; i<nFR; ++i )
-			{
-				ii = FR_idx[i];
-				applyGivens( c,s,Q[ii*NVMAX + nZ+1+j],Q[ii*NVMAX + nZ+j], Q[ii*NVMAX + nZ+1+j],Q[ii*NVMAX + nZ+j] );
-			}
-		}
-	}
-	else
-	{
-		/* gimmick: write zeros into the last row of T */
-		for( j=0; j<nAC; ++j )
-			T[(nAC-1)*NVMAX + tcol+j] = 0.0;
-	}
-
-
-	if ( ( updateCholesky == BT_TRUE ) && ( hessianType != HST_IDENTITY ) )
-	{
-		/* III) UPDATE CHOLESKY DECOMPOSITION,
-		 *      calculate new additional column (i.e. [r sqrt(rho2)]')
-		 *      of the Cholesky factor R. */
-		real_t Hz[NVMAX];
-		for ( i=0; i<nFR; ++i )
-			Hz[i] = 0.0;
-		real_t rho2 = 0.0;
-
-		/* 1) Calculate Hz = H*z, where z is the new rightmost column of Z
-		 *    (i.e. the old leftmost column of Y).  */
-		for( j=0; j<nFR; ++j )
-		{
-			jj = FR_idx[j];
-			for( i=0; i<nFR; ++i )
-				Hz[i] += H[jj*NVMAX + FR_idx[i]] * Q[jj*NVMAX + nZ];
-		}
-
-		if ( nZ > 0 )
-		{
-			real_t ZHz[NVMAX];
-			for ( i=0; i<nZ; ++i )
-				ZHz[i] = 0.0;
-			real_t r[NVMAX];
-
-			/* 2) Calculate ZHz = Z'*Hz (old Z). */
-			for( j=0; j<nFR; ++j )
-			{
-				jj = FR_idx[j];
-
-				for( i=0; i<nZ; ++i )
-					ZHz[i] += Q[jj*NVMAX + i] * Hz[j];
-			}
-
-			/* 3) Calculate r = R^-T * ZHz. */
-			if ( backsolveR( ZHz,BT_TRUE,r ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_REMOVECONSTRAINT_FAILED );
-
-			/* 4) Calculate rho2 = rho^2 = z'*Hz - r'*r
-			 *    and store r into R. */
-			for( i=0; i<nZ; ++i )
-			{
-				rho2 -= r[i]*r[i];
-				R[i*NVMAX + nZ] = r[i];
-			}
-		}
-
-		for( j=0; j<nFR; ++j )
-			rho2 += Q[FR_idx[j]*NVMAX + nZ] * Hz[j];
-
-		/* 5) Store rho into R. */
-		if ( rho2 > 0.0 )
-			R[nZ*NVMAX + nZ] = sqrt( rho2 );
-		else
-		{
-			hessianType = HST_SEMIDEF;
-			return THROWERROR( RET_HESSIAN_NOT_SPD );
-		}
-	}
-
-	/* IV) UPDATE INDICES */
-	if ( constraints.moveActiveToInactive( number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_REMOVECONSTRAINT_FAILED );
-
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	r e m o v e B o u n d
- */
-returnValue QProblem::removeBound(	int number,
-									BooleanType updateCholesky
-									)
-{
-	int i, j, ii, jj;
-
-	/* consistency checks */
-	if ( bounds.getStatus( number ) == ST_INACTIVE )
-		return THROWERROR( RET_BOUND_NOT_ACTIVE );
-
-	if ( ( getStatus( ) == QPS_NOTINITIALISED )    ||
-		 ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
- 		 ( getStatus( ) == QPS_SOLVED )            )
-	{
-		return THROWERROR( RET_UNKNOWN_BUG );
-	}
-
-	/* some definitions */
-	int nFR = getNFR( );
-	int nAC = getNAC( );
-	int nZ  = getNZ( );
-
-	int tcol = sizeT - nAC;
-
-
-	/* I) UPDATE INDICES */
-	if ( bounds.moveFixedToFree( number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_REMOVEBOUND_FAILED );
-
-
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_REMOVEBOUND_FAILED );
-
-	/* I) APPEND <nFR+1>th UNITY VECOTR TO Q. */
-	int nnFRp1 = FR_idx[nFR];
-	for( i=0; i<nFR; ++i )
-	{
-		ii = FR_idx[i];
-		Q[ii*NVMAX + nFR] = 0.0;
-		Q[nnFRp1*NVMAX + i] = 0.0;
-	}
-	Q[nnFRp1*NVMAX + nFR] = 1.0;
-
-	if ( nAC > 0 )
-	{
-		/* store new column a in a temporary vector instead of shifting T one column to the left and appending a */
-		int AC_idx[NCMAX_ALLOC];
-		if ( constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_REMOVEBOUND_FAILED );
-
-		real_t tmp[NCMAX_ALLOC];
-		for( i=0; i<nAC; ++i )
-		{
-			ii = AC_idx[i];
-			tmp[i] =  A[ii*NVMAX + number];
-		}
-
-
-		/* II) RESTORE TRIANGULAR FORM OF T,
-		 *     use column-wise Givens rotations to restore reverse triangular form
-		 *     of T = [T A(:,number)], simultanenous change of Q (i.e. Y and Z). */
-		real_t c, s;
-
-		for( j=(nAC-1); j>=0; --j )
-		{
-			computeGivens( tmp[nAC-1-j],T[(nAC-1-j)*NVMAX + tcol+j],T[(nAC-1-j)*NVMAX + tcol+j],tmp[nAC-1-j],c,s );
-
-			for( i=(nAC-j); i<nAC; ++i )
-				applyGivens( c,s,tmp[i],T[i*NVMAX + tcol+j],T[i*NVMAX + tcol+j],tmp[i] );
-
-			for( i=0; i<=nFR; ++i )
-			{
-				ii = FR_idx[i];
-				/* nZ+1+nAC = nFR+1  /  nZ+(1) = nZ+1 */
-				applyGivens( c,s,Q[ii*NVMAX + nZ+1+j],Q[ii*NVMAX + nZ+j],Q[ii*NVMAX + nZ+1+j],Q[ii*NVMAX + nZ+j] );
-			}
-		}
-	}
-
-
-	if ( ( updateCholesky == BT_TRUE ) && ( hessianType != HST_IDENTITY ) )
-	{
-		/* III) UPDATE CHOLESKY DECOMPOSITION,
-		 *      calculate new additional column (i.e. [r sqrt(rho2)]')
-		 *      of the Cholesky factor R: */
-		real_t z2 = Q[nnFRp1*NVMAX + nZ];
-		real_t rho2 = H[nnFRp1*NVMAX + nnFRp1]*z2*z2; /* rho2 = h2*z2*z2 */
-
-		if ( nFR > 0 )
-		{
-			real_t Hz[NVMAX];
-			for( i=0; i<nFR; ++i )
-				Hz[i] = 0.0;
-			/* 1) Calculate R'*r = Zfr'*Hfr*z1 + z2*Zfr'*h1 =: Zfr'*Hz + z2*Zfr'*h1 =: rhs and
-			 *    rho2 = z1'*Hfr*z1 + 2*z2*h1'*z1 + h2*z2^2 - r'*r =: z1'*Hz + 2*z2*h1'*z1 + h2*z2^2 - r'r */
-			for( j=0; j<nFR; ++j )
-			{
-				jj = FR_idx[j];
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					/*			   H * z1 */
-					Hz[i] += H[jj*NVMAX + ii] * Q[jj*NVMAX + nZ];
-				}
-			}
-
-			if ( nZ > 0 )
-			{
-				real_t r[NVMAX];
-				real_t rhs[NVMAX];
-				for( i=0; i<nZ; ++i )
-					rhs[i] = 0.0;
-
-				/* 2) Calculate rhs. */
-				for( j=0; j<nFR; ++j )
-				{
-					jj = FR_idx[j];
-					for( i=0; i<nZ; ++i )
-										/* Zfr' * ( Hz + z2*h1 ) */
-						rhs[i] += Q[jj*NVMAX + i] * ( Hz[j] + z2 * H[nnFRp1*NVMAX + jj] );
-				}
-
-				/* 3) Calculate r = R^-T * rhs. */
-				if ( backsolveR( rhs,BT_TRUE,BT_TRUE,r ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_REMOVEBOUND_FAILED );
-
-				/* 4) Calculate rho2 = rho^2 = z'*Hz - r'*r
-				 *    and store r into R. */
-				for( i=0; i<nZ; ++i )
-				{
-					rho2 -= r[i]*r[i];
-					R[i*NVMAX + nZ] = r[i];
-				}
-			}
-
-			for( j=0; j<nFR; ++j )
-			{
-				jj = FR_idx[j];
-							/* z1' * ( Hz + 2*z2*h1 ) */
-				rho2 += Q[jj*NVMAX + nZ] * ( Hz[j] + 2.0*z2*H[nnFRp1*NVMAX + jj] );
-			}
-		}
-
-
-		/* 5) Store rho into R. */
-		if ( rho2 > 0.0 )
-			R[nZ*NVMAX + nZ] = sqrt( rho2 );
-		else
-		{
-			hessianType = HST_SEMIDEF;
-			return THROWERROR( RET_HESSIAN_NOT_SPD );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	b a c k s o l v e R  (CODE DUPLICATE OF QProblemB CLASS!!!)
- */
-returnValue QProblem::backsolveR(	const real_t* const b, BooleanType transposed,
-									real_t* const a
-									)
-{
-	/* Call standard backsolve procedure (i.e. removingBound == BT_FALSE). */
-	return backsolveR( b,transposed,BT_FALSE,a );
-}
-
-
-/*
- *	b a c k s o l v e R  (CODE DUPLICATE OF QProblemB CLASS!!!)
- */
-returnValue QProblem::backsolveR(	const real_t* const b, BooleanType transposed,
-									BooleanType removingBound,
-									real_t* const a
-									)
-{
-	int i, j;
-	int nR = getNZ( );
-
-	real_t sum;
-
-	/* if backsolve is called while removing a bound, reduce nZ by one. */
-	if ( removingBound == BT_TRUE )
-		--nR;
-
-	/* nothing to do */
-	if ( nR <= 0 )
-		return SUCCESSFUL_RETURN;
-
-
-	/* Solve Ra = b, where R might be transposed. */
-	if ( transposed == BT_FALSE )
-	{
-		/* solve Ra = b */
-		for( i=(nR-1); i>=0; --i )
-		{
-			sum = b[i];
-			for( j=(i+1); j<nR; ++j )
-				sum -= R[i*NVMAX + j] * a[j];
-
-			if ( getAbs( R[i*NVMAX + i] ) > ZERO )
-				a[i] = sum / R[i*NVMAX + i];
-			else
-				return THROWERROR( RET_DIV_BY_ZERO );
-		}
-	}
-	else
-	{
-		/* solve R^T*a = b */
-		for( i=0; i<nR; ++i )
-		{
-			sum = b[i];
-
-			for( j=0; j<i; ++j )
-				sum -= R[j*NVMAX + i] * a[j];
-
-			if ( getAbs( R[i*NVMAX + i] ) > ZERO )
-				a[i] = sum / R[i*NVMAX + i];
-			else
-				return THROWERROR( RET_DIV_BY_ZERO );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	b a c k s o l v e T
- */
-returnValue QProblem::backsolveT( const real_t* const b, BooleanType transposed, real_t* const a )
-{
-	int i, j;
-	int nT = getNAC( );
-	int tcol = sizeT - nT;
-
-	real_t sum;
-
-	/* nothing to do */
-	if ( nT <= 0 )
-		return SUCCESSFUL_RETURN;
-
-
-	/* Solve Ta = b, where T might be transposed. */
-	if ( transposed == BT_FALSE )
-	{
-		/* solve Ta = b */
-		for( i=0; i<nT; ++i )
-		{
-			sum = b[i];
-			for( j=0; j<i; ++j )
-				sum -= T[i*NVMAX + sizeT-1-j] * a[nT-1-j];
-
-			if ( getAbs( T[i*NVMAX + sizeT-1-i] ) > ZERO )
-				a[nT-1-i] = sum / T[i*NVMAX + sizeT-1-i];
-			else
-				return THROWERROR( RET_DIV_BY_ZERO );
-		}
-	}
-	else
-	{
-		/* solve T^T*a = b */
-		for( i=0; i<nT; ++i )
-		{
-			sum = b[i];
-			for( j=0; j<i; ++j )
-				sum -= T[(nT-1-j)*NVMAX + tcol+i] * a[nT-1-j];
-
-			if ( getAbs( T[(nT-1-i)*NVMAX + tcol+i] ) > ZERO )
-				a[nT-1-i] = sum / T[(nT-1-i)*NVMAX + tcol+i];
-			else
-				return THROWERROR( RET_DIV_BY_ZERO );
-		}
-	}
-
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	h o t s t a r t _ d e t e r m i n e D a t a S h i f t
- */
-returnValue QProblem::hotstart_determineDataShift(  const int* const FX_idx, const int* const AC_idx,
-													const real_t* const g_new, const real_t* const lbA_new, const real_t* const ubA_new,
-													const real_t* const lb_new, const real_t* const ub_new,
-													real_t* const delta_g, real_t* const delta_lbA, real_t* const delta_ubA,
-													real_t* const delta_lb, real_t* const delta_ub,
-													BooleanType& Delta_bC_isZero, BooleanType& Delta_bB_isZero
-													)
-{
-	int i, ii;
-	int nC  = getNC( );
-	int nAC = getNAC( );
-
-
-	/* I) DETERMINE DATA SHIFT FOR BOUNDS */
-	QProblemB::hotstart_determineDataShift( FX_idx,g_new,lb_new,ub_new, delta_g,delta_lb,delta_ub, Delta_bB_isZero );
-
-
-	/* II) DETERMINE DATA SHIFT FOR CONSTRAINTS */
-	/* 1) Calculate shift directions. */
-	for( i=0; i<nC; ++i )
-	{
-		/* if lower constraints' bounds do not exist, shift them to -infinity */
-		if ( lbA_new != 0 )
-			delta_lbA[i] = lbA_new[i] - lbA[i];
-		else
-			delta_lbA[i] = -INFTY - lbA[i];
-	}
-
-	for( i=0; i<nC; ++i )
-	{
-		/* if upper constraints' bounds do not exist, shift them to infinity */
-		if ( ubA_new != 0 )
-			delta_ubA[i] = ubA_new[i] - ubA[i];
-		else
-			delta_ubA[i] = INFTY - ubA[i];
-	}
-
-	/* 2) Determine if active constraints' bounds are to be shifted. */
-	Delta_bC_isZero = BT_TRUE;
-
-	for ( i=0; i<nAC; ++i )
-	{
-		ii = AC_idx[i];
-
-		if ( ( getAbs( delta_lbA[ii] ) > EPS ) || ( getAbs( delta_ubA[ii] ) > EPS ) )
-		{
-			Delta_bC_isZero = BT_FALSE;
-			break;
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	h o t s t a r t _ d e t e r m i n e S t e p D i r e c t i o n
- */
-returnValue QProblem::hotstart_determineStepDirection(	const int* const FR_idx, const int* const FX_idx, const int* const AC_idx,
-														const real_t* const delta_g, const real_t* const delta_lbA, const real_t* const delta_ubA,
-														const real_t* const delta_lb, const real_t* const delta_ub,
-														BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero,
-														real_t* const delta_xFX, real_t* const delta_xFR,
-														real_t* const delta_yAC, real_t* const delta_yFX
-														)
-{
-	int i, j, ii, jj;
-	int nFR = getNFR( );
-	int nFX = getNFX( );
-	int nAC = getNAC( );
-	int nZ  = getNZ( );
-
-	/* initialise auxiliary vectors */
-	real_t HMX_delta_xFX[NVMAX];
-	real_t YFR_delta_xFRy[NVMAX];
-	real_t ZFR_delta_xFRz[NVMAX];
-	real_t HFR_YFR_delta_xFRy[NVMAX];
-	for( i=0; i<nFR; ++i )
-	{
-		delta_xFR[i] = 0.0;
-		HMX_delta_xFX[i] = 0.0;
-		YFR_delta_xFRy[i] = 0.0;
-		ZFR_delta_xFRz[i] = 0.0;
-		HFR_YFR_delta_xFRy[i] = 0.0;
-	}
-
-	real_t delta_xFRy[NCMAX_ALLOC];
-	real_t delta_xFRz[NVMAX];
-	for( i=0; i<nZ; ++i )
-		delta_xFRz[i] = 0.0;
-
-
-	/* I) DETERMINE delta_xFX */
-	if ( nFX > 0 )
-	{
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-
-			if ( bounds.getStatus( ii ) == ST_LOWER )
-				delta_xFX[i] = delta_lb[ii];
-			else
-				delta_xFX[i] = delta_ub[ii];
-		}
-	}
-
-	/* II) DETERMINE delta_xFR */
-	if ( nFR > 0 )
-	{
-		/* 1) Determine delta_xFRy. */
-		if ( nAC > 0 )
-		{
-			if ( ( Delta_bC_isZero == BT_TRUE ) && ( Delta_bB_isZero == BT_TRUE ) )
-			{
-				for( i=0; i<nAC; ++i )
-					delta_xFRy[i] = 0.0;
-
-				for( i=0; i<nFR; ++i )
-					delta_xFR[i] = 0.0;
-			}
-			else
-			{
-				/* auxillary variable */
-				real_t delta_xFRy_TMP[NCMAX_ALLOC];
-
-				for( i=0; i<nAC; ++i )
-				{
-					ii = AC_idx[i];
-
-					if ( constraints.getStatus( ii ) == ST_LOWER )
-						delta_xFRy_TMP[i] = delta_lbA[ii];
-					else
-						delta_xFRy_TMP[i] = delta_ubA[ii];
-
-					if ( Delta_bB_isZero == BT_FALSE )
-					{
-						for( j=0; j<nFX; ++j )
-						{
-							jj = FX_idx[j];
-							delta_xFRy_TMP[i] -= A[ii*NVMAX + jj] * delta_xFX[j];
-						}
-					}
-				}
-
-				if ( backsolveT( delta_xFRy_TMP, BT_FALSE, delta_xFRy ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_STEPDIRECTION_FAILED_TQ );
-
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					for( j=0; j<nAC; ++j )
-						YFR_delta_xFRy[i] += Q[ii*NVMAX + nZ+j] * delta_xFRy[j];
-
-					/* delta_xFR = YFR*delta_xFRy (+ ZFR*delta_xFRz) */
-					delta_xFR[i] = YFR_delta_xFRy[i];
-				}
-			}
-		}
-
-		/* 2) Determine delta_xFRz. */
-		if ( hessianType == HST_IDENTITY )
-		{
-			for( j=0; j<nFR; ++j )
-			{
-				jj = FR_idx[j];
-				for( i=0; i<nZ; ++i )
-					delta_xFRz[i] -= Q[jj*NVMAX + i] * delta_g[jj];
-			}
-
-			if ( nZ > 0 )
-			{
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					for( j=0; j<nZ; ++j )
-						ZFR_delta_xFRz[i] += Q[ii*NVMAX + j] * delta_xFRz[j];
-
-					delta_xFR[i] += ZFR_delta_xFRz[i];
-				}
-			}
-		}
-		else
-		{
-			if ( Delta_bB_isZero == BT_FALSE )
-			{
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					for( j=0; j<nFX; ++j )
-					{
-						jj = FX_idx[j];
-						HMX_delta_xFX[i] += H[ii*NVMAX + jj] * delta_xFX[j];
-					}
-				}
-			}
-
-			if ( nAC > 0 )
-			{
-				if ( ( Delta_bC_isZero == BT_FALSE ) || ( Delta_bB_isZero == BT_FALSE ) )
-				{
-					for( i=0; i<nFR; ++i )
-					{
-						ii = FR_idx[i];
-						for( j=0; j<nFR; ++j )
-						{
-							jj = FR_idx[j];
-							HFR_YFR_delta_xFRy[i] += H[ii*NVMAX + jj] * YFR_delta_xFRy[j];
-						}
-					}
-				}
-			}
-
-
-			if ( nZ > 0 )
-			{
-				/* auxiliary variable */
-				real_t delta_xFRz_TMP[NVMAX];
-				real_t delta_xFRz_RHS[NVMAX];
-
-
-				if ( ( nAC > 0 ) && ( nFX > 0 ) && ( Delta_bB_isZero == BT_FALSE ) )
-				{
-					for( j=0; j<nFR; ++j )
-					{
-						jj = FR_idx[j];
-						delta_xFRz_RHS[j] = delta_g[jj] + HFR_YFR_delta_xFRy[j] + HMX_delta_xFX[j];
-					}
-				}
-				else
-				{
-					if ( ( nAC == 0 ) && ( Delta_bB_isZero == BT_TRUE ) )
-					{
-						for( j=0; j<nFR; ++j )
-						{
-							jj = FR_idx[j];
-							delta_xFRz_RHS[j] = delta_g[jj];
-						}
-					}
-					else
-					{
-						if ( nAC > 0 ) /* => Delta_bB_isZero == BT_TRUE, as BT_FALSE would imply nFX>0 */
-						{
-							for( j=0; j<nFR; ++j )
-							{
-								jj = FR_idx[j];
-								delta_xFRz_RHS[j] = delta_g[jj] + HFR_YFR_delta_xFRy[j];
-							}
-						}
-						else /* Delta_bB_isZero == BT_FALSE, as nAC==0 */
-						{
-							for( j=0; j<nFR; ++j )
-							{
-								jj = FR_idx[j];
-								delta_xFRz_RHS[j] = delta_g[jj] + HMX_delta_xFX[j];
-							}
-						}
-					}
-				}
-
-				for( j=0; j<nFR; ++j )
-				{
-					jj = FR_idx[j];
-					for( i=0; i<nZ; ++i )
-						delta_xFRz[i] -= Q[jj*NVMAX + i] * delta_xFRz_RHS[j];
-				}
-
-
-				if ( backsolveR( delta_xFRz,BT_TRUE,delta_xFRz_TMP ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_STEPDIRECTION_FAILED_CHOLESKY );
-
-				if ( backsolveR( delta_xFRz_TMP,BT_FALSE,delta_xFRz ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_STEPDIRECTION_FAILED_CHOLESKY );
-
-
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					for( j=0; j<nZ; ++j )
-						ZFR_delta_xFRz[i] += Q[ii*NVMAX + j] * delta_xFRz[j];
-
-					delta_xFR[i] += ZFR_delta_xFRz[i];
-				}
-			}
-		}
-	}
-
-	/* III) DETERMINE delta_yAC */
-	if ( nAC > 0 ) /* => ( nFR = nZ + nAC > 0 ) */
-	{
-		/* auxiliary variables */
-		real_t delta_yAC_TMP[NCMAX_ALLOC];
-		for( i=0; i<nAC; ++i )
-			delta_yAC_TMP[i] = 0.0;
-		real_t delta_yAC_RHS[NVMAX];
-		for( i=0; i<nFR; ++i )
-			delta_yAC_RHS[i] = 0.0;
-
-		if ( hessianType == HST_IDENTITY )
-		{
-			/* delta_yAC = (T')^-1 * ( Yfr*delta_gFR + delta_xFRy ) */
-			for( j=0; j<nAC; ++j )
-			{
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					delta_yAC_TMP[j] += Q[ii*NVMAX + nZ+j] * delta_g[ii];
-				}
-
-				delta_yAC_TMP[j] += delta_xFRy[j];
-			}
-		}
-		else
-		{
-			if ( ( Delta_bC_isZero == BT_TRUE ) && ( Delta_bB_isZero == BT_TRUE ) )
-			{
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					delta_yAC_RHS[i] = delta_g[ii];
-				}
-			}
-			else
-			{
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					delta_yAC_RHS[i] = HFR_YFR_delta_xFRy[i] + delta_g[ii];
-				}
-			}
-
-			if ( nZ > 0 )
-			{
-				for( i=0; i<nFR; ++i )
-				{
-					ii = FR_idx[i];
-					for( j=0; j<nFR; ++j )
-					{
-						jj = FR_idx[j];
-						delta_yAC_RHS[i] += H[ii*NVMAX + jj] * ZFR_delta_xFRz[j];
-					}
-				}
-			}
-
-			if ( nFX > 0 )
-			{
-				if ( Delta_bB_isZero == BT_FALSE )
-				{
-					for( i=0; i<nFR; ++i )
-						delta_yAC_RHS[i] += HMX_delta_xFX[i];
-				}
-			}
-
-			for( i=0; i<nAC; ++i)
-			{
-				for( j=0; j<nFR; ++j )
-				{
-					jj = FR_idx[j];
-					delta_yAC_TMP[i] += Q[jj*NVMAX + nZ+i] * delta_yAC_RHS[j];
-				}
-			}
-		}
-
-		if ( backsolveT( delta_yAC_TMP,BT_TRUE,delta_yAC ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_STEPDIRECTION_FAILED_TQ );
-	}
-
-
-	/* IV) DETERMINE delta_yFX */
-	if ( nFX > 0 )
-	{
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-
-			delta_yFX[i] = delta_g[ii];
-
-			for( j=0; j<nAC; ++j )
-			{
-				jj = AC_idx[j];
-				delta_yFX[i] -= A[jj*NVMAX + ii] * delta_yAC[j];
-			}
-
-			if ( hessianType == HST_IDENTITY )
-			{
-				delta_yFX[i] += delta_xFX[i];
-			}
-			else
-			{
-				for( j=0; j<nFR; ++j )
-				{
-					jj = FR_idx[j];
-					delta_yFX[i] += H[ii*NVMAX + jj] * delta_xFR[j];
-				}
-
-				if ( Delta_bB_isZero == BT_FALSE )
-				{
-					for( j=0; j<nFX; ++j )
-					{
-						jj = FX_idx[j];
-						delta_yFX[i] += H[ii*NVMAX + jj] * delta_xFX[j];
-					}
-				}
-			}
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	h o t s t a r t _ d e t e r m i n e S t e p L e n g t h
- */
-returnValue QProblem::hotstart_determineStepLength(	const int* const FR_idx, const int* const FX_idx, const int* const AC_idx, const int* const IAC_idx,
-													const real_t* const delta_lbA, const real_t* const delta_ubA,
-													const real_t* const delta_lb, const real_t* const delta_ub,
-													const real_t* const delta_xFX, const real_t* const delta_xFR,
-													const real_t* const delta_yAC, const real_t* const delta_yFX,
-													real_t* const delta_Ax, int& BC_idx, SubjectToStatus& BC_status, BooleanType& BC_isBound
-													)
-{
-	int i, j, ii, jj;
-	int nV  = getNV( );
-	int nC  = getNC( );
-	int nFR = getNFR( );
-	int nFX = getNFX( );
-	int nAC = getNAC( );
-	int nIAC = getNIAC( );
-
-	/* initialise maximum steplength array */
-	real_t maxStepLength[2*(NVMAX+NCMAX_ALLOC)];
-	for ( i=0; i<2*(nV+nC); ++i )
-		maxStepLength[i] = 1.0;
-
-
-	/* I) DETERMINE MAXIMUM DUAL STEPLENGTH: */
-	/* 1) Ensure that active dual constraints' bounds remain valid
-	 *    (ignoring inequality constraints).  */
-	for( i=0; i<nAC; ++i )
-	{
-		ii = AC_idx[i];
-
-		if ( constraints.getType( ii ) != ST_EQUALITY )
-		{
-			if ( constraints.getStatus( ii ) == ST_LOWER )
-			{
-				/* active lower constraints' bounds */
-				if ( delta_yAC[i] < -ZERO )
-				{
-					if ( y[nV+ii] > 0.0 )
-						maxStepLength[nV+ii] = y[nV+ii] / ( -delta_yAC[i] );
-					else
-						maxStepLength[nV+ii] = 0.0;
-				}
-			}
-			else
-			{
-				/* active upper constraints' bounds */
-				if ( delta_yAC[i] > ZERO )
-				{
-					if ( y[nV+ii] < 0.0 )
-						maxStepLength[nV+ii] = y[nV+ii] / ( -delta_yAC[i] );
-					else
-						maxStepLength[nV+ii] = 0.0;
-				}
-			}
-		}
-	}
-
-	/* 2) Ensure that active dual bounds remain valid
-	 *    (ignoring implicitly fixed variables). */
-	for( i=0; i<nFX; ++i )
-	{
-		ii = FX_idx[i];
-
-		if ( bounds.getType( ii ) != ST_EQUALITY )
-		{
-			if ( bounds.getStatus( ii ) == ST_LOWER )
-			{
-				/* active lower bounds */
-				if ( delta_yFX[i] < -ZERO )
-				{
-					if ( y[ii] > 0.0 )
-						maxStepLength[ii] = y[ii] / ( -delta_yFX[i] );
-					else
-						maxStepLength[ii] = 0.0;
-				}
-			}
-			else
-			{
-				/* active upper bounds */
-				if ( delta_yFX[i] > ZERO )
-				{
-					if ( y[ii] < 0.0 )
-						maxStepLength[ii] = y[ii] / ( -delta_yFX[i] );
-					else
-						maxStepLength[ii] = 0.0;
-				}
-			}
-		}
-	}
-
-
-	/* II) DETERMINE MAXIMUM PRIMAL STEPLENGTH */
-	/* 1) Ensure that inactive constraints' bounds remain valid
-	 *    (ignoring unbounded constraints). */
-	real_t delta_x[NVMAX];
-	for( j=0; j<nFR; ++j )
-	{
-		jj = FR_idx[j];
-		delta_x[jj] = delta_xFR[j];
-	}
-	for( j=0; j<nFX; ++j )
-	{
-		jj = FX_idx[j];
-		delta_x[jj] = delta_xFX[j];
-	}
-
-	for( i=0; i<nIAC; ++i )
-	{
-		ii = IAC_idx[i];
-
-		if ( constraints.getType( ii ) != ST_UNBOUNDED )
-		{
-			delta_Ax[ii] = 0.0;
-			for( j=0; j<nV; ++j )
-				delta_Ax[ii] += A[ii*NVMAX + j] * delta_x[j]; // POSSIBLE SPEEDUP!
-
-			/* inactive lower constraints' bounds */
-			if ( constraints.isNoLower( ) == BT_FALSE )
-			{
-				if ( delta_lbA[ii] > delta_Ax[ii] )
-				{
-					if ( Ax[ii] > lbA[ii] )
-						maxStepLength[nV+ii] = ( Ax[ii] - lbA[ii] ) / ( delta_lbA[ii] - delta_Ax[ii] );
-					else
-						maxStepLength[nV+ii] = 0.0;
-				}
-			}
-
-			/* inactive upper constraints' bounds */
-			if ( constraints.isNoUpper( ) == BT_FALSE )
-			{
-				if ( delta_ubA[ii] < delta_Ax[ii] )
-				{
-					if ( Ax[ii] < ubA[ii] )
-						maxStepLength[nV+nC+nV+ii] = ( Ax[ii] - ubA[ii] ) / ( delta_ubA[ii] - delta_Ax[ii] );
-					else
-						maxStepLength[nV+nC+nV+ii] = 0.0;
-				}
-			}
-		}
-	}
-
-
-	/* 2) Ensure that inactive bounds remain valid
-	 *    (ignoring unbounded variables). */
-	/* inactive lower bounds */
-	if ( bounds.isNoLower( ) == BT_FALSE )
-	{
-		for( i=0; i<nFR; ++i )
-		{
-			ii = FR_idx[i];
-			if ( bounds.getType( ii ) != ST_UNBOUNDED )
-				if ( delta_lb[ii] > delta_xFR[i] )
-				{
-					if ( x[ii] > lb[ii] )
-						maxStepLength[ii] = ( x[ii] - lb[ii] ) / ( delta_lb[ii] - delta_xFR[i] );
-					else
-						maxStepLength[ii] = 0.0;
-				}
-		}
-	}
-
-	/* inactive upper bounds */
-	if ( bounds.isNoUpper( ) == BT_FALSE )
-	{
-		for( i=0; i<nFR; ++i )
-		{
-			ii = FR_idx[i];
-			if ( bounds.getType( ii ) != ST_UNBOUNDED )
-				if ( delta_ub[ii] < delta_xFR[i] )
-				{
-					if ( x[ii] < ub[ii] )
-						maxStepLength[nV+nC+ii] = ( x[ii] - ub[ii] ) / ( delta_ub[ii] - delta_xFR[i] );
-					else
-						maxStepLength[nV+nC+ii] = 0.0;
-				}
-		}
-	}
-
-
-	/* III) DETERMINE MAXIMUM HOMOTOPY STEPLENGTH */
-	real_t tau_new = 1.0;
-
-	BC_idx = 0;
-	BC_status = ST_UNDEFINED;
-	BC_isBound = BT_FALSE;
-
-	for ( i=0; i<nV; ++i )
-	{
-		/* 1) Consider lower/dual blocking bounds. */
-		if ( maxStepLength[i] < tau_new )
-		{
-			tau_new = maxStepLength[i];
-			BC_idx = i;
-			BC_isBound = BT_TRUE;
-			if ( bounds.getStatus( i ) == ST_INACTIVE ) /* inactive? */
-				BC_status = ST_LOWER;
-			else
-				BC_status = ST_INACTIVE;
-		}
-
-		/* 2) Consider upper blocking bounds. */
-		if ( maxStepLength[nV+nC+i] < tau_new )
-		{
-			tau_new = maxStepLength[nV+nC+i];
-			BC_idx = i;
-			BC_isBound = BT_TRUE;
-			BC_status = ST_UPPER;
-		}
-	}
-
-	for ( i=nV; i<nV+nC; ++i )
-	{
-		/* 3) Consider lower/dual blocking constraints. */
-		if ( maxStepLength[i] < tau_new )
-		{
-			tau_new = maxStepLength[i];
-			BC_idx = i-nV;
-			BC_isBound = BT_FALSE;
-			if ( constraints.getStatus( i-nV ) == ST_INACTIVE ) /* inactive? */
-				BC_status = ST_LOWER;
-			else
-				BC_status = ST_INACTIVE;
-		}
-
-		/* 4) Consider upper blocking constraints. */
-		if ( maxStepLength[nV+nC+i] < tau_new )
-		{
-			tau_new = maxStepLength[nV+nC+i];
-			BC_idx = i-nV;
-			BC_isBound = BT_FALSE;
-			BC_status = ST_UPPER;
-		}
-	}
-
-
-	/* IV) CLEAR CYCLING DATA
-	 *     if a positive step can be taken */
-	if ( tau_new > EPS )
-		cyclingManager.clearCyclingData( );
-
-
-	/* V) SET MAXIMUM HOMOTOPY STEPLENGTH */
-	tau = tau_new;
-
-	#ifdef PC_DEBUG
-	if ( printlevel == PL_HIGH )
-	{
-
-	 	char messageString[80];
-
-		if ( BC_status == ST_UNDEFINED )
-			sprintf( messageString,"Stepsize is %.6e!",tau );
-		else
-			sprintf( messageString,"Stepsize is %.6e! (BC_idx = %d, BC_isBound = %d, BC_status = %d)",tau,BC_idx,BC_isBound,BC_status );
-
-		getGlobalMessageHandler( )->throwInfo( RET_STEPSIZE_NONPOSITIVE,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-	}
-	#endif
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	h o t s t a r t _ p e r f o r m S t e p
- */
-returnValue QProblem::hotstart_performStep(	const int* const FR_idx, const int* const FX_idx, const int* const AC_idx, const int* const IAC_idx,
-											const real_t* const delta_g, const real_t* const delta_lbA, const real_t* const delta_ubA,
-											const real_t* const delta_lb, const real_t* const delta_ub,
-											const real_t* const delta_xFX, const real_t* const delta_xFR,
-											const real_t* const delta_yAC, const real_t* const delta_yFX,
-											const real_t* const delta_Ax, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound
-											)
-{
-	int i, j, ii;
-	int nV  = getNV( );
-	int nC  = getNC( );
-	int nFR = getNFR( );
-	int nFX = getNFX( );
-	int nAC = getNAC( );
-	int nIAC = getNIAC( );
-
-
-	/* I) CHECK (CONSTRAINTS') BOUNDS' CONSISTENCY */
-	if ( areBoundsConsistent( delta_lb,delta_ub,delta_lbA,delta_ubA ) == BT_FALSE )
-	{
-		infeasible = BT_TRUE;
-		tau = 0.0;
-
-		return THROWERROR( RET_QP_INFEASIBLE );
-	}
-
-
-	/* II) GO TO ACTIVE SET CHANGE */
-	if ( tau > ZERO )
-	{
-		/* 1) Perform step in primal und dual space... */
-		for( i=0; i<nFR; ++i )
-		{
-			ii = FR_idx[i];
-			x[ii] += tau*delta_xFR[i];
-		}
-
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-			x[ii] += tau*delta_xFX[i];
-			y[ii] += tau*delta_yFX[i];
-		}
-
-		for( i=0; i<nAC; ++i )
-		{
-			ii = AC_idx[i];
-			y[nV+ii] += tau*delta_yAC[i];
-		}
-
-		/* ... also for Ax. */
-		for( i=0; i<nIAC; ++i )
-		{
-			ii = IAC_idx[i];
-			if ( constraints.getType( ii ) != ST_UNBOUNDED )
-				Ax[ii] += tau*delta_Ax[ii];
-		}
-		for( i=0; i<nAC; ++i )
-		{
-			ii = AC_idx[i];
-
-			Ax[ii] = 0.0;
-			for( j=0; j<nV; ++j )
-				Ax[ii] += A[ii*NVMAX + j] * x[j];
-		}
-
-		/* 2) Shift QP data. */
-		for( i=0; i<nV; ++i )
-		{
-			g[i]  += tau*delta_g[i];
-			lb[i] += tau*delta_lb[i];
-			ub[i] += tau*delta_ub[i];
-		}
-
-		for( i=0; i<nC; ++i )
-		{
-			lbA[i] += tau*delta_lbA[i];
-			ubA[i] += tau*delta_ubA[i];
-		}
-	}
-	else
-	{
-		/* print a stepsize warning if stepsize is zero */
-		#ifdef PC_DEBUG
-		char messageString[80];
-		sprintf( messageString,"Stepsize is %.6e",tau );
-		getGlobalMessageHandler( )->throwWarning( RET_STEPSIZE,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		#endif
-	}
-
-
-	/* setup output preferences */
-	#ifdef PC_DEBUG
-	char messageString[80];
-	VisibilityStatus visibilityStatus;
-
-	if ( printlevel == PL_HIGH )
-		visibilityStatus = VS_VISIBLE;
-	else
-		visibilityStatus = VS_HIDDEN;
-	#endif
-
-	
-	/* III) UPDATE ACTIVE SET */
-	switch ( BC_status )
-	{
-		/* Optimal solution found as no working set change detected. */
-		case ST_UNDEFINED:
-			return RET_OPTIMAL_SOLUTION_FOUND;
-
-
-		/* Remove one variable from active set. */
-		case ST_INACTIVE:
-			if ( BC_isBound == BT_TRUE )
-			{
-				#ifdef PC_DEBUG
-				sprintf( messageString,"bound no. %d.", BC_idx );
-				getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-				#endif
-
-				if ( removeBound( BC_idx,BT_TRUE ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED );
-
-				y[BC_idx] = 0.0;
-			}
-			else
-			{
-				#ifdef PC_DEBUG
-				sprintf( messageString,"constraint no. %d.", BC_idx );
-				getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-				#endif
-
-				if ( removeConstraint( BC_idx,BT_TRUE ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED );
-
-				y[nV+BC_idx] = 0.0;
-			}
-			break;
-
-
-		/* Add one variable to active set. */
-		default:
-			if ( BC_isBound == BT_TRUE )
-			{
-				#ifdef PC_DEBUG
-				if ( BC_status == ST_LOWER )
-					sprintf( messageString,"lower bound no. %d.", BC_idx );
-				else
-					sprintf( messageString,"upper bound no. %d.", BC_idx );
-				getGlobalMessageHandler( )->throwInfo( RET_ADD_TO_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-				#endif
-
-				if ( addBound( BC_idx,BC_status,BT_TRUE ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_ADD_TO_ACTIVESET_FAILED );
-			}
-			else
-			{
-				#ifdef PC_DEBUG
-				if ( BC_status == ST_LOWER )
-					sprintf( messageString,"lower constraint's bound no. %d.", BC_idx );
-				else
-					sprintf( messageString,"upper constraint's bound no. %d.", BC_idx );
-				getGlobalMessageHandler( )->throwInfo( RET_ADD_TO_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-				#endif
-
-				if ( addConstraint( BC_idx,BC_status,BT_TRUE ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_ADD_TO_ACTIVESET_FAILED );
-			}
-			break;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	a r e B o u n d s C o n s i s t e n t
- */
-BooleanType QProblem::areBoundsConsistent(	const real_t* const delta_lb, const real_t* const delta_ub,
-											const real_t* const delta_lbA, const real_t* const delta_ubA
-											) const
-{
-	int i;
-
-	/* 1) Check bounds' consistency. */
-	if ( QProblemB::areBoundsConsistent( delta_lb,delta_ub ) == BT_FALSE )
-		return BT_FALSE;
-
-	/* 2) Check constraints' consistency, i.e.
-	 *    check if delta_lb[i] is greater than delta_ub[i]
-	 *    for a component i whose bounds are already (numerically) equal. */
-	for( i=0; i<getNC( ); ++i )
-		if ( ( lbA[i] > ubA[i] - BOUNDTOL ) && ( delta_lbA[i] > delta_ubA[i] + EPS ) )
-			return BT_FALSE;
-
-	return BT_TRUE;
-}
-
-
-/*
- *	s e t u p Q P d a t a
- */
-returnValue QProblem::setupQPdata(	const real_t* const _H, const real_t* const _R, const real_t* const _g, const real_t* const _A,
-									const real_t* const _lb, const real_t* const _ub,
-									const real_t* const _lbA, const real_t* const _ubA
-									)
-{
-	int i, j;
-	int nV = getNV( );
-	int nC = getNC( );
-
-
-	/* 1) Load Hessian matrix as well as lower and upper bounds vectors. */
-	if (QProblemB::setupQPdata(_H, _R, _g, _lb, _ub) != SUCCESSFUL_RETURN)
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	/* 2) Load constraint matrix. */
-	if ( ( nC > 0 ) && ( _A == 0 ) )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	if ( nC > 0 )
-	{
-		for( i=0; i<nC; ++i )
-			for( j=0; j<nV; ++j )
-				A[i*NVMAX + j] = _A[i*nV + j];
-
-		/* 3) Setup lower constraints' bounds vector. */
-		if ( _lbA != 0 )
-		{
-			for( i=0; i<nC; ++i )
-				lbA[i] = _lbA[i];
-		}
-		else
-		{
-			/* if no lower constraints' bounds are specified, set them to -infinity */
-			for( i=0; i<nC; ++i )
-				lbA[i] = -INFTY;
-		}
-
-		/* 4) Setup upper constraints' bounds vector. */
-		if ( _ubA != 0 )
-		{
-			for( i=0; i<nC; ++i )
-				ubA[i] = _ubA[i];
-		}
-		else
-		{
-			/* if no upper constraints' bounds are specified, set them to infinity */
-			for( i=0; i<nC; ++i )
-				ubA[i] = INFTY;
-		}
-	}
-
-// 	printmatrix2( "A",A,10,20 );
-	
-// 	printmatrix2( "lbA",lbA,1,nC );
-// 	printmatrix2( "ubA",ubA,1,nC );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-#ifdef PC_DEBUG  /* Define print functions only for debugging! */
-
-/*
- *	p r i n t I t e r a t i o n
- */
-returnValue QProblem::printIteration( 	int iteration,
-										int BC_idx,	SubjectToStatus BC_status, BooleanType BC_isBound
-		  								)
-{
-	char myPrintfString[160];
-
-	/* consistency check */
-	if ( iteration < 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	/* nothing to do */
-	if ( printlevel != PL_MEDIUM )
-		return SUCCESSFUL_RETURN;
-
-
-	/* 1) Print header at first iteration. */
- 	if ( iteration == 0 )
-	{
-		sprintf( myPrintfString,"\n##############  qpOASES  --  QP NO.%4.1d  ###############\n", count );
-		myPrintf( myPrintfString );
-
-		sprintf( myPrintfString,"  Iter  |  StepLength   |     Info      |  nFX  |  nAC  \n" );
-		myPrintf( myPrintfString );
-	}
-
-	/* 2) Print iteration line. */
-	if ( BC_status == ST_UNDEFINED )
-	{
-		sprintf( myPrintfString,"  %4.1d  |  %1.5e  |   QP SOLVED   | %4.1d  | %4.1d  \n", iteration,tau,getNFX( ),getNAC( ) );
-		myPrintf( myPrintfString );
-	}
-	else
-	{
-		char info[8];
-
-		if ( BC_status == ST_INACTIVE )
-			sprintf( info,"REM " );
-		else
-			sprintf( info,"ADD " );
-
-		if ( BC_isBound == BT_TRUE )
-			sprintf( &(info[4]),"BND" );
-		else
-			sprintf( &(info[4]),"CON" );
-
-		sprintf( myPrintfString,"  %4.1d  |  %1.5e  |  %s%4.1d  | %4.1d  | %4.1d  \n", iteration,tau,info,BC_idx,getNFX( ),getNAC( ) );
-		myPrintf( myPrintfString );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t I t e r a t i o n
- */
-returnValue QProblem::printIteration( 	int iteration,
-										int BC_idx,	SubjectToStatus BC_status
-		  								)
-{
-	return printIteration( iteration,BC_idx,BC_status,BT_TRUE );
-}
-
-#endif  /* PC_DEBUG */
-
-
-
-/*
- *	c h e c k K K T c o n d i t i o n s
- */
-returnValue QProblem::checkKKTconditions( )
-{
-	#ifdef __PERFORM_KKT_TEST__
-
-	int i, j, jj;
-	int nV  = getNV( );
-	int nC  = getNC( );
-	int nAC = getNAC( );
-
-	real_t tmp;
-	real_t maxKKTviolation = 0.0;
-
-	int AC_idx[NCMAX_ALLOC];
-	constraints.getActive( )->getNumberArray( AC_idx );
-
-	/* 1) check for Hx + g - [yFX yAC]*[Id A]' = 0. */
-	for( i=0; i<nV; ++i )
-	{
-		tmp = g[i];
-
-		for( j=0; j<nV; ++j )
-			tmp += H[i*NVMAX + j] * x[j];
-
-		tmp -= y[i];
-
-		/* Only sum over active constraints as y is zero for all inactive ones. */
-		for( j=0; j<nAC; ++j )
-		{
-			jj = AC_idx[j];
-			tmp -= A[jj*NVMAX + i] * y[nV+jj];
-		}
-
-		if ( getAbs( tmp ) > maxKKTviolation )
-			maxKKTviolation = getAbs( tmp );
-	}
-
-	/* 2) Check for [lb lbA] <= [Id A]*x <= [ub ubA]. */
-	/* lbA <= Ax <= ubA */
-	for( i=0; i<nC; ++i )
-	{
-		if ( lbA[i] - Ax[i] > maxKKTviolation )
-			maxKKTviolation = lbA[i] - Ax[i];
-
-		if ( Ax[i] - ubA[i] > maxKKTviolation )
-			maxKKTviolation = Ax[i] - ubA[i];
-	}
-
-	/* lb <= x <= ub */
-	for( i=0; i<nV; ++i )
-	{
-		if ( lb[i] - x[i] > maxKKTviolation )
-			maxKKTviolation = lb[i] - x[i];
-
-		if ( x[i] - ub[i] > maxKKTviolation )
-			maxKKTviolation = x[i] - ub[i];
-	}
-
-	/* 3) Check for correct sign of y and for complementary slackness. */
-	/* bounds */
-	for( i=0; i<nV; ++i )
-	{
-		switch ( bounds.getStatus( i ) )
-		{
-			case ST_LOWER:
-				if ( -y[i] > maxKKTviolation )
-					maxKKTviolation = -y[i];
-				if ( getAbs( x[i] - lb[i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( x[i] - lb[i] );
-				break;
-
-			case ST_UPPER:
-				if ( y[i] > maxKKTviolation )
-					maxKKTviolation = y[i];
-				if ( getAbs( ub[i] - x[i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( ub[i] - x[i] );
-				break;
-
-			default: /* inactive */
-			if ( getAbs( y[i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( y[i] );
-				break;
-		}
-	}
-
-	/* constraints */
-	for( i=0; i<nC; ++i )
-	{
-		switch ( constraints.getStatus( i ) )
-		{
-			case ST_LOWER:
-				if ( -y[nV+i] > maxKKTviolation )
-					maxKKTviolation = -y[nV+i];
-				if ( getAbs( Ax[i] - lbA[i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( Ax[i] - lbA[i] );
-				break;
-
-			case ST_UPPER:
-				if ( y[nV+i] > maxKKTviolation )
-					maxKKTviolation = y[nV+i];
-				if ( getAbs( ubA[i] - Ax[i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( ubA[i] - Ax[i] );
-				break;
-
-			default: /* inactive */
-			if ( getAbs( y[nV+i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( y[nV+i] );
-				break;
-		}
-	}
-
-	if ( maxKKTviolation > CRITICALACCURACY )
-		return RET_NO_SOLUTION;
-
-	if ( maxKKTviolation > DESIREDACCURACY )
-		return RET_INACCURATE_SOLUTION;
-
-	#endif /* __PERFORM_KKT_TEST__ */
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/QProblem.ipp b/phonelibs/qpoases/SRC/QProblem.ipp
deleted file mode 100644
index e98ada6330fb22..00000000000000
--- a/phonelibs/qpoases/SRC/QProblem.ipp
+++ /dev/null
@@ -1,299 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/QProblem.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the QProblem class which 
- *	is able to use the newly developed online active set strategy for 
- *	parametric quadratic programming.
- */
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t A
- */
-inline returnValue QProblem::getA( real_t* const _A ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( )*getNC( ); ++i )
-		_A[i] = A[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t A
- */
-inline returnValue QProblem::getA( int number, real_t* const row ) const
-{
-	int nV = getNV( );
-		
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		for ( int i=0; i<nV; ++i )
-			row[i] = A[number*NVMAX + i];
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	g e t L B A
- */
-inline returnValue QProblem::getLBA( real_t* const _lbA ) const
-{
-	int i;
-
-	for ( i=0; i<getNC( ); ++i )
-		_lbA[i] = lbA[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t L B A
- */
-inline returnValue QProblem::getLBA( int number, real_t& value ) const
-{
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		value = lbA[number];
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	g e t U B A
- */
-inline returnValue QProblem::getUBA( real_t* const _ubA ) const
-{
-	int i;
-
-	for ( i=0; i<getNC( ); ++i )
-		_ubA[i] = ubA[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t U B A
- */
-inline returnValue QProblem::getUBA( int number, real_t& value ) const
-{
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		value = ubA[number];
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	g e t C o n s t r a i n t s
- */
-inline returnValue QProblem::getConstraints( Constraints* const _constraints ) const
-{
-	*_constraints = constraints;
-	
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	g e t N C
- */
-inline int QProblem::getNC( ) const
-{
-	return constraints.getNC( );
-}
-
-
-/*
- *	g e t N E C
- */
-inline int QProblem::getNEC( ) const
-{
-	return constraints.getNEC( );
-}
-
-
-/*
- *	g e t N A C
- */
-inline int QProblem::getNAC( )
-{
-	return constraints.getNAC( );
-}
-
-
-/*
- *	g e t N I A C
- */
-inline int QProblem::getNIAC( )
-{
-	return constraints.getNIAC( );
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
- 
-
-/*
- *	s e t A
- */
-inline returnValue QProblem::setA( const real_t* const A_new )
-{
-	int i, j;
-	int nV = getNV( );
-	int nC = getNC( );
-
-	/* Set constraint matrix AND update member AX. */
-	for( j=0; j<nC; ++j )
-	{
-		Ax[j] = 0.0;
-
-		for( i=0; i<nV; ++i )
-		{	
-			A[j*NVMAX + i] = A_new[j*nV + i];
-			Ax[j] += A[j*NVMAX + i] * x[i];
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t A
- */
-inline returnValue QProblem::setA( int number, const real_t* const row )
-{
-	int i;
-	int nV = getNV( );
-
-	/* Set constraint matrix AND update member AX. */
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		Ax[number] = 0.0;
-
-		for( i=0; i<nV; ++i )
-		{
-			A[number*NVMAX + i] = row[i];
-			Ax[number] += A[number*NVMAX + i] * x[i];
-		}
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t L B A
- */
-inline returnValue QProblem::setLBA( const real_t* const lbA_new )
-{
-	int i;
-	int nC = getNC();
-
-	for( i=0; i<nC; ++i )
-		lbA[i] = lbA_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-inline returnValue QProblem::setLBA( int number, real_t value )
-{
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		lbA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t U B A
- */
-inline returnValue QProblem::setUBA( const real_t* const ubA_new )
-{
-	int i;
-	int nC = getNC();
-
-	for( i=0; i<nC; ++i )
-		ubA[i] = ubA_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B A
- */
-inline returnValue QProblem::setUBA( int number, real_t value )
-{
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		ubA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/QProblemB.cpp b/phonelibs/qpoases/SRC/QProblemB.cpp
deleted file mode 100644
index 47ac3536f35cf5..00000000000000
--- a/phonelibs/qpoases/SRC/QProblemB.cpp
+++ /dev/null
@@ -1,2151 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/QProblemB.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the QProblemB class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming.
- */
-
-
-#include <QProblemB.hpp>
-
-#include <stdio.h>
-
-void printmatrix(char *name, double *A, int m, int n) {
-  int i, j;
-
-  printf("%s = [...\n", name);
-  for (i = 0; i < m; i++) {
-    for (j = 0; j < n; j++)
-        printf("  % 9.4f", A[i*n+j]);
-    printf(",\n");
-  }
-  printf("];\n");
-}
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	Q P r o b l e m B
- */
-QProblemB::QProblemB( )
-{
-	/* reset global message handler */
-	getGlobalMessageHandler( )->reset( );
-
-	hasHessian = BT_FALSE;
-
-	bounds.init( 0 );
-
-	hasCholesky = BT_FALSE;
-
-	tau = 0.0;
-
-	hessianType = HST_POSDEF_NULLSPACE; /* Hessian is assumed to be positive definite by default */
-	infeasible = BT_FALSE;
-	unbounded = BT_FALSE;
-
-	status = QPS_NOTINITIALISED;
-
-	#ifdef PC_DEBUG
-	printlevel = PL_MEDIUM;
-	setPrintLevel( PL_MEDIUM );
-	#else
-	printlevel = QPOASES_PRINTLEVEL;
-	#endif
-
-	count = 0;
-}
-
-
-/*
- *	Q P r o b l e m B
- */
-QProblemB::QProblemB( int _nV )
-{
-	/* consistency check */
-	if ( _nV <= 0 )
-	{
-		_nV = 1;
-		THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-	hasHessian = BT_FALSE;
-
-	/* reset global message handler */
-	getGlobalMessageHandler( )->reset( );
-
-	bounds.init( _nV );
-
-	hasCholesky = BT_FALSE;
-
-	tau = 0.0;
-
-	hessianType = HST_POSDEF_NULLSPACE; /* Hessian is assumed to be positive definite by default */
-	infeasible = BT_FALSE;
-	unbounded = BT_FALSE;
-
-	status = QPS_NOTINITIALISED;
-
-	#ifdef PC_DEBUG
-	printlevel = PL_MEDIUM;
-	setPrintLevel( PL_MEDIUM );
-	#else
-	printlevel = QPOASES_PRINTLEVEL;
-	#endif
-
-	count = 0;
-}
-
-
-/*
- *	Q P r o b l e m B
- */
-QProblemB::QProblemB( const QProblemB& rhs )
-{
-	int i, j;
-
-	int _nV = rhs.bounds.getNV( );
-
-	for( i=0; i<_nV; ++i )
-		for( j=0; j<_nV; ++j )
-			H[i*NVMAX + j] = rhs.H[i*NVMAX + j];
-
-	hasHessian = rhs.hasHessian;
-
-	for( i=0; i<_nV; ++i )
-		g[i] = rhs.g[i];
-
-	for( i=0; i<_nV; ++i )
-		lb[i] = rhs.lb[i];
-
-	for( i=0; i<_nV; ++i )
-		ub[i] = rhs.ub[i];
-
-
-	bounds = rhs.bounds;
-
-	for( i=0; i<_nV; ++i )
-		for( j=0; j<_nV; ++j )
-			R[i*NVMAX + j] = rhs.R[i*NVMAX + j];
-	hasCholesky = rhs.hasCholesky;
-
-	for( i=0; i<_nV; ++i )
-		x[i] = rhs.x[i];
-
-	for( i=0; i<_nV; ++i )
-		y[i] = rhs.y[i];
-
-	tau = rhs.tau;
-
-	hessianType = rhs.hessianType;
-	infeasible = rhs.infeasible;
-	unbounded = rhs.unbounded;
-
-	status = rhs.status;
-
-	printlevel = rhs.printlevel;
-
-	count = rhs.count;
-}
-
-
-/*
- *	~ Q P r o b l e m B
- */
-QProblemB::~QProblemB( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-QProblemB& QProblemB::operator=( const QProblemB& rhs )
-{
-	int i, j;
-
-	if ( this != &rhs )
-	{
-		int _nV = rhs.bounds.getNV( );
-
-		for( i=0; i<_nV; ++i )
-			for( j=0; j<_nV; ++j )
-				H[i*NVMAX + j] = rhs.H[i*NVMAX + j];
-
-		hasHessian = rhs.hasHessian;
-
-		for( i=0; i<_nV; ++i )
-			g[i] = rhs.g[i];
-
-		for( i=0; i<_nV; ++i )
-			lb[i] = rhs.lb[i];
-
-		for( i=0; i<_nV; ++i )
-			ub[i] = rhs.ub[i];
-
-		bounds = rhs.bounds;
-
-		for( i=0; i<_nV; ++i )
-			for( j=0; j<_nV; ++j )
-				R[i*NVMAX + j] = rhs.R[i*NVMAX + j];
-		hasCholesky = rhs.hasCholesky;
-
-
-		for( i=0; i<_nV; ++i )
-			x[i] = rhs.x[i];
-
-		for( i=0; i<_nV; ++i )
-			y[i] = rhs.y[i];
-
-		tau = rhs.tau;
-
-		hessianType = rhs.hessianType;
-		infeasible = rhs.infeasible;
-		unbounded = rhs.unbounded;
-
-		status = rhs.status;
-
-		printlevel = rhs.printlevel;
-		setPrintLevel( rhs.printlevel );
-
-		count = rhs.count;
-	}
-
-	return *this;
-}
-
-
-/*
- *	r e s e t
- */
-returnValue QProblemB::reset( )
-{
-	int i, j;
-	int nV = getNV( );
-
-	/** 0) Reset has Hessian flag. */
-	hasHessian = BT_FALSE;
-
-	/* 1) Reset bounds. */
-	bounds.init( nV );
-
-	/* 2) Reset Cholesky decomposition. */
-	for( i=0; i<nV; ++i )
-		for( j=0; j<nV; ++j )
-			R[i*NVMAX + j] = 0.0;
-	hasCholesky = BT_FALSE;
-
-	/* 3) Reset steplength and status flags. */
-	tau = 0.0;
-
-	hessianType = HST_POSDEF_NULLSPACE; /* Hessian is assumed to be positive definite by default */
-	infeasible = BT_FALSE;
-	unbounded = BT_FALSE;
-
-	status = QPS_NOTINITIALISED;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	i n i t
- */
-returnValue QProblemB::init(	const real_t* const _H, const real_t* const _g,
-								const real_t* const _lb, const real_t* const _ub,
-								int& nWSR, const real_t* const yOpt, real_t* const cputime
-								)
-{
-	/* 1) Setup QP data. */
-	if (setupQPdata(_H, 0, _g, _lb, _ub) != SUCCESSFUL_RETURN)
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	/* 2) Call to main initialisation routine (without any additional information). */
-	return solveInitialQP(0, yOpt, 0, nWSR, cputime);
-}
-
-returnValue QProblemB::init(	const real_t* const _H, const real_t* const _R, const real_t* const _g,
-								const real_t* const _lb, const real_t* const _ub,
-								int& nWSR, const real_t* const yOpt, real_t* const cputime
-								)
-{
-	/* 1) Setup QP data. */
-	if (setupQPdata(_H, _R, _g, _lb, _ub) != SUCCESSFUL_RETURN)
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	/* 2) Call to main initialisation routine (without any additional information). */
-	return solveInitialQP(0, yOpt, 0, nWSR, cputime);
-}
-
-
-/*
- *	h o t s t a r t
- */
-returnValue QProblemB::hotstart(	const real_t* const g_new, const real_t* const lb_new, const real_t* const ub_new,
-									int& nWSR, real_t* const cputime
-									)
-{
-	int l;
-
-	/* consistency check */
-	if ( ( getStatus( ) == QPS_NOTINITIALISED )       ||
-		 ( getStatus( ) == QPS_PREPARINGAUXILIARYQP ) ||
-		 ( getStatus( ) == QPS_PERFORMINGHOMOTOPY )   )
-	{
-		return THROWERROR( RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED );
-	}
-
-	/* start runtime measurement */
-	real_t starttime = 0.0;
-	if ( cputime != 0 )
-		starttime = getCPUtime( );
-
-
-	/* I) PREPARATIONS */
-	/* 1) Reset status flags and increase QP counter. */
-	infeasible = BT_FALSE;
-	unbounded = BT_FALSE;
-
-	++count;
-
-	/* 2) Allocate delta vectors of gradient and bounds. */
-	returnValue returnvalue;
-	BooleanType Delta_bB_isZero;
-
-	int FR_idx[NVMAX];
-	int FX_idx[NVMAX];
-
-	real_t delta_g[NVMAX];
-	real_t delta_lb[NVMAX];
-	real_t delta_ub[NVMAX];
-
-	real_t delta_xFR[NVMAX];
-	real_t delta_xFX[NVMAX];
-	real_t delta_yFX[NVMAX];
-
-	int BC_idx;
-	SubjectToStatus BC_status;
-
-	#ifdef PC_DEBUG
-	char messageString[80];
-	#endif
-
-	/* II) MAIN HOMOTOPY LOOP */
-	for( l=0; l<nWSR; ++l )
-	{
-		status = QPS_PERFORMINGHOMOTOPY;
-
-		if ( printlevel == PL_HIGH )
-		{
-			#ifdef PC_DEBUG
-			sprintf( messageString,"%d ...",l );
-			getGlobalMessageHandler( )->throwInfo( RET_ITERATION_STARTED,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-			#endif
-		}
-
-		/* 1) Setup index arrays. */
-		if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_HOTSTART_FAILED );
-
-		if ( bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_HOTSTART_FAILED );
-
-		/* 2) Initialize shift direction of the gradient and the bounds. */
-		returnvalue = hotstart_determineDataShift(  FX_idx,
-													g_new,lb_new,ub_new,
-													delta_g,delta_lb,delta_ub,
-													Delta_bB_isZero
-													);
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			nWSR = l;
-			THROWERROR( RET_SHIFT_DETERMINATION_FAILED );
-			return returnvalue;
-		}
-
-		/* 3) Determination of step direction of X and Y. */
-		returnvalue = hotstart_determineStepDirection(	FR_idx,FX_idx,
-														delta_g,delta_lb,delta_ub,
-														Delta_bB_isZero,
-														delta_xFX,delta_xFR,delta_yFX
-														);
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			nWSR = l;
-			THROWERROR( RET_STEPDIRECTION_DETERMINATION_FAILED );
-			return returnvalue;
-		}
-
-
-		/* 4) Determination of step length TAU. */
-		returnvalue = hotstart_determineStepLength(	FR_idx,FX_idx,
-													delta_lb,delta_ub,
-													delta_xFR,delta_yFX,
-													BC_idx,BC_status );
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			nWSR = l;
-			THROWERROR( RET_STEPLENGTH_DETERMINATION_FAILED );
-			return returnvalue;
-		}
-
-		/* 5) Realization of the homotopy step. */
-		returnvalue = hotstart_performStep(	FR_idx,FX_idx,
-											delta_g,delta_lb,delta_ub,
-											delta_xFX,delta_xFR,delta_yFX,
-											BC_idx,BC_status
-											);
-
-
-		if ( returnvalue != SUCCESSFUL_RETURN )
-		{
-			nWSR = l;
-
-			/* stop runtime measurement */
-			if ( cputime != 0 )
-				*cputime = getCPUtime( ) - starttime;
-
-			/* optimal solution found? */
-			if ( returnvalue == RET_OPTIMAL_SOLUTION_FOUND )
-			{
-				status = QPS_SOLVED;
-
-				if ( printlevel == PL_HIGH )
-					THROWINFO( RET_OPTIMAL_SOLUTION_FOUND );
-
-				#ifdef PC_DEBUG
-	 			if ( printIteration( l,BC_idx,BC_status ) != SUCCESSFUL_RETURN )
-					THROWERROR( RET_PRINT_ITERATION_FAILED ); /* do not pass this as return value! */
-				#endif
-
-				/* check KKT optimality conditions */
-				return checkKKTconditions( );
-			}
-			else
-			{
-				/* checks for infeasibility... */
-				if ( infeasible == BT_TRUE )
-				{
-					status = QPS_HOMOTOPYQPSOLVED;
-					return THROWERROR( RET_HOTSTART_STOPPED_INFEASIBILITY );
-				}
-
-				/* ...unboundedness... */
-				if ( unbounded == BT_TRUE ) /* not necessary since objective function convex! */
-					return THROWERROR( RET_HOTSTART_STOPPED_UNBOUNDEDNESS );
-
-				/* ... and throw unspecific error otherwise */
-				THROWERROR( RET_HOMOTOPY_STEP_FAILED );
-				return returnvalue;
-			}
-		}
-
-		/* 6) Output information of successful QP iteration. */
-		status = QPS_HOMOTOPYQPSOLVED;
-
-		#ifdef PC_DEBUG
-		if ( printIteration( l,BC_idx,BC_status ) != SUCCESSFUL_RETURN )
-			THROWERROR( RET_PRINT_ITERATION_FAILED ); /* do not pass this as return value! */
-		#endif
-	}
-
-
-	/* stop runtime measurement */
-	if ( cputime != 0 )
-		*cputime = getCPUtime( ) - starttime;
-
-
-	/* if programm gets to here, output information that QP could not be solved
-	 * within the given maximum numbers of working set changes */
-	if ( printlevel == PL_HIGH )
-	{
-		#ifdef PC_DEBUG
-		sprintf( messageString,"(nWSR = %d)",nWSR );
-		return getGlobalMessageHandler( )->throwWarning( RET_MAX_NWSR_REACHED,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		#endif
-	}
-
-	/* Finally check KKT optimality conditions. */
-	returnValue returnvalueKKTcheck = checkKKTconditions( );
-
-	if ( returnvalueKKTcheck != SUCCESSFUL_RETURN )
-		return returnvalueKKTcheck;
-	else
-		return RET_MAX_NWSR_REACHED;
-}
-
-
-/*
- *	g e t N Z
- */
-int QProblemB::getNZ( )
-{
-	/* if no constraints are present: nZ=nFR */
-	return bounds.getFree( )->getLength( );
-}
-
-
-/*
- *	g e t O b j V a l
- */
-real_t QProblemB::getObjVal( ) const
-{
-	real_t objVal;
-
-	/* calculated optimal objective function value
-	 * only if current QP has been solved */
-	if ( ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
-		 ( getStatus( ) == QPS_SOLVED ) )
-	{
-		objVal = getObjVal( x );
-	}
-	else
-	{
-		objVal = INFTY;
-	}
-
-	return objVal;
-}
-
-
-/*
- *	g e t O b j V a l
- */
-real_t QProblemB::getObjVal( const real_t* const _x ) const
-{
-	int i, j;
-	int nV = getNV( );
-
-	real_t obj_tmp = 0.0;
-
-	for( i=0; i<nV; ++i )
-	{
-		obj_tmp += _x[i]*g[i];
-
-		for( j=0; j<nV; ++j )
-			obj_tmp += 0.5*_x[i]*H[i*NVMAX + j]*_x[j];
-	}
-
-	return obj_tmp;
-}
-
-
-/*
- *	g e t P r i m a l S o l u t i o n
- */
-returnValue QProblemB::getPrimalSolution( real_t* const xOpt ) const
-{
-	int i;
-
-	/* return optimal primal solution vector
-	 * only if current QP has been solved */
-	if ( ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
-		 ( getStatus( ) == QPS_SOLVED ) )
-	{
-		for( i=0; i<getNV( ); ++i )
-			xOpt[i] = x[i];
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return RET_QP_NOT_SOLVED;
-	}
-}
-
-
-/*
- *	g e t D u a l S o l u t i o n
- */
-returnValue QProblemB::getDualSolution( real_t* const yOpt ) const
-{
-	int i;
-
-	/* return optimal dual solution vector
-	 * only if current QP has been solved */
-	if ( ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
-		 ( getStatus( ) == QPS_SOLVED ) )
-	{
-		for( i=0; i<getNV( ); ++i )
-			yOpt[i] = y[i];
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return RET_QP_NOT_SOLVED;
-	}
-}
-
-
-/*
- *	s e t P r i n t L e v e l
- */
-returnValue QProblemB::setPrintLevel( PrintLevel _printlevel )
-{
-	#ifndef __MATLAB__
-	if ( ( printlevel >= PL_MEDIUM ) && ( printlevel != _printlevel ) )
-		THROWINFO( RET_PRINTLEVEL_CHANGED );
-	#endif
-
-	printlevel = _printlevel;
-
-	/* update message handler preferences */
- 	switch ( printlevel )
- 	{
- 		case PL_NONE:
- 			getGlobalMessageHandler( )->setErrorVisibilityStatus( VS_HIDDEN );
-			getGlobalMessageHandler( )->setWarningVisibilityStatus( VS_HIDDEN );
-			getGlobalMessageHandler( )->setInfoVisibilityStatus( VS_HIDDEN );
-			break;
-
-		case PL_LOW:
- 			getGlobalMessageHandler( )->setErrorVisibilityStatus( VS_VISIBLE );
-			getGlobalMessageHandler( )->setWarningVisibilityStatus( VS_HIDDEN );
-			getGlobalMessageHandler( )->setInfoVisibilityStatus( VS_HIDDEN );
-			break;
-
- 		default: /* PL_MEDIUM, PL_HIGH */
- 			getGlobalMessageHandler( )->setErrorVisibilityStatus( VS_VISIBLE );
-			getGlobalMessageHandler( )->setWarningVisibilityStatus( VS_VISIBLE );
-			getGlobalMessageHandler( )->setInfoVisibilityStatus( VS_VISIBLE );
-			break;
- 	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-/*
- *	c h e c k F o r I d e n t i t y H e s s i a n
- */
-returnValue QProblemB::checkForIdentityHessian( )
-{
-	int i, j;
-	int nV = getNV( );
-
-	/* nothing to do as status flag remains unaltered
-	 * if Hessian differs from identity matrix */
-	if ( hessianType == HST_IDENTITY )
-		return SUCCESSFUL_RETURN;
-
-	/* 1) If Hessian differs from identity matrix,
-	 *    return without changing the internal HessianType. */
-	for ( i=0; i<nV; ++i )
-		if ( getAbs( H[i*NVMAX + i] - 1.0 ) > EPS )
-			return SUCCESSFUL_RETURN;
-
-	for ( i=0; i<nV; ++i )
-	{
-		for ( j=0; j<i; ++j )
-			if ( ( getAbs( H[i*NVMAX + j] ) > EPS ) || ( getAbs( H[j*NVMAX + i] ) > EPS ) )
-				return SUCCESSFUL_RETURN;
-	}
-
-	/* 2) If this point is reached, Hessian equals the idetity matrix. */
-	hessianType = HST_IDENTITY;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p S u b j e c t T o T y p e
- */
-returnValue QProblemB::setupSubjectToType( )
-{
-	int i;
-	int nV = getNV( );
-
-
-	/* 1) Check if lower bounds are present. */
-	bounds.setNoLower( BT_TRUE );
-	for( i=0; i<nV; ++i )
-		if ( lb[i] > -INFTY )
-		{
-			bounds.setNoLower( BT_FALSE );
-			break;
-		}
-
-	/* 2) Check if upper bounds are present. */
-	bounds.setNoUpper( BT_TRUE );
-	for( i=0; i<nV; ++i )
-		if ( ub[i] < INFTY )
-		{
-			bounds.setNoUpper( BT_FALSE );
-			break;
-		}
-
-	/* 3) Determine implicitly fixed and unbounded variables. */
-	int nFV = 0;
-	int nUV = 0;
-
-	for( i=0; i<nV; ++i )
-		if ( ( lb[i] < -INFTY + BOUNDTOL ) && ( ub[i] > INFTY - BOUNDTOL ) )
-		{
-			bounds.setType( i,ST_UNBOUNDED );
-			++nUV;
-		}
-		else
-		{
-			if ( lb[i] > ub[i] - BOUNDTOL )
-			{
-				bounds.setType( i,ST_EQUALITY );
-				++nFV;
-			}
-			else
-			{
-				bounds.setType( i,ST_BOUNDED );
-			}
-		}
-
-	/* 4) Set dimensions of bounds structure. */
-	bounds.setNFV( nFV );
-	bounds.setNUV( nUV );
-	bounds.setNBV( nV - nFV - nUV );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	c h o l e s k y D e c o m p o s i t i o n
- */
-returnValue QProblemB::setupCholeskyDecomposition( )
-{
-	int i, j, k, ii, jj;
-	int nV  = getNV( );
-	int nFR = getNFR( );
-
-	/* If Hessian flag is false, it means that H & R already contain Cholesky
-	 * factorization -- provided from outside. */
-	if (hasHessian == BT_FALSE)
-		return SUCCESSFUL_RETURN;
-
-	/* 1) Initialises R with all zeros. */
-	for( i=0; i<nV; ++i )
-		for( j=0; j<nV; ++j )
-			R[i*NVMAX + j] = 0.0;
-
-	/* 2) Calculate Cholesky decomposition of H (projected to free variables). */
-	if ( hessianType == HST_IDENTITY )
-	{
-		/* if Hessian is identity, so is its Cholesky factor. */
-		for( i=0; i<nFR; ++i )
-			R[i*NVMAX + i] = 1.0;
-	}
-	else
-	{
-		if ( nFR > 0 )
-		{
-			int FR_idx[NVMAX];
-			if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_INDEXLIST_CORRUPTED );
-
-			/* R'*R = H */
-			real_t sum;
-			real_t inv;
-
-			for( i=0; i<nFR; ++i )
-			{
-				/* j == i */
-				ii = FR_idx[i];
-				sum = H[ii*NVMAX + ii];
-
-				for( k=(i-1); k>=0; --k )
-					sum -= R[k*NVMAX + i] * R[k*NVMAX + i];
-
-				if ( sum > 0.0 )
-				{
-					R[i*NVMAX + i] = sqrt( sum );
-					inv = 1.0 / R[i*NVMAX + i];
-				}
-				else
-				{
-					hessianType = HST_SEMIDEF;
-					return THROWERROR( RET_HESSIAN_NOT_SPD );
-				}
-
-				/* j > i */
-				for( j=(i+1); j<nFR; ++j )
-				{
-					jj = FR_idx[j];
-					sum = H[jj*NVMAX + ii];
-
-					for( k=(i-1); k>=0; --k )
-						sum -= R[k*NVMAX + i] * R[k*NVMAX + j];
-
-					R[i*NVMAX + j] = sum * inv;
-				}
-			}
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s o l v e I n i t i a l Q P
- */
-returnValue QProblemB::solveInitialQP(	const real_t* const xOpt, const real_t* const yOpt,
-										const Bounds* const guessedBounds,
-										int& nWSR, real_t* const cputime
-										)
-{
-	int i, nFR;
-	int nV = getNV( );
-
-
-	/* start runtime measurement */
-	real_t starttime = 0.0;
-	if ( cputime != 0 )
-		starttime = getCPUtime( );
-
-
-	status = QPS_NOTINITIALISED;
-
-	/* I) ANALYSE QP DATA: */
-	/* 1) Check if Hessian happens to be the identity matrix. */
-	if ( checkForIdentityHessian( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 2) Setup type of bounds (i.e. unbounded, implicitly fixed etc.). */
-	if ( setupSubjectToType( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	status = QPS_PREPARINGAUXILIARYQP;
-
-
-	/* II) SETUP AUXILIARY QP WITH GIVEN OPTIMAL SOLUTION: */
-	/* 1) Setup bounds data structure. */
-	if ( bounds.setupAllFree( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 2) Setup optimal primal/dual solution for auxiliary QP. */
-	if ( setupAuxiliaryQPsolution( xOpt,yOpt ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 3) Obtain linear independent working set for auxiliary QP. */
-
-	static Bounds auxiliaryBounds;
-
-	auxiliaryBounds.init( nV );
-
-	if ( obtainAuxiliaryWorkingSet( xOpt,yOpt,guessedBounds, &auxiliaryBounds ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	/* 4) Setup working set of auxiliary QP and setup cholesky decomposition. */
-	if ( setupAuxiliaryWorkingSet( &auxiliaryBounds,BT_TRUE ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	nFR = getNFR();
-	/* At the moment we can only provide a Cholesky of the Hessian if
-	 * the solver is cold-started. */
-	if (hasCholesky == BT_FALSE || nFR != nV)
-		if (setupCholeskyDecomposition() != SUCCESSFUL_RETURN)
-			return THROWERROR( RET_INIT_FAILED_CHOLESKY );
-
-	/* 5) Store original QP formulation... */
-	real_t g_original[NVMAX];
-	real_t lb_original[NVMAX];
-	real_t ub_original[NVMAX];
-
-	for( i=0; i<nV; ++i )
-		g_original[i] = g[i];
-	for( i=0; i<nV; ++i )
-		lb_original[i] = lb[i];
-	for( i=0; i<nV; ++i )
-		ub_original[i] = ub[i];
-
-	/* ... and setup QP data of an auxiliary QP having an optimal solution
-	 * as specified by the user (or xOpt = yOpt = 0, by default). */
-	if ( setupAuxiliaryQPgradient( ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	if ( setupAuxiliaryQPbounds( BT_TRUE ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_INIT_FAILED );
-
-	status = QPS_AUXILIARYQPSOLVED;
-
-
-	/* III) SOLVE ACTUAL INITIAL QP: */
-	/* Use hotstart method to find the solution of the original initial QP,... */
-	returnValue returnvalue = hotstart( g_original,lb_original,ub_original, nWSR,0 );
-
-
-	/* ... check for infeasibility and unboundedness... */
-	if ( isInfeasible( ) == BT_TRUE )
-		return THROWERROR( RET_INIT_FAILED_INFEASIBILITY );
-
-	if ( isUnbounded( ) == BT_TRUE )
-		return THROWERROR( RET_INIT_FAILED_UNBOUNDEDNESS );
-
-	/* ... and internal errors. */
-	if ( ( returnvalue != SUCCESSFUL_RETURN ) && ( returnvalue != RET_MAX_NWSR_REACHED )  &&
-	     ( returnvalue != RET_INACCURATE_SOLUTION ) && ( returnvalue != RET_NO_SOLUTION ) )
-		return THROWERROR( RET_INIT_FAILED_HOTSTART );
-
-
-	/* stop runtime measurement */
-	if ( cputime != 0 )
-		*cputime = getCPUtime( ) - starttime;
-
-	if ( printlevel == PL_HIGH )
-		THROWINFO( RET_INIT_SUCCESSFUL );
-
-	return returnvalue;
-}
-
-
-/*
- *	o b t a i n A u x i l i a r y W o r k i n g S e t
- */
-returnValue QProblemB::obtainAuxiliaryWorkingSet(	const real_t* const xOpt, const real_t* const yOpt,
-													const Bounds* const guessedBounds, Bounds* auxiliaryBounds
-													) const
-{
-	int i = 0;
-	int nV = getNV( );
-
-
-	/* 1) Ensure that desiredBounds is allocated (and different from guessedBounds). */
-	if ( ( auxiliaryBounds == 0 ) || ( auxiliaryBounds == guessedBounds ) )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-
-	/* 2) Setup working set for auxiliary initial QP. */
-	if ( guessedBounds != 0 )
-	{
-		/* If an initial working set is specific, use it!
-		 * Moreover, add all implictly fixed variables if specified. */
-		for( i=0; i<nV; ++i )
-		{
-			if ( bounds.getType( i ) == ST_EQUALITY )
-			{
-				if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-			}
-			else
-			{
-				if ( auxiliaryBounds->setupBound( i,guessedBounds->getStatus( i ) ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-			}
-		}
-	}
-	else	/* No initial working set specified. */
-	{
-		if ( ( xOpt != 0 ) && ( yOpt == 0 ) )
-		{
-			/* Obtain initial working set by "clipping". */
-			for( i=0; i<nV; ++i )
-			{
-				if ( xOpt[i] <= lb[i] + BOUNDTOL )
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-					continue;
-				}
-
-				if ( xOpt[i] >= ub[i] - BOUNDTOL )
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_UPPER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-					continue;
-				}
-
-				/* Moreover, add all implictly fixed variables if specified. */
-				if ( bounds.getType( i ) == ST_EQUALITY )
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-				else
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-			}
-		}
-
-		if ( ( xOpt == 0 ) && ( yOpt != 0 ) )
-		{
-			/* Obtain initial working set in accordance to sign of dual solution vector. */
-			for( i=0; i<nV; ++i )
-			{
-				if ( yOpt[i] > ZERO )
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-					continue;
-				}
-
-				if ( yOpt[i] < -ZERO )
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_UPPER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-					continue;
-				}
-
-				/* Moreover, add all implictly fixed variables if specified. */
-				if ( bounds.getType( i ) == ST_EQUALITY )
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-				else
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-			}
-		}
-
-		/* If xOpt and yOpt are null pointer and no initial working is specified,
-		 * start with empty working set (or implicitly fixed bounds only)
-		 * for auxiliary QP. */
-		if ( ( xOpt == 0 ) && ( yOpt == 0 ) )
-		{
-			for( i=0; i<nV; ++i )
-			{
-				/* Only add all implictly fixed variables if specified. */
-				if ( bounds.getType( i ) == ST_EQUALITY )
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-				else
-				{
-					if ( auxiliaryBounds->setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-						return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED );
-				}
-			}
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A u x i l i a r y W o r k i n g S e t
- */
-returnValue QProblemB::setupAuxiliaryWorkingSet( 	const Bounds* const auxiliaryBounds,
-													BooleanType setupAfresh
-													)
-{
-	int i;
-	int nV = getNV( );
-
-	/* consistency checks */
-	if ( auxiliaryBounds != 0 )
-	{
-		for( i=0; i<nV; ++i )
-			if ( ( bounds.getStatus( i ) == ST_UNDEFINED ) || ( auxiliaryBounds->getStatus( i ) == ST_UNDEFINED ) )
-				return THROWERROR( RET_UNKNOWN_BUG );
-	}
-	else
-	{
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-
-	/* I) SETUP CHOLESKY FLAG:
-	 *    Cholesky decomposition shall only be updated if working set
-	 *    shall be updated (i.e. NOT setup afresh!) */
-	BooleanType updateCholesky;
-	if ( setupAfresh == BT_TRUE )
-		updateCholesky = BT_FALSE;
-	else
-		updateCholesky = BT_TRUE;
-
-
-	/* II) REMOVE FORMERLY ACTIVE BOUNDS (IF NECESSARY): */
-	if ( setupAfresh == BT_FALSE )
-	{
-		/* Remove all active bounds that shall be inactive AND
-		*  all active bounds that are active at the wrong bound. */
-		for( i=0; i<nV; ++i )
-		{
-			if ( ( bounds.getStatus( i ) == ST_LOWER ) && ( auxiliaryBounds->getStatus( i ) != ST_LOWER ) )
-				if ( removeBound( i,updateCholesky ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-
-			if ( ( bounds.getStatus( i ) == ST_UPPER ) && ( auxiliaryBounds->getStatus( i ) != ST_UPPER ) )
-				if ( removeBound( i,updateCholesky ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-		}
-	}
-
-
-	/* III) ADD NEWLY ACTIVE BOUNDS: */
-	/*      Add all inactive bounds that shall be active AND
-	 *      all formerly active bounds that have been active at the wrong bound. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( ( bounds.getStatus( i ) == ST_INACTIVE ) && ( auxiliaryBounds->getStatus( i ) != ST_INACTIVE ) )
-		{
-			if ( addBound( i,auxiliaryBounds->getStatus( i ),updateCholesky ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_WORKINGSET_FAILED );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A u x i l i a r y Q P s o l u t i o n
- */
-returnValue QProblemB::setupAuxiliaryQPsolution(	const real_t* const xOpt, const real_t* const yOpt
-													)
-{
-	int i;
-	int nV = getNV( );
-
-
-	/* Setup primal/dual solution vectors for auxiliary initial QP:
-	 * if a null pointer is passed, a zero vector is assigned;
-	 * old solution vector is kept if pointer to internal solution vector is passed. */
-	if ( xOpt != 0 )
-	{
-		if ( xOpt != x )
-			for( i=0; i<nV; ++i )
-				x[i] = xOpt[i];
-	}
-	else
-	{
-		for( i=0; i<nV; ++i )
-			x[i] = 0.0;
-	}
-
-	if ( yOpt != 0 )
-	{
-		if ( yOpt != y )
-			for( i=0; i<nV; ++i )
-				y[i] = yOpt[i];
-	}
-	else
-	{
-		for( i=0; i<nV; ++i )
-			y[i] = 0.0;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A u x i l i a r y Q P g r a d i e n t
- */
-returnValue QProblemB::setupAuxiliaryQPgradient( )
-{
-	int i, j;
-	int nV = getNV( );
-
-
-	/* Setup gradient vector: g = -H*x + y'*Id. */
-	for ( i=0; i<nV; ++i )
-	{
-		/* y'*Id */
-		g[i] = y[i];
-
-		/* -H*x */
-		for ( j=0; j<nV; ++j )
-			g[i] -= H[i*NVMAX + j] * x[j];
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A u x i l i a r y Q P b o u n d s
- */
-returnValue QProblemB::setupAuxiliaryQPbounds( BooleanType useRelaxation )
-{
-	int i;
-	int nV = getNV( );
-
-
-	/* Setup bound vectors. */
-	for ( i=0; i<nV; ++i )
-	{
-		switch ( bounds.getStatus( i ) )
-		{
-			case ST_INACTIVE:
-				if ( useRelaxation == BT_TRUE )
-				{
-					if ( bounds.getType( i ) == ST_EQUALITY )
-					{
-						lb[i] = x[i];
-						ub[i] = x[i];
-					}
-					else
-					{
-						lb[i] = x[i] - BOUNDRELAXATION;
-						ub[i] = x[i] + BOUNDRELAXATION;
-					}
-				}
-				break;
-
-			case ST_LOWER:
-				lb[i] = x[i];
-				if ( bounds.getType( i ) == ST_EQUALITY )
-				{
-					ub[i] = x[i];
-				}
-				else
-				{
-					if ( useRelaxation == BT_TRUE )
-						ub[i] = x[i] + BOUNDRELAXATION;
-				}
-				break;
-
-			case ST_UPPER:
-				ub[i] = x[i];
-				if ( bounds.getType( i ) == ST_EQUALITY )
-				{
-					lb[i] = x[i];
-				}
-				else
-				{
-					if ( useRelaxation == BT_TRUE )
-						lb[i] = x[i] - BOUNDRELAXATION;
-				}
-				break;
-
-			default:
-				return THROWERROR( RET_UNKNOWN_BUG );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	a d d B o u n d
- */
-returnValue QProblemB::addBound(	int number, SubjectToStatus B_status,
-									BooleanType updateCholesky
-									)
-{
-	int i, j;
-	int nFR = getNFR( );
-
-
-	/* consistency check */
-	if ( ( getStatus( ) == QPS_NOTINITIALISED )    ||
-		 ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
-		 ( getStatus( ) == QPS_SOLVED )            )
-	{
-		return THROWERROR( RET_UNKNOWN_BUG );
-	}
-
-	/* Perform cholesky updates only if QProblemB has been initialised! */
-	if ( ( getStatus( ) == QPS_PREPARINGAUXILIARYQP ) || ( updateCholesky == BT_FALSE ) )
-	{
-		/* UPDATE INDICES */
-		if ( bounds.moveFreeToFixed( number,B_status ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_ADDBOUND_FAILED );
-
-		return SUCCESSFUL_RETURN;
-	}
-
-
-	/* I) PERFORM CHOLESKY UPDATE: */
-	/* 1) Index of variable to be added within the list of free variables. */
-	int number_idx = bounds.getFree( )->getIndex( number );
-
-	real_t c, s;
-
-	/* 2) Use row-wise Givens rotations to restore upper triangular form of R. */
-	for( i=number_idx+1; i<nFR; ++i )
-	{
-		computeGivens( R[(i-1)*NVMAX + i],R[i*NVMAX + i], R[(i-1)*NVMAX + i],R[i*NVMAX + i],c,s );
-
-		for( j=(1+i); j<nFR; ++j ) /* last column of R is thrown away */
-			applyGivens( c,s,R[(i-1)*NVMAX + j],R[i*NVMAX + j], R[(i-1)*NVMAX + j],R[i*NVMAX + j] );
-	}
-
-	/* 3) Delete <number_idx>th column and ... */
-	for( i=0; i<nFR-1; ++i )
-		for( j=number_idx+1; j<nFR; ++j )
-			R[i*NVMAX + j-1] = R[i*NVMAX + j];
-	/* ... last column of R. */
-	for( i=0; i<nFR; ++i )
-		R[i*NVMAX + nFR-1] = 0.0;
-
-
-	/* II) UPDATE INDICES */
-	if ( bounds.moveFreeToFixed( number,B_status ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_ADDBOUND_FAILED );
-
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-returnValue QProblemB::removeBound(	int number,
-									BooleanType updateCholesky
-									)
-{
-	int i, ii;
-	int nFR = getNFR( );
-
-
-	/* consistency check */
-	if ( ( getStatus( ) == QPS_NOTINITIALISED )    ||
-		 ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) ||
-		 ( getStatus( ) == QPS_HOMOTOPYQPSOLVED )  ||
-		 ( getStatus( ) == QPS_SOLVED )            )
-	{
-		return THROWERROR( RET_UNKNOWN_BUG );
-	}
-
-
-	/* I) UPDATE INDICES */
-	if ( bounds.moveFixedToFree( number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_REMOVEBOUND_FAILED );
-
-	/* Perform cholesky updates only if QProblemB has been initialised! */
-	if ( ( getStatus( ) == QPS_PREPARINGAUXILIARYQP ) || ( updateCholesky == BT_FALSE ) )
-		return SUCCESSFUL_RETURN;
-
-
-	/* II) PERFORM CHOLESKY UPDATE */
-	int FR_idx[NVMAX];
-	if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_REMOVEBOUND_FAILED );
-
-	/* 1) Calculate new column of cholesky decomposition. */
-	real_t rhs[NVMAX];
-	real_t r[NVMAX];
-	real_t r0 = H[number*NVMAX + number];
-
-	for( i=0; i<nFR; ++i )
-	{
-		ii = FR_idx[i];
-		rhs[i] = H[number*NVMAX + ii];
-	}
-
-	if ( backsolveR( rhs,BT_TRUE,BT_TRUE,r ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_REMOVEBOUND_FAILED );
-
-	for( i=0; i<nFR; ++i )
-		r0 -= r[i]*r[i];
-
-	/* 2) Store new column into R. */
-	for( i=0; i<nFR; ++i )
-		R[i*NVMAX + nFR] = r[i];
-
-	if ( r0 > 0.0 )
-		R[nFR*NVMAX + nFR] = sqrt( r0 );
-	else
-	{
-		hessianType = HST_SEMIDEF;
-		return THROWERROR( RET_HESSIAN_NOT_SPD );
-	}
-
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	b a c k s o l v e R  (CODE DUPLICATED IN QProblem CLASS!!!)
- */
-returnValue QProblemB::backsolveR(	const real_t* const b, BooleanType transposed,
-									real_t* const a
-									)
-{
-	/* Call standard backsolve procedure (i.e. removingBound == BT_FALSE). */
-	return backsolveR( b,transposed,BT_FALSE,a );
-}
-
-
-/*
- *	b a c k s o l v e R  (CODE DUPLICATED IN QProblem CLASS!!!)
- */
-returnValue QProblemB::backsolveR(	const real_t* const b, BooleanType transposed,
-									BooleanType removingBound,
-									real_t* const a
-									)
-{
-	int i, j;
-	int nR = getNZ( );
-
-	real_t sum;
-
-	/* if backsolve is called while removing a bound, reduce nZ by one. */
-	if ( removingBound == BT_TRUE )
-		--nR;
-
-	/* nothing to do */
-	if ( nR <= 0 )
-		return SUCCESSFUL_RETURN;
-
-
-	/* Solve Ra = b, where R might be transposed. */
-	if ( transposed == BT_FALSE )
-	{
-		/* solve Ra = b */
-		for( i=(nR-1); i>=0; --i )
-		{
-			sum = b[i];
-			for( j=(i+1); j<nR; ++j )
-				sum -= R[i*NVMAX + j] * a[j];
-
-			if ( getAbs( R[i*NVMAX + i] ) > ZERO )
-				a[i] = sum / R[i*NVMAX + i];
-			else
-				return THROWERROR( RET_DIV_BY_ZERO );
-		}
-	}
-	else
-	{
-		/* solve R^T*a = b */
-		for( i=0; i<nR; ++i )
-		{
-			sum = b[i];
-
-			for( j=0; j<i; ++j )
-				sum -= R[j*NVMAX + i] * a[j];
-
-			if ( getAbs( R[i*NVMAX + i] ) > ZERO )
-				a[i] = sum / R[i*NVMAX + i];
-			else
-				return THROWERROR( RET_DIV_BY_ZERO );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	h o t s t a r t _ d e t e r m i n e D a t a S h i f t
- */
-returnValue QProblemB::hotstart_determineDataShift(	const int* const FX_idx,
-													const real_t* const g_new, const real_t* const lb_new, const real_t* const ub_new,
-													real_t* const delta_g, real_t* const delta_lb, real_t* const delta_ub,
-													BooleanType& Delta_bB_isZero
-													)
-{
-	int i, ii;
-	int nV  = getNV( );
-	int nFX = getNFX( );
-
-
-	/* 1) Calculate shift directions. */
-	for( i=0; i<nV; ++i )
-		delta_g[i]  = g_new[i]  - g[i];
-
-	if ( lb_new != 0 )
-	{
-		for( i=0; i<nV; ++i )
-			delta_lb[i] = lb_new[i] - lb[i];
-	}
-	else
-	{
-		/* if no lower bounds exist, assume the new lower bounds to be -infinity */
-		for( i=0; i<nV; ++i )
-			delta_lb[i] = -INFTY - lb[i];
-	}
-
-	if ( ub_new != 0 )
-	{
-		for( i=0; i<nV; ++i )
-			delta_ub[i] = ub_new[i] - ub[i];
-	}
-	else
-	{
-		/* if no upper bounds exist, assume the new upper bounds to be infinity */
-		for( i=0; i<nV; ++i )
-			delta_ub[i] = INFTY - ub[i];
-	}
-
-	/* 2) Determine if active bounds are to be shifted. */
-	Delta_bB_isZero = BT_TRUE;
-
-	for ( i=0; i<nFX; ++i )
-	{
-		ii = FX_idx[i];
-
-		if ( ( getAbs( delta_lb[ii] ) > EPS ) || ( getAbs( delta_ub[ii] ) > EPS ) )
-		{
-			Delta_bB_isZero = BT_FALSE;
-			break;
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	a r e B o u n d s C o n s i s t e n t
- */
-BooleanType QProblemB::areBoundsConsistent(	const real_t* const delta_lb, const real_t* const delta_ub
-											) const
-{
-	int i;
-
-	/* Check if delta_lb[i] is greater than delta_ub[i]
-	 * for a component i whose bounds are already (numerically) equal. */
-	for( i=0; i<getNV( ); ++i )
-		if ( ( lb[i] > ub[i] - BOUNDTOL ) && ( delta_lb[i] > delta_ub[i] + EPS ) )
-			return BT_FALSE;
-
-	return BT_TRUE;
-}
-
-
-/*
- *	s e t u p Q P d a t a
- */
-returnValue QProblemB::setupQPdata(	const real_t* const _H, const real_t* const _R, const real_t* const _g,
-									const real_t* const _lb, const real_t* const _ub
-									)
-{
-	int i, j;
-	int nV = getNV( );
-
-	/* 1) Setup Hessian matrix and it's Cholesky factorization. */
-	if (_H != 0)
-	{
-		for( i=0; i<nV; ++i )
-			for( j=0; j<nV; ++j )
-				H[i*NVMAX + j] = _H[i*nV + j];
-		hasHessian = BT_TRUE;
-	}
-	else
-		hasHessian = BT_FALSE;
-
-	if (_R != 0)
-	{
-		for( i=0; i<nV; ++i )
-			for( j=0; j<nV; ++j )
-				R[i*NVMAX + j] = _R[i*nV + j];
-		hasCholesky = BT_TRUE;
-
-		/* If Hessian is not provided, store it's factorization in H, and that guy
-		 * is going to be used for H * x products (R^T * R * x in this case). */
-		if (hasHessian == BT_FALSE)
-			for( i=0; i<nV; ++i )
-				for( j=0; j<nV; ++j )
-					H[i*NVMAX + j] = _R[i*nV + j];
-	}
-	else
-		hasCholesky = BT_FALSE;
-
-	if (hasHessian == BT_FALSE && hasCholesky == BT_FALSE)
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	/* 2) Setup gradient vector. */
-	if ( _g == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	for( i=0; i<nV; ++i )
-		g[i] = _g[i];
-
-	/* 3) Setup lower bounds vector. */
-	if ( _lb != 0 )
-	{
-		for( i=0; i<nV; ++i )
-			lb[i] = _lb[i];
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			lb[i] = -INFTY;
-	}
-
-	/* 4) Setup upper bounds vector. */
-	if ( _ub != 0 )
-	{
-		for( i=0; i<nV; ++i )
-			ub[i] = _ub[i];
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			ub[i] = INFTY;
-	}
-
-	//printmatrix( "H",H,nV,nV );
-	//printmatrix( "R",R,nV,nV );
-	//printmatrix( "g",g,1,nV );
-	//printmatrix( "lb",lb,1,nV );
-	//printmatrix( "ub",ub,1,nV );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R I V A T E                                                            *
- *****************************************************************************/
-
-/*
- *	h o t s t a r t _ d e t e r m i n e S t e p D i r e c t i o n
- */
-returnValue QProblemB::hotstart_determineStepDirection(	const int* const FR_idx, const int* const FX_idx,
-														const real_t* const delta_g, const real_t* const delta_lb, const real_t* const delta_ub,
-														BooleanType Delta_bB_isZero,
-														real_t* const delta_xFX, real_t* const delta_xFR,
-														real_t* const delta_yFX
-														)
-{
-	int i, j, ii, jj;
-	int nFR = getNFR( );
-	int nFX = getNFX( );
-
-
-	/* initialise auxiliary vectors */
-	real_t HMX_delta_xFX[NVMAX];
-	for( i=0; i<nFR; ++i )
-		HMX_delta_xFX[i] = 0.0;
-
-
-	/* I) DETERMINE delta_xFX */
-	if ( nFX > 0 )
-	{
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-
-			if ( bounds.getStatus( ii ) == ST_LOWER )
-				delta_xFX[i] = delta_lb[ii];
-			else
-				delta_xFX[i] = delta_ub[ii];
-		}
-	}
-
-
-	/* II) DETERMINE delta_xFR */
-	if ( nFR > 0 )
-	{
-		/* auxiliary variables */
-		real_t delta_xFRz_TMP[NVMAX];
-		real_t delta_xFRz_RHS[NVMAX];
-
-		/* Determine delta_xFRz. */
-		if ( Delta_bB_isZero == BT_FALSE )
-		{
-			for( i=0; i<nFR; ++i )
-			{
-				ii = FR_idx[i];
-				for( j=0; j<nFX; ++j )
-				{
-					jj = FX_idx[j];
-					HMX_delta_xFX[i] += H[ii*NVMAX + jj] * delta_xFX[j];
-				}
-			}
-		}
-
-		if ( Delta_bB_isZero == BT_TRUE )
-		{
-			for( j=0; j<nFR; ++j )
-			{
-				jj = FR_idx[j];
-				delta_xFRz_RHS[j] = delta_g[jj];
-			}
-		}
-		else
-		{
-			for( j=0; j<nFR; ++j )
-			{
-				jj = FR_idx[j];
-				delta_xFRz_RHS[j] = delta_g[jj] + HMX_delta_xFX[j]; /* *ZFR */
-			}
-		}
-
-		for( i=0; i<nFR; ++i )
-			delta_xFR[i] = -delta_xFRz_RHS[i];
-
-		if ( backsolveR( delta_xFR,BT_TRUE,delta_xFRz_TMP ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_STEPDIRECTION_FAILED_CHOLESKY );
-
-		if ( backsolveR( delta_xFRz_TMP,BT_FALSE,delta_xFR ) != SUCCESSFUL_RETURN )
-			return THROWERROR( RET_STEPDIRECTION_FAILED_CHOLESKY );
-	}
-
-
-	/* III) DETERMINE delta_yFX */
-	if ( nFX > 0 )
-	{
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-
-			delta_yFX[i] = 0.0;
-			for( j=0; j<nFR; ++j )
-			{
-				jj = FR_idx[j];
-				delta_yFX[i] += H[ii*NVMAX + jj] * delta_xFR[j];
-			}
-
-			if ( Delta_bB_isZero == BT_FALSE )
-			{
-				for( j=0; j<nFX; ++j )
-				{
-					jj = FX_idx[j];
-					delta_yFX[i] += H[ii*NVMAX + jj] * delta_xFX[j];
-				}
-			}
-
-			delta_yFX[i] += delta_g[ii];
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	h o t s t a r t _ d e t e r m i n e S t e p L e n g t h
- */
-returnValue QProblemB::hotstart_determineStepLength(	const int* const FR_idx, const int* const FX_idx,
-														const real_t* const delta_lb, const real_t* const delta_ub,
-														const real_t* const delta_xFR,
-														const real_t* const delta_yFX,
-														int& BC_idx, SubjectToStatus& BC_status
-														)
-{
-	int i, ii;
-	int nFR = getNFR( );
-	int nFX = getNFX( );
-
-	real_t tau_tmp;
-	real_t tau_new = 1.0;
-
-	BC_idx = 0;
-	BC_status = ST_UNDEFINED;
-
-
-	/* I) DETERMINE MAXIMUM DUAL STEPLENGTH, i.e. ensure that
-	 *    active dual bounds remain valid (ignoring implicitly fixed variables): */
-	for( i=0; i<nFX; ++i )
-	{
-		ii = FX_idx[i];
-
-		if ( bounds.getType( ii ) != ST_EQUALITY )
-		{
-			if ( bounds.getStatus( ii ) == ST_LOWER )
-			{
-				/* 1) Active lower bounds. */
-				if ( ( delta_yFX[i] < -ZERO ) && ( y[ii] >= 0.0 ) )
-				{
-					tau_tmp = y[ii] / ( -delta_yFX[i] );
-					if ( tau_tmp < tau_new )
-					{
-						if ( tau_tmp >= 0.0 )
-						{
-							tau_new = tau_tmp;
-							BC_idx = ii;
-							BC_status = ST_INACTIVE;
-						}
-					}
-				}
-			}
-			else
-			{
-				/* 2) Active upper bounds. */
-				if ( ( delta_yFX[i] > ZERO ) && ( y[ii] <= 0.0 ) )
-				{
-					tau_tmp = y[ii] / ( -delta_yFX[i] );
-					if ( tau_tmp < tau_new )
-					{
-						if ( tau_tmp >= 0.0 )
-						{
-							tau_new = tau_tmp;
-							BC_idx = ii;
-							BC_status = ST_INACTIVE;
-						}
-					}
-				}
-			}
-		}
-	}
-
-
-	/* II) DETERMINE MAXIMUM PRIMAL STEPLENGTH, i.e. ensure that
-	 *     inactive bounds remain valid (ignoring unbounded variables). */
-	/* 1) Inactive lower bounds. */
-	if ( bounds.isNoLower( ) == BT_FALSE )
-	{
-		for( i=0; i<nFR; ++i )
-		{
-			ii = FR_idx[i];
-
-			if ( bounds.getType( ii ) != ST_UNBOUNDED )
-			{
-				if ( delta_lb[ii] > delta_xFR[i] )
-				{
-					if ( x[ii] > lb[ii] )
-						tau_tmp = ( x[ii] - lb[ii] ) / ( delta_lb[ii] - delta_xFR[i] );
-					else
-						tau_tmp = 0.0;
-
-					if ( tau_tmp < tau_new )
-					{
-						if ( tau_tmp >= 0.0 )
-						{
-							tau_new = tau_tmp;
-							BC_idx = ii;
-							BC_status = ST_LOWER;
-						}
-					}
-				}
-			}
-		}
-	}
-
-	/* 2) Inactive upper bounds. */
-	if ( bounds.isNoUpper( ) == BT_FALSE )
-	{
-		for( i=0; i<nFR; ++i )
-		{
-			ii = FR_idx[i];
-
-			if ( bounds.getType( ii ) != ST_UNBOUNDED )
-			{
-				if ( delta_ub[ii] < delta_xFR[i] )
-				{
-					if ( x[ii] < ub[ii] )
-						tau_tmp = ( x[ii] - ub[ii] ) / ( delta_ub[ii] - delta_xFR[i] );
-					else
-						tau_tmp = 0.0;
-
-					if ( tau_tmp < tau_new )
-					{
-						if ( tau_tmp >= 0.0 )
-						{
-							tau_new = tau_tmp;
-							BC_idx = ii;
-							BC_status = ST_UPPER;
-						}
-					}
-				}
-			}
-		}
-	}
-
-
-	/* III) SET MAXIMUM HOMOTOPY STEPLENGTH */
-	tau = tau_new;
-
-	if ( printlevel ==  PL_HIGH )
-	{
-		#ifdef PC_DEBUG
-		char messageString[80];
-
-		if ( BC_status == ST_UNDEFINED )
-			sprintf( messageString,"Stepsize is %.6e!",tau );
-		else
-			sprintf( messageString,"Stepsize is %.6e! (BC_idx = %d, BC_status = %d)",tau,BC_idx,BC_status );
-
-		getGlobalMessageHandler( )->throwInfo( RET_STEPSIZE_NONPOSITIVE,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		#endif
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	h o t s t a r t _ p e r f o r m S t e p
- */
-returnValue QProblemB::hotstart_performStep(	const int* const FR_idx, const int* const FX_idx,
-												const real_t* const delta_g, const real_t* const  delta_lb, const real_t* const delta_ub,
-												const real_t* const delta_xFX, const real_t* const delta_xFR,
-												const real_t* const delta_yFX,
-												int BC_idx, SubjectToStatus BC_status
-												)
-{
-	int i, ii;
-	int nV  = getNV( );
-	int nFR = getNFR( );
-	int nFX = getNFX( );
-
-
-	/* I) CHECK BOUNDS' CONSISTENCY */
-	if ( areBoundsConsistent( delta_lb,delta_ub ) == BT_FALSE )
-	{
-		infeasible = BT_TRUE;
-		tau = 0.0;
-
-		return THROWERROR( RET_QP_INFEASIBLE );
-	}
-
-
-	/* II) GO TO ACTIVE SET CHANGE */
-	if ( tau > ZERO )
-	{
-		/* 1) Perform step in primal und dual space. */
-		for( i=0; i<nFR; ++i )
-		{
-			ii = FR_idx[i];
-			x[ii] += tau*delta_xFR[i];
-		}
-
-		for( i=0; i<nFX; ++i )
-		{
-			ii = FX_idx[i];
-			x[ii] += tau*delta_xFX[i];
-			y[ii] += tau*delta_yFX[i];
-		}
-
-		/* 2) Shift QP data. */
-		for( i=0; i<nV; ++i )
-		{
-			g[i]  += tau*delta_g[i];
-			lb[i] += tau*delta_lb[i];
-			ub[i] += tau*delta_ub[i];
-		}
-	}
-	else
-	{
-		/* print a stepsize warning if stepsize is zero */
-		#ifdef PC_DEBUG
-		char messageString[80];
-		sprintf( messageString,"Stepsize is %.6e",tau );
-		getGlobalMessageHandler( )->throwWarning( RET_STEPSIZE,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		#endif
-	}
-
-
-	/* setup output preferences */
-	#ifdef PC_DEBUG
-	char messageString[80];
-  	VisibilityStatus visibilityStatus;
-
-  	if ( printlevel == PL_HIGH )
-		visibilityStatus = VS_VISIBLE;
-	else
-		visibilityStatus = VS_HIDDEN;
-	#endif
-
-
-	/* III) UPDATE ACTIVE SET */
-	switch ( BC_status )
-	{
-		/* Optimal solution found as no working set change detected. */
-		case ST_UNDEFINED:
-			return RET_OPTIMAL_SOLUTION_FOUND;
-
-
-		/* Remove one variable from active set. */
-		case ST_INACTIVE:
-			#ifdef PC_DEBUG
-			sprintf( messageString,"bound no. %d.", BC_idx );
-			getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-			#endif
-
-			if ( removeBound( BC_idx,BT_TRUE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED );
-
-			y[BC_idx] = 0.0;
-			break;
-
-
-		/* Add one variable to active set. */
-		default:
-			#ifdef PC_DEBUG
-			if ( BC_status == ST_LOWER )
-				sprintf( messageString,"lower bound no. %d.", BC_idx );
-			else
-				sprintf( messageString,"upper bound no. %d.", BC_idx );
-				getGlobalMessageHandler( )->throwInfo( RET_ADD_TO_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus );
-			#endif
-
-			if ( addBound( BC_idx,BC_status,BT_TRUE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_ADD_TO_ACTIVESET_FAILED );
-			break;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-#ifdef PC_DEBUG  /* Define print functions only for debugging! */
-
-/*
- *	p r i n t I t e r a t i o n
- */
-returnValue QProblemB::printIteration( 	int iteration,
-										int BC_idx,	SubjectToStatus BC_status
-		  								)
-{
-	char myPrintfString[160];
-
-	/* consistency check */
-	if ( iteration < 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	/* nothing to do */
-	if ( printlevel != PL_MEDIUM )
-		return SUCCESSFUL_RETURN;
-
-
-	/* 1) Print header at first iteration. */
- 	if ( iteration == 0 )
-	{
-		sprintf( myPrintfString,"\n##############  qpOASES  --  QP NO.%4.1d  ###############\n", count );
-		myPrintf( myPrintfString );
-
-		sprintf( myPrintfString,"   Iter   |   StepLength    |       Info      |   nFX   \n" );
-		myPrintf( myPrintfString );
-	}
-
-	/* 2) Print iteration line. */
-	if ( BC_status == ST_UNDEFINED )
-	{
-		sprintf( myPrintfString,"   %4.1d   |   %1.5e   |    QP SOLVED    |  %4.1d   \n", iteration,tau,getNFX( ) );
-		myPrintf( myPrintfString );
-	}
-	else
-	{
-		char info[8];
-
-		if ( BC_status == ST_INACTIVE )
-			sprintf( info,"REM BND" );
-		else
-			sprintf( info,"ADD BND" );
-
-		sprintf( myPrintfString,"   %4.1d   |   %1.5e   |   %s%4.1d   |  %4.1d   \n", iteration,tau,info,BC_idx,getNFX( ) );
-		myPrintf( myPrintfString );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-#endif  /* PC_DEBUG */
-
-
-
-/*
- *	c h e c k K K T c o n d i t i o n s
- */
-returnValue QProblemB::checkKKTconditions( )
-{
-	#ifdef __PERFORM_KKT_TEST__
-
-	int i, j;
-	int nV = getNV( );
-
-	real_t tmp;
-	real_t maxKKTviolation = 0.0;
-
-
-	/* 1) Check for Hx + g - y*A' = 0  (here: A = Id). */
-	for( i=0; i<nV; ++i )
-	{
-		tmp = g[i];
-
-		for( j=0; j<nV; ++j )
-			tmp += H[i*nV + j] * x[j];
-
-		tmp -= y[i];
-
-		if ( getAbs( tmp ) > maxKKTviolation )
-			maxKKTviolation = getAbs( tmp );
-	}
-
-	/* 2) Check for lb <= x <= ub. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( lb[i] - x[i] > maxKKTviolation )
-			maxKKTviolation = lb[i] - x[i];
-
-		if ( x[i] - ub[i] > maxKKTviolation )
-			maxKKTviolation = x[i] - ub[i];
-	}
-
-	/* 3) Check for correct sign of y and for complementary slackness. */
-	for( i=0; i<nV; ++i )
-	{
-		switch ( bounds.getStatus( i ) )
-		{
-			case ST_LOWER:
-				if ( -y[i] > maxKKTviolation )
-					maxKKTviolation = -y[i];
-				if ( getAbs( ( x[i] - lb[i] ) * y[i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( ( x[i] - lb[i] ) * y[i] );
-				break;
-
-			case ST_UPPER:
-				if ( y[i] > maxKKTviolation )
-					maxKKTviolation = y[i];
-				if ( getAbs( ( ub[i] - x[i] ) * y[i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( ( ub[i] - x[i] ) * y[i] );
-				break;
-
-			default: /* inactive */
-			if ( getAbs( y[i] ) > maxKKTviolation )
-					maxKKTviolation = getAbs( y[i] );
-				break;
-		}
-	}
-
-	if ( maxKKTviolation > CRITICALACCURACY )
-		return RET_NO_SOLUTION;
-
-	if ( maxKKTviolation > DESIREDACCURACY )
-		return RET_INACCURATE_SOLUTION;
-
-	#endif /* __PERFORM_KKT_TEST__ */
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/QProblemB.ipp b/phonelibs/qpoases/SRC/QProblemB.ipp
deleted file mode 100644
index 0b031301e6c415..00000000000000
--- a/phonelibs/qpoases/SRC/QProblemB.ipp
+++ /dev/null
@@ -1,425 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/QProblemB.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the QProblemB class which 
- *	is able to use the newly developed online active set strategy for 
- *	parametric quadratic programming.
- */
-
-
-
-#include <math.h>
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t H
- */
-inline returnValue QProblemB::getH( real_t* const _H ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( )*getNV( ); ++i )
-		_H[i] = H[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t G
- */
-inline returnValue QProblemB::getG( real_t* const _g ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( ); ++i )
-		_g[i] = g[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t L B
- */
-inline returnValue QProblemB::getLB( real_t* const _lb ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( ); ++i )
-		_lb[i] = lb[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t L B
- */
-inline returnValue QProblemB::getLB( int number, real_t& value ) const
-{
-	if ( ( number >= 0 ) && ( number < getNV( ) ) )
-	{
-		value = lb[number];
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	g e t U B
- */
-inline returnValue QProblemB::getUB( real_t* const _ub ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( ); ++i )
-		_ub[i] = ub[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t U B
- */
-inline returnValue QProblemB::getUB( int number, real_t& value ) const
-{
-	if ( ( number >= 0 ) && ( number < getNV( ) ) )
-	{
-		value = ub[number];
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	g e t B o u n d s
- */
-inline returnValue QProblemB::getBounds( Bounds* const _bounds ) const
-{
-	*_bounds = bounds;
-	
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-inline int QProblemB::getNV( ) const
-{
-	return bounds.getNV( );
-}
-
-
-/*
- *	g e t N F R
- */
-inline int QProblemB::getNFR( )
-{
-	return bounds.getNFR( );
-}
-
-
-/*
- *	g e t N F X
- */
-inline int QProblemB::getNFX( )
-{
-	return bounds.getNFX( );
-}
-
-
-/*
- *	g e t N F V
- */
-inline int QProblemB::getNFV( ) const
-{
-	return bounds.getNFV( );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-inline QProblemStatus QProblemB::getStatus( ) const
-{
-	return status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-inline BooleanType QProblemB::isInitialised( ) const
-{
-	if ( status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-inline BooleanType QProblemB::isSolved( ) const
-{
-	if ( status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-inline BooleanType QProblemB::isInfeasible( ) const
-{
-	return infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-inline BooleanType QProblemB::isUnbounded( ) const
-{
-	return unbounded;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-inline PrintLevel QProblemB::getPrintLevel( ) const
-{
-	return printlevel;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-inline HessianType QProblemB::getHessianType( ) const
-{
-	return hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-inline returnValue QProblemB::setHessianType( HessianType _hessianType )
-{
-	hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-/*
- *	s e t H
- */
-inline returnValue QProblemB::setH( const real_t* const H_new )
-{
-	int i, j;
-
-	int nV = getNV();
-
-	for( i=0; i<nV; ++i )
-		for( j=0; j<nV; ++j )
-			H[i*NVMAX + j] = H_new[i*nV + j];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-inline returnValue QProblemB::setG( const real_t* const g_new )
-{
-	int i;
-
-	int nV = getNV();
-
-	for( i=0; i<nV; ++i )
-		g[i] = g_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-inline returnValue QProblemB::setLB( const real_t* const lb_new )
-{
-	int i;
-
-	int nV = getNV();
-
-	for( i=0; i<nV; ++i )
-		lb[i] = lb_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-inline returnValue QProblemB::setLB( int number, real_t value )
-{
-	if ( ( number >= 0 ) && ( number < getNV( ) ) )
-	{
-		lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-inline returnValue QProblemB::setUB( const real_t* const ub_new )
-{
-	int i;
-
-	int nV = getNV();
-
-	for( i=0; i<nV; ++i )
-		ub[i] = ub_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-inline returnValue QProblemB::setUB( int number, real_t value )
-{
-	if ( ( number >= 0 ) && ( number < getNV( ) ) )
-	{
-		ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	c o m p u t e G i v e n s
- */
-inline void QProblemB::computeGivens(	real_t xold, real_t yold, real_t& xnew, real_t& ynew,
-										real_t& c, real_t& s 
-										) const
-{
-    if ( getAbs( yold ) <= ZERO )
-	{
-        c = 1.0;
-        s = 0.0;
-		
-		xnew = xold;
-		ynew = yold;
-	}
-    else
-	{
-		real_t t, mu;
-
-        mu = getAbs( xold );
-		if ( getAbs( yold ) > mu )
-			mu = getAbs( yold );
-		
-        t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
-		
-		if ( xold < 0.0 )
-            t = -t;
-		
-        c = xold/t;
-        s = yold/t;
-        xnew = t;
-        ynew = 0.0;
-	}
-	
-	return;
-}
-
-		
-/*
- *	a p p l y G i v e n s
- */
-inline void QProblemB::applyGivens(	real_t c, real_t s, real_t xold, real_t yold,
-									real_t& xnew, real_t& ynew 
-									) const
-{
-	/* Usual Givens plane rotation requiring four multiplications. */
-	xnew =  c*xold + s*yold;
-	ynew = -s*xold + c*yold;
-// 	double nu = s/(1.0+c);
-// 
-// 	xnew = xold*c + yold*s;
-// 	ynew = (xnew+xold)*nu - yold;
-	
-	return;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/SubjectTo.cpp b/phonelibs/qpoases/SRC/SubjectTo.cpp
deleted file mode 100644
index 371f0d76d32781..00000000000000
--- a/phonelibs/qpoases/SRC/SubjectTo.cpp
+++ /dev/null
@@ -1,200 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/SubjectTo.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the SubjectTo class designed to manage working sets of
- *	constraints and bounds within a QProblem.
- */
-
-
-#include <SubjectTo.hpp>
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	S u b j e c t T o
- */
-SubjectTo::SubjectTo( ) :	noLower( BT_TRUE ),
-							noUpper( BT_TRUE ),
-							size( 0 )
-{
-	int i;
-
-	for( i=0; i<size; ++i )
-	{
-		type[i] = ST_UNKNOWN;
-		status[i] = ST_UNDEFINED;
-	}
-}
-
-
-/*
- *	S u b j e c t T o
- */
-SubjectTo::SubjectTo( const SubjectTo& rhs ) :	noLower( rhs.noLower ),
-												noUpper( rhs.noUpper ),
-												size( rhs.size )
-{
-	int i;
-
-	for( i=0; i<size; ++i )
-	{
-		type[i] = rhs.type[i];
-		status[i] = rhs.status[i];
-	}
-}
-
-
-/*
- *	~ S u b j e c t T o
- */
-SubjectTo::~SubjectTo( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-SubjectTo& SubjectTo::operator=( const SubjectTo& rhs )
-{
-	int i;
-
-	if ( this != &rhs )
-	{
-		size = rhs.size;
-
-		for( i=0; i<size; ++i )
-		{
-			type[i] = rhs.type[i];
-			status[i] = rhs.status[i];
-		}
-
-		noLower = rhs.noLower;
-		noUpper = rhs.noUpper;
-	}
-
-	return *this;
-}
-
-
-
-/*
- *	i n i t
- */
-returnValue SubjectTo::init( int n )
-{
-	int i;
-
-	size = n;
-
-	noLower = BT_TRUE;
-	noUpper = BT_TRUE;
-
-	for( i=0; i<size; ++i )
-	{
-		type[i] = ST_UNKNOWN;
-		status[i] = ST_UNDEFINED;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-/*
- *	a d d I n d e x
- */
-returnValue SubjectTo::addIndex(	Indexlist* const indexlist,
-									int newnumber, SubjectToStatus newstatus
-									)
-{
-	/* consistency check */
-	if ( status[newnumber] == newstatus )
-		return THROWERROR( RET_INDEX_ALREADY_OF_DESIRED_STATUS );
-
-	status[newnumber] = newstatus;
-
-	if ( indexlist->addNumber( newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH )
-		return THROWERROR( RET_ADDINDEX_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	r e m o v e I n d e x
- */
-returnValue SubjectTo::removeIndex(	Indexlist* const indexlist, 
-									int removenumber
-									)
-{
-	status[removenumber] = ST_UNDEFINED;
-
-	if ( indexlist->removeNumber( removenumber ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_UNKNOWN_BUG );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s w a p I n d e x
- */
-returnValue SubjectTo::swapIndex(	Indexlist* const indexlist,
-									int number1, int number2
-									)
-{
-	/* consistency checks */
-	if ( status[number1] != status[number2] )
-		return THROWERROR( RET_SWAPINDEX_FAILED );
-
-	if ( number1 == number2 )
-	{
-		THROWWARNING( RET_NOTHING_TO_DO );
-		return SUCCESSFUL_RETURN;
-	}
-
-	if ( indexlist->swapNumbers( number1,number2 ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_SWAPINDEX_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/SubjectTo.ipp b/phonelibs/qpoases/SRC/SubjectTo.ipp
deleted file mode 100644
index 32215ba7e45855..00000000000000
--- a/phonelibs/qpoases/SRC/SubjectTo.ipp
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/SubjectTo.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the inlined member functions of the SubjectTo class 
- *	designed to manage working sets of constraints and bounds within a QProblem.
- */
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
- 
-
-/*
- *	g e t T y p e
- */
-inline SubjectToType SubjectTo::getType( int i ) const
-{
-	if ( ( i >= 0 ) && ( i < size ) )
-		return type[i];
-	else
-		return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-inline SubjectToStatus SubjectTo::getStatus( int i ) const
-{
-	if ( ( i >= 0 ) && ( i < size ) )
-		return status[i];
-	else
-		return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-inline returnValue SubjectTo::setType( int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < size ) )
-	{
-		type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-inline returnValue SubjectTo::setStatus( int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < size ) )
-	{
-		status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-inline void SubjectTo::setNoLower( BooleanType _status )
-{
-	noLower = _status;
-}
- 
-
-/*
- *	s e t N o U p p e r
- */
-inline void SubjectTo::setNoUpper( BooleanType _status )
-{
-	noUpper = _status;
-}
-
-
-/*
- *	i s N o L o w e r
- */
-inline BooleanType SubjectTo::isNoLower( ) const
-{
-	return noLower;
-}
-
- 
-/*
- *	i s N o L o w e r
- */
-inline BooleanType SubjectTo::isNoUpper( ) const
-{
-	return noUpper;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/Utils.cpp b/phonelibs/qpoases/SRC/Utils.cpp
deleted file mode 100644
index c11722c4797d99..00000000000000
--- a/phonelibs/qpoases/SRC/Utils.cpp
+++ /dev/null
@@ -1,471 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file SRC/Utils.cpp
- *	\author Hans Joachim Ferreau, Eckhard Arnold
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of some inlined utilities for working with the different QProblem
- *  classes.
- */
-
-
-#include <math.h>
-
-#if defined(__WIN32__) || defined(WIN32)
-  #include <windows.h>
-#elif defined(LINUX)
-  #include <sys/stat.h>
-  #include <sys/time.h>
-#endif
-
-#ifdef __MATLAB__
-  #include <mex.h>
-#endif
-
-
-#include <Utils.hpp>
-
-
-
-#ifdef PC_DEBUG  /* Define print functions only for debugging! */
-/*
- *	p r i n t
- */
-returnValue print( const real_t* const v, int n )
-{
-	int i;
-	char myPrintfString[160];
-
-	/* Print a vector. */
-	myPrintf( "[\t" );
-	for( i=0; i<n; ++i )
-	{
-		sprintf( myPrintfString," %.16e\t", v[i] );
-		myPrintf( myPrintfString );
-	}
-	myPrintf( "]\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const real_t* const v, int n,
-					const int* const V_idx
-					)
-{
-	int i;
-	char myPrintfString[160];
-
-	/* Print a permuted vector. */
-	myPrintf( "[\t" );
-	for( i=0; i<n; ++i )
-	{
-		sprintf( myPrintfString," %.16e\t", v[ V_idx[i] ] );
-		myPrintf( myPrintfString );
-	}
-	myPrintf( "]\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const real_t* const v, int n,
-					const char* name
-					)
-{
-	char myPrintfString[160];
-
-	/* Print vector name ... */
-	sprintf( myPrintfString,"%s = ", name );
-	myPrintf( myPrintfString );
-
-	/* ... and the vector itself. */
-	return print( v, n );
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print( const real_t* const M, int nrow, int ncol )
-{
-	int i;
-
-	/* Print a matrix as a collection of row vectors. */
-	for( i=0; i<nrow; ++i )
-		print( &(M[i*ncol]), ncol );
-	myPrintf( "\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const real_t* const M, int nrow, int ncol,
-					const int* const ROW_idx, const int* const COL_idx
-					)
-{
-	int i;
-
-	/* Print a permuted matrix as a collection of permuted row vectors. */
-	for( i=0; i<nrow; ++i )
-		print( &( M[ ROW_idx[i]*ncol ] ), ncol, COL_idx );
-	myPrintf( "\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const real_t* const M, int nrow, int ncol,
-					const char* name
-					)
-{
-	char myPrintfString[160];
-
-	/* Print matrix name ... */
-	sprintf( myPrintfString,"%s = ", name );
-	myPrintf( myPrintfString );
-
-	/* ... and the matrix itself. */
-	return print( M, nrow, ncol );
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print( const int* const index, int n )
-{
-	int i;
-	char myPrintfString[160];
-
-	/* Print a indexlist. */
-	myPrintf( "[\t" );
-	for( i=0; i<n; ++i )
-	{
-		sprintf( myPrintfString," %d\t", index[i] );
-		myPrintf( myPrintfString );
-	}
-	myPrintf( "]\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const int* const index, int n,
-					const char* name
-					)
-{
-	char myPrintfString[160];
-
-	/* Print indexlist name ... */
-	sprintf( myPrintfString,"%s = ", name );
-	myPrintf( myPrintfString );
-
-	/* ... and the indexlist itself. */
-	return print( index, n );
-}
-
-
-/*
- *	m y P r i n t f
- */
-returnValue myPrintf( const char* s )
-{
-	#ifdef __MATLAB__
-	mexPrintf( s );
-	#else
-	myFILE* outputfile = getGlobalMessageHandler( )->getOutputFile( );
-	if ( outputfile == 0 )
-		return THROWERROR( RET_NO_GLOBAL_MESSAGE_OUTPUTFILE );
-
-	fprintf( outputfile, "%s", s );
-	#endif
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t C o p y r i g h t N o t i c e
- */
-returnValue printCopyrightNotice( )
-{
-	return myPrintf( "\nqpOASES -- An Implementation of the Online Active Set Strategy.\nCopyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.\n\nqpOASES is distributed under the terms of the \nGNU Lesser General Public License 2.1 in the hope that it will be \nuseful, but WITHOUT ANY WARRANTY; without even the implied warranty \nof MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \nSee the GNU Lesser General Public License for more details.\n\n" );
-}
-
-
-/*
- *	r e a d F r o m F i l e
- */
-returnValue readFromFile(	real_t* data, int nrow, int ncol,
-							const char* datafilename
-							)
-{
-	int i, j;
-	float float_data;
-	myFILE* datafile;
-
-	/* 1) Open file. */
-	if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
-	{
-		char errstr[80];
-		sprintf( errstr,"(%s)",datafilename );
-		return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-	}
-
-	/* 2) Read data from file. */
-	for( i=0; i<nrow; ++i )
-	{
-		for( j=0; j<ncol; ++j )
-		{
-			if ( fscanf( datafile, "%f ", &float_data ) == 0 )
-			{
-				fclose( datafile );
-				char errstr[80];
-				sprintf( errstr,"(%s)",datafilename );
-				return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-			}
-			data[i*ncol + j] = ( (real_t) float_data );
-		}
-	}
-
-	/* 3) Close file. */
-	fclose( datafile );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	r e a d F r o m F i l e
- */
-returnValue readFromFile(	real_t* data, int n,
-							const char* datafilename
-							)
-{
-	return readFromFile( data, n, 1, datafilename );
-}
-
-
-
-/*
- *	r e a d F r o m F i l e
- */
-returnValue readFromFile(	int* data, int n,
-							const char* datafilename
-							)
-{
-	int i;
-	myFILE* datafile;
-
-	/* 1) Open file. */
-	if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
-	{
-		char errstr[80];
-		sprintf( errstr,"(%s)",datafilename );
-		return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-	}
-
-	/* 2) Read data from file. */
-	for( i=0; i<n; ++i )
-	{
-		if ( fscanf( datafile, "%d\n", &(data[i]) ) == 0 )
-		{
-			fclose( datafile );
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-
-	/* 3) Close file. */
-	fclose( datafile );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	w r i t e I n t o F i l e
- */
-returnValue writeIntoFile(	const real_t* const data, int nrow, int ncol,
-							const char* datafilename, BooleanType append
-							)
-{
-	int i, j;
-	myFILE* datafile;
-
-	/* 1) Open file. */
-	if ( append == BT_TRUE )
-	{
-		/* append data */
-		if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
-		{
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-	else
-	{
-		/* do not append data */
-		if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
-		{
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-
-	/* 2) Write data into file. */
-	for( i=0; i<nrow; ++i )
-	{
-		for( j=0; j<ncol; ++j )
-		 	fprintf( datafile, "%.16e ", data[i*ncol+j] );
-
-		fprintf( datafile, "\n" );
-	}
-
-	/* 3) Close file. */
-	fclose( datafile );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	w r i t e I n t o F i l e
- */
-returnValue writeIntoFile(	const real_t* const data, int n,
-							const char* datafilename, BooleanType append
-							)
-{
-	return writeIntoFile( data,1,n,datafilename,append );
-}
-
-
-/*
- *	w r i t e I n t o F i l e
- */
-returnValue writeIntoFile(	const int* const data, int n,
-							const char* datafilename, BooleanType append
-							)
-{
-	int i;
-
-	myFILE* datafile;
-
-	/* 1) Open file. */
-	if ( append == BT_TRUE )
-	{
-		/* append data */
-		if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
-		{
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-	else
-	{
-		/* do not append data */
-		if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
-		{
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-
-	/* 2) Write data into file. */
-	for( i=0; i<n; ++i )
-		fprintf( datafile, "%d\n", data[i] );
-
-	/* 3) Close file. */
-	fclose( datafile );
-
-	return SUCCESSFUL_RETURN;
-}
-#endif  /* PC_DEBUG */
-
-
-/*
- *	g e t C P U t i m e
- */
-real_t getCPUtime( )
-{
-	real_t current_time = -1.0;
-
-	#if defined(__WIN32__) || defined(WIN32)
-	LARGE_INTEGER counter, frequency;
-	QueryPerformanceFrequency(&frequency);
-	QueryPerformanceCounter(&counter);
-	current_time = ((real_t) counter.QuadPart) / ((real_t) frequency.QuadPart);
-	#elif defined(LINUX)
-	struct timeval theclock;
-	gettimeofday( &theclock,0 );
-	current_time = 1.0*theclock.tv_sec + 1.0e-6*theclock.tv_usec;
-	#endif
-
-	return current_time;
-}
-
-
-/*
- *	g e t N o r m
- */
-real_t getNorm( const real_t* const v, int n )
-{
-	int i;
-
-	real_t norm = 0.0;
-
-	for( i=0; i<n; ++i )
-		norm += v[i]*v[i];
-
-	return sqrt( norm );
-}
-
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/SRC/Utils.ipp b/phonelibs/qpoases/SRC/Utils.ipp
deleted file mode 100644
index 861bdb3726717d..00000000000000
--- a/phonelibs/qpoases/SRC/Utils.ipp
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *	Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-
-/**
- *	\file SRC/Utils.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of some inlined utilities for working with the different QProblem 
- *  classes.
- */
-
-
-
-/*
- *	g e t A b s
- */
-inline real_t getAbs( real_t x )
-{
-	if ( x < 0.0 )
-		return -x;
-	else
-		return x;
-}
-
-
-/*
- *	end of file
- */
diff --git a/phonelibs/qpoases/VERSIONS.txt b/phonelibs/qpoases/VERSIONS.txt
deleted file mode 100644
index 35a6740b142fb5..00000000000000
--- a/phonelibs/qpoases/VERSIONS.txt
+++ /dev/null
@@ -1,87 +0,0 @@
-##
-##	qpOASES -- An Implementation of the Online Active Set Strategy.
-##	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
-##
-##	qpOASES is free software; you can redistribute it and/or
-##	modify it under the terms of the GNU Lesser General Public
-##	License as published by the Free Software Foundation; either
-##	version 2.1 of the License, or (at your option) any later version.
-##
-##	qpOASES is distributed in the hope that it will be useful,
-##	but WITHOUT ANY WARRANTY; without even the implied warranty of
-##	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-##	Lesser General Public License for more details.
-##
-##	You should have received a copy of the GNU Lesser General Public
-##	License along with qpOASES; if not, write to the Free Software
-##	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
-##
-
-
-
-VERSION HISTORY
-===============
-
-1.3embedded (last updated on 30th April 2009):
------------------------------------------------------------------------
-
-+ Re-programming of internal memory management to avoid dynamic memory allocations 
-+ Most #ifdef directives removed
-+ Almost all type definitions gathered within INCLUDE/Types.hpp
-+ Irrelevant functionality removed (like the SQProblem class, functionality 
-  for loading data from files or the SCILAB interface)
-+ Replacement of all doubles by real_t
-+ Introduction of define "PC_DEBUG" for switching off all print functions
-+ stdio.h was made optional, string.h is no longer needed
-+ relative paths removed from #include directives
-+ made auxiliary objects locally static within solveInitialQP()
-+ Matlab interface fixed for single precision
-+ New return value -2 from Legacy wrapper added to Matlab/Simulink interfaces
-+ KKT optimality check moved into QProblem(B) class, SolutionAnalysis class removed
-
-
-1.3 (released on 2nd June 2008, last updated on 19th June 2008):
------------------------------------------------------------------------
-
-+ Implementation of "initialised homotopy" concept
-+ Addition of the SolutionAnalysis class
-+ Utility functions for solving test problems in OQP format added
-+ Flexibility of Matlab(R) interface enhanced
-+ Major source code cleanup
-  (Attention: a few class names and calling interfaces have changed!)
-
-
-
-1.2 (released on 9th October 2007):
------------------------------------------------------------------------
-
-+ Special treatment of diagonal Hessians
-+ Improved infeasibility detection
-+ Further improved Matlab(R) interface
-+ Extended Simulink(R) interface
-+ scilab interface added
-+ Code cleanup and several bugfixes
-
-
-
-1.1 (released on 8th July 2007):
---------------------------------
-
-+ Implementation of the QProblemB class
-+ Basic implementation of the SQProblem class
-+ Improved Matlab(R) interface
-+ Enabling/Disabling of constraints introduced
-+ Several bugfixes
-
-
-
-1.0 (released on 17th April 2007):
-----------------------------------
-
-Initial release.
-
-
-
-##
-##	end of file
-##
diff --git a/phonelibs/snpe/aarch64-android-clang3.8/libSNPE.so b/phonelibs/snpe/aarch64-android-clang3.8/libSNPE.so
deleted file mode 100644
index b2e5b0071bb117..00000000000000
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diff --git a/phonelibs/snpe/aarch64-android-clang3.8/libsnpe_dsp_skel.so b/phonelibs/snpe/aarch64-android-clang3.8/libsnpe_dsp_skel.so
deleted file mode 100644
index f63f2fae70b8ab..00000000000000
Binary files a/phonelibs/snpe/aarch64-android-clang3.8/libsnpe_dsp_skel.so and /dev/null differ
diff --git a/phonelibs/snpe/aarch64-android-clang3.8/libsymphony-cpu.so b/phonelibs/snpe/aarch64-android-clang3.8/libsymphony-cpu.so
deleted file mode 100755
index ca05458ea13a42..00000000000000
Binary files a/phonelibs/snpe/aarch64-android-clang3.8/libsymphony-cpu.so and /dev/null differ
diff --git a/phonelibs/snpe/aarch64-android-clang3.8/libsymphonypower.so b/phonelibs/snpe/aarch64-android-clang3.8/libsymphonypower.so
deleted file mode 100755
index 30f676d7285905..00000000000000
Binary files a/phonelibs/snpe/aarch64-android-clang3.8/libsymphonypower.so and /dev/null differ
diff --git a/phonelibs/snpe/include/DlContainer/IDlContainer.hpp b/phonelibs/snpe/include/DlContainer/IDlContainer.hpp
deleted file mode 100644
index c4b465fd04bbe6..00000000000000
--- a/phonelibs/snpe/include/DlContainer/IDlContainer.hpp
+++ /dev/null
@@ -1,156 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef ZEROTH_IDNC_CONTAINER_HPP
-#define ZEROTH_IDNC_CONTAINER_HPP
-
-#include <memory>
-#include <stdint.h>
-#include <string>
-#include <vector>
-#include <set>
-#include <stdexcept>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/String.hpp"
-
-namespace zdl {
-namespace DlContainer {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-class IDlContainer;
-class dlc_error;
-
-/**
- * The structure of a record in a DL container.
- */
-struct ZDL_EXPORT DlcRecord
-{
-   /// Name of the record.
-   std::string name;
-   /// Byte blob holding the data for the record.
-   std::vector<uint8_t> data;
-
-   DlcRecord();
-   DlcRecord( DlcRecord&& other )
-      : name(std::move(other.name))
-      , data(std::move(other.data))
-   {}
-
-   DlcRecord(const DlcRecord&) = delete;
-};
-
-// The maximum length of any record name.
-extern const uint32_t RECORD_NAME_MAX_SIZE;
-// The maximum size of the record payload (bytes).
-extern const uint32_t RECORD_DATA_MAX_SIZE;
-// The maximum number of records in an archive at one time.
-extern const uint32_t ARCHIVE_MAX_RECORDS;
-
-/**
- * Represents a container for a neural network model which can
- * be used to load the model into the SNPE runtime.
- */
-class ZDL_EXPORT IDlContainer
-{
-public:
-   /**
-    * Initializes a container from a container archive file.
-    * 
-    * @param[in] filename Container archive file path.
-    * 
-    * @return A pointer to the initialized container
-    */
-   ZDL_EXPORT static std::unique_ptr<IDlContainer>
-   open(const std::string &filename) noexcept;
-
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   ZDL_EXPORT static std::unique_ptr<IDlContainer>
-   open(const zdl::DlSystem::String &filename) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    * 
-    * @param[in] buffer Byte buffer holding the contents of an archive 
-    *                   file.
-    * 
-    * @return A pointer to the initialized container
-    */
-   ZDL_EXPORT static std::unique_ptr<IDlContainer>
-   open(const std::vector<uint8_t> &buffer) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    * 
-    * @param[in] buffer Byte buffer holding the contents of an archive 
-    *                   file.
-    *
-    * @param[in] size Size of the byte buffer.
-    * 
-    * @return A pointer to the initialized container
-    */
-   ZDL_EXPORT static std::unique_ptr<IDlContainer>
-   open(const uint8_t* buffer, const size_t size) noexcept;
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-   /**
-    * Get the record catalog for a container.
-    * 
-    * @param[out] catalog Buffer that will hold the record names on 
-    *                    return.
-    */
-   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
-
-    /**
-     * Get the record catalog for a container.
-     *
-     * @param[out] catalog Buffer that will hold the record names on
-     *                    return.
-     */
-   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    * 
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
-
-   virtual ~IDlContainer() {}
-};
-
-} // ns DlContainer
-} // ns zdl
-
-
-#endif
diff --git a/phonelibs/snpe/include/DlSystem/DlEnums.hpp b/phonelibs/snpe/include/DlSystem/DlEnums.hpp
deleted file mode 100644
index fde252ca7f6742..00000000000000
--- a/phonelibs/snpe/include/DlSystem/DlEnums.hpp
+++ /dev/null
@@ -1,146 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2018 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ENUMS_HPP_
-#define _DL_ENUMS_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Enumeration of supported target runtimes.
- */
-enum class Runtime_t
-{
-   /// Run the processing on Snapdragon CPU.
-   /// Data: float 32bit
-   /// Math: float 32bit
-   CPU_FLOAT32  = 0,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 32bit
-   GPU_FLOAT32_16_HYBRID = 1,
-
-   /// Run the processing on the Hexagon DSP.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   DSP_FIXED8_TF = 2,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 16bit
-   GPU_FLOAT16 = 3,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// CPU = CPU_FLOAT32
-   CPU = CPU_FLOAT32,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// GPU = GPU_FLOAT32_16_HYBRID
-   GPU = GPU_FLOAT32_16_HYBRID,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// DSP = DSP_FIXED8_TF
-   DSP = DSP_FIXED8_TF
-};
-
-/**
- * Enumeration of various performance profiles that can be requested.
- */
-enum class PerformanceProfile_t
-{
-    /// Run in a standard mode.
-    /// This mode will be deprecated in the future and replaced with BALANCED.
-    DEFAULT = 0,
-    /// Run in a balanced mode.
-    BALANCED = 0,
-
-    /// Run in high performance mode
-    HIGH_PERFORMANCE,
-
-    /// Run in a power sensitive mode, at the expense of performance.
-    POWER_SAVER,
-
-    /// Use system settings.  SNPE makes no calls to any performance related APIs.
-    SYSTEM_SETTINGS,
-
-    /// Run in sustained high performance mode
-    SUSTAINED_HIGH_PERFORMANCE
-
-};
-
-/**
- * Enumeration of various execution priority hints.
- */
-enum class ExecutionPriorityHint_t
-{
-    /// Normal priority
-    NORMAL = 0,
-
-    /// Higher than normal priority
-    HIGH,
-
-    /// Lower priority
-    LOW
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
-
-/**
- * Enumeration that lists the supported image encoding formats.
- */
-enum class ImageEncoding_t
-{
-   /// For unknown image type. Also used as a default value for ImageEncoding_t.
-   UNKNOWN = 0,
-
-   /// The RGB format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green, and one for Blue. The byte ordering is
-   /// endian independent and is always in RGB byte order.
-   RGB,
-
-   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering depends on the
-   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
-   /// For big endian CPUs, the byte order is ARGB.
-   ARGB32,
-
-   /// The RGBA format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering is endian independent
-   /// and is always in RGBA byte order.
-   RGBA,
-
-   /// The GRAYSCALE format is for 8-bit grayscale.
-   GRAYSCALE,
-
-   /// NV21 is the Android version of YUV. The Chrominance is down
-   /// sampled and has a subsampling ratio of 4:2:0. Note that this
-   /// image format has 3 channels, but the U and V channels
-   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
-   NV21,
-
-   /// The BGR format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green and one for Blue. The byte ordering is
-   /// endian independent and is always BGR byte order.
-   BGR
-};
-
-}} // namespaces end
-
-
-#endif
diff --git a/phonelibs/snpe/include/DlSystem/IUserBuffer.hpp b/phonelibs/snpe/include/DlSystem/IUserBuffer.hpp
deleted file mode 100644
index 70f6b33cbba1a9..00000000000000
--- a/phonelibs/snpe/include/DlSystem/IUserBuffer.hpp
+++ /dev/null
@@ -1,289 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2018 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IUSER_BUFFER_HPP
-#define _IUSER_BUFFER_HPP
-
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A base class buffer encoding type
-  */
-class ZDL_EXPORT UserBufferEncoding {
-public:
-
-    /**
-      * @brief .
-      *
-      * An enum class of all supported element types in a IUserBuffer
-      */
-    enum class ElementType_t
-    {
-        /// Unknown element type.
-        UNKNOWN         = 0,
-
-        /// Each element is presented by float.
-        FLOAT           = 1,
-
-        /// Each element is presented by an unsigned int.
-        UNSIGNED8BIT    = 2,
-
-        /// Each element is presented by an 8-bit quantized value.
-        TF8             = 10
-    };
-
-    /**
-      * @brief Retrieves the size of the element, in bytes.
-      *
-      * @return Size of the element, in bytes.
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Retrieves the element type
-      *
-      * @return Element type
-     */
-    ElementType_t getElementType() const noexcept {return m_ElementType;};
-
-    virtual ~UserBufferEncoding() {}
-
-protected:
-    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
-private:
-    const ElementType_t  m_ElementType;
-};
-
-/**
-  * @brief .
-  *
-  * A base class buffer source type
-  *
-  * @note User buffer from CPU support all kinds of runtimes;
-  *       User buffer from GLBUFFER support only GPU runtime.
-  */
-class ZDL_EXPORT UserBufferSource {
-public:
-   enum class SourceType_t
-   {
-      /// Unknown buffer source type.
-      UNKNOWN = 0,
-
-      /// The network inputs are from CPU buffer.
-      CPU = 1,
-
-      /// The network inputs are from OpenGL buffer.
-      GLBUFFER = 2
-   };
-
-   /**
-     * @brief Retrieves the source type
-     *
-     * @return Source type
-    */
-   SourceType_t getSourceType() const noexcept {return m_SourceType;};
-
-protected:
-   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
-private:
-   const SourceType_t m_SourceType;
-};
-
-/**
-  * @brief .
-  *
-  * An source type where input data is delivered from OpenGL buffer
-  */
-class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
-public:
-   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by an unsigned int
-  */
-class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
-public:
-    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
-    size_t getElementSize() const noexcept override;
-
-protected:
-    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by a float
-  */
-class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
-public:
-    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
-    size_t getElementSize() const noexcept override;
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by tf8, which is an
-  * 8-bit quantizd value, which has an exact representation of 0.0
-  */
-class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingUnsigned8Bit {
-public:
-    UserBufferEncodingTf8() = delete;
-    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
-            UserBufferEncodingUnsigned8Bit(ElementType_t::TF8),
-            m_StepExactly0(stepFor0),
-            m_QuantizedStepSize(stepSize) {};
-
-    /**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-    void setStepExactly0(const unsigned char stepExactly0) {
-        m_StepExactly0 = stepExactly0;
-    }
-
-    /**
-      * @brief Sets the float value that each step represents
-      *
-      * @param[in] quantizedStepSize The float value of each step size
-      *
-     */
-    void setQuantizedStepSize(const float quantizedStepSize) {
-        m_QuantizedStepSize = quantizedStepSize;
-    }
-
-    /**
-      * @brief Retrieves the step that represents 0.0
-      *
-      * @return Step value
-     */
-    unsigned char getStepExactly0() const {
-        return m_StepExactly0;
-    }
-
-    /**
-     * Calculates the minimum floating point value that
-     * can be represented with this encoding.
-     *
-     * @return Minimum representable floating point value
-     */
-    float getMin() const {
-        return m_QuantizedStepSize * (0 - m_StepExactly0);
-    }
-
-    /**
-     * Calculates the maximum floating point value that
-     * can be represented with this encoding.
-     *
-     * @return Maximum representable floating point value
-     */
-    float getMax() const {
-        return m_QuantizedStepSize * (255 - m_StepExactly0);
-    }
-
-    /**
-      * @brief Retrieves the step size
-      *
-      * @return Step size
-     */
-    float getQuantizedStepSize() const {
-        return m_QuantizedStepSize;
-    }
-
-private:
-    unsigned char m_StepExactly0;
-
-    float m_QuantizedStepSize;
-};
-
-/**
- * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
- */
-class ZDL_EXPORT IUserBuffer {
-public:
-    virtual ~IUserBuffer() = default;
-    
-    /**
-      * @brief Retrieves the total number of bytes between elements in each dimension if
-      * the buffer were to be interpreted as a multi-dimensional array.
-      *
-      * @return Number of bytes between elements in each dimension.
-      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
-      * return strides of [24, 8, 4].
-     */
-    virtual const TensorShape& getStrides() const = 0;
-
-    /**
-      * @brief Retrieves the size of the buffer, in bytes.
-      *
-      * @return Size of the underlying buffer, in bytes.
-     */
-    virtual size_t getSize() const = 0;
-
-    /**
-      * @brief Changes the underlying memory that backs the UserBuffer.
-      *
-      * This can be used to avoid creating multiple UserBuffer objects
-      * when the only thing that differs is the memory location.
-      *
-      * @param[in] buffer Pointer to the memory location
-      *
-      * @return Whether the set succeeds.
-     */
-    virtual bool setBufferAddress(void *buffer) noexcept = 0;
-
-    /**
-      * @brief Gets a const reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is filled by SNPE with
-      * data types such as TF8, where the caller needs to know the quantization
-      * parameters in order to interpret the data properly
-      *
-      * @return A read-only encoding object
-     */
-    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
-
-    /**
-      * @brief Gets a reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is re-used, and the encoding
-      * parameters can change.  For example, each input can be quantized with
-      * different step sizes.
-      *
-      * @return Data encoding meta-data
-     */
-    virtual UserBufferEncoding& getEncoding() noexcept = 0;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/phonelibs/snpe/include/DlSystem/ZdlExportDefine.hpp b/phonelibs/snpe/include/DlSystem/ZdlExportDefine.hpp
deleted file mode 100644
index dd0704dd8c996d..00000000000000
--- a/phonelibs/snpe/include/DlSystem/ZdlExportDefine.hpp
+++ /dev/null
@@ -1,16 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ZDL_EXPORT_DEFINE_HPP_
-#define _ZDL_EXPORT_DEFINE_HPP_
-
-#ifndef ZDL_EXPORT
-#define ZDL_EXPORT __attribute__((visibility("default")))
-#endif
-
-#endif
diff --git a/phonelibs/snpe/include/SNPE/SNPEBuilder.hpp b/phonelibs/snpe/include/SNPE/SNPEBuilder.hpp
deleted file mode 100644
index 13e80e8c1a703d..00000000000000
--- a/phonelibs/snpe/include/SNPE/SNPEBuilder.hpp
+++ /dev/null
@@ -1,210 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_BUILDER_HPP_
-#define _SNPE_BUILDER_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/PlatformConfig.hpp"
-
-namespace zdl {
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-struct SNPEBuilderImpl;
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The builder class for creating SNPE objects.
- * Not meant to be extended.
- */
-class ZDL_EXPORT SNPEBuilder final
-{
-private:
-   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
-public:
-
-   /**
-    * @brief Constructor of NeuralNetwork Builder with a supplied model.
-    *
-    * @param[in] container A container holding the model.
-    *
-    * @return A new instance of a SNPEBuilder object
-    *         that can be used to configure and build
-    *         an instance of SNPE.
-    *
-    */
-   explicit SNPEBuilder(
-      zdl::DlContainer::IDlContainer* container);
-   ~SNPEBuilder();
-
-   /**
-    * @brief Sets the runtime processor.
-    *
-    * @param[in] targetRuntimeProcessor The target runtime.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessor(
-      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
-
-   /**
-    * @brief Requests a performance profile.
-    *
-    * @param[in] targetRuntimeProfile The target performance profile.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPerformanceProfile(
-      zdl::DlSystem::PerformanceProfile_t performanceProfile);
-
-    /**
-     * @brief Sets a preference for execution priority.
-     *
-     * This allows the caller to give coarse hint to SNPE runtime
-     * about the priority of the network.  SNPE runtime is free to use
-     * this information to co-ordinate between different workloads
-     * that may or may not extend beyond SNPE.
-     *
-     * @param[in] ExecutionPriorityHint_t The target performance profile.
-     *
-     * @return The current instance of SNPEBuilder.
-     */
-   SNPEBuilder& setExecutionPriorityHint(
-            zdl::DlSystem::ExecutionPriorityHint_t priority);
-
-    /**
-    * @brief Sets the layers that will generate output.
-    *
-    * @param[in] outputLayerNames List of layer names to
-    *                             output. An empty list will
-    *                             result in only the final
-    *                             layer of the model being
-    *                             the output layer.  The list
-    *                             will be copied.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setOutputLayers(
-      const zdl::DlSystem::StringList& outputLayerNames);
-
-   /**
-    * @brief Passes in a User-defined layer.
-    *
-    * @param udlBundle Bundle of udl factory function and a cookie
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUdlBundle(
-      zdl::DlSystem::UDLBundle udlBundle);
-
-   /**
-    * @brief Sets whether this neural network will perform inference with
-    *        input from user-supplied buffers, and write output to user-supplied
-    *        buffers.  Default behaviour is to use tensors created by
-    *        ITensorFactory.
-    *
-    * @param[in] bufferMode Whether to use user-supplied buffer or not.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUseUserSuppliedBuffers(
-      bool bufferMode);
-
-    /**
-    * @brief Sets the debug mode of the runtime.
-    *
-    * @param[in] debugMode This enables debug mode for the runtime. It
-    *                      does two things. For an empty
-    *                      outputLayerNames list, all layers will be
-    *                      output. It might also disable some internal
-    *                      runtime optimizations (e.g., some networks
-    *                      might be optimized by combining layers,
-    *                      etc.).
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setDebugMode(
-      bool debugMode);
-
-   /**
-    * @brief Sets the mode of CPU fallback functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality
-    *                   of CPU fallback. When the CPU fallback
-    *                   functionality is enabled, layers in model that
-    *                   violates runtime constraints will run on CPU
-    *                   while the rest of non-violating layers will
-    *                   run on the chosen runtime processor. In
-    *                   disabled mode, models with layers violating
-    *                   runtime constraints will NOT run on the chosen
-    *                   runtime processor and will result in runtime
-    *                   exception. By default, the functionality is
-    *                   enabled.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setCPUFallbackMode(
-      bool mode);
-
-
-   /**
-    * @brief Sets network's input dimensions to enable resizing of
-    *        the spatial dimensions of each layer for fully convolutional networks,
-    *        and the batch dimension for all networks.
-    *
-    * @param[in] tensorShapeMap The map of input names and their new dimensions.
-    *                           The new dimensions overwrite the input dimensions
-    *                           embedded in the model and then resize each layer
-    *                           of the model. If the model contains
-    *                           layers whose dimensions cannot be resized e.g FullyConnected,
-    *                           exception will be thrown when SNPE instance is actually built.
-    *                           In general the batch dimension is always resizable.
-    *                           After resizing of layers' dimensions in model based
-    *                           on new input dimensions, the new model is revalidated
-    *                           against all runtime constraints, whose failures may
-    *                           result in cpu fallback situation.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
-
-   /**
-    * @brief Returns an instance of SNPE based on the current parameters.
-    *
-    * @return A new instance of a SNPE object that can be used
-    *         to execute models or null if any errors occur.
-    */
-   std::unique_ptr<SNPE> build() noexcept;
-
-   /**
-    * @brief Sets the platform configuration.
-    *
-    * @param[in] platformConfig The platform configuration.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}}
-
-#endif
diff --git a/phonelibs/snpe/include/SNPE/SNPEFactory.hpp b/phonelibs/snpe/include/SNPE/SNPEFactory.hpp
deleted file mode 100644
index bb9921afe10591..00000000000000
--- a/phonelibs/snpe/include/SNPE/SNPEFactory.hpp
+++ /dev/null
@@ -1,104 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_FACTORY_HPP_
-#define _SNPE_FACTORY_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/DlOptional.hpp"
-
-namespace zdl {
-   namespace DlSystem
-   {
-      class ITensorFactory;
-      class IUserBufferFactory;
-   }
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The factory class for creating SNPE objects.
- *
- */
-class ZDL_EXPORT SNPEFactory
-{
-public:
-
-   /**
-    * Indicates whether the supplied runtime is available on the 
-    * current platform.
-    * 
-    * @param[in] runtime The target runtime to check.
-    *    
-    * @return True if the supplied runtime is available; false, 
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * Gets a reference to the tensor factory.
-    * 
-    * @return A reference to the tensor factory.
-    */
-   static zdl::DlSystem::ITensorFactory& getTensorFactory();
-
-   /**
-    * Gets a reference to the UserBuffer factory.
-    *
-    * @return A reference to the UserBuffer factory.
-    */
-   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
-
-   /**
-    * Gets the version of the SNPE library.
-    *
-    * @return Version of the SNPE library.
-    *
-    */
-   static zdl::DlSystem::Version_t getLibraryVersion();
-
-   /**
-    * Set the SNPE storage location for all SNPE instances in this
-    * process. Note that this may only be called once, and if so
-    * must be called before creating any SNPE instances.
-    *
-    * @param[in] storagePath Absolute path to a directory which SNPE may
-    *  use for caching and other storage purposes.
-    *
-    * @return True if the supplied path was succesfully set as
-    *  the SNPE storage location, false otherwise.
-    */
-   static bool setSNPEStorageLocation(const char* storagePath);
-
-   /**
-    * Indicates whether the OpenGL and OpenCL interoperability is supported
-    * on GPU platform.
-    *
-    * @return True if the OpenGL and OpenCl interop is supported; false,
-    *         otherwise.
-    */
-   static bool isGLCLInteropSupported();
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-
-#endif
diff --git a/phonelibs/zmq/aarch64/lib/libczmq.a b/phonelibs/zmq/aarch64/lib/libczmq.a
deleted file mode 100644
index 2d2a251c2f453e..00000000000000
Binary files a/phonelibs/zmq/aarch64/lib/libczmq.a and /dev/null differ
diff --git a/phonelibs/zmq/aarch64/lib/libczmq.la b/phonelibs/zmq/aarch64/lib/libczmq.la
deleted file mode 100755
index 7eb675e692d303..00000000000000
--- a/phonelibs/zmq/aarch64/lib/libczmq.la
+++ /dev/null
@@ -1,41 +0,0 @@
-# libczmq.la - a libtool library file
-# Generated by libtool (GNU libtool) 2.4.6
-#
-# Please DO NOT delete this file!
-# It is necessary for linking the library.
-
-# The name that we can dlopen(3).
-dlname='libczmq.so'
-
-# Names of this library.
-library_names='libczmq.so'
-
-# The name of the static archive.
-old_library='libczmq.a'
-
-# Linker flags that cannot go in dependency_libs.
-inherited_linker_flags=''
-
-# Libraries that this one depends upon.
-dependency_libs=' -L/Users/batman/src/czmq/builds/android/prefix/aarch64-linux-android-4.9/lib -L/opt/android-ndk/platforms/android-21/arch-arm64/usr/lib -L/opt/android-ndk/sources/cxx-stl/gnu-libstdc++/4.9/libs/arm64-v8a -L/Users/batman/src/libzmq/builds/android/prefix/aarch64-linux-android-4.9/lib /Users/batman/src/libzmq/builds/android/prefix/aarch64-linux-android-4.9/lib/libzmq.la -llog -lc -lgcc -ldl -lm -lgnustl_shared'
-
-# Names of additional weak libraries provided by this library
-weak_library_names=''
-
-# Version information for libczmq.
-current=3
-age=0
-revision=0
-
-# Is this an already installed library?
-installed=yes
-
-# Should we warn about portability when linking against -modules?
-shouldnotlink=no
-
-# Files to dlopen/dlpreopen
-dlopen=''
-dlpreopen=''
-
-# Directory that this library needs to be installed in:
-libdir='/Users/batman/src/czmq/builds/android/prefix/aarch64-linux-android-4.9/lib'
diff --git a/phonelibs/zmq/aarch64/lib/libczmq.so b/phonelibs/zmq/aarch64/lib/libczmq.so
deleted file mode 100755
index 6b662a197f2c93..00000000000000
Binary files a/phonelibs/zmq/aarch64/lib/libczmq.so and /dev/null differ
diff --git a/phonelibs/zmq/aarch64/lib/libgnustl_shared.so b/phonelibs/zmq/aarch64/lib/libgnustl_shared.so
deleted file mode 100755
index 2226b7b324dd89..00000000000000
Binary files a/phonelibs/zmq/aarch64/lib/libgnustl_shared.so and /dev/null differ
diff --git a/phonelibs/zmq/aarch64/lib/libzmq.a b/phonelibs/zmq/aarch64/lib/libzmq.a
deleted file mode 100644
index b764af7b6136e6..00000000000000
Binary files a/phonelibs/zmq/aarch64/lib/libzmq.a and /dev/null differ
diff --git a/phonelibs/zmq/aarch64/lib/libzmq.la b/phonelibs/zmq/aarch64/lib/libzmq.la
deleted file mode 100755
index d7d420a4bd98f2..00000000000000
--- a/phonelibs/zmq/aarch64/lib/libzmq.la
+++ /dev/null
@@ -1,41 +0,0 @@
-# libzmq.la - a libtool library file
-# Generated by libtool (GNU libtool) 2.4.6
-#
-# Please DO NOT delete this file!
-# It is necessary for linking the library.
-
-# The name that we can dlopen(3).
-dlname='libzmq.so'
-
-# Names of this library.
-library_names='libzmq.so'
-
-# The name of the static archive.
-old_library='libzmq.a'
-
-# Linker flags that cannot go in dependency_libs.
-inherited_linker_flags=''
-
-# Libraries that this one depends upon.
-dependency_libs=' -L/Users/batman/src/libzmq/builds/android/prefix/aarch64-linux-android-4.9/lib -L/opt/android-ndk/sources/cxx-stl/gnu-libstdc++/4.9/libs/arm64-v8a -lgnustl_shared'
-
-# Names of additional weak libraries provided by this library
-weak_library_names=''
-
-# Version information for libzmq.
-current=5
-age=0
-revision=0
-
-# Is this an already installed library?
-installed=yes
-
-# Should we warn about portability when linking against -modules?
-shouldnotlink=no
-
-# Files to dlopen/dlpreopen
-dlopen=''
-dlpreopen=''
-
-# Directory that this library needs to be installed in:
-libdir='/Users/batman/src/libzmq/builds/android/prefix/aarch64-linux-android-4.9/lib'
diff --git a/phonelibs/zmq/aarch64/lib/libzmq.so b/phonelibs/zmq/aarch64/lib/libzmq.so
deleted file mode 100755
index 909c7f43a6a5f3..00000000000000
Binary files a/phonelibs/zmq/aarch64/lib/libzmq.so and /dev/null differ
diff --git a/pyextra/acados_template/__init__.py b/pyextra/acados_template/__init__.py
new file mode 100644
index 00000000000000..f33b75bb7ba35b
--- /dev/null
+++ b/pyextra/acados_template/__init__.py
@@ -0,0 +1,43 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+from .acados_model import *
+from .generate_c_code_explicit_ode import *
+from .generate_c_code_implicit_ode import *
+from .generate_c_code_constraint import *
+from .generate_c_code_nls_cost import *
+from .acados_ocp import *
+from .acados_sim import *
+from .acados_ocp_solver import *
+from .acados_sim_solver import *
+from .utils import *
diff --git a/pyextra/acados_template/acados_layout.json b/pyextra/acados_template/acados_layout.json
new file mode 100644
index 00000000000000..16fd452337e3eb
--- /dev/null
+++ b/pyextra/acados_template/acados_layout.json
@@ -0,0 +1,778 @@
+{
+    "code_export_directory": [
+        "str"
+    ],
+    "acados_include_path": [
+        "str"
+    ],
+    "model": {
+         "name" : [
+            "str"
+        ],
+        "dyn_ext_fun_type" : [
+            "str"
+        ],
+        "dyn_source_discrete" : [
+            "str"
+        ],
+        "dyn_disc_fun_jac_hess" : [
+            "str"
+        ],
+        "dyn_disc_fun_jac" : [
+            "str"
+        ],
+        "dyn_disc_fun" : [
+            "str"
+        ]
+    },
+    "parameter_values": [
+        "ndarray",
+        [
+            "np"
+        ]
+    ],
+    "acados_lib_path": [
+        "str"
+    ],
+    "problem_class": [
+        "str"
+    ],
+    "constraints": {
+        "constr_type": [
+            "str"
+        ],
+        "constr_type_e": [
+            "str"
+        ],
+        "lbx": [
+            "ndarray",
+                [
+                    "nbx"
+                ]
+        ],
+        "lbu": [
+            "ndarray",
+            [
+                "nbu"
+            ]
+        ],
+        "ubx": [
+            "ndarray",
+                [
+                    "nbx"
+                ]
+        ],
+        "ubu": [
+            "ndarray",
+            [
+                "nbu"
+            ]
+        ],
+        "idxbx": [
+            "ndarray",
+                [
+                    "nbx"
+                ]
+        ],
+        "idxbu": [
+            "ndarray",
+            [
+                "nbu"
+            ]
+        ],
+        "lbx_e": [
+            "ndarray",
+            [
+                "nbx_e"
+            ]
+        ],
+        "ubx_e": [
+            "ndarray",
+            [
+                "nbx_e"
+            ]
+        ],
+        "idxbx_e": [
+            "ndarray",
+            [
+                "nbx_e"
+            ]
+        ],
+        "lbx_0": [
+            "ndarray",
+            [
+                "nbx_0"
+            ]
+        ],
+        "ubx_0": [
+            "ndarray",
+            [
+                "nbx_0"
+            ]
+        ],
+        "idxbx_0": [
+            "ndarray",
+            [
+                "nbx_0"
+            ]
+        ],
+        "idxbxe_0": [
+            "ndarray",
+            [
+                "nbxe_0"
+            ]
+        ],
+        "lg": [
+            "ndarray",
+            [
+                "ng"
+            ]
+        ],
+        "ug": [
+            "ndarray",
+            [
+                "ng"
+            ]
+        ],
+        "D": [
+            "ndarray",
+                [
+                    "ng",
+                    "nu"
+                ]
+        ],
+        "C": [
+            "ndarray",
+            [
+                "ng",
+                "nx"
+            ]
+        ],
+        "C_e": [
+            "ndarray",
+            [
+                "ng_e",
+                "nx"
+            ]
+        ],
+        "lg_e": [
+            "ndarray",
+            [
+                "ng_e"
+            ]
+        ],
+        "ug_e": [
+            "ndarray",
+            [
+                "ng_e"
+            ]
+        ],
+        "lh": [
+            "ndarray",
+            [
+                "nh"
+            ]
+        ],
+        "uh": [
+            "ndarray",
+            [
+                "nh"
+            ]
+        ],
+        "lh_e": [
+            "ndarray",
+            [
+                "nh_e"
+            ]
+        ],
+        "uh_e": [
+            "ndarray",
+            [
+                "nh_e"
+            ]
+        ],
+        "lphi": [
+            "ndarray",
+            [
+                "nphi"
+            ]
+        ],
+        "uphi": [
+            "ndarray",
+            [
+                "nphi"
+            ]
+        ],
+        "lphi_e": [
+            "ndarray",
+            [
+                "nphi_e"
+            ]
+        ],
+        "uphi_e": [
+            "ndarray",
+            [
+                "nphi_e"
+            ]
+        ],
+        "lsbx": [
+            "ndarray",
+                [
+                    "nsbx"
+                ]
+        ],
+        "usbx": [
+            "ndarray",
+                [
+                    "nsbx"
+                ]
+        ],
+        "lsbu": [
+            "ndarray",
+            [
+                "nsbu"
+            ]
+        ],
+        "usbu": [
+            "ndarray",
+            [
+                "nsbu"
+            ]
+        ],
+        "idxsbx": [
+            "ndarray",
+                [
+                    "nsbx"
+                ]
+        ],
+        "idxsbu": [
+            "ndarray",
+            [
+                "nsbu"
+            ]
+        ],
+        "lsbx_e": [
+            "ndarray",
+                [
+                    "nsbx_e"
+                ]
+        ],
+        "usbx_e": [
+            "ndarray",
+                [
+                    "nsbx_e"
+                ]
+        ],
+        "idxsbx_e": [
+            "ndarray",
+                [
+                    "nsbx_e"
+                ]
+        ],
+        "lsg": [
+            "ndarray",
+            [
+                "nsg"
+            ]
+        ],
+        "usg": [
+            "ndarray",
+            [
+                "nsg"
+            ]
+        ],
+        "idxsg": [
+            "ndarray",
+            [
+                "nsg"
+            ]
+        ],
+        "lsg_e": [
+            "ndarray",
+            [
+                "nsg_e"
+            ]
+        ],
+        "usg_e": [
+            "ndarray",
+            [
+                "nsg_e"
+            ]
+        ],
+        "idxsg_e": [
+            "ndarray",
+            [
+                "nsg_e"
+            ]
+        ],
+        "lsh": [
+            "ndarray",
+            [
+                "nsh"
+            ]
+        ],
+        "ush": [
+            "ndarray",
+            [
+                "nsh"
+            ]
+        ],
+        "idxsh": [
+            "ndarray",
+            [
+                "nsh"
+            ]
+        ],
+        "lsh_e": [
+            "ndarray",
+            [
+                "nsh_e"
+            ]
+        ],
+        "ush_e": [
+            "ndarray",
+            [
+                "nsh_e"
+            ]
+        ],
+        "idxsh_e": [
+            "ndarray",
+            [
+                "nsh_e"
+            ]
+        ],
+        "lsphi": [
+            "ndarray",
+            [
+                "nsphi"
+            ]
+        ],
+        "usphi": [
+            "ndarray",
+            [
+                "nsphi"
+            ]
+        ],
+        "idxsphi": [
+            "ndarray",
+            [
+                "nsphi"
+            ]
+        ],
+        "lsphi_e": [
+            "ndarray",
+            [
+                "nsphi_e"
+            ]
+        ],
+        "usphi_e": [
+            "ndarray",
+            [
+                "nsphi_e"
+            ]
+        ],
+        "idxsphi_e": [
+            "ndarray",
+            [
+                "nsphi_e"
+            ]
+        ]
+    },
+    "cost": {
+        "cost_type_0": [
+            "str"
+        ],
+        "cost_type": [
+            "str"
+        ],
+        "cost_type_e": [
+            "str"
+        ],
+        "cost_ext_fun_type_0": [
+            "str"
+        ],
+        "cost_ext_fun_type": [
+            "str"
+        ],
+        "cost_ext_fun_type_e": [
+            "str"
+        ],
+        "Vu_0": [
+            "ndarray",
+            [
+                "ny_0",
+                "nu"
+            ]
+        ],
+        "Vu": [
+            "ndarray",
+            [
+                "ny",
+                "nu"
+            ]
+        ],
+        "Vx_0": [
+            "ndarray",
+            [
+                "ny_0",
+                "nx"
+            ]
+        ],
+        "Vx": [
+            "ndarray",
+            [
+                "ny",
+                "nx"
+            ]
+        ],
+        "Vx_e": [
+            "ndarray",
+            [
+                "ny_e",
+                "nx"
+            ]
+        ],
+        "Vz_0": [
+            "ndarray",
+            [
+                "ny_0",
+                "nz"
+            ]
+        ],
+        "Vz": [
+            "ndarray",
+            [
+                "ny",
+                "nz"
+            ]
+        ],
+        "W_0": [
+            "ndarray",
+            [
+                "ny_0",
+                "ny_0"
+            ]
+        ],
+        "W": [
+            "ndarray",
+            [
+                "ny",
+                "ny"
+            ]
+        ],
+        "Zl": [
+            "ndarray",
+            [
+                "ns"
+            ]
+        ],
+        "Zu": [
+            "ndarray",
+            [
+                "ns"
+            ]
+        ],
+        "zl": [
+            "ndarray",
+            [
+                "ns"
+            ]
+        ],
+        "zu": [
+            "ndarray",
+            [
+                "ns"
+            ]
+        ],
+        "W_e": [
+            "ndarray",
+            [
+                "ny_e",
+                "ny_e"
+            ]
+        ],
+        "yref_0": [
+            "ndarray",
+            [
+                "ny_0"
+            ]
+        ],
+        "yref": [
+            "ndarray",
+            [
+                "ny"
+            ]
+        ],
+        "yref_e": [
+            "ndarray",
+            [
+                "ny_e"
+            ]
+        ],
+        "Zl_e": [
+            "ndarray",
+            [
+                "ns_e"
+            ]
+        ],
+        "Zu_e": [
+            "ndarray",
+            [
+                "ns_e"
+            ]
+        ],
+        "zl_e": [
+            "ndarray",
+            [
+                "ns_e"
+            ]
+        ],
+        "zu_e": [
+            "ndarray",
+            [
+                "ns_e"
+            ]
+        ]
+    },
+    "dims": {
+        "N": [
+            "int"
+        ],
+        "nbu": [
+            "int"
+        ],
+        "nbx": [
+            "int"
+        ],
+        "nsbu": [
+            "int"
+        ],
+        "nsbx": [
+            "int"
+        ],
+        "nsbx_e": [
+            "int"
+        ],
+        "nbx_0": [
+            "int"
+        ],
+        "nbx_e": [
+            "int"
+        ],
+        "nbxe_0": [
+            "int"
+        ],
+        "nsg": [
+            "int"
+        ],
+        "nsg_e": [
+            "int"
+        ],
+        "nsh": [
+            "int"
+        ],
+        "nsh_e": [
+            "int"
+        ],
+        "nsphi": [
+            "int"
+        ],
+        "nsphi_e": [
+            "int"
+        ],
+        "ns": [
+            "int"
+        ],
+        "ns_e": [
+            "int"
+        ],
+        "ng": [
+            "int"
+        ],
+        "ng_e": [
+            "int"
+        ],
+        "np": [
+            "int"
+        ],
+        "nr": [
+            "int"
+        ],
+        "nr_e": [
+            "int"
+        ],
+        "nh": [
+            "int"
+        ],
+        "nh_e": [
+            "int"
+        ],
+        "nphi": [
+            "int"
+        ],
+        "nphi_e": [
+            "int"
+        ],
+        "nu": [
+            "int"
+        ],
+        "nx": [
+            "int"
+        ],
+        "ny": [
+            "int"
+        ],
+        "ny_0": [
+            "int"
+        ],
+        "ny_e": [
+            "int"
+        ],
+        "nz": [
+            "int"
+        ],
+        "gnsf_nx1": [
+            "int"
+        ],
+        "gnsf_nz1": [
+            "int"
+        ],
+        "gnsf_nuhat": [
+            "int"
+        ],
+        "gnsf_ny": [
+            "int"
+        ],
+        "gnsf_nout": [
+            "int"
+        ]
+    },
+    "solver_options": {
+        "time_steps": [
+            "ndarray",
+            [
+                "N"
+            ]
+        ],
+        "hessian_approx": [
+            "str"
+        ],
+        "regularize_method": [
+            "str"
+        ],
+        "integrator_type": [
+            "str"
+        ],
+        "nlp_solver_type": [
+            "str"
+        ],
+        "collocation_type": [
+            "str"
+        ],
+        "globalization": [
+            "str"
+        ],
+        "nlp_solver_step_length": [
+            "float"
+        ],
+        "levenberg_marquardt": [
+            "float"
+        ],
+        "qp_solver": [
+            "str"
+        ],
+        "tf": [
+            "float"
+        ],
+        "Tsim": [
+            "float"
+        ],
+        "alpha_min": [
+            "float"
+        ],
+        "alpha_reduction": [
+            "float"
+        ],
+        "sim_method_num_stages": [
+            "ndarray",
+            [
+                "N"
+            ]
+        ],
+        "sim_method_num_steps": [
+            "ndarray",
+            [
+                "N"
+            ]
+        ],
+        "sim_method_newton_iter": [
+            "int"
+        ],
+        "sim_method_jac_reuse": [
+            "ndarray",
+            [
+                "N"
+            ]
+        ],
+        "qp_solver_cond_N": [
+            "int"
+        ],
+        "qp_solver_warm_start": [
+            "int"
+        ],
+        "qp_solver_tol_stat": [
+            "float"
+        ],
+        "qp_solver_tol_eq": [
+            "float"
+        ],
+        "qp_solver_tol_ineq": [
+            "float"
+        ],
+        "qp_solver_tol_comp": [
+            "float"
+        ],
+        "qp_solver_iter_max": [
+            "int"
+        ],
+        "nlp_solver_tol_stat": [
+            "float"
+        ],
+        "nlp_solver_tol_eq": [
+            "float"
+        ],
+        "nlp_solver_tol_ineq": [
+            "float"
+        ],
+        "nlp_solver_tol_comp": [
+            "float"
+        ],
+        "nlp_solver_max_iter": [
+            "int"
+        ],
+        "print_level": [
+            "int"
+        ],
+        "initialize_t_slacks": [
+            "int"
+        ],
+        "exact_hess_cost": [
+            "int"
+        ],
+        "exact_hess_constr": [
+            "int"
+        ],
+        "exact_hess_dyn": [
+            "int"
+        ],
+        "ext_cost_num_hess": [
+            "int"
+        ],
+        "model_external_shared_lib_dir": [
+            "str"
+        ],
+        "model_external_shared_lib_name": [
+            "str"
+        ]
+    }
+}
diff --git a/pyextra/acados_template/acados_model.py b/pyextra/acados_template/acados_model.py
new file mode 100644
index 00000000000000..4871a2c0d57985
--- /dev/null
+++ b/pyextra/acados_template/acados_model.py
@@ -0,0 +1,160 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+
+class AcadosModel():
+    """
+    Class containing all the information to code generate the external CasADi functions
+    that are needed when creating an acados ocp solver or acados integrator.
+    Thus, this class contains:
+    
+    a) the :py:attr:`name` of the model,
+    b) all CasADi variables/expressions needed in the CasADi function generation process.
+    """
+    def __init__(self):
+        ## common for OCP and Integrator
+        self.name = None
+        """
+        The model name is used for code generation. Type: string. Default: :code:`None`
+        """
+        self.x = None           #: CasADi variable describing the state of the system; Default: :code:`None`
+        self.xdot = None        #: CasADi variable describing the derivative of the state wrt time; Default: :code:`None`
+        self.u = None           #: CasADi variable describing the input of the system; Default: :code:`None`
+        self.z = []             #: CasADi variable describing the algebraic variables of the DAE; Default: :code:`empty`
+        self.p = []             #: CasADi variable describing parameters of the DAE; Default: :code:`empty`
+        # dynamics
+        self.f_impl_expr = None
+        """
+        CasADi expression for the implicit dynamics :math:`f_\\text{impl}(\dot{x}, x, u, z, p) = 0`.
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'IRK'.
+        Default: :code:`None`
+        """
+        self.f_expl_expr = None
+        """
+        CasADi expression for the explicit dynamics :math:`\dot{x} = f_\\text{expl}(x, u, p)`.
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'ERK'.
+        Default: :code:`None`
+        """
+        self.disc_dyn_expr = None
+        """
+        CasADi expression for the discrete dynamics :math:`x_{+} = f_\\text{disc}(x, u, p)`.
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'DISCRETE'.
+        Default: :code:`None`
+        """
+
+        self.dyn_ext_fun_type = 'casadi'  #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi'
+        self.dyn_source_discrete = None  #: name of source file for discrete dyanamics; Default: :code:`None`
+        self.dyn_disc_fun_jac_hess = None  #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None`
+        self.dyn_disc_fun_jac = None  #: name of function discrete dyanamics + jacobian; Default: :code:`None`
+        self.dyn_disc_fun = None  #: name of function discrete dyanamics; Default: :code:`None`
+
+        ## for OCP
+        # constraints
+        self.con_h_expr = None  #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
+        self.con_phi_expr = None  #: CasADi expression for the constraint phi; Default: :code:`None`
+        self.con_r_expr = None  #: CasADi expression for the constraint phi(r); Default: :code:`None`
+        self.con_r_in_phi = None
+        # terminal
+        self.con_h_expr_e = None  #: CasADi expression for the terminal constraint :math:`h^e`; Default: :code:`None`
+        self.con_r_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
+        self.con_phi_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
+        self.con_r_in_phi_e = None
+        # cost
+        self.cost_y_expr = None  #: CasADi expression for nonlinear least squares; Default: :code:`None`
+        self.cost_y_expr_e = None  #: CasADi expression for nonlinear least squares, terminal; Default: :code:`None`
+        self.cost_y_expr_0 = None  #: CasADi expression for nonlinear least squares, initial; Default: :code:`None`
+        self.cost_expr_ext_cost = None  #: CasADi expression for external cost; Default: :code:`None`
+        self.cost_expr_ext_cost_e = None  #: CasADi expression for external cost, terminal; Default: :code:`None`
+        self.cost_expr_ext_cost_0 = None  #: CasADi expression for external cost, initial; Default: :code:`None`
+        self.cost_expr_ext_cost_custom_hess = None  #: CasADi expression for custom hessian (only for external cost); Default: :code:`None`
+        self.cost_expr_ext_cost_custom_hess_e = None  #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None`
+        self.cost_expr_ext_cost_custom_hess_0 = None  #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None`
+
+
+def acados_model_strip_casadi_symbolics(model):
+    out = model
+    if 'f_impl_expr' in out.keys():
+        del out['f_impl_expr']
+    if 'f_expl_expr' in out.keys():
+        del out['f_expl_expr']
+    if 'disc_dyn_expr' in out.keys():
+        del out['disc_dyn_expr']
+    if 'x' in out.keys():
+        del out['x']
+    if 'xdot' in out.keys():
+        del out['xdot']
+    if 'u' in out.keys():
+        del out['u']
+    if 'z' in out.keys():
+        del out['z']
+    if 'p' in out.keys():
+        del out['p']
+    # constraints
+    if 'con_phi_expr' in out.keys():
+        del out['con_phi_expr']
+    if 'con_h_expr' in out.keys():
+        del out['con_h_expr']
+    if 'con_r_expr' in out.keys():
+        del out['con_r_expr']
+    if 'con_r_in_phi' in out.keys():
+        del out['con_r_in_phi']
+    # terminal
+    if 'con_phi_expr_e' in out.keys():
+        del out['con_phi_expr_e']
+    if 'con_h_expr_e' in out.keys():
+        del out['con_h_expr_e']
+    if 'con_r_expr_e' in out.keys():
+        del out['con_r_expr_e']
+    if 'con_r_in_phi_e' in out.keys():
+        del out['con_r_in_phi_e']
+    # cost
+    if 'cost_y_expr' in out.keys():
+        del out['cost_y_expr']
+    if 'cost_y_expr_e' in out.keys():
+        del out['cost_y_expr_e']
+    if 'cost_y_expr_0' in out.keys():
+        del out['cost_y_expr_0']
+    if 'cost_expr_ext_cost' in out.keys():
+        del out['cost_expr_ext_cost']
+    if 'cost_expr_ext_cost_e' in out.keys():
+        del out['cost_expr_ext_cost_e']
+    if 'cost_expr_ext_cost_0' in out.keys():
+        del out['cost_expr_ext_cost_0']
+    if 'cost_expr_ext_cost_custom_hess' in out.keys():
+        del out['cost_expr_ext_cost_custom_hess']
+    if 'cost_expr_ext_cost_custom_hess_e' in out.keys():
+        del out['cost_expr_ext_cost_custom_hess_e']
+    if 'cost_expr_ext_cost_custom_hess_0' in out.keys():
+        del out['cost_expr_ext_cost_custom_hess_0']
+
+    return out
diff --git a/pyextra/acados_template/acados_ocp.py b/pyextra/acados_template/acados_ocp.py
new file mode 100644
index 00000000000000..198ab033dca64c
--- /dev/null
+++ b/pyextra/acados_template/acados_ocp.py
@@ -0,0 +1,2842 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import numpy as np
+import os
+from .acados_model import AcadosModel
+from .utils import get_acados_path, J_to_idx, J_to_idx_slack
+
+class AcadosOcpDims:
+    """
+    Class containing the dimensions of the optimal control problem.
+    """
+    def __init__(self):
+        self.__nx      = None
+        self.__nu      = None
+        self.__nz      = 0
+        self.__np      = 0
+        self.__ny      = 0
+        self.__ny_e    = 0
+        self.__ny_0    = 0
+        self.__nr      = 0
+        self.__nr_e    = 0
+        self.__nh      = 0
+        self.__nh_e    = 0
+        self.__nphi    = 0
+        self.__nphi_e  = 0
+        self.__nbx     = 0
+        self.__nbx_0   = 0
+        self.__nbx_e   = 0
+        self.__nbu     = 0
+        self.__nsbx    = 0
+        self.__nsbx_e  = 0
+        self.__nsbu    = 0
+        self.__nsh     = 0
+        self.__nsh_e   = 0
+        self.__nsphi   = 0
+        self.__nsphi_e = 0
+        self.__ns      = 0
+        self.__ns_e    = 0
+        self.__ng      = 0
+        self.__ng_e    = 0
+        self.__nsg     = 0
+        self.__nsg_e   = 0
+        self.__nbxe_0  = None
+        self.__N       = None
+
+
+    @property
+    def nx(self):
+        """:math:`n_x` - number of states.
+        Type: int; default: None"""
+        return self.__nx
+
+    @property
+    def nz(self):
+        """:math:`n_z` - number of algebraic variables.
+        Type: int; default: 0"""
+        return self.__nz
+
+    @property
+    def nu(self):
+        """:math:`n_u` - number of inputs.
+        Type: int; default: None"""
+        return self.__nu
+
+    @property
+    def np(self):
+        """:math:`n_p` - number of parameters.
+        Type: int; default: 0"""
+        return self.__np
+
+    @property
+    def ny(self):
+        """:math:`n_y` - number of residuals in Lagrange term.
+        Type: int; default: 0"""
+        return self.__ny
+
+    @property
+    def ny_0(self):
+        """:math:`n_{y}^0` - number of residuals in Mayer term.
+        Type: int; default: 0"""
+        return self.__ny_0
+
+    @property
+    def ny_e(self):
+        """:math:`n_{y}^e` - number of residuals in Mayer term.
+        Type: int; default: 0"""
+        return self.__ny_e
+
+    @property
+    def nr(self):
+        """:math:`n_{\pi}` - dimension of the image of the inner nonlinear function in positive definite constraints.
+        Type: int; default: 0"""
+        return self.__nr
+
+    @property
+    def nr_e(self):
+        """:math:`n_{\pi}^e` - dimension of the image of the inner nonlinear function in positive definite constraints.
+        Type: int; default: 0"""
+        return self.__nr_e
+
+    @property
+    def nh(self):
+        """:math:`n_h` - number of nonlinear constraints.
+        Type: int; default: 0"""
+        return self.__nh
+
+    @property
+    def nh_e(self):
+        """:math:`n_{h}^e` - number of nonlinear constraints at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__nh_e
+
+    @property
+    def nphi(self):
+        """:math:`n_{\phi}` - number of convex-over-nonlinear constraints.
+        Type: int; default: 0"""
+        return self.__nphi
+
+    @property
+    def nphi_e(self):
+        """:math:`n_{\phi}^e` - number of convex-over-nonlinear constraints at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__nphi_e
+
+    @property
+    def nbx(self):
+        """:math:`n_{b_x}` - number of state bounds.
+        Type: int; default: 0"""
+        return self.__nbx
+
+    @property
+    def nbxe_0(self):
+        """:math:`n_{be_{x0}}` - number of state bounds at initial shooting node that are equalities.
+        Type: int; default: None"""
+        return self.__nbxe_0
+
+    @property
+    def nbx_0(self):
+        """:math:`n_{b_{x0}}` - number of state bounds for initial state.
+        Type: int; default: 0"""
+        return self.__nbx_0
+
+    @property
+    def nbx_e(self):
+        """:math:`n_{b_x}` - number of state bounds at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__nbx_e
+
+    @property
+    def nbu(self):
+        """:math:`n_{b_u}` - number of input bounds.
+        Type: int; default: 0"""
+        return self.__nbu
+
+    @property
+    def nsbx(self):
+        """:math:`n_{{sb}_x}` - number of soft state bounds.
+        Type: int; default: 0"""
+        return self.__nsbx
+
+    @property
+    def nsbx_e(self):
+        """:math:`n_{{sb}^e_{x}}` - number of soft state bounds at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__nsbx_e
+
+    @property
+    def nsbu(self):
+        """:math:`n_{{sb}_u}` - number of soft input bounds.
+        Type: int; default: 0"""
+        return self.__nsbu
+
+    @property
+    def nsg(self):
+        """:math:`n_{{sg}}` - number of soft general linear constraints.
+        Type: int; default: 0"""
+        return self.__nsg
+
+    @property
+    def nsg_e(self):
+        """:math:`n_{{sg}^e}` - number of soft general linear constraints at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__nsg_e
+
+    @property
+    def nsh(self):
+        """:math:`n_{{sh}}` - number of soft nonlinear constraints.
+        Type: int; default: 0"""
+        return self.__nsh
+
+    @property
+    def nsh_e(self):
+        """:math:`n_{{sh}}^e` - number of soft nonlinear constraints at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__nsh_e
+
+    @property
+    def nsphi(self):
+        """:math:`n_{{s\phi}}` - number of soft convex-over-nonlinear constraints.
+        Type: int; default: 0"""
+        return self.__nsphi
+
+    @property
+    def nsphi_e(self):
+        """:math:`n_{{s\phi}^e}` - number of soft convex-over-nonlinear constraints at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__nsphi_e
+
+    @property
+    def ns(self):
+        """:math:`n_{s}` - total number of slacks.
+        Type: int; default: 0"""
+        return self.__ns
+
+    @property
+    def ns_e(self):
+        """:math:`n_{s}^e` - total number of slacks at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__ns_e
+
+    @property
+    def ng(self):
+        """:math:`n_{g}` - number of general polytopic constraints.
+        Type: int; default: 0"""
+        return self.__ng
+
+    @property
+    def ng_e(self):
+        """:math:`n_{g}^e` - number of general polytopic constraints at terminal shooting node N.
+        Type: int; default: 0"""
+        return self.__ng_e
+
+    @property
+    def N(self):
+        """:math:`N` - prediction horizon.
+        Type: int; default: None"""
+        return self.__N
+
+    @nx.setter
+    def nx(self, nx):
+        if type(nx) == int and nx > 0:
+            self.__nx = nx
+        else:
+            raise Exception('Invalid nx value, expected positive integer. Exiting.')
+
+    @nz.setter
+    def nz(self, nz):
+        if type(nz) == int and nz > -1:
+            self.__nz = nz
+        else:
+            raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
+
+    @nu.setter
+    def nu(self, nu):
+        if type(nu) == int and nu > -1:
+            self.__nu = nu
+        else:
+            raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
+
+    @np.setter
+    def np(self, np):
+        if type(np) == int and np > -1:
+            self.__np = np
+        else:
+            raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
+
+    @ny_0.setter
+    def ny_0(self, ny_0):
+        if isinstance(ny_0, int) and ny_0 > -1:
+            self.__ny_0 = ny_0
+        else:
+            raise Exception('Invalid ny_0 value, expected nonnegative integer. Exiting.')
+
+    @ny.setter
+    def ny(self, ny):
+        if isinstance(ny, int) and ny > -1:
+            self.__ny = ny
+        else:
+            raise Exception('Invalid ny value, expected nonnegative integer. Exiting.')
+
+    @ny_e.setter
+    def ny_e(self, ny_e):
+        if type(ny_e) == int and ny_e > -1:
+            self.__ny_e = ny_e
+        else:
+            raise Exception('Invalid ny_e value, expected nonnegative integer. Exiting.')
+
+    @nr.setter
+    def nr(self, nr):
+        if type(nr) == int and nr > -1:
+            self.__nr = nr
+        else:
+            raise Exception('Invalid nr value, expected nonnegative integer. Exiting.')
+
+    @nr_e.setter
+    def nr_e(self, nr_e):
+        if type(nr_e) == int and nr_e > -1:
+            self.__nr_e = nr_e
+        else:
+            raise Exception('Invalid nr_e value, expected nonnegative integer. Exiting.')
+
+    @nh.setter
+    def nh(self, nh):
+        if type(nh) == int and nh > -1:
+            self.__nh = nh
+        else:
+            raise Exception('Invalid nh value, expected nonnegative integer. Exiting.')
+
+    @nh_e.setter
+    def nh_e(self, nh_e):
+        if type(nh_e) == int and nh_e > -1:
+            self.__nh_e = nh_e
+        else:
+            raise Exception('Invalid nh_e value, expected nonnegative integer. Exiting.')
+
+    @nphi.setter
+    def nphi(self, nphi):
+        if type(nphi) == int and nphi > -1:
+            self.__nphi = nphi
+        else:
+            raise Exception('Invalid nphi value, expected nonnegative integer. Exiting.')
+
+    @nphi_e.setter
+    def nphi_e(self, nphi_e):
+        if type(nphi_e) == int and nphi_e > -1:
+            self.__nphi_e = nphi_e
+        else:
+            raise Exception('Invalid nphi_e value, expected nonnegative integer. Exiting.')
+
+    @nbx.setter
+    def nbx(self, nbx):
+        if isinstance(nbx, int) and nbx > -1:
+            self.__nbx = nbx
+        else:
+            raise Exception('Invalid nbx value, expected nonnegative integer. Exiting.')
+
+    @nbxe_0.setter
+    def nbxe_0(self, nbxe_0):
+        if isinstance(nbxe_0, int) and nbxe_0 > -1:
+            self.__nbxe_0 = nbxe_0
+        else:
+            raise Exception('Invalid nbxe_0 value, expected nonnegative integer. Exiting.')
+
+    @nbx_0.setter
+    def nbx_0(self, nbx_0):
+        if type(nbx_0) == int and nbx_0 > -1:
+            self.__nbx_0 = nbx_0
+        else:
+            raise Exception('Invalid nbx_0 value, expected nonnegative integer. Exiting.')
+
+    @nbx_e.setter
+    def nbx_e(self, nbx_e):
+        if type(nbx_e) == int and nbx_e > -1:
+            self.__nbx_e = nbx_e
+        else:
+            raise Exception('Invalid nbx_e value, expected nonnegative integer. Exiting.')
+
+    @nbu.setter
+    def nbu(self, nbu):
+        if type(nbu) == int and nbu > -1:
+            self.__nbu = nbu
+        else:
+            raise Exception('Invalid nbu value, expected nonnegative integer. Exiting.')
+
+    @nsbx.setter
+    def nsbx(self, nsbx):
+        if type(nsbx) == int and nsbx > -1:
+            self.__nsbx = nsbx
+        else:
+            raise Exception('Invalid nsbx value, expected nonnegative integer. Exiting.')
+
+    @nsbx_e.setter
+    def nsbx_e(self, nsbx_e):
+        if type(nsbx_e) == int and nsbx_e > -1:
+            self.__nsbx_e = nsbx_e
+        else:
+            raise Exception('Invalid nsbx_e value, expected nonnegative integer. Exiting.')
+
+    @nsbu.setter
+    def nsbu(self, nsbu):
+        if type(nsbu) == int and nsbu > -1:
+            self.__nsbu = nsbu
+        else:
+            raise Exception('Invalid nsbu value, expected nonnegative integer. Exiting.')
+
+    @nsg.setter
+    def nsg(self, nsg):
+        if isinstance(nsg, int) and nsg > -1:
+            self.__nsg = nsg
+        else:
+            raise Exception('Invalid nsg value, expected nonnegative integer. Exiting.')
+
+    @nsg_e.setter
+    def nsg_e(self, nsg_e):
+        if isinstance(nsg_e, int) and nsg_e > -1:
+            self.__nsg_e = nsg_e
+        else:
+            raise Exception('Invalid nsg_e value, expected nonnegative integer. Exiting.')
+
+    @nsh.setter
+    def nsh(self, nsh):
+        if isinstance(nsh, int) and nsh > -1:
+            self.__nsh = nsh
+        else:
+            raise Exception('Invalid nsh value, expected nonnegative integer. Exiting.')
+
+    @nsh_e.setter
+    def nsh_e(self, nsh_e):
+        if isinstance(nsh_e, int) and nsh_e > -1:
+            self.__nsh_e = nsh_e
+        else:
+            raise Exception('Invalid nsh_e value, expected nonnegative integer. Exiting.')
+
+    @nsphi.setter
+    def nsphi(self, nsphi):
+        if isinstance(nsphi, int) and nsphi > -1:
+            self.__nsphi = nsphi
+        else:
+            raise Exception('Invalid nsphi value, expected nonnegative integer. Exiting.')
+
+    @nsphi_e.setter
+    def nsphi_e(self, nsphi_e):
+        if isinstance(nsphi_e, int) and nsphi_e > -1:
+            self.__nsphi_e = nsphi_e
+        else:
+            raise Exception('Invalid nsphi_e value, expected nonnegative integer. Exiting.')
+
+    @ns.setter
+    def ns(self, ns):
+        if isinstance(ns, int) and ns > -1:
+            self.__ns = ns
+        else:
+            raise Exception('Invalid ns value, expected nonnegative integer. Exiting.')
+
+    @ns_e.setter
+    def ns_e(self, ns_e):
+        if isinstance(ns_e, int) and ns_e > -1:
+            self.__ns_e = ns_e
+        else:
+            raise Exception('Invalid ns_e value, expected nonnegative integer. Exiting.')
+
+    @ng.setter
+    def ng(self, ng):
+        if isinstance(ng, int) and ng > -1:
+            self.__ng = ng
+        else:
+            raise Exception('Invalid ng value, expected nonnegative integer. Exiting.')
+
+    @ng_e.setter
+    def ng_e(self, ng_e):
+        if isinstance(ng_e, int) and ng_e > -1:
+            self.__ng_e = ng_e
+        else:
+            raise Exception('Invalid ng_e value, expected nonnegative integer. Exiting.')
+
+    @N.setter
+    def N(self, N):
+        if isinstance(N, int) and N > 0:
+            self.__N = N
+        else:
+            raise Exception('Invalid N value, expected positive integer. Exiting.')
+
+    def set(self, attr, value):
+        setattr(self, attr, value)
+
+
+class AcadosOcpCost:
+    """
+    Class containing the numerical data of the cost:
+
+    In case of LINEAR_LS:
+    stage cost is
+    :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`,
+    terminal cost is
+    :math:`m(x) = || V^e_x \, x - y_\\text{ref}^e||^2_{W^e}`
+
+    In case of NONLINEAR_LS:
+    stage cost is
+    :math:`l(x,u,z) = || y(x,u,z) - y_\\text{ref}||^2_W`,
+    terminal cost is
+    :math:`m(x) = || y^e(x) - y_\\text{ref}^e||^2_{W^e}`
+    """
+    def __init__(self):
+        # initial stage
+        self.__cost_type_0 = None
+        self.__W_0 = None
+        self.__Vx_0 = None
+        self.__Vu_0 = None
+        self.__Vz_0 = None
+        self.__yref_0 = None
+        self.__cost_ext_fun_type_0 = 'casadi'
+        # Lagrange term
+        self.__cost_type   = 'LINEAR_LS'  # cost type
+        self.__W           = np.zeros((0,0))
+        self.__Vx          = np.zeros((0,0))
+        self.__Vu          = np.zeros((0,0))
+        self.__Vz          = np.zeros((0,0))
+        self.__yref        = np.array([])
+        self.__Zl          = np.array([])
+        self.__Zu          = np.array([])
+        self.__zl          = np.array([])
+        self.__zu          = np.array([])
+        self.__cost_ext_fun_type = 'casadi'
+        # Mayer term
+        self.__cost_type_e = 'LINEAR_LS'
+        self.__W_e         = np.zeros((0,0))
+        self.__Vx_e        = np.zeros((0,0))
+        self.__yref_e      = np.array([])
+        self.__Zl_e        = np.array([])
+        self.__Zu_e        = np.array([])
+        self.__zl_e        = np.array([])
+        self.__zu_e        = np.array([])
+        self.__cost_ext_fun_type_e = 'casadi'
+
+    # initial stage
+    @property
+    def cost_type_0(self):
+        """Cost type at initial shooting node (0)
+        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS} or :code:`None`.
+        Default: :code:`None`.
+
+            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
+
+            .. note:: If :py:attr:`cost_type_0` is set to :code:`None` values in :py:attr:`W_0`, :py:attr:`Vx_0`, :py:attr:`Vu_0`, :py:attr:`Vz_0` and :py:attr:`yref_0` are ignored (set to :code:`None`).
+        """
+        return self.__cost_type_0
+
+    @property
+    def W_0(self):
+        """:math:`W_0` - weight matrix at initial shooting node (0).
+        Default: :code:`None`.
+        """
+        return self.__W_0
+
+    @property
+    def Vx_0(self):
+        """:math:`V_x^0` - x matrix coefficient at initial shooting node (0).
+        Default: :code:`None`.
+        """
+        return self.__Vx_0
+
+    @property
+    def Vu_0(self):
+        """:math:`V_u^0` - u matrix coefficient at initial shooting node (0).
+        Default: :code:`None`.
+        """
+        return self.__Vu_0
+
+    @property
+    def Vz_0(self):
+        """:math:`V_z^0` - z matrix coefficient at initial shooting node (0).
+        Default: :code:`None`.
+        """
+        return self.__Vz_0
+
+    @property
+    def yref_0(self):
+        """:math:`y_\\text{ref}^0` - reference at initial shooting node (0).
+        Default: :code:`None`.
+        """
+        return self.__yref_0
+
+    @property
+    def cost_ext_fun_type_0(self):
+        """Type of external function for cost at initial shooting node (0)
+        -- string in {casadi, generic} or :code:`None`
+        Default: :code:'casadi'.
+
+            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
+        """
+        return self.__cost_ext_fun_type_0
+
+    @yref_0.setter
+    def yref_0(self, yref_0):
+        if isinstance(yref_0, np.ndarray):
+            self.__yref_0 = yref_0
+        else:
+            raise Exception('Invalid yref_0 value, expected numpy array. Exiting.')
+
+    @W_0.setter
+    def W_0(self, W_0):
+        if isinstance(W_0, np.ndarray) and len(W_0.shape) == 2:
+            self.__W_0 = W_0
+        else:
+            raise Exception('Invalid cost W_0 value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @Vx_0.setter
+    def Vx_0(self, Vx_0):
+        if isinstance(Vx_0, np.ndarray) and len(Vx_0.shape) == 2:
+            self.__Vx_0 = Vx_0
+        else:
+            raise Exception('Invalid cost Vx_0 value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @Vu_0.setter
+    def Vu_0(self, Vu_0):
+        if isinstance(Vu_0, np.ndarray) and len(Vu_0.shape) == 2:
+            self.__Vu_0 = Vu_0
+        else:
+            raise Exception('Invalid cost Vu_0 value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @Vz_0.setter
+    def Vz_0(self, Vz_0):
+        if isinstance(Vz_0, np.ndarray) and len(Vz_0.shape) == 2:
+            self.__Vz_0 = Vz_0
+        else:
+            raise Exception('Invalid cost Vz_0 value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @cost_ext_fun_type_0.setter
+    def cost_ext_fun_type_0(self, cost_ext_fun_type_0):
+        if cost_ext_fun_type_0 in ['casadi', 'generic']:
+            self.__cost_ext_fun_type_0 = cost_ext_fun_type_0
+        else:
+            raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array. Exiting.')
+
+    # Lagrange term
+    @property
+    def cost_type(self):
+        """
+        Cost type at intermediate shooting nodes (1 to N-1)
+        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS}.
+        Default: 'LINEAR_LS'.
+        """
+        return self.__cost_type
+
+    @property
+    def W(self):
+        """:math:`W` - weight matrix at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.zeros((0,0))`.
+        """
+        return self.__W
+
+    @property
+    def Vx(self):
+        """:math:`V_x` - x matrix coefficient at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.zeros((0,0))`.
+        """
+        return self.__Vx
+
+    @property
+    def Vu(self):
+        """:math:`V_u` - u matrix coefficient at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.zeros((0,0))`.
+        """
+        return self.__Vu
+
+    @property
+    def Vz(self):
+        """:math:`V_z` - z matrix coefficient at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.zeros((0,0))`.
+        """
+        return self.__Vz
+
+    @property
+    def yref(self):
+        """:math:`y_\\text{ref}` - reference at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.array([])`.
+        """
+        return self.__yref
+
+    @property
+    def Zl(self):
+        """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.array([])`.
+        """
+        return self.__Zl
+
+    @property
+    def Zu(self):
+        """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.array([])`.
+        """
+        return self.__Zu
+
+    @property
+    def zl(self):
+        """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.array([])`.
+        """
+        return self.__zl
+
+    @property
+    def zu(self):
+        """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (1 to N-1).
+        Default: :code:`np.array([])`.
+        """
+        return self.__zu
+
+    @property
+    def cost_ext_fun_type(self):
+        """Type of external function for cost at intermediate shooting nodes (1 to N-1).
+        -- string in {casadi, generic}
+        Default: :code:'casadi'.
+        """
+        return self.__cost_ext_fun_type
+
+    @cost_type.setter
+    def cost_type(self, cost_type):
+        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL')
+        if cost_type in cost_types:
+            self.__cost_type = cost_type
+        else:
+            raise Exception('Invalid cost_type value. Exiting.')
+
+    @cost_type_0.setter
+    def cost_type_0(self, cost_type_0):
+        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL')
+        if cost_type_0 in cost_types:
+            self.__cost_type_0 = cost_type_0
+        else:
+            raise Exception('Invalid cost_type_0 value. Exiting.')
+
+    @W.setter
+    def W(self, W):
+        if isinstance(W, np.ndarray) and len(W.shape) == 2:
+            self.__W = W
+        else:
+            raise Exception('Invalid cost W value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+
+    @Vx.setter
+    def Vx(self, Vx):
+        if isinstance(Vx, np.ndarray) and len(Vx.shape) == 2:
+            self.__Vx = Vx
+        else:
+            raise Exception('Invalid cost Vx value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @Vu.setter
+    def Vu(self, Vu):
+        if isinstance(Vu, np.ndarray) and len(Vu.shape) == 2:
+            self.__Vu = Vu
+        else:
+            raise Exception('Invalid cost Vu value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @Vz.setter
+    def Vz(self, Vz):
+        if isinstance(Vz, np.ndarray) and len(Vz.shape) == 2:
+            self.__Vz = Vz
+        else:
+            raise Exception('Invalid cost Vz value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @yref.setter
+    def yref(self, yref):
+        if isinstance(yref, np.ndarray):
+            self.__yref = yref
+        else:
+            raise Exception('Invalid yref value, expected numpy array. Exiting.')
+
+    @Zl.setter
+    def Zl(self, Zl):
+        if isinstance(Zl, np.ndarray):
+            self.__Zl = Zl
+        else:
+            raise Exception('Invalid Zl value, expected numpy array. Exiting.')
+
+    @Zu.setter
+    def Zu(self, Zu):
+        if isinstance(Zu, np.ndarray):
+            self.__Zu = Zu
+        else:
+            raise Exception('Invalid Zu value, expected numpy array. Exiting.')
+
+    @zl.setter
+    def zl(self, zl):
+        if isinstance(zl, np.ndarray):
+            self.__zl = zl
+        else:
+            raise Exception('Invalid zl value, expected numpy array. Exiting.')
+
+    @zu.setter
+    def zu(self, zu):
+        if isinstance(zu, np.ndarray):
+            self.__zu = zu
+        else:
+            raise Exception('Invalid zu value, expected numpy array. Exiting.')
+
+    @cost_ext_fun_type.setter
+    def cost_ext_fun_type(self, cost_ext_fun_type):
+        if cost_ext_fun_type in ['casadi', 'generic']:
+            self.__cost_ext_fun_type = cost_ext_fun_type
+        else:
+            raise Exception('Invalid cost_ext_fun_type value, expected numpy array. Exiting.')
+
+    # Mayer term
+    @property
+    def cost_type_e(self):
+        """
+        Cost type at terminal shooting node (N)
+        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS}.
+        Default: 'LINEAR_LS'.
+        """
+        return self.__cost_type_e
+
+    @property
+    def W_e(self):
+        """:math:`W_e` - weight matrix at terminal shooting node (N).
+        Default: :code:`np.zeros((0,0))`.
+        """
+        return self.__W_e
+
+    @property
+    def Vx_e(self):
+        """:math:`V_x^e` - x matrix coefficient for cost at terminal shooting node (N).
+        Default: :code:`np.zeros((0,0))`.
+        """
+        return self.__Vx_e
+
+    @property
+    def yref_e(self):
+        """:math:`y_\\text{ref}^e` - cost reference at terminal shooting node (N).
+        Default: :code:`np.array([])`.
+        """
+        return self.__yref_e
+
+    @property
+    def Zl_e(self):
+        """:math:`Z_l^e` - diagonal of Hessian wrt lower slack at terminal shooting node (N).
+        Default: :code:`np.array([])`.
+        """
+        return self.__Zl_e
+
+    @property
+    def Zu_e(self):
+        """:math:`Z_u^e` - diagonal of Hessian wrt upper slack at terminal shooting node (N).
+        Default: :code:`np.array([])`.
+        """
+        return self.__Zu_e
+
+    @property
+    def zl_e(self):
+        """:math:`z_l^e` - gradient wrt lower slack at terminal shooting node (N).
+        Default: :code:`np.array([])`.
+        """
+        return self.__zl_e
+
+    @property
+    def zu_e(self):
+        """:math:`z_u^e` - gradient wrt upper slack at terminal shooting node (N).
+        Default: :code:`np.array([])`.
+        """
+        return self.__zu_e
+
+    @property
+    def cost_ext_fun_type_e(self):
+        """Type of external function for cost at intermediate shooting nodes (1 to N-1).
+        -- string in {casadi, generic}
+        Default: :code:'casadi'.
+        """
+        return self.__cost_ext_fun_type_e
+
+    @cost_type_e.setter
+    def cost_type_e(self, cost_type_e):
+        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL')
+
+        if cost_type_e in cost_types:
+            self.__cost_type_e = cost_type_e
+        else:
+            raise Exception('Invalid cost_type_e value. Exiting.')
+
+    @W_e.setter
+    def W_e(self, W_e):
+        if isinstance(W_e, np.ndarray) and len(W_e.shape) == 2:
+            self.__W_e = W_e
+        else:
+            raise Exception('Invalid cost W_e value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @Vx_e.setter
+    def Vx_e(self, Vx_e):
+        if isinstance(Vx_e, np.ndarray) and len(Vx_e.shape) == 2:
+            self.__Vx_e = Vx_e
+        else:
+            raise Exception('Invalid cost Vx_e value. ' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @yref_e.setter
+    def yref_e(self, yref_e):
+        if isinstance(yref_e, np.ndarray):
+            self.__yref_e = yref_e
+        else:
+            raise Exception('Invalid yref_e value, expected numpy array. Exiting.')
+
+    @Zl_e.setter
+    def Zl_e(self, Zl_e):
+        if isinstance(Zl_e, np.ndarray):
+            self.__Zl_e = Zl_e
+        else:
+            raise Exception('Invalid Zl_e value, expected numpy array. Exiting.')
+
+    @Zu_e.setter
+    def Zu_e(self, Zu_e):
+        if isinstance(Zu_e, np.ndarray):
+            self.__Zu_e = Zu_e
+        else:
+            raise Exception('Invalid Zu_e value, expected numpy array. Exiting.')
+
+    @zl_e.setter
+    def zl_e(self, zl_e):
+        if isinstance(zl_e, np.ndarray):
+            self.__zl_e = zl_e
+        else:
+            raise Exception('Invalid zl_e value, expected numpy array. Exiting.')
+
+    @zu_e.setter
+    def zu_e(self, zu_e):
+        if isinstance(zu_e, np.ndarray):
+            self.__zu_e = zu_e
+        else:
+            raise Exception('Invalid zu_e value, expected numpy array. Exiting.')
+
+    @cost_ext_fun_type_e.setter
+    def cost_ext_fun_type_e(self, cost_ext_fun_type_e):
+        if cost_ext_fun_type_e in ['casadi', 'generic']:
+            self.__cost_ext_fun_type_e = cost_ext_fun_type_e
+        else:
+            raise Exception('Invalid cost_ext_fun_type_e value, expected numpy array. Exiting.')
+
+    def set(self, attr, value):
+        setattr(self, attr, value)
+
+
+def print_J_to_idx_note():
+    print("NOTE: J* matrix is converted to zero based vector idx* vector, which is returned here.")
+
+
+class AcadosOcpConstraints:
+    """
+    class containing the description of the constraints
+    """
+    def __init__(self):
+        self.__constr_type   = 'BGH'
+        self.__constr_type_e = 'BGH'
+        # initial x
+        self.__lbx_0   = np.array([])
+        self.__ubx_0   = np.array([])
+        self.__idxbx_0 = np.array([])
+        self.__idxbxe_0 = np.array([])
+        # state bounds
+        self.__lbx     = np.array([])
+        self.__ubx     = np.array([])
+        self.__idxbx   = np.array([])
+        # bounds on x at shooting node N
+        self.__lbx_e   = np.array([])
+        self.__ubx_e   = np.array([])
+        self.__idxbx_e = np.array([])
+        # bounds on u
+        self.__lbu     = np.array([])
+        self.__ubu     = np.array([])
+        self.__idxbu   = np.array([])
+        # polytopic constraints
+        self.__lg      = np.array([])
+        self.__ug      = np.array([])
+        self.__D       = np.zeros((0,0))
+        self.__C       = np.zeros((0,0))
+        # polytopic constraints at shooting node N
+        self.__C_e     = np.zeros((0,0))
+        self.__lg_e    = np.array([])
+        self.__ug_e    = np.array([])
+        # nonlinear constraints
+        self.__lh      = np.array([])
+        self.__uh      = np.array([])
+        # nonlinear constraints at shooting node N
+        self.__uh_e    = np.array([])
+        self.__lh_e    = np.array([])
+        # convex-over-nonlinear constraints
+        self.__lphi    = np.array([])
+        self.__uphi    = np.array([])
+        # nonlinear constraints at shooting node N
+        self.__uphi_e = np.array([])
+        self.__lphi_e = np.array([])
+        # SLACK BOUNDS
+        # soft bounds on x
+        self.__lsbx   = np.array([])
+        self.__usbx   = np.array([])
+        self.__idxsbx = np.array([])
+        # soft bounds on u
+        self.__lsbu   = np.array([])
+        self.__usbu   = np.array([])
+        self.__idxsbu = np.array([])
+        # soft bounds on x at shooting node N
+        self.__lsbx_e  = np.array([])
+        self.__usbx_e  = np.array([])
+        self.__idxsbx_e= np.array([])
+        # soft bounds on general linear constraints
+        self.__lsg    = np.array([])
+        self.__usg    = np.array([])
+        self.__idxsg  = np.array([])
+        # soft bounds on nonlinear constraints
+        self.__lsh    = np.array([])
+        self.__ush    = np.array([])
+        self.__idxsh  = np.array([])
+        # soft bounds on nonlinear constraints
+        self.__lsphi  = np.array([])
+        self.__usphi  = np.array([])
+        self.__idxsphi  = np.array([])
+        # soft bounds on general linear constraints at shooting node N
+        self.__lsg_e    = np.array([])
+        self.__usg_e    = np.array([])
+        self.__idxsg_e  = np.array([])
+        # soft bounds on nonlinear constraints at shooting node N
+        self.__lsh_e    = np.array([])
+        self.__ush_e    = np.array([])
+        self.__idxsh_e  = np.array([])
+        # soft bounds on nonlinear constraints at shooting node N
+        self.__lsphi_e    = np.array([])
+        self.__usphi_e    = np.array([])
+        self.__idxsphi_e  = np.array([])
+
+
+    # types
+    @property
+    def constr_type(self):
+        """Constraints type for shooting nodes (0 to N-1). string in {BGH, BGP}.
+        Default: BGH; BGP is for convex over nonlinear."""
+        return self.__constr_type
+
+    @property
+    def constr_type_e(self):
+        """Constraints type for terminal shooting node N. string in {BGH, BGP}.
+        Default: BGH; BGP is for convex over nonlinear."""
+        return self.__constr_type_e
+
+    # initial bounds on x
+    @property
+    def lbx_0(self):
+        """:math:`\\underline{x_0}` - lower bounds on x at initial stage 0.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`."""
+        return self.__lbx_0
+
+    @property
+    def ubx_0(self):
+        """:math:`\\bar{x_0}` - upper bounds on x at initial stage 0.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__ubx_0
+
+    @property
+    def Jbx_0(self):
+        """:math:`J_{bx,0}` - matrix coefficient for bounds on x at initial stage 0.
+        Translated internally to :py:attr:`idxbx_0`"""
+        print_J_to_idx_note()
+        return self.__idxbx_0
+
+    @property
+    def idxbx_0(self):
+        """Indices of bounds on x at initial stage 0
+        -- can be set automatically via x0.
+        Can be set by using :py:attr:`Jbx_0`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxbx_0
+
+    @property
+    def idxbxe_0(self):
+        """Indices of bounds on x0 that are equalities -- can be set automatically via :py:attr:`x0`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxbxe_0
+
+    # bounds on x
+    @property
+    def lbx(self):
+        """:math:`\\underline{x}` - lower bounds on x at intermediate shooting nodes (1 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__lbx
+
+    @property
+    def ubx(self):
+        """:math:`\\bar{x}` - upper bounds on x at intermediate shooting nodes (1 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__ubx
+
+    @property
+    def idxbx(self):
+        """indices of bounds on x (defines :math:`J_{bx}`) at intermediate shooting nodes (1 to N-1).
+        Can be set by using :py:attr:`Jbx`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxbx
+
+    @property
+    def Jbx(self):
+        """:math:`J_{bx}` - matrix coefficient for bounds on x
+        at intermediate shooting nodes (1 to N-1).
+        Translated internally into :py:attr:`idxbx`."""
+        print_J_to_idx_note()
+        return self.__idxbx
+
+    # bounds on x at shooting node N
+    @property
+    def lbx_e(self):
+        """:math:`\\underline{x}^e` - lower bounds on x at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__lbx_e
+
+    @property
+    def ubx_e(self):
+        """:math:`\\bar{x}^e` - upper bounds on x at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__ubx_e
+
+    @property
+    def idxbx_e(self):
+        """Indices for bounds on x at terminal shooting node N (defines :math:`J_{bx}^e`).
+        Can be set by using :py:attr:`Jbx_e`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxbx_e
+
+    @property
+    def Jbx_e(self):
+        """:math:`J_{bx}^e` matrix coefficient for bounds on x at terminal shooting node N.
+        Translated internally into :py:attr:`idxbx_e`."""
+        print_J_to_idx_note()
+        return self.__idxbx_e
+
+    # bounds on u
+    @property
+    def lbu(self):
+        """:math:`\\underline{u}` - lower bounds on u at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`
+        """
+        return self.__lbu
+
+    @property
+    def ubu(self):
+        """:math:`\\bar{u}` - upper bounds on u at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`
+        """
+        return self.__ubu
+
+    @property
+    def idxbu(self):
+        """Indices of bounds on u (defines :math:`J_{bu}`) at shooting nodes (0 to N-1).
+        Can be set by using :py:attr:`Jbu`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`
+        """
+        return self.__idxbu
+
+    @property
+    def Jbu(self):
+        """:math:`J_{bu}` - matrix coefficient for bounds on u at shooting nodes (0 to N-1).
+        Translated internally to :py:attr:`idxbu`.
+        """
+        print_J_to_idx_note()
+        return self.__idxbu
+
+    # polytopic constraints
+    @property
+    def C(self):
+        """:math:`C` - C matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
+        at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
+        """
+        return self.__C
+
+    @property
+    def D(self):
+        """:math:`D` - D matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
+        at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`
+        """
+        return self.__D
+
+    @property
+    def lg(self):
+        """:math:`\\underline{g}` - lower bound for general polytopic inequalities
+        at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`
+        """
+        return self.__lg
+
+    @property
+    def ug(self):
+        """:math:`\\bar{g}` - upper bound for general polytopic inequalities
+        at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__ug
+
+    # polytopic constraints at shooting node N
+    @property
+    def C_e(self):
+        """:math:`C^e` - C matrix at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
+        """
+        return self.__C_e
+
+    @property
+    def lg_e(self):
+        """:math:`\\underline{g}^e` - lower bound on general polytopic inequalities
+        at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__lg_e
+
+    @property
+    def ug_e(self):
+        """:math:`\\bar{g}^e` - upper bound on general polytopic inequalities
+        at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__ug_e
+
+
+    # nonlinear constraints
+    @property
+    def lh(self):
+        """:math:`\\underline{h}` - lower bound for nonlinear inequalities
+        at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__lh
+
+    @property
+    def uh(self):
+        """:math:`\\bar{h}` - upper bound for nonlinear inequalities
+        at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__uh
+
+    # nonlinear constraints at shooting node N
+    @property
+    def lh_e(self):
+        """:math:`\\underline{h}^e` - lower bound on nonlinear inequalities
+        at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__lh_e
+
+    @property
+    def uh_e(self):
+        """:math:`\\bar{h}^e` - upper bound on nonlinear inequalities
+        at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__uh_e
+
+    # convex-over-nonlinear constraints
+    @property
+    def lphi(self):
+        """:math:`\\underline{\phi}` - lower bound for convex-over-nonlinear inequalities
+        at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__lphi
+
+    @property
+    def uphi(self):
+        """:math:`\\bar{\phi}` - upper bound for convex-over-nonlinear inequalities
+        at shooting nodes (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__uphi
+
+    # convex-over-nonlinear constraints at shooting node N
+    @property
+    def lphi_e(self):
+        """:math:`\\underline{\phi}^e` - lower bound on convex-over-nonlinear inequalities
+        at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__lphi_e
+
+    @property
+    def uphi_e(self):
+        """:math:`\\bar{\phi}^e` - upper bound on convex-over-nonlinear inequalities
+        at terminal shooting node N.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
+        """
+        return self.__uphi_e
+
+
+    # SLACK bounds
+    # soft bounds on x
+    @property
+    def lsbx(self):
+        """Lower bounds on slacks corresponding to soft lower bounds on x
+        at stages (1 to N-1);
+        not required - zeros by default"""
+        return self.__lsbx
+
+    @property
+    def usbx(self):
+        """Lower bounds on slacks corresponding to soft upper bounds on x
+        at stages (1 to N-1);
+        not required - zeros by default"""
+        return self.__usbx
+
+    @property
+    def idxsbx(self):
+        """Indices of soft bounds on x within the indices of bounds on x
+        at stages (1 to N-1).
+        Can be set by using :py:attr:`Jsbx`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxsbx
+
+    @property
+    def Jsbx(self):
+        """:math:`J_{sbx}` - matrix coefficient for soft bounds on x
+        at stages (1 to N-1);
+        Translated internally into :py:attr:`idxsbx`."""
+        print_J_to_idx_note()
+        return self.__idxsbx
+
+    # soft bounds on u
+    @property
+    def lsbu(self):
+        """Lower bounds on slacks corresponding to soft lower bounds on u
+        at stages (0 to N-1).
+        Not required - zeros by default."""
+        return self.__lsbu
+
+    @property
+    def usbu(self):
+        """Lower bounds on slacks corresponding to soft upper bounds on u
+        at stages (0 to N-1);
+        not required - zeros by default"""
+        return self.__usbu
+
+    @property
+    def idxsbu(self):
+        """Indices of soft bounds on u within the indices of bounds on u
+        at stages (0 to N-1).
+        Can be set by using :py:attr:`Jsbu`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxsbu
+
+    @property
+    def Jsbu(self):
+        """:math:`J_{sbu}` - matrix coefficient for soft bounds on u
+        at stages (0 to N-1);
+        internally translated into :py:attr:`idxsbu`"""
+        print_J_to_idx_note()
+        return self.__idxsbu
+
+    # soft bounds on x at shooting node N
+    @property
+    def lsbx_e(self):
+        """Lower bounds on slacks corresponding to soft lower bounds on x at shooting node N.
+        Not required - zeros by default"""
+        return self.__lsbx_e
+
+    @property
+    def usbx_e(self):
+        """Lower bounds on slacks corresponding to soft upper bounds on x at shooting node N.
+        Not required - zeros by default"""
+        return self.__usbx_e
+
+    @property
+    def idxsbx_e(self):
+        """Indices of soft bounds on x at shooting node N, within the indices of bounds on x at terminal shooting node N.
+        Can be set by using :py:attr:`Jsbx_e`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxsbx_e
+
+    @property
+    def Jsbx_e(self):
+        """:math:`J_{sbx}^e` - matrix coefficient for soft bounds on x at terminal shooting node N.
+        Translated internally to :py:attr:`idxsbx_e`"""
+        print_J_to_idx_note()
+        return self.__idxsbx_e
+
+    # soft general linear constraints
+    @property
+    def lsg(self):
+        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints
+        at stages (0 to N-1).
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`
+        """
+        return self.__lsg
+
+    @property
+    def usg(self):
+        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints.
+        Not required - zeros by default"""
+        return self.__usg
+
+    @property
+    def idxsg(self):
+        """Indices of soft general linear constraints within the indices of general linear constraints.
+        Can be set by using :py:attr:`Jsg`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxsg
+
+    @property
+    def Jsg(self):
+        """:math:`J_{sg}` - matrix coefficient for soft bounds on general linear constraints.
+        Translated internally to :py:attr:`idxsg`"""
+        print_J_to_idx_note()
+        return self.__idxsg
+
+    # soft nonlinear constraints
+    @property
+    def lsh(self):
+        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints.
+        Not required - zeros by default"""
+        return self.__lsh
+
+    @property
+    def ush(self):
+        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints.
+        Not required - zeros by default"""
+        return self.__ush
+
+    @property
+    def idxsh(self):
+        """Indices of soft nonlinear constraints within the indices of nonlinear constraints.
+        Can be set by using :py:attr:`Jbx`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxsh
+
+    @property
+    def Jsh(self):
+        """:math:`J_{sh}` - matrix coefficient for soft bounds on nonlinear constraints.
+        Translated internally to :py:attr:`idxsh`"""
+        print_J_to_idx_note()
+        return self.__idxsh
+
+    # soft bounds on convex-over-nonlinear constraints
+    @property
+    def lsphi(self):
+        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints.
+        Not required - zeros by default"""
+        return self.__lsphi
+
+    @property
+    def usphi(self):
+        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints.
+        Not required - zeros by default"""
+        return self.__usphi
+
+    @property
+    def idxsphi(self):
+        """Indices of soft convex-over-nonlinear constraints within the indices of nonlinear constraints.
+        Can be set by using :py:attr:`Jsphi`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxsphi
+
+    @property
+    def Jsphi(self):
+        """:math:`J_{s, \phi}` - matrix coefficient for soft bounds on convex-over-nonlinear constraints.
+        Translated internally into :py:attr:`idxsphi`."""
+        print_J_to_idx_note()
+        return self.__idxsphi
+
+
+    # soft bounds on general linear constraints at shooting node N
+    @property
+    def lsg_e(self):
+        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints at shooting node N.
+        Not required - zeros by default"""
+        return self.__lsg_e
+
+    @property
+    def usg_e(self):
+        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints at shooting node N.
+        Not required - zeros by default"""
+        return self.__usg_e
+
+    @property
+    def idxsg_e(self):
+        """Indices of soft general linear constraints at shooting node N within the indices of general linear constraints at shooting node N.
+        Can be set by using :py:attr:`Jsg_e`."""
+        return self.__idxsg_e
+
+    @property
+    def Jsg_e(self):
+        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on general linear constraints at terminal shooting node N.
+        Translated internally to :py:attr:`idxsg_e`"""
+        print_J_to_idx_note()
+        return self.__idxsg_e
+
+
+    # soft bounds on nonlinear constraints at shooting node N
+    @property
+    def lsh_e(self):
+        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints at terminal shooting node N.
+        Not required - zeros by default"""
+        return self.__lsh_e
+
+    @property
+    def ush_e(self):
+        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints at terminal shooting node N.
+        Not required - zeros by default"""
+        return self.__ush_e
+
+    @property
+    def idxsh_e(self):
+        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
+        Can be set by using :py:attr:`Jsh_e`."""
+        return self.__idxsh_e
+
+    @property
+    def Jsh_e(self):
+        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on nonlinear constraints at terminal shooting node N; fills :py:attr:`idxsh_e`"""
+        print_J_to_idx_note()
+        return self.__idxsh_e
+
+    # soft bounds on convex-over-nonlinear constraints at shooting node N
+    @property
+    def lsphi_e(self):
+        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints at terminal shooting node N.
+        Not required - zeros by default"""
+        return self.__lsphi_e
+
+    @property
+    def usphi_e(self):
+        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints at terminal shooting node N.
+        Not required - zeros by default"""
+        return self.__usphi_e
+
+    @property
+    def idxsphi_e(self):
+        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
+        Can be set by using :py:attr:`Jsphi_e`.
+        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
+        return self.__idxsphi_e
+
+    @property
+    def Jsphi_e(self):
+        """:math:`J_{sh}^e` - matrix coefficient for soft bounds on convex-over-nonlinear constraints at shooting node N.
+        Translated internally to :py:attr:`idxsphi_e`"""
+        print_J_to_idx_note()
+        return self.__idxsphi_e
+
+    @property
+    def x0(self):
+        """:math:`x_0 \\in \mathbb{R}^{n_x}` - initial state --
+        Translated internally to :py:attr:`idxbx_0`, :py:attr:`lbx_0`, :py:attr:`ubx_0`, :py:attr:`idxbxe_0` """
+        print("x0 is converted to lbx_0, ubx_0, idxbx_0")
+        print("idxbx_0: ", self.__idxbx_0)
+        print("lbx_0: ", self.__lbx_0)
+        print("ubx_0: ", self.__ubx_0)
+        print("idxbxe_0: ", self.__idxbxe_0)
+        return None
+
+    # SETTERS
+    @constr_type.setter
+    def constr_type(self, constr_type):
+        constr_types = ('BGH', 'BGP')
+        if constr_type in constr_types:
+            self.__constr_type = constr_type
+        else:
+            raise Exception('Invalid constr_type value. Possible values are:\n\n' \
+                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\nExiting.')
+
+    @constr_type_e.setter
+    def constr_type_e(self, constr_type_e):
+        constr_types = ('BGH', 'BGP')
+        if constr_type_e in constr_types:
+            self.__constr_type_e = constr_type_e
+        else:
+            raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \
+                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\nExiting.')
+
+    # initial x
+    @lbx_0.setter
+    def lbx_0(self, lbx_0):
+        if type(lbx_0) == np.ndarray:
+            self.__lbx_0 = lbx_0
+        else:
+            raise Exception('Invalid lbx_0 value. Exiting.')
+
+    @ubx_0.setter
+    def ubx_0(self, ubx_0):
+        if type(ubx_0) == np.ndarray:
+            self.__ubx_0 = ubx_0
+        else:
+            raise Exception('Invalid ubx_0 value. Exiting.')
+
+    @idxbx_0.setter
+    def idxbx_0(self, idxbx_0):
+        if isinstance(idxbx_0, np.ndarray):
+            self.__idxbx_0 = idxbx_0
+        else:
+            raise Exception('Invalid idxbx_0 value. Exiting.')
+
+    @Jbx_0.setter
+    def Jbx_0(self, Jbx_0):
+        if type(Jbx_0) == np.ndarray:
+            self.__idxbx_0 = J_to_idx(Jbx_0)
+        else:
+            raise Exception('Invalid Jbx_0 value. Exiting.')
+
+    @idxbxe_0.setter
+    def idxbxe_0(self, idxbxe_0):
+        if isinstance(idxbxe_0, np.ndarray):
+            self.__idxbxe_0 = idxbxe_0
+        else:
+            raise Exception('Invalid idxbxe_0 value. Exiting.')
+
+
+    @x0.setter
+    def x0(self, x0):
+        if isinstance(x0, np.ndarray):
+            self.__lbx_0 = x0
+            self.__ubx_0 = x0
+            self.__idxbx_0 = np.arange(x0.size)
+            self.__idxbxe_0 = np.arange(x0.size)
+        else:
+            raise Exception('Invalid x0 value. Exiting.')
+
+    # bounds on x
+    @lbx.setter
+    def lbx(self, lbx):
+        if type(lbx) == np.ndarray:
+            self.__lbx = lbx
+        else:
+            raise Exception('Invalid lbx value. Exiting.')
+
+    @ubx.setter
+    def ubx(self, ubx):
+        if type(ubx) == np.ndarray:
+            self.__ubx = ubx
+        else:
+            raise Exception('Invalid ubx value. Exiting.')
+
+    @idxbx.setter
+    def idxbx(self, idxbx):
+        if type(idxbx) == np.ndarray:
+            self.__idxbx = idxbx
+        else:
+            raise Exception('Invalid idxbx value. Exiting.')
+
+    @Jbx.setter
+    def Jbx(self, Jbx):
+        if type(Jbx) == np.ndarray:
+            self.__idxbx = J_to_idx(Jbx)
+        else:
+            raise Exception('Invalid Jbx value. Exiting.')
+
+    # bounds on u
+    @lbu.setter
+    def lbu(self, lbu):
+        if type(lbu) == np.ndarray:
+            self.__lbu = lbu
+        else:
+            raise Exception('Invalid lbu value. Exiting.')
+
+    @ubu.setter
+    def ubu(self, ubu):
+        if type(ubu) == np.ndarray:
+            self.__ubu = ubu
+        else:
+            raise Exception('Invalid ubu value. Exiting.')
+
+    @idxbu.setter
+    def idxbu(self, idxbu):
+        if type(idxbu) == np.ndarray:
+            self.__idxbu = idxbu
+        else:
+            raise Exception('Invalid idxbu value. Exiting.')
+
+    @Jbu.setter
+    def Jbu(self, Jbu):
+        if type(Jbu) == np.ndarray:
+            self.__idxbu = J_to_idx(Jbu)
+        else:
+            raise Exception('Invalid Jbu value. Exiting.')
+
+    # bounds on x at shooting node N
+    @lbx_e.setter
+    def lbx_e(self, lbx_e):
+        if type(lbx_e) == np.ndarray:
+            self.__lbx_e = lbx_e
+        else:
+            raise Exception('Invalid lbx_e value. Exiting.')
+
+    @ubx_e.setter
+    def ubx_e(self, ubx_e):
+        if type(ubx_e) == np.ndarray:
+            self.__ubx_e = ubx_e
+        else:
+            raise Exception('Invalid ubx_e value. Exiting.')
+
+    @idxbx_e.setter
+    def idxbx_e(self, idxbx_e):
+        if type(idxbx_e) == np.ndarray:
+            self.__idxbx_e = idxbx_e
+        else:
+            raise Exception('Invalid idxbx_e value. Exiting.')
+
+    @Jbx_e.setter
+    def Jbx_e(self, Jbx_e):
+        if type(Jbx_e) == np.ndarray:
+            self.__idxbx_e = J_to_idx(Jbx_e)
+        else:
+            raise Exception('Invalid Jbx_e value. Exiting.')
+
+    # polytopic constraints
+    @D.setter
+    def D(self, D):
+        if isinstance(D, np.ndarray) and len(D.shape) == 2:
+            self.__D = D
+        else:
+            raise Exception('Invalid constraint D value.' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @C.setter
+    def C(self, C):
+        if isinstance(C, np.ndarray) and len(C.shape) == 2:
+            self.__C = C
+        else:
+            raise Exception('Invalid constraint C value.' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @lg.setter
+    def lg(self, lg):
+        if type(lg) == np.ndarray:
+            self.__lg = lg
+        else:
+            raise Exception('Invalid lg value. Exiting.')
+
+    @ug.setter
+    def ug(self, ug):
+        if type(ug) == np.ndarray:
+            self.__ug = ug
+        else:
+            raise Exception('Invalid ug value. Exiting.')
+
+    # polytopic constraints at shooting node N
+    @C_e.setter
+    def C_e(self, C_e):
+        if isinstance(C_e, np.ndarray) and len(C_e.shape) == 2:
+            self.__C_e = C_e
+        else:
+            raise Exception('Invalid constraint C_e value.' \
+                + 'Should be 2 dimensional numpy array. Exiting.')
+
+    @lg_e.setter
+    def lg_e(self, lg_e):
+        if type(lg_e) == np.ndarray:
+            self.__lg_e = lg_e
+        else:
+            raise Exception('Invalid lg_e value. Exiting.')
+
+    @ug_e.setter
+    def ug_e(self, ug_e):
+        if type(ug_e) == np.ndarray:
+            self.__ug_e = ug_e
+        else:
+            raise Exception('Invalid ug_e value. Exiting.')
+
+    # nonlinear constraints
+    @lh.setter
+    def lh(self, lh):
+        if type(lh) == np.ndarray:
+            self.__lh = lh
+        else:
+            raise Exception('Invalid lh value. Exiting.')
+
+    @uh.setter
+    def uh(self, uh):
+        if type(uh) == np.ndarray:
+            self.__uh = uh
+        else:
+            raise Exception('Invalid uh value. Exiting.')
+
+    # convex-over-nonlinear constraints
+    @lphi.setter
+    def lphi(self, lphi):
+        if type(lphi) == np.ndarray:
+            self.__lphi = lphi
+        else:
+            raise Exception('Invalid lphi value. Exiting.')
+
+    @uphi.setter
+    def uphi(self, uphi):
+        if type(uphi) == np.ndarray:
+            self.__uphi = uphi
+        else:
+            raise Exception('Invalid uphi value. Exiting.')
+
+    # nonlinear constraints at shooting node N
+    @lh_e.setter
+    def lh_e(self, lh_e):
+        if type(lh_e) == np.ndarray:
+            self.__lh_e = lh_e
+        else:
+            raise Exception('Invalid lh_e value. Exiting.')
+
+    @uh_e.setter
+    def uh_e(self, uh_e):
+        if type(uh_e) == np.ndarray:
+            self.__uh_e = uh_e
+        else:
+            raise Exception('Invalid uh_e value. Exiting.')
+
+    # convex-over-nonlinear constraints at shooting node N
+    @lphi_e.setter
+    def lphi_e(self, lphi_e):
+        if type(lphi_e) == np.ndarray:
+            self.__lphi_e = lphi_e
+        else:
+            raise Exception('Invalid lphi_e value. Exiting.')
+
+    @uphi_e.setter
+    def uphi_e(self, uphi_e):
+        if type(uphi_e) == np.ndarray:
+            self.__uphi_e = uphi_e
+        else:
+            raise Exception('Invalid uphi_e value. Exiting.')
+
+    # SLACK bounds
+    # soft bounds on x
+    @lsbx.setter
+    def lsbx(self, lsbx):
+        if type(lsbx) == np.ndarray:
+            self.__lsbx = lsbx
+        else:
+            raise Exception('Invalid lsbx value. Exiting.')
+
+    @usbx.setter
+    def usbx(self, usbx):
+        if type(usbx) == np.ndarray:
+            self.__usbx = usbx
+        else:
+            raise Exception('Invalid usbx value. Exiting.')
+
+    @idxsbx.setter
+    def idxsbx(self, idxsbx):
+        if type(idxsbx) == np.ndarray:
+            self.__idxsbx = idxsbx
+        else:
+            raise Exception('Invalid idxsbx value. Exiting.')
+
+    @Jsbx.setter
+    def Jsbx(self, Jsbx):
+        if isinstance(Jsbx, np.ndarray):
+            self.__idxsbx = J_to_idx_slack(Jsbx)
+        else:
+            raise Exception('Invalid Jsbx value, expected numpy array. Exiting.')
+
+    # soft bounds on u
+    @lsbu.setter
+    def lsbu(self, lsbu):
+        if type(lsbu) == np.ndarray:
+            self.__lsbu = lsbu
+        else:
+            raise Exception('Invalid lsbu value. Exiting.')
+
+    @usbu.setter
+    def usbu(self, usbu):
+        if type(usbu) == np.ndarray:
+            self.__usbu = usbu
+        else:
+            raise Exception('Invalid usbu value. Exiting.')
+
+    @idxsbu.setter
+    def idxsbu(self, idxsbu):
+        if type(idxsbu) == np.ndarray:
+            self.__idxsbu = idxsbu
+        else:
+            raise Exception('Invalid idxsbu value. Exiting.')
+
+    @Jsbu.setter
+    def Jsbu(self, Jsbu):
+        if type(Jsbu) == np.ndarray:
+            self.__idxsbu = J_to_idx_slack(Jsbu)
+        else:
+            raise Exception('Invalid Jsbu value. Exiting.')
+
+    # soft bounds on x at shooting node N
+    @lsbx_e.setter
+    def lsbx_e(self, lsbx_e):
+        if type(lsbx_e) == np.ndarray:
+            self.__lsbx_e = lsbx_e
+        else:
+            raise Exception('Invalid lsbx_e value. Exiting.')
+
+    @usbx_e.setter
+    def usbx_e(self, usbx_e):
+        if type(usbx_e) == np.ndarray:
+            self.__usbx_e = usbx_e
+        else:
+            raise Exception('Invalid usbx_e value. Exiting.')
+
+    @idxsbx_e.setter
+    def idxsbx_e(self, idxsbx_e):
+        if type(idxsbx_e) == np.ndarray:
+            self.__idxsbx_e = idxsbx_e
+        else:
+            raise Exception('Invalid idxsbx_e value. Exiting.')
+
+    @Jsbx_e.setter
+    def Jsbx_e(self, Jsbx_e):
+        if type(Jsbx_e) == np.ndarray:
+            self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
+        else:
+            raise Exception('Invalid Jsbx_e value. Exiting.')
+
+
+    # soft bounds on general linear constraints
+    @lsg.setter
+    def lsg(self, lsg):
+        if isinstance(lsg, np.ndarray):
+            self.__lsg = lsg
+        else:
+            raise Exception('Invalid lsg value. Exiting.')
+
+    @usg.setter
+    def usg(self, usg):
+        if isinstance(usg, np.ndarray):
+            self.__usg = usg
+        else:
+            raise Exception('Invalid usg value. Exiting.')
+
+    @idxsg.setter
+    def idxsg(self, idxsg):
+        if isinstance(idxsg, np.ndarray):
+            self.__idxsg = idxsg
+        else:
+            raise Exception('Invalid idxsg value. Exiting.')
+
+    @Jsg.setter
+    def Jsg(self, Jsg):
+        if isinstance(Jsg, np.ndarray):
+            self.__idxsg = J_to_idx_slack(Jsg)
+        else:
+            raise Exception('Invalid Jsg value, expected numpy array. Exiting.')
+
+
+    # soft bounds on nonlinear constraints
+    @lsh.setter
+    def lsh(self, lsh):
+        if type(lsh) == np.ndarray:
+            self.__lsh = lsh
+        else:
+            raise Exception('Invalid lsh value. Exiting.')
+
+    @ush.setter
+    def ush(self, ush):
+        if type(ush) == np.ndarray:
+            self.__ush = ush
+        else:
+            raise Exception('Invalid ush value. Exiting.')
+
+    @idxsh.setter
+    def idxsh(self, idxsh):
+        if type(idxsh) == np.ndarray:
+            self.__idxsh = idxsh
+        else:
+            raise Exception('Invalid idxsh value. Exiting.')
+
+
+    @Jsh.setter
+    def Jsh(self, Jsh):
+        if isinstance(Jsh, np.ndarray):
+            self.__idxsh = J_to_idx_slack(Jsh)
+        else:
+            raise Exception('Invalid Jsh value, expected numpy array. Exiting.')
+
+    # soft bounds on convex-over-nonlinear constraints
+    @lsphi.setter
+    def lsphi(self, lsphi):
+        if type(lsphi) == np.ndarray:
+            self.__lsphi = lsphi
+        else:
+            raise Exception('Invalid lsphi value. Exiting.')
+
+    @usphi.setter
+    def usphi(self, usphi):
+        if type(usphi) == np.ndarray:
+            self.__usphi = usphi
+        else:
+            raise Exception('Invalid usphi value. Exiting.')
+
+    @idxsphi.setter
+    def idxsphi(self, idxsphi):
+        if type(idxsphi) == np.ndarray:
+            self.__idxsphi = idxsphi
+        else:
+            raise Exception('Invalid idxsphi value. Exiting.')
+
+    @Jsphi.setter
+    def Jsphi(self, Jsphi):
+        if isinstance(Jsphi, np.ndarray):
+            self.__idxsphi = J_to_idx_slack(Jsphi)
+        else:
+            raise Exception('Invalid Jsphi value, expected numpy array. Exiting.')
+
+    # soft bounds on general linear constraints at shooting node N
+    @lsg_e.setter
+    def lsg_e(self, lsg_e):
+        if isinstance(lsg_e, np.ndarray):
+            self.__lsg_e = lsg_e
+        else:
+            raise Exception('Invalid lsg_e value. Exiting.')
+
+    @usg_e.setter
+    def usg_e(self, usg_e):
+        if isinstance(usg_e, np.ndarray):
+            self.__usg_e = usg_e
+        else:
+            raise Exception('Invalid usg_e value. Exiting.')
+
+    @idxsg_e.setter
+    def idxsg_e(self, idxsg_e):
+        if isinstance(idxsg_e, np.ndarray):
+            self.__idxsg_e = idxsg_e
+        else:
+            raise Exception('Invalid idxsg_e value. Exiting.')
+
+    @Jsg_e.setter
+    def Jsg_e(self, Jsg_e):
+        if isinstance(Jsg_e, np.ndarray):
+            self.__idxsg_e = J_to_idx_slack(Jsg_e)
+        else:
+            raise Exception('Invalid Jsg_e value, expected numpy array. Exiting.')
+
+    # soft bounds on nonlinear constraints at shooting node N
+    @lsh_e.setter
+    def lsh_e(self, lsh_e):
+        if isinstance(lsh_e, np.ndarray):
+            self.__lsh_e = lsh_e
+        else:
+            raise Exception('Invalid lsh_e value. Exiting.')
+
+    @ush_e.setter
+    def ush_e(self, ush_e):
+        if isinstance(ush_e, np.ndarray):
+            self.__ush_e = ush_e
+        else:
+            raise Exception('Invalid ush_e value. Exiting.')
+
+    @idxsh_e.setter
+    def idxsh_e(self, idxsh_e):
+        if isinstance(idxsh_e, np.ndarray):
+            self.__idxsh_e = idxsh_e
+        else:
+            raise Exception('Invalid idxsh_e value. Exiting.')
+
+    @Jsh_e.setter
+    def Jsh_e(self, Jsh_e):
+        if isinstance(Jsh_e, np.ndarray):
+            self.__idxsh_e = J_to_idx_slack(Jsh_e)
+        else:
+            raise Exception('Invalid Jsh_e value, expected numpy array. Exiting.')
+
+
+    # soft bounds on convex-over-nonlinear constraints at shooting node N
+    @lsphi_e.setter
+    def lsphi_e(self, lsphi_e):
+        if isinstance(lsphi_e, np.ndarray):
+            self.__lsphi_e = lsphi_e
+        else:
+            raise Exception('Invalid lsphi_e value. Exiting.')
+
+    @usphi_e.setter
+    def usphi_e(self, usphi_e):
+        if isinstance(usphi_e, np.ndarray):
+            self.__usphi_e = usphi_e
+        else:
+            raise Exception('Invalid usphi_e value. Exiting.')
+
+    @idxsphi_e.setter
+    def idxsphi_e(self, idxsphi_e):
+        if isinstance(idxsphi_e, np.ndarray):
+            self.__idxsphi_e = idxsphi_e
+        else:
+            raise Exception('Invalid idxsphi_e value. Exiting.')
+
+    @Jsphi_e.setter
+    def Jsphi_e(self, Jsphi_e):
+        if isinstance(Jsphi_e, np.ndarray):
+            self.__idxsphi_e = J_to_idx_slack(Jsphi_e)
+        else:
+            raise Exception('Invalid Jsphi_e value. Exiting.')
+
+    def set(self, attr, value):
+        setattr(self, attr, value)
+
+
+class AcadosOcpOptions:
+    """
+    class containing the description of the solver options
+    """
+    def __init__(self):
+        self.__qp_solver        = 'PARTIAL_CONDENSING_HPIPM'  # qp solver to be used in the NLP solver
+        self.__hessian_approx   = 'GAUSS_NEWTON'              # hessian approximation
+        self.__integrator_type  = 'ERK'                       # integrator type
+        self.__tf               = None                        # prediction horizon
+        self.__nlp_solver_type  = 'SQP_RTI'                   # NLP solver
+        self.__globalization = 'FIXED_STEP'
+        self.__nlp_solver_step_length = 1.0                   # fixed Newton step length
+        self.__levenberg_marquardt = 0.0
+        self.__collocation_type = 'GAUSS_LEGENDRE'
+        self.__sim_method_num_stages  = 4                     # number of stages in the integrator
+        self.__sim_method_num_steps   = 1                     # number of steps in the integrator
+        self.__sim_method_newton_iter = 3                     # number of Newton iterations in simulation method
+        self.__sim_method_jac_reuse = 0
+        self.__qp_solver_tol_stat = None                      # QP solver stationarity tolerance
+        self.__qp_solver_tol_eq   = None                      # QP solver equality tolerance
+        self.__qp_solver_tol_ineq = None                      # QP solver inequality
+        self.__qp_solver_tol_comp = None                      # QP solver complementarity
+        self.__qp_solver_iter_max = 50                        # QP solver max iter
+        self.__qp_solver_cond_N = None                        # QP solver: new horizon after partial condensing
+        self.__qp_solver_warm_start = 0
+        self.__nlp_solver_tol_stat = 1e-6                     # NLP solver stationarity tolerance
+        self.__nlp_solver_tol_eq   = 1e-6                     # NLP solver equality tolerance
+        self.__nlp_solver_tol_ineq = 1e-6                     # NLP solver inequality
+        self.__nlp_solver_tol_comp = 1e-6                     # NLP solver complementarity
+        self.__nlp_solver_max_iter = 100                      # NLP solver maximum number of iterations
+        self.__Tsim = None                                    # automatically calculated as tf/N
+        self.__print_level = 0                                # print level
+        self.__initialize_t_slacks = 0                        # possible values: 0, 1
+        self.__model_external_shared_lib_dir   = None         # path to the the .so lib
+        self.__model_external_shared_lib_name  = None         # name of the the .so lib
+        self.__regularize_method = None
+        self.__time_steps = None
+        self.__shooting_nodes = None
+        self.__exact_hess_cost = 1
+        self.__exact_hess_dyn = 1
+        self.__exact_hess_constr = 1
+        self.__ext_cost_num_hess = 0
+        self.__alpha_min = 0.05
+        self.__alpha_reduction = 0.7
+
+
+    @property
+    def qp_solver(self):
+        """QP solver to be used in the NLP solver.
+        String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP').
+        Default: 'PARTIAL_CONDENSING_HPIPM'.
+        """
+        return self.__qp_solver
+
+    @property
+    def hessian_approx(self):
+        """Hessian approximation.
+        String in ('GAUSS_NEWTON', 'EXACT').
+        Default: 'GAUSS_NEWTON'.
+        """
+        return self.__hessian_approx
+
+    @property
+    def integrator_type(self):
+        """
+        Integrator type.
+        String in ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK').
+        Default: 'ERK'.
+        """
+        return self.__integrator_type
+
+    @property
+    def nlp_solver_type(self):
+        """NLP solver.
+        String in ('SQP', 'SQP_RTI').
+        Default: 'SQP_RTI'.
+        """
+        return self.__nlp_solver_type
+
+    @property
+    def globalization(self):
+        """Globalization type.
+        String in ('FIXED_STEP', 'MERIT_BACKTRACKING').
+        Default: 'FIXED_STEP'.
+
+        .. note:: preliminary implementation.
+        """
+        return self.__globalization
+
+    @property
+    def collocation_type(self):
+        """Collocation type: relevant for implicit integrators
+        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}.
+
+        Default: GAUSS_LEGENDRE
+        """
+        return self.__collocation_type
+
+    @property
+    def regularize_method(self):
+        """Regularization method for the Hessian.
+        String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`.
+
+        Default: :code:`None`.
+        """
+        return self.__regularize_method
+
+    @property
+    def nlp_solver_step_length(self):
+        """
+        Fixed Newton step length.
+        Type: float > 0.
+        Default: 1.0.
+        """
+        return self.__nlp_solver_step_length
+
+    @property
+    def levenberg_marquardt(self):
+        """
+        Factor for LM regularization.
+        Type: float >= 0
+        Default: 0.0.
+        """
+        return self.__levenberg_marquardt
+
+    @property
+    def sim_method_num_stages(self):
+        """
+        Number of stages in the integrator.
+        Type: int > 0 or ndarray of ints > 0 of shape (N,).
+        Default: 4
+        """
+        return self.__sim_method_num_stages
+
+    @property
+    def sim_method_num_steps(self):
+        """
+        Number of steps in the integrator.
+        Type: int > 0 or ndarray of ints > 0 of shape (N,).
+        Default: 1
+        """
+        return self.__sim_method_num_steps
+
+    @property
+    def sim_method_newton_iter(self):
+        """
+        Number of Newton iterations in simulation method.
+        Type: int > 0
+        Default: 3
+        """
+        return self.__sim_method_newton_iter
+
+    @property
+    def sim_method_jac_reuse(self):
+        """
+        Integer determining if jacobians are reused within integrator or ndarray of ints > 0 of shape (N,).
+        0: False (no reuse); 1: True (reuse)
+        Default: 0
+        """
+        return self.__sim_method_jac_reuse
+
+    @property
+    def qp_solver_tol_stat(self):
+        """
+        QP solver stationarity tolerance.
+        Default: :code:`None`
+        """
+        return self.__qp_solver_tol_stat
+
+    @property
+    def qp_solver_tol_eq(self):
+        """
+        QP solver equality tolerance.
+        Default: :code:`None`
+        """
+        return self.__qp_solver_tol_eq
+
+    @property
+    def qp_solver_tol_ineq(self):
+        """
+        QP solver inequality.
+        Default: :code:`None`
+        """
+        return self.__qp_solver_tol_ineq
+
+    @property
+    def qp_solver_tol_comp(self):
+        """
+        QP solver complementarity.
+        Default: :code:`None`
+        """
+        return self.__qp_solver_tol_comp
+
+    @property
+    def qp_solver_cond_N(self):
+        """QP solver: New horizon after partial condensing.
+        Set to N by default -> no condensing."""
+        return self.__qp_solver_cond_N
+
+    @property
+    def qp_solver_warm_start(self):
+        """QP solver: Warm starting.
+        0: no warm start; 1: warm start; 2: hot start."""
+        return self.__qp_solver_warm_start
+
+    @property
+    def qp_solver_iter_max(self):
+        """
+        QP solver: maximum number of iterations.
+        Type: int > 0
+        Default: 50
+        """
+        return self.__qp_solver_iter_max
+
+    @property
+    def tol(self):
+        """
+        NLP solver tolerance. Sets or gets the max of :py:attr:`nlp_solver_tol_eq`,
+        :py:attr:`nlp_solver_tol_ineq`, :py:attr:`nlp_solver_tol_comp`
+        and :py:attr:`nlp_solver_tol_stat`.
+        """
+        return max([self.__nlp_solver_tol_eq, self.__nlp_solver_tol_ineq,\
+                    self.__nlp_solver_tol_comp, self.__nlp_solver_tol_stat])
+
+    @property
+    def qp_tol(self):
+        """
+        QP solver tolerance.
+        Sets all of the following at once or gets the max of
+        :py:attr:`qp_solver_tol_eq`, :py:attr:`qp_solver_tol_ineq`,
+        :py:attr:`qp_solver_tol_comp` and
+        :py:attr:`qp_solver_tol_stat`.
+        """
+        return max([self.__qp_solver_tol_eq, self.__qp_solver_tol_ineq,\
+                    self.__qp_solver_tol_comp, self.__qp_solver_tol_stat])
+
+    @property
+    def nlp_solver_tol_stat(self):
+        """
+        NLP solver stationarity tolerance.
+        Type: float > 0
+        Default: 1e-6
+        """
+        return self.__nlp_solver_tol_stat
+
+    @property
+    def nlp_solver_tol_eq(self):
+        """NLP solver equality tolerance"""
+        return self.__nlp_solver_tol_eq
+
+    @property
+    def alpha_min(self):
+        """Minimal step size for globalization MERIT_BACKTRACKING, default: 0.05."""
+        return self.__alpha_min
+
+    @property
+    def alpha_reduction(self):
+        """Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7."""
+        return self.__alpha_reduction
+
+    @property
+    def nlp_solver_tol_ineq(self):
+        """NLP solver inequality tolerance"""
+        return self.__nlp_solver_tol_ineq
+
+    @property
+    def nlp_solver_tol_comp(self):
+        """NLP solver complementarity tolerance"""
+        return self.__nlp_solver_tol_comp
+
+    @property
+    def nlp_solver_max_iter(self):
+        """
+        NLP solver maximum number of iterations.
+        Type: int > 0
+        Default: 100
+        """
+        return self.__nlp_solver_max_iter
+
+    @property
+    def time_steps(self):
+        """
+        Vector with time steps between the shooting nodes. Set automatically to uniform discretization if :py:attr:`N` and :py:attr:`tf` are provided.
+        Default: :code:`None`
+        """
+        return self.__time_steps
+
+    @property
+    def shooting_nodes(self):
+        """
+        Vector with the shooting nodes, time_steps will be computed from it automatically.
+        Default: :code:`None`
+        """
+        return self.__shooting_nodes
+
+    @property
+    def tf(self):
+        """
+        Prediction horizon
+        Type: float > 0
+        Default: :code:`None`
+        """
+        return self.__tf
+
+    @property
+    def Tsim(self):
+        """
+        Time horizon for one integrator step. Automatically calculated as :py:attr:`tf`/:py:attr:`N`.
+        Default: :code:`None`
+        """
+        return self.__Tsim
+
+    @property
+    def print_level(self):
+        """
+        Verbosity of printing.
+        Type: int >= 0
+        Default: 0
+        """
+        return self.__print_level
+
+    @property
+    def model_external_shared_lib_dir(self):
+        """Path to the .so lib"""
+        return self.__model_external_shared_lib_dir
+
+    @property
+    def model_external_shared_lib_name(self):
+        """Name of the .so lib"""
+        return self.__model_external_shared_lib_name
+
+    @property
+    def exact_hess_constr(self):
+        """
+        Used in case of hessian_approx == 'EXACT'.\n
+        Can be used to turn off exact hessian contributions from the constraints module.
+        """
+        return self.__exact_hess_constr
+
+    @property
+    def exact_hess_cost(self):
+        """
+        Used in case of hessian_approx == 'EXACT'.\n
+        Can be used to turn off exact hessian contributions from the cost module.
+        """
+        return self.__exact_hess_cost
+
+    @property
+    def exact_hess_dyn(self):
+        """
+        Used in case of hessian_approx == 'EXACT'.\n
+        Can be used to turn off exact hessian contributions from the dynamics module.
+        """
+        return self.__exact_hess_dyn
+
+    @property
+    def ext_cost_num_hess(self):
+        """
+        Determines if custom hessian approximation for cost contribution is used (> 0).\n
+        Or if hessian contribution is evaluated exactly using CasADi external function (=0 - default).
+        """
+        return self.__ext_cost_num_hess
+
+    @qp_solver.setter
+    def qp_solver(self, qp_solver):
+        qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \
+                'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \
+                'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP')
+        if qp_solver in qp_solvers:
+            self.__qp_solver = qp_solver
+        else:
+            raise Exception('Invalid qp_solver value. Possible values are:\n\n' \
+                    + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\nExiting.')
+
+    @regularize_method.setter
+    def regularize_method(self, regularize_method):
+        regularize_methods = ('NO_REGULARIZE', 'MIRROR', 'PROJECT', \
+                                'PROJECT_REDUC_HESS', 'CONVEXIFY')
+        if regularize_method in regularize_methods:
+            self.__regularize_method = regularize_method
+        else:
+            raise Exception('Invalid regularize_method value. Possible values are:\n\n' \
+                    + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\nExiting.')
+
+    @collocation_type.setter
+    def collocation_type(self, collocation_type):
+        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
+        if collocation_type in collocation_types:
+            self.__collocation_type = collocation_type
+        else:
+            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
+                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.')
+
+    @hessian_approx.setter
+    def hessian_approx(self, hessian_approx):
+        hessian_approxs = ('GAUSS_NEWTON', 'EXACT')
+        if hessian_approx in hessian_approxs:
+            self.__hessian_approx = hessian_approx
+        else:
+            raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \
+                    + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\nExiting.')
+
+    @integrator_type.setter
+    def integrator_type(self, integrator_type):
+        integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK')
+        if integrator_type in integrator_types:
+            self.__integrator_type = integrator_type
+        else:
+            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
+                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.')
+
+    @tf.setter
+    def tf(self, tf):
+        self.__tf = tf
+
+    @time_steps.setter
+    def time_steps(self, time_steps):
+        self.__time_steps = time_steps
+
+    @shooting_nodes.setter
+    def shooting_nodes(self, shooting_nodes):
+        self.__shooting_nodes = shooting_nodes
+
+
+    @Tsim.setter
+    def Tsim(self, Tsim):
+        self.__Tsim = Tsim
+
+    @globalization.setter
+    def globalization(self, globalization):
+        self.__globalization = globalization
+
+    @alpha_min.setter
+    def alpha_min(self, alpha_min):
+        self.__alpha_min = alpha_min
+
+    @alpha_reduction.setter
+    def alpha_reduction(self, alpha_reduction):
+        self.__alpha_reduction = alpha_reduction
+
+    @sim_method_num_stages.setter
+    def sim_method_num_stages(self, sim_method_num_stages):
+
+        # if type(sim_method_num_stages) == int:
+        #     self.__sim_method_num_stages = sim_method_num_stages
+        # else:
+        #     raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer. Exiting.')
+
+        self.__sim_method_num_stages = sim_method_num_stages
+
+    @sim_method_num_steps.setter
+    def sim_method_num_steps(self, sim_method_num_steps):
+
+        # if type(sim_method_num_steps) == int:
+        #     self.__sim_method_num_steps = sim_method_num_steps
+        # else:
+        #     raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer. Exiting.')
+        self.__sim_method_num_steps = sim_method_num_steps
+
+
+    @sim_method_newton_iter.setter
+    def sim_method_newton_iter(self, sim_method_newton_iter):
+
+        if type(sim_method_newton_iter) == int:
+            self.__sim_method_newton_iter = sim_method_newton_iter
+        else:
+            raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer. Exiting.')
+
+    @sim_method_jac_reuse.setter
+    def sim_method_jac_reuse(self, sim_method_jac_reuse):
+        # if sim_method_jac_reuse in (True, False):
+        self.__sim_method_jac_reuse = sim_method_jac_reuse
+        # else:
+            # raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.')
+
+    @nlp_solver_type.setter
+    def nlp_solver_type(self, nlp_solver_type):
+        nlp_solver_types = ('SQP', 'SQP_RTI')
+        if nlp_solver_type in nlp_solver_types:
+            self.__nlp_solver_type = nlp_solver_type
+        else:
+            raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \
+                    + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\nExiting.')
+
+    @nlp_solver_step_length.setter
+    def nlp_solver_step_length(self, nlp_solver_step_length):
+        if type(nlp_solver_step_length) == float and nlp_solver_step_length > 0:
+            self.__nlp_solver_step_length = nlp_solver_step_length
+        else:
+            raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float. Exiting')
+
+    @levenberg_marquardt.setter
+    def levenberg_marquardt(self, levenberg_marquardt):
+        if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0:
+            self.__levenberg_marquardt = levenberg_marquardt
+        else:
+            raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float. Exiting')
+
+    @qp_solver_iter_max.setter
+    def qp_solver_iter_max(self, qp_solver_iter_max):
+        if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0:
+            self.__qp_solver_iter_max = qp_solver_iter_max
+        else:
+            raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int. Exiting')
+
+    @qp_solver_cond_N.setter
+    def qp_solver_cond_N(self, qp_solver_cond_N):
+        if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N > 0:
+            self.__qp_solver_cond_N = qp_solver_cond_N
+        else:
+            raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int. Exiting')
+
+    @qp_solver_warm_start.setter
+    def qp_solver_warm_start(self, qp_solver_warm_start):
+        if qp_solver_warm_start in [0, 1, 2]:
+            self.__qp_solver_warm_start = qp_solver_warm_start
+        else:
+            raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2. Exiting')
+
+    @qp_tol.setter
+    def qp_tol(self, qp_tol):
+        if isinstance(qp_tol, float) and qp_tol > 0:
+            self.__qp_solver_tol_eq = qp_tol
+            self.__qp_solver_tol_ineq = qp_tol
+            self.__qp_solver_tol_stat = qp_tol
+            self.__qp_solver_tol_comp = qp_tol
+        else:
+            raise Exception('Invalid qp_tol value. qp_tol must be a positive float. Exiting')
+
+    @qp_solver_tol_stat.setter
+    def qp_solver_tol_stat(self, qp_solver_tol_stat):
+        if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0:
+            self.__qp_solver_tol_stat = qp_solver_tol_stat
+        else:
+            raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float. Exiting')
+
+    @qp_solver_tol_eq.setter
+    def qp_solver_tol_eq(self, qp_solver_tol_eq):
+        if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0:
+            self.__qp_solver_tol_eq = qp_solver_tol_eq
+        else:
+            raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float. Exiting')
+
+    @qp_solver_tol_ineq.setter
+    def qp_solver_tol_ineq(self, qp_solver_tol_ineq):
+        if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0:
+            self.__qp_solver_tol_ineq = qp_solver_tol_ineq
+        else:
+            raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float. Exiting')
+
+    @qp_solver_tol_comp.setter
+    def qp_solver_tol_comp(self, qp_solver_tol_comp):
+        if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0:
+            self.__qp_solver_tol_comp = qp_solver_tol_comp
+        else:
+            raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float. Exiting')
+
+    @tol.setter
+    def tol(self, tol):
+        if isinstance(tol, float) and tol > 0:
+            self.__nlp_solver_tol_eq = tol
+            self.__nlp_solver_tol_ineq = tol
+            self.__nlp_solver_tol_stat = tol
+            self.__nlp_solver_tol_comp = tol
+        else:
+            raise Exception('Invalid tol value. tol must be a positive float. Exiting')
+
+    @nlp_solver_tol_stat.setter
+    def nlp_solver_tol_stat(self, nlp_solver_tol_stat):
+        if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0:
+            self.__nlp_solver_tol_stat = nlp_solver_tol_stat
+        else:
+            raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float. Exiting')
+
+    @nlp_solver_tol_eq.setter
+    def nlp_solver_tol_eq(self, nlp_solver_tol_eq):
+        if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0:
+            self.__nlp_solver_tol_eq = nlp_solver_tol_eq
+        else:
+            raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float. Exiting')
+
+    @nlp_solver_tol_ineq.setter
+    def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq):
+        if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0:
+            self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq
+        else:
+            raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float. Exiting')
+
+    @nlp_solver_tol_comp.setter
+    def nlp_solver_tol_comp(self, nlp_solver_tol_comp):
+        if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0:
+            self.__nlp_solver_tol_comp = nlp_solver_tol_comp
+        else:
+            raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float. Exiting')
+
+    @nlp_solver_max_iter.setter
+    def nlp_solver_max_iter(self, nlp_solver_max_iter):
+
+        if type(nlp_solver_max_iter) == int and nlp_solver_max_iter > 0:
+            self.__nlp_solver_max_iter = nlp_solver_max_iter
+        else:
+            raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int. Exiting')
+
+    @print_level.setter
+    def print_level(self, print_level):
+        if type(print_level) == int and print_level >= 0:
+            self.__print_level = print_level
+        else:
+            raise Exception('Invalid print_level value. print_level takes one of the values >=0. Exiting')
+
+    @model_external_shared_lib_dir.setter
+    def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
+        if type(model_external_shared_lib_dir) == str :
+            self.__model_external_shared_lib_dir = model_external_shared_lib_dir
+        else:
+            raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
+            + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\nExiting.')
+
+    @model_external_shared_lib_name.setter
+    def model_external_shared_lib_name(self, model_external_shared_lib_name):
+        if type(model_external_shared_lib_name) == str :
+            if model_external_shared_lib_name[-3:] == '.so' : 
+                raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
+            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.')
+            else :
+                self.__model_external_shared_lib_name = model_external_shared_lib_name
+        else:
+            raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \
+            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.')
+
+    @exact_hess_constr.setter
+    def exact_hess_constr(self, exact_hess_constr):
+        if exact_hess_constr in [0, 1]:
+            self.__exact_hess_constr = exact_hess_constr
+        else:
+            raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1. Exiting')
+
+    @exact_hess_cost.setter
+    def exact_hess_cost(self, exact_hess_cost):
+        if exact_hess_cost in [0, 1]:
+            self.__exact_hess_cost = exact_hess_cost
+        else:
+            raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1. Exiting')
+
+    @exact_hess_dyn.setter
+    def exact_hess_dyn(self, exact_hess_dyn):
+        if exact_hess_dyn in [0, 1]:
+            self.__exact_hess_dyn = exact_hess_dyn
+        else:
+            raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1. Exiting')
+
+    @ext_cost_num_hess.setter
+    def ext_cost_num_hess(self, ext_cost_num_hess):
+        if ext_cost_num_hess in [0, 1]:
+            self.__ext_cost_num_hess = ext_cost_num_hess
+        else:
+            raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1. Exiting')
+
+    def set(self, attr, value):
+        setattr(self, attr, value)
+
+
+class AcadosOcp:
+    """
+    Class containing the full description of the optimal control problem.
+    This object can be used to create an :py:class:`acados_template.acados_ocp_solver.AcadosOcpSolver`.
+
+    The class has the following properties that can be modified to formulate a specific OCP, see below:
+
+        - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosOcpDims`
+        - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
+        - :py:attr:`cost` of type :py:class:`acados_template.acados_ocp.AcadosOcpCost`
+        - :py:attr:`constraints` of type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`
+        - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`
+
+        - :py:attr:`acados_include_path` (set automatically)
+        - :py:attr:`acados_lib_path` (set automatically)
+        - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
+    """
+    def __init__(self, acados_path=''):
+        """
+        Keyword arguments:
+        acados_path -- path of your acados installation
+        """
+        if acados_path == '':
+            acados_path = get_acados_path()
+
+        self.dims = AcadosOcpDims()
+        """Dimension definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpDims`"""
+        self.model = AcadosModel()
+        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
+        self.cost = AcadosOcpCost()
+        """Cost definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpCost`"""
+        self.constraints = AcadosOcpConstraints()
+        """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`"""
+        self.solver_options = AcadosOcpOptions()
+        """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`"""
+		
+        self.acados_include_path = f'{acados_path}/include'
+        """Path to acados include directory, type: string"""
+        self.acados_lib_path = f'{acados_path}/lib'
+        """Path to where acados library is located, type: string"""
+
+        self.__parameter_values = np.array([])
+        self.__problem_class = 'OCP'
+
+        self.code_export_directory = 'c_generated_code'
+        """Path to where code will be exported. Default: `c_generated_code`."""
+
+    @property
+    def parameter_values(self):
+        """:math:`p` - initial values for parameter - can be updated stagewise"""
+        return self.__parameter_values
+
+    @parameter_values.setter
+    def parameter_values(self, parameter_values):
+        if isinstance(parameter_values, np.ndarray):
+            self.__parameter_values = parameter_values
+        else:
+            raise Exception('Invalid parameter_values value. ' +
+                            f'Expected numpy array, got {type(parameter_values)}.')
+
+    def set(self, attr, value):
+        # tokenize string
+        tokens = attr.split('_', 1)
+        if len(tokens) > 1:
+            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
+        else:
+            setter_to_call = getattr(self, 'set')
+
+        setter_to_call(tokens[1], value)
+
+        return
diff --git a/pyextra/acados_template/acados_ocp_solver.py b/pyextra/acados_template/acados_ocp_solver.py
new file mode 100644
index 00000000000000..b34b8fa84a096b
--- /dev/null
+++ b/pyextra/acados_template/acados_ocp_solver.py
@@ -0,0 +1,1562 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import sys
+import os
+import json
+import numpy as np
+from datetime import datetime
+import ctypes
+from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
+
+from copy import deepcopy
+
+from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
+from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
+from .generate_c_code_gnsf import generate_c_code_gnsf
+from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics
+from .generate_c_code_constraint import generate_c_code_constraint
+from .generate_c_code_nls_cost import generate_c_code_nls_cost
+from .generate_c_code_external_cost import generate_c_code_external_cost
+from .acados_ocp import AcadosOcp
+from .acados_model import acados_model_strip_casadi_symbolics
+from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
+     format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
+     set_up_imported_gnsf_model, get_acados_path, get_ocp_nlp_layout, get_python_interface_path
+
+
+def make_ocp_dims_consistent(acados_ocp):
+    dims = acados_ocp.dims
+    cost = acados_ocp.cost
+    constraints = acados_ocp.constraints
+    model = acados_ocp.model
+    opts = acados_ocp.solver_options
+
+    # nx
+    if is_column(model.x):
+        dims.nx = casadi_length(model.x)
+    else:
+        raise Exception('model.x should be column vector!')
+
+    # nu
+    if is_empty(model.u):
+        dims.nu = 0
+    else:
+        dims.nu = casadi_length(model.u)
+
+    # nz
+    if is_empty(model.z):
+        dims.nz = 0
+    else:
+        dims.nz = casadi_length(model.z)
+
+    # np
+    if is_empty(model.p):
+        dims.np = 0
+    else:
+        dims.np = casadi_length(model.p)
+    if acados_ocp.parameter_values.shape[0] != dims.np:
+        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
+            f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
+
+    # cost
+    # initial stage - if not set, copy fields from path constraints
+    if cost.cost_type_0 is None:
+        cost.cost_type_0 = cost.cost_type
+        cost.W_0 = cost.W
+        cost.Vx_0 = cost.Vx
+        cost.Vu_0 = cost.Vu
+        cost.Vz_0 = cost.Vz
+        cost.yref_0 = cost.yref
+        cost.cost_ext_fun_type_0 = cost.cost_ext_fun_type
+        model.cost_y_expr_0 = model.cost_y_expr
+        model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost
+        model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess
+
+    if cost.cost_type_0 == 'LINEAR_LS':
+        ny_0 = cost.W_0.shape[0]
+        if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0:
+            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0.' + \
+                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}]\n')
+        if dims.nz != 0 and cost.Vz_0.shape[0] != ny_0:
+            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0, Vz_0.' + \
+                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}], Vz_0[{cost.Vz_0.shape}]\n')
+        if cost.Vx_0.shape[1] != dims.nx and ny_0 != 0:
+            raise Exception('inconsistent dimension: Vx_0 should have nx columns.')
+        if cost.Vu_0.shape[1] != dims.nu and ny_0 != 0:
+            raise Exception('inconsistent dimension: Vu_0 should have nu columns.')
+        if cost.yref_0.shape[0] != ny_0:
+            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
+                            f'\nGot W_0[{cost.W_0.shape}], yref_0[{cost.yref_0.shape}]\n')
+        dims.ny_0 = ny_0
+
+    elif cost.cost_type_0 == 'NONLINEAR_LS':
+        ny_0 = cost.W_0.shape[0]
+        if is_empty(model.cost_y_expr_0) and ny_0 != 0:
+            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
+        elif casadi_length(model.cost_y_expr_0) != ny_0:
+            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
+        if cost.yref_0.shape[0] != ny_0:
+            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
+                            f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n')
+        dims.ny_0 = ny_0
+
+    # path
+    if cost.cost_type == 'LINEAR_LS':
+        ny = cost.W.shape[0]
+        if cost.Vx.shape[0] != ny or cost.Vu.shape[0] != ny:
+            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu.' + \
+                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}]\n')
+        if dims.nz != 0 and cost.Vz.shape[0] != ny:
+            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu, Vz.' + \
+                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}], Vz[{cost.Vz.shape}]\n')
+        if cost.Vx.shape[1] != dims.nx and ny != 0:
+            raise Exception('inconsistent dimension: Vx should have nx columns.')
+        if cost.Vu.shape[1] != dims.nu and ny != 0:
+            raise Exception('inconsistent dimension: Vu should have nu columns.')
+        if cost.yref.shape[0] != ny:
+            raise Exception('inconsistent dimension: regarding W, yref.' + \
+                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
+        dims.ny = ny
+
+    elif cost.cost_type == 'NONLINEAR_LS':
+        ny = cost.W.shape[0]
+        if is_empty(model.cost_y_expr) and ny != 0:
+            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
+        elif casadi_length(model.cost_y_expr) != ny:
+            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
+        if cost.yref.shape[0] != ny:
+            raise Exception('inconsistent dimension: regarding W, yref.' + \
+                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
+        dims.ny = ny
+
+    # terminal
+    if cost.cost_type_e == 'LINEAR_LS':
+        ny_e = cost.W_e.shape[0]
+        if cost.Vx_e.shape[0] != ny_e:
+            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.' + \
+                f'\nGot W_e[{cost.W_e.shape}], Vx_e[{cost.Vx_e.shape}]')
+        if cost.Vx_e.shape[1] != dims.nx and ny_e != 0:
+            raise Exception('inconsistent dimension: Vx_e should have nx columns.')
+        if cost.yref_e.shape[0] != ny_e:
+            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
+        dims.ny_e = ny_e
+
+    elif cost.cost_type_e == 'NONLINEAR_LS':
+        ny_e = cost.W_e.shape[0]
+        if is_empty(model.cost_y_expr_e) and ny_e != 0:
+            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
+        elif casadi_length(model.cost_y_expr_e) != ny_e:
+            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
+        if cost.yref_e.shape[0] != ny_e:
+            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
+        dims.ny_e = ny_e
+
+
+    ## constraints
+    # initial
+    if (constraints.lbx_0 == [] and constraints.ubx_0 == []):
+        dims.nbx_0 = 0
+    else:
+        this_shape = constraints.lbx_0.shape
+        other_shape = constraints.ubx_0.shape
+        if not this_shape == other_shape:
+            raise Exception('lbx_0, ubx_0 have different shapes!')
+        if not is_column(constraints.lbx_0):
+            raise Exception('lbx_0, ubx_0 must be column vectors!')
+        dims.nbx_0 = constraints.lbx_0.size
+
+    if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \
+        and dims.nbxe_0 is None \
+        and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\
+            and all(constraints.idxbxe_0 == constraints.idxbx_0):
+        # case: x0 was set: nbx0 are all equlities.
+        dims.nbxe_0 = dims.nbx_0
+    elif dims.nbxe_0 is None:
+        # case: x0 was not set -> dont assume nbx0 to be equality constraints.
+        dims.nbxe_0 = 0
+
+    # path
+    nbx = constraints.idxbx.shape[0]
+    if constraints.ubx.shape[0] != nbx or constraints.lbx.shape[0] != nbx:
+        raise Exception('inconsistent dimension nbx, regarding idxbx, ubx, lbx.')
+    else:
+        dims.nbx = nbx
+
+    nbu = constraints.idxbu.shape[0]
+    if constraints.ubu.shape[0] != nbu or constraints.lbu.shape[0] != nbu:
+        raise Exception('inconsistent dimension nbu, regarding idxbu, ubu, lbu.')
+    else:
+        dims.nbu = nbu
+
+    ng = constraints.lg.shape[0]
+    if constraints.ug.shape[0] != ng or constraints.C.shape[0] != ng \
+       or constraints.D.shape[0] != ng:
+        raise Exception('inconsistent dimension ng, regarding lg, ug, C, D.')
+    else:
+        dims.ng = ng
+
+    if not is_empty(model.con_h_expr):
+        nh = casadi_length(model.con_h_expr)
+    else:
+        nh = 0
+
+    if constraints.uh.shape[0] != nh or constraints.lh.shape[0] != nh:
+        raise Exception('inconsistent dimension nh, regarding lh, uh, con_h_expr.')
+    else:
+        dims.nh = nh
+
+    if is_empty(model.con_phi_expr):
+        dims.nphi = 0
+        dims.nr = 0
+    else:
+        dims.nphi = casadi_length(model.con_phi_expr)
+        if is_empty(model.con_r_expr):
+            raise Exception('convex over nonlinear constraints: con_r_expr but con_phi_expr is nonempty')
+        else:
+            dims.nr = casadi_length(model.con_r_expr)
+
+    # terminal
+    nbx_e = constraints.idxbx_e.shape[0]
+    if constraints.ubx_e.shape[0] != nbx_e or constraints.lbx_e.shape[0] != nbx_e:
+        raise Exception('inconsistent dimension nbx_e, regarding idxbx_e, ubx_e, lbx_e.')
+    else:
+        dims.nbx_e = nbx_e
+
+    ng_e = constraints.lg_e.shape[0]
+    if constraints.ug_e.shape[0] != ng_e or constraints.C_e.shape[0] != ng_e:
+        raise Exception('inconsistent dimension ng_e, regarding_e lg_e, ug_e, C_e.')
+    else:
+        dims.ng_e = ng_e
+
+    if not is_empty(model.con_h_expr_e):
+        nh_e = casadi_length(model.con_h_expr_e)
+    else:
+        nh_e = 0
+
+    if constraints.uh_e.shape[0] != nh_e or constraints.lh_e.shape[0] != nh_e:
+        raise Exception('inconsistent dimension nh_e, regarding lh_e, uh_e, con_h_expr_e.')
+    else:
+        dims.nh_e = nh_e
+
+    if is_empty(model.con_phi_expr_e):
+        dims.nphi_e = 0
+        dims.nr_e = 0
+    else:
+        dims.nphi_e = casadi_length(model.con_phi_expr_e)
+        if is_empty(model.con_r_expr_e):
+            raise Exception('convex over nonlinear constraints: con_r_expr_e but con_phi_expr_e is nonempty')
+        else:
+            dims.nr_e = casadi_length(model.con_r_expr_e)
+
+    # Slack dimensions
+    nsbx = constraints.idxsbx.shape[0]
+    if is_empty(constraints.lsbx):
+        constraints.lsbx = np.zeros((nsbx,))
+    elif constraints.lsbx.shape[0] != nsbx:
+        raise Exception('inconsistent dimension nsbx, regarding idxsbx, lsbx.')
+    if is_empty(constraints.usbx):
+        constraints.usbx = np.zeros((nsbx,))
+    elif constraints.usbx.shape[0] != nsbx:
+        raise Exception('inconsistent dimension nsbx, regarding idxsbx, usbx.')
+    dims.nsbx = nsbx
+
+    nsbu = constraints.idxsbu.shape[0]
+    if is_empty(constraints.lsbu):
+        constraints.lsbu = np.zeros((nsbu,))
+    elif constraints.lsbu.shape[0] != nsbu:
+        raise Exception('inconsistent dimension nsbu, regarding idxsbu, lsbu.')
+    if is_empty(constraints.usbu):
+        constraints.usbu = np.zeros((nsbu,))
+    elif constraints.usbu.shape[0] != nsbu:
+        raise Exception('inconsistent dimension nsbu, regarding idxsbu, usbu.')
+    dims.nsbu = nsbu
+
+    nsh = constraints.idxsh.shape[0]
+    if is_empty(constraints.lsh):
+        constraints.lsh = np.zeros((nsh,))
+    elif constraints.lsh.shape[0] != nsh:
+        raise Exception('inconsistent dimension nsh, regarding idxsh, lsh.')
+    if is_empty(constraints.ush):
+        constraints.ush = np.zeros((nsh,))
+    elif constraints.ush.shape[0] != nsh:
+        raise Exception('inconsistent dimension nsh, regarding idxsh, ush.')
+    dims.nsh = nsh
+
+    nsphi = constraints.idxsphi.shape[0]
+    if is_empty(constraints.lsphi):
+        constraints.lsphi = np.zeros((nsphi,))
+    elif constraints.lsphi.shape[0] != nsphi:
+        raise Exception('inconsistent dimension nsphi, regarding idxsphi, lsphi.')
+    if is_empty(constraints.usphi):
+        constraints.usphi = np.zeros((nsphi,))
+    elif constraints.usphi.shape[0] != nsphi:
+        raise Exception('inconsistent dimension nsphi, regarding idxsphi, usphi.')
+    dims.nsphi = nsphi
+
+    nsg = constraints.idxsg.shape[0]
+    if is_empty(constraints.lsg):
+        constraints.lsg = np.zeros((nsg,))
+    elif constraints.lsg.shape[0] != nsg:
+        raise Exception('inconsistent dimension nsg, regarding idxsg, lsg.')
+    if is_empty(constraints.usg):
+        constraints.usg = np.zeros((nsg,))
+    elif constraints.usg.shape[0] != nsg:
+        raise Exception('inconsistent dimension nsg, regarding idxsg, usg.')
+    dims.nsg = nsg
+
+    ns = nsbx + nsbu + nsh + nsg + nsphi
+    wrong_field = ""
+    if cost.Zl.shape[0] != ns:
+        wrong_field = "Zl"
+        dim = cost.Zl.shape[0]
+    elif cost.Zu.shape[0] != ns:
+        wrong_field = "Zu"
+        dim = cost.Zu.shape[0]
+    elif cost.zl.shape[0] != ns:
+        wrong_field = "zl"
+        dim = cost.zl.shape[0]
+    elif cost.zu.shape[0] != ns:
+        wrong_field = "zu"
+        dim = cost.zu.shape[0]
+
+    if wrong_field != "":
+        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
+            + f'Detected ns = {ns} = nsbx + nsbu + nsg + nsh + nsphi.\n\t'\
+            + f'With nsbx = {nsbx}, nsbu = {nsbu}, nsg = {nsg}, nsh = {nsh}, nsphi = {nsphi}')
+
+    dims.ns = ns
+
+    nsbx_e = constraints.idxsbx_e.shape[0]
+    if is_empty(constraints.lsbx_e):
+        constraints.lsbx_e = np.zeros((nsbx_e,))
+    elif constraints.lsbx_e.shape[0] != nsbx_e:
+        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, lsbx_e.')
+    if is_empty(constraints.usbx_e):
+        constraints.usbx_e = np.zeros((nsbx_e,))
+    elif constraints.usbx_e.shape[0] != nsbx_e:
+        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, usbx_e.')
+    dims.nsbx_e = nsbx_e
+
+    nsh_e = constraints.idxsh_e.shape[0]
+    if is_empty(constraints.lsh_e):
+        constraints.lsh_e = np.zeros((nsh_e,))
+    elif constraints.lsh_e.shape[0] != nsh_e:
+        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, lsh_e.')
+    if is_empty(constraints.ush_e):
+        constraints.ush_e = np.zeros((nsh_e,))
+    elif constraints.ush_e.shape[0] != nsh_e:
+        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, ush_e.')
+    dims.nsh_e = nsh_e
+
+    nsg_e = constraints.idxsg_e.shape[0]
+    if is_empty(constraints.lsg_e):
+        constraints.lsg_e = np.zeros((nsg_e,))
+    elif constraints.lsg_e.shape[0] != nsg_e:
+        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, lsg_e.')
+    if is_empty(constraints.usg_e):
+        constraints.usg_e = np.zeros((nsg_e,))
+    elif constraints.usg_e.shape[0] != nsg_e:
+        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, usg_e.')
+    dims.nsg_e = nsg_e
+
+    nsphi_e = constraints.idxsphi_e.shape[0]
+    if is_empty(constraints.lsphi_e):
+        constraints.lsphi_e = np.zeros((nsphi_e,))
+    elif constraints.lsphi_e.shape[0] != nsphi_e:
+        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, lsphi_e.')
+    if is_empty(constraints.usphi_e):
+        constraints.usphi_e = np.zeros((nsphi_e,))
+    elif constraints.usphi_e.shape[0] != nsphi_e:
+        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, usphi_e.')
+    dims.nsphi_e = nsphi_e
+
+    # terminal
+    ns_e = nsbx_e + nsh_e + nsg_e + nsphi_e
+    wrong_field = ""
+    if cost.Zl_e.shape[0] != ns_e:
+        wrong_field = "Zl_e"
+        dim = cost.Zl_e.shape[0]
+    elif cost.Zu_e.shape[0] != ns_e:
+        wrong_field = "Zu_e"
+        dim = cost.Zu_e.shape[0]
+    elif cost.zl_e.shape[0] != ns_e:
+        wrong_field = "zl_e"
+        dim = cost.zl_e.shape[0]
+    elif cost.zu_e.shape[0] != ns_e:
+        wrong_field = "zu_e"
+        dim = cost.zu_e.shape[0]
+
+    if wrong_field != "":
+        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
+            + f'Detected ns_e = {ns_e} = nsbx_e + nsg_e + nsh_e + nsphi_e.\n\t'\
+            + f'With nsbx_e = {nsbx_e}, nsg_e = {nsg_e}, nsh_e = {nsh_e}, nsphi_e = {nsphi_e}')
+
+    dims.ns_e = ns_e
+
+    # discretization
+    if is_empty(opts.time_steps) and is_empty(opts.shooting_nodes):
+        # uniform discretization
+        opts.time_steps = opts.tf / dims.N * np.ones((dims.N,))
+
+    elif not is_empty(opts.shooting_nodes):
+        if np.shape(opts.shooting_nodes)[0] != dims.N+1:
+            raise Exception('inconsistent dimension N, regarding shooting_nodes.')
+
+        # time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
+        # # identify constant time-steps: due to numerical reasons the content of time_steps might vary a bit
+        # delta_time_steps = time_steps[1:] - time_steps[0:-1]
+        # avg_time_steps = np.average(time_steps)
+        # # criterion for constant time-step detection: the min/max difference in values normalized by the average
+        # check_const_time_step = np.max(delta_time_steps)-np.min(delta_time_steps) / avg_time_steps
+        # # if the criterion is small, we have a constant time-step
+        # if check_const_time_step < 1e-9:
+        #     time_steps[:] = avg_time_steps  # if we have a constant time-step: apply the average time-step
+        time_steps = np.zeros((dims.N,))
+        for i in range(dims.N):
+            time_steps[i] = opts.shooting_nodes[i+1] - opts.shooting_nodes[i] # TODO use commented code above
+
+        opts.time_steps = time_steps
+
+    elif (not is_empty(opts.time_steps)) and (not is_empty(opts.shooting_nodes)):
+        Exception('Please provide either time_steps or shooting_nodes for nonuniform discretization')
+
+    tf = np.sum(opts.time_steps)
+    if (tf - opts.tf) / tf > 1e-15:
+        raise Exception(f'Inconsistent discretization: {opts.tf}'\
+            f' = tf != sum(opts.time_steps) = {tf}.')
+
+    # num_steps
+    if isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == 1:
+        opts.sim_method_num_steps = opts.sim_method_num_steps.item()
+
+    if isinstance(opts.sim_method_num_steps, (int, float)) and opts.sim_method_num_steps % 1 == 0:
+        opts.sim_method_num_steps = opts.sim_method_num_steps * np.ones((dims.N,), dtype=np.int64)
+    elif isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == dims.N \
+           and np.all(np.equal(np.mod(opts.sim_method_num_steps, 1), 0)):
+        opts.sim_method_num_steps = np.reshape(opts.sim_method_num_steps, (dims.N,)).astype(np.int64)
+    else:
+        raise Exception("Wrong value for sim_method_num_steps. Should be either int or array of ints of shape (N,).")
+
+    # num_stages
+    if isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == 1:
+        opts.sim_method_num_stages = opts.sim_method_num_stages.item()
+
+    if isinstance(opts.sim_method_num_stages, (int, float)) and opts.sim_method_num_stages % 1 == 0:
+        opts.sim_method_num_stages = opts.sim_method_num_stages * np.ones((dims.N,), dtype=np.int64)
+    elif isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == dims.N \
+           and np.all(np.equal(np.mod(opts.sim_method_num_stages, 1), 0)):
+        opts.sim_method_num_stages = np.reshape(opts.sim_method_num_stages, (dims.N,)).astype(np.int64)
+    else:
+        raise Exception("Wrong value for sim_method_num_stages. Should be either int or array of ints of shape (N,).")
+
+    # jac_reuse
+    if isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == 1:
+        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse.item()
+
+    if isinstance(opts.sim_method_jac_reuse, (int, float)) and opts.sim_method_jac_reuse % 1 == 0:
+        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse * np.ones((dims.N,), dtype=np.int64)
+    elif isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == dims.N \
+           and np.all(np.equal(np.mod(opts.sim_method_jac_reuse, 1), 0)):
+        opts.sim_method_jac_reuse = np.reshape(opts.sim_method_jac_reuse, (dims.N,)).astype(np.int64)
+    else:
+        raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).")
+
+
+def get_simulink_default_opts():
+    python_interface_path = get_python_interface_path()
+    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
+    with open(abs_path , 'r') as f:
+        simulink_default_opts = json.load(f)
+    return simulink_default_opts
+
+
+def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_nlp.json'):
+    # Load acados_ocp_nlp structure description
+    ocp_layout = get_ocp_nlp_layout()
+
+    # Copy input ocp object dictionary
+    ocp_nlp_dict = dict(deepcopy(acados_ocp).__dict__)
+    # TODO: maybe make one function with formatting
+
+    for acados_struct, v in ocp_layout.items():
+        # skip non dict attributes
+        if not isinstance(v, dict):
+            continue
+        #  setattr(ocp_nlp, acados_struct, dict(getattr(acados_ocp, acados_struct).__dict__))
+        # Copy ocp object attributes dictionaries
+        ocp_nlp_dict[acados_struct]=dict(getattr(acados_ocp, acados_struct).__dict__)
+
+    ocp_nlp_dict = format_class_dict(ocp_nlp_dict)
+
+    # strip symbolics
+    ocp_nlp_dict['model'] = acados_model_strip_casadi_symbolics(ocp_nlp_dict['model'])
+
+    # strip shooting_nodes
+    ocp_nlp_dict['solver_options'].pop('shooting_nodes', None)
+
+    dims_dict = acados_class2dict(acados_ocp.dims)
+
+    ocp_check_against_layout(ocp_nlp_dict, dims_dict)
+
+    # add simulink options
+    ocp_nlp_dict['simulink_opts'] = simulink_opts
+
+    with open(json_file, 'w') as f:
+        json.dump(ocp_nlp_dict, f, default=np_array_to_list, indent=4, sort_keys=True)
+
+
+
+def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'):
+    # Load acados_ocp_nlp structure description
+    ocp_layout = get_ocp_nlp_layout()
+
+    with open(json_file, 'r') as f:
+        ocp_nlp_json = json.load(f)
+
+    ocp_nlp_dict = json2dict(ocp_nlp_json, ocp_nlp_json['dims'])
+
+    # Instantiate AcadosOcp object
+    acados_ocp = AcadosOcp()
+
+    # load class dict
+    acados_ocp.__dict__ = ocp_nlp_dict
+
+    # load class attributes dict, dims, constraints, etc
+    for acados_struct, v in ocp_layout.items():
+        # skip non dict attributes
+        if not isinstance(v, dict):
+            continue
+        acados_attribute = getattr(acados_ocp, acados_struct)
+        acados_attribute.__dict__ = ocp_nlp_dict[acados_struct]
+        setattr(acados_ocp, acados_struct, acados_attribute)
+
+    return acados_ocp
+
+
+def ocp_generate_external_functions(acados_ocp, model):
+
+    model = make_model_consistent(model)
+
+    if acados_ocp.solver_options.hessian_approx == 'EXACT':
+        opts = dict(generate_hess=1)
+    else:
+        opts = dict(generate_hess=0)
+    code_export_dir = acados_ocp.code_export_directory
+    opts['code_export_directory'] = code_export_dir
+
+    if acados_ocp.model.dyn_ext_fun_type != 'casadi':
+        raise Exception("ocp_generate_external_functions: dyn_ext_fun_type only supports 'casadi' for now.\
+            Extending the Python interface with generic function support is welcome.")
+
+    if acados_ocp.solver_options.integrator_type == 'ERK':
+        # explicit model -- generate C code
+        generate_c_code_explicit_ode(model, opts)
+    elif acados_ocp.solver_options.integrator_type == 'IRK':
+        # implicit model -- generate C code
+        generate_c_code_implicit_ode(model, opts)
+    elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK':
+        generate_c_code_implicit_ode(model, opts)
+    elif acados_ocp.solver_options.integrator_type == 'GNSF':
+        generate_c_code_gnsf(model, opts)
+    elif acados_ocp.solver_options.integrator_type == 'DISCRETE':
+        generate_c_code_discrete_dynamics(model, opts)
+    else:
+        raise Exception("ocp_generate_external_functions: unknown integrator type.")
+
+    if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0:
+        generate_c_code_constraint(model, model.name, False, opts)
+
+    if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0:
+        generate_c_code_constraint(model, model.name, True, opts)
+
+    # dummy matrices
+    if not acados_ocp.cost.cost_type_0 == 'LINEAR_LS':
+        acados_ocp.cost.Vx_0 = np.zeros((acados_ocp.dims.ny_0, acados_ocp.dims.nx))
+        acados_ocp.cost.Vu_0 = np.zeros((acados_ocp.dims.ny_0, acados_ocp.dims.nu))
+    if not acados_ocp.cost.cost_type == 'LINEAR_LS':
+        acados_ocp.cost.Vx = np.zeros((acados_ocp.dims.ny, acados_ocp.dims.nx))
+        acados_ocp.cost.Vu = np.zeros((acados_ocp.dims.ny, acados_ocp.dims.nu))
+    if not acados_ocp.cost.cost_type_e == 'LINEAR_LS':
+        acados_ocp.cost.Vx_e = np.zeros((acados_ocp.dims.ny_e, acados_ocp.dims.nx))
+
+    if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
+        generate_c_code_nls_cost(model, model.name, 'initial', opts)
+    elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
+        generate_c_code_external_cost(model, 'initial', opts)
+
+    if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
+        generate_c_code_nls_cost(model, model.name, 'path', opts)
+    elif acados_ocp.cost.cost_type == 'EXTERNAL':
+        generate_c_code_external_cost(model, 'path', opts)
+
+    if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
+        generate_c_code_nls_cost(model, model.name, 'terminal', opts)
+    elif acados_ocp.cost.cost_type_e == 'EXTERNAL':
+        generate_c_code_external_cost(model, 'terminal', opts)
+
+
+def ocp_render_templates(acados_ocp, json_file):
+
+    name = acados_ocp.model.name
+
+    # setting up loader and environment
+    json_path = os.path.join(os.getcwd(), json_file)
+
+    if not os.path.exists(json_path):
+        raise Exception('{} not found!'.format(json_path))
+
+    code_export_dir = acados_ocp.code_export_directory
+    template_dir = code_export_dir
+
+    ## Render templates
+    in_file = 'main.in.c'
+    out_file = f'main_{name}.c'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'acados_solver.in.c'
+    out_file = f'acados_solver_{name}.c'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'acados_solver.in.h'
+    out_file = f'acados_solver_{name}.h'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'acados_solver.in.pxd'
+    out_file = f'acados_solver.pxd'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'Makefile.in'
+    out_file = 'Makefile'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'acados_solver_sfun.in.c'
+    out_file = f'acados_solver_sfunction_{name}.c'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'make_sfun.in.m'
+    out_file = f'make_sfun_{name}.m'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    # sim
+    in_file = 'acados_sim_solver.in.c'
+    out_file = f'acados_sim_solver_{name}.c'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'acados_sim_solver.in.h'
+    out_file = f'acados_sim_solver_{name}.h'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'main_sim.in.c'
+    out_file = f'main_sim_{name}.c'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    ## folder model
+    template_dir = os.path.join(code_export_dir, name + '_model')
+    in_file = 'model.in.h'
+    out_file = f'{name}_model.h'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    # constraints on convex over nonlinear function
+    if acados_ocp.constraints.constr_type == 'BGP' and acados_ocp.dims.nphi > 0:
+        # constraints on outer function
+        template_dir = os.path.join(code_export_dir, name + '_constraints')
+        in_file = 'phi_constraint.in.h'
+        out_file = f'{name}_phi_constraint.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+    # terminal constraints on convex over nonlinear function
+    if acados_ocp.constraints.constr_type_e == 'BGP' and acados_ocp.dims.nphi_e > 0:
+        # terminal constraints on outer function
+        template_dir = os.path.join(code_export_dir, name + '_constraints')
+        in_file = 'phi_e_constraint.in.h'
+        out_file = f'{name}_phi_e_constraint.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+    # nonlinear constraints
+    if acados_ocp.constraints.constr_type == 'BGH' and acados_ocp.dims.nh > 0:
+        template_dir = os.path.join(code_export_dir, name + '_constraints')
+        in_file = 'h_constraint.in.h'
+        out_file = f'{name}_h_constraint.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+    # terminal nonlinear constraints
+    if acados_ocp.constraints.constr_type_e == 'BGH' and acados_ocp.dims.nh_e > 0:
+        template_dir = os.path.join(code_export_dir, name + '_constraints')
+        in_file = 'h_e_constraint.in.h'
+        out_file = f'{name}_h_e_constraint.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+    # initial stage Nonlinear LS cost function
+    if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
+        template_dir = os.path.join(code_export_dir, name + '_cost')
+        in_file = 'cost_y_0_fun.in.h'
+        out_file = f'{name}_cost_y_0_fun.h'
+        render_template(in_file, out_file, template_dir, json_path)
+    # external cost - terminal
+    elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
+        template_dir = os.path.join(code_export_dir, name + '_cost')
+        in_file = 'external_cost_0.in.h'
+        out_file = f'{name}_external_cost_0.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+    # path Nonlinear LS cost function
+    if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
+        template_dir = os.path.join(code_export_dir, name + '_cost')
+        in_file = 'cost_y_fun.in.h'
+        out_file = f'{name}_cost_y_fun.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+    # terminal Nonlinear LS cost function
+    if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
+        template_dir = os.path.join(code_export_dir, name + '_cost')
+        in_file = 'cost_y_e_fun.in.h'
+        out_file = f'{name}_cost_y_e_fun.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+    # external cost
+    if acados_ocp.cost.cost_type == 'EXTERNAL':
+        template_dir = os.path.join(code_export_dir, name + '_cost')
+        in_file = 'external_cost.in.h'
+        out_file = f'{name}_external_cost.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+    # external cost - terminal
+    if acados_ocp.cost.cost_type_e == 'EXTERNAL':
+        template_dir = os.path.join(code_export_dir, name + '_cost')
+        in_file = 'external_cost_e.in.h'
+        out_file = f'{name}_external_cost_e.h'
+        render_template(in_file, out_file, template_dir, json_path)
+
+
+def remove_x0_elimination(acados_ocp):
+    acados_ocp.constraints.idxbxe_0 = np.zeros((0,))
+    acados_ocp.dims.nbxe_0 = 0
+
+
+class AcadosOcpSolver:
+    """
+    Class to interact with the acados ocp solver C object.
+
+        :param acados_ocp: type AcadosOcp - description of the OCP for acados
+        :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
+        :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
+    """
+    if sys.platform=="win32":
+        from ctypes import wintypes
+        dlclose = ctypes.WinDLL('kernel32', use_last_error=True).FreeLibrary
+        dlclose.argtypes = [wintypes.HMODULE]
+    else:
+        dlclose = CDLL(None).dlclose
+        dlclose.argtypes = [c_void_p]
+
+    @classmethod
+    def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True):
+        model = acados_ocp.model
+
+        if simulink_opts is None:
+            simulink_opts = get_simulink_default_opts()
+
+        # make dims consistent
+        make_ocp_dims_consistent(acados_ocp)
+
+        # module dependent post processing
+        if acados_ocp.solver_options.integrator_type == 'GNSF':
+            set_up_imported_gnsf_model(acados_ocp)
+
+        if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES':
+            remove_x0_elimination(acados_ocp)
+
+        # set integrator time automatically
+        acados_ocp.solver_options.Tsim = acados_ocp.solver_options.time_steps[0]
+
+        # generate external functions
+        ocp_generate_external_functions(acados_ocp, model)
+
+        # dump to json
+        ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file)
+
+        code_export_dir = acados_ocp.code_export_directory
+        # render templates
+        ocp_render_templates(acados_ocp, json_file)
+
+        if build:
+          ## Compile solver
+          cwd=os.getcwd()
+          os.chdir(code_export_dir)
+          os.system('make clean_ocp_shared_lib')
+          os.system('make ocp_shared_lib')
+          os.chdir(cwd)
+
+    def __init__(self, model_name, N, code_export_dir):
+        self.model_name = model_name
+        self.N = N
+
+        self.solver_created = False
+        self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{self.model_name}.so'
+
+        # get shared_lib
+        self.shared_lib = CDLL(self.shared_lib_name)
+
+        # create capsule
+        getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule").restype = c_void_p
+        self.capsule = getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule")()
+
+        # create solver
+        getattr(self.shared_lib, f"{self.model_name}_acados_create").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_create").restype = c_int
+        assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0
+        self.solver_created = True
+
+        # get pointers solver
+        self.__get_pointers_solver()
+
+
+    def __get_pointers_solver(self):
+        """
+        Private function to get the pointers for solver
+        """
+        # get pointers solver
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p
+        self.nlp_opts = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts")(self.capsule)
+
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").restype = c_void_p
+        self.nlp_dims = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims")(self.capsule)
+
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").restype = c_void_p
+        self.nlp_config = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config")(self.capsule)
+
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
+        self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
+
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
+        self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
+
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
+        self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
+
+        # treat parameters separately
+        getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
+        getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
+        self._set_param = getattr(self.shared_lib, f"{self.model_name}_acados_update_params")
+
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
+
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
+
+        self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+        self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+        self.shared_lib.ocp_nlp_out_set.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+        self.shared_lib.ocp_nlp_set.argtypes = \
+            [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+
+    def solve(self):
+        """
+        Solve the ocp with current input.
+        """
+
+        getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
+        status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
+        return status
+
+
+    def set_new_time_steps(self, new_time_steps):
+        """
+        Set new time steps before solving. Only reload library without code generation but with new time steps.
+
+            :param new_time_steps: vector of new time steps for the solver
+
+            .. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
+                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
+                      do not require a new code export and compilation.
+        """
+
+        # unlikely but still possible
+        if not self.solver_created:
+            raise Exception('Solver was not yet created!')
+
+        # check if time steps really changed in value
+        if np.array_equal(self.acados_ocp.solver_options.time_steps, new_time_steps):
+            return
+
+        N = new_time_steps.size
+        model = self.acados_ocp.model
+        new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
+
+        # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
+        if self.acados_ocp.solver_options.time_steps.size == N:
+            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
+            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
+        else:  # recreate the solver with the new time steps
+            self.solver_created = False
+
+            # delete old memory (analog to __del__)
+            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
+            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
+
+            # store N and new time steps
+            self.N = self.acados_ocp.dims.N = N
+            self.acados_ocp.solver_options.time_steps = new_time_steps
+            self.acados_ocp.solver_options.Tsim = self.acados_ocp.solver_options.time_steps[0]
+
+            # create solver with new time steps
+            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
+            assert getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization")(self.capsule, N, new_time_steps_data) == 0
+
+            self.solver_created = True
+
+            # get pointers solver
+            self.__get_pointers_solver()
+
+
+    def get(self, stage_, field_):
+        """
+        Get the last solution of the solver:
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
+
+            .. note:: regarding lam, t: \n
+                    the inequalities are internally organized in the following order: \n
+                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
+                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+            .. note:: pi: multipliers for dynamics equality constraints \n
+                      lam: multipliers for inequalities \n
+                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
+                      sl: slack variables of soft lower inequality constraints \n
+                      su: slack variables of soft upper inequality constraints \n
+        """
+
+        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
+        # mem_fields = ['sl', 'su']
+        field = field_
+        field = field.encode('utf-8')
+
+        if (field_ not in out_fields):
+            raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
+                    \n Possible values are {}. Exiting.'.format(field_, out_fields))
+
+        if not isinstance(stage_, int):
+            raise Exception('AcadosOcpSolver.get(): stage index must be Integer.')
+
+        if stage_ < 0 or stage_ > self.N:
+            raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
+
+        if stage_ == self.N and field_ == 'pi':
+            raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
+                .format(field_, stage_))
+
+        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
+        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
+
+        dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, stage_, field)
+
+        out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
+        out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        if (field_ in out_fields):
+            self.shared_lib.ocp_nlp_out_get.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
+                self.nlp_dims, self.nlp_out, stage_, field, out_data)
+        # elif field_ in mem_fields:
+        #     self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
+        #         [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+        #     self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
+        #         self.nlp_dims, self.nlp_solver, stage_, field, out_data)
+
+        return out
+
+
+    def print_statistics(self):
+        """
+        prints statistics of previous solver run as a table:
+            - iter: iteration number
+            - res_stat: stationarity residual
+            - res_eq: residual wrt equality constraints (dynamics)
+            - res_ineq: residual wrt inequality constraints (constraints)
+            - res_comp: residual wrt complementarity conditions
+            - qp_stat: status of QP solver
+            - qp_iter: number of QP iterations
+            - qp_res_stat: stationarity residual of the last QP solution
+            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
+            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
+            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
+        """
+        stat = self.get_stats("statistics")
+
+        if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
+            print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter')
+            if stat.shape[0]>7:
+                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
+            for jj in range(stat.shape[1]):
+                print('{:d}\t{:e}\t{:e}\t{:e}\t{:e}\t{:d}\t{:d}'.format( \
+                     int(stat[0][jj]), stat[1][jj], stat[2][jj], \
+                     stat[3][jj], stat[4][jj], int(stat[5][jj]), int(stat[6][jj])))
+                if stat.shape[0]>7:
+                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
+                        stat[7][jj], stat[8][jj], stat[9][jj], stat[10][jj]))
+            print('\n')
+        elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
+            print('\niter\tqp_stat\tqp_iter')
+            if stat.shape[0]>3:
+                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
+            for jj in range(stat.shape[1]):
+                print('{:d}\t{:d}\t{:d}'.format( int(stat[0][jj]), int(stat[1][jj]), int(stat[2][jj])))
+                if stat.shape[0]>3:
+                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
+                         stat[3][jj], stat[4][jj], stat[5][jj], stat[6][jj]))
+            print('\n')
+
+        return
+
+
+    def store_iterate(self, filename='', overwrite=False):
+        """
+        Stores the current iterate of the ocp solver in a json file.
+
+            :param filename: if not set, use model_name + timestamp + '.json'
+            :param overwrite: if false and filename exists add timestamp to filename
+        """
+        if filename == '':
+            filename += self.model_name + '_' + 'iterate' + '.json'
+
+        if not overwrite:
+            # append timestamp
+            if os.path.isfile(filename):
+                filename = filename[:-5]
+                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
+
+        # get iterate:
+        solution = dict()
+
+        for i in range(self.N+1):
+            solution['x_'+str(i)] = self.get(i,'x')
+            solution['u_'+str(i)] = self.get(i,'u')
+            solution['z_'+str(i)] = self.get(i,'z')
+            solution['lam_'+str(i)] = self.get(i,'lam')
+            solution['t_'+str(i)] = self.get(i, 't')
+            solution['sl_'+str(i)] = self.get(i, 'sl')
+            solution['su_'+str(i)] = self.get(i, 'su')
+        for i in range(self.N):
+            solution['pi_'+str(i)] = self.get(i,'pi')
+
+        # save
+        with open(filename, 'w') as f:
+            json.dump(solution, f, default=np_array_to_list, indent=4, sort_keys=True)
+        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
+
+
+    def load_iterate(self, filename):
+        """
+        Loads the iterate stored in json file with filename into the ocp solver.
+        """
+        if not os.path.isfile(filename):
+            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
+
+        with open(filename, 'r') as f:
+            solution = json.load(f)
+
+        for key in solution.keys():
+            (field, stage) = key.split('_')
+            self.set(int(stage), field, np.array(solution[key]))
+
+
+    def get_stats(self, field_):
+        """
+        Get the information of the last solver call.
+
+            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
+        """
+
+        fields = ['time_tot',  # total cpu time previous call
+                  'time_lin',  # cpu time for linearization
+                  'time_sim',  # cpu time for integrator
+                  'time_sim_ad',  # cpu time for integrator contribution of external function calls
+                  'time_sim_la',  # cpu time for integrator contribution of linear algebra
+                  'time_qp',   # cpu time qp solution
+                  'time_qp_solver_call',  # cpu time inside qp solver (without converting the QP)
+                  'time_qp_xcond',
+                  'time_glob',  # cpu time globalization
+                  'time_reg',  # cpu time regularization
+                  'sqp_iter',  # number of SQP iterations
+                  'qp_iter',  # vector of QP iterations for last SQP call
+                  'statistics',  # table with info about last iteration
+                  'stat_m',
+                  'stat_n',]
+
+        field = field_
+        field = field.encode('utf-8')
+        if (field_ not in fields):
+            raise Exception('AcadosOcpSolver.get_stats(): {} is not a valid argument.\
+                    \n Possible values are {}. Exiting.'.format(fields, fields))
+
+        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
+            out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
+            out_data = cast(out.ctypes.data, POINTER(c_int64))
+
+        elif field_ == 'statistics':
+            sqp_iter = self.get_stats("sqp_iter")
+            stat_m = self.get_stats("stat_m")
+            stat_n = self.get_stats("stat_n")
+
+            min_size = min([stat_m, sqp_iter+1])
+
+            out = np.ascontiguousarray(
+                        np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
+            out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        elif field_ == 'qp_iter':
+            full_stats = self.get_stats('statistics')
+            if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
+                out = full_stats[6, :]
+            elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
+                out = full_stats[2, :]
+
+        else:
+            out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
+            out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        if not field_ == 'qp_iter':
+            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
+            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
+
+        return out
+
+
+    def get_cost(self):
+        """
+        Returns the cost value of the current solution.
+        """
+        # compute cost internally
+        self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
+        self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
+
+        # create output array
+        out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
+        out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        # call getter
+        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
+
+        field = "cost_value".encode('utf-8')
+        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
+
+        return out[0]
+
+
+    def get_residuals(self):
+        """
+        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
+        """
+        # compute residuals if RTI
+        if self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
+            self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
+            self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
+
+        # create output array
+        out = np.ascontiguousarray(np.zeros((4, 1)), dtype=np.float64)
+        out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        # call getters
+        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
+
+        field = "res_stat".encode('utf-8')
+        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
+
+        out_data = cast(out[1].ctypes.data, POINTER(c_double))
+        field = "res_eq".encode('utf-8')
+        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
+
+        out_data = cast(out[2].ctypes.data, POINTER(c_double))
+        field = "res_ineq".encode('utf-8')
+        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
+
+        out_data = cast(out[3].ctypes.data, POINTER(c_double))
+        field = "res_comp".encode('utf-8')
+        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
+        return out.flatten()
+
+
+    # Note: this function should not be used anymore, better use cost_set, constraints_set
+
+    def set(self, stage_, field_, value_):
+
+        """
+        Set numerical data inside the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
+
+            .. note:: regarding lam, t: \n
+                    the inequalities are internally organized in the following order: \n
+                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
+                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+            .. note:: pi: multipliers for dynamics equality constraints \n
+                      lam: multipliers for inequalities \n
+                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
+                      sl: slack variables of soft lower inequality constraints \n
+                      su: slack variables of soft upper inequality constraints \n
+        """
+        cost_fields = ['y_ref', 'yref']
+        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
+        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
+
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = value_.astype(float)
+
+        field = field_
+        field = field.encode('utf-8')
+
+        stage = c_int(stage_)
+
+        # treat parameters separately
+        if field_ == 'p':
+            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
+            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
+
+            value_data = cast(value_.ctypes.data, POINTER(c_double))
+
+            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
+        else:
+            if field_ not in constraints_fields + cost_fields + out_fields:
+                raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
+                    \nPossible values are {}. Exiting.".format(field, \
+                    constraints_fields + cost_fields + out_fields + ['p']))
+
+            self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
+            self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
+
+            dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
+                self.nlp_dims, self.nlp_out, stage_, field)
+
+            if value_.shape[0] != dims:
+                msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
+                msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
+                raise Exception(msg)
+
+            value_data = cast(value_.ctypes.data, POINTER(c_double))
+            value_data_p = cast((value_data), c_void_p)
+
+            if field_ in constraints_fields:
+                self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+            elif field_ in cost_fields:
+                self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+            elif field_ in out_fields:
+                self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_out, stage, field, value_data_p)
+            # elif field_ in mem_fields:
+            #     self.shared_lib.ocp_nlp_set(self.nlp_config, \
+            #         self.nlp_solver, stage, field, value_data_p)
+
+        return
+
+
+    def cost_set(self, stage_, field_, value_, api='warn'):
+        """
+        Set numerical data in the cost module of the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
+            :param value: of appropriate size
+        """
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = value_.astype(float)
+
+        field = field_
+        field = field.encode('utf-8')
+
+        stage = c_int(stage_)
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
+
+        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+        dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
+
+        value_shape = value_.shape
+        if len(value_shape) == 1:
+            value_shape = (value_shape[0], 0)
+
+        elif len(value_shape) == 2:
+            if api=='old':
+                pass
+            elif api=='warn':
+                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
+                    raise Exception("Ambiguity in API detected.\n"
+                                    "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
+                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
+                                    "  You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
+                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
+                                    "  Two options to fix this error: \n" +
+                                    "   * Add api='old' to cost_set to restore old incorrect behaviour\n" +
+                                    "   * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
+                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
+                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            elif api=='new':
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            else:
+                raise Exception("Unknown api: '{}'".format(api))
+
+        if value_shape != tuple(dims):
+            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
+                ' for field "{}" with dimension {} (you have {})'.format( \
+                field_, tuple(dims), value_shape))
+
+        value_data = cast(value_.ctypes.data, POINTER(c_double))
+        value_data_p = cast((value_data), c_void_p)
+
+        self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+        self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
+            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+
+        return
+
+
+    def constraints_set(self, stage_, field_, value_, api='warn'):
+        """
+        Set numerical data in the constraint module of the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
+            :param value: of appropriate size
+        """
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = value_.astype(float)
+
+        field = field_
+        field = field.encode('utf-8')
+
+        stage = c_int(stage_)
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
+
+        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+        dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
+
+        value_shape = value_.shape
+        if len(value_shape) == 1:
+            value_shape = (value_shape[0], 0)
+        elif len(value_shape) == 2:
+            if api=='old':
+                pass
+            elif api=='warn':
+                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
+                    raise Exception("Ambiguity in API detected.\n"
+                                    "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
+                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
+                                    "  You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
+                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
+                                    "  Two options to fix this error: \n" +
+                                    "   * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
+                                    "   * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
+                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
+                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            elif api=='new':
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            else:
+                raise Exception("Unknown api: '{}'".format(api))
+
+        if value_shape != tuple(dims):
+            raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
+                ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
+
+        value_data = cast(value_.ctypes.data, POINTER(c_double))
+        value_data_p = cast((value_data), c_void_p)
+
+        self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+        self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
+            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+
+        return
+
+
+    def dynamics_get(self, stage_, field_):
+        """
+        Get numerical data from the dynamics module of the solver:
+
+            :param stage: integer corresponding to shooting node
+            :param field: string, e.g. 'A'
+        """
+
+        field = field_
+        field = field.encode('utf-8')
+        stage = c_int(stage_)
+
+        # get dims
+        self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr.restype = c_int
+
+        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+        dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+        self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
+
+        # create output data
+        out = np.ascontiguousarray(np.zeros((np.prod(dims),)), dtype=np.float64)
+        out = out.reshape(dims[0], dims[1], order='F')
+
+        out_data = cast(out.ctypes.data, POINTER(c_double))
+        out_data_p = cast((out_data), c_void_p)
+
+        # call getter
+        self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+        self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
+            self.nlp_dims, self.nlp_solver, stage, field, out_data_p)
+
+        return out
+
+
+    def options_set(self, field_, value_):
+        """
+        Set options of the solver.
+
+            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
+            :param value: of type int, float
+        """
+        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
+        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
+        string_fields = ['globalization']
+
+        # check field availability and type
+        if field_ in int_fields:
+            if not isinstance(value_, int):
+                raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
+            else:
+                value_ctypes = c_int(value_)
+
+        elif field_ in double_fields:
+            if not isinstance(value_, float):
+                raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
+            else:
+                value_ctypes = c_double(value_)
+
+        elif field_ in string_fields:
+            if not isinstance(value_, str):
+                raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
+            else:
+                value_ctypes = value_.encode('utf-8')
+        else:
+            raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
+                '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
+
+
+        if field_ == 'rti_phase':
+            if value_ < 0 or value_ > 2:
+                raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
+                    'take only values 0, 1, 2 for SQP-RTI-type solvers')
+            if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
+                raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
+                    'take only value 0 for SQP-type solvers')
+
+        # encode
+        field = field_
+        field = field.encode('utf-8')
+
+        # call C interface
+        if field_ in string_fields:
+            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
+                [c_void_p, c_void_p, c_char_p, c_char_p]
+            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
+                self.nlp_opts, field, value_ctypes)
+        else:
+            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
+                [c_void_p, c_void_p, c_char_p, c_void_p]
+            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
+                self.nlp_opts, field, byref(value_ctypes))
+        return
+
+
+    def __del__(self):
+        if self.solver_created:
+            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
+            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
+
+            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").argtypes = [c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").restype = c_int
+            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule")(self.capsule)
+
+            try:
+                self.dlclose(self.shared_lib._handle)
+            except:
+                pass
diff --git a/pyextra/acados_template/acados_ocp_solver_fast.py b/pyextra/acados_template/acados_ocp_solver_fast.py
new file mode 100644
index 00000000000000..656d288f1c43e4
--- /dev/null
+++ b/pyextra/acados_template/acados_ocp_solver_fast.py
@@ -0,0 +1,402 @@
+import sys
+import os
+import json
+import numpy as np
+from datetime import datetime
+
+from ctypes import POINTER, CDLL, c_void_p, c_int, cast, c_double, c_char_p
+
+from copy import deepcopy
+
+from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
+from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
+from .generate_c_code_gnsf import generate_c_code_gnsf
+from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics
+from .generate_c_code_constraint import generate_c_code_constraint
+from .generate_c_code_nls_cost import generate_c_code_nls_cost
+from .generate_c_code_external_cost import generate_c_code_external_cost
+from .acados_ocp import AcadosOcp
+from .acados_model import acados_model_strip_casadi_symbolics
+from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
+     format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
+     set_up_imported_gnsf_model, get_acados_path
+
+
+class AcadosOcpSolverFast:
+    dlclose = CDLL(None).dlclose
+    dlclose.argtypes = [c_void_p]
+
+    def __init__(self, model_name, N, code_export_dir):
+
+        self.solver_created = False
+        self.N = N
+        self.model_name = model_name
+
+        self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{model_name}.so'
+
+        # get shared_lib
+        self.shared_lib = CDLL(self.shared_lib_name)
+
+        # create capsule
+        getattr(self.shared_lib, f"{model_name}_acados_create_capsule").restype = c_void_p
+        self.capsule = getattr(self.shared_lib, f"{model_name}_acados_create_capsule")()
+
+        # create solver
+        getattr(self.shared_lib, f"{model_name}_acados_create").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_create").restype = c_int
+        assert getattr(self.shared_lib, f"{model_name}_acados_create")(self.capsule)==0
+        self.solver_created = True
+
+        # get pointers solver
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").restype = c_void_p
+        self.nlp_opts = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").restype = c_void_p
+        self.nlp_dims = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").restype = c_void_p
+        self.nlp_config = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").restype = c_void_p
+        self.nlp_out = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").restype = c_void_p
+        self.nlp_in = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").restype = c_void_p
+        self.nlp_solver = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver")(self.capsule)
+
+
+    def solve(self):
+        """
+        Solve the ocp with current input.
+        """
+        model_name = self.model_name
+
+        getattr(self.shared_lib, f"{model_name}_acados_solve").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_solve").restype = c_int
+        status = getattr(self.shared_lib, f"{model_name}_acados_solve")(self.capsule)
+        return status
+
+    def cost_set(self, start_stage_, field_, value_, api='warn'):
+      self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
+      return
+
+    def cost_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
+        """
+        Set numerical data in the cost module of the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
+            :param value: of appropriate size
+        """
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = np.ascontiguousarray(np.copy(value_), dtype=np.float64)
+        field = field_
+        field = field.encode('utf-8')
+        dim = np.product(value_.shape[1:])
+
+        start_stage = c_int(start_stage_)
+        end_stage = c_int(end_stage_)
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
+
+        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+        dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config,
+            self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
+
+        value_shape = value_.shape
+        expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
+        if len(value_shape) == 2:
+            value_shape = (value_shape[0], value_shape[1], 0)
+
+        elif len(value_shape) == 3:
+            if api=='old':
+                pass
+            elif api=='warn':
+                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
+                    raise Exception("Ambiguity in API detected.\n"
+                                    "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
+                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
+                                    "  You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
+                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
+                                    "  Two options to fix this error: \n" +
+                                    "   * Add api='old' to cost_set to restore old incorrect behaviour\n" +
+                                    "   * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
+                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
+                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            elif api=='new':
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            else:
+                raise Exception("Unknown api: '{}'".format(api))
+
+        if value_shape != expected_shape:
+            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension',
+                            ' for field "{}" with dimension {} (you have {})'.format(
+                               field_, expected_shape, value_shape))
+
+
+        value_data = cast(value_.ctypes.data, POINTER(c_double))
+        value_data_p = cast((value_data), c_void_p)
+
+        self.shared_lib.ocp_nlp_cost_model_set_slice.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
+        self.shared_lib.ocp_nlp_cost_model_set_slice(self.nlp_config,
+            self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
+        return
+
+    def constraints_set(self, start_stage_, field_, value_, api='warn'):
+      self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
+      return
+
+    def constraints_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
+        """
+        Set numerical data in the constraint module of the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi']
+            :param value: of appropriate size
+        """
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = value_.astype(float)
+
+        field = field_
+        field = field.encode('utf-8')
+        dim = np.product(value_.shape[1:])
+
+        start_stage = c_int(start_stage_)
+        end_stage = c_int(end_stage_)
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
+
+        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+        dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
+
+        value_shape = value_.shape
+        expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
+        if len(value_shape) == 2:
+            value_shape = (value_shape[0], value_shape[1], 0)
+        elif len(value_shape) == 3:
+            if api=='old':
+                pass
+            elif api=='warn':
+                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
+                    raise Exception("Ambiguity in API detected.\n"
+                                    "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
+                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
+                                    "  You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
+                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
+                                    "  Two options to fix this error: \n" +
+                                    "   * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
+                                    "   * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
+                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
+                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            elif api=='new':
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            else:
+                raise Exception("Unknown api: '{}'".format(api))
+        if value_shape != expected_shape:
+            raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
+                ' for field "{}" with dimension {} (you have {})'.format(field_, expected_shape, value_shape))
+
+        value_data = cast(value_.ctypes.data, POINTER(c_double))
+        value_data_p = cast((value_data), c_void_p)
+
+        self.shared_lib.ocp_nlp_constraints_model_set_slice.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
+        self.shared_lib.ocp_nlp_constraints_model_set_slice(self.nlp_config, \
+            self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
+        return
+
+    # Note: this function should not be used anymore, better use cost_set, constraints_set
+    def set(self, stage_, field_, value_):
+        """
+        Set numerical data inside the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
+
+            .. note:: regarding lam, t: \n
+                    the inequalities are internally organized in the following order: \n
+                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
+                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+            .. note:: pi: multipliers for dynamics equality constraints \n
+                      lam: multipliers for inequalities \n
+                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
+                      sl: slack variables of soft lower inequality constraints \n
+                      su: slack variables of soft upper inequality constraints \n
+        """
+        cost_fields = ['y_ref', 'yref']
+        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
+        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z']
+        mem_fields = ['sl', 'su']
+
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = value_.astype(float)
+
+        model_name = self.model_name
+
+        field = field_
+        field = field.encode('utf-8')
+
+        stage = c_int(stage_)
+
+        # treat parameters separately
+        if field_ == 'p':
+            getattr(self.shared_lib, f"{model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
+            getattr(self.shared_lib, f"{model_name}_acados_update_params").restype = c_int
+
+            value_data = cast(value_.ctypes.data, POINTER(c_double))
+
+            assert getattr(self.shared_lib, f"{model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
+        else:
+            if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
+                raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
+                    \nPossible values are {}. Exiting.".format(field, \
+                    constraints_fields + cost_fields + out_fields + ['p']))
+
+            self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
+            self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
+
+            dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
+                self.nlp_dims, self.nlp_out, stage_, field)
+
+            if value_.shape[0] != dims:
+                msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
+                msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
+                raise Exception(msg)
+
+            value_data = cast(value_.ctypes.data, POINTER(c_double))
+            value_data_p = cast((value_data), c_void_p)
+
+            if field_ in constraints_fields:
+                self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
+                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+            elif field_ in cost_fields:
+                self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
+                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+            elif field_ in out_fields:
+                self.shared_lib.ocp_nlp_out_set.argtypes = \
+                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_out, stage, field, value_data_p)
+            elif field_ in mem_fields:
+                self.shared_lib.ocp_nlp_set.argtypes = \
+                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_set(self.nlp_config, \
+                    self.nlp_solver, stage, field, value_data_p)
+        return
+
+
+    def get_slice(self, start_stage_, end_stage_, field_):
+        """
+        Get the last solution of the solver:
+
+            :param start_stage: integer corresponding to shooting node that indicates start of slice
+            :param end_stage: integer corresponding to shooting node that indicates end of slice
+            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
+
+            .. note:: regarding lam, t: \n
+                    the inequalities are internally organized in the following order: \n
+                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
+                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+            .. note:: pi: multipliers for dynamics equality constraints \n
+                      lam: multipliers for inequalities \n
+                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
+                      sl: slack variables of soft lower inequality constraints \n
+                      su: slack variables of soft upper inequality constraints \n
+        """
+        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't']
+        mem_fields = ['sl', 'su']
+        field = field_
+        field = field.encode('utf-8')
+
+        if (field_ not in out_fields + mem_fields):
+            raise Exception('AcadosOcpSolver.get_slice(): {} is an invalid argument.\
+                    \n Possible values are {}. Exiting.'.format(field_, out_fields))
+
+        if not isinstance(start_stage_, int):
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
+
+        if not isinstance(end_stage_, int):
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
+
+        if start_stage_ >= end_stage_:
+            raise Exception('AcadosOcpSolver.get_slice(): end stage index must be larger than start stage index')
+
+        if start_stage_ < 0 or end_stage_ > self.N + 1:
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
+        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
+        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
+
+        dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, start_stage_, field)
+
+        out = np.ascontiguousarray(np.zeros((end_stage_ - start_stage_, dims)), dtype=np.float64)
+        out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        if (field_ in out_fields):
+            self.shared_lib.ocp_nlp_out_get_slice.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p]
+            self.shared_lib.ocp_nlp_out_get_slice(self.nlp_config, \
+                self.nlp_dims, self.nlp_out, start_stage_, end_stage_, field, out_data)
+        elif field_ in mem_fields:
+            self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+            self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
+                self.nlp_dims, self.nlp_solver, start_stage_, end_stage_, field, out_data)
+
+        return out
+
+    def get_cost(self):
+        """
+        Returns the cost value of the current solution.
+        """
+        # compute cost internally
+        self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
+        self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
+
+        # create output array
+        out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
+        out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        # call getter
+        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
+
+        field = "cost_value".encode('utf-8')
+        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
+
+        return out[0]
diff --git a/pyextra/acados_template/acados_ocp_solver_pyx.pyx b/pyextra/acados_template/acados_ocp_solver_pyx.pyx
new file mode 100644
index 00000000000000..b950d880b08a01
--- /dev/null
+++ b/pyextra/acados_template/acados_ocp_solver_pyx.pyx
@@ -0,0 +1,427 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+# cython: language_level=3
+# cython: profile=False
+# distutils: language=c
+
+cimport cython
+from libc cimport string
+
+cimport acados_solver_common
+cimport acados_solver
+
+cimport numpy as cnp
+
+import os
+import numpy as np
+
+
+cdef class AcadosOcpSolverFast:
+    """
+    Class to interact with the acados ocp solver C object.
+
+        :param acados_ocp: type AcadosOcp - description of the OCP for acados
+        :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
+        :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
+    """
+
+    cdef acados_solver.nlp_solver_capsule *capsule
+    cdef void *nlp_opts
+    cdef acados_solver_common.ocp_nlp_dims *nlp_dims
+    cdef acados_solver_common.ocp_nlp_config *nlp_config
+    cdef acados_solver_common.ocp_nlp_out *nlp_out
+    cdef acados_solver_common.ocp_nlp_in *nlp_in
+    cdef acados_solver_common.ocp_nlp_solver *nlp_solver
+
+    cdef str model_name
+    cdef int N
+    cdef bint solver_created
+
+    def __cinit__(self, str model_name, int N, str code_export_dir):
+        self.model_name = model_name
+        self.N = N
+
+        self.solver_created = False
+
+        # create capsule
+        self.capsule = acados_solver.acados_create_capsule()
+
+        # create solver
+        assert acados_solver.acados_create(self.capsule) == 0
+        self.solver_created = True
+
+        # get pointers solver
+        self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
+        self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
+        self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
+        self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
+        self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
+        self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
+
+
+    def solve(self):
+        """
+        Solve the ocp with current input.
+        """
+        return acados_solver.acados_solve(self.capsule)
+
+
+    def set_new_time_steps(self, new_time_steps):
+        """
+        Set new time steps before solving. Only reload library without code generation but with new time steps.
+
+            :param new_time_steps: vector of new time steps for the solver
+
+            .. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
+                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
+                      do not require a new code export and compilation.
+        """
+        raise NotImplementedError()
+
+
+    def get(self, int stage, str field_):
+        """
+        Get the last solution of the solver:
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
+
+            .. note:: regarding lam, t: \n
+                    the inequalities are internally organized in the following order: \n
+                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
+                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+            .. note:: pi: multipliers for dynamics equality constraints \n
+                      lam: multipliers for inequalities \n
+                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
+                      sl: slack variables of soft lower inequality constraints \n
+                      su: slack variables of soft upper inequality constraints \n
+        """
+
+        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
+        field = field_.encode('utf-8')
+
+        if field_ not in out_fields:
+            raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
+                    \n Possible values are {}. Exiting.'.format(field_, out_fields))
+
+        if stage < 0 or stage > self.N:
+            raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
+
+        if stage == self.N and field_ == 'pi':
+            raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
+                .format(field_, stage))
+
+        cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
+            self.nlp_dims, self.nlp_out, stage, field)
+
+        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,))
+        acados_solver_common.ocp_nlp_out_get(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, stage, field, <void *> out.data)
+
+        return out
+
+
+    def print_statistics(self):
+        """
+        prints statistics of previous solver run as a table:
+            - iter: iteration number
+            - res_stat: stationarity residual
+            - res_eq: residual wrt equality constraints (dynamics)
+            - res_ineq: residual wrt inequality constraints (constraints)
+            - res_comp: residual wrt complementarity conditions
+            - qp_stat: status of QP solver
+            - qp_iter: number of QP iterations
+            - qp_res_stat: stationarity residual of the last QP solution
+            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
+            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
+            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
+        """
+        raise NotImplementedError()
+
+
+    def store_iterate(self, filename='', overwrite=False):
+        """
+        Stores the current iterate of the ocp solver in a json file.
+
+            :param filename: if not set, use model_name + timestamp + '.json'
+            :param overwrite: if false and filename exists add timestamp to filename
+        """
+        raise NotImplementedError()
+
+
+    def load_iterate(self, filename):
+        """
+        Loads the iterate stored in json file with filename into the ocp solver.
+        """
+        raise NotImplementedError()
+
+
+    def get_stats(self, field_):
+        """
+        Get the information of the last solver call.
+
+            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
+        """
+        raise NotImplementedError()
+
+
+    def get_cost(self):
+        """
+        Returns the cost value of the current solution.
+        """
+        # compute cost internally
+        acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
+
+        # create output
+        cdef double out
+
+        # call getter
+        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", <void *> &out)
+
+        return out
+
+
+    def get_residuals(self):
+        """
+        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
+        """
+        raise NotImplementedError()
+
+
+    # Note: this function should not be used anymore, better use cost_set, constraints_set
+    def set(self, int stage, str field_, value_):
+
+        """
+        Set numerical data inside the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
+
+            .. note:: regarding lam, t: \n
+                    the inequalities are internally organized in the following order: \n
+                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
+                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+            .. note:: pi: multipliers for dynamics equality constraints \n
+                      lam: multipliers for inequalities \n
+                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
+                      sl: slack variables of soft lower inequality constraints \n
+                      su: slack variables of soft upper inequality constraints \n
+        """
+        cost_fields = ['y_ref', 'yref']
+        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
+        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
+
+        field = field_.encode('utf-8')
+
+        cdef double[::1] value
+
+        # treat parameters separately
+        if field_ == 'p':
+            value = np.ascontiguousarray(value_, dtype=np.double)
+            assert acados_solver.acados_update_params(self.capsule, stage, <double *> &value[0], value.shape[0]) == 0
+        else:
+            if field_ not in constraints_fields + cost_fields + out_fields:
+                raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
+                    \nPossible values are {}. Exiting.".format(field, \
+                    constraints_fields + cost_fields + out_fields + ['p']))
+
+            dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
+                self.nlp_dims, self.nlp_out, stage, field)
+
+            if value_.shape[0] != dims:
+                msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
+                msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
+                raise Exception(msg)
+
+            value = np.ascontiguousarray(value_, dtype=np.double)
+            if field_ in constraints_fields:
+                acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
+                    self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
+            elif field_ in cost_fields:
+                acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
+                    self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
+            elif field_ in out_fields:
+                acados_solver_common.ocp_nlp_out_set(self.nlp_config,
+                    self.nlp_dims, self.nlp_out, stage, field, <void *> &value[0])
+
+
+    def cost_set(self, int stage, str field_, value_):
+        """
+        Set numerical data in the cost module of the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
+            :param value: of appropriate size
+        """
+        field = field_.encode('utf-8')
+
+        cdef int dims[2]
+        acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
+
+        cdef double[::1,:] value
+
+        value_shape = value_.shape
+        if len(value_shape) == 1:
+            value_shape = (value_shape[0], 0)
+            value = np.asfortranarray(value_[None,:])
+
+        elif len(value_shape) == 2:
+            # Get elements in column major order
+            value = np.asfortranarray(value_)
+
+        if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
+            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
+                ' for field "{}" with dimension {} (you have {})'.format( \
+                field_, tuple(dims), value_shape))
+
+        acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
+            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
+
+
+    def constraints_set(self, int stage, str field_, value_):
+        """
+        Set numerical data in the constraint module of the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
+            :param value: of appropriate size
+        """
+        field = field_.encode('utf-8')
+
+        cdef int dims[2]
+        acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
+
+        cdef double[::1,:] value
+
+        value_shape = value_.shape
+        if len(value_shape) == 1:
+            value_shape = (value_shape[0], 0)
+            value = np.asfortranarray(value_[None,:])
+
+        elif len(value_shape) == 2:
+            # Get elements in column major order
+            value = np.asfortranarray(value_)
+
+        if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
+            raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
+                ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
+
+        acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
+            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
+
+        return
+
+
+    def dynamics_get(self, int stage, str field_):
+        """
+        Get numerical data from the dynamics module of the solver:
+
+            :param stage: integer corresponding to shooting node
+            :param field: string, e.g. 'A'
+        """
+        field = field_.encode('utf-8')
+
+        # get dims
+        cdef int[2] dims
+        acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
+
+        # create output data
+        out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
+
+        # call getter
+        acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
+
+        return out
+
+
+    def options_set(self, str field_, value_):
+        """
+        Set options of the solver.
+
+            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
+            :param value: of type int, float
+        """
+        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
+        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
+        string_fields = ['globalization']
+
+        # encode
+        field = field_.encode('utf-8')
+
+        cdef int int_value
+        cdef double double_value
+        cdef unsigned char[::1] string_value
+
+        # check field availability and type
+        if field_ in int_fields:
+            if not isinstance(value_, int):
+                raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
+
+            if field_ == 'rti_phase':
+                if value_ < 0 or value_ > 2:
+                    raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
+                        'take only values 0, 1, 2 for SQP-RTI-type solvers')
+                if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
+                    raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
+                        'take only value 0 for SQP-type solvers')
+
+            int_value = value_
+            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &int_value)
+
+        elif field_ in double_fields:
+            if not isinstance(value_, float):
+                raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
+
+            double_value = value_
+            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &double_value)
+
+        elif field_ in string_fields:
+            if not isinstance(value_, bytes):
+                raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
+
+            string_value = value_.encode('utf-8')
+            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
+
+        raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
+            '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
+
+
+    def __del__(self):
+        if self.solver_created:
+            acados_solver.acados_free(self.capsule)
+            acados_solver.acados_free_capsule(self.capsule)
diff --git a/pyextra/acados_template/acados_sim.py b/pyextra/acados_template/acados_sim.py
new file mode 100644
index 00000000000000..d7ad1487dc4a97
--- /dev/null
+++ b/pyextra/acados_template/acados_sim.py
@@ -0,0 +1,330 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import numpy as np
+import casadi as ca
+import os
+from .acados_model import AcadosModel
+from .utils import get_acados_path
+
+class AcadosSimDims:
+    """
+    Class containing the dimensions of the model to be simulated.
+    """
+    def __init__(self):
+        self.__nx = None
+        self.__nu = None
+        self.__nz = 0
+        self.__np = 0
+
+    @property
+    def nx(self):
+        """:math:`n_x` - number of states. Type: int > 0"""
+        return self.__nx
+
+    @property
+    def nz(self):
+        """:math:`n_z` - number of algebraic variables. Type: int >= 0"""
+        return self.__nz
+
+    @property
+    def nu(self):
+        """:math:`n_u` - number of inputs. Type: int >= 0"""
+        return self.__nu
+
+    @property
+    def np(self):
+        """:math:`n_p` - number of parameters. Type: int >= 0"""
+        return self.__np
+
+    @nx.setter
+    def nx(self, nx):
+        if type(nx) == int and nx > 0:
+            self.__nx = nx
+        else:
+            raise Exception('Invalid nx value, expected positive integer. Exiting.')
+
+    @nz.setter
+    def nz(self, nz):
+        if type(nz) == int and nz > -1:
+            self.__nz = nz
+        else:
+            raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
+
+    @nu.setter
+    def nu(self, nu):
+        if type(nu) == int and nu > -1:
+            self.__nu = nu
+        else:
+            raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
+
+    @np.setter
+    def np(self, np):
+        if type(np) == int and np > -1:
+            self.__np = np
+        else:
+            raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
+
+    def set(self, attr, value):
+        setattr(self, attr, value)
+
+
+class AcadosSimOpts:
+    """
+    class containing the solver options
+    """
+    def __init__(self):
+        self.__integrator_type = 'ERK'
+        self.__collocation_type = 'GAUSS_LEGENDRE'
+        self.__Tsim = None
+        # ints
+        self.__sim_method_num_stages = 1
+        self.__sim_method_num_steps = 1
+        self.__sim_method_newton_iter = 3
+        # bools
+        self.__sens_forw = True
+        self.__sens_adj = False
+        self.__sens_algebraic = False
+        self.__sens_hess = False
+        self.__output_z = False
+        self.__sim_method_jac_reuse = 0
+
+    @property
+    def integrator_type(self):
+        """Integrator type. Default: 'ERK'."""
+        return self.__integrator_type
+
+    @property
+    def num_stages(self):
+        """Number of stages in the integrator. Default: 1"""
+        return self.__sim_method_num_stages
+
+    @property
+    def num_steps(self):
+        """Number of steps in the integrator. Default: 1"""
+        return self.__sim_method_num_steps
+
+    @property
+    def newton_iter(self):
+        """Number of Newton iterations in simulation method. Default: 3"""
+        return self.__sim_method_newton_iter
+
+    @property
+    def sens_forw(self):
+        """Boolean determining if forward sensitivities are computed. Default: True"""
+        return self.__sens_forw
+
+    @property
+    def sens_adj(self):
+        """Boolean determining if adjoint sensitivities are computed. Default: False"""
+        return self.__sens_adj
+
+    @property
+    def sens_algebraic(self):
+        """Boolean determining if sensitivities wrt algebraic variables are computed. Default: False"""
+        return self.__sens_algebraic
+
+    @property
+    def sens_hess(self):
+        """Boolean determining if hessians are computed. Default: False"""
+        return self.__sens_hess
+
+    @property
+    def output_z(self):
+        """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: False"""
+        return self.__output_z
+
+    @property
+    def sim_method_jac_reuse(self):
+        """Integer determining if jacobians are reused (0 or 1). Default: 0"""
+        return self.__sim_method_jac_reuse
+
+    @property
+    def T(self):
+        """Time horizon"""
+        return self.__Tsim
+
+    @property
+    def collocation_type(self):
+        """Collocation type: relevant for implicit integrators
+        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}
+
+        Default: GAUSS_LEGENDRE
+        """
+        return self.__collocation_type
+
+    @integrator_type.setter
+    def integrator_type(self, integrator_type):
+        integrator_types = ('ERK', 'IRK', 'GNSF')
+        if integrator_type in integrator_types:
+            self.__integrator_type = integrator_type
+        else:
+            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
+                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.')
+
+    @collocation_type.setter
+    def collocation_type(self, collocation_type):
+        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
+        if collocation_type in collocation_types:
+            self.__collocation_type = collocation_type
+        else:
+            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
+                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.')
+
+    @T.setter
+    def T(self, T):
+        self.__Tsim = T
+
+    @num_stages.setter
+    def num_stages(self, num_stages):
+        if isinstance(num_stages, int):
+            self.__sim_method_num_stages = num_stages
+        else:
+            raise Exception('Invalid num_stages value. num_stages must be an integer.')
+
+    @num_steps.setter
+    def num_steps(self, num_steps):
+        if isinstance(num_steps, int):
+            self.__sim_method_num_steps = num_steps
+        else:
+            raise Exception('Invalid num_steps value. num_steps must be an integer.')
+
+    @newton_iter.setter
+    def newton_iter(self, newton_iter):
+        if isinstance(newton_iter, int):
+            self.__sim_method_newton_iter = newton_iter
+        else:
+            raise Exception('Invalid newton_iter value. newton_iter must be an integer.')
+
+    @sens_forw.setter
+    def sens_forw(self, sens_forw):
+        if sens_forw in (True, False):
+            self.__sens_forw = sens_forw
+        else:
+            raise Exception('Invalid sens_forw value. sens_forw must be a Boolean.')
+
+    @sens_adj.setter
+    def sens_adj(self, sens_adj):
+        if sens_adj in (True, False):
+            self.__sens_adj = sens_adj
+        else:
+            raise Exception('Invalid sens_adj value. sens_adj must be a Boolean.')
+
+    @sens_hess.setter
+    def sens_hess(self, sens_hess):
+        if sens_hess in (True, False):
+            self.__sens_hess = sens_hess
+        else:
+            raise Exception('Invalid sens_hess value. sens_hess must be a Boolean.')
+
+    @sens_algebraic.setter
+    def sens_algebraic(self, sens_algebraic):
+        if sens_algebraic in (True, False):
+            self.__sens_algebraic = sens_algebraic
+        else:
+            raise Exception('Invalid sens_algebraic value. sens_algebraic must be a Boolean.')
+
+    @output_z.setter
+    def output_z(self, output_z):
+        if output_z in (True, False):
+            self.__output_z = output_z
+        else:
+            raise Exception('Invalid output_z value. output_z must be a Boolean.')
+
+    @sim_method_jac_reuse.setter
+    def sim_method_jac_reuse(self, sim_method_jac_reuse):
+        if sim_method_jac_reuse in (0, 1):
+            self.__sim_method_jac_reuse = sim_method_jac_reuse
+        else:
+            raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be 0 or 1.')
+
+class AcadosSim:
+    """
+    The class has the following properties that can be modified to formulate a specific simulation problem, see below:
+
+    :param acados_path: string with the path to acados. It is used to generate the include and lib paths.
+
+    - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosSimDims` - are automatically detected from model
+    - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
+    - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts`
+
+    - :py:attr:`acados_include_path` (set automatically)
+    - :py:attr:`acados_lib_path` (set automatically)
+    - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
+
+    """
+    def __init__(self, acados_path=''):
+        if acados_path == '':
+            acados_path = get_acados_path()
+        self.dims = AcadosSimDims()
+        """Dimension definitions, automatically detected from :py:attr:`model`. Type :py:class:`acados_template.acados_sim.AcadosSimDims`"""
+        self.model = AcadosModel()
+        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
+        self.solver_options = AcadosSimOpts()
+        """Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`"""
+
+        self.acados_include_path = f'{acados_path}/include'
+        """Path to acados include directors (set automatically), type: `string`"""
+        self.acados_lib_path = f'{acados_path}/lib'
+        """Path to where acados library is located (set automatically), type: `string`"""
+
+        self.code_export_directory = 'c_generated_code'
+        """Path to where code will be exported. Default: `c_generated_code`."""
+
+        self.__parameter_values = np.array([])
+
+    @property
+    def parameter_values(self):
+        """:math:`p` - initial values for parameter - can be updated"""
+        return self.__parameter_values
+
+    @parameter_values.setter
+    def parameter_values(self, parameter_values):
+        if isinstance(parameter_values, np.ndarray):
+            self.__parameter_values = parameter_values
+        else:
+            raise Exception('Invalid parameter_values value. ' +
+                            f'Expected numpy array, got {type(parameter_values)}.')
+
+    def set(self, attr, value):
+        # tokenize string
+        tokens = attr.split('_', 1)
+        if len(tokens) > 1:
+            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
+        else:
+            setter_to_call = getattr(self, 'set')
+
+        setter_to_call(tokens[1], value)
+
+        return
diff --git a/pyextra/acados_template/acados_sim_layout.json b/pyextra/acados_template/acados_sim_layout.json
new file mode 100644
index 00000000000000..25b149613b387f
--- /dev/null
+++ b/pyextra/acados_template/acados_sim_layout.json
@@ -0,0 +1,47 @@
+{
+    "acados_include_path": [
+        "str"
+    ],
+     "model": {
+         "name" : [
+            "str"
+        ]
+    },
+    "acados_lib_path": [
+        "str"
+    ],
+    "dims": {
+        "np": [
+            "int"
+        ],
+        "nu": [
+            "int"
+        ],
+        "nx": [
+            "int" 
+        ],
+        "nz": [
+            "int"
+        ]
+    },
+    "solver_options": {
+        "integrator_type": [
+            "str"
+        ],
+        "collocation_type": [
+            "str"
+        ],
+        "Tsim": [
+            "float"
+        ],
+        "sim_method_num_stages": [
+            "int"
+        ],
+        "sim_method_num_steps": [
+            "int"
+        ],
+        "sim_method_newton_iter": [
+            "int"
+        ]
+    }
+}
diff --git a/pyextra/acados_template/acados_sim_solver.py b/pyextra/acados_template/acados_sim_solver.py
new file mode 100644
index 00000000000000..145f90293e2a6d
--- /dev/null
+++ b/pyextra/acados_template/acados_sim_solver.py
@@ -0,0 +1,404 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import sys, os, json
+
+import numpy as np
+
+from ctypes import *
+from copy import deepcopy
+
+from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
+from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
+from .generate_c_code_gnsf import generate_c_code_gnsf
+from .acados_sim import AcadosSim
+from .acados_ocp import AcadosOcp
+from .acados_model import acados_model_strip_casadi_symbolics
+from .utils import is_column, render_template, format_class_dict, np_array_to_list,\
+     make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path
+
+
+def make_sim_dims_consistent(acados_sim):
+    dims = acados_sim.dims
+    model = acados_sim.model
+    # nx
+    if is_column(model.x):
+        dims.nx = model.x.shape[0]
+    else:
+        raise Exception("model.x should be column vector!")
+
+    # nu
+    if is_column(model.u):
+        dims.nu = model.u.shape[0]
+    elif model.u == None or model.u == []:
+        dims.nu = 0
+    else:
+        raise Exception("model.u should be column vector or None!")
+
+    # nz
+    if is_column(model.z):
+        dims.nz = model.z.shape[0]
+    elif model.z == None or model.z == []:
+        dims.nz = 0
+    else:
+        raise Exception("model.z should be column vector or None!")
+
+    # np
+    if is_column(model.p):
+        dims.np = model.p.shape[0]
+    elif model.p == None or model.p == []:
+        dims.np = 0
+    else:
+        raise Exception("model.p should be column vector or None!")
+
+
+def get_sim_layout():
+    python_interface_path = get_python_interface_path()
+    abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json')
+    with open(abs_path, 'r') as f:
+        sim_layout = json.load(f)
+    return sim_layout
+
+
+def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'):
+    # Load acados_sim structure description
+    sim_layout = get_sim_layout()
+
+    # Copy input sim object dictionary
+    sim_dict = dict(deepcopy(acados_sim).__dict__)
+
+    for key, v in sim_layout.items():
+        # skip non dict attributes
+        if not isinstance(v, dict): continue
+        # Copy sim object attributes dictionaries
+        sim_dict[key]=dict(getattr(acados_sim, key).__dict__)
+
+    sim_dict['model'] = acados_model_strip_casadi_symbolics(sim_dict['model'])
+    sim_json = format_class_dict(sim_dict)
+
+    with open(json_file, 'w') as f:
+        json.dump(sim_json, f, default=np_array_to_list, indent=4, sort_keys=True)
+
+
+def sim_render_templates(json_file, model_name, code_export_dir):
+    # setting up loader and environment
+    json_path = os.path.join(os.getcwd(), json_file)
+
+    if not os.path.exists(json_path):
+        raise Exception(f"{json_path} not found!")
+
+    template_dir = code_export_dir
+
+    ## Render templates
+    in_file = 'acados_sim_solver.in.c'
+    out_file = f'acados_sim_solver_{model_name}.c'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'acados_sim_solver.in.h'
+    out_file = f'acados_sim_solver_{model_name}.h'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'Makefile.in'
+    out_file = f'Makefile'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    in_file = 'main_sim.in.c'
+    out_file = f'main_sim_{model_name}.c'
+    render_template(in_file, out_file, template_dir, json_path)
+
+    ## folder model
+    template_dir = os.path.join(code_export_dir, model_name + '_model')
+
+    in_file = 'model.in.h'
+    out_file = f'{model_name}_model.h'
+    render_template(in_file, out_file, template_dir, json_path)
+
+
+def sim_generate_casadi_functions(acados_sim):
+    model = acados_sim.model
+    model = make_model_consistent(model)
+
+    integrator_type = acados_sim.solver_options.integrator_type
+
+    opts = dict(generate_hess = acados_sim.solver_options.sens_hess,
+                code_export_directory = acados_sim.code_export_directory)
+    # generate external functions
+    if integrator_type == 'ERK':
+        generate_c_code_explicit_ode(model, opts)
+    elif integrator_type == 'IRK':
+        generate_c_code_implicit_ode(model, opts)
+    elif integrator_type == 'GNSF':
+        generate_c_code_gnsf(model, opts)
+
+class AcadosSimSolver:
+    """
+    Class to interact with the acados integrator C object.
+
+    :param acados_sim: type :py:class:`acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`acados_template.acados_sim.AcadosSim`) or :py:class:`acados_template.acados_sim.AcadosSim`
+    :param json_file: Default: 'acados_sim.json'
+    :param build: Default: True
+    """
+    def __init__(self, acados_sim_, json_file='acados_sim.json', build=True):
+
+        self.solver_created = False
+
+        if isinstance(acados_sim_, AcadosOcp):
+            # set up acados_sim_
+            acados_sim = AcadosSim()
+            acados_sim.model = acados_sim_.model
+            acados_sim.dims.nx = acados_sim_.dims.nx
+            acados_sim.dims.nu = acados_sim_.dims.nu
+            acados_sim.dims.nz = acados_sim_.dims.nz
+            acados_sim.dims.np = acados_sim_.dims.np
+            acados_sim.solver_options.integrator_type = acados_sim_.solver_options.integrator_type
+            acados_sim.code_export_directory = acados_sim_.code_export_directory
+
+        elif isinstance(acados_sim_, AcadosSim):
+            acados_sim = acados_sim_
+
+        acados_sim.__problem_class = 'SIM'
+
+        model_name = acados_sim.model.name
+        make_sim_dims_consistent(acados_sim)
+
+        # reuse existing json and casadi functions, when creating integrator from ocp
+        if isinstance(acados_sim_, AcadosSim):
+            if acados_sim.solver_options.integrator_type == 'GNSF':
+                set_up_imported_gnsf_model(acados_sim)
+
+            sim_generate_casadi_functions(acados_sim)
+            sim_formulation_json_dump(acados_sim, json_file)
+
+        code_export_dir = acados_sim.code_export_directory
+        if build:
+            # render templates
+            sim_render_templates(json_file, model_name, code_export_dir)
+
+            ## Compile solver
+            cwd = os.getcwd()
+            os.chdir(code_export_dir)
+            os.system('make sim_shared_lib')
+            os.chdir(cwd)
+
+        self.sim_struct = acados_sim
+        model_name = self.sim_struct.model.name
+        self.model_name = model_name
+
+        # Ctypes
+        shared_lib = f'{code_export_dir}/libacados_sim_solver_{model_name}.so'
+        self.shared_lib = CDLL(shared_lib)
+
+
+        # create capsule
+        getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p
+        self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")()
+
+        # create solver
+        getattr(self.shared_lib, f"{model_name}_acados_sim_create").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_sim_create").restype = c_int
+        assert getattr(self.shared_lib, f"{model_name}_acados_sim_create")(self.capsule)==0
+        self.solver_created = True
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").restype = c_void_p
+        self.sim_opts = getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").restype = c_void_p
+        self.sim_dims = getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").restype = c_void_p
+        self.sim_config = getattr(self.shared_lib, f"{model_name}_acados_get_sim_config")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").restype = c_void_p
+        self.sim_out = getattr(self.shared_lib, f"{model_name}_acados_get_sim_out")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").restype = c_void_p
+        self.sim_in = getattr(self.shared_lib, f"{model_name}_acados_get_sim_in")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p
+        self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule)
+
+        nu = self.sim_struct.dims.nu
+        nx = self.sim_struct.dims.nx
+        nz = self.sim_struct.dims.nz
+        self.gettable = {
+            'x': nx,
+            'xn': nx,
+            'u': nu,
+            'z': nz,
+            'S_forw': nx*(nx+nu),
+            'Sx': nx*nx,
+            'Su': nx*nu,
+            'S_adj': nx+nu,
+            'S_hess': (nx+nu)*(nx+nu),
+            'S_algebraic': (nz)*(nx+nu),
+        }
+
+        self.settable = ['S_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw
+
+
+    def solve(self):
+        """
+        Solve the simulation problem with current input.
+        """
+        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").restype = c_int
+
+        status = getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve")(self.capsule)
+        return status
+
+
+    def get(self, field_):
+        """
+        Get the last solution of the solver.
+
+            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic']
+        """
+        field = field_
+        field = field.encode('utf-8')
+
+        if field_ in self.gettable.keys():
+
+            # allocate array
+            dims = self.gettable[field_]
+            out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
+            out_data = cast(out.ctypes.data, POINTER(c_double))
+
+            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
+            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
+
+            if field_ == 'S_forw':
+                nu = self.sim_struct.dims.nu
+                nx = self.sim_struct.dims.nx
+                out = out.reshape(nx, nx+nu, order='F')
+            elif field_ == 'Sx':
+                nx = self.sim_struct.dims.nx
+                out = out.reshape(nx, nx, order='F')
+            elif field_ == 'Su':
+                nx = self.sim_struct.dims.nx
+                nu = self.sim_struct.dims.nu
+                out = out.reshape(nx, nu, order='F')
+            elif field_ == 'S_hess':
+                nx = self.sim_struct.dims.nx
+                nu = self.sim_struct.dims.nu
+                out = out.reshape(nx+nu, nx+nu, order='F')
+            elif field_ == 'S_algebraic':
+                nx = self.sim_struct.dims.nx
+                nu = self.sim_struct.dims.nu
+                nz = self.sim_struct.dims.nz
+                out = out.reshape(nz, nx+nu, order='F')
+        else:
+            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
+                f' available fields are {", ".join(self.gettable.keys())}')
+
+        return out
+
+
+    def set(self, field_, value_):
+        """
+        Set numerical data inside the solver.
+
+            :param field: string in ['p', 'S_adj', 'T', 'x', 'u', 'xdot', 'z']
+            :param value: the value with appropriate size.
+        """
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+
+        value_ = value_.astype(float)
+        value_data = cast(value_.ctypes.data, POINTER(c_double))
+        value_data_p = cast((value_data), c_void_p)
+
+        field = field_
+        field = field.encode('utf-8')
+
+        # treat parameters separately
+        if field_ == 'p':
+            model_name = self.sim_struct.model.name
+            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int]
+            value_data = cast(value_.ctypes.data, POINTER(c_double))
+            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0])
+            return
+        else:
+            # dimension check
+            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+            dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
+            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
+
+            value_ = np.ravel(value_, order='F')
+
+            value_shape = value_.shape
+            if len(value_shape) == 1:
+                value_shape = (value_shape[0], 0)
+
+            if value_shape != tuple(dims):
+                raise Exception('AcadosSimSolver.set(): mismatching dimension' \
+                    ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
+
+        # set
+        if field_ in ['xdot', 'z']:
+            self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p]
+            self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p)
+        elif field_ in self.settable:
+            self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
+            self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p)
+        else:
+            raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \
+                f' available fields are {", ".join(self.settable)}')
+
+        return
+
+
+    def __del__(self):
+
+        if self.solver_created:
+            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").argtypes = [c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").restype = c_int
+            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free")(self.capsule)
+
+            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").argtypes = [c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").restype = c_int
+            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule")(self.capsule)
+
+            try:
+                self.dlclose(self.shared_lib._handle)
+            except:
+                pass
diff --git a/pyextra/acados_template/acados_solver_common.pxd b/pyextra/acados_template/acados_solver_common.pxd
new file mode 100644
index 00000000000000..9314802e61b71e
--- /dev/null
+++ b/pyextra/acados_template/acados_solver_common.pxd
@@ -0,0 +1,102 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+
+cdef extern from "acados/ocp_nlp/ocp_nlp_common.h":
+    ctypedef struct ocp_nlp_config:
+        pass
+
+    ctypedef struct ocp_nlp_dims:
+        pass
+
+    ctypedef struct ocp_nlp_in:
+        pass
+
+    ctypedef struct ocp_nlp_out:
+        pass
+
+
+cdef extern from "acados_c/ocp_nlp_interface.h":
+    ctypedef enum ocp_nlp_solver_t:
+        pass
+
+    ctypedef enum ocp_nlp_cost_t:
+        pass
+
+    ctypedef enum ocp_nlp_dynamics_t:
+        pass
+
+    ctypedef enum ocp_nlp_constraints_t:
+        pass
+
+    ctypedef enum ocp_nlp_reg_t:
+        pass
+
+    ctypedef struct ocp_nlp_plan:
+        pass
+
+    ctypedef struct ocp_nlp_solver:
+        pass
+
+    int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_,
+        int start_stage, const char *field, void *value)
+    int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
+        ocp_nlp_in *in_, int stage, const char *field, void *value)
+
+    # out
+    void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, void *value)
+    void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, void *value)
+    void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
+        int stage, const char *field, void *value)
+    int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field)
+    void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out)
+    void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out)
+    void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out)
+
+    # opts
+    void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value)
+
+    # solver
+    void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
+    void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
+
+    # get/set
+    void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_)
+    void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value)
diff --git a/pyextra/acados_template/c_templates_tera/CPPLINT.cfg b/pyextra/acados_template/c_templates_tera/CPPLINT.cfg
new file mode 100644
index 00000000000000..bbd1caf0571825
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/CPPLINT.cfg
@@ -0,0 +1 @@
+exclude_files=[main, acados_solver, acados_solver_sfun, Makefile, model].*\.?
diff --git a/pyextra/acados_template/c_templates_tera/Makefile.in b/pyextra/acados_template/c_templates_tera/Makefile.in
new file mode 100644
index 00000000000000..487e66ab072854
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/Makefile.in
@@ -0,0 +1,524 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+{%- if solver_options.qp_solver %}
+	{%- set qp_solver = solver_options.qp_solver %}
+{%- else %}
+	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
+{%- endif %}
+
+{%- if solver_options.hessian_approx %}
+	{%- set hessian_approx = solver_options.hessian_approx %}
+{%- elif solver_options.sens_hess %}
+	{%- set hessian_approx = "EXACT" %}
+{%- else %}
+	{%- set hessian_approx = "GAUSS_NEWTON" %}
+{%- endif %}
+
+{%- if constraints.constr_type %}
+	{%- set constr_type = constraints.constr_type %}
+{%- else %}
+	{%- set constr_type = "NONE" %}
+{%- endif %}
+
+{%- if constraints.constr_type_e %}
+	{%- set constr_type_e = constraints.constr_type_e %}
+{%- else %}
+	{%- set constr_type_e = "NONE" %}
+{%- endif %}
+
+{%- if cost.cost_type %}
+	{%- set cost_type = cost.cost_type %}
+{%- else %}
+	{%- set cost_type = "NONE" %}
+{%- endif %}
+
+{%- if cost.cost_type_e %}
+	{%- set cost_type_e = cost.cost_type_e %}
+{%- else %}
+	{%- set cost_type_e = "NONE" %}
+{%- endif %}
+
+{%- if cost.cost_type_0 %}
+	{%- set cost_type_0 = cost.cost_type_0 %}
+{%- else %}
+	{%- set cost_type_0 = "NONE" %}
+{%- endif %}
+
+{%- if dims.nh %}
+	{%- set dims_nh = dims.nh %}
+{%- else %}
+	{%- set dims_nh = 0 %}
+{%- endif %}
+
+{%- if dims.nphi %}
+	{%- set dims_nphi = dims.nphi %}
+{%- else %}
+	{%- set dims_nphi = 0 %}
+{%- endif %}
+
+{%- if dims.nh_e %}
+	{%- set dims_nh_e = dims.nh_e %}
+{%- else %}
+	{%- set dims_nh_e = 0 %}
+{%- endif %}
+
+{%- if dims.nphi_e %}
+	{%- set dims_nphi_e = dims.nphi_e %}
+{%- else %}
+	{%- set dims_nphi_e = 0 %}
+{%- endif %}
+{%- if solver_options.model_external_shared_lib_dir %}
+	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
+{%- endif %}
+{%- if solver_options.model_external_shared_lib_name %}
+	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
+{%- endif %}
+
+{# control operator #}
+{%- if os and os == "pc" %}
+	{%- set control = "&" %}
+{%- else %}
+	{%- set control = ";" %}
+{%- endif %}
+
+{# acados linking libraries and flags #}
+{%- if acados_link_libs and os and os == "pc" %}
+	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
+	{%- set openmp_flag = acados_link_libs.openmp %}
+{%- else %}
+	{%- set openmp_flag = " " %}
+	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
+		{%- set link_libs = "-lqpOASES_e" %}
+	{%- else %}
+		{%- set link_libs = "" %}
+	{%- endif %}
+{%- endif %}
+
+{# acados flags #}
+ACADOS_FLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
+{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
+ACADOS_FLAGS += -DACADOS_WITH_QPOASES
+{%- endif %}
+{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
+ACADOS_FLAGS += -DACADOS_WITH_OSQP
+{%- endif %}
+{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
+ACADOS_FLAGS += -DACADOS_WITH_QPDUNES
+{%- endif %}
+# # Debugging
+# ACADOS_FLAGS += -g3
+
+MODEL_OBJ=
+{%- if  solver_options.integrator_type == "ERK" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.o
+{%- if hessian_approx == "EXACT" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.o
+{%- endif %}
+{%- elif solver_options.integrator_type == "IRK" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.o
+{%- if hessian_approx == "EXACT" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
+{%- endif %}
+{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.o
+{%- if hessian_approx == "EXACT" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
+{%- endif %}
+{%- elif solver_options.integrator_type == "GNSF" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.o
+{%- elif solver_options.integrator_type == "DISCRETE" %}
+{%- if model.dyn_ext_fun_type == "casadi" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.o
+{%- if hessian_approx == "EXACT" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.o
+{%- endif %}
+{%- else %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
+{%- endif %}
+{%- endif %}
+
+
+OCP_OBJ=
+{%- if constr_type == "BGP" and dims_nphi > 0 %}
+OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.o
+{%- endif %}
+{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
+OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.o
+{%- endif %}
+
+{%- if constr_type == "BGH" and dims_nh > 0 %}
+OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.o
+OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.o
+{%- if hessian_approx == "EXACT" %}
+OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.o
+{%- endif %}
+{%- endif %}
+
+{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
+OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.o
+OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.o
+{%- if hessian_approx == "EXACT" %}
+OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.o
+{%- endif %}
+{%- endif %}
+
+{%- if cost_type_0 == "NONLINEAR_LS" %}
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
+{%- elif cost_type_0 == "EXTERNAL" %}
+{% if cost.cost_ext_fun_type_0 == "casadi" %}
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
+{% else %}
+OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
+{% endif %}
+{%- endif %}
+{%- if cost_type == "NONLINEAR_LS" %}
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
+{%- elif cost_type == "EXTERNAL" %}
+{% if cost.cost_ext_fun_type == "casadi" %}
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
+{% elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
+OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
+{% endif %}
+{%- endif %}
+{%- if cost_type_e == "NONLINEAR_LS" %}
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
+{%- elif cost_type_e == "EXTERNAL" %}
+{% if cost.cost_ext_fun_type_e == "casadi" %}
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
+OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
+{% elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
+OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
+{% endif %}
+{%- endif %}
+OCP_OBJ+= acados_solver_{{ model.name }}.o
+
+
+SIM_OBJ=
+SIM_OBJ+= acados_sim_solver_{{ model.name }}.o
+
+EX_OBJ=
+EX_OBJ+= main_{{ model.name }}.o
+
+EX_SIM_OBJ=
+EX_SIM_OBJ+= main_sim_{{ model.name }}.o
+
+OBJ=
+OBJ+= $(MODEL_OBJ)
+{%- if solver_options.integrator_type != "DISCRETE" %}
+OBJ+= $(SIM_OBJ)
+{%- endif %}
+OBJ+= $(OCP_OBJ)
+
+EXTERNAL_DIR=
+EXTERNAL_LIB=
+
+{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
+EXTERNAL_DIR+= {{ model_external_shared_lib_dir  }}
+EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
+{%- endif %}
+
+INCLUDE_PATH = {{ acados_include_path }}
+LIB_PATH = {{ acados_lib_path }}
+
+{%- if solver_options.integrator_type == "DISCRETE" %}
+all: clean casadi_fun example
+shared_lib: ocp_shared_lib
+{%- else %}
+all: clean casadi_fun example_sim example
+shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
+{%- endif %}
+
+CASADI_MODEL_SOURCE=
+{%- if solver_options.integrator_type == "ERK" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_fun.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_expl_vde_forw.c
+{%- if hessian_approx == "EXACT" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_hess.c
+{%- endif %}
+{%- elif solver_options.integrator_type == "IRK" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
+{%- if hessian_approx == "EXACT" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
+{%- endif %}
+{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
+# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
+# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
+{%- if hessian_approx == "EXACT" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
+{%- endif %}
+{%- elif solver_options.integrator_type == "GNSF" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun_jac_y.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_jac_y_uhat.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_get_matrices_fun.c
+{%- elif solver_options.integrator_type == "DISCRETE" and model.dyn_ext_fun_type == "casadi" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac.c
+{%- if hessian_approx == "EXACT" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac_hess.c
+{%- endif %}
+{%- endif %}
+{%- if constr_type == "BGP" and dims_nphi > 0 %}
+CASADI_CON_PHI_SOURCE=
+CASADI_CON_PHI_SOURCE+= {{ model.name }}_phi_constraint.c
+{%- endif %}
+{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
+CASADI_CON_PHI_E_SOURCE=
+CASADI_CON_PHI_E_SOURCE+= {{ model.name }}_phi_e_constraint.c
+{%- endif %}
+{%- if constr_type == "BGH" and dims_nh > 0 %}
+CASADI_CON_H_SOURCE=
+CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt.c
+CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun.c
+{%- if hessian_approx == "EXACT" %}
+CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
+{%- endif %}
+{%- endif %}
+
+{%- if dims_nh_e > 0 %}
+CASADI_CON_H_E_SOURCE=
+CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
+CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun.c
+{%- if hessian_approx == "EXACT" %}
+CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
+{%- endif %}
+{%- endif %}
+
+{%- if cost_type == "NONLINEAR_LS" %}
+CASADI_COST_Y_SOURCE=
+CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun.c
+CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun_jac_ut_xt.c
+CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_hess.c
+{%- endif %}
+{%- if cost_type_e == "NONLINEAR_LS" %}
+CASADI_COST_Y_E_SOURCE=
+CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun.c
+CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun_jac_ut_xt.c
+CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_hess.c
+{%- endif %}
+{%- if cost_type_0 == "NONLINEAR_LS" %}
+CASADI_COST_Y_0_SOURCE=
+CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun.c
+CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun_jac_ut_xt.c
+CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_hess.c
+{%- endif %}
+
+casadi_fun:
+	{%- if model.dyn_ext_fun_type == "casadi" %}
+	( cd {{ model.name }}_model {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_MODEL_SOURCE))
+	{%- endif %}
+	{%- if constr_type == "BGP" and dims_nphi > 0 %}
+	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_SOURCE))
+	{%- endif %}
+	{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
+	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_E_SOURCE))
+	{%- endif %}
+	{%- if constr_type == "BGH" and dims_nh > 0 %}
+	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_SOURCE))
+	{%- endif %}
+	{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
+	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_E_SOURCE))
+	{%- endif %}
+	{%- if cost_type == "NONLINEAR_LS" %}
+	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_SOURCE))
+	{%- endif %}
+	{%- if cost_type_e == "NONLINEAR_LS" %}
+	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_E_SOURCE))
+	{%- endif %}
+	{%- if cost_type_0 == "NONLINEAR_LS" %}
+	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_0_SOURCE))
+	{%- endif %}
+
+main:
+	gcc $(ACADOS_FLAGS) -c main_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
+	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
+	-I $(INCLUDE_PATH)/qpOASES_e/
+	{%- endif %}
+
+main_sim:
+	gcc $(ACADOS_FLAGS) -c main_sim_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/
+
+ocp_solver:
+	gcc $(ACADOS_FLAGS) -c acados_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
+	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
+	-I $(INCLUDE_PATH)/qpOASES_e/
+	{%- endif %}
+
+sim_solver:
+	gcc $(ACADOS_FLAGS) -c acados_sim_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
+	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
+	-I $(INCLUDE_PATH)/qpOASES_e/
+	{%- endif %}
+
+example: ocp_solver main
+	gcc $(ACADOS_FLAGS) -o main_{{ model.name }} $(EX_OBJ) $(OBJ) -L $(LIB_PATH) \
+	-lacados -lhpipm -lblasfeo \
+	{{ link_libs }} \
+	-lm \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	-I $(INCLUDE_PATH)/acados/ \
+	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
+	-I $(INCLUDE_PATH)/qpOASES_e/
+	{%- endif %}
+
+
+example_sim: sim_solver main_sim
+	gcc $(ACADOS_FLAGS) -o main_sim_{{ model.name }} $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) -L $(LIB_PATH) \
+	-lacados -lhpipm -lblasfeo \
+	{{ link_libs }} \
+	-lm \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/acados/ \
+
+{%- if solver_options.integrator_type != "DISCRETE" %}
+
+bundled_shared_lib: casadi_fun ocp_solver sim_solver
+	gcc $(ACADOS_FLAGS) -shared -o libacados_solver_{{ model.name }}.so $(OBJ) \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	-L $(LIB_PATH) \
+	-lacados -lhpipm -lblasfeo \
+	{{ link_libs }} \
+	-lm \
+
+ocp_shared_lib: casadi_fun ocp_solver
+	gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
+	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
+	{{ link_libs }} \
+	-lm \
+
+{%- else %}
+
+ocp_shared_lib: casadi_fun ocp_solver
+	gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
+	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
+	{{ link_libs }} \
+	-lm \
+
+{%- endif %}
+
+ocp_cython_c: ocp_shared_lib
+	cython \
+	-o acados_ocp_solver_pyx.c \
+	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
+	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
+
+ocp_cython_o: ocp_cython_c
+	clang $(ACADOS_FLAGS) -c -O2 \
+	-o acados_ocp_solver_pyx.o \
+	-I /usr/include/python3.8 \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	acados_ocp_solver_pyx.c \
+
+ocp_cython: ocp_cython_o
+	clang $(ACADOS_FLAGS) -shared \
+	-o acados_ocp_solver_pyx.so \
+	-Wl,-rpath=$(LIB_PATH) \
+	acados_ocp_solver_pyx.o \
+	$(abspath .)/libacados_ocp_solver_{{ model.name }}.so \
+	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo -lqpOASES_e \
+	{{ link_libs }} \
+	-lm \
+
+sim_shared_lib: casadi_fun sim_solver
+	gcc $(ACADOS_FLAGS) -shared -o libacados_sim_solver_{{ model.name }}.so $(SIM_OBJ) $(MODEL_OBJ) -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
+	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
+	{{ link_libs }} \
+	-lm \
+
+{%- if os and os == "pc" %}
+
+clean:
+	del \Q *.o 2>nul
+	del \Q *.so 2>nul
+	del \Q main_{{ model.name }} 2>nul
+
+clean_ocp_shared_lib:
+	del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
+	del \Q acados_solver_{{ model.name }}.o 2>nul
+
+{%- else %}
+
+clean:
+	rm -f *.o
+	rm -f *.so
+	rm -f main_{{ model.name }}
+
+clean_ocp_shared_lib:
+	rm -f libacados_ocp_solver_{{ model.name }}.so
+	rm -f acados_solver_{{ model.name }}.o
+
+{%- endif %}
diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_create.in.c b/pyextra/acados_template/c_templates_tera/acados_mex_create.in.c
new file mode 100644
index 00000000000000..251b249b2fb655
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_mex_create.in.c
@@ -0,0 +1,383 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+// standard
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+// acados
+#include "acados/utils/print.h"
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados_solver_{{ model.name }}.h"
+
+// mex
+#include "mex.h"
+
+
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
+{
+    long long *l_ptr;
+    int status = 0;
+
+    // create solver
+    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
+
+    status = {{ model.name }}_acados_create(acados_ocp_capsule);
+
+    if (status)
+    {
+        mexPrintf("{{ model.name }}_acados_create() returned status %d.\n", status);
+    }
+    mexPrintf("{{ model.name }}_acados_create() -> success!\n");
+
+    // get pointers to nlp solver related objects
+    ocp_nlp_plan *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
+    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
+    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
+    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
+    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
+    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
+    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
+
+    // mexPrintf("acados: got pointer to objectes!\n");
+
+    // field names of output struct
+    #define FIELDS_OCP 9
+    #define FIELDS_EXT_FUN 25
+    #define MAX_FIELDS 25
+    char *fieldnames[MAX_FIELDS];
+
+    for (int i = 0; i < MAX_FIELDS; i++)
+    {
+        fieldnames[i] = (char*) mxMalloc(50);
+    }
+
+    memcpy(fieldnames[0],"config",sizeof("config"));
+    memcpy(fieldnames[1],"dims",sizeof("dims"));
+    memcpy(fieldnames[2],"opts",sizeof("opts"));
+    memcpy(fieldnames[3],"in",sizeof("in"));
+    memcpy(fieldnames[4],"out",sizeof("out"));
+    memcpy(fieldnames[5],"solver",sizeof("solver"));
+    memcpy(fieldnames[6],"sens_out",sizeof("sens_out"));
+    memcpy(fieldnames[7],"plan",sizeof("plan"));
+    memcpy(fieldnames[8],"capsule",sizeof("capsule"));
+
+    // create output struct - C_ocp
+    plhs[0] = mxCreateStructMatrix(1, 1, 9, (const char **) fieldnames);
+
+    // MEX: config, dims, opts, in, out, solver, sens_out, plan
+    // plan
+    mxArray *plan_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(plan_mat);
+    l_ptr[0] = (long long) nlp_plan;
+    mxSetField(plhs[0], 0, "plan", plan_mat);
+
+    // config
+    mxArray *config_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(config_mat);
+    l_ptr[0] = (long long) nlp_config;
+    mxSetField(plhs[0], 0, "config", config_mat);
+
+    // dims
+    mxArray *dims_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(dims_mat);
+    l_ptr[0] = (long long) nlp_dims;
+    mxSetField(plhs[0], 0, "dims", dims_mat);
+
+    // opts
+    mxArray *opts_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(opts_mat);
+    l_ptr[0] = (long long) nlp_opts;
+    mxSetField(plhs[0], 0, "opts", opts_mat);
+
+    // in
+    mxArray *in_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(in_mat);
+    l_ptr[0] = (long long) nlp_in;
+    mxSetField(plhs[0], 0, "in", in_mat);
+
+    // out
+    mxArray *out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(out_mat);
+    l_ptr[0] = (long long) nlp_out;
+    mxSetField(plhs[0], 0, "out", out_mat);
+
+    // solver
+    mxArray *solver_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(solver_mat);
+    l_ptr[0] = (long long) nlp_solver;
+    mxSetField(plhs[0], 0, "solver", solver_mat);
+
+    // TODO: sens_out not actually implemented in templates..
+    // sens_out
+    mxArray *sens_out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(sens_out_mat);
+    l_ptr[0] = (long long) 1;
+    mxSetField(plhs[0], 0, "sens_out", sens_out_mat);
+
+    // capsule
+    mxArray *capsule_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(capsule_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule;
+    mxSetField(plhs[0], 0, "capsule", capsule_mat);
+
+    /* store external function pointers */
+    // dyn
+    memcpy(fieldnames[0],"expl_ode_fun",sizeof("expl_ode_fun"));
+    memcpy(fieldnames[1],"forw_vde",sizeof("forw_vde"));
+    memcpy(fieldnames[2],"hess_vde",sizeof("hess_vde"));
+    memcpy(fieldnames[3],"impl_dae_fun",sizeof("impl_dae_fun"));
+    memcpy(fieldnames[4],"impl_dae_fun_jac_x_xdot_z",sizeof("impl_dae_fun_jac_x_xdot_z"));
+    memcpy(fieldnames[5],"impl_dae_jac_x_xdot_u_z",sizeof("impl_dae_jac_x_xdot_u_z"));
+    memcpy(fieldnames[6],"impl_dae_hess",sizeof("impl_dae_hess"));
+
+    memcpy(fieldnames[7],"gnsf_phi_fun",sizeof("gnsf_phi_fun"));
+    memcpy(fieldnames[8],"gnsf_phi_fun_jac_y",sizeof("gnsf_phi_fun_jac_y"));
+    memcpy(fieldnames[9],"gnsf_phi_jac_y_uhat",sizeof("gnsf_phi_jac_y_uhat"));
+    memcpy(fieldnames[10],"gnsf_f_lo_jac_x1_x1dot_u_z",sizeof("gnsf_f_lo_jac_x1_x1dot_u_z"));
+    memcpy(fieldnames[11],"gnsf_get_matrices_fun",sizeof("gnsf_get_matrices_fun"));
+
+    memcpy(fieldnames[12],"disc_phi_fun",sizeof("disc_phi_fun"));
+    memcpy(fieldnames[13],"disc_phi_fun_jac",sizeof("disc_phi_fun_jac"));
+    memcpy(fieldnames[14],"disc_phi_fun_jac_hess",sizeof("disc_phi_fun_jac_hess"));
+    
+    // cost
+    memcpy(fieldnames[15],"cost_y_fun",sizeof("cost_y_fun"));
+    memcpy(fieldnames[16],"cost_y_fun_jac_ut_xt",sizeof("cost_y_fun_jac_ut_xt"));
+    memcpy(fieldnames[17],"cost_y_hess",sizeof("cost_y_hess"));
+    memcpy(fieldnames[18],"ext_cost_fun",sizeof("ext_cost_fun"));
+    memcpy(fieldnames[19],"ext_cost_fun_jac",sizeof("ext_cost_fun_jac"));
+    memcpy(fieldnames[20],"ext_cost_fun_jac_hess",sizeof("ext_cost_fun_jac_hess"));
+
+    // constraints
+    memcpy(fieldnames[21],"phi_constraint",sizeof("phi_constraint"));
+    memcpy(fieldnames[22],"nl_constr_h_fun_jac",sizeof("nl_constr_h_fun_jac"));
+    memcpy(fieldnames[23],"nl_constr_h_fun",sizeof("nl_constr_h_fun"));
+    memcpy(fieldnames[24],"nl_constr_h_fun_jac_hess",sizeof("nl_constr_h_fun_jac_hess"));
+
+
+    // create output struct - C_ocp_ext_fun
+    plhs[1] = mxCreateStructMatrix(1, 1, FIELDS_EXT_FUN, (const char **) fieldnames);
+
+
+    for (int i = 0; i < FIELDS_EXT_FUN; i++)
+    {
+        mxFree( fieldnames[i] );
+    }
+
+/* dynamics */
+    mxArray *expl_ode_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *forw_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *hess_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *impl_dae_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *impl_dae_fun_jac_x_xdot_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *impl_dae_jac_x_xdot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *impl_dae_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+
+    mxArray *gnsf_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *gnsf_phi_fun_jac_y_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *gnsf_phi_jac_y_uhat_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *gnsf_f_lo_jac_x1_x1dot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *gnsf_get_matrices_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+
+    mxArray *disc_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *disc_phi_fun_jac_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+    mxArray *disc_phi_fun_jac_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
+
+{% if solver_options.integrator_type == "ERK" %}
+    {# TODO: remove _casadi from these names.. #}
+    l_ptr = mxGetData(forw_vde_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->forw_vde_casadi;
+    l_ptr = mxGetData(expl_ode_fun_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->expl_ode_fun;
+{% if solver_options.hessian_approx == "EXACT" %}
+    l_ptr = mxGetData(hess_vde_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->hess_vde_casadi;
+{%- endif %}
+{% elif solver_options.integrator_type == "IRK" %}
+    l_ptr = mxGetData(impl_dae_fun_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun;
+    l_ptr = mxGetData(impl_dae_fun_jac_x_xdot_z_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun_jac_x_xdot_z;
+    l_ptr = mxGetData(impl_dae_jac_x_xdot_u_z_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_jac_x_xdot_u_z;
+{% if solver_options.hessian_approx == "EXACT" %}
+    l_ptr = mxGetData(impl_dae_hess_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess;
+{%- endif %}
+{% elif solver_options.integrator_type == "GNSF" %}
+    l_ptr = mxGetData(gnsf_phi_fun_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun;
+    l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y;
+    l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat;
+    l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z;
+    l_ptr = mxGetData(gnsf_get_matrices_fun_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun;
+{% elif solver_options.integrator_type == "DISCRETE" %}
+    l_ptr = mxGetData(disc_phi_fun_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun;
+    l_ptr = mxGetData(disc_phi_fun_jac_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt;
+{% if solver_options.hessian_approx == "EXACT" %}
+    l_ptr = mxGetData(disc_phi_fun_jac_hess_mat);
+    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt_hess;
+{%- endif %}
+{%- endif %}
+    mxSetField(plhs[1], 0, "expl_ode_fun", expl_ode_fun_mat);
+    mxSetField(plhs[1], 0, "forw_vde", forw_vde_mat);
+    mxSetField(plhs[1], 0, "hess_vde", hess_vde_mat);
+
+    mxSetField(plhs[1], 0, "gnsf_phi_fun", gnsf_phi_fun_mat);
+    mxSetField(plhs[1], 0, "gnsf_phi_fun_jac_y", gnsf_phi_fun_jac_y_mat);
+    mxSetField(plhs[1], 0, "gnsf_phi_jac_y_uhat", gnsf_phi_jac_y_uhat_mat);
+    mxSetField(plhs[1], 0, "gnsf_f_lo_jac_x1_x1dot_u_z", gnsf_f_lo_jac_x1_x1dot_u_z_mat);
+    mxSetField(plhs[1], 0, "gnsf_get_matrices_fun", gnsf_get_matrices_fun_mat);
+
+    mxSetField(plhs[1], 0, "impl_dae_fun", impl_dae_fun_mat);
+    mxSetField(plhs[1], 0, "impl_dae_fun_jac_x_xdot_z", impl_dae_fun_jac_x_xdot_z_mat);
+    mxSetField(plhs[1], 0, "impl_dae_jac_x_xdot_u_z", impl_dae_jac_x_xdot_u_z_mat);
+    mxSetField(plhs[1], 0, "impl_dae_hess", impl_dae_hess_mat);
+
+    mxSetField(plhs[1], 0, "disc_phi_fun", disc_phi_fun_mat);
+    mxSetField(plhs[1], 0, "disc_phi_fun_jac", disc_phi_fun_jac_mat);
+    mxSetField(plhs[1], 0, "disc_phi_fun_jac_hess", disc_phi_fun_jac_hess_mat);
+/* constaints */
+    mxArray *phi_constraint_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(phi_constraint_mat);
+{%- if constraints.constr_type == "BGP" %}
+    l_ptr[0] = (long long) acados_ocp_capsule->phi_constraint;
+{% endif %}
+{% if constraints.constr_type_e == "BGP" %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->phi_e_constraint;
+{% endif %}
+    mxSetField(plhs[1], 0, "phi_constraint", phi_constraint_mat);
+
+    mxArray *nl_constr_h_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(nl_constr_h_fun_jac_mat);
+{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
+    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac;
+{% endif %}
+{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac;
+{%- endif %}
+    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac", nl_constr_h_fun_jac_mat);
+
+    mxArray *nl_constr_h_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(nl_constr_h_fun_mat);
+{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
+    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun;
+{% endif %}
+{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun;
+{%- endif %}
+    mxSetField(plhs[1], 0, "nl_constr_h_fun", nl_constr_h_fun_mat);
+
+    mxArray *nl_constr_h_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(nl_constr_h_fun_jac_hess_mat);
+{% if constraints.constr_type == "BGH" and dims.nh > 0 and solver_options.hessian_approx == "EXACT" %}
+    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac_hess;
+{% endif %}
+{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 and solver_options.hessian_approx == "EXACT" %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac_hess;
+{%- endif %}
+    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac_hess", nl_constr_h_fun_jac_hess_mat);
+
+/* cost */
+    mxArray *cost_y_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(cost_y_fun_mat);
+{% if cost.cost_type == "NONLINEAR_LS" %}
+    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun;
+{% endif %}
+{% if cost.cost_type_e == "NONLINEAR_LS" %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun;
+{%- endif %}
+    mxSetField(plhs[1], 0, "cost_y_fun", cost_y_fun_mat);
+
+    mxArray *cost_y_fun_jac_ut_xt_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(cost_y_fun_jac_ut_xt_mat);
+{% if cost.cost_type == "NONLINEAR_LS" %}
+    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun_jac_ut_xt;
+{% endif %}
+{% if cost.cost_type_e == "NONLINEAR_LS" %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun_jac_ut_xt;
+{%- endif %}
+    mxSetField(plhs[1], 0, "cost_y_fun_jac_ut_xt", cost_y_fun_jac_ut_xt_mat);
+
+    mxArray *cost_y_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(cost_y_hess_mat);
+{% if cost.cost_type == "NONLINEAR_LS" %}
+    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_hess;
+{% endif %}
+{% if cost.cost_type_e == "NONLINEAR_LS" %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_hess;
+{%- endif %}
+    mxSetField(plhs[1], 0, "cost_y_hess", cost_y_hess_mat);
+
+    mxArray *ext_cost_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(ext_cost_fun_mat);
+{% if cost.cost_type == "EXTERNAL" %}
+    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun;
+{% endif -%}
+{% if cost.cost_type_e == "EXTERNAL" %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun;
+{%- endif %}
+    mxSetField(plhs[1], 0, "ext_cost_fun", ext_cost_fun_mat);
+
+    mxArray *ext_cost_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(ext_cost_fun_jac_mat);
+{% if cost.cost_type == "EXTERNAL" %}
+    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac;
+{% endif -%}
+{% if cost.cost_type_e == "EXTERNAL" %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac;
+{%- endif %}
+    mxSetField(plhs[1], 0, "ext_cost_fun_jac", ext_cost_fun_jac_mat);
+
+    mxArray *ext_cost_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
+    l_ptr = mxGetData(ext_cost_fun_jac_hess_mat);
+{% if cost.cost_type == "EXTERNAL" %}
+    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac_hess;
+{% endif -%}
+{% if cost.cost_type_e == "EXTERNAL" %}
+    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac_hess;
+{%- endif %}
+    mxSetField(plhs[1], 0, "ext_cost_fun_jac_hess", ext_cost_fun_jac_hess_mat);
+
+
+    return;
+}
diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_free.in.c b/pyextra/acados_template/c_templates_tera/acados_mex_free.in.c
new file mode 100644
index 00000000000000..560adb0b986955
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_mex_free.in.c
@@ -0,0 +1,70 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+// system
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+// acados
+#include "acados_solver_{{ model.name }}.h"
+
+// mex
+#include "mex.h"
+
+
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
+{
+    int status = 0;
+    long long *ptr;
+
+    // mexPrintf("\nin mex_acados_free\n");
+    const mxArray *C_ocp = prhs[0];
+    // capsule
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
+    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
+
+    status = {{ model.name }}_acados_free(capsule);
+    if (status)
+    {
+        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
+    }
+
+    status = {{ model.name }}_acados_free_capsule(capsule);
+    if (status)
+    {
+        mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status);
+    }
+
+    return;
+}
+
diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_set.in.c b/pyextra/acados_template/c_templates_tera/acados_mex_set.in.c
new file mode 100644
index 00000000000000..ae8c3115578069
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_mex_set.in.c
@@ -0,0 +1,570 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+// standard
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+// acados
+#include "acados/utils/print.h"
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados_solver_{{ model.name }}.h"
+
+// mex
+#include "mex.h"
+#include "mex_macros.h"
+
+
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
+{
+
+    long long *ptr;
+    int acados_size;
+    mxArray *mex_field;
+    char fun_name[20] = "ocp_set";
+    char buffer [500]; // for error messages
+
+    /* RHS */
+    int min_nrhs = 6;
+
+    char *ext_fun_type = mxArrayToString( prhs[0] );
+    char *ext_fun_type_e = mxArrayToString( prhs[1] );
+
+    // C ocp
+    const mxArray *C_ocp = prhs[2];
+    // capsule
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
+    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
+    // plan
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
+    ocp_nlp_plan *plan = (ocp_nlp_plan *) ptr[0];
+    // config
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) );
+    ocp_nlp_config *config = (ocp_nlp_config *) ptr[0];
+    // dims
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "dims" ) );
+    ocp_nlp_dims *dims = (ocp_nlp_dims *) ptr[0];
+    // opts
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "opts" ) );
+    void *opts = (void *) ptr[0];
+    // in
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "in" ) );
+    ocp_nlp_in *in = (ocp_nlp_in *) ptr[0];
+    // out
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "out" ) );
+    ocp_nlp_out *out = (ocp_nlp_out *) ptr[0];
+    // solver
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "solver" ) );
+    ocp_nlp_solver *solver = (ocp_nlp_solver *) ptr[0];
+
+    const mxArray *C_ext_fun_pointers = prhs[3];
+    // field
+    char *field = mxArrayToString( prhs[4] );
+    // value
+    double *value = mxGetPr( prhs[5] );
+
+    // for checks
+    int matlab_size = (int) mxGetNumberOfElements( prhs[5] );
+    int nrow = (int) mxGetM( prhs[5] );
+    int ncol = (int) mxGetN( prhs[5] );
+
+    int N = dims->N;
+    int nu = dims->nu[0];
+    int nx = dims->nx[0];
+
+    // stage
+    int s0, se;
+    if (nrhs==min_nrhs)
+    {
+        s0 = 0;
+        se = N;
+    }
+    else if (nrhs==min_nrhs+1)
+    {
+        s0 = mxGetScalar( prhs[6] );
+        if (s0 > N)
+        {
+            sprintf(buffer, "ocp_set: N < specified stage = %d\n", s0);
+            mexErrMsgTxt(buffer);            
+        }
+        se = s0 + 1;
+    }
+    else
+    {
+        sprintf(buffer, "ocp_set: wrong nrhs: %d\n", nrhs);
+        mexErrMsgTxt(buffer);
+    }
+
+    /* Set value */
+    // constraints
+    if (!strcmp(field, "constr_x0"))
+    {
+        acados_size = nx;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        ocp_nlp_constraints_model_set(config, dims, in, 0, "lbx", value);
+        ocp_nlp_constraints_model_set(config, dims, in, 0, "ubx", value);
+    }
+    else if (!strcmp(field, "constr_C"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
+            MEX_DIM_CHECK_MAT(fun_name, "constr_C", nrow, ncol, ng, nx);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "C", value);
+        }
+    }
+    else if (!strcmp(field, "constr_lbx"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbx");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbx", value);
+        }
+    }
+    else if (!strcmp(field, "constr_ubx"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubx");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubx", value);
+        }
+    }
+    else if (!strcmp(field, "constr_lbu"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbu");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbu", value);
+        }
+    }
+    else if (!strcmp(field, "constr_ubu"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubu");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubu", value);
+        }
+    }
+    else if (!strcmp(field, "constr_D"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
+            MEX_DIM_CHECK_MAT(fun_name, "constr_D", nrow, ncol, ng, nu);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "D", value);
+        }
+    }
+    else if (!strcmp(field, "constr_lg"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lg");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "lg", value);
+        }
+    }
+    else if (!strcmp(field, "constr_ug"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "ug", value);
+        }
+    }
+    else if (!strcmp(field, "constr_lh"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lh");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "lh", value);
+        }
+    }
+    else if (!strcmp(field, "constr_uh"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "uh");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+
+            ocp_nlp_constraints_model_set(config, dims, in, ii, "uh", value);
+        }
+    }
+    // cost:
+    else if (!strcmp(field, "cost_y_ref"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
+            {
+                acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                ocp_nlp_cost_model_set(config, dims, in, ii, "y_ref", value);
+            }
+            else
+            {
+                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
+            }
+        }
+    }
+    else if (!strcmp(field, "cost_y_ref_e"))
+    {
+        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, N, "y_ref");
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        ocp_nlp_cost_model_set(config, dims, in, N, "y_ref", value);
+    }
+    else if (!strcmp(field, "cost_Vu"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
+            {
+                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
+                int nu = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "u");
+                acados_size = ny * nu;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                ocp_nlp_cost_model_set(config, dims, in, ii, "Vu", value);
+            }
+            else
+            {
+                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
+            }
+        }
+    }
+    else if (!strcmp(field, "cost_Vx"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
+            {
+                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
+                int nx = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "x");
+                acados_size = ny * nx;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                ocp_nlp_cost_model_set(config, dims, in, ii, "Vx", value);
+            }
+            else
+            {
+                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
+            }
+        }
+    }
+    else if (!strcmp(field, "cost_W"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
+            {
+                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "y_ref");
+                acados_size = ny * ny;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                ocp_nlp_cost_model_set(config, dims, in, ii, "W", value);
+            }
+            else
+            {
+                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
+            }
+        }
+    }
+    else if (!strcmp(field, "cost_Z"))
+    {
+        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_Z");
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=s0; ii<se; ii++)
+        {
+            ocp_nlp_cost_model_set(config, dims, in, ii, "Z", value);
+        }
+    }
+    else if (!strcmp(field, "cost_Zl"))
+    {
+        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zl");
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=s0; ii<se; ii++)
+        {
+            ocp_nlp_cost_model_set(config, dims, in, ii, "Zl", value);
+        }
+    }
+    else if (!strcmp(field, "cost_Zu"))
+    {
+        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zu");
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=s0; ii<se; ii++)
+        {
+            ocp_nlp_cost_model_set(config, dims, in, ii, "Zu", value);
+        }
+    }
+    else if (!strcmp(field, "cost_z"))
+    {
+        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_z");
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=s0; ii<se; ii++)
+        {
+            ocp_nlp_cost_model_set(config, dims, in, ii, "z", value);
+        }
+    }
+    else if (!strcmp(field, "cost_zl"))
+    {
+        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zl");
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=s0; ii<se; ii++)
+        {
+            ocp_nlp_cost_model_set(config, dims, in, ii, "zl", value);
+        }
+    }
+    else if (!strcmp(field, "cost_zu"))
+    {
+        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zu");
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=s0; ii<se; ii++)
+        {
+            ocp_nlp_cost_model_set(config, dims, in, ii, "zu", value);
+        }
+    }
+    // constraints TODO
+    // // NOTE(oj): how is it with Jbx, Jbu, idxb can they be changed?!
+    // else if (!strcmp(field, "constr_lbx"))
+    // {
+    //     // bounds at 0 are a special case.
+    //     if (s0==0)
+    //     {
+    //         sprintf(buffer, "%s cannot set %s for stage 0", fun_name, field);
+    //         mexErrMsgTxt(buffer);
+    //     }
+    // }
+    // initializations
+    else if (!strcmp(field, "init_x"))
+    {
+        if (nrhs!=min_nrhs)
+            MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
+
+        acados_size = (N+1) * nx;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=0; ii<=N; ii++)
+        {
+            ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx);
+        }
+    }
+    else if (!strcmp(field, "init_u"))
+    {
+        if (nrhs!=min_nrhs)
+            MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
+
+        acados_size = N*nu;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=0; ii<N; ii++)
+        {
+            ocp_nlp_out_set(config, dims, out, ii, "u", value+ii*nu);
+        }
+    }
+    else if (!strcmp(field, "init_z"))
+    {
+        sim_solver_plan sim_plan = plan->sim_solver_plan[0];
+        sim_solver_t type = sim_plan.sim_solver;
+        if (type == IRK)
+        {
+            int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z");
+            if (nrhs!=min_nrhs)
+                MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
+
+            acados_size = N*nz;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            for (int ii=0; ii<N; ii++)
+            {
+                ocp_nlp_set(config, solver, ii, "z_guess", value+ii*nz);
+            }
+        }
+        else
+        {
+            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
+        }
+    }
+    else if (!strcmp(field, "init_xdot"))
+    {
+        sim_solver_plan sim_plan = plan->sim_solver_plan[0];
+        sim_solver_t type = sim_plan.sim_solver;
+        if (type == IRK)
+        {
+            int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x");
+            if (nrhs!=min_nrhs)
+                MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
+
+            acados_size = N*nx;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            for (int ii=0; ii<N; ii++)
+            {
+                ocp_nlp_set(config, solver, ii, "xdot_guess", value+ii*nx);
+            }
+        }
+        else
+        {
+            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
+        }
+    }
+    else if (!strcmp(field, "init_gnsf_phi"))
+    {
+        sim_solver_plan sim_plan = plan->sim_solver_plan[0];
+        sim_solver_t type = sim_plan.sim_solver;
+        if (type == GNSF)
+        {
+            int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi");
+
+            if (nrhs!=min_nrhs)
+                MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
+
+            acados_size = N*nout;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            for (int ii=0; ii<N; ii++)
+            {
+                ocp_nlp_set(config, solver, ii, "gnsf_phi_guess", value+ii*nx);
+            }
+        }
+        else
+        {
+            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_gnsf_phi", "irk_gnsf")
+        }
+    }
+    else if (!strcmp(field, "init_pi"))
+    {
+        if (nrhs!=min_nrhs)
+            MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
+
+        acados_size = N*nx;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        for (int ii=0; ii<N; ii++)
+        {
+            ocp_nlp_out_set(config, dims, out, ii, "pi", value+ii*nx);
+        }
+    }
+    else if (!strcmp(field, "init_lam"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            int nlam = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lam");
+            MEX_DIM_CHECK_VEC(fun_name, "lam", nrow*ncol, nlam);
+
+            ocp_nlp_out_set(config, dims, out, ii, "lam", value);
+        }
+    }
+    else if (!strcmp(field, "init_t"))
+    {
+        for (int ii=s0; ii<se; ii++)
+        {
+            int nt = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "t");
+            MEX_DIM_CHECK_VEC(fun_name, "t", nrow*ncol, nt);
+
+            ocp_nlp_out_set(config, dims, out, ii, "t", value);
+        }
+    }
+    else if (!strcmp(field, "p"))
+    {
+        if (nrhs==min_nrhs) // all stages
+        {
+            for (int ii=0; ii<=N; ii++)
+            {
+                {{ model.name }}_acados_update_params(capsule, ii, value, matlab_size);
+            }
+        }
+        else if (nrhs==min_nrhs+1) // one stage
+        {
+            int stage = mxGetScalar( prhs[6] );
+            {{ model.name }}_acados_update_params(capsule, stage, value, matlab_size);
+        }
+    }
+    else if (!strcmp(field, "nlp_solver_max_iter"))
+    {
+        acados_size = 1;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        int nlp_solver_max_iter = (int) value[0];
+        ocp_nlp_solver_opts_set(config, opts, "max_iter", &nlp_solver_max_iter);
+    }
+    else if (!strcmp(field, "rti_phase"))
+    {
+        acados_size = 1;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        int rti_phase = (int) value[0];
+        if (plan->nlp_solver == SQP && rti_phase != 0)
+        {
+            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, field, "sqp_rti")
+        }
+        ocp_nlp_solver_opts_set(config, opts, "rti_phase", &rti_phase);
+    }
+    else if (!strcmp(field, "qp_warm_start"))
+    {
+        acados_size = 1;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        int qp_warm_start = (int) value[0];
+        ocp_nlp_solver_opts_set(config, opts, "qp_warm_start", &qp_warm_start);
+    }
+    else if (!strcmp(field, "warm_start_first_qp"))
+    {
+        acados_size = 1;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        int warm_start_first_qp = (int) value[0];
+        ocp_nlp_solver_opts_set(config, opts, "warm_start_first_qp", &warm_start_first_qp);
+    }
+    else if (!strcmp(field, "print_level"))
+    {
+        acados_size = 1;
+        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+        int print_level = (int) value[0];
+        ocp_nlp_solver_opts_set(config, opts, "print_level", &print_level);
+    }
+    else
+    {
+        MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\
+ constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh\
+ constr_lbu, constr_ubu, cost_y_ref[_e],\
+ cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\
+ cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\
+ init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level");
+    }
+
+    return;
+}
+
diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c b/pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c
new file mode 100644
index 00000000000000..c673d4bf22dc51
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c
@@ -0,0 +1,59 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+// system
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+// acados
+#include "acados_solver_{{ model.name }}.h"
+
+// mex
+#include "mex.h"
+
+
+
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
+{
+    // C_ocp
+    long long *ptr;
+    const mxArray *C_ocp = prhs[0];
+
+    // capsule
+    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
+    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
+
+    // solve
+    {{ model.name }}_acados_solve(capsule);
+
+}
diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
new file mode 100644
index 00000000000000..971fb8a78fc2ee
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
@@ -0,0 +1,488 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+{%- if solver_options.hessian_approx %}
+	{%- set hessian_approx = solver_options.hessian_approx %}
+{%- elif solver_options.sens_hess %}
+	{%- set hessian_approx = "EXACT" %}
+{%- else %}
+	{%- set hessian_approx = "GAUSS_NEWTON" %}
+{%- endif %}
+// standard
+#include <stdio.h>
+#include <stdlib.h>
+
+// acados
+#include "acados_c/external_function_interface.h"
+#include "acados_c/sim_interface.h"
+#include "acados_c/external_function_interface.h"
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/print.h"
+
+
+// example specific
+#include "{{ model.name }}_model/{{ model.name }}_model.h"
+#include "acados_sim_solver_{{ model.name }}.h"
+
+
+// ** solver data **
+
+sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule()
+{
+    void* capsule_mem = malloc(sizeof(sim_solver_capsule));
+    sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem;
+
+    return capsule;
+}
+
+
+int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule)
+{
+    free(capsule);
+    return 0;
+}
+
+
+int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
+{
+    // initialize
+    const int nx = {{ model.name | upper }}_NX;
+    const int nu = {{ model.name | upper }}_NU;
+    const int nz = {{ model.name | upper }}_NZ;
+    const int np = {{ model.name | upper }}_NP;
+    bool tmp_bool;
+
+    {#// double Tsim = {{ solver_options.tf / dims.N }};#}
+    double Tsim = {{ solver_options.Tsim }};
+
+    {% if solver_options.integrator_type == "IRK" %}
+    capsule->sim_impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+
+    // external functions (implicit model)
+    capsule->sim_impl_dae_fun->casadi_fun  = &{{ model.name }}_impl_dae_fun;
+    capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work;
+    capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in;
+    capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
+    capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
+    capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
+    external_function_param_casadi_create(capsule->sim_impl_dae_fun, np);
+
+    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z;
+    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work;
+    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in;
+    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out;
+    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in;
+    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out;
+    external_function_param_casadi_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np);
+
+    // external_function_param_casadi impl_dae_jac_x_xdot_u_z;
+    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z;
+    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work;
+    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in;
+    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out;
+    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in;
+    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out;
+    external_function_param_casadi_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np);
+
+{%- if hessian_approx == "EXACT" %}
+    capsule->sim_impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    // external_function_param_casadi impl_dae_jac_x_xdot_u_z;
+    capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess;
+    capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work;
+    capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in;
+    capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out;
+    capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in;
+    capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out;
+    external_function_param_casadi_create(capsule->sim_impl_dae_hess, np);
+{%- endif %}
+
+    {% elif solver_options.integrator_type == "ERK" %}
+    // explicit ode
+    capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+
+    capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw;
+    capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in;
+    capsule->sim_forw_vde_casadi->casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out;
+    capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in;
+    capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out;
+    capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work;
+    external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np);
+
+    capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun;
+    capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in;
+    capsule->sim_expl_ode_fun_casadi->casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out;
+    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in;
+    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out;
+    capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work;
+    external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np);
+
+{%- if hessian_approx == "EXACT" %}
+    capsule->sim_expl_ode_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    // external_function_param_casadi impl_dae_jac_x_xdot_u_z;
+    capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess;
+    capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work;
+    capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in;
+    capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out;
+    capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in;
+    capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out;
+    external_function_param_casadi_create(capsule->sim_expl_ode_hess, np);
+{%- endif %}
+
+    {% elif solver_options.integrator_type == "GNSF" -%}
+    capsule->sim_gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+
+    capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
+    capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
+    capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
+    capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in;
+    capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out;
+    capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work;
+    external_function_param_casadi_create(capsule->sim_gnsf_phi_fun, np);
+
+    capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y;
+    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in;
+    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out;
+    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in;
+    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out;
+    capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work;
+    external_function_param_casadi_create(capsule->sim_gnsf_phi_fun_jac_y, np);
+
+    capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat;
+    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in;
+    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out;
+    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in;
+    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out;
+    capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
+    external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
+
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in;
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
+    external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
+
+    capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
+    capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
+    capsule->sim_gnsf_get_matrices_fun->casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out;
+    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in;
+    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out;
+    capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work;
+    external_function_param_casadi_create(capsule->sim_gnsf_get_matrices_fun, np);
+    {% endif %}
+
+    // sim plan & config
+    sim_solver_plan plan;
+    plan.sim_solver = {{ solver_options.integrator_type }};
+
+    // create correct config based on plan
+    sim_config * {{ model.name }}_sim_config = sim_config_create(plan);
+    capsule->acados_sim_config = {{ model.name }}_sim_config;
+
+    // sim dims
+    void *{{ model.name }}_sim_dims = sim_dims_create({{ model.name }}_sim_config);
+    capsule->acados_sim_dims = {{ model.name }}_sim_dims;
+    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx", &nx);
+    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nu", &nu);
+    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz", &nz);
+{% if solver_options.integrator_type == "GNSF" %}
+    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
+    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
+    int gnsf_nout = {{ dims.gnsf_nout }};
+    int gnsf_ny = {{ dims.gnsf_ny }};
+    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
+
+    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx1", &gnsf_nx1);
+    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz1", &gnsf_nz1);
+    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nout", &gnsf_nout);
+    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "ny", &gnsf_ny);
+    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nuhat", &gnsf_nuhat);
+{% endif %}
+
+    // sim opts
+    sim_opts *{{ model.name }}_sim_opts = sim_opts_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
+    capsule->acados_sim_opts = {{ model.name }}_sim_opts;
+    int tmp_int = {{ solver_options.sim_method_newton_iter }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int);
+    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type);
+
+{% if problem_class == "SIM" %}
+    tmp_int = {{ solver_options.sim_method_num_stages }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
+    tmp_int = {{ solver_options.sim_method_num_steps }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
+
+    // options that are not available to AcadosOcpSolver
+    //  (in OCP they will be determined by other options, like exact_hessian)
+    tmp_bool = {{ solver_options.sens_forw }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_forw", &tmp_bool);
+    tmp_bool = {{ solver_options.sens_adj }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_adj", &tmp_bool);
+    tmp_bool = {{ solver_options.sens_algebraic }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_algebraic", &tmp_bool);
+    tmp_bool = {{ solver_options.sens_hess }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_hess", &tmp_bool);
+    tmp_bool = {{ solver_options.output_z }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "output_z", &tmp_bool);
+
+{% else %} {# num_stages and num_steps of first shooting interval are used #}
+    tmp_int = {{ solver_options.sim_method_num_stages[0] }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
+    tmp_int = {{ solver_options.sim_method_num_steps[0] }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
+    tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool);
+{% endif %}
+
+    // sim in / out
+    sim_in *{{ model.name }}_sim_in = sim_in_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
+    capsule->acados_sim_in = {{ model.name }}_sim_in;
+    sim_out *{{ model.name }}_sim_out = sim_out_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
+    capsule->acados_sim_out = {{ model.name }}_sim_out;
+
+    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
+               {{ model.name }}_sim_in, "T", &Tsim);
+
+    // model functions
+{%- if solver_options.integrator_type == "IRK" %}
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "impl_ode_fun", capsule->sim_impl_dae_fun);
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "impl_ode_fun_jac_x_xdot", capsule->sim_impl_dae_fun_jac_x_xdot_z);
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "impl_ode_jac_x_xdot_u", capsule->sim_impl_dae_jac_x_xdot_u_z);
+{%- if hessian_approx == "EXACT" %}
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                "impl_dae_hess", capsule->sim_impl_dae_hess);
+{%- endif %}
+
+{%- elif solver_options.integrator_type == "ERK" %}
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "expl_vde_for", capsule->sim_forw_vde_casadi);
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
+{%- if hessian_approx == "EXACT" %}
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                "expl_ode_hess", capsule->sim_expl_ode_hess);
+{%- endif %}
+{%- elif solver_options.integrator_type == "GNSF" %}
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "phi_fun", capsule->sim_gnsf_phi_fun);
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y);
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat);
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun);
+{%- endif %}
+
+    // sim solver
+    sim_solver *{{ model.name }}_sim_solver = sim_solver_create({{ model.name }}_sim_config,
+                                               {{ model.name }}_sim_dims, {{ model.name }}_sim_opts);
+    capsule->acados_sim_solver = {{ model.name }}_sim_solver;
+
+{% if dims.np > 0 %}
+    /* initialize parameter values */
+    double* p = calloc(np, sizeof(double));
+    {% for item in parameter_values %}
+        {%- if item != 0 %}
+    p[{{ loop.index0 }}] = {{ item }};
+        {%- endif %}
+    {%- endfor %}
+
+    {{ model.name }}_acados_sim_update_params(capsule, p, np);
+    free(p);
+{% endif %}{# if dims.np #}
+
+    /* initialize input */
+    // x
+    double x0[{{ dims.nx }}];
+    for (int ii = 0; ii < {{ dims.nx }}; ii++)
+        x0[ii] = 0.0;
+
+    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
+               {{ model.name }}_sim_in, "x", x0);
+
+
+    // u
+    double u0[{{ dims.nu }}];
+    for (int ii = 0; ii < {{ dims.nu }}; ii++)
+        u0[ii] = 0.0;
+
+    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
+               {{ model.name }}_sim_in, "u", u0);
+
+    // S_forw
+    double S_forw[{{ dims.nx * (dims.nx + dims.nu) }}];
+    for (int ii = 0; ii < {{ dims.nx * (dims.nx + dims.nu) }}; ii++)
+        S_forw[ii] = 0.0;
+    for (int ii = 0; ii < {{ dims.nx }}; ii++)
+        S_forw[ii + ii * {{ dims.nx }} ] = 1.0;
+
+
+    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
+               {{ model.name }}_sim_in, "S_forw", S_forw);
+
+    int status = sim_precompute({{ model.name }}_sim_solver, {{ model.name }}_sim_in, {{ model.name }}_sim_out);
+
+    return status;
+}
+
+
+int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule)
+{
+    // integrate dynamics using acados sim_solver
+    int status = sim_solve(capsule->acados_sim_solver,
+                           capsule->acados_sim_in, capsule->acados_sim_out);
+    if (status != 0)
+        printf("error in {{ model.name }}_acados_sim_solve()! Exiting.\n");
+
+    return status;
+}
+
+
+int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
+{
+    // free memory
+    sim_solver_destroy(capsule->acados_sim_solver);
+    sim_in_destroy(capsule->acados_sim_in);
+    sim_out_destroy(capsule->acados_sim_out);
+    sim_opts_destroy(capsule->acados_sim_opts);
+    sim_dims_destroy(capsule->acados_sim_dims);
+    sim_config_destroy(capsule->acados_sim_config);
+
+    // free external function
+{%- if solver_options.integrator_type == "IRK" %}
+    external_function_param_casadi_free(capsule->sim_impl_dae_fun);
+    external_function_param_casadi_free(capsule->sim_impl_dae_fun_jac_x_xdot_z);
+    external_function_param_casadi_free(capsule->sim_impl_dae_jac_x_xdot_u_z);
+{%- if hessian_approx == "EXACT" %}
+    external_function_param_casadi_free(capsule->sim_impl_dae_hess);
+{%- endif %}
+{%- elif solver_options.integrator_type == "ERK" %}
+    external_function_param_casadi_free(capsule->sim_forw_vde_casadi);
+    external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi);
+{%- if hessian_approx == "EXACT" %}
+    external_function_param_casadi_free(capsule->sim_expl_ode_hess);
+{%- endif %}
+{%- elif solver_options.integrator_type == "GNSF" %}
+    external_function_param_casadi_free(capsule->sim_gnsf_phi_fun);
+    external_function_param_casadi_free(capsule->sim_gnsf_phi_fun_jac_y);
+    external_function_param_casadi_free(capsule->sim_gnsf_phi_jac_y_uhat);
+    external_function_param_casadi_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
+    external_function_param_casadi_free(capsule->sim_gnsf_get_matrices_fun);
+{% endif %}
+
+    return 0;
+}
+
+
+int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
+{
+    int status = 0;
+    int casadi_np = {{ model.name | upper }}_NP;
+
+    if (casadi_np != np) {
+        printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions."
+            " External function has %i parameters. Exiting.\n", np, casadi_np);
+        exit(1);
+    }
+
+{%- if solver_options.integrator_type == "ERK" %}
+    capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
+    capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
+{%- if hessian_approx == "EXACT" %}
+    capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p);
+{%- endif %}
+{%- elif solver_options.integrator_type == "IRK" %}
+    capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p);
+    capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p);
+    capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p);
+{%- if hessian_approx == "EXACT" %}
+    capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
+{%- endif %}
+{%- elif solver_options.integrator_type == "GNSF" %}
+    capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
+    capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
+    capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
+    capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
+{% endif %}
+
+    return status;
+}
+
+/* getters pointers to C objects*/
+sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule)
+{
+    return capsule->acados_sim_config;
+};
+
+sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule)
+{
+    return capsule->acados_sim_in;
+};
+
+sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule)
+{
+    return capsule->acados_sim_out;
+};
+
+void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule)
+{
+    return capsule->acados_sim_dims;
+};
+
+sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule)
+{
+    return capsule->acados_sim_opts;
+};
+
+sim_solver  * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule)
+{
+    return capsule->acados_sim_solver;
+};
+
diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
new file mode 100644
index 00000000000000..4da8202d3cab4a
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
@@ -0,0 +1,103 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef ACADOS_SIM_{{ model.name }}_H_
+#define ACADOS_SIM_{{ model.name }}_H_
+
+#include "acados_c/sim_interface.h"
+#include "acados_c/external_function_interface.h"
+
+#define {{ model.name | upper }}_NX     {{ dims.nx }}
+#define {{ model.name | upper }}_NZ     {{ dims.nz }}
+#define {{ model.name | upper }}_NU     {{ dims.nu }}
+#define {{ model.name | upper }}_NP     {{ dims.np }}
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// ** capsule for solver data **
+typedef struct sim_solver_capsule
+{
+    // acados objects
+    sim_in *acados_sim_in;
+    sim_out *acados_sim_out;
+    sim_solver *acados_sim_solver;
+    sim_opts *acados_sim_opts;
+    sim_config *acados_sim_config;
+    void *acados_sim_dims;
+
+    /* external functions */
+    // ERK
+    external_function_param_casadi * sim_forw_vde_casadi;
+    external_function_param_casadi * sim_expl_ode_fun_casadi;
+    external_function_param_casadi * sim_expl_ode_hess;
+
+    // IRK
+    external_function_param_casadi * sim_impl_dae_fun;
+    external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z;
+    external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z;
+    external_function_param_casadi * sim_impl_dae_hess;
+
+    // GNSF
+    external_function_param_casadi * sim_gnsf_phi_fun;
+    external_function_param_casadi * sim_gnsf_phi_fun_jac_y;
+    external_function_param_casadi * sim_gnsf_phi_jac_y_uhat;
+    external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
+    external_function_param_casadi * sim_gnsf_get_matrices_fun;
+
+} sim_solver_capsule;
+
+
+int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
+int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
+int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
+int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
+
+sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
+sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
+sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
+void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
+sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
+sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
+
+
+sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
+int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_SIM_{{ model.name }}_H_
diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c b/pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c
new file mode 100644
index 00000000000000..234295fa29baf3
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c
@@ -0,0 +1,233 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#define S_FUNCTION_NAME   acados_sim_solver_sfunction_{{ model.name }}
+#define S_FUNCTION_LEVEL  2
+
+#define MDL_START
+
+// acados
+#include "acados/utils/print.h"
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados_c/external_function_interface.h"
+
+// example specific
+#include "{{ model.name }}_model/{{ model.name }}_model.h"
+#include "acados_sim_solver_{{ model.name }}.h"
+
+#include "simstruc.h"
+
+#define SAMPLINGTIME {{ solver_options.Tsim }}
+
+
+static void mdlInitializeSizes (SimStruct *S)
+{
+    // specify the number of continuous and discrete states
+    ssSetNumContStates(S, 0);
+    ssSetNumDiscStates(S, 0);
+
+    {# compute number of input ports #}
+    {%- set n_inputs = 1 %}  {# x0 #}
+    {%- if dims.nu > 0 %}  {# u0 -#}
+        {%- set n_inputs = n_inputs + 1 -%}
+    {%- endif %}
+    {%- if dims.np > 0 %}  {# parameters #}
+        {%- set n_inputs = n_inputs + 1 -%}
+    {%- endif %}
+
+    // specify the number of input ports
+    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
+        return;
+
+    // specify the number of output ports
+    if ( !ssSetNumOutputPorts(S, 1) )
+        return;
+
+    // specify dimension information for the input ports
+    {%- set i_input = 0 %}
+    // x0
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx }});
+
+    {%- if dims.nu > 0 %}
+    {%- set i_input = i_input + 1 %}
+    // u0
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu }});
+    {%- endif %}
+
+    {%- if dims.np > 0 %}
+    {%- set i_input = i_input + 1 %}
+    // parameters
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.np }});
+    {%- endif %}
+
+    // specify dimension information for the output ports
+    ssSetOutputPortVectorDimension(S, 0, {{ dims.nx }} ); // xnext
+
+    // specify the direct feedthrough status
+    // should be set to 1 for all inputs used in mdlOutputs
+    {%- for i in range(end=n_inputs) %}
+    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
+    {%- endfor %}
+
+    // one sample time
+    ssSetNumSampleTimes(S, 1);
+}
+
+
+#if defined(MATLAB_MEX_FILE)
+
+#define MDL_SET_INPUT_PORT_DIMENSION_INFO
+#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
+
+static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
+{
+    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
+         return;
+}
+
+static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
+{
+    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
+         return;
+}
+
+#endif /* MATLAB_MEX_FILE */
+
+
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+    ssSetSampleTime(S, 0, SAMPLINGTIME);
+    ssSetOffsetTime(S, 0, 0.0);
+}
+
+
+static void mdlStart(SimStruct *S)
+{
+    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
+    {{ model.name }}_acados_sim_create(capsule);
+
+    ssSetUserData(S, (void*)capsule);
+}
+
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+    sim_solver_capsule *capsule = ssGetUserData(S);
+
+    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
+    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
+    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
+    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
+    // sim_opts * {{ model.name }}_acados_get_sim_opts(capsule);
+    // sim_solver * {{ model.name }}_acados_get_sim_solver(capsule);
+
+    InputRealPtrsType in_sign;
+    {% set input_sizes = [dims.nx, dims.nu, dims.np] %}
+
+    // local buffer
+    {%- set buffer_size =  input_sizes | sort | last %}
+    real_t buffer[{{ buffer_size }}];
+
+
+    /* go through inputs */
+    {%- set i_input = 0 %}
+    // initial condition
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int i = 0; i < {{ dims.nx }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    sim_in_set(acados_sim_config, acados_sim_dims,
+               acados_sim_in, "x", buffer);
+
+
+    // ssPrintf("\nin acados sim:\n");
+    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x0[%d] = %f\n", i, buffer[i]);
+    //     ssPrintf("\n");
+
+{% if dims.nu > 0 %}
+    // control input - u
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.nu }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    sim_in_set(acados_sim_config, acados_sim_dims,
+               acados_sim_in, "u", buffer);
+{%- endif %}
+
+
+{% if dims.np > 0 %}
+    // parameters
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.np }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    // update value of parameters
+    {{ model.name }}_acados_sim_update_params(capsule, buffer, {{ dims.np }});
+{%- endif %}
+
+
+    /* call solver */
+    int acados_status = {{ model.name }}_acados_sim_solve(capsule);
+
+
+    /* set outputs */
+    real_t *out_x = ssGetOutputPortRealSignal(S, 0);
+
+    // get simulated state
+    sim_out_get(acados_sim_config, acados_sim_dims, acados_sim_out,
+                "xn", (void *) out_x);
+
+    // ssPrintf("\nacados sim solve: returned %d\n", acados_status);
+    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x_sim[%d] = %f\n", i, out_x[i]);
+    //     ssPrintf("\n");
+
+}
+
+
+static void mdlTerminate(SimStruct *S)
+{
+    sim_solver_capsule *capsule = ssGetUserData(S);
+
+    {{ model.name }}_acados_sim_free(capsule);
+    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
+}
+
+
+#ifdef  MATLAB_MEX_FILE
+#include "simulink.c"
+#else
+#include "cg_sfun.h"
+#endif
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.c b/pyextra/acados_template/c_templates_tera/acados_solver.in.c
new file mode 100644
index 00000000000000..6e13242a41a258
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_solver.in.c
@@ -0,0 +1,2491 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+// standard
+#include <stdio.h>
+#include <stdlib.h>
+// acados
+#include "acados/utils/print.h"
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados_c/external_function_interface.h"
+
+// example specific
+#include "{{ model.name }}_model/{{ model.name }}_model.h"
+{% if constraints.constr_type == "BGP" and dims.nphi %}
+#include "{{ model.name }}_constraints/{{ model.name }}_phi_constraint.h"
+{% endif %}
+{% if constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
+#include "{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.h"
+{% endif %}
+{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
+#include "{{ model.name }}_constraints/{{ model.name }}_h_constraint.h"
+{% endif %}
+{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
+#include "{{ model.name }}_constraints/{{ model.name }}_h_e_constraint.h"
+{% endif %}
+{%- if cost.cost_type == "NONLINEAR_LS" %}
+#include "{{ model.name }}_cost/{{ model.name }}_cost_y_fun.h"
+{%- elif cost.cost_type == "EXTERNAL" %}
+#include "{{ model.name }}_cost/{{ model.name }}_external_cost.h"
+{%- endif %}
+{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
+#include "{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.h"
+{%- elif cost.cost_type_0 == "EXTERNAL" %}
+#include "{{ model.name }}_cost/{{ model.name }}_external_cost_0.h"
+{%- endif %}
+{%- if cost.cost_type_e == "NONLINEAR_LS" %}
+#include "{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.h"
+{%- elif cost.cost_type_e == "EXTERNAL" %}
+#include "{{ model.name }}_cost/{{ model.name }}_external_cost_e.h"
+{%- endif %}
+
+#include "acados_solver_{{ model.name }}.h"
+
+#define NX     {{ model.name | upper }}_NX
+#define NZ     {{ model.name | upper }}_NZ
+#define NU     {{ model.name | upper }}_NU
+#define NP     {{ model.name | upper }}_NP
+#define NBX    {{ model.name | upper }}_NBX
+#define NBX0   {{ model.name | upper }}_NBX0
+#define NBU    {{ model.name | upper }}_NBU
+#define NSBX   {{ model.name | upper }}_NSBX
+#define NSBU   {{ model.name | upper }}_NSBU
+#define NSH    {{ model.name | upper }}_NSH
+#define NSG    {{ model.name | upper }}_NSG
+#define NSPHI  {{ model.name | upper }}_NSPHI
+#define NSHN   {{ model.name | upper }}_NSHN
+#define NSGN   {{ model.name | upper }}_NSGN
+#define NSPHIN {{ model.name | upper }}_NSPHIN
+#define NSBXN  {{ model.name | upper }}_NSBXN
+#define NS     {{ model.name | upper }}_NS
+#define NSN    {{ model.name | upper }}_NSN
+#define NG     {{ model.name | upper }}_NG
+#define NBXN   {{ model.name | upper }}_NBXN
+#define NGN    {{ model.name | upper }}_NGN
+#define NY0    {{ model.name | upper }}_NY0
+#define NY     {{ model.name | upper }}_NY
+#define NYN    {{ model.name | upper }}_NYN
+// #define N      {{ model.name | upper }}_N
+#define NH     {{ model.name | upper }}_NH
+#define NPHI   {{ model.name | upper }}_NPHI
+#define NHN    {{ model.name | upper }}_NHN
+#define NPHIN  {{ model.name | upper }}_NPHIN
+#define NR     {{ model.name | upper }}_NR
+
+
+// ** solver data **
+
+{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void)
+{
+    void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule));
+    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem;
+
+    return capsule;
+}
+
+
+int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule)
+{
+    free(capsule);
+    return 0;
+}
+
+
+int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule)
+{
+    int N_shooting_intervals = {{ model.name | upper }}_N;
+    double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps
+    return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps);
+}
+
+int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps)
+{
+    if (N != capsule->nlp_solver_plan->N) {
+        fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \
+            "differs from the currently allocated number of " \
+            "time steps (= %d)!\n" \
+            "Please recreate with new discretization and provide a new vector of time_stamps!\n",
+            N, capsule->nlp_solver_plan->N);
+        return 1;
+    }
+
+    ocp_nlp_config * nlp_config = capsule->nlp_config;
+    ocp_nlp_dims * nlp_dims = capsule->nlp_dims;
+    ocp_nlp_in * nlp_in = capsule->nlp_in;
+
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]);
+    }
+    return 0;
+}
+
+int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps)
+{
+    int status = 0;
+    // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given.
+    if (N != {{ model.name | upper }}_N && !new_time_steps) {
+        fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \
+            "but the number of shooting intervals (= %d) differs from the number of " \
+            "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \
+             N, {{ model.name | upper }}_N);
+        return 1;
+    }
+
+    // number of expected runtime parameters
+    capsule->nlp_np = NP;
+
+    /************************************************
+    *  plan & config
+    ************************************************/
+    ocp_nlp_plan * nlp_solver_plan = ocp_nlp_plan_create(N);
+    capsule->nlp_solver_plan = nlp_solver_plan;
+
+    {%- if solver_options.nlp_solver_type == "SQP" %}
+    nlp_solver_plan->nlp_solver = SQP;
+    {% else %}
+    nlp_solver_plan->nlp_solver = SQP_RTI;
+    {%- endif %}
+
+    nlp_solver_plan->ocp_qp_solver_plan.qp_solver = {{ solver_options.qp_solver }};
+
+    nlp_solver_plan->nlp_cost[0] = {{ cost.cost_type_0 }};
+    for (int i = 1; i < N; i++)
+        nlp_solver_plan->nlp_cost[i] = {{ cost.cost_type }};
+
+    nlp_solver_plan->nlp_cost[N] = {{ cost.cost_type_e }};
+
+    for (int i = 0; i < N; i++)
+    {
+        {% if solver_options.integrator_type == "DISCRETE" %}
+        nlp_solver_plan->nlp_dynamics[i] = DISCRETE_MODEL;
+        // discrete dynamics does not need sim solver option, this field is ignored
+        nlp_solver_plan->sim_solver_plan[i].sim_solver = INVALID_SIM_SOLVER;
+        {% else %}
+        nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL;
+        nlp_solver_plan->sim_solver_plan[i].sim_solver = {{ solver_options.integrator_type }};
+        {%- endif %}
+    }
+
+    for (int i = 0; i < N; i++)
+    {
+        {% if constraints.constr_type == "BGP" %}
+        nlp_solver_plan->nlp_constraints[i] = BGP;
+        {%- else -%}
+        nlp_solver_plan->nlp_constraints[i] = BGH;
+        {%- endif %}
+    }
+
+    {%- if constraints.constr_type_e == "BGP" %}
+    nlp_solver_plan->nlp_constraints[N] = BGP;
+    {% else %}
+    nlp_solver_plan->nlp_constraints[N] = BGH;
+    {%- endif %}
+
+{%- if solver_options.hessian_approx == "EXACT" %}
+    {%- if solver_options.regularize_method == "NO_REGULARIZE" %}
+    nlp_solver_plan->regularization = NO_REGULARIZE;
+    {%- elif solver_options.regularize_method == "MIRROR" %}
+    nlp_solver_plan->regularization = MIRROR;
+    {%- elif solver_options.regularize_method == "PROJECT" %}
+    nlp_solver_plan->regularization = PROJECT;
+    {%- elif solver_options.regularize_method == "PROJECT_REDUC_HESS" %}
+    nlp_solver_plan->regularization = PROJECT_REDUC_HESS;
+    {%- elif solver_options.regularize_method == "CONVEXIFY" %}
+    nlp_solver_plan->regularization = CONVEXIFY;
+    {%- endif %}
+{%- endif %}
+    ocp_nlp_config * nlp_config = ocp_nlp_config_create(*nlp_solver_plan);
+    capsule->nlp_config = nlp_config;
+
+
+    /************************************************
+    *  dimensions
+    ************************************************/
+    #define NINTNP1MEMS 17
+    int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS );
+
+    int* nx    = intNp1mem + (N+1)*0;
+    int* nu    = intNp1mem + (N+1)*1;
+    int* nbx   = intNp1mem + (N+1)*2;
+    int* nbu   = intNp1mem + (N+1)*3;
+    int* nsbx  = intNp1mem + (N+1)*4;
+    int* nsbu  = intNp1mem + (N+1)*5;
+    int* nsg   = intNp1mem + (N+1)*6;
+    int* nsh   = intNp1mem + (N+1)*7;
+    int* nsphi = intNp1mem + (N+1)*8;
+    int* ns    = intNp1mem + (N+1)*9;
+    int* ng    = intNp1mem + (N+1)*10;
+    int* nh    = intNp1mem + (N+1)*11;
+    int* nphi  = intNp1mem + (N+1)*12;
+    int* nz    = intNp1mem + (N+1)*13;
+    int* ny    = intNp1mem + (N+1)*14;
+    int* nr    = intNp1mem + (N+1)*15;
+    int* nbxe  = intNp1mem + (N+1)*16;
+
+    for (int i = 0; i < N+1; i++)
+    {
+        // common
+        nx[i]     = NX;
+        nu[i]     = NU;
+        nz[i]     = NZ;
+        ns[i]     = NS;
+        // cost
+        ny[i]     = NY;
+        // constraints
+        nbx[i]    = NBX;
+        nbu[i]    = NBU;
+        nsbx[i]   = NSBX;
+        nsbu[i]   = NSBU;
+        nsg[i]    = NSG;
+        nsh[i]    = NSH;
+        nsphi[i]  = NSPHI;
+        ng[i]     = NG;
+        nh[i]     = NH;
+        nphi[i]   = NPHI;
+        nr[i]     = NR;
+        nbxe[i]   = 0;
+    }
+
+    // for initial state
+    nbx[0]  = NBX0;
+    nsbx[0] = 0;
+    ns[0] = NS - NSBX;
+    nbxe[0] = {{ dims.nbxe_0 }};
+    ny[0] = NY0;
+
+    // terminal - common
+    nu[N]   = 0;
+    nz[N]   = 0;
+    ns[N]   = NSN;
+    // cost
+    ny[N]   = NYN;
+    // constraint
+    nbx[N]   = NBXN;
+    nbu[N]   = 0;
+    ng[N]    = NGN;
+    nh[N]    = NHN;
+    nphi[N]  = NPHIN;
+    nr[N]    = {{ dims.nr_e }};
+
+    nsbx[N]  = NSBXN;
+    nsbu[N]  = 0;
+    nsg[N]   = NSGN;
+    nsh[N]   = NSHN;
+    nsphi[N] = NSPHIN;
+
+    /* create and set ocp_nlp_dims */
+    ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config);
+    capsule->nlp_dims = nlp_dims;
+
+    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx);
+    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu);
+    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz);
+    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns);
+
+    for (int i = 0; i <= N; i++)
+    {
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]);
+    }
+
+    {%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
+    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]);
+    {%- endif %}
+
+    {%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
+    for (int i = 1; i < N; i++)
+        ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]);
+    {%- endif %}
+
+    for (int i = 0; i < N; i++)
+    {
+        {%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]);
+        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nr", &nr[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nphi", &nphi[i]);
+        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsphi", &nsphi[i]);
+        {%- endif %}
+    }
+
+    {%- if constraints.constr_type_e == "BGH" %}
+    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]);
+    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]);
+    {%- elif constraints.constr_type_e == "BGP" %}
+    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nr", &nr[N]);
+    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]);
+    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]);
+    {%- endif %}
+    {%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %}
+    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]);
+    {%- endif %}
+
+    free(intNp1mem);
+
+{% if solver_options.integrator_type == "GNSF" -%}
+    // GNSF specific dimensions
+    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
+    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
+    int gnsf_nout = {{ dims.gnsf_nout }};
+    int gnsf_ny = {{ dims.gnsf_ny }};
+    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
+
+    for (int i = 0; i < N; i++)
+    {
+        if (nlp_solver_plan->sim_solver_plan[i].sim_solver == GNSF)
+        {
+            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nx1", &gnsf_nx1);
+            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nz1", &gnsf_nz1);
+            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nout", &gnsf_nout);
+            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_ny", &gnsf_ny);
+            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nuhat", &gnsf_nuhat);
+        }
+    }
+{%- endif %}
+
+    /************************************************
+    *  external functions
+    ************************************************/
+    {%- if constraints.constr_type == "BGP" %}
+    capsule->phi_constraint = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++)
+    {
+        // nonlinear part of convex-composite constraint
+        capsule->phi_constraint[i].casadi_fun = &{{ model.name }}_phi_constraint;
+        capsule->phi_constraint[i].casadi_n_in = &{{ model.name }}_phi_constraint_n_in;
+        capsule->phi_constraint[i].casadi_n_out = &{{ model.name }}_phi_constraint_n_out;
+        capsule->phi_constraint[i].casadi_sparsity_in = &{{ model.name }}_phi_constraint_sparsity_in;
+        capsule->phi_constraint[i].casadi_sparsity_out = &{{ model.name }}_phi_constraint_sparsity_out;
+        capsule->phi_constraint[i].casadi_work = &{{ model.name }}_phi_constraint_work;
+
+        external_function_param_casadi_create(&capsule->phi_constraint[i], {{ dims.np }});
+    }
+    {%- endif %}
+
+    {%- if constraints.constr_type_e == "BGP" %}
+    // nonlinear part of convex-composite constraint
+    capsule->phi_e_constraint.casadi_fun = &{{ model.name }}_phi_e_constraint;
+    capsule->phi_e_constraint.casadi_n_in = &{{ model.name }}_phi_e_constraint_n_in;
+    capsule->phi_e_constraint.casadi_n_out = &{{ model.name }}_phi_e_constraint_n_out;
+    capsule->phi_e_constraint.casadi_sparsity_in = &{{ model.name }}_phi_e_constraint_sparsity_in;
+    capsule->phi_e_constraint.casadi_sparsity_out = &{{ model.name }}_phi_e_constraint_sparsity_out;
+    capsule->phi_e_constraint.casadi_work = &{{ model.name }}_phi_e_constraint_work;
+
+    external_function_param_casadi_create(&capsule->phi_e_constraint, {{ dims.np }});
+    {% endif %}
+
+    {%- if constraints.constr_type == "BGH" and dims.nh > 0  %}
+    capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->nl_constr_h_fun_jac[i].casadi_fun = &{{ model.name }}_constr_h_fun_jac_uxt_zt;
+        capsule->nl_constr_h_fun_jac[i].casadi_n_in = &{{ model.name }}_constr_h_fun_jac_uxt_zt_n_in;
+        capsule->nl_constr_h_fun_jac[i].casadi_n_out = &{{ model.name }}_constr_h_fun_jac_uxt_zt_n_out;
+        capsule->nl_constr_h_fun_jac[i].casadi_sparsity_in = &{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in;
+        capsule->nl_constr_h_fun_jac[i].casadi_sparsity_out = &{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out;
+        capsule->nl_constr_h_fun_jac[i].casadi_work = &{{ model.name }}_constr_h_fun_jac_uxt_zt_work;
+        external_function_param_casadi_create(&capsule->nl_constr_h_fun_jac[i], {{ dims.np }});
+    }
+    capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->nl_constr_h_fun[i].casadi_fun = &{{ model.name }}_constr_h_fun;
+        capsule->nl_constr_h_fun[i].casadi_n_in = &{{ model.name }}_constr_h_fun_n_in;
+        capsule->nl_constr_h_fun[i].casadi_n_out = &{{ model.name }}_constr_h_fun_n_out;
+        capsule->nl_constr_h_fun[i].casadi_sparsity_in = &{{ model.name }}_constr_h_fun_sparsity_in;
+        capsule->nl_constr_h_fun[i].casadi_sparsity_out = &{{ model.name }}_constr_h_fun_sparsity_out;
+        capsule->nl_constr_h_fun[i].casadi_work = &{{ model.name }}_constr_h_fun_work;
+        external_function_param_casadi_create(&capsule->nl_constr_h_fun[i], {{ dims.np }});
+    }
+    {% if solver_options.hessian_approx == "EXACT" %}
+    capsule->nl_constr_h_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->nl_constr_h_fun_jac_hess[i].casadi_fun = &{{ model.name }}_constr_h_fun_jac_uxt_zt_hess;
+        capsule->nl_constr_h_fun_jac_hess[i].casadi_n_in = &{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in;
+        capsule->nl_constr_h_fun_jac_hess[i].casadi_n_out = &{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out;
+        capsule->nl_constr_h_fun_jac_hess[i].casadi_sparsity_in = &{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in;
+        capsule->nl_constr_h_fun_jac_hess[i].casadi_sparsity_out = &{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out;
+        capsule->nl_constr_h_fun_jac_hess[i].casadi_work = &{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work;
+
+        external_function_param_casadi_create(&capsule->nl_constr_h_fun_jac_hess[i], {{ dims.np }});
+    }
+    {% endif %}
+    {% endif %}
+
+    {%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
+    capsule->nl_constr_h_e_fun_jac.casadi_fun = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt;
+    capsule->nl_constr_h_e_fun_jac.casadi_n_in = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in;
+    capsule->nl_constr_h_e_fun_jac.casadi_n_out = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out;
+    capsule->nl_constr_h_e_fun_jac.casadi_sparsity_in = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in;
+    capsule->nl_constr_h_e_fun_jac.casadi_sparsity_out = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out;
+    capsule->nl_constr_h_e_fun_jac.casadi_work = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_work;
+    external_function_param_casadi_create(&capsule->nl_constr_h_e_fun_jac, {{ dims.np }});
+
+    capsule->nl_constr_h_e_fun.casadi_fun = &{{ model.name }}_constr_h_e_fun;
+    capsule->nl_constr_h_e_fun.casadi_n_in = &{{ model.name }}_constr_h_e_fun_n_in;
+    capsule->nl_constr_h_e_fun.casadi_n_out = &{{ model.name }}_constr_h_e_fun_n_out;
+    capsule->nl_constr_h_e_fun.casadi_sparsity_in = &{{ model.name }}_constr_h_e_fun_sparsity_in;
+    capsule->nl_constr_h_e_fun.casadi_sparsity_out = &{{ model.name }}_constr_h_e_fun_sparsity_out;
+    capsule->nl_constr_h_e_fun.casadi_work = &{{ model.name }}_constr_h_e_fun_work;
+    external_function_param_casadi_create(&capsule->nl_constr_h_e_fun, {{ dims.np }});
+
+    {% if solver_options.hessian_approx == "EXACT" %}
+    capsule->nl_constr_h_e_fun_jac_hess.casadi_fun = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess;
+    capsule->nl_constr_h_e_fun_jac_hess.casadi_n_in = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in;
+    capsule->nl_constr_h_e_fun_jac_hess.casadi_n_out = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out;
+    capsule->nl_constr_h_e_fun_jac_hess.casadi_sparsity_in = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in;
+    capsule->nl_constr_h_e_fun_jac_hess.casadi_sparsity_out = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out;
+    capsule->nl_constr_h_e_fun_jac_hess.casadi_work = &{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work;
+    external_function_param_casadi_create(&capsule->nl_constr_h_e_fun_jac_hess, {{ dims.np }});
+    {% endif %}
+    {%- endif %}
+
+{% if solver_options.integrator_type == "ERK" %}
+    // explicit ode
+    capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->forw_vde_casadi[i].casadi_fun = &{{ model.name }}_expl_vde_forw;
+        capsule->forw_vde_casadi[i].casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in;
+        capsule->forw_vde_casadi[i].casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out;
+        capsule->forw_vde_casadi[i].casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in;
+        capsule->forw_vde_casadi[i].casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out;
+        capsule->forw_vde_casadi[i].casadi_work = &{{ model.name }}_expl_vde_forw_work;
+        external_function_param_casadi_create(&capsule->forw_vde_casadi[i], {{ dims.np }});
+    }
+
+    capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->expl_ode_fun[i].casadi_fun = &{{ model.name }}_expl_ode_fun;
+        capsule->expl_ode_fun[i].casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in;
+        capsule->expl_ode_fun[i].casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out;
+        capsule->expl_ode_fun[i].casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in;
+        capsule->expl_ode_fun[i].casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out;
+        capsule->expl_ode_fun[i].casadi_work = &{{ model.name }}_expl_ode_fun_work;
+        external_function_param_casadi_create(&capsule->expl_ode_fun[i], {{ dims.np }});
+    }
+
+    {%- if solver_options.hessian_approx == "EXACT" %}
+    capsule->hess_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->hess_vde_casadi[i].casadi_fun = &{{ model.name }}_expl_ode_hess;
+        capsule->hess_vde_casadi[i].casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in;
+        capsule->hess_vde_casadi[i].casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out;
+        capsule->hess_vde_casadi[i].casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in;
+        capsule->hess_vde_casadi[i].casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out;
+        capsule->hess_vde_casadi[i].casadi_work = &{{ model.name }}_expl_ode_hess_work;
+        external_function_param_casadi_create(&capsule->hess_vde_casadi[i], {{ dims.np }});
+    }
+    {%- endif %}
+
+{% elif solver_options.integrator_type == "IRK" %}
+    // implicit dae
+    capsule->impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->impl_dae_fun[i].casadi_fun = &{{ model.name }}_impl_dae_fun;
+        capsule->impl_dae_fun[i].casadi_work = &{{ model.name }}_impl_dae_fun_work;
+        capsule->impl_dae_fun[i].casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in;
+        capsule->impl_dae_fun[i].casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
+        capsule->impl_dae_fun[i].casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
+        capsule->impl_dae_fun[i].casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
+        external_function_param_casadi_create(&capsule->impl_dae_fun[i], {{ dims.np }});
+    }
+
+    capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->impl_dae_fun_jac_x_xdot_z[i].casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z;
+        capsule->impl_dae_fun_jac_x_xdot_z[i].casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work;
+        capsule->impl_dae_fun_jac_x_xdot_z[i].casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in;
+        capsule->impl_dae_fun_jac_x_xdot_z[i].casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out;
+        capsule->impl_dae_fun_jac_x_xdot_z[i].casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in;
+        capsule->impl_dae_fun_jac_x_xdot_z[i].casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out;
+        external_function_param_casadi_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }});
+    }
+
+    capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->impl_dae_jac_x_xdot_u_z[i].casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z;
+        capsule->impl_dae_jac_x_xdot_u_z[i].casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work;
+        capsule->impl_dae_jac_x_xdot_u_z[i].casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in;
+        capsule->impl_dae_jac_x_xdot_u_z[i].casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out;
+        capsule->impl_dae_jac_x_xdot_u_z[i].casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in;
+        capsule->impl_dae_jac_x_xdot_u_z[i].casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out;
+        external_function_param_casadi_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }});
+    }
+
+    {%- if solver_options.hessian_approx == "EXACT" %}
+    capsule->impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->impl_dae_hess[i].casadi_fun = &{{ model.name }}_impl_dae_hess;
+        capsule->impl_dae_hess[i].casadi_work = &{{ model.name }}_impl_dae_hess_work;
+        capsule->impl_dae_hess[i].casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in;
+        capsule->impl_dae_hess[i].casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out;
+        capsule->impl_dae_hess[i].casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in;
+        capsule->impl_dae_hess[i].casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out;
+        external_function_param_casadi_create(&capsule->impl_dae_hess[i], {{ dims.np }});
+    }
+    {%- endif %}
+{% elif solver_options.integrator_type == "LIFTED_IRK" %}
+    // external functions (implicit model)
+    capsule->impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->impl_dae_fun[i].casadi_fun = &{{ model.name }}_impl_dae_fun;
+        capsule->impl_dae_fun[i].casadi_work = &{{ model.name }}_impl_dae_fun_work;
+        capsule->impl_dae_fun[i].casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in;
+        capsule->impl_dae_fun[i].casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
+        capsule->impl_dae_fun[i].casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
+        capsule->impl_dae_fun[i].casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
+        external_function_param_casadi_create(&capsule->impl_dae_fun[i], {{ dims.np }});
+    }
+
+    capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);    for (int i = 0; i < N; i++) {
+        capsule->impl_dae_fun_jac_x_xdot_u[i].casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_u;
+        capsule->impl_dae_fun_jac_x_xdot_u[i].casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_u_work;
+        capsule->impl_dae_fun_jac_x_xdot_u[i].casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in;
+        capsule->impl_dae_fun_jac_x_xdot_u[i].casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out;
+        capsule->impl_dae_fun_jac_x_xdot_u[i].casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in;
+        capsule->impl_dae_fun_jac_x_xdot_u[i].casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out;
+        external_function_param_casadi_create(&capsule->impl_dae_fun_jac_x_xdot_u[i], {{ dims.np }});
+    }
+
+{% elif solver_options.integrator_type == "GNSF" %}
+    capsule->gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->gnsf_phi_fun[i].casadi_fun = &{{ model.name }}_gnsf_phi_fun;
+        capsule->gnsf_phi_fun[i].casadi_work = &{{ model.name }}_gnsf_phi_fun_work;
+        capsule->gnsf_phi_fun[i].casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in;
+        capsule->gnsf_phi_fun[i].casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out;
+        capsule->gnsf_phi_fun[i].casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
+        capsule->gnsf_phi_fun[i].casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
+        external_function_param_casadi_create(&capsule->gnsf_phi_fun[i], {{ dims.np }});
+    }
+
+    capsule->gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->gnsf_phi_fun_jac_y[i].casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y;
+        capsule->gnsf_phi_fun_jac_y[i].casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work;
+        capsule->gnsf_phi_fun_jac_y[i].casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in;
+        capsule->gnsf_phi_fun_jac_y[i].casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out;
+        capsule->gnsf_phi_fun_jac_y[i].casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in;
+        capsule->gnsf_phi_fun_jac_y[i].casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out;
+        external_function_param_casadi_create(&capsule->gnsf_phi_fun_jac_y[i], {{ dims.np }});
+    }
+
+    capsule->gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->gnsf_phi_jac_y_uhat[i].casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat;
+        capsule->gnsf_phi_jac_y_uhat[i].casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
+        capsule->gnsf_phi_jac_y_uhat[i].casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in;
+        capsule->gnsf_phi_jac_y_uhat[i].casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out;
+        capsule->gnsf_phi_jac_y_uhat[i].casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in;
+        capsule->gnsf_phi_jac_y_uhat[i].casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out;
+        external_function_param_casadi_create(&capsule->gnsf_phi_jac_y_uhat[i], {{ dims.np }});
+    }
+
+    capsule->gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i].casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
+        capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i].casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
+        capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i].casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in;
+        capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i].casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
+        capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i].casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
+        capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i].casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
+        external_function_param_casadi_create(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i], {{ dims.np }});
+    }
+
+    capsule->gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N; i++) {
+        capsule->gnsf_get_matrices_fun[i].casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
+        capsule->gnsf_get_matrices_fun[i].casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work;
+        capsule->gnsf_get_matrices_fun[i].casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in;
+        capsule->gnsf_get_matrices_fun[i].casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out;
+        capsule->gnsf_get_matrices_fun[i].casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
+        capsule->gnsf_get_matrices_fun[i].casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out;
+        external_function_param_casadi_create(&capsule->gnsf_get_matrices_fun[i], {{ dims.np }});
+    }
+{% elif solver_options.integrator_type == "DISCRETE" %}
+    // discrete dynamics
+    capsule->discr_dyn_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
+    for (int i = 0; i < N; i++)
+    {
+        {%- if model.dyn_ext_fun_type == "casadi" %}
+        capsule->discr_dyn_phi_fun[i].casadi_fun = &{{ model.name }}_dyn_disc_phi_fun;
+        capsule->discr_dyn_phi_fun[i].casadi_n_in = &{{ model.name }}_dyn_disc_phi_fun_n_in;
+        capsule->discr_dyn_phi_fun[i].casadi_n_out = &{{ model.name }}_dyn_disc_phi_fun_n_out;
+        capsule->discr_dyn_phi_fun[i].casadi_sparsity_in = &{{ model.name }}_dyn_disc_phi_fun_sparsity_in;
+        capsule->discr_dyn_phi_fun[i].casadi_sparsity_out = &{{ model.name }}_dyn_disc_phi_fun_sparsity_out;
+        capsule->discr_dyn_phi_fun[i].casadi_work = &{{ model.name }}_dyn_disc_phi_fun_work;
+        {%- else %}
+        capsule->discr_dyn_phi_fun[i].fun = &{{ model.dyn_disc_fun }};
+        {%- endif %}
+        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun[i], {{ dims.np }});
+    }
+
+    capsule->discr_dyn_phi_fun_jac_ut_xt = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
+    for (int i = 0; i < N; i++)
+    {
+        {%- if model.dyn_ext_fun_type == "casadi" %}
+        capsule->discr_dyn_phi_fun_jac_ut_xt[i].casadi_fun = &{{ model.name }}_dyn_disc_phi_fun_jac;
+        capsule->discr_dyn_phi_fun_jac_ut_xt[i].casadi_n_in = &{{ model.name }}_dyn_disc_phi_fun_jac_n_in;
+        capsule->discr_dyn_phi_fun_jac_ut_xt[i].casadi_n_out = &{{ model.name }}_dyn_disc_phi_fun_jac_n_out;
+        capsule->discr_dyn_phi_fun_jac_ut_xt[i].casadi_sparsity_in = &{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in;
+        capsule->discr_dyn_phi_fun_jac_ut_xt[i].casadi_sparsity_out = &{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out;
+        capsule->discr_dyn_phi_fun_jac_ut_xt[i].casadi_work = &{{ model.name }}_dyn_disc_phi_fun_jac_work;
+        {%- else %}
+        capsule->discr_dyn_phi_fun_jac_ut_xt[i].fun = &{{ model.dyn_disc_fun_jac }};
+        {%- endif %}
+        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt[i], {{ dims.np }});
+    }
+
+  {%- if solver_options.hessian_approx == "EXACT" %}
+    capsule->discr_dyn_phi_fun_jac_ut_xt_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
+    for (int i = 0; i < N; i++)
+    {
+        {%- if model.dyn_ext_fun_type == "casadi" %}
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].casadi_fun = &{{ model.name }}_dyn_disc_phi_fun_jac_hess;
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].casadi_n_in = &{{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in;
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].casadi_n_out = &{{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out;
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].casadi_sparsity_in = &{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in;
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].casadi_sparsity_out = &{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out;
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].casadi_work = &{{ model.name }}_dyn_disc_phi_fun_jac_hess_work;
+        {%- else %}
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].fun = &{{ model.dyn_disc_fun_jac_hess }};
+        {%- endif %}
+        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ dims.np }});
+    }
+  {%- endif %}
+{%- endif %}
+
+
+{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
+    // nonlinear least square function
+    capsule->cost_y_0_fun.casadi_fun = &{{ model.name }}_cost_y_0_fun;
+    capsule->cost_y_0_fun.casadi_n_in = &{{ model.name }}_cost_y_0_fun_n_in;
+    capsule->cost_y_0_fun.casadi_n_out = &{{ model.name }}_cost_y_0_fun_n_out;
+    capsule->cost_y_0_fun.casadi_sparsity_in = &{{ model.name }}_cost_y_0_fun_sparsity_in;
+    capsule->cost_y_0_fun.casadi_sparsity_out = &{{ model.name }}_cost_y_0_fun_sparsity_out;
+    capsule->cost_y_0_fun.casadi_work = &{{ model.name }}_cost_y_0_fun_work;
+    external_function_param_casadi_create(&capsule->cost_y_0_fun, {{ dims.np }});
+
+    capsule->cost_y_0_fun_jac_ut_xt.casadi_fun = &{{ model.name }}_cost_y_0_fun_jac_ut_xt;
+    capsule->cost_y_0_fun_jac_ut_xt.casadi_n_in = &{{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in;
+    capsule->cost_y_0_fun_jac_ut_xt.casadi_n_out = &{{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out;
+    capsule->cost_y_0_fun_jac_ut_xt.casadi_sparsity_in = &{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in;
+    capsule->cost_y_0_fun_jac_ut_xt.casadi_sparsity_out = &{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out;
+    capsule->cost_y_0_fun_jac_ut_xt.casadi_work = &{{ model.name }}_cost_y_0_fun_jac_ut_xt_work;
+    external_function_param_casadi_create(&capsule->cost_y_0_fun_jac_ut_xt, {{ dims.np }});
+
+    capsule->cost_y_0_hess.casadi_fun = &{{ model.name }}_cost_y_0_hess;
+    capsule->cost_y_0_hess.casadi_n_in = &{{ model.name }}_cost_y_0_hess_n_in;
+    capsule->cost_y_0_hess.casadi_n_out = &{{ model.name }}_cost_y_0_hess_n_out;
+    capsule->cost_y_0_hess.casadi_sparsity_in = &{{ model.name }}_cost_y_0_hess_sparsity_in;
+    capsule->cost_y_0_hess.casadi_sparsity_out = &{{ model.name }}_cost_y_0_hess_sparsity_out;
+    capsule->cost_y_0_hess.casadi_work = &{{ model.name }}_cost_y_0_hess_work;
+    external_function_param_casadi_create(&capsule->cost_y_0_hess, {{ dims.np }});
+
+{%- elif cost.cost_type_0 == "EXTERNAL" %}
+    // external cost
+    {% if cost.cost_ext_fun_type_0 == "casadi" %}
+    capsule->ext_cost_0_fun.casadi_fun = &{{ model.name }}_cost_ext_cost_0_fun;
+    capsule->ext_cost_0_fun.casadi_n_in = &{{ model.name }}_cost_ext_cost_0_fun_n_in;
+    capsule->ext_cost_0_fun.casadi_n_out = &{{ model.name }}_cost_ext_cost_0_fun_n_out;
+    capsule->ext_cost_0_fun.casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_0_fun_sparsity_in;
+    capsule->ext_cost_0_fun.casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_0_fun_sparsity_out;
+    capsule->ext_cost_0_fun.casadi_work = &{{ model.name }}_cost_ext_cost_0_fun_work;
+    {% else %}
+    capsule->ext_cost_0_fun.fun = &{{ cost.cost_function_ext_cost_0 }};
+    {% endif %}
+    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun, {{ dims.np }});
+
+    // external cost
+    {% if cost.cost_ext_fun_type_0 == "casadi" %}
+    capsule->ext_cost_0_fun_jac.casadi_fun = &{{ model.name }}_cost_ext_cost_0_fun_jac;
+    capsule->ext_cost_0_fun_jac.casadi_n_in = &{{ model.name }}_cost_ext_cost_0_fun_jac_n_in;
+    capsule->ext_cost_0_fun_jac.casadi_n_out = &{{ model.name }}_cost_ext_cost_0_fun_jac_n_out;
+    capsule->ext_cost_0_fun_jac.casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in;
+    capsule->ext_cost_0_fun_jac.casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out;
+    capsule->ext_cost_0_fun_jac.casadi_work = &{{ model.name }}_cost_ext_cost_0_fun_jac_work;
+    {% else %}
+    capsule->ext_cost_0_fun_jac.fun = &{{ cost.cost_function_ext_cost_0 }};
+    {% endif %}
+    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac, {{ dims.np }});
+
+    // external cost
+    {% if cost.cost_ext_fun_type_0 == "casadi" %}
+    capsule->ext_cost_0_fun_jac_hess.casadi_fun = &{{ model.name }}_cost_ext_cost_0_fun_jac_hess;
+    capsule->ext_cost_0_fun_jac_hess.casadi_n_in = &{{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in;
+    capsule->ext_cost_0_fun_jac_hess.casadi_n_out = &{{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out;
+    capsule->ext_cost_0_fun_jac_hess.casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in;
+    capsule->ext_cost_0_fun_jac_hess.casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out;
+    capsule->ext_cost_0_fun_jac_hess.casadi_work = &{{ model.name }}_cost_ext_cost_0_fun_jac_hess_work;
+    {% else %}
+    capsule->ext_cost_0_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_0 }};
+    {% endif %}
+    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac_hess, {{ dims.np }});
+{%- endif %}
+
+{%- if cost.cost_type == "NONLINEAR_LS" %}
+    // nonlinear least squares cost
+    capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N-1; i++)
+    {
+        capsule->cost_y_fun[i].casadi_fun = &{{ model.name }}_cost_y_fun;
+        capsule->cost_y_fun[i].casadi_n_in = &{{ model.name }}_cost_y_fun_n_in;
+        capsule->cost_y_fun[i].casadi_n_out = &{{ model.name }}_cost_y_fun_n_out;
+        capsule->cost_y_fun[i].casadi_sparsity_in = &{{ model.name }}_cost_y_fun_sparsity_in;
+        capsule->cost_y_fun[i].casadi_sparsity_out = &{{ model.name }}_cost_y_fun_sparsity_out;
+        capsule->cost_y_fun[i].casadi_work = &{{ model.name }}_cost_y_fun_work;
+
+        external_function_param_casadi_create(&capsule->cost_y_fun[i], {{ dims.np }});
+    }
+
+    capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N-1; i++)
+    {
+        capsule->cost_y_fun_jac_ut_xt[i].casadi_fun = &{{ model.name }}_cost_y_fun_jac_ut_xt;
+        capsule->cost_y_fun_jac_ut_xt[i].casadi_n_in = &{{ model.name }}_cost_y_fun_jac_ut_xt_n_in;
+        capsule->cost_y_fun_jac_ut_xt[i].casadi_n_out = &{{ model.name }}_cost_y_fun_jac_ut_xt_n_out;
+        capsule->cost_y_fun_jac_ut_xt[i].casadi_sparsity_in = &{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in;
+        capsule->cost_y_fun_jac_ut_xt[i].casadi_sparsity_out = &{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out;
+        capsule->cost_y_fun_jac_ut_xt[i].casadi_work = &{{ model.name }}_cost_y_fun_jac_ut_xt_work;
+
+        external_function_param_casadi_create(&capsule->cost_y_fun_jac_ut_xt[i], {{ dims.np }});
+    }
+
+    capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N-1; i++)
+    {
+        capsule->cost_y_hess[i].casadi_fun = &{{ model.name }}_cost_y_hess;
+        capsule->cost_y_hess[i].casadi_n_in = &{{ model.name }}_cost_y_hess_n_in;
+        capsule->cost_y_hess[i].casadi_n_out = &{{ model.name }}_cost_y_hess_n_out;
+        capsule->cost_y_hess[i].casadi_sparsity_in = &{{ model.name }}_cost_y_hess_sparsity_in;
+        capsule->cost_y_hess[i].casadi_sparsity_out = &{{ model.name }}_cost_y_hess_sparsity_out;
+        capsule->cost_y_hess[i].casadi_work = &{{ model.name }}_cost_y_hess_work;
+
+        external_function_param_casadi_create(&capsule->cost_y_hess[i], {{ dims.np }});
+    }
+{%- elif cost.cost_type == "EXTERNAL" %}
+    // external cost
+    capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
+    for (int i = 0; i < N-1; i++)
+    {
+        {% if cost.cost_ext_fun_type == "casadi" %}
+        capsule->ext_cost_fun[i].casadi_fun = &{{ model.name }}_cost_ext_cost_fun;
+        capsule->ext_cost_fun[i].casadi_n_in = &{{ model.name }}_cost_ext_cost_fun_n_in;
+        capsule->ext_cost_fun[i].casadi_n_out = &{{ model.name }}_cost_ext_cost_fun_n_out;
+        capsule->ext_cost_fun[i].casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_fun_sparsity_in;
+        capsule->ext_cost_fun[i].casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_fun_sparsity_out;
+        capsule->ext_cost_fun[i].casadi_work = &{{ model.name }}_cost_ext_cost_fun_work;
+        {% else %}
+        capsule->ext_cost_fun[i].fun = &{{ cost.cost_function_ext_cost }};
+        {% endif %}
+        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun[i], {{ dims.np }});
+    }
+
+    capsule->ext_cost_fun_jac = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
+    for (int i = 0; i < N-1; i++)
+    {
+        {% if cost.cost_ext_fun_type == "casadi" %}
+        capsule->ext_cost_fun_jac[i].casadi_fun = &{{ model.name }}_cost_ext_cost_fun_jac;
+        capsule->ext_cost_fun_jac[i].casadi_n_in = &{{ model.name }}_cost_ext_cost_fun_jac_n_in;
+        capsule->ext_cost_fun_jac[i].casadi_n_out = &{{ model.name }}_cost_ext_cost_fun_jac_n_out;
+        capsule->ext_cost_fun_jac[i].casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in;
+        capsule->ext_cost_fun_jac[i].casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out;
+        capsule->ext_cost_fun_jac[i].casadi_work = &{{ model.name }}_cost_ext_cost_fun_jac_work;
+        {% else %}
+        capsule->ext_cost_fun_jac[i].fun = &{{ cost.cost_function_ext_cost }};
+        {% endif %}
+        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac[i], {{ dims.np }});
+    }
+
+    capsule->ext_cost_fun_jac_hess = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
+    for (int i = 0; i < N-1; i++)
+    {
+        {% if cost.cost_ext_fun_type == "casadi" %}
+        capsule->ext_cost_fun_jac_hess[i].casadi_fun = &{{ model.name }}_cost_ext_cost_fun_jac_hess;
+        capsule->ext_cost_fun_jac_hess[i].casadi_n_in = &{{ model.name }}_cost_ext_cost_fun_jac_hess_n_in;
+        capsule->ext_cost_fun_jac_hess[i].casadi_n_out = &{{ model.name }}_cost_ext_cost_fun_jac_hess_n_out;
+        capsule->ext_cost_fun_jac_hess[i].casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in;
+        capsule->ext_cost_fun_jac_hess[i].casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out;
+        capsule->ext_cost_fun_jac_hess[i].casadi_work = &{{ model.name }}_cost_ext_cost_fun_jac_hess_work;
+        {% else %}
+        capsule->ext_cost_fun_jac_hess[i].fun = &{{ cost.cost_function_ext_cost }};
+        {% endif %}
+        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac_hess[i], {{ dims.np }});
+    }
+{%- endif %}
+
+{%- if cost.cost_type_e == "NONLINEAR_LS" %}
+    // nonlinear least square function
+    capsule->cost_y_e_fun.casadi_fun = &{{ model.name }}_cost_y_e_fun;
+    capsule->cost_y_e_fun.casadi_n_in = &{{ model.name }}_cost_y_e_fun_n_in;
+    capsule->cost_y_e_fun.casadi_n_out = &{{ model.name }}_cost_y_e_fun_n_out;
+    capsule->cost_y_e_fun.casadi_sparsity_in = &{{ model.name }}_cost_y_e_fun_sparsity_in;
+    capsule->cost_y_e_fun.casadi_sparsity_out = &{{ model.name }}_cost_y_e_fun_sparsity_out;
+    capsule->cost_y_e_fun.casadi_work = &{{ model.name }}_cost_y_e_fun_work;
+    external_function_param_casadi_create(&capsule->cost_y_e_fun, {{ dims.np }});
+
+    capsule->cost_y_e_fun_jac_ut_xt.casadi_fun = &{{ model.name }}_cost_y_e_fun_jac_ut_xt;
+    capsule->cost_y_e_fun_jac_ut_xt.casadi_n_in = &{{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in;
+    capsule->cost_y_e_fun_jac_ut_xt.casadi_n_out = &{{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out;
+    capsule->cost_y_e_fun_jac_ut_xt.casadi_sparsity_in = &{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in;
+    capsule->cost_y_e_fun_jac_ut_xt.casadi_sparsity_out = &{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out;
+    capsule->cost_y_e_fun_jac_ut_xt.casadi_work = &{{ model.name }}_cost_y_e_fun_jac_ut_xt_work;
+    external_function_param_casadi_create(&capsule->cost_y_e_fun_jac_ut_xt, {{ dims.np }});
+
+    capsule->cost_y_e_hess.casadi_fun = &{{ model.name }}_cost_y_e_hess;
+    capsule->cost_y_e_hess.casadi_n_in = &{{ model.name }}_cost_y_e_hess_n_in;
+    capsule->cost_y_e_hess.casadi_n_out = &{{ model.name }}_cost_y_e_hess_n_out;
+    capsule->cost_y_e_hess.casadi_sparsity_in = &{{ model.name }}_cost_y_e_hess_sparsity_in;
+    capsule->cost_y_e_hess.casadi_sparsity_out = &{{ model.name }}_cost_y_e_hess_sparsity_out;
+    capsule->cost_y_e_hess.casadi_work = &{{ model.name }}_cost_y_e_hess_work;
+    external_function_param_casadi_create(&capsule->cost_y_e_hess, {{ dims.np }});
+
+{%- elif cost.cost_type_e == "EXTERNAL" %}
+    // external cost
+    {% if cost.cost_ext_fun_type_e == "casadi" %}
+    capsule->ext_cost_e_fun.casadi_fun = &{{ model.name }}_cost_ext_cost_e_fun;
+    capsule->ext_cost_e_fun.casadi_n_in = &{{ model.name }}_cost_ext_cost_e_fun_n_in;
+    capsule->ext_cost_e_fun.casadi_n_out = &{{ model.name }}_cost_ext_cost_e_fun_n_out;
+    capsule->ext_cost_e_fun.casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_e_fun_sparsity_in;
+    capsule->ext_cost_e_fun.casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_e_fun_sparsity_out;
+    capsule->ext_cost_e_fun.casadi_work = &{{ model.name }}_cost_ext_cost_e_fun_work;
+    {% else %}
+    capsule->ext_cost_e_fun.fun = &{{ cost.cost_function_ext_cost_e }};
+    {% endif %}
+    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun, {{ dims.np }});
+
+    // external cost
+    {% if cost.cost_ext_fun_type_e == "casadi" %}
+    capsule->ext_cost_e_fun_jac.casadi_fun = &{{ model.name }}_cost_ext_cost_e_fun_jac;
+    capsule->ext_cost_e_fun_jac.casadi_n_in = &{{ model.name }}_cost_ext_cost_e_fun_jac_n_in;
+    capsule->ext_cost_e_fun_jac.casadi_n_out = &{{ model.name }}_cost_ext_cost_e_fun_jac_n_out;
+    capsule->ext_cost_e_fun_jac.casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in;
+    capsule->ext_cost_e_fun_jac.casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out;
+    capsule->ext_cost_e_fun_jac.casadi_work = &{{ model.name }}_cost_ext_cost_e_fun_jac_work;
+    {% else %}
+    capsule->ext_cost_e_fun_jac.fun = &{{ cost.cost_function_ext_cost_e }};
+    {% endif %}
+    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac, {{ dims.np }});
+
+    // external cost
+    {% if cost.cost_ext_fun_type_e == "casadi" %}
+    capsule->ext_cost_e_fun_jac_hess.casadi_fun = &{{ model.name }}_cost_ext_cost_e_fun_jac_hess;
+    capsule->ext_cost_e_fun_jac_hess.casadi_n_in = &{{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in;
+    capsule->ext_cost_e_fun_jac_hess.casadi_n_out = &{{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out;
+    capsule->ext_cost_e_fun_jac_hess.casadi_sparsity_in = &{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in;
+    capsule->ext_cost_e_fun_jac_hess.casadi_sparsity_out = &{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out;
+    capsule->ext_cost_e_fun_jac_hess.casadi_work = &{{ model.name }}_cost_ext_cost_e_fun_jac_hess_work;
+    {% else %}
+    capsule->ext_cost_e_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_e }};
+    {% endif %}
+    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac_hess, {{ dims.np }});
+{%- endif %}
+
+    /************************************************
+    *  nlp_in
+    ************************************************/
+    ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims);
+    capsule->nlp_in = nlp_in;
+
+    // set up time_steps
+    {% set all_equal = true -%}
+    {%- set val = solver_options.time_steps[0] %}
+    {%- for j in range(start=1, end=dims.N) %}
+        {%- if val != solver_options.time_steps[j] %}
+            {%- set_global all_equal = false %}
+            {%- break %}
+        {%- endif %}
+    {%- endfor %}
+
+    if (new_time_steps) {
+        {{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps);
+    } else {
+    {%- if all_equal == true -%}
+        // all time_steps are identical
+        double time_step = {{ solver_options.time_steps[0] }};
+        for (int i = 0; i < N; i++)
+        {
+            ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step);
+            ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step);
+        }
+    {%- else -%}
+        // time_steps are different
+        double* time_steps = malloc(N*sizeof(double));
+        {%- for j in range(end=dims.N) %}
+        time_steps[{{ j }}] = {{ solver_options.time_steps[j] }};
+        {%- endfor %}
+        {{ model.name }}_acados_update_time_steps(capsule, N, time_steps);
+        free(time_steps);
+    {%- endif %}
+    }
+
+    /**** Dynamics ****/
+    for (int i = 0; i < N; i++)
+    {
+    {%- if solver_options.integrator_type == "ERK" %}
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]);
+        {%- if solver_options.hessian_approx == "EXACT" %}
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_hess", &capsule->hess_vde_casadi[i]);
+        {%- endif %}
+    {% elif solver_options.integrator_type == "IRK" %}
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
+                                   "impl_dae_fun_jac_x_xdot_z", &capsule->impl_dae_fun_jac_x_xdot_z[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
+                                   "impl_dae_jac_x_xdot_u", &capsule->impl_dae_jac_x_xdot_u_z[i]);
+        {%- if solver_options.hessian_approx == "EXACT" %}
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_hess", &capsule->impl_dae_hess[i]);
+        {%- endif %}
+    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
+                                   "impl_dae_fun_jac_x_xdot_u", &capsule->impl_dae_fun_jac_x_xdot_u[i]);
+    {% elif solver_options.integrator_type == "GNSF" %}
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun", &capsule->gnsf_phi_fun[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun_jac_y", &capsule->gnsf_phi_fun_jac_y[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_jac_y_uhat", &capsule->gnsf_phi_jac_y_uhat[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "f_lo_jac_x1_x1dot_u_z",
+                                   &capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "gnsf_get_matrices_fun",
+                                   &capsule->gnsf_get_matrices_fun[i]);
+    {% elif solver_options.integrator_type == "DISCRETE" %}
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun", &capsule->discr_dyn_phi_fun[i]);
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac",
+                                   &capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
+        {%- if solver_options.hessian_approx == "EXACT" %}
+        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac_hess",
+                                   &capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
+        {%- endif %}
+    {%- endif %}
+    }
+
+
+    /**** Cost ****/
+{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
+{% if dims.ny_0 > 0 %}
+    double* W_0 = calloc(NY0*NY0, sizeof(double));
+    // change only the non-zero elements:
+    {%- for j in range(end=dims.ny_0) %}
+        {%- for k in range(end=dims.ny_0) %}
+            {%- if cost.W_0[j][k] != 0 %}
+    W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0);
+    free(W_0);
+
+    double* yref_0 = calloc(NY0, sizeof(double));
+    // change only the non-zero elements:
+    {%- for j in range(end=dims.ny_0) %}
+        {%- if cost.yref_0[j] != 0 %}
+    yref_0[{{ j }}] = {{ cost.yref_0[j] }};
+        {%- endif %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0);
+    free(yref_0);
+{% endif %}
+{% endif %}
+
+{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
+{% if dims.ny > 0 %}
+    double* W = calloc(NY*NY, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny) %}
+        {%- for k in range(end=dims.ny) %}
+            {%- if cost.W[j][k] != 0 %}
+    W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+
+    double* yref = calloc(NY, sizeof(double));
+    // change only the non-zero elements:
+    {%- for j in range(end=dims.ny) %}
+        {%- if cost.yref[j] != 0 %}
+    yref[{{ j }}] = {{ cost.yref[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref);
+    }
+    free(W);
+    free(yref);
+{% endif %}
+{% endif %}
+
+{%- if cost.cost_type_0 == "LINEAR_LS" %}
+    double* Vx_0 = calloc(NY0*NX, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny_0) %}
+        {%- for k in range(end=dims.nx) %}
+            {%- if cost.Vx_0[j][k] != 0 %}
+    Vx_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vx_0[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0);
+    free(Vx_0);
+
+{% if dims.ny_0 > 0 and dims.nu > 0 %}
+    double* Vu_0 = calloc(NY0*NU, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny_0) %}
+        {%- for k in range(end=dims.nu) %}
+            {%- if cost.Vu_0[j][k] != 0 %}
+    Vu_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vu_0[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vu", Vu_0);
+    free(Vu_0);
+{% endif %}
+{% if dims.ny_0 > 0 and dims.nz > 0 %}
+    double* Vz_0 = calloc(NY0*NZ, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny_0) %}
+        {%- for k in range(end=dims.nz) %}
+            {%- if cost.Vz_0[j][k] != 0 %}
+    Vz_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vz_0[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0);
+    free(Vz_0);
+{%- endif %}
+{%- endif %}{# LINEAR LS #}
+
+
+{%- if cost.cost_type == "LINEAR_LS" %}
+    double* Vx = calloc(NY*NX, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny) %}
+        {%- for k in range(end=dims.nx) %}
+            {%- if cost.Vx[j][k] != 0 %}
+    Vx[{{ j }}+(NY) * {{ k }}] = {{ cost.Vx[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vx", Vx);
+    }
+    free(Vx);
+
+{% if dims.ny > 0 and dims.nu > 0 %}
+    double* Vu = calloc(NY*NU, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny) %}
+        {%- for k in range(end=dims.nu) %}
+            {%- if cost.Vu[j][k] != 0 %}
+    Vu[{{ j }}+(NY) * {{ k }}] = {{ cost.Vu[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vu", Vu);
+    }
+    free(Vu);
+{% endif %}
+
+{% if dims.ny > 0 and dims.nz > 0 %}
+    double* Vz = calloc(NY*NZ, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny) %}
+        {%- for k in range(end=dims.nz) %}
+            {%- if cost.Vz[j][k] != 0 %}
+    Vz[{{ j }}+(NY) * {{ k }}] = {{ cost.Vz[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vz", Vz);
+    }
+    free(Vz);
+{%- endif %}
+{%- endif %}{# LINEAR LS #}
+
+
+{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess);
+{%- elif cost.cost_type_0 == "EXTERNAL" %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac_hess", &capsule->ext_cost_0_fun_jac_hess);
+{%- endif %}
+
+{%- if cost.cost_type == "NONLINEAR_LS" %}
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]);
+    }
+{%- elif cost.cost_type == "EXTERNAL" %}
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun", &capsule->ext_cost_fun[i-1]);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac", &capsule->ext_cost_fun_jac[i-1]);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac_hess", &capsule->ext_cost_fun_jac_hess[i-1]);
+    }
+{%- endif %}
+
+
+{% if dims.ns > 0 %}
+    double* zlumem = calloc(4*NS, sizeof(double));
+    double* Zl = zlumem+NS*0;
+    double* Zu = zlumem+NS*1;
+    double* zl = zlumem+NS*2;
+    double* zu = zlumem+NS*3;
+    // change only the non-zero elements:
+    {%- for j in range(end=dims.ns) %}
+        {%- if cost.Zl[j] != 0 %}
+    Zl[{{ j }}] = {{ cost.Zl[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {%- for j in range(end=dims.ns) %}
+        {%- if cost.Zu[j] != 0 %}
+    Zu[{{ j }}] = {{ cost.Zu[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {%- for j in range(end=dims.ns) %}
+        {%- if cost.zl[j] != 0 %}
+    zl[{{ j }}] = {{ cost.zl[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {%- for j in range(end=dims.ns) %}
+        {%- if cost.zu[j] != 0 %}
+    zu[{{ j }}] = {{ cost.zu[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu);
+    }
+    free(zlumem);
+{% endif %}
+
+    // terminal cost
+{% if cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "NONLINEAR_LS" %}
+{% if dims.ny_e > 0 %}
+    double* yref_e = calloc(NYN, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny_e) %}
+        {%- if cost.yref_e[j] != 0 %}
+    yref_e[{{ j }}] = {{ cost.yref_e[j] }};
+        {%- endif %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e);
+    free(yref_e);
+
+    double* W_e = calloc(NYN*NYN, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny_e) %}
+        {%- for k in range(end=dims.ny_e) %}
+            {%- if cost.W_e[j][k] != 0 %}
+    W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e);
+    free(W_e);
+
+    {%- if cost.cost_type_e == "LINEAR_LS" %}
+    double* Vx_e = calloc(NYN*NX, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny_e) %}
+        {%- for k in range(end=dims.nx) %}
+            {%- if cost.Vx_e[j][k] != 0 %}
+    Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e);
+    free(Vx_e);
+    {%- endif %}
+
+    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess);
+    {%- endif %}
+{%- endif %}{# ny_e > 0 #}
+
+{%- elif cost.cost_type_e == "EXTERNAL" %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess);
+{%- endif %}
+
+{% if dims.ns_e > 0 %}
+    double* zluemem = calloc(4*NSN, sizeof(double));
+    double* Zl_e = zluemem+NSN*0;
+    double* Zu_e = zluemem+NSN*1;
+    double* zl_e = zluemem+NSN*2;
+    double* zu_e = zluemem+NSN*3;
+
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ns_e) %}
+        {%- if cost.Zl_e[j] != 0 %}
+    Zl_e[{{ j }}] = {{ cost.Zl_e[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {% for j in range(end=dims.ns_e) %}
+        {%- if cost.Zu_e[j] != 0 %}
+    Zu_e[{{ j }}] = {{ cost.Zu_e[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {% for j in range(end=dims.ns_e) %}
+        {%- if cost.zl_e[j] != 0 %}
+    zl_e[{{ j }}] = {{ cost.zl_e[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {% for j in range(end=dims.ns_e) %}
+        {%- if cost.zu_e[j] != 0 %}
+    zu_e[{{ j }}] = {{ cost.zu_e[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zl", Zl_e);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zu", Zu_e);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zl", zl_e);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zu", zu_e);
+    free(zluemem);
+{%- endif %}
+
+    /**** Constraints ****/
+
+    // bounds for initial stage
+{% if dims.nbx_0 > 0 %}
+    // x0
+    int* idxbx0 = malloc(NBX0 * sizeof(int));
+    {%- for i in range(end=dims.nbx_0) %}
+    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
+    {%- endfor %}
+
+    double* lubx0 = calloc(2*NBX0, sizeof(double));
+    double* lbx0 = lubx0;
+    double* ubx0 = lubx0 + NBX0;
+    // change only the non-zero elements:
+    {%- for i in range(end=dims.nbx_0) %}
+        {%- if constraints.lbx_0[i] != 0 %}
+    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
+        {%- endif %}
+        {%- if constraints.ubx_0[i] != 0 %}
+    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
+    free(idxbx0);
+    free(lubx0);
+{% endif %}
+{% if dims.nbxe_0 > 0 %}
+    // idxbxe_0
+    int* idxbxe_0 = malloc({{ dims.nbxe_0 }} * sizeof(int));
+    {% for i in range(end=dims.nbxe_0) %}
+    idxbxe_0[{{ i }}] = {{ constraints.idxbxe_0[i] }};
+    {%- endfor %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0);
+    free(idxbxe_0);
+{% endif %}
+
+    /* constraints that are the same for initial and intermediate */
+{%- if dims.nsbx > 0 %}
+{# TODO: introduce nsbx0 & move this block down!! #}
+    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxsbx", idxsbx);
+    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lsbx", lsbx);
+    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "usbx", usbx);
+
+    // soft bounds on x
+    int* idxsbx = malloc(NSBX * sizeof(int));
+    {% for i in range(end=dims.nsbx) %}
+    idxsbx[{{ i }}] = {{ constraints.idxsbx[i] }};
+    {%- endfor %}
+
+    double* lusbx = calloc(2*NSBX, sizeof(double));
+    double* lsbx = lusbx;
+    double* usbx = lusbx + NSBX;
+    {% for i in range(end=dims.nsbx) %}
+        {%- if constraints.lsbx[i] != 0 %}
+    lsbx[{{ i }}] = {{ constraints.lsbx[i] }};
+        {%- endif %}
+        {%- if constraints.usbx[i] != 0 %}
+    usbx[{{ i }}] = {{ constraints.usbx[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 1; i < N; i++)
+    {       
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx);
+    }
+    free(idxsbx);
+    free(lusbx);
+{%- endif %}
+
+
+{% if dims.nbu > 0 %}
+    // u
+    int* idxbu = malloc(NBU * sizeof(int));
+    {% for i in range(end=dims.nbu) %}
+    idxbu[{{ i }}] = {{ constraints.idxbu[i] }};
+    {%- endfor %}
+    double* lubu = calloc(2*NBU, sizeof(double));
+    double* lbu = lubu;
+    double* ubu = lubu + NBU;
+    {% for i in range(end=dims.nbu) %}
+        {%- if constraints.lbu[i] != 0 %}
+    lbu[{{ i }}] = {{ constraints.lbu[i] }};
+        {%- endif %}
+        {%- if constraints.ubu[i] != 0 %}
+    ubu[{{ i }}] = {{ constraints.ubu[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu);
+    }
+    free(idxbu);
+    free(lubu);
+{% endif %}
+
+{% if dims.nsbu > 0 %}
+    // set up soft bounds for u
+    int* idxsbu = malloc(NSBU * sizeof(int));
+    {% for i in range(end=dims.nsbu) %}
+    idxsbu[{{ i }}] = {{ constraints.idxsbu[i] }};
+    {%- endfor %}
+    double* lusbu = calloc(2*NSBU, sizeof(double));
+    double* lsbu = lusbu;
+    double* usbu = lusbu + NSBU;
+    {% for i in range(end=dims.nsbu) %}
+        {%- if constraints.lsbu[i] != 0 %}
+    lsbu[{{ i }}] = {{ constraints.lsbu[i] }};
+        {%- endif %}
+        {%- if constraints.usbu[i] != 0 %}
+    usbu[{{ i }}] = {{ constraints.usbu[i] }};
+        {%- endif %}
+    {%- endfor %}
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbu", idxsbu);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbu", lsbu);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbu", usbu);
+    }
+    free(idxsbu);
+    free(lusbu);
+{% endif %}
+
+{% if dims.nsg > 0 %}
+    // set up soft bounds for general linear constraints
+    int* idxsg = malloc(NSG * sizeof(int));
+    {% for i in range(end=dims.nsg) %}
+    idxsg[{{ i }}] = {{ constraints.idxsg[i] }};
+    {%- endfor %}
+    double* lusg = calloc(2*NSG, sizeof(double));
+    double* lsg = lusg;
+    double* usg = lusg + NSG;
+    {% for i in range(end=dims.nsg) %}
+        {%- if constraints.lsg[i] != 0 %}
+    lsg[{{ i }}] = {{ constraints.lsg[i] }};
+        {%- endif %}
+        {%- if constraints.usg[i] != 0 %}
+    usg[{{ i }}] = {{ constraints.usg[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsg", idxsg);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsg", lsg);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usg", usg);
+    }
+    free(idxsg);
+    free(lusg);
+{% endif %}
+
+{% if dims.nsh > 0 %}
+    // set up soft bounds for nonlinear constraints
+    int* idxsh = malloc(NSH * sizeof(int));
+    {% for i in range(end=dims.nsh) %}
+    idxsh[{{ i }}] = {{ constraints.idxsh[i] }};
+    {%- endfor %}
+    double* lush = calloc(2*NSH, sizeof(double));
+    double* lsh = lush;
+    double* ush = lush + NSH;
+    {% for i in range(end=dims.nsh) %}
+        {%- if constraints.lsh[i] != 0 %}
+    lsh[{{ i }}] = {{ constraints.lsh[i] }};
+        {%- endif %}
+        {%- if constraints.ush[i] != 0 %}
+    ush[{{ i }}] = {{ constraints.ush[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush);
+    }
+    free(idxsh);
+    free(lush);
+{% endif %}
+
+{% if dims.nsphi > 0 %}
+    // set up soft bounds for convex-over-nonlinear constraints
+    int* idxsphi = malloc(NSPHI * sizeof(int));
+    {% for i in range(end=dims.nsphi) %}
+    idxsphi[{{ i }}] = {{ constraints.idxsphi[i] }};
+    {%- endfor %}
+    double* lusphi = calloc(2*NSPHI, sizeof(double));
+    double* lsphi = lusphi;
+    double* usphi = lusphi + NSPHI;
+    {% for i in range(end=dims.nsphi) %}
+        {%- if constraints.lsphi[i] != 0 %}
+    lsphi[{{ i }}] = {{ constraints.lsphi[i] }};
+        {%- endif %}
+        {%- if constraints.usphi[i] != 0 %}
+    usphi[{{ i }}] = {{ constraints.usphi[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsphi", idxsphi);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsphi", lsphi);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usphi", usphi);
+    }
+    free(idxsphi);
+    free(lusphi);
+{% endif %}
+
+{% if dims.nbx > 0 %}
+    // x
+    int* idxbx = malloc(NBX * sizeof(int));
+    {% for i in range(end=dims.nbx) %}
+    idxbx[{{ i }}] = {{ constraints.idxbx[i] }};
+    {%- endfor %}
+    double* lubx = calloc(2*NBX, sizeof(double));
+    double* lbx = lubx;
+    double* ubx = lubx + NBX;
+    {% for i in range(end=dims.nbx) %}
+        {%- if constraints.lbx[i] != 0 %}
+    lbx[{{ i }}] = {{ constraints.lbx[i] }};
+        {%- endif %}
+        {%- if constraints.ubx[i] != 0 %}
+    ubx[{{ i }}] = {{ constraints.ubx[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx);
+    }
+    free(idxbx);
+    free(lubx);
+{% endif %}
+
+{% if dims.ng > 0 %}
+    // set up general constraints for stage 0 to N-1 
+    double* D = calloc(NG*NU, sizeof(double));
+    double* C = calloc(NG*NX, sizeof(double));
+    double* lug = calloc(2*NG, sizeof(double));
+    double* lg = lug;
+    double* ug = lug + NG;
+
+    {% for j in range(end=dims.ng) -%}
+        {% for k in range(end=dims.nu) %}
+            {%- if constraints.D[j][k] != 0 %}
+    D[{{ j }}+NG * {{ k }}] = {{ constraints.D[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+
+    {% for j in range(end=dims.ng) -%}
+        {% for k in range(end=dims.nx) %}
+            {%- if constraints.C[j][k] != 0 %}
+    C[{{ j }}+NG * {{ k }}] = {{ constraints.C[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+
+    {% for i in range(end=dims.ng) %}
+        {%- if constraints.lg[i] != 0 %}
+    lg[{{ i }}] = {{ constraints.lg[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {% for i in range(end=dims.ng) %}
+        {%- if constraints.ug[i] != 0 %}
+    ug[{{ i }}] = {{ constraints.ug[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "D", D);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "C", C);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lg", lg);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ug", ug);
+    }
+    free(D);
+    free(C);
+    free(lug);
+{% endif %}
+
+{% if dims.nh > 0 %}
+    // set up nonlinear constraints for stage 0 to N-1
+    double* luh = calloc(2*NH, sizeof(double));
+    double* lh = luh;
+    double* uh = luh + NH;
+
+    {% for i in range(end=dims.nh) %}
+        {%- if constraints.lh[i] != 0 %}
+    lh[{{ i }}] = {{ constraints.lh[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {% for i in range(end=dims.nh) %}
+        {%- if constraints.uh[i] != 0 %}
+    uh[{{ i }}] = {{ constraints.uh[i] }};
+        {%- endif %}
+    {%- endfor %}
+    
+    for (int i = 0; i < N; i++)
+    {
+        // nonlinear constraints for stages 0 to N-1
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac",
+                                      &capsule->nl_constr_h_fun_jac[i]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun",
+                                      &capsule->nl_constr_h_fun[i]);
+        {% if solver_options.hessian_approx == "EXACT" %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
+                                      "nl_constr_h_fun_jac_hess", &capsule->nl_constr_h_fun_jac_hess[i]);
+        {% endif %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh);
+    }
+    free(luh);
+{% endif %}
+
+{% if dims.nphi > 0 and constraints.constr_type == "BGP" %}
+    // set up convex-over-nonlinear constraints for stage 0 to N-1
+    double* luphi = calloc(2*NPHI, sizeof(double));
+    double* lphi = luphi;
+    double* uphi = luphi + NPHI;
+    {% for i in range(end=dims.nphi) %}
+        {%- if constraints.lphi[i] != 0 %}
+    lphi[{{ i }}] = {{ constraints.lphi[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {% for i in range(end=dims.nphi) %}
+        {%- if constraints.uphi[i] != 0 %}
+    uphi[{{ i }}] = {{ constraints.uphi[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
+                                      "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_constraint[i]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lphi", lphi);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uphi", uphi);
+    }
+    free(luphi);
+{% endif %}
+
+    /* terminal constraints */
+{% if dims.nbx_e > 0 %}
+    // set up bounds for last stage
+    // x
+    int* idxbx_e = malloc(NBXN * sizeof(int));
+    {% for i in range(end=dims.nbx_e) %}
+    idxbx_e[{{ i }}] = {{ constraints.idxbx_e[i] }};
+    {%- endfor %}
+    double* lubx_e = calloc(2*NBXN, sizeof(double));
+    double* lbx_e = lubx_e;
+    double* ubx_e = lubx_e + NBXN;
+    {% for i in range(end=dims.nbx_e) %}
+        {%- if constraints.lbx_e[i] != 0 %}
+    lbx_e[{{ i }}] = {{ constraints.lbx_e[i] }};
+        {%- endif %}
+        {%- if constraints.ubx_e[i] != 0 %}
+    ubx_e[{{ i }}] = {{ constraints.ubx_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxbx", idxbx_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", lbx_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", ubx_e);
+    free(idxbx_e);
+    free(lubx_e);
+{%- endif %}
+
+{% if dims.nsg_e > 0 %}
+    // set up soft bounds for general linear constraints
+    int* idxsg_e = calloc(NSGN, sizeof(int));
+    {% for i in range(end=dims.nsg_e) %}
+    idxsg_e[{{ i }}] = {{ constraints.idxsg_e[i] }};
+    {%- endfor %}
+    double* lusg_e = calloc(2*NSGN, sizeof(double));
+    double* lsg_e = lusg_e;
+    double* usg_e = lusg_e + NSGN;
+    {% for i in range(end=dims.nsg_e) %}
+        {%- if constraints.lsg_e[i] != 0 %}
+    lsg_e[{{ i }}] = {{ constraints.lsg_e[i] }};
+        {%- endif %}
+        {%- if constraints.usg_e[i] != 0 %}
+    usg_e[{{ i }}] = {{ constraints.usg_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsg", idxsg_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsg", lsg_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usg", usg_e);
+    free(idxsg_e);
+    free(lusg_e);
+{%- endif %}
+
+{% if dims.nsh_e > 0 %}
+    // set up soft bounds for nonlinear constraints
+    int* idxsh_e = malloc(NSHN * sizeof(int));
+    {% for i in range(end=dims.nsh_e) %}
+    idxsh_e[{{ i }}] = {{ constraints.idxsh_e[i] }};
+    {%- endfor %}
+    double* lush_e = calloc(2*NSHN, sizeof(double));
+    double* lsh_e = lush_e;
+    double* ush_e = lush_e + NSHN;
+    {% for i in range(end=dims.nsh_e) %}
+        {%- if constraints.lsh_e[i] != 0 %}
+    lsh_e[{{ i }}] = {{ constraints.lsh_e[i] }};
+        {%- endif %}
+        {%- if constraints.ush_e[i] != 0 %}
+    ush_e[{{ i }}] = {{ constraints.ush_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsh", idxsh_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsh", lsh_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ush", ush_e);
+    free(idxsh_e);
+    free(lush_e);
+{%- endif %}
+
+{% if dims.nsphi_e > 0 %}
+    // set up soft bounds for convex-over-nonlinear constraints
+    int* idxsphi_e = malloc(NSPHIN * sizeof(int));
+    {% for i in range(end=dims.nsphi_e) %}
+    idxsphi_e[{{ i }}] = {{ constraints.idxsphi_e[i] }};
+    {%- endfor %}
+    double* lusphi_e = calloc(2*NSPHIN, sizeof(double));
+    double* lsphi_e = lusphi_e;
+    double* usphi_e = lusphi_e + NSPHIN;
+    {% for i in range(end=dims.nsphi_e) %}
+        {%- if constraints.lsphi_e[i] != 0 %}
+    lsphi_e[{{ i }}] = {{ constraints.lsphi_e[i] }};
+        {%- endif %}
+        {%- if constraints.usphi_e[i] != 0 %}
+    usphi_e[{{ i }}] = {{ constraints.usphi_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsphi", idxsphi_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsphi", lsphi_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usphi", usphi_e);
+    free(idxsphi_e);
+    free(lusphi_e);
+{%- endif %}
+
+{% if dims.nsbx_e > 0 %}
+    // soft bounds on x
+    int* idxsbx_e = malloc(NSBXN * sizeof(int));
+    {% for i in range(end=dims.nsbx_e) %}
+    idxsbx_e[{{ i }}] = {{ constraints.idxsbx_e[i] }};
+    {%- endfor %}
+    double* lusbx_e = calloc(2*NSBXN, sizeof(double));
+    double* lsbx_e = lusbx_e;
+    double* usbx_e = lusbx_e + NSBXN;
+    {% for i in range(end=dims.nsbx_e) %}
+        {%- if constraints.lsbx_e[i] != 0 %}
+    lsbx_e[{{ i }}] = {{ constraints.lsbx_e[i] }};
+        {%- endif %}
+        {%- if constraints.usbx_e[i] != 0 %}
+    usbx_e[{{ i }}] = {{ constraints.usbx_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsbx", idxsbx_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsbx", lsbx_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usbx", usbx_e);
+    free(idxsbx_e);
+    free(lusbx_e);
+{% endif %}
+
+{% if dims.ng_e > 0 %}
+    // set up general constraints for last stage 
+    double* C_e = calloc(NGN*NX, sizeof(double));
+    double* lug_e = calloc(2*NGN, sizeof(double));
+    double* lg_e = lug_e;
+    double* ug_e = lug_e + NGN;
+
+    {% for j in range(end=dims.ng) %}
+        {%- for k in range(end=dims.nx) %}
+            {%- if constraints.C_e[j][k] != 0 %}
+    C_e[{{ j }}+NG * {{ k }}] = {{ constraints.C_e[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+
+    {% for i in range(end=dims.ng_e) %}
+        {%- if constraints.lg_e[i] != 0 %}
+    lg_e[{{ i }}] = {{ constraints.lg_e[i] }};
+        {%- endif %}
+        {%- if constraints.ug_e[i] != 0 %}
+    ug_e[{{ i }}] = {{ constraints.ug_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "C", C_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", lg_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", ug_e);
+    free(C_e);
+    free(lug_e);
+{%- endif %}
+
+{% if dims.nh_e > 0 %}
+    // set up nonlinear constraints for last stage
+    double* luh_e = calloc(2*NHN, sizeof(double));
+    double* lh_e = luh_e;
+    double* uh_e = luh_e + NHN;
+    {% for i in range(end=dims.nh_e) %}
+        {%- if constraints.lh_e[i] != 0 %}
+    lh_e[{{ i }}] = {{ constraints.lh_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    {% for i in range(end=dims.nh_e) %}
+        {%- if constraints.uh_e[i] != 0 %}
+    uh_e[{{ i }}] = {{ constraints.uh_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac", &capsule->nl_constr_h_e_fun_jac);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun", &capsule->nl_constr_h_e_fun);
+    {% if solver_options.hessian_approx == "EXACT" %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac_hess",
+                                  &capsule->nl_constr_h_e_fun_jac_hess);
+    {% endif %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", lh_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", uh_e);
+    free(luh_e);
+{%- endif %}
+
+{% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %}
+    // set up convex-over-nonlinear constraints for last stage 
+    double* luphi_e = calloc(2*NPHIN, sizeof(double));
+    double* lphi_e = luphi_e;
+    double* uphi_e = luphi_e + NPHIN;
+    {% for i in range(end=dims.nphi_e) %}
+        {%- if constraints.lphi_e[i] != 0 %}
+    lphi_e[{{ i }}] = {{ constraints.lphi_e[i] }};
+        {%- endif %}
+        {%- if constraints.uphi_e[i] != 0 %}
+    uphi_e[{{ i }}] = {{ constraints.uphi_e[i] }};
+        {%- endif %}
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lphi", lphi_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uphi", uphi_e);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N,
+                                  "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_e_constraint);
+    free(luphi_e);
+{% endif %}
+
+
+    /************************************************
+    *  opts
+    ************************************************/
+
+    capsule->nlp_opts = ocp_nlp_solver_opts_create(nlp_config, nlp_dims);
+
+{% if solver_options.hessian_approx == "EXACT" %}
+    bool nlp_solver_exact_hessian = true;
+    // TODO: this if should not be needed! however, calling the setter with false leads to weird behavior. Investigate!
+    if (nlp_solver_exact_hessian)
+    {
+        ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "exact_hess", &nlp_solver_exact_hessian);
+    }
+    int exact_hess_dyn = {{ solver_options.exact_hess_dyn }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "exact_hess_dyn", &exact_hess_dyn);
+
+    int exact_hess_cost = {{ solver_options.exact_hess_cost }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "exact_hess_cost", &exact_hess_cost);
+
+    int exact_hess_constr = {{ solver_options.exact_hess_constr }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "exact_hess_constr", &exact_hess_constr);
+{%- endif -%}
+
+{%- if solver_options.globalization == "FIXED_STEP" %}
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization", "fixed_step");
+{%- elif solver_options.globalization == "MERIT_BACKTRACKING" %}
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization", "merit_backtracking");
+
+    double alpha_min = {{ solver_options.alpha_min }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "alpha_min", &alpha_min);
+
+    double alpha_reduction = {{ solver_options.alpha_reduction }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "alpha_reduction", &alpha_reduction);
+{%- endif -%}
+
+{%- if dims.nz > 0 %}
+    // TODO: these options are lower level -> should be encapsulated! maybe through hessian approx option.
+    bool output_z_val = true;
+    bool sens_algebraic_val = true;
+
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_output_z", &output_z_val);
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_sens_algebraic", &sens_algebraic_val);
+{%- endif %}
+
+{%- if solver_options.integrator_type != "DISCRETE" %}
+
+    // set collocation type (relevant for implicit integrators)
+    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_collocation_type", &collocation_type);
+
+    // set up sim_method_num_steps
+    {%- set all_equal = true %}
+    {%- set val = solver_options.sim_method_num_steps[0] %}
+    {%- for j in range(start=1, end=dims.N) %}
+        {%- if val != solver_options.sim_method_num_steps[j] %}
+            {%- set_global all_equal = false %}
+            {%- break %}
+        {%- endif %}
+    {%- endfor %}
+
+    {%- if all_equal == true %}
+    // all sim_method_num_steps are identical
+    int sim_method_num_steps = {{ solver_options.sim_method_num_steps[0] }};
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps);
+    {%- else %}
+    // sim_method_num_steps are different
+    int* sim_method_num_steps = malloc(N*sizeof(int));
+    {%- for j in range(end=dims.N) %}
+    sim_method_num_steps[{{ j }}] = {{ solver_options.sim_method_num_steps[j] }};
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps[i]);
+    free(sim_method_num_steps);
+    {%- endif %}
+
+    // set up sim_method_num_stages
+    {%- set all_equal = true %}
+    {%- set val = solver_options.sim_method_num_stages[0] %}
+    {%- for j in range(start=1, end=dims.N) %}
+        {%- if val != solver_options.sim_method_num_stages[j] %}
+            {%- set_global all_equal = false %}
+            {%- break %}
+        {%- endif %}
+    {%- endfor %}
+
+  {%- if all_equal == true %}
+    // all sim_method_num_stages are identical
+    int sim_method_num_stages = {{ solver_options.sim_method_num_stages[0] }};
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages);
+  {%- else %}
+    int* sim_method_num_stages = malloc(N*sizeof(int));
+    {%- for j in range(end=dims.N) %}
+    sim_method_num_stages[{{ j }}] = {{ solver_options.sim_method_num_stages[j] }};
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages[i]);
+    free(sim_method_num_stages);
+  {%- endif %}
+
+    int newton_iter_val = {{ solver_options.sim_method_newton_iter }};
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_newton_iter", &newton_iter_val);
+
+
+    // set up sim_method_jac_reuse
+    {%- set all_equal = true %}
+    {%- set val = solver_options.sim_method_jac_reuse[0] %}
+    {%- for j in range(start=1, end=dims.N) %}
+        {%- if val != solver_options.sim_method_jac_reuse[j] %}
+            {%- set_global all_equal = false %}
+            {%- break %}
+        {%- endif %}
+    {%- endfor %}
+  {%- if all_equal == true %}
+    bool tmp_bool = (bool) {{ solver_options.sim_method_jac_reuse[0] }};
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_jac_reuse", &tmp_bool);
+  {%- else %}
+    bool* sim_method_jac_reuse = malloc(N*sizeof(bool));
+    {%- for j in range(end=dims.N) %}
+    sim_method_jac_reuse[{{ j }}] = (bool){{ solver_options.sim_method_jac_reuse[j] }};
+    {%- endfor %}
+
+    for (int i = 0; i < N; i++)
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_jac_reuse", &sim_method_jac_reuse[i]);
+    free(sim_method_jac_reuse);
+  {%- endif %}
+
+{%- endif %}
+
+    double nlp_solver_step_length = {{ solver_options.nlp_solver_step_length }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "step_length", &nlp_solver_step_length);
+
+    {%- if solver_options.nlp_solver_warm_start_first_qp %}
+    int nlp_solver_warm_start_first_qp = {{ solver_options.nlp_solver_warm_start_first_qp }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "warm_start_first_qp", &nlp_solver_warm_start_first_qp);
+    {%- endif %}
+
+    double levenberg_marquardt = {{ solver_options.levenberg_marquardt }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "levenberg_marquardt", &levenberg_marquardt);
+
+    /* options QP solver */
+{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
+    int qp_solver_cond_N;
+
+    {%- if solver_options.qp_solver_cond_N %}
+    qp_solver_cond_N = {{ solver_options.qp_solver_cond_N }};
+    {% else %}
+    // NOTE: there is no condensing happening here!
+    qp_solver_cond_N = N;
+    {%- endif %}
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N);
+{% endif %}
+
+    int qp_solver_iter_max = {{ solver_options.qp_solver_iter_max }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "qp_iter_max", &qp_solver_iter_max);
+
+    {%- if solver_options.qp_solver_tol_stat %}
+    double qp_solver_tol_stat = {{ solver_options.qp_solver_tol_stat }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "qp_tol_stat", &qp_solver_tol_stat);
+    {%- endif -%}
+
+    {%- if solver_options.qp_solver_tol_eq %}
+    double qp_solver_tol_eq = {{ solver_options.qp_solver_tol_eq }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "qp_tol_eq", &qp_solver_tol_eq);
+    {%- endif -%}
+
+    {%- if solver_options.qp_solver_tol_ineq %}
+    double qp_solver_tol_ineq = {{ solver_options.qp_solver_tol_ineq }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq);
+    {%- endif -%}
+
+    {%- if solver_options.qp_solver_tol_comp %}
+    double qp_solver_tol_comp = {{ solver_options.qp_solver_tol_comp }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);
+    {%- endif -%}
+
+    {%- if solver_options.qp_solver_warm_start %}
+    int qp_solver_warm_start = {{ solver_options.qp_solver_warm_start }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "qp_warm_start", &qp_solver_warm_start);
+    {%- endif -%}
+    
+{% if solver_options.nlp_solver_type == "SQP" %}
+    // set SQP specific options
+    double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "tol_stat", &nlp_solver_tol_stat);
+
+    double nlp_solver_tol_eq = {{ solver_options.nlp_solver_tol_eq }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "tol_eq", &nlp_solver_tol_eq);
+
+    double nlp_solver_tol_ineq = {{ solver_options.nlp_solver_tol_ineq }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "tol_ineq", &nlp_solver_tol_ineq);
+
+    double nlp_solver_tol_comp = {{ solver_options.nlp_solver_tol_comp }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "tol_comp", &nlp_solver_tol_comp);
+
+    int nlp_solver_max_iter = {{ solver_options.nlp_solver_max_iter }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "max_iter", &nlp_solver_max_iter);
+
+    int initialize_t_slacks = {{ solver_options.initialize_t_slacks }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "initialize_t_slacks", &initialize_t_slacks);
+{%- endif %}
+
+    int print_level = {{ solver_options.print_level }};
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "print_level", &print_level);
+
+
+    int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }};
+{%- if cost.cost_type == "EXTERNAL" %}
+    for (int i = 0; i < N; i++)
+    {
+        ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "cost_numerical_hessian", &ext_cost_num_hess);
+    }
+{%- endif %}
+{%- if cost.cost_type_e == "EXTERNAL" %}
+    ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, N, "cost_numerical_hessian", &ext_cost_num_hess);
+{%- endif %}
+
+
+    /* out */
+    ocp_nlp_out * nlp_out = ocp_nlp_out_create(nlp_config, nlp_dims);
+    capsule->nlp_out = nlp_out;
+
+    // initialize primal solution
+    double* xu0 = calloc(NX+NU, sizeof(double));
+    double* x0 = xu0;
+{% if dims.nbx_0 == dims.nx %}
+    // initialize with x0
+    {% for item in constraints.lbx_0 %}
+        {%- if item != 0 %}
+    x0[{{ loop.index0 }}] = {{ item }};
+        {%- endif %}
+    {%- endfor %}
+{% else %}
+    // initialize with zeros
+{%- endif %}
+
+    double* u0 = xu0 + NX;
+
+    for (int i = 0; i < N; i++)
+    {
+        // x0
+        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0);
+        // u0
+        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
+    }
+    ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0);
+    free(xu0);
+    
+    capsule->nlp_solver = ocp_nlp_solver_create(nlp_config, nlp_dims, capsule->nlp_opts);
+
+
+{% if dims.np > 0 %}
+    // initialize parameters to nominal value
+    double* p = calloc(NP, sizeof(double));
+    {% for item in parameter_values %}
+        {%- if item != 0 %}
+    p[{{ loop.index0 }}] = {{ item }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 0; i <= N; i++)
+    {
+        {{ model.name }}_acados_update_params(capsule, i, p, NP);
+    }
+    free(p);
+{%- endif %}{# if dims.np #}
+
+    status = ocp_nlp_precompute(capsule->nlp_solver, nlp_in, nlp_out);
+
+    if (status != ACADOS_SUCCESS)
+    {
+        printf("\nocp_precompute failed!\n\n");
+        exit(1);
+    }
+
+    return status;
+}
+
+
+int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *p, int np)
+{
+    int solver_status = 0;
+
+    int casadi_np = {{ dims.np }};
+    if (casadi_np != np) {
+        printf("acados_update_params: trying to set %i parameters for external functions."
+            " External function has %i parameters. Exiting.\n", np, casadi_np);
+        exit(1);
+    }
+
+{%- if dims.np > 0 %}
+    const int N = capsule->nlp_solver_plan->N;
+    if (stage < N && stage >= 0)
+    {
+    {%- if solver_options.integrator_type == "IRK" %}
+        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
+        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p);
+        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param(capsule->impl_dae_jac_x_xdot_u_z+stage, p);
+
+        {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->impl_dae_hess[stage].set_param(capsule->impl_dae_hess+stage, p);
+        {%- endif %}
+    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
+        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
+        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p);
+    {% elif solver_options.integrator_type == "ERK" %}
+        capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p);
+        capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p);
+
+        {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->hess_vde_casadi[stage].set_param(capsule->hess_vde_casadi+stage, p);
+        {%- endif %}
+    {% elif solver_options.integrator_type == "GNSF" %}
+        capsule->gnsf_phi_fun[stage].set_param(capsule->gnsf_phi_fun+stage, p);
+        capsule->gnsf_phi_fun_jac_y[stage].set_param(capsule->gnsf_phi_fun_jac_y+stage, p);
+        capsule->gnsf_phi_jac_y_uhat[stage].set_param(capsule->gnsf_phi_jac_y_uhat+stage, p);
+
+        capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, p);
+    {% elif solver_options.integrator_type == "DISCRETE" %}
+        capsule->discr_dyn_phi_fun[stage].set_param(capsule->discr_dyn_phi_fun+stage, p);
+        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, p);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, p);
+    {% endif %}
+    {%- endif %}{# integrator_type #}
+
+        // constraints
+    {% if constraints.constr_type == "BGP" %}
+        capsule->phi_constraint[stage].set_param(capsule->phi_constraint+stage, p);
+    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
+        capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p);
+        capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->nl_constr_h_fun_jac_hess[stage].set_param(capsule->nl_constr_h_fun_jac_hess+stage, p);
+    {%- endif %}
+    {%- endif %}
+
+        // cost
+        if (stage == 0)
+        {
+        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
+            capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p);
+            capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p);
+            capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p);
+        {%- elif cost.cost_type_0 == "EXTERNAL" %}
+            capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p);
+            capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p);
+            capsule->ext_cost_0_fun_jac_hess.set_param(&capsule->ext_cost_0_fun_jac_hess, p);
+        {% endif %}
+        }
+        else // 0 < stage < N
+        {
+        {%- if cost.cost_type == "NONLINEAR_LS" %}
+            capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p);
+            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p);
+            capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p);
+        {%- elif cost.cost_type == "EXTERNAL" %}
+            capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p);
+            capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p);
+            capsule->ext_cost_fun_jac_hess[stage-1].set_param(capsule->ext_cost_fun_jac_hess+stage-1, p);
+        {%- endif %}
+        }
+    }
+
+    else // stage == N
+    {
+        // terminal shooting node has no dynamics
+        // cost
+    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
+        capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p);
+        capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p);
+        capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p);
+    {%- elif cost.cost_type_e == "EXTERNAL" %}
+        capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p);
+        capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p);
+        capsule->ext_cost_e_fun_jac_hess.set_param(&capsule->ext_cost_e_fun_jac_hess, p);
+    {% endif %}
+        // constraints
+    {% if constraints.constr_type_e == "BGP" %}
+        capsule->phi_e_constraint.set_param(&capsule->phi_e_constraint, p);
+    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
+        capsule->nl_constr_h_e_fun_jac.set_param(&capsule->nl_constr_h_e_fun_jac, p);
+        capsule->nl_constr_h_e_fun.set_param(&capsule->nl_constr_h_e_fun, p);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->nl_constr_h_e_fun_jac_hess.set_param(&capsule->nl_constr_h_e_fun_jac_hess, p);
+    {%- endif %}
+    {% endif %}
+    }
+{% endif %}{# if dims.np #}
+
+    return solver_status;
+}
+
+
+
+int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule)
+{
+    // solve NLP 
+    int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
+
+    return solver_status;
+}
+
+
+int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule)
+{
+    // before destroying, keep some info
+    const int N = capsule->nlp_solver_plan->N;
+    // free memory
+    ocp_nlp_solver_opts_destroy(capsule->nlp_opts);
+    ocp_nlp_in_destroy(capsule->nlp_in);
+    ocp_nlp_out_destroy(capsule->nlp_out);
+    ocp_nlp_solver_destroy(capsule->nlp_solver);
+    ocp_nlp_dims_destroy(capsule->nlp_dims);
+    ocp_nlp_config_destroy(capsule->nlp_config);
+    ocp_nlp_plan_destroy(capsule->nlp_solver_plan);
+
+    /* free external function */
+    // dynamics
+{%- if solver_options.integrator_type == "IRK" %}
+    for (int i = 0; i < N; i++)
+    {
+        external_function_param_casadi_free(&capsule->impl_dae_fun[i]);
+        external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]);
+        external_function_param_casadi_free(&capsule->impl_dae_jac_x_xdot_u_z[i]);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        external_function_param_casadi_free(&capsule->impl_dae_hess[i]);
+    {%- endif %}
+    }
+    free(capsule->impl_dae_fun);
+    free(capsule->impl_dae_fun_jac_x_xdot_z);
+    free(capsule->impl_dae_jac_x_xdot_u_z);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+    free(capsule->impl_dae_hess);
+    {%- endif %}
+
+{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
+    for (int i = 0; i < N; i++)
+    {
+        external_function_param_casadi_free(&capsule->impl_dae_fun[i]);
+        external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]);
+    }
+    free(capsule->impl_dae_fun);
+    free(capsule->impl_dae_fun_jac_x_xdot_u);
+
+{%- elif solver_options.integrator_type == "ERK" %}
+    for (int i = 0; i < N; i++)
+    {
+        external_function_param_casadi_free(&capsule->forw_vde_casadi[i]);
+        external_function_param_casadi_free(&capsule->expl_ode_fun[i]);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        external_function_param_casadi_free(&capsule->hess_vde_casadi[i]);
+    {%- endif %}
+    }
+    free(capsule->forw_vde_casadi);
+    free(capsule->expl_ode_fun);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+    free(capsule->hess_vde_casadi);
+    {%- endif %}
+
+{%- elif solver_options.integrator_type == "GNSF" %}
+    for (int i = 0; i < N; i++)
+    {
+        external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]);
+        external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]);
+        external_function_param_casadi_free(&capsule->gnsf_phi_jac_y_uhat[i]);
+        external_function_param_casadi_free(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
+        external_function_param_casadi_free(&capsule->gnsf_get_matrices_fun[i]);
+    }
+    free(capsule->gnsf_phi_fun);
+    free(capsule->gnsf_phi_fun_jac_y);
+    free(capsule->gnsf_phi_jac_y_uhat);
+    free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z);
+    free(capsule->gnsf_get_matrices_fun);
+{%- elif solver_options.integrator_type == "DISCRETE" %}
+    for (int i = 0; i < N; i++)
+    {
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]);
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
+    {%- endif %}
+    }
+    free(capsule->discr_dyn_phi_fun);
+    free(capsule->discr_dyn_phi_fun_jac_ut_xt);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+    free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess);
+    {%- endif %}
+    
+{%- endif %}
+
+    // cost
+{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
+    external_function_param_casadi_free(&capsule->cost_y_0_fun);
+    external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt);
+    external_function_param_casadi_free(&capsule->cost_y_0_hess);
+{%- elif cost.cost_type_0 == "EXTERNAL" %}
+    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun);
+    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac);
+    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess);
+{%- endif %}
+{%- if cost.cost_type == "NONLINEAR_LS" %}
+    for (int i = 0; i < N - 1; i++)
+    {
+        external_function_param_casadi_free(&capsule->cost_y_fun[i]);
+        external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]);
+        external_function_param_casadi_free(&capsule->cost_y_hess[i]);
+    }
+    free(capsule->cost_y_fun);
+    free(capsule->cost_y_fun_jac_ut_xt);
+    free(capsule->cost_y_hess);
+{%- elif cost.cost_type == "EXTERNAL" %}
+    for (int i = 0; i < N - 1; i++)
+    {
+        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]);
+        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]);
+        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac_hess[i]);
+    }
+    free(capsule->ext_cost_fun);
+    free(capsule->ext_cost_fun_jac);
+    free(capsule->ext_cost_fun_jac_hess);
+{%- endif %}
+{%- if cost.cost_type_e == "NONLINEAR_LS" %}
+    external_function_param_casadi_free(&capsule->cost_y_e_fun);
+    external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt);
+    external_function_param_casadi_free(&capsule->cost_y_e_hess);
+{%- elif cost.cost_type_e == "EXTERNAL" %}
+    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun);
+    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac);
+    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac_hess);
+{%- endif %}
+
+    // constraints
+{%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
+    for (int i = 0; i < N; i++)
+    {
+        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]);
+        external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]);
+    }
+  {%- if solver_options.hessian_approx == "EXACT" %}
+    for (int i = 0; i < N; i++)
+    {
+        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]);
+    }
+  {%- endif %}
+    free(capsule->nl_constr_h_fun_jac);
+    free(capsule->nl_constr_h_fun);
+  {%- if solver_options.hessian_approx == "EXACT" %}
+    free(capsule->nl_constr_h_fun_jac_hess);
+  {%- endif %}
+
+{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
+    for (int i = 0; i < N; i++)
+    {
+        external_function_param_casadi_free(&capsule->phi_constraint[i]);
+    }
+    free(capsule->phi_constraint);
+{%- endif %}
+
+{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
+    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac);
+    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun);
+{%- if solver_options.hessian_approx == "EXACT" %}
+    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac_hess);
+{%- endif %}
+{%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
+    external_function_param_casadi_free(&capsule->phi_e_constraint);
+{%- endif %}
+
+    return 0;
+}
+
+ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_in; }
+ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_out; }
+ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_solver; }
+ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_config; }
+void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_opts; }
+ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_dims; }
+ocp_nlp_plan *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_solver_plan; }
+
+
+void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule)
+{
+    int sqp_iter, stat_m, stat_n, tmp_int;
+    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter);
+    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n);
+    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m);
+
+    {% set stat_n_max = 10 %}
+    double stat[{{ solver_options.nlp_solver_max_iter * stat_n_max }}];
+    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat);
+
+    int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m;
+
+    printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\n");
+    for (int i = 0; i < nrow; i++)
+    {
+        for (int j = 0; j < stat_n + 1; j++)
+        {
+            if (j == 0 || j > 4)
+            {
+                tmp_int = (int) stat[i + j * nrow];
+                printf("%d\t", tmp_int);
+            }
+            else
+            {
+                printf("%e\t", stat[i + j * nrow]);
+            }
+        }
+        printf("\n");
+    }
+}
+
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.h b/pyextra/acados_template/c_templates_tera/acados_solver.in.h
new file mode 100644
index 00000000000000..e8c0a38ca36162
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_solver.in.h
@@ -0,0 +1,206 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef ACADOS_SOLVER_{{ model.name }}_H_
+#define ACADOS_SOLVER_{{ model.name }}_H_
+
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados_c/external_function_interface.h"
+
+#define {{ model.name | upper }}_NX     {{ dims.nx }}
+#define {{ model.name | upper }}_NZ     {{ dims.nz }}
+#define {{ model.name | upper }}_NU     {{ dims.nu }}
+#define {{ model.name | upper }}_NP     {{ dims.np }}
+#define {{ model.name | upper }}_NBX    {{ dims.nbx }}
+#define {{ model.name | upper }}_NBX0   {{ dims.nbx_0 }}
+#define {{ model.name | upper }}_NBU    {{ dims.nbu }}
+#define {{ model.name | upper }}_NSBX   {{ dims.nsbx }}
+#define {{ model.name | upper }}_NSBU   {{ dims.nsbu }}
+#define {{ model.name | upper }}_NSH    {{ dims.nsh }}
+#define {{ model.name | upper }}_NSG    {{ dims.nsg }}
+#define {{ model.name | upper }}_NSPHI  {{ dims.nsphi }}
+#define {{ model.name | upper }}_NSHN   {{ dims.nsh_e }}
+#define {{ model.name | upper }}_NSGN   {{ dims.nsg_e }}
+#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }}
+#define {{ model.name | upper }}_NSBXN  {{ dims.nsbx_e }}
+#define {{ model.name | upper }}_NS     {{ dims.ns }}
+#define {{ model.name | upper }}_NSN    {{ dims.ns_e }}
+#define {{ model.name | upper }}_NG     {{ dims.ng }}
+#define {{ model.name | upper }}_NBXN   {{ dims.nbx_e }}
+#define {{ model.name | upper }}_NGN    {{ dims.ng_e }}
+#define {{ model.name | upper }}_NY0    {{ dims.ny_0 }}
+#define {{ model.name | upper }}_NY     {{ dims.ny }}
+#define {{ model.name | upper }}_NYN    {{ dims.ny_e }}
+#define {{ model.name | upper }}_N      {{ dims.N }}
+#define {{ model.name | upper }}_NH     {{ dims.nh }}
+#define {{ model.name | upper }}_NPHI   {{ dims.nphi }}
+#define {{ model.name | upper }}_NHN    {{ dims.nh_e }}
+#define {{ model.name | upper }}_NPHIN  {{ dims.nphi_e }}
+#define {{ model.name | upper }}_NR     {{ dims.nr }}
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// ** capsule for solver data **
+typedef struct {{ model.name }}_solver_capsule
+{
+    // acados objects
+    ocp_nlp_in *nlp_in;
+    ocp_nlp_out *nlp_out;
+    ocp_nlp_solver *nlp_solver;
+    void *nlp_opts;
+    ocp_nlp_plan *nlp_solver_plan;
+    ocp_nlp_config *nlp_config;
+    ocp_nlp_dims *nlp_dims;
+
+    // number of expected runtime parameters
+    unsigned int nlp_np;
+
+    /* external functions */
+    // dynamics
+{% if solver_options.integrator_type == "ERK" %}
+    external_function_param_casadi *forw_vde_casadi;
+    external_function_param_casadi *expl_ode_fun;
+{% if solver_options.hessian_approx == "EXACT" %}
+    external_function_param_casadi *hess_vde_casadi;
+{%- endif %}
+{% elif solver_options.integrator_type == "IRK" %}
+    external_function_param_casadi *impl_dae_fun;
+    external_function_param_casadi *impl_dae_fun_jac_x_xdot_z;
+    external_function_param_casadi *impl_dae_jac_x_xdot_u_z;
+{% if solver_options.hessian_approx == "EXACT" %}
+    external_function_param_casadi *impl_dae_hess;
+{%- endif %}
+{% elif solver_options.integrator_type == "LIFTED_IRK" %}
+    external_function_param_casadi *impl_dae_fun;
+    external_function_param_casadi *impl_dae_fun_jac_x_xdot_u;
+{% elif solver_options.integrator_type == "GNSF" %}
+    external_function_param_casadi *gnsf_phi_fun;
+    external_function_param_casadi *gnsf_phi_fun_jac_y;
+    external_function_param_casadi *gnsf_phi_jac_y_uhat;
+    external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z;
+    external_function_param_casadi *gnsf_get_matrices_fun;
+{% elif solver_options.integrator_type == "DISCRETE" %}
+    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun;
+    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt;
+{%- if solver_options.hessian_approx == "EXACT" %}
+    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess;
+{%- endif %}
+{%- endif %}
+
+
+    // cost
+{% if cost.cost_type == "NONLINEAR_LS" %}
+    external_function_param_casadi *cost_y_fun;
+    external_function_param_casadi *cost_y_fun_jac_ut_xt;
+    external_function_param_casadi *cost_y_hess;
+{%- elif cost.cost_type == "EXTERNAL" %}
+    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun;
+    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac;
+    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess;
+{% endif %}
+
+{% if cost.cost_type_0 == "NONLINEAR_LS" %}
+    external_function_param_casadi cost_y_0_fun;
+    external_function_param_casadi cost_y_0_fun_jac_ut_xt;
+    external_function_param_casadi cost_y_0_hess;
+{% elif cost.cost_type_0 == "EXTERNAL" %}
+    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun;
+    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac;
+    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess;
+{%- endif %}
+
+{% if cost.cost_type_e == "NONLINEAR_LS" %}
+    external_function_param_casadi cost_y_e_fun;
+    external_function_param_casadi cost_y_e_fun_jac_ut_xt;
+    external_function_param_casadi cost_y_e_hess;
+{% elif cost.cost_type_e == "EXTERNAL" %}
+    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun;
+    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac;
+    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess;
+{%- endif %}
+
+    // constraints
+{%- if constraints.constr_type == "BGP" %}
+    external_function_param_casadi *phi_constraint;
+{% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
+    external_function_param_casadi *nl_constr_h_fun_jac;
+    external_function_param_casadi *nl_constr_h_fun;
+    external_function_param_casadi *nl_constr_h_fun_jac_hess;
+{%- endif %}
+
+
+{% if constraints.constr_type_e == "BGP" %}
+    external_function_param_casadi phi_e_constraint;
+{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
+    external_function_param_casadi nl_constr_h_e_fun_jac;
+    external_function_param_casadi nl_constr_h_e_fun;
+    external_function_param_casadi nl_constr_h_e_fun_jac_hess;
+{%- endif %}
+
+} {{ model.name }}_solver_capsule;
+
+{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
+int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
+
+int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
+/**
+ * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
+ * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
+ * generation, the time-steps from code generation is used.
+ */
+int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
+/**
+ * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
+ * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
+ */
+int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
+int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
+int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
+int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
+void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
+
+ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
+ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
+ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
+ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
+void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
+ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
+ocp_nlp_plan *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SOLVER_{{ model.name }}_H_
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.pxd b/pyextra/acados_template/c_templates_tera/acados_solver.in.pxd
new file mode 100644
index 00000000000000..8387980c24560d
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_solver.in.pxd
@@ -0,0 +1,22 @@
+cimport acados_solver_common
+
+cdef extern from "acados_solver_{{ model.name }}.h":
+    ctypedef struct nlp_solver_capsule "{{ model.name }}_solver_capsule":
+        pass
+
+    nlp_solver_capsule * acados_create_capsule "{{ model.name }}_acados_create_capsule"()
+    int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule)
+
+    int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule)
+    int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
+    int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
+    int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
+    void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule)
+
+    acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule)
+    void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "{{ model.name }}_acados_get_nlp_dims"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "{{ model.name }}_acados_get_nlp_plan"(nlp_solver_capsule * capsule)
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c b/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
new file mode 100644
index 00000000000000..a6cd1faa8c2104
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
@@ -0,0 +1,761 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#define S_FUNCTION_NAME acados_solver_sfunction_{{ model.name }}
+#define S_FUNCTION_LEVEL 2
+
+#define MDL_START
+
+// acados
+#include "acados/utils/print.h"
+#include "acados_c/sim_interface.h"
+#include "acados_c/external_function_interface.h"
+
+// example specific
+#include "{{ model.name }}_model/{{ model.name }}_model.h"
+#include "acados_solver_{{ model.name }}.h"
+
+#include "simstruc.h"
+
+{% if simulink_opts.samplingtime == "t0" -%}
+#define SAMPLINGTIME {{ solver_options.time_steps[0] }}
+{%- elif simulink_opts.samplingtime == "-1" -%}
+#define SAMPLINGTIME -1
+{%- else -%}
+  {{ throw(message = "simulink_opts.samplingtime must be '-1' or 't0', got val") }}
+{%- endif %}
+
+static void mdlInitializeSizes (SimStruct *S)
+{
+    // specify the number of continuous and discrete states
+    ssSetNumContStates(S, 0);
+    ssSetNumDiscStates(S, 0);
+
+  {%- for key, val in simulink_opts.inputs -%}
+    {%- if val != 0 and val != 1 -%}
+      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
+    {%- endif -%}
+  {%- endfor -%}
+
+  {#- compute number of input ports #}
+  {%- set n_inputs = 0 -%}
+  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%}  {#- y_ref_0 -#}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref -%}  {#- y_ref -#}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e -%}  {#- y_ref_e #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+
+  {%- for key, val in simulink_opts.inputs -%}
+    {%- if val != 0 and val != 1 -%}
+      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
+    {%- endif -%}
+  {%- endfor -%}
+  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
+    {%- set n_inputs = n_inputs + 1 %}
+  {%- endif -%}
+  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W -%}  {#- cost_W #}
+    {%- set n_inputs = n_inputs + 1 %}
+  {%- endif -%}
+  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e -%}  {#- cost_W_e #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+
+  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+
+  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+
+    // specify the number of input ports
+    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
+        return;
+
+    // specify the number of output ports
+    {%- set_global n_outputs = 0 %}
+    {%- for key, val in simulink_opts.outputs %}
+      {%- if val == 1 %}
+        {%- set_global n_outputs = n_outputs + val %}
+      {%- elif val != 0 %}
+        {{ throw(message = "simulink_opts.outputs must be 0 or 1, got val") }}
+      {%- endif %}
+    {%- endfor %}
+    if ( !ssSetNumOutputPorts(S, {{ n_outputs }}) )
+        return;
+
+    // specify dimension information for the input ports
+    {%- set i_input = -1 %}{# note here i_input is 0-based #}
+  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
+    {%- set i_input = i_input + 1 %}
+    // lbx_0
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
+  {%- endif %}
+  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
+    {%- set i_input = i_input + 1 %}
+    // ubx_0
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
+  {%- endif %}
+
+  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
+    {%- set i_input = i_input + 1 %}
+    // parameters
+    ssSetInputPortVectorDimension(S, {{ i_input }}, ({{ dims.N }}+1) * {{ dims.np }});
+  {%- endif %}
+
+  {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %}
+    {%- set i_input = i_input + 1 %}
+    // y_ref_0
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 }});
+  {%- endif %}
+
+  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
+    {%- set i_input = i_input + 1 %}
+    // y_ref
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.ny }});
+  {%- endif %}
+
+  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
+    {%- set i_input = i_input + 1 %}
+    // y_ref_e
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e }});
+  {%- endif %}
+
+  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
+    {%- set i_input = i_input + 1 %}
+    // lbx
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
+  {%- endif %}
+  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
+    {%- set i_input = i_input + 1 %}
+    // ubx
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
+  {%- endif %}
+
+  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
+    {%- set i_input = i_input + 1 %}
+    // lbx_e
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
+  {%- endif %}
+  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
+    {%- set i_input = i_input + 1 %}
+    // ubx_e
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
+  {%- endif %}
+
+  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
+    {%- set i_input = i_input + 1 %}
+    // lbu
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
+  {%- endif -%}
+  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
+    {%- set i_input = i_input + 1 %}
+    // ubu
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
+  {%- endif -%}
+
+
+  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
+    {%- set i_input = i_input + 1 %}
+    // lg
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ng }});
+  {%- endif -%}
+  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
+    {%- set i_input = i_input + 1 %}
+    // ug
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ng }});
+  {%- endif -%}
+
+  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
+    {%- set i_input = i_input + 1 %}
+    // lh
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }});
+  {%- endif -%}
+  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
+    {%- set i_input = i_input + 1 %}
+    // uh
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }});
+  {%- endif -%}
+
+  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
+    {%- set i_input = i_input + 1 %}
+    // cost_W_0
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }});
+  {%- endif %}
+
+  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
+    {%- set i_input = i_input + 1 %}
+    // cost_W
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }});
+  {%- endif %}
+
+  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
+    {%- set i_input = i_input + 1 %}
+    // cost_W_e
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }});
+  {%- endif %}
+
+  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
+    {%- set i_input = i_input + 1 %}
+    // x_init
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx * (dims.N+1) }});
+  {%- endif -%}
+
+  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
+    {%- set i_input = i_input + 1 %}
+    // u_init
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu * (dims.N) }});
+  {%- endif -%}
+
+    /* specify dimension information for the OUTPUT ports */
+    {%- set i_output = -1 %}{# note here i_output is 0-based #}
+  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu }} );
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.utraj == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu * dims.N }} );
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.xtraj == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx * (dims.N+1) }} );
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.solver_status == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.KKT_residual == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
+  {%- endif %}
+
+  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.CPU_time == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.sqp_iter == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
+  {%- endif %}
+
+    // specify the direct feedthrough status
+    // should be set to 1 for all inputs used in mdlOutputs
+    {%- for i in range(end=n_inputs) %}
+    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
+    {%- endfor %}
+
+    // one sample time
+    ssSetNumSampleTimes(S, 1);
+}
+
+
+#if defined(MATLAB_MEX_FILE)
+
+#define MDL_SET_INPUT_PORT_DIMENSION_INFO
+#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
+
+static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
+{
+    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
+         return;
+}
+
+static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
+{
+    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
+         return;
+}
+
+#endif /* MATLAB_MEX_FILE */
+
+
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+    ssSetSampleTime(S, 0, SAMPLINGTIME);
+    ssSetOffsetTime(S, 0, 0.0);
+}
+
+
+static void mdlStart(SimStruct *S)
+{
+    {{ model.name }}_solver_capsule *capsule = {{ model.name }}_acados_create_capsule();
+    {{ model.name }}_acados_create(capsule);
+
+    ssSetUserData(S, (void*)capsule);
+}
+
+
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
+    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
+    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
+    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
+    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
+
+    InputRealPtrsType in_sign;
+
+    {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbu, dims.ng, dims.nh, dims.nx] -%}
+
+  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}  {# y_ref_0 #}
+    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %}
+  {%- endif %}
+  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}  {# y_ref #}
+    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny)) %}
+  {%- endif %}
+  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}  {# y_ref_e #}
+    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %}
+  {%- endif %}
+
+  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {# cost_W_0 #}
+    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %}
+  {%- endif %}
+  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {# cost_W #}
+    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %}
+  {%- endif %}
+  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {# cost_W_e #}
+    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %}
+  {%- endif %}
+
+    // local buffer
+    {%- set buffer_size = buffer_sizes | sort | last %}
+    real_t buffer[{{ buffer_size }}];
+
+    /* go through inputs */
+    {%- set i_input = -1 %}
+  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
+    // lbx_0
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer);
+  {%- endif %}
+
+  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
+    // ubx_0
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer);
+  {%- endif %}
+
+  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
+    // parameters - stage-variant !!!
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    // update value of parameters
+    for (int ii = 0; ii <= {{ dims.N }}; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.np }}; jj++)
+            buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]);
+        {{ model.name }}_acados_update_params(capsule, ii, buffer, {{ dims.np }});
+    }
+  {%- endif %}
+
+  {% if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
+    // y_ref_0
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.ny_0 }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer);
+  {%- endif %}
+
+  {% if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
+    // y_ref - for stages 1 to N-1
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int ii = 1; ii < {{ dims.N }}; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.ny }}; jj++)
+            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer);
+    }
+  {%- endif %}
+
+  {% if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
+    // y_ref_e
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.ny_e }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "yref", (void *) buffer);
+  {%- endif %}
+
+  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
+    // lbx
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int ii = 1; ii < {{ dims.N }}; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
+            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer);
+    }
+  {%- endif %}
+  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
+    // ubx
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int ii = 1; ii < {{ dims.N }}; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
+            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer);
+    }
+  {%- endif %}
+
+
+  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
+    // lbx_e
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.nbx_e }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "lbx", buffer);
+  {%- endif %}
+  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
+    // ubx_e
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.nbx_e }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "ubx", buffer);
+  {%- endif %}
+
+
+  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
+    // lbu
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int ii = 0; ii < {{ dims.N }}; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
+            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbu", (void *) buffer);
+    }
+  {%- endif -%}
+  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
+    // ubu
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int ii = 0; ii < {{ dims.N }}; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
+            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubu", (void *) buffer);
+    }
+  {%- endif -%}
+
+  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
+    // lg
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.ng }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    for (int ii = 0; ii < {{ dims.N }}; ii++)
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", buffer);
+  {%- endif -%}
+  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
+    // ug
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.ng }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    for (int ii = 0; ii < {{ dims.N }}; ii++)
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", buffer);
+  {%- endif -%}
+  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
+    // lh
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.nh }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    for (int ii = 0; ii < {{ dims.N }}; ii++)
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", buffer);
+  {%- endif -%}
+  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
+    // uh
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+
+    for (int i = 0; i < {{ dims.nh }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    for (int ii = 0; ii < {{ dims.N }}; ii++)
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer);
+  {%- endif -%}
+
+  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {# cost_W_0 #}
+    // cost_W_0
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int i = 0; i < {{ dims.ny_0 * dims.ny_0 }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer);
+  {%- endif %}
+
+  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {# cost_W #}
+    // cost_W
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int i = 0; i < {{ dims.ny * dims.ny }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    for (int ii = 1; ii < {{ dims.N }}; ii++)
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer);
+  {%- endif %}
+
+  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
+    // cost_W_e
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "W", buffer);
+  {%- endif %}
+
+  {%- if simulink_opts.inputs.x_init %}  {#- x_init #}
+    // x_init
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.nx }}; jj++)
+            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nx }}+jj]);
+        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "x", (void *) buffer);
+    }
+  {%- endif %}
+
+  {%- if simulink_opts.inputs.u_init %}  {#- u_init #}
+    // u_init
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int ii = 0; ii < {{ dims.N }}; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.nu }}; jj++)
+            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]);
+        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) buffer);
+    }
+  {%- endif %}
+
+    /* call solver */
+    int rti_phase = 0;
+    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase);
+    int acados_status = {{ model.name }}_acados_solve(capsule);
+
+
+    /* set outputs */
+    // assign pointers to output signals
+    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin;
+    int tmp_int;
+
+    {%- set i_output = -1 -%}{# note here i_output is 0-based #}
+  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_u0 = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0);
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.utraj == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }});
+    for (int ii = 0; ii < {{ dims.N }}; ii++)
+        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
+                        "u", (void *) (out_utraj + ii * {{ dims.nu }}));
+  {%- endif %}
+
+  {% if simulink_opts.outputs.xtraj == 1 %}
+    {%- set i_output = i_output + 1 %}
+
+    out_xtraj = ssGetOutputPortRealSignal(S, {{ i_output }});
+    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
+        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
+                        "x", (void *) (out_xtraj + ii * {{ dims.nx }}));
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.solver_status == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_status = ssGetOutputPortRealSignal(S, {{ i_output }});
+    *out_status = (real_t) acados_status;
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.KKT_residual == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }});
+    *out_KKT_res = (real_t) nlp_out->inf_norm_res;
+  {%- endif %}
+
+  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1);
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.CPU_time == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_cpu_time = ssGetOutputPortRealSignal(S, {{ i_output }});
+    // get solution time
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time);
+  {%- endif -%}
+
+  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim);
+  {%- endif -%}
+
+  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp);
+  {%- endif -%}
+
+  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin);
+  {%- endif -%}
+
+  {%- if simulink_opts.outputs.sqp_iter == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }});
+    // get sqp iter
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int);
+    *out_sqp_iter = (real_t) tmp_int;
+  {%- endif %}
+
+}
+
+static void mdlTerminate(SimStruct *S)
+{
+    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
+
+    {{ model.name }}_acados_free(capsule);
+    {{ model.name }}_acados_free_capsule(capsule);
+}
+
+
+#ifdef  MATLAB_MEX_FILE
+#include "simulink.c"
+#else
+#include "cg_sfun.h"
+#endif
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h
new file mode 100644
index 00000000000000..347446e3f4e895
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h
@@ -0,0 +1,69 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef {{ model.name }}_Y_0_COST
+#define {{ model.name }}_Y_0_COST
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if cost.cost_type_0 == "NONLINEAR_LS" %}
+int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
+int {{ model.name }}_cost_y_0_fun_n_in(void);
+int {{ model.name }}_cost_y_0_fun_n_out(void);
+
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
+const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
+
+int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
+int {{ model.name }}_cost_y_0_hess_n_in(void);
+int {{ model.name }}_cost_y_0_hess_n_out(void);
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_Y_0_COST
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h
new file mode 100644
index 00000000000000..acc99009fef648
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h
@@ -0,0 +1,69 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef {{ model.name }}_Y_E_COST
+#define {{ model.name }}_Y_E_COST
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if cost.cost_type_e == "NONLINEAR_LS" %}
+int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
+int {{ model.name }}_cost_y_e_fun_n_in(void);
+int {{ model.name }}_cost_y_e_fun_n_out(void);
+
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
+const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
+
+int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
+int {{ model.name }}_cost_y_e_hess_n_in(void);
+int {{ model.name }}_cost_y_e_hess_n_out(void);
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_Y_E_COST
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h
new file mode 100644
index 00000000000000..1e03780cc1b59b
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h
@@ -0,0 +1,69 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef {{ model.name }}_Y_COST
+#define {{ model.name }}_Y_COST
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if cost.cost_type == "NONLINEAR_LS" %}
+int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
+int {{ model.name }}_cost_y_fun_n_in(void);
+int {{ model.name }}_cost_y_fun_n_out(void);
+
+int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
+const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
+int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
+
+int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
+int {{ model.name }}_cost_y_hess_n_in(void);
+int {{ model.name }}_cost_y_hess_n_out(void);
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_Y_COST
diff --git a/pyextra/acados_template/c_templates_tera/external_cost.in.h b/pyextra/acados_template/c_templates_tera/external_cost.in.h
new file mode 100644
index 00000000000000..d200dba45e318c
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/external_cost.in.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef {{ model.name }}_EXT_COST
+#define {{ model.name }}_EXT_COST
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if cost.cost_ext_fun_type == "casadi" %}
+{% if cost.cost_type == "EXTERNAL" %}
+int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
+{% endif %}
+
+{% else %}
+int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_EXT_COST
diff --git a/pyextra/acados_template/c_templates_tera/external_cost_0.in.h b/pyextra/acados_template/c_templates_tera/external_cost_0.in.h
new file mode 100644
index 00000000000000..8152447e5f8abe
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/external_cost_0.in.h
@@ -0,0 +1,75 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef {{ model.name }}_EXT_COST_0
+#define {{ model.name }}_EXT_COST_0
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if cost.cost_ext_fun_type_0 == "casadi" %}
+
+{% if cost.cost_type_0 == "EXTERNAL" %}
+int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
+{% endif %}
+
+{% else %}
+int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *);
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_EXT_COST_0
diff --git a/pyextra/acados_template/c_templates_tera/external_cost_e.in.h b/pyextra/acados_template/c_templates_tera/external_cost_e.in.h
new file mode 100644
index 00000000000000..56485db4c73ed1
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/external_cost_e.in.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef {{ model.name }}_EXT_COST_E
+#define {{ model.name }}_EXT_COST_E
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if cost.cost_ext_fun_type_e == "casadi" %}
+{% if cost.cost_type_e == "EXTERNAL" %}
+int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
+{% endif %}
+
+{% else %}
+int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *);
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_EXT_COST_E
diff --git a/pyextra/acados_template/c_templates_tera/h_constraint.in.h b/pyextra/acados_template/c_templates_tera/h_constraint.in.h
new file mode 100644
index 00000000000000..e49176c6efea1e
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/h_constraint.in.h
@@ -0,0 +1,70 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef {{ model.name }}_H_CONSTRAINT
+#define {{ model.name }}_H_CONSTRAINT
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if dims.nh > 0 %}
+int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
+const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
+
+int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
+const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
+int {{ model.name }}_constr_h_fun_n_in(void);
+int {{ model.name }}_constr_h_fun_n_out(void);
+
+{% if solver_options.hessian_approx == "EXACT" -%}
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
+const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
+{% endif %}
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_H_CONSTRAINT
diff --git a/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h b/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h
new file mode 100644
index 00000000000000..a5dd7116415252
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h
@@ -0,0 +1,71 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef {{ model.name }}_H_E_CONSTRAINT
+#define {{ model.name }}_H_E_CONSTRAINT
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if dims.nh_e > 0 %}
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int);
+const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int);
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void);
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void);
+
+int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int);
+const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int);
+int {{ model.name }}_constr_h_e_fun_n_in(void);
+int {{ model.name }}_constr_h_e_fun_n_out(void);
+
+{% if solver_options.hessian_approx == "EXACT" -%}
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int);
+const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int);
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void);
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
+{% endif %}
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_H_E_CONSTRAINT
diff --git a/pyextra/acados_template/c_templates_tera/main.in.c b/pyextra/acados_template/c_templates_tera/main.in.c
new file mode 100644
index 00000000000000..3348eea5cb644e
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/main.in.c
@@ -0,0 +1,215 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+// standard
+#include <stdio.h>
+#include <stdlib.h>
+// acados
+#include "acados/utils/print.h"
+#include "acados/utils/math.h"
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados_c/external_function_interface.h"
+#include "acados_solver_{{ model.name }}.h"
+
+#define NX     {{ model.name | upper }}_NX
+#define NZ     {{ model.name | upper }}_NZ
+#define NU     {{ model.name | upper }}_NU
+#define NP     {{ model.name | upper }}_NP
+#define NBX    {{ model.name | upper }}_NBX
+#define NBX0   {{ model.name | upper }}_NBX0
+#define NBU    {{ model.name | upper }}_NBU
+#define NSBX   {{ model.name | upper }}_NSBX
+#define NSBU   {{ model.name | upper }}_NSBU
+#define NSH    {{ model.name | upper }}_NSH
+#define NSG    {{ model.name | upper }}_NSG
+#define NSPHI  {{ model.name | upper }}_NSPHI
+#define NSHN   {{ model.name | upper }}_NSHN
+#define NSGN   {{ model.name | upper }}_NSGN
+#define NSPHIN {{ model.name | upper }}_NSPHIN
+#define NSBXN  {{ model.name | upper }}_NSBXN
+#define NS     {{ model.name | upper }}_NS
+#define NSN    {{ model.name | upper }}_NSN
+#define NG     {{ model.name | upper }}_NG
+#define NBXN   {{ model.name | upper }}_NBXN
+#define NGN    {{ model.name | upper }}_NGN
+#define NY0    {{ model.name | upper }}_NY0
+#define NY     {{ model.name | upper }}_NY
+#define NYN    {{ model.name | upper }}_NYN
+#define NH     {{ model.name | upper }}_NH
+#define NPHI   {{ model.name | upper }}_NPHI
+#define NHN    {{ model.name | upper }}_NHN
+#define NPHIN  {{ model.name | upper }}_NPHIN
+#define NR     {{ model.name | upper }}_NR
+
+
+int main()
+{
+
+    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
+    // there is an opportunity to change the number of shooting intervals in C without new code generation
+    int N = {{ model.name | upper }}_N;
+    // allocate the array and fill it accordingly
+    double* new_time_steps = NULL;
+    int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps);
+
+    if (status)
+    {
+        printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
+        exit(1);
+    }
+
+    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
+    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
+    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
+    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
+    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
+    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
+
+    // initial condition
+    int idxbx0[NBX0];
+    {%- for i in range(end=dims.nbx_0) %}
+    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
+    {%- endfor %}
+
+    double lbx0[NBX0];
+    double ubx0[NBX0];
+    {%- for i in range(end=dims.nbx_0) %}
+    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
+    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
+
+    // initialization for state values
+    double x_init[NX];
+    {%- for i in range(end=dims.nx) %}
+    x_init[{{ i }}] = 0.0;
+    {%- endfor %}
+
+    // initial value for control input
+    double u0[NU];
+    {%- for i in range(end=dims.nu) %}
+    u0[{{ i }}] = 0.0;
+    {%- endfor %}
+
+
+  {%- if dims.np > 0 %}
+    // set parameters
+    double p[NP];
+    {%- for item in parameter_values %}
+    p[{{ loop.index0 }}] = {{ item }};
+    {%- endfor %}
+
+    for (int ii = 0; ii <= N; ii++)
+    {
+        {{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP);
+    }
+  {% endif %}{# if np > 0 #}
+
+    // prepare evaluation
+    int NTIMINGS = 1;
+    double min_time = 1e12;
+    double kkt_norm_inf;
+    double elapsed_time;
+    int sqp_iter;
+
+    double xtraj[NX * (N+1)];
+    double utraj[NU * N];
+
+
+    // solve ocp in loop
+    int rti_phase = 0;
+
+    for (int ii = 0; ii < NTIMINGS; ii++)
+    {
+        // initialize solution
+        for (int i = 0; i <= nlp_dims->N; i++)
+        {
+            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
+            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
+        }
+        ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
+        status = {{ model.name }}_acados_solve(acados_ocp_capsule);
+        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
+        min_time = MIN(elapsed_time, min_time);
+    }
+
+    /* print solution and statistics */
+    for (int ii = 0; ii <= nlp_dims->N; ii++)
+        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]);
+    for (int ii = 0; ii < nlp_dims->N; ii++)
+        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]);
+
+    printf("\n--- xtraj ---\n");
+    d_print_exp_tran_mat( NX, N+1, xtraj, NX);
+    printf("\n--- utraj ---\n");
+    d_print_exp_tran_mat( NU, N, utraj, NU );
+    // ocp_nlp_out_print(nlp_solver->dims, nlp_out);
+
+    printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
+
+    if (status == ACADOS_SUCCESS)
+    {
+        printf("{{ model.name }}_acados_solve(): SUCCESS!\n");
+    }
+    else
+    {
+        printf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
+    }
+
+    // get solution
+    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
+    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
+
+    {{ model.name }}_acados_print_stats(acados_ocp_capsule);
+
+    printf("\nSolver info:\n");
+    printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n",
+           sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf);
+
+    // free solver
+    status = {{ model.name }}_acados_free(acados_ocp_capsule);
+    if (status) {
+        printf("{{ model.name }}_acados_free() returned status %d. \n", status);
+    }
+    // free solver capsule
+    status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule);
+    if (status) {
+        printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status);
+    }
+
+    return status;
+}
diff --git a/pyextra/acados_template/c_templates_tera/main_mex.in.c b/pyextra/acados_template/c_templates_tera/main_mex.in.c
new file mode 100644
index 00000000000000..8da5db29a0aaa7
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/main_mex.in.c
@@ -0,0 +1,184 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+// standard
+#include <stdio.h>
+#include <stdlib.h>
+// acados
+#include "acados/utils/print.h"
+#include "acados/utils/math.h"
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados_solver_{{ model.name }}.h"
+// mex
+#include "mex.h"
+
+/* auxilary mex */
+// prints a matrix in column-major format (exponential notation)
+void MEX_print_exp_mat(int m, int n, double *A, int lda)
+{
+	for (int i=0; i<m; i++)
+    {
+		for (int j=0; j<n; j++)
+        {
+			mexPrintf("%e\t", A[i+lda*j]);
+        }
+		mexPrintf("\n");
+    }
+	mexPrintf("\n");
+}
+
+// prints the transposed of a matrix in column-major format (exponential notation)
+void MEX_print_exp_tran_mat(int row, int col, double *A, int lda)
+{
+	for (int j=0; j<col; j++)
+    {
+		for (int i=0; i<row; i++)
+        {
+			mexPrintf("%e\t", A[i+lda*j]);
+        }
+		mexPrintf("\n");
+    }
+	mexPrintf("\n");
+}
+
+
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
+{
+
+    int status = 0;
+    status = {{ model.name }}_acados_create();
+
+    if (status)
+    {
+        mexPrintf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
+        exit(1);
+    }
+
+
+    // get pointers to nlp solver related objects
+    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config();
+    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims();
+    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in();
+    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out();
+    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver();
+    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts();
+
+    // initial condition
+    int idxbx0[{{ dims.nbx_0 }}];
+    {% for i in range(end=dims.nbx_0) %}
+    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
+    {%- endfor %}
+
+    double lbx0[{{ dims.nbx_0 }}];
+    double ubx0[{{ dims.nbx_0 }}];
+    {% for i in range(end=dims.nbx_0) %}
+    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
+    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
+    {%- endfor %}
+
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
+
+    // initialization for state values
+    double x_init[{{ dims.nx }}];
+    {%- for i in range(end=dims.nx) %}
+    x_init[{{ i }}] = 0.0;
+    {%- endfor %}
+
+    // initial value for control input
+    double u0[{{ dims.nu }}];
+    {%- for i in range(end=dims.nu) %}
+    u0[{{ i }}] = 0.0;
+    {%- endfor %}
+
+    // prepare evaluation
+    int NTIMINGS = 10;
+    double min_time = 1e12;
+    double kkt_norm_inf;
+    double elapsed_time;
+    int sqp_iter;
+
+    double xtraj[{{ dims.nx }} * ({{ dims.N }}+1)];
+    double utraj[{{ dims.nu }} * ({{ dims.N }})];
+
+    // solve ocp in loop
+    for (int ii = 0; ii < NTIMINGS; ii++)
+    {
+        // initialize primal solution
+        for (int i = 0; i <= nlp_dims->N; i++)
+        {
+            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
+            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
+        }
+        status = {{ model.name }}_acados_solve();
+        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
+        min_time = MIN(elapsed_time, min_time);
+    }
+
+    /* print solution and statistics */
+    for (int ii = 0; ii <= nlp_dims->N; ii++)
+        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*{{ dims.nx }}]);
+    for (int ii = 0; ii < nlp_dims->N; ii++)
+        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*{{ dims.nu }}]);
+
+    mexPrintf("\n--- xtraj ---\n");
+    MEX_print_exp_tran_mat( {{ dims.nx }}, {{ dims.N }}+1, xtraj, {{ dims.nx }} );
+    mexPrintf("\n--- utraj ---\n");
+    MEX_print_exp_tran_mat( {{ dims.nu }}, {{ dims.N }}, utraj, {{ dims.nu }} );
+
+    mexPrintf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
+
+    if (status == ACADOS_SUCCESS)
+        mexPrintf("{{ model.name }}_acados_solve(): SUCCESS!\n");
+    else
+        mexPrintf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
+
+    // get solution
+    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
+    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
+
+    mexPrintf("\nSolver info:\n");
+    mexPrintf(" SQP iterations %2d\n minimum time for 1 solve %f [ms]\n KKT %e\n",
+           sqp_iter, min_time*1000, kkt_norm_inf);
+
+    // free solver
+    status = {{ model.name }}_acados_free();
+    if (status)
+    {
+        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
+    }
+
+    return;
+}
diff --git a/pyextra/acados_template/c_templates_tera/main_sim.in.c b/pyextra/acados_template/c_templates_tera/main_sim.in.c
new file mode 100644
index 00000000000000..743e81d593d798
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/main_sim.in.c
@@ -0,0 +1,135 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+// standard
+#include <stdio.h>
+#include <stdlib.h>
+// acados
+#include "acados/utils/print.h"
+#include "acados/utils/math.h"
+#include "acados_c/sim_interface.h"
+#include "acados_sim_solver_{{ model.name }}.h"
+
+#define NX     {{ model.name | upper }}_NX
+#define NZ     {{ model.name | upper }}_NZ
+#define NU     {{ model.name | upper }}_NU
+#define NP     {{ model.name | upper }}_NP
+
+
+int main()
+{
+    int status = 0;
+    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
+    status = {{ model.name }}_acados_sim_create(capsule);
+
+    if (status)
+    {
+        printf("acados_create() returned status %d. Exiting.\n", status);
+        exit(1);
+    }
+
+    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
+    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
+    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
+    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
+
+    // initial condition
+    double x_current[NX];
+    {%- for i in range(end=dims.nx) %}
+    x_current[{{ i }}] = 0.0;
+    {%- endfor %}
+
+  {% if constraints.lbx_0 %}
+    {%- for i in range(end=dims.nbx_0) %}
+    x_current[{{ constraints.idxbx_0[i] }}] = {{ constraints.lbx_0[i] }};
+    {%- endfor %}
+    {% if dims.nbx_0 != dims.nx %}
+    printf("main_sim: NOTE: initial state not fully defined via lbx_0, using 0.0 for indices that are not in idxbx_0.");
+    {%- endif %}
+  {% else %}
+    printf("main_sim: initial state not defined, should be in lbx_0, using zero vector.");
+  {%- endif %}
+
+
+    // initial value for control input
+    double u0[NU];
+    {%- for i in range(end=dims.nu) %}
+    u0[{{ i }}] = 0.0;
+    {%- endfor %}
+
+  {%- if dims.np > 0 %}
+    // set parameters
+    double p[NP];
+    {%- for item in parameter_values %}
+    p[{{ loop.index0 }}] = {{ item }};
+    {%- endfor %}
+
+    {{ model.name }}_acados_sim_update_params(capsule, p, NP);
+  {% endif %}{# if np > 0 #}
+
+    int n_sim_steps = 3;
+    // solve ocp in loop
+    for (int ii = 0; ii < n_sim_steps; ii++)
+    {
+        sim_in_set(acados_sim_config, acados_sim_dims,
+            acados_sim_in, "x", x_current);
+        status = {{ model.name }}_acados_sim_solve(capsule);
+
+        if (status != ACADOS_SUCCESS)
+        {
+            printf("acados_solve() failed with status %d.\n", status);
+        }
+
+        sim_out_get(acados_sim_config, acados_sim_dims,
+               acados_sim_out, "x", x_current);
+        
+        printf("\nx_current, %d\n", ii);
+        for (int jj = 0; jj < NX; jj++)
+        {
+            printf("%e\n", x_current[jj]);
+        }
+    }
+
+    printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps);
+
+    // free solver
+    status = {{ model.name }}_acados_sim_free(capsule);
+    if (status) {
+        printf("{{ model.name }}_acados_sim_free() returned status %d. \n", status);
+    }
+
+    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
+
+    return status;
+}
diff --git a/pyextra/acados_template/c_templates_tera/make_main_mex.in.m b/pyextra/acados_template/c_templates_tera/make_main_mex.in.m
new file mode 100644
index 00000000000000..9188686a0d4763
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/make_main_mex.in.m
@@ -0,0 +1,105 @@
+%
+% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+%
+% This file is part of acados.
+%
+% The 2-Clause BSD License
+%
+% Redistribution and use in source and binary forms, with or without
+% modification, are permitted provided that the following conditions are met:
+%
+% 1. Redistributions of source code must retain the above copyright notice,
+% this list of conditions and the following disclaimer.
+%
+% 2. Redistributions in binary form must reproduce the above copyright notice,
+% this list of conditions and the following disclaimer in the documentation
+% and/or other materials provided with the distribution.
+%
+% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+% POSSIBILITY OF SUCH DAMAGE.;
+%
+
+function make_main_mex_{{ model.name }}()
+
+    opts.output_dir = pwd;
+
+    % get acados folder
+    acados_folder = getenv('ACADOS_INSTALL_DIR');
+
+    % set paths
+    acados_include = ['-I' fullfile(acados_folder, 'include')];
+    template_lib_include = ['-l' 'acados_solver_{{ model.name }}'];
+    template_lib_path = ['-L' fullfile(pwd)];
+
+    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
+    external_include = ['-I', fullfile(acados_folder, 'external')];
+    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
+    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
+
+    mex_names = { ...
+        'main_mex_{{ model.name }}' ...
+    };
+
+    mex_files = cell(length(mex_names), 1);
+    for k=1:length(mex_names)
+        mex_files{k} = fullfile([mex_names{k}, '.c']);
+    end
+
+    %% octave C flags
+    if is_octave()
+        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
+            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
+            diary on
+            mkoctfile -p CFLAGS
+            diary off
+            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
+            cflags_tmp = fscanf(input_file, '%[^\n]s');
+            fclose(input_file);
+            if ~ismac()
+                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
+            else
+                cflags_tmp = [cflags_tmp, ' -std=c99'];
+            end
+            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
+            fprintf(input_file, '%s', cflags_tmp);
+            fclose(input_file);
+        end
+        % read cflags from file
+        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
+        cflags_tmp = fscanf(input_file, '%[^\n]s');
+        fclose(input_file);
+        setenv('CFLAGS', cflags_tmp);
+    end
+
+    %% compile mex
+    for ii=1:length(mex_files)
+        disp(['compiling ', mex_files{ii}])
+        if is_octave()
+    %        mkoctfile -p CFLAGS
+            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
+            acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
+        else
+            if ismac()
+                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
+            else
+                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
+            end
+            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
+                acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
+        end
+    end
+
+
+end
\ No newline at end of file
diff --git a/pyextra/acados_template/c_templates_tera/make_mex.in.m b/pyextra/acados_template/c_templates_tera/make_mex.in.m
new file mode 100644
index 00000000000000..cde30f6f413c63
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/make_mex.in.m
@@ -0,0 +1,110 @@
+%
+% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+%
+% This file is part of acados.
+%
+% The 2-Clause BSD License
+%
+% Redistribution and use in source and binary forms, with or without
+% modification, are permitted provided that the following conditions are met:
+%
+% 1. Redistributions of source code must retain the above copyright notice,
+% this list of conditions and the following disclaimer.
+%
+% 2. Redistributions in binary form must reproduce the above copyright notice,
+% this list of conditions and the following disclaimer in the documentation
+% and/or other materials provided with the distribution.
+%
+% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+% POSSIBILITY OF SUCH DAMAGE.;
+%
+
+function make_mex_{{ model.name }}()
+
+    opts.output_dir = pwd;
+
+    % get acados folder
+    acados_folder = getenv('ACADOS_INSTALL_DIR');
+
+    % set paths
+    acados_include = ['-I' fullfile(acados_folder, 'include')];
+    template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}'];
+    template_lib_path = ['-L' fullfile(pwd)];
+
+    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
+    external_include = ['-I', fullfile(acados_folder, 'external')];
+    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
+    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
+
+    mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')];
+
+    mex_names = { ...
+        'acados_mex_create_{{ model.name }}' ...
+        'acados_mex_free_{{ model.name }}' ...
+        'acados_mex_solve_{{ model.name }}' ...
+        'acados_mex_set_{{ model.name }}' ...
+    };
+
+    mex_files = cell(length(mex_names), 1);
+    for k=1:length(mex_names)
+        mex_files{k} = fullfile([mex_names{k}, '.c']);
+    end
+
+    %% octave C flags
+    if is_octave()
+        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
+            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
+            diary on
+            mkoctfile -p CFLAGS
+            diary off
+            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
+            cflags_tmp = fscanf(input_file, '%[^\n]s');
+            fclose(input_file);
+            if ~ismac()
+                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
+            else
+                cflags_tmp = [cflags_tmp, ' -std=c99'];
+            end
+            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
+            fprintf(input_file, '%s', cflags_tmp);
+            fclose(input_file);
+        end
+        % read cflags from file
+        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
+        cflags_tmp = fscanf(input_file, '%[^\n]s');
+        fclose(input_file);
+        setenv('CFLAGS', cflags_tmp);
+    end
+
+    %% compile mex
+    for ii=1:length(mex_files)
+        disp(['compiling ', mex_files{ii}])
+        if is_octave()
+    %        mkoctfile -p CFLAGS
+            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
+            acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
+        else
+            if ismac()
+                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
+            else
+                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
+            end
+            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
+                acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
+        end
+    end
+
+
+end
\ No newline at end of file
diff --git a/pyextra/acados_template/c_templates_tera/make_sfun.in.m b/pyextra/acados_template/c_templates_tera/make_sfun.in.m
new file mode 100644
index 00000000000000..172da654ee13c0
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/make_sfun.in.m
@@ -0,0 +1,335 @@
+%
+% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+%
+% This file is part of acados.
+%
+% The 2-Clause BSD License
+%
+% Redistribution and use in source and binary forms, with or without
+% modification, are permitted provided that the following conditions are met:
+%
+% 1. Redistributions of source code must retain the above copyright notice,
+% this list of conditions and the following disclaimer.
+%
+% 2. Redistributions in binary form must reproduce the above copyright notice,
+% this list of conditions and the following disclaimer in the documentation
+% and/or other materials provided with the distribution.
+%
+% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+% POSSIBILITY OF SUCH DAMAGE.;
+%
+
+SOURCES = { ...
+        {%- if solver_options.integrator_type == 'ERK' %}
+            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c', ...
+            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c',...
+            {%- if solver_options.hessian_approx == 'EXACT' %}
+            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c',...
+            {%- endif %}
+        {%- elif solver_options.integrator_type == "IRK" %}
+            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c', ...
+            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c', ...
+            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c', ...
+            {%- if solver_options.hessian_approx == 'EXACT' %}
+            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',...
+            {%- endif %}
+        {%- elif solver_options.integrator_type == "GNSF" %}
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',...
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',...
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',...
+            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',...
+            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',...
+        {%- elif solver_options.integrator_type == "DISCRETE" %}
+            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',...
+            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c',...
+        {%- if solver_options.hessian_approx == "EXACT" %}
+            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c',...
+        {%- endif %}
+        {%- endif %}
+        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c',...
+        {%- elif cost.cost_type_0 == "EXTERNAL" %}
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c',...
+        {%- endif %}
+
+        {%- if cost.cost_type == "NONLINEAR_LS" %}
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c',...
+        {%- elif cost.cost_type == "EXTERNAL" %}
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c',...
+        {%- endif %}
+        {%- if cost.cost_type_e == "NONLINEAR_LS" %}
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c',...
+        {%- elif cost.cost_type_e == "EXTERNAL" %}
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c',...
+            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c',...
+        {%- endif %}
+        {%- if constraints.constr_type == "BGH"  and dims.nh > 0 %}
+            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c', ...
+            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c', ...
+            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c', ...
+        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
+            '{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c', ...
+        {%- endif %}
+        {%- if constraints.constr_type_e == "BGH"  and dims.nh_e > 0 %}
+            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c', ...
+            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c', ...
+            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c', ...
+        {%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
+            '{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c', ...
+        {%- endif %}
+            'acados_solver_sfunction_{{ model.name }}.c', ...
+            'acados_solver_{{ model.name }}.c'
+          };
+
+INC_PATH = '{{ acados_include_path }}';
+
+INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
+        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
+        ['-I', fullfile(INC_PATH, 'acados')], ...
+        ['-I', fullfile(INC_PATH)]};
+
+{% if solver_options.qp_solver is containing("QPOASES") %}
+INCS{end+1} = ['-I', fullfile(INC_PATH, 'qpOASES_e')];
+{% endif %}
+
+CFLAGS = 'CFLAGS=$CFLAGS';
+LDFLAGS = 'LDFLAGS=$LDFLAGS';
+COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
+COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
+
+{% if solver_options.qp_solver is containing("QPOASES") %}
+CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPOASES ' ];
+COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPOASES ' ];
+{%- elif solver_options.qp_solver is containing("OSQP") %}
+CFLAGS = [ CFLAGS, ' -DACADOS_WITH_OSQP ' ];
+COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ];
+{%- elif solver_options.qp_solver is containing("QPDUNES") %}
+CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ];
+COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ];
+{%- elif solver_options.qp_solver is containing("HPMPC") %}
+CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ];
+COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ];
+{% endif %}
+
+LIB_PATH = ['-L', fullfile('{{ acados_lib_path }}')];
+
+LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
+
+% acados linking libraries and flags
+{%- if acados_link_libs and os and os == "pc" %}
+LDFLAGS = [LDFLAGS ' {{ acados_link_libs.openmp }}'];
+COMPFLAGS = [COMPFLAGS ' {{ acados_link_libs.openmp }}'];
+LIBS{end+1} = '{{ acados_link_libs.qpoases }}';
+LIBS{end+1} = '{{ acados_link_libs.hpmpc }}';
+LIBS{end+1} = '{{ acados_link_libs.osqp }}';
+{%- else %}
+    {% if solver_options.qp_solver is containing("QPOASES") %}
+LIBS{end+1} = '-lqpOASES_e';
+    {% endif %}
+{%- endif %}
+
+mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
+    LIB_PATH, LIBS{:}, SOURCES{:}, ...
+    '-output', 'acados_solver_sfunction_{{ model.name }}' );
+
+fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ...
+    eval('mexext')] );
+
+
+%% print note on usage of s-function
+fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
+input_note = 'Inputs are:\n';
+i_in = 1;
+
+
+{%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
+input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
+                    ' size [{{ dims.nbx_0 }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
+input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
+                    ' size [{{ dims.nbx_0 }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
+input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
+                    ' size [{{ (dims.N+1)*dims.np }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
+input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
+input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
+                    ' size [{{ (dims.N-1) * dims.ny }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
+input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
+input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
+input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+
+{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
+input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
+input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
+input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
+i_in = i_in + 1;
+{%- endif -%}
+{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
+input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
+i_in = i_in + 1;
+{%- endif -%}
+
+{%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
+input_note = strcat(input_note, num2str(i_in), ') lg, size [{{ dims.ng }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+{%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
+input_note = strcat(input_note, num2str(i_in), ') ug, size [{{ dims.ng }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
+input_note = strcat(input_note, num2str(i_in), ') lh, size [{{ dims.nh }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+{%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
+input_note = strcat(input_note, num2str(i_in), ') uh, size [{{ dims.nh }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
+input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
+input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
+input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if simulink_opts.inputs.x_init %}  {#- x_init #}
+input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if simulink_opts.inputs.u_init %}  {#- u_init #}
+input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+fprintf(input_note)
+
+disp(' ')
+
+output_note = 'Outputs are:\n';
+i_out = 0;
+
+{%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.utraj == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.xtraj == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.solver_status == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.KKT_residual == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
+{%- endif %}
+
+{%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.CPU_time == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.CPU_time_sim == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.CPU_time_qp == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.CPU_time_lin == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.sqp_iter == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
+{%- endif %}
+
+fprintf(output_note)
diff --git a/pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m b/pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m
new file mode 100644
index 00000000000000..1c5cf0b123c3cc
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m
@@ -0,0 +1,99 @@
+%
+% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+%
+% This file is part of acados.
+%
+% The 2-Clause BSD License
+%
+% Redistribution and use in source and binary forms, with or without
+% modification, are permitted provided that the following conditions are met:
+%
+% 1. Redistributions of source code must retain the above copyright notice,
+% this list of conditions and the following disclaimer.
+%
+% 2. Redistributions in binary form must reproduce the above copyright notice,
+% this list of conditions and the following disclaimer in the documentation
+% and/or other materials provided with the distribution.
+%
+% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+% POSSIBILITY OF SUCH DAMAGE.;
+%
+
+SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
+            'acados_sim_solver_{{ model.name }}.c ', ...
+            {%- if  solver_options.integrator_type == 'ERK' %}
+            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ', ...
+            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',...
+                {%- if solver_options.hessian_approx == 'EXACT' %}
+            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',...
+                {%- endif %}
+        {%- elif solver_options.integrator_type == "IRK" %}
+            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ...
+            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ...
+            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ...
+                {%- if solver_options.hessian_approx == 'EXACT' %}
+            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
+                {%- endif %}
+            {%- elif solver_options.integrator_type == "GNSF" %}
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c '
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c '
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c '
+            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c '
+            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c '
+            {%- endif %}
+          ];
+
+INC_PATH = '{{ acados_include_path }}';
+
+INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ...
+         ' -I', fullfile(INC_PATH, 'hpipm', 'include'), ...
+        ' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' '];
+
+CFLAGS  = ' -O';
+
+LIB_PATH = '{{ acados_lib_path }}';
+
+LIBS = '-lacados -lblasfeo -lhpipm';
+
+eval( [ 'mex -v -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
+    CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]);
+
+fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ...
+    eval('mexext')] );
+
+
+%% print note on usage of s-function
+fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
+input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n ';
+i_in = 2;
+{%- if dims.nu > 0 %}
+input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.np > 0 %}
+input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n ');
+i_in = i_in + 1;
+{%- endif %}
+
+
+fprintf(input_note)
+
+disp(' ')
+
+output_note = strcat('Outputs are:\n', ...
+                '1) x1 - simulated state, size [{{ dims.nx }}]\n');
+
+fprintf(output_note)
diff --git a/pyextra/acados_template/c_templates_tera/mex_solver.in.m b/pyextra/acados_template/c_templates_tera/mex_solver.in.m
new file mode 100644
index 00000000000000..728741a46e511f
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/mex_solver.in.m
@@ -0,0 +1,166 @@
+%
+% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+%
+% This file is part of acados.
+%
+% The 2-Clause BSD License
+%
+% Redistribution and use in source and binary forms, with or without
+% modification, are permitted provided that the following conditions are met:
+%
+% 1. Redistributions of source code must retain the above copyright notice,
+% this list of conditions and the following disclaimer.
+%
+% 2. Redistributions in binary form must reproduce the above copyright notice,
+% this list of conditions and the following disclaimer in the documentation
+% and/or other materials provided with the distribution.
+%
+% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+% POSSIBILITY OF SUCH DAMAGE.;
+%
+
+classdef {{ model.name }}_mex_solver < handle
+
+    properties
+        C_ocp
+        C_ocp_ext_fun
+        cost_ext_fun_type
+        cost_ext_fun_type_e
+    end % properties
+
+
+
+    methods
+
+        % constructor
+        function obj = {{ model.name }}_mex_solver()
+            make_mex_{{ model.name }}();
+            [obj.C_ocp, obj.C_ocp_ext_fun] = acados_mex_create_{{ model.name }}();
+            % to have path to destructor when changing directory
+            addpath('.')
+            obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}';
+            obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}';
+        end
+
+        % destructor
+        function delete(obj)
+            if ~isempty(obj.C_ocp)
+                acados_mex_free_{{ model.name }}(obj.C_ocp);
+            end
+        end
+
+        % solve
+        function solve(obj)
+            acados_mex_solve_{{ model.name }}(obj.C_ocp);
+        end
+
+        % set -- borrowed from MEX interface
+        function set(varargin)
+            obj = varargin{1};
+            field = varargin{2};
+            value = varargin{3};
+            if ~isa(field, 'char')
+                error('field must be a char vector, use '' ''');
+            end
+            if nargin==3
+                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value);
+            elseif nargin==4
+                stage = varargin{4};
+                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value, stage);
+            else
+                disp('acados_ocp.set: wrong number of input arguments (2 or 3 allowed)');
+            end
+        end
+
+        function value = get_cost(obj)
+            value = ocp_get_cost(obj.C_ocp);
+        end
+
+        % get -- borrowed from MEX interface
+        function value = get(varargin)
+            % usage:
+            % obj.get(field, value, [stage])
+            obj = varargin{1};
+            field = varargin{2};
+            if any(strfind('sens', field))
+                error('field sens* (sensitivities of optimal solution) not yet supported for templated MEX.')
+            end
+            if ~isa(field, 'char')
+                error('field must be a char vector, use '' ''');
+            end
+
+            if nargin==2
+                value = ocp_get(obj.C_ocp, field);
+            elseif nargin==3
+                stage = varargin{3};
+                value = ocp_get(obj.C_ocp, field, stage);
+            else
+                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
+            end
+        end
+
+
+        % print
+        function print(varargin)
+            if nargin < 2
+                field = 'stat';
+            else
+                field = varargin{2};
+            end
+
+            obj = varargin{1};
+
+            if strcmp(field, 'stat')
+                stat = obj.get('stat');
+                {%- if solver_options.nlp_solver_type == "SQP" %}
+                fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter');
+                if size(stat,2)>7
+                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
+                end
+                fprintf('\n');
+                for jj=1:size(stat,1)
+                    fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
+                    if size(stat,2)>7
+                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,8), stat(jj,9), stat(jj,10), stat(jj,11));
+                    end
+                    fprintf('\n');
+                end
+                fprintf('\n');
+                {%- else %}
+                fprintf('\niter\tqp_status\tqp_iter');
+                if size(stat,2)>3
+                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
+                end
+                fprintf('\n');
+                for jj=1:size(stat,1)
+                    fprintf('%d\t%d\t\t%d', stat(jj,1), stat(jj,2), stat(jj,3));
+                    if size(stat,2)>3
+                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
+                    end
+                    fprintf('\n');
+                end
+                {% endif %}
+
+            else
+                fprintf('unsupported field in function print of acados_ocp.print, got %s', field);
+                keyboard
+            end
+
+        end
+
+    end % methods
+
+end % class
+
diff --git a/pyextra/acados_template/c_templates_tera/model.in.h b/pyextra/acados_template/c_templates_tera/model.in.h
new file mode 100644
index 00000000000000..661811232c86be
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/model.in.h
@@ -0,0 +1,209 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef {{ model.name }}_MODEL
+#define {{ model.name }}_MODEL
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{%- if solver_options.hessian_approx %}
+	{%- set hessian_approx = solver_options.hessian_approx %}
+{%- elif solver_options.sens_hess %}
+	{%- set hessian_approx = "EXACT" %}
+{%- else %}
+	{%- set hessian_approx = "GAUSS_NEWTON" %}
+{%- endif %}
+
+{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
+// implicit ODE
+int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
+const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
+int {{ model.name }}_impl_dae_fun_n_in(void);
+int {{ model.name }}_impl_dae_fun_n_out(void);
+
+// implicit ODE
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
+const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
+const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
+
+// implicit ODE
+int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
+const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
+const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
+int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
+int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);
+
+// implicit ODE - for lifted_irk
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
+const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
+const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
+
+{%- if hessian_approx == "EXACT" %}
+int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
+const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
+int {{ model.name }}_impl_dae_hess_n_in(void);
+int {{ model.name }}_impl_dae_hess_n_out(void);
+{%- endif %}
+
+{% elif solver_options.integrator_type == "GNSF" %}
+/* GNSF Functions */
+// used to import model matrices
+int        {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
+int        {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
+const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
+int        {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
+int        {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
+
+// phi_fun
+int        {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
+int        {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
+const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
+int        {{ model.name }}_gnsf_phi_fun_n_in(void);
+int        {{ model.name }}_gnsf_phi_fun_n_out(void);
+
+// phi_fun_jac_y
+int        {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
+int        {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
+const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
+const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
+int        {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
+int        {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);
+
+// phi_jac_y_uhat
+int        {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
+int        {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
+const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
+const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
+int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
+int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
+
+// f_lo_fun_jac_x1k1uz
+int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
+int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
+const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
+const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
+int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
+int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
+
+{% elif solver_options.integrator_type == "ERK" %}
+/* explicit ODE */
+
+// explicit ODE
+int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
+const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
+int {{ model.name }}_expl_ode_fun_n_in(void);
+int {{ model.name }}_expl_ode_fun_n_out(void);
+
+// explicit forward VDE
+int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
+const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
+const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
+int {{ model.name }}_expl_vde_forw_n_in(void);
+int {{ model.name }}_expl_vde_forw_n_out(void);
+
+// explicit adjoint VDE
+int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
+const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
+const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
+int {{ model.name }}_expl_vde_adj_n_in(void);
+int {{ model.name }}_expl_vde_adj_n_out(void);
+
+{%- if hessian_approx == "EXACT" %}
+int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
+const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
+int {{ model.name }}_expl_ode_hess_n_in(void);
+int {{ model.name }}_expl_ode_hess_n_out(void);
+{%- endif %}
+
+{% elif solver_options.integrator_type == "DISCRETE" %}
+
+{% if model.dyn_ext_fun_type == "casadi" %}
+int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
+const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
+int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
+int {{ model.name }}_dyn_disc_phi_fun_n_out(void);
+
+int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
+const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
+const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
+int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
+int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);
+
+{%- if hessian_approx == "EXACT" %}
+int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
+int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
+{%- endif %}
+{% else %}
+  {%- if hessian_approx == "EXACT" %}
+int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *);
+  {% endif %}
+int {{ model.dyn_disc_fun_jac }}(void **, void **, void *);
+int {{ model.dyn_disc_fun }}(void **, void **, void *);
+{% endif %}
+
+
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_MODEL
diff --git a/pyextra/acados_template/c_templates_tera/phi_constraint.in.h b/pyextra/acados_template/c_templates_tera/phi_constraint.in.h
new file mode 100644
index 00000000000000..283ed7f88953b8
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/phi_constraint.in.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef {{ model.name }}_PHI_CONSTRAINT
+#define {{ model.name }}_PHI_CONSTRAINT
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if dims.nphi > 0 %}
+// implicit ODE
+int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
+const int *{{ model.name }}_phi_constraint_sparsity_in(int);
+const int *{{ model.name }}_phi_constraint_sparsity_out(int);
+int {{ model.name }}_phi_constraint_n_in(void);
+int {{ model.name }}_phi_constraint_n_out(void);
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_PHI_CONSTRAINT
diff --git a/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h b/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h
new file mode 100644
index 00000000000000..dc8e293ad7cdfa
--- /dev/null
+++ b/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h
@@ -0,0 +1,21 @@
+#ifndef {{ model.name }}_PHI_E_CONSTRAINT
+#define {{ model.name }}_PHI_E_CONSTRAINT
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+{% if dims.nphi_e > 0 %}
+int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
+const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
+const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
+int {{ model.name }}_phi_e_constraint_n_in(void);
+int {{ model.name }}_phi_e_constraint_n_out(void);
+{% endif %}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_PHI_E_CONSTRAINT
diff --git a/pyextra/acados_template/generate_c_code_constraint.py b/pyextra/acados_template/generate_c_code_constraint.py
new file mode 100644
index 00000000000000..c79ddc129a57eb
--- /dev/null
+++ b/pyextra/acados_template/generate_c_code_constraint.py
@@ -0,0 +1,180 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os
+from casadi import *
+from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning
+
+def generate_c_code_constraint( model, con_name, is_terminal, opts ):
+
+    casadi_version = CasadiMeta.version()
+    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
+        casadi_version_warning(casadi_version)
+
+    # load constraint variables and expression
+    x = model.x
+    p = model.p
+
+    if isinstance(x, casadi.MX):
+        symbol = MX.sym
+    else:
+        symbol = SX.sym
+
+    if is_terminal:
+        con_h_expr = model.con_h_expr_e
+        con_phi_expr = model.con_phi_expr_e
+        # create dummy u, z
+        u = symbol('u', 0, 0)
+        z = symbol('z', 0, 0)
+    else:
+        con_h_expr = model.con_h_expr
+        con_phi_expr = model.con_phi_expr
+        u = model.u
+        z = model.z
+
+    if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
+        raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
+
+    if not (is_empty(con_h_expr) and is_empty(con_phi_expr)):
+        if is_empty(con_h_expr):
+            constr_type = 'BGP'
+        else:
+            constr_type = 'BGH'
+
+        if is_empty(p):
+            p = symbol('p', 0, 0)
+
+        if is_empty(z):
+            z = symbol('z', 0, 0)
+
+        if not (is_empty(con_h_expr)) and opts['generate_hess']:
+            # multipliers for hessian
+            nh = casadi_length(con_h_expr)
+            lam_h = symbol('lam_h', nh, 1)
+
+        # set up & change directory
+        code_export_dir = opts["code_export_directory"]
+        if not os.path.exists(code_export_dir):
+            os.makedirs(code_export_dir)
+
+        cwd = os.getcwd()
+        os.chdir(code_export_dir)
+        gen_dir = con_name + '_constraints'
+        if not os.path.exists(gen_dir):
+            os.mkdir(gen_dir)
+        gen_dir_location = os.path.join('.', gen_dir)
+        os.chdir(gen_dir_location)
+
+        # export casadi functions
+        if constr_type == 'BGH':
+            if is_terminal:
+                fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
+            else:
+                fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
+
+            jac_ux_t = transpose(jacobian(con_h_expr, vertcat(u,x)))
+            jac_z_t = jacobian(con_h_expr, z)
+            constraint_fun_jac_tran = Function(fun_name, [x, u, z, p], \
+                    [con_h_expr, jac_ux_t, jac_z_t])
+
+            constraint_fun_jac_tran.generate(fun_name, casadi_opts)
+            if opts['generate_hess']:
+
+                if is_terminal:
+                    fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
+                else:
+                    fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
+
+                # adjoint
+                adj_ux = jtimes(con_h_expr, vertcat(u, x), lam_h, True)
+                # hessian
+                hess_ux = jacobian(adj_ux, vertcat(u, x))
+
+                adj_z = jtimes(con_h_expr, z, lam_h, True)
+                hess_z = jacobian(adj_z, z)
+
+                # set up functions
+                constraint_fun_jac_tran_hess = \
+                    Function(fun_name, [x, u, lam_h, z, p], \
+                      [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
+
+                # generate C code
+                constraint_fun_jac_tran_hess.generate(fun_name, casadi_opts)
+
+            if is_terminal:
+                fun_name = con_name + '_constr_h_e_fun'
+            else:
+                fun_name = con_name + '_constr_h_fun'
+            h_fun = Function(fun_name, [x, u, z, p], [con_h_expr])
+            h_fun.generate(fun_name, casadi_opts)
+
+        else: # BGP constraint
+            if is_terminal:
+                fun_name = con_name + '_phi_e_constraint'
+                r = model.con_r_in_phi_e
+                con_r_expr = model.con_r_expr_e
+            else:
+                fun_name = con_name + '_phi_constraint'
+                r = model.con_r_in_phi
+                con_r_expr = model.con_r_expr
+
+            nphi = casadi_length(con_phi_expr)
+            con_phi_expr_x_u_z = substitute(con_phi_expr, r, con_r_expr)
+            phi_jac_u = jacobian(con_phi_expr_x_u_z, u)
+            phi_jac_x = jacobian(con_phi_expr_x_u_z, x)
+            phi_jac_z = jacobian(con_phi_expr_x_u_z, z)
+
+            hess = hessian(con_phi_expr[0], r)[0]
+            for i in range(1, nphi):
+                hess = vertcat(hess, hessian(con_phi_expr[i], r)[0])
+
+            r_jac_u = jacobian(con_r_expr, u)
+            r_jac_x = jacobian(con_r_expr, x)
+
+            constraint_phi = \
+                Function(fun_name, [x, u, z, p], \
+                    [con_phi_expr_x_u_z, \
+                    vertcat(transpose(phi_jac_u), \
+                    transpose(phi_jac_x)), \
+                    transpose(phi_jac_z), \
+                    hess, vertcat(transpose(r_jac_u), \
+                    transpose(r_jac_x))])
+
+            constraint_phi.generate(fun_name, casadi_opts)
+
+        # change directory back
+        os.chdir(cwd)
+
+    return
diff --git a/pyextra/acados_template/generate_c_code_discrete_dynamics.py b/pyextra/acados_template/generate_c_code_discrete_dynamics.py
new file mode 100644
index 00000000000000..334e18dab79fbc
--- /dev/null
+++ b/pyextra/acados_template/generate_c_code_discrete_dynamics.py
@@ -0,0 +1,99 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES LOSS OF USE, DATA, OR PROFITS OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+import os
+from casadi import *
+from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning
+
+def generate_c_code_discrete_dynamics( model, opts ):
+
+    casadi_version = CasadiMeta.version()
+    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
+        casadi_version_warning(casadi_version)
+    
+    # load model
+    x = model.x
+    u = model.u
+    p = model.p
+    phi = model.disc_dyn_expr
+    model_name = model.name
+    nx = x.size()[0]
+
+
+    if isinstance(phi, casadi.MX):
+        symbol = MX.sym
+    elif isinstance(phi, casadi.SX):
+        symbol = SX.sym
+    else:
+        Exception("generate_c_code_disc_dyn: disc_dyn_expr must be a CasADi expression, you have type: {}".format(type(phi)))
+
+    # assume nx1 = nx !!!
+    lam = symbol('lam', nx, 1)
+
+    # generate jacobians
+    ux = vertcat(u,x)
+    jac_ux = jacobian(phi, ux)
+    # generate adjoint
+    adj_ux = jtimes(phi, ux, lam, True)
+    # generate hessian
+    hess_ux = jacobian(adj_ux, ux)
+    
+    ## change directory
+    code_export_dir = opts["code_export_directory"]
+    if not os.path.exists(code_export_dir):
+        os.makedirs(code_export_dir)
+
+    cwd = os.getcwd()
+    os.chdir(code_export_dir)
+    model_dir = model_name + '_model'
+    if not os.path.exists(model_dir):
+        os.mkdir(model_dir)
+    model_dir_location = os.path.join('.', model_dir)
+    os.chdir(model_dir_location)
+
+    # set up & generate Functions
+    fun_name = model_name + '_dyn_disc_phi_fun'
+    phi_fun = Function(fun_name, [x, u, p], [phi])
+    phi_fun.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_dyn_disc_phi_fun_jac'
+    phi_fun_jac_ut_xt = Function(fun_name, [x, u, p], [phi, jac_ux.T])
+    phi_fun_jac_ut_xt.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
+    phi_fun_jac_ut_xt_hess = Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
+    phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_opts)
+    
+    os.chdir(cwd)
diff --git a/pyextra/acados_template/generate_c_code_explicit_ode.py b/pyextra/acados_template/generate_c_code_explicit_ode.py
new file mode 100644
index 00000000000000..76e64005352a65
--- /dev/null
+++ b/pyextra/acados_template/generate_c_code_explicit_ode.py
@@ -0,0 +1,124 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os
+from casadi import *
+from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning
+
+def generate_c_code_explicit_ode( model, opts ):
+
+    casadi_version = CasadiMeta.version()
+    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
+        casadi_version_warning(casadi_version)
+
+
+    generate_hess = opts["generate_hess"]
+    code_export_dir = opts["code_export_directory"]
+
+    # load model
+    x = model.x
+    u = model.u
+    p = model.p
+    f_expl = model.f_expl_expr
+    model_name = model.name
+
+    ## get model dimensions
+    nx = x.size()[0]
+    nu = u.size()[0]
+
+    if isinstance(f_expl, casadi.MX):
+        symbol = MX.sym
+    elif isinstance(f_expl, casadi.SX):
+        symbol = SX.sym
+    else:
+        raise Exception("Invalid type for f_expl! Possible types are 'SX' and 'MX'. Exiting.")
+    ## set up functions to be exported
+    Sx = symbol('Sx', nx, nx)
+    Sp = symbol('Sp', nx, nu)
+    lambdaX = symbol('lambdaX', nx, 1)
+
+    fun_name = model_name + '_expl_ode_fun'
+
+    ## Set up functions
+    expl_ode_fun = Function(fun_name, [x, u, p], [f_expl])
+
+    vdeX = jtimes(f_expl,x,Sx)
+    vdeP = jacobian(f_expl,u) + jtimes(f_expl,x,Sp)
+
+    fun_name = model_name + '_expl_vde_forw'
+
+    expl_vde_forw = Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP])
+
+    adj = jtimes(f_expl, vertcat(x, u), lambdaX, True)
+
+    fun_name = model_name + '_expl_vde_adj'
+    expl_vde_adj = Function(fun_name, [x, lambdaX, u, p], [adj])
+
+    if generate_hess:
+        S_forw = vertcat(horzcat(Sx, Sp), horzcat(DM.zeros(nu,nx), DM.eye(nu)))
+        hess = mtimes(transpose(S_forw),jtimes(adj, vertcat(x,u), S_forw))
+        hess2 = []
+        for j in range(nx+nu):
+            for i in range(j,nx+nu):
+                hess2 = vertcat(hess2, hess[i,j])
+
+        fun_name = model_name + '_expl_ode_hess'
+        expl_ode_hess = Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2])
+
+    ## generate C code
+    if not os.path.exists(code_export_dir):
+        os.makedirs(code_export_dir)
+
+    cwd = os.getcwd()
+    os.chdir(code_export_dir)
+    model_dir = model_name + '_model'
+    if not os.path.exists(model_dir):
+        os.mkdir(model_dir)
+    model_dir_location = os.path.join('.', model_dir)
+    os.chdir(model_dir_location)
+    fun_name = model_name + '_expl_ode_fun'
+    expl_ode_fun.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_expl_vde_forw'
+    expl_vde_forw.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_expl_vde_adj'
+    expl_vde_adj.generate(fun_name, casadi_opts)
+
+    if generate_hess:
+        fun_name = model_name + '_expl_ode_hess'
+        expl_ode_hess.generate(fun_name, casadi_opts)
+    os.chdir(cwd)
+
+    return
diff --git a/pyextra/acados_template/generate_c_code_external_cost.py b/pyextra/acados_template/generate_c_code_external_cost.py
new file mode 100644
index 00000000000000..8396522619c138
--- /dev/null
+++ b/pyextra/acados_template/generate_c_code_external_cost.py
@@ -0,0 +1,116 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os
+from casadi import SX, MX, Function, transpose, vertcat, horzcat, hessian, CasadiMeta
+from .utils import ALLOWED_CASADI_VERSIONS, casadi_version_warning
+
+
+def generate_c_code_external_cost(model, stage_type, opts):
+
+    casadi_version = CasadiMeta.version()
+    casadi_opts = dict(mex=False, casadi_int="int", casadi_real="double")
+
+    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
+        casadi_version_warning(casadi_version)
+
+    x = model.x
+    p = model.p
+
+    if isinstance(x, MX):
+        symbol = MX.sym
+    else:
+        symbol = SX.sym
+
+    if stage_type == 'terminal':
+        suffix_name = "_cost_ext_cost_e_fun"
+        suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
+        suffix_name_jac = "_cost_ext_cost_e_fun_jac"
+        u = symbol("u", 0, 0)
+        ext_cost = model.cost_expr_ext_cost_e
+        custom_hess = model.cost_expr_ext_cost_custom_hess_e
+
+    elif stage_type == 'path':
+        suffix_name = "_cost_ext_cost_fun"
+        suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
+        suffix_name_jac = "_cost_ext_cost_fun_jac"
+        u = model.u
+        ext_cost = model.cost_expr_ext_cost
+        custom_hess = model.cost_expr_ext_cost_custom_hess
+
+    elif stage_type == 'initial':
+        suffix_name = "_cost_ext_cost_0_fun"
+        suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
+        suffix_name_jac = "_cost_ext_cost_0_fun_jac"
+        u = model.u
+        ext_cost = model.cost_expr_ext_cost_0
+        custom_hess = model.cost_expr_ext_cost_custom_hess_0
+
+    # set up functions to be exported
+    fun_name = model.name + suffix_name
+    fun_name_hess = model.name + suffix_name_hess
+    fun_name_jac = model.name + suffix_name_jac
+
+    # generate expression for full gradient and Hessian
+    full_hess, grad = hessian(ext_cost, vertcat(u, x))
+
+    if custom_hess is not None:
+        full_hess = custom_hess
+
+    ext_cost_fun = Function(fun_name, [x, u, p], [ext_cost])
+    ext_cost_fun_jac_hess = Function(
+        fun_name_hess, [x, u, p], [ext_cost, grad, full_hess]
+    )
+    ext_cost_fun_jac = Function(
+        fun_name_jac, [x, u, p], [ext_cost, grad]
+    )
+
+    # generate C code
+    code_export_dir = opts["code_export_directory"]
+    if not os.path.exists(code_export_dir):
+        os.makedirs(code_export_dir)
+
+    cwd = os.getcwd()
+    os.chdir(code_export_dir)
+    gen_dir = model.name + '_cost'
+    if not os.path.exists(gen_dir):
+        os.mkdir(gen_dir)
+    gen_dir_location = "./" + gen_dir
+    os.chdir(gen_dir_location)
+
+    ext_cost_fun.generate(fun_name, casadi_opts)
+    ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_opts)
+    ext_cost_fun_jac.generate(fun_name_jac, casadi_opts)
+
+    os.chdir(cwd)
+    return
diff --git a/pyextra/acados_template/generate_c_code_gnsf.py b/pyextra/acados_template/generate_c_code_gnsf.py
new file mode 100644
index 00000000000000..97acb8e330f817
--- /dev/null
+++ b/pyextra/acados_template/generate_c_code_gnsf.py
@@ -0,0 +1,131 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os
+from casadi import *
+from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning
+
+def generate_c_code_gnsf( model, opts ):
+
+    casadi_version = CasadiMeta.version()
+    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
+        casadi_version_warning(casadi_version)
+
+    model_name = model.name
+    code_export_dir = opts["code_export_directory"]
+
+    # set up directory
+    if not os.path.exists(code_export_dir):
+        os.makedirs(code_export_dir)
+
+    cwd = os.getcwd()
+    os.chdir(code_export_dir)
+    model_dir = model_name + '_model'
+    if not os.path.exists(model_dir):
+        os.mkdir(model_dir)
+    model_dir_location = os.path.join('.', model_dir)
+    os.chdir(model_dir_location)
+
+    # obtain gnsf dimensions
+    get_matrices_fun = model.get_matrices_fun
+    phi_fun = model.phi_fun
+
+    size_gnsf_A = get_matrices_fun.size_out(0)
+    gnsf_nx1 = size_gnsf_A[1]
+    gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
+    gnsf_nuhat = max(phi_fun.size_in(1))
+    gnsf_ny = max(phi_fun.size_in(0))
+    gnsf_nout = max(phi_fun.size_out(0))
+
+    # set up expressions
+    # if the model uses MX because of cost/constraints
+    # the DAE can be exported as SX -> detect GNSF in Matlab
+    # -> evaluated SX GNSF functions with MX.
+    u = model.u
+
+    if isinstance(u, casadi.MX):
+        symbol = MX.sym
+    else:
+        symbol = SX.sym
+
+    y = symbol("y", gnsf_ny, 1)
+    uhat = symbol("uhat", gnsf_nuhat, 1)
+    p = model.p
+    x1 = symbol("gnsf_x1", gnsf_nx1, 1)
+    x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1)
+    z1 = symbol("gnsf_z1", gnsf_nz1, 1)
+    dummy = symbol("gnsf_dummy", 1, 1)
+    empty_var = symbol("gnsf_empty_var", 0, 0)
+
+    ## generate C code
+    fun_name = model_name + '_gnsf_phi_fun'
+    phi_fun_ = Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)])
+    phi_fun_.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_gnsf_phi_fun_jac_y'
+    phi_fun_jac_y = model.phi_fun_jac_y
+    phi_fun_jac_y_ = Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p))
+    phi_fun_jac_y_.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_gnsf_phi_jac_y_uhat'
+    phi_jac_y_uhat = model.phi_jac_y_uhat
+    phi_jac_y_uhat_ = Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p))
+    phi_jac_y_uhat_.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz'
+    f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz
+    f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p)
+
+    # avoid codegeneration issue
+    if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval):
+        f_lo_fun_jac_x1k1uz_eval = [empty_var]
+
+    f_lo_fun_jac_x1k1uz_ = Function(fun_name, [x1, x1dot, z1, u, p],
+                 f_lo_fun_jac_x1k1uz_eval)
+    f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_gnsf_get_matrices_fun'
+    get_matrices_fun_ = Function(fun_name, [dummy], get_matrices_fun(1))
+    get_matrices_fun_.generate(fun_name, casadi_opts)
+
+    # remove fields for json dump
+    del model.phi_fun
+    del model.phi_fun_jac_y
+    del model.phi_jac_y_uhat
+    del model.f_lo_fun_jac_x1k1uz
+    del model.get_matrices_fun
+
+    os.chdir(cwd)
+
+    return
diff --git a/pyextra/acados_template/generate_c_code_implicit_ode.py b/pyextra/acados_template/generate_c_code_implicit_ode.py
new file mode 100644
index 00000000000000..f2d50b43abbb7a
--- /dev/null
+++ b/pyextra/acados_template/generate_c_code_implicit_ode.py
@@ -0,0 +1,139 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os
+from casadi import *
+from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning
+
+def generate_c_code_implicit_ode( model, opts ):
+
+    casadi_version = CasadiMeta.version()
+    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
+        casadi_version_warning(casadi_version)
+
+    generate_hess = opts["generate_hess"]
+    code_export_dir = opts["code_export_directory"]
+
+    ## load model
+    x = model.x
+    xdot = model.xdot
+    u = model.u
+    z = model.z
+    p = model.p
+    f_impl = model.f_impl_expr
+    model_name = model.name
+
+    ## get model dimensions
+    nx = casadi_length(x)
+    nu = casadi_length(u)
+    nz = casadi_length(z)
+
+    ## generate jacobians
+    jac_x       = jacobian(f_impl, x)
+    jac_xdot    = jacobian(f_impl, xdot)
+    jac_u       = jacobian(f_impl, u)
+    jac_z       = jacobian(f_impl, z)
+
+    ## generate hessian
+    x_xdot_z_u = vertcat(x, xdot, z, u)
+
+    if isinstance(x, casadi.MX):
+        symbol = MX.sym
+    else:
+        symbol = SX.sym
+
+    multiplier  = symbol('multiplier', nx + nz)
+
+    ADJ = jtimes(f_impl, x_xdot_z_u, multiplier, True)
+    HESS = jacobian(ADJ, x_xdot_z_u)
+
+    ## Set up functions
+    p = model.p
+    fun_name = model_name + '_impl_dae_fun'
+    impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl])
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
+    impl_dae_fun_jac_x_xdot_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
+
+    # fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
+    # impl_dae_fun_jac_x_xdot = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
+
+    # fun_name = model_name + '_impl_dae_jac_x_xdot_u'
+    # impl_dae_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
+    impl_dae_fun_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z])
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
+    impl_dae_fun_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u])
+
+    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
+    impl_dae_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
+
+
+    fun_name = model_name + '_impl_dae_hess'
+    impl_dae_hess = Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS])
+
+    # generate C code
+    if not os.path.exists(code_export_dir):
+        os.makedirs(code_export_dir)
+
+    cwd = os.getcwd()
+    os.chdir(code_export_dir)
+    model_dir = model_name + '_model'
+    if not os.path.exists(model_dir):
+        os.mkdir(model_dir)
+    model_dir_location = os.path.join('.', model_dir)
+    os.chdir(model_dir_location)
+
+    fun_name = model_name + '_impl_dae_fun'
+    impl_dae_fun.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
+    impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
+    impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
+    impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_opts)
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
+    impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_opts)
+
+    if generate_hess:
+        fun_name = model_name + '_impl_dae_hess'
+        impl_dae_hess.generate(fun_name, casadi_opts)
+
+    os.chdir(cwd)
diff --git a/pyextra/acados_template/generate_c_code_nls_cost.py b/pyextra/acados_template/generate_c_code_nls_cost.py
new file mode 100644
index 00000000000000..ffcd78ca7bf785
--- /dev/null
+++ b/pyextra/acados_template/generate_c_code_nls_cost.py
@@ -0,0 +1,113 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os
+from casadi import *
+from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning
+
+def generate_c_code_nls_cost( model, cost_name, stage_type, opts ):
+
+    casadi_version = CasadiMeta.version()
+    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
+        casadi_version_warning(casadi_version)
+
+    x = model.x
+    p = model.p
+
+    if isinstance(x, casadi.MX):
+        symbol = MX.sym
+    else:
+        symbol = SX.sym
+
+    if stage_type == 'terminal':
+        middle_name = '_cost_y_e'
+        u = symbol('u', 0, 0)
+        cost_expr = model.cost_y_expr_e
+
+    elif stage_type == 'initial':
+        middle_name = '_cost_y_0'
+        u = model.u
+        cost_expr = model.cost_y_expr_0
+
+    elif stage_type == 'path':
+        middle_name = '_cost_y'
+        u = model.u
+        cost_expr = model.cost_y_expr
+
+    # set up directory
+    code_export_dir = opts["code_export_directory"]
+    if not os.path.exists(code_export_dir):
+        os.makedirs(code_export_dir)
+
+    cwd = os.getcwd()
+    os.chdir(code_export_dir)
+    gen_dir = cost_name + '_cost'
+    if not os.path.exists(gen_dir):
+        os.mkdir(gen_dir)
+    gen_dir_location = os.path.join('.', gen_dir)
+    os.chdir(gen_dir_location)
+
+    # set up expressions
+    cost_jac_expr = transpose(jacobian(cost_expr, vertcat(u, x)))
+
+    ny = casadi_length(cost_expr)
+
+    y = symbol('y', ny, 1)
+
+    y_adj = jtimes(cost_expr, vertcat(u, x), y, True)
+    y_hess = jacobian(y_adj, vertcat(u, x))
+
+    ## generate C code
+    suffix_name = '_fun'
+    fun_name = cost_name + middle_name + suffix_name
+    y_fun = Function( fun_name, [x, u, p], \
+            [ cost_expr ])
+    y_fun.generate( fun_name, casadi_opts )
+
+    suffix_name = '_fun_jac_ut_xt'
+    fun_name = cost_name + middle_name + suffix_name
+    y_fun_jac_ut_xt = Function(fun_name, [x, u, p], \
+            [ cost_expr, cost_jac_expr ])
+    y_fun_jac_ut_xt.generate( fun_name, casadi_opts )
+
+    suffix_name = '_hess'
+    fun_name = cost_name + middle_name + suffix_name
+    y_hess = Function(fun_name, [x, u, y, p], [ y_hess ])
+    y_hess.generate( fun_name, casadi_opts )
+
+    os.chdir(cwd)
+
+    return
+
diff --git a/pyextra/acados_template/simulink_default_opts.json b/pyextra/acados_template/simulink_default_opts.json
new file mode 100644
index 00000000000000..258a224cb24e35
--- /dev/null
+++ b/pyextra/acados_template/simulink_default_opts.json
@@ -0,0 +1,39 @@
+{
+    "outputs": {
+        "u0": 1,
+        "utraj": 0,
+        "xtraj": 0,
+        "solver_status": 1,
+        "KKT_residual": 1,
+        "x1": 1,
+        "CPU_time": 1,
+        "CPU_time_sim": 0,
+        "CPU_time_qp": 0,
+        "CPU_time_lin": 0,
+        "sqp_iter": 1
+    },
+    "inputs": {
+        "lbx_0": 1,
+        "ubx_0": 1,
+        "parameter_traj": 1,
+        "y_ref_0": 1,
+        "y_ref": 1,
+        "y_ref_e": 1,
+        "lbx": 1,
+        "ubx": 1,
+        "lbx_e": 1,
+        "ubx_e": 1,
+        "lbu": 1,
+        "ubu": 1,
+        "lg": 1,
+        "ug": 1,
+        "lh": 1,
+        "uh": 1,
+        "cost_W_0": 0,
+        "cost_W": 0,
+        "cost_W_e": 0,
+        "x_init": 0,
+        "u_init": 0
+    },
+    "samplingtime": "t0"
+}
diff --git a/pyextra/acados_template/utils.py b/pyextra/acados_template/utils.py
new file mode 100644
index 00000000000000..bf8ae4d5db74cc
--- /dev/null
+++ b/pyextra/acados_template/utils.py
@@ -0,0 +1,452 @@
+#
+# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os, sys, json
+import urllib.request
+import shutil
+import numpy as np
+from casadi import SX, MX, DM, Function, CasadiMeta
+
+ALLOWED_CASADI_VERSIONS = ('3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0')
+
+TERA_VERSION = "0.0.34"
+
+def get_acados_path():
+    ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR')
+    if not ACADOS_PATH:
+        acados_template_path = os.path.dirname(os.path.abspath(__file__))
+        acados_path = os.path.join(acados_template_path, '..','..','..')
+        ACADOS_PATH = os.path.realpath(acados_path)
+        msg = 'Warning: Did not find environment variable ACADOS_SOURCE_DIR, '
+        msg += 'guessed ACADOS_PATH to be {}.\n'.format(ACADOS_PATH)
+        msg += 'Please export ACADOS_SOURCE_DIR to not avoid this warning.'
+        print(msg)
+    return ACADOS_PATH
+
+
+def get_python_interface_path():
+    ACADOS_PYTHON_INTERFACE_PATH = os.environ.get('ACADOS_PYTHON_INTERFACE_PATH')
+    if not ACADOS_PYTHON_INTERFACE_PATH:
+        acados_path = get_acados_path()
+        ACADOS_PYTHON_INTERFACE_PATH = os.path.join(acados_path, 'interfaces', 'acados_template', 'acados_template')
+    return ACADOS_PYTHON_INTERFACE_PATH
+
+
+def get_tera_exec_path():
+    TERA_PATH = os.environ.get('TERA_PATH')
+    if not TERA_PATH:
+        TERA_PATH = os.path.join(get_acados_path(), 'bin', 't_renderer')
+        if os.name == 'nt':
+            TERA_PATH += '.exe'
+    return TERA_PATH
+
+
+platform2tera = {
+    "linux": "linux",
+    "darwin": "osx",
+    "win32": "window.exe"
+}
+
+
+def casadi_version_warning(casadi_version):
+    msg =  'Warning: Please note that the following versions of CasADi  are '
+    msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS))
+    msg += 'If there is an incompatibility with the CasADi generated code, '
+    msg += 'please consider changing your CasADi version.\n'
+    msg += 'Version {} currently in use.'.format(casadi_version)
+    print(msg)
+
+
+def is_column(x):
+    if isinstance(x, np.ndarray):
+        if x.ndim == 1:
+            return True
+        elif x.ndim == 2 and x.shape[1] == 1:
+            return True
+        else:
+            return False
+    elif isinstance(x, (MX, SX, DM)):
+        if x.shape[1] == 1:
+            return True
+        elif x.shape[0] == 0 and x.shape[1] == 0:
+            return True
+        else:
+            return False
+    elif x == None or x == []:
+        return False
+    else:
+        raise Exception("is_column expects one of the following types: np.ndarray, casadi.MX, casadi.SX."
+                        + " Got: " + str(type(x)))
+
+
+def is_empty(x):
+    if isinstance(x, (MX, SX, DM)):
+        return x.is_empty()
+    elif isinstance(x, np.ndarray):
+        if np.prod(x.shape) == 0:
+            return True
+        else:
+            return False
+    elif x == None or x == []:
+        return True
+    else:
+        raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, "
+                        + "None, numpy array empty list. Got: " + str(type(x)))
+
+
+def casadi_length(x):
+    if isinstance(x, (MX, SX, DM)):
+        return int(np.prod(x.shape))
+    else:
+        raise Exception("casadi_length expects one of the following types: casadi.MX, casadi.SX."
+                        + " Got: " + str(type(x)))
+
+
+def make_model_consistent(model):
+    x = model.x
+    xdot = model.xdot
+    u = model.u
+    z = model.z
+    p = model.p
+
+    if isinstance(x, MX):
+        symbol = MX.sym
+    elif isinstance(x, SX):
+        symbol = SX.sym
+    else:
+        raise Exception("model.x must be casadi.SX or casadi.MX, got {}".format(type(x)))
+
+    if is_empty(p):
+        model.p = symbol('p', 0, 0)
+
+    if is_empty(z):
+        model.z = symbol('z', 0, 0)
+
+    return model
+
+
+def get_tera():
+    tera_path = get_tera_exec_path()
+    acados_path = get_acados_path()
+
+    if os.path.exists(tera_path) and os.access(tera_path, os.X_OK):
+        return tera_path
+
+    repo_url = "https://github.com/acados/tera_renderer/releases"
+    url = "{}/download/v{}/t_renderer-v{}-{}".format(
+        repo_url, TERA_VERSION, TERA_VERSION, platform2tera[sys.platform])
+
+    manual_install = 'For manual installation follow these instructions:\n'
+    manual_install += '1 Download binaries from {}\n'.format(url)
+    manual_install += '2 Copy them in {}/bin\n'.format(acados_path)
+    manual_install += '3 Strip the version and platform from the binaries: '
+    manual_install += 'as t_renderer-v0.0.34-X -> t_renderer)\n'
+    manual_install += '4 Enable execution privilege on the file "t_renderer" with:\n'
+    manual_install += '"chmod +x {}"\n\n'.format(tera_path)
+
+    msg = "\n"
+    msg += 'Tera template render executable not found, '
+    msg += 'while looking in path:\n{}\n'.format(tera_path)
+    msg += 'In order to be able to render the templates, '
+    msg += 'you need to download the tera renderer binaries from:\n'
+    msg += '{}\n\n'.format(repo_url)
+    msg += 'Do you wish to set up Tera renderer automatically?\n'
+    msg += 'y/N? (press y to download tera or any key for manual installation)\n'
+
+    if input(msg) == 'y':
+        print("Dowloading {}".format(url))
+        with urllib.request.urlopen(url) as response, open(tera_path, 'wb') as out_file:
+            shutil.copyfileobj(response, out_file)
+        print("Successfully downloaded t_renderer.")
+        os.chmod(tera_path, 0o755)
+        return tera_path
+
+    msg_cancel = "\nYou cancelled automatic download.\n\n"
+    msg_cancel += manual_install
+    msg_cancel += "Once installed re-run your script.\n\n"
+    print(msg_cancel)
+
+    sys.exit(1)
+
+
+def render_template(in_file, out_file, template_dir, json_path):
+    cwd = os.getcwd()
+    if not os.path.exists(template_dir):
+        os.mkdir(template_dir)
+    os.chdir(template_dir)
+
+    tera_path = get_tera()
+
+    # setting up loader and environment
+    acados_path = os.path.dirname(os.path.abspath(__file__))
+    template_glob = os.path.join(acados_path, 'c_templates_tera', '*')
+
+    # call tera as system cmd
+    os_cmd = "{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'".format(
+        tera_path=tera_path,
+        template_glob=template_glob,
+        json_path=json_path,
+        in_file=in_file,
+        out_file=out_file
+    )
+    status = os.system(os_cmd)
+    if (status != 0):
+        raise Exception('Rendering of {} failed!\n\nAttempted to execute OS command:\n{}\n\nExiting.\n'.format(in_file, os_cmd))
+
+    os.chdir(cwd)
+
+
+## Conversion functions
+def np_array_to_list(np_array):
+    if isinstance(np_array, (np.ndarray)):
+        return np_array.tolist()
+    elif isinstance(np_array, (SX)):
+        return DM(np_array).full()
+    elif isinstance(np_array, (DM)):
+        return np_array.full()
+    else:
+        raise(Exception(
+            "Cannot convert to list type {}".format(type(np_array))
+        ))
+
+
+def format_class_dict(d):
+    """
+    removes the __ artifact from class to dict conversion
+    """
+    out = {}
+    for k, v in d.items():
+        if isinstance(v, dict):
+            v = format_class_dict(v)
+
+        out_key = k.split('__', 1)[-1]
+        out[k.replace(k, out_key)] = v
+    return out
+
+
+def acados_class2dict(class_instance):
+    """
+    removes the __ artifact from class to dict conversion
+    """
+
+    d = dict(class_instance.__dict__)
+    out = {}
+    for k, v in d.items():
+        if isinstance(v, dict):
+            v = format_class_dict(v)
+
+        out_key = k.split('__', 1)[-1]
+        out[k.replace(k, out_key)] = v
+    return out
+
+
+def get_ocp_nlp_layout():
+    python_interface_path = get_python_interface_path()
+    abs_path = os.path.join(python_interface_path, 'acados_layout.json')
+    with open(abs_path, 'r') as f:
+        ocp_nlp_layout = json.load(f)
+    return ocp_nlp_layout
+
+
+def ocp_check_against_layout(ocp_nlp, ocp_dims):
+    """
+    Check dimensions against layout
+    Parameters
+    ---------
+    ocp_nlp : dict
+        dictionary loaded from JSON to be post-processed.
+
+    ocp_dims : instance of AcadosOcpDims
+    """
+
+    ocp_nlp_layout = get_ocp_nlp_layout()
+
+    ocp_check_against_layout_recursion(ocp_nlp, ocp_dims, ocp_nlp_layout)
+    return
+
+
+def ocp_check_against_layout_recursion(ocp_nlp, ocp_dims, layout):
+
+    for key, item in ocp_nlp.items():
+
+        try:
+            layout_of_key = layout[key]
+        except KeyError:
+            raise Exception("ocp_check_against_layout_recursion: field" \
+                            " '{0}' is not in layout but in OCP description.".format(key))
+
+        if isinstance(item, dict):
+            ocp_check_against_layout_recursion(item, ocp_dims, layout_of_key)
+
+        if 'ndarray' in layout_of_key:
+            if isinstance(item, int) or isinstance(item, float):
+                item = np.array([item])
+        if isinstance(item, (list, np.ndarray)) and (layout_of_key[0] != 'str'):
+            dim_layout = []
+            dim_names = layout_of_key[1]
+
+            for dim_name in dim_names:
+                dim_layout.append(ocp_dims[dim_name])
+
+            dims = tuple(dim_layout)
+
+            item = np.array(item)
+            item_dims = item.shape
+            if len(item_dims) != len(dims):
+                raise Exception('Mismatching dimensions for field {0}. ' \
+                    'Expected {1} dimensional array, got {2} dimensional array.' \
+                        .format(key, len(dims), len(item_dims)))
+
+            if np.prod(item_dims) != 0 or np.prod(dims) != 0:
+                if dims != item_dims:
+                    raise Exception('acados -- mismatching dimensions for field {0}. ' \
+                        'Provided data has dimensions {1}, ' \
+                        'while associated dimensions {2} are {3}' \
+                            .format(key, item_dims, dim_names, dims))
+    return
+
+
+def J_to_idx(J):
+    nrows = J.shape[0]
+    idx = np.zeros((nrows, ))
+    for i in range(nrows):
+        this_idx = np.nonzero(J[i,:])[0]
+        if len(this_idx) != 1:
+            raise Exception('Invalid J matrix structure detected, ' \
+                'must contain one nonzero element per row. Exiting.')
+        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
+            raise Exception('J matrices can only contain 1s. Exiting.')
+        idx[i] = this_idx[0]
+    return idx
+
+
+def J_to_idx_slack(J):
+    nrows = J.shape[0]
+    ncol = J.shape[1]
+    idx = np.zeros((ncol, ))
+    i_idx = 0
+    for i in range(nrows):
+        this_idx = np.nonzero(J[i,:])[0]
+        if len(this_idx) == 1:
+            idx[i_idx] = i
+            i_idx = i_idx + 1
+        elif len(this_idx) > 1:
+            raise Exception('J_to_idx_slack: Invalid J matrix. Exiting. ' \
+                'Found more than one nonzero in row ' + str(i))
+        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
+            raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \
+                 'got J(' + str(i) + ', ' + str(this_idx[0]) + ') = ' + str(J[i,this_idx[0]]) )
+    if not i_idx == ncol:
+            raise Exception('J_to_idx_slack: J must contain a 1 in every column!')
+    return idx
+
+
+def acados_dae_model_json_dump(model):
+
+    # load model
+    x = model.x
+    xdot = model.xdot
+    u = model.u
+    z = model.z
+    p = model.p
+
+    f_impl = model.f_impl_expr
+    model_name = model.name
+
+    # create struct with impl_dae_fun, casadi_version
+    fun_name = model_name + '_impl_dae_fun'
+    impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl])
+
+    casadi_version = CasadiMeta.version()
+    str_impl_dae_fun = impl_dae_fun.serialize()
+
+    dae_dict = {"str_impl_dae_fun": str_impl_dae_fun, "casadi_version": casadi_version}
+
+    # dump
+    json_file = model_name + '_acados_dae.json'
+    with open(json_file, 'w') as f:
+        json.dump(dae_dict, f, default=np_array_to_list, indent=4, sort_keys=True)
+    print("dumped ", model_name, " dae to file:", json_file, "\n")
+
+
+def set_up_imported_gnsf_model(acados_formulation):
+
+    gnsf = acados_formulation.gnsf_model
+
+    # check CasADi version
+    # dump_casadi_version = gnsf['casadi_version']
+    # casadi_version = CasadiMeta.version()
+
+    # if not casadi_version == dump_casadi_version:
+    #     print("WARNING: GNSF model was dumped with another CasADi version.\n"
+    #             + "This might yield errors. Please use the same version for compatibility, serialize version: "
+    #             + dump_casadi_version + " current Python CasADi verison: " + casadi_version)
+    #     input("Press any key to attempt to continue...")
+
+    # load model
+    phi_fun = Function.deserialize(gnsf['phi_fun'])
+    phi_fun_jac_y = Function.deserialize(gnsf['phi_fun_jac_y'])
+    phi_jac_y_uhat = Function.deserialize(gnsf['phi_jac_y_uhat'])
+    get_matrices_fun = Function.deserialize(gnsf['get_matrices_fun'])
+
+    # obtain gnsf dimensions
+    size_gnsf_A = get_matrices_fun.size_out(0)
+    acados_formulation.dims.gnsf_nx1 = size_gnsf_A[1]
+    acados_formulation.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
+    acados_formulation.dims.gnsf_nuhat = max(phi_fun.size_in(1))
+    acados_formulation.dims.gnsf_ny = max(phi_fun.size_in(0))
+    acados_formulation.dims.gnsf_nout = max(phi_fun.size_out(0))
+
+    # save gnsf functions in model
+    acados_formulation.model.phi_fun = phi_fun
+    acados_formulation.model.phi_fun_jac_y = phi_fun_jac_y
+    acados_formulation.model.phi_jac_y_uhat = phi_jac_y_uhat
+    acados_formulation.model.get_matrices_fun = get_matrices_fun
+
+    if "f_lo_fun_jac_x1k1uz" in gnsf:
+        f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
+        acados_formulation.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
+    else:
+        dummy_var_x1 = SX.sym('dummy_var_x1', acados_formulation.dims.gnsf_nx1)
+        dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_formulation.dims.gnsf_nx1)
+        dummy_var_z1 = SX.sym('dummy_var_z1', acados_formulation.dims.gnsf_nz1)
+        dummy_var_u = SX.sym('dummy_var_z1', acados_formulation.dims.nu)
+        dummy_var_p = SX.sym('dummy_var_z1', acados_formulation.dims.np)
+        empty_var = SX.sym('empty_var', 0, 0)
+
+        empty_fun = Function('empty_fun', \
+            [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p],
+                [empty_var])
+        acados_formulation.model.f_lo_fun_jac_x1k1uz = empty_fun
+
+    del acados_formulation.gnsf_model
diff --git a/pyextra/logentries/__init__.py b/pyextra/logentries/__init__.py
deleted file mode 100644
index b64e423b8b7b3d..00000000000000
--- a/pyextra/logentries/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-from .utils import LogentriesHandler
diff --git a/pyextra/logentries/helpers.py b/pyextra/logentries/helpers.py
deleted file mode 100644
index bec676e22a9129..00000000000000
--- a/pyextra/logentries/helpers.py
+++ /dev/null
@@ -1,49 +0,0 @@
-
-""" This file contains some helpers methods in both Python2 and 3 """
-import sys
-import re
-
-if sys.version < '3':
-    # Python2.x imports
-    import Queue
-    import codecs
-else:
-    # Python 3.x imports
-    import queue
-
-
-def check_token(token):
-    """ Checks if the given token is a valid UUID."""
-    valid = re.compile(r"^[0-9a-fA-F]{8}-[0-9a-fA-F]{4}-"
-                       r"[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{12}$")
-
-    return valid.match(token)
-
-# We need to do some things different pending if its Python 2.x or 3.x
-if sys.version < '3':
-    def to_unicode(ch):
-        return codecs.unicode_escape_decode(ch)[0]
-
-    def is_unicode(ch):
-        return isinstance(ch, unicode)
-
-    def create_unicode(ch):
-        try:
-            return unicode(ch, 'utf-8')
-        except UnicodeDecodeError as e:
-            return str(e)
-
-    def create_queue(max_size):
-        return Queue.Queue(max_size)
-else:
-    def to_unicode(ch):
-        return ch
-
-    def is_unicode(ch):
-        return isinstance(ch, str)
-
-    def create_unicode(ch):
-        return str(ch)
-
-    def create_queue(max_size):
-        return queue.Queue(max_size)
diff --git a/pyextra/logentries/metrics.py b/pyextra/logentries/metrics.py
deleted file mode 100644
index 03ddb6437493fc..00000000000000
--- a/pyextra/logentries/metrics.py
+++ /dev/null
@@ -1,57 +0,0 @@
-from logentries import LogentriesHandler
-from threading import Lock
-from functools import wraps
-import logging
-import time
-import sys
-import psutil
-
-glob_time = 0
-glob_name = 0
-
-log = logging.getLogger('logentries')
-log.setLevel(logging.INFO)
-
-class Metric(object):
-
-    def __init__(self, token):
-        self._count = 0.0
-        self._sum = 0.0
-        self._lock = Lock()
-        self.token = token
-        handler = LogentriesHandler(token)
-        log.addHandler(handler)
-
-    def observe(self, amount):
-        with self._lock:
-            self._count += 1
-            self._sum += amount
-
-    def metric(self):
-        '''Mesaure function execution time in seconds
-           and forward it to Logentries'''
-
-        class Timer(object):
-
-            def __init__(self, summary):
-                self._summary = summary
-
-            def __enter__(self):
-                self._start = time.time()
-
-            def __exit__(self, typ, value, traceback):
-                global glob_time
-                self._summary.observe(max(time.time() - self._start, 0))
-                glob_time = time.time()- self._start
-                log.info("function_name=" + glob_name + " " + "execution_time=" + str(glob_time) + " " + "cpu=" + str(psutil.cpu_percent(interval=None)) + " " + "cpu_count=" + str(psutil.cpu_count())+ " " + "memory=" + str(psutil.virtual_memory()) )
-
-            def __call__(self, f):
-                @wraps(f)
-                def wrapped(*args, **kwargs):
-                    with self:
-                        global glob_name
-                        glob_name = f.__name__
-
-                        return f(*args, **kwargs)
-                return wrapped
-        return Timer(self)
diff --git a/pyextra/logentries/utils.py b/pyextra/logentries/utils.py
deleted file mode 100644
index c17a1070cdb9e8..00000000000000
--- a/pyextra/logentries/utils.py
+++ /dev/null
@@ -1,218 +0,0 @@
-# coding: utf-8
-# vim: set ts=4 sw=4 et:
-""" This file contains some utils for connecting to Logentries
-    as well as storing logs in a queue and sending them."""
-
-VERSION = '2.0.7'
-
-from logentries import helpers as le_helpers
-
-import logging
-import threading
-import socket
-import random
-import time
-import sys
-
-import certifi
-
-
-# Size of the internal event queue
-QUEUE_SIZE = 32768
-# Logentries API server address
-LE_API_DEFAULT = "data.logentries.com"
-# Port number for token logging to Logentries API server
-LE_PORT_DEFAULT = 80
-LE_TLS_PORT_DEFAULT = 443
-# Minimal delay between attempts to reconnect in seconds
-MIN_DELAY = 0.1
-# Maximal delay between attempts to recconect in seconds
-MAX_DELAY = 10
-# Unicode Line separator character   \u2028
-LINE_SEP = le_helpers.to_unicode('\u2028')
-
-
-# LE appender signature - used for debugging messages
-LE = "LE: "
-# Error message displayed when an incorrect Token has been detected
-INVALID_TOKEN = ("\n\nIt appears the LOGENTRIES_TOKEN "
-                 "parameter you entered is incorrect!\n\n")
-
-
-def dbg(msg):
-    print(LE + msg)
-
-
-class PlainTextSocketAppender(threading.Thread):
-    def __init__(self, verbose=True, le_api=LE_API_DEFAULT, le_port=LE_PORT_DEFAULT, le_tls_port=LE_TLS_PORT_DEFAULT):
-        threading.Thread.__init__(self)
-
-        # Logentries API server address
-        self.le_api = le_api
-
-        # Port number for token logging to Logentries API server
-        self.le_port = le_port
-        self.le_tls_port = le_tls_port
-
-        self.daemon = True
-        self.verbose = verbose
-        self._conn = None
-        self._queue = le_helpers.create_queue(QUEUE_SIZE)
-
-    def empty(self):
-        return self._queue.empty()
-
-    def open_connection(self):
-        self._conn = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self._conn.connect((self.le_api, self.le_port))
-
-    def reopen_connection(self):
-        self.close_connection()
-
-        root_delay = MIN_DELAY
-        while True:
-            try:
-                self.open_connection()
-                return
-            except Exception:
-                if self.verbose:
-                    dbg("Unable to connect to Logentries")
-
-            root_delay *= 2
-            if(root_delay > MAX_DELAY):
-                root_delay = MAX_DELAY
-
-            wait_for = root_delay + random.uniform(0, root_delay)
-
-            try:
-                time.sleep(wait_for)
-            except KeyboardInterrupt:
-                raise
-
-    def close_connection(self):
-        if self._conn is not None:
-            self._conn.close()
-
-    def run(self):
-        try:
-            # Open connection
-            self.reopen_connection()
-
-            # Send data in queue
-            while True:
-                # Take data from queue
-                data = self._queue.get(block=True)
-
-                # Replace newlines with Unicode line separator
-                # for multi-line events
-                if not le_helpers.is_unicode(data):
-                    multiline = le_helpers.create_unicode(data).replace(
-                        '\n', LINE_SEP)
-                else:
-                    multiline = data.replace('\n', LINE_SEP)
-                multiline += "\n"
-                # Send data, reconnect if needed
-                while True:
-                    try:
-                        self._conn.send(multiline.encode('utf-8'))
-                    except socket.error:
-                        self.reopen_connection()
-                        continue
-                    break
-        except KeyboardInterrupt:
-            if self.verbose:
-                dbg("Logentries asynchronous socket client interrupted")
-
-        self.close_connection()
-
-SocketAppender = PlainTextSocketAppender
-
-try:
-    import ssl
-    ssl_enabled = True
-except ImportError:  # for systems without TLS support.
-    ssl_enabled = False
-    dbg("Unable to import ssl module. Will send over port 80.")
-else:
-    class TLSSocketAppender(PlainTextSocketAppender):
-
-        def open_connection(self):
-            sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            sock = ssl.wrap_socket(
-                sock=sock,
-                keyfile=None,
-                certfile=None,
-                server_side=False,
-                cert_reqs=ssl.CERT_REQUIRED,
-                ssl_version=getattr(
-                    ssl,
-                    'PROTOCOL_TLSv1_2',
-                    ssl.PROTOCOL_TLSv1
-                ),
-                ca_certs=certifi.where(),
-                do_handshake_on_connect=True,
-                suppress_ragged_eofs=True,
-            )
-
-            sock.connect((self.le_api, self.le_tls_port))
-            self._conn = sock
-
-
-class LogentriesHandler(logging.Handler):
-    def __init__(self, token, use_tls=True, verbose=True, format=None, le_api=LE_API_DEFAULT, le_port=LE_PORT_DEFAULT, le_tls_port=LE_TLS_PORT_DEFAULT):
-        logging.Handler.__init__(self)
-        self.token = token
-        self.good_config = True
-        self.verbose = verbose
-        # give the socket 10 seconds to flush,
-        # otherwise drop logs
-        self.timeout = 10
-        if not le_helpers.check_token(token):
-            if self.verbose:
-                dbg(INVALID_TOKEN)
-            self.good_config = False
-        if format is None:
-            format = logging.Formatter('%(asctime)s : %(levelname)s, %(message)s',
-                                       '%a %b %d %H:%M:%S %Z %Y')
-        self.setFormatter(format)
-        self.setLevel(logging.DEBUG)
-        if use_tls and ssl_enabled:
-            self._thread = TLSSocketAppender(verbose=verbose, le_api=le_api, le_port=le_port, le_tls_port=le_tls_port)
-        else:
-            self._thread = SocketAppender(verbose=verbose, le_api=le_api, le_port=le_port, le_tls_port=le_tls_port)
-
-    def flush(self):
-        # wait for all queued logs to be send
-        now = time.time()
-        while not self._thread.empty():
-            time.sleep(0.2)
-            if time.time() - now > self.timeout:
-                break
-
-    def emit_raw(self, msg):
-        if self.good_config and not self._thread.is_alive():
-            try:
-                self._thread.start()
-                if self.verbose:
-                    dbg("Starting Logentries Asynchronous Socket Appender")
-            except RuntimeError: # It's already started.
-                pass
-
-        msg = self.token + msg
-        try:
-            self._thread._queue.put_nowait(msg)
-        except Exception:
-            # Queue is full, try to remove the oldest message and put again
-            try:
-                self._thread._queue.get_nowait()
-                self._thread._queue.put_nowait(msg)
-            except Exception:
-                # Race condition, no need for any action here
-                pass
-
-    def emit(self, record):
-        msg = self.format(record).rstrip('\n')
-        self.emit_raw(msg)
-
-    def close(self):
-        logging.Handler.close(self)
diff --git a/pyextra/overpy/__about__.py b/pyextra/overpy/__about__.py
deleted file mode 100644
index 33c6c493c8aef6..00000000000000
--- a/pyextra/overpy/__about__.py
+++ /dev/null
@@ -1,22 +0,0 @@
-__all__ = [
-    "__author__",
-    "__copyright__",
-    "__email__",
-    "__license__",
-    "__summary__",
-    "__title__",
-    "__uri__",
-    "__version__",
-]
-
-__title__ = "overpy"
-__summary__ = "Python Wrapper to access the OpenStreepMap Overpass API"
-__uri__ = "https://github.com/DinoTools/python-overpy"
-
-__version__ = "0.4"
-
-__author__ = "PhiBo (DinoTools)"
-__email__ = ""
-
-__license__ = "MIT"
-__copyright__ = "Copyright 2014-2016 %s" % __author__
diff --git a/pyextra/overpy/__init__.py b/pyextra/overpy/__init__.py
deleted file mode 100644
index 2836080ab7d017..00000000000000
--- a/pyextra/overpy/__init__.py
+++ /dev/null
@@ -1,1619 +0,0 @@
-from collections import OrderedDict
-from datetime import datetime
-from decimal import Decimal
-from xml.sax import handler, make_parser
-import json
-import re
-import sys
-import time
-import requests
-
-from overpy import exception
-from overpy.__about__ import (
-    __author__, __copyright__, __email__, __license__, __summary__, __title__,
-    __uri__, __version__
-)
-
-PY2 = sys.version_info[0] == 2
-PY3 = sys.version_info[0] == 3
-
-XML_PARSER_DOM = 1
-XML_PARSER_SAX = 2
-
-# Try to convert some common attributes
-# http://wiki.openstreetmap.org/wiki/Elements#Common_attributes
-GLOBAL_ATTRIBUTE_MODIFIERS = {
-    "changeset": int,
-    "timestamp": lambda ts: datetime.strptime(ts, "%Y-%m-%dT%H:%M:%SZ"),
-    "uid": int,
-    "version": int,
-    "visible": lambda v: v.lower() == "true"
-}
-
-
-def is_valid_type(element, cls):
-    """
-    Test if an element is of a given type.
-
-    :param Element() element: The element instance to test
-    :param Element cls: The element class to test
-    :return: False or True
-    :rtype: Boolean
-    """
-    return isinstance(element, cls) and element.id is not None
-
-
-class Overpass(object):
-    """
-    Class to access the Overpass API
-
-    :cvar default_max_retry_count: Global max number of retries (Default: 0)
-    :cvar default_retry_timeout: Global time to wait between tries (Default: 1.0s)
-    """
-    default_max_retry_count = 0
-    default_read_chunk_size = 4096
-    default_retry_timeout = 1.0
-    default_url = "http://overpass-api.de/api/interpreter"
-
-    def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX, max_retry_count=None, retry_timeout=None, timeout=5.0, headers=None):
-        """
-        :param read_chunk_size: Max size of each chunk read from the server response
-        :type read_chunk_size: Integer
-        :param url: Optional URL of the Overpass server. Defaults to http://overpass-api.de/api/interpreter
-        :type url: str
-        :param xml_parser: The xml parser to use
-        :type xml_parser: Integer
-        :param max_retry_count: Max number of retries (Default: default_max_retry_count)
-        :type max_retry_count: Integer
-        :param retry_timeout: Time to wait between tries (Default: default_retry_timeout)
-        :type retry_timeout: float
-        :param timeout: HTTP request timeout
-        :type timeout: float
-        :param headers: HTTP request headers
-        :type headers: dict
-        """
-        self.url = self.default_url
-        if url is not None:
-            self.url = url
-
-        self._regex_extract_error_msg = re.compile(b"\<p\>(?P<msg>\<strong\s.*?)\</p\>")
-        self._regex_remove_tag = re.compile(b"<[^>]*?>")
-        if read_chunk_size is None:
-            read_chunk_size = self.default_read_chunk_size
-        self.read_chunk_size = read_chunk_size
-
-        if max_retry_count is None:
-            max_retry_count = self.default_max_retry_count
-        self.max_retry_count = max_retry_count
-
-        if retry_timeout is None:
-            retry_timeout = self.default_retry_timeout
-        self.retry_timeout = retry_timeout
-
-        self.xml_parser = xml_parser
-        self.timeout = timeout
-        self.headers = headers
-
-    def _handle_remark_msg(self, msg):
-        """
-        Try to parse the message provided with the remark tag or element.
-
-        :param str msg: The message
-        :raises overpy.exception.OverpassRuntimeError: If message starts with 'runtime error:'
-        :raises overpy.exception.OverpassRuntimeRemark: If message starts with 'runtime remark:'
-        :raises overpy.exception.OverpassUnknownError: If we are unable to identify the error
-        """
-        msg = msg.strip()
-        if msg.startswith("runtime error:"):
-            raise exception.OverpassRuntimeError(msg=msg)
-        elif msg.startswith("runtime remark:"):
-            raise exception.OverpassRuntimeRemark(msg=msg)
-        raise exception.OverpassUnknownError(msg=msg)
-
-    def query(self, query):
-        """
-        Query the Overpass API
-
-        :param String|Bytes query: The query string in Overpass QL
-        :return: The parsed result
-        :rtype: overpy.Result
-        """
-        if not isinstance(query, bytes):
-            query = query.encode("utf-8")
-
-        retry_num = 0
-        retry_exceptions = []
-        do_retry = True if self.max_retry_count > 0 else False
-        while retry_num <= self.max_retry_count:
-            if retry_num > 0:
-                time.sleep(self.retry_timeout)
-            retry_num += 1
-
-            try:
-                if self.headers is not None:
-                    r = requests.post(self.url, query, timeout=self.timeout, headers=self.headers)
-                else:
-                    r = requests.post(self.url, query, timeout=self.timeout)
-                response = r.content
-            except (requests.exceptions.BaseHTTPError, requests.exceptions.RequestException) as e:
-                if not do_retry:
-                    raise e
-                retry_exceptions.append(e)
-                continue
-
-            if r.status_code == 200:
-                content_type = r.headers["Content-Type"]
-
-                if content_type == "application/json":
-                    return self.parse_json(response)
-
-                if content_type == "application/osm3s+xml":
-                    return self.parse_xml(response)
-
-                e = exception.OverpassUnknownContentType(content_type)
-                if not do_retry:
-                    raise e
-                retry_exceptions.append(e)
-                continue
-            elif r.status_code == 400:
-                msgs = []
-                for msg in self._regex_extract_error_msg.finditer(response):
-                    tmp = self._regex_remove_tag.sub(b"", msg.group("msg"))
-                    try:
-                        tmp = tmp.decode("utf-8")
-                    except UnicodeDecodeError:
-                        tmp = repr(tmp)
-                    msgs.append(tmp)
-
-                e = exception.OverpassBadRequest(
-                    query,
-                    msgs=msgs
-                )
-                if not do_retry:
-                    raise e
-                retry_exceptions.append(e)
-                continue
-            elif r.status_code == 429:
-                e = exception.OverpassTooManyRequests
-                if not do_retry:
-                    raise e
-                retry_exceptions.append(e)
-                continue
-            elif r.status_code == 504:
-                e = exception.OverpassGatewayTimeout
-                if not do_retry:
-                    raise e
-                retry_exceptions.append(e)
-                continue
-
-            # No valid response code
-            e = exception.OverpassUnknownHTTPStatusCode(r.status_code)
-            if not do_retry:
-                raise e
-            retry_exceptions.append(e)
-            continue
-
-        raise exception.MaxRetriesReached(retry_count=retry_num, exceptions=retry_exceptions)
-
-    def parse_json(self, data, encoding="utf-8"):
-        """
-        Parse raw response from Overpass service.
-
-        :param data: Raw JSON Data
-        :type data: String or Bytes
-        :param encoding: Encoding to decode byte string
-        :type encoding: String
-        :return: Result object
-        :rtype: overpy.Result
-        """
-        if isinstance(data, bytes):
-          data = data.decode(encoding)
-
-        data = json.loads(data, parse_float=Decimal)
-        if "remark" in data:
-            self._handle_remark_msg(msg=data.get("remark"))
-        return Result.from_json(data, api=self)
-
-    def parse_xml(self, data, encoding="utf-8", parser=None):
-        """
-
-        :param data: Raw XML Data
-        :type data: String or Bytes
-        :param encoding: Encoding to decode byte string
-        :type encoding: String
-        :return: Result object
-        :rtype: overpy.Result
-        """
-        if parser is None:
-            parser = self.xml_parser
-        if isinstance(data, bytes):
-            data = data.decode(encoding)
-        if PY2 and not isinstance(data, str):
-            # Python 2.x: Convert unicode strings
-            data = data.encode(encoding)
-
-        m = re.compile("<remark>(?P<msg>[^<>]*)</remark>").search(data)
-        if m:
-            self._handle_remark_msg(m.group("msg"))
-
-        return Result.from_xml(data, api=self, parser=parser)
-
-
-class Result(object):
-    """
-    Class to handle the result.
-    """
-
-    def __init__(self, elements=None, api=None):
-        """
-
-        :param List elements:
-        :param api:
-        :type api: overpy.Overpass
-        """
-        if elements is None:
-            elements = []
-        self._areas = OrderedDict((element.id, element) for element in elements if is_valid_type(element, Area))
-        self._nodes = OrderedDict((element.id, element) for element in elements if is_valid_type(element, Node))
-        self._ways = OrderedDict((element.id, element) for element in elements if is_valid_type(element, Way))
-        self._relations = OrderedDict((element.id, element)
-                                      for element in elements if is_valid_type(element, Relation))
-        self._class_collection_map = {Node: self._nodes, Way: self._ways, Relation: self._relations, Area: self._areas}
-        self.api = api
-
-    def expand(self, other):
-        """
-        Add all elements from an other result to the list of elements of this result object.
-
-        It is used by the auto resolve feature.
-
-        :param other: Expand the result with the elements from this result.
-        :type other: overpy.Result
-        :raises ValueError: If provided parameter is not instance of :class:`overpy.Result`
-        """
-        if not isinstance(other, Result):
-            raise ValueError("Provided argument has to be instance of overpy:Result()")
-
-        other_collection_map = {Node: other.nodes, Way: other.ways, Relation: other.relations, Area: other.areas}
-        for element_type, own_collection in self._class_collection_map.items():
-            for element in other_collection_map[element_type]:
-                if is_valid_type(element, element_type) and element.id not in own_collection:
-                    own_collection[element.id] = element
-
-    def append(self, element):
-        """
-        Append a new element to the result.
-
-        :param element: The element to append
-        :type element: overpy.Element
-        """
-        if is_valid_type(element, Element):
-            self._class_collection_map[element.__class__].setdefault(element.id, element)
-
-    def get_elements(self, filter_cls, elem_id=None):
-        """
-        Get a list of elements from the result and filter the element type by a class.
-
-        :param filter_cls:
-        :param elem_id: ID of the object
-        :type elem_id: Integer
-        :return: List of available elements
-        :rtype: List
-        """
-        result = []
-        if elem_id is not None:
-            try:
-                result = [self._class_collection_map[filter_cls][elem_id]]
-            except KeyError:
-                result = []
-        else:
-            for e in self._class_collection_map[filter_cls].values():
-                result.append(e)
-        return result
-
-    def get_ids(self, filter_cls):
-        """
-
-        :param filter_cls:
-        :return:
-        """
-        return list(self._class_collection_map[filter_cls].keys())
-
-    def get_node_ids(self):
-        return self.get_ids(filter_cls=Node)
-
-    def get_way_ids(self):
-        return self.get_ids(filter_cls=Way)
-
-    def get_relation_ids(self):
-        return self.get_ids(filter_cls=Relation)
-
-    def get_area_ids(self):
-        return self.get_ids(filter_cls=Area)
-
-    @classmethod
-    def from_json(cls, data, api=None):
-        """
-        Create a new instance and load data from json object.
-
-        :param data: JSON data returned by the Overpass API
-        :type data: Dict
-        :param api:
-        :type api: overpy.Overpass
-        :return: New instance of Result object
-        :rtype: overpy.Result
-        """
-        result = cls(api=api)
-        for elem_cls in [Node, Way, Relation, Area]:
-            for element in data.get("elements", []):
-                e_type = element.get("type")
-                if hasattr(e_type, "lower") and e_type.lower() == elem_cls._type_value:
-                    result.append(elem_cls.from_json(element, result=result))
-
-        return result
-
-    @classmethod
-    def from_xml(cls, data, api=None, parser=None):
-        """
-        Create a new instance and load data from xml data or object.
-
-        .. note::
-            If parser is set to None, the functions tries to find the best parse.
-            By default the SAX parser is chosen if a string is provided as data.
-            The parser is set to DOM if an xml.etree.ElementTree.Element is provided as data value.
-
-        :param data: Root element
-        :type data: str | xml.etree.ElementTree.Element
-        :param api: The instance to query additional information if required.
-        :type api: Overpass
-        :param parser: Specify the parser to use(DOM or SAX)(Default: None = autodetect, defaults to SAX)
-        :type parser: Integer | None
-        :return: New instance of Result object
-        :rtype: Result
-        """
-        if parser is None:
-            if isinstance(data, str):
-                parser = XML_PARSER_SAX
-            else:
-                parser = XML_PARSER_DOM
-
-        result = cls(api=api)
-        if parser == XML_PARSER_DOM:
-            import xml.etree.ElementTree as ET
-            if isinstance(data, str):
-                root = ET.fromstring(data)
-            elif isinstance(data, ET.Element):
-                root = data
-            else:
-                raise exception.OverPyException("Unable to detect data type.")
-
-            for elem_cls in [Node, Way, Relation, Area]:
-                for child in root:
-                    if child.tag.lower() == elem_cls._type_value:
-                        result.append(elem_cls.from_xml(child, result=result))
-
-        elif parser == XML_PARSER_SAX:
-            if PY2:
-                from StringIO import StringIO
-            else:
-                from io import StringIO
-            source = StringIO(data)
-            sax_handler = OSMSAXHandler(result)
-            parser = make_parser()
-            parser.setContentHandler(sax_handler)
-            parser.parse(source)
-        else:
-            # ToDo: better exception
-            raise Exception("Unknown XML parser")
-        return result
-
-    def get_area(self, area_id, resolve_missing=False):
-        """
-        Get an area by its ID.
-
-        :param area_id: The area ID
-        :type area_id: Integer
-        :param resolve_missing: Query the Overpass API if the area is missing in the result set.
-        :return: The area
-        :rtype: overpy.Area
-        :raises overpy.exception.DataIncomplete: The requested way is not available in the result cache.
-        :raises overpy.exception.DataIncomplete: If resolve_missing is True and the area can't be resolved.
-        """
-        areas = self.get_areas(area_id=area_id)
-        if len(areas) == 0:
-            if resolve_missing is False:
-                raise exception.DataIncomplete("Resolve missing area is disabled")
-
-            query = ("\n"
-                     "[out:json];\n"
-                     "area({area_id});\n"
-                     "out body;\n"
-                     )
-            query = query.format(
-                area_id=area_id
-            )
-            tmp_result = self.api.query(query)
-            self.expand(tmp_result)
-
-            areas = self.get_areas(area_id=area_id)
-
-        if len(areas) == 0:
-            raise exception.DataIncomplete("Unable to resolve requested areas")
-
-        return areas[0]
-
-    def get_areas(self, area_id=None, **kwargs):
-        """
-        Alias for get_elements() but filter the result by Area
-
-        :param area_id: The Id of the area
-        :type area_id: Integer
-        :return: List of elements
-        """
-        return self.get_elements(Area, elem_id=area_id, **kwargs)
-
-    def get_node(self, node_id, resolve_missing=False):
-        """
-        Get a node by its ID.
-
-        :param node_id: The node ID
-        :type node_id: Integer
-        :param resolve_missing: Query the Overpass API if the node is missing in the result set.
-        :return: The node
-        :rtype: overpy.Node
-        :raises overpy.exception.DataIncomplete: At least one referenced node is not available in the result cache.
-        :raises overpy.exception.DataIncomplete: If resolve_missing is True and at least one node can't be resolved.
-        """
-        nodes = self.get_nodes(node_id=node_id)
-        if len(nodes) == 0:
-            if not resolve_missing:
-                raise exception.DataIncomplete("Resolve missing nodes is disabled")
-
-            query = ("\n"
-                     "[out:json];\n"
-                     "node({node_id});\n"
-                     "out body;\n"
-                     )
-            query = query.format(
-                node_id=node_id
-            )
-            tmp_result = self.api.query(query)
-            self.expand(tmp_result)
-
-            nodes = self.get_nodes(node_id=node_id)
-
-        if len(nodes) == 0:
-            raise exception.DataIncomplete("Unable to resolve all nodes")
-
-        return nodes[0]
-
-    def get_nodes(self, node_id=None, **kwargs):
-        """
-        Alias for get_elements() but filter the result by Node()
-
-        :param node_id: The Id of the node
-        :type node_id: Integer
-        :return: List of elements
-        """
-        return self.get_elements(Node, elem_id=node_id, **kwargs)
-
-    def get_relation(self, rel_id, resolve_missing=False):
-        """
-        Get a relation by its ID.
-
-        :param rel_id: The relation ID
-        :type rel_id: Integer
-        :param resolve_missing: Query the Overpass API if the relation is missing in the result set.
-        :return: The relation
-        :rtype: overpy.Relation
-        :raises overpy.exception.DataIncomplete: The requested relation is not available in the result cache.
-        :raises overpy.exception.DataIncomplete: If resolve_missing is True and the relation can't be resolved.
-        """
-        relations = self.get_relations(rel_id=rel_id)
-        if len(relations) == 0:
-            if resolve_missing is False:
-                raise exception.DataIncomplete("Resolve missing relations is disabled")
-
-            query = ("\n"
-                     "[out:json];\n"
-                     "relation({relation_id});\n"
-                     "out body;\n"
-                     )
-            query = query.format(
-                relation_id=rel_id
-            )
-            tmp_result = self.api.query(query)
-            self.expand(tmp_result)
-
-            relations = self.get_relations(rel_id=rel_id)
-
-        if len(relations) == 0:
-            raise exception.DataIncomplete("Unable to resolve requested reference")
-
-        return relations[0]
-
-    def get_relations(self, rel_id=None, **kwargs):
-        """
-        Alias for get_elements() but filter the result by Relation
-
-        :param rel_id: Id of the relation
-        :type rel_id: Integer
-        :return: List of elements
-        """
-        return self.get_elements(Relation, elem_id=rel_id, **kwargs)
-
-    def get_way(self, way_id, resolve_missing=False):
-        """
-        Get a way by its ID.
-
-        :param way_id: The way ID
-        :type way_id: Integer
-        :param resolve_missing: Query the Overpass API if the way is missing in the result set.
-        :return: The way
-        :rtype: overpy.Way
-        :raises overpy.exception.DataIncomplete: The requested way is not available in the result cache.
-        :raises overpy.exception.DataIncomplete: If resolve_missing is True and the way can't be resolved.
-        """
-        ways = self.get_ways(way_id=way_id)
-        if len(ways) == 0:
-            if resolve_missing is False:
-                raise exception.DataIncomplete("Resolve missing way is disabled")
-
-            query = ("\n"
-                     "[out:json];\n"
-                     "way({way_id});\n"
-                     "out body;\n"
-                     )
-            query = query.format(
-                way_id=way_id
-            )
-            tmp_result = self.api.query(query)
-            self.expand(tmp_result)
-
-            ways = self.get_ways(way_id=way_id)
-
-        if len(ways) == 0:
-            raise exception.DataIncomplete("Unable to resolve requested way")
-
-        return ways[0]
-
-    def get_ways(self, way_id=None, **kwargs):
-        """
-        Alias for get_elements() but filter the result by Way
-
-        :param way_id: The Id of the way
-        :type way_id: Integer
-        :return: List of elements
-        """
-        return self.get_elements(Way, elem_id=way_id, **kwargs)
-
-    area_ids = property(get_area_ids)
-    areas = property(get_areas)
-    node_ids = property(get_node_ids)
-    nodes = property(get_nodes)
-    relation_ids = property(get_relation_ids)
-    relations = property(get_relations)
-    way_ids = property(get_way_ids)
-    ways = property(get_ways)
-
-
-class Element(object):
-    """
-    Base element
-    """
-
-    def __init__(self, attributes=None, result=None, tags=None):
-        """
-        :param attributes: Additional attributes
-        :type attributes: Dict
-        :param result: The result object this element belongs to
-        :param tags: List of tags
-        :type tags: Dict
-        """
-
-        self._result = result
-        self.attributes = attributes
-        # ToDo: Add option to modify attribute modifiers
-        attribute_modifiers = dict(GLOBAL_ATTRIBUTE_MODIFIERS.items())
-        for n, m in attribute_modifiers.items():
-            if n in self.attributes:
-                self.attributes[n] = m(self.attributes[n])
-        self.id = None
-        self.tags = tags
-
-    @classmethod
-    def get_center_from_json(cls, data):
-        """
-        Get center information from json data
-
-        :param data: json data
-        :return: tuple with two elements: lat and lon
-        :rtype: tuple
-        """
-        center_lat = None
-        center_lon = None
-        center = data.get("center")
-        if isinstance(center, dict):
-            center_lat = center.get("lat")
-            center_lon = center.get("lon")
-            if center_lat is None or center_lon is None:
-                raise ValueError("Unable to get lat or lon of way center.")
-            center_lat = Decimal(center_lat)
-            center_lon = Decimal(center_lon)
-        return (center_lat, center_lon)
-
-    @classmethod
-    def get_center_from_xml_dom(cls, sub_child):
-        center_lat = sub_child.attrib.get("lat")
-        center_lon = sub_child.attrib.get("lon")
-        if center_lat is None or center_lon is None:
-            raise ValueError("Unable to get lat or lon of way center.")
-        center_lat = Decimal(center_lat)
-        center_lon = Decimal(center_lon)
-        return center_lat, center_lon
-
-
-class Area(Element):
-    """
-    Class to represent an element of type area
-    """
-
-    _type_value = "area"
-
-    def __init__(self, area_id=None, **kwargs):
-        """
-        :param area_id: Id of the area element
-        :type area_id: Integer
-        :param kwargs: Additional arguments are passed directly to the parent class
-
-        """
-
-        Element.__init__(self, **kwargs)
-        #: The id of the way
-        self.id = area_id
-
-    def __repr__(self):
-        return "<overpy.Area id={}>".format(self.id)
-
-    @classmethod
-    def from_json(cls, data, result=None):
-        """
-        Create new Area element from JSON data
-
-        :param data: Element data from JSON
-        :type data: Dict
-        :param result: The result this element belongs to
-        :type result: overpy.Result
-        :return: New instance of Way
-        :rtype: overpy.Area
-        :raises overpy.exception.ElementDataWrongType: If type value of the passed JSON data does not match.
-        """
-        if data.get("type") != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=data.get("type")
-            )
-
-        tags = data.get("tags", {})
-
-        area_id = data.get("id")
-
-        attributes = {}
-        ignore = ["id", "tags", "type"]
-        for n, v in data.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        return cls(area_id=area_id, attributes=attributes, tags=tags, result=result)
-
-    @classmethod
-    def from_xml(cls, child, result=None):
-        """
-        Create new way element from XML data
-
-        :param child: XML node to be parsed
-        :type child: xml.etree.ElementTree.Element
-        :param result: The result this node belongs to
-        :type result: overpy.Result
-        :return: New Way oject
-        :rtype: overpy.Way
-        :raises overpy.exception.ElementDataWrongType: If name of the xml child node doesn't match
-        :raises ValueError: If the ref attribute of the xml node is not provided
-        :raises ValueError: If a tag doesn't have a name
-        """
-        if child.tag.lower() != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=child.tag.lower()
-            )
-
-        tags = {}
-
-        for sub_child in child:
-            if sub_child.tag.lower() == "tag":
-                name = sub_child.attrib.get("k")
-                if name is None:
-                    raise ValueError("Tag without name/key.")
-                value = sub_child.attrib.get("v")
-                tags[name] = value
-
-        area_id = child.attrib.get("id")
-        if area_id is not None:
-            area_id = int(area_id)
-
-        attributes = {}
-        ignore = ["id"]
-        for n, v in child.attrib.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        return cls(area_id=area_id, attributes=attributes, tags=tags, result=result)
-
-
-class Node(Element):
-    """
-    Class to represent an element of type node
-    """
-
-    _type_value = "node"
-
-    def __init__(self, node_id=None, lat=None, lon=None, **kwargs):
-        """
-        :param lat: Latitude
-        :type lat: Decimal or Float
-        :param lon: Longitude
-        :type long: Decimal or Float
-        :param node_id: Id of the node element
-        :type node_id: Integer
-        :param kwargs: Additional arguments are passed directly to the parent class
-        """
-
-        Element.__init__(self, **kwargs)
-        self.id = node_id
-        self.lat = lat
-        self.lon = lon
-
-    def __repr__(self):
-        return "<overpy.Node id={} lat={} lon={}>".format(self.id, self.lat, self.lon)
-
-    @classmethod
-    def from_json(cls, data, result=None):
-        """
-        Create new Node element from JSON data
-
-        :param data: Element data from JSON
-        :type data: Dict
-        :param result: The result this element belongs to
-        :type result: overpy.Result
-        :return: New instance of Node
-        :rtype: overpy.Node
-        :raises overpy.exception.ElementDataWrongType: If type value of the passed JSON data does not match.
-        """
-        if data.get("type") != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=data.get("type")
-            )
-
-        tags = data.get("tags", {})
-
-        node_id = data.get("id")
-        lat = data.get("lat")
-        lon = data.get("lon")
-
-        attributes = {}
-        ignore = ["type", "id", "lat", "lon", "tags"]
-        for n, v in data.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        return cls(node_id=node_id, lat=lat, lon=lon, tags=tags, attributes=attributes, result=result)
-
-    @classmethod
-    def from_xml(cls, child, result=None):
-        """
-        Create new way element from XML data
-
-        :param child: XML node to be parsed
-        :type child: xml.etree.ElementTree.Element
-        :param result: The result this node belongs to
-        :type result: overpy.Result
-        :return: New Way oject
-        :rtype: overpy.Node
-        :raises overpy.exception.ElementDataWrongType: If name of the xml child node doesn't match
-        :raises ValueError: If a tag doesn't have a name
-        """
-        if child.tag.lower() != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=child.tag.lower()
-            )
-
-        tags = {}
-
-        for sub_child in child:
-            if sub_child.tag.lower() == "tag":
-                name = sub_child.attrib.get("k")
-                if name is None:
-                    raise ValueError("Tag without name/key.")
-                value = sub_child.attrib.get("v")
-                tags[name] = value
-
-        node_id = child.attrib.get("id")
-        if node_id is not None:
-            node_id = int(node_id)
-        lat = child.attrib.get("lat")
-        if lat is not None:
-            lat = Decimal(lat)
-        lon = child.attrib.get("lon")
-        if lon is not None:
-            lon = Decimal(lon)
-
-        attributes = {}
-        ignore = ["id", "lat", "lon"]
-        for n, v in child.attrib.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        return cls(node_id=node_id, lat=lat, lon=lon, tags=tags, attributes=attributes, result=result)
-
-
-class Way(Element):
-    """
-    Class to represent an element of type way
-    """
-
-    _type_value = "way"
-
-    def __init__(self, way_id=None, center_lat=None, center_lon=None, node_ids=None, **kwargs):
-        """
-        :param node_ids: List of node IDs
-        :type node_ids: List or Tuple
-        :param way_id: Id of the way element
-        :type way_id: Integer
-        :param kwargs: Additional arguments are passed directly to the parent class
-
-        """
-
-        Element.__init__(self, **kwargs)
-        #: The id of the way
-        self.id = way_id
-
-        #: List of Ids of the associated nodes
-        self._node_ids = node_ids
-
-        #: The lat/lon of the center of the way (optional depending on query)
-        self.center_lat = center_lat
-        self.center_lon = center_lon
-
-    def __repr__(self):
-        return "<overpy.Way id={} nodes={}>".format(self.id, self._node_ids)
-
-    @property
-    def nodes(self):
-        """
-        List of nodes associated with the way.
-        """
-        return self.get_nodes()
-
-    def get_nodes(self, resolve_missing=False):
-        """
-        Get the nodes defining the geometry of the way
-
-        :param resolve_missing: Try to resolve missing nodes.
-        :type resolve_missing: Boolean
-        :return: List of nodes
-        :rtype: List of overpy.Node
-        :raises overpy.exception.DataIncomplete: At least one referenced node is not available in the result cache.
-        :raises overpy.exception.DataIncomplete: If resolve_missing is True and at least one node can't be resolved.
-        """
-        result = []
-        resolved = False
-
-        for node_id in self._node_ids:
-            try:
-                node = self._result.get_node(node_id)
-            except exception.DataIncomplete:
-                node = None
-
-            if node is not None:
-                result.append(node)
-                continue
-
-            if not resolve_missing:
-                raise exception.DataIncomplete("Resolve missing nodes is disabled")
-
-            # We tried to resolve the data but some nodes are still missing
-            if resolved:
-                raise exception.DataIncomplete("Unable to resolve all nodes")
-
-            query = ("\n"
-                     "[out:json];\n"
-                     "way({way_id});\n"
-                     "node(w);\n"
-                     "out body;\n"
-                     )
-            query = query.format(
-                way_id=self.id
-            )
-            tmp_result = self._result.api.query(query)
-            self._result.expand(tmp_result)
-            resolved = True
-
-            try:
-                node = self._result.get_node(node_id)
-            except exception.DataIncomplete:
-                node = None
-
-            if node is None:
-                raise exception.DataIncomplete("Unable to resolve all nodes")
-
-            result.append(node)
-
-        return result
-
-    @classmethod
-    def from_json(cls, data, result=None):
-        """
-        Create new Way element from JSON data
-
-        :param data: Element data from JSON
-        :type data: Dict
-        :param result: The result this element belongs to
-        :type result: overpy.Result
-        :return: New instance of Way
-        :rtype: overpy.Way
-        :raises overpy.exception.ElementDataWrongType: If type value of the passed JSON data does not match.
-        """
-        if data.get("type") != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=data.get("type")
-            )
-
-        tags = data.get("tags", {})
-
-        way_id = data.get("id")
-        node_ids = data.get("nodes")
-        (center_lat, center_lon) = cls.get_center_from_json(data=data)
-
-        attributes = {}
-        ignore = ["center", "id", "nodes", "tags", "type"]
-        for n, v in data.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        return cls(
-            attributes=attributes,
-            center_lat=center_lat,
-            center_lon=center_lon,
-            node_ids=node_ids,
-            tags=tags,
-            result=result,
-            way_id=way_id
-        )
-
-    @classmethod
-    def from_xml(cls, child, result=None):
-        """
-        Create new way element from XML data
-
-        :param child: XML node to be parsed
-        :type child: xml.etree.ElementTree.Element
-        :param result: The result this node belongs to
-        :type result: overpy.Result
-        :return: New Way oject
-        :rtype: overpy.Way
-        :raises overpy.exception.ElementDataWrongType: If name of the xml child node doesn't match
-        :raises ValueError: If the ref attribute of the xml node is not provided
-        :raises ValueError: If a tag doesn't have a name
-        """
-        if child.tag.lower() != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=child.tag.lower()
-            )
-
-        tags = {}
-        node_ids = []
-        center_lat = None
-        center_lon = None
-
-        for sub_child in child:
-            if sub_child.tag.lower() == "tag":
-                name = sub_child.attrib.get("k")
-                if name is None:
-                    raise ValueError("Tag without name/key.")
-                value = sub_child.attrib.get("v")
-                tags[name] = value
-            if sub_child.tag.lower() == "nd":
-                ref_id = sub_child.attrib.get("ref")
-                if ref_id is None:
-                    raise ValueError("Unable to find required ref value.")
-                ref_id = int(ref_id)
-                node_ids.append(ref_id)
-            if sub_child.tag.lower() == "center":
-                (center_lat, center_lon) = cls.get_center_from_xml_dom(sub_child=sub_child)
-
-        way_id = child.attrib.get("id")
-        if way_id is not None:
-            way_id = int(way_id)
-
-        attributes = {}
-        ignore = ["id"]
-        for n, v in child.attrib.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        return cls(way_id=way_id, center_lat=center_lat, center_lon=center_lon,
-                   attributes=attributes, node_ids=node_ids, tags=tags, result=result)
-
-
-class Relation(Element):
-    """
-    Class to represent an element of type relation
-    """
-
-    _type_value = "relation"
-
-    def __init__(self, rel_id=None, center_lat=None, center_lon=None, members=None, **kwargs):
-        """
-        :param members:
-        :param rel_id: Id of the relation element
-        :type rel_id: Integer
-        :param kwargs:
-        :return:
-        """
-
-        Element.__init__(self, **kwargs)
-        self.id = rel_id
-        self.members = members
-
-        #: The lat/lon of the center of the way (optional depending on query)
-        self.center_lat = center_lat
-        self.center_lon = center_lon
-
-    def __repr__(self):
-        return "<overpy.Relation id={}>".format(self.id)
-
-    @classmethod
-    def from_json(cls, data, result=None):
-        """
-        Create new Relation element from JSON data
-
-        :param data: Element data from JSON
-        :type data: Dict
-        :param result: The result this element belongs to
-        :type result: overpy.Result
-        :return: New instance of Relation
-        :rtype: overpy.Relation
-        :raises overpy.exception.ElementDataWrongType: If type value of the passed JSON data does not match.
-        """
-        if data.get("type") != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=data.get("type")
-            )
-
-        tags = data.get("tags", {})
-
-        rel_id = data.get("id")
-        (center_lat, center_lon) = cls.get_center_from_json(data=data)
-
-        members = []
-
-        supported_members = [RelationNode, RelationWay, RelationRelation]
-        for member in data.get("members", []):
-            type_value = member.get("type")
-            for member_cls in supported_members:
-                if member_cls._type_value == type_value:
-                    members.append(
-                        member_cls.from_json(
-                            member,
-                            result=result
-                        )
-                    )
-
-        attributes = {}
-        ignore = ["id", "members", "tags", "type"]
-        for n, v in data.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        return cls(
-            rel_id=rel_id,
-            attributes=attributes,
-            center_lat=center_lat,
-            center_lon=center_lon,
-            members=members,
-            tags=tags,
-            result=result
-        )
-
-    @classmethod
-    def from_xml(cls, child, result=None):
-        """
-        Create new way element from XML data
-
-        :param child: XML node to be parsed
-        :type child: xml.etree.ElementTree.Element
-        :param result: The result this node belongs to
-        :type result: overpy.Result
-        :return: New Way oject
-        :rtype: overpy.Relation
-        :raises overpy.exception.ElementDataWrongType: If name of the xml child node doesn't match
-        :raises ValueError: If a tag doesn't have a name
-        """
-        if child.tag.lower() != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=child.tag.lower()
-            )
-
-        tags = {}
-        members = []
-        center_lat = None
-        center_lon = None
-
-        supported_members = [RelationNode, RelationWay, RelationRelation, RelationArea]
-        for sub_child in child:
-            if sub_child.tag.lower() == "tag":
-                name = sub_child.attrib.get("k")
-                if name is None:
-                    raise ValueError("Tag without name/key.")
-                value = sub_child.attrib.get("v")
-                tags[name] = value
-            if sub_child.tag.lower() == "member":
-                type_value = sub_child.attrib.get("type")
-                for member_cls in supported_members:
-                    if member_cls._type_value == type_value:
-                        members.append(
-                            member_cls.from_xml(
-                                sub_child,
-                                result=result
-                            )
-                        )
-            if sub_child.tag.lower() == "center":
-                (center_lat, center_lon) = cls.get_center_from_xml_dom(sub_child=sub_child)
-
-        rel_id = child.attrib.get("id")
-        if rel_id is not None:
-            rel_id = int(rel_id)
-
-        attributes = {}
-        ignore = ["id"]
-        for n, v in child.attrib.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        return cls(
-            rel_id=rel_id,
-            attributes=attributes,
-            center_lat=center_lat,
-            center_lon=center_lon,
-            members=members,
-            tags=tags,
-            result=result
-        )
-
-
-class RelationMember(object):
-    """
-    Base class to represent a member of a relation.
-    """
-
-    def __init__(self, attributes=None, geometry=None, ref=None, role=None, result=None):
-        """
-        :param ref: Reference Id
-        :type ref: Integer
-        :param role: The role of the relation member
-        :type role: String
-        :param result:
-        """
-        self.ref = ref
-        self._result = result
-        self.role = role
-        self.attributes = attributes
-        self.geometry = geometry
-
-    @classmethod
-    def from_json(cls, data, result=None):
-        """
-        Create new RelationMember element from JSON data
-
-        :param child: Element data from JSON
-        :type child: Dict
-        :param result: The result this element belongs to
-        :type result: overpy.Result
-        :return: New instance of RelationMember
-        :rtype: overpy.RelationMember
-        :raises overpy.exception.ElementDataWrongType: If type value of the passed JSON data does not match.
-        """
-        if data.get("type") != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=data.get("type")
-            )
-
-        ref = data.get("ref")
-        role = data.get("role")
-
-        attributes = {}
-        ignore = ["geometry", "type", "ref", "role"]
-        for n, v in data.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        geometry = data.get("geometry")
-        if isinstance(geometry, list):
-            geometry_orig = geometry
-            geometry = []
-            for v in geometry_orig:
-                geometry.append(
-                    RelationWayGeometryValue(
-                        lat=v.get("lat"),
-                        lon=v.get("lon")
-                    )
-                )
-        else:
-            geometry = None
-
-        return cls(
-            attributes=attributes,
-            geometry=geometry,
-            ref=ref,
-            role=role,
-            result=result
-        )
-
-    @classmethod
-    def from_xml(cls, child, result=None):
-        """
-        Create new RelationMember from XML data
-
-        :param child: XML node to be parsed
-        :type child: xml.etree.ElementTree.Element
-        :param result: The result this element belongs to
-        :type result: overpy.Result
-        :return: New relation member oject
-        :rtype: overpy.RelationMember
-        :raises overpy.exception.ElementDataWrongType: If name of the xml child node doesn't match
-        """
-        if child.attrib.get("type") != cls._type_value:
-            raise exception.ElementDataWrongType(
-                type_expected=cls._type_value,
-                type_provided=child.tag.lower()
-            )
-
-        ref = child.attrib.get("ref")
-        if ref is not None:
-            ref = int(ref)
-        role = child.attrib.get("role")
-
-        attributes = {}
-        ignore = ["geometry", "ref", "role", "type"]
-        for n, v in child.attrib.items():
-            if n in ignore:
-                continue
-            attributes[n] = v
-
-        geometry = None
-        for sub_child in child:
-            if sub_child.tag.lower() == "nd":
-                if geometry is None:
-                    geometry = []
-                geometry.append(
-                    RelationWayGeometryValue(
-                        lat=Decimal(sub_child.attrib["lat"]),
-                        lon=Decimal(sub_child.attrib["lon"])
-                    )
-                )
-
-        return cls(
-            attributes=attributes,
-            geometry=geometry,
-            ref=ref,
-            role=role,
-            result=result
-        )
-
-
-class RelationNode(RelationMember):
-    _type_value = "node"
-
-    def resolve(self, resolve_missing=False):
-        return self._result.get_node(self.ref, resolve_missing=resolve_missing)
-
-    def __repr__(self):
-        return "<overpy.RelationNode ref={} role={}>".format(self.ref, self.role)
-
-
-class RelationWay(RelationMember):
-    _type_value = "way"
-
-    def resolve(self, resolve_missing=False):
-        return self._result.get_way(self.ref, resolve_missing=resolve_missing)
-
-    def __repr__(self):
-        return "<overpy.RelationWay ref={} role={}>".format(self.ref, self.role)
-
-
-class RelationWayGeometryValue(object):
-    def __init__(self, lat, lon):
-        self.lat = lat
-        self.lon = lon
-
-    def __repr__(self):
-        return "<overpy.RelationWayGeometryValue lat={} lon={}>".format(self.lat, self.lon)
-
-
-class RelationRelation(RelationMember):
-    _type_value = "relation"
-
-    def resolve(self, resolve_missing=False):
-        return self._result.get_relation(self.ref, resolve_missing=resolve_missing)
-
-    def __repr__(self):
-        return "<overpy.RelationRelation ref={} role={}>".format(self.ref, self.role)
-
-
-class RelationArea(RelationMember):
-    _type_value = "area"
-
-    def resolve(self, resolve_missing=False):
-        return self._result.get_area(self.ref, resolve_missing=resolve_missing)
-
-    def __repr__(self):
-        return "<overpy.RelationArea ref={} role={}>".format(self.ref, self.role)
-
-
-class OSMSAXHandler(handler.ContentHandler):
-    """
-    SAX parser for Overpass XML response.
-    """
-    #: Tuple of opening elements to ignore
-    ignore_start = ('osm', 'meta', 'note', 'bounds', 'remark')
-    #: Tuple of closing elements to ignore
-    ignore_end = ('osm', 'meta', 'note', 'bounds', 'remark', 'tag', 'nd', 'center')
-
-    def __init__(self, result):
-        """
-        :param result: Append results to this result set.
-        :type result: overpy.Result
-        """
-        handler.ContentHandler.__init__(self)
-        self._result = result
-        self._curr = {}
-        #: Current relation member object
-        self.cur_relation_member = None
-
-    def startElement(self, name, attrs):
-        """
-        Handle opening elements.
-
-        :param name: Name of the element
-        :type name: String
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-        if name in self.ignore_start:
-            return
-        try:
-            handler = getattr(self, '_handle_start_%s' % name)
-        except AttributeError:
-            raise KeyError("Unknown element start '%s'" % name)
-        handler(attrs)
-
-    def endElement(self, name):
-        """
-        Handle closing elements
-
-        :param name: Name of the element
-        :type name: String
-        """
-        if name in self.ignore_end:
-            return
-        try:
-            handler = getattr(self, '_handle_end_%s' % name)
-        except AttributeError:
-            raise KeyError("Unknown element end '%s'" % name)
-        handler()
-
-    def _handle_start_center(self, attrs):
-        """
-        Handle opening center element
-
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-        center_lat = attrs.get("lat")
-        center_lon = attrs.get("lon")
-        if center_lat is None or center_lon is None:
-            raise ValueError("Unable to get lat or lon of way center.")
-        self._curr["center_lat"] = Decimal(center_lat)
-        self._curr["center_lon"] = Decimal(center_lon)
-
-    def _handle_start_tag(self, attrs):
-        """
-        Handle opening tag element
-
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-        try:
-            tag_key = attrs['k']
-        except KeyError:
-            raise ValueError("Tag without name/key.")
-        self._curr['tags'][tag_key] = attrs.get('v')
-
-    def _handle_start_node(self, attrs):
-        """
-        Handle opening node element
-
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-        self._curr = {
-            'attributes': dict(attrs),
-            'lat': None,
-            'lon': None,
-            'node_id': None,
-            'tags': {}
-        }
-        if attrs.get('id', None) is not None:
-            self._curr['node_id'] = int(attrs['id'])
-            del self._curr['attributes']['id']
-        if attrs.get('lat', None) is not None:
-            self._curr['lat'] = Decimal(attrs['lat'])
-            del self._curr['attributes']['lat']
-        if attrs.get('lon', None) is not None:
-            self._curr['lon'] = Decimal(attrs['lon'])
-            del self._curr['attributes']['lon']
-
-    def _handle_end_node(self):
-        """
-        Handle closing node element
-        """
-        self._result.append(Node(result=self._result, **self._curr))
-        self._curr = {}
-
-    def _handle_start_way(self, attrs):
-        """
-        Handle opening way element
-
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-        self._curr = {
-            'center_lat': None,
-            'center_lon': None,
-            'attributes': dict(attrs),
-            'node_ids': [],
-            'tags': {},
-            'way_id': None
-        }
-        if attrs.get('id', None) is not None:
-            self._curr['way_id'] = int(attrs['id'])
-            del self._curr['attributes']['id']
-
-    def _handle_end_way(self):
-        """
-        Handle closing way element
-        """
-        self._result.append(Way(result=self._result, **self._curr))
-        self._curr = {}
-
-    def _handle_start_area(self, attrs):
-        """
-        Handle opening area element
-
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-        self._curr = {
-            'attributes': dict(attrs),
-            'tags': {},
-            'area_id': None
-        }
-        if attrs.get('id', None) is not None:
-            self._curr['area_id'] = int(attrs['id'])
-            del self._curr['attributes']['id']
-
-    def _handle_end_area(self):
-        """
-        Handle closing area element
-        """
-        self._result.append(Area(result=self._result, **self._curr))
-        self._curr = {}
-
-    def _handle_start_nd(self, attrs):
-        """
-        Handle opening nd element
-
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-        if isinstance(self.cur_relation_member, RelationWay):
-            if self.cur_relation_member.geometry is None:
-                self.cur_relation_member.geometry = []
-            self.cur_relation_member.geometry.append(
-                RelationWayGeometryValue(
-                    lat=Decimal(attrs["lat"]),
-                    lon=Decimal(attrs["lon"])
-                )
-            )
-        else:
-            try:
-                node_ref = attrs['ref']
-            except KeyError:
-                raise ValueError("Unable to find required ref value.")
-            self._curr['node_ids'].append(int(node_ref))
-
-    def _handle_start_relation(self, attrs):
-        """
-        Handle opening relation element
-
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-        self._curr = {
-            'attributes': dict(attrs),
-            'members': [],
-            'rel_id': None,
-            'tags': {}
-        }
-        if attrs.get('id', None) is not None:
-            self._curr['rel_id'] = int(attrs['id'])
-            del self._curr['attributes']['id']
-
-    def _handle_end_relation(self):
-        """
-        Handle closing relation element
-        """
-        self._result.append(Relation(result=self._result, **self._curr))
-        self._curr = {}
-
-    def _handle_start_member(self, attrs):
-        """
-        Handle opening member element
-
-        :param attrs: Attributes of the element
-        :type attrs: Dict
-        """
-
-        params = {
-            # ToDo: Parse attributes
-            'attributes': {},
-            'ref': None,
-            'result': self._result,
-            'role': None
-        }
-        if attrs.get('ref', None):
-            params['ref'] = int(attrs['ref'])
-        if attrs.get('role', None):
-            params['role'] = attrs['role']
-
-        cls_map = {
-            "area": RelationArea,
-            "node": RelationNode,
-            "relation": RelationRelation,
-            "way": RelationWay
-        }
-        cls = cls_map.get(attrs["type"])
-        if cls is None:
-            raise ValueError("Undefined type for member: '%s'" % attrs['type'])
-
-        self.cur_relation_member = cls(**params)
-        self._curr['members'].append(self.cur_relation_member)
-
-    def _handle_end_member(self):
-        self.cur_relation_member = None
diff --git a/pyextra/overpy/exception.py b/pyextra/overpy/exception.py
deleted file mode 100644
index 3d8416a1257ef1..00000000000000
--- a/pyextra/overpy/exception.py
+++ /dev/null
@@ -1,166 +0,0 @@
-class OverPyException(BaseException):
-    """OverPy base exception"""
-    pass
-
-
-class DataIncomplete(OverPyException):
-    """
-    Raised if the requested data isn't available in the result.
-    Try to improve the query or to resolve the missing data.
-    """
-    def __init__(self, *args, **kwargs):
-        OverPyException.__init__(
-            self,
-            "Data incomplete try to improve the query to resolve the missing data",
-            *args,
-            **kwargs
-        )
-
-
-class ElementDataWrongType(OverPyException):
-    """
-    Raised if the provided element does not match the expected type.
-
-    :param type_expected: The expected element type
-    :type type_expected: String
-    :param type_provided: The provided element type
-    :type type_provided: String|None
-    """
-    def __init__(self, type_expected, type_provided=None):
-        self.type_expected = type_expected
-        self.type_provided = type_provided
-
-    def __str__(self):
-        return "Type expected '%s' but '%s' provided" % (
-            self.type_expected,
-            str(self.type_provided)
-        )
-
-
-class MaxRetriesReached(OverPyException):
-    """
-    Raised if max retries reached and the Overpass server didn't respond with a result.
-    """
-    def __init__(self, retry_count, exceptions):
-        self.exceptions = exceptions
-        self.retry_count = retry_count
-
-    def __str__(self):
-        return "Unable get any result from the Overpass API server after %d retries." % self.retry_count
-
-
-class OverpassBadRequest(OverPyException):
-    """
-    Raised if the Overpass API service returns a syntax error.
-
-    :param query: The encoded query how it was send to the server
-    :type query: Bytes
-    :param msgs: List of error messages
-    :type msgs: List
-    """
-    def __init__(self, query, msgs=None):
-        self.query = query
-        if msgs is None:
-            msgs = []
-        self.msgs = msgs
-
-    def __str__(self):
-        tmp_msgs = []
-        for tmp_msg in self.msgs:
-            if not isinstance(tmp_msg, str):
-                tmp_msg = str(tmp_msg)
-            tmp_msgs.append(tmp_msg)
-
-        return "\n".join(tmp_msgs)
-
-
-class OverpassError(OverPyException):
-    """
-    Base exception to report errors if the response returns a remark tag or element.
-    
-    .. note::
-        If you are not sure which of the subexceptions you should use, use this one and try to parse the message.
-
-        For more information have a look at https://github.com/DinoTools/python-overpy/issues/62
-    
-    :param str msg: The message from the remark tag or element
-    """
-    def __init__(self, msg=None):
-        #: The message from the remark tag or element
-        self.msg = msg
-
-    def __str__(self):
-        if self.msg is None:
-            return "No error message provided"
-        if not isinstance(self.msg, str):
-            return str(self.msg)
-        return self.msg
-
-
-class OverpassGatewayTimeout(OverPyException):
-    """
-    Raised if load of the Overpass API service is too high and it can't handle the request.
-    """
-    def __init__(self):
-        OverPyException.__init__(self, "Server load too high")
-
-
-class OverpassRuntimeError(OverpassError):
-    """
-    Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with
-    'runtime error:'.
-    """
-    pass
-
-
-class OverpassRuntimeRemark(OverpassError):
-    """
-    Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with
-    'runtime remark:'.
-    """
-    pass
-
-
-class OverpassTooManyRequests(OverPyException):
-    """
-    Raised if the Overpass API service returns a 429 status code.
-    """
-    def __init__(self):
-        OverPyException.__init__(self, "Too many requests")
-
-
-class OverpassUnknownContentType(OverPyException):
-    """
-    Raised if the reported content type isn't handled by OverPy.
-
-    :param content_type: The reported content type
-    :type content_type: None or String
-    """
-    def __init__(self, content_type):
-        self.content_type = content_type
-
-    def __str__(self):
-        if self.content_type is None:
-            return "No content type returned"
-        return "Unknown content type: %s" % self.content_type
-
-
-class OverpassUnknownError(OverpassError):
-    """
-    Raised if the server returns a remark-tag(xml) or remark element(json) and we are unable to find any reason.
-    """
-    pass
-
-
-class OverpassUnknownHTTPStatusCode(OverPyException):
-    """
-    Raised if the returned HTTP status code isn't handled by OverPy.
-
-    :param code: The HTTP status code
-    :type code: Integer
-    """
-    def __init__(self, code):
-        self.code = code
-
-    def __str__(self):
-        return "Unknown/Unhandled status code: %d" % self.code
\ No newline at end of file
diff --git a/pyextra/overpy/helper.py b/pyextra/overpy/helper.py
deleted file mode 100644
index e3ac0170bcb882..00000000000000
--- a/pyextra/overpy/helper.py
+++ /dev/null
@@ -1,64 +0,0 @@
-__author__ = 'mjob'
-
-import overpy
-
-
-def get_street(street, areacode, api=None):
-    """
-    Retrieve streets in a given bounding area
-
-    :param overpy.Overpass api: First street of intersection
-    :param String street: Name of street
-    :param String areacode: The OSM id of the bounding area
-    :return: Parsed result
-    :raises overpy.exception.OverPyException: If something bad happens.
-    """
-    if api is None:
-        api = overpy.Overpass()
-
-    query = """
-        area(%s)->.location;
-        (
-            way[highway][name="%s"](area.location);
-            - (
-                way[highway=service](area.location);
-                way[highway=track](area.location);
-            );
-        );
-        out body;
-        >;
-        out skel qt;
-    """
-
-    data = api.query(query % (areacode, street))
-
-    return data
-
-
-def get_intersection(street1, street2, areacode, api=None):
-    """
-    Retrieve intersection of two streets in a given bounding area
-
-    :param overpy.Overpass api: First street of intersection
-    :param String street1: Name of first street of intersection
-    :param String street2: Name of second street of intersection
-    :param String areacode: The OSM id of the bounding area
-    :return: List of intersections
-    :raises overpy.exception.OverPyException: If something bad happens.
-    """
-    if api is None:
-        api = overpy.Overpass()
-
-    query = """
-        area(%s)->.location;
-        (
-            way[highway][name="%s"](area.location); node(w)->.n1;
-            way[highway][name="%s"](area.location); node(w)->.n2;
-        );
-        node.n1.n2;
-        out meta;
-    """
-
-    data = api.query(query % (areacode, street1, street2))
-
-    return data.get_nodes()
diff --git a/rednose/SConscript b/rednose/SConscript
new file mode 100644
index 00000000000000..ca1b284232ed0a
--- /dev/null
+++ b/rednose/SConscript
@@ -0,0 +1,41 @@
+Import('env', 'envCython', 'arch', 'rednose_config', 'common')
+
+generated_folder = rednose_config['generated_folder']
+
+templates = Glob('#rednose/templates/*')
+
+sympy_helpers = "#rednose/helpers/sympy_helpers.py"
+ekf_sym = "#rednose/helpers/ekf_sym.py"
+ekf_sym_pyx = "#rednose/helpers/ekf_sym_pyx.pyx"
+ekf_sym_cc = env.Object("#rednose/helpers/ekf_sym.cc")
+common_ekf = "#rednose/helpers/common_ekf.cc"
+
+found = {}
+for target, (command, combined_lib, extra_generated) in rednose_config['to_build'].items():
+  if File(command).exists():
+    found[target] = (command, combined_lib, extra_generated)
+
+lib_target = [common_ekf]
+for target, (command, combined_lib, extra_generated) in found.items():
+  target_files = File([f'{generated_folder}/{target}.cpp', f'{generated_folder}/{target}.h'])
+  extra_generated = [File(f'{generated_folder}/{x}') for x in extra_generated]
+  command_file = File(command)
+
+  env.Command(target_files + extra_generated,
+              [templates, command_file, sympy_helpers, ekf_sym],
+              command_file.get_abspath() + " " + target + " " + Dir(generated_folder).get_abspath())
+
+  if combined_lib:
+    lib_target.append(target_files[0])
+  else:
+    env.SharedLibrary(f'{generated_folder}/' + target, [target_files[0], common_ekf])
+
+libkf = env.SharedLibrary(f'{generated_folder}/libkf', lib_target)
+
+lenv = envCython.Clone()
+lenv["LINKFLAGS"] += [libkf[0].get_labspath()]
+lenv["LIBS"] = ['zmq', common] + lenv["LIBS"]
+ekf_sym_so = lenv.Program('#rednose/helpers/ekf_sym_pyx.so', [ekf_sym_pyx, ekf_sym_cc, common_ekf])
+lenv.Depends(ekf_sym_so, libkf)
+
+Export('libkf')
diff --git a/rednose/helpers/__init__.py b/rednose/helpers/__init__.py
new file mode 100644
index 00000000000000..bbd239b7748537
--- /dev/null
+++ b/rednose/helpers/__init__.py
@@ -0,0 +1,35 @@
+import os
+import platform
+from cffi import FFI
+
+TEMPLATE_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'templates'))
+
+
+def write_code(folder, name, code, header):
+  if not os.path.exists(folder):
+    os.mkdir(folder)
+
+  open(os.path.join(folder, f"{name}.cpp"), 'w').write(code)
+  open(os.path.join(folder, f"{name}.h"), 'w').write(header)
+
+
+def load_code(folder, name, lib_name=None):
+  if lib_name is None:
+    lib_name = name
+  shared_ext = "dylib" if platform.system() == "Darwin" else "so"
+  shared_fn = os.path.join(folder, f"lib{lib_name}.{shared_ext}")
+  header_fn = os.path.join(folder, f"{name}.h")
+
+  with open(header_fn) as f:
+    header = f.read()
+
+  # is the only thing that can be parsed by cffi
+  header = "\n".join([line for line in header.split("\n") if line.startswith("void ")])
+
+  ffi = FFI()
+  ffi.cdef(header)
+  return (ffi, ffi.dlopen(shared_fn))
+
+
+class KalmanError(Exception):
+  pass
diff --git a/selfdrive/locationd/kalman/helpers/chi2_lookup.py b/rednose/helpers/chi2_lookup.py
similarity index 100%
rename from selfdrive/locationd/kalman/helpers/chi2_lookup.py
rename to rednose/helpers/chi2_lookup.py
diff --git a/selfdrive/locationd/kalman/helpers/chi2_lookup_table.npy b/rednose/helpers/chi2_lookup_table.npy
similarity index 100%
rename from selfdrive/locationd/kalman/helpers/chi2_lookup_table.npy
rename to rednose/helpers/chi2_lookup_table.npy
diff --git a/rednose/helpers/common_ekf.cc b/rednose/helpers/common_ekf.cc
new file mode 100644
index 00000000000000..1e639025088edd
--- /dev/null
+++ b/rednose/helpers/common_ekf.cc
@@ -0,0 +1,19 @@
+#include "common_ekf.h"
+
+std::vector<const EKF*>& get_ekfs() {
+  static std::vector<const EKF*> vec;
+  return vec;
+}
+
+void ekf_register(const EKF* ekf) {
+  get_ekfs().push_back(ekf);
+}
+
+const EKF* ekf_lookup(const std::string& ekf_name) {
+  for (const auto& ekfi : get_ekfs()) {
+    if (ekf_name == ekfi->name) {
+      return ekfi;
+    }
+  }
+  return NULL;
+}
diff --git a/rednose/helpers/common_ekf.h b/rednose/helpers/common_ekf.h
new file mode 100644
index 00000000000000..5dfdd448b6e530
--- /dev/null
+++ b/rednose/helpers/common_ekf.h
@@ -0,0 +1,43 @@
+#pragma once
+
+#include <iostream>
+#include <cassert>
+#include <string>
+#include <vector>
+#include <deque>
+#include <unordered_map>
+#include <map>
+#include <cmath>
+
+#include <eigen3/Eigen/Dense>
+
+typedef void (*extra_routine_t)(double *, double *);
+
+struct EKF {
+  std::string name;
+  std::vector<int> kinds;
+  std::vector<int> feature_kinds;
+
+  void (*f_fun)(double *, double, double *);
+  void (*F_fun)(double *, double, double *);
+  void (*err_fun)(double *, double *, double *);
+  void (*inv_err_fun)(double *, double *, double *);
+  void (*H_mod_fun)(double *, double *);
+  void (*predict)(double *, double *, double *, double);
+  std::unordered_map<int, void (*)(double *, double *, double *)> hs = {};
+  std::unordered_map<int, void (*)(double *, double *, double *)> Hs = {};
+  std::unordered_map<int, void (*)(double *, double *, double *, double *, double *)> updates = {};
+  std::unordered_map<int, void (*)(double *, double *, double *)> Hes = {};
+  std::unordered_map<std::string, void (*)(double)> sets = {};
+  std::unordered_map<std::string, extra_routine_t> extra_routines = {};
+};
+
+std::vector<const EKF*>& get_ekfs();
+const EKF* ekf_lookup(const std::string& ekf_name);
+
+void ekf_register(const EKF* ekf);
+
+#define ekf_init(ekf) \
+static void __attribute__((constructor)) do_ekf_init_ ## ekf(void) { \
+  ekf_register(&ekf); \
+}
diff --git a/rednose/helpers/ekf_sym.cc b/rednose/helpers/ekf_sym.cc
new file mode 100644
index 00000000000000..8a2f2b88a9ca87
--- /dev/null
+++ b/rednose/helpers/ekf_sym.cc
@@ -0,0 +1,224 @@
+#include "ekf_sym.h"
+#include "logger/logger.h"
+
+using namespace EKFS;
+using namespace Eigen;
+
+EKFSym::EKFSym(std::string name, Map<MatrixXdr> Q, Map<VectorXd> x_initial, Map<MatrixXdr> P_initial, int dim_main,
+    int dim_main_err, int N, int dim_augment, int dim_augment_err, std::vector<int> maha_test_kinds,
+    std::vector<int> quaternion_idxs, std::vector<std::string> global_vars, double max_rewind_age)
+{
+  // TODO: add logger
+
+  this->ekf = ekf_lookup(name);
+  assert(this->ekf);
+
+  this->msckf = N > 0;
+  this->N = N;
+  this->dim_augment = dim_augment;
+  this->dim_augment_err = dim_augment_err;
+  this->dim_main = dim_main;
+  this->dim_main_err = dim_main_err;
+
+  this->dim_x = x_initial.rows();
+  this->dim_err = P_initial.rows();
+
+  assert(dim_main + dim_augment * N == dim_x);
+  assert(dim_main_err + dim_augment_err * N == this->dim_err);
+  assert(Q.rows() == P_initial.rows() && Q.cols() == P_initial.cols());
+
+  // kinds that should get mahalanobis distance
+  // tested for outlier rejection
+  this->maha_test_kinds = maha_test_kinds;
+
+  // quaternions need normalization
+  this->quaternion_idxs = quaternion_idxs;
+
+  this->global_vars = global_vars;
+
+  // Process noise
+  this->Q = Q;
+
+  this->max_rewind_age = max_rewind_age;
+  this->init_state(x_initial, P_initial, NAN);
+}
+
+void EKFSym::init_state(Map<VectorXd> state, Map<MatrixXdr> covs, double init_filter_time) {
+  this->x = state;
+  this->P = covs;
+  this->filter_time = init_filter_time;
+  this->augment_times = VectorXd::Zero(this->N);
+  this->reset_rewind();
+}
+
+VectorXd EKFSym::state() {
+  return this->x;
+}
+
+MatrixXdr EKFSym::covs() {
+  return this->P;
+}
+
+void EKFSym::set_filter_time(double t) {
+  this->filter_time = t;
+}
+
+double EKFSym::get_filter_time() {
+  return this->filter_time;
+}
+
+void EKFSym::normalize_quaternions() {
+  for(std::size_t i = 0; i < this->quaternion_idxs.size(); ++i) {
+    this->normalize_slice(this->quaternion_idxs[i], this->quaternion_idxs[i] + 4);
+  }
+}
+
+void EKFSym::normalize_slice(int slice_start, int slice_end_ex) {
+  this->x.block(slice_start, 0, slice_end_ex - slice_start, this->x.cols()).normalize();
+}
+
+void EKFSym::set_global(std::string global_var, double val) {
+  this->ekf->sets.at(global_var)(val);
+}
+
+std::optional<Estimate> EKFSym::predict_and_update_batch(double t, int kind, std::vector<Map<VectorXd>> z_map,
+    std::vector<Map<MatrixXdr>> R_map, std::vector<std::vector<double>> extra_args, bool augment)
+{
+  // TODO handle rewinding at this level
+
+  std::deque<Observation> rewound;
+  if (!std::isnan(this->filter_time) && t < this->filter_time) {
+    if (this->rewind_t.empty() || t < this->rewind_t.front() || t < this->rewind_t.back() - this->max_rewind_age) {
+      LOGD("observation too old at %d with filter at %d, ignoring!", t, this->filter_time);
+      return std::nullopt;
+    }
+    rewound = this->rewind(t);
+  }
+
+  Observation obs;
+  obs.t = t;
+  obs.kind = kind;
+  obs.extra_args = extra_args;
+  for (Map<VectorXd> zi : z_map) {
+    obs.z.push_back(zi);
+  }
+  for (Map<MatrixXdr> Ri : R_map) {
+    obs.R.push_back(Ri);
+  }
+
+  std::optional<Estimate> res = std::make_optional(this->predict_and_update_batch(obs, augment));
+
+  // optional fast forward
+  while (!rewound.empty()) {
+    this->predict_and_update_batch(rewound.front(), false);
+    rewound.pop_front();
+  }
+
+  return res;
+}
+
+void EKFSym::reset_rewind() {
+  this->rewind_obscache.clear();
+  this->rewind_t.clear();
+  this->rewind_states.clear();
+}
+
+std::deque<Observation> EKFSym::rewind(double t) {
+  std::deque<Observation> rewound;
+
+  // rewind observations until t is after previous observation
+  while (this->rewind_t.back() > t) {
+    rewound.push_front(this->rewind_obscache.back());
+    this->rewind_t.pop_back();
+    this->rewind_states.pop_back();
+    this->rewind_obscache.pop_back();
+  }
+
+  // set the state to the time right before that
+  this->filter_time = this->rewind_t.back();
+  this->x = this->rewind_states.back().first;
+  this->P = this->rewind_states.back().second;
+
+  return rewound;
+}
+
+void EKFSym::checkpoint(Observation& obs) {
+  // push to rewinder
+  this->rewind_t.push_back(this->filter_time);
+  this->rewind_states.push_back(std::make_pair(this->x, this->P));
+  this->rewind_obscache.push_back(obs);
+
+  // only keep a certain number around
+  if (this->rewind_t.size() > REWIND_TO_KEEP) {
+    this->rewind_t.pop_front();
+    this->rewind_states.pop_front();
+    this->rewind_obscache.pop_front();
+  }
+}
+
+Estimate EKFSym::predict_and_update_batch(Observation& obs, bool augment) {
+  assert(obs.z.size() == obs.R.size());
+  assert(obs.z.size() == obs.extra_args.size());
+
+  this->predict(obs.t);
+
+  Estimate res;
+  res.t = obs.t;
+  res.kind = obs.kind;
+  res.z = obs.z;
+  res.extra_args = obs.extra_args;
+  res.xk1 = this->x;
+  res.Pk1 = this->P;
+
+  // update batch
+  std::vector<VectorXd> y;
+  for (int i = 0; i < obs.z.size(); i++) {
+    assert(obs.z[i].rows() == obs.R[i].rows());
+    assert(obs.z[i].rows() == obs.R[i].cols());
+
+    // update state
+    y.push_back(this->update(obs.kind, obs.z[i], obs.R[i], obs.extra_args[i]));
+  }
+
+  res.xk = this->x;
+  res.Pk = this->P;
+  res.y = y;
+
+  assert(!augment); // TODO
+  // if (augment) {
+  //   this->augment();
+  // }
+
+  this->checkpoint(obs);
+
+  return res;
+}
+
+void EKFSym::predict(double t) {
+  // initialize time
+  if (std::isnan(this->filter_time)) {
+    this->filter_time = t;
+  }
+
+  // predict
+  double dt = t - this->filter_time;
+  assert(dt >= 0.0);
+
+  this->ekf->predict(this->x.data(), this->P.data(), this->Q.data(), dt);
+  this->normalize_quaternions();
+  this->filter_time = t;
+}
+
+VectorXd EKFSym::update(int kind, VectorXd z, MatrixXdr R, std::vector<double> extra_args) {
+  this->ekf->updates.at(kind)(this->x.data(), this->P.data(), z.data(), R.data(), extra_args.data());
+  this->normalize_quaternions();
+
+  if (this->msckf && std::find(this->feature_track_kinds.begin(), this->feature_track_kinds.end(), kind) != this->feature_track_kinds.end()) {
+    return z.head(z.rows() - extra_args.size());
+  }
+  return z;
+}
+
+extra_routine_t EKFSym::get_extra_routine(const std::string& routine) {
+  return this->ekf->extra_routines.at(routine);
+}
diff --git a/rednose/helpers/ekf_sym.h b/rednose/helpers/ekf_sym.h
new file mode 100644
index 00000000000000..86d6ca1938cb95
--- /dev/null
+++ b/rednose/helpers/ekf_sym.h
@@ -0,0 +1,112 @@
+#pragma once
+
+#include <iostream>
+#include <cassert>
+#include <string>
+#include <vector>
+#include <deque>
+#include <unordered_map>
+#include <map>
+#include <cmath>
+#include <optional>
+
+#include <eigen3/Eigen/Dense>
+
+#include "common_ekf.h"
+
+#define REWIND_TO_KEEP 512
+
+namespace EKFS {
+
+typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> MatrixXdr;
+
+typedef struct Observation {
+  double t;
+  int kind;
+  std::vector<Eigen::VectorXd> z;
+  std::vector<MatrixXdr> R;
+  std::vector<std::vector<double>> extra_args;
+} Observation;
+
+typedef struct Estimate {
+  Eigen::VectorXd xk1;
+  Eigen::VectorXd xk;
+  MatrixXdr Pk1;
+  MatrixXdr Pk;
+  double t;
+  int kind;
+  std::vector<Eigen::VectorXd> y;
+  std::vector<Eigen::VectorXd> z;
+  std::vector<std::vector<double>> extra_args;
+} Estimate;
+
+class EKFSym {
+public:
+  EKFSym(std::string name, Eigen::Map<MatrixXdr> Q, Eigen::Map<Eigen::VectorXd> x_initial,
+      Eigen::Map<MatrixXdr> P_initial, int dim_main, int dim_main_err, int N = 0, int dim_augment = 0,
+      int dim_augment_err = 0, std::vector<int> maha_test_kinds = std::vector<int>(),
+      std::vector<int> quaternion_idxs = std::vector<int>(),
+      std::vector<std::string> global_vars = std::vector<std::string>(), double max_rewind_age = 1.0);
+  void init_state(Eigen::Map<Eigen::VectorXd> state, Eigen::Map<MatrixXdr> covs, double filter_time);
+
+  Eigen::VectorXd state();
+  MatrixXdr covs();
+  void set_filter_time(double t);
+  double get_filter_time();
+  void normalize_quaternions();
+  void normalize_slice(int slice_start, int slice_end_ex);
+  void set_global(std::string global_var, double val);
+  void reset_rewind();
+
+  void predict(double t);
+  std::optional<Estimate> predict_and_update_batch(double t, int kind, std::vector<Eigen::Map<Eigen::VectorXd>> z,
+      std::vector<Eigen::Map<MatrixXdr>> R, std::vector<std::vector<double>> extra_args = {{}}, bool augment = false);
+
+  extra_routine_t get_extra_routine(const std::string& routine);
+
+private:
+  std::deque<Observation> rewind(double t);
+  void checkpoint(Observation& obs);
+
+  Estimate predict_and_update_batch(Observation& obs, bool augment);
+  Eigen::VectorXd update(int kind, Eigen::VectorXd z, MatrixXdr R, std::vector<double> extra_args);
+
+  // stuct with linked sympy generated functions
+  const EKF *ekf = NULL;
+
+  Eigen::VectorXd x;  // state
+  MatrixXdr P;  // covs
+
+  bool msckf;
+  int N;
+  int dim_augment;
+  int dim_augment_err;
+  int dim_main;
+  int dim_main_err;
+
+  // state
+  int dim_x;
+  int dim_err;
+
+  double filter_time;
+
+  std::vector<int> maha_test_kinds;
+  std::vector<int> quaternion_idxs;
+
+  std::vector<std::string> global_vars;
+
+  // process noise
+  MatrixXdr Q;
+
+  // rewind stuff
+  double max_rewind_age;
+  std::deque<double> rewind_t;
+  std::deque<std::pair<Eigen::VectorXd, MatrixXdr>> rewind_states;
+  std::deque<Observation> rewind_obscache;
+
+  Eigen::VectorXd augment_times;
+
+  std::vector<int> feature_track_kinds;
+};
+
+}
diff --git a/rednose/helpers/ekf_sym.py b/rednose/helpers/ekf_sym.py
new file mode 100644
index 00000000000000..c9cf0bc22e4204
--- /dev/null
+++ b/rednose/helpers/ekf_sym.py
@@ -0,0 +1,687 @@
+import os
+import logging
+from bisect import bisect_right
+
+import numpy as np
+import sympy as sp
+from numpy import dot
+
+from rednose.helpers.sympy_helpers import sympy_into_c
+from rednose.helpers import TEMPLATE_DIR, load_code
+from rednose.helpers.chi2_lookup import chi2_ppf
+
+
+def solve(a, b):
+  if a.shape[0] == 1 and a.shape[1] == 1:
+    return b / a[0][0]
+  else:
+    return np.linalg.solve(a, b)
+
+
+def null(H, eps=1e-12):
+  _, s, vh = np.linalg.svd(H)
+  padding = max(0, np.shape(H)[1] - np.shape(s)[0])
+  null_mask = np.concatenate(((s <= eps), np.ones((padding,), dtype=bool)), axis=0)
+  null_space = np.compress(null_mask, vh, axis=0)
+  return np.transpose(null_space)
+
+
+def gen_code(folder, name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_params=None, msckf_params=None,  # pylint: disable=dangerous-default-value
+             maha_test_kinds=[], quaternion_idxs=[], global_vars=None, extra_routines=[]):
+  # optional state transition matrix, H modifier
+  # and err_function if an error-state kalman filter (ESKF)
+  # is desired. Best described in "Quaternion kinematics
+  # for the error-state Kalman filter" by Joan Sola
+
+  if eskf_params:
+    err_eqs = eskf_params[0]
+    inv_err_eqs = eskf_params[1]
+    H_mod_sym = eskf_params[2]
+    f_err_sym = eskf_params[3]
+    x_err_sym = eskf_params[4]
+  else:
+    nom_x = sp.MatrixSymbol('nom_x', dim_x, 1)
+    true_x = sp.MatrixSymbol('true_x', dim_x, 1)
+    delta_x = sp.MatrixSymbol('delta_x', dim_x, 1)
+    err_function_sym = sp.Matrix(nom_x + delta_x)
+    inv_err_function_sym = sp.Matrix(true_x - nom_x)
+    err_eqs = [err_function_sym, nom_x, delta_x]
+    inv_err_eqs = [inv_err_function_sym, nom_x, true_x]
+
+    H_mod_sym = sp.Matrix(np.eye(dim_x))
+    f_err_sym = f_sym
+    x_err_sym = x_sym
+
+  # This configures the multi-state augmentation
+  # needed for EKF-SLAM with MSCKF (Mourikis et al 2007)
+  if msckf_params:
+    msckf = True
+    dim_main = msckf_params[0]      # size of the main state
+    dim_augment = msckf_params[1]   # size of one augment state chunk
+    dim_main_err = msckf_params[2]
+    dim_augment_err = msckf_params[3]
+    N = msckf_params[4]
+    feature_track_kinds = msckf_params[5]
+    assert dim_main + dim_augment * N == dim_x
+    assert dim_main_err + dim_augment_err * N == dim_err
+  else:
+    msckf = False
+    dim_main = dim_x
+    dim_augment = 0
+    dim_main_err = dim_err
+    dim_augment_err = 0
+    N = 0
+
+  # linearize with jacobians
+  F_sym = f_err_sym.jacobian(x_err_sym)
+
+  if eskf_params:
+    for sym in x_err_sym:
+      F_sym = F_sym.subs(sym, 0)
+
+  assert dt_sym in F_sym.free_symbols
+
+  for i in range(len(obs_eqs)):
+    obs_eqs[i].append(obs_eqs[i][0].jacobian(x_sym))
+    if msckf and obs_eqs[i][1] in feature_track_kinds:
+      obs_eqs[i].append(obs_eqs[i][0].jacobian(obs_eqs[i][2]))
+    else:
+      obs_eqs[i].append(None)
+
+  # collect sympy functions
+  sympy_functions = []
+
+  # extra routines
+  sympy_functions += extra_routines
+
+  # error functions
+  sympy_functions.append(('err_fun', err_eqs[0], [err_eqs[1], err_eqs[2]]))
+  sympy_functions.append(('inv_err_fun', inv_err_eqs[0], [inv_err_eqs[1], inv_err_eqs[2]]))
+
+  # H modifier for ESKF updates
+  sympy_functions.append(('H_mod_fun', H_mod_sym, [x_sym]))
+
+  # state propagation function
+  sympy_functions.append(('f_fun', f_sym, [x_sym, dt_sym]))
+  sympy_functions.append(('F_fun', F_sym, [x_sym, dt_sym]))
+
+  # observation functions
+  for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs:
+    sympy_functions.append(('h_%d' % kind, h_sym, [x_sym, ea_sym]))
+    sympy_functions.append(('H_%d' % kind, H_sym, [x_sym, ea_sym]))
+    if msckf and kind in feature_track_kinds:
+      sympy_functions.append(('He_%d' % kind, He_sym, [x_sym, ea_sym]))
+
+  # Generate and wrap all th c code
+  sympy_header, code = sympy_into_c(sympy_functions, global_vars)
+
+  header = "#pragma once\n"
+  header += "#include \"rednose/helpers/common_ekf.h\"\n"
+  header += "extern \"C\" {\n"
+
+  pre_code = f"#include \"{name}.h\"\n"
+  pre_code += "\nnamespace {\n"
+  pre_code += "#define DIM %d\n" % dim_x
+  pre_code += "#define EDIM %d\n" % dim_err
+  pre_code += "#define MEDIM %d\n" % dim_main_err
+  pre_code += "typedef void (*Hfun)(double *, double *, double *);\n"
+
+  if global_vars is not None:
+    for var in global_vars:
+      pre_code += f"\ndouble {var.name};\n"
+      pre_code += f"\nvoid set_{var.name}(double x){{ {var.name} = x;}}\n"
+
+  post_code = "\n}\n" # namespace
+  post_code += "extern \"C\" {\n\n"
+
+  for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs:
+    if msckf and kind in feature_track_kinds:
+      He_str = 'He_%d' % kind
+      # ea_dim = ea_sym.shape[0]
+    else:
+      He_str = 'NULL'
+      # ea_dim = 1 # not really dim of ea but makes c function work
+    maha_thresh = chi2_ppf(0.95, int(h_sym.shape[0]))  # mahalanobis distance for outlier detection
+    maha_test = kind in maha_test_kinds
+
+    pre_code += f"const static double MAHA_THRESH_{kind} = {maha_thresh};\n"
+
+    header += f"void {name}_update_{kind}(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);\n"
+    post_code += f"void {name}_update_{kind}(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {{\n"
+    post_code += f"  update<{h_sym.shape[0]}, 3, {int(maha_test)}>(in_x, in_P, h_{kind}, H_{kind}, {He_str}, in_z, in_R, in_ea, MAHA_THRESH_{kind});\n"
+    post_code += "}\n"
+
+  # For ffi loading of specific functions
+  for line in sympy_header.split("\n"):
+    if line.startswith("void "):  # sympy functions
+      func_call = line[5: line.index(')') + 1]
+      header += f"void {name}_{func_call};\n"
+      post_code += f"void {name}_{func_call} {{\n"
+      post_code += f"  {func_call.replace('double *', '').replace('double', '')};\n"
+      post_code += "}\n"
+  header += f"void {name}_predict(double *in_x, double *in_P, double *in_Q, double dt);\n"
+  post_code += f"void {name}_predict(double *in_x, double *in_P, double *in_Q, double dt) {{\n"
+  post_code += "  predict(in_x, in_P, in_Q, dt);\n"
+  post_code += "}\n"
+  if global_vars is not None:
+    for var in global_vars:
+      header += f"void {name}_set_{var.name}(double x);\n"
+      post_code += f"void {name}_set_{var.name}(double x) {{\n"
+      post_code += f"  set_{var.name}(x);\n"
+      post_code += "}\n"
+
+  post_code += "}\n\n" # extern c
+
+  funcs = ['f_fun', 'F_fun', 'err_fun', 'inv_err_fun', 'H_mod_fun', 'predict']
+  func_lists = {
+    'h': [kind for _, kind, _, _, _ in obs_eqs],
+    'H': [kind for _, kind, _, _, _ in obs_eqs],
+    'update': [kind for _, kind, _, _, _ in obs_eqs],
+    'He': [kind for _, kind, _, _, _ in obs_eqs if msckf and kind in feature_track_kinds],
+    'set': [var.name for var in global_vars] if global_vars is not None else [],
+  }
+  func_extra = [x[0] for x in extra_routines]
+
+  # For dynamic loading of specific functions
+  post_code += f"const EKF {name} = {{\n"
+  post_code += f"  .name = \"{name}\",\n"
+  post_code += f"  .kinds = {{ {', '.join([str(kind) for _, kind, _, _, _ in obs_eqs])} }},\n"
+  post_code += f"  .feature_kinds = {{ {', '.join([str(kind) for _, kind, _, _, _ in obs_eqs if msckf and kind in feature_track_kinds])} }},\n"
+  for func in funcs:
+    post_code += f"  .{func} = {name}_{func},\n"
+  for group, kinds in func_lists.items():
+    post_code += f"  .{group}s = {{\n"
+    for kind in kinds:
+      str_kind = f"\"{kind}\"" if type(kind) == str else kind
+      post_code += f"    {{ {str_kind}, {name}_{group}_{kind} }},\n"
+    post_code += "  },\n"
+  post_code += "  .extra_routines = {\n"
+  for f in func_extra:
+    post_code += f"    {{ \"{f}\", {name}_{f} }},\n"
+  post_code += "  },\n"
+  post_code += "};\n\n"
+  post_code += f"ekf_init({name});\n"
+
+  # merge code blocks
+  header += "}"
+  code = "\n".join([pre_code, code, open(os.path.join(TEMPLATE_DIR, "ekf_c.c")).read(), post_code])
+
+  # write to file
+  if not os.path.exists(folder):
+    os.mkdir(folder)
+
+  open(os.path.join(folder, f"{name}.h"), 'w').write(header)  # header is used for ffi import
+  open(os.path.join(folder, f"{name}.cpp"), 'w').write(code)
+
+
+class EKF_sym():
+  def __init__(self, folder, name, Q, x_initial, P_initial, dim_main, dim_main_err,  # pylint: disable=dangerous-default-value
+               N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[], quaternion_idxs=[], global_vars=None, max_rewind_age=1.0, logger=logging):
+    """Generates process function and all observation functions for the kalman filter."""
+    self.msckf = N > 0
+    self.N = N
+    self.dim_augment = dim_augment
+    self.dim_augment_err = dim_augment_err
+    self.dim_main = dim_main
+    self.dim_main_err = dim_main_err
+
+    self.logger = logger
+
+    # state
+    x_initial = x_initial.reshape((-1, 1))
+    self.dim_x = x_initial.shape[0]
+    self.dim_err = P_initial.shape[0]
+    assert dim_main + dim_augment * N == self.dim_x
+    assert dim_main_err + dim_augment_err * N == self.dim_err
+    assert Q.shape == P_initial.shape
+
+    # kinds that should get mahalanobis distance
+    # tested for outlier rejection
+    self.maha_test_kinds = maha_test_kinds
+
+    # quaternions need normalization
+    self.quaternion_idxs = quaternion_idxs
+
+    # process noise
+    self.Q = Q
+
+    # rewind stuff
+    self.max_rewind_age = max_rewind_age
+    self.rewind_t = []
+    self.rewind_states = []
+    self.rewind_obscache = []
+    self.init_state(x_initial, P_initial, None)
+
+    ffi, lib = load_code(folder, name, "kf")
+    kinds, self.feature_track_kinds = [], []
+    for func in dir(lib):
+      if func[:len(name) + 3] == f'{name}_h_':
+        kinds.append(int(func[len(name) + 3:]))
+      if func[:len(name) + 4] == f'{name}_He_':
+        self.feature_track_kinds.append(int(func[len(name) + 4:]))
+
+    # wrap all the sympy functions
+    def wrap_1lists(func_name):
+      func = eval(f"lib.{name}_{func_name}", {"lib": lib})  # pylint: disable=eval-used
+
+      def ret(lst1, out):
+        func(ffi.cast("double *", lst1.ctypes.data),
+             ffi.cast("double *", out.ctypes.data))
+      return ret
+
+    def wrap_2lists(func_name):
+      func = eval(f"lib.{name}_{func_name}", {"lib": lib})  # pylint: disable=eval-used
+
+      def ret(lst1, lst2, out):
+        func(ffi.cast("double *", lst1.ctypes.data),
+             ffi.cast("double *", lst2.ctypes.data),
+             ffi.cast("double *", out.ctypes.data))
+      return ret
+
+    def wrap_1list_1float(func_name):
+      func = eval(f"lib.{name}_{func_name}", {"lib": lib})  # pylint: disable=eval-used
+
+      def ret(lst1, fl, out):
+        func(ffi.cast("double *", lst1.ctypes.data),
+             ffi.cast("double", fl),
+             ffi.cast("double *", out.ctypes.data))
+      return ret
+
+    self.f = wrap_1list_1float("f_fun")
+    self.F = wrap_1list_1float("F_fun")
+
+    self.err_function = wrap_2lists("err_fun")
+    self.inv_err_function = wrap_2lists("inv_err_fun")
+    self.H_mod = wrap_1lists("H_mod_fun")
+
+    self.hs, self.Hs, self.Hes = {}, {}, {}
+    for kind in kinds:
+      self.hs[kind] = wrap_2lists(f"h_{kind}")
+      self.Hs[kind] = wrap_2lists(f"H_{kind}")
+      if self.msckf and kind in self.feature_track_kinds:
+        self.Hes[kind] = wrap_2lists(f"He_{kind}")
+
+    self.set_globals = {}
+    if global_vars is not None:
+      for global_var in global_vars:
+        self.set_globals[global_var] = getattr(lib, f"{name}_set_{global_var}")
+
+    # wrap the C++ predict function
+    def _predict_blas(x, P, dt):
+      func = eval(f"lib.{name}_predict", {"lib": lib})  # pylint: disable=eval-used
+      func(ffi.cast("double *", x.ctypes.data),
+           ffi.cast("double *", P.ctypes.data),
+           ffi.cast("double *", self.Q.ctypes.data),
+           ffi.cast("double", dt))
+      return x, P
+
+    # wrap the C++ update function
+    def fun_wrapper(f, kind):
+      f = eval(f"lib.{name}_{f}", {"lib": lib})  # pylint: disable=eval-used
+
+      def _update_inner_blas(x, P, z, R, extra_args):
+        f(ffi.cast("double *", x.ctypes.data),
+          ffi.cast("double *", P.ctypes.data),
+          ffi.cast("double *", z.ctypes.data),
+          ffi.cast("double *", R.ctypes.data),
+          ffi.cast("double *", extra_args.ctypes.data))
+        if self.msckf and kind in self.feature_track_kinds:
+          y = z[:-len(extra_args)]
+        else:
+          y = z
+        return x, P, y
+      return _update_inner_blas
+
+    self._updates = {}
+    for kind in kinds:
+      self._updates[kind] = fun_wrapper("update_%d" % kind, kind)
+
+    def _update_blas(x, P, kind, z, R, extra_args=[]):  # pylint: disable=dangerous-default-value
+        return self._updates[kind](x, P, z, R, extra_args)
+
+    # assign the functions
+    self._predict = _predict_blas
+    # self._predict = self._predict_python
+    self._update = _update_blas
+    # self._update = self._update_python
+
+  def init_state(self, state, covs, filter_time):
+    self.x = np.array(state.reshape((-1, 1))).astype(np.float64)
+    self.P = np.array(covs).astype(np.float64)
+    self.filter_time = filter_time
+    self.augment_times = [0] * self.N
+    self.rewind_obscache = []
+    self.rewind_t = []
+    self.rewind_states = []
+
+  def reset_rewind(self):
+    self.rewind_obscache = []
+    self.rewind_t = []
+    self.rewind_states = []
+
+  def augment(self):
+    # TODO this is not a generalized way of doing this and implies that the augmented states
+    # are simply the first (dim_augment_state) elements of the main state.
+    assert self.msckf
+    d1 = self.dim_main
+    d2 = self.dim_main_err
+    d3 = self.dim_augment
+    d4 = self.dim_augment_err
+
+    # push through augmented states
+    self.x[d1:-d3] = self.x[d1 + d3:]
+    self.x[-d3:] = self.x[:d3]
+    assert self.x.shape == (self.dim_x, 1)
+
+    # push through augmented covs
+    assert self.P.shape == (self.dim_err, self.dim_err)
+    P_reduced = self.P
+    P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=1)
+    P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=0)
+    assert P_reduced.shape == (self.dim_err - d4, self.dim_err - d4)
+    to_mult = np.zeros((self.dim_err, self.dim_err - d4))
+    to_mult[:-d4, :] = np.eye(self.dim_err - d4)
+    to_mult[-d4:, :d4] = np.eye(d4)
+    self.P = to_mult.dot(P_reduced.dot(to_mult.T))
+    self.augment_times = self.augment_times[1:]
+    self.augment_times.append(self.filter_time)
+    assert self.P.shape == (self.dim_err, self.dim_err)
+
+  def state(self):
+    return np.array(self.x).flatten()
+
+  def covs(self):
+    return self.P
+
+  def set_filter_time(self, t):
+    self.filter_time = t
+
+  def get_filter_time(self):
+    return self.filter_time
+
+  def normalize_quaternions(self):
+    for idx in self.quaternion_idxs:
+      self.normalize_slice(idx, idx+4)
+
+  def normalize_slice(self, slice_start, slice_end_ex):
+    self.x[slice_start:slice_end_ex] /= np.linalg.norm(self.x[slice_start:slice_end_ex])
+
+  def get_augment_times(self):
+    return self.augment_times
+
+  def set_global(self, global_var, val):
+    self.set_globals[global_var](val)
+
+  def rewind(self, t):
+    # find where we are rewinding to
+    idx = bisect_right(self.rewind_t, t)
+    assert self.rewind_t[idx - 1] <= t
+    assert self.rewind_t[idx] > t    # must be true, or rewind wouldn't be called
+
+    # set the state to the time right before that
+    self.filter_time = self.rewind_t[idx - 1]
+    self.x[:] = self.rewind_states[idx - 1][0]
+    self.P[:] = self.rewind_states[idx - 1][1]
+
+    # return the observations we rewound over for fast forwarding
+    ret = self.rewind_obscache[idx:]
+
+    # throw away the old future
+    # TODO: is this making a copy?
+    self.rewind_t = self.rewind_t[:idx]
+    self.rewind_states = self.rewind_states[:idx]
+    self.rewind_obscache = self.rewind_obscache[:idx]
+
+    return ret
+
+  def checkpoint(self, obs):
+    # push to rewinder
+    self.rewind_t.append(self.filter_time)
+    self.rewind_states.append((np.copy(self.x), np.copy(self.P)))
+    self.rewind_obscache.append(obs)
+
+    # only keep a certain number around
+    REWIND_TO_KEEP = 512
+    self.rewind_t = self.rewind_t[-REWIND_TO_KEEP:]
+    self.rewind_states = self.rewind_states[-REWIND_TO_KEEP:]
+    self.rewind_obscache = self.rewind_obscache[-REWIND_TO_KEEP:]
+
+  def predict(self, t):
+    # initialize time
+    if self.filter_time is None:
+      self.filter_time = t
+
+    # predict
+    dt = t - self.filter_time
+    assert dt >= 0
+    self.x, self.P = self._predict(self.x, self.P, dt)
+    self.normalize_quaternions()
+    self.filter_time = t
+
+  def predict_and_update_batch(self, t, kind, z, R, extra_args=[[]], augment=False):  # pylint: disable=dangerous-default-value
+    # TODO handle rewinding at this level"
+
+    # rewind
+    if self.filter_time is not None and t < self.filter_time:
+      if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] - self.max_rewind_age:
+        self.logger.error("observation too old at %.3f with filter at %.3f, ignoring" % (t, self.filter_time))
+        return None
+      rewound = self.rewind(t)
+    else:
+      rewound = []
+
+    ret = self._predict_and_update_batch(t, kind, z, R, extra_args, augment)
+
+    # optional fast forward
+    for r in rewound:
+      self._predict_and_update_batch(*r)
+
+    return ret
+
+  def _predict_and_update_batch(self, t, kind, z, R, extra_args, augment=False):
+    """The main kalman filter function
+    Predicts the state and then updates a batch of observations
+    dim_x: dimensionality of the state space
+    dim_z: dimensionality of the observation and depends on kind
+    n: number of observations
+    Args:
+      t                 (float): Time of observation
+      kind                (int): Type of observation
+      z         (vec [n,dim_z]): Measurements
+      R  (mat [n,dim_z, dim_z]): Measurement Noise
+      extra_args    (list, [n]): Values used in H computations
+    """
+    assert z.shape[0] == R.shape[0]
+    assert z.shape[1] == R.shape[1]
+    assert z.shape[1] == R.shape[2]
+
+    # initialize time
+    if self.filter_time is None:
+      self.filter_time = t
+
+    # predict
+    dt = t - self.filter_time
+    assert dt >= 0
+    self.x, self.P = self._predict(self.x, self.P, dt)
+    self.filter_time = t
+    xk_km1, Pk_km1 = np.copy(self.x).flatten(), np.copy(self.P)
+
+    # update batch
+    y = []
+    for i in range(len(z)):
+      # these are from the user, so we canonicalize them
+      z_i = np.array(z[i], dtype=np.float64, order='F')
+      R_i = np.array(R[i], dtype=np.float64, order='F')
+      extra_args_i = np.array(extra_args[i], dtype=np.float64, order='F')
+      # update
+      self.x, self.P, y_i = self._update(self.x, self.P, kind, z_i, R_i, extra_args=extra_args_i)
+      self.normalize_quaternions()
+      y.append(y_i)
+    xk_k, Pk_k = np.copy(self.x).flatten(), np.copy(self.P)
+
+    if augment:
+      self.augment()
+
+    # checkpoint
+    self.checkpoint((t, kind, z, R, extra_args))
+
+    return xk_km1, xk_k, Pk_km1, Pk_k, t, kind, y, z, extra_args
+
+  def _predict_python(self, x, P, dt):
+    x_new = np.zeros(x.shape, dtype=np.float64)
+    self.f(x, dt, x_new)
+
+    F = np.zeros(P.shape, dtype=np.float64)
+    self.F(x, dt, F)
+
+    if not self.msckf:
+      P = dot(dot(F, P), F.T)
+    else:
+      # Update the predicted state covariance:
+      #  Pk+1|k   =  |F*Pii*FT + Q*dt   F*Pij |
+      #              |PijT*FT           Pjj   |
+      # Where F is the jacobian of the main state
+      # predict function, Pii is the main state's
+      # covariance and Q its process noise. Pij
+      # is the covariance between the augmented
+      # states and the main state.
+      #
+      d2 = self.dim_main_err    # known at compile time
+      F_curr = F[:d2, :d2]
+      P[:d2, :d2] = (F_curr.dot(P[:d2, :d2])).dot(F_curr.T)
+      P[:d2, d2:] = F_curr.dot(P[:d2, d2:])
+      P[d2:, :d2] = P[d2:, :d2].dot(F_curr.T)
+
+    P += dt * self.Q
+    return x_new, P
+
+  def _update_python(self, x, P, kind, z, R, extra_args=[]):  # pylint: disable=dangerous-default-value
+    # init vars
+    z = z.reshape((-1, 1))
+    h = np.zeros(z.shape, dtype=np.float64)
+    H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64)
+
+    # C functions
+    self.hs[kind](x, extra_args, h)
+    self.Hs[kind](x, extra_args, H)
+
+    # y is the "loss"
+    y = z - h
+
+    # *** same above this line ***
+
+    if self.msckf and kind in self.Hes:
+      # Do some algebraic magic to decorrelate
+      He = np.zeros((z.shape[0], len(extra_args)), dtype=np.float64)
+      self.Hes[kind](x, extra_args, He)
+
+      # TODO: Don't call a function here, do projection locally
+      A = null(He.T)
+
+      y = A.T.dot(y)
+      H = A.T.dot(H)
+      R = A.T.dot(R.dot(A))
+
+      # TODO If nullspace isn't the dimension we want
+      if A.shape[1] + He.shape[1] != A.shape[0]:
+        self.logger.warning('Warning: null space projection failed, measurement ignored')
+        return x, P, np.zeros(A.shape[0] - He.shape[1])
+
+    # if using eskf
+    H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64)
+    self.H_mod(x, H_mod)
+    H = H.dot(H_mod)
+
+    # Do mahalobis distance test
+    # currently just runs on msckf observations
+    # could run on anything if needed
+    if self.msckf and kind in self.maha_test_kinds:
+      a = np.linalg.inv(H.dot(P).dot(H.T) + R)
+      maha_dist = y.T.dot(a.dot(y))
+      if maha_dist > chi2_ppf(0.95, y.shape[0]):
+        R = 10e16 * R
+
+    # *** same below this line ***
+
+    # Outlier resilient weighting as described in:
+    # "A Kalman Filter for Robust Outlier Detection - Jo-Anne Ting, ..."
+    weight = 1  # (1.5)/(1 + np.sum(y**2)/np.sum(R))
+
+    S = dot(dot(H, P), H.T) + R / weight
+    K = solve(S, dot(H, P.T)).T
+    I_KH = np.eye(P.shape[0]) - dot(K, H)
+
+    # update actual state
+    delta_x = dot(K, y)
+    P = dot(dot(I_KH, P), I_KH.T) + dot(dot(K, R), K.T)
+
+    # inject observed error into state
+    x_new = np.zeros(x.shape, dtype=np.float64)
+    self.err_function(x, delta_x, x_new)
+    return x_new, P, y.flatten()
+
+  def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95):  # pylint: disable=dangerous-default-value
+    # init vars
+    z = z.reshape((-1, 1))
+    h = np.zeros(z.shape, dtype=np.float64)
+    H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64)
+
+    # C functions
+    self.hs[kind](x, extra_args, h)
+    self.Hs[kind](x, extra_args, H)
+
+    # y is the "loss"
+    y = z - h
+
+    # if using eskf
+    H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64)
+    self.H_mod(x, H_mod)
+    H = H.dot(H_mod)
+
+    a = np.linalg.inv(H.dot(P).dot(H.T) + R)
+    maha_dist = y.T.dot(a.dot(y))
+    if maha_dist > chi2_ppf(maha_thresh, y.shape[0]):
+      return False
+    else:
+      return True
+
+  def rts_smooth(self, estimates, norm_quats=False):
+    '''
+    Returns rts smoothed results of
+    kalman filter estimates
+    If the kalman state is augmented with
+    old states only the main state is smoothed
+    '''
+    xk_n = estimates[-1][0]
+    Pk_n = estimates[-1][2]
+    Fk_1 = np.zeros(Pk_n.shape, dtype=np.float64)
+
+    states_smoothed = [xk_n]
+    covs_smoothed = [Pk_n]
+    for k in range(len(estimates) - 2, -1, -1):
+      xk1_n = xk_n
+      if norm_quats:
+        xk1_n[3:7] /= np.linalg.norm(xk1_n[3:7])
+      Pk1_n = Pk_n
+
+      xk1_k, _, Pk1_k, _, t2, _, _, _, _ = estimates[k + 1]
+      _, xk_k, _, Pk_k, t1, _, _, _, _ = estimates[k]
+      dt = t2 - t1
+      self.F(xk_k, dt, Fk_1)
+
+      d1 = self.dim_main
+      d2 = self.dim_main_err
+      Ck = np.linalg.solve(Pk1_k[:d2, :d2], Fk_1[:d2, :d2].dot(Pk_k[:d2, :d2].T)).T
+      xk_n = xk_k
+      delta_x = np.zeros((Pk_n.shape[0], 1), dtype=np.float64)
+      self.inv_err_function(xk1_k, xk1_n, delta_x)
+      delta_x[:d2] = Ck.dot(delta_x[:d2])
+      x_new = np.zeros((xk_n.shape[0], 1), dtype=np.float64)
+      self.err_function(xk_k, delta_x, x_new)
+      xk_n[:d1] = x_new[:d1, 0]
+      Pk_n = Pk_k
+      Pk_n[:d2, :d2] = Pk_k[:d2, :d2] + Ck.dot(Pk1_n[:d2, :d2] - Pk1_k[:d2, :d2]).dot(Ck.T)
+      states_smoothed.append(xk_n)
+      covs_smoothed.append(Pk_n)
+
+    return np.flipud(np.vstack(states_smoothed)), np.stack(covs_smoothed, 0)[::-1]
diff --git a/rednose/helpers/ekf_sym_pyx.pyx b/rednose/helpers/ekf_sym_pyx.pyx
new file mode 100644
index 00000000000000..a5c0d56811e40d
--- /dev/null
+++ b/rednose/helpers/ekf_sym_pyx.pyx
@@ -0,0 +1,190 @@
+# cython: language_level=3
+# cython: profile=True
+# distutils: language = c++
+
+cimport cython
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libcpp cimport bool
+cimport numpy as np
+
+import numpy as np
+
+cdef extern from "<optional>" namespace "std" nogil:
+  cdef cppclass optional[T]:
+    ctypedef T value_type
+    bool has_value()
+    T& value()
+
+cdef extern from "rednose/helpers/ekf_sym.h" namespace "EKFS":
+  cdef cppclass MapVectorXd "Eigen::Map<Eigen::VectorXd>":
+    MapVectorXd(double*, int)
+
+  cdef cppclass MapMatrixXdr "Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >":
+    MapMatrixXdr(double*, int, int)
+
+  cdef cppclass VectorXd "Eigen::VectorXd":
+    VectorXd()
+    double* data()
+    int rows()
+
+  cdef cppclass MatrixXdr "Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>":
+    MatrixXdr()
+    double* data()
+    int rows()
+    int cols()
+
+  ctypedef struct Estimate:
+    VectorXd xk1
+    VectorXd xk
+    MatrixXdr Pk1
+    MatrixXdr Pk
+    double t
+    int kind
+    vector[VectorXd] y
+    vector[VectorXd] z
+    vector[vector[double]] extra_args
+
+  cdef cppclass EKFSym:
+    EKFSym(string name, MapMatrixXdr Q, MapVectorXd x_initial, MapMatrixXdr P_initial, int dim_main,
+        int dim_main_err, int N, int dim_augment, int dim_augment_err, vector[int] maha_test_kinds,
+        vector[int] quaternion_idxs, vector[string] global_vars, double max_rewind_age)
+    void init_state(MapVectorXd state, MapMatrixXdr covs, double filter_time)
+
+    VectorXd state()
+    MatrixXdr covs()
+    void set_filter_time(double t)
+    double get_filter_time()
+    void set_global(string name, double val)
+    void reset_rewind()
+
+    void predict(double t)
+    optional[Estimate] predict_and_update_batch(double t, int kind, vector[MapVectorXd] z, vector[MapMatrixXdr] z,
+        vector[vector[double]] extra_args, bool augment)
+
+# Functions like `numpy_to_matrix` are not possible, cython requires default
+# constructor for return variable types which aren't available with Eigen::Map
+
+@cython.wraparound(False)
+@cython.boundscheck(False)
+cdef np.ndarray[np.float64_t, ndim=2, mode="c"] matrix_to_numpy(MatrixXdr arr):
+  cdef double[:,:] mem_view = <double[:arr.rows(),:arr.cols()]>arr.data()
+  return np.copy(np.asarray(mem_view, dtype=np.double, order="C"))
+
+@cython.wraparound(False)
+@cython.boundscheck(False)
+cdef np.ndarray[np.float64_t, ndim=1, mode="c"] vector_to_numpy(VectorXd arr):
+  cdef double[:] mem_view = <double[:arr.rows()]>arr.data()
+  return np.copy(np.asarray(mem_view, dtype=np.double, order="C"))
+
+cdef class EKF_sym:
+  cdef EKFSym* ekf
+  def __cinit__(self, str gen_dir, str name, np.ndarray[np.float64_t, ndim=2] Q,
+      np.ndarray[np.float64_t, ndim=1] x_initial, np.ndarray[np.float64_t, ndim=2] P_initial, int dim_main,
+      int dim_main_err, int N=0, int dim_augment=0, int dim_augment_err=0, list maha_test_kinds=[],
+      list quaternion_idxs=[], list global_vars=[], double max_rewind_age=1.0, logger=None):
+    # TODO logger
+
+    cdef np.ndarray[np.float64_t, ndim=2, mode='c'] Q_b = np.ascontiguousarray(Q, dtype=np.double)
+    cdef np.ndarray[np.float64_t, ndim=1, mode='c'] x_initial_b = np.ascontiguousarray(x_initial, dtype=np.double)
+    cdef np.ndarray[np.float64_t, ndim=2, mode='c'] P_initial_b = np.ascontiguousarray(P_initial, dtype=np.double)
+    self.ekf = new EKFSym(
+      name.encode('utf8'),
+      MapMatrixXdr(<double*> Q_b.data, Q.shape[0], Q.shape[1]),
+      MapVectorXd(<double*> x_initial_b.data, x_initial.shape[0]),
+      MapMatrixXdr(<double*> P_initial_b.data, P_initial.shape[0], P_initial.shape[1]),
+      dim_main,
+      dim_main_err,
+      N,
+      dim_augment,
+      dim_augment_err,
+      maha_test_kinds,
+      quaternion_idxs,
+      [x.encode('utf8') for x in global_vars],
+      max_rewind_age
+    )
+
+  def init_state(self, np.ndarray[np.float64_t, ndim=1] state, np.ndarray[np.float64_t, ndim=2] covs, filter_time):
+    cdef np.ndarray[np.float64_t, ndim=1, mode='c'] state_b = np.ascontiguousarray(state, dtype=np.double)
+    cdef np.ndarray[np.float64_t, ndim=2, mode='c'] covs_b = np.ascontiguousarray(covs, dtype=np.double)
+    self.ekf.init_state(
+      MapVectorXd(<double*> state_b.data, state.shape[0]),
+      MapMatrixXdr(<double*> covs_b.data, covs.shape[0], covs.shape[1]),
+      np.nan if filter_time is None else filter_time
+    )
+
+  def state(self):
+    cdef np.ndarray res = vector_to_numpy(self.ekf.state())
+    return res
+
+  def covs(self):
+    return matrix_to_numpy(self.ekf.covs())
+
+  def set_filter_time(self, double t):
+    self.ekf.set_filter_time(t)
+
+  def get_filter_time(self):
+    return self.ekf.get_filter_time()
+
+  def set_global(self, str global_var, double val):
+    self.ekf.set_global(global_var.encode('utf8'), val)
+
+  def reset_rewind(self):
+    self.ekf.reset_rewind()
+
+  def predict(self, double t):
+    self.ekf.predict(t)
+
+  def predict_and_update_batch(self, double t, int kind, z, R, extra_args=[[]], bool augment=False):
+    cdef vector[MapVectorXd] z_map
+    cdef np.ndarray[np.float64_t, ndim=1, mode='c'] zi_b
+    for zi in z:
+      zi_b = np.ascontiguousarray(zi, dtype=np.double)
+      z_map.push_back(MapVectorXd(<double*> zi_b.data, zi.shape[0]))
+
+    cdef vector[MapMatrixXdr] R_map
+    cdef np.ndarray[np.float64_t, ndim=2, mode='c'] Ri_b
+    for Ri in R:
+      Ri_b = np.ascontiguousarray(Ri, dtype=np.double)
+      R_map.push_back(MapMatrixXdr(<double*> Ri_b.data, Ri.shape[0], Ri.shape[1]))
+
+    cdef vector[vector[double]] extra_args_map
+    cdef vector[double] args_map
+    for args in extra_args:
+      args_map.clear()
+      for a in args:
+        args_map.push_back(a)
+      extra_args_map.push_back(args_map)
+
+    cdef optional[Estimate] res = self.ekf.predict_and_update_batch(t, kind, z_map, R_map, extra_args_map, augment)
+    if not res.has_value():
+      return None
+
+    cdef VectorXd tmpvec
+    return (
+      vector_to_numpy(res.value().xk1),
+      vector_to_numpy(res.value().xk),
+      matrix_to_numpy(res.value().Pk1),
+      matrix_to_numpy(res.value().Pk),
+      res.value().t,
+      res.value().kind,
+      [vector_to_numpy(tmpvec) for tmpvec in res.value().y],
+      z,  # TODO: take return values?
+      extra_args,
+    )
+
+  def augment(self):
+    raise NotImplementedError()  # TODO
+
+  def get_augment_times(self):
+    raise NotImplementedError()  # TODO
+
+  def rts_smooth(self, estimates, norm_quats=False):
+    raise NotImplementedError()  # TODO
+
+  def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95):
+    raise NotImplementedError()  # TODO
+
+  def __dealloc__(self):
+    del self.ekf
diff --git a/selfdrive/locationd/kalman/helpers/feature_handler.py b/rednose/helpers/feature_handler.py
similarity index 89%
rename from selfdrive/locationd/kalman/helpers/feature_handler.py
rename to rednose/helpers/feature_handler.py
index 74eb531f5a7d83..6a20b85e1c7b06 100755
--- a/selfdrive/locationd/kalman/helpers/feature_handler.py
+++ b/rednose/helpers/feature_handler.py
@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
 
 import os
+import sys
 
 import numpy as np
 
-import common.transformations.orientation as orient
-from selfdrive.locationd.kalman.helpers import (TEMPLATE_DIR, load_code,
-                                                write_code)
-from selfdrive.locationd.kalman.helpers.sympy_helpers import quat_matrix_l
+from rednose.helpers import TEMPLATE_DIR, load_code, write_code
+from rednose.helpers.sympy_helpers import quat_matrix_l, rot_matrix
 
 
 def sane(track):
@@ -29,19 +28,21 @@ class FeatureHandler():
   name = 'feature_handler'
 
   @staticmethod
-  def generate_code(K=5):
+  def generate_code(generated_dir, K=5):
     # Wrap c code for slow matching
     c_header = "\nvoid merge_features(double *tracks, double *features, long long *empty_idxs);"
 
     c_code = "#include <math.h>\n"
     c_code += "#include <string.h>\n"
     c_code += "#define K %d\n" % K
+    c_code += "extern \"C\" {\n"
     c_code += "\n" + open(os.path.join(TEMPLATE_DIR, "feature_handler.c")).read()
+    c_code += "\n}\n"
 
     filename = f"{FeatureHandler.name}_{K}"
-    write_code(filename, c_code, c_header)
+    write_code(generated_dir, filename, c_code, c_header)
 
-  def __init__(self, K=5):
+  def __init__(self, generated_dir, K=5):
     self.MAX_TRACKS = 6000
     self.K = K
 
@@ -56,7 +57,7 @@ def __init__(self, K=5):
     self.tracks[:] = np.nan
 
     name = f"{FeatureHandler.name}_{K}"
-    ffi, lib = load_code(name)
+    ffi, lib = load_code(generated_dir, name)
 
     def merge_features_c(tracks, features, empty_idxs):
       lib.merge_features(ffi.cast("double *", tracks.ctypes.data),
@@ -118,7 +119,7 @@ def handle_features(self, features):
 
 def generate_orient_error_jac(K):
   import sympy as sp
-  from selfdrive.locationd.kalman.helpers.sympy_helpers import quat_rotate
+  from rednose.helpers.sympy_helpers import quat_rotate
 
   x_sym = sp.MatrixSymbol('abr', 3, 1)
   dtheta = sp.MatrixSymbol('dtheta', 3, 1)
@@ -127,7 +128,7 @@ def generate_orient_error_jac(K):
   poses_sym = sp.MatrixSymbol('poses', 7 * K, 1)
   img_pos_sym = sp.MatrixSymbol('img_positions', 2 * K, 1)
   alpha, beta, rho = x_sym
-  to_c = sp.Matrix(orient.rot_matrix(-np.pi / 2, -np.pi / 2, 0))
+  to_c = sp.Matrix(rot_matrix(-np.pi / 2, -np.pi / 2, 0))
   pos_0 = sp.Matrix(np.array(poses_sym[K * 7 - 7:K * 7 - 4])[:, 0])
   q = quat_matrix_l(poses_sym[K * 7 - 4:K * 7]) * delta_quat
   quat_rot = quat_rotate(*q)
@@ -154,5 +155,6 @@ def generate_orient_error_jac(K):
 
 
 if __name__ == "__main__":
-  # TODO: get K from argparse
-  FeatureHandler.generate_code()
+  K = int(sys.argv[1].split("_")[-1])
+  generated_dir = sys.argv[2]
+  FeatureHandler.generate_code(generated_dir, K=K)
diff --git a/rednose/helpers/kalmanfilter.py b/rednose/helpers/kalmanfilter.py
new file mode 100644
index 00000000000000..0c30e491642684
--- /dev/null
+++ b/rednose/helpers/kalmanfilter.py
@@ -0,0 +1,51 @@
+from typing import Any, Dict
+
+import numpy as np
+
+
+class KalmanFilter:
+  name = "<name>"
+  initial_x = np.zeros((0, 0))
+  initial_P_diag = np.zeros((0, 0))
+  Q = np.zeros((0, 0))
+  obs_noise: Dict[int, Any] = {}
+
+  filter = None  # Should be initialized when initializating a KalmanFilter implementation
+
+  @property
+  def x(self):
+    return self.filter.state()
+
+  @property
+  def t(self):
+    return self.filter.get_filter_time()
+
+  @property
+  def P(self):
+    return self.filter.covs()
+
+  def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
+    if covs_diag is not None:
+      P = np.diag(covs_diag)
+    elif covs is not None:
+      P = covs
+    else:
+      P = self.filter.covs()
+    self.filter.init_state(state, P, filter_time)
+
+  def get_R(self, kind, n):
+    obs_noise = self.obs_noise[kind]
+    dim = obs_noise.shape[0]
+    R = np.zeros((n, dim, dim))
+    for i in range(n):
+      R[i, :, :] = obs_noise
+    return R
+
+  def predict_and_observe(self, t, kind, data, R=None):
+    if len(data) > 0:
+      data = np.atleast_2d(data)
+
+    if R is None:
+      R = self.get_R(kind, len(data))
+
+    self.filter.predict_and_update_batch(t, kind, data, R)
diff --git a/selfdrive/locationd/kalman/helpers/lst_sq_computer.py b/rednose/helpers/lst_sq_computer.py
similarity index 84%
rename from selfdrive/locationd/kalman/helpers/lst_sq_computer.py
rename to rednose/helpers/lst_sq_computer.py
index 669c76f49b509e..56c3bc8c419ee6 100755
--- a/selfdrive/locationd/kalman/helpers/lst_sq_computer.py
+++ b/rednose/helpers/lst_sq_computer.py
@@ -5,11 +5,8 @@
 import numpy as np
 import sympy as sp
 
-import common.transformations.orientation as orient
-from selfdrive.locationd.kalman.helpers import (TEMPLATE_DIR, load_code,
-                                                write_code)
-from selfdrive.locationd.kalman.helpers.sympy_helpers import (quat_rotate,
-                                                              sympy_into_c)
+from rednose.helpers import TEMPLATE_DIR, load_code, write_code
+from rednose.helpers.sympy_helpers import quat_rotate, sympy_into_c, rot_matrix, rotations_from_quats
 
 
 def generate_residual(K):
@@ -17,7 +14,7 @@ def generate_residual(K):
   poses_sym = sp.MatrixSymbol('poses', 7 * K, 1)
   img_pos_sym = sp.MatrixSymbol('img_positions', 2 * K, 1)
   alpha, beta, rho = x_sym
-  to_c = sp.Matrix(orient.rot_matrix(-np.pi / 2, -np.pi / 2, 0))
+  to_c = sp.Matrix(rot_matrix(-np.pi / 2, -np.pi / 2, 0))
   pos_0 = sp.Matrix(np.array(poses_sym[K * 7 - 7:K * 7 - 4])[:, 0])
   q = poses_sym[K * 7 - 4:K * 7]
   quat_rot = quat_rotate(*q)
@@ -49,27 +46,29 @@ class LstSqComputer():
   name = 'pos_computer'
 
   @staticmethod
-  def generate_code(K=4):
+  def generate_code(generated_dir, K=4):
     sympy_functions = generate_residual(K)
-    header, code = sympy_into_c(sympy_functions)
+    header, sympy_code = sympy_into_c(sympy_functions)
 
+    code = "\n#include \"rednose/helpers/common_ekf.h\"\n"
     code += "\n#define KDIM %d\n" % K
-    code += "\n" + open(os.path.join(TEMPLATE_DIR, "compute_pos.c")).read()
+    code += "extern \"C\" {\n"
+    code += sympy_code
+    code += "\n" + open(os.path.join(TEMPLATE_DIR, "compute_pos.c")).read() + "\n"
+    code += "}\n"
 
-    header += """
-    void compute_pos(double *to_c, double *in_poses, double *in_img_positions, double *param, double *pos);
-    """
+    header += "\nvoid compute_pos(double *to_c, double *in_poses, double *in_img_positions, double *param, double *pos);\n"
 
     filename = f"{LstSqComputer.name}_{K}"
-    write_code(filename, code, header)
+    write_code(generated_dir, filename, code, header)
 
-  def __init__(self, K=4, MIN_DEPTH=2, MAX_DEPTH=500):
-    self.to_c = orient.rot_matrix(-np.pi / 2, -np.pi / 2, 0)
+  def __init__(self, generated_dir, K=4, MIN_DEPTH=2, MAX_DEPTH=500):
+    self.to_c = rot_matrix(-np.pi / 2, -np.pi / 2, 0)
     self.MAX_DEPTH = MAX_DEPTH
     self.MIN_DEPTH = MIN_DEPTH
 
     name = f"{LstSqComputer.name}_{K}"
-    ffi, lib = load_code(name)
+    ffi, lib = load_code(generated_dir, name)
 
     # wrap c functions
     def residual_jac(x, poses, img_positions):
@@ -139,7 +138,7 @@ def compute_pos_python(self, poses, img_positions, check_quality=False):
     # res = self.gauss_newton(self.residual, self.residual_jac, x, (poses, img_positions)) # diy gauss_newton
 
     alpha, beta, rho = res[0]
-    rot_0_to_g = (orient.rotations_from_quats(poses[-1, 3:])).dot(self.to_c.T)
+    rot_0_to_g = (rotations_from_quats(poses[-1, 3:])).dot(self.to_c.T)
     return (rot_0_to_g.dot(np.array([alpha, beta, 1]))) / rho + poses[-1, :3]
 
 
@@ -165,12 +164,12 @@ def unroll_shutter(img_positions, poses, v, rot_rates, ecef_pos):
 def project(poses, ecef_pos):
   img_positions = np.zeros((len(poses), 2))
   for i, p in enumerate(poses):
-    cam_frame = orient.rotations_from_quats(p[3:]).T.dot(ecef_pos - p[:3])
+    cam_frame = rotations_from_quats(p[3:]).T.dot(ecef_pos - p[:3])
     img_positions[i] = np.array([cam_frame[1] / cam_frame[0], cam_frame[2] / cam_frame[0]])
   return img_positions
 
 
 if __name__ == "__main__":
   K = int(sys.argv[1].split("_")[-1])
-  LstSqComputer.generate_code(K=K)
-
+  generated_dir = sys.argv[2]
+  LstSqComputer.generate_code(generated_dir, K=K)
diff --git a/rednose/helpers/sympy_helpers.py b/rednose/helpers/sympy_helpers.py
new file mode 100644
index 00000000000000..716e94e0187abe
--- /dev/null
+++ b/rednose/helpers/sympy_helpers.py
@@ -0,0 +1,155 @@
+#!/usr/bin/env python3
+import sympy as sp
+import numpy as np
+
+# TODO: remove code duplication between openpilot.common.orientation
+def quat2rot(quats):
+  quats = np.array(quats)
+  input_shape = quats.shape
+  quats = np.atleast_2d(quats)
+  Rs = np.zeros((quats.shape[0], 3, 3))
+  q0 = quats[:, 0]
+  q1 = quats[:, 1]
+  q2 = quats[:, 2]
+  q3 = quats[:, 3]
+  Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
+  Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
+  Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
+  Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
+  Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
+  Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
+  Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
+  Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
+  Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
+
+  if len(input_shape) < 2:
+    return Rs[0]
+  else:
+    return Rs
+
+
+def euler2quat(eulers):
+  eulers = np.array(eulers)
+  if len(eulers.shape) > 1:
+    output_shape = (-1,4)
+  else:
+    output_shape = (4,)
+  eulers = np.atleast_2d(eulers)
+  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
+
+  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
+       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
+  q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
+       np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
+  q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
+       np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
+  q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
+       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
+
+  quats = np.array([q0, q1, q2, q3]).T
+  for i in range(len(quats)):
+    if quats[i,0] < 0:  # pylint: disable=unsubscriptable-object
+      quats[i] = -quats[i]  # pylint: disable=unsupported-assignment-operation,unsubscriptable-object
+  return quats.reshape(output_shape)
+
+
+def euler2rot(eulers):
+  return quat2rot(euler2quat(eulers))
+
+rotations_from_quats = quat2rot
+
+
+def cross(x):
+  ret = sp.Matrix(np.zeros((3, 3)))
+  ret[0, 1], ret[0, 2] = -x[2], x[1]
+  ret[1, 0], ret[1, 2] = x[2], -x[0]
+  ret[2, 0], ret[2, 1] = -x[1], x[0]
+  return ret
+
+
+def rot_matrix(roll, pitch, yaw):
+  cr, sr = np.cos(roll), np.sin(roll)
+  cp, sp = np.cos(pitch), np.sin(pitch)
+  cy, sy = np.cos(yaw), np.sin(yaw)
+  rr = np.array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
+  rp = np.array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
+  ry = np.array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
+  return ry.dot(rp.dot(rr))
+
+
+def euler_rotate(roll, pitch, yaw):
+  # make symbolic rotation matrix from eulers
+  matrix_roll = sp.Matrix([[1, 0, 0],
+                           [0, sp.cos(roll), -sp.sin(roll)],
+                           [0, sp.sin(roll), sp.cos(roll)]])
+  matrix_pitch = sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
+                            [0, 1, 0],
+                            [-sp.sin(pitch), 0, sp.cos(pitch)]])
+  matrix_yaw = sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
+                          [sp.sin(yaw), sp.cos(yaw), 0],
+                          [0, 0, 1]])
+  return matrix_yaw * matrix_pitch * matrix_roll
+
+
+def quat_rotate(q0, q1, q2, q3):
+  # make symbolic rotation matrix from quat
+  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2 * (q1 * q2 + q0 * q3), 2 * (q1 * q3 - q0 * q2)],
+                    [2 * (q1 * q2 - q0 * q3), q0**2 - q1**2 + q2**2 - q3**2, 2 * (q2 * q3 + q0 * q1)],
+                    [2 * (q1 * q3 + q0 * q2), 2 * (q2 * q3 - q0 * q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
+
+
+def quat_matrix_l(p):
+  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
+                    [p[1],  p[0], -p[3],  p[2]],
+                    [p[2],  p[3],  p[0], -p[1]],
+                    [p[3], -p[2],  p[1],  p[0]]])
+
+
+def quat_matrix_r(p):
+  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
+                    [p[1],  p[0],  p[3], -p[2]],
+                    [p[2], -p[3],  p[0],  p[1]],
+                    [p[3],  p[2], -p[1],  p[0]]])
+
+
+def sympy_into_c(sympy_functions, global_vars=None):
+  from sympy.utilities import codegen
+  routines = []
+  for name, expr, args in sympy_functions:
+    r = codegen.make_routine(name, expr, language="C99", global_vars=global_vars)
+
+    # argument ordering input to sympy is broken with function with output arguments
+    nargs = []
+
+    # reorder the input arguments
+    for aa in args:
+      if aa is None:
+        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1, 1]))
+        continue
+      found = False
+      for a in r.arguments:
+        if str(aa.name) == str(a.name):
+          nargs.append(a)
+          found = True
+          break
+      if not found:
+        # [1,1] is a hack for Matrices
+        nargs.append(codegen.InputArgument(aa, dimensions=[1, 1]))
+
+    # add the output arguments
+    for a in r.arguments:
+      if type(a) == codegen.OutputArgument:
+        nargs.append(a)
+
+    # assert len(r.arguments) == len(args)+1
+    r.arguments = nargs
+
+    # add routine to list
+    routines.append(r)
+
+  [(_, c_code), (_, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
+  c_header = '\n'.join(x for x in c_header.split("\n") if len(x) > 0 and x[0] != '#')
+
+  c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
+
+  return c_header, c_code
diff --git a/rednose/logger/logger.h b/rednose/logger/logger.h
new file mode 100644
index 00000000000000..e21509352f76db
--- /dev/null
+++ b/rednose/logger/logger.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#ifdef SWAGLOG
+#include "selfdrive/common/swaglog.h"
+#else
+
+#define CLOUDLOG_DEBUG 10
+#define CLOUDLOG_INFO 20
+#define CLOUDLOG_WARNING 30
+#define CLOUDLOG_ERROR 40
+#define CLOUDLOG_CRITICAL 50
+
+#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
+
+#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#endif
diff --git a/selfdrive/locationd/kalman/templates/compute_pos.c b/rednose/templates/compute_pos.c
similarity index 96%
rename from selfdrive/locationd/kalman/templates/compute_pos.c
rename to rednose/templates/compute_pos.c
index 9499fa7b6b7b95..742c7d618701f4 100644
--- a/selfdrive/locationd/kalman/templates/compute_pos.c
+++ b/rednose/templates/compute_pos.c
@@ -1,5 +1,5 @@
-#include <Eigen/QR>
-#include <Eigen/Dense>
+#include <eigen3/Eigen/QR>
+#include <eigen3/Eigen/Dense>
 #include <iostream>
 
 typedef Eigen::Matrix<double, KDIM*2, 3, Eigen::RowMajor> R3M;
@@ -7,7 +7,6 @@ typedef Eigen::Matrix<double, KDIM*2, 1> R1M;
 typedef Eigen::Matrix<double, 3, 1> O1M;
 typedef Eigen::Matrix<double, 3, 3, Eigen::RowMajor> M3D;
 
-extern "C" {
 void gauss_newton(double *in_x, double *in_poses, double *in_img_positions) {
 
   double res[KDIM*2] = {0};
@@ -51,4 +50,3 @@ void compute_pos(double *to_c, double *poses, double *img_positions, double *par
     ecef_output = rot*ecef_output + ecef_offset;
     memcpy(pos, ecef_output.data(), 3 * sizeof(double));
 }
-}
diff --git a/selfdrive/locationd/kalman/templates/ekf_c.c b/rednose/templates/ekf_c.c
similarity index 98%
rename from selfdrive/locationd/kalman/templates/ekf_c.c
rename to rednose/templates/ekf_c.c
index e524f81ecf8d54..3b4acdfe3cfa48 100644
--- a/selfdrive/locationd/kalman/templates/ekf_c.c
+++ b/rednose/templates/ekf_c.c
@@ -7,7 +7,7 @@ typedef Eigen::Matrix<double, DIM, EDIM, Eigen::RowMajor> DEM;
 
 void predict(double *in_x, double *in_P, double *in_Q, double dt) {
   typedef Eigen::Matrix<double, MEDIM, MEDIM, Eigen::RowMajor> RRM;
-  
+
   double nx[DIM] = {0};
   double in_F[EDIM*EDIM] = {0};
 
@@ -54,12 +54,12 @@ void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, do
   Eigen::Matrix<double, ZDIM, 1> z(in_z);
   EEM P(in_P);
   ZZM pre_R(in_R);
-  
+
   // functions from sympy
   h_fun(in_x, in_ea, in_hx);
   H_fun(in_x, in_ea, in_H);
-  ZDM pre_H(in_H); 
-  
+  ZDM pre_H(in_H);
+
   // get y (y = z - hx)
   Eigen::Matrix<double, ZDIM, 1> pre_y(in_hx); pre_y = z - pre_y;
   X1M y; XXM H; XXM R;
@@ -69,7 +69,7 @@ void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, do
     Hea_fun(in_x, in_ea, in_Hea);
     ZAM Hea(in_Hea);
     XXM A = Hea.transpose().fullPivLu().kernel();
-   
+
 
     y = A.transpose() * pre_y;
     H = A.transpose() * pre_H;
@@ -83,7 +83,7 @@ void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, do
   H_mod_fun(in_x, in_H_mod);
   DEM H_mod(in_H_mod);
   XEM H_err = H * H_mod;
-  
+
   // Do mahalobis distance test
   if (MAHA_TEST){
     XXM a = (H_err * P * H_err.transpose() + R).inverse();
@@ -110,8 +110,8 @@ void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, do
   memcpy(delta_x, dx.data(), EDIM * sizeof(double));
   err_fun(in_x, delta_x, x_new);
   Eigen::Matrix<double, DIM, 1> x(x_new);
- 
-  // update cov 
+
+  // update cov
   P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT);
 
   // copy out state
diff --git a/selfdrive/locationd/kalman/templates/feature_handler.c b/rednose/templates/feature_handler.c
similarity index 99%
rename from selfdrive/locationd/kalman/templates/feature_handler.c
rename to rednose/templates/feature_handler.c
index 330972339ce263..9c580c2eac6d56 100644
--- a/selfdrive/locationd/kalman/templates/feature_handler.c
+++ b/rednose/templates/feature_handler.c
@@ -1,4 +1,3 @@
-extern "C"{
 bool sane(double track [K + 1][5]) {
   double diffs_x [K-1];
   double diffs_y [K-1];
@@ -55,4 +54,3 @@ void merge_features(double *tracks, double *features, long long *empty_idxs) {
   }
   memcpy(tracks, track_arr, (K+1) * 6000 * 5 * sizeof(double));
 }
-}
diff --git a/release/build_devel.sh b/release/build_devel.sh
new file mode 100755
index 00000000000000..db8c69bd7a6184
--- /dev/null
+++ b/release/build_devel.sh
@@ -0,0 +1,70 @@
+#!/usr/bin/bash -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+TARGET_DIR=/data/openpilot
+SOURCE_DIR="$(git rev-parse --show-toplevel)"
+
+# set git identity
+source $DIR/identity.sh
+
+echo "[-] Setting up repo T=$SECONDS"
+if [ ! -d "$TARGET_DIR" ]; then
+  mkdir -p $TARGET_DIR
+  cd $TARGET_DIR
+  git init
+  git remote add origin git@github.com:commaai/openpilot.git
+fi
+
+echo "[-] bringing master-ci and devel in sync T=$SECONDS"
+cd $TARGET_DIR
+git prune || true
+git remote prune origin || true
+git fetch origin master-ci
+git fetch origin devel
+
+git checkout -f --track origin/master-ci
+git reset --hard master-ci
+git checkout master-ci
+git reset --hard origin/devel
+git clean -xdf
+
+# remove everything except .git
+echo "[-] erasing old openpilot T=$SECONDS"
+find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
+
+# reset source tree
+cd $SOURCE_DIR
+git clean -xdf
+
+# do the files copy
+echo "[-] copying files T=$SECONDS"
+cd $SOURCE_DIR
+cp -pR --parents $(cat release/files_common) $TARGET_DIR/
+cp -pR --parents $(cat release/files_tici) $TARGET_DIR/
+if [ ! -z "$EXTRA_FILES" ]; then
+  cp -pR --parents $EXTRA_FILES $TARGET_DIR/
+fi
+
+# append source commit hash and build date to version
+GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse --short HEAD)
+DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+VERSION=$(cat selfdrive/common/version.h | awk -F\" '{print $2}')
+echo "#define COMMA_VERSION \"$VERSION-$GIT_HASH-$DATETIME\"" > selfdrive/common/version.h
+
+# in the directory
+cd $TARGET_DIR
+rm -f panda/board/obj/panda.bin.signed
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git status
+git commit -a -m "openpilot v$VERSION release"
+
+if [ ! -z "$PUSH" ]; then
+  echo "[-] Pushing to $PUSH T=$SECONDS"
+  git remote set-url origin git@github.com:commaai/openpilot.git
+  git push -f origin master-ci:$PUSH
+fi
+
+echo "[-] done T=$SECONDS"
diff --git a/release/build_release.sh b/release/build_release.sh
new file mode 100755
index 00000000000000..95fcfea1a1bbac
--- /dev/null
+++ b/release/build_release.sh
@@ -0,0 +1,118 @@
+#!/usr/bin/bash -e
+
+# git diff --name-status origin/release3-staging | grep "^A" | less
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+cd $DIR
+
+BUILD_DIR=/data/openpilot
+SOURCE_DIR="$(git rev-parse --show-toplevel)"
+
+if [ -f /TICI ]; then
+  FILES_SRC="release/files_tici"
+  RELEASE_BRANCH=release3-staging
+  DASHCAM_BRANCH=dashcam3-staging
+elif [ -f /EON ]; then
+  FILES_SRC="release/files_eon"
+  RELEASE_BRANCH=release2-staging
+  DASHCAM_BRANCH=dashcam-staging
+else
+  exit 0
+fi
+
+# set git identity
+source $DIR/identity.sh
+
+echo "[-] Setting up repo T=$SECONDS"
+rm -rf $BUILD_DIR
+mkdir -p $BUILD_DIR
+cd $BUILD_DIR
+git init
+git remote add origin git@github.com:commaai/openpilot.git
+git fetch origin $RELEASE_BRANCH
+git checkout --orphan $RELEASE_BRANCH
+
+# do the files copy
+echo "[-] copying files T=$SECONDS"
+cd $SOURCE_DIR
+cp -pR --parents $(cat release/files_common) $BUILD_DIR/
+cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
+
+# in the directory
+cd $BUILD_DIR
+
+rm -f panda/board/obj/panda.bin.signed
+
+VERSION=$(cat selfdrive/common/version.h | awk -F[\"-]  '{print $2}')
+echo "#define COMMA_VERSION \"$VERSION-release\"" > selfdrive/common/version.h
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "openpilot v$VERSION release"
+git branch --set-upstream-to=origin/$RELEASE_BRANCH
+
+# Build panda firmware
+pushd panda/
+CERT=/data/pandaextra/certs/release RELEASE=1 scons -u .
+mv board/obj/panda.bin.signed /tmp/panda.bin.signed
+popd
+
+# Build
+export PYTHONPATH="$BUILD_DIR"
+scons -j$(nproc)
+
+# Ensure no submodules in release
+if test "$(git submodule--helper list | wc -l)" -gt "0"; then
+  echo "submodules found:"
+  git submodule--helper list
+  exit 1
+fi
+git submodule status
+
+# Cleanup
+find . -name '*.a' -delete
+find . -name '*.o' -delete
+find . -name '*.os' -delete
+find . -name '*.pyc' -delete
+find . -name 'moc_*' -delete
+find . -name '__pycache__' -delete
+rm -rf panda/board panda/certs panda/crypto
+rm -rf .sconsign.dblite Jenkinsfile release/
+rm models/supercombo.dlc
+
+# Move back signed panda fw
+mkdir -p panda/board/obj
+mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
+
+# Restore third_party
+git checkout third_party/
+
+# Mark as prebuilt release
+touch prebuilt
+
+# Add built files to git
+git add -f .
+git commit --amend -m "openpilot v$VERSION"
+
+# Run tests
+TEST_FILES="tools/"
+cd $SOURCE_DIR
+cp -pR -n --parents $TEST_FILES $BUILD_DIR/
+cd $BUILD_DIR
+RELEASE=1 selfdrive/test/test_onroad.py
+#selfdrive/manager/test/test_manager.py
+selfdrive/car/tests/test_car_interfaces.py
+rm -rf $TEST_FILES
+
+if [ ! -z "$PUSH" ]; then
+  echo "[-] pushing T=$SECONDS"
+  git push -f origin $RELEASE_BRANCH
+
+  # Create dashcam
+  git rm selfdrive/car/*/carcontroller.py
+  git commit -m "create dashcam release from release"
+  git push -f origin $RELEASE_BRANCH:$DASHCAM_BRANCH
+fi
+
+echo "[-] done T=$SECONDS"
diff --git a/release/check-submodules.sh b/release/check-submodules.sh
new file mode 100755
index 00000000000000..182042e6b4918d
--- /dev/null
+++ b/release/check-submodules.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+while read hash submodule ref; do
+  git -C $submodule fetch --depth 100 origin master
+  git -C $submodule branch -r --contains $hash | grep "origin/master"
+  if [ "$?" -eq 0 ]; then
+    echo "$submodule ok"
+  else
+    echo "$submodule: $hash is not on master"
+    exit 1
+  fi
+done <<< $(git submodule status --recursive)
diff --git a/release/files_common b/release/files_common
new file mode 100644
index 00000000000000..bf8b22369364cc
--- /dev/null
+++ b/release/files_common
@@ -0,0 +1,617 @@
+.gitignore
+LICENSE
+launch_env.sh
+launch_chffrplus.sh
+launch_openpilot.sh
+
+Jenkinsfile
+SConstruct
+
+README.md
+RELEASES.md
+docs/CARS.md
+docs/CONTRIBUTING.md
+docs/INTEGRATION.md
+docs/LIMITATIONS.md
+site_scons/site_tools/cython.py
+
+common/.gitignore
+common/__init__.py
+common/gpio.py
+common/realtime.py
+common/clock.pyx
+common/timeout.py
+common/ffi_wrapper.py
+common/file_helpers.py
+common/logging_extra.py
+common/numpy_fast.py
+common/markdown.py
+common/params.py
+common/params_pyx.pyx
+common/xattr.py
+common/profiler.py
+common/basedir.py
+common/dict_helpers.py
+common/filter_simple.py
+common/stat_live.py
+common/spinner.py
+common/text_window.py
+common/cython_hacks.py
+common/SConscript
+
+common/kalman/.gitignore
+common/kalman/*
+
+common/transformations/__init__.py
+common/transformations/camera.py
+common/transformations/model.py
+
+common/transformations/SConscript
+common/transformations/coordinates.py
+common/transformations/coordinates.cc
+common/transformations/coordinates.hpp
+common/transformations/orientation.py
+common/transformations/orientation.cc
+common/transformations/orientation.hpp
+common/transformations/transformations.pxd
+common/transformations/transformations.pyx
+
+common/api/__init__.py
+
+models/supercombo.dlc
+models/dmonitoring_model_q.dlc
+
+release/*
+
+tools/lib/*
+
+installer/updater/updater
+
+selfdrive/version.py
+
+selfdrive/__init__.py
+selfdrive/config.py
+selfdrive/crash.py
+selfdrive/swaglog.py
+selfdrive/logmessaged.py
+selfdrive/tombstoned.py
+selfdrive/pandad.py
+selfdrive/updated.py
+selfdrive/rtshield.py
+
+selfdrive/athena/__init__.py
+selfdrive/athena/athenad.py
+selfdrive/athena/manage_athenad.py
+selfdrive/athena/registration.py
+
+selfdrive/boardd/.gitignore
+selfdrive/boardd/SConscript
+selfdrive/boardd/__init__.py
+selfdrive/boardd/boardd.cc
+selfdrive/boardd/boardd.py
+selfdrive/boardd/boardd_api_impl.pyx
+selfdrive/boardd/can_list_to_can_capnp.cc
+selfdrive/boardd/panda.cc
+selfdrive/boardd/panda.h
+selfdrive/boardd/pigeon.cc
+selfdrive/boardd/pigeon.h
+selfdrive/boardd/set_time.py
+
+selfdrive/car/__init__.py
+selfdrive/car/car_helpers.py
+selfdrive/car/fingerprints.py
+selfdrive/car/interfaces.py
+selfdrive/car/vin.py
+selfdrive/car/disable_ecu.py
+selfdrive/car/fw_versions.py
+selfdrive/car/isotp_parallel_query.py
+selfdrive/car/tests/__init__.py
+selfdrive/car/tests/test_car_interfaces.py
+selfdrive/car/chrysler/__init__.py
+selfdrive/car/chrysler/carstate.py
+selfdrive/car/chrysler/interface.py
+selfdrive/car/chrysler/radar_interface.py
+selfdrive/car/chrysler/values.py
+selfdrive/car/chrysler/carcontroller.py
+selfdrive/car/chrysler/chryslercan.py
+selfdrive/car/honda/__init__.py
+selfdrive/car/honda/carstate.py
+selfdrive/car/honda/interface.py
+selfdrive/car/honda/radar_interface.py
+selfdrive/car/honda/values.py
+selfdrive/car/honda/carcontroller.py
+selfdrive/car/honda/hondacan.py
+selfdrive/car/hyundai/__init__.py
+selfdrive/car/hyundai/carstate.py
+selfdrive/car/hyundai/interface.py
+selfdrive/car/hyundai/radar_interface.py
+selfdrive/car/hyundai/values.py
+selfdrive/car/hyundai/carcontroller.py
+selfdrive/car/hyundai/hyundaican.py
+selfdrive/car/toyota/__init__.py
+selfdrive/car/toyota/carstate.py
+selfdrive/car/toyota/interface.py
+selfdrive/car/toyota/radar_interface.py
+selfdrive/car/toyota/values.py
+selfdrive/car/toyota/carcontroller.py
+selfdrive/car/toyota/toyotacan.py
+selfdrive/car/nissan/__init__.py
+selfdrive/car/nissan/carcontroller.py
+selfdrive/car/nissan/carstate.py
+selfdrive/car/nissan/interface.py
+selfdrive/car/nissan/nissancan.py
+selfdrive/car/nissan/radar_interface.py
+selfdrive/car/nissan/values.py
+selfdrive/car/volkswagen/__init__.py
+selfdrive/car/volkswagen/carstate.py
+selfdrive/car/volkswagen/interface.py
+selfdrive/car/volkswagen/radar_interface.py
+selfdrive/car/volkswagen/values.py
+selfdrive/car/volkswagen/carcontroller.py
+selfdrive/car/volkswagen/volkswagencan.py
+selfdrive/car/gm/__init__.py
+selfdrive/car/gm/carstate.py
+selfdrive/car/gm/interface.py
+selfdrive/car/gm/radar_interface.py
+selfdrive/car/gm/values.py
+selfdrive/car/gm/carcontroller.py
+selfdrive/car/gm/gmcan.py
+selfdrive/car/ford/__init__.py
+selfdrive/car/ford/carstate.py
+selfdrive/car/ford/interface.py
+selfdrive/car/ford/radar_interface.py
+selfdrive/car/ford/values.py
+selfdrive/car/ford/carcontroller.py
+selfdrive/car/ford/fordcan.py
+selfdrive/car/subaru/__init__.py
+selfdrive/car/subaru/carstate.py
+selfdrive/car/subaru/interface.py
+selfdrive/car/subaru/radar_interface.py
+selfdrive/car/subaru/values.py
+selfdrive/car/subaru/carcontroller.py
+selfdrive/car/subaru/subarucan.py
+selfdrive/car/mazda/__init__.py
+selfdrive/car/mazda/carstate.py
+selfdrive/car/mazda/interface.py
+selfdrive/car/mazda/radar_interface.py
+selfdrive/car/mazda/values.py
+selfdrive/car/mazda/carcontroller.py
+selfdrive/car/mazda/mazdacan.py
+selfdrive/car/tesla/__init__.py
+selfdrive/car/tesla/teslacan.py
+selfdrive/car/tesla/carcontroller.py
+selfdrive/car/tesla/radar_interface.py
+selfdrive/car/tesla/values.py
+selfdrive/car/tesla/carstate.py
+selfdrive/car/tesla/interface.py
+selfdrive/car/mock/*.py
+
+selfdrive/clocksd/.gitignore
+selfdrive/clocksd/SConscript
+selfdrive/clocksd/clocksd.cc
+
+selfdrive/debug/*.py
+
+selfdrive/common/SConscript
+selfdrive/common/version.h
+
+selfdrive/common/swaglog.h
+selfdrive/common/swaglog.cc
+selfdrive/common/util.cc
+selfdrive/common/util.h
+selfdrive/common/queue.h
+selfdrive/common/clutil.cc
+selfdrive/common/clutil.h
+selfdrive/common/params.h
+selfdrive/common/params.cc
+selfdrive/common/watchdog.cc
+selfdrive/common/watchdog.h
+
+selfdrive/common/modeldata.h
+selfdrive/common/mat.h
+selfdrive/common/timing.h
+
+selfdrive/common/visionimg.cc
+selfdrive/common/visionimg.h
+
+selfdrive/common/gpio.cc
+selfdrive/common/gpio.h
+selfdrive/common/i2c.cc
+selfdrive/common/i2c.h
+
+
+selfdrive/controls/__init__.py
+selfdrive/controls/controlsd.py
+selfdrive/controls/plannerd.py
+selfdrive/controls/radard.py
+selfdrive/controls/lib/__init__.py
+selfdrive/controls/lib/alertmanager.py
+selfdrive/controls/lib/alerts_offroad.json
+selfdrive/controls/lib/events.py
+selfdrive/controls/lib/drive_helpers.py
+selfdrive/controls/lib/latcontrol_pid.py
+selfdrive/controls/lib/latcontrol_indi.py
+selfdrive/controls/lib/latcontrol_lqr.py
+selfdrive/controls/lib/latcontrol_angle.py
+selfdrive/controls/lib/longcontrol.py
+selfdrive/controls/lib/lateral_planner.py
+selfdrive/controls/lib/lane_planner.py
+selfdrive/controls/lib/pid.py
+selfdrive/controls/lib/longitudinal_planner.py
+selfdrive/controls/lib/radar_helpers.py
+selfdrive/controls/lib/vehicle_model.py
+
+selfdrive/controls/lib/cluster/*
+
+selfdrive/controls/lib/lateral_mpc_lib/.gitignore
+selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
+selfdrive/controls/lib/lateral_mpc_lib/*
+selfdrive/controls/lib/longitudinal_mpc_lib/*
+
+selfdrive/hardware/__init__.py
+selfdrive/hardware/base.h
+selfdrive/hardware/base.py
+selfdrive/hardware/hw.h
+selfdrive/hardware/eon/__init__.py
+selfdrive/hardware/eon/androidd.py
+selfdrive/hardware/eon/hardware.h
+selfdrive/hardware/eon/hardware.py
+selfdrive/hardware/eon/neos.py
+selfdrive/hardware/eon/neos.json
+selfdrive/hardware/eon/updater
+selfdrive/hardware/tici/__init__.py
+selfdrive/hardware/tici/hardware.py
+selfdrive/hardware/tici/amplifier.py
+selfdrive/hardware/tici/iwlist.py
+selfdrive/hardware/pc/__init__.py
+selfdrive/hardware/pc/hardware.py
+
+selfdrive/locationd/__init__.py
+selfdrive/locationd/.gitignore
+selfdrive/locationd/SConscript
+selfdrive/locationd/ubloxd.cc
+selfdrive/locationd/ublox_msg.cc
+selfdrive/locationd/ublox_msg.h
+selfdrive/locationd/generated/ubx.cpp
+selfdrive/locationd/generated/ubx.h
+selfdrive/locationd/generated/gps.cpp
+selfdrive/locationd/generated/gps.h
+
+selfdrive/locationd/locationd.h
+selfdrive/locationd/locationd.cc
+selfdrive/locationd/paramsd.py
+selfdrive/locationd/models/.gitignore
+selfdrive/locationd/models/live_kf.py
+selfdrive/locationd/models/car_kf.py
+selfdrive/locationd/models/constants.py
+selfdrive/locationd/models/live_kf.h
+selfdrive/locationd/models/live_kf.cc
+
+selfdrive/locationd/calibrationd.py
+
+selfdrive/logcatd/SConscript
+selfdrive/logcatd/logcatd_android.cc
+selfdrive/logcatd/logcatd_systemd.cc
+
+selfdrive/proclogd/SConscript
+selfdrive/proclogd/main.cc
+selfdrive/proclogd/proclog.cc
+selfdrive/proclogd/proclog.h
+
+selfdrive/loggerd/SConscript
+selfdrive/loggerd/encoder.h
+selfdrive/loggerd/omx_encoder.cc
+selfdrive/loggerd/omx_encoder.h
+selfdrive/loggerd/logger.cc
+selfdrive/loggerd/logger.h
+selfdrive/loggerd/loggerd.cc
+selfdrive/loggerd/bootlog.cc
+selfdrive/loggerd/raw_logger.cc
+selfdrive/loggerd/raw_logger.h
+selfdrive/loggerd/include/msm_media_info.h
+
+selfdrive/loggerd/__init__.py
+selfdrive/loggerd/config.py
+selfdrive/loggerd/uploader.py
+selfdrive/loggerd/deleter.py
+selfdrive/loggerd/xattr_cache.py
+
+selfdrive/sensord/SConscript
+selfdrive/sensord/libdiag.h
+selfdrive/sensord/sensors_qcom.cc
+selfdrive/sensord/sensors_qcom2.cc
+selfdrive/sensord/sensors/*.cc
+selfdrive/sensord/sensors/*.h
+selfdrive/sensord/sensord
+
+selfdrive/thermald/thermald.py
+selfdrive/thermald/power_monitoring.py
+
+selfdrive/test/__init__.py
+selfdrive/test/helpers.py
+selfdrive/test/setup_device_ci.sh
+selfdrive/test/test_fingerprints.py
+selfdrive/test/test_onroad.py
+
+selfdrive/ui/.gitignore
+selfdrive/ui/SConscript
+selfdrive/ui/*.cc
+selfdrive/ui/*.h
+selfdrive/ui/ui
+selfdrive/ui/text
+selfdrive/ui/spinner
+selfdrive/ui/soundd/*.cc
+selfdrive/ui/soundd/*.h
+selfdrive/ui/soundd/soundd
+selfdrive/ui/soundd/.gitignore
+
+selfdrive/ui/qt/*.cc
+selfdrive/ui/qt/*.h
+selfdrive/ui/qt/offroad/*.cc
+selfdrive/ui/qt/offroad/*.h
+selfdrive/ui/qt/offroad/*.qml
+selfdrive/ui/qt/widgets/*.cc
+selfdrive/ui/qt/widgets/*.h
+selfdrive/ui/qt/spinner_aarch64
+selfdrive/ui/qt/text_aarch64
+
+selfdrive/ui/replay/*.cc
+selfdrive/ui/replay/*.h
+
+selfdrive/camerad/SConscript
+selfdrive/camerad/main.cc
+
+selfdrive/camerad/snapshot/*
+selfdrive/camerad/include/*
+selfdrive/camerad/cameras/camera_common.h
+selfdrive/camerad/cameras/camera_common.cc
+selfdrive/camerad/cameras/camera_frame_stream.cc
+selfdrive/camerad/cameras/camera_frame_stream.h
+selfdrive/camerad/cameras/camera_qcom.cc
+selfdrive/camerad/cameras/camera_qcom.h
+selfdrive/camerad/cameras/camera_replay.cc
+selfdrive/camerad/cameras/camera_replay.h
+selfdrive/camerad/cameras/debayer.cl
+selfdrive/camerad/cameras/sensor_i2c.h
+selfdrive/camerad/cameras/sensor2_i2c.h
+
+selfdrive/camerad/transforms/rgb_to_yuv.cc
+selfdrive/camerad/transforms/rgb_to_yuv.h
+selfdrive/camerad/transforms/rgb_to_yuv.cl
+selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+
+selfdrive/camerad/imgproc/conv.cl
+selfdrive/camerad/imgproc/pool.cl
+selfdrive/camerad/imgproc/utils.cc
+selfdrive/camerad/imgproc/utils.h
+
+selfdrive/manager/__init__.py
+selfdrive/manager/build.py
+selfdrive/manager/helpers.py
+selfdrive/manager/manager.py
+selfdrive/manager/process_config.py
+selfdrive/manager/process.py
+selfdrive/manager/test/__init__.py
+selfdrive/manager/test/test_manager.py
+
+selfdrive/modeld/SConscript
+selfdrive/modeld/modeld.cc
+selfdrive/modeld/dmonitoringmodeld.cc
+selfdrive/modeld/constants.py
+selfdrive/modeld/modeld
+selfdrive/modeld/dmonitoringmodeld
+
+selfdrive/modeld/models/commonmodel.cc
+selfdrive/modeld/models/commonmodel.h
+selfdrive/modeld/models/driving.cc
+selfdrive/modeld/models/driving.h
+selfdrive/modeld/models/dmonitoring.cc
+selfdrive/modeld/models/dmonitoring.h
+
+selfdrive/modeld/transforms/loadyuv.cc
+selfdrive/modeld/transforms/loadyuv.h
+selfdrive/modeld/transforms/loadyuv.cl
+selfdrive/modeld/transforms/transform.cc
+selfdrive/modeld/transforms/transform.h
+selfdrive/modeld/transforms/transform.cl
+
+selfdrive/modeld/thneed/thneed.*
+selfdrive/modeld/thneed/serialize.cc
+selfdrive/modeld/thneed/compile.cc
+selfdrive/modeld/thneed/include/*
+
+selfdrive/modeld/runners/snpemodel.cc
+selfdrive/modeld/runners/snpemodel.h
+selfdrive/modeld/runners/thneedmodel.cc
+selfdrive/modeld/runners/thneedmodel.h
+selfdrive/modeld/runners/runmodel.h
+selfdrive/modeld/runners/run.h
+
+selfdrive/monitoring/dmonitoringd.py
+selfdrive/monitoring/driver_monitor.py
+
+selfdrive/assets/.gitignore
+selfdrive/assets/assets.qrc
+selfdrive/assets/*.png
+selfdrive/assets/*.svg
+selfdrive/assets/fonts/*.ttf
+selfdrive/assets/icons/*
+selfdrive/assets/images/*
+selfdrive/assets/offroad/*
+selfdrive/assets/sounds/*
+selfdrive/assets/training/*
+
+third_party/SConscript
+
+third_party/nanovg/*.c
+third_party/nanovg/*.h
+
+third_party/libgralloc/**
+third_party/linux/**
+third_party/opencl/**
+third_party/zlib/*
+third_party/bzip2/*
+third_party/openmax/**
+
+third_party/json11/json11.cpp
+third_party/json11/json11.hpp
+
+third_party/qrcode/*.cc
+third_party/qrcode/*.hpp
+
+third_party/kaitai/*.h
+third_party/kaitai/*.cpp
+
+third_party/libyuv/include/**
+third_party/libyuv/lib/**
+third_party/libyuv/larch64/**
+
+third_party/snpe/include/**
+third_party/snpe/aarch64**
+third_party/snpe/larch64**
+third_party/snpe/dsp**
+
+third_party/acados/x86_64/**
+third_party/acados/aarch64/**
+third_party/acados/larch64/**
+third_party/acados/include/**
+
+third_party/android_frameworks_native/**
+third_party/android_hardware_libhardware/**
+third_party/android_system_core/**
+
+scripts/update_now.sh
+scripts/stop_updater.sh
+
+pyextra/.gitignore
+pyextra/acados_template/**
+
+rednose/**
+
+cereal/.gitignore
+cereal/__init__.py
+cereal/car.capnp
+cereal/legacy.capnp
+cereal/log.capnp
+cereal/services.py
+cereal/SConscript
+cereal/include/**
+cereal/logger/logger.h
+cereal/messaging/.gitignore
+cereal/messaging/__init__.py
+cereal/messaging/bridge.cc
+cereal/messaging/impl_msgq.cc
+cereal/messaging/impl_msgq.h
+cereal/messaging/impl_zmq.cc
+cereal/messaging/impl_zmq.h
+cereal/messaging/messaging.cc
+cereal/messaging/messaging.h
+cereal/messaging/messaging.pxd
+cereal/messaging/messaging_pyx.pyx
+cereal/messaging/msgq.cc
+cereal/messaging/msgq.h
+cereal/messaging/socketmaster.cc
+cereal/visionipc/.gitignore
+cereal/visionipc/__init__.py
+cereal/visionipc/*.cc
+cereal/visionipc/*.h
+cereal/visionipc/*.pyx
+cereal/visionipc/*.pxd
+
+panda/.gitignore
+panda/__init__.py
+panda/board/**
+panda/certs/**
+panda/crypto/**
+panda/examples/query_fw_versions.py
+panda/python/**
+
+opendbc/.gitignore
+opendbc/__init__.py
+opendbc/can/__init__.py
+opendbc/can/SConscript
+opendbc/can/can_define.py
+opendbc/can/common.cc
+opendbc/can/common.h
+opendbc/can/common.pxd
+opendbc/can/common_dbc.h
+opendbc/can/dbc.cc
+opendbc/can/dbc.py
+opendbc/can/dbc_template.cc
+opendbc/can/packer.cc
+opendbc/can/packer.py
+opendbc/can/packer_pyx.pyx
+opendbc/can/parser.cc
+opendbc/can/parser.py
+opendbc/can/parser_pyx.pyx
+opendbc/can/process_dbc.py
+opendbc/can/dbc_out/.gitkeep
+opendbc/can/dbc_out/.gitignore
+
+opendbc/chrysler_pacifica_2017_hybrid.dbc
+opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
+
+opendbc/gm_global_a_powertrain.dbc
+opendbc/gm_global_a_object.dbc
+opendbc/gm_global_a_chassis.dbc
+
+opendbc/ford_fusion_2018_pt.dbc
+opendbc/ford_fusion_2018_adas.dbc
+
+opendbc/honda_accord_2018_can_generated.dbc
+opendbc/acura_ilx_2016_can_generated.dbc
+opendbc/acura_rdx_2018_can_generated.dbc
+opendbc/acura_rdx_2020_can_generated.dbc
+opendbc/honda_civic_touring_2016_can_generated.dbc
+opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
+opendbc/honda_crv_touring_2016_can_generated.dbc
+opendbc/honda_crv_ex_2017_can_generated.dbc
+opendbc/honda_crv_ex_2017_body_generated.dbc
+opendbc/honda_crv_executive_2016_can_generated.dbc
+opendbc/honda_crv_hybrid_2019_can_generated.dbc
+opendbc/honda_fit_ex_2018_can_generated.dbc
+opendbc/honda_odyssey_exl_2018_generated.dbc
+opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
+opendbc/honda_pilot_touring_2017_can_generated.dbc
+opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+opendbc/honda_insight_ex_2019_can_generated.dbc
+opendbc/acura_ilx_2016_nidec.dbc
+
+opendbc/hyundai_kia_generic.dbc
+opendbc/hyundai_kia_mando_front_radar.dbc
+
+opendbc/mazda_2017.dbc
+
+opendbc/nissan_x_trail_2017.dbc
+opendbc/nissan_leaf_2018.dbc
+
+opendbc/subaru_global_2017_generated.dbc
+opendbc/subaru_outback_2015_generated.dbc
+opendbc/subaru_outback_2019_generated.dbc
+opendbc/subaru_forester_2017_generated.dbc
+
+opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+opendbc/toyota_rav4_2017_pt_generated.dbc
+opendbc/toyota_prius_2017_pt_generated.dbc
+opendbc/toyota_corolla_2017_pt_generated.dbc
+opendbc/lexus_rx_350_2016_pt_generated.dbc
+opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+opendbc/toyota_nodsu_pt_generated.dbc
+opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+opendbc/toyota_highlander_2017_pt_generated.dbc
+opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+opendbc/toyota_avalon_2017_pt_generated.dbc
+opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+opendbc/lexus_is_2018_pt_generated.dbc
+opendbc/lexus_ct200h_2018_pt_generated.dbc
+opendbc/lexus_nx300h_2018_pt_generated.dbc
+opendbc/lexus_nx300_2018_pt_generated.dbc
+opendbc/toyota_adas.dbc
+opendbc/toyota_tss2_adas.dbc
+
+opendbc/vw_mqb_2010.dbc
+
+opendbc/tesla_can.dbc
+opendbc/tesla_radar.dbc
diff --git a/release/files_eon b/release/files_eon
new file mode 100644
index 00000000000000..b43bf86b50fd8d
--- /dev/null
+++ b/release/files_eon
@@ -0,0 +1 @@
+README.md
diff --git a/release/files_pc b/release/files_pc
new file mode 100644
index 00000000000000..d00de7e47523a8
--- /dev/null
+++ b/release/files_pc
@@ -0,0 +1,5 @@
+selfdrive/ui/replay/*
+
+third_party/mapbox-gl-native-qt/x86_64/**
+
+third_party/qt-plugins/x86_64/**
diff --git a/release/files_tici b/release/files_tici
new file mode 100644
index 00000000000000..29c8353b81d70d
--- /dev/null
+++ b/release/files_tici
@@ -0,0 +1,31 @@
+third_party/mapbox-gl-native-qt/include/*
+
+selfdrive/timezoned.py
+
+selfdrive/assets/navigation/*
+selfdrive/assets/training_wide/*
+selfdrive/assets/sounds_tici/*
+
+selfdrive/camerad/cameras/camera_qcom2.cc
+selfdrive/camerad/cameras/camera_qcom2.h
+selfdrive/camerad/cameras/real_debayer.cl
+
+selfdrive/hardware/tici/__init__.py
+selfdrive/hardware/tici/hardware.h
+selfdrive/hardware/tici/hardware.py
+selfdrive/hardware/tici/pins.py
+selfdrive/hardware/tici/agnos.py
+selfdrive/hardware/tici/agnos.json
+selfdrive/hardware/tici/amplifier.py
+selfdrive/hardware/tici/updater
+
+selfdrive/ui/qt/spinner_larch64
+selfdrive/ui/qt/text_larch64
+selfdrive/ui/qt/maps/*.cc
+selfdrive/ui/qt/maps/*.h
+
+selfdrive/ui/navd/*.cc
+selfdrive/ui/navd/*.h
+selfdrive/ui/navd/navd
+selfdrive/ui/navd/.gitignore
+
diff --git a/release/identity.sh b/release/identity.sh
new file mode 100644
index 00000000000000..b90372d825efd4
--- /dev/null
+++ b/release/identity.sh
@@ -0,0 +1,5 @@
+export GIT_COMMITTER_NAME="Vehicle Researcher"
+export GIT_COMMITTER_EMAIL="user@comma.ai"
+export GIT_AUTHOR_NAME="Vehicle Researcher"
+export GIT_AUTHOR_EMAIL="user@comma.ai"
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
diff --git a/selfdrive/assets/.gitignore b/selfdrive/assets/.gitignore
new file mode 100644
index 00000000000000..283034ca8b4104
--- /dev/null
+++ b/selfdrive/assets/.gitignore
@@ -0,0 +1 @@
+*.cc
diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc
new file mode 100644
index 00000000000000..39be41aa65d56c
--- /dev/null
+++ b/selfdrive/assets/assets.qrc
@@ -0,0 +1,17 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource>
+  <file>img_continue_triangle.svg</file>
+  <file>img_circled_check.svg</file>
+  <file>img_circled_slash.svg</file>
+  <file>img_eye_open.svg</file>
+  <file>img_eye_closed.svg</file>
+  <file>icons/close.svg</file>
+  <file>offroad/icon_lock_closed.svg</file>
+  <file>offroad/icon_checkmark.svg</file>
+  <file>offroad/icon_warning.png</file>
+  <file>offroad/icon_wifi_strength_low.svg</file>
+  <file>offroad/icon_wifi_strength_medium.svg</file>
+  <file>offroad/icon_wifi_strength_high.svg</file>
+  <file>offroad/icon_wifi_strength_full.svg</file>
+</qresource>
+</RCC>
diff --git a/selfdrive/assets/fonts/Inter-Black.ttf b/selfdrive/assets/fonts/Inter-Black.ttf
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index 00000000000000..565375773523cf
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diff --git a/selfdrive/assets/fonts/Inter-Bold.ttf b/selfdrive/assets/fonts/Inter-Bold.ttf
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index 00000000000000..e98b84ce87fa0b
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diff --git a/selfdrive/assets/fonts/Inter-ExtraBold.ttf b/selfdrive/assets/fonts/Inter-ExtraBold.ttf
new file mode 100644
index 00000000000000..7f16a0f0f59479
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diff --git a/selfdrive/assets/fonts/Inter-ExtraLight.ttf b/selfdrive/assets/fonts/Inter-ExtraLight.ttf
new file mode 100644
index 00000000000000..69426a3eb5660e
Binary files /dev/null and b/selfdrive/assets/fonts/Inter-ExtraLight.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Light.ttf b/selfdrive/assets/fonts/Inter-Light.ttf
new file mode 100644
index 00000000000000..a5f073690d3ffe
Binary files /dev/null and b/selfdrive/assets/fonts/Inter-Light.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Medium.ttf b/selfdrive/assets/fonts/Inter-Medium.ttf
new file mode 100644
index 00000000000000..721147d8311f1b
Binary files /dev/null and b/selfdrive/assets/fonts/Inter-Medium.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Regular.ttf b/selfdrive/assets/fonts/Inter-Regular.ttf
new file mode 100644
index 00000000000000..96fd6a12d0e20d
Binary files /dev/null and b/selfdrive/assets/fonts/Inter-Regular.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-SemiBold.ttf b/selfdrive/assets/fonts/Inter-SemiBold.ttf
new file mode 100644
index 00000000000000..ddb279290ba32b
Binary files /dev/null and b/selfdrive/assets/fonts/Inter-SemiBold.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Thin.ttf b/selfdrive/assets/fonts/Inter-Thin.ttf
new file mode 100644
index 00000000000000..76be6252b91e87
Binary files /dev/null and b/selfdrive/assets/fonts/Inter-Thin.ttf differ
diff --git a/selfdrive/assets/fonts/courbd.ttf b/selfdrive/assets/fonts/courbd.ttf
deleted file mode 100644
index a4f26b4b5e15c2..00000000000000
Binary files a/selfdrive/assets/fonts/courbd.ttf and /dev/null differ
diff --git a/selfdrive/assets/icons/close.svg b/selfdrive/assets/icons/close.svg
new file mode 100644
index 00000000000000..b1e6d3b867580b
--- /dev/null
+++ b/selfdrive/assets/icons/close.svg
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg id="svg4" width="63.238" height="63.238" fill="none" version="1.1" viewBox="0 0 63.238 63.238" xmlns="http://www.w3.org/2000/svg">
+ <path id="path2" d="m 55.7181,63.2381 7.52,-7.52 L 39.1199,31.6 63.219,7.5009 55.7371,0.019 31.6381,24.1181 7.5199,0 0,7.52 24.1181,31.6381 0.019,55.7372 7.5009,63.219 31.6,39.12 Z" fill="#000"/>
+</svg>
diff --git a/selfdrive/assets/images/button_home.png b/selfdrive/assets/images/button_home.png
new file mode 100644
index 00000000000000..9f52faf9e2da48
Binary files /dev/null and b/selfdrive/assets/images/button_home.png differ
diff --git a/selfdrive/assets/images/button_settings.png b/selfdrive/assets/images/button_settings.png
new file mode 100644
index 00000000000000..e04262b887cea5
Binary files /dev/null and b/selfdrive/assets/images/button_settings.png differ
diff --git a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/images/triangle.svg
new file mode 100644
index 00000000000000..9320269bde3cd5
--- /dev/null
+++ b/selfdrive/assets/images/triangle.svg
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="triangle-11"
+   width="75.758675"
+   height="89.153732"
+   viewBox="0 0 75.758675 89.153734"
+   sodipodi:docname="triangle.svg"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1278"
+     inkscape:window-height="1418"
+     id="namedview4"
+     showgrid="false"
+     inkscape:zoom="3.7926636"
+     inkscape:cx="58.39757"
+     inkscape:cy="42.569591"
+     inkscape:window-x="2480"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="triangle-11" />
+  <path
+     id="rect3338"
+     d="m 38.008927,0.00304862 c -1.672524,-0.07115 -3.24191,1.10742798 -4.103539,3.08128498 L 0.63797357,79.511649 c -1.85216397,4.240355 0.59099403,9.61933 3.95882353,9.642068 3.3678291,0.02287 28.1477799,-24.380023 33.9100889,-24.380023 5.762307,0 29.946434,24.380314 32.624742,24.380023 2.678305,-2.9e-4 3.249598,-1.351011 4.021616,-3.231338 0.772007,-1.880328 0.863286,-4.290554 -0.06281,-6.41073 L 58.456744,41.297993 41.823037,3.0843336 C 41.013805,1.2321186 39.577483,0.07190362 38.008927,0.00304862 Z"
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+     style="fill:#cccccc;stroke-width:9.76952076"
+     sodipodi:nodetypes="ccczzzscccc" />
+</svg>
diff --git a/selfdrive/assets/img_circled_check.svg b/selfdrive/assets/img_circled_check.svg
new file mode 100644
index 00000000000000..27c37395b29bda
--- /dev/null
+++ b/selfdrive/assets/img_circled_check.svg
@@ -0,0 +1,4 @@
+<svg width="104" height="104" viewBox="0 0 104 104" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M76.3 36L43.8 67.7L28 51.9" stroke="white" stroke-width="7" stroke-miterlimit="10" stroke-linecap="round" stroke-linejoin="round"/>
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diff --git a/selfdrive/assets/offroad/fcc.html b/selfdrive/assets/offroad/fcc.html
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+<!DOCTYPE html>
+<body>
+  <h2>Supplier's Declaration of Conformity: 47 CFR § 2.1077 Compliance Information</h2>
+
+  <h3>Unique Identifier</h3>
+  <p>comma three</p>
+
+  <h3>Authorized Components</h3>
+
+  <h5>Thundersoft TurboX D845 SOM</h5>
+  <p>FCC ID: 2AOHHTURBOXSOMD845</p>
+
+  <h5>Quectel/EG25-G</h5>
+  <p>FCC ID: XMR201903EG25GM</p>
+  <p>
+  This device complies with Part 15 of the FCC Rules.
+  Operation is subject to the following two conditions:
+
+  <p>(1) this device may not cause harmful interference, and
+  <p>(2) this device must accept any interference received, including interference that may cause undesired operation.</p>
+
+  The following test reports are subject to this declaration:
+  Test report number: HR20191001605
+  Issue date: 2019-2-21
+
+  The following manufacturer/importer/entity (located in the USA) is responsible for this declaration:
+  Company name: Quectel Wireless Solutions Co., Ltd.
+  Name/Title (legal representative): Yin JiXiong
+  Address: 7th Floor, Hongye Building, No.1801 Hongmei Road, Xuhui District, Shanghai 200233, China
+  Phone: +8602150086326 Extension: 800
+  Fax: +862153253668
+  E-mail: johnny.xiang@quectel.com
+  </p>
+
+  <h3>Responsible Party - U.S. Contact Information</h3>
+  <p>comma.ai</p>
+  <p>501 W Broadway St</p>
+  <p>STE A #403</p>
+  <p>San Diego, California</p>
+  <p>92101</p>
+  <p>United States</p>
+  <p>support@comma.ai</p>
+
+  <h3>FCC Compliance Statement</h3>
+  <p> This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation.</p>
+  <p>This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation.</p>
+  <p>If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:</p>
+  <p>Reorient or relocate the receiving antenna.</p>
+  <p>Increase the separation between the equipment and receiver.</p>
+  <p>Connect the equipment to an outlet on a circuit different from that to which the receiver is connected.</p>
+  <p>Consult the dealer or an experienced radio/TV technician for help.</p>
+  <p>Changes or modifications to this product not expressly approved by the party responsible for compliance could void the electromagnetic compatibility (EMC) and wireless compliance and negate your authority to operate the product.</p>
+  <p>This product has demonstrated EMC compliance under conditions that included the use of compliant peripheral devices and shielded cables between system components. It is important that you use compliant peripheral devices and shielded cables between system components to reduce the possibility of causing interference to radios, televisions, and other electronic devices.</p>
+  <p>The radiated output power of this device meets the limits of FCC/IC radio frequency exposure limits. This device should be operated with a minimum separation distance of 20 cm (8 inches) between the equipment and a person's body.</p>
+</body>
+</html>
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new file mode 100644
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index 00000000000000..92b448b0bdcfcb
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diff --git a/selfdrive/assets/offroad/icon_settings.png b/selfdrive/assets/offroad/icon_settings.png
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diff --git a/selfdrive/assets/offroad/icon_speed_limit.png b/selfdrive/assets/offroad/icon_speed_limit.png
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diff --git a/selfdrive/assets/offroad/icon_warning.png b/selfdrive/assets/offroad/icon_warning.png
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new file mode 100644
index 00000000000000..758198e97fcd7e
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+++ b/selfdrive/assets/offroad/icon_wifi_strength_full.svg
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new file mode 100644
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diff --git a/selfdrive/assets/offroad/tc.html b/selfdrive/assets/offroad/tc.html
new file mode 100644
index 00000000000000..f88daf08f24602
--- /dev/null
+++ b/selfdrive/assets/offroad/tc.html
@@ -0,0 +1,44 @@
+<!DOCTYPE html>
+
+<head>
+  <meta charset="utf-8" />
+  <title>openpilot Terms of Service</title>
+  <style type="text/css">
+    p {
+      margin: 45px 0;
+    }
+  </style>
+</head>
+
+<body>
+  <p>The Terms and Conditions below are effective for all users</p>
+  <p>Last Updated on October 18, 2019</p>
+  <p>Please read these Terms of Use (“Terms”) carefully before using openpilot which is open-sourced software developed by Comma.ai, Inc., a corporation organized under the laws of Delaware (“comma,” “us,” “we,” or “our”).</p>
+  <p><strong>Before using and by accessing openpilot, you indicate that you have read, understood, and agree to these Terms.</strong> These Terms apply to all users and others who access or use openpilot. If others use openpilot through your user account or vehicle, you are responsible to ensure that they only use openpilot when it is safe to do so, and in compliance with these Terms and with applicable law. If you disagree with any part of the Terms, you should not access or use openpilot.</p>
+  <h3 id="communications">Communications</h3>
+  <p>You agree that comma may contact you by email or telephone in connection with openpilot or for other business purposes. You may opt out of receiving email messages at any time by contacting us at support@comma.ai.</p>
+  <p>We collect, use, and share information from and about you and your vehicle in connection with openpilot. You consent to comma accessing the systems associated with openpilot, without additional notice or consent, for the purposes of providing openpilot, data collection, software updates, safety and cybersecurity, suspension or removal of your account, and as disclosed in the Privacy Policy (available at https://connect.comma.ai/privacy).</p>
+  <h3 id="safety">Safety</h3>
+  <p>openpilot performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) designed for use in compatible motor vehicles. While using openpilot, it is your responsibility to obey all laws, traffic rules, and traffic regulations governing your vehicle and its operation. Access to and use of openpilot is at your own risk and responsibility, and openpilot should be accessed and/or used only when you can do so safely.</p>
+  <p>openpilot does not make your vehicle “autonomous” or capable of operation without the active monitoring of a licensed driver. It is designed to assist a licensed driver. A licensed driver must pay attention to the road, remain aware of navigation at all times, and be prepared to take immediate action. Failure to do so can cause damage, injury, or death.</p>
+  <h3 id="supported-locations-and-models">Supported Locations and Models</h3>
+  <p>openpilot is compatible only with particular makes and models of vehicles. For a complete list of currently supported vehicles, visit https://comma.ai. openpilot will not function properly when installed in an incompatible vehicle. openpilot is compatible only within the geographical boundaries of the United States of America.</p>
+  <h3 id="indemnification">Indemnification</h3>
+  <p><strong>To the maximum extent allowable by law, you agree to defend, indemnify and hold harmless comma, and its employees, partners, suppliers, contractors, investors, agents, officers, directors, and affiliates, from and against any and all claims, damages, causes of action, penalties, interest, demands, obligations, losses, liabilities, costs or debt, additional taxes, and expenses (including but not limited to attorneys’ fees), resulting from or arising out of (i) your use and access of, or inability to use or access, openpilot, (ii) your breach of these Terms, (iii) the inaccuracy of any information, representation or warranty made by you, (iv) activities of anyone other than you in connection with openpilot conducted through your comma device or account, (v) any other of your activities under or in connection with these Terms or openpilot.</strong></p>
+  <h3 id="limitation-of-liability">Limitation of Liability</h3>
+  <p>In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable for any indirect, incidental, special, consequential or punitive damages, including without limitation, loss of profits, data, use, goodwill, or other intangible losses, resulting from (i) your access to or use of or inability to access or use of the Software; or (ii) any conduct or content of any third party on the Software whether based on warranty, contract, tort (including negligence) or any other legal theory, whether or not we have been informed of the possibility of such damage, and even if a remedy set forth herein is found to have failed of its essential purpose.</p>
+  <h3 id="no-warranty-or-obligations-to-maintain-or-service">No Warranty or Obligations to Maintain or Service</h3>
+  <p>comma provides openpilot without representations, conditions, or warranties of any kind. openpilot is provided on an “AS IS” and “AS AVAILABLE” basis, including with all faults and errors as may occur. To the extent permitted by law and unless prohibited by law, comma on behalf of itself and all persons and parties acting by, through, or for comma, explicitly disclaims all warranties or conditions, express, implied, or collateral, including any implied warranties of merchantability, satisfactory quality, and fitness for a particular purpose in respect of openpilot.</p>
+  <p>To the extent permitted by law, comma does not warrant the operation, performance, or availability of openpilot under all conditions. comma is not responsible for any failures caused by server errors, misdirected or redirected transmissions, failed internet connections, interruptions or failures in the transmission of data, any computer virus, or any acts or omissions of third parties that damage the network or impair wireless service.</p>
+  <p>We undertake reasonable measures to preserve and secure information collected through our openpilot. However, no data collection, transmission or storage system is 100% secure, and there is always a risk that your information may be intercepted without our consent. <em>In using openpilot, you acknowledge that comma is not responsible for intercepted information, and you hereby release us from any and all claims arising out of or related to the use of intercepted information in any unauthorized manner.</em></p>
+  <p>By providing openpilot, comma does not transfer or license its intellectual property or grant rights in its brand names, nor does comma make representations with respect to third-party intellectual property rights.</p>
+  <p>We are not obligated to provide any maintenance or support for openpilot, technical or otherwise. If we voluntarily provide any maintenance or support for openpilot, we may stop any such maintenance, support, or services at any time in our sole discretion.</p>
+  <h3 id="modification-of-software">Modification of Software</h3>
+  <p>In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable if you choose to modify the software.</p>
+  <h3 id="changes">Changes</h3>
+  <p>We reserve the right, at our sole discretion, to modify or replace these Terms at any time. If a revision is material we will provide at least 15 days’ notice prior to any new terms taking effect. What constitutes a material change will be determined at our sole discretion.</p>
+  <p>By continuing to access or use our Software after any revisions become effective, you agree to be bound by the revised terms. If you do not agree to the new terms, you are no longer authorized to use the Software.</p>
+  <h3 id="contact-us">Contact Us</h3>
+  <p>If you have any questions about these Terms, please contact us at support@comma.ai.</p>
+</body>
+</html>
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diff --git a/selfdrive/assets/training/step5.png b/selfdrive/assets/training/step5.png
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index 00000000000000..54aa049dd14adb
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diff --git a/selfdrive/assets/training/step6.png b/selfdrive/assets/training/step6.png
new file mode 100644
index 00000000000000..80cbb0a5587634
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diff --git a/selfdrive/assets/training/step7.png b/selfdrive/assets/training/step7.png
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index 00000000000000..e5e403df225cc8
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diff --git a/selfdrive/assets/training/step8.png b/selfdrive/assets/training/step8.png
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diff --git a/selfdrive/assets/training/step9.png b/selfdrive/assets/training/step9.png
new file mode 100644
index 00000000000000..10dadc2ae07143
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diff --git a/selfdrive/assets/training_wide/step0.png b/selfdrive/assets/training_wide/step0.png
new file mode 100644
index 00000000000000..cff6d4f88bb100
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diff --git a/selfdrive/assets/training_wide/step1.png b/selfdrive/assets/training_wide/step1.png
new file mode 100644
index 00000000000000..e81e2ce8011cf5
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diff --git a/selfdrive/assets/training_wide/step10.png b/selfdrive/assets/training_wide/step10.png
new file mode 100644
index 00000000000000..c595f602a1d7a6
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diff --git a/selfdrive/assets/training_wide/step11.png b/selfdrive/assets/training_wide/step11.png
new file mode 100644
index 00000000000000..26680b9021fdb5
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diff --git a/selfdrive/assets/training_wide/step12.png b/selfdrive/assets/training_wide/step12.png
new file mode 100644
index 00000000000000..c93ea6b251da9c
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diff --git a/selfdrive/assets/training_wide/step13.png b/selfdrive/assets/training_wide/step13.png
new file mode 100644
index 00000000000000..103b6db9749bf0
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diff --git a/selfdrive/assets/training_wide/step14.png b/selfdrive/assets/training_wide/step14.png
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index 00000000000000..cf4f35b7240b5e
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diff --git a/selfdrive/assets/training_wide/step15.png b/selfdrive/assets/training_wide/step15.png
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index 00000000000000..29999f0ada5fc9
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diff --git a/selfdrive/assets/training_wide/step16.png b/selfdrive/assets/training_wide/step16.png
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index 00000000000000..601ff4eb03d47c
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diff --git a/selfdrive/assets/training_wide/step17.png b/selfdrive/assets/training_wide/step17.png
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diff --git a/selfdrive/assets/training_wide/step18.png b/selfdrive/assets/training_wide/step18.png
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diff --git a/selfdrive/assets/training_wide/step2.png b/selfdrive/assets/training_wide/step2.png
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diff --git a/selfdrive/assets/training_wide/step3.png b/selfdrive/assets/training_wide/step3.png
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diff --git a/selfdrive/assets/training_wide/step4.png b/selfdrive/assets/training_wide/step4.png
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index 00000000000000..3f393ca79711c2
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diff --git a/selfdrive/assets/training_wide/step5.png b/selfdrive/assets/training_wide/step5.png
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diff --git a/selfdrive/assets/training_wide/step6.png b/selfdrive/assets/training_wide/step6.png
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diff --git a/selfdrive/assets/training_wide/step7.png b/selfdrive/assets/training_wide/step7.png
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index 00000000000000..8a3d930811c984
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diff --git a/selfdrive/assets/training_wide/step8.png b/selfdrive/assets/training_wide/step8.png
new file mode 100644
index 00000000000000..c559d6a6c14365
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diff --git a/selfdrive/assets/training_wide/step9.png b/selfdrive/assets/training_wide/step9.png
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diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index e3a1bf2f19231e..779045bf976ef1 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -1,50 +1,71 @@
-#!/usr/bin/env python3.7
-import json
-import os
+#!/usr/bin/env python3
+import base64
 import hashlib
 import io
+import json
+import os
+import sys
+import queue
 import random
 import select
 import socket
-import time
 import threading
-import base64
-import requests
-import queue
+import time
 from collections import namedtuple
 from functools import partial
+from typing import Any
+
+import requests
 from jsonrpc import JSONRPCResponseManager, dispatcher
-from websocket import create_connection, WebSocketTimeoutException, ABNF
-from selfdrive.loggerd.config import ROOT
+from websocket import ABNF, WebSocketTimeoutException, WebSocketException, create_connection
 
 import cereal.messaging as messaging
-from common import android
-from common.basedir import PERSIST
+from cereal.services import service_list
 from common.api import Api
+from common.file_helpers import CallbackReader
+from common.basedir import PERSIST
 from common.params import Params
-from cereal.services import service_list
-from selfdrive.swaglog import cloudlog
+from common.realtime import sec_since_boot
+from selfdrive.hardware import HARDWARE, PC
+from selfdrive.loggerd.config import ROOT
+from selfdrive.loggerd.xattr_cache import getxattr, setxattr
+from selfdrive.swaglog import cloudlog, SWAGLOG_DIR
+from selfdrive.version import version, get_version, get_git_remote, get_git_branch, get_git_commit
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
-HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4)
+HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = set([8022])
 
+LOG_ATTR_NAME = 'user.upload'
+LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
+RECONNECT_TIMEOUT_S = 70
+
+RETRY_DELAY = 10  # seconds
+MAX_RETRY_COUNT = 30  # Try for at most 5 minutes if upload fails immediately
+WS_FRAME_SIZE = 4096
+
 dispatcher["echo"] = lambda s: s
-payload_queue = queue.Queue()
-response_queue = queue.Queue()
-upload_queue = queue.Queue()
-cancelled_uploads = set()
-UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id'])
+recv_queue: Any = queue.Queue()
+send_queue: Any = queue.Queue()
+upload_queue: Any = queue.Queue()
+log_send_queue: Any = queue.Queue()
+log_recv_queue: Any = queue.Queue()
+cancelled_uploads: Any = set()
+UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress'], defaults=(0, False, 0))
+
+cur_upload_items = {}
+
 
 def handle_long_poll(ws):
   end_event = threading.Event()
 
   threads = [
-    threading.Thread(target=ws_recv, args=(ws, end_event)),
-    threading.Thread(target=ws_send, args=(ws, end_event)),
-    threading.Thread(target=upload_handler, args=(end_event,))
+    threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
+    threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
+    threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+    threading.Thread(target=log_handler, args=(end_event,), name='log_handler'),
   ] + [
-    threading.Thread(target=jsonrpc_handler, args=(end_event,))
+    threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
     for x in range(HANDLER_THREADS)
   ]
 
@@ -57,42 +78,84 @@ def handle_long_poll(ws):
     end_event.set()
     raise
   finally:
-    for i, thread in enumerate(threads):
+    for thread in threads:
+      cloudlog.debug(f"athena.joining {thread.name}")
       thread.join()
 
+
 def jsonrpc_handler(end_event):
   dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
   while not end_event.is_set():
     try:
-      data = payload_queue.get(timeout=1)
-      response = JSONRPCResponseManager.handle(data, dispatcher)
-      response_queue.put_nowait(response)
+      data = recv_queue.get(timeout=1)
+      if "method" in data:
+        cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}")
+        response = JSONRPCResponseManager.handle(data, dispatcher)
+        send_queue.put_nowait(response.json)
+      elif "id" in data and ("result" in data or "error" in data):
+        log_recv_queue.put_nowait(data)
+      else:
+        raise Exception("not a valid request or response")
     except queue.Empty:
       pass
     except Exception as e:
       cloudlog.exception("athena jsonrpc handler failed")
-      response_queue.put_nowait(json.dumps({"error": str(e)}))
+      send_queue.put_nowait(json.dumps({"error": str(e)}))
+
 
 def upload_handler(end_event):
+  tid = threading.get_ident()
+
   while not end_event.is_set():
+    cur_upload_items[tid] = None
+
     try:
-      item = upload_queue.get(timeout=1)
-      if item.id in cancelled_uploads:
-        cancelled_uploads.remove(item.id)
+      cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True)
+      if cur_upload_items[tid].id in cancelled_uploads:
+        cancelled_uploads.remove(cur_upload_items[tid].id)
         continue
-      _do_upload(item)
+
+      try:
+        def cb(sz, cur):
+          cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)
+
+        _do_upload(cur_upload_items[tid], cb)
+      except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError) as e:
+        cloudlog.warning(f"athena.upload_handler.retry {e} {cur_upload_items[tid]}")
+
+        if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT:
+          item = cur_upload_items[tid]
+          item = item._replace(
+            retry_count=item.retry_count + 1,
+            progress=0,
+            current=False
+          )
+          upload_queue.put_nowait(item)
+          cur_upload_items[tid] = None
+
+          for _ in range(RETRY_DELAY):
+            time.sleep(1)
+            if end_event.is_set():
+              break
+
     except queue.Empty:
       pass
     except Exception:
       cloudlog.exception("athena.upload_handler.exception")
 
-def _do_upload(upload_item):
+
+def _do_upload(upload_item, callback=None):
   with open(upload_item.path, "rb") as f:
     size = os.fstat(f.fileno()).st_size
+
+    if callback:
+      f = CallbackReader(f, callback, size)
+
     return requests.put(upload_item.url,
                         data=f,
                         headers={**upload_item.headers, 'Content-Length': str(size)},
-                        timeout=10)
+                        timeout=30)
+
 
 # security: user should be able to request any message from their car
 @dispatcher.add_method
@@ -108,26 +171,68 @@ def getMessage(service=None, timeout=1000):
 
   return ret.to_dict()
 
+
 @dispatcher.add_method
-def listDataDirectory():
-  files = [os.path.relpath(os.path.join(dp, f), ROOT) for dp, dn, fn in os.walk(ROOT) for f in fn]
+def getVersion():
+  return {
+    "version": get_version(),
+    "remote": get_git_remote(),
+    "branch": get_git_branch(),
+    "commit": get_git_commit(),
+  }
+
+
+@dispatcher.add_method
+def setNavDestination(latitude=0, longitude=0):
+  destination = {
+    "latitude": latitude,
+    "longitude": longitude,
+  }
+  Params().put("NavDestination", json.dumps(destination))
+
+  return {"success": 1}
+
+
+def scan_dir(path, prefix):
+  files = list()
+  # only walk directories that match the prefix
+  # (glob and friends traverse entire dir tree)
+  with os.scandir(path) as i:
+    for e in i:
+      rel_path = os.path.relpath(e.path, ROOT)
+      if e.is_dir(follow_symlinks=False):
+        # add trailing slash
+        rel_path = os.path.join(rel_path, '')
+        # if prefix is a partial dir name, current dir will start with prefix
+        # if prefix is a partial file name, prefix with start with dir name
+        if rel_path.startswith(prefix) or prefix.startswith(rel_path):
+          files.extend(scan_dir(e.path, prefix))
+      else:
+        if rel_path.startswith(prefix):
+          files.append(rel_path)
   return files
 
+@dispatcher.add_method
+def listDataDirectory(prefix=''):
+  return scan_dir(ROOT, prefix)
+
+
 @dispatcher.add_method
 def reboot():
-  thermal_sock = messaging.sub_sock("thermal", timeout=1000)
-  ret = messaging.recv_one(thermal_sock)
-  if ret is None or ret.thermal.started:
+  sock = messaging.sub_sock("deviceState", timeout=1000)
+  ret = messaging.recv_one(sock)
+  if ret is None or ret.deviceState.started:
     raise Exception("Reboot unavailable")
 
   def do_reboot():
     time.sleep(2)
-    android.reboot()
+    HARDWARE.reboot()
 
   threading.Thread(target=do_reboot).start()
 
   return {"success": 1}
 
+
 @dispatcher.add_method
 def uploadFileToUrl(fn, url, headers):
   if len(fn) == 0 or fn[0] == '/' or '..' in fn:
@@ -136,7 +241,7 @@ def uploadFileToUrl(fn, url, headers):
   if not os.path.exists(path):
     return 404
 
-  item = UploadItem(path=path, url=url, headers=headers, created_at=int(time.time()*1000), id=None)
+  item = UploadItem(path=path, url=url, headers=headers, created_at=int(time.time() * 1000), id=None)
   upload_id = hashlib.sha1(str(item).encode()).hexdigest()
   item = item._replace(id=upload_id)
 
@@ -144,9 +249,12 @@ def uploadFileToUrl(fn, url, headers):
 
   return {"enqueued": 1, "item": item._asdict()}
 
+
 @dispatcher.add_method
 def listUploadQueue():
-  return [item._asdict() for item in list(upload_queue.queue)]
+  items = list(upload_queue.queue) + list(cur_upload_items.values())
+  return [i._asdict() for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+
 
 @dispatcher.add_method
 def cancelUpload(upload_id):
@@ -157,11 +265,19 @@ def cancelUpload(upload_id):
   cancelled_uploads.add(upload_id)
   return {"success": 1}
 
+
+@dispatcher.add_method
+def primeActivated(activated):
+  return {"success": 1}
+
+
 def startLocalProxy(global_end_event, remote_ws_uri, local_port):
   try:
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
 
+    cloudlog.debug("athena.startLocalProxy.starting")
+
     params = Params()
     dongle_id = params.get("DongleId").decode('utf8')
     identity_token = Api(dongle_id).get_token()
@@ -182,40 +298,41 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
     for thread in threads:
       thread.start()
 
+    cloudlog.debug("athena.startLocalProxy.started")
     return {"success": 1}
   except Exception as e:
     cloudlog.exception("athenad.startLocalProxy.exception")
     raise e
 
+
 @dispatcher.add_method
 def getPublicKey():
-  if not os.path.isfile(PERSIST+'/comma/id_rsa.pub'):
+  if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
     return None
 
-  with open(PERSIST+'/comma/id_rsa.pub', 'r') as f:
+  with open(PERSIST + '/comma/id_rsa.pub', 'r') as f:
     return f.read()
 
+
 @dispatcher.add_method
 def getSshAuthorizedKeys():
   return Params().get("GithubSshKeys", encoding='utf8') or ''
 
+
 @dispatcher.add_method
 def getSimInfo():
-  sim_state = android.getprop("gsm.sim.state").split(",")
-  network_type = android.getprop("gsm.network.type").split(',')
-  mcc_mnc = android.getprop("gsm.sim.operator.numeric") or None
+  return HARDWARE.get_sim_info()
 
-  sim_id = android.parse_service_call_string(android.service_call(['iphonesubinfo', '11']))
-  cell_data_state = android.parse_service_call_unpack(android.service_call(['phone', '46']), ">q")
-  cell_data_connected = (cell_data_state == 2)
 
-  return {
-    'sim_id': sim_id,
-    'mcc_mnc': mcc_mnc,
-    'network_type': network_type,
-    'sim_state': sim_state,
-    'data_connected': cell_data_connected
-  }
+@dispatcher.add_method
+def getNetworkType():
+  return HARDWARE.get_network_type()
+
+
+@dispatcher.add_method
+def getNetworks():
+  return HARDWARE.get_networks()
+
 
 @dispatcher.add_method
 def takeSnapshot():
@@ -234,6 +351,86 @@ def b64jpeg(x):
   else:
     raise Exception("not available while camerad is started")
 
+
+def get_logs_to_send_sorted():
+  # TODO: scan once then use inotify to detect file creation/deletion
+  curr_time = int(time.time())
+  logs = []
+  for log_entry in os.listdir(SWAGLOG_DIR):
+    log_path = os.path.join(SWAGLOG_DIR, log_entry)
+    try:
+      time_sent = int.from_bytes(getxattr(log_path, LOG_ATTR_NAME), sys.byteorder)
+    except (ValueError, TypeError):
+      time_sent = 0
+    # assume send failed and we lost the response if sent more than one hour ago
+    if not time_sent or curr_time - time_sent > 3600:
+      logs.append(log_entry)
+  # excluding most recent (active) log file
+  return sorted(logs)[:-1]
+
+
+def log_handler(end_event):
+  if PC:
+    return
+
+  log_files = []
+  last_scan = 0
+  while not end_event.is_set():
+    try:
+      curr_scan = sec_since_boot()
+      if curr_scan - last_scan > 10:
+        log_files = get_logs_to_send_sorted()
+        last_scan = curr_scan
+
+      # send one log
+      curr_log = None
+      if len(log_files) > 0:
+        log_entry = log_files.pop() # newest log file
+        cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
+        try:
+          curr_time = int(time.time())
+          log_path = os.path.join(SWAGLOG_DIR, log_entry)
+          setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
+          with open(log_path, "r") as f:
+            jsonrpc = {
+              "method": "forwardLogs",
+              "params": {
+                "logs": f.read()
+              },
+              "jsonrpc": "2.0",
+              "id": log_entry
+            }
+            log_send_queue.put_nowait(json.dumps(jsonrpc))
+            curr_log = log_entry
+        except OSError:
+          pass  # file could be deleted by log rotation
+
+      # wait for response up to ~100 seconds
+      # always read queue at least once to process any old responses that arrive
+      for _ in range(100):
+        if end_event.is_set():
+          break
+        try:
+          log_resp = json.loads(log_recv_queue.get(timeout=1))
+          log_entry = log_resp.get("id")
+          log_success = "result" in log_resp and log_resp["result"].get("success")
+          cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
+          if log_entry and log_success:
+            log_path = os.path.join(SWAGLOG_DIR, log_entry)
+            try:
+              setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
+            except OSError:
+              pass  # file could be deleted by log rotation
+          if curr_log == log_entry:
+            break
+        except queue.Empty:
+          if curr_log is None:
+            break
+
+    except Exception:
+      cloudlog.exception("athena.log_handler.exception")
+
+
 def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
@@ -245,10 +442,14 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
       cloudlog.exception("athenad.ws_proxy_recv.exception")
       break
 
+  cloudlog.debug("athena.ws_proxy_recv closing sockets")
   ssock.close()
   local_sock.close()
+  cloudlog.debug("athena.ws_proxy_recv done closing sockets")
+
   end_event.set()
 
+
 def ws_proxy_send(ws, local_sock, signal_sock, end_event):
   while not end_event.is_set():
     try:
@@ -269,55 +470,102 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
       cloudlog.exception("athenad.ws_proxy_send.exception")
       end_event.set()
 
+  cloudlog.debug("athena.ws_proxy_send closing sockets")
+  signal_sock.close()
+  cloudlog.debug("athena.ws_proxy_send done closing sockets")
+
+
 def ws_recv(ws, end_event):
+  last_ping = int(sec_since_boot() * 1e9)
   while not end_event.is_set():
     try:
-      data = ws.recv()
-      payload_queue.put_nowait(data)
+      opcode, data = ws.recv_data(control_frame=True)
+      if opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY):
+        if opcode == ABNF.OPCODE_TEXT:
+          data = data.decode("utf-8")
+        recv_queue.put_nowait(data)
+      elif opcode == ABNF.OPCODE_PING:
+        last_ping = int(sec_since_boot() * 1e9)
+        Params().put("LastAthenaPingTime", str(last_ping))
     except WebSocketTimeoutException:
-      pass
+      ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping
+      if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
+        cloudlog.exception("athenad.ws_recv.timeout")
+        end_event.set()
     except Exception:
       cloudlog.exception("athenad.ws_recv.exception")
       end_event.set()
 
+
 def ws_send(ws, end_event):
   while not end_event.is_set():
     try:
-      response = response_queue.get(timeout=1)
-      ws.send(response.json)
+      try:
+        data = send_queue.get_nowait()
+      except queue.Empty:
+        data = log_send_queue.get(timeout=1)
+      for i in range(0, len(data), WS_FRAME_SIZE):
+        frame = data[i:i+WS_FRAME_SIZE]
+        last = i + WS_FRAME_SIZE >= len(data)
+        opcode = ABNF.OPCODE_TEXT if i == 0 else ABNF.OPCODE_CONT
+        ws.send_frame(ABNF.create_frame(frame, opcode, last))
     except queue.Empty:
       pass
     except Exception:
       cloudlog.exception("athenad.ws_send.exception")
       end_event.set()
 
+
 def backoff(retries):
   return random.randrange(0, min(128, int(2 ** retries)))
 
-def main(gctx=None):
+
+def main():
   params = Params()
-  dongle_id = params.get("DongleId").decode('utf-8')
-  ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
+  dongle_id = params.get("DongleId", encoding='utf-8')
 
+  ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
   api = Api(dongle_id)
 
   conn_retries = 0
   while 1:
     try:
+      cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri)
       ws = create_connection(ws_uri,
                              cookie="jwt=" + api.get_token(),
-                             enable_multithread=True)
+                             enable_multithread=True,
+                             timeout=30.0)
       cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
-      ws.settimeout(1)
+      params.delete("PrimeRedirected")
+
       conn_retries = 0
+      cur_upload_items.clear()
+
       handle_long_poll(ws)
     except (KeyboardInterrupt, SystemExit):
       break
+    except (ConnectionError, TimeoutError, WebSocketException):
+      conn_retries += 1
+      params.delete("PrimeRedirected")
+      params.delete("LastAthenaPingTime")
+    except socket.timeout:
+      try:
+        r = requests.get("http://api.commadotai.com/v1/me", allow_redirects=False,
+                         headers={"User-Agent": f"openpilot-{version}"}, timeout=15.0)
+        if r.status_code == 302 and r.headers['Location'].startswith("http://u.web2go.com"):
+          params.put_bool("PrimeRedirected", True)
+      except Exception:
+        cloudlog.exception("athenad.socket_timeout.exception")
+      params.delete("LastAthenaPingTime")
     except Exception:
       cloudlog.exception("athenad.main.exception")
+
       conn_retries += 1
+      params.delete("PrimeRedirected")
+      params.delete("LastAthenaPingTime")
 
     time.sleep(backoff(conn_retries))
 
+
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py
index 2954c70b8bbdd7..7bb717e0782a8a 100755
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@@ -3,21 +3,18 @@
 import time
 from multiprocessing import Process
 
-import selfdrive.crash as crash
 from common.params import Params
-from selfdrive.launcher import launcher
+from selfdrive.manager.process import launcher
 from selfdrive.swaglog import cloudlog
 from selfdrive.version import version, dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
+
 def main():
   params = Params()
   dongle_id = params.get("DongleId").decode('utf-8')
-  cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, is_eon=True)
-  crash.bind_user(id=dongle_id)
-  crash.bind_extra(version=version, dirty=dirty, is_eon=True)
-  crash.install()
+  cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty)
 
   try:
     while 1:
@@ -27,10 +24,11 @@ def main():
       proc.join()
       cloudlog.event("athenad exited", exitcode=proc.exitcode)
       time.sleep(5)
-  except:
+  except Exception:
     cloudlog.exception("manage_athenad.exception")
   finally:
     params.delete(ATHENA_MGR_PID_PARAM)
 
+
 if __name__ == '__main__':
-  main()
\ No newline at end of file
+  main()
diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py
new file mode 100755
index 00000000000000..39dfb3c2397d1c
--- /dev/null
+++ b/selfdrive/athena/registration.py
@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+import os
+import time
+import json
+import jwt
+
+from datetime import datetime, timedelta
+from common.api import api_get
+from common.params import Params
+from common.spinner import Spinner
+from common.file_helpers import mkdirs_exists_ok
+from common.basedir import PERSIST
+from selfdrive.controls.lib.alertmanager import set_offroad_alert
+from selfdrive.hardware import HARDWARE
+from selfdrive.swaglog import cloudlog
+
+
+UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
+
+
+def register(show_spinner=False) -> str:
+  params = Params()
+  params.put("SubscriberInfo", HARDWARE.get_subscriber_info())
+
+  IMEI = params.get("IMEI", encoding='utf8')
+  HardwareSerial = params.get("HardwareSerial", encoding='utf8')
+  dongle_id = params.get("DongleId", encoding='utf8')
+  needs_registration = None in (IMEI, HardwareSerial, dongle_id)
+
+  # create a key for auth
+  # your private key is kept on your device persist partition and never sent to our servers
+  # do not erase your persist partition
+  if not os.path.isfile(PERSIST+"/comma/id_rsa.pub"):
+    needs_registration = True
+    cloudlog.warning("generating your personal RSA key")
+    mkdirs_exists_ok(PERSIST+"/comma")
+    assert os.system("openssl genrsa -out "+PERSIST+"/comma/id_rsa.tmp 2048") == 0
+    assert os.system("openssl rsa -in "+PERSIST+"/comma/id_rsa.tmp -pubout -out "+PERSIST+"/comma/id_rsa.tmp.pub") == 0
+    os.rename(PERSIST+"/comma/id_rsa.tmp", PERSIST+"/comma/id_rsa")
+    os.rename(PERSIST+"/comma/id_rsa.tmp.pub", PERSIST+"/comma/id_rsa.pub")
+
+  if needs_registration:
+    if show_spinner:
+      spinner = Spinner()
+      spinner.update("registering device")
+
+    # Create registration token, in the future, this key will make JWTs directly
+    with open(PERSIST+"/comma/id_rsa.pub") as f1, open(PERSIST+"/comma/id_rsa") as f2:
+      public_key = f1.read()
+      private_key = f2.read()
+
+    # Block until we get the imei
+    serial = HARDWARE.get_serial()
+    start_time = time.monotonic()
+    imei1, imei2 = None, None
+    while imei1 is None and imei2 is None:
+      try:
+        imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+      except Exception:
+        cloudlog.exception("Error getting imei, trying again...")
+        time.sleep(1)
+
+      if time.monotonic() - start_time > 60 and show_spinner:
+        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+
+    params.put("IMEI", imei1)
+    params.put("HardwareSerial", serial)
+
+    backoff = 0
+    start_time = time.monotonic()
+    while True:
+      try:
+        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
+        cloudlog.info("getting pilotauth")
+        resp = api_get("v2/pilotauth/", method='POST', timeout=15,
+                       imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
+
+        if resp.status_code in (402, 403):
+          cloudlog.info(f"Unable to register device, got {resp.status_code}")
+          dongle_id = UNREGISTERED_DONGLE_ID
+        else:
+          dongleauth = json.loads(resp.text)
+          dongle_id = dongleauth["dongle_id"]
+        break
+      except Exception:
+        cloudlog.exception("failed to authenticate")
+        backoff = min(backoff + 1, 15)
+        time.sleep(backoff)
+
+      if time.monotonic() - start_time > 60 and show_spinner:
+        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+
+    if show_spinner:
+      spinner.close()
+
+  if dongle_id:
+    params.put("DongleId", dongle_id)
+    set_offroad_alert("Offroad_UnofficialHardware", dongle_id == UNREGISTERED_DONGLE_ID)
+  return dongle_id
+
+
+if __name__ == "__main__":
+  print(register())
diff --git a/selfdrive/athena/test.py b/selfdrive/athena/test.py
deleted file mode 100755
index 0bedfdeb72ae62..00000000000000
--- a/selfdrive/athena/test.py
+++ /dev/null
@@ -1,193 +0,0 @@
-#!/usr/bin/env python3
-import json
-import os
-import requests
-import tempfile
-import time
-import threading
-import queue
-import unittest
-
-from multiprocessing import Process
-from pathlib import Path
-from unittest import mock
-from websocket import ABNF
-from websocket._exceptions import WebSocketConnectionClosedException
-
-from selfdrive.athena import athenad
-from selfdrive.athena.athenad import dispatcher
-from selfdrive.athena.test_helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
-from cereal import messaging
-
-class TestAthenadMethods(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
-    cls.SOCKET_PORT = 45454
-    athenad.ROOT = tempfile.mkdtemp()
-    athenad.Params = MockParams
-    athenad.Api = MockApi
-    athenad.LOCAL_PORT_WHITELIST = set([cls.SOCKET_PORT])
-
-  def test_echo(self):
-    assert dispatcher["echo"]("bob") == "bob"
-
-  def test_getMessage(self):
-    with self.assertRaises(TimeoutError) as _:
-      dispatcher["getMessage"]("controlsState")
-
-    def send_thermal():
-      messaging.context = messaging.Context()
-      pub_sock = messaging.pub_sock("thermal")
-      start = time.time()
-
-      while time.time() - start < 1:
-        msg = messaging.new_message()
-        msg.init('thermal')
-        pub_sock.send(msg.to_bytes())
-        time.sleep(0.01)
-
-    p = Process(target=send_thermal)
-    p.start()
-    time.sleep(0.1)
-    try:
-      thermal = dispatcher["getMessage"]("thermal")
-      assert thermal['thermal']
-    finally:
-      p.terminate()
-
-  def test_listDataDirectory(self):
-    print(dispatcher["listDataDirectory"]())
-
-  @with_http_server
-  def test_do_upload(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
-
-    try:
-      item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
-      try:
-        athenad._do_upload(item)
-      except requests.exceptions.ConnectionError:
-        pass
-
-      item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
-      resp = athenad._do_upload(item)
-      self.assertEqual(resp.status_code, 201)
-    finally:
-      os.unlink(fn)
-
-  @with_http_server
-  def test_uploadFileToUrl(self, host):
-    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    self.assertEqual(not_exists_resp, 404)
-
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
-
-    try:
-      resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
-      self.assertEqual(resp['enqueued'], 1)
-      self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['item'])
-      self.assertIsNotNone(resp['item'].get('id'))
-      self.assertEqual(athenad.upload_queue.qsize(), 1)
-    finally:
-      athenad.upload_queue = queue.Queue()
-      os.unlink(fn)
-
-  @with_http_server
-  def test_upload_handler(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
-
-    end_event = threading.Event()
-    thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
-    thread.start()
-
-    athenad.upload_queue.put_nowait(item)
-    try:
-      now = time.time()
-      while time.time() - now < 5:
-        if athenad.upload_queue.qsize() == 0:
-          break
-      self.assertEqual(athenad.upload_queue.qsize(), 0)
-    finally:
-      end_event.set()
-      athenad.upload_queue = queue.Queue()
-      os.unlink(fn)
-
-  def test_cancelUpload(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id')
-    athenad.upload_queue.put_nowait(item)
-    dispatcher["cancelUpload"](item.id)
-
-    self.assertIn(item.id, athenad.cancelled_uploads)
-
-    end_event = threading.Event()
-    thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
-    thread.start()
-    try:
-      now = time.time()
-      while time.time() - now < 5:
-        if athenad.upload_queue.qsize() == 0 and len(athenad.cancelled_uploads) == 0:
-          break
-      self.assertEqual(athenad.upload_queue.qsize(), 0)
-      self.assertEqual(len(athenad.cancelled_uploads), 0)
-    finally:
-      end_event.set()
-      athenad.upload_queue = queue.Queue()
-
-  def test_listUploadQueue(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id')
-    athenad.upload_queue.put_nowait(item)
-
-    try:
-      items = dispatcher["listUploadQueue"]()
-      self.assertEqual(len(items), 1)
-      self.assertDictEqual(items[0], item._asdict())
-    finally:
-      athenad.upload_queue = queue.Queue()
-
-  @mock.patch('selfdrive.athena.athenad.create_connection')
-  def test_startLocalProxy(self, mock_create_connection):
-    end_event = threading.Event()
-
-    ws_recv = queue.Queue()
-    ws_send = queue.Queue()
-    mock_ws = MockWebsocket(ws_recv, ws_send)
-    mock_create_connection.return_value = mock_ws
-
-    echo_socket = EchoSocket(self.SOCKET_PORT)
-    socket_thread = threading.Thread(target=echo_socket.run)
-    socket_thread.start()
-
-    athenad.startLocalProxy(end_event, 'ws://localhost:1234', self.SOCKET_PORT)
-
-    ws_recv.put_nowait(b'ping')
-    try:
-      recv = ws_send.get(timeout=5)
-      assert recv == (b'ping', ABNF.OPCODE_BINARY), recv
-    finally:
-      # signal websocket close to athenad.ws_proxy_recv
-      ws_recv.put_nowait(WebSocketConnectionClosedException())
-      socket_thread.join()
-
-  def test_getSshAuthorizedKeys(self):
-    keys = dispatcher["getSshAuthorizedKeys"]()
-    self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8'))
-
-  def test_jsonrpc_handler(self):
-    end_event = threading.Event()
-    thread = threading.Thread(target=athenad.jsonrpc_handler, args=(end_event,))
-    thread.daemon = True
-    thread.start()
-    athenad.payload_queue.put_nowait(json.dumps({"method": "echo", "params": ["hello"], "jsonrpc": "2.0", "id": 0}))
-    try:
-      resp = athenad.response_queue.get(timeout=3)
-      self.assertDictEqual(resp.data, {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'})
-    finally:
-      end_event.set()
-      thread.join()
-
-if __name__ == '__main__':
-  unittest.main()
diff --git a/selfdrive/athena/test_helpers.py b/selfdrive/athena/test_helpers.py
deleted file mode 100644
index 2335ce89c500c5..00000000000000
--- a/selfdrive/athena/test_helpers.py
+++ /dev/null
@@ -1,114 +0,0 @@
-import http.server
-import multiprocessing
-import queue
-import random
-import requests
-import socket
-import time
-from functools import wraps
-from multiprocessing import Process
-
-class EchoSocket():
-  def __init__(self, port):
-    self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    self.socket.bind(('127.0.0.1', port))
-    self.socket.listen(1)
-
-  def run(self):
-    conn, client_address = self.socket.accept()
-    conn.settimeout(5.0)
-
-    try:
-      while True:
-        data = conn.recv(4096)
-        if data:
-          print(f'EchoSocket got {data}')
-          conn.sendall(data)
-        else:
-          break
-    finally:
-      conn.shutdown(0)
-      conn.close()
-      self.socket.shutdown(0)
-      self.socket.close()
-
-class MockApi():
-  def __init__(self, dongle_id):
-    pass
-
-  def get_token(self):
-    return "fake-token"
-
-class MockParams():
-  def __init__(self):
-    self.params = {
-      "DongleId": b"0000000000000000",
-      "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private"
-    }
-
-  def get(self, k, encoding=None):
-    ret = self.params.get(k)
-    if ret is not None and encoding is not None:
-      ret = ret.decode(encoding)
-    return ret
-
-class MockWebsocket():
-  def __init__(self, recv_queue, send_queue):
-    self.recv_queue = recv_queue
-    self.send_queue = send_queue
-
-  def recv(self):
-    data = self.recv_queue.get()
-    if isinstance(data, Exception):
-      raise data
-    return data
-
-  def send(self, data, opcode):
-    self.send_queue.put_nowait((data, opcode))
-
-class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
-  def do_PUT(self):
-    length = int(self.headers['Content-Length'])
-    self.rfile.read(length)
-    self.send_response(201, "Created")
-    self.end_headers()
-
-def http_server(port_queue, **kwargs):
-  while 1:
-    try:
-      port = random.randrange(40000, 50000)
-      port_queue.put(port)
-      http.server.test(**kwargs, port=port)
-    except OSError as e:
-      if e.errno == 98:
-        continue
-
-def with_http_server(func):
-  @wraps(func)
-  def inner(*args, **kwargs):
-    port_queue = multiprocessing.Queue()
-    host = '127.0.0.1'
-    p = Process(target=http_server,
-                args=(port_queue,),
-                kwargs={
-                  'HandlerClass': HTTPRequestHandler,
-                  'bind': host})
-    p.start()
-    now = time.time()
-    port = None
-    while 1:
-      if time.time() - now > 5:
-        raise Exception('HTTP Server did not start')
-      try:
-        port = port_queue.get(timeout=0.1)
-        requests.put(f'http://{host}:{port}/qlog.bz2', data='')
-        break
-      except (requests.exceptions.ConnectionError, queue.Empty):
-        time.sleep(0.1)
-
-    try:
-      return func(*args, f'http://{host}:{port}', **kwargs)
-    finally:
-      p.terminate()
-
-  return inner
diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript
index 14c1ff780d2ba6..f2a1f3f7bd9f2d 100644
--- a/selfdrive/boardd/SConscript
+++ b/selfdrive/boardd/SConscript
@@ -1,9 +1,6 @@
-Import('env', 'common', 'messaging')
+Import('env', 'envCython', 'common', 'cereal', 'messaging')
 
-env.Program('boardd.cc', LIBS=['usb-1.0', common, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
+env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
-env.Command(['boardd_api_impl.so'],
-  ['libcan_list_to_can_capnp.a', 'boardd_api_impl.pyx', 'boardd_setup.py'],
-  "cd selfdrive/boardd && python3 boardd_setup.py build_ext --inplace")
-
+envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index ef5faeb36c2734..c6f2cf8ed39867 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -1,943 +1,689 @@
-#include <stdio.h>
-#include <time.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
 #include <sched.h>
-#include <string.h>
 #include <sys/cdefs.h>
-#include <sys/types.h>
-#include <sys/time.h>
 #include <sys/resource.h>
+#include <sys/types.h>
+#include <unistd.h>
 
-#include <assert.h>
-#include <pthread.h>
+#include <algorithm>
+#include <atomic>
+#include <bitset>
+#include <cassert>
+#include <cerrno>
+#include <chrono>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <future>
+#include <thread>
+#include <unordered_map>
 
 #include <libusb-1.0/libusb.h>
 
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
 #include "cereal/gen/cpp/car.capnp.h"
-
-#include "common/util.h"
-#include "common/messaging.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "messaging.hpp"
-
-#include <algorithm>
-
-// double the FIFO size
-#define RECV_SIZE (0x1000)
-#define TIMEOUT 0
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/locationd/ublox_msg.h"
+
+#include "selfdrive/boardd/panda.h"
+#include "selfdrive/boardd/pigeon.h"
+
+// -- Multi-panda conventions --
+// Ordering:
+// - The internal panda will always be the first panda
+// - Consecutive pandas will be sorted based on panda type, and then serial number
+// Connecting:
+// - If a panda connection is dropped, boardd wil reconnect to all pandas
+// - If a panda is added, we will only reconnect when we are offroad
+// CAN buses:
+// - Each panda will have it's block of 4 buses. E.g.: the second panda will use
+//   bus numbers 4, 5, 6 and 7
+// - The internal panda will always be used for accessing the OBD2 port,
+//   and thus firmware queries
+// Safety:
+// - SafetyConfig is a list, which is mapped to the connected pandas
+// - If there are more pandas connected than there are SafetyConfigs,
+//   the excess pandas will remain in "silent" ot "noOutput" mode
+// Ignition:
+// - If any of the ignition sources in any panda is high, ignition is high
 
 #define MAX_IR_POWER 0.5f
 #define MIN_IR_POWER 0.0f
-#define CUTOFF_GAIN 0.015625f  // iso400
-#define SATURATE_GAIN 0.0625f  // iso1600
+#define CUTOFF_IL 200
+#define SATURATE_IL 1600
 #define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
-#define VOLTAGE_K 0.091  // LPF gain for 5s tau (dt/tau / (dt/tau + 1))
-
-namespace {
-
-volatile sig_atomic_t do_exit = 0;
-
-struct __attribute__((packed)) timestamp_t {
-    uint16_t year;
-    uint8_t month;
-    uint8_t day;
-    uint8_t weekday;
-    uint8_t hour;
-    uint8_t minute;
-    uint8_t second;
-};
-
-libusb_context *ctx = NULL;
-libusb_device_handle *dev_handle;
-pthread_mutex_t usb_lock;
-
-bool spoofing_started = false;
-bool fake_send = false;
-bool loopback_can = false;
-cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
-bool is_pigeon = false;
-const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 30;  // turn off charge after 30 hrs
-const float VBATT_START_CHARGING = 11.5;
-const float VBATT_PAUSE_CHARGING = 11.0;
-float voltage_f = 12.5;  // filtered voltage
-uint32_t no_ignition_cnt = 0;
-bool connected_once = false;
-bool ignition_last = false;
-
-bool safety_setter_thread_initialized = false;
-pthread_t safety_setter_thread_handle;
-
-bool pigeon_thread_initialized = false;
-pthread_t pigeon_thread_handle;
-
-bool pigeon_needs_init;
-
-void pigeon_init();
-void *pigeon_thread(void *crap);
-
-void *safety_setter_thread(void *s) {
-  // diagnostic only is the default, needed for VIN query
-  pthread_mutex_lock(&usb_lock);
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
-  pthread_mutex_unlock(&usb_lock);
-
-  char *value_vin;
-  size_t value_vin_sz = 0;
-
-  // switch to SILENT when CarVin param is read
-  while (1) {
-    if (do_exit) return NULL;
-    const int result = read_db_value(NULL, "CarVin", &value_vin, &value_vin_sz);
-    if (value_vin_sz > 0) {
-      // sanity check VIN format
-      assert(value_vin_sz == 17);
-      break;
-    }
-    usleep(100*1000);
-  }
-  LOGW("got CarVin %s", value_vin);
+using namespace std::chrono_literals;
 
-  // VIN query done, stop listening to OBDII
-  pthread_mutex_lock(&usb_lock);
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
-  pthread_mutex_unlock(&usb_lock);
+std::atomic<bool> ignition(false);
+std::atomic<bool> pigeon_active(false);
 
-  char *value;
-  size_t value_sz = 0;
+ExitHandler do_exit;
 
-  LOGW("waiting for params to set safety model");
-  while (1) {
-    if (do_exit) return NULL;
+std::string get_time_str(const struct tm &time) {
+  char s[30] = {'\0'};
+  std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
+  return s;
+}
 
-    const int result = read_db_value(NULL, "CarParams", &value, &value_sz);
-    if (value_sz > 0) break;
-    usleep(100*1000);
+bool check_all_connected(const std::vector<Panda *> &pandas) {
+  for (const auto& panda : pandas) {
+    if (!panda->connected) return false;
   }
-  LOGW("got %d bytes CarParams", value_sz);
+  return true;
+}
 
-  // format for board, make copy due to alignment issues, will be freed on out of scope
-  auto amsg = kj::heapArray<capnp::word>((value_sz / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), value, value_sz);
-  free(value);
+bool safety_setter_thread(std::vector<Panda *> pandas) {
+  LOGD("Starting safety setter thread");
 
-  capnp::FlatArrayMessageReader cmsg(amsg);
-  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
+  // there should be at least one panda connected
+  if (pandas.size() == 0) {
+    return false;
+  }
 
-  int safety_model = int(car_params.getSafetyModel());
-  auto safety_param = car_params.getSafetyParam();
-  LOGW("setting safety model: %d with param %d", safety_model, safety_param);
+  pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327);
 
-  pthread_mutex_lock(&usb_lock);
+  Params p = Params();
 
-  // set in the mutex to avoid race
-  safety_setter_thread_initialized = false;
+  // switch to SILENT when CarVin param is read
+  while (true) {
+    if (do_exit || !check_all_connected(pandas) || !ignition) {
+      return false;
+    }
 
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, safety_model, safety_param, NULL, 0, TIMEOUT);
+    std::string value_vin = p.get("CarVin");
+    if (value_vin.size() > 0) {
+      // sanity check VIN format
+      assert(value_vin.size() == 17);
+      LOGW("got CarVin %s", value_vin.c_str());
+      break;
+    }
+    util::sleep_for(20);
+  }
 
-  pthread_mutex_unlock(&usb_lock);
+  pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1);
 
-  return NULL;
-}
+  std::string params;
+  LOGW("waiting for params to set safety model");
+  while (true) {
+    for (const auto& panda : pandas) {
+      if (do_exit || !panda->connected || !ignition) {
+        return false;
+      }
+    }
 
-// must be called before threads or with mutex
-bool usb_connect() {
-  int err, err2;
-  unsigned char hw_query[1] = {0};
-  unsigned char fw_sig_buf[128];
-  unsigned char fw_sig_hex_buf[16];
-  unsigned char serial_buf[16];
-  const char *serial;
-  int serial_sz = 0;
+    if (p.getBool("ControlsReady")) {
+      params = p.get("CarParams");
+      if (params.size() > 0) break;
+    }
+    util::sleep_for(100);
+  }
+  LOGW("got %d bytes CarParams", params.size());
 
-  ignition_last = false;
+  AlignedBuffer aligned_buf;
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
+  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
+  cereal::CarParams::SafetyModel safety_model;
+  int safety_param;
 
-  dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
-  if (dev_handle == NULL) { goto fail; }
+  auto safety_configs = car_params.getSafetyConfigs();
+  for (uint32_t i=0; i<pandas.size(); i++) {
+    auto panda = pandas[i];
 
-  err = libusb_set_configuration(dev_handle, 1);
-  if (err != 0) { goto fail; }
+    if (safety_configs.size() > i) {
+      safety_model = safety_configs[i].getSafetyModel();
+      safety_param = safety_configs[i].getSafetyParam();
+    } else {
+      // If no safety mode is specified, default to silent
+      safety_model = cereal::CarParams::SafetyModel::SILENT;
+      safety_param = 0;
+    }
 
-  err = libusb_claim_interface(dev_handle, 0);
-  if (err != 0) { goto fail; }
+    LOGW("panda %d: setting safety model: %d with param %d", i, (int)safety_model, safety_param);
 
-  if (loopback_can) {
-    libusb_control_transfer(dev_handle, 0xc0, 0xe5, 1, 0, NULL, 0, TIMEOUT);
+    panda->set_unsafe_mode(0);  // see safety_declarations.h for allowed values
+    panda->set_safety_model(safety_model, safety_param);
   }
 
-  // get panda fw
-  err = libusb_control_transfer(dev_handle, 0xc0, 0xd3, 0, 0, fw_sig_buf, 64, TIMEOUT);
-  err2 = libusb_control_transfer(dev_handle, 0xc0, 0xd4, 0, 0, fw_sig_buf + 64, 64, TIMEOUT);
-  if ((err == 64) && (err2 == 64)) {
-    printf("FW signature read\n");
-    write_db_value(NULL, "PandaFirmware", (const char *)fw_sig_buf, 128);
+  return true;
+}
 
-    for (size_t i = 0; i < 8; i++){
-      fw_sig_hex_buf[2*i] = NIBBLE_TO_HEX(fw_sig_buf[i] >> 4);
-      fw_sig_hex_buf[2*i+1] = NIBBLE_TO_HEX(fw_sig_buf[i] & 0xF);
-    }
-    write_db_value(NULL, "PandaFirmwareHex", (const char *)fw_sig_hex_buf, 16);
+Panda *usb_connect(std::string serial="", uint32_t index=0) {
+  std::unique_ptr<Panda> panda;
+  try {
+    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_CNT));
+  } catch (std::exception &e) {
+    return nullptr;
   }
-  else { goto fail; }
 
-  // get panda serial
-  err = libusb_control_transfer(dev_handle, 0xc0, 0xd0, 0, 0, serial_buf, 16, TIMEOUT);
+  Params params = Params();
 
-  if (err > 0) {
-    serial = (const char *)serial_buf;
-    serial_sz = strnlen(serial, err);
-    write_db_value(NULL, "PandaDongleId", serial, serial_sz);
-    printf("panda serial: %.*s\n", serial_sz, serial);
+  if (getenv("BOARDD_LOOPBACK")) {
+    panda->set_loopback(true);
   }
-  else { goto fail; }
 
   // power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton
 #ifndef __x86_64__
-  if (!connected_once) {
-    libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CDP), 0, NULL, 0, TIMEOUT);
-  }
+  static std::once_flag connected_once;
+  std::call_once(connected_once, &Panda::set_usb_power_mode, panda, cereal::PeripheralState::UsbPowerMode::CDP);
 #endif
-  connected_once = true;
-
-  libusb_control_transfer(dev_handle, 0xc0, 0xc1, 0, 0, hw_query, 1, TIMEOUT);
-
-  hw_type = (cereal::HealthData::HwType)(hw_query[0]);
-  is_pigeon = (hw_type == cereal::HealthData::HwType::GREY_PANDA) ||
-              (hw_type == cereal::HealthData::HwType::BLACK_PANDA) ||
-              (hw_type == cereal::HealthData::HwType::UNO);
-  if (is_pigeon) {
-    LOGW("panda with gps detected");
-    pigeon_needs_init = true;
-    if (!pigeon_thread_initialized) {
-      err = pthread_create(&pigeon_thread_handle, NULL, pigeon_thread, NULL);
-      assert(err == 0);
-      pigeon_thread_initialized = true;
-    }
-  }
 
-  if (hw_type == cereal::HealthData::HwType::UNO){
-    // Get time from system
-    time_t rawtime;
-    time(&rawtime);
+  if (panda->has_rtc) {
+    setenv("TZ","UTC",1);
+    struct tm sys_time = util::get_time();
+    struct tm rtc_time = panda->get_rtc();
 
-    struct tm * sys_time = gmtime(&rawtime);
-
-    // Get time from RTC
-    timestamp_t rtc_time;
-    libusb_control_transfer(dev_handle, 0xc0, 0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time), TIMEOUT);
-
-    //printf("System: %d-%d-%d\t%d:%d:%d\n", 1900 + sys_time->tm_year, 1 + sys_time->tm_mon, sys_time->tm_mday, sys_time->tm_hour, sys_time->tm_min, sys_time->tm_sec);
-    //printf("RTC: %d-%d-%d\t%d:%d:%d\n", rtc_time.year, rtc_time.month, rtc_time.day, rtc_time.hour, rtc_time.minute, rtc_time.second);
-
-    // Update system time from RTC if it looks off, and RTC time is good
-    if (1900 + sys_time->tm_year < 2019 && rtc_time.year >= 2019){
-      LOGE("System time wrong, setting from RTC");
-
-      struct tm new_time = { 0 };
-      new_time.tm_year = rtc_time.year - 1900;
-      new_time.tm_mon  = rtc_time.month - 1;
-      new_time.tm_mday = rtc_time.day;
-      new_time.tm_hour = rtc_time.hour;
-      new_time.tm_min  = rtc_time.minute;
-      new_time.tm_sec  = rtc_time.second;
-
-      setenv("TZ","UTC",1);
-      const struct timeval tv = {mktime(&new_time), 0};
+    if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
+      LOGE("System time wrong, setting from RTC. System: %s RTC: %s",
+           get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
+      const struct timeval tv = {mktime(&rtc_time), 0};
       settimeofday(&tv, 0);
     }
   }
 
-  return true;
-fail:
-  return false;
-}
-
-void usb_retry_connect() {
-  LOG("attempting to connect");
-  while (!usb_connect()) { usleep(100*1000); }
-  LOGW("connected to board");
+  return panda.release();
 }
 
-void handle_usb_issue(int err, const char func[]) {
-  LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
-  if (err == -4) {
-    LOGE("lost connection");
-    usb_retry_connect();
-  }
-  // TODO: check other errors, is simply retrying okay?
-}
-
-void can_recv(PubSocket *publisher) {
-  int err;
-  uint32_t data[RECV_SIZE/4];
-  int recv;
-  uint32_t f1, f2;
-
-  uint64_t start_time = nanos_since_boot();
+void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
+  LOGD("start send thread");
 
-  // do recv
-  pthread_mutex_lock(&usb_lock);
+  AlignedBuffer aligned_buf;
+  Context * context = Context::create();
+  SubSocket * subscriber = SubSocket::create(context, "sendcan");
+  assert(subscriber != NULL);
+  subscriber->setTimeout(100);
 
-  do {
-    err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
-    if (err != 0) { handle_usb_issue(err, __func__); }
-    if (err == -8) { LOGE_100("overflow got 0x%x", recv); };
+  // run as fast as messages come in
+  while (!do_exit) {
+    if (!check_all_connected(pandas)) {
+      do_exit = true;
+      break;
+    }
 
-    // timeout is okay to exit, recv still happened
-    if (err == -7) { break; }
-  } while(err != 0);
+    Message * msg = subscriber->receive();
 
-  pthread_mutex_unlock(&usb_lock);
+    if (!msg) {
+      if (errno == EINTR) {
+        do_exit = true;
+      }
+      continue;
+    }
 
-  // return if length is 0
-  if (recv <= 0) {
-    return;
-  } else if (recv == RECV_SIZE) {
-    LOGW("Receive buffer full");
-  }
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg));
+    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
-  // create message
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(start_time);
-  size_t num_msg = recv / 0x10;
-  auto canData = event.initCan(num_msg);
-
-  // populate message
-  for (int i = 0; i < num_msg; i++) {
-    if (data[i*4] & 4) {
-      // extended
-      canData[i].setAddress(data[i*4] >> 3);
-      //printf("got extended: %x\n", data[i*4] >> 3);
-    } else {
-      // normal
-      canData[i].setAddress(data[i*4] >> 21);
+    //Dont send if older than 1 second
+    if (nanos_since_boot() - event.getLogMonoTime() < 1e9) {
+      if (!fake_send) {
+        for (const auto& panda : pandas) {
+          panda->can_send(event.getSendcan());
+        }
+      }
     }
-    canData[i].setBusTime(data[i*4+1] >> 16);
-    int len = data[i*4+1]&0xF;
-    canData[i].setDat(kj::arrayPtr((uint8_t*)&data[i*4+2], len));
-    canData[i].setSrc((data[i*4+1] >> 4) & 0xff);
-  }
-
-  // send to can
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  publisher->send((char*)bytes.begin(), bytes.size());
-}
 
-void can_health(PubSocket *publisher) {
-  int cnt;
-  int err;
-
-  // copied from panda/board/main.c
-  struct __attribute__((packed)) health {
-    uint32_t uptime;
-    uint32_t voltage;
-    uint32_t current;
-    uint32_t can_rx_errs;
-    uint32_t can_send_errs;
-    uint32_t can_fwd_errs;
-    uint32_t gmlan_send_errs;
-    uint32_t faults;
-    uint8_t ignition_line;
-    uint8_t ignition_can;
-    uint8_t controls_allowed;
-    uint8_t gas_interceptor_detected;
-    uint8_t car_harness_status;
-    uint8_t usb_power_mode;
-    uint8_t safety_model;
-    uint8_t fault_status;
-    uint8_t power_save_enabled;
-  } health;
-
-  // recv from board
-  pthread_mutex_lock(&usb_lock);
-  do {
-    cnt = libusb_control_transfer(dev_handle, 0xc0, 0xd2, 0, 0, (unsigned char*)&health, sizeof(health), TIMEOUT);
-    if (cnt != sizeof(health)) {
-      handle_usb_issue(cnt, __func__);
-    }
-  } while(cnt != sizeof(health));
-  pthread_mutex_unlock(&usb_lock);
-
-  if (spoofing_started) {
-    health.ignition_line = 1;
+    delete msg;
   }
 
-  voltage_f = VOLTAGE_K * (health.voltage / 1000.0) + (1.0 - VOLTAGE_K) * voltage_f;  // LPF
+  delete subscriber;
+  delete context;
+}
 
-  // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
-  if (health.safety_model == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
-    pthread_mutex_lock(&usb_lock);
-    libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
-    pthread_mutex_unlock(&usb_lock);
-  }
+void can_recv_thread(std::vector<Panda *> pandas) {
+  LOGD("start recv thread");
 
-  bool ignition = ((health.ignition_line != 0) || (health.ignition_can != 0));
+  // can = 8006
+  PubMaster pm({"can"});
 
-  if (ignition) {
-    no_ignition_cnt = 0;
-  } else {
-    no_ignition_cnt += 1;
-  }
+  // run at 100hz
+  const uint64_t dt = 10000000ULL;
+  uint64_t next_frame_time = nanos_since_boot() + dt;
 
-#ifndef __x86_64__
-  bool cdp_mode = health.usb_power_mode == (uint8_t)(cereal::HealthData::UsbPowerMode::CDP);
-  bool no_ignition_exp = no_ignition_cnt > NO_IGNITION_CNT_MAX;
-  if ((no_ignition_exp || (voltage_f < VBATT_PAUSE_CHARGING)) && cdp_mode && !ignition) {
-    printf("TURN OFF CHARGING!\n");
-    pthread_mutex_lock(&usb_lock);
-    libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CLIENT), 0, NULL, 0, TIMEOUT);
-    pthread_mutex_unlock(&usb_lock);
-    printf("POWER DOWN DEVICE\n");
-    system("service call power 17 i32 0 i32 1");
-  }
-  if (!no_ignition_exp && (voltage_f > VBATT_START_CHARGING) && !cdp_mode) {
-    printf("TURN ON CHARGING!\n");
-    pthread_mutex_lock(&usb_lock);
-    libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CDP), 0, NULL, 0, TIMEOUT);
-    pthread_mutex_unlock(&usb_lock);
-  }
-  // set power save state enabled when car is off and viceversa when it's on
-  if (ignition && (health.power_save_enabled == 1)) {
-    pthread_mutex_lock(&usb_lock);
-    libusb_control_transfer(dev_handle, 0xc0, 0xe7, 0, 0, NULL, 0, TIMEOUT);
-    pthread_mutex_unlock(&usb_lock);
-  }
-  if (!ignition && (health.power_save_enabled == 0)) {
-    pthread_mutex_lock(&usb_lock);
-    libusb_control_transfer(dev_handle, 0xc0, 0xe7, 1, 0, NULL, 0, TIMEOUT);
-    pthread_mutex_unlock(&usb_lock);
-  }
-  // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
-  if (!ignition && (health.safety_model != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
-    pthread_mutex_lock(&usb_lock);
-    libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
-    pthread_mutex_unlock(&usb_lock);
-  }
-#endif
+  while (!do_exit) {
+    if (!check_all_connected(pandas)){
+      do_exit = true;
+      break;
+    }
 
-  // clear VIN, CarParams, and set new safety on car start
-  if (ignition && !ignition_last) {
-    int result = delete_db_value(NULL, "CarVin");
-    assert((result == 0) || (result == ERR_NO_VALUE));
-    result = delete_db_value(NULL, "CarParams");
-    assert((result == 0) || (result == ERR_NO_VALUE));
+    std::vector<can_frame> raw_can_data;
+    bool comms_healthy = true;
+    for (const auto& panda : pandas) {
+      comms_healthy &= panda->can_receive(raw_can_data);
+    }
 
-    if (!safety_setter_thread_initialized) {
-      err = pthread_create(&safety_setter_thread_handle, NULL, safety_setter_thread, NULL);
-      assert(err == 0);
-      safety_setter_thread_initialized = true;
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    evt.setValid(comms_healthy);
+    auto canData = evt.initCan(raw_can_data.size());
+    for (uint i = 0; i<raw_can_data.size(); i++) {
+      canData[i].setAddress(raw_can_data[i].address);
+      canData[i].setBusTime(raw_can_data[i].busTime);
+      canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
+      canData[i].setSrc(raw_can_data[i].src);
     }
-  }
+    pm.send("can", msg);
 
-  // Get fan RPM
-  uint16_t fan_speed_rpm = 0;
-
-  pthread_mutex_lock(&usb_lock);
-  int sz = libusb_control_transfer(dev_handle, 0xc0, 0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm), TIMEOUT);
-  pthread_mutex_unlock(&usb_lock);
-
-  // Write to rtc once per minute when no ignition present
-  if ((hw_type == cereal::HealthData::HwType::UNO) && !ignition && (no_ignition_cnt % 120 == 1)){
-    // Get time from system
-    time_t rawtime;
-    time(&rawtime);
-
-    struct tm * sys_time = gmtime(&rawtime);
-
-    // Write time to RTC if it looks reasonable
-    if (1900 + sys_time->tm_year >= 2019){
-      pthread_mutex_lock(&usb_lock);
-      libusb_control_transfer(dev_handle, 0x40, 0xa1, (uint16_t)(1900 + sys_time->tm_year), 0, NULL, 0, TIMEOUT);
-      libusb_control_transfer(dev_handle, 0x40, 0xa2, (uint16_t)(1 + sys_time->tm_mon), 0, NULL, 0, TIMEOUT);
-      libusb_control_transfer(dev_handle, 0x40, 0xa3, (uint16_t)sys_time->tm_mday, 0, NULL, 0, TIMEOUT);
-      // libusb_control_transfer(dev_handle, 0x40, 0xa4, (uint16_t)(1 + sys_time->tm_wday), 0, NULL, 0, TIMEOUT);
-      libusb_control_transfer(dev_handle, 0x40, 0xa5, (uint16_t)sys_time->tm_hour, 0, NULL, 0, TIMEOUT);
-      libusb_control_transfer(dev_handle, 0x40, 0xa6, (uint16_t)sys_time->tm_min, 0, NULL, 0, TIMEOUT);
-      libusb_control_transfer(dev_handle, 0x40, 0xa7, (uint16_t)sys_time->tm_sec, 0, NULL, 0, TIMEOUT);
-      pthread_mutex_unlock(&usb_lock);
+    uint64_t cur_time = nanos_since_boot();
+    int64_t remaining = next_frame_time - cur_time;
+    if (remaining > 0) {
+      std::this_thread::sleep_for(std::chrono::nanoseconds(remaining));
+    } else {
+      if (ignition) {
+        LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
+      }
+      next_frame_time = cur_time;
     }
+
+    next_frame_time += dt;
   }
+}
 
-  ignition_last = ignition;
+void send_empty_peripheral_state(PubMaster *pm) {
+  MessageBuilder msg;
+  auto peripheralState  = msg.initEvent().initPeripheralState();
+  peripheralState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
+  pm->send("peripheralState", msg);
+}
 
-  // create message
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto healthData = event.initHealth();
-
-  // set fields
-  healthData.setUptime(health.uptime);
-  healthData.setVoltage(health.voltage);
-  healthData.setCurrent(health.current);
-  healthData.setIgnitionLine(health.ignition_line);
-  healthData.setIgnitionCan(health.ignition_can);
-  healthData.setControlsAllowed(health.controls_allowed);
-  healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
-  healthData.setHasGps(is_pigeon);
-  healthData.setCanRxErrs(health.can_rx_errs);
-  healthData.setCanSendErrs(health.can_send_errs);
-  healthData.setCanFwdErrs(health.can_fwd_errs);
-  healthData.setGmlanSendErrs(health.gmlan_send_errs);
-  healthData.setHwType(hw_type);
-  healthData.setUsbPowerMode(cereal::HealthData::UsbPowerMode(health.usb_power_mode));
-  healthData.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_model));
-  healthData.setFanSpeedRpm(fan_speed_rpm);
-  healthData.setFaultStatus(cereal::HealthData::FaultStatus(health.fault_status));
-  healthData.setPowerSaveEnabled((bool)(health.power_save_enabled));
-
-  // send to health
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  publisher->send((char*)bytes.begin(), bytes.size());
-
-  pthread_mutex_lock(&usb_lock);
-
-  // send heartbeat back to panda
-  libusb_control_transfer(dev_handle, 0x40, 0xf3, 1, 0, NULL, 0, TIMEOUT);
-
-  pthread_mutex_unlock(&usb_lock);
+void send_empty_panda_state(PubMaster *pm) {
+  MessageBuilder msg;
+  auto pandaStates = msg.initEvent().initPandaStates(1);
+  pandaStates[0].setPandaType(cereal::PandaState::PandaType::UNKNOWN);
+  pm->send("pandaStates", msg);
 }
 
+bool send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
+  bool ignition_local = false;
 
-void can_send(SubSocket *subscriber) {
-  int err;
+  // build msg
+  MessageBuilder msg;
+  auto evt = msg.initEvent();
+  auto pss = evt.initPandaStates(pandas.size());
 
-  // recv from sendcan
-  Message * msg = subscriber->receive();
+  std::vector<health_t> pandaStates;
+  for (const auto& panda : pandas){
+    health_t pandaState = panda->get_state();
 
-  auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), msg->getData(), msg->getSize());
+    if (spoofing_started) {
+      pandaState.ignition_line = 1;
+    }
 
-  capnp::FlatArrayMessageReader cmsg(amsg);
-  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-  if (nanos_since_boot() - event.getLogMonoTime() > 1e9) {
-    //Older than 1 second. Dont send.
-    delete msg;
-    return;
+    ignition_local |= ((pandaState.ignition_line != 0) || (pandaState.ignition_can != 0));
+
+    pandaStates.push_back(pandaState);
   }
-  int msg_count = event.getSendcan().size();
 
-  uint32_t *send = (uint32_t*)malloc(msg_count*0x10);
-  memset(send, 0, msg_count*0x10);
+  for (uint32_t i=0; i<pandas.size(); i++) {
+    auto panda = pandas[i];
+    auto pandaState = pandaStates[i];
 
-  for (int i = 0; i < msg_count; i++) {
-    auto cmsg = event.getSendcan()[i];
-    if (cmsg.getAddress() >= 0x800) {
-      // extended
-      send[i*4] = (cmsg.getAddress() << 3) | 5;
-    } else {
-      // normal
-      send[i*4] = (cmsg.getAddress() << 21) | 1;
+    // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
+    if (pandaState.safety_model == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
+      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
-    assert(cmsg.getDat().size() <= 8);
-    send[i*4+1] = cmsg.getDat().size() | (cmsg.getSrc() << 4);
-    memcpy(&send[i*4+2], cmsg.getDat().begin(), cmsg.getDat().size());
-  }
 
-  // release msg
-  delete msg;
+  #ifndef __x86_64__
+    bool power_save_desired = !ignition_local && !pigeon_active;
+    if (pandaState.power_save_enabled != power_save_desired) {
+      panda->set_power_saving(power_save_desired);
+    }
 
-  // send to board
-  int sent;
-  pthread_mutex_lock(&usb_lock);
+    // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
+    if (!ignition_local && (pandaState.safety_model != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
+      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+    }
+  #endif
 
-  if (!fake_send) {
-    do {
-      err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
-      if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
-    } while(err != 0);
-  }
+    // TODO: do we still need this?
+    if (!panda->comms_healthy) {
+      evt.setValid(false);
+    }
 
-  pthread_mutex_unlock(&usb_lock);
+    auto ps = pss[i];
+    ps.setUptime(pandaState.uptime);
+    ps.setIgnitionLine(pandaState.ignition_line);
+    ps.setIgnitionCan(pandaState.ignition_can);
+    ps.setControlsAllowed(pandaState.controls_allowed);
+    ps.setGasInterceptorDetected(pandaState.gas_interceptor_detected);
+    ps.setCanRxErrs(pandaState.can_rx_errs);
+    ps.setCanSendErrs(pandaState.can_send_errs);
+    ps.setCanFwdErrs(pandaState.can_fwd_errs);
+    ps.setGmlanSendErrs(pandaState.gmlan_send_errs);
+    ps.setPandaType(panda->hw_type);
+    ps.setSafetyModel(cereal::CarParams::SafetyModel(pandaState.safety_model));
+    ps.setSafetyParam(pandaState.safety_param);
+    ps.setFaultStatus(cereal::PandaState::FaultStatus(pandaState.fault_status));
+    ps.setPowerSaveEnabled((bool)(pandaState.power_save_enabled));
+    ps.setHeartbeatLost((bool)(pandaState.heartbeat_lost));
+    ps.setHarnessStatus(cereal::PandaState::HarnessStatus(pandaState.car_harness_status));
+
+    // Convert faults bitset to capnp list
+    std::bitset<sizeof(pandaState.faults) * 8> fault_bits(pandaState.faults);
+    auto faults = ps.initFaults(fault_bits.count());
+
+    size_t j = 0;
+    for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
+        f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_TICK); f++) {
+      if (fault_bits.test(f)) {
+        faults.set(j, cereal::PandaState::FaultType(f));
+        j++;
+      }
+    }
+  }
 
-  // done
-  free(send);
+  pm->send("pandaStates", msg);
+  return ignition_local;
 }
 
-// **** threads ****
+void send_peripheral_state(PubMaster *pm, Panda *panda) {
+  health_t pandaState = panda->get_state();
 
-void *can_send_thread(void *crap) {
-  LOGD("start send thread");
+  // build msg
+  MessageBuilder msg;
+  auto evt = msg.initEvent();
+  evt.setValid(panda->comms_healthy);
 
-  // sendcan = 8017
-  Context * context = Context::create();
-  SubSocket * subscriber = SubSocket::create(context, "sendcan");
-  assert(subscriber != NULL);
+  auto ps = evt.initPeripheralState();
+  ps.setPandaType(panda->hw_type);
 
-
-  // drain sendcan to delete any stale messages from previous runs
-  while (true){
-    Message * msg = subscriber->receive(true);
-    if (msg == NULL){
-      break;
+  if (Hardware::TICI()) {
+    double read_time = millis_since_boot();
+    ps.setVoltage(std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()));
+    ps.setCurrent(std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()));
+    read_time = millis_since_boot() - read_time;
+    if (read_time > 50) {
+      LOGW("reading hwmon took %lfms", read_time);
     }
-    delete msg;
+  } else {
+    ps.setVoltage(pandaState.voltage);
+    ps.setCurrent(pandaState.current);
   }
 
-  // run as fast as messages come in
-  while (!do_exit) {
-    can_send(subscriber);
-  }
-  return NULL;
-}
+  uint16_t fan_speed_rpm = panda->get_fan_speed();
+  ps.setUsbPowerMode(cereal::PeripheralState::UsbPowerMode(pandaState.usb_power_mode));
+  ps.setFanSpeedRpm(fan_speed_rpm);
 
-void *can_recv_thread(void *crap) {
-  LOGD("start recv thread");
+  pm->send("peripheralState", msg);
+}
 
-  // can = 8006
-  Context * c = Context::create();
-  PubSocket * publisher = PubSocket::create(c, "can");
-  assert(publisher != NULL);
+void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
+  Params params;
+  Panda *peripheral_panda = pandas[0];
+  bool ignition_last = false;
+  std::future<bool> safety_future;
 
-  // run at 100hz
-  const uint64_t dt = 10000000ULL;
-  uint64_t next_frame_time = nanos_since_boot() + dt;
+  LOGD("start panda state thread");
 
+  // run at 2hz
   while (!do_exit) {
-    can_recv(publisher);
+    if(!check_all_connected(pandas)) {
+      do_exit = true;
+      break;
+    }
 
-    uint64_t cur_time = nanos_since_boot();
-    int64_t remaining = next_frame_time - cur_time;
-    if (remaining > 0){
-      useconds_t sleep = remaining / 1000;
-      usleep(sleep);
-    } else {
-      LOGW("missed cycle");
-      next_frame_time = cur_time;
+    send_peripheral_state(pm, peripheral_panda);
+    ignition = send_panda_states(pm, pandas, spoofing_started);
+
+    // check if we have new pandas and are offroad
+    if (!ignition && (pandas.size() != Panda::list().size())) {
+      LOGW("Reconnecting to changed amount of pandas!");
+      do_exit = true;
+      break;
     }
 
-    next_frame_time += dt;
-  }
-  return NULL;
-}
+    // clear VIN, CarParams, and set new safety on car start
+    if (ignition && !ignition_last) {
+      params.clearAll(CLEAR_ON_IGNITION_ON);
+      if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
+        safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
+      } else {
+        LOGW("Safety setter thread already running");
+      }
+    } else if (!ignition && ignition_last) {
+      params.clearAll(CLEAR_ON_IGNITION_OFF);
+    }
 
-void *can_health_thread(void *crap) {
-  LOGD("start health thread");
-  // health = 8011
-  Context * c = Context::create();
-  PubSocket * publisher = PubSocket::create(c, "health");
-  assert(publisher != NULL);
+    ignition_last = ignition;
 
-  // run at 2hz
-  while (!do_exit) {
-    can_health(publisher);
-    usleep(500*1000);
+    for (const auto &panda : pandas) {
+      panda->send_heartbeat();
+    }
+    util::sleep_for(500);
   }
-  return NULL;
 }
 
-void *hardware_control_thread(void *crap) {
-  LOGD("start hardware control thread");
-  Context * c = Context::create();
-  SubSocket * thermal_sock = SubSocket::create(c, "thermal");
-  SubSocket * front_frame_sock = SubSocket::create(c, "frontFrame");
-  assert(thermal_sock != NULL);
-  assert(front_frame_sock != NULL);
-
-  Poller * poller = Poller::create({thermal_sock, front_frame_sock});
-
-  // Wait for hardware type to be set.
-  while (hw_type == cereal::HealthData::HwType::UNKNOWN){
-    usleep(100*1000);
-  }
-  // Only control fan speed on UNO
-  if (hw_type != cereal::HealthData::HwType::UNO) return NULL;
 
+void peripheral_control_thread(Panda *panda) {
+  LOGD("start peripheral control thread");
+  SubMaster sm({"deviceState", "driverCameraState"});
 
   uint64_t last_front_frame_t = 0;
   uint16_t prev_fan_speed = 999;
   uint16_t ir_pwr = 0;
   uint16_t prev_ir_pwr = 999;
+  bool prev_charging_disabled = false;
   unsigned int cnt = 0;
 
-  while (!do_exit) {
-    cnt++;
-    for (auto sock : poller->poll(1000)){
-      Message * msg = sock->receive();
-      if (msg == NULL) continue;
-
-      auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
-      memcpy(amsg.begin(), msg->getData(), msg->getSize());
+  FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
 
-      delete msg;
-
-      capnp::FlatArrayMessageReader cmsg(amsg);
-      cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-      auto type = event.which();
-      if(type == cereal::Event::THERMAL){
-        uint16_t fan_speed = event.getThermal().getFanSpeed();
-        if (fan_speed != prev_fan_speed || cnt % 100 == 0){
-          pthread_mutex_lock(&usb_lock);
-          libusb_control_transfer(dev_handle, 0x40, 0xb1, fan_speed, 0, NULL, 0, TIMEOUT);
-          pthread_mutex_unlock(&usb_lock);
-
-          prev_fan_speed = fan_speed;
-        }
-      } else if (type == cereal::Event::FRONT_FRAME){
-        float cur_front_gain = event.getFrontFrame().getGainFrac();
-        last_front_frame_t = event.getLogMonoTime();
-
-        if (cur_front_gain <= CUTOFF_GAIN) {
-          ir_pwr = 100.0 * MIN_IR_POWER;
-        } else if (cur_front_gain > SATURATE_GAIN) {
-          ir_pwr = 100.0 * MAX_IR_POWER;
+  while (!do_exit && panda->connected) {
+    cnt++;
+    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
+
+    if (!Hardware::PC() && sm.updated("deviceState")) {
+      // Charging mode
+      bool charging_disabled = sm["deviceState"].getDeviceState().getChargingDisabled();
+      if (charging_disabled != prev_charging_disabled) {
+        if (charging_disabled) {
+          panda->set_usb_power_mode(cereal::PeripheralState::UsbPowerMode::CLIENT);
+          LOGW("TURN OFF CHARGING!\n");
         } else {
-          ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_front_gain - CUTOFF_GAIN) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_GAIN - CUTOFF_GAIN)));
+          panda->set_usb_power_mode(cereal::PeripheralState::UsbPowerMode::CDP);
+          LOGW("TURN ON CHARGING!\n");
         }
+        prev_charging_disabled = charging_disabled;
+      }
+    }
+
+    // Other pandas don't have fan/IR to control
+    if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue;
+    if (sm.updated("deviceState")) {
+      // Fan speed
+      uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
+      if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
+        panda->set_fan_speed(fan_speed);
+        prev_fan_speed = fan_speed;
       }
     }
+    if (sm.updated("driverCameraState")) {
+      auto event = sm["driverCameraState"];
+      int cur_integ_lines = event.getDriverCameraState().getIntegLines();
+      float cur_gain = event.getDriverCameraState().getGain();
+
+      if (Hardware::TICI()) {
+        cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain);
+      }
+      last_front_frame_t = event.getLogMonoTime();
 
+      if (cur_integ_lines <= CUTOFF_IL) {
+        ir_pwr = 100.0 * MIN_IR_POWER;
+      } else if (cur_integ_lines > SATURATE_IL) {
+        ir_pwr = 100.0 * MAX_IR_POWER;
+      } else {
+        ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL)));
+      }
+    }
     // Disable ir_pwr on front frame timeout
     uint64_t cur_t = nanos_since_boot();
-    if (cur_t - last_front_frame_t > 1e9){
+    if (cur_t - last_front_frame_t > 1e9) {
       ir_pwr = 0;
     }
 
-    if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0){
-      pthread_mutex_lock(&usb_lock);
-      libusb_control_transfer(dev_handle, 0x40, 0xb0, ir_pwr, 0, NULL, 0, TIMEOUT);
-      pthread_mutex_unlock(&usb_lock);
+    if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) {
+      panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
 
-  }
-
-  delete poller;
-  delete thermal_sock;
-  delete c;
-
-  return NULL;
-}
-
-#define pigeon_send(x) _pigeon_send(x, sizeof(x)-1)
+    // Write to rtc once per minute when no ignition present
+    if ((panda->has_rtc) && !ignition && (cnt % 120 == 1)) {
+      // Write time to RTC if it looks reasonable
+      setenv("TZ","UTC",1);
+      struct tm sys_time = util::get_time();
 
-void hexdump(unsigned char *d, int l) {
-  for (int i = 0; i < l; i++) {
-    if (i!=0 && i%0x10 == 0) printf("\n");
-    printf("%2.2X ", d[i]);
-  }
-  printf("\n");
-}
+      if (util::time_valid(sys_time)) {
+        struct tm rtc_time = panda->get_rtc();
+        double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
 
-void _pigeon_send(const char *dat, int len) {
-  int sent;
-  unsigned char a[0x20];
-  int err;
-  a[0] = 1;
-  for (int i=0; i<len; i+=0x20) {
-    int ll = std::min(0x20, len-i);
-    memcpy(&a[1], &dat[i], ll);
-    pthread_mutex_lock(&usb_lock);
-    err = libusb_bulk_transfer(dev_handle, 2, a, ll+1, &sent, TIMEOUT);
-    if (err < 0) { handle_usb_issue(err, __func__); }
-    /*assert(err == 0);
-    assert(sent == ll+1);*/
-    //hexdump(a, ll+1);
-    pthread_mutex_unlock(&usb_lock);
+        if (std::abs(seconds) > 1.1) {
+          panda->set_rtc(sys_time);
+          LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
+                seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
+        }
+      }
+    }
   }
 }
 
-void pigeon_set_power(int power) {
-  pthread_mutex_lock(&usb_lock);
-  int err = libusb_control_transfer(dev_handle, 0xc0, 0xd9, power, 0, NULL, 0, TIMEOUT);
-  if (err < 0) { handle_usb_issue(err, __func__); }
-  pthread_mutex_unlock(&usb_lock);
+static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
+  // create message
+  MessageBuilder msg;
+  msg.initEvent().setUbloxRaw(capnp::Data::Reader((uint8_t*)dat.data(), dat.length()));
+  pm.send("ubloxRaw", msg);
 }
 
-void pigeon_set_baud(int baud) {
-  int err;
-  pthread_mutex_lock(&usb_lock);
-  err = libusb_control_transfer(dev_handle, 0xc0, 0xe2, 1, 0, NULL, 0, TIMEOUT);
-  if (err < 0) { handle_usb_issue(err, __func__); }
-  err = libusb_control_transfer(dev_handle, 0xc0, 0xe4, 1, baud/300, NULL, 0, TIMEOUT);
-  if (err < 0) { handle_usb_issue(err, __func__); }
-  pthread_mutex_unlock(&usb_lock);
-}
+void pigeon_thread(Panda *panda) {
+  PubMaster pm({"ubloxRaw"});
+  bool ignition_last = false;
+
+  Pigeon *pigeon = Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda);
+
+  std::unordered_map<char, uint64_t> last_recv_time;
+  std::unordered_map<char, int64_t> cls_max_dt = {
+    {(char)ublox::CLASS_NAV, int64_t(900000000ULL)}, // 0.9s
+    {(char)ublox::CLASS_RXM, int64_t(900000000ULL)}, // 0.9s
+  };
+
+  while (!do_exit && panda->connected) {
+    bool need_reset = false;
+    bool ignition_local = ignition;
+    std::string recv = pigeon->receive();
+
+    // Parse message header
+    if (ignition_local && recv.length() >= 3) {
+      if (recv[0] == (char)ublox::PREAMBLE1 && recv[1] == (char)ublox::PREAMBLE2) {
+        const char msg_cls = recv[2];
+        uint64_t t = nanos_since_boot();
+        if (t > last_recv_time[msg_cls]) {
+          last_recv_time[msg_cls] = t;
+        }
+      }
+    }
 
-void pigeon_init() {
-  usleep(1000*1000);
-  LOGW("panda GPS start");
-
-  // power off pigeon
-  pigeon_set_power(0);
-  usleep(100*1000);
-
-  // 9600 baud at init
-  pigeon_set_baud(9600);
-
-  // power on pigeon
-  pigeon_set_power(1);
-  usleep(500*1000);
-
-  // baud rate upping
-  pigeon_send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A");
-  usleep(100*1000);
-
-  // set baud rate to 460800
-  pigeon_set_baud(460800);
-  usleep(100*1000);
-
-  // init from ubloxd
-  // To generate this data, run test/ubloxd.py with the print statements enabled in the write function in panda/python/serial.py 
-  pigeon_send("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F");
-  pigeon_send("\xB5\x62\x06\x3E\x00\x00\x44\xD2");
-  pigeon_send("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35");
-  pigeon_send("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80");
-  pigeon_send("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85");
-  pigeon_send("\xB5\x62\x06\x00\x00\x00\x06\x18");
-  pigeon_send("\xB5\x62\x06\x00\x01\x00\x01\x08\x22");
-  pigeon_send("\xB5\x62\x06\x00\x01\x00\x02\x09\x23");
-  pigeon_send("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24");
-  pigeon_send("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10");
-  pigeon_send("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63");
-  pigeon_send("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37");
-  pigeon_send("\xB5\x62\x06\x24\x00\x00\x2A\x84");
-  pigeon_send("\xB5\x62\x06\x23\x00\x00\x29\x81");
-  pigeon_send("\xB5\x62\x06\x1E\x00\x00\x24\x72");
-  pigeon_send("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51");
-  pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70");
-  pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C");
-  pigeon_send("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70");
-
-  LOGW("panda GPS on");
-}
+    // Check based on message frequency
+    for (const auto& [msg_cls, max_dt] : cls_max_dt) {
+      int64_t dt = (int64_t)nanos_since_boot() - (int64_t)last_recv_time[msg_cls];
+      if (ignition_last && ignition_local && dt > max_dt) {
+        LOGD("ublox receive timeout, msg class: 0x%02x, dt %llu", msg_cls, dt);
+        // TODO: turn on reset after verification of logs
+        // need_reset = true;
+      }
+    }
 
-static void pigeon_publish_raw(PubSocket *publisher, unsigned char *dat, int alen) {
-  // create message
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto ublox_raw = event.initUbloxRaw(alen);
-  memcpy(ublox_raw.begin(), dat, alen);
-
-  // send to ubloxRaw
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  publisher->send((char*)bytes.begin(), bytes.size());
-}
+    // Check based on null bytes
+    if (ignition_local && recv.length() > 0 && recv[0] == (char)0x00) {
+      need_reset = true;
+      LOGW("received invalid ublox message while onroad, resetting panda GPS");
+    }
 
+    if (recv.length() > 0) {
+      pigeon_publish_raw(pm, recv);
+    }
 
-void *pigeon_thread(void *crap) {
-  // ubloxRaw = 8042
-  Context * context = Context::create();
-  PubSocket * publisher = PubSocket::create(context, "ubloxRaw");
-  assert(publisher != NULL);
+    // init pigeon on rising ignition edge
+    // since it was turned off in low power mode
+    if((ignition_local && !ignition_last) || need_reset) {
+      pigeon_active = true;
+      pigeon->init();
 
-  // run at ~100hz
-  unsigned char dat[0x1000];
-  uint64_t cnt = 0;
-  while (!do_exit) {
-    if (pigeon_needs_init) {
-      pigeon_needs_init = false;
-      pigeon_init();
-    }
-    int alen = 0;
-    while (alen < 0xfc0) {
-      pthread_mutex_lock(&usb_lock);
-      int len = libusb_control_transfer(dev_handle, 0xc0, 0xe0, 1, 0, dat+alen, 0x40, TIMEOUT);
-      if (len < 0) { handle_usb_issue(len, __func__); }
-      pthread_mutex_unlock(&usb_lock);
-      if (len <= 0) break;
-
-      //printf("got %d\n", len);
-      alen += len;
-    }
-    if (alen > 0) {
-      if (dat[0] == (char)0x00){
-        LOGW("received invalid ublox message, resetting panda GPS");
-        pigeon_init();
-      } else {
-        pigeon_publish_raw(publisher, dat, alen);
+      // Set receive times to current time
+      uint64_t t = nanos_since_boot() + 10000000000ULL; // Give ublox 10 seconds to start
+      for (const auto& [msg_cls, dt] : cls_max_dt) {
+        last_recv_time[msg_cls] = t;
       }
+    } else if (!ignition_local && ignition_last) {
+      // power off on falling edge of ignition
+      LOGD("powering off pigeon\n");
+      pigeon->stop();
+      pigeon->set_power(false);
+      pigeon_active = false;
     }
 
-    // 10ms
-    usleep(10*1000);
-    cnt++;
+    ignition_last = ignition_local;
+
+    // 10ms - 100 Hz
+    util::sleep_for(10);
   }
 
-  return NULL;
+  delete pigeon;
 }
 
-}
+int main(int argc, char* argv[]) {
+  std::vector<std::thread> threads;
+  std::vector<Panda *> pandas;
+  Panda *peripheral_panda;
 
-int main() {
-  int err;
   LOGW("starting boardd");
 
-  // set process priority
-  err = set_realtime_priority(4);
-  LOG("setpriority returns %d", err);
-
-  // check the environment
-  if (getenv("STARTED")) {
-    spoofing_started = true;
-  }
-
-  if (getenv("FAKESEND")) {
-    fake_send = true;
+  if (!Hardware::PC()) {
+    int err;
+    err = set_realtime_priority(54);
+    assert(err == 0);
+    err = set_core_affinity({Hardware::TICI() ? 4 : 3});
+    assert(err == 0);
   }
 
-  if (getenv("BOARDD_LOOPBACK")){
-    loopback_can = true;
-  }
-
-  // init libusb
-  err = libusb_init(&ctx);
-  assert(err == 0);
-  libusb_set_debug(ctx, 3);
-
-  // connect to the board
-  usb_retry_connect();
+  LOGW("attempting to connect");
+  PubMaster pm({"pandaStates", "peripheralState"});
 
+  // connect loop
+  while (!do_exit) {
+    std::vector<std::string> serials(argv + 1, argv + argc);
+    if (serials.size() == 0) serials.push_back("");
+
+    // connect to all provided serials
+    for (int i=0; i<serials.size(); i++) {
+      Panda *p = usb_connect(serials[i], i);
+      if (p != NULL) {
+        pandas.push_back(p);
+      }
+    }
 
-  // create threads
-  pthread_t can_health_thread_handle;
-  err = pthread_create(&can_health_thread_handle, NULL,
-                       can_health_thread, NULL);
-  assert(err == 0);
-
-  pthread_t can_send_thread_handle;
-  err = pthread_create(&can_send_thread_handle, NULL,
-                       can_send_thread, NULL);
-  assert(err == 0);
-
-  pthread_t can_recv_thread_handle;
-  err = pthread_create(&can_recv_thread_handle, NULL,
-                       can_recv_thread, NULL);
-  assert(err == 0);
-
-  pthread_t hardware_control_thread_handle;
-  err = pthread_create(&hardware_control_thread_handle, NULL,
-                       hardware_control_thread, NULL);
-  assert(err == 0);
-
-  // join threads
+    // send empty pandaState & peripheralState and try again
+    if (pandas.size() != serials.size()) {
+      send_empty_panda_state(&pm);
+      send_empty_peripheral_state(&pm);
+      util::sleep_for(500);
+    } else {
+      break;
+    }
+  }
 
-  err = pthread_join(can_recv_thread_handle, NULL);
-  assert(err == 0);
+  peripheral_panda = pandas[0];
 
-  err = pthread_join(can_send_thread_handle, NULL);
-  assert(err == 0);
+  LOGW("connected to board");
 
-  err = pthread_join(can_health_thread_handle, NULL);
-  assert(err == 0);
+  threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
+  threads.emplace_back(peripheral_control_thread, peripheral_panda);
+  threads.emplace_back(pigeon_thread, peripheral_panda);
 
-  //while (!do_exit) usleep(1000);
+  threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
+  threads.emplace_back(can_recv_thread, pandas);
 
-  // destruct libusb
+  for (auto &t : threads) t.join();
 
-  libusb_close(dev_handle);
-  libusb_exit(ctx);
+  // we have exited, clean up pandas
+  for (const auto& panda : pandas){
+    delete panda;
+  }
 }
diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index 3f50fbaab6c5ca..0d428a9259c7af 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -14,6 +14,8 @@ cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, st
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef vector[can_frame] can_list
+  can_list.reserve(len(can_msgs))
+
   cdef can_frame f
   for can_msg in can_msgs:
     f.address = can_msg[0]
diff --git a/selfdrive/boardd/boardd_setup.py b/selfdrive/boardd/boardd_setup.py
deleted file mode 100644
index 1da81997c31fd9..00000000000000
--- a/selfdrive/boardd/boardd_setup.py
+++ /dev/null
@@ -1,42 +0,0 @@
-import subprocess
-import platform
-from distutils.core import Extension, setup
-
-from Cython.Build import cythonize
-
-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-from common.basedir import BASEDIR
-import os
-
-PHONELIBS = os.path.join(BASEDIR, 'phonelibs')
-
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-
-if ARCH == "x86_64":
-  if platform.system() == "Darwin":
-    libraries = ['can_list_to_can_capnp', 'capnp', 'kj']
-    ARCH_DIR = 'mac'
-  else:
-    libraries = [':libcan_list_to_can_capnp.a', ':libcapnp.a', ':libkj.a']
-    ARCH_DIR = 'x64'
-else:
-  libraries = [':libcan_list_to_can_capnp.a', 'capnp', 'kj']
-  ARCH_DIR = 'aarch64'
-
-setup(name='Boardd API Implementation',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "boardd_api_impl",
-          libraries=libraries,
-          library_dirs=[
-            './',
-            PHONELIBS + '/capnp-cpp/' + ARCH_DIR + '/lib/',
-            PHONELIBS + '/capnp-c/' + ARCH_DIR + '/lib/'
-          ],
-          sources=['boardd_api_impl.pyx'],
-          language="c++",
-          extra_compile_args=["-std=c++11"],
-        )
-      )
-)
diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc
index 8ba9d3d5609d9c..faa0e37373546e 100644
--- a/selfdrive/boardd/can_list_to_can_capnp.cc
+++ b/selfdrive/boardd/can_list_to_can_capnp.cc
@@ -1,37 +1,25 @@
-#include <vector>
-#include <tuple>
-#include <string>
-#include "common/timing.h"
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
-#include "cereal/gen/cpp/car.capnp.h"
-
-typedef struct {
-	long address;
-	std::string dat;
-	long busTime;
-	long src;
-} can_frame;
+#include "cereal/messaging/messaging.h"
+#include "panda.h"
 
 extern "C" {
 
 void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  event.setValid(valid);
+  MessageBuilder msg;
+  auto event = msg.initEvent(valid);
 
   auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
   int j = 0;
   for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
-    canData[j].setAddress(it->address);
-    canData[j].setBusTime(it->busTime);
-    canData[j].setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
-    canData[j].setSrc(it->src);
+    auto c = canData[j];
+    c.setAddress(it->address);
+    c.setBusTime(it->busTime);
+    c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
+    c.setSrc(it->src);
   }
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  out.append((const char *)bytes.begin(), bytes.size());
+  const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
+  out.resize(msg_size);
+  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
+  capnp::writeMessage(output_stream, msg);
 }
 
 }
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
new file mode 100644
index 00000000000000..b5bf3f903dbcf5
--- /dev/null
+++ b/selfdrive/boardd/panda.cc
@@ -0,0 +1,464 @@
+#include "selfdrive/boardd/panda.h"
+
+#include <unistd.h>
+
+#include <cassert>
+#include <stdexcept>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "panda/board/dlc_to_len.h"
+#include "selfdrive/common/gpio.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+
+static int init_usb_ctx(libusb_context **context) {
+  assert(context != nullptr);
+
+  int err = libusb_init(context);
+  if (err != 0) {
+    LOGE("libusb initialization error");
+    return err;
+  }
+
+#if LIBUSB_API_VERSION >= 0x01000106
+  libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
+#else
+  libusb_set_debug(*context, 3);
+#endif
+
+  return err;
+}
+
+
+Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
+  // init libusb
+  ssize_t num_devices;
+  libusb_device **dev_list = NULL;
+  int err = init_usb_ctx(&ctx);
+  if (err != 0) { goto fail; }
+
+  // connect by serial
+  num_devices = libusb_get_device_list(ctx, &dev_list);
+  if (num_devices < 0) { goto fail; }
+  for (size_t i = 0; i < num_devices; ++i) {
+    libusb_device_descriptor desc;
+    libusb_get_device_descriptor(dev_list[i], &desc);
+    if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
+      libusb_open(dev_list[i], &dev_handle);
+      if (dev_handle == NULL) { goto fail; }
+
+      unsigned char desc_serial[26] = { 0 };
+      int ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
+      if (ret < 0) { goto fail; }
+
+      usb_serial = std::string((char *)desc_serial, ret).c_str();
+      if (serial.empty() || serial == usb_serial) {
+        break;
+      }
+      libusb_close(dev_handle);
+      dev_handle = NULL;
+    }
+  }
+  if (dev_handle == NULL) goto fail;
+  libusb_free_device_list(dev_list, 1);
+  dev_list = nullptr;
+
+  if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
+    libusb_detach_kernel_driver(dev_handle, 0);
+  }
+
+  err = libusb_set_configuration(dev_handle, 1);
+  if (err != 0) { goto fail; }
+
+  err = libusb_claim_interface(dev_handle, 0);
+  if (err != 0) { goto fail; }
+
+  hw_type = get_hw_type();
+
+  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
+         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));
+
+  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
+            (hw_type == cereal::PandaState::PandaType::DOS);
+
+  return;
+
+fail:
+  if (dev_list != NULL) {
+    libusb_free_device_list(dev_list, 1);
+  }
+  cleanup();
+  throw std::runtime_error("Error connecting to panda");
+}
+
+Panda::~Panda() {
+  std::lock_guard lk(usb_lock);
+  cleanup();
+  connected = false;
+}
+
+void Panda::cleanup() {
+  if (dev_handle) {
+    libusb_release_interface(dev_handle, 0);
+    libusb_close(dev_handle);
+  }
+
+  if (ctx) {
+    libusb_exit(ctx);
+  }
+}
+
+std::vector<std::string> Panda::list() {
+  // init libusb
+  ssize_t num_devices;
+  libusb_context *context = NULL;
+  libusb_device **dev_list = NULL;
+  std::vector<std::string> serials;
+
+  int err = init_usb_ctx(&context);
+  if (err != 0) { return serials; }
+
+  num_devices = libusb_get_device_list(context, &dev_list);
+  if (num_devices < 0) {
+    LOGE("libusb can't get device list");
+    goto finish;
+  }
+  for (size_t i = 0; i < num_devices; ++i) {
+    libusb_device *device = dev_list[i];
+    libusb_device_descriptor desc;
+    libusb_get_device_descriptor(device, &desc);
+    if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
+      libusb_device_handle *handle = NULL;
+      libusb_open(device, &handle);
+      unsigned char desc_serial[26] = { 0 };
+      int ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
+      libusb_close(handle);
+
+      if (ret < 0) { goto finish; }
+      serials.push_back(std::string((char *)desc_serial, ret).c_str());
+    }
+  }
+
+finish:
+  if (dev_list != NULL) {
+    libusb_free_device_list(dev_list, 1);
+  }
+  if (context) {
+    libusb_exit(context);
+  }
+  return serials;
+}
+
+void Panda::handle_usb_issue(int err, const char func[]) {
+  LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
+  if (err == LIBUSB_ERROR_NO_DEVICE) {
+    LOGE("lost connection");
+    connected = false;
+  }
+  // TODO: check other errors, is simply retrying okay?
+}
+
+int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
+  int err;
+  const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
+
+  if (!connected) {
+    return LIBUSB_ERROR_NO_DEVICE;
+  }
+
+  std::lock_guard lk(usb_lock);
+  do {
+    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
+    if (err < 0) handle_usb_issue(err, __func__);
+  } while (err < 0 && connected);
+
+  return err;
+}
+
+int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
+  int err;
+  const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
+
+  if (!connected) {
+    return LIBUSB_ERROR_NO_DEVICE;
+  }
+
+  std::lock_guard lk(usb_lock);
+  do {
+    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
+    if (err < 0) handle_usb_issue(err, __func__);
+  } while (err < 0 && connected);
+
+  return err;
+}
+
+int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  int err;
+  int transferred = 0;
+
+  if (!connected) {
+    return 0;
+  }
+
+  std::lock_guard lk(usb_lock);
+  do {
+    // Try sending can messages. If the receive buffer on the panda is full it will NAK
+    // and libusb will try again. After 5ms, it will time out. We will drop the messages.
+    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
+
+    if (err == LIBUSB_ERROR_TIMEOUT) {
+      LOGW("Transmit buffer full");
+      break;
+    } else if (err != 0 || length != transferred) {
+      handle_usb_issue(err, __func__);
+    }
+  } while(err != 0 && connected);
+
+  return transferred;
+}
+
+int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  int err;
+  int transferred = 0;
+
+  if (!connected) {
+    return 0;
+  }
+
+  std::lock_guard lk(usb_lock);
+
+  do {
+    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
+
+    if (err == LIBUSB_ERROR_TIMEOUT) {
+      break; // timeout is okay to exit, recv still happened
+    } else if (err == LIBUSB_ERROR_OVERFLOW) {
+      comms_healthy = false;
+      LOGE_100("overflow got 0x%x", transferred);
+    } else if (err != 0) {
+      handle_usb_issue(err, __func__);
+    }
+
+  } while(err != 0 && connected);
+
+  return transferred;
+}
+
+void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param) {
+  usb_write(0xdc, (uint16_t)safety_model, safety_param);
+}
+
+void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
+  usb_write(0xdf, unsafe_mode, 0);
+}
+
+cereal::PandaState::PandaType Panda::get_hw_type() {
+  unsigned char hw_query[1] = {0};
+
+  usb_read(0xc1, 0, 0, hw_query, 1);
+  return (cereal::PandaState::PandaType)(hw_query[0]);
+}
+
+void Panda::set_rtc(struct tm sys_time) {
+  // tm struct has year defined as years since 1900
+  usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
+  usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
+  usb_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
+  // usb_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
+  usb_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
+  usb_write(0xa6, (uint16_t)sys_time.tm_min, 0);
+  usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
+}
+
+struct tm Panda::get_rtc() {
+  struct __attribute__((packed)) timestamp_t {
+    uint16_t year; // Starts at 0
+    uint8_t month;
+    uint8_t day;
+    uint8_t weekday;
+    uint8_t hour;
+    uint8_t minute;
+    uint8_t second;
+  } rtc_time = {0};
+
+  usb_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
+
+  struct tm new_time = { 0 };
+  new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
+  new_time.tm_mon  = rtc_time.month - 1;
+  new_time.tm_mday = rtc_time.day;
+  new_time.tm_hour = rtc_time.hour;
+  new_time.tm_min  = rtc_time.minute;
+  new_time.tm_sec  = rtc_time.second;
+
+  return new_time;
+}
+
+void Panda::set_fan_speed(uint16_t fan_speed) {
+  usb_write(0xb1, fan_speed, 0);
+}
+
+uint16_t Panda::get_fan_speed() {
+  uint16_t fan_speed_rpm = 0;
+  usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm));
+  return fan_speed_rpm;
+}
+
+void Panda::set_ir_pwr(uint16_t ir_pwr) {
+  usb_write(0xb0, ir_pwr, 0);
+}
+
+health_t Panda::get_state() {
+  health_t health {0};
+  usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
+  return health;
+}
+
+void Panda::set_loopback(bool loopback) {
+  usb_write(0xe5, loopback, 0);
+}
+
+std::optional<std::vector<uint8_t>> Panda::get_firmware_version() {
+  std::vector<uint8_t> fw_sig_buf(128);
+  int read_1 = usb_read(0xd3, 0, 0, &fw_sig_buf[0], 64);
+  int read_2 = usb_read(0xd4, 0, 0, &fw_sig_buf[64], 64);
+  return ((read_1 == 64) && (read_2 == 64)) ? std::make_optional(fw_sig_buf) : std::nullopt;
+}
+
+std::optional<std::string> Panda::get_serial() {
+  char serial_buf[17] = {'\0'};
+  int err = usb_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16);
+  return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
+}
+
+void Panda::set_power_saving(bool power_saving) {
+  usb_write(0xe7, power_saving, 0);
+}
+
+void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode) {
+  usb_write(0xe6, (uint16_t)power_mode, 0);
+}
+
+void Panda::send_heartbeat() {
+  usb_write(0xf3, 1, 0);
+}
+
+uint8_t Panda::len_to_dlc(uint8_t len) {
+  if (len <= 8) {
+    return len;
+  }
+  if (len <= 24) {
+    return 8 + ((len - 8) / 4) + (len % 4) ? 1 : 0;
+  } else {
+    return 11 + (len / 16) + (len % 16) ? 1 : 0;
+  }
+}
+
+void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
+  send.resize(72 * can_data_list.size()); // TODO: need to include 1 byte for each usb 64bytes frame
+
+  int msg_count = 0;
+  while (msg_count < can_data_list.size()) {
+    uint32_t pos = 0;
+    while (pos < 256) {
+      if (msg_count == can_data_list.size()) { break; }
+      auto cmsg = can_data_list[msg_count];
+
+      // check if the message is intended for this panda
+      uint8_t bus = cmsg.getSrc();
+      if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) {
+        msg_count++;
+        continue;
+      }
+      auto can_data = cmsg.getDat();
+      uint8_t data_len_code = len_to_dlc(can_data.size());
+      assert(can_data.size() <= (hw_type == cereal::PandaState::PandaType::RED_PANDA) ? 64 : 8);
+      assert(can_data.size() == dlc_to_len[data_len_code]);
+
+      *(uint32_t*)&send[pos+1] = (cmsg.getAddress() << 3);
+      if (cmsg.getAddress() >= 0x800) {
+        *(uint32_t*)&send[pos+1] |= (1 << 2);
+      }
+      send[pos] = data_len_code << 4 | ((bus - bus_offset) << 1);
+      memcpy(&send[pos+5], can_data.begin(), can_data.size());
+
+      pos += CANPACKET_HEAD_SIZE + dlc_to_len[data_len_code];
+      msg_count++;
+    }
+
+    if (pos > 0) { // Helps not to spam with ZLP
+      // insert counter
+      uint8_t counter = 0;
+      for (int i = 0; i < pos; i += 64) {
+        send.insert(send.begin() + i, counter);
+        counter++;
+        pos++;
+      }
+      usb_bulk_write(3, (uint8_t*)send.data(), pos, 5);
+    }
+  }
+}
+
+bool Panda::can_receive(std::vector<can_frame>& out_vec) {
+  uint8_t data[RECV_SIZE];
+  int recv = usb_bulk_read(0x81, (uint8_t*)data, RECV_SIZE);
+
+  // Not sure if this can happen
+  if (recv < 0) recv = 0;
+
+  // TODO: Might change from full to overloaded? if > some threshold that is lower than RECV_SIZE, let's say 80-90%
+  if (recv == RECV_SIZE) {
+    LOGW("Receive buffer full");
+  }
+
+  if (!comms_healthy) {
+    return false;
+  }
+
+  out_vec.reserve(out_vec.size() + (recv / CANPACKET_HEAD_SIZE));
+
+  static uint8_t tail[72];
+  uint8_t tail_size = 0;
+  uint8_t counter = 0;
+  for (int i = 0; i < recv; i += 64) {
+    if (counter != data[i]) {
+      LOGE("CAN: MALFORMED USB RECV PACKET");
+      break;
+    }
+    counter++;
+    uint8_t chunk_len = ((recv - i) > 64) ? 63 : (recv - i - 1); // as 1 is always reserved for counter
+    uint8_t chunk[72];
+    memcpy(chunk, tail, tail_size);
+    memcpy(&chunk[tail_size], &data[i+1], chunk_len);
+    chunk_len += tail_size;
+    tail_size = 0;
+    uint8_t pos = 0;
+    while (pos < chunk_len) {
+      uint8_t data_len = dlc_to_len[(chunk[pos] >> 4)];
+      uint8_t pckt_len = CANPACKET_HEAD_SIZE + data_len;
+      if (pckt_len <= (chunk_len - pos)) {
+        can_frame canData;
+        canData.busTime = 0;
+        canData.address = (*(uint32_t*)&chunk[pos+1]) >> 3;
+        canData.src = ((chunk[pos] >> 1) & 0x7) + bus_offset;
+
+        bool rejected = chunk[pos+1] & 0x1;
+        bool returned = (chunk[pos+1] >> 1) & 0x1;
+        if (rejected) { canData.src += CANPACKET_REJECTED; }
+        if (returned) { canData.src += CANPACKET_RETURNED; }
+        canData.dat.assign((char*)&chunk[pos+5], data_len);
+
+        pos += pckt_len;
+
+        // add to vector
+        out_vec.push_back(canData);
+      } else {
+        tail_size = (chunk_len - pos);
+        memcpy(tail, &chunk[pos], tail_size);
+        break;
+      }
+    }
+  }
+  return true;
+}
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
new file mode 100644
index 00000000000000..2373d1cb938139
--- /dev/null
+++ b/selfdrive/boardd/panda.h
@@ -0,0 +1,102 @@
+#pragma once
+
+#include <atomic>
+#include <cstdint>
+#include <ctime>
+#include <list>
+#include <mutex>
+#include <optional>
+#include <vector>
+
+#include <libusb-1.0/libusb.h>
+
+#include "cereal/gen/cpp/car.capnp.h"
+#include "cereal/gen/cpp/log.capnp.h"
+
+// double the FIFO size
+#define RECV_SIZE (0x4000)
+#define TIMEOUT 0
+#define PANDA_BUS_CNT 4
+#define CANPACKET_HEAD_SIZE (0x5U)
+#define CANPACKET_REJECTED  (0xC0U)
+#define CANPACKET_RETURNED  (0x80U)
+
+// copied from panda/board/main.c
+struct __attribute__((packed)) health_t {
+  uint32_t uptime;
+  uint32_t voltage;
+  uint32_t current;
+  uint32_t can_rx_errs;
+  uint32_t can_send_errs;
+  uint32_t can_fwd_errs;
+  uint32_t gmlan_send_errs;
+  uint32_t faults;
+  uint8_t ignition_line;
+  uint8_t ignition_can;
+  uint8_t controls_allowed;
+  uint8_t gas_interceptor_detected;
+  uint8_t car_harness_status;
+  uint8_t usb_power_mode;
+  uint8_t safety_model;
+  int16_t safety_param;
+  uint8_t fault_status;
+  uint8_t power_save_enabled;
+  uint8_t heartbeat_lost;
+};
+
+struct can_frame {
+	long address;
+	std::string dat;
+	long busTime;
+	long src;
+};
+
+class Panda {
+ private:
+  libusb_context *ctx = NULL;
+  libusb_device_handle *dev_handle = NULL;
+  std::mutex usb_lock;
+  std::vector<uint8_t> send;
+  void handle_usb_issue(int err, const char func[]);
+  void cleanup();
+
+ public:
+  Panda(std::string serial="", uint32_t bus_offset=0);
+  ~Panda();
+
+  std::string usb_serial;
+  std::atomic<bool> connected = true;
+  std::atomic<bool> comms_healthy = true;
+  cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
+  bool has_rtc = false;
+  const uint32_t bus_offset;
+
+  // Static functions
+  static std::vector<std::string> list();
+
+  // HW communication
+  int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT);
+  int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT);
+  int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+
+  // Panda functionality
+  cereal::PandaState::PandaType get_hw_type();
+  void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
+  void set_unsafe_mode(uint16_t unsafe_mode);
+  void set_rtc(struct tm sys_time);
+  struct tm get_rtc();
+  void set_fan_speed(uint16_t fan_speed);
+  uint16_t get_fan_speed();
+  void set_ir_pwr(uint16_t ir_pwr);
+  health_t get_state();
+  void set_loopback(bool loopback);
+  std::optional<std::vector<uint8_t>> get_firmware_version();
+  std::optional<std::string> get_serial();
+  void set_power_saving(bool power_saving);
+  void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode);
+  void send_heartbeat();
+  uint8_t len_to_dlc(uint8_t len);
+  void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
+  bool can_receive(std::vector<can_frame>& out_vec);
+};
diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc
new file mode 100644
index 00000000000000..b8735cc3b0a1b4
--- /dev/null
+++ b/selfdrive/boardd/pigeon.cc
@@ -0,0 +1,298 @@
+#include "selfdrive/boardd/pigeon.h"
+
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+
+#include <cassert>
+#include <cerrno>
+#include <optional>
+
+#include "selfdrive/common/gpio.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/locationd/ublox_msg.h"
+
+// Termios on macos doesn't define all baud rate constants
+#ifndef B460800
+#define   B460800 0010004
+#endif
+
+using namespace std::string_literals;
+
+extern ExitHandler do_exit;
+
+const std::string ack = "\xb5\x62\x05\x01\x02\x00";
+const std::string nack = "\xb5\x62\x05\x00\x02\x00";
+const std::string sos_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00";
+const std::string sos_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00";
+
+Pigeon * Pigeon::connect(Panda * p) {
+  PandaPigeon * pigeon = new PandaPigeon();
+  pigeon->connect(p);
+
+  return pigeon;
+}
+
+Pigeon * Pigeon::connect(const char * tty) {
+  TTYPigeon * pigeon = new TTYPigeon();
+  pigeon->connect(tty);
+
+  return pigeon;
+}
+
+bool Pigeon::wait_for_ack(const std::string &ack_, const std::string &nack_, int timeout_ms) {
+  std::string s;
+  const double start_t = millis_since_boot();
+  while (!do_exit) {
+    s += receive();
+
+    if (s.find(ack_) != std::string::npos) {
+      LOGD("Received ACK from ublox");
+      return true;
+    } else if (s.find(nack_) != std::string::npos) {
+      LOGE("Received NACK from ublox");
+      return false;
+    } else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
+      LOGE("No response from ublox");
+      return false;
+    }
+
+    util::sleep_for(1); // Allow other threads to be scheduled
+  }
+  return false;
+}
+
+bool Pigeon::wait_for_ack() {
+  return wait_for_ack(ack, nack);
+}
+
+bool Pigeon::send_with_ack(const std::string &cmd) {
+  send(cmd);
+  return wait_for_ack();
+}
+
+void Pigeon::init() {
+  for (int i = 0; i < 10; i++) {
+    if (do_exit) return;
+    LOGW("panda GPS start");
+
+    // power off pigeon
+    set_power(false);
+    util::sleep_for(100);
+
+    // 9600 baud at init
+    set_baud(9600);
+
+    // power on pigeon
+    set_power(true);
+    util::sleep_for(500);
+
+    // baud rate upping
+    send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A"s);
+    util::sleep_for(100);
+
+    // set baud rate to 460800
+    set_baud(460800);
+
+    // init from ubloxd
+    // To generate this data, run selfdrive/locationd/test/ubloxd.py
+    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x00\x00\x00\x06\x18"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x01\x08\x22"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x24\x00\x00\x2A\x84"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x23\x00\x00\x29\x81"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x1E\x00\x00\x24\x72"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x39\x00\x00\x3F\xC3"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue;
+    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;
+
+    auto time = util::get_time();
+    if (util::time_valid(time)) {
+      LOGW("Sending current time to ublox");
+      send(ublox::build_ubx_mga_ini_time_utc(time));
+    }
+
+    LOGW("panda GPS on");
+    return;
+  }
+  LOGE("failed to initialize panda GPS");
+}
+
+void Pigeon::stop() {
+  LOGW("Storing almanac in ublox flash");
+
+  // Controlled GNSS stop
+  send("\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74"s);
+
+  // Store almanac in flash
+  send("\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC"s);
+
+  if (wait_for_ack(sos_ack, sos_nack)) {
+    LOGW("Done storing almanac");
+  } else {
+    LOGE("Error storing almanac");
+  }
+}
+
+void PandaPigeon::connect(Panda * p) {
+  panda = p;
+}
+
+void PandaPigeon::set_baud(int baud) {
+  panda->usb_write(0xe2, 1, 0);
+  panda->usb_write(0xe4, 1, baud/300);
+}
+
+void PandaPigeon::send(const std::string &s) {
+  int len = s.length();
+  const char * dat = s.data();
+
+  unsigned char a[0x20+1];
+  a[0] = 1;
+  for (int i=0; i<len; i+=0x20) {
+    int ll = std::min(0x20, len-i);
+    memcpy(&a[1], &dat[i], ll);
+
+    panda->usb_bulk_write(2, a, ll+1);
+  }
+}
+
+std::string PandaPigeon::receive() {
+  std::string r;
+  r.reserve(0x1000 + 0x40);
+  unsigned char dat[0x40];
+  while (r.length() < 0x1000) {
+    int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat));
+    if (len <= 0) break;
+    r.append((char*)dat, len);
+  }
+
+  return r;
+}
+
+void PandaPigeon::set_power(bool power) {
+  panda->usb_write(0xd9, power, 0);
+}
+
+PandaPigeon::~PandaPigeon() {
+}
+
+void handle_tty_issue(int err, const char func[]) {
+  LOGE_100("tty error %d \"%s\" in %s", err, strerror(err), func);
+}
+
+void TTYPigeon::connect(const char * tty) {
+  pigeon_tty_fd = HANDLE_EINTR(open(tty, O_RDWR));
+  if (pigeon_tty_fd < 0) {
+    handle_tty_issue(errno, __func__);
+    assert(pigeon_tty_fd >= 0);
+  }
+  int err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
+  assert(err == 0);
+
+  // configure tty
+  pigeon_tty.c_cflag &= ~PARENB;                                            // disable parity
+  pigeon_tty.c_cflag &= ~CSTOPB;                                            // single stop bit
+  pigeon_tty.c_cflag |= CS8;                                                // 8 bits per byte
+  pigeon_tty.c_cflag &= ~CRTSCTS;                                           // no RTS/CTS flow control
+  pigeon_tty.c_cflag |= CREAD | CLOCAL;                                     // turn on READ & ignore ctrl lines
+  pigeon_tty.c_lflag &= ~ICANON;                                            // disable canonical mode
+  pigeon_tty.c_lflag &= ~ISIG;                                              // disable interpretation of INTR, QUIT and SUSP
+  pigeon_tty.c_iflag &= ~(IXON | IXOFF | IXANY);                            // turn off software flow ctrl
+  pigeon_tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);   // disable any special handling of received bytes
+  pigeon_tty.c_oflag &= ~OPOST;                                             // prevent special interpretation of output bytes
+  pigeon_tty.c_oflag &= ~ONLCR;                                             // prevent conversion of newline to carriage return/line feed
+
+  // configure blocking behavior
+  pigeon_tty.c_cc[VMIN] = 0;  // min amount of characters returned
+  pigeon_tty.c_cc[VTIME] = 0; // max blocking time in s/10 (0=inf)
+
+  err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
+  assert(err == 0);
+}
+
+void TTYPigeon::set_baud(int baud) {
+  speed_t baud_const = 0;
+  switch(baud) {
+  case 9600:
+    baud_const = B9600;
+    break;
+  case 460800:
+    baud_const = B460800;
+    break;
+  default:
+    assert(false);
+  }
+
+  // make sure everything is tx'ed before changing baud
+  int err = tcdrain(pigeon_tty_fd);
+  assert(err == 0);
+
+  // change baud
+  err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
+  assert(err == 0);
+  err = cfsetspeed(&pigeon_tty, baud_const);
+  assert(err == 0);
+  err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
+  assert(err == 0);
+
+  // flush
+  err = tcflush(pigeon_tty_fd, TCIOFLUSH);
+  assert(err == 0);
+}
+
+void TTYPigeon::send(const std::string &s) {
+  int err = HANDLE_EINTR(write(pigeon_tty_fd, s.data(), s.length()));
+
+  if(err < 0) { handle_tty_issue(err, __func__); }
+  err = tcdrain(pigeon_tty_fd);
+  if(err < 0) { handle_tty_issue(err, __func__); }
+}
+
+std::string TTYPigeon::receive() {
+  std::string r;
+  r.reserve(0x1000 + 0x40);
+  char dat[0x40];
+  while (r.length() < 0x1000) {
+    int len = read(pigeon_tty_fd, dat, sizeof(dat));
+    if(len < 0) {
+      handle_tty_issue(len, __func__);
+    } else if (len == 0) {
+      break;
+    } else {
+      r.append(dat, len);
+    }
+
+  }
+  return r;
+}
+
+void TTYPigeon::set_power(bool power) {
+#ifdef QCOM2
+  int err = 0;
+  err += gpio_init(GPIO_UBLOX_RST_N, true);
+  err += gpio_init(GPIO_UBLOX_SAFEBOOT_N, true);
+  err += gpio_init(GPIO_UBLOX_PWR_EN, true);
+
+  err += gpio_set(GPIO_UBLOX_RST_N, power);
+  err += gpio_set(GPIO_UBLOX_SAFEBOOT_N, power);
+  err += gpio_set(GPIO_UBLOX_PWR_EN, power);
+  assert(err == 0);
+#endif
+}
+
+TTYPigeon::~TTYPigeon() {
+  close(pigeon_tty_fd);
+}
diff --git a/selfdrive/boardd/pigeon.h b/selfdrive/boardd/pigeon.h
new file mode 100644
index 00000000000000..0a82bcdd95e470
--- /dev/null
+++ b/selfdrive/boardd/pigeon.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <termios.h>
+
+#include <atomic>
+#include <string>
+
+#include "selfdrive/boardd/panda.h"
+
+class Pigeon {
+ public:
+  static Pigeon* connect(Panda * p);
+  static Pigeon* connect(const char * tty);
+  virtual ~Pigeon(){};
+
+  void init();
+  void stop();
+  bool wait_for_ack();
+  bool wait_for_ack(const std::string &ack, const std::string &nack, int timeout_ms = 1000);
+  bool send_with_ack(const std::string &cmd);
+  virtual void set_baud(int baud) = 0;
+  virtual void send(const std::string &s) = 0;
+  virtual std::string receive() = 0;
+  virtual void set_power(bool power) = 0;
+};
+
+class PandaPigeon : public Pigeon {
+  Panda * panda = NULL;
+public:
+  ~PandaPigeon();
+  void connect(Panda * p);
+  void set_baud(int baud);
+  void send(const std::string &s);
+  std::string receive();
+  void set_power(bool power);
+};
+
+
+class TTYPigeon : public Pigeon {
+  int pigeon_tty_fd = -1;
+  struct termios pigeon_tty;
+public:
+  ~TTYPigeon();
+  void connect(const char* tty);
+  void set_baud(int baud);
+  void send(const std::string &s);
+  std::string receive();
+  void set_power(bool power);
+};
diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py
new file mode 100755
index 00000000000000..7d17be4de90d74
--- /dev/null
+++ b/selfdrive/boardd/set_time.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import datetime
+import os
+import struct
+import usb1
+
+REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
+MIN_DATE = datetime.datetime(year=2021, month=4, day=1)
+
+def set_time(logger):
+  sys_time = datetime.datetime.today()
+  if sys_time > MIN_DATE:
+    logger.info("System time valid")
+    return
+
+  try:
+    ctx = usb1.USBContext()
+    dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc)
+    if dev is None:
+      logger.info("No panda found")
+      return
+
+    # Set system time from panda RTC time
+    dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8)
+    a = struct.unpack("HBBBBBB", dat)
+    panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
+    if panda_time > MIN_DATE:
+      logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
+      os.system(f"TZ=UTC date -s '{panda_time}'")
+  except Exception:
+    logger.warn("Failed to fetch time from panda")
+
+if __name__ == "__main__":
+  import logging
+  logging.basicConfig(level=logging.INFO)
+
+  set_time(logging)
diff --git a/selfdrive/boardd/tests/boardd_old.py b/selfdrive/boardd/tests/boardd_old.py
deleted file mode 100755
index 48c7a94595ac87..00000000000000
--- a/selfdrive/boardd/tests/boardd_old.py
+++ /dev/null
@@ -1,246 +0,0 @@
-#!/usr/bin/env python3
-
-# This file is not used by OpenPilot. Only boardd.cc is used.
-# The python version is slower, but has more options for development.
-
-# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and
-# delete this python version of boardd
-
-import os
-import struct
-import time
-
-import cereal.messaging as messaging
-from common.realtime import Ratekeeper
-from selfdrive.swaglog import cloudlog
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-from cereal import car
-
-SafetyModel = car.CarParams.SafetyModel
-
-# USB is optional
-try:
-  import usb1
-  from usb1 import USBErrorIO, USBErrorOverflow  #pylint: disable=no-name-in-module
-except Exception:
-  pass
-
-# *** serialization functions ***
-def can_list_to_can_capnp(can_msgs, msgtype='can'):
-  dat = messaging.new_message()
-  dat.init(msgtype, len(can_msgs))
-  for i, can_msg in enumerate(can_msgs):
-    if msgtype == 'sendcan':
-      cc = dat.sendcan[i]
-    else:
-      cc = dat.can[i]
-    cc.address = can_msg[0]
-    cc.busTime = can_msg[1]
-    cc.dat = bytes(can_msg[2])
-    cc.src = can_msg[3]
-  return dat
-
-
-# *** can driver ***
-def can_health():
-  while 1:
-    try:
-      dat = handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x16)
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD HEALTH, RETRYING")
-  v, i = struct.unpack("II", dat[0:8])
-  ign_line, ign_can = struct.unpack("BB", dat[20:22])
-  return {"voltage": v, "current": i, "ignition_line": bool(ign_line), "ignition_can": bool(ign_can)}
-
-def __parse_can_buffer(dat):
-  ret = []
-  for j in range(0, len(dat), 0x10):
-    ddat = dat[j:j+0x10]
-    f1, f2 = struct.unpack("II", ddat[0:8])
-    ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xFF))
-  return ret
-
-def can_send_many(arr):
-  snds = []
-  for addr, _, dat, alt in arr:
-    if addr < 0x800:  # only support 11 bit addr
-      snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
-      snd = snd.ljust(0x10, b'\x00')
-      snds.append(snd)
-  while 1:
-    try:
-      handle.bulkWrite(3, b''.join(snds))
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD SEND MANY, RETRYING")
-
-def can_recv():
-  dat = b""
-  while 1:
-    try:
-      dat = handle.bulkRead(1, 0x10*256)
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD RECV, RETRYING")
-  return __parse_can_buffer(dat)
-
-def can_init():
-  global handle, context
-  handle = None
-  cloudlog.info("attempting can init")
-
-  context = usb1.USBContext()
-  #context.setDebug(9)
-
-  for device in context.getDeviceList(skip_on_error=True):
-    if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
-      handle = device.open()
-      handle.claimInterface(0)
-      handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'')
-
-  if handle is None:
-    cloudlog.warning("CAN NOT FOUND")
-    exit(-1)
-
-  cloudlog.info("got handle")
-  cloudlog.info("can init done")
-
-def boardd_mock_loop():
-  can_init()
-  handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'')
-
-  logcan = messaging.sub_sock('can')
-  sendcan = messaging.pub_sock('sendcan')
-
-  while 1:
-    tsc = messaging.drain_sock(logcan, wait_for_one=True)
-    snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
-    snd = []
-    for s in snds:
-      snd += s
-    snd = list(filter(lambda x: x[-1] <= 2, snd))
-    snd_0 = len(list(filter(lambda x: x[-1] == 0, snd)))
-    snd_1 = len(list(filter(lambda x: x[-1] == 1, snd)))
-    snd_2 = len(list(filter(lambda x: x[-1] == 2, snd)))
-    can_send_many(snd)
-
-    # recv @ 100hz
-    can_msgs = can_recv()
-    got_0 = len(list(filter(lambda x: x[-1] == 0+0x80, can_msgs)))
-    got_1 = len(list(filter(lambda x: x[-1] == 1+0x80, can_msgs)))
-    got_2 = len(list(filter(lambda x: x[-1] == 2+0x80, can_msgs)))
-    print("sent %3d (%3d/%3d/%3d) got %3d (%3d/%3d/%3d)" %
-      (len(snd), snd_0, snd_1, snd_2, len(can_msgs), got_0, got_1, got_2))
-    m = can_list_to_can_capnp(can_msgs, msgtype='sendcan')
-    sendcan.send(m.to_bytes())
-
-def boardd_test_loop():
-  can_init()
-  cnt = 0
-  while 1:
-    can_send_many([[0xbb,0,"\xaa\xaa\xaa\xaa",0], [0xaa,0,"\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt),1]])
-    #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]])
-    #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]])
-    # recv @ 100hz
-    can_msgs = can_recv()
-    print("got %d" % (len(can_msgs)))
-    time.sleep(0.01)
-    cnt += 1
-
-# *** main loop ***
-def boardd_loop(rate=100):
-  rk = Ratekeeper(rate)
-
-  can_init()
-
-  # *** publishes can and health
-  logcan = messaging.pub_sock('can')
-  health_sock = messaging.pub_sock('health')
-
-  # *** subscribes to can send
-  sendcan = messaging.sub_sock('sendcan')
-
-  # drain sendcan to delete any stale messages from previous runs
-  messaging.drain_sock(sendcan)
-
-  while 1:
-    # health packet @ 2hz
-    if (rk.frame % (rate // 2)) == 0:
-      health = can_health()
-      msg = messaging.new_message()
-      msg.init('health')
-
-      # store the health to be logged
-      msg.health.voltage = health['voltage']
-      msg.health.current = health['current']
-      msg.health.ignitionLine = health['ignition_line']
-      msg.health.ignitionCan = health['ignition_can']
-      msg.health.controlsAllowed = True
-
-      health_sock.send(msg.to_bytes())
-
-    # recv @ 100hz
-    can_msgs = can_recv()
-
-    # publish to logger
-    # TODO: refactor for speed
-    if len(can_msgs) > 0:
-      dat = can_list_to_can_capnp(can_msgs).to_bytes()
-      logcan.send(dat)
-
-    # send can if we have a packet
-    tsc = messaging.recv_sock(sendcan)
-    if tsc is not None:
-      can_send_many(can_capnp_to_can_list(tsc.sendcan))
-
-    rk.keep_time()
-
-# *** main loop ***
-def boardd_proxy_loop(rate=100, address="192.168.2.251"):
-  rk = Ratekeeper(rate)
-
-  can_init()
-
-  # *** subscribes can
-  logcan = messaging.sub_sock('can', addr=address)
-  # *** publishes to can send
-  sendcan = messaging.pub_sock('sendcan')
-
-  # drain sendcan to delete any stale messages from previous runs
-  messaging.drain_sock(sendcan)
-
-  while 1:
-    # recv @ 100hz
-    can_msgs = can_recv()
-    #for m in can_msgs:
-    #  print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
-
-    # publish to logger
-    # TODO: refactor for speed
-    if len(can_msgs) > 0:
-      dat = can_list_to_can_capnp(can_msgs, "sendcan")
-      sendcan.send(dat)
-
-    # send can if we have a packet
-    tsc = messaging.recv_sock(logcan)
-    if tsc is not None:
-      cl = can_capnp_to_can_list(tsc.can)
-      #for m in cl:
-      #  print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
-      can_send_many(cl)
-
-    rk.keep_time()
-
-def main(gctx=None):
-  if os.getenv("MOCK") is not None:
-    boardd_mock_loop()
-  elif os.getenv("PROXY") is not None:
-    boardd_proxy_loop()
-  elif os.getenv("BOARDTEST") is not None:
-    boardd_test_loop()
-  else:
-    boardd_loop()
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/boardd/tests/fuzzer.py b/selfdrive/boardd/tests/fuzzer.py
deleted file mode 100755
index bb58f8b5e07a53..00000000000000
--- a/selfdrive/boardd/tests/fuzzer.py
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/usr/bin/env python3
-from __future__ import print_function
-import time
-import random
-
-from boardd_old import can_init, can_recv, can_send_many, can_health
-
-if __name__ == "__main__":
-  can_init()
-  while 1:
-    c = random.randint(0, 3)
-    if c == 0:
-      print(can_recv())
-    elif c == 1:
-      print(can_health())
-    elif c == 2:
-      many = [[0x123, 0, "abcdef", 0]] * random.randint(1, 10)
-      can_send_many(many)
-    elif c == 3:
-      time.sleep(random.randint(0, 100) / 1000.0)
diff --git a/selfdrive/boardd/tests/replay_many.py b/selfdrive/boardd/tests/replay_many.py
deleted file mode 100755
index 024867769dc059..00000000000000
--- a/selfdrive/boardd/tests/replay_many.py
+++ /dev/null
@@ -1,68 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import time
-import signal
-import traceback
-from panda import Panda
-from multiprocessing import Pool
-
-jungle = "JUNGLE" in os.environ
-if jungle:
-  from panda_jungle import PandaJungle # pylint: disable=import-error
-
-import cereal.messaging as messaging
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-
-def initializer():
-  """Ignore CTRL+C in the worker process.
-  source: https://stackoverflow.com/a/44869451 """
-  signal.signal(signal.SIGINT, signal.SIG_IGN)
-
-def send_thread(sender_serial):
-  global jungle
-  try:
-    if jungle:
-      sender = PandaJungle(sender_serial)
-    else:
-      sender = Panda(sender_serial)
-      sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    sender.set_can_loopback(False)
-
-    can_sock = messaging.sub_sock('can')
-
-    while True:
-      # Send messages one bus 0 and 1
-      tsc = messaging.recv_one(can_sock)
-      snd = can_capnp_to_can_list(tsc.can)
-      snd = list(filter(lambda x: x[-1] <= 2, snd))
-      sender.can_send_many(snd)
-
-      # Drain panda message buffer
-      sender.can_recv()
-  except Exception:
-    traceback.print_exc()
-
-if __name__ == "__main__":
-  if jungle:
-    serials = PandaJungle.list()
-  else:
-    serials = Panda.list()
-  num_senders = len(serials)
-
-  if num_senders == 0:
-    print("No senders found. Exiting")
-    sys.exit(1)
-  else:
-    print("%d senders found. Starting broadcast" % num_senders)
-
-  pool = Pool(num_senders, initializer=initializer)
-  pool.map_async(send_thread, serials)
-
-  while True:
-    try:
-      time.sleep(10)
-    except KeyboardInterrupt:
-      pool.terminate()
-      pool.join()
-      raise
diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py
deleted file mode 100644
index f41e1e3571049d..00000000000000
--- a/selfdrive/boardd/tests/test_boardd_api.py
+++ /dev/null
@@ -1,77 +0,0 @@
-import random
-import numpy as np
-
-import selfdrive.boardd.tests.boardd_old as boardd_old
-import selfdrive.boardd.boardd as boardd
-
-from common.realtime import sec_since_boot
-from cereal import log
-import unittest
-
-
-def generate_random_can_data_list():
-  can_list = []
-  cnt = random.randint(1, 64)
-  for j in range(cnt):
-    can_data = np.random.bytes(random.randint(1, 8))
-    can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
-  return can_list, cnt
-
-
-class TestBoarddApiMethods(unittest.TestCase):
-  def test_correctness(self):
-    for i in range(1000):
-      can_list, _ = generate_random_can_data_list()
-
-      # Sendcan
-      # Old API
-      m_old = boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
-      # new API
-      m = boardd.can_list_to_can_capnp(can_list, 'sendcan')
-
-      ev_old = log.Event.from_bytes(m_old)
-      ev = log.Event.from_bytes(m)
-
-      self.assertEqual(ev_old.which(), ev.which())
-      self.assertEqual(len(ev.sendcan), len(ev_old.sendcan))
-      for i in range(len(ev.sendcan)):
-        attrs = ['address', 'busTime', 'dat', 'src']
-        for attr in attrs:
-          self.assertEqual(getattr(ev.sendcan[i], attr, 'new'), getattr(ev_old.sendcan[i], attr, 'old'))
-
-      # Can
-      m_old = boardd_old.can_list_to_can_capnp(can_list, 'can').to_bytes()
-      # new API
-      m = boardd.can_list_to_can_capnp(can_list, 'can')
-
-      ev_old = log.Event.from_bytes(m_old)
-      ev = log.Event.from_bytes(m)
-      self.assertEqual(ev_old.which(), ev.which())
-      self.assertEqual(len(ev.can), len(ev_old.can))
-      for i in range(len(ev.can)):
-        attrs = ['address', 'busTime', 'dat', 'src']
-        for attr in attrs:
-          self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old'))
-
-  def test_performance(self):
-    can_list, cnt = generate_random_can_data_list()
-    recursions = 1000
-
-    n1 = sec_since_boot()
-    for i in range(recursions):
-      boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
-    n2 = sec_since_boot()
-    elapsed_old = n2 - n1
-
-    # print('Old API, elapsed time: {} secs'.format(elapsed_old))
-    n1 = sec_since_boot()
-    for i in range(recursions):
-      boardd.can_list_to_can_capnp(can_list)
-    n2 = sec_since_boot()
-    elapsed_new = n2 - n1
-    # print('New API, elapsed time: {} secs'.format(elapsed_new))
-    self.assertTrue(elapsed_new < elapsed_old / 2)
-
-
-if __name__ == '__main__':
-    unittest.main()
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
deleted file mode 100755
index cb88776a0aff64..00000000000000
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env python3
-"""Run boardd with the BOARDD_LOOPBACK envvar before running this test."""
-
-import os
-import random
-import time
-
-from selfdrive.boardd.boardd import can_list_to_can_capnp
-from cereal.messaging import drain_sock, pub_sock, sub_sock
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-BUS = 0
-
-def main():
-  rcv = sub_sock('can') # port 8006
-  snd = pub_sock('sendcan') # port 8017
-  time.sleep(0.3) # wait to bind before send/recv
-
-  for i in range(10):
-    print("Loop %d" % i)
-    at = random.randint(1024, 2000)
-    st = get_test_string()[0:8]
-    snd.send(can_list_to_can_capnp([[at, 0, st, 0]], msgtype='sendcan').to_bytes())
-    time.sleep(0.1)
-    res = drain_sock(rcv, True)
-    assert len(res) == 1
-
-    res = res[0].can
-    assert len(res) == 2
-
-    msg0, msg1 = res
-
-    assert msg0.dat == st
-    assert msg1.dat == st
-
-    assert msg0.address == at
-    assert msg1.address == at
-
-    assert msg0.src == 0x80 | BUS
-    assert msg1.src == BUS
-
-  print("Success")
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/camerad/SConscript b/selfdrive/camerad/SConscript
index 12e1afe5acd492..d018704d60aaee 100644
--- a/selfdrive/camerad/SConscript
+++ b/selfdrive/camerad/SConscript
@@ -1,19 +1,50 @@
-Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc', 'cereal')
+Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM', 'USE_FRAME_STREAM')
 
-libs = ['m', 'pthread', common, 'jpeg', 'json', cereal, 'OpenCL', messaging, 'czmq', 'zmq', 'capnp', 'kj', 'capnp_c', visionipc, gpucommon]
+libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]
 
 if arch == "aarch64":
   libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
-  cameras = ['cameras/camera_qcom.c']
+  cameras = ['cameras/camera_qcom.cc']
+elif arch == "larch64":
+  libs += ['atomic']
+  cameras = ['cameras/camera_qcom2.cc']
 else:
-  libs += []
-  cameras = ['cameras/camera_frame_stream.cc']
+  env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+  if USE_WEBCAM:
+    libs += ['opencv_core', 'opencv_highgui', 'opencv_imgproc', 'opencv_videoio']
+    cameras = ['cameras/camera_webcam.cc']
+    env = env.Clone()
+    env.Append(CXXFLAGS = '-DWEBCAM')
+    env.Append(CFLAGS = '-DWEBCAM')
+    env.Append(CPPPATH = ['/usr/include/opencv4', '/usr/local/include/opencv4'])
+  else:
+    if USE_FRAME_STREAM:
+      cameras = ['cameras/camera_frame_stream.cc']
+    else:
+      libs += ['avutil', 'avcodec', 'avformat', 'swscale', 'bz2', 'ssl', 'curl', 'crypto']
+      # TODO: import replay_lib from root SConstruct
+      cameras = ['cameras/camera_replay.cc', 
+        env.Object('camera-util', '#/selfdrive/ui/replay/util.cc'),
+        env.Object('camera-framereader', '#/selfdrive/ui/replay/framereader.cc'),
+        env.Object('camera-filereader', '#/selfdrive/ui/replay/filereader.cc')]
 
-env.SharedLibrary('snapshot/visionipc',
-  ["#selfdrive/common/visionipc.c", "#selfdrive/common/ipc.c"])
+  if arch == "Darwin":
+    del libs[libs.index('OpenCL')]
+    del libs[libs.index(gpucommon)][gpucommon.index('GL')]
+    env = env.Clone()
+    env['FRAMEWORKS'] = ['OpenCL', 'OpenGL']
 
 env.Program('camerad', [
     'main.cc',
-    'transforms/rgb_to_yuv.c',
+    'cameras/camera_common.cc',
+    'transforms/rgb_to_yuv.cc',
+    'imgproc/utils.cc',
     cameras,
   ], LIBS=libs)
+
+if GetOption("test"):
+  env.Program('test/ae_gray_test', [
+      'test/ae_gray_test.cc',
+      'cameras/camera_common.cc',
+      'transforms/rgb_to_yuv.cc',
+    ], LIBS=libs)
diff --git a/selfdrive/camerad/bufs.h b/selfdrive/camerad/bufs.h
deleted file mode 100644
index 71930baede2cfe..00000000000000
--- a/selfdrive/camerad/bufs.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#ifndef _SELFDRIVE_VISIOND_VISIOND_H_
-#define _SELFDRIVE_VISIOND_VISIOND_H_
-
-#include <inttypes.h>
-
-typedef struct { uint8_t *y, *u, *v; } YUVBuf;
-
-#endif  // _SELFDRIVE_VISIOND_VISIOND_H_
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
new file mode 100644
index 00000000000000..4db6eaa1219de6
--- /dev/null
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -0,0 +1,427 @@
+#include "selfdrive/camerad/cameras/camera_common.h"
+
+#include <unistd.h>
+
+#include <cassert>
+#include <cstdio>
+#include <chrono>
+#include <thread>
+
+#include "libyuv.h"
+#include <jpeglib.h>
+
+#include "selfdrive/camerad/imgproc/utils.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/modeldata.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+
+#ifdef QCOM
+#include "selfdrive/camerad/cameras/camera_qcom.h"
+#elif QCOM2
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#elif WEBCAM
+#include "selfdrive/camerad/cameras/camera_webcam.h"
+#else
+#include "selfdrive/camerad/cameras/camera_replay.h"
+#endif
+
+const int YUV_COUNT = 100;
+
+class Debayer {
+public:
+  Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s) {
+    char args[4096];
+    const CameraInfo *ci = &s->ci;
+    snprintf(args, sizeof(args),
+             "-cl-fast-relaxed-math -cl-denorms-are-zero "
+             "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d "
+             "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d "
+             "-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d",
+             ci->frame_width, ci->frame_height, ci->frame_stride,
+             b->rgb_width, b->rgb_height, b->rgb_stride,
+             ci->bayer_flip, ci->hdr, s->camera_num);
+    const char *cl_file = Hardware::TICI() ? "cameras/real_debayer.cl" : "cameras/debayer.cl";
+    cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
+    krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
+    CL_CHECK(clReleaseProgram(prg_debayer));
+  }
+
+  void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, float gain, cl_event *debayer_event) {
+    CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
+    CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
+
+    if (Hardware::TICI()) {
+      const int debayer_local_worksize = 16;
+      constexpr int localMemSize = (debayer_local_worksize + 2 * (3 / 2)) * (debayer_local_worksize + 2 * (3 / 2)) * sizeof(short int);
+      const size_t globalWorkSize[] = {size_t(width), size_t(height)};
+      const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
+      CL_CHECK(clSetKernelArg(krnl_, 2, localMemSize, 0));
+      CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, debayer_event));
+    } else {
+      const size_t debayer_work_size = height;  // doesn't divide evenly, is this okay?
+      CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(float), &gain));
+      CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 1, NULL, &debayer_work_size, NULL, 0, 0, debayer_event));
+    }
+  }
+
+  ~Debayer() {
+    CL_CHECK(clReleaseKernel(krnl_));
+  }
+
+private:
+  cl_kernel krnl_;
+};
+
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type, release_cb init_release_callback) {
+  vipc_server = v;
+  this->rgb_type = init_rgb_type;
+  this->yuv_type = init_yuv_type;
+  this->release_callback = init_release_callback;
+
+  const CameraInfo *ci = &s->ci;
+  camera_state = s;
+  frame_buf_count = frame_cnt;
+
+  // RAW frame
+  const int frame_size = ci->frame_height * ci->frame_stride;
+  camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
+  camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
+
+  for (int i = 0; i < frame_buf_count; i++) {
+    camera_bufs[i].allocate(frame_size);
+    camera_bufs[i].init_cl(device_id, context);
+  }
+
+  rgb_width = ci->frame_width;
+  rgb_height = ci->frame_height;
+
+  if (!Hardware::TICI() && ci->bayer) {
+    // debayering does a 2x downscale
+    rgb_width = ci->frame_width / 2;
+    rgb_height = ci->frame_height / 2;
+  }
+
+  yuv_transform = get_model_yuv_transform(ci->bayer);
+
+  vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height);
+  rgb_stride = vipc_server->get_buffer(rgb_type)->stride;
+
+  vipc_server->create_buffers(yuv_type, YUV_COUNT, false, rgb_width, rgb_height);
+
+  if (ci->bayer) {
+    debayer = new Debayer(device_id, context, this, s);
+  }
+  rgb2yuv = std::make_unique<Rgb2Yuv>(context, device_id, rgb_width, rgb_height, rgb_stride);
+
+#ifdef __APPLE__
+  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+#else
+  const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
+  q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+#endif
+}
+
+CameraBuf::~CameraBuf() {
+  for (int i = 0; i < frame_buf_count; i++) {
+    camera_bufs[i].free();
+  }
+  if (debayer) delete debayer;
+  if (q) CL_CHECK(clReleaseCommandQueue(q));
+}
+
+bool CameraBuf::acquire() {
+  if (!safe_queue.try_pop(cur_buf_idx, 1)) return false;
+
+  if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
+    LOGE("no frame data? wtf");
+    release();
+    return false;
+  }
+
+  cur_frame_data = camera_bufs_metadata[cur_buf_idx];
+  cur_rgb_buf = vipc_server->get_buffer(rgb_type);
+  cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl;
+  cl_event event;
+
+  if (debayer) {
+    float gain = 0.0;
+
+#ifndef QCOM2
+    gain = camera_state->digital_gain;
+    if ((int)gain == 0) gain = 1.0;
+#endif
+
+    debayer->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl, rgb_width, rgb_height, gain, &event);
+  } else {
+    assert(rgb_stride == camera_state->ci.frame_stride);
+    CL_CHECK(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0, cur_rgb_buf->len, 0, 0, &event));
+  }
+
+  clWaitForEvents(1, &event);
+  CL_CHECK(clReleaseEvent(event));
+
+  cur_yuv_buf = vipc_server->get_buffer(yuv_type);
+  rgb2yuv->queue(q, cur_rgb_buf->buf_cl, cur_yuv_buf->buf_cl);
+
+  VisionIpcBufExtra extra = {
+                        cur_frame_data.frame_id,
+                        cur_frame_data.timestamp_sof,
+                        cur_frame_data.timestamp_eof,
+  };
+  cur_rgb_buf->set_frame_id(cur_frame_data.frame_id);
+  cur_yuv_buf->set_frame_id(cur_frame_data.frame_id);
+  vipc_server->send(cur_rgb_buf, &extra);
+  vipc_server->send(cur_yuv_buf, &extra);
+
+  return true;
+}
+
+void CameraBuf::release() {
+  if (release_callback) {
+    release_callback((void*)camera_state, cur_buf_idx);
+  }
+}
+
+void CameraBuf::queue(size_t buf_idx) {
+  safe_queue.push(buf_idx);
+}
+
+// common functions
+
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data) {
+  framed.setFrameId(frame_data.frame_id);
+  framed.setTimestampEof(frame_data.timestamp_eof);
+  framed.setTimestampSof(frame_data.timestamp_sof);
+  framed.setFrameLength(frame_data.frame_length);
+  framed.setIntegLines(frame_data.integ_lines);
+  framed.setGain(frame_data.gain);
+  framed.setHighConversionGain(frame_data.high_conversion_gain);
+  framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction);
+  framed.setTargetGreyFraction(frame_data.target_grey_fraction);
+  framed.setLensPos(frame_data.lens_pos);
+  framed.setLensSag(frame_data.lens_sag);
+  framed.setLensErr(frame_data.lens_err);
+  framed.setLensTruePos(frame_data.lens_true_pos);
+}
+
+kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
+  static const int x_min = util::getenv("XMIN", 0);
+  static const int y_min = util::getenv("YMIN", 0);
+  static const int env_xmax = util::getenv("XMAX", -1);
+  static const int env_ymax = util::getenv("YMAX", -1);
+  static const int scale = util::getenv("SCALE", 1);
+
+  assert(b->cur_rgb_buf);
+
+  const int x_max = env_xmax != -1 ? env_xmax : b->rgb_width - 1;
+  const int y_max = env_ymax != -1 ? env_ymax : b->rgb_height - 1;
+  const int new_width = (x_max - x_min + 1) / scale;
+  const int new_height = (y_max - y_min + 1) / scale;
+  const uint8_t *dat = (const uint8_t *)b->cur_rgb_buf->addr;
+
+  kj::Array<uint8_t> frame_image = kj::heapArray<uint8_t>(new_width*new_height*3);
+  uint8_t *resized_dat = frame_image.begin();
+  int goff = x_min*3 + y_min*b->rgb_stride;
+  for (int r=0;r<new_height;r++) {
+    for (int c=0;c<new_width;c++) {
+      memcpy(&resized_dat[(r*new_width+c)*3], &dat[goff+r*b->rgb_stride*scale+c*3*scale], 3*sizeof(uint8_t));
+    }
+  }
+  return kj::mv(frame_image);
+}
+
+static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) {
+  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
+  std::unique_ptr<uint8[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
+  uint8_t *y_plane = buf.get();
+  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
+  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
+  {
+    int result = libyuv::I420Scale(
+        b->cur_yuv_buf->y, b->rgb_width, b->cur_yuv_buf->u, b->rgb_width / 2, b->cur_yuv_buf->v, b->rgb_width / 2,
+        b->rgb_width, b->rgb_height,
+        y_plane, thumbnail_width, u_plane, thumbnail_width / 2, v_plane, thumbnail_width / 2,
+        thumbnail_width, thumbnail_height, libyuv::kFilterNone);
+    if (result != 0) {
+      LOGE("Generate YUV thumbnail failed.");
+      return {};
+    }
+  }
+
+  struct jpeg_compress_struct cinfo;
+  struct jpeg_error_mgr jerr;
+  cinfo.err = jpeg_std_error(&jerr);
+  jpeg_create_compress(&cinfo);
+
+  uint8_t *thumbnail_buffer = nullptr;
+  size_t thumbnail_len = 0;
+  jpeg_mem_dest(&cinfo, &thumbnail_buffer, &thumbnail_len);
+
+  cinfo.image_width = thumbnail_width;
+  cinfo.image_height = thumbnail_height;
+  cinfo.input_components = 3;
+
+  jpeg_set_defaults(&cinfo);
+  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
+  // configure sampling factors for yuv420.
+  cinfo.comp_info[0].h_samp_factor = 2;  // Y
+  cinfo.comp_info[0].v_samp_factor = 2;
+  cinfo.comp_info[1].h_samp_factor = 1;  // U
+  cinfo.comp_info[1].v_samp_factor = 1;
+  cinfo.comp_info[2].h_samp_factor = 1;  // V
+  cinfo.comp_info[2].v_samp_factor = 1;
+  cinfo.raw_data_in = TRUE;
+
+  jpeg_set_quality(&cinfo, 50, TRUE);
+  jpeg_start_compress(&cinfo, TRUE);
+
+  JSAMPROW y[16], u[8], v[8];
+  JSAMPARRAY planes[3]{y, u, v};
+
+  for (int line = 0; line < cinfo.image_height; line += 16) {
+    for (int i = 0; i < 16; ++i) {
+      y[i] = y_plane + (line + i) * cinfo.image_width;
+      if (i % 2 == 0) {
+        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
+        u[i / 2] = u_plane + offset;
+        v[i / 2] = v_plane + offset;
+      }
+    }
+    jpeg_write_raw_data(&cinfo, planes, 16);
+  }
+
+  jpeg_finish_compress(&cinfo);
+  jpeg_destroy_compress(&cinfo);
+
+  kj::Array<capnp::byte> dat = kj::heapArray<capnp::byte>(thumbnail_buffer, thumbnail_len);
+  free(thumbnail_buffer);
+  return dat;
+}
+
+static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
+  auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4);
+  if (thumbnail.size() == 0) return;
+
+  MessageBuilder msg;
+  auto thumbnaild = msg.initEvent().initThumbnail();
+  thumbnaild.setFrameId(b->cur_frame_data.frame_id);
+  thumbnaild.setTimestampEof(b->cur_frame_data.timestamp_eof);
+  thumbnaild.setThumbnail(thumbnail);
+
+  pm->send("thumbnail", msg);
+}
+
+float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
+  int lum_med;
+  uint32_t lum_binning[256] = {0};
+  const uint8_t *pix_ptr = b->cur_yuv_buf->y;
+
+  unsigned int lum_total = 0;
+  for (int y = y_start; y < y_end; y += y_skip) {
+    for (int x = x_start; x < x_end; x += x_skip) {
+      uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
+      lum_binning[lum]++;
+      lum_total += 1;
+    }
+  }
+
+
+  // Find mean lumimance value
+  unsigned int lum_cur = 0;
+  for (lum_med = 255; lum_med >= 0; lum_med--) {
+    lum_cur += lum_binning[lum_med];
+
+    if (lum_cur >= lum_total / 2) {
+      break;
+    }
+  }
+
+  return lum_med / 256.0;
+}
+
+extern ExitHandler do_exit;
+
+void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
+  const char *thread_name = nullptr;
+  if (cs == &cameras->road_cam) {
+    thread_name = "RoadCamera";
+  } else if (cs == &cameras->driver_cam) {
+    thread_name = "DriverCamera";
+  } else {
+    thread_name = "WideRoadCamera";
+  }
+  set_thread_name(thread_name);
+
+  uint32_t cnt = 0;
+  while (!do_exit) {
+    if (!cs->buf.acquire()) continue;
+
+    callback(cameras, cs, cnt);
+
+    if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) {
+      // this takes 10ms???
+      publish_thumbnail(cameras->pm, &(cs->buf));
+    }
+    cs->buf.release();
+    ++cnt;
+  }
+  return NULL;
+}
+
+std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
+  return std::thread(processing_thread, cameras, cs, callback);
+}
+
+static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
+  static const bool is_rhd = Params().getBool("IsRHD");
+  struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
+  const CameraBuf *b = &c->buf;
+
+  int x_offset = 0, y_offset = 0;
+  int frame_width = b->rgb_width, frame_height = b->rgb_height;
+
+
+  ExpRect def_rect;
+  if (Hardware::TICI()) {
+    x_offset = 630, y_offset = 156;
+    frame_width = 668, frame_height = frame_width / 1.33;
+    def_rect = {96, 1832, 2, 242, 1148, 4};
+  } else {
+    def_rect = {is_rhd ? 0 : b->rgb_width * 3 / 5, is_rhd ? b->rgb_width * 2 / 5 : b->rgb_width, 2,
+                b->rgb_height / 3, b->rgb_height, 1};
+  }
+
+  static ExpRect rect = def_rect;
+  // use driver face crop for AE
+  if (Hardware::EON() && sm.updated("driverState")) {
+    if (auto state = sm["driverState"].getDriverState(); state.getFaceProb() > 0.4) {
+      auto face_position = state.getFacePosition();
+      int x = is_rhd ? 0 : frame_width - (0.5 * frame_height);
+      x += (face_position[0] * (is_rhd ? -1.0 : 1.0) + 0.5) * (0.5 * frame_height) + x_offset;
+      int y = (face_position[1] + 0.5) * frame_height + y_offset;
+      rect = {std::max(0, x - 72), std::min(b->rgb_width - 1, x + 72), 2,
+              std::max(0, y - 72), std::min(b->rgb_height - 1, y + 72), 1};
+    }
+  }
+
+  camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
+}
+
+void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
+  int j = Hardware::TICI() ? 1 : 3;
+  if (cnt % j == 0) {
+    sm->update(0);
+    driver_cam_auto_exposure(c, *sm);
+  }
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initDriverCameraState();
+  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
+  fill_frame_data(framed, c->buf.cur_frame_data);
+  if (env_send_driver) {
+    framed.setImage(get_frame_image(&c->buf));
+  }
+  pm->send("driverCameraState", msg);
+}
diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index 187952e22dc26e..8387e60bf206c3 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -1,8 +1,19 @@
-#ifndef CAMERA_COMMON_H
-#define CAMERA_COMMON_H
+#pragma once
 
-#include <stdint.h>
-#include <stdbool.h>
+#include <cstdint>
+#include <cstdlib>
+#include <memory>
+#include <thread>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionbuf.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/queue.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/visionimg.h"
 
 #define CAMERA_ID_IMX298 0
 #define CAMERA_ID_IMX179 1
@@ -10,14 +21,26 @@
 #define CAMERA_ID_OV8865 3
 #define CAMERA_ID_IMX298_FLIPPED 4
 #define CAMERA_ID_OV10640 5
-#define CAMERA_ID_MAX 6
+#define CAMERA_ID_LGC920 6
+#define CAMERA_ID_LGC615 7
+#define CAMERA_ID_AR0231 8
+#define CAMERA_ID_MAX 9
+
+#define UI_BUF_COUNT 4
+
+enum CameraType {
+  RoadCam = 0,
+  DriverCam,
+  WideRoadCam
+};
 
-#ifdef __cplusplus
-extern "C" {
-#endif
+const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
+const bool env_send_road = getenv("SEND_ROAD") != NULL;
+const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
+
+typedef void (*release_cb)(void *cookie, int buf_idx);
 
 typedef struct CameraInfo {
-  const char* name;
   int frame_width, frame_height;
   int frame_stride;
   bool bayer;
@@ -25,23 +48,99 @@ typedef struct CameraInfo {
   bool hdr;
 } CameraInfo;
 
+typedef struct LogCameraInfo {
+  CameraType type;
+  const char* filename;
+  const char* frame_packet_name;
+  const char* encode_idx_name;
+  VisionStreamType stream_type;
+  int frame_width, frame_height;
+  int fps;
+  int bitrate;
+  bool is_h265;
+  bool downscale;
+  bool has_qcamera;
+  bool trigger_rotate;
+  bool enable;
+  bool record;
+} LogCameraInfo;
+
 typedef struct FrameMetadata {
   uint32_t frame_id;
-  uint64_t timestamp_eof;
   unsigned int frame_length;
+
+  // Timestamps
+  uint64_t timestamp_sof; // only set on tici
+  uint64_t timestamp_eof;
+
+  // Exposure
   unsigned int integ_lines;
-  unsigned int global_gain;
+  bool high_conversion_gain;
+  float gain;
+  float measured_grey_fraction;
+  float target_grey_fraction;
+
+  // Focus
   unsigned int lens_pos;
   float lens_sag;
   float lens_err;
   float lens_true_pos;
-  float gain_frac;
 } FrameMetadata;
 
-extern CameraInfo cameras_supported[CAMERA_ID_MAX];
+typedef struct CameraExpInfo {
+  int op_id;
+  float grey_frac;
+} CameraExpInfo;
+
+struct MultiCameraState;
+struct CameraState;
+class Debayer;
+
+class CameraBuf {
+private:
+  VisionIpcServer *vipc_server;
+  CameraState *camera_state;
+  Debayer *debayer = nullptr;
+  std::unique_ptr<Rgb2Yuv> rgb2yuv;
+
+  VisionStreamType rgb_type, yuv_type;
+
+  int cur_buf_idx;
+
+  SafeQueue<int> safe_queue;
+
+  int frame_buf_count;
+  release_cb release_callback;
+
+public:
+  cl_command_queue q;
+  FrameMetadata cur_frame_data;
+  VisionBuf *cur_rgb_buf;
+  VisionBuf *cur_yuv_buf;
+  std::unique_ptr<VisionBuf[]> camera_bufs;
+  std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
+  int rgb_width, rgb_height, rgb_stride;
+
+  mat3 yuv_transform;
+
+  CameraBuf() = default;
+  ~CameraBuf();
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr);
+  bool acquire();
+  void release();
+  void queue(size_t buf_idx);
+};
+
+typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
-#ifdef __cplusplus
-}
-#endif
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
+kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
+float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
+std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
+void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
 
-#endif
+void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
+void cameras_open(MultiCameraState *s);
+void cameras_run(MultiCameraState *s);
+void cameras_close(MultiCameraState *s);
+void camera_autoexposure(CameraState *s, float grey_frac);
diff --git a/selfdrive/camerad/cameras/camera_frame_stream.cc b/selfdrive/camerad/cameras/camera_frame_stream.cc
index 1a9f8a931f8d16..8e6c69e3614353 100644
--- a/selfdrive/camerad/cameras/camera_frame_stream.cc
+++ b/selfdrive/camerad/cameras/camera_frame_stream.cc
@@ -1,115 +1,28 @@
-#include "camera_frame_stream.h"
+#include "selfdrive/camerad/cameras/camera_frame_stream.h"
 
-#include <string>
 #include <unistd.h>
-#include <vector>
 #include <cassert>
-#include <string.h>
-#include <signal.h>
 
-#include <libyuv.h>
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
-#include "messaging.hpp"
+#include <capnp/dynamic.h>
 
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "buffering.h"
-
-extern "C" {
-#include <libavcodec/avcodec.h>
-}
-
-extern volatile sig_atomic_t do_exit;
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
 
 #define FRAME_WIDTH 1164
 #define FRAME_HEIGHT 874
 
-namespace {
-void camera_open(CameraState *s, VisionBuf *camera_bufs, bool rear) {
-  assert(camera_bufs);
-  s->camera_bufs = camera_bufs;
-}
-
-void camera_close(CameraState *s) {
-  tbuffer_stop(&s->camera_tb);
-}
+extern ExitHandler do_exit;
 
-void camera_release_buffer(void *cookie, int buf_idx) {
-  CameraState *s = static_cast<CameraState *>(cookie);
-}
-
-void camera_init(CameraState *s, int camera_id, unsigned int fps) {
-  assert(camera_id < ARRAYSIZE(cameras_supported));
-  s->ci = cameras_supported[camera_id];
-  assert(s->ci.frame_width != 0);
-
-  s->frame_size = s->ci.frame_height * s->ci.frame_stride;
-  s->fps = fps;
-
-  tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", camera_release_buffer, s);
-}
-
-void run_frame_stream(DualCameraState *s) {
-  int err;
-  Context * context = Context::create();
-  SubSocket * recorder_sock = SubSocket::create(context, "frame");
-  assert(recorder_sock != NULL);
-
-  CameraState *const rear_camera = &s->rear;
-  auto *tb = &rear_camera->camera_tb;
-
-  while (!do_exit) {
-    Message * msg = recorder_sock->receive();
-
-    auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
-    memcpy(amsg.begin(), msg->getData(), msg->getSize());
-
-    capnp::FlatArrayMessageReader cmsg(amsg);
-    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-    auto frame = event.getFrame();
-
-    const int buf_idx = tbuffer_select(tb);
-    rear_camera->camera_bufs_metadata[buf_idx] = {
-      .frame_id = frame.getFrameId(),
-      .timestamp_eof = frame.getTimestampEof(),
-      .frame_length = static_cast<unsigned>(frame.getFrameLength()),
-      .integ_lines = static_cast<unsigned>(frame.getIntegLines()),
-      .global_gain = static_cast<unsigned>(frame.getGlobalGain()),
-    };
-
-    cl_command_queue q = rear_camera->camera_bufs[buf_idx].copy_q;
-    cl_mem yuv_cl = rear_camera->camera_bufs[buf_idx].buf_cl;
-    cl_event map_event;
-    void *yuv_buf = (void *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE,
-                                                CL_MAP_WRITE, 0, frame.getImage().size(),
-                                                0, NULL, &map_event, &err);
-    assert(err == 0);
-    clWaitForEvents(1, &map_event);
-    clReleaseEvent(map_event);
-    memcpy(yuv_buf, frame.getImage().begin(), frame.getImage().size());
-
-    clEnqueueUnmapMemObject(q, yuv_cl, yuv_buf, 0, NULL, &map_event);
-    clWaitForEvents(1, &map_event);
-    clReleaseEvent(map_event);
-    tbuffer_dispatch(tb, buf_idx);
-    delete msg;
-
-  }
-  delete recorder_sock;
-  delete context;
-}
-
-}  // namespace
+namespace {
 
+// TODO: make this more generic
 CameraInfo cameras_supported[CAMERA_ID_MAX] = {
   [CAMERA_ID_IMX298] = {
-      .frame_width = FRAME_WIDTH,
-      .frame_height = FRAME_HEIGHT,
-      .frame_stride = FRAME_WIDTH*3,
-      .bayer = false,
-      .bayer_flip = false,
+    .frame_width = FRAME_WIDTH,
+    .frame_height = FRAME_HEIGHT,
+    .frame_stride = FRAME_WIDTH*3,
+    .bayer = false,
+    .bayer_flip = false,
   },
   [CAMERA_ID_OV8865] = {
     .frame_width = 1632,
@@ -121,46 +34,59 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
   },
 };
 
-void cameras_init(DualCameraState *s) {
-  memset(s, 0, sizeof(*s));
-
-  camera_init(&s->rear, CAMERA_ID_IMX298, 20);
-  s->rear.transform = (mat3){{
-    1.0,  0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0,  0.0, 1.0,
-  }};
-
-  camera_init(&s->front, CAMERA_ID_OV8865, 10);
-  s->front.transform = (mat3){{
-    1.0,  0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0,  0.0, 1.0,
-  }};
+void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
+  assert(camera_id < std::size(cameras_supported));
+  s->ci = cameras_supported[camera_id];
+  assert(s->ci.frame_width != 0);
+
+  s->camera_num = camera_id;
+  s->fps = fps;
+  s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
 }
 
-void camera_autoexposure(CameraState *s, float grey_frac) {}
+void run_frame_stream(CameraState &camera, const char* frame_pkt) {
+  SubMaster sm({frame_pkt});
 
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear,
-                  VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats,
-                  VisionBuf *camera_bufs_front) {
-  assert(camera_bufs_rear);
-  assert(camera_bufs_front);
-  int err;
+  size_t buf_idx = 0;
+  while (!do_exit) {
+    sm.update(1000);
+    if(sm.updated(frame_pkt)) {
+      auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]);
+      auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>();
+      camera.buf.camera_bufs_metadata[buf_idx] = {
+        .frame_id = frame.get("frameId").as<uint32_t>(),
+        .timestamp_eof = frame.get("timestampEof").as<uint64_t>(),
+        .timestamp_sof = frame.get("timestampSof").as<uint64_t>(),
+      };
+
+      cl_command_queue q = camera.buf.camera_bufs[buf_idx].copy_q;
+      cl_mem yuv_cl = camera.buf.camera_bufs[buf_idx].buf_cl;
+
+      auto image = frame.get("image").as<capnp::Data>();
+      clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, image.size(), image.begin(), 0, NULL, NULL);
+      camera.buf.queue(buf_idx);
+      buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
+    }
+  }
+}
 
-  // LOG("*** open front ***");
-  camera_open(&s->front, camera_bufs_front, false);
+}  // namespace
 
-  // LOG("*** open rear ***");
-  camera_open(&s->rear, camera_bufs_rear, true);
+void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
+  camera_init(v, &s->road_cam, CAMERA_ID_IMX298, 20, device_id, ctx,
+              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);
+  camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 10, device_id, ctx,
+              VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
 }
 
-void cameras_close(DualCameraState *s) {
-  camera_close(&s->rear);
-}
+void cameras_open(MultiCameraState *s) {}
+void cameras_close(MultiCameraState *s) {}
+void camera_autoexposure(CameraState *s, float grey_frac) {}
+void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {}
 
-void cameras_run(DualCameraState *s) {
+void cameras_run(MultiCameraState *s) {
+  std::thread t = start_process_thread(s, &s->road_cam, process_road_camera);
   set_thread_name("frame_streaming");
-  run_frame_stream(s);
-  cameras_close(s);
+  run_frame_stream(s->road_cam, "roadCameraState");
+  t.join();
 }
diff --git a/selfdrive/camerad/cameras/camera_frame_stream.h b/selfdrive/camerad/cameras/camera_frame_stream.h
index 5cb7e27c5fa72a..0d4d8cfb429ab7 100644
--- a/selfdrive/camerad/cameras/camera_frame_stream.h
+++ b/selfdrive/camerad/cameras/camera_frame_stream.h
@@ -1,58 +1,30 @@
-#ifndef CAMERA_FRAME_STREAM_H
-#define CAMERA_FRAME_STREAM_H
-
-#include <stdbool.h>
+#pragma once
 
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
 #else
 #include <CL/cl.h>
 #endif
 
-#include "common/mat.h"
-
-#include "buffering.h"
-#include "common/visionbuf.h"
 #include "camera_common.h"
 
 #define FRAME_BUF_COUNT 16
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 typedef struct CameraState {
-  int camera_id;
+  int camera_num;
   CameraInfo ci;
-  int frame_size;
-
-  VisionBuf *camera_bufs;
-  FrameMetadata camera_bufs_metadata[FRAME_BUF_COUNT];
-  TBuffer camera_tb;
 
   int fps;
   float digital_gain;
 
-  float cur_gain_frac;
-
-  mat3 transform;
+  CameraBuf buf;
 } CameraState;
 
+typedef struct MultiCameraState {
+  CameraState road_cam;
+  CameraState driver_cam;
 
-typedef struct DualCameraState {
-  int ispif_fd;
-
-  CameraState rear;
-  CameraState front;
-} DualCameraState;
-
-void cameras_init(DualCameraState *s);
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
-void cameras_run(DualCameraState *s);
-void cameras_close(DualCameraState *s);
-void camera_autoexposure(CameraState *s, float grey_frac);
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif
+  SubMaster *sm;
+  PubMaster *pm;
+} MultiCameraState;
diff --git a/selfdrive/camerad/cameras/camera_qcom.c b/selfdrive/camerad/cameras/camera_qcom.c
deleted file mode 100644
index ddaa51e3401f57..00000000000000
--- a/selfdrive/camerad/cameras/camera_qcom.c
+++ /dev/null
@@ -1,2235 +0,0 @@
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <assert.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <sys/ioctl.h>
-
-#include <linux/media.h>
-
-#include <cutils/properties.h>
-
-#include <pthread.h>
-#include <czmq.h>
-
-#include "msmb_isp.h"
-#include "msmb_ispif.h"
-#include "msmb_camera.h"
-#include "msm_cam_sensor.h"
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "common/params.h"
-
-#include "cereal/gen/c/log.capnp.h"
-
-#include "sensor_i2c.h"
-
-#include "camera_qcom.h"
-
-
-// enable this to run the camera at 60fps and sample every third frame
-// supposed to reduce 33ms of lag, but no results
-//#define HIGH_FPS
-
-#define CAMERA_MSG_AUTOEXPOSE 0
-
-typedef struct CameraMsg {
-  int type;
-  int camera_num;
-
-  float grey_frac;
-} CameraMsg;
-
-extern volatile sig_atomic_t do_exit;
-
-CameraInfo cameras_supported[CAMERA_ID_MAX] = {
-  [CAMERA_ID_IMX298] = {
-    .frame_width = 2328,
-    .frame_height = 1748,
-    .frame_stride = 2912,
-    .bayer = true,
-    .bayer_flip = 0,
-    .hdr = true
-  },
-  [CAMERA_ID_IMX179] = {
-    .frame_width = 3280,
-    .frame_height = 2464,
-    .frame_stride = 4104,
-    .bayer = true,
-    .bayer_flip = 0,
-    .hdr = false
-  },
-  [CAMERA_ID_S5K3P8SP] = {
-    .frame_width = 2304,
-    .frame_height = 1728,
-    .frame_stride = 2880,
-    .bayer = true,
-    .bayer_flip = 1,
-    .hdr = false
-  },
-  [CAMERA_ID_OV8865] = {
-    .frame_width = 1632,
-    .frame_height = 1224,
-    .frame_stride = 2040, // seems right
-    .bayer = true,
-    .bayer_flip = 3,
-    .hdr = false
-  },
-  // this exists to get the kernel to build for the LeEco in release
-  [CAMERA_ID_IMX298_FLIPPED] = {
-    .frame_width = 2328,
-    .frame_height = 1748,
-    .frame_stride = 2912,
-    .bayer = true,
-    .bayer_flip = 3,
-    .hdr = true
-  },
-  [CAMERA_ID_OV10640] = {
-    .frame_width = 1280,
-    .frame_height = 1080,
-    .frame_stride = 2040,
-    .bayer = true,
-    .bayer_flip = 0,
-    .hdr = true
-  },
-};
-
-static void camera_release_buffer(void* cookie, int buf_idx) {
-  CameraState *s = cookie;
-  // printf("camera_release_buffer %d\n", buf_idx);
-  s->ss[0].qbuf_info[buf_idx].dirty_buf = 1;
-  ioctl(s->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &s->ss[0].qbuf_info[buf_idx]);
-}
-
-static void camera_init(CameraState *s, int camera_id, int camera_num,
-                        uint32_t pixel_clock, uint32_t line_length_pclk,
-                        unsigned int max_gain, unsigned int fps) {
-  memset(s, 0, sizeof(*s));
-
-  s->camera_num = camera_num;
-  s->camera_id = camera_id;
-
-  assert(camera_id < ARRAYSIZE(cameras_supported));
-  s->ci = cameras_supported[camera_id];
-  assert(s->ci.frame_width != 0);
-  s->frame_size = s->ci.frame_height * s->ci.frame_stride;
-
-  s->pixel_clock = pixel_clock;
-  s->line_length_pclk = line_length_pclk;
-  s->max_gain = max_gain;
-  s->fps = fps;
-
-  zsock_t *ops_sock = zsock_new_push(">inproc://cameraops");
-  assert(ops_sock);
-  s->ops_sock = zsock_resolve(ops_sock);
-
-  tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame",
-    camera_release_buffer, s);
-
-  pthread_mutex_init(&s->frame_info_lock, NULL);
-}
-
-
-int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size_t size, int data_type) {
-  struct msm_camera_i2c_reg_setting out_settings = {
-    .reg_setting = arr,
-    .size = size,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .data_type = data_type,
-    .delay = 0,
-  };
-  struct sensorb_cfg_data cfg_data = {0};
-  cfg_data.cfgtype = CFG_WRITE_I2C_ARRAY;
-  cfg_data.cfg.setting = &out_settings;
-  return ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &cfg_data);
-}
-
-static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) {
-  int err;
-
-  int analog_gain = min(gain, 448);
-
-  if (gain > 448) {
-    s->digital_gain = (512.0/(512-(gain))) / 8.0;
-  } else {
-    s->digital_gain = 1.0;
-  }
-
-  //printf("%5d/%5d %5d %f\n", s->cur_integ_lines, s->cur_frame_length, analog_gain, s->digital_gain);
-
-  int digital_gain = 0x100;
-
-  float white_balance[] = {0.4609375, 1.0, 0.546875};
-  //float white_balance[] = {1.0, 1.0, 1.0};
-
-  int digital_gain_gr = digital_gain / white_balance[1];
-  int digital_gain_gb = digital_gain / white_balance[1];
-  int digital_gain_r = digital_gain / white_balance[0];
-  int digital_gain_b = digital_gain / white_balance[2];
-
-  struct msm_camera_i2c_reg_array reg_array[] = {
-    // REG_HOLD
-    {0x104,0x1,0},
-    {0x3002,0x0,0}, // long autoexposure off
-
-    // FRM_LENGTH
-    {0x340, frame_length >> 8, 0}, {0x341, frame_length & 0xff, 0},
-    // INTEG_TIME aka coarse_int_time_addr aka shutter speed
-    {0x202, integ_lines >> 8, 0}, {0x203, integ_lines & 0xff,0},
-    // global_gain_addr
-    // if you assume 1x gain is 32, 448 is 14x gain, aka 2^14=16384
-    {0x204, analog_gain >> 8, 0}, {0x205, analog_gain & 0xff,0},
-
-    // digital gain for colors: gain_greenR, gain_red, gain_blue, gain_greenB
-    /*{0x20e, digital_gain_gr >> 8, 0}, {0x20f,digital_gain_gr & 0xFF,0},
-    {0x210, digital_gain_r >> 8, 0}, {0x211,digital_gain_r & 0xFF,0},
-    {0x212, digital_gain_b >> 8, 0}, {0x213,digital_gain_b & 0xFF,0},
-    {0x214, digital_gain_gb >> 8, 0}, {0x215,digital_gain_gb & 0xFF,0},*/
-
-    // REG_HOLD
-    {0x104,0x0,0},
-  };
-
-  err = sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
-  if (err != 0) {
-    LOGE("apply_exposure err %d", err);
-  }
-  return err;
-}
-
-static inline int ov8865_get_coarse_gain(int gain) {
-  static const int gains[] = {0, 256, 384, 448, 480};
-  int i;
-
-  for (i = 1; i < ARRAYSIZE(gains); i++) {
-    if (gain >= gains[i - 1] && gain < gains[i])
-      break;
-  }
-
-  return i - 1;
-}
-
-static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) {
-  //printf("front camera: %d %d %d\n", gain, integ_lines, frame_length);
-  int err, gain_bitmap;
-  gain_bitmap = (1 << ov8865_get_coarse_gain(gain)) - 1;
-  integ_lines *= 16; // The exposure value in reg is in 16ths of a line
-  struct msm_camera_i2c_reg_array reg_array[] = {
-    //{0x104,0x1,0},
-
-    // FRM_LENGTH
-    {0x380e, frame_length >> 8, 0}, {0x380f, frame_length & 0xff, 0},
-    // AEC EXPO
-    {0x3500, integ_lines >> 16, 0}, {0x3501, integ_lines >> 8, 0}, {0x3502, integ_lines & 0xff,0},
-    // AEC MANUAL
-    {0x3503, 0x4, 0},
-    // AEC GAIN
-    {0x3508, gain_bitmap, 0}, {0x3509, 0xf8, 0},
-
-    //{0x104,0x0,0},
-  };
-  err = sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
-  if (err != 0) {
-    LOGE("apply_exposure err %d", err);
-  }
-  return err;
-}
-
-static int imx179_s5k3p8sp_apply_exposure(CameraState *s, int gain, int integ_lines, int frame_length) {
-  //printf("front camera: %d %d %d\n", gain, integ_lines, frame_length);
-  int err;
-
-  if (gain > 448) {
-    s->digital_gain = (512.0/(512-(gain))) / 8.0;
-  } else {
-    s->digital_gain = 1.0;
-  }
-
-  struct msm_camera_i2c_reg_array reg_array[] = {
-    {0x104,0x1,0},
-
-    // FRM_LENGTH
-    {0x340, frame_length >> 8, 0}, {0x341, frame_length & 0xff, 0},
-    // coarse_int_time
-    {0x202, integ_lines >> 8, 0}, {0x203, integ_lines & 0xff,0},
-    // global_gain
-    {0x204, gain >> 8, 0}, {0x205, gain & 0xff,0},
-
-    {0x104,0x0,0},
-  };
-  err = sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
-  if (err != 0) {
-    LOGE("apply_exposure err %d", err);
-  }
-  return err;
-}
-
-void cameras_init(DualCameraState *s) {
-  memset(s, 0, sizeof(*s));
-
-  char project_name[1024] = {0};
-  property_get("ro.boot.project_name", project_name, "");
-
-  char product_name[1024] = {0};
-  property_get("ro.product.name", product_name, "");
-
-  if (strlen(project_name) == 0) {
-    LOGD("LePro 3 op system detected");
-    s->device = DEVICE_LP3;
-
-    // sensor is flipped in LP3
-    // IMAGE_ORIENT = 3
-    init_array_imx298[0].reg_data = 3;
-    cameras_supported[CAMERA_ID_IMX298].bayer_flip = 3;
-  } else if (strcmp(product_name, "OnePlus3") == 0 && strcmp(project_name, "15811") != 0) {
-    // no more OP3 support
-    s->device = DEVICE_OP3;
-    assert(false);
-  } else if (strcmp(product_name, "OnePlus3") == 0 && strcmp(project_name, "15811") == 0) {
-    // only OP3T support
-    s->device = DEVICE_OP3T;
-  } else {
-    assert(false);
-  }
-
-  // 0   = ISO 100
-  // 256 = ISO 200
-  // 384 = ISO 400
-  // 448 = ISO 800
-  // 480 = ISO 1600
-  // 496 = ISO 3200
-  // 504 = ISO 6400, 8x digital gain
-  // 508 = ISO 12800, 16x digital gain
-  // 510 = ISO 25600, 32x digital gain
-
-  camera_init(&s->rear, CAMERA_ID_IMX298, 0,
-              /*pixel_clock=*/600000000, /*line_length_pclk=*/5536,
-              /*max_gain=*/510, //0 (ISO 100)- 448 (ISO 800, max analog gain) - 511 (super noisy)
-#ifdef HIGH_FPS
-              /*fps*/60
-#else
-              /*fps*/20
-#endif
-  );
-  s->rear.apply_exposure = imx298_apply_exposure;
-
-  if (s->device == DEVICE_OP3T) {
-    camera_init(&s->front, CAMERA_ID_S5K3P8SP, 1,
-                /*pixel_clock=*/561000000, /*line_length_pclk=*/5120,
-                /*max_gain=*/510, 10);
-    s->front.apply_exposure = imx179_s5k3p8sp_apply_exposure;
-  } else if (s->device == DEVICE_LP3) {
-    camera_init(&s->front, CAMERA_ID_OV8865, 1,
-                /*pixel_clock=*/251200000, /*line_length_pclk=*/7000,
-                /*max_gain=*/510, 10);
-    s->front.apply_exposure = ov8865_apply_exposure;
-  } else {
-    camera_init(&s->front, CAMERA_ID_IMX179, 1,
-                /*pixel_clock=*/251200000, /*line_length_pclk=*/3440,
-                /*max_gain=*/224, 20);
-    s->front.apply_exposure = imx179_s5k3p8sp_apply_exposure;
-  }
-
-  // assume the device is upside-down (not anymore)
-  s->rear.transform = (mat3){{
-     1.0,  0.0, 0.0,
-     0.0,  1.0, 0.0,
-     0.0,  0.0, 1.0,
-  }};
-
-  // probably wrong
-  s->front.transform = (mat3){{
-     1.0,  0.0, 0.0,
-     0.0,  1.0, 0.0,
-     0.0,  0.0, 1.0,
-  }};
-
-  s->rear.device = s->device;
-  s->front.device = s->device;
-}
-
-static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
-  int err = 0;
-
-  unsigned int frame_length = s->pixel_clock / s->line_length_pclk / s->fps;
-
-  unsigned int gain = s->cur_gain;
-  unsigned int integ_lines = s->cur_integ_lines;
-
-  if (exposure_frac >= 0) {
-    exposure_frac = clamp(exposure_frac, 2.0 / frame_length, 1.0);
-    integ_lines = frame_length * exposure_frac;
-
-    // See page 79 of the datasheet, this is the max allowed (-1 for phase adjust)
-    integ_lines = min(integ_lines, frame_length-11);
-  }
-
-  if (gain_frac >= 0) {
-    // ISO200 is minimum gain
-    gain_frac = clamp(gain_frac, 1.0/64, 1.0);
-
-    // linearize gain response
-    // TODO: will be wrong for front camera
-    // 0.125 -> 448
-    // 0.25  -> 480
-    // 0.5   -> 496
-    // 1.0   -> 504
-    // 512 - 512/(128*gain_frac)
-    gain = (s->max_gain/510) * (512 - 512/(256*gain_frac));
-  }
-
-  if (gain != s->cur_gain
-    || integ_lines != s->cur_integ_lines
-    || frame_length != s->cur_frame_length) {
-
-    if (s->apply_exposure) {
-      err = s->apply_exposure(s, gain, integ_lines, frame_length);
-    }
-
-    if (err == 0) {
-      pthread_mutex_lock(&s->frame_info_lock);
-      s->cur_gain = gain;
-      s->cur_integ_lines = integ_lines;
-      s->cur_frame_length = frame_length;
-      pthread_mutex_unlock(&s->frame_info_lock);
-    }
-  }
-
-  if (err == 0) {
-    s->cur_exposure_frac = exposure_frac;
-    s->cur_gain_frac = gain_frac;
-  }
-
-  //LOGD("set exposure: %f %f - %d", exposure_frac, gain_frac, err);
-}
-
-static void do_autoexposure(CameraState *s, float grey_frac) {
-  const float target_grey = 0.3;
-
-  float new_exposure = s->cur_exposure_frac;
-  new_exposure *= pow(1.05, (target_grey - grey_frac) / 0.05 );
-  //LOGD("diff %f: %f to %f", target_grey - grey_frac, s->cur_exposure_frac, new_exposure);
-
-  float new_gain = s->cur_gain_frac;
-  if (new_exposure < 0.10) {
-    new_gain *= 0.95;
-  } else if (new_exposure > 0.40) {
-    new_gain *= 1.05;
-  }
-
-  set_exposure(s, new_exposure, new_gain);
-}
-
-void camera_autoexposure(CameraState *s, float grey_frac) {
-  CameraMsg msg = {
-    .type = CAMERA_MSG_AUTOEXPOSE,
-    .camera_num = s->camera_num,
-    .grey_frac = grey_frac,
-  };
-
-  zmq_send(s->ops_sock, &msg, sizeof(msg), ZMQ_DONTWAIT);
-}
-
-static uint8_t* get_eeprom(int eeprom_fd, size_t *out_len) {
-  int err;
-
-  struct msm_eeprom_cfg_data cfg = {0};
-  cfg.cfgtype = CFG_EEPROM_GET_CAL_DATA;
-  err = ioctl(eeprom_fd, VIDIOC_MSM_EEPROM_CFG, &cfg);
-  assert(err >= 0);
-
-  uint32_t num_bytes = cfg.cfg.get_data.num_bytes;
-  assert(num_bytes > 100);
-
-  uint8_t* buffer = malloc(num_bytes);
-  assert(buffer);
-  memset(buffer, 0, num_bytes);
-
-  cfg.cfgtype = CFG_EEPROM_READ_CAL_DATA;
-  cfg.cfg.read_data.num_bytes = num_bytes;
-  cfg.cfg.read_data.dbuffer = buffer;
-  err = ioctl(eeprom_fd, VIDIOC_MSM_EEPROM_CFG, &cfg);
-  assert(err >= 0);
-
-  *out_len = num_bytes;
-  return buffer;
-}
-
-static void imx298_ois_calibration(int ois_fd, uint8_t* eeprom) {
-  int err;
-
-  const int ois_registers[][2] = {
-    // == SET_FADJ_PARAM() == (factory adjustment)
-
-    // Set Hall Current DAC
-    {0x8230, *(uint16_t*)(eeprom+0x102)}, //_P_30_ADC_CH0 (CURDAT)
-
-    // Set Hall     PreAmp Offset
-    {0x8231, *(uint16_t*)(eeprom+0x104)}, //_P_31_ADC_CH1 (HALOFS_X)
-    {0x8232, *(uint16_t*)(eeprom+0x106)}, //_P_32_ADC_CH2 (HALOFS_Y)
-
-    // Set Hall-X/Y PostAmp Offset
-    {0x841e, *(uint16_t*)(eeprom+0x108)}, //_M_X_H_ofs
-    {0x849e, *(uint16_t*)(eeprom+0x10a)}, //_M_Y_H_ofs
-
-    // Set Residual Offset
-    {0x8239, *(uint16_t*)(eeprom+0x10c)}, //_P_39_Ch3_VAL_1 (PSTXOF)
-    {0x823b, *(uint16_t*)(eeprom+0x10e)}, //_P_3B_Ch3_VAL_3 (PSTYOF)
-
-    // DIGITAL GYRO OFFSET
-    {0x8406, *(uint16_t*)(eeprom+0x110)}, //_M_Kgx00
-    {0x8486, *(uint16_t*)(eeprom+0x112)}, //_M_Kgy00
-    {0x846a, *(uint16_t*)(eeprom+0x120)}, //_M_TMP_X_
-    {0x846b, *(uint16_t*)(eeprom+0x122)}, //_M_TMP_Y_
-
-    // HALLSENSE
-    // Set Hall Gain
-    {0x8446, *(uint16_t*)(eeprom+0x114)}, //_M_KgxHG
-    {0x84c6, *(uint16_t*)(eeprom+0x116)}, //_M_KgyHG
-    // Set Cross Talk Canceller
-    {0x8470, *(uint16_t*)(eeprom+0x124)}, //_M_KgxH0
-    {0x8472, *(uint16_t*)(eeprom+0x126)}, //_M_KgyH0
-
-    // LOOPGAIN
-    {0x840f, *(uint16_t*)(eeprom+0x118)}, //_M_KgxG
-    {0x848f, *(uint16_t*)(eeprom+0x11a)}, //_M_KgyG
-
-    // Position Servo ON ( OIS OFF )
-    {0x847f, 0x0c0c}, //_M_EQCTL
-  };
-
-
-  struct msm_ois_cfg_data cfg = {0};
-  struct msm_camera_i2c_seq_reg_array ois_reg_settings[ARRAYSIZE(ois_registers)] = {{0}};
-  for (int i=0; i<ARRAYSIZE(ois_registers); i++) {
-    ois_reg_settings[i].reg_addr = ois_registers[i][0];
-    ois_reg_settings[i].reg_data[0] = ois_registers[i][1] & 0xff;
-    ois_reg_settings[i].reg_data[1] = (ois_registers[i][1] >> 8) & 0xff;
-    ois_reg_settings[i].reg_data_size = 2;
-  }
-  struct msm_camera_i2c_seq_reg_setting ois_reg_setting = {
-    .reg_setting = &ois_reg_settings[0],
-    .size = ARRAYSIZE(ois_reg_settings),
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .delay = 0,
-  };
-  cfg.cfgtype = CFG_OIS_I2C_WRITE_SEQ_TABLE;
-  cfg.cfg.settings = &ois_reg_setting;
-  err = ioctl(ois_fd, VIDIOC_MSM_OIS_CFG, &cfg);
-  LOG("ois reg calibration: %d", err);
-}
-
-
-
-
-static void sensors_init(DualCameraState *s) {
-  int err;
-
-  int sensorinit_fd = -1;
-  if (s->device == DEVICE_LP3) {
-    sensorinit_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK);
-  } else {
-    sensorinit_fd = open("/dev/v4l-subdev12", O_RDWR | O_NONBLOCK);
-  }
-  assert(sensorinit_fd >= 0);
-
-  struct sensor_init_cfg_data sensor_init_cfg = {0};
-
-  // init rear sensor
-
-  struct msm_camera_sensor_slave_info slave_info = {0};
-  if (s->device == DEVICE_LP3) {
-    slave_info = (struct msm_camera_sensor_slave_info){
-      .sensor_name = "imx298",
-      .eeprom_name = "sony_imx298",
-      .actuator_name = "dw9800w",
-      .ois_name = "",
-      .flash_name = "pmic",
-      .camera_id = 0,
-      .slave_addr = 32,
-      .i2c_freq_mode = 1,
-      .addr_type = 2,
-      .sensor_id_info = {
-        .sensor_id_reg_addr = 22,
-        .sensor_id = 664,
-        .sensor_id_mask = 0,
-        .module_id = 9,
-        .vcm_id = 6,
-      },
-      .power_setting_array = {
-        .power_setting_a = {
-          {
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 1,
-            .seq_val = 5,
-            .config_val = 2,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 3,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 24000000,
-            .delay = 1,
-          },{
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 2,
-            .delay = 10,
-          },
-        },
-        .size = 7,
-        .power_down_setting_a = {
-          {
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 1,
-            .seq_val = 5,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 3,
-            .config_val = 0,
-            .delay = 1,
-          },
-        },
-        .size_down = 6,
-      },
-      .is_init_params_valid = 0,
-      .sensor_init_params = {
-        .modes_supported = 1,
-        .position = 0,
-        .sensor_mount_angle = 90,
-      },
-      .output_format = 0,
-    };
-  } else {
-    slave_info = (struct msm_camera_sensor_slave_info){
-      .sensor_name = "imx298",
-      .eeprom_name = "sony_imx298",
-      .actuator_name = "rohm_bu63165gwl",
-      .ois_name = "rohm_bu63165gwl",
-      .camera_id = 0,
-      .slave_addr = 52,
-      .i2c_freq_mode = 2,
-      .addr_type = 2,
-      .sensor_id_info = {
-        .sensor_id_reg_addr = 22,
-        .sensor_id = 664,
-        .sensor_id_mask = 0,
-      },
-      .power_setting_array = {
-        .power_setting_a = {
-          {
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 2,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 2,
-          },{
-            .seq_type = 2,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 2,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 2,
-          },{
-            .seq_type = 1,
-            .seq_val = 6,
-            .config_val = 2,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 3,
-            .config_val = 0,
-            .delay = 5,
-          },{
-            .seq_type = 2,
-            .seq_val = 4,
-            .config_val = 0,
-            .delay = 5,
-          },{
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 24000000,
-            .delay = 2,
-          },{
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 2,
-            .delay = 2,
-          },
-        },
-        .size = 9,
-        .power_down_setting_a = {
-          {
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 10,
-          },{
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 4,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 3,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 1,
-            .seq_val = 6,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 0,
-          },
-        },
-        .size_down = 8,
-      },
-      .is_init_params_valid = 0,
-      .sensor_init_params = {
-        .modes_supported = 1,
-        .position = 0,
-        .sensor_mount_angle = 360,
-      },
-      .output_format = 0,
-    };
-  }
-  slave_info.power_setting_array.power_setting =
-    (struct msm_sensor_power_setting *)&slave_info.power_setting_array.power_setting_a[0];
-  slave_info.power_setting_array.power_down_setting =
-    (struct msm_sensor_power_setting *)&slave_info.power_setting_array.power_down_setting_a[0];
-  sensor_init_cfg.cfgtype = CFG_SINIT_PROBE;
-  sensor_init_cfg.cfg.setting = &slave_info;
-  err = ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg);
-  LOG("sensor init cfg (rear): %d", err);
-  assert(err >= 0);
-
-
-  struct msm_camera_sensor_slave_info slave_info2 = {0};
-  if (s->device == DEVICE_LP3) {
-    slave_info2 = (struct msm_camera_sensor_slave_info){
-      .sensor_name = "ov8865_sunny",
-      .eeprom_name = "ov8865_plus",
-      .actuator_name = "",
-      .ois_name = "",
-      .flash_name = "",
-      .camera_id = 2,
-      .slave_addr = 108,
-      .i2c_freq_mode = 1,
-      .addr_type = 2,
-      .sensor_id_info = {
-        .sensor_id_reg_addr = 12299,
-        .sensor_id = 34917,
-        .sensor_id_mask = 0,
-        .module_id = 2,
-        .vcm_id = 0,
-      },
-      .power_setting_array = {
-        .power_setting_a = {
-          {
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 5,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 24000000,
-            .delay = 1,
-          },{
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 2,
-            .delay = 1,
-          },
-        },
-        .size = 6,
-        .power_down_setting_a = {
-          {
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 5,
-          },{
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 1,
-          },
-        },
-        .size_down = 5,
-      },
-      .is_init_params_valid = 0,
-      .sensor_init_params = {
-        .modes_supported = 1,
-        .position = 1,
-        .sensor_mount_angle = 270,
-      },
-      .output_format = 0,
-    };
-  } else if (s->front.camera_id == CAMERA_ID_S5K3P8SP) {
-    // init front camera
-    slave_info2 = (struct msm_camera_sensor_slave_info){
-      .sensor_name = "s5k3p8sp",
-      .eeprom_name = "s5k3p8sp_m24c64s",
-      .actuator_name = "",
-      .ois_name = "",
-      .camera_id = 1,
-      .slave_addr = 32,
-      .i2c_freq_mode = 1,
-      .addr_type = 2,
-      .sensor_id_info = {
-        .sensor_id_reg_addr = 0,
-        .sensor_id = 12552,
-        .sensor_id_mask = 0,
-      },
-      .power_setting_array = {
-        .power_setting_a = {
-          {
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 24000000,
-            .delay = 1,
-          },{
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 2,
-            .delay = 1,
-          },
-        },
-        .size = 6,
-        .power_down_setting_a = {
-          {
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 1,
-          },
-        },
-        .size_down = 5,
-      },
-      .is_init_params_valid = 0,
-      .sensor_init_params = {
-        .modes_supported = 1,
-        .position = 1,
-        .sensor_mount_angle = 270,
-      },
-      .output_format = 0,
-    };
-  } else {
-    // init front camera
-    slave_info2 = (struct msm_camera_sensor_slave_info){
-      .sensor_name = "imx179",
-      .eeprom_name = "sony_imx179",
-      .actuator_name = "",
-      .ois_name = "",
-      .camera_id = 1,
-      .slave_addr = 32,
-      .i2c_freq_mode = 1,
-      .addr_type = 2,
-      .sensor_id_info = {
-        .sensor_id_reg_addr = 2,
-        .sensor_id = 377,
-        .sensor_id_mask = 4095,
-      },
-      .power_setting_array = {
-        .power_setting_a = {
-          {
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 2,
-            .delay = 0,
-          },{
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 24000000,
-            .delay = 0,
-          },
-        },
-        .size = 5,
-        .power_down_setting_a = {
-          {
-            .seq_type = 0,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 1,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 1,
-          },{
-            .seq_type = 2,
-            .seq_val = 0,
-            .config_val = 0,
-            .delay = 2,
-          },{
-            .seq_type = 2,
-            .seq_val = 1,
-            .config_val = 0,
-            .delay = 0,
-          },{
-            .seq_type = 2,
-            .seq_val = 2,
-            .config_val = 0,
-            .delay = 0,
-          },
-        },
-        .size_down = 5,
-      },
-      .is_init_params_valid = 0,
-      .sensor_init_params = {
-        .modes_supported = 1,
-        .position = 1,
-        .sensor_mount_angle = 270,
-      },
-      .output_format = 0,
-    };
-  }
-  slave_info2.power_setting_array.power_setting =
-    (struct msm_sensor_power_setting *)&slave_info2.power_setting_array.power_setting_a[0];
-  slave_info2.power_setting_array.power_down_setting =
-    (struct msm_sensor_power_setting *)&slave_info2.power_setting_array.power_down_setting_a[0];
-  sensor_init_cfg.cfgtype = CFG_SINIT_PROBE;
-  sensor_init_cfg.cfg.setting = &slave_info2;
-  err = ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg);
-  LOG("sensor init cfg (front): %d", err);
-  assert(err >= 0);
-}
-
-static void camera_open(CameraState *s, bool rear) {
-  int err;
-
-  struct sensorb_cfg_data sensorb_cfg_data = {0};
-  struct csid_cfg_data csid_cfg_data = {0};
-  struct csiphy_cfg_data csiphy_cfg_data = {0};
-  struct msm_camera_csiphy_params csiphy_params = {0};
-  struct msm_camera_csid_params csid_params = {0};
-  struct msm_vfe_input_cfg input_cfg = {0};
-  struct msm_vfe_axi_stream_update_cmd update_cmd = {0};
-  struct v4l2_event_subscription sub = {0};
-  struct ispif_cfg_data ispif_cfg_data = {0};
-  struct msm_vfe_cfg_cmd_list cfg_cmd_list = {0};
-
-  struct msm_actuator_cfg_data actuator_cfg_data = {0};
-  struct msm_ois_cfg_data ois_cfg_data = {0};
-
-  // open devices
-  char *sensor_dev;
-  if (rear) {
-    s->csid_fd = open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK);
-    assert(s->csid_fd >= 0);
-    s->csiphy_fd = open("/dev/v4l-subdev0", O_RDWR | O_NONBLOCK);
-    assert(s->csiphy_fd >= 0);
-    if (s->device == DEVICE_LP3) {
-      sensor_dev = "/dev/v4l-subdev17";
-    } else {
-      sensor_dev = "/dev/v4l-subdev18";
-    }
-    if (s->device == DEVICE_LP3) {
-      s->isp_fd = open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK);
-    } else {
-      s->isp_fd = open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK);
-    }
-    assert(s->isp_fd >= 0);
-    s->eeprom_fd = open("/dev/v4l-subdev8", O_RDWR | O_NONBLOCK);
-    assert(s->eeprom_fd >= 0);
-
-    s->actuator_fd = open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK);
-    assert(s->actuator_fd >= 0);
-
-    if (s->device != DEVICE_LP3) {
-      s->ois_fd = open("/dev/v4l-subdev10", O_RDWR | O_NONBLOCK);
-      assert(s->ois_fd >= 0);
-    }
-  } else {
-    s->csid_fd = open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK);
-    assert(s->csid_fd >= 0);
-    s->csiphy_fd = open("/dev/v4l-subdev2", O_RDWR | O_NONBLOCK);
-    assert(s->csiphy_fd >= 0);
-    if (s->device == DEVICE_LP3) {
-      sensor_dev = "/dev/v4l-subdev18";
-    } else {
-      sensor_dev = "/dev/v4l-subdev19";
-    }
-    if (s->device == DEVICE_LP3) {
-      s->isp_fd = open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK);
-    } else {
-      s->isp_fd = open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK);
-    }
-    assert(s->isp_fd >= 0);
-    s->eeprom_fd = open("/dev/v4l-subdev9", O_RDWR | O_NONBLOCK);
-    assert(s->eeprom_fd >= 0);
-  }
-
-  // wait for sensor device
-  // on first startup, these devices aren't present yet
-  for (int i = 0; i < 10; i++) {
-    s->sensor_fd = open(sensor_dev, O_RDWR | O_NONBLOCK);
-    if (s->sensor_fd >= 0) break;
-    LOGW("waiting for sensors...");
-    sleep(1);
-  }
-  assert(s->sensor_fd >= 0);
-
-  // *** SHUTDOWN ALL ***
-
-  // CSIPHY: release csiphy
-  struct msm_camera_csi_lane_params csi_lane_params = {0};
-  csi_lane_params.csi_lane_mask = 0x1f;
-  csiphy_cfg_data.cfg.csi_lane_params = &csi_lane_params;
-  csiphy_cfg_data.cfgtype = CSIPHY_RELEASE;
-  err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
-  LOG("release csiphy: %d", err);
-
-  // CSID: release csid
-  csid_cfg_data.cfgtype = CSID_RELEASE;
-  err = ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data);
-  LOG("release csid: %d", err);
-
-  // SENSOR: send power down
-  memset(&sensorb_cfg_data, 0, sizeof(sensorb_cfg_data));
-  sensorb_cfg_data.cfgtype = CFG_POWER_DOWN;
-  err = ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data);
-  LOG("sensor power down: %d", err);
-
-  if (rear && s->device != DEVICE_LP3) {
-    // ois powerdown
-    ois_cfg_data.cfgtype = CFG_OIS_POWERDOWN;
-    err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
-    LOG("ois powerdown: %d", err);
-  }
-
-  // actuator powerdown
-  actuator_cfg_data.cfgtype = CFG_ACTUATOR_POWERDOWN;
-  err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
-  LOG("actuator powerdown: %d", err);
-
-  // reset isp
-  // struct msm_vfe_axi_halt_cmd halt_cmd = {
-  //   .stop_camif = 1,
-  //   .overflow_detected = 1,
-  //   .blocking_halt = 1,
-  // };
-  // err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_HALT, &halt_cmd);
-  // printf("axi halt: %d\n", err);
-
-  // struct msm_vfe_axi_reset_cmd reset_cmd = {
-  //   .blocking = 1,
-  //   .frame_id = 1,
-  // };
-  // err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_RESET, &reset_cmd);
-  // printf("axi reset: %d\n", err);
-
-  // struct msm_vfe_axi_restart_cmd restart_cmd = {
-  //   .enable_camif = 1,
-  // };
-  // err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_RESTART, &restart_cmd);
-  // printf("axi restart: %d\n", err);
-
-  // **** GO GO GO ****
-  LOG("******************** GO GO GO ************************");
-
-  s->eeprom = get_eeprom(s->eeprom_fd, &s->eeprom_size);
-
-  // printf("eeprom:\n");
-  // for (int i=0; i<s->eeprom_size; i++) {
-  //   printf("%02x", s->eeprom[i]);
-  // }
-  // printf("\n");
-
-  // CSID: init csid
-  csid_cfg_data.cfgtype = CSID_INIT;
-  err = ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data);
-  LOG("init csid: %d", err);
-
-  // CSIPHY: init csiphy
-  memset(&csiphy_cfg_data, 0, sizeof(csiphy_cfg_data));
-  csiphy_cfg_data.cfgtype = CSIPHY_INIT;
-  err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
-  LOG("init csiphy: %d", err);
-
-  // SENSOR: stop stream
-  struct msm_camera_i2c_reg_setting stop_settings = {
-    .reg_setting = stop_reg_array,
-    .size = ARRAYSIZE(stop_reg_array),
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .data_type = MSM_CAMERA_I2C_BYTE_DATA,
-    .delay = 0
-  };
-  sensorb_cfg_data.cfgtype = CFG_SET_STOP_STREAM_SETTING;
-  sensorb_cfg_data.cfg.setting = &stop_settings;
-  err = ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data);
-  LOG("stop stream: %d", err);
-
-  // SENSOR: send power up
-  memset(&sensorb_cfg_data, 0, sizeof(sensorb_cfg_data));
-  sensorb_cfg_data.cfgtype = CFG_POWER_UP;
-  err = ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data);
-  LOG("sensor power up: %d", err);
-
-  // **** configure the sensor ****
-
-  // SENSOR: send i2c configuration
-  if (s->camera_id == CAMERA_ID_IMX298) {
-    err = sensor_write_regs(s, init_array_imx298, ARRAYSIZE(init_array_imx298), MSM_CAMERA_I2C_BYTE_DATA);
-  } else if  (s->camera_id == CAMERA_ID_S5K3P8SP) {
-    err = sensor_write_regs(s, init_array_s5k3p8sp, ARRAYSIZE(init_array_s5k3p8sp), MSM_CAMERA_I2C_WORD_DATA);
-  } else if (s->camera_id == CAMERA_ID_IMX179) {
-    err = sensor_write_regs(s, init_array_imx179, ARRAYSIZE(init_array_imx179), MSM_CAMERA_I2C_BYTE_DATA);
-  } else if (s->camera_id == CAMERA_ID_OV8865) {
-    err = sensor_write_regs(s, init_array_ov8865, ARRAYSIZE(init_array_ov8865), MSM_CAMERA_I2C_BYTE_DATA);
-  } else {
-    assert(false);
-  }
-  LOG("sensor init i2c: %d", err);
-
-  if (rear) {
-    // init the actuator
-    actuator_cfg_data.cfgtype = CFG_ACTUATOR_POWERUP;
-    err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
-    LOG("actuator powerup: %d", err);
-
-    actuator_cfg_data.cfgtype = CFG_ACTUATOR_INIT;
-    err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
-    LOG("actuator init: %d", err);
-
-
-    // no OIS in LP3
-    if (s->device != DEVICE_LP3) {
-      // see sony_imx298_eeprom_format_afdata in libmmcamera_sony_imx298_eeprom.so
-      const float far_margin = -0.28;
-      uint16_t macro_dac = *(uint16_t*)(s->eeprom + 0x24);
-      s->infinity_dac = *(uint16_t*)(s->eeprom + 0x26);
-      LOG("macro_dac: %d infinity_dac: %d", macro_dac, s->infinity_dac);
-
-      int dac_range = macro_dac - s->infinity_dac;
-      s->infinity_dac += far_margin * dac_range;
-
-      LOG(" -> macro_dac: %d infinity_dac: %d", macro_dac, s->infinity_dac);
-
-      struct msm_actuator_reg_params_t actuator_reg_params[] = {
-        {
-          .reg_write_type = MSM_ACTUATOR_WRITE_DAC,
-          .hw_mask = 0,
-          .reg_addr = 240,
-          .hw_shift = 0,
-          .data_type = 10,
-          .addr_type = 4,
-          .reg_data = 0,
-          .delay = 0,
-        }, {
-          .reg_write_type = MSM_ACTUATOR_WRITE_DAC,
-          .hw_mask = 0,
-          .reg_addr = 241,
-          .hw_shift = 0,
-          .data_type = 10,
-          .addr_type = 4,
-          .reg_data = 0,
-          .delay = 0,
-        }, {
-          .reg_write_type = MSM_ACTUATOR_WRITE_DAC,
-          .hw_mask = 0,
-          .reg_addr = 242,
-          .hw_shift = 0,
-          .data_type = 10,
-          .addr_type = 4,
-          .reg_data = 0,
-          .delay = 0,
-        }, {
-          .reg_write_type = MSM_ACTUATOR_WRITE_DAC,
-          .hw_mask = 0,
-          .reg_addr = 243,
-          .hw_shift = 0,
-          .data_type = 10,
-          .addr_type = 4,
-          .reg_data = 0,
-          .delay = 0,
-        },
-      };
-
-      //...
-      struct reg_settings_t actuator_init_settings[1] = {0};
-
-      struct region_params_t region_params[] = {
-        {
-          .step_bound = {512, 0,},
-          .code_per_step = 118,
-          .qvalue = 128,
-        },
-      };
-
-      actuator_cfg_data.cfgtype = CFG_SET_ACTUATOR_INFO;
-      actuator_cfg_data.cfg.set_info = (struct msm_actuator_set_info_t){
-        .actuator_params = {
-          .act_type = ACTUATOR_VCM,
-          .reg_tbl_size = 4,
-          .data_size = 10,
-          .init_setting_size = 0,
-          .i2c_freq_mode = I2C_CUSTOM_MODE,
-          .i2c_addr = 28,
-          .i2c_addr_type = MSM_ACTUATOR_BYTE_ADDR,
-          .i2c_data_type = MSM_ACTUATOR_BYTE_DATA,
-          .reg_tbl_params = &actuator_reg_params[0],
-          .init_settings = &actuator_init_settings[0],
-          .park_lens = {
-            .damping_step = 1023,
-            .damping_delay = 15000,
-            .hw_params = 58404,
-            .max_step = 20,
-          }
-        },
-        .af_tuning_params =   {
-          .initial_code = s->infinity_dac,
-          .pwd_step = 0,
-          .region_size = 1,
-          .total_steps = 512,
-          .region_params = &region_params[0],
-        },
-      };
-      err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
-      LOG("actuator set info: %d", err);
-
-      // power up ois
-      ois_cfg_data.cfgtype = CFG_OIS_POWERUP;
-      err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
-      LOG("ois powerup: %d", err);
-
-      ois_cfg_data.cfgtype = CFG_OIS_INIT;
-      err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
-      LOG("ois init: %d", err);
-
-      ois_cfg_data.cfgtype = CFG_OIS_CONTROL;
-      ois_cfg_data.cfg.set_info.ois_params = (struct msm_ois_params_t){
-        // .data_size = 26312,
-        .setting_size = 120,
-        .i2c_addr = 28,
-        .i2c_freq_mode = I2C_CUSTOM_MODE,
-        // .i2c_addr_type = wtf
-        // .i2c_data_type = wtf
-        .settings = &ois_init_settings[0],
-      };
-      err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
-      LOG("ois init settings: %d", err);
-    } else {
-      // leeco actuator
-      // from sniff
-      s->infinity_dac = 364;
-
-      struct msm_actuator_reg_params_t actuator_reg_params[] = {
-        {
-          .reg_write_type = MSM_ACTUATOR_WRITE_DAC,
-          .hw_mask = 0,
-          .reg_addr = 3,
-          .hw_shift = 0,
-          .data_type = 9,
-          .addr_type = 4,
-          .reg_data = 0,
-          .delay = 0,
-        },
-      };
-
-      struct reg_settings_t actuator_init_settings[] = {
-        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=1, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
-        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=0, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },
-        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=2, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },
-        { .reg_addr=6, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=64, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
-        { .reg_addr=7, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=113, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
-      };
-
-      struct region_params_t region_params[] = {
-        {
-          .step_bound = {238, 0,},
-          .code_per_step = 235,
-          .qvalue = 128,
-        },
-      };
-
-      actuator_cfg_data.cfgtype = CFG_SET_ACTUATOR_INFO;
-      actuator_cfg_data.cfg.set_info = (struct msm_actuator_set_info_t){
-        .actuator_params = {
-          .act_type = ACTUATOR_BIVCM,
-          .reg_tbl_size = 1,
-          .data_size = 10,
-          .init_setting_size = 5,
-          .i2c_freq_mode = I2C_STANDARD_MODE,
-          .i2c_addr = 24,
-          .i2c_addr_type = MSM_ACTUATOR_BYTE_ADDR,
-          .i2c_data_type = MSM_ACTUATOR_WORD_DATA,
-          .reg_tbl_params = &actuator_reg_params[0],
-          .init_settings = &actuator_init_settings[0],
-          .park_lens = {
-            .damping_step = 1023,
-            .damping_delay = 14000,
-            .hw_params = 11,
-            .max_step = 20,
-          }
-        },
-        .af_tuning_params =   {
-          .initial_code = s->infinity_dac,
-          .pwd_step = 0,
-          .region_size = 1,
-          .total_steps = 238,
-          .region_params = &region_params[0],
-        },
-      };
-
-      err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
-      LOG("actuator set info: %d", err);
-    }
-  }
-
-  if (s->camera_id == CAMERA_ID_IMX298) {
-    err = sensor_write_regs(s, mode_setting_array_imx298, ARRAYSIZE(mode_setting_array_imx298), MSM_CAMERA_I2C_BYTE_DATA);
-    LOG("sensor setup: %d", err);
-  }
-
-  // CSIPHY: configure csiphy
-  if (s->camera_id == CAMERA_ID_IMX298) {
-    csiphy_params.lane_cnt = 4;
-    csiphy_params.settle_cnt = 14;
-    csiphy_params.lane_mask = 0x1f;
-    csiphy_params.csid_core = 0;
-  } else if (s->camera_id == CAMERA_ID_S5K3P8SP) {
-    csiphy_params.lane_cnt = 4;
-    csiphy_params.settle_cnt = 24;
-    csiphy_params.lane_mask = 0x1f;
-    csiphy_params.csid_core = 0;
-  } else if (s->camera_id == CAMERA_ID_IMX179) {
-    csiphy_params.lane_cnt = 4;
-    csiphy_params.settle_cnt = 11;
-    csiphy_params.lane_mask = 0x1f;
-    csiphy_params.csid_core = 2;
-  } else if (s->camera_id == CAMERA_ID_OV8865) {
-    // guess!
-    csiphy_params.lane_cnt = 4;
-    csiphy_params.settle_cnt = 24;
-    csiphy_params.lane_mask = 0x1f;
-    csiphy_params.csid_core = 2;
-  }
-  csiphy_cfg_data.cfgtype = CSIPHY_CFG;
-  csiphy_cfg_data.cfg.csiphy_params = &csiphy_params;
-  err = ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data);
-  LOG("csiphy configure: %d", err);
-
-  // CSID: configure csid
-  csid_params.lane_cnt = 4;
-  csid_params.lane_assign = 0x4320;
-  if (rear) {
-    csid_params.phy_sel = 0;
-  } else {
-    csid_params.phy_sel = 2;
-  }
-  csid_params.lut_params.num_cid = rear ? 3 : 1;
-
-#define CSI_STATS 0x35
-#define CSI_PD 0x36
-
-  csid_params.lut_params.vc_cfg_a[0].cid = 0;
-  csid_params.lut_params.vc_cfg_a[0].dt = CSI_RAW10;
-  csid_params.lut_params.vc_cfg_a[0].decode_format = CSI_DECODE_10BIT;
-  csid_params.lut_params.vc_cfg_a[1].cid = 1;
-  csid_params.lut_params.vc_cfg_a[1].dt = CSI_PD;
-  csid_params.lut_params.vc_cfg_a[1].decode_format = CSI_DECODE_10BIT;
-  csid_params.lut_params.vc_cfg_a[2].cid = 2;
-  csid_params.lut_params.vc_cfg_a[2].dt = CSI_STATS;
-  csid_params.lut_params.vc_cfg_a[2].decode_format = CSI_DECODE_10BIT;
-
-  csid_params.lut_params.vc_cfg[0] = &csid_params.lut_params.vc_cfg_a[0];
-  csid_params.lut_params.vc_cfg[1] = &csid_params.lut_params.vc_cfg_a[1];
-  csid_params.lut_params.vc_cfg[2] = &csid_params.lut_params.vc_cfg_a[2];
-
-  csid_cfg_data.cfgtype = CSID_CFG;
-  csid_cfg_data.cfg.csid_params = &csid_params;
-  err = ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data);
-  LOG("csid configure: %d", err);
-
-  // ISP: SMMU_ATTACH
-  struct msm_vfe_smmu_attach_cmd smmu_attach_cmd = {
-    .security_mode = 0,
-    .iommu_attach_mode = IOMMU_ATTACH
-  };
-  err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_SMMU_ATTACH, &smmu_attach_cmd);
-  LOG("isp smmu attach: %d", err);
-
-  // ******************* STREAM RAW *****************************
-
-  // configure QMET input
-  for (int i = 0; i < (rear ? 3 : 1); i++) {
-    StreamState *ss = &s->ss[i];
-
-    memset(&input_cfg, 0, sizeof(struct msm_vfe_input_cfg));
-    input_cfg.input_src = VFE_RAW_0+i;
-    input_cfg.input_pix_clk = s->pixel_clock;
-    input_cfg.d.rdi_cfg.cid = i;
-    input_cfg.d.rdi_cfg.frame_based = 1;
-    err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_INPUT_CFG, &input_cfg);
-    LOG("configure input(%d): %d", i, err);
-
-    // ISP: REQUEST_STREAM
-    ss->stream_req.axi_stream_handle = 0;
-    if (rear) {
-      ss->stream_req.session_id = 2;
-      ss->stream_req.stream_id = /*ISP_META_CHANNEL_BIT | */ISP_NATIVE_BUF_BIT | (1+i);
-    } else {
-      ss->stream_req.session_id = 3;
-      ss->stream_req.stream_id = ISP_NATIVE_BUF_BIT | 1;
-    }
-
-    if (i == 0) {
-      ss->stream_req.output_format = v4l2_fourcc('R', 'G', '1', '0');
-    } else {
-      ss->stream_req.output_format = v4l2_fourcc('Q', 'M', 'E', 'T');
-    }
-    ss->stream_req.stream_src = RDI_INTF_0+i;
-
-#ifdef HIGH_FPS
-    if (rear) {
-      ss->stream_req.frame_skip_pattern = EVERY_3FRAME;
-    }
-#endif
-
-    ss->stream_req.frame_base = 1;
-    ss->stream_req.buf_divert = 1; //i == 0;
-
-    // setup stream plane. doesn't even matter?
-    /*s->stream_req.plane_cfg[0].output_plane_format = Y_PLANE;
-    s->stream_req.plane_cfg[0].output_width = s->ci.frame_width;
-    s->stream_req.plane_cfg[0].output_height = s->ci.frame_height;
-    s->stream_req.plane_cfg[0].output_stride = s->ci.frame_width;
-    s->stream_req.plane_cfg[0].output_scan_lines = s->ci.frame_height;
-    s->stream_req.plane_cfg[0].rdi_cid = 0;*/
-
-    err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_REQUEST_STREAM, &ss->stream_req);
-    LOG("isp request stream: %d -> 0x%x", err, ss->stream_req.axi_stream_handle);
-
-    // ISP: REQUEST_BUF
-    ss->buf_request.session_id = ss->stream_req.session_id;
-    ss->buf_request.stream_id = ss->stream_req.stream_id;
-    ss->buf_request.num_buf = FRAME_BUF_COUNT;
-    ss->buf_request.buf_type = ISP_PRIVATE_BUF;
-    ss->buf_request.handle = 0;
-    err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_REQUEST_BUF, &ss->buf_request);
-    LOG("isp request buf: %d", err);
-    LOG("got buf handle: 0x%x", ss->buf_request.handle);
-
-    // ENQUEUE all buffers
-    for (int j = 0; j < ss->buf_request.num_buf; j++) {
-      ss->qbuf_info[j].handle = ss->buf_request.handle;
-      ss->qbuf_info[j].buf_idx = j;
-      ss->qbuf_info[j].buffer.num_planes = 1;
-      ss->qbuf_info[j].buffer.planes[0].addr = ss->bufs[j].fd;
-      ss->qbuf_info[j].buffer.planes[0].length = ss->bufs[j].len;
-      err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &ss->qbuf_info[j]);
-    }
-
-    // ISP: UPDATE_STREAM
-    update_cmd.num_streams = 1;
-    update_cmd.update_info[0].user_stream_id = ss->stream_req.stream_id;
-    update_cmd.update_info[0].stream_handle = ss->stream_req.axi_stream_handle;
-    update_cmd.update_type = UPDATE_STREAM_ADD_BUFQ;
-    err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_UPDATE_STREAM, &update_cmd);
-    LOG("isp update stream: %d", err);
-  }
-
-  LOG("******** START STREAMS ********");
-
-  sub.id = 0;
-  sub.type = 0x1ff;
-  err = ioctl(s->isp_fd, VIDIOC_SUBSCRIBE_EVENT, &sub);
-  LOG("isp subscribe: %d", err);
-
-  // ISP: START_STREAM
-  s->stream_cfg.cmd = START_STREAM;
-  s->stream_cfg.num_streams = rear ? 3 : 1;
-  for (int i = 0; i < s->stream_cfg.num_streams; i++) {
-    s->stream_cfg.stream_handle[i] = s->ss[i].stream_req.axi_stream_handle;
-  }
-  err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg);
-  LOG("isp start stream: %d", err);
-}
-
-
-static struct damping_params_t actuator_ringing_params = {
-  .damping_step = 1023,
-  .damping_delay = 15000,
-  .hw_params = 0x0000e422,
-};
-
-static void rear_start(CameraState *s) {
-  int err;
-
-  struct msm_actuator_cfg_data actuator_cfg_data = {0};
-
-  set_exposure(s, 1.0, 1.0);
-
-  err = sensor_write_regs(s, start_reg_array, ARRAYSIZE(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA);
-  LOG("sensor start regs: %d", err);
-
-  // focus on infinity assuming phone is perpendicular
-  int inf_step;
-
-  if (s->device != DEVICE_LP3) {
-    imx298_ois_calibration(s->ois_fd, s->eeprom);
-    inf_step = 332 - s->infinity_dac;
-
-    // initial guess
-    s->lens_true_pos = 300;
-  } else {
-    // default is OP3, this is for LeEco
-    actuator_ringing_params.damping_step = 1023;
-    actuator_ringing_params.damping_delay = 20000;
-    actuator_ringing_params.hw_params = 13;
-
-    inf_step = 512 - s->infinity_dac;
-
-    // initial guess
-    s->lens_true_pos = 400;
-  }
-
-  // reset lens position
-  memset(&actuator_cfg_data, 0, sizeof(actuator_cfg_data));
-  actuator_cfg_data.cfgtype = CFG_SET_POSITION;
-  actuator_cfg_data.cfg.setpos = (struct msm_actuator_set_position_t){
-    .number_of_steps = 1,
-    .hw_params = (s->device != DEVICE_LP3) ? 0x0000e424 : 7,
-    .pos = {s->infinity_dac, 0},
-    .delay = {0,}
-  };
-  err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
-  LOG("actuator set pos: %d", err);
-
-  // TODO: confirm this isn't needed
-  /*memset(&actuator_cfg_data, 0, sizeof(actuator_cfg_data));
-  actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS;
-  actuator_cfg_data.cfg.move = (struct msm_actuator_move_params_t){
-    .dir = 0,
-    .sign_dir = 1,
-    .dest_step_pos = inf_step,
-    .num_steps = inf_step,
-    .curr_lens_pos = 0,
-    .ringing_params = &actuator_ringing_params,
-  };
-  err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data); // should be ~332 at startup ?
-  LOG("init actuator move focus: %d", err);*/
-  //actuator_cfg_data.cfg.move.curr_lens_pos;
-
-  s->cur_lens_pos = 0;
-  s->cur_step_pos = inf_step;
-
-  actuator_move(s, s->cur_lens_pos);
-
-  LOG("init lens pos: %d", s->cur_lens_pos);
-}
-
-void actuator_move(CameraState *s, uint16_t target) {
-  int err;
-
-  int step = target - s->cur_lens_pos;
-  // LP3 moves only on even positions. TODO: use proper sensor params
-  if (s->device == DEVICE_LP3) {
-    step /= 2;
-  }
-
-  int dest_step_pos = s->cur_step_pos + step;
-  dest_step_pos = clamp(dest_step_pos, 0, 255);
-
-  struct msm_actuator_cfg_data actuator_cfg_data = {0};
-  actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS;
-  actuator_cfg_data.cfg.move = (struct msm_actuator_move_params_t){
-    .dir = (step > 0) ? 0 : 1,
-    .sign_dir = (step > 0) ? 1 : -1,
-    .dest_step_pos = dest_step_pos,
-    .num_steps = abs(step),
-    .curr_lens_pos = s->cur_lens_pos,
-    .ringing_params = &actuator_ringing_params,
-  };
-  err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data);
-  //LOGD("actuator move focus: %d", err);
-
-  s->cur_step_pos = dest_step_pos;
-  s->cur_lens_pos = actuator_cfg_data.cfg.move.curr_lens_pos;
-
-  //LOGD("step %d   target: %d  lens pos: %d", dest_step_pos, target, s->cur_lens_pos);
-}
-
-static void parse_autofocus(CameraState *s, uint8_t *d) {
-  int good_count = 0;
-  int16_t max_focus = -32767;
-  int avg_focus = 0;
-  // force to max if not able to determine focus for long
-  const int patience_cnt = 100;
-  static int nan_cnt = 0;
-
-  /*printf("FOCUS: ");
-  for (int i = 0; i < 0x10; i++) {
-    printf("%2.2X ", d[i]);
-  }*/
-
-  for (int i = 0; i < NUM_FOCUS; i++) {
-    int pd_idx = (i+1)*5;
-    s->confidence[i] = d[pd_idx];
-    int16_t focus_delta = d[pd_idx+1];
-    if (focus_delta >= 128) focus_delta = - (256 - focus_delta);
-    s->focus[i] = focus_delta;
-
-    if (s->confidence[i] > 64) {
-      good_count++;
-      max_focus = max(max_focus, s->focus[i]);
-      avg_focus += s->focus[i];
-    // printf("%d\n", s->focus[i]);
-    }
-  }
-
-  if (good_count < 7) {
-    s->focus_err = nan("");
-    nan_cnt += 1;
-    if (nan_cnt > patience_cnt) {
-      s->focus_err = 16;
-      nan_cnt = 0;
-    }
-    return;
-  }
-
-  avg_focus /= good_count;
-
-  if (abs(avg_focus - max_focus) > 32) {
-    if (nan_cnt < patience_cnt) {
-      s->focus_err = nan("");
-      nan_cnt += 1;
-      return;
-    } else {
-      s->focus_err = 16;
-      // s->focus_err = max_focus*8.0;
-      nan_cnt = 0;
-    }
-  } else {
-    s->focus_err = avg_focus;
-    nan_cnt = 0;
-  }
-  // printf("fe=%f\n", s->focus_err);
-}
-
-static void do_autofocus(CameraState *s) {
-  // params for focus P controller
-  const float focus_kp = 0.1;
-
-  float err = s->focus_err;
-  // don't allow big change
-  err = clamp(err, -16, 16);
-  float sag = (s->last_sag_acc_z/9.8) * 128;
-
-  const int dac_up = s->device == DEVICE_LP3? 634:456;
-  const int dac_down = s->device == DEVICE_LP3? 366:224;
-
-  if (!isnan(err))  {
-    // learn lens_true_pos
-    s->lens_true_pos -= err*focus_kp;
-  }
-
-  // stay off the walls
-  s->lens_true_pos = clamp(s->lens_true_pos, dac_down, dac_up);
-
-  int target = clamp(s->lens_true_pos - sag, dac_down, dac_up);
-
-  /*char debug[4096];
-  char *pdebug = debug;
-  pdebug += sprintf(pdebug, "focus ");
-  for (int i = 0; i < NUM_FOCUS; i++) pdebug += sprintf(pdebug, "%2x(%4d) ", s->confidence[i], s->focus[i]);
-  pdebug += sprintf(pdebug, "  err: %7.2f  offset: %6.2f sag: %6.2f lens_true_pos: %6.2f  cur_lens_pos: %4d->%4d", err * focus_kp, offset, sag, s->lens_true_pos, s->cur_lens_pos, target);
-  LOGD(debug);*/
-
-  actuator_move(s, target);
-  // printf("ltp=%f, clp=%d\n",s->lens_true_pos,s->cur_lens_pos);
-}
-
-
-static void front_start(CameraState *s) {
-  int err;
-
-  set_exposure(s, 1.0, 1.0);
-
-  err = sensor_write_regs(s, start_reg_array, ARRAYSIZE(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA);
-  LOG("sensor start regs: %d", err);
-}
-
-
-
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front) {
-  int err;
-
-  struct ispif_cfg_data ispif_cfg_data = {0};
-
-  struct msm_ispif_param_data ispif_params = {0};
-  ispif_params.num = 4;
-  // rear camera
-  ispif_params.entries[0].vfe_intf = 0;
-  ispif_params.entries[0].intftype = RDI0;
-  ispif_params.entries[0].num_cids = 1;
-  ispif_params.entries[0].cids[0] = 0;
-  ispif_params.entries[0].csid = 0;
-  // front camera
-  ispif_params.entries[1].vfe_intf = 1;
-  ispif_params.entries[1].intftype = RDI0;
-  ispif_params.entries[1].num_cids = 1;
-  ispif_params.entries[1].cids[0] = 0;
-  ispif_params.entries[1].csid = 2;
-  // rear camera (focus)
-  ispif_params.entries[2].vfe_intf = 0;
-  ispif_params.entries[2].intftype = RDI1;
-  ispif_params.entries[2].num_cids = 1;
-  ispif_params.entries[2].cids[0] = 1;
-  ispif_params.entries[2].csid = 0;
-  // rear camera (stats, for AE)
-  ispif_params.entries[3].vfe_intf = 0;
-  ispif_params.entries[3].intftype = RDI2;
-  ispif_params.entries[3].num_cids = 1;
-  ispif_params.entries[3].cids[0] = 2;
-  ispif_params.entries[3].csid = 0;
-
-  assert(camera_bufs_rear);
-  assert(camera_bufs_front);
-
-  int msmcfg_fd = open("/dev/media0", O_RDWR | O_NONBLOCK);
-  assert(msmcfg_fd >= 0);
-
-  sensors_init(s);
-
-  int v4l_fd = open("/dev/video0", O_RDWR | O_NONBLOCK);
-  assert(v4l_fd >= 0);
-
-  if (s->device == DEVICE_LP3) {
-    s->ispif_fd = open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK);
-  } else {
-    s->ispif_fd = open("/dev/v4l-subdev16", O_RDWR | O_NONBLOCK);
-  }
-  assert(s->ispif_fd >= 0);
-
-  // ISPIF: stop
-  // memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
-  // ispif_cfg_data.cfg_type = ISPIF_STOP_FRAME_BOUNDARY;
-  // ispif_cfg_data.params = ispif_params;
-  // err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
-  // LOG("ispif stop: %d", err);
-
-  LOG("*** open front ***");
-  s->front.ss[0].bufs = camera_bufs_front;
-  camera_open(&s->front, false);
-
-  LOG("*** open rear ***");
-  s->rear.ss[0].bufs = camera_bufs_rear;
-  s->rear.ss[1].bufs = camera_bufs_focus;
-  s->rear.ss[2].bufs = camera_bufs_stats;
-  camera_open(&s->rear, true);
-
-  if (getenv("CAMERA_TEST")) {
-    cameras_close(s);
-    exit(0);
-  }
-
-  // ISPIF: set vfe info
-  memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
-  ispif_cfg_data.cfg_type = ISPIF_SET_VFE_INFO;
-  ispif_cfg_data.vfe_info.num_vfe = 2;
-  err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
-  LOG("ispif set vfe info: %d", err);
-
-  // ISPIF: setup
-  memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
-  ispif_cfg_data.cfg_type = ISPIF_INIT;
-  ispif_cfg_data.csid_version = 0x30050000; //CSID_VERSION_V35
-  err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
-  LOG("ispif setup: %d", err);
-
-  memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
-  ispif_cfg_data.cfg_type = ISPIF_CFG;
-  ispif_cfg_data.params = ispif_params;
-
-  err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
-  LOG("ispif cfg: %d", err);
-
-  ispif_cfg_data.cfg_type = ISPIF_START_FRAME_BOUNDARY;
-  err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
-  LOG("ispif start_frame_boundary: %d", err);
-
-  front_start(&s->front);
-  rear_start(&s->rear);
-}
-
-
-static void camera_close(CameraState *s) {
-  int err;
-
-  tbuffer_stop(&s->camera_tb);
-
-  // ISP: STOP_STREAM
-  s->stream_cfg.cmd = STOP_STREAM;
-  err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg);
-  LOG("isp stop stream: %d", err);
-
-  for (int i = 0; i < 3; i++) {
-    StreamState *ss = &s->ss[i];
-    if (ss->stream_req.axi_stream_handle != 0) {
-      err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_RELEASE_BUF, &ss->buf_request);
-      LOG("isp release buf: %d", err);
-
-      struct msm_vfe_axi_stream_release_cmd stream_release = {
-        .stream_handle = ss->stream_req.axi_stream_handle,
-      };
-      err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_RELEASE_STREAM, &stream_release);
-      LOG("isp release stream: %d", err);
-    }
-  }
-
-  free(s->eeprom);
-}
-
-
-const char* get_isp_event_name(unsigned int type) {
-  switch (type) {
-  case ISP_EVENT_REG_UPDATE: return "ISP_EVENT_REG_UPDATE";
-  case ISP_EVENT_EPOCH_0: return "ISP_EVENT_EPOCH_0";
-  case ISP_EVENT_EPOCH_1: return "ISP_EVENT_EPOCH_1";
-  case ISP_EVENT_START_ACK: return "ISP_EVENT_START_ACK";
-  case ISP_EVENT_STOP_ACK: return "ISP_EVENT_STOP_ACK";
-  case ISP_EVENT_IRQ_VIOLATION: return "ISP_EVENT_IRQ_VIOLATION";
-  case ISP_EVENT_STATS_OVERFLOW: return "ISP_EVENT_STATS_OVERFLOW";
-  case ISP_EVENT_ERROR: return "ISP_EVENT_ERROR";
-  case ISP_EVENT_SOF: return "ISP_EVENT_SOF";
-  case ISP_EVENT_EOF: return "ISP_EVENT_EOF";
-  case ISP_EVENT_BUF_DONE: return "ISP_EVENT_BUF_DONE";
-  case ISP_EVENT_BUF_DIVERT: return "ISP_EVENT_BUF_DIVERT";
-  case ISP_EVENT_STATS_NOTIFY: return "ISP_EVENT_STATS_NOTIFY";
-  case ISP_EVENT_COMP_STATS_NOTIFY: return "ISP_EVENT_COMP_STATS_NOTIFY";
-  case ISP_EVENT_FE_READ_DONE: return "ISP_EVENT_FE_READ_DONE";
-  case ISP_EVENT_IOMMU_P_FAULT: return "ISP_EVENT_IOMMU_P_FAULT";
-  case ISP_EVENT_HW_FATAL_ERROR: return "ISP_EVENT_HW_FATAL_ERROR";
-  case ISP_EVENT_PING_PONG_MISMATCH: return "ISP_EVENT_PING_PONG_MISMATCH";
-  case ISP_EVENT_REG_UPDATE_MISSING: return "ISP_EVENT_REG_UPDATE_MISSING";
-  case ISP_EVENT_BUF_FATAL_ERROR: return "ISP_EVENT_BUF_FATAL_ERROR";
-  case ISP_EVENT_STREAM_UPDATE_DONE: return "ISP_EVENT_STREAM_UPDATE_DONE";
-  default: return "unknown";
-  }
-}
-
-static FrameMetadata get_frame_metadata(CameraState *s, uint32_t frame_id) {
-  pthread_mutex_lock(&s->frame_info_lock);
-  for (int i=0; i<METADATA_BUF_COUNT; i++) {
-    if (s->frame_metadata[i].frame_id == frame_id) {
-      pthread_mutex_unlock(&s->frame_info_lock);
-      return s->frame_metadata[i];
-    }
-  }
-  pthread_mutex_unlock(&s->frame_info_lock);
-
-  // should never happen
-  return (FrameMetadata){
-    .frame_id = -1,
-  };
-}
-
-static bool acceleration_from_sensor_sock(void* sock, float* vs) {
-  int err;
-
-  zmq_msg_t msg;
-  err = zmq_msg_init(&msg);
-  assert(err == 0);
-
-  err = zmq_msg_recv(&msg, sock, 0);
-  assert(err >= 0);
-
-  struct capn ctx;
-  capn_init_mem(&ctx, zmq_msg_data(&msg), zmq_msg_size(&msg), 0);
-
-  cereal_Event_ptr eventp;
-  eventp.p = capn_getp(capn_root(&ctx), 0, 1);
-  struct cereal_Event eventd;
-  cereal_read_Event(&eventd, eventp);
-
-  bool ret = false;
-
-  if (eventd.which == cereal_Event_sensorEvents) {
-    cereal_SensorEventData_list lst = eventd.sensorEvents;
-    int len = capn_len(lst);
-    for (int i=0; i<len; i++) {
-      struct cereal_SensorEventData sensord;
-      cereal_get_SensorEventData(&sensord, lst, i);
-
-      if (sensord.which == cereal_SensorEventData_acceleration) {
-        struct cereal_SensorEventData_SensorVec vecd;
-        cereal_read_SensorEventData_SensorVec(&vecd, sensord.acceleration);
-
-        int vlen = capn_len(vecd.v);
-        if (vlen < 3) {
-          continue; //wtf
-        }
-        for (int j=0; j<3; j++) {
-          vs[j] = capn_to_f32(capn_get32(vecd.v, j));
-        }
-        ret = true;
-        break;
-      }
-    }
-  }
-
-  capn_free(&ctx);
-  zmq_msg_close(&msg);
-
-  return ret;
-}
-
-static void ops_term() {
-  zsock_t *ops_sock = zsock_new_push(">inproc://cameraops");
-  assert(ops_sock);
-
-  CameraMsg msg = {.type = -1};
-  zmq_send(zsock_resolve(ops_sock), &msg, sizeof(msg), ZMQ_DONTWAIT);
-
-  zsock_destroy(&ops_sock);
-}
-
-static void* ops_thread(void* arg) {
-  int err;
-  DualCameraState *s = (DualCameraState*)arg;
-
-  set_thread_name("camera_settings");
-
-  zsock_t *cameraops = zsock_new_pull("@inproc://cameraops");
-  assert(cameraops);
-
-  zsock_t *sensor_sock = zsock_new_sub(">tcp://127.0.0.1:8003", "");
-  assert(sensor_sock);
-
-  zsock_t *terminate = zsock_new_sub(">inproc://terminate", "");
-  assert(terminate);
-
-  zpoller_t *poller = zpoller_new(cameraops, sensor_sock, terminate, NULL);
-  assert(poller);
-
-  while (!do_exit) {
-
-    zsock_t *which = (zsock_t*)zpoller_wait(poller, -1);
-    if (which == terminate || which == NULL) {
-      break;
-    }
-    void* sockraw = zsock_resolve(which);
-
-    if (which == cameraops) {
-      zmq_msg_t msg;
-      err = zmq_msg_init(&msg);
-      assert(err == 0);
-
-      err = zmq_msg_recv(&msg, sockraw, 0);
-      assert(err >= 0);
-
-      CameraMsg cmsg;
-      if (zmq_msg_size(&msg) == sizeof(cmsg)) {
-        memcpy(&cmsg, zmq_msg_data(&msg), zmq_msg_size(&msg));
-
-        //LOGD("cameraops %d", cmsg.type);
-
-        if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) {
-          if (cmsg.camera_num == 0) {
-            do_autoexposure(&s->rear, cmsg.grey_frac);
-            do_autofocus(&s->rear);
-          } else {
-            do_autoexposure(&s->front, cmsg.grey_frac);
-          }
-        } else if (cmsg.type == -1) {
-          break;
-        }
-      }
-
-      zmq_msg_close(&msg);
-
-    } else if (which == sensor_sock) {
-      float vs[3] = {0.0};
-      bool got_accel = acceleration_from_sensor_sock(sockraw, vs);
-
-      uint64_t ts = nanos_since_boot();
-      if (got_accel && ts - s->rear.last_sag_ts > 10000000) { // 10 ms
-        s->rear.last_sag_ts = ts;
-        s->rear.last_sag_acc_z = -vs[2];
-      }
-    }
-  }
-
-  zpoller_destroy(&poller);
-  zsock_destroy(&cameraops);
-  zsock_destroy(&sensor_sock);
-  zsock_destroy(&terminate);
-
-  return NULL;
-}
-
-void cameras_run(DualCameraState *s) {
-  int err;
-
-  pthread_t ops_thread_handle;
-  err = pthread_create(&ops_thread_handle, NULL,
-                       ops_thread, s);
-  assert(err == 0);
-
-  CameraState* cameras[2] = {&s->rear, &s->front};
-
-  while (!do_exit) {
-    struct pollfd fds[2] = {{0}};
-
-    fds[0].fd = cameras[0]->isp_fd;
-    fds[0].events = POLLPRI;
-
-    fds[1].fd = cameras[1]->isp_fd;
-    fds[1].events = POLLPRI;
-
-    int ret = poll(fds, ARRAYSIZE(fds), 1000);
-    if (ret <= 0) {
-      LOGE("poll failed (%d)", ret);
-      break;
-    }
-
-    // process cameras
-    for (int i=0; i<2; i++) {
-      if (!fds[i].revents) continue;
-
-      CameraState *c = cameras[i];
-
-      struct v4l2_event ev;
-      ret = ioctl(c->isp_fd, VIDIOC_DQEVENT, &ev);
-      struct msm_isp_event_data *isp_event_data = (struct msm_isp_event_data *)ev.u.data;
-      unsigned int event_type = ev.type;
-
-      uint64_t timestamp = (isp_event_data->mono_timestamp.tv_sec*1000000000ULL
-                            + isp_event_data->mono_timestamp.tv_usec*1000);
-
-      int buf_idx = isp_event_data->u.buf_done.buf_idx;
-      int stream_id = isp_event_data->u.buf_done.stream_id;
-      int buffer = (stream_id&0xFFFF) - 1;
-
-      uint64_t t = nanos_since_boot();
-
-      /*if (i == 1) {
-        printf("%10.2f: VIDIOC_DQEVENT: %d  type:%X (%s)\n", t*1.0/1e6, ret, event_type, get_isp_event_name(event_type));
-      }*/
-
-      // printf("%d: %s\n", i, get_isp_event_name(event_type));
-
-      switch (event_type) {
-      case ISP_EVENT_BUF_DIVERT:
-
-        /*if (c->is_samsung) {
-          printf("write %d\n", c->frame_size);
-          FILE *f = fopen("/tmp/test", "wb");
-          fwrite((void*)c->camera_bufs[i].addr, 1, c->frame_size, f);
-          fclose(f);
-        }*/
-        //printf("divert: %d %d %d\n", i, buffer, buf_idx);
-
-        if (buffer == 0) {
-          c->camera_bufs_metadata[buf_idx] = get_frame_metadata(c, isp_event_data->frame_id);
-          tbuffer_dispatch(&c->camera_tb, buf_idx);
-        } else {
-          uint8_t *d = c->ss[buffer].bufs[buf_idx].addr;
-          if (buffer == 1) {
-            // FILE *df = fopen("/sdcard/focus_buf","wb");
-            // fwrite(d, c->ss[buffer].bufs[buf_idx].len, sizeof(uint8_t), df);
-            // fclose(df);
-            parse_autofocus(c, d);
-          }
-          c->ss[buffer].qbuf_info[buf_idx].dirty_buf = 1;
-          ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &c->ss[buffer].qbuf_info[buf_idx]);
-        }
-        break;
-      case ISP_EVENT_EOF:
-        // printf("ISP_EVENT_EOF delta %f\n", (t-last_t)/1e6);
-        c->last_t = t;
-
-        pthread_mutex_lock(&c->frame_info_lock);
-        c->frame_metadata[c->frame_metadata_idx] = (FrameMetadata){
-          .frame_id = isp_event_data->frame_id,
-          .timestamp_eof = timestamp,
-          .frame_length = c->cur_frame_length,
-          .integ_lines = c->cur_integ_lines,
-          .global_gain = c->cur_gain,
-          .lens_pos = c->cur_lens_pos,
-          .lens_sag = c->last_sag_acc_z,
-          .lens_err = c->focus_err,
-          .lens_true_pos = c->lens_true_pos,
-          .gain_frac = c->cur_gain_frac,
-        };
-        c->frame_metadata_idx = (c->frame_metadata_idx+1)%METADATA_BUF_COUNT;
-        pthread_mutex_unlock(&c->frame_info_lock);
-
-        break;
-      case ISP_EVENT_ERROR:
-        LOGE("ISP_EVENT_ERROR! err type: 0x%08x", isp_event_data->u.error_info.err_type);
-        break;
-      }
-    }
-  }
-
-  LOG(" ************** STOPPING **************");
-
-  ops_term();
-  err = pthread_join(ops_thread_handle, NULL);
-  assert(err == 0);
-
-  cameras_close(s);
-}
-
-void cameras_close(DualCameraState *s) {
-  camera_close(&s->rear);
-  camera_close(&s->front);
-}
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
new file mode 100644
index 00000000000000..33b5d00c95f426
--- /dev/null
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -0,0 +1,1206 @@
+#include "selfdrive/camerad/cameras/camera_qcom.h"
+
+#include <fcntl.h>
+#include <poll.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <algorithm>
+#include <atomic>
+#include <cassert>
+#include <cmath>
+#include <cstdio>
+
+#include <cutils/properties.h>
+#include <linux/media.h>
+
+#include "selfdrive/camerad/cameras/sensor_i2c.h"
+#include "selfdrive/camerad/include/msm_cam_sensor.h"
+#include "selfdrive/camerad/include/msmb_camera.h"
+#include "selfdrive/camerad/include/msmb_isp.h"
+#include "selfdrive/camerad/include/msmb_ispif.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+
+// leeco actuator (DW9800W H-Bridge Driver IC)
+// from sniff
+const uint16_t INFINITY_DAC = 364;
+
+extern ExitHandler do_exit;
+
+static int cam_ioctl(int fd, unsigned long int request, void *arg, const char *log_msg = nullptr) {
+  int err = HANDLE_EINTR(ioctl(fd, request, arg));
+  if (err != 0 && log_msg) {
+    LOG(util::string_format("%s: %d", log_msg, err).c_str());
+  }
+  return err;
+}
+// global var for AE/AF ops
+std::atomic<CameraExpInfo> road_cam_exp{{0}};
+std::atomic<CameraExpInfo> driver_cam_exp{{0}};
+
+CameraInfo cameras_supported[CAMERA_ID_MAX] = {
+  [CAMERA_ID_IMX298] = {
+    .frame_width = 2328,
+    .frame_height = 1748,
+    .frame_stride = 2912,
+    .bayer = true,
+    .bayer_flip = 3,
+    .hdr = true
+  },
+  [CAMERA_ID_OV8865] = {
+    .frame_width = 1632,
+    .frame_height = 1224,
+    .frame_stride = 2040, // seems right
+    .bayer = true,
+    .bayer_flip = 3,
+    .hdr = false
+  },
+  // this exists to get the kernel to build for the LeEco in release
+  [CAMERA_ID_IMX298_FLIPPED] = {
+    .frame_width = 2328,
+    .frame_height = 1748,
+    .frame_stride = 2912,
+    .bayer = true,
+    .bayer_flip = 3,
+    .hdr = true
+  },
+  [CAMERA_ID_OV10640] = {
+    .frame_width = 1280,
+    .frame_height = 1080,
+    .frame_stride = 2040,
+    .bayer = true,
+    .bayer_flip = 0,
+    .hdr = true
+  },
+};
+
+static void camera_release_buffer(void* cookie, int buf_idx) {
+  CameraState *s = (CameraState *)cookie;
+  // printf("camera_release_buffer %d\n", buf_idx);
+  s->ss[0].qbuf_info[buf_idx].dirty_buf = 1;
+  HANDLE_EINTR(ioctl(s->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &s->ss[0].qbuf_info[buf_idx]));
+}
+
+int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size_t size, msm_camera_i2c_data_type data_type) {
+  struct msm_camera_i2c_reg_setting out_settings = {
+    .reg_setting = arr,
+    .size = (uint16_t)size,
+    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
+    .data_type = data_type,
+    .delay = 0,
+  };
+  sensorb_cfg_data cfg_data = {.cfgtype = CFG_WRITE_I2C_ARRAY, .cfg.setting = &out_settings};
+  return HANDLE_EINTR(ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &cfg_data));
+}
+
+static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, uint32_t frame_length) {
+  int analog_gain = std::min(gain, 448);
+  s->digital_gain = gain > 448 ? (512.0/(512-(gain))) / 8.0 : 1.0;
+  //printf("%5d/%5d %5d %f\n", s->cur_integ_lines, s->frame_length, analog_gain, s->digital_gain);
+
+  struct msm_camera_i2c_reg_array reg_array[] = {
+    // REG_HOLD
+    {0x104,0x1,0},
+    {0x3002,0x0,0}, // long autoexposure off
+
+    // FRM_LENGTH
+    {0x340, (uint16_t)(frame_length >> 8), 0}, {0x341, (uint16_t)(frame_length & 0xff), 0},
+    // INTEG_TIME aka coarse_int_time_addr aka shutter speed
+    {0x202, (uint16_t)(integ_lines >> 8), 0}, {0x203, (uint16_t)(integ_lines & 0xff),0},
+    // global_gain_addr
+    // if you assume 1x gain is 32, 448 is 14x gain, aka 2^14=16384
+    {0x204, (uint16_t)(analog_gain >> 8), 0}, {0x205, (uint16_t)(analog_gain & 0xff),0},
+
+    // digital gain for colors: gain_greenR, gain_red, gain_blue, gain_greenB
+    /*{0x20e, digital_gain_gr >> 8, 0}, {0x20f,digital_gain_gr & 0xFF,0},
+    {0x210, digital_gain_r >> 8, 0}, {0x211,digital_gain_r & 0xFF,0},
+    {0x212, digital_gain_b >> 8, 0}, {0x213,digital_gain_b & 0xFF,0},
+    {0x214, digital_gain_gb >> 8, 0}, {0x215,digital_gain_gb & 0xFF,0},*/
+
+    // REG_HOLD
+    {0x104,0x0,0},
+  };
+  return sensor_write_regs(s, reg_array, std::size(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
+}
+
+static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, uint32_t frame_length) {
+  //printf("driver camera: %d %d %d\n", gain, integ_lines, frame_length);
+  int coarse_gain_bitmap, fine_gain_bitmap;
+
+  // get bitmaps from iso
+  static const int gains[] = {0, 100, 200, 400, 800};
+  int i;
+  for (i = 1; i < std::size(gains); i++) {
+    if (gain >= gains[i - 1] && gain < gains[i])
+      break;
+  }
+  int coarse_gain = i - 1;
+  float fine_gain = (gain - gains[coarse_gain])/(float)(gains[coarse_gain+1]-gains[coarse_gain]);
+  coarse_gain_bitmap = (1 << coarse_gain) - 1;
+  fine_gain_bitmap = ((int)(16*fine_gain) << 3) + 128; // 7th is always 1, 0-2nd are always 0
+
+  integ_lines *= 16; // The exposure value in reg is in 16ths of a line
+
+  struct msm_camera_i2c_reg_array reg_array[] = {
+    //{0x104,0x1,0},
+
+    // FRM_LENGTH
+    {0x380e, (uint16_t)(frame_length >> 8), 0}, {0x380f, (uint16_t)(frame_length & 0xff), 0},
+    // AEC EXPO
+    {0x3500, (uint16_t)(integ_lines >> 16), 0}, {0x3501, (uint16_t)(integ_lines >> 8), 0}, {0x3502, (uint16_t)(integ_lines & 0xff),0},
+    // AEC MANUAL
+    {0x3503, 0x4, 0},
+    // AEC GAIN
+    {0x3508, (uint16_t)(coarse_gain_bitmap), 0}, {0x3509, (uint16_t)(fine_gain_bitmap), 0},
+
+    //{0x104,0x0,0},
+  };
+  return sensor_write_regs(s, reg_array, std::size(reg_array), MSM_CAMERA_I2C_BYTE_DATA);
+}
+
+static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int camera_num,
+                        uint32_t pixel_clock, uint32_t line_length_pclk,
+                        uint32_t max_gain, uint32_t fps, cl_device_id device_id, cl_context ctx,
+                        VisionStreamType rgb_type, VisionStreamType yuv_type) {
+  s->camera_num = camera_num;
+  s->camera_id = camera_id;
+
+  assert(camera_id < std::size(cameras_supported));
+  s->ci = cameras_supported[camera_id];
+  assert(s->ci.frame_width != 0);
+
+  s->pixel_clock = pixel_clock;
+  s->max_gain = max_gain;
+  s->fps = fps;
+  s->frame_length = s->pixel_clock / line_length_pclk / s->fps;
+  s->self_recover = 0;
+
+  s->apply_exposure = (camera_id == CAMERA_ID_IMX298) ? imx298_apply_exposure : ov8865_apply_exposure;
+  s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type, camera_release_buffer);
+}
+
+void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
+  char project_name[1024] = {0};
+  property_get("ro.boot.project_name", project_name, "");
+  assert(strlen(project_name) == 0);
+
+  // sensor is flipped in LP3
+  // IMAGE_ORIENT = 3
+  init_array_imx298[0].reg_data = 3;
+
+  // 0   = ISO 100
+  // 256 = ISO 200
+  // 384 = ISO 400
+  // 448 = ISO 800
+  // 480 = ISO 1600
+  // 496 = ISO 3200
+  // 504 = ISO 6400, 8x digital gain
+  // 508 = ISO 12800, 16x digital gain
+  // 510 = ISO 25600, 32x digital gain
+
+  camera_init(v, &s->road_cam, CAMERA_ID_IMX298, 0,
+              /*pixel_clock=*/600000000, /*line_length_pclk=*/5536,
+              /*max_gain=*/510,  //0 (ISO 100)- 448 (ISO 800, max analog gain) - 511 (super noisy)
+#ifdef HIGH_FPS
+              /*fps*/ 60,
+#else
+              /*fps*/ 20,
+#endif
+              device_id, ctx,
+              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);
+
+  camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 1,
+              /*pixel_clock=*/72000000, /*line_length_pclk=*/1602,
+              /*max_gain=*/510, 10, device_id, ctx,
+              VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
+
+  s->sm = new SubMaster({"driverState"});
+  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
+
+  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+    // TODO: make lengths correct
+    s->focus_bufs[i].allocate(0xb80);
+    s->stats_bufs[i].allocate(0xb80);
+  }
+  std::fill_n(s->lapres, std::size(s->lapres), 16160);
+  s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, 3);
+}
+
+static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
+  int err = 0;
+  uint32_t gain = s->cur_gain;
+  uint32_t integ_lines = s->cur_integ_lines;
+
+  if (exposure_frac >= 0) {
+    exposure_frac = std::clamp(exposure_frac, 2.0f / s->frame_length, 1.0f);
+    integ_lines = s->frame_length * exposure_frac;
+
+    // See page 79 of the datasheet, this is the max allowed (-1 for phase adjust)
+    integ_lines = std::min(integ_lines, s->frame_length - 11);
+  }
+
+  if (gain_frac >= 0) {
+    // ISO200 is minimum gain
+    gain_frac = std::clamp(gain_frac, 1.0f/64, 1.0f);
+
+    // linearize gain response
+    // TODO: will be wrong for driver camera
+    // 0.125 -> 448
+    // 0.25  -> 480
+    // 0.5   -> 496
+    // 1.0   -> 504
+    // 512 - 512/(128*gain_frac)
+    gain = (s->max_gain/510) * (512 - 512/(256*gain_frac));
+  }
+
+  if (gain != s->cur_gain || integ_lines != s->cur_integ_lines) {
+    if (s->apply_exposure == ov8865_apply_exposure) {
+      gain = 800 * gain_frac; // ISO
+    }
+    err = s->apply_exposure(s, gain, integ_lines, s->frame_length);
+    if (err == 0) {
+      std::lock_guard lk(s->frame_info_lock);
+      s->cur_gain = gain;
+      s->cur_integ_lines = integ_lines;
+    } else {
+      LOGE("camera %d apply_exposure err: %d", s->camera_num, err);
+    }
+  }
+
+  if (err == 0) {
+    s->cur_exposure_frac = exposure_frac;
+    std::lock_guard lk(s->frame_info_lock);
+    s->cur_gain_frac = gain_frac;
+  }
+
+  //LOGD("set exposure: %f %f - %d", exposure_frac, gain_frac, err);
+}
+
+static void do_autoexposure(CameraState *s, float grey_frac) {
+  const float target_grey = 0.3;
+
+  s->frame_info_lock.lock();
+  s->measured_grey_fraction = grey_frac;
+  s->target_grey_fraction = target_grey;
+  s->frame_info_lock.unlock();
+
+  if (s->apply_exposure == ov8865_apply_exposure) {
+    // gain limits downstream
+    const float gain_frac_min = 0.015625;
+    const float gain_frac_max = 1.0;
+    // exposure time limits
+    const uint32_t exposure_time_min = 16;
+    const uint32_t exposure_time_max = s->frame_length - 11; // copied from set_exposure()
+
+    float cur_gain_frac = s->cur_gain_frac;
+    float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.05);
+    if (cur_gain_frac > 0.125 && exposure_factor < 1) {
+      cur_gain_frac *= exposure_factor;
+    } else if (s->cur_integ_lines * exposure_factor <= exposure_time_max && s->cur_integ_lines * exposure_factor >= exposure_time_min) { // adjust exposure time first
+      s->cur_exposure_frac *= exposure_factor;
+    } else if (cur_gain_frac * exposure_factor <= gain_frac_max && cur_gain_frac * exposure_factor >= gain_frac_min) {
+      cur_gain_frac *= exposure_factor;
+    }
+    s->frame_info_lock.lock();
+    s->cur_gain_frac = cur_gain_frac;
+    s->frame_info_lock.unlock();
+
+    set_exposure(s, s->cur_exposure_frac, cur_gain_frac);
+  } else { // keep the old for others
+    float new_exposure = s->cur_exposure_frac;
+    new_exposure *= pow(1.05, (target_grey - grey_frac) / 0.05 );
+    //LOGD("diff %f: %f to %f", target_grey - grey_frac, s->cur_exposure_frac, new_exposure);
+
+    float new_gain = s->cur_gain_frac;
+    if (new_exposure < 0.10) {
+      new_gain *= 0.95;
+    } else if (new_exposure > 0.40) {
+      new_gain *= 1.05;
+    }
+
+    set_exposure(s, new_exposure, new_gain);
+  }
+}
+
+static void sensors_init(MultiCameraState *s) {
+  msm_camera_sensor_slave_info slave_infos[2] = {
+  (msm_camera_sensor_slave_info){ // road camera
+    .sensor_name = "imx298",
+    .eeprom_name = "sony_imx298",
+    .actuator_name = "dw9800w",
+    .ois_name = "",
+    .flash_name = "pmic",
+    .camera_id = CAMERA_0,
+    .slave_addr = 32,
+    .i2c_freq_mode = I2C_FAST_MODE,
+    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
+    .sensor_id_info = {.sensor_id_reg_addr = 22, .sensor_id = 664, .module_id = 9, .vcm_id = 6},
+    .power_setting_array = {
+      .power_setting_a = {
+        {.seq_type = SENSOR_GPIO, .delay = 1},
+        {.seq_type = SENSOR_VREG, .seq_val = 2},
+        {.seq_type = SENSOR_GPIO, .seq_val = 5, .config_val = 2},
+        {.seq_type = SENSOR_VREG, .seq_val = 1},
+        {.seq_type = SENSOR_VREG, .seq_val = 3, .delay = 1},
+        {.seq_type = SENSOR_CLK, .config_val = 24000000, .delay = 1},
+        {.seq_type = SENSOR_GPIO, .config_val = 2, .delay = 10},
+      },
+      .size = 7,
+      .power_down_setting_a = {
+        {.seq_type = SENSOR_CLK, .delay = 1},
+        {.seq_type = SENSOR_GPIO, .delay = 1},
+        {.seq_type = SENSOR_VREG, .seq_val = 1},
+        {.seq_type = SENSOR_GPIO, .seq_val = 5},
+        {.seq_type = SENSOR_VREG, .seq_val = 2},
+        {.seq_type = SENSOR_VREG, .seq_val = 3, .delay = 1},
+      },
+      .size_down = 6,
+    },
+    .is_init_params_valid = 0,
+    .sensor_init_params = {.modes_supported = 1, .position = BACK_CAMERA_B, .sensor_mount_angle = 90},
+    .output_format = MSM_SENSOR_BAYER,
+  },
+  (msm_camera_sensor_slave_info){ // driver camera
+    .sensor_name = "ov8865_sunny",
+    .eeprom_name = "ov8865_plus",
+    .actuator_name = "",
+    .ois_name = "",
+    .flash_name = "",
+    .camera_id = CAMERA_2,
+    .slave_addr = 108,
+    .i2c_freq_mode = I2C_FAST_MODE,
+    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
+    .sensor_id_info = {.sensor_id_reg_addr = 12299, .sensor_id = 34917, .module_id = 2},
+    .power_setting_array = {
+      .power_setting_a = {
+        {.seq_type = SENSOR_GPIO, .delay = 5},
+        {.seq_type = SENSOR_VREG, .seq_val = 1},
+        {.seq_type = SENSOR_VREG, .seq_val = 2},
+        {.seq_type = SENSOR_VREG},
+        {.seq_type = SENSOR_CLK, .config_val = 24000000, .delay = 1},
+        {.seq_type = SENSOR_GPIO, .config_val = 2, .delay = 1},
+      },
+      .size = 6,
+      .power_down_setting_a = {
+        {.seq_type = SENSOR_GPIO, .delay = 5},
+        {.seq_type = SENSOR_CLK, .delay = 1},
+        {.seq_type = SENSOR_VREG},
+        {.seq_type = SENSOR_VREG, .seq_val = 1},
+        {.seq_type = SENSOR_VREG, .seq_val = 2, .delay = 1},
+      },
+      .size_down = 5,
+    },
+    .is_init_params_valid = 0,
+    .sensor_init_params = {.modes_supported = 1, .position = FRONT_CAMERA_B, .sensor_mount_angle = 270},
+    .output_format = MSM_SENSOR_BAYER,
+  }};
+
+  unique_fd sensorinit_fd = HANDLE_EINTR(open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK));
+  assert(sensorinit_fd >= 0);
+  for (auto &info : slave_infos) {
+    info.power_setting_array.power_setting = &info.power_setting_array.power_setting_a[0];
+    info.power_setting_array.power_down_setting = &info.power_setting_array.power_down_setting_a[0];
+    sensor_init_cfg_data sensor_init_cfg = {.cfgtype = CFG_SINIT_PROBE, .cfg.setting = &info};
+    int err = cam_ioctl(sensorinit_fd, VIDIOC_MSM_SENSOR_INIT_CFG, &sensor_init_cfg, "sensor init cfg");
+    assert(err >= 0);
+  }
+}
+
+static void camera_open(CameraState *s, bool is_road_cam) {
+  struct csid_cfg_data csid_cfg_data = {};
+  struct v4l2_event_subscription sub = {};
+
+  struct msm_actuator_cfg_data actuator_cfg_data = {};
+
+  // open devices
+  const char *sensor_dev;
+  if (is_road_cam) {
+    s->csid_fd = HANDLE_EINTR(open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK));
+    assert(s->csid_fd >= 0);
+    s->csiphy_fd = HANDLE_EINTR(open("/dev/v4l-subdev0", O_RDWR | O_NONBLOCK));
+    assert(s->csiphy_fd >= 0);
+    sensor_dev = "/dev/v4l-subdev17";
+    s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK));
+    assert(s->isp_fd >= 0);
+    s->actuator_fd = HANDLE_EINTR(open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK));
+    assert(s->actuator_fd >= 0);
+  } else {
+    s->csid_fd = HANDLE_EINTR(open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK));
+    assert(s->csid_fd >= 0);
+    s->csiphy_fd = HANDLE_EINTR(open("/dev/v4l-subdev2", O_RDWR | O_NONBLOCK));
+    assert(s->csiphy_fd >= 0);
+    sensor_dev = "/dev/v4l-subdev18";
+    s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK));
+    assert(s->isp_fd >= 0);
+  }
+
+  // wait for sensor device
+  // on first startup, these devices aren't present yet
+  for (int i = 0; i < 10; i++) {
+    s->sensor_fd = HANDLE_EINTR(open(sensor_dev, O_RDWR | O_NONBLOCK));
+    if (s->sensor_fd >= 0) break;
+    LOGW("waiting for sensors...");
+    util::sleep_for(1000); // sleep one second
+  }
+  assert(s->sensor_fd >= 0);
+
+  // *** SHUTDOWN ALL ***
+
+  // CSIPHY: release csiphy
+  struct msm_camera_csi_lane_params csi_lane_params = {0};
+  csi_lane_params.csi_lane_mask = 0x1f;
+  csiphy_cfg_data csiphy_cfg_data = { .cfg.csi_lane_params = &csi_lane_params, .cfgtype = CSIPHY_RELEASE};
+  int err = cam_ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data, "release csiphy");
+
+  // CSID: release csid
+  csid_cfg_data.cfgtype = CSID_RELEASE;
+  cam_ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data, "release csid");
+
+  // SENSOR: send power down
+  struct sensorb_cfg_data sensorb_cfg_data = {.cfgtype = CFG_POWER_DOWN};
+  cam_ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data, "sensor power down");
+
+  // actuator powerdown
+  actuator_cfg_data.cfgtype = CFG_ACTUATOR_POWERDOWN;
+  cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator powerdown");
+
+  // reset isp
+  // struct msm_vfe_axi_halt_cmd halt_cmd = {
+  //   .stop_camif = 1,
+  //   .overflow_detected = 1,
+  //   .blocking_halt = 1,
+  // };
+  // err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_HALT, &halt_cmd);
+  // printf("axi halt: %d\n", err);
+
+  // struct msm_vfe_axi_reset_cmd reset_cmd = {
+  //   .blocking = 1,
+  //   .frame_id = 1,
+  // };
+  // err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_RESET, &reset_cmd);
+  // printf("axi reset: %d\n", err);
+
+  // struct msm_vfe_axi_restart_cmd restart_cmd = {
+  //   .enable_camif = 1,
+  // };
+  // err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_AXI_RESTART, &restart_cmd);
+  // printf("axi restart: %d\n", err);
+
+  // **** GO GO GO ****
+  LOG("******************** GO GO GO ************************");
+
+  // CSID: init csid
+  csid_cfg_data.cfgtype = CSID_INIT;
+  cam_ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data, "init csid");
+
+  // CSIPHY: init csiphy
+  csiphy_cfg_data = {.cfgtype = CSIPHY_INIT};
+  cam_ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data, "init csiphy");
+
+  // SENSOR: stop stream
+  struct msm_camera_i2c_reg_setting stop_settings = {
+    .reg_setting = stop_reg_array,
+    .size = std::size(stop_reg_array),
+    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
+    .data_type = MSM_CAMERA_I2C_BYTE_DATA,
+    .delay = 0
+  };
+  sensorb_cfg_data.cfgtype = CFG_SET_STOP_STREAM_SETTING;
+  sensorb_cfg_data.cfg.setting = &stop_settings;
+  cam_ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data, "stop stream");
+
+  // SENSOR: send power up
+  sensorb_cfg_data = {.cfgtype = CFG_POWER_UP};
+  cam_ioctl(s->sensor_fd, VIDIOC_MSM_SENSOR_CFG, &sensorb_cfg_data, "sensor power up");
+
+  // **** configure the sensor ****
+
+  // SENSOR: send i2c configuration
+  if (s->camera_id == CAMERA_ID_IMX298) {
+    err = sensor_write_regs(s, init_array_imx298, std::size(init_array_imx298), MSM_CAMERA_I2C_BYTE_DATA);
+  } else if (s->camera_id == CAMERA_ID_OV8865) {
+    err = sensor_write_regs(s, init_array_ov8865, std::size(init_array_ov8865), MSM_CAMERA_I2C_BYTE_DATA);
+  } else {
+    assert(false);
+  }
+  LOG("sensor init i2c: %d", err);
+
+  if (is_road_cam) {
+    // init the actuator
+    actuator_cfg_data.cfgtype = CFG_ACTUATOR_POWERUP;
+    cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator powerup");
+
+    actuator_cfg_data.cfgtype = CFG_ACTUATOR_INIT;
+    cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator init");
+
+    struct msm_actuator_reg_params_t actuator_reg_params[] = {
+      {
+        .reg_write_type = MSM_ACTUATOR_WRITE_DAC,
+        // MSB here at address 3
+        .reg_addr = 3,
+        .data_type = 9,
+        .addr_type = 4,
+      },
+    };
+
+    struct reg_settings_t actuator_init_settings[] = {
+      { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=1, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },   // PD = power down
+      { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=0, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },   // 0 = power up
+      { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=2, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },   // RING = SAC mode
+      { .reg_addr=6, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=64, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },  // 0x40 = SAC3 mode
+      { .reg_addr=7, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=113, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
+      // 0x71 = DIV1 | DIV0 | SACT0 -- Tvib x 1/4 (quarter)
+      // SAC Tvib = 6.3 ms + 0.1 ms = 6.4 ms / 4 = 1.6 ms
+      // LSC 1-step = 252 + 1*4 = 256 ms / 4 = 64 ms
+    };
+
+    struct region_params_t region_params[] = {
+      {.step_bound = {238, 0,}, .code_per_step = 235, .qvalue = 128}
+    };
+
+    actuator_cfg_data.cfgtype = CFG_SET_ACTUATOR_INFO;
+    actuator_cfg_data.cfg.set_info = (struct msm_actuator_set_info_t){
+      .actuator_params = {
+        .act_type = ACTUATOR_BIVCM,
+        .reg_tbl_size = 1,
+        .data_size = 10,
+        .init_setting_size = 5,
+        .i2c_freq_mode = I2C_STANDARD_MODE,
+        .i2c_addr = 24,
+        .i2c_addr_type = MSM_ACTUATOR_BYTE_ADDR,
+        .i2c_data_type = MSM_ACTUATOR_WORD_DATA,
+        .reg_tbl_params = &actuator_reg_params[0],
+        .init_settings = &actuator_init_settings[0],
+        .park_lens = {.damping_step = 1023, .damping_delay = 14000, .hw_params = 11, .max_step = 20},
+      },
+      .af_tuning_params = {
+        .initial_code = INFINITY_DAC,
+        .pwd_step = 0,
+        .region_size = 1,
+        .total_steps = 238,
+        .region_params = &region_params[0],
+      },
+    };
+
+    cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator set info");
+  }
+
+  if (s->camera_id == CAMERA_ID_IMX298) {
+    err = sensor_write_regs(s, mode_setting_array_imx298, std::size(mode_setting_array_imx298), MSM_CAMERA_I2C_BYTE_DATA);
+    LOG("sensor setup: %d", err);
+  }
+
+  // CSIPHY: configure csiphy
+  struct msm_camera_csiphy_params csiphy_params = {};
+  if (s->camera_id == CAMERA_ID_IMX298) {
+    csiphy_params = {.lane_cnt = 4, .settle_cnt = 14, .lane_mask = 0x1f, .csid_core = 0};
+  } else if (s->camera_id == CAMERA_ID_OV8865) {
+    // guess!
+    csiphy_params = {.lane_cnt = 4, .settle_cnt = 24, .lane_mask = 0x1f, .csid_core = 2};
+  }
+  csiphy_cfg_data.cfgtype = CSIPHY_CFG;
+  csiphy_cfg_data.cfg.csiphy_params = &csiphy_params;
+  cam_ioctl(s->csiphy_fd, VIDIOC_MSM_CSIPHY_IO_CFG, &csiphy_cfg_data, "csiphy configure");
+
+  // CSID: configure csid
+#define CSI_STATS 0x35
+#define CSI_PD 0x36
+  struct msm_camera_csid_params csid_params = {
+    .lane_cnt = 4,
+    .lane_assign = 0x4320,
+    .phy_sel = (uint8_t)(is_road_cam ? 0 : 2),
+    .lut_params.num_cid = (uint8_t)(is_road_cam ? 3 : 1),
+    .lut_params.vc_cfg_a = {
+      {.cid = 0, .dt = CSI_RAW10, .decode_format = CSI_DECODE_10BIT},
+      {.cid = 1, .dt = CSI_PD, .decode_format = CSI_DECODE_10BIT},
+      {.cid = 2, .dt = CSI_STATS, .decode_format = CSI_DECODE_10BIT},
+    },
+  };
+
+  csid_params.lut_params.vc_cfg[0] = &csid_params.lut_params.vc_cfg_a[0];
+  csid_params.lut_params.vc_cfg[1] = &csid_params.lut_params.vc_cfg_a[1];
+  csid_params.lut_params.vc_cfg[2] = &csid_params.lut_params.vc_cfg_a[2];
+
+  csid_cfg_data.cfgtype = CSID_CFG;
+  csid_cfg_data.cfg.csid_params = &csid_params;
+  cam_ioctl(s->csid_fd, VIDIOC_MSM_CSID_IO_CFG, &csid_cfg_data, "csid configure");
+
+  // ISP: SMMU_ATTACH
+  msm_vfe_smmu_attach_cmd smmu_attach_cmd = {.security_mode = 0, .iommu_attach_mode = IOMMU_ATTACH};
+  cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_SMMU_ATTACH, &smmu_attach_cmd, "isp smmu attach");
+
+  // ******************* STREAM RAW *****************************
+
+  // configure QMET input
+  struct msm_vfe_input_cfg input_cfg = {};
+  for (int i = 0; i < (is_road_cam ? 3 : 1); i++) {
+    StreamState *ss = &s->ss[i];
+
+    memset(&input_cfg, 0, sizeof(struct msm_vfe_input_cfg));
+    input_cfg.input_src = (msm_vfe_input_src)(VFE_RAW_0+i);
+    input_cfg.input_pix_clk = s->pixel_clock;
+    input_cfg.d.rdi_cfg.cid = i;
+    input_cfg.d.rdi_cfg.frame_based = 1;
+    err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_INPUT_CFG, &input_cfg);
+    LOG("configure input(%d): %d", i, err);
+
+    // ISP: REQUEST_STREAM
+    ss->stream_req.axi_stream_handle = 0;
+    if (is_road_cam) {
+      ss->stream_req.session_id = 2;
+      ss->stream_req.stream_id = /*ISP_META_CHANNEL_BIT | */ISP_NATIVE_BUF_BIT | (1+i);
+    } else {
+      ss->stream_req.session_id = 3;
+      ss->stream_req.stream_id = ISP_NATIVE_BUF_BIT | 1;
+    }
+
+    if (i == 0) {
+      ss->stream_req.output_format = v4l2_fourcc('R', 'G', '1', '0');
+    } else {
+      ss->stream_req.output_format = v4l2_fourcc('Q', 'M', 'E', 'T');
+    }
+    ss->stream_req.stream_src = (msm_vfe_axi_stream_src)(RDI_INTF_0+i);
+
+#ifdef HIGH_FPS
+    if (is_road_cam) {
+      ss->stream_req.frame_skip_pattern = EVERY_3FRAME;
+    }
+#endif
+
+    ss->stream_req.frame_base = 1;
+    ss->stream_req.buf_divert = 1; //i == 0;
+
+    // setup stream plane. doesn't even matter?
+    /*s->stream_req.plane_cfg[0].output_plane_format = Y_PLANE;
+    s->stream_req.plane_cfg[0].output_width = s->ci.frame_width;
+    s->stream_req.plane_cfg[0].output_height = s->ci.frame_height;
+    s->stream_req.plane_cfg[0].output_stride = s->ci.frame_width;
+    s->stream_req.plane_cfg[0].output_scan_lines = s->ci.frame_height;
+    s->stream_req.plane_cfg[0].rdi_cid = 0;*/
+
+    err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_REQUEST_STREAM, &ss->stream_req);
+    LOG("isp request stream: %d -> 0x%x", err, ss->stream_req.axi_stream_handle);
+
+    // ISP: REQUEST_BUF
+    ss->buf_request.session_id = ss->stream_req.session_id;
+    ss->buf_request.stream_id = ss->stream_req.stream_id;
+    ss->buf_request.num_buf = FRAME_BUF_COUNT;
+    ss->buf_request.buf_type = ISP_PRIVATE_BUF;
+    ss->buf_request.handle = 0;
+    cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_REQUEST_BUF, &ss->buf_request, "isp request buf");
+    LOG("got buf handle: 0x%x", ss->buf_request.handle);
+
+    // ENQUEUE all buffers
+    for (int j = 0; j < ss->buf_request.num_buf; j++) {
+      ss->qbuf_info[j].handle = ss->buf_request.handle;
+      ss->qbuf_info[j].buf_idx = j;
+      ss->qbuf_info[j].buffer.num_planes = 1;
+      ss->qbuf_info[j].buffer.planes[0].addr = ss->bufs[j].fd;
+      ss->qbuf_info[j].buffer.planes[0].length = ss->bufs[j].len;
+      err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &ss->qbuf_info[j]);
+    }
+
+    // ISP: UPDATE_STREAM
+    struct msm_vfe_axi_stream_update_cmd update_cmd = {};
+    update_cmd.num_streams = 1;
+    update_cmd.update_info[0].user_stream_id = ss->stream_req.stream_id;
+    update_cmd.update_info[0].stream_handle = ss->stream_req.axi_stream_handle;
+    update_cmd.update_type = UPDATE_STREAM_ADD_BUFQ;
+    cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_UPDATE_STREAM, &update_cmd, "isp update stream");
+  }
+
+  LOG("******** START STREAMS ********");
+
+  sub.id = 0;
+  sub.type = 0x1ff;
+  cam_ioctl(s->isp_fd, VIDIOC_SUBSCRIBE_EVENT, &sub, "isp subscribe");
+
+  // ISP: START_STREAM
+  s->stream_cfg.cmd = START_STREAM;
+  s->stream_cfg.num_streams = is_road_cam ? 3 : 1;
+  for (int i = 0; i < s->stream_cfg.num_streams; i++) {
+    s->stream_cfg.stream_handle[i] = s->ss[i].stream_req.axi_stream_handle;
+  }
+  cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg, "isp start stream");
+}
+
+static void road_camera_start(CameraState *s) {
+  set_exposure(s, 1.0, 1.0);
+
+  int err = sensor_write_regs(s, start_reg_array, std::size(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA);
+  LOG("sensor start regs: %d", err);
+
+  int inf_step = 512 - INFINITY_DAC;
+
+  // initial guess
+  s->lens_true_pos = 400;
+
+  // reset lens position
+  struct msm_actuator_cfg_data actuator_cfg_data = {};
+  actuator_cfg_data.cfgtype = CFG_SET_POSITION;
+  actuator_cfg_data.cfg.setpos = (struct msm_actuator_set_position_t){
+    .number_of_steps = 1,
+    .hw_params = (uint32_t)7,
+    .pos = {INFINITY_DAC, 0},
+    .delay = {0,}
+  };
+  cam_ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data, "actuator set pos");
+
+  // TODO: confirm this isn't needed
+  /*memset(&actuator_cfg_data, 0, sizeof(actuator_cfg_data));
+  actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS;
+  actuator_cfg_data.cfg.move = (struct msm_actuator_move_params_t){
+    .dir = 0,
+    .sign_dir = 1,
+    .dest_step_pos = inf_step,
+    .num_steps = inf_step,
+    .curr_lens_pos = 0,
+    .ringing_params = &actuator_ringing_params,
+  };
+  err = ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data); // should be ~332 at startup ?
+  LOG("init actuator move focus: %d", err);*/
+  //actuator_cfg_data.cfg.move.curr_lens_pos;
+
+  s->cur_lens_pos = 0;
+  s->cur_step_pos = inf_step;
+
+  actuator_move(s, s->cur_lens_pos);
+  LOG("init lens pos: %d", s->cur_lens_pos);
+}
+
+void actuator_move(CameraState *s, uint16_t target) {
+  // LP3 moves only on even positions. TODO: use proper sensor params
+
+  // focus on infinity assuming phone is perpendicular
+  static struct damping_params_t actuator_ringing_params = {
+      .damping_step = 1023,
+      .damping_delay = 20000,
+      .hw_params = 13,
+  };
+
+  int step = (target - s->cur_lens_pos) / 2;
+
+  int dest_step_pos = s->cur_step_pos + step;
+  dest_step_pos = std::clamp(dest_step_pos, 0, 255);
+
+  struct msm_actuator_cfg_data actuator_cfg_data = {0};
+  actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS;
+  actuator_cfg_data.cfg.move = (struct msm_actuator_move_params_t){
+    .dir = (int8_t)((step > 0) ? MOVE_NEAR : MOVE_FAR),
+    .sign_dir = (int8_t)((step > 0) ? MSM_ACTUATOR_MOVE_SIGNED_NEAR : MSM_ACTUATOR_MOVE_SIGNED_FAR),
+    .dest_step_pos = (int16_t)dest_step_pos,
+    .num_steps = abs(step),
+    .curr_lens_pos = s->cur_lens_pos,
+    .ringing_params = &actuator_ringing_params,
+  };
+  HANDLE_EINTR(ioctl(s->actuator_fd, VIDIOC_MSM_ACTUATOR_CFG, &actuator_cfg_data));
+
+  s->cur_step_pos = dest_step_pos;
+  s->cur_lens_pos = actuator_cfg_data.cfg.move.curr_lens_pos;
+  //LOGD("step %d   target: %d  lens pos: %d", dest_step_pos, target, s->cur_lens_pos);
+}
+
+static void parse_autofocus(CameraState *s, uint8_t *d) {
+  int good_count = 0;
+  int16_t max_focus = -32767;
+  int avg_focus = 0;
+
+  /*printf("FOCUS: ");
+  for (int i = 0; i < 0x10; i++) {
+    printf("%2.2X ", d[i]);
+  }*/
+
+  for (int i = 0; i < NUM_FOCUS; i++) {
+    int doff = i*5+5;
+    s->confidence[i] = d[doff];
+    // this should just be a 10-bit signed int instead of 11
+    // TODO: write it in a nicer way
+    int16_t focus_t = (d[doff+1] << 3) | (d[doff+2] >> 5);
+    if (focus_t >= 1024) focus_t = -(2048-focus_t);
+    s->focus[i] = focus_t;
+    //printf("%x->%d ", d[doff], focus_t);
+    if (s->confidence[i] > 0x20) {
+      good_count++;
+      max_focus = std::max(max_focus, s->focus[i]);
+      avg_focus += s->focus[i];
+    }
+  }
+  // self recover override
+  if (s->self_recover > 1) {
+    s->focus_err = 200 * ((s->self_recover % 2 == 0) ? 1:-1); // far for even numbers, close for odd
+    s->self_recover -= 2;
+    return;
+  }
+
+  if (good_count < 4) {
+    s->focus_err = nan("");
+    return;
+  }
+
+  avg_focus /= good_count;
+
+  // outlier rejection
+  if (abs(avg_focus - max_focus) > 200) {
+    s->focus_err = nan("");
+    return;
+  }
+
+  s->focus_err = max_focus*1.0;
+}
+
+static std::optional<float> get_accel_z(SubMaster *sm) {
+  sm->update(0);
+  if(sm->updated("sensorEvents")) {
+    for (auto event : (*sm)["sensorEvents"].getSensorEvents()) {
+      if (event.which() == cereal::SensorEventData::ACCELERATION) {
+        if (auto v = event.getAcceleration().getV(); v.size() >= 3)
+          return -v[2];
+        break;
+      }
+    }
+  }
+  return std::nullopt;
+}
+
+static void do_autofocus(CameraState *s, SubMaster *sm) {
+  float lens_true_pos = s->lens_true_pos.load();
+  if (!isnan(s->focus_err)) {
+    // learn lens_true_pos
+    const float focus_kp = 0.005;
+    lens_true_pos -= s->focus_err*focus_kp;
+  }
+
+  if (auto accel_z = get_accel_z(sm)) {
+    s->last_sag_acc_z = *accel_z;
+  }
+  const float sag = (s->last_sag_acc_z / 9.8) * 128;
+  // stay off the walls
+  lens_true_pos = std::clamp(lens_true_pos, float(LP3_AF_DAC_DOWN), float(LP3_AF_DAC_UP));
+  int target = std::clamp(lens_true_pos - sag, float(LP3_AF_DAC_DOWN), float(LP3_AF_DAC_UP));
+  s->lens_true_pos.store(lens_true_pos);
+
+  /*char debug[4096];
+  char *pdebug = debug;
+  pdebug += sprintf(pdebug, "focus ");
+  for (int i = 0; i < NUM_FOCUS; i++) pdebug += sprintf(pdebug, "%2x(%4d) ", s->confidence[i], s->focus[i]);
+  pdebug += sprintf(pdebug, "  err: %7.2f  offset: %6.2f sag: %6.2f lens_true_pos: %6.2f  cur_lens_pos: %4d->%4d", err * focus_kp, offset, sag, s->lens_true_pos, s->cur_lens_pos, target);
+  LOGD(debug);*/
+
+  actuator_move(s, target);
+}
+
+void camera_autoexposure(CameraState *s, float grey_frac) {
+  if (s->camera_num == 0) {
+    CameraExpInfo tmp = road_cam_exp.load();
+    tmp.op_id++;
+    tmp.grey_frac = grey_frac;
+    road_cam_exp.store(tmp);
+  } else {
+    CameraExpInfo tmp = driver_cam_exp.load();
+    tmp.op_id++;
+    tmp.grey_frac = grey_frac;
+    driver_cam_exp.store(tmp);
+  }
+}
+
+static void driver_camera_start(CameraState *s) {
+  set_exposure(s, 1.0, 1.0);
+  int err = sensor_write_regs(s, start_reg_array, std::size(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA);
+  LOG("sensor start regs: %d", err);
+}
+
+void cameras_open(MultiCameraState *s) {
+  struct msm_ispif_param_data ispif_params = {
+    .num = 4,
+    .entries = {
+      // road camera
+      {.vfe_intf = VFE0, .intftype = RDI0, .num_cids = 1, .cids[0] = CID0, .csid = CSID0},
+      // driver camera
+      {.vfe_intf = VFE1, .intftype = RDI0, .num_cids = 1, .cids[0] = CID0, .csid = CSID2},
+      // road camera (focus)
+      {.vfe_intf = VFE0, .intftype = RDI1, .num_cids = 1, .cids[0] = CID1, .csid = CSID0},
+      // road camera (stats, for AE)
+      {.vfe_intf = VFE0, .intftype = RDI2, .num_cids = 1, .cids[0] = CID2, .csid = CSID0},
+    },
+  };
+  s->msmcfg_fd = HANDLE_EINTR(open("/dev/media0", O_RDWR | O_NONBLOCK));
+  assert(s->msmcfg_fd >= 0);
+
+  sensors_init(s);
+
+  s->v4l_fd = HANDLE_EINTR(open("/dev/video0", O_RDWR | O_NONBLOCK));
+  assert(s->v4l_fd >= 0);
+
+  s->ispif_fd = HANDLE_EINTR(open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK));
+  assert(s->ispif_fd >= 0);
+
+  // ISPIF: stop
+  // memset(&ispif_cfg_data, 0, sizeof(ispif_cfg_data));
+  // ispif_cfg_data.cfg_type = ISPIF_STOP_FRAME_BOUNDARY;
+  // ispif_cfg_data.params = ispif_params;
+  // err = ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data);
+  // LOG("ispif stop: %d", err);
+
+  LOG("*** open driver camera ***");
+  s->driver_cam.ss[0].bufs = s->driver_cam.buf.camera_bufs.get();
+  camera_open(&s->driver_cam, false);
+
+  LOG("*** open road camera ***");
+  s->road_cam.ss[0].bufs = s->road_cam.buf.camera_bufs.get();
+  s->road_cam.ss[1].bufs = s->focus_bufs;
+  s->road_cam.ss[2].bufs = s->stats_bufs;
+  camera_open(&s->road_cam, true);
+
+  if (getenv("CAMERA_TEST")) {
+    cameras_close(s);
+    exit(0);
+  }
+
+  // ISPIF: set vfe info
+  struct ispif_cfg_data ispif_cfg_data = {.cfg_type = ISPIF_SET_VFE_INFO, .vfe_info.num_vfe = 2};
+  int err = HANDLE_EINTR(ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data));
+  LOG("ispif set vfe info: %d", err);
+
+  // ISPIF: setup
+  ispif_cfg_data = {.cfg_type = ISPIF_INIT, .csid_version = 0x30050000 /* CSID_VERSION_V35*/};
+  cam_ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data, "ispif setup");
+
+  ispif_cfg_data = {.cfg_type = ISPIF_CFG, .params = ispif_params};
+  cam_ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data, "ispif cfg");
+
+  ispif_cfg_data.cfg_type = ISPIF_START_FRAME_BOUNDARY;
+  cam_ioctl(s->ispif_fd, VIDIOC_MSM_ISPIF_CFG, &ispif_cfg_data, "ispif start_frame_boundary");
+
+  driver_camera_start(&s->driver_cam);
+  road_camera_start(&s->road_cam);
+}
+
+
+static void camera_close(CameraState *s) {
+  // ISP: STOP_STREAM
+  s->stream_cfg.cmd = STOP_STREAM;
+  cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg, "isp stop stream");
+
+  for (int i = 0; i < 3; i++) {
+    StreamState *ss = &s->ss[i];
+    if (ss->stream_req.axi_stream_handle != 0) {
+      cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_RELEASE_BUF, &ss->buf_request, "isp release buf");
+
+      struct msm_vfe_axi_stream_release_cmd stream_release = {
+        .stream_handle = ss->stream_req.axi_stream_handle,
+      };
+      cam_ioctl(s->isp_fd, VIDIOC_MSM_ISP_RELEASE_STREAM, &stream_release, "isp release stream");
+    }
+  }
+}
+
+const char* get_isp_event_name(uint32_t type) {
+  switch (type) {
+  case ISP_EVENT_REG_UPDATE: return "ISP_EVENT_REG_UPDATE";
+  case ISP_EVENT_EPOCH_0: return "ISP_EVENT_EPOCH_0";
+  case ISP_EVENT_EPOCH_1: return "ISP_EVENT_EPOCH_1";
+  case ISP_EVENT_START_ACK: return "ISP_EVENT_START_ACK";
+  case ISP_EVENT_STOP_ACK: return "ISP_EVENT_STOP_ACK";
+  case ISP_EVENT_IRQ_VIOLATION: return "ISP_EVENT_IRQ_VIOLATION";
+  case ISP_EVENT_STATS_OVERFLOW: return "ISP_EVENT_STATS_OVERFLOW";
+  case ISP_EVENT_ERROR: return "ISP_EVENT_ERROR";
+  case ISP_EVENT_SOF: return "ISP_EVENT_SOF";
+  case ISP_EVENT_EOF: return "ISP_EVENT_EOF";
+  case ISP_EVENT_BUF_DONE: return "ISP_EVENT_BUF_DONE";
+  case ISP_EVENT_BUF_DIVERT: return "ISP_EVENT_BUF_DIVERT";
+  case ISP_EVENT_STATS_NOTIFY: return "ISP_EVENT_STATS_NOTIFY";
+  case ISP_EVENT_COMP_STATS_NOTIFY: return "ISP_EVENT_COMP_STATS_NOTIFY";
+  case ISP_EVENT_FE_READ_DONE: return "ISP_EVENT_FE_READ_DONE";
+  case ISP_EVENT_IOMMU_P_FAULT: return "ISP_EVENT_IOMMU_P_FAULT";
+  case ISP_EVENT_HW_FATAL_ERROR: return "ISP_EVENT_HW_FATAL_ERROR";
+  case ISP_EVENT_PING_PONG_MISMATCH: return "ISP_EVENT_PING_PONG_MISMATCH";
+  case ISP_EVENT_REG_UPDATE_MISSING: return "ISP_EVENT_REG_UPDATE_MISSING";
+  case ISP_EVENT_BUF_FATAL_ERROR: return "ISP_EVENT_BUF_FATAL_ERROR";
+  case ISP_EVENT_STREAM_UPDATE_DONE: return "ISP_EVENT_STREAM_UPDATE_DONE";
+  default: return "unknown";
+  }
+}
+
+static FrameMetadata get_frame_metadata(CameraState *s, uint32_t frame_id) {
+  std::lock_guard lk(s->frame_info_lock);
+  for (auto &i : s->frame_metadata) {
+    if (i.frame_id == frame_id) {
+      return i;
+    }
+  }
+  // should never happen
+  return (FrameMetadata){
+    .frame_id = (uint32_t)-1,
+  };
+}
+
+static void ops_thread(MultiCameraState *s) {
+  int last_road_cam_op_id = 0;
+  int last_driver_cam_op_id = 0;
+
+  CameraExpInfo road_cam_op;
+  CameraExpInfo driver_cam_op;
+
+  set_thread_name("camera_settings");
+  SubMaster sm({"sensorEvents"});
+  while(!do_exit) {
+    road_cam_op = road_cam_exp.load();
+    if (road_cam_op.op_id != last_road_cam_op_id) {
+      do_autoexposure(&s->road_cam, road_cam_op.grey_frac);
+      do_autofocus(&s->road_cam, &sm);
+      last_road_cam_op_id = road_cam_op.op_id;
+    }
+
+    driver_cam_op = driver_cam_exp.load();
+    if (driver_cam_op.op_id != last_driver_cam_op_id) {
+      do_autoexposure(&s->driver_cam, driver_cam_op.grey_frac);
+      last_driver_cam_op_id = driver_cam_op.op_id;
+    }
+
+    util::sleep_for(50);
+  }
+}
+
+static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t lapres_size) {
+  const float lens_true_pos = c->lens_true_pos.load();
+  int self_recover = c->self_recover.load();
+  if (self_recover < 2 && (lens_true_pos < (LP3_AF_DAC_DOWN + 1) || lens_true_pos > (LP3_AF_DAC_UP - 1)) && is_blur(lapres, lapres_size)) {
+    // truly stuck, needs help
+    if (--self_recover < -FOCUS_RECOVER_PATIENCE) {
+      LOGD("road camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
+      // parity determined by which end is stuck at
+      self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < LP3_AF_DAC_M ? 1 : 0);
+    }
+  } else if (self_recover < 2 && (lens_true_pos < (LP3_AF_DAC_M - LP3_AF_DAC_3SIG) || lens_true_pos > (LP3_AF_DAC_M + LP3_AF_DAC_3SIG))) {
+    // in suboptimal position with high prob, but may still recover by itself
+    if (--self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
+      self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_true_pos < LP3_AF_DAC_M ? 1 : 0);
+    }
+  } else if (self_recover < 0) {
+    self_recover += 1;  // reset if fine
+  }
+  c->self_recover.store(self_recover);
+}
+
+void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
+  common_process_driver_camera(s->sm, s->pm, c, cnt);
+}
+
+// called by processing_thread
+void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
+  const CameraBuf *b = &c->buf;
+  const int roi_id = cnt % std::size(s->lapres);  // rolling roi
+  s->lapres[roi_id] = s->lap_conv->Update(b->q, (uint8_t *)b->cur_rgb_buf->addr, roi_id);
+  setup_self_recover(c, &s->lapres[0], std::size(s->lapres));
+
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initRoadCameraState();
+  fill_frame_data(framed, b->cur_frame_data);
+  if (env_send_road) {
+    framed.setImage(get_frame_image(b));
+  }
+  framed.setFocusVal(s->road_cam.focus);
+  framed.setFocusConf(s->road_cam.confidence);
+  framed.setRecoverState(s->road_cam.self_recover);
+  framed.setSharpnessScore(s->lapres);
+  framed.setTransform(b->yuv_transform.v);
+  s->pm->send("roadCameraState", msg);
+
+  if (cnt % 3 == 0) {
+    const int x = 290, y = 322, width = 560, height = 314;
+    const int skip = 1;
+    camera_autoexposure(c, set_exposure_target(b, x, x + width, skip, y, y + height, skip));
+  }
+}
+
+void cameras_run(MultiCameraState *s) {
+  std::vector<std::thread> threads;
+  threads.push_back(std::thread(ops_thread, s));
+  threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
+  threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
+
+  CameraState* cameras[2] = {&s->road_cam, &s->driver_cam};
+
+  while (!do_exit) {
+    struct pollfd fds[2] = {{.fd = cameras[0]->isp_fd, .events = POLLPRI},
+                            {.fd = cameras[1]->isp_fd, .events = POLLPRI}};
+    int ret = poll(fds, std::size(fds), 1000);
+    if (ret < 0) {
+      if (errno == EINTR || errno == EAGAIN) continue;
+      LOGE("poll failed (%d - %d)", ret, errno);
+      break;
+    }
+
+    // process cameras
+    for (int i=0; i<2; i++) {
+      if (!fds[i].revents) continue;
+
+      CameraState *c = cameras[i];
+
+      struct v4l2_event ev = {};
+      ret = HANDLE_EINTR(ioctl(c->isp_fd, VIDIOC_DQEVENT, &ev));
+      const msm_isp_event_data *isp_event_data = (const msm_isp_event_data *)ev.u.data;
+
+      if (ev.type == ISP_EVENT_BUF_DIVERT) {
+        const int buf_idx = isp_event_data->u.buf_done.buf_idx;
+        const int buffer = (isp_event_data->u.buf_done.stream_id & 0xFFFF) - 1;
+        if (buffer == 0) {
+          c->buf.camera_bufs_metadata[buf_idx] = get_frame_metadata(c, isp_event_data->frame_id);
+          c->buf.queue(buf_idx);
+        } else {
+          auto &ss = c->ss[buffer];
+          if (buffer == 1) {
+            parse_autofocus(c, (uint8_t *)(ss.bufs[buf_idx].addr));
+          }
+          ss.qbuf_info[buf_idx].dirty_buf = 1;
+          HANDLE_EINTR(ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &ss.qbuf_info[buf_idx]));
+        }
+
+      } else if (ev.type == ISP_EVENT_EOF) {
+        const uint64_t timestamp = (isp_event_data->mono_timestamp.tv_sec * 1000000000ULL + isp_event_data->mono_timestamp.tv_usec * 1000);
+        std::lock_guard lk(c->frame_info_lock);
+        c->frame_metadata[c->frame_metadata_idx] = (FrameMetadata){
+            .frame_id = isp_event_data->frame_id,
+            .timestamp_eof = timestamp,
+            .frame_length = (uint32_t)c->frame_length,
+            .integ_lines = (uint32_t)c->cur_integ_lines,
+            .lens_pos = c->cur_lens_pos,
+            .lens_sag = c->last_sag_acc_z,
+            .lens_err = c->focus_err,
+            .lens_true_pos = c->lens_true_pos,
+            .gain = c->cur_gain_frac,
+            .measured_grey_fraction = c->measured_grey_fraction,
+            .target_grey_fraction = c->target_grey_fraction,
+            .high_conversion_gain = false,
+        };
+        c->frame_metadata_idx = (c->frame_metadata_idx + 1) % METADATA_BUF_COUNT;
+
+      } else if (ev.type == ISP_EVENT_ERROR) {
+        LOGE("ISP_EVENT_ERROR! err type: 0x%08x", isp_event_data->u.error_info.err_type);
+      }
+    }
+  }
+
+  LOG(" ************** STOPPING **************");
+
+  for (auto &t : threads) t.join();
+
+  cameras_close(s);
+}
+
+void cameras_close(MultiCameraState *s) {
+  camera_close(&s->road_cam);
+  camera_close(&s->driver_cam);
+  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+    s->focus_bufs[i].free();
+    s->stats_bufs[i].free();
+  }
+
+  delete s->lap_conv;
+  delete s->sm;
+  delete s->pm;
+}
diff --git a/selfdrive/camerad/cameras/camera_qcom.h b/selfdrive/camerad/cameras/camera_qcom.h
index 1a9c31baa3a29f..207857e05c6c6a 100644
--- a/selfdrive/camerad/cameras/camera_qcom.h
+++ b/selfdrive/camerad/cameras/camera_qcom.h
@@ -1,37 +1,36 @@
-#ifndef CAMERA_H
-#define CAMERA_H
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <pthread.h>
-
-#include "msmb_isp.h"
-#include "msmb_ispif.h"
-#include "msmb_camera.h"
-#include "msm_cam_sensor.h"
-
-#include "common/mat.h"
-#include "common/visionbuf.h"
-#include "common/buffering.h"
-
-#include "camera_common.h"
+#pragma once
+
+#include <atomic>
+#include <cstdint>
+#include <memory>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionbuf.h"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/camerad/imgproc/utils.h"
+#include "selfdrive/camerad/include/msm_cam_sensor.h"
+#include "selfdrive/camerad/include/msmb_camera.h"
+#include "selfdrive/camerad/include/msmb_isp.h"
+#include "selfdrive/camerad/include/msmb_ispif.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/util.h"
 
 #define FRAME_BUF_COUNT 4
 #define METADATA_BUF_COUNT 4
 
-#define DEVICE_OP3 0
-#define DEVICE_OP3T 1
-#define DEVICE_LP3 2
-
 #define NUM_FOCUS 8
 
-#ifdef __cplusplus
-extern "C" {
-#endif
+#define LP3_AF_DAC_DOWN 366
+#define LP3_AF_DAC_UP 634
+#define LP3_AF_DAC_M 440
+#define LP3_AF_DAC_3SIG 52
+
+#define FOCUS_RECOVER_PATIENCE 50 // 2.5 seconds of complete blur
+#define FOCUS_RECOVER_STEPS 240 // 6 seconds
 
 typedef struct CameraState CameraState;
 
-typedef int (*camera_apply_exposure_func)(CameraState *s, int gain, int integ_lines, int frame_length);
+typedef int (*camera_apply_exposure_func)(CameraState *s, int gain, int integ_lines, uint32_t frame_length);
 
 typedef struct StreamState {
   struct msm_isp_buf_request buf_request;
@@ -43,89 +42,66 @@ typedef struct StreamState {
 typedef struct CameraState {
   int camera_num;
   int camera_id;
-  CameraInfo ci;
-  int frame_size;
 
-  int device;
-
-  void* ops_sock;
-
-  uint32_t pixel_clock;
-  uint32_t line_length_pclk;
-  unsigned int max_gain;
+  int fps;
+  CameraInfo ci;
 
-  int csid_fd;
-  int csiphy_fd;
-  int sensor_fd;
-  int isp_fd;
-  int eeprom_fd;
-  // rear only
-  int ois_fd, actuator_fd;
-  uint16_t infinity_dac;
+  unique_fd csid_fd;
+  unique_fd csiphy_fd;
+  unique_fd sensor_fd;
+  unique_fd isp_fd;
 
   struct msm_vfe_axi_stream_cfg_cmd stream_cfg;
 
-  size_t eeprom_size;
-  uint8_t *eeprom;
-
-  // uint32_t camera_bufs_ids[FRAME_BUF_COUNT];
-  FrameMetadata camera_bufs_metadata[FRAME_BUF_COUNT];
-  TBuffer camera_tb;
+  StreamState ss[3];
+  CameraBuf buf;
 
-  pthread_mutex_t frame_info_lock;
+  std::mutex frame_info_lock;
   FrameMetadata frame_metadata[METADATA_BUF_COUNT];
   int frame_metadata_idx;
-  float cur_exposure_frac;
-  float cur_gain_frac;
-  int cur_gain;
-  int cur_frame_length;
-  int cur_integ_lines;
 
-  float digital_gain;
-
-  StreamState ss[3];
+  // exposure
+  uint32_t pixel_clock, line_length_pclk;
+  uint32_t frame_length;
+  unsigned int max_gain;
+  float cur_exposure_frac, cur_gain_frac;
+  int cur_gain, cur_integ_lines;
 
-  uint64_t last_t;
+  float measured_grey_fraction;
+  float target_grey_fraction;
 
+  std::atomic<float> digital_gain;
   camera_apply_exposure_func apply_exposure;
 
-  int16_t focus[NUM_FOCUS];
-  uint8_t confidence[NUM_FOCUS];
-
-  float focus_err;
-
+  // rear camera only,used for focusing
+  unique_fd actuator_fd;
+  std::atomic<float> focus_err;
+  std::atomic<float> last_sag_acc_z;
+  std::atomic<float> lens_true_pos;
+  std::atomic<int> self_recover; // af recovery counter, neg is patience, pos is active
   uint16_t cur_step_pos;
   uint16_t cur_lens_pos;
-  uint64_t last_sag_ts;
-  float last_sag_acc_z;
-  float lens_true_pos;
-
-  int fps;
-
-  mat3 transform;
+  int16_t focus[NUM_FOCUS];
+  uint8_t confidence[NUM_FOCUS];
 } CameraState;
 
 
-typedef struct DualCameraState {
-  int device;
+typedef struct MultiCameraState {
+  unique_fd ispif_fd;
+  unique_fd msmcfg_fd;
+  unique_fd v4l_fd;
+  uint16_t lapres[(ROI_X_MAX-ROI_X_MIN+1)*(ROI_Y_MAX-ROI_Y_MIN+1)];
 
-  int ispif_fd;
+  VisionBuf focus_bufs[FRAME_BUF_COUNT];
+  VisionBuf stats_bufs[FRAME_BUF_COUNT];
 
-  CameraState rear;
-  CameraState front;
-} DualCameraState;
+  CameraState road_cam;
+  CameraState driver_cam;
 
-void cameras_init(DualCameraState *s);
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
-void cameras_run(DualCameraState *s);
-void cameras_close(DualCameraState *s);
+  SubMaster *sm;
+  PubMaster *pm;
+  LapConv *lap_conv;
+} MultiCameraState;
 
-void camera_autoexposure(CameraState *s, float grey_frac);
 void actuator_move(CameraState *s, uint16_t target);
 int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size_t size, int data_type);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
new file mode 100644
index 00000000000000..089d9e999bb19c
--- /dev/null
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -0,0 +1,1095 @@
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
+
+#include <fcntl.h>
+#include <poll.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <unistd.h>
+
+#include <atomic>
+#include <cassert>
+#include <cerrno>
+#include <cmath>
+#include <cstdio>
+#include <cstring>
+
+#include "media/cam_defs.h"
+#include "media/cam_isp.h"
+#include "media/cam_isp_ife.h"
+#include "media/cam_sensor.h"
+#include "media/cam_sensor_cmn_header.h"
+#include "media/cam_sync.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/camerad/cameras/sensor2_i2c.h"
+
+extern ExitHandler do_exit;
+
+const size_t FRAME_WIDTH = 1928;
+const size_t FRAME_HEIGHT = 1208;
+const size_t FRAME_STRIDE = 2416;  // for 10 bit output
+
+const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
+
+CameraInfo cameras_supported[CAMERA_ID_MAX] = {
+  [CAMERA_ID_AR0231] = {
+    .frame_width = FRAME_WIDTH,
+    .frame_height = FRAME_HEIGHT,
+    .frame_stride = FRAME_STRIDE,
+    .bayer = true,
+    .bayer_flip = 1,
+    .hdr = false
+  },
+};
+
+const float DC_GAIN = 2.5;
+const float sensor_analog_gains[] = {
+  1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3
+  3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7
+  5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11
+  7.0/2.0, 8.0/2.0, 8.0/1.0};         // 12, 13, 14, 15 = bypass
+
+const int ANALOG_GAIN_MIN_IDX = 0x1; // 0.25x
+const int ANALOG_GAIN_REC_IDX = 0x6; // 0.8x
+const int ANALOG_GAIN_MAX_IDX = 0xD; // 4.0x
+
+const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss
+const int EXPOSURE_TIME_MAX = 1904; // with HDR, slowest ss
+
+// ************** low level camera helpers ****************
+int cam_control(int fd, int op_code, void *handle, int size) {
+  struct cam_control camcontrol = {0};
+  camcontrol.op_code = op_code;
+  camcontrol.handle = (uint64_t)handle;
+  if (size == 0) { 
+    camcontrol.size = 8;
+    camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
+  } else {
+    camcontrol.size = size;
+    camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
+  }
+
+  int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
+  if (ret == -1) {
+    printf("OP CODE ERR - %d \n", op_code);
+    perror("wat");
+  }
+  return ret;
+}
+
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data) {
+  struct cam_acquire_dev_cmd cmd = {
+      .session_handle = session_handle,
+      .handle_type = CAM_HANDLE_USER_POINTER,
+      .num_resources = (uint32_t)(data ? 1 : 0),
+      .resource_hdl = (uint64_t)data,
+  };
+  int err = cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
+  return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
+};
+
+int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
+  struct cam_config_dev_cmd cmd = {
+      .session_handle = session_handle,
+      .dev_handle = dev_handle,
+      .packet_handle = packet_handle,
+  };
+  return cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
+}
+
+int device_control(int fd, int op_code, int session_handle, int dev_handle) {
+  // start stop and release are all the same
+  struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
+  return cam_control(fd, op_code, &cmd, sizeof(cmd));
+}
+
+void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                      int mmu_hdl = 0, int mmu_hdl2 = 0) {
+  struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
+  mem_mgr_alloc_cmd.len = len;
+  mem_mgr_alloc_cmd.align = align;
+  mem_mgr_alloc_cmd.flags = flags;
+  mem_mgr_alloc_cmd.num_hdl = 0;
+  if (mmu_hdl != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+  if (mmu_hdl2 != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+
+  cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
+  *handle = mem_mgr_alloc_cmd.out.buf_handle;
+
+  void *ptr = NULL;
+  if (mem_mgr_alloc_cmd.out.fd > 0) {
+    ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
+    assert(ptr != MAP_FAILED);
+  }
+
+  // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
+
+  return ptr;
+}
+
+void release(int video0_fd, uint32_t handle) {
+  int ret;
+  struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
+  mem_mgr_release_cmd.buf_handle = handle;
+
+  ret = cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
+  assert(ret == 0);
+}
+
+void release_fd(int video0_fd, uint32_t handle) {
+  // handle to fd
+  close(handle>>16);
+  release(video0_fd, handle);
+}
+
+void clear_req_queue(int fd, int32_t session_hdl, int32_t link_hdl) {
+  struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
+  req_mgr_flush_request.session_hdl = session_hdl;
+  req_mgr_flush_request.link_hdl = link_hdl;
+  req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
+  int ret;
+  ret = cam_control(fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
+  // LOGD("flushed all req: %d", ret);
+}
+
+// ************** high level camera helpers ****************
+
+void sensors_poke(struct CameraState *s, int request_id) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet);
+  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
+  pkt->num_cmd_buf = 0;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.size = size;
+  pkt->header.op_code = 0x7f;
+  pkt->header.request_id = request_id;
+
+  int ret = device_config(s->sensor_fd, s->session_handle, s->sensor_dev_handle, cam_packet_handle);
+  assert(ret == 0);
+
+  munmap(pkt, size);
+  release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
+}
+
+void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int len, int op_code) {
+  // LOGD("sensors_i2c: %d", len);
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
+  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
+  pkt->num_cmd_buf = 1;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.size = size;
+  pkt->header.op_code = op_code;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+  buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
+  buf_desc[0].type = CAM_CMD_BUF_I2C;
+
+  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  i2c_random_wr->header.count = len;
+  i2c_random_wr->header.op_code = 1;
+  i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
+  i2c_random_wr->header.data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload));
+
+  int ret = device_config(s->sensor_fd, s->session_handle, s->sensor_dev_handle, cam_packet_handle);
+  assert(ret == 0);
+
+  munmap(i2c_random_wr, buf_desc[0].size);
+  release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
+  munmap(pkt, size);
+  release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
+}
+static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
+  cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = delay_ms;
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  return (struct cam_cmd_power *)(unconditional_wait + 1);
+};
+
+void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
+  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(video0_fd, size, &cam_packet_handle);
+  pkt->num_cmd_buf = 2;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.op_code = 0x1000003;
+  pkt->header.size = size;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+  buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
+  buf_desc[0].type = CAM_CMD_BUF_LEGACY;
+  struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)alloc_w_mmu_hdl(video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  struct cam_cmd_probe *probe = (struct cam_cmd_probe *)((uint8_t *)i2c_info) + sizeof(struct cam_cmd_i2c_info);
+
+  switch (camera_num) {
+    case 0:
+      // port 0
+      i2c_info->slave_addr = 0x20;
+      probe->camera_id = 0;
+      break;
+    case 1:
+      // port 1
+      i2c_info->slave_addr = 0x30;
+      probe->camera_id = 1;
+      break;
+    case 2:
+      // port 2
+      i2c_info->slave_addr = 0x20;
+      probe->camera_id = 2;
+      break;
+  }
+
+  // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz
+  //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE;
+  i2c_info->i2c_freq_mode = I2C_FAST_MODE;
+  i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO;
+
+  probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  probe->op_code = 3;   // don't care?
+  probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
+  probe->reg_addr = 0x3000; //0x300a; //0x300b;
+  probe->expected_data = 0x354; //0x7750; //0x885a;
+  probe->data_mask = 0;
+
+  //buf_desc[1].size = buf_desc[1].length = 148;
+  buf_desc[1].size = buf_desc[1].length = 196;
+  buf_desc[1].type = CAM_CMD_BUF_I2C;
+  struct cam_cmd_power *power_settings = (struct cam_cmd_power *)alloc_w_mmu_hdl(video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  memset(power_settings, 0, buf_desc[1].size);
+  // 7750
+  /*power->count = 2;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 2;
+  power->power_settings[1].power_seq_type = 8;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));*/
+
+  // 885a
+  struct cam_cmd_power *power = power_settings;
+  power->count = 4;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 3; // clock??
+  power->power_settings[1].power_seq_type = 1; // analog
+  power->power_settings[2].power_seq_type = 2; // digital
+  power->power_settings[3].power_seq_type = 8; // reset low
+  power = power_set_wait(power, 5);
+
+  // set clock
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 0;
+  power->power_settings[0].config_val_low = 19200000; //Hz
+  power = power_set_wait(power, 10);
+
+  // 8,1 is this reset?
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 1;
+  power = power_set_wait(power, 100);
+
+  // probe happens here
+
+  // disable clock
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 0;
+  power->power_settings[0].config_val_low = 0;
+  power = power_set_wait(power, 1);
+
+  // reset high
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 1;
+  power = power_set_wait(power, 1);
+
+  // reset low
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 0;
+  power = power_set_wait(power, 1);
+
+  // 7750
+  /*power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 2;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));*/
+
+  // 885a
+  power->count = 3;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 2;
+  power->power_settings[1].power_seq_type = 1;
+  power->power_settings[2].power_seq_type = 3;
+
+  LOGD("probing the sensor");
+  int ret = cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
+  assert(ret == 0);
+
+  munmap(i2c_info, buf_desc[0].size);
+  release_fd(video0_fd, buf_desc[0].mem_handle);
+  munmap(power_settings, buf_desc[1].size);
+  release_fd(video0_fd, buf_desc[1].mem_handle);
+  munmap(pkt, size);
+  release_fd(video0_fd, cam_packet_handle);
+}
+
+void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
+  if (io_mem_handle != 0) {
+    size += sizeof(struct cam_buf_io_cfg);
+  }
+  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
+  pkt->num_cmd_buf = 2;
+  pkt->kmd_cmd_buf_index = 0;
+
+  if (io_mem_handle != 0) {
+    pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*2;
+    pkt->num_io_configs = 1;
+  }
+
+  if (io_mem_handle != 0) {
+    pkt->header.op_code = 0xf000001;
+    pkt->header.request_id = request_id;
+  } else {
+    pkt->header.op_code = 0xf000000;
+  }
+  pkt->header.size = size;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+  struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
+
+  // TODO: support MMU
+  buf_desc[0].size = 65624;
+  buf_desc[0].length = 0;
+  buf_desc[0].type = CAM_CMD_BUF_DIRECT;
+  buf_desc[0].meta_data = 3;
+  buf_desc[0].mem_handle = buf0_mem_handle;
+  buf_desc[0].offset = buf0_offset;
+
+   // cam_isp_packet_generic_blob_handler
+  uint32_t tmp[] = {
+    // size is 0x20, type is 0(CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG)
+    0x2000,
+    0x1, 0x0, CAM_ISP_IFE_OUT_RES_RDI_0, 0x1, 0x0, 0x1, 0x0, 0x0, // 1 port, CAM_ISP_IFE_OUT_RES_RDI_0
+    // size is 0x38, type is 1(CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG), clocks
+    0x3801,
+    0x1, 0x4, // Dual mode, 4 RDI wires
+    0x18148d00, 0x0, 0x18148d00, 0x0, 0x18148d00, 0x0, // rdi clock
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0,  // junk?
+    // offset 0x60
+    // size is 0xe0, type is 2(CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG), bandwidth
+    0xe002,
+    0x1, 0x4, // 4 RDI
+    0x0, 0x0, 0x1ad27480, 0x0, 0x1ad27480, 0x0, // left_pix_vote
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, // right_pix_vote
+    0x0, 0x0, 0x6ee11c0, 0x2, 0x6ee11c0, 0x2,  // rdi_vote
+    0x0, 0x0, 0x0, 0x0,
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0};
+
+  buf_desc[1].size = sizeof(tmp);
+  buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0;
+  buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
+  buf_desc[1].type = CAM_CMD_BUF_GENERIC;
+  buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
+  uint32_t *buf2 = (uint32_t *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle, 0x20);
+  memcpy(buf2, tmp, sizeof(tmp));
+
+  if (io_mem_handle != 0) {
+    io_cfg[0].mem_handle[0] = io_mem_handle;
+		io_cfg[0].planes[0] = (struct cam_plane_cfg){
+		 .width = FRAME_WIDTH,
+		 .height = FRAME_HEIGHT,
+		 .plane_stride = FRAME_STRIDE,
+		 .slice_height = FRAME_HEIGHT,
+		 .meta_stride = 0x0,
+		 .meta_size = 0x0,
+		 .meta_offset = 0x0,
+		 .packer_config = 0x0,
+		 .mode_config = 0x0,
+		 .tile_config = 0x0,
+		 .h_init = 0x0,
+		 .v_init = 0x0,
+		};
+    io_cfg[0].format = CAM_FORMAT_MIPI_RAW_10;
+    io_cfg[0].color_pattern = 0x5;
+    io_cfg[0].bpp = 0xc;
+    io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
+    io_cfg[0].fence = fence;
+    io_cfg[0].direction = CAM_BUF_OUTPUT;
+    io_cfg[0].subsample_pattern = 0x1;
+    io_cfg[0].framedrop_pattern = 0x1;
+  }
+
+  int ret = device_config(s->multi_cam_state->isp_fd, s->session_handle, s->isp_dev_handle, cam_packet_handle);
+  assert(ret == 0);
+  if (ret != 0) {
+    printf("ISP CONFIG FAILED\n");
+  }
+
+  munmap(buf2, buf_desc[1].size);
+  release_fd(s->multi_cam_state->video0_fd, buf_desc[1].mem_handle);
+  // release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
+  munmap(pkt, size);
+  release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
+}
+
+void enqueue_buffer(struct CameraState *s, int i, bool dp) {
+  int ret;
+  int request_id = s->request_ids[i];
+
+  if (s->buf_handle[i]) {
+    release(s->multi_cam_state->video0_fd, s->buf_handle[i]);
+    // wait
+    struct cam_sync_wait sync_wait = {0};
+    sync_wait.sync_obj = s->sync_objs[i];
+    sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
+    ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
+    // LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
+
+    s->buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
+    if (dp) s->buf.queue(i);
+
+    // destroy old output fence
+    struct cam_sync_info sync_destroy = {0};
+    strcpy(sync_destroy.name, "NodeOutputPortFence");
+    sync_destroy.sync_obj = s->sync_objs[i];
+    ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+    // LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
+  }
+
+  // do stuff
+  struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
+  req_mgr_sched_request.session_hdl = s->session_handle;
+  req_mgr_sched_request.link_hdl = s->link_handle;
+  req_mgr_sched_request.req_id = request_id;
+  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
+  // LOGD("sched req: %d %d", ret, request_id);
+
+  // create output fence
+  struct cam_sync_info sync_create = {0};
+  strcpy(sync_create.name, "NodeOutputPortFence");
+  ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  // LOGD("fence req: %d %d", ret, sync_create.sync_obj);
+  s->sync_objs[i] = sync_create.sync_obj;
+
+  // configure ISP to put the image in place
+  struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
+  mem_mgr_map_cmd.mmu_hdls[0] = s->multi_cam_state->device_iommu;
+  mem_mgr_map_cmd.num_hdl = 1;
+  mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
+  mem_mgr_map_cmd.fd = s->buf.camera_bufs[i].fd;
+  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+  // LOGD("map buf req: (fd: %d) 0x%x %d", s->bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+  s->buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
+
+  // poke sensor
+  sensors_poke(s, request_id);
+  // LOGD("Poked sensor");
+
+  // push the buffer
+  config_isp(s, s->buf_handle[i], s->sync_objs[i], request_id, s->buf0_handle, 65632*(i+1));
+}
+
+void enqueue_req_multi(struct CameraState *s, int start, int n, bool dp) {
+   for (int i=start;i<start+n;++i) {
+     s->request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
+     enqueue_buffer(s, (i - 1) % FRAME_BUF_COUNT, dp);
+   }
+}
+
+// ******************* camera *******************
+
+static void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, CameraState *s, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
+  LOGD("camera init %d", camera_num);
+  s->multi_cam_state = multi_cam_state;
+  assert(camera_id < std::size(cameras_supported));
+  s->ci = cameras_supported[camera_id];
+  assert(s->ci.frame_width != 0);
+
+  s->camera_num = camera_num;
+
+  s->request_id_last = 0;
+  s->skipped = true;
+
+  s->min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX];
+  s->max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN;
+  s->target_grey_fraction = 0.3;
+
+  s->dc_gain_enabled = false;
+  s->gain_idx = ANALOG_GAIN_REC_IDX;
+  s->exposure_time = 5;
+  s->cur_ev[0] = s->cur_ev[1] = s->cur_ev[2] = (s->dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[s->gain_idx] * s->exposure_time;
+
+  s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
+}
+
+int open_v4l_by_name_and_index(const char name[], int index, int flags = O_RDWR | O_NONBLOCK) {
+  for (int v4l_index = 0; /**/; ++v4l_index) {
+    std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index));
+    if (v4l_name.empty()) return -1;
+    if (v4l_name.find(name) == 0) {
+      if (index == 0) {
+        return open(util::string_format("/dev/v4l-subdev%d", v4l_index).c_str(), flags);
+      }
+      index--;
+    }
+  }
+}
+
+static void camera_open(CameraState *s) {
+  int ret;
+  s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
+  assert(s->sensor_fd >= 0);
+  LOGD("opened sensor");
+
+  s->csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", s->camera_num);
+  assert(s->csiphy_fd >= 0);
+  LOGD("opened csiphy");
+
+  // probe the sensor
+  LOGD("-- Probing sensor %d", s->camera_num);
+  sensors_init(s->multi_cam_state->video0_fd, s->sensor_fd, s->camera_num);
+
+  // create session
+  struct cam_req_mgr_session_info session_info = {}; 
+  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
+  LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
+  s->session_handle = session_info.session_hdl;
+
+  // access the sensor
+  LOGD("-- Accessing sensor");
+  auto sensor_dev_handle = device_acquire(s->sensor_fd, s->session_handle, nullptr);
+  assert(sensor_dev_handle);
+  s->sensor_dev_handle = *sensor_dev_handle;
+  LOGD("acquire sensor dev");
+
+  static struct cam_isp_resource isp_resource = {0};
+  isp_resource.resource_id = CAM_ISP_RES_ID_PORT;
+  isp_resource.length = sizeof(struct cam_isp_in_port_info) + sizeof(struct cam_isp_out_port_info)*(1-1);
+  isp_resource.handle_type = CAM_HANDLE_USER_POINTER;
+
+  struct cam_isp_in_port_info *in_port_info = (struct cam_isp_in_port_info *)malloc(isp_resource.length);
+  isp_resource.res_hdl = (uint64_t)in_port_info;
+
+  switch (s->camera_num) {
+    case 0:
+      in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_0;
+      break;
+    case 1:
+      in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_1;
+      break;
+    case 2:
+      in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_2;
+      break;
+  }
+
+  in_port_info->lane_type = CAM_ISP_LANE_TYPE_DPHY;
+  in_port_info->lane_num = 4;
+  in_port_info->lane_cfg = 0x3210;
+
+  in_port_info->vc = 0x0;
+  //in_port_info->dt = 0x2C; //CSI_RAW12
+  //in_port_info->format = CAM_FORMAT_MIPI_RAW_12;
+
+  in_port_info->dt = 0x2B; //CSI_RAW10
+  in_port_info->format = CAM_FORMAT_MIPI_RAW_10;
+
+  in_port_info->test_pattern = 0x2; // 0x3?
+  in_port_info->usage_type = 0x0;
+
+  in_port_info->left_start = 0x0;
+  in_port_info->left_stop = FRAME_WIDTH - 1;
+  in_port_info->left_width = FRAME_WIDTH;
+
+  in_port_info->right_start = 0x0;
+  in_port_info->right_stop = FRAME_WIDTH - 1;
+  in_port_info->right_width = FRAME_WIDTH;
+
+  in_port_info->line_start = 0x0;
+  in_port_info->line_stop = FRAME_HEIGHT - 1;
+  in_port_info->height = FRAME_HEIGHT;
+
+  in_port_info->pixel_clk = 0x0;
+  in_port_info->batch_size = 0x0;
+  in_port_info->dsp_mode = 0x0;
+  in_port_info->hbi_cnt = 0x0;
+  in_port_info->custom_csid = 0x0;
+
+  in_port_info->num_out_res = 0x1;
+  in_port_info->data[0] = (struct cam_isp_out_port_info){
+    .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
+    //.format = CAM_FORMAT_MIPI_RAW_12,
+    .format = CAM_FORMAT_MIPI_RAW_10,
+    .width = FRAME_WIDTH,
+    .height = FRAME_HEIGHT,
+    .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
+  };
+
+  auto isp_dev_handle = device_acquire(s->multi_cam_state->isp_fd, s->session_handle, &isp_resource);
+  assert(isp_dev_handle);
+  s->isp_dev_handle = *isp_dev_handle; 
+  LOGD("acquire isp dev");
+  free(in_port_info);
+
+  struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0};
+  auto csiphy_dev_handle = device_acquire(s->csiphy_fd, s->session_handle, &csiphy_acquire_dev_info);
+  assert(csiphy_dev_handle);
+  s->csiphy_dev_handle = *csiphy_dev_handle;
+  LOGD("acquire csiphy dev");
+
+  // acquires done
+
+  // config ISP
+  alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, 984480, (uint32_t*)&s->buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, s->multi_cam_state->device_iommu, s->multi_cam_state->cdm_iommu);
+  config_isp(s, 0, 0, 1, s->buf0_handle, 0);
+
+  LOG("-- Configuring sensor");
+  sensors_i2c(s, init_array_ar0231, sizeof(init_array_ar0231)/sizeof(struct i2c_random_wr_payload),
+    CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  //sensors_i2c(s, start_reg_array, sizeof(start_reg_array)/sizeof(struct i2c_random_wr_payload),
+    //CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
+  //sensors_i2c(s, stop_reg_array, sizeof(stop_reg_array)/sizeof(struct i2c_random_wr_payload),
+    //CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
+
+  // config csiphy
+  LOG("-- Config CSI PHY");
+  {
+    uint32_t cam_packet_handle = 0;
+    int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
+    struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
+    pkt->num_cmd_buf = 1;
+    pkt->kmd_cmd_buf_index = -1;
+    pkt->header.size = size;
+    struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+    buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
+    buf_desc[0].type = CAM_CMD_BUF_GENERIC;
+
+    struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+    csiphy_info->lane_mask = 0x1f;
+    csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
+    csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
+    csiphy_info->combo_mode = 0x0;
+    csiphy_info->lane_cnt = 0x4;
+    csiphy_info->secure_mode = 0x0;
+    csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL;
+    csiphy_info->data_rate = 48000000;  // Calculated by camera_freqs.py
+
+    int ret_ = device_config(s->csiphy_fd, s->session_handle, s->csiphy_dev_handle, cam_packet_handle);
+    assert(ret_ == 0);
+
+    munmap(csiphy_info, buf_desc[0].size);
+    release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
+    munmap(pkt, size);
+    release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
+  }
+
+  // link devices
+  LOG("-- Link devices");
+  static struct cam_req_mgr_link_info req_mgr_link_info = {0};
+  req_mgr_link_info.session_hdl = s->session_handle;
+  req_mgr_link_info.num_devices = 2;
+  req_mgr_link_info.dev_hdls[0] = s->isp_dev_handle;
+  req_mgr_link_info.dev_hdls[1] = s->sensor_dev_handle;
+  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
+  LOGD("link: %d", ret);
+  s->link_handle = req_mgr_link_info.link_hdl;
+
+  static struct cam_req_mgr_link_control req_mgr_link_control = {0};
+  req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE;
+  req_mgr_link_control.session_hdl = s->session_handle;
+  req_mgr_link_control.num_links = 1;
+  req_mgr_link_control.link_hdls[0] = s->link_handle;
+  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
+  LOGD("link control: %d", ret);
+
+  ret = device_control(s->csiphy_fd, CAM_START_DEV, s->session_handle, s->csiphy_dev_handle);
+  LOGD("start csiphy: %d", ret);
+  ret = device_control(s->multi_cam_state->isp_fd, CAM_START_DEV, s->session_handle, s->isp_dev_handle);
+  LOGD("start isp: %d", ret);
+  ret = device_control(s->sensor_fd, CAM_START_DEV, s->session_handle, s->sensor_dev_handle);
+  LOGD("start sensor: %d", ret);
+
+  enqueue_req_multi(s, 1, FRAME_BUF_COUNT, 0);
+}
+
+void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
+  camera_init(s, v, &s->road_cam, CAMERA_ID_AR0231, 1, 20, device_id, ctx,
+              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK); // swap left/right
+  printf("road camera initted \n");
+  camera_init(s, v, &s->wide_road_cam, CAMERA_ID_AR0231, 0, 20, device_id, ctx,
+              VISION_STREAM_RGB_WIDE, VISION_STREAM_YUV_WIDE);
+  printf("wide road camera initted \n");
+  camera_init(s, v, &s->driver_cam, CAMERA_ID_AR0231, 2, 20, device_id, ctx,
+              VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
+  printf("driver camera initted \n");
+
+  s->sm = new SubMaster({"driverState"});
+  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
+}
+
+void cameras_open(MultiCameraState *s) {
+  int ret;
+
+  LOG("-- Opening devices");
+  // video0 is req_mgr, the target of many ioctls
+  s->video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK));
+  assert(s->video0_fd >= 0);
+  LOGD("opened video0");
+
+  // video1 is cam_sync, the target of some ioctls
+  s->video1_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
+  assert(s->video1_fd >= 0);
+  LOGD("opened video1");
+
+  // looks like there's only one of these
+  s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev1", O_RDWR | O_NONBLOCK));
+  assert(s->isp_fd >= 0);
+  LOGD("opened isp");
+
+  // query icp for MMU handles
+  LOG("-- Query ICP for MMU handles");
+  static struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0};
+  static struct cam_query_cap_cmd query_cap_cmd = {0};
+  query_cap_cmd.handle_type = 1;
+  query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd;
+  query_cap_cmd.size = sizeof(isp_query_cap_cmd);
+  ret = cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
+  assert(ret == 0);
+  LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure);
+  LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure);
+  s->device_iommu = isp_query_cap_cmd.device_iommu.non_secure;
+  s->cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;
+
+  // subscribe
+  LOG("-- Subscribing");
+  static struct v4l2_event_subscription sub = {0};
+  sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT;
+  sub.id = 2; // should use boot time for sof
+  ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
+  printf("req mgr subscribe: %d\n", ret);
+
+  camera_open(&s->road_cam);
+  printf("road camera opened \n");
+  camera_open(&s->wide_road_cam);
+  printf("wide road camera opened \n");
+  camera_open(&s->driver_cam);
+  printf("driver camera opened \n");
+}
+
+static void camera_close(CameraState *s) {
+  int ret;
+
+  // stop devices
+  LOG("-- Stop devices");
+  // ret = device_control(s->sensor_fd, CAM_STOP_DEV, s->session_handle, s->sensor_dev_handle);
+  // LOGD("stop sensor: %d", ret);
+  ret = device_control(s->multi_cam_state->isp_fd, CAM_STOP_DEV, s->session_handle, s->isp_dev_handle);
+  LOGD("stop isp: %d", ret);
+  ret = device_control(s->csiphy_fd, CAM_STOP_DEV, s->session_handle, s->csiphy_dev_handle);
+  LOGD("stop csiphy: %d", ret);
+  // link control stop
+  LOG("-- Stop link control");
+  static struct cam_req_mgr_link_control req_mgr_link_control = {0};
+  req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE;
+  req_mgr_link_control.session_hdl = s->session_handle;
+  req_mgr_link_control.num_links = 1;
+  req_mgr_link_control.link_hdls[0] = s->link_handle;
+  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
+  LOGD("link control stop: %d", ret);
+
+  // unlink
+  LOG("-- Unlink");
+  static struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0};
+  req_mgr_unlink_info.session_hdl = s->session_handle;
+  req_mgr_unlink_info.link_hdl = s->link_handle;
+  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info));
+  LOGD("unlink: %d", ret);
+
+  // release devices
+  LOGD("-- Release devices");
+  ret = device_control(s->sensor_fd, CAM_RELEASE_DEV, s->session_handle, s->sensor_dev_handle);
+  LOGD("release sensor: %d", ret);
+  ret = device_control(s->multi_cam_state->isp_fd, CAM_RELEASE_DEV, s->session_handle, s->isp_dev_handle);
+  LOGD("release isp: %d", ret);
+  ret = device_control(s->csiphy_fd, CAM_RELEASE_DEV, s->session_handle, s->csiphy_dev_handle);
+  LOGD("release csiphy: %d", ret);
+
+  // destroyed session
+  struct cam_req_mgr_session_info session_info = {.session_hdl = s->session_handle};
+  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
+  LOGD("destroyed session: %d", ret);
+}
+
+void cameras_close(MultiCameraState *s) {
+  camera_close(&s->road_cam);
+  camera_close(&s->wide_road_cam);
+  camera_close(&s->driver_cam);
+
+  delete s->sm;
+  delete s->pm;
+}
+
+// ******************* just a helper *******************
+
+void handle_camera_event(CameraState *s, void *evdat) {
+  struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
+
+  uint64_t timestamp = event_data->u.frame_msg.timestamp;
+  int main_id = event_data->u.frame_msg.frame_id;
+  int real_id = event_data->u.frame_msg.request_id;
+
+  if (real_id != 0) { // next ready
+    if (real_id == 1) {s->idx_offset = main_id;}
+    int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
+
+    // check for skipped frames
+    if (main_id > s->frame_id_last + 1 && !s->skipped) {
+      // realign
+      clear_req_queue(s->multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
+      enqueue_req_multi(s, real_id + 1, FRAME_BUF_COUNT - 1, 0);
+      s->skipped = true;
+    } else if (main_id == s->frame_id_last + 1) {
+      s->skipped = false;
+    }
+
+    // check for dropped requests
+    if (real_id > s->request_id_last + 1) {
+      enqueue_req_multi(s, s->request_id_last + 1 + FRAME_BUF_COUNT, real_id - (s->request_id_last + 1), 0);
+    }
+
+    // metas
+    s->frame_id_last = main_id;
+    s->request_id_last = real_id;
+
+    auto &meta_data = s->buf.camera_bufs_metadata[buf_idx];
+    meta_data.frame_id = main_id - s->idx_offset;
+    meta_data.timestamp_sof = timestamp;
+    s->exp_lock.lock();
+    meta_data.gain = s->dc_gain_enabled ? s->analog_gain_frac * DC_GAIN : s->analog_gain_frac;
+    meta_data.high_conversion_gain = s->dc_gain_enabled;
+    meta_data.integ_lines = s->exposure_time;
+    meta_data.measured_grey_fraction = s->measured_grey_fraction;
+    meta_data.target_grey_fraction = s->target_grey_fraction;
+    s->exp_lock.unlock();
+
+    // dispatch
+    enqueue_req_multi(s, real_id + FRAME_BUF_COUNT, 1, 1);
+  } else { // not ready
+    // reset after half second of no response
+    if (main_id > s->frame_id_last + 10) {
+      clear_req_queue(s->multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
+      enqueue_req_multi(s, s->request_id_last + 1, FRAME_BUF_COUNT, 0);
+      s->frame_id_last = main_id;
+      s->skipped = true;
+    }
+  }
+}
+
+static void set_camera_exposure(CameraState *s, float grey_frac) {
+  const float dt = 0.05;
+
+  const float ts_grey = 10.0;
+  const float ts_ev = 0.05;
+
+  const float k_grey = (dt / ts_grey) / (1.0 + dt / ts_grey);
+  const float k_ev = (dt / ts_ev) / (1.0 + dt / ts_ev);
+
+  // It takes 3 frames for the commanded exposure settings to take effect. The first frame is already started by the time
+  // we reach this function, the other 2 are due to the register buffering in the sensor.
+  // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action.
+  // TODO: Lower latency to 2 frames, by using the histogram outputed by the sensor we can do AE before the debayering is complete
+
+  const float cur_ev = s->cur_ev[s->buf.cur_frame_data.frame_id % 3];
+
+  // Scale target grey between 0.1 and 0.4 depending on lighting conditions
+  float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + cur_ev) / log2(6000.0), 0.1, 0.4);
+  float target_grey = (1.0 - k_grey) * s->target_grey_fraction + k_grey * new_target_grey;
+
+  float desired_ev = std::clamp(cur_ev * target_grey / grey_frac, s->min_ev, s->max_ev);
+  float k = (1.0 - k_ev) / 3.0;
+  desired_ev = (k * s->cur_ev[0]) + (k * s->cur_ev[1]) + (k * s->cur_ev[2]) + (k_ev * desired_ev);
+
+  float best_ev_score = 1e6;
+  int new_g = 0;
+  int new_t = 0;
+
+  // Hysteresis around high conversion gain
+  // We usually want this on since it results in lower noise, but turn off in very bright day scenes
+  bool enable_dc_gain = s->dc_gain_enabled;
+  if (!enable_dc_gain && target_grey < 0.2) {
+    enable_dc_gain = true;
+  } else if (enable_dc_gain && target_grey > 0.3) {
+    enable_dc_gain = false;
+  }
+
+  // Simple brute force optimizer to choose sensor parameters
+  // to reach desired EV
+  for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, s->gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, s->gain_idx + 1); g++) {
+    float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1);
+
+    // Compute optimal time for given gain
+    int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX);
+
+    // Only go below recomended gain when absolutely necessary to not overexpose
+    if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < s->gain_idx) {
+      continue;
+    }
+
+    // Compute error to desired ev
+    float score = std::abs(desired_ev - (t * gain)) * 10;
+
+    // Going below recomended gain needs lower penalty to not overexpose
+    float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1;
+    score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m;
+
+    // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", s->camera_num, g, t, desired_ev / gain, score, score + std::abs(g - s->gain_idx) * (score + 1.0) / 10.0, desired_ev, s->min_ev);
+
+    // Small penalty on changing gain
+    score += std::abs(g - s->gain_idx) * (score + 1.0) / 10.0;
+
+    if (score < best_ev_score) {
+      new_t = t;
+      new_g = g;
+      best_ev_score = score;
+    }
+  }
+
+  s->exp_lock.lock();
+
+  s->measured_grey_fraction = grey_frac;
+  s->target_grey_fraction = target_grey;
+
+  s->analog_gain_frac = sensor_analog_gains[new_g];
+  s->gain_idx = new_g;
+  s->exposure_time = new_t;
+  s->dc_gain_enabled = enable_dc_gain;
+
+  float gain = s->analog_gain_frac * (s->dc_gain_enabled ? DC_GAIN : 1.0);
+  s->cur_ev[s->buf.cur_frame_data.frame_id % 3] = s->exposure_time * gain;
+
+  s->exp_lock.unlock();
+
+  // Processing a frame takes right about 50ms, so we need to wait a few ms
+  // so we don't send i2c commands around the frame start.
+  int ms = (nanos_since_boot() - s->buf.cur_frame_data.timestamp_sof) / 1000000;
+  if (ms < 60) {
+    util::sleep_for(60 - ms);
+  }
+  // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", s->camera_num, 1e-9 * nanos_since_boot(), 1e-9 * s->buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - s->buf.cur_frame_data.timestamp_sof));
+
+  uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
+  struct i2c_random_wr_payload exp_reg_array[] = {
+                                                  {0x3366, analog_gain_reg},
+                                                  {0x3362, (uint16_t)(s->dc_gain_enabled ? 0x1 : 0x0)},
+                                                  {0x3012, (uint16_t)s->exposure_time},
+                                                };
+  sensors_i2c(s, exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
+              CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+
+}
+
+void camera_autoexposure(CameraState *s, float grey_frac) {
+  set_camera_exposure(s, grey_frac);
+}
+
+
+void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
+  common_process_driver_camera(s->sm, s->pm, c, cnt);
+}
+
+// called by processing_thread
+void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
+  const CameraBuf *b = &c->buf;
+
+  MessageBuilder msg;
+  auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
+  fill_frame_data(framed, b->cur_frame_data);
+  if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
+    framed.setImage(get_frame_image(b));
+  }
+  if (c == &s->road_cam) {
+    framed.setTransform(b->yuv_transform.v);
+  }
+  s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
+
+  const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986);
+  const int skip = 2;
+  camera_autoexposure(c, set_exposure_target(b, x, x + w, skip, y, y + h, skip));
+}
+
+void cameras_run(MultiCameraState *s) {
+  LOG("-- Starting threads");
+  std::vector<std::thread> threads;
+  threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
+  threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
+  threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
+
+  // start devices
+  LOG("-- Starting devices");
+  int start_reg_len = sizeof(start_reg_array) / sizeof(struct i2c_random_wr_payload);
+  sensors_i2c(&s->road_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  sensors_i2c(&s->wide_road_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  sensors_i2c(&s->driver_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+
+  // poll events
+  LOG("-- Dequeueing Video events");
+  while (!do_exit) {
+    struct pollfd fds[1] = {{0}};
+
+    fds[0].fd = s->video0_fd;
+    fds[0].events = POLLPRI;
+
+    int ret = poll(fds, std::size(fds), 1000);
+    if (ret < 0) {
+      if (errno == EINTR || errno == EAGAIN) continue;
+      LOGE("poll failed (%d - %d)", ret, errno);
+      break;
+    }
+
+    if (!fds[0].revents) continue;
+
+    struct v4l2_event ev = {0};
+    ret = HANDLE_EINTR(ioctl(fds[0].fd, VIDIOC_DQEVENT, &ev));
+    if (ret == 0) {
+      if (ev.type == V4L_EVENT_CAM_REQ_MGR_EVENT) {
+        struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data;
+        // LOGD("v4l2 event: sess_hdl %d, link_hdl %d, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status);
+        // printf("sess_hdl %d, link_hdl %d, frame_id %lu, req_id %lu, timestamp 0x%lx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status);
+
+        if (event_data->session_hdl == s->road_cam.session_handle) {
+          handle_camera_event(&s->road_cam, event_data);
+        } else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
+          handle_camera_event(&s->wide_road_cam, event_data);
+        } else if (event_data->session_hdl == s->driver_cam.session_handle) {
+          handle_camera_event(&s->driver_cam, event_data);
+        } else {
+          printf("Unknown vidioc event source\n");
+          assert(false);
+        }
+      }
+    } else {
+      LOGE("VIDIOC_DQEVENT failed, errno=%d", errno);
+    }
+  }
+
+  LOG(" ************** STOPPING **************");
+
+  for (auto &t : threads) t.join();
+
+  cameras_close(s);
+}
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
new file mode 100644
index 00000000000000..f8ab2da8ae5fc2
--- /dev/null
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <cstdint>
+
+#include <media/cam_req_mgr.h>
+
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/common/util.h"
+
+#define FRAME_BUF_COUNT 4
+
+typedef struct CameraState {
+  MultiCameraState *multi_cam_state;
+  CameraInfo ci;
+
+  std::mutex exp_lock;
+
+  int exposure_time;
+  bool dc_gain_enabled;
+  float analog_gain_frac;
+
+  float cur_ev[3];
+  float min_ev, max_ev;
+
+  float measured_grey_fraction;
+  float target_grey_fraction;
+  int gain_idx;
+
+  unique_fd sensor_fd;
+  unique_fd csiphy_fd;
+
+  int camera_num;
+
+  int32_t session_handle;
+  int32_t sensor_dev_handle;
+  int32_t isp_dev_handle;
+  int32_t csiphy_dev_handle;
+
+  int32_t link_handle;
+
+  int buf0_handle;
+  int buf_handle[FRAME_BUF_COUNT];
+  int sync_objs[FRAME_BUF_COUNT];
+  int request_ids[FRAME_BUF_COUNT];
+  int request_id_last;
+  int frame_id_last;
+  int idx_offset;
+  bool skipped;
+
+  CameraBuf buf;
+} CameraState;
+
+typedef struct MultiCameraState {
+  unique_fd video0_fd;
+  unique_fd video1_fd;
+  unique_fd isp_fd;
+  int device_iommu;
+  int cdm_iommu;
+
+
+  CameraState road_cam;
+  CameraState wide_road_cam;
+  CameraState driver_cam;
+
+  SubMaster *sm;
+  PubMaster *pm;
+} MultiCameraState;
diff --git a/selfdrive/camerad/cameras/camera_replay.cc b/selfdrive/camerad/cameras/camera_replay.cc
new file mode 100644
index 00000000000000..6bc53d8c94ab62
--- /dev/null
+++ b/selfdrive/camerad/cameras/camera_replay.cc
@@ -0,0 +1,125 @@
+#include "selfdrive/camerad/cameras/camera_replay.h"
+
+#include <cassert>
+#include <thread>
+
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/util.h"
+
+extern ExitHandler do_exit;
+
+void camera_autoexposure(CameraState *s, float grey_frac) {}
+
+namespace {
+
+const char *BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/";
+
+const std::string road_camera_route = "0c94aa1e1296d7c6|2021-05-05--19-48-37";
+// const std::string driver_camera_route = "534ccd8a0950a00c|2021-06-08--12-15-37";
+
+std::string get_url(std::string route_name, const std::string &camera, int segment_num) {
+  std::replace(route_name.begin(), route_name.end(), '|', '/');
+  return util::string_format("%s%s/%d/%s.hevc", BASE_URL, route_name.c_str(), segment_num, camera.c_str());
+}
+
+void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, const std::string &url) {
+  s->frame = new FrameReader(true);
+  if (!s->frame->load(url)) {
+    printf("failed to load stream from %s", url.c_str());
+    assert(0);
+  }
+
+  CameraInfo ci = {
+      .frame_width = s->frame->width,
+      .frame_height = s->frame->height,
+      .frame_stride = s->frame->width * 3,
+  };
+  s->ci = ci;
+  s->camera_num = camera_id;
+  s->fps = fps;
+  s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
+}
+
+void camera_close(CameraState *s) {
+  delete s->frame;
+}
+
+void run_camera(CameraState *s) {
+  uint32_t stream_frame_id = 0, frame_id = 0;
+  size_t buf_idx = 0;
+  std::unique_ptr<uint8_t[]> rgb_buf = std::make_unique<uint8_t[]>(s->frame->getRGBSize());
+  std::unique_ptr<uint8_t[]> yuv_buf = std::make_unique<uint8_t[]>(s->frame->getYUVSize());
+  while (!do_exit) {
+    if (stream_frame_id == s->frame->getFrameCount()) {
+      // loop stream
+      stream_frame_id = 0;
+    }
+    if (s->frame->get(stream_frame_id++, rgb_buf.get(), yuv_buf.get())) {
+      s->buf.camera_bufs_metadata[buf_idx] = {.frame_id = frame_id};
+      auto &buf = s->buf.camera_bufs[buf_idx];
+      CL_CHECK(clEnqueueWriteBuffer(buf.copy_q, buf.buf_cl, CL_TRUE, 0, s->frame->getRGBSize(), rgb_buf.get(), 0, NULL, NULL));
+      s->buf.queue(buf_idx);
+      ++frame_id;
+      buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
+    }
+    util::sleep_for(1000 / s->fps);
+  }
+}
+
+void road_camera_thread(CameraState *s) {
+  set_thread_name("replay_road_camera_thread");
+  run_camera(s);
+}
+
+// void driver_camera_thread(CameraState *s) {
+//   set_thread_name("replay_driver_camera_thread");
+//   run_camera(s);
+// }
+
+void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
+  const CameraBuf *b = &c->buf;
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initRoadCameraState();
+  fill_frame_data(framed, b->cur_frame_data);
+  framed.setImage(kj::arrayPtr((const uint8_t *)b->cur_yuv_buf->addr, b->cur_yuv_buf->len));
+  framed.setTransform(b->yuv_transform.v);
+  s->pm->send("roadCameraState", msg);
+}
+
+// void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
+//   MessageBuilder msg;
+//   auto framed = msg.initEvent().initDriverCameraState();
+//   framed.setFrameType(cereal::FrameData::FrameType::FRONT);
+//   fill_frame_data(framed, c->buf.cur_frame_data);
+//   s->pm->send("driverCameraState", msg);
+// }
+
+}  // namespace
+
+void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
+  camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
+              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK, get_url(road_camera_route, "fcamera", 0));
+  // camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
+  //             VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT, get_url(driver_camera_route, "dcamera", 0));
+  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
+}
+
+void cameras_open(MultiCameraState *s) {}
+
+void cameras_close(MultiCameraState *s) {
+  camera_close(&s->road_cam);
+  camera_close(&s->driver_cam);
+  delete s->pm;
+}
+
+void cameras_run(MultiCameraState *s) {
+  std::vector<std::thread> threads;
+  threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
+  // threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
+  // threads.push_back(std::thread(driver_camera_thread, &s->driver_cam));
+  road_camera_thread(&s->road_cam);
+
+  for (auto &t : threads) t.join();
+
+  cameras_close(s);
+}
diff --git a/selfdrive/camerad/cameras/camera_replay.h b/selfdrive/camerad/cameras/camera_replay.h
new file mode 100644
index 00000000000000..7c41af0ab4d3ba
--- /dev/null
+++ b/selfdrive/camerad/cameras/camera_replay.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/ui/replay/framereader.h"
+
+#define FRAME_BUF_COUNT 16
+
+typedef struct CameraState {
+  int camera_num;
+  CameraInfo ci;
+
+  int fps;
+  float digital_gain = 0;
+
+  CameraBuf buf;
+  FrameReader *frame = nullptr;
+} CameraState;
+
+typedef struct MultiCameraState {
+  CameraState road_cam;
+  CameraState driver_cam;
+
+  SubMaster *sm = nullptr;
+  PubMaster *pm = nullptr;
+} MultiCameraState;
diff --git a/selfdrive/camerad/cameras/debayer.cl b/selfdrive/camerad/cameras/debayer.cl
index 344ead035672ec..5188dc88c1926e 100644
--- a/selfdrive/camerad/cameras/debayer.cl
+++ b/selfdrive/camerad/cameras/debayer.cl
@@ -84,6 +84,7 @@ __kernel void debayer10(__global uchar const * const in,
       // 64 is the black level of the sensor, remove
       // (changed to 56 for HDR)
       const float black_level = 56.0f;
+      // TODO: switch to max here?
       p = (p - black_level);
 
       // correct vignetting (no pow function?)
diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/selfdrive/camerad/cameras/real_debayer.cl
new file mode 100644
index 00000000000000..fe6a99f3732aed
--- /dev/null
+++ b/selfdrive/camerad/cameras/real_debayer.cl
@@ -0,0 +1,207 @@
+#pragma OPENCL EXTENSION cl_khr_fp16 : enable
+
+const half black_level = 42.0;
+
+const __constant half3 color_correction[3] = {
+  // post wb CCM
+  (half3)(1.82717181, -0.31231438, 0.07307673),
+  (half3)(-0.5743977, 1.36858544, -0.53183455),
+  (half3)(-0.25277411, -0.05627105, 1.45875782),
+};
+
+// tone mapping params
+const half cpk = 0.75;
+const half cpb = 0.125;
+const half cpxk = 0.0025;
+const half cpxb = 0.01;
+
+half mf(half x, half cp) {
+  half rk = 9 - 100*cp;
+  if (x > cp) {
+    return (rk * (x-cp) * (1-(cpk*cp+cpb)) * (1+1/(rk*(1-cp))) / (1+rk*(x-cp))) + cpk*cp + cpb;
+  } else if (x < cp) {
+    return (rk * (x-cp) * (cpk*cp+cpb) * (1+1/(rk*cp)) / (1-rk*(x-cp))) + cpk*cp + cpb;
+  } else {
+    return x;
+  }
+}
+
+half3 color_correct(half3 rgb) {
+  half3 ret = (0,0,0);
+  half cpx = 0.01;
+  ret += (half)rgb.x * color_correction[0];
+  ret += (half)rgb.y * color_correction[1];
+  ret += (half)rgb.z * color_correction[2];
+  ret.x = mf(ret.x, cpx);
+  ret.y = mf(ret.y, cpx);
+  ret.z = mf(ret.z, cpx);
+  ret = clamp(0.0h, 255.0h, ret*255.0h);
+  return ret;
+}
+
+half val_from_10(const uchar * source, int gx, int gy) {
+  // parse 10bit
+  int start = gy * FRAME_STRIDE + (5 * (gx / 4));
+  int offset = gx % 4;
+  uint major = (uint)source[start + offset] << 2;
+  uint minor = (source[start + 4] >> (2 * offset)) & 3;
+  half pv = (half)(major + minor);
+
+  // normalize
+  pv = max(0.0h, pv - black_level);
+  pv *= 0.00101833h; // /= (1024.0f - black_level);
+
+  // correct vignetting
+  if (CAM_NUM == 1) { // fcamera
+    gx = (gx - RGB_WIDTH/2);
+    gy = (gy - RGB_HEIGHT/2);
+    float r = gx*gx + gy*gy;
+    half s;
+    if (r < 62500) {
+      s = (half)(1.0f + 0.0000008f*r);
+    } else if (r < 490000) {
+      s = (half)(0.9625f + 0.0000014f*r);
+    } else if (r < 1102500) {
+      s = (half)(1.26434f + 0.0000000000016f*r*r);
+    } else {
+      s = (half)(0.53503625f + 0.0000000000022f*r*r);
+    }
+    pv = s * pv;
+  }
+
+  pv = clamp(0.0h, 1.0h, pv);
+  return pv;
+}
+
+half fabs_diff(half x, half y) {
+  return fabs(x-y);
+}
+
+half phi(half x) {
+  // detection funtion
+  return 2 - x;
+  // if (x > 1) {
+  //   return 1 / x;
+  // } else {
+  //   return 2 - x;
+  // }
+}
+
+__kernel void debayer10(const __global uchar * in,
+                        __global uchar * out,
+                        __local half * cached
+                       )
+{
+  const int x_global = get_global_id(0);
+  const int y_global = get_global_id(1);
+
+  const int localRowLen = 2 + get_local_size(0); // 2 padding
+  const int x_local = get_local_id(0); // 0-15
+  const int y_local = get_local_id(1); // 0-15
+  const int localOffset = (y_local + 1) * localRowLen + x_local + 1; // max 18x18-1
+
+  int out_idx = 3 * x_global + 3 * y_global * RGB_WIDTH;
+
+  half pv = val_from_10(in, x_global, y_global);
+  cached[localOffset] = pv;
+
+  // don't care
+  if (x_global < 1 || x_global >= RGB_WIDTH - 1 || y_global < 1 || y_global >= RGB_HEIGHT - 1) {
+    return;
+  }
+
+  // cache padding
+  int localColOffset = -1;
+  int globalColOffset = -1;
+
+  // cache padding
+  if (x_local < 1) {
+    localColOffset = x_local;
+    globalColOffset = -1;
+    cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-1, y_global);
+  } else if (x_local >= get_local_size(0) - 1) {
+    localColOffset = x_local + 2;
+    globalColOffset = 1;
+    cached[localOffset + 1] = val_from_10(in, x_global+1, y_global);
+  }
+
+  if (y_local < 1) {
+    cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-1);
+    if (localColOffset != -1) {
+      cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global-1);
+    }
+  } else if (y_local >= get_local_size(1) - 1) {
+    cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+1);
+    if (localColOffset != -1) {
+      cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global+1);
+    }
+  }
+
+  // sync
+  barrier(CLK_LOCAL_MEM_FENCE);
+
+  half d1 = cached[localOffset - localRowLen - 1];
+  half d2 = cached[localOffset - localRowLen + 1];
+  half d3 = cached[localOffset + localRowLen - 1];
+  half d4 = cached[localOffset + localRowLen + 1];
+  half n1 = cached[localOffset - localRowLen];
+  half n2 = cached[localOffset + 1];
+  half n3 = cached[localOffset + localRowLen];
+  half n4 = cached[localOffset - 1];
+
+  half3 rgb;
+
+  // a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
+  if (x_global % 2 == 0) {
+    if (y_global % 2 == 0) {
+      rgb.y = pv; // G1(R)
+      half k1 = phi(fabs_diff(d1, pv) + fabs_diff(d2, pv));
+      half k2 = phi(fabs_diff(d2, pv) + fabs_diff(d4, pv));
+      half k3 = phi(fabs_diff(d3, pv) + fabs_diff(d4, pv));
+      half k4 = phi(fabs_diff(d1, pv) + fabs_diff(d3, pv));
+      // R_G1
+      rgb.x = (k2*n2+k4*n4)/(k2+k4);
+      // B_G1
+      rgb.z = (k1*n1+k3*n3)/(k1+k3);
+    } else {
+      rgb.z = pv; // B
+      half k1 = phi(fabs_diff(d1, d3) + fabs_diff(d2, d4));
+      half k2 = phi(fabs_diff(n1, n4) + fabs_diff(n2, n3));
+      half k3 = phi(fabs_diff(d1, d2) + fabs_diff(d3, d4));
+      half k4 = phi(fabs_diff(n1, n2) + fabs_diff(n3, n4));
+      // G_B
+      rgb.y = (k1*(n1+n3)*0.5+k3*(n2+n4)*0.5)/(k1+k3);
+      // R_B
+      rgb.x = (k2*(d2+d3)*0.5+k4*(d1+d4)*0.5)/(k2+k4);
+    }
+  } else {
+    if (y_global % 2 == 0) {
+      rgb.x = pv; // R
+      half k1 = phi(fabs_diff(d1, d3) + fabs_diff(d2, d4));
+      half k2 = phi(fabs_diff(n1, n4) + fabs_diff(n2, n3));
+      half k3 = phi(fabs_diff(d1, d2) + fabs_diff(d3, d4));
+      half k4 = phi(fabs_diff(n1, n2) + fabs_diff(n3, n4));
+      // G_R
+      rgb.y = (k1*(n1+n3)*0.5+k3*(n2+n4)*0.5)/(k1+k3);
+      // B_R
+      rgb.z = (k2*(d2+d3)*0.5+k4*(d1+d4)*0.5)/(k2+k4);
+    } else {
+      rgb.y = pv; // G2(B)
+      half k1 = phi(fabs_diff(d1, pv) + fabs_diff(d2, pv));
+      half k2 = phi(fabs_diff(d2, pv) + fabs_diff(d4, pv));
+      half k3 = phi(fabs_diff(d3, pv) + fabs_diff(d4, pv));
+      half k4 = phi(fabs_diff(d1, pv) + fabs_diff(d3, pv));
+      // R_G2
+      rgb.x = (k1*n1+k3*n3)/(k1+k3);
+      // B_G2
+      rgb.z = (k2*n2+k4*n4)/(k2+k4);
+    }
+  }
+
+  rgb = clamp(0.0h, 1.0h, rgb);
+  rgb = color_correct(rgb);
+
+  out[out_idx + 0] = (uchar)(rgb.z);
+  out[out_idx + 1] = (uchar)(rgb.y);
+  out[out_idx + 2] = (uchar)(rgb.x);
+}
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
new file mode 100644
index 00000000000000..c3d8861a9749af
--- /dev/null
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -0,0 +1,124 @@
+struct i2c_random_wr_payload start_reg_array[] = {{0x301A, 0x91C}};
+struct i2c_random_wr_payload stop_reg_array[] = {{0x301A, 0x918}};
+
+struct i2c_random_wr_payload init_array_ar0231[] = {
+  {0x301A, 0x0018}, // RESET_REGISTER
+
+  // CLOCK Settings
+  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
+  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
+  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
+  {0x3030, 0x0032}, // PLL_MULTIPLIER
+  {0x3036, 0x000A}, // OP_WORD_CLK_DIV
+  {0x3038, 0x0001}, // OP_SYS_CLK_DIV
+
+  // FORMAT
+  {0x3040, 0xC000}, // READ_MODE
+  {0x3004, 0x0000}, // X_ADDR_START_ (A)
+  {0x308A, 0x0000}, // X_ADDR_START_ (B)
+  {0x3008, 0x0787}, // X_ADDR_END_ (A)
+  {0x308E, 0x0787}, // X_ADDR_END_ (B)
+  {0x3002, 0x0000}, // Y_ADDR_START_ (A)
+  {0x308C, 0x0000}, // Y_ADDR_START_ (B)
+  {0x3006, 0x04B7}, // Y_ADDR_END_ (A)
+  {0x3090, 0x04B7}, // Y_ADDR_END_ (B)
+  {0x3032, 0x0000}, // SCALING_MODE
+  {0x30A2, 0x0001}, // X_ODD_INC_ (A)
+  {0x30AE, 0x0001}, // X_ODD_INC_ (B)
+  {0x30A6, 0x0001}, // Y_ODD_INC_ (A)
+  {0x30A8, 0x0001}, // Y_ODD_INC_ (B)
+  {0x3402, 0x0F10}, // X_OUTPUT_CONTROL
+  {0x3404, 0x0970}, // Y_OUTPUT_CONTROL
+  {0x3064, 0x1802}, // SMIA_TEST
+  {0x30BA, 0x11F2}, // DIGITAL_CTRL
+
+  // SLAV* MODE
+  {0x30CE, 0x0120},
+  {0x340A, 0xE6}, // E6 // 0000 1110 0110
+  {0x340C, 0x802}, // 2 // 0000 0000 0010
+
+  // Readout timing
+  {0x300C, 0x07B9}, // LINE_LENGTH_PCK (A)
+  {0x303E, 0x07B9}, // LINE_LENGTH_PCK (B)
+  {0x300A, 0x07E7}, // FRAME_LENGTH_LINES (A)
+  {0x30AA, 0x07E7}, // FRAME_LENGTH_LINES (B)
+  {0x3042, 0x0000}, // EXTRA_DELAY
+
+  // Readout Settings
+  {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
+  {0x31AC, 0x0C0A}, // DATA_FORMAT_BITS, 12 -> 10
+  {0x3342, 0x122B}, // MIPI_F1_PDT_EDT
+  {0x3346, 0x122B}, // MIPI_F2_PDT_EDT
+  {0x334A, 0x122B}, // MIPI_F3_PDT_EDT
+  {0x334E, 0x122B}, // MIPI_F4_PDT_EDT
+  {0x3344, 0x0011}, // MIPI_F1_VDT_VC
+  {0x3348, 0x0111}, // MIPI_F2_VDT_VC
+  {0x334C, 0x0211}, // MIPI_F3_VDT_VC
+  {0x3350, 0x0311}, // MIPI_F4_VDT_VC
+  {0x31B0, 0x0053}, // FRAME_PREAMBLE
+  {0x31B2, 0x003B}, // LINE_PREAMBLE
+  {0x301A, 0x001C}, // RESET_REGISTER
+
+  // Noise Corrections
+  {0x3092, 0x0C24}, // ROW_NOISE_CONTROL
+  {0x337A, 0x0C80}, // DBLC_SCALE0
+  {0x3370, 0x03B1}, // DBLC
+  {0x3044, 0x0400}, // DARK_CONTROL
+
+  // Enable dead pixel correction using
+  // the 1D line correction scheme
+  {0x31E0, 0x0003},
+
+  // HDR Settings
+  {0x3082, 0x0004}, // OPERATION_MODE_CTRL (A)
+  {0x3084, 0x0004}, // OPERATION_MODE_CTRL (B)
+
+  {0x3238, 0x0004}, // EXPOSURE_RATIO (A)
+  {0x323A, 0x0004}, // EXPOSURE_RATIO (B)
+
+  {0x3014, 0x098E}, // FINE_INTEGRATION_TIME_ (A)
+  {0x3018, 0x098E}, // FINE_INTEGRATION_TIME_ (B)
+
+  {0x321E, 0x098E}, // FINE_INTEGRATION_TIME2 (A)
+  {0x3220, 0x098E}, // FINE_INTEGRATION_TIME2 (B)
+
+  {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
+  {0x33DA, 0x0000}, // COMPANDING
+  {0x318E, 0x0200}, // PRE_HDR_GAIN_EN
+
+  // DLO Settings
+  {0x3100, 0x4000}, // DLO_CONTROL0
+  {0x3280, 0x0CCC}, // T1 G1
+  {0x3282, 0x0CCC}, // T1 R
+  {0x3284, 0x0CCC}, // T1 B
+  {0x3286, 0x0CCC}, // T1 G2
+  {0x3288, 0x0FA0}, // T2 G1
+  {0x328A, 0x0FA0}, // T2 R
+  {0x328C, 0x0FA0}, // T2 B
+  {0x328E, 0x0FA0}, // T2 G2
+
+   // Initial Gains
+  {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
+  {0x3366, 0xFF77}, // ANALOG_GAIN (1x) (A)
+  {0x3368, 0xFF77}, // ANALOG_GAIN (1x) (B)
+
+  {0x3060, 0x3333}, // ANALOG_COLOR_GAIN
+
+  {0x3362, 0x0000}, // DC GAIN (A & B)
+
+  {0x305A, 0x00F8}, // red gain (A)
+  {0x3058, 0x0122}, // blue gain (A)
+  {0x3056, 0x009A}, // g1 gain (A)
+  {0x305C, 0x009A}, // g2 gain (A)
+
+  {0x30C0, 0x00F8}, // red gain (B)
+  {0x30BE, 0x0122}, // blue gain (B)
+  {0x30BC, 0x009A}, // g1 gain (B)
+  {0x30C2, 0x009A}, // g2 gain (B)
+
+  {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
+
+  // Initial Integration Time
+  {0x3012, 0x0005}, // (A)
+  {0x3016, 0x0005}, // (B)
+};
diff --git a/selfdrive/camerad/cameras/sensor_i2c.h b/selfdrive/camerad/cameras/sensor_i2c.h
index c33bc3468ae5df..b46ebb370a9c57 100644
--- a/selfdrive/camerad/cameras/sensor_i2c.h
+++ b/selfdrive/camerad/cameras/sensor_i2c.h
@@ -594,1165 +594,6 @@ static struct msm_camera_i2c_reg_array start_reg_array[] = {{0x100,0x1,0}};
 // stop, enable standby mode
 static struct msm_camera_i2c_reg_array stop_reg_array[] = {{0x100,0x0,0}};
 
-
-///////////////////
-
-
-static struct msm_camera_i2c_reg_array init_array_imx179[] = {
-  { 0x100, 0x0, 0}, // MODE_SELECT
-  { 0x101, 0x0, 0}, // IMAGE_ORIENT
-  { 0x202, 0x9, 0}, { 0x203, 0xd2, 0}, // COARSE_INTEGRATION_TIME
-  { 0x301, 0x5, 0}, // vt_pix_clk_div
-  { 0x303, 0x1, 0}, // vt_sys_clk_div
-  { 0x305, 0x6, 0}, // pre_pll_clk_div
-  { 0x309, 0x5, 0}, // op_pix_clk_div
-  { 0x30b, 0x1, 0}, // op_sys_clk_div
-  { 0x30c, 0x0, 0}, { 0x30d, 0x9d, 0},
-
-  { 0x340, 0x9, 0}, { 0x341, 0xd6, 0}, // frame_length_lines
-  { 0x342, 0xd, 0}, { 0x343, 0x70, 0}, // line_length_pclk
-  { 0x344, 0x0, 0}, { 0x345, 0x0, 0}, // x_addr_start
-  { 0x346, 0x0, 0}, { 0x347, 0x0, 0}, // y_addr_start
-  { 0x348, 0xc, 0}, { 0x349, 0xcf, 0}, // last_pixel / x_addr_end
-  { 0x34a, 0x9, 0}, { 0x34b, 0x9f, 0}, // last_line / y_addr_end
-  { 0x34c, 0xc, 0}, { 0x34d, 0xd0, 0}, // pixels_per_line / x_output_size
-  { 0x34e, 0x9, 0}, { 0x34f, 0xa0, 0}, // lines_per_frame / y_output_size
-  { 0x383, 0x1, 0}, // x_odd_inc
-  { 0x387, 0x1, 0}, // y_odd_inc
-  { 0x390, 0x0, 0}, // binning_mode
-  { 0x401, 0x0, 0}, // SCALING_MODE
-  { 0x405, 0x10, 0}, // SCALE_M
-
-  {0x3020, 0x10, 0},
-  {0x3041, 0x15, 0}, // READ_MODE?
-  {0x3042, 0x87, 0},
-  {0x3089, 0x4f, 0},
-  {0x3309, 0x9a, 0},
-  {0x3344, 0x57, 0},
-  {0x3345, 0x1f, 0},
-  {0x3362, 0xa, 0},
-  {0x3363, 0xa, 0},
-  {0x3364, 0x0, 0},
-  {0x3368, 0x18, 0},
-  {0x3369, 0x0, 0},
-  {0x3370, 0x6f, 0},
-  {0x3371, 0x27, 0},
-  {0x3372, 0x4f, 0},
-  {0x3373, 0x2f, 0},
-  {0x3374, 0x27, 0},
-  {0x3375, 0x2f, 0},
-  {0x3376, 0x97, 0},
-  {0x3377, 0x37, 0},
-  {0x33c8, 0x0, 0},
-  {0x33d4, 0xc, 0},
-  {0x33d5, 0xd0, 0},
-  {0x33d6, 0x9, 0},
-  {0x33d7, 0xa0, 0},
-  // znr
-  {0x4100, 0xe, 0},
-  {0x4108, 0x1, 0},
-  {0x4109, 0x7c, 0},
-};
-
-
-
-/////////////// ois stuff ///////////////
-
-/*
-#define _OP_FIRM_DWNLD  0x80
-#define _OP_Periphe_RW  0x82
-#define _OP_Memory__RW  0x84
-#define _OP_AD_TRNSFER  0x86
-#define _OP_COEF_DWNLD  0x88
-#define _OP_PrgMem__RD  0x8A
-#define _OP_SpecialCMD  0x8C
-*/
-
-static struct reg_settings_ois_t ois_init_settings[] = {
-  {
-    .reg_addr = 0x8262,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0xbf03,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8263,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x9f05,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8264,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x6040,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8260,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x1130,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8265,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x8000,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8261,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0280,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8261,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0380,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8261,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0988,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x34\x84\x00\x03\xff\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x03\x00\x10\x7e\x84\x50\x00\x08\x40\x7e\xa0\x00\x03\x00\x10\x7e\x84\x60\x00\x08\x40\x7e\xa0\x00\x03\x00\x90\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8084,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x10\x08\x80\x00\xa0\x10\x00\x08\x7f\xff\x11\x8f\x02\x07\x80\x00\x11\x40\xff\xa0\x90\x01\x84\x20\x8f\x08\x40\xfe\x90\x40\xf5",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x80a0,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x08\x80\x01\xa0\x00\x01\x11\x8f\x02\x07\xff\xff\x11\x08\x00\x20\x50\x12\x07\x00\x10\x08\x80\x00\xa0\x10\xff\x84\x20\x0a",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x7f\xff\x21\x08\xfe\x84\x00\x04\x07\x20\x0c\x08\x7f\xff\x21\x08\xfe\x84\x00\x03\x00\x90\x17\x84\x20\x1f\x08\x80\x17\xa0\x10\x10",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x7f\xff\x21\x10\x00\x08\x01\x00\x11\x40\x51\xa0\x90\x17\x84\x20\x0f\x08\x80\x47\xa0\x8d\x0c\x07\x00\x00\x11\x30\x03\x07\x80\x41",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8090,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x50\x00\x08\x40\xfc\x90\x88\x2f\x84\x00\x00\x11\x30\x02\x07\x40\xff\x90\x50\x00\x08\x40\xfd\x90\x40\x7f\xa0\x10\xff\x84\x20\x2c",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x7f\xff\x11\x20\x0d\x08\x80\x0f\x90\x80\x26\xa0\x90\x2e\x84\x00\x10\x08\x90\x26\x84\x00\x10\x08\x80\x1f\xa0\x20\x2e\x08\x40\xed",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8090,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x20\x0f\x08\x80\x0e\x90\x00\x00\x21\x30\x02\x07\x40\xeb\xa0\x50\x00\x08\x40\xfe\x90\x40\x7f\xa0\x04\xeb\x84\x10\x00\x20\x20\x0f",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x80\x00\x21\x60\x04\x07\x40\xff\xa0\x10\x00\x08\x40\xea\x90\x10\x00\x20\x20\x0f\x08\x80\x00\x11\x00\x0b\x07\x08\x00\x20\x60\x0d",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x00\x08\x40\xea\x90\x8f\x06\x07\x04\xff\x84\x20\x09\x60\x10\xfc\x84\x08\xfd\x84\x04\xfe\x84\x00\x03\x00\x00\x10\x08\x80\x37",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x80a0,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x90\x69\x84\x00\x10\x08\x80\x69\xa0\x20\x1a\x08\x40\x64\xa0\x10\x10\x08\x80\x4f\xa0\x20\x1d\x08\x40\x5f\xa0\x20\x1e\x08\x40\x5d",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x80a0,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x00\x08\x80\x68\x90\x40\xfe\xa0\x20\x0e\x07\x50\x00\x08\x40\x7f\xa0\x04\xfe\x84\x00\x04\x00\x10\xf0\x44\x50\x00\x08\x00\x7f",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x20\xf0\x60\x04\x5c\x84\x04\x61\x84\x04\x57\x84\x00\x00\x21\x04\x74\x84\x00\x40\x21\x00\x0b\x07\x04\x74\x84\x00\x00\x21\x10\x57",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8084,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x30\x20\x08\x00\x04\x11\x50\x00\x08\x03\xff\x11\x20\xfa\x60\x10\xf0\x44\x50\x20\x08\x00\x7f\x11\x60\x20\x08\x40\x00\x08\x00\x08",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x30\x1a\x07\x50\x00\x08\x07\x00\x11\x9f\x1d\x07\x8b\x1e\x07\x9c\x15\x07\x20\xf8\x60\x10\x28\x44\x60\x00\x08\x01\x00\x11\x20\x28",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8060,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x87\x1b\x07\x40\xf7\xa0\x81\x27\x07\x20\x48\x60\x10\x0a\x44\x10\xf4\x84\x3b\xd4\x00\xe0\x14\x43\x08\x00\x20\x00\x06\x07\x89\x02",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\xae\x90\x81\x04\x07\x40\x2e\x90\x40\x7f\xa0\x10\x2e\x44\x20\x2f\x08\x9f\x02\x07\x00\x00\x11\x10\x00\x20\x00\x00\x08\x40\x67",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x80a0,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x11\x84\x02\x07\x20\xf0\x60\x9f\x03\x07\x40\x7e\xa0\x40\x65\x90\x10\x62\x84\x10\x10\x08\x40\x61\xa0\x20\x1d\x08\x40\x5f",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x80a0,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x20\x1e\x08\x40\x5d\xa0\x10\x00\x08\x40\x5e\x90\x20\x30\x60\x10\xcf\x84\x20\x1c\x08\x7f\xff\x21\x3b\xf7\x00\xc8\x14\x43\x10\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8020,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x08\x40\xb5\x90\x40\xad\xa0\x00\x0a\x07\x10\x4f\x84\x20\x1c\x08\x7f\xff\x21\x3c\x01\x00\x48\x14\x43\x10\x00\x20\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x35\x90\x40\x2d\xa0\x00\x14\x07\x80\x0c\x07\x82\x03\x07\x04\x50\x84\x10\x00\x20\x20\x02\x07\x00\x08\x21\x40\x00\x08\x00\x01",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x50\xa0\x00\x04\x00\x20\x7f\x00\x80\x14\x43\x01\x00\x01\x04\x00\x11\x02\x00\x21\x10\x9f\x84\x10\x20\x08\x40\x97\x90\x10\xbf",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8084,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x20\x1d\x08\x40\xc6\xa0\x20\x8e\x08\x40\x72\x90\x40\x16\xa0\x10\x96\x84\x10\x00\x08\x40\x9e\x90\x20\x36\x60\x20\x91\x00\x00\x14",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8043,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x01\x01\x00\x04\x11\x00\x02\x21\x10\x1f\x84\x10\x20\x08\x40\x17\x90\x10\x3f\x84\x20\x1d\x08\x40\x46\xa0\x20\x8e\x08\x40\x70",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8090,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x96\xa0\x10\x16\x84\x10\x00\x08\x40\x1e\x90\x20\x34\x60\x10\x65\x84\x50\x10\x08\x00\x00\x21\x84\x03\x07\x20\xf0\x60\x9f\x03",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x7e\xa0\x00\x10\x08\x40\x65\xa0\x20\x0d\x08\x40\x64\x90\x40\x62\xa0\x00\x04\x00\x04\x1c\x44\x04\x1b\x44\xc3\xff\x21\x87\x04",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x7f\xa0\x10\x42\x84\x20\x1e\x08\x7f\xff\x21\x10\x20\x08\x40\x1c\x90\x10\x07\x84\x10\x00\x08\x40\x06\x90\x40\x55\xa0\x10\xc2",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8084,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x20\x1e\x08\x7f\xff\x21\x10\x20\x08\x40\x9c\x90\x10\x87\x84\x10\x00\x08\x40\x86\x90\x40\x56\xa0\x10\x56\x84\x20\x0f\x08\x40\x7b",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8090,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x22\x00\x60\x40\x00\x08\x40\x79\xa0\x00\x08\x11\x10\x55\x84\x20\x0f\x08\x40\x7a\x90\x22\x00\x60\x50\x00\x08\x40\x79\xa0\x00\xff",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x04\x6f\x84\x00\x05\x21\x21\x39\x00\x04\x00\x11\x10\xc1\x84\x20\x0f\x08\x70\x07\x07\x10\x10\x08\x40\xc0\xa0\x20\x0f\x08\x7f\xff",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x8f\x02\x07\x80\x00\x11\x08\x00\x20\x08\xc1\x84\x40\xbd\x90\x9e\x02\x07\x40\x7f\xa0\x40\xec\x90\x04\x6e\x84\x00\x05\x21\x21\x4c",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x04\x11\x10\x41\x84\x20\x0f\x08\x70\x07\x07\x10\x10\x08\x40\x40\xa0\x20\x0f\x08\x7f\xff\x11\x8f\x02\x07\x80\x00\x11\x08\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8020,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x08\x41\x84\x40\x3d\x90\x9e\x02\x07\x40\x7f\xa0\x40\x6d\x90\x10\x2d\x44\x20\xe7\x00\x08\x00\x11\x20\x32\x60\x80\x14\x43\x10\x2c",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8044,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x20\xec\x00\x00\x08\x11\x20\x31\x60\x00\x14\x43\x04\x34\x44\x40\x5b\xa0\x00\x04\x00\x21\x6a\x00\x80\x00\x11\x21\x70\x00\x3f\xff",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x08\xe8\x84\x20\x32\x50\x08\x68\x84\x20\x31\x50\x08\x5e\x84\x20\x30\x50\x0f\xc4\x07\x10\x34\x44\x10\x5b\x84\x6f\xf3\x07\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x02\x00\x21\x40\xfc\x90\x3d\xd4\x00\x04\xfc\x84\x00\x00\x21\x04\xfd\x84\x00\x08\x21\x00\x04\x00\x21\x81\x00\xc0\x00\x11\x04\x5b",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8084,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x02\x00\x21\x70\x06\x07\x10\xfe\x84\x30\x20\x08\x00\x03\x11\x10\x00\x08\x40\x59\x90\x04\xff\x84\x40\x58\xa0\x10\x59\x84\x20\x0f",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x59\xa0\x20\x00\x11\x70\x1e\x07\x10\x00\x08\x00\x0b\x11\x0f\xe4\x07\x10\x59\x84\x00\x00\x08\x20\x30\x50\x40\x59\xa0\x70\x06",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x00\x08\x00\x0a\x11\x0f\xec\x07\x08\x34\x44\x02\x10\x11\x10\x58\x84\x20\x0f\x08\x40\x58\xa0\x20\x00\x11\x30\x08\x07\x0f\xf4",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x58\x84\x00\x00\x08\x20\x30\x50\x40\x58\xa0\x70\x06\x07\x10\x00\x08\x00\x05\x11\x00\x04\x00\x10\x5a\x84\x00\x00\x08\x00\x01",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x5a\xa0\x08\x34\x44\x02\x00\x11\x30\x08\x07\x60\x00\x08\x00\x00\x11\x40\x5a\xa0\x8f\x4f\x07\x40\x7e\xa0\x00\x04\x00\x3c\xdd",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x00\x20\xa8\x14\x43\x04\xa7\x84\x20\x8e\x08\x40\xc4\x90\x40\xaf\xa0\x20\x0f\x08\x40\xc5\x90\x40\xa7\xa0\x3c\xe7\x00\x10\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8020,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x28\x14\x43\x04\x27\x84\x20\x8e\x08\x40\x44\x90\x40\x2f\xa0\x20\x0f\x08\x40\x45\x90\x40\x27\xa0\x00\x04\x00\x10\xf0\x44\x50\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\xff\xf7\x11\x93\x04\x07\x20\xf0\x60\x04\x61\x84\x04\x5c\x84\x40\x57\xa0\x00\x04\x00\x10\x61\x84\x00\x20\x08\x20\x1f\x08\x40\xff",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x80a0,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x00\x08\x40\x5c\x90\x40\x57\xa0\x04\x74\x84\x10\x00\x20\x00\x00\x08\x40\x74\xa0\x00\x01\x11\x20\x05\x07\x00\x40\x21\x70\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x7f\xff\x21\x08\xff\x84\x42\x00\x90\x85\x02\x07\x20\xf0\x60\x7f\xff\x11\x60\x20\x08\x00\xd0\x11\x40\x00\x08\x00\x02\x11\x86\x1b",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x74\xa0\x08\x6f\x84\x00\x00\x11\x04\xf1\x84\x00\x40\x21\x21\xf7\x00\x02\x00\x11\x60\x07\x07\x10\x20\x08\x40\xc3\x90\x20\x2f",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x80\x00\x11\x70\x02\x07\x7f\xff\x11\x10\x00\x08\x40\x8d\x90\x40\x85\xa0\x08\x6e\x84\x00\x00\x11\x04\xf0\x84\x00\x40\x21\x22\x07",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x02\x11\x60\x07\x07\x10\x20\x08\x40\x43\x90\x20\x2f\x08\x80\x00\x11\x70\x02\x07\x7f\xff\x11\x10\x00\x08\x40\x0d\x90\x40\x05",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x80a0,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\xec\x84\x00\x10\x08\x10\xe7\x84\x40\xe7\xa0\x20\x0f\x08\x40\xef\xa0\x10\x6d\x84\x00\x10\x08\x10\x6c\x84\x40\x6c\xa0\x20\x0f",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x7d\xa0\x7f\xff\x11\x00\x04\x00\x10\xef\x84\x00\x10\x08\x10\xee\x84\x40\xee\xa0\x20\x0f\x08\x40\xbd\xa0\x10\x7d\x84\x00\x10",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x7c\x84\x40\x7c\xa0\x20\x0f\x08\x40\x3d\xa0\x40\x00\x11\x3e\x9b\x00\xfb\xff\x21\x6f\x14\x43\x3e\x9e\x00\xff\xfb\x21\x6e\x14",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8043,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x3d\x57\x00\x40\xaf\xa0\xa0\x14\x43\x3d\x5a\x00\x40\x2f\xa0\x20\x14\x43\x00\x04\x00\x3d\x5e\x00\x40\xa5\xa0\xb0\x14\x43\x3d\x61",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x25\xa0\x30\x14\x43\x00\x00\x00\x22\x28\x00\x00\x02\x07\x22\x26\x00\x8a\x03\x07\x89\x04\x07\x40\x7e\xa0\x40\xbd\x90\x98\x14",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8043,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x9c\x84\x20\x8f\x08\x40\x9a\x90\x40\x99\xa0\x20\x2e\x08\x40\xbd\x90\x00\x10\x08\x40\x9b\xa0\x20\x0e\x08\x7f\xff\x21\x40\xf5",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8090,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x22\x3c\x00\x00\x02\x07\x22\x3a\x00\x82\x03\x07\x81\x04\x07\x40\x7e\xa0\x40\x3d\x90\x18\x14\x43\x10\x1c\x84\x20\x8f",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8008,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x1a\x90\x40\x19\xa0\x20\x2e\x08\x40\x3d\x90\x00\x10\x08\x40\x1b\xa0\x20\x0e\x08\x7f\xff\x21\x40\xf5\x90\x3d\x8c\x00\xb8\x14",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8043,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\xc2\xa0\x3d\x8f\x00\x38\x14\x43\x40\x42\xa0\x00\x04\x00\x10\x51\x84\x20\x0f\x08\x7f\xc0\x11\x40\x51\xa0\x08\xbb\x84\x08\x3b",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8084,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\xcb\x90\x11\x9e\x02\x07\xc7\x00\x11\x40\x7f\xa0\x08\xba\x84\x08\x3a\x84\x74\x70\x11\x9e\x02\x07\x59\x00\x11\x40\x7f\xa0\x3e\xed",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\xfd\xff\x21\xf1\x14\x43\x3e\xf0\x00\xff\xfd\x21\xf0\x14\x43\x00\x04\x00\x04\xb9\x84\x40\xb6\xa0\x04\x39\x84\x40\x36\xa0\x00\x04",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x3e\xc3\x00\x40\x87\xa0\x80\x14\x43\x3e\xc6\x00\x40\x07\xa0\x00\x14\x43\x00\x04\x00\x00\x00\x00\x04\xf5\x84\x00\x00\x21\x70\x03",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\xf5\x84\x10\x00\x08\x40\xf3\x90\x40\xf5\xa0\x3e\xd2\x00\x40\x85\xa0\x88\x14\x43\x3e\xd5\x00\x40\x05\xa0\x08\x14\x43\x00\x04",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8000,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x01\x07\x00\x02\x07\x00\x03\x07\x00\x04\x07\x00\x06\x07\x00\x16\x07\x00\x1e\x07\x00\x24\x07\x00\x3c\x07\x00\x72\x07\x00\x8d",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\xe0\x07\x00\xf6\x07\x01\x9f\x07\x01\xd1\x07\x00\x10\x07\x1f\xff\x07\x20\x03\x60\x0f\x5f\x07\x08\xfa\x84\x04\x11\x44\xff\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x2f\x63\x07\x70\x10\x08\x00\xf0\x21\x50\x00\x08\x00\xf0\x21\x40\xf9\x90\x00\x08\x07\x3e\x79\x00\x0f\x6b\x07\x90\x01\x07\x40\xf9",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x80a0,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x3f\x6e\x07\x70\x00\x08\x00\x7f\x11\x40\xf8\xa0\x9d\x07\x07\x20\x12\x60\x08\xfa\x84\x04\x11\x44\x3e\x54\x00\x00\x16\x07\x48\x80",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x08\x09\x44\x40\x75\x90\x7f\xef\x07\x10\x00\x20\x00\x10\x08\xff\xff\x21\x06\x00\x84\x40\xfb\xa0\x60\x00\x08\x00\x00\x21\x40\xff",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8090,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\xfb\x84\x60\x20\x08\x40\xfb\x90\x30\x00\x08\x00\x08\x11\x3d\xea\x00\x04\xfb\x84\x3d\xec\x00\x04\xff\x84\x40\xf8\xa0\x04\x11",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8044,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x8f\xff\x07\x20\x19\x60\x3e\xd2\x00\x00\x31\x07\x00\x01\x00\x00\x33\x07\x00\x02\x00\x27\x18\x43\x75\x00\x43\x8f\xff\x07\x20\x19",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8060,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x04\xf5\x84\x40\xf2\xa0\x04\x51\x84\x7f\xff\x21\x04\xf5\x84\x00\x00\x21\x04\xf3\x84\x00\x10\x21\x04\xf2\x84\x0c\x00\x21\x04\x72",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8044,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x77\x21\x3f\xfa\x07\x70\x20\x08\x00\x00\x11\x10\x2d\x44\x10\x2c\x44\x00\x20\x08\x10\x00\x11\x00\x00\x08\x00\x00\x11\x80\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8021,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x04\x73\x44\x07\x07\x21\x04\x72\x44\x00\x07\x21\x04\x73\x44\x07\x77\x21\x04\x73\x44\x00\x70\x21\x04\x2e\x44\x04\x2d\x44\x04\x2c",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8044,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x80\x00\x21\x04\x1c\x44\x04\x1b\x44\x0d\x00\x21\x04\x1c\x44\x04\x1b\x44\x0c\x80\x21\x04\x1c\x44\x04\x1b\x44\x1f\x08\x21\x0f\x18",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8043,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x08\x28\x44\x01\x11\x11\x08\x5d\x84\x10\x00\x10\x10\x00\x08\x40\x00\x21\x30\x04\x07\x40\xff\x90\x50\x20\x08\xc0\x00\x11\x10\xff",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8084,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x20\x08\x00\x40\x11\x40\x00\x08\x00\x01\x11\x20\x51\x60\x10\x00\x44\x60\x00\x08\x40\x54\x90\x20\x00\x60\x00\x79\x07\x81\x48",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x80\x03\x07\x40\xf8\xa0\x48\xc0\x11\x00\x77\x07\x00\x78\x07\x00\x79\x07\x00\x04\x07\x00\x7b\x07\x00\x7c\x07\x00\x7d\x07\x00\x55",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8007,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x7f\x07\x00\x80\x07\x00\x81\x07\x00\x74\x07\x00\x83\x07\x00\x82\x07\x00\x85\x07\x00\x86\x07\x0f\xef\x07\x1f\xff\x07\xff\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8011,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x10\x00\x20\x30\x10\x08\x00\x01\x21\x50\x00\x08\x00\x0f\x21\x40\xf9\x90\x30\x90\x07\x70\x10\x08\x00\x80\x21\x50\x00\x08\x00\xf0",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8021,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x08\xf9\x84\x04\xf8\x84\x2f\xff\x07\x3e\x59\x00\x04\xf1\x84\x04\xf0\x84\x04\x5a\x84\x00\x00\x21\x04\xf6\x84\x00\x02\x21\x04\xfa",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8084,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x40\x00\x21\x04\xf7\x84\x01\x04\x21\x04\x1c\x44\x04\x1b\x44\x0b\x23\x21\x0f\x18\x43\x04\x70\x44\x06\x66\x21\x04\x3b\x44\x04\x39",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8044,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x80\x21\x04\x3c\x44\x2a\x0a\x21\x04\x2f\x44\x00\x44\x21\x04\x29\x44\x00\x00\x21\x03\x19\x42\x4e\x19\x43\x0c\x59\x43\x27\x18",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8043,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x15\x00\x43\x04\x22\x44\x03\x07\x21\x04\x21\x44\x11\x11\x21\x04\x20\x44\x33\x33\x21\x00\x00\x42\xc0\x3d\x42\x80\x3d\x43\x04\x35",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8044,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x21\x04\x05\x43\x42\xcd\x00",
-    .reg_data_seq_size = 9,
-  },{
-    .reg_addr = 0x88ef,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x20\x00\x18\x00\x00\x00\x00\xab\x0a\x00\x40\x00\x40\x00\x00\x00\x00\x00\x00\x00\x80\x00\x00\x27\x83\x64\x7e\xca\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x88b2,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x7f\x59\x7f\xbe\x7f\xfe\x7f\xfe\x7f\xee\x73\x54\x4c\x70\x5a\x00\x6b\x0e\x6b\x1c\x5b\xcb\x32\x8c\x0b\xd2\x13\x07\x28\x01\x49\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8800,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\xff\x7f\x0b\x97\x14\xae\xf7\x53\x26\x63\x07\x46\x00\x20\x00\x89\x00\x40\x80\x41\x00\x7f\xff\x7f\xd3\x09\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x88ff,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x7f\x00\x00\x00\x00\x90\xcb\x70\x74\xfe\x7f\x52\x09\x00\x00\xfe\x7f\x00\x00\x00\x00\x00\xf2\x00\x40\xf0\x7f\x00\x0c\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8800,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x4a\x00\x4a\x00\x24\xff\x7f\x00\x00\x00\x00\x00\x00\x00\x00\xff\x7f\x00\x00\x00\x50\x00\x30\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8800,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\xa0\x00\x00\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x20\xff\x7f\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8800,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\xff\x7f\x00\x78\x00\x08\x00\x00\x10\x00\x00\x00\x00\x00\x00\x00\xff\x7f\x00\x40\x00\x40\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8800,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x80\xff\x7f\x1c\x1b\xc5\x07\xc0\x20\x12\xf0\x00\x10\x10\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8800,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00\x00\x00\x00\x00\x00\xcc\x59\x00\x00\x00\x40\x00\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8800,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0a\x00\x00\x00\x00\x00\x00\x08\x00\x00\x00\x00\x00\x00\x00\xff\x7f\x0b",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8897,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x14\xae\xf7\x53\x26\x63\x07\x46\x00\x20\x00\x89\x00\x40\x80\x41\x00\x7f\xff\x7f\xd3\x09\x00\x00\xff\x7f\x00\x00\x00\x00\x90\xcb",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8870,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x74\xfe\x7f\x52\x09\x00\x00\xfe\x7f\x00\x00\x00\x00\x00\xf2\x00\x40\xf0\x7f\x00\x0c\x00\x00\x00\x00\x00\x00\x00\x00\x00\x4a\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x884a,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x24\xff\x7f\x00\x00\x00\x00\x00\x00\x00\x00\xff\x7f\x00\x00\x00\x50\x00\x30\x00\x00\x00\x00\x00\x00\x00\x00\xa0\x00\x00\x03",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8800,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x20\xff\x7f\x00\x00\x00\x00\x00\x00\xff\x7f\x00",
-    .reg_data_seq_size = 32,
-  },{
-    .reg_addr = 0x8878,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0000,
-    .data_type = MSM_CAMERA_I2C_SEQ_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "\x00\x08\x00\x00\x10\x00\x00\x00\x00\x00\x00\x00\xff\x7f\x00\x40\x00\x40",
-    .reg_data_seq_size = 18,
-  },{
-    .reg_addr = 0x8205,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0c00,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8205,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0d00,
-    .data_type = MSM_CAMERA_I2C_WORD_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  },{
-    .reg_addr = 0x8c01,
-    .addr_type = MSM_CAMERA_I2C_WORD_ADDR,
-    .reg_data = 0x0001,
-    .data_type = MSM_CAMERA_I2C_BYTE_DATA,
-    .i2c_operation = MSM_OIS_WRITE,
-    .delay = 0,
-    .reg_data_seq = "",
-    .reg_data_seq_size = 0,
-  }
-};
-
-
 /*
 // still mode settings:
   {0x847f, 0x0c0c,}, //_M_EQCTL
@@ -1775,26 +616,6 @@ static struct reg_settings_ois_t ois_init_settings[] = {
   {0x847f, 0x0d0d,}, //_M_EQCTL
 */
 
-static struct msm_camera_i2c_reg_array init_array_s5k3p8sp[] = {
-  {0x6028,0x2000,0}, {0x6214,0x7971,0}, {0x6218,0x7150,0}, {0x30e,0x3d,0},
-  {0x6028,0x2000,0}, {0x602a,0x2f38,0}, {0x6f12,0x88,0}, {0x6f12,0xd70,0},
-  {0x344,0x18,0},
-  {0x348,0x1217,0},  // last_pixel = 0x90C*2
-  {0x346,0x18,0},
-  {0x34a,0xd97,0},   // last_line = 0x6CC*2
-  {0x34c,0x900,0},   // width?
-  {0x34e,0x6c0,0},   // height?
-  {0x342,0x1400,0},  // line_length_pclk
-  {0x340,0xe3b,0},   // frame_length_lines
-  {0x202,0x200,0},   // integ_time
-  {0x200,0x618,0},
-  {0x900,0x122,0}, {0x380,0x1,0}, {0x382,0x3,0}, {0x384,0x3,0}, {0x386,0x1,0}, {0x400,0x0,0}, {0x404,0x10,0},
-  {0x3604,0x2,0}, {0x3606,0x103,0}, {0xf496,0x48,0}, {0xf470,0x20,0}, {0xf43a,0x15,0}, {0xf484,0x6,0}, {0xf440,0xaf,0}, {0xf442,0x44c6,0},
-  {0xf408,0xfff7,0}, {0x3664,0x19,0}, {0xf494,0x1010,0}, {0x367a,0x100,0}, {0x362a,0x104,0}, {0x362e,0x404,0}, {0x32b2,0x8,0}, {0x3286,0x3,0}, {0x328a,0x5,0},
-  {0xf47c,0x1f,0}, {0xf62e,0xc5,0}, {0xf630,0xcd,0}, {0xf632,0xdd,0}, {0xf634,0xe5,0}, {0xf636,0xf5,0}, {0xf638,0xfd,0}, {0xf63a,0x10d,0}, {0xf63c,0x115,0}, {0xf63e,0x125,0}, {0xf640,0x12d,0},
-  {0x6028,0x2000,0}, {0x602a,0x1704,0}, {0x6f12,0x8011,0}, {0x3070,0x0,0}, {0xb0e,0x0,0}, {0x317a,0x7,0}, {0x31c0,0xc8,0}, {0x1006,0x4,0}, {0x31a4,0x102,0},
-};
-
 static struct msm_camera_i2c_reg_array init_array_ov8865[] = {
 // round 1
 //{0x103,0x1,0}, // software reset
@@ -1810,8 +631,8 @@ static struct msm_camera_i2c_reg_array init_array_ov8865[] = {
 {0x3806,0x9,0}, {0x3807,0xa3,0},  // 2467
 {0x3808,0x6,0}, {0x3809,0x60,0},  // 0x660 = 1632 (width)
 {0x380a,0x4,0}, {0x380b,0xc8,0},  // 0x4c8 = 1224 (height)
-{0x380c,0x7,0}, {0x380d,0x83,0},  // 0x783 = 1923 (stride)
-{0x380e,0x4,0}, {0x380f,0xe0,0},  // 0x4e0 = 1248 (vstride)
+{0x380c,0x6,0}, {0x380d,0x42,0},  // line_length_pck
+{0x380e,0x5,0}, {0x380f,0xda,0},  // frame_length_lines
 {0x3810,0x0,0}, {0x3811,0x4,0}, {0x3813,0x4,0},
 {0x3814,0x3,0}, {0x3815,0x1,0},   // H-binning
 {0x3820,0x6,0}, // format1
diff --git a/selfdrive/camerad/imgproc/conv.cl b/selfdrive/camerad/imgproc/conv.cl
new file mode 100644
index 00000000000000..a7115ae76cad7a
--- /dev/null
+++ b/selfdrive/camerad/imgproc/conv.cl
@@ -0,0 +1,110 @@
+// const __constant float3 rgb_weights = (0.299, 0.587, 0.114); // opencv rgb2gray weights
+// const __constant float3 bgr_weights = (0.114, 0.587, 0.299); // bgr2gray weights
+
+// convert input rgb image to single channel then conv
+__kernel void rgb2gray_conv2d(
+  const __global uchar * input,
+  __global short * output,
+  __constant short * filter,
+  __local uchar3 * cached
+)
+{
+  const int rowOffset = get_global_id(1) * IMAGE_W;
+  const int my = get_global_id(0) + rowOffset;
+
+  const int localRowLen = TWICE_HALF_FILTER_SIZE + get_local_size(0);
+  const int localRowOffset = ( get_local_id(1) + HALF_FILTER_SIZE ) * localRowLen;
+  const int myLocal = localRowOffset + get_local_id(0) + HALF_FILTER_SIZE;
+
+  // cache local pixels
+  cached[ myLocal ].x = input[ my * 3 ]; // r
+  cached[ myLocal ].y = input[ my * 3 + 1]; // g
+  cached[ myLocal ].z = input[ my * 3 + 2]; // b
+
+  // pad
+  if (
+    get_global_id(0) < HALF_FILTER_SIZE       ||
+    get_global_id(0) > IMAGE_W - HALF_FILTER_SIZE - 1   ||
+    get_global_id(1) < HALF_FILTER_SIZE     ||
+    get_global_id(1) > IMAGE_H - HALF_FILTER_SIZE - 1
+  )
+  {
+    barrier(CLK_LOCAL_MEM_FENCE);
+    return;
+  }
+  else
+  {
+    int localColOffset = -1;
+    int globalColOffset = -1;
+
+    // cache extra
+    if ( get_local_id(0) < HALF_FILTER_SIZE )
+    {
+      localColOffset = get_local_id(0);
+      globalColOffset = -HALF_FILTER_SIZE;
+
+      cached[ localRowOffset + get_local_id(0) ].x = input[ my * 3 - HALF_FILTER_SIZE * 3 ];
+      cached[ localRowOffset + get_local_id(0) ].y = input[ my * 3 - HALF_FILTER_SIZE * 3 + 1];
+      cached[ localRowOffset + get_local_id(0) ].z = input[ my * 3 - HALF_FILTER_SIZE * 3 + 2];
+    }
+    else if ( get_local_id(0) >= get_local_size(0) - HALF_FILTER_SIZE )
+    {
+      localColOffset = get_local_id(0) + TWICE_HALF_FILTER_SIZE;
+      globalColOffset = HALF_FILTER_SIZE;
+
+      cached[ myLocal + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE * 3 ];
+      cached[ myLocal + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE * 3 + 1];
+      cached[ myLocal + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE * 3 + 2];
+    }
+
+
+    if ( get_local_id(1) < HALF_FILTER_SIZE )
+    {
+      cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].x = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 ];
+      cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].y = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + 1];
+      cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].z = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + 2];
+      if (localColOffset > 0)
+      {
+        cached[ get_local_id(1) * localRowLen + localColOffset ].x = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3];
+        cached[ get_local_id(1) * localRowLen + localColOffset ].y = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 1];
+        cached[ get_local_id(1) * localRowLen + localColOffset ].z = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 2];
+      }
+    }
+    else if ( get_local_id(1) >= get_local_size(1) -HALF_FILTER_SIZE )
+    {
+      int offset = ( get_local_id(1) + TWICE_HALF_FILTER_SIZE ) * localRowLen;
+      cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 ];
+      cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + 1];
+      cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + 2];
+      if (localColOffset > 0)
+      {
+        cached[ offset + localColOffset ].x = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3];
+        cached[ offset + localColOffset ].y = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 1];
+        cached[ offset + localColOffset ].z = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 2];
+      }
+    }
+
+    // sync
+    barrier(CLK_LOCAL_MEM_FENCE);
+
+    // perform convolution
+    int fIndex = 0;
+    short sum = 0;
+
+    for (int r = -HALF_FILTER_SIZE; r <= HALF_FILTER_SIZE; r++)
+    {
+      int curRow = r * localRowLen;
+      for (int c = -HALF_FILTER_SIZE; c <= HALF_FILTER_SIZE; c++, fIndex++)
+      {
+        if (!FLIP_RB){
+          // sum += dot(rgb_weights, cached[ myLocal + curRow + c ]) * filter[ fIndex ];
+          sum += (cached[ myLocal + curRow + c ].x / 3 + cached[ myLocal + curRow + c ].y / 2 + cached[ myLocal + curRow + c ].z / 9) * filter[ fIndex ];
+        } else {
+          // sum += dot(bgr_weights, cached[ myLocal + curRow + c ]) * filter[ fIndex ];
+          sum += (cached[ myLocal + curRow + c ].x / 9 + cached[ myLocal + curRow + c ].y / 2 + cached[ myLocal + curRow + c ].z / 3) * filter[ fIndex ];
+        }
+      }
+    }
+    output[my] = sum;
+  }
+}
\ No newline at end of file
diff --git a/selfdrive/camerad/imgproc/pool.cl b/selfdrive/camerad/imgproc/pool.cl
new file mode 100644
index 00000000000000..d674b5f363eda7
--- /dev/null
+++ b/selfdrive/camerad/imgproc/pool.cl
@@ -0,0 +1,34 @@
+// calculate variance in each subregion
+__kernel void var_pool(
+  const __global char * input,
+  __global ushort * output // should not be larger than 128*128 so uint16
+)
+{
+  const int xidx = get_global_id(0) + ROI_X_MIN;
+  const int yidx = get_global_id(1) + ROI_Y_MIN;
+
+  const int size = X_PITCH * Y_PITCH;
+
+  float fsum = 0;
+  char mean, max;
+
+  for (int i = 0; i < size; i++) {
+    int x_offset = i % X_PITCH;
+    int y_offset = i / X_PITCH;
+    fsum += input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X];
+    max = input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]>max ? input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]:max;
+  }
+
+  mean = convert_char_rte(fsum / size);
+
+  float fvar = 0;
+  for (int i = 0; i < size; i++) {
+    int x_offset = i % X_PITCH;
+    int y_offset = i / X_PITCH;
+    fvar += (input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X] - mean) * (input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X] - mean);
+  }
+
+  fvar = fvar / size;
+
+  output[(xidx-ROI_X_MIN)+(yidx-ROI_Y_MIN)*(ROI_X_MAX-ROI_X_MIN+1)] = convert_ushort_rte(5 * fvar + convert_float_rte(max));
+}
\ No newline at end of file
diff --git a/selfdrive/camerad/imgproc/utils.cc b/selfdrive/camerad/imgproc/utils.cc
new file mode 100644
index 00000000000000..ad6452c6a6aab2
--- /dev/null
+++ b/selfdrive/camerad/imgproc/utils.cc
@@ -0,0 +1,106 @@
+#include "selfdrive/camerad/imgproc/utils.h"
+
+#include <algorithm>
+#include <cassert>
+#include <cstdio>
+#include <cmath>
+#include <cstring>
+
+const int16_t lapl_conv_krnl[9] = {0, 1, 0,
+                                   1, -4, 1,
+                                   0, 1, 0};
+
+// calculate score based on laplacians in one area
+uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch) {
+  const int size = x_pitch * y_pitch;
+  // avg and max of roi
+  int16_t max = 0;
+  int sum = 0;
+  for (int i = 0; i < size; ++i) {
+    const int16_t v = lap[i];
+    sum += v;
+    if (v > max) max = v;
+  }
+
+  const int16_t mean = sum / size;
+
+  // var of roi
+  int var = 0;
+  for (int i = 0; i < size; ++i) {
+    var += std::pow(lap[i] - mean, 2);
+  }
+
+  const float fvar = (float)var / size;
+  return std::min(5 * fvar + max, (float)65535);
+}
+
+bool is_blur(const uint16_t *lapmap, const size_t size) {
+  float bad_sum = 0;
+  for (int i = 0; i < size; i++) {
+    if (lapmap[i] < LM_THRESH) {
+      bad_sum += 1 / (float)size;
+    }
+  }
+  return (bad_sum > LM_PREC_THRESH);
+}
+
+static cl_program build_conv_program(cl_device_id device_id, cl_context context, int image_w, int image_h, int filter_size) {
+  char args[4096];
+  snprintf(args, sizeof(args),
+          "-cl-fast-relaxed-math -cl-denorms-are-zero "
+          "-DIMAGE_W=%d -DIMAGE_H=%d -DFLIP_RB=%d "
+          "-DFILTER_SIZE=%d -DHALF_FILTER_SIZE=%d -DTWICE_HALF_FILTER_SIZE=%d -DHALF_FILTER_SIZE_IMAGE_W=%d",
+          image_w, image_h, 1,
+          filter_size, filter_size/2, (filter_size/2)*2, (filter_size/2)*image_w);
+  return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
+}
+
+LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size)
+    : width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), 
+      roi_buf(width * height * 3), result_buf(width * height) {
+
+  prg = build_conv_program(device_id, ctx, width, height, filter_size);
+  krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb2gray_conv2d", &err));
+  // TODO: Removed CL_MEM_SVM_FINE_GRAIN_BUFFER, confirm it doesn't matter
+  roi_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, roi_buf.size() * sizeof(roi_buf[0]), NULL, &err));
+  result_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, result_buf.size() * sizeof(result_buf[0]), NULL, &err));
+  filter_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
+                                          9 * sizeof(int16_t), (void *)&lapl_conv_krnl, &err));
+}
+
+LapConv::~LapConv() {
+  CL_CHECK(clReleaseMemObject(roi_cl));
+  CL_CHECK(clReleaseMemObject(result_cl));
+  CL_CHECK(clReleaseMemObject(filter_cl));
+  CL_CHECK(clReleaseKernel(krnl));
+  CL_CHECK(clReleaseProgram(prg));
+}
+
+uint16_t LapConv::Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id) {
+  // sharpness scores
+  const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
+  const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1);
+
+  const uint8_t *rgb_offset = rgb_buf + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3;
+  for (int i = 0; i < height; ++i) {
+    memcpy(&roi_buf[i * width * 3], &rgb_offset[i * FULL_STRIDE_X * 3], width * 3);
+  }
+
+  constexpr int local_mem_size = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));
+  const size_t global_work_size[] = {(size_t)width, (size_t)height};
+  const size_t local_work_size[] = {CONV_LOCAL_WORKSIZE, CONV_LOCAL_WORKSIZE};
+
+  CL_CHECK(clEnqueueWriteBuffer(q, roi_cl, CL_TRUE, 0, roi_buf.size() * sizeof(roi_buf[0]), roi_buf.data(), 0, 0, 0));
+  CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), (void *)&roi_cl));
+  CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), (void *)&result_cl));
+  CL_CHECK(clSetKernelArg(krnl, 2, sizeof(cl_mem), (void *)&filter_cl));
+  CL_CHECK(clSetKernelArg(krnl, 3, local_mem_size, 0));
+  cl_event conv_event;
+  CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, global_work_size, local_work_size, 0, 0, &conv_event));
+  CL_CHECK(clWaitForEvents(1, &conv_event));
+  CL_CHECK(clReleaseEvent(conv_event));
+  CL_CHECK(clEnqueueReadBuffer(q, result_cl, CL_TRUE, 0,
+                               result_buf.size() * sizeof(result_buf[0]), result_buf.data(), 0, 0, 0));
+
+  return get_lapmap_one(result_buf.data(), width, height);
+}
diff --git a/selfdrive/camerad/imgproc/utils.h b/selfdrive/camerad/imgproc/utils.h
new file mode 100644
index 00000000000000..72baa5d53a622b
--- /dev/null
+++ b/selfdrive/camerad/imgproc/utils.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <vector>
+
+#include "selfdrive/common/clutil.h"
+
+#define NUM_SEGMENTS_X 8
+#define NUM_SEGMENTS_Y 6
+
+#define ROI_X_MIN 1
+#define ROI_X_MAX 6
+#define ROI_Y_MIN 2
+#define ROI_Y_MAX 3
+
+#define LM_THRESH 120
+#define LM_PREC_THRESH 0.9 // 90 perc is blur
+
+// only apply to QCOM
+#define FULL_STRIDE_X 1280
+#define FULL_STRIDE_Y 896
+
+#define CONV_LOCAL_WORKSIZE 16
+
+class LapConv {
+public:
+  LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size);
+  ~LapConv();
+  uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id);
+
+private:
+  cl_mem roi_cl, result_cl, filter_cl;
+  cl_program prg;
+  cl_kernel krnl;
+  const int width, height;
+  std::vector<uint8_t> roi_buf;
+  std::vector<int16_t> result_buf;
+};
+
+bool is_blur(const uint16_t *lapmap, const size_t size);
diff --git a/selfdrive/camerad/include/media/cam_cpas.h b/selfdrive/camerad/include/media/cam_cpas.h
new file mode 100644
index 00000000000000..c5cbac82e71b50
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_cpas.h
@@ -0,0 +1,25 @@
+#ifndef __UAPI_CAM_CPAS_H__
+#define __UAPI_CAM_CPAS_H__
+
+#include "cam_defs.h"
+
+#define CAM_FAMILY_CAMERA_SS     1
+#define CAM_FAMILY_CPAS_SS       2
+
+/**
+ * struct cam_cpas_query_cap - CPAS query device capability payload
+ *
+ * @camera_family     : Camera family type
+ * @reserved          : Reserved field for alignment
+ * @camera_version    : Camera platform version
+ * @cpas_version      : Camera CPAS version within camera platform
+ *
+ */
+struct cam_cpas_query_cap {
+	uint32_t                 camera_family;
+	uint32_t                 reserved;
+	struct cam_hw_version    camera_version;
+	struct cam_hw_version    cpas_version;
+};
+
+#endif /* __UAPI_CAM_CPAS_H__ */
diff --git a/selfdrive/camerad/include/media/cam_defs.h b/selfdrive/camerad/include/media/cam_defs.h
new file mode 100644
index 00000000000000..e006463d2aa6c3
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_defs.h
@@ -0,0 +1,477 @@
+#ifndef __UAPI_CAM_DEFS_H__
+#define __UAPI_CAM_DEFS_H__
+
+#include <linux/videodev2.h>
+#include <linux/types.h>
+#include <linux/ioctl.h>
+
+
+/* camera op codes */
+#define CAM_COMMON_OPCODE_BASE                  0x100
+#define CAM_QUERY_CAP                           (CAM_COMMON_OPCODE_BASE + 0x1)
+#define CAM_ACQUIRE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x2)
+#define CAM_START_DEV                           (CAM_COMMON_OPCODE_BASE + 0x3)
+#define CAM_STOP_DEV                            (CAM_COMMON_OPCODE_BASE + 0x4)
+#define CAM_CONFIG_DEV                          (CAM_COMMON_OPCODE_BASE + 0x5)
+#define CAM_RELEASE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x6)
+#define CAM_SD_SHUTDOWN                         (CAM_COMMON_OPCODE_BASE + 0x7)
+#define CAM_FLUSH_REQ                           (CAM_COMMON_OPCODE_BASE + 0x8)
+#define CAM_COMMON_OPCODE_MAX                   (CAM_COMMON_OPCODE_BASE + 0x9)
+
+#define CAM_EXT_OPCODE_BASE                     0x200
+#define CAM_CONFIG_DEV_EXTERNAL                 (CAM_EXT_OPCODE_BASE + 0x1)
+
+/* camera handle type */
+#define CAM_HANDLE_USER_POINTER                 1
+#define CAM_HANDLE_MEM_HANDLE                   2
+
+/* Generic Blob CmdBuffer header properties */
+#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_MASK    0xFFFFFF00
+#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_SHIFT   8
+#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_MASK    0xFF
+#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_SHIFT   0
+
+/* Command Buffer Types */
+#define CAM_CMD_BUF_DMI                     0x1
+#define CAM_CMD_BUF_DMI16                   0x2
+#define CAM_CMD_BUF_DMI32                   0x3
+#define CAM_CMD_BUF_DMI64                   0x4
+#define CAM_CMD_BUF_DIRECT                  0x5
+#define CAM_CMD_BUF_INDIRECT                0x6
+#define CAM_CMD_BUF_I2C                     0x7
+#define CAM_CMD_BUF_FW                      0x8
+#define CAM_CMD_BUF_GENERIC                 0x9
+#define CAM_CMD_BUF_LEGACY                  0xA
+
+/**
+ * enum flush_type_t - Identifies the various flush types
+ *
+ * @CAM_FLUSH_TYPE_REQ:    Flush specific request
+ * @CAM_FLUSH_TYPE_ALL:    Flush all requests belonging to a context
+ * @CAM_FLUSH_TYPE_MAX:    Max enum to validate flush type
+ *
+ */
+enum flush_type_t {
+	CAM_FLUSH_TYPE_REQ,
+	CAM_FLUSH_TYPE_ALL,
+	CAM_FLUSH_TYPE_MAX
+};
+
+/**
+ * struct cam_control - Structure used by ioctl control for camera
+ *
+ * @op_code:            This is the op code for camera control
+ * @size:               Control command size
+ * @handle_type:        User pointer or shared memory handle
+ * @reserved:           Reserved field for 64 bit alignment
+ * @handle:             Control command payload
+ */
+struct cam_control {
+	uint32_t        op_code;
+	uint32_t        size;
+	uint32_t        handle_type;
+	uint32_t        reserved;
+	uint64_t        handle;
+};
+
+/* camera IOCTL */
+#define VIDIOC_CAM_CONTROL \
+	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_control)
+
+/**
+ * struct cam_hw_version - Structure for HW version of camera devices
+ *
+ * @major    : Hardware version major
+ * @minor    : Hardware version minor
+ * @incr     : Hardware version increment
+ * @reserved : Reserved for 64 bit aligngment
+ */
+struct cam_hw_version {
+	uint32_t major;
+	uint32_t minor;
+	uint32_t incr;
+	uint32_t reserved;
+};
+
+/**
+ * struct cam_iommu_handle - Structure for IOMMU handles of camera hw devices
+ *
+ * @non_secure: Device Non Secure IOMMU handle
+ * @secure:     Device Secure IOMMU handle
+ *
+ */
+struct cam_iommu_handle {
+	int32_t non_secure;
+	int32_t secure;
+};
+
+/* camera secure mode */
+#define CAM_SECURE_MODE_NON_SECURE             0
+#define CAM_SECURE_MODE_SECURE                 1
+
+/* Camera Format Type */
+#define CAM_FORMAT_BASE                         0
+#define CAM_FORMAT_MIPI_RAW_6                   1
+#define CAM_FORMAT_MIPI_RAW_8                   2
+#define CAM_FORMAT_MIPI_RAW_10                  3
+#define CAM_FORMAT_MIPI_RAW_12                  4
+#define CAM_FORMAT_MIPI_RAW_14                  5
+#define CAM_FORMAT_MIPI_RAW_16                  6
+#define CAM_FORMAT_MIPI_RAW_20                  7
+#define CAM_FORMAT_QTI_RAW_8                    8
+#define CAM_FORMAT_QTI_RAW_10                   9
+#define CAM_FORMAT_QTI_RAW_12                   10
+#define CAM_FORMAT_QTI_RAW_14                   11
+#define CAM_FORMAT_PLAIN8                       12
+#define CAM_FORMAT_PLAIN16_8                    13
+#define CAM_FORMAT_PLAIN16_10                   14
+#define CAM_FORMAT_PLAIN16_12                   15
+#define CAM_FORMAT_PLAIN16_14                   16
+#define CAM_FORMAT_PLAIN16_16                   17
+#define CAM_FORMAT_PLAIN32_20                   18
+#define CAM_FORMAT_PLAIN64                      19
+#define CAM_FORMAT_PLAIN128                     20
+#define CAM_FORMAT_ARGB                         21
+#define CAM_FORMAT_ARGB_10                      22
+#define CAM_FORMAT_ARGB_12                      23
+#define CAM_FORMAT_ARGB_14                      24
+#define CAM_FORMAT_DPCM_10_6_10                 25
+#define CAM_FORMAT_DPCM_10_8_10                 26
+#define CAM_FORMAT_DPCM_12_6_12                 27
+#define CAM_FORMAT_DPCM_12_8_12                 28
+#define CAM_FORMAT_DPCM_14_8_14                 29
+#define CAM_FORMAT_DPCM_14_10_14                30
+#define CAM_FORMAT_NV21                         31
+#define CAM_FORMAT_NV12                         32
+#define CAM_FORMAT_TP10                         33
+#define CAM_FORMAT_YUV422                       34
+#define CAM_FORMAT_PD8                          35
+#define CAM_FORMAT_PD10                         36
+#define CAM_FORMAT_UBWC_NV12                    37
+#define CAM_FORMAT_UBWC_NV12_4R                 38
+#define CAM_FORMAT_UBWC_TP10                    39
+#define CAM_FORMAT_UBWC_P010                    40
+#define CAM_FORMAT_PLAIN8_SWAP                  41
+#define CAM_FORMAT_PLAIN8_10                    42
+#define CAM_FORMAT_PLAIN8_10_SWAP               43
+#define CAM_FORMAT_YV12                         44
+#define CAM_FORMAT_Y_ONLY                       45
+#define CAM_FORMAT_MAX                          46
+
+/* camera rotaion */
+#define CAM_ROTATE_CW_0_DEGREE                  0
+#define CAM_ROTATE_CW_90_DEGREE                 1
+#define CAM_RORATE_CW_180_DEGREE                2
+#define CAM_ROTATE_CW_270_DEGREE                3
+
+/* camera Color Space */
+#define CAM_COLOR_SPACE_BASE                    0
+#define CAM_COLOR_SPACE_BT601_FULL              1
+#define CAM_COLOR_SPACE_BT601625                2
+#define CAM_COLOR_SPACE_BT601525                3
+#define CAM_COLOR_SPACE_BT709                   4
+#define CAM_COLOR_SPACE_DEPTH                   5
+#define CAM_COLOR_SPACE_MAX                     6
+
+/* camera buffer direction */
+#define CAM_BUF_INPUT                           1
+#define CAM_BUF_OUTPUT                          2
+#define CAM_BUF_IN_OUT                          3
+
+/* camera packet device Type */
+#define CAM_PACKET_DEV_BASE                     0
+#define CAM_PACKET_DEV_IMG_SENSOR               1
+#define CAM_PACKET_DEV_ACTUATOR                 2
+#define CAM_PACKET_DEV_COMPANION                3
+#define CAM_PACKET_DEV_EEPOM                    4
+#define CAM_PACKET_DEV_CSIPHY                   5
+#define CAM_PACKET_DEV_OIS                      6
+#define CAM_PACKET_DEV_FLASH                    7
+#define CAM_PACKET_DEV_FD                       8
+#define CAM_PACKET_DEV_JPEG_ENC                 9
+#define CAM_PACKET_DEV_JPEG_DEC                 10
+#define CAM_PACKET_DEV_VFE                      11
+#define CAM_PACKET_DEV_CPP                      12
+#define CAM_PACKET_DEV_CSID                     13
+#define CAM_PACKET_DEV_ISPIF                    14
+#define CAM_PACKET_DEV_IFE                      15
+#define CAM_PACKET_DEV_ICP                      16
+#define CAM_PACKET_DEV_LRME                     17
+#define CAM_PACKET_DEV_MAX                      18
+
+
+/* constants */
+#define CAM_PACKET_MAX_PLANES                   3
+
+/**
+ * struct cam_plane_cfg - Plane configuration info
+ *
+ * @width:                      Plane width in pixels
+ * @height:                     Plane height in lines
+ * @plane_stride:               Plane stride in pixel
+ * @slice_height:               Slice height in line (not used by ISP)
+ * @meta_stride:                UBWC metadata stride
+ * @meta_size:                  UBWC metadata plane size
+ * @meta_offset:                UBWC metadata offset
+ * @packer_config:              UBWC packer config
+ * @mode_config:                UBWC mode config
+ * @tile_config:                UBWC tile config
+ * @h_init:                     UBWC horizontal initial coordinate in pixels
+ * @v_init:                     UBWC vertical initial coordinate in lines
+ *
+ */
+struct cam_plane_cfg {
+	uint32_t                width;
+	uint32_t                height;
+	uint32_t                plane_stride;
+	uint32_t                slice_height;
+	uint32_t                meta_stride;
+	uint32_t                meta_size;
+	uint32_t                meta_offset;
+	uint32_t                packer_config;
+	uint32_t                mode_config;
+	uint32_t                tile_config;
+	uint32_t                h_init;
+	uint32_t                v_init;
+};
+
+/**
+ * struct cam_cmd_buf_desc - Command buffer descriptor
+ *
+ * @mem_handle:                 Command buffer handle
+ * @offset:                     Command start offset
+ * @size:                       Size of the command buffer in bytes
+ * @length:                     Used memory in command buffer in bytes
+ * @type:                       Type of the command buffer
+ * @meta_data:                  Data type for private command buffer
+ *                              Between UMD and KMD
+ *
+ */
+struct cam_cmd_buf_desc {
+	int32_t                 mem_handle;
+	uint32_t                offset;
+	uint32_t                size;
+	uint32_t                length;
+	uint32_t                type;
+	uint32_t                meta_data;
+};
+
+/**
+ * struct cam_buf_io_cfg - Buffer io configuration for buffers
+ *
+ * @mem_handle:                 Mem_handle array for the buffers.
+ * @offsets:                    Offsets for each planes in the buffer
+ * @planes:                     Per plane information
+ * @width:                      Main plane width in pixel
+ * @height:                     Main plane height in lines
+ * @format:                     Format of the buffer
+ * @color_space:                Color space for the buffer
+ * @color_pattern:              Color pattern in the buffer
+ * @bpp:                        Bit per pixel
+ * @rotation:                   Rotation information for the buffer
+ * @resource_type:              Resource type associated with the buffer
+ * @fence:                      Fence handle
+ * @early_fence:                Fence handle for early signal
+ * @aux_cmd_buf:                An auxiliary command buffer that may be
+ *                              used for programming the IO
+ * @direction:                  Direction of the config
+ * @batch_size:                 Batch size in HFR mode
+ * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
+ *                              should be consistent with batchSize and
+ *                              CAMIF programming.
+ * @subsample_period:           Subsample period. Used in HFR mode. It
+ *                              should be consistent with batchSize and
+ *                              CAMIF programming.
+ * @framedrop_pattern:          Framedrop pattern
+ * @framedrop_period:           Framedrop period
+ * @flag:                       Flags for extra information
+ * @direction:                  Buffer direction: input or output
+ * @padding:                    Padding for the structure
+ *
+ */
+struct cam_buf_io_cfg {
+	int32_t                         mem_handle[CAM_PACKET_MAX_PLANES];
+	uint32_t                        offsets[CAM_PACKET_MAX_PLANES];
+	struct cam_plane_cfg            planes[CAM_PACKET_MAX_PLANES];
+	uint32_t                        format;
+	uint32_t                        color_space;
+	uint32_t                        color_pattern;
+	uint32_t                        bpp;
+	uint32_t                        rotation;
+	uint32_t                        resource_type;
+	int32_t                         fence;
+	int32_t                         early_fence;
+	struct cam_cmd_buf_desc         aux_cmd_buf;
+	uint32_t                        direction;
+	uint32_t                        batch_size;
+	uint32_t                        subsample_pattern;
+	uint32_t                        subsample_period;
+	uint32_t                        framedrop_pattern;
+	uint32_t                        framedrop_period;
+	uint32_t                        flag;
+	uint32_t                        padding;
+};
+
+/**
+ * struct cam_packet_header - Camera packet header
+ *
+ * @op_code:                    Camera packet opcode
+ * @size:                       Size of the camera packet in bytes
+ * @request_id:                 Request id for this camera packet
+ * @flags:                      Flags for the camera packet
+ * @padding:                    Padding
+ *
+ */
+struct cam_packet_header {
+	uint32_t                op_code;
+	uint32_t                size;
+	uint64_t                request_id;
+	uint32_t                flags;
+	uint32_t                padding;
+};
+
+/**
+ * struct cam_patch_desc - Patch structure
+ *
+ * @dst_buf_hdl:                Memory handle for the dest buffer
+ * @dst_offset:                 Offset byte in the dest buffer
+ * @src_buf_hdl:                Memory handle for the source buffer
+ * @src_offset:                 Offset byte in the source buffer
+ *
+ */
+struct cam_patch_desc {
+	int32_t                 dst_buf_hdl;
+	uint32_t                dst_offset;
+	int32_t                 src_buf_hdl;
+	uint32_t                src_offset;
+};
+
+/**
+ * struct cam_packet - Camera packet structure
+ *
+ * @header:                     Camera packet header
+ * @cmd_buf_offset:             Command buffer start offset
+ * @num_cmd_buf:                Number of the command buffer in the packet
+ * @io_config_offset:           Buffer io configuration start offset
+ * @num_io_configs:             Number of the buffer io configurations
+ * @patch_offset:               Patch offset for the patch structure
+ * @num_patches:                Number of the patch structure
+ * @kmd_cmd_buf_index:          Command buffer index which contains extra
+ *                              space for the KMD buffer
+ * @kmd_cmd_buf_offset:         Offset from the beginning of the command
+ *                              buffer for KMD usage.
+ * @payload:                    Camera packet payload
+ *
+ */
+struct cam_packet {
+	struct cam_packet_header        header;
+	uint32_t                        cmd_buf_offset;
+	uint32_t                        num_cmd_buf;
+	uint32_t                        io_configs_offset;
+	uint32_t                        num_io_configs;
+	uint32_t                        patch_offset;
+	uint32_t                        num_patches;
+	uint32_t                        kmd_cmd_buf_index;
+	uint32_t                        kmd_cmd_buf_offset;
+	uint64_t                        payload[1];
+
+};
+
+/**
+ * struct cam_release_dev_cmd - Control payload for release devices
+ *
+ * @session_handle:             Session handle for the release
+ * @dev_handle:                 Device handle for the release
+ */
+struct cam_release_dev_cmd {
+	int32_t                 session_handle;
+	int32_t                 dev_handle;
+};
+
+/**
+ * struct cam_start_stop_dev_cmd - Control payload for start/stop device
+ *
+ * @session_handle:             Session handle for the start/stop command
+ * @dev_handle:                 Device handle for the start/stop command
+ *
+ */
+struct cam_start_stop_dev_cmd {
+	int32_t                 session_handle;
+	int32_t                 dev_handle;
+};
+
+/**
+ * struct cam_config_dev_cmd - Command payload for configure device
+ *
+ * @session_handle:             Session handle for the command
+ * @dev_handle:                 Device handle for the command
+ * @offset:                     Offset byte in the packet handle.
+ * @packet_handle:              Packet memory handle for the actual packet:
+ *                              struct cam_packet.
+ *
+ */
+struct cam_config_dev_cmd {
+	int32_t                 session_handle;
+	int32_t                 dev_handle;
+	uint64_t                offset;
+	uint64_t                packet_handle;
+};
+
+/**
+ * struct cam_query_cap_cmd - Payload for query device capability
+ *
+ * @size:               Handle size
+ * @handle_type:        User pointer or shared memory handle
+ * @caps_handle:        Device specific query command payload
+ *
+ */
+struct cam_query_cap_cmd {
+	uint32_t        size;
+	uint32_t        handle_type;
+	uint64_t        caps_handle;
+};
+
+/**
+ * struct cam_acquire_dev_cmd - Control payload for acquire devices
+ *
+ * @session_handle:     Session handle for the acquire command
+ * @dev_handle:         Device handle to be returned
+ * @handle_type:        Resource handle type:
+ *                      1 = user pointer, 2 = mem handle
+ * @num_resources:      Number of the resources to be acquired
+ * @resources_hdl:      Resource handle that refers to the actual
+ *                      resource array. Each item in this
+ *                      array is device specific resource structure
+ *
+ */
+struct cam_acquire_dev_cmd {
+	int32_t         session_handle;
+	int32_t         dev_handle;
+	uint32_t        handle_type;
+	uint32_t        num_resources;
+	uint64_t        resource_hdl;
+};
+
+/**
+ * struct cam_flush_dev_cmd - Control payload for flush devices
+ *
+ * @version:           Version
+ * @session_handle:    Session handle for the acquire command
+ * @dev_handle:        Device handle to be returned
+ * @flush_type:        Flush type:
+ *                     0 = flush specific request
+ *                     1 = flush all
+ * @reserved:          Reserved for 64 bit aligngment
+ * @req_id:            Request id that needs to cancel
+ *
+ */
+struct cam_flush_dev_cmd {
+	uint64_t       version;
+	int32_t        session_handle;
+	int32_t        dev_handle;
+	uint32_t       flush_type;
+	uint32_t       reserved;
+	int64_t        req_id;
+};
+
+#endif /* __UAPI_CAM_DEFS_H__ */
diff --git a/selfdrive/camerad/include/media/cam_fd.h b/selfdrive/camerad/include/media/cam_fd.h
new file mode 100644
index 00000000000000..8feb6e4da89a79
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_fd.h
@@ -0,0 +1,127 @@
+#ifndef __UAPI_CAM_FD_H__
+#define __UAPI_CAM_FD_H__
+
+#include "cam_defs.h"
+
+#define CAM_FD_MAX_FACES                       35
+#define CAM_FD_RAW_RESULT_ENTRIES              512
+
+/* FD Op Codes */
+#define CAM_PACKET_OPCODES_FD_FRAME_UPDATE     0x0
+
+/* FD Command Buffer identifiers */
+#define CAM_FD_CMD_BUFFER_ID_GENERIC           0x0
+#define CAM_FD_CMD_BUFFER_ID_CDM               0x1
+#define CAM_FD_CMD_BUFFER_ID_MAX               0x2
+
+/* FD Blob types */
+#define CAM_FD_BLOB_TYPE_SOC_CLOCK_BW_REQUEST  0x0
+#define CAM_FD_BLOB_TYPE_RAW_RESULTS_REQUIRED  0x1
+
+/* FD Resource IDs */
+#define CAM_FD_INPUT_PORT_ID_IMAGE             0x0
+#define CAM_FD_INPUT_PORT_ID_MAX               0x1
+
+#define CAM_FD_OUTPUT_PORT_ID_RESULTS          0x0
+#define CAM_FD_OUTPUT_PORT_ID_RAW_RESULTS      0x1
+#define CAM_FD_OUTPUT_PORT_ID_WORK_BUFFER      0x2
+#define CAM_FD_OUTPUT_PORT_ID_MAX              0x3
+
+/**
+ * struct cam_fd_soc_clock_bw_request - SOC clock, bandwidth request info
+ *
+ * @clock_rate : Clock rate required while processing frame
+ * @bandwidth  : Bandwidth required while processing frame
+ * @reserved   : Reserved for future use
+ */
+struct cam_fd_soc_clock_bw_request {
+	uint64_t    clock_rate;
+	uint64_t    bandwidth;
+	uint64_t    reserved[4];
+};
+
+/**
+ * struct cam_fd_face - Face properties
+ *
+ * @prop1 : Property 1 of face
+ * @prop2 : Property 2 of face
+ * @prop3 : Property 3 of face
+ * @prop4 : Property 4 of face
+ *
+ * Do not change this layout, this is inline with how HW writes
+ * these values directly when the buffer is programmed to HW
+ */
+struct cam_fd_face {
+	uint32_t    prop1;
+	uint32_t    prop2;
+	uint32_t    prop3;
+	uint32_t    prop4;
+};
+
+/**
+ * struct cam_fd_results - FD results layout
+ *
+ * @faces      : Array of faces with face properties
+ * @face_count : Number of faces detected
+ * @reserved   : Reserved for alignment
+ *
+ * Do not change this layout, this is inline with how HW writes
+ * these values directly when the buffer is programmed to HW
+ */
+struct cam_fd_results {
+	struct cam_fd_face    faces[CAM_FD_MAX_FACES];
+	uint32_t              face_count;
+	uint32_t              reserved[3];
+};
+
+/**
+ * struct cam_fd_hw_caps - Face properties
+ *
+ * @core_version          : FD core version
+ * @wrapper_version       : FD wrapper version
+ * @raw_results_available : Whether raw results are available on this HW
+ * @supported_modes       : Modes supported by this HW.
+ * @reserved              : Reserved for future use
+ */
+struct cam_fd_hw_caps {
+	struct cam_hw_version    core_version;
+	struct cam_hw_version    wrapper_version;
+	uint32_t                 raw_results_available;
+	uint32_t                 supported_modes;
+	uint64_t                 reserved;
+};
+
+/**
+ * struct cam_fd_query_cap_cmd - FD Query capabilities information
+ *
+ * @device_iommu : FD IOMMU handles
+ * @cdm_iommu    : CDM iommu handles
+ * @hw_caps      : FD HW capabilities
+ * @reserved     : Reserved for alignment
+ */
+struct cam_fd_query_cap_cmd {
+	struct cam_iommu_handle    device_iommu;
+	struct cam_iommu_handle    cdm_iommu;
+	struct cam_fd_hw_caps      hw_caps;
+	uint64_t                   reserved;
+};
+
+/**
+ * struct cam_fd_acquire_dev_info - FD acquire device information
+ *
+ * @clk_bw_request  : SOC clock, bandwidth request
+ * @priority        : Priority for this acquire
+ * @mode            : Mode in which to run FD HW.
+ * @get_raw_results : Whether this acquire needs face raw results
+ *                    while frame processing
+ * @reserved        : Reserved field for 64 bit alignment
+ */
+struct cam_fd_acquire_dev_info {
+	struct cam_fd_soc_clock_bw_request clk_bw_request;
+	uint32_t                           priority;
+	uint32_t                           mode;
+	uint32_t                           get_raw_results;
+	uint32_t                           reserved[13];
+};
+
+#endif /* __UAPI_CAM_FD_H__ */
diff --git a/selfdrive/camerad/include/media/cam_icp.h b/selfdrive/camerad/include/media/cam_icp.h
new file mode 100644
index 00000000000000..680d05b630a67e
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_icp.h
@@ -0,0 +1,179 @@
+#ifndef __UAPI_CAM_ICP_H__
+#define __UAPI_CAM_ICP_H__
+
+#include "cam_defs.h"
+
+/* icp, ipe, bps, cdm(ipe/bps) are used in querycap */
+#define CAM_ICP_DEV_TYPE_A5      1
+#define CAM_ICP_DEV_TYPE_IPE     2
+#define CAM_ICP_DEV_TYPE_BPS     3
+#define CAM_ICP_DEV_TYPE_IPE_CDM 4
+#define CAM_ICP_DEV_TYPE_BPS_CDM 5
+#define CAM_ICP_DEV_TYPE_MAX     5
+
+/* definitions needed for icp aquire device */
+#define CAM_ICP_RES_TYPE_BPS        1
+#define CAM_ICP_RES_TYPE_IPE_RT     2
+#define CAM_ICP_RES_TYPE_IPE        3
+#define CAM_ICP_RES_TYPE_MAX        4
+
+/* packet opcode types */
+#define CAM_ICP_OPCODE_IPE_UPDATE 0
+#define CAM_ICP_OPCODE_BPS_UPDATE 1
+
+/* IPE input port resource type */
+#define CAM_ICP_IPE_INPUT_IMAGE_FULL            0x0
+#define CAM_ICP_IPE_INPUT_IMAGE_DS4             0x1
+#define CAM_ICP_IPE_INPUT_IMAGE_DS16            0x2
+#define CAM_ICP_IPE_INPUT_IMAGE_DS64            0x3
+#define CAM_ICP_IPE_INPUT_IMAGE_FULL_REF        0x4
+#define CAM_ICP_IPE_INPUT_IMAGE_DS4_REF         0x5
+#define CAM_ICP_IPE_INPUT_IMAGE_DS16_REF        0x6
+#define CAM_ICP_IPE_INPUT_IMAGE_DS64_REF        0x7
+
+/* IPE output port resource type */
+#define CAM_ICP_IPE_OUTPUT_IMAGE_DISPLAY        0x8
+#define CAM_ICP_IPE_OUTPUT_IMAGE_VIDEO          0x9
+#define CAM_ICP_IPE_OUTPUT_IMAGE_FULL_REF       0xA
+#define CAM_ICP_IPE_OUTPUT_IMAGE_DS4_REF        0xB
+#define CAM_ICP_IPE_OUTPUT_IMAGE_DS16_REF       0xC
+#define CAM_ICP_IPE_OUTPUT_IMAGE_DS64_REF       0xD
+
+#define CAM_ICP_IPE_IMAGE_MAX                   0xE
+
+/* BPS input port resource type */
+#define CAM_ICP_BPS_INPUT_IMAGE                 0x0
+
+/* BPS output port resource type */
+#define CAM_ICP_BPS_OUTPUT_IMAGE_FULL           0x1
+#define CAM_ICP_BPS_OUTPUT_IMAGE_DS4            0x2
+#define CAM_ICP_BPS_OUTPUT_IMAGE_DS16           0x3
+#define CAM_ICP_BPS_OUTPUT_IMAGE_DS64           0x4
+#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BG       0x5
+#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BHIST    0x6
+#define CAM_ICP_BPS_OUTPUT_IMAGE_REG1           0x7
+#define CAM_ICP_BPS_OUTPUT_IMAGE_REG2           0x8
+
+#define CAM_ICP_BPS_IO_IMAGES_MAX               0x9
+
+/* Command meta types */
+#define CAM_ICP_CMD_META_GENERIC_BLOB           0x1
+
+/* Generic blob types */
+#define CAM_ICP_CMD_GENERIC_BLOB_CLK            0x1
+#define CAM_ICP_CMD_GENERIC_BLOB_CFG_IO         0x2
+
+/**
+ * struct cam_icp_clk_bw_request
+ *
+ * @budget_ns: Time required to process frame
+ * @frame_cycles: Frame cycles needed to process the frame
+ * @rt_flag: Flag to indicate real time stream
+ * @uncompressed_bw: Bandwidth required to process frame
+ * @compressed_bw: Compressed bandwidth to process frame
+ */
+struct cam_icp_clk_bw_request {
+	uint64_t budget_ns;
+	uint32_t frame_cycles;
+	uint32_t rt_flag;
+	uint64_t uncompressed_bw;
+	uint64_t compressed_bw;
+};
+
+/**
+ * struct cam_icp_dev_ver - Device information for particular hw type
+ *
+ * This is used to get device version info of
+ * ICP, IPE, BPS and CDM related IPE and BPS from firmware
+ * and use this info in CAM_QUERY_CAP IOCTL
+ *
+ * @dev_type: hardware type for the cap info(icp, ipe, bps, cdm(ipe/bps))
+ * @reserved: reserved field
+ * @hw_ver: major, minor and incr values of a device version
+ */
+struct cam_icp_dev_ver {
+	uint32_t dev_type;
+	uint32_t reserved;
+	struct cam_hw_version hw_ver;
+};
+
+/**
+ * struct cam_icp_ver - ICP version info
+ *
+ * This strcuture is used for fw and api version
+ * this is used to get firmware version and api version from firmware
+ * and use this info in CAM_QUERY_CAP IOCTL
+ *
+ * @major: FW version major
+ * @minor: FW version minor
+ * @revision: FW version increment
+ */
+struct cam_icp_ver {
+	uint32_t major;
+	uint32_t minor;
+	uint32_t revision;
+	uint32_t reserved;
+};
+
+/**
+ * struct cam_icp_query_cap_cmd - ICP query device capability payload
+ *
+ * @dev_iommu_handle: icp iommu handles for secure/non secure modes
+ * @cdm_iommu_handle: iommu handles for secure/non secure modes
+ * @fw_version: firmware version info
+ * @api_version: api version info
+ * @num_ipe: number of ipes
+ * @num_bps: number of bps
+ * @dev_ver: returned device capability array
+ */
+struct cam_icp_query_cap_cmd {
+	struct cam_iommu_handle dev_iommu_handle;
+	struct cam_iommu_handle cdm_iommu_handle;
+	struct cam_icp_ver fw_version;
+	struct cam_icp_ver api_version;
+	uint32_t num_ipe;
+	uint32_t num_bps;
+	struct cam_icp_dev_ver dev_ver[CAM_ICP_DEV_TYPE_MAX];
+};
+
+/**
+ * struct cam_icp_res_info - ICP output resource info
+ *
+ * @format: format of the resource
+ * @width:  width in pixels
+ * @height: height in lines
+ * @fps:  fps
+ */
+struct cam_icp_res_info {
+	uint32_t format;
+	uint32_t width;
+	uint32_t height;
+	uint32_t fps;
+};
+
+/**
+ * struct cam_icp_acquire_dev_info - An ICP device info
+ *
+ * @scratch_mem_size: Output param - size of scratch memory
+ * @dev_type: device type (IPE_RT/IPE_NON_RT/BPS)
+ * @io_config_cmd_size: size of IO config command
+ * @io_config_cmd_handle: IO config command for each acquire
+ * @secure_mode: camera mode (secure/non secure)
+ * @chain_info: chaining info of FW device handles
+ * @in_res: resource info used for clock and bandwidth calculation
+ * @num_out_res: number of output resources
+ * @out_res: output resource
+ */
+struct cam_icp_acquire_dev_info {
+	uint32_t scratch_mem_size;
+	uint32_t dev_type;
+	uint32_t io_config_cmd_size;
+	int32_t  io_config_cmd_handle;
+	uint32_t secure_mode;
+	int32_t chain_info;
+	struct cam_icp_res_info in_res;
+	uint32_t num_out_res;
+	struct cam_icp_res_info out_res[1];
+} __attribute__((__packed__));
+
+#endif /* __UAPI_CAM_ICP_H__ */
diff --git a/selfdrive/camerad/include/media/cam_isp.h b/selfdrive/camerad/include/media/cam_isp.h
new file mode 100644
index 00000000000000..266840d38c2547
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_isp.h
@@ -0,0 +1,379 @@
+#ifndef __UAPI_CAM_ISP_H__
+#define __UAPI_CAM_ISP_H__
+
+#include "cam_defs.h"
+#include "cam_isp_vfe.h"
+#include "cam_isp_ife.h"
+
+
+/* ISP driver name */
+#define CAM_ISP_DEV_NAME                        "cam-isp"
+
+/* HW type */
+#define CAM_ISP_HW_BASE                         0
+#define CAM_ISP_HW_CSID                         1
+#define CAM_ISP_HW_VFE                          2
+#define CAM_ISP_HW_IFE                          3
+#define CAM_ISP_HW_ISPIF                        4
+#define CAM_ISP_HW_MAX                          5
+
+/* Color Pattern */
+#define CAM_ISP_PATTERN_BAYER_RGRGRG            0
+#define CAM_ISP_PATTERN_BAYER_GRGRGR            1
+#define CAM_ISP_PATTERN_BAYER_BGBGBG            2
+#define CAM_ISP_PATTERN_BAYER_GBGBGB            3
+#define CAM_ISP_PATTERN_YUV_YCBYCR              4
+#define CAM_ISP_PATTERN_YUV_YCRYCB              5
+#define CAM_ISP_PATTERN_YUV_CBYCRY              6
+#define CAM_ISP_PATTERN_YUV_CRYCBY              7
+#define CAM_ISP_PATTERN_MAX                     8
+
+/* Usage Type */
+#define CAM_ISP_RES_USAGE_SINGLE                0
+#define CAM_ISP_RES_USAGE_DUAL                  1
+#define CAM_ISP_RES_USAGE_MAX                   2
+
+/* Resource ID */
+#define CAM_ISP_RES_ID_PORT                     0
+#define CAM_ISP_RES_ID_CLK                      1
+#define CAM_ISP_RES_ID_MAX                      2
+
+/* Resource Type - Type of resource for the resource id
+ * defined in cam_isp_vfe.h, cam_isp_ife.h
+ */
+
+/* Lane Type in input resource for Port */
+#define CAM_ISP_LANE_TYPE_DPHY                  0
+#define CAM_ISP_LANE_TYPE_CPHY                  1
+#define CAM_ISP_LANE_TYPE_MAX                   2
+
+/* ISP Resurce Composite Group ID */
+#define CAM_ISP_RES_COMP_GROUP_NONE             0
+#define CAM_ISP_RES_COMP_GROUP_ID_0             1
+#define CAM_ISP_RES_COMP_GROUP_ID_1             2
+#define CAM_ISP_RES_COMP_GROUP_ID_2             3
+#define CAM_ISP_RES_COMP_GROUP_ID_3             4
+#define CAM_ISP_RES_COMP_GROUP_ID_4             5
+#define CAM_ISP_RES_COMP_GROUP_ID_5             6
+#define CAM_ISP_RES_COMP_GROUP_ID_MAX           6
+
+/* ISP packet opcode for ISP */
+#define CAM_ISP_PACKET_OP_BASE                  0
+#define CAM_ISP_PACKET_INIT_DEV                 1
+#define CAM_ISP_PACKET_UPDATE_DEV               2
+#define CAM_ISP_PACKET_OP_MAX                   3
+
+/* ISP packet meta_data type for command buffer */
+#define CAM_ISP_PACKET_META_BASE                0
+#define CAM_ISP_PACKET_META_LEFT                1
+#define CAM_ISP_PACKET_META_RIGHT               2
+#define CAM_ISP_PACKET_META_COMMON              3
+#define CAM_ISP_PACKET_META_DMI_LEFT            4
+#define CAM_ISP_PACKET_META_DMI_RIGHT           5
+#define CAM_ISP_PACKET_META_DMI_COMMON          6
+#define CAM_ISP_PACKET_META_CLOCK               7
+#define CAM_ISP_PACKET_META_CSID                8
+#define CAM_ISP_PACKET_META_DUAL_CONFIG         9
+#define CAM_ISP_PACKET_META_GENERIC_BLOB_LEFT   10
+#define CAM_ISP_PACKET_META_GENERIC_BLOB_RIGHT  11
+#define CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON 12
+
+/* DSP mode */
+#define CAM_ISP_DSP_MODE_NONE                   0
+#define CAM_ISP_DSP_MODE_ONE_WAY                1
+#define CAM_ISP_DSP_MODE_ROUND                  2
+
+/* ISP Generic Cmd Buffer Blob types */
+#define CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG      0
+#define CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG    1
+#define CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG       2
+
+/* Query devices */
+/**
+ * struct cam_isp_dev_cap_info - A cap info for particular hw type
+ *
+ * @hw_type:            Hardware type for the cap info
+ * @reserved:           reserved field for alignment
+ * @hw_version:         Hardware version
+ *
+ */
+struct cam_isp_dev_cap_info {
+	uint32_t              hw_type;
+	uint32_t              reserved;
+	struct cam_hw_version hw_version;
+};
+
+/**
+ * struct cam_isp_query_cap_cmd - ISP query device capability payload
+ *
+ * @device_iommu:               returned iommu handles for device
+ * @cdm_iommu:                  returned iommu handles for cdm
+ * @num_dev:                    returned number of device capabilities
+ * @reserved:                   reserved field for alignment
+ * @dev_caps:                   returned device capability array
+ *
+ */
+struct cam_isp_query_cap_cmd {
+	struct cam_iommu_handle       device_iommu;
+	struct cam_iommu_handle       cdm_iommu;
+	int32_t                       num_dev;
+	uint32_t                      reserved;
+	struct cam_isp_dev_cap_info   dev_caps[CAM_ISP_HW_MAX];
+};
+
+/* Acquire Device */
+/**
+ * struct cam_isp_out_port_info - An output port resource info
+ *
+ * @res_type:                   output resource type defined in file
+ *                              cam_isp_vfe.h or cam_isp_ife.h
+ * @format:                     output format of the resource
+ * @wdith:                      output width in pixels
+ * @height:                     output height in lines
+ * @comp_grp_id:                composite group id for the resource.
+ * @split_point:                split point in pixels for the dual VFE.
+ * @secure_mode:                flag to tell if output should be run in secure
+ *                              mode or not. See cam_defs.h for definition
+ * @reserved:                   reserved field for alignment
+ *
+ */
+struct cam_isp_out_port_info {
+	uint32_t                res_type;
+	uint32_t                format;
+	uint32_t                width;
+	uint32_t                height;
+	uint32_t                comp_grp_id;
+	uint32_t                split_point;
+	uint32_t                secure_mode;
+	uint32_t                reserved;
+};
+
+/**
+ * struct cam_isp_in_port_info - An input port resource info
+ *
+ * @res_type:                   input resource type define in file
+ *                              cam_isp_vfe.h or cam_isp_ife.h
+ * @lane_type:                  lane type: c-phy or d-phy.
+ * @lane_num:                   active lane number
+ * @lane_cfg:                   lane configurations: 4 bits per lane
+ * @vc:                         input virtual channel number
+ * @dt:                         input data type number
+ * @format:                     input format
+ * @test_pattern:               test pattern for the testgen
+ * @usage_type:                 whether dual vfe is required
+ * @left_start:                 left input start offset in pixels
+ * @left_stop:                  left input stop offset in pixels
+ * @left_width:                 left input width in pixels
+ * @right_start:                right input start offset in pixels.
+ *                              Only for Dual VFE
+ * @right_stop:                 right input stop offset in pixels.
+ *                              Only for Dual VFE
+ * @right_width:                right input width in pixels.
+ *                              Only for dual VFE
+ * @line_start:                 top of the line number
+ * @line_stop:                  bottome of the line number
+ * @height:                     input height in lines
+ * @pixel_clk;                  sensor output clock
+ * @batch_size:                 batch size for HFR mode
+ * @dsp_mode:                   DSP stream mode (Defines as CAM_ISP_DSP_MODE_*)
+ * @hbi_cnt:                    HBI count for the camif input
+ * @reserved:                   Reserved field for alignment
+ * @num_out_res:                number of the output resource associated
+ * @data:                       payload that contains the output resources
+ *
+ */
+struct cam_isp_in_port_info {
+	uint32_t                        res_type;
+	uint32_t                        lane_type;
+	uint32_t                        lane_num;
+	uint32_t                        lane_cfg;
+	uint32_t                        vc;
+	uint32_t                        dt;
+	uint32_t                        format;
+	uint32_t                        test_pattern;
+	uint32_t                        usage_type;
+	uint32_t                        left_start;
+	uint32_t                        left_stop;
+	uint32_t                        left_width;
+	uint32_t                        right_start;
+	uint32_t                        right_stop;
+	uint32_t                        right_width;
+	uint32_t                        line_start;
+	uint32_t                        line_stop;
+	uint32_t                        height;
+	uint32_t                        pixel_clk;
+	uint32_t                        batch_size;
+	uint32_t                        dsp_mode;
+	uint32_t                        hbi_cnt;
+        uint32_t                        custom_csid;
+	uint32_t                        reserved;
+	uint32_t                        num_out_res;
+	struct cam_isp_out_port_info    data[1];
+};
+
+/**
+ * struct cam_isp_resource - A resource bundle
+ *
+ * @resoruce_id:                resource id for the resource bundle
+ * @length:                     length of the while resource blob
+ * @handle_type:                type of the resource handle
+ * @reserved:                   reserved field for alignment
+ * @res_hdl:                    resource handle that points to the
+ *                                     resource array;
+ *
+ */
+struct cam_isp_resource {
+	uint32_t                       resource_id;
+	uint32_t                       length;
+	uint32_t                       handle_type;
+	uint32_t                       reserved;
+	uint64_t                       res_hdl;
+};
+
+/**
+ * struct cam_isp_port_hfr_config - HFR configuration for this port
+ *
+ * @resource_type:              Resource type
+ * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
+ *                              should be consistent with batchSize and
+ *                              CAMIF programming.
+ * @subsample_period:           Subsample period. Used in HFR mode. It
+ *                              should be consistent with batchSize and
+ *                              CAMIF programming.
+ * @framedrop_pattern:          Framedrop pattern
+ * @framedrop_period:           Framedrop period
+ * @reserved:                   Reserved for alignment
+ */
+struct cam_isp_port_hfr_config {
+	uint32_t                       resource_type;
+	uint32_t                       subsample_pattern;
+	uint32_t                       subsample_period;
+	uint32_t                       framedrop_pattern;
+	uint32_t                       framedrop_period;
+	uint32_t                       reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_resource_hfr_config - Resource HFR configuration
+ *
+ * @num_ports:                  Number of ports
+ * @reserved:                   Reserved for alignment
+ * @port_hfr_config:            HFR configuration for each IO port
+ */
+struct cam_isp_resource_hfr_config {
+	uint32_t                       num_ports;
+	uint32_t                       reserved;
+	struct cam_isp_port_hfr_config port_hfr_config[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_dual_split_params - dual isp spilt parameters
+ *
+ * @split_point:                Split point information x, where (0 < x < width)
+ *                              left ISP's input ends at x + righ padding and
+ *                              Right ISP's input starts at x - left padding
+ * @right_padding:              Padding added past the split point for left
+ *                              ISP's input
+ * @left_padding:               Padding added before split point for right
+ *                              ISP's input
+ * @reserved:                   Reserved filed for alignment
+ *
+ */
+struct cam_isp_dual_split_params {
+	uint32_t                       split_point;
+	uint32_t                       right_padding;
+	uint32_t                       left_padding;
+	uint32_t                       reserved;
+};
+
+/**
+ * struct cam_isp_dual_stripe_config - stripe config per bus client
+ *
+ * @offset:                     Start horizontal offset relative to
+ *                              output buffer
+ *                              In UBWC mode, this value indicates the H_INIT
+ *                              value in pixel
+ * @width:                      Width of the stripe in bytes
+ * @tileconfig                  Ubwc meta tile config. Contain the partial
+ *                              tile info
+ * @port_id:                    port id of ISP output
+ *
+ */
+struct cam_isp_dual_stripe_config {
+	uint32_t                       offset;
+	uint32_t                       width;
+	uint32_t                       tileconfig;
+	uint32_t                       port_id;
+};
+
+/**
+ * struct cam_isp_dual_config - dual isp configuration
+ *
+ * @num_ports                   Number of isp output ports
+ * @reserved                    Reserved field for alignment
+ * @split_params:               Inpput split parameters
+ * @stripes:                    Stripe information
+ *
+ */
+struct cam_isp_dual_config {
+	uint32_t                           num_ports;
+	uint32_t                           reserved;
+	struct cam_isp_dual_split_params   split_params;
+	struct cam_isp_dual_stripe_config  stripes[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_clock_config - Clock configuration
+ *
+ * @usage_type:                 Usage type (Single/Dual)
+ * @num_rdi:                    Number of RDI votes
+ * @left_pix_hz:                Pixel Clock for Left ISP
+ * @right_pix_hz:               Pixel Clock for Right ISP, valid only if Dual
+ * @rdi_hz:                     RDI Clock. ISP clock will be max of RDI and
+ *                              PIX clocks. For a particular context which ISP
+ *                              HW the RDI is allocated to is not known to UMD.
+ *                              Hence pass the clock and let KMD decide.
+ */
+struct cam_isp_clock_config {
+	uint32_t                       usage_type;
+	uint32_t                       num_rdi;
+	uint64_t                       left_pix_hz;
+	uint64_t                       right_pix_hz;
+	uint64_t                       rdi_hz[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_bw_vote - Bandwidth vote information
+ *
+ * @resource_id:                Resource ID
+ * @reserved:                   Reserved field for alignment
+ * @cam_bw_bps:                 Bandwidth vote for CAMNOC
+ * @ext_bw_bps:                 Bandwidth vote for path-to-DDR after CAMNOC
+ */
+
+struct cam_isp_bw_vote {
+	uint32_t                       resource_id;
+	uint32_t                       reserved;
+	uint64_t                       cam_bw_bps;
+	uint64_t                       ext_bw_bps;
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_bw_config - Bandwidth configuration
+ *
+ * @usage_type:                 Usage type (Single/Dual)
+ * @num_rdi:                    Number of RDI votes
+ * @left_pix_vote:              Bandwidth vote for left ISP
+ * @right_pix_vote:             Bandwidth vote for right ISP
+ * @rdi_vote:                   RDI bandwidth requirements
+ */
+
+struct cam_isp_bw_config {
+	uint32_t                       usage_type;
+	uint32_t                       num_rdi;
+	struct cam_isp_bw_vote         left_pix_vote;
+	struct cam_isp_bw_vote         right_pix_vote;
+	struct cam_isp_bw_vote         rdi_vote[1];
+} __attribute__((packed));
+
+#endif /* __UAPI_CAM_ISP_H__ */
diff --git a/selfdrive/camerad/include/media/cam_isp_ife.h b/selfdrive/camerad/include/media/cam_isp_ife.h
new file mode 100644
index 00000000000000..f5e72813fc0d2d
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_isp_ife.h
@@ -0,0 +1,39 @@
+#ifndef __UAPI_CAM_ISP_IFE_H__
+#define __UAPI_CAM_ISP_IFE_H__
+
+/* IFE output port resource type (global unique)*/
+#define CAM_ISP_IFE_OUT_RES_BASE               0x3000
+
+#define CAM_ISP_IFE_OUT_RES_FULL               (CAM_ISP_IFE_OUT_RES_BASE + 0)
+#define CAM_ISP_IFE_OUT_RES_DS4                (CAM_ISP_IFE_OUT_RES_BASE + 1)
+#define CAM_ISP_IFE_OUT_RES_DS16               (CAM_ISP_IFE_OUT_RES_BASE + 2)
+#define CAM_ISP_IFE_OUT_RES_RAW_DUMP           (CAM_ISP_IFE_OUT_RES_BASE + 3)
+#define CAM_ISP_IFE_OUT_RES_FD                 (CAM_ISP_IFE_OUT_RES_BASE + 4)
+#define CAM_ISP_IFE_OUT_RES_PDAF               (CAM_ISP_IFE_OUT_RES_BASE + 5)
+#define CAM_ISP_IFE_OUT_RES_RDI_0              (CAM_ISP_IFE_OUT_RES_BASE + 6)
+#define CAM_ISP_IFE_OUT_RES_RDI_1              (CAM_ISP_IFE_OUT_RES_BASE + 7)
+#define CAM_ISP_IFE_OUT_RES_RDI_2              (CAM_ISP_IFE_OUT_RES_BASE + 8)
+#define CAM_ISP_IFE_OUT_RES_RDI_3              (CAM_ISP_IFE_OUT_RES_BASE + 9)
+#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_IFE_OUT_RES_BASE + 10)
+#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_IFE_OUT_RES_BASE + 11)
+#define CAM_ISP_IFE_OUT_RES_STATS_TL_BG        (CAM_ISP_IFE_OUT_RES_BASE + 12)
+#define CAM_ISP_IFE_OUT_RES_STATS_BF           (CAM_ISP_IFE_OUT_RES_BASE + 13)
+#define CAM_ISP_IFE_OUT_RES_STATS_AWB_BG       (CAM_ISP_IFE_OUT_RES_BASE + 14)
+#define CAM_ISP_IFE_OUT_RES_STATS_BHIST        (CAM_ISP_IFE_OUT_RES_BASE + 15)
+#define CAM_ISP_IFE_OUT_RES_STATS_RS           (CAM_ISP_IFE_OUT_RES_BASE + 16)
+#define CAM_ISP_IFE_OUT_RES_STATS_CS           (CAM_ISP_IFE_OUT_RES_BASE + 17)
+#define CAM_ISP_IFE_OUT_RES_STATS_IHIST        (CAM_ISP_IFE_OUT_RES_BASE + 18)
+#define CAM_ISP_IFE_OUT_RES_MAX                (CAM_ISP_IFE_OUT_RES_BASE + 19)
+
+
+/* IFE input port resource type (global unique) */
+#define CAM_ISP_IFE_IN_RES_BASE                 0x4000
+
+#define CAM_ISP_IFE_IN_RES_TPG                 (CAM_ISP_IFE_IN_RES_BASE + 0)
+#define CAM_ISP_IFE_IN_RES_PHY_0               (CAM_ISP_IFE_IN_RES_BASE + 1)
+#define CAM_ISP_IFE_IN_RES_PHY_1               (CAM_ISP_IFE_IN_RES_BASE + 2)
+#define CAM_ISP_IFE_IN_RES_PHY_2               (CAM_ISP_IFE_IN_RES_BASE + 3)
+#define CAM_ISP_IFE_IN_RES_PHY_3               (CAM_ISP_IFE_IN_RES_BASE + 4)
+#define CAM_ISP_IFE_IN_RES_MAX                 (CAM_ISP_IFE_IN_RES_BASE + 5)
+
+#endif /* __UAPI_CAM_ISP_IFE_H__ */
diff --git a/selfdrive/camerad/include/media/cam_isp_vfe.h b/selfdrive/camerad/include/media/cam_isp_vfe.h
new file mode 100644
index 00000000000000..e48db2f98d91c2
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_isp_vfe.h
@@ -0,0 +1,44 @@
+#ifndef __UAPI_CAM_ISP_VFE_H__
+#define __UAPI_CAM_ISP_VFE_H__
+
+/* VFE output port resource type  (global unique)  */
+#define CAM_ISP_VFE_OUT_RES_BASE               0x1000
+
+#define CAM_ISP_VFE_OUT_RES_ENC                (CAM_ISP_VFE_OUT_RES_BASE + 0)
+#define CAM_ISP_VFE_OUT_RES_VIEW               (CAM_ISP_VFE_OUT_RES_BASE + 1)
+#define CAM_ISP_VFE_OUT_RES_VID                (CAM_ISP_VFE_OUT_RES_BASE + 2)
+#define CAM_ISP_VFE_OUT_RES_RDI_0              (CAM_ISP_VFE_OUT_RES_BASE + 3)
+#define CAM_ISP_VFE_OUT_RES_RDI_1              (CAM_ISP_VFE_OUT_RES_BASE + 4)
+#define CAM_ISP_VFE_OUT_RES_RDI_2              (CAM_ISP_VFE_OUT_RES_BASE + 5)
+#define CAM_ISP_VFE_OUT_RES_RDI_3              (CAM_ISP_VFE_OUT_RES_BASE + 6)
+#define CAM_ISP_VFE_OUT_RES_STATS_AEC          (CAM_ISP_VFE_OUT_RES_BASE + 7)
+#define CAM_ISP_VFE_OUT_RES_STATS_AF           (CAM_ISP_VFE_OUT_RES_BASE + 8)
+#define CAM_ISP_VFE_OUT_RES_STATS_AWB          (CAM_ISP_VFE_OUT_RES_BASE + 9)
+#define CAM_ISP_VFE_OUT_RES_STATS_RS           (CAM_ISP_VFE_OUT_RES_BASE + 10)
+#define CAM_ISP_VFE_OUT_RES_STATS_CS           (CAM_ISP_VFE_OUT_RES_BASE + 11)
+#define CAM_ISP_VFE_OUT_RES_STATS_IHIST        (CAM_ISP_VFE_OUT_RES_BASE + 12)
+#define CAM_ISP_VFE_OUT_RES_STATS_SKIN         (CAM_ISP_VFE_OUT_RES_BASE + 13)
+#define CAM_ISP_VFE_OUT_RES_STATS_BG           (CAM_ISP_VFE_OUT_RES_BASE + 14)
+#define CAM_ISP_VFE_OUT_RES_STATS_BF           (CAM_ISP_VFE_OUT_RES_BASE + 15)
+#define CAM_ISP_VFE_OUT_RES_STATS_BE           (CAM_ISP_VFE_OUT_RES_BASE + 16)
+#define CAM_ISP_VFE_OUT_RES_STATS_BHIST        (CAM_ISP_VFE_OUT_RES_BASE + 17)
+#define CAM_ISP_VFE_OUT_RES_STATS_BF_SCALE     (CAM_ISP_VFE_OUT_RES_BASE + 18)
+#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_VFE_OUT_RES_BASE + 19)
+#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_VFE_OUT_RES_BASE + 20)
+#define CAM_ISP_VFE_OUT_RES_STATS_AEC_BG       (CAM_ISP_VFE_OUT_RES_BASE + 21)
+#define CAM_ISP_VFE_OUT_RES_CAMIF_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 22)
+#define CAM_ISP_VFE_OUT_RES_IDEAL_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 23)
+#define CAM_ISP_VFE_OUT_RES_MAX                (CAM_ISP_VFE_OUT_RES_BASE + 24)
+
+/* VFE input port_ resource type (global unique) */
+#define CAM_ISP_VFE_IN_RES_BASE                0x2000
+
+#define CAM_ISP_VFE_IN_RES_TPG                 (CAM_ISP_VFE_IN_RES_BASE + 0)
+#define CAM_ISP_VFE_IN_RES_PHY_0               (CAM_ISP_VFE_IN_RES_BASE + 1)
+#define CAM_ISP_VFE_IN_RES_PHY_1               (CAM_ISP_VFE_IN_RES_BASE + 2)
+#define CAM_ISP_VFE_IN_RES_PHY_2               (CAM_ISP_VFE_IN_RES_BASE + 3)
+#define CAM_ISP_VFE_IN_RES_PHY_3               (CAM_ISP_VFE_IN_RES_BASE + 4)
+#define CAM_ISP_VFE_IN_RES_FE                  (CAM_ISP_VFE_IN_RES_BASE + 5)
+#define CAM_ISP_VFE_IN_RES_MAX                 (CAM_ISP_VFE_IN_RES_BASE + 6)
+
+#endif /* __UAPI_CAM_ISP_VFE_H__ */
diff --git a/selfdrive/camerad/include/media/cam_jpeg.h b/selfdrive/camerad/include/media/cam_jpeg.h
new file mode 100644
index 00000000000000..f3082f3bfe295b
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_jpeg.h
@@ -0,0 +1,117 @@
+#ifndef __UAPI_CAM_JPEG_H__
+#define __UAPI_CAM_JPEG_H__
+
+#include "cam_defs.h"
+
+/* enc, dma, cdm(enc/dma) are used in querycap */
+#define CAM_JPEG_DEV_TYPE_ENC      0
+#define CAM_JPEG_DEV_TYPE_DMA      1
+#define CAM_JPEG_DEV_TYPE_MAX      2
+
+#define CAM_JPEG_NUM_DEV_PER_RES_MAX      1
+
+/* definitions needed for jpeg aquire device */
+#define CAM_JPEG_RES_TYPE_ENC        0
+#define CAM_JPEG_RES_TYPE_DMA        1
+#define CAM_JPEG_RES_TYPE_MAX        2
+
+/* packet opcode types */
+#define CAM_JPEG_OPCODE_ENC_UPDATE 0
+#define CAM_JPEG_OPCODE_DMA_UPDATE 1
+
+/* ENC input port resource type */
+#define CAM_JPEG_ENC_INPUT_IMAGE                 0x0
+
+/* ENC output port resource type */
+#define CAM_JPEG_ENC_OUTPUT_IMAGE                0x1
+
+#define CAM_JPEG_ENC_IO_IMAGES_MAX               0x2
+
+/* DMA input port resource type */
+#define CAM_JPEG_DMA_INPUT_IMAGE                 0x0
+
+/* DMA output port resource type */
+#define CAM_JPEG_DMA_OUTPUT_IMAGE                0x1
+
+#define CAM_JPEG_DMA_IO_IMAGES_MAX               0x2
+
+#define CAM_JPEG_IMAGE_MAX                       0x2
+
+/**
+ * struct cam_jpeg_dev_ver - Device information for particular hw type
+ *
+ * This is used to get device version info of JPEG ENC, JPEG DMA
+ * from hardware and use this info in CAM_QUERY_CAP IOCTL
+ *
+ * @size : Size of struct passed
+ * @dev_type: Hardware type for the cap info(jpeg enc, jpeg dma)
+ * @hw_ver: Major, minor and incr values of a device version
+ */
+struct cam_jpeg_dev_ver {
+	uint32_t size;
+	uint32_t dev_type;
+	struct cam_hw_version hw_ver;
+};
+
+/**
+ * struct cam_jpeg_query_cap_cmd - JPEG query device capability payload
+ *
+ * @dev_iommu_handle: Jpeg iommu handles for secure/non secure
+ *      modes
+ * @cdm_iommu_handle: Iommu handles for secure/non secure modes
+ * @num_enc: Number of encoder
+ * @num_dma: Number of dma
+ * @dev_ver: Returned device capability array
+ */
+struct cam_jpeg_query_cap_cmd {
+	struct cam_iommu_handle dev_iommu_handle;
+	struct cam_iommu_handle cdm_iommu_handle;
+	uint32_t num_enc;
+	uint32_t num_dma;
+	struct cam_jpeg_dev_ver dev_ver[CAM_JPEG_DEV_TYPE_MAX];
+};
+
+/**
+ * struct cam_jpeg_res_info - JPEG output resource info
+ *
+ * @format: Format of the resource
+ * @width:  Width in pixels
+ * @height: Height in lines
+ * @fps:  Fps
+ */
+struct cam_jpeg_res_info {
+	uint32_t format;
+	uint32_t width;
+	uint32_t height;
+	uint32_t fps;
+};
+
+/**
+ * struct cam_jpeg_acquire_dev_info - An JPEG device info
+ *
+ * @dev_type: Device type (ENC/DMA)
+ * @reserved: Reserved Bytes
+ * @in_res: In resource info
+ * @in_res: Iut resource info
+ */
+struct cam_jpeg_acquire_dev_info {
+	uint32_t dev_type;
+	uint32_t reserved;
+	struct cam_jpeg_res_info in_res;
+	struct cam_jpeg_res_info out_res;
+};
+
+/**
+ * struct cam_jpeg_config_inout_param_info - JPEG Config time
+ *     input output params
+ *
+ * @clk_index: Input Param- clock selection index.(-1 default)
+ * @output_size: Output Param - jpeg encode/dma output size in
+ *     bytes
+ */
+struct cam_jpeg_config_inout_param_info {
+	int32_t clk_index;
+	int32_t output_size;
+};
+
+#endif /* __UAPI_CAM_JPEG_H__ */
diff --git a/selfdrive/camerad/include/media/cam_lrme.h b/selfdrive/camerad/include/media/cam_lrme.h
new file mode 100644
index 00000000000000..97d957835ee3b7
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_lrme.h
@@ -0,0 +1,65 @@
+#ifndef __UAPI_CAM_LRME_H__
+#define __UAPI_CAM_LRME_H__
+
+#include "cam_defs.h"
+
+/* LRME Resource Types */
+
+enum CAM_LRME_IO_TYPE {
+	CAM_LRME_IO_TYPE_TAR,
+	CAM_LRME_IO_TYPE_REF,
+	CAM_LRME_IO_TYPE_RES,
+	CAM_LRME_IO_TYPE_DS2,
+};
+
+#define CAM_LRME_INPUT_PORT_TYPE_TAR (1 << 0)
+#define CAM_LRME_INPUT_PORT_TYPE_REF (1 << 1)
+
+#define CAM_LRME_OUTPUT_PORT_TYPE_DS2 (1 << 0)
+#define CAM_LRME_OUTPUT_PORT_TYPE_RES (1 << 1)
+
+#define CAM_LRME_DEV_MAX 1
+
+
+struct cam_lrme_hw_version {
+	uint32_t gen;
+	uint32_t rev;
+	uint32_t step;
+};
+
+struct cam_lrme_dev_cap {
+	struct cam_lrme_hw_version clc_hw_version;
+	struct cam_lrme_hw_version bus_rd_hw_version;
+	struct cam_lrme_hw_version bus_wr_hw_version;
+	struct cam_lrme_hw_version top_hw_version;
+	struct cam_lrme_hw_version top_titan_version;
+};
+
+/**
+ * struct cam_lrme_query_cap_cmd - LRME query device capability payload
+ *
+ * @dev_iommu_handle: LRME iommu handles for secure/non secure
+ *      modes
+ * @cdm_iommu_handle: Iommu handles for secure/non secure modes
+ * @num_devices: number of hardware devices
+ * @dev_caps: Returned device capability array
+ */
+struct cam_lrme_query_cap_cmd {
+	struct cam_iommu_handle device_iommu;
+	struct cam_iommu_handle cdm_iommu;
+	uint32_t num_devices;
+	struct cam_lrme_dev_cap dev_caps[CAM_LRME_DEV_MAX];
+};
+
+struct cam_lrme_soc_info {
+	uint64_t clock_rate;
+	uint64_t bandwidth;
+	uint64_t reserved[4];
+};
+
+struct cam_lrme_acquire_args {
+	struct cam_lrme_soc_info lrme_soc_info;
+};
+
+#endif /* __UAPI_CAM_LRME_H__ */
+
diff --git a/selfdrive/camerad/include/media/cam_req_mgr.h b/selfdrive/camerad/include/media/cam_req_mgr.h
new file mode 100644
index 00000000000000..ae65649964ff0a
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_req_mgr.h
@@ -0,0 +1,436 @@
+#ifndef __UAPI_LINUX_CAM_REQ_MGR_H
+#define __UAPI_LINUX_CAM_REQ_MGR_H
+
+#include <linux/videodev2.h>
+#include <linux/types.h>
+#include <linux/ioctl.h>
+#include <linux/media.h>
+#include <media/cam_defs.h>
+
+#define CAM_REQ_MGR_VNODE_NAME "cam-req-mgr-devnode"
+
+#define CAM_DEVICE_TYPE_BASE      (MEDIA_ENT_F_OLD_BASE)
+#define CAM_VNODE_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE)
+#define CAM_SENSOR_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 1)
+#define CAM_IFE_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 2)
+#define CAM_ICP_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 3)
+#define CAM_LRME_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 4)
+#define CAM_JPEG_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 5)
+#define CAM_FD_DEVICE_TYPE        (CAM_DEVICE_TYPE_BASE + 6)
+#define CAM_CPAS_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 7)
+#define CAM_CSIPHY_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 8)
+#define CAM_ACTUATOR_DEVICE_TYPE  (CAM_DEVICE_TYPE_BASE + 9)
+#define CAM_CCI_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 10)
+#define CAM_FLASH_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE + 11)
+#define CAM_EEPROM_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 12)
+#define CAM_OIS_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 13)
+
+/* cam_req_mgr hdl info */
+#define CAM_REQ_MGR_HDL_IDX_POS           8
+#define CAM_REQ_MGR_HDL_IDX_MASK          ((1 << CAM_REQ_MGR_HDL_IDX_POS) - 1)
+#define CAM_REQ_MGR_GET_HDL_IDX(hdl)      (hdl & CAM_REQ_MGR_HDL_IDX_MASK)
+
+/**
+ * Max handles supported by cam_req_mgr
+ * It includes both session and device handles
+ */
+#define CAM_REQ_MGR_MAX_HANDLES           64
+#define MAX_LINKS_PER_SESSION             2
+
+/* V4L event type which user space will subscribe to */
+#define V4L_EVENT_CAM_REQ_MGR_EVENT       (V4L2_EVENT_PRIVATE_START + 0)
+
+/* Specific event ids to get notified in user space */
+#define V4L_EVENT_CAM_REQ_MGR_SOF            0
+#define V4L_EVENT_CAM_REQ_MGR_ERROR          1
+#define V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS    2
+
+/* SOF Event status */
+#define CAM_REQ_MGR_SOF_EVENT_SUCCESS           0
+#define CAM_REQ_MGR_SOF_EVENT_ERROR             1
+
+/* Link control operations */
+#define CAM_REQ_MGR_LINK_ACTIVATE               0
+#define CAM_REQ_MGR_LINK_DEACTIVATE             1
+
+/**
+ * Request Manager : flush_type
+ * @CAM_REQ_MGR_FLUSH_TYPE_ALL: Req mgr will remove all the pending
+ * requests from input/processing queue.
+ * @CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ: Req mgr will remove only particular
+ * request id from input/processing queue.
+ * @CAM_REQ_MGR_FLUSH_TYPE_MAX: Max number of the flush type
+ * @opcode: CAM_REQ_MGR_FLUSH_REQ
+ */
+#define CAM_REQ_MGR_FLUSH_TYPE_ALL          0
+#define CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ   1
+#define CAM_REQ_MGR_FLUSH_TYPE_MAX          2
+
+/**
+ * Request Manager : Sync Mode type
+ * @CAM_REQ_MGR_SYNC_MODE_NO_SYNC: Req mgr will apply non-sync mode for this
+ * request.
+ * @CAM_REQ_MGR_SYNC_MODE_SYNC: Req mgr will apply sync mode for this request.
+ */
+#define CAM_REQ_MGR_SYNC_MODE_NO_SYNC   0
+#define CAM_REQ_MGR_SYNC_MODE_SYNC      1
+
+/**
+ * struct cam_req_mgr_event_data
+ * @session_hdl: session handle
+ * @link_hdl: link handle
+ * @frame_id: frame id
+ * @reserved: reserved for 64 bit aligngment
+ * @req_id: request id
+ * @tv_sec: timestamp in seconds
+ * @tv_usec: timestamp in micro seconds
+ */
+struct cam_req_mgr_event_data {
+	int32_t   session_hdl;
+	int32_t   link_hdl;
+	int32_t   frame_id;
+	int32_t   reserved;
+	int64_t   req_id;
+	uint64_t  tv_sec;
+	uint64_t  tv_usec;
+};
+
+/**
+ * struct cam_req_mgr_session_info
+ * @session_hdl: In/Output param - session_handle
+ * @opcode1: CAM_REQ_MGR_CREATE_SESSION
+ * @opcode2: CAM_REQ_MGR_DESTROY_SESSION
+ */
+struct cam_req_mgr_session_info {
+	int32_t session_hdl;
+	int32_t reserved;
+};
+
+/**
+ * struct cam_req_mgr_link_info
+ * @session_hdl: Input param - Identifier for CSL session
+ * @num_devices: Input Param - Num of devices to be linked
+ * @dev_hdls: Input param - List of device handles to be linked
+ * @link_hdl: Output Param -Identifier for link
+ * @opcode: CAM_REQ_MGR_LINK
+ */
+struct cam_req_mgr_link_info {
+	int32_t session_hdl;
+	uint32_t num_devices;
+	int32_t dev_hdls[CAM_REQ_MGR_MAX_HANDLES];
+	int32_t link_hdl;
+};
+
+/**
+ * struct cam_req_mgr_unlink_info
+ * @session_hdl: input param - session handle
+ * @link_hdl: input param - link handle
+ * @opcode: CAM_REQ_MGR_UNLINK
+ */
+struct cam_req_mgr_unlink_info {
+	int32_t session_hdl;
+	int32_t link_hdl;
+};
+
+/**
+ * struct cam_req_mgr_flush_info
+ * @brief: User can tell drivers to flush a particular request id or
+ * flush all requests from its pending processing queue. Flush is a
+ * blocking call and driver shall ensure all requests are flushed
+ * before returning.
+ * @session_hdl: Input param - Identifier for CSL session
+ * @link_hdl: Input Param -Identifier for link
+ * @flush_type: User can cancel a particular req id or can flush
+ * all requests in queue
+ * @reserved: reserved for 64 bit aligngment
+ * @req_id: field is valid only if flush type is cancel request
+ * for flush all this field value is not considered.
+ * @opcode: CAM_REQ_MGR_FLUSH_REQ
+ */
+struct cam_req_mgr_flush_info {
+	int32_t session_hdl;
+	int32_t link_hdl;
+	uint32_t flush_type;
+	uint32_t reserved;
+	int64_t req_id;
+};
+
+/** struct cam_req_mgr_sched_info
+ * @session_hdl: Input param - Identifier for CSL session
+ * @link_hdl: Input Param -Identifier for link
+ * inluding itself.
+ * @bubble_enable: Input Param - Cam req mgr will do bubble recovery if this
+ * flag is set.
+ * @sync_mode: Type of Sync mode for this request
+ * @req_id: Input Param - Request Id from which all requests will be flushed
+ */
+struct cam_req_mgr_sched_request {
+	int32_t session_hdl;
+	int32_t link_hdl;
+	int32_t bubble_enable;
+	int32_t sync_mode;
+	int64_t req_id;
+};
+
+/**
+ * struct cam_req_mgr_sync_mode
+ * @session_hdl:         Input param - Identifier for CSL session
+ * @sync_mode:           Input Param - Type of sync mode
+ * @num_links:           Input Param - Num of links in sync mode (Valid only
+ *                             when sync_mode is one of SYNC enabled modes)
+ * @link_hdls:           Input Param - Array of link handles to be in sync mode
+ *                             (Valid only when sync_mode is one of SYNC
+ *                             enabled modes)
+ * @master_link_hdl:     Input Param - To dictate which link's SOF drives system
+ *                             (Valid only when sync_mode is one of SYNC
+ *                             enabled modes)
+ *
+ * @opcode: CAM_REQ_MGR_SYNC_MODE
+ */
+struct cam_req_mgr_sync_mode {
+	int32_t session_hdl;
+	int32_t sync_mode;
+	int32_t num_links;
+	int32_t link_hdls[MAX_LINKS_PER_SESSION];
+	int32_t master_link_hdl;
+	int32_t reserved;
+};
+
+/**
+ * struct cam_req_mgr_link_control
+ * @ops:                 Link operations: activate/deactive
+ * @session_hdl:         Input param - Identifier for CSL session
+ * @num_links:           Input Param - Num of links
+ * @reserved:            reserved field
+ * @link_hdls:           Input Param - Links to be activated/deactivated
+ *
+ * @opcode: CAM_REQ_MGR_LINK_CONTROL
+ */
+struct cam_req_mgr_link_control {
+	int32_t ops;
+	int32_t session_hdl;
+	int32_t num_links;
+	int32_t reserved;
+	int32_t link_hdls[MAX_LINKS_PER_SESSION];
+};
+
+/**
+ * cam_req_mgr specific opcode ids
+ */
+#define CAM_REQ_MGR_CREATE_DEV_NODES            (CAM_COMMON_OPCODE_MAX + 1)
+#define CAM_REQ_MGR_CREATE_SESSION              (CAM_COMMON_OPCODE_MAX + 2)
+#define CAM_REQ_MGR_DESTROY_SESSION             (CAM_COMMON_OPCODE_MAX + 3)
+#define CAM_REQ_MGR_LINK                        (CAM_COMMON_OPCODE_MAX + 4)
+#define CAM_REQ_MGR_UNLINK                      (CAM_COMMON_OPCODE_MAX + 5)
+#define CAM_REQ_MGR_SCHED_REQ                   (CAM_COMMON_OPCODE_MAX + 6)
+#define CAM_REQ_MGR_FLUSH_REQ                   (CAM_COMMON_OPCODE_MAX + 7)
+#define CAM_REQ_MGR_SYNC_MODE                   (CAM_COMMON_OPCODE_MAX + 8)
+#define CAM_REQ_MGR_ALLOC_BUF                   (CAM_COMMON_OPCODE_MAX + 9)
+#define CAM_REQ_MGR_MAP_BUF                     (CAM_COMMON_OPCODE_MAX + 10)
+#define CAM_REQ_MGR_RELEASE_BUF                 (CAM_COMMON_OPCODE_MAX + 11)
+#define CAM_REQ_MGR_CACHE_OPS                   (CAM_COMMON_OPCODE_MAX + 12)
+#define CAM_REQ_MGR_LINK_CONTROL                (CAM_COMMON_OPCODE_MAX + 13)
+/* end of cam_req_mgr opcodes */
+
+#define CAM_MEM_FLAG_HW_READ_WRITE              (1<<0)
+#define CAM_MEM_FLAG_HW_READ_ONLY               (1<<1)
+#define CAM_MEM_FLAG_HW_WRITE_ONLY              (1<<2)
+#define CAM_MEM_FLAG_KMD_ACCESS                 (1<<3)
+#define CAM_MEM_FLAG_UMD_ACCESS                 (1<<4)
+#define CAM_MEM_FLAG_PROTECTED_MODE             (1<<5)
+#define CAM_MEM_FLAG_CMD_BUF_TYPE               (1<<6)
+#define CAM_MEM_FLAG_PIXEL_BUF_TYPE             (1<<7)
+#define CAM_MEM_FLAG_STATS_BUF_TYPE             (1<<8)
+#define CAM_MEM_FLAG_PACKET_BUF_TYPE            (1<<9)
+#define CAM_MEM_FLAG_CACHE                      (1<<10)
+#define CAM_MEM_FLAG_HW_SHARED_ACCESS           (1<<11)
+
+#define CAM_MEM_MMU_MAX_HANDLE                  16
+
+/* Maximum allowed buffers in existence */
+#define CAM_MEM_BUFQ_MAX                        1024
+
+#define CAM_MEM_MGR_SECURE_BIT_POS              15
+#define CAM_MEM_MGR_HDL_IDX_SIZE                15
+#define CAM_MEM_MGR_HDL_FD_SIZE                 16
+#define CAM_MEM_MGR_HDL_IDX_END_POS             16
+#define CAM_MEM_MGR_HDL_FD_END_POS              32
+
+#define CAM_MEM_MGR_HDL_IDX_MASK      ((1 << CAM_MEM_MGR_HDL_IDX_SIZE) - 1)
+
+#define GET_MEM_HANDLE(idx, fd) \
+	((idx & CAM_MEM_MGR_HDL_IDX_MASK) | \
+	(fd << (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE))) \
+
+#define GET_FD_FROM_HANDLE(hdl) \
+	(hdl >> (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE)) \
+
+#define CAM_MEM_MGR_GET_HDL_IDX(hdl) (hdl & CAM_MEM_MGR_HDL_IDX_MASK)
+
+#define CAM_MEM_MGR_SET_SECURE_HDL(hdl, flag) \
+	((flag) ? (hdl |= (1 << CAM_MEM_MGR_SECURE_BIT_POS)) : \
+	((hdl) &= ~(1 << CAM_MEM_MGR_SECURE_BIT_POS)))
+
+#define CAM_MEM_MGR_IS_SECURE_HDL(hdl) \
+	(((hdl) & \
+	(1<<CAM_MEM_MGR_SECURE_BIT_POS)) >> CAM_MEM_MGR_SECURE_BIT_POS)
+
+/**
+ * memory allocation type
+ */
+#define CAM_MEM_DMA_NONE                        0
+#define CAM_MEM_DMA_BIDIRECTIONAL               1
+#define CAM_MEM_DMA_TO_DEVICE                   2
+#define CAM_MEM_DMA_FROM_DEVICE                 3
+
+
+/**
+ * memory cache operation
+ */
+#define CAM_MEM_CLEAN_CACHE                     1
+#define CAM_MEM_INV_CACHE                       2
+#define CAM_MEM_CLEAN_INV_CACHE                 3
+
+
+/**
+ * struct cam_mem_alloc_out_params
+ * @buf_handle: buffer handle
+ * @fd: output buffer file descriptor
+ * @vaddr: virtual address pointer
+ */
+struct cam_mem_alloc_out_params {
+	uint32_t buf_handle;
+	int32_t fd;
+	uint64_t vaddr;
+};
+
+/**
+ * struct cam_mem_map_out_params
+ * @buf_handle: buffer handle
+ * @reserved: reserved for future
+ * @vaddr: virtual address pointer
+ */
+struct cam_mem_map_out_params {
+	uint32_t buf_handle;
+	uint32_t reserved;
+	uint64_t vaddr;
+};
+
+/**
+ * struct cam_mem_mgr_alloc_cmd
+ * @len: size of buffer to allocate
+ * @align: alignment of the buffer
+ * @mmu_hdls: array of mmu handles
+ * @num_hdl: number of handles
+ * @flags: flags of the buffer
+ * @out: out params
+ */
+/* CAM_REQ_MGR_ALLOC_BUF */
+struct cam_mem_mgr_alloc_cmd {
+	uint64_t len;
+	uint64_t align;
+	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
+	uint32_t num_hdl;
+	uint32_t flags;
+	struct cam_mem_alloc_out_params out;
+};
+
+/**
+ * struct cam_mem_mgr_map_cmd
+ * @mmu_hdls: array of mmu handles
+ * @num_hdl: number of handles
+ * @flags: flags of the buffer
+ * @fd: output buffer file descriptor
+ * @reserved: reserved field
+ * @out: out params
+ */
+
+/* CAM_REQ_MGR_MAP_BUF */
+struct cam_mem_mgr_map_cmd {
+	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
+	uint32_t num_hdl;
+	uint32_t flags;
+	int32_t fd;
+	uint32_t reserved;
+	struct cam_mem_map_out_params out;
+};
+
+/**
+ * struct cam_mem_mgr_map_cmd
+ * @buf_handle: buffer handle
+ * @reserved: reserved field
+ */
+/* CAM_REQ_MGR_RELEASE_BUF */
+struct cam_mem_mgr_release_cmd {
+	int32_t buf_handle;
+	uint32_t reserved;
+};
+
+/**
+ * struct cam_mem_mgr_map_cmd
+ * @buf_handle: buffer handle
+ * @ops: cache operations
+ */
+/* CAM_REQ_MGR_CACHE_OPS */
+struct cam_mem_cache_ops_cmd {
+	int32_t buf_handle;
+	uint32_t mem_cache_ops;
+};
+
+/**
+ * Request Manager : error message type
+ * @CAM_REQ_MGR_ERROR_TYPE_DEVICE: Device error message, fatal to session
+ * @CAM_REQ_MGR_ERROR_TYPE_REQUEST: Error on a single request, not fatal
+ * @CAM_REQ_MGR_ERROR_TYPE_BUFFER: Buffer was not filled, not fatal
+ */
+#define CAM_REQ_MGR_ERROR_TYPE_DEVICE           0
+#define CAM_REQ_MGR_ERROR_TYPE_REQUEST          1
+#define CAM_REQ_MGR_ERROR_TYPE_BUFFER           2
+
+/**
+ * struct cam_req_mgr_error_msg
+ * @error_type: type of error
+ * @request_id: request id of frame
+ * @device_hdl: device handle
+ * @linke_hdl: link_hdl
+ * @resource_size: size of the resource
+ */
+struct cam_req_mgr_error_msg {
+	uint32_t error_type;
+	uint32_t request_id;
+	int32_t device_hdl;
+	int32_t link_hdl;
+	uint64_t resource_size;
+};
+
+/**
+ * struct cam_req_mgr_frame_msg
+ * @request_id: request id of the frame
+ * @frame_id: frame id of the frame
+ * @timestamp: timestamp of the frame
+ * @link_hdl: link handle associated with this message
+ * @sof_status: sof status success or fail
+ */
+struct cam_req_mgr_frame_msg {
+	uint64_t request_id;
+	uint64_t frame_id;
+	uint64_t timestamp;
+	int32_t  link_hdl;
+	uint32_t sof_status;
+};
+
+/**
+ * struct cam_req_mgr_message
+ * @session_hdl: session to which the frame belongs to
+ * @reserved: reserved field
+ * @u: union which can either be error or frame message
+ */
+struct cam_req_mgr_message {
+	int32_t session_hdl;
+	int32_t reserved;
+	union {
+		struct cam_req_mgr_error_msg err_msg;
+		struct cam_req_mgr_frame_msg frame_msg;
+	} u;
+};
+#endif /* __UAPI_LINUX_CAM_REQ_MGR_H */
diff --git a/selfdrive/camerad/include/media/cam_sensor.h b/selfdrive/camerad/include/media/cam_sensor.h
new file mode 100644
index 00000000000000..f5af6047f5ac88
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_sensor.h
@@ -0,0 +1,477 @@
+#ifndef __UAPI_CAM_SENSOR_H__
+#define __UAPI_CAM_SENSOR_H__
+
+#include <linux/types.h>
+#include <linux/ioctl.h>
+#include <media/cam_defs.h>
+
+#define CAM_SENSOR_PROBE_CMD   (CAM_COMMON_OPCODE_MAX + 1)
+#define CAM_FLASH_MAX_LED_TRIGGERS 3
+#define MAX_OIS_NAME_SIZE 32
+#define CAM_CSIPHY_SECURE_MODE_ENABLED 1
+/**
+ * struct cam_sensor_query_cap - capabilities info for sensor
+ *
+ * @slot_info        :  Indicates about the slotId or cell Index
+ * @secure_camera    :  Camera is in secure/Non-secure mode
+ * @pos_pitch        :  Sensor position pitch
+ * @pos_roll         :  Sensor position roll
+ * @pos_yaw          :  Sensor position yaw
+ * @actuator_slot_id :  Actuator slot id which connected to sensor
+ * @eeprom_slot_id   :  EEPROM slot id which connected to sensor
+ * @ois_slot_id      :  OIS slot id which connected to sensor
+ * @flash_slot_id    :  Flash slot id which connected to sensor
+ * @csiphy_slot_id   :  CSIphy slot id which connected to sensor
+ *
+ */
+struct  cam_sensor_query_cap {
+	uint32_t        slot_info;
+	uint32_t        secure_camera;
+	uint32_t        pos_pitch;
+	uint32_t        pos_roll;
+	uint32_t        pos_yaw;
+	uint32_t        actuator_slot_id;
+	uint32_t        eeprom_slot_id;
+	uint32_t        ois_slot_id;
+	uint32_t        flash_slot_id;
+	uint32_t        csiphy_slot_id;
+} __attribute__((packed));
+
+/**
+ * struct cam_csiphy_query_cap - capabilities info for csiphy
+ *
+ * @slot_info        :  Indicates about the slotId or cell Index
+ * @version          :  CSIphy version
+ * @clk lane         :  Of the 5 lanes, informs lane configured
+ *                      as clock lane
+ * @reserved
+ */
+struct cam_csiphy_query_cap {
+	uint32_t            slot_info;
+	uint32_t            version;
+	uint32_t            clk_lane;
+	uint32_t            reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_actuator_query_cap - capabilities info for actuator
+ *
+ * @slot_info        :  Indicates about the slotId or cell Index
+ * @reserved
+ */
+struct cam_actuator_query_cap {
+	uint32_t            slot_info;
+	uint32_t            reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_eeprom_query_cap_t - capabilities info for eeprom
+ *
+ * @slot_info                  :  Indicates about the slotId or cell Index
+ * @eeprom_kernel_probe        :  Indicates about the kernel or userspace probe
+ */
+struct cam_eeprom_query_cap_t {
+	uint32_t            slot_info;
+	uint16_t            eeprom_kernel_probe;
+	uint16_t            reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_ois_query_cap_t - capabilities info for ois
+ *
+ * @slot_info                  :  Indicates about the slotId or cell Index
+ */
+struct cam_ois_query_cap_t {
+	uint32_t            slot_info;
+	uint16_t            reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_info - Contains slave I2C related info
+ *
+ * @slave_addr      :    Slave address
+ * @i2c_freq_mode   :    4 bits are used for I2c freq mode
+ * @cmd_type        :    Explains type of command
+ */
+struct cam_cmd_i2c_info {
+	uint16_t    slave_addr;
+	uint8_t     i2c_freq_mode;
+	uint8_t     cmd_type;
+} __attribute__((packed));
+
+/**
+ * struct cam_ois_opcode - Contains OIS opcode
+ *
+ * @prog            :    OIS FW prog register address
+ * @coeff           :    OIS FW coeff register address
+ * @pheripheral     :    OIS pheripheral
+ * @memory          :    OIS memory
+ */
+struct cam_ois_opcode {
+	uint32_t prog;
+	uint32_t coeff;
+	uint32_t pheripheral;
+	uint32_t memory;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_ois_info - Contains OIS slave info
+ *
+ * @slave_addr            :    OIS i2c slave address
+ * @i2c_freq_mode         :    i2c frequency mode
+ * @cmd_type              :    Explains type of command
+ * @ois_fw_flag           :    indicates if fw is present or not
+ * @is_ois_calib          :    indicates the calibration data is available
+ * @ois_name              :    OIS name
+ * @opcode                :    opcode
+ */
+struct cam_cmd_ois_info {
+	uint16_t              slave_addr;
+	uint8_t               i2c_freq_mode;
+	uint8_t               cmd_type;
+	uint8_t               ois_fw_flag;
+	uint8_t               is_ois_calib;
+	char                  ois_name[MAX_OIS_NAME_SIZE];
+	struct cam_ois_opcode opcode;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_probe - Contains sensor slave info
+ *
+ * @data_type       :   Slave register data type
+ * @addr_type       :   Slave register address type
+ * @op_code         :   Don't Care
+ * @cmd_type        :   Explains type of command
+ * @reg_addr        :   Slave register address
+ * @expected_data   :   Data expected at slave register address
+ * @data_mask       :   Data mask if only few bits are valid
+ * @camera_id       :   Indicates the slot to which camera
+ *                      needs to be probed
+ * @reserved
+ */
+struct cam_cmd_probe {
+	uint8_t     data_type;
+	uint8_t     addr_type;
+	uint8_t     op_code;
+	uint8_t     cmd_type;
+	uint32_t    reg_addr;
+	uint32_t    expected_data;
+	uint32_t    data_mask;
+	uint16_t    camera_id;
+	uint16_t    reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_power_settings - Contains sensor power setting info
+ *
+ * @power_seq_type  :   Type of power sequence
+ * @reserved
+ * @config_val_low  :   Lower 32 bit value configuration value
+ * @config_val_high :   Higher 32 bit value configuration value
+ *
+ */
+struct cam_power_settings {
+	uint16_t    power_seq_type;
+	uint16_t    reserved;
+	uint32_t    config_val_low;
+	uint32_t    config_val_high;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_power - Explains about the power settings
+ *
+ * @count           :    Number of power settings follows
+ * @reserved
+ * @cmd_type        :    Explains type of command
+ * @power_settings  :    Contains power setting info
+ */
+struct cam_cmd_power {
+	uint16_t                    count;
+	uint8_t                     reserved;
+	uint8_t                     cmd_type;
+	struct cam_power_settings   power_settings[1];
+} __attribute__((packed));
+
+/**
+ * struct i2c_rdwr_header - header of READ/WRITE I2C command
+ *
+ * @ count           :   Number of registers / data / reg-data pairs
+ * @ op_code         :   Operation code
+ * @ cmd_type        :   Command buffer type
+ * @ data_type       :   I2C data type
+ * @ addr_type       :   I2C address type
+ * @ reserved
+ */
+struct i2c_rdwr_header {
+	uint16_t    count;
+	uint8_t     op_code;
+	uint8_t     cmd_type;
+	uint8_t     data_type;
+	uint8_t     addr_type;
+	uint16_t    reserved;
+} __attribute__((packed));
+
+/**
+ * struct i2c_random_wr_payload - payload for I2C random write
+ *
+ * @ reg_addr        :   Register address
+ * @ reg_data        :   Register data
+ *
+ */
+struct i2c_random_wr_payload {
+	uint32_t     reg_addr;
+	uint32_t     reg_data;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_random_wr - I2C random write command
+ * @ header            :   header of READ/WRITE I2C command
+ * @ random_wr_payload :   payload for I2C random write
+ */
+struct cam_cmd_i2c_random_wr {
+	struct i2c_rdwr_header       header;
+	struct i2c_random_wr_payload random_wr_payload[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_read - I2C read command
+ * @ reg_data        :   Register data
+ * @ reserved
+ */
+struct cam_cmd_read {
+	uint32_t                reg_data;
+	uint32_t                reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_continuous_wr - I2C continuous write command
+ * @ header          :   header of READ/WRITE I2C command
+ * @ reg_addr        :   Register address
+ * @ data_read       :   I2C read command
+ */
+struct cam_cmd_i2c_continuous_wr {
+	struct i2c_rdwr_header  header;
+	uint32_t                reg_addr;
+	struct cam_cmd_read     data_read[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_random_rd - I2C random read command
+ * @ header          :   header of READ/WRITE I2C command
+ * @ data_read       :   I2C read command
+ */
+struct cam_cmd_i2c_random_rd {
+	struct i2c_rdwr_header  header;
+	struct cam_cmd_read     data_read[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_continuous_rd - I2C continuous continuous read command
+ * @ header          :   header of READ/WRITE I2C command
+ * @ reg_addr        :   Register address
+ *
+ */
+struct cam_cmd_i2c_continuous_rd {
+	struct i2c_rdwr_header  header;
+	uint32_t                reg_addr;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_conditional_wait - Conditional wait command
+ * @data_type       :   Data type
+ * @addr_type       :   Address type
+ * @op_code         :   Opcode
+ * @cmd_type        :   Explains type of command
+ * @timeout         :   Timeout for retries
+ * @reserved
+ * @reg_addr        :   Register Address
+ * @reg_data        :   Register data
+ * @data_mask       :   Data mask if only few bits are valid
+ * @camera_id       :   Indicates the slot to which camera
+ *                      needs to be probed
+ *
+ */
+struct cam_cmd_conditional_wait {
+	uint8_t     data_type;
+	uint8_t     addr_type;
+	uint8_t     op_code;
+	uint8_t     cmd_type;
+	uint16_t    timeout;
+	uint16_t    reserved;
+	uint32_t    reg_addr;
+	uint32_t    reg_data;
+	uint32_t    data_mask;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_unconditional_wait - Un-conditional wait command
+ * @delay           :   Delay
+ * @op_code         :   Opcode
+ * @cmd_type        :   Explains type of command
+ */
+struct cam_cmd_unconditional_wait {
+	int16_t     delay;
+	uint8_t     op_code;
+	uint8_t     cmd_type;
+} __attribute__((packed));
+
+/**
+ * cam_csiphy_info: Provides cmdbuffer structre
+ * @lane_mask     : Lane mask details
+ * @lane_assign   : Lane sensor will be using
+ * @csiphy_3phase : Total number of lanes
+ * @combo_mode    : Info regarding combo_mode is enable / disable
+ * @lane_cnt      : Total number of lanes
+ * @secure_mode   : Secure mode flag to enable / disable
+ * @3phase        : Details whether 3Phase / 2Phase operation
+ * @settle_time   : Settling time in ms
+ * @data_rate     : Data rate
+ *
+ */
+struct cam_csiphy_info {
+	uint16_t    lane_mask;
+	uint16_t    lane_assign;
+	uint8_t     csiphy_3phase;
+	uint8_t     combo_mode;
+	uint8_t     lane_cnt;
+	uint8_t     secure_mode;
+	uint64_t    settle_time;
+	uint64_t    data_rate;
+} __attribute__((packed));
+
+/**
+ * cam_csiphy_acquire_dev_info : Information needed for
+ *                        csiphy at the time of acquire
+ * @combo_mode     :    Indicates the device mode of operation
+ * @reserved
+ *
+ */
+struct cam_csiphy_acquire_dev_info {
+	uint32_t    combo_mode;
+	uint32_t    reserved;
+} __attribute__((packed));
+
+/**
+ * cam_sensor_acquire_dev : Updates sensor acuire cmd
+ * @device_handle  :    Updates device handle
+ * @session_handle :    Session handle for acquiring device
+ * @handle_type    :    Resource handle type
+ * @reserved
+ * @info_handle    :    Handle to additional info
+ *                      needed for sensor sub modules
+ *
+ */
+struct cam_sensor_acquire_dev {
+	uint32_t    session_handle;
+	uint32_t    device_handle;
+	uint32_t    handle_type;
+	uint32_t    reserved;
+	uint64_t    info_handle;
+} __attribute__((packed));
+
+/**
+ * cam_sensor_streamon_dev : StreamOn command for the sensor
+ * @session_handle :    Session handle for acquiring device
+ * @device_handle  :    Updates device handle
+ * @handle_type    :    Resource handle type
+ * @reserved
+ * @info_handle    :    Information Needed at the time of streamOn
+ *
+ */
+struct cam_sensor_streamon_dev {
+	uint32_t    session_handle;
+	uint32_t    device_handle;
+	uint32_t    handle_type;
+	uint32_t    reserved;
+	uint64_t    info_handle;
+} __attribute__((packed));
+
+/**
+ * struct cam_flash_init : Init command for the flash
+ * @flash_type  :    flash hw type
+ * @reserved
+ * @cmd_type    :    command buffer type
+ */
+struct cam_flash_init {
+	uint8_t     flash_type;
+	uint16_t    reserved;
+	uint8_t     cmd_type;
+} __attribute__((packed));
+
+/**
+ * struct cam_flash_set_rer : RedEyeReduction command buffer
+ *
+ * @count             :   Number of flash leds
+ * @opcode            :   Command buffer opcode
+ *			CAM_FLASH_FIRE_RER
+ * @cmd_type          :   command buffer operation type
+ * @num_iteration     :   Number of led turn on/off sequence
+ * @reserved
+ * @led_on_delay_ms   :   flash led turn on time in ms
+ * @led_off_delay_ms  :   flash led turn off time in ms
+ * @led_current_ma    :   flash led current in ma
+ *
+ */
+struct cam_flash_set_rer {
+	uint16_t    count;
+	uint8_t     opcode;
+	uint8_t     cmd_type;
+	uint16_t    num_iteration;
+	uint16_t    reserved;
+	uint32_t    led_on_delay_ms;
+	uint32_t    led_off_delay_ms;
+	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
+} __attribute__((packed));
+
+/**
+ * struct cam_flash_set_on_off : led turn on/off command buffer
+ *
+ * @count              :   Number of Flash leds
+ * @opcode             :   command buffer opcodes
+ *			CAM_FLASH_FIRE_LOW
+ *			CAM_FLASH_FIRE_HIGH
+ *			CAM_FLASH_OFF
+ * @cmd_type           :   command buffer operation type
+ * @led_current_ma     :   flash led current in ma
+ *
+ */
+struct cam_flash_set_on_off {
+	uint16_t    count;
+	uint8_t     opcode;
+	uint8_t     cmd_type;
+	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
+} __attribute__((packed));
+
+/**
+ * struct cam_flash_query_curr : query current command buffer
+ *
+ * @reserved
+ * @opcode            :   command buffer opcode
+ * @cmd_type          :   command buffer operation type
+ * @query_current_ma  :   battery current in ma
+ *
+ */
+struct cam_flash_query_curr {
+	uint16_t    reserved;
+	uint8_t     opcode;
+	uint8_t     cmd_type;
+	uint32_t    query_current_ma;
+} __attribute__ ((packed));
+
+/**
+ * struct cam_flash_query_cap  :  capabilities info for flash
+ *
+ * @slot_info           :  Indicates about the slotId or cell Index
+ * @max_current_flash   :  max supported current for flash
+ * @max_duration_flash  :  max flash turn on duration
+ * @max_current_torch   :  max supported current for torch
+ *
+ */
+struct cam_flash_query_cap_info {
+	uint32_t    slot_info;
+	uint32_t    max_current_flash[CAM_FLASH_MAX_LED_TRIGGERS];
+	uint32_t    max_duration_flash[CAM_FLASH_MAX_LED_TRIGGERS];
+	uint32_t    max_current_torch[CAM_FLASH_MAX_LED_TRIGGERS];
+} __attribute__ ((packed));
+
+#endif
diff --git a/selfdrive/camerad/include/media/cam_sensor_cmn_header.h b/selfdrive/camerad/include/media/cam_sensor_cmn_header.h
new file mode 100644
index 00000000000000..24617b39bd1266
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_sensor_cmn_header.h
@@ -0,0 +1,391 @@
+/* Copyright (c) 2017-2018, The Linux Foundation. All rights reserved.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 and
+ * only version 2 as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef _CAM_SENSOR_CMN_HEADER_
+#define _CAM_SENSOR_CMN_HEADER_
+
+#include <stdbool.h>
+#include <media/cam_sensor.h>
+#include <media/cam_req_mgr.h>
+
+#define MAX_REGULATOR 5
+#define MAX_POWER_CONFIG 12
+
+#define MAX_PER_FRAME_ARRAY 32
+#define BATCH_SIZE_MAX      16
+
+#define CAM_SENSOR_NAME    "cam-sensor"
+#define CAM_ACTUATOR_NAME  "cam-actuator"
+#define CAM_CSIPHY_NAME    "cam-csiphy"
+#define CAM_FLASH_NAME     "cam-flash"
+#define CAM_EEPROM_NAME    "cam-eeprom"
+#define CAM_OIS_NAME       "cam-ois"
+
+#define MAX_SYSTEM_PIPELINE_DELAY 2
+
+#define CAM_PKT_NOP_OPCODE 127
+
+enum camera_sensor_cmd_type {
+	CAMERA_SENSOR_CMD_TYPE_INVALID,
+	CAMERA_SENSOR_CMD_TYPE_PROBE,
+	CAMERA_SENSOR_CMD_TYPE_PWR_UP,
+	CAMERA_SENSOR_CMD_TYPE_PWR_DOWN,
+	CAMERA_SENSOR_CMD_TYPE_I2C_INFO,
+	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR,
+	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_RD,
+	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_WR,
+	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_RD,
+	CAMERA_SENSOR_CMD_TYPE_WAIT,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_INFO,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_FIRE,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_RER,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_QUERYCURR,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_WIDGET,
+	CAMERA_SENSOR_CMD_TYPE_RD_DATA,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_FIRE,
+	CAMERA_SENSOR_CMD_TYPE_MAX,
+};
+
+enum camera_sensor_i2c_op_code {
+	CAMERA_SENSOR_I2C_OP_INVALID,
+	CAMERA_SENSOR_I2C_OP_RNDM_WR,
+	CAMERA_SENSOR_I2C_OP_RNDM_WR_VERF,
+	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST,
+	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST_VERF,
+	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN,
+	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN_VERF,
+	CAMERA_SENSOR_I2C_OP_MAX,
+};
+
+enum camera_sensor_wait_op_code {
+	CAMERA_SENSOR_WAIT_OP_INVALID,
+	CAMERA_SENSOR_WAIT_OP_COND,
+	CAMERA_SENSOR_WAIT_OP_HW_UCND,
+	CAMERA_SENSOR_WAIT_OP_SW_UCND,
+	CAMERA_SENSOR_WAIT_OP_MAX,
+};
+
+enum camera_flash_opcode {
+	CAMERA_SENSOR_FLASH_OP_INVALID,
+	CAMERA_SENSOR_FLASH_OP_OFF,
+	CAMERA_SENSOR_FLASH_OP_FIRELOW,
+	CAMERA_SENSOR_FLASH_OP_FIREHIGH,
+	CAMERA_SENSOR_FLASH_OP_MAX,
+};
+
+enum camera_sensor_i2c_type {
+	CAMERA_SENSOR_I2C_TYPE_INVALID,
+	CAMERA_SENSOR_I2C_TYPE_BYTE,
+	CAMERA_SENSOR_I2C_TYPE_WORD,
+	CAMERA_SENSOR_I2C_TYPE_3B,
+	CAMERA_SENSOR_I2C_TYPE_DWORD,
+	CAMERA_SENSOR_I2C_TYPE_MAX,
+};
+
+enum i2c_freq_mode {
+	I2C_STANDARD_MODE,
+	I2C_FAST_MODE,
+	I2C_CUSTOM_MODE,
+	I2C_FAST_PLUS_MODE,
+	I2C_MAX_MODES,
+};
+
+enum position_roll {
+	ROLL_0       = 0,
+	ROLL_90      = 90,
+	ROLL_180     = 180,
+	ROLL_270     = 270,
+	ROLL_INVALID = 360,
+};
+
+enum position_yaw {
+	FRONT_CAMERA_YAW = 0,
+	REAR_CAMERA_YAW  = 180,
+	INVALID_YAW      = 360,
+};
+
+enum position_pitch {
+	LEVEL_PITCH    = 0,
+	INVALID_PITCH  = 360,
+};
+
+enum sensor_sub_module {
+	SUB_MODULE_SENSOR,
+	SUB_MODULE_ACTUATOR,
+	SUB_MODULE_EEPROM,
+	SUB_MODULE_LED_FLASH,
+	SUB_MODULE_CSID,
+	SUB_MODULE_CSIPHY,
+	SUB_MODULE_OIS,
+	SUB_MODULE_EXT,
+	SUB_MODULE_MAX,
+};
+
+enum msm_camera_power_seq_type {
+	SENSOR_MCLK,
+	SENSOR_VANA,
+	SENSOR_VDIG,
+	SENSOR_VIO,
+	SENSOR_VAF,
+	SENSOR_VAF_PWDM,
+	SENSOR_CUSTOM_REG1,
+	SENSOR_CUSTOM_REG2,
+	SENSOR_RESET,
+	SENSOR_STANDBY,
+	SENSOR_CUSTOM_GPIO1,
+	SENSOR_CUSTOM_GPIO2,
+	SENSOR_SEQ_TYPE_MAX,
+};
+
+enum cam_sensor_packet_opcodes {
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_UPDATE,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_INITIAL_CONFIG,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127
+};
+
+enum cam_actuator_packet_opcodes {
+	CAM_ACTUATOR_PACKET_OPCODE_INIT,
+	CAM_ACTUATOR_PACKET_AUTO_MOVE_LENS,
+	CAM_ACTUATOR_PACKET_MANUAL_MOVE_LENS
+};
+
+enum cam_eeprom_packet_opcodes {
+	CAM_EEPROM_PACKET_OPCODE_INIT
+};
+
+enum cam_ois_packet_opcodes {
+	CAM_OIS_PACKET_OPCODE_INIT,
+	CAM_OIS_PACKET_OPCODE_OIS_CONTROL
+};
+
+enum msm_bus_perf_setting {
+	S_INIT,
+	S_PREVIEW,
+	S_VIDEO,
+	S_CAPTURE,
+	S_ZSL,
+	S_STEREO_VIDEO,
+	S_STEREO_CAPTURE,
+	S_DEFAULT,
+	S_LIVESHOT,
+	S_DUAL,
+	S_EXIT
+};
+
+enum msm_camera_device_type_t {
+	MSM_CAMERA_I2C_DEVICE,
+	MSM_CAMERA_PLATFORM_DEVICE,
+	MSM_CAMERA_SPI_DEVICE,
+};
+
+enum cam_flash_device_type {
+	CAMERA_FLASH_DEVICE_TYPE_PMIC = 0,
+	CAMERA_FLASH_DEVICE_TYPE_I2C,
+	CAMERA_FLASH_DEVICE_TYPE_GPIO,
+};
+
+enum cci_i2c_master_t {
+	MASTER_0,
+	MASTER_1,
+	MASTER_MAX,
+};
+
+enum camera_vreg_type {
+	VREG_TYPE_DEFAULT,
+	VREG_TYPE_CUSTOM,
+};
+
+enum cam_sensor_i2c_cmd_type {
+	CAM_SENSOR_I2C_WRITE_RANDOM,
+	CAM_SENSOR_I2C_WRITE_BURST,
+	CAM_SENSOR_I2C_WRITE_SEQ,
+	CAM_SENSOR_I2C_READ,
+	CAM_SENSOR_I2C_POLL
+};
+
+struct common_header {
+	uint16_t    first_word;
+	uint8_t     third_byte;
+	uint8_t     cmd_type;
+};
+
+struct camera_vreg_t {
+	const char *reg_name;
+	int min_voltage;
+	int max_voltage;
+	int op_mode;
+	uint32_t delay;
+	const char *custom_vreg_name;
+	enum camera_vreg_type type;
+};
+
+struct msm_camera_gpio_num_info {
+	uint16_t gpio_num[SENSOR_SEQ_TYPE_MAX];
+	uint8_t valid[SENSOR_SEQ_TYPE_MAX];
+};
+
+struct msm_cam_clk_info {
+	const char *clk_name;
+	long clk_rate;
+	uint32_t delay;
+};
+
+struct msm_pinctrl_info {
+	struct pinctrl *pinctrl;
+	struct pinctrl_state *gpio_state_active;
+	struct pinctrl_state *gpio_state_suspend;
+	bool use_pinctrl;
+};
+
+struct cam_sensor_i2c_reg_array {
+	uint32_t reg_addr;
+	uint32_t reg_data;
+	uint32_t delay;
+	uint32_t data_mask;
+};
+
+struct cam_sensor_i2c_reg_setting {
+	struct cam_sensor_i2c_reg_array *reg_setting;
+	unsigned short size;
+	enum camera_sensor_i2c_type addr_type;
+	enum camera_sensor_i2c_type data_type;
+	unsigned short delay;
+};
+
+/*struct i2c_settings_list {
+	struct cam_sensor_i2c_reg_setting i2c_settings;
+	enum cam_sensor_i2c_cmd_type op_code;
+	struct list_head list;
+};
+
+struct i2c_settings_array {
+	struct list_head list_head;
+	int32_t is_settings_valid;
+	int64_t request_id;
+};
+
+struct i2c_data_settings {
+	struct i2c_settings_array init_settings;
+	struct i2c_settings_array config_settings;
+	struct i2c_settings_array streamon_settings;
+	struct i2c_settings_array streamoff_settings;
+	struct i2c_settings_array *per_frame;
+};*/
+
+struct cam_sensor_power_ctrl_t {
+	struct device *dev;
+	struct cam_sensor_power_setting *power_setting;
+	uint16_t power_setting_size;
+	struct cam_sensor_power_setting *power_down_setting;
+	uint16_t power_down_setting_size;
+	struct msm_camera_gpio_num_info *gpio_num_info;
+	struct msm_pinctrl_info pinctrl_info;
+	uint8_t cam_pinctrl_status;
+};
+
+struct cam_camera_slave_info {
+	uint16_t sensor_slave_addr;
+	uint16_t sensor_id_reg_addr;
+	uint16_t sensor_id;
+	uint16_t sensor_id_mask;
+};
+
+struct msm_sensor_init_params {
+	int modes_supported;
+	unsigned int sensor_mount_angle;
+};
+
+enum msm_sensor_camera_id_t {
+	CAMERA_0,
+	CAMERA_1,
+	CAMERA_2,
+	CAMERA_3,
+	CAMERA_4,
+	CAMERA_5,
+	CAMERA_6,
+	MAX_CAMERAS,
+};
+
+struct msm_sensor_id_info_t {
+	unsigned short sensor_id_reg_addr;
+	unsigned short sensor_id;
+	unsigned short sensor_id_mask;
+};
+
+enum msm_sensor_output_format_t {
+	MSM_SENSOR_BAYER,
+	MSM_SENSOR_YCBCR,
+	MSM_SENSOR_META,
+};
+
+struct cam_sensor_power_setting {
+	enum msm_camera_power_seq_type seq_type;
+	unsigned short seq_val;
+	long config_val;
+	unsigned short delay;
+	void *data[10];
+};
+
+struct cam_sensor_board_info {
+	struct cam_camera_slave_info slave_info;
+	int32_t sensor_mount_angle;
+	int32_t secure_mode;
+	int modes_supported;
+	int32_t pos_roll;
+	int32_t pos_yaw;
+	int32_t pos_pitch;
+	int32_t  subdev_id[SUB_MODULE_MAX];
+	int32_t  subdev_intf[SUB_MODULE_MAX];
+	const char *misc_regulator;
+	struct cam_sensor_power_ctrl_t power_info;
+};
+
+enum msm_camera_vreg_name_t {
+	CAM_VDIG,
+	CAM_VIO,
+	CAM_VANA,
+	CAM_VAF,
+	CAM_V_CUSTOM1,
+	CAM_V_CUSTOM2,
+	CAM_VREG_MAX,
+};
+
+struct msm_camera_gpio_conf {
+	void *cam_gpiomux_conf_tbl;
+	uint8_t cam_gpiomux_conf_tbl_size;
+	struct gpio *cam_gpio_common_tbl;
+	uint8_t cam_gpio_common_tbl_size;
+	struct gpio *cam_gpio_req_tbl;
+	uint8_t cam_gpio_req_tbl_size;
+	uint32_t gpio_no_mux;
+	uint32_t *camera_off_table;
+	uint8_t camera_off_table_size;
+	uint32_t *camera_on_table;
+	uint8_t camera_on_table_size;
+	struct msm_camera_gpio_num_info *gpio_num_info;
+};
+
+/*for tof camera  Begin*/
+enum EEPROM_DATA_OP_T{
+	EEPROM_DEFAULT_DATA = 0,
+	EEPROM_INIT_DATA,
+	EEPROM_CONFIG_DATA,
+	EEPROM_STREAMON_DATA,
+	EEPROM_STREAMOFF_DATA,
+	EEPROM_OTHER_DATA,
+};
+/*for tof camera  End*/
+#endif /* _CAM_SENSOR_CMN_HEADER_ */
diff --git a/selfdrive/camerad/include/media/cam_sync.h b/selfdrive/camerad/include/media/cam_sync.h
new file mode 100644
index 00000000000000..4a8781fc823d54
--- /dev/null
+++ b/selfdrive/camerad/include/media/cam_sync.h
@@ -0,0 +1,134 @@
+#ifndef __UAPI_CAM_SYNC_H__
+#define __UAPI_CAM_SYNC_H__
+
+#include <linux/videodev2.h>
+#include <linux/types.h>
+#include <linux/ioctl.h>
+#include <linux/media.h>
+
+#define CAM_SYNC_DEVICE_NAME                     "cam_sync_device"
+
+/* V4L event which user space will subscribe to */
+#define CAM_SYNC_V4L_EVENT                       (V4L2_EVENT_PRIVATE_START + 0)
+
+/* Specific event ids to get notified in user space */
+#define CAM_SYNC_V4L_EVENT_ID_CB_TRIG            0
+
+/* Size of opaque payload sent to kernel for safekeeping until signal time */
+#define CAM_SYNC_USER_PAYLOAD_SIZE               2
+
+/* Device type for sync device needed for device discovery */
+#define CAM_SYNC_DEVICE_TYPE                     (MEDIA_ENT_F_OLD_BASE)
+
+#define CAM_SYNC_GET_PAYLOAD_PTR(ev, type)       \
+	(type *)((char *)ev.u.data + sizeof(struct cam_sync_ev_header))
+
+#define CAM_SYNC_GET_HEADER_PTR(ev)              \
+	((struct cam_sync_ev_header *)ev.u.data)
+
+#define CAM_SYNC_STATE_INVALID                   0
+#define CAM_SYNC_STATE_ACTIVE                    1
+#define CAM_SYNC_STATE_SIGNALED_SUCCESS          2
+#define CAM_SYNC_STATE_SIGNALED_ERROR            3
+
+/**
+ * struct cam_sync_ev_header - Event header for sync event notification
+ *
+ * @sync_obj: Sync object
+ * @status:   Status of the object
+ */
+struct cam_sync_ev_header {
+	int32_t sync_obj;
+	int32_t status;
+};
+
+/**
+ * struct cam_sync_info - Sync object creation information
+ *
+ * @name:       Optional string representation of the sync object
+ * @sync_obj:   Sync object returned after creation in kernel
+ */
+struct cam_sync_info {
+	char name[64];
+	int32_t sync_obj;
+};
+
+/**
+ * struct cam_sync_signal - Sync object signaling struct
+ *
+ * @sync_obj:   Sync object to be signaled
+ * @sync_state: State of the sync object to which it should be signaled
+ */
+struct cam_sync_signal {
+	int32_t sync_obj;
+	uint32_t sync_state;
+};
+
+/**
+ * struct cam_sync_merge - Merge information for sync objects
+ *
+ * @sync_objs:  Pointer to sync objects
+ * @num_objs:   Number of objects in the array
+ * @merged:     Merged sync object
+ */
+struct cam_sync_merge {
+	__u64 sync_objs;
+	uint32_t num_objs;
+	int32_t merged;
+};
+
+/**
+ * struct cam_sync_userpayload_info - Payload info from user space
+ *
+ * @sync_obj:   Sync object for which payload has to be registered for
+ * @reserved:   Reserved
+ * @payload:    Pointer to user payload
+ */
+struct cam_sync_userpayload_info {
+	int32_t sync_obj;
+	uint32_t reserved;
+	__u64 payload[CAM_SYNC_USER_PAYLOAD_SIZE];
+};
+
+/**
+ * struct cam_sync_wait - Sync object wait information
+ *
+ * @sync_obj:   Sync object to wait on
+ * @reserved:   Reserved
+ * @timeout_ms: Timeout in milliseconds
+ */
+struct cam_sync_wait {
+	int32_t sync_obj;
+	uint32_t reserved;
+	uint64_t timeout_ms;
+};
+
+/**
+ * struct cam_private_ioctl_arg - Sync driver ioctl argument
+ *
+ * @id:         IOCTL command id
+ * @size:       Size of command payload
+ * @result:     Result of command execution
+ * @reserved:   Reserved
+ * @ioctl_ptr:  Pointer to user data
+ */
+struct cam_private_ioctl_arg {
+	__u32 id;
+	__u32 size;
+	__u32 result;
+	__u32 reserved;
+	__u64 ioctl_ptr;
+};
+
+#define CAM_PRIVATE_IOCTL_CMD \
+	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_private_ioctl_arg)
+
+#define CAM_SYNC_CREATE                          0
+#define CAM_SYNC_DESTROY                         1
+#define CAM_SYNC_SIGNAL                          2
+#define CAM_SYNC_MERGE                           3
+#define CAM_SYNC_REGISTER_PAYLOAD                4
+#define CAM_SYNC_DEREGISTER_PAYLOAD              5
+#define CAM_SYNC_WAIT                            6
+
+#endif /* __UAPI_CAM_SYNC_H__ */
diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc
index 7c65f75550cc2c..1db71304440c6b 100644
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -1,1128 +1,68 @@
-#include <stdio.h>
-#include <signal.h>
-#include <cassert>
-
-#ifdef QCOM
-#include "cameras/camera_qcom.h"
-#else
-#include "cameras/camera_frame_stream.h"
-#endif
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-#include "common/visionipc.h"
-#include "common/visionbuf.h"
-#include "common/visionimg.h"
-
-#include "messaging.hpp"
-
-#include "transforms/rgb_to_yuv.h"
-
-#include "clutil.h"
-#include "bufs.h"
-
-#include <libyuv.h>
-#include <czmq.h>
-#include <capnp/serialize.h>
-#include <jpeglib.h>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#define UI_BUF_COUNT 4
-#define YUV_COUNT 40
-#define MAX_CLIENTS 5
-
-extern "C" {
-volatile sig_atomic_t do_exit = 0;
-}
-
-void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
-struct VisionState;
-
-struct VisionClientState {
-  VisionState *s;
-  int fd;
-  pthread_t thread_handle;
-  bool running;
-};
-
-struct VisionClientStreamState {
-  bool subscribed;
-  int bufs_outstanding;
-  bool tb;
-  TBuffer* tbuffer;
-  PoolQueue* queue;
-};
-
-struct VisionState {
-  int frame_width, frame_height;
-  int frame_stride;
-  int frame_size;
-
-  int ion_fd;
-
-  // cl state
-  cl_device_id device_id;
-  cl_context context;
-
-  cl_program prg_debayer_rear;
-  cl_program prg_debayer_front;
-  cl_kernel krnl_debayer_rear;
-  cl_kernel krnl_debayer_front;
-
-  // processing
-  TBuffer ui_tb;
-  TBuffer ui_front_tb;
-
-  mat3 yuv_transform;
-  TBuffer *yuv_tb;
-  TBuffer *yuv_front_tb;
-
-  // TODO: refactor for both cameras?
-  Pool yuv_pool;
-  VisionBuf yuv_ion[YUV_COUNT];
-  cl_mem yuv_cl[YUV_COUNT];
-  YUVBuf yuv_bufs[YUV_COUNT];
-  FrameMetadata yuv_metas[YUV_COUNT];
-  size_t yuv_buf_size;
-  int yuv_width, yuv_height;
-  RGBToYUVState rgb_to_yuv_state;
-
-  // for front camera recording
-  Pool yuv_front_pool;
-  VisionBuf yuv_front_ion[YUV_COUNT];
-  cl_mem yuv_front_cl[YUV_COUNT];
-  YUVBuf yuv_front_bufs[YUV_COUNT];
-  FrameMetadata yuv_front_metas[YUV_COUNT];
-  size_t yuv_front_buf_size;
-  int yuv_front_width, yuv_front_height;
-  RGBToYUVState front_rgb_to_yuv_state;
-
-  size_t rgb_buf_size;
-  int rgb_width, rgb_height, rgb_stride;
-  VisionBuf rgb_bufs[UI_BUF_COUNT];
-  cl_mem rgb_bufs_cl[UI_BUF_COUNT];
-
-  size_t rgb_front_buf_size;
-  int rgb_front_width, rgb_front_height, rgb_front_stride;
-  VisionBuf rgb_front_bufs[UI_BUF_COUNT];
-  cl_mem rgb_front_bufs_cl[UI_BUF_COUNT];
-  int front_meteringbox_xmin, front_meteringbox_xmax;
-  int front_meteringbox_ymin, front_meteringbox_ymax;
+#include <poll.h>
+#include <sys/socket.h>
+#include <unistd.h>
 
+#include <cassert>
+#include <cstdio>
+#include <thread>
 
-  cl_mem camera_bufs_cl[FRAME_BUF_COUNT];
-  VisionBuf camera_bufs[FRAME_BUF_COUNT];
-  VisionBuf focus_bufs[FRAME_BUF_COUNT];
-  VisionBuf stats_bufs[FRAME_BUF_COUNT];
-
-  cl_mem front_camera_bufs_cl[FRAME_BUF_COUNT];
-  VisionBuf front_camera_bufs[FRAME_BUF_COUNT];
-
-  DualCameraState cameras;
-
-  zsock_t *terminate_pub;
-
-  Context * msg_context;
-  PubSocket *frame_sock;
-  PubSocket *front_frame_sock;
-  PubSocket *thumbnail_sock;
-
-  pthread_mutex_t clients_lock;
-  VisionClientState clients[MAX_CLIENTS];
-};
-
-// frontview thread
-void* frontview_thread(void *arg) {
-  int err;
-  VisionState *s = (VisionState*)arg;
-
-  set_thread_name("frontview");
-
-  s->msg_context = Context::create();
-
-  // we subscribe to this for placement of the AE metering box
-  // TODO: the loop is bad, ideally models shouldn't affect sensors
-  Context *msg_context = Context::create();
-  SubSocket *monitoring_sock = SubSocket::create(msg_context, "driverState", "127.0.0.1", true);
-  assert(monitoring_sock != NULL);
-
-  cl_command_queue q = clCreateCommandQueue(s->context, s->device_id, 0, &err);
-  assert(err == 0);
-
-  for (int cnt = 0; !do_exit; cnt++) {
-    int buf_idx = tbuffer_acquire(&s->cameras.front.camera_tb);
-    if (buf_idx < 0) {
-      break;
-    }
-
-    int ui_idx = tbuffer_select(&s->ui_front_tb);
-    FrameMetadata frame_data = s->cameras.front.camera_bufs_metadata[buf_idx];
-
-    double t1 = millis_since_boot();
-
-    err = clSetKernelArg(s->krnl_debayer_front, 0, sizeof(cl_mem), &s->front_camera_bufs_cl[buf_idx]);
-    assert(err == 0);
-    err = clSetKernelArg(s->krnl_debayer_front, 1, sizeof(cl_mem), &s->rgb_front_bufs_cl[ui_idx]);
-    assert(err == 0);
-    float digital_gain = 1.0;
-    err = clSetKernelArg(s->krnl_debayer_front, 2, sizeof(float), &digital_gain);
-    assert(err == 0);
-
-    cl_event debayer_event;
-    const size_t debayer_work_size = s->rgb_front_height;
-    const size_t debayer_local_work_size = 128;
-    err = clEnqueueNDRangeKernel(q, s->krnl_debayer_front, 1, NULL,
-                                 &debayer_work_size, &debayer_local_work_size, 0, 0, &debayer_event);
-    assert(err == 0);
-    clWaitForEvents(1, &debayer_event);
-    clReleaseEvent(debayer_event);
-
-    tbuffer_release(&s->cameras.front.camera_tb, buf_idx);
-
-    visionbuf_sync(&s->rgb_front_bufs[ui_idx], VISIONBUF_SYNC_FROM_DEVICE);
-
-    // set front camera metering target
-    Message *msg = monitoring_sock->receive(true);
-    if (msg != NULL) {
-      auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
-      memcpy(amsg.begin(), msg->getData(), msg->getSize());
-
-      capnp::FlatArrayMessageReader cmsg(amsg);
-      cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-      float face_prob = event.getDriverState().getFaceProb();
-      float face_position[2];
-      face_position[0] = event.getDriverState().getFacePosition()[0];
-      face_position[1] = event.getDriverState().getFacePosition()[1];
-
-      // set front camera metering target
-      if (face_prob > 0.4)
-      {
-        int x_offset = s->rgb_front_width - 0.5 * s->rgb_front_height;
-        s->front_meteringbox_xmin = x_offset + (face_position[0] + 0.5) * (0.5 * s->rgb_front_height) - 72;
-        s->front_meteringbox_xmax = x_offset + (face_position[0] + 0.5) * (0.5 * s->rgb_front_height) + 72;
-        s->front_meteringbox_ymin = (face_position[1] + 0.5) * (s->rgb_front_height) - 72;
-        s->front_meteringbox_ymax = (face_position[1] + 0.5) * (s->rgb_front_height) + 72;
-      }
-      else // use default setting if no face
-      {
-        s->front_meteringbox_ymin = s->rgb_front_height * 1 / 3;
-        s->front_meteringbox_ymax = s->rgb_front_height * 1;
-        s->front_meteringbox_xmin = s->rgb_front_width * 3 / 5;
-        s->front_meteringbox_xmax = s->rgb_front_width;
-      }
-
-      delete msg;
-    }
-
-    // auto exposure
-    const uint8_t *bgr_front_ptr = (const uint8_t*)s->rgb_front_bufs[ui_idx].addr;
-#ifndef DEBUG_DRIVER_MONITOR
-    if (cnt % 3 == 0)
-#endif
-    {
-      // use driver face crop for AE
-      int x_start;
-      int x_end;
-      int y_start;
-      int y_end;
-
-      if (s->front_meteringbox_xmax > 0)
-      {
-        x_start = s->front_meteringbox_xmin<0 ? 0:s->front_meteringbox_xmin;
-        x_end = s->front_meteringbox_xmax>=s->rgb_front_width ? s->rgb_front_width-1:s->front_meteringbox_xmax;
-        y_start = s->front_meteringbox_ymin<0 ? 0:s->front_meteringbox_ymin;
-        y_end = s->front_meteringbox_ymax>=s->rgb_front_height ? s->rgb_front_height-1:s->front_meteringbox_ymax;
-      }
-      else
-      {
-        y_start = s->rgb_front_height * 1 / 3;
-        y_end = s->rgb_front_height * 1;
-        x_start = s->rgb_front_width * 3 / 5;
-        x_end = s->rgb_front_width;
-      }
+#include "libyuv.h"
 
-      uint32_t lum_binning[256] = {0,};
-      for (int y = y_start; y < y_end; ++y) {
-        for (int x = x_start; x < x_end; x += 2) { // every 2nd col
-          const uint8_t *pix = &bgr_front_ptr[y * s->rgb_front_stride + x * 3];
-          unsigned int lum = (unsigned int)pix[0] + pix[1] + pix[2];
-#ifdef DEBUG_DRIVER_MONITOR
-          uint8_t *pix_rw = (uint8_t *)pix;
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
 
-          // set all the autoexposure pixels to pure green (pixel format is bgr)
-          pix_rw[0] = pix_rw[2] = 0;
-          pix_rw[1] = 0xff;
+#ifdef QCOM
+#include "selfdrive/camerad/cameras/camera_qcom.h"
+#elif QCOM2
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#elif WEBCAM
+#include "selfdrive/camerad/cameras/camera_webcam.h"
+#else
+#include "selfdrive/camerad/cameras/camera_replay.h"
 #endif
-          lum_binning[std::min(lum / 3, 255u)]++;
-        }
-      }
-      const unsigned int lum_total = (y_end - y_start) * (x_end - x_start)/2;
-      unsigned int lum_cur = 0;
-      int lum_med = 0;
-      for (lum_med=0; lum_med<256; lum_med++) {
-        lum_cur += lum_binning[lum_med];
-        if (lum_cur >= lum_total / 2) {
-          break;
-        }
-      }
-      camera_autoexposure(&s->cameras.front, lum_med / 256.0);
-    }
-
-    // push YUV buffer
-    int yuv_idx = pool_select(&s->yuv_front_pool);
-    s->yuv_front_metas[yuv_idx] = frame_data;
 
-    rgb_to_yuv_queue(&s->front_rgb_to_yuv_state, q, s->rgb_front_bufs_cl[ui_idx], s->yuv_front_cl[yuv_idx]);
-    visionbuf_sync(&s->yuv_front_ion[yuv_idx], VISIONBUF_SYNC_FROM_DEVICE);
-    s->yuv_front_metas[yuv_idx] = frame_data;
+ExitHandler do_exit;
 
-    // no reference required cause we don't use this in visiond
-    //pool_acquire(&s->yuv_front_pool, yuv_idx);
-    pool_push(&s->yuv_front_pool, yuv_idx);
-    //pool_release(&s->yuv_front_pool, yuv_idx);
+void party(cl_device_id device_id, cl_context context) {
+  MultiCameraState cameras = {};
+  VisionIpcServer vipc_server("camerad", device_id, context);
 
-    // send frame event
-    {
-      capnp::MallocMessageBuilder msg;
-      cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-      event.setLogMonoTime(nanos_since_boot());
+  cameras_init(&vipc_server, &cameras, device_id, context);
+  cameras_open(&cameras);
 
-      auto framed = event.initFrontFrame();
-      framed.setFrameId(frame_data.frame_id);
-      framed.setEncodeId(cnt);
-      framed.setTimestampEof(frame_data.timestamp_eof);
-      framed.setFrameLength(frame_data.frame_length);
-      framed.setIntegLines(frame_data.integ_lines);
-      framed.setGlobalGain(frame_data.global_gain);
-      framed.setLensPos(frame_data.lens_pos);
-      framed.setLensSag(frame_data.lens_sag);
-      framed.setLensErr(frame_data.lens_err);
-      framed.setLensTruePos(frame_data.lens_true_pos);
-      framed.setGainFrac(frame_data.gain_frac);
-      framed.setFrameType(cereal::FrameData::FrameType::FRONT);
+  vipc_server.start_listener();
 
-      auto words = capnp::messageToFlatArray(msg);
-      auto bytes = words.asBytes();
-      s->front_frame_sock->send((char*)bytes.begin(), bytes.size());
-    }
-
-    /*FILE *f = fopen("/tmp/test2", "wb");
-    printf("%d %d\n", s->rgb_front_height, s->rgb_front_stride);
-    fwrite(bgr_front_ptr, 1, s->rgb_front_stride * s->rgb_front_height, f);
-    fclose(f);*/
-
-    tbuffer_dispatch(&s->ui_front_tb, ui_idx);
-
-    double t2 = millis_since_boot();
-
-    //LOGD("front process: %.2fms", t2-t1);
-  }
-
-  delete monitoring_sock;
-
-  return NULL;
+  cameras_run(&cameras);
 }
-// processing
-void* processing_thread(void *arg) {
-  int err;
-  VisionState *s = (VisionState*)arg;
-
-  set_thread_name("processing");
-
-  err = set_realtime_priority(1);
-  LOG("setpriority returns %d", err);
-
-  // init cl stuff
-  const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  cl_command_queue q = clCreateCommandQueueWithProperties(s->context, s->device_id, props, &err);
-  assert(err == 0);
-
-  // init the net
-  LOG("processing start!");
-
-  for (int cnt = 0; !do_exit; cnt++) {
-    int buf_idx = tbuffer_acquire(&s->cameras.rear.camera_tb);
-    // int buf_idx = camera_acquire_buffer(s);
-    if (buf_idx < 0) {
-      break;
-    }
-
-    double t1 = millis_since_boot();
-
-    FrameMetadata frame_data = s->cameras.rear.camera_bufs_metadata[buf_idx];
-    uint32_t frame_id = frame_data.frame_id;
-
-    if (frame_id == -1) {
-      LOGE("no frame data? wtf");
-      tbuffer_release(&s->cameras.rear.camera_tb, buf_idx);
-      continue;
-    }
-
-    int ui_idx = tbuffer_select(&s->ui_tb);
-    int rgb_idx = ui_idx;
-
-    cl_event debayer_event;
-    if (s->cameras.rear.ci.bayer) {
-      err = clSetKernelArg(s->krnl_debayer_rear, 0, sizeof(cl_mem), &s->camera_bufs_cl[buf_idx]);
-      cl_check_error(err);
-      err = clSetKernelArg(s->krnl_debayer_rear, 1, sizeof(cl_mem), &s->rgb_bufs_cl[rgb_idx]);
-      cl_check_error(err);
-      err = clSetKernelArg(s->krnl_debayer_rear, 2, sizeof(float), &s->cameras.rear.digital_gain);
-      assert(err == 0);
-
-      const size_t debayer_work_size = s->rgb_height; // doesn't divide evenly, is this okay?
-      const size_t debayer_local_work_size = 128;
-      err = clEnqueueNDRangeKernel(q, s->krnl_debayer_rear, 1, NULL,
-                                   &debayer_work_size, &debayer_local_work_size, 0, 0, &debayer_event);
-      assert(err == 0);
-    } else {
-      assert(s->rgb_buf_size >= s->frame_size);
-      assert(s->rgb_stride == s->frame_stride);
-      err = clEnqueueCopyBuffer(q, s->camera_bufs_cl[buf_idx], s->rgb_bufs_cl[rgb_idx],
-                                0, 0, s->rgb_buf_size, 0, 0, &debayer_event);
-      assert(err == 0);
-    }
-
-    clWaitForEvents(1, &debayer_event);
-    clReleaseEvent(debayer_event);
-
-    tbuffer_release(&s->cameras.rear.camera_tb, buf_idx);
-
-    visionbuf_sync(&s->rgb_bufs[rgb_idx], VISIONBUF_SYNC_FROM_DEVICE);
-
-
-    double t2 = millis_since_boot();
-
-    uint8_t *bgr_ptr = (uint8_t*)s->rgb_bufs[rgb_idx].addr;
-
-    double yt1 = millis_since_boot();
-
-    int yuv_idx = pool_select(&s->yuv_pool);
-
-    s->yuv_metas[yuv_idx] = frame_data;
-
-    uint8_t* yuv_ptr_y = s->yuv_bufs[yuv_idx].y;
-    uint8_t* yuv_ptr_u = s->yuv_bufs[yuv_idx].u;
-    uint8_t* yuv_ptr_v = s->yuv_bufs[yuv_idx].v;
-    cl_mem yuv_cl = s->yuv_cl[yuv_idx];
-    rgb_to_yuv_queue(&s->rgb_to_yuv_state, q, s->rgb_bufs_cl[rgb_idx], yuv_cl);
-    visionbuf_sync(&s->yuv_ion[yuv_idx], VISIONBUF_SYNC_FROM_DEVICE);
-
-    double yt2 = millis_since_boot();
 
-    // keep another reference around till were done processing
-    pool_acquire(&s->yuv_pool, yuv_idx);
-    pool_push(&s->yuv_pool, yuv_idx);
-
-    // send frame event
-    {
-      capnp::MallocMessageBuilder msg;
-      cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-      event.setLogMonoTime(nanos_since_boot());
-
-      auto framed = event.initFrame();
-      framed.setFrameId(frame_data.frame_id);
-      framed.setEncodeId(cnt);
-      framed.setTimestampEof(frame_data.timestamp_eof);
-      framed.setFrameLength(frame_data.frame_length);
-      framed.setIntegLines(frame_data.integ_lines);
-      framed.setGlobalGain(frame_data.global_gain);
-      framed.setLensPos(frame_data.lens_pos);
-      framed.setLensSag(frame_data.lens_sag);
-      framed.setLensErr(frame_data.lens_err);
-      framed.setLensTruePos(frame_data.lens_true_pos);
-      framed.setGainFrac(frame_data.gain_frac);
-
-#ifndef QCOM
-      framed.setImage(kj::arrayPtr((const uint8_t*)s->yuv_ion[yuv_idx].addr, s->yuv_buf_size));
+#ifdef QCOM
+#include "CL/cl_ext_qcom.h"
 #endif
 
-      kj::ArrayPtr<const float> transform_vs(&s->yuv_transform.v[0], 9);
-      framed.setTransform(transform_vs);
-
-      if (s->frame_sock != NULL) {
-        auto words = capnp::messageToFlatArray(msg);
-        auto bytes = words.asBytes();
-        s->frame_sock->send((char*)bytes.begin(), bytes.size());
-      }
-    }
-
-    // one thumbnail per 5 seconds (instead of %5 == 0 posenet)
-    if (cnt % 100 == 3) {
-      uint8_t* thumbnail_buffer = NULL;
-      uint64_t thumbnail_len = 0;
-
-      unsigned char *row = (unsigned char *)malloc(s->rgb_width/4*3);
-
-      struct jpeg_compress_struct cinfo;
-      struct jpeg_error_mgr jerr;
-
-      cinfo.err = jpeg_std_error(&jerr);
-      jpeg_create_compress(&cinfo);
-      jpeg_mem_dest(&cinfo, &thumbnail_buffer, &thumbnail_len);
-
-      cinfo.image_width = s->rgb_width / 4;
-      cinfo.image_height = s->rgb_height / 4;
-      cinfo.input_components = 3;
-      cinfo.in_color_space = JCS_RGB;
-
-      jpeg_set_defaults(&cinfo);
-      jpeg_set_quality(&cinfo, 50, true);
-      jpeg_start_compress(&cinfo, true);
-
-      JSAMPROW row_pointer[1];
-      for (int i = 0; i < s->rgb_height - 4; i+=4) {
-        for (int j = 0; j < s->rgb_width*3; j+=12) {
-          for (int k = 0; k < 3; k++) {
-            uint16_t dat = 0;
-            dat += bgr_ptr[s->rgb_stride*i + j + k];
-            dat += bgr_ptr[s->rgb_stride*i + j+3 + k];
-            dat += bgr_ptr[s->rgb_stride*(i+1) + j + k];
-            dat += bgr_ptr[s->rgb_stride*(i+1) + j+3 + k];
-            dat += bgr_ptr[s->rgb_stride*(i+2) + j + k];
-            dat += bgr_ptr[s->rgb_stride*(i+2) + j+3 + k];
-            dat += bgr_ptr[s->rgb_stride*(i+3) + j + k];
-            dat += bgr_ptr[s->rgb_stride*(i+3) + j+3 + k];
-
-            row[(j/4) + (2-k)] = dat/8;
-          }
-        }
-        row_pointer[0] = row;
-        jpeg_write_scanlines(&cinfo, row_pointer, 1);
-      }
-      free(row);
-      jpeg_finish_compress(&cinfo);
-
-      capnp::MallocMessageBuilder msg;
-      cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-      event.setLogMonoTime(nanos_since_boot());
-
-      auto thumbnaild = event.initThumbnail();
-      thumbnaild.setFrameId(frame_data.frame_id);
-      thumbnaild.setTimestampEof(frame_data.timestamp_eof);
-      thumbnaild.setThumbnail(kj::arrayPtr((const uint8_t*)thumbnail_buffer, thumbnail_len));
-
-      auto words = capnp::messageToFlatArray(msg);
-      auto bytes = words.asBytes();
-      if (s->thumbnail_sock != NULL) {
-        s->thumbnail_sock->send((char*)bytes.begin(), bytes.size());
-      }
-
-      free(thumbnail_buffer);
-    }
-
-    tbuffer_dispatch(&s->ui_tb, ui_idx);
-
-    // auto exposure over big box
-    const int exposure_x = 290;
-    const int exposure_y = 282 + 40;
-    const int exposure_height = 314;
-    const int exposure_width = 560;
-    if (cnt % 3 == 0) {
-      // find median box luminance for AE
-      uint32_t lum_binning[256] = {0,};
-      for (int y=0; y<exposure_height; y++) {
-        for (int x=0; x<exposure_width; x++) {
-          uint8_t lum = yuv_ptr_y[((exposure_y+y)*s->yuv_width) + exposure_x + x];
-          lum_binning[lum]++;
-        }
-      }
-      const unsigned int lum_total = exposure_height * exposure_width;
-      unsigned int lum_cur = 0;
-      int lum_med = 0;
-      for (lum_med=0; lum_med<256; lum_med++) {
-        // shouldn't be any values less than 16 - yuv footroom
-        lum_cur += lum_binning[lum_med];
-        if (lum_cur >= lum_total / 2) {
-          break;
-        }
-      }
-      // double avg = (double)acc / (big_box_width * big_box_height) - 16;
-      // printf("avg %d\n", lum_med);
-
-      camera_autoexposure(&s->cameras.rear, lum_med / 256.0);
-    }
-
-    pool_release(&s->yuv_pool, yuv_idx);
-    double t5 = millis_since_boot();
-    LOGD("queued: %.2fms, yuv: %.2f, | processing: %.3fms", (t2-t1), (yt2-yt1), (t5-t1));
-  }
-
-  return NULL;
-}
-
-// visionserver
-void* visionserver_client_thread(void* arg) {
-  int err;
-  VisionClientState *client = (VisionClientState*)arg;
-  VisionState *s = client->s;
-  int fd = client->fd;
-
-  set_thread_name("clientthread");
-
-  zsock_t *terminate = zsock_new_sub(">inproc://terminate", "");
-  assert(terminate);
-  void* terminate_raw = zsock_resolve(terminate);
-
-  VisionClientStreamState streams[VISION_STREAM_MAX] = {{0}};
-
-  LOGW("client start fd %d", fd);
-
-  while (true) {
-    zmq_pollitem_t polls[2+VISION_STREAM_MAX] = {{0}};
-    polls[0].socket = terminate_raw;
-    polls[0].events = ZMQ_POLLIN;
-    polls[1].fd = fd;
-    polls[1].events = ZMQ_POLLIN;
-
-    int poll_to_stream[2+VISION_STREAM_MAX] = {0};
-    int num_polls = 2;
-    for (int i=0; i<VISION_STREAM_MAX; i++) {
-      if (!streams[i].subscribed) continue;
-      polls[num_polls].events = ZMQ_POLLIN;
-      if (streams[i].bufs_outstanding >= 2) {
-        continue;
-      }
-      if (streams[i].tb) {
-        polls[num_polls].fd = tbuffer_efd(streams[i].tbuffer);
-      } else {
-        polls[num_polls].fd = poolq_efd(streams[i].queue);
-      }
-      poll_to_stream[num_polls] = i;
-      num_polls++;
-    }
-    int ret = zmq_poll(polls, num_polls, -1);
-    if (ret < 0) {
-      if (errno == EINTR) continue;
-      LOGE("poll failed (%d)", ret);
-      break;
-    }
-    if (polls[0].revents) {
-      break;
-    } else if (polls[1].revents) {
-      VisionPacket p;
-      err = vipc_recv(fd, &p);
-      // printf("recv %d\n", p.type);
-      if (err <= 0) {
-        break;
-      } else if (p.type == VIPC_STREAM_SUBSCRIBE) {
-        VisionStreamType stream_type = p.d.stream_sub.type;
-        VisionPacket rep = {
-          .type = VIPC_STREAM_BUFS,
-          .d = { .stream_bufs = { .type = stream_type }, },
-        };
-
-        VisionClientStreamState *stream = &streams[stream_type];
-        stream->tb = p.d.stream_sub.tbuffer;
-
-        VisionStreamBufs *stream_bufs = &rep.d.stream_bufs;
-        if (stream_type == VISION_STREAM_RGB_BACK) {
-          stream_bufs->width = s->rgb_width;
-          stream_bufs->height = s->rgb_height;
-          stream_bufs->stride = s->rgb_stride;
-          stream_bufs->buf_len = s->rgb_bufs[0].len;
-          rep.num_fds = UI_BUF_COUNT;
-          for (int i=0; i<rep.num_fds; i++) {
-            rep.fds[i] = s->rgb_bufs[i].fd;
-          }
-          if (stream->tb) {
-            stream->tbuffer = &s->ui_tb;
-          } else {
-            assert(false);
-          }
-        } else if (stream_type == VISION_STREAM_RGB_FRONT) {
-          stream_bufs->width = s->rgb_front_width;
-          stream_bufs->height = s->rgb_front_height;
-          stream_bufs->stride = s->rgb_front_stride;
-          stream_bufs->buf_len = s->rgb_front_bufs[0].len;
-          rep.num_fds = UI_BUF_COUNT;
-          for (int i=0; i<rep.num_fds; i++) {
-            rep.fds[i] = s->rgb_front_bufs[i].fd;
-          }
-          if (stream->tb) {
-            stream->tbuffer = &s->ui_front_tb;
-          } else {
-            assert(false);
-          }
-        } else if (stream_type == VISION_STREAM_YUV) {
-          stream_bufs->width = s->yuv_width;
-          stream_bufs->height = s->yuv_height;
-          stream_bufs->stride = s->yuv_width;
-          stream_bufs->buf_len = s->yuv_buf_size;
-          rep.num_fds = YUV_COUNT;
-          for (int i=0; i<rep.num_fds; i++) {
-            rep.fds[i] = s->yuv_ion[i].fd;
-          }
-          if (stream->tb) {
-            stream->tbuffer = s->yuv_tb;
-          } else {
-            stream->queue = pool_get_queue(&s->yuv_pool);
-          }
-        } else if (stream_type == VISION_STREAM_YUV_FRONT) {
-          stream_bufs->width = s->yuv_front_width;
-          stream_bufs->height = s->yuv_front_height;
-          stream_bufs->stride = s->yuv_front_width;
-          stream_bufs->buf_len = s->yuv_front_buf_size;
-          rep.num_fds = YUV_COUNT;
-          for (int i=0; i<rep.num_fds; i++) {
-            rep.fds[i] = s->yuv_front_ion[i].fd;
-          }
-          if (stream->tb) {
-            stream->tbuffer = s->yuv_front_tb;
-          } else {
-            stream->queue = pool_get_queue(&s->yuv_front_pool);
-          }
-        } else {
-          assert(false);
-        }
-        vipc_send(fd, &rep);
-        streams[stream_type].subscribed = true;
-      } else if (p.type == VIPC_STREAM_RELEASE) {
-        // printf("client release f %d  %d\n", p.d.stream_rel.type, p.d.stream_rel.idx);
-        int si = p.d.stream_rel.type;
-        assert(si < VISION_STREAM_MAX);
-        if (streams[si].tb) {
-          tbuffer_release(streams[si].tbuffer, p.d.stream_rel.idx);
-        } else {
-          poolq_release(streams[si].queue, p.d.stream_rel.idx);
-        }
-        streams[p.d.stream_rel.type].bufs_outstanding--;
-      } else {
-        assert(false);
-      }
-    } else {
-      int stream_i = VISION_STREAM_MAX;
-      for (int i=2; i<num_polls; i++) {
-        int si = poll_to_stream[i];
-        if (!streams[si].subscribed) continue;
-        if (polls[i].revents) {
-          stream_i = si;
-          break;
-        }
-      }
-      if (stream_i < VISION_STREAM_MAX) {
-        streams[stream_i].bufs_outstanding++;
-        int idx;
-        if (streams[stream_i].tb) {
-          idx = tbuffer_acquire(streams[stream_i].tbuffer);
-        } else {
-          idx = poolq_pop(streams[stream_i].queue);
-        }
-        if (idx < 0) {
-          break;
-        }
-        VisionPacket rep = {
-          .type = VIPC_STREAM_ACQUIRE,
-          .d = {.stream_acq = {
-            .type = (VisionStreamType)stream_i,
-            .idx = idx,
-          }},
-        };
-        if (stream_i == VISION_STREAM_YUV) {
-          rep.d.stream_acq.extra.frame_id = s->yuv_metas[idx].frame_id;
-          rep.d.stream_acq.extra.timestamp_eof = s->yuv_metas[idx].timestamp_eof;
-        } else if (stream_i == VISION_STREAM_YUV_FRONT) {
-          rep.d.stream_acq.extra.frame_id = s->yuv_front_metas[idx].frame_id;
-          rep.d.stream_acq.extra.timestamp_eof = s->yuv_front_metas[idx].timestamp_eof;
-        }
-        vipc_send(fd, &rep);
-      }
-    }
-  }
-
-  LOGW("client end fd %d", fd);
-
-  for (int i=0; i<VISION_STREAM_MAX; i++) {
-    if (!streams[i].subscribed) continue;
-    if (streams[i].tb) {
-      tbuffer_release_all(streams[i].tbuffer);
-    } else {
-      pool_release_queue(streams[i].queue);
-    }
-  }
-
-  close(fd);
-  zsock_destroy(&terminate);
-
-  pthread_mutex_lock(&s->clients_lock);
-  client->running = false;
-  pthread_mutex_unlock(&s->clients_lock);
-
-  return NULL;
-}
-
-void* visionserver_thread(void* arg) {
-  int err;
-  VisionState *s = (VisionState*)arg;
-
-  set_thread_name("visionserver");
-
-  zsock_t *terminate = zsock_new_sub(">inproc://terminate", "");
-  assert(terminate);
-  void* terminate_raw = zsock_resolve(terminate);
-
-  unlink(VIPC_SOCKET_PATH);
-
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-  struct sockaddr_un addr = {
-    .sun_family = AF_UNIX,
-    .sun_path = VIPC_SOCKET_PATH,
-  };
-  err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
-  assert(err == 0);
-
-  err = listen(sock, 3);
-  assert(err == 0);
-
-  // printf("waiting\n");
-
-  while (!do_exit) {
-    zmq_pollitem_t polls[2] = {{0}};
-    polls[0].socket = terminate_raw;
-    polls[0].events = ZMQ_POLLIN;
-    polls[1].fd = sock;
-    polls[1].events = ZMQ_POLLIN;
-
-    int ret = zmq_poll(polls, ARRAYSIZE(polls), -1);
-    if (ret < 0) {
-      LOGE("poll failed (%d)", ret);
-      break;
-    }
-    if (polls[0].revents) {
-      break;
-    } else if (!polls[1].revents) {
-      continue;
-    }
-
-    int fd = accept(sock, NULL, NULL);
-    assert(fd >= 0);
-
-    pthread_mutex_lock(&s->clients_lock);
-
-    int client_idx = 0;
-    for (; client_idx < MAX_CLIENTS; client_idx++) {
-      if (!s->clients[client_idx].running) break;
-    }
-
-    if (client_idx >= MAX_CLIENTS) {
-      LOG("ignoring visionserver connection, max clients connected");
-      close(fd);
-
-      pthread_mutex_unlock(&s->clients_lock);
-      continue;
-    }
-
-    VisionClientState *client = &s->clients[client_idx];
-    client->s = s;
-    client->fd = fd;
-    client->running = true;
-
-    err = pthread_create(&client->thread_handle, NULL,
-                         visionserver_client_thread, client);
-    assert(err == 0);
-
-    pthread_mutex_unlock(&s->clients_lock);
-  }
-
-  for (int i=0; i<MAX_CLIENTS; i++) {
-    pthread_mutex_lock(&s->clients_lock);
-    bool running = s->clients[i].running;
-    pthread_mutex_unlock(&s->clients_lock);
-    if (running) {
-      err = pthread_join(s->clients[i].thread_handle, NULL);
-      assert(err == 0);
-    }
-  }
-
-  close(sock);
-  zsock_destroy(&terminate);
-
-  return NULL;
-}
-
-
-////////// cl stuff
-
-cl_program build_debayer_program(VisionState *s,
-                                 int frame_width, int frame_height, int frame_stride,
-                                 int rgb_width, int rgb_height, int rgb_stride,
-                                 int bayer_flip, int hdr) {
-  assert(rgb_width == frame_width/2);
-  assert(rgb_height == frame_height/2);
-
-  char args[4096];
-  snprintf(args, sizeof(args),
-          "-cl-fast-relaxed-math -cl-denorms-are-zero "
-          "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d "
-            "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d "
-            "-DBAYER_FLIP=%d -DHDR=%d",
-          frame_width, frame_height, frame_stride,
-          rgb_width, rgb_height, rgb_stride,
-          bayer_flip, hdr);
-  return CLU_LOAD_FROM_FILE(s->context, s->device_id, "cameras/debayer.cl", args);
-}
-
-void cl_init(VisionState *s) {
-  int err;
-  cl_platform_id platform_id = NULL;
-  cl_uint num_devices;
-  cl_uint num_platforms;
-
-  err = clGetPlatformIDs(1, &platform_id, &num_platforms);
-  assert(err == 0);
-  err = clGetDeviceIDs(platform_id, CL_DEVICE_TYPE_DEFAULT, 1,
-                       &s->device_id, &num_devices);
-  assert(err == 0);
-
-  cl_print_info(platform_id, s->device_id);
-  printf("\n");
-
-  s->context = clCreateContext(NULL, 1, &s->device_id, NULL, NULL, &err);
-  assert(err == 0);
-}
-
-void cl_free(VisionState *s) {
-  int err;
-
-  err = clReleaseContext(s->context);
-  assert(err == 0);
-}
-
-void init_buffers(VisionState *s) {
-  int err;
-
-  // allocate camera buffers
-
-  for (int i=0; i<FRAME_BUF_COUNT; i++) {
-    s->camera_bufs[i] = visionbuf_allocate_cl(s->frame_size, s->device_id, s->context,
-                                              &s->camera_bufs_cl[i]);
-    // TODO: make lengths correct
-    s->focus_bufs[i] = visionbuf_allocate(0xb80);
-    s->stats_bufs[i] = visionbuf_allocate(0xb80);
-  }
-
-  for (int i=0; i<FRAME_BUF_COUNT; i++) {
-    s->front_camera_bufs[i] = visionbuf_allocate_cl(s->cameras.front.frame_size,
-                                                       s->device_id, s->context,
-                                                       &s->front_camera_bufs_cl[i]);
-  }
-
-  // processing buffers
-  if (s->cameras.rear.ci.bayer) {
-    s->rgb_width = s->frame_width/2;
-    s->rgb_height = s->frame_height/2;
-  } else {
-    s->rgb_width = s->frame_width;
-    s->rgb_height = s->frame_height;
-  }
-
-  for (int i=0; i<UI_BUF_COUNT; i++) {
-    VisionImg img = visionimg_alloc_rgb24(s->rgb_width, s->rgb_height, &s->rgb_bufs[i]);
-    s->rgb_bufs_cl[i] = visionbuf_to_cl(&s->rgb_bufs[i], s->device_id, s->context);
-    if (i == 0){
-      s->rgb_stride = img.stride;
-      s->rgb_buf_size = img.size;
-    }
-  }
-  tbuffer_init(&s->ui_tb, UI_BUF_COUNT, "rgb");
-
-  //assert(s->cameras.front.ci.bayer);
-  s->rgb_front_width = s->cameras.front.ci.frame_width/2;
-  s->rgb_front_height = s->cameras.front.ci.frame_height/2;
-
-  for (int i=0; i<UI_BUF_COUNT; i++) {
-    VisionImg img = visionimg_alloc_rgb24(s->rgb_front_width, s->rgb_front_height, &s->rgb_front_bufs[i]);
-    s->rgb_front_bufs_cl[i] = visionbuf_to_cl(&s->rgb_front_bufs[i], s->device_id, s->context);
-    if (i == 0){
-      s->rgb_front_stride = img.stride;
-      s->rgb_front_buf_size = img.size;
-    }
-  }
-  tbuffer_init(&s->ui_front_tb, UI_BUF_COUNT, "frontrgb");
-
-  // yuv back for recording and orbd
-  pool_init(&s->yuv_pool, YUV_COUNT);
-  s->yuv_tb = pool_get_tbuffer(&s->yuv_pool); //only for visionserver...
-
-  s->yuv_width = s->rgb_width;
-  s->yuv_height = s->rgb_height;
-  s->yuv_buf_size = s->rgb_width * s->rgb_height * 3 / 2;
-
-  for (int i=0; i<YUV_COUNT; i++) {
-    s->yuv_ion[i] = visionbuf_allocate_cl(s->yuv_buf_size, s->device_id, s->context, &s->yuv_cl[i]);
-    s->yuv_bufs[i].y = (uint8_t*)s->yuv_ion[i].addr;
-    s->yuv_bufs[i].u = s->yuv_bufs[i].y + (s->yuv_width * s->yuv_height);
-    s->yuv_bufs[i].v = s->yuv_bufs[i].u + (s->yuv_width/2 * s->yuv_height/2);
-  }
-
-  // yuv front for recording
-  pool_init(&s->yuv_front_pool, YUV_COUNT);
-  s->yuv_front_tb = pool_get_tbuffer(&s->yuv_front_pool);
-
-  s->yuv_front_width = s->rgb_front_width;
-  s->yuv_front_height = s->rgb_front_height;
-  s->yuv_front_buf_size = s->rgb_front_width * s->rgb_front_height * 3 / 2;
-
-  for (int i=0; i<YUV_COUNT; i++) {
-    s->yuv_front_ion[i] = visionbuf_allocate_cl(s->yuv_front_buf_size, s->device_id, s->context, &s->yuv_front_cl[i]);
-    s->yuv_front_bufs[i].y = (uint8_t*)s->yuv_front_ion[i].addr;
-    s->yuv_front_bufs[i].u = s->yuv_front_bufs[i].y + (s->yuv_front_width * s->yuv_front_height);
-    s->yuv_front_bufs[i].v = s->yuv_front_bufs[i].u + (s->yuv_front_width/2 * s->yuv_front_height/2);
-  }
-
-  if (s->cameras.rear.ci.bayer) {
-    // debayering does a 2x downscale
-    s->yuv_transform = transform_scale_buffer(s->cameras.rear.transform, 0.5);
-  } else {
-    s->yuv_transform = s->cameras.rear.transform;
-  }
-
-  if (s->cameras.rear.ci.bayer) {
-    s->prg_debayer_rear = build_debayer_program(s, s->cameras.rear.ci.frame_width, s->cameras.rear.ci.frame_height,
-                                                   s->cameras.rear.ci.frame_stride,
-                                                 s->rgb_width, s->rgb_height, s->rgb_stride,
-                                                 s->cameras.rear.ci.bayer_flip, s->cameras.rear.ci.hdr);
-    s->krnl_debayer_rear = clCreateKernel(s->prg_debayer_rear, "debayer10", &err);
-    assert(err == 0);
-  }
-
-  if (s->cameras.front.ci.bayer) {
-    s->prg_debayer_front = build_debayer_program(s, s->cameras.front.ci.frame_width, s->cameras.front.ci.frame_height,
-                                                    s->cameras.front.ci.frame_stride,
-                                                 s->rgb_front_width, s->rgb_front_height, s->rgb_front_stride,
-                                                 s->cameras.front.ci.bayer_flip, s->cameras.front.ci.hdr);
-
-    s->krnl_debayer_front = clCreateKernel(s->prg_debayer_front, "debayer10", &err);
-    assert(err == 0);
-  }
-
-  rgb_to_yuv_init(&s->rgb_to_yuv_state, s->context, s->device_id, s->yuv_width, s->yuv_height, s->rgb_stride);
-  rgb_to_yuv_init(&s->front_rgb_to_yuv_state, s->context, s->device_id, s->yuv_front_width, s->yuv_front_height, s->rgb_front_stride);
-}
-
-void free_buffers(VisionState *s) {
-  // free bufs
-  for (int i=0; i<FRAME_BUF_COUNT; i++) {
-    visionbuf_free(&s->camera_bufs[i]);
-    visionbuf_free(&s->focus_bufs[i]);
-    visionbuf_free(&s->stats_bufs[i]);
-  }
-
-  for (int i=0; i<FRAME_BUF_COUNT; i++) {
-   visionbuf_free(&s->front_camera_bufs[i]);
-  }
-
-  for (int i=0; i<UI_BUF_COUNT; i++) {
-    visionbuf_free(&s->rgb_bufs[i]);
-  }
-
-  for (int i=0; i<UI_BUF_COUNT; i++) {
-    visionbuf_free(&s->rgb_front_bufs[i]);
-  }
-
-  for (int i=0; i<YUV_COUNT; i++) {
-    visionbuf_free(&s->yuv_ion[i]);
-  }
-}
-
-void party(VisionState *s) {
-  int err;
-
-  s->terminate_pub = zsock_new_pub("@inproc://terminate");
-  assert(s->terminate_pub);
-
-  pthread_t visionserver_thread_handle;
-  err = pthread_create(&visionserver_thread_handle, NULL,
-                       visionserver_thread, s);
-  assert(err == 0);
-
-  pthread_t proc_thread_handle;
-  err = pthread_create(&proc_thread_handle, NULL,
-                       processing_thread, s);
-  assert(err == 0);
-
-  pthread_t frontview_thread_handle;
-  err = pthread_create(&frontview_thread_handle, NULL,
-                       frontview_thread, s);
-  assert(err == 0);
-
-  // priority for cameras
-  err = set_realtime_priority(1);
-  LOG("setpriority returns %d", err);
-
-  cameras_run(&s->cameras);
-
-  tbuffer_stop(&s->ui_tb);
-  tbuffer_stop(&s->ui_front_tb);
-  pool_stop(&s->yuv_pool);
-  pool_stop(&s->yuv_front_pool);
-
-  zsock_signal(s->terminate_pub, 0);
-
-  LOG("joining frontview_thread");
-  err = pthread_join(frontview_thread_handle, NULL);
-  assert(err == 0);
-
-  LOG("joining visionserver_thread");
-  err = pthread_join(visionserver_thread_handle, NULL);
-  assert(err == 0);
-
-  LOG("joining proc_thread");
-  err = pthread_join(proc_thread_handle, NULL);
-  assert(err == 0);
-
-  zsock_destroy (&s->terminate_pub);
-}
-
 int main(int argc, char *argv[]) {
-  int err;
-  set_realtime_priority(1);
-
-  zsys_handler_set(NULL);
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
-  VisionState state = {0};
-  VisionState *s = &state;
-
-  clu_init();
-  cl_init(s);
-
-  cameras_init(&s->cameras);
-
-  s->frame_width = s->cameras.rear.ci.frame_width;
-  s->frame_height = s->cameras.rear.ci.frame_height;
-  s->frame_stride = s->cameras.rear.ci.frame_stride;
-  s->frame_size = s->cameras.rear.frame_size;
+  if (!Hardware::PC()) {
+    int ret;
+    ret = set_realtime_priority(53);
+    assert(ret == 0);
+    ret = set_core_affinity({Hardware::EON() ? 2 : 6});
+    assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
+  }
 
-  init_buffers(s);
+  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 
-#ifdef QCOM
-  s->msg_context = Context::create();
-  s->frame_sock = PubSocket::create(s->msg_context, "frame");
-  s->front_frame_sock = PubSocket::create(s->msg_context, "frontFrame");
-  s->thumbnail_sock = PubSocket::create(s->msg_context, "thumbnail");
-  assert(s->frame_sock != NULL);
-  assert(s->front_frame_sock != NULL);
-  assert(s->thumbnail_sock != NULL);
+   // TODO: do this for QCOM2 too
+#if defined(QCOM)
+  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
+  cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
+#else
+  cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 #endif
 
-  cameras_open(&s->cameras, &s->camera_bufs[0], &s->focus_bufs[0], &s->stats_bufs[0], &s->front_camera_bufs[0]);
-
-  party(s);
-
-#ifdef QCOM
-  delete s->frame_sock;
-  delete s->front_frame_sock;
-  delete s->thumbnail_sock;
-  delete s->msg_context;
-#endif
+  party(device_id, context);
 
-  free_buffers(s);
-  cl_free(s);
+  CL_CHECK(clReleaseContext(context));
 }
diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py
index 0da8d679736f8e..787d628370e34e 100755
--- a/selfdrive/camerad/snapshot/snapshot.py
+++ b/selfdrive/camerad/snapshot/snapshot.py
@@ -1,16 +1,21 @@
 #!/usr/bin/env python3
 import os
-import json
-import signal
 import subprocess
 import time
+
+import numpy as np
 from PIL import Image
-from common.basedir import BASEDIR
+from typing import List
+
+import cereal.messaging as messaging
 from common.params import Params
-from selfdrive.camerad.snapshot.visionipc import VisionIPC
+from common.realtime import DT_MDL
+from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size
+from selfdrive.hardware import TICI
+from selfdrive.controls.lib.alertmanager import set_offroad_alert
+from selfdrive.manager.process_config import managed_processes
 
-with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
-   OFFROAD_ALERTS = json.load(json_file)
+LM_THRESH = 120  # defined in selfdrive/camerad/imgproc/utils.h
 
 
 def jpeg_write(fn, dat):
@@ -18,55 +23,98 @@ def jpeg_write(fn, dat):
   img.save(fn, "JPEG")
 
 
+def extract_image(dat, frame_sizes):
+  img = np.frombuffer(dat, dtype=np.uint8)
+  w, h = frame_sizes[len(img) // 3]
+  b = img[::3].reshape(h, w)
+  g = img[1::3].reshape(h, w)
+  r = img[2::3].reshape(h, w)
+  return np.dstack([r, g, b])
+
+
+def rois_in_focus(lapres: List[float]) -> float:
+  sz = len(lapres)
+  return sum([1. / sz for sharpness in
+              lapres if sharpness >= LM_THRESH])
+
+
+def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.):
+  frame_sizes = [eon_f_frame_size, eon_d_frame_size, tici_f_frame_size]
+  frame_sizes = {w * h: (w, h) for (w, h) in frame_sizes}
+
+  sockets = []
+  if frame is not None:
+    sockets.append(frame)
+  if front_frame is not None:
+    sockets.append(front_frame)
+
+  # wait 4 sec from camerad startup for focus and exposure
+  sm = messaging.SubMaster(sockets)
+  while sm[sockets[0]].frameId < int(4. / DT_MDL):
+    sm.update()
+
+  start_t = time.monotonic()
+  while time.monotonic() - start_t < 10:
+    sm.update()
+    if min(sm.rcv_frame.values()) > 1 and rois_in_focus(sm[frame].sharpnessScore) >= focus_perc_threshold:
+      break
+
+  rear = extract_image(sm[frame].image, frame_sizes) if frame is not None else None
+  front = extract_image(sm[front_frame].image, frame_sizes) if front_frame is not None else None
+  return rear, front
+
+
 def snapshot():
   params = Params()
-  front_camera_allowed = int(params.get("RecordFront"))
+  front_camera_allowed = params.get_bool("RecordFront")
+
+  if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"):
+    print("Already taking snapshot")
+    return None, None
 
-  params.put("IsTakingSnapshot", "1")
-  params.put("Offroad_IsTakingSnapshot", json.dumps(OFFROAD_ALERTS["Offroad_IsTakingSnapshot"]))
+  params.put_bool("IsTakingSnapshot", True)
+  set_offroad_alert("Offroad_IsTakingSnapshot", True)
   time.sleep(2.0)  # Give thermald time to read the param, or if just started give camerad time to start
 
   # Check if camerad is already started
-  ps = subprocess.Popen("ps | grep camerad", shell=True, stdout=subprocess.PIPE)
-  ret = list(filter(lambda x: 'grep ' not in x, ps.communicate()[0].decode('utf-8').strip().split("\n")))
-  if len(ret) > 0:
-    params.put("IsTakingSnapshot", "0")
+  try:
+    subprocess.check_call(["pgrep", "camerad"])
+    print("Camerad already running")
+    params.put_bool("IsTakingSnapshot", False)
     params.delete("Offroad_IsTakingSnapshot")
-    return None
-
-  proc = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"), cwd=os.path.join(BASEDIR, "selfdrive/camerad"))
-  time.sleep(3.0)
-
-  ret = None
-  start_time = time.time()
-  while time.time() - start_time < 5.0:
-    try:
-      ipc = VisionIPC()
-      pic = ipc.get()
-      del ipc
-
-      if front_camera_allowed:
-        ipc_front = VisionIPC(front=True)
-        fpic = ipc_front.get()
-        del ipc_front
-      else:
-        fpic = None
-
-      ret = pic, fpic
-      break
-    except Exception:
-      time.sleep(1)
+    return None, None
+  except subprocess.CalledProcessError:
+    pass
+
+  os.environ["SEND_ROAD"] = "1"
+  os.environ["SEND_WIDE_ROAD"] = "1"
+  if front_camera_allowed:
+    os.environ["SEND_DRIVER"] = "1"
+
+  try:
+    managed_processes['camerad'].start()
+    frame = "wideRoadCameraState" if TICI else "roadCameraState"
+    front_frame = "driverCameraState" if front_camera_allowed else None
+    focus_perc_threshold = 0. if TICI else 10 / 12.
+
+    rear, front = get_snapshots(frame, front_frame, focus_perc_threshold)
+  finally:
+    managed_processes['camerad'].stop()
+    params.put_bool("IsTakingSnapshot", False)
+    set_offroad_alert("Offroad_IsTakingSnapshot", False)
 
-  proc.send_signal(signal.SIGINT)
-  proc.communicate()
+  if not front_camera_allowed:
+    front = None
 
-  params.put("IsTakingSnapshot", "0")
-  params.delete("Offroad_IsTakingSnapshot")
-  return ret
+  return rear, front
 
 
 if __name__ == "__main__":
   pic, fpic = snapshot()
-  print(pic.shape)
-  jpeg_write("/tmp/back.jpg", pic)
-  jpeg_write("/tmp/front.jpg", fpic)
+  if pic is not None:
+    print(pic.shape)
+    jpeg_write("/tmp/back.jpg", pic)
+    if fpic is not None:
+      jpeg_write("/tmp/front.jpg", fpic)
+  else:
+    print("Error taking snapshot")
diff --git a/selfdrive/camerad/snapshot/visionipc.py b/selfdrive/camerad/snapshot/visionipc.py
deleted file mode 100644
index 816db41208134a..00000000000000
--- a/selfdrive/camerad/snapshot/visionipc.py
+++ /dev/null
@@ -1,93 +0,0 @@
-#!/usr/bin/env python3
-import os
-from cffi import FFI
-
-import numpy as np
-
-gf_dir = os.path.dirname(os.path.abspath(__file__))
-
-ffi = FFI()
-ffi.cdef("""
-
-typedef enum VisionStreamType {
-  VISION_STREAM_RGB_BACK,
-  VISION_STREAM_RGB_FRONT,
-  VISION_STREAM_YUV,
-  VISION_STREAM_YUV_FRONT,
-  VISION_STREAM_MAX,
-} VisionStreamType;
-
-typedef struct VisionUIInfo {
-  int big_box_x, big_box_y;
-  int big_box_width, big_box_height;
-  int transformed_width, transformed_height;
-
-  int front_box_x, front_box_y;
-  int front_box_width, front_box_height;
-} VisionUIInfo;
-
-typedef struct VisionStreamBufs {
-  VisionStreamType type;
-
-  int width, height, stride;
-  size_t buf_len;
-
-  union {
-    VisionUIInfo ui_info;
-  } buf_info;
-} VisionStreamBufs;
-
-typedef struct VIPCBuf {
-  int fd;
-  size_t len;
-  void* addr;
-} VIPCBuf;
-
-typedef struct VIPCBufExtra {
-  // only for yuv
-  uint32_t frame_id;
-  uint64_t timestamp_eof;
-} VIPCBufExtra;
-
-typedef struct VisionStream {
-  int ipc_fd;
-  int last_idx;
-  int last_type;
-  int num_bufs;
-  VisionStreamBufs bufs_info;
-  VIPCBuf *bufs;
-} VisionStream;
-
-int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
-VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
-void visionstream_destroy(VisionStream *s);
-
-"""
-)
-
-
-class VisionIPCError(Exception):
-  pass
-
-
-class VisionIPC():
-  def __init__(self, front=False):
-    self.clib = ffi.dlopen(os.path.join(gf_dir, "libvisionipc.so"))
-
-    self.s = ffi.new("VisionStream*")
-    self.buf_info = ffi.new("VisionStreamBufs*")
-
-    err = self.clib.visionstream_init(self.s, self.clib.VISION_STREAM_RGB_FRONT if front else self.clib.VISION_STREAM_RGB_BACK, True, self.buf_info)
-
-    if err != 0:
-      self.clib.visionstream_destroy(self.s)
-      raise VisionIPCError
-
-  def __del__(self):
-    self.clib.visionstream_destroy(self.s)
-
-  def get(self):
-    buf = self.clib.visionstream_get(self.s, ffi.NULL)
-    pbuf = ffi.buffer(buf.addr, buf.len)
-    ret = np.frombuffer(pbuf, dtype=np.uint8).reshape((-1, self.buf_info.stride//3, 3))
-    return ret[:self.buf_info.height, :self.buf_info.width, [2,1,0]]
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.c b/selfdrive/camerad/transforms/rgb_to_yuv.c
deleted file mode 100644
index 2626e6eebe765f..00000000000000
--- a/selfdrive/camerad/transforms/rgb_to_yuv.c
+++ /dev/null
@@ -1,53 +0,0 @@
-#include <string.h>
-#include <assert.h>
-
-#include "clutil.h"
-
-#include "rgb_to_yuv.h"
-
-void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
-  int err = 0;
-  memset(s, 0, sizeof(*s));
-  assert(width % 2 == 0);
-  assert(height % 2 == 0);
-  s->width = width;
-  s->height = height;
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-#ifdef CL_DEBUG
-           "-DCL_DEBUG "
-#endif
-           "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
-           width, height, width/ 2, height / 2, rgb_stride, width * height);
-  cl_program prg = CLU_LOAD_FROM_FILE(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
-
-  s->rgb_to_yuv_krnl = clCreateKernel(prg, "rgb_to_yuv", &err);
-  assert(err == 0);
-  // done with this
-  err = clReleaseProgram(prg);
-  assert(err == 0);
-}
-
-void rgb_to_yuv_destroy(RGBToYUVState* s) {
-  int err = 0;
-  err = clReleaseKernel(s->rgb_to_yuv_krnl);
-  assert(err == 0);
-}
-
-void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
-  int err = 0;
-  err = clSetKernelArg(s->rgb_to_yuv_krnl, 0, sizeof(cl_mem), &rgb_cl);
-  assert(err == 0);
-  err = clSetKernelArg(s->rgb_to_yuv_krnl, 1, sizeof(cl_mem), &yuv_cl);
-  assert(err == 0);
-  const size_t work_size[2] = {
-    (size_t)(s->width + (s->width % 4 == 0 ? 0 : (4 - s->width % 4))) / 4, 
-    (size_t)(s->height + (s->height % 4 == 0 ? 0 : (4 - s->height % 4))) / 4
-  };
-  cl_event event;
-  err = clEnqueueNDRangeKernel(q, s->rgb_to_yuv_krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event);
-  assert(err == 0);
-  clWaitForEvents(1, &event);
-  clReleaseEvent(event);
-}
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cc b/selfdrive/camerad/transforms/rgb_to_yuv.cc
new file mode 100644
index 00000000000000..63e032e2dc15c7
--- /dev/null
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.cc
@@ -0,0 +1,36 @@
+#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+
+#include <cassert>
+#include <cstdio>
+
+Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
+  assert(width % 2 == 0 && height % 2 == 0);
+  char args[1024];
+  snprintf(args, sizeof(args),
+           "-cl-fast-relaxed-math -cl-denorms-are-zero "
+#ifdef CL_DEBUG
+           "-DCL_DEBUG "
+#endif
+           "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
+           width, height, width / 2, height / 2, rgb_stride, width * height);
+
+  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
+  krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
+  CL_CHECK(clReleaseProgram(prg));
+
+  work_size[0] = (width + (width % 4 == 0 ? 0 : (4 - width % 4))) / 4;
+  work_size[1] = (height + (height % 4 == 0 ? 0 : (4 - height % 4))) / 4;
+}
+
+Rgb2Yuv::~Rgb2Yuv() {
+  CL_CHECK(clReleaseKernel(krnl));
+}
+
+void Rgb2Yuv::queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
+  CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), &rgb_cl));
+  CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), &yuv_cl));
+  cl_event event;
+  CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
+  CL_CHECK(clWaitForEvents(1, &event));
+  CL_CHECK(clReleaseEvent(event));
+}
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.h b/selfdrive/camerad/transforms/rgb_to_yuv.h
index 79895803456d69..3bb50669ef0568 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv.h
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.h
@@ -1,32 +1,14 @@
-#ifndef RGB_TO_YUV_H
-#define RGB_TO_YUV_H
+#pragma once
 
-#include <inttypes.h>
-#include <stdbool.h>
+#include "selfdrive/common/clutil.h"
 
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
+class Rgb2Yuv {
+public:
+  Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
+  ~Rgb2Yuv();
+  void queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
+private:
+  size_t work_size[2];
+  cl_kernel krnl;
+};
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct {
-  int width, height;
-  cl_kernel rgb_to_yuv_krnl;
-} RGBToYUVState;
-
-void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
-
-void rgb_to_yuv_destroy(RGBToYUVState* s);
-
-void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // RGB_TO_YUV_H
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
index c8b87510586d5e..74db2bc1c2b37c 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
@@ -1,18 +1,19 @@
-#include <memory.h>
-#include <iostream>
-#include <getopt.h>
-#include <math.h>
-#include <fstream>
-#include <cstdlib>
-#include <vector>
-#include <string>
-#include <iomanip>
-#include <thread>
 #include <fcntl.h>
-#include <signal.h>
+#include <getopt.h>
+#include <memory.h>
 #include <unistd.h>
+
 #include <cassert>
+#include <cmath>
+#include <csignal>
 #include <cstdint>
+#include <cstdlib>
+#include <fstream>
+#include <iomanip>
+#include <iostream>
+#include <string>
+#include <thread>
+#include <vector>
 
 #ifdef ANDROID
 
@@ -26,13 +27,11 @@
 
 #endif
 
-#include <libyuv.h>
-
 #include <CL/cl.h>
 
-#include "clutil.h"
-#include "rgb_to_yuv.h"
-
+#include "libyuv.h"
+#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "selfdrive/common/clutil.h"
 
 static inline double millis_since_boot() {
   struct timespec t;
@@ -41,16 +40,8 @@ static inline double millis_since_boot() {
 }
 
 void cl_init(cl_device_id &device_id, cl_context &context) {
-  int err;
-  cl_platform_id platform_id = NULL;
-  cl_uint num_devices;
-  cl_uint num_platforms;
-
-  err = clGetPlatformIDs(1, &platform_id, &num_platforms);
-  err = clGetDeviceIDs(platform_id, CL_DEVICE_TYPE_DEFAULT, 1,
-                       &device_id, &num_devices);
-  cl_print_info(platform_id, device_id);
-  context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
+  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }
 
 
@@ -109,7 +100,6 @@ bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int
 int main(int argc, char** argv) {
   srand(1337);
 
-  clu_init();
   cl_device_id device_id;
   cl_context context;
   cl_init(device_id, context)	;
@@ -144,19 +134,19 @@ int main(int argc, char** argv) {
   rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3);
 
   int frame_yuv_buf_size = width * height * 3 / 2;
-  cl_mem yuv_cl = clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err);
+  cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
   uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size];
   uint8_t *frame_yuv_ptr_y = frame_yuv_buf;
   uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height);
   uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2));
 
-  cl_mem rgb_cl = clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err);
+  cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
   int mismatched = 0;
   int counter = 0;
   srand (time(NULL));
 
-  for (int i = 0; i < 100; i++){
-    for (int i = 0; i < width * height * 3; i++){
+  for (int i = 0; i < 100; i++) {
+    for (int i = 0; i < width * height * 3; i++) {
       rgb_frame[i] = (uint8_t)rand();
     }
 
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 6ad29d4b3a748c..ddb20fe549f747 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -1,12 +1,15 @@
 # functions common among cars
+from cereal import car
 from common.numpy_fast import clip
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
 
+
 def gen_empty_fingerprint():
   return {i: {} for i in range(0, 4)}
 
+
 # FIXME: hardcoding honda civic 2016 touring params so they can be used to
 # scale unknown params for other cars
 class CivicParams:
@@ -18,11 +21,13 @@ class CivicParams:
   TIRE_STIFFNESS_FRONT = 192150
   TIRE_STIFFNESS_REAR = 202500
 
+
 # TODO: get actual value, for now starting with reasonable value for
 # civic and scaling by mass and wheelbase
 def scale_rot_inertia(mass, wheelbase):
   return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2)
 
+
 # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
 # mass and CG position, so all cars will have approximately similar dyn behaviors
 def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0):
@@ -35,8 +40,9 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
 
   return tire_stiffness_front, tire_stiffness_rear
 
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
-  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
+
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None):
+  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 
 def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
@@ -51,10 +57,10 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
   # slow rate if steer torque increases in magnitude
   if apply_torque_last > 0:
     apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
-                                    apply_torque_last + LIMITS.STEER_DELTA_UP)
+                        apply_torque_last + LIMITS.STEER_DELTA_UP)
   else:
     apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
-                                    min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
+                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
 
   return int(round(float(apply_torque)))
 
@@ -83,9 +89,9 @@ def crc8_pedal(data):
   crc = 0xFF    # standard init value
   poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
   size = len(data)
-  for i in range(size-1, -1, -1):
+  for i in range(size - 1, -1, -1):
     crc ^= data[i]
-    for j in range(8):
+    for _ in range(8):
       if ((crc & 0x80) != 0):
         crc = ((crc << 1) ^ poly) & 0xFF
       else:
@@ -114,18 +120,13 @@ def create_gas_command(packer, gas_amount, idx):
   return packer.make_can_msg("GAS_COMMAND", 0, values)
 
 
-def is_ecu_disconnected(fingerprint, fingerprint_list, ecu_fingerprint, car, ecu):
-  # check if a stock ecu is disconnected by looking for specific CAN msgs in the fingerprint
-  # return True if the reference car fingerprint contains the ecu fingerprint msg and
-  # fingerprint does not contains messages normally sent by a given ecu
-  ecu_in_car = False
-  for car_finger in fingerprint_list[car]:
-    if any(msg in car_finger for msg in ecu_fingerprint[ecu]):
-      ecu_in_car = True
-
-  return ecu_in_car and not any(msg in fingerprint for msg in ecu_fingerprint[ecu])
-
-
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
+
+def get_safety_config(safety_model, safety_param = None):
+  ret = car.CarParams.SafetyConfig.new_message()
+  ret.safetyModel = safety_model
+  if safety_param is not None:
+    ret.safetyParam = safety_param
+  return ret
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index f1766075ea238b..147562b874fab1 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,7 +1,8 @@
 import os
 from common.params import Params
 from common.basedir import BASEDIR
-from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
+from selfdrive.version import comma_remote, tested_branch
+from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
 from selfdrive.swaglog import cloudlog
@@ -9,17 +10,27 @@
 from selfdrive.car import gen_empty_fingerprint
 
 from cereal import car
+EventName = car.CarEvent.EventName
+
+
+def get_startup_event(car_recognized, controller_available, fw_seen):
+  event = EventName.startup
 
-def get_startup_alert(car_recognized, controller_available):
-  alert = 'startup'
-  if Params().get("GitRemote", encoding="utf8") in ['git@github.com:commaai/openpilot.git', 'https://github.com/commaai/openpilot.git']:
-    if Params().get("GitBranch", encoding="utf8") not in ['devel', 'release2-staging', 'dashcam-staging', 'release2', 'dashcam']:
-      alert = 'startupMaster'
   if not car_recognized:
-    alert = 'startupNoCar'
+    if fw_seen:
+      event = EventName.startupNoCar
+    else:
+      event = EventName.startupNoFw
   elif car_recognized and not controller_available:
-    alert = 'startupNoControl'
-  return alert
+    event = EventName.startupNoControl
+  return event
+
+
+def get_one_can(logcan):
+  while True:
+    can = messaging.recv_one_retry(logcan)
+    if len(can.can) > 0:
+      return can
 
 
 def load_interfaces(brand_names):
@@ -27,12 +38,19 @@ def load_interfaces(brand_names):
   for brand_name in brand_names:
     path = ('selfdrive.car.%s' % brand_name)
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
+
+    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
+      CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
+    else:
+      CarState = None
+
     if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
       CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
     else:
       CarController = None
+
     for model_name in brand_names[brand_name]:
-      ret[model_name] = (CarInterface, CarController)
+      ret[model_name] = (CarInterface, CarController, CarState)
   return ret
 
 
@@ -54,105 +72,109 @@ def _get_interface_names():
 
 
 # imports from directory selfdrive/car/<name>/
-interfaces = load_interfaces(_get_interface_names())
-
-
-def only_toyota_left(candidate_cars):
-  return all(("TOYOTA" in c or "LEXUS" in c) for c in candidate_cars) and len(candidate_cars) > 0
+interface_names = _get_interface_names()
+interfaces = load_interfaces(interface_names)
 
 
 # **** for use live only ****
-def fingerprint(logcan, sendcan, has_relay):
-  if has_relay:
+def fingerprint(logcan, sendcan):
+  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
+  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
+
+  if not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
     bus = 1
 
     cached_params = Params().get("CarParamsCache")
     if cached_params is not None:
+      cached_params = car.CarParams.from_bytes(cached_params)
+      if cached_params.carName == "mock":
+        cached_params = None
+
+    if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
       cloudlog.warning("Using cached CarParams")
-      CP = car.CarParams.from_bytes(cached_params)
-      vin = CP.carVin
-      car_fw = list(CP.carFw)
+      vin = cached_params.carVin
+      car_fw = list(cached_params.carFw)
     else:
+      cloudlog.warning("Getting VIN & FW versions")
       _, vin = get_vin(logcan, sendcan, bus)
       car_fw = get_fw_versions(logcan, sendcan, bus)
 
-    fw_candidates = match_fw_to_car(car_fw)
+    exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
     vin = VIN_UNKNOWN
-    fw_candidates, car_fw = set(), []
+    exact_fw_match, fw_candidates, car_fw = True, set(), []
 
   cloudlog.warning("VIN %s", vin)
   Params().put("CarVin", vin)
 
   finger = gen_empty_fingerprint()
-  candidate_cars = {i: all_known_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
+  candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
   frame_fingerprint = 10  # 0.1s
   car_fingerprint = None
   done = False
 
   while not done:
-    a = messaging.get_one_can(logcan)
+    a = get_one_can(logcan)
 
     for can in a.can:
-      # need to independently try to fingerprint both bus 0 and 1 to work
-      # for the combo black_panda and honda_bosch. Ignore extended messages
-      # and VIN query response.
-      # Include bus 2 for toyotas to disambiguate cars using camera messages
-      # (ideally should be done for all cars but we can't for Honda Bosch)
-      if can.src in range(0, 4):
+      # The fingerprint dict is generated for all buses, this way the car interface
+      # can use it to detect a (valid) multipanda setup and initialize accordingly
+      if can.src < 128:
+        if can.src not in finger.keys():
+          finger[can.src] = {}
         finger[can.src][can.address] = len(can.dat)
+
       for b in candidate_cars:
-        if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
-           can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
+        # Ignore extended messages and VIN query response.
+        if can.src == b and can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
           candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
 
     # if we only have one car choice and the time since we got our first
     # message has elapsed, exit
     for b in candidate_cars:
-      # Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
-      if only_toyota_left(candidate_cars[b]):
-        frame_fingerprint = 100  # 1s
-      if len(candidate_cars[b]) == 1:
-        if frame > frame_fingerprint:
-          # fingerprint done
-          car_fingerprint = candidate_cars[b][0]
+      if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
+        # fingerprint done
+        car_fingerprint = candidate_cars[b][0]
 
     # bail if no cars left or we've been waiting for more than 2s
-    failed = all(len(cc) == 0 for cc in candidate_cars.values()) or frame > 200
+    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
     succeeded = car_fingerprint is not None
     done = failed or succeeded
 
     frame += 1
 
+  exact_match = True
   source = car.CarParams.FingerprintSource.can
 
   # If FW query returns exactly 1 candidate, use it
   if len(fw_candidates) == 1:
     car_fingerprint = list(fw_candidates)[0]
     source = car.CarParams.FingerprintSource.fw
+    exact_match = exact_fw_match
 
-  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
-  if len(fixed_fingerprint):
+  if fixed_fingerprint:
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
-  cloudlog.warning("fingerprinted %s", car_fingerprint)
-  return car_fingerprint, finger, vin, car_fw, source
+  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint,
+                 source=source, fuzzy=not exact_match, fw_count=len(car_fw))
+  return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
-def get_car(logcan, sendcan, has_relay=False):
-  candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan, has_relay)
+def get_car(logcan, sendcan):
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
 
   if candidate is None:
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
     candidate = "mock"
 
-  CarInterface, CarController = interfaces[candidate]
-  car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
+  CarInterface, CarController, CarState = interfaces[candidate]
+  car_params = CarInterface.get_params(candidate, fingerprints, car_fw)
   car_params.carVin = vin
   car_params.carFw = car_fw
   car_params.fingerprintSource = source
+  car_params.fuzzyFingerprint = not exact_match
 
-  return CarInterface(car_params, CarController), car_params
+  return CarInterface(car_params, CarController, CarState), car_params
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index f6b55b9e19412a..46681b13e2db84 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,30 +1,21 @@
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
                                                create_wheel_buttons
-from selfdrive.car.chrysler.values import Ecu, CAR, SteerLimitParams
+from selfdrive.car.chrysler.values import CAR, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 class CarController():
-  def __init__(self, dbc_name, car_fingerprint, enable_camera):
-    self.braking = False
-    # redundant safety check with the board
-    self.controls_allowed = True
+  def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
     self.ccframe = 0
     self.prev_frame = -1
     self.hud_count = 0
-    self.car_fingerprint = car_fingerprint
-    self.alert_active = False
+    self.car_fingerprint = CP.carFingerprint
     self.gone_fast_yet = False
     self.steer_rate_limited = False
 
-    self.fake_ecus = set()
-    if enable_camera:
-      self.fake_ecus.add(Ecu.fwdCamera)
-
     self.packer = CANPacker(dbc_name)
 
-
   def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
     # this seems needed to avoid steering faults and to force the sync with the EPS counter
     frame = CS.lkas_counter
@@ -33,15 +24,15 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
 
     # *** compute control surfaces ***
     # steer torque
-    new_steer = actuators.steer * SteerLimitParams.STEER_MAX
+    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                   CS.out.steeringTorqueEps, SteerLimitParams)
+                                                   CS.out.steeringTorqueEps, CarControllerParams)
     self.steer_rate_limited = new_steer != apply_steer
 
     moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed  # for status message
     if CS.out.vEgo > (CS.CP.minSteerSpeed - 0.5):  # for command high bit
       self.gone_fast_yet = True
-    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020_HYBRID, CAR.JEEP_CHEROKEE_2019):
+    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
       if CS.out.vEgo < (CS.CP.minSteerSpeed - 3.0):
         self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
     lkas_active = moving_fast and enabled
@@ -57,7 +48,7 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
 
     if pcm_cancel_cmd:
       # TODO: would be better to start from frame_2b3
-      new_msg = create_wheel_buttons(self.ccframe)
+      new_msg = create_wheel_buttons(self.packer, self.ccframe, cancel=True)
       can_sends.append(new_msg)
 
     # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index bab58b963766a5..ba85a89c3e0af9 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -5,119 +5,140 @@
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
 
-def get_can_parser(CP):
-
-  signals = [
-    # sig_name, sig_address, default
-    ("PRNDL", "GEAR", 0),
-    ("DOOR_OPEN_FL", "DOORS", 0),
-    ("DOOR_OPEN_FR", "DOORS", 0),
-    ("DOOR_OPEN_RL", "DOORS", 0),
-    ("DOOR_OPEN_RR", "DOORS", 0),
-    ("BRAKE_PRESSED_2", "BRAKE_2", 0),
-    ("ACCEL_134", "ACCEL_GAS_134", 0),
-    ("SPEED_LEFT", "SPEED_1", 0),
-    ("SPEED_RIGHT", "SPEED_1", 0),
-    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
-    ("STEER_ANGLE", "STEERING", 0),
-    ("STEERING_RATE", "STEERING", 0),
-    ("TURN_SIGNALS", "STEERING_LEVERS", 0),
-    ("ACC_STATUS_2", "ACC_2", 0),
-    ("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
-    ("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
-    ("TORQUE_DRIVER", "EPS_STATUS", 0),
-    ("TORQUE_MOTOR", "EPS_STATUS", 0),
-    ("LKAS_STATE", "EPS_STATUS", 1),
-    ("COUNTER", "EPS_STATUS", -1),
-    ("TRACTION_OFF", "TRACTION_BUTTON", 0),
-    ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
-    ("COUNTER", "WHEEL_BUTTONS", -1),  # incrementing counter for 23b
-  ]
-
-  # It's considered invalid if it is not received for 10x the expected period (1/f).
-  checks = [
-    # sig_address, frequency
-    ("BRAKE_2", 50),
-    ("EPS_STATUS", 100),
-    ("SPEED_1", 100),
-    ("WHEEL_SPEEDS", 50),
-    ("STEERING", 100),
-    ("ACC_2", 50),
-  ]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
-
-def get_camera_parser(CP):
-  signals = [
-    # sig_name, sig_address, default
-    # TODO read in all the other values
-    ("COUNTER", "LKAS_COMMAND", -1),
-    ("CAR_MODEL", "LKAS_HUD", -1),
-    ("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
-  ]
-  checks = []
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
-
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = can_define.dv["GEAR"]['PRNDL']
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+    self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.frame_23b = int(cp.vl["WHEEL_BUTTONS"]['COUNTER'])
-    self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])
+    self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
 
-    ret.doorOpen = any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
-                        cp.vl["DOORS"]['DOOR_OPEN_FR'],
-                        cp.vl["DOORS"]['DOOR_OPEN_RL'],
-                        cp.vl["DOORS"]['DOOR_OPEN_RR']])
-    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 1
+    ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
+                        cp.vl["DOORS"]["DOOR_OPEN_FR"],
+                        cp.vl["DOORS"]["DOOR_OPEN_RL"],
+                        cp.vl["DOORS"]["DOOR_OPEN_RR"]])
+    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
-    ret.brakePressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
+    ret.brakePressed = cp.vl["BRAKE_2"]["BRAKE_PRESSED_2"] == 5  # human-only
     ret.brake = 0
-    ret.brakeLights = ret.brakePressed
-    ret.gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
+    ret.gas = cp.vl["ACCEL_GAS_134"]["ACCEL_134"]
     ret.gasPressed = ret.gas > 1e-5
 
-    self.esp_disabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
+    ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
 
-    ret.wheelSpeeds.fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
-    ret.wheelSpeeds.rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
-    ret.wheelSpeeds.rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
-    ret.wheelSpeeds.fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
-    ret.vEgoRaw = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
+    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"]
+    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"]
+    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"]
+    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"]
+    ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = not ret.vEgoRaw > 0.001
 
-    ret.leftBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
-    ret.rightBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
-    ret.steeringAngle = cp.vl["STEERING"]['STEER_ANGLE']
-    ret.steeringRate = cp.vl["STEERING"]['STEERING_RATE']
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl['GEAR']['PRNDL'], None))
+    ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
+    ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
+    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
+    ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
 
-    ret.cruiseState.enabled = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7  # ACC is green.
+    ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7  # ACC is green.
     ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
-    ret.cruiseState.speed = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH'] * CV.KPH_TO_MS
+    ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
+    # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
+    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in [1, 2]
 
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
     steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
-    self.steer_error = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
+    ret.steerError = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
+
+    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
 
-    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1
+      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1
 
-    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
-    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
-    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
+    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
+    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
+    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
 
     return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    signals = [
+      # sig_name, sig_address, default
+      ("PRNDL", "GEAR", 0),
+      ("DOOR_OPEN_FL", "DOORS", 0),
+      ("DOOR_OPEN_FR", "DOORS", 0),
+      ("DOOR_OPEN_RL", "DOORS", 0),
+      ("DOOR_OPEN_RR", "DOORS", 0),
+      ("BRAKE_PRESSED_2", "BRAKE_2", 0),
+      ("ACCEL_134", "ACCEL_GAS_134", 0),
+      ("SPEED_LEFT", "SPEED_1", 0),
+      ("SPEED_RIGHT", "SPEED_1", 0),
+      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+      ("STEER_ANGLE", "STEERING", 0),
+      ("STEERING_RATE", "STEERING", 0),
+      ("TURN_SIGNALS", "STEERING_LEVERS", 0),
+      ("ACC_STATUS_2", "ACC_2", 0),
+      ("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
+      ("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
+      ("CRUISE_STATE", "DASHBOARD", 0),
+      ("TORQUE_DRIVER", "EPS_STATUS", 0),
+      ("TORQUE_MOTOR", "EPS_STATUS", 0),
+      ("LKAS_STATE", "EPS_STATUS", 1),
+      ("COUNTER", "EPS_STATUS", -1),
+      ("TRACTION_OFF", "TRACTION_BUTTON", 0),
+      ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
+    ]
+
+    checks = [
+      # sig_address, frequency
+      ("BRAKE_2", 50),
+      ("EPS_STATUS", 100),
+      ("SPEED_1", 100),
+      ("WHEEL_SPEEDS", 50),
+      ("STEERING", 100),
+      ("ACC_2", 50),
+      ("GEAR", 50),
+      ("ACCEL_GAS_134", 50),
+      ("DASHBOARD", 15),
+      ("STEERING_LEVERS", 10),
+      ("SEATBELT_STATUS", 2),
+      ("DOORS", 1),
+      ("TRACTION_BUTTON", 1),
+    ]
+
+    if CP.enableBsm:
+      signals += [
+        ("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS", 0),
+        ("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS", 0),
+      ]
+      checks += [("BLIND_SPOT_WARNINGS", 2)]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = [
+      # sig_name, sig_address, default
+      ("COUNTER", "LKAS_COMMAND", -1),
+      ("CAR_MODEL", "LKAS_HUD", -1),
+      ("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
+    ]
+    checks = [
+      ("LKAS_COMMAND", 100),
+      ("LKAS_HEARTBIT", 10),
+      ("LKAS_HUD", 4),
+    ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 3c5a913fcae482..c72f155298c6a5 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -5,47 +5,10 @@
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def calc_checksum(data):
-  """This function does not want the checksum byte in the input data.
-
-  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf
-  """
-  end_index = len(data)
-  index = 0
-  checksum = 0xFF
-  temp_chk = 0
-  bit_sum = 0
-  if(end_index <= index):
-    return False
-  for index in range(0, end_index):
-    shift = 0x80
-    curr = data[index]
-    iterate = 8
-    while(iterate > 0):
-      iterate -= 1
-      bit_sum = curr & shift
-      temp_chk = checksum & 0x80
-      if (bit_sum != 0):
-        bit_sum = 0x1C
-        if (temp_chk != 0):
-          bit_sum = 1
-        checksum = checksum << 1
-        temp_chk = checksum | 1
-        bit_sum ^= temp_chk
-      else:
-        if (temp_chk != 0):
-          bit_sum = 0x1D
-        checksum = checksum << 1
-        bit_sum ^= checksum
-      checksum = bit_sum
-      shift = shift >> 1
-  return ~checksum & 0xFF
-
-
 def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
   # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
 
-  if hud_alert == VisualAlert.steerRequired:
+  if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
     msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
     return make_can_msg(0x2a6, msg, 0)
 
@@ -53,7 +16,7 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo
   lines = 1
   alerts = 0
 
-  if hud_count < (1 *4):  # first 3 seconds, 4Hz
+  if hud_count < (1 * 4):  # first 3 seconds, 4Hz
     alerts = 1
   # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
   # had color = 1 and lines = 1 but trying 2017 hybrid style for now.
@@ -82,19 +45,13 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
     "LKAS_HIGH_TORQUE": int(moving_fast),
     "COUNTER": frame % 0x10,
   }
-
-  dat = packer.make_can_msg("LKAS_COMMAND", 0, values)[2]
-  dat = dat[:-1]
-  checksum = calc_checksum(dat)
-
-  values["CHECKSUM"] = checksum
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_wheel_buttons(frame):
+def create_wheel_buttons(packer, frame, cancel=False):
   # WHEEL_BUTTONS (571) Message sent to cancel ACC.
-  start = b"\x01"  # acc cancel set
-  counter = (frame % 10) << 4
-  dat = start + counter.to_bytes(1, 'little')
-  dat = dat + calc_checksum(dat).to_bytes(1, 'little')
-  return make_can_msg(0x23b, dat, 0)
+  values = {
+    "ACC_CANCEL": cancel,
+    "COUNTER": frame % 10
+  }
+  return packer.make_can_msg("WHEEL_BUTTONS", 0, values)
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 93220fd1247b5c..1822d76a1af000 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,61 +1,23 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
-from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.car.chrysler.values import CAR
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
-GearShifter = car.CarState.GearShifter
-ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-    self.VM = VehicleModel(CP)
-
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.cruise_enabled_prev = False
-    self.low_speed_alert = False
-    self.left_blinker_prev = False
-    self.right_blinker_prev = False
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-    self.cp = get_can_parser(CP)
-    self.cp_cam = get_camera_parser(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera)
-
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-
-    ret = car.CarParams.new_message()
-
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
-    ret.carFingerprint = candidate
-    ret.isPandaBlack = has_relay
-
-    ret.safetyModel = car.CarParams.SafetyModel.chrysler
-
-    # pedal
-    ret.enableCruise = True
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
 
     # Speed conversion:              20, 45 mph
     ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017
-    ret.steerRatio = 16.2 # Pacifica Hybrid 2017
-    ret.mass = 2858. + STD_CARGO_KG  # kg curb weight Pacifica Hybrid 2017
+    ret.steerRatio = 16.2  # Pacifica Hybrid 2017
+    ret.mass = 2242. + STD_CARGO_KG  # kg curb weight Pacifica Hybrid 2017
     ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15,0.30], [0.03,0.05]]
+    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
     ret.lateralTuning.pid.kf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.7
@@ -69,43 +31,18 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.centerToFront = ret.wheelbase * 0.44
 
     ret.minSteerSpeed = 3.8  # m/s
-    ret.minEnableSpeed = -1.   # enable is done by stock ACC, so ignore this
-    if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020_HYBRID, CAR.JEEP_CHEROKEE_2019):
-      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
+    if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
       # TODO allow 2019 cars to steer down to 13 m/s if already engaged.
+      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
 
-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
+    # starting with reasonable value for civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
 
-    # no rear steering, at least on the listed cars above
-    ret.steerRatioRear = 0.
-
-    # steer, gas, brake limitations VS speed
-    ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS]  # breakpoints at 1 and 40 kph
-    ret.steerMaxV = [1., 1.]  # 2/3rd torque allowed above 45 kph
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [0.5]
-    ret.brakeMaxBP = [5., 20.]
-    ret.brakeMaxV = [1., 0.8]
-
-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
-    print("ECU Camera Simulated: {0}".format(ret.enableCamera))
-    ret.openpilotLongitudinalControl = False
-
-    ret.stoppingControl = False
-    ret.startAccel = 0.0
-
-    ret.longitudinalTuning.deadzoneBP = [0., 9.]
-    ret.longitudinalTuning.deadzoneV = [0., .15]
-    ret.longitudinalTuning.kpBP = [0., 5., 35.]
-    ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
-    ret.longitudinalTuning.kiBP = [0., 35.]
-    ret.longitudinalTuning.kiV = [0.54, 0.36]
+    ret.enableBsm = 720 in fingerprint[0]
 
     return ret
 
@@ -120,65 +57,16 @@ def update(self, c, can_strings):
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
     # speeds
-    ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    # TODO: button presses
-    buttonEvents = []
-
-    if ret.leftBlinker != self.left_blinker_prev:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.leftBlinker
-      be.pressed = ret.leftBlinker != 0
-      buttonEvents.append(be)
-
-    if ret.rightBlinker != self.right_blinker_prev:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.rightBlinker
-      be.pressed = ret.rightBlinker != 0
-      buttonEvents.append(be)
-
-    ret.buttonEvents = buttonEvents
+    # events
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
+                                       gas_resume_speed=2.)
 
-    self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
+    if ret.vEgo < self.CP.minSteerSpeed:
+      events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    # events
-    events = []
-    if not (ret.gearShifter in (GearShifter.drive, GearShifter.low)):
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.esp_disabled:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not ret.cruiseState.available:
-      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == GearShifter.reverse:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
-      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-
-    if ret.cruiseState.enabled and not self.cruise_enabled_prev:
-      events.append(create_event('pcmEnable', [ET.ENABLE]))
-    elif not ret.cruiseState.enabled:
-      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
-
-    # disable on gas pedal and speed isn't zero. Gas pedal is used to resume ACC
-    # from a 3+ second stop.
-    if (ret.gasPressed and (not self.gas_pressed_prev) and ret.vEgo > 2.0):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    if self.low_speed_alert:
-      events.append(create_event('belowSteerSpeed', [ET.WARNING]))
-
-    ret.events = events
-
-    self.gas_pressed_prev = ret.gasPressed
-    self.brake_pressed_prev = ret.brakePressed
-    self.cruise_enabled_prev = ret.cruiseState.enabled
-    self.left_blinker_prev = ret.leftBlinker
-    self.right_blinker_prev = ret.rightBlinker
+    ret.events = events.to_msg()
 
     # copy back carState packet to CS
     self.CS.out = ret.as_reader()
@@ -190,7 +78,7 @@ def update(self, c, can_strings):
   def apply(self, c):
 
     if (self.CS.frame == -1):
-      return [] # if we haven't seen a frame 220, then do not update.
+      return []  # if we haven't seen a frame 220, then do not update.
 
     can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
 
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index 0713bf1d16fde8..3139efad34ab4d 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -1,16 +1,15 @@
 #!/usr/bin/env python3
-import os
 from opendbc.can.parser import CANParser
 from cereal import car
 from selfdrive.car.interfaces import RadarInterfaceBase
+from selfdrive.car.chrysler.values import DBC
 
 RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages
 LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
-def _create_radar_can_parser():
-  dbc_f = 'chrysler_pacifica_2017_hybrid_private_fusion.dbc'
+def _create_radar_can_parser(car_fingerprint):
   msg_n = len(RADAR_MSGS_C)
   # list of [(signal name, message name or number, initial values), (...)]
   # [('RADAR_STATE', 1024, 0),
@@ -37,7 +36,7 @@ def _create_radar_can_parser():
                [20]*msg_n +  # 20Hz (0.05s)
                [20]*msg_n))  # 20Hz (0.05s)
 
-  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
 
 def _address_to_track(address):
   if address in RADAR_MSGS_C:
@@ -48,9 +47,8 @@ def _address_to_track(address):
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    self.pts = {}
-    self.delay = 0  # Delay of radar  #TUNE
-    self.rcp = _create_radar_can_parser()
+    super().__init__(CP)
+    self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG
 
diff --git a/selfdrive/car/chrysler/test_chryslercan.py b/selfdrive/car/chrysler/test_chryslercan.py
deleted file mode 100644
index 637cdc9ffa1cce..00000000000000
--- a/selfdrive/car/chrysler/test_chryslercan.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import unittest
-
-from cereal import car
-from opendbc.can.packer import CANPacker
-from selfdrive.car.chrysler import chryslercan
-
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-GearShifter = car.CarState.GearShifter
-
-
-
-class TestChryslerCan(unittest.TestCase):
-
-  def test_checksum(self):
-    self.assertEqual(0x75, chryslercan.calc_checksum(b"\x01\x20"))
-    self.assertEqual(0xcc, chryslercan.calc_checksum(b"\x14\x00\x00\x00\x20"))
-
-  def test_hud(self):
-    packer = CANPacker('chrysler_pacifica_2017_hybrid')
-    self.assertEqual(
-        [0x2a6, 0, b'\x01\x00\x01\x01\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.park, False, False, 1, 0))
-    self.assertEqual(
-        [0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.park, False, False, 5*4, 0))
-    self.assertEqual(
-        [0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.park, False, False, 99999, 0))
-    self.assertEqual(
-        [0x2a6, 0, b'\x02\x00\x06\x00\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.drive, True, False, 99999, 0))
-    self.assertEqual(
-        [0x2a6, 0, b'\x02\x64\x06\x00\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.drive, True, False, 99999, 0x64))
-
-  def test_command(self):
-    packer = CANPacker('chrysler_pacifica_2017_hybrid')
-    self.assertEqual(
-        [0x292, 0, b'\x14\x00\x00\x00\x10\x86', 0],
-        chryslercan.create_lkas_command(
-            packer,
-            0, True, 1))
-    self.assertEqual(
-        [0x292, 0, b'\x04\x00\x00\x00\x80\x83', 0],
-        chryslercan.create_lkas_command(
-            packer,
-            0, False, 8))
-
-
-if __name__ == '__main__':
-  unittest.main()
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 1e9cdcc5f0e646..e32de195017261 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,26 +1,26 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
-
-class SteerLimitParams:
+class CarControllerParams:
   STEER_MAX = 261         # 262 faults
   STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
   STEER_DELTA_DOWN = 3    # no faults on the way down it seems
   STEER_ERROR_MAX = 80
 
 
-
 class CAR:
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
-  PACIFICA_2020_HYBRID = "CHRYSLER PACIFICA HYBRID 2020"
-  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # Also covers Pacifica 2017.
-  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # Also covers Tailhawk 2017.
-  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"
+  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # includes 2017 Pacifica
+  PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
+  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
+  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
 
-# Unique can messages:
+# Unique CAN messages:
 # Only the hybrids have 270: 8
 # Only the gas have 55: 8, 416: 7
 # For 564, All 2017 have length 4, whereas 2018-19 have length 8.
@@ -32,76 +32,58 @@ class CAR:
 # For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8.
 
 FINGERPRINTS = {
-  CAR.PACIFICA_2017_HYBRID: [
-    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8},
-  ],
-  CAR.PACIFICA_2018: [
-    {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
-    {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
-  ],
-  CAR.PACIFICA_2018_HYBRID: [
-    {68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
+  CAR.PACIFICA_2017_HYBRID: [{
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788:3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
+  }],
+  CAR.PACIFICA_2018: [{
+    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
+  },
+  {
+    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
+  }],
+  CAR.PACIFICA_2020: [{
+    55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
+  }],
+  CAR.PACIFICA_2018_HYBRID: [{
+    68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8
+  },
     # based on 9ae7821dc4e92455|2019-07-01--16-42-55
-    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2016: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8},
-  ],
-  CAR.PACIFICA_2019_HYBRID: [
-    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
+  {
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2016: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+  }],
+  CAR.PACIFICA_2019_HYBRID: [{
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8
+  },
     # Based on 0607d2516fc2148f|2019-02-13--23-03-16
-    {
-      168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8
-    },
+  {
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8
+  },
     # Based on 3c7ce223e3571b54|2019-05-11--20-16-14
-    {
-      168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1562: 8, 1570: 8
-    },
-    # Based on "d26bf42deb1910e7|2020-02-13--16-22-31"
-    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1262: 8, 1284: 8, 1568: 8, 1902: 8, 2015: 8, 2016: 8, 2018: 8, 2023: 8, 2024: 8, 2026: 8, 2031: 8
-    },
-  ],
-  CAR.PACIFICA_2020_HYBRID: [
-    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 2015: 8, 2016: 8, 2024: 8},
-  ],
-  CAR.JEEP_CHEROKEE: [
-    # JEEP GRAND CHEROKEE V6 2018
-    {55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
-    # Jeep Grand Cherokee 2017 Trailhawk
-    {257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
-  ],
-  CAR.JEEP_CHEROKEE_2019: [
-    # Jeep Grand Cherokee 2019 from Switzerland
-    # 530: 8 is so far only in this Jeep.
-    {55: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 792: 8, 799: 8, 804: 8, 806: 2, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
-  ],
+  {
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1562: 8, 1570: 8
+  },
+    # Based on "8190c7275a24557b|2020-02-24--09-57-23"
+  {
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+  }],
+  CAR.JEEP_CHEROKEE: [{
+    55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+  CAR.JEEP_CHEROKEE_2019: [{
+    # Jeep Grand Cherokee 2019, including most 2020 models
+    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
 }
 
 
 DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict(
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2018: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2018_HYBRID: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2019_HYBRID: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2020_HYBRID: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.JEEP_CHEROKEE: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.JEEP_CHEROKEE_2019: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
+  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
 }
 
 STEER_THRESHOLD = 120
-
-
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [0x292],   # lkas cmd
-}
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
new file mode 100644
index 00000000000000..3a06cc06f1a553
--- /dev/null
+++ b/selfdrive/car/disable_ecu.py
@@ -0,0 +1,34 @@
+from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from selfdrive.swaglog import cloudlog
+
+EXT_DIAG_REQUEST = b'\x10\x03'
+EXT_DIAG_RESPONSE = b'\x50\x03'
+
+COM_CONT_RESPONSE = b''
+
+def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
+  """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
+  The ECU will stay silent as long as openpilot keeps sending Tester Present.
+
+  This is used to disable the radar in some cars. Openpilot will emulate the radar.
+  WARNING: THIS DISABLES AEB!"""
+  cloudlog.warning(f"ecu disable {hex(addr)} ...")
+
+  for i in range(retry):
+    try:
+      query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+
+      for _, _ in query.get_data(timeout).items():
+        cloudlog.warning("communication control disable tx/rx ...")
+
+        query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
+        query.get_data(0)
+
+        cloudlog.warning("ecu disabled")
+        return True
+    except Exception:
+      cloudlog.exception("ecu disable exception")
+
+    print(f"ecu disable retry ({i+1}) ...")
+  cloudlog.warning("ecu disable failed")
+  return False
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index c2c39f687f68f3..b09e14a429ffb9 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -2,7 +2,7 @@
 from common.basedir import BASEDIR
 
 
-def get_attr_from_cars(attr, result=dict):
+def get_attr_from_cars(attr, result=dict, combine_brands=True):
   # read all the folders in selfdrive/car and return a dict where:
   # - keys are all the car models
   # - values are attr values from all car folders
@@ -19,7 +19,12 @@ def get_attr_from_cars(attr, result=dict):
 
       if isinstance(attr_values, dict):
         for f, v in attr_values.items():
-          result[f] = v
+          if combine_brands:
+            result[f] = v
+          else:
+            if car_name not in result:
+              result[car_name] = {}
+            result[car_name][f] = v
       elif isinstance(attr_values, list):
         result += attr_values
 
@@ -31,7 +36,6 @@ def get_attr_from_cars(attr, result=dict):
 
 FW_VERSIONS = get_attr_from_cars('FW_VERSIONS')
 _FINGERPRINTS = get_attr_from_cars('FINGERPRINTS')
-IGNORED_FINGERPRINTS = get_attr_from_cars('IGNORED_FINGERPRINTS', list)
 
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
@@ -54,9 +58,6 @@ def eliminate_incompatible_cars(msg, candidate_cars):
   compatible_cars = []
 
   for car_name in candidate_cars:
-    if car_name in IGNORED_FINGERPRINTS:
-      continue
-
     car_fingerprints = _FINGERPRINTS[car_name]
 
     for fingerprint in car_fingerprints:
@@ -71,4 +72,9 @@ def eliminate_incompatible_cars(msg, candidate_cars):
 
 def all_known_cars():
   """Returns a list of all known car strings."""
+  return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()})
+
+
+def all_legacy_fingerprint_cars():
+  """Returns a list of all known car strings, FPv1 only."""
   return list(_FINGERPRINTS.keys())
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index d708c13581ec5f..06c5f257976c86 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,19 +1,20 @@
+import math
 from cereal import car
 from selfdrive.car import make_can_msg
 from selfdrive.car.ford.fordcan import create_steer_command, create_lkas_ui, spam_cancel_button
 from opendbc.can.packer import CANPacker
 
+VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 MAX_STEER_DELTA = 1
 TOGGLE_DEBUG = False
 
 class CarController():
-  def __init__(self, dbc_name, enable_camera, vehicle_model):
+  def __init__(self, dbc_name, CP, VM):
     self.packer = CANPacker(dbc_name)
-    self.enable_camera = enable_camera
     self.enabled_last = False
     self.main_on_last = False
-    self.vehicle_model = vehicle_model
+    self.vehicle_model = VM
     self.generic_toggle_last = 0
     self.steer_alert_last = False
     self.lkas_action = 0
@@ -21,67 +22,65 @@ def __init__(self, dbc_name, enable_camera, vehicle_model):
   def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):
 
     can_sends = []
-    steer_alert = visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired
+    steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
 
     apply_steer = actuators.steer
 
-    if self.enable_camera:
+    if pcm_cancel:
+      #print "CANCELING!!!!"
+      can_sends.append(spam_cancel_button(self.packer))
 
-      if pcm_cancel:
-        #print "CANCELING!!!!"
-        can_sends.append(spam_cancel_button(self.packer))
+    if (frame % 3) == 0:
 
-      if (frame % 3) == 0:
+      curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
 
-        curvature = self.vehicle_model.calc_curvature(actuators.steerAngle*3.1415/180., CS.out.vEgo)
+      # The use of the toggle below is handy for trying out the various LKAS modes
+      if TOGGLE_DEBUG:
+        self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
+        self.lkas_action &= 0xf
+      else:
+        self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
 
-        # The use of the toggle below is handy for trying out the various LKAS modes
-        if TOGGLE_DEBUG:
-          self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
-          self.lkas_action &= 0xf
-        else:
-          self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
+      can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
+                                            CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
+      self.generic_toggle_last = CS.out.genericToggle
 
-        can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
-                                              CS.lkas_state, CS.out.steeringAngle, curvature, self.lkas_action))
-        self.generic_toggle_last = CS.out.genericToggle
+    if (frame % 100) == 0:
 
-      if (frame % 100) == 0:
+      can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
+      #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
 
-        can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
-        #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
+    if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
+       (self.steer_alert_last != steer_alert):
+      can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
 
-      if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
-         (self.steer_alert_last != steer_alert):
-        can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
+    if (frame % 200) == 0:
+      can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
 
-      if (frame % 200) == 0:
-        can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
+    if (frame % 10) == 0:
 
-      if (frame % 10) == 0:
+      can_sends.append(make_can_msg(1648, b'\x00\x00\x00\x40\x00\x00\x50\x00', 1))
+      can_sends.append(make_can_msg(1649, b'\x10\x10\xf1\x70\x04\x00\x00\x00', 1))
 
-        can_sends.append(make_can_msg(1648, b'\x00\x00\x00\x40\x00\x00\x50\x00', 1))
-        can_sends.append(make_can_msg(1649, b'\x10\x10\xf1\x70\x04\x00\x00\x00', 1))
+      can_sends.append(make_can_msg(1664, b'\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1))
+      can_sends.append(make_can_msg(1674, b'\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1))
+      can_sends.append(make_can_msg(1675, b'\x00\x00\x3b\x60\x37\x00\x00\x00', 1))
+      can_sends.append(make_can_msg(1690, b'\x70\x00\x00\x55\x86\x1c\xe0\x00', 1))
 
-        can_sends.append(make_can_msg(1664, b'\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1))
-        can_sends.append(make_can_msg(1674, b'\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1))
-        can_sends.append(make_can_msg(1675, b'\x00\x00\x3b\x60\x37\x00\x00\x00', 1))
-        can_sends.append(make_can_msg(1690, b'\x70\x00\x00\x55\x86\x1c\xe0\x00', 1))
+      can_sends.append(make_can_msg(1910, b'\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1))
+      can_sends.append(make_can_msg(1911, b'\x48\x53\x37\x54\x48\x53\x37\x54', 1))
+      can_sends.append(make_can_msg(1912, b'\x31\x34\x47\x30\x38\x31\x43\x42', 1))
+      can_sends.append(make_can_msg(1913, b'\x31\x34\x47\x30\x38\x32\x43\x42', 1))
+      can_sends.append(make_can_msg(1969, b'\xf4\x40\x00\x00\x00\x00\x00\x00', 1))
+      can_sends.append(make_can_msg(1971, b'\x0b\xc0\x00\x00\x00\x00\x00\x00', 1))
 
-        can_sends.append(make_can_msg(1910, b'\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1))
-        can_sends.append(make_can_msg(1911, b'\x48\x53\x37\x54\x48\x53\x37\x54', 1))
-        can_sends.append(make_can_msg(1912, b'\x31\x34\x47\x30\x38\x31\x43\x42', 1))
-        can_sends.append(make_can_msg(1913, b'\x31\x34\x47\x30\x38\x32\x43\x42', 1))
-        can_sends.append(make_can_msg(1969, b'\xf4\x40\x00\x00\x00\x00\x00\x00', 1))
-        can_sends.append(make_can_msg(1971, b'\x0b\xc0\x00\x00\x00\x00\x00\x00', 1))
+    static_msgs = range(1653, 1658)
+    for addr in static_msgs:
+      cnt = (frame % 10) + 1
+      can_sends.append(make_can_msg(addr, (cnt << 4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
 
-      static_msgs = range(1653, 1658)
-      for addr in static_msgs:
-        cnt = (frame % 10) + 1
-        can_sends.append(make_can_msg(addr, (cnt<<4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
-
-      self.enabled_last = enabled
-      self.main_on_last = CS.out.cruiseState.available
-      self.steer_alert_last = steer_alert
+    self.enabled_last = enabled
+    self.main_on_last = CS.out.cruiseState.available
+    self.steer_alert_last = steer_alert
 
     return can_sends
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index ec461ab1693ca6..100d47240980ca 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -7,54 +7,48 @@
 
 WHEEL_RADIUS = 0.33
 
-def get_can_parser(CP):
-
-  signals = [
-    # sig_name, sig_address, default
-    ("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
-    ("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
-    ("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
-    ("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
-    ("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
-    ("Cruise_State", "Cruise_Status", 0.),
-    ("Set_Speed", "Cruise_Status", 0.),
-    ("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
-    ("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
-    ("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
-    ("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
-    ("Dist_Incr", "Steering_Buttons", 0.),
-    ("Brake_Drv_Appl", "Cruise_Status", 0.),
-    ("Brake_Lights", "BCM_to_HS_Body", 0.),
-  ]
-
-  checks = [
-  ]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
-
-
 class CarState(CarStateBase):
   def update(self, cp):
     ret = car.CarState.new_message()
-    ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
-    ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
-    ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
-    ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
+    ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"] * WHEEL_RADIUS
+    ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"] * WHEEL_RADIUS
+    ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"] * WHEEL_RADIUS
+    ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"] * WHEEL_RADIUS
     ret.vEgoRaw = mean([ret.wheelSpeeds.rr, ret.wheelSpeeds.rl, ret.wheelSpeeds.fr, ret.wheelSpeeds.fl])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = not ret.vEgoRaw > 0.001
-    ret.steeringAngle = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
-    ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
-    ret.cruiseState.speed = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
-    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]['Cruise_State'] in [0, 3])
-    ret.cruiseState.available = cp.vl["Cruise_Status"]['Cruise_State'] != 0
-    ret.gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl'] / 100.
+    ret.steeringAngleDeg = cp.vl["Steering_Wheel_Data_CG1"]["SteWhlRelInit_An_Sns"]
+    ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"]
+    ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1
+    ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS
+    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in [0, 3])
+    ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0
+    ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100.
     ret.gasPressed = ret.gas > 1e-6
     ret.brakePressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
-    ret.brakeLights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
     ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
     # TODO: we also need raw driver torque, needed for Assisted Lane Change
-    self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
-    self.steer_error = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl']
+    self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]["LaActAvail_D_Actl"]
 
     return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    signals = [
+      # sig_name, sig_address, default
+      ("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
+      ("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
+      ("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
+      ("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
+      ("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
+      ("Cruise_State", "Cruise_Status", 0.),
+      ("Set_Speed", "Cruise_Status", 0.),
+      ("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
+      ("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
+      ("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
+      ("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
+      ("Dist_Incr", "Steering_Buttons", 0.),
+      ("Brake_Drv_Appl", "Cruise_Status", 0.),
+    ]
+    checks = []
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0, enforce_checks=False)
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index dd0c15415eb757..e98dec584baa74 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -6,7 +6,7 @@ def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, c
   """Creates a CAN message for the Ford Steer Command."""
 
   #if enabled and lkas available:
-  if enabled and lkas_state in [2,3]: #and (frame % 500) >= 3:
+  if enabled and lkas_state in [2, 3]:  # and (frame % 500) >= 3:
     action = lkas_action
   else:
     action = 0xf
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 6b1f9340f4e816..8c0b1e1faaaceb 100755
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,53 +1,19 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.ford.carstate import CarState, get_can_parser
-from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.car.ford.values import MAX_ANGLE
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-    self.VM = VehicleModel(CP)
-
-    self.frame = 0
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.cruise_enabled_prev = False
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-
-    self.cp = get_can_parser(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP.enableCamera, self.VM)
-
   @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-
-    ret = car.CarParams.new_message()
-
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "ford"
-    ret.carFingerprint = candidate
-    ret.isPandaBlack = has_relay
-
-    ret.safetyModel = car.CarParams.SafetyModel.ford
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     ret.dashcamOnly = True
 
-    # pedal
-    ret.enableCruise = True
-
     ret.wheelbase = 2.85
     ret.steerRatio = 14.8
     ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
@@ -60,10 +26,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.centerToFront = ret.wheelbase * 0.44
     tire_stiffness_factor = 0.5328
 
-    # min speed to enable ACC. if car can do stop and go, then set enabling speed
-    # to a negative value, so it won't matter.
-    ret.minEnableSpeed = -1.
-
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -73,32 +35,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    # no rear steering, at least on the listed cars above
-    ret.steerRatioRear = 0.
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
-    # steer, gas, brake limitations VS speed
-    ret.steerMaxBP = [0.]  # breakpoints at 1 and 40 kph
-    ret.steerMaxV = [1.0]  # 2/3rd torque allowed above 45 kph
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [0.5]
-    ret.brakeMaxBP = [5., 20.]
-    ret.brakeMaxV = [1., 0.8]
-
-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
-    ret.openpilotLongitudinalControl = False
-    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
-
-    ret.stoppingControl = False
-    ret.startAccel = 0.0
-
-    ret.longitudinalTuning.deadzoneBP = [0., 9.]
-    ret.longitudinalTuning.deadzoneV = [0., .15]
-    ret.longitudinalTuning.kpBP = [0., 5., 35.]
-    ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
-    ret.longitudinalTuning.kiBP = [0., 35.]
-    ret.longitudinalTuning.kiV = [0.54, 0.36]
-
     return ret
 
   # returns a car.CarState
@@ -111,36 +49,14 @@ def update(self, c, can_strings):
     ret.canValid = self.cp.can_valid
 
     # events
-    events = []
-
-    if self.CS.steer_error:
-      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
+    events = self.create_common_events(ret)
 
-    # enable request in prius is simple, as we activate when Toyota is active (rising edge)
-    if ret.cruiseState.enabled and not self.cruise_enabled_prev:
-      events.append(create_event('pcmEnable', [ET.ENABLE]))
-    elif not ret.cruiseState.enabled:
-      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
+    if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
+      events.add(car.CarEvent.EventName.steerTempUnavailable)
 
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
-    if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13.* CV.MPH_TO_MS and ret.cruiseState.enabled:
-      events.append(create_event('steerTempUnavailableMute', [ET.WARNING]))
-
-    ret.events = events
-
-    self.gas_pressed_prev = ret.gasPressed
-    self.brake_pressed_prev = ret.brakePressed
-    self.cruise_enabled_prev = ret.cruiseState.enabled
+    ret.events = events.to_msg()
 
     self.CS.out = ret.as_reader()
-
     return self.CS.out
 
   # pass in a car.CarControl
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index 048f556fd321d9..20a435b0821dff 100755
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -8,24 +8,20 @@
 RADAR_MSGS = list(range(0x500, 0x540))
 
 def _create_radar_can_parser(car_fingerprint):
-  dbc_f = DBC[car_fingerprint]['radar']
   msg_n = len(RADAR_MSGS)
   signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
                      RADAR_MSGS * 3,
                      [0] * msg_n + [0] * msg_n + [0] * msg_n))
   checks = list(zip(RADAR_MSGS, [20]*msg_n))
 
-  return CANParser(dbc_f, signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
-    self.pts = {}
+    super().__init__(CP)
     self.validCnt = {key: 0 for key in RADAR_MSGS}
     self.track_id = 0
 
-    self.delay = 0  # Delay of radar
-
     self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.trigger_msg = 0x53f
     self.updated_messages = set()
@@ -37,7 +33,6 @@ def update(self, can_strings):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-
     ret = car.RadarData.new_message()
     errors = []
     if not self.rcp.can_valid:
@@ -53,7 +48,7 @@ def update(self, can_strings):
       if cpt['X_Rel'] > 0.00001:
         self.validCnt[ii] += 1
       else:
-        self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
+        self.validCnt[ii] = max(self.validCnt[ii] - 1, 0)
       #print ii, self.validCnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
 
       # radar point only valid if there have been enough valid measurements
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 191f06cbc89fa8..315c398ab69016 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
@@ -13,10 +15,6 @@ class CAR:
   }],
 }
 
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [970, 973, 984]
-}
-
 DBC = {
   CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
 }
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 96b7756c29a4c1..2c451b7f488e95 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -1,20 +1,25 @@
 #!/usr/bin/env python3
-import traceback
 import struct
+import traceback
+from typing import Any
+from collections import defaultdict
+
 from tqdm import tqdm
 
+import panda.python.uds as uds
+from cereal import car
+from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
-from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.toyota.values import CAR as TOYOTA
-import panda.python.uds as uds
+from selfdrive.swaglog import cloudlog
 
-from cereal import car
 Ecu = car.CarParams.Ecu
 
+
 def p16(val):
   return struct.pack("!H", val)
 
+
 TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
 TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
 
@@ -36,32 +41,129 @@ def p16(val):
 UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
 
+
+HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf100)  # Long description
+HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
+  p16(0xf100) 
+HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
+
+
 TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
 TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
 
+VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
+
 OBD_VERSION_REQUEST = b'\x09\x04'
 OBD_VERSION_RESPONSE = b'\x49\x04'
 
+DEFAULT_RX_OFFSET = 0x8
+VOLKSWAGEN_RX_OFFSET = 0x6a
+
+MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+MAZDA_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+
+NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
+NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
+
+NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
+NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
 
+NISSAN_VERSION_REQUEST_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+NISSAN_VERSION_RESPONSE_STANDARD =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+
+NISSAN_RX_OFFSET = 0x20
+
+# brand, request, response, response offset
 REQUESTS = [
+  # Hyundai
+  (
+    "hyundai",
+    [HYUNDAI_VERSION_REQUEST_LONG],
+    [HYUNDAI_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  ),
+  (
+    "hyundai",
+    [HYUNDAI_VERSION_REQUEST_MULTI],
+    [HYUNDAI_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  ),
   # Honda
   (
+    "honda",
     [UDS_VERSION_REQUEST],
-   [UDS_VERSION_RESPONSE]
+    [UDS_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   # Toyota
   (
+    "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
-    [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE]
+    [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   (
+    "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
-    [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE]
+    [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
   ),
   (
+    "toyota",
     [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
-    [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE]
-  )
+    [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  ),
+  # Volkswagen
+  (
+    "volkswagen",
+    [VOLKSWAGEN_VERSION_REQUEST_MULTI],
+    [VOLKSWAGEN_VERSION_RESPONSE],
+    VOLKSWAGEN_RX_OFFSET,
+  ),
+  (
+    "volkswagen",
+    [VOLKSWAGEN_VERSION_REQUEST_MULTI],
+    [VOLKSWAGEN_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  ),
+  # Mazda
+  (
+    "mazda",
+    [MAZDA_VERSION_REQUEST],
+    [MAZDA_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  ),
+  # Nissan
+  (
+    "nissan",
+    [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
+    [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+    DEFAULT_RX_OFFSET,
+  ),
+  (
+    "nissan",
+    [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
+    [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+    NISSAN_RX_OFFSET,
+  ),
+  (
+    "nissan",
+    [NISSAN_VERSION_REQUEST_STANDARD],
+    [NISSAN_VERSION_RESPONSE_STANDARD],
+    NISSAN_RX_OFFSET,
+  ),
 ]
 
 
@@ -70,31 +172,83 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
-def match_fw_to_car(fw_versions):
-  candidates = FW_VERSIONS
-  invalid = []
-
+def build_fw_dict(fw_versions):
   fw_versions_dict = {}
   for fw in fw_versions:
     addr = fw.address
     sub_addr = fw.subAddress if fw.subAddress != 0 else None
     fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
+  return fw_versions_dict
+
+
+def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
+  """Do a fuzzy FW match. This function will return a match, and the number of firmware version
+  that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
+  the match is rejected."""
+
+  # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
+  # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
+  # impossible to get 3 matching versions, even if two models with shared parts are released at the same
+  # time and only one is in our database.
+  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps]
+
+  # Build lookup table from (addr, subaddr, fw) to list of candidate cars
+  all_fw_versions = defaultdict(list)
+  for candidate, fw_by_addr in FW_VERSIONS.items():
+    if candidate == exclude:
+      continue
+
+    for addr, fws in fw_by_addr.items():
+      if addr[0] in exclude_types:
+        continue
+      for f in fws:
+        all_fw_versions[(addr[1], addr[2], f)].append(candidate)
+
+  match_count = 0
+  candidate = None
+  for addr, version in fw_versions_dict.items():
+    # All cars that have this FW response on the specified address
+    candidates = all_fw_versions[(addr[0], addr[1], version)]
+
+    if len(candidates) == 1:
+      match_count += 1
+      if candidate is None:
+        candidate = candidates[0]
+      # We uniquely matched two different cars. No fuzzy match possible
+      elif candidate != candidates[0]:
+        return set()
+
+  if match_count >= 2:
+    if log:
+      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
+    return set([candidate])
+  else:
+    return set()
+
+
+def match_fw_to_car_exact(fw_versions_dict):
+  """Do an exact FW match. Returns all cars that match the given
+  FW versions for a list of "essential" ECUs. If an ECU is not considered
+  essential the FW version can be missing to get a fingerprint, but if it's present it
+  needs to match the database."""
+  invalid = []
+  candidates = FW_VERSIONS
 
   for candidate, fws in candidates.items():
     for ecu, expected_versions in fws.items():
       ecu_type = ecu[0]
       addr = ecu[1:]
       found_version = fw_versions_dict.get(addr, None)
-
+      ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
       if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER] and found_version is None:
         continue
 
-      # TODO: COROLLA_TSS2 engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate == TOYOTA.COROLLA_TSS2 and found_version is None:
+      # On some Toyota models, the engine can show on two different addresses
+      if ecu_type == Ecu.engine and candidate in [TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None:
         continue
 
-      # Allow DSU not being present
-      if ecu_type in [Ecu.unknown, Ecu.dsu] and found_version is None:
+      # Ignore non essential ecus
+      if ecu_type not in ESSENTIAL_ECUS and found_version is None:
         continue
 
       if found_version not in expected_versions:
@@ -104,41 +258,60 @@ def match_fw_to_car(fw_versions):
   return set(candidates.keys()) - set(invalid)
 
 
+def match_fw_to_car(fw_versions, allow_fuzzy=True):
+  fw_versions_dict = build_fw_dict(fw_versions)
+  matches = match_fw_to_car_exact(fw_versions_dict)
+
+  exact_match = True
+  if allow_fuzzy and len(matches) == 0:
+    matches = match_fw_to_car_fuzzy(fw_versions_dict)
+
+    # Fuzzy match found
+    if len(matches) == 1:
+      exact_match = False
+
+  return exact_match, matches
+
+
 def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False, progress=False):
   ecu_types = {}
 
-  # Extract ECU adresses to query from fingerprints
+  # Extract ECU addresses to query from fingerprints
   # ECUs using a subadress need be queried one by one, the rest can be done in parallel
   addrs = []
   parallel_addrs = []
 
-  versions = FW_VERSIONS
+  versions = get_attr_from_cars('FW_VERSIONS', combine_brands=False)
   if extra is not None:
     versions.update(extra)
 
-  for c in versions.values():
-    for ecu_type, addr, sub_addr in c.keys():
-      a = (addr, sub_addr)
-      if a not in ecu_types:
-        ecu_types[a] = ecu_type
+  for brand, brand_versions in versions.items():
+    for c in brand_versions.values():
+      for ecu_type, addr, sub_addr in c.keys():
+        a = (brand, addr, sub_addr)
+        if a not in ecu_types:
+          ecu_types[(addr, sub_addr)] = ecu_type
 
-      if sub_addr is None:
-        if a not in parallel_addrs:
-          parallel_addrs.append(a)
-      else:
-        if [a] not in addrs:
-          addrs.append([a])
+        if sub_addr is None:
+          if a not in parallel_addrs:
+            parallel_addrs.append(a)
+        else:
+          if [a] not in addrs:
+            addrs.append([a])
 
   addrs.insert(0, parallel_addrs)
 
   fw_versions = {}
   for i, addr in enumerate(tqdm(addrs, disable=not progress)):
     for addr_chunk in chunks(addr):
-      for request, response in REQUESTS:
+      for brand, request, response, response_offset in REQUESTS:
         try:
-          query = IsoTpParallelQuery(sendcan, logcan, bus, addr_chunk, request, response, debug=debug)
-          t = 2 * timeout if i == 0 else timeout
-          fw_versions.update(query.get_data(t))
+          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any')]
+
+          if addrs:
+            query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, request, response, response_offset, debug=debug)
+            t = 2 * timeout if i == 0 else timeout
+            fw_versions.update(query.get_data(t))
         except Exception:
           cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
@@ -173,14 +346,15 @@ def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False,
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
 
-  extra = None
+  extra: Any = None
   if args.scan:
-    extra = {"DEBUG": {}}
+    extra = {}
     # Honda
     for i in range(256):
-      extra["DEBUG"][(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
-      extra["DEBUG"][(Ecu.unknown, 0x700 + i, None)] = []
-      extra["DEBUG"][(Ecu.unknown, 0x750, i)] = []
+      extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
+      extra[(Ecu.unknown, 0x700 + i, None)] = []
+      extra[(Ecu.unknown, 0x750, i)] = []
+    extra = {"any": {"debug": extra}}
 
   time.sleep(1.)
 
@@ -193,7 +367,7 @@ def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False,
 
   t = time.time()
   fw_vers = get_fw_versions(logcan, sendcan, 1, extra=extra, debug=args.debug, progress=True)
-  candidates = match_fw_to_car(fw_vers)
+  _, candidates = match_fw_to_car(fw_vers)
 
   print()
   print("Found FW versions")
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 53eccf1f3845b0..0855abf8a77d5f 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,187 +1,93 @@
 from cereal import car
 from common.realtime import DT_CTRL
-from common.numpy_fast import interp
+from common.numpy_fast import interp, clip
 from selfdrive.config import Conversions as CV
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_std_steer_torque_limits, create_gas_command
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-
-class CarControllerParams():
-  def __init__(self, car_fingerprint):
-    if car_fingerprint in SUPERCRUISE_CARS:
-      self.STEER_MAX = 150
-      self.STEER_STEP = 1              # how often we update the steer cmd
-      self.STEER_DELTA_UP = 2          # 0.75s time to peak torque
-      self.STEER_DELTA_DOWN = 5        # 0.3s from peak torque to zero
-      self.MIN_STEER_SPEED = -1.       # can steer down to zero
-    else:
-      self.STEER_MAX = 300
-      self.STEER_STEP = 2              # how often we update the steer cmd
-      self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
-      self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero
-      self.MIN_STEER_SPEED = 3.
-
-    self.STEER_DRIVER_ALLOWANCE = 50   # allowed driver torque before start limiting
-    self.STEER_DRIVER_MULTIPLIER = 4   # weight driver torque heavily
-    self.STEER_DRIVER_FACTOR = 100     # from dbc
-    self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop
-
-    # Takes case of "Service Adaptive Cruise" and "Service Front Camera"
-    # dashboard messages.
-    self.ADAS_KEEPALIVE_STEP = 100
-    self.CAMERA_KEEPALIVE_STEP = 100
-
-    # pedal lookups, only for Volt
-    MAX_GAS = 3072              # Only a safety limit
-    ZERO_GAS = 2048
-    MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
-    self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
-    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
-    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-    self.BRAKE_LOOKUP_BP = [-1., -0.25]
-    self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
-
-
-def actuator_hystereses(final_pedal, pedal_steady):
-  # hyst params... TODO: move these to VehicleParams
-  pedal_hyst_gap = 0.01    # don't change pedal command for small oscillations within this value
-
-  # for small pedal oscillations within pedal_hyst_gap, don't change the pedal command
-  if final_pedal == 0.:
-    pedal_steady = 0.
-  elif final_pedal > pedal_steady + pedal_hyst_gap:
-    pedal_steady = final_pedal - pedal_hyst_gap
-  elif final_pedal < pedal_steady - pedal_hyst_gap:
-    pedal_steady = final_pedal + pedal_hyst_gap
-  final_pedal = pedal_steady
-
-  return final_pedal, pedal_steady
-
-def process_hud_alert(hud_alert):
-  # initialize to no alert
-  steer = 0
-  if hud_alert == VisualAlert.steerRequired:
-    steer = 1
-  return steer
+VEL = [13.889, 16.667, 25.]  # velocities
+MIN_PEDAL = [0.02, 0.05, 0.1]
 
 class CarController():
-  def __init__(self, canbus, car_fingerprint):
-    self.pedal_steady = 0.
+  def __init__(self, dbc_name, CP, VM):
     self.start_time = 0.
-    self.steer_idx = 0
     self.apply_steer_last = 0
-    self.car_fingerprint = car_fingerprint
+    self.lka_steering_cmd_counter_last = -1
     self.lka_icon_status_last = (False, False)
     self.steer_rate_limited = False
 
-    # Setup detection helper. Routes commands to
-    # an appropriate CAN bus number.
-    self.canbus = canbus
-    self.params = CarControllerParams(car_fingerprint)
+    self.params = CarControllerParams()
 
-    self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
-    self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
+    self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
+    self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
+    self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
 
-  def update(self, enabled, CS, frame, actuators, \
+  def update(self, enabled, CS, frame, actuators,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params
 
     # Send CAN commands.
     can_sends = []
-    canbus = self.canbus
-
-    alert_out = process_hud_alert(hud_alert)
-    steer = alert_out
-
-    ### STEER ###
 
-    if (frame % P.STEER_STEP) == 0:
-      lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > P.MIN_STEER_SPEED
+    # Steering (50Hz)
+    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
+    # next Panda loopback confirmation in the current CS frame.
+    if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
+      self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
+    elif (frame % P.STEER_STEP) == 0:
+      lkas_enabled = enabled and not (CS.out.steerWarning or CS.out.steerError) and CS.out.vEgo > P.MIN_STEER_SPEED
       if lkas_enabled:
-        new_steer = actuators.steer * P.STEER_MAX
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steer_torque_driver, P)
+        new_steer = int(round(actuators.steer * P.STEER_MAX))
+        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
         self.steer_rate_limited = new_steer != apply_steer
       else:
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      idx = (frame // P.STEER_STEP) % 4
-
-      if self.car_fingerprint in SUPERCRUISE_CARS:
-        can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
-          canbus, apply_steer, CS.v_ego, idx, lkas_enabled)
-      else:
-        can_sends.append(gmcan.create_steering_control(self.packer_pt,
-          canbus.powertrain, apply_steer, idx, lkas_enabled))
-
-    ### GAS/BRAKE ###
-
-    if self.car_fingerprint not in SUPERCRUISE_CARS:
-      # no output if not enabled, but keep sending keepalive messages
-      # treat pedals as one
-      final_pedal = actuators.gas - actuators.brake
-
-      # *** apply pedal hysteresis ***
-      final_brake, self.brake_steady = actuator_hystereses(
-        final_pedal, self.pedal_steady)
-
-      if not enabled:
-        # Stock ECU sends max regen when not enabled.
-        apply_gas = P.MAX_ACC_REGEN
-        apply_brake = 0
-      else:
-        apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
-        apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
-
-      # Gas/regen and brakes - all at 25Hz
-      if (frame % 4) == 0:
-        idx = (frame // 4) % 4
-
-        at_full_stop = enabled and CS.standstill
-        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
-        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))
-
-        at_full_stop = enabled and CS.standstill
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
-
-      # Send dashboard UI commands (ACC status), 25hz
-      if (frame % 4) == 0:
-        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
-
-      # Radar needs to know current speed and yaw rate (50hz),
-      # and that ADAS is alive (10hz)
-      time_and_headlights_step = 10
-      tt = frame * DT_CTRL
-
-      if frame % time_and_headlights_step == 0:
-        idx = (frame // time_and_headlights_step) % 4
-        can_sends.append(gmcan.create_adas_time_status(canbus.obstacle, int((tt - self.start_time) * 60), idx))
-        can_sends.append(gmcan.create_adas_headlights_status(canbus.obstacle))
-
-      speed_and_accelerometer_step = 2
-      if frame % speed_and_accelerometer_step == 0:
-        idx = (frame // speed_and_accelerometer_step) % 4
-        can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
-        can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))
-
-      if frame % P.ADAS_KEEPALIVE_STEP == 0:
-        can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
-
-      # Show green icon when LKA torque is applied, and
-      # alarming orange icon when approaching torque limit.
-      # If not sent again, LKA icon disappears in about 5 seconds.
-      # Conveniently, sending camera message periodically also works as a keepalive.
-      lka_active = CS.lkas_status == 1
-      lka_critical = lka_active and abs(actuators.steer) > 0.9
-      lka_icon_status = (lka_active, lka_critical)
-      if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
-          or lka_icon_status != self.lka_icon_status_last:
-        can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical, steer))
-        self.lka_icon_status_last = lka_icon_status
+      # GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the
+      # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
+      idx = (CS.lka_steering_cmd_counter + 1) % 4
+
+      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
+
+    if not enabled or not CS.adaptive_Cruise or not CS.CP.enableGasInterceptor:
+      comma_pedal = 0
+    elif CS.adaptive_Cruise:
+      min_pedal_speed = interp(CS.out.vEgo, VEL, MIN_PEDAL)
+      comma_pedal = clip(actuators.accel, min_pedal_speed, 1.)
+
+    if (frame % 4) == 0:
+      idx = (frame // 4) % 4
+
+      can_sends.append(create_gas_command(self.packer_pt, comma_pedal, idx))
+
+
+    # Send dashboard UI commands (ACC status), 25hz
+    #if (frame % 4) == 0:
+    #  send_fcw = hud_alert == VisualAlert.fcw
+    #  can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
+
+    # Radar needs to know current speed and yaw rate (50hz) - Delete
+    # and that ADAS is alive (10hz)
+
+    #if frame % P.ADAS_KEEPALIVE_STEP == 0:
+    #  can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
+
+    # Show green icon when LKA torque is applied, and
+    # alarming orange icon when approaching torque limit.
+    # If not sent again, LKA icon disappears in about 5 seconds.
+    # Conveniently, sending camera message periodically also works as a keepalive.
+    lka_active = CS.lkas_status == 1
+    lka_critical = lka_active and abs(actuators.steer) > 0.9
+    lka_icon_status = (lka_active, lka_critical)
+    if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
+      steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
+      can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
+      self.lka_icon_status_last = lka_icon_status
 
     return can_sends
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index f924c66f17d743..140ac043f93433 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -4,127 +4,160 @@
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.gm.values import DBC, CAR, \
-                                    CruiseButtons, is_eps_status_ok, \
-                                    STEER_THRESHOLD, SUPERCRUISE_CARS
-
-def get_powertrain_can_parser(CP, canbus):
-  # this function generates lists for signal, messages and initial values
-  signals = [
-    # sig_name, sig_address, default
-    ("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
-    ("FrontLeftDoor", "BCMDoorBeltStatus", 0),
-    ("FrontRightDoor", "BCMDoorBeltStatus", 0),
-    ("RearLeftDoor", "BCMDoorBeltStatus", 0),
-    ("RearRightDoor", "BCMDoorBeltStatus", 0),
-    ("LeftSeatBelt", "BCMDoorBeltStatus", 0),
-    ("RightSeatBelt", "BCMDoorBeltStatus", 0),
-    ("TurnSignals", "BCMTurnSignals", 0),
-    ("AcceleratorPedal", "AcceleratorPedal", 0),
-    ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
-    ("SteeringWheelAngle", "PSCMSteeringAngle", 0),
-    ("FLWheelSpd", "EBCMWheelSpdFront", 0),
-    ("FRWheelSpd", "EBCMWheelSpdFront", 0),
-    ("RLWheelSpd", "EBCMWheelSpdRear", 0),
-    ("RRWheelSpd", "EBCMWheelSpdRear", 0),
-    ("PRNDL", "ECMPRDNL", 0),
-    ("LKADriverAppldTrq", "PSCMStatus", 0),
-    ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
-  ]
-
-  if CP.carFingerprint == CAR.VOLT:
-    signals += [
-      ("RegenPaddle", "EBCMRegenPaddle", 0),
-    ]
-  if CP.carFingerprint in SUPERCRUISE_CARS:
-    signals += [
-      ("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
-    ]
-  else:
-    signals += [
-      ("TractionControlOn", "ESPStatus", 0),
-      ("EPBClosed", "EPBStatus", 0),
-      ("CruiseMainOn", "ECMEngineStatus", 0),
-      ("CruiseState", "AcceleratorPedal2", 0),
-    ]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], canbus.powertrain)
+from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
+                                    CruiseButtons, STEER_THRESHOLD
 
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"]
-
-  def update(self, pt_cp):
+    self.adaptive_Cruise = False
+    self.enable_lkas = True
+    self.lka_steering_cmd_counter = 0
+
+  def update(self, pt_cp, loopback_cp):
+    ret = car.CarState.new_message()
+    ret.adaptiveCruise = self.adaptive_Cruise
+    ret.lkasEnable = self.enable_lkas
     self.prev_cruise_buttons = self.cruise_buttons
-    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]['ACCButtons']
-
-    self.v_wheel_fl = pt_cp.vl["EBCMWheelSpdFront"]['FLWheelSpd'] * CV.KPH_TO_MS
-    self.v_wheel_fr = pt_cp.vl["EBCMWheelSpdFront"]['FRWheelSpd'] * CV.KPH_TO_MS
-    self.v_wheel_rl = pt_cp.vl["EBCMWheelSpdRear"]['RLWheelSpd'] * CV.KPH_TO_MS
-    self.v_wheel_rr = pt_cp.vl["EBCMWheelSpdRear"]['RRWheelSpd'] * CV.KPH_TO_MS
-    self.v_ego_raw = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
-    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
-    self.standstill = self.v_ego_raw < 0.01
-
-    self.angle_steers = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
-    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]['PRNDL'], None))
-    self.user_brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition']
-
-    self.pedal_gas = pt_cp.vl["AcceleratorPedal"]['AcceleratorPedal']
-    self.user_gas_pressed = self.pedal_gas > 0
+    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+
+    ret.wheelSpeeds.fl = pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fr = pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rl = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rr = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"] * CV.KPH_TO_MS
+    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw < 0.1
+
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
+    ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
+    # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
+    if ret.brake < 10/0xd0:
+      ret.brake = 0.
+
+    if self.CP.enableGasInterceptor:
+      ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
+      ret.gasPressed = ret.gas > 20
+    else:
+      ret.gas = pt_cp.vl["AcceleratorPedal"]["AcceleratorPedal"] / 254.
+      ret.gasPressed = ret.gas > 1e-5
 
-    self.steer_torque_driver = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
-    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
+    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
+    ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
+    ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
+    ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    self.lka_steering_cmd_counter = loopback_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
-    # 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
-    self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
-    self.steer_not_allowed = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
+    # 0 inactive, 1 active, 2 temporarily limited, 3 failed
+    self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
+    ret.steerWarning = self.lkas_status == 2
+    ret.steerError = self.lkas_status == 3
 
     # 1 - open, 0 - closed
-    self.door_all_closed = (pt_cp.vl["BCMDoorBeltStatus"]['FrontLeftDoor'] == 0 and
-      pt_cp.vl["BCMDoorBeltStatus"]['FrontRightDoor'] == 0 and
-      pt_cp.vl["BCMDoorBeltStatus"]['RearLeftDoor'] == 0 and
-      pt_cp.vl["BCMDoorBeltStatus"]['RearRightDoor'] == 0)
+    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
     # 1 - latched
-    self.seatbelt = pt_cp.vl["BCMDoorBeltStatus"]['LeftSeatBelt'] == 1
+    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+
+    self.park_brake = pt_cp.vl["EPBStatus"]["EPBClosed"]
+    self.main_on = bool(pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"])
+    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
+    self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
+    ret.cruiseState.available = self.pcm_acc_status != 0
+    ret.cruiseState.standstill = False
+
+    ret.brakePressed = ret.brake > 1e-5
+    ret.regenPressed = False
+    if self.car_fingerprint == CAR.VOLT:
+      ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"])
+    elif self.car_fingerprint == CAR.BOLT:
+      ret.regenPressed = bool(pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"])
+
+    ret.cruiseState.enabled = self.main_on or ret.adaptiveCruise
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    # this function generates lists for signal, messages and initial values
+    signals = [
+      # sig_name, sig_address, default
+      ("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
+      ("FrontLeftDoor", "BCMDoorBeltStatus", 0),
+      ("FrontRightDoor", "BCMDoorBeltStatus", 0),
+      ("RearLeftDoor", "BCMDoorBeltStatus", 0),
+      ("RearRightDoor", "BCMDoorBeltStatus", 0),
+      ("LeftSeatBelt", "BCMDoorBeltStatus", 0),
+      ("RightSeatBelt", "BCMDoorBeltStatus", 0),
+      ("TurnSignals", "BCMTurnSignals", 0),
+      ("AcceleratorPedal", "AcceleratorPedal", 0),
+      ("CruiseState", "AcceleratorPedal2", 0),
+      ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
+      ("SteeringWheelAngle", "PSCMSteeringAngle", 0),
+      ("SteeringWheelRate", "PSCMSteeringAngle", 0),
+      ("FLWheelSpd", "EBCMWheelSpdFront", 0),
+      ("FRWheelSpd", "EBCMWheelSpdFront", 0),
+      ("RLWheelSpd", "EBCMWheelSpdRear", 0),
+      ("RRWheelSpd", "EBCMWheelSpdRear", 0),
+      ("PRNDL", "ECMPRDNL", 0),
+      ("LKADriverAppldTrq", "PSCMStatus", 0),
+      ("LKATorqueDelivered", "PSCMStatus", 0),
+      ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
+      ("TractionControlOn", "ESPStatus", 0),
+      ("EPBClosed", "EPBStatus", 0),
+      ("CruiseMainOn", "ECMEngineStatus", 0),
+    ]
 
-    self.steer_error = False
+    checks = [
+      ("BCMTurnSignals", 1),
+      ("ECMPRDNL", 10),
+      ("PSCMStatus", 10),
+      ("ESPStatus", 10),
+      ("BCMDoorBeltStatus", 10),
+      ("EPBStatus", 20),
+      ("EBCMWheelSpdFront", 20),
+      ("EBCMWheelSpdRear", 20),
+      ("AcceleratorPedal", 33),
+      ("AcceleratorPedal2", 33),
+      ("ASCMSteeringButton", 33),
+      ("ECMEngineStatus", 100),
+      ("PSCMSteeringAngle", 100),
+      ("EBCMBrakePedalPosition", 100),
+    ]
 
-    self.brake_error = False
+    if CP.carFingerprint == CAR.VOLT or CP.carFingerprint == CAR.BOLT:
+      signals += [
+        ("RegenPaddle", "EBCMRegenPaddle", 0),
+      ]
+      checks += [
+        ("EBCMRegenPaddle", 50),
+      ]
+
+    # add gas interceptor reading if we are using it
+    if CP.enableGasInterceptor:
+      signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
+      signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
+      checks.append(("GAS_SENSOR", 50))
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)
+
+  @staticmethod
+  def get_loopback_can_parser(CP):
+    signals = [
+      ("RollingCounter", "ASCMLKASteeringCmd", 0),
+    ]
 
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
-    self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
-    self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
+    checks = [
+      ("ASCMLKASteeringCmd", 50),
+    ]
 
-    if self.car_fingerprint in SUPERCRUISE_CARS:
-      self.park_brake = False
-      self.main_on = False
-      self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
-      self.esp_disabled = False
-      self.regen_pressed = False
-      self.pcm_acc_status = int(self.acc_active)
-    else:
-      self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
-      self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
-      self.acc_active = False
-      self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
-      self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
-      if self.car_fingerprint == CAR.VOLT:
-        self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
-      else:
-        self.regen_pressed = False
-
-    # Brake pedal's potentiometer returns near-zero reading
-    # even when pedal is not pressed.
-    if self.user_brake < 10:
-      self.user_brake = 0
-
-    # Regen braking is braking
-    self.brake_pressed = self.user_brake > 10 or self.regen_pressed
-
-    self.gear_shifter_valid = self.gear_shifter == car.CarState.GearShifter.drive
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 3db0f5b02c18a2..47e6090a03a32a 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -11,32 +11,6 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
   return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
 
-def create_steering_control_ct6(packer, canbus, apply_steer, v_ego, idx, enabled):
-
-  values = {
-    "LKASteeringCmdActive": 1 if enabled else 0,
-    "LKASteeringCmd": apply_steer,
-    "RollingCounter": idx,
-    "SetMe1": 1,
-    "LKASVehicleSpeed": abs(v_ego * 3.6),
-    "LKASMode": 2 if enabled else 0,
-    "LKASteeringCmdChecksum": 0  # assume zero and then manually compute it
-  }
-
-  dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
-  # the checksum logic is weird
-  values['LKASteeringCmdChecksum'] = (0x2a +
-                                      sum(dat[:4]) +
-                                      values['LKASMode']) & 0x3ff
-  # pack again with checksum
-  dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
-
-  return [0x152, 0, dat, canbus.powertrain], \
-         [0x154, 0, dat, canbus.powertrain], \
-         [0x151, 0, dat, canbus.chassis], \
-         [0x153, 0, dat, canbus.chassis]
-
-
 def create_adas_keepalive(bus):
   dat = b"\x00\x00\x00\x00\x00\x00\x00"
   return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
@@ -54,21 +28,19 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
   }
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
-  values["GasRegenChecksum"] = (((0xff -dat[1]) & 0xff) << 16) | \
+  values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
                                (((0xff - dat[2]) & 0xff) << 8) | \
                                ((0x100 - dat[3] - idx) & 0xff)
 
   return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
 
 def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
-
-  if apply_brake == 0:
-    mode = 0x1
-  else:
+  mode = 0x1
+  if apply_brake > 0:
     mode = 0xa
+    if at_full_stop:
+      mode = 0xd
 
-  if at_full_stop:
-    mode = 0xd
     # TODO: this is to have GM bringing the car to complete stop,
     # but currently it conflicts with OP controls, so turned off.
     #elif near_stop:
@@ -86,7 +58,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
 
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
-def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight):
+def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
   # Not a bit shift, dash can round up based on low 4 bits.
   target_speed = int(target_speed_kph * 16) & 0xfff
 
@@ -94,10 +66,11 @@ def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lea
     "ACCAlwaysOne" : 1,
     "ACCResumeButton" : 0,
     "ACCSpeedSetpoint" : target_speed,
-    "ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
+    "ACCGapLevel" : 3 * acc_engaged,  # 3 "far", 0 "inactive"
     "ACCCmdActive" : acc_engaged,
     "ACCAlwaysOne2" : 1,
-    "ACCLeadCar" : lead_car_in_sight
+    "ACCLeadCar" : lead_car_in_sight,
+    "FCWAlert": 0x3 if fcw else 0
   }
 
   return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
@@ -129,8 +102,12 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
   dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
   return make_can_msg(0x308, bytes(dat), bus)
 
-def create_adas_headlights_status(bus):
-  return make_can_msg(0x310, b"\x42\x04", bus)
+def create_adas_headlights_status(packer, bus):
+  values = {
+    "Always42": 0x42,
+    "Always4": 0x4,
+  }
+  return packer.make_can_msg("ASCMHeadlight", bus, values)
 
 def create_lka_icon_command(bus, active, critical, steer):
   if active and steer == 1:
@@ -146,48 +123,3 @@ def create_lka_icon_command(bus, active, critical, steer):
   else:
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
-
-# TODO: WIP
-'''
-def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
-
-  # counters loops across [0, 29, 42, 55] but checksum only considers 0, 1, 2, 3
-  cntrs = [0, 29, 42, 55]
-  if apply_brake == 0:
-    mode = 0x1
-  else:
-    mode = 0xa
-
-    if at_full_stop:
-      mode = 0xd
-    elif near_stop:
-      mode = 0xb
-
-  brake = (0x1000 - apply_brake) & 0xfff
-  checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
-
-  values = {
-    "RollingCounter" : cntrs[idx],
-    "FrictionBrakeMode" : mode,
-    "FrictionBrakeChecksum": checksum,
-    "FrictionBrakeCmd" : -apply_brake
-  }
-
-  dat = packer.make_can_msg("EBCMFrictionBrakeCmd", 0, values)[2]
-  # msg is 0x315 but we are doing the panda forwarding
-  return make_can_msg(0x314, dat, 2)
-
-def create_gas_regen_command_ct6(bus, throttle, idx, acc_engaged, at_full_stop):
-  cntrs = [0, 7, 10, 13]
-  eng_bit = 1 if acc_engaged else 0
-  gas_high = (throttle >> 8) | 0x80
-  gas_low = (throttle) & 0xff
-  full_stop = 0x20 if at_full_stop else 0
-
-  chk1 = (0x100 - gas_high - 1) & 0xff
-  chk2 = (0x100 - gas_low - idx) & 0xff
-  dat = [(idx << 6) | eng_bit, 0xc2 | full_stop, gas_high, gas_low,
-         (1 - eng_bit) | (cntrs[idx] << 1), 0x5d - full_stop, chk1, chk2]
-  return make_can_msg(0x2cb, "".join(map(chr, dat)), bus)
-
-'''
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
old mode 100755
new mode 100644
index 450fce853889fc..2f1743de163c57
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -1,70 +1,52 @@
 #!/usr/bin/env python3
 from cereal import car
+from math import fabs
 from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR, Ecu, ECU_FINGERPRINT, \
-                                    SUPERCRUISE_CARS, AccState, FINGERPRINTS
-from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.car.gm.values import CAR, CruiseButtons, \
+                                    AccState, CarControllerParams
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
-
-class CanBus(CarInterfaceBase):
-  def __init__(self):
-    self.powertrain = 0
-    self.obstacle = 1
-    self.chassis = 2
-    self.sw_gmlan = 3
+EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-
-    self.frame = 0
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.acc_active_prev = 0
-
-    # *** init the major players ***
-    canbus = CanBus()
-    self.CS = CarState(CP)
-    self.VM = VehicleModel(CP)
-    self.pt_cp = get_powertrain_can_parser(CP, canbus)
-    self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(canbus, CP.carFingerprint)
-
   @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    params = CarControllerParams()
+    return params.ACCEL_MIN, params.ACCEL_MAX
 
+  # Volt determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-    ret = car.CarParams.new_message()
+  def get_steer_feedforward_volt(desired_angle, v_ego):
+    # maps [-inf,inf] to [-1,1]: sigmoid(34.4 deg) = sigmoid(1) = 0.5
+    # 1 / 0.02904609 = 34.4 deg ~= 36 deg ~= 1/10 circle? Arbitrary?
+    desired_angle *= 0.02904609
+    sigmoid = desired_angle / (1 + fabs(desired_angle))
+    return 0.10006696 * sigmoid * (v_ego + 3.12485927)
+
+  def get_steer_feedforward_function(self):
+    if self.CP.carFingerprint in [CAR.VOLT]:
+      return self.get_steer_feedforward_volt
+    else:
+      return CarInterfaceBase.get_steer_feedforward_default
 
+  @staticmethod
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
-    ret.carFingerprint = candidate
-    ret.isPandaBlack = has_relay
-
-    ret.enableCruise = False
-    # GM port is considered a community feature, since it disables AEB;
-    # TODO: make a port that uses a car harness and it only intercepts the camera
-    ret.communityFeature = True
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    #ret.pcmCruise = False  # stock cruise control is kept off
 
     # Presence of a camera on the object bus is ok.
     # Have to go to read_only if ASCM is online (ACC-enabled cars),
     # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \
-                       has_relay or \
-                       candidate == CAR.CADILLAC_CT6
-    ret.openpilotLongitudinalControl = ret.enableCamera
+    ret.enableGasInterceptor = 0x201 in fingerprint[0]
+    ret.openpilotLongitudinalControl = ret.enableGasInterceptor
     tire_stiffness_factor = 0.444  # not optimized yet
 
     # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
+    ret.minSteerSpeed = 7 * CV.MPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
@@ -75,21 +57,47 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1607. + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.69
-      ret.steerRatio = 15.7
+      ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
+      tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
       ret.steerRatioRear = 0.
-      ret.centerToFront = ret.wheelbase * 0.4 # wild guess
+      ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
+
+      ret.lateralTuning.pid.kpBP = [0., 40.]
+      ret.lateralTuning.pid.kpV = [0., 0.17]
+      ret.lateralTuning.pid.kiBP = [0.]
+      ret.lateralTuning.pid.kiV = [0.]
+      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
+      ret.steerActuatorDelay = 0.2
+    elif candidate == CAR.BOLT:
+      # initial engage unkown - copied from Volt. Stop and go unknown.
+      ret.minEnableSpeed = -1
+      ret.minSteerSpeed = 5
+      ret.mass = 1625. + STD_CARGO_KG
+      ret.wheelbase = 2.60096
+      ret.steerRatio = 16.8
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.49
+      tire_stiffness_factor = 0.5
+
+      ret.lateralTuning.init('lqr')
+      ret.lateralTuning.lqr.scale = 1975.0
+      ret.lateralTuning.lqr.ki = 0.032
+      ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+      ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+      ret.lateralTuning.lqr.c = [1., 0.]
+      ret.lateralTuning.lqr.k = [-110., 451.]
+      ret.lateralTuning.lqr.l = [0.33, 0.318]
+      ret.lateralTuning.lqr.dcGain = 0.00225
 
     elif candidate == CAR.MALIBU:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1496. + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.83
       ret.steerRatio = 15.8
       ret.steerRatioRear = 0.
-      ret.centerToFront = ret.wheelbase * 0.4 # wild guess
+      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
 
     elif candidate == CAR.HOLDEN_ASTRA:
       ret.mass = 1363. + STD_CARGO_KG
@@ -97,47 +105,43 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       # Remaining parameters copied from Volt for now
       ret.centerToFront = ret.wheelbase * 0.4
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.steerRatio = 15.7
       ret.steerRatioRear = 0.
 
     elif candidate == CAR.ACADIA:
-      ret.minEnableSpeed = -1. # engage speed is decided by pcm
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.86
-      ret.steerRatio = 14.4  #end to end is 13.46
+      ret.steerRatio = 14.4  # end to end is 13.46
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4
 
     elif candidate == CAR.BUICK_REGAL:
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
-      ret.safetyModel = car.CarParams.SafetyModel.gm
-      ret.wheelbase = 2.83 #111.4 inches in meters
-      ret.steerRatio = 14.4 # guess for tourx
+      ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
+      ret.wheelbase = 2.83  # 111.4 inches in meters
+      ret.steerRatio = 14.4  # guess for tourx
       ret.steerRatioRear = 0.
-      ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
+      ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx
 
     elif candidate == CAR.CADILLAC_ATS:
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1601. + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.gm
       ret.wheelbase = 2.78
       ret.steerRatio = 15.3
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.49
 
-    elif candidate == CAR.CADILLAC_CT6:
-      # engage speed is decided by pcm
-      ret.minEnableSpeed = -1.
-      ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.cadillac
-      ret.wheelbase = 3.11
-      ret.steerRatio = 14.6   # it's 16.3 without rear active steering
-      ret.steerRatioRear = 0. # TODO: there is RAS on this car!
-      ret.centerToFront = ret.wheelbase * 0.465
-
+    elif candidate == CAR.ESCALADE_ESV:
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.mass = 2739. + STD_CARGO_KG
+      ret.wheelbase = 3.302
+      ret.steerRatio = 17.3
+      ret.centerToFront = ret.wheelbase * 0.49
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
+      ret.lateralTuning.pid.kf = 0.000045
+      tire_stiffness_factor = 1.0
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
@@ -148,95 +152,30 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.steerMaxBP = [0.]  # m/s
-    ret.steerMaxV = [1.]
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [.5]
-    ret.brakeMaxBP = [0.]
-    ret.brakeMaxV = [1.]
-
-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kpV = [2.4, 1.5]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.36]
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
-
-    ret.stoppingControl = True
-    ret.startAccel = 0.8
+    ret.longitudinalTuning.kpBP = [0., 30.]
+    ret.longitudinalTuning.kpV = [0.6, 0.65]
+    ret.longitudinalTuning.kiBP = [0., 20.]
+    ret.longitudinalTuning.kiV = [0.045, 0.055]
 
+    ret.startAccel = 0.1
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
-    ret.steerControlType = car.CarParams.SteerControlType.torque
 
     return ret
 
   # returns a car.CarState
   def update(self, c, can_strings):
-    self.pt_cp.update_strings(can_strings)
-
-    self.CS.update(self.pt_cp)
-
-    # create message
-    ret = car.CarState.new_message()
-
-    ret.canValid = self.pt_cp.can_valid
+    self.cp.update_strings(can_strings)
+    self.cp_loopback.update_strings(can_strings)
 
-    # speeds
-    ret.vEgo = self.CS.v_ego
-    ret.aEgo = self.CS.a_ego
-    ret.vEgoRaw = self.CS.v_ego_raw
-    ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
-    ret.standstill = self.CS.standstill
-    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
-    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
-    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
-    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
+    ret = self.CS.update(self.cp, self.cp_loopback)
 
-    # gas pedal information.
-    ret.gas = self.CS.pedal_gas / 254.0
-    ret.gasPressed = self.CS.user_gas_pressed
-
-    # brake pedal
-    ret.brake = self.CS.user_brake / 0xd0
-    ret.brakePressed = self.CS.brake_pressed
-
-    # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
-
-    # torque and user override. Driver awareness
-    # timer resets when the user uses the steering wheel.
-    ret.steeringPressed = self.CS.steer_override
-    ret.steeringTorque = self.CS.steer_torque_driver
+    ret.cruiseState.enabled = self.CS.main_on or self.CS.adaptive_Cruise
+    ret.canValid = self.cp.can_valid and self.cp_loopback.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    # cruise state
-    ret.cruiseState.available = bool(self.CS.main_on)
-    cruiseEnabled = self.CS.pcm_acc_status != AccState.OFF
-    ret.cruiseState.enabled = cruiseEnabled
-    ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
-
-    ret.leftBlinker = self.CS.left_blinker_on
-    ret.rightBlinker = self.CS.right_blinker_on
-    ret.doorOpen = not self.CS.door_all_closed
-    ret.seatbeltUnlatched = not self.CS.seatbelt
-    ret.gearShifter = self.CS.gear_shifter
-
     buttonEvents = []
 
-    # blinkers
-    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.leftBlinker
-      be.pressed = self.CS.left_blinker_on
-      buttonEvents.append(be)
-
-    if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.rightBlinker
-      be.pressed = self.CS.right_blinker_on
-      buttonEvents.append(be)
-
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       be = car.CarState.ButtonEvent.new_message()
       be.type = ButtonType.unknown
@@ -247,8 +186,7 @@ def update(self, c, can_strings):
         be.pressed = False
         but = self.CS.prev_cruise_buttons
       if but == CruiseButtons.RES_ACCEL:
-        if not (cruiseEnabled and self.CS.standstill):
-          be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
+        be.type = ButtonType.accelCruise
       elif but == CruiseButtons.DECEL_SET:
         be.type = ButtonType.decelCruise
       elif but == CruiseButtons.CANCEL:
@@ -259,81 +197,55 @@ def update(self, c, can_strings):
 
     ret.buttonEvents = buttonEvents
 
-    events = []
-    if self.CS.steer_error:
-      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if self.CS.steer_not_allowed:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-
-    if self.CS.car_fingerprint in SUPERCRUISE_CARS:
-      if self.CS.acc_active and not self.acc_active_prev:
-        events.append(create_event('pcmEnable', [ET.ENABLE]))
-      if not self.CS.acc_active:
-        events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
-
-    else:
-      if self.CS.brake_error:
-        events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-      if not self.CS.gear_shifter_valid:
-        events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-      if self.CS.esp_disabled:
-        events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-      if not self.CS.main_on:
-        events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-      if self.CS.gear_shifter == 3:
-        events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-      if ret.vEgo < self.CP.minEnableSpeed:
-        events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
-      if self.CS.park_brake:
-        events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
-      # disable on pedals rising edge or when brake is pressed and speed isn't zero
-      if (ret.gasPressed and not self.gas_pressed_prev) or \
-        (ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-      if ret.gasPressed:
-        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-      if ret.cruiseState.standstill:
-        events.append(create_event('resumeRequired', [ET.WARNING]))
-      if self.CS.pcm_acc_status == AccState.FAULTED:
-        events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-
-      # handle button presses
+    events = self.create_common_events(ret)
+
+    if ret.vEgo < self.CP.minEnableSpeed:
+      events.add(EventName.belowEngageSpeed)
+    if self.CS.park_brake:
+      events.add(EventName.parkBrake)
+    if ret.vEgo < self.CP.minSteerSpeed:
+      events.add(car.CarEvent.EventName.belowSteerSpeed)
+    if self.CP.enableGasInterceptor:
+      if self.CS.adaptive_Cruise and ret.brakePressed:
+        events.add(EventName.pedalPressed)
+        self.CS.adaptive_Cruise = False
+        self.CS.enable_lkas = True
+
+    # handle button presses
+    if not self.CS.main_on and self.CP.enableGasInterceptor:
       for b in ret.buttonEvents:
-        # do enable on both accel and decel buttons
-        if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
-          events.append(create_event('buttonEnable', [ET.ENABLE]))
-        # do disable on button down
-        if b.type == ButtonType.cancel and b.pressed:
-          events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
+        if (b.type == ButtonType.decelCruise and not b.pressed) and not self.CS.adaptive_Cruise:
+          self.CS.adaptive_Cruise = True
+          self.CS.enable_lkas = True
+          events.add(EventName.buttonEnable)
+        if (b.type == ButtonType.accelCruise and not b.pressed) and not self.CS.adaptive_Cruise:
+          self.CS.adaptive_Cruise = True
+          self.CS.enable_lkas = False
+          events.add(EventName.buttonEnable)
+        if (b.type == ButtonType.cancel and b.pressed) and self.CS.adaptive_Cruise:
+          self.CS.adaptive_Cruise = False
+          self.CS.enable_lkas = True
+          events.add(EventName.buttonCancel)
+    elif self.CS.main_on:
+      self.CS.adaptive_Cruise = False
+      self.CS.enable_lkas = True
+
+    ret.events = events.to_msg()
+
+    # copy back carState packet to CS
+    self.CS.out = ret.as_reader()
+
+    return self.CS.out
 
-    ret.events = events
-
-    # update previous brake/gas pressed
-    self.acc_active_prev = self.CS.acc_active
-    self.gas_pressed_prev = ret.gasPressed
-    self.brake_pressed_prev = ret.brakePressed
-
-    # cast to reader so it can't be modified
-    return ret.as_reader()
-
-  # pass in a car.CarControl
-  # to be called @ 100hz
   def apply(self, c):
     hud_v_cruise = c.hudControl.setSpeed
     if hud_v_cruise > 70:
       hud_v_cruise = 0
 
     # For Openpilot, "enabled" includes pre-enable.
-    # In GM, PCM faults out if ACC command overlaps user gas.
-    enabled = c.enabled and not self.CS.user_gas_pressed
-
-    can_sends = self.CC.update(enabled, self.CS, self.frame, \
+    can_sends = self.CC.update(c.enabled, self.CS, self.frame,
                                c.actuators,
-                               hud_v_cruise, c.hudControl.lanesVisible, \
+                               hud_v_cruise, c.hudControl.lanesVisible,
                                c.hudControl.leadVisible, c.hudControl.visualAlert)
 
     self.frame += 1
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index d36db9422d9436..4cb1e0781f26ea 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
 from __future__ import print_function
 import math
-import time
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.gm.interface import CanBus
-from selfdrive.car.gm.values import DBC, CAR
+from selfdrive.car.gm.values import DBC, CAR, CanBus
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import RadarInterfaceBase
 
@@ -17,41 +15,34 @@
 # messages that are present in DBC
 LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
 
-def create_radar_can_parser(canbus, car_fingerprint):
-
-  dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
-    # C1A-ARS3-A by Continental
-    radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
-    signals = list(zip(['FLRRNumValidTargets',
-                   'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
-                   'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
-                   'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
-                  ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
-                  ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
-                  ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
-                  [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
-                  [0] * 7 +
-                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
-                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
-                  [0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
-
-    checks = []
-
-    return CANParser(dbc_f, signals, checks, canbus.obstacle)
-  else:
+def create_radar_can_parser(car_fingerprint):
+  if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS, CAR.ESCALADE_ESV):
     return None
 
+  # C1A-ARS3-A by Continental
+  radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
+  signals = list(zip(['FLRRNumValidTargets',
+                 'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
+                 'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
+                 'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
+                ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
+                ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
+                ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
+                [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
+                [0] * 7 +
+                [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                [0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
+
+  checks = list({(s[1], 14) for s in signals})
+
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
+
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
-    self.pts = {}
-
-    self.delay = 0  # Delay of radar
+    super().__init__(CP)
 
-    canbus = CanBus()
-    print("Using %d as obstacle CAN bus ID" % canbus.obstacle)
-    self.rcp = create_radar_can_parser(canbus, CP.carFingerprint)
+    self.rcp = create_radar_can_parser(CP.carFingerprint)
 
     self.trigger_msg = LAST_RADAR_MSG
     self.updated_messages = set()
@@ -59,8 +50,7 @@ def __init__(self, CP):
 
   def update(self, can_strings):
     if self.rcp is None:
-      time.sleep(self.radar_ts)   # nothing to do
-      return car.RadarData.new_message()
+      return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
@@ -101,7 +91,7 @@ def update(self, can_strings):
           self.pts[targetId] = car.RadarData.RadarPoint.new_message()
           self.pts[targetId].trackId = targetId
         distance = cpt['TrkRange']
-        self.pts[targetId].dRel = distance # from front of car
+        self.pts[targetId].dRel = distance  # from front of car
         # From driver's pov, left is positive
         self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
         self.pts[targetId].vRel = cpt['TrkRangeRate']
@@ -109,7 +99,7 @@ def update(self, can_strings):
         self.pts[targetId].yvRel = float('nan')
 
     for oldTarget in list(self.pts.keys()):
-      if not oldTarget in currentTargets:
+      if oldTarget not in currentTargets:
         del self.pts[oldTarget]
 
     ret.points = list(self.pts.values())
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index ccde62ea38f122..2187ae4835c9ef 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,39 +1,75 @@
+# flake8: noqa
+
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
+class CarControllerParams():
+  STEER_MAX = 300  # Safety limit, not LKA max. Trucks use 600.
+  STEER_STEP = 2  # control frames per command
+  STEER_DELTA_UP = 7
+  STEER_DELTA_DOWN = 17
+  MIN_STEER_SPEED = 3.  # m/s
+  STEER_DRIVER_ALLOWANCE = 50
+  STEER_DRIVER_MULTIPLIER = 4
+  STEER_DRIVER_FACTOR = 100
+  NEAR_STOP_BRAKE_PHASE = 0.5  # m/s
+
+  # Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
+  ADAS_KEEPALIVE_STEP = 100
+  CAMERA_KEEPALIVE_STEP = 100
+
+  # Volt gasbrake lookups
+  MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+  ZERO_GAS = 2048 # Coasting
+  MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
+
+  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
+  # perform the closed loop control, and might need some
+  # to apply some more braking if we're on a downhill slope.
+  # Our controller should still keep the 2 second average above
+  # -3.5 m/s^2 as per planner limits
+  ACCEL_MAX = 2. # m/s^2
+  ACCEL_MIN = -4. # m/s^2
+
+  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
+  GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
+  GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
+  BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
+  BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
+
+STEER_THRESHOLD = 1.0
+
 class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
-  CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
   MALIBU = "CHEVROLET MALIBU PREMIER 2017"
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
-
-SUPERCRUISE_CARS = [CAR.CADILLAC_CT6]
+  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
+  BOLT = "CHEVROLET BOLT EV"
 
 class CruiseButtons:
-  INIT        = 0
-  UNPRESS     = 1
-  RES_ACCEL   = 2
-  DECEL_SET   = 3
-  MAIN        = 5
-  CANCEL      = 6
+  INIT = 0
+  UNPRESS = 1
+  RES_ACCEL = 2
+  DECEL_SET = 3
+  MAIN = 5
+  CANCEL = 6
 
 class AccState:
-  OFF        = 0
-  ACTIVE     = 1
-  FAULTED    = 3
+  OFF = 0
+  ACTIVE = 1
+  FAULTED = 3
   STANDSTILL = 4
 
-def is_eps_status_ok(eps_status, car_fingerprint):
-  valid_eps_status = []
-  if car_fingerprint in SUPERCRUISE_CARS:
-    valid_eps_status += [0, 1, 4, 5, 6]
-  else:
-    valid_eps_status += [0, 1]
-  return eps_status in valid_eps_status
+class CanBus:
+  POWERTRAIN = 0
+  OBSTACLE = 1
+  CHASSIS = 2
+  SW_GMLAN = 3
+  LOOPBACK = 128
 
 FINGERPRINTS = {
   # Astra BK MY17, ASCM unplugged
@@ -49,6 +85,43 @@ def is_eps_status_ok(eps_status, car_fingerprint):
   {
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
   }],
+  CAR.BOLT: [
+  # Bolt Premier w/o ACC 2017
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt Premier no ACC 2019
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
+  },
+  # Bolt Premier no ACC 2019 + Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
+  },
+  # Bolt Premier no ACC 2020
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
+  },
+  # Bolt Premier no ACC 2020 2
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
+  },
+  # Bolt Premier no ACC 2020 w pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
+  },
+  # Bolt EV Premier 2017
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt EV Premier 2017 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt EV Premier 2017 2 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 8, 386: 8, 388: 4, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
+  }],
   CAR.BUICK_REGAL : [
   # Regal TourX Essence w/ ACC 2018
   {
@@ -59,25 +132,24 @@ def is_eps_status_ok(eps_status, car_fingerprint):
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-  CAR.CADILLAC_CT6: [{
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
-  }],
   CAR.MALIBU: [
   # Malibu Premier w/ ACC 2017
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
   }],
   CAR.ACADIA: [
+  # Acadia Denali w/ACC 2018
+  {
+    190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
+  },
   # Acadia Denali w/ /ACC 2018
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-}
-
-STEER_THRESHOLD = 1.0
-
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [384, 715]  # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.ESCALADE_ESV: [
+  {
+    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
+  }],
 }
 
 DBC = {
@@ -87,5 +159,6 @@ def is_eps_status_ok(eps_status, car_fingerprint):
   CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
+  CAR.ESCALADE_ESV: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.BOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
 }
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 9b0e0706ce5849..088e42476ea0b3 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -2,19 +2,43 @@
 from cereal import car
 from common.realtime import DT_CTRL
 from selfdrive.controls.lib.drive_helpers import rate_limit
-from common.numpy_fast import clip
+from common.numpy_fast import clip, interp
 from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD
+from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+LongCtrlState = car.CarControl.Actuators.LongControlState
 
+def compute_gb_honda_bosch(accel, speed):
+  #TODO returns 0s, is unused
+  return 0.0, 0.0
+
+
+def compute_gb_honda_nidec(accel, speed):
+  creep_brake = 0.0
+  creep_speed = 2.3
+  creep_brake_value = 0.15
+  if speed < creep_speed:
+    creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
+  gb = float(accel) / 4.8 - creep_brake
+  return clip(gb, 0.0, 1.0), clip(-gb, 0.0, 1.0)
+
+
+def compute_gas_brake(accel, speed, fingerprint):
+  if fingerprint in HONDA_BOSCH:
+    return compute_gb_honda_bosch(accel, speed)
+  else:
+    return compute_gb_honda_nidec(accel, speed)
+
+
+#TODO not clear this does anything useful
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params
   brake_hyst_on = 0.02     # to activate brakes exceed this value
-  brake_hyst_off = 0.005                     # to deactivate brakes below this value
-  brake_hyst_gap = 0.01                      # don't change brake command for small oscillations within this value
+  brake_hyst_off = 0.005   # to deactivate brakes below this value
+  brake_hyst_gap = 0.01    # don't change brake command for small oscillations within this value
 
   #*** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
   if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
@@ -30,9 +54,6 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
     brake_steady = brake + brake_hyst_gap
   brake = brake_steady
 
-  if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV)) and brake > 0.0:
-    brake += 0.15
-
   return brake, braking, brake_steady
 
 
@@ -62,7 +83,7 @@ def process_hud_alert(hud_alert):
   # priority is: FCW, steer required, all others
   if hud_alert == VisualAlert.fcw:
     fcw_display = VISUAL_HUD[hud_alert.raw]
-  elif hud_alert == VisualAlert.steerRequired:
+  elif hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
     steer_required = VISUAL_HUD[hud_alert.raw]
   else:
     acc_alert = VISUAL_HUD[hud_alert.raw]
@@ -71,39 +92,38 @@ def process_hud_alert(hud_alert):
 
 
 HUDData = namedtuple("HUDData",
-                     ["pcm_accel", "v_cruise",  "car",
+                     ["pcm_accel", "v_cruise", "car",
                      "lanes", "fcw", "acc_alert", "steer_required"])
 
 
 class CarController():
-  def __init__(self, dbc_name, CP):
+  def __init__(self, dbc_name, CP, VM):
     self.braking = False
     self.brake_steady = 0.
     self.brake_last = 0.
     self.apply_brake_last = 0
     self.last_pump_ts = 0.
     self.packer = CANPacker(dbc_name)
-    self.new_radar_config = False
-    self.eps_modified = False
-    for fw in CP.carFw:
-      if fw.ecu == "eps" and b"," in fw.fwVersion:
-        print("EPS FW MODIFIED!")
-        self.eps_modified = True
-
-  def update(self, enabled, CS, frame, actuators, \
-             pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
+
+    self.params = CarControllerParams(CP)
+
+  def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
-    # *** apply brake hysteresis ***
-    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
+    P = self.params
 
-    # *** no output if not enabled ***
-    if not enabled and CS.pcm_acc_status:
-      # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
-      pcm_cancel_cmd = True
+    if enabled:
+      accel = actuators.accel
+      gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, CS.CP.carFingerprint)
+    else:
+      accel = 0.0
+      gas, brake = 0.0, 0.0
+
+    # *** apply brake hysteresis ***
+    pre_limit_brake, self.braking, self.brake_steady = actuator_hystereses(brake, self.braking, self.brake_steady, CS.out.vEgo, CS.CP.carFingerprint)
 
     # *** rate limit after the enable check ***
-    self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)
+    self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
 
     # vehicle hud display, wait for one update from 10Hz 0x304 msg
     if hud_show_lanes:
@@ -121,70 +141,109 @@ def update(self, enabled, CS, frame, actuators, \
 
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
-    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
-                  hud_lanes, fcw_display, acc_alert, steer_required)
 
     # **** process the car messages ****
 
-    # *** compute control surfaces ***
-    BRAKE_MAX = 1024//4
-    if CS.CP.carFingerprint in (CAR.ACURA_ILX):
-      STEER_MAX = 0xF00
-    elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
-      STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value
-    elif CS.CP.carFingerprint in (CAR.ODYSSEY_CHN):
-      STEER_MAX = 0x7FFF
-    elif CS.CP.carFingerprint in (CAR.CIVIC) and self.eps_modified:
-      STEER_MAX = 0x1400
-    else:
-      STEER_MAX = 0x1000
-
     # steer torque is converted back to CAN reference (positive when steering right)
-    apply_gas = clip(actuators.gas, 0., 1.)
-    apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
-    apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
-
-    if CS.CP.carFingerprint in (CAR.CIVIC) and self.eps_modified:
-      if apply_steer > 0xA00:
-        apply_steer = (apply_steer - 0xA00) / 2 + 0xA00
-      elif apply_steer < -0xA00:
-        apply_steer = (apply_steer + 0xA00) / 2 - 0xA00
+    apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
 
     lkas_active = enabled and not CS.steer_not_allowed
 
     # Send CAN commands.
     can_sends = []
 
+    # tester present - w/ no response (keeps radar disabled)
+    if CS.CP.carFingerprint in HONDA_BOSCH and CS.CP.openpilotLongitudinalControl:
+      if (frame % 10) == 0:
+        can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
+
     # Send steering command.
     idx = frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
-      lkas_active, CS.CP.carFingerprint, idx, CS.CP.isPandaBlack))
-
-    # Send dashboard UI commands.
-    if (frame % 10) == 0:
-      idx = (frame//10) % 4
-      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.isPandaBlack, CS.stock_hud))
-
-    if CS.CP.radarOffCan:
+      lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
+
+    stopping = actuators.longControlState == LongCtrlState.stopping
+    starting = actuators.longControlState == LongCtrlState.starting
+
+    # wind brake from air resistance decel at high speed
+    wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
+    # all of this is only relevant for HONDA NIDEC
+    max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
+    # TODO this 1.44 is just to maintain previous behavior
+    pcm_speed_BP = [-wind_brake,
+                    -wind_brake*(3/4),
+                      0.0,
+                      0.5]
+    # The Honda ODYSSEY seems to have different PCM_ACCEL
+    # msgs, is it other cars too?
+    if CS.CP.enableGasInterceptor:
+      pcm_speed = 0.0
+      pcm_accel = int(0.0)
+    elif CS.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
+      pcm_speed_V = [0.0,
+                     clip(CS.out.vEgo - 3.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + 0.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
+      pcm_speed = interp(gas-brake, pcm_speed_BP, pcm_speed_V)
+      pcm_accel = int((1.0) * 0xc6)
+    else:
+      pcm_speed_V = [0.0,
+                     clip(CS.out.vEgo - 2.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + 2.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
+      pcm_speed = interp(gas-brake, pcm_speed_BP, pcm_speed_V)
+      pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
+
+    if not CS.CP.openpilotLongitudinalControl:
+      if (frame % 2) == 0:
+        idx = frame // 2
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
-      elif CS.stopped:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint))
+      elif CS.out.cruiseState.standstill:
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.
       if (frame % 2) == 0:
         idx = frame // 2
         ts = frame * DT_CTRL
-        pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
-        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-          pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack, CS.stock_brake))
-        self.apply_brake_last = apply_brake
-
-        if CS.CP.enableGasInterceptor:
-          # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
-          # This prevents unexpected pedal range rescaling
-          can_sends.append(create_gas_command(self.packer, apply_gas, idx))
+
+        if CS.CP.carFingerprint in HONDA_BOSCH:
+          accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
+          bosch_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
+          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint))
+
+        else:
+          apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
+          apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))
+          pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
+
+          pcm_override = True
+          can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+            pcm_override, pcm_cancel_cmd, fcw_display, idx, CS.CP.carFingerprint, CS.stock_brake))
+          self.apply_brake_last = apply_brake
+
+          if CS.CP.enableGasInterceptor:
+            # way too aggressive at low speed without this
+            gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
+            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
+            # This prevents unexpected pedal range rescaling
+            # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
+            # when you do enable.
+            if enabled:
+              apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
+            else:
+              apply_gas = 0.0
+            can_sends.append(create_gas_command(self.packer, apply_gas, idx))
+
+    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
+                  hud_lanes, fcw_display, acc_alert, steer_required)
+
+    # Send dashboard UI commands.
+    if (frame % 10) == 0:
+      idx = (frame//10) % 4
+      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.openpilotLongitudinalControl, CS.stock_hud))
 
     return can_sends
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index f7b8d577903ded..6dc4d85da88de0 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -1,61 +1,56 @@
+from cereal import car
 from collections import defaultdict
 from common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
-
-def calc_cruise_offset(offset, speed):
-  # euristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
-  # constraints to solve for _K0, _K1, _K2 are:
-  # - speed = 0m/s, out = -0.3
-  # - speed = 34m/s, offset = 20, out = -0.25
-  # - speed = 34m/s, offset = -2.5, out = -1.8
-  _K0 = -0.3
-  _K1 = -0.01879
-  _K2 = 0.01013
-  return min(_K0 + _K1 * speed + _K2 * speed * offset, 0.)
-
-
-def get_can_signals(CP):
-# this function generates lists for signal, messages and initial values
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+
+TransmissionType = car.CarParams.TransmissionType
+
+
+def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
+  # this function generates lists for signal, messages and initial values
   signals = [
-      ("XMISSION_SPEED", "ENGINE_DATA", 0),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
-      ("STEER_ANGLE", "STEERING_SENSORS", 0),
-      ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
-      ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
-      ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
-      ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
-      ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
-      ("GEAR", "GEARBOX", 0),
-      ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
-      ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
-      ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
-      ("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
-      ("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
-      ("ESP_DISABLED", "VSA_STATUS", 1),
-      ("USER_BRAKE", "VSA_STATUS", 0),
-      ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
-      ("STEER_STATUS", "STEER_STATUS", 5),
-      ("GEAR_SHIFTER", "GEARBOX", 0),
-      ("PEDAL_GAS", "POWERTRAIN_DATA", 0),
-      ("CRUISE_SETTING", "SCM_BUTTONS", 0),
-      ("ACC_STATUS", "POWERTRAIN_DATA", 0),
+    ("XMISSION_SPEED", "ENGINE_DATA", 0),
+    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+    ("STEER_ANGLE", "STEERING_SENSORS", 0),
+    ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
+    ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
+    ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
+    ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
+    ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
+    ("GEAR", gearbox_msg, 0),
+    ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
+    ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
+    ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
+    ("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
+    ("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
+    ("ESP_DISABLED", "VSA_STATUS", 1),
+    ("USER_BRAKE", "VSA_STATUS", 0),
+    ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
+    ("STEER_STATUS", "STEER_STATUS", 5),
+    ("GEAR_SHIFTER", gearbox_msg, 0),
+    ("PEDAL_GAS", "POWERTRAIN_DATA", 0),
+    ("CRUISE_SETTING", "SCM_BUTTONS", 0),
+    ("ACC_STATUS", "POWERTRAIN_DATA", 0),
+    ("MAIN_ON", main_on_sig_msg, 0),
   ]
 
   checks = [
-      ("ENGINE_DATA", 100),
-      ("WHEEL_SPEEDS", 50),
-      ("STEERING_SENSORS", 100),
-      ("SEATBELT_STATUS", 10),
-      ("CRUISE", 10),
-      ("POWERTRAIN_DATA", 100),
-      ("VSA_STATUS", 50),
+    ("ENGINE_DATA", 100),
+    ("WHEEL_SPEEDS", 50),
+    ("STEERING_SENSORS", 100),
+    ("SEATBELT_STATUS", 10),
+    ("CRUISE", 10),
+    ("POWERTRAIN_DATA", 100),
+    ("VSA_STATUS", 50),
+    ("STEER_STATUS", 100),
+    ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
   ]
 
   if CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -69,75 +64,76 @@ def get_can_signals(CP):
       ("SCM_BUTTONS", 25),
     ]
 
-  if CP.carFingerprint == CAR.CRV_HYBRID:
+  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
     checks += [
-      ("GEARBOX", 50),
+      (gearbox_msg, 50),
     ]
   else:
     checks += [
-      ("GEARBOX", 100),
+      (gearbox_msg, 100),
     ]
 
-  if CP.radarOffCan:
-    # Civic is only bosch to use the same brake message as other hondas.
-    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
-      signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
-      checks += [("BRAKE_MODULE", 50)]
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_FEEDBACK", 0),
-                ("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
-                ("EPB_STATE", "EPB_STATUS", 0),
-                ("CRUISE_SPEED", "ACC_HUD", 0)]
-    checks += [("GAS_PEDAL_2", 100)]
-  else:
-    # Nidec signals.
-    signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
-                ("BRAKE_ERROR_2", "STANDSTILL", 1),
-                ("CRUISE_SPEED_PCM", "CRUISE", 0),
+  if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
+    checks += [("BRAKE_MODULE", 50)]
+
+  if CP.carFingerprint in HONDA_BOSCH:
+    signals += [
+      ("EPB_STATE", "EPB_STATUS", 0),
+      ("IMPERIAL_UNIT", "CAR_SPEED", 1),
+    ]
+    checks += [
+      ("EPB_STATUS", 50),
+      ("CAR_SPEED", 10),
+    ]
+
+    if not CP.openpilotLongitudinalControl:
+      signals += [
+        ("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
+        ("CRUISE_SPEED", "ACC_HUD", 0),
+        ("ACCEL_COMMAND", "ACC_CONTROL", 0),
+        ("AEB_STATUS", "ACC_CONTROL", 0),
+      ]
+      checks += [
+        ("ACC_HUD", 10),
+        ("ACC_CONTROL", 50),
+      ]
+  else:  # Nidec signals
+    signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
                 ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
-    checks += [("STANDSTILL", 50)]
 
     if CP.carFingerprint == CAR.ODYSSEY_CHN:
       checks += [("CRUISE_PARAMS", 10)]
     else:
       checks += [("CRUISE_PARAMS", 50)]
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
+  elif CP.carFingerprint in (CAR.FREED, CAR.HRV):
+    signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1),
+                ("WHEELS_MOVING", "STANDSTILL", 1)]
   else:
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
                 ("DOOR_OPEN_FR", "DOORS_STATUS", 1),
                 ("DOOR_OPEN_RL", "DOORS_STATUS", 1),
                 ("DOOR_OPEN_RR", "DOORS_STATUS", 1),
                 ("WHEELS_MOVING", "STANDSTILL", 1)]
-    checks += [("DOORS_STATUS", 3)]
+    checks += [
+      ("DOORS_STATUS", 3),
+      ("STANDSTILL", 50),
+    ]
 
   if CP.carFingerprint == CAR.CIVIC:
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_FEEDBACK", 0),
-                ("IMPERIAL_UNIT", "HUD_SETTING", 0),
-                ("EPB_STATE", "EPB_STATUS", 0)]
-  elif CP.carFingerprint == CAR.ACURA_ILX:
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint == CAR.FIT:
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_BUTTONS", 0),
-                ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
-  elif CP.carFingerprint == CAR.ODYSSEY:
-    signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
-                ("EPB_STATE", "EPB_STATUS", 0)]
-    checks += [("EPB_STATUS", 50)]
-  elif CP.carFingerprint == CAR.PILOT:
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0),
-                ("CAR_GAS", "GAS_PEDAL_2", 0)]
-  elif CP.carFingerprint == CAR.ODYSSEY_CHN:
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0),
+    signals += [("IMPERIAL_UNIT", "HUD_SETTING", 0),
                 ("EPB_STATE", "EPB_STATUS", 0)]
+    checks += [
+      ("HUD_SETTING", 50),
+      ("EPB_STATUS", 50),
+    ]
+  elif CP.carFingerprint in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
+    signals += [("EPB_STATE", "EPB_STATUS", 0)]
     checks += [("EPB_STATUS", 50)]
 
   # add gas interceptor reading if we are using it
@@ -146,56 +142,39 @@ def get_can_signals(CP):
     signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
     checks.append(("GAS_SENSOR", 50))
 
-  return signals, checks
-
-
-def get_can_parser(CP):
-  signals, checks = get_can_signals(CP)
-  bus_pt = 1 if CP.isPandaBlack and CP.carFingerprint in HONDA_BOSCH else 0
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
-
-
-def get_cam_can_parser(CP):
-  signals = []
-
-  if CP.carFingerprint in HONDA_BOSCH:
-    signals += [("ACCEL_COMMAND", "ACC_CONTROL", 0),
-                ("AEB_STATUS", "ACC_CONTROL", 0)]
-  else:
-    signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
-                ("AEB_REQ_1", "BRAKE_COMMAND", 0),
-                ("FCW", "BRAKE_COMMAND", 0),
-                ("CHIME", "BRAKE_COMMAND", 0),
-                ("FCM_OFF", "ACC_HUD", 0),
-                ("FCM_OFF_2", "ACC_HUD", 0),
-                ("FCM_PROBLEM", "ACC_HUD", 0),
-                ("ICONS", "ACC_HUD", 0)]
-
+  if CP.openpilotLongitudinalControl:
+    signals += [
+      ("BRAKE_ERROR_1", "STANDSTILL", 1),
+      ("BRAKE_ERROR_2", "STANDSTILL", 1)
+    ]
+    checks += [("STANDSTILL", 50)]
 
-  # all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
-  checks = [(0xe4, 100)]
-  if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
-    checks = [(0x194, 100)]
+  return signals, checks
 
-  bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH  and not CP.isPandaBlack else 2
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+    self.gearbox_msg = "GEARBOX"
+    if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
+      self.gearbox_msg = "GEARBOX_15T"
+
+    self.main_on_sig_msg = "SCM_FEEDBACK"
+    if CP.carFingerprint in (CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV,
+                             CAR.ODYSSEY_CHN, CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE):
+      self.main_on_sig_msg = "SCM_BUTTONS"
+
+    self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
-    self.user_gas, self.user_gas_pressed = 0., 0
     self.brake_switch_prev = 0
-    self.brake_switch_ts = 0
+    self.brake_switch_prev_ts = 0
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
-    self.cruise_mode = 0
-    self.stopped = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, cp_body):
+    ret = car.CarState.new_message()
 
     # car params
     v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping
@@ -204,141 +183,182 @@ def update(self, cp, cp_cam):
     # update prevs, update must run once per loop
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_cruise_setting = self.cruise_setting
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
 
     # ******************* parse out can *******************
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID): # TODO: find wheels moving bit in dbc
-      self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
-      self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
+    # TODO: find wheels moving bit in dbc
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+      ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
+      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
-      self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
-      self.door_all_closed = not cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN']
+      ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
+      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
+    elif self.CP.carFingerprint in (CAR.FREED, CAR.HRV):
+      ret.standstill = not cp.vl["STANDSTILL"]["WHEELS_MOVING"]
+      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
     else:
-      self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
-      self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
-                                      cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
-    self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
+      ret.standstill = not cp.vl["STANDSTILL"]["WHEELS_MOVING"]
+      ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
+                          cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
+    ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
 
-    steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]['STEER_STATUS']]
-    self.steer_error = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_1', 'NO_TORQUE_ALERT_2', 'LOW_SPEED_LOCKOUT', 'TMP_FAULT']
+    steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
+    ret.steerError = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT"]
     # NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
-    self.steer_not_allowed = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_2']
+    self.steer_not_allowed = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_2"]
     # LOW_SPEED_LOCKOUT is not worth a warning
-    self.steer_warning = steer_status not in ['NORMAL', 'LOW_SPEED_LOCKOUT', 'NO_TORQUE_ALERT_2']
+    ret.steerWarning = steer_status not in ["NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2"]
 
-    if self.CP.radarOffCan:
+    if not self.CP.openpilotLongitudinalControl:
       self.brake_error = 0
     else:
-      self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
-    self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
+      self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
+    ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
-    speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
-    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
-    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
-    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor
-    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor
-    v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr)/4.
+    speed_factor = SPEED_FACTOR.get(self.CP.carFingerprint, 1.)
+    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS * speed_factor
+    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS * speed_factor
+    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS * speed_factor
+    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS * speed_factor
+    v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr)/4.
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
-    self.v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
-    self.v_ego_raw = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \
-      self.v_weight * v_wheel
+    v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
+    ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * speed_factor + v_weight * v_wheel
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
-    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
+    ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
+    ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
 
-    # this is a hack for the interceptor. This is now only used in the simulation
-    # TODO: Replace tests by toyota so this can go away
-    if self.CP.enableGasInterceptor:
-      self.user_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
-      self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
+    self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
+    self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
 
-    self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
-    self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
-    self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
+      250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
+    ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
-    self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
-    self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
+                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+      self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
+    else:
+      self.park_brake = 0  # TODO
 
-    self.blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER'] or cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
-    self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
-    self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
-    self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
+    gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
-      self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
-      self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
-    elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
-      self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
-      self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
+    ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
+
+    # this is a hack for the interceptor. This is now only used in the simulation
+    # TODO: Replace tests by toyota so this can go away
+    if self.CP.enableGasInterceptor:
+      user_gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
+      ret.gasPressed = user_gas > 1e-5  # this works because interceptor reads < 0 when pedal position is 0. Once calibrated, this will change
     else:
-      self.park_brake = 0  # TODO
-      self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
+      ret.gasPressed = ret.gas > 1e-5
 
-    can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
-    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
+    ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
+    ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
-    self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
-    # crv doesn't include cruise control
-    if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
-      self.car_gas = self.pedal_gas
+    if self.CP.carFingerprint in HONDA_BOSCH:
+      if not self.CP.openpilotLongitudinalControl:
+        ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
+        ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
+
+        # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
+        ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
+        self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
-      self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
-
-    self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
-    self.steer_torque_motor = cp.vl["STEER_MOTOR_TORQUE"]['MOTOR_TORQUE']
-    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
-
-    self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
-
-    if self.CP.radarOffCan:
-      self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
-      self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
-      self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
-      if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID):
-        self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
-        self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
-                          (self.brake_switch and self.brake_switch_prev and \
-                          cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
-        self.brake_switch_prev = self.brake_switch
-        self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
-      else:
-        self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
-      # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
-      self.v_cruise_pcm = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]['CRUISE_SPEED'] > 160.0 else cp.vl["ACC_HUD"]['CRUISE_SPEED']
-      self.v_cruise_pcm_prev = self.v_cruise_pcm
+      ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
+
+    self.brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
+    if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+      ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:
-      self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
-      self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
-      self.v_cruise_pcm = cp.vl["CRUISE"]['CRUISE_SPEED_PCM']
       # brake switch has shown some single time step noise, so only considered when
       # switch is on for at least 2 consecutive CAN samples
-      self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
-                         (self.brake_switch and self.brake_switch_prev and \
-                         cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
+      # panda safety only checks BRAKE_PRESSED signal
+      ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] or
+                              (self.brake_switch and self.brake_switch_prev and cp.ts["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != self.brake_switch_prev_ts))
+
       self.brake_switch_prev = self.brake_switch
-      self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
+      self.brake_switch_prev_ts = cp.ts["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
 
-    self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
-    self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
+    ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
+    ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
+    ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
-    if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
-      if self.user_brake > 0.05:
-        self.brake_pressed = 1
+    if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE):
+      if ret.brake > 0.05:
+        ret.brakePressed = True
 
     # TODO: discover the CAN msg that has the imperial unit bit for all other cars
-    self.is_metric = not cp.vl["HUD_SETTING"]['IMPERIAL_UNIT'] if self.CP.carFingerprint in (CAR.CIVIC) else False
+    if self.CP.carFingerprint in (CAR.CIVIC, ):
+      self.is_metric = not cp.vl["HUD_SETTING"]["IMPERIAL_UNIT"]
+    elif self.CP.carFingerprint in HONDA_BOSCH:
+      self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
+    else:
+      self.is_metric = False
 
     if self.CP.carFingerprint in HONDA_BOSCH:
-      self.stock_aeb = bool(cp_cam.vl["ACC_CONTROL"]["AEB_STATUS"] and cp_cam.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
+      ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
-      self.stock_aeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
 
     if self.CP.carFingerprint in HONDA_BOSCH:
       self.stock_hud = False
-      self.stock_fcw = False
+      ret.stockFcw = False
     else:
-      self.stock_fcw = bool(cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0)
+      ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
       self.stock_hud = cp_cam.vl["ACC_HUD"]
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
+
+    if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
+      # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
+      # more info here: https://github.com/commaai/openpilot/pull/1867
+      ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
+      ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
+
+    return ret
+
+  def get_can_parser(self, CP):
+    signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg)
+    bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = []
+    checks = [
+      ("STEERING_CONTROL", 100),
+    ]
+
+    if CP.carFingerprint not in HONDA_BOSCH:
+      signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
+                  ("AEB_REQ_1", "BRAKE_COMMAND", 0),
+                  ("FCW", "BRAKE_COMMAND", 0),
+                  ("CHIME", "BRAKE_COMMAND", 0),
+                  ("FCM_OFF", "ACC_HUD", 0),
+                  ("FCM_OFF_2", "ACC_HUD", 0),
+                  ("FCM_PROBLEM", "ACC_HUD", 0),
+                  ("ICONS", "ACC_HUD", 0)]
+      checks += [
+        ("ACC_HUD", 10),
+        ("BRAKE_COMMAND", 50),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+
+  @staticmethod
+  def get_body_can_parser(CP):
+    if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
+      signals = [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
+                 ("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
+
+      checks = [
+        ("BSM_STATUS_LEFT", 3),
+        ("BSM_STATUS_RIGHT", 3),
+      ]
+      bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
+      return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body)
+    return None
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 38d099fdceff7a..5bcf59c259bc9d 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,16 +1,24 @@
+from selfdrive.car.honda.values import HONDA_BOSCH, CAR, CarControllerParams
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import HONDA_BOSCH
 
+# CAN bus layout with relay
+# 0 = ACC-CAN - radar side
+# 1 = F-CAN B - powertrain
+# 2 = ACC-CAN - camera side
+# 3 = F-CAN A - OBDII port
 
-def get_pt_bus(car_fingerprint, has_relay):
-  return 1 if car_fingerprint in HONDA_BOSCH and has_relay else 0
+def get_pt_bus(car_fingerprint):
+  return 1 if car_fingerprint in HONDA_BOSCH else 0
 
 
-def get_lkas_cmd_bus(car_fingerprint, has_relay):
-  return 2 if car_fingerprint in HONDA_BOSCH and not has_relay else 0
+def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
+  if radar_disabled:
+    # when radar is disabled, steering commands are sent directly to powertrain bus
+    return get_pt_bus(car_fingerprint)
+  # normally steering commands are sent to radar, which forwards them to powertrain bus
+  return 0
 
-
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, has_relay, stock_brake):
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
@@ -31,40 +39,100 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
-  bus = get_pt_bus(car_fingerprint, has_relay)
+  bus = get_pt_bus(car_fingerprint)
   return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
 
 
-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, has_relay):
+def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, starting, car_fingerprint):
+  commands = []
+  bus = get_pt_bus(car_fingerprint)
+  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
+
+  control_on = 5 if enabled else 0
+  gas_command = gas if active and accel > min_gas_accel else -30000
+  accel_command = accel if active else 0
+  braking = 1 if active and accel < min_gas_accel else 0
+  standstill = 1 if active and stopping else 0
+  standstill_release = 1 if active and starting else 0
+
+  acc_control_values = {
+    # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
+    "CONTROL_ON": control_on,
+    "GAS_COMMAND": gas_command,  # used for gas
+    "ACCEL_COMMAND": accel_command,  # used for brakes
+    "BRAKE_LIGHTS": braking,
+    "BRAKE_REQUEST": braking,
+    "STANDSTILL": standstill,
+    "STANDSTILL_RELEASE": standstill_release,
+  }
+  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values, idx))
+
+  acc_control_on_values = {
+    "SET_TO_3": 0x03,
+    "CONTROL_ON": enabled,
+    "SET_TO_FF": 0xff,
+    "SET_TO_75": 0x75,
+    "SET_TO_30": 0x30,
+  }
+  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values, idx))
+
+  return commands
+
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
-  bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
+  bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
   return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
 
 
-def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay, stock_hud):
+def create_bosch_supplemental_1(packer, car_fingerprint, idx):
+  # non-active params
+  values = {
+    "SET_ME_X04": 0x04,
+    "SET_ME_X80": 0x80,
+    "SET_ME_X10": 0x10,
+  }
+  bus = get_lkas_cmd_bus(car_fingerprint)
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
+
+
+def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, openpilot_longitudinal_control, stock_hud):
   commands = []
-  bus_pt = get_pt_bus(car_fingerprint, has_relay)
-  bus_lkas = get_lkas_cmd_bus(car_fingerprint, has_relay)
-
-  if car_fingerprint not in HONDA_BOSCH:
-    acc_hud_values = {
-      'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
-      'PCM_GAS': hud.pcm_accel,
-      'CRUISE_SPEED': hud.v_cruise,
-      'ENABLE_MINI_CAR': 1,
-      'HUD_LEAD': hud.car,
-      'HUD_DISTANCE': 3,    # max distance setting on display
-      'IMPERIAL_UNIT': int(not is_metric),
-      'SET_ME_X01_2': 1,
-      'SET_ME_X01': 1,
-      "FCM_OFF": stock_hud["FCM_OFF"],
-      "FCM_OFF_2": stock_hud["FCM_OFF_2"],
-      "FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
-      "ICONS": stock_hud["ICONS"],
-    }
+  bus_pt = get_pt_bus(car_fingerprint)
+  radar_disabled = car_fingerprint in HONDA_BOSCH and openpilot_longitudinal_control
+  bus_lkas = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
+
+  if openpilot_longitudinal_control:
+    if car_fingerprint in HONDA_BOSCH:
+      acc_hud_values = {
+        'CRUISE_SPEED': hud.v_cruise,
+        'ENABLE_MINI_CAR': 1,
+        'SET_TO_1': 1,
+        'HUD_LEAD': hud.car,
+        'HUD_DISTANCE': 3,
+        'ACC_ON': hud.car != 0,
+        'SET_TO_X1': 1,
+        'IMPERIAL_UNIT': int(not is_metric),
+        'FCM_OFF': 1,
+      }
+    else:
+      acc_hud_values = {
+        'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
+        'PCM_GAS': hud.pcm_accel,
+        'CRUISE_SPEED': hud.v_cruise,
+        'ENABLE_MINI_CAR': 1,
+        'HUD_LEAD': hud.car,
+        'HUD_DISTANCE': 3,    # max distance setting on display
+        'IMPERIAL_UNIT': int(not is_metric),
+        'SET_ME_X01_2': 1,
+        'SET_ME_X01': 1,
+        "FCM_OFF": stock_hud["FCM_OFF"],
+        "FCM_OFF_2": stock_hud["FCM_OFF_2"],
+        "FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
+        "ICONS": stock_hud["ICONS"],
+      }
     commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
 
   lkas_hud_values = {
@@ -76,13 +144,23 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
   }
   commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
 
+  if radar_disabled and car_fingerprint in HONDA_BOSCH:
+    radar_hud_values = {
+      'CMBS_OFF': 0x01,
+      'SET_TO_1': 0x01,
+    }
+    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
+
+    if car_fingerprint == CAR.CIVIC_BOSCH:
+      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}, idx))
+
   return commands
 
 
-def spam_buttons_command(packer, button_val, idx, car_fingerprint, has_relay):
+def spam_buttons_command(packer, button_val, idx, car_fingerprint):
   values = {
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
-  bus = get_pt_bus(car_fingerprint, has_relay)
+  bus = get_pt_bus(car_fingerprint)
   return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index b055bc55925815..1f49137eda0f5a 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -1,203 +1,128 @@
 #!/usr/bin/env python3
-import numpy as np
 from cereal import car
-from common.numpy_fast import clip, interp
-from common.realtime import DT_CTRL
-from selfdrive.swaglog import cloudlog
-from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
-from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, Ecu, ECU_FINGERPRINT, FINGERPRINTS
-from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
-from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
+from panda import Panda
+from common.numpy_fast import interp
+from common.params import Params
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.disable_ecu import disable_ecu
+from selfdrive.config import Conversions as CV
 
-A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
 
 ButtonType = car.CarState.ButtonEvent.Type
-GearShifter = car.CarState.GearShifter
-
-def compute_gb_honda(accel, speed):
-  creep_brake = 0.0
-  creep_speed = 2.3
-  creep_brake_value = 0.15
-  if speed < creep_speed:
-    creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
-  return float(accel) / 4.8 - creep_brake
-
-
-def get_compute_gb_acura():
-  # generate a function that takes in [desired_accel, current_speed] -> [-1.0, 1.0]
-  # where -1.0 is max brake and 1.0 is max gas
-  # see debug/dump_accel_from_fiber.py to see how those parameters were generated
-  w0 = np.array([[ 1.22056961, -0.39625418,  0.67952657],
-                 [ 1.03691769,  0.78210306, -0.41343188]])
-  b0 = np.array([ 0.01536703, -0.14335321, -0.26932889])
-  w2 = np.array([[-0.59124422,  0.42899439,  0.38660881],
-                 [ 0.79973811,  0.13178682,  0.08550351],
-                 [-0.15651935, -0.44360259,  0.76910877]])
-  b2 = np.array([ 0.15624429,  0.02294923, -0.0341086 ])
-  w4 = np.array([[-0.31521443],
-                 [-0.38626176],
-                 [ 0.52667892]])
-  b4 = np.array([-0.02922216])
-
-  def compute_output(dat, w0, b0, w2, b2, w4, b4):
-    m0 = np.dot(dat, w0) + b0
-    m0 = leakyrelu(m0, 0.1)
-    m2 = np.dot(m0, w2) + b2
-    m2 = leakyrelu(m2, 0.1)
-    m4 = np.dot(m2, w4) + b4
-    return m4
-
-  def leakyrelu(x, alpha):
-    return np.maximum(x, alpha * x)
-
-  def _compute_gb_acura(accel, speed):
-    # linearly extrap below v1 using v1 and v2 data
-    v1 = 5.
-    v2 = 10.
-    dat = np.array([accel, speed])
-    if speed > 5.:
-      m4 = compute_output(dat, w0, b0, w2, b2, w4, b4)
-    else:
-      dat[1] = v1
-      m4v1 = compute_output(dat, w0, b0, w2, b2, w4, b4)
-      dat[1] = v2
-      m4v2 = compute_output(dat, w0, b0, w2, b2, w4, b4)
-      m4 = (speed - v1) * (m4v2 - m4v1) / (v2 - v1) + m4v1
-    return float(m4)
-
-  return _compute_gb_acura
+EventName = car.CarEvent.EventName
+TransmissionType = car.CarParams.TransmissionType
 
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-
-    self.frame = 0
-    self.last_enable_pressed = 0
-    self.last_enable_sent = 0
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-
-    self.cp = get_can_parser(CP)
-    self.cp_cam = get_cam_can_parser(CP)
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-    self.VM = VehicleModel(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP)
-
-    if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
-      self.compute_gb = get_compute_gb_acura()
-    else:
-      self.compute_gb = compute_gb_honda
-
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-
-    # normalized max accel. Allowing max accel at low speed causes speed overshoots
-    max_accel_bp = [10, 20]    # m/s
-    max_accel_v = [0.714, 1.0] # unit of max accel
-    max_accel = interp(v_ego, max_accel_bp, max_accel_v)
-
-    # limit the pcm accel cmd if:
-    # - v_ego exceeds v_target, or
-    # - a_ego exceeds a_target and v_ego is close to v_target
-
-    eA = a_ego - a_target
-    valuesA = [1.0, 0.1]
-    bpA = [0.3, 1.1]
-
-    eV = v_ego - v_target
-    valuesV = [1.0, 0.1]
-    bpV = [0.0, 0.5]
-
-    valuesRangeV = [1., 0.]
-    bpRangeV = [-1., 0.]
-
-    # only limit if v_ego is close to v_target
-    speedLimiter = interp(eV, bpV, valuesV)
-    accelLimiter = max(interp(eA, bpA, valuesA), interp(eV, bpRangeV, valuesRangeV))
-
-    # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
-    # unless aTargetMax is very high and then we scale with it; this help in quicker restart
-
-    return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    if CP.carFingerprint in HONDA_BOSCH:
+      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+    else:
+      # NIDECs don't allow acceleration near cruise_speed,
+      # so limit limits of pid to prevent windup
+      ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
+      ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
+      return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-
-    ret = car.CarParams.new_message()
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "honda"
-    ret.carFingerprint = candidate
-    ret.isPandaBlack = has_relay
 
     if candidate in HONDA_BOSCH:
-      ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
-      rdr_bus = 0 if has_relay else 2
-      ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBoschHarness)]
       ret.radarOffCan = True
-      ret.openpilotLongitudinalControl = False
+
+      # Disable the radar and let openpilot control longitudinal
+      # WARNING: THIS DISABLES AEB!
+      ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar")
+
+      ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
-      ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
-      ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
       ret.enableGasInterceptor = 0x201 in fingerprint[0]
-      ret.openpilotLongitudinalControl = ret.enableCamera
+      ret.openpilotLongitudinalControl = True
+
+      ret.pcmCruise = not ret.enableGasInterceptor
+      ret.communityFeature = ret.enableGasInterceptor
 
-    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
-    cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
+    if candidate == CAR.CRV_5G:
+      ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
 
-    ret.enableCruise = not ret.enableGasInterceptor
-    ret.communityFeature = ret.enableGasInterceptor
+    # Accord 1.5T CVT has different gearbox message
+    if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
+      ret.transmissionType = TransmissionType.cvt
 
     # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
     # which improves controls quality as it removes the steering column torsion from feedback.
     # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
     # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
-
+    ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-    ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
+    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
+
+    if candidate in HONDA_BOSCH:
+      ret.longitudinalTuning.kpV = [0.25]
+      ret.longitudinalTuning.kiV = [0.05]
+      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+    else:
+      # default longitudinal tuning for all hondas
+      ret.longitudinalTuning.kpBP = [0., 5., 35.]
+      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
+      ret.longitudinalTuning.kiBP = [0., 35.]
+      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     eps_modified = False
     for fw in car_fw:
       if fw.ecu == "eps" and b"," in fw.fwVersion:
         eps_modified = True
 
-    if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
+    if candidate == CAR.CIVIC:
       stop_and_go = True
       ret.mass = CivicParams.MASS
       ret.wheelbase = CivicParams.WHEELBASE
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
+      if eps_modified:
+        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
+        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
+        # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
+        # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
+        # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
+        # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
       tire_stiffness_factor = 1.
 
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.4], [0.12]] if eps_modified else [[0.8], [0.24]]
-      ret.lateralTuning.pid.kf = 0.00006
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
+    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
+      stop_and_go = True
+      ret.mass = CivicParams.MASS
+      ret.wheelbase = CivicParams.WHEELBASE
+      ret.centerToFront = CivicParams.CENTER_TO_FRONT
+      ret.steerRatio = 15.38  # 10.93 is end-to-end spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      tire_stiffness_factor = 1.
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
-    elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
+    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
       stop_and_go = True
-      if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
-        ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
       ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39
       ret.steerRatio = 16.33  # 11.82 is spec end-to-end
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.8467
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+
+      if eps_modified:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
       stop_and_go = False
@@ -205,53 +130,46 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.37
       ret.steerRatio = 18.61  # 15.3 is spec end-to-end
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.72
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
-    elif candidate == CAR.CRV:
+    elif candidate in (CAR.CRV, CAR.CRV_EU):
       stop_and_go = False
       ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.62
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.89  # as spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.CRV_5G:
       stop_and_go = True
-      ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
       ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0  # 12.3 is spec end-to-end
+      if eps_modified:
+        # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
+        # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
+        # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       tire_stiffness_factor = 0.677
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.CRV_HYBRID:
       stop_and_go = True
-      ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
-      ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
+      ret.mass = 1667. + STD_CARGO_KG  # mean of 4 models in kg
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0  # 12.3 is spec end-to-end
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.677
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.FIT:
       stop_and_go = False
@@ -259,12 +177,30 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 2.53
       ret.centerToFront = ret.wheelbase * 0.39
       ret.steerRatio = 13.06
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.75
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
+
+    elif candidate == CAR.FREED:
+      stop_and_go = False
+      ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.74
+      # the remaining parameters were copied from FIT
+      ret.centerToFront = ret.wheelbase * 0.39
+      ret.steerRatio = 13.06
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
+      tire_stiffness_factor = 0.75
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
+
+    elif candidate == CAR.HRV:
+      stop_and_go = False
+      ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.61
+      ret.centerToFront = ret.wheelbase * 0.41
+      ret.steerRatio = 15.2
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
 
     elif candidate == CAR.ACURA_RDX:
       stop_and_go = False
@@ -272,12 +208,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 2.68
       ret.centerToFront = ret.wheelbase * 0.38
       ret.steerRatio = 15.0  # as spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+
+    elif candidate == CAR.ACURA_RDX_3G:
+      stop_and_go = True
+      ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.75
+      ret.centerToFront = ret.wheelbase * 0.41
+      ret.steerRatio = 11.95  # as spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      tire_stiffness_factor = 0.677
 
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
@@ -285,12 +228,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 14.35  # as spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 
     elif candidate == CAR.ODYSSEY_CHN:
       stop_and_go = False
@@ -298,25 +238,29 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 2.90
       ret.centerToFront = ret.wheelbase * 0.41  # from CAR.ODYSSEY
       ret.steerRatio = 14.35
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 
     elif candidate in (CAR.PILOT, CAR.PILOT_2019):
       stop_and_go = False
-      ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
+      ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
       ret.wheelbase = 2.82
       ret.centerToFront = ret.wheelbase * 0.428
       ret.steerRatio = 17.25  # as spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      tire_stiffness_factor = 0.444
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
+
+    elif candidate == CAR.PASSPORT:
+      stop_and_go = False
+      ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
+      ret.wheelbase = 2.82
+      ret.centerToFront = ret.wheelbase * 0.428
+      ret.steerRatio = 17.25  # as spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.RIDGELINE:
       stop_and_go = False
@@ -324,17 +268,39 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 3.18
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 15.59  # as spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+
+    elif candidate == CAR.INSIGHT:
+      stop_and_go = True
+      ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.centerToFront = ret.wheelbase * 0.39
+      ret.steerRatio = 15.0  # 12.58 is spec end-to-end
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      tire_stiffness_factor = 0.82
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+
+    elif candidate == CAR.HONDA_E:
+      stop_and_go = True
+      ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.5
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 16.71
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      tire_stiffness_factor = 0.82
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
     else:
       raise ValueError("unsupported car %s" % candidate)
 
-    ret.steerControlType = car.CarParams.SteerControlType.torque
+    # These cars use alternate user brake msg (0x1BE)
+    if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
+
+    if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
@@ -350,109 +316,31 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    # no rear steering, at least on the listed cars above
-    ret.steerRatioRear = 0.
-
-    # no max steer limit VS speed
-    ret.steerMaxBP = [0.]  # m/s
-    ret.steerMaxV = [1.]   # max steer allowed
-
-    ret.gasMaxBP = [0.]  # m/s
-    ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
-    ret.brakeMaxBP = [5., 20.]  # m/s
-    ret.brakeMaxV = [1., 0.8]   # max brake allowed
-
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
-
-    ret.stoppingControl = True
-    ret.startAccel = 0.5
-
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.8
 
     return ret
 
+  @staticmethod
+  def init(CP, logcan, sendcan):
+    if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl:
+      disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
+
   # returns a car.CarState
   def update(self, c, can_strings):
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
+    if self.cp_body:
+      self.cp_body.update_strings(can_strings)
 
-    self.CS.update(self.cp, self.cp_cam)
-
-    # create message
-    ret = car.CarState.new_message()
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
-    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
+    ret.yawRate = self.VM.yaw_rate(ret.steeringAngleDeg * CV.DEG_TO_RAD, ret.vEgo)
 
-    # speeds
-    ret.vEgo = self.CS.v_ego
-    ret.aEgo = self.CS.a_ego
-    ret.vEgoRaw = self.CS.v_ego_raw
-    ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
-    ret.standstill = self.CS.standstill
-    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
-    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
-    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
-    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
-
-    # gas pedal
-    ret.gas = self.CS.car_gas / 256.0
-    if not self.CP.enableGasInterceptor:
-      ret.gasPressed = self.CS.pedal_gas > 0
-    else:
-      ret.gasPressed = self.CS.user_gas_pressed
-
-    # brake pedal
-    ret.brake = self.CS.user_brake
-    ret.brakePressed = self.CS.brake_pressed != 0
-    # FIXME: read sendcan for brakelights
-    brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1
-    ret.brakeLights = bool(self.CS.brake_switch or
-                           c.actuators.brake > brakelights_threshold)
-
-    # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
-    ret.steeringRate = self.CS.angle_steers_rate
-
-    # gear shifter lever
-    ret.gearShifter = self.CS.gear_shifter
-
-    ret.steeringTorque = self.CS.steer_torque_driver
-    ret.steeringTorqueEps = self.CS.steer_torque_motor
-    ret.steeringPressed = self.CS.steer_override
-
-    # cruise state
-    ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
-    ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
-    ret.cruiseState.available = bool(self.CS.main_on) and not bool(self.CS.cruise_mode)
-    ret.cruiseState.speedOffset = self.CS.cruise_speed_offset
-    ret.cruiseState.standstill = False
-
-    # TODO: button presses
     buttonEvents = []
-    ret.leftBlinker = bool(self.CS.left_blinker_on)
-    ret.rightBlinker = bool(self.CS.right_blinker_on)
-
-    ret.doorOpen = not self.CS.door_all_closed
-    ret.seatbeltUnlatched = not self.CS.seatbelt
-
-    ret.stockAeb = self.CS.stock_aeb
-    ret.stockFcw = self.CS.stock_fcw
-
-    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.leftBlinker
-      be.pressed = self.CS.left_blinker_on != 0
-      buttonEvents.append(be)
-
-    if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.rightBlinker
-      be.pressed = self.CS.right_blinker_on != 0
-      buttonEvents.append(be)
 
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
       be = car.CarState.ButtonEvent.new_message()
@@ -489,88 +377,46 @@ def update(self, c, can_strings):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = []
-    if self.CS.steer_error:
-      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    elif self.CS.steer_warning:
-      events.append(create_event('steerTempUnavailable', [ET.WARNING]))
+    events = self.create_common_events(ret, pcm_enable=False)
     if self.CS.brake_error:
-      events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if not ret.gearShifter == GearShifter.drive:
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.esp_disabled:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.CS.main_on or self.CS.cruise_mode:
-      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == GearShifter.reverse:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
-      events.append(create_event('brakeHold', [ET.NO_ENTRY, ET.USER_DISABLE]))
+      events.add(EventName.brakeUnavailable)
     if self.CS.park_brake:
-      events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
-      events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
-
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
-    # it can happen that car cruise disables while comma system is enabled: need to
-    # keep braking if needed or if the speed is very low
-    if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
-      # non loud alert if cruise disbales below 25mph as expected (+ a little margin)
-      if ret.vEgo < self.CP.minEnableSpeed + 2.:
-        events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
-      else:
-        events.append(create_event("cruiseDisabled", [ET.IMMEDIATE_DISABLE]))
+      events.add(EventName.parkBrake)
+
+    if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
+      events.add(EventName.belowEngageSpeed)
+
+    if self.CP.pcmCruise:
+      # we engage when pcm is active (rising edge)
+      if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        events.add(EventName.pcmEnable)
+      elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
+        # it can happen that car cruise disables while comma system is enabled: need to
+        # keep braking if needed or if the speed is very low
+        if ret.vEgo < self.CP.minEnableSpeed + 2.:
+          # non loud alert if cruise disables below 25mph as expected (+ a little margin)
+          events.add(EventName.speedTooLow)
+        else:
+          events.add(EventName.cruiseDisabled)
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
-      events.append(create_event('manualRestart', [ET.WARNING]))
+      events.add(EventName.manualRestart)
 
-    cur_time = self.frame * DT_CTRL
-    enable_pressed = False
     # handle button presses
     for b in ret.buttonEvents:
 
       # do enable on both accel and decel buttons
       if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
-        self.last_enable_pressed = cur_time
-        enable_pressed = True
+        if not self.CP.pcmCruise:
+          events.add(EventName.buttonEnable)
 
       # do disable on button down
-      if b.type == "cancel" and b.pressed:
-        events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
-
-    if self.CP.enableCruise:
-      # KEEP THIS EVENT LAST! send enable event if button is pressed and there are
-      # NO_ENTRY events, so controlsd will display alerts. Also not send enable events
-      # too close in time, so a no_entry will not be followed by another one.
-      # TODO: button press should be the only thing that triggers enable
-      if ((cur_time - self.last_enable_pressed) < 0.2 and
-          (cur_time - self.last_enable_sent) > 0.2 and
-          ret.cruiseState.enabled) or \
-         (enable_pressed and get_events(events, [ET.NO_ENTRY])):
-        events.append(create_event('buttonEnable', [ET.ENABLE]))
-        self.last_enable_sent = cur_time
-    elif enable_pressed:
-      events.append(create_event('buttonEnable', [ET.ENABLE]))
-
-    ret.events = events
-
-    # update previous brake/gas pressed
-    self.gas_pressed_prev = ret.gasPressed
-    self.brake_pressed_prev = ret.brakePressed
-
-    # cast to reader so it can't be modified
-    return ret.as_reader()
+      if b.type == ButtonType.cancel and b.pressed:
+        events.add(EventName.buttonCancel)
+
+    ret.events = events.to_msg()
+
+    self.CS.out = ret.as_reader()
+    return self.CS.out
 
   # pass in a car.CarControl
   # to be called @ 100hz
@@ -580,14 +426,9 @@ def apply(self, c):
     else:
       hud_v_cruise = 255
 
-    pcm_accel = int(clip(c.cruiseControl.accelOverride, 0, 1) * 0xc6)
-
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame,
+    can_sends = self.CC.update(c.enabled, c.active, self.CS, self.frame,
                                c.actuators,
-                               c.cruiseControl.speedOverride,
-                               c.cruiseControl.override,
                                c.cruiseControl.cancel,
-                               pcm_accel,
                                hud_v_cruise,
                                c.hudControl.lanesVisible,
                                hud_show_car=c.hudControl.leadVisible,
diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py
index 3c07cd74cde43d..45e015af6e7f73 100755
--- a/selfdrive/car/honda/radar_interface.py
+++ b/selfdrive/car/honda/radar_interface.py
@@ -1,27 +1,23 @@
 #!/usr/bin/env python3
-import os
-import time
 from cereal import car
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import RadarInterfaceBase
+from selfdrive.car.honda.values import DBC
 
-def _create_nidec_can_parser():
-  dbc_f = 'acura_ilx_2016_nidec.dbc'
+def _create_nidec_can_parser(car_fingerprint):
   radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
   signals = list(zip(['RADAR_STATE'] +
                 ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
                 ['REL_SPEED'] * 16,
                 [0x400] + radar_messages[1:] * 4,
                 [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
-  checks = list(zip([0x445], [20]))
-  fn = os.path.splitext(dbc_f)[0].encode('utf8')
-  return CANParser(fn, signals, checks, 1)
+  checks = [(s[1], 20) for s in signals]
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
 
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
-    self.pts = {}
+    super().__init__(CP)
     self.track_id = 0
     self.radar_fault = False
     self.radar_wrong_config = False
@@ -31,7 +27,10 @@ def __init__(self, CP):
     self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar
 
     # Nidec
-    self.rcp = _create_nidec_can_parser()
+    if self.radar_off_can:
+      self.rcp = None
+    else:
+      self.rcp = _create_nidec_can_parser(CP.carFingerprint)
     self.trigger_msg = 0x445
     self.updated_messages = set()
 
@@ -39,9 +38,7 @@ def update(self, can_strings):
     # in Bosch radar and we are only steering for now, so sleep 0.05s to keep
     # radard at 20Hz and return no points
     if self.radar_off_can:
-      if 'NO_RADAR_SLEEP' not in os.environ:
-        time.sleep(self.radar_ts)
-      return car.RadarData.new_message()
+      return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
@@ -53,7 +50,6 @@ def update(self, can_strings):
     self.updated_messages.clear()
     return rr
 
-
   def _update(self, updated_messages):
     ret = car.RadarData.new_message()
 
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 7e273e847b09b5..70ff7e006c6984 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -4,565 +4,1366 @@
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+
+class CarControllerParams():
+  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
+  # perform the closed loop control, and might need some
+  # to apply some more braking if we're on a downhill slope.
+  # Our controller should still keep the 2 second average above
+  # -3.5 m/s^2 as per planner limits
+  NIDEC_ACCEL_MIN = -4.0  # m/s^2
+  NIDEC_ACCEL_MAX = 1.6  # m/s^2, lower than 2.0 m/s^2 for tuning reasons
+
+  NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
+  NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
+
+  NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
+  NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
+
+  NIDEC_BRAKE_MAX = 1024 // 4
+
+  BOSCH_ACCEL_MIN = -3.5  # m/s^2
+  BOSCH_ACCEL_MAX = 2.0  # m/s^2
+
+  BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
+  BOSCH_GAS_LOOKUP_V = [0, 1600]
+
+  def __init__(self, CP):
+    self.STEER_MAX = CP.lateralParams.torqueBP[-1]
+    # mirror of list (assuming first item is zero) for interp of signed request values
+    assert(CP.lateralParams.torqueBP[0] == 0)
+    assert(CP.lateralParams.torqueBP[0] == 0)
+    self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
+    self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
+
+
 # Car button codes
 class CruiseButtons:
-  RES_ACCEL   = 4
-  DECEL_SET   = 3
-  CANCEL      = 2
-  MAIN        = 1
+  RES_ACCEL = 4
+  DECEL_SET = 3
+  CANCEL = 2
+  MAIN = 1
 
-# See dbc files for info on values"
+# See dbc files for info on values
 VISUAL_HUD = {
   VisualAlert.none: 0,
   VisualAlert.fcw: 1,
   VisualAlert.steerRequired: 1,
+  VisualAlert.ldw: 1,
   VisualAlert.brakePressed: 10,
   VisualAlert.wrongGear: 6,
   VisualAlert.seatbeltUnbuckled: 5,
-  VisualAlert.speedTooHigh: 8}
-
-class CAR:
-  ACCORD = "HONDA ACCORD 2018 SPORT 2T"
-  ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
-  ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
-  CIVIC = "HONDA CIVIC 2016 TOURING"
-  CIVIC_BOSCH = "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019"
-  ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
-  CRV = "HONDA CR-V 2016 TOURING"
-  CRV_5G = "HONDA CR-V 2017 EX"
-  CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
-  FIT = "HONDA FIT 2018 EX"
-  ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
-  ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
-  ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
-  PILOT = "HONDA PILOT 2017 TOURING"
-  PILOT_2019 = "HONDA PILOT 2019 ELITE"
-  RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
-
-# diag message that in some Nidec cars only appear with 1s freq if VIN query is performed
-DIAG_MSGS = {1600: 5, 1601: 8}
-
-FINGERPRINTS = {
-  CAR.ACCORD: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
-  }],
-  CAR.ACCORD_15: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
-  }],
-  CAR.ACCORDH: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
-  }],
-  CAR.ACURA_ILX: [{
-    57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
-  }],
-  # Acura RDX w/ Added Comma Pedal Support (512L & 513L)
-  CAR.ACURA_RDX: [{
-    57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
-  }],
-  CAR.CIVIC: [{
-    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
-  }],
-  CAR.CIVIC_BOSCH: [{
-  # 2017 Civic Hatchback EX, 2019 Civic Sedan Touring Canadian, and 2018 Civic Hatchback Executive Premium 1.0L CVT European
-    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 460: 3, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1625: 5, 1629: 5, 1633: 8,
-  },
-  # 2017 Civic Hatchback LX
-  {
-    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
-  },
-  # 2019 Civic Hatchback EX
-  {
-    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
-  }],
-  CAR.CRV: [{
-    57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
-  }],
-  CAR.CRV_5G: [{
-    57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
-  }],
-  CAR.CRV_HYBRID: [{
-    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 415: 6, 419: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 490: 8, 495: 8, 525: 8, 531: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 930: 8, 931: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1626: 5, 1627: 5
-  }],
-  CAR.FIT: [{
-    57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 427: 3, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
-  }],
-  # 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
-  CAR.ODYSSEY: [{
-    57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
-  },
-  # 2018 Odyssey Elite w/ Added Comma Pedal Support (512L & 513L)
-  {
-    57: 3, 148: 8, 228: 5, 229: 4, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 440: 8, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1616: 5, 1619: 5, 1623: 5, 1668: 5
-  }],
-  CAR.ODYSSEY_CHN: [{
-    57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 404: 4, 411: 5, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1639: 8
-  }],
-  # 2017 Pilot Touring AND 2016 Pilot EX-L w/ Added Comma Pedal Support (512L & 513L)
-  CAR.PILOT: [{
-    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
-  }],
-  # this fingerprint also includes the Passport 2019
-  CAR.PILOT_2019: [{
-    57: 3, 145: 8, 228: 5, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 983: 8, 985: 3, 1029: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
-  },
-  # 2019 Pilot EX-L
-  {
-    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 829: 5, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
-  }],
-  # Ridgeline w/ Added Comma Pedal Support (512L & 513L)
-  CAR.RIDGELINE: [{
-    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
-  },
-  # 2019 Ridgeline
-  {
-    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422:8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 424: 5, 1613: 5, 1616: 5, 1618: 5, 1623: 5, 1668: 5
-  }]
+  VisualAlert.speedTooHigh: 8
 }
 
-# add DIAG_MSGS to fingerprints
-for c in FINGERPRINTS:
-  for f, _ in enumerate(FINGERPRINTS[c]):
-    for d in DIAG_MSGS:
-      FINGERPRINTS[c][f][d] = DIAG_MSGS[d]
+class CAR:
+  ACCORD = "HONDA ACCORD 2018"
+  ACCORDH = "HONDA ACCORD HYBRID 2018"
+  CIVIC = "HONDA CIVIC 2016"
+  CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
+  CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
+  ACURA_ILX = "ACURA ILX 2016"
+  CRV = "HONDA CR-V 2016"
+  CRV_5G = "HONDA CR-V 2017"
+  CRV_EU = "HONDA CR-V EU 2016"
+  CRV_HYBRID = "HONDA CR-V HYBRID 2019"
+  FIT = "HONDA FIT 2018"
+  FREED = "HONDA FREED 2020"
+  HRV = "HONDA HRV 2019"
+  ODYSSEY = "HONDA ODYSSEY 2018"
+  ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
+  ACURA_RDX = "ACURA RDX 2018"
+  ACURA_RDX_3G = "ACURA RDX 2020"
+  PILOT = "HONDA PILOT 2017"
+  PILOT_2019 = "HONDA PILOT 2019"
+  PASSPORT = "HONDA PASSPORT 2021"
+  RIDGELINE = "HONDA RIDGELINE 2017"
+  INSIGHT = "HONDA INSIGHT 2019"
+  HONDA_E = "HONDA E 2020"
 
-# TODO: Figure out what is relevant
 FW_VERSIONS = {
   CAR.ACCORD: {
-    (Ecu.unknown, 0x18da10f1, None): [
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-6A0-9520\x00\x00',
+      b'37805-6A0-9620\x00\x00',
+      b'37805-6A0-9720\x00\x00',
+      b'37805-6A0-A540\x00\x00',
+      b'37805-6A0-A550\x00\x00',
       b'37805-6A0-A640\x00\x00',
+      b'37805-6A0-A650\x00\x00',
+      b'37805-6A0-A740\x00\x00',
+      b'37805-6A0-A750\x00\x00',
+      b'37805-6A0-A840\x00\x00',
+      b'37805-6A0-A850\x00\x00',
+      b'37805-6A0-AG30\x00\x00',
+      b'37805-6A0-C540\x00\x00',
+      b'37805-6A1-H650\x00\x00',
       b'37805-6B2-A550\x00\x00',
+      b'37805-6B2-A560\x00\x00',
       b'37805-6B2-A650\x00\x00',
       b'37805-6B2-A660\x00\x00',
+      b'37805-6B2-A720\x00\x00',
+      b'37805-6B2-A810\x00\x00',
+      b'37805-6B2-A820\x00\x00',
+      b'37805-6B2-A920\x00\x00',
       b'37805-6B2-M520\x00\x00',
+      b'37805-6B2-Y810\x00\x00',
+      b'37805-6M4-B730\x00\x00',
     ],
-    (Ecu.unknown, 0x18da0bf1, None): [b'54008-TVC-A910\x00\x00'],
-    (Ecu.unknown, 0x18da1ef1, None): [b'28102-6B8-A560\x00\x00', b'28102-6B8-M520\x00\x00'],
-    (Ecu.unknown, 0x18da2bf1, None): [b'46114-TVA-A060\x00\x00', b'46114-TVA-A080\x00\x00'],
-    (Ecu.unknown, 0x18da28f1, None): [b'57114-TVA-C050\x00\x00'],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A150\x00\x00',
-      b'39990-TVA-A160\x00\x00',
-      b'39990-TVA-X030\x00\x00',
-    ],
-    (Ecu.unknown, 0x18da3af1, None): [b'39390-TVA-A020\x00\x00'],
-    (Ecu.unknown, 0x18da53f1, None): [b'77959-TVA-A460\x00\x00', b'77959-TVA-X330\x00\x00'],
-    (Ecu.unknown, 0x18da60f1, None): [
-      b'78109-TVA-A210\x00\x00',
-      b'78109-TVC-A010\x00\x00',
-      b'78109-TVC-A110\x00\x00',
-      b'78109-TVC-A210\x00\x00',
-      b'78109-TVC-M510\x00\x00',
-    ],
-    (Ecu.unknown, 0x18da61f1, None): [b'78209-TVA-A010\x00\x00'],
-    (Ecu.unknown, 0x18dab0f1, None): [
-      b'36802-TVA-A160\x00\x00',
-      b'36802-TVA-A170\x00\x00',
-      b'36802-TWA-A070\x00\x00',
-    ],
-    (Ecu.unknown, 0x18dab5f1, None): [b'36161-TVA-A060\x00\x00', b'36161-TWA-A070\x00\x00'],
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-TVA-A010\x00\x00'],
-  },
-  CAR.ACCORD_15: {
-    (Ecu.unknown, 0x18da10f1, None): [
-      b'37805-6A0-9620\x00\x00',
-      b'37805-6A0-A640\x00\x00',
-      b'37805-6A0-A740\x00\x00',
-      b'37805-6A0-A840\x00\x00',
-      b'37805-6A0-A850\x00\x00',
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TVC-A910\x00\x00',
     ],
-    (Ecu.unknown, 0x18da1ef1, None): [
+    (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-6A7-A220\x00\x00',
+      b'28101-6A7-A230\x00\x00',
       b'28101-6A7-A320\x00\x00',
+      b'28101-6A7-A330\x00\x00',
+      b'28101-6A7-A410\x00\x00',
       b'28101-6A7-A510\x00\x00',
+      b'28101-6A7-A610\x00\x00',
+      b'28101-6A9-H140\x00\x00',
+      b'28101-6A9-H420\x00\x00',
+      b'28102-6B8-A560\x00\x00',
+      b'28102-6B8-A570\x00\x00',
+      b'28102-6B8-A700\x00\x00',
+      b'28102-6B8-A800\x00\x00',
+      b'28102-6B8-C560\x00\x00',
+      b'28102-6B8-C570\x00\x00',
+      b'28102-6B8-M520\x00\x00',
+      b'28102-6B8-R700\x00\x00',
     ],
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-TVA-A230\x00\x00'],
-    (Ecu.unknown, 0x18da2bf1, None): [
-      b'46114-TVA-A050\x00\x00',
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-TVA-A060\x00\x00',
+      b'46114-TVA-A080\x00\x00',
       b'46114-TVA-A120\x00\x00',
+      b'46114-TVA-A320\x00\x00',
+      b'46114-TVA-A050\x00\x00',
+      b'46114-TVE-H550\x00\x00',
+      b'46114-TVE-H560\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TVA-B040\x00\x00',
+      b'57114-TVA-B050\x00\x00',
+      b'57114-TVA-B060\x00\x00',
+      b'57114-TVA-B530\x00\x00',
+      b'57114-TVA-C040\x00\x00',
+      b'57114-TVA-C050\x00\x00',
+      b'57114-TVA-C060\x00\x00',
+      b'57114-TVA-C530\x00\x00',
+      b'57114-TVE-H250\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TBX-H120\x00\x00',
+      b'39990-TVA-A140\x00\x00',
+      b'39990-TVA-A150\x00\x00',
+      b'39990-TVA-A160\x00\x00',
+      b'39990-TVA-A340\x00\x00',
+      b'39990-TVA-X030\x00\x00',
+      b'39990-TVA-X040\x00\x00',
+      b'39990-TVA,A150\x00\x00',
+      b'39990-TVE-H130\x00\x00',
     ],
-    (Ecu.unknown, 0x18da60f1, None): [
+    (Ecu.unknown, 0x18da3af1, None): [
+      b'39390-TVA-A020\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TBX-H230\x00\x00',
+      b'77959-TVA-A460\x00\x00',
+      b'77959-TVA-F330\x00\x00',
+      b'77959-TVA-H230\x00\x00',
+      b'77959-TVA-L420\x00\x00',
+      b'77959-TVA-X330\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TBX-H310\x00\x00',
       b'78109-TVA-A010\x00\x00',
+      b'78109-TVA-A020\x00\x00',
+      b'78109-TVA-A030\x00\x00',
+      b'78109-TVA-A110\x00\x00',
+      b'78109-TVA-A120\x00\x00',
       b'78109-TVA-A210\x00\x00',
       b'78109-TVA-A220\x00\x00',
       b'78109-TVA-A310\x00\x00',
+      b'78109-TVA-C010\x00\x00',
+      b'78109-TVA-L010\x00\x00',
+      b'78109-TVA-L210\x00\x00',
+      b'78109-TVC-A010\x00\x00',
+      b'78109-TVC-A020\x00\x00',
+      b'78109-TVC-A030\x00\x00',
+      b'78109-TVC-A110\x00\x00',
+      b'78109-TVC-A130\x00\x00',
+      b'78109-TVC-A210\x00\x00',
+      b'78109-TVC-A220\x00\x00',
+      b'78109-TVC-C010\x00\x00',
+      b'78109-TVC-C110\x00\x00',
+      b'78109-TVC-L010\x00\x00',
+      b'78109-TVC-L210\x00\x00',
+      b'78109-TVC-M510\x00\x00',
+      b'78109-TVC-YF10\x00\x00',
+      b'78109-TVE-H610\x00\x00',
       b'78109-TWA-A210\x00\x00',
     ],
-    (Ecu.unknown, 0x18da61f1, None): [b'78209-TVA-A010\x00\x00'],
-    (Ecu.unknown, 0x18dab5f1, None): [b'36161-TVA-A060\x00\x00'],
-    (Ecu.unknown, 0x18da53f1, None): [b'77959-TVA-A460\x00\x00'],
-    (Ecu.unknown, 0x18da28f1, None): [
-      b'57114-TVA-B050\x00\x00',
-      b'57114-TVA-B040\x00\x00',
+    (Ecu.hud, 0x18da61f1, None): [
+      b'78209-TVA-A010\x00\x00',
     ],
-    (Ecu.unknown, 0x18dab0f1, None): [
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TBX-H140\x00\x00',
       b'36802-TVA-A150\x00\x00',
       b'36802-TVA-A160\x00\x00',
       b'36802-TVA-A170\x00\x00',
+      b'36802-TVA-A330\x00\x00',
+      b'36802-TVC-A330\x00\x00',
+      b'36802-TVE-H070\x00\x00',
+      b'36802-TWA-A070\x00\x00',
+      b'36802-TWA-A080\x00\x00',
     ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A140\x00\x00',
-      b'39990-TVA-A150\x00\x00',  # Are these two different steerRatio?
-      b'39990-TVA-A160\x00\x00',  # Sport, Sport 2.0T and Touring 2.0T have different ratios
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TBX-H130\x00\x00',
+      b'36161-TVA-A060\x00\x00',
+      b'36161-TVA-A330\x00\x00',
+      b'36161-TVC-A330\x00\x00',
+      b'36161-TVE-H050\x00\x00',
+      b'36161-TWA-A070\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TVA-A010\x00\x00',
+      b'38897-TVA-A020\x00\x00',
+      b'38897-TVA-A230\x00\x00',
+      b'38897-TVA-A240\x00\x00',
     ],
   },
   CAR.ACCORDH: {
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-TWA-A120\x00\x00'],
-    (Ecu.unknown, 0x18da28f1, None): [b'57114-TWA-A040\x00\x00'],
-    (Ecu.unknown, 0x18da53f1, None): [b'77959-TWA-A440\x00\x00'],
-    (Ecu.unknown, 0x18da60f1, None): [
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TWA-A120\x00\x00',
+      b'38897-TWD-J020\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TWA-A040\x00\x00',
+      b'57114-TWA-A050\x00\x00',
+      b'57114-TWA-A530\x00\x00',
+      b'57114-TWA-B520\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TWA-A440\x00\x00',
+      b'77959-TWA-L420\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TWA-A010\x00\x00',
+      b'78109-TWA-A020\x00\x00',
+      b'78109-TWA-A030\x00\x00',
+      b'78109-TWA-A110\x00\x00',
       b'78109-TWA-A120\x00\x00',
       b'78109-TWA-A210\x00\x00',
-      b'78109-TWA-A110\x00\x00',
+      b'78109-TWA-A220\x00\x00',
+      b'78109-TWA-A230\x00\x00',
+      b'78109-TWA-L010\x00\x00',
+      b'78109-TWA-L210\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TWA-A910\x00\x00',
+    ],
+    (Ecu.hud, 0x18da61f1, None): [
+      b'78209-TVA-A010\x00\x00',
+      b'78209-TVA-A110\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TWA-A070\x00\x00',
+      b'36161-TWA-A330\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A070\x00\x00',
+      b'36802-TWA-A330\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TVA-A160\x00\x00',
+      b'39990-TVA-A150\x00\x00',
+      b'39990-TVA-A340\x00\x00',
     ],
-    (Ecu.unknown, 0x18da0bf1, None): [b'54008-TWA-A910\x00\x00'],
-    (Ecu.unknown, 0x18da61f1, None): [b'78209-TVA-A010\x00\x00'],
-    (Ecu.unknown, 0x18dab5f1, None): [b'36161-TWA-A070\x00\x00'],
-    (Ecu.unknown, 0x18dab0f1, None): [b'36802-TWA-A080\x00\x00', b'36802-TWA-A070\x00\x00'],
-    (Ecu.eps, 0x18da30f1, None): [b'39990-TVA-A160\x00\x00', b'39990-TVA-A150\x00\x00'],
   },
   CAR.CIVIC: {
-    (Ecu.unknown, 0x18da10f1, None): [
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5AA-A640\x00\x00',
       b'37805-5AA-A650\x00\x00',
       b'37805-5AA-A670\x00\x00',
       b'37805-5AA-A680\x00\x00',
       b'37805-5AA-A810\x00\x00',
+      b'37805-5AA-C640\x00\x00',
+      b'37805-5AA-C680\x00\x00',
       b'37805-5AA-C820\x00\x00',
+      b'37805-5AA-L650\x00\x00',
       b'37805-5AA-L660\x00\x00',
+      b'37805-5AA-L680\x00\x00',
+      b'37805-5AA-L690\x00\x00',
+      b'37805-5AA-L810\000\000',
+      b'37805-5AG-Q710\x00\x00',
       b'37805-5AJ-A610\x00\x00',
+      b'37805-5AJ-A620\x00\x00',
+      b'37805-5AJ-L610\x00\x00',
+      b'37805-5BA-A310\x00\x00',
       b'37805-5BA-A510\x00\x00',
+      b'37805-5BA-A740\x00\x00',
+      b'37805-5BA-A760\x00\x00',
+      b'37805-5BA-A930\x00\x00',
+      b'37805-5BA-A960\x00\x00',
+      b'37805-5BA-C860\x00\x00',
+      b'37805-5BA-L410\x00\x00',
+      b'37805-5BA-L760\x00\x00',
+      b'37805-5BA-L930\x00\x00',
       b'37805-5BA-L940\x00\x00',
       b'37805-5BA-L960\x00\x00',
     ],
-    (Ecu.unknown, 0x18da1ef1, None): [
+    (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5CG-A040\x00\x00',
       b'28101-5CG-A050\x00\x00',
       b'28101-5CG-A070\x00\x00',
       b'28101-5CG-A080\x00\x00',
+      b'28101-5CG-A320\x00\x00',
       b'28101-5CG-A810\x00\x00',
       b'28101-5CG-A820\x00\x00',
       b'28101-5DJ-A040\x00\x00',
       b'28101-5DJ-A060\x00\x00',
       b'28101-5DJ-A510\x00\x00',
     ],
-    (Ecu.unknown, 0x18da28f1, None): [
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TBA-A540\x00\x00',
       b'57114-TBA-A550\x00\x00',
       b'57114-TBA-A560\x00\x00',
-      b'57114-TBA-A570\x00\x00'
+      b'57114-TBA-A570\x00\x00',
+      b'57114-TEA-Q220\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TBA,A030\x00\x00',
+      b'39990-TBA,A030\x00\x00', # modified firmware
       b'39990-TBA-A030\x00\x00',
       b'39990-TBG-A030\x00\x00',
+      b'39990-TEA-T020\x00\x00',
       b'39990-TEG-A010\x00\x00',
     ],
-    (Ecu.unknown, 0x18da53f1, None): [
+    (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A030\x00\x00',
       b'77959-TBA-A040\x00\x00',
       b'77959-TBG-A030\x00\x00',
+      b'77959-TEA-Q820\x00\x00',
     ],
-    (Ecu.unknown, 0x18da60f1, None): [
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TBA-A510\x00\x00',
+      b'78109-TBA-A520\x00\x00',
+      b'78109-TBA-A530\x00\x00',
+      b'78109-TBA-C520\x00\x00',
       b'78109-TBC-A310\x00\x00',
       b'78109-TBC-A320\x00\x00',
       b'78109-TBC-A510\x00\x00',
       b'78109-TBC-A520\x00\x00',
       b'78109-TBC-A530\x00\x00',
+      b'78109-TBC-C510\x00\x00',
+      b'78109-TBC-C520\x00\x00',
       b'78109-TBC-C530\x00\x00',
+      b'78109-TBH-A510\x00\x00',
       b'78109-TBH-A530\x00\x00',
+      b'78109-TED-Q510\x00\x00',
       b'78109-TEG-A310\x00\x00',
     ],
-    (Ecu.unknown, 0x18dab0f1, None): [
+    (Ecu.fwdCamera, 0x18dab0f1, None): [
+      b'36161-TBA-A020\x00\x00',
       b'36161-TBA-A030\x00\x00',
+      b'36161-TBA-A040\x00\x00',
       b'36161-TBC-A020\x00\x00',
       b'36161-TBC-A030\x00\x00',
+      b'36161-TED-Q320\x00\x00',
       b'36161-TEG-A010\x00\x00',
+      b'36161-TEG-A020\x00\x00',
     ],
-    (Ecu.unknown, 0x18daeff1, None): [
+    (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TBA-A010\x00\x00',
       b'38897-TBA-A020\x00\x00',
     ],
   },
   CAR.CIVIC_BOSCH: {
-    (Ecu.unknown, 0x18da10f1, None): [
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5AA-A940\x00\x00',
       b'37805-5AA-A950\x00\x00',
+      b'37805-5AA-L940\x00\x00',
       b'37805-5AA-L950\x00\x00',
+      b'37805-5AG-Z910\x00\x00',
+      b'37805-5AJ-A750\x00\x00',
+      b'37805-5AJ-L750\x00\x00',
+      b'37805-5AK-T530\x00\x00',
       b'37805-5AN-A750\x00\x00',
       b'37805-5AN-A830\x00\x00',
+      b'37805-5AN-A840\x00\x00',
       b'37805-5AN-A930\x00\x00',
+      b'37805-5AN-A940\x00\x00',
+      b'37805-5AN-A950\x00\x00',
+      b'37805-5AN-AG20\x00\x00',
+      b'37805-5AN-AH20\x00\x00',
+      b'37805-5AN-AJ30\x00\x00',
+      b'37805-5AN-AK20\x00\x00',
+      b'37805-5AN-AR20\x00\x00',
+      b'37805-5AN-CH20\x00\x00',
+      b'37805-5AN-E630\x00\x00',
+      b'37805-5AN-E720\x00\x00',
+      b'37805-5AN-E820\x00\x00',
+      b'37805-5AN-J820\x00\x00',
+      b'37805-5AN-L840\x00\x00',
+      b'37805-5AN-L930\x00\x00',
       b'37805-5AN-L940\x00\x00',
+      b'37805-5AN-LF20\x00\x00',
       b'37805-5AN-LH20\x00\x00',
       b'37805-5AN-LJ20\x00\x00',
+      b'37805-5AN-LR20\x00\x00',
+      b'37805-5AN-LS20\x00\x00',
+      b'37805-5AW-G720\x00\x00',
       b'37805-5AZ-E850\x00\x00',
+      b'37805-5AZ-G540\x00\x00',
+      b'37805-5AZ-G740\x00\x00',
+      b'37805-5AZ-G840\x00\x00',
+      b'37805-5BB-A530\x00\x00',
+      b'37805-5BB-A540\x00\x00',
+      b'37805-5BB-A630\x00\x00',
+      b'37805-5BB-A640\x00\x00',
+      b'37805-5BB-C540\x00\x00',
+      b'37805-5BB-C630\x00\x00',
+      b'37805-5BB-C640\x00\x00',
+      b'37805-5BB-L540\x00\x00',
+      b'37805-5BB-L630\x00\x00',
       b'37805-5BB-L640\x00\x00',
     ],
-    (Ecu.unknown, 0x18da1ef1, None): [
+    (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5CG-A920\x00\x00',
+      b'28101-5CG-AB10\x00\x00',
+      b'28101-5CG-C110\x00\x00',
       b'28101-5CG-C220\x00\x00',
       b'28101-5CG-C320\x00\x00',
+      b'28101-5CG-G020\x00\x00',
+      b'28101-5CG-L020\x00\x00',
       b'28101-5CK-A130\x00\x00',
       b'28101-5CK-A140\x00\x00',
       b'28101-5CK-A150\x00\x00',
       b'28101-5CK-C130\x00\x00',
+      b'28101-5CK-C140\x00\x00',
+      b'28101-5CK-C150\x00\x00',
+      b'28101-5CK-G210\x00\x00',
+      b'28101-5CK-J710\x00\x00',
+      b'28101-5CK-Q610\x00\x00',
+      b'28101-5DJ-A610\x00\x00',
       b'28101-5DJ-A710\x00\x00',
       b'28101-5DV-E330\x00\x00',
+      b'28101-5DV-E610\x00\x00',
+      b'28101-5DV-E820\x00\x00',
     ],
-    (Ecu.unknown, 0x18da28f1, None): [
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TBG-A330\x00\x00',
       b'57114-TBG-A340\x00\x00',
+      b'57114-TBG-A350\x00\x00',
       b'57114-TGG-A340\x00\x00',
-      b'57114-TGL-G330\x00\x00',
       b'57114-TGG-C320\x00\x00',
+      b'57114-TGG-G320\x00\x00',
+      b'57114-TGG-L320\x00\x00',
+      b'57114-TGG-L330\x00\x00',
+      b'57114-TGK-T320\x00\x00',
+      b'57114-TGL-G330\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TBA-C020\x00\x00',
       b'39990-TBA-C120\x00\x00',
+      b'39990-TEA-T820\x00\x00',
+      b'39990-TEZ-T020\x00\x00',
       b'39990-TGG-A020\x00\x00',
       b'39990-TGG-A120\x00\x00',
+      b'39990-TGG-J510\x00\x00',
       b'39990-TGL-E130\x00\x00',
-      b'39990-TGG-A020\x00\x00',
+      b'39990-TGN-E120\x00\x00',
     ],
-    (Ecu.unknown, 0x18da53f1, None): [
+    (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A060\x00\x00',
+      b'77959-TBG-A050\x00\x00',
+      b'77959-TEA-G020\x00\x00',
       b'77959-TGG-A020\x00\x00',
+      b'77959-TGG-A030\x00\x00',
+      b'77959-TGG-E010\x00\x00',
       b'77959-TGG-G010\x00\x00',
-      b'77959-TGG-A020\x00\x00',
+      b'77959-TGG-G110\x00\x00',
+      b'77959-TGG-J320\x00\x00',
+      b'77959-TGG-Z820\x00\x00',
     ],
-    (Ecu.unknown, 0x18da60f1, None): [
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TBA-A110\x00\x00',
       b'78109-TBA-A910\x00\x00',
+      b'78109-TBA-C340\x00\x00',
+      b'78109-TBA-C910\x00\x00',
       b'78109-TBC-A740\x00\x00',
+      b'78109-TBG-A110\x00\x00',
+      b'78109-TEG-A720\x00\x00',
+      b'78109-TFJ-G020\x00\x00',
+      b'78109-TGG-9020\x00\x00',
       b'78109-TGG-A210\x00\x00',
+      b'78109-TGG-A220\x00\x00',
       b'78109-TGG-A310\x00\x00',
       b'78109-TGG-A320\x00\x00',
+      b'78109-TGG-A330\x00\x00',
+      b'78109-TGG-A610\x00\x00',
+      b'78109-TGG-A620\x00\x00',
       b'78109-TGG-A810\x00\x00',
       b'78109-TGG-A820\x00\x00',
+      b'78109-TGG-C220\x00\x00',
+      b'78109-TGG-E110\x00\x00',
+      b'78109-TGG-G030\x00\x00',
+      b'78109-TGG-G230\x00\x00',
+      b'78109-TGG-G410\x00\x00',
+      b'78109-TGK-Z410\x00\x00',
       b'78109-TGL-G120\x00\x00',
+      b'78109-TGL-G130\x00\x00',
+      b'78109-TGL-G210\x00\x00',
+      b'78109-TGL-G230\x00\x00',
+      b'78109-TGL-GM10\x00\x00',
     ],
-    (Ecu.unknown, 0x18dab0f1, None): [
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TBA-A150\x00\x00',
+      b'36802-TBA-A160\x00\x00',
+      b'36802-TFJ-G060\x00\x00',
       b'36802-TGG-A050\x00\x00',
-      b'36802-TGL-G040\x00\x00',
       b'36802-TGG-A060\x00\x00',
+      b'36802-TGG-A130\x00\x00',
+      b'36802-TGG-G040\x00\x00',
+      b'36802-TGG-G130\x00\x00',
+      b'36802-TGK-Q120\x00\x00',
+      b'36802-TGL-G040\x00\x00',
     ],
-    (Ecu.unknown, 0x18dab5f1, None): [
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TBA-A130\x00\x00',
+      b'36161-TBA-A140\x00\x00',
+      b'36161-TFJ-G070\x00\x00',
       b'36161-TGG-A060\x00\x00',
-      b'36161-TGL-G050\x00\x00',
       b'36161-TGG-A080\x00\x00',
+      b'36161-TGG-A120\x00\x00',
+      b'36161-TGG-G050\x00\x00',
+      b'36161-TGG-G130\x00\x00',
+      b'36161-TGG-G140\x00\x00',
+      b'36161-TGK-Q120\x00\x00',
+      b'36161-TGL-G050\x00\x00',
+      b'36161-TGL-G070\x00\x00',
+      b'36161-TGG-G070\x00\x00',
     ],
-    (Ecu.unknown, 0x18daeff1, None): [
+    (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TBA-A110\x00\x00',
       b'38897-TBA-A020\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'39494-TGL-G030\x00\x00',
+    ],
+  },
+  CAR.CIVIC_BOSCH_DIESEL: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-59N-G630\x00\x00',
+      b'37805-59N-G830\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-59Y-G220\x00\x00',
+      b'28101-59Y-G620\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TGN-E320\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TFK-G020\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TFK-G210\x00\x00',
+      b'77959-TGN-G220\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TFK-G020\x00\x00',
+      b'78109-TGN-G120\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TFK-G130\x00\x00',
+      b'36802-TGN-G130\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TGN-E010\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TFK-G130\x00\x00',
+      b'36161-TGN-G130\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TBA-A020\x00\x00',
     ],
   },
+  CAR.CRV: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-T1W-A230\x00\x00',
+      b'57114-T1W-A240\x00\x00',
+      b'57114-TFF-A940\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T0A-A230\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T1W-A210\x00\x00',
+      b'78109-T1W-C210\x00\x00',
+      b'78109-T1X-A210\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T1W-A830\x00\x00',
+      b'36161-T1W-C830\x00\x00',
+      b'36161-T1X-A830\x00\x00',
+    ],
+  },
   CAR.CRV_5G: {
-    (Ecu.unknown, 0x18da10f1, None): [
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5PA-AH20\x00\x00',
+      b'37805-5PA-3060\x00\x00',
       b'37805-5PA-3080\x00\x00',
+      b'37805-5PA-3180\x00\x00',
       b'37805-5PA-4050\x00\x00',
+      b'37805-5PA-4150\x00\x00',
+      b'37805-5PA-6520\x00\x00',
       b'37805-5PA-6530\x00\x00',
       b'37805-5PA-6630\x00\x00',
+      b'37805-5PA-6640\x00\x00',
+      b'37805-5PA-7630\x00\x00',
+      b'37805-5PA-9630\x00\x00',
+      b'37805-5PA-9640\x00\x00',
+      b'37805-5PA-9730\x00\x00',
+      b'37805-5PA-9830\x00\x00',
+      b'37805-5PA-9840\x00\x00',
+      b'37805-5PA-A650\x00\x00',
       b'37805-5PA-A670\x00\x00',
       b'37805-5PA-A680\x00\x00',
       b'37805-5PA-A850\x00\x00',
       b'37805-5PA-A870\x00\x00',
       b'37805-5PA-A880\x00\x00',
       b'37805-5PA-A890\x00\x00',
+      b'37805-5PA-AB10\x00\x00',
+      b'37805-5PA-AD10\x00\x00',
+      b'37805-5PA-AF20\x00\x00',
+      b'37805-5PA-C680\x00\x00',
+      b'37805-5PD-Q630\x00\x00',
+      b'37805-5PF-F730\x00\x00',
+      b'37805-5PF-M630\x00\x00',
     ],
-    (Ecu.unknown, 0x18da1ef1, None): [
+    (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5RG-A020\x00\x00',
       b'28101-5RG-A030\x00\x00',
       b'28101-5RG-A040\x00\x00',
       b'28101-5RG-A120\x00\x00',
+      b'28101-5RG-A220\x00\x00',
+      b'28101-5RH-A020\x00\x00',
       b'28101-5RH-A030\x00\x00',
       b'28101-5RH-A040\x00\x00',
       b'28101-5RH-A120\x00\x00',
+      b'28101-5RH-A220\x00\x00',
+      b'28101-5RL-Q010\x00\x00',
+      b'28101-5RM-F010\x00\x00',
+      b'28101-5RM-K010\x00\x00',
     ],
-    (Ecu.unknown, 0x18da28f1, None): [
+    (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TLA-A040\x00\x00',
       b'57114-TLA-A050\x00\x00',
       b'57114-TLA-A060\x00\x00',
+      b'57114-TLB-A830\x00\x00',
+      b'57114-TMC-Z040\x00\x00',
+      b'57114-TMC-Z050\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TLA-A040\x00\x00',
+      b'39990-TLA-A110\x00\x00',
+      b'39990-TLA-A220\x00\x00',
+      b'39990-TLA,A040\x00\x00', # modified firmware
+      b'39990-TME-T030\x00\x00',
+      b'39990-TME-T120\x00\x00',
+      b'39990-TMT-T010\x00\x00',
     ],
-    (Ecu.eps, 0x18da30f1, None): [b'39990-TLA-A040\x00\x00', b'39990-TLA,A040\x00\x00'],
-    (Ecu.unknown, 0x18da2bf1, None): [b'46114-TLA-A040\x00\x00', b'46114-TLA-A050\x00\x00'],
-    (Ecu.unknown, 0x18da60f1, None): [
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-TLA-A040\x00\x00',
+      b'46114-TLA-A050\x00\x00',
+      b'46114-TLA-A930\x00\x00',
+      b'46114-TMC-U020\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TLA-A110\x00\x00',
+      b'78109-TLA-A120\x00\x00',
       b'78109-TLA-A210\x00\x00',
+      b'78109-TLA-A220\x00\x00',
+      b'78109-TLA-C110\x00\x00',
       b'78109-TLA-C210\x00\x00',
+      b'78109-TLA-C310\x00\x00',
+      b'78109-TLB-A020\x00\x00',
       b'78109-TLB-A110\x00\x00',
+      b'78109-TLB-A120\x00\x00',
       b'78109-TLB-A210\x00\x00',
+      b'78109-TLB-A220\x00\x00',
+      b'78109-TMC-Q210\x00\x00',
+      b'78109-TMM-F210\x00\x00',
+      b'78109-TMM-M110\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TLA-A010\x00\x00',
+      b'38897-TLA-A110\x00\x00',
+      b'38897-TNY-G010\x00\x00',
     ],
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-TLA-A010\x00\x00', b'38897-TNY-G010\x00\x00'],
-    (Ecu.unknown, 0x18dab0f1, None): [
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TLA-A040\x00\x00',
       b'36802-TLA-A050\x00\x00',
       b'36802-TLA-A060\x00\x00',
+      b'36802-TMC-Q040\x00\x00',
+      b'36802-TMC-Q070\x00\x00',
+      b'36802-TNY-A030\x00\x00',
     ],
-    (Ecu.unknown, 0x18dab5f1, None): [
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TLA-A060\x00\x00',
       b'36161-TLA-A070\x00\x00',
       b'36161-TLA-A080\x00\x00',
+      b'36161-TMC-Q020\x00\x00',
+      b'36161-TMC-Q030\x00\x00',
+      b'36161-TMC-Q040\x00\x00',
+      b'36161-TNY-A020\x00\x00',
+      b'36161-TNY-A030\x00\x00',
     ],
-    (Ecu.unknown, 0x18da53f1, None): [
+    (Ecu.srs, 0x18da53f1, None): [
       b'77959-TLA-A240\x00\x00',
       b'77959-TLA-A250\x00\x00',
       b'77959-TLA-A320\x00\x00',
+      b'77959-TLA-A410\x00\x00',
+      b'77959-TLA-A420\x00\x00',
+      b'77959-TLA-Q040\x00\x00',
+      b'77959-TLA-Z040\x00\x00',
+      b'77959-TMM-F040\x00\x00',
     ],
   },
+  CAR.CRV_EU: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-R5Z-G740\x00\x00',
+      b'37805-R5Z-G780\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [b'57114-T1V-G920\x00\x00'],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [b'36161-T1V-G520\x00\x00'],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-T1V-G010\x00\x00'],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5LH-E120\x00\x00',
+      b'28103-5LH-E100\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T1V-G020\x00\x00',
+      b'78109-T1B-3050\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [b'77959-T1G-G940\x00\x00'],
+  },
   CAR.CRV_HYBRID: {
-    (Ecu.unknown, 0x18da28f1, None): [b'57114-TPA-G020\x00\x00'],
-    (Ecu.eps, 0x18da30f1, None): [b'39990-TPA-G030\x00\x00'],
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-TMA-H110\x00\x00'],
-    (Ecu.unknown, 0x18da0bf1, None): [b'54008-TMB-H510\x00\x00'],
-    (Ecu.unknown, 0x18dab5f1, None): [b'36161-TPA-E050\x00\x00'],
-    (Ecu.unknown, 0x18da60f1, None): [b'78109-TPA-G520\x00\x00'],
-    (Ecu.unknown, 0x18da61f1, None): [b'78209-TLA-X010\x00\x00'],
-    (Ecu.unknown, 0x18dab0f1, None): [b'36802-TPA-E040\x00\x00'],
-    (Ecu.unknown, 0x18da53f1, None): [b'77959-TLA-G220\x00\x00'],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TPA-G020\x00\x00',
+      b'57114-TPG-A020\x00\x00',
+      b'57114-TMB-H030\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TPA-G030\x00\x00',
+      b'39990-TPG-A020\x00\x00',
+      b'39990-TMA-H020\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TMA-H110\x00\x00',
+      b'38897-TPG-A110\x00\x00',
+      b'38897-TPG-A210\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TMB-H510\x00\x00',
+      b'54008-TMB-H610\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TMB-H040\x00\x00',
+      b'36161-TPA-E050\x00\x00',
+      b'36161-TPG-A030\x00\x00',
+      b'36161-TPG-A040\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TMB-H220\x00\x00',
+      b'78109-TPA-G520\x00\x00',
+      b'78109-TPG-A110\x00\x00',
+      b'78109-TPG-A210\x00\x00',
+    ],
+    (Ecu.hud, 0x18da61f1, None): [
+      b'78209-TLA-X010\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TPA-E040\x00\x00',
+      b'36802-TPG-A020\x00\x00',
+      b'36802-TMB-H040\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TLA-C320\x00\x00',
+      b'77959-TLA-C410\x00\x00',
+      b'77959-TLA-C420\x00\x00',
+      b'77959-TLA-G220\x00\x00',
+      b'77959-TLA-H240\x00\x00',
+    ],
+  },
+  CAR.FIT: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-T5R-L020\x00\x00',
+      b'57114-T5R-L220\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T5R-C020\x00\x00',
+      b'39990-T5R-C030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T5A-J010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T5A-A210\x00\x00',
+      b'78109-T5A-A410\x00\x00',
+      b'78109-T5A-A420\x00\x00',
+      b'78109-T5A-A910\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T5R-A040\x00\x00',
+      b'36161-T5R-A240\x00\x00',
+      b'36161-T5R-A520\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T5R-A230\x00\x00',
+    ],
+  },
+  CAR.FREED: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TDK-J010\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TDK-J050\x00\x00',
+      b'39990-TDK-N020\x00\x00',
+    ],
+    # TODO: vsa is "essential" for fpv2 but doesn't appear on some models
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TDK-J120\x00\x00',
+      b'57114-TDK-J330\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TDK-J310\x00\x00',
+      b'78109-TDK-J320\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TDK-J070\x00\x00',
+      b'36161-TDK-J080\x00\x00',
+      b'36161-TDK-J530\x00\x00',
+    ],
   },
   CAR.ODYSSEY: {
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-THR-A010\x00\x00', b'38897-THR-A020\x00\x00'],
-    (Ecu.unknown, 0x18da10f1, None): [
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-THR-A010\x00\x00',
+      b'38897-THR-A020\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5MR-4080\x00\x00',
+      b'37805-5MR-A240\x00\x00',
       b'37805-5MR-A250\x00\x00',
       b'37805-5MR-A310\x00\x00',
+      b'37805-5MR-A740\x00\x00',
       b'37805-5MR-A750\x00\x00',
       b'37805-5MR-A840\x00\x00',
       b'37805-5MR-C620\x00\x00',
+      b'37805-5MR-D530\x00\x00',
+      b'37805-5MR-K730\x00\x00',
     ],
-    (Ecu.eps, 0x18da30f1, None): [b'39990-THR-A020\x00\x00', b'39990-THR-A030\x00\x00'],
-    (Ecu.unknown, 0x18da53f1, None): [b'77959-THR-A010\x00\x00', b'77959-THR-A110\x00\x00'],
-    (Ecu.unknown, 0x18dab0f1, None): [
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-THR-A020\x00\x00',
+      b'39990-THR-A030\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-THR-A010\x00\x00',
+      b'77959-THR-A110\x00\x00',
+      b'77959-THR-X010\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab0f1, None): [
+      b'36161-THR-A020\x00\x00',
       b'36161-THR-A030\x00\x00',
       b'36161-THR-A110\x00\x00',
       b'36161-THR-A720\x00\x00',
+      b'36161-THR-A730\x00\x00',
       b'36161-THR-A810\x00\x00',
+      b'36161-THR-A910\x00\x00',
       b'36161-THR-C010\x00\x00',
+      b'36161-THR-D110\x00\x00',
+      b'36161-THR-K020\x00\x00',
     ],
-    (Ecu.unknown, 0x18da1ef1, None): [
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5NZ-A110\x00\x00',
       b'28101-5NZ-A310\x00\x00',
       b'28101-5NZ-C310\x00\x00',
       b'28102-5MX-A001\x00\x00',
+      b'28102-5MX-A600\x00\x00',
       b'28102-5MX-A610\x00\x00',
       b'28102-5MX-A710\x00\x00',
+      b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
       b'28102-5MX-C001\x00\x00',
+      b'28102-5MX-D001\x00\x00',
+      b'28102-5MX-D710\x00\x00',
+      b'28102-5MX-K610\x00\x00',
+      b'28103-5NZ-A100\x00\x00',
       b'28103-5NZ-A300\x00\x00',
     ],
-    (Ecu.unknown, 0x18da28f1, None): [b'57114-THR-A040\x00\x00', b'57114-THR-A110\x00\x00'],
-    (Ecu.unknown, 0x18da60f1, None): [
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-THR-A040\x00\x00',
+      b'57114-THR-A110\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-THR-A220\x00\x00',
       b'78109-THR-A230\x00\x00',
+      b'78109-THR-A420\x00\x00',
       b'78109-THR-A430\x00\x00',
+      b'78109-THR-A720\x00\x00',
       b'78109-THR-A820\x00\x00',
+      b'78109-THR-A830\x00\x00',
       b'78109-THR-AB20\x00\x00',
-      b'78109-THR-AB20\x00\x00',
+      b'78109-THR-AB30\x00\x00',
       b'78109-THR-AB40\x00\x00',
+      b'78109-THR-AC20\x00\x00',
+      b'78109-THR-AC30\x00\x00',
       b'78109-THR-AC40\x00\x00',
+      b'78109-THR-AC50\x00\x00',
+      b'78109-THR-AD30\x00\x00',
+      b'78109-THR-AE20\x00\x00',
+      b'78109-THR-AE30\x00\x00',
       b'78109-THR-AE40\x00\x00',
+      b'78109-THR-AK10\x00\x00',
       b'78109-THR-AL10\x00\x00',
+      b'78109-THR-AN10\x00\x00',
+      b'78109-THR-C220\x00\x00',
       b'78109-THR-C330\x00\x00',
       b'78109-THR-CE20\x00\x00',
+      b'78109-THR-DA20\x00\x00',
+      b'78109-THR-DA30\x00\x00',
+      b'78109-THR-DA40\x00\x00',
+      b'78109-THR-K120\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-THR-A020\x00\x00',
     ],
-    (Ecu.unknown, 0x18da0bf1, None): [b'54008-THR-A020\x00\x00'],
+  },
+  CAR.PILOT: {
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TG7-A520\x00\x00',
+      b'54008-TG7-A530\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5EY-A050\x00\x00',
+      b'28101-5EY-A100\x00\x00',
+      b'28101-5EZ-A050\x00\x00',
+      b'28101-5EZ-A060\x00\x00',
+      b'28101-5EZ-A100\x00\x00',
+      b'28101-5EZ-A210\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-RLV-4060\x00\x00',
+      b'37805-RLV-4070\x00\x00',
+      b'37805-RLV-A830\x00\x00',
+      b'37805-RLV-A840\x00\x00',
+      b'37805-RLV-C430\x00\x00',
+      b'37805-RLV-C510\x00\x00',
+      b'37805-RLV-C520\x00\x00',
+      b'37805-RLV-C530\x00\x00',
+      b'37805-RLV-C910\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TG7-A030\x00\x00',
+      b'39990-TG7-A040\x00\x00',
+      b'39990-TG7-A060\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab0f1, None): [
+      b'36161-TG7-A520\x00\x00',
+      b'36161-TG7-A720\x00\x00',
+      b'36161-TG7-A820\x00\x00',
+      b'36161-TG7-C520\x00\x00',
+      b'36161-TG7-D520\x00\x00',
+      b'36161-TG8-A520\x00\x00',
+      b'36161-TG8-A720\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TG7-A110\x00\x00',
+      b'77959-TG7-A020\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TG7-A040\x00\x00',
+      b'78109-TG7-A050\x00\x00',
+      b'78109-TG7-A420\x00\x00',
+      b'78109-TG7-A520\x00\x00',
+      b'78109-TG7-A720\x00\x00',
+      b'78109-TG7-D020\x00\x00',
+      b'78109-TG8-A420\x00\x00',
+      b'78109-TG8-A520\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TG7-A130\x00\x00',
+      b'57114-TG7-A140\x00\x00',
+      b'57114-TG7-A230\x00\x00',
+      b'57114-TG7-A240\x00\x00',
+      b'57114-TG8-A140\x00\x00',
+      b'57114-TG8-A240\x00\x00',
+    ],
+
   },
   CAR.PILOT_2019: {
-    (Ecu.eps, 0x18da30f1, None): [b'39990-TG7-A060\x00\x00', b'39990-TGS-A230\x00\x00'],
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-TG7-A110\x00\x00', b'38897-TG7-A030\x00\x00'],
-    (Ecu.unknown, 0x18dab0f1, None): [
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TG7-A060\x00\x00',
+      b'39990-TG7-A070\x00\x00',
+      b'39990-TGS-A230\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TG7-A030\x00\x00',
+      b'38897-TG7-A040\x00\x00',
+      b'38897-TG7-A110\x00\x00',
+      b'38897-TG7-A210\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab0f1, None): [
+      b'36161-TG7-A310\x00\x00',
       b'36161-TG7-A630\x00\x00',
       b'36161-TG7-A930\x00\x00',
+      b'36161-TG7-D630\x00\x00',
+      b'36161-TG7-Y630\x00\x00',
       b'36161-TG8-A630\x00\x00',
+      b'36161-TG8-A830\x00\x00',
       b'36161-TGS-A130\x00\x00',
       b'36161-TGT-A030\x00\x00',
     ],
-    (Ecu.unknown, 0x18da53f1, None): [b'77959-TG7-A210\x00\x00', b'77959-TGS-A010\x00\x00'],
-    (Ecu.unknown, 0x18da60f1, None): [
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TG7-A210\x00\x00',
+      b'77959-TG7-Y210\x00\x00',
+      b'77959-TGS-A010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TG7-AJ10\x00\x00',
       b'78109-TG7-AJ20\x00\x00',
+      b'78109-TG7-AK10\x00\x00',
+      b'78109-TG7-AK20\x00\x00',
+      b'78109-TG7-AM20\x00\x00',
       b'78109-TG7-AP10\x00\x00',
       b'78109-TG7-AP20\x00\x00',
+      b'78109-TG7-AS20\x00\x00',
+      b'78109-TG7-AU20\x00\x00',
+      b'78109-TG7-DJ10\x00\x00',
+      b'78109-TG7-YK20\x00\x00',
+      b'78109-TG8-AJ10\x00\x00',
       b'78109-TG8-AJ20\x00\x00',
+      b'78109-TG8-AK20\x00\x00',
       b'78109-TGS-AK20\x00\x00',
       b'78109-TGS-AP20\x00\x00',
       b'78109-TGT-AJ20\x00\x00',
+      b'78109-TG7-AT20\x00\x00',
     ],
-    (Ecu.unknown, 0x18da28f1, None): [
+    (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TG7-A630\x00\x00',
       b'57114-TG7-A730\x00\x00',
       b'57114-TG8-A630\x00\x00',
+      b'57114-TG8-A730\x00\x00',
       b'57114-TGS-A530\x00\x00',
       b'57114-TGT-A530\x00\x00',
     ],
   },
+  CAR.PASSPORT: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-RLV-B220\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TGS-A230\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TGS-A030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TG7-A040\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TGS-A010\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TG7-A530\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5EZ-A600\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TGS-AT20\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TGS-A530\x00\x00',
+    ],
+  },
+  CAR.ACURA_RDX: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TX5-A220\x00\x00',
+      b'57114-TX4-A220\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab0f1, None): [
+      b'36161-TX5-A030\x00\x00',
+      b'36161-TX4-A030\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TX4-C010\x00\x00',
+      b'77959-TX4-B010\x00\x00',
+      b'77959-TX4-C020\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TX5-A310\x00\x00',
+      b'78109-TX4-A210\x00\x00',
+      b'78109-TX4-A310\x00\x00',
+    ],
+  },
+  CAR.ACURA_RDX_3G: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5YF-A130\x00\x00',
+      b'37805-5YF-A230\x00\x00',
+      b'37805-5YF-A320\x00\x00',
+      b'37805-5YF-A330\x00\x00',
+      b'37805-5YF-A420\x00\x00',
+      b'37805-5YF-A430\x00\x00',
+      b'37805-5YF-A750\x00\x00',
+      b'37805-5YF-A850\x00\x00',
+      b'37805-5YF-A870\x00\x00',
+      b'37805-5YF-C210\x00\x00',
+      b'37805-5YF-C220\x00\x00',
+      b'37805-5YF-C410\000\000',
+      b'37805-5YF-C420\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TJB-A030\x00\x00',
+      b'57114-TJB-A040\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TJB-A040\x00\x00',
+      b'36802-TJB-A050\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TJB-A040\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TJB-A520\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28102-5YK-A610\x00\x00',
+      b'28102-5YK-A620\x00\x00',
+      b'28102-5YK-A630\x00\x00',
+      b'28102-5YK-A700\x00\x00',
+      b'28102-5YK-A711\x00\x00',
+      b'28102-5YL-A620\x00\x00',
+      b'28102-5YL-A700\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TJB-A140\x00\x00',
+      b'78109-TJB-A240\x00\x00',
+      b'78109-TJB-A420\x00\x00',
+      b'78109-TJB-AB10\x00\x00',
+      b'78109-TJB-AD10\x00\x00',
+      b'78109-TJB-AF10\x00\x00',
+      b'78109-TJB-AS10\000\000',
+      b'78109-TJB-AU10\x00\x00',
+      b'78109-TJB-AW10\x00\x00',
+      b'78109-TJC-A420\x00\x00',
+      b'78109-TJC-AA10\x00\x00',
+      b'78109-TJC-AD10\x00\x00',
+      b'78109-TJC-AF10\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TJB-A040\x00\x00',
+      b'77959-TJB-A210\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-TJB-A040\x00\x00',
+      b'46114-TJB-A050\x00\x00',
+      b'46114-TJB-A060\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TJB-A040\x00\x00',
+      b'38897-TJB-A110\x00\x00',
+      b'38897-TJB-A120\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TJB-A030\x00\x00',
+      b'39990-TJB-A040\x00\x00',
+      b'39990-TJB-A130\x00\x00'
+    ],
+  },
   CAR.RIDGELINE: {
-    (Ecu.eps, 0x18da30f1, None): [b'39990-T6Z-A020\x00\x00'],
-    (Ecu.unknown, 0x18dab0f1, None): [b'36161-T6Z-A310\x00\x00'],
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-T6Z-A010\x00\x00'],
-    (Ecu.unknown, 0x18da60f1, None): [b'78109-T6Z-A420\x00\x00'],
-    (Ecu.unknown, 0x18da53f1, None): [b'77959-T6Z-A020\x00\x00'],
-    (Ecu.unknown, 0x18da28f1, None): [b'57114-T6Z-A130\x00\x00'],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T6Z-A020\x00\x00',
+      b'39990-T6Z-A030\x00\x00',
+      b'39990-T6Z-A050\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab0f1, None): [
+      b'36161-T6Z-A020\x00\x00',
+      b'36161-T6Z-A310\x00\x00',
+      b'36161-T6Z-A420\x00\x00',
+      b'36161-T6Z-A520\x00\x00',
+      b'36161-T6Z-A620\x00\x00',
+      b'36161-TJZ-A120\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T6Z-A010\x00\x00',
+      b'38897-T6Z-A110\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T6Z-A420\x00\x00',
+      b'78109-T6Z-A510\x00\x00',
+      b'78109-T6Z-A710\x00\x00',
+      b'78109-T6Z-A810\x00\x00',
+      b'78109-T6Z-A910\x00\x00',
+      b'78109-T6Z-AA10\x00\x00',
+      b'78109-T6Z-C620\x00\x00',
+      b'78109-TJZ-A510\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T6Z-A020\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-T6Z-A120\x00\x00',
+      b'57114-T6Z-A130\x00\x00',
+      b'57114-T6Z-A520\x00\x00',
+      b'57114-TJZ-A520\x00\x00',
+    ],
+  },
+  CAR.INSIGHT: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TXM-A040\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TXM-A070\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TXM-A050\x00\x00',
+      b'36161-TXM-A060\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TXM-A230\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TXM-A030\x00\x00',
+      b'57114-TXM-A040\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TWA-A910\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TXM-A020\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TXM-A010\x00\x00',
+      b'78109-TXM-A020\x00\x00',
+      b'78109-TXM-A110\x00\x00',
+      b'78109-TXM-C010\x00\x00',
+      b'78109-TXM-A030\x00\x00',
+    ],
+  },
+  CAR.HRV: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T7A-A010\x00\x00',
+      b'38897-T7A-A110\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-THX-A020\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T7A-A140\x00\x00',
+      b'36161-T7A-A240\x00\x00',
+      b'36161-T7A-C440\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T7A-A230\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-THX-A110\x00\x00',
+      b'78109-THX-A210\x00\x00',
+      b'78109-THX-A220\x00\x00',
+      b'78109-THX-C220\x00\x00',
+    ],
+  },
+  CAR.ACURA_ILX: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TX6-A010\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TV9-A140\x00\x00',
+      b'36161-TX6-A030\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TX6-A230\x00\x00',
+      b'77959-TX6-C210\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T3R-A120\x00\x00',
+      b'78109-T3R-A410\x00\x00',
+      b'78109-TV9-A510\x00\x00',
+    ],
+  },
+  CAR.HONDA_E:{
+    (Ecu.eps, 0x18DA30F1, None):[
+      b'39990-TYF-N030\x00\x00'
+    ],
+    (Ecu.gateway, 0x18DAEFF1, None):[
+      b'38897-TYF-E140\x00\x00'
+    ],
+    (Ecu.shiftByWire, 0x18DA0BF1, None):[
+      b'54008-TYF-E010\x00\x00'
+    ],
+    (Ecu.srs, 0x18DA53F1, None):[
+      b'77959-TYF-G430\x00\x00'
+    ],
+    (Ecu.combinationMeter, 0x18DA60F1, None):[
+      b'78108-TYF-G610\x00\x00'
+    ],
+    (Ecu.fwdRadar, 0x18DAB0F1, None):[
+      b'36802-TYF-E030\x00\x00'
+    ],
+    (Ecu.fwdCamera, 0x18DAB5F1, None):[
+      b'36161-TYF-E020\x00\x00'
+    ],
+    (Ecu.vsa, 0x18DA28F1, None):[
+      b'57114-TYF-E030\x00\x00'
+    ],
   },
 }
 
 DBC = {
-  CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
-  CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
-  CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
+  CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
+  CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
   CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
   CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
+  CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
   CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
+  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
+  CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
   CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
   CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
   CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.PASSPORT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
   CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
+  CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
 }
 
 STEER_THRESHOLD = {
-  CAR.ACCORD: 1200,
-  CAR.ACCORD_15: 1200,
-  CAR.ACCORDH: 1200,
-  CAR.ACURA_ILX: 1200,
+  # default is 1200, overrides go here
   CAR.ACURA_RDX: 400,
-  CAR.CIVIC: 1200,
-  CAR.CIVIC_BOSCH: 1200,
-  CAR.CRV: 1200,
-  CAR.CRV_5G: 1200,
-  CAR.CRV_HYBRID: 1200,
-  CAR.FIT: 1200,
-  CAR.ODYSSEY: 1200,
-  CAR.ODYSSEY_CHN: 1200,
-  CAR.PILOT: 1200,
-  CAR.PILOT_2019: 1200,
-  CAR.RIDGELINE: 1200,
+  CAR.CRV_EU: 400,
 }
 
+# TODO: is this real?
 SPEED_FACTOR = {
-  CAR.ACCORD: 1.,
-  CAR.ACCORD_15: 1.,
-  CAR.ACCORDH: 1.,
-  CAR.ACURA_ILX: 1.,
-  CAR.ACURA_RDX: 1.,
-  CAR.CIVIC: 1.,
-  CAR.CIVIC_BOSCH: 1.,
+  # default is 1, overrides go here
   CAR.CRV: 1.025,
   CAR.CRV_5G: 1.025,
+  CAR.CRV_EU: 1.025,
   CAR.CRV_HYBRID: 1.025,
-  CAR.FIT: 1.,
-  CAR.ODYSSEY: 1.,
-  CAR.ODYSSEY_CHN: 1.,
-  CAR.PILOT: 1.,
-  CAR.PILOT_2019: 1.,
-  CAR.RIDGELINE: 1.,
-}
-
-# msgs sent for steering controller by camera module on can 0.
-# those messages are mutually exclusive on CRV and non-CRV cars
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [0xE4, 0x194],   # steer torque cmd
+  CAR.HRV: 1.025,
 }
 
-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G, CAR.CRV_HYBRID]
+HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
+HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E])
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 0a6144bab66b7e..19ff38129e9a38 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,47 +1,118 @@
+from cereal import car
+from common.realtime import DT_CTRL
+from common.numpy_fast import clip, interp
+from selfdrive.config import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11
-from selfdrive.car.hyundai.values import Buttons, SteerLimitParams
+from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc, create_acc_commands, create_acc_opt, create_frt_radar_opt
+from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
 from opendbc.can.packer import CANPacker
 
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+LongCtrlState = car.CarControl.Actuators.LongControlState
+
+
+def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
+                      right_lane, left_lane_depart, right_lane_depart):
+  sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw])
+
+  # initialize to no line visible
+  sys_state = 1
+  if left_lane and right_lane or sys_warning:  # HUD alert only display when LKAS status is active
+    sys_state = 3 if enabled or sys_warning else 4
+  elif left_lane:
+    sys_state = 5
+  elif right_lane:
+    sys_state = 6
+
+  # initialize to no warnings
+  left_lane_warning = 0
+  right_lane_warning = 0
+  if left_lane_depart:
+    left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+  if right_lane_depart:
+    right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+
+  return sys_warning, sys_state, left_lane_warning, right_lane_warning
+
 
 class CarController():
-  def __init__(self, dbc_name, car_fingerprint):
-    self.apply_steer_last = 0
-    self.car_fingerprint = car_fingerprint
-    self.lkas11_cnt = 0
-    self.cnt = 0
-    self.last_resume_cnt = 0
+  def __init__(self, dbc_name, CP, VM):
+    self.p = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
-    self.steer_rate_limited = False
 
-  def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
+    self.apply_steer_last = 0
+    self.car_fingerprint = CP.carFingerprint
+    self.steer_rate_limited = False
+    self.last_resume_frame = 0
 
-    ### Steering Torque
-    new_steer = actuators.steer * SteerLimitParams.STEER_MAX
-    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steer_torque_driver, SteerLimitParams)
+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
+             left_lane, right_lane, left_lane_depart, right_lane_depart):
+    # Steering Torque
+    new_steer = int(round(actuators.steer * self.p.STEER_MAX))
+    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
     self.steer_rate_limited = new_steer != apply_steer
 
-    if not enabled:
-      apply_steer = 0
+    # disable when temp fault is active, or below LKA minimum speed
+    lkas_active = enabled and not CS.out.steerWarning and CS.out.vEgo >= CS.CP.minSteerSpeed
 
-    steer_req = 1 if enabled else 0
+    if not lkas_active:
+      apply_steer = 0
 
     self.apply_steer_last = apply_steer
 
+    sys_warning, sys_state, left_lane_warning, right_lane_warning = \
+      process_hud_alert(enabled, self.car_fingerprint, visual_alert,
+                        left_lane, right_lane, left_lane_depart, right_lane_depart)
+
     can_sends = []
 
-    self.lkas11_cnt = self.cnt % 0x10
-    self.clu11_cnt = self.cnt % 0x10
+    # tester present - w/ no response (keeps radar disabled)
+    if CS.CP.openpilotLongitudinalControl:
+      if (frame % 100) == 0:
+        can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
+
+    can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
+                                   CS.lkas11, sys_warning, sys_state, enabled,
+                                   left_lane, right_lane,
+                                   left_lane_warning, right_lane_warning))
+
+    if not CS.CP.openpilotLongitudinalControl:
+      if pcm_cancel_cmd:
+        can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
+      elif CS.out.cruiseState.standstill:
+        # send resume at a max freq of 10Hz
+        if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
+          # send 25 messages at a time to increases the likelihood of resume being accepted
+          can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+          self.last_resume_frame = frame
+
+    if frame % 2 == 0 and CS.CP.openpilotLongitudinalControl:
+      lead_visible = False
+      accel = actuators.accel if enabled else 0
+
+      jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
+
+      if accel < 0:
+        accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
+
+      accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+
+      stopping = (actuators.longControlState == LongCtrlState.stopping)
+      set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
+      can_sends.extend(create_acc_commands(self.packer, enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
 
-    can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
-                                   enabled, CS.lkas11, hud_alert, keep_stock=True))
+    # 20 Hz LFA MFA message
+    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
+                                                   CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
+                                                   CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]:
+      can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
-    if pcm_cancel_cmd:
-      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
-    elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
-      self.last_resume_cnt = self.cnt
-      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
+    # 5 Hz ACC options
+    if frame % 20 == 0 and CS.CP.openpilotLongitudinalControl:
+      can_sends.extend(create_acc_opt(self.packer))
 
-    self.cnt += 1
+    # 2 Hz front radar options
+    if frame % 50 == 0 and CS.CP.openpilotLongitudinalControl:
+      can_sends.append(create_frt_radar_opt(self.packer))
 
     return can_sends
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 5305396f309f76..4db775bea50c52 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -1,221 +1,296 @@
+import copy
 from cereal import car
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD
+from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
+from opendbc.can.can_define import CANDefine
 from selfdrive.config import Conversions as CV
 
-GearShifter = car.CarState.GearShifter
-
-def get_can_parser(CP):
-
-  signals = [
-    # sig_name, sig_address, default
-    ("WHL_SPD_FL", "WHL_SPD11", 0),
-    ("WHL_SPD_FR", "WHL_SPD11", 0),
-    ("WHL_SPD_RL", "WHL_SPD11", 0),
-    ("WHL_SPD_RR", "WHL_SPD11", 0),
-
-    ("YAW_RATE", "ESP12", 0),
-
-    ("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
-
-    ("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
-    ("CF_Gway_TSigLHSw", "CGW1", 0),
-    ("CF_Gway_TurnSigLh", "CGW1", 0),
-    ("CF_Gway_TSigRHSw", "CGW1", 0),
-    ("CF_Gway_TurnSigRh", "CGW1", 0),
-    ("CF_Gway_ParkBrakeSw", "CGW1", 0),
-
-    ("BRAKE_ACT", "EMS12", 0),
-    ("PV_AV_CAN", "EMS12", 0),
-    ("TPS", "EMS12", 0),
-
-    ("CYL_PRES", "ESP12", 0),
-
-    ("CF_Clu_CruiseSwState", "CLU11", 0),
-    ("CF_Clu_CruiseSwMain", "CLU11", 0),
-    ("CF_Clu_SldMainSW", "CLU11", 0),
-    ("CF_Clu_ParityBit1", "CLU11", 0),
-    ("CF_Clu_VanzDecimal" , "CLU11", 0),
-    ("CF_Clu_Vanz", "CLU11", 0),
-    ("CF_Clu_SPEED_UNIT", "CLU11", 0),
-    ("CF_Clu_DetentOut", "CLU11", 0),
-    ("CF_Clu_RheostatLevel", "CLU11", 0),
-    ("CF_Clu_CluInfo", "CLU11", 0),
-    ("CF_Clu_AmpInfo", "CLU11", 0),
-    ("CF_Clu_AliveCnt1", "CLU11", 0),
-
-    ("CF_Clu_InhibitD", "CLU15", 0),
-    ("CF_Clu_InhibitP", "CLU15", 0),
-    ("CF_Clu_InhibitN", "CLU15", 0),
-    ("CF_Clu_InhibitR", "CLU15", 0),
-
-    ("CF_Lvr_Gear", "LVR12",0),
-    ("CUR_GR", "TCU12",0),
-
-    ("ACCEnable", "TCS13", 0),
-    ("ACC_REQ", "TCS13", 0),
-    ("DriverBraking", "TCS13", 0),
-    ("DriverOverride", "TCS13", 0),
-
-    ("ESC_Off_Step", "TCS15", 0),
-
-    ("CF_Lvr_GearInf", "LVR11", 0),        #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
-
-    ("CR_Mdps_DrvTq", "MDPS11", 0),
-
-    ("CR_Mdps_StrColTq", "MDPS12", 0),
-    ("CF_Mdps_ToiActive", "MDPS12", 0),
-    ("CF_Mdps_ToiUnavail", "MDPS12", 0),
-    ("CF_Mdps_FailStat", "MDPS12", 0),
-    ("CR_Mdps_OutTq", "MDPS12", 0),
-
-    ("VSetDis", "SCC11", 0),
-    ("SCCInfoDisplay", "SCC11", 0),
-    ("ACCMode", "SCC12", 1),
-
-    ("SAS_Angle", "SAS11", 0),
-    ("SAS_Speed", "SAS11", 0),
-  ]
-
-  checks = [
-    # address, frequency
-    ("MDPS12", 50),
-    ("MDPS11", 100),
-    ("TCS15", 10),
-    ("TCS13", 50),
-    ("CLU11", 50),
-    ("ESP12", 100),
-    ("EMS12", 100),
-    ("CGW1", 10),
-    ("CGW4", 5),
-    ("WHL_SPD11", 50),
-    ("SCC11", 50),
-    ("SCC12", 50),
-    ("SAS11", 100)
-  ]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
-
-
-def get_camera_parser(CP):
-
-  signals = [
-    # sig_name, sig_address, default
-    ("CF_Lkas_LdwsSysState", "LKAS11", 0),
-    ("CF_Lkas_SysWarning", "LKAS11", 0),
-    ("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
-    ("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
-    ("CF_Lkas_HbaLamp", "LKAS11", 0),
-    ("CF_Lkas_FcwBasReq", "LKAS11", 0),
-    ("CF_Lkas_ToiFlt", "LKAS11", 0),
-    ("CF_Lkas_HbaSysState", "LKAS11", 0),
-    ("CF_Lkas_FcwOpt", "LKAS11", 0),
-    ("CF_Lkas_HbaOpt", "LKAS11", 0),
-    ("CF_Lkas_FcwSysState", "LKAS11", 0),
-    ("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
-    ("CF_Lkas_FusionState", "LKAS11", 0),
-    ("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
-    ("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
-  ]
-
-  checks = []
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
-
 
 class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+
+    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+      self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
+    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+      self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
+    else:  # preferred and elect gear methods use same definition
+      self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
+
 
   def update(self, cp, cp_cam):
-    # update prevs, update must run once per Loop
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
-
-    self.door_all_closed = True
-    self.seatbelt = cp.vl["CGW1"]['CF_Gway_DrvSeatBeltSw']
-
-    self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
-    self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
-
-    self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
-    self.main_on = True
-    self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
-    self.pcm_acc_status = int(self.acc_active)
-
-    self.v_wheel_fl = cp.vl["WHL_SPD11"]['WHL_SPD_FL'] * CV.KPH_TO_MS
-    self.v_wheel_fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS
-    self.v_wheel_rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS
-    self.v_wheel_rr = cp.vl["WHL_SPD11"]['WHL_SPD_RR'] * CV.KPH_TO_MS
-    self.v_ego_raw = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
-    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
-
-    self.low_speed_lockout = self.v_ego_raw < 1.0
-
-    is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
-    speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
-    self.cruise_set_speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
-    self.standstill = not self.v_ego_raw > 0.1
-
-    self.angle_steers = cp.vl["SAS11"]['SAS_Angle']
-    self.angle_steers_rate = cp.vl["SAS11"]['SAS_Speed']
-    self.yaw_rate = cp.vl["ESP12"]['YAW_RATE']
-    self.main_on = True
-    self.left_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigLHSw']
-    self.right_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigRHSw']
-    self.steer_override = abs(cp.vl["MDPS11"]['CR_Mdps_DrvTq']) > STEER_THRESHOLD
-    self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
-    self.steer_error = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
-    self.brake_error = 0
-    self.steer_torque_driver = cp.vl["MDPS11"]['CR_Mdps_DrvTq']
-    self.steer_torque_motor = cp.vl["MDPS12"]['CR_Mdps_OutTq']
-    self.stopped = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
-
-    self.user_brake = 0
-
-    self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
-    self.brake_lights = bool(self.brake_pressed)
-    if (cp.vl["TCS13"]["DriverOverride"] == 0 and cp.vl["TCS13"]['ACC_REQ'] == 1):
-      self.pedal_gas = 0
+    ret = car.CarState.new_message()
+
+    ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
+                        cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
+
+    ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
+
+    ret.wheelSpeeds.fl = cp.vl["WHL_SPD11"]["WHL_SPD_FL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fr = cp.vl["WHL_SPD11"]["WHL_SPD_FR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rl = cp.vl["WHL_SPD11"]["WHL_SPD_RL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rr = cp.vl["WHL_SPD11"]["WHL_SPD_RR"] * CV.KPH_TO_MS
+    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+
+    ret.standstill = ret.vEgoRaw < 0.1
+
+    ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
+    ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
+    ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
+      50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
+    ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
+    ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steerWarning = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
+
+    # cruise state
+    if self.CP.openpilotLongitudinalControl:
+      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
+      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
+      ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
+      ret.cruiseState.standstill = False
     else:
-      self.pedal_gas = cp.vl["EMS12"]['TPS']
-    self.car_gas = cp.vl["EMS12"]['TPS']
-
-    # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
-    gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
-    if gear == 5:
-      self.gear_shifter = GearShifter.drive
-    elif gear == 6:
-      self.gear_shifter = GearShifter.neutral
-    elif gear == 0:
-      self.gear_shifter = GearShifter.park
-    elif gear == 7:
-      self.gear_shifter = GearShifter.reverse
+      ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1
+      ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
+      ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
+
+      if ret.cruiseState.enabled:
+        speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
+        ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
+      else:
+        ret.cruiseState.speed = 0
+
+    # TODO: Find brake pressure
+    ret.brake = 0
+    ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
+    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
+
+    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      if self.CP.carFingerprint in HYBRID_CAR:
+        ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
+      else:
+        ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
+      ret.gasPressed = ret.gas > 0
     else:
-      self.gear_shifter = GearShifter.unknown
-
-    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
-    if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
-      self.gear_shifter_cluster = GearShifter.drive
-    elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
-      self.gear_shifter_cluster = GearShifter.neutral
-    elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
-      self.gear_shifter_cluster = GearShifter.park
-    elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
-      self.gear_shifter_cluster = GearShifter.reverse
+      ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
+      ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
+
+    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
+    # as this seems to be standard over all cars, but is not the preferred method.
+    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+      gear = cp.vl["CLU15"]["CF_Clu_Gear"]
+    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+      gear = cp.vl["TCU12"]["CUR_GR"]
+    elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
+      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     else:
-      self.gear_shifter_cluster = GearShifter.unknown
-
-    # Gear Selecton via TCU12
-    gear2 = cp.vl["TCU12"]["CUR_GR"]
-    if gear2 == 0:
-      self.gear_tcu = GearShifter.park
-    elif gear2 == 14:
-      self.gear_tcu = GearShifter.reverse
-    elif gear2 > 0 and gear2 < 9:    # unaware of anything over 8 currently
-      self.gear_tcu = GearShifter.drive
-    else:
-      self.gear_tcu = GearShifter.unknown
+      gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
+
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
+
+    if not self.CP.openpilotLongitudinalControl:
+      if self.CP.carFingerprint in FEATURES["use_fca"]:
+        ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
+        ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
+      else:
+        ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
+        ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
+
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
+      ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
 
     # save the entire LKAS11 and CLU11
-    self.lkas11 = cp_cam.vl["LKAS11"]
-    self.clu11 = cp.vl["CLU11"]
+    self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
+    self.clu11 = copy.copy(cp.vl["CLU11"])
+    self.park_brake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
+    self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
+    self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    self.prev_cruise_buttons = self.cruise_buttons
+    self.cruise_buttons = cp.vl["CLU11"]["CF_Clu_CruiseSwState"]
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    signals = [
+      # sig_name, sig_address, default
+      ("WHL_SPD_FL", "WHL_SPD11", 0),
+      ("WHL_SPD_FR", "WHL_SPD11", 0),
+      ("WHL_SPD_RL", "WHL_SPD11", 0),
+      ("WHL_SPD_RR", "WHL_SPD11", 0),
+
+      ("YAW_RATE", "ESP12", 0),
+
+      ("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
+
+      ("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
+      ("CF_Gway_DrvDrSw", "CGW1", 0),       # Driver Door
+      ("CF_Gway_AstDrSw", "CGW1", 0),       # Passenger door
+      ("CF_Gway_RLDrSw", "CGW2", 0),        # Rear reft door
+      ("CF_Gway_RRDrSw", "CGW2", 0),        # Rear right door
+      ("CF_Gway_TurnSigLh", "CGW1", 0),
+      ("CF_Gway_TurnSigRh", "CGW1", 0),
+      ("CF_Gway_ParkBrakeSw", "CGW1", 0),
+
+      ("CYL_PRES", "ESP12", 0),
+
+      ("CF_Clu_CruiseSwState", "CLU11", 0),
+      ("CF_Clu_CruiseSwMain", "CLU11", 0),
+      ("CF_Clu_SldMainSW", "CLU11", 0),
+      ("CF_Clu_ParityBit1", "CLU11", 0),
+      ("CF_Clu_VanzDecimal" , "CLU11", 0),
+      ("CF_Clu_Vanz", "CLU11", 0),
+      ("CF_Clu_SPEED_UNIT", "CLU11", 0),
+      ("CF_Clu_DetentOut", "CLU11", 0),
+      ("CF_Clu_RheostatLevel", "CLU11", 0),
+      ("CF_Clu_CluInfo", "CLU11", 0),
+      ("CF_Clu_AmpInfo", "CLU11", 0),
+      ("CF_Clu_AliveCnt1", "CLU11", 0),
+
+      ("ACCEnable", "TCS13", 0),
+      ("ACC_REQ", "TCS13", 0),
+      ("DriverBraking", "TCS13", 0),
+      ("StandStill", "TCS13", 0),
+      ("PBRAKE_ACT", "TCS13", 0),
+
+      ("ESC_Off_Step", "TCS15", 0),
+      ("AVH_LAMP", "TCS15", 0),
+
+      ("CR_Mdps_StrColTq", "MDPS12", 0),
+      ("CF_Mdps_ToiActive", "MDPS12", 0),
+      ("CF_Mdps_ToiUnavail", "MDPS12", 0),
+      ("CF_Mdps_ToiFlt", "MDPS12", 0),
+      ("CR_Mdps_OutTq", "MDPS12", 0),
+
+      ("SAS_Angle", "SAS11", 0),
+      ("SAS_Speed", "SAS11", 0),
+    ]
+
+    checks = [
+      # address, frequency
+      ("MDPS12", 50),
+      ("TCS13", 50),
+      ("TCS15", 10),
+      ("CLU11", 50),
+      ("ESP12", 100),
+      ("CGW1", 10),
+      ("CGW2", 5),
+      ("CGW4", 5),
+      ("WHL_SPD11", 50),
+      ("SAS11", 100),
+    ]
+
+    if not CP.openpilotLongitudinalControl:
+      signals += [
+        ("MainMode_ACC", "SCC11", 0),
+        ("VSetDis", "SCC11", 0),
+        ("SCCInfoDisplay", "SCC11", 0),
+        ("ACC_ObjDist", "SCC11", 0),
+        ("ACCMode", "SCC12", 1),
+      ]
+
+      checks += [
+        ("SCC11", 50),
+        ("SCC12", 50),
+      ]
+
+      if CP.carFingerprint in FEATURES["use_fca"]:
+        signals += [
+          ("FCA_CmdAct", "FCA11", 0),
+          ("CF_VSM_Warn", "FCA11", 0),
+        ]
+        checks += [("FCA11", 50)]
+      else:
+        signals += [
+          ("AEB_CmdAct", "SCC12", 0),
+          ("CF_VSM_Warn", "SCC12", 0),
+        ]
+
+    if CP.enableBsm:
+      signals += [
+        ("CF_Lca_IndLeft", "LCA11", 0),
+        ("CF_Lca_IndRight", "LCA11", 0),
+      ]
+      checks += [("LCA11", 50)]
+
+    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      if CP.carFingerprint in HYBRID_CAR:
+        signals += [
+          ("CR_Vcu_AccPedDep_Pos", "E_EMS11", 0)
+        ]
+      else:
+        signals += [
+          ("Accel_Pedal_Pos", "E_EMS11", 0)
+        ]
+      checks += [
+        ("E_EMS11", 50),
+      ]
+    else:
+      signals += [
+        ("PV_AV_CAN", "EMS12", 0),
+        ("CF_Ems_AclAct", "EMS16", 0),
+      ]
+      checks += [
+        ("EMS12", 100),
+        ("EMS16", 100),
+      ]
+
+    if CP.carFingerprint in FEATURES["use_cluster_gears"]:
+      signals += [
+        ("CF_Clu_Gear", "CLU15", 0),
+      ]
+      checks += [
+        ("CLU15", 5)
+      ]
+    elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
+      signals += [
+        ("CUR_GR", "TCU12", 0)
+      ]
+      checks += [
+        ("TCU12", 100)
+      ]
+    elif CP.carFingerprint in FEATURES["use_elect_gears"]:
+      signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)]
+      checks += [("ELECT_GEAR", 20)]
+    else:
+      signals += [
+        ("CF_Lvr_Gear", "LVR12", 0)
+      ]
+      checks += [
+        ("LVR12", 100)
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+
+    signals = [
+      # sig_name, sig_address, default
+      ("CF_Lkas_LdwsActivemode", "LKAS11", 0),
+      ("CF_Lkas_LdwsSysState", "LKAS11", 0),
+      ("CF_Lkas_SysWarning", "LKAS11", 0),
+      ("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
+      ("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
+      ("CF_Lkas_HbaLamp", "LKAS11", 0),
+      ("CF_Lkas_FcwBasReq", "LKAS11", 0),
+      ("CF_Lkas_HbaSysState", "LKAS11", 0),
+      ("CF_Lkas_FcwOpt", "LKAS11", 0),
+      ("CF_Lkas_HbaOpt", "LKAS11", 0),
+      ("CF_Lkas_FcwSysState", "LKAS11", 0),
+      ("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
+      ("CF_Lkas_FusionState", "LKAS11", 0),
+      ("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
+      ("CF_Lkas_LdwsOpt_USM", "LKAS11", 0),
+    ]
+
+    checks = [
+      ("LKAS11", 100)
+    ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 910e05ad7c7a4e..dd43ec1a81db73 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -1,31 +1,47 @@
 import crcmod
-from selfdrive.car.hyundai.values import CHECKSUM
+from selfdrive.car.hyundai.values import CAR, CHECKSUM
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
-def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
-  values = {
-    "CF_Lkas_Bca_R": 3 if enabled else 0,
-    "CF_Lkas_LdwsSysState": 3 if steer_req else 1,
-    "CF_Lkas_SysWarning": hud_alert,
-    "CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,
-    "CF_Lkas_LdwsRHWarning": lkas11["CF_Lkas_LdwsRHWarning"] if keep_stock else 0,
-    "CF_Lkas_HbaLamp": lkas11["CF_Lkas_HbaLamp"] if keep_stock else 0,
-    "CF_Lkas_FcwBasReq": lkas11["CF_Lkas_FcwBasReq"] if keep_stock else 0,
-    "CR_Lkas_StrToqReq": apply_steer,
-    "CF_Lkas_ActToi": steer_req,
-    "CF_Lkas_ToiFlt": 0,
-    "CF_Lkas_HbaSysState": lkas11["CF_Lkas_HbaSysState"] if keep_stock else 1,
-    "CF_Lkas_FcwOpt": lkas11["CF_Lkas_FcwOpt"] if keep_stock else 0,
-    "CF_Lkas_HbaOpt": lkas11["CF_Lkas_HbaOpt"] if keep_stock else 3,
-    "CF_Lkas_MsgCount": cnt,
-    "CF_Lkas_FcwSysState": lkas11["CF_Lkas_FcwSysState"] if keep_stock else 0,
-    "CF_Lkas_FcwCollisionWarning": lkas11["CF_Lkas_FcwCollisionWarning"] if keep_stock else 0,
-    "CF_Lkas_FusionState": lkas11["CF_Lkas_FusionState"] if keep_stock else 0,
-    "CF_Lkas_Chksum": 0,
-    "CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
-    "CF_Lkas_LdwsOpt_USM": lkas11["CF_Lkas_LdwsOpt_USM"] if keep_stock else 3,
-  }
+def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
+                  lkas11, sys_warning, sys_state, enabled,
+                  left_lane, right_lane,
+                  left_lane_depart, right_lane_depart):
+  values = lkas11
+  values["CF_Lkas_LdwsSysState"] = sys_state
+  values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
+  values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
+  values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
+  values["CR_Lkas_StrToqReq"] = apply_steer
+  values["CF_Lkas_ActToi"] = steer_req
+  values["CF_Lkas_MsgCount"] = frame % 0x10
+
+  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
+                         CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
+                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]:
+    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
+    values["CF_Lkas_LdwsOpt_USM"] = 2
+
+    # FcwOpt_USM 5 = Orange blinking car + lanes
+    # FcwOpt_USM 4 = Orange car + lanes
+    # FcwOpt_USM 3 = Green blinking car + lanes
+    # FcwOpt_USM 2 = Green car + lanes
+    # FcwOpt_USM 1 = White car + lanes
+    # FcwOpt_USM 0 = No car + lanes
+    values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
+
+    # SysWarning 4 = keep hands on wheel
+    # SysWarning 5 = keep hands on wheel (red)
+    # SysWarning 6 = keep hands on wheel (red) + beep
+    # Note: the warning is hidden while the blinkers are on
+    values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
+
+  elif car_fingerprint == CAR.HYUNDAI_GENESIS:
+    # This field is actually LdwsActivemode
+    # Genesis and Optima fault when forwarding while engaged
+    values["CF_Lkas_LdwsActivemode"] = 2
+  elif car_fingerprint == CAR.KIA_OPTIMA:
+    values["CF_Lkas_LdwsActivemode"] = 0
 
   dat = packer.make_can_msg("LKAS11", 0, values)[2]
 
@@ -36,7 +52,7 @@ def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled,
   elif car_fingerprint in CHECKSUM["6B"]:
     # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
     checksum = sum(dat[:6]) % 256
-  elif car_fingerprint in CHECKSUM["7B"]:
+  else:
     # Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
     checksum = (sum(dat[:6]) + dat[7]) % 256
 
@@ -44,20 +60,97 @@ def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled,
 
   return packer.make_can_msg("LKAS11", 0, values)
 
-def create_clu11(packer, clu11, button):
+
+def create_clu11(packer, frame, clu11, button):
+  values = clu11
+  values["CF_Clu_CruiseSwState"] = button
+  values["CF_Clu_AliveCnt1"] = frame % 0x10
+  return packer.make_can_msg("CLU11", 0, values)
+
+
+def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   values = {
-    "CF_Clu_CruiseSwState": button,
-    "CF_Clu_CruiseSwMain": clu11["CF_Clu_CruiseSwMain"],
-    "CF_Clu_SldMainSW": clu11["CF_Clu_SldMainSW"],
-    "CF_Clu_ParityBit1": clu11["CF_Clu_ParityBit1"],
-    "CF_Clu_VanzDecimal": clu11["CF_Clu_VanzDecimal"],
-    "CF_Clu_Vanz": clu11["CF_Clu_Vanz"],
-    "CF_Clu_SPEED_UNIT": clu11["CF_Clu_SPEED_UNIT"],
-    "CF_Clu_DetentOut": clu11["CF_Clu_DetentOut"],
-    "CF_Clu_RheostatLevel": clu11["CF_Clu_RheostatLevel"],
-    "CF_Clu_CluInfo": clu11["CF_Clu_CluInfo"],
-    "CF_Clu_AmpInfo": clu11["CF_Clu_AmpInfo"],
-    "CF_Clu_AliveCnt1": 0,
+    "LFA_Icon_State": 2 if enabled else 0,
+    "HDA_Active": 1 if hda_set_speed else 0,
+    "HDA_Icon_State": 2 if hda_set_speed else 0,
+    "HDA_VSetReq": hda_set_speed,
   }
+  return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-  return packer.make_can_msg("CLU11", 0, values)
+def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_speed, stopping):
+  commands = []
+
+  scc11_values = {
+    "MainMode_ACC": 1,
+    "TauGapSet": 4,
+    "VSetDis": set_speed if enabled else 0,
+    "AliveCounterACC": idx % 0x10,
+    "ObjValid": 1 if lead_visible else 0,
+    "ACC_ObjStatus": 1 if lead_visible else 0,
+    "ACC_ObjLatPos": 0,
+    "ACC_ObjRelSpd": 0,
+    "ACC_ObjDist": 0,
+  }
+  commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
+
+  scc12_values = {
+    "ACCMode": 1 if enabled else 0,
+    "StopReq": 1 if enabled and stopping else 0,
+    "aReqRaw": accel if enabled else 0,
+    "aReqValue": accel if enabled else 0, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
+    "CR_VSM_Alive": idx % 0xF,
+  }
+  scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
+  scc12_values["CR_VSM_ChkSum"] = 0x10 - sum([sum(divmod(i, 16)) for i in scc12_dat]) % 0x10
+
+  commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
+
+  scc14_values = {
+    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
+    "JerkUpperLimit": max(jerk, 1.0) if (enabled and not stopping) else 0, # stock usually is 1.0 but sometimes uses higher values
+    "JerkLowerLimit": max(-jerk, 1.0) if enabled else 0, # stock usually is 0.5 but sometimes uses higher values
+    "ACCMode": 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
+    "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+  }
+  commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
+
+  fca11_values = {
+    # seems to count 2,1,0,3,2,1,0,3,2,1,0,3,2,1,0,repeat...
+    # (where first value is aligned to Supplemental_Counter == 0)
+    # test: [(idx % 0xF, -((idx % 0xF) + 2) % 4) for idx in range(0x14)]
+    "CR_FCA_Alive": ((-((idx % 0xF) + 2) % 4) << 2) + 1,
+    "Supplemental_Counter": idx % 0xF,
+    "PAINT1_Status": 1,
+    "FCA_DrvSetStatus": 1,
+    "FCA_Status": 1, # AEB disabled
+  }
+  fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
+  fca11_values["CR_FCA_ChkSum"] = 0x10 - sum([sum(divmod(i, 16)) for i in fca11_dat]) % 0x10
+  commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
+
+  return commands
+
+def create_acc_opt(packer):
+  commands = []
+
+  scc13_values = {
+    "SCCDrvModeRValue": 2,
+    "SCC_Equip": 1,
+    "Lead_Veh_Dep_Alert_USM": 2,
+  }
+  commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
+
+  fca12_values = {
+    "FCA_DrvSetState": 2,
+    "FCA_USM": 1, # AEB disabled
+  }
+  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
+
+  return commands
+
+def create_frt_radar_opt(packer):
+  frt_radar11_values = {
+    "CF_FCA_Equip_Front_Radar": 1,
+  }
+  return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 2db3cd45e0630f..48e2a4647c3fb7 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,97 +1,182 @@
 #!/usr/bin/env python3
 from cereal import car
+from panda import Panda
+from common.params import Params
 from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
-from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_alerts, FEATURES, FINGERPRINTS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.disable_ecu import disable_ecu
 
-GearShifter = car.CarState.GearShifter
 ButtonType = car.CarState.ButtonEvent.Type
+EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-    self.VM = VehicleModel(CP)
-    self.idx = 0
-    self.lanes = 0
-    self.lkas_request = 0
-
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.cruise_enabled_prev = False
-    self.low_speed_alert = False
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-    self.cp = get_can_parser(CP)
-    self.cp_cam = get_camera_parser(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint)
-
   @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-
-    ret = car.CarParams.new_message()
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "hyundai"
-    ret.carFingerprint = candidate
-    ret.isPandaBlack = has_relay
-    ret.radarOffCan = True
-    ret.safetyModel = car.CarParams.SafetyModel.hyundai
-    ret.enableCruise = True  # stock acc
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
+
+    # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
+    ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE]
+
+    ret.pcmCruise = not ret.openpilotLongitudinalControl
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
 
-    if candidate == CAR.SANTA_FE:
+    ret.stoppingControl = True
+    ret.vEgoStopping = 1.0
+
+    ret.longitudinalTuning.kpV = [0.1]
+    ret.longitudinalTuning.kiV = [0.0]
+    ret.stopAccel = 0.0
+    ret.startAccel = 0.0
+
+    ret.longitudinalActuatorDelayUpperBound = 1.0 # s
+
+    if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.766
-
       # Values from optimizer
       ret.steerRatio = 16.55  # 13.8 is spec end-to-end
       tire_stiffness_factor = 0.82
-
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
-      ret.minSteerSpeed = 0.
-    elif candidate == CAR.KIA_SORENTO:
+    elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]:
       ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 1985. + STD_CARGO_KG
-      ret.wheelbase = 2.78
-      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
+      ret.mass = 1513. + STD_CARGO_KG
+      ret.wheelbase = 2.84
+      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
+      tire_stiffness_factor = 0.65
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.SONATA_LF:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 4497. * CV.LB_TO_KG
+      ret.wheelbase = 2.804
+      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-      ret.minSteerSpeed = 0.
-    elif candidate == CAR.ELANTRA:
+    elif candidate == CAR.PALISADE:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1999. + STD_CARGO_KG
+      ret.wheelbase = 2.90
+      ret.steerRatio = 15.6 * 1.15
+      tire_stiffness_factor = 0.63
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+    elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.73   #Spec
-      tire_stiffness_factor = 0.385
+      ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
+      tire_stiffness_factor = 0.385    # stiffnessFactor settled on 1.0081302973865127
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.GENESIS:
+    elif candidate == CAR.ELANTRA_2021:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
+      ret.wheelbase = 2.72
+      ret.steerRatio = 12.9
+      tire_stiffness_factor = 0.65
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.ELANTRA_HEV_2021:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
+      ret.wheelbase = 2.72
+      ret.steerRatio = 12.9
+      tire_stiffness_factor = 0.65
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.HYUNDAI_GENESIS:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
       ret.wheelbase = 3.01
       ret.steerRatio = 16.5
+      ret.lateralTuning.init('indi')
+      ret.lateralTuning.indi.innerLoopGainBP = [0.]
+      ret.lateralTuning.indi.innerLoopGainV = [3.5]
+      ret.lateralTuning.indi.outerLoopGainBP = [0.]
+      ret.lateralTuning.indi.outerLoopGainV = [2.0]
+      ret.lateralTuning.indi.timeConstantBP = [0.]
+      ret.lateralTuning.indi.timeConstantV = [1.4]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
+      ret.minSteerSpeed = 60 * CV.KPH_TO_MS
+    elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.73 * 1.15  # Spec
+      tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
-      ret.minSteerSpeed = 35 * CV.MPH_TO_MS
-    elif candidate == CAR.KIA_OPTIMA:
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
+      ret.lateralTuning.pid.kf = 0.00006
+      ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.73  # Spec
+      tire_stiffness_factor = 0.385
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
+        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
+    elif candidate == CAR.VELOSTER:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 3558. * CV.LB_TO_KG
+      ret.wheelbase = 2.80
+      ret.steerRatio = 13.75 * 1.15
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+
+    # Kia
+    elif candidate == CAR.KIA_SORENTO:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1985. + STD_CARGO_KG
+      ret.wheelbase = 2.78
+      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]:
+      ret.lateralTuning.pid.kf = 0.00006
+      ret.mass = 1737. + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
+      tire_stiffness_factor = 0.385
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      if candidate == CAR.KIA_NIRO_HEV:
+        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
+    elif candidate == CAR.KIA_SELTOS:
+      ret.mass = 1337. + STD_CARGO_KG
+      ret.wheelbase = 2.63
+      ret.steerRatio = 14.56
+      tire_stiffness_factor = 1
+      ret.lateralTuning.init('indi')
+      ret.lateralTuning.indi.innerLoopGainBP = [0.]
+      ret.lateralTuning.indi.innerLoopGainV = [4.]
+      ret.lateralTuning.indi.outerLoopGainBP = [0.]
+      ret.lateralTuning.indi.outerLoopGainV = [3.]
+      ret.lateralTuning.indi.timeConstantBP = [0.]
+      ret.lateralTuning.indi.timeConstantV = [1.4]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
+    elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -106,15 +191,73 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-      ret.minSteerSpeed = 0.
+    elif candidate == CAR.KIA_FORTE:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 3558. * CV.LB_TO_KG
+      ret.wheelbase = 2.80
+      ret.steerRatio = 13.75
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.KIA_CEED:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1450. + STD_CARGO_KG
+      ret.wheelbase = 2.65
+      ret.steerRatio = 13.75
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.KIA_K5_2021:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 3228. * CV.LB_TO_KG
+      ret.wheelbase = 2.85
+      ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
 
-    ret.minEnableSpeed = -1.   # enable is done by stock ACC, so ignore this
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.]
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
+    # Genesis
+    elif candidate == CAR.GENESIS_G70:
+      ret.lateralTuning.init('indi')
+      ret.lateralTuning.indi.innerLoopGainBP = [0.]
+      ret.lateralTuning.indi.innerLoopGainV = [2.5]
+      ret.lateralTuning.indi.outerLoopGainBP = [0.]
+      ret.lateralTuning.indi.outerLoopGainV = [3.5]
+      ret.lateralTuning.indi.timeConstantBP = [0.]
+      ret.lateralTuning.indi.timeConstantV = [1.4]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
+      ret.steerActuatorDelay = 0.1
+      ret.mass = 1640.0 + STD_CARGO_KG
+      ret.wheelbase = 2.84
+      ret.steerRatio = 13.56
+    elif candidate == CAR.GENESIS_G80:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 2060. + STD_CARGO_KG
+      ret.wheelbase = 3.01
+      ret.steerRatio = 16.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
+    elif candidate == CAR.GENESIS_G90:
+      ret.mass = 2200
+      ret.wheelbase = 3.15
+      ret.steerRatio = 12.069
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
+
+    # these cars require a special panda safety mode due to missing counters and checksums in the messages
+    if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
+                     CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER,
+                     CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022]:
+      assert not ret.openpilotLongitudinalControl  # Legacy safety mode doesn't support longitudinal
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+
+    # set appropriate safety param for gas signal
+    if candidate in HYBRID_CAR:
+      ret.safetyConfigs[0].safetyParam = 2
+    elif candidate in EV_CAR:
+      ret.safetyConfigs[0].safetyParam = 1
 
     ret.centerToFront = ret.wheelbase * 0.4
 
@@ -127,156 +270,81 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
+    ret.enableBsm = 0x58b in fingerprint[0]
 
-    # no rear steering, at least on the listed cars above
-    ret.steerRatioRear = 0.
-    ret.steerControlType = car.CarParams.SteerControlType.torque
-
-    # steer, gas, brake limitations VS speed
-    ret.steerMaxBP = [0.]
-    ret.steerMaxV = [1.0]
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [1.]
-    ret.brakeMaxBP = [0.]
-    ret.brakeMaxV = [1.]
-
-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
-    ret.openpilotLongitudinalControl = False
-
-    ret.stoppingControl = False
-    ret.startAccel = 0.0
+    if ret.openpilotLongitudinalControl:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
 
     return ret
 
-  # returns a car.CarState
+  @staticmethod
+  def init(CP, logcan, sendcan):
+    if CP.openpilotLongitudinalControl:
+      disable_ecu(logcan, sendcan, addr=0x7d0, com_cont_req=b'\x28\x83\x01')
+
   def update(self, c, can_strings):
-    # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
 
-    self.CS.update(self.cp, self.cp_cam)
-    # create message
-    ret = car.CarState.new_message()
-
+    ret = self.CS.update(self.cp, self.cp_cam)
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
-
-    # speeds
-    ret.vEgo = self.CS.v_ego
-    ret.vEgoRaw = self.CS.v_ego_raw
-    ret.aEgo = self.CS.a_ego
-    ret.yawRate = self.CS.yaw_rate
-    ret.standstill = self.CS.standstill
-    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
-    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
-    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
-    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
-
-    # gear shifter
-    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
-      ret.gearShifter = self.CS.gear_shifter_cluster
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
-      ret.gearShifter = self.CS.gear_tcu
-    else:
-      ret.gearShifter = self.CS.gear_shifter
-
-    # gas pedal
-    ret.gas = self.CS.car_gas
-    ret.gasPressed = self.CS.pedal_gas > 1e-3   # tolerance to avoid false press reading
-
-    # brake pedal
-    ret.brake = self.CS.user_brake
-    ret.brakePressed = self.CS.brake_pressed != 0
-    ret.brakeLights = self.CS.brake_lights
-
-    # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
-    ret.steeringRate = self.CS.angle_steers_rate  # it's unsigned
-
-    ret.steeringTorque = self.CS.steer_torque_driver
-    ret.steeringPressed = self.CS.steer_override
-
-    # cruise state
-    ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
-    if self.CS.pcm_acc_status != 0:
-      ret.cruiseState.speed = self.CS.cruise_set_speed
-    else:
-      ret.cruiseState.speed = 0
-    ret.cruiseState.available = bool(self.CS.main_on)
-    ret.cruiseState.standstill = False
-
-    # TODO: button presses
-    buttonEvents = []
-
-    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.leftBlinker
-      be.pressed = self.CS.left_blinker_on != 0
-      buttonEvents.append(be)
-
-    if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.rightBlinker
-      be.pressed = self.CS.right_blinker_on != 0
-      buttonEvents.append(be)
-
-    ret.buttonEvents = buttonEvents
-    ret.leftBlinker = bool(self.CS.left_blinker_on)
-    ret.rightBlinker = bool(self.CS.right_blinker_on)
-
-    ret.doorOpen = not self.CS.door_all_closed
-    ret.seatbeltUnlatched = not self.CS.seatbelt
+    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
+
+    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise)
+
+    if self.CS.brake_error:
+      events.add(EventName.brakeUnavailable)
+    if self.CS.park_brake:
+      events.add(EventName.parkBrake)
+
+    if self.CS.CP.openpilotLongitudinalControl:
+      buttonEvents = []
+
+      if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
+        be = car.CarState.ButtonEvent.new_message()
+        be.type = ButtonType.unknown
+        if self.CS.cruise_buttons != 0:
+          be.pressed = True
+          but = self.CS.cruise_buttons
+        else:
+          be.pressed = False
+          but = self.CS.prev_cruise_buttons
+        if but == Buttons.RES_ACCEL:
+          be.type = ButtonType.accelCruise
+        elif but == Buttons.SET_DECEL:
+          be.type = ButtonType.decelCruise
+        elif but == Buttons.GAP_DIST:
+          be.type = ButtonType.gapAdjustCruise
+        elif but == Buttons.CANCEL:
+          be.type = ButtonType.cancel
+        buttonEvents.append(be)
+
+        ret.buttonEvents = buttonEvents
+
+        for b in ret.buttonEvents:
+          # do enable on both accel and decel buttons
+          if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+            events.add(EventName.buttonEnable)
+          # do disable on button down
+          if b.type == ButtonType.cancel and b.pressed:
+            events.add(EventName.buttonCancel)
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
       self.low_speed_alert = True
     if ret.vEgo > (self.CP.minSteerSpeed + 4.):
       self.low_speed_alert = False
-
-    events = []
-    if not ret.gearShifter == GearShifter.drive:
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.esp_disabled:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.CS.main_on:
-      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == GearShifter.reverse:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
-
-    if ret.cruiseState.enabled and not self.cruise_enabled_prev:
-      events.append(create_event('pcmEnable', [ET.ENABLE]))
-    elif not ret.cruiseState.enabled:
-      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
-
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-      (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgoRaw > 0.1)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
     if self.low_speed_alert:
-      events.append(create_event('belowSteerSpeed', [ET.WARNING]))
-
-    ret.events = events
+      events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    self.gas_pressed_prev = ret.gasPressed
-    self.brake_pressed_prev = ret.brakePressed
-    self.cruise_enabled_prev = ret.cruiseState.enabled
+    ret.events = events.to_msg()
 
-    return ret.as_reader()
+    self.CS.out = ret.as_reader()
+    return self.CS.out
 
   def apply(self, c):
-
-    hud_alert = get_hud_alerts(c.hudControl.visualAlert)
-
-    can_sends = self.CC.update(c.enabled, self.CS, c.actuators,
-                               c.cruiseControl.cancel, hud_alert)
-
+    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+                               c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.setSpeed, c.hudControl.leftLaneVisible,
+                               c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+    self.frame += 1
     return can_sends
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index b2f76511360320..6022069a2d6661 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -1,5 +1,91 @@
 #!/usr/bin/env python3
+import math
+
+from cereal import car
+from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import RadarInterfaceBase
+from selfdrive.car.hyundai.values import DBC
+
+RADAR_START_ADDR = 0x500
+RADAR_MSG_COUNT = 32
+
+
+def get_radar_can_parser(CP):
+  if DBC[CP.carFingerprint]['radar'] is None:
+    return None
+
+  signals = []
+  checks = []
+
+  for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
+    msg = f"RADAR_TRACK_{addr:x}"
+    signals += [
+      ("STATE", msg, 0),
+      ("AZIMUTH", msg, 0),
+      ("LONG_DIST", msg, 0),
+      ("REL_ACCEL", msg, 0),
+      ("REL_SPEED", msg, 0),
+    ]
+    checks += [(msg, 50)]
+  return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1)
+
 
 class RadarInterface(RadarInterfaceBase):
-  pass
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.updated_messages = set()
+    self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
+    self.track_id = 0
+
+    self.radar_off_can = CP.radarOffCan
+    self.rcp = get_radar_can_parser(CP)
+
+  def update(self, can_strings):
+    if self.radar_off_can or (self.rcp is None):
+      return super().update(None)
+
+    vls = self.rcp.update_strings(can_strings)
+    self.updated_messages.update(vls)
+
+    if self.trigger_msg not in self.updated_messages:
+      return None
+
+    rr = self._update(self.updated_messages)
+    self.updated_messages.clear()
+
+    return rr
+
+  def _update(self, updated_messages):
+    ret = car.RadarData.new_message()
+    if self.rcp is None:
+      return ret
+
+    errors = []
+
+    if not self.rcp.can_valid:
+      errors.append("canError")
+    ret.errors = errors
+
+    for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
+      msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
+
+      if addr not in self.pts:
+        self.pts[addr] = car.RadarData.RadarPoint.new_message()
+        self.pts[addr].trackId = self.track_id
+        self.track_id += 1
+
+      valid = msg['STATE'] in [3, 4]
+      if valid:
+        azimuth = math.radians(msg['AZIMUTH'])
+        self.pts[addr].measured = True
+        self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
+        self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
+        self.pts[addr].vRel = msg['REL_SPEED']
+        self.pts[addr].aRel = msg['REL_ACCEL'] 
+        self.pts[addr].yvRel = float('nan')
+
+      else:
+        del self.pts[addr]
+
+    ret.points = list(self.pts.values())
+    return ret
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index d29aba44e6d8f5..66c8f03d8f6c8c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,89 +1,971 @@
+# flake8: noqa
+
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-
-def get_hud_alerts(visual_alert):
-  if visual_alert == VisualAlert.steerRequired:
-    return 5
-  else:
-    return 0
-
 # Steer torque limits
+class CarControllerParams:
+  ACCEL_MIN = -3.5 # m/s
+  ACCEL_MAX = 2.0 # m/s
 
-class SteerLimitParams:
-  STEER_MAX = 255   # 409 is the max, 255 is stock
-  STEER_DELTA_UP = 3
-  STEER_DELTA_DOWN = 7
-  STEER_DRIVER_ALLOWANCE = 50
-  STEER_DRIVER_MULTIPLIER = 2
-  STEER_DRIVER_FACTOR = 1
+  def __init__(self, CP):
+    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70,
+                             CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
+                             CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022]:
+      self.STEER_MAX = 384
+    else:
+      self.STEER_MAX = 255
+    self.STEER_DELTA_UP = 3
+    self.STEER_DELTA_DOWN = 7
+    self.STEER_DRIVER_ALLOWANCE = 50
+    self.STEER_DRIVER_MULTIPLIER = 2
+    self.STEER_DRIVER_FACTOR = 1
 
 class CAR:
-  ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
-  GENESIS = "HYUNDAI GENESIS 2018"
-  KIA_OPTIMA = "KIA OPTIMA SX 2019"
+  # Hyundai
+  ELANTRA = "HYUNDAI ELANTRA 2017"
+  ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
+  ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
+  ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
+  HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
+  IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
+  IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
+  IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
+  IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
+  IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
+  KONA = "HYUNDAI KONA 2020"
+  KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
+  KONA_HEV = "HYUNDAI KONA HYBRID 2020"
+  SANTA_FE = "HYUNDAI SANTA FE 2019"
+  SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
+  SONATA = "HYUNDAI SONATA 2020"
+  SONATA_LF = "HYUNDAI SONATA 2019"
+  PALISADE = "HYUNDAI PALISADE 2020"
+  VELOSTER = "HYUNDAI VELOSTER 2019"
+  SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
+
+  # Kia
+  KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
+  KIA_K5_2021 = "KIA K5 2021"
+  KIA_NIRO_EV = "KIA NIRO EV 2020"
+  KIA_NIRO_HEV = "KIA NIRO HYBRID 2019"
+  KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
+  KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
+  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
+  KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
   KIA_STINGER = "KIA STINGER GT2 2018"
-  SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
+  KIA_CEED = "KIA CEED INTRO ED 2019"
+
+  # Genesis
+  GENESIS_G70 = "GENESIS G70 2018"
+  GENESIS_G80 = "GENESIS G80 2017"
+  GENESIS_G90 = "GENESIS G90 2017"
+
 
 class Buttons:
   NONE = 0
   RES_ACCEL = 1
   SET_DECEL = 2
+  GAP_DIST = 3
   CANCEL = 4
 
 FINGERPRINTS = {
   CAR.ELANTRA: [{
     66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
-  CAR.GENESIS: [{
+  CAR.ELANTRA_GT_I30: [{
+    66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8
+  },
+  {
+    66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8
+  },
+  {
+    66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+  CAR.HYUNDAI_GENESIS: [{
     67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
   },
   {
     67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
+  },
+  {
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4
+  },
+  {
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
+  },
+  {
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
+  }],
+  CAR.SANTA_FE: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
+  },
+  {
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
+  },
+  {
+    67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
   }],
+  CAR.SONATA: [
+    {67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8},
+  ],
+  CAR.SONATA_LF: [
+    {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
+  ],
   CAR.KIA_OPTIMA: [{
-    64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1952: 8, 1960: 8, 1988: 8, 1996: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8, 1371: 8, 1397: 8, 1961: 8
   }],
   CAR.KIA_SORENTO: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
   }],
   CAR.KIA_STINGER: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
   }],
-  CAR.SANTA_FE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
+  CAR.GENESIS_G80: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
   },
   {
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
-  }
-  ],
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8
+  },
+  {
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8
+  }],
+  CAR.GENESIS_G90: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
+  }],
+  CAR.IONIQ_EV_2020: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
+  }],
+  CAR.IONIQ: [{
+    68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
+  }],
+  CAR.KONA_EV: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
+  }],
+  CAR.KIA_NIRO_EV: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
+  }],
+  CAR.KIA_OPTIMA_H: [{
+    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
+  },
+  {
+    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
+  }],
+  CAR.PALISADE: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
+  }],
 }
 
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [832, 1156, 1191, 1342]
+
+FW_VERSIONS = {
+  CAR.IONIQ: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2301 4AEHC107',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00',
+    ],
+  },
+  CAR.IONIQ_PHEV: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\000AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\000AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\000AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2',
+      b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
+    ],
+  },
+  CAR.IONIQ_EV_2020: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7310 4APEC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7560 4APEC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.03 95740-G2500 190516',
+      b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
+    ],
+  },
+  CAR.IONIQ_EV_LTD: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7000         ',
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.02 56310G7300\x00 4AEEC102',
+      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7501 4AEEC104',
+      b'\xf1\x00AE  MDPS C 1.00 1.03 56310/G7300 4AEEC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G7200 160418',
+      b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2300 170703',
+    ],
+  },
+  CAR.IONIQ_HEV_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
+    ],
+  },
+  CAR.SONATA: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8 1.00 99110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
+      b'\xf1\x00DN8 1.00 99110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00DN8_ SCC F-CU-      1.00 1.00 99110-L0000         ',
+      b'\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
+      b'\xf1\x00DN8_ SCC F-CUP      1.00 1.02 99110-L1000         ',
+      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
+      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
+      b'\xf1\x00DN89110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
+      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
+      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00DN ESC \a 106 \a\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
+      b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
+      b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
+      b'\xf1\x8758910-L0100\xf1\x00DN ESC \a 106 \a\x01 58910-L0100',
+      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
+      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
+      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
+      b'\xf1\x8758910-L0300\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
+      b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81HM6M1_0a0_F00',
+      b'\xf1\x82DNBVN5GMCCXXXDCA',
+      b'\xf1\x82DNBVN5GMCCXXXG2F',
+      b'\xf1\x82DNBWN5TMDCXXXG2E',
+      b'\xf1\x82DNCVN5GMCCXXXF0A',
+      b'\xf1\x82DNCVN5GMCCXXXG2B',
+      b'\xf1\x87391162M003',
+      b'\xf1\x87391162M013',
+      b'\xf1\x87391162M023',
+      b'HM6M1_0a0_F00',
+      b'HM6M1_0a0_G20',
+      b'HM6M2_0a0_BD0',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
+      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
+      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
+      b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
+      b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
+      b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
+      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
+      b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
+      b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
+      b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.03 99211-L0000 210603',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p',
+      b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
+      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
+      b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
+      b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
+      b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA4525334GJ3\x89\x99\x99\x99fevWh\x88\x86\x88fwvgw\x88\x87xfo\xfa\xffuDo\xff\xd1>\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA4626804GJ3wwww\x88\x87\x88xx\x88\x87\x88wwgw\x88\x88\x98\x88\x95_\xf9\xffuDo\xff|\xe7\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA4803224GJ3wwwwwvwg\x88\x88\x98\x88wwww\x87\x88\x88xu\x9f\xfc\xff\x87f\x8f\xff\xea\xea\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA6347404GJ3wwwwff\x86hx\x88\x97\x88\x88\x88\x88\x88vfgf\x88?\xfc\xff\x86Uo\xff\xec/\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA6901634GJ3UUuWVeVUww\x87wwwwwvUge\x86/\xfb\xff\xbb\x99\x7f\xff]2\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA7077724GJ3\x98\x88\x88\x88ww\x97ygwvwww\x87ww\x88\x87x\x87_\xfd\xff\xba\x99o\xff\x99\x01\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALFBA3525114GJ2wvwgvfvggw\x86wffvffw\x86g\x85_\xf9\xff\xa8wo\xffv\xcd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA3624024GJ2\x88\x88\x88\x88wv\x87hx\x88\x97\x88x\x88\x97\x88ww\x87w\x86o\xfa\xffvU\x7f\xff\xd1\xec\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA3960824GJ2wwwwff\x86hffvfffffvfwfg_\xf9\xff\xa9\x88\x8f\xffb\x99\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA4121304GJ2x\x87xwff\x86hwwwwww\x87wwwww\x84_\xfc\xff\x98\x88\x9f\xffi\xa6\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA4195874GJ2EVugvf\x86hgwvwww\x87wgw\x86wc_\xfb\xff\x98\x88\x8f\xff\xe23\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA5129064GJ2vfvgwv\x87hx\x88\x87\x88ww\x87www\x87wd_\xfa\xffvfo\xff\x1d\x00\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA5454914GJ2\x98\x88\x88\x88\x87vwgx\x88\x87\x88xww\x87ffvf\xa7\x7f\xf9\xff\xa8w\x7f\xff\x1b\x90\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA5987864GJ2fgvwUUuWgwvw\x87wxwwwww\x84/\xfc\xff\x97w\x7f\xff\xdf\x1d\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA6337644GJ2vgvwwv\x87hgffvwwwwwwww\x85O\xfa\xff\xa7w\x7f\xff\xc5\xfc\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
+      b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+    ],
+  },
+  CAR.SONATA_LF: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00LF ESC \f 11 \x17\x01\x13 58920-C2610',
+      b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00',
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
+      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
+      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
+    ],
+  },
+  CAR.SANTA_FE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.02 99110-S2000         ',
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.03 99110-S2000         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
+      b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
+      b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650',
+      b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
+      b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600',
+      b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600',
+      b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600',
+      b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600',
+      b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
+      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91',
+      b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00',
+      b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
+      b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
+      b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00',
+      b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n',
+      b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
+      b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
+      b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
+      b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
+      b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
+      b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
+      b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
+      b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00',
+      b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
+      b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0',
+      b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0',
+      b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00',
+      b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe',
+      b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00',
+      b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c',
+      b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00',
+      b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0',
+      b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00',
+    ],
+  },
+  CAR.SANTA_FE_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
+      b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
+      b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
+      b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
+      b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x82TMBZN5TMD3XXXG2E',
+      b'\xf1\x82TACVN5GSI3XXXH0A',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
+      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
+      b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
+    ],
+  },
+  CAR.KIA_STINGER: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
+      b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
+      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5220 4C2VL104',
+      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5420 4C4VL104',
+      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5420 4C4VL106',
+      b'\xf1\x00CK  MDPS R 1.00 1.07 57700-J5220 4C2VL107',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.04 95740-J5000 180504',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0',
+      b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
+      b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
+    ],
+  },
+  CAR.PALISADE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\000LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.00 99110-S8110         ',
+      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
+      b'\xf1\x00LX ESC \x01 103\x31\t\020 58910-S8360',
+      b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
+      b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
+      b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
+      b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
+      b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
+      b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', # modified firmware
+      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
+      b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
+      b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
+      b'\xf1\x00ON  MDPS C 1.00 1.01 56340-S9000 9201',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8100 190125',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.05 99211-S8100 190909',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 200422',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 200903',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
+      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
+      b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\177\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\000bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
+      b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
+      b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDKVBN540766KF37\x87wgv\x87w\x87xx\x99\x97\x89v\x88\x97h\x88\x88\x88\x88x\x7f\xf6\xffvUo\xff\xd3\x01\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDLVAA4225634HH1\x98\x88\x88\x88eUeVx\x88\x87\x88g\x88\x86xx\x88\x87\x88\x86o\xf9\xff\x87w\x7f\xff\xf2\xf7\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVAA4777834HH1\x98\x88x\x87\x87wwwx\x88\x87\x88x\x99\x97\x89x\x88\x97\x88\x86o\xfa\xff\x86fO\xff\x1d9\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVAA5194534HH1ffvguUUUx\x88\xa7\x88h\x99\x96\x89x\x88\x97\x88ro\xf9\xff\x98wo\xff\xaaM\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVAA5949924HH1\xa9\x99y\x97\x87wwwx\x99\x97\x89x\x99\xa7\x89x\x99\xa7\x89\x87_\xfa\xffeD?\xff\xf1\xfd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVBN560098KF26\x86fff\x87vgfg\x88\x96xfw\x86gfw\x86g\x95\xf6\xffeU_\xff\x92c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDLVBN602045KF26\xb9\x99\x89\x98\x97vwgy\xaa\xb7\x9af\x88\x96hw\x99\xa7y\xa9\x7f\xf5\xff\x99w\x7f\xff,\xd3\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN628911KF26\xa9\x99\x89\x98\x98\x88\x88\x88y\x99\xa7\x99fw\x86gw\x88\x87x\x83\x7f\xf6\xff\x98wo\xff2\xda\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN645817KF37\x87www\x98\x87xwx\x99\x97\x89\x99\x99\x99\x99g\x88\x96x\xb6_\xf7\xff\x98fo\xff\xe2\x86\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN662115KF37\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\x97\x89x\x99\xa7\x89\x88\x99\xa8\x89\x88\x7f\xf7\xfffD_\xff\xdc\x84\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN667933KF37\xb9\x99\x89\x98\xb9\x99\x99\x99x\x88\x87\x88w\x88\x87x\x88\x88\x98\x88\xcbo\xf7\xffe3/\xffQ!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN673087KF37\x97www\x86fvgx\x99\x97\x89\x99\xaa\xa9\x9ag\x88\x86x\xe9_\xf8\xff\x98w\x7f\xff"\xad\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN673841KF37\x98\x88x\x87\x86g\x86xy\x99\xa7\x99\x88\x99\xa8\x89w\x88\x97xdo\xf5\xff\x98\x88\x8f\xffT\xec\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN681363KF37\x98\x88\x88\x88\x97x\x87\x88y\xaa\xa7\x9a\x88\x88\x98\x88\x88\x88\x88\x88vo\xf6\xffvD\x7f\xff%v\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN713782KF37\x99\x99y\x97\x98\x88\x88\x88x\x88\x97\x88\x88\x99\x98\x89\x88\x99\xa8\x89\x87o\xf7\xffeU?\xff7,\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN713890KF26\xb9\x99\x89\x98\xa9\x99\x99\x99x\x99\x97\x89\x88\x99\xa8\x89\x88\x99\xb8\x89Do\xf7\xff\xa9\x88o\xffs\r\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN733215KF37\x99\x98y\x87\x97wwwi\x99\xa6\x99x\x99\xa7\x89V\x88\x95h\x86o\xf7\xffeDO\xff\x12\xe7\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN750044KF37\xca\xa9\x8a\x98\xa7wwwy\xaa\xb7\x9ag\x88\x96x\x88\x99\xa8\x89\xb9\x7f\xf6\xff\xa8w\x7f\xff\xbe\xde\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN752612KF37\xba\xaa\x8a\xa8\x87w\x87xy\xaa\xa7\x9a\x88\x99\x98\x89x\x88\x97\x88\x96o\xf6\xffvU_\xffh\x1b\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN755553KF37\x87xw\x87\x97w\x87xy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95gwo\xf6\xffwUO\xff\xb5T\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN757883KF37\x98\x87xw\x98\x87\x88xy\xaa\xb7\x9ag\x88\x96x\x89\x99\xa8\x99e\x7f\xf6\xff\xa9\x88o\xff5\x15\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN778156KF37\x87vWe\xa9\x99\x99\x99y\x99\xb7\x99\x99\x99\x99\x99x\x99\x97\x89\xa8\x7f\xf8\xffwf\x7f\xff\x82_\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN780576KF37\x98\x87hv\x97x\x97\x89x\x99\xa7\x89\x88\x99\x98\x89w\x88\x97x\x98\x7f\xf7\xff\xba\x88\x8f\xff\x1e0\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN811844KF37\x87vwgvfffx\x99\xa7\x89Vw\x95gg\x88\xa6xe\x8f\xf6\xff\x97wO\xff\t\x80\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN830601KF37\xa7www\xa8\x87xwx\x99\xa7\x89Uw\x85Ww\x88\x97x\x88o\xf6\xff\x8a\xaa\x7f\xff\xe2:\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN848789KF37\x87w\x87x\x87w\x87xy\x99\xb7\x99\x87\x88\x98x\x88\x99\xa8\x89\x87\x7f\xf6\xfffUo\xff\xe3!\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN851595KF37\x97wgvvfffx\x99\xb7\x89\x88\x99\x98\x89\x87\x88\x98x\x99\x7f\xf7\xff\x97w\x7f\xff@\xf3\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN879401KF26veVU\xa8\x88\x88\x88g\x88\xa6xVw\x95gx\x88\xa7\x88v\x8f\xf9\xff\xdd\xbb\xbf\xff\xb3\x99\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
+    ],
+  },
+  CAR.VELOSTER: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ',
+      b'\xf1\x00JS__ SCC HNCUP      1.00 1.02 95650-J3100         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x00\x00\x00\x00\x00\x00\x00', ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x01TJS-JNU06F200H0A',
+      b'\x01TJS-JDK06F200H0A',
+    ],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JS  LKAS AT USA LHD 1.00 1.02 95740-J3000 K32',
+      b'\xf1\x00JS  LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80',
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00',
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\016\xba\036\xa2',
+    ],
+  },
+  CAR.GENESIS_G70: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ', ],
+    (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920', ],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
+  },
+  CAR.KONA: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ', ],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],
+    (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ],
+  },
+  CAR.KIA_CEED:  {
+    (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP      1.00 1.02 99110-J7000         ', ],
+    (Ecu.esp, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
+    (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ],
+    (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ],
+    (Ecu.transmission, 0x7E1, None): [
+      b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000',
+      b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z',
+    ],
+    (Ecu.esp, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ],
+  },
+  CAR.KIA_FORTE: {
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
+      b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x01TBDM1NU06F200H01',
+      b'391182B945\x00',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
+    ],
+  },
+  CAR.KIA_K5_2021: {
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\000DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
+      b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
+      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
+      b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
+    ],
+    (Ecu.esp, 0x7D1, None): [
+      b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
+      b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200',
+      b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'\xf1\x87391212MKT0',
+      b'\xf1\x87391212MKV0',
+    ],
+    (Ecu.transmission, 0x7E1, None): [
+      b'\xf1\000bcsh8p54  U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
+      b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\000\000\000\000\000\000\xf1\000bcsh8p54  U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
+      b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
+      b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
+    ],
+  },
+  CAR.KONA_EV: {
+    (Ecu.esp, 0x7D1, None): [
+      b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
+      b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
+      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
+      b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
+      b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200',
+      b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40',
+      b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40',
+      b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40',
+      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00OS  MDPS C 1.00 1.03 56310/K4550 4OEDC103',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4000         ',
+      b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4100         ',
+      b'\xf1\x00OSev SCC F-CUP      1.00 1.01 99110-K4000         ',
+      b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
+    ],
+  },
+  CAR.KIA_NIRO_EV: {
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
+      b'\xf1\x00OSev SCC F-CUP      1.00 1.01 99110-K4000         ',
+      b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
+      b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4100         ',
+      b'\xf1\x8799110Q4500\xf1\000DEev SCC F-CUP      1.00 1.00 99110-Q4500         ',
+    ],
+    (Ecu.esp, 0x7D1, None): [
+      b'\xf1\x00OS IEB \r 212 \x11\x13 58520-K4000',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
+      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\000DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
+      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
+      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
+      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
+      b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40',
+    ],
+  },
+  CAR.KIA_NIRO_HEV: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F4051\000\000\000\000\000\000\000\000',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b"\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\xf4\'\\\x91",
+      b'\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\000\000\000\000',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\000DE  MDPS C 1.00 1.09 56310G5301\000 4DEHC109',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\000DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\000DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
+    ],
+  },
+  CAR.KIA_NIRO_HEV_2021: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00',
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.07 99211-G5000 201221',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.00 99110-G5600         ',
+    ],
+  },
+  CAR.KIA_SELTOS: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP      1.01 1.05 99110-Q5100         ',],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450',
+      b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450',
+     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81616D2051\000\000\000\000\000\000\000\000',
+      b'\xf1\x81616D5051\000\000\000\000\000\000\000\000',
+      b'\001TSP2KNL06F100J0K',
+      b'\001TSP2KNL06F200J0K',
+     ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200          ',
+      b'\xf1\000SP2 MDPS C 1.01 1.05 56300Q5200          ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\000SP2 MFC  AT USA LHD 1.00 1.04 99210-Q5000 191114',
+      b'\xf1\000SP2 MFC  AT USA LHD 1.00 1.05 99210-Q5000 201012',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000',
+      b'\xf1\x87954A22D200\xf1\x81T01950A1  \xf1\000T0190XBL  T01950A1  DSP2T16X4X950NS6\xd30\xa5\xb9',
+      b'\xf1\x87954A22D200\xf1\x81T01950A1  \xf1\000T0190XBL  T01950A1  DSP2T16X4X950NS8\r\xfe\x9c\x8b',
+     ],
+  },
+  CAR.KIA_OPTIMA: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         '],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x01TJFAJNU06F201H03',
+      b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702',
+    ],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409'],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31'],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
+  },
+  CAR.ELANTRA_2021: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
+      b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
+      b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
+      b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
+      b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
+      b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa',
+      b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\177\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x82CNCWD0AMFCXCSFFA',
+      b'\xf1\x82CNCWD0AMFCXCSFFB',
+      b'\xf1\x82CNCVD0AMFCXCSFFB',
+    ],
+  },
+  CAR.ELANTRA_HEV_2021: {
+    (Ecu.fwdCamera, 0x7c4, None) : [
+      b'\xf1\000CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None) : [
+      b'\xf1\000CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
+      b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
+    ],
+    (Ecu.eps, 0x7d4, None) :[
+      b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
+    ],
+    (Ecu.transmission, 0x7e1, None) :[
+      b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
+      b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000',
+      b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
+      b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None) : [
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ]
+  },
+  CAR.KONA_HEV: {
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00OS IEB \x01 104 \x11  58520-CM000',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00OShe SCC FNCUP      1.00 1.01 99110-CM000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00OS  MDPS C 1.00 1.00 56310CM030\x00 4OHDC100',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ]
+  },
+  CAR.SONATA_HYBRID: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\000DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x8799110L5000\xf1\000DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
+      ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
+      b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
+      b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
+      ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.04 99211-L1000 191016',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
+      b'\xf1\000DN8HMFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
+      ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\000PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
+      b'\xf1\x87959102T250\000\000\000\000\000\xf1\x81E09\000\000\000\000\000\000\000\xf1\000PSBG2323  E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',
+      b'\xf1\000PSBG2323  E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',
+      b'\xf1\000PSBG2333  E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
+      b'\xf1\x87PCU\000\000\000\000\000\000\000\000\000\xf1\x81E16\000\000\000\000\000\000\000\xf1\000PSBG2333  E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
+      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
+      ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391162J012',
+      b'\xf1\x87391162J013',
+      ],
+  },
 }
 
 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE],
-  "6B": [CAR.KIA_SORENTO, CAR.GENESIS],
-  "7B": [CAR.KIA_STINGER, CAR.ELANTRA, CAR.KIA_OPTIMA],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021],
+  "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
 FEATURES = {
-  "use_cluster_gears": [CAR.ELANTRA],                   # Use Cluster for Gear Selection, rather than Transmission
-  "use_tcu_gears": [CAR.KIA_OPTIMA],                    # Use TCU Message for Gear Selection
+  # which message has the gear
+  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
+  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
+  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022]),
+
+  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
+  "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]),
 }
 
+HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022])  # these cars use a different gas signal
+EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV])
+
+# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
+# If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
 DBC = {
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
-  CAR.GENESIS: dbc_dict('hyundai_kia_generic', None),
+  CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
+  CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
+  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
+  CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
+  CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
+  CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
+  CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
+  CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
+  CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
+  CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
+  CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
   CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
-  CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
+  CAR.KONA: dbc_dict('hyundai_kia_generic', None),
+  CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
+  CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
+  CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
+  CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
+  CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
+  CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
 }
 
-STEER_THRESHOLD = 100
+STEER_THRESHOLD = 150
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e98b2681b7b456..99e192db9404db 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,29 +1,105 @@
 import os
 import time
+from typing import Dict
+
 from cereal import car
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
+from selfdrive.config import Conversions as CV
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
+from selfdrive.controls.lib.events import Events
+from selfdrive.controls.lib.vehicle_model import VehicleModel
 
 GearShifter = car.CarState.GearShifter
+EventName = car.CarEvent.EventName
+
+# WARNING: this value was determined based on the model's training distribution,
+#          model predictions above this speed can be unpredictable
+MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 135 + 4 = 86 mph
+ACCEL_MAX = 2.0
+ACCEL_MIN = -3.5
+
 
 # generic car and radar interfaces
 
+
 class CarInterfaceBase():
-  def __init__(self, CP, CarController):
-    pass
+  def __init__(self, CP, CarController, CarState):
+    self.CP = CP
+    self.VM = VehicleModel(CP)
+
+    self.frame = 0
+    self.steering_unpressed = 0
+    self.low_speed_alert = False
+    self.silent_steer_warning = True
+
+    if CarState is not None:
+      self.CS = CarState(CP)
+      self.cp = self.CS.get_can_parser(CP)
+      self.cp_cam = self.CS.get_cam_can_parser(CP)
+      self.cp_body = self.CS.get_body_can_parser(CP)
+      self.cp_loopback = self.CS.get_loopback_can_parser(CP)
+
+    self.CC = None
+    if CarController is not None:
+      self.CC = CarController(self.cp.dbc_name, CP, self.VM)
 
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    return ACCEL_MIN, ACCEL_MAX
 
   @staticmethod
-  def compute_gb(accel, speed):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     raise NotImplementedError
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-    raise NotImplementedError
+  def init(CP, logcan, sendcan):
+    pass
+
+  @staticmethod
+  def get_steer_feedforward_default(desired_angle, v_ego):
+    # Proportional to realigning tire momentum: lateral acceleration.
+    # TODO: something with lateralPlan.curvatureRates
+    return desired_angle * (v_ego**2)
+
+  @classmethod
+  def get_steer_feedforward_function(cls):
+    return cls.get_steer_feedforward_default
+
+  # returns a set of default params to avoid repetition in car specific params
+  @staticmethod
+  def get_std_params(candidate, fingerprint):
+    ret = car.CarParams.new_message()
+    ret.carFingerprint = candidate
+
+    # standard ALC params
+    ret.steerControlType = car.CarParams.SteerControlType.torque
+    ret.steerMaxBP = [10., 25.]
+    ret.steerMaxV = [1., 1.2]
+    ret.minSteerSpeed = 0.
+
+    ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
+    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
+    ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
+    ret.openpilotLongitudinalControl = False
+    ret.minSpeedCan = 0.5
+    ret.startAccel = 0.0
+    ret.stopAccel = -2.0
+    ret.startingAccelRate = 2.0 # brake_travel/s while releasing on restart
+    ret.stoppingDecelRate = 0.5 # brake_travel/s while trying to stop
+    ret.vEgoStopping = 2.0
+    ret.vEgoStarting = 1.0
+    ret.stoppingControl = True
+    ret.longitudinalTuning.deadzoneBP = [0.]
+    ret.longitudinalTuning.deadzoneV = [0.]
+    ret.longitudinalTuning.kpBP = [0.]
+    ret.longitudinalTuning.kpV = [1.]
+    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiV = [1.]
+    ret.longitudinalActuatorDelayLowerBound = 0.15
+    ret.longitudinalActuatorDelayUpperBound = 0.15
+    return ret
 
   # returns a car.CarState, pass in car.CarControl
   def update(self, c, can_strings):
@@ -33,27 +109,83 @@ def update(self, c, can_strings):
   def apply(self, c):
     raise NotImplementedError
 
+  def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
+    events = Events()
+
+    if cs_out.doorOpen:
+      events.add(EventName.doorOpen)
+    if cs_out.seatbeltUnlatched:
+      events.add(EventName.seatbeltNotLatched)
+    if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
+       cs_out.gearShifter not in extra_gears):
+      events.add(EventName.wrongGear)
+    if cs_out.gearShifter == GearShifter.reverse:
+      events.add(EventName.reverseGear)
+    if not cs_out.cruiseState.available:
+      events.add(EventName.wrongCarMode)
+    if cs_out.espDisabled:
+      events.add(EventName.espDisabled)
+    if cs_out.stockFcw:
+      events.add(EventName.stockFcw)
+    if cs_out.stockAeb:
+      events.add(EventName.stockAeb)
+    if cs_out.vEgo > MAX_CTRL_SPEED:
+      events.add(EventName.speedTooHigh)
+
+
+    # Handle permanent and temporary steering faults
+    self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
+    if cs_out.steerWarning:
+      # if the user overrode recently, show a less harsh alert
+      if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
+        self.silent_steer_warning = True
+        events.add(EventName.steerTempUnavailableSilent)
+      else:
+        events.add(EventName.steerTempUnavailable)
+    else:
+      self.silent_steer_warning = False
+    if cs_out.steerError:
+      events.add(EventName.steerUnavailable)
+
+    # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
+    if cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill):
+      events.add(EventName.pedalPressed)
+
+    # we engage when pcm is active (rising edge)
+    if pcm_enable:
+      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        events.add(EventName.pcmEnable)
+      elif not cs_out.cruiseState.enabled:
+        events.add(EventName.pcmDisable)
+
+    return events
+
+
 class RadarInterfaceBase():
   def __init__(self, CP):
     self.pts = {}
     self.delay = 0
     self.radar_ts = CP.radarTimeStep
+    self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
 
   def update(self, can_strings):
     ret = car.RadarData.new_message()
-
-    if 'NO_RADAR_SLEEP' not in os.environ:
+    if not self.no_radar_sleep:
       time.sleep(self.radar_ts)  # radard runs on RI updates
-
     return ret
 
+
 class CarStateBase:
   def __init__(self, CP):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
-    self.left_blinker_on = 0
-    self.right_blinker_on = 0
+    self.out = car.CarState.new_message()
+
     self.cruise_buttons = 0
+    self.left_blinker_cnt = 0
+    self.right_blinker_cnt = 0
+    self.left_blinker_prev = False
+    self.right_blinker_prev = False
 
     # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
     # R = 1e3
@@ -69,8 +201,54 @@ def update_speed_kf(self, v_ego_raw):
     v_ego_x = self.v_ego_kf.update(v_ego_raw)
     return float(v_ego_x[0]), float(v_ego_x[1])
 
+  def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
+    """Update blinkers from lights. Enable output when light was seen within the last `blinker_time`
+    iterations"""
+    # TODO: Handle case when switching direction. Now both blinkers can be on at the same time
+    self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0)
+    self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
+    return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
+
+  def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
+    """Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
+    or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
+    is forced to the other side. On a rising edge of the stalk the timeout is reset."""
+
+    if left_blinker_stalk:
+      self.right_blinker_cnt = 0
+      if not self.left_blinker_prev:
+        self.left_blinker_cnt = blinker_time
+
+    if right_blinker_stalk:
+      self.left_blinker_cnt = 0
+      if not self.right_blinker_prev:
+        self.right_blinker_cnt = blinker_time
+
+    self.left_blinker_cnt = max(self.left_blinker_cnt - 1, 0)
+    self.right_blinker_cnt = max(self.right_blinker_cnt - 1, 0)
+
+    self.left_blinker_prev = left_blinker_stalk
+    self.right_blinker_prev = right_blinker_stalk
+
+    return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
+
+  @staticmethod
+  def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
+    d: Dict[str, car.CarState.GearShifter] = {
+        'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
+        'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
+        'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
+    }
+    return d.get(gear, GearShifter.unknown)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    return None
+
+  @staticmethod
+  def get_body_can_parser(CP):
+    return None
+
   @staticmethod
-  def parse_gear_shifter(gear):
-    return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
-            'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
-            'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
+  def get_loopback_can_parser(CP):
+    return None
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index cda36d50fbd5e7..1209a8f1a1dc62 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -1,6 +1,7 @@
 import time
 from collections import defaultdict
 from functools import partial
+from typing import Optional
 
 import cereal.messaging as messaging
 from selfdrive.swaglog import cloudlog
@@ -8,8 +9,8 @@
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
-class IsoTpParallelQuery():
-  def __init__(self, sendcan, logcan, bus, addrs, request, response, functional_addr=False, debug=False):
+class IsoTpParallelQuery:
+  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
     self.sendcan = sendcan
     self.logcan = logcan
     self.bus = bus
@@ -25,7 +26,7 @@ def __init__(self, sendcan, logcan, bus, addrs, request, response, functional_ad
       else:
         self.real_addrs.append((a, None))
 
-    self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0]) for tx_addr in self.real_addrs}
+    self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs}
     self.msg_buffer = defaultdict(list)
 
   def rx(self):
@@ -70,7 +71,10 @@ def _drain_rx(self):
     messaging.drain_sock(self.logcan)
     self.msg_buffer = defaultdict(list)
 
-  def get_data(self, timeout):
+  def get_data(self, timeout, total_timeout=None):
+    if total_timeout is None:
+      total_timeout = 10 * timeout
+
     self._drain_rx()
 
     # Create message objects
@@ -82,7 +86,8 @@ def get_data(self, timeout):
       id_addr = rx_addr or tx_addr[0]
       sub_addr = tx_addr[1]
 
-      can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr, self.bus, sub_addr=sub_addr, debug=self.debug)
+      can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr,
+                             self.bus, sub_addr=sub_addr, debug=self.debug)
 
       max_len = 8 if sub_addr is None else 7
 
@@ -94,7 +99,8 @@ def get_data(self, timeout):
       request_done[tx_addr] = False
 
     results = {}
-    start_time = time.time()
+    start_time = time.monotonic()
+    last_response_time = start_time
     while True:
       self.rx()
 
@@ -102,7 +108,12 @@ def get_data(self, timeout):
         break
 
       for tx_addr, msg in msgs.items():
-        dat = msg.recv()
+        try:
+          dat: Optional[bytes] = msg.recv()
+        except Exception:
+          cloudlog.exception("Error processing UDS response")
+          request_done[tx_addr] = True
+          continue
 
         if not dat:
           continue
@@ -112,6 +123,7 @@ def get_data(self, timeout):
         response_valid = dat[:len(expected_response)] == expected_response
 
         if response_valid:
+          last_response_time = time.monotonic()
           if counter + 1 < len(self.request):
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
@@ -120,9 +132,17 @@ def get_data(self, timeout):
             request_done[tx_addr] = True
         else:
           request_done[tx_addr] = True
-          cloudlog.warning(f"iso-tp query bad response: 0x{bytes.hex(dat)}")
+          cloudlog.warning(f"iso-tp query bad response: 0x{dat.hex()}")
+
+      cur_time = time.monotonic()
+      if cur_time - last_response_time > timeout:
+        for tx_addr in msgs:
+          if (request_counter[tx_addr] > 0) and (not request_done[tx_addr]):
+            cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
+        break
 
-      if time.time() - start_time > timeout:
+      if cur_time - start_time > total_timeout:
+        cloudlog.warning("iso-tp query timeout while receiving data")
         break
 
     return results
diff --git a/opendbc/can/tests/__init__.py b/selfdrive/car/mazda/__init__.py
similarity index 100%
rename from opendbc/can/tests/__init__.py
rename to selfdrive/car/mazda/__init__.py
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
new file mode 100644
index 00000000000000..06c5eb0948ae9a
--- /dev/null
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -0,0 +1,61 @@
+from cereal import car
+from opendbc.can.packer import CANPacker
+from selfdrive.car.mazda import mazdacan
+from selfdrive.car.mazda.values import CarControllerParams, Buttons
+from selfdrive.car import apply_std_steer_torque_limits
+
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
+class CarController():
+  def __init__(self, dbc_name, CP, VM):
+    self.apply_steer_last = 0
+    self.packer = CANPacker(dbc_name)
+    self.steer_rate_limited = False
+    self.brake_counter = 0
+
+  def update(self, c, CS, frame):
+    can_sends = []
+
+    apply_steer = 0
+    self.steer_rate_limited = False
+
+    if c.enabled:
+      # calculate steer and also set limits due to driver torque
+      new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
+      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
+                                                  CS.out.steeringTorque, CarControllerParams)
+      self.steer_rate_limited = new_steer != apply_steer
+
+      if CS.out.standstill and frame % 5 == 0:
+        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
+        # Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
+        # TODO: improve the resume trigger logic by looking at actual radar data
+        can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
+
+    if c.cruiseControl.cancel or (CS.out.cruiseState.enabled and not c.enabled):
+      # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
+      # a race condition with the stock system, where the second cancel from openpilot
+      # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
+      # read 3 messages and most likely sync state before we attempt cancel.
+      self.brake_counter = self.brake_counter + 1
+      if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
+        # Cancel Stock ACC if it's enabled while OP is disengaged
+        # Send at a rate of 10hz until we sync with stock ACC state
+        can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
+    else:
+      self.brake_counter = 0
+
+    self.apply_steer_last = apply_steer
+
+    # send HUD alerts
+    if frame % 50 == 0:
+      ldw = c.hudControl.visualAlert == VisualAlert.ldw
+      steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
+      # TODO: find a way to silence audible warnings so we can add more hud alerts
+      steer_required = steer_required and CS.lkas_allowed_speed
+      can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
+
+    # send steering command
+    can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
+                                                      frame, apply_steer, CS.cam_lkas))
+    return can_sends
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
new file mode 100644
index 00000000000000..4140a4e079f46d
--- /dev/null
+++ b/selfdrive/car/mazda/carstate.py
@@ -0,0 +1,200 @@
+from cereal import car
+from selfdrive.config import Conversions as CV
+from opendbc.can.can_define import CANDefine
+from opendbc.can.parser import CANParser
+from selfdrive.car.interfaces import CarStateBase
+from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+    self.shifter_values = can_define.dv["GEAR"]["GEAR"]
+
+    self.crz_btns_counter = 0
+    self.acc_active_last = False
+    self.low_speed_alert = False
+    self.lkas_allowed_speed = False
+
+  def update(self, cp, cp_cam):
+
+    ret = car.CarState.new_message()
+    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["FL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["FR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["RL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["RR"] * CV.KPH_TO_MS
+    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+
+    # Match panda speed reading
+    speed_kph = cp.vl["ENGINE_DATA"]["SPEED"]
+    ret.standstill = speed_kph < .1
+
+    can_gear = int(cp.vl["GEAR"]["GEAR"])
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+
+    ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
+    ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1
+    ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
+                                                                      cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
+
+    ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"]
+    ret.steeringTorque = cp.vl["STEER_TORQUE"]["STEER_TORQUE_SENSOR"]
+    ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD
+
+    ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"]
+    ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"]
+
+    # TODO: this should be from 0 - 1.
+    ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1
+    ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"]
+
+    ret.seatbeltUnlatched = cp.vl["SEATBELT"]["DRIVER_SEATBELT"] == 0
+    ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"],
+                        cp.vl["DOORS"]["BL"], cp.vl["DOORS"]["BR"]])
+
+    # TODO: this should be from 0 - 1.
+    ret.gas = cp.vl["ENGINE_DATA"]["PEDAL_GAS"]
+    ret.gasPressed = ret.gas > 0
+
+    # Either due to low speed or hands off
+    lkas_blocked = cp.vl["STEER_RATE"]["LKAS_BLOCK"] == 1
+
+    # LKAS is enabled at 52kph going up and disabled at 45kph going down
+    # wait for LKAS_BLOCK signal to clear when going up since it lags behind the speed sometimes
+    if speed_kph > LKAS_LIMITS.ENABLE_SPEED and not lkas_blocked:
+      self.lkas_allowed_speed = True
+    elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
+      self.lkas_allowed_speed = False
+
+    # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
+    #       it should be used for carState.cruiseState.nonAdaptive instead
+    ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1
+    ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
+    ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
+
+    if ret.cruiseState.enabled:
+      if not self.lkas_allowed_speed and self.acc_active_last:
+        self.low_speed_alert = True
+      else:
+        self.low_speed_alert = False
+
+    # Check if LKAS is disabled due to lack of driver torque when all other states indicate
+    # it should be enabled (steer lockout). Don't warn until we actually get lkas active
+    # and lose it again, i.e, after initial lkas activation
+
+    ret.steerWarning = self.lkas_allowed_speed and lkas_blocked
+
+    self.acc_active_last = ret.cruiseState.enabled
+
+    self.cam_lkas = cp_cam.vl["CAM_LKAS"]
+    self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
+    self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
+    ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    # this function generates lists for signal, messages and initial values
+    signals = [
+      # sig_name, sig_address, default
+      ("LEFT_BLINK", "BLINK_INFO", 0),
+      ("RIGHT_BLINK", "BLINK_INFO", 0),
+      ("HIGH_BEAMS", "BLINK_INFO", 0),
+      ("STEER_ANGLE", "STEER", 0),
+      ("STEER_ANGLE_RATE", "STEER_RATE", 0),
+      ("STEER_TORQUE_SENSOR", "STEER_TORQUE", 0),
+      ("STEER_TORQUE_MOTOR", "STEER_TORQUE", 0),
+      ("FL", "WHEEL_SPEEDS", 0),
+      ("FR", "WHEEL_SPEEDS", 0),
+      ("RL", "WHEEL_SPEEDS", 0),
+      ("RR", "WHEEL_SPEEDS", 0),
+    ]
+
+    checks = [
+      # sig_address, frequency
+      ("BLINK_INFO", 10),
+      ("STEER", 67),
+      ("STEER_RATE", 83),
+      ("STEER_TORQUE", 83),
+      ("WHEEL_SPEEDS", 100),
+    ]
+
+    if CP.carFingerprint in GEN1:
+      signals += [
+        ("LKAS_BLOCK", "STEER_RATE", 0),
+        ("LKAS_TRACK_STATE", "STEER_RATE", 0),
+        ("HANDS_OFF_5_SECONDS", "STEER_RATE", 0),
+        ("CRZ_ACTIVE", "CRZ_CTRL", 0),
+        ("CRZ_AVAILABLE", "CRZ_CTRL", 0),
+        ("CRZ_SPEED", "CRZ_EVENTS", 0),
+        ("STANDSTILL", "PEDALS", 0),
+        ("BRAKE_ON", "PEDALS", 0),
+        ("BRAKE_PRESSURE", "BRAKE", 0),
+        ("GEAR", "GEAR", 0),
+        ("DRIVER_SEATBELT", "SEATBELT", 0),
+        ("FL", "DOORS", 0),
+        ("FR", "DOORS", 0),
+        ("BL", "DOORS", 0),
+        ("BR", "DOORS", 0),
+        ("PEDAL_GAS", "ENGINE_DATA", 0),
+        ("SPEED", "ENGINE_DATA", 0),
+        ("CTR", "CRZ_BTNS", 0),
+        ("LEFT_BS1", "BSM", 0),
+        ("RIGHT_BS1", "BSM", 0),
+      ]
+
+      checks += [
+        ("ENGINE_DATA", 100),
+        ("CRZ_CTRL", 50),
+        ("CRZ_EVENTS", 50),
+        ("CRZ_BTNS", 10),
+        ("PEDALS", 50),
+        ("BRAKE", 50),
+        ("SEATBELT", 10),
+        ("DOORS", 10),
+        ("GEAR", 20),
+        ("BSM", 10),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = []
+    checks = []
+
+    if CP.carFingerprint in GEN1:
+      signals += [
+        # sig_name, sig_address, default
+        ("LKAS_REQUEST", "CAM_LKAS", 0),
+        ("CTR", "CAM_LKAS", 0),
+        ("ERR_BIT_1", "CAM_LKAS", 0),
+        ("LINE_NOT_VISIBLE", "CAM_LKAS", 0),
+        ("BIT_1", "CAM_LKAS", 1),
+        ("ERR_BIT_2", "CAM_LKAS", 0),
+        ("STEERING_ANGLE", "CAM_LKAS", 0),
+        ("ANGLE_ENABLED", "CAM_LKAS", 0),
+        ("CHKSUM", "CAM_LKAS", 0),
+
+        ("LINE_VISIBLE", "CAM_LANEINFO", 0),
+        ("LINE_NOT_VISIBLE", "CAM_LANEINFO", 1),
+        ("LANE_LINES", "CAM_LANEINFO", 0),
+        ("BIT1", "CAM_LANEINFO", 0),
+        ("BIT2", "CAM_LANEINFO", 0),
+        ("BIT3", "CAM_LANEINFO", 0),
+        ("NO_ERR_BIT", "CAM_LANEINFO", 1),
+        ("S1", "CAM_LANEINFO", 0),
+        ("S1_HBEAM", "CAM_LANEINFO", 0),
+      ]
+
+      checks += [
+        # sig_address, frequency
+        ("CAM_LANEINFO", 2),
+        ("CAM_LKAS", 16),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
new file mode 100755
index 00000000000000..8364bf000c942b
--- /dev/null
+++ b/selfdrive/car/mazda/interface.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+from cereal import car
+from selfdrive.config import Conversions as CV
+from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car.interfaces import CarInterfaceBase
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventName = car.CarEvent.EventName
+
+class CarInterface(CarInterfaceBase):
+
+  @staticmethod
+  def compute_gb(accel, speed):
+    return float(accel) / 4.0
+
+  @staticmethod
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+
+    ret.carName = "mazda"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
+    ret.radarOffCan = True
+
+    ret.dashcamOnly = candidate not in [CAR.CX9_2021]
+
+    ret.steerActuatorDelay = 0.1
+    ret.steerRateCost = 1.0
+    ret.steerLimitTimer = 0.8
+    tire_stiffness_factor = 0.70   # not optimized yet
+
+    if candidate == CAR.CX5:
+      ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 15.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
+      ret.lateralTuning.pid.kf = 0.00006
+    elif candidate in [CAR.CX9, CAR.CX9_2021]:
+      ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 3.1
+      ret.steerRatio = 17.6
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
+      ret.lateralTuning.pid.kf = 0.00006
+    elif candidate == CAR.MAZDA3:
+      ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 14.0
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
+      ret.lateralTuning.pid.kf = 0.00006
+    elif candidate == CAR.MAZDA6:
+      ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.83
+      ret.steerRatio = 15.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
+      ret.lateralTuning.pid.kf = 0.00006
+
+    # No steer below disable speed
+    ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
+
+    ret.centerToFront = ret.wheelbase * 0.41
+
+    # TODO: get actual value, for now starting with reasonable value for
+    # civic and scaling by mass and wheelbase
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+
+    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+    # mass and CG position, so all cars will have approximately similar dyn behaviors
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
+                                                                         tire_stiffness_factor=tire_stiffness_factor)
+
+    return ret
+
+  # returns a car.CarState
+  def update(self, c, can_strings):
+
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
+
+    ret = self.CS.update(self.cp, self.cp_cam)
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
+
+    # events
+    events = self.create_common_events(ret)
+
+    if self.CS.low_speed_alert:
+      events.add(EventName.belowSteerSpeed)
+
+    ret.events = events.to_msg()
+
+    self.CS.out = ret.as_reader()
+    return self.CS.out
+
+  def apply(self, c):
+    can_sends = self.CC.update(c, self.CS, self.frame)
+    self.frame += 1
+    return can_sends
diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py
new file mode 100644
index 00000000000000..e2ee93e022de90
--- /dev/null
+++ b/selfdrive/car/mazda/mazdacan.py
@@ -0,0 +1,119 @@
+import copy
+
+from selfdrive.car.mazda.values import GEN1, Buttons
+
+
+def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
+
+  tmp = apply_steer + 2048
+
+  lo = tmp & 0xFF
+  hi = tmp >> 8
+
+  # copy values from camera
+  b1 = int(lkas["BIT_1"])
+  er1 = int(lkas["ERR_BIT_1"])
+  lnv = 0
+  ldw = 0
+  er2 = int(lkas["ERR_BIT_2"])
+
+  # Some older models do have these, newer models don't.
+  # Either way, they all work just fine if set to zero.
+  steering_angle = 0
+  b2 = 0
+
+  tmp = steering_angle + 2048
+  ahi = tmp >> 10
+  amd = (tmp & 0x3FF) >> 2
+  amd = (amd >> 4) | (( amd & 0xF) << 4)
+  alo = (tmp & 0x3) << 2
+
+  ctr = frame % 16
+  # bytes:     [    1  ] [ 2 ] [             3               ]  [           4         ]
+  csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
+
+  # bytes      [ 5 ] [ 6 ] [    7   ]
+  csum = csum - ahi - amd - alo - b2
+
+  if ahi == 1:
+    csum = csum + 15
+
+  if csum < 0:
+    if csum < -256:
+      csum = csum + 512
+    else:
+      csum = csum + 256
+
+  csum = csum % 256
+
+  if car_fingerprint in GEN1:
+    values = {
+      "LKAS_REQUEST": apply_steer,
+      "CTR": ctr,
+      "ERR_BIT_1": er1,
+      "LINE_NOT_VISIBLE" : lnv,
+      "LDW": ldw,
+      "BIT_1": b1,
+      "ERR_BIT_2": er2,
+      "STEERING_ANGLE": steering_angle,
+      "ANGLE_ENABLED": b2,
+      "CHKSUM": csum
+    }
+
+  return packer.make_can_msg("CAM_LKAS", 0, values)
+
+
+def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool):
+  values = copy.copy(cam_msg)
+  values.update({
+    # TODO: what's the difference between all these? do we need to send all?
+    "HANDS_WARN_3_BITS": 0b111 if steer_required else 0,
+    "HANDS_ON_STEER_WARN": steer_required,
+    "HANDS_ON_STEER_WARN_2": steer_required,
+
+    # TODO: right lane works, left doesn't
+    # TODO: need to do something about L/R
+    "LDW_WARN_LL": 0,
+    "LDW_WARN_RL": 0,
+  })
+  return packer.make_can_msg("CAM_LANEINFO", 0, values)
+
+
+def create_button_cmd(packer, car_fingerprint, counter, button):
+
+  can = int(button == Buttons.CANCEL)
+  res = int(button == Buttons.RESUME)
+
+  if car_fingerprint in GEN1:
+    values = {
+      "CAN_OFF": can,
+      "CAN_OFF_INV": (can + 1) % 2,
+
+      "SET_P": 0,
+      "SET_P_INV": 1,
+
+      "RES": res,
+      "RES_INV": (res + 1) % 2,
+
+      "SET_M": 0,
+      "SET_M_INV": 1,
+
+      "DISTANCE_LESS": 0,
+      "DISTANCE_LESS_INV": 1,
+
+      "DISTANCE_MORE": 0,
+      "DISTANCE_MORE_INV": 1,
+
+      "MODE_X": 0,
+      "MODE_X_INV": 1,
+
+      "MODE_Y": 0,
+      "MODE_Y_INV": 1,
+
+      "BIT1": 1,
+      "BIT2": 1,
+      "BIT3": 1,
+      "CTR": (counter + 1) % 16,
+    }
+
+    return packer.make_can_msg("CRZ_BTNS", 0, values)
diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py
new file mode 100755
index 00000000000000..b2f76511360320
--- /dev/null
+++ b/selfdrive/car/mazda/radar_interface.py
@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+from selfdrive.car.interfaces import RadarInterfaceBase
+
+class RadarInterface(RadarInterfaceBase):
+  pass
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
new file mode 100644
index 00000000000000..4e4ecd341c26f1
--- /dev/null
+++ b/selfdrive/car/mazda/values.py
@@ -0,0 +1,236 @@
+# flake8: noqa
+
+from selfdrive.car import dbc_dict
+from cereal import car
+Ecu = car.CarParams.Ecu
+
+
+# Steer torque limits
+
+class CarControllerParams:
+  STEER_MAX = 800                # theoretical max_steer 2047
+  STEER_DELTA_UP = 10             # torque increase per refresh
+  STEER_DELTA_DOWN = 25           # torque decrease per refresh
+  STEER_DRIVER_ALLOWANCE = 15     # allowed driver torque before start limiting
+  STEER_DRIVER_MULTIPLIER = 1     # weight driver torque
+  STEER_DRIVER_FACTOR = 1         # from dbc
+  STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
+
+class CAR:
+  CX5 = "MAZDA CX-5"
+  CX9 = "MAZDA CX-9"
+  MAZDA3 = "MAZDA 3"
+  MAZDA6 = "MAZDA 6"
+  CX9_2021 = "Mazda CX-9 2021"   # No Steer Lockout
+
+class LKAS_LIMITS:
+  STEER_THRESHOLD = 15
+  DISABLE_SPEED = 45    # kph
+  ENABLE_SPEED = 52     # kph
+
+class Buttons:
+  NONE = 0
+  SET_PLUS = 1
+  SET_MINUS = 2
+  RESUME = 3
+  CANCEL = 4
+
+
+FW_VERSIONS = {
+  CAR.CX5: {
+    (Ecu.eps, 0x730, None): [
+      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-D\0x0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+
+  CAR.CX9 : {
+    (Ecu.eps, 0x730, None): [
+      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+
+  CAR.MAZDA3: {
+    (Ecu.eps, 0x730, None): [
+      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+
+  CAR.MAZDA6: {
+    (Ecu.eps, 0x730, None): [
+      b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-E\000\000\000\000\000\000\000\000\000\000\000\000',
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000',
+    ],
+  },
+
+  CAR.CX9_2021 : {
+    (Ecu.eps, 0x730, None): [
+      b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  }
+}
+
+
+DBC = {
+  CAR.CX5: dbc_dict('mazda_2017', None),
+  CAR.CX9: dbc_dict('mazda_2017', None),
+  CAR.MAZDA3: dbc_dict('mazda_2017', None),
+  CAR.MAZDA6: dbc_dict('mazda_2017', None),
+  CAR.CX9_2021: dbc_dict('mazda_2017', None),
+}
+
+# Gen 1 hardware: same CAN messages and same camera
+GEN1 = set([CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6])
+
+# Cars with a steering lockout
+STEER_LOCKOUT_CAR = set([CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6])
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 09c5b5c6123f48..999e735c73dec9 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -1,28 +1,28 @@
 #!/usr/bin/env python3
+import math
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
-from selfdrive.car import gen_empty_fingerprint
+from selfdrive.car import gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 # mocked car interface to work with chffrplus
 TS = 0.01  # 100Hz
-YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter
+YAW_FR = 0.2  # ~0.8s time constant on yaw rate filter
 # low pass gain
-LPG = 2 * 3.1415 * YAW_FR * TS / (1 + 2 * 3.1415 * YAW_FR * TS)
+LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS)
 
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-    self.CC = CarController
+  def __init__(self, CP, CarController, CarState):
+    super().__init__(CP, CarController, CarState)
 
     cloudlog.debug("Using Mock Car Interface")
 
     # TODO: subscribe to phone sensor
     self.sensor = messaging.sub_sock('sensorEvents')
-    self.gps = messaging.sub_sock('gpsLocation')
+    self.gps = messaging.sub_sock('gpsLocationExternal')
 
     self.speed = 0.
     self.prev_speed = 0.
@@ -34,41 +34,17 @@ def compute_gb(accel, speed):
     return accel
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-
-    ret = car.CarParams.new_message()
-
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "mock"
-    ret.carFingerprint = candidate
-
-    ret.safetyModel = car.CarParams.SafetyModel.noOutput
-    ret.openpilotLongitudinalControl = False
-
-    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
-    # scale unknown params for other cars
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.
     ret.rotationalInertia = 2500.
     ret.wheelbase = 2.70
     ret.centerToFront = ret.wheelbase * 0.5
-    ret.steerRatio = 13. # reasonable
+    ret.steerRatio = 13.  # reasonable
     ret.tireStiffnessFront = 1e6    # very stiff to neglect slip
     ret.tireStiffnessRear = 1e6     # very stiff to neglect slip
-    ret.steerRatioRear = 0.
-
-    ret.steerMaxBP = [0.]
-    ret.steerMaxV = [0.]  # 2/3rd torque allowed above 45 kph
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [0.]
-    ret.brakeMaxBP = [0.]
-    ret.brakeMaxV = [0.]
-
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.]
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
-    ret.steerActuatorDelay = 0.
 
     return ret
 
@@ -84,10 +60,11 @@ def update(self, c, can_strings):
     gps = messaging.recv_sock(self.gps)
     if gps is not None:
       self.prev_speed = self.speed
-      self.speed = gps.gpsLocation.speed
+      self.speed = gps.gpsLocationExternal.speed
 
     # create message
     ret = car.CarState.new_message()
+    ret.canValid = True
 
     # speeds
     ret.vEgo = self.speed
@@ -97,18 +74,15 @@ def update(self, c, can_strings):
     ret.aEgo = a
     ret.brakePressed = a < -0.5
 
-    self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
-    ret.yawRate = self.yaw_rate
     ret.standstill = self.speed < 0.01
     ret.wheelSpeeds.fl = self.speed
     ret.wheelSpeeds.fr = self.speed
     ret.wheelSpeeds.rl = self.speed
     ret.wheelSpeeds.rr = self.speed
-    curvature = self.yaw_rate / max(self.speed, 1.)
-    ret.steeringAngle = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
 
-    events = []
-    ret.events = events
+    self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
+    curvature = self.yaw_rate / max(self.speed, 1.)
+    ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
 
     return ret.as_reader()
 
diff --git a/panda/examples/__init__.py b/selfdrive/car/nissan/__init__.py
similarity index 100%
rename from panda/examples/__init__.py
rename to selfdrive/car/nissan/__init__.py
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
new file mode 100644
index 00000000000000..41ba9f6599cbdf
--- /dev/null
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -0,0 +1,90 @@
+from cereal import car
+from common.numpy_fast import clip, interp
+from selfdrive.car.nissan import nissancan
+from opendbc.can.packer import CANPacker
+from selfdrive.car.nissan.values import CAR, CarControllerParams
+
+
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
+
+class CarController():
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.car_fingerprint = CP.carFingerprint
+
+    self.lkas_max_torque = 0
+    self.last_angle = 0
+
+    self.packer = CANPacker(dbc_name)
+
+  def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
+             left_line, right_line, left_lane_depart, right_lane_depart):
+    """ Controls thread """
+
+    # Send CAN commands.
+    can_sends = []
+
+    ### STEER ###
+    acc_active = bool(CS.out.cruiseState.enabled)
+    lkas_hud_msg = CS.lkas_hud_msg
+    lkas_hud_info_msg = CS.lkas_hud_info_msg
+    apply_angle = actuators.steeringAngleDeg
+
+    steer_hud_alert = 1 if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] else 0
+
+    if enabled:
+      # # windup slower
+      if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
+        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
+      else:
+        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_VU)
+
+      apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
+
+      # Max torque from driver before EPS will give up and not apply torque
+      if not bool(CS.out.steeringPressed):
+        self.lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
+      else:
+        # Scale max torque based on how much torque the driver is applying to the wheel
+        self.lkas_max_torque = max(
+          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
+          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
+          # Start scaling torque at STEER_THRESHOLD
+          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
+        )
+
+    else:
+      apply_angle = CS.out.steeringAngleDeg
+      self.lkas_max_torque = 0
+
+    self.last_angle = apply_angle
+
+    if not enabled and acc_active:
+      # send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
+      cruise_cancel = 1
+
+    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA] and cruise_cancel:
+        can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
+
+    # TODO: Find better way to cancel!
+    # For some reason spamming the cancel button is unreliable on the Leaf
+    # We now cancel by making propilot think the seatbelt is unlatched,
+    # this generates a beep and a warning message every time you disengage
+    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC] and frame % 2 == 0:
+        can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
+
+    can_sends.append(nissancan.create_steering_control(
+        self.packer, apply_angle, frame, enabled, self.lkas_max_torque))
+
+    if lkas_hud_msg and lkas_hud_info_msg:
+      if frame % 2 == 0:
+        can_sends.append(nissancan.create_lkas_hud_msg(
+          self.packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart))
+
+      if frame % 50 == 0:
+        can_sends.append(nissancan.create_lkas_hud_info_msg(
+          self.packer, lkas_hud_info_msg, steer_hud_alert
+        ))
+
+    return can_sends
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
new file mode 100644
index 00000000000000..a4019b538c892b
--- /dev/null
+++ b/selfdrive/car/nissan/carstate.py
@@ -0,0 +1,363 @@
+import copy
+from collections import deque
+from cereal import car
+from opendbc.can.can_define import CANDefine
+from selfdrive.car.interfaces import CarStateBase
+from selfdrive.config import Conversions as CV
+from opendbc.can.parser import CANParser
+from selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
+
+TORQUE_SAMPLES = 12
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+
+    self.lkas_hud_msg = None
+    self.lkas_hud_info_msg = None
+
+    self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
+    self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
+
+  def update(self, cp, cp_adas, cp_cam):
+    ret = car.CarState.new_message()
+
+    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+      ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
+    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+      ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
+
+    ret.gasPressed = bool(ret.gas > 3)
+
+    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+      ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
+    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+      ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
+
+    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS
+
+    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
+
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw < 0.01
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+    else:
+      ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+
+    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
+      ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
+    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+      if self.CP.carFingerprint == CAR.LEAF:
+        ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
+      elif self.CP.carFingerprint == CAR.LEAF_IC:
+        ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
+      ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
+    elif self.CP.carFingerprint == CAR.ALTIMA:
+      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
+      ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
+    else:
+      speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
+
+    if speed != 255:
+      if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+        conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
+      else:
+        conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
+      speed -= 1  # Speed on HUD is always 1 lower than actually sent on can bus
+      ret.cruiseState.speed = speed * conversion
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+    else:
+      ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+
+    self.steeringTorqueSamples.append(ret.steeringTorque)
+    # Filtering driver torque to prevent steeringPressed false positives
+    ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
+
+    ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
+
+    ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"])
+    ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"])
+
+    ret.doorOpen = any([cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RR"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RL"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FR"],
+                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FL"]])
+
+    ret.espDisabled = bool(cp.vl["ESP"]["ESP_DISABLED"])
+
+    can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+    else:
+      self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+
+    self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
+
+    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+      self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
+
+    if self.CP.carFingerprint != CAR.ALTIMA:
+      self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
+      self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    # this function generates lists for signal, messages and initial values
+    signals = [
+      # sig_name, sig_address, default
+      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT", 0),
+      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT", 0),
+      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR", 0),
+      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR", 0),
+
+      ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
+
+      ("DOOR_OPEN_FR", "DOORS_LIGHTS", 1),
+      ("DOOR_OPEN_FL", "DOORS_LIGHTS", 1),
+      ("DOOR_OPEN_RR", "DOORS_LIGHTS", 1),
+      ("DOOR_OPEN_RL", "DOORS_LIGHTS", 1),
+
+      ("RIGHT_BLINKER", "LIGHTS", 0),
+      ("LEFT_BLINKER", "LIGHTS", 0),
+
+      ("ESP_DISABLED", "ESP", 0),
+
+      ("GEAR_SHIFTER", "GEARBOX", 0),
+    ]
+
+    checks = [
+      # sig_address, frequency
+      ("STEER_ANGLE_SENSOR", 100),
+      ("WHEEL_SPEEDS_REAR", 50),
+      ("WHEEL_SPEEDS_FRONT", 50),
+      ("ESP", 25),
+      ("GEARBOX", 25),
+      ("DOORS_LIGHTS", 10),
+      ("LIGHTS", 10),
+    ]
+
+    if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+      signals += [
+        ("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
+
+        ("GAS_PEDAL", "GAS_PEDAL", 0),
+        ("SEATBELT_DRIVER_LATCHED", "HUD", 0),
+        ("SPEED_MPH", "HUD", 0),
+
+        ("PROPILOT_BUTTON", "CRUISE_THROTTLE", 0),
+        ("CANCEL_BUTTON", "CRUISE_THROTTLE", 0),
+        ("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE", 0),
+        ("SET_BUTTON", "CRUISE_THROTTLE", 0),
+        ("RES_BUTTON", "CRUISE_THROTTLE", 0),
+        ("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE", 0),
+        ("NO_BUTTON_PRESSED", "CRUISE_THROTTLE", 0),
+        ("GAS_PEDAL", "CRUISE_THROTTLE", 0),
+        ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 0),
+        ("NEW_SIGNAL_2", "CRUISE_THROTTLE", 0),
+        ("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE", 0),
+        ("unsure1", "CRUISE_THROTTLE", 0),
+        ("unsure2", "CRUISE_THROTTLE", 0),
+        ("unsure3", "CRUISE_THROTTLE", 0),
+      ]
+
+      checks += [
+        ("GAS_PEDAL", 100),
+        ("CRUISE_THROTTLE", 50),
+        ("HUD", 25),
+      ]
+
+    elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+      signals += [
+        ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1),
+        ("GAS_PEDAL", "CRUISE_THROTTLE", 0),
+        ("CRUISE_AVAILABLE", "CRUISE_THROTTLE", 0),
+        ("SPEED_MPH", "HUD_SETTINGS", 0),
+        ("SEATBELT_DRIVER_LATCHED", "SEATBELT", 0),
+
+        # Copy other values, we use this to cancel
+        ("CANCEL_SEATBELT", "CANCEL_MSG", 0),
+        ("NEW_SIGNAL_1", "CANCEL_MSG", 0),
+        ("NEW_SIGNAL_2", "CANCEL_MSG", 0),
+        ("NEW_SIGNAL_3", "CANCEL_MSG", 0),
+      ]
+      checks += [
+        ("BRAKE_PEDAL", 100),
+        ("CRUISE_THROTTLE", 50),
+        ("CANCEL_MSG", 50),
+        ("HUD_SETTINGS", 25),
+        ("SEATBELT", 10),
+      ]
+
+    if CP.carFingerprint == CAR.ALTIMA:
+      signals += [
+        ("LKAS_ENABLED", "LKAS_SETTINGS", 0),
+        ("CRUISE_ENABLED", "CRUISE_STATE", 0),
+        ("SET_SPEED", "PROPILOT_HUD", 0),
+      ]
+      checks += [
+        ("CRUISE_STATE", 10),
+        ("LKAS_SETTINGS", 10),
+        ("PROPILOT_HUD", 50),
+      ]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+
+    signals += [
+      ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
+    ]
+    checks += [
+      ("STEER_TORQUE_SENSOR", 100),
+    ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+
+  @staticmethod
+  def get_adas_can_parser(CP):
+    # this function generates lists for signal, messages and initial values
+
+    if CP.carFingerprint == CAR.ALTIMA:
+      signals = [
+        ("DESIRED_ANGLE", "LKAS", 0),
+        ("SET_0x80_2", "LKAS", 0),
+        ("MAX_TORQUE", "LKAS", 0),
+        ("SET_0x80", "LKAS", 0),
+        ("COUNTER", "LKAS", 0),
+        ("LKA_ACTIVE", "LKAS", 0),
+
+        ("CRUISE_ON", "PRO_PILOT", 0),
+      ]
+      checks = [
+        ("LKAS", 100),
+        ("PRO_PILOT", 100),
+      ]
+    else:
+      signals = [
+        # sig_name, sig_address, default
+        ("LKAS_ENABLED", "LKAS_SETTINGS", 0),
+
+        ("CRUISE_ENABLED", "CRUISE_STATE", 0),
+
+        ("DESIRED_ANGLE", "LKAS", 0),
+        ("SET_0x80_2", "LKAS", 0),
+        ("MAX_TORQUE", "LKAS", 0),
+        ("SET_0x80", "LKAS", 0),
+        ("COUNTER", "LKAS", 0),
+        ("LKA_ACTIVE", "LKAS", 0),
+
+        # Below are the HUD messages. We copy the stock message and modify
+        ("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0),
+        ("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0),
+        ("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD", 0),
+        ("LEAD_CAR", "PROPILOT_HUD", 0),
+        ("LEAD_CAR_ERROR", "PROPILOT_HUD", 0),
+        ("FRONT_RADAR_ERROR", "PROPILOT_HUD", 0),
+        ("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD", 0),
+        ("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD", 0),
+        ("LKAS_ERROR_FLASHING", "PROPILOT_HUD", 0),
+        ("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD", 0),
+        ("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
+        ("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
+        ("FOLLOW_DISTANCE", "PROPILOT_HUD", 0),
+        ("AUDIBLE_TONE", "PROPILOT_HUD", 0),
+        ("SPEED_SET_ICON", "PROPILOT_HUD", 0),
+        ("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD", 0),
+        ("unknown59", "PROPILOT_HUD", 0),
+        ("unknown55", "PROPILOT_HUD", 0),
+        ("unknown26", "PROPILOT_HUD", 0),
+        ("unknown28", "PROPILOT_HUD", 0),
+        ("unknown31", "PROPILOT_HUD", 0),
+        ("SET_SPEED", "PROPILOT_HUD", 0),
+        ("unknown43", "PROPILOT_HUD", 0),
+        ("unknown08", "PROPILOT_HUD", 0),
+        ("unknown05", "PROPILOT_HUD", 0),
+        ("unknown02", "PROPILOT_HUD", 0),
+
+        ("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG", 0),
+        ("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG", 0),
+        ("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG", 0),
+        ("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
+        ("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
+        ("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
+        ("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG", 0),
+        ("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG", 0),
+        ("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG", 0),
+        ("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG", 0),
+        ("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG", 0),
+        ("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
+        ("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
+        ("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown07", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown10", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown15", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown23", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown19", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown31", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown32", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown46", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown61", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown55", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown50", "PROPILOT_HUD_INFO_MSG", 0),
+      ]
+
+      checks = [
+        ("PROPILOT_HUD_INFO_MSG", 2),
+        ("LKAS_SETTINGS", 10),
+        ("CRUISE_STATE", 50),
+        ("PROPILOT_HUD", 50),
+        ("LKAS", 100),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = []
+    checks = []
+
+    if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+      signals += [
+        ("CRUISE_ON", "PRO_PILOT", 0),
+      ]
+      checks += [
+        ("PRO_PILOT", 100),
+      ]
+    elif CP.carFingerprint == CAR.ALTIMA:
+      signals += [
+        ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
+      ]
+      checks += [
+        ("STEER_TORQUE_SENSOR", 100),
+      ]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
new file mode 100644
index 00000000000000..18ae885f8379b0
--- /dev/null
+++ b/selfdrive/car/nissan/interface.py
@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+from cereal import car
+from selfdrive.car.nissan.values import CAR
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car.interfaces import CarInterfaceBase
+
+class CarInterface(CarInterfaceBase):
+  def __init__(self, CP, CarController, CarState):
+    super().__init__(CP, CarController, CarState)
+    self.cp_adas = self.CS.get_adas_can_parser(CP)
+
+  @staticmethod
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+    ret.carName = "nissan"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+
+    ret.steerLimitAlert = False
+    ret.steerRateCost = 0.5
+
+    ret.steerActuatorDelay = 0.1
+
+    if candidate in [CAR.ROGUE, CAR.XTRAIL]:
+      ret.mass = 1610 + STD_CARGO_KG
+      ret.wheelbase = 2.705
+      ret.centerToFront = ret.wheelbase * 0.44
+      ret.steerRatio = 17
+    elif candidate in [CAR.LEAF, CAR.LEAF_IC]:
+      ret.mass = 1610 + STD_CARGO_KG
+      ret.wheelbase = 2.705
+      ret.centerToFront = ret.wheelbase * 0.44
+      ret.steerRatio = 17
+    elif candidate == CAR.ALTIMA:
+      # Altima has EPS on C-CAN unlike the others that have it on V-CAN
+      ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
+      ret.mass = 1492 + STD_CARGO_KG
+      ret.wheelbase = 2.824
+      ret.centerToFront = ret.wheelbase * 0.44
+      ret.steerRatio = 17
+
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.radarOffCan = True
+
+    # TODO: get actual value, for now starting with reasonable value for
+    # civic and scaling by mass and wheelbase
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+
+    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+    # mass and CG position, so all cars will have approximately similar dyn behaviors
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
+
+    return ret
+
+  # returns a car.CarState
+  def update(self, c, can_strings):
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
+    self.cp_adas.update_strings(can_strings)
+
+    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
+
+    ret.canValid = self.cp.can_valid and self.cp_adas.can_valid and self.cp_cam.can_valid
+
+    buttonEvents = []
+    be = car.CarState.ButtonEvent.new_message()
+    be.type = car.CarState.ButtonEvent.Type.accelCruise
+    buttonEvents.append(be)
+
+    events = self.create_common_events(ret)
+
+    if self.CS.lkas_enabled:
+      events.add(car.CarEvent.EventName.invalidLkasSetting)
+
+    ret.events = events.to_msg()
+
+    self.CS.out = ret.as_reader()
+    return self.CS.out
+
+  def apply(self, c):
+    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+                               c.cruiseControl.cancel, c.hudControl.visualAlert,
+                               c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible,
+                               c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+    self.frame += 1
+    return can_sends
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
new file mode 100644
index 00000000000000..ceace5088ad8c8
--- /dev/null
+++ b/selfdrive/car/nissan/nissancan.py
@@ -0,0 +1,71 @@
+import copy
+import crcmod
+from selfdrive.car.nissan.values import CAR
+
+nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
+
+
+def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
+  idx = (frame % 16)
+  values = {
+    "DESIRED_ANGLE": apply_steer,
+    "SET_0x80_2": 0x80,
+    "SET_0x80": 0x80,
+    "MAX_TORQUE": lkas_max_torque if steer_on else 0,
+    "COUNTER": idx,
+    "LKA_ACTIVE": steer_on,
+  }
+
+  dat = packer.make_can_msg("LKAS", 0, values)[2]
+
+  values["CHECKSUM"] = nissan_checksum(dat[:7])
+  return packer.make_can_msg("LKAS", 0, values)
+
+
+def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
+  values = copy.copy(cruise_throttle_msg)
+  can_bus = 2
+
+  if car_fingerprint == CAR.ALTIMA:
+    can_bus = 1
+
+  values["CANCEL_BUTTON"] = 1
+  values["NO_BUTTON_PRESSED"] = 0
+  values["PROPILOT_BUTTON"] = 0
+  values["SET_BUTTON"] = 0
+  values["RES_BUTTON"] = 0
+  values["FOLLOW_DISTANCE_BUTTON"] = 0
+  values["COUNTER"] = (frame % 4)
+
+  return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
+
+
+def create_cancel_msg(packer, cancel_msg, cruise_cancel):
+  values = copy.copy(cancel_msg)
+
+  if cruise_cancel:
+    values["CANCEL_SEATBELT"] = 1
+
+  return packer.make_can_msg("CANCEL_MSG", 2, values)
+
+
+def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
+  values = lkas_hud_msg
+
+  values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
+  values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
+
+  values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0
+  values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0
+  values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0
+
+  return packer.make_can_msg("PROPILOT_HUD", 0, values)
+
+
+def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
+  values = lkas_hud_info_msg
+
+  if steer_hud_alert:
+    values["HANDS_ON_WHEEL_WARNING"] = 1
+
+  return packer.make_can_msg("PROPILOT_HUD_INFO_MSG", 0, values)
diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py
new file mode 100644
index 00000000000000..b2f76511360320
--- /dev/null
+++ b/selfdrive/car/nissan/radar_interface.py
@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+from selfdrive.car.interfaces import RadarInterfaceBase
+
+class RadarInterface(RadarInterfaceBase):
+  pass
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
new file mode 100644
index 00000000000000..22bd4a1295f094
--- /dev/null
+++ b/selfdrive/car/nissan/values.py
@@ -0,0 +1,123 @@
+# flake8: noqa
+
+from selfdrive.car import dbc_dict
+from cereal import car
+Ecu = car.CarParams.Ecu
+
+
+class CarControllerParams:
+  ANGLE_DELTA_BP = [0., 5., 15.]
+  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
+  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
+  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
+  STEER_THRESHOLD = 1.0
+
+class CAR:
+  XTRAIL = "NISSAN X-TRAIL 2017"
+  LEAF = "NISSAN LEAF 2018"
+  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
+  # Currently the only known difference between them is the inverted seatbelt signal.
+  LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
+  ROGUE = "NISSAN ROGUE 2019"
+  ALTIMA = "NISSAN ALTIMA 2020"
+
+
+FINGERPRINTS = {
+  CAR.XTRAIL: [
+    {
+      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
+    },
+    {
+      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
+    },
+  ],
+  CAR.LEAF: [
+    {
+      2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
+    },
+    # 2020 Leaf SV Plus
+    {
+      2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
+    },
+  ],
+  CAR.LEAF_IC: [
+    {
+      2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8
+    },
+  ],
+  CAR.ROGUE: [
+    {
+      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    },
+  ],
+  CAR.ALTIMA: [
+    {
+      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    },
+  ]
+}
+
+FW_VERSIONS = {
+  CAR.ALTIMA: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'284N86CA1D',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'237109HE2B',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U29HE0A',
+    ],
+  },  
+  CAR.LEAF_IC: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
+      b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
+    ],
+    (Ecu.esp, 0x740, None): [
+      b'476605SH1D',
+      b'476605SK2A',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U25SH3A',
+      b'284U25SK2D',
+    ],
+  },
+  CAR.XTRAIL: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'284N86FR2A',
+    ],
+    (Ecu.esp, 0x740, None): [
+      b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80',
+      b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.combinationMeter, 0x743, None): [
+      b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U26FR0E',
+    ],
+  },
+}
+
+DBC = {
+  CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None),
+  CAR.LEAF: dbc_dict('nissan_leaf_2018', None),
+  CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None),
+  CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None),
+  CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None),
+}
diff --git a/selfdrive/car/subaru/__init__.py b/selfdrive/car/subaru/__init__.py
index 8b137891791fe9..e69de29bb2d1d6 100644
--- a/selfdrive/car/subaru/__init__.py
+++ b/selfdrive/car/subaru/__init__.py
@@ -1 +0,0 @@
-
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index dce4df810b3cf0..6163d7329c62c7 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,73 +1,75 @@
-#from common.numpy_fast import clip
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
-from selfdrive.car.subaru.values import DBC
+from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 
-class CarControllerParams():
-  def __init__(self, car_fingerprint):
-    self.STEER_MAX = 2047              # max_steer 4095
-    self.STEER_STEP = 2                # how often we update the steer cmd
-    self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
-    self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
-    self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
-    self.STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
-    self.STEER_DRIVER_FACTOR = 1       # from dbc
-
-
-
 class CarController():
-  def __init__(self, car_fingerprint):
-    self.lkas_active = False
-    self.steer_idx = 0
+  def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
-    self.car_fingerprint = car_fingerprint
     self.es_distance_cnt = -1
+    self.es_accel_cnt = -1
     self.es_lkas_cnt = -1
+    self.cruise_button_prev = 0
     self.steer_rate_limited = False
 
-    # Setup detection helper. Routes commands to
-    # an appropriate CAN bus number.
-    self.params = CarControllerParams(car_fingerprint)
-    self.packer = CANPacker(DBC[car_fingerprint]['pt'])
+    self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
-    """ Controls thread """
+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
-    P = self.params
-
-    # Send CAN commands.
     can_sends = []
 
-    ### STEER ###
-
-    if (frame % P.STEER_STEP) == 0:
+    # *** steering ***
+    if (frame % CarControllerParams.STEER_STEP) == 0:
 
-      final_steer = actuators.steer if enabled else 0.
-      apply_steer = int(round(final_steer * P.STEER_MAX))
+      apply_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
 
       # limits due to driver torque
 
       new_steer = int(round(apply_steer))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steer_torque_driver, P)
+      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-      lkas_enabled = enabled
-
-      if not lkas_enabled:
+      if not enabled:
         apply_steer = 0
 
-      can_sends.append(subarucan.create_steering_control(self.packer, CS.CP.carFingerprint, apply_steer, frame, P.STEER_STEP))
+      if CS.CP.carFingerprint in PREGLOBAL_CARS:
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
+      else:
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
 
       self.apply_steer_last = apply_steer
 
-    if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
-      can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
-      self.es_distance_cnt = CS.es_distance_msg["Counter"]
 
-    if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-      can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
-      self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
+    # *** alerts and pcm cancel ***
+
+    if CS.CP.carFingerprint in PREGLOBAL_CARS:
+      if self.es_accel_cnt != CS.es_accel_msg["Counter"]:
+        # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
+        # disengage ACC when OP is disengaged
+        if pcm_cancel_cmd:
+          cruise_button = 1
+        # turn main on if off and past start-up state
+        elif not CS.out.cruiseState.available and CS.ready:
+          cruise_button = 1
+        else:
+          cruise_button = CS.cruise_button
+
+        # unstick previous mocked button press
+        if cruise_button == 1 and self.cruise_button_prev == 1:
+          cruise_button = 0
+        self.cruise_button_prev = cruise_button
+
+        can_sends.append(subarucan.create_es_throttle_control(self.packer, cruise_button, CS.es_accel_msg))
+        self.es_accel_cnt = CS.es_accel_msg["Counter"]
+
+    else:
+      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
+        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
+        self.es_distance_cnt = CS.es_distance_msg["Counter"]
+
+      if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
+        self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
 
     return can_sends
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 10500ce6fafae3..e324037766d318 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -1,138 +1,238 @@
 import copy
+from cereal import car
+from opendbc.can.can_define import CANDefine
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD
-
-def get_powertrain_can_parser(CP):
-  # this function generates lists for signal, messages and initial values
-  signals = [
-    # sig_name, sig_address, default
-    ("Steer_Torque_Sensor", "Steering_Torque", 0),
-    ("Steering_Angle", "Steering_Torque", 0),
-    ("Cruise_On", "CruiseControl", 0),
-    ("Cruise_Activated", "CruiseControl", 0),
-    ("Brake_Pedal", "Brake_Pedal", 0),
-    ("Throttle_Pedal", "Throttle", 0),
-    ("LEFT_BLINKER", "Dashlights", 0),
-    ("RIGHT_BLINKER", "Dashlights", 0),
-    ("SEATBELT_FL", "Dashlights", 0),
-    ("FL", "Wheel_Speeds", 0),
-    ("FR", "Wheel_Speeds", 0),
-    ("RL", "Wheel_Speeds", 0),
-    ("RR", "Wheel_Speeds", 0),
-    ("DOOR_OPEN_FR", "BodyInfo", 1),
-    ("DOOR_OPEN_FL", "BodyInfo", 1),
-    ("DOOR_OPEN_RR", "BodyInfo", 1),
-    ("DOOR_OPEN_RL", "BodyInfo", 1),
-    ("Units", "Dash_State", 1),
-  ]
-
-  checks = [
-    # sig_address, frequency
-    ("Dashlights", 10),
-    ("CruiseControl", 20),
-    ("Wheel_Speeds", 50),
-    ("Steering_Torque", 50),
-    ("BodyInfo", 10),
-  ]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
-
-
-def get_camera_can_parser(CP):
-  signals = [
-    ("Cruise_Set_Speed", "ES_DashStatus", 0),
-
-    ("Counter", "ES_Distance", 0),
-    ("Signal1", "ES_Distance", 0),
-    ("Signal2", "ES_Distance", 0),
-    ("Main", "ES_Distance", 0),
-    ("Signal3", "ES_Distance", 0),
-
-    ("Checksum", "ES_LKAS_State", 0),
-    ("Counter", "ES_LKAS_State", 0),
-    ("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
-    ("Empty_Box", "ES_LKAS_State", 0),
-    ("Signal1", "ES_LKAS_State", 0),
-    ("LKAS_ACTIVE", "ES_LKAS_State", 0),
-    ("Signal2", "ES_LKAS_State", 0),
-    ("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
-    ("LKAS_ENABLE_3", "ES_LKAS_State", 0),
-    ("Signal3", "ES_LKAS_State", 0),
-    ("LKAS_ENABLE_2", "ES_LKAS_State", 0),
-    ("Signal4", "ES_LKAS_State", 0),
-    ("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
-    ("Signal6", "ES_LKAS_State", 0),
-    ("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
-    ("Signal7", "ES_LKAS_State", 0),
-    ("FCW_Cont_Beep", "ES_LKAS_State", 0),
-    ("FCW_Repeated_Beep", "ES_LKAS_State", 0),
-    ("Throttle_Management_Activated", "ES_LKAS_State", 0),
-    ("Traffic_light_Ahead", "ES_LKAS_State", 0),
-    ("Right_Depart", "ES_LKAS_State", 0),
-    ("Signal5", "ES_LKAS_State", 0),
-
-  ]
-
-  checks = [
-    ("ES_DashStatus", 10),
-  ]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS
 
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    # initialize can parser
-    self.left_blinker_cnt = 0
-    self.right_blinker_cnt = 0
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+    self.shifter_values = can_define.dv["Transmission"]["Gear"]
 
   def update(self, cp, cp_cam):
-
-    self.pedal_gas = cp.vl["Throttle"]['Throttle_Pedal']
-    self.brake_pressure = cp.vl["Brake_Pedal"]['Brake_Pedal']
-    self.user_gas_pressed = self.pedal_gas > 0
-    self.brake_pressed = self.brake_pressure > 0
-    self.brake_lights = bool(self.brake_pressed)
-
-    self.v_wheel_fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS
-    self.v_wheel_fr = cp.vl["Wheel_Speeds"]['FR'] * CV.KPH_TO_MS
-    self.v_wheel_rl = cp.vl["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS
-    self.v_wheel_rr = cp.vl["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS
-
-    self.v_cruise_pcm = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed']
-    # 1 = imperial, 6 = metric
-    if cp.vl["Dash_State"]['Units'] == 1:
-      self.v_cruise_pcm *= CV.MPH_TO_KPH
-
-    self.v_ego_raw = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+    ret = car.CarState.new_message()
+
+    ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
+    ret.gasPressed = ret.gas > 1e-5
+    if self.car_fingerprint in PREGLOBAL_CARS:
+      ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
+    else:
+      ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1
+
+    ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]["FL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fr = cp.vl["Wheel_Speeds"]["FR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rl = cp.vl["Wheel_Speeds"]["RL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rr = cp.vl["Wheel_Speeds"]["RR"] * CV.KPH_TO_MS
+    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
-    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
-
-    self.standstill = self.v_ego_raw < 0.01
-
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw < 0.01
 
     # continuous blinker signals for assisted lane change
-    self.left_blinker_cnt = 50 if cp.vl["Dashlights"]['LEFT_BLINKER'] else max(self.left_blinker_cnt - 1, 0)
-    self.left_blinker_on = self.left_blinker_cnt > 0
-
-    self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0)
-    self.right_blinker_on = self.right_blinker_cnt > 0
-
-    self.seatbelt_unlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
-    self.steer_torque_driver = cp.vl["Steering_Torque"]['Steer_Torque_Sensor']
-    self.acc_active = cp.vl["CruiseControl"]['Cruise_Activated']
-    self.main_on = cp.vl["CruiseControl"]['Cruise_On']
-    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.car_fingerprint]
-    self.angle_steers = cp.vl["Steering_Torque"]['Steering_Angle']
-    self.door_open = any([cp.vl["BodyInfo"]['DOOR_OPEN_RR'],
-      cp.vl["BodyInfo"]['DOOR_OPEN_RL'],
-      cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
-      cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
-
-    self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
-    self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
+      50, cp.vl["Dashlights"]["LEFT_BLINKER"], cp.vl["Dashlights"]["RIGHT_BLINKER"])
+
+    if self.CP.enableBsm:
+      ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
+      ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
+
+    can_gear = int(cp.vl["Transmission"]["Gear"])
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+
+    ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
+    ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
+
+    ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
+    ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0
+    ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
+
+    if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
+       (self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1):
+      ret.cruiseState.speed *= CV.MPH_TO_KPH
+
+    ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
+    ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"],
+                        cp.vl["BodyInfo"]["DOOR_OPEN_RL"],
+                        cp.vl["BodyInfo"]["DOOR_OPEN_FR"],
+                        cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
+    ret.steerError = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
+
+    if self.car_fingerprint in PREGLOBAL_CARS:
+      self.cruise_button = cp_cam.vl["ES_CruiseThrottle"]["Cruise_Button"]
+      self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
+      self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"])
+    else:
+      ret.steerWarning = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
+      ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
+      self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
+      self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    # this function generates lists for signal, messages and initial values
+    signals = [
+      # sig_name, sig_address, default
+      ("Steer_Torque_Sensor", "Steering_Torque", 0),
+      ("Steering_Angle", "Steering_Torque", 0),
+      ("Steer_Error_1", "Steering_Torque", 0),
+      ("Cruise_On", "CruiseControl", 0),
+      ("Cruise_Activated", "CruiseControl", 0),
+      ("Brake_Pedal", "Brake_Pedal", 0),
+      ("Throttle_Pedal", "Throttle", 0),
+      ("LEFT_BLINKER", "Dashlights", 0),
+      ("RIGHT_BLINKER", "Dashlights", 0),
+      ("SEATBELT_FL", "Dashlights", 0),
+      ("FL", "Wheel_Speeds", 0),
+      ("FR", "Wheel_Speeds", 0),
+      ("RL", "Wheel_Speeds", 0),
+      ("RR", "Wheel_Speeds", 0),
+      ("DOOR_OPEN_FR", "BodyInfo", 1),
+      ("DOOR_OPEN_FL", "BodyInfo", 1),
+      ("DOOR_OPEN_RR", "BodyInfo", 1),
+      ("DOOR_OPEN_RL", "BodyInfo", 1),
+      ("Gear", "Transmission", 0),
+    ]
+
+    checks = [
+      # sig_address, frequency
+      ("Throttle", 100),
+      ("Dashlights", 10),
+      ("Brake_Pedal", 50),
+      ("Wheel_Speeds", 50),
+      ("Transmission", 100),
+      ("Steering_Torque", 50),
+      ("BodyInfo", 1),
+    ]
+
+    if CP.enableBsm:
+      signals += [
+        ("L_ADJACENT", "BSD_RCTA", 0),
+        ("R_ADJACENT", "BSD_RCTA", 0),
+        ("L_APPROACHING", "BSD_RCTA", 0),
+        ("R_APPROACHING", "BSD_RCTA", 0),
+      ]
+      checks += [
+        ("BSD_RCTA", 17),
+      ]
+
+    if CP.carFingerprint not in PREGLOBAL_CARS:
+      signals += [
+        ("Steer_Warning", "Steering_Torque", 0),
+        ("Brake", "Brake_Status", 0),
+        ("UNITS", "Dashlights", 0),
+      ]
+
+      checks += [
+        ("Dashlights", 10),
+        ("BodyInfo", 10),
+        ("Brake_Status", 50),
+        ("CruiseControl", 20),
+      ]
+    else:
+      signals += [
+        ("UNITS", "Dash_State2", 0),
+      ]
+
+      checks += [
+        ("Dash_State2", 1),
+      ]
+
+    if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
+      checks += [
+        ("Dashlights", 20),
+        ("BodyInfo", 1),
+        ("CruiseControl", 50),
+      ]
+
+    if CP.carFingerprint in [CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
+      checks += [
+        ("Dashlights", 10),
+        ("CruiseControl", 50),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    if CP.carFingerprint in PREGLOBAL_CARS:
+      signals = [
+        ("Cruise_Set_Speed", "ES_DashStatus", 0),
+        ("Not_Ready_Startup", "ES_DashStatus", 0),
+
+        ("Throttle_Cruise", "ES_CruiseThrottle", 0),
+        ("Signal1", "ES_CruiseThrottle", 0),
+        ("Cruise_Activated", "ES_CruiseThrottle", 0),
+        ("Signal2", "ES_CruiseThrottle", 0),
+        ("Brake_On", "ES_CruiseThrottle", 0),
+        ("Distance_Swap", "ES_CruiseThrottle", 0),
+        ("Standstill", "ES_CruiseThrottle", 0),
+        ("Signal3", "ES_CruiseThrottle", 0),
+        ("Close_Distance", "ES_CruiseThrottle", 0),
+        ("Signal4", "ES_CruiseThrottle", 0),
+        ("Standstill_2", "ES_CruiseThrottle", 0),
+        ("Cruise_Fault", "ES_CruiseThrottle", 0),
+        ("Signal5", "ES_CruiseThrottle", 0),
+        ("Counter", "ES_CruiseThrottle", 0),
+        ("Signal6", "ES_CruiseThrottle", 0),
+        ("Cruise_Button", "ES_CruiseThrottle", 0),
+        ("Signal7", "ES_CruiseThrottle", 0),
+      ]
+
+      checks = [
+        ("ES_DashStatus", 20),
+        ("ES_CruiseThrottle", 20),
+      ]
+    else:
+      signals = [
+        ("Cruise_Set_Speed", "ES_DashStatus", 0),
+        ("Conventional_Cruise", "ES_DashStatus", 0),
+
+        ("Counter", "ES_Distance", 0),
+        ("Signal1", "ES_Distance", 0),
+        ("Cruise_Fault", "ES_Distance", 0),
+        ("Cruise_Throttle", "ES_Distance", 0),
+        ("Signal2", "ES_Distance", 0),
+        ("Car_Follow", "ES_Distance", 0),
+        ("Signal3", "ES_Distance", 0),
+        ("Cruise_Brake_Active", "ES_Distance", 0),
+        ("Distance_Swap", "ES_Distance", 0),
+        ("Cruise_EPB", "ES_Distance", 0),
+        ("Signal4", "ES_Distance", 0),
+        ("Close_Distance", "ES_Distance", 0),
+        ("Signal5", "ES_Distance", 0),
+        ("Cruise_Cancel", "ES_Distance", 0),
+        ("Cruise_Set", "ES_Distance", 0),
+        ("Cruise_Resume", "ES_Distance", 0),
+        ("Signal6", "ES_Distance", 0),
+
+        ("Counter", "ES_LKAS_State", 0),
+        ("LKAS_Alert_Msg", "ES_LKAS_State", 0),
+        ("Signal1", "ES_LKAS_State", 0),
+        ("LKAS_ACTIVE", "ES_LKAS_State", 0),
+        ("LKAS_Dash_State", "ES_LKAS_State", 0),
+        ("Signal2", "ES_LKAS_State", 0),
+        ("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
+        ("LKAS_Left_Line_Enable", "ES_LKAS_State", 0),
+        ("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
+        ("LKAS_Right_Line_Enable", "ES_LKAS_State", 0),
+        ("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
+        ("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
+        ("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
+        ("LKAS_Alert", "ES_LKAS_State", 0),
+        ("Signal3", "ES_LKAS_State", 0),
+      ]
+
+      checks = [
+        ("ES_DashStatus", 10),
+        ("ES_Distance", 20),
+        ("ES_LKAS_State", 10),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index d4388727bba083..86bba542cce108 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,59 +1,41 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.subaru.values import CAR
-from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-
-    self.frame = 0
-    self.acc_active_prev = 0
-    self.gas_pressed_prev = False
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-    self.VM = VehicleModel(CP)
-    self.pt_cp = get_powertrain_can_parser(CP)
-    self.cam_cp = get_camera_can_parser(CP)
-
-    self.gas_pressed_prev = False
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(CP.carFingerprint)
 
   @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-    ret = car.CarParams.new_message()
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "subaru"
     ret.radarOffCan = True
-    ret.carFingerprint = candidate
-    ret.isPandaBlack = has_relay
-    ret.safetyModel = car.CarParams.SafetyModel.subaru
 
-    ret.enableCruise = True
+    if candidate in PREGLOBAL_CARS:
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
+      ret.enableBsm = 0x25c in fingerprint[0]
+    else:
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
+      ret.enableBsm = 0x228 in fingerprint[0]
 
-    # force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
-    # was never released
-    ret.enableCamera = True
+    ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
     ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
-    if candidate in [CAR.IMPREZA]:
+    if candidate == CAR.ASCENT:
+      ret.mass = 2031. + STD_CARGO_KG
+      ret.wheelbase = 2.89
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 13.5
+      ret.steerActuatorDelay = 0.3   # end-to-end angle controller
+      ret.lateralTuning.pid.kf = 0.00003
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
+
+    if candidate == CAR.IMPREZA:
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
@@ -62,26 +44,47 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
-      ret.steerMaxBP = [0.] # m/s
-      ret.steerMaxV = [1.]
-
-    ret.steerControlType = car.CarParams.SteerControlType.torque
-    ret.steerRatioRear = 0.
-    # testing tuning
-
-    # No long control in subaru
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [0.]
-    ret.brakeMaxBP = [0.]
-    ret.brakeMaxV = [0.]
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.]
-
-    # end from gm
+
+    if candidate == CAR.FORESTER:
+      ret.mass = 1568. + STD_CARGO_KG
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 17           # learned, 14 stock
+      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.pid.kf = 0.000038
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
+
+    if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
+      ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
+      ret.mass = 1568 + STD_CARGO_KG
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 20           # learned, 14 stock
+      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.pid.kf = 0.000039
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
+
+    if candidate == CAR.LEGACY_PREGLOBAL:
+      ret.mass = 1568 + STD_CARGO_KG
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 12.5   # 14.5 stock
+      ret.steerActuatorDelay = 0.15
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
+
+    if candidate == CAR.OUTBACK_PREGLOBAL:
+      ret.mass = 1568 + STD_CARGO_KG
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 20           # learned, 14 stock
+      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.pid.kf = 0.000039
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
@@ -95,101 +98,22 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
   # returns a car.CarState
   def update(self, c, can_strings):
-    self.pt_cp.update_strings(can_strings)
-    self.cam_cp.update_strings(can_strings)
-
-    self.CS.update(self.pt_cp, self.cam_cp)
-
-    # create message
-    ret = car.CarState.new_message()
-
-    ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
-
-    # speeds
-    ret.vEgo = self.CS.v_ego
-    ret.aEgo = self.CS.a_ego
-    ret.vEgoRaw = self.CS.v_ego_raw
-    ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
-    ret.standstill = self.CS.standstill
-    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
-    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
-    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
-    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
-
-    # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
-
-    # torque and user override. Driver awareness
-    # timer resets when the user uses the steering wheel.
-    ret.steeringPressed = self.CS.steer_override
-    ret.steeringTorque = self.CS.steer_torque_driver
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
-    ret.gas = self.CS.pedal_gas / 255.
-    ret.gasPressed = self.CS.user_gas_pressed
-
-    # cruise state
-    ret.cruiseState.enabled = bool(self.CS.acc_active)
-    ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
-    ret.cruiseState.available = bool(self.CS.main_on)
-    ret.cruiseState.speedOffset = 0.
-
-    ret.leftBlinker = self.CS.left_blinker_on
-    ret.rightBlinker = self.CS.right_blinker_on
-    ret.seatbeltUnlatched = self.CS.seatbelt_unlatched
-    ret.doorOpen = self.CS.door_open
-
-    buttonEvents = []
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
 
-    # blinkers
-    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.leftBlinker
-      be.pressed = self.CS.left_blinker_on
-      buttonEvents.append(be)
+    ret = self.CS.update(self.cp, self.cp_cam)
 
-    if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.rightBlinker
-      be.pressed = self.CS.right_blinker_on
-      buttonEvents.append(be)
-
-    be = car.CarState.ButtonEvent.new_message()
-    be.type = ButtonType.accelCruise
-    buttonEvents.append(be)
-
-
-    events = []
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-
-    if self.CS.acc_active and not self.acc_active_prev:
-      events.append(create_event('pcmEnable', [ET.ENABLE]))
-    if not self.CS.acc_active:
-      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
-
-    # disable on gas pedal rising edge
-    if (ret.gasPressed and not self.gas_pressed_prev):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
-    ret.events = events
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
+    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    # update previous brake/gas pressed
-    self.gas_pressed_prev = ret.gasPressed
-    self.acc_active_prev = self.CS.acc_active
+    ret.events = self.create_common_events(ret).to_msg()
 
-    # cast to reader so it can't be modified
-    return ret.as_reader()
+    self.CS.out = ret.as_reader()
+    return self.CS.out
 
   def apply(self, c):
     can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
                                c.cruiseControl.cancel, c.hudControl.visualAlert,
-                               c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible)
+                               c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
     self.frame += 1
     return can_sends
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 96abfaafb3d698..6485de79016ed7 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -1,56 +1,90 @@
 import copy
 from cereal import car
-from selfdrive.car.subaru.values import CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def subaru_checksum(packer, values, addr):
-  dat = packer.make_can_msg(addr, 0, values)[2]
-  return (sum(dat[1:]) + (addr >> 8) + addr) & 0xff
-
-def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_step):
+def create_steering_control(packer, apply_steer, frame, steer_step):
 
-  if car_fingerprint == CAR.IMPREZA:
-    #counts from 0 to 15 then back to 0 + 16 for enable bit
-    idx = ((frame // steer_step) % 16)
+  idx = (frame / steer_step) % 16
 
-    values = {
-      "Counter": idx,
-      "LKAS_Output": apply_steer,
-      "LKAS_Request": 1 if apply_steer != 0 else 0,
-      "SET_1": 1
-    }
-    values["Checksum"] = subaru_checksum(packer, values, 0x122)
+  values = {
+    "Counter": idx,
+    "LKAS_Output": apply_steer,
+    "LKAS_Request": 1 if apply_steer != 0 else 0,
+    "SET_1": 1
+  }
 
   return packer.make_can_msg("ES_LKAS", 0, values)
 
-def create_steering_status(packer, car_fingerprint, apply_steer, frame, steer_step):
-
-  if car_fingerprint == CAR.IMPREZA:
-    values = {}
-    values["Checksum"] = subaru_checksum(packer, {}, 0x322)
-
-  return packer.make_can_msg("ES_LKAS_State", 0, values)
+def create_steering_status(packer, apply_steer, frame, steer_step):
+  return packer.make_can_msg("ES_LKAS_State", 0, {})
 
 def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
 
   values = copy.copy(es_distance_msg)
   if pcm_cancel_cmd:
-    values["Main"] = 1
-
-  values["Checksum"] = subaru_checksum(packer, values, 545)
+    values["Cruise_Cancel"] = 1
 
   return packer.make_can_msg("ES_Distance", 0, values)
 
-def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
+def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
   values = copy.copy(es_lkas_msg)
+
+  # Filter the stock LKAS "Keep hands on wheel" alert
+  if values["LKAS_Alert_Msg"] == 1:
+    values["LKAS_Alert_Msg"] = 0
+
+  # Filter the stock LKAS sending an audible alert when it turns off LKAS
+  if values["LKAS_Alert"] == 27:
+    values["LKAS_Alert"] = 0
+
+  # Show Keep hands on wheel alert for openpilot steerRequired alert
   if visual_alert == VisualAlert.steerRequired:
-    values["Keep_Hands_On_Wheel"] = 1
+    values["LKAS_Alert_Msg"] = 1
+
+  # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
+  if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
+    if left_lane_depart:
+      values["LKAS_Alert"] = 12 # Left lane departure dash alert
+    elif right_lane_depart:
+      values["LKAS_Alert"] = 11 # Right lane departure dash alert
+
+  if enabled:
+    values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
+    values["LKAS_Dash_State"] = 2 # Green enabled indicator
+  else:
+     values["LKAS_Dash_State"] = 0 # LKAS Not enabled
 
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
 
-  values["Checksum"] = subaru_checksum(packer, values, 802)
-
   return packer.make_can_msg("ES_LKAS_State", 0, values)
+
+# *** Subaru Pre-global ***
+
+def subaru_preglobal_checksum(packer, values, addr):
+  dat = packer.make_can_msg(addr, 0, values)[2]
+  return (sum(dat[:7])) % 256
+
+def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
+
+  idx = (frame / steer_step) % 8
+
+  values = {
+    "Counter": idx,
+    "LKAS_Command": apply_steer,
+    "LKAS_Active": 1 if apply_steer != 0 else 0
+  }
+  values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
+
+  return packer.make_can_msg("ES_LKAS", 0, values)
+
+def create_es_throttle_control(packer, cruise_button, es_accel_msg):
+
+  values = copy.copy(es_accel_msg)
+  values["Cruise_Button"] = cruise_button
+
+  values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_CruiseThrottle")
+
+  return packer.make_can_msg("ES_CruiseThrottle", 0, values)
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index b75fa9c3866789..39f8e5e5989bf1 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,28 +1,91 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+class CarControllerParams:
+  STEER_MAX = 2047              # max_steer 4095
+  STEER_STEP = 2                # how often we update the steer cmd
+  STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
+  STEER_DELTA_DOWN = 70         # torque decrease per refresh
+  STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
+  STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
+  STEER_DRIVER_FACTOR = 1       # from dbc
+
 class CAR:
+  ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
+  FORESTER = "SUBARU FORESTER 2019"
+  FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
+  LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
+  OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
+  OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
 
 FINGERPRINTS = {
+  CAR.ASCENT: [{
+  # SUBARU ASCENT LIMITED 2019
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1743: 8, 1759: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
+  }],
   CAR.IMPREZA: [{
-    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
+  }],
+  CAR.FORESTER: [{
+  # Forester 2019-2020
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 961: 8, 984: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
+  }],
+  CAR.OUTBACK_PREGLOBAL: [{
+  # OUTBACK PREMIUM 2.5i 2015
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 346: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1786: 5, 1882: 8, 2015: 8, 2016: 8, 2024: 8, 604: 8, 885: 8, 1788: 8, 316: 8, 1614: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1743: 8, 1785: 5, 1787: 5
   },
-  # Crosstrek 2018 (same platform as Impreza)
+  # OUTBACK PREMIUM 3.6i 2015
   {
-    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 256: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1779: 8, 1786: 5
+  },
+  # OUTBACK LIMITED 2.5i 2018
+  {
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
+  }],
+  CAR.OUTBACK_PREGLOBAL_2018: [{
+  # OUTBACK LIMITED 3.6R 2019
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 2, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1862: 8, 1870: 8, 1920: 8, 1927: 8, 1928: 8, 1935: 8, 1968: 8, 1976: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+  CAR.FORESTER_PREGLOBAL: [{
+  # FORESTER PREMIUM 2.5i 2017
+    2: 8, 112: 8, 117: 8, 128: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 340: 7, 342: 8, 352: 8, 353: 8, 354: 8, 355: 8, 356: 8, 554: 8, 604: 8, 640: 8, 641: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 1, 888: 8, 977: 8, 1398: 8, 1632: 8, 1743: 8, 1744: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1882: 8, 1895: 8, 1903: 8, 1986: 8, 1994: 8, 2015: 8, 2016: 8, 2024: 8, 644:8, 890:8, 1736:8
+  }],
+  CAR.LEGACY_PREGLOBAL: [{
+  # LEGACY 2.5i 2017
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1632: 8, 1640: 8, 1736: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 644: 8
+  },
+  # LEGACY 2018
+  {
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1778: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
+  },
+  # LEGACY 2018
+  {
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
   }],
 }
 
 STEER_THRESHOLD = {
+  CAR.ASCENT: 80,
   CAR.IMPREZA: 80,
-}
-
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [290, 356],   # steer torque cmd
+  CAR.FORESTER: 80,
+  CAR.FORESTER_PREGLOBAL: 75,
+  CAR.LEGACY_PREGLOBAL: 75,
+  CAR.OUTBACK_PREGLOBAL: 75,
+  CAR.OUTBACK_PREGLOBAL_2018: 75,
 }
 
 DBC = {
-  CAR.IMPREZA: dbc_dict('subaru_global_2017', None),
+  CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
+  CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
+  CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
+  CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
+  CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
+  CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
+  CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
+
+PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]
diff --git a/panda/tests/__init__.py b/selfdrive/car/tesla/__init__.py
similarity index 100%
rename from panda/tests/__init__.py
rename to selfdrive/car/tesla/__init__.py
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
new file mode 100644
index 00000000000000..df53b9dd9d804c
--- /dev/null
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -0,0 +1,53 @@
+from common.numpy_fast import clip, interp
+from selfdrive.car.tesla.teslacan import TeslaCAN
+from opendbc.can.packer import CANPacker
+from selfdrive.car.tesla.values import CANBUS, CarControllerParams
+
+class CarController():
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.last_angle = 0
+    self.packer = CANPacker(dbc_name)
+    self.tesla_can = TeslaCAN(dbc_name, self.packer)
+
+  def update(self, enabled, CS, frame, actuators, cruise_cancel):
+    can_sends = []
+
+    # Temp disable steering on a hands_on_fault, and allow for user override
+    hands_on_fault = (CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3)
+    lkas_enabled = enabled and (not hands_on_fault)
+
+    if lkas_enabled:
+      apply_angle = actuators.steeringAngleDeg
+
+      # Angular rate limit based on speed
+      steer_up = (self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle))
+      rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
+      max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
+      apply_angle = clip(apply_angle, (self.last_angle - max_angle_diff), (self.last_angle + max_angle_diff))
+
+      # To not fault the EPS
+      apply_angle = clip(apply_angle, (CS.out.steeringAngleDeg - 20), (CS.out.steeringAngleDeg + 20))
+    else:
+      apply_angle = CS.out.steeringAngleDeg
+
+    self.last_angle = apply_angle
+    can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, frame))
+
+    # Cancel on user steering override, since there is no steering torque blending
+    if hands_on_fault:
+      cruise_cancel = True
+
+    # Cancel when openpilot is not enabled anymore
+    if not enabled and bool(CS.out.cruiseState.enabled):
+      cruise_cancel = True
+
+    if ((frame % 10) == 0 and cruise_cancel):
+      # Spam every possible counter value, otherwise it might not be accepted
+      for counter in range(16):
+        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, cruise_cancel, CANBUS.chassis, counter))
+        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, cruise_cancel, CANBUS.autopilot, counter))
+
+    # TODO: HUD control
+
+    return can_sends
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
new file mode 100644
index 00000000000000..4bd1d1001caab6
--- /dev/null
+++ b/selfdrive/car/tesla/carstate.py
@@ -0,0 +1,181 @@
+import copy
+from cereal import car
+from selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
+from selfdrive.car.interfaces import CarStateBase
+from opendbc.can.parser import CANParser
+from opendbc.can.can_define import CANDefine
+from selfdrive.config import Conversions as CV
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.button_states = {button.event_type: False for button in BUTTONS}
+    self.can_define = CANDefine(DBC[CP.carFingerprint]['chassis'])
+
+    # Needed by carcontroller
+    self.msg_stw_actn_req = None
+    self.hands_on_level = 0
+    self.steer_warning = None
+
+  def update(self, cp, cp_cam):
+    ret = car.CarState.new_message()
+
+    # Vehicle speed
+    ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = (ret.vEgo < 0.1)
+
+    # Gas pedal
+    ret.gas = cp.vl["DI_torque1"]["DI_pedalPos"] / 100.0
+    ret.gasPressed = (ret.gas > 0)
+
+    # Brake pedal
+    ret.brake = 0
+    ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
+
+    # Steering wheel
+    self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"]
+    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None)
+    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None)
+
+    ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"]
+    ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
+    ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
+    ret.steeringPressed = (self.hands_on_level > 0)
+    ret.steerError = steer_status == "EAC_FAULT"
+    ret.steerWarning = self.steer_warning != "EAC_ERROR_IDLE"
+
+    # Cruise state
+    cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
+    speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
+
+    acc_enabled = (cruise_state in ["ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"])
+
+    ret.cruiseState.enabled = acc_enabled
+    if speed_units == "KPH":
+      ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
+    elif speed_units == "MPH":
+      ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
+    ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled)
+    ret.cruiseState.standstill = (cruise_state == "STANDSTILL")
+
+    # Gear
+    ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
+
+    # Buttons
+    buttonEvents = []
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        buttonEvents.append(event)
+      self.button_states[button.event_type] = state
+    ret.buttonEvents = buttonEvents
+
+    # Doors
+    ret.doorOpen = any([(self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS])
+
+    # Blinkers
+    ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
+    ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
+
+    # Seatbelt
+    ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
+
+    # TODO: blindspot
+
+    # Messages needed by carcontroller
+    self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    signals = [
+      # sig_name, sig_address, default
+      ("ESP_vehicleSpeed", "ESP_B", 0),
+      ("DI_pedalPos", "DI_torque1", 0),
+      ("DI_brakePedal", "DI_torque2", 0),
+      ("StW_AnglHP", "STW_ANGLHP_STAT", 0),
+      ("StW_AnglHP_Spd", "STW_ANGLHP_STAT", 0),
+      ("EPAS_handsOnLevel", "EPAS_sysStatus", 0),
+      ("EPAS_torsionBarTorque", "EPAS_sysStatus", 0),
+      ("EPAS_internalSAS", "EPAS_sysStatus", 0),
+      ("EPAS_eacStatus", "EPAS_sysStatus", 1),
+      ("EPAS_eacErrorCode", "EPAS_sysStatus", 0),
+      ("DI_cruiseState", "DI_state", 0),
+      ("DI_digitalSpeed", "DI_state", 0),
+      ("DI_speedUnits", "DI_state", 0),
+      ("DI_gear", "DI_torque2", 0),
+      ("DOOR_STATE_FL", "GTW_carState", 1),
+      ("DOOR_STATE_FR", "GTW_carState", 1),
+      ("DOOR_STATE_RL", "GTW_carState", 1),
+      ("DOOR_STATE_RR", "GTW_carState", 1),
+      ("DOOR_STATE_FrontTrunk", "GTW_carState", 1),
+      ("BOOT_STATE", "GTW_carState", 1),
+      ("BC_indicatorLStatus", "GTW_carState", 1),
+      ("BC_indicatorRStatus", "GTW_carState", 1),
+      ("SDM_bcklDrivStatus", "SDM1", 0),
+      ("driverBrakeStatus", "BrakeMessage", 0),
+
+      # We copy this whole message when spamming cancel
+      ("SpdCtrlLvr_Stat", "STW_ACTN_RQ", 0),
+      ("VSL_Enbl_Rq", "STW_ACTN_RQ", 0),
+      ("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ", 0),
+      ("DTR_Dist_Rq", "STW_ACTN_RQ", 0),
+      ("TurnIndLvr_Stat", "STW_ACTN_RQ", 0),
+      ("HiBmLvr_Stat", "STW_ACTN_RQ", 0),
+      ("WprWashSw_Psd", "STW_ACTN_RQ", 0),
+      ("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ", 0),
+      ("StW_Lvr_Stat", "STW_ACTN_RQ", 0),
+      ("StW_Cond_Flt", "STW_ACTN_RQ", 0),
+      ("StW_Cond_Psd", "STW_ACTN_RQ", 0),
+      ("HrnSw_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw00_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw01_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw02_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw03_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw04_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw05_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw06_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw07_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw08_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw09_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw10_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw11_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw12_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw13_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw14_Psd", "STW_ACTN_RQ", 0),
+      ("StW_Sw15_Psd", "STW_ACTN_RQ", 0),
+      ("WprSw6Posn", "STW_ACTN_RQ", 0),
+      ("MC_STW_ACTN_RQ", "STW_ACTN_RQ", 0),
+      ("CRC_STW_ACTN_RQ", "STW_ACTN_RQ", 0),
+    ]
+
+    checks = [
+      # sig_address, frequency
+      ("ESP_B", 50),
+      ("DI_torque1", 100),
+      ("DI_torque2", 100),
+      ("STW_ANGLHP_STAT", 100),
+      ("EPAS_sysStatus", 25),
+      ("DI_state", 10),
+      ("STW_ACTN_RQ", 10),
+      ("GTW_carState", 10),
+      ("SDM1", 10),
+      ("BrakeMessage", 50),
+    ]
+
+    return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.chassis)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = [
+      # sig_name, sig_address, default
+    ]
+    checks = [
+      # sig_address, frequency
+    ]
+    return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.autopilot)
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
new file mode 100755
index 00000000000000..e2642154505966
--- /dev/null
+++ b/selfdrive/car/tesla/interface.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+from cereal import car
+from selfdrive.car.tesla.values import CAR
+from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
+from selfdrive.car.interfaces import CarInterfaceBase
+
+
+class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+    ret.carName = "tesla"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla)]
+
+    # There is no safe way to do steer blending with user torque,
+    # so the steering behaves like autopilot. This is not
+    # how openpilot should be, hence dashcamOnly
+    ret.dashcamOnly = True
+
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.openpilotLongitudinalControl = False
+
+    ret.steerActuatorDelay = 0.1
+    ret.steerRateCost = 0.5
+
+    if candidate in [CAR.AP2_MODELS, CAR.AP1_MODELS]:
+      ret.mass = 2100. + STD_CARGO_KG
+      ret.wheelbase = 2.959
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 13.5
+    else:
+      raise ValueError(f"Unsupported car: {candidate}")
+
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
+
+    return ret
+
+  def update(self, c, can_strings):
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
+
+    ret = self.CS.update(self.cp, self.cp_cam)
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
+
+    events = self.create_common_events(ret)
+
+    ret.events = events.to_msg()
+    self.CS.out = ret.as_reader()
+    return self.CS.out
+
+  def apply(self, c):
+    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel)
+    self.frame += 1
+    return can_sends
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
new file mode 100755
index 00000000000000..f5ad12ba7e89df
--- /dev/null
+++ b/selfdrive/car/tesla/radar_interface.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+from cereal import car
+from opendbc.can.parser import CANParser
+from selfdrive.car.tesla.values import DBC, CANBUS
+from selfdrive.car.interfaces import RadarInterfaceBase
+
+RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
+RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
+NUM_POINTS = len(RADAR_MSGS_A)
+
+def get_radar_can_parser(CP):
+  # Status messages
+  signals = [
+    ('RADC_HWFail', 'TeslaRadarSguInfo', 0),
+    ('RADC_SGUFail', 'TeslaRadarSguInfo', 0),
+    ('RADC_SensorDirty', 'TeslaRadarSguInfo', 0),
+  ]
+
+  checks = [
+    ('TeslaRadarSguInfo', 10),
+  ]
+
+  # Radar tracks. There are also raw point clouds available,
+  # we don't use those.
+  for i in range(NUM_POINTS):
+    msg_id_a = RADAR_MSGS_A[i]
+    msg_id_b = RADAR_MSGS_B[i]
+
+    # There is a bunch more info in the messages,
+    # but these are the only things actually used in openpilot
+    signals.extend([
+      ('LongDist', msg_id_a, 255),
+      ('LongSpeed', msg_id_a, 0),
+      ('LatDist', msg_id_a, 0),
+      ('LongAccel', msg_id_a, 0),
+      ('Meas', msg_id_a, 0),
+      ('Tracked', msg_id_a, 0),
+      ('Index', msg_id_a, 0),
+
+      ('LatSpeed', msg_id_b, 0),
+      ('Index2', msg_id_b, 0),
+    ])
+
+    checks.extend([
+      (msg_id_a, 8),
+      (msg_id_b, 8),
+    ])
+
+  return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, CANBUS.radar)
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.rcp = get_radar_can_parser(CP)
+    self.updated_messages = set()
+    self.track_id = 0
+    self.trigger_msg = RADAR_MSGS_B[-1]
+
+  def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
+    values = self.rcp.update_strings(can_strings)
+    self.updated_messages.update(values)
+
+    if self.trigger_msg not in self.updated_messages:
+      return None
+
+    ret = car.RadarData.new_message()
+
+    # Errors
+    errors = []
+    sgu_info = self.rcp.vl['TeslaRadarSguInfo']
+    if not self.rcp.can_valid:
+      errors.append('canError')
+    if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']:
+      errors.append('fault')
+    ret.errors = errors
+
+    # Radar tracks
+    for i in range(NUM_POINTS):
+      msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
+      msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
+
+      # Make sure msg A and B are together
+      if msg_a['Index'] != msg_b['Index2']:
+        continue
+
+      # Check if it's a valid track
+      if not msg_a['Tracked']:
+        if i in self.pts:
+          del self.pts[i]
+        continue
+
+      # New track!
+      if i not in self.pts:
+        self.pts[i] = car.RadarData.RadarPoint.new_message()
+        self.pts[i].trackId = self.track_id
+        self.track_id += 1
+
+      # Parse track data
+      self.pts[i].dRel = msg_a['LongDist']
+      self.pts[i].yRel = msg_a['LatDist']
+      self.pts[i].vRel = msg_a['LongSpeed']
+      self.pts[i].aRel = msg_a['LongAccel']
+      self.pts[i].yvRel = msg_b['LatSpeed']
+      self.pts[i].measured = bool(msg_a['Meas'])
+
+    ret.points = list(self.pts.values())
+    self.updated_messages.clear()
+    return ret
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
new file mode 100644
index 00000000000000..0dee8b182c9c00
--- /dev/null
+++ b/selfdrive/car/tesla/teslacan.py
@@ -0,0 +1,41 @@
+import copy
+import crcmod
+from opendbc.can.can_define import CANDefine
+from selfdrive.car.tesla.values import CANBUS
+
+
+class TeslaCAN:
+  def __init__(self, dbc_name, packer):
+    self.can_define = CANDefine(dbc_name)
+    self.packer = packer
+    self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
+
+  @staticmethod
+  def checksum(msg_id, dat):
+    # TODO: get message ID from name instead
+    ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF)
+    ret += sum(dat)
+    return ret & 0xFF
+
+  def create_steering_control(self, angle, enabled, frame):
+    values = {
+      "DAS_steeringAngleRequest": -angle,
+      "DAS_steeringHapticRequest": 0,
+      "DAS_steeringControlType": 1 if enabled else 0,
+      "DAS_steeringControlCounter": (frame % 16),
+    }
+
+    data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
+    values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
+    return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
+
+  def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
+    values = copy.copy(msg_stw_actn_req)
+
+    if cancel:
+      values["SpdCtrlLvr_Stat"] = 1
+      values["MC_STW_ACTN_RQ"] = counter
+
+    data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[2]
+    values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
+    return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
new file mode 100644
index 00000000000000..2a7cf9e50b5e33
--- /dev/null
+++ b/selfdrive/car/tesla/values.py
@@ -0,0 +1,61 @@
+# flake8: noqa
+
+from collections import namedtuple
+from selfdrive.car import dbc_dict
+from cereal import car
+
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
+
+class CAR:
+  AP1_MODELS = 'TESLA AP1 MODEL S'
+  AP2_MODELS = 'TESLA AP2 MODEL S'
+
+FINGERPRINTS = {
+  CAR.AP2_MODELS: [
+    {
+      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
+    },
+  ],
+  CAR.AP1_MODELS: [
+    {
+      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
+    },
+  ],
+}
+
+DBC = {
+  CAR.AP2_MODELS: dbc_dict(None, 'tesla_radar', chassis_dbc='tesla_can'),
+  CAR.AP1_MODELS: dbc_dict(None, 'tesla_radar', chassis_dbc='tesla_can'),
+}
+
+class CANBUS:
+  chassis = 0
+  autopilot = 2
+  radar = 1
+
+GEAR_MAP = {
+  "DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
+  "DI_GEAR_P": car.CarState.GearShifter.park,
+  "DI_GEAR_R": car.CarState.GearShifter.reverse,
+  "DI_GEAR_N": car.CarState.GearShifter.neutral,
+  "DI_GEAR_D": car.CarState.GearShifter.drive,
+  "DI_GEAR_SNA": car.CarState.GearShifter.unknown,
+}
+
+DOORS = ["DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE"]
+
+# Make sure the message and addr is also in the CAN parser!
+BUTTONS = [
+  Button(car.CarState.ButtonEvent.Type.leftBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [1]),
+  Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
+  Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
+  Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
+]
+
+class CarControllerParams:
+  RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
+  RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
+
diff --git a/panda/tests/automated/__init__.py b/selfdrive/car/tests/__init__.py
similarity index 100%
rename from panda/tests/automated/__init__.py
rename to selfdrive/car/tests/__init__.py
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
new file mode 100755
index 00000000000000..93dc05c8386561
--- /dev/null
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+import unittest
+import importlib
+from parameterized import parameterized
+
+from cereal import car
+from selfdrive.car.fingerprints import all_known_cars
+from selfdrive.car.car_helpers import interfaces
+from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
+
+class TestCarInterfaces(unittest.TestCase):
+
+  @parameterized.expand([(car,) for car in all_known_cars()])
+  def test_car_interfaces(self, car_name):
+    print(car_name)
+    if car_name in FINGERPRINTS:
+      fingerprint = FINGERPRINTS[car_name][0]
+    else:
+      fingerprint = {}
+
+    CarInterface, CarController, CarState = interfaces[car_name]
+    fingerprints = {
+      0: fingerprint,
+      1: fingerprint,
+      2: fingerprint,
+    }
+
+    car_fw = []
+
+    car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
+    car_interface = CarInterface(car_params, CarController, CarState)
+    assert car_params
+    assert car_interface
+
+    self.assertGreater(car_params.mass, 1)
+    self.assertGreater(car_params.steerRateCost, 1e-3)
+
+    if car_params.steerControlType != car.CarParams.SteerControlType.angle:
+      tuning = car_params.lateralTuning.which()
+      if tuning == 'pid':
+        self.assertTrue(len(car_params.lateralTuning.pid.kpV))
+      elif tuning == 'lqr':
+        self.assertTrue(len(car_params.lateralTuning.lqr.a))
+      elif tuning == 'indi':
+        self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
+
+    # Run car interface
+    CC = car.CarControl.new_message()
+    for _ in range(10):
+      car_interface.update(CC, [])
+      car_interface.apply(CC)
+      car_interface.apply(CC)
+
+    CC = car.CarControl.new_message()
+    CC.enabled = True
+    for _ in range(10):
+      car_interface.update(CC, [])
+      car_interface.apply(CC)
+      car_interface.apply(CC)
+
+    # Test radar interface
+    RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface
+    radar_interface = RadarInterface(car_params)
+    assert radar_interface
+
+    # Run radar interface once
+    radar_interface.update([])
+    if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
+      radar_interface._update([radar_interface.trigger_msg])
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 24c3bfed7516e1..2d17ee20f821df 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -2,26 +2,13 @@
 from common.numpy_fast import clip, interp
 from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command, make_can_msg
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
-                                           create_ipas_steer_command, create_accel_command, \
-                                           create_acc_cancel_command, create_fcw_command
-from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams
+                                           create_accel_command, create_acc_cancel_command, \
+                                           create_fcw_command, create_lta_steer_command
+from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
+                                        MIN_ACC_SPEED, PEDAL_HYST_GAP, PEDAL_SCALE, CarControllerParams
 from opendbc.can.packer import CANPacker
-
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-# Accel limits
-ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
-ACCEL_MAX = 1.5  # 1.5 m/s2
-ACCEL_MIN = -3.0 # 3   m/s2
-ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
-
-
-# Steer angle limits (tested at the Crows Landing track and considered ok)
-ANGLE_MAX_BP = [0., 5.]
-ANGLE_MAX_V = [510., 300.]
-ANGLE_DELTA_BP = [0., 5., 15.]
-ANGLE_DELTA_V = [5., .8, .15]     # windup limit
-ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
 
 def accel_hysteresis(accel, accel_steady, enabled):
 
@@ -29,75 +16,24 @@ def accel_hysteresis(accel, accel_steady, enabled):
   if not enabled:
     # send 0 when disabled, otherwise acc faults
     accel_steady = 0.
-  elif accel > accel_steady + ACCEL_HYST_GAP:
-    accel_steady = accel - ACCEL_HYST_GAP
-  elif accel < accel_steady - ACCEL_HYST_GAP:
-    accel_steady = accel + ACCEL_HYST_GAP
+  elif accel > accel_steady + CarControllerParams.ACCEL_HYST_GAP:
+    accel_steady = accel - CarControllerParams.ACCEL_HYST_GAP
+  elif accel < accel_steady - CarControllerParams.ACCEL_HYST_GAP:
+    accel_steady = accel + CarControllerParams.ACCEL_HYST_GAP
   accel = accel_steady
 
   return accel, accel_steady
 
 
-def process_hud_alert(hud_alert):
-  # initialize to no alert
-  steer = 0
-  fcw = 0
-
-  if hud_alert == VisualAlert.fcw:
-    fcw = 1
-  elif hud_alert == VisualAlert.steerRequired:
-    steer = 1
-
-  return steer, fcw
-
-
-def ipas_state_transition(steer_angle_enabled, enabled, ipas_active, ipas_reset_counter):
-
-  if enabled and not steer_angle_enabled:
-    #ipas_reset_counter = max(0, ipas_reset_counter - 1)
-    #if ipas_reset_counter == 0:
-    #  steer_angle_enabled = True
-    #else:
-    #  steer_angle_enabled = False
-    #return steer_angle_enabled, ipas_reset_counter
-    return True, 0
-
-  elif enabled and steer_angle_enabled:
-    if steer_angle_enabled and not ipas_active:
-      ipas_reset_counter += 1
-    else:
-      ipas_reset_counter = 0
-    if ipas_reset_counter > 10:  # try every 0.1s
-      steer_angle_enabled = False
-    return steer_angle_enabled, ipas_reset_counter
-
-  else:
-    return False, 0
-
-
 class CarController():
-  def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_apg):
-    self.braking = False
-    # redundant safety check with the board
-    self.controls_allowed = True
+  def __init__(self, dbc_name, CP, VM):
     self.last_steer = 0
-    self.last_angle = 0
     self.accel_steady = 0.
-    self.car_fingerprint = car_fingerprint
     self.alert_active = False
     self.last_standstill = False
     self.standstill_req = False
-    self.angle_control = False
-
-    self.steer_angle_enabled = False
-    self.ipas_reset_counter = 0
-    self.last_fault_frame = -200
     self.steer_rate_limited = False
-
-    self.fake_ecus = set()
-    if enable_camera: self.fake_ecus.add(Ecu.fwdCamera)
-    if enable_dsu: self.fake_ecus.add(Ecu.dsu)
-    if enable_apg: self.fake_ecus.add(Ecu.apgs)
+    self.use_interceptor = False
 
     self.packer = CANPacker(dbc_name)
 
@@ -107,70 +43,53 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     # *** compute control surfaces ***
 
     # gas and brake
-
-    apply_gas = clip(actuators.gas, 0., 1.)
+    interceptor_gas_cmd = 0.
+    pcm_accel_cmd = actuators.accel
 
     if CS.CP.enableGasInterceptor:
-      # send only negative accel if interceptor is detected. otherwise, send the regular value
-      # +0.06 offset to reduce ABS pump usage when OP is engaged
-      apply_accel = 0.06 - actuators.brake
-    else:
-      apply_accel = actuators.gas - actuators.brake
-
-    apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady, enabled)
-    apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
+      # handle hysteresis when around the minimum acc speed
+      if CS.out.vEgo < MIN_ACC_SPEED:
+        self.use_interceptor = True
+      elif CS.out.vEgo > MIN_ACC_SPEED + PEDAL_HYST_GAP:
+        self.use_interceptor = False
+
+      if self.use_interceptor and enabled:
+        # only send negative accel when using interceptor. gas handles acceleration
+        # +0.18 m/s^2 offset to reduce ABS pump usage when OP is engaged
+        MAX_INTERCEPTOR_GAS = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED], [0.2, 0.5])
+        interceptor_gas_cmd = clip(actuators.accel / PEDAL_SCALE, 0., MAX_INTERCEPTOR_GAS)
+        pcm_accel_cmd = 0.18 - max(0, -actuators.accel)
+
+    pcm_accel_cmd, self.accel_steady = accel_hysteresis(pcm_accel_cmd, self.accel_steady, enabled)
+    pcm_accel_cmd = clip(pcm_accel_cmd, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
     # steer torque
-    new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.steer_torque_motor, SteerLimitParams)
+    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
+    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, CarControllerParams)
     self.steer_rate_limited = new_steer != apply_steer
 
-    # only cut torque when steer state is a known fault
-    if CS.steer_state in [9, 25]:
-      self.last_fault_frame = frame
-
-    # Cut steering for 2s after fault
-    if not enabled or (frame - self.last_fault_frame < 200):
+    # Cut steering while we're in a known fault state (2s)
+    if not enabled or CS.steer_state in [9, 25]:
       apply_steer = 0
       apply_steer_req = 0
     else:
       apply_steer_req = 1
 
-    self.steer_angle_enabled, self.ipas_reset_counter = \
-      ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
-    #print("{0} {1} {2}".format(self.steer_angle_enabled, self.ipas_reset_counter, CS.ipas_active))
-
-    # steer angle
-    if self.steer_angle_enabled and CS.ipas_active:
-      apply_angle = actuators.steerAngle
-      angle_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_MAX_V)
-      apply_angle = clip(apply_angle, -angle_lim, angle_lim)
-
-      # windup slower
-      if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
-        angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_V)
-      else:
-        angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
-
-      apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
-    else:
-      apply_angle = CS.angle_steers
-
+    # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
+    # than CS.cruiseState.enabled. confirm they're not meaningfully different
     if not enabled and CS.pcm_acc_status:
-      # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
       pcm_cancel_cmd = 1
 
     # on entering standstill, send standstill request
-    if CS.standstill and not self.last_standstill:
+    if CS.out.standstill and not self.last_standstill and CS.CP.carFingerprint not in NO_STOP_TIMER_CAR:
       self.standstill_req = True
     if CS.pcm_acc_status != 8:
       # pcm entered standstill or it's disabled
       self.standstill_req = False
 
     self.last_steer = apply_steer
-    self.last_angle = apply_angle
-    self.last_accel = apply_accel
-    self.last_standstill = CS.standstill
+    self.last_accel = pcm_accel_cmd
+    self.last_standstill = CS.out.standstill
 
     can_sends = []
 
@@ -180,62 +99,57 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
     # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
     # on consecutive messages
-    if Ecu.fwdCamera in self.fake_ecus:
-      if self.angle_control:
-        can_sends.append(create_steer_command(self.packer, 0., 0, frame))
-      else:
-        can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
+    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
+    if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
+      can_sends.append(create_lta_steer_command(self.packer, 0, 0, frame // 2))
 
-    if self.angle_control:
-      can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
-                                                 Ecu.apgs in self.fake_ecus))
-    elif Ecu.apgs in self.fake_ecus:
-      can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
+    # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
+    # if frame % 2 == 0:
+    #   can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
+    #   can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
 
     # we can spam can to cancel the system even if we are using lat only control
-    if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
-      lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged
+    if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
+      lead = lead or CS.out.vEgo < 12.    # at low speed we always assume the lead is present do ACC can be engaged
 
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif CS.CP.openpilotLongitudinalControl:
-        can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
+        can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
       else:
-        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead))
+        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type))
 
-    if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
-        # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
-        # This prevents unexpected pedal range rescaling
-        can_sends.append(create_gas_command(self.packer, apply_gas, frame//2))
+    if frame % 2 == 0 and CS.CP.enableGasInterceptor:
+      # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
+      # This prevents unexpected pedal range rescaling
+      can_sends.append(create_gas_command(self.packer, interceptor_gas_cmd, frame // 2))
 
     # ui mesg is at 100Hz but we send asap if:
     # - there is something to display
     # - there is something to stop displaying
-    alert_out = process_hud_alert(hud_alert)
-    steer, fcw = alert_out
+    fcw_alert = hud_alert == VisualAlert.fcw
+    steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
 
-    if (any(alert_out) and not self.alert_active) or \
-       (not any(alert_out) and self.alert_active):
+    send_ui = False
+    if ((fcw_alert or steer_alert) and not self.alert_active) or \
+       (not (fcw_alert or steer_alert) and self.alert_active):
       send_ui = True
       self.alert_active = not self.alert_active
-    else:
-      send_ui = False
-
-    # disengage msg causes a bad fault sound so play a good sound instead
-    if pcm_cancel_cmd:
+    elif pcm_cancel_cmd:
+      # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
       send_ui = True
 
-    if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
-      can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
+    if (frame % 100 == 0 or send_ui):
+      can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
 
-    if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
-      can_sends.append(create_fcw_command(self.packer, fcw))
+    if frame % 100 == 0 and CS.CP.enableDsu:
+      can_sends.append(create_fcw_command(self.packer, fcw_alert))
 
     #*** static msgs ***
 
-    for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
-      if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars:
+    for (addr, cars, bus, fr_step, vl) in STATIC_DSU_MSGS:
+      if frame % fr_step == 0 and CS.CP.enableDsu and CS.CP.carFingerprint in cars:
         can_sends.append(make_can_msg(addr, vl, bus))
 
     return can_sends
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index cb172b591c34f2..cacd5b7bedf31d 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -1,165 +1,218 @@
+from cereal import car
 from common.numpy_fast import mean
+from common.filter_simple import FirstOrderFilter
+from common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR
-
-
-def get_can_parser(CP):
-
-  signals = [
-    # sig_name, sig_address, default
-    ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
-    ("GEAR", "GEAR_PACKET", 0),
-    ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
-    ("GAS_PEDAL", "GAS_PEDAL", 0),
-    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
-    ("DOOR_OPEN_FL", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_FR", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_RL", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_RR", "SEATS_DOORS", 1),
-    ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
-    ("TC_DISABLED", "ESP_CONTROL", 1),
-    ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
-    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
-    ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
-    ("CRUISE_STATE", "PCM_CRUISE", 0),
-    ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
-    ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
-    ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
-    ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
-    ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
-    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
-  ]
-
-  checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
-    ("WHEEL_SPEEDS", 80),
-    ("STEER_ANGLE_SENSOR", 80),
-    ("PCM_CRUISE", 33),
-    ("STEER_TORQUE_SENSOR", 50),
-    ("EPS_STATUS", 25),
-  ]
-
-  if CP.carFingerprint == CAR.LEXUS_IS:
-    signals.append(("MAIN_ON", "DSU_CRUISE", 0))
-    signals.append(("SET_SPEED", "DSU_CRUISE", 0))
-    checks.append(("DSU_CRUISE", 5))
-  else:
-    signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
-    signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
-    signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
-    checks.append(("PCM_CRUISE_2", 33))
-
-  if CP.carFingerprint in NO_DSU_CAR:
-    signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
-
-  if CP.carFingerprint == CAR.PRIUS:
-    signals += [("STATE", "AUTOPARK_STATUS", 0)]
-
-  # add gas interceptor reading if we are using it
-  if CP.enableGasInterceptor:
-    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
-    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
-    checks.append(("GAS_SENSOR", 50))
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
-
-
-def get_cam_can_parser(CP):
-
-  signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
-
-  # use steering message to check if panda is connected to frc
-  checks = [("STEERING_LKA", 42)]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR
 
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = can_define.dv["GEAR_PACKET"]['GEAR']
-    self.angle_offset = 0.
-    self.init_angle_offset = False
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+    self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"]
+
+    # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
+    # the signal is zeroed to where the steering angle is at start.
+    # Need to apply an offset as soon as the steering angle measurements are both received
+    self.needs_angle_offset = True
+    self.accurate_steer_angle_seen = False
+    self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
+
+    self.low_speed_lockout = False
+    self.acc_type = 1
 
   def update(self, cp, cp_cam):
-    # update prevs, update must run once per loop
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
+    ret = car.CarState.new_message()
 
-    self.door_all_closed = not any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
-                                    cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
-    self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
+    ret.doorOpen = any([cp.vl["SEATS_DOORS"]["DOOR_OPEN_FL"], cp.vl["SEATS_DOORS"]["DOOR_OPEN_FR"],
+                        cp.vl["SEATS_DOORS"]["DOOR_OPEN_RL"], cp.vl["SEATS_DOORS"]["DOOR_OPEN_RR"]])
+    ret.seatbeltUnlatched = cp.vl["SEATS_DOORS"]["SEATBELT_DRIVER_UNLATCHED"] != 0
 
-    self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
+    ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
+    ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
     if self.CP.enableGasInterceptor:
-      self.pedal_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
+      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
+      ret.gasPressed = ret.gas > 15
     else:
-      self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
-    self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
+      ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
+      ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
 
-    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
-    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
-    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
-    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
-    self.v_ego_raw = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
-    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
+    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS
+    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
-    self.standstill = not self.v_ego_raw > 0.001
+    ret.standstill = ret.vEgoRaw < 0.001
 
-    if self.CP.carFingerprint in TSS2_CAR:
-      self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
-    elif self.CP.carFingerprint in NO_DSU_CAR:
-      # cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
-      # need to apply an offset as soon as the steering angle measurements are both received
-      self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
-      angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
-      if abs(angle_wheel) > 1e-3 and abs(self.angle_steers) > 1e-3 and not self.init_angle_offset:
-        self.init_angle_offset = True
-        self.angle_offset = self.angle_steers - angle_wheel
-    else:
-      self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
-    self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
-    can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
-    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
-    if self.CP.carFingerprint == CAR.LEXUS_IS:
-      self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
-    else:
-      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
-    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
-    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
+    ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
+    torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
 
-    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
-    self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
-    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
-    self.brake_error = 0
-    self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
-    self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
+    # Some newer models have a more accurate angle measurement in the TORQUE_SENSOR message. Use if non-zero
+    if abs(torque_sensor_angle_deg) > 1e-3:
+      self.accurate_steer_angle_seen = True
+
+    if self.accurate_steer_angle_seen:
+      # Offset seems to be invalid for large steering angles
+      if abs(ret.steeringAngleDeg) < 90:
+        self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
+
+      if self.angle_offset.initialized:
+        ret.steeringAngleOffsetDeg = self.angle_offset.x
+        ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
+
+    ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
+
+    can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+    ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
+    ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
+
+    ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+    ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"]
     # we could use the override bit from dbc, but it's triggered at too high torque values
-    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5]
 
-    self.user_brake = 0
     if self.CP.carFingerprint == CAR.LEXUS_IS:
-      self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['SET_SPEED']
-      self.low_speed_lockout = False
+      ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
+      ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
     else:
-      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
-    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
-    if self.CP.carFingerprint == CAR.PRIUS:
-      self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
+      ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
+      ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
+
+    if self.CP.carFingerprint in TSS2_CAR:
+      self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]
+
+    # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
+    # these cars are identified by an ACC_TYPE value of 2.
+    # TODO: it is possible to avoid the lockout and gain stop and go if you
+    # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
+    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint != CAR.LEXUS_IS) or \
+       (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
+
+    self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
+    if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
+      # ignore standstill in hybrid vehicles, since pcm allows to restart without
+      # receiving any special command. Also if interceptor is detected
+      ret.cruiseState.standstill = False
     else:
-      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
+      ret.cruiseState.standstill = self.pcm_acc_status == 7
+    ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
+    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in [1, 2, 3, 4, 5, 6]
+
+    ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
+    ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
 
-    self.stock_aeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
+    ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
+    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
+    self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
+
+    if self.CP.enableBsm:
+      ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
+      ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+
+    signals = [
+      # sig_name, sig_address, default
+      ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
+      ("GEAR", "GEAR_PACKET", 0),
+      ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
+      ("GAS_PEDAL", "GAS_PEDAL", 0),
+      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+      ("DOOR_OPEN_FL", "SEATS_DOORS", 1),
+      ("DOOR_OPEN_FR", "SEATS_DOORS", 1),
+      ("DOOR_OPEN_RL", "SEATS_DOORS", 1),
+      ("DOOR_OPEN_RR", "SEATS_DOORS", 1),
+      ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
+      ("TC_DISABLED", "ESP_CONTROL", 1),
+      ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL", 1),
+      ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
+      ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
+      ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
+      ("CRUISE_STATE", "PCM_CRUISE", 0),
+      ("GAS_RELEASED", "PCM_CRUISE", 1),
+      ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
+      ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
+      ("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
+      ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
+      ("LKA_STATE", "EPS_STATUS", 0),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ]
+
+    checks = [
+      ("GEAR_PACKET", 1),
+      ("LIGHT_STALK", 1),
+      ("STEERING_LEVERS", 0.15),
+      ("SEATS_DOORS", 3),
+      ("ESP_CONTROL", 3),
+      ("EPS_STATUS", 25),
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+      ("WHEEL_SPEEDS", 80),
+      ("STEER_ANGLE_SENSOR", 80),
+      ("PCM_CRUISE", 33),
+      ("STEER_TORQUE_SENSOR", 50),
+    ]
+
+    if CP.carFingerprint == CAR.LEXUS_IS:
+      signals.append(("MAIN_ON", "DSU_CRUISE", 0))
+      signals.append(("SET_SPEED", "DSU_CRUISE", 0))
+      checks.append(("DSU_CRUISE", 5))
+    else:
+      signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
+      signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
+      signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
+      checks.append(("PCM_CRUISE_2", 33))
+
+    # add gas interceptor reading if we are using it
+    if CP.enableGasInterceptor:
+      signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
+      signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
+      checks.append(("GAS_SENSOR", 50))
+
+    if CP.enableBsm:
+      signals += [
+        ("L_ADJACENT", "BSM", 0),
+        ("L_APPROACHING", "BSM", 0),
+        ("R_ADJACENT", "BSM", 0),
+        ("R_APPROACHING", "BSM", 0),
+      ]
+      checks += [
+        ("BSM", 1)
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+
+    signals = [
+      ("FORCE", "PRE_COLLISION", 0),
+      ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0),
+    ]
+
+    # use steering message to check if panda is connected to frc
+    checks = [
+      ("STEERING_LKA", 42),
+      ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
+    ]
+
+    if CP.carFingerprint in TSS2_CAR:
+      signals.append(("ACC_TYPE", "ACC_CONTROL", 0))
+      checks.append(("ACC_CONTROL", 33))
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index ff397e44295ff9..643876af118a93 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -1,92 +1,56 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
-from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, NO_STOP_TIMER_CAR, TSS2_CAR, FINGERPRINTS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
-from selfdrive.swaglog import cloudlog
+from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
-GearShifter = car.CarState.GearShifter
+EventName = car.CarEvent.EventName
 
-class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-    self.VM = VehicleModel(CP)
-
-    self.frame = 0
-    self.gas_pressed_prev = False
-    self.brake_pressed_prev = False
-    self.cruise_enabled_prev = False
-
-    # *** init the major players ***
-    self.CS = CarState(CP)
-
-    self.cp = get_can_parser(CP)
-    self.cp_cam = get_cam_can_parser(CP)
-
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
 
+class CarInterface(CarInterfaceBase):
   @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-
-    ret = car.CarParams.new_message()
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "toyota"
-    ret.carFingerprint = candidate
-    ret.isPandaBlack = has_relay
-
-    ret.safetyModel = car.CarParams.SafetyModel.toyota
-
-    ret.enableCruise = True
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
 
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
 
-    if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
+    ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
+
+    if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]:  # These cars use LQR/INDI
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
-      ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
+      ret.safetyConfigs[0].safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
 
       ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGain = 4.0
-      ret.lateralTuning.indi.outerLoopGain = 3.0
-      ret.lateralTuning.indi.timeConstant = 1.0
-      ret.lateralTuning.indi.actuatorEffectiveness = 1.0
-
-      # TODO: Determine if this is better than INDI
-      # ret.lateralTuning.init('lqr')
-      # ret.lateralTuning.lqr.scale = 1500.0
-      # ret.lateralTuning.lqr.ki = 0.01
-
-      # ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
-      # ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
-      # ret.lateralTuning.lqr.c = [1., 0.]
-      # ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
-      # ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
-      # ret.lateralTuning.lqr.dcGain = 0.002237852961363602
-
-      ret.steerActuatorDelay = 0.5
+      ret.lateralTuning.indi.innerLoopGainBP = [0.]
+      ret.lateralTuning.indi.innerLoopGainV = [4.0]
+      ret.lateralTuning.indi.outerLoopGainBP = [0.]
+      ret.lateralTuning.indi.outerLoopGainV = [3.0]
+      ret.lateralTuning.indi.timeConstantBP = [0.]
+      ret.lateralTuning.indi.timeConstantV = [1.0]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]
+      ret.steerActuatorDelay = 0.3
 
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
       stop_and_go = True if (candidate in CAR.RAV4H) else False
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.65
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
@@ -105,7 +69,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate == CAR.COROLLA:
       stop_and_go = False
-      ret.safetyParam = 100
+      ret.safetyConfigs[0].safetyParam = 88
       ret.wheelbase = 2.70
       ret.steerRatio = 18.27
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -115,7 +79,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate == CAR.LEXUS_RX:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.5533
@@ -125,7 +89,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate == CAR.LEXUS_RXH:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -135,7 +99,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate == CAR.LEXUS_RX_TSS2:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.5533  # not optimized yet
@@ -143,9 +107,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
+    elif candidate == CAR.LEXUS_RXH_TSS2:
+      stop_and_go = True
+      ret.safetyConfigs[0].safetyParam = 73
+      ret.wheelbase = 2.79
+      ret.steerRatio = 16.0  # 14.8 is spec end-to-end
+      tire_stiffness_factor = 0.444  # not optimized yet
+      ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.15]]
+      ret.lateralTuning.pid.kf = 0.00007818594
+
     elif candidate in [CAR.CHR, CAR.CHRH]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.63906
       ret.steerRatio = 13.6
       tire_stiffness_factor = 0.7933
@@ -153,19 +127,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]]
       ret.lateralTuning.pid.kf = 0.00006
 
-    elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
+    elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.82448
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
-      ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid
+      ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00006
 
-    elif candidate == CAR.HIGHLANDER_TSS2:
+    elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
@@ -175,48 +149,46 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
-      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
+      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
       ret.lateralTuning.pid.kf = 0.00012  # community tuning
 
-    elif candidate == CAR.AVALON:
+    elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
       stop_and_go = False
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.82
-      ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
+      ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]]
       ret.lateralTuning.pid.kf = 0.00006
 
-    elif candidate == CAR.RAV4_TSS2:
+    elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
+      ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
-      ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kf = 0.00007818594
 
-    elif candidate == CAR.RAV4H_TSS2:
-      stop_and_go = True
-      ret.safetyParam = 73
-      ret.wheelbase = 2.68986
-      ret.steerRatio = 14.3
-      tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
-      ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
+      # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
+      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
+      for fw in car_fw:
+        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
+          ret.lateralTuning.pid.kf = 0.00004
+          break
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
-      ret.wheelbase = 2.63906
+      ret.safetyConfigs[0].safetyParam = 73
+      ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
@@ -225,27 +197,37 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.8702
-      ret.steerRatio = 16.0 # not optimized
+      ret.steerRatio = 16.0  # not optimized
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
+    elif candidate == CAR.LEXUS_ESH:
+      stop_and_go = True
+      ret.safetyConfigs[0].safetyParam = 73
+      ret.wheelbase = 2.8190
+      ret.steerRatio = 16.06
+      tire_stiffness_factor = 0.444  # not optimized yet
+      ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kf = 0.00007818594
+
     elif candidate == CAR.SIENNA:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 3.03
-      ret.steerRatio = 16.0
+      ret.steerRatio = 15.5
       tire_stiffness_factor = 0.444
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate == CAR.LEXUS_IS:
       stop_and_go = False
-      ret.safetyParam = 77
+      ret.safetyConfigs[0].safetyParam = 77
       ret.wheelbase = 2.79908
       ret.steerRatio = 13.3
       tire_stiffness_factor = 0.444
@@ -255,7 +237,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate == CAR.LEXUS_CTH:
       stop_and_go = True
-      ret.safetyParam = 100
+      ret.safetyConfigs[0].safetyParam = 100
       ret.wheelbase = 2.60
       ret.steerRatio = 18.6
       tire_stiffness_factor = 0.517
@@ -263,16 +245,46 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00007
 
-    elif candidate == CAR.LEXUS_NXH:
+    elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.66
       ret.steerRatio = 14.7
-      tire_stiffness_factor = 0.444 # not optimized yet
+      tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    elif candidate == CAR.PRIUS_TSS2:
+      stop_and_go = True
+      ret.safetyConfigs[0].safetyParam = 73
+      ret.wheelbase = 2.70002  # from toyota online sepc.
+      ret.steerRatio = 13.4   # True steerRation from older prius
+      tire_stiffness_factor = 0.6371   # hand-tune
+      ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35], [0.15]]
+      ret.lateralTuning.pid.kf = 0.00007818594
+
+    elif candidate == CAR.MIRAI:
+      stop_and_go = True
+      ret.safetyConfigs[0].safetyParam = 73
+      ret.wheelbase = 2.91
+      ret.steerRatio = 14.8
+      tire_stiffness_factor = 0.8
+      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kf = 0.00006
+
+    elif candidate == CAR.ALPHARD_TSS2:
+      stop_and_go = True
+      ret.safetyConfigs[0].safetyParam = 73
+      ret.wheelbase = 3.00
+      ret.steerRatio = 14.2
+      tire_stiffness_factor = 0.444
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
+      ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kf = 0.00007818594
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -285,53 +297,45 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    # no rear steering, at least on the listed cars above
-    ret.steerRatioRear = 0.
-    ret.steerControlType = car.CarParams.SteerControlType.torque
-
-    # steer, gas, brake limitations VS speed
-    ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS]  # breakpoints at 1 and 40 kph
-    ret.steerMaxV = [1., 1.]  # 2/3rd torque allowed above 45 kph
-    ret.brakeMaxBP = [0.]
-    ret.brakeMaxV = [1.]
-
-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+    ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
     # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
     smartDsu = 0x2FF in fingerprint[0]
     # In TSS2 cars the camera does long control
-    ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR
-    ret.enableApgs = False  # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.apgs)
+    found_ecus = [fw.ecu for fw in car_fw]
+    ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
     # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
-    ret.openpilotLongitudinalControl = ret.enableCamera and (smartDsu or ret.enableDsu or candidate in TSS2_CAR)
-    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
-    cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
-    cloudlog.warning("ECU APGS Simulated: %r", ret.enableApgs)
-    cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
+    ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
-    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
+    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
 
     # removing the DSU disables AEB and it's considered a community maintained feature
     # intercepting the DSU is a community feature since it requires unofficial hardware
     ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
 
-    ret.longitudinalTuning.deadzoneBP = [0., 9.]
-    ret.longitudinalTuning.deadzoneV = [0., .15]
-    ret.longitudinalTuning.kpBP = [0., 5., 35.]
-    ret.longitudinalTuning.kiBP = [0., 35.]
-    ret.stoppingControl = False
-    ret.startAccel = 0.0
-
     if ret.enableGasInterceptor:
-      ret.gasMaxBP = [0., 9., 35]
-      ret.gasMaxV = [0.2, 0.5, 0.7]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.longitudinalTuning.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
+      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5]
+      ret.longitudinalTuning.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
+      ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36]
+    elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]:
+      # Improved longitudinal tune
+      ret.longitudinalTuning.deadzoneBP = [0., 8.05]
+      ret.longitudinalTuning.deadzoneV = [.0, .14]
+      ret.longitudinalTuning.kpBP = [0., 5., 20.]
+      ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
+      ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
+      ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      ret.startingAccelRate = 6.0  # release brakes fast
     else:
-      ret.gasMaxBP = [0.]
-      ret.gasMaxV = [0.5]
+      # Default longitudinal tune
+      ret.longitudinalTuning.deadzoneBP = [0., 9.]
+      ret.longitudinalTuning.deadzoneV = [0., .15]
+      ret.longitudinalTuning.kpBP = [0., 5., 35.]
+      ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
       ret.longitudinalTuning.kiV = [0.54, 0.36]
 
@@ -343,137 +347,29 @@ def update(self, c, can_strings):
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
 
-    self.CS.update(self.cp, self.cp_cam)
-
-    # create message
-    ret = car.CarState.new_message()
+    ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
-
-    # speeds
-    ret.vEgo = self.CS.v_ego
-    ret.vEgoRaw = self.CS.v_ego_raw
-    ret.aEgo = self.CS.a_ego
-    ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
-    ret.standstill = self.CS.standstill
-    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
-    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
-    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
-    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
-
-    # gear shifter
-    ret.gearShifter = self.CS.gear_shifter
-
-    # gas pedal
-    ret.gas = self.CS.pedal_gas
-    if self.CP.enableGasInterceptor:
-    # use interceptor values to disengage on pedal press
-      ret.gasPressed = self.CS.pedal_gas > 15
-    else:
-      ret.gasPressed = self.CS.pedal_gas > 0
-
-    # brake pedal
-    ret.brake = self.CS.user_brake
-    ret.brakePressed = self.CS.brake_pressed != 0
-    ret.brakeLights = self.CS.brake_lights
-
-    # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
-    ret.steeringRate = self.CS.angle_steers_rate
-
-    ret.steeringTorque = self.CS.steer_torque_driver
-    ret.steeringTorqueEps = self.CS.steer_torque_motor
-    ret.steeringPressed = self.CS.steer_override
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    # cruise state
-    ret.cruiseState.enabled = self.CS.pcm_acc_active
-    ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
-    ret.cruiseState.available = bool(self.CS.main_on)
-    ret.cruiseState.speedOffset = 0.
-
-    if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
-      # ignore standstill in hybrid vehicles, since pcm allows to restart without
-      # receiving any special command
-      # also if interceptor is detected
-      ret.cruiseState.standstill = False
-    else:
-      ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
-
-    buttonEvents = []
-    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.leftBlinker
-      be.pressed = self.CS.left_blinker_on != 0
-      buttonEvents.append(be)
-
-    if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
-      be = car.CarState.ButtonEvent.new_message()
-      be.type = ButtonType.rightBlinker
-      be.pressed = self.CS.right_blinker_on != 0
-      buttonEvents.append(be)
-
-    ret.buttonEvents = buttonEvents
-    ret.leftBlinker = bool(self.CS.left_blinker_on)
-    ret.rightBlinker = bool(self.CS.right_blinker_on)
-
-    ret.doorOpen = not self.CS.door_all_closed
-    ret.seatbeltUnlatched = not self.CS.seatbelt
-
-    ret.genericToggle = self.CS.generic_toggle
-    ret.stockAeb = self.CS.stock_aeb
-
     # events
-    events = []
-
-    if self.cp_cam.can_invalid_cnt >= 200 and self.CP.enableCamera:
-      events.append(create_event('invalidGiraffeToyota', [ET.PERMANENT]))
-    if not ret.gearShifter == GearShifter.drive and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.esp_disabled and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.CS.main_on and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == GearShifter.reverse and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
+    events = self.create_common_events(ret)
+
     if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
+      events.add(EventName.lowSpeedLockout)
     if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
-      if c.actuators.gas > 0.1:
+      events.add(EventName.belowEngageSpeed)
+      if c.actuators.accel > 0.3:
         # some margin on the actuator to not false trigger cancellation while stopping
-        events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
+        events.add(EventName.speedTooLow)
       if ret.vEgo < 0.001:
         # while in standstill, send a user alert
-        events.append(create_event('manualRestart', [ET.WARNING]))
-
-    # enable request in prius is simple, as we activate when Toyota is active (rising edge)
-    if ret.cruiseState.enabled and not self.cruise_enabled_prev:
-      events.append(create_event('pcmEnable', [ET.ENABLE]))
-    elif not ret.cruiseState.enabled:
-      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
-
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
-    ret.events = events
+        events.add(EventName.manualRestart)
 
-    self.gas_pressed_prev = ret.gasPressed
-    self.brake_pressed_prev = ret.brakePressed
-    self.cruise_enabled_prev = ret.cruiseState.enabled
+    ret.events = events.to_msg()
 
-    return ret.as_reader()
+    self.CS.out = ret.as_reader()
+    return self.CS.out
 
   # pass in a car.CarControl
   # to be called @ 100hz
diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py
index 80977b706c4970..a7d2ec37bb26db 100755
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -1,14 +1,10 @@
 #!/usr/bin/env python3
-import os
-import time
 from opendbc.can.parser import CANParser
 from cereal import car
 from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 def _create_radar_can_parser(car_fingerprint):
-  dbc_f = DBC[car_fingerprint]['radar']
-
   if car_fingerprint in TSS2_CAR:
     RADAR_A_MSGS = list(range(0x180, 0x190))
     RADAR_B_MSGS = list(range(0x190, 0x1a0))
@@ -26,15 +22,12 @@ def _create_radar_can_parser(car_fingerprint):
 
   checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))
 
-  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
-    self.pts = {}
+    super().__init__(CP)
     self.track_id = 0
-
-    self.delay = 0  # Delay of radar
     self.radar_ts = CP.radarTimeStep
 
     if CP.carFingerprint in TSS2_CAR:
@@ -56,8 +49,7 @@ def __init__(self, CP):
 
   def update(self, can_strings):
     if self.no_radar:
-      time.sleep(self.radar_ts)
-      return car.RadarData.new_message()
+      return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
@@ -65,7 +57,7 @@ def update(self, can_strings):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-    rr =  self._update(self.updated_messages)
+    rr = self._update(self.updated_messages)
     self.updated_messages.clear()
 
     return rr
@@ -81,12 +73,12 @@ def _update(self, updated_messages):
       if ii in self.RADAR_A_MSGS:
         cpt = self.rcp.vl[ii]
 
-        if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
+        if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
           self.valid_cnt[ii] = 0    # reset counter
         if cpt['VALID'] and cpt['LONG_DIST'] < 255:
           self.valid_cnt[ii] += 1
         else:
-          self.valid_cnt[ii] = max(self.valid_cnt[ii] -1, 0)
+          self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
 
         score = self.rcp.vl[ii+16]['SCORE']
         # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 48d6229c95c1e8..5a78e3c7b6d849 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -1,27 +1,3 @@
-def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
-  """Creates a CAN message for the Toyota Steer Command."""
-  if steer < 0:
-    direction = 3
-  elif steer > 0:
-    direction = 1
-  else:
-    direction = 2
-
-  mode = 3 if enabled else 1
-
-  values = {
-    "STATE": mode,
-    "DIRECTION_CMD": direction,
-    "ANGLE": steer,
-    "SET_ME_X10": 0x10,
-    "SET_ME_X40": 0x40
-  }
-  if apgs_enabled:
-    return packer.make_can_msg("STEERING_IPAS", 0, values)
-  else:
-    return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)
-
-
 def create_steer_command(packer, steer, steer_req, raw_cnt):
   """Creates a CAN message for the Toyota Steer Command."""
 
@@ -34,33 +10,35 @@ def create_steer_command(packer, steer, steer_req, raw_cnt):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, steer, steer_req, raw_cnt, angle):
+def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
   values = {
-    "COUNTER": raw_cnt,
+    "COUNTER": raw_cnt + 128,
+    "SETME_X1": 1,
     "SETME_X3": 3,
-    "PERCENTAGE" : 100,
+    "PERCENTAGE": 100,
     "SETME_X64": 0x64,
-    "ANGLE": angle,
+    "ANGLE": 0,  # Rate limit? Lower values seeem to work better, but needs more testing
     "STEER_ANGLE_CMD": steer,
     "STEER_REQUEST": steer_req,
+    "STEER_REQUEST_2": steer_req,
     "BIT": 0,
   }
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
-    "SET_ME_X01": 1,
+    "ACC_TYPE": acc_type,
     "DISTANCE": 0,
     "MINI_CAR": lead,
-    "SET_ME_X3": 3,
-    "SET_ME_1": 1,
+    "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,
     "CANCEL_REQ": pcm_cancel,
+    "ALLOW_LONG_PRESS": 1,
   }
   return packer.make_can_msg("ACC_CONTROL", 0, values)
 
@@ -79,10 +57,12 @@ def create_acc_cancel_command(packer):
 
 def create_fcw_command(packer, fcw):
   values = {
+    "PCS_INDICATOR": 1,
     "FCW": fcw,
     "SET_ME_X20": 0x20,
     "SET_ME_X10": 0x10,
-    "SET_ME_X80": 0x80,
+    "PCS_OFF": 1,
+    "PCS_SENSITIVITY": 0,
   }
   return packer.make_can_msg("ACC_HUD", 0, values)
 
@@ -91,7 +71,7 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
   values = {
     "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
     "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
-    "BARRIERS" : 3 if left_lane_depart or right_lane_depart else 0,
+    "BARRIERS" : 3 if left_lane_depart else 2 if right_lane_depart else 0,
     "SET_ME_X0C": 0x0c,
     "SET_ME_X2C": 0x2c,
     "SET_ME_X38": 0x38,
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 6b09b41ab83907..73198d925fc8ae 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,360 +1,493 @@
-from selfdrive.car import dbc_dict
+# flake8: noqa
+
 from cereal import car
+from selfdrive.car import dbc_dict
+from selfdrive.config import Conversions as CV
+
 Ecu = car.CarParams.Ecu
+MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
+
+PEDAL_HYST_GAP = 3. * CV.MPH_TO_MS
+PEDAL_SCALE = 3.0
+
+class CarControllerParams:
+  ACCEL_HYST_GAP = 0.06  # don't change accel command for small oscilalitons within this value
+  ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MIN = -3.5  # m/s2
 
-# Steer torque limits
-class SteerLimitParams:
   STEER_MAX = 1500
   STEER_DELTA_UP = 10       # 1.5s time to peak torque
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
 
 class CAR:
-  PRIUS = "TOYOTA PRIUS 2017"
-  RAV4H = "TOYOTA RAV4 HYBRID 2017"
-  RAV4 = "TOYOTA RAV4 2017"
-  COROLLA = "TOYOTA COROLLA 2017"
-  LEXUS_RX = "LEXUS RX 350 2016"
-  LEXUS_RXH = "LEXUS RX HYBRID 2017"
-  LEXUS_RX_TSS2 = "LEXUS RX350 2020"
-  CHR = "TOYOTA C-HR 2018"
-  CHRH = "TOYOTA C-HR HYBRID 2018"
+  # Toyota
+  ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
+  AVALON = "TOYOTA AVALON 2016"
+  AVALON_2019 = "TOYOTA AVALON 2019"
+  AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
   CAMRY = "TOYOTA CAMRY 2018"
   CAMRYH = "TOYOTA CAMRY HYBRID 2018"
+  CAMRY_TSS2 = "TOYOTA CAMRY 2021"  # TSS 2.5
+  CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021"
+  CHR = "TOYOTA C-HR 2018"
+  CHRH = "TOYOTA C-HR HYBRID 2018"
+  COROLLA = "TOYOTA COROLLA 2017"
+  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
+  # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
+  COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
   HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
-  AVALON = "TOYOTA AVALON 2016"
+  HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020"
+  PRIUS = "TOYOTA PRIUS 2017"
+  PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
+  RAV4 = "TOYOTA RAV4 2017"
+  RAV4H = "TOYOTA RAV4 HYBRID 2017"
   RAV4_TSS2 = "TOYOTA RAV4 2019"
-  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
-  COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
-  LEXUS_ES_TSS2 = "LEXUS ES 2019"
-  LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
-  SIENNA = "TOYOTA SIENNA XLE 2018"
-  LEXUS_IS = "LEXUS IS300 2018"
-  LEXUS_CTH = "LEXUS CT 200H 2018"
   RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
-  LEXUS_NXH = "LEXUS NX300H 2018"
-
+  MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
+  SIENNA = "TOYOTA SIENNA 2018"
 
-# addr: (ecu, cars, bus, 1/freq*100, vl)
-STATIC_MSGS = [
-  (0x128, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, Ecu.dsu, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, Ecu.dsu, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, Ecu.dsu, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  # Lexus
+  LEXUS_CTH = "LEXUS CT HYBRID 2018"
+  LEXUS_ESH = "LEXUS ES HYBRID 2018"
+  LEXUS_ES_TSS2 = "LEXUS ES 2019"
+  LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019"
+  LEXUS_IS = "LEXUS IS 2018"
+  LEXUS_NX = "LEXUS NX 2018"
+  LEXUS_NXH = "LEXUS NX HYBRID 2018"
+  LEXUS_NX_TSS2 = "LEXUS NX 2020"
+  LEXUS_RX = "LEXUS RX 2016"
+  LEXUS_RXH = "LEXUS RX HYBRID 2017"
+  LEXUS_RX_TSS2 = "LEXUS RX 2020"
+  LEXUS_RXH_TSS2 = "LEXUS RX HYBRID 2020"
 
-  (0x292, Ecu.apgs, (CAR.PRIUS), 0,   3, b'\x00\x00\x00\x00\x00\x00\x00\x9e'),
-  (0x32E, Ecu.apgs, (CAR.PRIUS), 0,  20, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (0x396, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\xBD\x00\x00\x00\x60\x0F\x02\x00'),
-  (0x43A, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\x84\x00\x00\x00\x00\x00\x00\x00'),
-  (0x43B, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (0x497, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (0x4CC, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\x0D\x00\x00\x00\x00\x00\x00\x00'),
+# (addr, cars, bus, 1/freq*100, vl)
+STATIC_DSU_MSGS = [
+  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
+  (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [0x2e4],   # steer torque cmd
-  Ecu.dsu: [0x283],   # accel cmd
-  Ecu.apgs: [0x835],  # angle cmd
-}
-
-
-FINGERPRINTS = {
-  CAR.RAV4: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8
-  }],
-  CAR.RAV4H: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  # Chinese RAV4
-  {
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 830: 7, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8
-  }],
-  CAR.PRIUS: [{
-  # with ipas
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  #2019 LE
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  # 2020 Prius Prime LE
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767:4, 800: 8, 810: 2, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  #2020 Prius Prime Limited
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8, 2026: 8, 2027: 8, 2029: 8, 2030: 8, 2031: 8
-  },
-  #2020 Central Europe Prime
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767:4, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 8, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
-  },
-  #2017 German Prius
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296:8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8,740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1792: 8, 1767:4, 800: 8, 1863:8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996:8, 1998: 8, 2002: 8, 2010: 8, 2015: 8, 2016: 8, 2018: 8, 2024: 8, 2026: 8, 2030: 8
-  }],
-  #Corolla w/ added Pedal Support (512L and 513L)
-  CAR.COROLLA: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8
-  }],
-  CAR.LEXUS_RX: [{
-  # 2016 Lexus RX 350
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
-  },
-  # 2017 Lexus RX 350
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.LEXUS_RXH: [{
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513:6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
-  },
-  # RX450HL
-  # TODO: get proper fingerprint in stock mode
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  # RX540H 2019 with color hud
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1952: 8, 1960: 8, 1990: 8, 1998: 8
-  },
-  # 2017 RX 450h
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 744: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1745: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
-  CAR.LEXUS_RX_TSS2: [
-  # 2020 Lexus RX 350
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594:8, 1595: 8, 1600: 8, 1649: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
-  CAR.CHR: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 705: 8, 740: 5, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 913: 8, 918: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
-  }],
-  CAR.CHRH: [{
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.CAMRY: [
-  #XLE and LE
-  {
-    36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  #XSE and SE
-  # TODO: get proper fingerprint in stock mode
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  {
-  # 2019 XSE
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 800: 8, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
-  CAR.CAMRYH: [
-  #SE, LE and LE with Blindspot Monitor
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  #SL
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  #XLE
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.HIGHLANDER: [{
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1992: 8, 1996: 8, 1990: 8, 1998: 8
-  },
-  # 2019 Highlander XLE
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  # 2017 Highlander Limited
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  # 2018 Highlander Limited Platinum
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1263: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1585: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1988: 8, 1990: 8, 1996: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
-  CAR.HIGHLANDER_TSS2: [{
-    # 2020 highlander limited
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1952: 8, 1960: 8, 1990: 8, 1998: 8
-  }],
-  CAR.HIGHLANDERH: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  {
-  # 2019 Highlander Hybrid Limited Platinum
-    36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.AVALON: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.RAV4_TSS2: [
-  # LE
-  {
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  # XLE, Limited, and AWD
-  {
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
-  CAR.COROLLA_TSS2: [
-  # hatch 2019+ and sedan 2020+
-  {
-    36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8
-  }],
-  CAR.COROLLAH_TSS2: [
-  # 2019 Taiwan Altis Hybrid
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 767:4, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
-  },
-  # 2019 Chinese Levin Hybrid
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
-  }
-  ],
-  CAR.LEXUS_ES_TSS2: [{
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8,
-  }],
-  CAR.LEXUS_ESH_TSS2: [
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 744: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.SIENNA: [
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 767:4, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 888: 8, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  # XLE AWD 2018
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 767:4, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.LEXUS_IS: [
-  # IS300 2018
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  # IS300H 2017
-  {
-    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 767:4, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.RAV4H_TSS2: [
-  #Hybrid Limited
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913:8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  ],
-  CAR.LEXUS_CTH: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
-  CAR.LEXUS_NXH: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 812: 3, 818: 8, 822: 8, 824: 8, 835: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 889: 8, 891: 8, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 987: 8, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1006: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }]
-}
-
-# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
-IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2]
 
 FW_VERSIONS = {
   CAR.AVALON: {
-    (Ecu.esp, 0x7b0, None): [b'F152607060\x00\x00\x00\x00\x00\x00'],
-    (Ecu.dsu, 0x791, None): [b'881510705200\x00\x00\x00\x00'],
-    (Ecu.eps, 0x7a1, None): [b'8965B41051\x00\x00\x00\x00\x00\x00'],
-    (Ecu.engine, 0x7e0, None): [b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00'],
-    (Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702100\x00\x00\x00\x00'],
-    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F0703000\x00\x00\x00\x00'],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152607060\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510701300\x00\x00\x00\x00',
+      b'881510705100\x00\x00\x00\x00',
+      b'881510705200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B41051\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702000\x00\x00\x00\x00',
+      b'8821F4702100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0701100\x00\x00\x00\x00',
+      b'8646F0703000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.AVALON_2019: {
+    (Ecu.esp, 0x7b0, None): [
+      b'F152607140\x00\x00\x00\x00\x00\x00',
+      b'F152607171\x00\x00\x00\x00\x00\x00',
+      b'F152607110\x00\x00\x00\x00\x00\x00',
+      b'F152607180\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510703200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B41080\x00\x00\x00\x00\x00\x00',
+      b'8965B07010\x00\x00\x00\x00\x00\x00',
+      b'8965B41090\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630725200\x00\x00\x00\x00',
+      b'\x01896630725300\x00\x00\x00\x00',
+      b'\x01896630735100\x00\x00\x00\x00',
+      b'\x01896630738000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0702100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.AVALONH_2019: {
+    (Ecu.esp, 0x7b0, None): [
+      b'F152641040\x00\x00\x00\x00\x00\x00',
+      b'F152641061\x00\x00\x00\x00\x00\x00',
+      b'F152641050\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510704200\x00\x00\x00\x00',
+      b'881514107100\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B07010\x00\x00\x00\x00\x00\x00',
+      b'8965B41090\x00\x00\x00\x00\x00\x00',
+      b'8965B41070\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0702100\x00\x00\x00\x00',
+    ],
   },
   CAR.CAMRY: {
     (Ecu.engine, 0x700, None): [
+      b'\x018966306L3100\x00\x00\x00\x00',
+      b'\x018966306L4200\x00\x00\x00\x00',
       b'\x018966306L5200\x00\x00\x00\x00',
+      b'\x018966306P8000\x00\x00\x00\x00',
+      b'\x018966306Q3100\x00\x00\x00\x00',
+      b'\x018966306Q4000\x00\x00\x00\x00',
+      b'\x018966306Q4100\x00\x00\x00\x00',
+      b'\x018966306Q4200\x00\x00\x00\x00',
+      b'\x018966333Q9200\x00\x00\x00\x00',
+      b'\x018966333P3100\x00\x00\x00\x00',
+      b'\x018966333P3200\x00\x00\x00\x00',
       b'\x018966333P4200\x00\x00\x00\x00',
       b'\x018966333P4300\x00\x00\x00\x00',
       b'\x018966333P4400\x00\x00\x00\x00',
       b'\x018966333P4500\x00\x00\x00\x00',
       b'\x018966333P4700\x00\x00\x00\x00',
+      b'\x018966333P4900\x00\x00\x00\x00',
+      b'\x018966333Q6000\x00\x00\x00\x00',
+      b'\x018966333Q6200\x00\x00\x00\x00',
+      b'\x018966333Q6300\x00\x00\x00\x00',
+      b'\x018966333W6000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
-      b'8821F0607200    ',
+      b'8821F0601200    ',
       b'8821F0601300    ',
+      b'8821F0602000    ',
       b'8821F0603300    ',
+      b'8821F0604100    ',
+      b'8821F0605200    ',
+      b'8821F0607200    ',
+      b'8821F0608000    ',
+      b'8821F0608200    ',
+      b'8821F0609100    ',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152606210\x00\x00\x00\x00\x00\x00',
       b'F152606230\x00\x00\x00\x00\x00\x00',
+      b'F152606270\x00\x00\x00\x00\x00\x00',
       b'F152606290\x00\x00\x00\x00\x00\x00',
+      b'F152606410\x00\x00\x00\x00\x00\x00',
       b'F152633540\x00\x00\x00\x00\x00\x00',
+      b'F152633A10\x00\x00\x00\x00\x00\x00',
+      b'F152633A20\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33540\x00\x00\x00\x00\x00\x00',
+      b'8965B33542\x00\x00\x00\x00\x00\x00',
+      b'8965B33580\x00\x00\x00\x00\x00\x00',
+      b'8965B33581\x00\x00\x00\x00\x00\x00',
+      b'8965B33621\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.eps, 0x7a1, None): [b'8965B33540\x00\x00\x00\x00\x00\x00'],
     (Ecu.fwdRadar, 0x750, 0xf): [  # Same as 0x791
+      b'8821F0601200    ',
       b'8821F0601300    ',
+      b'8821F0602000    ',
       b'8821F0603300    ',
+      b'8821F0604100    ',
+      b'8821F0605200    ',
       b'8821F0607200    ',
+      b'8821F0608000    ',
+      b'8821F0608200    ',
+      b'8821F0609100    ',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F0601200    ',
       b'8646F0601300    ',
+      b'8646F0601400    ',
       b'8646F0603400    ',
+      b'8646F0604100    ',
+      b'8646F0605000    ',
+      b'8646F0606000    ',
+      b'8646F0606100    ',
+      b'8646F0607100    ',
     ],
   },
   CAR.CAMRYH: {
     (Ecu.engine, 0x700, None): [
+      b'\x018966306Q6000\x00\x00\x00\x00',
+      b'\x018966333N1100\x00\x00\x00\x00',
+      b'\x018966333N4300\x00\x00\x00\x00',
+      b'\x018966333X0000\x00\x00\x00\x00',
+      b'\x018966333X4000\x00\x00\x00\x00',
+      b'\x01896633T16000\x00\x00\x00\x00',
       b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
+      b'F152633214\x00\x00\x00\x00\x00\x00',
+      b'F152633660\x00\x00\x00\x00\x00\x00',
       b'F152633712\x00\x00\x00\x00\x00\x00',
       b'F152633713\x00\x00\x00\x00\x00\x00',
       b'F152633B51\x00\x00\x00\x00\x00\x00',
+      b'F152633B60\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'8821F0601200    ',
       b'8821F0601300    ',
+      b'8821F0603400    ',
+      b'8821F0604000    ',
+      b'8821F0604100    ',
+      b'8821F0604200    ',
+      b'8821F0605200    ',
+      b'8821F0606200    ',
       b'8821F0607200    ',
+      b'8821F0608000    ',
+      b'8821F0608200    ',
+      b'8821F0609000    ',
+      b'8821F0609100    ',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33540\x00\x00\x00\x00\x00\x00',
+      b'8965B33542\x00\x00\x00\x00\x00\x00',
+      b'8965B33550\x00\x00\x00\x00\x00\x00',
+      b'8965B33551\x00\x00\x00\x00\x00\x00',
+      b'8965B33580\x00\x00\x00\x00\x00\x00',
+      b'8965B33581\x00\x00\x00\x00\x00\x00',
+      b'8965B33611\x00\x00\x00\x00\x00\x00',
+      b'8965B33621\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.eps, 0x7a1, None): [b'8965B33540\x00\x00\x00\x00\x00\x00'],
     (Ecu.fwdRadar, 0x750, 0xf): [  # Same as 0x791
       b'8821F0601200    ',
       b'8821F0601300    ',
+      b'8821F0603400    ',
+      b'8821F0604000    ',
+      b'8821F0604100    ',
+      b'8821F0604200    ',
+      b'8821F0605200    ',
+      b'8821F0606200    ',
       b'8821F0607200    ',
+      b'8821F0608000    ',
+      b'8821F0608200    ',
+      b'8821F0609000    ',
+      b'8821F0609100    ',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F0601200    ',
       b'8646F0601300    ',
+      b'8646F0601400    ',
+      b'8646F0603400    ',
+      b'8646F0603500    ',
+      b'8646F0604100    ',
       b'8646F0605000    ',
+      b'8646F0606000    ',
+      b'8646F0606100    ',
+      b'8646F0607000    ',
+      b'8646F0607100    ',
+    ],
+  },
+  CAR.CAMRY_TSS2: {
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33630\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'\x01F152606370\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606390\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606400\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x018966306Q5000\x00\x00\x00\x00',
+      b'\x018966306T3100\x00\x00\x00\x00',
+      b'\x018966306T3200\x00\x00\x00\x00',
+      b'\x018966306T4100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 15): [
+      b'\x018821F6201200\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 109): [
+      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.CAMRYH_TSS2: {
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33630\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152633D00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x018966306Q6000\x00\x00\x00\x00',
+      b'\x018966306Q7000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 15): [
+      b'\x018821F6201200\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 109): [
+      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
     ],
   },
   CAR.CHR: {
-    (Ecu.dsu, 0x791, None): [b'8821FF404100    '],
-    (Ecu.esp, 0x7b0, None): [b'F1526F4122\x00\x00\x00\x00\x00\x00'],
-    (Ecu.eps, 0x7a1, None): [b'8965B10040\x00\x00\x00\x00\x00\x00'],
-    (Ecu.engine, 0x7e0, None): [b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00'],
-    (Ecu.fwdRadar, 0x750, 0xf): [b'8821FF404100    '],
-    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646FF404000    '],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896631017100\x00\x00\x00\x00',
+      b'\x01896631017200\x00\x00\x00\x00',
+      b'\x0189663F413100\x00\x00\x00\x00',
+      b'\x0189663F414100\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'8821F0W01000    ',
+      b'8821F0W01100    ',
+      b'8821FF401600    ',
+      b'8821FF404000    ',
+      b'8821FF404100    ',
+      b'8821FF405100    ',
+      b'8821FF406000    ',
+      b'8821FF407100    ',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152610020\x00\x00\x00\x00\x00\x00',
+      b'F152610153\x00\x00\x00\x00\x00\x00',
+      b'F152610210\x00\x00\x00\x00\x00\x00',
+      b'F1526F4034\x00\x00\x00\x00\x00\x00',
+      b'F1526F4044\x00\x00\x00\x00\x00\x00',
+      b'F1526F4073\x00\x00\x00\x00\x00\x00',
+      b'F1526F4121\x00\x00\x00\x00\x00\x00',
+      b'F1526F4122\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B10011\x00\x00\x00\x00\x00\x00',
+      b'8965B10040\x00\x00\x00\x00\x00\x00',
+      b'8965B10070\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x0331036000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00',
+      b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F0W01000    ',
+      b'8821FF401600    ',
+      b'8821FF404000    ',
+      b'8821FF404100    ',
+      b'8821FF405100    ',
+      b'8821FF406000    ',
+      b'8821FF407100    ',
+      b'8821F0W01100    ',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646FF401700    ',
+      b'8646FF401800    ',
+      b'8646FF404000    ',
+      b'8646FF406000    ',
+      b'8646FF407000    ',
+    ],
+  },
+  CAR.CHRH: {
+    (Ecu.engine, 0x700, None): [
+      b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0189663F438000\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152610013\x00\x00\x00\x00\x00\x00',
+      b'F152610014\x00\x00\x00\x00\x00\x00',
+      b'F152610040\x00\x00\x00\x00\x00\x00',
+      b'F152610190\x00\x00\x00\x00\x00\x00',
+      b'F152610200\x00\x00\x00\x00\x00\x00',
+      b'F152610230\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'8821F0W01000    ',
+      b'8821FF402300    ',
+      b'8821FF402400    ',
+      b'8821FF404000    ',
+      b'8821FF404100    ',
+      b'8821FF406000    ',
+      b'8821FF407100    ',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B10011\x00\x00\x00\x00\x00\x00',
+      b'8965B10020\x00\x00\x00\x00\x00\x00',
+      b'8965B10040\x00\x00\x00\x00\x00\x00',
+      b'8965B10050\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F0W01000    ',
+      b'8821FF402300    ',
+      b'8821FF402400    ',
+      b'8821FF404000    ',
+      b'8821FF404100    ',
+      b'8821FF406000    ',
+      b'8821FF407100    ',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646FF402100    ',
+      b'8646FF404000    ',
+      b'8646FF406000    ',
+      b'8646FF407000    ',
+    ],
   },
   CAR.COROLLA: {
     (Ecu.engine, 0x7e0, None): [
-      b'\x01896630E88000\x00\x00\x00\x00',
       b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC2200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC2300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC3000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZC3100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC3200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC3300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0330ZC1200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
@@ -379,42 +512,73 @@ class CAR:
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F0201101\x00\x00\x00\x00',
       b'8646F0201200\x00\x00\x00\x00',
-      b'8646F0E01300\x00\x00\x00\x00',
     ],
   },
   CAR.COROLLA_TSS2: {
     (Ecu.engine, 0x700, None): [
+      b'\x01896630ZG2000\x00\x00\x00\x00',
       b'\x01896630ZG5000\x00\x00\x00\x00',
       b'\x01896630ZG5100\x00\x00\x00\x00',
       b'\x01896630ZG5200\x00\x00\x00\x00',
+      b'\x01896630ZG5300\x00\x00\x00\x00',
+      b'\x01896630ZP2000\x00\x00\x00\x00',
       b'\x01896630ZQ5000\x00\x00\x00\x00',
       b'\x018966312L8000\x00\x00\x00\x00',
+      b'\x018966312M0000\x00\x00\x00\x00',
+      b'\x018966312M9000\x00\x00\x00\x00',
       b'\x018966312P9000\x00\x00\x00\x00',
       b'\x018966312P9100\x00\x00\x00\x00',
       b'\x018966312P9200\x00\x00\x00\x00',
+      b'\x018966312P9300\x00\x00\x00\x00',
+      b'\x018966312Q2300\x00\x00\x00\x00',
+      b'\x018966312R0000\x00\x00\x00\x00',
+      b'\x018966312R0100\x00\x00\x00\x00',
       b'\x018966312R1000\x00\x00\x00\x00',
       b'\x018966312R1100\x00\x00\x00\x00',
       b'\x018966312R3100\x00\x00\x00\x00',
+      b'\x018966312S5000\x00\x00\x00\x00',
+      b'\x018966312S7000\x00\x00\x00\x00',
+      b'\x018966312W3000\x00\x00\x00\x00',
+      b'\x018966312W9000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\x0230A11000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZN4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x03312K7000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+      b'\x03312M3000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
       b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
       b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
       b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
-      b'8965B12361\x00\x00\x00\x00\x00\x00',
       b'\x018965B12350\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12470\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12490\x00\x00\x00\x00\x00\x00',
       b'\x018965B12500\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12520\x00\x00\x00\x00\x00\x00',
       b'\x018965B12530\x00\x00\x00\x00\x00\x00',
+      b'\x018965B1255000\x00\x00\x00\x00',
+      b'8965B12361\x00\x00\x00\x00\x00\x00',
+      b'8965B16011\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
-      b'F152602191\x00\x00\x00\x00\x00\x00',
       b'\x01F152602280\x00\x00\x00\x00\x00\x00',
       b'\x01F152602560\x00\x00\x00\x00\x00\x00',
+      b'\x01F152602590\x00\x00\x00\x00\x00\x00',
+      b'\x01F152602650\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260A050\x00\x00\x00\x00\x00\x00',
       b'\x01F152612641\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612651\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B10\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B51\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B71\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612C00\x00\x00\x00\x00\x00\x00',
+      b'F152602191\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
@@ -426,57 +590,115 @@ class CAR:
       b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.COROLLAH_TSS2: {
     (Ecu.engine, 0x700, None): [
-      b'\x018966342M5000\x00\x00\x00\x00',
+      b'\x01896630ZJ1000\x00\x00\x00\x00',
+      b'\x01896630ZU8000\x00\x00\x00\x00',
+      b'\x01896637621000\x00\x00\x00\x00',
+      b'\x01896637624000\x00\x00\x00\x00',
+      b'\x01896637626000\x00\x00\x00\x00',
+      b'\x01896637648000\x00\x00\x00\x00',
+      b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
       b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B12361\x00\x00\x00\x00\x00\x00',
       b'8965B12451\x00\x00\x00\x00\x00\x00',
-      b'8965B42170\x00\x00\x00\x00\x00\x00',
+      b'8965B76012\x00\x00\x00\x00\x00\x00',
+      b'8965B76050\x00\x00\x00\x00\x00\x00',
       b'\x018965B12350\x00\x00\x00\x00\x00\x00',
       b'\x018965B12470\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12490\x00\x00\x00\x00\x00\x00',
       b'\x018965B12500\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12510\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12520\x00\x00\x00\x00\x00\x00',
       b'\x018965B12530\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152612590\x00\x00\x00\x00\x00\x00',
       b'F152612691\x00\x00\x00\x00\x00\x00',
+      b'F152612692\x00\x00\x00\x00\x00\x00',
       b'F152612700\x00\x00\x00\x00\x00\x00',
+      b'F152612710\x00\x00\x00\x00\x00\x00',
+      b'F152612790\x00\x00\x00\x00\x00\x00',
       b'F152612800\x00\x00\x00\x00\x00\x00',
+      b'F152612820\x00\x00\x00\x00\x00\x00',
       b'F152612840\x00\x00\x00\x00\x00\x00',
+      b'F152612890\x00\x00\x00\x00\x00\x00',
+      b'F152612A00\x00\x00\x00\x00\x00\x00',
+      b'F152612A10\x00\x00\x00\x00\x00\x00',
       b'F152642540\x00\x00\x00\x00\x00\x00',
+      b'F152676293\x00\x00\x00\x00\x00\x00',
+      b'F152676303\x00\x00\x00\x00\x00\x00',
+      b'F152676304\x00\x00\x00\x00\x00\x00',
+      b'F152612D00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.HIGHLANDER: {
     (Ecu.engine, 0x700, None): [
+      b'\x01896630E09000\x00\x00\x00\x00',
+      b'\x01896630E43000\x00\x00\x00\x00',
       b'\x01896630E43100\x00\x00\x00\x00',
+      b'\x01896630E43200\x00\x00\x00\x00',
+      b'\x01896630E44200\x00\x00\x00\x00',
+      b'\x01896630E45000\x00\x00\x00\x00',
+      b'\x01896630E45100\x00\x00\x00\x00',
       b'\x01896630E45200\x00\x00\x00\x00',
+      b'\x01896630E46000\x00\x00\x00\x00',
+      b'\x01896630E46200\x00\x00\x00\x00',
+      b'\x01896630E74000\x00\x00\x00\x00',
+      b'\x01896630E75000\x00\x00\x00\x00',
+      b'\x01896630E76000\x00\x00\x00\x00',
+      b'\x01896630E77000\x00\x00\x00\x00',
       b'\x01896630E83000\x00\x00\x00\x00',
       b'\x01896630E84000\x00\x00\x00\x00',
       b'\x01896630E85000\x00\x00\x00\x00',
+      b'\x01896630E86000\x00\x00\x00\x00',
       b'\x01896630E88000\x00\x00\x00\x00',
+      b'\x01896630EA0000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B48140\x00\x00\x00\x00\x00\x00',
       b'8965B48150\x00\x00\x00\x00\x00\x00',
+      b'8965B48210\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [b'F15260E011\x00\x00\x00\x00\x00\x00'],
     (Ecu.dsu, 0x791, None): [
@@ -493,60 +715,199 @@ class CAR:
     ],
   },
   CAR.HIGHLANDERH: {
-    (Ecu.eps, 0x7a1, None): [b'8965B48160\x00\x00\x00\x00\x00\x00'],
-    (Ecu.esp, 0x7b0, None): [b'F152648541\x00\x00\x00\x00\x00\x00'],
-    (Ecu.engine, 0x7e0, None): [b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00'],
-    (Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702100\x00\x00\x00\x00'],
-    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F0E01200\x00\x00\x00\x00'],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B48160\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152648541\x00\x00\x00\x00\x00\x00',
+      b'F152648542\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0E01200\x00\x00\x00\x00',
+      b'8646F0E01300\x00\x00\x00\x00',
+    ],
+  },
+  CAR.HIGHLANDER_TSS2: {
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B48241\x00\x00\x00\x00\x00\x00',
+      b'8965B48310\x00\x00\x00\x00\x00\x00',
+      b'8965B48320\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'\x01F15260E051\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E061\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630E62100\x00\x00\x00\x00',
+      b'\x01896630E62200\x00\x00\x00\x00',
+      b'\x01896630E64100\x00\x00\x00\x00',
+      b'\x01896630E64200\x00\x00\x00\x00',
+      b'\x01896630EB1000\x00\x00\x00\x00',
+      b'\x01896630EB1100\x00\x00\x00\x00',
+      b'\x01896630EB1200\x00\x00\x00\x00',
+      b'\x01896630EB2000\x00\x00\x00\x00',
+      b'\x01896630EB2100\x00\x00\x00\x00',
+      b'\x01896630EB2200\x00\x00\x00\x00',
+      b'\x01896630EC4000\x00\x00\x00\x00',
+      b'\x01896630EE1000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201200\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.HIGHLANDERH_TSS2: {
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B48241\x00\x00\x00\x00\x00\x00',
+      b'8965B48310\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'\x01F15264872300\x00\x00\x00\x00',
+      b'\x01F15264872400\x00\x00\x00\x00',
+      b'\x01F15264872500\x00\x00\x00\x00',
+      b'\x01F152648C6300\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630EA1000\x00\x00\x00\x00',
+      b'\x01896630EE4000\x00\x00\x00\x00',
+      b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201200\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+    ],
   },
   CAR.LEXUS_IS: {
-    (Ecu.engine, 0x700, None): [b'\x018966353Q2300\x00\x00\x00\x00'],
-    (Ecu.esp, 0x7b0, None): [b'F152653330\x00\x00\x00\x00\x00\x00'],
-    (Ecu.dsu, 0x791, None): [b'881515306400\x00\x00\x00\x00'],
-    (Ecu.eps, 0x7a1, None): [b'8965B53271\x00\x00\x00\x00\x00\x00'],
-    (Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702300\x00\x00\x00\x00'],
-    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F5301400\x00\x00\x00\x00'],
+    (Ecu.engine, 0x700, None): [
+      b'\x018966353M7100\x00\x00\x00\x00',
+      b'\x018966353Q2000\x00\x00\x00\x00',
+      b'\x018966353Q2300\x00\x00\x00\x00',
+      b'\x018966353R1100\x00\x00\x00\x00',
+      b'\x018966353R7100\x00\x00\x00\x00',
+      b'\x018966353R8100\x00\x00\x00\x00',
+      b'\x018966353Q4000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152653301\x00\x00\x00\x00\x00\x00',
+      b'F152653310\x00\x00\x00\x00\x00\x00',
+      b'F152653330\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881515306200\x00\x00\x00\x00',
+      b'881515306400\x00\x00\x00\x00',
+      b'881515306500\x00\x00\x00\x00',
+      b'881515307400\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B53270\x00\x00\x00\x00\x00\x00',
+      b'8965B53271\x00\x00\x00\x00\x00\x00',
+      b'8965B53280\x00\x00\x00\x00\x00\x00',
+      b'8965B53281\x00\x00\x00\x00\x00\x00',
+      b'8965B53311\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+      b'8821F4702100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F5301300\x00\x00\x00\x00',
+      b'8646F5301400\x00\x00\x00\x00',
+      b'8646F5301200\x00\x00\x00\x00',
+    ],
   },
   CAR.PRIUS: {
     (Ecu.engine, 0x700, None): [
       b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634761200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634762000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634763000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634763100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634765000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634765100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634769000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347A0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347A5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347A8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347B0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
       b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
       b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701002\x00\x00\x00\x00',
+      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
       b'\x03896634760100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
+      b'\x03896634760300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
       b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703001\x00\x00\x00\x00',
       b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
       b'\x03896634768100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
       b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00',
+      b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00',
       b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
       b'\x03896634789000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
+      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
+      b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B47021\x00\x00\x00\x00\x00\x00',
       b'8965B47022\x00\x00\x00\x00\x00\x00',
       b'8965B47023\x00\x00\x00\x00\x00\x00',
       b'8965B47050\x00\x00\x00\x00\x00\x00',
-      b'8965B47060\x00\x00\x00\x00\x00\x00',  # Think this the EPS with good angle sensor
+      b'8965B47060\x00\x00\x00\x00\x00\x00',  # This is the EPS with good angle sensor
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152647290\x00\x00\x00\x00\x00\x00',
+      b'F152647300\x00\x00\x00\x00\x00\x00',
       b'F152647310\x00\x00\x00\x00\x00\x00',
       b'F152647414\x00\x00\x00\x00\x00\x00',
       b'F152647415\x00\x00\x00\x00\x00\x00',
       b'F152647416\x00\x00\x00\x00\x00\x00',
       b'F152647417\x00\x00\x00\x00\x00\x00',
+      b'F152647470\x00\x00\x00\x00\x00\x00',
       b'F152647490\x00\x00\x00\x00\x00\x00',
+      b'F152647682\x00\x00\x00\x00\x00\x00',
+      b'F152647683\x00\x00\x00\x00\x00\x00',
       b'F152647684\x00\x00\x00\x00\x00\x00',
       b'F152647862\x00\x00\x00\x00\x00\x00',
       b'F152647863\x00\x00\x00\x00\x00\x00',
@@ -555,9 +916,11 @@ class CAR:
     ],
     (Ecu.dsu, 0x791, None): [
       b'881514702300\x00\x00\x00\x00',
+      b'881514702400\x00\x00\x00\x00',
       b'881514703100\x00\x00\x00\x00',
       b'881514704100\x00\x00\x00\x00',
       b'881514706000\x00\x00\x00\x00',
+      b'881514706100\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702000\x00\x00\x00\x00',
@@ -565,7 +928,6 @@ class CAR:
       b'8821F4702300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4201200\x00\x00\x00\x00',
       b'8646F4701300\x00\x00\x00\x00',
       b'8646F4702001\x00\x00\x00\x00',
       b'8646F4702100\x00\x00\x00\x00',
@@ -578,11 +940,16 @@ class CAR:
     (Ecu.engine, 0x7e0, None): [
       b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q1200\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q1300\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q2100\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q2200\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q4000\x00\x00\x00\x00\x00\x00\x00\x0054215000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
+      b'8965B42063\x00\x00\x00\x00\x00\x00',
+      b'8965B42073\x00\x00\x00\x00\x00\x00',
       b'8965B42082\x00\x00\x00\x00\x00\x00',
       b'8965B42083\x00\x00\x00\x00\x00\x00',
     ],
@@ -590,8 +957,10 @@ class CAR:
       b'F15260R102\x00\x00\x00\x00\x00\x00',
       b'F15260R103\x00\x00\x00\x00\x00\x00',
       b'F152642493\x00\x00\x00\x00\x00\x00',
+      b'F152642492\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881514201200\x00\x00\x00\x00',
       b'881514201300\x00\x00\x00\x00',
       b'881514201400\x00\x00\x00\x00',
     ],
@@ -601,9 +970,11 @@ class CAR:
       b'8821F4702300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4201100\x00\x00\x00\x00',
       b'8646F4201200\x00\x00\x00\x00',
       b'8646F4202001\x00\x00\x00\x00',
       b'8646F4202100\x00\x00\x00\x00',
+      b'8646F4204000\x00\x00\x00\x00',
     ],
   },
   CAR.RAV4H: {
@@ -611,18 +982,25 @@ class CAR:
       b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342P0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
+      b'8965B42102\x00\x00\x00\x00\x00\x00',
       b'8965B42103\x00\x00\x00\x00\x00\x00',
+      b'8965B42112\x00\x00\x00\x00\x00\x00',
       b'8965B42162\x00\x00\x00\x00\x00\x00',
       b'8965B42163\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152642090\x00\x00\x00\x00\x00\x00',
+      b'F152642110\x00\x00\x00\x00\x00\x00',
       b'F152642120\x00\x00\x00\x00\x00\x00',
       b'F152642400\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.dsu, 0x791, None): [
+      b'881514202200\x00\x00\x00\x00',
+      b'881514202300\x00\x00\x00\x00',
+      b'881514202400\x00\x00\x00\x00',
+    ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702000\x00\x00\x00\x00',
       b'8821F4702100\x00\x00\x00\x00',
@@ -638,135 +1016,539 @@ class CAR:
   },
   CAR.RAV4_TSS2: {
     (Ecu.engine, 0x700, None): [
-      b'\x018966333Q6200\x00\x00\x00\x00',
+      b'\x01896630R58000\x00\x00\x00\x00',
+      b'\x01896630R58100\x00\x00\x00\x00',
       b'\x018966342E2000\x00\x00\x00\x00',
       b'\x018966342M8000\x00\x00\x00\x00',
+      b'\x018966342S9000\x00\x00\x00\x00',
       b'\x018966342T1000\x00\x00\x00\x00',
       b'\x018966342T6000\x00\x00\x00\x00',
+      b'\x018966342T9000\x00\x00\x00\x00',
+      b'\x018966342U4000\x00\x00\x00\x00',
+      b'\x018966342U4100\x00\x00\x00\x00',
+      b'\x018966342U5100\x00\x00\x00\x00',
+      b'\x018966342V0000\x00\x00\x00\x00',
+      b'\x018966342V3000\x00\x00\x00\x00',
       b'\x018966342V3100\x00\x00\x00\x00',
-      b'\x018966342X5000\x00\x00\x00\x00',
+      b'\x018966342V3200\x00\x00\x00\x00',
       b'\x01896634A05000\x00\x00\x00\x00',
       b'\x01896634A19000\x00\x00\x00\x00',
+      b'\x01896634A19100\x00\x00\x00\x00',
+      b'\x01896634A20000\x00\x00\x00\x00',
+      b'\x01896634A20100\x00\x00\x00\x00',
       b'\x01896634A22000\x00\x00\x00\x00',
-      b'\x01F152642551\x00\x00\x00\x00\x00\x00',
+      b'\x01896634A22100\x00\x00\x00\x00',
+      b'\x01896634A30000\x00\x00\x00\x00',
+      b'\x01896634A44000\x00\x00\x00\x00',
+      b'\x01896634A45000\x00\x00\x00\x00',
+      b'\x01896634A46000\x00\x00\x00\x00',
+      b'\x028966342M7000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00',
       b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
       b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
+      b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
-      b'F152606230\x00\x00\x00\x00\x00\x00',
-      b'F152642520\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
       b'\x01F152642551\x00\x00\x00\x00\x00\x00',
       b'\x01F152642561\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642700\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642701\x00\x00\x00\x00\x00\x00',
       b'\x01F152642710\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642711\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642750\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642751\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
-      b'8965B33540\x00\x00\x00\x00\x00\x00',
       b'8965B42170\x00\x00\x00\x00\x00\x00',
       b'8965B42171\x00\x00\x00\x00\x00\x00',
+      b'8965B42180\x00\x00\x00\x00\x00\x00',
+      b'8965B42181\x00\x00\x00\x00\x00\x00',
       b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
+      b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
+      b'\x028965B0R01400\x00\x00\x00\x008965B0R02400\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F0607200    ',
       b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0605000    ',
       b'\x028646F4203200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
   CAR.RAV4H_TSS2: {
     (Ecu.engine, 0x700, None): [
+      b'\x01896634A15000\x00\x00\x00\x00',
+      b'\x018966342M5000\x00\x00\x00\x00',
+      b'\x018966342W8000\x00\x00\x00\x00',
+      b'\x018966342X5000\x00\x00\x00\x00',
       b'\x018966342X6000\x00\x00\x00\x00',
+      b'\x01896634A25000\x00\x00\x00\x00',
+      b'\x018966342W5000\x00\x00\x00\x00',
       b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A23000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152642291\x00\x00\x00\x00\x00\x00',
+      b'F152642290\x00\x00\x00\x00\x00\x00',
+      b'F152642322\x00\x00\x00\x00\x00\x00',
+      b'F152642330\x00\x00\x00\x00\x00\x00',
+      b'F152642331\x00\x00\x00\x00\x00\x00',
       b'F152642531\x00\x00\x00\x00\x00\x00',
       b'F152642532\x00\x00\x00\x00\x00\x00',
+      b'F152642520\x00\x00\x00\x00\x00\x00',
+      b'F152642521\x00\x00\x00\x00\x00\x00',
+      b'F152642540\x00\x00\x00\x00\x00\x00',
+      b'F152642541\x00\x00\x00\x00\x00\x00',
+      b'F152642542\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B42170\x00\x00\x00\x00\x00\x00',
       b'8965B42171\x00\x00\x00\x00\x00\x00',
+      b'8965B42180\x00\x00\x00\x00\x00\x00',
       b'8965B42181\x00\x00\x00\x00\x00\x00',
+      b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
+      b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
+      b'\x028965B0R01400\x00\x00\x00\x008965B0R02400\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4203200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
-  CAR.LEXUS_ES_TSS2: {
-    (Ecu.engine, 0x700, None): [b'\x018966333T5100\x00\x00\x00\x00'],
-    (Ecu.esp, 0x7b0, None): [b'\x01F152606281\x00\x00\x00\x00\x00\x00'],
-    (Ecu.eps, 0x7a1, None): [b'8965B33252\x00\x00\x00\x00\x00\x00'],
-    (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F3301200\x00\x00\x00\x00'],
-    (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00'],
-  },
-  CAR.LEXUS_IS: {
-    (Ecu.engine, 0x700, None): [b'\x018966353Q2300\x00\x00\x00\x00'],
-    (Ecu.dsu, 0x791, None): [b'881515306400\x00\x00\x00\x00'],
-    (Ecu.eps, 0x7a1, None): [b'8965B53271\x00\x00\x00\x00\x00\x00'],
-    (Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702300\x00\x00\x00\x00'],
-    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F5301400\x00\x00\x00\x00'],
-  },
   CAR.SIENNA: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630832100\x00\x00\x00\x00',
+      b'\x01896630832200\x00\x00\x00\x00',
+      b'\x01896630838000\x00\x00\x00\x00',
+      b'\x01896630838100\x00\x00\x00\x00',
       b'\x01896630842000\x00\x00\x00\x00',
+      b'\x01896630843000\x00\x00\x00\x00',
+      b'\x01896630851000\x00\x00\x00\x00',
       b'\x01896630851100\x00\x00\x00\x00',
+      b'\x01896630851200\x00\x00\x00\x00',
+      b'\x01896630852100\x00\x00\x00\x00',
+      b'\x01896630859000\x00\x00\x00\x00',
       b'\x01896630860000\x00\x00\x00\x00',
     ],
-    (Ecu.eps, 0x7a1, None): [b'8965B45070\x00\x00\x00\x00\x00\x00'],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B45070\x00\x00\x00\x00\x00\x00',
+      b'8965B45080\x00\x00\x00\x00\x00\x00',
+      b'8965B45082\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152608130\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510801100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702200\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0801100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_CTH: {
+    (Ecu.dsu, 0x791, None): [
+      b'881517601100\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152676144\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237635000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F7601100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_ES_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630EC9100\x00\x00\x00\x00',
+      b'\x018966333T5000\x00\x00\x00\x00',
+      b'\x018966333T5100\x00\x00\x00\x00',
+      b'\x018966333X6000\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'\x01F152606281\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606340\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33252\x00\x00\x00\x00\x00\x00',
+      b'8965B33590\x00\x00\x00\x00\x00\x00',
+      b'8965B48271\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
+      b'\x018821F3301200\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_ESH_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152633423\x00\x00\x00\x00\x00\x00',
+      b'F152633680\x00\x00\x00\x00\x00\x00',
+      b'F152633681\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33252\x00\x00\x00\x00\x00\x00',
+      b'8965B33590\x00\x00\x00\x00\x00\x00',
+      b'8965B33690\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
+      b'\x018821F3301200\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_ESH: {
+      (Ecu.engine, 0x7e0, None): [
+        b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      ],
+      (Ecu.esp, 0x7b0, None): [
+        b'F152633171\x00\x00\x00\x00\x00\x00',
+      ],
+      (Ecu.dsu, 0x791, None): [
+        b'881513310400\x00\x00\x00\x00',
+      ],
+      (Ecu.eps, 0x7a1, None): [
+        b'8965B33512\x00\x00\x00\x00\x00\x00',
+      ],
+      (Ecu.fwdRadar, 0x750, 0xf): [
+        b'8821F4701100\x00\x00\x00\x00',
+        b'8821F4701300\x00\x00\x00\x00',
+      ],
+      (Ecu.fwdCamera, 0x750, 0x6d): [
+        b'8646F3302001\x00\x00\x00\x00',
+        b'8646F3302200\x00\x00\x00\x00',
+      ],
+  },
+  CAR.LEXUS_NX: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896637850000\x00\x00\x00\x00',
+      b'\x01896637851000\x00\x00\x00\x00',
+      b'\x01896637852000\x00\x00\x00\x00',
+      b'\x01896637854000\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152678130\x00\x00\x00\x00\x00\x00',
+      b'F152678140\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881517803100\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B78060\x00\x00\x00\x00\x00\x00',
+      b'8965B78080\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702100\x00\x00\x00\x00',
       b'8821F4702300\x00\x00\x00\x00',
     ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F0801100\x00\x00\x00\x00'],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F7801100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_NX_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966378B2100\x00\x00\x00\x00',
+      b'\x018966378G3000\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'\x01F152678221\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B78120\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b"\x018821F3301400\x00\x00\x00\x00",
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_NXH: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152678160\x00\x00\x00\x00\x00\x00',
+      b'F152678170\x00\x00\x00\x00\x00\x00',
+      b'F152678171\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881517804300\x00\x00\x00\x00',
+      b'881517804100\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B78060\x00\x00\x00\x00\x00\x00',
+      b'8965B78080\x00\x00\x00\x00\x00\x00',
+      b'8965B78100\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+      b'8821F4702100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F7801300\x00\x00\x00\x00',
+      b'8646F7801100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_RX: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630E36200\x00\x00\x00\x00',
+      b'\x01896630E36300\x00\x00\x00\x00',
+      b'\x01896630E37200\x00\x00\x00\x00',
+      b'\x01896630E37300\x00\x00\x00\x00',
+      b'\x01896630E41000\x00\x00\x00\x00',
+      b'\x01896630E41100\x00\x00\x00\x00',
+      b'\x01896630E41200\x00\x00\x00\x00',
+      b'\x01896630E41500\x00\x00\x00\x00',
+      b'\x01896630EA3100\x00\x00\x00\x00',
+      b'\x01896630EA4100\x00\x00\x00\x00',
+      b'\x01896630EA4300\x00\x00\x00\x00',
+      b'\x01896630EA4400\x00\x00\x00\x00',
+      b'\x01896630EA6300\x00\x00\x00\x00',
+      b'\x018966348R1300\x00\x00\x00\x00',
+      b'\x018966348R8500\x00\x00\x00\x00',
+      b'\x018966348W1300\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152648472\x00\x00\x00\x00\x00\x00',
+      b'F152648473\x00\x00\x00\x00\x00\x00',
+      b'F152648492\x00\x00\x00\x00\x00\x00',
+      b'F152648493\x00\x00\x00\x00\x00\x00',
+      b'F152648474\x00\x00\x00\x00\x00\x00',
+      b'F152648630\x00\x00\x00\x00\x00\x00',
+      b'F152648494\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881514810300\x00\x00\x00\x00',
+      b'881514810500\x00\x00\x00\x00',
+      b'881514810700\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B0E011\x00\x00\x00\x00\x00\x00',
+      b'8965B0E012\x00\x00\x00\x00\x00\x00',
+      b'8965B48102\x00\x00\x00\x00\x00\x00',
+      b'8965B48111\x00\x00\x00\x00\x00\x00',
+      b'8965B48112\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4701000\x00\x00\x00\x00',
+      b'8821F4701100\x00\x00\x00\x00',
+      b'8821F4701200\x00\x00\x00\x00',
+      b'8821F4701300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4801100\x00\x00\x00\x00',
+      b'8646F4801200\x00\x00\x00\x00',
+      b'8646F4802001\x00\x00\x00\x00',
+      b'8646F4802100\x00\x00\x00\x00',
+      b'8646F4802200\x00\x00\x00\x00',
+      b'8646F4809000\x00\x00\x00\x00',
+    ],
   },
   CAR.LEXUS_RXH: {
     (Ecu.engine, 0x7e0, None): [
+      b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
+      b'F152648361\x00\x00\x00\x00\x00\x00',
       b'F152648501\x00\x00\x00\x00\x00\x00',
+      b'F152648502\x00\x00\x00\x00\x00\x00',
+      b'F152648504\x00\x00\x00\x00\x00\x00',
+      b'F152648740\x00\x00\x00\x00\x00\x00',
       b'F152648A30\x00\x00\x00\x00\x00\x00',
-      b'F152648361\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881514811300\x00\x00\x00\x00',
+      b'881514811500\x00\x00\x00\x00',
       b'881514811700\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B0E011\x00\x00\x00\x00\x00\x00',
       b'8965B0E012\x00\x00\x00\x00\x00\x00',
+      b'8965B48111\x00\x00\x00\x00\x00\x00',
       b'8965B48112\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4701000\x00\x00\x00\x00',
+      b'8821F4701100\x00\x00\x00\x00',
+      b'8821F4701200\x00\x00\x00\x00',
       b'8821F4701300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F4801200\x00\x00\x00\x00',
+      b'8646F4802001\x00\x00\x00\x00',
+      b'8646F4802100\x00\x00\x00\x00',
       b'8646F4802200\x00\x00\x00\x00',
       b'8646F4809000\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_RX_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630EC9000\x00\x00\x00\x00',
+      b'\x01896634D12000\x00\x00\x00\x00',
+      b'\x01896630EB0000\x00\x00\x00\x00',
+      b'\x01896630EA9000\x00\x00\x00\x00',
+      b'\x01896630ED0000\x00\x00\x00\x00',
+      b'\x018966348W5100\x00\x00\x00\x00',
+      b'\x018966348W9000\x00\x00\x00\x00',
+      b'\x01896634D12100\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'\x01F152648801\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
+      b'\x01F152648781\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B48261\x00\x00\x00\x00\x00\x00',
+      b'8965B48271\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_RXH_TSS2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152648831\x00\x00\x00\x00\x00\x00',
+      b'F152648D00\x00\x00\x00\x00\x00\x00',
+      b'F152648D60\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B48271\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.PRIUS_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
+      b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
+      b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
+      b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152647500\x00\x00\x00\x00\x00\x00',
+      b'F152647510\x00\x00\x00\x00\x00\x00',
+      b'F152647520\x00\x00\x00\x00\x00\x00',
+      b'F152647521\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B47070\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+    ],
+  },
+  CAR.MIRAI: {
+    (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',],
+    (Ecu.esp, 0x7B0, None): [b'\x01F15266203200\x00\x00\x00\x00',], # a second ESP ECU
+    (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',],
+    (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
+    (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
+  },
+  CAR.ALPHARD_TSS2: {
+    (Ecu.engine, 0x7e0, None): [b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',],
+    (Ecu.eps, 0x7a1, None): [b'8965B58040\x00\x00\x00\x00\x00\x00',],
+    (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F3301400\x00\x00\x00\x00',],
+    (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',],
+  },
 }
 
 STEER_THRESHOLD = 100
@@ -779,26 +1561,45 @@ class CAR:
   CAR.LEXUS_RX: dbc_dict('lexus_rx_350_2016_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_RXH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CHRH: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'),
   CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_adas'),
+  CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.CAMRYH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_adas'),
   CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_adas'),
+  CAR.HIGHLANDERH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_adas'),
+  CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
+  CAR.AVALONH_2019: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'),
   CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_ESH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
   CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
   CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_NX: dbc_dict('lexus_nx300_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
+  CAR.MIRAI: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
+  CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
 }
 
-NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]
-TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]  # no resume button press required
+
+# Toyota/Lexus Safety Sense 2.0 and 2.5
+TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
+                CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
+                CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2])
+
+NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
+
+# no resume button press required
+NO_STOP_TIMER_CAR = TSS2_CAR | set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH])
diff --git a/selfdrive/car/volkswagen/__init__.py b/selfdrive/car/volkswagen/__init__.py
index 8b137891791fe9..e69de29bb2d1d6 100644
--- a/selfdrive/car/volkswagen/__init__.py
+++ b/selfdrive/car/volkswagen/__init__.py
@@ -1 +0,0 @@
-
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 610e1d5a09e778..97f00008bd93ca 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,20 +1,16 @@
 from cereal import car
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan
-from selfdrive.car.volkswagen.values import DBC, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-
 class CarController():
-  def __init__(self, canbus, car_fingerprint):
+  def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
-    self.car_fingerprint = car_fingerprint
 
-    # Setup detection helper. Routes commands to an appropriate CAN bus number.
-    self.canbus = canbus
-    self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
+    self.packer_pt = CANPacker(DBC_FILES.mqb)
 
     self.hcaSameTorqueCount = 0
     self.hcaEnabledFrameCount = 0
@@ -25,68 +21,38 @@ def __init__(self, canbus, car_fingerprint):
 
     self.steer_rate_limited = False
 
-  def update(self, enabled, CS, frame, actuators, visual_alert, audible_alert, leftLaneVisible, rightLaneVisible):
+  def update(self, enabled, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
     """ Controls thread """
 
-    P = CarControllerParams
-
-    # Send CAN commands.
     can_sends = []
-    canbus = self.canbus
-
-    #--------------------------------------------------------------------------
-    #                                                                         #
-    # Prepare HCA_01 Heading Control Assist messages with steering torque.    #
-    #                                                                         #
-    #--------------------------------------------------------------------------
-
-    # The factory camera sends at 50Hz while steering and 1Hz when not. When
-    # OP is active, Panda filters HCA_01 from the factory camera and OP emits
-    # HCA_01 at 50Hz. Rate switching creates some confusion in Cabana and
-    # doesn't seem to add value at this time. The rack will accept HCA_01 at
-    # 100Hz if we want to control at finer resolution in the future.
-    if frame % P.HCA_STEP == 0:
 
-      # FAULT AVOIDANCE: HCA must not be enabled at standstill. Also stop
-      # commanding HCA if there's a fault, so the steering rack recovers.
-      if enabled and not (CS.standstill or CS.steeringFault):
+    # **** Steering Controls ************************************************ #
 
-        # FAULT AVOIDANCE: Requested HCA torque must not exceed 3.0 Nm. This
-        # is inherently handled by scaling to STEER_MAX. The rack doesn't seem
-        # to care about up/down rate, but we have some evidence it may do its
-        # own rate limiting, and matching OP helps for accurate tuning.
+    if frame % P.HCA_STEP == 0:
+      # Logic to avoid HCA state 4 "refused":
+      #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
+      #   * Don't steer at standstill
+      #   * Don't send > 3.00 Newton-meters torque
+      #   * Don't send the same torque for > 6 seconds
+      #   * Don't send uninterrupted steering for > 360 seconds
+      # One frame of HCA disabled is enough to reset the timer, without zeroing the
+      # torque value. Do that anytime we happen to have 0 torque, or failing that,
+      # when exceeding ~1/3 the 360 second timer.
+
+      if enabled and CS.out.vEgo > CS.CP.minSteerSpeed and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
         new_steer = int(round(actuators.steer * P.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steeringTorque, P)
+        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
         self.steer_rate_limited = new_steer != apply_steer
-
-        # FAULT AVOIDANCE: HCA must not be enabled for >360 seconds. Sending
-        # a single frame with HCA disabled is an effective workaround.
         if apply_steer == 0:
-          # We can usually reset the timer for free, just by disabling HCA
-          # when apply_steer is exactly zero, which happens by chance during
-          # many steer torque direction changes. This could be expanded with
-          # a small dead-zone to capture all zero crossings, but not seeing a
-          # major need at this time.
           hcaEnabled = False
           self.hcaEnabledFrameCount = 0
         else:
           self.hcaEnabledFrameCount += 1
-          if self.hcaEnabledFrameCount >=  118 * (100 / P.HCA_STEP):  # 118s
-            # The Kansas I-70 Crosswind Problem: if we truly do need to steer
-            # in one direction for > 360 seconds, we have to disable HCA for a
-            # frame while actively steering. Testing shows we can just set the
-            # disabled flag, and keep sending non-zero torque, which keeps the
-            # Panda torque rate limiting safety happy. Do so 3x within the 360
-            # second window for safety and redundancy.
+          if self.hcaEnabledFrameCount >= 118 * (100 / P.HCA_STEP):  # 118s
             hcaEnabled = False
             self.hcaEnabledFrameCount = 0
           else:
             hcaEnabled = True
-            # FAULT AVOIDANCE: HCA torque must not be static for > 6 seconds.
-            # This is to detect the sending camera being stuck or frozen. OP
-            # can trip this on a curve if steering is saturated. Avoid this by
-            # reducing torque 0.01 Nm for one frame. Do so 3x within the 6
-            # second period for safety and redundancy.
             if self.apply_steer_last == apply_steer:
               self.hcaSameTorqueCount += 1
               if self.hcaSameTorqueCount > 1.9 * (100 / P.HCA_STEP):  # 1.9s
@@ -94,95 +60,50 @@ def update(self, enabled, CS, frame, actuators, visual_alert, audible_alert, lef
                 self.hcaSameTorqueCount = 0
             else:
               self.hcaSameTorqueCount = 0
-
       else:
-        # Continue sending HCA_01 messages, with the enable flags turned off.
         hcaEnabled = False
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
       idx = (frame / P.HCA_STEP) % 16
-      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, canbus.pt, apply_steer,
+      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
                                                                  idx, hcaEnabled))
 
-    #--------------------------------------------------------------------------
-    #                                                                         #
-    # Prepare LDW_02 HUD messages with lane borders, confidence levels, and   #
-    # the LKAS status LED.                                                    #
-    #                                                                         #
-    #--------------------------------------------------------------------------
-
-    # The factory camera emits this message at 10Hz. When OP is active, Panda
-    # filters LDW_02 from the factory camera and OP emits LDW_02 at 10Hz.
+    # **** HUD Controls ***************************************************** #
 
     if frame % P.LDW_STEP == 0:
-      hcaEnabled = True if enabled and not CS.standstill else False
-
-      if visual_alert == VisualAlert.steerRequired:
+      if visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
         hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]
 
-      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, canbus.pt, hcaEnabled,
-                                                            CS.steeringPressed, hud_alert, leftLaneVisible,
-                                                            rightLaneVisible))
+      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, enabled,
+                                                            CS.out.steeringPressed, hud_alert, left_lane_visible,
+                                                            right_lane_visible, CS.ldw_stock_values,
+                                                            left_lane_depart, right_lane_depart))
 
-    #--------------------------------------------------------------------------
-    #                                                                         #
-    # Prepare GRA_ACC_01 ACC control messages with button press events.       #
-    #                                                                         #
-    #--------------------------------------------------------------------------
+    # **** ACC Button Controls ********************************************** #
 
-    # The car sends this message at 33hz. OP sends it on-demand only for
-    # virtual button presses.
-    #
-    # First create any virtual button press event needed by openpilot, to sync
-    # stock ACC with OP disengagement, or to auto-resume from stop.
+    # FIXME: this entire section is in desperate need of refactoring
 
     if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
-      if not enabled and CS.accEnabled:
+      if not enabled and CS.out.cruiseState.enabled:
         # Cancel ACC if it's engaged with OP disengaged.
         self.graButtonStatesToSend = BUTTON_STATES.copy()
         self.graButtonStatesToSend["cancel"] = True
-      elif enabled and CS.standstill:
+      elif enabled and CS.out.standstill:
         # Blip the Resume button if we're engaged at standstill.
         # FIXME: This is a naive implementation, improve with visiond or radar input.
-        # A subset of MQBs like to "creep" too aggressively with this implementation.
         self.graButtonStatesToSend = BUTTON_STATES.copy()
         self.graButtonStatesToSend["resumeCruise"] = True
 
-    # OP/Panda can see this message but can't filter it when integrated at the
-    # R242 LKAS camera. It could do so if integrated at the J533 gateway, but
-    # we need a generalized solution that works for either. The message is
-    # counter-protected, so we need to time our transmissions very precisely
-    # to achieve fast and fault-free switching between message flows accepted
-    # at the J428 ACC radar.
-    #
-    # Example message flow on the bus, frequency of 33Hz (GRA_ACC_STEP):
-    #
-    # CAR: 0  1  2  3  4  5  6  7  8  9  A  B  C  D  E  F  0  1  2  3  4  5  6
-    # EON:        3  4  5  6  7  8  9  A  B  C  D  E  F  0  1  2  GG^
-    #
-    # If OP needs to send a button press, it waits to see a GRA_ACC_01 message
-    # counter change, and then immediately follows up with the next increment.
-    # The OP message will be sent within about 1ms of the car's message, which
-    # is about 2ms before the car's next message is expected. OP sends for an
-    # arbitrary duration of 16 messages / ~0.5 sec, in lockstep with each new
-    # message from the car.
-    #
-    # Because OP's counter is synced to the car, J428 immediately accepts the
-    # OP messages as valid. Further messages from the car get discarded as
-    # duplicates without a fault. When OP stops sending, the extra time gap
-    # (GG) to the next valid car message is less than 1 * GRA_ACC_STEP. J428
-    # tolerates the gap just fine and control returns to the car immediately.
-
     if CS.graMsgBusCounter != self.graMsgBusCounterPrev:
       self.graMsgBusCounterPrev = CS.graMsgBusCounter
       if self.graButtonStatesToSend is not None:
         if self.graMsgSentCount == 0:
           self.graMsgStartFramePrev = frame
         idx = (CS.graMsgBusCounter + 1) % 16
-        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, canbus.pt, self.graButtonStatesToSend, CS, idx))
+        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
         self.graMsgSentCount += 1
         if self.graMsgSentCount >= P.GRA_VBP_COUNT:
           self.graButtonStatesToSend = None
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 79cd06310601d7..f02129a61cbb11 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -1,209 +1,280 @@
 import numpy as np
+from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC, BUTTON_STATES, CarControllerParams
-
-def get_mqb_pt_can_parser(CP, canbus):
-  # this function generates lists for signal, messages and initial values
-  signals = [
-    # sig_name, sig_address, default
-    ("LWI_Lenkradwinkel", "LWI_01", 0),           # Absolute steering angle
-    ("LWI_VZ_Lenkradwinkel", "LWI_01", 0),        # Steering angle sign
-    ("LWI_Lenkradw_Geschw", "LWI_01", 0),         # Absolute steering rate
-    ("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0),      # Steering rate sign
-    ("ESP_VL_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, front left
-    ("ESP_VR_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, front right
-    ("ESP_HL_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, rear left
-    ("ESP_HR_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, rear right
-    ("ESP_Gierrate", "ESP_02", 0),                # Absolute yaw rate
-    ("ESP_VZ_Gierrate", "ESP_02", 0),             # Yaw rate sign
-    ("ZV_FT_offen", "Gateway_72", 0),             # Door open, driver
-    ("ZV_BT_offen", "Gateway_72", 0),             # Door open, passenger
-    ("ZV_HFS_offen", "Gateway_72", 0),            # Door open, rear left
-    ("ZV_HBFS_offen", "Gateway_72", 0),           # Door open, rear right
-    ("ZV_HD_offen", "Gateway_72", 0),             # Trunk or hatch open
-    ("BH_Blinker_li", "Gateway_72", 0),           # Left turn signal on
-    ("BH_Blinker_re", "Gateway_72", 0),           # Right turn signal on
-    ("GE_Fahrstufe", "Getriebe_11", 0),           # Auto trans gear selector position
-    ("AB_Gurtschloss_FA", "Airbag_02", 0),        # Seatbelt status, driver
-    ("AB_Gurtschloss_BF", "Airbag_02", 0),        # Seatbelt status, passenger
-    ("ESP_Fahrer_bremst", "ESP_05", 0),           # Brake pedal pressed
-    ("ESP_Status_Bremsdruck", "ESP_05", 0),       # Brakes applied
-    ("ESP_Bremsdruck", "ESP_05", 0),              # Brake pressure applied
-    ("MO_Fahrpedalrohwert_01", "Motor_20", 0),    # Accelerator pedal value
-    ("MO_Kuppl_schalter", "Motor_14", 0),         # Clutch switch
-    ("Driver_Strain", "EPS_01", 0),               # Absolute driver torque input
-    ("Driver_Strain_VZ", "EPS_01", 0),            # Driver torque input sign
-    ("HCA_Ready", "EPS_01", 0),                   # Steering rack HCA support configured
-    ("ESP_Tastung_passiv", "ESP_21", 0),          # Stability control disabled
-    ("KBI_MFA_v_Einheit_02", "Einheiten_01", 0),  # MPH vs KMH speed display
-    ("KBI_Handbremse", "Kombi_01", 0),            # Manual handbrake applied
-    ("TSK_Fahrzeugmasse_02", "Motor_16", 0),      # Estimated vehicle mass from drivetrain coordinator
-    ("ACC_Status_ACC", "ACC_06", 0),              # ACC engagement status
-    ("ACC_Typ", "ACC_06", 0),                     # ACC type (follow to stop, stop&go)
-    ("SetSpeed", "ACC_02", 0),                    # ACC set speed
-    ("GRA_Hauptschalter", "GRA_ACC_01", 0),       # ACC button, on/off
-    ("GRA_Abbrechen", "GRA_ACC_01", 0),           # ACC button, cancel
-    ("GRA_Tip_Setzen", "GRA_ACC_01", 0),          # ACC button, set
-    ("GRA_Tip_Hoch", "GRA_ACC_01", 0),            # ACC button, increase or accel
-    ("GRA_Tip_Runter", "GRA_ACC_01", 0),          # ACC button, decrease or decel
-    ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0),  # ACC button, resume
-    ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
-    ("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0),   # ACC main button type
-    ("GRA_Tip_Stufe_2", "GRA_ACC_01", 0),         # unknown related to stalk type
-    ("GRA_ButtonTypeInfo", "GRA_ACC_01", 0),      # unknown related to stalk type
-    ("COUNTER", "GRA_ACC_01", 0),                 # GRA_ACC_01 CAN message counter
-  ]
-
-  checks = [
-    # sig_address, frequency
-    ("LWI_01", 100),      # From J500 Steering Assist with integrated sensors
-    ("EPS_01", 100),      # From J500 Steering Assist with integrated sensors
-    ("ESP_19", 100),      # From J104 ABS/ESP controller
-    ("ESP_05", 50),       # From J104 ABS/ESP controller
-    ("ESP_21", 50),       # From J104 ABS/ESP controller
-    ("ACC_06", 50),       # From J428 ACC radar control module
-    ("Motor_20", 50),     # From J623 Engine control module
-    ("GRA_ACC_01", 33),   # From J??? steering wheel control buttons
-    ("ACC_02", 17),       # From J428 ACC radar control module
-    ("Getriebe_11", 20),  # From J743 Auto transmission control module
-    ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
-    ("Motor_14", 10),     # From J623 Engine control module
-    ("Airbag_02", 5),     # From J234 Airbag control module
-    ("Kombi_01", 2),      # From J285 Instrument cluster
-    ("Motor_16", 2),      # From J623 Engine control module
-    ("Einheiten_01", 1),  # From J??? not known if gateway, cluster, or BCM
-  ]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, canbus.pt)
-
-# A single signal is monitored from the camera CAN bus, and then ignored,
-# so the presence of CAN traffic can be verified with cam_cp.valid.
-
-def get_mqb_cam_can_parser(CP, canbus):
-
-  signals = [
-    # sig_name, sig_address, default
-    ("Kombi_Lamp_Green", "LDW_02", 0),            # Lane Assist status LED
-  ]
-
-  checks = [
-    # sig_address, frequency
-    ("LDW_02", 10)        # From R242 Driver assistance camera
-  ]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, canbus.cam)
-
+from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
 
 class CarState(CarStateBase):
-  def __init__(self, CP, canbus):
+  def __init__(self, CP):
     super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
+    can_define = CANDefine(DBC_FILES.mqb)
+    if CP.transmissionType == TransmissionType.automatic:
+      self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
+    elif CP.transmissionType == TransmissionType.direct:
+      self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
+    self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
     self.buttonStates = BUTTON_STATES.copy()
 
-  def update(self, pt_cp):
+  def update(self, pt_cp, cam_cp, ext_cp, trans_type):
+    ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
-    self.wheelSpeedFL = pt_cp.vl["ESP_19"]['ESP_VL_Radgeschw_02'] * CV.KPH_TO_MS
-    self.wheelSpeedFR = pt_cp.vl["ESP_19"]['ESP_VR_Radgeschw_02'] * CV.KPH_TO_MS
-    self.wheelSpeedRL = pt_cp.vl["ESP_19"]['ESP_HL_Radgeschw_02'] * CV.KPH_TO_MS
-    self.wheelSpeedRR = pt_cp.vl["ESP_19"]['ESP_HR_Radgeschw_02'] * CV.KPH_TO_MS
-
-    self.vEgoRaw = float(np.mean([self.wheelSpeedFL, self.wheelSpeedFR, self.wheelSpeedRL, self.wheelSpeedRR]))
-    self.vEgo, self.aEgo = self.update_speed_kf(self.vEgoRaw)
+    ret.wheelSpeeds.fl = pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fr = pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rl = pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rr = pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"] * CV.KPH_TO_MS
 
-    self.standstill = self.vEgoRaw < 0.1
+    ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
 
     # Update steering angle, rate, yaw rate, and driver input torque. VW send
     # the sign/direction in a separate signal so they must be recombined.
-    self.steeringAngle = pt_cp.vl["LWI_01"]['LWI_Lenkradwinkel'] * (1,-1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])]
-    self.steeringRate = pt_cp.vl["LWI_01"]['LWI_Lenkradw_Geschw'] * (1,-1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])]
-    self.steeringTorque = pt_cp.vl["EPS_01"]['Driver_Strain'] * (1,-1)[int(pt_cp.vl["EPS_01"]['Driver_Strain_VZ'])]
-    self.steeringPressed = abs(self.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
-    self.yawRate = pt_cp.vl["ESP_02"]['ESP_Gierrate'] * (1,-1)[int(pt_cp.vl["ESP_02"]['ESP_VZ_Gierrate'])] * CV.DEG_TO_RAD
+    ret.steeringAngleDeg = pt_cp.vl["LH_EPS_03"]["EPS_Berechneter_LW"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_BLW"])]
+    ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
+    ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
+    ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
+    ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
+
+    # Verify EPS readiness to accept steering commands
+    hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
+    ret.steerError = hca_status in ["DISABLED", "FAULT"]
+    ret.steerWarning = hca_status in ["INITIALIZING", "REJECTED"]
 
     # Update gas, brakes, and gearshift.
-    self.gas = pt_cp.vl["Motor_20"]['MO_Fahrpedalrohwert_01'] / 100.0
-    self.gasPressed = self.gas > 0
-    self.brake = pt_cp.vl["ESP_05"]['ESP_Bremsdruck'] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
-    self.brakePressed = bool(pt_cp.vl["ESP_05"]['ESP_Fahrer_bremst'])
-    self.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
+    ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
+    ret.gasPressed = ret.gas > 0
+    ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
+    ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
 
     # Update gear and/or clutch position data.
-    can_gear_shifter = int(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'])
-    self.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
+    if trans_type == TransmissionType.automatic:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
+    elif trans_type == TransmissionType.direct:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
+    elif trans_type == TransmissionType.manual:
+      ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
+      if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
+        ret.gearShifter = GearShifter.reverse
+      else:
+        ret.gearShifter = GearShifter.drive
 
     # Update door and trunk/hatch lid open status.
-    self.doorOpen = any([pt_cp.vl["Gateway_72"]['ZV_FT_offen'],
-                         pt_cp.vl["Gateway_72"]['ZV_BT_offen'],
-                         pt_cp.vl["Gateway_72"]['ZV_HFS_offen'],
-                         pt_cp.vl["Gateway_72"]['ZV_HBFS_offen'],
-                         pt_cp.vl["Gateway_72"]['ZV_HD_offen']])
+    ret.doorOpen = any([pt_cp.vl["Gateway_72"]["ZV_FT_offen"],
+                        pt_cp.vl["Gateway_72"]["ZV_BT_offen"],
+                        pt_cp.vl["Gateway_72"]["ZV_HFS_offen"],
+                        pt_cp.vl["Gateway_72"]["ZV_HBFS_offen"],
+                        pt_cp.vl["Gateway_72"]["ZV_HD_offen"]])
 
     # Update seatbelt fastened status.
-    self.seatbeltUnlatched = False if pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] == 3 else True
+    ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
 
     # Update driver preference for metric. VW stores many different unit
     # preferences, including separate units for for distance vs. speed.
     # We use the speed preference for OP.
     self.displayMetricUnits = not pt_cp.vl["Einheiten_01"]["KBI_MFA_v_Einheit_02"]
 
+    # Consume blind-spot monitoring info/warning LED states, if available.
+    # Infostufe: BSM LED on, Warnung: BSM LED flashing
+    if self.CP.enableBsm:
+      ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
+      ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
+
+    # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
+    # and capture it for forwarding to the blind spot radar controller
+    self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
+
+    # Stock FCW is considered active if the release bit for brake-jerk warning
+    # is set. Stock AEB considered active if the partial braking or target
+    # braking release bits are set.
+    # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
+    # Systems, chapter on Front Assist with Braking: Golf Family for all MQB
+    ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"])
+    ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
+
     # Update ACC radar status.
-    accStatus = pt_cp.vl["ACC_06"]['ACC_Status_ACC']
-    if accStatus == 1:
-      # ACC okay but disabled
-      self.accFault = False
-      self.accAvailable = False
-      self.accEnabled = False
-    elif accStatus == 2:
+    accStatus = pt_cp.vl["TSK_06"]["TSK_Status"]
+    if accStatus == 2:
       # ACC okay and enabled, but not currently engaged
-      self.accFault = False
-      self.accAvailable = True
-      self.accEnabled = False
+      ret.cruiseState.available = True
+      ret.cruiseState.enabled = False
     elif accStatus in [3, 4, 5]:
       # ACC okay and enabled, currently engaged and regulating speed (3) or engaged with driver accelerating (4) or overrun (5)
-      self.accFault = False
-      self.accAvailable = True
-      self.accEnabled = True
+      ret.cruiseState.available = True
+      ret.cruiseState.enabled = True
     else:
-      # ACC fault of some sort. Seen statuses 6 or 7 for CAN comms disruptions, visibility issues, etc.
-      self.accFault = True
-      self.accAvailable = False
-      self.accEnabled = False
+      # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
+      ret.cruiseState.available = False
+      ret.cruiseState.enabled = False
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
     # radar sends a set-speed of ~90.69 m/s / 203mph.
-    self.accSetSpeed = pt_cp.vl["ACC_02"]['SetSpeed']
-    if self.accSetSpeed > 90: self.accSetSpeed = 0
+    ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
+    if ret.cruiseState.speed > 90:
+      ret.cruiseState.speed = 0
 
     # Update control button states for turn signals and ACC controls.
-    self.buttonStates["leftBlinker"] = bool(pt_cp.vl["Gateway_72"]['BH_Blinker_li'])
-    self.buttonStates["rightBlinker"] = bool(pt_cp.vl["Gateway_72"]['BH_Blinker_re'])
-    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Hoch'])
-    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Runter'])
-    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Abbrechen'])
-    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Setzen'])
-    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Wiederaufnahme'])
-    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Verstellung_Zeitluecke'])
+    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])
+    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"])
+    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"])
+    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"])
+    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"])
+    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
+    ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
+    ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
 
     # Read ACC hardware button type configuration info that has to pass thru
     # to the radar. Ends up being different for steering wheel buttons vs
     # third stalk type controls.
-    self.graHauptschalter = pt_cp.vl["GRA_ACC_01"]['GRA_Hauptschalter']
-    self.graTypHauptschalter = pt_cp.vl["GRA_ACC_01"]['GRA_Typ_Hauptschalter']
-    self.graButtonTypeInfo = pt_cp.vl["GRA_ACC_01"]['GRA_ButtonTypeInfo']
-    self.graTipStufe2 = pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Stufe_2']
+    self.graHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Hauptschalter"]
+    self.graTypHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Typ_Hauptschalter"]
+    self.graButtonTypeInfo = pt_cp.vl["GRA_ACC_01"]["GRA_ButtonTypeInfo"]
+    self.graTipStufe2 = pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Stufe_2"]
     # Pick up the GRA_ACC_01 CAN message counter so we can sync to it for
     # later cruise-control button spamming.
-    self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]['COUNTER']
-
-    # Check to make sure the electric power steering rack is configured to
-    # accept and respond to HCA_01 messages and has not encountered a fault.
-    self.steeringFault = not pt_cp.vl["EPS_01"]["HCA_Ready"]
+    self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]["COUNTER"]
 
     # Additional safety checks performed in CarInterface.
-    self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
-    self.stabilityControlDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv']
+    self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
+    ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    # this function generates lists for signal, messages and initial values
+    signals = [
+      # sig_name, sig_address, default
+      ("EPS_Berechneter_LW", "LH_EPS_03", 0),       # Absolute steering angle
+      ("EPS_VZ_BLW", "LH_EPS_03", 0),               # Steering angle sign
+      ("LWI_Lenkradw_Geschw", "LWI_01", 0),         # Absolute steering rate
+      ("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0),      # Steering rate sign
+      ("ESP_VL_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, front left
+      ("ESP_VR_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, front right
+      ("ESP_HL_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, rear left
+      ("ESP_HR_Radgeschw_02", "ESP_19", 0),         # ABS wheel speed, rear right
+      ("ESP_Gierrate", "ESP_02", 0),                # Absolute yaw rate
+      ("ESP_VZ_Gierrate", "ESP_02", 0),             # Yaw rate sign
+      ("ZV_FT_offen", "Gateway_72", 0),             # Door open, driver
+      ("ZV_BT_offen", "Gateway_72", 0),             # Door open, passenger
+      ("ZV_HFS_offen", "Gateway_72", 0),            # Door open, rear left
+      ("ZV_HBFS_offen", "Gateway_72", 0),           # Door open, rear right
+      ("ZV_HD_offen", "Gateway_72", 0),             # Trunk or hatch open
+      ("Comfort_Signal_Left", "Blinkmodi_02", 0),   # Left turn signal including comfort blink interval
+      ("Comfort_Signal_Right", "Blinkmodi_02", 0),  # Right turn signal including comfort blink interval
+      ("AB_Gurtschloss_FA", "Airbag_02", 0),        # Seatbelt status, driver
+      ("AB_Gurtschloss_BF", "Airbag_02", 0),        # Seatbelt status, passenger
+      ("ESP_Fahrer_bremst", "ESP_05", 0),           # Brake pedal pressed
+      ("ESP_Bremsdruck", "ESP_05", 0),              # Brake pressure applied
+      ("MO_Fahrpedalrohwert_01", "Motor_20", 0),    # Accelerator pedal value
+      ("EPS_Lenkmoment", "LH_EPS_03", 0),           # Absolute driver torque input
+      ("EPS_VZ_Lenkmoment", "LH_EPS_03", 0),        # Driver torque input sign
+      ("EPS_HCA_Status", "LH_EPS_03", 3),           # EPS HCA control status
+      ("ESP_Tastung_passiv", "ESP_21", 0),          # Stability control disabled
+      ("ESP_Haltebestaetigung", "ESP_21", 0),       # ESP hold confirmation
+      ("KBI_MFA_v_Einheit_02", "Einheiten_01", 0),  # MPH vs KMH speed display
+      ("KBI_Handbremse", "Kombi_01", 0),            # Manual handbrake applied
+      ("TSK_Status", "TSK_06", 0),                  # ACC engagement status from drivetrain coordinator
+      ("GRA_Hauptschalter", "GRA_ACC_01", 0),       # ACC button, on/off
+      ("GRA_Abbrechen", "GRA_ACC_01", 0),           # ACC button, cancel
+      ("GRA_Tip_Setzen", "GRA_ACC_01", 0),          # ACC button, set
+      ("GRA_Tip_Hoch", "GRA_ACC_01", 0),            # ACC button, increase or accel
+      ("GRA_Tip_Runter", "GRA_ACC_01", 0),          # ACC button, decrease or decel
+      ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0),  # ACC button, resume
+      ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0),  # ACC button, time gap adj
+      ("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0),   # ACC main button type
+      ("GRA_Tip_Stufe_2", "GRA_ACC_01", 0),         # unknown related to stalk type
+      ("GRA_ButtonTypeInfo", "GRA_ACC_01", 0),      # unknown related to stalk type
+      ("COUNTER", "GRA_ACC_01", 0),                 # GRA_ACC_01 CAN message counter
+    ]
+
+    checks = [
+      # sig_address, frequency
+      ("LWI_01", 100),      # From J500 Steering Assist with integrated sensors
+      ("LH_EPS_03", 100),   # From J500 Steering Assist with integrated sensors
+      ("ESP_19", 100),      # From J104 ABS/ESP controller
+      ("ESP_05", 50),       # From J104 ABS/ESP controller
+      ("ESP_21", 50),       # From J104 ABS/ESP controller
+      ("Motor_20", 50),     # From J623 Engine control module
+      ("TSK_06", 50),       # From J623 Engine control module
+      ("ESP_02", 50),       # From J104 ABS/ESP controller
+      ("GRA_ACC_01", 33),   # From J533 CAN gateway (via LIN from steering wheel controls)
+      ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
+      ("Airbag_02", 5),     # From J234 Airbag control module
+      ("Kombi_01", 2),      # From J285 Instrument cluster
+      ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
+      ("Einheiten_01", 1),  # From J??? not known if gateway, cluster, or BCM
+    ]
+
+    if CP.transmissionType == TransmissionType.automatic:
+      signals += [("GE_Fahrstufe", "Getriebe_11", 0)]  # Auto trans gear selector position
+      checks += [("Getriebe_11", 20)]  # From J743 Auto transmission control module
+    elif CP.transmissionType == TransmissionType.direct:
+      signals += [("GearPosition", "EV_Gearshift", 0)]  # EV gear selector position
+      checks += [("EV_Gearshift", 10)]  # From J??? unknown EV control module
+    elif CP.transmissionType == TransmissionType.manual:
+      signals += [("MO_Kuppl_schalter", "Motor_14", 0),  # Clutch switch
+                  ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)]  # Reverse light from BCM
+      checks += [("Motor_14", 10)]  # From J623 Engine control module
+
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      # Radars are here on CANBUS.pt
+      signals += MqbExtraSignals.fwd_radar_signals
+      checks += MqbExtraSignals.fwd_radar_checks
+      if CP.enableBsm:
+        signals += MqbExtraSignals.bsm_radar_signals
+        checks += MqbExtraSignals.bsm_radar_checks
+
+    return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
 
+    signals = []
+    checks = []
+
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      signals += [
+        # sig_name, sig_address, default
+        ("LDW_SW_Warnung_links", "LDW_02", 0),      # Blind spot in warning mode on left side due to lane departure
+        ("LDW_SW_Warnung_rechts", "LDW_02", 0),     # Blind spot in warning mode on right side due to lane departure
+        ("LDW_Seite_DLCTLC", "LDW_02", 0),          # Direction of most likely lane departure (left or right)
+        ("LDW_DLC", "LDW_02", 0),                   # Lane departure, distance to line crossing
+        ("LDW_TLC", "LDW_02", 0),                   # Lane departure, time to line crossing
+      ]
+      checks += [
+        # sig_address, frequency
+        ("LDW_02", 10)      # From R242 Driver assistance camera
+      ]
+    else:
+      # Radars are here on CANBUS.cam
+      signals += MqbExtraSignals.fwd_radar_signals
+      checks += MqbExtraSignals.fwd_radar_checks
+      if CP.enableBsm:
+        signals += MqbExtraSignals.bsm_radar_signals
+        checks += MqbExtraSignals.bsm_radar_checks
+
+    return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
+
+class MqbExtraSignals:
+  # Additional signal and message lists for optional or bus-portable controllers
+  fwd_radar_signals = [
+    ("ACC_Wunschgeschw", "ACC_02", 0),              # ACC set speed
+    ("AWV2_Freigabe", "ACC_10", 0),                 # FCW brake jerk release
+    ("ANB_Teilbremsung_Freigabe", "ACC_10", 0),     # AEB partial braking release
+    ("ANB_Zielbremsung_Freigabe", "ACC_10", 0),     # AEB target braking release
+  ]
+  fwd_radar_checks = [
+    ("ACC_10", 50),                                 # From J428 ACC radar control module
+    ("ACC_02", 17),                                 # From J428 ACC radar control module
+  ]
+  bsm_radar_signals = [
+    ("SWA_Infostufe_SWA_li", "SWA_01", 0),          # Blind spot object info, left
+    ("SWA_Warnung_SWA_li", "SWA_01", 0),            # Blind spot object warning, left
+    ("SWA_Infostufe_SWA_re", "SWA_01", 0),          # Blind spot object info, right
+    ("SWA_Warnung_SWA_re", "SWA_01", 0),            # Blind spot object warning, right
+  ]
+  bsm_radar_checks = [
+    ("SWA_01", 20),                                 # From J1086 Lane Change Assist
+  ]
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 0e8b5206d3d684..d5b346f410891d 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,178 +1,176 @@
 from cereal import car
-from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
-from selfdrive.car.volkswagen.carstate import CarState, get_mqb_pt_can_parser, get_mqb_cam_can_parser
-from common.params import Params
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
-GEAR = car.CarState.GearShifter
+EventName = car.CarEvent.EventName
 
-class CANBUS:
-  pt = 0
-  cam = 2
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController):
-    self.CP = CP
-    self.CC = None
+  def __init__(self, CP, CarController, CarState):
+    super().__init__(CP, CarController, CarState)
 
-    self.frame = 0
-
-    self.gasPressedPrev = False
-    self.brakePressedPrev = False
-    self.cruiseStateEnabledPrev = False
     self.displayMetricUnitsPrev = None
     self.buttonStatesPrev = BUTTON_STATES.copy()
 
-    # *** init the major players ***
-    self.CS = CarState(CP, CANBUS)
-    self.VM = VehicleModel(CP)
-    self.pt_cp = get_mqb_pt_can_parser(CP, CANBUS)
-    self.cam_cp = get_mqb_cam_can_parser(CP, CANBUS)
-
-    # sending if read only is False
-    if CarController is not None:
-      self.CC = CarController(CANBUS, CP.carFingerprint)
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      self.ext_bus = CANBUS.pt
+      self.cp_ext = self.cp
+    else:
+      self.ext_bus = CANBUS.cam
+      self.cp_ext = self.cp_cam
 
   @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+    ret.carName = "volkswagen"
+    ret.radarOffCan = True
+
+    if True:  # pylint: disable=using-constant-test
+      # Set global MQB parameters
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
+      ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
+
+      if 0xAD in fingerprint[0]:  # Getriebe_11
+        ret.transmissionType = TransmissionType.automatic
+      elif 0x187 in fingerprint[0]:  # EV_Gearshift
+        ret.transmissionType = TransmissionType.direct
+      else:
+        ret.transmissionType = TransmissionType.manual
+
+      if any(msg in fingerprint[1] for msg in [0x40, 0x86, 0xB2, 0xFD]):  # Airbag_01, LWI_01, ESP_19, ESP_21
+        ret.networkLocation = NetworkLocation.gateway
+      else:
+        ret.networkLocation = NetworkLocation.fwdCamera
+
+    # Global tuning defaults, can be overridden per-vehicle
+
+    ret.steerActuatorDelay = 0.05
+    ret.steerRateCost = 1.0
+    ret.steerLimitTimer = 0.4
+    ret.steerRatio = 15.6  # Let the params learner figure this out
+    tire_stiffness_factor = 1.0  # Let the params learner figure this out
+    ret.lateralTuning.pid.kpBP = [0.]
+    ret.lateralTuning.pid.kiBP = [0.]
+    ret.lateralTuning.pid.kf = 0.00006
+    ret.lateralTuning.pid.kpV = [0.6]
+    ret.lateralTuning.pid.kiV = [0.2]
+
+    # Per-chassis tuning values, override tuning defaults here if desired
+
+    if candidate == CAR.ARTEON_MK1:
+      ret.mass = 1733 + STD_CARGO_KG
+      ret.wheelbase = 2.84
+
+    elif candidate == CAR.ATLAS_MK1:
+      ret.mass = 2011 + STD_CARGO_KG
+      ret.wheelbase = 2.98
+
+    elif candidate == CAR.GOLF_MK7:
+      ret.mass = 1397 + STD_CARGO_KG
+      ret.wheelbase = 2.62
+
+    elif candidate == CAR.JETTA_MK7:
+      ret.mass = 1328 + STD_CARGO_KG
+      ret.wheelbase = 2.71
+
+    elif candidate == CAR.PASSAT_MK8:
+      ret.mass = 1551 + STD_CARGO_KG
+      ret.wheelbase = 2.79
+
+    elif candidate == CAR.POLO_MK6:
+      ret.mass = 1230 + STD_CARGO_KG
+      ret.wheelbase = 2.55
+
+    elif candidate == CAR.TAOS_MK1:
+      ret.mass = 1498 + STD_CARGO_KG
+      ret.wheelbase = 2.69
+
+    elif candidate == CAR.TCROSS_MK1:
+      ret.mass = 1150 + STD_CARGO_KG
+      ret.wheelbase = 2.60
+
+    elif candidate == CAR.TIGUAN_MK2:
+      ret.mass = 1715 + STD_CARGO_KG
+      ret.wheelbase = 2.74
+
+    elif candidate == CAR.TOURAN_MK2:
+      ret.mass = 1516 + STD_CARGO_KG
+      ret.wheelbase = 2.79
+
+    elif candidate == CAR.TRANSPORTER_T61:
+      ret.mass = 1926 + STD_CARGO_KG
+      ret.wheelbase = 3.00  # SWB, LWB is 3.40, TBD how to detect difference
+      ret.minSteerSpeed = 14.0
+
+    elif candidate == CAR.AUDI_A3_MK3:
+      ret.mass = 1335 + STD_CARGO_KG
+      ret.wheelbase = 2.61
+
+    elif candidate == CAR.AUDI_Q2_MK1:
+      ret.mass = 1205 + STD_CARGO_KG
+      ret.wheelbase = 2.61
+
+    elif candidate == CAR.SEAT_ATECA_MK1:
+      ret.mass = 1900 + STD_CARGO_KG
+      ret.wheelbase = 2.64
+
+    elif candidate == CAR.SEAT_LEON_MK3:
+      ret.mass = 1227 + STD_CARGO_KG
+      ret.wheelbase = 2.64
+
+    elif candidate == CAR.SKODA_KAMIQ_MK1:
+      ret.mass = 1265 + STD_CARGO_KG
+      ret.wheelbase = 2.66
+
+    elif candidate == CAR.SKODA_KAROQ_MK1:
+      ret.mass = 1278 + STD_CARGO_KG
+      ret.wheelbase = 2.66
+
+    elif candidate == CAR.SKODA_KODIAQ_MK1:
+      ret.mass = 1569 + STD_CARGO_KG
+      ret.wheelbase = 2.79
+
+    elif candidate == CAR.SKODA_OCTAVIA_MK3:
+      ret.mass = 1388 + STD_CARGO_KG
+      ret.wheelbase = 2.68
+
+    elif candidate == CAR.SKODA_SCALA_MK1:
+      ret.mass = 1192 + STD_CARGO_KG
+      ret.wheelbase = 2.65
+
+    elif candidate == CAR.SKODA_SUPERB_MK3:
+      ret.mass = 1505 + STD_CARGO_KG
+      ret.wheelbase = 2.84
 
-  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-    ret = car.CarParams.new_message()
-
-    ret.carFingerprint = candidate
-    ret.isPandaBlack = has_relay
-
-    if candidate == CAR.GOLF:
-      # Set common MQB parameters that will apply globally
-      ret.carName = "volkswagen"
-      ret.safetyModel = car.CarParams.SafetyModel.volkswagen
-      ret.enableCruise = True # Stock ACC still controls acceleration and braking
-      ret.openpilotLongitudinalControl = False
-      ret.steerControlType = car.CarParams.SteerControlType.torque
-
-      # Additional common MQB parameters that may be overridden per-vehicle
-      ret.steerRateCost = 0.5
-      ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
-      ret.steerLimitTimer = 0.4
-      ret.steerMaxBP = [0.]  # m/s
-      ret.steerMaxV = [1.]
-
-      # As a starting point for speed-adjusted lateral tuning, use the example
-      # map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
-      # whether the driver assist map breakpoints have any direct bearing on
-      # HCA assist torque, but if they're good breakpoints for the driver,
-      # they're probably good breakpoints for HCA as well. OP won't be driving
-      # 250kph/155mph but it provides interpolation scaling above 100kmh/62mph.
-      ret.lateralTuning.pid.kpBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
-      ret.lateralTuning.pid.kiBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
-
-      # FIXME: Per-vehicle parameters need to be reintegrated.
-      # For the time being, per-vehicle stuff is being archived since we
-      # can't auto-detect very well yet. Now that tuning is figured out,
-      # averaged params should work reasonably on a range of cars. Owners
-      # can tweak here, as needed, until we have car type auto-detection.
-
-      ret.mass = 1700 + STD_CARGO_KG
-      ret.wheelbase = 2.75
-      ret.centerToFront = ret.wheelbase * 0.45
-      ret.steerRatio = 15.6
-      ret.lateralTuning.pid.kf = 0.00006
-      ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60]
-      ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05]
-      tire_stiffness_factor = 0.6
-
-    ret.enableCamera = True # Stock camera detection doesn't apply to VW
-    ret.transmissionType = car.CarParams.TransmissionType.automatic
-    ret.steerRatioRear = 0.
-
-    # No support for OP longitudinal control on Volkswagen at this time.
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [0.]
-    ret.brakeMaxBP = [0.]
-    ret.brakeMaxV = [0.]
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.]
-
-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+    else:
+      raise ValueError("unsupported car %s" % candidate)
 
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+    ret.centerToFront = ret.wheelbase * 0.45
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
-
     return ret
 
   # returns a car.CarState
   def update(self, c, can_strings):
-    canMonoTimes = []
-    events = []
     buttonEvents = []
-    params = Params()
-    ret = car.CarState.new_message()
 
     # Process the most recent CAN message traffic, and check for validity
     # The camera CAN has no signals we use at this time, but we process it
     # anyway so we can test connectivity with can_valid
-    self.pt_cp.update_strings(can_strings)
-    self.cam_cp.update_strings(can_strings)
-    self.CS.update(self.pt_cp)
-    ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
-
-    # Wheel and vehicle speed, yaw rate
-    ret.wheelSpeeds.fl = self.CS.wheelSpeedFL
-    ret.wheelSpeeds.fr = self.CS.wheelSpeedFR
-    ret.wheelSpeeds.rl = self.CS.wheelSpeedRL
-    ret.wheelSpeeds.rr = self.CS.wheelSpeedRR
-    ret.vEgoRaw = self.CS.vEgoRaw
-    ret.vEgo = self.CS.vEgo
-    ret.aEgo = self.CS.aEgo
-    ret.standstill = self.CS.standstill
-
-    # Steering wheel position, movement, yaw rate, and driver input
-    ret.steeringAngle = self.CS.steeringAngle
-    ret.steeringRate = self.CS.steeringRate
-    ret.steeringTorque = self.CS.steeringTorque
-    ret.steeringPressed = self.CS.steeringPressed
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-    ret.yawRate = self.CS.yawRate
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
 
-    # Gas, brakes and shifting
-    ret.gas = self.CS.gas
-    ret.gasPressed = self.CS.gasPressed
-    ret.brake = self.CS.brake
-    ret.brakePressed = self.CS.brakePressed
-    ret.brakeLights = self.CS.brakeLights
-    ret.gearShifter = self.CS.gearShifter
-
-    # Doors open, seatbelt unfastened
-    ret.doorOpen = self.CS.doorOpen
-    ret.seatbeltUnlatched = self.CS.seatbeltUnlatched
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
+    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    # Update the EON metric configuration to match the car at first startup,
+    # TODO: add a field for this to carState, car interface code shouldn't write params
+    # Update the device metric configuration to match the car at first startup,
     # or if there's been a change.
-    if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
-      params.put("IsMetric", "1" if self.CS.displayMetricUnits else "0")
-
-    # Blinker switch updates
-    ret.leftBlinker = self.CS.buttonStates["leftBlinker"]
-    ret.rightBlinker = self.CS.buttonStates["rightBlinker"]
-
-    # ACC cruise state
-    ret.cruiseState.available = self.CS.accAvailable
-    ret.cruiseState.enabled = self.CS.accEnabled
-    ret.cruiseState.speed = self.CS.accSetSpeed
+    #if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
+    #  put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
 
     # Check for and process state-change events (button press or release) from
     # the turn stalk switch or ACC steering wheel/control stalk buttons.
@@ -183,61 +181,36 @@ def update(self, c, can_strings):
         be.pressed = self.CS.buttonStates[button]
         buttonEvents.append(be)
 
-    # Vehicle operation safety checks and events
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.gearShifter == GEAR.reverse:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if not ret.gearShifter in [GEAR.drive, GEAR.eco, GEAR.sport]:
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.stabilityControlDisabled:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
+
+    # Vehicle health and operation safety checks
     if self.CS.parkingBrakeSet:
-      events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    # Vehicle health safety checks and events
-    if self.CS.accFault:
-      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steeringFault:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
-
-    # Per the Comma safety model, disable on pedals rising edge or when brake
-    # is pressed and speed isn't zero.
-    if (ret.gasPressed and not self.gasPressedPrev) or \
-            (ret.brakePressed and (not self.brakePressedPrev or not ret.standstill)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
-    # Engagement and longitudinal control using stock ACC. Make sure OP is
-    # disengaged if stock ACC is disengaged.
-    if not ret.cruiseState.enabled:
-      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
-    # Attempt OP engagement only on rising edge of stock ACC engagement.
-    elif not self.cruiseStateEnabledPrev:
-      events.append(create_event('pcmEnable', [ET.ENABLE]))
-
-    ret.events = events
+      events.add(EventName.parkBrake)
+
+    # Low speed steer alert hysteresis logic
+    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+      self.low_speed_alert = True
+    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
+      self.low_speed_alert = False
+    if self.low_speed_alert:
+      events.add(EventName.belowSteerSpeed)
+
+    ret.events = events.to_msg()
     ret.buttonEvents = buttonEvents
-    ret.canMonoTimes = canMonoTimes
 
     # update previous car states
-    self.gasPressedPrev = ret.gasPressed
-    self.brakePressedPrev = ret.brakePressed
-    self.cruiseStateEnabledPrev = ret.cruiseState.enabled
     self.displayMetricUnitsPrev = self.CS.displayMetricUnits
     self.buttonStatesPrev = self.CS.buttonStates.copy()
 
-    # cast to reader so it can't be modified
-    return ret.as_reader()
+    self.CS.out = ret.as_reader()
+    return self.CS.out
 
   def apply(self, c):
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+    can_sends = self.CC.update(c.enabled, self.CS, self.frame, self.ext_bus, c.actuators,
                    c.hudControl.visualAlert,
-                   c.hudControl.audibleAlert,
                    c.hudControl.leftLaneVisible,
-                   c.hudControl.rightLaneVisible)
+                   c.hudControl.rightLaneVisible,
+                   c.hudControl.leftLaneDepart,
+                   c.hudControl.rightLaneDepart)
     self.frame += 1
     return can_sends
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
old mode 100644
new mode 100755
index 045e03ae33c89a..01677037fb7149
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,5 +1,16 @@
+# flake8: noqa
+
+from collections import defaultdict
+from typing import Dict
+
+from cereal import car
 from selfdrive.car import dbc_dict
 
+Ecu = car.CarParams.Ecu
+NetworkLocation = car.CarParams.NetworkLocation
+TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
+
 class CarControllerParams:
   HCA_STEP = 2                   # HCA_01 message frequency 50Hz
   LDW_STEP = 10                  # LDW_02 message frequency 10Hz
@@ -9,18 +20,25 @@ class CarControllerParams:
   GRA_VBP_COUNT = 16             # Send VBP messages for ~0.5s (GRA_ACC_STEP * 16)
 
   # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
-  # Limiting both torque and rate-of-change based on real-world testing and
-  # Comma's safety requirements for minimum time to lane departure.
-  STEER_MAX = 250                # Max heading control assist torque 2.50 Nm
-  STEER_DELTA_UP = 4             # Max HCA reached in 1.25s (STEER_MAX / (50Hz * 1.25))
+  # Limiting rate-of-change based on real-world testing and Comma's safety
+  # requirements for minimum time to lane departure.
+  STEER_MAX = 300                # Max heading control assist torque 3.00 Nm
+  STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
   STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
   STEER_DRIVER_ALLOWANCE = 80
   STEER_DRIVER_MULTIPLIER = 3    # weight driver torque heavily
   STEER_DRIVER_FACTOR = 1        # from dbc
 
+class CANBUS:
+  pt = 0
+  cam = 2
+
+class DBC_FILES:
+  mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
+
+DBC = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))  # type: Dict[str, Dict[str, str]]
+
 BUTTON_STATES = {
-  "leftBlinker": False,
-  "rightBlinker": False,
   "accelCruise": False,
   "decelCruise": False,
   "cancel": False,
@@ -41,16 +59,662 @@ class CarControllerParams:
   "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
 }
 
+# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
+# chassis code is already listed below, don't add a new CAR, just add to the
+# FW_VERSIONS for that existing CAR.
+# Exception: SEAT Leon and SEAT Ateca share a chassis code
+
 class CAR:
-  GOLF = "Volkswagen Golf"
+  ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN"          # Chassis AN, Mk1 VW Arteon and variants
+  ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN"            # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
+  GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN"              # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
+  JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN"            # Chassis BU, Mk7 VW Jetta
+  PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN"          # Chassis 3G, Mk8 VW Passat and variants
+  POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN"              # Chassis AW, Mk6 VW Polo
+  TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN"              # Chassis B2, Mk1 VW Taos and Tharu
+  TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN"         # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
+  TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN"          # Chassis AD/BW, Mk2 VW Tiguan and variants
+  TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN"          # Chassis 1T, Mk2 VW Touran and variants
+  TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1"   # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California
+  AUDI_A3_MK3 = "AUDI A3 3RD GEN"                   # Chassis 8V/FF, Mk3 Audi A3 and variants
+  AUDI_Q2_MK1 = "AUDI Q2 1ST GEN"                   # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
+  SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"             # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
+  SEAT_LEON_MK3 = "SEAT LEON 3RD GEN"               # Chassis 5F, Mk3 SEAT Leon and variants
+  SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN"           # Chassis NW, Mk1 Skoda Kamiq
+  SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN"           # Chassis NU, Mk1 Skoda Karoq
+  SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN"         # Chassis NS, Mk1 Skoda Kodiaq
+  SKODA_SCALA_MK1 = "SKODA SCALA 1ST GEN"           # Chassis NW, Mk1 Skoda Scala and Skoda Kamiq
+  SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN"         # Chassis 3V/NP, Mk3 Skoda Superb and variants
+  SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN"       # Chassis NE, Mk3 Skoda Octavia and variants
 
-FINGERPRINTS = {
-  CAR.GOLF: [
-  # 76b83eb0245de90e|2019-10-21--17-40-42 - jyoung8607 car
-  {64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 264: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 385: 8, 418: 8, 427: 8, 668: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1120: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8
-  }],
-}
+# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
+# with a manual trans won't return transmission firmware, but all other cars will.
+#
+# The 0xF187 SW part number query should return in the form of N[NX][NX] NNN NNN [X[X]],
+# where N=number, X=letter, and the trailing two letters are optional. Performance
+# tuners sometimes tamper with that field (e.g. 8V0 9C0 BB0 1 from COBB/EQT). Tampered
+# ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have
+# them repaired by the tuner before including them in openpilot.
 
-DBC = {
-  CAR.GOLF: dbc_dict('vw_mqb_2010', None),
+FW_VERSIONS = {
+  CAR.ARTEON_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x873G0906259P \xf1\x890001',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158L \xf1\x893611',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.ATLAS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8703H906026AA\xf1\x899970',
+      b'\xf1\x8703H906026F \xf1\x896696',
+      b'\xf1\x8703H906026F \xf1\x899970',
+      b'\xf1\x8703H906026J \xf1\x896026',
+      b'\xf1\x8703H906026S \xf1\x896693',
+      b'\xf1\x8703H906026S \xf1\x899970',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158A \xf1\x893387',
+      b'\xf1\x8709G927158DR\xf1\x893536',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200',
+      b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900',
+      b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+    ],
+  },
+  CAR.GOLF_MK7: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906016A \xf1\x897697',
+      b'\xf1\x8704E906016AD\xf1\x895758',
+      b'\xf1\x8704E906023AG\xf1\x891726',
+      b'\xf1\x8704E906023BN\xf1\x894518',
+      b'\xf1\x8704E906024K \xf1\x896811',
+      b'\xf1\x8704E906027GR\xf1\x892394',
+      b'\xf1\x8704E906027HD\xf1\x893742',
+      b'\xf1\x8704E906027MA\xf1\x894958',
+      b'\xf1\x8704L906021DT\xf1\x895520',
+      b'\xf1\x8704L906021N \xf1\x895518',
+      b'\xf1\x8704L906026BP\xf1\x897608',
+      b'\xf1\x8704L906026NF\xf1\x899528',
+      b'\xf1\x8704L906056CL\xf1\x893823',
+      b'\xf1\x8704L906056CR\xf1\x895813',
+      b'\xf1\x8704L906056HE\xf1\x893758',
+      b'\xf1\x870EA906016A \xf1\x898343',
+      b'\xf1\x870EA906016F \xf1\x895002',
+      b'\xf1\x870EA906016S \xf1\x897207',
+      b'\xf1\x875G0906259  \xf1\x890007',
+      b'\xf1\x875G0906259J \xf1\x890002',
+      b'\xf1\x875G0906259L \xf1\x890002',
+      b'\xf1\x875G0906259N \xf1\x890003',
+      b'\xf1\x875G0906259Q \xf1\x890002',
+      b'\xf1\x875G0906259Q \xf1\x892313',
+      b'\xf1\x878V0906259H \xf1\x890002',
+      b'\xf1\x878V0906259J \xf1\x890003',
+      b'\xf1\x878V0906259K \xf1\x890001',
+      b'\xf1\x878V0906259P \xf1\x890001',
+      b'\xf1\x878V0906259Q \xf1\x890002',
+      b'\xf1\x878V0906264F \xf1\x890003',
+      b'\xf1\x878V0906264L \xf1\x890002',
+      b'\xf1\x878V0906264M \xf1\x890001',
+      b'\xf1\x878V09C0BB01 \xf1\x890001',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927749AP\xf1\x892943',
+      b'\xf1\x8709S927158A \xf1\x893585',
+      b'\xf1\x870CW300041H \xf1\x891010',
+      b'\xf1\x870CW300042F \xf1\x891604',
+      b'\xf1\x870CW300043B \xf1\x891601',
+      b'\xf1\x870CW300044S \xf1\x894530',
+      b'\xf1\x870CW300045  \xf1\x894531',
+      b'\xf1\x870CW300047D \xf1\x895261',
+      b'\xf1\x870CW300048J \xf1\x890611',
+      b'\xf1\x870D9300012  \xf1\x894904',
+      b'\xf1\x870D9300012  \xf1\x894913',
+      b'\xf1\x870D9300012  \xf1\x894937',
+      b'\xf1\x870D9300012  \xf1\x895045',
+      b'\xf1\x870D9300014M \xf1\x895004',
+      b'\xf1\x870D9300020S \xf1\x895201',
+      b'\xf1\x870D9300040A \xf1\x893613',
+      b'\xf1\x870D9300040S \xf1\x894311',
+      b'\xf1\x870D9300041H \xf1\x895220',
+      b'\xf1\x870DD300045K \xf1\x891120',
+      b'\xf1\x870DD300046F \xf1\x891601',
+      b'\xf1\x870GC300012A \xf1\x891403',
+      b'\xf1\x870GC300014B \xf1\x892401',
+      b'\xf1\x870GC300014B \xf1\x892405',
+      b'\xf1\x870GC300020G \xf1\x892401',
+      b'\xf1\x870GC300020G \xf1\x892403',
+      b'\xf1\x870GC300020G \xf1\x892404',
+      b'\xf1\x870GC300043T \xf1\x899999',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120043114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114417121411149113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02314160011123300314211012230229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\023141600111233003142404A2252229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\023141600111233003142405A2252229333463100',
+      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\0211413001112120004110415121610169112',
+      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\0211413001113120006110417121A101A9113',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271112111312--071104171825102591131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271212111312--071104171838103891131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023341512112212--071104172328102891131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211',
+      b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\0211413001112120041114115121611169112',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011211200621143171717111791132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200061104171724102491132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200621143171724112491132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111',
+      b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\023271200111312--071104171837103791132111',
+      b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211',
+      b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\00561A01612A0',
+      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566A0J612A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A00514A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A0J712A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\00571A0J714A1',
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A01A18A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A0JA16A1',
+      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521A00441A1',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00442A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00642A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A07B05A1',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00521A00602A0',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00522A00402A0',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511A00403A0',
+      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516A00604A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A00604A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A07A02A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A00507A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A20B03A1',
+      b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1',
+      b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A00442A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\00571A01A16A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\00571A01A18A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1',
+      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A01A18A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\00101',
+      b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\00101',
+      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101',
+      b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\00101',
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101',
+      b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\00101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
+      b'\xf1\x875Q0907572G \xf1\x890571',
+      b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.JETTA_MK7: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906024AK\xf1\x899937',
+      b'\xf1\x8704E906024AS\xf1\x899912',
+      b'\xf1\x8704E906024B \xf1\x895594',
+      b'\xf1\x8704E906024L \xf1\x895595',
+      b'\xf1\x8704E906024L \xf1\x899970',
+      b'\xf1\x8704E906027MS\xf1\x896223',
+      b'\xf1\x875G0906259T \xf1\x890003',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158BQ\xf1\x893545',
+      b'\xf1\x8709S927158BS\xf1\x893642',
+      b'\xf1\x8709S927158R \xf1\x893552',
+      b'\xf1\x8709S927158R \xf1\x893587',
+      b'\xf1\x870GC300020N \xf1\x892803',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\02314171231313500314611011630169333463100',
+      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314642011650169333463100',
+      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314643011650169333463100',
+      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02311170031313300314240011150119333433100',
+      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02319170031313300314240011550159333463100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A10A01A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A00642A1',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A10A01A1',
+      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A10A11A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572N \xf1\x890681',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.PASSAT_MK8: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906023AH\xf1\x893379',
+      b'\xf1\x8704L906026GA\xf1\x892013',
+      b'\xf1\x8704L906026KD\xf1\x894798',
+      b'\xf1\x873G0906264  \xf1\x890004',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300048R \xf1\x890610',
+      b'\xf1\x870D9300014L \xf1\x895002',
+      b'\xf1\x870DD300045T \xf1\x891601',
+      b'\xf1\x870GC300042H \xf1\x891404',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
+      b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x873Q0907572B \xf1\x890192',
+      b'\xf1\x873Q0907572C \xf1\x890195',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.POLO_MK6: {
+    (Ecu.engine, 0x7e0, None): [
+        b'\xf1\x8704C906025H \xf1\x895177',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+        b'\xf1\x870CW300050D \xf1\x891908',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
+    ],
+    (Ecu.eps, 0x712, None): [
+        b'\xf1\x872Q1909144M \xf1\x896041',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
+  CAR.TAOS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+        b'\xf1\x8705E906013E \xf1\x891624',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+        b'\xf1\x8709S927158BL\xf1\x893791',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+        b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+    (Ecu.eps, 0x712, None): [
+        b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
+    ],
+  },
+  CAR.TCROSS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025AK\xf1\x897053',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300050E \xf1\x891903',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\02212130411110411--04041104141311152H14',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144M \xf1\x896041',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.TIGUAN_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906027G \xf1\x899893',
+      b'\xf1\x875N0906259  \xf1\x890002',
+      b'\xf1\x8783A907115B \xf1\x890005',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158DT\xf1\x893698',
+      b'\xf1\x870DL300011N \xf1\x892001',
+      b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300013A \xf1\x893005',
+      b'\xf1\x870DL300013G \xf1\x892120',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
+      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
+      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572J \xf1\x890156',
+      b'\xf1\x872Q0907572Q \xf1\x890342',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
+  CAR.TOURAN_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906026HM\xf1\x893017',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041E \xf1\x891005',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x873Q0907572C \xf1\x890195',
+    ],
+  },
+  CAR.TRANSPORTER_T61: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906057N \xf1\x890413',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870BT300012G \xf1\x893102',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\02316170411110411--04041704161611152S1411',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
+  CAR.AUDI_A3_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906023AN\xf1\x893695',
+      b'\xf1\x8704E906023AR\xf1\x893440',
+      b'\xf1\x8704E906023BL\xf1\x895190',
+      b'\xf1\x8704E906027CJ\xf1\x897798',
+      b'\xf1\x8704L997022N \xf1\x899459',
+      b'\xf1\x875G0906259L \xf1\x890002',
+      b'\xf1\x875G0906259Q \xf1\x890002',
+      b'\xf1\x878V0906259F \xf1\x890002',
+      b'\xf1\x878V0906264B \xf1\x890003',
+      b'\xf1\x878V0907115B \xf1\x890007',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300044T \xf1\x895245',
+      b'\xf1\x870CW300048  \xf1\x895201',
+      b'\xf1\x870D9300012  \xf1\x894912',
+      b'\xf1\x870D9300013B \xf1\x894931',
+      b'\xf1\x870D9300041N \xf1\x894512',
+      b'\xf1\x870DD300046A \xf1\x891602',
+      b'\xf1\x870DD300046F \xf1\x891602',
+      b'\xf1\x870DD300046G \xf1\x891601',
+      b'\xf1\x870GC300013M \xf1\x892402',
+      b'\xf1\x870GC300042J \xf1\x891402',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114',
+      b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
+      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
+      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114',
+      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0',
+      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\00101',
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101',
+      b'\xf1\x875Q0907572G \xf1\x890571',
+      b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+    ],
+  },
+  CAR.AUDI_Q2_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027JT\xf1\x894145',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041F \xf1\x891006',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655BD\xf1\x890336\xf1\x82\x1311111111111100311211011231129321312111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571F60511A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
+  CAR.SEAT_ATECA_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027KA\xf1\x893749',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870D9300014S \xf1\x895202',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0161212001211001305121211052900',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\00571N60511A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
+  CAR.SEAT_LEON_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906021EL\xf1\x897542',
+      b'\xf1\x8704L906026BP\xf1\x891198',
+      b'\xf1\x8704L906026BP\xf1\x897608',
+      b'\xf1\x8705E906018AS\xf1\x899596',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300050J \xf1\x891908',
+      b'\xf1\x870D9300042M \xf1\x895016',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
+      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
+      b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521N05808A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101',
+      b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+    ],
+  },
+  CAR.SKODA_KAMIQ_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705C906032M \xf1\x891333',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020  \xf1\x891906',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\0222221042111042121040404042E2711152H14',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144M \xf1\x896041',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.SKODA_KAROQ_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018P \xf1\x896020',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041S \xf1\x891615',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
+  CAR.SKODA_KODIAQ_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027DD\xf1\x893123',
+      b'\xf1\x8704L906026DE\xf1\x895418',
+      b'\xf1\x875NA907115E \xf1\x890003',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870D9300043  \xf1\x895202',
+      b'\xf1\x870DL300012M \xf1\x892107',
+      b'\xf1\x870DL300012N \xf1\x892110',
+      b'\xf1\x870DL300013G \xf1\x892119',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\0161213001211001205212111052100',
+      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\0161213001211001205212112052100',
+      b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572Q \xf1\x890342',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
+  CAR.SKODA_OCTAVIA_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906016ER\xf1\x895823',
+      b'\xf1\x8704E906027HD\xf1\x893742',
+      b'\xf1\x8704L906021DT\xf1\x898127',
+      b'\xf1\x8704L906026BS\xf1\x891541',
+      b'\xf1\x875G0906259C \xf1\x890002',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041N \xf1\x891605',
+      b'\xf1\x870CW300043B \xf1\x891601',
+      b'\xf1\x870D9300041C \xf1\x894936',
+      b'\xf1\x870D9300041J \xf1\x894902',
+      b'\xf1\x870D9300041P \xf1\x894507',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
+      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100',
+      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
+      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
+      b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+    ],
+  },
+  CAR.SKODA_SCALA_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025AK\xf1\x897053',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300050  \xf1\x891709',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144M \xf1\x896041',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
+  CAR.SKODA_SUPERB_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906026FP\xf1\x891196',
+      b'\xf1\x8704L906026KB\xf1\x894071',
+      b'\xf1\x873G0906259B \xf1\x890002',
+      b'\xf1\x873G0906264A \xf1\x890002',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870D9300011T \xf1\x894801',
+      b'\xf1\x870D9300012  \xf1\x894940',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
+      b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x873Q0907572B \xf1\x890192',
+      b'\xf1\x873Q0907572B \xf1\x890194',
+      b'\xf1\x873Q0907572C \xf1\x890195',
+    ],
+  },
 }
diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py
index 34f19003d89b04..10e0054c79472c 100644
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ b/selfdrive/car/volkswagen/volkswagencan.py
@@ -15,23 +15,21 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
   }
   return packer.make_can_msg("HCA_01", bus, values, idx)
 
-def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, leftLaneVisible, rightLaneVisible):
-
-  if hca_enabled:
-    leftlanehud = 3 if leftLaneVisible else 1
-    rightlanehud = 3 if rightLaneVisible else 1
-  else:
-    leftlanehud = 2 if leftLaneVisible else 1
-    rightlanehud = 2 if rightLaneVisible else 1
-
-  values = {
-    "LDW_Unknown": 2, # FIXME: possible speed or attention relationship
-    "Kombi_Lamp_Orange": 1 if hca_enabled and steering_pressed else 0,
-    "Kombi_Lamp_Green": 1 if hca_enabled and not steering_pressed else 0,
-    "Left_Lane_Status": leftlanehud,
-    "Right_Lane_Status": rightlanehud,
-    "Alert_Message": hud_alert,
-  }
+def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
+                           ldw_stock_values, left_lane_depart, right_lane_depart):
+  # Lane color reference:
+  # 0 (LKAS disabled) - off
+  # 1 (LKAS enabled, no lane detected) - dark gray
+  # 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit.  On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green.
+  # 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi
+  values = ldw_stock_values.copy()
+  values.update({
+    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
+    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
+    "LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
+    "LDW_Texte": hud_alert,
+  })
   return packer.make_can_msg("LDW_02", bus, values)
 
 def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
@@ -48,5 +46,4 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
     "GRA_Tip_Stufe_2": CS.graTipStufe2,
     "GRA_ButtonTypeInfo": CS.graButtonTypeInfo
   }
-
   return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
diff --git a/selfdrive/clocksd/SConscript b/selfdrive/clocksd/SConscript
index 63c508c4fe5844..d1cf13e9e8428a 100644
--- a/selfdrive/clocksd/SConscript
+++ b/selfdrive/clocksd/SConscript
@@ -1,2 +1,2 @@
-Import('env', 'common', 'messaging')
-env.Program('clocksd.cc', LIBS=['diag', 'time_genoff', common, messaging, 'capnp', 'zmq', 'kj'])
\ No newline at end of file
+Import('env', 'common', 'cereal', 'messaging')
+env.Program('clocksd.cc', LIBS=[common, cereal, messaging, 'capnp', 'zmq', 'kj'])
diff --git a/selfdrive/clocksd/clocksd.cc b/selfdrive/clocksd/clocksd.cc
index 0dba6259e24100..c24ffa41d94763 100644
--- a/selfdrive/clocksd/clocksd.cc
+++ b/selfdrive/clocksd/clocksd.cc
@@ -1,14 +1,27 @@
-#include <stdio.h>
-#include <stdint.h>
 #include <sys/resource.h>
-#include <sys/timerfd.h>
 #include <sys/time.h>
-#include <utils/Timers.h>
-#include <capnp/serialize.h>
-#include "messaging.hpp"
-#include "common/timing.h"
-#include "cereal/gen/cpp/log.capnp.h"
+#include <unistd.h>
+
+#include <cstdint>
+#include <cstdio>
+
+// Apple doesn't have timerfd
+#ifdef __APPLE__
+#include <thread>
+#else
+#include <sys/timerfd.h>
+#endif
+
+#include <cassert>
+#include <chrono>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
+ExitHandler do_exit;
+
+#ifdef QCOM
 namespace {
   int64_t arm_cntpct() {
     int64_t v;
@@ -16,16 +29,13 @@ namespace {
     return v;
   }
 }
+#endif
 
 int main() {
   setpriority(PRIO_PROCESS, 0, -13);
+  PubMaster pm({"clocks"});
 
-  int err = 0;
-  Context *context = Context::create();
-
-  PubSocket* clock_publisher = PubSocket::create(context, "clocks");
-  assert(clock_publisher != NULL);
-
+#ifndef __APPLE__
   int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
   assert(timerfd >= 0);
 
@@ -35,38 +45,46 @@ int main() {
   spec.it_value.tv_sec = 1;
   spec.it_value.tv_nsec = 0;
 
-  err = timerfd_settime(timerfd, 0, &spec, 0);
+  int err = timerfd_settime(timerfd, 0, &spec, 0);
   assert(err == 0);
 
   uint64_t expirations = 0;
-  while ((err = read(timerfd, &expirations, sizeof(expirations)))) {
-    if (err < 0) break;
+  while (!do_exit && (err = read(timerfd, &expirations, sizeof(expirations)))) {
+    if (err < 0) {
+      if (errno == EINTR) continue;
+      break;
+    }
+#else
+  // Just run at 1Hz on apple
+  while (!do_exit) {
+    util::sleep_for(1000);
+#endif
 
     uint64_t boottime = nanos_since_boot();
     uint64_t monotonic = nanos_monotonic();
     uint64_t monotonic_raw = nanos_monotonic_raw();
     uint64_t wall_time = nanos_since_epoch();
 
+#ifdef QCOM
     uint64_t modem_uptime_v = arm_cntpct() / 19200ULL; // 19.2 mhz clock
+#endif
 
-    capnp::MallocMessageBuilder msg;
-    cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-    event.setLogMonoTime(boottime);
-    auto clocks = event.initClocks();
+    MessageBuilder msg;
+    auto clocks = msg.initEvent().initClocks();
 
     clocks.setBootTimeNanos(boottime);
     clocks.setMonotonicNanos(monotonic);
     clocks.setMonotonicRawNanos(monotonic_raw);
     clocks.setWallTimeNanos(wall_time);
+#ifdef QCOM
     clocks.setModemUptimeMillis(modem_uptime_v);
+#endif
 
-    auto words = capnp::messageToFlatArray(msg);
-    auto bytes = words.asBytes();
-    clock_publisher->send((char*)bytes.begin(), bytes.size());
+    pm.send("clocks", msg);
   }
 
+#ifndef __APPLE__
   close(timerfd);
-  delete clock_publisher;
-
+#endif
   return 0;
-}
\ No newline at end of file
+}
diff --git a/selfdrive/common/SConscript b/selfdrive/common/SConscript
index 6f40e6a8f0a20e..9b496fef72d872 100644
--- a/selfdrive/common/SConscript
+++ b/selfdrive/common/SConscript
@@ -5,32 +5,31 @@ if SHARED:
 else:
   fxn = env.Library
 
-_common = fxn('common', ['params.cc', 'swaglog.c', 'util.c', 'cqueue.c'], LIBS="json")
-_visionipc = fxn('visionipc', ['visionipc.c', 'ipc.c'])
+common_libs = [
+  'params.cc',
+  'swaglog.cc',
+  'util.cc',
+  'gpio.cc',
+  'i2c.cc',
+  'watchdog.cc',
+]
+
+_common = fxn('common', common_libs, LIBS="json11")
 
 files = [
-  'buffering.c',
-  'clutil.c',
-  'efd.c',
-  'glutil.c',
+  'clutil.cc',
   'visionimg.cc',
 ]
 
 if arch == "aarch64":
-  defines = {}
-  files += [
-    'framebuffer.cc',
-    'touch.c',
-    'visionbuf_ion.c',
-  ]
   _gpu_libs = ['gui', 'adreno_utils']
+elif arch == "larch64":
+  _gpu_libs = ["GLESv2"]
 else:
-  defines = {"CLU_NO_CACHE": None}
-  files += [
-    'visionbuf_cl.c',
-  ]
   _gpu_libs = ["GL"]
 
-_gpucommon = fxn('gpucommon', files, CPPDEFINES=defines, LIBS=_gpu_libs)
-Export('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+_gpucommon = fxn('gpucommon', files, LIBS=_gpu_libs)
+Export('_common', '_gpucommon', '_gpu_libs')
 
+if GetOption('test'):
+  env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common])
diff --git a/selfdrive/common/buffering.c b/selfdrive/common/buffering.c
deleted file mode 100644
index 9cbb1b86e0df11..00000000000000
--- a/selfdrive/common/buffering.c
+++ /dev/null
@@ -1,438 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <assert.h>
-#include <string.h>
-#include <unistd.h>
-
-#include "common/efd.h"
-
-#include "buffering.h"
-
-void tbuffer_init(TBuffer *tb, int num_bufs, const char* name) {
-  assert(num_bufs >= 3);
-
-  memset(tb, 0, sizeof(TBuffer));
-  tb->reading = (bool*)calloc(num_bufs, sizeof(bool));
-  assert(tb->reading);
-  tb->pending_idx = -1;
-  tb->num_bufs = num_bufs;
-  tb->name = name;
-
-  pthread_mutex_init(&tb->lock, NULL);
-  pthread_cond_init(&tb->cv, NULL);
-  tb->efd = efd_init();
-  assert(tb->efd >= 0);
-}
-
-void tbuffer_init2(TBuffer *tb, int num_bufs, const char* name,
-                   void (*release_cb)(void* c, int idx),
-                   void* cb_cookie) {
-
-  tbuffer_init(tb, num_bufs, name);
-
-  tb->release_cb = release_cb;
-  tb->cb_cookie = cb_cookie;
-}
-
-int tbuffer_efd(TBuffer *tb) {
-  return tb->efd;
-}
-
-int tbuffer_select(TBuffer *tb) {
-  pthread_mutex_lock(&tb->lock);
-
-  int i;
-  for (i=0; i<tb->num_bufs; i++) {
-    if (!tb->reading[i] && i != tb->pending_idx) {
-      break;
-    }
-  }
-  assert(i < tb->num_bufs);
-
-  pthread_mutex_unlock(&tb->lock);
-  return i;
-}
-
-void tbuffer_dispatch(TBuffer *tb, int idx) {
-  pthread_mutex_lock(&tb->lock);
-
-  if (tb->pending_idx != -1) {
-    //printf("tbuffer (%s) dropped!\n", tb->name ? tb->name : "?");
-    if (tb->release_cb) {
-      tb->release_cb(tb->cb_cookie, tb->pending_idx);
-    }
-    tb->pending_idx = -1;
-  }
-
-  tb->pending_idx = idx;
-
-  efd_write(tb->efd);
-  pthread_cond_signal(&tb->cv);
-
-  pthread_mutex_unlock(&tb->lock);  
-}
-
-int tbuffer_acquire(TBuffer *tb) {
-  pthread_mutex_lock(&tb->lock);
-
-  if (tb->stopped) {
-    pthread_mutex_unlock(&tb->lock);
-    return -1;
-  }
-
-  while (tb->pending_idx == -1) {
-    pthread_cond_wait(&tb->cv, &tb->lock);
-
-    if (tb->stopped) {
-      pthread_mutex_unlock(&tb->lock);
-      return -1;
-    }
-  }
-
-  efd_clear(tb->efd);
-
-  int ret = tb->pending_idx;
-  assert(ret < tb->num_bufs);
-
-  tb->reading[ret] = true;
-  tb->pending_idx = -1;
-
-  pthread_mutex_unlock(&tb->lock);
-
-  return ret;
-}
-
-static void tbuffer_release_locked(TBuffer *tb, int idx) {
-  assert(idx < tb->num_bufs);
-  if (!tb->reading[idx]) {
-    printf("!! releasing tbuffer we aren't reading %d\n", idx);
-  }
-
-  if (tb->release_cb) {
-    tb->release_cb(tb->cb_cookie, idx);
-  }
-
-  tb->reading[idx] = false;
-}
-
-void tbuffer_release(TBuffer *tb, int idx) {
-  pthread_mutex_lock(&tb->lock);
-  tbuffer_release_locked(tb, idx);
-  pthread_mutex_unlock(&tb->lock);
-}
-
-void tbuffer_release_all(TBuffer *tb) {
-  pthread_mutex_lock(&tb->lock);
-  for (int i=0; i<tb->num_bufs; i++) {
-    if (tb->reading[i]) {
-      tbuffer_release_locked(tb, i);
-    }
-  }
-  pthread_mutex_unlock(&tb->lock);
-}
-
-void tbuffer_stop(TBuffer *tb) {
-  pthread_mutex_lock(&tb->lock);
-  tb->stopped = true;
-  efd_write(tb->efd);
-  pthread_cond_signal(&tb->cv);
-  pthread_mutex_unlock(&tb->lock);
-}
-
-
-
-
-
-
-
-
-
-
-
-void pool_init(Pool *s, int num_bufs) {
-  assert(num_bufs > 3);
-
-  memset(s, 0, sizeof(*s));
-  s->num_bufs = num_bufs;
-
-  s->refcnt = (int*)calloc(num_bufs, sizeof(int));
-  s->ts = (int*)calloc(num_bufs, sizeof(int));
-
-  s->counter = 1;
-
-  pthread_mutex_init(&s->lock, NULL);
-}
-
-void pool_init2(Pool *s, int num_bufs,
-  void (*release_cb)(void* c, int idx), void* cb_cookie) {
-
-  pool_init(s, num_bufs);
-  s->cb_cookie = cb_cookie;
-  s->release_cb = release_cb;
-
-}
-
-
-void pool_acquire(Pool *s, int idx) {
-  pthread_mutex_lock(&s->lock);
-
-  assert(idx >= 0 && idx < s->num_bufs);
-
-  s->refcnt[idx]++;
-
-  pthread_mutex_unlock(&s->lock);
-}
-
-static void pool_release_locked(Pool *s, int idx) {
-  // printf("release %d refcnt %d\n", idx, s->refcnt[idx]);
-
-  assert(idx >= 0 && idx < s->num_bufs);
-
-  assert(s->refcnt[idx] > 0);
-  s->refcnt[idx]--;
-
-  // printf("release %d -> %d, %p\n", idx, s->refcnt[idx], s->release_cb);
-  if (s->refcnt[idx] == 0 && s->release_cb) {
-    // printf("call %p\b", s->release_cb);
-    s->release_cb(s->cb_cookie, idx);
-  }
-}
-
-void pool_release(Pool *s, int idx) {
-  pthread_mutex_lock(&s->lock);
-  pool_release_locked(s, idx);
-  pthread_mutex_unlock(&s->lock);
-}
-
-TBuffer* pool_get_tbuffer(Pool *s) {
-  pthread_mutex_lock(&s->lock);
-
-  assert(s->num_tbufs < POOL_MAX_TBUFS);
-  TBuffer* tbuf = &s->tbufs[s->num_tbufs];
-  s->num_tbufs++;
-  tbuffer_init2(tbuf, s->num_bufs,
-                "pool", (void (*)(void *, int))pool_release, s);
-
-  bool stopped = s->stopped;
-  pthread_mutex_unlock(&s->lock);
-
-  // Stop the tbuffer so we can return a valid object.
-  // We must stop here because the pool_stop may have already been called,
-  // in which case tbuffer_stop may never be called again.
-  if (stopped) {
-    tbuffer_stop(tbuf);
-  }
-  return tbuf;
-}
-
-PoolQueue* pool_get_queue(Pool *s) {
-  pthread_mutex_lock(&s->lock);
-
-  int i;
-  for (i = 0; i < POOL_MAX_QUEUES; i++) {
-    if (!s->queues[i].inited) {
-      break;
-    }
-  }
-  assert(i < POOL_MAX_QUEUES);
-
-  PoolQueue *c = &s->queues[i];
-  memset(c, 0, sizeof(*c));
-
-  c->pool = s;
-  c->inited = true;
-
-  c->efd = efd_init();
-  assert(c->efd >= 0);
-
-  c->num_bufs = s->num_bufs;
-  c->num = c->num_bufs+1;
-  c->idx = (int*)malloc(sizeof(int)*c->num);
-  memset(c->idx, -1, sizeof(int)*c->num);
-
-  pthread_mutex_init(&c->lock, NULL);
-  pthread_cond_init(&c->cv, NULL);
-
-  pthread_mutex_unlock(&s->lock);
-  return c;
-}
-
-void pool_release_queue(PoolQueue *c) {
-  Pool *s = c->pool;
-
-  pthread_mutex_lock(&s->lock);
-  pthread_mutex_lock(&c->lock);
-
-  for (int i=0; i<c->num; i++) {
-    if (c->idx[i] != -1) {
-      pool_release_locked(s, c->idx[i]);
-    }
-  }
-
-  close(c->efd);
-  free(c->idx);
-
-  c->inited = false;
-
-  pthread_mutex_unlock(&c->lock);
-
-  pthread_mutex_destroy(&c->lock);
-  pthread_cond_destroy(&c->cv);
-
-  pthread_mutex_unlock(&s->lock);
-}
-
-int pool_select(Pool *s) {
-  pthread_mutex_lock(&s->lock);
-
-  int i;
-  for (i=0; i<s->num_bufs; i++) {
-    if (s->refcnt[i] == 0) {
-      break;
-    }
-  }
-
-  if (i >= s->num_bufs) {
-    // overwrite the oldest
-    // still being using in a queue or tbuffer :/
-
-    int min_k = 0;
-    int min_ts = s->ts[0];
-    for (int k=1; k<s->num_bufs; k++) {
-      if (s->ts[k] < min_ts) {
-        min_ts = s->ts[k];
-        min_k = k;
-      }
-    }
-    i = min_k;
-    printf("pool is full! evicted %d\n", min_k);
-
-    // might be really bad if the user is doing pointery stuff
-    if (s->release_cb) {
-      s->release_cb(s->cb_cookie, min_k);
-    }
-  }
-
-  s->refcnt[i]++;
-
-  s->ts[i] = s->counter;
-  s->counter++;
-
-  pthread_mutex_unlock(&s->lock);
-
-  return i;
-}
-
-void pool_push(Pool *s, int idx) {
-  pthread_mutex_lock(&s->lock);
-
-  // printf("push %d head %d tail %d\n", idx, s->head, s->tail);
-
-  assert(idx >= 0 && idx < s->num_bufs);
-
-  s->ts[idx] = s->counter;
-  s->counter++;
-
-  assert(s->refcnt[idx] > 0);
-  s->refcnt[idx]--; //push is a implcit release
-
-  int num_tbufs = s->num_tbufs;
-  s->refcnt[idx] += num_tbufs;
-
-  // dispatch pool queues
-  for (int i=0; i<POOL_MAX_QUEUES; i++) {
-    PoolQueue *c = &s->queues[i];
-    if (!c->inited) continue;
-    
-    pthread_mutex_lock(&c->lock);
-    if (((c->head+1) % c->num) == c->tail) {
-      // queue is full. skip for now
-      pthread_mutex_unlock(&c->lock);
-      continue;
-    }
-
-    s->refcnt[idx]++;
-
-    c->idx[c->head] = idx;
-    c->head = (c->head+1) % c->num;
-    assert(c->head != c->tail);
-    pthread_mutex_unlock(&c->lock);
-
-    efd_write(c->efd);
-    pthread_cond_signal(&c->cv);
-  }
-
-  pthread_mutex_unlock(&s->lock);
-
-  for (int i=0; i<num_tbufs; i++) {
-    tbuffer_dispatch(&s->tbufs[i], idx);
-  }
-}
-
-int poolq_pop(PoolQueue *c) {
-  pthread_mutex_lock(&c->lock);
-
-  if (c->stopped) {
-    pthread_mutex_unlock(&c->lock);
-    return -1;
-  }
-
-  while (c->head == c->tail) {
-    pthread_cond_wait(&c->cv, &c->lock);
-
-    if (c->stopped) {
-      pthread_mutex_unlock(&c->lock);
-      return -1;
-    }
-  }
-
-  // printf("pop head %d tail %d\n", s->head, s->tail);
-
-  assert(c->head != c->tail);
-
-  int r = c->idx[c->tail];
-  c->idx[c->tail] = -1;
-  c->tail = (c->tail+1) % c->num;
-
-  // queue event is level triggered
-  if (c->head == c->tail) {
-    efd_clear(c->efd);
-  }
-
-  // printf("pop %d head %d tail %d\n", r, s->head, s->tail);
-
-  assert(r >= 0 && r < c->num_bufs);
-
-  pthread_mutex_unlock(&c->lock);
-
-  return r;
-}
-
-int poolq_efd(PoolQueue *c) {
-  return c->efd;
-}
-
-void poolq_release(PoolQueue *c, int idx) {
-  pool_release(c->pool, idx);
-}
-
-void pool_stop(Pool *s) {
-  for (int i=0; i<s->num_tbufs; i++) {
-    tbuffer_stop(&s->tbufs[i]);
-  }
-
-  pthread_mutex_lock(&s->lock);
-  s->stopped = true;
-  for (int i=0; i<POOL_MAX_QUEUES; i++) {
-    PoolQueue *c = &s->queues[i];
-    if (!c->inited) continue;
-
-    pthread_mutex_lock(&c->lock);
-    c->stopped = true;
-    pthread_mutex_unlock(&c->lock);
-    efd_write(c->efd);
-    pthread_cond_signal(&c->cv);
-  }
-  pthread_mutex_unlock(&s->lock);
-}
diff --git a/selfdrive/common/buffering.h b/selfdrive/common/buffering.h
deleted file mode 100644
index fda4c644928423..00000000000000
--- a/selfdrive/common/buffering.h
+++ /dev/null
@@ -1,123 +0,0 @@
-#ifndef BUFFERING_H
-#define BUFFERING_H
-
-#include <stdbool.h>
-#include <pthread.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// Tripple buffering helper
-
-typedef struct TBuffer {
-    pthread_mutex_t lock;
-    pthread_cond_t cv;
-    int efd;
-
-    bool* reading;
-    int pending_idx;
-
-    int num_bufs;
-    const char* name;
-
-    void (*release_cb)(void* c, int idx);
-    void *cb_cookie;
-
-    bool stopped;
-} TBuffer;
-
-// num_bufs must be at least the number of buffers that can be acquired simultaniously plus two
-void tbuffer_init(TBuffer *tb, int num_bufs, const char* name);
-
-void tbuffer_init2(TBuffer *tb, int num_bufs, const char* name,
-  void (*release_cb)(void* c, int idx),
-  void* cb_cookie);
-
-// returns an eventfd that signals if a buffer is ready and tbuffer_acquire shouldn't to block.
-// useful to polling on multiple tbuffers.
-int tbuffer_efd(TBuffer *tb);
-
-// Chooses a buffer that's not reading or pending
-int tbuffer_select(TBuffer *tb);
-
-// Called when the writer is done with their buffer
-//  - Wakes up the reader if it's waiting
-//  - releases the pending buffer if the reader's too slow
-void tbuffer_dispatch(TBuffer *tb, int idx);
-
-// Called when the reader wants a new buffer, will return -1 when stopped
-int tbuffer_acquire(TBuffer *tb);
-
-// Called when the reader is done with their buffer
-void tbuffer_release(TBuffer *tb, int idx);
-
-void tbuffer_release_all(TBuffer *tb);
-
-void tbuffer_stop(TBuffer *tb);
-
-
-
-
-// pool: buffer pool + queue thing...
-
-#define POOL_MAX_TBUFS 8
-#define POOL_MAX_QUEUES 8
-
-typedef struct Pool Pool;
-
-typedef struct PoolQueue {
-  pthread_mutex_t lock;
-  pthread_cond_t cv;
-  Pool* pool;
-  bool inited;
-  bool stopped;
-  int efd;
-  int num_bufs;
-  int num;
-  int head, tail;
-  int* idx;
-} PoolQueue;
-
-int poolq_pop(PoolQueue *s);
-int poolq_efd(PoolQueue *s);
-void poolq_release(PoolQueue *c, int idx);
-
-typedef struct Pool {
-  pthread_mutex_t lock;
-  bool stopped;
-  int num_bufs;
-  int counter;
-
-  int* ts;
-  int* refcnt;
-
-  void (*release_cb)(void* c, int idx);
-  void *cb_cookie;
-
-  int num_tbufs;
-  TBuffer tbufs[POOL_MAX_TBUFS];
-  PoolQueue queues[POOL_MAX_QUEUES];
-} Pool;
-
-void pool_init(Pool *s, int num_bufs);
-void pool_init2(Pool *s, int num_bufs,
-  void (*release_cb)(void* c, int idx), void* cb_cookie);
-
-TBuffer* pool_get_tbuffer(Pool *s);
-
-PoolQueue* pool_get_queue(Pool *s);
-void pool_release_queue(PoolQueue *q);
-
-int pool_select(Pool *s);
-void pool_push(Pool *s, int idx);
-void pool_acquire(Pool *s, int idx);
-void pool_release(Pool *s, int idx);
-void pool_stop(Pool *s);
-
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif
diff --git a/selfdrive/common/clutil.c b/selfdrive/common/clutil.c
deleted file mode 100644
index 0040e4dd6af6ad..00000000000000
--- a/selfdrive/common/clutil.c
+++ /dev/null
@@ -1,418 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <assert.h>
-#include <string.h>
-#include <unistd.h>
-#include <inttypes.h>
-#include <sys/stat.h>
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/util.h"
-
-#include "clutil.h"
-
-typedef struct CLUProgramIndex {
-  uint64_t index_hash;
-  const uint8_t* bin_data;
-  const uint8_t* bin_end;
-} CLUProgramIndex;
-
-#ifdef CLU_NO_SRC
-#include "clcache_bins.h"
-#else
-static const CLUProgramIndex clu_index[] = {};
-#endif
-
-void clu_init(void) {
-#ifndef CLU_NO_SRC
-  mkdir("/tmp/clcache", 0777);
-  unlink("/tmp/clcache/index.cli");
-#endif
-}
-
-cl_program cl_create_program_from_file(cl_context ctx, const char* path) {
-  char* src_buf = read_file(path, NULL);
-  assert(src_buf);
-
-  int err = 0;
-  cl_program ret = clCreateProgramWithSource(ctx, 1, (const char**)&src_buf, NULL, &err);
-  assert(err == 0);
-
-  free(src_buf);
-
-  return ret;
-}
-
-static char* get_version_string(cl_platform_id platform) {
-  size_t size = 0;
-  int err;
-  err = clGetPlatformInfo(platform, CL_PLATFORM_VERSION, 0, NULL, &size);
-  assert(err == 0);
-  char *str = malloc(size);
-  assert(str);
-  err = clGetPlatformInfo(platform, CL_PLATFORM_VERSION, size, str, NULL);
-  assert(err == 0);
-  return str;
-}
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  char str[4096];
-
-  clGetPlatformInfo(platform, CL_PLATFORM_VENDOR, sizeof(str), str, NULL);
-  printf("vendor: '%s'\n", str);
-
-  char* version = get_version_string(platform);
-  printf("platform version: '%s'\n", version);
-  free(version);
-
-  clGetPlatformInfo(platform, CL_PLATFORM_PROFILE, sizeof(str), str, NULL);
-  printf("profile: '%s'\n", str);
-
-  clGetPlatformInfo(platform, CL_PLATFORM_EXTENSIONS, sizeof(str), str, NULL);
-  printf("extensions: '%s'\n", str);
-
-  clGetDeviceInfo(device, CL_DEVICE_NAME, sizeof(str), str, NULL);
-  printf("name: '%s'\n", str);
-
-  clGetDeviceInfo(device, CL_DEVICE_VERSION, sizeof(str), str, NULL);
-  printf("device version: '%s'\n", str);
-
-  size_t sz;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(sz), &sz, NULL);
-  printf("max work group size: %u\n", sz);
-
-  cl_device_type type;
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(type), &type, NULL);
-  printf("type = 0x%04x = ", (unsigned int)type);
-  switch(type) {
-  case CL_DEVICE_TYPE_CPU:
-    printf("CL_DEVICE_TYPE_CPU\n");
-    break;
-  case CL_DEVICE_TYPE_GPU:
-    printf("CL_DEVICE_TYPE_GPU\n");
-    break;
-  case CL_DEVICE_TYPE_ACCELERATOR:
-    printf("CL_DEVICE_TYPE_ACCELERATOR\n");
-    break;
-  default:
-    printf("Other...\n" );
-    break;
-  }
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS,
-          sizeof(cl_build_status), &status, NULL);
-
-  size_t log_size;
-  clGetProgramBuildInfo(program, device,
-          CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-
-  char* log = calloc(log_size+1, 1);
-  assert(log);
-
-  clGetProgramBuildInfo(program, device,
-          CL_PROGRAM_BUILD_LOG, log_size+1, log, NULL);
-
-  printf("build failed; status=%d, log:\n%s\n",
-          status, log);
-
-  free(log);
-}
-
-uint64_t clu_index_hash(const char* s) {
-  size_t sl = strlen(s);
-  assert(sl < 128);
-  uint64_t x = 0;
-  for (int i=127; i>=0; i--) {
-    x *= 65599ULL;
-    x += (uint8_t)s[i<sl ? sl-1-i : sl];
-  }
-  return x ^ (x >> 32);
-}
-
-uint64_t clu_fnv_hash(const uint8_t *data, size_t len) {
-  /* 64 bit Fowler/Noll/Vo FNV-1a hash code */
-  uint64_t hval = 0xcbf29ce484222325ULL;
-  const uint8_t *dp = data;
-  const uint8_t *de = data + len;
-  while (dp < de) {
-    hval ^= (uint64_t) *dp++;
-    hval += (hval << 1) + (hval << 4) + (hval << 5) +
-        (hval << 7) + (hval << 8) + (hval << 40);
-  }
-
-  return hval;
-}
-
-cl_program cl_cached_program_from_hash(cl_context ctx, cl_device_id device_id, uint64_t hash) {
-  int err;
-
-  char cache_path[1024];
-  snprintf(cache_path, sizeof(cache_path), "/tmp/clcache/%016" PRIx64 ".clb", hash);
-
-  size_t bin_size;
-  uint8_t *bin = read_file(cache_path, &bin_size);
-  if (!bin) {
-    return NULL;
-  }
-
-  cl_program prg = clCreateProgramWithBinary(ctx, 1, &device_id, &bin_size, (const uint8_t**)&bin, NULL, &err);
-  assert(err == 0);
-
-  free(bin);
-
-  err = clBuildProgram(prg, 1, &device_id, NULL, NULL, NULL);
-  assert(err == 0);
-
-  return prg;
-}
-
-static uint8_t* get_program_binary(cl_program prg, size_t *out_size) {
-  int err;
-
-  cl_uint num_devices;
-  err = clGetProgramInfo(prg, CL_PROGRAM_NUM_DEVICES, sizeof(num_devices), &num_devices, NULL);
-  assert(err == 0);
-  assert(num_devices == 1);
-
-  size_t binary_size = 0;
-  err = clGetProgramInfo(prg, CL_PROGRAM_BINARY_SIZES, sizeof(binary_size), &binary_size, NULL);
-  assert(err == 0);
-  assert(binary_size > 0);
-
-  uint8_t *binary_buf = malloc(binary_size);
-  assert(binary_buf);
-
-  uint8_t* bufs[1] = { binary_buf, };
-
-  err = clGetProgramInfo(prg, CL_PROGRAM_BINARIES, sizeof(bufs), &bufs, NULL);
-  assert(err == 0);
-
-  *out_size = binary_size;
-  return binary_buf;
-}
-
-cl_program cl_cached_program_from_string(cl_context ctx, cl_device_id device_id,
-                                         const char* src, const char* args,
-                                         uint64_t *out_hash) {
-  int err;
-
-  cl_platform_id platform;
-  err = clGetDeviceInfo(device_id, CL_DEVICE_PLATFORM, sizeof(platform), &platform, NULL);
-  assert(err == 0);
-
-  const char* platform_version = get_version_string(platform);
-
-  const size_t hash_len = strlen(platform_version)+1+strlen(src)+1+strlen(args)+1;
-  char* hash_buf = malloc(hash_len);
-  assert(hash_buf);
-  memset(hash_buf, 0, hash_len);
-  snprintf(hash_buf, hash_len, "%s%c%s%c%s", platform_version, 1, src, 1, args);
-  free((void*)platform_version);
-
-  uint64_t hash = clu_fnv_hash((uint8_t*)hash_buf, hash_len);
-  free(hash_buf);
-
-  cl_program prg = NULL;
-#ifndef CLU_NO_CACHE
-  prg = cl_cached_program_from_hash(ctx, device_id, hash);
-#endif
-  if (prg == NULL) {
-    prg = clCreateProgramWithSource(ctx, 1, (const char**)&src, NULL, &err);
-    assert(err == 0);
-
-    err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL);
-    if (err != 0) {
-      cl_print_build_errors(prg, device_id);
-    }
-    assert(err == 0);
-
-#ifndef CLU_NO_CACHE
-    // write program binary to cache
-
-    size_t binary_size;
-    uint8_t *binary_buf = get_program_binary(prg, &binary_size);
-
-    char cache_path[1024];
-    snprintf(cache_path, sizeof(cache_path), "/tmp/clcache/%016" PRIx64 ".clb", hash);
-    FILE* of = fopen(cache_path, "wb");
-    assert(of);
-    fwrite(binary_buf, 1, binary_size, of);
-    fclose(of);
-
-    free(binary_buf);
-#endif
-  }
-
-  if (out_hash) *out_hash = hash;
-  return prg;
-}
-
-cl_program cl_cached_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args,
-                                       uint64_t *out_hash) {
-  char* src_buf = read_file(path, NULL);
-  assert(src_buf);
-  cl_program ret = cl_cached_program_from_string(ctx, device_id, src_buf, args, out_hash);
-  free(src_buf);
-  return ret;
-}
-
-static void add_index(uint64_t index_hash, uint64_t src_hash) {
-  FILE *f = fopen("/tmp/clcache/index.cli", "a");
-  assert(f);
-  fprintf(f, "%016" PRIx64 " %016" PRIx64 "\n", index_hash, src_hash);
-  fclose(f);
-}
-
-
-cl_program cl_program_from_index(cl_context ctx, cl_device_id device_id, uint64_t index_hash) {
-  int err;
-
-  int i;
-  for (i=0; i<ARRAYSIZE(clu_index); i++) {
-    if (clu_index[i].index_hash == index_hash) {
-      break;
-    }
-  }
-  if (i >= ARRAYSIZE(clu_index)) {
-    assert(false);
-  }
-
-  size_t bin_size = clu_index[i].bin_end - clu_index[i].bin_data;
-  const uint8_t *bin_data = clu_index[i].bin_data;
-
-  cl_program prg = clCreateProgramWithBinary(ctx, 1, &device_id, &bin_size, (const uint8_t**)&bin_data, NULL, &err);
-  assert(err == 0);
-
-  err = clBuildProgram(prg, 1, &device_id, NULL, NULL, NULL);
-  assert(err == 0);
-
-  return prg;
-}
-
-cl_program cl_index_program_from_string(cl_context ctx, cl_device_id device_id,
-                                        const char* src, const char* args,
-                                        uint64_t index_hash) {
-  uint64_t src_hash = 0;
-  cl_program ret = cl_cached_program_from_string(ctx, device_id, src, args, &src_hash);
-#ifndef CLU_NO_CACHE
-  add_index(index_hash, src_hash);
-#endif
-  return ret;
-}
-
-cl_program cl_index_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args,
-                                      uint64_t index_hash) {
-  uint64_t src_hash = 0;
-  cl_program ret = cl_cached_program_from_file(ctx, device_id, path, args, &src_hash);
-#ifndef CLU_NO_CACHE
-  add_index(index_hash, src_hash);
-#endif
-  return ret;
-}
-
-/*
- * Given a cl code and return a string represenation
- */
-const char* cl_get_error_string(int err) {
-    switch (err) {
-        case 0: return "CL_SUCCESS";
-        case -1: return "CL_DEVICE_NOT_FOUND";
-        case -2: return "CL_DEVICE_NOT_AVAILABLE";
-        case -3: return "CL_COMPILER_NOT_AVAILABLE";
-        case -4: return "CL_MEM_OBJECT_ALLOCATION_FAILURE";
-        case -5: return "CL_OUT_OF_RESOURCES";
-        case -6: return "CL_OUT_OF_HOST_MEMORY";
-        case -7: return "CL_PROFILING_INFO_NOT_AVAILABLE";
-        case -8: return "CL_MEM_COPY_OVERLAP";
-        case -9: return "CL_IMAGE_FORMAT_MISMATCH";
-        case -10: return "CL_IMAGE_FORMAT_NOT_SUPPORTED";
-        case -12: return "CL_MAP_FAILURE";
-        case -13: return "CL_MISALIGNED_SUB_BUFFER_OFFSET";
-        case -14: return "CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST";
-        case -15: return "CL_COMPILE_PROGRAM_FAILURE";
-        case -16: return "CL_LINKER_NOT_AVAILABLE";
-        case -17: return "CL_LINK_PROGRAM_FAILURE";
-        case -18: return "CL_DEVICE_PARTITION_FAILED";
-        case -19: return "CL_KERNEL_ARG_INFO_NOT_AVAILABLE";
-        case -30: return "CL_INVALID_VALUE";
-        case -31: return "CL_INVALID_DEVICE_TYPE";
-        case -32: return "CL_INVALID_PLATFORM";
-        case -33: return "CL_INVALID_DEVICE";
-        case -34: return "CL_INVALID_CONTEXT";
-        case -35: return "CL_INVALID_QUEUE_PROPERTIES";
-        case -36: return "CL_INVALID_COMMAND_QUEUE";
-        case -37: return "CL_INVALID_HOST_PTR";
-        case -38: return "CL_INVALID_MEM_OBJECT";
-        case -39: return "CL_INVALID_IMAGE_FORMAT_DESCRIPTOR";
-        case -40: return "CL_INVALID_IMAGE_SIZE";
-        case -41: return "CL_INVALID_SAMPLER";
-        case -42: return "CL_INVALID_BINARY";
-        case -43: return "CL_INVALID_BUILD_OPTIONS";
-        case -44: return "CL_INVALID_PROGRAM";
-        case -45: return "CL_INVALID_PROGRAM_EXECUTABLE";
-        case -46: return "CL_INVALID_KERNEL_NAME";
-        case -47: return "CL_INVALID_KERNEL_DEFINITION";
-        case -48: return "CL_INVALID_KERNEL";
-        case -49: return "CL_INVALID_ARG_INDEX";
-        case -50: return "CL_INVALID_ARG_VALUE";
-        case -51: return "CL_INVALID_ARG_SIZE";
-        case -52: return "CL_INVALID_KERNEL_ARGS";
-        case -53: return "CL_INVALID_WORK_DIMENSION";
-        case -54: return "CL_INVALID_WORK_GROUP_SIZE";
-        case -55: return "CL_INVALID_WORK_ITEM_SIZE";
-        case -56: return "CL_INVALID_GLOBAL_OFFSET";
-        case -57: return "CL_INVALID_EVENT_WAIT_LIST";
-        case -58: return "CL_INVALID_EVENT";
-        case -59: return "CL_INVALID_OPERATION";
-        case -60: return "CL_INVALID_GL_OBJECT";
-        case -61: return "CL_INVALID_BUFFER_SIZE";
-        case -62: return "CL_INVALID_MIP_LEVEL";
-        case -63: return "CL_INVALID_GLOBAL_WORK_SIZE";
-        case -64: return "CL_INVALID_PROPERTY";
-        case -65: return "CL_INVALID_IMAGE_DESCRIPTOR";
-        case -66: return "CL_INVALID_COMPILER_OPTIONS";
-        case -67: return "CL_INVALID_LINKER_OPTIONS";
-        case -68: return "CL_INVALID_DEVICE_PARTITION_COUNT";
-        case -69: return "CL_INVALID_PIPE_SIZE";
-        case -70: return "CL_INVALID_DEVICE_QUEUE";
-        case -71: return "CL_INVALID_SPEC_ID";
-        case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
-        case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
-        case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
-        case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
-        case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
-        case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
-        case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
-        case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
-        case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
-        case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
-        case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
-        case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
-        case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
-        case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
-        case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
-        case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
-        case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
-        case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
-        case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
-        case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
-        case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
-        case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
-        case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
-        case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
-        case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
-        case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
-        case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
-        case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
-        default: return "CL_UNKNOWN_ERROR";
-    }
-}
diff --git a/selfdrive/common/clutil.cc b/selfdrive/common/clutil.cc
new file mode 100644
index 00000000000000..313978525e067a
--- /dev/null
+++ b/selfdrive/common/clutil.cc
@@ -0,0 +1,193 @@
+#include "selfdrive/common/clutil.h"
+
+#include <cassert>
+#include <iostream>
+#include <memory>
+
+#include "selfdrive/common/util.h"
+
+namespace {  // helper functions
+
+template <typename Func, typename Id, typename Name>
+std::string get_info(Func get_info_func, Id id, Name param_name) {
+  size_t size = 0;
+  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
+  std::string info(size, '\0');
+  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
+  return info;
+}
+inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
+inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
+
+void cl_print_info(cl_platform_id platform, cl_device_id device) {
+  size_t work_group_size = 0;
+  cl_device_type device_type = 0;
+  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
+  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
+  const char *type_str = "Other...";
+  switch (device_type) {
+    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
+    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
+    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
+  }
+
+  std::cout << "vendor: " << get_platform_info(platform, CL_PLATFORM_VENDOR) << std::endl
+            << "platform version: " << get_platform_info(platform, CL_PLATFORM_VERSION) << std::endl
+            << "profile: " << get_platform_info(platform, CL_PLATFORM_PROFILE) << std::endl
+            << "extensions: " << get_platform_info(platform, CL_PLATFORM_EXTENSIONS) << std::endl
+            << "name :" << get_device_info(device, CL_DEVICE_NAME) << std::endl
+            << "device version :" << get_device_info(device, CL_DEVICE_VERSION) << std::endl
+            << "max work group size :" << work_group_size << std::endl
+            << "type = " << device_type << " = " << type_str << std::endl;
+}
+
+void cl_print_build_errors(cl_program program, cl_device_id device) {
+  cl_build_status status;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
+  size_t log_size;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
+  std::string log(log_size, '\0');
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
+
+  std::cout << "build failed; status=" << status << ", log:" << std::endl << log << std::endl; 
+}
+
+}  // namespace
+
+cl_device_id cl_get_device_id(cl_device_type device_type) {
+  cl_uint num_platforms = 0;
+  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
+  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
+  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
+
+  for (size_t i = 0; i < num_platforms; ++i) {
+    std::cout << "platform[" << i << "] CL_PLATFORM_NAME: " << get_platform_info(platform_ids[i], CL_PLATFORM_NAME) << std::endl;
+    // Get first device
+    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
+      cl_print_info(platform_ids[i], device_id);
+      return device_id;
+    }
+  }
+  std::cout << "No valid openCL platform found" << std::endl;
+  assert(0);
+  return nullptr;
+}
+
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
+  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
+}
+
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, (const char*[]){src.c_str()}, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}
+
+cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, (const uint8_t*[]){binary}, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}
+
+// Given a cl code and return a string representation
+#define CL_ERR_TO_STR(err) case err: return #err
+const char* cl_get_error_string(int err) {
+  switch (err) {
+    CL_ERR_TO_STR(CL_SUCCESS);
+    CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
+    CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
+    CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
+    CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
+    CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
+    CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
+    CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
+    CL_ERR_TO_STR(CL_MAP_FAILURE);
+    CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
+    CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
+    CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
+    CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
+    CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
+    CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_INVALID_VALUE);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
+    CL_ERR_TO_STR(CL_INVALID_PLATFORM);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE);
+    CL_ERR_TO_STR(CL_INVALID_CONTEXT);
+    CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
+    CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
+    CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
+    CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_SAMPLER);
+    CL_ERR_TO_STR(CL_INVALID_BINARY);
+    CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_PROGRAM);
+    CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL);
+    CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
+    CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
+    CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
+    CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
+    CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
+    CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
+    CL_ERR_TO_STR(CL_INVALID_EVENT);
+    CL_ERR_TO_STR(CL_INVALID_OPERATION);
+    CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
+    CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
+    CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_PROPERTY);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
+    CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
+    case -69: return "CL_INVALID_PIPE_SIZE";
+    case -70: return "CL_INVALID_DEVICE_QUEUE";
+    case -71: return "CL_INVALID_SPEC_ID";
+    case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
+    case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
+    case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
+    case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
+    case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
+    case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
+    case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
+    case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
+    case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
+    case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
+    case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
+    case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
+    case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
+    case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
+    case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
+    case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
+    case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
+    case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
+    case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
+    case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
+    case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
+    case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
+    case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
+    case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
+    case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
+    default: return "CL_UNKNOWN_ERROR";
+  }
+}
diff --git a/selfdrive/common/clutil.h b/selfdrive/common/clutil.h
index b87961eacdfbf8..be1a07c332a68a 100644
--- a/selfdrive/common/clutil.h
+++ b/selfdrive/common/clutil.h
@@ -1,9 +1,4 @@
-#ifndef CLUTIL_H
-#define CLUTIL_H
-
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
+#pragma once
 
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
@@ -11,77 +6,23 @@
 #include <CL/cl.h>
 #endif
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void clu_init(void);
-
-cl_program cl_create_program_from_file(cl_context ctx, const char* path);
-void cl_print_info(cl_platform_id platform, cl_device_id device);
-void cl_print_build_errors(cl_program program, cl_device_id device);
-void cl_print_build_errors(cl_program program, cl_device_id device);
-
-cl_program cl_cached_program_from_hash(cl_context ctx, cl_device_id device_id, uint64_t hash);
-cl_program cl_cached_program_from_string(cl_context ctx, cl_device_id device_id,
-                                         const char* src, const char* args,
-                                         uint64_t *out_hash);
-cl_program cl_cached_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args,
-                                       uint64_t *out_hash);
-
-cl_program cl_program_from_index(cl_context ctx, cl_device_id device_id, uint64_t index_hash);
-
-cl_program cl_index_program_from_string(cl_context ctx, cl_device_id device_id,
-                                        const char* src, const char* args,
-                                        uint64_t index_hash);
-cl_program cl_index_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args,
-                                      uint64_t index_hash);
-
-uint64_t clu_index_hash(const char *s);
-uint64_t clu_fnv_hash(const uint8_t *data, size_t len);
-
+#include <string>
+
+#define CL_CHECK(_expr)          \
+  do {                           \
+    assert(CL_SUCCESS == (_expr)); \
+  } while (0)
+
+#define CL_CHECK_ERR(_expr)           \
+  ({                                  \
+    cl_int err = CL_INVALID_VALUE;    \
+    __typeof__(_expr) _ret = _expr;   \
+    assert(_ret&& err == CL_SUCCESS); \
+    _ret;                             \
+  })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
 const char* cl_get_error_string(int err);
-
-static inline int cl_check_error(int err) {
-  if (err != 0) {
-    fprintf(stderr, "%s\n", cl_get_error_string(err));
-    exit(1);
-  }
-  return err;
-}
-
-
-// // string hash macro. compiler, I'm so sorry.
-#define CLU_H1(s,i,x)   (x*65599ULL+(uint8_t)s[(i)<strlen(s)?strlen(s)-1-(i):strlen(s)])
-#define CLU_H4(s,i,x)   CLU_H1(s,i,CLU_H1(s,i+1,CLU_H1(s,i+2,CLU_H1(s,i+3,x))))
-#define CLU_H16(s,i,x)  CLU_H4(s,i,CLU_H4(s,i+4,CLU_H4(s,i+8,CLU_H4(s,i+12,x))))
-#define CLU_H64(s,i,x)  CLU_H16(s,i,CLU_H16(s,i+16,CLU_H16(s,i+32,CLU_H16(s,i+48,x))))
-// #define CLU_H256(s,i,x) CLU_H64(s,i,CLU_H64(s,i+64,CLU_H64(s,i+128,CLU_H64(s,i+192,x))))
-#define CLU_H128(s,i,x) CLU_H64(s,i,CLU_H64(s,i+64,x))
-#define CLU_HASH(s)    ((uint64_t)(CLU_H128(s,0,0)^(CLU_H128(s,0,0)>>32)))
-
-#define CLU_STRINGIFY(x) #x
-#define CLU_STRINGIFY2(x) CLU_STRINGIFY(x)
-#define CLU_LINESTR CLU_STRINGIFY2(__LINE__)
-
-#ifdef CLU_NO_SRC
-
- #define CLU_LOAD_FROM_STRING(ctx, device_id, src, args) \
-  cl_program_from_index(ctx, device_id, CLU_HASH("\1" __FILE__ "\1" CLU_LINESTR) ^ clu_fnv_hash((const uint8_t*)__func__, strlen(__func__)) ^ clu_fnv_hash((const uint8_t*)args, strlen(args)))
- #define CLU_LOAD_FROM_FILE(ctx, device_id, path, args) \
-  cl_program_from_index(ctx, device_id, CLU_HASH("\2" path) ^ clu_fnv_hash((const uint8_t*)args, strlen(args)))
-
-#else
-
- #define CLU_LOAD_FROM_STRING(ctx, device_id, src, args) \
-  cl_index_program_from_string(ctx, device_id, src, args, clu_index_hash("\1" __FILE__ "\1" CLU_LINESTR) ^ clu_fnv_hash((const uint8_t*)__func__, strlen(__func__)) ^ clu_fnv_hash((const uint8_t*)args, strlen(args)))
- #define CLU_LOAD_FROM_FILE(ctx, device_id, path, args) \
-  cl_index_program_from_file(ctx, device_id, path, args, clu_index_hash("\2" path) ^ clu_fnv_hash((const uint8_t*)args, strlen(args)))
-
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/common/cqueue.c b/selfdrive/common/cqueue.c
deleted file mode 100644
index fe2c6f4ebff1ae..00000000000000
--- a/selfdrive/common/cqueue.c
+++ /dev/null
@@ -1,52 +0,0 @@
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-
-#include "cqueue.h"
-
-void queue_init(Queue *q) {
-  memset(q, 0, sizeof(*q));
-  TAILQ_INIT(&q->q);
-  pthread_mutex_init(&q->lock, NULL);
-  pthread_cond_init(&q->cv, NULL);
-}
-
-void* queue_pop(Queue *q) {
-  pthread_mutex_lock(&q->lock);
-  while (TAILQ_EMPTY(&q->q)) {
-    pthread_cond_wait(&q->cv, &q->lock);
-  }
-  QueueEntry *entry = TAILQ_FIRST(&q->q);
-  TAILQ_REMOVE(&q->q, entry, entries);
-  pthread_mutex_unlock(&q->lock);
-
-  void* r = entry->data;
-  free(entry);
-  return r;
-}
-
-void* queue_try_pop(Queue *q) {
-  pthread_mutex_lock(&q->lock);
-
-  void* r = NULL;
-  if (!TAILQ_EMPTY(&q->q)) {
-    QueueEntry *entry = TAILQ_FIRST(&q->q);
-    TAILQ_REMOVE(&q->q, entry, entries);
-    r = entry->data;
-    free(entry);
-  }
-
-  pthread_mutex_unlock(&q->lock);
-  return r;
-}
-
-void queue_push(Queue *q, void *data) {
-  QueueEntry *entry = calloc(1, sizeof(QueueEntry));
-  assert(entry);
-  entry->data = data;
-
-  pthread_mutex_lock(&q->lock);
-  TAILQ_INSERT_TAIL(&q->q, entry, entries);
-  pthread_cond_signal(&q->cv);
-  pthread_mutex_unlock(&q->lock);
-}
diff --git a/selfdrive/common/cqueue.h b/selfdrive/common/cqueue.h
deleted file mode 100644
index f2613660b21405..00000000000000
--- a/selfdrive/common/cqueue.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef COMMON_CQUEUE_H
-#define COMMON_CQUEUE_H
-
-#include <sys/queue.h>
-#include <pthread.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// a blocking queue
-
-typedef struct QueueEntry {
-  TAILQ_ENTRY(QueueEntry) entries;
-  void *data;
-} QueueEntry;
-
-typedef struct Queue {
-  TAILQ_HEAD(queue, QueueEntry) q;
-  pthread_mutex_t lock;
-  pthread_cond_t cv;
-} Queue;
-
-void queue_init(Queue *q);
-void* queue_pop(Queue *q);
-void* queue_try_pop(Queue *q);
-void queue_push(Queue *q, void *data);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif
diff --git a/selfdrive/common/efd.c b/selfdrive/common/efd.c
deleted file mode 100644
index 78a7c098949b56..00000000000000
--- a/selfdrive/common/efd.c
+++ /dev/null
@@ -1,56 +0,0 @@
-#include <stdlib.h>
-#include <assert.h>
-
-#ifdef __linux__
-#include <sys/eventfd.h>
-#else
-#include <sys/time.h>
-#include <sys/event.h>
-#define EVENT_IDENT 42
-#endif
-
-#include "efd.h"
-
-
-int efd_init() {
-#ifdef __linux__
-  return eventfd(0, EFD_CLOEXEC);
-#else
-  int fd = kqueue();
-  assert(fd >= 0);
-
-  struct kevent kev;
-  EV_SET(&kev, EVENT_IDENT, EVFILT_USER, EV_ADD | EV_CLEAR, 0, 0, NULL);
-
-  struct timespec timeout = {0, 0};
-  int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
-  assert(err != -1);
-
-  return fd;
-#endif
-}
-
-void efd_write(int fd) {
-#ifdef __linux__
-  eventfd_write(fd, 1);
-#else
-  struct kevent kev;
-  EV_SET(&kev, EVENT_IDENT, EVFILT_USER, 0, NOTE_TRIGGER, 0, NULL);
-
-  struct timespec timeout = {0, 0};
-  int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
-  assert(err != -1);
-#endif
-}
-
-void efd_clear(int fd) {
-#ifdef __linux__
-  eventfd_t efd_cnt;
-  eventfd_read(fd, &efd_cnt);
-#else
-  struct kevent kev;
-  struct timespec timeout = {0, 0};
-  int nfds = kevent(fd, NULL, 0, &kev, 1, &timeout);
-  assert(nfds != -1);
-#endif
-}
diff --git a/selfdrive/common/efd.h b/selfdrive/common/efd.h
deleted file mode 100644
index 056482ffa51f3e..00000000000000
--- a/selfdrive/common/efd.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef EFD_H
-#define EFD_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// event fd: a semaphore that can be poll()'d
-int efd_init();
-void efd_write(int fd);
-void efd_clear(int fd);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
\ No newline at end of file
diff --git a/selfdrive/common/framebuffer.cc b/selfdrive/common/framebuffer.cc
deleted file mode 100644
index 788b812997f3f3..00000000000000
--- a/selfdrive/common/framebuffer.cc
+++ /dev/null
@@ -1,142 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cassert>
-
-#include <ui/DisplayInfo.h>
-
-#include <gui/ISurfaceComposer.h>
-#include <gui/Surface.h>
-#include <gui/SurfaceComposerClient.h>
-
-
-#include <GLES2/gl2.h>
-#include <EGL/eglext.h>
-
-#define BACKLIGHT_CONTROL "/sys/class/leds/lcd-backlight/brightness"
-#define BACKLIGHT_LEVEL "205"
-
-using namespace android;
-
-struct FramebufferState {
-    sp<SurfaceComposerClient> session;
-    sp<IBinder> dtoken;
-    DisplayInfo dinfo;
-    sp<SurfaceControl> control;
-
-    sp<Surface> s;
-    EGLDisplay display;
-
-    EGLint egl_major, egl_minor;
-    EGLConfig config;
-    EGLSurface surface;
-    EGLContext context;
-};
-
-extern "C" void framebuffer_set_power(FramebufferState *s, int mode) {
-  SurfaceComposerClient::setDisplayPowerMode(s->dtoken, mode);
-}
-
-extern "C" FramebufferState* framebuffer_init(
-    const char* name, int32_t layer, int alpha,
-    int *out_w, int *out_h) {
-  status_t status;
-  int success;
-
-  FramebufferState *s = new FramebufferState;
-
-  s->session = new SurfaceComposerClient();
-  assert(s->session != NULL);
-
-  s->dtoken = SurfaceComposerClient::getBuiltInDisplay(
-                ISurfaceComposer::eDisplayIdMain);
-  assert(s->dtoken != NULL);
-
-  status = SurfaceComposerClient::getDisplayInfo(s->dtoken, &s->dinfo);
-  assert(status == 0);
-
-  //int orientation = 3; // rotate framebuffer 270 degrees
-  int orientation = 1; // rotate framebuffer 90 degrees
-  if(orientation == 1 || orientation == 3) {
-      int temp = s->dinfo.h;
-      s->dinfo.h = s->dinfo.w;
-      s->dinfo.w = temp;
-  }
-
-  printf("dinfo %dx%d\n", s->dinfo.w, s->dinfo.h);
-
-  Rect destRect(s->dinfo.w, s->dinfo.h);
-  s->session->setDisplayProjection(s->dtoken, orientation, destRect, destRect);
-
-  s->control = s->session->createSurface(String8(name),
-                  s->dinfo.w, s->dinfo.h, PIXEL_FORMAT_RGBX_8888);
-  assert(s->control != NULL);
-
-  SurfaceComposerClient::openGlobalTransaction();
-  status = s->control->setLayer(layer);
-  SurfaceComposerClient::closeGlobalTransaction();
-  assert(status == 0);
-
-  s->s = s->control->getSurface();
-  assert(s->s != NULL);
-
-  // init opengl and egl
-  const EGLint attribs[] = {
-    EGL_RED_SIZE,     8,
-    EGL_GREEN_SIZE,   8,
-    EGL_BLUE_SIZE,    8,
-    EGL_ALPHA_SIZE,   alpha ? 8 : 0,
-    EGL_DEPTH_SIZE,   0,
-    EGL_STENCIL_SIZE, 8,
-    EGL_RENDERABLE_TYPE, EGL_OPENGL_ES3_BIT_KHR,
-    EGL_NONE,
-  };
-
-  s->display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
-  assert(s->display != EGL_NO_DISPLAY);
-
-  success = eglInitialize(s->display, &s->egl_major, &s->egl_minor);
-  assert(success);
-
-  printf("egl version %d.%d\n", s->egl_major, s->egl_minor);
-  
-  EGLint num_configs;
-  success = eglChooseConfig(s->display, attribs, &s->config, 1, &num_configs);
-  assert(success);
-
-  s->surface = eglCreateWindowSurface(s->display, s->config, s->s.get(), NULL);
-  assert(s->surface != EGL_NO_SURFACE);
-
-  const EGLint context_attribs[] = {
-    EGL_CONTEXT_CLIENT_VERSION, 3,
-    EGL_NONE,
-  };
-  s->context = eglCreateContext(s->display, s->config, NULL, context_attribs);
-  assert(s->context != EGL_NO_CONTEXT);
-
-  EGLint w, h;
-  eglQuerySurface(s->display, s->surface, EGL_WIDTH, &w);
-  eglQuerySurface(s->display, s->surface, EGL_HEIGHT, &h);
-  printf("egl w %d h %d\n", w, h);
-
-  success = eglMakeCurrent(s->display, s->surface, s->surface, s->context);
-  assert(success);
-
-  printf("gl version %s\n", glGetString(GL_VERSION));
-
-
-  // set brightness
-  int brightness_fd = open(BACKLIGHT_CONTROL, O_RDWR);
-  const char brightness_level[] = BACKLIGHT_LEVEL;
-  write(brightness_fd, brightness_level, strlen(brightness_level));
-
-  if (out_w) *out_w = w;
-  if (out_h) *out_h = h;
-
-  return s;
-}
-
-extern "C" void framebuffer_swap(FramebufferState *s) {
-  eglSwapBuffers(s->display, s->surface);
-  assert(glGetError() == GL_NO_ERROR);
-}
-
diff --git a/selfdrive/common/framebuffer.h b/selfdrive/common/framebuffer.h
deleted file mode 100644
index 45920b8e42ba18..00000000000000
--- a/selfdrive/common/framebuffer.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#ifndef FRAMEBUFFER_H
-#define FRAMEBUFFER_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct FramebufferState FramebufferState;
-
-FramebufferState* framebuffer_init(
-    const char* name, int32_t layer, int alpha,
-    int *out_w, int *out_h);
-
-void framebuffer_set_power(FramebufferState *s, int mode);
-void framebuffer_swap(FramebufferState *s);
-
-/* Display power modes */
-enum {
-    /* The display is turned off (blanked). */
-    HWC_POWER_MODE_OFF      = 0,
-    /* The display is turned on and configured in a low power state
-     * that is suitable for presenting ambient information to the user,
-     * possibly with lower fidelity than normal but greater efficiency. */
-    HWC_POWER_MODE_DOZE     = 1,
-    /* The display is turned on normally. */
-    HWC_POWER_MODE_NORMAL   = 2,
-    /* The display is configured as in HWC_POWER_MODE_DOZE but may
-     * stop applying frame buffer updates from the graphics subsystem.
-     * This power mode is effectively a hint from the doze dream to
-     * tell the hardware that it is done drawing to the display for the
-     * time being and that the display should remain on in a low power
-     * state and continue showing its current contents indefinitely
-     * until the mode changes.
-     *
-     * This mode may also be used as a signal to enable hardware-based doze
-     * functionality.  In this case, the doze dream is effectively
-     * indicating that the hardware is free to take over the display
-     * and manage it autonomously to implement low power always-on display
-     * functionality. */
-    HWC_POWER_MODE_DOZE_SUSPEND  = 3,
-};
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/common/glutil.c b/selfdrive/common/glutil.c
deleted file mode 100644
index e208891e2bb6a5..00000000000000
--- a/selfdrive/common/glutil.c
+++ /dev/null
@@ -1,69 +0,0 @@
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "glutil.h"
-
-GLuint load_shader(GLenum shaderType, const char *src) {
-  GLint status = 0, len = 0;
-  GLuint shader;
-
-  if (!(shader = glCreateShader(shaderType)))
-    return 0;
-
-  glShaderSource(shader, 1, &src, NULL);
-  glCompileShader(shader);
-  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
-
-  if (status)
-    return shader;
-
-  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *msg = (char*)malloc(len);
-    if (msg) {
-      glGetShaderInfoLog(shader, len, NULL, msg);
-      msg[len-1] = 0;
-      fprintf(stderr, "error compiling shader:\n%s\n", msg);
-      free(msg);
-    }
-  }
-  glDeleteShader(shader);
-  return 0;
-}
-
-GLuint load_program(const char *vert_src, const char *frag_src) {
-  GLuint vert, frag, prog;
-  GLint status = 0, len = 0;
-
-  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
-    return 0;
-  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
-    goto fail_frag;
-  if (!(prog = glCreateProgram()))
-    goto fail_prog;
-
-  glAttachShader(prog, vert);
-  glAttachShader(prog, frag);
-  glLinkProgram(prog);
-
-  glGetProgramiv(prog, GL_LINK_STATUS, &status);
-  if (status)
-    return prog;
-
-  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *buf = (char*) malloc(len);
-    if (buf) {
-      glGetProgramInfoLog(prog, len, NULL, buf);
-      buf[len-1] = 0;
-      fprintf(stderr, "error linking program:\n%s\n", buf);
-      free(buf);
-    }
-  }
-  glDeleteProgram(prog);
-fail_prog:
-  glDeleteShader(frag);
-fail_frag:
-  glDeleteShader(vert);
-  return 0;
-}
diff --git a/selfdrive/common/glutil.h b/selfdrive/common/glutil.h
deleted file mode 100644
index d907b09e78ba12..00000000000000
--- a/selfdrive/common/glutil.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef COMMON_GLUTIL_H
-#define COMMON_GLUTIL_H
-
-#ifdef __APPLE__
-  #include <OpenGL/gl3.h>
-#else
-  #include <GLES3/gl3.h>
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-GLuint load_shader(GLenum shaderType, const char *src);
-GLuint load_program(const char *vert_src, const char *frag_src);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/common/gpio.cc b/selfdrive/common/gpio.cc
new file mode 100644
index 00000000000000..033d6da4f76ebb
--- /dev/null
+++ b/selfdrive/common/gpio.cc
@@ -0,0 +1,32 @@
+#include "selfdrive/common/gpio.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <cstring>
+
+#include "selfdrive/common/util.h"
+
+// We assume that all pins have already been exported on boot,
+// and that we have permission to write to them.
+
+int gpio_init(int pin_nr, bool output) {
+  char pin_dir_path[50];
+  int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
+                           "/sys/class/gpio/gpio%d/direction", pin_nr);
+  if(pin_dir_path_len <= 0) {
+    return -1;
+  }
+  const char *value = output ? "out" : "in";
+  return util::write_file(pin_dir_path, (void*)value, strlen(value));
+}
+
+int gpio_set(int pin_nr, bool high) {
+  char pin_val_path[50];
+  int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
+                           "/sys/class/gpio/gpio%d/value", pin_nr);
+  if(pin_val_path_len <= 0) {
+    return -1;
+  }
+  return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
+}
diff --git a/selfdrive/common/gpio.h b/selfdrive/common/gpio.h
new file mode 100644
index 00000000000000..e030019875fb4a
--- /dev/null
+++ b/selfdrive/common/gpio.h
@@ -0,0 +1,21 @@
+#pragma once
+
+// Pin definitions
+#ifdef QCOM2
+  #define GPIO_HUB_RST_N        30
+  #define GPIO_UBLOX_RST_N      32
+  #define GPIO_UBLOX_SAFEBOOT_N 33
+  #define GPIO_UBLOX_PWR_EN     34
+  #define GPIO_STM_RST_N        124
+  #define GPIO_STM_BOOT0        134
+#else
+  #define GPIO_HUB_RST_N        0
+  #define GPIO_UBLOX_RST_N      0
+  #define GPIO_UBLOX_SAFEBOOT_N 0
+  #define GPIO_UBLOX_PWR_EN     0
+  #define GPIO_STM_RST_N        0
+  #define GPIO_STM_BOOT0        0
+#endif
+
+int gpio_init(int pin_nr, bool output);
+int gpio_set(int pin_nr, bool high);
diff --git a/selfdrive/common/i2c.cc b/selfdrive/common/i2c.cc
new file mode 100644
index 00000000000000..5e6488fabfbc3d
--- /dev/null
+++ b/selfdrive/common/i2c.cc
@@ -0,0 +1,87 @@
+#include "selfdrive/common/i2c.h"
+
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <cassert>
+#include <cstdio>
+#include <stdexcept>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+
+#define UNUSED(x) (void)(x)
+
+#ifdef QCOM2
+// TODO: decide if we want to isntall libi2c-dev everywhere
+extern "C" {
+  #include <linux/i2c-dev.h>
+  #include <i2c/smbus.h>
+}
+
+I2CBus::I2CBus(uint8_t bus_id) {
+  char bus_name[20];
+  snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
+
+  i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
+  if(i2c_fd < 0) {
+    throw std::runtime_error("Failed to open I2C bus");
+  }
+}
+
+I2CBus::~I2CBus() {
+  if(i2c_fd >= 0) { close(i2c_fd); }
+}
+
+int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
+  int ret = 0;
+
+  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
+  if(ret < 0) { goto fail; }
+
+  ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
+  if((ret < 0) || (ret != len)) { goto fail; }
+
+fail:
+  return ret;
+}
+
+int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
+  int ret = 0;
+
+  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
+  if(ret < 0) { goto fail; }
+
+  ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
+  if(ret < 0) { goto fail; }
+
+fail:
+  return ret;
+}
+
+#else
+
+I2CBus::I2CBus(uint8_t bus_id) {
+  UNUSED(bus_id);
+  i2c_fd = -1;
+}
+
+I2CBus::~I2CBus() {}
+
+int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
+  UNUSED(device_address);
+  UNUSED(register_address);
+  UNUSED(buffer);
+  UNUSED(len);
+  return -1;
+}
+
+int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
+  UNUSED(device_address);
+  UNUSED(register_address);
+  UNUSED(data);
+  return -1;
+}
+#endif
diff --git a/selfdrive/common/i2c.h b/selfdrive/common/i2c.h
new file mode 100644
index 00000000000000..0669116bb86733
--- /dev/null
+++ b/selfdrive/common/i2c.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <cstdint>
+
+#include <sys/types.h>
+
+class I2CBus {
+  private:
+    int i2c_fd;
+
+  public:
+    I2CBus(uint8_t bus_id);
+    ~I2CBus();
+
+    int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
+    int set_register(uint8_t device_address, uint register_address, uint8_t data);
+};
diff --git a/selfdrive/common/ipc.c b/selfdrive/common/ipc.c
deleted file mode 100644
index 41b0cc0eaaaea0..00000000000000
--- a/selfdrive/common/ipc.c
+++ /dev/null
@@ -1,119 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <string.h>
-#include <unistd.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <sys/mman.h>
-#include <sys/socket.h>
-#include <sys/un.h>
-
-#include "ipc.h"
-
-int ipc_connect(const char* socket_path) {
-  int err;
-
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-  if (sock < 0) return -1;
-  struct sockaddr_un addr = {
-    .sun_family = AF_UNIX,
-  };
-  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
-  err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
-  if (err != 0) {
-    close(sock);
-    return -1;
-  }
-
-  return sock;
-}
-
-int ipc_bind(const char* socket_path) {
-  int err;
-
-  unlink(socket_path);
-
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-  struct sockaddr_un addr = {
-    .sun_family = AF_UNIX,
-  };
-  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
-  err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
-  assert(err == 0);
-
-  err = listen(sock, 3);
-  assert(err == 0);
-
-  return sock;
-}
-
-
-int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
-                          int *out_num_fds) {
-  int err;
-
-  char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
-  memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
-
-  struct iovec iov = {
-    .iov_base = buf,
-    .iov_len = buf_size,
-  };
-  struct msghdr msg = {
-    .msg_iov = &iov,
-    .msg_iovlen = 1,
-  };
-
-  if (num_fds > 0) {
-    assert(fds);
-
-    msg.msg_control = control_buf;
-    msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
-  }
-
-  if (send) {
-    if (num_fds) {
-      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
-      assert(cmsg);
-      cmsg->cmsg_level = SOL_SOCKET;
-      cmsg->cmsg_type = SCM_RIGHTS;
-      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
-      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
-      // printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
-    }
-    return sendmsg(fd, &msg, 0);
-  } else {
-    int r = recvmsg(fd, &msg, 0);
-    if (r < 0) return r;
-
-    int recv_fds = 0;
-    if (msg.msg_controllen > 0) {
-      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
-      assert(cmsg);
-      assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
-      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
-      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
-      recv_fds /= sizeof(int);
-      // printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
-      // assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
-
-      assert(fds && recv_fds <= num_fds);
-      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
-    }
-
-    if (msg.msg_flags) {
-      for (int i=0; i<recv_fds; i++) {
-        close(fds[i]);
-      }
-      return -1;
-    }
-
-    if (fds) {
-      assert(out_num_fds);
-      *out_num_fds = recv_fds;
-    }
-    return r;
-  }
-}
diff --git a/selfdrive/common/ipc.h b/selfdrive/common/ipc.h
deleted file mode 100644
index 7ebfd716468298..00000000000000
--- a/selfdrive/common/ipc.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef IPC_H
-#define IPC_H
-
-#include <stdbool.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-int ipc_connect(const char* socket_path);
-int ipc_bind(const char* socket_path);
-int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
-                          int *out_num_fds);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif
\ No newline at end of file
diff --git a/selfdrive/common/mat.h b/selfdrive/common/mat.h
index 1c20eae17fd034..626f3404feab49 100644
--- a/selfdrive/common/mat.h
+++ b/selfdrive/common/mat.h
@@ -1,5 +1,4 @@
-#ifndef COMMON_MAT_H
-#define COMMON_MAT_H
+#pragma once
 
 typedef struct vec3 {
 	float v[3];
@@ -17,7 +16,7 @@ typedef struct mat4 {
   float v[4*4];
 } mat4;
 
-static inline mat3 matmul3(const mat3 a, const mat3 b) {
+static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
   mat3 ret = {{0.0}};
   for (int r=0; r<3; r++) {
     for (int c=0; c<3; c++) {
@@ -31,7 +30,7 @@ static inline mat3 matmul3(const mat3 a, const mat3 b) {
   return ret;
 }
 
-static inline vec3 matvecmul3(const mat3 a, const vec3 b) {
+static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
   vec3 ret = {{0.0}};
   for (int r=0; r<3; r++) {
     for (int c=0; c<3; c++) {
@@ -41,7 +40,7 @@ static inline vec3 matvecmul3(const mat3 a, const vec3 b) {
   return ret;
 }
 
-static inline mat4 matmul(const mat4 a, const mat4 b) {
+static inline mat4 matmul(const mat4 &a, const mat4 &b) {
   mat4 ret = {{0.0}};
   for (int r=0; r<4; r++) {
     for (int c=0; c<4; c++) {
@@ -55,7 +54,7 @@ static inline mat4 matmul(const mat4 a, const mat4 b) {
   return ret;
 }
 
-static inline vec4 matvecmul(const mat4 a, const vec4 b) {
+static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
   vec4 ret = {{0.0}};
   for (int r=0; r<4; r++) {
     for (int c=0; c<4; c++) {
@@ -67,7 +66,7 @@ static inline vec4 matvecmul(const mat4 a, const vec4 b) {
 
 // scales the input and output space of a transformation matrix
 // that assumes pixel-center origin.
-static inline mat3 transform_scale_buffer(const mat3 in, float s) {
+static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
   // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
 
   mat3 transform_out = {{
@@ -84,5 +83,3 @@ static inline mat3 transform_scale_buffer(const mat3 in, float s) {
 
   return matmul3(transform_in, matmul3(in, transform_out));
 }
-
-#endif
diff --git a/selfdrive/common/messaging.h b/selfdrive/common/messaging.h
deleted file mode 100644
index dd1198e82691b7..00000000000000
--- a/selfdrive/common/messaging.h
+++ /dev/null
@@ -1,15 +0,0 @@
-// the c version of cereal/messaging.py
-
-#include <zmq.h>
-
-// TODO: refactor to take in service instead of endpoint?
-void *sub_sock(void *ctx, const char *endpoint) {
-  void* sock = zmq_socket(ctx, ZMQ_SUB);
-  assert(sock);
-  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
-  int reconnect_ivl = 500;
-  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
-  zmq_connect(sock, endpoint);
-  return sock;
-}
-
diff --git a/selfdrive/common/modeldata.h b/selfdrive/common/modeldata.h
index 555a75614ceea7..7aec15e7beb6ff 100644
--- a/selfdrive/common/modeldata.h
+++ b/selfdrive/common/modeldata.h
@@ -1,40 +1,66 @@
-#ifndef MODELDATA_H
-#define MODELDATA_H
-
-#define MODEL_PATH_DISTANCE 192
-#define POLYFIT_DEGREE 4
-#define SPEED_PERCENTILES 10
-#define DESIRE_PRED_SIZE 32
-#define OTHER_META_SIZE 4
-
-typedef struct PathData {
-  float points[MODEL_PATH_DISTANCE];
-  float prob;
-  float std;
-  float stds[MODEL_PATH_DISTANCE];
-  float poly[POLYFIT_DEGREE];
-} PathData;
-
-typedef struct LeadData {
-  float dist;
-  float prob;
-  float std;
-  float rel_y;
-  float rel_y_std;
-  float rel_v;
-  float rel_v_std;
-  float rel_a;
-  float rel_a_std;
-} LeadData;
-
-typedef struct ModelData {
-  PathData path;
-  PathData left_lane;
-  PathData right_lane;
-  LeadData lead;
-  LeadData lead_future;
-  float meta[OTHER_META_SIZE + DESIRE_PRED_SIZE];
-  float speed[SPEED_PERCENTILES];
-} ModelData;
+#pragma once
+
+#include <array>
+
+const int  TRAJECTORY_SIZE = 33;
+const int LAT_MPC_N = 16;
+const int LON_MPC_N = 32;
+const float MIN_DRAW_DISTANCE = 10.0;
+const float MAX_DRAW_DISTANCE = 100.0;
+
+template<typename T_SRC, typename  T_DST, size_t size>
+const std::array<T_DST, size> convert_array_to_type(const std::array<T_SRC, size> &src) {
+  std::array<T_DST, size> dst = {};
+  for (int i=0; i<size; i++) {
+    dst[i] = src[i];
+  }
+  return dst;
+}
+
+const std::array<double, TRAJECTORY_SIZE> T_IDXS = {
+        0.        ,  0.00976562,  0.0390625 ,  0.08789062,  0.15625   ,
+        0.24414062,  0.3515625 ,  0.47851562,  0.625     ,  0.79101562,
+        0.9765625 ,  1.18164062,  1.40625   ,  1.65039062,  1.9140625 ,
+        2.19726562,  2.5       ,  2.82226562,  3.1640625 ,  3.52539062,
+        3.90625   ,  4.30664062,  4.7265625 ,  5.16601562,  5.625     ,
+        6.10351562,  6.6015625 ,  7.11914062,  7.65625   ,  8.21289062,
+        8.7890625 ,  9.38476562, 10.};
+const auto T_IDXS_FLOAT = convert_array_to_type<double, float, TRAJECTORY_SIZE>(T_IDXS);
+
+const std::array<double, TRAJECTORY_SIZE> X_IDXS = {
+         0.    ,   0.1875,   0.75  ,   1.6875,   3.    ,   4.6875,
+         6.75  ,   9.1875,  12.    ,  15.1875,  18.75  ,  22.6875,
+        27.    ,  31.6875,  36.75  ,  42.1875,  48.    ,  54.1875,
+        60.75  ,  67.6875,  75.    ,  82.6875,  90.75  ,  99.1875,
+       108.    , 117.1875, 126.75  , 136.6875, 147.    , 157.6875,
+       168.75  , 180.1875, 192.};
+const auto X_IDXS_FLOAT = convert_array_to_type<double, float, TRAJECTORY_SIZE>(X_IDXS);
+
+#ifdef __cplusplus
+
+#include "selfdrive/common/mat.h"
+#include "selfdrive/hardware/hw.h"
+const mat3 fcam_intrinsic_matrix =
+    Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
+                              0., 910., 874.0 / 2,
+                              0., 0., 1.}}
+                    : (mat3){{2648.0, 0.0, 1928.0 / 2,
+                              0.0, 2648.0, 1208.0 / 2,
+                              0.0, 0.0, 1.0}};
+
+// without unwarp, focal length is for center portion only
+const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
+                                           0.0, 620.0, 1208.0 / 2,
+                                           0.0, 0.0, 1.0}};
+
+static inline mat3 get_model_yuv_transform(bool bayer = true) {
+  float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON
+  const mat3 transform = (mat3){{
+    1.0, 0.0, 0.0,
+    0.0, 1.0, 0.0,
+    0.0, 0.0, 1.0
+  }};
+  return bayer ? transform_scale_buffer(transform, db_s) : transform;
+}
 
 #endif
diff --git a/selfdrive/common/mutex.h b/selfdrive/common/mutex.h
deleted file mode 100644
index ef0135935736f4..00000000000000
--- a/selfdrive/common/mutex.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef COMMON_MUTEX_H
-#define COMMON_MUTEX_H
-
-#include <pthread.h>
-
-static inline void mutex_init_reentrant(pthread_mutex_t *mutex) {
-  pthread_mutexattr_t attr;
-  pthread_mutexattr_init(&attr);
-  pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
-  pthread_mutex_init(mutex, &attr);
-}
-
-#endif
diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index 79bc5d911f4fe2..7e65ec128c2742 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -1,307 +1,273 @@
-#include "common/params.h"
+#include "selfdrive/common/params.h"
 
-#ifndef _GNU_SOURCE
-#define _GNU_SOURCE
-#endif  // _GNU_SOURCE
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
 #include <dirent.h>
 #include <sys/file.h>
-#include <sys/stat.h>
-
-#include <map>
-#include <string>
 
-#include "common/util.h"
-#include "common/utilpp.h"
+#include <csignal>
+#include <unordered_map>
 
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
 
 namespace {
 
-template <typename T>
-T* null_coalesce(T* a, T* b) {
-  return a != NULL ? a : b;
+volatile sig_atomic_t params_do_exit = 0;
+void params_sig_handler(int signal) {
+  params_do_exit = 1;
 }
 
-static const char* default_params_path = null_coalesce(
-    const_cast<const char*>(getenv("PARAMS_PATH")), "/data/params");
-
-}  // namespace
-
-static int fsync_dir(const char* path){
-  int result = 0;
-  int fd = open(path, O_RDONLY);
-
-  if (fd < 0){
-    result = -1;
-    goto cleanup;
-  }
-
-  result = fsync(fd);
-  if (result < 0) {
-    goto cleanup;
-  }
-
- cleanup:
-  int result_close = 0;
-  if (fd >= 0){
-    result_close = close(fd);
-  }
-
-  if (result_close < 0) {
-    return result_close;
-  } else {
-    return result;
+int fsync_dir(const std::string &path) {
+  int result = -1;
+  int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
+  if (fd >= 0) {
+    result = fsync(fd);
+    close(fd);
   }
+  return result;
 }
 
-int write_db_value(const char* params_path, const char* key, const char* value,
-                   size_t value_size) {
-  // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
-  // 1) Create temp file
-  // 2) Write data to temp file
-  // 3) fsync() the temp file
-  // 4) rename the temp file to the real name
-  // 5) fsync() the containing directory
-
-  int lock_fd = -1;
-  int tmp_fd = -1;
-  int result;
-  char tmp_path[1024];
-  char path[1024];
-  ssize_t bytes_written;
-
-  if (params_path == NULL) {
-    params_path = default_params_path;
+bool create_params_path(const std::string &param_path, const std::string &key_path) {
+  // Make sure params path exists
+  if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
+    return false;
   }
 
-  // Write value to temp.
-  result =
-      snprintf(tmp_path, sizeof(tmp_path), "%s/.tmp_value_XXXXXX", params_path);
-  if (result < 0) {
-    goto cleanup;
-  }
+  // See if the symlink exists, otherwise create it
+  if (!util::file_exists(key_path)) {
+    // 1) Create temp folder
+    // 2) Symlink it to temp link
+    // 3) Move symlink to <params>/d
 
-  tmp_fd = mkstemp(tmp_path);
-  bytes_written = write(tmp_fd, value, value_size);
-  if (bytes_written != value_size) {
-    result = -20;
-    goto cleanup;
-  }
-
-  // Build lock path
-  result = snprintf(path, sizeof(path), "%s/.lock", params_path);
-  if (result < 0) {
-    goto cleanup;
-  }
-  lock_fd = open(path, 0);
-
-  // Build key path
-  result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
-  if (result < 0) {
-    goto cleanup;
-  }
-
-  // Take lock.
-  result = flock(lock_fd, LOCK_EX);
-  if (result < 0) {
-    goto cleanup;
-  }
-
-  // change permissions to 0666 for apks
-  result = fchmod(tmp_fd, 0666);
-  if (result < 0) {
-    goto cleanup;
-  }
+    std::string tmp_path = param_path + "/.tmp_XXXXXX";
+    // this should be OK since mkdtemp just replaces characters in place
+    char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
+    if (tmp_dir == NULL) {
+      return false;
+    }
 
-  // fsync to force persist the changes.
-  result = fsync(tmp_fd);
-  if (result < 0) {
-    goto cleanup;
-  }
+    std::string link_path = std::string(tmp_dir) + ".link";
+    if (symlink(tmp_dir, link_path.c_str()) != 0) {
+      return false;
+    }
 
-  // Move temp into place.
-  result = rename(tmp_path, path);
-  if (result < 0) {
-    goto cleanup;
+    // don't return false if it has been created by other
+    if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
+      return false;
+    }
   }
 
-  // fsync parent directory
-  result = snprintf(path, sizeof(path), "%s/d", params_path);
-  if (result < 0) {
-    goto cleanup;
-  }
+  return true;
+}
 
-  result = fsync_dir(path);
-  if (result < 0) {
-    goto cleanup;
+std::string ensure_params_path(const std::string &path = {}) {
+  std::string params_path = path.empty() ? Path::params() : path;
+  if (!create_params_path(params_path, params_path + "/d")) {
+    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
   }
+  return params_path;
+}
 
-cleanup:
-  // Release lock.
-  if (lock_fd >= 0) {
-    close(lock_fd);
-  }
-  if (tmp_fd >= 0) {
-    if (result < 0) {
-      remove(tmp_path);
+class FileLock {
+public:
+  FileLock(const std::string &fn) {
+    fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
+    if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
+      LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
     }
-    close(tmp_fd);
   }
-  return result;
+  ~FileLock() { close(fd_); }
+
+private:
+  int fd_ = -1;
+};
+
+std::unordered_map<std::string, uint32_t> keys = {
+    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AthenadPid", PERSISTENT},
+    {"BootedOnroad", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"CalibrationParams", PERSISTENT},
+    {"CarBatteryCapacity", PERSISTENT},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
+    {"CarParamsCache", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
+    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
+    {"CommunityFeaturesToggle", PERSISTENT},
+    {"CompletedTrainingVersion", PERSISTENT},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
+    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"DisablePowerDown", PERSISTENT},
+    {"DisableRadar_Allow", PERSISTENT},
+    {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
+    {"DisableUpdates", PERSISTENT},
+    {"DongleId", PERSISTENT},
+    {"DoReboot", CLEAR_ON_MANAGER_START},
+    {"DoShutdown", CLEAR_ON_MANAGER_START},
+    {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"EnableWideCamera", CLEAR_ON_MANAGER_START},
+    {"EndToEndToggle", PERSISTENT},
+    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
+    {"GitBranch", PERSISTENT},
+    {"GitCommit", PERSISTENT},
+    {"GitDiff", PERSISTENT},
+    {"GithubSshKeys", PERSISTENT},
+    {"GithubUsername", PERSISTENT},
+    {"GitRemote", PERSISTENT},
+    {"GsmApn", PERSISTENT},
+    {"GsmRoaming", PERSISTENT},
+    {"HardwareSerial", PERSISTENT},
+    {"HasAcceptedTerms", PERSISTENT},
+    {"HasPrime", PERSISTENT},
+    {"IMEI", PERSISTENT},
+    {"InstallDate", PERSISTENT},
+    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
+    {"IsLdwEnabled", PERSISTENT},
+    {"IsMetric", PERSISTENT},
+    {"IsOffroad", CLEAR_ON_MANAGER_START},
+    {"IsOnroad", PERSISTENT},
+    {"IsRHD", PERSISTENT},
+    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
+    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
+    {"LastGPSPosition", PERSISTENT},
+    {"LastUpdateException", PERSISTENT},
+    {"LastUpdateTime", PERSISTENT},
+    {"LiveParameters", PERSISTENT},
+    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"NavSettingTime24h", PERSISTENT},
+    {"OpenpilotEnabledToggle", PERSISTENT},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"Passive", PERSISTENT},
+    {"PrimeRedirected", PERSISTENT},
+    {"RecordFront", PERSISTENT},
+    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
+    {"ReleaseNotes", PERSISTENT},
+    {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
+    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"SshEnabled", PERSISTENT},
+    {"SubscriberInfo", PERSISTENT},
+    {"TermsVersion", PERSISTENT},
+    {"Timezone", PERSISTENT},
+    {"TrainingVersion", PERSISTENT},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START},
+    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
+    {"UploadRaw", PERSISTENT},
+    {"Version", PERSISTENT},
+    {"VisionRadarToggle", PERSISTENT},
+    {"ApiCache_Device", PERSISTENT},
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"ApiCache_NavDestinations", PERSISTENT},
+    {"ApiCache_Owner", PERSISTENT},
+    {"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
+    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
+    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
+    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
+    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
+    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
+    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+};
+
+} // namespace
+
+Params::Params(const std::string &path) {
+  static std::string default_param_path = ensure_params_path();
+  params_path = path.empty() ? default_param_path : ensure_params_path(path);
 }
 
-int delete_db_value(const char* params_path, const char* key) {
-  int lock_fd = -1;
-  int result;
-  char path[1024];
-
-  if (params_path == NULL) {
-    params_path = default_params_path;
-  }
-
-  // Build lock path, and open lockfile
-  result = snprintf(path, sizeof(path), "%s/.lock", params_path);
-  if (result < 0) {
-    goto cleanup;
-  }
-  lock_fd = open(path, 0);
-
-  // Take lock.
-  result = flock(lock_fd, LOCK_EX);
-  if (result < 0) {
-    goto cleanup;
-  }
-
-  // Build key path
-  result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
-  if (result < 0) {
-    goto cleanup;
-  }
-
-  // Delete value.
-  result = remove(path);
-  if (result != 0) {
-    result = ERR_NO_VALUE;
-    goto cleanup;
-  }
-
-  // fsync parent directory
-  result = snprintf(path, sizeof(path), "%s/d", params_path);
-  if (result < 0) {
-    goto cleanup;
-  }
-
-  result = fsync_dir(path);
-  if (result < 0) {
-    goto cleanup;
-  }
-
-cleanup:
-  // Release lock.
-  if (lock_fd >= 0) {
-    close(lock_fd);
-  }
-  return result;
+bool Params::checkKey(const std::string &key) {
+  return keys.find(key) != keys.end();
 }
 
-int read_db_value(const char* params_path, const char* key, char** value,
-                  size_t* value_sz) {
-  int lock_fd = -1;
-  int result;
-  char path[1024];
-
-  if (params_path == NULL) {
-    params_path = default_params_path;
-  }
+ParamKeyType Params::getKeyType(const std::string &key) {
+  return static_cast<ParamKeyType>(keys[key]);
+}
 
-  result = snprintf(path, sizeof(path), "%s/.lock", params_path);
-  if (result < 0) {
-    goto cleanup;
-  }
-  lock_fd = open(path, 0);
+int Params::put(const char* key, const char* value, size_t value_size) {
+  // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
+  // 1) Create temp file
+  // 2) Write data to temp file
+  // 3) fsync() the temp file
+  // 4) rename the temp file to the real name
+  // 5) fsync() the containing directory
+  std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
+  int tmp_fd = mkstemp((char*)tmp_path.c_str());
+  if (tmp_fd < 0) return -1;
+
+  int result = -1;
+  do {
+    // Write value to temp.
+    ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
+    if (bytes_written < 0 || (size_t)bytes_written != value_size) {
+      result = -20;
+      break;
+    }
 
-  result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
-  if (result < 0) {
-    goto cleanup;
-  }
+    // fsync to force persist the changes.
+    if ((result = fsync(tmp_fd)) < 0) break;
 
-  // Take lock.
-  result = flock(lock_fd, LOCK_EX);
-  if (result < 0) {
-    goto cleanup;
-  }
+    FileLock file_lock(params_path + "/.lock");
 
-  // Read value.
-  // TODO(mgraczyk): If there is a lot of contention, we can release the lock
-  //                 after opening the file, before reading.
-  *value = static_cast<char*>(read_file(path, value_sz));
-  if (*value == NULL) {
-    result = -22;
-    goto cleanup;
-  }
+    // Move temp into place.
+    if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
 
-  result = 0;
+    // fsync parent directory
+    result = fsync_dir(getParamPath());
+  } while (false);
 
-cleanup:
-  // Release lock.
-  if (lock_fd >= 0) {
-    close(lock_fd);
-  }
+  close(tmp_fd);
+  ::unlink(tmp_path.c_str());
   return result;
 }
 
-void read_db_value_blocking(const char* params_path, const char* key,
-                            char** value, size_t* value_sz) {
-  while (1) {
-    const int result = read_db_value(params_path, key, value, value_sz);
-    if (result == 0) {
-      return;
-    } else {
-      // Sleep for 0.1 seconds.
-      usleep(100000);
-    }
+int Params::remove(const std::string &key) {
+  FileLock file_lock(params_path + "/.lock");
+  int result = unlink(getParamPath(key).c_str());
+  if (result != 0) {
+    return result;
   }
+  return fsync_dir(getParamPath());
 }
 
-int read_db_all(const char* params_path, std::map<std::string, std::string> *params) {
-  int err = 0;
-
-  if (params_path == NULL) {
-    params_path = default_params_path;
-  }
-
-  std::string lock_path = util::string_format("%s/.lock", params_path);
-
-  int lock_fd = open(lock_path.c_str(), 0);
-  if (lock_fd < 0) return -1;
-
-  err = flock(lock_fd, LOCK_EX);
-  if (err < 0) return err;
+std::string Params::get(const std::string &key, bool block) {
+  if (!block) {
+    return util::read_file(getParamPath(key));
+  } else {
+    // blocking read until successful
+    params_do_exit = 0;
+    void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
+    void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
+
+    std::string value;
+    while (!params_do_exit) {
+      if (value = util::read_file(getParamPath(key)); !value.empty()) {
+        break;
+      }
+      util::sleep_for(100);  // 0.1 s
+    }
 
-  std::string key_path = util::string_format("%s/d", params_path);
-  DIR *d = opendir(key_path.c_str());
-  if (!d) {
-    close(lock_fd);
-    return -1;
+    std::signal(SIGINT, prev_handler_sigint);
+    std::signal(SIGTERM, prev_handler_sigterm);
+    return value;
   }
+}
 
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (!isalnum(de->d_name[0])) continue;
-    std::string key = std::string(de->d_name);
-
-    if (key == "AccessToken") continue;
+std::map<std::string, std::string> Params::readAll() {
+  FileLock file_lock(params_path + "/.lock");
+  return util::read_files_in_dir(getParamPath());
+}
 
-    std::string value = util::read_file(util::string_format("%s/%s", key_path.c_str(), key.c_str()));
+void Params::clearAll(ParamKeyType key_type) {
+  FileLock file_lock(params_path + "/.lock");
 
-    (*params)[key] = value;
+  std::string path;
+  for (auto &[key, type] : keys) {
+    if (type & key_type) {
+      unlink(getParamPath(key).c_str());
+    }
   }
 
-  closedir(d);
-
-  close(lock_fd);
-  return 0;
+  fsync_dir(getParamPath());
 }
diff --git a/selfdrive/common/params.h b/selfdrive/common/params.h
index 6dcd36145e0d28..c4bdde0012f1a8 100644
--- a/selfdrive/common/params.h
+++ b/selfdrive/common/params.h
@@ -1,47 +1,47 @@
-#ifndef _SELFDRIVE_COMMON_PARAMS_H_
-#define _SELFDRIVE_COMMON_PARAMS_H_
+#pragma once
 
-#include <stddef.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define ERR_NO_VALUE -33
-
-int write_db_value(const char* params_path, const char* key, const char* value,
-                   size_t value_size);
-
-// Reads a value from the params database.
-// Inputs:
-//  params_path: The path of the database, or NULL to use the default.
-//  key: The key to read.
-//  value: A pointer where a newly allocated string containing the db value will
-//         be written.
-//  value_sz: A pointer where the size of value will be written. Does not
-//            include the NULL terminator.
-//
-// Returns: Negative on failure, otherwise 0.
-int read_db_value(const char* params_path, const char* key, char** value,
-                  size_t* value_sz);
-
-// Delete a value from the params database.
-// Inputs are the same as read_db_value, without value and value_sz.
-int delete_db_value(const char* params_path, const char* key);
-
-// Reads a value from the params database, blocking until successful.
-// Inputs are the same as read_db_value.
-void read_db_value_blocking(const char* params_path, const char* key,
-                            char** value, size_t* value_sz);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#ifdef __cplusplus
 #include <map>
 #include <string>
-int read_db_all(const char* params_path, std::map<std::string, std::string> *params);
-#endif
 
-#endif  // _SELFDRIVE_COMMON_PARAMS_H_
+enum ParamKeyType {
+  PERSISTENT = 0x02,
+  CLEAR_ON_MANAGER_START = 0x04,
+  CLEAR_ON_PANDA_DISCONNECT = 0x08,
+  CLEAR_ON_IGNITION_ON = 0x10,
+  CLEAR_ON_IGNITION_OFF = 0x20,
+  DONT_LOG = 0x40,
+  ALL = 0xFFFFFFFF
+};
+
+class Params {
+public:
+  Params(const std::string &path = {});
+  bool checkKey(const std::string &key);
+  ParamKeyType getKeyType(const std::string &key);
+  inline std::string getParamPath(const std::string &key = {}) {
+    return key.empty() ? params_path + "/d" : params_path + "/d/" + key;
+  }
+
+  // Delete a value
+  int remove(const std::string &key);
+  void clearAll(ParamKeyType type);
+
+  // helpers for reading values
+  std::string get(const std::string &key, bool block = false);
+  inline bool getBool(const std::string &key) {
+    return get(key) == "1";
+  }
+  std::map<std::string, std::string> readAll();
+
+  // helpers for writing values
+  int put(const char *key, const char *val, size_t value_size);
+  inline int put(const std::string &key, const std::string &val) {
+    return put(key.c_str(), val.data(), val.size());
+  }
+  inline int putBool(const std::string &key, bool val) {
+    return put(key.c_str(), val ? "1" : "0", 1);
+  }
+
+private:
+  std::string params_path;
+};
diff --git a/selfdrive/common/queue.h b/selfdrive/common/queue.h
new file mode 100644
index 00000000000000..b3558b11a47f49
--- /dev/null
+++ b/selfdrive/common/queue.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <condition_variable>
+#include <mutex>
+#include <queue>
+
+template <class T>
+class SafeQueue {
+public:
+  SafeQueue() = default;
+
+  void push(const T& v) {
+    {
+      std::unique_lock lk(m);
+      q.push(v);
+    }
+    cv.notify_one();
+  }
+
+  T pop() {
+    std::unique_lock lk(m);
+    cv.wait(lk, [this] { return !q.empty(); });
+    T v = q.front();
+    q.pop();
+    return v;
+  }
+
+  bool try_pop(T& v, int timeout_ms = 0) {
+    std::unique_lock lk(m);
+    if (!cv.wait_for(lk, std::chrono::milliseconds(timeout_ms), [this] { return !q.empty(); })) {
+      return false;
+    }
+    v = q.front();
+    q.pop();
+    return true;
+  }
+
+  bool empty() const {
+    std::scoped_lock lk(m);
+    return q.empty();
+  }
+
+  size_t size() const {
+    std::scoped_lock lk(m);
+    return q.size();
+  }
+
+private:
+  mutable std::mutex m;
+  std::condition_variable cv;
+  std::queue<T> q;
+};
diff --git a/selfdrive/common/spinner.c b/selfdrive/common/spinner.c
deleted file mode 100644
index 99e0ed4229d0aa..00000000000000
--- a/selfdrive/common/spinner.c
+++ /dev/null
@@ -1,182 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <math.h>
-#include <unistd.h>
-#include <assert.h>
-#include <ctype.h>
-
-#include <GLES3/gl3.h>
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-
-#include "nanovg.h"
-#define NANOVG_GLES3_IMPLEMENTATION
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
-#include "framebuffer.h"
-#include "spinner.h"
-
-#define SPINTEXT_LENGTH 128
-
-// external resources linked in
-extern const unsigned char _binary_opensans_semibold_ttf_start[];
-extern const unsigned char _binary_opensans_semibold_ttf_end[];
-
-extern const unsigned char _binary_img_spinner_track_png_start[];
-extern const unsigned char _binary_img_spinner_track_png_end[];
-
-extern const unsigned char _binary_img_spinner_comma_png_start[];
-extern const unsigned char _binary_img_spinner_comma_png_end[];
-
-bool stdin_input_available() {
-  struct timeval timeout;
-  timeout.tv_sec = 0;
-  timeout.tv_usec = 0;
-
-  fd_set fds;
-  FD_ZERO(&fds);
-  FD_SET(STDIN_FILENO, &fds);
-  select(STDIN_FILENO+1, &fds, NULL, NULL, &timeout);
-  return (FD_ISSET(0, &fds));
-}
-
-int spin(int argc, char** argv) {
-  int err;
-
-  bool draw_progress = false;
-  float progress_val = 0.0;
-
-  char spintext[SPINTEXT_LENGTH];
-  spintext[0] = 0;
-
-  const char* spintext_arg = NULL;
-  if (argc >= 2) {
-    strncpy(spintext, argv[1], SPINTEXT_LENGTH);
-  }
-
-  // spinner
-  int fb_w, fb_h;
-  FramebufferState *fb = framebuffer_init("spinner", 0x00001000, false,
-                                          &fb_w, &fb_h);
-  assert(fb);
-
-  NVGcontext *vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES);
-  assert(vg);
-
-  int font = nvgCreateFontMem(vg, "Bold", (unsigned char*)_binary_opensans_semibold_ttf_start, _binary_opensans_semibold_ttf_end-_binary_opensans_semibold_ttf_start, 0);
-  assert(font >= 0);
-
-  int spinner_img = nvgCreateImageMem(vg, 0, (unsigned char*)_binary_img_spinner_track_png_start, _binary_img_spinner_track_png_end - _binary_img_spinner_track_png_start);
-  assert(spinner_img >= 0);
-  int spinner_img_s = 360;
-  int spinner_img_x = ((fb_w/2)-(spinner_img_s/2));
-  int spinner_img_y = 260;
-  int spinner_img_xc = (fb_w/2);
-  int spinner_img_yc = (fb_h/2)-100;
-  int spinner_comma_img = nvgCreateImageMem(vg, 0, (unsigned char*)_binary_img_spinner_comma_png_start, _binary_img_spinner_comma_png_end - _binary_img_spinner_comma_png_start);
-  assert(spinner_comma_img >= 0);
-
-  for (int cnt = 0; ; cnt++) {
-    // Check stdin for new text
-    if (stdin_input_available()){
-      fgets(spintext, SPINTEXT_LENGTH, stdin);
-      spintext[strcspn(spintext, "\n")] = 0;
-
-      // Check if number (update progress bar)
-      size_t len = strlen(spintext);
-      bool is_number = len > 0;
-      for (int i = 0; i < len; i++){
-        if (!isdigit(spintext[i])){
-          is_number = false;
-          break;
-        }
-      }
-
-      if (is_number) {
-        progress_val = (float)(atoi(spintext)) / 100.0;
-        progress_val = fmin(1.0, progress_val);
-        progress_val = fmax(0.0, progress_val);
-      }
-
-      draw_progress = is_number;
-    }
-
-    glClearColor(0.1, 0.1, 0.1, 1.0);
-    glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-    glEnable(GL_BLEND);
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    // background
-    nvgBeginPath(vg);
-    NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
-    nvgRGBA(0, 0, 0, 175), nvgRGBA(0, 0, 0, 255));
-    nvgFillPaint(vg, bg);
-    nvgRect(vg, 0, 0, fb_w, fb_h);
-    nvgFill(vg);
-
-    // spin track
-    nvgSave(vg);
-    nvgTranslate(vg, spinner_img_xc, spinner_img_yc);
-    nvgRotate(vg, (3.75*M_PI * cnt/120.0));
-    nvgTranslate(vg, -spinner_img_xc, -spinner_img_yc);
-    NVGpaint spinner_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
-      spinner_img_s, spinner_img_s, 0, spinner_img, 0.6f);
-    nvgBeginPath(vg);
-    nvgFillPaint(vg, spinner_imgPaint);
-    nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
-    nvgFill(vg);
-    nvgRestore(vg);
-
-    // comma
-    NVGpaint comma_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
-      spinner_img_s, spinner_img_s, 0, spinner_comma_img, 1.0f);
-    nvgBeginPath(vg);
-    nvgFillPaint(vg, comma_imgPaint);
-    nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
-    nvgFill(vg);
-
-    if (draw_progress){
-      // draw progress bar
-      int progress_width = 1000;
-      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 775;
-      int progress_height = 25;
-
-      NVGpaint paint = nvgBoxGradient(
-          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
-      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-
-      int bar_pos = ((progress_width - 2) * progress_val);
-
-      paint = nvgBoxGradient(
-          vg, progress_x, progress_y,
-          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
-
-      nvgBeginPath(vg);
-      nvgRoundedRect(
-          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-    } else {
-      // message
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
-      nvgFontSize(vg, 96.0f);
-      nvgText(vg, fb_w/2, (fb_h*2/3)+24, spintext, NULL);
-    }
-
-    nvgEndFrame(vg);
-    framebuffer_swap(fb);
-    assert(glGetError() == GL_NO_ERROR);
-  }
-
-  return 0;
-}
diff --git a/selfdrive/common/spinner.h b/selfdrive/common/spinner.h
deleted file mode 100644
index fd35dcc7d48c31..00000000000000
--- a/selfdrive/common/spinner.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef COMMON_SPINNER_H
-#define COMMON_SPINNER_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-int spin(int argc, char** argv);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/common/swaglog.c b/selfdrive/common/swaglog.c
deleted file mode 100644
index 70cba78167532b..00000000000000
--- a/selfdrive/common/swaglog.c
+++ /dev/null
@@ -1,119 +0,0 @@
-#define _GNU_SOURCE
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdarg.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-
-#include <pthread.h>
-#include <zmq.h>
-#include <json.h>
-
-#include "common/timing.h"
-#include "common/version.h"
-
-#include "swaglog.h"
-
-typedef struct LogState {
-  pthread_mutex_t lock;
-  bool inited;
-  JsonNode *ctx_j;
-  void *zctx;
-  void *sock;
-  int print_level;
-} LogState;
-
-static LogState s = {
-  .lock = PTHREAD_MUTEX_INITIALIZER,
-};
-
-static void cloudlog_bind_locked(const char* k, const char* v) {
-  json_append_member(s.ctx_j, k, json_mkstring(v));
-}
-
-static void cloudlog_init() {
-  if (s.inited) return;
-  s.ctx_j = json_mkobject();
-  s.zctx = zmq_ctx_new();
-  s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
-  zmq_connect(s.sock, "ipc:///tmp/logmessage");
-
-  s.print_level = CLOUDLOG_WARNING;
-  const char* print_level = getenv("LOGPRINT");
-  if (print_level) {
-    if (strcmp(print_level, "debug") == 0) {
-      s.print_level = CLOUDLOG_DEBUG;
-    } else if (strcmp(print_level, "info") == 0) {
-      s.print_level = CLOUDLOG_INFO;
-    } else if (strcmp(print_level, "warning") == 0) {
-      s.print_level = CLOUDLOG_WARNING;
-    }
-  }
-
-  // openpilot bindings
-  char* dongle_id = getenv("DONGLE_ID");
-  if (dongle_id) {
-    cloudlog_bind_locked("dongle_id", dongle_id);
-  }
-  cloudlog_bind_locked("version", COMMA_VERSION);
-  bool dirty = !getenv("CLEAN");
-  json_append_member(s.ctx_j, "dirty", json_mkbool(dirty));
-
-  s.inited = true;
-}
-
-void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
-                const char* fmt, ...) {
-  pthread_mutex_lock(&s.lock);
-  cloudlog_init();
-
-  char* msg_buf = NULL;
-  va_list args;
-  va_start(args, fmt);
-  vasprintf(&msg_buf, fmt, args);
-  va_end(args);
-
-  if (!msg_buf) {
-    pthread_mutex_unlock(&s.lock);
-    return;
-  }
-
-  if (levelnum >= s.print_level) {
-    printf("%s: %s\n", filename, msg_buf);
-  }
-
-  JsonNode *log_j = json_mkobject();
-  assert(log_j);
-
-  json_append_member(log_j, "msg", json_mkstring(msg_buf));
-  json_append_member(log_j, "ctx", s.ctx_j);
-  json_append_member(log_j, "levelnum", json_mknumber(levelnum));
-  json_append_member(log_j, "filename", json_mkstring(filename));
-  json_append_member(log_j, "lineno", json_mknumber(lineno));
-  json_append_member(log_j, "funcname", json_mkstring(func));
-  json_append_member(log_j, "created", json_mknumber(seconds_since_epoch()));
-
-  char* log_s = json_encode(log_j);
-  assert(log_s);
-
-  json_remove_from_parent(s.ctx_j);  
-
-  json_delete(log_j);
-  free(msg_buf);
-
-  char levelnum_c = levelnum;
-  zmq_send(s.sock, &levelnum_c, 1, ZMQ_NOBLOCK | ZMQ_SNDMORE);
-  zmq_send(s.sock, log_s, strlen(log_s), ZMQ_NOBLOCK);
-  free(log_s);
-
-  pthread_mutex_unlock(&s.lock);
-}
-
-void cloudlog_bind(const char* k, const char* v) {
-  pthread_mutex_lock(&s.lock);
-  cloudlog_init();
-  cloudlog_bind_locked(k, v);
-  pthread_mutex_unlock(&s.lock);
-}
diff --git a/selfdrive/common/swaglog.cc b/selfdrive/common/swaglog.cc
new file mode 100644
index 00000000000000..74488e2201e153
--- /dev/null
+++ b/selfdrive/common/swaglog.cc
@@ -0,0 +1,123 @@
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE
+#endif
+
+#include "selfdrive/common/swaglog.h"
+
+#include <cassert>
+#include <cstring>
+#include <mutex>
+#include <string>
+
+#include <zmq.h>
+#include "json11.hpp"
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/version.h"
+#include "selfdrive/hardware/hw.h"
+
+class LogState {
+ public:
+  LogState() = default;
+  ~LogState();
+  std::mutex lock;
+  bool inited;
+  json11::Json::object ctx_j;
+  void *zctx;
+  void *sock;
+  int print_level;
+};
+
+LogState::~LogState() {
+  zmq_close(sock);
+  zmq_ctx_destroy(zctx);
+}
+
+static LogState s = {};
+
+static void cloudlog_bind_locked(const char* k, const char* v) {
+  s.ctx_j[k] = v;
+}
+
+static void cloudlog_init() {
+  if (s.inited) return;
+  s.ctx_j = json11::Json::object {};
+  s.zctx = zmq_ctx_new();
+  s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
+
+  int timeout = 100; // 100 ms timeout on shutdown for messages to be received by logmessaged
+  zmq_setsockopt(s.sock, ZMQ_LINGER, &timeout, sizeof(timeout));
+
+  zmq_connect(s.sock, "ipc:///tmp/logmessage");
+
+  s.print_level = CLOUDLOG_WARNING;
+  const char* print_level = getenv("LOGPRINT");
+  if (print_level) {
+    if (strcmp(print_level, "debug") == 0) {
+      s.print_level = CLOUDLOG_DEBUG;
+    } else if (strcmp(print_level, "info") == 0) {
+      s.print_level = CLOUDLOG_INFO;
+    } else if (strcmp(print_level, "warning") == 0) {
+      s.print_level = CLOUDLOG_WARNING;
+    }
+  }
+
+  // openpilot bindings
+  char* dongle_id = getenv("DONGLE_ID");
+  if (dongle_id) {
+    cloudlog_bind_locked("dongle_id", dongle_id);
+  }
+  cloudlog_bind_locked("version", COMMA_VERSION);
+  s.ctx_j["dirty"] = !getenv("CLEAN");
+
+  // device type
+  if (Hardware::EON()) {
+    cloudlog_bind_locked("device", "eon");
+  } else if (Hardware::TICI()) {
+    cloudlog_bind_locked("device", "tici");
+  } else {
+    cloudlog_bind_locked("device", "pc");
+  }
+
+  s.inited = true;
+}
+
+void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
+  std::lock_guard lk(s.lock);
+  cloudlog_init();
+  if (levelnum >= s.print_level) {
+    printf("%s: %s\n", filename, msg);
+  }
+  char levelnum_c = levelnum;
+  zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
+}
+
+void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
+                const char* fmt, ...) {
+  char* msg_buf = nullptr;
+  va_list args;
+  va_start(args, fmt);
+  vasprintf(&msg_buf, fmt, args);
+  va_end(args);
+
+  if (!msg_buf) return;
+
+  json11::Json log_j = json11::Json::object {
+    {"msg", msg_buf},
+    {"ctx", s.ctx_j},
+    {"levelnum", levelnum},
+    {"filename", filename},
+    {"lineno", lineno},
+    {"funcname", func},
+    {"created", seconds_since_epoch()}
+  };
+  std::string log_s = log_j.dump();
+  log(levelnum, filename, lineno, func, msg_buf, log_s);
+  free(msg_buf);
+}
+
+void cloudlog_bind(const char* k, const char* v) {
+  std::lock_guard lk(s.lock);
+  cloudlog_init();
+  cloudlog_bind_locked(k, v);
+}
diff --git a/selfdrive/common/swaglog.h b/selfdrive/common/swaglog.h
index 3a828ed49b3ea5..9a1d3c0a6758a1 100644
--- a/selfdrive/common/swaglog.h
+++ b/selfdrive/common/swaglog.h
@@ -1,5 +1,4 @@
-#ifndef SWAGLOG_H
-#define SWAGLOG_H
+#pragma once
 
 #include "selfdrive/common/timing.h"
 
@@ -9,19 +8,11 @@
 #define CLOUDLOG_ERROR 40
 #define CLOUDLOG_CRITICAL 50
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
 
 void cloudlog_bind(const char* k, const char* v);
 
-#ifdef __cplusplus
-}
-#endif
-
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, \
                                            fmt, ## __VA_ARGS__)
@@ -40,7 +31,7 @@ void cloudlog_bind(const char* k, const char* v);
                                                     \
   if (__begin + __millis*1000000ULL < __ts) {       \
     if (__missed) {                                 \
-      cloudlog(CLOUDLOG_WARNING, "cloudlog: %d messages supressed", __missed); \
+      cloudlog(CLOUDLOG_WARNING, "cloudlog: %d messages suppressed", __missed); \
     }                                               \
     __begin = 0;                                    \
     __printed = 0;                                  \
@@ -64,5 +55,3 @@ void cloudlog_bind(const char* k, const char* v);
 #define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
 #define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
 #define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
-
-#endif
diff --git a/selfdrive/common/timing.h b/selfdrive/common/timing.h
index 1a30ad6e1e4d7b..83f55e0c4009f5 100644
--- a/selfdrive/common/timing.h
+++ b/selfdrive/common/timing.h
@@ -1,8 +1,7 @@
-#ifndef COMMON_TIMING_H
-#define COMMON_TIMING_H
+#pragma once
 
-#include <stdint.h>
-#include <time.h>
+#include <cstdint>
+#include <ctime>
 
 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
@@ -23,7 +22,7 @@ static inline double millis_since_boot() {
 static inline double seconds_since_boot() {
   struct timespec t;
   clock_gettime(CLOCK_BOOTTIME, &t);
-  return (double)t.tv_sec + t.tv_nsec * 1e-9;;
+  return (double)t.tv_sec + t.tv_nsec * 1e-9;
 }
 
 static inline uint64_t nanos_since_epoch() {
@@ -50,5 +49,3 @@ static inline uint64_t nanos_monotonic_raw() {
   clock_gettime(CLOCK_MONOTONIC_RAW, &t);
   return t.tv_sec * 1000000000ULL + t.tv_nsec;
 }
-
-#endif
diff --git a/selfdrive/common/touch.c b/selfdrive/common/touch.c
deleted file mode 100644
index 4527cb53201e67..00000000000000
--- a/selfdrive/common/touch.c
+++ /dev/null
@@ -1,120 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <assert.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <dirent.h>
-#include <sys/poll.h>
-#include <linux/input.h>
-
-#include "touch.h"
-
-static int find_dev() {
-  int err;
-
-  int ret = -1;
-
-  DIR *dir = opendir("/dev/input");
-  assert(dir);
-  struct dirent* de = NULL;
-  while ((de = readdir(dir))) {
-    if (strncmp(de->d_name, "event", 5)) continue;
-
-    int fd = openat(dirfd(dir), de->d_name, O_RDONLY);
-    assert(fd >= 0);
-
-    unsigned char ev_bits[KEY_MAX / 8 + 1];
-    err = ioctl(fd, EVIOCGBIT(EV_ABS, sizeof(ev_bits)), ev_bits);
-    assert(err >= 0);
-
-    const int x_key = ABS_MT_POSITION_X / 8;
-    const int y_key = ABS_MT_POSITION_Y / 8;
-    if ((ev_bits[x_key] & (ABS_MT_POSITION_X - x_key)) &&
-        (ev_bits[y_key] & (ABS_MT_POSITION_Y - y_key))) {
-      ret = fd;
-      break;
-    }
-    close(fd);
-  }
-  closedir(dir);
-
-  return ret;
-}
-
-void touch_init(TouchState *s) {
-  s->fd = find_dev();
-  assert(s->fd >= 0);
-}
-
-int touch_poll(TouchState *s, int* out_x, int* out_y, int timeout) {
-  assert(out_x && out_y);
-  bool up = false;
-  while (true) {
-    struct pollfd polls[] = {{
-      .fd = s->fd,
-      .events = POLLIN,
-    }};
-    int err = poll(polls, 1, timeout);
-    if (err < 0) {
-      return -1;
-    }
-    if (!(polls[0].revents & POLLIN)) {
-      break;
-    }
-
-    struct input_event event;
-    err = read(polls[0].fd, &event, sizeof(event));
-    if (err < sizeof(event)) {
-      return -1;
-    }
-
-    switch (event.type) {
-    case EV_ABS:
-      if (event.code == ABS_MT_POSITION_X) {
-        s->last_x = event.value;
-      } else if (event.code == ABS_MT_POSITION_Y) {
-        s->last_y = event.value;
-      } else if (event.code == ABS_MT_TRACKING_ID && event.value != -1) {
-        up = true;
-      }
-      break;
-    default:
-      break;
-    }
-  }
-  if (up) {
-    // adjust for flippening
-    *out_x = s->last_y;
-    *out_y = 1080 - s->last_x;
-  }
-  return up;
-}
-
-int touch_read(TouchState *s, int* out_x, int* out_y) {
-  assert(out_x && out_y);
-  struct input_event event;
-  int err = read(s->fd, &event, sizeof(event));
-  if (err < sizeof(event)) {
-    return -1;
-  }
-  bool up = false;
-  switch (event.type) {
-  case EV_ABS:
-    if (event.code == ABS_MT_POSITION_X) {
-      s->last_x = event.value;
-    } else if (event.code == ABS_MT_POSITION_Y) {
-      s->last_y = event.value;
-    }
-    up = true;
-    break;
-  default:
-    break;
-  }
-  if (up) {
-    // adjust for flippening
-    *out_x = s->last_y;
-    *out_y = 1080 - s->last_x;
-  }
-  return up;
-}
diff --git a/selfdrive/common/touch.h b/selfdrive/common/touch.h
deleted file mode 100644
index c48f66b9827214..00000000000000
--- a/selfdrive/common/touch.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef TOUCH_H
-#define TOUCH_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct TouchState {
-  int fd;
-  int last_x, last_y;
-} TouchState;
-
-void touch_init(TouchState *s);
-int touch_poll(TouchState *s, int *out_x, int *out_y, int timeout);
-int touch_read(TouchState *s, int* out_x, int* out_y);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/common/util.c b/selfdrive/common/util.c
deleted file mode 100644
index 9bdb23f9991567..00000000000000
--- a/selfdrive/common/util.c
+++ /dev/null
@@ -1,61 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-#include <unistd.h>
-
-#ifdef __linux__
-#include <sys/prctl.h>
-#include <sys/syscall.h>
-#include <sched.h>
-#endif
-
-void* read_file(const char* path, size_t* out_len) {
-  FILE* f = fopen(path, "r");
-  if (!f) {
-    return NULL;
-  }
-  fseek(f, 0, SEEK_END);
-  long f_len = ftell(f);
-  rewind(f);
-
-  char* buf = (char*)calloc(f_len, 1);
-  assert(buf);
-
-  size_t num_read = fread(buf, f_len, 1, f);
-  fclose(f);
-
-  if (num_read != 1) {
-    free(buf);
-    return NULL;
-  }
-
-  if (out_len) {
-    *out_len = f_len;
-  }
-
-  return buf;
-}
-
-void set_thread_name(const char* name) {
-#ifdef __linux__
-  // pthread_setname_np is dumb (fails instead of truncates)
-  prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
-#endif
-}
-
-int set_realtime_priority(int level) {
-#ifdef __linux__
-
-  long tid = syscall(SYS_gettid);
-
-  // should match python using chrt
-  struct sched_param sa;
-  memset(&sa, 0, sizeof(sa));
-  sa.sched_priority = level;
-  return sched_setscheduler(tid, SCHED_FIFO, &sa);
-#else
-  return -1;
-#endif
-}
-
diff --git a/selfdrive/common/util.cc b/selfdrive/common/util.cc
new file mode 100644
index 00000000000000..f115b13dc73545
--- /dev/null
+++ b/selfdrive/common/util.cc
@@ -0,0 +1,244 @@
+#include "selfdrive/common/util.h"
+
+#include <sys/stat.h>
+#include <dirent.h>
+
+#include <cassert>
+#include <cerrno>
+#include <cstring>
+#include <dirent.h>
+#include <fstream>
+#include <iomanip>
+#include <sstream>
+
+#ifdef __linux__
+#include <sys/prctl.h>
+#include <sys/syscall.h>
+#ifndef __USE_GNU
+#define __USE_GNU
+#endif
+#include <sched.h>
+#endif  // __linux__
+
+void set_thread_name(const char* name) {
+#ifdef __linux__
+  // pthread_setname_np is dumb (fails instead of truncates)
+  prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
+#endif
+}
+
+int set_realtime_priority(int level) {
+#ifdef __linux__
+  long tid = syscall(SYS_gettid);
+
+  // should match python using chrt
+  struct sched_param sa;
+  memset(&sa, 0, sizeof(sa));
+  sa.sched_priority = level;
+  return sched_setscheduler(tid, SCHED_FIFO, &sa);
+#else
+  return -1;
+#endif
+}
+
+int set_core_affinity(std::vector<int> cores) {
+#ifdef __linux__
+  long tid = syscall(SYS_gettid);
+  cpu_set_t cpu;
+
+  CPU_ZERO(&cpu);
+  for (const int n : cores) {
+    CPU_SET(n, &cpu);
+  }
+  return sched_setaffinity(tid, sizeof(cpu), &cpu);
+#else
+  return -1;
+#endif
+}
+
+namespace util {
+
+std::string read_file(const std::string& fn) {
+  std::ifstream f(fn, std::ios::binary | std::ios::in);
+  if (f.is_open()) {
+    f.seekg(0, std::ios::end);
+    int size = f.tellg();
+    if (f.good() && size > 0) {
+      std::string result(size, '\0');
+      f.seekg(0, std::ios::beg);
+      f.read(result.data(), size);
+      // return either good() or has reached end-of-file (e.g. /sys/power/wakeup_count)
+      if (f.good() || f.eof()) {
+        result.resize(f.gcount());
+        return result;
+      }
+    }
+    // fallback for files created on read, e.g. procfs
+    std::stringstream buffer;
+    buffer << f.rdbuf();
+    return buffer.str();
+  }
+  return std::string();
+}
+
+std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
+  std::map<std::string, std::string> ret;
+  DIR *d = opendir(path.c_str());
+  if (!d) return ret;
+
+  struct dirent *de = NULL;
+  while ((de = readdir(d))) {
+    if (de->d_type != DT_DIR) {
+      ret[de->d_name] = util::read_file(path + "/" + de->d_name);
+    }
+  }
+
+  closedir(d);
+  return ret;
+}
+
+int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
+  int fd = HANDLE_EINTR(open(path, flags, mode));
+  if (fd == -1) {
+    return -1;
+  }
+  ssize_t n = HANDLE_EINTR(write(fd, data, size));
+  close(fd);
+  return (n >= 0 && (size_t)n == size) ? 0 : -1;
+}
+
+FILE* safe_fopen(const char* filename, const char* mode) {
+  FILE* fp = NULL;
+  do {
+    fp = fopen(filename, mode);
+  } while ((nullptr == fp) && (errno == EINTR));
+  return fp;
+}
+
+size_t safe_fwrite(const void* ptr, size_t size, size_t count, FILE* stream) {
+  size_t written = 0;
+  do {
+    size_t ret = ::fwrite((void*)((char *)ptr + written * size), size, count - written, stream);
+    if (ret == 0 && errno != EINTR) break;
+    written += ret;
+  } while (written != count);
+  return written;
+}
+
+int safe_fflush(FILE *stream) {
+  int ret = EOF;
+  do {
+    ret = fflush(stream);
+  } while ((EOF == ret) && (errno == EINTR));
+  return ret;
+}
+
+std::string readlink(const std::string &path) {
+  char buff[4096];
+  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
+  if (len != -1) {
+    buff[len] = '\0';
+    return std::string(buff);
+  }
+  return "";
+}
+
+bool file_exists(const std::string& fn) {
+  struct stat st = {};
+  return stat(fn.c_str(), &st) != -1;
+}
+
+static bool createDirectory(std::string dir, mode_t mode) {
+  auto verify_dir = [](const std::string& dir) -> bool {
+    struct stat st = {};
+    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
+  };
+  // remove trailing /'s
+  while (dir.size() > 1 && dir.back() == '/') {
+    dir.pop_back();
+  }
+  // try to mkdir this directory
+  if (mkdir(dir.c_str(), mode) == 0) return true;
+  if (errno == EEXIST) return verify_dir(dir);
+  if (errno != ENOENT) return false;
+
+  // mkdir failed because the parent dir doesn't exist, so try to create it
+  size_t slash = dir.rfind('/');
+  if ((slash == std::string::npos || slash < 1) ||
+      !createDirectory(dir.substr(0, slash), mode)) {
+    return false;
+  }
+
+  // try again
+  if (mkdir(dir.c_str(), mode) == 0) return true;
+  return errno == EEXIST && verify_dir(dir);
+}
+
+bool create_directories(const std::string& dir, mode_t mode) {
+  if (dir.empty()) return false;
+  return createDirectory(dir, mode);
+}
+
+std::string getenv(const char* key, const char* default_val) {
+  const char* val = ::getenv(key);
+  return val ? val : default_val;
+}
+
+int getenv(const char* key, int default_val) {
+  const char* val = ::getenv(key);
+  return val ? atoi(val) : default_val;
+}
+
+float getenv(const char* key, float default_val) {
+  const char* val = ::getenv(key);
+  return val ? atof(val) : default_val;
+}
+
+std::string hexdump(const uint8_t* in, const size_t size) {
+  std::stringstream ss;
+  ss << std::hex << std::setfill('0');
+  for (size_t i = 0; i < size; i++) {
+    ss << std::setw(2) << static_cast<unsigned int>(in[i]);
+  }
+  return ss.str();
+}
+
+std::string dir_name(std::string const &path) {
+  size_t pos = path.find_last_of("/");
+  if (pos == std::string::npos) return "";
+  return path.substr(0, pos);
+}
+
+std::string check_output(const std::string& command) {
+  char buffer[128];
+  std::string result;
+  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
+
+  if (!pipe) {
+    return "";
+  }
+
+  while (fgets(buffer, std::size(buffer), pipe.get()) != nullptr) {
+    result += std::string(buffer);
+  }
+
+  return result;
+}
+
+struct tm get_time() {
+  time_t rawtime;
+  time(&rawtime);
+
+  struct tm sys_time;
+  gmtime_r(&rawtime, &sys_time);
+
+  return sys_time;
+}
+
+bool time_valid(struct tm sys_time) {
+  int year = 1900 + sys_time.tm_year;
+  int month = 1 + sys_time.tm_mon;
+  return (year > 2021) || (year == 2021 && month >= 6);
+}
+
+}  // namespace util
diff --git a/selfdrive/common/util.h b/selfdrive/common/util.h
index ed0c88f2c83bc4..a47cce68ff4e3d 100644
--- a/selfdrive/common/util.h
+++ b/selfdrive/common/util.h
@@ -1,52 +1,164 @@
-#ifndef COMMON_UTIL_H
-#define COMMON_UTIL_H
+#pragma once
 
-#include <stdio.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include <algorithm>
+#include <atomic>
+#include <chrono>
+#include <csignal>
+#include <ctime>
+#include <map>
+#include <memory>
+#include <string>
+#include <thread>
+#include <vector>
+
+// keep trying if x gets interrupted by a signal
+#define HANDLE_EINTR(x)                                        \
+  ({                                                           \
+    decltype(x) ret_;                                          \
+    int try_cnt = 0;                                           \
+    do {                                                       \
+      ret_ = (x);                                              \
+    } while (ret_ == -1 && errno == EINTR && try_cnt++ < 100); \
+    ret_;                                                       \
+  })
 
 #ifndef sighandler_t
 typedef void (*sighandler_t)(int sig);
 #endif
 
-#ifndef __cplusplus
+const double MILE_TO_KM = 1.609344;
+const double KM_TO_MILE = 1. / MILE_TO_KM;
+const double MS_TO_KPH = 3.6;
+const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
+const double METER_TO_MILE = KM_TO_MILE / 1000.0;
+const double METER_TO_FOOT = 3.28084;
+
+void set_thread_name(const char* name);
 
-#define min(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
+int set_realtime_priority(int level);
+int set_core_affinity(std::vector<int> cores);
 
-#define max(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
+namespace util {
 
-#endif
+// ***** Time helpers *****
+struct tm get_time();
+bool time_valid(struct tm sys_time);
 
-#define clamp(a,b,c) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-     __typeof__ (c) _c = (c); \
-   _a < _b ? _b : (_a > _c ? _c : _a); })
+// ***** math helpers *****
 
-#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
+// map x from [a1, a2] to [b1, b2]
+template <typename T>
+T map_val(T x, T a1, T a2, T b1, T b2) {
+  x = std::clamp(x, a1, a2);
+  T ra = a2 - a1;
+  T rb = b2 - b1;
+  return (x - a1) * rb / ra + b1;
+}
 
-#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
+// ***** string helpers *****
 
-#ifdef __cplusplus
-extern "C" {
-#endif
+template <typename... Args>
+std::string string_format(const std::string& format, Args... args) {
+  size_t size = snprintf(nullptr, 0, format.c_str(), args...) + 1;
+  std::unique_ptr<char[]> buf(new char[size]);
+  snprintf(buf.get(), size, format.c_str(), args...);
+  return std::string(buf.get(), buf.get() + size - 1);
+}
 
-// Reads a file into a newly allocated buffer.
-//
-// Returns NULL on failure, otherwise the NULL-terminated file contents.
-// The result must be freed by the caller.
-void* read_file(const char* path, size_t* out_len);
+std::string getenv(const char* key, const char* default_val = "");
+int getenv(const char* key, int default_val);
+float getenv(const char* key, float default_val);
 
-void set_thread_name(const char* name);
+std::string hexdump(const uint8_t* in, const size_t size);
+std::string dir_name(std::string const& path);
 
-int set_realtime_priority(int level);
+// **** file fhelpers *****
+std::string read_file(const std::string& fn);
+std::map<std::string, std::string> read_files_in_dir(const std::string& path);
+int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
+
+FILE* safe_fopen(const char* filename, const char* mode);
+size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
+int safe_fflush(FILE *stream);
 
-#ifdef __cplusplus
+std::string readlink(const std::string& path);
+bool file_exists(const std::string& fn);
+bool create_directories(const std::string &dir, mode_t mode);
+
+std::string check_output(const std::string& command);
+
+inline void sleep_for(const int milliseconds) {
+  std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
 }
-#endif
 
+}  // namespace util
+
+class ExitHandler {
+public:
+  ExitHandler() {
+    std::signal(SIGINT, (sighandler_t)set_do_exit);
+    std::signal(SIGTERM, (sighandler_t)set_do_exit);
+
+#ifndef __APPLE__
+    std::signal(SIGPWR, (sighandler_t)set_do_exit);
+#endif
+  };
+  inline static std::atomic<bool> power_failure = false;
+  inline static std::atomic<int> signal = 0;
+  inline operator bool() { return do_exit; }
+  inline ExitHandler& operator=(bool v) {
+    signal = 0;
+    do_exit = v;
+    return *this;
+  }
+private:
+  static void set_do_exit(int sig) {
+#ifndef __APPLE__
+    power_failure = (sig == SIGPWR);
 #endif
+    signal = sig;
+    do_exit = true;
+  }
+  inline static std::atomic<bool> do_exit = false;
+};
+
+struct unique_fd {
+  unique_fd(int fd = -1) : fd_(fd) {}
+  unique_fd& operator=(unique_fd&& uf) {
+    fd_ = uf.fd_;
+    uf.fd_ = -1;
+    return *this;
+  }
+  ~unique_fd() {
+    if (fd_ != -1) close(fd_);
+  }
+  operator int() const { return fd_; }
+  int fd_;
+};
+
+class FirstOrderFilter {
+public:
+  FirstOrderFilter(float x0, float ts, float dt) {
+    k_ = (dt / ts) / (1.0 + dt / ts);
+    x_ = x0;
+  }
+  inline float update(float x) {
+    x_ = (1. - k_) * x_ + k_ * x;
+    return x_;
+  }
+  inline void reset(float x) { x_ = x; }
+  inline float x(){ return x_; }
+
+private:
+  float x_, k_;
+};
+
+template<typename T>
+void update_max_atomic(std::atomic<T>& max, T const& value) {
+  T prev = max;
+  while(prev < value && !max.compare_exchange_weak(prev, value)) {}
+}
diff --git a/selfdrive/common/utilpp.h b/selfdrive/common/utilpp.h
deleted file mode 100644
index 6a68b5fba2d1d7..00000000000000
--- a/selfdrive/common/utilpp.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#ifndef UTILPP_H
-#define UTILPP_H
-
-#include <cstdio>
-#include <unistd.h>
-
-#include <string>
-#include <memory>
-#include <sstream>
-#include <fstream>
-
-namespace util {
-
-inline bool starts_with(std::string s, std::string prefix) {
-  return s.compare(0, prefix.size(), prefix) == 0;
-}
-
-template<typename ... Args>
-inline std::string string_format( const std::string& format, Args ... args ) {
-    size_t size = snprintf( nullptr, 0, format.c_str(), args ... ) + 1;
-    std::unique_ptr<char[]> buf( new char[ size ] );
-    snprintf( buf.get(), size, format.c_str(), args ... );
-    return std::string( buf.get(), buf.get() + size - 1 );
-}
-
-inline std::string read_file(std::string fn) {
-  std::ifstream t(fn);
-  std::stringstream buffer;
-  buffer << t.rdbuf();
-  return buffer.str();
-}
-
-inline std::string tohex(const uint8_t* buf, size_t buf_size) {
-  std::unique_ptr<char[]> hexbuf(new char[buf_size*2+1]);
-  for (size_t i=0; i < buf_size; i++) {
-    sprintf(&hexbuf[i*2], "%02x", buf[i]);
-  }
-  hexbuf[buf_size*2] = 0;
-  return std::string(hexbuf.get(), hexbuf.get() + buf_size*2);
-}
-
-inline std::string base_name(std::string const & path) {
-  size_t pos = path.find_last_of("/");
-  if (pos == std::string::npos) return path;
-  return path.substr(pos + 1);
-}
-
-inline std::string dir_name(std::string const & path) {
-  size_t pos = path.find_last_of("/");
-  if (pos == std::string::npos) return "";
-  return path.substr(0, pos);
-}
-
-inline std::string readlink(std::string path) {
-  char buff[4096];
-  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
-  if (len != -1) {
-    buff[len] = '\0';
-    return std::string(buff);
-  }
-  return "";
-}
-
-}
-
-#endif
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index 74d3ae1ba001a9..9f00fac4f94111 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.7.3-release"
+#define COMMA_VERSION "0.8.11"
diff --git a/selfdrive/common/visionbuf.h b/selfdrive/common/visionbuf.h
deleted file mode 100644
index 3457f6dff33949..00000000000000
--- a/selfdrive/common/visionbuf.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef IONBUF_H
-#define IONBUF_H
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct VisionBuf {
-  size_t len;
-  void* addr;
-  int handle;
-  int fd;
-
-  cl_context ctx;
-  cl_device_id device_id;
-  cl_mem buf_cl;
-  cl_command_queue copy_q;
-} VisionBuf;
-
-#define VISIONBUF_SYNC_FROM_DEVICE 0
-#define VISIONBUF_SYNC_TO_DEVICE 1
-
-VisionBuf visionbuf_allocate(size_t len);
-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem);
-cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx);
-void visionbuf_sync(const VisionBuf* buf, int dir);
-void visionbuf_free(const VisionBuf* buf);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/common/visionbuf_cl.c b/selfdrive/common/visionbuf_cl.c
deleted file mode 100644
index 333bed55c636c6..00000000000000
--- a/selfdrive/common/visionbuf_cl.c
+++ /dev/null
@@ -1,110 +0,0 @@
-#include "visionbuf.h"
-
-#include <stdio.h>
-#include <fcntl.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-int offset = 0;
-void *malloc_with_fd(size_t len, int *fd) {
-  char full_path[0x100];
-  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
-  *fd = open(full_path, O_RDWR | O_CREAT, 0777);
-  unlink(full_path);
-  ftruncate(*fd, len);
-  void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
-  return addr;
-}
-
-VisionBuf visionbuf_allocate(size_t len) {
-  // const size_t alignment = 4096;
-  // void* addr = aligned_alloc(alignment, alignment * ((len - 1) / alignment + 1));
-  //void* addr = calloc(1, len);
-
-  int fd;
-  void *addr = malloc_with_fd(len, &fd);
-
-  return (VisionBuf){
-      .len = len, .addr = addr, .handle = 1, .fd = fd,
-  };
-}
-
-cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx) {
-  // HACK because this platform is just for convenience
-  VisionBuf *w_buf = (VisionBuf*)buf;
-  cl_mem ret;
-  *w_buf = visionbuf_allocate_cl(buf->len, device_id, ctx, &ret);
-  return ret;
-}
-
-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem) {
-  int err;
-  assert(out_mem);
-
-#if __OPENCL_VERSION__ >= 200
-  void* host_ptr =
-      clSVMAlloc(ctx, CL_MEM_READ_WRITE | CL_MEM_SVM_FINE_GRAIN_BUFFER, len, 0);
-  assert(host_ptr);
-#else
-  int fd;
-  void* host_ptr = malloc_with_fd(len, &fd);
-
-  cl_command_queue q = clCreateCommandQueue(ctx, device_id, 0, &err);
-  assert(err == 0);
-#endif
-
-  cl_mem mem = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, len, host_ptr, &err);
-  assert(err == 0);
-
-  *out_mem = mem;
-
-  return (VisionBuf){
-      .len = len, .addr = host_ptr, .handle = 0, .fd = fd,
-      .device_id = device_id, .ctx = ctx, .buf_cl = mem,
-
-#if __OPENCL_VERSION__ < 200
-      .copy_q = q,
-#endif
-
-  };
-}
-
-void visionbuf_sync(const VisionBuf* buf, int dir) {
-  int err = 0;
-  if (!buf->buf_cl) return;
-
-#if __OPENCL_VERSION__ < 200
-  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
-    err = clEnqueueReadBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
-  } else {
-    err = clEnqueueWriteBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
-  }
-  assert(err == 0);
-  clFinish(buf->copy_q);
-#endif
-}
-
-void visionbuf_free(const VisionBuf* buf) {
-  if (buf->handle) {
-    munmap(buf->addr, buf->len);
-    close(buf->fd);
-  } else {
-    int err = clReleaseMemObject(buf->buf_cl);
-    assert(err == 0);
-#if __OPENCL_VERSION__ >= 200
-    clSVMFree(buf->ctx, buf->addr);
-#else
-    munmap(buf->addr, buf->len);
-    close(buf->fd);
-#endif
-  }
-}
diff --git a/selfdrive/common/visionbuf_ion.c b/selfdrive/common/visionbuf_ion.c
deleted file mode 100644
index 724e75e9b0c0d5..00000000000000
--- a/selfdrive/common/visionbuf_ion.c
+++ /dev/null
@@ -1,141 +0,0 @@
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-#include <sys/mman.h>
-#include <sys/ioctl.h>
-
-#include <linux/ion.h>
-#include <CL/cl_ext.h>
-
-#include <msm_ion.h>
-
-#include "visionbuf.h"
-
-
-// just hard-code these for convenience
-// size_t device_page_size = 0;
-// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM,
-//                 sizeof(device_page_size), &device_page_size,
-//                 NULL);
-
-// size_t padding_cl = 0;
-// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM,
-//                 sizeof(padding_cl), &padding_cl,
-//                 NULL);
-#define DEVICE_PAGE_SIZE_CL 4096
-#define PADDING_CL 0
-
-static int ion_fd = -1;
-static void ion_init() {
-  if (ion_fd == -1) {
-    ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
-  }
-}
-
-VisionBuf visionbuf_allocate(size_t len) {
-  int err;
-
-  ion_init();
-
-  struct ion_allocation_data ion_alloc = {0};
-  ion_alloc.len = len + PADDING_CL;
-  ion_alloc.align = 4096;
-  ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
-  ion_alloc.flags = ION_FLAG_CACHED;
-
-  err = ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc);
-  assert(err == 0);
-
-  struct ion_fd_data ion_fd_data = {0};
-  ion_fd_data.handle = ion_alloc.handle;
-  err = ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data);
-  assert(err == 0);
-
-  void *addr = mmap(NULL, ion_alloc.len,
-                    PROT_READ | PROT_WRITE,
-                    MAP_SHARED, ion_fd_data.fd, 0);
-  assert(addr != MAP_FAILED);
-
-  memset(addr, 0, ion_alloc.len);
-
-  return (VisionBuf){
-    .len = len,
-    .addr = addr,
-    .handle = ion_alloc.handle,
-    .fd = ion_fd_data.fd,
-  };
-}
-
-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem) {
-  VisionBuf r = visionbuf_allocate(len);
-  *out_mem = visionbuf_to_cl(&r, device_id, ctx);
-  return r;
-}
-
-cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx) {
-  int err = 0;
-
-  assert(((uintptr_t)buf->addr % DEVICE_PAGE_SIZE_CL) == 0);
-
-  cl_mem_ion_host_ptr ion_cl = {0};
-  ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
-  ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
-  ion_cl.ion_filedesc = buf->fd;
-  ion_cl.ion_hostptr = buf->addr;
-
-  cl_mem mem = clCreateBuffer(ctx,
-                              CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
-                              buf->len, &ion_cl, &err);
-  assert(err == 0);
-
-  return mem;
-}
-
-void visionbuf_sync(const VisionBuf* buf, int dir) {
-  int err;
-
-  struct ion_fd_data fd_data = {0};
-  fd_data.fd = buf->fd;
-  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
-  assert(err == 0);
-
-  struct ion_flush_data flush_data = {0};
-  flush_data.handle = fd_data.handle;
-  flush_data.vaddr = buf->addr;
-  flush_data.offset = 0;
-  flush_data.length = buf->len;
-
-  // ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
-  // ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
-  // ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL
-
-  struct ion_custom_data custom_data = {0};
-
-  switch (dir) {
-  case VISIONBUF_SYNC_FROM_DEVICE:
-    custom_data.cmd = ION_IOC_INV_CACHES;
-    break;
-  case VISIONBUF_SYNC_TO_DEVICE:
-    custom_data.cmd = ION_IOC_CLEAN_CACHES;
-    break;
-  default:
-    assert(0);
-  }
-
-  custom_data.arg = (unsigned long)&flush_data;
-  err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
-  assert(err == 0);
-
-  struct ion_handle_data handle_data = {0};
-  handle_data.handle = fd_data.handle;
-  err = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-  assert(err == 0);
-}
-
-void visionbuf_free(const VisionBuf* buf) {
-  struct ion_handle_data handle_data = {
-    .handle = buf->handle,
-  };
-  int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-  assert(ret == 0);
-}
diff --git a/selfdrive/common/visionimg.cc b/selfdrive/common/visionimg.cc
index a533acb597ac4c..a98aabc36c4ace 100644
--- a/selfdrive/common/visionimg.cc
+++ b/selfdrive/common/visionimg.cc
@@ -1,122 +1,63 @@
+#include "selfdrive/common/visionimg.h"
+
 #include <cassert>
 
 #ifdef QCOM
+#include <gralloc_priv.h>
 #include <system/graphics.h>
 #include <ui/GraphicBuffer.h>
 #include <ui/PixelFormat.h>
-#include <gralloc_priv.h>
-
-#include <GLES3/gl3.h>
 #define GL_GLEXT_PROTOTYPES
 #include <GLES2/gl2ext.h>
-
-#include <EGL/egl.h>
-#define EGL_EGLEXT_PROTOTYPES
-#include <EGL/eglext.h>
-
-#endif
-
-#include "common/util.h"
-#include "common/visionbuf.h"
-
-#include "common/visionimg.h"
-
-#ifdef QCOM
-
 using namespace android;
 
-// from libadreno_utils.so
-extern "C" void compute_aligned_width_and_height(int width,
-                                      int height,
-                                      int bpp,
-                                      int tile_mode,
-                                      int raster_mode,
-                                      int padding_threshold,
-                                      int *aligned_w,
-                                      int *aligned_h);
-#endif
-
-void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
-#ifdef QCOM
-  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
-#else
-  *aligned_w = width; *aligned_h = height;
-#endif
-}
-
-VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
-  int aligned_w = 0, aligned_h = 0;
-  visionimg_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
-
-  int stride = aligned_w * 3;
-  size_t size = aligned_w * aligned_h * 3;
+EGLImageTexture::EGLImageTexture(const VisionBuf *buf) {
+  const int bpp = 3;
+  assert((buf->len % buf->stride) == 0);
+  assert((buf->stride % bpp) == 0);
 
-  VisionBuf buf = visionbuf_allocate(size);
-
-  *out_buf = buf;
-
-  return (VisionImg){
-    .fd = buf.fd,
-    .format = VISIONIMG_FORMAT_RGB24,
-    .width = width,
-    .height = height,
-    .stride = stride,
-    .size = size,
-    .bpp = 3,
-  };
-}
-
-#ifdef QCOM
-
-EGLClientBuffer visionimg_to_egl(const VisionImg *img, void **pph) {
-  assert((img->size % img->stride) == 0);
-  assert((img->stride % img->bpp) == 0);
-
-  int format = 0;
-  if (img->format == VISIONIMG_FORMAT_RGB24) {
-    format = HAL_PIXEL_FORMAT_RGB_888;
-  } else {
-    assert(false);
-  }
-
-  private_handle_t* hnd = new private_handle_t(img->fd, img->size,
+  const int format = HAL_PIXEL_FORMAT_RGB_888;
+  private_handle = new private_handle_t(buf->fd, buf->len,
                              private_handle_t::PRIV_FLAGS_USES_ION|private_handle_t::PRIV_FLAGS_FRAMEBUFFER,
                              0, format,
-                             img->stride/img->bpp, img->size/img->stride,
-                             img->width, img->height);
+                             buf->stride/bpp, buf->len/buf->stride,
+                             buf->width, buf->height);
 
-  GraphicBuffer* gb = new GraphicBuffer(img->width, img->height, (PixelFormat)format,
-                                        GraphicBuffer::USAGE_HW_TEXTURE, img->stride/img->bpp, hnd, false);
-  // GraphicBuffer is ref counted by EGLClientBuffer(ANativeWindowBuffer), no need and not possible to release.
-  *pph = hnd;
-  return (EGLClientBuffer) gb->getNativeBuffer();
-}
-
-GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
-
-  EGLClientBuffer buf = visionimg_to_egl(img, pph);
+  // GraphicBuffer is ref counted by EGLClientBuffer(ANativeWindowBuffer), no need and not possible to release.	
+  GraphicBuffer* gb = new GraphicBuffer(buf->width, buf->height, (PixelFormat)format,
+                                        GraphicBuffer::USAGE_HW_TEXTURE, buf->stride/bpp, (private_handle_t*)private_handle, false);
 
   EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
   assert(display != EGL_NO_DISPLAY);
 
-  EGLint img_attrs[] = { EGL_IMAGE_PRESERVED_KHR, EGL_TRUE, EGL_NONE };
-  EGLImageKHR image = eglCreateImageKHR(display, EGL_NO_CONTEXT,
-                                        EGL_NATIVE_BUFFER_ANDROID, buf, img_attrs);
-  assert(image != EGL_NO_IMAGE_KHR);
+  EGLint img_attrs[] = {EGL_IMAGE_PRESERVED_KHR, EGL_TRUE, EGL_NONE};
+  img_khr = eglCreateImageKHR(display, EGL_NO_CONTEXT,
+                              EGL_NATIVE_BUFFER_ANDROID, gb->getNativeBuffer(), img_attrs);
+  assert(img_khr != EGL_NO_IMAGE_KHR);
 
-  GLuint tex = 0;
-  glGenTextures(1, &tex);
-  glBindTexture(GL_TEXTURE_2D, tex);
-  glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, image);
-  *pkhr = image;
-  return tex;
+  glGenTextures(1, &frame_tex);
+  glBindTexture(GL_TEXTURE_2D, frame_tex);
+  glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, img_khr);
 }
 
-void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
+EGLImageTexture::~EGLImageTexture() {
+  glDeleteTextures(1, &frame_tex);
   EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
   assert(display != EGL_NO_DISPLAY);
-  eglDestroyImageKHR(display, khr);
-  delete (private_handle_t*)ph;
+  eglDestroyImageKHR(display, img_khr);
+  delete (private_handle_t*)private_handle;
 }
 
-#endif
+#else // ifdef QCOM
+
+EGLImageTexture::EGLImageTexture(const VisionBuf *buf) {
+  glGenTextures(1, &frame_tex);
+  glBindTexture(GL_TEXTURE_2D, frame_tex);
+  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, buf->width, buf->height, 0, GL_RGB, GL_UNSIGNED_BYTE, nullptr);
+  glGenerateMipmap(GL_TEXTURE_2D);
+}
+
+EGLImageTexture::~EGLImageTexture() {
+  glDeleteTextures(1, &frame_tex);
+}
+#endif // ifdef QCOM
diff --git a/selfdrive/common/visionimg.h b/selfdrive/common/visionimg.h
index e5eb78766a31d0..e8917f3bd618ca 100644
--- a/selfdrive/common/visionimg.h
+++ b/selfdrive/common/visionimg.h
@@ -1,41 +1,27 @@
-#ifndef VISIONIMG_H
-#define VISIONIMG_H
+#pragma once
 
-#include "common/visionbuf.h"
-#include "common/glutil.h"
+#include "cereal/visionipc/visionbuf.h"
+
+#ifdef __APPLE__
+#include <OpenGL/gl3.h>
+#else
+#include <GLES3/gl3.h>
+#endif
 
 #ifdef QCOM
 #include <EGL/egl.h>
+#define EGL_EGLEXT_PROTOTYPES
 #include <EGL/eglext.h>
 #undef Status
-#else
-typedef int EGLImageKHR;
-typedef void *EGLClientBuffer;
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define VISIONIMG_FORMAT_RGB24 1
-
-typedef struct VisionImg {
-  int fd;
-  int format;
-  int width, height, stride;
-  int bpp;
-  size_t size;
-} VisionImg;
-
-void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
-VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf);
-
-EGLClientBuffer visionimg_to_egl(const VisionImg *img, void **pph);
-GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph);
-void visionimg_destroy_gl(EGLImageKHR khr, void *ph);
-
-#ifdef __cplusplus
-}  // extern "C"
 #endif
 
+class EGLImageTexture {
+ public:
+  EGLImageTexture(const VisionBuf *buf);
+  ~EGLImageTexture();
+  GLuint frame_tex = 0;
+#ifdef QCOM
+  void *private_handle = nullptr;
+  EGLImageKHR img_khr = 0;
 #endif
+};
diff --git a/selfdrive/common/visionipc.c b/selfdrive/common/visionipc.c
deleted file mode 100644
index b05365890ccc8c..00000000000000
--- a/selfdrive/common/visionipc.c
+++ /dev/null
@@ -1,194 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <string.h>
-#include <unistd.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <sys/mman.h>
-#include <sys/socket.h>
-#include <sys/un.h>
-
-#include "ipc.h"
-
-#include "visionipc.h"
-
-typedef struct VisionPacketWire {
-  int type;
-  VisionPacketData d;
-} VisionPacketWire;
-
-int vipc_connect() {
-  return ipc_connect(VIPC_SOCKET_PATH);
-}
-
-
-int vipc_recv(int fd, VisionPacket *out_p) {
-  VisionPacketWire p = {0};
-  VisionPacket p2 = {0};
-  int ret = ipc_sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
-  if (ret < 0) {
-    printf("vipc_recv err: %s\n", strerror(errno));
-  } else {
-    p2.type = p.type;
-    p2.d = p.d;
-    *out_p = p2;
-  }
-  //printf("%d = vipc_recv(%d, %d): %d %d %d %u\n", ret, fd, p2.num_fds, out_p->d.stream_bufs.type, out_p->d.stream_bufs.width, out_p->d.stream_bufs.height, out_p->d.stream_bufs.buf_len);
-  return ret;
-}
-
-int vipc_send(int fd, const VisionPacket *p2) {
-  assert(p2->num_fds <= VIPC_MAX_FDS);
-
-  VisionPacketWire p = {
-    .type = p2->type,
-    .d = p2->d,
-  };
-  int ret = ipc_sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
-  //printf("%d = vipc_send(%d, %d): %d %d %d %u\n", ret, fd, p2->num_fds, p2->d.stream_bufs.type, p2->d.stream_bufs.width, p2->d.stream_bufs.height, p2->d.stream_bufs.buf_len);
-  return ret;
-}
-
-void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
-                     int num_fds, const int* fds) {
-  for (int i=0; i<num_fds; i++) {
-    if (bufs[i].addr) {
-      munmap(bufs[i].addr, bufs[i].len);
-      bufs[i].addr = NULL;
-      close(bufs[i].fd);
-    }
-    bufs[i].fd = fds[i];
-    bufs[i].len = stream_bufs->buf_len;
-    bufs[i].addr = mmap(NULL, bufs[i].len,
-                        PROT_READ | PROT_WRITE,
-                        MAP_SHARED, bufs[i].fd, 0);
-    // printf("b %d %zu -> %p\n", bufs[i].fd, bufs[i].len, bufs[i].addr);
-    assert(bufs[i].addr != MAP_FAILED);
-  }
-}
-
-
-int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info) {
-  int err;
-
-  memset(s, 0, sizeof(*s));
-
-  s->last_idx = -1;
-
-  s->ipc_fd = vipc_connect();
-  if (s->ipc_fd < 0) return -1;
-
-  VisionPacket p = {
-    .type = VIPC_STREAM_SUBSCRIBE,
-    .d = { .stream_sub = {
-      .type = type,
-      .tbuffer = tbuffer,
-    }, },
-  };
-  err = vipc_send(s->ipc_fd, &p);
-  if (err < 0) {
-    close(s->ipc_fd);
-    return -1;
-  }
-
-  VisionPacket rp;
-  err = vipc_recv(s->ipc_fd, &rp);
-  if (err <= 0) {
-    close(s->ipc_fd);
-    return -1;
-  }
-  assert(rp.type = VIPC_STREAM_BUFS);
-  assert(rp.d.stream_bufs.type == type);
-
-  s->bufs_info = rp.d.stream_bufs;
-
-  s->num_bufs = rp.num_fds;
-  s->bufs = calloc(s->num_bufs, sizeof(VIPCBuf));
-  assert(s->bufs);
-
-  vipc_bufs_load(s->bufs, &rp.d.stream_bufs, s->num_bufs, rp.fds);
-
-  if (out_bufs_info) {
-    *out_bufs_info = s->bufs_info;
-  }
-
-  return 0;
-}
-
-void visionstream_release(VisionStream *s) {
-  int err;
-  if (s->last_idx >= 0) {
-    VisionPacket rep = {
-      .type = VIPC_STREAM_RELEASE,
-      .d = { .stream_rel = {
-        .type = s->last_type,
-        .idx = s->last_idx,
-      }}
-    };
-    err = vipc_send(s->ipc_fd, &rep);
-    s->last_idx = -1;
-  }
-}
-
-VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
-  int err;
-
-  VisionPacket rp;
-  err = vipc_recv(s->ipc_fd, &rp);
-  if (err <= 0) {
-    return NULL;
-  }
-  assert(rp.type == VIPC_STREAM_ACQUIRE);
-
-  if (s->last_idx >= 0) {
-    VisionPacket rep = {
-      .type = VIPC_STREAM_RELEASE,
-      .d = { .stream_rel = {
-        .type = s->last_type,
-        .idx = s->last_idx,
-      }}
-    };
-    err = vipc_send(s->ipc_fd, &rep);
-    if (err <= 0) {
-      return NULL;
-    }
-  }
-
-  s->last_type = rp.d.stream_acq.type;
-  s->last_idx = rp.d.stream_acq.idx;
-  assert(s->last_idx < s->num_bufs);
-
-  if (out_extra) {
-    *out_extra = rp.d.stream_acq.extra;
-  }
-
-  return &s->bufs[s->last_idx];
-}
-
-void visionstream_destroy(VisionStream *s) {
-  int err;
-
-  if (s->last_idx >= 0) {
-    VisionPacket rep = {
-      .type = VIPC_STREAM_RELEASE,
-      .d = { .stream_rel = {
-        .type = s->last_type,
-        .idx = s->last_idx,
-      }}
-    };
-    err = vipc_send(s->ipc_fd, &rep);
-    s->last_idx = -1;
-  }
-
-  for (int i=0; i<s->num_bufs; i++) {
-    if (s->bufs[i].addr) {
-      munmap(s->bufs[i].addr, s->bufs[i].len);
-      s->bufs[i].addr = NULL;
-      close(s->bufs[i].fd);
-    }
-  }
-  if (s->bufs) free(s->bufs);
-  close(s->ipc_fd);
-}
diff --git a/selfdrive/common/visionipc.h b/selfdrive/common/visionipc.h
deleted file mode 100644
index 4844a71b1d756b..00000000000000
--- a/selfdrive/common/visionipc.h
+++ /dev/null
@@ -1,113 +0,0 @@
-#ifndef VISIONIPC_H
-#define VISIONIPC_H
-
-#include <stddef.h>
-#include <stdint.h>
-#include <stdbool.h>
-
-#define VIPC_SOCKET_PATH "/tmp/vision_socket"
-#define VIPC_MAX_FDS 64
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef enum VisionIPCPacketType {
-  VIPC_INVALID = 0,
-  VIPC_STREAM_SUBSCRIBE,
-  VIPC_STREAM_BUFS,
-  VIPC_STREAM_ACQUIRE,
-  VIPC_STREAM_RELEASE,
-} VisionIPCPacketType;
-
-typedef enum VisionStreamType {
-  VISION_STREAM_RGB_BACK,
-  VISION_STREAM_RGB_FRONT,
-  VISION_STREAM_YUV,
-  VISION_STREAM_YUV_FRONT,
-  VISION_STREAM_MAX,
-} VisionStreamType;
-
-typedef struct VisionUIInfo {
-  int big_box_x, big_box_y;
-  int big_box_width, big_box_height;
-  int transformed_width, transformed_height;
-
-  int front_box_x, front_box_y;
-  int front_box_width, front_box_height;
-} VisionUIInfo;
-
-typedef struct VisionStreamBufs {
-  VisionStreamType type;
-
-  int width, height, stride;
-  size_t buf_len;
-
-  union {
-    VisionUIInfo ui_info;
-  } buf_info;
-} VisionStreamBufs;
-
-typedef struct VIPCBufExtra {
-  // only for yuv
-  uint32_t frame_id;
-  uint64_t timestamp_eof;
-} VIPCBufExtra;
-
-typedef union VisionPacketData {
-  struct {
-    VisionStreamType type;
-    bool tbuffer;
-  } stream_sub;
-  VisionStreamBufs stream_bufs;
-  struct {
-    VisionStreamType type;
-    int idx;
-    VIPCBufExtra extra;
-  } stream_acq;
-  struct {
-    VisionStreamType type;
-    int idx;
-  } stream_rel;
-} VisionPacketData;
-
-typedef struct VisionPacket {
-  int type;
-  VisionPacketData d;
-  int num_fds;
-  int fds[VIPC_MAX_FDS];
-} VisionPacket;
-
-int vipc_connect(void);
-int vipc_recv(int fd, VisionPacket *out_p);
-int vipc_send(int fd, const VisionPacket *p);
-
-typedef struct VIPCBuf {
-  int fd;
-  size_t len;
-  void* addr;
-} VIPCBuf;
-void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
-                     int num_fds, const int* fds);
-
-
-
-typedef struct VisionStream {
-  int ipc_fd;
-  int last_idx;
-  int last_type;
-  int num_bufs;
-  VisionStreamBufs bufs_info;
-  VIPCBuf *bufs;
-} VisionStream;
-
-int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
-void visionstream_release(VisionStream *s);
-VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
-void visionstream_destroy(VisionStream *s);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/common/watchdog.cc b/selfdrive/common/watchdog.cc
new file mode 100644
index 00000000000000..33307f720007bd
--- /dev/null
+++ b/selfdrive/common/watchdog.cc
@@ -0,0 +1,19 @@
+#include "selfdrive/common/watchdog.h"
+
+#include <unistd.h>
+
+#include <cstdint>
+#include <string>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+
+const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
+
+bool watchdog_kick() {
+  std::string fn = watchdog_fn_prefix + std::to_string(getpid());
+  std::string cur_t = std::to_string(nanos_since_boot());
+
+  int r = util::write_file(fn.c_str(), cur_t.data(), cur_t.length(), O_WRONLY | O_CREAT);
+  return r == 0;
+}
diff --git a/selfdrive/common/watchdog.h b/selfdrive/common/watchdog.h
new file mode 100644
index 00000000000000..7ed23aa0d9ca4e
--- /dev/null
+++ b/selfdrive/common/watchdog.h
@@ -0,0 +1,3 @@
+#pragma once
+
+bool watchdog_kick();
diff --git a/selfdrive/config.py b/selfdrive/config.py
index 6c2296273ad087..511f6126c4f778 100644
--- a/selfdrive/config.py
+++ b/selfdrive/config.py
@@ -11,7 +11,7 @@ class Conversions:
   MS_TO_KNOTS = 1.9438
   KNOTS_TO_MS = 1. / MS_TO_KNOTS
   #Angle
-  DEG_TO_RAD = np.pi/180.
+  DEG_TO_RAD = np.pi / 180.
   RAD_TO_DEG = 1. / DEG_TO_RAD
   #Mass
   LB_TO_KG = 0.453592
@@ -22,9 +22,8 @@ class Conversions:
 
 class UIParams:
   lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x/2., lidar_y/1.1
-  car_hwidth = 1.7272/2 * lidar_zoom
+  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  car_hwidth = 1.7272 / 2 * lidar_zoom
   car_front = 2.6924 * lidar_zoom
-  car_back  = 1.8796 * lidar_zoom
+  car_back = 1.8796 * lidar_zoom
   car_color = 110
-
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 680e511e01c905..5dc3b4be498275 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,594 +1,740 @@
 #!/usr/bin/env python3
 import os
-import gc
-import capnp
+import math
+from numbers import Number
+
 from cereal import car, log
 from common.numpy_fast import clip
-from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper, DT_CTRL
+from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
-from common.params import Params
+from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.config import Conversions as CV
+from selfdrive.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
-from selfdrive.car.car_helpers import get_car, get_startup_alert
+from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
-from selfdrive.controls.lib.drive_helpers import get_events, \
-                                                 create_event, \
-                                                 EventTypes as ET, \
-                                                 update_v_cruise, \
-                                                 initialize_v_cruise
-from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
+from selfdrive.controls.lib.drive_helpers import update_v_cruise, update_v_cruise_regen, initialize_v_cruise
+from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
+from selfdrive.controls.lib.longcontrol import LongControl
 from selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
 from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
+from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.controls.lib.planner import LON_MPC_STEP
-from selfdrive.locationd.calibration_helpers import Calibration, Filter
+from selfdrive.locationd.calibrationd import Calibration
+from selfdrive.hardware import HARDWARE, TICI, EON
+from selfdrive.manager.process_config import managed_processes
 
+LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
+STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
+STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
+
+REPLAY = "REPLAY" in os.environ
+SIMULATION = "SIMULATION" in os.environ
+NOSENSOR = "NOSENSOR" in os.environ
+IGNORE_PROCESSES = {"rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned",
+                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \
+                    {k for k, v in managed_processes.items() if not v.enabled}
 
-ThermalStatus = log.ThermalData.ThermalStatus
+ACTUATOR_FIELDS = set(car.CarControl.Actuators.schema.fields.keys())
+
+ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
-HwType = log.HealthData.HwType
+PandaType = log.PandaState.PandaType
+Desire = log.LateralPlan.Desire
+LaneChangeState = log.LateralPlan.LaneChangeState
+LaneChangeDirection = log.LateralPlan.LaneChangeDirection
+EventName = car.CarEvent.EventName
+ButtonEvent = car.CarState.ButtonEvent
+SafetyModel = car.CarParams.SafetyModel
+
+IGNORED_SAFETY_MODES = [SafetyModel.silent, SafetyModel.noOutput]
+
+
+class Controls:
+  def __init__(self, sm=None, pm=None, can_sock=None):
+    config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
+
+    # Setup sockets
+    self.pm = pm
+    if self.pm is None:
+      self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
+                                     'carControl', 'carEvents', 'carParams'])
+
+    self.camera_packets = ["roadCameraState", "driverCameraState"]
+    if TICI:
+      self.camera_packets.append("wideRoadCameraState")
+
+    params = Params()
+    self.joystick_mode = params.get_bool("JoystickDebugMode")
+    joystick_packet = ['testJoystick'] if self.joystick_mode else []
+
+    self.sm = sm
+    if self.sm is None:
+      ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
+      self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+                                     'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                                     'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
+                                     ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
+
+    self.can_sock = can_sock
+    if can_sock is None:
+      can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
+      self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
+
+    if TICI:
+      self.log_sock = messaging.sub_sock('androidLog')
+
+    # wait for one pandaState and one CAN packet
+    print("Waiting for CAN messages...")
+    get_one_can(self.can_sock)
+
+    self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
+
+    # read params
+    self.is_metric = params.get_bool("IsMetric")
+    self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
+    community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
+    openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
+    passive = params.get_bool("Passive") or not openpilot_enabled_toggle
+
+    # detect sound card presence and ensure successful init
+    sounds_available = HARDWARE.get_sound_card_online()
+
+    car_recognized = self.CP.carName != 'mock'
+
+    controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
+    community_feature = self.CP.communityFeature or \
+                        self.CP.fingerprintSource == car.CarParams.FingerprintSource.can
+    community_feature_disallowed = community_feature and (not community_feature_toggle)
+    self.read_only = not car_recognized or not controller_available or \
+                       self.CP.dashcamOnly or community_feature_disallowed
+    if self.read_only:
+      safety_config = car.CarParams.SafetyConfig.new_message()
+      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
+      self.CP.safetyConfigs = [safety_config]
+
+    # Write CarParams for radard
+    cp_bytes = self.CP.to_bytes()
+    params.put("CarParams", cp_bytes)
+    put_nonblocking("CarParamsCache", cp_bytes)
+
+    self.CC = car.CarControl.new_message()
+    self.AM = AlertManager()
+    self.events = Events()
+
+    self.LoC = LongControl(self.CP)
+    self.VM = VehicleModel(self.CP)
+
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+      self.LaC = LatControlAngle(self.CP)
+    elif self.CP.lateralTuning.which() == 'pid':
+      self.LaC = LatControlPID(self.CP, self.CI)
+    elif self.CP.lateralTuning.which() == 'indi':
+      self.LaC = LatControlINDI(self.CP)
+    elif self.CP.lateralTuning.which() == 'lqr':
+      self.LaC = LatControlLQR(self.CP)
+
+    self.initialized = False
+    self.state = State.disabled
+    self.enabled = False
+    self.active = False
+    self.can_rcv_error = False
+    self.soft_disable_timer = 0
+    self.v_cruise_kph = 255
+    self.v_cruise_kph_last = 0
+    self.mismatch_counter = 0
+    self.cruise_mismatch_counter = 0
+    self.can_error_counter = 0
+    self.last_blinker_frame = 0
+    self.saturated_count = 0
+    self.distance_traveled = 0
+    self.last_functional_fan_frame = 0
+    self.events_prev = []
+    self.current_alert_types = [ET.PERMANENT]
+    self.logged_comm_issue = False
+    self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
+
+    # TODO: no longer necessary, aside from process replay
+    self.sm['liveParameters'].valid = True
+
+    self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0)
 
-LaneChangeState = log.PathPlan.LaneChangeState
-LaneChangeDirection = log.PathPlan.LaneChangeDirection
+    if not sounds_available:
+      self.events.add(EventName.soundsUnavailable, static=True)
+    if community_feature_disallowed and car_recognized and not self.CP.dashcamOnly:
+      self.events.add(EventName.communityFeatureDisallowed, static=True)
+    if not car_recognized:
+      self.events.add(EventName.carUnrecognized, static=True)
+    elif self.read_only:
+      self.events.add(EventName.dashcamMode, static=True)
+    elif self.joystick_mode:
+      self.events.add(EventName.joystickDebug, static=True)
+      self.startup_event = None
+
+    # controlsd is driven by can recv, expected at 100Hz
+    self.rk = Ratekeeper(100, print_delay_threshold=None)
+    self.prof = Profiler(False)  # off by default
+
+  def update_events(self, CS):
+    """Compute carEvents from carState"""
+
+    self.events.clear()
+    self.events.add_from_msg(CS.events)
+    self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+
+    # Handle startup event
+    if self.startup_event is not None:
+      self.events.add(self.startup_event)
+      self.startup_event = None
+
+    # Don't add any more events if not initialized
+    if not self.initialized:
+      self.events.add(EventName.controlsInitializing)
+      return
+
+    # Create events for battery, temperature, disk space, and memory
+    if EON and (self.sm['peripheralState'].pandaType != PandaType.uno) and \
+       self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
+      # at zero percent battery, while discharging, OP should not allowed
+      self.events.add(EventName.lowBattery)
+    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
+      self.events.add(EventName.overheat)
+    if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
+      # under 7% of space free no enable allowed
+      self.events.add(EventName.outOfSpace)
+    # TODO: make tici threshold the same
+    if self.sm['deviceState'].memoryUsagePercent > (90 if TICI else 65) and not SIMULATION:
+      self.events.add(EventName.lowMemory)
+
+    # TODO: enable this once loggerd CPU usage is more reasonable
+    #cpus = list(self.sm['deviceState'].cpuUsagePercent)[:(-1 if EON else None)]
+    #if max(cpus, default=0) > 95 and not SIMULATION:
+    #  self.events.add(EventName.highCpuUsage)
+
+    # Alert if fan isn't spinning for 5 seconds
+    if self.sm['peripheralState'].pandaType in [PandaType.uno, PandaType.dos]:
+      if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
+        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
+          self.events.add(EventName.fanMalfunction)
+      else:
+        self.last_functional_fan_frame = self.sm.frame
 
+    # Handle calibration status
+    cal_status = self.sm['liveCalibration'].calStatus
+    if cal_status != Calibration.CALIBRATED:
+      if cal_status == Calibration.UNCALIBRATED:
+        self.events.add(EventName.calibrationIncomplete)
+      else:
+        self.events.add(EventName.calibrationInvalid)
+
+    # Handle lane change
+    if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
+      direction = self.sm['lateralPlan'].laneChangeDirection
+      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
+         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        self.events.add(EventName.laneChangeBlocked)
+      else:
+        if direction == LaneChangeDirection.left:
+          self.events.add(EventName.preLaneChangeLeft)
+        else:
+          self.events.add(EventName.preLaneChangeRight)
+    elif self.sm['lateralPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
+                                                 LaneChangeState.laneChangeFinishing]:
+      self.events.add(EventName.laneChange)
+
+    if self.can_rcv_error or not CS.canValid:
+      self.events.add(EventName.canError)
+
+    for i, pandaState in enumerate(self.sm['pandaStates']):
+      # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
+      if i < len(self.CP.safetyConfigs):
+        safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam
+      else:
+        safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
+      if safety_mismatch or self.mismatch_counter >= 200:
+        self.events.add(EventName.controlsMismatch)
+
+      if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
+        self.events.add(EventName.relayMalfunction)
+
+    # Check for HW or system issues
+    if len(self.sm['radarState'].radarErrors):
+      self.events.add(EventName.radarFault)
+    elif not self.sm.valid["pandaStates"]:
+      self.events.add(EventName.usbError)
+    elif not self.sm.all_alive_and_valid():
+      self.events.add(EventName.commIssue)
+      if not self.logged_comm_issue:
+        invalid = [s for s, valid in self.sm.valid.items() if not valid]
+        not_alive = [s for s, alive in self.sm.alive.items() if not alive]
+        cloudlog.event("commIssue", invalid=invalid, not_alive=not_alive)
+        self.logged_comm_issue = True
+    else:
+      self.logged_comm_issue = False
+
+    if not self.sm['liveParameters'].valid:
+      self.events.add(EventName.vehicleModelInvalid)
+    if not self.sm['lateralPlan'].mpcSolutionValid:
+      self.events.add(EventName.plannerError)
+    if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
+      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
+        self.events.add(EventName.sensorDataInvalid)
+    if not self.sm['liveLocationKalman'].posenetOK:
+      self.events.add(EventName.posenetInvalid)
+    if not self.sm['liveLocationKalman'].deviceStable:
+      self.events.add(EventName.deviceFalling)
+    for pandaState in self.sm['pandaStates']:
+      if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
+        self.events.add(EventName.relayMalfunction)
+
+    if not REPLAY:
+      # Check for mismatch between openpilot and car's PCM
+      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
+      self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
+      if self.cruise_mismatch_counter > int(1. / DT_CTRL):
+        self.events.add(EventName.cruiseMismatch)
+
+    # Check for FCW
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
+    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
+    planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
+    if planner_fcw or model_fcw:
+      self.events.add(EventName.fcw)
+
+    if TICI:
+      logs = messaging.drain_sock(self.log_sock, wait_for_one=False)
+      messages = []
+      for m in logs:
+        try:
+          messages.append(m.androidLog.message)
+        except UnicodeDecodeError:
+          pass
+
+      for err in ["ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"]:
+        for m in messages:
+          if err not in m:
+            continue
+
+          csid = m.split("CSID:")[-1].split(" ")[0]
+          evt = {"0": EventName.roadCameraError, "1": EventName.wideRoadCameraError,
+                 "2": EventName.driverCameraError}.get(csid, None)
+          if evt is not None:
+            self.events.add(evt)
+
+    # TODO: fix simulator
+    if not SIMULATION:
+      if not NOSENSOR:
+        if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
+          # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
+          self.events.add(EventName.noGps)
+      if not self.sm.all_alive(self.camera_packets):
+        self.events.add(EventName.cameraMalfunction)
+      if self.sm['modelV2'].frameDropPerc > 20:
+        self.events.add(EventName.modeldLagging)
+      if self.sm['liveLocationKalman'].excessiveResets:
+        self.events.add(EventName.localizerMalfunction)
+
+      # Check if all manager processes are running
+      not_running = set(p.name for p in self.sm['managerState'].processes if not p.running)
+      if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+        self.events.add(EventName.processNotRunning)
 
-def add_lane_change_event(events, path_plan):
-  if path_plan.laneChangeState == LaneChangeState.preLaneChange:
-    if path_plan.laneChangeDirection == LaneChangeDirection.left:
-      events.append(create_event('preLaneChangeLeft', [ET.WARNING]))
+    # Only allow engagement with brake pressed when stopped behind another stopped car
+    speeds = self.sm['longitudinalPlan'].speeds
+    if len(speeds) > 1:
+      v_future = speeds[-1]
     else:
-      events.append(create_event('preLaneChangeRight', [ET.WARNING]))
-  elif path_plan.laneChangeState in [LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing]:
-      events.append(create_event('laneChange', [ET.WARNING]))
-
-
-def isActive(state):
-  """Check if the actuators are enabled"""
-  return state in [State.enabled, State.softDisabling]
-
-
-def isEnabled(state):
-  """Check if openpilot is engaged"""
-  return (isActive(state) or state == State.preEnabled)
-
-def events_to_bytes(events):
-  # optimization when comparing capnp structs: str() or tree traverse are much slower
-  ret = []
-  for e in events:
-    if isinstance(e, capnp.lib.capnp._DynamicStructReader):
-      e = e.as_builder()
-    ret.append(e.to_bytes())
-  return ret
-
-
-def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params):
-  """Receive data from sockets and create events for battery, temperature and disk space"""
-
-  # Update carstate from CAN and create events
-  can_strs = messaging.drain_sock_raw(can_sock, wait_for_one=True)
-  CS = CI.update(CC, can_strs)
-
-  sm.update(0)
-
-  events = list(CS.events)
-  events += list(sm['dMonitoringState'].events)
-  add_lane_change_event(events, sm['pathPlan'])
-  enabled = isEnabled(state)
-
-  # Check for CAN timeout
-  if not can_strs:
-    can_error_counter += 1
-    events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-
-  overtemp = sm['thermal'].thermalStatus >= ThermalStatus.red
-  free_space = sm['thermal'].freeSpace < 0.07  # under 7% of space free no enable allowed
-  low_battery = sm['thermal'].batteryPercent < 1 and sm['thermal'].chargingError  # at zero percent battery, while discharging, OP should not allowed
-  mem_low = sm['thermal'].memUsedPercent > 90
-
-  # Create events for battery, temperature and disk space
-  if low_battery:
-    events.append(create_event('lowBattery', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-  if overtemp:
-    events.append(create_event('overheat', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-  if free_space:
-    events.append(create_event('outOfSpace', [ET.NO_ENTRY]))
-  if mem_low:
-    events.append(create_event('lowMemory', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
-
-  if CS.stockAeb:
-    events.append(create_event('stockAeb', []))
-
-  # Handle calibration
-  cal_status = sm['liveCalibration'].calStatus
-  cal_perc = sm['liveCalibration'].calPerc
-
-  if cal_status != Calibration.CALIBRATED:
-    if cal_status == Calibration.UNCALIBRATED:
-      events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
+      v_future = 100.0
+    if CS.brakePressed and v_future >= self.CP.vEgoStarting \
+      and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
+      self.events.add(EventName.noTarget)
+
+  def data_sample(self):
+    """Receive data from sockets and update carState"""
+
+    # Update carState from CAN
+    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
+    CS = self.CI.update(self.CC, can_strs)
+
+    self.sm.update(0)
+
+    all_valid = CS.canValid and self.sm.all_alive_and_valid()
+    if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION):
+      if not self.read_only:
+        self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+      self.initialized = True
+      Params().put_bool("ControlsReady", True)
+
+    # Check for CAN timeout
+    if not can_strs:
+      self.can_error_counter += 1
+      self.can_rcv_error = True
     else:
-      events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-
-  # When the panda and controlsd do not agree on controls_allowed
-  # we want to disengage openpilot. However the status from the panda goes through
-  # another socket other than the CAN messages and one can arrive earlier than the other.
-  # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
-  if not enabled:
-    mismatch_counter = 0
-
-  controls_allowed = sm['health'].controlsAllowed
-  if not controls_allowed and enabled:
-    mismatch_counter += 1
-  if mismatch_counter >= 200:
-    events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
-
-  return CS, events, cal_perc, mismatch_counter, can_error_counter
-
+      self.can_rcv_error = False
 
-def state_transition(frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM):
-  """Compute conditional state transitions and execute actions on state transitions"""
-  enabled = isEnabled(state)
+    # When the panda and controlsd do not agree on controls_allowed
+    # we want to disengage openpilot. However the status from the panda goes through
+    # another socket other than the CAN messages and one can arrive earlier than the other.
+    # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
+    if not self.enabled:
+      self.mismatch_counter = 0
 
-  v_cruise_kph_last = v_cruise_kph
+    # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
+    if any(not ps.controlsAllowed and self.enabled for ps in self.sm['pandaStates']
+           if ps.safetyModel not in IGNORED_SAFETY_MODES):
+      self.mismatch_counter += 1
 
-  # if stock cruise is completely disabled, then we can use our own set speed logic
-  if not CP.enableCruise:
-    v_cruise_kph = update_v_cruise(v_cruise_kph, CS.buttonEvents, enabled)
-  elif CP.enableCruise and CS.cruiseState.enabled:
-    v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+    self.distance_traveled += CS.vEgo * DT_CTRL
 
-  # decrease the soft disable timer at every step, as it's reset on
-  # entrance in SOFT_DISABLING state
-  soft_disable_timer = max(0, soft_disable_timer - 1)
+    return CS
 
-  # DISABLED
-  if state == State.disabled:
-    if get_events(events, [ET.ENABLE]):
-      if get_events(events, [ET.NO_ENTRY]):
-        for e in get_events(events, [ET.NO_ENTRY]):
-          AM.add(frame, str(e) + "NoEntry", enabled)
+  def state_transition(self, CS):
+    """Compute conditional state transitions and execute actions on state transitions"""
 
-      else:
-        if get_events(events, [ET.PRE_ENABLE]):
-          state = State.preEnabled
-        else:
-          state = State.enabled
-        AM.add(frame, "enable", enabled)
-        v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, v_cruise_kph_last)
-
-  # ENABLED
-  elif state == State.enabled:
-    if get_events(events, [ET.USER_DISABLE]):
-      state = State.disabled
-      AM.add(frame, "disable", enabled)
-
-    elif get_events(events, [ET.IMMEDIATE_DISABLE]):
-      state = State.disabled
-      for e in get_events(events, [ET.IMMEDIATE_DISABLE]):
-        AM.add(frame, e, enabled)
-
-    elif get_events(events, [ET.SOFT_DISABLE]):
-      state = State.softDisabling
-      soft_disable_timer = 300   # 3s
-      for e in get_events(events, [ET.SOFT_DISABLE]):
-        AM.add(frame, e, enabled)
-
-  # SOFT DISABLING
-  elif state == State.softDisabling:
-    if get_events(events, [ET.USER_DISABLE]):
-      state = State.disabled
-      AM.add(frame, "disable", enabled)
-
-    elif get_events(events, [ET.IMMEDIATE_DISABLE]):
-      state = State.disabled
-      for e in get_events(events, [ET.IMMEDIATE_DISABLE]):
-        AM.add(frame, e, enabled)
-
-    elif not get_events(events, [ET.SOFT_DISABLE]):
-      # no more soft disabling condition, so go back to ENABLED
-      state = State.enabled
-
-    elif get_events(events, [ET.SOFT_DISABLE]) and soft_disable_timer > 0:
-      for e in get_events(events, [ET.SOFT_DISABLE]):
-        AM.add(frame, e, enabled)
-
-    elif soft_disable_timer <= 0:
-      state = State.disabled
-
-  # PRE ENABLING
-  elif state == State.preEnabled:
-    if get_events(events, [ET.USER_DISABLE]):
-      state = State.disabled
-      AM.add(frame, "disable", enabled)
-
-    elif get_events(events, [ET.IMMEDIATE_DISABLE, ET.SOFT_DISABLE]):
-      state = State.disabled
-      for e in get_events(events, [ET.IMMEDIATE_DISABLE, ET.SOFT_DISABLE]):
-        AM.add(frame, e, enabled)
-
-    elif not get_events(events, [ET.PRE_ENABLE]):
-      state = State.enabled
-
-  return state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last
-
-
-def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
-                  AM, rk, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame):
-  """Given the state, this function returns an actuators packet"""
-
-  actuators = car.CarControl.Actuators.new_message()
-
-  enabled = isEnabled(state)
-  active = isActive(state)
-
-  if CS.leftBlinker or CS.rightBlinker:
-    last_blinker_frame = frame
-
-  if plan.fcw:
-    # send FCW alert if triggered by planner
-    AM.add(frame, "fcw", enabled)
-
-  elif CS.stockFcw:
-    # send a silent alert when stock fcw triggers, since the car is already beeping
-    AM.add(frame, "fcwStock", enabled)
-
-  # State specific actions
-
-  if state in [State.preEnabled, State.disabled]:
-    LaC.reset()
-    LoC.reset(v_pid=CS.vEgo)
-
-  elif state in [State.enabled, State.softDisabling]:
-    # parse warnings from car specific interface
-    for e in get_events(events, [ET.WARNING]):
-      extra_text = ""
-      if e == "belowSteerSpeed":
-        if is_metric:
-          extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_KPH))) + " kph"
-        else:
-          extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph"
-      AM.add(frame, e, enabled, extra_text_2=extra_text)
-
-  plan_age = DT_CTRL * (frame - rcv_frame['plan'])
-  dt = min(plan_age, LON_MPC_STEP + DT_CTRL) + DT_CTRL  # no greater than dt mpc + dt, to prevent too high extraps
-
-  a_acc_sol = plan.aStart + (dt / LON_MPC_STEP) * (plan.aTarget - plan.aStart)
-  v_acc_sol = plan.vStart + dt * (a_acc_sol + plan.aStart) / 2.0
-
-  # Gas/Brake PID loop
-  actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
-                                              v_cruise_kph, v_acc_sol, plan.vTargetFuture, a_acc_sol, CP)
-  # Steering PID loop and lateral MPC
-  actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CS.steeringRateLimited, CP, path_plan)
-
-  # Send a "steering required alert" if saturation count has reached the limit
-  if lac_log.saturated and not CS.steeringPressed:
-    # Check if we deviated from the path
-    left_deviation = actuators.steer > 0 and path_plan.dPoly[3] > 0.1
-    right_deviation = actuators.steer < 0 and path_plan.dPoly[3] < -0.1
-
-    if left_deviation or right_deviation:
-      AM.add(frame, "steerSaturated", enabled)
-
-  # Parse permanent warnings to display constantly
-  for e in get_events(events, [ET.PERMANENT]):
-    extra_text_1, extra_text_2 = "", ""
-    if e == "calibrationIncomplete":
-      extra_text_1 = str(cal_perc) + "%"
-      if is_metric:
-        extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_KPH))) + " kph"
-      else:
-        extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_MPH))) + " mph"
-    AM.add(frame, str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
+    self.v_cruise_kph_last = self.v_cruise_kph
 
-  return actuators, v_cruise_kph, v_acc_sol, a_acc_sol, lac_log, last_blinker_frame
+    # if stock cruise is completely disabled, then we can use our own set speed logic
+    if CS.adaptiveCruise:
+      self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.button_timers, self.enabled, self.is_metric)
+      if CS.regenPressed:
+        self.v_cruise_kph = update_v_cruise_regen(CS.vEgo, self.v_cruise_kph, CS.regenPressed, self.enabled)
+    elif not CS.adaptiveCruise and CS.cruiseState.enabled:
+      self.v_cruise_kph = 40
 
+    # decrease the soft disable timer at every step, as it's reset on
+    # entrance in SOFT_DISABLING state
+    self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
 
-def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM,
-              LaC, LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev,
-              last_blinker_frame, is_ldw_enabled, can_error_counter):
-  """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
+    self.current_alert_types = [ET.PERMANENT]
 
-  CC = car.CarControl.new_message()
-  CC.enabled = isEnabled(state)
-  CC.actuators = actuators
+    # ENABLED, PRE ENABLING, SOFT DISABLING
+    if self.state != State.disabled:
+      # user and immediate disable always have priority in a non-disabled state
+      if self.events.any(ET.USER_DISABLE):
+        self.state = State.disabled
+        self.current_alert_types.append(ET.USER_DISABLE)
 
-  CC.cruiseControl.override = True
-  CC.cruiseControl.cancel = not CP.enableCruise or (not isEnabled(state) and CS.cruiseState.enabled)
+      elif self.events.any(ET.IMMEDIATE_DISABLE):
+        self.state = State.disabled
+        self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
 
-  # Some override values for Honda
-  brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))  # brake discount removes a sharp nonlinearity
-  CC.cruiseControl.speedOverride = float(max(0.0, (LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount) if CP.enableCruise else 0.0)
-  CC.cruiseControl.accelOverride = CI.calc_accel_override(CS.aEgo, sm['plan'].aTarget, CS.vEgo, sm['plan'].vTarget)
+      else:
+        # ENABLED
+        if self.state == State.enabled:
+          if self.events.any(ET.SOFT_DISABLE):
+            self.state = State.softDisabling
+            self.soft_disable_timer = 300   # 3s
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+
+        # SOFT DISABLING
+        elif self.state == State.softDisabling:
+          if not self.events.any(ET.SOFT_DISABLE):
+            # no more soft disabling condition, so go back to ENABLED
+            self.state = State.enabled
+
+          elif self.events.any(ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+
+          elif self.soft_disable_timer <= 0:
+            self.state = State.disabled
+
+        # PRE ENABLING
+        elif self.state == State.preEnabled:
+          if not self.events.any(ET.PRE_ENABLE):
+            self.state = State.enabled
+          else:
+            self.current_alert_types.append(ET.PRE_ENABLE)
+
+    # DISABLED
+    elif self.state == State.disabled:
+      if self.events.any(ET.ENABLE):
+        if self.events.any(ET.NO_ENTRY):
+          self.current_alert_types.append(ET.NO_ENTRY)
 
-  CC.hudControl.setSpeed = float(v_cruise_kph * CV.KPH_TO_MS)
-  CC.hudControl.speedVisible = isEnabled(state)
-  CC.hudControl.lanesVisible = isEnabled(state)
-  CC.hudControl.leadVisible = sm['plan'].hasLead
+        else:
+          if self.events.any(ET.PRE_ENABLE):
+            self.state = State.preEnabled
+          else:
+            self.state = State.enabled
+          self.current_alert_types.append(ET.ENABLE)
+          self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
+
+    # Check if actuators are enabled
+    self.active = self.state == State.enabled or self.state == State.softDisabling
+    if self.active:
+      self.current_alert_types.append(ET.WARNING)
+
+    # Check if openpilot is engaged
+    self.enabled = self.active or self.state == State.preEnabled
+
+  def state_control(self, CS):
+    """Given the state, this function returns an actuators packet"""
+
+    # Update VehicleModel
+    params = self.sm['liveParameters']
+    x = max(params.stiffnessFactor, 0.1)
+    sr = max(params.steerRatio, 0.1)
+    self.VM.update_params(x, sr)
+
+    lat_plan = self.sm['lateralPlan']
+    long_plan = self.sm['longitudinalPlan']
+
+    actuators = car.CarControl.Actuators.new_message()
+    actuators.longControlState = self.LoC.long_control_state
+
+    if CS.leftBlinker or CS.rightBlinker:
+      self.last_blinker_frame = self.sm.frame
+
+    # State specific actions
+
+    if not self.active:
+      self.LaC.reset()
+      self.LoC.reset(v_pid=CS.vEgo)
+
+    if not self.joystick_mode:
+      # accel PID loop
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
+      actuators.accel = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
+
+      # Steering PID loop and lateral MPC
+      lat_active = self.active and not CS.steerWarning and not CS.steerError and CS.vEgo > self.CP.minSteerSpeed
+      desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
+                                                                             lat_plan.psis,
+                                                                             lat_plan.curvatures,
+                                                                             lat_plan.curvatureRates)
+      actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(lat_active, CS, self.CP, self.VM, params,
+                                                                             desired_curvature, desired_curvature_rate)
+    else:
+      lac_log = log.ControlsState.LateralDebugState.new_message()
+      if self.sm.rcv_frame['testJoystick'] > 0 and self.active:
+        actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
 
-  right_lane_visible = sm['pathPlan'].rProb > 0.5
-  left_lane_visible = sm['pathPlan'].lProb > 0.5
-  CC.hudControl.rightLaneVisible = bool(right_lane_visible)
-  CC.hudControl.leftLaneVisible = bool(left_lane_visible)
+        steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
+        # max angle is 45 for angle-based cars
+        actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
 
-  recent_blinker = (sm.frame - last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
-  calibrated = sm['liveCalibration'].calStatus == Calibration.CALIBRATED
-  ldw_allowed = CS.vEgo > 31 * CV.MPH_TO_MS and not recent_blinker and is_ldw_enabled and not isActive(state) and calibrated
+        lac_log.active = True
+        lac_log.steeringAngleDeg = CS.steeringAngleDeg
+        lac_log.output = steer
+        lac_log.saturated = abs(steer) >= 0.9
 
-  md = sm['model']
-  if len(md.meta.desirePrediction):
-    l_lane_change_prob = md.meta.desirePrediction[log.PathPlan.Desire.laneChangeLeft - 1]
-    r_lane_change_prob = md.meta.desirePrediction[log.PathPlan.Desire.laneChangeRight - 1]
+    # Check for difference between desired angle and angle for angle based control
+    angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
+      abs(actuators.steeringAngleDeg - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
 
-    l_lane_close = left_lane_visible and (sm['pathPlan'].lPoly[3] < (1.08 - CAMERA_OFFSET))
-    r_lane_close = right_lane_visible and (sm['pathPlan'].rPoly[3] > -(1.08 + CAMERA_OFFSET))
+    if angle_control_saturated and not CS.steeringPressed and self.active:
+      self.saturated_count += 1
+    else:
+      self.saturated_count = 0
+
+    # Send a "steering required alert" if saturation count has reached the limit
+    if (lac_log.saturated and not CS.steeringPressed) or \
+       (self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
+
+      if len(lat_plan.dPathPoints):
+        # Check if we deviated from the path
+        left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1
+        right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.1
+
+        if left_deviation or right_deviation:
+          self.events.add(EventName.steerSaturated)
+
+    # Ensure no NaNs/Infs
+    for p in ACTUATOR_FIELDS:
+      attr = getattr(actuators, p)
+      if not isinstance(attr, Number):
+        continue
+
+      if not math.isfinite(attr):
+        cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
+        setattr(actuators, p, 0.0)
+
+    return actuators, lac_log
+
+  def update_button_timers(self, buttonEvents):
+    # increment timer for buttons still pressed
+    for k in self.button_timers.keys():
+      if self.button_timers[k] > 0:
+        self.button_timers[k] += 1
+
+    for b in buttonEvents:
+      if b.type.raw in self.button_timers:
+        self.button_timers[b.type.raw] = 1 if b.pressed else 0
+
+  def publish_logs(self, CS, start_time, actuators, lac_log):
+    """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
+
+    CC = car.CarControl.new_message()
+    CC.enabled = self.enabled
+    CC.active = self.active
+    CC.actuators = actuators
+
+    if len(self.sm['liveLocationKalman'].orientationNED.value) > 2:
+      CC.roll = self.sm['liveLocationKalman'].orientationNED.value[0]
+      CC.pitch = self.sm['liveLocationKalman'].orientationNED.value[1]
+
+    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
+    if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
+      CC.cruiseControl.cancel = True
+
+    CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
+    CC.hudControl.speedVisible = self.enabled
+    CC.hudControl.lanesVisible = self.enabled
+    CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
+
+    CC.hudControl.rightLaneVisible = True
+    CC.hudControl.leftLaneVisible = True
+
+    recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
+    ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
+                    and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
+
+    meta = self.sm['modelV2'].meta
+    if len(meta.desirePrediction) and ldw_allowed:
+      right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
+      left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
+      l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1]
+      r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1]
+      l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET))
+      r_lane_close = right_lane_visible and (self.sm['modelV2'].laneLines[2].y[0] < (1.08 - CAMERA_OFFSET))
 
-    if ldw_allowed:
       CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
       CC.hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
 
-  if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
-    AM.add(sm.frame, 'ldwPermanent', False)
-    events.append(create_event('ldw', [ET.PERMANENT]))
-
-  AM.process_alerts(sm.frame)
-  CC.hudControl.visualAlert = AM.visual_alert
-
-  if not read_only:
-    # send car controls over can
-    can_sends = CI.apply(CC)
-    pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
-
-  force_decel = sm['dMonitoringState'].awarenessStatus < 0.
-
-  # controlsState
-  dat = messaging.new_message()
-  dat.init('controlsState')
-  dat.valid = CS.canValid
-  dat.controlsState = {
-    "alertText1": AM.alert_text_1,
-    "alertText2": AM.alert_text_2,
-    "alertSize": AM.alert_size,
-    "alertStatus": AM.alert_status,
-    "alertBlinkingRate": AM.alert_rate,
-    "alertType": AM.alert_type,
-    "alertSound": AM.audible_alert,
-    "driverMonitoringOn": sm['dMonitoringState'].faceDetected,
-    "canMonoTimes": list(CS.canMonoTimes),
-    "planMonoTime": sm.logMonoTime['plan'],
-    "pathPlanMonoTime": sm.logMonoTime['pathPlan'],
-    "enabled": isEnabled(state),
-    "active": isActive(state),
-    "vEgo": CS.vEgo,
-    "vEgoRaw": CS.vEgoRaw,
-    "angleSteers": CS.steeringAngle,
-    "curvature": VM.calc_curvature((CS.steeringAngle - sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD, CS.vEgo),
-    "steerOverride": CS.steeringPressed,
-    "state": state,
-    "engageable": not bool(get_events(events, [ET.NO_ENTRY])),
-    "longControlState": LoC.long_control_state,
-    "vPid": float(LoC.v_pid),
-    "vCruise": float(v_cruise_kph),
-    "upAccelCmd": float(LoC.pid.p),
-    "uiAccelCmd": float(LoC.pid.i),
-    "ufAccelCmd": float(LoC.pid.f),
-    "angleSteersDes": float(LaC.angle_steers_des),
-    "vTargetLead": float(v_acc),
-    "aTarget": float(a_acc),
-    "jerkFactor": float(sm['plan'].jerkFactor),
-    "gpsPlannerActive": sm['plan'].gpsPlannerActive,
-    "vCurvature": sm['plan'].vCurvature,
-    "decelForModel": sm['plan'].longitudinalPlanSource == log.Plan.LongitudinalPlanSource.model,
-    "cumLagMs": -rk.remaining * 1000.,
-    "startMonoTime": int(start_time * 1e9),
-    "mapValid": sm['plan'].mapValid,
-    "forceDecel": bool(force_decel),
-    "canErrorCounter": can_error_counter,
-  }
-
-  if CP.lateralTuning.which() == 'pid':
-    dat.controlsState.lateralControlState.pidState = lac_log
-  elif CP.lateralTuning.which() == 'lqr':
-    dat.controlsState.lateralControlState.lqrState = lac_log
-  elif CP.lateralTuning.which() == 'indi':
-    dat.controlsState.lateralControlState.indiState = lac_log
-  pm.send('controlsState', dat)
-
-  # carState
-  cs_send = messaging.new_message()
-  cs_send.init('carState')
-  cs_send.valid = CS.canValid
-  cs_send.carState = CS
-  cs_send.carState.events = events
-  pm.send('carState', cs_send)
-
-  # carEvents - logged every second or on change
-  events_bytes = events_to_bytes(events)
-  if (sm.frame % int(1. / DT_CTRL) == 0) or (events_bytes != events_prev):
-    ce_send = messaging.new_message()
-    ce_send.init('carEvents', len(events))
-    ce_send.carEvents = events
-    pm.send('carEvents', ce_send)
-
-  # carParams - logged every 50 seconds (> 1 per segment)
-  if (sm.frame % int(50. / DT_CTRL) == 0):
-    cp_send = messaging.new_message()
-    cp_send.init('carParams')
-    cp_send.carParams = CP
-    pm.send('carParams', cp_send)
-
-  # carControl
-  cc_send = messaging.new_message()
-  cc_send.init('carControl')
-  cc_send.valid = CS.canValid
-  cc_send.carControl = CC
-  pm.send('carControl', cc_send)
-
-  return CC, events_bytes
-
-
-def controlsd_thread(sm=None, pm=None, can_sock=None):
-  gc.disable()
-
-  # start the loop
-  set_realtime_priority(3)
-
-  params = Params()
-
-  is_metric = params.get("IsMetric", encoding='utf8') == "1"
-  is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
-  passive = params.get("Passive", encoding='utf8') == "1"
-  openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle", encoding='utf8') == "1"
-  community_feature_toggle = params.get("CommunityFeaturesToggle", encoding='utf8') == "1"
-
-  passive = passive or not openpilot_enabled_toggle
-
-  # Pub/Sub Sockets
-  if pm is None:
-    pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
-
-  if sm is None:
-    sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', \
-                              'model'])
-
-
-  if can_sock is None:
-    can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
-    can_sock = messaging.sub_sock('can', timeout=can_timeout)
-
-  # wait for health and CAN packets
-  hw_type = messaging.recv_one(sm.sock['health']).health.hwType
-  has_relay = hw_type in [HwType.blackPanda, HwType.uno]
-  print("Waiting for CAN messages...")
-  messaging.get_one_can(can_sock)
-
-  CI, CP = get_car(can_sock, pm.sock['sendcan'], has_relay)
-
-  car_recognized = CP.carName != 'mock'
-  # If stock camera is disconnected, we loaded car controls and it's not chffrplus
-  controller_available = CP.enableCamera and CI.CC is not None and not passive
-  community_feature_disallowed = CP.communityFeature and not community_feature_toggle
-  read_only = not car_recognized or not controller_available or CP.dashcamOnly or community_feature_disallowed
-  if read_only:
-    CP.safetyModel = car.CarParams.SafetyModel.noOutput
-
-  # Write CarParams for radard and boardd safety mode
-  cp_bytes = CP.to_bytes()
-  params.put("CarParams", cp_bytes)
-  params.put("CarParamsCache", cp_bytes)
-  params.put("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0")
-
-  CC = car.CarControl.new_message()
-  AM = AlertManager()
-
-  startup_alert = get_startup_alert(car_recognized, controller_available)
-  AM.add(sm.frame, startup_alert, False)
-
-  LoC = LongControl(CP, CI.compute_gb)
-  VM = VehicleModel(CP)
-
-  if CP.lateralTuning.which() == 'pid':
-    LaC = LatControlPID(CP)
-  elif CP.lateralTuning.which() == 'indi':
-    LaC = LatControlINDI(CP)
-  elif CP.lateralTuning.which() == 'lqr':
-    LaC = LatControlLQR(CP)
-
-  state = State.disabled
-  soft_disable_timer = 0
-  v_cruise_kph = 255
-  v_cruise_kph_last = 0
-  mismatch_counter = 0
-  can_error_counter = 0
-  last_blinker_frame = 0
-  events_prev = []
-
-  sm['liveCalibration'].calStatus = Calibration.INVALID
-  sm['pathPlan'].sensorValid = True
-  sm['pathPlan'].posenetValid = True
-  sm['thermal'].freeSpace = 1.
-  sm['dMonitoringState'].events = []
-  sm['dMonitoringState'].awarenessStatus = 1.
-  sm['dMonitoringState'].faceDetected = False
-
-  # detect sound card presence
-  sounds_available = not os.path.isfile('/EON') or (os.path.isdir('/proc/asound/card0') and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
-
-  # controlsd is driven by can recv, expected at 100Hz
-  rk = Ratekeeper(100, print_delay_threshold=None)
-
-  internet_needed = params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None
-
-  prof = Profiler(False)  # off by default
-
-  while True:
+    if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
+      self.events.add(EventName.ldw)
+
+    clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
+    alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric])
+    self.AM.add_many(self.sm.frame, alerts, self.enabled)
+    self.AM.process_alerts(self.sm.frame, clear_event)
+    CC.hudControl.visualAlert = self.AM.visual_alert
+
+    if not self.read_only and self.initialized:
+      # send car controls over can
+      can_sends = self.CI.apply(CC)
+      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+
+    force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
+                  (self.state == State.softDisabling)
+
+    # Curvature & Steering angle
+    params = self.sm['liveParameters']
+    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetAverageDeg)
+    curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo)
+
+    # controlsState
+    dat = messaging.new_message('controlsState')
+    dat.valid = CS.canValid
+    controlsState = dat.controlsState
+    controlsState.alertText1 = self.AM.alert_text_1
+    controlsState.alertText2 = self.AM.alert_text_2
+    controlsState.alertSize = self.AM.alert_size
+    controlsState.alertStatus = self.AM.alert_status
+    controlsState.alertBlinkingRate = self.AM.alert_rate
+    controlsState.alertType = self.AM.alert_type
+    controlsState.alertSound = self.AM.audible_alert
+    controlsState.canMonoTimes = list(CS.canMonoTimes)
+    controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
+    controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
+    controlsState.enabled = self.enabled
+    controlsState.active = self.active
+    controlsState.curvature = curvature
+    controlsState.state = self.state
+    controlsState.engageable = not self.events.any(ET.NO_ENTRY)
+    controlsState.longControlState = self.LoC.long_control_state
+    controlsState.vPid = float(self.LoC.v_pid)
+    controlsState.vCruise = float(self.v_cruise_kph)
+    controlsState.upAccelCmd = float(self.LoC.pid.p)
+    controlsState.uiAccelCmd = float(self.LoC.pid.i)
+    controlsState.ufAccelCmd = float(self.LoC.pid.f)
+    controlsState.cumLagMs = -self.rk.remaining * 1000.
+    controlsState.startMonoTime = int(start_time * 1e9)
+    controlsState.forceDecel = bool(force_decel)
+    controlsState.canErrorCounter = self.can_error_counter
+
+    if self.joystick_mode:
+      controlsState.lateralControlState.debugState = lac_log
+    elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+      controlsState.lateralControlState.angleState = lac_log
+    elif self.CP.lateralTuning.which() == 'pid':
+      controlsState.lateralControlState.pidState = lac_log
+    elif self.CP.lateralTuning.which() == 'lqr':
+      controlsState.lateralControlState.lqrState = lac_log
+    elif self.CP.lateralTuning.which() == 'indi':
+      controlsState.lateralControlState.indiState = lac_log
+    self.pm.send('controlsState', dat)
+
+    # carState
+    car_events = self.events.to_msg()
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = CS.canValid
+    cs_send.carState = CS
+    cs_send.carState.events = car_events
+    self.pm.send('carState', cs_send)
+
+    # carEvents - logged every second or on change
+    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
+      ce_send = messaging.new_message('carEvents', len(self.events))
+      ce_send.carEvents = car_events
+      self.pm.send('carEvents', ce_send)
+    self.events_prev = self.events.names.copy()
+
+    # carParams - logged every 50 seconds (> 1 per segment)
+    if (self.sm.frame % int(50. / DT_CTRL) == 0):
+      cp_send = messaging.new_message('carParams')
+      cp_send.carParams = self.CP
+      self.pm.send('carParams', cp_send)
+
+    # carControl
+    cc_send = messaging.new_message('carControl')
+    cc_send.valid = CS.canValid
+    cc_send.carControl = CC
+    self.pm.send('carControl', cc_send)
+
+    # copy CarControl to pass to CarInterface on the next iteration
+    self.CC = CC
+
+  def step(self):
     start_time = sec_since_boot()
-    prof.checkpoint("Ratekeeper", ignore=True)
-
-    # Sample data and compute car events
-    CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params)
-    prof.checkpoint("Sample")
-
-    # Create alerts
-    if not sm.alive['plan'] and sm.alive['pathPlan']:  # only plan not being received: radar not communicating
-      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    elif not sm.all_alive_and_valid():
-      events.append(create_event('commIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not sm['pathPlan'].mpcSolutionValid:
-      events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if not sm['pathPlan'].sensorValid:
-      events.append(create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
-    if not sm['pathPlan'].paramsValid:
-      events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
-    if not sm['pathPlan'].posenetValid:
-      events.append(create_event('posenetInvalid', [ET.NO_ENTRY, ET.WARNING]))
-    if not sm['plan'].radarValid:
-      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if sm['plan'].radarCanError:
-      events.append(create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not CS.canValid:
-      events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if not sounds_available:
-      events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
-    if internet_needed:
-      events.append(create_event('internetConnectivityNeeded', [ET.NO_ENTRY, ET.PERMANENT]))
-    if community_feature_disallowed:
-      events.append(create_event('communityFeatureDisallowed', [ET.PERMANENT]))
-    if read_only and not passive:
-      events.append(create_event('carUnrecognized', [ET.PERMANENT]))
+    self.prof.checkpoint("Ratekeeper", ignore=True)
 
-    # Only allow engagement with brake pressed when stopped behind another stopped car
-    if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
-      events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+    # Sample data from sockets and get a carState
+    CS = self.data_sample()
+    self.prof.checkpoint("Sample")
+
+    self.update_events(CS)
 
-    if not read_only:
-      # update control state
-      state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
-        state_transition(sm.frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
-      prof.checkpoint("State transition")
+    if not self.read_only and self.initialized:
+      # Update control state
+      self.state_transition(CS)
+      self.prof.checkpoint("State transition")
 
     # Compute actuators (runs PID loops and lateral MPC)
-    actuators, v_cruise_kph, v_acc, a_acc, lac_log, last_blinker_frame = \
-      state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
-                    LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame)
+    actuators, lac_log = self.state_control(CS)
 
-    prof.checkpoint("State Control")
+    self.prof.checkpoint("State Control")
 
     # Publish data
-    CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM, LaC,
-                                LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev, last_blinker_frame,
-                                is_ldw_enabled, can_error_counter)
-    prof.checkpoint("Sent")
+    self.publish_logs(CS, start_time, actuators, lac_log)
+    self.prof.checkpoint("Sent")
 
-    rk.monitor_time()
-    prof.display()
+    self.update_button_timers(CS.buttonEvents)
 
+  def controlsd_thread(self):
+    while True:
+      self.step()
+      self.rk.monitor_time()
+      self.prof.display()
 
 def main(sm=None, pm=None, logcan=None):
-  controlsd_thread(sm, pm, logcan)
+  controls = Controls(sm, pm, logcan)
+  controls.controlsd_thread()
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/dmonitoringd.py b/selfdrive/controls/dmonitoringd.py
deleted file mode 100755
index 3c888d7b30feba..00000000000000
--- a/selfdrive/controls/dmonitoringd.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#!/usr/bin/env python3
-import gc
-from common.realtime import set_realtime_priority
-from common.params import Params, put_nonblocking
-import cereal.messaging as messaging
-from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
-from selfdrive.locationd.calibration_helpers import Calibration
-from selfdrive.controls.lib.gps_helpers import is_rhd_region
-
-def dmonitoringd_thread(sm=None, pm=None):
-  gc.disable()
-
-  # start the loop
-  set_realtime_priority(3)
-
-  params = Params()
-
-  # Pub/Sub Sockets
-  if pm is None:
-    pm = messaging.PubMaster(['dMonitoringState'])
-
-  if sm is None:
-    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model', 'gpsLocation'], ignore_alive=['gpsLocation'])
-
-  driver_status = DriverStatus()
-  is_rhd = params.get("IsRHD")
-  if is_rhd is not None:
-    driver_status.is_rhd_region = bool(int(is_rhd))
-
-  sm['liveCalibration'].calStatus = Calibration.INVALID
-  sm['carState'].vEgo = 0.
-  sm['carState'].cruiseState.enabled = False
-  sm['carState'].cruiseState.speed = 0.
-  sm['carState'].buttonEvents = []
-  sm['carState'].steeringPressed = False
-  sm['carState'].standstill = True
-
-  cal_rpy = [0,0,0]
-  v_cruise_last = 0
-  driver_engaged = False
-
-  # 10Hz <- dmonitoringmodeld
-  while True:
-    sm.update()
-
-    # GPS coords RHD parsing, once every restart
-    if not driver_status.is_rhd_region_checked and sm.updated['gpsLocation']:
-      is_rhd = is_rhd_region(sm['gpsLocation'].latitude, sm['gpsLocation'].longitude)
-      driver_status.is_rhd_region = is_rhd
-      driver_status.is_rhd_region_checked = True
-      put_nonblocking("IsRHD", "1" if is_rhd else "0")
-
-    # Handle calibration
-    if sm.updated['liveCalibration']:
-      if sm['liveCalibration'].calStatus == Calibration.CALIBRATED:
-        if len(sm['liveCalibration'].rpyCalib) == 3:
-          cal_rpy = sm['liveCalibration'].rpyCalib
-
-    # Get interaction
-    if sm.updated['carState']:
-      v_cruise = sm['carState'].cruiseState.speed
-      driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
-                        v_cruise != v_cruise_last or \
-                        sm['carState'].steeringPressed
-      if driver_engaged:
-        _ = driver_status.update([], True, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
-      v_cruise_last = v_cruise
-
-    # Get model meta
-    if sm.updated['model']:
-      driver_status.set_policy(sm['model'])
-
-    # Get data from dmonitoringmodeld
-    if sm.updated['driverState']:
-      events = []
-      driver_status.get_pose(sm['driverState'], cal_rpy, sm['carState'].vEgo, sm['carState'].cruiseState.enabled)
-      # Block any engage after certain distrations
-      if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
-        events.append(create_event("tooDistracted", [ET.NO_ENTRY]))
-      # Update events from driver state
-      events = driver_status.update(events, driver_engaged, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
-
-      # dMonitoringState packet
-      dat = messaging.new_message()
-      dat.init('dMonitoringState')
-      dat.dMonitoringState = {
-        "events": events,
-        "faceDetected": driver_status.face_detected,
-        "isDistracted": driver_status.driver_distracted,
-        "awarenessStatus": driver_status.awareness,
-        "isRHD": driver_status.is_rhd_region,
-        "rhdChecked": driver_status.is_rhd_region_checked,
-        "posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
-        "posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
-        "poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
-        "poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
-        "stepChange": driver_status.step_change,
-        "awarenessActive": driver_status.awareness_active,
-        "awarenessPassive": driver_status.awareness_passive,
-        "isLowStd": driver_status.pose.low_std,
-        "hiStdCount": driver_status.hi_stds,
-      }
-      pm.send('dMonitoringState', dat)
-
-def main(sm=None, pm=None):
-  dmonitoringd_thread(sm, pm)
-
-if __name__ == '__main__':
-  main()
\ No newline at end of file
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index b6aa97b6fdc8f6..42d9f457be81f9 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -1,71 +1,86 @@
+import copy
+import os
+import json
+from collections import defaultdict
+from dataclasses import dataclass
+from typing import List, Dict, Optional
+
 from cereal import car, log
+from common.basedir import BASEDIR
+from common.params import Params
 from common.realtime import DT_CTRL
-from selfdrive.swaglog import cloudlog
-from selfdrive.controls.lib.alerts import ALERTS
-import copy
+from selfdrive.controls.lib.events import Alert
+
+
+with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+  OFFROAD_ALERTS = json.load(f)
+
+
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None:
+  if show_alert:
+    a = OFFROAD_ALERTS[alert]
+    if extra_text is not None:
+      a = copy.copy(OFFROAD_ALERTS[alert])
+      a['text'] += extra_text
+    Params().put(alert, json.dumps(a))
+  else:
+    Params().delete(alert)
+
 
+@dataclass
+class AlertEntry:
+  alert: Optional[Alert] = None
+  start_frame: int = -1
+  end_frame: int = -1
 
-AlertSize = log.ControlsState.AlertSize
-AlertStatus = log.ControlsState.AlertStatus
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
-class AlertManager():
+class AlertManager:
 
   def __init__(self):
-    self.activealerts = []
-    self.alerts = {alert.alert_type: alert for alert in ALERTS}
-
-  def alertPresent(self):
-    return len(self.activealerts) > 0
-
-  def add(self, frame, alert_type, enabled=True, extra_text_1='', extra_text_2=''):
-    alert_type = str(alert_type)
-    added_alert = copy.copy(self.alerts[alert_type])
-    added_alert.alert_text_1 += extra_text_1
-    added_alert.alert_text_2 += extra_text_2
-    added_alert.start_time = frame * DT_CTRL
-
-    # if new alert is higher priority, log it
-    if not self.alertPresent() or added_alert.alert_priority > self.activealerts[0].alert_priority:
-          cloudlog.event('alert_add', alert_type=alert_type, enabled=enabled)
-
-    self.activealerts.append(added_alert)
-
-    # sort by priority first and then by start_time
-    self.activealerts.sort(key=lambda k: (k.alert_priority, k.start_time), reverse=True)
-
-  def process_alerts(self, frame):
-    cur_time = frame * DT_CTRL
-
-    # first get rid of all the expired alerts
-    self.activealerts = [a for a in self.activealerts if a.start_time +
-                         max(a.duration_sound, a.duration_hud_alert, a.duration_text) > cur_time]
-
-    current_alert = self.activealerts[0] if self.alertPresent() else None
-
-    # start with assuming no alerts
-    self.alert_type = ""
-    self.alert_text_1 = ""
-    self.alert_text_2 = ""
-    self.alert_status = AlertStatus.normal
-    self.alert_size = AlertSize.none
-    self.visual_alert = VisualAlert.none
-    self.audible_alert = AudibleAlert.none
-    self.alert_rate = 0.
-
-    if current_alert:
-      self.alert_type = current_alert.alert_type
-
-      if current_alert.start_time + current_alert.duration_sound > cur_time:
-        self.audible_alert = current_alert.audible_alert
-
-      if current_alert.start_time + current_alert.duration_hud_alert > cur_time:
-        self.visual_alert = current_alert.visual_alert
-
-      if current_alert.start_time + current_alert.duration_text > cur_time:
-        self.alert_text_1 = current_alert.alert_text_1
-        self.alert_text_2 = current_alert.alert_text_2
-        self.alert_status = current_alert.alert_status
-        self.alert_size = current_alert.alert_size
-        self.alert_rate = current_alert.alert_rate
+    self.reset()
+    self.activealerts: Dict[str, AlertEntry] = defaultdict(AlertEntry)
+
+  def reset(self) -> None:
+    self.alert_type: str = ""
+    self.alert_text_1: str = ""
+    self.alert_text_2: str = ""
+    self.alert_status = log.ControlsState.AlertStatus.normal
+    self.alert_size = log.ControlsState.AlertSize.none
+    self.visual_alert = car.CarControl.HUDControl.VisualAlert.none
+    self.audible_alert = car.CarControl.HUDControl.AudibleAlert.none
+    self.alert_rate: float = 0.
+
+  def add_many(self, frame: int, alerts: List[Alert], enabled: bool = True) -> None:
+    for alert in alerts:
+      self.activealerts[alert.alert_type].alert = alert
+      self.activealerts[alert.alert_type].start_frame = frame
+      self.activealerts[alert.alert_type].end_frame = frame + int(alert.duration / DT_CTRL)
+
+  def process_alerts(self, frame: int, clear_event_type=None) -> None:
+    current_alert = AlertEntry()
+    for k, v in self.activealerts.items():
+      if v.alert is None:
+        continue
+
+      if v.alert.event_type == clear_event_type:
+        self.activealerts[k].end_frame = -1
+
+      # sort by priority first and then by start_frame
+      active = self.activealerts[k].end_frame > frame
+      greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame)
+      if active and greater:
+        current_alert = v
+
+    # clear current alert
+    self.reset()
+
+    a = current_alert.alert
+    if a is not None:
+      self.alert_type = a.alert_type
+      self.audible_alert = a.audible_alert
+      self.visual_alert = a.visual_alert
+      self.alert_text_1 = a.alert_text_1
+      self.alert_text_2 = a.alert_text_2
+      self.alert_status = a.alert_status
+      self.alert_size = a.alert_size
+      self.alert_rate = a.alert_rate
diff --git a/selfdrive/controls/lib/alerts.py b/selfdrive/controls/lib/alerts.py
deleted file mode 100644
index e6a64f1ea7bb51..00000000000000
--- a/selfdrive/controls/lib/alerts.py
+++ /dev/null
@@ -1,782 +0,0 @@
-from cereal import car, log
-
-# Priority
-class Priority:
-  LOWEST = 0
-  LOW_LOWEST = 1
-  LOW = 2
-  MID = 3
-  HIGH = 4
-  HIGHEST = 5
-
-AlertSize = log.ControlsState.AlertSize
-AlertStatus = log.ControlsState.AlertStatus
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-
-class Alert():
-  def __init__(self,
-               alert_type,
-               alert_text_1,
-               alert_text_2,
-               alert_status,
-               alert_size,
-               alert_priority,
-               visual_alert,
-               audible_alert,
-               duration_sound,
-               duration_hud_alert,
-               duration_text,
-               alert_rate=0.):
-
-    self.alert_type = alert_type
-    self.alert_text_1 = alert_text_1
-    self.alert_text_2 = alert_text_2
-    self.alert_status = alert_status
-    self.alert_size = alert_size
-    self.alert_priority = alert_priority
-    self.visual_alert = visual_alert
-    self.audible_alert = audible_alert
-
-    self.duration_sound = duration_sound
-    self.duration_hud_alert = duration_hud_alert
-    self.duration_text = duration_text
-
-    self.start_time = 0.
-    self.alert_rate = alert_rate
-
-    # typecheck that enums are valid on startup
-    tst = car.CarControl.new_message()
-    tst.hudControl.visualAlert = self.visual_alert
-
-  def __str__(self):
-    return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_priority) + "  " + str(
-      self.visual_alert) + " " + str(self.audible_alert)
-
-  def __gt__(self, alert2):
-    return self.alert_priority > alert2.alert_priority
-
-
-ALERTS = [
-  # Miscellaneous alerts
-  Alert(
-      "enable",
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.chimeEngage, .2, 0., 0.),
-
-  Alert(
-      "disable",
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.chimeDisengage, .2, 0., 0.),
-
-  Alert(
-      "fcw",
-      "BRAKE!",
-      "Risk of Collision",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
-
-  Alert(
-      "fcwStock",
-      "BRAKE!",
-      "Risk of Collision",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),  # no EON chime for stock FCW
-
-  Alert(
-      "steerSaturated",
-      "TAKE CONTROL",
-      "Turn Exceeds Steering Limit",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
-
-  Alert(
-      "steerTempUnavailable",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
-
-  Alert(
-      "steerTempUnavailableMute",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
-
-  Alert(
-      "preDriverDistracted",
-      "KEEP EYES ON ROAD: Driver Appears Distracted",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
-
-  Alert(
-      "promptDriverDistracted",
-      "KEEP EYES ON ROAD",
-      "Driver Appears Distracted",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
-
-  Alert(
-      "driverDistracted",
-      "DISENGAGE IMMEDIATELY",
-      "Driver Was Distracted",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
-
-  Alert(
-      "preDriverUnresponsive",
-      "TOUCH STEERING WHEEL: No Face Detected",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
-
-  Alert(
-      "promptDriverUnresponsive",
-      "TOUCH STEERING WHEEL",
-      "Driver Is Unresponsive",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
-
-  Alert(
-      "driverUnresponsive",
-      "DISENGAGE IMMEDIATELY",
-      "Driver Was Unresponsive",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
-
-  Alert(
-      "driverMonitorLowAcc",
-      "CHECK DRIVER FACE VISIBILITY",
-      "Driver Monitor Model Output Uncertain",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.),
-
-  Alert(
-      "geofence",
-      "DISENGAGEMENT REQUIRED",
-      "Not in Geofenced Area",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
-
-  Alert(
-      "startup",
-      "Be ready to take over at any time",
-      "Always keep hands on wheel and eyes on road",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
-
-  Alert(
-      "startupMaster",
-      "WARNING: This branch is not tested",
-      "Always keep hands on wheel and eyes on road",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
-
-  Alert(
-      "startupNoControl",
-      "Dashcam mode",
-      "Always keep hands on wheel and eyes on road",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
-
-  Alert(
-      "startupNoCar",
-      "Dashcam mode with unsupported car",
-      "Always keep hands on wheel and eyes on road",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
-
-  Alert(
-      "ethicalDilemma",
-      "TAKE CONTROL IMMEDIATELY",
-      "Ethical Dilemma Detected",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),
-
-  Alert(
-      "steerTempUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Steering Temporarily Unavailable",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
-
-  Alert(
-      "manualRestart",
-      "TAKE CONTROL",
-      "Resume Driving Manually",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "resumeRequired",
-      "STOPPED",
-      "Press Resume to Move",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "belowSteerSpeed",
-      "TAKE CONTROL",
-      "Steer Unavailable Below ",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3),
-
-  Alert(
-      "debugAlert",
-      "DEBUG ALERT",
-      "",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
-  Alert(
-      "preLaneChangeLeft",
-      "Steer Left to Start Lane Change",
-      "Monitor Other Vehicles",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
-
-  Alert(
-      "preLaneChangeRight",
-      "Steer Right to Start Lane Change",
-      "Monitor Other Vehicles",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
-
-  Alert(
-      "laneChange",
-      "Changing Lane",
-      "Monitor Other Vehicles",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
-
-  Alert(
-      "posenetInvalid",
-      "TAKE CONTROL",
-      "Vision Model Output Uncertain",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
-
-  # Non-entry only alerts
-  Alert(
-      "wrongCarModeNoEntry",
-      "openpilot Unavailable",
-      "Main Switch Off",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
-
-  Alert(
-      "dataNeededNoEntry",
-      "openpilot Unavailable",
-      "Data Needed for Calibration. Upload Drive, Try Again",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
-
-  Alert(
-      "outOfSpaceNoEntry",
-      "openpilot Unavailable",
-      "Out of Storage Space",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
-
-  Alert(
-      "pedalPressedNoEntry",
-      "openpilot Unavailable",
-      "Pedal Pressed During Attempt",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, "brakePressed", AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "speedTooLowNoEntry",
-      "openpilot Unavailable",
-      "Speed Too Low",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "brakeHoldNoEntry",
-      "openpilot Unavailable",
-      "Brake Hold Active",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "parkBrakeNoEntry",
-      "openpilot Unavailable",
-      "Park Brake Engaged",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "lowSpeedLockoutNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "lowBatteryNoEntry",
-      "openpilot Unavailable",
-      "Low Battery",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "sensorDataInvalidNoEntry",
-      "openpilot Unavailable",
-      "No Data from Device Sensors",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "soundsUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Speaker not found",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "tooDistractedNoEntry",
-      "openpilot Unavailable",
-      "Distraction Level Too High",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  # Cancellation alerts causing soft disabling
-  Alert(
-      "overheat",
-      "TAKE CONTROL IMMEDIATELY",
-      "System Overheated",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "wrongGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gear not D",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "calibrationInvalid",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration Invalid: Reposition Device and Recalibrate",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "calibrationIncomplete",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration in Progress",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "doorOpen",
-      "TAKE CONTROL IMMEDIATELY",
-      "Door Open",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "seatbeltNotLatched",
-      "TAKE CONTROL IMMEDIATELY",
-      "Seatbelt Unlatched",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "espDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "ESP Off",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "lowBattery",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Battery",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "commIssue",
-      "TAKE CONTROL IMMEDIATELY",
-      "Communication Issue between Processes",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "radarCommIssue",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Communication Issue",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "radarCanError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  Alert(
-      "radarFault",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-
-  Alert(
-      "lowMemory",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Memory: Reboot Your Device",
-      AlertStatus.critical, AlertSize.full,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
-
-  # Cancellation alerts causing immediate disabling
-  Alert(
-      "controlsFailed",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Failed",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  Alert(
-      "controlsMismatch",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Mismatch",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  Alert(
-      "canError",
-      "TAKE CONTROL IMMEDIATELY",
-      "CAN Error: Check Connections",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  Alert(
-      "steerUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "LKAS Fault: Restart the Car",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  Alert(
-      "brakeUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Fault: Restart the Car",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  Alert(
-      "gasUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gas Fault: Restart the Car",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  Alert(
-      "reverseGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Reverse Gear",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  Alert(
-      "cruiseDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Is Off",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  Alert(
-      "plannerError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Planner Solution Error",
-      AlertStatus.critical, AlertSize.full,
-      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
-
-  # not loud cancellations (user is in control)
-  Alert(
-      "noTarget",
-      "openpilot Canceled",
-      "No close lead car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-
-  Alert(
-      "speedTooLow",
-      "openpilot Canceled",
-      "Speed too low",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-
-  # Cancellation alerts causing non-entry
-  Alert(
-      "overheatNoEntry",
-      "openpilot Unavailable",
-      "System overheated",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "wrongGearNoEntry",
-      "openpilot Unavailable",
-      "Gear not D",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "calibrationInvalidNoEntry",
-      "openpilot Unavailable",
-      "Calibration Invalid: Reposition Device and Recalibrate",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "calibrationIncompleteNoEntry",
-      "openpilot Unavailable",
-      "Calibration in Progress",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "doorOpenNoEntry",
-      "openpilot Unavailable",
-      "Door open",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "seatbeltNotLatchedNoEntry",
-      "openpilot Unavailable",
-      "Seatbelt unlatched",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "espDisabledNoEntry",
-      "openpilot Unavailable",
-      "ESP Off",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "geofenceNoEntry",
-      "openpilot Unavailable",
-      "Not in Geofenced Area",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "radarCanErrorNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "radarFaultNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "posenetInvalidNoEntry",
-      "openpilot Unavailable",
-      "Vision Model Output Uncertain",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "controlsFailedNoEntry",
-      "openpilot Unavailable",
-      "Controls Failed",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "canErrorNoEntry",
-      "openpilot Unavailable",
-      "CAN Error: Check Connections",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "steerUnavailableNoEntry",
-      "openpilot Unavailable",
-      "LKAS Fault: Restart the Car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "brakeUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "gasUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Gas Error: Restart the Car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "reverseGearNoEntry",
-      "openpilot Unavailable",
-      "Reverse Gear",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "cruiseDisabledNoEntry",
-      "openpilot Unavailable",
-      "Cruise is Off",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "noTargetNoEntry",
-      "openpilot Unavailable",
-      "No Close Lead Car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "plannerErrorNoEntry",
-      "openpilot Unavailable",
-      "Planner Solution Error",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
-
-  Alert(
-      "commIssueNoEntry",
-      "openpilot Unavailable",
-      "Communication Issue between Processes",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-
-  Alert(
-      "radarCommIssueNoEntry",
-      "openpilot Unavailable",
-      "Radar Communication Issue",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-
-  Alert(
-      "internetConnectivityNeededNoEntry",
-      "openpilot Unavailable",
-      "Please Connect to Internet",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-
-  Alert(
-      "lowMemoryNoEntry",
-      "openpilot Unavailable",
-      "Low Memory: Reboot Your Device",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-
-  # permanent alerts
-  Alert(
-      "steerUnavailablePermanent",
-      "LKAS Fault: Restart the car to engage",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "brakeUnavailablePermanent",
-      "Cruise Fault: Restart the car to engage",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "lowSpeedLockoutPermanent",
-      "Cruise Fault: Restart the car to engage",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "calibrationIncompletePermanent",
-      "Calibration in Progress: ",
-      "Drive Above ",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "invalidGiraffeToyotaPermanent",
-      "Unsupported Giraffe Configuration",
-      "Visit comma.ai/tg",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "internetConnectivityNeededPermanent",
-      "Please connect to Internet",
-      "An Update Check Is Required to Engage",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "communityFeatureDisallowedPermanent",
-      "Community Feature Detected",
-      "Enable Community Features in Developer Settings",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),  # LOW priority to overcome Cruise Error
-
-  Alert(
-      "sensorDataInvalidPermanent",
-      "No Data from Device Sensors",
-      "Reboot your Device",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "soundsUnavailablePermanent",
-      "Speaker not found",
-      "Reboot your Device",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "lowMemoryPermanent",
-      "RAM Critically Low",
-      "Reboot your Device",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "carUnrecognizedPermanent",
-      "Dashcam Mode",
-      "Car Unrecognized",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
-  Alert(
-      "vehicleModelInvalid",
-      "Vehicle Parameter Identification Failed",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
-
-  # offroad alerts
-  Alert(
-      "ldwPermanent",
-      "TAKE CONTROL",
-      "Lane Departure Detected",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
-]
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index cebb1a2c26139f..9a863551a82811 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -13,12 +13,13 @@
     "_comment": "Append the number of days at the end of the text"
   },
   "Offroad_ConnectivityNeeded": {
-    "text": "Connect to internet to check for updates. openpilot won't engage until it connects to internet to check for updates.",
+    "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.",
     "severity": 1
   },
-  "Offroad_PandaFirmwareMismatch": {
-    "text": "Unexpected panda firmware version. System won't start. Reboot your device to reflash panda.",
-    "severity": 1
+  "Offroad_UpdateFailed": {
+    "text": "Unable to download updates\n",
+    "severity": 1,
+    "_comment": "Append the command and error to the text."
   },
   "Offroad_InvalidTime": {
     "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",
@@ -27,5 +28,17 @@
   "Offroad_IsTakingSnapshot": {
     "text": "Taking camera snapshots. System won't start until finished.",
     "severity": 0
+  },
+  "Offroad_NeosUpdate": {
+    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
+    "severity": 0
+  },
+  "Offroad_UnofficialHardware": {
+    "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, contact support@comma.ai.",
+    "severity": 1
+  },
+  "Offroad_StorageMissing": {
+    "text": "Storage drive not mounted.",
+    "severity": 1
   }
 }
diff --git a/selfdrive/controls/lib/cluster/fastcluster.cpp b/selfdrive/controls/lib/cluster/fastcluster.cpp
index 6b0af725cef289..d2b557d6f5be20 100644
--- a/selfdrive/controls/lib/cluster/fastcluster.cpp
+++ b/selfdrive/controls/lib/cluster/fastcluster.cpp
@@ -188,11 +188,11 @@ extern "C" {
   //   out = allocated integer array of size n * (n - 1) / 2 for result
   void hclust_pdist(int n, int m, double* pts, double* out) {
     int ii = 0;
-    for (int i = 0; i < n; i++){
-      for (int j = i + 1; j < n; j++){
+    for (int i = 0; i < n; i++) {
+      for (int j = i + 1; j < n; j++) {
         // Compute euclidian distance
         double d = 0;
-        for (int k = 0; k < m; k ++){
+        for (int k = 0; k < m; k ++) {
           double error = pts[i * m + k] - pts[j * m + k];
           d += (error * error);
         }
diff --git a/selfdrive/controls/lib/cluster/fastcluster_dm.cpp b/selfdrive/controls/lib/cluster/fastcluster_dm.cpp
index 8834bc24a04dd2..ee6670c2042420 100644
--- a/selfdrive/controls/lib/cluster/fastcluster_dm.cpp
+++ b/selfdrive/controls/lib/cluster/fastcluster_dm.cpp
@@ -49,8 +49,8 @@
 #ifdef NO_INCLUDE_FENV
 #pragma message("Do not use fenv header.")
 #else
-#pragma message("Use fenv header. If there is a warning about unknown #pragma STDC FENV_ACCESS, this can be ignored.")
-#pragma STDC FENV_ACCESS on
+//#pragma message("Use fenv header. If there is a warning about unknown #pragma STDC FENV_ACCESS, this can be ignored.")
+//#pragma STDC FENV_ACCESS on
 #include <fenv.h>
 #endif
 
diff --git a/selfdrive/controls/lib/cluster/test.cpp b/selfdrive/controls/lib/cluster/test.cpp
index 208867775d7d6d..d4e4fa5361c3ce 100644
--- a/selfdrive/controls/lib/cluster/test.cpp
+++ b/selfdrive/controls/lib/cluster/test.cpp
@@ -5,7 +5,7 @@ extern "C" {
 }
 
 
-int main(int argc, const char* argv[]){
+int main(int argc, const char* argv[]) {
   const int n = 11;
   const int m = 3;
   double* pts = new double[n*m]{59.26000137, -9.35999966, -5.42500019,
@@ -25,7 +25,7 @@ int main(int argc, const char* argv[]){
 
   cluster_points_centroid(n, m, pts, 2.5 * 2.5, idx);
 
-  for (int i = 0; i < n; i++){
+  for (int i = 0; i < n; i++) {
     assert(idx[i] == correct_idx[i]);
   }
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index a3580a8a91b24a..6cecd0cf1c217d 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,17 +1,38 @@
+import math
 from cereal import car
 from common.numpy_fast import clip, interp
+from common.realtime import DT_MDL
 from selfdrive.config import Conversions as CV
+from selfdrive.modeld.constants import T_IDXS
 
 # kph
-V_CRUISE_MAX = 144
+V_CRUISE_MAX = 135
 V_CRUISE_MIN = 8
-V_CRUISE_DELTA = 8
 V_CRUISE_ENABLE_MIN = 40
 
+LAT_MPC_N = 16
+LON_MPC_N = 32
+CONTROL_N = 17
+CAR_ROTATION_RADIUS = 0.0
+REGEN_THRESHOLD = 5
+
+# this corresponds to 80deg/s and 20deg/s steering angle in a toyota corolla
+MAX_CURVATURE_RATES = [0.03762194918267951, 0.003441203371932992]
+MAX_CURVATURE_RATE_SPEEDS = [0, 35]
+
+CRUISE_LONG_PRESS = 50
+CRUISE_NEAREST_FUNC = {
+  car.CarState.ButtonEvent.Type.accelCruise: math.ceil,
+  car.CarState.ButtonEvent.Type.decelCruise: math.floor,
+}
+CRUISE_INTERVAL_SIGN = {
+  car.CarState.ButtonEvent.Type.accelCruise: +1,
+  car.CarState.ButtonEvent.Type.decelCruise: -1,
+}
+
 
 class MPC_COST_LAT:
   PATH = 1.0
-  LANE = 3.0
   HEADING = 1.0
   STEER_RATE = 1.0
 
@@ -23,34 +44,6 @@ class MPC_COST_LONG:
   JERK = 20.0
 
 
-class EventTypes:
-  ENABLE = 'enable'
-  PRE_ENABLE = 'preEnable'
-  NO_ENTRY = 'noEntry'
-  WARNING = 'warning'
-  USER_DISABLE = 'userDisable'
-  SOFT_DISABLE = 'softDisable'
-  IMMEDIATE_DISABLE = 'immediateDisable'
-  PERMANENT = 'permanent'
-
-
-def create_event(name, types):
-  event = car.CarEvent.new_message()
-  event.name = name
-  for t in types:
-    setattr(event, t, True)
-  return event
-
-
-def get_events(events, types):
-  out = []
-  for e in events:
-    for t in types:
-      if getattr(e, t):
-        out.append(e.name)
-  return out
-
-
 def rate_limit(new_value, last_value, dw_step, up_step):
   return clip(new_value, last_value + dw_step, last_value + up_step)
 
@@ -59,24 +52,81 @@ def get_steer_max(CP, v_ego):
   return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
 
 
-def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
+def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
   # handle button presses. TODO: this should be in state_control, but a decelCruise press
   # would have the effect of both enabling and changing speed is checked after the state transition
+  if not enabled:
+    return v_cruise_kph
+
+  long_press = False
+  button_type = None
+
+  v_cruise_delta = 1 if metric else 1.6
+
   for b in buttonEvents:
-    if enabled and not b.pressed:
-      if b.type == "accelCruise":
-        v_cruise_kph += V_CRUISE_DELTA - (v_cruise_kph % V_CRUISE_DELTA)
-      elif b.type == "decelCruise":
-        v_cruise_kph -= V_CRUISE_DELTA - ((V_CRUISE_DELTA - v_cruise_kph) % V_CRUISE_DELTA)
-      v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
+    if b.type.raw in button_timers and not b.pressed:
+      if button_timers[b.type.raw] > CRUISE_LONG_PRESS:
+        return v_cruise_kph # end long press
+      button_type = b.type.raw
+      break
+  else:
+    for k in button_timers.keys():
+      if button_timers[k] and button_timers[k] % CRUISE_LONG_PRESS == 0:
+        button_type = k
+        long_press = True
+        break
+
+  if button_type:
+    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+    if long_press and v_cruise_kph % v_cruise_delta != 0: # partial interval
+      v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](v_cruise_kph / v_cruise_delta) * v_cruise_delta
+    else:
+      v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
+    v_cruise_kph = clip(round(v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
 
   return v_cruise_kph
 
+def update_v_cruise_regen(v_ego, v_cruise_kph, regen, enabled):
+  if enabled and regen:
+    if (v_ego * CV.MS_TO_KPH + REGEN_THRESHOLD) < v_cruise_kph:
+      v_cruise_kph -= REGEN_THRESHOLD - -v_cruise_kph % 5
+
+  v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
+
+  return v_cruise_kph
 
 def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
   for b in buttonEvents:
     # 250kph or above probably means we never had a set speed
-    if b.type == "accelCruise" and v_cruise_last < 250:
+    if b.type == car.CarState.ButtonEvent.Type.accelCruise and v_cruise_last < 250:
       return v_cruise_last
 
   return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
+
+
+def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
+  if len(psis) != CONTROL_N:
+    psis = [0.0 for i in range(CONTROL_N)]
+    curvatures = [0.0 for i in range(CONTROL_N)]
+    curvature_rates = [0.0 for i in range(CONTROL_N)]
+
+  # TODO this needs more thought, use .2s extra for now to estimate other delays
+  delay = CP.steerActuatorDelay + .2
+  current_curvature = curvatures[0]
+  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
+  desired_curvature_rate = curvature_rates[0]
+
+  # MPC can plan to turn the wheel and turn back before t_delay. This means
+  # in high delay cases some corrections never even get commanded. So just use
+  # psi to calculate a simple linearization of desired curvature
+  curvature_diff_from_psi = psi / (max(v_ego, 1e-1) * delay) - current_curvature
+  desired_curvature = current_curvature + 2 * curvature_diff_from_psi
+
+  max_curvature_rate = interp(v_ego, MAX_CURVATURE_RATE_SPEEDS, MAX_CURVATURE_RATES)
+  safe_desired_curvature_rate = clip(desired_curvature_rate,
+                                          -max_curvature_rate,
+                                          max_curvature_rate)
+  safe_desired_curvature = clip(desired_curvature,
+                                     current_curvature - max_curvature_rate/DT_MDL,
+                                     current_curvature + max_curvature_rate/DT_MDL)
+  return safe_desired_curvature, safe_desired_curvature_rate
diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py
deleted file mode 100644
index 8f0dbda706b611..00000000000000
--- a/selfdrive/controls/lib/driver_monitor.py
+++ /dev/null
@@ -1,256 +0,0 @@
-from common.numpy_fast import interp
-from math import atan2, sqrt
-from common.realtime import DT_DMON
-from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from common.filter_simple import FirstOrderFilter
-from common.stat_live import RunningStatFilter
-
-_AWARENESS_TIME = 70.  # one minute limit without user touching steering wheels make the car enter a terminal status
-_AWARENESS_PRE_TIME_TILL_TERMINAL = 15.  # a first alert is issued 25s before expiration
-_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.  # a second alert is issued 15s before start decelerating the car
-_DISTRACTED_TIME = 11.
-_DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
-
-_FACE_THRESHOLD = 0.4
-_EYE_THRESHOLD = 0.6
-_BLINK_THRESHOLD = 0.5 # 0.225
-_BLINK_THRESHOLD_SLACK = 0.65
-_BLINK_THRESHOLD_STRICT = 0.5
-_PITCH_WEIGHT = 1.35 # 1.5  # pitch matters a lot more
-_POSESTD_THRESHOLD = 0.14
-_METRIC_THRESHOLD = 0.4
-_METRIC_THRESHOLD_SLACK = 0.55
-_METRIC_THRESHOLD_STRICT = 0.4
-_PITCH_POS_ALLOWANCE = 0.12 # rad, to not be too sensitive on positive pitch
-_PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
-_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
-
-_HI_STD_TIMEOUT = 5
-_HI_STD_FALLBACK_TIME = 10 # fall back to wheel touch if model is uncertain for a long time
-_DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-
-_POSE_CALIB_MIN_SPEED = 13 # 30 mph
-_POSE_OFFSET_MIN_COUNT = 60 # valid data counts before calibration completes, 1 seg is 600 counts
-_POSE_OFFSET_MAX_COUNT = 360 # stop deweighting new data after 6 min, aka "short term memory"
-
-_RECOVERY_FACTOR_MAX = 5. # relative to minus step change
-_RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
-
-MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
-MAX_TERMINAL_DURATION = 300 # 30s
-
-# model output refers to center of cropped image, so need to apply the x displacement offset
-RESIZED_FOCAL = 320.0
-H, W, FULL_W = 320, 160, 426
-
-class DistractedType():
-  NOT_DISTRACTED = 0
-  BAD_POSE = 1
-  BAD_BLINK = 2
-
-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
-  # the output of these angles are in device frame
-  # so from driver's perspective, pitch is up and yaw is right
-
-  pitch_net = angles_desc[0]
-  yaw_net = angles_desc[1]
-  roll_net = angles_desc[2]
-
-  face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)
-
-  roll = roll_net
-  pitch = pitch_net + pitch_focal_angle
-  yaw = -yaw_net + yaw_focal_angle
-
-  # no calib for roll
-  pitch -= rpy_calib[1]
-  yaw -= rpy_calib[2]
-  return roll, pitch, yaw
-
-class DriverPose():
-  def __init__(self):
-    self.yaw = 0.
-    self.pitch = 0.
-    self.roll = 0.
-    self.yaw_std = 0.
-    self.pitch_std = 0.
-    self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(max_trackable=_POSE_OFFSET_MAX_COUNT)
-    self.yaw_offseter = RunningStatFilter(max_trackable=_POSE_OFFSET_MAX_COUNT)
-    self.low_std = True
-    self.cfactor = 1.
-
-class DriverBlink():
-  def __init__(self):
-    self.left_blink = 0.
-    self.right_blink = 0.
-    self.cfactor = 1.
-
-class DriverStatus():
-  def __init__(self):
-    self.pose = DriverPose()
-    self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
-                            self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
-    self.blink = DriverBlink()
-    self.awareness = 1.
-    self.awareness_active = 1.
-    self.awareness_passive = 1.
-    self.driver_distracted = False
-    self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, DT_DMON)
-    self.face_detected = False
-    self.terminal_alert_cnt = 0
-    self.terminal_time = 0
-    self.step_change = 0.
-    self.active_monitoring_mode = True
-    self.hi_stds = 0
-    self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
-
-    self.is_rhd_region = False
-    self.is_rhd_region_checked = False
-
-    self._set_timers(active_monitoring=True)
-
-  def _set_timers(self, active_monitoring):
-    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
-      if active_monitoring:
-        self.step_change = DT_DMON / _DISTRACTED_TIME
-      else:
-        self.step_change = 0.
-      return # no exploit after orange alert
-    elif self.awareness <= 0.:
-      return
-
-    if active_monitoring:
-      # when falling back from passive mode to active mode, reset awareness to avoid false alert
-      if not self.active_monitoring_mode:
-        self.awareness_passive = self.awareness
-        self.awareness = self.awareness_active
-
-      self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
-      self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
-      self.step_change = DT_DMON / _DISTRACTED_TIME
-      self.active_monitoring_mode = True
-    else:
-      if self.active_monitoring_mode:
-        self.awareness_active = self.awareness
-        self.awareness = self.awareness_passive
-
-      self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
-      self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
-      self.step_change = DT_DMON / _AWARENESS_TIME
-      self.active_monitoring_mode = False
-
-  def _is_driver_distracted(self, pose, blink):
-    if not self.pose_calibrated:
-      pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
-      yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
-    else:
-      pitch_error = pose.pitch - self.pose.pitch_offseter.filtered_stat.mean()
-      yaw_error = pose.yaw - self.pose.yaw_offseter.filtered_stat.mean()
-
-    # positive pitch allowance
-    if pitch_error > 0.:
-      pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
-    pitch_error *= _PITCH_WEIGHT
-    pose_metric = sqrt(yaw_error**2 + pitch_error**2)
-
-    if pose_metric > _METRIC_THRESHOLD*pose.cfactor:
-      return DistractedType.BAD_POSE
-    elif (blink.left_blink + blink.right_blink)*0.5 > _BLINK_THRESHOLD*blink.cfactor:
-      return DistractedType.BAD_BLINK
-    else:
-      return DistractedType.NOT_DISTRACTED
-
-  def set_policy(self, model_data):
-    ep = min(model_data.meta.engagedProb, 0.8) / 0.8
-    self.pose.cfactor = interp(ep, [0, 0.5, 1], [_METRIC_THRESHOLD_STRICT, _METRIC_THRESHOLD, _METRIC_THRESHOLD_SLACK])/_METRIC_THRESHOLD
-    self.blink.cfactor = interp(ep, [0, 0.5, 1], [_BLINK_THRESHOLD_STRICT, _BLINK_THRESHOLD, _BLINK_THRESHOLD_SLACK])/_BLINK_THRESHOLD
-
-  def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged):
-    # 10 Hz
-    if len(driver_state.faceOrientation) == 0 or len(driver_state.facePosition) == 0 or len(driver_state.faceOrientationStd) == 0 or len(driver_state.facePositionStd) == 0:
-      return
-
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy)
-    self.pose.pitch_std = driver_state.faceOrientationStd[0]
-    self.pose.yaw_std = driver_state.faceOrientationStd[1]
-    # self.pose.roll_std = driver_state.faceOrientationStd[2]
-    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < _POSESTD_THRESHOLD
-    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb>_EYE_THRESHOLD)
-    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb>_EYE_THRESHOLD)
-    self.face_detected = driver_state.faceProb > _FACE_THRESHOLD and \
-                          abs(driver_state.facePosition[0]) <= 0.4 and abs(driver_state.facePosition[1]) <= 0.45 and \
-                          not self.is_rhd_region
-
-    self.driver_distracted = self._is_driver_distracted(self.pose, self.blink) > 0
-    # first order filters
-    self.driver_distraction_filter.update(self.driver_distracted)
-
-    # update offseter
-    # only update when driver is actively driving the car above a certain speed
-    if self.face_detected and car_speed>_POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
-      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
-      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
-
-    self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
-                            self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
-
-    is_model_uncertain = self.hi_stds * DT_DMON > _HI_STD_FALLBACK_TIME
-    self._set_timers(self.face_detected and not is_model_uncertain)
-    if self.face_detected and not self.pose.low_std:
-      if not is_model_uncertain:
-        self.step_change *= max(0, (model_std_max-0.5)*(model_std_max-2))
-      self.hi_stds += 1
-    elif self.face_detected and self.pose.low_std:
-      self.hi_stds = 0
-
-  def update(self, events, driver_engaged, ctrl_active, standstill):
-    if (driver_engaged and self.awareness > 0) or not ctrl_active:
-      # reset only when on disengagement if red reached
-      self.awareness = 1.
-      self.awareness_active = 1.
-      self.awareness_passive = 1.
-      return events
-
-    driver_attentive = self.driver_distraction_filter.x < 0.37
-    awareness_prev = self.awareness
-
-    if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT:
-      events.append(create_event('driverMonitorLowAcc', [ET.WARNING]))
-
-    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
-      # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((_RECOVERY_FACTOR_MAX-_RECOVERY_FACTOR_MIN)*(1.-self.awareness)+_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
-      if self.awareness == 1.:
-        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
-      # don't display alert banner when awareness is recovering and has cleared orange
-      if self.awareness > self.threshold_prompt:
-        return events
-
-    # should always be counting if distracted unless at standstill and reaching orange
-    if (not (self.face_detected and self.hi_stds * DT_DMON <= _HI_STD_FALLBACK_TIME) or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
-       not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
-      self.awareness = max(self.awareness - self.step_change, -0.1)
-
-    alert = None
-    if self.awareness <= 0.:
-      # terminal red alert: disengagement required
-      alert = 'driverDistracted' if self.active_monitoring_mode else 'driverUnresponsive'
-      self.terminal_time += 1
-      if awareness_prev > 0.:
-        self.terminal_alert_cnt += 1
-    elif self.awareness <= self.threshold_prompt:
-      # prompt orange alert
-      alert = 'promptDriverDistracted' if self.active_monitoring_mode else 'promptDriverUnresponsive'
-    elif self.awareness <= self.threshold_pre:
-      # pre green alert
-      alert = 'preDriverDistracted' if self.active_monitoring_mode else 'preDriverUnresponsive'
-
-    if alert is not None:
-      events.append(create_event(alert, [ET.WARNING]))
-
-    return events
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
new file mode 100644
index 00000000000000..09e9d65c90c34a
--- /dev/null
+++ b/selfdrive/controls/lib/events.py
@@ -0,0 +1,851 @@
+from enum import IntEnum
+from typing import Dict, Union, Callable, Any
+
+from cereal import log, car
+import cereal.messaging as messaging
+from common.realtime import DT_CTRL
+from selfdrive.config import Conversions as CV
+from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
+
+AlertSize = log.ControlsState.AlertSize
+AlertStatus = log.ControlsState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+EventName = car.CarEvent.EventName
+
+
+# Alert priorities
+class Priority(IntEnum):
+  LOWEST = 0
+  LOWER = 1
+  LOW = 2
+  MID = 3
+  HIGH = 4
+  HIGHEST = 5
+
+
+# Event types
+class ET:
+  ENABLE = 'enable'
+  PRE_ENABLE = 'preEnable'
+  NO_ENTRY = 'noEntry'
+  WARNING = 'warning'
+  USER_DISABLE = 'userDisable'
+  SOFT_DISABLE = 'softDisable'
+  IMMEDIATE_DISABLE = 'immediateDisable'
+  PERMANENT = 'permanent'
+
+
+# get event name from enum
+EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
+
+
+class Events:
+  def __init__(self):
+    self.events = []
+    self.static_events = []
+    self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
+
+  @property
+  def names(self):
+    return self.events
+
+  def __len__(self):
+    return len(self.events)
+
+  def add(self, event_name, static=False):
+    if static:
+      self.static_events.append(event_name)
+    self.events.append(event_name)
+
+  def clear(self):
+    self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
+    self.events = self.static_events.copy()
+
+  def any(self, event_type):
+    for e in self.events:
+      if event_type in EVENTS.get(e, {}).keys():
+        return True
+    return False
+
+  def create_alerts(self, event_types, callback_args=None):
+    if callback_args is None:
+      callback_args = []
+
+    ret = []
+    for e in self.events:
+      types = EVENTS[e].keys()
+      for et in event_types:
+        if et in types:
+          alert = EVENTS[e][et]
+          if not isinstance(alert, Alert):
+            alert = alert(*callback_args)
+
+          if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay:
+            alert.alert_type = f"{EVENT_NAME[e]}/{et}"
+            alert.event_type = et
+            ret.append(alert)
+    return ret
+
+  def add_from_msg(self, events):
+    for e in events:
+      self.events.append(e.name.raw)
+
+  def to_msg(self):
+    ret = []
+    for event_name in self.events:
+      event = car.CarEvent.new_message()
+      event.name = event_name
+      for event_type in EVENTS.get(event_name, {}).keys():
+        setattr(event, event_type, True)
+      ret.append(event)
+    return ret
+
+
+class Alert:
+  def __init__(self,
+               alert_text_1: str,
+               alert_text_2: str,
+               alert_status: log.ControlsState.AlertStatus,
+               alert_size: log.ControlsState.AlertSize,
+               priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               duration: float,
+               alert_rate: float = 0.,
+               creation_delay: float = 0.):
+
+    self.alert_text_1 = alert_text_1
+    self.alert_text_2 = alert_text_2
+    self.alert_status = alert_status
+    self.alert_size = alert_size
+    self.priority = priority
+    self.visual_alert = visual_alert
+    self.audible_alert = audible_alert
+
+    self.duration = duration
+
+    self.alert_rate = alert_rate
+    self.creation_delay = creation_delay
+
+    self.alert_type = ""
+    self.event_type = None
+
+  def __str__(self) -> str:
+    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
+
+  def __gt__(self, alert2) -> bool:
+    return self.priority > alert2.priority
+
+
+class NoEntryAlert(Alert):
+  def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
+               visual_alert=VisualAlert.none):
+    super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal,
+                     AlertSize.mid, Priority.LOW, visual_alert,
+                     audible_alert, 3.)
+
+
+class SoftDisableAlert(Alert):
+  def __init__(self, alert_text_2):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.critical, AlertSize.full,
+                     Priority.MID, VisualAlert.steerRequired,
+                     AudibleAlert.chimeWarningRepeatInfinite, 2.),
+
+
+class ImmediateDisableAlert(Alert):
+  def __init__(self, alert_text_2):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.critical, AlertSize.full,
+                     Priority.HIGHEST, VisualAlert.steerRequired,
+                     AudibleAlert.chimeWarningRepeatInfinite, 4.),
+
+
+class EngagementAlert(Alert):
+  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+    super().__init__("", "",
+                     AlertStatus.normal, AlertSize.none,
+                     Priority.MID, VisualAlert.none,
+                     audible_alert, .2),
+
+
+class NormalPermanentAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2):
+    super().__init__(alert_text_1, alert_text_2,
+                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, duration),
+
+# ********** helper functions **********
+def get_display_speed(speed_ms: float, metric: bool) -> str:
+  speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
+  unit = 'km/h' if metric else 'mph'
+  return f"{speed} {unit}"
+
+
+# ********** alert callback functions **********
+def below_engage_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
+  return NoEntryAlert(f"Speed Below {get_display_speed(CP.minEnableSpeed, metric)}")
+
+
+def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
+  return Alert(
+    f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
+    "",
+    AlertStatus.userPrompt, AlertSize.small,
+    Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 0.4)
+
+
+def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
+  return Alert(
+    "Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
+    f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
+
+
+def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
+  gps_integrated = sm['peripheralState'].pandaType in [log.PandaState.PandaType.uno, log.PandaState.PandaType.dos]
+  return Alert(
+    "Poor GPS reception",
+    "If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
+
+
+def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
+  text = "Cruise Mode Disabled"
+  if CP.carName == "honda":
+    text = "Main Switch Off"
+  return NoEntryAlert(text)
+
+
+def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
+  axes = sm['testJoystick'].axes
+  gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
+  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  return NormalPermanentAlert("Joystick Mode", vals)
+
+
+EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, bool], Alert]]]] = {
+  # ********** events with no alerts **********
+
+  EventName.stockFcw: {},
+
+  # ********** events only containing alerts displayed in all states **********
+
+  EventName.joystickDebug: {
+    ET.WARNING: joystick_alert,
+    ET.PERMANENT: NormalPermanentAlert("Joystick Mode"),
+  },
+
+  EventName.controlsInitializing: {
+    ET.NO_ENTRY: NoEntryAlert("Controls Initializing"),
+  },
+
+  EventName.startup: {
+    ET.PERMANENT: Alert(
+      "Be ready to take over at any time",
+      "Always keep hands on wheel and eyes on road",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
+  },
+
+  EventName.startupMaster: {
+    ET.PERMANENT: Alert(
+      "WARNING: This branch is not tested",
+      "Always keep hands on wheel and eyes on road",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
+  },
+
+  # Car is recognized, but marked as dashcam only
+  EventName.startupNoControl: {
+    ET.PERMANENT: Alert(
+      "Dashcam mode",
+      "Always keep hands on wheel and eyes on road",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
+  },
+
+  # Car is not recognized
+  EventName.startupNoCar: {
+    ET.PERMANENT: Alert(
+      "Dashcam mode for unsupported car",
+      "Always keep hands on wheel and eyes on road",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
+  },
+
+  EventName.startupNoFw: {
+    ET.PERMANENT: Alert(
+      "Car Unrecognized",
+      "Check comma power connections",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
+  },
+
+  EventName.dashcamMode: {
+    ET.PERMANENT: Alert(
+      "Dashcam Mode",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  EventName.invalidLkasSetting: {
+    ET.PERMANENT: Alert(
+      "Stock LKAS is turned on",
+      "Turn off stock LKAS to engage",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  EventName.cruiseMismatch: {
+    ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"),
+  },
+
+  # Some features or cars are marked as community features. If openpilot
+  # detects the use of a community feature it switches to dashcam mode
+  # until these features are allowed using a toggle in settings.
+  EventName.communityFeatureDisallowed: {
+    # LOW priority to overcome Cruise Error
+    ET.PERMANENT: Alert(
+      "openpilot Not Available",
+      "Enable Community Features in Settings to Engage",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  # openpilot doesn't recognize the car. This switches openpilot into a
+  # read-only mode. This can be solved by adding your fingerprint.
+  # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information
+  EventName.carUnrecognized: {
+    ET.PERMANENT: Alert(
+      "Dashcam Mode",
+      "Car Unrecognized",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  EventName.stockAeb: {
+    ET.PERMANENT: Alert(
+      "BRAKE!",
+      "Stock AEB: Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
+  },
+
+  EventName.fcw: {
+    ET.PERMANENT: Alert(
+      "BRAKE!",
+      "Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeatInfinite, 2.),
+  },
+
+  EventName.ldw: {
+    ET.PERMANENT: Alert(
+      "TAKE CONTROL",
+      "Lane Departure Detected",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.ldw, AudibleAlert.chimePrompt, 3.),
+  },
+
+  # ********** events only containing alerts that display while engaged **********
+
+  EventName.gasPressed: {
+    ET.PRE_ENABLE: Alert(
+      "openpilot will not brake while gas pressed",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
+  },
+
+  # openpilot tries to learn certain parameters about your car by observing
+  # how the car behaves to steering inputs from both human and openpilot driving.
+  # This includes:
+  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
+  # - tire stiffness: how much grip your tires have
+  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
+  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
+  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
+  EventName.vehicleModelInvalid: {
+    ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
+    ET.SOFT_DISABLE: SoftDisableAlert("Vehicle Parameter Identification Failed"),
+    ET.WARNING: Alert(
+      "Vehicle Parameter Identification Failed",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.steerTempUnavailableSilent: {
+    ET.WARNING: Alert(
+      "Steering Temporarily Unavailable",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1.),
+  },
+
+  EventName.preDriverDistracted: {
+    ET.WARNING: Alert(
+      "KEEP EYES ON ROAD: Driver Distracted",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.promptDriverDistracted: {
+    ET.WARNING: Alert(
+      "KEEP EYES ON ROAD",
+      "Driver Distracted",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, .1),
+  },
+
+  EventName.driverDistracted: {
+    ET.WARNING: Alert(
+      "DISENGAGE IMMEDIATELY",
+      "Driver Distracted",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, .1),
+  },
+
+  EventName.preDriverUnresponsive: {
+    ET.WARNING: Alert(
+      "TOUCH STEERING WHEEL: No Face Detected",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75),
+  },
+
+  EventName.promptDriverUnresponsive: {
+    ET.WARNING: Alert(
+      "TOUCH STEERING WHEEL",
+      "Driver Unresponsive",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, .1),
+  },
+
+  EventName.driverUnresponsive: {
+    ET.WARNING: Alert(
+      "DISENGAGE IMMEDIATELY",
+      "Driver Unresponsive",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, .1),
+  },
+
+  EventName.manualRestart: {
+    ET.WARNING: Alert(
+      "TAKE CONTROL",
+      "Resume Driving Manually",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  EventName.resumeRequired: {
+    ET.WARNING: Alert(
+      "STOPPED",
+      "Press Resume to Move",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  EventName.belowSteerSpeed: {
+    ET.WARNING: below_steer_speed_alert,
+  },
+
+  EventName.preLaneChangeLeft: {
+    ET.WARNING: Alert(
+      "Steer Left to Start Lane Change Once Safe",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+  },
+
+  EventName.preLaneChangeRight: {
+    ET.WARNING: Alert(
+      "Steer Right to Start Lane Change Once Safe",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+  },
+
+  EventName.laneChangeBlocked: {
+    ET.WARNING: Alert(
+      "Car Detected in Blindspot",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimePrompt, .1),
+  },
+
+  EventName.laneChange: {
+    ET.WARNING: Alert(
+      "Changing Lanes",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.steerSaturated: {
+    ET.WARNING: Alert(
+      "TAKE CONTROL",
+      "Turn Exceeds Steering Limit",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, 1.),
+  },
+
+  # Thrown when the fan is driven at >50% but is not rotating
+  EventName.fanMalfunction: {
+    ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact Support"),
+  },
+
+  # Camera is not outputting frames at a constant framerate
+  EventName.cameraMalfunction: {
+    ET.PERMANENT: NormalPermanentAlert("Camera Malfunction", "Contact Support"),
+  },
+
+  # Unused
+  EventName.gpsMalfunction: {
+    ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Contact Support"),
+  },
+
+  # When the GPS position and localizer diverge the localizer is reset to the
+  # current GPS position. This alert is thrown when the localizer is reset
+  # more often than expected.
+  EventName.localizerMalfunction: {
+    ET.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Contact Support"),
+  },
+
+  # ********** events that affect controls state transitions **********
+
+  EventName.pcmEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
+  },
+
+  EventName.buttonEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
+  },
+
+  EventName.pcmDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
+  },
+
+  EventName.buttonCancel: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
+  },
+
+  EventName.brakeHold: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventName.parkBrake: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
+    ET.NO_ENTRY: NoEntryAlert("Park Brake Engaged"),
+  },
+
+  EventName.pedalPressed: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
+    ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
+                              visual_alert=VisualAlert.brakePressed),
+  },
+
+  EventName.wrongCarMode: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
+    ET.NO_ENTRY: wrong_car_mode_alert,
+  },
+
+  EventName.wrongCruiseMode: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
+    ET.NO_ENTRY: NoEntryAlert("Enable Adaptive Cruise"),
+  },
+
+  EventName.steerTempUnavailable: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Steering Temporarily Unavailable"),
+    ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
+  },
+
+  EventName.outOfSpace: {
+    ET.PERMANENT: NormalPermanentAlert("Out of Storage"),
+    ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
+  },
+
+  EventName.belowEngageSpeed: {
+    ET.NO_ENTRY: below_engage_speed_alert,
+  },
+
+  EventName.sensorDataInvalid: {
+    ET.PERMANENT: Alert(
+      "No Data from Device Sensors",
+      "Reboot your Device",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
+    ET.NO_ENTRY: NoEntryAlert("No Data from Device Sensors"),
+  },
+
+  EventName.noGps: {
+    ET.PERMANENT: no_gps_alert,
+  },
+
+  EventName.soundsUnavailable: {
+    ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
+    ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
+  },
+
+  EventName.tooDistracted: {
+    ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
+  },
+
+  EventName.overheat: {
+    ET.PERMANENT: NormalPermanentAlert("System Overheated"),
+    ET.SOFT_DISABLE: SoftDisableAlert("System Overheated"),
+    ET.NO_ENTRY: NoEntryAlert("System Overheated"),
+  },
+
+  EventName.wrongGear: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Gear not D"),
+    ET.NO_ENTRY: NoEntryAlert("Gear not D"),
+  },
+
+  # This alert is thrown when the calibration angles are outside of the acceptable range.
+  # For example if the device is pointed too much to the left or the right.
+  # Usually this can only be solved by removing the mount from the windshield completely,
+  # and attaching while making sure the device is pointed straight forward and is level.
+  # See https://comma.ai/setup for more information
+  EventName.calibrationInvalid: {
+    ET.PERMANENT: NormalPermanentAlert("Calibration Invalid", "Remount Device and Recalibrate"),
+    ET.SOFT_DISABLE: SoftDisableAlert("Calibration Invalid: Remount Device & Recalibrate"),
+    ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"),
+  },
+
+  EventName.calibrationIncomplete: {
+    ET.PERMANENT: calibration_incomplete_alert,
+    ET.SOFT_DISABLE: SoftDisableAlert("Calibration in Progress"),
+    ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
+  },
+
+  EventName.doorOpen: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Door Open"),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventName.seatbeltNotLatched: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Seatbelt Unlatched"),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventName.espDisabled: {
+    ET.SOFT_DISABLE: SoftDisableAlert("ESP Off"),
+    ET.NO_ENTRY: NoEntryAlert("ESP Off"),
+  },
+
+  EventName.lowBattery: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Low Battery"),
+    ET.NO_ENTRY: NoEntryAlert("Low Battery"),
+  },
+
+  # Different openpilot services communicate between each other at a certain
+  # interval. If communication does not follow the regular schedule this alert
+  # is thrown. This can mean a service crashed, did not broadcast a message for
+  # ten times the regular interval, or the average interval is more than 10% too high.
+  EventName.commIssue: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Communication Issue between Processes"),
+    ET.NO_ENTRY: NoEntryAlert("Communication Issue between Processes",
+                              audible_alert=AudibleAlert.chimeDisengage),
+  },
+
+  # Thrown when manager detects a service exited unexpectedly while driving
+  EventName.processNotRunning: {
+    ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device",
+                              audible_alert=AudibleAlert.chimeDisengage),
+  },
+
+  EventName.radarFault: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Radar Error: Restart the Car"),
+    ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
+  },
+
+  # Every frame from the camera should be processed by the model. If modeld
+  # is not processing frames fast enough they have to be dropped. This alert is
+  # thrown when over 20% of frames are dropped.
+  EventName.modeldLagging: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Driving model lagging"),
+    ET.NO_ENTRY: NoEntryAlert("Driving model lagging"),
+  },
+
+  # Besides predicting the path, lane lines and lead car data the model also
+  # predicts the current velocity and rotation speed of the car. If the model is
+  # very uncertain about the current velocity while the car is moving, this
+  # usually means the model has trouble understanding the scene. This is used
+  # as a heuristic to warn the driver.
+  EventName.posenetInvalid: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Model Output Uncertain"),
+    ET.NO_ENTRY: NoEntryAlert("Model Output Uncertain"),
+  },
+
+  # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
+  # alert the driver the device might have fallen from the windshield.
+  EventName.deviceFalling: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Device Fell Off Mount"),
+    ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"),
+  },
+
+  EventName.lowMemory: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Low Memory: Reboot Your Device"),
+    ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"),
+    ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device",
+                              audible_alert=AudibleAlert.chimeDisengage),
+  },
+
+  EventName.highCpuUsage: {
+    #ET.SOFT_DISABLE: SoftDisableAlert("System Malfunction: Reboot Your Device"),
+    #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
+    ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device",
+                              audible_alert=AudibleAlert.chimeDisengage),
+  },
+
+  EventName.accFaulted: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Faulted"),
+    ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", ""),
+    ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
+  },
+
+  EventName.controlsMismatch: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
+  },
+
+  EventName.roadCameraError: {
+    ET.PERMANENT: NormalPermanentAlert("Road Camera Error", "",
+                                       duration=10.),
+  },
+
+  EventName.driverCameraError: {
+    ET.PERMANENT: NormalPermanentAlert("Driver Camera Error", "",
+                                       duration=10.),
+  },
+
+  EventName.wideRoadCameraError: {
+    ET.PERMANENT: NormalPermanentAlert("Wide Road Camera Error", "",
+                                       duration=10.),
+  },
+
+  # Sometimes the USB stack on the device can get into a bad state
+  # causing the connection to the panda to be lost
+  EventName.usbError: {
+    ET.SOFT_DISABLE: SoftDisableAlert("USB Error: Reboot Your Device"),
+    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
+    ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
+  },
+
+  # This alert can be thrown for the following reasons:
+  # - No CAN data received at all
+  # - CAN data is received, but some message are not received at the right frequency
+  # If you're not writing a new car port, this is usually cause by faulty wiring
+  EventName.canError: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error: Check Connections"),
+    ET.PERMANENT: Alert(
+      "CAN Error: Check Connections",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
+    ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+  },
+
+  EventName.steerUnavailable: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS Fault: Restart the Car"),
+    ET.PERMANENT: Alert(
+      "LKAS Fault: Restart the car to engage",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
+    ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
+  },
+
+  EventName.brakeUnavailable: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
+    ET.PERMANENT: Alert(
+      "Cruise Fault: Restart the car to engage",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
+    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
+  },
+
+  EventName.reverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  # On cars that use stock ACC the car can decide to cancel ACC for various reasons.
+  # When this happens we can no long control the car so the user needs to be warned immediately.
+  EventName.cruiseDisabled: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"),
+  },
+
+  # For planning the trajectory Model Predictive Control (MPC) is used. This is
+  # an optimization algorithm that is not guaranteed to find a feasible solution.
+  # If no solution is found or the solution has a very high cost this alert is thrown.
+  EventName.plannerError: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"),
+    ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"),
+  },
+
+  # When the relay in the harness box opens the CAN bus between the LKAS camera
+  # and the rest of the car is separated. When messages from the LKAS camera
+  # are received on the car side this usually means the relay hasn't opened correctly
+  # and this alert is thrown.
+  EventName.relayMalfunction: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Malfunction"),
+    ET.PERMANENT: NormalPermanentAlert("Harness Malfunction", "Check Hardware"),
+    ET.NO_ENTRY: NoEntryAlert("Harness Malfunction"),
+  },
+
+  EventName.noTarget: {
+    ET.IMMEDIATE_DISABLE: Alert(
+      "openpilot Canceled",
+      "No close lead car",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, 3.),
+    ET.NO_ENTRY: NoEntryAlert("No Close Lead Car"),
+  },
+
+  EventName.speedTooLow: {
+    ET.IMMEDIATE_DISABLE: Alert(
+      "openpilot Canceled",
+      "Speed too low",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, 3.),
+  },
+
+  # When the car is driving faster than most cars in the training data the model outputs can be unpredictable
+  EventName.speedTooHigh: {
+    ET.WARNING: Alert(
+      "Speed Too High",
+      "Model uncertain at this speed",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, 4.),
+    ET.NO_ENTRY: Alert(
+      "Speed Too High",
+      "Slow down to engage",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, 3.),
+  },
+
+  EventName.lowSpeedLockout: {
+    ET.PERMANENT: Alert(
+      "Cruise Fault: Restart the car to engage",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
+    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
+  },
+
+}
diff --git a/selfdrive/controls/lib/fcw.py b/selfdrive/controls/lib/fcw.py
deleted file mode 100644
index b7e53b9ccf82b4..00000000000000
--- a/selfdrive/controls/lib/fcw.py
+++ /dev/null
@@ -1,77 +0,0 @@
-import numpy as np
-from collections import defaultdict
-
-from common.numpy_fast import interp
-
-_FCW_A_ACT_V = [-3., -2.]
-_FCW_A_ACT_BP = [0., 30.]
-
-
-class FCWChecker():
-  def __init__(self):
-    self.reset_lead(0.0)
-    self.common_counters = defaultdict(lambda: 0)
-
-  def reset_lead(self, cur_time):
-    self.last_fcw_a = 0.0
-    self.v_lead_max = 0.0
-    self.lead_seen_t = cur_time
-    self.last_fcw_time = 0.0
-    self.last_min_a = 0.0
-
-    self.counters = defaultdict(lambda: 0)
-
-  @staticmethod
-  def calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead):
-    max_ttc = 5.0
-
-    v_rel = v_ego - v_lead
-    a_rel = a_ego - a_lead
-
-    # assuming that closing gap ARel comes from lead vehicle decel,
-    # then limit ARel so that v_lead will get to zero in no sooner than t_decel.
-    # This helps underweighting ARel when v_lead is close to zero.
-    t_decel = 2.
-    a_rel = np.minimum(a_rel, v_lead / t_decel)
-
-    # delta of the quadratic equation to solve for ttc
-    delta = v_rel**2 + 2 * x_lead * a_rel
-
-    # assign an arbitrary high ttc value if there is no solution to ttc
-    if delta < 0.1 or (np.sqrt(delta) + v_rel < 0.1):
-      ttc = max_ttc
-    else:
-      ttc = np.minimum(2 * x_lead / (np.sqrt(delta) + v_rel), max_ttc)
-    return ttc
-
-  def update(self, mpc_solution, cur_time, active, v_ego, a_ego, x_lead, v_lead, a_lead, y_lead, vlat_lead, fcw_lead, blinkers):
-    mpc_solution_a = list(mpc_solution[0].a_ego)
-
-    self.last_min_a = min(mpc_solution_a)
-    self.v_lead_max = max(self.v_lead_max, v_lead)
-
-    self.common_counters['blinkers'] = self.common_counters['blinkers'] + 10.0 / (20 * 3.0) if not blinkers else 0
-    self.common_counters['v_ego'] = self.common_counters['v_ego'] + 1 if v_ego > 5.0 else 0
-
-    if (fcw_lead > 0.99):
-      ttc = self.calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead)
-      self.counters['ttc'] = self.counters['ttc'] + 1 if ttc < 2.5 else 0
-      self.counters['v_lead_max'] = self.counters['v_lead_max'] + 1 if self.v_lead_max > 2.5 else 0
-      self.counters['v_ego_lead'] = self.counters['v_ego_lead'] + 1 if v_ego > v_lead else 0
-      self.counters['lead_seen'] = self.counters['lead_seen'] + 0.33
-      self.counters['y_lead'] = self.counters['y_lead'] + 1 if abs(y_lead) < 1.0 else 0
-      self.counters['vlat_lead'] = self.counters['vlat_lead'] + 1 if abs(vlat_lead) < 0.4 else 0
-
-      a_thr = interp(v_lead, _FCW_A_ACT_BP, _FCW_A_ACT_V)
-      a_delta = min(mpc_solution_a[:15]) - min(0.0, a_ego)
-
-      future_fcw_allowed = all(c >= 10 for c in self.counters.values())
-      future_fcw_allowed = future_fcw_allowed and all(c >= 10 for c in self.common_counters.values())
-      future_fcw = (self.last_min_a < -3.0 or a_delta < a_thr) and future_fcw_allowed
-
-      if future_fcw and (self.last_fcw_time + 5.0 < cur_time):
-        self.last_fcw_time = cur_time
-        self.last_fcw_a = self.last_min_a
-        return True
-
-    return False
diff --git a/selfdrive/controls/lib/gps_helpers.py b/selfdrive/controls/lib/gps_helpers.py
deleted file mode 100755
index e9e7d6c9ee38c0..00000000000000
--- a/selfdrive/controls/lib/gps_helpers.py
+++ /dev/null
@@ -1,19 +0,0 @@
-_RHD_REGION_MAP = [ ['AU', -54.76, -9.23, 112.91, 159.11], \
-                    ['IN1', 6.75, 28.10, 68.17, 97.4], \
-                    ['IN2', 28.09, 35.99, 72.18, 80.87], \
-                    ['IE', 51.42, 55.38, -10.58, -5.99], \
-                    ['JP1', 32.66, 45.52, 137.27, 146.02], \
-                    ['JP2', 32.79, 37.60, 131.41, 137.28], \
-                    ['JP3', 24.04, 34.78, 122.93, 131.42], \
-                    ['MU', -20.53, -19.98, 57.30, 57.81], \
-                    ['MY', 0.86, 7.36, 99.64, 119.27], \
-                    ['NZ', -52.61, -29.24, 166, 178.84], \
-                    ['UK', 49.9, 60.84, -8.62, 1.77], \
-                    ['ZA', -34.83, -22.13, 16.47, 32.88] ]
-
-def is_rhd_region(latitude, longitude):
-  for region in _RHD_REGION_MAP:
-    if region[1] <= latitude <= region[2] and \
-      region[3] <= longitude <= region[4]:
-      return True
-  return False
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 0e84ad8b9f7502..88a1f6a672960b 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -1,89 +1,103 @@
-from common.numpy_fast import interp
 import numpy as np
 from cereal import log
-
-CAMERA_OFFSET = 0.06  # m from center car to camera
-
-def compute_path_pinv(l=50):
-  deg = 3
-  x = np.arange(l*1.0)
-  X = np.vstack(tuple(x**n for n in range(deg, -1, -1))).T
-  pinv = np.linalg.pinv(X)
-  return pinv
-
-
-def model_polyfit(points, path_pinv):
-  return np.dot(path_pinv, [float(x) for x in points])
-
-
-def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
-  # This will improve behaviour when lanes suddenly widen
-  lane_width = min(4.0, lane_width)
-  l_prob = l_prob * interp(abs(l_poly[3]), [2, 2.5], [1.0, 0.0])
-  r_prob = r_prob * interp(abs(r_poly[3]), [2, 2.5], [1.0, 0.0])
-
-  path_from_left_lane = l_poly.copy()
-  path_from_left_lane[3] -= lane_width / 2.0
-  path_from_right_lane = r_poly.copy()
-  path_from_right_lane[3] += lane_width / 2.0
-
-  lr_prob = l_prob + r_prob - l_prob * r_prob
-
-  d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
-  return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
-
-
-class LanePlanner():
-  def __init__(self):
-    self.l_poly = [0., 0., 0., 0.]
-    self.r_poly = [0., 0., 0., 0.]
-    self.p_poly = [0., 0., 0., 0.]
-    self.d_poly = [0., 0., 0., 0.]
-
-    self.lane_width_estimate = 3.7
-    self.lane_width_certainty = 1.0
+from common.filter_simple import FirstOrderFilter
+from common.numpy_fast import interp
+from common.realtime import DT_MDL
+from selfdrive.hardware import EON, TICI
+from selfdrive.swaglog import cloudlog
+
+
+TRAJECTORY_SIZE = 33
+# camera offset is meters from center car to camera
+if EON:
+  CAMERA_OFFSET = 0.06
+  PATH_OFFSET = 0.0
+elif TICI:
+  CAMERA_OFFSET = -0.04
+  PATH_OFFSET = -0.04
+else:
+  CAMERA_OFFSET = 0.0
+  PATH_OFFSET = 0.0
+
+
+class LanePlanner:
+  def __init__(self, wide_camera=False):
+    self.ll_t = np.zeros((TRAJECTORY_SIZE,))
+    self.ll_x = np.zeros((TRAJECTORY_SIZE,))
+    self.lll_y = np.zeros((TRAJECTORY_SIZE,))
+    self.rll_y = np.zeros((TRAJECTORY_SIZE,))
+    self.lane_width_estimate = FirstOrderFilter(3.7, 9.95, DT_MDL)
+    self.lane_width_certainty = FirstOrderFilter(1.0, 0.95, DT_MDL)
     self.lane_width = 3.7
 
-    self.l_prob = 0.
-    self.r_prob = 0.
+    self.lll_prob = 0.
+    self.rll_prob = 0.
+    self.d_prob = 0.
+
+    self.lll_std = 0.
+    self.rll_std = 0.
 
     self.l_lane_change_prob = 0.
     self.r_lane_change_prob = 0.
 
-    self._path_pinv = compute_path_pinv()
-    self.x_points = np.arange(50)
+    self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
+    self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
 
   def parse_model(self, md):
-    if len(md.leftLane.poly):
-      self.l_poly = np.array(md.leftLane.poly)
-      self.r_poly = np.array(md.rightLane.poly)
-      self.p_poly = np.array(md.path.poly)
-    else:
-      self.l_poly = model_polyfit(md.leftLane.points, self._path_pinv)  # left line
-      self.r_poly = model_polyfit(md.rightLane.points, self._path_pinv)  # right line
-      self.p_poly = model_polyfit(md.path.points, self._path_pinv)  # predicted path
-    self.l_prob = md.leftLane.prob  # left line prob
-    self.r_prob = md.rightLane.prob  # right line prob
-
-    if len(md.meta.desirePrediction):
-      self.l_lane_change_prob = md.meta.desirePrediction[log.PathPlan.Desire.laneChangeLeft - 1]
-      self.r_lane_change_prob = md.meta.desirePrediction[log.PathPlan.Desire.laneChangeRight - 1]
-
-  def update_d_poly(self, v_ego):
-    # only offset left and right lane lines; offsetting p_poly does not make sense
-    self.l_poly[3] += CAMERA_OFFSET
-    self.r_poly[3] += CAMERA_OFFSET
+    if len(md.laneLines) == 4 and len(md.laneLines[0].t) == TRAJECTORY_SIZE:
+      self.ll_t = (np.array(md.laneLines[1].t) + np.array(md.laneLines[2].t))/2
+      # left and right ll x is the same
+      self.ll_x = md.laneLines[1].x
+      # only offset left and right lane lines; offsetting path does not make sense
+      self.lll_y = np.array(md.laneLines[1].y) - self.camera_offset
+      self.rll_y = np.array(md.laneLines[2].y) - self.camera_offset
+      self.lll_prob = md.laneLineProbs[1]
+      self.rll_prob = md.laneLineProbs[2]
+      self.lll_std = md.laneLineStds[1]
+      self.rll_std = md.laneLineStds[2]
+
+    if len(md.meta.desireState):
+      self.l_lane_change_prob = md.meta.desireState[log.LateralPlan.Desire.laneChangeLeft]
+      self.r_lane_change_prob = md.meta.desireState[log.LateralPlan.Desire.laneChangeRight]
+
+  def get_d_path(self, v_ego, path_t, path_xyz):
+    # Reduce reliance on lanelines that are too far apart or
+    # will be in a few seconds
+    path_xyz[:, 1] -= self.path_offset
+    l_prob, r_prob = self.lll_prob, self.rll_prob
+    width_pts = self.rll_y - self.lll_y
+    prob_mods = []
+    for t_check in [0.0, 1.5, 3.0]:
+      width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts)
+      prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0]))
+    mod = min(prob_mods)
+    l_prob *= mod
+    r_prob *= mod
+
+    # Reduce reliance on uncertain lanelines
+    l_std_mod = interp(self.lll_std, [.15, .3], [1.0, 0.0])
+    r_std_mod = interp(self.rll_std, [.15, .3], [1.0, 0.0])
+    l_prob *= l_std_mod
+    r_prob *= r_std_mod
 
     # Find current lanewidth
-    self.lane_width_certainty += 0.05 * (self.l_prob * self.r_prob - self.lane_width_certainty)
-    current_lane_width = abs(self.l_poly[3] - self.r_poly[3])
-    self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
+    self.lane_width_certainty.update(l_prob * r_prob)
+    current_lane_width = abs(self.rll_y[0] - self.lll_y[0])
+    self.lane_width_estimate.update(current_lane_width)
     speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
-    self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
-                      (1 - self.lane_width_certainty) * speed_lane_width
-
-    self.d_poly = calc_d_poly(self.l_poly, self.r_poly, self.p_poly, self.l_prob, self.r_prob, self.lane_width)
-
-  def update(self, v_ego, md):
-    self.parse_model(md)
-    self.update_d_poly(v_ego)
+    self.lane_width = self.lane_width_certainty.x * self.lane_width_estimate.x + \
+                      (1 - self.lane_width_certainty.x) * speed_lane_width
+
+    clipped_lane_width = min(4.0, self.lane_width)
+    path_from_left_lane = self.lll_y + clipped_lane_width / 2.0
+    path_from_right_lane = self.rll_y - clipped_lane_width / 2.0
+
+    self.d_prob = l_prob + r_prob - l_prob * r_prob
+    lane_path_y = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
+    safe_idxs = np.isfinite(self.ll_t)
+    if safe_idxs[0]:
+      lane_path_y_interp = np.interp(path_t, self.ll_t[safe_idxs], lane_path_y[safe_idxs])
+      path_xyz[:,1] = self.d_prob * lane_path_y_interp + (1.0 - self.d_prob) * path_xyz[:,1]
+    else:
+      cloudlog.warning("Lateral mpc - NaNs in laneline times, ignoring")
+    return path_xyz
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
new file mode 100644
index 00000000000000..2daac637ba6c3b
--- /dev/null
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -0,0 +1,25 @@
+import math
+from cereal import log
+
+
+class LatControlAngle():
+  def __init__(self, CP):
+    pass
+
+  def reset(self):
+    pass
+
+  def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvature_rate):
+    angle_log = log.ControlsState.LateralAngleState.new_message()
+
+    if CS.vEgo < 0.3 or not active or not CS.lkasEnable:
+      angle_log.active = False
+      angle_steers_des = float(CS.steeringAngleDeg)
+    else:
+      angle_log.active = True
+      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
+      angle_steers_des += params.angleOffsetDeg
+
+    angle_log.saturated = False
+    angle_log.steeringAngleDeg = angle_steers_des
+    return 0, float(angle_steers_des), angle_log
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index 568241ee3fb0a5..3e29f2f29963a4 100644
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -2,10 +2,11 @@
 import numpy as np
 
 from cereal import log
+from common.filter_simple import FirstOrderFilter
+from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
-from common.numpy_fast import clip
-from selfdrive.car.toyota.values import SteerLimitParams
 from selfdrive.car import apply_toyota_steer_torque_limits
+from selfdrive.car.toyota.values import CarControllerParams
 from selfdrive.controls.lib.drive_helpers import get_steer_max
 
 
@@ -13,42 +14,61 @@ class LatControlINDI():
   def __init__(self, CP):
     self.angle_steers_des = 0.
 
-    A = np.matrix([[1.0, DT_CTRL, 0.0],
-                   [0.0, 1.0, DT_CTRL],
-                   [0.0, 0.0, 1.0]])
-    C = np.matrix([[1.0, 0.0, 0.0],
-                   [0.0, 1.0, 0.0]])
+    A = np.array([[1.0, DT_CTRL, 0.0],
+                  [0.0, 1.0, DT_CTRL],
+                  [0.0, 0.0, 1.0]])
+    C = np.array([[1.0, 0.0, 0.0],
+                  [0.0, 1.0, 0.0]])
 
     # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
     # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
 
     # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
     # K = np.transpose(K)
-    K = np.matrix([[7.30262179e-01, 2.07003658e-04],
-                   [7.29394177e+00, 1.39159419e-02],
-                   [1.71022442e+01, 3.38495381e-02]])
+    K = np.array([[7.30262179e-01, 2.07003658e-04],
+                  [7.29394177e+00, 1.39159419e-02],
+                  [1.71022442e+01, 3.38495381e-02]])
+
+    self.speed = 0.
 
     self.K = K
     self.A_K = A - np.dot(K, C)
-    self.x = np.matrix([[0.], [0.], [0.]])
+    self.x = np.array([[0.], [0.], [0.]])
 
     self.enforce_rate_limit = CP.carName == "toyota"
 
-    self.RC = CP.lateralTuning.indi.timeConstant
-    self.G = CP.lateralTuning.indi.actuatorEffectiveness
-    self.outer_loop_gain = CP.lateralTuning.indi.outerLoopGain
-    self.inner_loop_gain = CP.lateralTuning.indi.innerLoopGain
-    self.alpha = 1. - DT_CTRL / (self.RC + DT_CTRL)
+    self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
+    self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
+    self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
+    self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
 
     self.sat_count_rate = 1.0 * DT_CTRL
     self.sat_limit = CP.steerLimitTimer
+    self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
 
     self.reset()
 
+  @property
+  def RC(self):
+    return interp(self.speed, self._RC[0], self._RC[1])
+
+  @property
+  def G(self):
+    return interp(self.speed, self._G[0], self._G[1])
+
+  @property
+  def outer_loop_gain(self):
+    return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
+
+  @property
+  def inner_loop_gain(self):
+    return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
+
   def reset(self):
-    self.delayed_output = 0.
+    self.steer_filter.x = 0.
     self.output_steer = 0.
-    self.sat_count = 0.0
+    self.sat_count = 0.
+    self.speed = 0.
 
   def _check_saturation(self, control, check_saturation, limit):
     saturated = abs(control) == limit
@@ -62,29 +82,30 @@ def _check_saturation(self, control, check_saturation, limit):
 
     return self.sat_count > self.sat_limit
 
-  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, rate_limited, CP, path_plan):
+  def update(self, active, CS, CP, VM, params, curvature, curvature_rate):
+    self.speed = CS.vEgo
     # Update Kalman filter
-    y = np.matrix([[math.radians(angle_steers)], [math.radians(angle_steers_rate)]])
+    y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
     self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
 
     indi_log = log.ControlsState.LateralINDIState.new_message()
-    indi_log.steerAngle = math.degrees(self.x[0])
-    indi_log.steerRate = math.degrees(self.x[1])
-    indi_log.steerAccel = math.degrees(self.x[2])
+    indi_log.steeringAngleDeg = math.degrees(self.x[0])
+    indi_log.steeringRateDeg = math.degrees(self.x[1])
+    indi_log.steeringAccelDeg = math.degrees(self.x[2])
 
-    if v_ego < 0.3 or not active:
+    steers_des = VM.get_steer_from_curvature(-curvature, CS.vEgo)
+    steers_des += math.radians(params.angleOffsetDeg)
+    if CS.vEgo < 0.3 or not active or not CS.lkasEnable:
       indi_log.active = False
       self.output_steer = 0.0
-      self.delayed_output = 0.0
+      self.steer_filter.x = 0.0
     else:
-      self.angle_steers_des = path_plan.angleSteers
-      self.rate_steers_des = path_plan.rateSteers
 
-      steers_des = math.radians(self.angle_steers_des)
-      rate_des = math.radians(self.rate_steers_des)
+      rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo)
 
       # Expected actuator value
-      self.delayed_output = self.delayed_output * self.alpha + self.output_steer * (1. - self.alpha)
+      self.steer_filter.update_alpha(self.RC)
+      self.steer_filter.update(self.output_steer)
 
       # Compute acceleration error
       rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
@@ -95,28 +116,32 @@ def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, ste
       g_inv = 1. / self.G
       delta_u = g_inv * accel_error
 
+      # If steering pressed, only allow wind down
+      if CS.steeringPressed and (delta_u * self.output_steer > 0):
+        delta_u = 0
+
       # Enforce rate limit
       if self.enforce_rate_limit:
-        steer_max = float(SteerLimitParams.STEER_MAX)
-        new_output_steer_cmd = steer_max * (self.delayed_output + delta_u)
+        steer_max = float(CarControllerParams.STEER_MAX)
+        new_output_steer_cmd = steer_max * (self.steer_filter.x + delta_u)
         prev_output_steer_cmd = steer_max * self.output_steer
-        new_output_steer_cmd = apply_toyota_steer_torque_limits(new_output_steer_cmd, prev_output_steer_cmd, prev_output_steer_cmd, SteerLimitParams)
+        new_output_steer_cmd = apply_toyota_steer_torque_limits(new_output_steer_cmd, prev_output_steer_cmd, prev_output_steer_cmd, CarControllerParams)
         self.output_steer = new_output_steer_cmd / steer_max
       else:
-        self.output_steer = self.delayed_output + delta_u
+        self.output_steer = self.steer_filter.x + delta_u
 
-      steers_max = get_steer_max(CP, v_ego)
+      steers_max = get_steer_max(CP, CS.vEgo)
       self.output_steer = clip(self.output_steer, -steers_max, steers_max)
 
       indi_log.active = True
       indi_log.rateSetPoint = float(rate_sp)
       indi_log.accelSetPoint = float(accel_sp)
       indi_log.accelError = float(accel_error)
-      indi_log.delayedOutput = float(self.delayed_output)
+      indi_log.delayedOutput = float(self.steer_filter.x)
       indi_log.delta = float(delta_u)
       indi_log.output = float(self.output_steer)
 
-      check_saturation = (v_ego > 10.) and not rate_limited and not steer_override
+      check_saturation = (CS.vEgo > 10.) and not CS.steeringRateLimited and not CS.steeringPressed
       indi_log.saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
 
-    return float(self.output_steer), float(self.angle_steers_des), indi_log
+    return float(self.output_steer), float(steers_des), indi_log
diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py
index a23eafb5cfa957..c1fb10599ef08a 100644
--- a/selfdrive/controls/lib/latcontrol_lqr.py
+++ b/selfdrive/controls/lib/latcontrol_lqr.py
@@ -1,8 +1,10 @@
+import math
 import numpy as np
-from selfdrive.controls.lib.drive_helpers import get_steer_max
+
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from cereal import log
+from selfdrive.controls.lib.drive_helpers import get_steer_max
 
 
 class LatControlLQR():
@@ -10,11 +12,11 @@ def __init__(self, CP):
     self.scale = CP.lateralTuning.lqr.scale
     self.ki = CP.lateralTuning.lqr.ki
 
-    self.A = np.array(CP.lateralTuning.lqr.a).reshape((2,2))
-    self.B = np.array(CP.lateralTuning.lqr.b).reshape((2,1))
-    self.C = np.array(CP.lateralTuning.lqr.c).reshape((1,2))
-    self.K = np.array(CP.lateralTuning.lqr.k).reshape((1,2))
-    self.L = np.array(CP.lateralTuning.lqr.l).reshape((2,1))
+    self.A = np.array(CP.lateralTuning.lqr.a).reshape((2, 2))
+    self.B = np.array(CP.lateralTuning.lqr.b).reshape((2, 1))
+    self.C = np.array(CP.lateralTuning.lqr.c).reshape((1, 2))
+    self.K = np.array(CP.lateralTuning.lqr.k).reshape((1, 2))
+    self.L = np.array(CP.lateralTuning.lqr.l).reshape((2, 1))
     self.dc_gain = CP.lateralTuning.lqr.dcGain
 
     self.x_hat = np.array([[0], [0]])
@@ -28,7 +30,6 @@ def __init__(self, CP):
 
   def reset(self):
     self.i_lqr = 0.0
-    self.output_steer = 0.0
     self.sat_count = 0.0
 
   def _check_saturation(self, control, check_saturation, limit):
@@ -43,53 +44,58 @@ def _check_saturation(self, control, check_saturation, limit):
 
     return self.sat_count > self.sat_limit
 
-  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, rate_limited, CP, path_plan):
+  def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvature_rate):
     lqr_log = log.ControlsState.LateralLQRState.new_message()
 
-    steers_max = get_steer_max(CP, v_ego)
-    torque_scale = (0.45 + v_ego / 60.0)**2  # Scale actuator model with speed
+    steers_max = get_steer_max(CP, CS.vEgo)
+    torque_scale = (0.45 + CS.vEgo / 60.0)**2  # Scale actuator model with speed
 
     # Subtract offset. Zero angle should correspond to zero torque
-    self.angle_steers_des = path_plan.angleSteers - path_plan.angleOffset
-    angle_steers -= path_plan.angleOffset
+    steering_angle_no_offset = CS.steeringAngleDeg - params.angleOffsetAverageDeg
+
+    desired_angle = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
+
+    instant_offset = params.angleOffsetDeg - params.angleOffsetAverageDeg
+    desired_angle += instant_offset  # Only add offset that originates from vehicle model errors
 
     # Update Kalman filter
     angle_steers_k = float(self.C.dot(self.x_hat))
-    e = angle_steers - angle_steers_k
-    self.x_hat = self.A.dot(self.x_hat) + self.B.dot(eps_torque / torque_scale) + self.L.dot(e)
+    e = steering_angle_no_offset - angle_steers_k
+    self.x_hat = self.A.dot(self.x_hat) + self.B.dot(CS.steeringTorqueEps / torque_scale) + self.L.dot(e)
 
-    if v_ego < 0.3 or not active:
+    if CS.vEgo < 0.3 or not active or not CS.lkasEnable:
       lqr_log.active = False
       lqr_output = 0.
+      output_steer = 0.
       self.reset()
     else:
       lqr_log.active = True
 
       # LQR
-      u_lqr = float(self.angle_steers_des / self.dc_gain - self.K.dot(self.x_hat))
+      u_lqr = float(desired_angle / self.dc_gain - self.K.dot(self.x_hat))
       lqr_output = torque_scale * u_lqr / self.scale
 
       # Integrator
-      if steer_override:
+      if CS.steeringPressed:
         self.i_lqr -= self.i_unwind_rate * float(np.sign(self.i_lqr))
       else:
-        error = self.angle_steers_des - angle_steers_k
+        error = desired_angle - angle_steers_k
         i = self.i_lqr + self.ki * self.i_rate * error
         control = lqr_output + i
 
-        if ((error >= 0 and (control <= steers_max or i < 0.0)) or \
-            (error <= 0 and (control >= -steers_max or i > 0.0))):
+        if (error >= 0 and (control <= steers_max or i < 0.0)) or \
+           (error <= 0 and (control >= -steers_max or i > 0.0)):
           self.i_lqr = i
 
-      self.output_steer = lqr_output + self.i_lqr
-      self.output_steer = clip(self.output_steer, -steers_max, steers_max)
+      output_steer = lqr_output + self.i_lqr
+      output_steer = clip(output_steer, -steers_max, steers_max)
 
-    check_saturation = (v_ego > 10) and not rate_limited and not steer_override
-    saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
+    check_saturation = (CS.vEgo > 10) and not CS.steeringRateLimited and not CS.steeringPressed
+    saturated = self._check_saturation(output_steer, check_saturation, steers_max)
 
-    lqr_log.steerAngle = angle_steers_k + path_plan.angleOffset
+    lqr_log.steeringAngleDeg = angle_steers_k + params.angleOffsetAverageDeg
     lqr_log.i = self.i_lqr
-    lqr_log.output = self.output_steer
+    lqr_log.output = output_steer
     lqr_log.lqrOutput = lqr_output
     lqr_log.saturated = saturated
-    return self.output_steer, float(self.angle_steers_des), lqr_log
+    return output_steer, desired_angle, lqr_log
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 6a59565509ce8d..8e14b8f1cfd0ee 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -1,44 +1,47 @@
+import math
+
 from selfdrive.controls.lib.pid import PIController
 from selfdrive.controls.lib.drive_helpers import get_steer_max
-from cereal import car
 from cereal import log
 
 
 class LatControlPID():
-  def __init__(self, CP):
+  def __init__(self, CP, CI):
     self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                             (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
-                            k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, sat_limit=CP.steerLimitTimer)
-    self.angle_steers_des = 0.
+                            k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0,
+                            sat_limit=CP.steerLimitTimer)
+    self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
   def reset(self):
     self.pid.reset()
 
-  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, rate_limited, CP, path_plan):
+  def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvature_rate):
     pid_log = log.ControlsState.LateralPIDState.new_message()
-    pid_log.steerAngle = float(angle_steers)
-    pid_log.steerRate = float(angle_steers_rate)
+    pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
+    pid_log.steeringRateDeg = float(CS.steeringRateDeg)
+
+    angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
+    angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
 
-    if v_ego < 0.3 or not active:
+    pid_log.angleError = angle_steers_des - CS.steeringAngleDeg
+    if CS.vEgo < 0.3 or not active or not CS.lkasEnable:
       output_steer = 0.0
       pid_log.active = False
       self.pid.reset()
     else:
-      self.angle_steers_des = path_plan.angleSteers  # get from MPC/PathPlanner
-
-      steers_max = get_steer_max(CP, v_ego)
+      steers_max = get_steer_max(CP, CS.vEgo)
       self.pid.pos_limit = steers_max
       self.pid.neg_limit = -steers_max
-      steer_feedforward = self.angle_steers_des   # feedforward desired angle
-      if CP.steerControlType == car.CarParams.SteerControlType.torque:
-        # TODO: feedforward something based on path_plan.rateSteers
-        steer_feedforward -= path_plan.angleOffset   # subtract the offset, since it does not contribute to resistive torque
-        steer_feedforward *= v_ego**2  # proportional to realigning tire momentum (~ lateral accel)
+
+      # offset does not contribute to resistive torque
+      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+
       deadzone = 0.0
 
-      check_saturation = (v_ego > 10) and not rate_limited and not steer_override
-      output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=check_saturation, override=steer_override,
-                                     feedforward=steer_feedforward, speed=v_ego, deadzone=deadzone)
+      check_saturation = (CS.vEgo > 10) and not CS.steeringRateLimited and not CS.steeringPressed
+      output_steer = self.pid.update(angle_steers_des, CS.steeringAngleDeg, check_saturation=check_saturation, override=CS.steeringPressed,
+                                     feedforward=steer_feedforward, speed=CS.vEgo, deadzone=deadzone)
       pid_log.active = True
       pid_log.p = self.pid.p
       pid_log.i = self.pid.i
@@ -46,4 +49,4 @@ def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, ste
       pid_log.output = output_steer
       pid_log.saturated = bool(self.pid.saturated)
 
-    return output_steer, float(self.angle_steers_des), pid_log
+    return output_steer, angle_steers_des, pid_log
diff --git a/selfdrive/controls/lib/lateral_mpc/.gitignore b/selfdrive/controls/lib/lateral_mpc/.gitignore
deleted file mode 100644
index f61a939cdaa77e..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-generator
-lib_qp/
diff --git a/selfdrive/controls/lib/lateral_mpc/SConscript b/selfdrive/controls/lib/lateral_mpc/SConscript
deleted file mode 100644
index 6cdc22d17d1fb8..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/SConscript
+++ /dev/null
@@ -1,29 +0,0 @@
-Import('env', 'arch')
-
-cpp_path = [
-    "#phonelibs/acado/include",
-    "#phonelibs/acado/include/acado",
-    "#phonelibs/qpoases/INCLUDE",
-    "#phonelibs/qpoases/INCLUDE/EXTRAS",
-    "#phonelibs/qpoases/SRC/",
-    "#phonelibs/qpoases",
-    "lib_mpc_export"
-
-]
-
-mpc_files = [
-    "lateral_mpc.c",
-    Glob("lib_mpc_export/*.c"),
-    Glob("lib_mpc_export/*.cpp"),
-]
-
-interface_dir = Dir('lib_mpc_export')
-
-SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
-
-env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
-# if arch != "aarch64":
-#     acado_libs = [File("#phonelibs/acado/x64/lib/libacado_toolkit.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_casadi.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_csparse.a")]
-#     env.Program('generator', 'generator.cpp', LIBS=acado_libs, CPPPATH=cpp_path)
diff --git a/selfdrive/controls/lib/lateral_mpc/generator.cpp b/selfdrive/controls/lib/lateral_mpc/generator.cpp
deleted file mode 100644
index 5f4a9a28dfe754..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/generator.cpp
+++ /dev/null
@@ -1,139 +0,0 @@
-#include <acado_code_generation.hpp>
-
-#define PI 3.1415926536
-#define deg2rad(d) (d/180.0*PI)
-
-const int controlHorizon = 50;
-
-using namespace std;
-
-int main( )
-{
-  USING_NAMESPACE_ACADO
-
-
-  DifferentialEquation f;
-
-  DifferentialState xx; // x position
-  DifferentialState yy; // y position
-  DifferentialState psi; // vehicle heading
-  DifferentialState delta;
-
-  OnlineData curvature_factor;
-  OnlineData v_ref; // m/s
-  OnlineData l_poly_r0, l_poly_r1, l_poly_r2, l_poly_r3;
-  OnlineData r_poly_r0, r_poly_r1, r_poly_r2, r_poly_r3;
-  OnlineData d_poly_r0, d_poly_r1, d_poly_r2, d_poly_r3;
-  OnlineData l_prob, r_prob;
-  OnlineData lane_width;
-
-  Control t;
-
-  // Equations of motion
-  f << dot(xx) == v_ref * cos(psi);
-  f << dot(yy) == v_ref * sin(psi);
-  f << dot(psi) == v_ref * delta * curvature_factor;
-  f << dot(delta) == t;
-
-  auto lr_prob = l_prob + r_prob - l_prob * r_prob;
-
-  auto poly_l = l_poly_r0*(xx*xx*xx) + l_poly_r1*(xx*xx) + l_poly_r2*xx + l_poly_r3;
-  auto poly_r = r_poly_r0*(xx*xx*xx) + r_poly_r1*(xx*xx) + r_poly_r2*xx + r_poly_r3;
-  auto poly_d = d_poly_r0*(xx*xx*xx) + d_poly_r1*(xx*xx) + d_poly_r2*xx + d_poly_r3;
-
-  auto angle_d = atan(3*d_poly_r0*xx*xx + 2*d_poly_r1*xx + d_poly_r2);
-
-  // When the lane is not visible, use an estimate of its position
-  auto weighted_left_lane = l_prob * poly_l + (1 - l_prob) * (poly_d + lane_width/2.0);
-  auto weighted_right_lane = r_prob * poly_r + (1 - r_prob) * (poly_d - lane_width/2.0);
-
-  auto c_left_lane = exp(-(weighted_left_lane - yy));
-  auto c_right_lane = exp(weighted_right_lane - yy);
-
-  // Running cost
-  Function h;
-
-  // Distance errors
-  h << poly_d - yy;
-  h << lr_prob * c_left_lane;
-  h << lr_prob * c_right_lane;
-
-  // Heading error
-  h << (v_ref + 1.0 ) * (angle_d - psi);
-
-  // Angular rate error
-  h << (v_ref + 1.0 ) * t;
-
-  BMatrix Q(5,5); Q.setAll(true);
-  // Q(0,0) = 1.0;
-  // Q(1,1) = 1.0;
-  // Q(2,2) = 1.0;
-  // Q(3,3) = 1.0;
-  // Q(4,4) = 2.0;
-
-  // Terminal cost
-  Function hN;
-
-  // Distance errors
-  hN << poly_d - yy;
-  hN << l_prob * c_left_lane;
-  hN << r_prob * c_right_lane;
-
-  // Heading errors
-  hN << (2.0 * v_ref + 1.0 ) * (angle_d - psi);
-
-  BMatrix QN(4,4); QN.setAll(true);
-  // QN(0,0) = 1.0;
-  // QN(1,1) = 1.0;
-  // QN(2,2) = 1.0;
-  // QN(3,3) = 1.0;
-
-  // Non uniform time grid
-  // First 5 timesteps are 0.05, after that it's 0.15
-  DMatrix numSteps(20, 1);
-  for (int i = 0; i < 5; i++){
-    numSteps(i) = 1;
-  }
-  for (int i = 5; i < 20; i++){
-    numSteps(i) = 3;
-  }
-
-  // Setup Optimal Control Problem
-  const double tStart = 0.0;
-  const double tEnd   = 2.5;
-
-  OCP ocp( tStart, tEnd, numSteps);
-  ocp.subjectTo(f);
-
-  ocp.minimizeLSQ(Q, h);
-  ocp.minimizeLSQEndTerm(QN, hN);
-
-  // car can't go backward to avoid "circles"
-  ocp.subjectTo( deg2rad(-90) <= psi <= deg2rad(90));
-  // more than absolute max steer angle
-  ocp.subjectTo( deg2rad(-50) <= delta <= deg2rad(50));
-  ocp.setNOD(17);
-
-  OCPexport mpc(ocp);
-  mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
-  mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
-  mpc.set( INTEGRATOR_TYPE, INT_RK4 );
-  mpc.set( NUM_INTEGRATOR_STEPS, 1 * controlHorizon);
-  mpc.set( MAX_NUM_QP_ITERATIONS, 500);
-  mpc.set( CG_USE_VARIABLE_WEIGHTING_MATRIX, YES);
-
-  mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
-  mpc.set( QP_SOLVER, QP_QPOASES );
-  mpc.set( HOTSTART_QP, YES );
-  mpc.set( GENERATE_TEST_FILE, NO);
-  mpc.set( GENERATE_MAKE_FILE, NO );
-  mpc.set( GENERATE_MATLAB_INTERFACE, NO );
-  mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
-
-  if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
-    exit( EXIT_FAILURE );
-
-  mpc.printDimensionsQP( );
-
-  return EXIT_SUCCESS;
-}
diff --git a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
deleted file mode 100644
index 4972dbc3ff6ec3..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
+++ /dev/null
@@ -1,134 +0,0 @@
-#include "acado_common.h"
-#include "acado_auxiliary_functions.h"
-
-#include <stdio.h>
-
-#define NX          ACADO_NX  /* Number of differential state variables.  */
-#define NXA         ACADO_NXA /* Number of algebraic variables. */
-#define NU          ACADO_NU  /* Number of control inputs. */
-#define NOD         ACADO_NOD  /* Number of online data values. */
-
-#define NY          ACADO_NY  /* Number of measurements/references on nodes 0..N - 1. */
-#define NYN         ACADO_NYN /* Number of measurements/references on node N. */
-
-#define N           ACADO_N   /* Number of intervals in the horizon. */
-
-ACADOvariables acadoVariables;
-ACADOworkspace acadoWorkspace;
-
-typedef struct {
-  double x, y, psi, delta, t;
-} state_t;
-
-
-typedef struct {
-  double x[N+1];
-  double y[N+1];
-  double psi[N+1];
-  double delta[N+1];
-  double rate[N];
-  double cost;
-} log_t;
-
-void init_weights(double pathCost, double laneCost, double headingCost, double steerRateCost){
-  int    i;
-  const int STEP_MULTIPLIER = 3;
-
-  for (i = 0; i < N; i++) {
-    int f = 1;
-    if (i > 4){
-      f = STEP_MULTIPLIER;
-    }
-    // Setup diagonal entries
-    acadoVariables.W[NY*NY*i + (NY+1)*0] = pathCost * f;
-    acadoVariables.W[NY*NY*i + (NY+1)*1] = laneCost * f;
-    acadoVariables.W[NY*NY*i + (NY+1)*2] = laneCost * f;
-    acadoVariables.W[NY*NY*i + (NY+1)*3] = headingCost * f;
-    acadoVariables.W[NY*NY*i + (NY+1)*4] = steerRateCost * f;
-  }
-  acadoVariables.WN[(NYN+1)*0] = pathCost * STEP_MULTIPLIER;
-  acadoVariables.WN[(NYN+1)*1] = laneCost * STEP_MULTIPLIER;
-  acadoVariables.WN[(NYN+1)*2] = laneCost * STEP_MULTIPLIER;
-  acadoVariables.WN[(NYN+1)*3] = headingCost * STEP_MULTIPLIER;
-}
-
-void init(double pathCost, double laneCost, double headingCost, double steerRateCost){
-  acado_initializeSolver();
-  int    i;
-
-  /* Initialize the states and controls. */
-  for (i = 0; i < NX * (N + 1); ++i)  acadoVariables.x[ i ] = 0.0;
-  for (i = 0; i < NU * N; ++i)  acadoVariables.u[ i ] = 0.1;
-
-  /* Initialize the measurements/reference. */
-  for (i = 0; i < NY * N; ++i)  acadoVariables.y[ i ] = 0.0;
-  for (i = 0; i < NYN; ++i)  acadoVariables.yN[ i ] = 0.0;
-
-  /* MPC: initialize the current state feedback. */
-  for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.0;
-
-  init_weights(pathCost, laneCost, headingCost, steerRateCost);
-}
-
-int run_mpc(state_t * x0, log_t * solution,
-             double l_poly[4], double r_poly[4], double d_poly[4],
-             double l_prob, double r_prob, double curvature_factor, double v_ref, double lane_width){
-
-  int    i;
-
-  for (i = 0; i <= NOD * N; i+= NOD){
-    acadoVariables.od[i] = curvature_factor;
-    acadoVariables.od[i+1] = v_ref;
-
-    acadoVariables.od[i+2] = l_poly[0];
-    acadoVariables.od[i+3] = l_poly[1];
-    acadoVariables.od[i+4] = l_poly[2];
-    acadoVariables.od[i+5] = l_poly[3];
-
-    acadoVariables.od[i+6] = r_poly[0];
-    acadoVariables.od[i+7] = r_poly[1];
-    acadoVariables.od[i+8] = r_poly[2];
-    acadoVariables.od[i+9] = r_poly[3];
-
-    acadoVariables.od[i+10] = d_poly[0];
-    acadoVariables.od[i+11] = d_poly[1];
-    acadoVariables.od[i+12] = d_poly[2];
-    acadoVariables.od[i+13] = d_poly[3];
-
-
-    acadoVariables.od[i+14] = l_prob;
-    acadoVariables.od[i+15] = r_prob;
-    acadoVariables.od[i+16] = lane_width;
-
-  }
-
-  acadoVariables.x0[0] = x0->x;
-  acadoVariables.x0[1] = x0->y;
-  acadoVariables.x0[2] = x0->psi;
-  acadoVariables.x0[3] = x0->delta;
-
-
-  acado_preparationStep();
-  acado_feedbackStep();
-
-  /* printf("lat its: %d\n", acado_getNWSR());  // n iterations
-  printf("Objective: %.6f\n", acado_getObjective());  // solution cost */
-
-  for (i = 0; i <= N; i++){
-    solution->x[i] = acadoVariables.x[i*NX];
-    solution->y[i] = acadoVariables.x[i*NX+1];
-    solution->psi[i] = acadoVariables.x[i*NX+2];
-    solution->delta[i] = acadoVariables.x[i*NX+3];
-    if (i < N){
-      solution->rate[i] = acadoVariables.u[i];
-    }
-  }
-  solution->cost = acado_getObjective();
-
-  // Dont shift states here. Current solution is closer to next timestep than if
-  // we use the old solution as a starting point
-  //acado_shiftStates(2, 0, 0);
-  //acado_shiftControls( 0 );
-
-  return acado_getNWSR();
-}
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c
deleted file mode 100644
index 6f0bb705c8a897..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c
+++ /dev/null
@@ -1,212 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#include "acado_auxiliary_functions.h"
-
-#include <stdio.h>
-
-real_t* acado_getVariablesX( )
-{
-	return acadoVariables.x;
-}
-
-real_t* acado_getVariablesU( )
-{
-	return acadoVariables.u;
-}
-
-#if ACADO_NY > 0
-real_t* acado_getVariablesY( )
-{
-	return acadoVariables.y;
-}
-#endif
-
-#if ACADO_NYN > 0
-real_t* acado_getVariablesYN( )
-{
-	return acadoVariables.yN;
-}
-#endif
-
-real_t* acado_getVariablesX0( )
-{
-#if ACADO_INITIAL_VALUE_FIXED
-	return acadoVariables.x0;
-#else
-	return 0;
-#endif
-}
-
-/** Print differential variables. */
-void acado_printDifferentialVariables( )
-{
-	int i, j;
-	printf("\nDifferential variables:\n[\n");
-	for (i = 0; i < ACADO_N + 1; ++i)
-	{
-		for (j = 0; j < ACADO_NX; ++j)
-			printf("\t%e", acadoVariables.x[i * ACADO_NX + j]);
-		printf("\n");
-	}
-	printf("]\n\n");
-}
-
-/** Print control variables. */
-void acado_printControlVariables( )
-{
-	int i, j;
-	printf("\nControl variables:\n[\n");
-	for (i = 0; i < ACADO_N; ++i)
-	{
-		for (j = 0; j < ACADO_NU; ++j)
-			printf("\t%e", acadoVariables.u[i * ACADO_NU + j]);
-		printf("\n");
-	}
-	printf("]\n\n");
-}
-
-/** Print ACADO code generation notice. */
-void acado_printHeader( )
-{
-	printf(
-		"\nACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.\n"
-		"Copyright (C) 2008-2015 by Boris Houska, Hans Joachim Ferreau,\n" 
-		"Milan Vukov and Rien Quirynen, KU Leuven.\n"
-	);
-	
-	printf(
-		"Developed within the Optimization in Engineering Center (OPTEC) under\n"
-		"supervision of Moritz Diehl. All rights reserved.\n\n"
-		"ACADO Toolkit is distributed under the terms of the GNU Lesser\n"
-		"General Public License 3 in the hope that it will be useful,\n"
-		"but WITHOUT ANY WARRANTY; without even the implied warranty of\n"
-		"MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n"
-		"GNU Lesser General Public License for more details.\n\n"
-	);
-}
-
-#if !(defined _DSPACE)
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-void acado_tic( acado_timer* t )
-{
-	QueryPerformanceFrequency(&t->freq);
-	QueryPerformanceCounter(&t->tic);
-}
-
-real_t acado_toc( acado_timer* t )
-{
-	QueryPerformanceCounter(&t->toc);
-	return ((t->toc.QuadPart - t->tic.QuadPart) / (real_t)t->freq.QuadPart);
-}
-
-
-#elif (defined __APPLE__)
-
-void acado_tic( acado_timer* t )
-{
-    /* read current clock cycles */
-    t->tic = mach_absolute_time();
-}
-
-real_t acado_toc( acado_timer* t )
-{
-
-    uint64_t duration; /* elapsed time in clock cycles*/
-    
-    t->toc = mach_absolute_time();
-    duration = t->toc - t->tic;
-    
-    /*conversion from clock cycles to nanoseconds*/
-    mach_timebase_info(&(t->tinfo));
-    duration *= t->tinfo.numer;
-    duration /= t->tinfo.denom;
-
-    return (real_t)duration / 1e9;
-}
-
-#else
-
-#if __STDC_VERSION__ >= 199901L
-/* C99 mode */
-
-/* read current time */
-void acado_tic( acado_timer* t )
-{
-	gettimeofday(&t->tic, 0);
-}
-
-/* return time passed since last call to tic on this timer */
-real_t acado_toc( acado_timer* t )
-{
-	struct timeval temp;
-	
-	gettimeofday(&t->toc, 0);
-    
-	if ((t->toc.tv_usec - t->tic.tv_usec) < 0)
-	{
-		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1;
-		temp.tv_usec = 1000000 + t->toc.tv_usec - t->tic.tv_usec;
-	}
-	else
-	{
-		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec;
-		temp.tv_usec = t->toc.tv_usec - t->tic.tv_usec;
-	}
-	
-	return (real_t)temp.tv_sec + (real_t)temp.tv_usec / 1e6;
-}
-
-#else
-/* ANSI */
-
-/* read current time */
-void acado_tic( acado_timer* t )
-{
-	clock_gettime(CLOCK_MONOTONIC, &t->tic);
-}
-
-
-/* return time passed since last call to tic on this timer */
-real_t acado_toc( acado_timer* t )
-{
-	struct timespec temp;
-    
-	clock_gettime(CLOCK_MONOTONIC, &t->toc);	
-    
-	if ((t->toc.tv_nsec - t->tic.tv_nsec) < 0)
-	{
-		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1;
-		temp.tv_nsec = 1000000000+t->toc.tv_nsec - t->tic.tv_nsec;
-	}
-	else
-	{
-		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec;
-		temp.tv_nsec = t->toc.tv_nsec - t->tic.tv_nsec;
-	}
-	
-	return (real_t)temp.tv_sec + (real_t)temp.tv_nsec / 1e9;
-}
-
-#endif /* __STDC_VERSION__ >= 199901L */
-
-#endif /* (defined _WIN32 || _WIN64) */
-
-#endif
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h
deleted file mode 100644
index b1be0a661c0125..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h
+++ /dev/null
@@ -1,138 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#ifndef ACADO_AUXILIARY_FUNCTIONS_H
-#define ACADO_AUXILIARY_FUNCTIONS_H
-
-#include "acado_common.h"
-
-#ifndef __MATLAB__
-#ifdef __cplusplus
-extern "C"
-{
-#endif /* __cplusplus */
-#endif /* __MATLAB__ */
-
-/** Get pointer to the matrix with differential variables. */
-real_t* acado_getVariablesX( );
-
-/** Get pointer to the matrix with control variables. */
-real_t* acado_getVariablesU( );
-
-#if ACADO_NY > 0
-/** Get pointer to the matrix with references/measurements. */
-real_t* acado_getVariablesY( );
-#endif
-
-#if ACADO_NYN > 0
-/** Get pointer to the vector with references/measurement on the last node. */
-real_t* acado_getVariablesYN( );
-#endif
-
-/** Get pointer to the current state feedback vector. Only applicable for NMPC. */
-real_t* acado_getVariablesX0( );
-
-/** Print differential variables. */
-void acado_printDifferentialVariables( );
-
-/** Print control variables. */
-void acado_printControlVariables( );
-
-/** Print ACADO code generation notice. */
-void acado_printHeader( );
-
-/*
- * A huge thanks goes to Alexander Domahidi from ETHZ, Switzerland, for 
- * providing us with the following timing routines.
- */
-
-#if !(defined _DSPACE)
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-/* Use Windows QueryPerformanceCounter for timing. */
-#include <Windows.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acado_timer_
-{
-	LARGE_INTEGER tic;
-	LARGE_INTEGER toc;
-	LARGE_INTEGER freq;
-} acado_timer;
-
-
-#elif (defined __APPLE__)
-
-#include "unistd.h"
-#include <mach/mach_time.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acado_timer_
-{
-	uint64_t tic;
-	uint64_t toc;
-	mach_timebase_info_data_t tinfo;
-} acado_timer;
-
-#else
-
-/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-#include <time.h>
-
-#if __STDC_VERSION__ >= 199901L
-/* C99 mode of operation. */
-
-#include <sys/stat.h>
-#include <sys/time.h>
-
-typedef struct acado_timer_
-{
-	struct timeval tic;
-	struct timeval toc;
-} acado_timer;
-
-#else
-/* ANSI C */
-
-/** A structure for keeping internal timer data. */
-typedef struct acado_timer_
-{
-	struct timespec tic;
-	struct timespec toc;
-} acado_timer;
-
-#endif /* __STDC_VERSION__ >= 199901L */
-
-#endif /* (defined _WIN32 || defined _WIN64) */
-
-/** A function for measurement of the current time. */
-void acado_tic( acado_timer* t );
-
-/** A function which returns the elapsed time. */
-real_t acado_toc( acado_timer* t );
-
-#endif
-
-#ifndef __MATLAB__
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-#endif /* __MATLAB__ */
-
-#endif /* ACADO_AUXILIARY_FUNCTIONS_H */
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
deleted file mode 100644
index f069b62c066f36..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
+++ /dev/null
@@ -1,357 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#ifndef ACADO_COMMON_H
-#define ACADO_COMMON_H
-
-#include <math.h>
-#include <string.h>
-
-#ifndef __MATLAB__
-#ifdef __cplusplus
-extern "C"
-{
-#endif /* __cplusplus */
-#endif /* __MATLAB__ */
-
-/** \defgroup ACADO ACADO CGT generated module. */
-/** @{ */
-
-/** qpOASES QP solver indicator. */
-#define ACADO_QPOASES  0
-#define ACADO_QPOASES3 1
-/** FORCES QP solver indicator.*/
-#define ACADO_FORCES   2
-/** qpDUNES QP solver indicator.*/
-#define ACADO_QPDUNES  3
-/** HPMPC QP solver indicator. */
-#define ACADO_HPMPC    4
-#define ACADO_GENERIC    5
-
-/** Indicator for determining the QP solver used by the ACADO solver code. */
-#define ACADO_QP_SOLVER ACADO_QPOASES
-
-#include "acado_qpoases_interface.hpp"
-
-
-/*
- * Common definitions
- */
-/** User defined block based condensing. */
-#define ACADO_BLOCK_CONDENSING 0
-/** Compute covariance matrix of the last state estimate. */
-#define ACADO_COMPUTE_COVARIANCE_MATRIX 0
-/** Flag indicating whether constraint values are hard-coded or not. */
-#define ACADO_HARDCODED_CONSTRAINT_VALUES 1
-/** Indicator for fixed initial state. */
-#define ACADO_INITIAL_STATE_FIXED 1
-/** Number of control/estimation intervals. */
-#define ACADO_N 20
-/** Number of online data values. */
-#define ACADO_NOD 17
-/** Number of path constraints. */
-#define ACADO_NPAC 0
-/** Number of control variables. */
-#define ACADO_NU 1
-/** Number of differential variables. */
-#define ACADO_NX 4
-/** Number of algebraic variables. */
-#define ACADO_NXA 0
-/** Number of differential derivative variables. */
-#define ACADO_NXD 0
-/** Number of references/measurements per node on the first N nodes. */
-#define ACADO_NY 5
-/** Number of references/measurements on the last (N + 1)st node. */
-#define ACADO_NYN 4
-/** Total number of QP optimization variables. */
-#define ACADO_QP_NV 24
-/** Number of Runge-Kutta stages per integration step. */
-#define ACADO_RK_NSTAGES 4
-/** Providing interface for arrival cost. */
-#define ACADO_USE_ARRIVAL_COST 0
-/** Indicator for usage of non-hard-coded linear terms in the objective. */
-#define ACADO_USE_LINEAR_TERMS 0
-/** Indicator for type of fixed weighting matrices. */
-#define ACADO_WEIGHTING_MATRICES_TYPE 2
-
-
-/*
- * Globally used structure definitions
- */
-
-/** The structure containing the user data.
- * 
- *  Via this structure the user "communicates" with the solver code.
- */
-typedef struct ACADOvariables_
-{
-int dummy;
-/** Matrix of size: 21 x 4 (row major format)
- * 
- *  Matrix containing 21 differential variable vectors.
- */
-real_t x[ 84 ];
-
-/** Column vector of size: 20
- * 
- *  Matrix containing 20 control variable vectors.
- */
-real_t u[ 20 ];
-
-/** Matrix of size: 21 x 17 (row major format)
- * 
- *  Matrix containing 21 online data vectors.
- */
-real_t od[ 357 ];
-
-/** Column vector of size: 100
- * 
- *  Matrix containing 20 reference/measurement vectors of size 5 for first 20 nodes.
- */
-real_t y[ 100 ];
-
-/** Column vector of size: 4
- * 
- *  Reference/measurement vector for the 21. node.
- */
-real_t yN[ 4 ];
-
-/** Matrix of size: 100 x 5 (row major format) */
-real_t W[ 500 ];
-
-/** Matrix of size: 4 x 4 (row major format) */
-real_t WN[ 16 ];
-
-/** Column vector of size: 4
- * 
- *  Current state feedback vector.
- */
-real_t x0[ 4 ];
-
-
-} ACADOvariables;
-
-/** Private workspace used by the auto-generated code.
- * 
- *  Data members of this structure are private to the solver.
- *  In other words, the user code should not modify values of this 
- *  structure. 
- */
-typedef struct ACADOworkspace_
-{
-/** Column vector of size: 14 */
-real_t rhs_aux[ 14 ];
-
-real_t rk_ttt;
-
-/** Row vector of size: 42 */
-real_t rk_xxx[ 42 ];
-
-/** Matrix of size: 4 x 24 (row major format) */
-real_t rk_kkk[ 96 ];
-
-/** Row vector of size: 42 */
-real_t state[ 42 ];
-
-/** Column vector of size: 80 */
-real_t d[ 80 ];
-
-/** Column vector of size: 100 */
-real_t Dy[ 100 ];
-
-/** Column vector of size: 4 */
-real_t DyN[ 4 ];
-
-/** Matrix of size: 80 x 4 (row major format) */
-real_t evGx[ 320 ];
-
-/** Column vector of size: 80 */
-real_t evGu[ 80 ];
-
-/** Column vector of size: 11 */
-real_t objAuxVar[ 11 ];
-
-/** Row vector of size: 22 */
-real_t objValueIn[ 22 ];
-
-/** Row vector of size: 30 */
-real_t objValueOut[ 30 ];
-
-/** Matrix of size: 80 x 4 (row major format) */
-real_t Q1[ 320 ];
-
-/** Matrix of size: 80 x 5 (row major format) */
-real_t Q2[ 400 ];
-
-/** Column vector of size: 20 */
-real_t R1[ 20 ];
-
-/** Matrix of size: 20 x 5 (row major format) */
-real_t R2[ 100 ];
-
-/** Column vector of size: 80 */
-real_t S1[ 80 ];
-
-/** Matrix of size: 4 x 4 (row major format) */
-real_t QN1[ 16 ];
-
-/** Matrix of size: 4 x 4 (row major format) */
-real_t QN2[ 16 ];
-
-/** Column vector of size: 4 */
-real_t Dx0[ 4 ];
-
-/** Matrix of size: 4 x 4 (row major format) */
-real_t T[ 16 ];
-
-/** Column vector of size: 840 */
-real_t E[ 840 ];
-
-/** Column vector of size: 840 */
-real_t QE[ 840 ];
-
-/** Matrix of size: 80 x 4 (row major format) */
-real_t QGx[ 320 ];
-
-/** Column vector of size: 80 */
-real_t Qd[ 80 ];
-
-/** Column vector of size: 84 */
-real_t QDy[ 84 ];
-
-/** Matrix of size: 20 x 4 (row major format) */
-real_t H10[ 80 ];
-
-/** Matrix of size: 24 x 24 (row major format) */
-real_t H[ 576 ];
-
-/** Matrix of size: 40 x 24 (row major format) */
-real_t A[ 960 ];
-
-/** Column vector of size: 24 */
-real_t g[ 24 ];
-
-/** Column vector of size: 24 */
-real_t lb[ 24 ];
-
-/** Column vector of size: 24 */
-real_t ub[ 24 ];
-
-/** Column vector of size: 40 */
-real_t lbA[ 40 ];
-
-/** Column vector of size: 40 */
-real_t ubA[ 40 ];
-
-/** Column vector of size: 24 */
-real_t x[ 24 ];
-
-/** Column vector of size: 64 */
-real_t y[ 64 ];
-
-
-} ACADOworkspace;
-
-/* 
- * Forward function declarations. 
- */
-
-
-/** Performs the integration and sensitivity propagation for one shooting interval.
- *
- *  \param rk_eta Working array to pass the input values and return the results.
- *  \param resetIntegrator The internal memory of the integrator can be reset.
- *  \param rk_index Number of the shooting interval.
- *
- *  \return Status code of the integrator.
- */
-int acado_integrate( real_t* const rk_eta, int resetIntegrator, int rk_index );
-
-/** Export of an ACADO symbolic function.
- *
- *  \param in Input to the exported function.
- *  \param out Output of the exported function.
- */
-void acado_rhs_forw(const real_t* in, real_t* out);
-
-/** Preparation step of the RTI scheme.
- *
- *  \return Status of the integration module. =0: OK, otherwise the error code.
- */
-int acado_preparationStep(  );
-
-/** Feedback/estimation step of the RTI scheme.
- *
- *  \return Status code of the qpOASES QP solver.
- */
-int acado_feedbackStep(  );
-
-/** Solver initialization. Must be called once before any other function call.
- *
- *  \return =0: OK, otherwise an error code of a QP solver.
- */
-int acado_initializeSolver(  );
-
-/** Initialize shooting nodes by a forward simulation starting from the first node.
- */
-void acado_initializeNodesByForwardSimulation(  );
-
-/** Shift differential variables vector by one interval.
- *
- *  \param strategy Shifting strategy: 1. Initialize node 21 with xEnd. 2. Initialize node 21 by forward simulation.
- *  \param xEnd Value for the x vector on the last node. If =0 the old value is used.
- *  \param uEnd Value for the u vector on the second to last node. If =0 the old value is used.
- */
-void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd );
-
-/** Shift controls vector by one interval.
- *
- *  \param uEnd Value for the u vector on the second to last node. If =0 the old value is used.
- */
-void acado_shiftControls( real_t* const uEnd );
-
-/** Get the KKT tolerance of the current iterate.
- *
- *  \return The KKT tolerance value.
- */
-real_t acado_getKKT(  );
-
-/** Calculate the objective value.
- *
- *  \return Value of the objective function.
- */
-real_t acado_getObjective(  );
-
-
-/* 
- * Extern declarations. 
- */
-
-extern ACADOworkspace acadoWorkspace;
-extern ACADOvariables acadoVariables;
-
-/** @} */
-
-#ifndef __MATLAB__
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-#endif /* __MATLAB__ */
-
-#endif /* ACADO_COMMON_H */
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
deleted file mode 100644
index 5df7cb47f58df6..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
+++ /dev/null
@@ -1,255 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#include "acado_common.h"
-
-
-void acado_rhs_forw(const real_t* in, real_t* out)
-{
-const real_t* xd = in;
-const real_t* u = in + 24;
-const real_t* od = in + 25;
-/* Vector of auxiliary variables; number of elements: 14. */
-real_t* a = acadoWorkspace.rhs_aux;
-
-/* Compute intermediate quantities: */
-a[0] = (cos(xd[2]));
-a[1] = (sin(xd[2]));
-a[2] = ((real_t)(-1.0000000000000000e+00)*(sin(xd[2])));
-a[3] = (xd[12]*a[2]);
-a[4] = (xd[13]*a[2]);
-a[5] = (xd[14]*a[2]);
-a[6] = (xd[15]*a[2]);
-a[7] = (cos(xd[2]));
-a[8] = (xd[12]*a[7]);
-a[9] = (xd[13]*a[7]);
-a[10] = (xd[14]*a[7]);
-a[11] = (xd[15]*a[7]);
-a[12] = (xd[22]*a[2]);
-a[13] = (xd[22]*a[7]);
-
-/* Compute outputs: */
-out[0] = (od[1]*a[0]);
-out[1] = (od[1]*a[1]);
-out[2] = ((od[1]*xd[3])*od[0]);
-out[3] = u[0];
-out[4] = (od[1]*a[3]);
-out[5] = (od[1]*a[4]);
-out[6] = (od[1]*a[5]);
-out[7] = (od[1]*a[6]);
-out[8] = (od[1]*a[8]);
-out[9] = (od[1]*a[9]);
-out[10] = (od[1]*a[10]);
-out[11] = (od[1]*a[11]);
-out[12] = ((od[1]*xd[16])*od[0]);
-out[13] = ((od[1]*xd[17])*od[0]);
-out[14] = ((od[1]*xd[18])*od[0]);
-out[15] = ((od[1]*xd[19])*od[0]);
-out[16] = (real_t)(0.0000000000000000e+00);
-out[17] = (real_t)(0.0000000000000000e+00);
-out[18] = (real_t)(0.0000000000000000e+00);
-out[19] = (real_t)(0.0000000000000000e+00);
-out[20] = (od[1]*a[12]);
-out[21] = (od[1]*a[13]);
-out[22] = ((od[1]*xd[23])*od[0]);
-out[23] = (real_t)(1.0000000000000000e+00);
-}
-
-/* Fixed step size:0.05 */
-int acado_integrate( real_t* const rk_eta, int resetIntegrator, int rk_index )
-{
-int error;
-
-int run1;
-int numSteps[20] = {1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3};
-int numInts = numSteps[rk_index];
-acadoWorkspace.rk_ttt = 0.0000000000000000e+00;
-rk_eta[4] = 1.0000000000000000e+00;
-rk_eta[5] = 0.0000000000000000e+00;
-rk_eta[6] = 0.0000000000000000e+00;
-rk_eta[7] = 0.0000000000000000e+00;
-rk_eta[8] = 0.0000000000000000e+00;
-rk_eta[9] = 1.0000000000000000e+00;
-rk_eta[10] = 0.0000000000000000e+00;
-rk_eta[11] = 0.0000000000000000e+00;
-rk_eta[12] = 0.0000000000000000e+00;
-rk_eta[13] = 0.0000000000000000e+00;
-rk_eta[14] = 1.0000000000000000e+00;
-rk_eta[15] = 0.0000000000000000e+00;
-rk_eta[16] = 0.0000000000000000e+00;
-rk_eta[17] = 0.0000000000000000e+00;
-rk_eta[18] = 0.0000000000000000e+00;
-rk_eta[19] = 1.0000000000000000e+00;
-rk_eta[20] = 0.0000000000000000e+00;
-rk_eta[21] = 0.0000000000000000e+00;
-rk_eta[22] = 0.0000000000000000e+00;
-rk_eta[23] = 0.0000000000000000e+00;
-acadoWorkspace.rk_xxx[24] = rk_eta[24];
-acadoWorkspace.rk_xxx[25] = rk_eta[25];
-acadoWorkspace.rk_xxx[26] = rk_eta[26];
-acadoWorkspace.rk_xxx[27] = rk_eta[27];
-acadoWorkspace.rk_xxx[28] = rk_eta[28];
-acadoWorkspace.rk_xxx[29] = rk_eta[29];
-acadoWorkspace.rk_xxx[30] = rk_eta[30];
-acadoWorkspace.rk_xxx[31] = rk_eta[31];
-acadoWorkspace.rk_xxx[32] = rk_eta[32];
-acadoWorkspace.rk_xxx[33] = rk_eta[33];
-acadoWorkspace.rk_xxx[34] = rk_eta[34];
-acadoWorkspace.rk_xxx[35] = rk_eta[35];
-acadoWorkspace.rk_xxx[36] = rk_eta[36];
-acadoWorkspace.rk_xxx[37] = rk_eta[37];
-acadoWorkspace.rk_xxx[38] = rk_eta[38];
-acadoWorkspace.rk_xxx[39] = rk_eta[39];
-acadoWorkspace.rk_xxx[40] = rk_eta[40];
-acadoWorkspace.rk_xxx[41] = rk_eta[41];
-
-for (run1 = 0; run1 < 1; ++run1)
-{
-for(run1 = 0; run1 < numInts; run1++ ) {
-acadoWorkspace.rk_xxx[0] = + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + rk_eta[14];
-acadoWorkspace.rk_xxx[15] = + rk_eta[15];
-acadoWorkspace.rk_xxx[16] = + rk_eta[16];
-acadoWorkspace.rk_xxx[17] = + rk_eta[17];
-acadoWorkspace.rk_xxx[18] = + rk_eta[18];
-acadoWorkspace.rk_xxx[19] = + rk_eta[19];
-acadoWorkspace.rk_xxx[20] = + rk_eta[20];
-acadoWorkspace.rk_xxx[21] = + rk_eta[21];
-acadoWorkspace.rk_xxx[22] = + rk_eta[22];
-acadoWorkspace.rk_xxx[23] = + rk_eta[23];
-acado_rhs_forw( acadoWorkspace.rk_xxx, acadoWorkspace.rk_kkk );
-acadoWorkspace.rk_xxx[0] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[0] + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[1] + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[2] + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[3] + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[4] + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[5] + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[6] + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[7] + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[8] + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[9] + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[10] + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[11] + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[12] + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[13] + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[14] + rk_eta[14];
-acadoWorkspace.rk_xxx[15] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[15] + rk_eta[15];
-acadoWorkspace.rk_xxx[16] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[16] + rk_eta[16];
-acadoWorkspace.rk_xxx[17] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[17] + rk_eta[17];
-acadoWorkspace.rk_xxx[18] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[18] + rk_eta[18];
-acadoWorkspace.rk_xxx[19] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[19] + rk_eta[19];
-acadoWorkspace.rk_xxx[20] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[20] + rk_eta[20];
-acadoWorkspace.rk_xxx[21] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[21] + rk_eta[21];
-acadoWorkspace.rk_xxx[22] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[22] + rk_eta[22];
-acadoWorkspace.rk_xxx[23] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[23] + rk_eta[23];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 24 ]) );
-acadoWorkspace.rk_xxx[0] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[24] + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[25] + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[26] + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[27] + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[28] + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[29] + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[30] + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[31] + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[32] + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[33] + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[34] + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[35] + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[36] + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[37] + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[38] + rk_eta[14];
-acadoWorkspace.rk_xxx[15] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[39] + rk_eta[15];
-acadoWorkspace.rk_xxx[16] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[40] + rk_eta[16];
-acadoWorkspace.rk_xxx[17] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[41] + rk_eta[17];
-acadoWorkspace.rk_xxx[18] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[42] + rk_eta[18];
-acadoWorkspace.rk_xxx[19] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[43] + rk_eta[19];
-acadoWorkspace.rk_xxx[20] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[44] + rk_eta[20];
-acadoWorkspace.rk_xxx[21] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[45] + rk_eta[21];
-acadoWorkspace.rk_xxx[22] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[46] + rk_eta[22];
-acadoWorkspace.rk_xxx[23] = + (real_t)2.4999999999999991e-02*acadoWorkspace.rk_kkk[47] + rk_eta[23];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 48 ]) );
-acadoWorkspace.rk_xxx[0] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[48] + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[49] + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[50] + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[51] + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[52] + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[53] + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[54] + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[55] + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[56] + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[57] + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[58] + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[59] + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[60] + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[61] + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[62] + rk_eta[14];
-acadoWorkspace.rk_xxx[15] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[63] + rk_eta[15];
-acadoWorkspace.rk_xxx[16] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[64] + rk_eta[16];
-acadoWorkspace.rk_xxx[17] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[65] + rk_eta[17];
-acadoWorkspace.rk_xxx[18] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[66] + rk_eta[18];
-acadoWorkspace.rk_xxx[19] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[67] + rk_eta[19];
-acadoWorkspace.rk_xxx[20] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[68] + rk_eta[20];
-acadoWorkspace.rk_xxx[21] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[69] + rk_eta[21];
-acadoWorkspace.rk_xxx[22] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[70] + rk_eta[22];
-acadoWorkspace.rk_xxx[23] = + (real_t)4.9999999999999982e-02*acadoWorkspace.rk_kkk[71] + rk_eta[23];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 72 ]) );
-rk_eta[0] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[0] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[24] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[48] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[72];
-rk_eta[1] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[1] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[25] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[49] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[73];
-rk_eta[2] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[2] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[26] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[50] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[74];
-rk_eta[3] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[3] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[27] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[51] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[75];
-rk_eta[4] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[4] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[28] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[52] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[76];
-rk_eta[5] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[5] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[29] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[53] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[77];
-rk_eta[6] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[6] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[30] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[54] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[78];
-rk_eta[7] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[7] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[31] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[55] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[79];
-rk_eta[8] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[8] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[32] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[56] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[80];
-rk_eta[9] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[9] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[33] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[57] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[81];
-rk_eta[10] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[10] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[34] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[58] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[82];
-rk_eta[11] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[11] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[35] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[59] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[83];
-rk_eta[12] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[12] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[36] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[60] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[84];
-rk_eta[13] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[13] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[37] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[61] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[85];
-rk_eta[14] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[14] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[38] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[62] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[86];
-rk_eta[15] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[15] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[39] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[63] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[87];
-rk_eta[16] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[16] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[40] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[64] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[88];
-rk_eta[17] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[17] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[41] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[65] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[89];
-rk_eta[18] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[18] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[42] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[66] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[90];
-rk_eta[19] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[19] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[43] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[67] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[91];
-rk_eta[20] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[20] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[44] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[68] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[92];
-rk_eta[21] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[21] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[45] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[69] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[93];
-rk_eta[22] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[22] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[46] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[70] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[94];
-rk_eta[23] += + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[23] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[47] + (real_t)1.6666666666666659e-02*acadoWorkspace.rk_kkk[71] + (real_t)8.3333333333333297e-03*acadoWorkspace.rk_kkk[95];
-acadoWorkspace.rk_ttt += 1.0000000000000000e+00;
-}
-}
-error = 0;
-return error;
-}
-
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp
deleted file mode 100644
index f2665a45c09b39..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-extern "C"
-{
-#include "acado_common.h"
-}
-
-#include "INCLUDE/QProblem.hpp"
-
-#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
-#include "INCLUDE/EXTRAS/SolutionAnalysis.hpp"
-#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
-
-static int acado_nWSR;
-
-
-
-#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
-static SolutionAnalysis acado_sa;
-#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
-
-int acado_solve( void )
-{
-	acado_nWSR = QPOASES_NWSRMAX;
-
-	QProblem qp(24, 40);
-	
-	returnValue retVal = qp.init(acadoWorkspace.H, acadoWorkspace.g, acadoWorkspace.A, acadoWorkspace.lb, acadoWorkspace.ub, acadoWorkspace.lbA, acadoWorkspace.ubA, acado_nWSR, acadoWorkspace.y);
-
-    qp.getPrimalSolution( acadoWorkspace.x );
-    qp.getDualSolution( acadoWorkspace.y );
-	
-#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
-
-	if (retVal != SUCCESSFUL_RETURN)
-		return (int)retVal;
-		
-	retVal = acado_sa.getHessianInverse( &qp,var );
-
-#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
-
-	return (int)retVal;
-}
-
-int acado_getNWSR( void )
-{
-	return acado_nWSR;
-}
-
-const char* acado_getErrorString( int error )
-{
-	return MessageHandling::getErrorString( error );
-}
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp
deleted file mode 100644
index 47d41855e6fe89..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#ifndef QPOASES_HEADER
-#define QPOASES_HEADER
-
-#ifdef PC_DEBUG
-#include <stdio.h>
-#endif /* PC_DEBUG */
-
-#include <math.h>
-
-#ifdef __cplusplus
-#define EXTERNC extern "C"
-#else
-#define EXTERNC
-#endif
-
-/*
- * A set of options for qpOASES
- */
-
-/** Maximum number of optimization variables. */
-#define QPOASES_NVMAX      24
-/** Maximum number of constraints. */
-#define QPOASES_NCMAX      40
-/** Maximum number of working set recalculations. */
-#define QPOASES_NWSRMAX    500
-/** Print level for qpOASES. */
-#define QPOASES_PRINTLEVEL PL_NONE
-/** The value of EPS */
-#define QPOASES_EPS        2.221e-16
-/** Internally used floating point type */
-typedef double real_t;
-
-/*
- * Forward function declarations
- */
-
-/** A function that calls the QP solver */
-EXTERNC int acado_solve( void );
-
-/** Get the number of active set changes */
-EXTERNC int acado_getNWSR( void );
-
-/** Get the error string. */
-const char* acado_getErrorString( int error );
-
-#endif /* QPOASES_HEADER */
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
deleted file mode 100644
index 347e77fa737710..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
+++ /dev/null
@@ -1,5163 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#include "acado_common.h"
-
-
-
-
-/******************************************************************************/
-/*                                                                            */
-/* ACADO code generation                                                      */
-/*                                                                            */
-/******************************************************************************/
-
-
-int acado_modelSimulation(  )
-{
-int ret;
-
-int lRun1;
-ret = 0;
-for (lRun1 = 0; lRun1 < 20; ++lRun1)
-{
-acadoWorkspace.state[0] = acadoVariables.x[lRun1 * 4];
-acadoWorkspace.state[1] = acadoVariables.x[lRun1 * 4 + 1];
-acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 4 + 2];
-acadoWorkspace.state[3] = acadoVariables.x[lRun1 * 4 + 3];
-
-acadoWorkspace.state[24] = acadoVariables.u[lRun1];
-acadoWorkspace.state[25] = acadoVariables.od[lRun1 * 17];
-acadoWorkspace.state[26] = acadoVariables.od[lRun1 * 17 + 1];
-acadoWorkspace.state[27] = acadoVariables.od[lRun1 * 17 + 2];
-acadoWorkspace.state[28] = acadoVariables.od[lRun1 * 17 + 3];
-acadoWorkspace.state[29] = acadoVariables.od[lRun1 * 17 + 4];
-acadoWorkspace.state[30] = acadoVariables.od[lRun1 * 17 + 5];
-acadoWorkspace.state[31] = acadoVariables.od[lRun1 * 17 + 6];
-acadoWorkspace.state[32] = acadoVariables.od[lRun1 * 17 + 7];
-acadoWorkspace.state[33] = acadoVariables.od[lRun1 * 17 + 8];
-acadoWorkspace.state[34] = acadoVariables.od[lRun1 * 17 + 9];
-acadoWorkspace.state[35] = acadoVariables.od[lRun1 * 17 + 10];
-acadoWorkspace.state[36] = acadoVariables.od[lRun1 * 17 + 11];
-acadoWorkspace.state[37] = acadoVariables.od[lRun1 * 17 + 12];
-acadoWorkspace.state[38] = acadoVariables.od[lRun1 * 17 + 13];
-acadoWorkspace.state[39] = acadoVariables.od[lRun1 * 17 + 14];
-acadoWorkspace.state[40] = acadoVariables.od[lRun1 * 17 + 15];
-acadoWorkspace.state[41] = acadoVariables.od[lRun1 * 17 + 16];
-
-ret = acado_integrate(acadoWorkspace.state, 1, lRun1);
-
-acadoWorkspace.d[lRun1 * 4] = acadoWorkspace.state[0] - acadoVariables.x[lRun1 * 4 + 4];
-acadoWorkspace.d[lRun1 * 4 + 1] = acadoWorkspace.state[1] - acadoVariables.x[lRun1 * 4 + 5];
-acadoWorkspace.d[lRun1 * 4 + 2] = acadoWorkspace.state[2] - acadoVariables.x[lRun1 * 4 + 6];
-acadoWorkspace.d[lRun1 * 4 + 3] = acadoWorkspace.state[3] - acadoVariables.x[lRun1 * 4 + 7];
-
-acadoWorkspace.evGx[lRun1 * 16] = acadoWorkspace.state[4];
-acadoWorkspace.evGx[lRun1 * 16 + 1] = acadoWorkspace.state[5];
-acadoWorkspace.evGx[lRun1 * 16 + 2] = acadoWorkspace.state[6];
-acadoWorkspace.evGx[lRun1 * 16 + 3] = acadoWorkspace.state[7];
-acadoWorkspace.evGx[lRun1 * 16 + 4] = acadoWorkspace.state[8];
-acadoWorkspace.evGx[lRun1 * 16 + 5] = acadoWorkspace.state[9];
-acadoWorkspace.evGx[lRun1 * 16 + 6] = acadoWorkspace.state[10];
-acadoWorkspace.evGx[lRun1 * 16 + 7] = acadoWorkspace.state[11];
-acadoWorkspace.evGx[lRun1 * 16 + 8] = acadoWorkspace.state[12];
-acadoWorkspace.evGx[lRun1 * 16 + 9] = acadoWorkspace.state[13];
-acadoWorkspace.evGx[lRun1 * 16 + 10] = acadoWorkspace.state[14];
-acadoWorkspace.evGx[lRun1 * 16 + 11] = acadoWorkspace.state[15];
-acadoWorkspace.evGx[lRun1 * 16 + 12] = acadoWorkspace.state[16];
-acadoWorkspace.evGx[lRun1 * 16 + 13] = acadoWorkspace.state[17];
-acadoWorkspace.evGx[lRun1 * 16 + 14] = acadoWorkspace.state[18];
-acadoWorkspace.evGx[lRun1 * 16 + 15] = acadoWorkspace.state[19];
-
-acadoWorkspace.evGu[lRun1 * 4] = acadoWorkspace.state[20];
-acadoWorkspace.evGu[lRun1 * 4 + 1] = acadoWorkspace.state[21];
-acadoWorkspace.evGu[lRun1 * 4 + 2] = acadoWorkspace.state[22];
-acadoWorkspace.evGu[lRun1 * 4 + 3] = acadoWorkspace.state[23];
-}
-return ret;
-}
-
-void acado_evaluateLSQ(const real_t* in, real_t* out)
-{
-const real_t* xd = in;
-const real_t* u = in + 4;
-const real_t* od = in + 5;
-/* Vector of auxiliary variables; number of elements: 11. */
-real_t* a = acadoWorkspace.objAuxVar;
-
-/* Compute intermediate quantities: */
-a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
-a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
-a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
-a[3] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
-a[4] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))*a[3]);
-a[5] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[3]);
-a[6] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
-a[7] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))*a[6]);
-a[8] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[6]);
-a[9] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
-a[10] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[9]);
-
-/* Compute outputs: */
-out[0] = (((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-xd[1]);
-out[1] = (((od[14]+od[15])-(od[14]*od[15]))*a[0]);
-out[2] = (((od[14]+od[15])-(od[14]*od[15]))*a[1]);
-out[3] = ((od[1]+(real_t)(1.0000000000000000e+00))*(a[2]-xd[2]));
-out[4] = ((od[1]+(real_t)(1.0000000000000000e+00))*u[0]);
-out[5] = (((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]);
-out[6] = ((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00));
-out[7] = (real_t)(0.0000000000000000e+00);
-out[8] = (real_t)(0.0000000000000000e+00);
-out[9] = (((od[14]+od[15])-(od[14]*od[15]))*a[4]);
-out[10] = (((od[14]+od[15])-(od[14]*od[15]))*a[5]);
-out[11] = (real_t)(0.0000000000000000e+00);
-out[12] = (real_t)(0.0000000000000000e+00);
-out[13] = (((od[14]+od[15])-(od[14]*od[15]))*a[7]);
-out[14] = (((od[14]+od[15])-(od[14]*od[15]))*a[8]);
-out[15] = (real_t)(0.0000000000000000e+00);
-out[16] = (real_t)(0.0000000000000000e+00);
-out[17] = ((od[1]+(real_t)(1.0000000000000000e+00))*a[10]);
-out[18] = (real_t)(0.0000000000000000e+00);
-out[19] = ((od[1]+(real_t)(1.0000000000000000e+00))*((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)));
-out[20] = (real_t)(0.0000000000000000e+00);
-out[21] = (real_t)(0.0000000000000000e+00);
-out[22] = (real_t)(0.0000000000000000e+00);
-out[23] = (real_t)(0.0000000000000000e+00);
-out[24] = (real_t)(0.0000000000000000e+00);
-out[25] = (real_t)(0.0000000000000000e+00);
-out[26] = (real_t)(0.0000000000000000e+00);
-out[27] = (real_t)(0.0000000000000000e+00);
-out[28] = (real_t)(0.0000000000000000e+00);
-out[29] = (od[1]+(real_t)(1.0000000000000000e+00));
-}
-
-void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
-{
-const real_t* xd = in;
-const real_t* od = in + 4;
-/* Vector of auxiliary variables; number of elements: 11. */
-real_t* a = acadoWorkspace.objAuxVar;
-
-/* Compute intermediate quantities: */
-a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
-a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
-a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
-a[3] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
-a[4] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))*a[3]);
-a[5] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[3]);
-a[6] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
-a[7] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))*a[6]);
-a[8] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[6]);
-a[9] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
-a[10] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[9]);
-
-/* Compute outputs: */
-out[0] = (((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-xd[1]);
-out[1] = (od[14]*a[0]);
-out[2] = (od[15]*a[1]);
-out[3] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*(a[2]-xd[2]));
-out[4] = (((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]);
-out[5] = ((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00));
-out[6] = (real_t)(0.0000000000000000e+00);
-out[7] = (real_t)(0.0000000000000000e+00);
-out[8] = (od[14]*a[4]);
-out[9] = (od[14]*a[5]);
-out[10] = (real_t)(0.0000000000000000e+00);
-out[11] = (real_t)(0.0000000000000000e+00);
-out[12] = (od[15]*a[7]);
-out[13] = (od[15]*a[8]);
-out[14] = (real_t)(0.0000000000000000e+00);
-out[15] = (real_t)(0.0000000000000000e+00);
-out[16] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*a[10]);
-out[17] = (real_t)(0.0000000000000000e+00);
-out[18] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)));
-out[19] = (real_t)(0.0000000000000000e+00);
-}
-
-void acado_setObjQ1Q2( real_t* const tmpFx, real_t* const tmpObjS, real_t* const tmpQ1, real_t* const tmpQ2 )
-{
-tmpQ2[0] = + tmpFx[0]*tmpObjS[0] + tmpFx[4]*tmpObjS[5] + tmpFx[8]*tmpObjS[10] + tmpFx[12]*tmpObjS[15] + tmpFx[16]*tmpObjS[20];
-tmpQ2[1] = + tmpFx[0]*tmpObjS[1] + tmpFx[4]*tmpObjS[6] + tmpFx[8]*tmpObjS[11] + tmpFx[12]*tmpObjS[16] + tmpFx[16]*tmpObjS[21];
-tmpQ2[2] = + tmpFx[0]*tmpObjS[2] + tmpFx[4]*tmpObjS[7] + tmpFx[8]*tmpObjS[12] + tmpFx[12]*tmpObjS[17] + tmpFx[16]*tmpObjS[22];
-tmpQ2[3] = + tmpFx[0]*tmpObjS[3] + tmpFx[4]*tmpObjS[8] + tmpFx[8]*tmpObjS[13] + tmpFx[12]*tmpObjS[18] + tmpFx[16]*tmpObjS[23];
-tmpQ2[4] = + tmpFx[0]*tmpObjS[4] + tmpFx[4]*tmpObjS[9] + tmpFx[8]*tmpObjS[14] + tmpFx[12]*tmpObjS[19] + tmpFx[16]*tmpObjS[24];
-tmpQ2[5] = + tmpFx[1]*tmpObjS[0] + tmpFx[5]*tmpObjS[5] + tmpFx[9]*tmpObjS[10] + tmpFx[13]*tmpObjS[15] + tmpFx[17]*tmpObjS[20];
-tmpQ2[6] = + tmpFx[1]*tmpObjS[1] + tmpFx[5]*tmpObjS[6] + tmpFx[9]*tmpObjS[11] + tmpFx[13]*tmpObjS[16] + tmpFx[17]*tmpObjS[21];
-tmpQ2[7] = + tmpFx[1]*tmpObjS[2] + tmpFx[5]*tmpObjS[7] + tmpFx[9]*tmpObjS[12] + tmpFx[13]*tmpObjS[17] + tmpFx[17]*tmpObjS[22];
-tmpQ2[8] = + tmpFx[1]*tmpObjS[3] + tmpFx[5]*tmpObjS[8] + tmpFx[9]*tmpObjS[13] + tmpFx[13]*tmpObjS[18] + tmpFx[17]*tmpObjS[23];
-tmpQ2[9] = + tmpFx[1]*tmpObjS[4] + tmpFx[5]*tmpObjS[9] + tmpFx[9]*tmpObjS[14] + tmpFx[13]*tmpObjS[19] + tmpFx[17]*tmpObjS[24];
-tmpQ2[10] = + tmpFx[2]*tmpObjS[0] + tmpFx[6]*tmpObjS[5] + tmpFx[10]*tmpObjS[10] + tmpFx[14]*tmpObjS[15] + tmpFx[18]*tmpObjS[20];
-tmpQ2[11] = + tmpFx[2]*tmpObjS[1] + tmpFx[6]*tmpObjS[6] + tmpFx[10]*tmpObjS[11] + tmpFx[14]*tmpObjS[16] + tmpFx[18]*tmpObjS[21];
-tmpQ2[12] = + tmpFx[2]*tmpObjS[2] + tmpFx[6]*tmpObjS[7] + tmpFx[10]*tmpObjS[12] + tmpFx[14]*tmpObjS[17] + tmpFx[18]*tmpObjS[22];
-tmpQ2[13] = + tmpFx[2]*tmpObjS[3] + tmpFx[6]*tmpObjS[8] + tmpFx[10]*tmpObjS[13] + tmpFx[14]*tmpObjS[18] + tmpFx[18]*tmpObjS[23];
-tmpQ2[14] = + tmpFx[2]*tmpObjS[4] + tmpFx[6]*tmpObjS[9] + tmpFx[10]*tmpObjS[14] + tmpFx[14]*tmpObjS[19] + tmpFx[18]*tmpObjS[24];
-tmpQ2[15] = + tmpFx[3]*tmpObjS[0] + tmpFx[7]*tmpObjS[5] + tmpFx[11]*tmpObjS[10] + tmpFx[15]*tmpObjS[15] + tmpFx[19]*tmpObjS[20];
-tmpQ2[16] = + tmpFx[3]*tmpObjS[1] + tmpFx[7]*tmpObjS[6] + tmpFx[11]*tmpObjS[11] + tmpFx[15]*tmpObjS[16] + tmpFx[19]*tmpObjS[21];
-tmpQ2[17] = + tmpFx[3]*tmpObjS[2] + tmpFx[7]*tmpObjS[7] + tmpFx[11]*tmpObjS[12] + tmpFx[15]*tmpObjS[17] + tmpFx[19]*tmpObjS[22];
-tmpQ2[18] = + tmpFx[3]*tmpObjS[3] + tmpFx[7]*tmpObjS[8] + tmpFx[11]*tmpObjS[13] + tmpFx[15]*tmpObjS[18] + tmpFx[19]*tmpObjS[23];
-tmpQ2[19] = + tmpFx[3]*tmpObjS[4] + tmpFx[7]*tmpObjS[9] + tmpFx[11]*tmpObjS[14] + tmpFx[15]*tmpObjS[19] + tmpFx[19]*tmpObjS[24];
-tmpQ1[0] = + tmpQ2[0]*tmpFx[0] + tmpQ2[1]*tmpFx[4] + tmpQ2[2]*tmpFx[8] + tmpQ2[3]*tmpFx[12] + tmpQ2[4]*tmpFx[16];
-tmpQ1[1] = + tmpQ2[0]*tmpFx[1] + tmpQ2[1]*tmpFx[5] + tmpQ2[2]*tmpFx[9] + tmpQ2[3]*tmpFx[13] + tmpQ2[4]*tmpFx[17];
-tmpQ1[2] = + tmpQ2[0]*tmpFx[2] + tmpQ2[1]*tmpFx[6] + tmpQ2[2]*tmpFx[10] + tmpQ2[3]*tmpFx[14] + tmpQ2[4]*tmpFx[18];
-tmpQ1[3] = + tmpQ2[0]*tmpFx[3] + tmpQ2[1]*tmpFx[7] + tmpQ2[2]*tmpFx[11] + tmpQ2[3]*tmpFx[15] + tmpQ2[4]*tmpFx[19];
-tmpQ1[4] = + tmpQ2[5]*tmpFx[0] + tmpQ2[6]*tmpFx[4] + tmpQ2[7]*tmpFx[8] + tmpQ2[8]*tmpFx[12] + tmpQ2[9]*tmpFx[16];
-tmpQ1[5] = + tmpQ2[5]*tmpFx[1] + tmpQ2[6]*tmpFx[5] + tmpQ2[7]*tmpFx[9] + tmpQ2[8]*tmpFx[13] + tmpQ2[9]*tmpFx[17];
-tmpQ1[6] = + tmpQ2[5]*tmpFx[2] + tmpQ2[6]*tmpFx[6] + tmpQ2[7]*tmpFx[10] + tmpQ2[8]*tmpFx[14] + tmpQ2[9]*tmpFx[18];
-tmpQ1[7] = + tmpQ2[5]*tmpFx[3] + tmpQ2[6]*tmpFx[7] + tmpQ2[7]*tmpFx[11] + tmpQ2[8]*tmpFx[15] + tmpQ2[9]*tmpFx[19];
-tmpQ1[8] = + tmpQ2[10]*tmpFx[0] + tmpQ2[11]*tmpFx[4] + tmpQ2[12]*tmpFx[8] + tmpQ2[13]*tmpFx[12] + tmpQ2[14]*tmpFx[16];
-tmpQ1[9] = + tmpQ2[10]*tmpFx[1] + tmpQ2[11]*tmpFx[5] + tmpQ2[12]*tmpFx[9] + tmpQ2[13]*tmpFx[13] + tmpQ2[14]*tmpFx[17];
-tmpQ1[10] = + tmpQ2[10]*tmpFx[2] + tmpQ2[11]*tmpFx[6] + tmpQ2[12]*tmpFx[10] + tmpQ2[13]*tmpFx[14] + tmpQ2[14]*tmpFx[18];
-tmpQ1[11] = + tmpQ2[10]*tmpFx[3] + tmpQ2[11]*tmpFx[7] + tmpQ2[12]*tmpFx[11] + tmpQ2[13]*tmpFx[15] + tmpQ2[14]*tmpFx[19];
-tmpQ1[12] = + tmpQ2[15]*tmpFx[0] + tmpQ2[16]*tmpFx[4] + tmpQ2[17]*tmpFx[8] + tmpQ2[18]*tmpFx[12] + tmpQ2[19]*tmpFx[16];
-tmpQ1[13] = + tmpQ2[15]*tmpFx[1] + tmpQ2[16]*tmpFx[5] + tmpQ2[17]*tmpFx[9] + tmpQ2[18]*tmpFx[13] + tmpQ2[19]*tmpFx[17];
-tmpQ1[14] = + tmpQ2[15]*tmpFx[2] + tmpQ2[16]*tmpFx[6] + tmpQ2[17]*tmpFx[10] + tmpQ2[18]*tmpFx[14] + tmpQ2[19]*tmpFx[18];
-tmpQ1[15] = + tmpQ2[15]*tmpFx[3] + tmpQ2[16]*tmpFx[7] + tmpQ2[17]*tmpFx[11] + tmpQ2[18]*tmpFx[15] + tmpQ2[19]*tmpFx[19];
-}
-
-void acado_setObjR1R2( real_t* const tmpFu, real_t* const tmpObjS, real_t* const tmpR1, real_t* const tmpR2 )
-{
-tmpR2[0] = + tmpFu[0]*tmpObjS[0] + tmpFu[1]*tmpObjS[5] + tmpFu[2]*tmpObjS[10] + tmpFu[3]*tmpObjS[15] + tmpFu[4]*tmpObjS[20];
-tmpR2[1] = + tmpFu[0]*tmpObjS[1] + tmpFu[1]*tmpObjS[6] + tmpFu[2]*tmpObjS[11] + tmpFu[3]*tmpObjS[16] + tmpFu[4]*tmpObjS[21];
-tmpR2[2] = + tmpFu[0]*tmpObjS[2] + tmpFu[1]*tmpObjS[7] + tmpFu[2]*tmpObjS[12] + tmpFu[3]*tmpObjS[17] + tmpFu[4]*tmpObjS[22];
-tmpR2[3] = + tmpFu[0]*tmpObjS[3] + tmpFu[1]*tmpObjS[8] + tmpFu[2]*tmpObjS[13] + tmpFu[3]*tmpObjS[18] + tmpFu[4]*tmpObjS[23];
-tmpR2[4] = + tmpFu[0]*tmpObjS[4] + tmpFu[1]*tmpObjS[9] + tmpFu[2]*tmpObjS[14] + tmpFu[3]*tmpObjS[19] + tmpFu[4]*tmpObjS[24];
-tmpR1[0] = + tmpR2[0]*tmpFu[0] + tmpR2[1]*tmpFu[1] + tmpR2[2]*tmpFu[2] + tmpR2[3]*tmpFu[3] + tmpR2[4]*tmpFu[4];
-}
-
-void acado_setObjQN1QN2( real_t* const tmpFx, real_t* const tmpObjSEndTerm, real_t* const tmpQN1, real_t* const tmpQN2 )
-{
-tmpQN2[0] = + tmpFx[0]*tmpObjSEndTerm[0] + tmpFx[4]*tmpObjSEndTerm[4] + tmpFx[8]*tmpObjSEndTerm[8] + tmpFx[12]*tmpObjSEndTerm[12];
-tmpQN2[1] = + tmpFx[0]*tmpObjSEndTerm[1] + tmpFx[4]*tmpObjSEndTerm[5] + tmpFx[8]*tmpObjSEndTerm[9] + tmpFx[12]*tmpObjSEndTerm[13];
-tmpQN2[2] = + tmpFx[0]*tmpObjSEndTerm[2] + tmpFx[4]*tmpObjSEndTerm[6] + tmpFx[8]*tmpObjSEndTerm[10] + tmpFx[12]*tmpObjSEndTerm[14];
-tmpQN2[3] = + tmpFx[0]*tmpObjSEndTerm[3] + tmpFx[4]*tmpObjSEndTerm[7] + tmpFx[8]*tmpObjSEndTerm[11] + tmpFx[12]*tmpObjSEndTerm[15];
-tmpQN2[4] = + tmpFx[1]*tmpObjSEndTerm[0] + tmpFx[5]*tmpObjSEndTerm[4] + tmpFx[9]*tmpObjSEndTerm[8] + tmpFx[13]*tmpObjSEndTerm[12];
-tmpQN2[5] = + tmpFx[1]*tmpObjSEndTerm[1] + tmpFx[5]*tmpObjSEndTerm[5] + tmpFx[9]*tmpObjSEndTerm[9] + tmpFx[13]*tmpObjSEndTerm[13];
-tmpQN2[6] = + tmpFx[1]*tmpObjSEndTerm[2] + tmpFx[5]*tmpObjSEndTerm[6] + tmpFx[9]*tmpObjSEndTerm[10] + tmpFx[13]*tmpObjSEndTerm[14];
-tmpQN2[7] = + tmpFx[1]*tmpObjSEndTerm[3] + tmpFx[5]*tmpObjSEndTerm[7] + tmpFx[9]*tmpObjSEndTerm[11] + tmpFx[13]*tmpObjSEndTerm[15];
-tmpQN2[8] = + tmpFx[2]*tmpObjSEndTerm[0] + tmpFx[6]*tmpObjSEndTerm[4] + tmpFx[10]*tmpObjSEndTerm[8] + tmpFx[14]*tmpObjSEndTerm[12];
-tmpQN2[9] = + tmpFx[2]*tmpObjSEndTerm[1] + tmpFx[6]*tmpObjSEndTerm[5] + tmpFx[10]*tmpObjSEndTerm[9] + tmpFx[14]*tmpObjSEndTerm[13];
-tmpQN2[10] = + tmpFx[2]*tmpObjSEndTerm[2] + tmpFx[6]*tmpObjSEndTerm[6] + tmpFx[10]*tmpObjSEndTerm[10] + tmpFx[14]*tmpObjSEndTerm[14];
-tmpQN2[11] = + tmpFx[2]*tmpObjSEndTerm[3] + tmpFx[6]*tmpObjSEndTerm[7] + tmpFx[10]*tmpObjSEndTerm[11] + tmpFx[14]*tmpObjSEndTerm[15];
-tmpQN2[12] = + tmpFx[3]*tmpObjSEndTerm[0] + tmpFx[7]*tmpObjSEndTerm[4] + tmpFx[11]*tmpObjSEndTerm[8] + tmpFx[15]*tmpObjSEndTerm[12];
-tmpQN2[13] = + tmpFx[3]*tmpObjSEndTerm[1] + tmpFx[7]*tmpObjSEndTerm[5] + tmpFx[11]*tmpObjSEndTerm[9] + tmpFx[15]*tmpObjSEndTerm[13];
-tmpQN2[14] = + tmpFx[3]*tmpObjSEndTerm[2] + tmpFx[7]*tmpObjSEndTerm[6] + tmpFx[11]*tmpObjSEndTerm[10] + tmpFx[15]*tmpObjSEndTerm[14];
-tmpQN2[15] = + tmpFx[3]*tmpObjSEndTerm[3] + tmpFx[7]*tmpObjSEndTerm[7] + tmpFx[11]*tmpObjSEndTerm[11] + tmpFx[15]*tmpObjSEndTerm[15];
-tmpQN1[0] = + tmpQN2[0]*tmpFx[0] + tmpQN2[1]*tmpFx[4] + tmpQN2[2]*tmpFx[8] + tmpQN2[3]*tmpFx[12];
-tmpQN1[1] = + tmpQN2[0]*tmpFx[1] + tmpQN2[1]*tmpFx[5] + tmpQN2[2]*tmpFx[9] + tmpQN2[3]*tmpFx[13];
-tmpQN1[2] = + tmpQN2[0]*tmpFx[2] + tmpQN2[1]*tmpFx[6] + tmpQN2[2]*tmpFx[10] + tmpQN2[3]*tmpFx[14];
-tmpQN1[3] = + tmpQN2[0]*tmpFx[3] + tmpQN2[1]*tmpFx[7] + tmpQN2[2]*tmpFx[11] + tmpQN2[3]*tmpFx[15];
-tmpQN1[4] = + tmpQN2[4]*tmpFx[0] + tmpQN2[5]*tmpFx[4] + tmpQN2[6]*tmpFx[8] + tmpQN2[7]*tmpFx[12];
-tmpQN1[5] = + tmpQN2[4]*tmpFx[1] + tmpQN2[5]*tmpFx[5] + tmpQN2[6]*tmpFx[9] + tmpQN2[7]*tmpFx[13];
-tmpQN1[6] = + tmpQN2[4]*tmpFx[2] + tmpQN2[5]*tmpFx[6] + tmpQN2[6]*tmpFx[10] + tmpQN2[7]*tmpFx[14];
-tmpQN1[7] = + tmpQN2[4]*tmpFx[3] + tmpQN2[5]*tmpFx[7] + tmpQN2[6]*tmpFx[11] + tmpQN2[7]*tmpFx[15];
-tmpQN1[8] = + tmpQN2[8]*tmpFx[0] + tmpQN2[9]*tmpFx[4] + tmpQN2[10]*tmpFx[8] + tmpQN2[11]*tmpFx[12];
-tmpQN1[9] = + tmpQN2[8]*tmpFx[1] + tmpQN2[9]*tmpFx[5] + tmpQN2[10]*tmpFx[9] + tmpQN2[11]*tmpFx[13];
-tmpQN1[10] = + tmpQN2[8]*tmpFx[2] + tmpQN2[9]*tmpFx[6] + tmpQN2[10]*tmpFx[10] + tmpQN2[11]*tmpFx[14];
-tmpQN1[11] = + tmpQN2[8]*tmpFx[3] + tmpQN2[9]*tmpFx[7] + tmpQN2[10]*tmpFx[11] + tmpQN2[11]*tmpFx[15];
-tmpQN1[12] = + tmpQN2[12]*tmpFx[0] + tmpQN2[13]*tmpFx[4] + tmpQN2[14]*tmpFx[8] + tmpQN2[15]*tmpFx[12];
-tmpQN1[13] = + tmpQN2[12]*tmpFx[1] + tmpQN2[13]*tmpFx[5] + tmpQN2[14]*tmpFx[9] + tmpQN2[15]*tmpFx[13];
-tmpQN1[14] = + tmpQN2[12]*tmpFx[2] + tmpQN2[13]*tmpFx[6] + tmpQN2[14]*tmpFx[10] + tmpQN2[15]*tmpFx[14];
-tmpQN1[15] = + tmpQN2[12]*tmpFx[3] + tmpQN2[13]*tmpFx[7] + tmpQN2[14]*tmpFx[11] + tmpQN2[15]*tmpFx[15];
-}
-
-void acado_evaluateObjective(  )
-{
-int runObj;
-for (runObj = 0; runObj < 20; ++runObj)
-{
-acadoWorkspace.objValueIn[0] = acadoVariables.x[runObj * 4];
-acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 4 + 1];
-acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 4 + 2];
-acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 4 + 3];
-acadoWorkspace.objValueIn[4] = acadoVariables.u[runObj];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 17];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[runObj * 17 + 1];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 17 + 2];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 17 + 3];
-acadoWorkspace.objValueIn[9] = acadoVariables.od[runObj * 17 + 4];
-acadoWorkspace.objValueIn[10] = acadoVariables.od[runObj * 17 + 5];
-acadoWorkspace.objValueIn[11] = acadoVariables.od[runObj * 17 + 6];
-acadoWorkspace.objValueIn[12] = acadoVariables.od[runObj * 17 + 7];
-acadoWorkspace.objValueIn[13] = acadoVariables.od[runObj * 17 + 8];
-acadoWorkspace.objValueIn[14] = acadoVariables.od[runObj * 17 + 9];
-acadoWorkspace.objValueIn[15] = acadoVariables.od[runObj * 17 + 10];
-acadoWorkspace.objValueIn[16] = acadoVariables.od[runObj * 17 + 11];
-acadoWorkspace.objValueIn[17] = acadoVariables.od[runObj * 17 + 12];
-acadoWorkspace.objValueIn[18] = acadoVariables.od[runObj * 17 + 13];
-acadoWorkspace.objValueIn[19] = acadoVariables.od[runObj * 17 + 14];
-acadoWorkspace.objValueIn[20] = acadoVariables.od[runObj * 17 + 15];
-acadoWorkspace.objValueIn[21] = acadoVariables.od[runObj * 17 + 16];
-
-acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
-acadoWorkspace.Dy[runObj * 5] = acadoWorkspace.objValueOut[0];
-acadoWorkspace.Dy[runObj * 5 + 1] = acadoWorkspace.objValueOut[1];
-acadoWorkspace.Dy[runObj * 5 + 2] = acadoWorkspace.objValueOut[2];
-acadoWorkspace.Dy[runObj * 5 + 3] = acadoWorkspace.objValueOut[3];
-acadoWorkspace.Dy[runObj * 5 + 4] = acadoWorkspace.objValueOut[4];
-
-acado_setObjQ1Q2( &(acadoWorkspace.objValueOut[ 5 ]), &(acadoVariables.W[ runObj * 25 ]), &(acadoWorkspace.Q1[ runObj * 16 ]), &(acadoWorkspace.Q2[ runObj * 20 ]) );
-
-acado_setObjR1R2( &(acadoWorkspace.objValueOut[ 25 ]), &(acadoVariables.W[ runObj * 25 ]), &(acadoWorkspace.R1[ runObj ]), &(acadoWorkspace.R2[ runObj * 5 ]) );
-
-}
-acadoWorkspace.objValueIn[0] = acadoVariables.x[80];
-acadoWorkspace.objValueIn[1] = acadoVariables.x[81];
-acadoWorkspace.objValueIn[2] = acadoVariables.x[82];
-acadoWorkspace.objValueIn[3] = acadoVariables.x[83];
-acadoWorkspace.objValueIn[4] = acadoVariables.od[340];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[341];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[342];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[343];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[344];
-acadoWorkspace.objValueIn[9] = acadoVariables.od[345];
-acadoWorkspace.objValueIn[10] = acadoVariables.od[346];
-acadoWorkspace.objValueIn[11] = acadoVariables.od[347];
-acadoWorkspace.objValueIn[12] = acadoVariables.od[348];
-acadoWorkspace.objValueIn[13] = acadoVariables.od[349];
-acadoWorkspace.objValueIn[14] = acadoVariables.od[350];
-acadoWorkspace.objValueIn[15] = acadoVariables.od[351];
-acadoWorkspace.objValueIn[16] = acadoVariables.od[352];
-acadoWorkspace.objValueIn[17] = acadoVariables.od[353];
-acadoWorkspace.objValueIn[18] = acadoVariables.od[354];
-acadoWorkspace.objValueIn[19] = acadoVariables.od[355];
-acadoWorkspace.objValueIn[20] = acadoVariables.od[356];
-acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
-
-acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
-acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1];
-acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2];
-acadoWorkspace.DyN[3] = acadoWorkspace.objValueOut[3];
-
-acado_setObjQN1QN2( &(acadoWorkspace.objValueOut[ 4 ]), acadoVariables.WN, acadoWorkspace.QN1, acadoWorkspace.QN2 );
-
-}
-
-void acado_multGxd( real_t* const dOld, real_t* const Gx1, real_t* const dNew )
-{
-dNew[0] += + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3];
-dNew[1] += + Gx1[4]*dOld[0] + Gx1[5]*dOld[1] + Gx1[6]*dOld[2] + Gx1[7]*dOld[3];
-dNew[2] += + Gx1[8]*dOld[0] + Gx1[9]*dOld[1] + Gx1[10]*dOld[2] + Gx1[11]*dOld[3];
-dNew[3] += + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3];
-}
-
-void acado_moveGxT( real_t* const Gx1, real_t* const Gx2 )
-{
-Gx2[0] = Gx1[0];
-Gx2[1] = Gx1[1];
-Gx2[2] = Gx1[2];
-Gx2[3] = Gx1[3];
-Gx2[4] = Gx1[4];
-Gx2[5] = Gx1[5];
-Gx2[6] = Gx1[6];
-Gx2[7] = Gx1[7];
-Gx2[8] = Gx1[8];
-Gx2[9] = Gx1[9];
-Gx2[10] = Gx1[10];
-Gx2[11] = Gx1[11];
-Gx2[12] = Gx1[12];
-Gx2[13] = Gx1[13];
-Gx2[14] = Gx1[14];
-Gx2[15] = Gx1[15];
-}
-
-void acado_multGxGx( real_t* const Gx1, real_t* const Gx2, real_t* const Gx3 )
-{
-Gx3[0] = + Gx1[0]*Gx2[0] + Gx1[1]*Gx2[4] + Gx1[2]*Gx2[8] + Gx1[3]*Gx2[12];
-Gx3[1] = + Gx1[0]*Gx2[1] + Gx1[1]*Gx2[5] + Gx1[2]*Gx2[9] + Gx1[3]*Gx2[13];
-Gx3[2] = + Gx1[0]*Gx2[2] + Gx1[1]*Gx2[6] + Gx1[2]*Gx2[10] + Gx1[3]*Gx2[14];
-Gx3[3] = + Gx1[0]*Gx2[3] + Gx1[1]*Gx2[7] + Gx1[2]*Gx2[11] + Gx1[3]*Gx2[15];
-Gx3[4] = + Gx1[4]*Gx2[0] + Gx1[5]*Gx2[4] + Gx1[6]*Gx2[8] + Gx1[7]*Gx2[12];
-Gx3[5] = + Gx1[4]*Gx2[1] + Gx1[5]*Gx2[5] + Gx1[6]*Gx2[9] + Gx1[7]*Gx2[13];
-Gx3[6] = + Gx1[4]*Gx2[2] + Gx1[5]*Gx2[6] + Gx1[6]*Gx2[10] + Gx1[7]*Gx2[14];
-Gx3[7] = + Gx1[4]*Gx2[3] + Gx1[5]*Gx2[7] + Gx1[6]*Gx2[11] + Gx1[7]*Gx2[15];
-Gx3[8] = + Gx1[8]*Gx2[0] + Gx1[9]*Gx2[4] + Gx1[10]*Gx2[8] + Gx1[11]*Gx2[12];
-Gx3[9] = + Gx1[8]*Gx2[1] + Gx1[9]*Gx2[5] + Gx1[10]*Gx2[9] + Gx1[11]*Gx2[13];
-Gx3[10] = + Gx1[8]*Gx2[2] + Gx1[9]*Gx2[6] + Gx1[10]*Gx2[10] + Gx1[11]*Gx2[14];
-Gx3[11] = + Gx1[8]*Gx2[3] + Gx1[9]*Gx2[7] + Gx1[10]*Gx2[11] + Gx1[11]*Gx2[15];
-Gx3[12] = + Gx1[12]*Gx2[0] + Gx1[13]*Gx2[4] + Gx1[14]*Gx2[8] + Gx1[15]*Gx2[12];
-Gx3[13] = + Gx1[12]*Gx2[1] + Gx1[13]*Gx2[5] + Gx1[14]*Gx2[9] + Gx1[15]*Gx2[13];
-Gx3[14] = + Gx1[12]*Gx2[2] + Gx1[13]*Gx2[6] + Gx1[14]*Gx2[10] + Gx1[15]*Gx2[14];
-Gx3[15] = + Gx1[12]*Gx2[3] + Gx1[13]*Gx2[7] + Gx1[14]*Gx2[11] + Gx1[15]*Gx2[15];
-}
-
-void acado_multGxGu( real_t* const Gx1, real_t* const Gu1, real_t* const Gu2 )
-{
-Gu2[0] = + Gx1[0]*Gu1[0] + Gx1[1]*Gu1[1] + Gx1[2]*Gu1[2] + Gx1[3]*Gu1[3];
-Gu2[1] = + Gx1[4]*Gu1[0] + Gx1[5]*Gu1[1] + Gx1[6]*Gu1[2] + Gx1[7]*Gu1[3];
-Gu2[2] = + Gx1[8]*Gu1[0] + Gx1[9]*Gu1[1] + Gx1[10]*Gu1[2] + Gx1[11]*Gu1[3];
-Gu2[3] = + Gx1[12]*Gu1[0] + Gx1[13]*Gu1[1] + Gx1[14]*Gu1[2] + Gx1[15]*Gu1[3];
-}
-
-void acado_moveGuE( real_t* const Gu1, real_t* const Gu2 )
-{
-Gu2[0] = Gu1[0];
-Gu2[1] = Gu1[1];
-Gu2[2] = Gu1[2];
-Gu2[3] = Gu1[3];
-}
-
-void acado_setBlockH11( int iRow, int iCol, real_t* const Gu1, real_t* const Gu2 )
-{
-acadoWorkspace.H[(iRow * 24 + 96) + (iCol + 4)] += + Gu1[0]*Gu2[0] + Gu1[1]*Gu2[1] + Gu1[2]*Gu2[2] + Gu1[3]*Gu2[3];
-}
-
-void acado_setBlockH11_R1( int iRow, int iCol, real_t* const R11 )
-{
-acadoWorkspace.H[(iRow * 24 + 96) + (iCol + 4)] = R11[0];
-}
-
-void acado_zeroBlockH11( int iRow, int iCol )
-{
-acadoWorkspace.H[(iRow * 24 + 96) + (iCol + 4)] = 0.0000000000000000e+00;
-}
-
-void acado_copyHTH( int iRow, int iCol )
-{
-acadoWorkspace.H[(iRow * 24 + 96) + (iCol + 4)] = acadoWorkspace.H[(iCol * 24 + 96) + (iRow + 4)];
-}
-
-void acado_multQ1d( real_t* const Gx1, real_t* const dOld, real_t* const dNew )
-{
-dNew[0] = + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3];
-dNew[1] = + Gx1[4]*dOld[0] + Gx1[5]*dOld[1] + Gx1[6]*dOld[2] + Gx1[7]*dOld[3];
-dNew[2] = + Gx1[8]*dOld[0] + Gx1[9]*dOld[1] + Gx1[10]*dOld[2] + Gx1[11]*dOld[3];
-dNew[3] = + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3];
-}
-
-void acado_multQN1d( real_t* const QN1, real_t* const dOld, real_t* const dNew )
-{
-dNew[0] = + acadoWorkspace.QN1[0]*dOld[0] + acadoWorkspace.QN1[1]*dOld[1] + acadoWorkspace.QN1[2]*dOld[2] + acadoWorkspace.QN1[3]*dOld[3];
-dNew[1] = + acadoWorkspace.QN1[4]*dOld[0] + acadoWorkspace.QN1[5]*dOld[1] + acadoWorkspace.QN1[6]*dOld[2] + acadoWorkspace.QN1[7]*dOld[3];
-dNew[2] = + acadoWorkspace.QN1[8]*dOld[0] + acadoWorkspace.QN1[9]*dOld[1] + acadoWorkspace.QN1[10]*dOld[2] + acadoWorkspace.QN1[11]*dOld[3];
-dNew[3] = + acadoWorkspace.QN1[12]*dOld[0] + acadoWorkspace.QN1[13]*dOld[1] + acadoWorkspace.QN1[14]*dOld[2] + acadoWorkspace.QN1[15]*dOld[3];
-}
-
-void acado_multRDy( real_t* const R2, real_t* const Dy1, real_t* const RDy1 )
-{
-RDy1[0] = + R2[0]*Dy1[0] + R2[1]*Dy1[1] + R2[2]*Dy1[2] + R2[3]*Dy1[3] + R2[4]*Dy1[4];
-}
-
-void acado_multQDy( real_t* const Q2, real_t* const Dy1, real_t* const QDy1 )
-{
-QDy1[0] = + Q2[0]*Dy1[0] + Q2[1]*Dy1[1] + Q2[2]*Dy1[2] + Q2[3]*Dy1[3] + Q2[4]*Dy1[4];
-QDy1[1] = + Q2[5]*Dy1[0] + Q2[6]*Dy1[1] + Q2[7]*Dy1[2] + Q2[8]*Dy1[3] + Q2[9]*Dy1[4];
-QDy1[2] = + Q2[10]*Dy1[0] + Q2[11]*Dy1[1] + Q2[12]*Dy1[2] + Q2[13]*Dy1[3] + Q2[14]*Dy1[4];
-QDy1[3] = + Q2[15]*Dy1[0] + Q2[16]*Dy1[1] + Q2[17]*Dy1[2] + Q2[18]*Dy1[3] + Q2[19]*Dy1[4];
-}
-
-void acado_multEQDy( real_t* const E1, real_t* const QDy1, real_t* const U1 )
-{
-U1[0] += + E1[0]*QDy1[0] + E1[1]*QDy1[1] + E1[2]*QDy1[2] + E1[3]*QDy1[3];
-}
-
-void acado_multQETGx( real_t* const E1, real_t* const Gx1, real_t* const H101 )
-{
-H101[0] += + E1[0]*Gx1[0] + E1[1]*Gx1[4] + E1[2]*Gx1[8] + E1[3]*Gx1[12];
-H101[1] += + E1[0]*Gx1[1] + E1[1]*Gx1[5] + E1[2]*Gx1[9] + E1[3]*Gx1[13];
-H101[2] += + E1[0]*Gx1[2] + E1[1]*Gx1[6] + E1[2]*Gx1[10] + E1[3]*Gx1[14];
-H101[3] += + E1[0]*Gx1[3] + E1[1]*Gx1[7] + E1[2]*Gx1[11] + E1[3]*Gx1[15];
-}
-
-void acado_zeroBlockH10( real_t* const H101 )
-{
-{ int lCopy; for (lCopy = 0; lCopy < 4; lCopy++) H101[ lCopy ] = 0; }
-}
-
-void acado_multEDu( real_t* const E1, real_t* const U1, real_t* const dNew )
-{
-dNew[0] += + E1[0]*U1[0];
-dNew[1] += + E1[1]*U1[0];
-dNew[2] += + E1[2]*U1[0];
-dNew[3] += + E1[3]*U1[0];
-}
-
-void acado_zeroBlockH00(  )
-{
-acadoWorkspace.H[0] = 0.0000000000000000e+00;
-acadoWorkspace.H[1] = 0.0000000000000000e+00;
-acadoWorkspace.H[2] = 0.0000000000000000e+00;
-acadoWorkspace.H[3] = 0.0000000000000000e+00;
-acadoWorkspace.H[24] = 0.0000000000000000e+00;
-acadoWorkspace.H[25] = 0.0000000000000000e+00;
-acadoWorkspace.H[26] = 0.0000000000000000e+00;
-acadoWorkspace.H[27] = 0.0000000000000000e+00;
-acadoWorkspace.H[48] = 0.0000000000000000e+00;
-acadoWorkspace.H[49] = 0.0000000000000000e+00;
-acadoWorkspace.H[50] = 0.0000000000000000e+00;
-acadoWorkspace.H[51] = 0.0000000000000000e+00;
-acadoWorkspace.H[72] = 0.0000000000000000e+00;
-acadoWorkspace.H[73] = 0.0000000000000000e+00;
-acadoWorkspace.H[74] = 0.0000000000000000e+00;
-acadoWorkspace.H[75] = 0.0000000000000000e+00;
-}
-
-void acado_multCTQC( real_t* const Gx1, real_t* const Gx2 )
-{
-acadoWorkspace.H[0] += + Gx1[0]*Gx2[0] + Gx1[4]*Gx2[4] + Gx1[8]*Gx2[8] + Gx1[12]*Gx2[12];
-acadoWorkspace.H[1] += + Gx1[0]*Gx2[1] + Gx1[4]*Gx2[5] + Gx1[8]*Gx2[9] + Gx1[12]*Gx2[13];
-acadoWorkspace.H[2] += + Gx1[0]*Gx2[2] + Gx1[4]*Gx2[6] + Gx1[8]*Gx2[10] + Gx1[12]*Gx2[14];
-acadoWorkspace.H[3] += + Gx1[0]*Gx2[3] + Gx1[4]*Gx2[7] + Gx1[8]*Gx2[11] + Gx1[12]*Gx2[15];
-acadoWorkspace.H[24] += + Gx1[1]*Gx2[0] + Gx1[5]*Gx2[4] + Gx1[9]*Gx2[8] + Gx1[13]*Gx2[12];
-acadoWorkspace.H[25] += + Gx1[1]*Gx2[1] + Gx1[5]*Gx2[5] + Gx1[9]*Gx2[9] + Gx1[13]*Gx2[13];
-acadoWorkspace.H[26] += + Gx1[1]*Gx2[2] + Gx1[5]*Gx2[6] + Gx1[9]*Gx2[10] + Gx1[13]*Gx2[14];
-acadoWorkspace.H[27] += + Gx1[1]*Gx2[3] + Gx1[5]*Gx2[7] + Gx1[9]*Gx2[11] + Gx1[13]*Gx2[15];
-acadoWorkspace.H[48] += + Gx1[2]*Gx2[0] + Gx1[6]*Gx2[4] + Gx1[10]*Gx2[8] + Gx1[14]*Gx2[12];
-acadoWorkspace.H[49] += + Gx1[2]*Gx2[1] + Gx1[6]*Gx2[5] + Gx1[10]*Gx2[9] + Gx1[14]*Gx2[13];
-acadoWorkspace.H[50] += + Gx1[2]*Gx2[2] + Gx1[6]*Gx2[6] + Gx1[10]*Gx2[10] + Gx1[14]*Gx2[14];
-acadoWorkspace.H[51] += + Gx1[2]*Gx2[3] + Gx1[6]*Gx2[7] + Gx1[10]*Gx2[11] + Gx1[14]*Gx2[15];
-acadoWorkspace.H[72] += + Gx1[3]*Gx2[0] + Gx1[7]*Gx2[4] + Gx1[11]*Gx2[8] + Gx1[15]*Gx2[12];
-acadoWorkspace.H[73] += + Gx1[3]*Gx2[1] + Gx1[7]*Gx2[5] + Gx1[11]*Gx2[9] + Gx1[15]*Gx2[13];
-acadoWorkspace.H[74] += + Gx1[3]*Gx2[2] + Gx1[7]*Gx2[6] + Gx1[11]*Gx2[10] + Gx1[15]*Gx2[14];
-acadoWorkspace.H[75] += + Gx1[3]*Gx2[3] + Gx1[7]*Gx2[7] + Gx1[11]*Gx2[11] + Gx1[15]*Gx2[15];
-}
-
-void acado_macCTSlx( real_t* const C0, real_t* const g0 )
-{
-g0[0] += 0.0;
-;
-g0[1] += 0.0;
-;
-g0[2] += 0.0;
-;
-g0[3] += 0.0;
-;
-}
-
-void acado_macETSlu( real_t* const E0, real_t* const g1 )
-{
-g1[0] += 0.0;
-;
-}
-
-void acado_condensePrep(  )
-{
-int lRun1;
-int lRun2;
-int lRun3;
-int lRun4;
-int lRun5;
-/** Row vector of size: 40 */
-static const int xBoundIndices[ 40 ] = 
-{ 6, 7, 10, 11, 14, 15, 18, 19, 22, 23, 26, 27, 30, 31, 34, 35, 38, 39, 42, 43, 46, 47, 50, 51, 54, 55, 58, 59, 62, 63, 66, 67, 70, 71, 74, 75, 78, 79, 82, 83 };
-acado_moveGuE( acadoWorkspace.evGu, acadoWorkspace.E );
-acado_moveGxT( &(acadoWorkspace.evGx[ 16 ]), acadoWorkspace.T );
-acado_multGxd( acadoWorkspace.d, &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.d[ 4 ]) );
-acado_multGxGx( acadoWorkspace.T, acadoWorkspace.evGx, &(acadoWorkspace.evGx[ 16 ]) );
-
-acado_multGxGu( acadoWorkspace.T, acadoWorkspace.E, &(acadoWorkspace.E[ 4 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 4 ]), &(acadoWorkspace.E[ 8 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 32 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 4 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.d[ 8 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.evGx[ 32 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.E[ 12 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.E[ 16 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 8 ]), &(acadoWorkspace.E[ 20 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 48 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 8 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.d[ 12 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.evGx[ 48 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.E[ 24 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.E[ 28 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.E[ 32 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 12 ]), &(acadoWorkspace.E[ 36 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 64 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.d[ 16 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.evGx[ 64 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.E[ 40 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.E[ 44 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.E[ 48 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.E[ 52 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 16 ]), &(acadoWorkspace.E[ 56 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 80 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 16 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.d[ 20 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.evGx[ 80 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.E[ 60 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.E[ 64 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.E[ 68 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.E[ 72 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.E[ 76 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 20 ]), &(acadoWorkspace.E[ 80 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 96 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 20 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.d[ 24 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.evGx[ 96 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.E[ 84 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.E[ 88 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.E[ 92 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.E[ 96 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.E[ 100 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.E[ 104 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 24 ]), &(acadoWorkspace.E[ 108 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 112 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.d[ 28 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.evGx[ 112 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.E[ 112 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.E[ 116 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.E[ 120 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.E[ 124 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.E[ 128 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.E[ 132 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.E[ 136 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 28 ]), &(acadoWorkspace.E[ 140 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 128 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 28 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.d[ 32 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.evGx[ 128 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.E[ 144 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.E[ 148 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.E[ 152 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.E[ 156 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.E[ 160 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.E[ 164 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.E[ 168 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.E[ 172 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 32 ]), &(acadoWorkspace.E[ 176 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 32 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.d[ 36 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.evGx[ 144 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.E[ 180 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.E[ 184 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.E[ 188 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.E[ 192 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.E[ 196 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.E[ 200 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.E[ 204 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.E[ 208 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.E[ 212 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 36 ]), &(acadoWorkspace.E[ 216 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 160 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.d[ 40 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.evGx[ 160 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.E[ 220 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.E[ 224 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.E[ 228 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.E[ 232 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.E[ 236 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.E[ 240 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.E[ 244 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.E[ 248 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.E[ 252 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.E[ 256 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 40 ]), &(acadoWorkspace.E[ 260 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 176 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 40 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.d[ 44 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.evGx[ 176 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.E[ 264 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.E[ 268 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.E[ 272 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.E[ 276 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.E[ 280 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.E[ 284 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.E[ 288 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.E[ 292 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.E[ 296 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.E[ 300 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.E[ 304 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 44 ]), &(acadoWorkspace.E[ 308 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 192 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 44 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.d[ 48 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.evGx[ 192 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.E[ 312 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.E[ 316 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.E[ 320 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.E[ 324 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.E[ 328 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.E[ 332 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.E[ 336 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.E[ 340 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.E[ 344 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.E[ 348 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.E[ 352 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.E[ 356 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 48 ]), &(acadoWorkspace.E[ 360 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 208 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.d[ 52 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.evGx[ 208 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.E[ 364 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.E[ 368 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.E[ 372 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.E[ 376 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.E[ 380 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.E[ 384 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.E[ 388 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.E[ 392 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.E[ 396 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.E[ 400 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.E[ 404 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.E[ 408 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.E[ 412 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 52 ]), &(acadoWorkspace.E[ 416 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 224 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 52 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.d[ 56 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.evGx[ 224 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.E[ 420 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.E[ 424 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.E[ 428 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.E[ 432 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.E[ 436 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.E[ 440 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.E[ 444 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.E[ 448 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.E[ 452 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.E[ 456 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.E[ 460 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.E[ 464 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.E[ 468 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.E[ 472 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 56 ]), &(acadoWorkspace.E[ 476 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 240 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 56 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.d[ 60 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.evGx[ 240 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.E[ 480 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.E[ 484 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.E[ 488 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.E[ 492 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.E[ 496 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.E[ 500 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.E[ 504 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.E[ 508 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.E[ 512 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.E[ 516 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.E[ 520 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.E[ 524 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.E[ 528 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.E[ 532 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.E[ 536 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 60 ]), &(acadoWorkspace.E[ 540 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 256 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.d[ 64 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.evGx[ 256 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.E[ 544 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.E[ 548 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.E[ 552 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.E[ 556 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.E[ 560 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.E[ 564 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.E[ 568 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.E[ 572 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.E[ 576 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.E[ 580 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.E[ 584 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.E[ 588 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.E[ 592 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.E[ 596 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.E[ 600 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.E[ 604 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 64 ]), &(acadoWorkspace.E[ 608 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 272 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 64 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.d[ 68 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.evGx[ 272 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.E[ 612 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.E[ 616 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.E[ 620 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.E[ 624 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.E[ 628 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.E[ 632 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.E[ 636 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.E[ 640 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.E[ 644 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.E[ 648 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.E[ 652 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.E[ 656 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.E[ 660 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.E[ 664 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.E[ 668 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.E[ 672 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.E[ 676 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 68 ]), &(acadoWorkspace.E[ 680 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 68 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.d[ 72 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.evGx[ 288 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.E[ 684 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.E[ 688 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.E[ 692 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.E[ 696 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.E[ 700 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.E[ 704 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.E[ 708 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.E[ 712 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.E[ 716 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.E[ 720 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.E[ 724 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.E[ 728 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.E[ 732 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.E[ 736 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.E[ 740 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.E[ 744 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.E[ 748 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.E[ 752 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 72 ]), &(acadoWorkspace.E[ 756 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 304 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.d[ 76 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.evGx[ 304 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.E[ 760 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.E[ 764 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.E[ 768 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.E[ 772 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.E[ 776 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.E[ 780 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.E[ 784 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.E[ 788 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.E[ 792 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.E[ 796 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.E[ 800 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.E[ 804 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.E[ 808 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.E[ 812 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.E[ 816 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.E[ 820 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.E[ 824 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.E[ 828 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.E[ 832 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 76 ]), &(acadoWorkspace.E[ 836 ]) );
-
-acado_multGxGx( &(acadoWorkspace.Q1[ 16 ]), acadoWorkspace.evGx, acadoWorkspace.QGx );
-acado_multGxGx( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.QGx[ 16 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.QGx[ 32 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.QGx[ 48 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.QGx[ 64 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.QGx[ 80 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.QGx[ 96 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.QGx[ 112 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.QGx[ 128 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.QGx[ 160 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.QGx[ 176 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.QGx[ 192 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.QGx[ 208 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.QGx[ 224 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.QGx[ 240 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.QGx[ 256 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.QGx[ 272 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.QGx[ 288 ]) );
-acado_multGxGx( acadoWorkspace.QN1, &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.QGx[ 304 ]) );
-
-acado_multGxGu( &(acadoWorkspace.Q1[ 16 ]), acadoWorkspace.E, acadoWorkspace.QE );
-acado_multGxGu( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.QE[ 4 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.QE[ 8 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.QE[ 16 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.QE[ 20 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QE[ 28 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.QE[ 32 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 40 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 44 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.QE[ 52 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.QE[ 56 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 64 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 68 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.QE[ 76 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.QE[ 80 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 88 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 92 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QE[ 100 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.QE[ 104 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 112 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 116 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 124 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 128 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.QE[ 136 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 148 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 152 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 160 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 164 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 184 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 188 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 196 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 200 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 220 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 224 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 232 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 236 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 244 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 268 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 272 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 280 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 284 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 316 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 320 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 328 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 332 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 364 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 368 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 376 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 380 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 388 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 424 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 428 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 436 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 440 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 484 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 488 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 496 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 500 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 544 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 548 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 556 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 560 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 568 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 616 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 620 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 628 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 632 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 636 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 684 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 688 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 692 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 696 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 700 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 704 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 708 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 760 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 764 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 768 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 772 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 776 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 780 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 784 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 788 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 792 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 796 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 800 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 804 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 808 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 812 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 816 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 820 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 824 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 828 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.QE[ 832 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 836 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_zeroBlockH00(  );
-acado_multCTQC( acadoWorkspace.evGx, acadoWorkspace.QGx );
-acado_multCTQC( &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.QGx[ 16 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.QGx[ 32 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.QGx[ 48 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.QGx[ 64 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.QGx[ 80 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.QGx[ 96 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.QGx[ 112 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.QGx[ 128 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.QGx[ 160 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.QGx[ 176 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.QGx[ 192 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.QGx[ 208 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.QGx[ 224 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.QGx[ 240 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.QGx[ 256 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.QGx[ 272 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.QGx[ 288 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.QGx[ 304 ]) );
-
-acado_zeroBlockH10( acadoWorkspace.H10 );
-acado_multQETGx( acadoWorkspace.QE, acadoWorkspace.evGx, acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 4 ]), &(acadoWorkspace.evGx[ 16 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.evGx[ 32 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.evGx[ 48 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 40 ]), &(acadoWorkspace.evGx[ 64 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.evGx[ 80 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.evGx[ 96 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 112 ]), &(acadoWorkspace.evGx[ 112 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.evGx[ 128 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 220 ]), &(acadoWorkspace.evGx[ 160 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.evGx[ 176 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.evGx[ 192 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 364 ]), &(acadoWorkspace.evGx[ 208 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.evGx[ 224 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.evGx[ 240 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 544 ]), &(acadoWorkspace.evGx[ 256 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.evGx[ 272 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 684 ]), &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 760 ]), &(acadoWorkspace.evGx[ 304 ]), acadoWorkspace.H10 );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 8 ]), &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 16 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 28 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 44 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 64 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 88 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 116 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 148 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 184 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 224 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 268 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 316 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 368 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 424 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 484 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 548 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 616 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 688 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 764 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 4 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 20 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 32 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 68 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 92 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 152 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 188 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 272 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 320 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 428 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 488 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 620 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 692 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 768 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 8 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 52 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 124 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 232 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 376 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 556 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 696 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 772 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 56 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 76 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 100 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 128 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 160 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 196 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 236 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 280 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 328 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 380 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 436 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 496 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 560 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 628 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 700 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 776 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 16 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 80 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 104 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 164 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 200 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 284 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 332 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 440 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 500 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 632 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 704 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 780 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 20 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 136 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 244 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 388 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 568 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 636 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 708 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 784 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 140 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 172 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 208 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 248 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 292 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 340 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 392 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 448 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 508 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 572 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 640 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 712 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 788 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 28 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 176 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 212 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 296 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 344 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 452 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 512 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 644 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 716 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 792 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 32 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 256 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 400 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 580 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 648 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 720 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 796 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 260 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 304 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 352 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 404 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 460 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 520 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 584 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 652 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 724 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 800 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 40 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 308 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 356 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 464 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 524 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 656 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 728 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 804 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 44 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 412 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 592 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 660 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 732 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 808 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 52 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 416 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 52 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 472 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 52 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 532 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 52 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 596 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 52 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 664 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 52 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 736 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 52 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 812 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 52 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 56 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 476 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 56 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 536 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 56 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 56 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 668 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 56 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 740 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 56 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 816 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 56 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 60 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 60 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 604 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 60 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 672 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 60 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 744 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 60 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 820 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 60 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 64 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 608 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 64 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 676 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 64 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 748 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 64 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 824 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 64 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 68 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 680 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 68 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 752 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 68 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 828 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 68 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 72 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 756 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 72 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 832 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 72 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 76 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 836 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 76 ]) );
-
-acadoWorkspace.H[4] = acadoWorkspace.H10[0];
-acadoWorkspace.H[5] = acadoWorkspace.H10[4];
-acadoWorkspace.H[6] = acadoWorkspace.H10[8];
-acadoWorkspace.H[7] = acadoWorkspace.H10[12];
-acadoWorkspace.H[8] = acadoWorkspace.H10[16];
-acadoWorkspace.H[9] = acadoWorkspace.H10[20];
-acadoWorkspace.H[10] = acadoWorkspace.H10[24];
-acadoWorkspace.H[11] = acadoWorkspace.H10[28];
-acadoWorkspace.H[12] = acadoWorkspace.H10[32];
-acadoWorkspace.H[13] = acadoWorkspace.H10[36];
-acadoWorkspace.H[14] = acadoWorkspace.H10[40];
-acadoWorkspace.H[15] = acadoWorkspace.H10[44];
-acadoWorkspace.H[16] = acadoWorkspace.H10[48];
-acadoWorkspace.H[17] = acadoWorkspace.H10[52];
-acadoWorkspace.H[18] = acadoWorkspace.H10[56];
-acadoWorkspace.H[19] = acadoWorkspace.H10[60];
-acadoWorkspace.H[20] = acadoWorkspace.H10[64];
-acadoWorkspace.H[21] = acadoWorkspace.H10[68];
-acadoWorkspace.H[22] = acadoWorkspace.H10[72];
-acadoWorkspace.H[23] = acadoWorkspace.H10[76];
-acadoWorkspace.H[28] = acadoWorkspace.H10[1];
-acadoWorkspace.H[29] = acadoWorkspace.H10[5];
-acadoWorkspace.H[30] = acadoWorkspace.H10[9];
-acadoWorkspace.H[31] = acadoWorkspace.H10[13];
-acadoWorkspace.H[32] = acadoWorkspace.H10[17];
-acadoWorkspace.H[33] = acadoWorkspace.H10[21];
-acadoWorkspace.H[34] = acadoWorkspace.H10[25];
-acadoWorkspace.H[35] = acadoWorkspace.H10[29];
-acadoWorkspace.H[36] = acadoWorkspace.H10[33];
-acadoWorkspace.H[37] = acadoWorkspace.H10[37];
-acadoWorkspace.H[38] = acadoWorkspace.H10[41];
-acadoWorkspace.H[39] = acadoWorkspace.H10[45];
-acadoWorkspace.H[40] = acadoWorkspace.H10[49];
-acadoWorkspace.H[41] = acadoWorkspace.H10[53];
-acadoWorkspace.H[42] = acadoWorkspace.H10[57];
-acadoWorkspace.H[43] = acadoWorkspace.H10[61];
-acadoWorkspace.H[44] = acadoWorkspace.H10[65];
-acadoWorkspace.H[45] = acadoWorkspace.H10[69];
-acadoWorkspace.H[46] = acadoWorkspace.H10[73];
-acadoWorkspace.H[47] = acadoWorkspace.H10[77];
-acadoWorkspace.H[52] = acadoWorkspace.H10[2];
-acadoWorkspace.H[53] = acadoWorkspace.H10[6];
-acadoWorkspace.H[54] = acadoWorkspace.H10[10];
-acadoWorkspace.H[55] = acadoWorkspace.H10[14];
-acadoWorkspace.H[56] = acadoWorkspace.H10[18];
-acadoWorkspace.H[57] = acadoWorkspace.H10[22];
-acadoWorkspace.H[58] = acadoWorkspace.H10[26];
-acadoWorkspace.H[59] = acadoWorkspace.H10[30];
-acadoWorkspace.H[60] = acadoWorkspace.H10[34];
-acadoWorkspace.H[61] = acadoWorkspace.H10[38];
-acadoWorkspace.H[62] = acadoWorkspace.H10[42];
-acadoWorkspace.H[63] = acadoWorkspace.H10[46];
-acadoWorkspace.H[64] = acadoWorkspace.H10[50];
-acadoWorkspace.H[65] = acadoWorkspace.H10[54];
-acadoWorkspace.H[66] = acadoWorkspace.H10[58];
-acadoWorkspace.H[67] = acadoWorkspace.H10[62];
-acadoWorkspace.H[68] = acadoWorkspace.H10[66];
-acadoWorkspace.H[69] = acadoWorkspace.H10[70];
-acadoWorkspace.H[70] = acadoWorkspace.H10[74];
-acadoWorkspace.H[71] = acadoWorkspace.H10[78];
-acadoWorkspace.H[76] = acadoWorkspace.H10[3];
-acadoWorkspace.H[77] = acadoWorkspace.H10[7];
-acadoWorkspace.H[78] = acadoWorkspace.H10[11];
-acadoWorkspace.H[79] = acadoWorkspace.H10[15];
-acadoWorkspace.H[80] = acadoWorkspace.H10[19];
-acadoWorkspace.H[81] = acadoWorkspace.H10[23];
-acadoWorkspace.H[82] = acadoWorkspace.H10[27];
-acadoWorkspace.H[83] = acadoWorkspace.H10[31];
-acadoWorkspace.H[84] = acadoWorkspace.H10[35];
-acadoWorkspace.H[85] = acadoWorkspace.H10[39];
-acadoWorkspace.H[86] = acadoWorkspace.H10[43];
-acadoWorkspace.H[87] = acadoWorkspace.H10[47];
-acadoWorkspace.H[88] = acadoWorkspace.H10[51];
-acadoWorkspace.H[89] = acadoWorkspace.H10[55];
-acadoWorkspace.H[90] = acadoWorkspace.H10[59];
-acadoWorkspace.H[91] = acadoWorkspace.H10[63];
-acadoWorkspace.H[92] = acadoWorkspace.H10[67];
-acadoWorkspace.H[93] = acadoWorkspace.H10[71];
-acadoWorkspace.H[94] = acadoWorkspace.H10[75];
-acadoWorkspace.H[95] = acadoWorkspace.H10[79];
-
-acado_setBlockH11_R1( 0, 0, acadoWorkspace.R1 );
-acado_setBlockH11( 0, 0, acadoWorkspace.E, acadoWorkspace.QE );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.QE[ 4 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 40 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 112 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 220 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 364 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 544 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 684 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 760 ]) );
-
-acado_zeroBlockH11( 0, 1 );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.QE[ 8 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 16 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 28 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 44 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 64 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 88 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 116 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 148 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 184 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 224 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 268 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 316 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 368 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 424 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 484 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 548 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 616 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 688 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 764 ]) );
-
-acado_zeroBlockH11( 0, 2 );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 20 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 32 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 48 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 68 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 92 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 152 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 188 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 272 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 320 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 428 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 488 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 620 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 692 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 768 ]) );
-
-acado_zeroBlockH11( 0, 3 );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 52 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 124 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 232 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 276 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 376 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 556 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 624 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 696 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 772 ]) );
-
-acado_zeroBlockH11( 0, 4 );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 56 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 76 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 100 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 128 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 160 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 196 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 236 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 280 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 328 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 380 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 436 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 496 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 560 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 628 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 700 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 776 ]) );
-
-acado_zeroBlockH11( 0, 5 );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 80 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 104 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 164 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 200 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 284 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 332 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 440 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 500 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 632 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 704 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 780 ]) );
-
-acado_zeroBlockH11( 0, 6 );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 136 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 244 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 388 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 568 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 636 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 708 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 784 ]) );
-
-acado_zeroBlockH11( 0, 7 );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 788 ]) );
-
-acado_zeroBlockH11( 0, 8 );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 0, 9 );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 0, 10 );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 0, 11 );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 0, 12 );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 0, 13 );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 0, 14 );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 0, 15 );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 0, 16 );
-acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 0, 17 );
-acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 0, 18 );
-acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 0, 19 );
-acado_setBlockH11( 0, 19, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 1, 1, &(acadoWorkspace.R1[ 1 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.QE[ 8 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.QE[ 16 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QE[ 28 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 44 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 64 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 88 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 116 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 148 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 184 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 224 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 268 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 316 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 368 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 424 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 484 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 548 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 616 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 688 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 764 ]) );
-
-acado_zeroBlockH11( 1, 2 );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.QE[ 20 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QE[ 32 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 48 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 68 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 92 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 152 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 188 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 272 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 320 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 428 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 488 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 620 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 692 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 768 ]) );
-
-acado_zeroBlockH11( 1, 3 );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 52 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 124 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 232 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 276 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 376 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 556 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 624 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 696 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 772 ]) );
-
-acado_zeroBlockH11( 1, 4 );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 56 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 76 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 100 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 128 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 160 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 196 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 236 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 280 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 328 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 380 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 436 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 496 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 560 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 628 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 700 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 776 ]) );
-
-acado_zeroBlockH11( 1, 5 );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 80 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 104 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 164 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 200 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 284 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 332 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 440 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 500 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 632 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 704 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 780 ]) );
-
-acado_zeroBlockH11( 1, 6 );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 136 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 244 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 388 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 568 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 636 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 708 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 784 ]) );
-
-acado_zeroBlockH11( 1, 7 );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 788 ]) );
-
-acado_zeroBlockH11( 1, 8 );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 1, 9 );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 1, 10 );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 1, 11 );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 1, 12 );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 1, 13 );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 1, 14 );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 1, 15 );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 1, 16 );
-acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 1, 17 );
-acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 1, 18 );
-acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 1, 19 );
-acado_setBlockH11( 1, 19, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 2, 2, &(acadoWorkspace.R1[ 2 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.QE[ 20 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.QE[ 32 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 68 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 92 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 152 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 188 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 272 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 320 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 428 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 488 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 620 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 692 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 768 ]) );
-
-acado_zeroBlockH11( 2, 3 );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 52 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 124 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 232 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 276 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 376 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 556 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 624 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 696 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 772 ]) );
-
-acado_zeroBlockH11( 2, 4 );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 56 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 76 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 100 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 128 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 160 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 196 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 236 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 280 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 328 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 380 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 436 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 496 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 560 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 628 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 700 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 776 ]) );
-
-acado_zeroBlockH11( 2, 5 );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 80 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 104 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 164 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 200 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 284 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 332 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 440 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 500 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 632 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 704 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 780 ]) );
-
-acado_zeroBlockH11( 2, 6 );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 136 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 244 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 388 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 568 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 636 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 708 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 784 ]) );
-
-acado_zeroBlockH11( 2, 7 );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 788 ]) );
-
-acado_zeroBlockH11( 2, 8 );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 2, 9 );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 2, 10 );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 2, 11 );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 2, 12 );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 2, 13 );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 2, 14 );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 2, 15 );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 2, 16 );
-acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 2, 17 );
-acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 2, 18 );
-acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 2, 19 );
-acado_setBlockH11( 2, 19, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 3, 3, &(acadoWorkspace.R1[ 3 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.QE[ 52 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 124 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 232 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 376 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 556 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 696 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 772 ]) );
-
-acado_zeroBlockH11( 3, 4 );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.QE[ 56 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 76 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 100 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 128 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 160 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 196 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 236 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 280 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 328 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 380 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 436 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 496 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 560 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 628 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 700 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 776 ]) );
-
-acado_zeroBlockH11( 3, 5 );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 80 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 104 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 164 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 200 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 284 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 332 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 440 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 500 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 632 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 704 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 780 ]) );
-
-acado_zeroBlockH11( 3, 6 );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 136 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 244 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 388 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 568 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 636 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 708 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 784 ]) );
-
-acado_zeroBlockH11( 3, 7 );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 788 ]) );
-
-acado_zeroBlockH11( 3, 8 );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 3, 9 );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 3, 10 );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 3, 11 );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 3, 12 );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 3, 13 );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 3, 14 );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 3, 15 );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 3, 16 );
-acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 3, 17 );
-acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 3, 18 );
-acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 3, 19 );
-acado_setBlockH11( 3, 19, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 4, 4, &(acadoWorkspace.R1[ 4 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.QE[ 56 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.QE[ 76 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QE[ 100 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 128 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 160 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 196 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 236 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 280 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 328 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 380 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 436 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 496 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 560 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 628 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 700 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 776 ]) );
-
-acado_zeroBlockH11( 4, 5 );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.QE[ 80 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QE[ 104 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 164 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 200 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 284 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 332 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 440 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 500 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 632 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 704 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 780 ]) );
-
-acado_zeroBlockH11( 4, 6 );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 136 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 244 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 388 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 568 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 636 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 708 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 784 ]) );
-
-acado_zeroBlockH11( 4, 7 );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 788 ]) );
-
-acado_zeroBlockH11( 4, 8 );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 4, 9 );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 4, 10 );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 4, 11 );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 4, 12 );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 4, 13 );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 4, 14 );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 4, 15 );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 4, 16 );
-acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 4, 17 );
-acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 4, 18 );
-acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 4, 19 );
-acado_setBlockH11( 4, 19, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 5, 5, &(acadoWorkspace.R1[ 5 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.QE[ 80 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.QE[ 104 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 164 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 200 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 284 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 332 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 440 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 500 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 632 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 704 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 780 ]) );
-
-acado_zeroBlockH11( 5, 6 );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 136 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 244 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 388 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 568 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 636 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 708 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 784 ]) );
-
-acado_zeroBlockH11( 5, 7 );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 788 ]) );
-
-acado_zeroBlockH11( 5, 8 );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 5, 9 );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 5, 10 );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 5, 11 );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 5, 12 );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 5, 13 );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 5, 14 );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 5, 15 );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 5, 16 );
-acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 5, 17 );
-acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 5, 18 );
-acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 5, 19 );
-acado_setBlockH11( 5, 19, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 6, 6, &(acadoWorkspace.R1[ 6 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.QE[ 136 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 244 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 388 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 568 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 636 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 708 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 784 ]) );
-
-acado_zeroBlockH11( 6, 7 );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 788 ]) );
-
-acado_zeroBlockH11( 6, 8 );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 6, 9 );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 6, 10 );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 6, 11 );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 6, 12 );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 6, 13 );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 6, 14 );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 6, 15 );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 6, 16 );
-acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 6, 17 );
-acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 6, 18 );
-acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 6, 19 );
-acado_setBlockH11( 6, 19, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 7, 7, &(acadoWorkspace.R1[ 7 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.QE[ 140 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.QE[ 172 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QE[ 208 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 248 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 292 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 340 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 392 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 448 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 508 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 572 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 640 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 712 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 788 ]) );
-
-acado_zeroBlockH11( 7, 8 );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 7, 9 );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 7, 10 );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 7, 11 );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 7, 12 );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 7, 13 );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 7, 14 );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 7, 15 );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 7, 16 );
-acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 7, 17 );
-acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 7, 18 );
-acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 7, 19 );
-acado_setBlockH11( 7, 19, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 8, 8, &(acadoWorkspace.R1[ 8 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.QE[ 176 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.QE[ 212 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 296 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 344 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 452 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 512 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 644 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 716 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 792 ]) );
-
-acado_zeroBlockH11( 8, 9 );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 8, 10 );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 8, 11 );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 8, 12 );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 8, 13 );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 8, 14 );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 8, 15 );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 8, 16 );
-acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 8, 17 );
-acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 8, 18 );
-acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 8, 19 );
-acado_setBlockH11( 8, 19, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 9, 9, &(acadoWorkspace.R1[ 9 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.QE[ 256 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 400 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 580 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 648 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 720 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 796 ]) );
-
-acado_zeroBlockH11( 9, 10 );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 9, 11 );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 9, 12 );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 9, 13 );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 9, 14 );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 9, 15 );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 9, 16 );
-acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 9, 17 );
-acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 9, 18 );
-acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 9, 19 );
-acado_setBlockH11( 9, 19, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 10, 10, &(acadoWorkspace.R1[ 10 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.QE[ 260 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.QE[ 304 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QE[ 352 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 404 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 460 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 520 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 584 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 652 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 724 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 800 ]) );
-
-acado_zeroBlockH11( 10, 11 );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 10, 12 );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 10, 13 );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 10, 14 );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 10, 15 );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 10, 16 );
-acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 10, 17 );
-acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 10, 18 );
-acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 10, 19 );
-acado_setBlockH11( 10, 19, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 11, 11, &(acadoWorkspace.R1[ 11 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.QE[ 308 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.QE[ 356 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 464 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 524 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 656 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 728 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 804 ]) );
-
-acado_zeroBlockH11( 11, 12 );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 11, 13 );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 11, 14 );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 11, 15 );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 11, 16 );
-acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 11, 17 );
-acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 11, 18 );
-acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 11, 19 );
-acado_setBlockH11( 11, 19, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 12, 12, &(acadoWorkspace.R1[ 12 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.QE[ 412 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 592 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 660 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 732 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 808 ]) );
-
-acado_zeroBlockH11( 12, 13 );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 12, 14 );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 12, 15 );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 12, 16 );
-acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 12, 17 );
-acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 12, 18 );
-acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 12, 19 );
-acado_setBlockH11( 12, 19, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 13, 13, &(acadoWorkspace.R1[ 13 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.QE[ 416 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.QE[ 472 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QE[ 532 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 596 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 664 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 736 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 812 ]) );
-
-acado_zeroBlockH11( 13, 14 );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 13, 15 );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 13, 16 );
-acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 13, 17 );
-acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 13, 18 );
-acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 13, 19 );
-acado_setBlockH11( 13, 19, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 14, 14, &(acadoWorkspace.R1[ 14 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.QE[ 476 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.QE[ 536 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 668 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 740 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 816 ]) );
-
-acado_zeroBlockH11( 14, 15 );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 14, 16 );
-acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 14, 17 );
-acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 14, 18 );
-acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 14, 19 );
-acado_setBlockH11( 14, 19, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 15, 15, &(acadoWorkspace.R1[ 15 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.QE[ 604 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 672 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 744 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 820 ]) );
-
-acado_zeroBlockH11( 15, 16 );
-acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 15, 17 );
-acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 15, 18 );
-acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 15, 19 );
-acado_setBlockH11( 15, 19, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 16, 16, &(acadoWorkspace.R1[ 16 ]) );
-acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.QE[ 608 ]) );
-acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.QE[ 676 ]) );
-acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QE[ 748 ]) );
-acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 824 ]) );
-
-acado_zeroBlockH11( 16, 17 );
-acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 16, 18 );
-acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 16, 19 );
-acado_setBlockH11( 16, 19, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 17, 17, &(acadoWorkspace.R1[ 17 ]) );
-acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.QE[ 680 ]) );
-acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.QE[ 752 ]) );
-acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 828 ]) );
-
-acado_zeroBlockH11( 17, 18 );
-acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 17, 19 );
-acado_setBlockH11( 17, 19, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 18, 18, &(acadoWorkspace.R1[ 18 ]) );
-acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 756 ]) );
-acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.QE[ 832 ]) );
-
-acado_zeroBlockH11( 18, 19 );
-acado_setBlockH11( 18, 19, &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-acado_setBlockH11_R1( 19, 19, &(acadoWorkspace.R1[ 19 ]) );
-acado_setBlockH11( 19, 19, &(acadoWorkspace.E[ 836 ]), &(acadoWorkspace.QE[ 836 ]) );
-
-
-acado_copyHTH( 1, 0 );
-acado_copyHTH( 2, 0 );
-acado_copyHTH( 2, 1 );
-acado_copyHTH( 3, 0 );
-acado_copyHTH( 3, 1 );
-acado_copyHTH( 3, 2 );
-acado_copyHTH( 4, 0 );
-acado_copyHTH( 4, 1 );
-acado_copyHTH( 4, 2 );
-acado_copyHTH( 4, 3 );
-acado_copyHTH( 5, 0 );
-acado_copyHTH( 5, 1 );
-acado_copyHTH( 5, 2 );
-acado_copyHTH( 5, 3 );
-acado_copyHTH( 5, 4 );
-acado_copyHTH( 6, 0 );
-acado_copyHTH( 6, 1 );
-acado_copyHTH( 6, 2 );
-acado_copyHTH( 6, 3 );
-acado_copyHTH( 6, 4 );
-acado_copyHTH( 6, 5 );
-acado_copyHTH( 7, 0 );
-acado_copyHTH( 7, 1 );
-acado_copyHTH( 7, 2 );
-acado_copyHTH( 7, 3 );
-acado_copyHTH( 7, 4 );
-acado_copyHTH( 7, 5 );
-acado_copyHTH( 7, 6 );
-acado_copyHTH( 8, 0 );
-acado_copyHTH( 8, 1 );
-acado_copyHTH( 8, 2 );
-acado_copyHTH( 8, 3 );
-acado_copyHTH( 8, 4 );
-acado_copyHTH( 8, 5 );
-acado_copyHTH( 8, 6 );
-acado_copyHTH( 8, 7 );
-acado_copyHTH( 9, 0 );
-acado_copyHTH( 9, 1 );
-acado_copyHTH( 9, 2 );
-acado_copyHTH( 9, 3 );
-acado_copyHTH( 9, 4 );
-acado_copyHTH( 9, 5 );
-acado_copyHTH( 9, 6 );
-acado_copyHTH( 9, 7 );
-acado_copyHTH( 9, 8 );
-acado_copyHTH( 10, 0 );
-acado_copyHTH( 10, 1 );
-acado_copyHTH( 10, 2 );
-acado_copyHTH( 10, 3 );
-acado_copyHTH( 10, 4 );
-acado_copyHTH( 10, 5 );
-acado_copyHTH( 10, 6 );
-acado_copyHTH( 10, 7 );
-acado_copyHTH( 10, 8 );
-acado_copyHTH( 10, 9 );
-acado_copyHTH( 11, 0 );
-acado_copyHTH( 11, 1 );
-acado_copyHTH( 11, 2 );
-acado_copyHTH( 11, 3 );
-acado_copyHTH( 11, 4 );
-acado_copyHTH( 11, 5 );
-acado_copyHTH( 11, 6 );
-acado_copyHTH( 11, 7 );
-acado_copyHTH( 11, 8 );
-acado_copyHTH( 11, 9 );
-acado_copyHTH( 11, 10 );
-acado_copyHTH( 12, 0 );
-acado_copyHTH( 12, 1 );
-acado_copyHTH( 12, 2 );
-acado_copyHTH( 12, 3 );
-acado_copyHTH( 12, 4 );
-acado_copyHTH( 12, 5 );
-acado_copyHTH( 12, 6 );
-acado_copyHTH( 12, 7 );
-acado_copyHTH( 12, 8 );
-acado_copyHTH( 12, 9 );
-acado_copyHTH( 12, 10 );
-acado_copyHTH( 12, 11 );
-acado_copyHTH( 13, 0 );
-acado_copyHTH( 13, 1 );
-acado_copyHTH( 13, 2 );
-acado_copyHTH( 13, 3 );
-acado_copyHTH( 13, 4 );
-acado_copyHTH( 13, 5 );
-acado_copyHTH( 13, 6 );
-acado_copyHTH( 13, 7 );
-acado_copyHTH( 13, 8 );
-acado_copyHTH( 13, 9 );
-acado_copyHTH( 13, 10 );
-acado_copyHTH( 13, 11 );
-acado_copyHTH( 13, 12 );
-acado_copyHTH( 14, 0 );
-acado_copyHTH( 14, 1 );
-acado_copyHTH( 14, 2 );
-acado_copyHTH( 14, 3 );
-acado_copyHTH( 14, 4 );
-acado_copyHTH( 14, 5 );
-acado_copyHTH( 14, 6 );
-acado_copyHTH( 14, 7 );
-acado_copyHTH( 14, 8 );
-acado_copyHTH( 14, 9 );
-acado_copyHTH( 14, 10 );
-acado_copyHTH( 14, 11 );
-acado_copyHTH( 14, 12 );
-acado_copyHTH( 14, 13 );
-acado_copyHTH( 15, 0 );
-acado_copyHTH( 15, 1 );
-acado_copyHTH( 15, 2 );
-acado_copyHTH( 15, 3 );
-acado_copyHTH( 15, 4 );
-acado_copyHTH( 15, 5 );
-acado_copyHTH( 15, 6 );
-acado_copyHTH( 15, 7 );
-acado_copyHTH( 15, 8 );
-acado_copyHTH( 15, 9 );
-acado_copyHTH( 15, 10 );
-acado_copyHTH( 15, 11 );
-acado_copyHTH( 15, 12 );
-acado_copyHTH( 15, 13 );
-acado_copyHTH( 15, 14 );
-acado_copyHTH( 16, 0 );
-acado_copyHTH( 16, 1 );
-acado_copyHTH( 16, 2 );
-acado_copyHTH( 16, 3 );
-acado_copyHTH( 16, 4 );
-acado_copyHTH( 16, 5 );
-acado_copyHTH( 16, 6 );
-acado_copyHTH( 16, 7 );
-acado_copyHTH( 16, 8 );
-acado_copyHTH( 16, 9 );
-acado_copyHTH( 16, 10 );
-acado_copyHTH( 16, 11 );
-acado_copyHTH( 16, 12 );
-acado_copyHTH( 16, 13 );
-acado_copyHTH( 16, 14 );
-acado_copyHTH( 16, 15 );
-acado_copyHTH( 17, 0 );
-acado_copyHTH( 17, 1 );
-acado_copyHTH( 17, 2 );
-acado_copyHTH( 17, 3 );
-acado_copyHTH( 17, 4 );
-acado_copyHTH( 17, 5 );
-acado_copyHTH( 17, 6 );
-acado_copyHTH( 17, 7 );
-acado_copyHTH( 17, 8 );
-acado_copyHTH( 17, 9 );
-acado_copyHTH( 17, 10 );
-acado_copyHTH( 17, 11 );
-acado_copyHTH( 17, 12 );
-acado_copyHTH( 17, 13 );
-acado_copyHTH( 17, 14 );
-acado_copyHTH( 17, 15 );
-acado_copyHTH( 17, 16 );
-acado_copyHTH( 18, 0 );
-acado_copyHTH( 18, 1 );
-acado_copyHTH( 18, 2 );
-acado_copyHTH( 18, 3 );
-acado_copyHTH( 18, 4 );
-acado_copyHTH( 18, 5 );
-acado_copyHTH( 18, 6 );
-acado_copyHTH( 18, 7 );
-acado_copyHTH( 18, 8 );
-acado_copyHTH( 18, 9 );
-acado_copyHTH( 18, 10 );
-acado_copyHTH( 18, 11 );
-acado_copyHTH( 18, 12 );
-acado_copyHTH( 18, 13 );
-acado_copyHTH( 18, 14 );
-acado_copyHTH( 18, 15 );
-acado_copyHTH( 18, 16 );
-acado_copyHTH( 18, 17 );
-acado_copyHTH( 19, 0 );
-acado_copyHTH( 19, 1 );
-acado_copyHTH( 19, 2 );
-acado_copyHTH( 19, 3 );
-acado_copyHTH( 19, 4 );
-acado_copyHTH( 19, 5 );
-acado_copyHTH( 19, 6 );
-acado_copyHTH( 19, 7 );
-acado_copyHTH( 19, 8 );
-acado_copyHTH( 19, 9 );
-acado_copyHTH( 19, 10 );
-acado_copyHTH( 19, 11 );
-acado_copyHTH( 19, 12 );
-acado_copyHTH( 19, 13 );
-acado_copyHTH( 19, 14 );
-acado_copyHTH( 19, 15 );
-acado_copyHTH( 19, 16 );
-acado_copyHTH( 19, 17 );
-acado_copyHTH( 19, 18 );
-
-acadoWorkspace.H[96] = acadoWorkspace.H10[0];
-acadoWorkspace.H[97] = acadoWorkspace.H10[1];
-acadoWorkspace.H[98] = acadoWorkspace.H10[2];
-acadoWorkspace.H[99] = acadoWorkspace.H10[3];
-acadoWorkspace.H[120] = acadoWorkspace.H10[4];
-acadoWorkspace.H[121] = acadoWorkspace.H10[5];
-acadoWorkspace.H[122] = acadoWorkspace.H10[6];
-acadoWorkspace.H[123] = acadoWorkspace.H10[7];
-acadoWorkspace.H[144] = acadoWorkspace.H10[8];
-acadoWorkspace.H[145] = acadoWorkspace.H10[9];
-acadoWorkspace.H[146] = acadoWorkspace.H10[10];
-acadoWorkspace.H[147] = acadoWorkspace.H10[11];
-acadoWorkspace.H[168] = acadoWorkspace.H10[12];
-acadoWorkspace.H[169] = acadoWorkspace.H10[13];
-acadoWorkspace.H[170] = acadoWorkspace.H10[14];
-acadoWorkspace.H[171] = acadoWorkspace.H10[15];
-acadoWorkspace.H[192] = acadoWorkspace.H10[16];
-acadoWorkspace.H[193] = acadoWorkspace.H10[17];
-acadoWorkspace.H[194] = acadoWorkspace.H10[18];
-acadoWorkspace.H[195] = acadoWorkspace.H10[19];
-acadoWorkspace.H[216] = acadoWorkspace.H10[20];
-acadoWorkspace.H[217] = acadoWorkspace.H10[21];
-acadoWorkspace.H[218] = acadoWorkspace.H10[22];
-acadoWorkspace.H[219] = acadoWorkspace.H10[23];
-acadoWorkspace.H[240] = acadoWorkspace.H10[24];
-acadoWorkspace.H[241] = acadoWorkspace.H10[25];
-acadoWorkspace.H[242] = acadoWorkspace.H10[26];
-acadoWorkspace.H[243] = acadoWorkspace.H10[27];
-acadoWorkspace.H[264] = acadoWorkspace.H10[28];
-acadoWorkspace.H[265] = acadoWorkspace.H10[29];
-acadoWorkspace.H[266] = acadoWorkspace.H10[30];
-acadoWorkspace.H[267] = acadoWorkspace.H10[31];
-acadoWorkspace.H[288] = acadoWorkspace.H10[32];
-acadoWorkspace.H[289] = acadoWorkspace.H10[33];
-acadoWorkspace.H[290] = acadoWorkspace.H10[34];
-acadoWorkspace.H[291] = acadoWorkspace.H10[35];
-acadoWorkspace.H[312] = acadoWorkspace.H10[36];
-acadoWorkspace.H[313] = acadoWorkspace.H10[37];
-acadoWorkspace.H[314] = acadoWorkspace.H10[38];
-acadoWorkspace.H[315] = acadoWorkspace.H10[39];
-acadoWorkspace.H[336] = acadoWorkspace.H10[40];
-acadoWorkspace.H[337] = acadoWorkspace.H10[41];
-acadoWorkspace.H[338] = acadoWorkspace.H10[42];
-acadoWorkspace.H[339] = acadoWorkspace.H10[43];
-acadoWorkspace.H[360] = acadoWorkspace.H10[44];
-acadoWorkspace.H[361] = acadoWorkspace.H10[45];
-acadoWorkspace.H[362] = acadoWorkspace.H10[46];
-acadoWorkspace.H[363] = acadoWorkspace.H10[47];
-acadoWorkspace.H[384] = acadoWorkspace.H10[48];
-acadoWorkspace.H[385] = acadoWorkspace.H10[49];
-acadoWorkspace.H[386] = acadoWorkspace.H10[50];
-acadoWorkspace.H[387] = acadoWorkspace.H10[51];
-acadoWorkspace.H[408] = acadoWorkspace.H10[52];
-acadoWorkspace.H[409] = acadoWorkspace.H10[53];
-acadoWorkspace.H[410] = acadoWorkspace.H10[54];
-acadoWorkspace.H[411] = acadoWorkspace.H10[55];
-acadoWorkspace.H[432] = acadoWorkspace.H10[56];
-acadoWorkspace.H[433] = acadoWorkspace.H10[57];
-acadoWorkspace.H[434] = acadoWorkspace.H10[58];
-acadoWorkspace.H[435] = acadoWorkspace.H10[59];
-acadoWorkspace.H[456] = acadoWorkspace.H10[60];
-acadoWorkspace.H[457] = acadoWorkspace.H10[61];
-acadoWorkspace.H[458] = acadoWorkspace.H10[62];
-acadoWorkspace.H[459] = acadoWorkspace.H10[63];
-acadoWorkspace.H[480] = acadoWorkspace.H10[64];
-acadoWorkspace.H[481] = acadoWorkspace.H10[65];
-acadoWorkspace.H[482] = acadoWorkspace.H10[66];
-acadoWorkspace.H[483] = acadoWorkspace.H10[67];
-acadoWorkspace.H[504] = acadoWorkspace.H10[68];
-acadoWorkspace.H[505] = acadoWorkspace.H10[69];
-acadoWorkspace.H[506] = acadoWorkspace.H10[70];
-acadoWorkspace.H[507] = acadoWorkspace.H10[71];
-acadoWorkspace.H[528] = acadoWorkspace.H10[72];
-acadoWorkspace.H[529] = acadoWorkspace.H10[73];
-acadoWorkspace.H[530] = acadoWorkspace.H10[74];
-acadoWorkspace.H[531] = acadoWorkspace.H10[75];
-acadoWorkspace.H[552] = acadoWorkspace.H10[76];
-acadoWorkspace.H[553] = acadoWorkspace.H10[77];
-acadoWorkspace.H[554] = acadoWorkspace.H10[78];
-acadoWorkspace.H[555] = acadoWorkspace.H10[79];
-
-acado_multQ1d( &(acadoWorkspace.Q1[ 16 ]), acadoWorkspace.d, acadoWorkspace.Qd );
-acado_multQ1d( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.d[ 4 ]), &(acadoWorkspace.Qd[ 4 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.d[ 8 ]), &(acadoWorkspace.Qd[ 8 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.Qd[ 12 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.d[ 16 ]), &(acadoWorkspace.Qd[ 16 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.d[ 20 ]), &(acadoWorkspace.Qd[ 20 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.Qd[ 24 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.d[ 28 ]), &(acadoWorkspace.Qd[ 28 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.d[ 32 ]), &(acadoWorkspace.Qd[ 32 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.Qd[ 36 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.d[ 40 ]), &(acadoWorkspace.Qd[ 40 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.d[ 44 ]), &(acadoWorkspace.Qd[ 44 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.Qd[ 48 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.d[ 52 ]), &(acadoWorkspace.Qd[ 52 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.d[ 56 ]), &(acadoWorkspace.Qd[ 56 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.Qd[ 60 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.d[ 64 ]), &(acadoWorkspace.Qd[ 64 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.d[ 68 ]), &(acadoWorkspace.Qd[ 68 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.Qd[ 72 ]) );
-acado_multQN1d( acadoWorkspace.QN1, &(acadoWorkspace.d[ 76 ]), &(acadoWorkspace.Qd[ 76 ]) );
-
-acado_macCTSlx( acadoWorkspace.evGx, acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 16 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 32 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 48 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 64 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 80 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 96 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 112 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 128 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 160 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 176 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 192 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 208 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 224 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 240 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 256 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 272 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 304 ]), acadoWorkspace.g );
-acado_macETSlu( acadoWorkspace.QE, &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 4 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 40 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 112 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 220 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 364 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 544 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 684 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 760 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 8 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 16 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 28 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 44 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 64 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 88 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 116 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 148 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 184 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 224 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 268 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 316 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 368 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 424 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 484 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 548 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 616 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 688 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 764 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 20 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 32 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 68 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 92 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 152 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 188 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 272 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 320 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 428 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 488 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 620 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 692 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 768 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 52 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 124 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 232 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 376 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 556 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 696 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 772 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 56 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 76 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 100 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 128 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 160 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 196 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 236 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 280 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 328 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 380 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 436 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 496 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 560 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 628 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 700 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 776 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 80 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 104 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 164 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 200 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 284 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 332 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 440 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 500 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 632 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 704 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 780 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 136 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 244 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 388 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 568 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 636 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 708 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 784 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 140 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 172 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 208 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 248 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 292 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 340 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 392 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 448 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 508 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 572 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 640 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 712 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 788 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 176 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 212 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 296 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 344 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 452 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 512 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 644 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 716 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 792 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 256 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 400 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 580 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 648 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 720 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 796 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 260 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 304 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 352 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 404 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 460 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 520 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 584 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 652 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 724 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 800 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 308 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 356 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 464 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 524 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 656 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 728 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 804 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 412 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 592 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 660 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 732 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 808 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 416 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 472 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 532 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 596 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 664 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 736 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 812 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 476 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 536 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 668 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 740 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 816 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 604 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 672 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 744 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 820 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 608 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 676 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 748 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 824 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 680 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 752 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 828 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 756 ]), &(acadoWorkspace.g[ 22 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 832 ]), &(acadoWorkspace.g[ 22 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 836 ]), &(acadoWorkspace.g[ 23 ]) );
-acadoWorkspace.lb[4] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[0];
-acadoWorkspace.lb[5] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[1];
-acadoWorkspace.lb[6] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[2];
-acadoWorkspace.lb[7] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[3];
-acadoWorkspace.lb[8] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[4];
-acadoWorkspace.lb[9] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[5];
-acadoWorkspace.lb[10] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[6];
-acadoWorkspace.lb[11] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[7];
-acadoWorkspace.lb[12] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[8];
-acadoWorkspace.lb[13] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[9];
-acadoWorkspace.lb[14] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[10];
-acadoWorkspace.lb[15] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[11];
-acadoWorkspace.lb[16] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[12];
-acadoWorkspace.lb[17] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[13];
-acadoWorkspace.lb[18] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[14];
-acadoWorkspace.lb[19] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[15];
-acadoWorkspace.lb[20] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[16];
-acadoWorkspace.lb[21] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[17];
-acadoWorkspace.lb[22] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[18];
-acadoWorkspace.lb[23] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[19];
-acadoWorkspace.ub[4] = (real_t)1.0000000000000000e+12 - acadoVariables.u[0];
-acadoWorkspace.ub[5] = (real_t)1.0000000000000000e+12 - acadoVariables.u[1];
-acadoWorkspace.ub[6] = (real_t)1.0000000000000000e+12 - acadoVariables.u[2];
-acadoWorkspace.ub[7] = (real_t)1.0000000000000000e+12 - acadoVariables.u[3];
-acadoWorkspace.ub[8] = (real_t)1.0000000000000000e+12 - acadoVariables.u[4];
-acadoWorkspace.ub[9] = (real_t)1.0000000000000000e+12 - acadoVariables.u[5];
-acadoWorkspace.ub[10] = (real_t)1.0000000000000000e+12 - acadoVariables.u[6];
-acadoWorkspace.ub[11] = (real_t)1.0000000000000000e+12 - acadoVariables.u[7];
-acadoWorkspace.ub[12] = (real_t)1.0000000000000000e+12 - acadoVariables.u[8];
-acadoWorkspace.ub[13] = (real_t)1.0000000000000000e+12 - acadoVariables.u[9];
-acadoWorkspace.ub[14] = (real_t)1.0000000000000000e+12 - acadoVariables.u[10];
-acadoWorkspace.ub[15] = (real_t)1.0000000000000000e+12 - acadoVariables.u[11];
-acadoWorkspace.ub[16] = (real_t)1.0000000000000000e+12 - acadoVariables.u[12];
-acadoWorkspace.ub[17] = (real_t)1.0000000000000000e+12 - acadoVariables.u[13];
-acadoWorkspace.ub[18] = (real_t)1.0000000000000000e+12 - acadoVariables.u[14];
-acadoWorkspace.ub[19] = (real_t)1.0000000000000000e+12 - acadoVariables.u[15];
-acadoWorkspace.ub[20] = (real_t)1.0000000000000000e+12 - acadoVariables.u[16];
-acadoWorkspace.ub[21] = (real_t)1.0000000000000000e+12 - acadoVariables.u[17];
-acadoWorkspace.ub[22] = (real_t)1.0000000000000000e+12 - acadoVariables.u[18];
-acadoWorkspace.ub[23] = (real_t)1.0000000000000000e+12 - acadoVariables.u[19];
-
-for (lRun1 = 0; lRun1 < 40; ++lRun1)
-{
-lRun3 = xBoundIndices[ lRun1 ] - 4;
-lRun4 = ((lRun3) / (4)) + (1);
-acadoWorkspace.A[lRun1 * 24] = acadoWorkspace.evGx[lRun3 * 4];
-acadoWorkspace.A[lRun1 * 24 + 1] = acadoWorkspace.evGx[lRun3 * 4 + 1];
-acadoWorkspace.A[lRun1 * 24 + 2] = acadoWorkspace.evGx[lRun3 * 4 + 2];
-acadoWorkspace.A[lRun1 * 24 + 3] = acadoWorkspace.evGx[lRun3 * 4 + 3];
-for (lRun2 = 0; lRun2 < lRun4; ++lRun2)
-{
-lRun5 = (((((lRun4) * (lRun4-1)) / (2)) + (lRun2)) * (4)) + ((lRun3) % (4));
-acadoWorkspace.A[(lRun1 * 24) + (lRun2 + 4)] = acadoWorkspace.E[lRun5];
-}
-}
-
-}
-
-void acado_condenseFdb(  )
-{
-real_t tmp;
-
-acadoWorkspace.Dx0[0] = acadoVariables.x0[0] - acadoVariables.x[0];
-acadoWorkspace.Dx0[1] = acadoVariables.x0[1] - acadoVariables.x[1];
-acadoWorkspace.Dx0[2] = acadoVariables.x0[2] - acadoVariables.x[2];
-acadoWorkspace.Dx0[3] = acadoVariables.x0[3] - acadoVariables.x[3];
-
-acadoWorkspace.Dy[0] -= acadoVariables.y[0];
-acadoWorkspace.Dy[1] -= acadoVariables.y[1];
-acadoWorkspace.Dy[2] -= acadoVariables.y[2];
-acadoWorkspace.Dy[3] -= acadoVariables.y[3];
-acadoWorkspace.Dy[4] -= acadoVariables.y[4];
-acadoWorkspace.Dy[5] -= acadoVariables.y[5];
-acadoWorkspace.Dy[6] -= acadoVariables.y[6];
-acadoWorkspace.Dy[7] -= acadoVariables.y[7];
-acadoWorkspace.Dy[8] -= acadoVariables.y[8];
-acadoWorkspace.Dy[9] -= acadoVariables.y[9];
-acadoWorkspace.Dy[10] -= acadoVariables.y[10];
-acadoWorkspace.Dy[11] -= acadoVariables.y[11];
-acadoWorkspace.Dy[12] -= acadoVariables.y[12];
-acadoWorkspace.Dy[13] -= acadoVariables.y[13];
-acadoWorkspace.Dy[14] -= acadoVariables.y[14];
-acadoWorkspace.Dy[15] -= acadoVariables.y[15];
-acadoWorkspace.Dy[16] -= acadoVariables.y[16];
-acadoWorkspace.Dy[17] -= acadoVariables.y[17];
-acadoWorkspace.Dy[18] -= acadoVariables.y[18];
-acadoWorkspace.Dy[19] -= acadoVariables.y[19];
-acadoWorkspace.Dy[20] -= acadoVariables.y[20];
-acadoWorkspace.Dy[21] -= acadoVariables.y[21];
-acadoWorkspace.Dy[22] -= acadoVariables.y[22];
-acadoWorkspace.Dy[23] -= acadoVariables.y[23];
-acadoWorkspace.Dy[24] -= acadoVariables.y[24];
-acadoWorkspace.Dy[25] -= acadoVariables.y[25];
-acadoWorkspace.Dy[26] -= acadoVariables.y[26];
-acadoWorkspace.Dy[27] -= acadoVariables.y[27];
-acadoWorkspace.Dy[28] -= acadoVariables.y[28];
-acadoWorkspace.Dy[29] -= acadoVariables.y[29];
-acadoWorkspace.Dy[30] -= acadoVariables.y[30];
-acadoWorkspace.Dy[31] -= acadoVariables.y[31];
-acadoWorkspace.Dy[32] -= acadoVariables.y[32];
-acadoWorkspace.Dy[33] -= acadoVariables.y[33];
-acadoWorkspace.Dy[34] -= acadoVariables.y[34];
-acadoWorkspace.Dy[35] -= acadoVariables.y[35];
-acadoWorkspace.Dy[36] -= acadoVariables.y[36];
-acadoWorkspace.Dy[37] -= acadoVariables.y[37];
-acadoWorkspace.Dy[38] -= acadoVariables.y[38];
-acadoWorkspace.Dy[39] -= acadoVariables.y[39];
-acadoWorkspace.Dy[40] -= acadoVariables.y[40];
-acadoWorkspace.Dy[41] -= acadoVariables.y[41];
-acadoWorkspace.Dy[42] -= acadoVariables.y[42];
-acadoWorkspace.Dy[43] -= acadoVariables.y[43];
-acadoWorkspace.Dy[44] -= acadoVariables.y[44];
-acadoWorkspace.Dy[45] -= acadoVariables.y[45];
-acadoWorkspace.Dy[46] -= acadoVariables.y[46];
-acadoWorkspace.Dy[47] -= acadoVariables.y[47];
-acadoWorkspace.Dy[48] -= acadoVariables.y[48];
-acadoWorkspace.Dy[49] -= acadoVariables.y[49];
-acadoWorkspace.Dy[50] -= acadoVariables.y[50];
-acadoWorkspace.Dy[51] -= acadoVariables.y[51];
-acadoWorkspace.Dy[52] -= acadoVariables.y[52];
-acadoWorkspace.Dy[53] -= acadoVariables.y[53];
-acadoWorkspace.Dy[54] -= acadoVariables.y[54];
-acadoWorkspace.Dy[55] -= acadoVariables.y[55];
-acadoWorkspace.Dy[56] -= acadoVariables.y[56];
-acadoWorkspace.Dy[57] -= acadoVariables.y[57];
-acadoWorkspace.Dy[58] -= acadoVariables.y[58];
-acadoWorkspace.Dy[59] -= acadoVariables.y[59];
-acadoWorkspace.Dy[60] -= acadoVariables.y[60];
-acadoWorkspace.Dy[61] -= acadoVariables.y[61];
-acadoWorkspace.Dy[62] -= acadoVariables.y[62];
-acadoWorkspace.Dy[63] -= acadoVariables.y[63];
-acadoWorkspace.Dy[64] -= acadoVariables.y[64];
-acadoWorkspace.Dy[65] -= acadoVariables.y[65];
-acadoWorkspace.Dy[66] -= acadoVariables.y[66];
-acadoWorkspace.Dy[67] -= acadoVariables.y[67];
-acadoWorkspace.Dy[68] -= acadoVariables.y[68];
-acadoWorkspace.Dy[69] -= acadoVariables.y[69];
-acadoWorkspace.Dy[70] -= acadoVariables.y[70];
-acadoWorkspace.Dy[71] -= acadoVariables.y[71];
-acadoWorkspace.Dy[72] -= acadoVariables.y[72];
-acadoWorkspace.Dy[73] -= acadoVariables.y[73];
-acadoWorkspace.Dy[74] -= acadoVariables.y[74];
-acadoWorkspace.Dy[75] -= acadoVariables.y[75];
-acadoWorkspace.Dy[76] -= acadoVariables.y[76];
-acadoWorkspace.Dy[77] -= acadoVariables.y[77];
-acadoWorkspace.Dy[78] -= acadoVariables.y[78];
-acadoWorkspace.Dy[79] -= acadoVariables.y[79];
-acadoWorkspace.Dy[80] -= acadoVariables.y[80];
-acadoWorkspace.Dy[81] -= acadoVariables.y[81];
-acadoWorkspace.Dy[82] -= acadoVariables.y[82];
-acadoWorkspace.Dy[83] -= acadoVariables.y[83];
-acadoWorkspace.Dy[84] -= acadoVariables.y[84];
-acadoWorkspace.Dy[85] -= acadoVariables.y[85];
-acadoWorkspace.Dy[86] -= acadoVariables.y[86];
-acadoWorkspace.Dy[87] -= acadoVariables.y[87];
-acadoWorkspace.Dy[88] -= acadoVariables.y[88];
-acadoWorkspace.Dy[89] -= acadoVariables.y[89];
-acadoWorkspace.Dy[90] -= acadoVariables.y[90];
-acadoWorkspace.Dy[91] -= acadoVariables.y[91];
-acadoWorkspace.Dy[92] -= acadoVariables.y[92];
-acadoWorkspace.Dy[93] -= acadoVariables.y[93];
-acadoWorkspace.Dy[94] -= acadoVariables.y[94];
-acadoWorkspace.Dy[95] -= acadoVariables.y[95];
-acadoWorkspace.Dy[96] -= acadoVariables.y[96];
-acadoWorkspace.Dy[97] -= acadoVariables.y[97];
-acadoWorkspace.Dy[98] -= acadoVariables.y[98];
-acadoWorkspace.Dy[99] -= acadoVariables.y[99];
-acadoWorkspace.DyN[0] -= acadoVariables.yN[0];
-acadoWorkspace.DyN[1] -= acadoVariables.yN[1];
-acadoWorkspace.DyN[2] -= acadoVariables.yN[2];
-acadoWorkspace.DyN[3] -= acadoVariables.yN[3];
-
-acado_multRDy( acadoWorkspace.R2, acadoWorkspace.Dy, &(acadoWorkspace.g[ 4 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 5 ]), &(acadoWorkspace.Dy[ 5 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 10 ]), &(acadoWorkspace.Dy[ 10 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 15 ]), &(acadoWorkspace.Dy[ 15 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 20 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 25 ]), &(acadoWorkspace.Dy[ 25 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 30 ]), &(acadoWorkspace.Dy[ 30 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 35 ]), &(acadoWorkspace.Dy[ 35 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 40 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 45 ]), &(acadoWorkspace.Dy[ 45 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 50 ]), &(acadoWorkspace.Dy[ 50 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 55 ]), &(acadoWorkspace.Dy[ 55 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 60 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 65 ]), &(acadoWorkspace.Dy[ 65 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 70 ]), &(acadoWorkspace.Dy[ 70 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 75 ]), &(acadoWorkspace.Dy[ 75 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 80 ]), &(acadoWorkspace.Dy[ 80 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 85 ]), &(acadoWorkspace.Dy[ 85 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 90 ]), &(acadoWorkspace.Dy[ 90 ]), &(acadoWorkspace.g[ 22 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 95 ]), &(acadoWorkspace.Dy[ 95 ]), &(acadoWorkspace.g[ 23 ]) );
-
-acado_multQDy( acadoWorkspace.Q2, acadoWorkspace.Dy, acadoWorkspace.QDy );
-acado_multQDy( &(acadoWorkspace.Q2[ 20 ]), &(acadoWorkspace.Dy[ 5 ]), &(acadoWorkspace.QDy[ 4 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 40 ]), &(acadoWorkspace.Dy[ 10 ]), &(acadoWorkspace.QDy[ 8 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 60 ]), &(acadoWorkspace.Dy[ 15 ]), &(acadoWorkspace.QDy[ 12 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 80 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.QDy[ 16 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 100 ]), &(acadoWorkspace.Dy[ 25 ]), &(acadoWorkspace.QDy[ 20 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 120 ]), &(acadoWorkspace.Dy[ 30 ]), &(acadoWorkspace.QDy[ 24 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 140 ]), &(acadoWorkspace.Dy[ 35 ]), &(acadoWorkspace.QDy[ 28 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 160 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.QDy[ 32 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 180 ]), &(acadoWorkspace.Dy[ 45 ]), &(acadoWorkspace.QDy[ 36 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 200 ]), &(acadoWorkspace.Dy[ 50 ]), &(acadoWorkspace.QDy[ 40 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 220 ]), &(acadoWorkspace.Dy[ 55 ]), &(acadoWorkspace.QDy[ 44 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 240 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.QDy[ 48 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 260 ]), &(acadoWorkspace.Dy[ 65 ]), &(acadoWorkspace.QDy[ 52 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 280 ]), &(acadoWorkspace.Dy[ 70 ]), &(acadoWorkspace.QDy[ 56 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 300 ]), &(acadoWorkspace.Dy[ 75 ]), &(acadoWorkspace.QDy[ 60 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 320 ]), &(acadoWorkspace.Dy[ 80 ]), &(acadoWorkspace.QDy[ 64 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 340 ]), &(acadoWorkspace.Dy[ 85 ]), &(acadoWorkspace.QDy[ 68 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 360 ]), &(acadoWorkspace.Dy[ 90 ]), &(acadoWorkspace.QDy[ 72 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 380 ]), &(acadoWorkspace.Dy[ 95 ]), &(acadoWorkspace.QDy[ 76 ]) );
-
-acadoWorkspace.QDy[80] = + acadoWorkspace.QN2[0]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[1]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[2]*acadoWorkspace.DyN[2] + acadoWorkspace.QN2[3]*acadoWorkspace.DyN[3];
-acadoWorkspace.QDy[81] = + acadoWorkspace.QN2[4]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[5]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[6]*acadoWorkspace.DyN[2] + acadoWorkspace.QN2[7]*acadoWorkspace.DyN[3];
-acadoWorkspace.QDy[82] = + acadoWorkspace.QN2[8]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[9]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[10]*acadoWorkspace.DyN[2] + acadoWorkspace.QN2[11]*acadoWorkspace.DyN[3];
-acadoWorkspace.QDy[83] = + acadoWorkspace.QN2[12]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[13]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[14]*acadoWorkspace.DyN[2] + acadoWorkspace.QN2[15]*acadoWorkspace.DyN[3];
-
-acadoWorkspace.QDy[4] += acadoWorkspace.Qd[0];
-acadoWorkspace.QDy[5] += acadoWorkspace.Qd[1];
-acadoWorkspace.QDy[6] += acadoWorkspace.Qd[2];
-acadoWorkspace.QDy[7] += acadoWorkspace.Qd[3];
-acadoWorkspace.QDy[8] += acadoWorkspace.Qd[4];
-acadoWorkspace.QDy[9] += acadoWorkspace.Qd[5];
-acadoWorkspace.QDy[10] += acadoWorkspace.Qd[6];
-acadoWorkspace.QDy[11] += acadoWorkspace.Qd[7];
-acadoWorkspace.QDy[12] += acadoWorkspace.Qd[8];
-acadoWorkspace.QDy[13] += acadoWorkspace.Qd[9];
-acadoWorkspace.QDy[14] += acadoWorkspace.Qd[10];
-acadoWorkspace.QDy[15] += acadoWorkspace.Qd[11];
-acadoWorkspace.QDy[16] += acadoWorkspace.Qd[12];
-acadoWorkspace.QDy[17] += acadoWorkspace.Qd[13];
-acadoWorkspace.QDy[18] += acadoWorkspace.Qd[14];
-acadoWorkspace.QDy[19] += acadoWorkspace.Qd[15];
-acadoWorkspace.QDy[20] += acadoWorkspace.Qd[16];
-acadoWorkspace.QDy[21] += acadoWorkspace.Qd[17];
-acadoWorkspace.QDy[22] += acadoWorkspace.Qd[18];
-acadoWorkspace.QDy[23] += acadoWorkspace.Qd[19];
-acadoWorkspace.QDy[24] += acadoWorkspace.Qd[20];
-acadoWorkspace.QDy[25] += acadoWorkspace.Qd[21];
-acadoWorkspace.QDy[26] += acadoWorkspace.Qd[22];
-acadoWorkspace.QDy[27] += acadoWorkspace.Qd[23];
-acadoWorkspace.QDy[28] += acadoWorkspace.Qd[24];
-acadoWorkspace.QDy[29] += acadoWorkspace.Qd[25];
-acadoWorkspace.QDy[30] += acadoWorkspace.Qd[26];
-acadoWorkspace.QDy[31] += acadoWorkspace.Qd[27];
-acadoWorkspace.QDy[32] += acadoWorkspace.Qd[28];
-acadoWorkspace.QDy[33] += acadoWorkspace.Qd[29];
-acadoWorkspace.QDy[34] += acadoWorkspace.Qd[30];
-acadoWorkspace.QDy[35] += acadoWorkspace.Qd[31];
-acadoWorkspace.QDy[36] += acadoWorkspace.Qd[32];
-acadoWorkspace.QDy[37] += acadoWorkspace.Qd[33];
-acadoWorkspace.QDy[38] += acadoWorkspace.Qd[34];
-acadoWorkspace.QDy[39] += acadoWorkspace.Qd[35];
-acadoWorkspace.QDy[40] += acadoWorkspace.Qd[36];
-acadoWorkspace.QDy[41] += acadoWorkspace.Qd[37];
-acadoWorkspace.QDy[42] += acadoWorkspace.Qd[38];
-acadoWorkspace.QDy[43] += acadoWorkspace.Qd[39];
-acadoWorkspace.QDy[44] += acadoWorkspace.Qd[40];
-acadoWorkspace.QDy[45] += acadoWorkspace.Qd[41];
-acadoWorkspace.QDy[46] += acadoWorkspace.Qd[42];
-acadoWorkspace.QDy[47] += acadoWorkspace.Qd[43];
-acadoWorkspace.QDy[48] += acadoWorkspace.Qd[44];
-acadoWorkspace.QDy[49] += acadoWorkspace.Qd[45];
-acadoWorkspace.QDy[50] += acadoWorkspace.Qd[46];
-acadoWorkspace.QDy[51] += acadoWorkspace.Qd[47];
-acadoWorkspace.QDy[52] += acadoWorkspace.Qd[48];
-acadoWorkspace.QDy[53] += acadoWorkspace.Qd[49];
-acadoWorkspace.QDy[54] += acadoWorkspace.Qd[50];
-acadoWorkspace.QDy[55] += acadoWorkspace.Qd[51];
-acadoWorkspace.QDy[56] += acadoWorkspace.Qd[52];
-acadoWorkspace.QDy[57] += acadoWorkspace.Qd[53];
-acadoWorkspace.QDy[58] += acadoWorkspace.Qd[54];
-acadoWorkspace.QDy[59] += acadoWorkspace.Qd[55];
-acadoWorkspace.QDy[60] += acadoWorkspace.Qd[56];
-acadoWorkspace.QDy[61] += acadoWorkspace.Qd[57];
-acadoWorkspace.QDy[62] += acadoWorkspace.Qd[58];
-acadoWorkspace.QDy[63] += acadoWorkspace.Qd[59];
-acadoWorkspace.QDy[64] += acadoWorkspace.Qd[60];
-acadoWorkspace.QDy[65] += acadoWorkspace.Qd[61];
-acadoWorkspace.QDy[66] += acadoWorkspace.Qd[62];
-acadoWorkspace.QDy[67] += acadoWorkspace.Qd[63];
-acadoWorkspace.QDy[68] += acadoWorkspace.Qd[64];
-acadoWorkspace.QDy[69] += acadoWorkspace.Qd[65];
-acadoWorkspace.QDy[70] += acadoWorkspace.Qd[66];
-acadoWorkspace.QDy[71] += acadoWorkspace.Qd[67];
-acadoWorkspace.QDy[72] += acadoWorkspace.Qd[68];
-acadoWorkspace.QDy[73] += acadoWorkspace.Qd[69];
-acadoWorkspace.QDy[74] += acadoWorkspace.Qd[70];
-acadoWorkspace.QDy[75] += acadoWorkspace.Qd[71];
-acadoWorkspace.QDy[76] += acadoWorkspace.Qd[72];
-acadoWorkspace.QDy[77] += acadoWorkspace.Qd[73];
-acadoWorkspace.QDy[78] += acadoWorkspace.Qd[74];
-acadoWorkspace.QDy[79] += acadoWorkspace.Qd[75];
-acadoWorkspace.QDy[80] += acadoWorkspace.Qd[76];
-acadoWorkspace.QDy[81] += acadoWorkspace.Qd[77];
-acadoWorkspace.QDy[82] += acadoWorkspace.Qd[78];
-acadoWorkspace.QDy[83] += acadoWorkspace.Qd[79];
-
-acadoWorkspace.g[0] = + acadoWorkspace.evGx[0]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[4]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[8]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[12]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[16]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[20]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[24]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[28]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[32]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[36]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[40]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[44]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[48]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[52]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[56]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[60]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[64]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[68]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[72]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[76]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[80]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[84]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[88]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[92]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[96]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[100]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[104]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[108]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[112]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[116]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[120]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[124]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[128]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[132]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[136]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[140]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[144]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[148]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[152]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[156]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[160]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[164]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[168]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[172]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[176]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[180]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[184]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[188]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[192]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[196]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[200]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[204]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[208]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[212]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[216]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[220]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[224]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[228]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[232]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[236]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[240]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[244]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[248]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[252]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[256]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[260]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[264]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[268]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[272]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[276]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[280]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[284]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[288]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[292]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[296]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[300]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[304]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[308]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[312]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[316]*acadoWorkspace.QDy[83];
-acadoWorkspace.g[1] = + acadoWorkspace.evGx[1]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[5]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[9]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[13]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[17]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[21]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[25]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[29]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[33]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[37]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[41]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[45]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[49]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[53]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[57]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[61]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[65]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[69]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[73]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[77]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[81]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[85]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[89]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[93]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[97]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[101]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[105]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[109]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[113]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[117]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[121]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[125]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[129]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[133]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[137]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[141]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[145]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[149]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[153]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[157]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[161]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[165]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[169]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[173]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[177]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[181]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[185]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[189]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[193]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[197]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[201]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[205]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[209]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[213]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[217]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[221]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[225]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[229]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[233]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[237]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[241]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[245]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[249]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[253]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[257]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[261]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[265]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[269]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[273]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[277]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[281]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[285]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[289]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[293]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[297]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[301]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[305]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[309]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[313]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[317]*acadoWorkspace.QDy[83];
-acadoWorkspace.g[2] = + acadoWorkspace.evGx[2]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[6]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[10]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[14]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[18]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[22]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[26]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[30]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[34]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[38]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[42]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[46]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[50]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[54]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[58]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[62]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[66]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[70]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[74]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[78]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[82]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[86]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[90]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[94]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[98]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[102]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[106]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[110]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[114]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[118]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[122]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[126]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[130]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[134]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[138]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[142]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[146]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[150]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[154]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[158]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[162]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[166]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[170]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[174]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[178]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[182]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[186]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[190]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[194]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[198]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[202]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[206]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[210]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[214]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[218]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[222]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[226]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[230]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[234]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[238]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[242]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[246]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[250]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[254]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[258]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[262]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[266]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[270]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[274]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[278]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[282]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[286]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[290]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[294]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[298]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[302]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[306]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[310]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[314]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[318]*acadoWorkspace.QDy[83];
-acadoWorkspace.g[3] = + acadoWorkspace.evGx[3]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[7]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[11]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[15]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[19]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[23]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[27]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[31]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[35]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[39]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[43]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[47]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[51]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[55]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[59]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[63]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[67]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[71]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[75]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[79]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[83]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[87]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[91]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[95]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[99]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[103]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[107]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[111]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[115]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[119]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[123]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[127]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[131]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[135]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[139]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[143]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[147]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[151]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[155]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[159]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[163]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[167]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[171]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[175]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[179]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[183]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[187]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[191]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[195]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[199]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[203]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[207]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[211]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[215]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[219]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[223]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[227]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[231]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[235]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[239]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[243]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[247]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[251]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[255]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[259]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[263]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[267]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[271]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[275]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[279]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[283]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[287]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[291]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[295]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[299]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[303]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[307]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[311]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[315]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[319]*acadoWorkspace.QDy[83];
-
-
-acado_multEQDy( acadoWorkspace.E, &(acadoWorkspace.QDy[ 4 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.QDy[ 8 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QDy[ 16 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.QDy[ 8 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QDy[ 16 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.QDy[ 16 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QDy[ 16 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 22 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 22 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 836 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 23 ]) );
-
-acadoWorkspace.lb[0] = acadoWorkspace.Dx0[0];
-acadoWorkspace.lb[1] = acadoWorkspace.Dx0[1];
-acadoWorkspace.lb[2] = acadoWorkspace.Dx0[2];
-acadoWorkspace.lb[3] = acadoWorkspace.Dx0[3];
-acadoWorkspace.ub[0] = acadoWorkspace.Dx0[0];
-acadoWorkspace.ub[1] = acadoWorkspace.Dx0[1];
-acadoWorkspace.ub[2] = acadoWorkspace.Dx0[2];
-acadoWorkspace.ub[3] = acadoWorkspace.Dx0[3];
-tmp = acadoVariables.x[6] + acadoWorkspace.d[2];
-acadoWorkspace.lbA[0] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[0] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[7] + acadoWorkspace.d[3];
-acadoWorkspace.lbA[1] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[1] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[10] + acadoWorkspace.d[6];
-acadoWorkspace.lbA[2] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[2] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[11] + acadoWorkspace.d[7];
-acadoWorkspace.lbA[3] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[3] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[14] + acadoWorkspace.d[10];
-acadoWorkspace.lbA[4] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[4] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[15] + acadoWorkspace.d[11];
-acadoWorkspace.lbA[5] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[5] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[18] + acadoWorkspace.d[14];
-acadoWorkspace.lbA[6] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[6] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[19] + acadoWorkspace.d[15];
-acadoWorkspace.lbA[7] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[7] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[22] + acadoWorkspace.d[18];
-acadoWorkspace.lbA[8] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[8] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[23] + acadoWorkspace.d[19];
-acadoWorkspace.lbA[9] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[9] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[26] + acadoWorkspace.d[22];
-acadoWorkspace.lbA[10] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[10] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[27] + acadoWorkspace.d[23];
-acadoWorkspace.lbA[11] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[11] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[30] + acadoWorkspace.d[26];
-acadoWorkspace.lbA[12] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[12] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[31] + acadoWorkspace.d[27];
-acadoWorkspace.lbA[13] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[13] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[34] + acadoWorkspace.d[30];
-acadoWorkspace.lbA[14] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[14] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[35] + acadoWorkspace.d[31];
-acadoWorkspace.lbA[15] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[15] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[38] + acadoWorkspace.d[34];
-acadoWorkspace.lbA[16] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[16] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[39] + acadoWorkspace.d[35];
-acadoWorkspace.lbA[17] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[17] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[42] + acadoWorkspace.d[38];
-acadoWorkspace.lbA[18] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[18] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[43] + acadoWorkspace.d[39];
-acadoWorkspace.lbA[19] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[19] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[46] + acadoWorkspace.d[42];
-acadoWorkspace.lbA[20] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[20] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[47] + acadoWorkspace.d[43];
-acadoWorkspace.lbA[21] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[21] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[50] + acadoWorkspace.d[46];
-acadoWorkspace.lbA[22] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[22] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[51] + acadoWorkspace.d[47];
-acadoWorkspace.lbA[23] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[23] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[54] + acadoWorkspace.d[50];
-acadoWorkspace.lbA[24] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[24] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[55] + acadoWorkspace.d[51];
-acadoWorkspace.lbA[25] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[25] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[58] + acadoWorkspace.d[54];
-acadoWorkspace.lbA[26] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[26] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[59] + acadoWorkspace.d[55];
-acadoWorkspace.lbA[27] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[27] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[62] + acadoWorkspace.d[58];
-acadoWorkspace.lbA[28] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[28] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[63] + acadoWorkspace.d[59];
-acadoWorkspace.lbA[29] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[29] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[66] + acadoWorkspace.d[62];
-acadoWorkspace.lbA[30] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[30] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[67] + acadoWorkspace.d[63];
-acadoWorkspace.lbA[31] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[31] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[70] + acadoWorkspace.d[66];
-acadoWorkspace.lbA[32] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[32] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[71] + acadoWorkspace.d[67];
-acadoWorkspace.lbA[33] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[33] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[74] + acadoWorkspace.d[70];
-acadoWorkspace.lbA[34] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[34] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[75] + acadoWorkspace.d[71];
-acadoWorkspace.lbA[35] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[35] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[78] + acadoWorkspace.d[74];
-acadoWorkspace.lbA[36] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[36] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[79] + acadoWorkspace.d[75];
-acadoWorkspace.lbA[37] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[37] = (real_t)8.7266462600000005e-01 - tmp;
-tmp = acadoVariables.x[82] + acadoWorkspace.d[78];
-acadoWorkspace.lbA[38] = (real_t)-1.5707963268000000e+00 - tmp;
-acadoWorkspace.ubA[38] = (real_t)1.5707963268000000e+00 - tmp;
-tmp = acadoVariables.x[83] + acadoWorkspace.d[79];
-acadoWorkspace.lbA[39] = (real_t)-8.7266462600000005e-01 - tmp;
-acadoWorkspace.ubA[39] = (real_t)8.7266462600000005e-01 - tmp;
-
-}
-
-void acado_expand(  )
-{
-acadoVariables.x[0] += acadoWorkspace.x[0];
-acadoVariables.x[1] += acadoWorkspace.x[1];
-acadoVariables.x[2] += acadoWorkspace.x[2];
-acadoVariables.x[3] += acadoWorkspace.x[3];
-
-acadoVariables.u[0] += acadoWorkspace.x[4];
-acadoVariables.u[1] += acadoWorkspace.x[5];
-acadoVariables.u[2] += acadoWorkspace.x[6];
-acadoVariables.u[3] += acadoWorkspace.x[7];
-acadoVariables.u[4] += acadoWorkspace.x[8];
-acadoVariables.u[5] += acadoWorkspace.x[9];
-acadoVariables.u[6] += acadoWorkspace.x[10];
-acadoVariables.u[7] += acadoWorkspace.x[11];
-acadoVariables.u[8] += acadoWorkspace.x[12];
-acadoVariables.u[9] += acadoWorkspace.x[13];
-acadoVariables.u[10] += acadoWorkspace.x[14];
-acadoVariables.u[11] += acadoWorkspace.x[15];
-acadoVariables.u[12] += acadoWorkspace.x[16];
-acadoVariables.u[13] += acadoWorkspace.x[17];
-acadoVariables.u[14] += acadoWorkspace.x[18];
-acadoVariables.u[15] += acadoWorkspace.x[19];
-acadoVariables.u[16] += acadoWorkspace.x[20];
-acadoVariables.u[17] += acadoWorkspace.x[21];
-acadoVariables.u[18] += acadoWorkspace.x[22];
-acadoVariables.u[19] += acadoWorkspace.x[23];
-
-acadoVariables.x[4] += + acadoWorkspace.evGx[0]*acadoWorkspace.x[0] + acadoWorkspace.evGx[1]*acadoWorkspace.x[1] + acadoWorkspace.evGx[2]*acadoWorkspace.x[2] + acadoWorkspace.evGx[3]*acadoWorkspace.x[3] + acadoWorkspace.d[0];
-acadoVariables.x[5] += + acadoWorkspace.evGx[4]*acadoWorkspace.x[0] + acadoWorkspace.evGx[5]*acadoWorkspace.x[1] + acadoWorkspace.evGx[6]*acadoWorkspace.x[2] + acadoWorkspace.evGx[7]*acadoWorkspace.x[3] + acadoWorkspace.d[1];
-acadoVariables.x[6] += + acadoWorkspace.evGx[8]*acadoWorkspace.x[0] + acadoWorkspace.evGx[9]*acadoWorkspace.x[1] + acadoWorkspace.evGx[10]*acadoWorkspace.x[2] + acadoWorkspace.evGx[11]*acadoWorkspace.x[3] + acadoWorkspace.d[2];
-acadoVariables.x[7] += + acadoWorkspace.evGx[12]*acadoWorkspace.x[0] + acadoWorkspace.evGx[13]*acadoWorkspace.x[1] + acadoWorkspace.evGx[14]*acadoWorkspace.x[2] + acadoWorkspace.evGx[15]*acadoWorkspace.x[3] + acadoWorkspace.d[3];
-acadoVariables.x[8] += + acadoWorkspace.evGx[16]*acadoWorkspace.x[0] + acadoWorkspace.evGx[17]*acadoWorkspace.x[1] + acadoWorkspace.evGx[18]*acadoWorkspace.x[2] + acadoWorkspace.evGx[19]*acadoWorkspace.x[3] + acadoWorkspace.d[4];
-acadoVariables.x[9] += + acadoWorkspace.evGx[20]*acadoWorkspace.x[0] + acadoWorkspace.evGx[21]*acadoWorkspace.x[1] + acadoWorkspace.evGx[22]*acadoWorkspace.x[2] + acadoWorkspace.evGx[23]*acadoWorkspace.x[3] + acadoWorkspace.d[5];
-acadoVariables.x[10] += + acadoWorkspace.evGx[24]*acadoWorkspace.x[0] + acadoWorkspace.evGx[25]*acadoWorkspace.x[1] + acadoWorkspace.evGx[26]*acadoWorkspace.x[2] + acadoWorkspace.evGx[27]*acadoWorkspace.x[3] + acadoWorkspace.d[6];
-acadoVariables.x[11] += + acadoWorkspace.evGx[28]*acadoWorkspace.x[0] + acadoWorkspace.evGx[29]*acadoWorkspace.x[1] + acadoWorkspace.evGx[30]*acadoWorkspace.x[2] + acadoWorkspace.evGx[31]*acadoWorkspace.x[3] + acadoWorkspace.d[7];
-acadoVariables.x[12] += + acadoWorkspace.evGx[32]*acadoWorkspace.x[0] + acadoWorkspace.evGx[33]*acadoWorkspace.x[1] + acadoWorkspace.evGx[34]*acadoWorkspace.x[2] + acadoWorkspace.evGx[35]*acadoWorkspace.x[3] + acadoWorkspace.d[8];
-acadoVariables.x[13] += + acadoWorkspace.evGx[36]*acadoWorkspace.x[0] + acadoWorkspace.evGx[37]*acadoWorkspace.x[1] + acadoWorkspace.evGx[38]*acadoWorkspace.x[2] + acadoWorkspace.evGx[39]*acadoWorkspace.x[3] + acadoWorkspace.d[9];
-acadoVariables.x[14] += + acadoWorkspace.evGx[40]*acadoWorkspace.x[0] + acadoWorkspace.evGx[41]*acadoWorkspace.x[1] + acadoWorkspace.evGx[42]*acadoWorkspace.x[2] + acadoWorkspace.evGx[43]*acadoWorkspace.x[3] + acadoWorkspace.d[10];
-acadoVariables.x[15] += + acadoWorkspace.evGx[44]*acadoWorkspace.x[0] + acadoWorkspace.evGx[45]*acadoWorkspace.x[1] + acadoWorkspace.evGx[46]*acadoWorkspace.x[2] + acadoWorkspace.evGx[47]*acadoWorkspace.x[3] + acadoWorkspace.d[11];
-acadoVariables.x[16] += + acadoWorkspace.evGx[48]*acadoWorkspace.x[0] + acadoWorkspace.evGx[49]*acadoWorkspace.x[1] + acadoWorkspace.evGx[50]*acadoWorkspace.x[2] + acadoWorkspace.evGx[51]*acadoWorkspace.x[3] + acadoWorkspace.d[12];
-acadoVariables.x[17] += + acadoWorkspace.evGx[52]*acadoWorkspace.x[0] + acadoWorkspace.evGx[53]*acadoWorkspace.x[1] + acadoWorkspace.evGx[54]*acadoWorkspace.x[2] + acadoWorkspace.evGx[55]*acadoWorkspace.x[3] + acadoWorkspace.d[13];
-acadoVariables.x[18] += + acadoWorkspace.evGx[56]*acadoWorkspace.x[0] + acadoWorkspace.evGx[57]*acadoWorkspace.x[1] + acadoWorkspace.evGx[58]*acadoWorkspace.x[2] + acadoWorkspace.evGx[59]*acadoWorkspace.x[3] + acadoWorkspace.d[14];
-acadoVariables.x[19] += + acadoWorkspace.evGx[60]*acadoWorkspace.x[0] + acadoWorkspace.evGx[61]*acadoWorkspace.x[1] + acadoWorkspace.evGx[62]*acadoWorkspace.x[2] + acadoWorkspace.evGx[63]*acadoWorkspace.x[3] + acadoWorkspace.d[15];
-acadoVariables.x[20] += + acadoWorkspace.evGx[64]*acadoWorkspace.x[0] + acadoWorkspace.evGx[65]*acadoWorkspace.x[1] + acadoWorkspace.evGx[66]*acadoWorkspace.x[2] + acadoWorkspace.evGx[67]*acadoWorkspace.x[3] + acadoWorkspace.d[16];
-acadoVariables.x[21] += + acadoWorkspace.evGx[68]*acadoWorkspace.x[0] + acadoWorkspace.evGx[69]*acadoWorkspace.x[1] + acadoWorkspace.evGx[70]*acadoWorkspace.x[2] + acadoWorkspace.evGx[71]*acadoWorkspace.x[3] + acadoWorkspace.d[17];
-acadoVariables.x[22] += + acadoWorkspace.evGx[72]*acadoWorkspace.x[0] + acadoWorkspace.evGx[73]*acadoWorkspace.x[1] + acadoWorkspace.evGx[74]*acadoWorkspace.x[2] + acadoWorkspace.evGx[75]*acadoWorkspace.x[3] + acadoWorkspace.d[18];
-acadoVariables.x[23] += + acadoWorkspace.evGx[76]*acadoWorkspace.x[0] + acadoWorkspace.evGx[77]*acadoWorkspace.x[1] + acadoWorkspace.evGx[78]*acadoWorkspace.x[2] + acadoWorkspace.evGx[79]*acadoWorkspace.x[3] + acadoWorkspace.d[19];
-acadoVariables.x[24] += + acadoWorkspace.evGx[80]*acadoWorkspace.x[0] + acadoWorkspace.evGx[81]*acadoWorkspace.x[1] + acadoWorkspace.evGx[82]*acadoWorkspace.x[2] + acadoWorkspace.evGx[83]*acadoWorkspace.x[3] + acadoWorkspace.d[20];
-acadoVariables.x[25] += + acadoWorkspace.evGx[84]*acadoWorkspace.x[0] + acadoWorkspace.evGx[85]*acadoWorkspace.x[1] + acadoWorkspace.evGx[86]*acadoWorkspace.x[2] + acadoWorkspace.evGx[87]*acadoWorkspace.x[3] + acadoWorkspace.d[21];
-acadoVariables.x[26] += + acadoWorkspace.evGx[88]*acadoWorkspace.x[0] + acadoWorkspace.evGx[89]*acadoWorkspace.x[1] + acadoWorkspace.evGx[90]*acadoWorkspace.x[2] + acadoWorkspace.evGx[91]*acadoWorkspace.x[3] + acadoWorkspace.d[22];
-acadoVariables.x[27] += + acadoWorkspace.evGx[92]*acadoWorkspace.x[0] + acadoWorkspace.evGx[93]*acadoWorkspace.x[1] + acadoWorkspace.evGx[94]*acadoWorkspace.x[2] + acadoWorkspace.evGx[95]*acadoWorkspace.x[3] + acadoWorkspace.d[23];
-acadoVariables.x[28] += + acadoWorkspace.evGx[96]*acadoWorkspace.x[0] + acadoWorkspace.evGx[97]*acadoWorkspace.x[1] + acadoWorkspace.evGx[98]*acadoWorkspace.x[2] + acadoWorkspace.evGx[99]*acadoWorkspace.x[3] + acadoWorkspace.d[24];
-acadoVariables.x[29] += + acadoWorkspace.evGx[100]*acadoWorkspace.x[0] + acadoWorkspace.evGx[101]*acadoWorkspace.x[1] + acadoWorkspace.evGx[102]*acadoWorkspace.x[2] + acadoWorkspace.evGx[103]*acadoWorkspace.x[3] + acadoWorkspace.d[25];
-acadoVariables.x[30] += + acadoWorkspace.evGx[104]*acadoWorkspace.x[0] + acadoWorkspace.evGx[105]*acadoWorkspace.x[1] + acadoWorkspace.evGx[106]*acadoWorkspace.x[2] + acadoWorkspace.evGx[107]*acadoWorkspace.x[3] + acadoWorkspace.d[26];
-acadoVariables.x[31] += + acadoWorkspace.evGx[108]*acadoWorkspace.x[0] + acadoWorkspace.evGx[109]*acadoWorkspace.x[1] + acadoWorkspace.evGx[110]*acadoWorkspace.x[2] + acadoWorkspace.evGx[111]*acadoWorkspace.x[3] + acadoWorkspace.d[27];
-acadoVariables.x[32] += + acadoWorkspace.evGx[112]*acadoWorkspace.x[0] + acadoWorkspace.evGx[113]*acadoWorkspace.x[1] + acadoWorkspace.evGx[114]*acadoWorkspace.x[2] + acadoWorkspace.evGx[115]*acadoWorkspace.x[3] + acadoWorkspace.d[28];
-acadoVariables.x[33] += + acadoWorkspace.evGx[116]*acadoWorkspace.x[0] + acadoWorkspace.evGx[117]*acadoWorkspace.x[1] + acadoWorkspace.evGx[118]*acadoWorkspace.x[2] + acadoWorkspace.evGx[119]*acadoWorkspace.x[3] + acadoWorkspace.d[29];
-acadoVariables.x[34] += + acadoWorkspace.evGx[120]*acadoWorkspace.x[0] + acadoWorkspace.evGx[121]*acadoWorkspace.x[1] + acadoWorkspace.evGx[122]*acadoWorkspace.x[2] + acadoWorkspace.evGx[123]*acadoWorkspace.x[3] + acadoWorkspace.d[30];
-acadoVariables.x[35] += + acadoWorkspace.evGx[124]*acadoWorkspace.x[0] + acadoWorkspace.evGx[125]*acadoWorkspace.x[1] + acadoWorkspace.evGx[126]*acadoWorkspace.x[2] + acadoWorkspace.evGx[127]*acadoWorkspace.x[3] + acadoWorkspace.d[31];
-acadoVariables.x[36] += + acadoWorkspace.evGx[128]*acadoWorkspace.x[0] + acadoWorkspace.evGx[129]*acadoWorkspace.x[1] + acadoWorkspace.evGx[130]*acadoWorkspace.x[2] + acadoWorkspace.evGx[131]*acadoWorkspace.x[3] + acadoWorkspace.d[32];
-acadoVariables.x[37] += + acadoWorkspace.evGx[132]*acadoWorkspace.x[0] + acadoWorkspace.evGx[133]*acadoWorkspace.x[1] + acadoWorkspace.evGx[134]*acadoWorkspace.x[2] + acadoWorkspace.evGx[135]*acadoWorkspace.x[3] + acadoWorkspace.d[33];
-acadoVariables.x[38] += + acadoWorkspace.evGx[136]*acadoWorkspace.x[0] + acadoWorkspace.evGx[137]*acadoWorkspace.x[1] + acadoWorkspace.evGx[138]*acadoWorkspace.x[2] + acadoWorkspace.evGx[139]*acadoWorkspace.x[3] + acadoWorkspace.d[34];
-acadoVariables.x[39] += + acadoWorkspace.evGx[140]*acadoWorkspace.x[0] + acadoWorkspace.evGx[141]*acadoWorkspace.x[1] + acadoWorkspace.evGx[142]*acadoWorkspace.x[2] + acadoWorkspace.evGx[143]*acadoWorkspace.x[3] + acadoWorkspace.d[35];
-acadoVariables.x[40] += + acadoWorkspace.evGx[144]*acadoWorkspace.x[0] + acadoWorkspace.evGx[145]*acadoWorkspace.x[1] + acadoWorkspace.evGx[146]*acadoWorkspace.x[2] + acadoWorkspace.evGx[147]*acadoWorkspace.x[3] + acadoWorkspace.d[36];
-acadoVariables.x[41] += + acadoWorkspace.evGx[148]*acadoWorkspace.x[0] + acadoWorkspace.evGx[149]*acadoWorkspace.x[1] + acadoWorkspace.evGx[150]*acadoWorkspace.x[2] + acadoWorkspace.evGx[151]*acadoWorkspace.x[3] + acadoWorkspace.d[37];
-acadoVariables.x[42] += + acadoWorkspace.evGx[152]*acadoWorkspace.x[0] + acadoWorkspace.evGx[153]*acadoWorkspace.x[1] + acadoWorkspace.evGx[154]*acadoWorkspace.x[2] + acadoWorkspace.evGx[155]*acadoWorkspace.x[3] + acadoWorkspace.d[38];
-acadoVariables.x[43] += + acadoWorkspace.evGx[156]*acadoWorkspace.x[0] + acadoWorkspace.evGx[157]*acadoWorkspace.x[1] + acadoWorkspace.evGx[158]*acadoWorkspace.x[2] + acadoWorkspace.evGx[159]*acadoWorkspace.x[3] + acadoWorkspace.d[39];
-acadoVariables.x[44] += + acadoWorkspace.evGx[160]*acadoWorkspace.x[0] + acadoWorkspace.evGx[161]*acadoWorkspace.x[1] + acadoWorkspace.evGx[162]*acadoWorkspace.x[2] + acadoWorkspace.evGx[163]*acadoWorkspace.x[3] + acadoWorkspace.d[40];
-acadoVariables.x[45] += + acadoWorkspace.evGx[164]*acadoWorkspace.x[0] + acadoWorkspace.evGx[165]*acadoWorkspace.x[1] + acadoWorkspace.evGx[166]*acadoWorkspace.x[2] + acadoWorkspace.evGx[167]*acadoWorkspace.x[3] + acadoWorkspace.d[41];
-acadoVariables.x[46] += + acadoWorkspace.evGx[168]*acadoWorkspace.x[0] + acadoWorkspace.evGx[169]*acadoWorkspace.x[1] + acadoWorkspace.evGx[170]*acadoWorkspace.x[2] + acadoWorkspace.evGx[171]*acadoWorkspace.x[3] + acadoWorkspace.d[42];
-acadoVariables.x[47] += + acadoWorkspace.evGx[172]*acadoWorkspace.x[0] + acadoWorkspace.evGx[173]*acadoWorkspace.x[1] + acadoWorkspace.evGx[174]*acadoWorkspace.x[2] + acadoWorkspace.evGx[175]*acadoWorkspace.x[3] + acadoWorkspace.d[43];
-acadoVariables.x[48] += + acadoWorkspace.evGx[176]*acadoWorkspace.x[0] + acadoWorkspace.evGx[177]*acadoWorkspace.x[1] + acadoWorkspace.evGx[178]*acadoWorkspace.x[2] + acadoWorkspace.evGx[179]*acadoWorkspace.x[3] + acadoWorkspace.d[44];
-acadoVariables.x[49] += + acadoWorkspace.evGx[180]*acadoWorkspace.x[0] + acadoWorkspace.evGx[181]*acadoWorkspace.x[1] + acadoWorkspace.evGx[182]*acadoWorkspace.x[2] + acadoWorkspace.evGx[183]*acadoWorkspace.x[3] + acadoWorkspace.d[45];
-acadoVariables.x[50] += + acadoWorkspace.evGx[184]*acadoWorkspace.x[0] + acadoWorkspace.evGx[185]*acadoWorkspace.x[1] + acadoWorkspace.evGx[186]*acadoWorkspace.x[2] + acadoWorkspace.evGx[187]*acadoWorkspace.x[3] + acadoWorkspace.d[46];
-acadoVariables.x[51] += + acadoWorkspace.evGx[188]*acadoWorkspace.x[0] + acadoWorkspace.evGx[189]*acadoWorkspace.x[1] + acadoWorkspace.evGx[190]*acadoWorkspace.x[2] + acadoWorkspace.evGx[191]*acadoWorkspace.x[3] + acadoWorkspace.d[47];
-acadoVariables.x[52] += + acadoWorkspace.evGx[192]*acadoWorkspace.x[0] + acadoWorkspace.evGx[193]*acadoWorkspace.x[1] + acadoWorkspace.evGx[194]*acadoWorkspace.x[2] + acadoWorkspace.evGx[195]*acadoWorkspace.x[3] + acadoWorkspace.d[48];
-acadoVariables.x[53] += + acadoWorkspace.evGx[196]*acadoWorkspace.x[0] + acadoWorkspace.evGx[197]*acadoWorkspace.x[1] + acadoWorkspace.evGx[198]*acadoWorkspace.x[2] + acadoWorkspace.evGx[199]*acadoWorkspace.x[3] + acadoWorkspace.d[49];
-acadoVariables.x[54] += + acadoWorkspace.evGx[200]*acadoWorkspace.x[0] + acadoWorkspace.evGx[201]*acadoWorkspace.x[1] + acadoWorkspace.evGx[202]*acadoWorkspace.x[2] + acadoWorkspace.evGx[203]*acadoWorkspace.x[3] + acadoWorkspace.d[50];
-acadoVariables.x[55] += + acadoWorkspace.evGx[204]*acadoWorkspace.x[0] + acadoWorkspace.evGx[205]*acadoWorkspace.x[1] + acadoWorkspace.evGx[206]*acadoWorkspace.x[2] + acadoWorkspace.evGx[207]*acadoWorkspace.x[3] + acadoWorkspace.d[51];
-acadoVariables.x[56] += + acadoWorkspace.evGx[208]*acadoWorkspace.x[0] + acadoWorkspace.evGx[209]*acadoWorkspace.x[1] + acadoWorkspace.evGx[210]*acadoWorkspace.x[2] + acadoWorkspace.evGx[211]*acadoWorkspace.x[3] + acadoWorkspace.d[52];
-acadoVariables.x[57] += + acadoWorkspace.evGx[212]*acadoWorkspace.x[0] + acadoWorkspace.evGx[213]*acadoWorkspace.x[1] + acadoWorkspace.evGx[214]*acadoWorkspace.x[2] + acadoWorkspace.evGx[215]*acadoWorkspace.x[3] + acadoWorkspace.d[53];
-acadoVariables.x[58] += + acadoWorkspace.evGx[216]*acadoWorkspace.x[0] + acadoWorkspace.evGx[217]*acadoWorkspace.x[1] + acadoWorkspace.evGx[218]*acadoWorkspace.x[2] + acadoWorkspace.evGx[219]*acadoWorkspace.x[3] + acadoWorkspace.d[54];
-acadoVariables.x[59] += + acadoWorkspace.evGx[220]*acadoWorkspace.x[0] + acadoWorkspace.evGx[221]*acadoWorkspace.x[1] + acadoWorkspace.evGx[222]*acadoWorkspace.x[2] + acadoWorkspace.evGx[223]*acadoWorkspace.x[3] + acadoWorkspace.d[55];
-acadoVariables.x[60] += + acadoWorkspace.evGx[224]*acadoWorkspace.x[0] + acadoWorkspace.evGx[225]*acadoWorkspace.x[1] + acadoWorkspace.evGx[226]*acadoWorkspace.x[2] + acadoWorkspace.evGx[227]*acadoWorkspace.x[3] + acadoWorkspace.d[56];
-acadoVariables.x[61] += + acadoWorkspace.evGx[228]*acadoWorkspace.x[0] + acadoWorkspace.evGx[229]*acadoWorkspace.x[1] + acadoWorkspace.evGx[230]*acadoWorkspace.x[2] + acadoWorkspace.evGx[231]*acadoWorkspace.x[3] + acadoWorkspace.d[57];
-acadoVariables.x[62] += + acadoWorkspace.evGx[232]*acadoWorkspace.x[0] + acadoWorkspace.evGx[233]*acadoWorkspace.x[1] + acadoWorkspace.evGx[234]*acadoWorkspace.x[2] + acadoWorkspace.evGx[235]*acadoWorkspace.x[3] + acadoWorkspace.d[58];
-acadoVariables.x[63] += + acadoWorkspace.evGx[236]*acadoWorkspace.x[0] + acadoWorkspace.evGx[237]*acadoWorkspace.x[1] + acadoWorkspace.evGx[238]*acadoWorkspace.x[2] + acadoWorkspace.evGx[239]*acadoWorkspace.x[3] + acadoWorkspace.d[59];
-acadoVariables.x[64] += + acadoWorkspace.evGx[240]*acadoWorkspace.x[0] + acadoWorkspace.evGx[241]*acadoWorkspace.x[1] + acadoWorkspace.evGx[242]*acadoWorkspace.x[2] + acadoWorkspace.evGx[243]*acadoWorkspace.x[3] + acadoWorkspace.d[60];
-acadoVariables.x[65] += + acadoWorkspace.evGx[244]*acadoWorkspace.x[0] + acadoWorkspace.evGx[245]*acadoWorkspace.x[1] + acadoWorkspace.evGx[246]*acadoWorkspace.x[2] + acadoWorkspace.evGx[247]*acadoWorkspace.x[3] + acadoWorkspace.d[61];
-acadoVariables.x[66] += + acadoWorkspace.evGx[248]*acadoWorkspace.x[0] + acadoWorkspace.evGx[249]*acadoWorkspace.x[1] + acadoWorkspace.evGx[250]*acadoWorkspace.x[2] + acadoWorkspace.evGx[251]*acadoWorkspace.x[3] + acadoWorkspace.d[62];
-acadoVariables.x[67] += + acadoWorkspace.evGx[252]*acadoWorkspace.x[0] + acadoWorkspace.evGx[253]*acadoWorkspace.x[1] + acadoWorkspace.evGx[254]*acadoWorkspace.x[2] + acadoWorkspace.evGx[255]*acadoWorkspace.x[3] + acadoWorkspace.d[63];
-acadoVariables.x[68] += + acadoWorkspace.evGx[256]*acadoWorkspace.x[0] + acadoWorkspace.evGx[257]*acadoWorkspace.x[1] + acadoWorkspace.evGx[258]*acadoWorkspace.x[2] + acadoWorkspace.evGx[259]*acadoWorkspace.x[3] + acadoWorkspace.d[64];
-acadoVariables.x[69] += + acadoWorkspace.evGx[260]*acadoWorkspace.x[0] + acadoWorkspace.evGx[261]*acadoWorkspace.x[1] + acadoWorkspace.evGx[262]*acadoWorkspace.x[2] + acadoWorkspace.evGx[263]*acadoWorkspace.x[3] + acadoWorkspace.d[65];
-acadoVariables.x[70] += + acadoWorkspace.evGx[264]*acadoWorkspace.x[0] + acadoWorkspace.evGx[265]*acadoWorkspace.x[1] + acadoWorkspace.evGx[266]*acadoWorkspace.x[2] + acadoWorkspace.evGx[267]*acadoWorkspace.x[3] + acadoWorkspace.d[66];
-acadoVariables.x[71] += + acadoWorkspace.evGx[268]*acadoWorkspace.x[0] + acadoWorkspace.evGx[269]*acadoWorkspace.x[1] + acadoWorkspace.evGx[270]*acadoWorkspace.x[2] + acadoWorkspace.evGx[271]*acadoWorkspace.x[3] + acadoWorkspace.d[67];
-acadoVariables.x[72] += + acadoWorkspace.evGx[272]*acadoWorkspace.x[0] + acadoWorkspace.evGx[273]*acadoWorkspace.x[1] + acadoWorkspace.evGx[274]*acadoWorkspace.x[2] + acadoWorkspace.evGx[275]*acadoWorkspace.x[3] + acadoWorkspace.d[68];
-acadoVariables.x[73] += + acadoWorkspace.evGx[276]*acadoWorkspace.x[0] + acadoWorkspace.evGx[277]*acadoWorkspace.x[1] + acadoWorkspace.evGx[278]*acadoWorkspace.x[2] + acadoWorkspace.evGx[279]*acadoWorkspace.x[3] + acadoWorkspace.d[69];
-acadoVariables.x[74] += + acadoWorkspace.evGx[280]*acadoWorkspace.x[0] + acadoWorkspace.evGx[281]*acadoWorkspace.x[1] + acadoWorkspace.evGx[282]*acadoWorkspace.x[2] + acadoWorkspace.evGx[283]*acadoWorkspace.x[3] + acadoWorkspace.d[70];
-acadoVariables.x[75] += + acadoWorkspace.evGx[284]*acadoWorkspace.x[0] + acadoWorkspace.evGx[285]*acadoWorkspace.x[1] + acadoWorkspace.evGx[286]*acadoWorkspace.x[2] + acadoWorkspace.evGx[287]*acadoWorkspace.x[3] + acadoWorkspace.d[71];
-acadoVariables.x[76] += + acadoWorkspace.evGx[288]*acadoWorkspace.x[0] + acadoWorkspace.evGx[289]*acadoWorkspace.x[1] + acadoWorkspace.evGx[290]*acadoWorkspace.x[2] + acadoWorkspace.evGx[291]*acadoWorkspace.x[3] + acadoWorkspace.d[72];
-acadoVariables.x[77] += + acadoWorkspace.evGx[292]*acadoWorkspace.x[0] + acadoWorkspace.evGx[293]*acadoWorkspace.x[1] + acadoWorkspace.evGx[294]*acadoWorkspace.x[2] + acadoWorkspace.evGx[295]*acadoWorkspace.x[3] + acadoWorkspace.d[73];
-acadoVariables.x[78] += + acadoWorkspace.evGx[296]*acadoWorkspace.x[0] + acadoWorkspace.evGx[297]*acadoWorkspace.x[1] + acadoWorkspace.evGx[298]*acadoWorkspace.x[2] + acadoWorkspace.evGx[299]*acadoWorkspace.x[3] + acadoWorkspace.d[74];
-acadoVariables.x[79] += + acadoWorkspace.evGx[300]*acadoWorkspace.x[0] + acadoWorkspace.evGx[301]*acadoWorkspace.x[1] + acadoWorkspace.evGx[302]*acadoWorkspace.x[2] + acadoWorkspace.evGx[303]*acadoWorkspace.x[3] + acadoWorkspace.d[75];
-acadoVariables.x[80] += + acadoWorkspace.evGx[304]*acadoWorkspace.x[0] + acadoWorkspace.evGx[305]*acadoWorkspace.x[1] + acadoWorkspace.evGx[306]*acadoWorkspace.x[2] + acadoWorkspace.evGx[307]*acadoWorkspace.x[3] + acadoWorkspace.d[76];
-acadoVariables.x[81] += + acadoWorkspace.evGx[308]*acadoWorkspace.x[0] + acadoWorkspace.evGx[309]*acadoWorkspace.x[1] + acadoWorkspace.evGx[310]*acadoWorkspace.x[2] + acadoWorkspace.evGx[311]*acadoWorkspace.x[3] + acadoWorkspace.d[77];
-acadoVariables.x[82] += + acadoWorkspace.evGx[312]*acadoWorkspace.x[0] + acadoWorkspace.evGx[313]*acadoWorkspace.x[1] + acadoWorkspace.evGx[314]*acadoWorkspace.x[2] + acadoWorkspace.evGx[315]*acadoWorkspace.x[3] + acadoWorkspace.d[78];
-acadoVariables.x[83] += + acadoWorkspace.evGx[316]*acadoWorkspace.x[0] + acadoWorkspace.evGx[317]*acadoWorkspace.x[1] + acadoWorkspace.evGx[318]*acadoWorkspace.x[2] + acadoWorkspace.evGx[319]*acadoWorkspace.x[3] + acadoWorkspace.d[79];
-
-acado_multEDu( acadoWorkspace.E, &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 4 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 8 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 8 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 12 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 12 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 12 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 16 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 16 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 16 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 16 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 20 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 20 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 20 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 20 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 20 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 28 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 28 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 28 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 28 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 28 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 28 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 28 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 32 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 32 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 32 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 32 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 32 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 32 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 32 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 32 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 40 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 44 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 52 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 56 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 64 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 68 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 72 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 76 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 80 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 836 ]), &(acadoWorkspace.x[ 23 ]), &(acadoVariables.x[ 80 ]) );
-}
-
-int acado_preparationStep(  )
-{
-int ret;
-
-ret = acado_modelSimulation();
-acado_evaluateObjective(  );
-acado_condensePrep(  );
-return ret;
-}
-
-int acado_feedbackStep(  )
-{
-int tmp;
-
-acado_condenseFdb(  );
-
-tmp = acado_solve( );
-
-acado_expand(  );
-return tmp;
-}
-
-int acado_initializeSolver(  )
-{
-int ret;
-
-/* This is a function which must be called once before any other function call! */
-
-
-ret = 0;
-
-memset(&acadoWorkspace, 0, sizeof( acadoWorkspace ));
-return ret;
-}
-
-void acado_initializeNodesByForwardSimulation(  )
-{
-int index;
-for (index = 0; index < 20; ++index)
-{
-acadoWorkspace.state[0] = acadoVariables.x[index * 4];
-acadoWorkspace.state[1] = acadoVariables.x[index * 4 + 1];
-acadoWorkspace.state[2] = acadoVariables.x[index * 4 + 2];
-acadoWorkspace.state[3] = acadoVariables.x[index * 4 + 3];
-acadoWorkspace.state[24] = acadoVariables.u[index];
-acadoWorkspace.state[25] = acadoVariables.od[index * 17];
-acadoWorkspace.state[26] = acadoVariables.od[index * 17 + 1];
-acadoWorkspace.state[27] = acadoVariables.od[index * 17 + 2];
-acadoWorkspace.state[28] = acadoVariables.od[index * 17 + 3];
-acadoWorkspace.state[29] = acadoVariables.od[index * 17 + 4];
-acadoWorkspace.state[30] = acadoVariables.od[index * 17 + 5];
-acadoWorkspace.state[31] = acadoVariables.od[index * 17 + 6];
-acadoWorkspace.state[32] = acadoVariables.od[index * 17 + 7];
-acadoWorkspace.state[33] = acadoVariables.od[index * 17 + 8];
-acadoWorkspace.state[34] = acadoVariables.od[index * 17 + 9];
-acadoWorkspace.state[35] = acadoVariables.od[index * 17 + 10];
-acadoWorkspace.state[36] = acadoVariables.od[index * 17 + 11];
-acadoWorkspace.state[37] = acadoVariables.od[index * 17 + 12];
-acadoWorkspace.state[38] = acadoVariables.od[index * 17 + 13];
-acadoWorkspace.state[39] = acadoVariables.od[index * 17 + 14];
-acadoWorkspace.state[40] = acadoVariables.od[index * 17 + 15];
-acadoWorkspace.state[41] = acadoVariables.od[index * 17 + 16];
-
-acado_integrate(acadoWorkspace.state, index == 0, index);
-
-acadoVariables.x[index * 4 + 4] = acadoWorkspace.state[0];
-acadoVariables.x[index * 4 + 5] = acadoWorkspace.state[1];
-acadoVariables.x[index * 4 + 6] = acadoWorkspace.state[2];
-acadoVariables.x[index * 4 + 7] = acadoWorkspace.state[3];
-}
-}
-
-void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd )
-{
-int index;
-for (index = 0; index < 20; ++index)
-{
-acadoVariables.x[index * 4] = acadoVariables.x[index * 4 + 4];
-acadoVariables.x[index * 4 + 1] = acadoVariables.x[index * 4 + 5];
-acadoVariables.x[index * 4 + 2] = acadoVariables.x[index * 4 + 6];
-acadoVariables.x[index * 4 + 3] = acadoVariables.x[index * 4 + 7];
-}
-
-if (strategy == 1 && xEnd != 0)
-{
-acadoVariables.x[80] = xEnd[0];
-acadoVariables.x[81] = xEnd[1];
-acadoVariables.x[82] = xEnd[2];
-acadoVariables.x[83] = xEnd[3];
-}
-else if (strategy == 2) 
-{
-acadoWorkspace.state[0] = acadoVariables.x[80];
-acadoWorkspace.state[1] = acadoVariables.x[81];
-acadoWorkspace.state[2] = acadoVariables.x[82];
-acadoWorkspace.state[3] = acadoVariables.x[83];
-if (uEnd != 0)
-{
-acadoWorkspace.state[24] = uEnd[0];
-}
-else
-{
-acadoWorkspace.state[24] = acadoVariables.u[19];
-}
-acadoWorkspace.state[25] = acadoVariables.od[340];
-acadoWorkspace.state[26] = acadoVariables.od[341];
-acadoWorkspace.state[27] = acadoVariables.od[342];
-acadoWorkspace.state[28] = acadoVariables.od[343];
-acadoWorkspace.state[29] = acadoVariables.od[344];
-acadoWorkspace.state[30] = acadoVariables.od[345];
-acadoWorkspace.state[31] = acadoVariables.od[346];
-acadoWorkspace.state[32] = acadoVariables.od[347];
-acadoWorkspace.state[33] = acadoVariables.od[348];
-acadoWorkspace.state[34] = acadoVariables.od[349];
-acadoWorkspace.state[35] = acadoVariables.od[350];
-acadoWorkspace.state[36] = acadoVariables.od[351];
-acadoWorkspace.state[37] = acadoVariables.od[352];
-acadoWorkspace.state[38] = acadoVariables.od[353];
-acadoWorkspace.state[39] = acadoVariables.od[354];
-acadoWorkspace.state[40] = acadoVariables.od[355];
-acadoWorkspace.state[41] = acadoVariables.od[356];
-
-acado_integrate(acadoWorkspace.state, 1, 19);
-
-acadoVariables.x[80] = acadoWorkspace.state[0];
-acadoVariables.x[81] = acadoWorkspace.state[1];
-acadoVariables.x[82] = acadoWorkspace.state[2];
-acadoVariables.x[83] = acadoWorkspace.state[3];
-}
-}
-
-void acado_shiftControls( real_t* const uEnd )
-{
-int index;
-for (index = 0; index < 19; ++index)
-{
-acadoVariables.u[index] = acadoVariables.u[index + 1];
-}
-
-if (uEnd != 0)
-{
-acadoVariables.u[19] = uEnd[0];
-}
-}
-
-real_t acado_getKKT(  )
-{
-real_t kkt;
-
-int index;
-real_t prd;
-
-kkt = + acadoWorkspace.g[0]*acadoWorkspace.x[0] + acadoWorkspace.g[1]*acadoWorkspace.x[1] + acadoWorkspace.g[2]*acadoWorkspace.x[2] + acadoWorkspace.g[3]*acadoWorkspace.x[3] + acadoWorkspace.g[4]*acadoWorkspace.x[4] + acadoWorkspace.g[5]*acadoWorkspace.x[5] + acadoWorkspace.g[6]*acadoWorkspace.x[6] + acadoWorkspace.g[7]*acadoWorkspace.x[7] + acadoWorkspace.g[8]*acadoWorkspace.x[8] + acadoWorkspace.g[9]*acadoWorkspace.x[9] + acadoWorkspace.g[10]*acadoWorkspace.x[10] + acadoWorkspace.g[11]*acadoWorkspace.x[11] + acadoWorkspace.g[12]*acadoWorkspace.x[12] + acadoWorkspace.g[13]*acadoWorkspace.x[13] + acadoWorkspace.g[14]*acadoWorkspace.x[14] + acadoWorkspace.g[15]*acadoWorkspace.x[15] + acadoWorkspace.g[16]*acadoWorkspace.x[16] + acadoWorkspace.g[17]*acadoWorkspace.x[17] + acadoWorkspace.g[18]*acadoWorkspace.x[18] + acadoWorkspace.g[19]*acadoWorkspace.x[19] + acadoWorkspace.g[20]*acadoWorkspace.x[20] + acadoWorkspace.g[21]*acadoWorkspace.x[21] + acadoWorkspace.g[22]*acadoWorkspace.x[22] + acadoWorkspace.g[23]*acadoWorkspace.x[23];
-kkt = fabs( kkt );
-for (index = 0; index < 24; ++index)
-{
-prd = acadoWorkspace.y[index];
-if (prd > 1e-12)
-kkt += fabs(acadoWorkspace.lb[index] * prd);
-else if (prd < -1e-12)
-kkt += fabs(acadoWorkspace.ub[index] * prd);
-}
-for (index = 0; index < 40; ++index)
-{
-prd = acadoWorkspace.y[index + 24];
-if (prd > 1e-12)
-kkt += fabs(acadoWorkspace.lbA[index] * prd);
-else if (prd < -1e-12)
-kkt += fabs(acadoWorkspace.ubA[index] * prd);
-}
-return kkt;
-}
-
-real_t acado_getObjective(  )
-{
-real_t objVal;
-
-int lRun1;
-/** Row vector of size: 5 */
-real_t tmpDy[ 5 ];
-
-/** Row vector of size: 4 */
-real_t tmpDyN[ 4 ];
-
-for (lRun1 = 0; lRun1 < 20; ++lRun1)
-{
-acadoWorkspace.objValueIn[0] = acadoVariables.x[lRun1 * 4];
-acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 4 + 1];
-acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 4 + 2];
-acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 4 + 3];
-acadoWorkspace.objValueIn[4] = acadoVariables.u[lRun1];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 17];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[lRun1 * 17 + 1];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 17 + 2];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 17 + 3];
-acadoWorkspace.objValueIn[9] = acadoVariables.od[lRun1 * 17 + 4];
-acadoWorkspace.objValueIn[10] = acadoVariables.od[lRun1 * 17 + 5];
-acadoWorkspace.objValueIn[11] = acadoVariables.od[lRun1 * 17 + 6];
-acadoWorkspace.objValueIn[12] = acadoVariables.od[lRun1 * 17 + 7];
-acadoWorkspace.objValueIn[13] = acadoVariables.od[lRun1 * 17 + 8];
-acadoWorkspace.objValueIn[14] = acadoVariables.od[lRun1 * 17 + 9];
-acadoWorkspace.objValueIn[15] = acadoVariables.od[lRun1 * 17 + 10];
-acadoWorkspace.objValueIn[16] = acadoVariables.od[lRun1 * 17 + 11];
-acadoWorkspace.objValueIn[17] = acadoVariables.od[lRun1 * 17 + 12];
-acadoWorkspace.objValueIn[18] = acadoVariables.od[lRun1 * 17 + 13];
-acadoWorkspace.objValueIn[19] = acadoVariables.od[lRun1 * 17 + 14];
-acadoWorkspace.objValueIn[20] = acadoVariables.od[lRun1 * 17 + 15];
-acadoWorkspace.objValueIn[21] = acadoVariables.od[lRun1 * 17 + 16];
-
-acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
-acadoWorkspace.Dy[lRun1 * 5] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 5];
-acadoWorkspace.Dy[lRun1 * 5 + 1] = acadoWorkspace.objValueOut[1] - acadoVariables.y[lRun1 * 5 + 1];
-acadoWorkspace.Dy[lRun1 * 5 + 2] = acadoWorkspace.objValueOut[2] - acadoVariables.y[lRun1 * 5 + 2];
-acadoWorkspace.Dy[lRun1 * 5 + 3] = acadoWorkspace.objValueOut[3] - acadoVariables.y[lRun1 * 5 + 3];
-acadoWorkspace.Dy[lRun1 * 5 + 4] = acadoWorkspace.objValueOut[4] - acadoVariables.y[lRun1 * 5 + 4];
-}
-acadoWorkspace.objValueIn[0] = acadoVariables.x[80];
-acadoWorkspace.objValueIn[1] = acadoVariables.x[81];
-acadoWorkspace.objValueIn[2] = acadoVariables.x[82];
-acadoWorkspace.objValueIn[3] = acadoVariables.x[83];
-acadoWorkspace.objValueIn[4] = acadoVariables.od[340];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[341];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[342];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[343];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[344];
-acadoWorkspace.objValueIn[9] = acadoVariables.od[345];
-acadoWorkspace.objValueIn[10] = acadoVariables.od[346];
-acadoWorkspace.objValueIn[11] = acadoVariables.od[347];
-acadoWorkspace.objValueIn[12] = acadoVariables.od[348];
-acadoWorkspace.objValueIn[13] = acadoVariables.od[349];
-acadoWorkspace.objValueIn[14] = acadoVariables.od[350];
-acadoWorkspace.objValueIn[15] = acadoVariables.od[351];
-acadoWorkspace.objValueIn[16] = acadoVariables.od[352];
-acadoWorkspace.objValueIn[17] = acadoVariables.od[353];
-acadoWorkspace.objValueIn[18] = acadoVariables.od[354];
-acadoWorkspace.objValueIn[19] = acadoVariables.od[355];
-acadoWorkspace.objValueIn[20] = acadoVariables.od[356];
-acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
-acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
-acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
-acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2] - acadoVariables.yN[2];
-acadoWorkspace.DyN[3] = acadoWorkspace.objValueOut[3] - acadoVariables.yN[3];
-objVal = 0.0000000000000000e+00;
-for (lRun1 = 0; lRun1 < 20; ++lRun1)
-{
-tmpDy[0] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 5] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 10] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 15] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 20];
-tmpDy[1] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 1] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 6] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 11] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 16] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 21];
-tmpDy[2] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 2] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 7] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 12] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 17] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 22];
-tmpDy[3] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 3] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 8] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 13] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 18] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 23];
-tmpDy[4] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 4] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 9] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 14] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 19] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 24];
-objVal += + acadoWorkspace.Dy[lRun1 * 5]*tmpDy[0] + acadoWorkspace.Dy[lRun1 * 5 + 1]*tmpDy[1] + acadoWorkspace.Dy[lRun1 * 5 + 2]*tmpDy[2] + acadoWorkspace.Dy[lRun1 * 5 + 3]*tmpDy[3] + acadoWorkspace.Dy[lRun1 * 5 + 4]*tmpDy[4];
-}
-
-tmpDyN[0] = + acadoWorkspace.DyN[0]*acadoVariables.WN[0] + acadoWorkspace.DyN[1]*acadoVariables.WN[4] + acadoWorkspace.DyN[2]*acadoVariables.WN[8] + acadoWorkspace.DyN[3]*acadoVariables.WN[12];
-tmpDyN[1] = + acadoWorkspace.DyN[0]*acadoVariables.WN[1] + acadoWorkspace.DyN[1]*acadoVariables.WN[5] + acadoWorkspace.DyN[2]*acadoVariables.WN[9] + acadoWorkspace.DyN[3]*acadoVariables.WN[13];
-tmpDyN[2] = + acadoWorkspace.DyN[0]*acadoVariables.WN[2] + acadoWorkspace.DyN[1]*acadoVariables.WN[6] + acadoWorkspace.DyN[2]*acadoVariables.WN[10] + acadoWorkspace.DyN[3]*acadoVariables.WN[14];
-tmpDyN[3] = + acadoWorkspace.DyN[0]*acadoVariables.WN[3] + acadoWorkspace.DyN[1]*acadoVariables.WN[7] + acadoWorkspace.DyN[2]*acadoVariables.WN[11] + acadoWorkspace.DyN[3]*acadoVariables.WN[15];
-objVal += + acadoWorkspace.DyN[0]*tmpDyN[0] + acadoWorkspace.DyN[1]*tmpDyN[1] + acadoWorkspace.DyN[2]*tmpDyN[2] + acadoWorkspace.DyN[3]*tmpDyN[3];
-
-objVal *= 0.5;
-return objVal;
-}
-
diff --git a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py b/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
deleted file mode 100644
index 9fc3a6c40b3c39..00000000000000
--- a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import os
-
-from cffi import FFI
-from common.ffi_wrapper import suffix
-
-mpc_dir = os.path.dirname(os.path.abspath(__file__))
-libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix())
-
-ffi = FFI()
-ffi.cdef("""
-typedef struct {
-    double x, y, psi, delta, t;
-} state_t;
-
-typedef struct {
-    double x[21];
-    double y[21];
-    double psi[21];
-    double delta[21];
-    double rate[20];
-    double cost;
-} log_t;
-
-void init(double pathCost, double laneCost, double headingCost, double steerRateCost);
-void init_weights(double pathCost, double laneCost, double headingCost, double steerRateCost);
-int run_mpc(state_t * x0, log_t * solution,
-             double l_poly[4], double r_poly[4], double d_poly[4],
-             double l_prob, double r_prob, double curvature_factor, double v_ref, double lane_width);
-""")
-
-libmpc = ffi.dlopen(libmpc_fn)
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/.gitignore b/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
new file mode 100644
index 00000000000000..aff2eb082b6b8b
--- /dev/null
+++ b/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
@@ -0,0 +1,2 @@
+acados_ocp_lat.json
+c_generated_code/
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
new file mode 100644
index 00000000000000..148e4e123d320a
--- /dev/null
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -0,0 +1,77 @@
+Import('env', 'envCython', 'arch', 'common')
+
+gen = "c_generated_code"
+
+casadi_model = [
+  f'{gen}/lat_model/lat_expl_ode_fun.c',
+  f'{gen}/lat_model/lat_expl_vde_forw.c',
+]
+
+casadi_cost_y = [
+  f'{gen}/lat_cost/lat_cost_y_fun.c',
+  f'{gen}/lat_cost/lat_cost_y_fun_jac_ut_xt.c',
+  f'{gen}/lat_cost/lat_cost_y_hess.c',
+]
+
+casadi_cost_e = [
+  f'{gen}/lat_cost/lat_cost_y_e_fun.c',
+  f'{gen}/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',
+  f'{gen}/lat_cost/lat_cost_y_e_hess.c',
+]
+
+casadi_cost_0 = [
+  f'{gen}/lat_cost/lat_cost_y_0_fun.c',
+  f'{gen}/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',
+  f'{gen}/lat_cost/lat_cost_y_0_hess.c',
+]
+
+build_files = [f'{gen}/acados_solver_lat.c'] + casadi_model + casadi_cost_y + casadi_cost_e + casadi_cost_0
+
+# extra generated files used to trigger a rebuild
+generated_files = [
+  f'{gen}/Makefile',
+
+  f'{gen}/main_lat.c',
+  f'{gen}/acados_solver_lat.h',
+  f'{gen}/acados_solver.pxd',
+
+  f'{gen}/lat_model/lat_expl_vde_adj.c',
+
+  f'{gen}/lat_model/lat_model.h',
+  f'{gen}/lat_cost/lat_cost_y_fun.h',
+  f'{gen}/lat_cost/lat_cost_y_e_fun.h',
+  f'{gen}/lat_cost/lat_cost_y_0_fun.h',
+] + build_files
+
+lenv = env.Clone()
+lenv.Clean(generated_files, Dir(gen))
+
+lenv.Command(generated_files,
+             ["lat_mpc.py"],
+             f"cd {Dir('.').abspath} && python lat_mpc.py")
+
+lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
+lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
+lenv["CCFLAGS"].append("-Wno-unused")
+lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
+                                build_files,
+                                LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
+
+# generate cython stuff
+acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
+acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
+libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
+libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
+
+lenv2 = envCython.Clone()
+lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
+lenv2.Command(libacados_ocp_solver_c,
+  [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
+  f'cython' + \
+  f' -o {libacados_ocp_solver_c.get_labspath()}' + \
+  f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
+  f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
+  f' {acados_ocp_solver_pyx.get_labspath()}')
+lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
+lenv2.Depends(lib_cython, lib_solver)
diff --git a/panda/tests/safety/__init__.py b/selfdrive/controls/lib/lateral_mpc_lib/__init__.py
similarity index 100%
rename from panda/tests/safety/__init__.py
rename to selfdrive/controls/lib/lateral_mpc_lib/__init__.py
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
new file mode 100755
index 00000000000000..6162cf68a51ae3
--- /dev/null
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -0,0 +1,164 @@
+#!/usr/bin/env python3
+import os
+import numpy as np
+
+from casadi import SX, vertcat, sin, cos
+from selfdrive.controls.lib.drive_helpers import LAT_MPC_N as N
+from selfdrive.controls.lib.drive_helpers import T_IDXS
+
+if __name__ == '__main__':  # generating code
+  from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+else:
+  # from pyextra.acados_template import AcadosOcpSolverFast
+  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module, import-error
+
+LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
+EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
+JSON_FILE = "acados_ocp_lat.json"
+X_DIM = 6
+
+def gen_lat_model():
+  model = AcadosModel()
+  model.name = 'lat'
+
+  # set up states & controls
+  x_ego = SX.sym('x_ego')
+  y_ego = SX.sym('y_ego')
+  psi_ego = SX.sym('psi_ego')
+  curv_ego = SX.sym('curv_ego')
+  v_ego = SX.sym('v_ego')
+  rotation_radius = SX.sym('rotation_radius')
+  model.x = vertcat(x_ego, y_ego, psi_ego, curv_ego, v_ego, rotation_radius)
+
+  # controls
+  curv_rate = SX.sym('curv_rate')
+  model.u = vertcat(curv_rate)
+
+  # xdot
+  x_ego_dot = SX.sym('x_ego_dot')
+  y_ego_dot = SX.sym('y_ego_dot')
+  psi_ego_dot = SX.sym('psi_ego_dot')
+  curv_ego_dot = SX.sym('curv_ego_dot')
+  v_ego_dot = SX.sym('v_ego_dot')
+  rotation_radius_dot = SX.sym('rotation_radius_dot')
+  model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, curv_ego_dot,
+                       v_ego_dot, rotation_radius_dot)
+
+  # dynamics model
+  f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * (v_ego * curv_ego),
+                   v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * (v_ego * curv_ego),
+                   v_ego * curv_ego,
+                   curv_rate,
+                   0.0,
+                   0.0)
+  model.f_impl_expr = model.xdot - f_expl
+  model.f_expl_expr = f_expl
+  return model
+
+
+def gen_lat_mpc_solver():
+  ocp = AcadosOcp()
+  ocp.model = gen_lat_model()
+
+  Tf = np.array(T_IDXS)[N]
+
+  # set dimensions
+  ocp.dims.N = N
+
+  # set cost module
+  ocp.cost.cost_type = 'NONLINEAR_LS'
+  ocp.cost.cost_type_e = 'NONLINEAR_LS'
+
+  Q = np.diag([0.0, 0.0])
+  QR = np.diag([0.0, 0.0, 0.0])
+
+  ocp.cost.W = QR
+  ocp.cost.W_e = Q
+
+  y_ego, psi_ego = ocp.model.x[1], ocp.model.x[2]
+  curv_rate = ocp.model.u[0]
+  v_ego = ocp.model.x[4]
+
+
+  ocp.cost.yref = np.zeros((3, ))
+  ocp.cost.yref_e = np.zeros((2, ))
+  # TODO hacky weights to keep behavior the same
+  ocp.model.cost_y_expr = vertcat(y_ego,
+                                  ((v_ego +5.0) * psi_ego),
+                                  ((v_ego +5.0) * 4 * curv_rate))
+  ocp.model.cost_y_expr_e = vertcat(y_ego,
+                                    ((v_ego +5.0) * psi_ego))
+
+  # set constraints
+  ocp.constraints.constr_type = 'BGH'
+  ocp.constraints.idxbx = np.array([2,3])
+  ocp.constraints.ubx = np.array([np.radians(90), np.radians(50)])
+  ocp.constraints.lbx = np.array([-np.radians(90), -np.radians(50)])
+  x0 = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+  ocp.constraints.x0 = x0
+
+  ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
+  ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
+  ocp.solver_options.integrator_type = 'ERK'
+  ocp.solver_options.nlp_solver_type = 'SQP_RTI'
+  ocp.solver_options.qp_solver_iter_max = 1
+  ocp.solver_options.qp_solver_cond_N = N//4
+
+  # set prediction horizon
+  ocp.solver_options.tf = Tf
+  ocp.solver_options.shooting_nodes = np.array(T_IDXS)[:N+1]
+
+  ocp.code_export_directory = EXPORT_DIR
+  return ocp
+
+
+class LateralMpc():
+  def __init__(self, x0=np.zeros(X_DIM)):
+    self.solver = AcadosOcpSolverFast('lat', N, EXPORT_DIR)
+    self.reset(x0)
+
+  def reset(self, x0=np.zeros(X_DIM)):
+    self.x_sol = np.zeros((N+1, X_DIM))
+    self.u_sol = np.zeros((N, 1))
+    self.yref = np.zeros((N+1, 3))
+    for i in range(N):
+      self.solver.cost_set(i, "yref", self.yref[i])
+    self.solver.cost_set(N, "yref", self.yref[N][:2])
+
+    # Somehow needed for stable init
+    for i in range(N+1):
+      self.solver.set(i, 'x', np.zeros(X_DIM))
+    self.solver.constraints_set(0, "lbx", x0)
+    self.solver.constraints_set(0, "ubx", x0)
+    self.solver.solve()
+    self.solution_status = 0
+    self.cost = 0
+
+  def set_weights(self, path_weight, heading_weight, steer_rate_weight):
+    W = np.asfortranarray(np.diag([path_weight, heading_weight, steer_rate_weight]))
+    for i in range(N):
+      self.solver.cost_set(i, 'W', W)
+    #TODO hacky weights to keep behavior the same
+    self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2])
+
+  def run(self, x0, v_ego, car_rotation_radius, y_pts, heading_pts):
+    x0_cp = np.copy(x0)
+    self.solver.constraints_set(0, "lbx", x0_cp)
+    self.solver.constraints_set(0, "ubx", x0_cp)
+    self.yref[:,0] = y_pts
+    self.yref[:,1] = heading_pts*(v_ego+5.0)
+    for i in range(N):
+      self.solver.cost_set(i, "yref", self.yref[i])
+    self.solver.cost_set(N, "yref", self.yref[N][:2])
+
+    self.solution_status = self.solver.solve()
+    for i in range(N+1):
+      self.x_sol[i] = self.solver.get(i, 'x')
+    for i in range(N):
+      self.u_sol[i] = self.solver.get(i, 'u')
+    self.cost = self.solver.get_cost()
+
+
+if __name__ == "__main__":
+  ocp = gen_lat_mpc_solver()
+  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE, build=False)
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
new file mode 100644
index 00000000000000..f18c3370d66a13
--- /dev/null
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -0,0 +1,228 @@
+import math
+import numpy as np
+from common.realtime import sec_since_boot, DT_MDL
+from common.numpy_fast import interp
+from selfdrive.swaglog import cloudlog
+from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
+from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
+from selfdrive.config import Conversions as CV
+import cereal.messaging as messaging
+from cereal import log
+
+LaneChangeState = log.LateralPlan.LaneChangeState
+LaneChangeDirection = log.LateralPlan.LaneChangeDirection
+
+LANE_CHANGE_SPEED_MIN = 30 * CV.MPH_TO_MS
+LANE_CHANGE_TIME_MAX = 10.
+
+DESIRES = {
+  LaneChangeDirection.none: {
+    LaneChangeState.off: log.LateralPlan.Desire.none,
+    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none,
+    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none,
+  },
+  LaneChangeDirection.left: {
+    LaneChangeState.off: log.LateralPlan.Desire.none,
+    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft,
+    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft,
+  },
+  LaneChangeDirection.right: {
+    LaneChangeState.off: log.LateralPlan.Desire.none,
+    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight,
+    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight,
+  },
+}
+
+
+class LateralPlanner():
+  def __init__(self, CP, use_lanelines=True, wide_camera=False):
+    self.use_lanelines = use_lanelines
+    self.LP = LanePlanner(wide_camera)
+
+    self.last_cloudlog_t = 0
+    self.steer_rate_cost = CP.steerRateCost
+
+    self.solution_invalid_cnt = 0
+    self.lane_change_state = LaneChangeState.off
+    self.lane_change_direction = LaneChangeDirection.none
+    self.lane_change_timer = 0.0
+    self.lane_change_ll_prob = 1.0
+    self.keep_pulse_timer = 0.0
+    self.prev_one_blinker = False
+    self.desire = log.LateralPlan.Desire.none
+
+    self.path_xyz = np.zeros((TRAJECTORY_SIZE,3))
+    self.path_xyz_stds = np.ones((TRAJECTORY_SIZE,3))
+    self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
+    self.t_idxs = np.arange(TRAJECTORY_SIZE)
+    self.y_pts = np.zeros(TRAJECTORY_SIZE)
+
+    self.lat_mpc = LateralMpc()
+    self.reset_mpc(np.zeros(6))
+
+  def reset_mpc(self, x0=np.zeros(6)):
+    self.x0 = x0
+    self.lat_mpc.reset(x0=self.x0)
+    self.desired_curvature = 0.0
+    self.safe_desired_curvature = 0.0
+    self.desired_curvature_rate = 0.0
+    self.safe_desired_curvature_rate = 0.0
+
+  def update(self, sm, CP):
+    v_ego = sm['carState'].vEgo
+    active = sm['controlsState'].active
+    measured_curvature = sm['controlsState'].curvature
+
+    md = sm['modelV2']
+    self.LP.parse_model(sm['modelV2'])
+    if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
+      self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
+      self.t_idxs = np.array(md.position.t)
+      self.plan_yaw = list(md.orientation.z)
+    if len(md.position.xStd) == TRAJECTORY_SIZE:
+      self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd])
+
+    # Lane change logic
+    one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
+    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
+
+    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX):
+      self.lane_change_state = LaneChangeState.off
+      self.lane_change_direction = LaneChangeDirection.none
+    else:
+      # LaneChangeState.off
+      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
+        self.lane_change_state = LaneChangeState.preLaneChange
+        self.lane_change_ll_prob = 1.0
+
+      # LaneChangeState.preLaneChange
+      elif self.lane_change_state == LaneChangeState.preLaneChange:
+        # Set lane change direction
+        if sm['carState'].leftBlinker:
+          self.lane_change_direction = LaneChangeDirection.left
+        elif sm['carState'].rightBlinker:
+          self.lane_change_direction = LaneChangeDirection.right
+        else:  # If there are no blinkers we will go back to LaneChangeState.off
+          self.lane_change_direction = LaneChangeDirection.none
+
+        torque_applied = sm['carState'].steeringPressed and \
+                        ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
+                          (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
+
+        blindspot_detected = ((sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (sm['carState'].rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+
+        if not one_blinker or below_lane_change_speed:
+          self.lane_change_state = LaneChangeState.off
+        elif torque_applied and not blindspot_detected:
+          self.lane_change_state = LaneChangeState.laneChangeStarting
+
+      # LaneChangeState.laneChangeStarting
+      elif self.lane_change_state == LaneChangeState.laneChangeStarting:
+        # fade out over .5s
+        self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2*DT_MDL, 0.0)
+
+        # 98% certainty
+        lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
+        if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
+          self.lane_change_state = LaneChangeState.laneChangeFinishing
+
+      # LaneChangeState.laneChangeFinishing
+      elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
+        # fade in laneline over 1s
+        self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
+        if self.lane_change_ll_prob > 0.99:
+          self.lane_change_direction = LaneChangeDirection.none
+          if one_blinker:
+            self.lane_change_state = LaneChangeState.preLaneChange
+          else:
+            self.lane_change_state = LaneChangeState.off
+
+    if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
+      self.lane_change_timer = 0.0
+    else:
+      self.lane_change_timer += DT_MDL
+
+    self.prev_one_blinker = one_blinker
+
+    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+
+    # Send keep pulse once per second during LaneChangeStart.preLaneChange
+    if self.lane_change_state in [LaneChangeState.off, LaneChangeState.laneChangeStarting]:
+      self.keep_pulse_timer = 0.0
+    elif self.lane_change_state == LaneChangeState.preLaneChange:
+      self.keep_pulse_timer += DT_MDL
+      if self.keep_pulse_timer > 1.0:
+        self.keep_pulse_timer = 0.0
+      elif self.desire in [log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight]:
+        self.desire = log.LateralPlan.Desire.none
+
+    # Turn off lanes during lane change
+    if self.desire == log.LateralPlan.Desire.laneChangeRight or self.desire == log.LateralPlan.Desire.laneChangeLeft:
+      self.LP.lll_prob *= self.lane_change_ll_prob
+      self.LP.rll_prob *= self.lane_change_ll_prob
+    if self.use_lanelines:
+      d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
+      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, CP.steerRateCost)
+    else:
+      d_path_xyz = self.path_xyz
+      path_cost = np.clip(abs(self.path_xyz[0,1]/self.path_xyz_stds[0,1]), 0.5, 5.0) * MPC_COST_LAT.PATH
+      # Heading cost is useful at low speed, otherwise end of plan can be off-heading
+      heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
+      self.lat_mpc.set_weights(path_cost, heading_cost, CP.steerRateCost)
+    y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:,1])
+    heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
+    self.y_pts = y_pts
+
+    assert len(y_pts) == LAT_MPC_N + 1
+    assert len(heading_pts) == LAT_MPC_N + 1
+    self.x0[4] = v_ego
+    self.lat_mpc.run(self.x0,
+                     v_ego,
+                     CAR_ROTATION_RADIUS,
+                     y_pts,
+                     heading_pts)
+    # init state for next
+    self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:,3])
+
+
+    #  Check for infeasable MPC solution
+    mpc_nans = any(math.isnan(x) for x in self.lat_mpc.x_sol[:,3])
+    t = sec_since_boot()
+    if mpc_nans or self.lat_mpc.solution_status != 0:
+      self.reset_mpc()
+      self.x0[3] = measured_curvature
+      if t > self.last_cloudlog_t + 5.0:
+        self.last_cloudlog_t = t
+        cloudlog.warning("Lateral mpc - nan: True")
+
+    if self.lat_mpc.cost > 20000. or mpc_nans:
+      self.solution_invalid_cnt += 1
+    else:
+      self.solution_invalid_cnt = 0
+
+  def publish(self, sm, pm):
+    plan_solution_valid = self.solution_invalid_cnt < 2
+    plan_send = messaging.new_message('lateralPlan')
+    plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2'])
+    plan_send.lateralPlan.laneWidth = float(self.LP.lane_width)
+    plan_send.lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
+    plan_send.lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]]
+    plan_send.lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N,3]]
+    plan_send.lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N-1]] +[0.0]
+    plan_send.lateralPlan.lProb = float(self.LP.lll_prob)
+    plan_send.lateralPlan.rProb = float(self.LP.rll_prob)
+    plan_send.lateralPlan.dProb = float(self.LP.d_prob)
+
+    plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
+
+    plan_send.lateralPlan.desire = self.desire
+    plan_send.lateralPlan.useLaneLines = self.use_lanelines
+    plan_send.lateralPlan.laneChangeState = self.lane_change_state
+    plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction
+
+    pm.send('lateralPlan', plan_send)
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
deleted file mode 100644
index f694af3771599e..00000000000000
--- a/selfdrive/controls/lib/long_mpc.py
+++ /dev/null
@@ -1,123 +0,0 @@
-import os
-import math
-
-import cereal.messaging as messaging
-from selfdrive.swaglog import cloudlog
-from common.realtime import sec_since_boot
-from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
-from selfdrive.controls.lib.longitudinal_mpc import libmpc_py
-from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG
-
-LOG_MPC = os.environ.get('LOG_MPC', False)
-
-
-class LongitudinalMpc():
-  def __init__(self, mpc_id):
-    self.mpc_id = mpc_id
-
-    self.setup_mpc()
-    self.v_mpc = 0.0
-    self.v_mpc_future = 0.0
-    self.a_mpc = 0.0
-    self.v_cruise = 0.0
-    self.prev_lead_status = False
-    self.prev_lead_x = 0.0
-    self.new_lead = False
-
-    self.last_cloudlog_t = 0.0
-
-  def send_mpc_solution(self, pm, qp_iterations, calculation_time):
-    qp_iterations = max(0, qp_iterations)
-    dat = messaging.new_message()
-    dat.init('liveLongitudinalMpc')
-    dat.liveLongitudinalMpc.xEgo = list(self.mpc_solution[0].x_ego)
-    dat.liveLongitudinalMpc.vEgo = list(self.mpc_solution[0].v_ego)
-    dat.liveLongitudinalMpc.aEgo = list(self.mpc_solution[0].a_ego)
-    dat.liveLongitudinalMpc.xLead = list(self.mpc_solution[0].x_l)
-    dat.liveLongitudinalMpc.vLead = list(self.mpc_solution[0].v_l)
-    dat.liveLongitudinalMpc.cost = self.mpc_solution[0].cost
-    dat.liveLongitudinalMpc.aLeadTau = self.a_lead_tau
-    dat.liveLongitudinalMpc.qpIterations = qp_iterations
-    dat.liveLongitudinalMpc.mpcId = self.mpc_id
-    dat.liveLongitudinalMpc.calculationTime = calculation_time
-    pm.send('liveLongitudinalMpc', dat)
-
-  def setup_mpc(self):
-    ffi, self.libmpc = libmpc_py.get_libmpc(self.mpc_id)
-    self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE,
-                     MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-
-    self.mpc_solution = ffi.new("log_t *")
-    self.cur_state = ffi.new("state_t *")
-    self.cur_state[0].v_ego = 0
-    self.cur_state[0].a_ego = 0
-    self.a_lead_tau = _LEAD_ACCEL_TAU
-
-  def set_cur_state(self, v, a):
-    self.cur_state[0].v_ego = v
-    self.cur_state[0].a_ego = a
-
-  def update(self, pm, CS, lead, v_cruise_setpoint):
-    v_ego = CS.vEgo
-
-    # Setup current mpc state
-    self.cur_state[0].x_ego = 0.0
-
-    if lead is not None and lead.status:
-      x_lead = lead.dRel
-      v_lead = max(0.0, lead.vLead)
-      a_lead = lead.aLeadK
-
-      if (v_lead < 0.1 or -a_lead / 2.0 > v_lead):
-        v_lead = 0.0
-        a_lead = 0.0
-
-      self.a_lead_tau = lead.aLeadTau
-      self.new_lead = False
-      if not self.prev_lead_status or abs(x_lead - self.prev_lead_x) > 2.5:
-        self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, self.a_lead_tau)
-        self.new_lead = True
-
-      self.prev_lead_status = True
-      self.prev_lead_x = x_lead
-      self.cur_state[0].x_l = x_lead
-      self.cur_state[0].v_l = v_lead
-    else:
-      self.prev_lead_status = False
-      # Fake a fast lead car, so mpc keeps running
-      self.cur_state[0].x_l = 50.0
-      self.cur_state[0].v_l = v_ego + 10.0
-      a_lead = 0.0
-      self.a_lead_tau = _LEAD_ACCEL_TAU
-
-    # Calculate mpc
-    t = sec_since_boot()
-    n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead)
-    duration = int((sec_since_boot() - t) * 1e9)
-
-    if LOG_MPC:
-      self.send_mpc_solution(pm, n_its, duration)
-
-    # Get solution. MPC timestep is 0.2 s, so interpolation to 0.05 s is needed
-    self.v_mpc = self.mpc_solution[0].v_ego[1]
-    self.a_mpc = self.mpc_solution[0].a_ego[1]
-    self.v_mpc_future = self.mpc_solution[0].v_ego[10]
-
-    # Reset if NaN or goes through lead car
-    crashing = any(lead - ego < -50 for (lead, ego) in zip(self.mpc_solution[0].x_l, self.mpc_solution[0].x_ego))
-    nans = any(math.isnan(x) for x in self.mpc_solution[0].v_ego)
-    backwards = min(self.mpc_solution[0].v_ego) < -0.01
-
-    if ((backwards or crashing) and self.prev_lead_status) or nans:
-      if t > self.last_cloudlog_t + 5.0:
-        self.last_cloudlog_t = t
-        cloudlog.warning("Longitudinal mpc %d reset - backwards: %s crashing: %s nan: %s" % (
-                          self.mpc_id, backwards, crashing, nans))
-
-      self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE,
-                       MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-      self.cur_state[0].v_ego = v_ego
-      self.cur_state[0].a_ego = 0.0
-      self.v_mpc = v_ego
-      self.a_mpc = CS.aEgo
-      self.prev_lead_status = False
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 8910747cdbaaf1..6c42bca3302c04 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,34 +1,30 @@
-from cereal import log
+from cereal import car
 from common.numpy_fast import clip, interp
+from common.realtime import DT_CTRL
 from selfdrive.controls.lib.pid import PIController
+from selfdrive.controls.lib.drive_helpers import CONTROL_N
+from selfdrive.modeld.constants import T_IDXS
 
-LongCtrlState = log.ControlsState.LongControlState
+LongCtrlState = car.CarControl.Actuators.LongControlState
 
-STOPPING_EGO_SPEED = 0.5
-MIN_CAN_SPEED = 0.3  # TODO: parametrize this in car interface
-STOPPING_TARGET_SPEED = MIN_CAN_SPEED + 0.01
-STARTING_TARGET_SPEED = 0.5
-BRAKE_THRESHOLD_TO_PID = 0.2
+STOPPING_TARGET_SPEED_OFFSET = 1.0
+REGEN_THRESHOLD = 0.02
 
-STOPPING_BRAKE_RATE = 0.2  # brake_travel/s while trying to stop
-STARTING_BRAKE_RATE = 0.8  # brake_travel/s while releasing on restart
-BRAKE_STOPPING_TARGET = 0.5  # apply at least this amount of brake to maintain the vehicle stationary
+# As per ISO 15622:2018 for all speeds
+ACCEL_MIN_ISO = -3.5 # m/s^2
+ACCEL_MAX_ISO = 2.0 # m/s^2
 
-_MAX_SPEED_ERROR_BP = [0., 30.]  # speed breakpoints
-_MAX_SPEED_ERROR_V = [1.5, .8]  # max positive v_pid error VS actual speed; this avoids controls windup due to slow pedal resp
 
-RATE = 100.0
-
-
-def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
-                             output_gb, brake_pressed, cruise_standstill):
+def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, v_pid,
+                             output_accel, brake_pressed, cruise_standstill, min_speed_can):
   """Update longitudinal control state machine"""
+  stopping_target_speed = min_speed_can + STOPPING_TARGET_SPEED_OFFSET
   stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
-                       (v_ego < STOPPING_EGO_SPEED and \
-                        ((v_pid < STOPPING_TARGET_SPEED and v_target < STOPPING_TARGET_SPEED) or
-                        brake_pressed))
+                       (v_ego < CP.vEgoStopping and
+                        ((v_pid < stopping_target_speed and v_target < stopping_target_speed) or
+                         brake_pressed))
 
-  starting_condition = v_target > STARTING_TARGET_SPEED and not cruise_standstill
+  starting_condition = v_target > CP.vEgoStarting and not cruise_standstill
 
   if not active:
     long_control_state = LongCtrlState.off
@@ -49,82 +45,101 @@ def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
     elif long_control_state == LongCtrlState.starting:
       if stopping_condition:
         long_control_state = LongCtrlState.stopping
-      elif output_gb >= -BRAKE_THRESHOLD_TO_PID:
+      elif output_accel >= CP.startAccel:
         long_control_state = LongCtrlState.pid
 
   return long_control_state
 
 
 class LongControl():
-  def __init__(self, CP, compute_gb):
+  def __init__(self, CP):
     self.long_control_state = LongCtrlState.off  # initialized to off
     self.pid = PIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
-                            rate=RATE,
-                            sat_limit=0.8,
-                            convert=compute_gb)
+                             rate=1/DT_CTRL,
+                             sat_limit=0.8)
     self.v_pid = 0.0
-    self.last_output_gb = 0.0
+    self.last_output_accel = 0.0
 
   def reset(self, v_pid):
     """Reset PID controller and change setpoint"""
     self.pid.reset()
     self.v_pid = v_pid
 
-  def update(self, active, v_ego, brake_pressed, standstill, cruise_standstill, v_cruise, v_target, v_target_future, a_target, CP):
+  def update(self, active, CS, CP, long_plan, accel_limits):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
-    # Actuation limits
-    gas_max = interp(v_ego, CP.gasMaxBP, CP.gasMaxV)
-    brake_max = interp(v_ego, CP.brakeMaxBP, CP.brakeMaxV)
+    # Interp control trajectory
+    # TODO estimate car specific lag, use .15s for now
+    if len(long_plan.speeds) == CONTROL_N:
+      v_target_lower = interp(CP.longitudinalActuatorDelayLowerBound, T_IDXS[:CONTROL_N], long_plan.speeds)
+      a_target_lower = 2 * (v_target_lower - long_plan.speeds[0])/CP.longitudinalActuatorDelayLowerBound - long_plan.accels[0]
 
-    # Update state machine
-    output_gb = self.last_output_gb
-    self.long_control_state = long_control_state_trans(active, self.long_control_state, v_ego,
-                                                       v_target_future, self.v_pid, output_gb,
-                                                       brake_pressed, cruise_standstill)
+      v_target_upper = interp(CP.longitudinalActuatorDelayUpperBound, T_IDXS[:CONTROL_N], long_plan.speeds)
+      a_target_upper = 2 * (v_target_upper - long_plan.speeds[0])/CP.longitudinalActuatorDelayUpperBound - long_plan.accels[0]
+
+      v_target = min(v_target_lower, v_target_upper)
+      a_target = min(a_target_lower, a_target_upper)
 
-    v_ego_pid = max(v_ego, MIN_CAN_SPEED)  # Without this we get jumps, CAN bus reports 0 when speed < 0.3
+      v_target_future = long_plan.speeds[-1]
+    else:
+      v_target = 0.0
+      v_target_future = 0.0
+      a_target = 0.0
 
-    if self.long_control_state == LongCtrlState.off:
-      self.v_pid = v_ego_pid
-      self.pid.reset()
-      output_gb = 0.
+    # TODO: This check is not complete and needs to be enforced by MPC
+    a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
+
+    self.pid.neg_limit = accel_limits[0]
+    self.pid.pos_limit = accel_limits[1]
+
+    # Update state machine
+    output_accel = self.last_output_accel
+    self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
+                                                       v_target_future, self.v_pid, output_accel,
+                                                       CS.brakePressed, CS.cruiseState.standstill, CP.minSpeedCan)
+
+    if self.long_control_state == LongCtrlState.off or not CS.adaptiveCruise:
+      self.reset(CS.vEgo)
+      output_accel = 0.
+    elif CS.regenPressed:
+      self.reset(CS.vEgo)
+      output_accel = REGEN_THRESHOLD
+
+    elif CS.gasPressed:
+      self.reset(v_ego_pid)
+      output_accel = 0.1
 
     # tracking objects and driving
     elif self.long_control_state == LongCtrlState.pid:
       self.v_pid = v_target
-      self.pid.pos_limit = gas_max
-      self.pid.neg_limit = - brake_max
 
       # Toyota starts braking more when it thinks you want to stop
       # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
-      prevent_overshoot = not CP.stoppingControl and v_ego < 1.5 and v_target_future < 0.7
-      deadzone = interp(v_ego_pid, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
+      prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7
+      deadzone = interp(CS.vEgo, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
+      freeze_integrator = prevent_overshoot
 
-      output_gb = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, deadzone=deadzone, feedforward=a_target, freeze_integrator=prevent_overshoot)
+      output_accel = self.pid.update(self.v_pid, CS.vEgo, speed=CS.vEgo, deadzone=deadzone, feedforward=a_target, freeze_integrator=freeze_integrator)
 
       if prevent_overshoot:
-        output_gb = min(output_gb, 0.0)
+        output_accel = min(output_accel, 0.0)
 
     # Intention is to stop, switch to a different brake control until we stop
     elif self.long_control_state == LongCtrlState.stopping:
       # Keep applying brakes until the car is stopped
-      if not standstill or output_gb > -BRAKE_STOPPING_TARGET:
-        output_gb -= STOPPING_BRAKE_RATE / RATE
-      output_gb = clip(output_gb, -brake_max, gas_max)
+      if not CS.standstill or output_accel > CP.stopAccel:
+        output_accel -= CP.stoppingDecelRate * DT_CTRL
+      output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
 
-      self.v_pid = v_ego
-      self.pid.reset()
+      self.reset(CS.vEgo)
 
     # Intention is to move again, release brake fast before handing control to PID
     elif self.long_control_state == LongCtrlState.starting:
-      if output_gb < -0.2:
-        output_gb += STARTING_BRAKE_RATE / RATE
-      self.v_pid = v_ego
-      self.pid.reset()
+      if output_accel < CP.startAccel:
+        output_accel += CP.startingAccelRate * DT_CTRL
+      self.reset(CS.vEgo)
 
-    self.last_output_gb = output_gb
-    final_gas = clip(output_gb, 0., gas_max)
-    final_brake = -clip(output_gb, -brake_max, 0.)
+    self.last_output_accel = output_accel
+    final_accel = clip(output_accel, accel_limits[0], accel_limits[1])
 
-    return final_gas, final_brake
+    return final_accel
diff --git a/selfdrive/controls/lib/longitudinal_mpc/.gitignore b/selfdrive/controls/lib/longitudinal_mpc/.gitignore
deleted file mode 100644
index f61a939cdaa77e..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-generator
-lib_qp/
diff --git a/selfdrive/controls/lib/longitudinal_mpc/SConscript b/selfdrive/controls/lib/longitudinal_mpc/SConscript
deleted file mode 100644
index 072ff646ae7fe5..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/SConscript
+++ /dev/null
@@ -1,32 +0,0 @@
-Import('env', 'arch')
-
-
-cpp_path = [
-    "#phonelibs/acado/include",
-    "#phonelibs/acado/include/acado",
-    "#phonelibs/qpoases/INCLUDE",
-    "#phonelibs/qpoases/INCLUDE/EXTRAS",
-    "#phonelibs/qpoases/SRC/",
-    "#phonelibs/qpoases",
-    "lib_mpc_export"
-
-]
-
-mpc_files = [
-    "longitudinal_mpc.c",
-    Glob("lib_mpc_export/*.c"),
-    Glob("lib_mpc_export/*.cpp"),
-]
-
-interface_dir = Dir('lib_mpc_export')
-
-SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
-
-env.SharedLibrary('mpc1', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
-env.SharedLibrary('mpc2', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
-
-# if arch != "aarch64":
-#     acado_libs = [File("#phonelibs/acado/x64/lib/libacado_toolkit.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_casadi.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_csparse.a")]
-#     env.Program('generator', 'generator.cpp', LIBS=acado_libs, CPPPATH=cpp_path)
diff --git a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
deleted file mode 100644
index a34fbc3510b6ed..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-#include <acado_code_generation.hpp>
-
-const int controlHorizon = 50;
-
-using namespace std;
-
-#define G 9.81
-#define TR 1.8
-
-#define RW(v_ego, v_l) (v_ego * TR - (v_l - v_ego) * TR + v_ego*v_ego/(2*G) - v_l*v_l / (2*G))
-#define NORM_RW_ERROR(v_ego, v_l, p) ((RW(v_ego, v_l) + 4.0 - p)/(sqrt(v_ego + 0.5) + 0.1))
-
-int main( )
-{
-  USING_NAMESPACE_ACADO
-
-
-  DifferentialEquation f;
-
-  DifferentialState x_ego, v_ego, a_ego;
-  OnlineData x_l, v_l;
-
-  Control j_ego;
-
-  auto desired = 4.0 + RW(v_ego, v_l);
-  auto d_l = x_l - x_ego;
-
-  // Equations of motion
-  f << dot(x_ego) == v_ego;
-  f << dot(v_ego) == a_ego;
-  f << dot(a_ego) == j_ego;
-
-  // Running cost
-  Function h;
-  h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1;
-  h << (d_l - desired) / (0.05 * v_ego + 0.5);
-  h << a_ego * (0.1 * v_ego + 1.0);
-  h << j_ego * (0.1 * v_ego + 1.0);
-
-  // Weights are defined in mpc.
-  BMatrix Q(4,4); Q.setAll(true);
-
-  // Terminal cost
-  Function hN;
-  hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1;
-  hN << (d_l - desired) / (0.05 * v_ego + 0.5);
-  hN << a_ego * (0.1 * v_ego + 1.0);
-
-  // Weights are defined in mpc.
-  BMatrix QN(3,3); QN.setAll(true);
-
-  // Non uniform time grid
-  // First 5 timesteps are 0.2, after that it's 0.6
-  DMatrix numSteps(20, 1);
-  for (int i = 0; i < 5; i++){
-    numSteps(i) = 1;
-  }
-  for (int i = 5; i < 20; i++){
-    numSteps(i) = 3;
-  }
-
-  // Setup Optimal Control Problem
-  const double tStart = 0.0;
-  const double tEnd   = 10.0;
-
-  OCP ocp( tStart, tEnd, numSteps);
-  ocp.subjectTo(f);
-
-  ocp.minimizeLSQ(Q, h);
-  ocp.minimizeLSQEndTerm(QN, hN);
-
-  ocp.subjectTo( 0.0 <= v_ego);
-  ocp.setNOD(2);
-
-  OCPexport mpc(ocp);
-  mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
-  mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
-  mpc.set( INTEGRATOR_TYPE, INT_RK4 );
-  mpc.set( NUM_INTEGRATOR_STEPS, controlHorizon);
-  mpc.set( MAX_NUM_QP_ITERATIONS, 500);
-  mpc.set( CG_USE_VARIABLE_WEIGHTING_MATRIX, YES);
-
-  mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
-  mpc.set( QP_SOLVER, QP_QPOASES );
-  mpc.set( HOTSTART_QP, YES );
-  mpc.set( GENERATE_TEST_FILE, NO);
-  mpc.set( GENERATE_MAKE_FILE, NO );
-  mpc.set( GENERATE_MATLAB_INTERFACE, NO );
-  mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
-
-  if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
-    exit( EXIT_FAILURE );
-
-  mpc.printDimensionsQP( );
-
-  return EXIT_SUCCESS;
-}
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.c b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.c
deleted file mode 100644
index 6f0bb705c8a897..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.c
+++ /dev/null
@@ -1,212 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#include "acado_auxiliary_functions.h"
-
-#include <stdio.h>
-
-real_t* acado_getVariablesX( )
-{
-	return acadoVariables.x;
-}
-
-real_t* acado_getVariablesU( )
-{
-	return acadoVariables.u;
-}
-
-#if ACADO_NY > 0
-real_t* acado_getVariablesY( )
-{
-	return acadoVariables.y;
-}
-#endif
-
-#if ACADO_NYN > 0
-real_t* acado_getVariablesYN( )
-{
-	return acadoVariables.yN;
-}
-#endif
-
-real_t* acado_getVariablesX0( )
-{
-#if ACADO_INITIAL_VALUE_FIXED
-	return acadoVariables.x0;
-#else
-	return 0;
-#endif
-}
-
-/** Print differential variables. */
-void acado_printDifferentialVariables( )
-{
-	int i, j;
-	printf("\nDifferential variables:\n[\n");
-	for (i = 0; i < ACADO_N + 1; ++i)
-	{
-		for (j = 0; j < ACADO_NX; ++j)
-			printf("\t%e", acadoVariables.x[i * ACADO_NX + j]);
-		printf("\n");
-	}
-	printf("]\n\n");
-}
-
-/** Print control variables. */
-void acado_printControlVariables( )
-{
-	int i, j;
-	printf("\nControl variables:\n[\n");
-	for (i = 0; i < ACADO_N; ++i)
-	{
-		for (j = 0; j < ACADO_NU; ++j)
-			printf("\t%e", acadoVariables.u[i * ACADO_NU + j]);
-		printf("\n");
-	}
-	printf("]\n\n");
-}
-
-/** Print ACADO code generation notice. */
-void acado_printHeader( )
-{
-	printf(
-		"\nACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.\n"
-		"Copyright (C) 2008-2015 by Boris Houska, Hans Joachim Ferreau,\n" 
-		"Milan Vukov and Rien Quirynen, KU Leuven.\n"
-	);
-	
-	printf(
-		"Developed within the Optimization in Engineering Center (OPTEC) under\n"
-		"supervision of Moritz Diehl. All rights reserved.\n\n"
-		"ACADO Toolkit is distributed under the terms of the GNU Lesser\n"
-		"General Public License 3 in the hope that it will be useful,\n"
-		"but WITHOUT ANY WARRANTY; without even the implied warranty of\n"
-		"MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n"
-		"GNU Lesser General Public License for more details.\n\n"
-	);
-}
-
-#if !(defined _DSPACE)
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-void acado_tic( acado_timer* t )
-{
-	QueryPerformanceFrequency(&t->freq);
-	QueryPerformanceCounter(&t->tic);
-}
-
-real_t acado_toc( acado_timer* t )
-{
-	QueryPerformanceCounter(&t->toc);
-	return ((t->toc.QuadPart - t->tic.QuadPart) / (real_t)t->freq.QuadPart);
-}
-
-
-#elif (defined __APPLE__)
-
-void acado_tic( acado_timer* t )
-{
-    /* read current clock cycles */
-    t->tic = mach_absolute_time();
-}
-
-real_t acado_toc( acado_timer* t )
-{
-
-    uint64_t duration; /* elapsed time in clock cycles*/
-    
-    t->toc = mach_absolute_time();
-    duration = t->toc - t->tic;
-    
-    /*conversion from clock cycles to nanoseconds*/
-    mach_timebase_info(&(t->tinfo));
-    duration *= t->tinfo.numer;
-    duration /= t->tinfo.denom;
-
-    return (real_t)duration / 1e9;
-}
-
-#else
-
-#if __STDC_VERSION__ >= 199901L
-/* C99 mode */
-
-/* read current time */
-void acado_tic( acado_timer* t )
-{
-	gettimeofday(&t->tic, 0);
-}
-
-/* return time passed since last call to tic on this timer */
-real_t acado_toc( acado_timer* t )
-{
-	struct timeval temp;
-	
-	gettimeofday(&t->toc, 0);
-    
-	if ((t->toc.tv_usec - t->tic.tv_usec) < 0)
-	{
-		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1;
-		temp.tv_usec = 1000000 + t->toc.tv_usec - t->tic.tv_usec;
-	}
-	else
-	{
-		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec;
-		temp.tv_usec = t->toc.tv_usec - t->tic.tv_usec;
-	}
-	
-	return (real_t)temp.tv_sec + (real_t)temp.tv_usec / 1e6;
-}
-
-#else
-/* ANSI */
-
-/* read current time */
-void acado_tic( acado_timer* t )
-{
-	clock_gettime(CLOCK_MONOTONIC, &t->tic);
-}
-
-
-/* return time passed since last call to tic on this timer */
-real_t acado_toc( acado_timer* t )
-{
-	struct timespec temp;
-    
-	clock_gettime(CLOCK_MONOTONIC, &t->toc);	
-    
-	if ((t->toc.tv_nsec - t->tic.tv_nsec) < 0)
-	{
-		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1;
-		temp.tv_nsec = 1000000000+t->toc.tv_nsec - t->tic.tv_nsec;
-	}
-	else
-	{
-		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec;
-		temp.tv_nsec = t->toc.tv_nsec - t->tic.tv_nsec;
-	}
-	
-	return (real_t)temp.tv_sec + (real_t)temp.tv_nsec / 1e9;
-}
-
-#endif /* __STDC_VERSION__ >= 199901L */
-
-#endif /* (defined _WIN32 || _WIN64) */
-
-#endif
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.h b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.h
deleted file mode 100644
index b1be0a661c0125..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.h
+++ /dev/null
@@ -1,138 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#ifndef ACADO_AUXILIARY_FUNCTIONS_H
-#define ACADO_AUXILIARY_FUNCTIONS_H
-
-#include "acado_common.h"
-
-#ifndef __MATLAB__
-#ifdef __cplusplus
-extern "C"
-{
-#endif /* __cplusplus */
-#endif /* __MATLAB__ */
-
-/** Get pointer to the matrix with differential variables. */
-real_t* acado_getVariablesX( );
-
-/** Get pointer to the matrix with control variables. */
-real_t* acado_getVariablesU( );
-
-#if ACADO_NY > 0
-/** Get pointer to the matrix with references/measurements. */
-real_t* acado_getVariablesY( );
-#endif
-
-#if ACADO_NYN > 0
-/** Get pointer to the vector with references/measurement on the last node. */
-real_t* acado_getVariablesYN( );
-#endif
-
-/** Get pointer to the current state feedback vector. Only applicable for NMPC. */
-real_t* acado_getVariablesX0( );
-
-/** Print differential variables. */
-void acado_printDifferentialVariables( );
-
-/** Print control variables. */
-void acado_printControlVariables( );
-
-/** Print ACADO code generation notice. */
-void acado_printHeader( );
-
-/*
- * A huge thanks goes to Alexander Domahidi from ETHZ, Switzerland, for 
- * providing us with the following timing routines.
- */
-
-#if !(defined _DSPACE)
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-/* Use Windows QueryPerformanceCounter for timing. */
-#include <Windows.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acado_timer_
-{
-	LARGE_INTEGER tic;
-	LARGE_INTEGER toc;
-	LARGE_INTEGER freq;
-} acado_timer;
-
-
-#elif (defined __APPLE__)
-
-#include "unistd.h"
-#include <mach/mach_time.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acado_timer_
-{
-	uint64_t tic;
-	uint64_t toc;
-	mach_timebase_info_data_t tinfo;
-} acado_timer;
-
-#else
-
-/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-#include <time.h>
-
-#if __STDC_VERSION__ >= 199901L
-/* C99 mode of operation. */
-
-#include <sys/stat.h>
-#include <sys/time.h>
-
-typedef struct acado_timer_
-{
-	struct timeval tic;
-	struct timeval toc;
-} acado_timer;
-
-#else
-/* ANSI C */
-
-/** A structure for keeping internal timer data. */
-typedef struct acado_timer_
-{
-	struct timespec tic;
-	struct timespec toc;
-} acado_timer;
-
-#endif /* __STDC_VERSION__ >= 199901L */
-
-#endif /* (defined _WIN32 || defined _WIN64) */
-
-/** A function for measurement of the current time. */
-void acado_tic( acado_timer* t );
-
-/** A function which returns the elapsed time. */
-real_t acado_toc( acado_timer* t );
-
-#endif
-
-#ifndef __MATLAB__
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-#endif /* __MATLAB__ */
-
-#endif /* ACADO_AUXILIARY_FUNCTIONS_H */
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
deleted file mode 100644
index c0eb83bced374f..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
+++ /dev/null
@@ -1,354 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#ifndef ACADO_COMMON_H
-#define ACADO_COMMON_H
-
-#include <math.h>
-#include <string.h>
-
-#ifndef __MATLAB__
-#ifdef __cplusplus
-extern "C"
-{
-#endif /* __cplusplus */
-#endif /* __MATLAB__ */
-
-/** \defgroup ACADO ACADO CGT generated module. */
-/** @{ */
-
-/** qpOASES QP solver indicator. */
-#define ACADO_QPOASES  0
-#define ACADO_QPOASES3 1
-/** FORCES QP solver indicator.*/
-#define ACADO_FORCES   2
-/** qpDUNES QP solver indicator.*/
-#define ACADO_QPDUNES  3
-/** HPMPC QP solver indicator. */
-#define ACADO_HPMPC    4
-#define ACADO_GENERIC    5
-
-/** Indicator for determining the QP solver used by the ACADO solver code. */
-#define ACADO_QP_SOLVER ACADO_QPOASES
-
-#include "acado_qpoases_interface.hpp"
-
-
-/*
- * Common definitions
- */
-/** User defined block based condensing. */
-#define ACADO_BLOCK_CONDENSING 0
-/** Compute covariance matrix of the last state estimate. */
-#define ACADO_COMPUTE_COVARIANCE_MATRIX 0
-/** Flag indicating whether constraint values are hard-coded or not. */
-#define ACADO_HARDCODED_CONSTRAINT_VALUES 1
-/** Indicator for fixed initial state. */
-#define ACADO_INITIAL_STATE_FIXED 1
-/** Number of control/estimation intervals. */
-#define ACADO_N 20
-/** Number of online data values. */
-#define ACADO_NOD 2
-/** Number of path constraints. */
-#define ACADO_NPAC 0
-/** Number of control variables. */
-#define ACADO_NU 1
-/** Number of differential variables. */
-#define ACADO_NX 3
-/** Number of algebraic variables. */
-#define ACADO_NXA 0
-/** Number of differential derivative variables. */
-#define ACADO_NXD 0
-/** Number of references/measurements per node on the first N nodes. */
-#define ACADO_NY 4
-/** Number of references/measurements on the last (N + 1)st node. */
-#define ACADO_NYN 3
-/** Total number of QP optimization variables. */
-#define ACADO_QP_NV 23
-/** Number of Runge-Kutta stages per integration step. */
-#define ACADO_RK_NSTAGES 4
-/** Providing interface for arrival cost. */
-#define ACADO_USE_ARRIVAL_COST 0
-/** Indicator for usage of non-hard-coded linear terms in the objective. */
-#define ACADO_USE_LINEAR_TERMS 0
-/** Indicator for type of fixed weighting matrices. */
-#define ACADO_WEIGHTING_MATRICES_TYPE 2
-
-
-/*
- * Globally used structure definitions
- */
-
-/** The structure containing the user data.
- * 
- *  Via this structure the user "communicates" with the solver code.
- */
-typedef struct ACADOvariables_
-{
-int dummy;
-/** Matrix of size: 21 x 3 (row major format)
- * 
- *  Matrix containing 21 differential variable vectors.
- */
-real_t x[ 63 ];
-
-/** Column vector of size: 20
- * 
- *  Matrix containing 20 control variable vectors.
- */
-real_t u[ 20 ];
-
-/** Matrix of size: 21 x 2 (row major format)
- * 
- *  Matrix containing 21 online data vectors.
- */
-real_t od[ 42 ];
-
-/** Column vector of size: 80
- * 
- *  Matrix containing 20 reference/measurement vectors of size 4 for first 20 nodes.
- */
-real_t y[ 80 ];
-
-/** Column vector of size: 3
- * 
- *  Reference/measurement vector for the 21. node.
- */
-real_t yN[ 3 ];
-
-/** Matrix of size: 80 x 4 (row major format) */
-real_t W[ 320 ];
-
-/** Matrix of size: 3 x 3 (row major format) */
-real_t WN[ 9 ];
-
-/** Column vector of size: 3
- * 
- *  Current state feedback vector.
- */
-real_t x0[ 3 ];
-
-
-} ACADOvariables;
-
-/** Private workspace used by the auto-generated code.
- * 
- *  Data members of this structure are private to the solver.
- *  In other words, the user code should not modify values of this 
- *  structure. 
- */
-typedef struct ACADOworkspace_
-{
-real_t rk_ttt;
-
-/** Row vector of size: 18 */
-real_t rk_xxx[ 18 ];
-
-/** Matrix of size: 4 x 15 (row major format) */
-real_t rk_kkk[ 60 ];
-
-/** Row vector of size: 18 */
-real_t state[ 18 ];
-
-/** Column vector of size: 60 */
-real_t d[ 60 ];
-
-/** Column vector of size: 80 */
-real_t Dy[ 80 ];
-
-/** Column vector of size: 3 */
-real_t DyN[ 3 ];
-
-/** Matrix of size: 60 x 3 (row major format) */
-real_t evGx[ 180 ];
-
-/** Column vector of size: 60 */
-real_t evGu[ 60 ];
-
-/** Column vector of size: 13 */
-real_t objAuxVar[ 13 ];
-
-/** Row vector of size: 6 */
-real_t objValueIn[ 6 ];
-
-/** Row vector of size: 20 */
-real_t objValueOut[ 20 ];
-
-/** Matrix of size: 60 x 3 (row major format) */
-real_t Q1[ 180 ];
-
-/** Matrix of size: 60 x 4 (row major format) */
-real_t Q2[ 240 ];
-
-/** Column vector of size: 20 */
-real_t R1[ 20 ];
-
-/** Matrix of size: 20 x 4 (row major format) */
-real_t R2[ 80 ];
-
-/** Column vector of size: 60 */
-real_t S1[ 60 ];
-
-/** Matrix of size: 3 x 3 (row major format) */
-real_t QN1[ 9 ];
-
-/** Matrix of size: 3 x 3 (row major format) */
-real_t QN2[ 9 ];
-
-/** Column vector of size: 3 */
-real_t Dx0[ 3 ];
-
-/** Matrix of size: 3 x 3 (row major format) */
-real_t T[ 9 ];
-
-/** Column vector of size: 630 */
-real_t E[ 630 ];
-
-/** Column vector of size: 630 */
-real_t QE[ 630 ];
-
-/** Matrix of size: 60 x 3 (row major format) */
-real_t QGx[ 180 ];
-
-/** Column vector of size: 60 */
-real_t Qd[ 60 ];
-
-/** Column vector of size: 63 */
-real_t QDy[ 63 ];
-
-/** Matrix of size: 20 x 3 (row major format) */
-real_t H10[ 60 ];
-
-/** Matrix of size: 23 x 23 (row major format) */
-real_t H[ 529 ];
-
-/** Matrix of size: 20 x 23 (row major format) */
-real_t A[ 460 ];
-
-/** Column vector of size: 23 */
-real_t g[ 23 ];
-
-/** Column vector of size: 23 */
-real_t lb[ 23 ];
-
-/** Column vector of size: 23 */
-real_t ub[ 23 ];
-
-/** Column vector of size: 20 */
-real_t lbA[ 20 ];
-
-/** Column vector of size: 20 */
-real_t ubA[ 20 ];
-
-/** Column vector of size: 23 */
-real_t x[ 23 ];
-
-/** Column vector of size: 43 */
-real_t y[ 43 ];
-
-
-} ACADOworkspace;
-
-/* 
- * Forward function declarations. 
- */
-
-
-/** Performs the integration and sensitivity propagation for one shooting interval.
- *
- *  \param rk_eta Working array to pass the input values and return the results.
- *  \param resetIntegrator The internal memory of the integrator can be reset.
- *  \param rk_index Number of the shooting interval.
- *
- *  \return Status code of the integrator.
- */
-int acado_integrate( real_t* const rk_eta, int resetIntegrator, int rk_index );
-
-/** Export of an ACADO symbolic function.
- *
- *  \param in Input to the exported function.
- *  \param out Output of the exported function.
- */
-void acado_rhs_forw(const real_t* in, real_t* out);
-
-/** Preparation step of the RTI scheme.
- *
- *  \return Status of the integration module. =0: OK, otherwise the error code.
- */
-int acado_preparationStep(  );
-
-/** Feedback/estimation step of the RTI scheme.
- *
- *  \return Status code of the qpOASES QP solver.
- */
-int acado_feedbackStep(  );
-
-/** Solver initialization. Must be called once before any other function call.
- *
- *  \return =0: OK, otherwise an error code of a QP solver.
- */
-int acado_initializeSolver(  );
-
-/** Initialize shooting nodes by a forward simulation starting from the first node.
- */
-void acado_initializeNodesByForwardSimulation(  );
-
-/** Shift differential variables vector by one interval.
- *
- *  \param strategy Shifting strategy: 1. Initialize node 21 with xEnd. 2. Initialize node 21 by forward simulation.
- *  \param xEnd Value for the x vector on the last node. If =0 the old value is used.
- *  \param uEnd Value for the u vector on the second to last node. If =0 the old value is used.
- */
-void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd );
-
-/** Shift controls vector by one interval.
- *
- *  \param uEnd Value for the u vector on the second to last node. If =0 the old value is used.
- */
-void acado_shiftControls( real_t* const uEnd );
-
-/** Get the KKT tolerance of the current iterate.
- *
- *  \return The KKT tolerance value.
- */
-real_t acado_getKKT(  );
-
-/** Calculate the objective value.
- *
- *  \return Value of the objective function.
- */
-real_t acado_getObjective(  );
-
-
-/* 
- * Extern declarations. 
- */
-
-extern ACADOworkspace acadoWorkspace;
-extern ACADOvariables acadoVariables;
-
-/** @} */
-
-#ifndef __MATLAB__
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-#endif /* __MATLAB__ */
-
-#endif /* ACADO_COMMON_H */
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
deleted file mode 100644
index a0bac9681c5293..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#include "acado_common.h"
-
-
-void acado_rhs_forw(const real_t* in, real_t* out)
-{
-const real_t* xd = in;
-const real_t* u = in + 15;
-
-/* Compute outputs: */
-out[0] = xd[1];
-out[1] = xd[2];
-out[2] = u[0];
-out[3] = xd[6];
-out[4] = xd[7];
-out[5] = xd[8];
-out[6] = xd[9];
-out[7] = xd[10];
-out[8] = xd[11];
-out[9] = (real_t)(0.0000000000000000e+00);
-out[10] = (real_t)(0.0000000000000000e+00);
-out[11] = (real_t)(0.0000000000000000e+00);
-out[12] = xd[13];
-out[13] = xd[14];
-out[14] = (real_t)(1.0000000000000000e+00);
-}
-
-/* Fixed step size:0.2 */
-int acado_integrate( real_t* const rk_eta, int resetIntegrator, int rk_index )
-{
-int error;
-
-int run1;
-int numSteps[20] = {1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3};
-int numInts = numSteps[rk_index];
-acadoWorkspace.rk_ttt = 0.0000000000000000e+00;
-rk_eta[3] = 1.0000000000000000e+00;
-rk_eta[4] = 0.0000000000000000e+00;
-rk_eta[5] = 0.0000000000000000e+00;
-rk_eta[6] = 0.0000000000000000e+00;
-rk_eta[7] = 1.0000000000000000e+00;
-rk_eta[8] = 0.0000000000000000e+00;
-rk_eta[9] = 0.0000000000000000e+00;
-rk_eta[10] = 0.0000000000000000e+00;
-rk_eta[11] = 1.0000000000000000e+00;
-rk_eta[12] = 0.0000000000000000e+00;
-rk_eta[13] = 0.0000000000000000e+00;
-rk_eta[14] = 0.0000000000000000e+00;
-acadoWorkspace.rk_xxx[15] = rk_eta[15];
-acadoWorkspace.rk_xxx[16] = rk_eta[16];
-acadoWorkspace.rk_xxx[17] = rk_eta[17];
-
-for (run1 = 0; run1 < 1; ++run1)
-{
-for(run1 = 0; run1 < numInts; run1++ ) {
-acadoWorkspace.rk_xxx[0] = + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + rk_eta[14];
-acado_rhs_forw( acadoWorkspace.rk_xxx, acadoWorkspace.rk_kkk );
-acadoWorkspace.rk_xxx[0] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[0] + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[1] + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[2] + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[3] + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[4] + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[5] + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[6] + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[7] + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[8] + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[9] + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[10] + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[11] + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[12] + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[13] + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[14] + rk_eta[14];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 15 ]) );
-acadoWorkspace.rk_xxx[0] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[15] + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[16] + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[17] + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[18] + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[19] + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[20] + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[21] + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[22] + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[23] + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[24] + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[25] + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[26] + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[27] + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[28] + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[29] + rk_eta[14];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 30 ]) );
-acadoWorkspace.rk_xxx[0] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[30] + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[31] + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[32] + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[33] + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[34] + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[35] + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[36] + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[37] + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[38] + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[39] + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[40] + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[41] + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[42] + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[43] + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[44] + rk_eta[14];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 45 ]) );
-rk_eta[0] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[0] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[15] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[30] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[45];
-rk_eta[1] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[1] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[16] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[31] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[46];
-rk_eta[2] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[2] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[17] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[32] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[47];
-rk_eta[3] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[3] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[18] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[33] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[48];
-rk_eta[4] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[4] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[19] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[34] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[49];
-rk_eta[5] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[5] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[20] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[35] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[50];
-rk_eta[6] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[6] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[21] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[36] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[51];
-rk_eta[7] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[7] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[22] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[37] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[52];
-rk_eta[8] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[8] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[23] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[38] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[53];
-rk_eta[9] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[9] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[24] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[39] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[54];
-rk_eta[10] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[10] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[25] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[40] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[55];
-rk_eta[11] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[11] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[26] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[41] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[56];
-rk_eta[12] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[12] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[27] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[42] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[57];
-rk_eta[13] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[13] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[28] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[43] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[58];
-rk_eta[14] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[14] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[29] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[44] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[59];
-acadoWorkspace.rk_ttt += 1.0000000000000000e+00;
-}
-}
-error = 0;
-return error;
-}
-
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp
deleted file mode 100644
index 36e675e03aa07c..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-extern "C"
-{
-#include "acado_common.h"
-}
-
-#include "INCLUDE/QProblem.hpp"
-
-#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
-#include "INCLUDE/EXTRAS/SolutionAnalysis.hpp"
-#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
-
-static int acado_nWSR;
-
-
-
-#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
-static SolutionAnalysis acado_sa;
-#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
-
-int acado_solve( void )
-{
-	acado_nWSR = QPOASES_NWSRMAX;
-
-	QProblem qp(23, 20);
-	
-	returnValue retVal = qp.init(acadoWorkspace.H, acadoWorkspace.g, acadoWorkspace.A, acadoWorkspace.lb, acadoWorkspace.ub, acadoWorkspace.lbA, acadoWorkspace.ubA, acado_nWSR, acadoWorkspace.y);
-
-    qp.getPrimalSolution( acadoWorkspace.x );
-    qp.getDualSolution( acadoWorkspace.y );
-	
-#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
-
-	if (retVal != SUCCESSFUL_RETURN)
-		return (int)retVal;
-		
-	retVal = acado_sa.getHessianInverse( &qp,var );
-
-#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
-
-	return (int)retVal;
-}
-
-int acado_getNWSR( void )
-{
-	return acado_nWSR;
-}
-
-const char* acado_getErrorString( int error )
-{
-	return MessageHandling::getErrorString( error );
-}
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp
deleted file mode 100644
index 8a58805f8e6d29..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#ifndef QPOASES_HEADER
-#define QPOASES_HEADER
-
-#ifdef PC_DEBUG
-#include <stdio.h>
-#endif /* PC_DEBUG */
-
-#include <math.h>
-
-#ifdef __cplusplus
-#define EXTERNC extern "C"
-#else
-#define EXTERNC
-#endif
-
-/*
- * A set of options for qpOASES
- */
-
-/** Maximum number of optimization variables. */
-#define QPOASES_NVMAX      23
-/** Maximum number of constraints. */
-#define QPOASES_NCMAX      20
-/** Maximum number of working set recalculations. */
-#define QPOASES_NWSRMAX    500
-/** Print level for qpOASES. */
-#define QPOASES_PRINTLEVEL PL_NONE
-/** The value of EPS */
-#define QPOASES_EPS        2.221e-16
-/** Internally used floating point type */
-typedef double real_t;
-
-/*
- * Forward function declarations
- */
-
-/** A function that calls the QP solver */
-EXTERNC int acado_solve( void );
-
-/** Get the number of active set changes */
-EXTERNC int acado_getNWSR( void );
-
-/** Get the error string. */
-const char* acado_getErrorString( int error );
-
-#endif /* QPOASES_HEADER */
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c
deleted file mode 100644
index 8cfc06f3b8ef70..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c
+++ /dev/null
@@ -1,4782 +0,0 @@
-/*
- *    This file was auto-generated using the ACADO Toolkit.
- *    
- *    While ACADO Toolkit is free software released under the terms of
- *    the GNU Lesser General Public License (LGPL), the generated code
- *    as such remains the property of the user who used ACADO Toolkit
- *    to generate this code. In particular, user dependent data of the code
- *    do not inherit the GNU LGPL license. On the other hand, parts of the
- *    generated code that are a direct copy of source code from the
- *    ACADO Toolkit or the software tools it is based on, remain, as derived
- *    work, automatically covered by the LGPL license.
- *    
- *    ACADO Toolkit is distributed in the hope that it will be useful,
- *    but WITHOUT ANY WARRANTY; without even the implied warranty of
- *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *    
- */
-
-
-#include "acado_common.h"
-
-
-
-
-/******************************************************************************/
-/*                                                                            */
-/* ACADO code generation                                                      */
-/*                                                                            */
-/******************************************************************************/
-
-
-int acado_modelSimulation(  )
-{
-int ret;
-
-int lRun1;
-ret = 0;
-for (lRun1 = 0; lRun1 < 20; ++lRun1)
-{
-acadoWorkspace.state[0] = acadoVariables.x[lRun1 * 3];
-acadoWorkspace.state[1] = acadoVariables.x[lRun1 * 3 + 1];
-acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 3 + 2];
-
-acadoWorkspace.state[15] = acadoVariables.u[lRun1];
-acadoWorkspace.state[16] = acadoVariables.od[lRun1 * 2];
-acadoWorkspace.state[17] = acadoVariables.od[lRun1 * 2 + 1];
-
-ret = acado_integrate(acadoWorkspace.state, 1, lRun1);
-
-acadoWorkspace.d[lRun1 * 3] = acadoWorkspace.state[0] - acadoVariables.x[lRun1 * 3 + 3];
-acadoWorkspace.d[lRun1 * 3 + 1] = acadoWorkspace.state[1] - acadoVariables.x[lRun1 * 3 + 4];
-acadoWorkspace.d[lRun1 * 3 + 2] = acadoWorkspace.state[2] - acadoVariables.x[lRun1 * 3 + 5];
-
-acadoWorkspace.evGx[lRun1 * 9] = acadoWorkspace.state[3];
-acadoWorkspace.evGx[lRun1 * 9 + 1] = acadoWorkspace.state[4];
-acadoWorkspace.evGx[lRun1 * 9 + 2] = acadoWorkspace.state[5];
-acadoWorkspace.evGx[lRun1 * 9 + 3] = acadoWorkspace.state[6];
-acadoWorkspace.evGx[lRun1 * 9 + 4] = acadoWorkspace.state[7];
-acadoWorkspace.evGx[lRun1 * 9 + 5] = acadoWorkspace.state[8];
-acadoWorkspace.evGx[lRun1 * 9 + 6] = acadoWorkspace.state[9];
-acadoWorkspace.evGx[lRun1 * 9 + 7] = acadoWorkspace.state[10];
-acadoWorkspace.evGx[lRun1 * 9 + 8] = acadoWorkspace.state[11];
-
-acadoWorkspace.evGu[lRun1 * 3] = acadoWorkspace.state[12];
-acadoWorkspace.evGu[lRun1 * 3 + 1] = acadoWorkspace.state[13];
-acadoWorkspace.evGu[lRun1 * 3 + 2] = acadoWorkspace.state[14];
-}
-return ret;
-}
-
-void acado_evaluateLSQ(const real_t* in, real_t* out)
-{
-const real_t* xd = in;
-const real_t* u = in + 3;
-const real_t* od = in + 4;
-/* Vector of auxiliary variables; number of elements: 13. */
-real_t* a = acadoWorkspace.objAuxVar;
-
-/* Compute intermediate quantities: */
-a[0] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
-a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
-a[2] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01)));
-a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
-a[4] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[2]))*a[3]);
-a[5] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[6] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
-a[7] = (a[6]*(real_t)(5.0000000000000000e-01));
-a[8] = (a[2]*a[2]);
-a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]);
-a[10] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
-a[11] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[12] = (a[10]*a[10]);
-
-/* Compute outputs: */
-out[0] = (a[1]-(real_t)(1.0000000000000000e+00));
-out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
-out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
-out[3] = (u[0]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
-out[4] = a[4];
-out[5] = a[9];
-out[6] = (real_t)(0.0000000000000000e+00);
-out[7] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[10]);
-out[8] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[11])))*a[10])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[12]));
-out[9] = (real_t)(0.0000000000000000e+00);
-out[10] = (real_t)(0.0000000000000000e+00);
-out[11] = (xd[2]*(real_t)(1.0000000000000001e-01));
-out[12] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
-out[13] = (real_t)(0.0000000000000000e+00);
-out[14] = (u[0]*(real_t)(1.0000000000000001e-01));
-out[15] = (real_t)(0.0000000000000000e+00);
-out[16] = (real_t)(0.0000000000000000e+00);
-out[17] = (real_t)(0.0000000000000000e+00);
-out[18] = (real_t)(0.0000000000000000e+00);
-out[19] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
-}
-
-void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
-{
-const real_t* xd = in;
-const real_t* od = in + 3;
-/* Vector of auxiliary variables; number of elements: 13. */
-real_t* a = acadoWorkspace.objAuxVar;
-
-/* Compute intermediate quantities: */
-a[0] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
-a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
-a[2] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01)));
-a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
-a[4] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[2]))*a[3]);
-a[5] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[6] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
-a[7] = (a[6]*(real_t)(5.0000000000000000e-01));
-a[8] = (a[2]*a[2]);
-a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]);
-a[10] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
-a[11] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[12] = (a[10]*a[10]);
-
-/* Compute outputs: */
-out[0] = (a[1]-(real_t)(1.0000000000000000e+00));
-out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
-out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
-out[3] = a[4];
-out[4] = a[9];
-out[5] = (real_t)(0.0000000000000000e+00);
-out[6] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[10]);
-out[7] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[11])))*a[10])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[12]));
-out[8] = (real_t)(0.0000000000000000e+00);
-out[9] = (real_t)(0.0000000000000000e+00);
-out[10] = (xd[2]*(real_t)(1.0000000000000001e-01));
-out[11] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
-}
-
-void acado_setObjQ1Q2( real_t* const tmpFx, real_t* const tmpObjS, real_t* const tmpQ1, real_t* const tmpQ2 )
-{
-tmpQ2[0] = + tmpFx[0]*tmpObjS[0] + tmpFx[3]*tmpObjS[4] + tmpFx[6]*tmpObjS[8] + tmpFx[9]*tmpObjS[12];
-tmpQ2[1] = + tmpFx[0]*tmpObjS[1] + tmpFx[3]*tmpObjS[5] + tmpFx[6]*tmpObjS[9] + tmpFx[9]*tmpObjS[13];
-tmpQ2[2] = + tmpFx[0]*tmpObjS[2] + tmpFx[3]*tmpObjS[6] + tmpFx[6]*tmpObjS[10] + tmpFx[9]*tmpObjS[14];
-tmpQ2[3] = + tmpFx[0]*tmpObjS[3] + tmpFx[3]*tmpObjS[7] + tmpFx[6]*tmpObjS[11] + tmpFx[9]*tmpObjS[15];
-tmpQ2[4] = + tmpFx[1]*tmpObjS[0] + tmpFx[4]*tmpObjS[4] + tmpFx[7]*tmpObjS[8] + tmpFx[10]*tmpObjS[12];
-tmpQ2[5] = + tmpFx[1]*tmpObjS[1] + tmpFx[4]*tmpObjS[5] + tmpFx[7]*tmpObjS[9] + tmpFx[10]*tmpObjS[13];
-tmpQ2[6] = + tmpFx[1]*tmpObjS[2] + tmpFx[4]*tmpObjS[6] + tmpFx[7]*tmpObjS[10] + tmpFx[10]*tmpObjS[14];
-tmpQ2[7] = + tmpFx[1]*tmpObjS[3] + tmpFx[4]*tmpObjS[7] + tmpFx[7]*tmpObjS[11] + tmpFx[10]*tmpObjS[15];
-tmpQ2[8] = + tmpFx[2]*tmpObjS[0] + tmpFx[5]*tmpObjS[4] + tmpFx[8]*tmpObjS[8] + tmpFx[11]*tmpObjS[12];
-tmpQ2[9] = + tmpFx[2]*tmpObjS[1] + tmpFx[5]*tmpObjS[5] + tmpFx[8]*tmpObjS[9] + tmpFx[11]*tmpObjS[13];
-tmpQ2[10] = + tmpFx[2]*tmpObjS[2] + tmpFx[5]*tmpObjS[6] + tmpFx[8]*tmpObjS[10] + tmpFx[11]*tmpObjS[14];
-tmpQ2[11] = + tmpFx[2]*tmpObjS[3] + tmpFx[5]*tmpObjS[7] + tmpFx[8]*tmpObjS[11] + tmpFx[11]*tmpObjS[15];
-tmpQ1[0] = + tmpQ2[0]*tmpFx[0] + tmpQ2[1]*tmpFx[3] + tmpQ2[2]*tmpFx[6] + tmpQ2[3]*tmpFx[9];
-tmpQ1[1] = + tmpQ2[0]*tmpFx[1] + tmpQ2[1]*tmpFx[4] + tmpQ2[2]*tmpFx[7] + tmpQ2[3]*tmpFx[10];
-tmpQ1[2] = + tmpQ2[0]*tmpFx[2] + tmpQ2[1]*tmpFx[5] + tmpQ2[2]*tmpFx[8] + tmpQ2[3]*tmpFx[11];
-tmpQ1[3] = + tmpQ2[4]*tmpFx[0] + tmpQ2[5]*tmpFx[3] + tmpQ2[6]*tmpFx[6] + tmpQ2[7]*tmpFx[9];
-tmpQ1[4] = + tmpQ2[4]*tmpFx[1] + tmpQ2[5]*tmpFx[4] + tmpQ2[6]*tmpFx[7] + tmpQ2[7]*tmpFx[10];
-tmpQ1[5] = + tmpQ2[4]*tmpFx[2] + tmpQ2[5]*tmpFx[5] + tmpQ2[6]*tmpFx[8] + tmpQ2[7]*tmpFx[11];
-tmpQ1[6] = + tmpQ2[8]*tmpFx[0] + tmpQ2[9]*tmpFx[3] + tmpQ2[10]*tmpFx[6] + tmpQ2[11]*tmpFx[9];
-tmpQ1[7] = + tmpQ2[8]*tmpFx[1] + tmpQ2[9]*tmpFx[4] + tmpQ2[10]*tmpFx[7] + tmpQ2[11]*tmpFx[10];
-tmpQ1[8] = + tmpQ2[8]*tmpFx[2] + tmpQ2[9]*tmpFx[5] + tmpQ2[10]*tmpFx[8] + tmpQ2[11]*tmpFx[11];
-}
-
-void acado_setObjR1R2( real_t* const tmpFu, real_t* const tmpObjS, real_t* const tmpR1, real_t* const tmpR2 )
-{
-tmpR2[0] = + tmpFu[0]*tmpObjS[0] + tmpFu[1]*tmpObjS[4] + tmpFu[2]*tmpObjS[8] + tmpFu[3]*tmpObjS[12];
-tmpR2[1] = + tmpFu[0]*tmpObjS[1] + tmpFu[1]*tmpObjS[5] + tmpFu[2]*tmpObjS[9] + tmpFu[3]*tmpObjS[13];
-tmpR2[2] = + tmpFu[0]*tmpObjS[2] + tmpFu[1]*tmpObjS[6] + tmpFu[2]*tmpObjS[10] + tmpFu[3]*tmpObjS[14];
-tmpR2[3] = + tmpFu[0]*tmpObjS[3] + tmpFu[1]*tmpObjS[7] + tmpFu[2]*tmpObjS[11] + tmpFu[3]*tmpObjS[15];
-tmpR1[0] = + tmpR2[0]*tmpFu[0] + tmpR2[1]*tmpFu[1] + tmpR2[2]*tmpFu[2] + tmpR2[3]*tmpFu[3];
-}
-
-void acado_setObjQN1QN2( real_t* const tmpFx, real_t* const tmpObjSEndTerm, real_t* const tmpQN1, real_t* const tmpQN2 )
-{
-tmpQN2[0] = + tmpFx[0]*tmpObjSEndTerm[0] + tmpFx[3]*tmpObjSEndTerm[3] + tmpFx[6]*tmpObjSEndTerm[6];
-tmpQN2[1] = + tmpFx[0]*tmpObjSEndTerm[1] + tmpFx[3]*tmpObjSEndTerm[4] + tmpFx[6]*tmpObjSEndTerm[7];
-tmpQN2[2] = + tmpFx[0]*tmpObjSEndTerm[2] + tmpFx[3]*tmpObjSEndTerm[5] + tmpFx[6]*tmpObjSEndTerm[8];
-tmpQN2[3] = + tmpFx[1]*tmpObjSEndTerm[0] + tmpFx[4]*tmpObjSEndTerm[3] + tmpFx[7]*tmpObjSEndTerm[6];
-tmpQN2[4] = + tmpFx[1]*tmpObjSEndTerm[1] + tmpFx[4]*tmpObjSEndTerm[4] + tmpFx[7]*tmpObjSEndTerm[7];
-tmpQN2[5] = + tmpFx[1]*tmpObjSEndTerm[2] + tmpFx[4]*tmpObjSEndTerm[5] + tmpFx[7]*tmpObjSEndTerm[8];
-tmpQN2[6] = + tmpFx[2]*tmpObjSEndTerm[0] + tmpFx[5]*tmpObjSEndTerm[3] + tmpFx[8]*tmpObjSEndTerm[6];
-tmpQN2[7] = + tmpFx[2]*tmpObjSEndTerm[1] + tmpFx[5]*tmpObjSEndTerm[4] + tmpFx[8]*tmpObjSEndTerm[7];
-tmpQN2[8] = + tmpFx[2]*tmpObjSEndTerm[2] + tmpFx[5]*tmpObjSEndTerm[5] + tmpFx[8]*tmpObjSEndTerm[8];
-tmpQN1[0] = + tmpQN2[0]*tmpFx[0] + tmpQN2[1]*tmpFx[3] + tmpQN2[2]*tmpFx[6];
-tmpQN1[1] = + tmpQN2[0]*tmpFx[1] + tmpQN2[1]*tmpFx[4] + tmpQN2[2]*tmpFx[7];
-tmpQN1[2] = + tmpQN2[0]*tmpFx[2] + tmpQN2[1]*tmpFx[5] + tmpQN2[2]*tmpFx[8];
-tmpQN1[3] = + tmpQN2[3]*tmpFx[0] + tmpQN2[4]*tmpFx[3] + tmpQN2[5]*tmpFx[6];
-tmpQN1[4] = + tmpQN2[3]*tmpFx[1] + tmpQN2[4]*tmpFx[4] + tmpQN2[5]*tmpFx[7];
-tmpQN1[5] = + tmpQN2[3]*tmpFx[2] + tmpQN2[4]*tmpFx[5] + tmpQN2[5]*tmpFx[8];
-tmpQN1[6] = + tmpQN2[6]*tmpFx[0] + tmpQN2[7]*tmpFx[3] + tmpQN2[8]*tmpFx[6];
-tmpQN1[7] = + tmpQN2[6]*tmpFx[1] + tmpQN2[7]*tmpFx[4] + tmpQN2[8]*tmpFx[7];
-tmpQN1[8] = + tmpQN2[6]*tmpFx[2] + tmpQN2[7]*tmpFx[5] + tmpQN2[8]*tmpFx[8];
-}
-
-void acado_evaluateObjective(  )
-{
-int runObj;
-for (runObj = 0; runObj < 20; ++runObj)
-{
-acadoWorkspace.objValueIn[0] = acadoVariables.x[runObj * 3];
-acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 3 + 1];
-acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 3 + 2];
-acadoWorkspace.objValueIn[3] = acadoVariables.u[runObj];
-acadoWorkspace.objValueIn[4] = acadoVariables.od[runObj * 2];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 2 + 1];
-
-acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
-acadoWorkspace.Dy[runObj * 4] = acadoWorkspace.objValueOut[0];
-acadoWorkspace.Dy[runObj * 4 + 1] = acadoWorkspace.objValueOut[1];
-acadoWorkspace.Dy[runObj * 4 + 2] = acadoWorkspace.objValueOut[2];
-acadoWorkspace.Dy[runObj * 4 + 3] = acadoWorkspace.objValueOut[3];
-
-acado_setObjQ1Q2( &(acadoWorkspace.objValueOut[ 4 ]), &(acadoVariables.W[ runObj * 16 ]), &(acadoWorkspace.Q1[ runObj * 9 ]), &(acadoWorkspace.Q2[ runObj * 12 ]) );
-
-acado_setObjR1R2( &(acadoWorkspace.objValueOut[ 16 ]), &(acadoVariables.W[ runObj * 16 ]), &(acadoWorkspace.R1[ runObj ]), &(acadoWorkspace.R2[ runObj * 4 ]) );
-
-}
-acadoWorkspace.objValueIn[0] = acadoVariables.x[60];
-acadoWorkspace.objValueIn[1] = acadoVariables.x[61];
-acadoWorkspace.objValueIn[2] = acadoVariables.x[62];
-acadoWorkspace.objValueIn[3] = acadoVariables.od[40];
-acadoWorkspace.objValueIn[4] = acadoVariables.od[41];
-acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
-
-acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
-acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1];
-acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2];
-
-acado_setObjQN1QN2( &(acadoWorkspace.objValueOut[ 3 ]), acadoVariables.WN, acadoWorkspace.QN1, acadoWorkspace.QN2 );
-
-}
-
-void acado_multGxd( real_t* const dOld, real_t* const Gx1, real_t* const dNew )
-{
-dNew[0] += + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2];
-dNew[1] += + Gx1[3]*dOld[0] + Gx1[4]*dOld[1] + Gx1[5]*dOld[2];
-dNew[2] += + Gx1[6]*dOld[0] + Gx1[7]*dOld[1] + Gx1[8]*dOld[2];
-}
-
-void acado_moveGxT( real_t* const Gx1, real_t* const Gx2 )
-{
-Gx2[0] = Gx1[0];
-Gx2[1] = Gx1[1];
-Gx2[2] = Gx1[2];
-Gx2[3] = Gx1[3];
-Gx2[4] = Gx1[4];
-Gx2[5] = Gx1[5];
-Gx2[6] = Gx1[6];
-Gx2[7] = Gx1[7];
-Gx2[8] = Gx1[8];
-}
-
-void acado_multGxGx( real_t* const Gx1, real_t* const Gx2, real_t* const Gx3 )
-{
-Gx3[0] = + Gx1[0]*Gx2[0] + Gx1[1]*Gx2[3] + Gx1[2]*Gx2[6];
-Gx3[1] = + Gx1[0]*Gx2[1] + Gx1[1]*Gx2[4] + Gx1[2]*Gx2[7];
-Gx3[2] = + Gx1[0]*Gx2[2] + Gx1[1]*Gx2[5] + Gx1[2]*Gx2[8];
-Gx3[3] = + Gx1[3]*Gx2[0] + Gx1[4]*Gx2[3] + Gx1[5]*Gx2[6];
-Gx3[4] = + Gx1[3]*Gx2[1] + Gx1[4]*Gx2[4] + Gx1[5]*Gx2[7];
-Gx3[5] = + Gx1[3]*Gx2[2] + Gx1[4]*Gx2[5] + Gx1[5]*Gx2[8];
-Gx3[6] = + Gx1[6]*Gx2[0] + Gx1[7]*Gx2[3] + Gx1[8]*Gx2[6];
-Gx3[7] = + Gx1[6]*Gx2[1] + Gx1[7]*Gx2[4] + Gx1[8]*Gx2[7];
-Gx3[8] = + Gx1[6]*Gx2[2] + Gx1[7]*Gx2[5] + Gx1[8]*Gx2[8];
-}
-
-void acado_multGxGu( real_t* const Gx1, real_t* const Gu1, real_t* const Gu2 )
-{
-Gu2[0] = + Gx1[0]*Gu1[0] + Gx1[1]*Gu1[1] + Gx1[2]*Gu1[2];
-Gu2[1] = + Gx1[3]*Gu1[0] + Gx1[4]*Gu1[1] + Gx1[5]*Gu1[2];
-Gu2[2] = + Gx1[6]*Gu1[0] + Gx1[7]*Gu1[1] + Gx1[8]*Gu1[2];
-}
-
-void acado_moveGuE( real_t* const Gu1, real_t* const Gu2 )
-{
-Gu2[0] = Gu1[0];
-Gu2[1] = Gu1[1];
-Gu2[2] = Gu1[2];
-}
-
-void acado_setBlockH11( int iRow, int iCol, real_t* const Gu1, real_t* const Gu2 )
-{
-acadoWorkspace.H[(iRow * 23 + 69) + (iCol + 3)] += + Gu1[0]*Gu2[0] + Gu1[1]*Gu2[1] + Gu1[2]*Gu2[2];
-}
-
-void acado_setBlockH11_R1( int iRow, int iCol, real_t* const R11 )
-{
-acadoWorkspace.H[(iRow * 23 + 69) + (iCol + 3)] = R11[0];
-}
-
-void acado_zeroBlockH11( int iRow, int iCol )
-{
-acadoWorkspace.H[(iRow * 23 + 69) + (iCol + 3)] = 0.0000000000000000e+00;
-}
-
-void acado_copyHTH( int iRow, int iCol )
-{
-acadoWorkspace.H[(iRow * 23 + 69) + (iCol + 3)] = acadoWorkspace.H[(iCol * 23 + 69) + (iRow + 3)];
-}
-
-void acado_multQ1d( real_t* const Gx1, real_t* const dOld, real_t* const dNew )
-{
-dNew[0] = + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2];
-dNew[1] = + Gx1[3]*dOld[0] + Gx1[4]*dOld[1] + Gx1[5]*dOld[2];
-dNew[2] = + Gx1[6]*dOld[0] + Gx1[7]*dOld[1] + Gx1[8]*dOld[2];
-}
-
-void acado_multQN1d( real_t* const QN1, real_t* const dOld, real_t* const dNew )
-{
-dNew[0] = + acadoWorkspace.QN1[0]*dOld[0] + acadoWorkspace.QN1[1]*dOld[1] + acadoWorkspace.QN1[2]*dOld[2];
-dNew[1] = + acadoWorkspace.QN1[3]*dOld[0] + acadoWorkspace.QN1[4]*dOld[1] + acadoWorkspace.QN1[5]*dOld[2];
-dNew[2] = + acadoWorkspace.QN1[6]*dOld[0] + acadoWorkspace.QN1[7]*dOld[1] + acadoWorkspace.QN1[8]*dOld[2];
-}
-
-void acado_multRDy( real_t* const R2, real_t* const Dy1, real_t* const RDy1 )
-{
-RDy1[0] = + R2[0]*Dy1[0] + R2[1]*Dy1[1] + R2[2]*Dy1[2] + R2[3]*Dy1[3];
-}
-
-void acado_multQDy( real_t* const Q2, real_t* const Dy1, real_t* const QDy1 )
-{
-QDy1[0] = + Q2[0]*Dy1[0] + Q2[1]*Dy1[1] + Q2[2]*Dy1[2] + Q2[3]*Dy1[3];
-QDy1[1] = + Q2[4]*Dy1[0] + Q2[5]*Dy1[1] + Q2[6]*Dy1[2] + Q2[7]*Dy1[3];
-QDy1[2] = + Q2[8]*Dy1[0] + Q2[9]*Dy1[1] + Q2[10]*Dy1[2] + Q2[11]*Dy1[3];
-}
-
-void acado_multEQDy( real_t* const E1, real_t* const QDy1, real_t* const U1 )
-{
-U1[0] += + E1[0]*QDy1[0] + E1[1]*QDy1[1] + E1[2]*QDy1[2];
-}
-
-void acado_multQETGx( real_t* const E1, real_t* const Gx1, real_t* const H101 )
-{
-H101[0] += + E1[0]*Gx1[0] + E1[1]*Gx1[3] + E1[2]*Gx1[6];
-H101[1] += + E1[0]*Gx1[1] + E1[1]*Gx1[4] + E1[2]*Gx1[7];
-H101[2] += + E1[0]*Gx1[2] + E1[1]*Gx1[5] + E1[2]*Gx1[8];
-}
-
-void acado_zeroBlockH10( real_t* const H101 )
-{
-{ int lCopy; for (lCopy = 0; lCopy < 3; lCopy++) H101[ lCopy ] = 0; }
-}
-
-void acado_multEDu( real_t* const E1, real_t* const U1, real_t* const dNew )
-{
-dNew[0] += + E1[0]*U1[0];
-dNew[1] += + E1[1]*U1[0];
-dNew[2] += + E1[2]*U1[0];
-}
-
-void acado_zeroBlockH00(  )
-{
-acadoWorkspace.H[0] = 0.0000000000000000e+00;
-acadoWorkspace.H[1] = 0.0000000000000000e+00;
-acadoWorkspace.H[2] = 0.0000000000000000e+00;
-acadoWorkspace.H[23] = 0.0000000000000000e+00;
-acadoWorkspace.H[24] = 0.0000000000000000e+00;
-acadoWorkspace.H[25] = 0.0000000000000000e+00;
-acadoWorkspace.H[46] = 0.0000000000000000e+00;
-acadoWorkspace.H[47] = 0.0000000000000000e+00;
-acadoWorkspace.H[48] = 0.0000000000000000e+00;
-}
-
-void acado_multCTQC( real_t* const Gx1, real_t* const Gx2 )
-{
-acadoWorkspace.H[0] += + Gx1[0]*Gx2[0] + Gx1[3]*Gx2[3] + Gx1[6]*Gx2[6];
-acadoWorkspace.H[1] += + Gx1[0]*Gx2[1] + Gx1[3]*Gx2[4] + Gx1[6]*Gx2[7];
-acadoWorkspace.H[2] += + Gx1[0]*Gx2[2] + Gx1[3]*Gx2[5] + Gx1[6]*Gx2[8];
-acadoWorkspace.H[23] += + Gx1[1]*Gx2[0] + Gx1[4]*Gx2[3] + Gx1[7]*Gx2[6];
-acadoWorkspace.H[24] += + Gx1[1]*Gx2[1] + Gx1[4]*Gx2[4] + Gx1[7]*Gx2[7];
-acadoWorkspace.H[25] += + Gx1[1]*Gx2[2] + Gx1[4]*Gx2[5] + Gx1[7]*Gx2[8];
-acadoWorkspace.H[46] += + Gx1[2]*Gx2[0] + Gx1[5]*Gx2[3] + Gx1[8]*Gx2[6];
-acadoWorkspace.H[47] += + Gx1[2]*Gx2[1] + Gx1[5]*Gx2[4] + Gx1[8]*Gx2[7];
-acadoWorkspace.H[48] += + Gx1[2]*Gx2[2] + Gx1[5]*Gx2[5] + Gx1[8]*Gx2[8];
-}
-
-void acado_macCTSlx( real_t* const C0, real_t* const g0 )
-{
-g0[0] += 0.0;
-;
-g0[1] += 0.0;
-;
-g0[2] += 0.0;
-;
-}
-
-void acado_macETSlu( real_t* const E0, real_t* const g1 )
-{
-g1[0] += 0.0;
-;
-}
-
-void acado_condensePrep(  )
-{
-int lRun1;
-int lRun2;
-int lRun3;
-int lRun4;
-int lRun5;
-/** Row vector of size: 20 */
-static const int xBoundIndices[ 20 ] = 
-{ 4, 7, 10, 13, 16, 19, 22, 25, 28, 31, 34, 37, 40, 43, 46, 49, 52, 55, 58, 61 };
-acado_moveGuE( acadoWorkspace.evGu, acadoWorkspace.E );
-acado_moveGxT( &(acadoWorkspace.evGx[ 9 ]), acadoWorkspace.T );
-acado_multGxd( acadoWorkspace.d, &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.d[ 3 ]) );
-acado_multGxGx( acadoWorkspace.T, acadoWorkspace.evGx, &(acadoWorkspace.evGx[ 9 ]) );
-
-acado_multGxGu( acadoWorkspace.T, acadoWorkspace.E, &(acadoWorkspace.E[ 3 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 3 ]), &(acadoWorkspace.E[ 6 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 18 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 3 ]), &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.d[ 6 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.evGx[ 18 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.E[ 9 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.E[ 12 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 6 ]), &(acadoWorkspace.E[ 15 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 27 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 6 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.d[ 9 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.evGx[ 27 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.E[ 18 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.E[ 21 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.E[ 24 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 9 ]), &(acadoWorkspace.E[ 27 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 36 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 9 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.d[ 12 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.evGx[ 36 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.E[ 30 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.E[ 33 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.E[ 36 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.E[ 39 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 12 ]), &(acadoWorkspace.E[ 42 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 45 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.d[ 15 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.evGx[ 45 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.E[ 45 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.E[ 48 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.E[ 51 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.E[ 54 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.E[ 57 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 15 ]), &(acadoWorkspace.E[ 60 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 54 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 15 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.d[ 18 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.evGx[ 54 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.E[ 63 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.E[ 66 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.E[ 69 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.E[ 72 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.E[ 75 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.E[ 78 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 18 ]), &(acadoWorkspace.E[ 81 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 63 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 18 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.d[ 21 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.evGx[ 63 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.E[ 84 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.E[ 87 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.E[ 90 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.E[ 93 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.E[ 96 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.E[ 99 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.E[ 102 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 21 ]), &(acadoWorkspace.E[ 105 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 72 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 21 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.d[ 24 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.evGx[ 72 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.E[ 108 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.E[ 111 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.E[ 114 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.E[ 117 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.E[ 120 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.E[ 123 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.E[ 126 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.E[ 129 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 24 ]), &(acadoWorkspace.E[ 132 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 81 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.d[ 27 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.evGx[ 81 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.E[ 135 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.E[ 138 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.E[ 141 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.E[ 144 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.E[ 147 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.E[ 150 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.E[ 153 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.E[ 156 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.E[ 159 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 27 ]), &(acadoWorkspace.E[ 162 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 90 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 27 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.d[ 30 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.evGx[ 90 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.E[ 165 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.E[ 168 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.E[ 171 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.E[ 174 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.E[ 177 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.E[ 180 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.E[ 183 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.E[ 186 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.E[ 189 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.E[ 192 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 30 ]), &(acadoWorkspace.E[ 195 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 99 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 30 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.d[ 33 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.evGx[ 99 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.E[ 198 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.E[ 201 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.E[ 204 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.E[ 207 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.E[ 210 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.E[ 213 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.E[ 216 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.E[ 219 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.E[ 222 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.E[ 225 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.E[ 228 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 33 ]), &(acadoWorkspace.E[ 231 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 108 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 33 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.d[ 36 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.evGx[ 108 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.E[ 234 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.E[ 237 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.E[ 240 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.E[ 243 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.E[ 246 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.E[ 249 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.E[ 252 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.E[ 255 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.E[ 258 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.E[ 261 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.E[ 264 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.E[ 267 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 36 ]), &(acadoWorkspace.E[ 270 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 117 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.d[ 39 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.evGx[ 117 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.E[ 273 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.E[ 276 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.E[ 279 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.E[ 282 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.E[ 285 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.E[ 288 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.E[ 291 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.E[ 294 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.E[ 297 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.E[ 300 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.E[ 303 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.E[ 306 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.E[ 309 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 39 ]), &(acadoWorkspace.E[ 312 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 126 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 39 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.d[ 42 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.evGx[ 126 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.E[ 315 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.E[ 318 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.E[ 321 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.E[ 324 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.E[ 327 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.E[ 330 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.E[ 333 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.E[ 336 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.E[ 339 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.E[ 342 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.E[ 345 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.E[ 348 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.E[ 351 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.E[ 354 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 42 ]), &(acadoWorkspace.E[ 357 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 135 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 42 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.d[ 45 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.evGx[ 135 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.E[ 360 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.E[ 363 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.E[ 366 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.E[ 369 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.E[ 372 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.E[ 375 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.E[ 378 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.E[ 381 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.E[ 384 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.E[ 387 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.E[ 390 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.E[ 393 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.E[ 396 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.E[ 399 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.E[ 402 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 45 ]), &(acadoWorkspace.E[ 405 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 45 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.d[ 48 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.evGx[ 144 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.E[ 408 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.E[ 411 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.E[ 414 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.E[ 417 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.E[ 420 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.E[ 423 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.E[ 426 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.E[ 429 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.E[ 432 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.E[ 435 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.E[ 438 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.E[ 441 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.E[ 444 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.E[ 447 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.E[ 450 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.E[ 453 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 48 ]), &(acadoWorkspace.E[ 456 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 153 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.d[ 51 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.evGx[ 153 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.E[ 459 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.E[ 462 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.E[ 465 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.E[ 468 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.E[ 471 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.E[ 474 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.E[ 477 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.E[ 480 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.E[ 483 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.E[ 486 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.E[ 489 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.E[ 492 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.E[ 495 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.E[ 498 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.E[ 501 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.E[ 504 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.E[ 507 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 51 ]), &(acadoWorkspace.E[ 510 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 162 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 51 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.d[ 54 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.evGx[ 162 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.E[ 513 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.E[ 516 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.E[ 519 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.E[ 522 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.E[ 525 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.E[ 528 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.E[ 531 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.E[ 534 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.E[ 537 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.E[ 540 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.E[ 543 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.E[ 546 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.E[ 549 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.E[ 552 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.E[ 555 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.E[ 558 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.E[ 561 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.E[ 564 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 54 ]), &(acadoWorkspace.E[ 567 ]) );
-
-acado_moveGxT( &(acadoWorkspace.evGx[ 171 ]), acadoWorkspace.T );
-acado_multGxd( &(acadoWorkspace.d[ 54 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.d[ 57 ]) );
-acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.evGx[ 171 ]) );
-
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.E[ 570 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.E[ 573 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.E[ 576 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.E[ 579 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.E[ 582 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.E[ 585 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.E[ 588 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.E[ 591 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.E[ 594 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.E[ 597 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.E[ 600 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.E[ 603 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.E[ 606 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.E[ 609 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.E[ 612 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.E[ 615 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.E[ 618 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.E[ 621 ]) );
-acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.E[ 624 ]) );
-
-acado_moveGuE( &(acadoWorkspace.evGu[ 57 ]), &(acadoWorkspace.E[ 627 ]) );
-
-acado_multGxGx( &(acadoWorkspace.Q1[ 9 ]), acadoWorkspace.evGx, acadoWorkspace.QGx );
-acado_multGxGx( &(acadoWorkspace.Q1[ 18 ]), &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.QGx[ 9 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.QGx[ 18 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.QGx[ 27 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.QGx[ 36 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.QGx[ 45 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.QGx[ 54 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.QGx[ 63 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.QGx[ 72 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.QGx[ 81 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.QGx[ 90 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.QGx[ 99 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.QGx[ 108 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.QGx[ 117 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.QGx[ 126 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.QGx[ 135 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.QGx[ 153 ]) );
-acado_multGxGx( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.QGx[ 162 ]) );
-acado_multGxGx( acadoWorkspace.QN1, &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.QGx[ 171 ]) );
-
-acado_multGxGu( &(acadoWorkspace.Q1[ 9 ]), acadoWorkspace.E, acadoWorkspace.QE );
-acado_multGxGu( &(acadoWorkspace.Q1[ 18 ]), &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.QE[ 3 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 18 ]), &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QE[ 6 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QE[ 9 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.QE[ 15 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 18 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QE[ 21 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.QE[ 27 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 30 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 33 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.QE[ 39 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QE[ 42 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 45 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 51 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 54 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.QE[ 57 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 63 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 66 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 69 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QE[ 75 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 78 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.QE[ 81 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 87 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 90 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 93 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QE[ 99 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 102 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 111 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 114 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 117 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 123 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 126 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 135 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 138 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 141 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 147 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 150 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 153 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 165 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 171 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 174 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 177 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 183 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 198 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 201 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 207 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 210 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 213 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 234 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 237 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 243 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 246 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 249 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 273 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 279 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 282 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 285 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 291 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 315 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 318 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 321 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 327 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 330 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 333 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 363 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 366 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 369 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 375 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 378 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 411 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 414 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 417 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 423 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 426 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 459 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 462 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 465 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 471 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 474 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 477 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 513 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 519 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 522 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 525 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 531 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 570 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 573 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 579 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 582 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 585 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 591 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 594 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 597 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 603 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 606 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 609 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 615 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 618 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QE[ 621 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) );
-acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_zeroBlockH00(  );
-acado_multCTQC( acadoWorkspace.evGx, acadoWorkspace.QGx );
-acado_multCTQC( &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.QGx[ 9 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.QGx[ 18 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.QGx[ 27 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.QGx[ 36 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.QGx[ 45 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.QGx[ 54 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.QGx[ 63 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.QGx[ 72 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.QGx[ 81 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.QGx[ 90 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.QGx[ 99 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.QGx[ 108 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.QGx[ 117 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.QGx[ 126 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.QGx[ 135 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.QGx[ 153 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.QGx[ 162 ]) );
-acado_multCTQC( &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.QGx[ 171 ]) );
-
-acado_zeroBlockH10( acadoWorkspace.H10 );
-acado_multQETGx( acadoWorkspace.QE, acadoWorkspace.evGx, acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 3 ]), &(acadoWorkspace.evGx[ 9 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 9 ]), &(acadoWorkspace.evGx[ 18 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 18 ]), &(acadoWorkspace.evGx[ 27 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 30 ]), &(acadoWorkspace.evGx[ 36 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 45 ]), &(acadoWorkspace.evGx[ 45 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 63 ]), &(acadoWorkspace.evGx[ 54 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.evGx[ 63 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.evGx[ 72 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 135 ]), &(acadoWorkspace.evGx[ 81 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 165 ]), &(acadoWorkspace.evGx[ 90 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 198 ]), &(acadoWorkspace.evGx[ 99 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 234 ]), &(acadoWorkspace.evGx[ 108 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 273 ]), &(acadoWorkspace.evGx[ 117 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 315 ]), &(acadoWorkspace.evGx[ 126 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.evGx[ 135 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 459 ]), &(acadoWorkspace.evGx[ 153 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 513 ]), &(acadoWorkspace.evGx[ 162 ]), acadoWorkspace.H10 );
-acado_multQETGx( &(acadoWorkspace.QE[ 570 ]), &(acadoWorkspace.evGx[ 171 ]), acadoWorkspace.H10 );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 6 ]), &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 21 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 33 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 66 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 87 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 111 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 138 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 201 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 237 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 318 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 363 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 411 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 462 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 573 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 3 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 15 ]), &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 51 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 69 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 90 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 114 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 141 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 171 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 279 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 321 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 366 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 414 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 465 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 519 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 6 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 27 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 39 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 54 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 93 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 117 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 174 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 207 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 243 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 282 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 369 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 417 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 522 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 579 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 9 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 42 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 57 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 75 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 147 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 177 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 210 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 246 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 285 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 327 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 471 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 525 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 582 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 12 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 78 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 99 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 123 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 150 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 213 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 249 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 330 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 375 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 423 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 474 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 585 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 15 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 81 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 102 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 126 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 153 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 183 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 291 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 333 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 378 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 426 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 477 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 531 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 18 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 105 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 129 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 186 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 219 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 255 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 294 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 381 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 429 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 534 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 591 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 21 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 159 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 189 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 222 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 258 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 297 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 339 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 483 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 537 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 594 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 24 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 162 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 225 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 261 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 342 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 387 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 435 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 486 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 597 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 27 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 195 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 303 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 345 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 390 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 438 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 489 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 543 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 30 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 231 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 267 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 306 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 393 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 441 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 546 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 603 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 33 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 270 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 309 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 351 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 495 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 549 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 606 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 36 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 39 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 39 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 354 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 39 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 399 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 39 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 447 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 39 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 498 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 39 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 39 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 609 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 39 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 42 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 357 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 42 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 402 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 42 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 450 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 42 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 501 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 42 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 555 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 42 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 42 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 45 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 405 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 45 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 453 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 45 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 45 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 558 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 45 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 615 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 45 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 507 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 561 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 618 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 48 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 51 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 510 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 51 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 51 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 621 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 51 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 54 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 567 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 54 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 54 ]) );
-acado_zeroBlockH10( &(acadoWorkspace.H10[ 57 ]) );
-acado_multQETGx( &(acadoWorkspace.QE[ 627 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 57 ]) );
-
-acadoWorkspace.H[3] = acadoWorkspace.H10[0];
-acadoWorkspace.H[4] = acadoWorkspace.H10[3];
-acadoWorkspace.H[5] = acadoWorkspace.H10[6];
-acadoWorkspace.H[6] = acadoWorkspace.H10[9];
-acadoWorkspace.H[7] = acadoWorkspace.H10[12];
-acadoWorkspace.H[8] = acadoWorkspace.H10[15];
-acadoWorkspace.H[9] = acadoWorkspace.H10[18];
-acadoWorkspace.H[10] = acadoWorkspace.H10[21];
-acadoWorkspace.H[11] = acadoWorkspace.H10[24];
-acadoWorkspace.H[12] = acadoWorkspace.H10[27];
-acadoWorkspace.H[13] = acadoWorkspace.H10[30];
-acadoWorkspace.H[14] = acadoWorkspace.H10[33];
-acadoWorkspace.H[15] = acadoWorkspace.H10[36];
-acadoWorkspace.H[16] = acadoWorkspace.H10[39];
-acadoWorkspace.H[17] = acadoWorkspace.H10[42];
-acadoWorkspace.H[18] = acadoWorkspace.H10[45];
-acadoWorkspace.H[19] = acadoWorkspace.H10[48];
-acadoWorkspace.H[20] = acadoWorkspace.H10[51];
-acadoWorkspace.H[21] = acadoWorkspace.H10[54];
-acadoWorkspace.H[22] = acadoWorkspace.H10[57];
-acadoWorkspace.H[26] = acadoWorkspace.H10[1];
-acadoWorkspace.H[27] = acadoWorkspace.H10[4];
-acadoWorkspace.H[28] = acadoWorkspace.H10[7];
-acadoWorkspace.H[29] = acadoWorkspace.H10[10];
-acadoWorkspace.H[30] = acadoWorkspace.H10[13];
-acadoWorkspace.H[31] = acadoWorkspace.H10[16];
-acadoWorkspace.H[32] = acadoWorkspace.H10[19];
-acadoWorkspace.H[33] = acadoWorkspace.H10[22];
-acadoWorkspace.H[34] = acadoWorkspace.H10[25];
-acadoWorkspace.H[35] = acadoWorkspace.H10[28];
-acadoWorkspace.H[36] = acadoWorkspace.H10[31];
-acadoWorkspace.H[37] = acadoWorkspace.H10[34];
-acadoWorkspace.H[38] = acadoWorkspace.H10[37];
-acadoWorkspace.H[39] = acadoWorkspace.H10[40];
-acadoWorkspace.H[40] = acadoWorkspace.H10[43];
-acadoWorkspace.H[41] = acadoWorkspace.H10[46];
-acadoWorkspace.H[42] = acadoWorkspace.H10[49];
-acadoWorkspace.H[43] = acadoWorkspace.H10[52];
-acadoWorkspace.H[44] = acadoWorkspace.H10[55];
-acadoWorkspace.H[45] = acadoWorkspace.H10[58];
-acadoWorkspace.H[49] = acadoWorkspace.H10[2];
-acadoWorkspace.H[50] = acadoWorkspace.H10[5];
-acadoWorkspace.H[51] = acadoWorkspace.H10[8];
-acadoWorkspace.H[52] = acadoWorkspace.H10[11];
-acadoWorkspace.H[53] = acadoWorkspace.H10[14];
-acadoWorkspace.H[54] = acadoWorkspace.H10[17];
-acadoWorkspace.H[55] = acadoWorkspace.H10[20];
-acadoWorkspace.H[56] = acadoWorkspace.H10[23];
-acadoWorkspace.H[57] = acadoWorkspace.H10[26];
-acadoWorkspace.H[58] = acadoWorkspace.H10[29];
-acadoWorkspace.H[59] = acadoWorkspace.H10[32];
-acadoWorkspace.H[60] = acadoWorkspace.H10[35];
-acadoWorkspace.H[61] = acadoWorkspace.H10[38];
-acadoWorkspace.H[62] = acadoWorkspace.H10[41];
-acadoWorkspace.H[63] = acadoWorkspace.H10[44];
-acadoWorkspace.H[64] = acadoWorkspace.H10[47];
-acadoWorkspace.H[65] = acadoWorkspace.H10[50];
-acadoWorkspace.H[66] = acadoWorkspace.H10[53];
-acadoWorkspace.H[67] = acadoWorkspace.H10[56];
-acadoWorkspace.H[68] = acadoWorkspace.H10[59];
-
-acado_setBlockH11_R1( 0, 0, acadoWorkspace.R1 );
-acado_setBlockH11( 0, 0, acadoWorkspace.E, acadoWorkspace.QE );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.QE[ 3 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QE[ 9 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 18 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 30 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 45 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 63 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 135 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 165 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 198 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 234 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 273 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 315 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 459 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 513 ]) );
-acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 570 ]) );
-
-acado_zeroBlockH11( 0, 1 );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.QE[ 6 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QE[ 12 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 21 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 33 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 48 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 66 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 87 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 111 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 138 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 201 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 237 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 276 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 318 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 363 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 411 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 462 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 573 ]) );
-
-acado_zeroBlockH11( 0, 2 );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QE[ 15 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 24 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 51 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 69 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 90 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 114 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 141 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 171 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 279 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 321 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 366 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 414 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 465 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 519 ]) );
-acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 576 ]) );
-
-acado_zeroBlockH11( 0, 3 );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 27 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 39 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 54 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 93 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 117 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 144 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 174 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 207 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 243 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 282 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 369 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 417 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 522 ]) );
-acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 579 ]) );
-
-acado_zeroBlockH11( 0, 4 );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 42 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 57 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 75 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 147 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 177 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 210 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 246 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 285 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 327 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 420 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 471 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 525 ]) );
-acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 582 ]) );
-
-acado_zeroBlockH11( 0, 5 );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 78 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 99 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 123 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 150 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 213 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 249 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 330 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 375 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 423 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 474 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 585 ]) );
-
-acado_zeroBlockH11( 0, 6 );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 81 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 102 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 126 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 153 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 183 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 291 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 333 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 378 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 426 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 477 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 531 ]) );
-acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 588 ]) );
-
-acado_zeroBlockH11( 0, 7 );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 591 ]) );
-
-acado_zeroBlockH11( 0, 8 );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 0, 9 );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 0, 10 );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 0, 11 );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 0, 12 );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 0, 13 );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 0, 14 );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 0, 15 );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 0, 16 );
-acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 0, 17 );
-acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 0, 18 );
-acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 0, 19 );
-acado_setBlockH11( 0, 19, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 1, 1, &(acadoWorkspace.R1[ 1 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QE[ 6 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QE[ 21 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 33 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 66 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 87 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 111 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 138 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 201 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 237 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 318 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 363 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 411 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 462 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) );
-acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 573 ]) );
-
-acado_zeroBlockH11( 1, 2 );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 15 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QE[ 24 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 51 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 69 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 90 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 114 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 141 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 171 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 279 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 321 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 366 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 414 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 465 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 519 ]) );
-acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 576 ]) );
-
-acado_zeroBlockH11( 1, 3 );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QE[ 27 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 39 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 54 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 93 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 117 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 144 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 174 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 207 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 243 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 282 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 369 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 417 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 522 ]) );
-acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 579 ]) );
-
-acado_zeroBlockH11( 1, 4 );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 42 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 57 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 75 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 147 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 177 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 210 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 246 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 285 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 327 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 420 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 471 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 525 ]) );
-acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 582 ]) );
-
-acado_zeroBlockH11( 1, 5 );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 78 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 99 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 123 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 150 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 213 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 249 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 330 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 375 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 423 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 474 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 585 ]) );
-
-acado_zeroBlockH11( 1, 6 );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 81 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 102 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 126 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 153 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 183 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 291 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 333 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 378 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 426 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 477 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 531 ]) );
-acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 588 ]) );
-
-acado_zeroBlockH11( 1, 7 );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 591 ]) );
-
-acado_zeroBlockH11( 1, 8 );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 1, 9 );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 1, 10 );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 1, 11 );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 1, 12 );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 1, 13 );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 1, 14 );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 1, 15 );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 1, 16 );
-acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 1, 17 );
-acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 1, 18 );
-acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 1, 19 );
-acado_setBlockH11( 1, 19, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 2, 2, &(acadoWorkspace.R1[ 2 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.QE[ 15 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 51 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 69 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 90 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 114 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 141 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 171 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 279 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 321 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 366 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 414 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 465 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 519 ]) );
-acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) );
-
-acado_zeroBlockH11( 2, 3 );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 27 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 39 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 54 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 93 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 117 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 144 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 174 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 207 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 243 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 282 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 369 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 417 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 522 ]) );
-acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 579 ]) );
-
-acado_zeroBlockH11( 2, 4 );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 42 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 57 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 75 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 147 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 177 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 210 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 246 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 285 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 327 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 420 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 471 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 525 ]) );
-acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 582 ]) );
-
-acado_zeroBlockH11( 2, 5 );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 78 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 99 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 123 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 150 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 213 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 249 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 330 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 375 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 423 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 474 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 585 ]) );
-
-acado_zeroBlockH11( 2, 6 );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 81 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 102 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 126 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 153 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 183 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 291 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 333 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 378 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 426 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 477 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 531 ]) );
-acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 588 ]) );
-
-acado_zeroBlockH11( 2, 7 );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 591 ]) );
-
-acado_zeroBlockH11( 2, 8 );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 2, 9 );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 2, 10 );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 2, 11 );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 2, 12 );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 2, 13 );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 2, 14 );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 2, 15 );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 2, 16 );
-acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 2, 17 );
-acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 2, 18 );
-acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 2, 19 );
-acado_setBlockH11( 2, 19, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 3, 3, &(acadoWorkspace.R1[ 3 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.QE[ 27 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.QE[ 39 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 54 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 93 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 117 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 174 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 207 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 243 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 282 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 369 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 417 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 522 ]) );
-acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 579 ]) );
-
-acado_zeroBlockH11( 3, 4 );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.QE[ 42 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 57 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 75 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 147 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 177 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 210 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 246 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 285 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 327 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 420 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 471 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 525 ]) );
-acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 582 ]) );
-
-acado_zeroBlockH11( 3, 5 );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 78 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 99 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 123 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 150 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 213 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 249 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 330 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 375 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 423 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 474 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 585 ]) );
-
-acado_zeroBlockH11( 3, 6 );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 81 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 102 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 126 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 153 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 183 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 291 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 333 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 378 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 426 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 477 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 531 ]) );
-acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 588 ]) );
-
-acado_zeroBlockH11( 3, 7 );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 591 ]) );
-
-acado_zeroBlockH11( 3, 8 );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 3, 9 );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 3, 10 );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 3, 11 );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 3, 12 );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 3, 13 );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 3, 14 );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 3, 15 );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 3, 16 );
-acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 3, 17 );
-acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 3, 18 );
-acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 3, 19 );
-acado_setBlockH11( 3, 19, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 4, 4, &(acadoWorkspace.R1[ 4 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QE[ 42 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.QE[ 57 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QE[ 75 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 147 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 177 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 210 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 246 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 285 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 327 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 471 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 525 ]) );
-acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 582 ]) );
-
-acado_zeroBlockH11( 4, 5 );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QE[ 78 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 99 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 123 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 150 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 213 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 249 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 330 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 375 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 423 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 474 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 585 ]) );
-
-acado_zeroBlockH11( 4, 6 );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QE[ 81 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 102 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 126 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 153 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 183 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 291 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 333 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 378 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 426 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 477 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 531 ]) );
-acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 588 ]) );
-
-acado_zeroBlockH11( 4, 7 );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 591 ]) );
-
-acado_zeroBlockH11( 4, 8 );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 4, 9 );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 4, 10 );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 4, 11 );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 4, 12 );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 4, 13 );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 4, 14 );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 4, 15 );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 4, 16 );
-acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 4, 17 );
-acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 4, 18 );
-acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 4, 19 );
-acado_setBlockH11( 4, 19, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 5, 5, &(acadoWorkspace.R1[ 5 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 78 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QE[ 99 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 123 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 150 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 213 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 249 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 330 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 375 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 423 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 474 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) );
-acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 585 ]) );
-
-acado_zeroBlockH11( 5, 6 );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 81 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QE[ 102 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 126 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 153 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 183 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 291 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 333 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 378 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 426 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 477 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 531 ]) );
-acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 588 ]) );
-
-acado_zeroBlockH11( 5, 7 );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 591 ]) );
-
-acado_zeroBlockH11( 5, 8 );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 5, 9 );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 5, 10 );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 5, 11 );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 5, 12 );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 5, 13 );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 5, 14 );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 5, 15 );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 5, 16 );
-acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 5, 17 );
-acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 5, 18 );
-acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 5, 19 );
-acado_setBlockH11( 5, 19, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 6, 6, &(acadoWorkspace.R1[ 6 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.QE[ 81 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 102 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 126 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 153 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 183 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 291 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 333 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 378 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 426 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 477 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 531 ]) );
-acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) );
-
-acado_zeroBlockH11( 6, 7 );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 591 ]) );
-
-acado_zeroBlockH11( 6, 8 );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 6, 9 );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 6, 10 );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 6, 11 );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 6, 12 );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 6, 13 );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 6, 14 );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 6, 15 );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 6, 16 );
-acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 6, 17 );
-acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 6, 18 );
-acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 6, 19 );
-acado_setBlockH11( 6, 19, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 7, 7, &(acadoWorkspace.R1[ 7 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.QE[ 105 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.QE[ 129 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 186 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 219 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 255 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 294 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 381 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 429 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 534 ]) );
-acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 591 ]) );
-
-acado_zeroBlockH11( 7, 8 );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 7, 9 );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 7, 10 );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 7, 11 );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 7, 12 );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 7, 13 );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 7, 14 );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 7, 15 );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 7, 16 );
-acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 7, 17 );
-acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 7, 18 );
-acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 7, 19 );
-acado_setBlockH11( 7, 19, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 8, 8, &(acadoWorkspace.R1[ 8 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.QE[ 159 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QE[ 189 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 222 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 258 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 297 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 339 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 483 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 537 ]) );
-acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 594 ]) );
-
-acado_zeroBlockH11( 8, 9 );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 8, 10 );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 8, 11 );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 8, 12 );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 8, 13 );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 8, 14 );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 8, 15 );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 8, 16 );
-acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 8, 17 );
-acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 8, 18 );
-acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 8, 19 );
-acado_setBlockH11( 8, 19, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 9, 9, &(acadoWorkspace.R1[ 9 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QE[ 162 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QE[ 225 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 261 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 342 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 387 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 435 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 486 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) );
-acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 597 ]) );
-
-acado_zeroBlockH11( 9, 10 );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 9, 11 );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 9, 12 );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 9, 13 );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 9, 14 );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 9, 15 );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 9, 16 );
-acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 9, 17 );
-acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 9, 18 );
-acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 9, 19 );
-acado_setBlockH11( 9, 19, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 10, 10, &(acadoWorkspace.R1[ 10 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.QE[ 195 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 303 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 345 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 390 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 438 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 489 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 543 ]) );
-acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) );
-
-acado_zeroBlockH11( 10, 11 );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 10, 12 );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 10, 13 );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 10, 14 );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 10, 15 );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 10, 16 );
-acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 10, 17 );
-acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 10, 18 );
-acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 10, 19 );
-acado_setBlockH11( 10, 19, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 11, 11, &(acadoWorkspace.R1[ 11 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.QE[ 231 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.QE[ 267 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 306 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 393 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 441 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 546 ]) );
-acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 603 ]) );
-
-acado_zeroBlockH11( 11, 12 );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 11, 13 );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 11, 14 );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 11, 15 );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 11, 16 );
-acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 11, 17 );
-acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 11, 18 );
-acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 11, 19 );
-acado_setBlockH11( 11, 19, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 12, 12, &(acadoWorkspace.R1[ 12 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 270 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.QE[ 309 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QE[ 351 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 495 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 549 ]) );
-acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 606 ]) );
-
-acado_zeroBlockH11( 12, 13 );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 12, 14 );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 12, 15 );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 12, 16 );
-acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 12, 17 );
-acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 12, 18 );
-acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 12, 19 );
-acado_setBlockH11( 12, 19, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 13, 13, &(acadoWorkspace.R1[ 13 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 354 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QE[ 399 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 447 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 498 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) );
-acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 609 ]) );
-
-acado_zeroBlockH11( 13, 14 );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 13, 15 );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 13, 16 );
-acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 13, 17 );
-acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 13, 18 );
-acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 13, 19 );
-acado_setBlockH11( 13, 19, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 14, 14, &(acadoWorkspace.R1[ 14 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.QE[ 357 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 402 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 450 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 501 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 555 ]) );
-acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) );
-
-acado_zeroBlockH11( 14, 15 );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 14, 16 );
-acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 14, 17 );
-acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 14, 18 );
-acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 14, 19 );
-acado_setBlockH11( 14, 19, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 15, 15, &(acadoWorkspace.R1[ 15 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.QE[ 405 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.QE[ 453 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 558 ]) );
-acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 615 ]) );
-
-acado_zeroBlockH11( 15, 16 );
-acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 15, 17 );
-acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 15, 18 );
-acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 15, 19 );
-acado_setBlockH11( 15, 19, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 16, 16, &(acadoWorkspace.R1[ 16 ]) );
-acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) );
-acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.QE[ 507 ]) );
-acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QE[ 561 ]) );
-acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 618 ]) );
-
-acado_zeroBlockH11( 16, 17 );
-acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 16, 18 );
-acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 16, 19 );
-acado_setBlockH11( 16, 19, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 17, 17, &(acadoWorkspace.R1[ 17 ]) );
-acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 510 ]) );
-acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) );
-acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QE[ 621 ]) );
-
-acado_zeroBlockH11( 17, 18 );
-acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 17, 19 );
-acado_setBlockH11( 17, 19, &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 18, 18, &(acadoWorkspace.R1[ 18 ]) );
-acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.QE[ 567 ]) );
-acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) );
-
-acado_zeroBlockH11( 18, 19 );
-acado_setBlockH11( 18, 19, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-acado_setBlockH11_R1( 19, 19, &(acadoWorkspace.R1[ 19 ]) );
-acado_setBlockH11( 19, 19, &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.QE[ 627 ]) );
-
-
-acado_copyHTH( 1, 0 );
-acado_copyHTH( 2, 0 );
-acado_copyHTH( 2, 1 );
-acado_copyHTH( 3, 0 );
-acado_copyHTH( 3, 1 );
-acado_copyHTH( 3, 2 );
-acado_copyHTH( 4, 0 );
-acado_copyHTH( 4, 1 );
-acado_copyHTH( 4, 2 );
-acado_copyHTH( 4, 3 );
-acado_copyHTH( 5, 0 );
-acado_copyHTH( 5, 1 );
-acado_copyHTH( 5, 2 );
-acado_copyHTH( 5, 3 );
-acado_copyHTH( 5, 4 );
-acado_copyHTH( 6, 0 );
-acado_copyHTH( 6, 1 );
-acado_copyHTH( 6, 2 );
-acado_copyHTH( 6, 3 );
-acado_copyHTH( 6, 4 );
-acado_copyHTH( 6, 5 );
-acado_copyHTH( 7, 0 );
-acado_copyHTH( 7, 1 );
-acado_copyHTH( 7, 2 );
-acado_copyHTH( 7, 3 );
-acado_copyHTH( 7, 4 );
-acado_copyHTH( 7, 5 );
-acado_copyHTH( 7, 6 );
-acado_copyHTH( 8, 0 );
-acado_copyHTH( 8, 1 );
-acado_copyHTH( 8, 2 );
-acado_copyHTH( 8, 3 );
-acado_copyHTH( 8, 4 );
-acado_copyHTH( 8, 5 );
-acado_copyHTH( 8, 6 );
-acado_copyHTH( 8, 7 );
-acado_copyHTH( 9, 0 );
-acado_copyHTH( 9, 1 );
-acado_copyHTH( 9, 2 );
-acado_copyHTH( 9, 3 );
-acado_copyHTH( 9, 4 );
-acado_copyHTH( 9, 5 );
-acado_copyHTH( 9, 6 );
-acado_copyHTH( 9, 7 );
-acado_copyHTH( 9, 8 );
-acado_copyHTH( 10, 0 );
-acado_copyHTH( 10, 1 );
-acado_copyHTH( 10, 2 );
-acado_copyHTH( 10, 3 );
-acado_copyHTH( 10, 4 );
-acado_copyHTH( 10, 5 );
-acado_copyHTH( 10, 6 );
-acado_copyHTH( 10, 7 );
-acado_copyHTH( 10, 8 );
-acado_copyHTH( 10, 9 );
-acado_copyHTH( 11, 0 );
-acado_copyHTH( 11, 1 );
-acado_copyHTH( 11, 2 );
-acado_copyHTH( 11, 3 );
-acado_copyHTH( 11, 4 );
-acado_copyHTH( 11, 5 );
-acado_copyHTH( 11, 6 );
-acado_copyHTH( 11, 7 );
-acado_copyHTH( 11, 8 );
-acado_copyHTH( 11, 9 );
-acado_copyHTH( 11, 10 );
-acado_copyHTH( 12, 0 );
-acado_copyHTH( 12, 1 );
-acado_copyHTH( 12, 2 );
-acado_copyHTH( 12, 3 );
-acado_copyHTH( 12, 4 );
-acado_copyHTH( 12, 5 );
-acado_copyHTH( 12, 6 );
-acado_copyHTH( 12, 7 );
-acado_copyHTH( 12, 8 );
-acado_copyHTH( 12, 9 );
-acado_copyHTH( 12, 10 );
-acado_copyHTH( 12, 11 );
-acado_copyHTH( 13, 0 );
-acado_copyHTH( 13, 1 );
-acado_copyHTH( 13, 2 );
-acado_copyHTH( 13, 3 );
-acado_copyHTH( 13, 4 );
-acado_copyHTH( 13, 5 );
-acado_copyHTH( 13, 6 );
-acado_copyHTH( 13, 7 );
-acado_copyHTH( 13, 8 );
-acado_copyHTH( 13, 9 );
-acado_copyHTH( 13, 10 );
-acado_copyHTH( 13, 11 );
-acado_copyHTH( 13, 12 );
-acado_copyHTH( 14, 0 );
-acado_copyHTH( 14, 1 );
-acado_copyHTH( 14, 2 );
-acado_copyHTH( 14, 3 );
-acado_copyHTH( 14, 4 );
-acado_copyHTH( 14, 5 );
-acado_copyHTH( 14, 6 );
-acado_copyHTH( 14, 7 );
-acado_copyHTH( 14, 8 );
-acado_copyHTH( 14, 9 );
-acado_copyHTH( 14, 10 );
-acado_copyHTH( 14, 11 );
-acado_copyHTH( 14, 12 );
-acado_copyHTH( 14, 13 );
-acado_copyHTH( 15, 0 );
-acado_copyHTH( 15, 1 );
-acado_copyHTH( 15, 2 );
-acado_copyHTH( 15, 3 );
-acado_copyHTH( 15, 4 );
-acado_copyHTH( 15, 5 );
-acado_copyHTH( 15, 6 );
-acado_copyHTH( 15, 7 );
-acado_copyHTH( 15, 8 );
-acado_copyHTH( 15, 9 );
-acado_copyHTH( 15, 10 );
-acado_copyHTH( 15, 11 );
-acado_copyHTH( 15, 12 );
-acado_copyHTH( 15, 13 );
-acado_copyHTH( 15, 14 );
-acado_copyHTH( 16, 0 );
-acado_copyHTH( 16, 1 );
-acado_copyHTH( 16, 2 );
-acado_copyHTH( 16, 3 );
-acado_copyHTH( 16, 4 );
-acado_copyHTH( 16, 5 );
-acado_copyHTH( 16, 6 );
-acado_copyHTH( 16, 7 );
-acado_copyHTH( 16, 8 );
-acado_copyHTH( 16, 9 );
-acado_copyHTH( 16, 10 );
-acado_copyHTH( 16, 11 );
-acado_copyHTH( 16, 12 );
-acado_copyHTH( 16, 13 );
-acado_copyHTH( 16, 14 );
-acado_copyHTH( 16, 15 );
-acado_copyHTH( 17, 0 );
-acado_copyHTH( 17, 1 );
-acado_copyHTH( 17, 2 );
-acado_copyHTH( 17, 3 );
-acado_copyHTH( 17, 4 );
-acado_copyHTH( 17, 5 );
-acado_copyHTH( 17, 6 );
-acado_copyHTH( 17, 7 );
-acado_copyHTH( 17, 8 );
-acado_copyHTH( 17, 9 );
-acado_copyHTH( 17, 10 );
-acado_copyHTH( 17, 11 );
-acado_copyHTH( 17, 12 );
-acado_copyHTH( 17, 13 );
-acado_copyHTH( 17, 14 );
-acado_copyHTH( 17, 15 );
-acado_copyHTH( 17, 16 );
-acado_copyHTH( 18, 0 );
-acado_copyHTH( 18, 1 );
-acado_copyHTH( 18, 2 );
-acado_copyHTH( 18, 3 );
-acado_copyHTH( 18, 4 );
-acado_copyHTH( 18, 5 );
-acado_copyHTH( 18, 6 );
-acado_copyHTH( 18, 7 );
-acado_copyHTH( 18, 8 );
-acado_copyHTH( 18, 9 );
-acado_copyHTH( 18, 10 );
-acado_copyHTH( 18, 11 );
-acado_copyHTH( 18, 12 );
-acado_copyHTH( 18, 13 );
-acado_copyHTH( 18, 14 );
-acado_copyHTH( 18, 15 );
-acado_copyHTH( 18, 16 );
-acado_copyHTH( 18, 17 );
-acado_copyHTH( 19, 0 );
-acado_copyHTH( 19, 1 );
-acado_copyHTH( 19, 2 );
-acado_copyHTH( 19, 3 );
-acado_copyHTH( 19, 4 );
-acado_copyHTH( 19, 5 );
-acado_copyHTH( 19, 6 );
-acado_copyHTH( 19, 7 );
-acado_copyHTH( 19, 8 );
-acado_copyHTH( 19, 9 );
-acado_copyHTH( 19, 10 );
-acado_copyHTH( 19, 11 );
-acado_copyHTH( 19, 12 );
-acado_copyHTH( 19, 13 );
-acado_copyHTH( 19, 14 );
-acado_copyHTH( 19, 15 );
-acado_copyHTH( 19, 16 );
-acado_copyHTH( 19, 17 );
-acado_copyHTH( 19, 18 );
-
-acadoWorkspace.H[69] = acadoWorkspace.H10[0];
-acadoWorkspace.H[70] = acadoWorkspace.H10[1];
-acadoWorkspace.H[71] = acadoWorkspace.H10[2];
-acadoWorkspace.H[92] = acadoWorkspace.H10[3];
-acadoWorkspace.H[93] = acadoWorkspace.H10[4];
-acadoWorkspace.H[94] = acadoWorkspace.H10[5];
-acadoWorkspace.H[115] = acadoWorkspace.H10[6];
-acadoWorkspace.H[116] = acadoWorkspace.H10[7];
-acadoWorkspace.H[117] = acadoWorkspace.H10[8];
-acadoWorkspace.H[138] = acadoWorkspace.H10[9];
-acadoWorkspace.H[139] = acadoWorkspace.H10[10];
-acadoWorkspace.H[140] = acadoWorkspace.H10[11];
-acadoWorkspace.H[161] = acadoWorkspace.H10[12];
-acadoWorkspace.H[162] = acadoWorkspace.H10[13];
-acadoWorkspace.H[163] = acadoWorkspace.H10[14];
-acadoWorkspace.H[184] = acadoWorkspace.H10[15];
-acadoWorkspace.H[185] = acadoWorkspace.H10[16];
-acadoWorkspace.H[186] = acadoWorkspace.H10[17];
-acadoWorkspace.H[207] = acadoWorkspace.H10[18];
-acadoWorkspace.H[208] = acadoWorkspace.H10[19];
-acadoWorkspace.H[209] = acadoWorkspace.H10[20];
-acadoWorkspace.H[230] = acadoWorkspace.H10[21];
-acadoWorkspace.H[231] = acadoWorkspace.H10[22];
-acadoWorkspace.H[232] = acadoWorkspace.H10[23];
-acadoWorkspace.H[253] = acadoWorkspace.H10[24];
-acadoWorkspace.H[254] = acadoWorkspace.H10[25];
-acadoWorkspace.H[255] = acadoWorkspace.H10[26];
-acadoWorkspace.H[276] = acadoWorkspace.H10[27];
-acadoWorkspace.H[277] = acadoWorkspace.H10[28];
-acadoWorkspace.H[278] = acadoWorkspace.H10[29];
-acadoWorkspace.H[299] = acadoWorkspace.H10[30];
-acadoWorkspace.H[300] = acadoWorkspace.H10[31];
-acadoWorkspace.H[301] = acadoWorkspace.H10[32];
-acadoWorkspace.H[322] = acadoWorkspace.H10[33];
-acadoWorkspace.H[323] = acadoWorkspace.H10[34];
-acadoWorkspace.H[324] = acadoWorkspace.H10[35];
-acadoWorkspace.H[345] = acadoWorkspace.H10[36];
-acadoWorkspace.H[346] = acadoWorkspace.H10[37];
-acadoWorkspace.H[347] = acadoWorkspace.H10[38];
-acadoWorkspace.H[368] = acadoWorkspace.H10[39];
-acadoWorkspace.H[369] = acadoWorkspace.H10[40];
-acadoWorkspace.H[370] = acadoWorkspace.H10[41];
-acadoWorkspace.H[391] = acadoWorkspace.H10[42];
-acadoWorkspace.H[392] = acadoWorkspace.H10[43];
-acadoWorkspace.H[393] = acadoWorkspace.H10[44];
-acadoWorkspace.H[414] = acadoWorkspace.H10[45];
-acadoWorkspace.H[415] = acadoWorkspace.H10[46];
-acadoWorkspace.H[416] = acadoWorkspace.H10[47];
-acadoWorkspace.H[437] = acadoWorkspace.H10[48];
-acadoWorkspace.H[438] = acadoWorkspace.H10[49];
-acadoWorkspace.H[439] = acadoWorkspace.H10[50];
-acadoWorkspace.H[460] = acadoWorkspace.H10[51];
-acadoWorkspace.H[461] = acadoWorkspace.H10[52];
-acadoWorkspace.H[462] = acadoWorkspace.H10[53];
-acadoWorkspace.H[483] = acadoWorkspace.H10[54];
-acadoWorkspace.H[484] = acadoWorkspace.H10[55];
-acadoWorkspace.H[485] = acadoWorkspace.H10[56];
-acadoWorkspace.H[506] = acadoWorkspace.H10[57];
-acadoWorkspace.H[507] = acadoWorkspace.H10[58];
-acadoWorkspace.H[508] = acadoWorkspace.H10[59];
-
-acado_multQ1d( &(acadoWorkspace.Q1[ 9 ]), acadoWorkspace.d, acadoWorkspace.Qd );
-acado_multQ1d( &(acadoWorkspace.Q1[ 18 ]), &(acadoWorkspace.d[ 3 ]), &(acadoWorkspace.Qd[ 3 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.d[ 6 ]), &(acadoWorkspace.Qd[ 6 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.d[ 9 ]), &(acadoWorkspace.Qd[ 9 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.Qd[ 12 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.d[ 15 ]), &(acadoWorkspace.Qd[ 15 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.d[ 18 ]), &(acadoWorkspace.Qd[ 18 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.d[ 21 ]), &(acadoWorkspace.Qd[ 21 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.Qd[ 24 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.d[ 27 ]), &(acadoWorkspace.Qd[ 27 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.d[ 30 ]), &(acadoWorkspace.Qd[ 30 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.d[ 33 ]), &(acadoWorkspace.Qd[ 33 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.Qd[ 36 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.d[ 39 ]), &(acadoWorkspace.Qd[ 39 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.d[ 42 ]), &(acadoWorkspace.Qd[ 42 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.d[ 45 ]), &(acadoWorkspace.Qd[ 45 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.Qd[ 48 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.d[ 51 ]), &(acadoWorkspace.Qd[ 51 ]) );
-acado_multQ1d( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.d[ 54 ]), &(acadoWorkspace.Qd[ 54 ]) );
-acado_multQN1d( acadoWorkspace.QN1, &(acadoWorkspace.d[ 57 ]), &(acadoWorkspace.Qd[ 57 ]) );
-
-acado_macCTSlx( acadoWorkspace.evGx, acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 9 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 18 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 27 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 36 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 45 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 54 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 63 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 72 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 81 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 90 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 99 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 108 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 117 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 126 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 135 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 153 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 162 ]), acadoWorkspace.g );
-acado_macCTSlx( &(acadoWorkspace.evGx[ 171 ]), acadoWorkspace.g );
-acado_macETSlu( acadoWorkspace.QE, &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 3 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 9 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 18 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 30 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 45 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 63 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 135 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 165 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 198 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 234 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 273 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 315 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 459 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 513 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 570 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 6 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 21 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 33 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 66 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 87 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 111 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 138 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 201 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 237 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 318 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 363 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 411 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 462 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 573 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 15 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 51 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 69 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 90 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 114 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 141 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 171 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 279 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 321 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 366 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 414 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 465 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 519 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 27 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 39 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 54 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 93 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 117 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 174 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 207 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 243 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 282 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 369 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 417 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 522 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 579 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 42 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 57 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 75 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 147 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 177 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 210 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 246 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 285 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 327 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 471 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 525 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 582 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 78 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 99 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 123 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 150 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 213 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 249 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 330 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 375 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 423 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 474 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 585 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 81 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 102 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 126 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 153 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 183 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 291 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 333 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 378 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 426 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 477 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 531 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 105 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 129 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 186 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 219 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 255 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 294 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 381 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 429 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 534 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 591 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 159 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 189 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 222 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 258 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 297 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 339 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 483 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 537 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 594 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 162 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 225 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 261 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 342 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 387 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 435 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 486 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 597 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 195 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 303 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 345 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 390 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 438 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 489 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 543 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 231 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 267 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 306 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 393 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 441 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 546 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 603 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 270 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 309 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 351 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 495 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 549 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 606 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 354 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 399 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 447 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 498 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 609 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 357 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 402 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 450 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 501 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 555 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 405 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 453 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 558 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 615 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 507 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 561 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 618 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 510 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 621 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 567 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_macETSlu( &(acadoWorkspace.QE[ 627 ]), &(acadoWorkspace.g[ 22 ]) );
-acadoWorkspace.lb[3] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[0];
-acadoWorkspace.lb[4] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[1];
-acadoWorkspace.lb[5] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[2];
-acadoWorkspace.lb[6] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[3];
-acadoWorkspace.lb[7] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[4];
-acadoWorkspace.lb[8] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[5];
-acadoWorkspace.lb[9] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[6];
-acadoWorkspace.lb[10] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[7];
-acadoWorkspace.lb[11] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[8];
-acadoWorkspace.lb[12] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[9];
-acadoWorkspace.lb[13] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[10];
-acadoWorkspace.lb[14] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[11];
-acadoWorkspace.lb[15] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[12];
-acadoWorkspace.lb[16] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[13];
-acadoWorkspace.lb[17] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[14];
-acadoWorkspace.lb[18] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[15];
-acadoWorkspace.lb[19] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[16];
-acadoWorkspace.lb[20] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[17];
-acadoWorkspace.lb[21] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[18];
-acadoWorkspace.lb[22] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[19];
-acadoWorkspace.ub[3] = (real_t)1.0000000000000000e+12 - acadoVariables.u[0];
-acadoWorkspace.ub[4] = (real_t)1.0000000000000000e+12 - acadoVariables.u[1];
-acadoWorkspace.ub[5] = (real_t)1.0000000000000000e+12 - acadoVariables.u[2];
-acadoWorkspace.ub[6] = (real_t)1.0000000000000000e+12 - acadoVariables.u[3];
-acadoWorkspace.ub[7] = (real_t)1.0000000000000000e+12 - acadoVariables.u[4];
-acadoWorkspace.ub[8] = (real_t)1.0000000000000000e+12 - acadoVariables.u[5];
-acadoWorkspace.ub[9] = (real_t)1.0000000000000000e+12 - acadoVariables.u[6];
-acadoWorkspace.ub[10] = (real_t)1.0000000000000000e+12 - acadoVariables.u[7];
-acadoWorkspace.ub[11] = (real_t)1.0000000000000000e+12 - acadoVariables.u[8];
-acadoWorkspace.ub[12] = (real_t)1.0000000000000000e+12 - acadoVariables.u[9];
-acadoWorkspace.ub[13] = (real_t)1.0000000000000000e+12 - acadoVariables.u[10];
-acadoWorkspace.ub[14] = (real_t)1.0000000000000000e+12 - acadoVariables.u[11];
-acadoWorkspace.ub[15] = (real_t)1.0000000000000000e+12 - acadoVariables.u[12];
-acadoWorkspace.ub[16] = (real_t)1.0000000000000000e+12 - acadoVariables.u[13];
-acadoWorkspace.ub[17] = (real_t)1.0000000000000000e+12 - acadoVariables.u[14];
-acadoWorkspace.ub[18] = (real_t)1.0000000000000000e+12 - acadoVariables.u[15];
-acadoWorkspace.ub[19] = (real_t)1.0000000000000000e+12 - acadoVariables.u[16];
-acadoWorkspace.ub[20] = (real_t)1.0000000000000000e+12 - acadoVariables.u[17];
-acadoWorkspace.ub[21] = (real_t)1.0000000000000000e+12 - acadoVariables.u[18];
-acadoWorkspace.ub[22] = (real_t)1.0000000000000000e+12 - acadoVariables.u[19];
-
-for (lRun1 = 0; lRun1 < 20; ++lRun1)
-{
-lRun3 = xBoundIndices[ lRun1 ] - 3;
-lRun4 = ((lRun3) / (3)) + (1);
-acadoWorkspace.A[lRun1 * 23] = acadoWorkspace.evGx[lRun3 * 3];
-acadoWorkspace.A[lRun1 * 23 + 1] = acadoWorkspace.evGx[lRun3 * 3 + 1];
-acadoWorkspace.A[lRun1 * 23 + 2] = acadoWorkspace.evGx[lRun3 * 3 + 2];
-for (lRun2 = 0; lRun2 < lRun4; ++lRun2)
-{
-lRun5 = (((((lRun4) * (lRun4-1)) / (2)) + (lRun2)) * (3)) + ((lRun3) % (3));
-acadoWorkspace.A[(lRun1 * 23) + (lRun2 + 3)] = acadoWorkspace.E[lRun5];
-}
-}
-
-}
-
-void acado_condenseFdb(  )
-{
-real_t tmp;
-
-acadoWorkspace.Dx0[0] = acadoVariables.x0[0] - acadoVariables.x[0];
-acadoWorkspace.Dx0[1] = acadoVariables.x0[1] - acadoVariables.x[1];
-acadoWorkspace.Dx0[2] = acadoVariables.x0[2] - acadoVariables.x[2];
-
-acadoWorkspace.Dy[0] -= acadoVariables.y[0];
-acadoWorkspace.Dy[1] -= acadoVariables.y[1];
-acadoWorkspace.Dy[2] -= acadoVariables.y[2];
-acadoWorkspace.Dy[3] -= acadoVariables.y[3];
-acadoWorkspace.Dy[4] -= acadoVariables.y[4];
-acadoWorkspace.Dy[5] -= acadoVariables.y[5];
-acadoWorkspace.Dy[6] -= acadoVariables.y[6];
-acadoWorkspace.Dy[7] -= acadoVariables.y[7];
-acadoWorkspace.Dy[8] -= acadoVariables.y[8];
-acadoWorkspace.Dy[9] -= acadoVariables.y[9];
-acadoWorkspace.Dy[10] -= acadoVariables.y[10];
-acadoWorkspace.Dy[11] -= acadoVariables.y[11];
-acadoWorkspace.Dy[12] -= acadoVariables.y[12];
-acadoWorkspace.Dy[13] -= acadoVariables.y[13];
-acadoWorkspace.Dy[14] -= acadoVariables.y[14];
-acadoWorkspace.Dy[15] -= acadoVariables.y[15];
-acadoWorkspace.Dy[16] -= acadoVariables.y[16];
-acadoWorkspace.Dy[17] -= acadoVariables.y[17];
-acadoWorkspace.Dy[18] -= acadoVariables.y[18];
-acadoWorkspace.Dy[19] -= acadoVariables.y[19];
-acadoWorkspace.Dy[20] -= acadoVariables.y[20];
-acadoWorkspace.Dy[21] -= acadoVariables.y[21];
-acadoWorkspace.Dy[22] -= acadoVariables.y[22];
-acadoWorkspace.Dy[23] -= acadoVariables.y[23];
-acadoWorkspace.Dy[24] -= acadoVariables.y[24];
-acadoWorkspace.Dy[25] -= acadoVariables.y[25];
-acadoWorkspace.Dy[26] -= acadoVariables.y[26];
-acadoWorkspace.Dy[27] -= acadoVariables.y[27];
-acadoWorkspace.Dy[28] -= acadoVariables.y[28];
-acadoWorkspace.Dy[29] -= acadoVariables.y[29];
-acadoWorkspace.Dy[30] -= acadoVariables.y[30];
-acadoWorkspace.Dy[31] -= acadoVariables.y[31];
-acadoWorkspace.Dy[32] -= acadoVariables.y[32];
-acadoWorkspace.Dy[33] -= acadoVariables.y[33];
-acadoWorkspace.Dy[34] -= acadoVariables.y[34];
-acadoWorkspace.Dy[35] -= acadoVariables.y[35];
-acadoWorkspace.Dy[36] -= acadoVariables.y[36];
-acadoWorkspace.Dy[37] -= acadoVariables.y[37];
-acadoWorkspace.Dy[38] -= acadoVariables.y[38];
-acadoWorkspace.Dy[39] -= acadoVariables.y[39];
-acadoWorkspace.Dy[40] -= acadoVariables.y[40];
-acadoWorkspace.Dy[41] -= acadoVariables.y[41];
-acadoWorkspace.Dy[42] -= acadoVariables.y[42];
-acadoWorkspace.Dy[43] -= acadoVariables.y[43];
-acadoWorkspace.Dy[44] -= acadoVariables.y[44];
-acadoWorkspace.Dy[45] -= acadoVariables.y[45];
-acadoWorkspace.Dy[46] -= acadoVariables.y[46];
-acadoWorkspace.Dy[47] -= acadoVariables.y[47];
-acadoWorkspace.Dy[48] -= acadoVariables.y[48];
-acadoWorkspace.Dy[49] -= acadoVariables.y[49];
-acadoWorkspace.Dy[50] -= acadoVariables.y[50];
-acadoWorkspace.Dy[51] -= acadoVariables.y[51];
-acadoWorkspace.Dy[52] -= acadoVariables.y[52];
-acadoWorkspace.Dy[53] -= acadoVariables.y[53];
-acadoWorkspace.Dy[54] -= acadoVariables.y[54];
-acadoWorkspace.Dy[55] -= acadoVariables.y[55];
-acadoWorkspace.Dy[56] -= acadoVariables.y[56];
-acadoWorkspace.Dy[57] -= acadoVariables.y[57];
-acadoWorkspace.Dy[58] -= acadoVariables.y[58];
-acadoWorkspace.Dy[59] -= acadoVariables.y[59];
-acadoWorkspace.Dy[60] -= acadoVariables.y[60];
-acadoWorkspace.Dy[61] -= acadoVariables.y[61];
-acadoWorkspace.Dy[62] -= acadoVariables.y[62];
-acadoWorkspace.Dy[63] -= acadoVariables.y[63];
-acadoWorkspace.Dy[64] -= acadoVariables.y[64];
-acadoWorkspace.Dy[65] -= acadoVariables.y[65];
-acadoWorkspace.Dy[66] -= acadoVariables.y[66];
-acadoWorkspace.Dy[67] -= acadoVariables.y[67];
-acadoWorkspace.Dy[68] -= acadoVariables.y[68];
-acadoWorkspace.Dy[69] -= acadoVariables.y[69];
-acadoWorkspace.Dy[70] -= acadoVariables.y[70];
-acadoWorkspace.Dy[71] -= acadoVariables.y[71];
-acadoWorkspace.Dy[72] -= acadoVariables.y[72];
-acadoWorkspace.Dy[73] -= acadoVariables.y[73];
-acadoWorkspace.Dy[74] -= acadoVariables.y[74];
-acadoWorkspace.Dy[75] -= acadoVariables.y[75];
-acadoWorkspace.Dy[76] -= acadoVariables.y[76];
-acadoWorkspace.Dy[77] -= acadoVariables.y[77];
-acadoWorkspace.Dy[78] -= acadoVariables.y[78];
-acadoWorkspace.Dy[79] -= acadoVariables.y[79];
-acadoWorkspace.DyN[0] -= acadoVariables.yN[0];
-acadoWorkspace.DyN[1] -= acadoVariables.yN[1];
-acadoWorkspace.DyN[2] -= acadoVariables.yN[2];
-
-acado_multRDy( acadoWorkspace.R2, acadoWorkspace.Dy, &(acadoWorkspace.g[ 3 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 4 ]), &(acadoWorkspace.Dy[ 4 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 8 ]), &(acadoWorkspace.Dy[ 8 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 12 ]), &(acadoWorkspace.Dy[ 12 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 16 ]), &(acadoWorkspace.Dy[ 16 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 20 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 24 ]), &(acadoWorkspace.Dy[ 24 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 28 ]), &(acadoWorkspace.Dy[ 28 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 32 ]), &(acadoWorkspace.Dy[ 32 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 36 ]), &(acadoWorkspace.Dy[ 36 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 40 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 44 ]), &(acadoWorkspace.Dy[ 44 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 48 ]), &(acadoWorkspace.Dy[ 48 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 52 ]), &(acadoWorkspace.Dy[ 52 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 56 ]), &(acadoWorkspace.Dy[ 56 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 60 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 64 ]), &(acadoWorkspace.Dy[ 64 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 68 ]), &(acadoWorkspace.Dy[ 68 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 72 ]), &(acadoWorkspace.Dy[ 72 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_multRDy( &(acadoWorkspace.R2[ 76 ]), &(acadoWorkspace.Dy[ 76 ]), &(acadoWorkspace.g[ 22 ]) );
-
-acado_multQDy( acadoWorkspace.Q2, acadoWorkspace.Dy, acadoWorkspace.QDy );
-acado_multQDy( &(acadoWorkspace.Q2[ 12 ]), &(acadoWorkspace.Dy[ 4 ]), &(acadoWorkspace.QDy[ 3 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 24 ]), &(acadoWorkspace.Dy[ 8 ]), &(acadoWorkspace.QDy[ 6 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 36 ]), &(acadoWorkspace.Dy[ 12 ]), &(acadoWorkspace.QDy[ 9 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 48 ]), &(acadoWorkspace.Dy[ 16 ]), &(acadoWorkspace.QDy[ 12 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 60 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.QDy[ 15 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 72 ]), &(acadoWorkspace.Dy[ 24 ]), &(acadoWorkspace.QDy[ 18 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 84 ]), &(acadoWorkspace.Dy[ 28 ]), &(acadoWorkspace.QDy[ 21 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 96 ]), &(acadoWorkspace.Dy[ 32 ]), &(acadoWorkspace.QDy[ 24 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 108 ]), &(acadoWorkspace.Dy[ 36 ]), &(acadoWorkspace.QDy[ 27 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 120 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.QDy[ 30 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 132 ]), &(acadoWorkspace.Dy[ 44 ]), &(acadoWorkspace.QDy[ 33 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 144 ]), &(acadoWorkspace.Dy[ 48 ]), &(acadoWorkspace.QDy[ 36 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 156 ]), &(acadoWorkspace.Dy[ 52 ]), &(acadoWorkspace.QDy[ 39 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 168 ]), &(acadoWorkspace.Dy[ 56 ]), &(acadoWorkspace.QDy[ 42 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 180 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.QDy[ 45 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 192 ]), &(acadoWorkspace.Dy[ 64 ]), &(acadoWorkspace.QDy[ 48 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 204 ]), &(acadoWorkspace.Dy[ 68 ]), &(acadoWorkspace.QDy[ 51 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 216 ]), &(acadoWorkspace.Dy[ 72 ]), &(acadoWorkspace.QDy[ 54 ]) );
-acado_multQDy( &(acadoWorkspace.Q2[ 228 ]), &(acadoWorkspace.Dy[ 76 ]), &(acadoWorkspace.QDy[ 57 ]) );
-
-acadoWorkspace.QDy[60] = + acadoWorkspace.QN2[0]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[1]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[2]*acadoWorkspace.DyN[2];
-acadoWorkspace.QDy[61] = + acadoWorkspace.QN2[3]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[4]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[5]*acadoWorkspace.DyN[2];
-acadoWorkspace.QDy[62] = + acadoWorkspace.QN2[6]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[7]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[8]*acadoWorkspace.DyN[2];
-
-acadoWorkspace.QDy[3] += acadoWorkspace.Qd[0];
-acadoWorkspace.QDy[4] += acadoWorkspace.Qd[1];
-acadoWorkspace.QDy[5] += acadoWorkspace.Qd[2];
-acadoWorkspace.QDy[6] += acadoWorkspace.Qd[3];
-acadoWorkspace.QDy[7] += acadoWorkspace.Qd[4];
-acadoWorkspace.QDy[8] += acadoWorkspace.Qd[5];
-acadoWorkspace.QDy[9] += acadoWorkspace.Qd[6];
-acadoWorkspace.QDy[10] += acadoWorkspace.Qd[7];
-acadoWorkspace.QDy[11] += acadoWorkspace.Qd[8];
-acadoWorkspace.QDy[12] += acadoWorkspace.Qd[9];
-acadoWorkspace.QDy[13] += acadoWorkspace.Qd[10];
-acadoWorkspace.QDy[14] += acadoWorkspace.Qd[11];
-acadoWorkspace.QDy[15] += acadoWorkspace.Qd[12];
-acadoWorkspace.QDy[16] += acadoWorkspace.Qd[13];
-acadoWorkspace.QDy[17] += acadoWorkspace.Qd[14];
-acadoWorkspace.QDy[18] += acadoWorkspace.Qd[15];
-acadoWorkspace.QDy[19] += acadoWorkspace.Qd[16];
-acadoWorkspace.QDy[20] += acadoWorkspace.Qd[17];
-acadoWorkspace.QDy[21] += acadoWorkspace.Qd[18];
-acadoWorkspace.QDy[22] += acadoWorkspace.Qd[19];
-acadoWorkspace.QDy[23] += acadoWorkspace.Qd[20];
-acadoWorkspace.QDy[24] += acadoWorkspace.Qd[21];
-acadoWorkspace.QDy[25] += acadoWorkspace.Qd[22];
-acadoWorkspace.QDy[26] += acadoWorkspace.Qd[23];
-acadoWorkspace.QDy[27] += acadoWorkspace.Qd[24];
-acadoWorkspace.QDy[28] += acadoWorkspace.Qd[25];
-acadoWorkspace.QDy[29] += acadoWorkspace.Qd[26];
-acadoWorkspace.QDy[30] += acadoWorkspace.Qd[27];
-acadoWorkspace.QDy[31] += acadoWorkspace.Qd[28];
-acadoWorkspace.QDy[32] += acadoWorkspace.Qd[29];
-acadoWorkspace.QDy[33] += acadoWorkspace.Qd[30];
-acadoWorkspace.QDy[34] += acadoWorkspace.Qd[31];
-acadoWorkspace.QDy[35] += acadoWorkspace.Qd[32];
-acadoWorkspace.QDy[36] += acadoWorkspace.Qd[33];
-acadoWorkspace.QDy[37] += acadoWorkspace.Qd[34];
-acadoWorkspace.QDy[38] += acadoWorkspace.Qd[35];
-acadoWorkspace.QDy[39] += acadoWorkspace.Qd[36];
-acadoWorkspace.QDy[40] += acadoWorkspace.Qd[37];
-acadoWorkspace.QDy[41] += acadoWorkspace.Qd[38];
-acadoWorkspace.QDy[42] += acadoWorkspace.Qd[39];
-acadoWorkspace.QDy[43] += acadoWorkspace.Qd[40];
-acadoWorkspace.QDy[44] += acadoWorkspace.Qd[41];
-acadoWorkspace.QDy[45] += acadoWorkspace.Qd[42];
-acadoWorkspace.QDy[46] += acadoWorkspace.Qd[43];
-acadoWorkspace.QDy[47] += acadoWorkspace.Qd[44];
-acadoWorkspace.QDy[48] += acadoWorkspace.Qd[45];
-acadoWorkspace.QDy[49] += acadoWorkspace.Qd[46];
-acadoWorkspace.QDy[50] += acadoWorkspace.Qd[47];
-acadoWorkspace.QDy[51] += acadoWorkspace.Qd[48];
-acadoWorkspace.QDy[52] += acadoWorkspace.Qd[49];
-acadoWorkspace.QDy[53] += acadoWorkspace.Qd[50];
-acadoWorkspace.QDy[54] += acadoWorkspace.Qd[51];
-acadoWorkspace.QDy[55] += acadoWorkspace.Qd[52];
-acadoWorkspace.QDy[56] += acadoWorkspace.Qd[53];
-acadoWorkspace.QDy[57] += acadoWorkspace.Qd[54];
-acadoWorkspace.QDy[58] += acadoWorkspace.Qd[55];
-acadoWorkspace.QDy[59] += acadoWorkspace.Qd[56];
-acadoWorkspace.QDy[60] += acadoWorkspace.Qd[57];
-acadoWorkspace.QDy[61] += acadoWorkspace.Qd[58];
-acadoWorkspace.QDy[62] += acadoWorkspace.Qd[59];
-
-acadoWorkspace.g[0] = + acadoWorkspace.evGx[0]*acadoWorkspace.QDy[3] + acadoWorkspace.evGx[3]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[6]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[9]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[12]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[15]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[18]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[21]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[24]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[27]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[30]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[33]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[36]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[39]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[42]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[45]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[48]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[51]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[54]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[57]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[60]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[63]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[66]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[69]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[72]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[75]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[78]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[81]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[84]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[87]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[90]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[93]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[96]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[99]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[102]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[105]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[108]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[111]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[114]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[117]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[120]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[123]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[126]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[129]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[132]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[135]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[138]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[141]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[144]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[147]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[150]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[153]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[156]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[159]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[162]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[165]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[168]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[171]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[174]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[177]*acadoWorkspace.QDy[62];
-acadoWorkspace.g[1] = + acadoWorkspace.evGx[1]*acadoWorkspace.QDy[3] + acadoWorkspace.evGx[4]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[7]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[10]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[13]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[16]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[19]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[22]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[25]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[28]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[31]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[34]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[37]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[40]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[43]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[46]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[49]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[52]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[55]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[58]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[61]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[64]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[67]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[70]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[73]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[76]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[79]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[82]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[85]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[88]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[91]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[94]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[97]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[100]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[103]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[106]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[109]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[112]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[115]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[118]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[121]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[124]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[127]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[130]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[133]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[136]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[139]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[142]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[145]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[148]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[151]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[154]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[157]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[160]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[163]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[166]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[169]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[172]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[175]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[178]*acadoWorkspace.QDy[62];
-acadoWorkspace.g[2] = + acadoWorkspace.evGx[2]*acadoWorkspace.QDy[3] + acadoWorkspace.evGx[5]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[8]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[11]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[14]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[17]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[20]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[23]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[26]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[29]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[32]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[35]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[38]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[41]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[44]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[47]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[50]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[53]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[56]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[59]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[62]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[65]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[68]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[71]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[74]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[77]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[80]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[83]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[86]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[89]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[92]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[95]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[98]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[101]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[104]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[107]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[110]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[113]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[116]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[119]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[122]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[125]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[128]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[131]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[134]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[137]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[140]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[143]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[146]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[149]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[152]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[155]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[158]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[161]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[164]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[167]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[170]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[173]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[176]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[179]*acadoWorkspace.QDy[62];
-
-
-acado_multEQDy( acadoWorkspace.E, &(acadoWorkspace.QDy[ 3 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.QDy[ 6 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QDy[ 9 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 3 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QDy[ 6 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QDy[ 9 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 4 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.QDy[ 9 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 5 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 6 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 7 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 8 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 9 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 10 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 11 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 12 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 13 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 14 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 15 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 16 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 17 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 18 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 19 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 20 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 21 ]) );
-acado_multEQDy( &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 22 ]) );
-
-acadoWorkspace.lb[0] = acadoWorkspace.Dx0[0];
-acadoWorkspace.lb[1] = acadoWorkspace.Dx0[1];
-acadoWorkspace.lb[2] = acadoWorkspace.Dx0[2];
-acadoWorkspace.ub[0] = acadoWorkspace.Dx0[0];
-acadoWorkspace.ub[1] = acadoWorkspace.Dx0[1];
-acadoWorkspace.ub[2] = acadoWorkspace.Dx0[2];
-tmp = acadoVariables.x[4] + acadoWorkspace.d[1];
-acadoWorkspace.lbA[0] = - tmp;
-acadoWorkspace.ubA[0] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[7] + acadoWorkspace.d[4];
-acadoWorkspace.lbA[1] = - tmp;
-acadoWorkspace.ubA[1] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[10] + acadoWorkspace.d[7];
-acadoWorkspace.lbA[2] = - tmp;
-acadoWorkspace.ubA[2] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[13] + acadoWorkspace.d[10];
-acadoWorkspace.lbA[3] = - tmp;
-acadoWorkspace.ubA[3] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[16] + acadoWorkspace.d[13];
-acadoWorkspace.lbA[4] = - tmp;
-acadoWorkspace.ubA[4] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[19] + acadoWorkspace.d[16];
-acadoWorkspace.lbA[5] = - tmp;
-acadoWorkspace.ubA[5] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[22] + acadoWorkspace.d[19];
-acadoWorkspace.lbA[6] = - tmp;
-acadoWorkspace.ubA[6] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[25] + acadoWorkspace.d[22];
-acadoWorkspace.lbA[7] = - tmp;
-acadoWorkspace.ubA[7] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[28] + acadoWorkspace.d[25];
-acadoWorkspace.lbA[8] = - tmp;
-acadoWorkspace.ubA[8] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[31] + acadoWorkspace.d[28];
-acadoWorkspace.lbA[9] = - tmp;
-acadoWorkspace.ubA[9] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[34] + acadoWorkspace.d[31];
-acadoWorkspace.lbA[10] = - tmp;
-acadoWorkspace.ubA[10] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[37] + acadoWorkspace.d[34];
-acadoWorkspace.lbA[11] = - tmp;
-acadoWorkspace.ubA[11] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[40] + acadoWorkspace.d[37];
-acadoWorkspace.lbA[12] = - tmp;
-acadoWorkspace.ubA[12] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[43] + acadoWorkspace.d[40];
-acadoWorkspace.lbA[13] = - tmp;
-acadoWorkspace.ubA[13] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[46] + acadoWorkspace.d[43];
-acadoWorkspace.lbA[14] = - tmp;
-acadoWorkspace.ubA[14] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[49] + acadoWorkspace.d[46];
-acadoWorkspace.lbA[15] = - tmp;
-acadoWorkspace.ubA[15] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[52] + acadoWorkspace.d[49];
-acadoWorkspace.lbA[16] = - tmp;
-acadoWorkspace.ubA[16] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[55] + acadoWorkspace.d[52];
-acadoWorkspace.lbA[17] = - tmp;
-acadoWorkspace.ubA[17] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[58] + acadoWorkspace.d[55];
-acadoWorkspace.lbA[18] = - tmp;
-acadoWorkspace.ubA[18] = (real_t)1.0000000000000000e+12 - tmp;
-tmp = acadoVariables.x[61] + acadoWorkspace.d[58];
-acadoWorkspace.lbA[19] = - tmp;
-acadoWorkspace.ubA[19] = (real_t)1.0000000000000000e+12 - tmp;
-
-}
-
-void acado_expand(  )
-{
-acadoVariables.x[0] += acadoWorkspace.x[0];
-acadoVariables.x[1] += acadoWorkspace.x[1];
-acadoVariables.x[2] += acadoWorkspace.x[2];
-
-acadoVariables.u[0] += acadoWorkspace.x[3];
-acadoVariables.u[1] += acadoWorkspace.x[4];
-acadoVariables.u[2] += acadoWorkspace.x[5];
-acadoVariables.u[3] += acadoWorkspace.x[6];
-acadoVariables.u[4] += acadoWorkspace.x[7];
-acadoVariables.u[5] += acadoWorkspace.x[8];
-acadoVariables.u[6] += acadoWorkspace.x[9];
-acadoVariables.u[7] += acadoWorkspace.x[10];
-acadoVariables.u[8] += acadoWorkspace.x[11];
-acadoVariables.u[9] += acadoWorkspace.x[12];
-acadoVariables.u[10] += acadoWorkspace.x[13];
-acadoVariables.u[11] += acadoWorkspace.x[14];
-acadoVariables.u[12] += acadoWorkspace.x[15];
-acadoVariables.u[13] += acadoWorkspace.x[16];
-acadoVariables.u[14] += acadoWorkspace.x[17];
-acadoVariables.u[15] += acadoWorkspace.x[18];
-acadoVariables.u[16] += acadoWorkspace.x[19];
-acadoVariables.u[17] += acadoWorkspace.x[20];
-acadoVariables.u[18] += acadoWorkspace.x[21];
-acadoVariables.u[19] += acadoWorkspace.x[22];
-
-acadoVariables.x[3] += + acadoWorkspace.evGx[0]*acadoWorkspace.x[0] + acadoWorkspace.evGx[1]*acadoWorkspace.x[1] + acadoWorkspace.evGx[2]*acadoWorkspace.x[2] + acadoWorkspace.d[0];
-acadoVariables.x[4] += + acadoWorkspace.evGx[3]*acadoWorkspace.x[0] + acadoWorkspace.evGx[4]*acadoWorkspace.x[1] + acadoWorkspace.evGx[5]*acadoWorkspace.x[2] + acadoWorkspace.d[1];
-acadoVariables.x[5] += + acadoWorkspace.evGx[6]*acadoWorkspace.x[0] + acadoWorkspace.evGx[7]*acadoWorkspace.x[1] + acadoWorkspace.evGx[8]*acadoWorkspace.x[2] + acadoWorkspace.d[2];
-acadoVariables.x[6] += + acadoWorkspace.evGx[9]*acadoWorkspace.x[0] + acadoWorkspace.evGx[10]*acadoWorkspace.x[1] + acadoWorkspace.evGx[11]*acadoWorkspace.x[2] + acadoWorkspace.d[3];
-acadoVariables.x[7] += + acadoWorkspace.evGx[12]*acadoWorkspace.x[0] + acadoWorkspace.evGx[13]*acadoWorkspace.x[1] + acadoWorkspace.evGx[14]*acadoWorkspace.x[2] + acadoWorkspace.d[4];
-acadoVariables.x[8] += + acadoWorkspace.evGx[15]*acadoWorkspace.x[0] + acadoWorkspace.evGx[16]*acadoWorkspace.x[1] + acadoWorkspace.evGx[17]*acadoWorkspace.x[2] + acadoWorkspace.d[5];
-acadoVariables.x[9] += + acadoWorkspace.evGx[18]*acadoWorkspace.x[0] + acadoWorkspace.evGx[19]*acadoWorkspace.x[1] + acadoWorkspace.evGx[20]*acadoWorkspace.x[2] + acadoWorkspace.d[6];
-acadoVariables.x[10] += + acadoWorkspace.evGx[21]*acadoWorkspace.x[0] + acadoWorkspace.evGx[22]*acadoWorkspace.x[1] + acadoWorkspace.evGx[23]*acadoWorkspace.x[2] + acadoWorkspace.d[7];
-acadoVariables.x[11] += + acadoWorkspace.evGx[24]*acadoWorkspace.x[0] + acadoWorkspace.evGx[25]*acadoWorkspace.x[1] + acadoWorkspace.evGx[26]*acadoWorkspace.x[2] + acadoWorkspace.d[8];
-acadoVariables.x[12] += + acadoWorkspace.evGx[27]*acadoWorkspace.x[0] + acadoWorkspace.evGx[28]*acadoWorkspace.x[1] + acadoWorkspace.evGx[29]*acadoWorkspace.x[2] + acadoWorkspace.d[9];
-acadoVariables.x[13] += + acadoWorkspace.evGx[30]*acadoWorkspace.x[0] + acadoWorkspace.evGx[31]*acadoWorkspace.x[1] + acadoWorkspace.evGx[32]*acadoWorkspace.x[2] + acadoWorkspace.d[10];
-acadoVariables.x[14] += + acadoWorkspace.evGx[33]*acadoWorkspace.x[0] + acadoWorkspace.evGx[34]*acadoWorkspace.x[1] + acadoWorkspace.evGx[35]*acadoWorkspace.x[2] + acadoWorkspace.d[11];
-acadoVariables.x[15] += + acadoWorkspace.evGx[36]*acadoWorkspace.x[0] + acadoWorkspace.evGx[37]*acadoWorkspace.x[1] + acadoWorkspace.evGx[38]*acadoWorkspace.x[2] + acadoWorkspace.d[12];
-acadoVariables.x[16] += + acadoWorkspace.evGx[39]*acadoWorkspace.x[0] + acadoWorkspace.evGx[40]*acadoWorkspace.x[1] + acadoWorkspace.evGx[41]*acadoWorkspace.x[2] + acadoWorkspace.d[13];
-acadoVariables.x[17] += + acadoWorkspace.evGx[42]*acadoWorkspace.x[0] + acadoWorkspace.evGx[43]*acadoWorkspace.x[1] + acadoWorkspace.evGx[44]*acadoWorkspace.x[2] + acadoWorkspace.d[14];
-acadoVariables.x[18] += + acadoWorkspace.evGx[45]*acadoWorkspace.x[0] + acadoWorkspace.evGx[46]*acadoWorkspace.x[1] + acadoWorkspace.evGx[47]*acadoWorkspace.x[2] + acadoWorkspace.d[15];
-acadoVariables.x[19] += + acadoWorkspace.evGx[48]*acadoWorkspace.x[0] + acadoWorkspace.evGx[49]*acadoWorkspace.x[1] + acadoWorkspace.evGx[50]*acadoWorkspace.x[2] + acadoWorkspace.d[16];
-acadoVariables.x[20] += + acadoWorkspace.evGx[51]*acadoWorkspace.x[0] + acadoWorkspace.evGx[52]*acadoWorkspace.x[1] + acadoWorkspace.evGx[53]*acadoWorkspace.x[2] + acadoWorkspace.d[17];
-acadoVariables.x[21] += + acadoWorkspace.evGx[54]*acadoWorkspace.x[0] + acadoWorkspace.evGx[55]*acadoWorkspace.x[1] + acadoWorkspace.evGx[56]*acadoWorkspace.x[2] + acadoWorkspace.d[18];
-acadoVariables.x[22] += + acadoWorkspace.evGx[57]*acadoWorkspace.x[0] + acadoWorkspace.evGx[58]*acadoWorkspace.x[1] + acadoWorkspace.evGx[59]*acadoWorkspace.x[2] + acadoWorkspace.d[19];
-acadoVariables.x[23] += + acadoWorkspace.evGx[60]*acadoWorkspace.x[0] + acadoWorkspace.evGx[61]*acadoWorkspace.x[1] + acadoWorkspace.evGx[62]*acadoWorkspace.x[2] + acadoWorkspace.d[20];
-acadoVariables.x[24] += + acadoWorkspace.evGx[63]*acadoWorkspace.x[0] + acadoWorkspace.evGx[64]*acadoWorkspace.x[1] + acadoWorkspace.evGx[65]*acadoWorkspace.x[2] + acadoWorkspace.d[21];
-acadoVariables.x[25] += + acadoWorkspace.evGx[66]*acadoWorkspace.x[0] + acadoWorkspace.evGx[67]*acadoWorkspace.x[1] + acadoWorkspace.evGx[68]*acadoWorkspace.x[2] + acadoWorkspace.d[22];
-acadoVariables.x[26] += + acadoWorkspace.evGx[69]*acadoWorkspace.x[0] + acadoWorkspace.evGx[70]*acadoWorkspace.x[1] + acadoWorkspace.evGx[71]*acadoWorkspace.x[2] + acadoWorkspace.d[23];
-acadoVariables.x[27] += + acadoWorkspace.evGx[72]*acadoWorkspace.x[0] + acadoWorkspace.evGx[73]*acadoWorkspace.x[1] + acadoWorkspace.evGx[74]*acadoWorkspace.x[2] + acadoWorkspace.d[24];
-acadoVariables.x[28] += + acadoWorkspace.evGx[75]*acadoWorkspace.x[0] + acadoWorkspace.evGx[76]*acadoWorkspace.x[1] + acadoWorkspace.evGx[77]*acadoWorkspace.x[2] + acadoWorkspace.d[25];
-acadoVariables.x[29] += + acadoWorkspace.evGx[78]*acadoWorkspace.x[0] + acadoWorkspace.evGx[79]*acadoWorkspace.x[1] + acadoWorkspace.evGx[80]*acadoWorkspace.x[2] + acadoWorkspace.d[26];
-acadoVariables.x[30] += + acadoWorkspace.evGx[81]*acadoWorkspace.x[0] + acadoWorkspace.evGx[82]*acadoWorkspace.x[1] + acadoWorkspace.evGx[83]*acadoWorkspace.x[2] + acadoWorkspace.d[27];
-acadoVariables.x[31] += + acadoWorkspace.evGx[84]*acadoWorkspace.x[0] + acadoWorkspace.evGx[85]*acadoWorkspace.x[1] + acadoWorkspace.evGx[86]*acadoWorkspace.x[2] + acadoWorkspace.d[28];
-acadoVariables.x[32] += + acadoWorkspace.evGx[87]*acadoWorkspace.x[0] + acadoWorkspace.evGx[88]*acadoWorkspace.x[1] + acadoWorkspace.evGx[89]*acadoWorkspace.x[2] + acadoWorkspace.d[29];
-acadoVariables.x[33] += + acadoWorkspace.evGx[90]*acadoWorkspace.x[0] + acadoWorkspace.evGx[91]*acadoWorkspace.x[1] + acadoWorkspace.evGx[92]*acadoWorkspace.x[2] + acadoWorkspace.d[30];
-acadoVariables.x[34] += + acadoWorkspace.evGx[93]*acadoWorkspace.x[0] + acadoWorkspace.evGx[94]*acadoWorkspace.x[1] + acadoWorkspace.evGx[95]*acadoWorkspace.x[2] + acadoWorkspace.d[31];
-acadoVariables.x[35] += + acadoWorkspace.evGx[96]*acadoWorkspace.x[0] + acadoWorkspace.evGx[97]*acadoWorkspace.x[1] + acadoWorkspace.evGx[98]*acadoWorkspace.x[2] + acadoWorkspace.d[32];
-acadoVariables.x[36] += + acadoWorkspace.evGx[99]*acadoWorkspace.x[0] + acadoWorkspace.evGx[100]*acadoWorkspace.x[1] + acadoWorkspace.evGx[101]*acadoWorkspace.x[2] + acadoWorkspace.d[33];
-acadoVariables.x[37] += + acadoWorkspace.evGx[102]*acadoWorkspace.x[0] + acadoWorkspace.evGx[103]*acadoWorkspace.x[1] + acadoWorkspace.evGx[104]*acadoWorkspace.x[2] + acadoWorkspace.d[34];
-acadoVariables.x[38] += + acadoWorkspace.evGx[105]*acadoWorkspace.x[0] + acadoWorkspace.evGx[106]*acadoWorkspace.x[1] + acadoWorkspace.evGx[107]*acadoWorkspace.x[2] + acadoWorkspace.d[35];
-acadoVariables.x[39] += + acadoWorkspace.evGx[108]*acadoWorkspace.x[0] + acadoWorkspace.evGx[109]*acadoWorkspace.x[1] + acadoWorkspace.evGx[110]*acadoWorkspace.x[2] + acadoWorkspace.d[36];
-acadoVariables.x[40] += + acadoWorkspace.evGx[111]*acadoWorkspace.x[0] + acadoWorkspace.evGx[112]*acadoWorkspace.x[1] + acadoWorkspace.evGx[113]*acadoWorkspace.x[2] + acadoWorkspace.d[37];
-acadoVariables.x[41] += + acadoWorkspace.evGx[114]*acadoWorkspace.x[0] + acadoWorkspace.evGx[115]*acadoWorkspace.x[1] + acadoWorkspace.evGx[116]*acadoWorkspace.x[2] + acadoWorkspace.d[38];
-acadoVariables.x[42] += + acadoWorkspace.evGx[117]*acadoWorkspace.x[0] + acadoWorkspace.evGx[118]*acadoWorkspace.x[1] + acadoWorkspace.evGx[119]*acadoWorkspace.x[2] + acadoWorkspace.d[39];
-acadoVariables.x[43] += + acadoWorkspace.evGx[120]*acadoWorkspace.x[0] + acadoWorkspace.evGx[121]*acadoWorkspace.x[1] + acadoWorkspace.evGx[122]*acadoWorkspace.x[2] + acadoWorkspace.d[40];
-acadoVariables.x[44] += + acadoWorkspace.evGx[123]*acadoWorkspace.x[0] + acadoWorkspace.evGx[124]*acadoWorkspace.x[1] + acadoWorkspace.evGx[125]*acadoWorkspace.x[2] + acadoWorkspace.d[41];
-acadoVariables.x[45] += + acadoWorkspace.evGx[126]*acadoWorkspace.x[0] + acadoWorkspace.evGx[127]*acadoWorkspace.x[1] + acadoWorkspace.evGx[128]*acadoWorkspace.x[2] + acadoWorkspace.d[42];
-acadoVariables.x[46] += + acadoWorkspace.evGx[129]*acadoWorkspace.x[0] + acadoWorkspace.evGx[130]*acadoWorkspace.x[1] + acadoWorkspace.evGx[131]*acadoWorkspace.x[2] + acadoWorkspace.d[43];
-acadoVariables.x[47] += + acadoWorkspace.evGx[132]*acadoWorkspace.x[0] + acadoWorkspace.evGx[133]*acadoWorkspace.x[1] + acadoWorkspace.evGx[134]*acadoWorkspace.x[2] + acadoWorkspace.d[44];
-acadoVariables.x[48] += + acadoWorkspace.evGx[135]*acadoWorkspace.x[0] + acadoWorkspace.evGx[136]*acadoWorkspace.x[1] + acadoWorkspace.evGx[137]*acadoWorkspace.x[2] + acadoWorkspace.d[45];
-acadoVariables.x[49] += + acadoWorkspace.evGx[138]*acadoWorkspace.x[0] + acadoWorkspace.evGx[139]*acadoWorkspace.x[1] + acadoWorkspace.evGx[140]*acadoWorkspace.x[2] + acadoWorkspace.d[46];
-acadoVariables.x[50] += + acadoWorkspace.evGx[141]*acadoWorkspace.x[0] + acadoWorkspace.evGx[142]*acadoWorkspace.x[1] + acadoWorkspace.evGx[143]*acadoWorkspace.x[2] + acadoWorkspace.d[47];
-acadoVariables.x[51] += + acadoWorkspace.evGx[144]*acadoWorkspace.x[0] + acadoWorkspace.evGx[145]*acadoWorkspace.x[1] + acadoWorkspace.evGx[146]*acadoWorkspace.x[2] + acadoWorkspace.d[48];
-acadoVariables.x[52] += + acadoWorkspace.evGx[147]*acadoWorkspace.x[0] + acadoWorkspace.evGx[148]*acadoWorkspace.x[1] + acadoWorkspace.evGx[149]*acadoWorkspace.x[2] + acadoWorkspace.d[49];
-acadoVariables.x[53] += + acadoWorkspace.evGx[150]*acadoWorkspace.x[0] + acadoWorkspace.evGx[151]*acadoWorkspace.x[1] + acadoWorkspace.evGx[152]*acadoWorkspace.x[2] + acadoWorkspace.d[50];
-acadoVariables.x[54] += + acadoWorkspace.evGx[153]*acadoWorkspace.x[0] + acadoWorkspace.evGx[154]*acadoWorkspace.x[1] + acadoWorkspace.evGx[155]*acadoWorkspace.x[2] + acadoWorkspace.d[51];
-acadoVariables.x[55] += + acadoWorkspace.evGx[156]*acadoWorkspace.x[0] + acadoWorkspace.evGx[157]*acadoWorkspace.x[1] + acadoWorkspace.evGx[158]*acadoWorkspace.x[2] + acadoWorkspace.d[52];
-acadoVariables.x[56] += + acadoWorkspace.evGx[159]*acadoWorkspace.x[0] + acadoWorkspace.evGx[160]*acadoWorkspace.x[1] + acadoWorkspace.evGx[161]*acadoWorkspace.x[2] + acadoWorkspace.d[53];
-acadoVariables.x[57] += + acadoWorkspace.evGx[162]*acadoWorkspace.x[0] + acadoWorkspace.evGx[163]*acadoWorkspace.x[1] + acadoWorkspace.evGx[164]*acadoWorkspace.x[2] + acadoWorkspace.d[54];
-acadoVariables.x[58] += + acadoWorkspace.evGx[165]*acadoWorkspace.x[0] + acadoWorkspace.evGx[166]*acadoWorkspace.x[1] + acadoWorkspace.evGx[167]*acadoWorkspace.x[2] + acadoWorkspace.d[55];
-acadoVariables.x[59] += + acadoWorkspace.evGx[168]*acadoWorkspace.x[0] + acadoWorkspace.evGx[169]*acadoWorkspace.x[1] + acadoWorkspace.evGx[170]*acadoWorkspace.x[2] + acadoWorkspace.d[56];
-acadoVariables.x[60] += + acadoWorkspace.evGx[171]*acadoWorkspace.x[0] + acadoWorkspace.evGx[172]*acadoWorkspace.x[1] + acadoWorkspace.evGx[173]*acadoWorkspace.x[2] + acadoWorkspace.d[57];
-acadoVariables.x[61] += + acadoWorkspace.evGx[174]*acadoWorkspace.x[0] + acadoWorkspace.evGx[175]*acadoWorkspace.x[1] + acadoWorkspace.evGx[176]*acadoWorkspace.x[2] + acadoWorkspace.d[58];
-acadoVariables.x[62] += + acadoWorkspace.evGx[177]*acadoWorkspace.x[0] + acadoWorkspace.evGx[178]*acadoWorkspace.x[1] + acadoWorkspace.evGx[179]*acadoWorkspace.x[2] + acadoWorkspace.d[59];
-
-acado_multEDu( acadoWorkspace.E, &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 3 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 6 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 6 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 9 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 9 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 9 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 12 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 12 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 12 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 12 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 15 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 15 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 15 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 15 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 15 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 18 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 18 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 18 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 18 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 18 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 18 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 21 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 21 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 21 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 21 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 21 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 21 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 21 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 24 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 27 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 30 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 33 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 36 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 39 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 42 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 45 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 48 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 51 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 54 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 57 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 60 ]) );
-acado_multEDu( &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 60 ]) );
-}
-
-int acado_preparationStep(  )
-{
-int ret;
-
-ret = acado_modelSimulation();
-acado_evaluateObjective(  );
-acado_condensePrep(  );
-return ret;
-}
-
-int acado_feedbackStep(  )
-{
-int tmp;
-
-acado_condenseFdb(  );
-
-tmp = acado_solve( );
-
-acado_expand(  );
-return tmp;
-}
-
-int acado_initializeSolver(  )
-{
-int ret;
-
-/* This is a function which must be called once before any other function call! */
-
-
-ret = 0;
-
-memset(&acadoWorkspace, 0, sizeof( acadoWorkspace ));
-return ret;
-}
-
-void acado_initializeNodesByForwardSimulation(  )
-{
-int index;
-for (index = 0; index < 20; ++index)
-{
-acadoWorkspace.state[0] = acadoVariables.x[index * 3];
-acadoWorkspace.state[1] = acadoVariables.x[index * 3 + 1];
-acadoWorkspace.state[2] = acadoVariables.x[index * 3 + 2];
-acadoWorkspace.state[15] = acadoVariables.u[index];
-acadoWorkspace.state[16] = acadoVariables.od[index * 2];
-acadoWorkspace.state[17] = acadoVariables.od[index * 2 + 1];
-
-acado_integrate(acadoWorkspace.state, index == 0, index);
-
-acadoVariables.x[index * 3 + 3] = acadoWorkspace.state[0];
-acadoVariables.x[index * 3 + 4] = acadoWorkspace.state[1];
-acadoVariables.x[index * 3 + 5] = acadoWorkspace.state[2];
-}
-}
-
-void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd )
-{
-int index;
-for (index = 0; index < 20; ++index)
-{
-acadoVariables.x[index * 3] = acadoVariables.x[index * 3 + 3];
-acadoVariables.x[index * 3 + 1] = acadoVariables.x[index * 3 + 4];
-acadoVariables.x[index * 3 + 2] = acadoVariables.x[index * 3 + 5];
-}
-
-if (strategy == 1 && xEnd != 0)
-{
-acadoVariables.x[60] = xEnd[0];
-acadoVariables.x[61] = xEnd[1];
-acadoVariables.x[62] = xEnd[2];
-}
-else if (strategy == 2) 
-{
-acadoWorkspace.state[0] = acadoVariables.x[60];
-acadoWorkspace.state[1] = acadoVariables.x[61];
-acadoWorkspace.state[2] = acadoVariables.x[62];
-if (uEnd != 0)
-{
-acadoWorkspace.state[15] = uEnd[0];
-}
-else
-{
-acadoWorkspace.state[15] = acadoVariables.u[19];
-}
-acadoWorkspace.state[16] = acadoVariables.od[40];
-acadoWorkspace.state[17] = acadoVariables.od[41];
-
-acado_integrate(acadoWorkspace.state, 1, 19);
-
-acadoVariables.x[60] = acadoWorkspace.state[0];
-acadoVariables.x[61] = acadoWorkspace.state[1];
-acadoVariables.x[62] = acadoWorkspace.state[2];
-}
-}
-
-void acado_shiftControls( real_t* const uEnd )
-{
-int index;
-for (index = 0; index < 19; ++index)
-{
-acadoVariables.u[index] = acadoVariables.u[index + 1];
-}
-
-if (uEnd != 0)
-{
-acadoVariables.u[19] = uEnd[0];
-}
-}
-
-real_t acado_getKKT(  )
-{
-real_t kkt;
-
-int index;
-real_t prd;
-
-kkt = + acadoWorkspace.g[0]*acadoWorkspace.x[0] + acadoWorkspace.g[1]*acadoWorkspace.x[1] + acadoWorkspace.g[2]*acadoWorkspace.x[2] + acadoWorkspace.g[3]*acadoWorkspace.x[3] + acadoWorkspace.g[4]*acadoWorkspace.x[4] + acadoWorkspace.g[5]*acadoWorkspace.x[5] + acadoWorkspace.g[6]*acadoWorkspace.x[6] + acadoWorkspace.g[7]*acadoWorkspace.x[7] + acadoWorkspace.g[8]*acadoWorkspace.x[8] + acadoWorkspace.g[9]*acadoWorkspace.x[9] + acadoWorkspace.g[10]*acadoWorkspace.x[10] + acadoWorkspace.g[11]*acadoWorkspace.x[11] + acadoWorkspace.g[12]*acadoWorkspace.x[12] + acadoWorkspace.g[13]*acadoWorkspace.x[13] + acadoWorkspace.g[14]*acadoWorkspace.x[14] + acadoWorkspace.g[15]*acadoWorkspace.x[15] + acadoWorkspace.g[16]*acadoWorkspace.x[16] + acadoWorkspace.g[17]*acadoWorkspace.x[17] + acadoWorkspace.g[18]*acadoWorkspace.x[18] + acadoWorkspace.g[19]*acadoWorkspace.x[19] + acadoWorkspace.g[20]*acadoWorkspace.x[20] + acadoWorkspace.g[21]*acadoWorkspace.x[21] + acadoWorkspace.g[22]*acadoWorkspace.x[22];
-kkt = fabs( kkt );
-for (index = 0; index < 23; ++index)
-{
-prd = acadoWorkspace.y[index];
-if (prd > 1e-12)
-kkt += fabs(acadoWorkspace.lb[index] * prd);
-else if (prd < -1e-12)
-kkt += fabs(acadoWorkspace.ub[index] * prd);
-}
-for (index = 0; index < 20; ++index)
-{
-prd = acadoWorkspace.y[index + 23];
-if (prd > 1e-12)
-kkt += fabs(acadoWorkspace.lbA[index] * prd);
-else if (prd < -1e-12)
-kkt += fabs(acadoWorkspace.ubA[index] * prd);
-}
-return kkt;
-}
-
-real_t acado_getObjective(  )
-{
-real_t objVal;
-
-int lRun1;
-/** Row vector of size: 4 */
-real_t tmpDy[ 4 ];
-
-/** Row vector of size: 3 */
-real_t tmpDyN[ 3 ];
-
-for (lRun1 = 0; lRun1 < 20; ++lRun1)
-{
-acadoWorkspace.objValueIn[0] = acadoVariables.x[lRun1 * 3];
-acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 3 + 1];
-acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 3 + 2];
-acadoWorkspace.objValueIn[3] = acadoVariables.u[lRun1];
-acadoWorkspace.objValueIn[4] = acadoVariables.od[lRun1 * 2];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 2 + 1];
-
-acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
-acadoWorkspace.Dy[lRun1 * 4] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 4];
-acadoWorkspace.Dy[lRun1 * 4 + 1] = acadoWorkspace.objValueOut[1] - acadoVariables.y[lRun1 * 4 + 1];
-acadoWorkspace.Dy[lRun1 * 4 + 2] = acadoWorkspace.objValueOut[2] - acadoVariables.y[lRun1 * 4 + 2];
-acadoWorkspace.Dy[lRun1 * 4 + 3] = acadoWorkspace.objValueOut[3] - acadoVariables.y[lRun1 * 4 + 3];
-}
-acadoWorkspace.objValueIn[0] = acadoVariables.x[60];
-acadoWorkspace.objValueIn[1] = acadoVariables.x[61];
-acadoWorkspace.objValueIn[2] = acadoVariables.x[62];
-acadoWorkspace.objValueIn[3] = acadoVariables.od[40];
-acadoWorkspace.objValueIn[4] = acadoVariables.od[41];
-acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
-acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
-acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
-acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2] - acadoVariables.yN[2];
-objVal = 0.0000000000000000e+00;
-for (lRun1 = 0; lRun1 < 20; ++lRun1)
-{
-tmpDy[0] = + acadoWorkspace.Dy[lRun1 * 4]*acadoVariables.W[lRun1 * 16] + acadoWorkspace.Dy[lRun1 * 4 + 1]*acadoVariables.W[lRun1 * 16 + 4] + acadoWorkspace.Dy[lRun1 * 4 + 2]*acadoVariables.W[lRun1 * 16 + 8] + acadoWorkspace.Dy[lRun1 * 4 + 3]*acadoVariables.W[lRun1 * 16 + 12];
-tmpDy[1] = + acadoWorkspace.Dy[lRun1 * 4]*acadoVariables.W[lRun1 * 16 + 1] + acadoWorkspace.Dy[lRun1 * 4 + 1]*acadoVariables.W[lRun1 * 16 + 5] + acadoWorkspace.Dy[lRun1 * 4 + 2]*acadoVariables.W[lRun1 * 16 + 9] + acadoWorkspace.Dy[lRun1 * 4 + 3]*acadoVariables.W[lRun1 * 16 + 13];
-tmpDy[2] = + acadoWorkspace.Dy[lRun1 * 4]*acadoVariables.W[lRun1 * 16 + 2] + acadoWorkspace.Dy[lRun1 * 4 + 1]*acadoVariables.W[lRun1 * 16 + 6] + acadoWorkspace.Dy[lRun1 * 4 + 2]*acadoVariables.W[lRun1 * 16 + 10] + acadoWorkspace.Dy[lRun1 * 4 + 3]*acadoVariables.W[lRun1 * 16 + 14];
-tmpDy[3] = + acadoWorkspace.Dy[lRun1 * 4]*acadoVariables.W[lRun1 * 16 + 3] + acadoWorkspace.Dy[lRun1 * 4 + 1]*acadoVariables.W[lRun1 * 16 + 7] + acadoWorkspace.Dy[lRun1 * 4 + 2]*acadoVariables.W[lRun1 * 16 + 11] + acadoWorkspace.Dy[lRun1 * 4 + 3]*acadoVariables.W[lRun1 * 16 + 15];
-objVal += + acadoWorkspace.Dy[lRun1 * 4]*tmpDy[0] + acadoWorkspace.Dy[lRun1 * 4 + 1]*tmpDy[1] + acadoWorkspace.Dy[lRun1 * 4 + 2]*tmpDy[2] + acadoWorkspace.Dy[lRun1 * 4 + 3]*tmpDy[3];
-}
-
-tmpDyN[0] = + acadoWorkspace.DyN[0]*acadoVariables.WN[0] + acadoWorkspace.DyN[1]*acadoVariables.WN[3] + acadoWorkspace.DyN[2]*acadoVariables.WN[6];
-tmpDyN[1] = + acadoWorkspace.DyN[0]*acadoVariables.WN[1] + acadoWorkspace.DyN[1]*acadoVariables.WN[4] + acadoWorkspace.DyN[2]*acadoVariables.WN[7];
-tmpDyN[2] = + acadoWorkspace.DyN[0]*acadoVariables.WN[2] + acadoWorkspace.DyN[1]*acadoVariables.WN[5] + acadoWorkspace.DyN[2]*acadoVariables.WN[8];
-objVal += + acadoWorkspace.DyN[0]*tmpDyN[0] + acadoWorkspace.DyN[1]*tmpDyN[1] + acadoWorkspace.DyN[2]*tmpDyN[2];
-
-objVal *= 0.5;
-return objVal;
-}
-
diff --git a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py b/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
deleted file mode 100644
index c40b4e071eb640..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
+++ /dev/null
@@ -1,41 +0,0 @@
-import os
-
-from cffi import FFI
-from common.ffi_wrapper import suffix
-
-mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
-
-def _get_libmpc(mpc_id):
-    libmpc_fn = os.path.join(mpc_dir, "libmpc%d%s" % (mpc_id, suffix()))
-
-    ffi = FFI()
-    ffi.cdef("""
-    typedef struct {
-    double x_ego, v_ego, a_ego, x_l, v_l, a_l;
-    } state_t;
-
-
-    typedef struct {
-    double x_ego[21];
-    double v_ego[21];
-    double a_ego[21];
-    double j_ego[20];
-    double x_l[21];
-    double v_l[21];
-    double a_l[21];
-    double t[21];
-    double cost;
-    } log_t;
-
-    void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
-    void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l);
-    int run_mpc(state_t * x0, log_t * solution,
-                double l, double a_l_0);
-    """)
-
-    return (ffi, ffi.dlopen(libmpc_fn))
-
-mpcs = [_get_libmpc(1), _get_libmpc(2)]
-
-def get_libmpc(mpc_id):
-    return mpcs[mpc_id - 1]
diff --git a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c
deleted file mode 100644
index d4bfee8c8aac0d..00000000000000
--- a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c
+++ /dev/null
@@ -1,173 +0,0 @@
-#include "acado_common.h"
-#include "acado_auxiliary_functions.h"
-
-#include <stdio.h>
-#include <math.h>
-
-#define NX          ACADO_NX  /* Number of differential state variables.  */
-#define NXA         ACADO_NXA /* Number of algebraic variables. */
-#define NU          ACADO_NU  /* Number of control inputs. */
-#define NOD         ACADO_NOD  /* Number of online data values. */
-
-#define NY          ACADO_NY  /* Number of measurements/references on nodes 0..N - 1. */
-#define NYN         ACADO_NYN /* Number of measurements/references on node N. */
-
-#define N           ACADO_N   /* Number of intervals in the horizon. */
-
-ACADOvariables acadoVariables;
-ACADOworkspace acadoWorkspace;
-
-typedef struct {
-  double x_ego, v_ego, a_ego, x_l, v_l, a_l;
-} state_t;
-
-
-typedef struct {
-  double x_ego[N+1];
-  double v_ego[N+1];
-  double a_ego[N+1];
-  double j_ego[N];
-  double x_l[N+1];
-  double v_l[N+1];
-  double a_l[N+1];
-  double t[N+1];
-  double cost;
-} log_t;
-
-void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost){
-  acado_initializeSolver();
-  int    i;
-  const int STEP_MULTIPLIER = 3;
-
-  /* Initialize the states and controls. */
-  for (i = 0; i < NX * (N + 1); ++i)  acadoVariables.x[ i ] = 0.0;
-  for (i = 0; i < NU * N; ++i)  acadoVariables.u[ i ] = 0.0;
-
-  /* Initialize the measurements/reference. */
-  for (i = 0; i < NY * N; ++i)  acadoVariables.y[ i ] = 0.0;
-  for (i = 0; i < NYN; ++i)  acadoVariables.yN[ i ] = 0.0;
-
-  /* MPC: initialize the current state feedback. */
-  for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.0;
-  // Set weights
-
-  for (i = 0; i < N; i++) {
-    int f = 1;
-    if (i > 4){
-      f = STEP_MULTIPLIER;
-    }
-    // Setup diagonal entries
-    acadoVariables.W[NY*NY*i + (NY+1)*0] = ttcCost * f; // exponential cost for time-to-collision (ttc)
-    acadoVariables.W[NY*NY*i + (NY+1)*1] = distanceCost * f; // desired distance
-    acadoVariables.W[NY*NY*i + (NY+1)*2] = accelerationCost * f; // acceleration
-    acadoVariables.W[NY*NY*i + (NY+1)*3] = jerkCost * f; // jerk
-  }
-  acadoVariables.WN[(NYN+1)*0] = ttcCost * STEP_MULTIPLIER; // exponential cost for danger zone
-  acadoVariables.WN[(NYN+1)*1] = distanceCost * STEP_MULTIPLIER; // desired distance
-  acadoVariables.WN[(NYN+1)*2] = accelerationCost * STEP_MULTIPLIER; // acceleration
-
-}
-
-void init_with_simulation(double v_ego, double x_l_0, double v_l_0, double a_l_0, double l){
-  int i;
-
-  double x_l = x_l_0;
-  double v_l = v_l_0;
-  double a_l = a_l_0;
-
-  double x_ego = 0.0;
-  double a_ego = -(v_ego - v_l) * (v_ego - v_l) / (2.0 * x_l + 0.01) + a_l;
-
-  if (a_ego > 0){
-    a_ego = 0.0;
-  }
-
-
-  double dt = 0.2;
-  double t = 0.;
-
-  for (i = 0; i < N + 1; ++i){
-    if (i > 4){
-      dt = 0.6;
-    }
-
-    /* printf("%.2f\t%.2f\t%.2f\t%.2f\n", t, x_ego, v_ego, a_l); */
-    acadoVariables.x[i*NX] = x_ego;
-    acadoVariables.x[i*NX+1] = v_ego;
-    acadoVariables.x[i*NX+2] = a_ego;
-
-    v_ego += a_ego * dt;
-
-    if (v_ego <= 0.0) {
-      v_ego = 0.0;
-      a_ego = 0.0;
-    }
-
-    x_ego += v_ego * dt;
-    t += dt;
-  }
-
-  for (i = 0; i < NU * N; ++i)  acadoVariables.u[ i ] = 0.0;
-  for (i = 0; i < NY * N; ++i)  acadoVariables.y[ i ] = 0.0;
-  for (i = 0; i < NYN; ++i)  acadoVariables.yN[ i ] = 0.0;
-}
-
-int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0){
-  // Calculate lead vehicle predictions
-  int i;
-  double t = 0.;
-  double dt = 0.2;
-  double x_l = x0->x_l;
-  double v_l = x0->v_l;
-  double a_l = a_l_0;
-
-  /* printf("t\tx_l\t_v_l\t_al\n"); */
-  for (i = 0; i < N + 1; ++i){
-    if (i > 4){
-      dt = 0.6;
-    }
-
-    /* printf("%.2f\t%.2f\t%.2f\t%.2f\n", t, x_l, v_l, a_l); */
-
-    acadoVariables.od[i*NOD] = x_l;
-    acadoVariables.od[i*NOD+1] = v_l;
-
-    solution->x_l[i] = x_l;
-    solution->v_l[i] = v_l;
-    solution->a_l[i] = a_l;
-    solution->t[i] = t;
-
-    a_l = a_l_0 * exp(-l * t * t / 2);
-    x_l += v_l * dt;
-    v_l += a_l * dt;
-    if (v_l < 0.0){
-      a_l = 0.0;
-      v_l = 0.0;
-    }
-
-    t += dt;
-  }
-
-  acadoVariables.x[0] = acadoVariables.x0[0] = x0->x_ego;
-  acadoVariables.x[1] = acadoVariables.x0[1] = x0->v_ego;
-  acadoVariables.x[2] = acadoVariables.x0[2] = x0->a_ego;
-
-  acado_preparationStep();
-  acado_feedbackStep();
-
-  for (i = 0; i <= N; i++){
-    solution->x_ego[i] = acadoVariables.x[i*NX];
-    solution->v_ego[i] = acadoVariables.x[i*NX+1];
-    solution->a_ego[i] = acadoVariables.x[i*NX+2];
-
-    if (i < N){
-      solution->j_ego[i] = acadoVariables.u[i];
-    }
-  }
-  solution->cost = acado_getObjective();
-
-  // Dont shift states here. Current solution is closer to next timestep than if
-  // we shift by 0.2 seconds.
-
-  return acado_getNWSR();
-}
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore b/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
new file mode 100644
index 00000000000000..6f09b1aa0cdb7e
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
@@ -0,0 +1,2 @@
+acados_ocp_long.json
+c_generated_code/
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
new file mode 100644
index 00000000000000..4abe90f8f892b0
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -0,0 +1,87 @@
+Import('env', 'envCython', 'arch', 'common')
+
+gen = "c_generated_code"
+
+casadi_model = [
+  f'{gen}/long_model/long_expl_ode_fun.c',
+  f'{gen}/long_model/long_expl_vde_forw.c',
+]
+
+casadi_cost_y = [
+  f'{gen}/long_cost/long_cost_y_fun.c',
+  f'{gen}/long_cost/long_cost_y_fun_jac_ut_xt.c',
+  f'{gen}/long_cost/long_cost_y_hess.c',
+]
+
+casadi_cost_e = [
+  f'{gen}/long_cost/long_cost_y_e_fun.c',
+  f'{gen}/long_cost/long_cost_y_e_fun_jac_ut_xt.c',
+  f'{gen}/long_cost/long_cost_y_e_hess.c',
+]
+
+casadi_cost_0 = [
+  f'{gen}/long_cost/long_cost_y_0_fun.c',
+  f'{gen}/long_cost/long_cost_y_0_fun_jac_ut_xt.c',
+  f'{gen}/long_cost/long_cost_y_0_hess.c',
+]
+
+casadi_constraints = [
+  f'{gen}/long_constraints/long_constr_h_fun.c',
+  f'{gen}/long_constraints/long_constr_h_fun_jac_uxt_zt.c',
+  f'{gen}/long_constraints/long_constr_h_e_fun.c',
+  f'{gen}/long_constraints/long_constr_h_e_fun_jac_uxt_zt.c',
+]
+
+build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + casadi_cost_e +  \
+              casadi_cost_0 + casadi_constraints
+
+# extra generated files used to trigger a rebuild
+generated_files = [
+  f'{gen}/Makefile',
+
+  f'{gen}/main_long.c',
+  f'{gen}/acados_solver_long.h',
+  f'{gen}/acados_solver.pxd',
+
+  f'{gen}/long_model/long_expl_vde_adj.c',
+
+  f'{gen}/long_model/long_model.h',
+  f'{gen}/long_constraints/long_h_constraint.h',
+  f'{gen}/long_constraints/long_h_e_constraint.h',
+  f'{gen}/long_cost/long_cost_y_fun.h',
+  f'{gen}/long_cost/long_cost_y_e_fun.h',
+  f'{gen}/long_cost/long_cost_y_0_fun.h',
+] + build_files
+
+lenv = env.Clone()
+lenv.Clean(generated_files, Dir(gen))
+
+lenv.Command(generated_files,
+             ["long_mpc.py"],
+             f"cd {Dir('.').abspath} && python long_mpc.py")
+
+lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
+lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
+lenv["CCFLAGS"].append("-Wno-unused")
+lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
+                                build_files,
+                                LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
+
+# generate cython stuff
+acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
+acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
+libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
+libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
+
+lenv2 = envCython.Clone()
+lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
+lenv2.Command(libacados_ocp_solver_c,
+  [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
+  f'cython' + \
+  f' -o {libacados_ocp_solver_c.get_labspath()}' + \
+  f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
+  f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
+  f' {acados_ocp_solver_pyx.get_labspath()}')
+lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
+lenv2.Depends(lib_cython, lib_solver)
diff --git a/panda/tests/safety_replay/__init__.py b/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
similarity index 100%
rename from panda/tests/safety_replay/__init__.py
rename to selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
new file mode 100644
index 00000000000000..df6d8e0fb64316
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -0,0 +1,372 @@
+#!/usr/bin/env python3
+import os
+import numpy as np
+
+from common.realtime import sec_since_boot
+from common.numpy_fast import clip, interp
+from selfdrive.swaglog import cloudlog
+from selfdrive.modeld.constants import index_function
+from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
+
+if __name__ == '__main__':  # generating code
+  from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+else:
+  # from pyextra.acados_template import AcadosOcpSolver as AcadosOcpSolverFast
+  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module, import-error
+
+from casadi import SX, vertcat
+
+LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
+EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
+JSON_FILE = "acados_ocp_long.json"
+
+SOURCES = ['lead0', 'lead1', 'cruise']
+
+X_DIM = 3
+U_DIM = 1
+COST_E_DIM = 4
+COST_DIM = COST_E_DIM + 1
+CONSTR_DIM = 4
+
+X_EGO_OBSTACLE_COST = 3.
+V_EGO_COST = 0.
+X_EGO_COST = 0.
+A_EGO_COST = 0.
+J_EGO_COST = 10.
+DANGER_ZONE_COST = 100.
+CRASH_DISTANCE = .5
+LIMIT_COST = 1e6
+
+
+# Less timestamps doesn't hurt performance and leads to
+# much better convergence of the MPC with low iterations
+N = 12
+MAX_T = 10.0
+T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N+1) for idx in range(N+1)]
+
+T_IDXS = np.array(T_IDXS_LST)
+T_DIFFS = np.diff(T_IDXS, prepend=[0.])
+MIN_ACCEL = -3.5
+T_REACT = 1.8
+MAX_BRAKE = 9.81
+
+
+def get_stopped_equivalence_factor(v_lead):
+  return T_REACT * v_lead + (v_lead*v_lead) / (2 * MAX_BRAKE)
+
+def get_safe_obstacle_distance(v_ego):
+  return 2 * T_REACT * v_ego + (v_ego*v_ego) / (2 * MAX_BRAKE) + 4.0
+
+def desired_follow_distance(v_ego, v_lead):
+  return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead)
+
+
+def gen_long_model():
+  model = AcadosModel()
+  model.name = 'long'
+
+  # set up states & controls
+  x_ego = SX.sym('x_ego')
+  v_ego = SX.sym('v_ego')
+  a_ego = SX.sym('a_ego')
+  model.x = vertcat(x_ego, v_ego, a_ego)
+
+  # controls
+  j_ego = SX.sym('j_ego')
+  model.u = vertcat(j_ego)
+
+  # xdot
+  x_ego_dot = SX.sym('x_ego_dot')
+  v_ego_dot = SX.sym('v_ego_dot')
+  a_ego_dot = SX.sym('a_ego_dot')
+  model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot)
+
+  # live parameters
+  x_obstacle = SX.sym('x_obstacle')
+  a_min = SX.sym('a_min')
+  a_max = SX.sym('a_max')
+  model.p = vertcat(a_min, a_max, x_obstacle)
+
+  # dynamics model
+  f_expl = vertcat(v_ego, a_ego, j_ego)
+  model.f_impl_expr = model.xdot - f_expl
+  model.f_expl_expr = f_expl
+  return model
+
+
+def gen_long_mpc_solver():
+  ocp = AcadosOcp()
+  ocp.model = gen_long_model()
+
+  Tf = T_IDXS[-1]
+
+  # set dimensions
+  ocp.dims.N = N
+
+  # set cost module
+  ocp.cost.cost_type = 'NONLINEAR_LS'
+  ocp.cost.cost_type_e = 'NONLINEAR_LS'
+
+  QR = np.zeros((COST_DIM, COST_DIM))
+  Q = np.zeros((COST_E_DIM, COST_E_DIM))
+
+  ocp.cost.W = QR
+  ocp.cost.W_e = Q
+
+  x_ego, v_ego, a_ego = ocp.model.x[0], ocp.model.x[1], ocp.model.x[2]
+  j_ego = ocp.model.u[0]
+
+  a_min, a_max = ocp.model.p[0], ocp.model.p[1]
+  x_obstacle = ocp.model.p[2]
+
+  ocp.cost.yref = np.zeros((COST_DIM, ))
+  ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
+
+  desired_dist_comfort = get_safe_obstacle_distance(v_ego)
+
+  # The main cost in normal operation is how close you are to the "desired" distance
+  # from an obstacle at every timestep. This obstacle can be a lead car
+  # or other object. In e2e mode we can use x_position targets as a cost
+  # instead.
+  costs = [((x_obstacle - x_ego) - (desired_dist_comfort)) / (v_ego + 10.),
+           x_ego,
+           v_ego,
+           a_ego,
+           j_ego]
+  ocp.model.cost_y_expr = vertcat(*costs)
+  ocp.model.cost_y_expr_e = vertcat(*costs[:-1])
+
+  # Constraints on speed, acceleration and desired distance to
+  # the obstacle, which is treated as a slack constraint so it
+  # behaves like an assymetrical cost.
+  constraints = vertcat((v_ego),
+                        (a_ego - a_min),
+                        (a_max - a_ego),
+                        ((x_obstacle - x_ego) - (3/4) * (desired_dist_comfort)) / (v_ego + 10.))
+  ocp.model.con_h_expr = constraints
+  ocp.model.con_h_expr_e = vertcat(np.zeros(CONSTR_DIM))
+
+  x0 = np.zeros(X_DIM)
+  ocp.constraints.x0 = x0
+  ocp.parameter_values = np.array([-1.2, 1.2, 0.0])
+
+  # We put all constraint cost weights to 0 and only set them at runtime
+  cost_weights = np.zeros(CONSTR_DIM)
+  ocp.cost.zl = cost_weights
+  ocp.cost.Zl = cost_weights
+  ocp.cost.Zu = cost_weights
+  ocp.cost.zu = cost_weights
+
+  ocp.constraints.lh = np.zeros(CONSTR_DIM)
+  ocp.constraints.lh_e = np.zeros(CONSTR_DIM)
+  ocp.constraints.uh = 1e4*np.ones(CONSTR_DIM)
+  ocp.constraints.uh_e = 1e4*np.ones(CONSTR_DIM)
+  ocp.constraints.idxsh = np.arange(CONSTR_DIM)
+
+  # The HPIPM solver can give decent solutions even when it is stopped early
+  # Which is critical for our purpose where the compute time is strictly bounded
+  # We use HPIPM in the SPEED_ABS mode, which ensures fastest runtime. This
+  # does not cause issues since the problem is well bounded.
+  ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
+  ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
+  ocp.solver_options.integrator_type = 'ERK'
+  ocp.solver_options.nlp_solver_type = 'SQP_RTI'
+  ocp.solver_options.qp_solver_cond_N = N//4
+
+  # More iterations take too much time and less lead to inaccurate convergence in
+  # some situations. Ideally we would run just 1 iteration to ensure fixed runtime.
+  ocp.solver_options.qp_solver_iter_max = 10
+
+  # set prediction horizon
+  ocp.solver_options.tf = Tf
+  ocp.solver_options.shooting_nodes = T_IDXS
+
+  ocp.code_export_directory = EXPORT_DIR
+  return ocp
+
+
+class LongitudinalMpc():
+  def __init__(self, e2e=False):
+    self.e2e = e2e
+    self.reset()
+    self.accel_limit_arr = np.zeros((N+1, 2))
+    self.accel_limit_arr[:,0] = -1.2
+    self.accel_limit_arr[:,1] = 1.2
+    self.source = SOURCES[2]
+
+  def reset(self):
+    self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR)
+    self.v_solution = [0.0 for i in range(N+1)]
+    self.a_solution = [0.0 for i in range(N+1)]
+    self.j_solution = [0.0 for i in range(N)]
+    self.yref = np.zeros((N+1, COST_DIM))
+    for i in range(N):
+      self.solver.cost_set(i, "yref", self.yref[i])
+    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
+    self.x_sol = np.zeros((N+1, X_DIM))
+    self.u_sol = np.zeros((N,1))
+    self.params = np.zeros((N+1,3))
+    for i in range(N+1):
+      self.solver.set(i, 'x', np.zeros(X_DIM))
+    self.last_cloudlog_t = 0
+    self.status = False
+    self.crash_cnt = 0.0
+    self.solution_status = 0
+    self.x0 = np.zeros(X_DIM)
+    self.set_weights()
+
+  def set_weights(self):
+    if self.e2e:
+      self.set_weights_for_xva_policy()
+    else:
+      self.set_weights_for_lead_policy()
+
+  def set_weights_for_lead_policy(self):
+    W = np.asfortranarray(np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, J_EGO_COST]))
+    for i in range(N):
+      self.solver.cost_set(i, 'W', W)
+    # Setting the slice without the copy make the array not contiguous,
+    # causing issues with the C interface.
+    self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM]))
+
+    # Set L2 slack cost on lower bound constraints
+    Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST])
+    for i in range(N):
+      self.solver.cost_set(i, 'Zl', Zl)
+
+  def set_weights_for_xva_policy(self):
+    W = np.asfortranarray(np.diag([0., 10., 1., 10., 1.]))
+    for i in range(N):
+      self.solver.cost_set(i, 'W', W)
+    # Setting the slice without the copy make the array not contiguous,
+    # causing issues with the C interface.
+    self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM]))
+
+    # Set L2 slack cost on lower bound constraints
+    Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0])
+    for i in range(N):
+      self.solver.cost_set(i, 'Zl', Zl)
+
+  def set_cur_state(self, v, a):
+    if abs(self.x0[1] - v) > 1.:
+      self.x0[1] = v
+      self.x0[2] = a
+      for i in range(0, N+1):
+        self.solver.set(i, 'x', self.x0)
+    else:
+      self.x0[1] = v
+      self.x0[2] = a
+
+  def extrapolate_lead(self, x_lead, v_lead, a_lead, a_lead_tau):
+    a_lead_traj = a_lead * np.exp(-a_lead_tau * (T_IDXS**2)/2.)
+    v_lead_traj = np.clip(v_lead + np.cumsum(T_DIFFS * a_lead_traj), 0.0, 1e8)
+    x_lead_traj = x_lead + np.cumsum(T_DIFFS * v_lead_traj)
+    lead_xv = np.column_stack((x_lead_traj, v_lead_traj))
+    return lead_xv
+
+  def process_lead(self, lead):
+    v_ego = self.x0[1]
+    if lead is not None and lead.status:
+      x_lead = lead.dRel
+      v_lead = lead.vLead
+      a_lead = lead.aLeadK
+      a_lead_tau = lead.aLeadTau
+    else:
+      # Fake a fast lead car, so mpc can keep running in the same mode
+      x_lead = 50.0
+      v_lead = v_ego + 10.0
+      a_lead = 0.0
+      a_lead_tau = _LEAD_ACCEL_TAU
+
+    # MPC will not converge if immediate crash is expected
+    # Clip lead distance to what is still possible to brake for
+    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-MIN_ACCEL * 2)
+    x_lead = clip(x_lead, min_x_lead, 1e8)
+    v_lead = clip(v_lead, 0.0, 1e8)
+    a_lead = clip(a_lead, -10., 5.)
+    lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
+    return lead_xv
+
+  def set_accel_limits(self, min_a, max_a):
+    self.cruise_min_a = min_a
+    self.cruise_max_a = max_a
+
+  def update(self, carstate, radarstate, v_cruise):
+    v_ego = self.x0[1]
+    self.status = radarstate.leadOne.status or radarstate.leadTwo.status
+
+    lead_xv_0 = self.process_lead(radarstate.leadOne)
+    lead_xv_1 = self.process_lead(radarstate.leadTwo)
+
+    # set accel limits in params
+    self.params[:,0] = interp(float(self.status), [0.0, 1.0], [self.cruise_min_a, MIN_ACCEL])
+    self.params[:,1] = self.cruise_max_a
+
+    # To estimate a safe distance from a moving lead, we calculate how much stopping
+    # distance that lead needs as a minimum. We can add that to the current distance
+    # and then treat that as a stopped car/obstacle at this new distance.
+    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
+
+    # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
+    # when the leads are no factor.
+    cruise_lower_bound = v_ego + (3/4) * self.cruise_min_a * T_IDXS
+    cruise_upper_bound = v_ego + (3/4) * self.cruise_max_a * T_IDXS
+    v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
+                               cruise_lower_bound,
+                               cruise_upper_bound)
+    cruise_obstacle = T_IDXS*v_cruise_clipped + get_safe_obstacle_distance(v_cruise_clipped)
+
+    x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
+    self.source = SOURCES[np.argmin(x_obstacles[0])]
+    self.params[:,2] = np.min(x_obstacles, axis=1)
+
+    self.run()
+    if (np.any(lead_xv_0[:,0] - self.x_sol[:,0] < CRASH_DISTANCE) and
+            radarstate.leadOne.modelProb > 0.9):
+      self.crash_cnt += 1
+    else:
+      self.crash_cnt = 0
+
+  def update_with_xva(self, x, v, a):
+    self.yref[:,1] = x
+    self.yref[:,2] = v
+    self.yref[:,3] = a
+    for i in range(N):
+      self.solver.cost_set(i, "yref", self.yref[i])
+    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
+    self.accel_limit_arr[:,0] = -10.
+    self.accel_limit_arr[:,1] = 10.
+    x_obstacle = 1e5*np.ones((N+1))
+    self.params = np.concatenate([self.accel_limit_arr,
+                             x_obstacle[:,None]], axis=1)
+    self.run()
+
+
+  def run(self):
+    for i in range(N+1):
+      self.solver.set(i, 'p', self.params[i])
+    self.solver.constraints_set(0, "lbx", self.x0)
+    self.solver.constraints_set(0, "ubx", self.x0)
+    self.solution_status = self.solver.solve()
+    for i in range(N+1):
+      self.x_sol[i] = self.solver.get(i, 'x')
+    for i in range(N):
+      self.u_sol[i] = self.solver.get(i, 'u')
+
+    self.v_solution = self.x_sol[:,1]
+    self.a_solution = self.x_sol[:,2]
+    self.j_solution = self.u_sol[:,0]
+
+    t = sec_since_boot()
+    if self.solution_status != 0:
+      if t > self.last_cloudlog_t + 5.0:
+        self.last_cloudlog_t = t
+        cloudlog.warning("Long mpc reset, solution_status: %s" % (
+                          self.solution_status))
+      self.reset()
+
+
+if __name__ == "__main__":
+  ocp = gen_long_mpc_solver()
+  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE, build=False)
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
new file mode 100755
index 00000000000000..051a68a7415df9
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -0,0 +1,123 @@
+#!/usr/bin/env python3
+import math
+import numpy as np
+from common.numpy_fast import interp
+
+import cereal.messaging as messaging
+from common.realtime import DT_MDL
+from selfdrive.modeld.constants import T_IDXS
+from selfdrive.config import Conversions as CV
+from selfdrive.controls.lib.longcontrol import LongCtrlState
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
+from selfdrive.swaglog import cloudlog
+
+LON_MPC_STEP = 0.2  # first step is 0.2s
+AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distracted
+A_CRUISE_MIN = -1.2
+A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
+A_CRUISE_MAX_BP = [0., 15., 25., 40.]
+
+# Lookup table for turns
+_A_TOTAL_MAX_V = [1.7, 3.2]
+_A_TOTAL_MAX_BP = [20., 40.]
+
+
+def get_max_accel(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+
+
+def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
+  """
+  This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
+  this should avoid accelerating when losing the target in turns
+  """
+
+  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_y = v_ego**2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
+  a_x_allowed = math.sqrt(max(a_total_max**2 - a_y**2, 0.))
+
+  return [a_target[0], min(a_target[1], a_x_allowed)]
+
+
+class Planner():
+  def __init__(self, CP, init_v=0.0, init_a=0.0):
+    self.CP = CP
+    self.mpc = LongitudinalMpc()
+
+    self.fcw = False
+
+    self.v_desired = init_v
+    self.a_desired = init_a
+    self.alpha = np.exp(-DT_MDL/2.0)
+
+    self.v_desired_trajectory = np.zeros(CONTROL_N)
+    self.a_desired_trajectory = np.zeros(CONTROL_N)
+    self.j_desired_trajectory = np.zeros(CONTROL_N)
+
+
+  def update(self, sm, CP):
+    v_ego = sm['carState'].vEgo
+    a_ego = sm['carState'].aEgo
+
+    v_cruise_kph = sm['controlsState'].vCruise
+    v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
+    v_cruise = v_cruise_kph * CV.KPH_TO_MS
+
+    long_control_state = sm['controlsState'].longControlState
+    force_slow_decel = sm['controlsState'].forceDecel
+
+    enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
+    if not enabled or sm['carState'].gasPressed:
+      self.v_desired = v_ego
+      self.a_desired = a_ego
+
+    # Prevent divergence, smooth in current v_ego
+    self.v_desired = self.alpha * self.v_desired + (1 - self.alpha) * v_ego
+    self.v_desired = max(0.0, self.v_desired)
+
+    accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
+    accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+    if force_slow_decel:
+      # if required so, force a smooth deceleration
+      accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
+      accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1])
+    # clip limits, cannot init MPC outside of bounds
+    accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
+    accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
+    self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
+    self.mpc.set_cur_state(self.v_desired, self.a_desired)
+    self.mpc.update(sm['carState'], sm['radarState'], v_cruise)
+    self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
+    self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
+
+    #TODO counter is only needed because radar is glitchy, remove once radar is gone
+    self.fcw = self.mpc.crash_cnt > 5
+    if self.fcw:
+      cloudlog.info("FCW triggered")
+
+    # Interpolate 0.05 seconds and save as starting point for next iteration
+    a_prev = self.a_desired
+    self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
+    self.v_desired = self.v_desired + DT_MDL * (self.a_desired + a_prev)/2.0
+
+  def publish(self, sm, pm):
+    plan_send = messaging.new_message('longitudinalPlan')
+
+    plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState'])
+
+    longitudinalPlan = plan_send.longitudinalPlan
+    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
+    longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
+
+    longitudinalPlan.speeds = [float(x) for x in self.v_desired_trajectory]
+    longitudinalPlan.accels = [float(x) for x in self.a_desired_trajectory]
+    longitudinalPlan.jerks = [float(x) for x in self.j_desired_trajectory]
+
+    longitudinalPlan.hasLead = sm['radarState'].leadOne.status
+    longitudinalPlan.longitudinalPlanSource = self.mpc.source
+    longitudinalPlan.fcw = self.fcw
+
+    pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
deleted file mode 100644
index 83b1190fff6f08..00000000000000
--- a/selfdrive/controls/lib/pathplanner.py
+++ /dev/null
@@ -1,223 +0,0 @@
-import os
-import math
-from common.realtime import sec_since_boot, DT_MDL
-from selfdrive.swaglog import cloudlog
-from selfdrive.controls.lib.lateral_mpc import libmpc_py
-from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
-from selfdrive.controls.lib.lane_planner import LanePlanner
-from selfdrive.config import Conversions as CV
-from common.params import Params
-import cereal.messaging as messaging
-from cereal import log
-
-LaneChangeState = log.PathPlan.LaneChangeState
-LaneChangeDirection = log.PathPlan.LaneChangeDirection
-
-LOG_MPC = os.environ.get('LOG_MPC', False)
-
-LANE_CHANGE_SPEED_MIN = 45 * CV.MPH_TO_MS
-LANE_CHANGE_TIME_MAX = 10.
-
-DESIRES = {
-  LaneChangeDirection.none: {
-    LaneChangeState.off: log.PathPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.none,
-    LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.none,
-  },
-  LaneChangeDirection.left: {
-    LaneChangeState.off: log.PathPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeLeft,
-    LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeLeft,
-  },
-  LaneChangeDirection.right: {
-    LaneChangeState.off: log.PathPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeRight,
-    LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeRight,
-  },
-}
-
-def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
-  states[0].x = v_ego * delay
-  states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
-  return states
-
-
-class PathPlanner():
-  def __init__(self, CP):
-    self.LP = LanePlanner()
-
-    self.last_cloudlog_t = 0
-    self.steer_rate_cost = CP.steerRateCost
-
-    self.setup_mpc()
-    self.solution_invalid_cnt = 0
-    self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1'
-    self.lane_change_state = LaneChangeState.off
-    self.lane_change_direction = LaneChangeDirection.none
-    self.lane_change_timer = 0.0
-    self.prev_one_blinker = False
-
-  def setup_mpc(self):
-    self.libmpc = libmpc_py.libmpc
-    self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
-
-    self.mpc_solution = libmpc_py.ffi.new("log_t *")
-    self.cur_state = libmpc_py.ffi.new("state_t *")
-    self.cur_state[0].x = 0.0
-    self.cur_state[0].y = 0.0
-    self.cur_state[0].psi = 0.0
-    self.cur_state[0].delta = 0.0
-
-    self.angle_steers_des = 0.0
-    self.angle_steers_des_mpc = 0.0
-    self.angle_steers_des_prev = 0.0
-    self.angle_steers_des_time = 0.0
-
-  def update(self, sm, pm, CP, VM):
-    v_ego = sm['carState'].vEgo
-    angle_steers = sm['carState'].steeringAngle
-    active = sm['controlsState'].active
-
-    angle_offset = sm['liveParameters'].angleOffset
-
-    # Run MPC
-    self.angle_steers_des_prev = self.angle_steers_des_mpc
-    VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
-    curvature_factor = VM.curvature_factor(v_ego)
-
-    self.LP.parse_model(sm['model'])
-
-    # Lane change logic
-    one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
-    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
-
-    if sm['carState'].leftBlinker:
-      self.lane_change_direction = LaneChangeDirection.left
-    elif sm['carState'].rightBlinker:
-      self.lane_change_direction = LaneChangeDirection.right
-
-    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker) or (not self.lane_change_enabled):
-      self.lane_change_state = LaneChangeState.off
-      self.lane_change_direction = LaneChangeDirection.none
-    else:
-      torque_applied = sm['carState'].steeringPressed and \
-                       ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or \
-                        (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
-
-      lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
-
-      # State transitions
-      # off
-      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
-        self.lane_change_state = LaneChangeState.preLaneChange
-
-      # pre
-      elif self.lane_change_state == LaneChangeState.preLaneChange:
-        if not one_blinker or below_lane_change_speed:
-          self.lane_change_state = LaneChangeState.off
-        elif torque_applied:
-          self.lane_change_state = LaneChangeState.laneChangeStarting
-
-      # starting
-      elif self.lane_change_state == LaneChangeState.laneChangeStarting and lane_change_prob > 0.5:
-        self.lane_change_state = LaneChangeState.laneChangeFinishing
-
-      # finishing
-      elif self.lane_change_state == LaneChangeState.laneChangeFinishing and lane_change_prob < 0.2:
-        if one_blinker:
-          self.lane_change_state = LaneChangeState.preLaneChange
-        else:
-          self.lane_change_state = LaneChangeState.off
-
-    if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
-      self.lane_change_timer = 0.0
-    else:
-      self.lane_change_timer += DT_MDL
-
-    self.prev_one_blinker = one_blinker
-
-    desire = DESIRES[self.lane_change_direction][self.lane_change_state]
-
-    # Turn off lanes during lane change
-    if desire == log.PathPlan.Desire.laneChangeRight or desire == log.PathPlan.Desire.laneChangeLeft:
-      self.LP.l_prob = 0.
-      self.LP.r_prob = 0.
-      self.libmpc.init_weights(MPC_COST_LAT.PATH / 10.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
-    else:
-      self.libmpc.init_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
-
-    self.LP.update_d_poly(v_ego)
-
-    # account for actuation delay
-    self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay)
-
-    v_ego_mpc = max(v_ego, 5.0)  # avoid mpc roughness due to low speed
-    self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
-                        list(self.LP.l_poly), list(self.LP.r_poly), list(self.LP.d_poly),
-                        self.LP.l_prob, self.LP.r_prob, curvature_factor, v_ego_mpc, self.LP.lane_width)
-
-    # reset to current steer angle if not active or overriding
-    if active:
-      delta_desired = self.mpc_solution[0].delta[1]
-      rate_desired = math.degrees(self.mpc_solution[0].rate[0] * VM.sR)
-    else:
-      delta_desired = math.radians(angle_steers - angle_offset) / VM.sR
-      rate_desired = 0.0
-
-    self.cur_state[0].delta = delta_desired
-
-    self.angle_steers_des_mpc = float(math.degrees(delta_desired * VM.sR) + angle_offset)
-
-    #  Check for infeasable MPC solution
-    mpc_nans = any(math.isnan(x) for x in self.mpc_solution[0].delta)
-    t = sec_since_boot()
-    if mpc_nans:
-      self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost)
-      self.cur_state[0].delta = math.radians(angle_steers - angle_offset) / VM.sR
-
-      if t > self.last_cloudlog_t + 5.0:
-        self.last_cloudlog_t = t
-        cloudlog.warning("Lateral mpc - nan: True")
-
-    if self.mpc_solution[0].cost > 20000. or mpc_nans:   # TODO: find a better way to detect when MPC did not converge
-      self.solution_invalid_cnt += 1
-    else:
-      self.solution_invalid_cnt = 0
-    plan_solution_valid = self.solution_invalid_cnt < 2
-
-    plan_send = messaging.new_message()
-    plan_send.init('pathPlan')
-    plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'liveParameters', 'model'])
-    plan_send.pathPlan.laneWidth = float(self.LP.lane_width)
-    plan_send.pathPlan.dPoly = [float(x) for x in self.LP.d_poly]
-    plan_send.pathPlan.lPoly = [float(x) for x in self.LP.l_poly]
-    plan_send.pathPlan.lProb = float(self.LP.l_prob)
-    plan_send.pathPlan.rPoly = [float(x) for x in self.LP.r_poly]
-    plan_send.pathPlan.rProb = float(self.LP.r_prob)
-
-    plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
-    plan_send.pathPlan.rateSteers = float(rate_desired)
-    plan_send.pathPlan.angleOffset = float(sm['liveParameters'].angleOffsetAverage)
-    plan_send.pathPlan.mpcSolutionValid = bool(plan_solution_valid)
-    plan_send.pathPlan.paramsValid = bool(sm['liveParameters'].valid)
-    plan_send.pathPlan.sensorValid = bool(sm['liveParameters'].sensorValid)
-    plan_send.pathPlan.posenetValid = bool(sm['liveParameters'].posenetValid)
-
-    plan_send.pathPlan.desire = desire
-    plan_send.pathPlan.laneChangeState = self.lane_change_state
-    plan_send.pathPlan.laneChangeDirection = self.lane_change_direction
-
-    pm.send('pathPlan', plan_send)
-
-    if LOG_MPC:
-      dat = messaging.new_message()
-      dat.init('liveMpc')
-      dat.liveMpc.x = list(self.mpc_solution[0].x)
-      dat.liveMpc.y = list(self.mpc_solution[0].y)
-      dat.liveMpc.psi = list(self.mpc_solution[0].psi)
-      dat.liveMpc.delta = list(self.mpc_solution[0].delta)
-      dat.liveMpc.cost = self.mpc_solution[0].cost
-      pm.send('liveMpc', dat)
diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py
index fbd388530499de..de7cc3db850b31 100644
--- a/selfdrive/controls/lib/pid.py
+++ b/selfdrive/controls/lib/pid.py
@@ -1,4 +1,6 @@
 import numpy as np
+from numbers import Number
+
 from common.numpy_fast import clip, interp
 
 def apply_deadzone(error, deadzone):
@@ -11,10 +13,14 @@ def apply_deadzone(error, deadzone):
   return error
 
 class PIController():
-  def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8, convert=None):
-    self._k_p = k_p # proportional gain
-    self._k_i = k_i # integral gain
-    self.k_f = k_f  # feedforward gain
+  def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8):
+    self._k_p = k_p  # proportional gain
+    self._k_i = k_i  # integral gain
+    self.k_f = k_f   # feedforward gain
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
 
     self.pos_limit = pos_limit
     self.neg_limit = neg_limit
@@ -23,7 +29,6 @@ def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, s
     self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
     self.sat_limit = sat_limit
-    self.convert = convert
 
     self.reset()
 
@@ -68,21 +73,15 @@ def update(self, setpoint, measurement, speed=0.0, check_saturation=True, overri
       i = self.i + error * self.k_i * self.i_rate
       control = self.p + self.f + i
 
-      if self.convert is not None:
-        control = self.convert(control, speed=self.speed)
-
       # Update when changing i will move the control away from the limits
       # or when i will move towards the sign of the error
-      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or \
+      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
           (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
          not freeze_integrator:
         self.i = i
 
     control = self.p + self.f + self.i
-    if self.convert is not None:
-      control = self.convert(control, speed=self.speed)
-
     self.saturated = self._check_saturation(control, check_saturation, error)
 
     self.control = clip(control, self.neg_limit, self.pos_limit)
-    return self.control
+    return self.control
\ No newline at end of file
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
deleted file mode 100755
index 1d6140a8167b82..00000000000000
--- a/selfdrive/controls/lib/planner.py
+++ /dev/null
@@ -1,253 +0,0 @@
-#!/usr/bin/env python3
-import math
-import numpy as np
-from common.params import Params
-from common.numpy_fast import interp
-
-import cereal.messaging as messaging
-from cereal import car
-from common.realtime import sec_since_boot
-from selfdrive.swaglog import cloudlog
-from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.speed_smoother import speed_smoother
-from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
-from selfdrive.controls.lib.fcw import FCWChecker
-from selfdrive.controls.lib.long_mpc import LongitudinalMpc
-
-MAX_SPEED = 255.0
-
-LON_MPC_STEP = 0.2  # first step is 0.2s
-MAX_SPEED_ERROR = 2.0
-AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distracted
-
-# lookup tables VS speed to determine min and max accels in cruise
-# make sure these accelerations are smaller than mpc limits
-_A_CRUISE_MIN_V  = [-1.0, -.8, -.67, -.5, -.30]
-_A_CRUISE_MIN_BP = [   0., 5.,  10., 20.,  40.]
-
-# need fast accel at very low speed for stop and go
-# make sure these accelerations are smaller than mpc limits
-_A_CRUISE_MAX_V = [1.2, 1.2, 0.65, .4]
-_A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 0.65, .4]
-_A_CRUISE_MAX_BP = [0.,  6.4, 22.5, 40.]
-
-# Lookup table for turns
-_A_TOTAL_MAX_V = [1.7, 3.2]
-_A_TOTAL_MAX_BP = [20., 40.]
-
-# 75th percentile
-SPEED_PERCENTILE_IDX = 7
-
-
-def calc_cruise_accel_limits(v_ego, following):
-  a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-
-  if following:
-    a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
-  else:
-    a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
-  return np.vstack([a_cruise_min, a_cruise_max])
-
-
-def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
-  """
-  This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
-  this should avoid accelerating when losing the target in turns
-  """
-
-  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
-  a_y = v_ego**2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
-  a_x_allowed = math.sqrt(max(a_total_max**2 - a_y**2, 0.))
-
-  return [a_target[0], min(a_target[1], a_x_allowed)]
-
-
-class Planner():
-  def __init__(self, CP):
-    self.CP = CP
-
-    self.mpc1 = LongitudinalMpc(1)
-    self.mpc2 = LongitudinalMpc(2)
-
-    self.v_acc_start = 0.0
-    self.a_acc_start = 0.0
-
-    self.v_acc = 0.0
-    self.v_acc_future = 0.0
-    self.a_acc = 0.0
-    self.v_cruise = 0.0
-    self.a_cruise = 0.0
-    self.v_model = 0.0
-    self.a_model = 0.0
-
-    self.longitudinalPlanSource = 'cruise'
-    self.fcw_checker = FCWChecker()
-    self.path_x = np.arange(192)
-
-    self.params = Params()
-    self.first_loop = True
-
-  def choose_solution(self, v_cruise_setpoint, enabled):
-    if enabled:
-      solutions = {'model': self.v_model, 'cruise': self.v_cruise}
-      if self.mpc1.prev_lead_status:
-        solutions['mpc1'] = self.mpc1.v_mpc
-      if self.mpc2.prev_lead_status:
-        solutions['mpc2'] = self.mpc2.v_mpc
-
-      slowest = min(solutions, key=solutions.get)
-
-      self.longitudinalPlanSource = slowest
-      # Choose lowest of MPC and cruise
-      if slowest == 'mpc1':
-        self.v_acc = self.mpc1.v_mpc
-        self.a_acc = self.mpc1.a_mpc
-      elif slowest == 'mpc2':
-        self.v_acc = self.mpc2.v_mpc
-        self.a_acc = self.mpc2.a_mpc
-      elif slowest == 'cruise':
-        self.v_acc = self.v_cruise
-        self.a_acc = self.a_cruise
-      elif slowest == 'model':
-        self.v_acc = self.v_model
-        self.a_acc = self.a_model
-
-    self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint])
-
-  def update(self, sm, pm, CP, VM, PP):
-    """Gets called when new radarState is available"""
-    cur_time = sec_since_boot()
-    v_ego = sm['carState'].vEgo
-
-    long_control_state = sm['controlsState'].longControlState
-    v_cruise_kph = sm['controlsState'].vCruise
-    force_slow_decel = sm['controlsState'].forceDecel
-    v_cruise_setpoint = v_cruise_kph * CV.KPH_TO_MS
-
-    lead_1 = sm['radarState'].leadOne
-    lead_2 = sm['radarState'].leadTwo
-
-    enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
-    following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0
-
-    if len(sm['model'].path.poly):
-      path = list(sm['model'].path.poly)
-
-      # Curvature of polynomial https://en.wikipedia.org/wiki/Curvature#Curvature_of_the_graph_of_a_function
-      # y = a x^3 + b x^2 + c x + d, y' = 3 a x^2 + 2 b x + c, y'' = 6 a x + 2 b
-      # k = y'' / (1 + y'^2)^1.5
-      # TODO: compute max speed without using a list of points and without numpy
-      y_p = 3 * path[0] * self.path_x**2 + 2 * path[1] * self.path_x + path[2]
-      y_pp = 6 * path[0] * self.path_x + 2 * path[1]
-      curv = y_pp / (1. + y_p**2)**1.5
-
-      a_y_max = 2.975 - v_ego * 0.0375  # ~1.85 @ 75mph, ~2.6 @ 25mph
-      v_curvature = np.sqrt(a_y_max / np.clip(np.abs(curv), 1e-4, None))
-      model_speed = np.min(v_curvature)
-      model_speed = max(20.0 * CV.MPH_TO_MS, model_speed) # Don't slow down below 20mph
-    else:
-      model_speed = MAX_SPEED
-
-    # Calculate speed for normal cruise control
-    if enabled and not self.first_loop:
-      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
-      jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]  # TODO: make a separate lookup for jerk tuning
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP)
-
-      if force_slow_decel:
-        # if required so, force a smooth deceleration
-        accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
-        accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1])
-
-      self.v_cruise, self.a_cruise = speed_smoother(self.v_acc_start, self.a_acc_start,
-                                                    v_cruise_setpoint,
-                                                    accel_limits_turns[1], accel_limits_turns[0],
-                                                    jerk_limits[1], jerk_limits[0],
-                                                    LON_MPC_STEP)
-
-      self.v_model, self.a_model = speed_smoother(self.v_acc_start, self.a_acc_start,
-                                                    model_speed,
-                                                    2*accel_limits[1], accel_limits[0],
-                                                    2*jerk_limits[1], jerk_limits[0],
-                                                    LON_MPC_STEP)
-
-      # cruise speed can't be negative even is user is distracted
-      self.v_cruise = max(self.v_cruise, 0.)
-    else:
-      starting = long_control_state == LongCtrlState.starting
-      a_ego = min(sm['carState'].aEgo, 0.0)
-      reset_speed = MIN_CAN_SPEED if starting else v_ego
-      reset_accel = self.CP.startAccel if starting else a_ego
-      self.v_acc = reset_speed
-      self.a_acc = reset_accel
-      self.v_acc_start = reset_speed
-      self.a_acc_start = reset_accel
-      self.v_cruise = reset_speed
-      self.a_cruise = reset_accel
-
-    self.mpc1.set_cur_state(self.v_acc_start, self.a_acc_start)
-    self.mpc2.set_cur_state(self.v_acc_start, self.a_acc_start)
-
-    self.mpc1.update(pm, sm['carState'], lead_1, v_cruise_setpoint)
-    self.mpc2.update(pm, sm['carState'], lead_2, v_cruise_setpoint)
-
-    self.choose_solution(v_cruise_setpoint, enabled)
-
-    # determine fcw
-    if self.mpc1.new_lead:
-      self.fcw_checker.reset_lead(cur_time)
-
-    blinkers = sm['carState'].leftBlinker or sm['carState'].rightBlinker
-    fcw = self.fcw_checker.update(self.mpc1.mpc_solution, cur_time,
-                                  sm['controlsState'].active,
-                                  v_ego, sm['carState'].aEgo,
-                                  lead_1.dRel, lead_1.vLead, lead_1.aLeadK,
-                                  lead_1.yRel, lead_1.vLat,
-                                  lead_1.fcw, blinkers) and not sm['carState'].brakePressed
-    if fcw:
-      cloudlog.info("FCW triggered %s", self.fcw_checker.counters)
-
-    radar_dead = not sm.alive['radarState']
-
-    radar_errors = list(sm['radarState'].radarErrors)
-    radar_fault = car.RadarData.Error.fault in radar_errors
-    radar_can_error = car.RadarData.Error.canError in radar_errors
-
-    # **** send the plan ****
-    plan_send = messaging.new_message()
-    plan_send.init('plan')
-
-    plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'radarState'])
-
-    plan_send.plan.mdMonoTime = sm.logMonoTime['model']
-    plan_send.plan.radarStateMonoTime = sm.logMonoTime['radarState']
-
-    # longitudal plan
-    plan_send.plan.vCruise = float(self.v_cruise)
-    plan_send.plan.aCruise = float(self.a_cruise)
-    plan_send.plan.vStart = float(self.v_acc_start)
-    plan_send.plan.aStart = float(self.a_acc_start)
-    plan_send.plan.vTarget = float(self.v_acc)
-    plan_send.plan.aTarget = float(self.a_acc)
-    plan_send.plan.vTargetFuture = float(self.v_acc_future)
-    plan_send.plan.hasLead = self.mpc1.prev_lead_status
-    plan_send.plan.longitudinalPlanSource = self.longitudinalPlanSource
-
-    radar_valid = not (radar_dead or radar_fault)
-    plan_send.plan.radarValid = bool(radar_valid)
-    plan_send.plan.radarCanError = bool(radar_can_error)
-
-    plan_send.plan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.rcv_time['radarState']
-
-    # Send out fcw
-    plan_send.plan.fcw = fcw
-
-    pm.send('plan', plan_send)
-
-    # Interpolate 0.05 seconds and save as starting point for next iteration
-    a_acc_sol = self.a_acc_start + (CP.radarTimeStep / LON_MPC_STEP) * (self.a_acc - self.a_acc_start)
-    v_acc_sol = self.v_acc_start + CP.radarTimeStep * (a_acc_sol + self.a_acc_start) / 2.0
-    self.v_acc_start = v_acc_sol
-    self.a_acc_start = a_acc_sol
-
-    self.first_loop = False
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py
index 818739967988bb..01498fa1388552 100644
--- a/selfdrive/controls/lib/radar_helpers.py
+++ b/selfdrive/controls/lib/radar_helpers.py
@@ -1,3 +1,4 @@
+from common.numpy_fast import mean
 from common.kalman.simple_kalman import KF1D
 from selfdrive.config import RADAR_TO_CAMERA
 
@@ -54,9 +55,6 @@ def reset_a_lead(self, aLeadK, aLeadTau):
     self.aLeadK = aLeadK
     self.aLeadTau = aLeadTau
 
-def mean(l):
-  return sum(l) / len(l)
-
 
 class Cluster():
   def __init__(self):
@@ -134,11 +132,11 @@ def get_RadarState(self, model_prob=0.0):
 
   def get_RadarState_from_vision(self, lead_msg, v_ego):
     return {
-      "dRel": float(lead_msg.dist - RADAR_TO_CAMERA),
-      "yRel": float(lead_msg.relY),
-      "vRel": float(lead_msg.relVel),
-      "vLead": float(v_ego + lead_msg.relVel),
-      "vLeadK": float(v_ego + lead_msg.relVel),
+      "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
+      "yRel": float(-lead_msg.y[0]),
+      "vRel": float(lead_msg.v[0] - v_ego),
+      "vLead": float(lead_msg.v[0]),
+      "vLeadK": float(lead_msg.v[0]),
       "aLeadK": float(0),
       "aLeadTau": _LEAD_ACCEL_TAU,
       "fcw": False,
diff --git a/selfdrive/controls/lib/speed_smoother.py b/selfdrive/controls/lib/speed_smoother.py
deleted file mode 100644
index 1ee7ec6b18cb5d..00000000000000
--- a/selfdrive/controls/lib/speed_smoother.py
+++ /dev/null
@@ -1,99 +0,0 @@
-import numpy as np
-
-
-def get_delta_out_limits(aEgo, aMax, aMin, jMax, jMin):
-
-  tDelta = 0.
-  if aEgo > aMax:
-    tDelta = (aMax - aEgo) / jMin
-  elif aEgo < aMin:
-    tDelta = (aMin - aEgo) / jMax
-
-  return tDelta
-
-
-def speed_smoother(vEgo, aEgo, vT, aMax, aMin, jMax, jMin, ts):
-
-  dV = vT - vEgo
-
-  # recover quickly if dV is positive and aEgo is negative or viceversa
-  if dV > 0. and aEgo < 0.:
-    jMax *= 3.
-  elif dV < 0. and aEgo > 0.:
-    jMin *= 3.
-
-  tDelta = get_delta_out_limits(aEgo, aMax, aMin, jMax, jMin)
-
-  if (ts <= tDelta):
-    if (aEgo < aMin):
-      vEgo += ts * aEgo + 0.5 * ts**2 * jMax
-      aEgo += ts * jMax
-      return vEgo, aEgo
-    elif (aEgo > aMax):
-      vEgo += ts * aEgo + 0.5 * ts**2 * jMin
-      aEgo += ts * jMin
-      return vEgo, aEgo
-
-  if aEgo > aMax:
-    dV -= 0.5 * (aMax**2 - aEgo**2) / jMin
-    vEgo += 0.5 * (aMax**2 - aEgo**2) / jMin
-    aEgo += tDelta * jMin
-  elif aEgo < aMin:
-    dV -= 0.5 * (aMin**2 - aEgo**2) / jMax
-    vEgo += 0.5 * (aMin**2 - aEgo**2) / jMax
-    aEgo += tDelta * jMax
-
-  ts -= tDelta
-
-  jLim = jMin if aEgo >= 0 else jMax
-  # if we reduce the accel to zero immediately, how much delta speed we generate?
-  dv_min_shift = - 0.5 * aEgo**2 / jLim
-
-  # flip signs so we can consider only one case
-  flipped = False
-  if dV < dv_min_shift:
-    flipped = True
-    dV *= -1
-    vEgo *= -1
-    aEgo *= -1
-    aMax = -aMin
-    jMaxcopy = -jMin
-    jMin = -jMax
-    jMax = jMaxcopy
-
-  # small addition needed to avoid numerical issues with sqrt of ~zero
-  aPeak = np.sqrt((0.5 * aEgo**2 / jMax + dV + 1e-9) / (0.5 / jMax - 0.5 / jMin))
-
-  if aPeak > aMax:
-    aPeak = aMax
-    t1 = (aPeak - aEgo) / jMax
-    if aPeak <= 0: # there is no solution, so stop after t1
-      t2 = t1 + ts + 1e-9
-      t3 = t2
-    else:
-      vChange = dV - 0.5 * (aPeak**2 - aEgo**2) / jMax + 0.5 * aPeak**2 / jMin
-      if vChange < aPeak * ts:
-        t2 = t1 + vChange / aPeak
-      else:
-        t2 = t1 + ts
-      t3 = t2 - aPeak / jMin
-  else:
-    t1 = (aPeak - aEgo) / jMax
-    t2 = t1
-    t3 = t2 - aPeak / jMin
-
-  dt1 = min(ts, t1)
-  dt2 = max(min(ts, t2) - t1, 0.)
-  dt3 = max(min(ts, t3) - t2, 0.)
-
-  if ts > t3:
-    vEgo += dV
-    aEgo = 0.
-  else:
-    vEgo += aEgo * dt1 + 0.5 * dt1**2 * jMax + aPeak * dt2 + aPeak * dt3 + 0.5 * dt3**2 * jMin
-    aEgo += jMax * dt1 + dt3 * jMin
-
-  vEgo *= -1 if flipped else 1
-  aEgo *= -1 if flipped else 1
-
-  return float(vEgo), float(aEgo)
diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py
index 1559a893e8cedd..a0b1dddfd7b9f5 100755
--- a/selfdrive/controls/lib/vehicle_model.py
+++ b/selfdrive/controls/lib/vehicle_model.py
@@ -1,9 +1,6 @@
 #!/usr/bin/env python3
-import numpy as np
-from numpy.linalg import solve
-
 """
-Dynamic bycicle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
+Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
 
 The state is x = [v, r]^T
 with v lateral speed [m/s], and r rotational speed [rad/s]
@@ -15,83 +12,15 @@
 
 A depends on longitudinal speed, u [m/s], and vehicle parameters CP
 """
+from typing import Tuple
 
+import numpy as np
+from numpy.linalg import solve
 
-def create_dyn_state_matrices(u, VM):
-  """Returns the A and B matrix for the dynamics system
-
-  Args:
-    u: Vehicle speed [m/s]
-    VM: Vehicle model
-
-  Returns:
-    A tuple with the 2x2 A matrix, and 2x1 B matrix
-
-  Parameters in the vehicle model:
-    cF: Tire stiffnes Front [N/rad]
-    cR: Tire stiffnes Front [N/rad]
-    aF: Distance from CG to front wheels [m]
-    aR: Distance from CG to rear wheels [m]
-    m: Mass [kg]
-    j: Rotational inertia [kg m^2]
-    sR: Steering ratio [-]
-    chi: Steer ratio rear [-]
-  """
-  A = np.zeros((2, 2))
-  B = np.zeros((2, 1))
-  A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u)
-  A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u
-  A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u)
-  A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u)
-  B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR
-  B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR
-  return A, B
-
-
-def kin_ss_sol(sa, u, VM):
-  """Calculate the steady state solution at low speeds
-  At low speeds the tire slip is undefined, so a kinematic
-  model is used.
-
-  Args:
-    sa: Steering angle [rad]
-    u: Speed [m/s]
-    VM: Vehicle model
-
-  Returns:
-    2x1 matrix with steady state solution
-  """
-  K = np.zeros((2, 1))
-  K[0, 0] = VM.aR / VM.sR / VM.l * u
-  K[1, 0] = 1. / VM.sR / VM.l * u
-  return K * sa
-
-
-def dyn_ss_sol(sa, u, VM):
-  """Calculate the steady state solution when x_dot = 0,
-  Ax + Bu = 0 => x = A^{-1} B u
-
-  Args:
-    sa: Steering angle [rad]
-    u: Speed [m/s]
-    VM: Vehicle model
-
-  Returns:
-    2x1 matrix with steady state solution
-  """
-  A, B = create_dyn_state_matrices(u, VM)
-  return -solve(A, B) * sa
-
-
-def calc_slip_factor(VM):
-  """The slip factor is a measure of how the curvature changes with speed
-  it's positive for Oversteering vehicle, negative (usual case) otherwise.
-  """
-  return VM.m * (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.l**2 * VM.cF * VM.cR)
-
+from cereal import car
 
-class VehicleModel():
-  def __init__(self, CP):
+class VehicleModel:
+  def __init__(self, CP: car.CarParams):
     """
     Args:
       CP: Car Parameters
@@ -108,16 +37,16 @@ def __init__(self, CP):
     self.cR_orig = CP.tireStiffnessRear
     self.update_params(1.0, CP.steerRatio)
 
-  def update_params(self, stiffness_factor, steer_ratio):
+  def update_params(self, stiffness_factor: float, steer_ratio: float) -> None:
     """Update the vehicle model with a new stiffness factor and steer ratio"""
     self.cF = stiffness_factor * self.cF_orig
     self.cR = stiffness_factor * self.cR_orig
     self.sR = steer_ratio
 
-  def steady_state_sol(self, sa, u):
+  def steady_state_sol(self, sa: float, u: float) -> np.ndarray:
     """Returns the steady state solution.
 
-    If the speed is too small we can't use the dynamic model (tire slip is undefined),
+    If the speed is too low we can't use the dynamic model (tire slip is undefined),
     we then have to use the kinematic model
 
     Args:
@@ -132,7 +61,7 @@ def steady_state_sol(self, sa, u):
     else:
       return kin_ss_sol(sa, u, self)
 
-  def calc_curvature(self, sa, u):
+  def calc_curvature(self, sa: float, u: float) -> float:
     """Returns the curvature. Multiplied by the speed this will give the yaw rate.
 
     Args:
@@ -144,7 +73,7 @@ def calc_curvature(self, sa, u):
     """
     return self.curvature_factor(u) * sa / self.sR
 
-  def curvature_factor(self, u):
+  def curvature_factor(self, u: float) -> float:
     """Returns the curvature factor.
     Multiplied by wheel angle (not steering wheel angle) this will give the curvature.
 
@@ -157,7 +86,7 @@ def curvature_factor(self, u):
     sf = calc_slip_factor(self)
     return (1. - self.chi) / (1. - sf * u**2) / self.l
 
-  def get_steer_from_curvature(self, curv, u):
+  def get_steer_from_curvature(self, curv: float, u: float) -> float:
     """Calculates the required steering wheel angle for a given curvature
 
     Args:
@@ -170,7 +99,7 @@ def get_steer_from_curvature(self, curv, u):
 
     return curv * self.sR * 1.0 / self.curvature_factor(u)
 
-  def get_steer_from_yaw_rate(self, yaw_rate, u):
+  def get_steer_from_yaw_rate(self, yaw_rate: float, u: float) -> float:
     """Calculates the required steering wheel angle for a given yaw_rate
 
     Args:
@@ -183,7 +112,7 @@ def get_steer_from_yaw_rate(self, yaw_rate, u):
     curv = yaw_rate / u
     return self.get_steer_from_curvature(curv, u)
 
-  def yaw_rate(self, sa, u):
+  def yaw_rate(self, sa: float, u: float) -> float:
     """Calculate yaw rate
 
     Args:
@@ -196,11 +125,74 @@ def yaw_rate(self, sa, u):
     return self.calc_curvature(sa, u) * u
 
 
-if __name__ == '__main__':
-  import math
-  from selfdrive.car.honda.interface import CarInterface
-  from selfdrive.car.honda.values import CAR
+def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
+  """Calculate the steady state solution at low speeds
+  At low speeds the tire slip is undefined, so a kinematic
+  model is used.
+
+  Args:
+    sa: Steering angle [rad]
+    u: Speed [m/s]
+    VM: Vehicle model
+
+  Returns:
+    2x1 matrix with steady state solution
+  """
+  K = np.zeros((2, 1))
+  K[0, 0] = VM.aR / VM.sR / VM.l * u
+  K[1, 0] = 1. / VM.sR / VM.l * u
+  return K * sa
+
+
+def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, np.ndarray]:
+  """Returns the A and B matrix for the dynamics system
+
+  Args:
+    u: Vehicle speed [m/s]
+    VM: Vehicle model
 
-  CP = CarInterface.get_params(CAR.CIVIC)
-  VM = VehicleModel(CP)
-  print(VM.yaw_rate(math.radians(20), 10.))
+  Returns:
+    A tuple with the 2x2 A matrix, and 2x1 B matrix
+
+  Parameters in the vehicle model:
+    cF: Tire stiffness Front [N/rad]
+    cR: Tire stiffness Front [N/rad]
+    aF: Distance from CG to front wheels [m]
+    aR: Distance from CG to rear wheels [m]
+    m: Mass [kg]
+    j: Rotational inertia [kg m^2]
+    sR: Steering ratio [-]
+    chi: Steer ratio rear [-]
+  """
+  A = np.zeros((2, 2))
+  B = np.zeros((2, 1))
+  A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u)
+  A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u
+  A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u)
+  A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u)
+  B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR
+  B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR
+  return A, B
+
+
+def dyn_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
+  """Calculate the steady state solution when x_dot = 0,
+  Ax + Bu = 0 => x = -A^{-1} B u
+
+  Args:
+    sa: Steering angle [rad]
+    u: Speed [m/s]
+    VM: Vehicle model
+
+  Returns:
+    2x1 matrix with steady state solution
+  """
+  A, B = create_dyn_state_matrices(u, VM)
+  return -solve(A, B) * sa
+
+
+def calc_slip_factor(VM):
+  """The slip factor is a measure of how the curvature changes with speed
+  it's positive for Oversteering vehicle, negative (usual case) otherwise.
+  """
+  return VM.m * (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.l**2 * VM.cF * VM.cR)
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 21ea32a51a1c14..88734b3c13ebf3 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,49 +1,45 @@
 #!/usr/bin/env python3
-import gc
-
 from cereal import car
 from common.params import Params
-from common.realtime import set_realtime_priority
+from common.realtime import Priority, config_realtime_process
 from selfdrive.swaglog import cloudlog
-from selfdrive.controls.lib.planner import Planner
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.controls.lib.pathplanner import PathPlanner
+from selfdrive.controls.lib.longitudinal_planner import Planner
+from selfdrive.controls.lib.lateral_planner import LateralPlanner
+from selfdrive.hardware import TICI
 import cereal.messaging as messaging
 
 
 def plannerd_thread(sm=None, pm=None):
-  gc.disable()
-
-  # start the loop
-  set_realtime_priority(2)
+  config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
-  CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+  params = Params()
+  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
-  PL = Planner(CP)
-  PP = PathPlanner(CP)
+  use_lanelines = not params.get_bool('EndToEndToggle')
+  wide_camera = params.get_bool('EnableWideCamera') if TICI else False
 
-  VM = VehicleModel(CP)
+  cloudlog.event("e2e mode", on=use_lanelines)
+
+  longitudinal_planner = Planner(CP)
+  lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
 
   if sm is None:
-    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'])
+    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
+                             poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
   if pm is None:
-    pm = messaging.PubMaster(['plan', 'liveLongitudinalMpc', 'pathPlan', 'liveMpc'])
-
-  sm['liveParameters'].valid = True
-  sm['liveParameters'].sensorValid = True
-  sm['liveParameters'].steerRatio = CP.steerRatio
-  sm['liveParameters'].stiffnessFactor = 1.0
+    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])
 
   while True:
     sm.update()
 
-    if sm.updated['model']:
-      PP.update(sm, pm, CP, VM)
-    if sm.updated['radarState']:
-      PL.update(sm, pm, CP, VM, PP)
+    if sm.updated['modelV2']:
+      lateral_planner.update(sm, CP)
+      lateral_planner.publish(sm, pm)
+      longitudinal_planner.update(sm, CP)
+      longitudinal_planner.publish(sm, pm)
 
 
 def main(sm=None, pm=None):
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index a99a0bdfbfad90..5d94804d75f3e8 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -7,11 +7,12 @@
 from cereal import car
 from common.numpy_fast import interp
 from common.params import Params
-from common.realtime import Ratekeeper, set_realtime_priority
+from common.realtime import Ratekeeper, Priority, config_realtime_process
 from selfdrive.config import RADAR_TO_CAMERA
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track
 from selfdrive.swaglog import cloudlog
+from selfdrive.hardware import TICI
 
 
 class KalmanParams():
@@ -37,12 +38,12 @@ def laplacian_cdf(x, mu, b):
 
 def match_vision_to_cluster(v_ego, lead, clusters):
   # match vision point to best statistical cluster match
-  offset_vision_dist = lead.dist - RADAR_TO_CAMERA
+  offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
 
   def prob(c):
-    prob_d = laplacian_cdf(c.dRel, offset_vision_dist, lead.std)
-    prob_y = laplacian_cdf(c.yRel, lead.relY, lead.relYStd)
-    prob_v = laplacian_cdf(c.vRel, lead.relVel, lead.relVelStd)
+    prob_d = laplacian_cdf(c.dRel, offset_vision_dist, lead.xStd[0])
+    prob_y = laplacian_cdf(c.yRel, -lead.y[0], lead.yStd[0])
+    prob_v = laplacian_cdf(c.vRel + v_ego, lead.v[0], lead.vStd[0])
 
     # This is isn't exactly right, but good heuristic
     return prob_d * prob_y * prob_v
@@ -52,7 +53,7 @@ def prob(c):
   # if no 'sane' match is found return -1
   # stationary radar points can be false positives
   dist_sane = abs(cluster.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
-  vel_sane = (abs(cluster.vRel - lead.relVel) < 10) or (v_ego + cluster.vRel > 2)
+  vel_sane = (abs(cluster.vRel + v_ego - lead.v[0]) < 10) or (v_ego + cluster.vRel > 3)
   if dist_sane and vel_sane:
     return cluster
   else:
@@ -91,25 +92,19 @@ def __init__(self, radar_ts, delay=0):
     self.tracks = defaultdict(dict)
     self.kalman_params = KalmanParams(radar_ts)
 
-    self.last_md_ts = 0
-    self.last_controls_state_ts = 0
-
-    self.active = 0
-
     # v_ego
     self.v_ego = 0.
     self.v_ego_hist = deque([0], maxlen=delay+1)
 
     self.ready = False
 
-  def update(self, frame, sm, rr, has_radar):
-    self.current_time = 1e-9*max([sm.logMonoTime[key] for key in sm.logMonoTime.keys()])
+  def update(self, sm, rr, enable_lead):
+    self.current_time = 1e-9*max(sm.logMonoTime.values())
 
-    if sm.updated['controlsState']:
-      self.active = sm['controlsState'].active
-      self.v_ego = sm['controlsState'].vEgo
+    if sm.updated['carState']:
+      self.v_ego = sm['carState'].vEgo
       self.v_ego_hist.append(self.v_ego)
-    if sm.updated['model']:
+    if sm.updated['modelV2']:
       self.ready = True
 
     ar_pts = {}
@@ -136,7 +131,6 @@ def update(self, frame, sm, rr, has_radar):
     idens = list(sorted(self.tracks.keys()))
     track_pts = list([self.tracks[iden].get_key_for_cluster() for iden in idens])
 
-
     # If we have multiple points, cluster them
     if len(track_pts) > 1:
       cluster_idxs = cluster_points_centroid(track_pts, 2.5)
@@ -163,23 +157,24 @@ def update(self, frame, sm, rr, has_radar):
         self.tracks[idens[idx]].reset_a_lead(aLeadK, aLeadTau)
 
     # *** publish radarState ***
-    dat = messaging.new_message()
-    dat.init('radarState')
-    dat.valid = sm.all_alive_and_valid(service_list=['controlsState', 'model'])
-    dat.radarState.mdMonoTime = self.last_md_ts
-    dat.radarState.canMonoTimes = list(rr.canMonoTimes)
-    dat.radarState.radarErrors = list(rr.errors)
-    dat.radarState.controlsStateMonoTime = self.last_controls_state_ts
-
-    if has_radar:
-      dat.radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['model'].lead, low_speed_override=True)
-      dat.radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, sm['model'].leadFuture, low_speed_override=False)
+    dat = messaging.new_message('radarState')
+    dat.valid = sm.all_alive_and_valid() and len(rr.errors) == 0
+    radarState = dat.radarState
+    radarState.mdMonoTime = sm.logMonoTime['modelV2']
+    radarState.canMonoTimes = list(rr.canMonoTimes)
+    radarState.radarErrors = list(rr.errors)
+    radarState.carStateMonoTime = sm.logMonoTime['carState']
+
+    if enable_lead:
+      if len(sm['modelV2'].leadsV3) > 1:
+        radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[0], low_speed_override=True)
+        radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[1], low_speed_override=False)
     return dat
 
 
 # fuses camera and radar data for best lead detection
 def radard_thread(sm=None, pm=None, can_sock=None):
-  set_realtime_priority(2)
+  config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
@@ -190,13 +185,11 @@ def radard_thread(sm=None, pm=None, can_sock=None):
   cloudlog.info("radard is importing %s", CP.carName)
   RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % CP.carName).RadarInterface
 
+  # *** setup messaging
   if can_sock is None:
     can_sock = messaging.sub_sock('can')
-
   if sm is None:
-    sm = messaging.SubMaster(['model', 'controlsState', 'liveParameters'])
-
-  # *** publish radarState and liveTracks
+    sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState'])  # Can't check average frequency, since radar determines timing
   if pm is None:
     pm = messaging.PubMaster(['radarState', 'liveTracks'])
 
@@ -205,7 +198,8 @@ def radard_thread(sm=None, pm=None, can_sock=None):
   rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
   RD = RadarD(CP.radarTimeStep, RI.delay)
 
-  has_radar = not CP.radarOffCan
+  # TODO: always log leads once we can hide them conditionally
+  enable_lead = CP.openpilotLongitudinalControl or not CP.radarOffCan
 
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
@@ -216,15 +210,14 @@ def radard_thread(sm=None, pm=None, can_sock=None):
 
     sm.update(0)
 
-    dat = RD.update(rk.frame, sm, rr, has_radar)
+    dat = RD.update(sm, rr, enable_lead)
     dat.radarState.cumLagMs = -rk.remaining*1000.
 
     pm.send('radarState', dat)
 
     # *** publish tracks for UI debugging (keep last) ***
     tracks = RD.tracks
-    dat = messaging.new_message()
-    dat.init('liveTracks', len(tracks))
+    dat = messaging.new_message('liveTracks', len(tracks))
 
     for cnt, ids in enumerate(sorted(tracks.keys())):
       dat.liveTracks[cnt] = {
diff --git a/selfdrive/controls/tests/test_clustering.py b/selfdrive/controls/tests/test_clustering.py
deleted file mode 100644
index e899ff7d5788b1..00000000000000
--- a/selfdrive/controls/tests/test_clustering.py
+++ /dev/null
@@ -1,138 +0,0 @@
-import time
-import unittest
-import numpy as np
-from fastcluster import linkage_vector
-from scipy.cluster import _hierarchy
-from scipy.spatial.distance import pdist
-
-from selfdrive.controls.lib.cluster.fastcluster_py import hclust, ffi
-from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
-
-
-def fcluster(Z, t, criterion='inconsistent', depth=2, R=None, monocrit=None):
-  # supersimplified function to get fast clustering. Got it from scipy
-  Z = np.asarray(Z, order='c')
-  n = Z.shape[0] + 1
-  T = np.zeros((n,), dtype='i')
-  _hierarchy.cluster_dist(Z, T, float(t), int(n))
-  return T
-
-
-TRACK_PTS = np.array([[59.26000137, -9.35999966, -5.42500019],
-                      [91.61999817, -0.31999999, -2.75],
-                      [31.38000031, 0.40000001, -0.2],
-                      [89.57999725, -8.07999992, -18.04999924],
-                      [53.42000122, 0.63999999, -0.175],
-                      [31.38000031, 0.47999999, -0.2],
-                      [36.33999939, 0.16, -0.2],
-                      [53.33999939, 0.95999998, -0.175],
-                      [59.26000137, -9.76000023, -5.44999981],
-                      [33.93999977, 0.40000001, -0.22499999],
-                      [106.74000092, -5.76000023, -18.04999924]])
-
-CORRECT_LINK = np.array([[2., 5., 0.07999998, 2.],
-                         [4., 7., 0.32984889, 2.],
-                         [0., 8., 0.40078104, 2.],
-                         [6., 9., 2.41209933, 2.],
-                         [11., 14., 3.76342275, 4.],
-                         [12., 13., 13.02297651, 4.],
-                         [1., 3., 17.27626057, 2.],
-                         [10., 17., 17.92918845, 3.],
-                         [15., 16., 23.68525366, 8.],
-                         [18., 19., 52.52351319, 11.]])
-
-CORRECT_LABELS = np.array([7, 1, 4, 2, 6, 4, 5, 6, 7, 5, 3], dtype=np.int32)
-
-
-def plot_cluster(pts, idx_old, idx_new):
-    import matplotlib.pyplot as plt
-    m = 'Set1'
-
-    plt.figure()
-    plt.subplot(1, 2, 1)
-    plt.scatter(pts[:, 0], pts[:, 1], c=idx_old, cmap=m)
-    plt.title("Old")
-    plt.colorbar()
-    plt.subplot(1, 2, 2)
-    plt.scatter(pts[:, 0], pts[:, 1], c=idx_new, cmap=m)
-    plt.title("New")
-    plt.colorbar()
-
-    plt.show()
-
-
-def same_clusters(correct, other):
-  correct = np.asarray(correct)
-  other = np.asarray(other)
-  if len(correct) != len(other):
-    return False
-
-  for i in range(len(correct)):
-    c = np.where(correct == correct[i])
-    o = np.where(other == other[i])
-    if not np.array_equal(c, o):
-      return False
-  return True
-
-
-class TestClustering(unittest.TestCase):
-  def test_scipy_clustering(self):
-    old_link = linkage_vector(TRACK_PTS, method='centroid')
-    old_cluster_idxs = fcluster(old_link, 2.5, criterion='distance')
-
-    np.testing.assert_allclose(old_link, CORRECT_LINK)
-    np.testing.assert_allclose(old_cluster_idxs, CORRECT_LABELS)
-
-  def test_pdist(self):
-    pts = np.ascontiguousarray(TRACK_PTS, dtype=np.float64)
-    pts_ptr = ffi.cast("double *", pts.ctypes.data)
-
-    n, m = pts.shape
-    out = np.zeros((n * (n - 1) // 2, ), dtype=np.float64)
-    out_ptr = ffi.cast("double *", out.ctypes.data)
-    hclust.hclust_pdist(n, m, pts_ptr, out_ptr)
-
-    np.testing.assert_allclose(out, np.power(pdist(TRACK_PTS), 2))
-
-  def test_cpp_clustering(self):
-    pts = np.ascontiguousarray(TRACK_PTS, dtype=np.float64)
-    pts_ptr = ffi.cast("double *", pts.ctypes.data)
-    n, m = pts.shape
-
-    labels = np.zeros((n, ), dtype=np.int32)
-    labels_ptr = ffi.cast("int *", labels.ctypes.data)
-    hclust.cluster_points_centroid(n, m, pts_ptr, 2.5**2, labels_ptr)
-    self.assertTrue(same_clusters(CORRECT_LABELS, labels))
-
-  def test_cpp_wrapper_clustering(self):
-    labels = cluster_points_centroid(TRACK_PTS, 2.5)
-    self.assertTrue(same_clusters(CORRECT_LABELS, labels))
-
-  def test_random_cluster(self):
-    np.random.seed(1337)
-    N = 1000
-
-    t_old = 0.
-    t_new = 0.
-
-    for _ in range(N):
-      n = int(np.random.uniform(2, 32))
-      x = np.random.uniform(-10, 50, (n, 1))
-      y = np.random.uniform(-5, 5, (n, 1))
-      vrel = np.random.uniform(-5, 5, (n, 1))
-      pts = np.hstack([x, y, vrel])
-
-      t = time.time()
-      old_link = linkage_vector(pts, method='centroid')
-      old_cluster_idx = fcluster(old_link, 2.5, criterion='distance')
-      t_old += time.time() - t
-
-      t = time.time()
-      cluster_idx = cluster_points_centroid(pts, 2.5)
-      t_new += time.time() - t
-
-      self.assertTrue(same_clusters(old_cluster_idx, cluster_idx))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
deleted file mode 100644
index 63545e6ee49409..00000000000000
--- a/selfdrive/controls/tests/test_following_distance.py
+++ /dev/null
@@ -1,91 +0,0 @@
-import unittest
-import numpy as np
-
-from cereal import log
-import cereal.messaging as messaging
-from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.planner import calc_cruise_accel_limits
-from selfdrive.controls.lib.speed_smoother import speed_smoother
-from selfdrive.controls.lib.long_mpc import LongitudinalMpc
-
-
-def RW(v_ego, v_l):
-  TR = 1.8
-  G = 9.81
-  return (v_ego * TR - (v_l - v_ego) * TR + v_ego * v_ego / (2 * G) - v_l * v_l / (2 * G))
-
-
-class FakePubMaster():
-  def send(self, s, data):
-    assert data
-
-
-def run_following_distance_simulation(v_lead, t_end=200.0):
-  dt = 0.2
-  t = 0.
-
-  x_lead = 200.0
-
-  x_ego = 0.0
-  v_ego = v_lead
-  a_ego = 0.0
-
-  v_cruise_setpoint = v_lead + 10.
-
-  pm = FakePubMaster()
-  mpc = LongitudinalMpc(1)
-
-  first = True
-  while t < t_end:
-    # Run cruise control
-    accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, False)]
-    jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]
-    v_cruise, a_cruise = speed_smoother(v_ego, a_ego, v_cruise_setpoint,
-                                        accel_limits[1], accel_limits[0],
-                                        jerk_limits[1], jerk_limits[0],
-                                        dt)
-
-    # Setup CarState
-    CS = messaging.new_message()
-    CS.init('carState')
-    CS.carState.vEgo = v_ego
-    CS.carState.aEgo = a_ego
-
-    # Setup lead packet
-    lead = log.RadarState.LeadData.new_message()
-    lead.status = True
-    lead.dRel = x_lead - x_ego
-    lead.vLead = v_lead
-    lead.aLeadK = 0.0
-
-    # Run MPC
-    mpc.set_cur_state(v_ego, a_ego)
-    if first:  # Make sure MPC is converged on first timestep
-      for _ in range(20):
-        mpc.update(pm, CS.carState, lead, v_cruise_setpoint)
-    mpc.update(pm, CS.carState, lead, v_cruise_setpoint)
-
-    # Choose slowest of two solutions
-    if v_cruise < mpc.v_mpc:
-      v_ego, a_ego = v_cruise, a_cruise
-    else:
-      v_ego, a_ego = mpc.v_mpc, mpc.a_mpc
-
-    # Update state
-    x_lead += v_lead * dt
-    x_ego += v_ego * dt
-    t += dt
-    first = False
-
-  return x_lead - x_ego
-
-
-class TestFollowingDistance(unittest.TestCase):
-  def test_following_distanc(self):
-    for speed_mph in np.linspace(10, 100, num=10):
-      v_lead = float(speed_mph * CV.MPH_TO_MS)
-
-      simulation_steady_state = run_following_distance_simulation(v_lead)
-      correct_steady_state = RW(v_lead, v_lead) + 4.0
-
-      self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=0.1)
diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py
deleted file mode 100644
index 8dfff81ad40b59..00000000000000
--- a/selfdrive/controls/tests/test_lateral_mpc.py
+++ /dev/null
@@ -1,129 +0,0 @@
-import unittest
-import numpy as np
-from selfdrive.car.honda.interface import CarInterface
-from selfdrive.controls.lib.lateral_mpc import libmpc_py
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.controls.lib.lane_planner import calc_d_poly
-
-
-def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
-            l_prob=1., r_prob=1., p_prob=1.,
-            poly_l=np.array([0., 0., 0., 1.8]), poly_r=np.array([0., 0., 0., -1.8]), poly_p=np.array([0., 0., 0., 0.]),
-            lane_width=3.6, poly_shift=0.):
-
-  libmpc = libmpc_py.libmpc
-  libmpc.init(1.0, 3.0, 1.0, 1.0)
-
-  mpc_solution = libmpc_py.ffi.new("log_t *")
-
-  p_l = poly_l.copy()
-  p_l[3] += poly_shift
-
-  p_r = poly_r.copy()
-  p_r[3] += poly_shift
-
-  p_p = poly_p.copy()
-  p_p[3] += poly_shift
-
-  d_poly = calc_d_poly(p_l, p_r, p_p, l_prob, r_prob, lane_width)
-
-  CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
-  VM = VehicleModel(CP)
-
-  v_ref = v_ref
-  curvature_factor = VM.curvature_factor(v_ref)
-
-  l_poly = libmpc_py.ffi.new("double[4]", list(map(float, p_l)))
-  r_poly = libmpc_py.ffi.new("double[4]", list(map(float, p_r)))
-  d_poly = libmpc_py.ffi.new("double[4]", list(map(float, d_poly)))
-
-  cur_state = libmpc_py.ffi.new("state_t *")
-  cur_state[0].x = x_init
-  cur_state[0].y = y_init
-  cur_state[0].psi = psi_init
-  cur_state[0].delta = delta_init
-
-  # converge in no more than 20 iterations
-  for _ in range(20):
-    libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, d_poly, l_prob, r_prob,
-                   curvature_factor, v_ref, lane_width)
-
-  return mpc_solution
-
-
-class TestLateralMpc(unittest.TestCase):
-
-  def _assert_null(self, sol, delta=1e-6):
-    for i in range(len(sol[0].y)):
-      self.assertAlmostEqual(sol[0].y[i], 0., delta=delta)
-      self.assertAlmostEqual(sol[0].psi[i], 0., delta=delta)
-      self.assertAlmostEqual(sol[0].delta[i], 0., delta=delta)
-
-  def _assert_simmetry(self, sol, delta=1e-6):
-    for i in range(len(sol[0][0].y)):
-      self.assertAlmostEqual(sol[0][0].y[i], -sol[1][0].y[i], delta=delta)
-      self.assertAlmostEqual(sol[0][0].psi[i], -sol[1][0].psi[i], delta=delta)
-      self.assertAlmostEqual(sol[0][0].delta[i], -sol[1][0].delta[i], delta=delta)
-      self.assertAlmostEqual(sol[0][0].x[i], sol[1][0].x[i], delta=delta)
-
-  def _assert_identity(self, sol, ignore_y=False, delta=1e-6):
-    for i in range(len(sol[0][0].y)):
-      self.assertAlmostEqual(sol[0][0].psi[i], sol[1][0].psi[i], delta=delta)
-      self.assertAlmostEqual(sol[0][0].delta[i], sol[1][0].delta[i], delta=delta)
-      self.assertAlmostEqual(sol[0][0].x[i], sol[1][0].x[i], delta=delta)
-      if not ignore_y:
-        self.assertAlmostEqual(sol[0][0].y[i], sol[1][0].y[i], delta=delta)
-
-  def test_straight(self):
-    sol = run_mpc()
-    self._assert_null(sol)
-
-  def test_y_symmetry(self):
-    sol = []
-    for y_init in [-0.5, 0.5]:
-      sol.append(run_mpc(y_init=y_init))
-    self._assert_simmetry(sol)
-
-  def test_poly_symmetry(self):
-    sol = []
-    for poly_shift in [-1., 1.]:
-      sol.append(run_mpc(poly_shift=poly_shift))
-    self._assert_simmetry(sol)
-
-  def test_delta_symmetry(self):
-    sol = []
-    for delta_init in [-0.1, 0.1]:
-      sol.append(run_mpc(delta_init=delta_init))
-    self._assert_simmetry(sol)
-
-  def test_psi_symmetry(self):
-    sol = []
-    for psi_init in [-0.1, 0.1]:
-      sol.append(run_mpc(psi_init=psi_init))
-    self._assert_simmetry(sol)
-
-  def test_prob_symmetry(self):
-    sol = []
-    lane_width = 3.
-    for r_prob in [0., 1.]:
-      sol.append(run_mpc(r_prob=r_prob, l_prob=1.-r_prob, lane_width=lane_width))
-    self._assert_simmetry(sol)
-
-  def test_y_shift_vs_poly_shift(self):
-    shift = 1.
-    sol = []
-    sol.append(run_mpc(y_init=shift))
-    sol.append(run_mpc(poly_shift=-shift))
-    # need larger delta than standard, otherwise it false triggers.
-    # this is acceptable because the 2 cases are very different from the optimizer standpoint
-    self._assert_identity(sol, ignore_y=True, delta=1e-5)
-
-  def test_no_overshoot(self):
-    y_init = 1.
-    sol = run_mpc(y_init=y_init)
-    for y in list(sol[0].y):
-      self.assertGreaterEqual(y_init, abs(y))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/controls/tests/test_monitoring.py b/selfdrive/controls/tests/test_monitoring.py
deleted file mode 100644
index af44dc3329e99e..00000000000000
--- a/selfdrive/controls/tests/test_monitoring.py
+++ /dev/null
@@ -1,233 +0,0 @@
-import unittest
-import numpy as np
-from common.realtime import DT_DMON
-from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, \
-                                  _AWARENESS_TIME, _AWARENESS_PRE_TIME_TILL_TERMINAL, \
-                                  _AWARENESS_PROMPT_TIME_TILL_TERMINAL, _DISTRACTED_TIME, \
-                                  _DISTRACTED_PRE_TIME_TILL_TERMINAL, _DISTRACTED_PROMPT_TIME_TILL_TERMINAL, \
-                                  _POSESTD_THRESHOLD, _HI_STD_TIMEOUT
-from selfdrive.controls.lib.gps_helpers import is_rhd_region
-
-_TEST_TIMESPAN = 120 # seconds
-_DISTRACTED_SECONDS_TO_ORANGE = _DISTRACTED_TIME - _DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
-_DISTRACTED_SECONDS_TO_RED = _DISTRACTED_TIME + 1
-_INVISIBLE_SECONDS_TO_ORANGE = _AWARENESS_TIME - _AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
-_INVISIBLE_SECONDS_TO_RED = _AWARENESS_TIME + 1
-_UNCERTAIN_SECONDS_TO_GREEN = _HI_STD_TIMEOUT + 0.5
-
-class fake_DM_msg():
-  def __init__(self, is_face_detected, is_distracted=False, is_model_uncertain=False):
-    self.faceOrientation = [0.,0.,0.]
-    self.facePosition = [0.,0.]
-    self.faceProb = 1. * is_face_detected
-    self.leftEyeProb = 1.
-    self.rightEyeProb = 1.
-    self.leftBlinkProb = 1. * is_distracted
-    self.rightBlinkProb = 1. * is_distracted
-    self.faceOrientationStd = [1.*is_model_uncertain,1.*is_model_uncertain,1.*is_model_uncertain]
-    self.facePositionStd = [1.*is_model_uncertain,1.*is_model_uncertain]
-
-
-# driver state from neural net, 10Hz
-msg_NO_FACE_DETECTED = fake_DM_msg(is_face_detected=False)
-msg_ATTENTIVE = fake_DM_msg(is_face_detected=True)
-msg_DISTRACTED = fake_DM_msg(is_face_detected=True, is_distracted=True)
-msg_ATTENTIVE_UNCERTAIN = fake_DM_msg(is_face_detected=True, is_model_uncertain=True)
-msg_DISTRACTED_UNCERTAIN = fake_DM_msg(is_face_detected=True, is_distracted=True, is_model_uncertain=True)
-msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = fake_DM_msg(is_face_detected=True, is_distracted=True, is_model_uncertain=_POSESTD_THRESHOLD*1.5)
-
-# driver interaction with car
-car_interaction_DETECTED = True
-car_interaction_NOT_DETECTED = False
-
-# openpilot state
-openpilot_ENGAGED = True
-openpilot_NOT_ENGAGED = False
-
-# car standstill state
-car_STANDSTILL = True
-car_NOT_STANDSTILL = False
-
-# some common state vectors
-always_no_face = [msg_NO_FACE_DETECTED] * int(_TEST_TIMESPAN/DT_DMON)
-always_attentive = [msg_ATTENTIVE] * int(_TEST_TIMESPAN/DT_DMON)
-always_distracted = [msg_DISTRACTED] * int(_TEST_TIMESPAN/DT_DMON)
-always_true = [True] * int(_TEST_TIMESPAN/DT_DMON)
-always_false = [False] * int(_TEST_TIMESPAN/DT_DMON)
-
-def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status, car_standstill_status):
-  # inputs are all 10Hz
-  DS = DriverStatus()
-  events_from_DM = []
-  for idx in range(len(driver_state_msgs)):
-    DS.get_pose(driver_state_msgs[idx], [0,0,0], 0, openpilot_status[idx])
-                # cal_rpy and car_speed don't matter here
-
-    event_per_state = DS.update([], driver_car_interaction[idx], openpilot_status[idx], car_standstill_status[idx])
-    events_from_DM.append(event_per_state) # evaluate events at 10Hz for tests
-
-  assert len(events_from_DM)==len(driver_state_msgs), 'somethings wrong'
-  return events_from_DM, DS
-
-class TestMonitoring(unittest.TestCase):
-  # -1. rhd parser sanity check
-  def test_rhd_parser(self):
-    cities = [[32.7, -117.1, 0],\
-              [51.5, 0.129, 1],\
-              [35.7, 139.7, 1],\
-              [-37.8, 144.9, 1],\
-              [32.1, 41.74, 0],\
-              [55.7, 12.69, 0]]
-    result = []
-    for city in cities:
-      result.append(int(is_rhd_region(city[0],city[1])))
-    self.assertEqual(result,[int(city[2]) for city in cities])
-
-  # 0. op engaged, driver is doing fine all the time
-  def test_fully_aware_driver(self):
-    events_output = run_DState_seq(always_attentive, always_false, always_true, always_false)[0]
-    self.assertTrue(np.sum([len(event) for event in events_output])==0)
-
-  # 1. op engaged, driver is distracted and does nothing
-  def test_fully_distracted_driver(self):
-    events_output, d_status = run_DState_seq(always_distracted, always_false, always_true, always_false)
-    self.assertTrue(len(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+\
-                      ((_DISTRACTED_PRE_TIME_TILL_TERMINAL-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'preDriverDistracted')
-    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL+\
-                      ((_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'promptDriverDistracted')
-    self.assertEqual(events_output[int((_DISTRACTED_TIME+\
-                      ((_TEST_TIMESPAN-10-_DISTRACTED_TIME)/2))/DT_DMON)][0].name, 'driverDistracted')
-    self.assertIs(type(d_status.awareness), float)
-
-  # 2. op engaged, no face detected the whole time, no action
-  def test_fully_invisible_driver(self):
-    events_output = run_DState_seq(always_no_face, always_false, always_true, always_false)[0]
-    self.assertTrue(len(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL+\
-                      ((_AWARENESS_PRE_TIME_TILL_TERMINAL-_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'preDriverUnresponsive')
-    self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PROMPT_TIME_TILL_TERMINAL+\
-                      ((_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'promptDriverUnresponsive')
-    self.assertEqual(events_output[int((_AWARENESS_TIME+\
-                      ((_TEST_TIMESPAN-10-_AWARENESS_TIME)/2))/DT_DMON)][0].name, 'driverUnresponsive')
-
-  # 3. op engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
-  #  - should have short orange recovery time and no green afterwards; should recover rightaway on wheel touch
-  def test_normal_driver(self):
-    ds_vector = [msg_DISTRACTED] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
-                [msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
-                [msg_DISTRACTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*2/DT_DMON))
-    interaction_vector = [car_interaction_NOT_DETECTED] * int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
-                        [car_interaction_DETECTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
-    events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
-    self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverDistracted')
-    self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)][0].name, 'promptDriverDistracted')
-    self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)])==0)
-
-  # 4. op engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
-  #                          driver dodges, and then touches wheel to no avail, disengages and reengages
-  #  - orange/red alert should remain after disappearance, and only disengaging clears red
-  def test_biggest_comma_fan(self):
-    _invisible_time = 2 # seconds
-    ds_vector = always_distracted[:]
-    interaction_vector = always_false[:]
-    op_vector = always_true[:]
-    ds_vector[int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((_DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    ds_vector[int((_DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    interaction_vector[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON)
-    op_vector[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON)
-    events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0]
-    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)][0].name, 'promptDriverDistracted')
-    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)][0].name, 'driverDistracted')
-    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)][0].name, 'driverDistracted')
-    self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)])==0)
-
-  # 5. op engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
-  #  - both actions should clear the alert, but momentary appearence should not
-  def test_sometimes_transparent_commuter(self):
-      _visible_time = np.random.choice([1,10]) # seconds
-      # print _visible_time
-      ds_vector = always_no_face[:]*2
-      interaction_vector = always_false[:]*2
-      ds_vector[int((2*_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*_INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
-      interaction_vector[int((_INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-      events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)[0]
-      self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
-      self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
-      self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)])==0)
-      if _visible_time == 1:
-        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
-        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)][0].name, 'preDriverUnresponsive')
-      elif _visible_time == 10:
-        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
-        self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)])==0)
-      else:
-        pass
-
-  # 6. op engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
-  #  - only disengage will clear the alert
-  def test_last_second_responder(self):
-    _visible_time = 2 # seconds
-    ds_vector = always_no_face[:]
-    interaction_vector = always_false[:]
-    op_vector = always_true[:]
-    ds_vector[int(_INVISIBLE_SECONDS_TO_RED/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
-    interaction_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    op_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
-    events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0]
-    self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
-    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)][0].name, 'driverUnresponsive')
-    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)][0].name, 'driverUnresponsive')
-    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)][0].name, 'driverUnresponsive')
-    self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)])==0)
-
-  # 7. op not engaged, always distracted driver
-  #  - dm should stay quiet when not engaged
-  def test_pure_dashcam_user(self):
-    events_output = run_DState_seq(always_distracted, always_false, always_false, always_false)[0]
-    self.assertTrue(np.sum([len(event) for event in events_output])==0)
-
-  # 8. op engaged, car stops at traffic light, down to orange, no action, then car starts moving
-  #  - should only reach green when stopped, but continues counting down on launch
-  def test_long_traffic_light_victim(self):
-    _redlight_time = 60 # seconds
-    standstill_vector = always_true[:]
-    standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((_TEST_TIMESPAN-_redlight_time)/DT_DMON)
-    events_output = run_DState_seq(always_distracted, always_false, always_true, standstill_vector)[0]
-    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)][0].name, 'preDriverDistracted')
-    self.assertEqual(events_output[int((_redlight_time-0.1)/DT_DMON)][0].name, 'preDriverDistracted')
-    self.assertEqual(events_output[int((_redlight_time+0.5)/DT_DMON)][0].name, 'promptDriverDistracted')
-
-  # 9. op engaged, model is extremely uncertain. driver first attentive, then distracted
-  #  - should only pop the green alert about model uncertainty
-  #  - (note: this's just for sanity check, std output should never be this high)
-  def test_one_indecisive_model(self):
-    ds_vector = [msg_ATTENTIVE_UNCERTAIN] * int(_UNCERTAIN_SECONDS_TO_GREEN/DT_DMON) + \
-                [msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
-                [msg_DISTRACTED_UNCERTAIN] * (int(_TEST_TIMESPAN/DT_DMON)-int((_DISTRACTED_SECONDS_TO_ORANGE+_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON))
-    interaction_vector = always_false[:]
-    events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
-    self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN-0.1)/DT_DMON)][0].name, 'driverMonitorLowAcc')
-    self.assertTrue(len(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN+_DISTRACTED_SECONDS_TO_ORANGE-0.5)/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_TEST_TIMESPAN-5.)/DT_DMON)][0].name, 'driverMonitorLowAcc')
-
-  # 10. op engaged, model is somehow uncertain and driver is distracted
-  #  - should slow down the alert countdown but it still gets there
-  def test_somehow_indecisive_model(self):
-    ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(_TEST_TIMESPAN/DT_DMON)
-    interaction_vector = always_false[:]
-    events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
-    self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON)][0].name, 'driverMonitorLowAcc')
-    self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)][1].name, 'preDriverDistracted')
-    self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)][1].name, 'promptDriverDistracted')
-    self.assertEqual(events_output[int((_DISTRACTED_TIME+1)/DT_DMON)][1].name, 'promptDriverDistracted')
-    self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)][1].name, 'promptDriverDistracted') # set_timer blocked
-
-if __name__ == "__main__":
-  print('MAX_TERMINAL_ALERTS', MAX_TERMINAL_ALERTS)
-  unittest.main()
diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index 6ceb56b627756c..f85d7c0e6d0046 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -1,66 +1,27 @@
 """Install exception handler for process crash."""
-import os
-import sys
-import threading
-import capnp
-from selfdrive.version import version, dirty
-
 from selfdrive.swaglog import cloudlog
+from selfdrive.version import version
 
-if os.getenv("NOLOG") or os.getenv("NOCRASH"):
-  def capture_exception(*exc_info):
-    pass
-  def bind_user(**kwargs):
-    pass
-  def bind_extra(**kwargs):
-    pass
-  def install():
-    pass
-else:
-  from raven import Client
-  from raven.transport.http import HTTPTransport
-  client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
-                  install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty})
-
-  def capture_exception(*args, **kwargs):
-    exc_info = sys.exc_info()
-    if not exc_info[0] is capnp.lib.capnp.KjException:
-      client.captureException(*args, **kwargs)
-    cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
-
-  def bind_user(**kwargs):
-    client.user_context(kwargs)
-
-  def bind_extra(**kwargs):
-    client.extra_context(kwargs)
-
-  def install():
-    # installs a sys.excepthook
-    __excepthook__ = sys.excepthook
-    def handle_exception(*exc_info):
-      if exc_info[0] not in (KeyboardInterrupt, SystemExit):
-        capture_exception(exc_info=exc_info)
-      __excepthook__(*exc_info)
-    sys.excepthook = handle_exception
+import sentry_sdk
+from sentry_sdk.integrations.threading import ThreadingIntegration
 
-    """
-    Workaround for `sys.excepthook` thread bug from:
-    http://bugs.python.org/issue1230540
-    Call once from the main thread before creating any threads.
-    Source: https://stackoverflow.com/a/31622038
-    """
-    init_original = threading.Thread.__init__
+def capture_exception(*args, **kwargs) -> None:
+  cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
-    def init(self, *args, **kwargs):
-      init_original(self, *args, **kwargs)
-      run_original = self.run
+  try:
+    sentry_sdk.capture_exception(*args, **kwargs)
+    sentry_sdk.flush()  # https://github.com/getsentry/sentry-python/issues/291
+  except Exception:
+    cloudlog.exception("sentry exception")
 
-      def run_with_except_hook(*args2, **kwargs2):
-        try:
-          run_original(*args2, **kwargs2)
-        except Exception:
-          sys.excepthook(*sys.exc_info())
+def bind_user(**kwargs) -> None:
+  sentry_sdk.set_user(kwargs)
 
-      self.run = run_with_except_hook
+def bind_extra(**kwargs) -> None:
+  for k, v in kwargs.items():
+    sentry_sdk.set_tag(k, v)
 
-    threading.Thread.__init__ = init
+def init() -> None:
+  sentry_sdk.init("https://a8dc76b5bfb34908a601d67e2aa8bcf9@o33823.ingest.sentry.io/77924",
+                  default_integrations=False, integrations=[ThreadingIntegration(propagate_hub=True)],
+                  release=version)
diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py
new file mode 100755
index 00000000000000..4fa775ac17e2e3
--- /dev/null
+++ b/selfdrive/debug/can_print_changes.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+import binascii
+import sys
+from collections import defaultdict
+
+import cereal.messaging as messaging
+from common.realtime import sec_since_boot
+
+
+def can_printer(bus=0):
+  """Collects messages and prints when a new bit transition is observed.
+  This is very useful to find signals based on user triggered actions, such as blinkers and seatbelt.
+  Leave the script running until no new transitions are seen, then perform the action."""
+  logcan = messaging.sub_sock('can')
+
+  low_to_high = defaultdict(int)
+  high_to_low = defaultdict(int)
+
+  while 1:
+    can_recv = messaging.drain_sock(logcan, wait_for_one=True)
+    for x in can_recv:
+      for y in x.can:
+        if y.src == bus:
+          i = int.from_bytes(y.dat, byteorder='big')
+
+          l_h = low_to_high[y.address]
+          h_l = high_to_low[y.address]
+
+          change = None
+          if (i | l_h) != l_h:
+            low_to_high[y.address] = i | l_h
+            change = "+"
+
+          if (~i | h_l) != h_l:
+            high_to_low[y.address] = ~i | h_l
+            change = "-"
+
+          if change:
+            print(f"{sec_since_boot():.2f}\t{hex(y.address)} ({y.address})\t{change}{binascii.hexlify(y.dat)}")
+
+
+if __name__ == "__main__":
+  if len(sys.argv) > 1:
+    can_printer(int(sys.argv[1]))
+  else:
+    can_printer()
diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py
index f06db79545ecb8..cb6ff29006bdda 100755
--- a/selfdrive/debug/can_printer.py
+++ b/selfdrive/debug/can_printer.py
@@ -1,42 +1,43 @@
 #!/usr/bin/env python3
+import argparse
 import binascii
-import os
-import sys
 from collections import defaultdict
 
 import cereal.messaging as messaging
 from common.realtime import sec_since_boot
 
 
-def can_printer(bus=0, max_msg=None, addr="127.0.0.1"):
+def can_printer(bus, max_msg, addr):
   logcan = messaging.sub_sock('can', addr=addr)
 
   start = sec_since_boot()
   lp = sec_since_boot()
   msgs = defaultdict(list)
-  canbus = int(os.getenv("CAN", bus))
   while 1:
     can_recv = messaging.drain_sock(logcan, wait_for_one=True)
     for x in can_recv:
       for y in x.can:
-        if y.src == canbus:
+        if y.src == bus:
           msgs[y.address].append(y.dat)
 
     if sec_since_boot() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k,v in sorted(zip(msgs.keys(), map(lambda x: binascii.hexlify(x[-1]), msgs.values()))):
-        if max_msg is None or k < max_msg:
-          dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v.decode('ascii'))
+      for addr in sorted(msgs.keys()):
+        a = msgs[addr][-1].decode('ascii', 'backslashreplace')
+        x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
+        if max_msg is None or addr < max_msg:
+          dd += "%04X(%4d)(%6d) %s \"%s\"\n" % (addr, addr, len(msgs[addr]), x.ljust(20), a)
       print(dd)
       lp = sec_since_boot()
 
 if __name__ == "__main__":
-  if len(sys.argv) > 3:
-    can_printer(int(sys.argv[1]), int(sys.argv[2]), sys.argv[3])
-  elif len(sys.argv) > 2:
-    can_printer(int(sys.argv[1]), int(sys.argv[2]))
-  elif len(sys.argv) > 1:
-    can_printer(int(sys.argv[1]))
-  else:
-    can_printer()
+  parser = argparse.ArgumentParser(description="simple CAN data viewer",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
+  parser.add_argument("--max_msg", type=int, help="max addr ")
+  parser.add_argument("--addr", default="127.0.0.1")
+
+  args = parser.parse_args()
+  can_printer(args.bus, args.max_msg, args.addr)
diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
index 75c0b8f89a2775..300b3ea1fb133c 100755
--- a/selfdrive/debug/check_freq.py
+++ b/selfdrive/debug/check_freq.py
@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# type: ignore
+
 import argparse
 import numpy as np
 from collections import defaultdict, deque
@@ -18,6 +20,7 @@
   sockets = {}
 
   rcv_times = defaultdict(lambda: deque(maxlen=100))
+  valids = defaultdict(lambda: deque(maxlen=100))
 
   t = sec_since_boot()
   for name in socket_names:
@@ -32,12 +35,13 @@
 
       t = sec_since_boot()
       rcv_times[name].append(msg.logMonoTime / 1e9)
+      valids[name].append(msg.valid)
 
     if t - prev_print > 1:
       print()
       for name in socket_names:
         dts = np.diff(rcv_times[name])
         mean = np.mean(dts)
-        print("%s: Freq %.2f Hz, Min %.2f%%, Max %.2f%%" % (name, 1.0 / mean, np.min(dts) / mean * 100, np.max(dts) / mean * 100))
+        print("%s: Freq %.2f Hz, Min %.2f%%, Max %.2f%%, valid " % (name, 1.0 / mean, np.min(dts) / mean * 100, np.max(dts) / mean * 100), all(valids[name]))
 
       prev_print = t
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
new file mode 100755
index 00000000000000..c922642982aa06
--- /dev/null
+++ b/selfdrive/debug/check_lag.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+# type: ignore
+
+import cereal.messaging as messaging
+from cereal.services import service_list
+
+TO_CHECK = ['carState']
+
+
+if __name__ == "__main__":
+  sm = messaging.SubMaster(TO_CHECK)
+
+  prev_t = {}
+
+  while True:
+    sm.update()
+
+    for s in TO_CHECK:
+      if sm.updated[s]:
+        t = sm.logMonoTime[s] / 1e9
+
+        if s in prev_t:
+          expected = 1.0 / (service_list[s].frequency)
+          dt = t - prev_t[s]
+          if dt > 10 * expected:
+            print(t, s, dt)
+
+        prev_t[s] = t
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
new file mode 100755
index 00000000000000..03e39fd70df462
--- /dev/null
+++ b/selfdrive/debug/check_timings.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+# type: ignore
+import sys
+import time
+import numpy as np
+from collections import defaultdict, deque
+
+import cereal.messaging as messaging
+
+socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
+ts = defaultdict(lambda: deque(maxlen=100))
+
+if __name__ == "__main__":
+  while True:
+    print()
+    for s, sock in socks.items():
+      msgs = messaging.drain_sock(sock)
+      for m in msgs:
+        ts[s].append(m.logMonoTime / 1e6)
+
+      if len(ts[s]):
+        d = np.diff(ts[s])
+        print(f"{s:25} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
+    time.sleep(1)
diff --git a/selfdrive/debug/compare_fingerprints.py b/selfdrive/debug/compare_fingerprints.py
index a0c80a740e8ae9..5b7ba58b1e4685 100755
--- a/selfdrive/debug/compare_fingerprints.py
+++ b/selfdrive/debug/compare_fingerprints.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# flake8: noqa
 
 # put 2 fingeprints and print the diffs
 f1 = {
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
new file mode 100755
index 00000000000000..8b32ce9d21f79c
--- /dev/null
+++ b/selfdrive/debug/count_events.py
@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+import sys
+from collections import Counter
+from pprint import pprint
+from tqdm import tqdm
+
+from tools.lib.route import Route
+from tools.lib.logreader import LogReader
+
+if __name__ == "__main__":
+  r = Route(sys.argv[1])
+
+  cnt_valid: Counter = Counter()
+  cnt_events: Counter = Counter()
+
+  for q in tqdm(r.qlog_paths()):
+    if q is None:
+      continue
+    lr = list(LogReader(q))
+    for msg in lr:
+      if msg.which() == 'carEvents':
+        for e in msg.carEvents:
+          cnt_events[e.name] += 1
+      if not msg.valid:
+        cnt_valid[msg.which()] += 1
+
+  print("Events")
+  pprint(cnt_events)
+
+  print("\n\n")
+  print("Not valid")
+  pprint(cnt_valid)
diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py
index d59a148558f9c5..5931fda640a5f9 100755
--- a/selfdrive/debug/cpu_usage_stat.py
+++ b/selfdrive/debug/cpu_usage_stat.py
@@ -1,17 +1,9 @@
 #!/usr/bin/env python3
-import psutil
-import time
-import os
-import sys
-import numpy as np
-import argparse
-import re
-from collections import defaultdict
-
+# type: ignore
 '''
 System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
   Features:
-    Use psutil library to sample cpu usage(avergage for all cores) of OpenPilot processes, at a rate of 5 samples/sec.
+    Use psutil library to sample cpu usage(avergage for all cores) of openpilot processes, at a rate of 5 samples/sec.
     Do cpu usage statistics periodically, 5 seconds as a cycle.
     Caculate the average cpu usage within this cycle.
     Caculate minumium/maximium/accumulated_average cpu usage as long term inspections.
@@ -23,25 +15,36 @@
     boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
     ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
 '''
+import psutil
+import time
+import os
+import sys
+import numpy as np
+import argparse
+import re
+from collections import defaultdict
+
+from selfdrive.manager.process_config import managed_processes
 
 # Do statistics every 5 seconds
 PRINT_INTERVAL = 5
 SLEEP_INTERVAL = 0.2
 
 monitored_proc_names = [
-  'ubloxd', 'thermald', 'uploader', 'deleter', 'controlsd', 'plannerd', 'radard', 'mapd', 'loggerd' , 'logmessaged', 'tombstoned',
-  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'ui',  'calibrationd', 'params_learner', 'modeld', 'dmonitoringmodeld', 'camerad', 'sensord', 'updated', 'gpsd', 'athena']
+  # android procs
+  'SurfaceFlinger', 'sensors.qcom'
+] + list(managed_processes.keys())
+
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
 timer = getattr(time, 'monotonic', time.time)
 
+
 def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Unlogger and UI",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
   parser.add_argument("proc_names", nargs="?", default='',
-                      help="Process names to be monitored, comma seperated")
+                      help="Process names to be monitored, comma separated")
   parser.add_argument("--list_all", action='store_true',
                       help="Show all running processes' cmdline")
   parser.add_argument("--detailed_times", action='store_true',
@@ -68,7 +71,7 @@ def get_arg_parser():
       k = ' '.join(p.cmdline())
       print('Add monitored proc:', k)
       stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
-                  'avg': defaultdict(lambda: 0.0), 'last_cpu_times': None, 'last_sys_time':None}
+                  'avg': defaultdict(lambda: 0.0), 'last_cpu_times': None, 'last_sys_time': None}
       stats[k]['last_sys_time'] = timer()
       stats[k]['last_cpu_times'] = p.cpu_times()
       monitored_procs.append(p)
@@ -112,7 +115,7 @@ def get_arg_parser():
           for stat_type in ['avg', 'min', 'max']:
             msg += '\n {}: {}'.format(stat_type, [name + ':' + str(round(stat[stat_type][name]*100, 2)) for name in cpu_time_names])
         l.append((os.path.basename(k), stat['avg']['total'], msg))
-      l.sort(key= lambda x: -x[1])
+      l.sort(key=lambda x: -x[1])
       for x in l:
         print(x[2])
       print('avg sum: {0:.2%} over {1} samples {2} seconds\n'.format(
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
new file mode 100755
index 00000000000000..8b01a73b0d1c0e
--- /dev/null
+++ b/selfdrive/debug/cycle_alerts.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+# flake8: noqa
+# pylint: skip-file
+# type: ignore
+
+import time
+
+from cereal import car, log
+import cereal.messaging as messaging
+from selfdrive.car.honda.interface import CarInterface
+from selfdrive.controls.lib.events import ET, EVENTS, Events
+from selfdrive.controls.lib.alertmanager import AlertManager
+
+EventName = car.CarEvent.EventName
+
+def cycle_alerts(duration=2000, is_metric=False):
+  alerts = list(EVENTS.keys())
+  print(alerts)
+
+  alerts = [EventName.preDriverDistracted, EventName.promptDriverDistracted, EventName.driverDistracted]
+  #alerts = [EventName.preLaneChangeLeft, EventName.preLaneChangeRight]
+
+  CP = CarInterface.get_params("HONDA CIVIC 2016")
+  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
+                            'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
+
+  pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
+
+  events = Events()
+  AM = AlertManager()
+
+  frame = 0
+  idx, last_alert_millis = 0, 0
+  while 1:
+    if frame % duration == 0:
+      idx = (idx + 1) % len(alerts)
+      events.clear()
+      events.add(alerts[idx])
+
+
+    current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
+                           ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
+                           ET.ENABLE, ET.WARNING]
+    a = events.create_alerts(current_alert_types, [CP, sm, is_metric])
+    AM.add_many(frame, a)
+    AM.process_alerts(frame)
+
+    dat = messaging.new_message()
+    dat.init('controlsState')
+    dat.controlsState.alertText1 = AM.alert_text_1
+    dat.controlsState.alertText2 = AM.alert_text_2
+    dat.controlsState.alertSize = AM.alert_size
+    dat.controlsState.alertStatus = AM.alert_status
+    dat.controlsState.alertBlinkingRate = AM.alert_rate
+    dat.controlsState.alertType = AM.alert_type
+    dat.controlsState.alertSound = AM.audible_alert
+    pm.send('controlsState', dat)
+
+    dat = messaging.new_message()
+    dat.init('deviceState')
+    dat.deviceState.started = True
+    pm.send('deviceState', dat)
+
+    dat = messaging.new_message('pandaStates', 1)
+    dat.pandaStates[0].ignitionLine = True
+    dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+    pm.send('pandaStates', dat)
+
+    time.sleep(0.01)
+
+if __name__ == '__main__':
+  cycle_alerts()
diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py
new file mode 100644
index 00000000000000..f0faf400177469
--- /dev/null
+++ b/selfdrive/debug/disable_ecu.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+import traceback
+
+import cereal.messaging as messaging
+from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from selfdrive.swaglog import cloudlog
+
+EXT_DIAG_REQUEST = b'\x10\x03'
+EXT_DIAG_RESPONSE = b'\x50\x03'
+COM_CONT_REQUEST = b'\x28\x83\x03'
+COM_CONT_RESPONSE = b''
+
+def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.5, retry=5, debug=False):
+  print(f"ecu disable {hex(ecu_addr)} ...")
+  for i in range(retry):
+    try:
+      # enter extended diagnostic session
+      query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+      for addr, dat in query.get_data(timeout).items(): # pylint: disable=unused-variable
+        print("ecu communication control disable tx/rx ...")
+        # communication control disable tx and rx
+        query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug)
+        query.get_data(0)
+        return True
+      print(f"ecu disable retry ({i+1}) ...")
+    except Exception:
+      cloudlog.warning(f"ecu disable exception: {traceback.format_exc()}")
+
+  return False
+
+
+if __name__ == "__main__":
+  import time
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  time.sleep(1)
+
+  # honda bosch radar disable
+  disabled = disable_ecu(0x18DAB0F1, logcan, sendcan, 1, debug=False)
+  print(f"disabled: {disabled}")
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index 26ce350530b011..047c874fb777d9 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -4,6 +4,8 @@
 import argparse
 import json
 from hexdump import hexdump
+import codecs
+codecs.register_error("strict", codecs.backslashreplace_errors)
 
 from cereal import log
 import cereal.messaging as messaging
@@ -11,7 +13,7 @@
 
 if __name__ == "__main__":
 
-  parser = argparse.ArgumentParser(description='Sniff a communcation socket')
+  parser = argparse.ArgumentParser(description='Dump communcation sockets. See cereal/services.py for a complete list of available sockets.')
   parser.add_argument('--pipe', action='store_true')
   parser.add_argument('--raw', action='store_true')
   parser.add_argument('--json', action='store_true')
@@ -19,7 +21,7 @@
   parser.add_argument('--no-print', action='store_true')
   parser.add_argument('--addr', default='127.0.0.1')
   parser.add_argument('--values', help='values to monitor (instead of entire event)')
-  parser.add_argument("socket", type=str, nargs='*', help="socket name")
+  parser.add_argument("socket", type=str, nargs='*', help="socket names to dump. defaults to all services defined in cereal")
   args = parser.parse_args()
 
   if args.addr != "127.0.0.1":
@@ -29,14 +31,14 @@
   poller = messaging.Poller()
 
   for m in args.socket if len(args.socket) > 0 else service_list:
-    sock = messaging.sub_sock(m, poller, addr=args.addr)
+    messaging.sub_sock(m, poller, addr=args.addr)
 
   values = None
   if args.values:
     values = [s.strip().split(".") for s in args.values.split(",")]
 
   while 1:
-    polld = poller.poll(1000)
+    polld = poller.poll(100)
     for sock in polld:
       msg = sock.receive()
       evt = log.Event.from_bytes(msg)
@@ -61,4 +63,11 @@
               print("{} = {}".format(".".join(value), item))
           print("")
         else:
-          print(evt)
+          try:
+            print(evt)
+          except UnicodeDecodeError:
+            w = evt.which()
+            s = f"( logMonoTime {evt.logMonoTime} \n  {w} = "
+            s += str(evt.__getattr__(w))
+            s += f"\n  valid = {evt.valid} )"
+            print(s)
diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py
index 8ddb12e2d78b87..98e7d872462bcc 100755
--- a/selfdrive/debug/filter_log_message.py
+++ b/selfdrive/debug/filter_log_message.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
-import os
 import argparse
 import json
 
 import cereal.messaging as messaging
-
+from tools.lib.robust_logreader import RobustLogReader as LogReader
+from tools.lib.route import Route
 
 LEVELS = {
   "DEBUG": 10,
@@ -14,29 +14,72 @@
   "CRITICAL": 50,
 }
 
+ANDROID_LOG_SOURCE = {
+  0: "MAIN",
+  1: "RADIO",
+  2: "EVENTS",
+  3: "SYSTEM",
+  4: "CRASH",
+  5: "KERNEL",
+}
+
+
+def print_logmessage(t, msg, min_level):
+  try:
+    log = json.loads(msg)
+    if log['levelnum'] >= min_level:
+      print(f"[{t / 1e9:.6f}] {log['filename']}:{log.get('lineno', '')} - {log.get('funcname', '')}: {log['msg']}")
+      if 'exc_info' in log:
+        print(log['exc_info'])
+  except json.decoder.JSONDecodeError:
+    print(f"[{t / 1e9:.6f}] decode error: {msg}")
+
+
+def print_androidlog(t, msg):
+  source = ANDROID_LOG_SOURCE[msg.id]
+  try:
+    m = json.loads(msg.message)['MESSAGE']
+  except Exception:
+    m = msg.message
+
+  print(f"[{t / 1e9:.6f}] {source} {msg.pid} {msg.tag} - {m}")
+
 
 if __name__ == "__main__":
 
   parser = argparse.ArgumentParser()
   parser.add_argument('--level', default='DEBUG')
   parser.add_argument('--addr', default='127.0.0.1')
-  parser.add_argument("socket", type=str, nargs='*', help="socket name")
+  parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage")
   args = parser.parse_args()
 
-  if args.addr != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+  logs = None
+  if len(args.route):
+    r = Route(args.route[0])
+    logs = r.log_paths()
 
-  poller = messaging.Poller()
-  sock = messaging.sub_sock("logMessage", poller, addr=args.addr)
+  if len(args.route) == 2 and logs:
+    n = int(args.route[1])
+    logs = [logs[n]]
 
   min_level = LEVELS[args.level]
 
-  while True:
-    polld = poller.poll(1000)
-    for sock in polld:
-      evt = messaging.recv_one(sock)
-      log = json.loads(evt.logMessage)
+  if logs:
+    for log in logs:
+      if log:
+        lr = LogReader(log)
+        for m in lr:
+          if m.which() == 'logMessage':
+            print_logmessage(m.logMonoTime, m.logMessage, min_level)
+          elif m.which() == 'androidLog':
+            print_androidlog(m.logMonoTime, m.androidLog)
+  else:
+    sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
+    while True:
+      sm.update()
+
+      if sm.updated['logMessage']:
+        print_logmessage(sm.logMonoTime['logMessage'], sm['logMessage'], min_level)
 
-      if log['levelnum'] >= min_level:
-        print(f"{log['filename']}:{log.get('lineno', '')} - {log.get('funcname', '')}: {log['msg']}")
+      if sm.updated['androidLog']:
+        print_androidlog(sm.logMonoTime['androidLog'], sm['androidLog'])
diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
new file mode 100755
index 00000000000000..098e39fbe8778f
--- /dev/null
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+import sys
+from tools.lib.route import Route
+from tools.lib.logreader import MultiLogIterator
+
+
+def get_fingerprint(lr):
+  # TODO: make this a nice tool for car ports. should also work with qlogs for FW
+
+  fw = None
+  msgs = {}
+  for msg in lr:
+    if msg.which() == 'carParams':
+      fw = msg.carParams.carFw
+    elif msg.which() == 'can':
+      for c in msg.can:
+        # read also msgs sent by EON on CAN bus 0x80 and filter out the
+        # addr with more than 11 bits
+        if c.src % 0x80 == 0 and c.address < 0x800:
+          msgs[c.address] = len(c.dat)
+
+  # show CAN fingerprint
+  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
+  print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n")
+  print(fingerprint)
+
+  # TODO: also print the fw fingerprint merged with the existing ones
+  # show FW fingerprint
+  print("\nFW fingerprint:\n")
+  for f in fw:
+    print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
+    print(f"      {f.fwVersion},")
+    print("    ],")
+  print()
+
+
+if __name__ == "__main__":
+  if len(sys.argv) < 2:
+    print("Usage: ./fingerprint_from_route.py <route>")
+    sys.exit(1)
+
+  route = Route(sys.argv[1])
+  lr = MultiLogIterator(route.log_paths()[:5], wraparound=False)
+  get_fingerprint(lr)
diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py
index 9ece7d7268cb32..6c38957be32032 100755
--- a/selfdrive/debug/get_fingerprint.py
+++ b/selfdrive/debug/get_fingerprint.py
@@ -6,7 +6,6 @@
 # - connect to a Panda
 # - run selfdrive/boardd/boardd
 # - launching this script
-# - turn on the car in STOCK MODE (set giraffe switches properly).
 #   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
 # - since some messages are published at low frequency, keep this script running for at least 30s,
 #   until all messages are received at least once
@@ -17,6 +16,9 @@
 msgs = {}
 while True:
   lc = messaging.recv_sock(logcan, True)
+  if lc is None:
+    continue
+
   for c in lc.can:
     # read also msgs sent by EON on CAN bus 0x80 and filter out the
     # addr with more than 11 bits
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
new file mode 100755
index 00000000000000..5d90dc778a4cd6
--- /dev/null
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+"""Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
+Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
+endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known 
+firmware versions. If you want to try on a new radar make sure to note the default config value
+in case it's different from the other radars and you need to revert the changes.
+
+After changing the config the car should not show any faults when openpilot is not running. 
+These config changes are persistent accross car reboots. You need to run this script again
+to go back to the default values.
+
+USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by these changes."""
+
+import sys
+import argparse
+from subprocess import check_output, CalledProcessError
+
+from panda.python import Panda
+from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
+
+# If your radar supports changing data identifier 0x0142 as well make a PR to
+# this file to add your firmware version. Make sure to post a drive as proof!
+# NOTE: these firmware versions do not match what openpilot uses
+#       because this script uses a different diagnostic session type
+SUPPORTED_FW_VERSIONS = {
+  # 2020 SONATA
+  b"DN8_ SCC FHCUP      1.00 1.00 99110-L0000\x19\x08)\x15T    ": {
+    "default_config": b"\x00\x00\x00\x01\x00\x00",
+    "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
+  },
+  # 2021 SONATA HYBRID
+  b"DNhe SCC FHCUP      1.00 1.02 99110-L5000 \x01#\x15#    ": {
+    "default_config": b"\x00\x00\x00\x01\x00\x00",
+    "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
+  }, 
+  # 2020 PALISADE
+  b"LX2_ SCC FHCUP      1.00 1.04 99110-S8100\x19\x05\x02\x16V    ": {
+    "default_config": b"\x00\x00\x00\x01\x00\x00",
+    "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
+  },
+  # 2020 SANTA FE
+  b"TM__ SCC F-CUP      1.00 1.03 99110-S2000\x19\x050\x13'    ": {
+    "default_config": b"\x00\x00\x00\x01\x00\x00",
+    "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
+  }
+}
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='configure radar to output points (or reset to default)')
+  parser.add_argument('--default', action="store_true", default=False, help='reset to default configuration (default: false)')
+  parser.add_argument('--debug', action="store_true", default=False, help='enable debug output (default: false)')
+  parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)')
+  args = parser.parse_args()
+
+  try:
+    check_output(["pidof", "boardd"])
+    print("boardd is running, please kill openpilot before running this script! (aborted)")
+    sys.exit(1)
+  except CalledProcessError as e:
+    if e.returncode != 1: # 1 == no process found (boardd not running)
+      raise e
+
+  confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip()
+  if confirm != "OK":
+    print("\nyou didn't type 'OK! (aborted)")
+    sys.exit(0)
+
+  panda = Panda() # type: ignore
+  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)
+
+  print("\n[START DIAGNOSTIC SESSION]")
+  session_type : SESSION_TYPE = 0x07 # type: ignore
+  uds_client.diagnostic_session_control(session_type)
+
+  print("[HARDWARE/SOFTWARE VERSION]")
+  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
+  fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
+  print(fw_version)
+  if fw_version not in SUPPORTED_FW_VERSIONS.keys():
+    print("radar not supported! (aborted)")
+    sys.exit(1)
+
+  print("[GET CONFIGURATION]")
+  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore
+  current_config = uds_client.read_data_by_identifier(config_data_id)
+  new_config = SUPPORTED_FW_VERSIONS[fw_version]["default_config" if args.default else "tracks_enabled"]
+  print(f"current config: 0x{current_config.hex()}")
+  if current_config != new_config:
+    print("[CHANGE CONFIGURATION]")
+    print(f"new config:     0x{new_config.hex()}")
+    uds_client.write_data_by_identifier(config_data_id, new_config)
+    if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version]["default_config"]:
+      print("\ncurrent config does not match expected default! (aborted)")
+      sys.exit(1)
+
+    print("[DONE]")
+    print("\nrestart your vehicle and ensure there are no faults")
+    if not args.default:
+      print("you can run this script again with --default to go back to the original (factory) settings")
+  else:
+    print("[DONE]")
+    print("\ncurrent config is already the desired configuration")
+    sys.exit(0)
diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py
index 4f324711daef2f..5589b0d6ddc8fe 100755
--- a/selfdrive/debug/live_cpu_and_temp.py
+++ b/selfdrive/debug/live_cpu_and_temp.py
@@ -1,9 +1,8 @@
 #!/usr/bin/env python3
 import argparse
 
-import numpy as np
-
 from cereal.messaging import SubMaster
+from common.numpy_fast import mean
 
 
 def cputime_total(ct):
@@ -14,40 +13,57 @@ def cputime_busy(ct):
   return ct.user + ct.nice + ct.system + ct.irq + ct.softirq
 
 
+def proc_cputime_total(ct):
+  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
+
+
+def proc_name(proc):
+  name = proc.name
+  if len(proc.cmdline):
+    name = proc.cmdline[0]
+  if len(proc.exe):
+    name = proc.exe + " - " + name
+
+  return name
+
+
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
   parser.add_argument('--mem', action='store_true')
+  parser.add_argument('--cpu', action='store_true')
   args = parser.parse_args()
 
-  sm = SubMaster(['thermal', 'procLog'])
+  sm = SubMaster(['deviceState', 'procLog'])
 
   last_temp = 0.0
   last_mem = 0.0
-  total_times = [0., 0., 0., 0.]
-  busy_times = [0., 0., 0.0, 0.]
+  total_times = [0.]*8
+  busy_times = [0.]*8
+
+  prev_proclog = None
+  prev_proclog_t = None
 
   while True:
     sm.update()
 
-    if sm.updated['thermal']:
-      t = sm['thermal']
-      last_temp = np.mean([t.cpu0, t.cpu1, t.cpu2, t.cpu3]) / 10.
-      last_mem = t.memUsedPercent
+    if sm.updated['deviceState']:
+      t = sm['deviceState']
+      last_temp = mean(t.cpuTempC)
+      last_mem = t.memoryUsagePercent
 
     if sm.updated['procLog']:
       m = sm['procLog']
 
-
-      cores = [0., 0., 0., 0.]
-      total_times_new = [0., 0., 0., 0.]
-      busy_times_new = [0., 0., 0.0, 0.]
+      cores = [0.]*8
+      total_times_new = [0.]*8
+      busy_times_new = [0.]*8
 
       for c in m.cpuTimes:
         n = c.cpuNum
         total_times_new[n] = cputime_total(c)
         busy_times_new[n] = cputime_busy(c)
 
-      for n in range(4):
+      for n in range(8):
         t_busy = busy_times_new[n] - busy_times[n]
         t_total = total_times_new[n] - total_times[n]
         cores[n] = t_busy / t_total
@@ -55,18 +71,35 @@ def cputime_busy(ct):
       total_times = total_times_new[:]
       busy_times = busy_times_new[:]
 
-      print("CPU %.2f%% - RAM: %.2f - Temp %.2f" % (100. * np.mean(cores), last_mem, last_temp))
+      print("CPU %.2f%% - RAM: %.2f%% - Temp %.2fC" % (100. * mean(cores), last_mem, last_temp))
+
+      if args.cpu and prev_proclog is not None:
+        procs = {}
+        dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9
+        for proc in m.procs:
+          try:
+            name = proc_name(proc)
+            prev_proc = [p for p in prev_proclog.procs if proc.pid == p.pid][0]
+            cpu_time = proc_cputime_total(proc) - proc_cputime_total(prev_proc)
+            cpu_usage = cpu_time / dt * 100.
+            procs[name] = cpu_usage
+          except IndexError:
+            pass
+
+        print("Top CPU usage:")
+        for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]:
+          print(f"{k.rjust(70)}   {v:.2f} %")
+        print()
 
       if args.mem:
         mems = {}
         for proc in m.procs:
-          name = proc.name
-          if len(proc.cmdline):
-            name = proc.cmdline[0]
-          if len(proc.exe):
-            name = proc.exe + " - " + name
+          name = proc_name(proc)
           mems[name] = float(proc.memRss) / 1e6
         print("Top memory usage:")
         for k, v in sorted(mems.items(), key=lambda item: item[1], reverse=True)[:10]:
           print(f"{k.rjust(70)}   {v:.2f} MB")
         print()
+
+      prev_proclog = m
+      prev_proclog_t = sm.logMonoTime['procLog']
diff --git a/selfdrive/debug/mpc/live_lateral_mpc.py b/selfdrive/debug/mpc/live_lateral_mpc.py
deleted file mode 100755
index 48be5be9c6aa22..00000000000000
--- a/selfdrive/debug/mpc/live_lateral_mpc.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#!/usr/bin/env python3
-import matplotlib
-matplotlib.use('TkAgg')
-
-import sys
-import cereal.messaging as messaging
-import numpy as np
-import matplotlib.pyplot as plt
-
-# debug liateral MPC by plotting its trajectory. To receive liveLongitudinalMpc packets,
-# set on LOG_MPC env variable and run plannerd on a replay
-
-
-def mpc_vwr_thread(addr="127.0.0.1"):
-
-  plt.ion()
-  fig = plt.figure(figsize=(15, 20))
-  ax = fig.add_subplot(131)
-  aa = fig.add_subplot(132, sharey=ax)
-  ap = fig.add_subplot(133, sharey=ax)
-
-  ax.set_xlim([-10, 10])
-  ax.set_ylim([0., 100.])
-  aa.set_xlim([-20., 20])
-  ap.set_xlim([-5, 5])
-
-  ax.set_xlabel('x [m]')
-  ax.set_ylabel('y [m]')
-  aa.set_xlabel('steer_angle [deg]')
-  ap.set_xlabel('asset angle [deg]')
-  ax.grid(True)
-  aa.grid(True)
-  ap.grid(True)
-
-  path_x = np.arange(0, 100)
-  mpc_path_x = np.arange(0, 49)
-
-  p_path_y = np.zeros(100)
-
-  l_path_y = np.zeros(100)
-  r_path_y = np.zeros(100)
-  mpc_path_y = np.zeros(49)
-  mpc_steer_angle = np.zeros(49)
-  mpc_psi = np.zeros(49)
-
-  line1, = ax.plot(mpc_path_y, mpc_path_x)
-  # line1b, = ax.plot(mpc_path_y, mpc_path_x, 'o')
-
-  lineP, = ax.plot(p_path_y, path_x)
-  lineL, = ax.plot(l_path_y, path_x)
-  lineR, = ax.plot(r_path_y, path_x)
-  line3, = aa.plot(mpc_steer_angle, mpc_path_x)
-  line4, = ap.plot(mpc_psi, mpc_path_x)
-  ax.invert_xaxis()
-  aa.invert_xaxis()
-  plt.show()
-
-
-  # *** log ***
-  livempc = messaging.sub_sock('liveMpc', addr=addr)
-  model = messaging.sub_sock('model', addr=addr)
-  path_plan_sock = messaging.sub_sock('pathPlan', addr=addr)
-
-  while 1:
-    lMpc = messaging.recv_sock(livempc, wait=True)
-    md = messaging.recv_sock(model)
-    pp = messaging.recv_sock(path_plan_sock)
-
-    if md is not None:
-      p_poly = np.array(md.model.path.poly)
-      l_poly = np.array(md.model.leftLane.poly)
-      r_poly = np.array(md.model.rightLane.poly)
-
-      p_path_y = np.polyval(p_poly, path_x)
-      l_path_y = np.polyval(r_poly, path_x)
-      r_path_y = np.polyval(l_poly, path_x)
-
-    if pp is not None:
-      p_path_y = np.polyval(pp.pathPlan.dPoly, path_x)
-      lineP.set_xdata(p_path_y)
-      lineP.set_ydata(path_x)
-
-    if lMpc is not None:
-      mpc_path_x  = list(lMpc.liveMpc.x)[1:]
-      mpc_path_y  = list(lMpc.liveMpc.y)[1:]
-      mpc_steer_angle  = list(lMpc.liveMpc.delta)[1:]
-      mpc_psi  = list(lMpc.liveMpc.psi)[1:]
-
-      line1.set_xdata(mpc_path_y)
-      line1.set_ydata(mpc_path_x)
-      lineL.set_xdata(l_path_y)
-      lineL.set_ydata(path_x)
-      lineR.set_xdata(r_path_y)
-      lineR.set_ydata(path_x)
-      line3.set_xdata(np.asarray(mpc_steer_angle)*180./np.pi * 14)
-      line3.set_ydata(mpc_path_x)
-      line4.set_xdata(np.asarray(mpc_psi)*180./np.pi)
-      line4.set_ydata(mpc_path_x)
-
-      aa.relim()
-      aa.autoscale_view(True, scaley=True, scalex=True)
-
-      fig.canvas.draw()
-      fig.canvas.flush_events()
-
-if __name__ == "__main__":
-  if len(sys.argv) > 1:
-    mpc_vwr_thread(sys.argv[1])
-  else:
-    mpc_vwr_thread()
diff --git a/selfdrive/debug/mpc/live_longitudinal_mpc.py b/selfdrive/debug/mpc/live_longitudinal_mpc.py
deleted file mode 100755
index b5b4361e139f8b..00000000000000
--- a/selfdrive/debug/mpc/live_longitudinal_mpc.py
+++ /dev/null
@@ -1,106 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import cereal.messaging as messaging
-import numpy as np
-import matplotlib.pyplot as plt
-
-N = 21
-
-# debug longitudinal MPC by plotting its trajectory. To receive liveLongitudinalMpc packets,
-# set on LOG_MPC env variable and run plannerd on a replay
-
-def plot_longitudinal_mpc(addr="127.0.0.1"):
-  # *** log ***
-  livempc = messaging.sub_sock('liveLongitudinalMpc', addr=addr, conflate=True)
-  radarstate = messaging.sub_sock('radarState', addr=addr, conflate=True)
-
-  plt.ion()
-  fig = plt.figure()
-
-  t = np.hstack([np.arange(0.0, 0.8, 0.2), np.arange(0.8, 10.6, 0.6)])
-
-  p_x_ego = fig.add_subplot(3, 2, 1)
-  p_v_ego = fig.add_subplot(3, 2, 3)
-  p_a_ego = fig.add_subplot(3, 2, 5)
-  # p_x_l = fig.add_subplot(3, 2, 2)
-  # p_a_l = fig.add_subplot(3, 2, 6)
-  p_d_l = fig.add_subplot(3, 2, 2)
-  p_d_l_v = fig.add_subplot(3, 2, 4)
-  p_d_l_vv = fig.add_subplot(3, 2, 6)
-
-  p_v_ego.set_ylim([0, 30])
-  p_a_ego.set_ylim([-4, 4])
-  p_d_l.set_ylim([-1, 10])
-
-  p_x_ego.set_title('x')
-  p_v_ego.set_title('v')
-  p_a_ego.set_title('a')
-  p_d_l.set_title('rel dist')
-
-  l_x_ego, = p_x_ego.plot(t, np.zeros(N))
-  l_v_ego, = p_v_ego.plot(t, np.zeros(N))
-  l_a_ego, = p_a_ego.plot(t, np.zeros(N))
-  l_x_l, = p_x_ego.plot(t, np.zeros(N))
-  l_v_l, = p_v_ego.plot(t, np.zeros(N))
-  l_a_l, = p_a_ego.plot(t, np.zeros(N))
-  l_d_l, = p_d_l.plot(t, np.zeros(N))
-  l_d_l_v, = p_d_l_v.plot(np.zeros(N))
-  l_d_l_vv, = p_d_l_vv.plot(np.zeros(N))
-  p_x_ego.legend(['ego', 'l'])
-  p_v_ego.legend(['ego', 'l'])
-  p_a_ego.legend(['ego', 'l'])
-  p_d_l_v.set_xlabel('d_rel')
-  p_d_l_v.set_ylabel('v_rel')
-  p_d_l_v.set_ylim([-20, 20])
-  p_d_l_v.set_xlim([0, 100])
-  p_d_l_vv.set_xlabel('d_rel')
-  p_d_l_vv.set_ylabel('v_rel')
-  p_d_l_vv.set_ylim([-5, 5])
-  p_d_l_vv.set_xlim([10, 40])
-
-  while True:
-    lMpc = messaging.recv_sock(livempc, wait=True)
-    rs = messaging.recv_sock(radarstate, wait=True)
-
-    if lMpc is not None:
-
-      if lMpc.liveLongitudinalMpc.mpcId != 1:
-        continue
-
-      x_ego = list(lMpc.liveLongitudinalMpc.xEgo)
-      v_ego = list(lMpc.liveLongitudinalMpc.vEgo)
-      a_ego = list(lMpc.liveLongitudinalMpc.aEgo)
-      x_l = list(lMpc.liveLongitudinalMpc.xLead)
-      v_l = list(lMpc.liveLongitudinalMpc.vLead)
-      # a_l = list(lMpc.liveLongitudinalMpc.aLead)
-      a_l = rs.radarState.leadOne.aLeadK * np.exp(-lMpc.liveLongitudinalMpc.aLeadTau * t**2 / 2)
-      #print(min(a_ego), lMpc.liveLongitudinalMpc.qpIterations)
-
-      l_x_ego.set_ydata(x_ego)
-      l_v_ego.set_ydata(v_ego)
-      l_a_ego.set_ydata(a_ego)
-
-      l_x_l.set_ydata(x_l)
-      l_v_l.set_ydata(v_l)
-      l_a_l.set_ydata(a_l)
-
-      l_d_l.set_ydata(np.array(x_l) - np.array(x_ego))
-      l_d_l_v.set_ydata(np.array(v_l) - np.array(v_ego))
-      l_d_l_v.set_xdata(np.array(x_l) - np.array(x_ego))
-      l_d_l_vv.set_ydata(np.array(v_l) - np.array(v_ego))
-      l_d_l_vv.set_xdata(np.array(x_l) - np.array(x_ego))
-
-      p_x_ego.relim()
-      p_x_ego.autoscale_view(True, scaley=True, scalex=True)
-      fig.canvas.draw()
-      fig.canvas.flush_events()
-
-
-
-
-if __name__ == "__main__":
-  if len(sys.argv) > 1:
-    plot_longitudinal_mpc(sys.argv[1])
-  else:
-    plot_longitudinal_mpc()
diff --git a/selfdrive/debug/mpc/test_mpc_wobble.py b/selfdrive/debug/mpc/test_mpc_wobble.py
deleted file mode 100755
index 5f9f1b3355bf19..00000000000000
--- a/selfdrive/debug/mpc/test_mpc_wobble.py
+++ /dev/null
@@ -1,129 +0,0 @@
-#! /usr/bin/env python
-import matplotlib.pyplot as plt
-from selfdrive.controls.lib.lateral_mpc import libmpc_py
-from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
-import math
-
-libmpc = libmpc_py.libmpc
-libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, 1.)
-
-cur_state = libmpc_py.ffi.new("state_t *")
-cur_state[0].x = 0.0
-cur_state[0].y = 0.0
-cur_state[0].psi = 0.0
-cur_state[0].delta = 0.0
-
-mpc_solution = libmpc_py.ffi.new("log_t *")
-xx = []
-yy = []
-deltas = []
-psis = []
-times = []
-
-curvature_factor = 0.3
-v_ref = 1.0 * 20.12  # 45 mph
-
-LANE_WIDTH = 3.7
-p = [0.0, 0.0, 0.0, 0.0]
-p_l = p[:]
-p_l[3] += LANE_WIDTH / 2.0
-
-p_r = p[:]
-p_r[3] -= LANE_WIDTH / 2.0
-
-
-l_poly = libmpc_py.ffi.new("double[4]", p_l)
-r_poly = libmpc_py.ffi.new("double[4]", p_r)
-p_poly = libmpc_py.ffi.new("double[4]", p)
-
-l_prob = 1.0
-r_prob = 1.0
-p_prob = 1.0
-
-for i in range(1):
-  cur_state[0].delta = math.radians(510. / 13.)
-  libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, p_poly, l_prob, r_prob,
-                 curvature_factor, v_ref, LANE_WIDTH)
-
-timesi = []
-ct = 0
-for i in range(21):
-  timesi.append(ct)
-  if i <= 4:
-    ct += 0.05
-  else:
-    ct += 0.15
-
-
-xi = list(mpc_solution[0].x)
-yi = list(mpc_solution[0].y)
-psii = list(mpc_solution[0].psi)
-deltai = list(mpc_solution[0].delta)
-print("COST: ", mpc_solution[0].cost)
-
-
-plt.figure(0)
-plt.subplot(3, 1, 1)
-plt.plot(timesi, psii)
-plt.ylabel('psi')
-plt.grid(True)
-plt.subplot(3, 1, 2)
-plt.plot(timesi, deltai)
-plt.ylabel('delta')
-plt.grid(True)
-plt.subplot(3, 1, 3)
-plt.plot(timesi, yi)
-plt.ylabel('y')
-plt.grid(True)
-plt.show()
-
-
-####  UNCOMMENT TO CHECK ITERATIVE SOLUTION
-####
-####for i in range(100):
-####  libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, p_poly, l_prob, r_prob,
-####                 curvature_factor, v_ref, LANE_WIDTH)
-####  print "x", list(mpc_solution[0].x)
-####  print "y", list(mpc_solution[0].y)
-####  print "delta", list(mpc_solution[0].delta)
-####  print "psi", list(mpc_solution[0].psi)
-####  # cur_state[0].x = mpc_solution[0].x[1]
-####  # cur_state[0].y = mpc_solution[0].y[1]
-####  # cur_state[0].psi = mpc_solution[0].psi[1]
-####  cur_state[0].delta = radians(200 / 13.)#mpc_solution[0].delta[1]
-####
-####  xx.append(cur_state[0].x)
-####  yy.append(cur_state[0].y)
-####  psis.append(cur_state[0].psi)
-####  deltas.append(cur_state[0].delta)
-####  times.append(i * 0.05)
-####
-####
-####def f(x):
-####  return p_poly[0] * x**3 + p_poly[1] * x**2 + p_poly[2] * x + p_poly[3]
-####
-####
-##### planned = map(f, xx)
-##### plt.figure(1)
-##### plt.plot(yy, xx, 'r-')
-##### plt.plot(planned, xx, 'b--', linewidth=0.5)
-##### plt.axes().set_aspect('equal', 'datalim')
-##### plt.gca().invert_xaxis()
-####
-##### planned = map(f, map(float, list(mpc_solution[0].x)[1:]))
-##### plt.figure(1)
-##### plt.plot(map(float, list(mpc_solution[0].y)[1:]), map(float, list(mpc_solution[0].x)[1:]), 'r-')
-##### plt.plot(planned, map(float, list(mpc_solution[0].x)[1:]), 'b--', linewidth=0.5)
-##### plt.axes().set_aspect('equal', 'datalim')
-##### plt.gca().invert_xaxis()
-####
-####plt.figure(2)
-####plt.subplot(2, 1, 1)
-####plt.plot(times, psis)
-####plt.ylabel('psi')
-####plt.subplot(2, 1, 2)
-####plt.plot(times, deltas)
-####plt.ylabel('delta')
-####
-####
-####plt.show()
diff --git a/selfdrive/debug/mpc/tune_lateral.py b/selfdrive/debug/mpc/tune_lateral.py
deleted file mode 100755
index 4a8ec2ce0b97d4..00000000000000
--- a/selfdrive/debug/mpc/tune_lateral.py
+++ /dev/null
@@ -1,186 +0,0 @@
-#! /usr/bin/env python
-import numpy as np
-from collections import OrderedDict
-import matplotlib.pyplot as plt
-from selfdrive.car.honda.interface import CarInterface
-from selfdrive.controls.lib.lateral_mpc import libmpc_py
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-
-# plot lateral MPC trajectory by defining boundary conditions:
-# lane lines, p_poly and vehicle states. Use this script to tune MPC costs
-
-libmpc = libmpc_py.libmpc
-
-mpc_solution = libmpc_py.ffi.new("log_t *")
-
-points_l = np.array([1.1049711, 1.1053879, 1.1073375, 1.1096942, 1.1124474, 1.1154714, 1.1192677, 1.1245866, 1.1321017, 1.1396152, 1.146443, 1.1555313, 1.1662073, 1.1774249, 1.1888939, 1.2009926, 1.2149779, 1.2300836, 1.2450289, 1.2617753, 1.2785473, 1.2974714, 1.3151019, 1.3331807, 1.3545501, 1.3763691, 1.3983455, 1.4215056, 1.4446729, 1.4691089, 1.4927692, 1.5175346, 1.5429921, 1.568854, 1.5968665, 1.6268958, 1.657122, 1.6853137, 1.7152609, 1.7477539, 1.7793678, 1.8098511, 1.8428392, 1.8746407, 1.9089606, 1.9426043, 1.9775689, 2.0136933, 2.0520134, 2.0891454])
-
-points_r = np.array([-2.4442139, -2.4449506, -2.4448867, -2.44377, -2.4422617, -2.4393811, -2.4374201, -2.4334245, -2.4286852, -2.4238286, -2.4177458, -2.4094386, -2.3994849, -2.3904033, -2.380136, -2.3699453, -2.3594661, -2.3474073, -2.3342307, -2.3194637, -2.3046403, -2.2881098, -2.2706163, -2.2530098, -2.235604, -2.2160542, -2.1967411, -2.1758952, -2.1544619, -2.1325269, -2.1091819, -2.0850561, -2.0621953, -2.0364127, -2.0119917, -1.9851667, -1.9590458, -1.9306552, -1.9024918, -1.8745357, -1.8432863, -1.8131843, -1.7822732, -1.7507075, -1.7180918, -1.6845931, -1.650871, -1.6157099, -1.5787286, -1.5418037])
-
-
-points_c = (points_l + points_r) / 2.0
-
-def compute_path_pinv():
-  deg = 3
-  x = np.arange(50.0)
-  X = np.vstack(tuple(x**n for n in range(deg, -1, -1))).T
-  pinv = np.linalg.pinv(X)
-  return pinv
-
-
-def model_polyfit(points):
-  path_pinv = compute_path_pinv()
-  return np.dot(path_pinv, map(float, points))
-
-
-xx = []
-yy = []
-deltas = []
-psis = []
-times = []
-
-CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
-VM = VehicleModel(CP)
-
-v_ref = 32.00  # 45 mph
-curvature_factor = VM.curvature_factor(v_ref)
-print(curvature_factor)
-
-LANE_WIDTH = 3.9
-p_l = map(float, model_polyfit(points_l))
-p_r = map(float, model_polyfit(points_r))
-p_p = map(float, model_polyfit(points_c))
-
-l_poly = libmpc_py.ffi.new("double[4]", p_l)
-r_poly = libmpc_py.ffi.new("double[4]", p_r)
-p_poly = libmpc_py.ffi.new("double[4]", p_p)
-l_prob = 1.0
-r_prob = 1.0
-p_prob = 1.0  # This is always 1
-
-
-mpc_x_points = np.linspace(0., 2.5*v_ref, num=50)
-points_poly_l = np.polyval(p_l, mpc_x_points)
-points_poly_r = np.polyval(p_r, mpc_x_points)
-points_poly_p = np.polyval(p_p, mpc_x_points)
-print(points_poly_l)
-
-lanes_x = np.linspace(0, 49)
-
-cur_state = libmpc_py.ffi.new("state_t *")
-cur_state[0].x = 0.0
-cur_state[0].y = 0.5
-cur_state[0].psi = 0.0
-cur_state[0].delta = 0.0
-
-xs = []
-ys = []
-deltas = []
-titles = [
-  'Steer rate cost',
-  'Heading cost',
-  'Lane cost',
-  'Path cost',
-]
-
-# Steer rate cost
-sol_x = OrderedDict()
-sol_y = OrderedDict()
-delta = OrderedDict()
-for cost in np.logspace(-1, 1.0, 5):
-  libmpc.init(1.0, 3.0, 1.0, cost)
-  for _ in range(10):
-    libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, p_poly, l_prob, r_prob,
-                  curvature_factor, v_ref, LANE_WIDTH)
-  sol_x[cost] = map(float, list(mpc_solution[0].x))
-  sol_y[cost] = map(float, list(mpc_solution[0].y))
-  delta[cost] = map(float, list(mpc_solution[0].delta))
-xs.append(sol_x)
-ys.append(sol_y)
-deltas.append(delta)
-
-# Heading cost
-sol_x = OrderedDict()
-sol_y = OrderedDict()
-delta = OrderedDict()
-for cost in np.logspace(-1, 1.0, 5):
-  libmpc.init(1.0, 3.0, cost, 1.0)
-  for _ in range(10):
-    libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, p_poly, l_prob, r_prob,
-                  curvature_factor, v_ref, LANE_WIDTH)
-  sol_x[cost] = map(float, list(mpc_solution[0].x))
-  sol_y[cost] = map(float, list(mpc_solution[0].y))
-  delta[cost] = map(float, list(mpc_solution[0].delta))
-xs.append(sol_x)
-ys.append(sol_y)
-deltas.append(delta)
-
-# Lane cost
-sol_x = OrderedDict()
-sol_y = OrderedDict()
-delta = OrderedDict()
-for cost in np.logspace(-1, 2.0, 5):
-  libmpc.init(1.0, cost, 1.0, 1.0)
-  for _ in range(10):
-    libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, p_poly, l_prob, r_prob,
-                  curvature_factor, v_ref, LANE_WIDTH)
-  sol_x[cost] = map(float, list(mpc_solution[0].x))
-  sol_y[cost] = map(float, list(mpc_solution[0].y))
-  delta[cost] = map(float, list(mpc_solution[0].delta))
-xs.append(sol_x)
-ys.append(sol_y)
-deltas.append(delta)
-
-
-# Path cost
-sol_x = OrderedDict()
-sol_y = OrderedDict()
-delta = OrderedDict()
-for cost in np.logspace(-1, 1.0, 5):
-  libmpc.init(cost, 3.0, 1.0, 1.0)
-  for _ in range(10):
-    libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, p_poly, l_prob, r_prob,
-                  curvature_factor, v_ref, LANE_WIDTH)
-  sol_x[cost] = map(float, list(mpc_solution[0].x))
-  sol_y[cost] = map(float, list(mpc_solution[0].y))
-  delta[cost] = map(float, list(mpc_solution[0].delta))
-xs.append(sol_x)
-ys.append(sol_y)
-deltas.append(delta)
-
-
-
-plt.figure()
-
-for i in range(len(xs)):
-  ax = plt.subplot(2, 2, i + 1)
-  sol_x = xs[i]
-  sol_y = ys[i]
-  for cost in sol_x.keys():
-    plt.plot(sol_x[cost], sol_y[cost])
-
-  plt.plot(lanes_x, points_r, '.b')
-  plt.plot(lanes_x, points_l, '.b')
-  plt.plot(lanes_x, (points_l + points_r) / 2.0, '--g')
-  plt.plot(mpc_x_points, points_poly_l, 'b')
-  plt.plot(mpc_x_points, points_poly_r, 'b')
-  plt.plot(mpc_x_points, (points_poly_l + points_poly_r) / 2.0, 'g')
-  plt.legend(map(lambda x: str(round(x, 2)), sol_x.keys()) + ['right', 'left', 'center'], loc=3)
-  plt.title(titles[i])
-  plt.grid(True)
-  # ax.set_aspect('equal', 'datalim')
-
-
-plt.figure()
-for i in range(len(xs)):
-  plt.subplot(2, 2, i + 1)
-  sol_x = xs[i]
-  delta = deltas[i]
-
-  for cost in sol_x.keys():
-    plt.plot(delta[cost])
-  plt.title(titles[i])
-  plt.legend(map(lambda x: str(round(x, 2)), sol_x.keys()), loc=3)
-  plt.grid(True)
-
-plt.show()
diff --git a/selfdrive/debug/mpc/tune_longitudinal.py b/selfdrive/debug/mpc/tune_longitudinal.py
deleted file mode 100755
index 0af444631d34e3..00000000000000
--- a/selfdrive/debug/mpc/tune_longitudinal.py
+++ /dev/null
@@ -1,168 +0,0 @@
-#! /usr/bin/env python
-import numpy as np
-import matplotlib.pyplot as plt
-from selfdrive.controls.lib.longitudinal_mpc import libmpc_py
-from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG
-import math
-
-# plot liongitudinal MPC trajectory by defining boundary conditions:
-# ego and lead vehicles state. Use this script to tune MPC costs
-
-def RW(v_ego, v_l):
-    TR = 1.8
-    G = 9.81
-    return (v_ego * TR - (v_l - v_ego) * TR + v_ego*v_ego/(2*G) - v_l*v_l / (2*G))
-
-
-def NORM_RW_ERROR(v_ego, v_l, p):
-    return (RW(v_ego, v_l) + 4.0 - p)
-    return (RW(v_ego, v_l) + 4.0 - p) / (np.sqrt(v_ego + 0.5) + 0.1)
-
-
-v_ego = 20.0
-a_ego = 0
-
-x_lead = 10.0
-v_lead = 20.0
-a_lead = -3.0
-a_lead_tau = 0.
-
-# v_ego = 7.02661012716
-# a_ego = -1.26143024772
-
-# x_lead = 29.625 + 20
-# v_lead = 0.725235462189 + 1
-# a_lead = -1.00025629997
-
-# a_lead_tau = 2.90729817665
-
-min_a_lead_tau = (a_lead**2 * math.pi) / (2 * (v_lead + 0.01)**2)
-min_a_lead_tau = 0.0
-
-print(a_lead_tau, min_a_lead_tau)
-a_lead_tau = max(a_lead_tau, min_a_lead_tau)
-
-ffi, libmpc = libmpc_py.get_libmpc(1)
-libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-libmpc.init_with_simulation(v_ego, x_lead, v_lead, a_lead, a_lead_tau)
-
-cur_state = ffi.new("state_t *")
-cur_state[0].x_ego = 0.0
-cur_state[0].v_ego = v_ego
-cur_state[0].a_ego = a_ego
-cur_state[0].x_l = x_lead
-cur_state[0].v_l = v_lead
-
-mpc_solution = ffi.new("log_t *")
-
-for _ in range(10):
-    print(libmpc.run_mpc(cur_state, mpc_solution, a_lead_tau, a_lead))
-
-
-for i in range(21):
-  print("t: %.2f\t x_e: %.2f\t v_e: %.2f\t a_e: %.2f\t" % (mpc_solution[0].t[i], mpc_solution[0].x_ego[i], mpc_solution[0].v_ego[i], mpc_solution[0].a_ego[i]))
-  print("x_l: %.2f\t v_l: %.2f\t \t" % (mpc_solution[0].x_l[i], mpc_solution[0].v_l[i]))
-
-t = np.hstack([np.arange(0., 1.0, 0.2), np.arange(1.0, 10.1, 0.6)])
-
-print(map(float, mpc_solution[0].x_ego)[-1])
-print(map(float, mpc_solution[0].x_l)[-1] - map(float, mpc_solution[0].x_ego)[-1])
-
-plt.figure(figsize=(8, 8))
-
-plt.subplot(4, 1, 1)
-x_l = np.array(map(float, mpc_solution[0].x_l))
-plt.plot(t, map(float, mpc_solution[0].x_ego))
-plt.plot(t, x_l)
-plt.legend(['ego', 'lead'])
-plt.title('x')
-plt.grid()
-
-plt.subplot(4, 1, 2)
-v_ego = np.array(map(float, mpc_solution[0].v_ego))
-v_l = np.array(map(float, mpc_solution[0].v_l))
-plt.plot(t, v_ego)
-plt.plot(t, v_l)
-plt.legend(['ego', 'lead'])
-plt.ylim([-1, max(max(v_ego), max(v_l))])
-plt.title('v')
-plt.grid()
-
-plt.subplot(4, 1, 3)
-plt.plot(t, map(float, mpc_solution[0].a_ego))
-plt.plot(t, map(float, mpc_solution[0].a_l))
-plt.legend(['ego', 'lead'])
-plt.title('a')
-plt.grid()
-
-
-plt.subplot(4, 1, 4)
-d_l = np.array(map(float, mpc_solution[0].x_l)) - np.array(map(float, mpc_solution[0].x_ego))
-desired = 4.0 + RW(v_ego, v_l)
-
-plt.plot(t, d_l)
-plt.plot(t, desired, '--')
-plt.ylim(-1, max(max(desired), max(d_l)))
-plt.legend(['relative distance', 'desired distance'])
-plt.grid()
-
-plt.show()
-
-# c1 = np.exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l))
-# c2 = np.exp(4.5 - d_l)
-# print(c1)
-# print(c2)
-
-# plt.figure()
-# plt.plot(t, c1, label="NORM_RW_ERROR")
-# plt.plot(t, c2, label="penalty function")
-# plt.legend()
-
-# ## OLD MPC
-# a_lead_tau = 1.5
-# a_lead_tau = max(a_lead_tau, -a_lead / (v_lead + 0.01))
-
-# ffi, libmpc = libmpc_py.get_libmpc(1)
-# libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-# libmpc.init_with_simulation(v_ego, x_lead, v_lead, a_lead, a_lead_tau)
-
-# cur_state = ffi.new("state_t *")
-# cur_state[0].x_ego = 0.0
-# cur_state[0].v_ego = v_ego
-# cur_state[0].a_ego = a_ego
-# cur_state[0].x_lead = x_lead
-# cur_state[0].v_lead = v_lead
-# cur_state[0].a_lead = a_lead
-
-# mpc_solution = ffi.new("log_t *")
-
-# for _ in range(10):
-#     print libmpc.run_mpc(cur_state, mpc_solution, a_lead_tau)
-
-# t = np.hstack([np.arange(0., 1.0, 0.2), np.arange(1.0, 10.1, 0.6)])
-
-# print(map(float, mpc_solution[0].x_ego)[-1])
-# print(map(float, mpc_solution[0].x_lead)[-1] - map(float, mpc_solution[0].x_ego)[-1])
-# plt.subplot(4, 2, 2)
-# plt.plot(t, map(float, mpc_solution[0].x_ego))
-# plt.plot(t, map(float, mpc_solution[0].x_lead))
-# plt.legend(['ego', 'lead'])
-# plt.title('x')
-
-# plt.subplot(4, 2, 4)
-# plt.plot(t, map(float, mpc_solution[0].v_ego))
-# plt.plot(t, map(float, mpc_solution[0].v_lead))
-# plt.legend(['ego', 'lead'])
-# plt.title('v')
-
-# plt.subplot(4, 2, 6)
-# plt.plot(t, map(float, mpc_solution[0].a_ego))
-# plt.plot(t, map(float, mpc_solution[0].a_lead))
-# plt.legend(['ego', 'lead'])
-# plt.title('a')
-
-
-# plt.subplot(4, 2, 8)
-# plt.plot(t, np.array(map(float, mpc_solution[0].x_lead)) - np.array(map(float, mpc_solution[0].x_ego)))
-
-# plt.show()
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
new file mode 100755
index 00000000000000..bcb741f54ea533
--- /dev/null
+++ b/selfdrive/debug/run_process_on_route.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+import argparse
+
+from selfdrive.test.process_replay.compare_logs import save_log
+from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
+from tools.lib.logreader import MultiLogIterator
+from tools.lib.route import Route
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Run process on route and create new logs",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("process", help="The process to run")
+  args = parser.parse_args()
+
+  cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
+
+  route = Route(args.route)
+  lr = MultiLogIterator(route.log_paths(), wraparound=False)
+  inputs = list(lr)
+
+  outputs = replay_process(cfg, inputs)
+
+  # Remove message generated by the process under test and merge in the new messages
+  produces = set(o.which() for o in outputs)
+  inputs = [i for i in inputs if i.which() not in produces]
+  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
+
+  fn = f"{args.route}_{args.process}.bz2"
+  save_log(fn, outputs)
diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py
new file mode 100755
index 00000000000000..bcdaed07783a61
--- /dev/null
+++ b/selfdrive/debug/set_car_params.py
@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+import sys
+
+from common.params import Params
+from tools.lib.route import Route
+from tools.lib.logreader import LogReader
+
+if __name__ == "__main__":
+  r = Route(sys.argv[1])
+  cp = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams']
+  Params().put("CarParams", cp[0].carParams.as_builder().to_bytes())
diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py
index df2b703635c869..79a23c1f8222a1 100755
--- a/selfdrive/debug/show_matching_cars.py
+++ b/selfdrive/debug/show_matching_cars.py
@@ -1,23 +1,16 @@
 #!/usr/bin/env python3
-from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
+from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 import cereal.messaging as messaging
 
 
-# Prius and Leuxs es 300H
-fingerprint = {898: 8, 905: 8, 810: 2, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 921: 8, 800: 8, 944: 8, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 295: 8, 296: 8, 170: 8, 1071: 8, 560: 7, 945: 8, 562: 6, 180: 8, 1077: 8, 950: 8, 951: 8, 953: 8, 1595: 8, 1084: 8, 829: 2, 1086: 8, 1568: 8, 452: 8, 581: 5, 1057: 8, 713: 8, 971: 7, 975: 5, 1571: 8, 466: 8, 467: 8, 1572: 8, 1114: 8, 933: 8, 863: 8, 608: 8, 993: 8, 610: 8, 955: 8, 166: 8, 1056: 8, 956: 8, 1132: 8, 1085: 8, 552: 4, 1779: 8, 1017: 8, 1020: 8, 426: 6, 1279: 8}
-
-# rav4 2019 and corolla tss2
-fingerprint = {896: 8, 898: 8, 976: 1, 1541: 8, 905: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 824: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 705: 8, 452: 8, 1592: 8, 464: 8, 1571: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 1745: 8, 764: 8, 1002: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1279: 8, 1020: 8, 810: 2, 426: 6}
-
 # rav4 2019 and corolla tss2
 fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8}
 
-candidate_cars = all_known_cars()
+candidate_cars = all_legacy_fingerprint_cars()
 
 
 for addr, l in fingerprint.items():
-    dat = messaging.new_message()
-    dat.init('can', 1)
+    dat = messaging.new_message('can', 1)
 
     msg = dat.can[0]
     msg.address = addr
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 5bf8c4a76cdf24..44b3ba16afa6c7 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -1,77 +1,128 @@
 #!/usr/bin/env python3
+# type: ignore
+
+from collections import defaultdict
+import argparse
 import os
 import traceback
-import sys
 from tqdm import tqdm
 from tools.lib.logreader import LogReader
-from selfdrive.car.fw_versions import match_fw_to_car
+from tools.lib.route import Route
+from selfdrive.car.car_helpers import interface_names
+from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
 from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
 from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
+from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
+from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
+from selfdrive.car.mazda.values import FW_VERSIONS as MAZDA_FW_VERSIONS
+
 
-from selfdrive.car.toyota.values import FINGERPRINTS as TOYOTA_FINGERPRINTS
-from selfdrive.car.honda.values import FINGERPRINTS as HONDA_FINGERPRINTS
+NO_API = "NO_API" in os.environ
+SUPPORTED_CARS = set(interface_names['toyota'])
+SUPPORTED_CARS |= set(interface_names['honda'])
+SUPPORTED_CARS |= set(interface_names['hyundai'])
+SUPPORTED_CARS |= set(interface_names['volkswagen'])
+SUPPORTED_CARS |= set(interface_names['mazda'])
 
+try:
+  from xx.pipeline.c.CarState import migration
+except ImportError:
+  migration = {}
 
 if __name__ == "__main__":
-  if len(sys.argv) < 2:
-    print("Usage: ./test_fw_query_on_routes.py <route_list>/<route>")
-    sys.exit(1)
+  parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes')
+  parser.add_argument('route', help='Route or file with list of routes')
+  parser.add_argument('--car', help='Force comparison fingerprint to known car')
+  args = parser.parse_args()
 
-  if os.path.exists(sys.argv[1]):
-    routes = list(open(sys.argv[1]))
+  if os.path.exists(args.route):
+    routes = list(open(args.route))
   else:
-    routes = [sys.argv[1]]
+    routes = [args.route]
+
+  mismatches = defaultdict(list)
 
-  wrong = 0
-  good = 0
+  not_fingerprinted = 0
+  solved_by_fuzzy = 0
+
+  good_exact = 0
+  wrong_fuzzy = 0
+  good_fuzzy = 0
 
   dongles = []
   for route in tqdm(routes):
     route = route.rstrip()
     dongle_id, time = route.split('|')
-    qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
 
     if dongle_id in dongles:
       continue
 
+    if NO_API:
+      qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
+    else:
+      route = Route(route)
+      qlog_path = route.qlog_paths()[0]
+
+    if qlog_path is None:
+      continue
+
     try:
       lr = LogReader(qlog_path)
+      dongles.append(dongle_id)
 
       for msg in lr:
-        if msg.which() == "health":
-          if msg.health.hwType not in ['uno', 'blackPanda']:
-            dongles.append(dongle_id)
+        if msg.which() == "pandaStates":
+          if msg.pandaStates[0].pandaType not in ['uno', 'blackPanda', 'dos']:
             break
 
         elif msg.which() == "carParams":
+          bts = msg.carParams.as_builder().to_bytes()
+
           car_fw = msg.carParams.carFw
           if len(car_fw) == 0:
             break
 
-          dongles.append(dongle_id)
           live_fingerprint = msg.carParams.carFingerprint
+          live_fingerprint = migration.get(live_fingerprint, live_fingerprint)
+
+          if args.car is not None:
+            live_fingerprint = args.car
 
-          if live_fingerprint not in list(TOYOTA_FINGERPRINTS.keys()) + list(HONDA_FINGERPRINTS.keys()):
-            continue
+          if live_fingerprint not in SUPPORTED_CARS:
+            break
 
-          candidates = match_fw_to_car(car_fw)
-          if (len(candidates) == 1) and (list(candidates)[0] == live_fingerprint):
-            good += 1
-            print("Correct", live_fingerprint, dongle_id)
+          fw_versions_dict = build_fw_dict(car_fw)
+          exact_matches = match_fw_to_car_exact(fw_versions_dict)
+          fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
+
+          if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
+            good_exact += 1
+            print(f"Correct! Live: {live_fingerprint} - Fuzzy: {fuzzy_matches}")
+
+            # Check if fuzzy match was correct
+            if len(fuzzy_matches) == 1:
+              if list(fuzzy_matches)[0] != live_fingerprint:
+                wrong_fuzzy += 1
+                print(f"{dongle_id}|{time}")
+                print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
+              else:
+                good_fuzzy += 1
             break
 
           print(f"{dongle_id}|{time}")
           print("Old style:", live_fingerprint, "Vin", msg.carParams.carVin)
-          print("New style:", candidates)
+          print("New style (exact):", exact_matches)
+          print("New style (fuzzy):", fuzzy_matches)
 
           for version in car_fw:
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
             print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
-          for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS]:
+          found = False
+          for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS, HYUNDAI_FW_VERSIONS, VW_FW_VERSIONS, MAZDA_FW_VERSIONS]:
             if live_fingerprint in car_fws:
-
+              found = True
               expected = car_fws[live_fingerprint]
               for (_, expected_addr, expected_sub_addr), v in expected.items():
                 for version in car_fw:
@@ -82,11 +133,59 @@
                     if version.fwVersion not in v:
                       print(f"({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}) - {version.fwVersion}")
 
+                      # Add to global list of mismatches
+                      mismatch = (addr, sub_addr, version.fwVersion)
+                      if mismatch not in mismatches[live_fingerprint]:
+                        mismatches[live_fingerprint].append(mismatch)
+
+          # No FW versions for this car yet, add them all to mismatch list
+          if not found:
+            for version in car_fw:
+              sub_addr = None if version.subAddress == 0 else version.subAddress
+              addr = version.address
+              mismatch = (addr, sub_addr, version.fwVersion)
+              if mismatch not in mismatches[live_fingerprint]:
+                mismatches[live_fingerprint].append(mismatch)
+
           print()
-          wrong += 1
+          not_fingerprinted += 1
+
+          if len(fuzzy_matches) == 1:
+            if list(fuzzy_matches)[0] == live_fingerprint:
+              solved_by_fuzzy += 1
+            else:
+              wrong_fuzzy += 1
+              print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
+
           break
     except Exception:
       traceback.print_exc()
-
-  print(f"Fingerprinted: {good} - Not fingerprinted: {wrong}")
+    except KeyboardInterrupt:
+      break
+
+  print()
+  # Print FW versions that need to be added seperated out by car and address
+  for car, m in sorted(mismatches.items()):
+    print(car)
+    addrs = defaultdict(list)
+    for (addr, sub_addr, version) in m:
+      addrs[(addr, sub_addr)].append(version)
+
+    for (addr, sub_addr), versions in addrs.items():
+      print(f"  ({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}): [")
+      for v in versions:
+        print(f"    {v},")
+      print("  ]")
+    print()
+
+  print()
   print(f"Number of dongle ids checked: {len(dongles)}")
+  print(f"Fingerprinted:                {good_exact}")
+  print(f"Not fingerprinted:            {not_fingerprinted}")
+  print(f"  of which had a fuzzy match: {solved_by_fuzzy}")
+
+  print()
+  print(f"Correct fuzzy matches:        {good_fuzzy}")
+  print(f"Wrong fuzzy matches:          {wrong_fuzzy}")
+  print()
+
diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py
new file mode 100755
index 00000000000000..e63122b6a20613
--- /dev/null
+++ b/selfdrive/debug/toyota_eps_factor.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+import sys
+import numpy as np
+import matplotlib.pyplot as plt
+from sklearn import linear_model  # pylint: disable=import-error
+from selfdrive.car.toyota.values import STEER_THRESHOLD
+
+from tools.lib.route import Route
+from tools.lib.logreader import MultiLogIterator
+
+MIN_SAMPLES = 30 * 100
+
+
+def to_signed(n, bits):
+  if n >= (1 << max((bits - 1), 0)):
+    n = n - (1 << max(bits, 0))
+  return n
+
+
+def get_eps_factor(lr, plot=False):
+  engaged = False
+  steering_pressed = False
+  torque_cmd, eps_torque = None, None
+  cmds, eps = [], []
+
+  for msg in lr:
+    if msg.which() != 'can':
+      continue
+
+    for m in msg.can:
+      if m.address == 0x2e4 and m.src == 128:
+        engaged = bool(m.dat[0] & 1)
+        torque_cmd = to_signed((m.dat[1] << 8) | m.dat[2], 16)
+      elif m.address == 0x260 and m.src == 0:
+        eps_torque = to_signed((m.dat[5] << 8) | m.dat[6], 16)
+        steering_pressed = abs(to_signed((m.dat[1] << 8) | m.dat[2], 16)) > STEER_THRESHOLD
+
+    if engaged and torque_cmd is not None and eps_torque is not None and not steering_pressed:
+      cmds.append(torque_cmd)
+      eps.append(eps_torque)
+    else:
+      if len(cmds) > MIN_SAMPLES:
+        break
+      cmds, eps = [], []
+
+  if len(cmds) < MIN_SAMPLES:
+    raise Exception("too few samples found in route")
+
+  lm = linear_model.LinearRegression(fit_intercept=False)
+  lm.fit(np.array(cmds).reshape(-1, 1), eps)
+  scale_factor = 1. / lm.coef_[0]
+
+  if plot:
+    plt.plot(np.array(eps) * scale_factor)
+    plt.plot(cmds)
+    plt.show()
+  return scale_factor
+
+
+if __name__ == "__main__":
+  r = Route(sys.argv[1])
+  lr = MultiLogIterator(r.log_paths(), wraparound=False)
+  n = get_eps_factor(lr, plot="--plot" in sys.argv)
+  print("EPS torque factor: ", n)
diff --git a/selfdrive/debug/tuner.py b/selfdrive/debug/tuner.py
deleted file mode 100755
index b8a023ba29967f..00000000000000
--- a/selfdrive/debug/tuner.py
+++ /dev/null
@@ -1,67 +0,0 @@
-#!/usr/bin/env python3
-"""
-This tool can be used to quickly changes the values in a JSON file used for tuning
-Keys like in vim:
- - h: decrease by 0.05
- - l: increase by 0.05
- - k: move pointer up
- - j: move pointer down
-"""
-
-import tty
-import sys
-import json
-import termios
-from collections import OrderedDict
-
-FILENAME = '/data/tuning.json'
-
-def read_tuning():
-  while True:
-    try:
-      return json.loads(open(FILENAME).read())
-    except:
-      pass
-
-def main():
-  dat = json.loads(open(FILENAME, 'r').read())
-  dat = OrderedDict(sorted(dat.items(), key=lambda i: i[0]))
-
-  cur = 0
-  while True:
-    sys.stdout.write("\x1Bc")
-
-    for i, (k, v) in enumerate(dat.items()):
-      prefix = "> " if cur == i else "  "
-      print((prefix + k).ljust(20) + "%.2f" % v)
-
-    key = sys.stdin.read(1)[0]
-
-    write = False
-    if key == "k":
-      cur = max(0, cur - 1)
-    elif key == "j":
-      cur = min(len(dat.keys()) - 1, cur + 1)
-    elif key == "l":
-      dat[dat.keys()[cur]] += 0.05
-      write = True
-    elif key == "h":
-      dat[dat.keys()[cur]] -= 0.05
-      write = True
-    elif key == "q":
-      break
-
-    if write:
-      open(FILENAME, 'w').write(json.dumps(dat))
-
-
-if __name__ == "__main__":
-  orig_settings = termios.tcgetattr(sys.stdin)
-  tty.setcbreak(sys.stdin)
-
-  try:
-    main()
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-  except:
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-    raise
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
new file mode 100755
index 00000000000000..29465ecc8d352c
--- /dev/null
+++ b/selfdrive/debug/uiview.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+import time
+from cereal import messaging, log
+from selfdrive.manager.process_config import managed_processes
+
+if __name__ == "__main__":
+  procs = ['camerad', 'ui', 'modeld', 'calibrationd']
+
+  for p in procs:
+    managed_processes[p].start()
+
+  pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams'])
+
+  msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']}
+  msgs['deviceState'].deviceState.started = True
+  msgs['carParams'].carParams.openpilotLongitudinalControl = True
+
+  msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
+  msgs['pandaStates'].pandaStates[0].ignitionLine = True
+  msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno
+
+  try:
+    while True:
+      time.sleep(1 / 100)  # continually send, rate doesn't matter
+      for s in msgs:
+        pm.send(s, msgs[s])
+  except KeyboardInterrupt:
+    for p in procs:
+      managed_processes[p].stop()
diff --git a/selfdrive/hardware/__init__.py b/selfdrive/hardware/__init__.py
new file mode 100644
index 00000000000000..3babf1bb5d3abb
--- /dev/null
+++ b/selfdrive/hardware/__init__.py
@@ -0,0 +1,19 @@
+import os
+from typing import cast
+
+from selfdrive.hardware.base import HardwareBase
+from selfdrive.hardware.eon.hardware import Android
+from selfdrive.hardware.tici.hardware import Tici
+from selfdrive.hardware.pc.hardware import Pc
+
+EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
+PC = not (EON or TICI)
+
+
+if EON:
+  HARDWARE = cast(HardwareBase, Android())
+elif TICI:
+  HARDWARE = cast(HardwareBase, Tici())
+else:
+  HARDWARE = cast(HardwareBase, Pc())
diff --git a/selfdrive/hardware/base.h b/selfdrive/hardware/base.h
new file mode 100644
index 00000000000000..05e55cc0340c66
--- /dev/null
+++ b/selfdrive/hardware/base.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <cstdlib>
+#include <fstream>
+
+// no-op base hw class
+class HardwareNone {
+public:
+  static constexpr float MAX_VOLUME = 0.7;
+  static constexpr float MIN_VOLUME = 0.2;
+
+  static std::string get_os_version() { return ""; }
+
+  static void reboot() {}
+  static void poweroff() {}
+  static void set_brightness(int percent) {}
+  static void set_display_power(bool on) {}
+
+  static bool get_ssh_enabled() { return false; }
+  static void set_ssh_enabled(bool enabled) {}
+
+  static bool PC() { return false; }
+  static bool EON() { return false; }
+  static bool TICI() { return false; }
+};
diff --git a/selfdrive/hardware/base.py b/selfdrive/hardware/base.py
new file mode 100644
index 00000000000000..a1b67cb38b8f7f
--- /dev/null
+++ b/selfdrive/hardware/base.py
@@ -0,0 +1,143 @@
+from abc import abstractmethod
+from collections import namedtuple
+
+ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient'])
+
+class HardwareBase:
+  @staticmethod
+  def get_cmdline():
+    with open('/proc/cmdline') as f:
+      cmdline = f.read()
+    return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
+
+  @staticmethod
+  def read_param_file(path, parser, default=0):
+    try:
+      with open(path) as f:
+        return parser(f.read())
+    except Exception:
+      return default
+
+  @abstractmethod
+  def reboot(self, reason=None):
+    pass
+
+  @abstractmethod
+  def uninstall(self):
+    pass
+
+  @abstractmethod
+  def get_os_version(self):
+    pass
+
+  @abstractmethod
+  def get_device_type(self):
+    pass
+
+  @abstractmethod
+  def get_sound_card_online(self):
+    pass
+
+  @abstractmethod
+  def get_imei(self, slot):
+    pass
+
+  @abstractmethod
+  def get_serial(self):
+    pass
+
+  @abstractmethod
+  def get_subscriber_info(self):
+    pass
+
+  @abstractmethod
+  def get_network_info(self):
+    pass
+
+  @abstractmethod
+  def get_network_type(self):
+    pass
+
+  @abstractmethod
+  def get_sim_info(self):
+    pass
+
+  @abstractmethod
+  def get_network_strength(self, network_type):
+    pass
+
+  @abstractmethod
+  def get_battery_capacity(self):
+    pass
+
+  @abstractmethod
+  def get_battery_status(self):
+    pass
+
+  @abstractmethod
+  def get_battery_current(self):
+    pass
+
+  @abstractmethod
+  def get_battery_voltage(self):
+    pass
+
+  @abstractmethod
+  def get_battery_charging(self):
+    pass
+
+  @abstractmethod
+  def set_battery_charging(self, on):
+    pass
+
+  @abstractmethod
+  def get_usb_present(self):
+    pass
+
+  @abstractmethod
+  def get_current_power_draw(self):
+    pass
+
+  @abstractmethod
+  def shutdown(self):
+    pass
+
+  @abstractmethod
+  def get_thermal_config(self):
+    pass
+
+  @abstractmethod
+  def set_screen_brightness(self, percentage):
+    pass
+
+  @abstractmethod
+  def get_screen_brightness(self):
+    pass
+
+  @abstractmethod
+  def set_power_save(self, powersave_enabled):
+    pass
+
+  @abstractmethod
+  def get_gpu_usage_percent(self):
+    pass
+
+  @abstractmethod
+  def get_modem_version(self):
+    pass
+
+  @abstractmethod
+  def get_modem_temperatures(self):
+    pass
+
+  @abstractmethod
+  def get_nvme_temperatures(self):
+    pass
+
+  @abstractmethod
+  def initialize_hardware(self):
+    pass
+
+  @abstractmethod
+  def get_networks(self):
+    pass
diff --git a/selfdrive/boardd/tests/__init__.py b/selfdrive/hardware/eon/__init__.py
similarity index 100%
rename from selfdrive/boardd/tests/__init__.py
rename to selfdrive/hardware/eon/__init__.py
diff --git a/selfdrive/hardware/eon/androidd.py b/selfdrive/hardware/eon/androidd.py
new file mode 100755
index 00000000000000..6de00d8e712da4
--- /dev/null
+++ b/selfdrive/hardware/eon/androidd.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import os
+import time
+import psutil
+from typing import Optional
+
+from common.realtime import set_core_affinity, set_realtime_priority
+from selfdrive.swaglog import cloudlog
+
+
+MAX_MODEM_CRASHES = 3
+MODEM_PATH = "/sys/devices/soc/2080000.qcom,mss/subsys5"
+WATCHED_PROCS = ["zygote", "zygote64", "/system/bin/servicemanager", "/system/bin/surfaceflinger"]
+
+
+def get_modem_crash_count() -> Optional[int]:
+  try:
+    with open(os.path.join(MODEM_PATH, "crash_count")) as f:
+      return int(f.read())
+  except Exception:
+    cloudlog.exception("Error reading modem crash count")
+  return None
+
+def get_modem_state() -> str:
+  try:
+    with open(os.path.join(MODEM_PATH, "state")) as f:
+      return f.read().strip()
+  except Exception:
+    cloudlog.exception("Error reading modem state")
+  return ""
+
+def main():
+  set_core_affinity(1)
+  set_realtime_priority(1)
+
+  procs = {}
+  crash_count = 0
+  modem_killed = False
+  modem_state = "ONLINE"
+  while True:
+    # check critical android services
+    if any(p is None or not p.is_running() for p in procs.values()) or not len(procs):
+      cur = {p: None for p in WATCHED_PROCS}
+      for p in psutil.process_iter(attrs=['cmdline']):
+        cmdline = None if not len(p.info['cmdline']) else p.info['cmdline'][0]
+        if cmdline in WATCHED_PROCS:
+          cur[cmdline] = p
+
+      if len(procs):
+        for p in WATCHED_PROCS:
+          if cur[p] != procs[p]:
+            cloudlog.event("android service pid changed", proc=p, cur=cur[p], prev=procs[p])
+      procs.update(cur)
+
+    # check modem state
+    state = get_modem_state()
+    if state != modem_state and not modem_killed:
+      cloudlog.event("modem state changed", state=state)
+    modem_state = state
+
+    # check modem crashes
+    cnt = get_modem_crash_count()
+    if cnt is not None:
+      if cnt > crash_count:
+        cloudlog.event("modem crash", count=cnt)
+      crash_count = cnt
+
+    # handle excessive modem crashes
+    if crash_count > MAX_MODEM_CRASHES and not modem_killed:
+      cloudlog.event("killing modem")
+      with open("/sys/kernel/debug/msm_subsys/modem", "w") as f:
+        f.write("put")
+      modem_killed = True
+
+    time.sleep(1)
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/hardware/eon/hardware.h b/selfdrive/hardware/eon/hardware.h
new file mode 100644
index 00000000000000..bcd1aaba740302
--- /dev/null
+++ b/selfdrive/hardware/eon/hardware.h
@@ -0,0 +1,73 @@
+#pragma once
+
+#include <cstdlib>
+#include <fstream>
+
+#include <gui/ISurfaceComposer.h>
+#include <gui/SurfaceComposerClient.h>
+#include <hardware/hwcomposer_defs.h>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/base.h"
+
+class HardwareEon : public HardwareNone {
+public:
+  static constexpr float MAX_VOLUME = 1.0;
+  static constexpr float MIN_VOLUME = 0.5;
+
+  static bool EON() { return true; }
+  static std::string get_os_version() {
+    return "NEOS " + util::read_file("/VERSION");
+  };
+
+  static void reboot() { std::system("reboot"); };
+  static void poweroff() { std::system("LD_LIBRARY_PATH= svc power shutdown"); };
+  static void set_brightness(int percent) {
+    std::ofstream brightness_control("/sys/class/leds/lcd-backlight/brightness");
+    if (brightness_control.is_open()) {
+      brightness_control << (int)(percent * (255/100.)) << "\n";
+      brightness_control.close();
+    }
+  };
+  static void set_display_power(bool on) {
+    auto dtoken = android::SurfaceComposerClient::getBuiltInDisplay(android::ISurfaceComposer::eDisplayIdMain);
+    android::SurfaceComposerClient::setDisplayPowerMode(dtoken, on ? HWC_POWER_MODE_NORMAL : HWC_POWER_MODE_OFF);
+  };
+
+  static bool get_ssh_enabled() {
+    return std::system("getprop persist.neos.ssh | grep -qF '1'") == 0;
+  };
+  static void set_ssh_enabled(bool enabled) {
+    std::string cmd = util::string_format("setprop persist.neos.ssh %d", enabled ? 1 : 0);
+    std::system(cmd.c_str());
+  };
+
+  // android only
+  inline static bool launched_activity = false;
+  static void check_activity() {
+    int ret = std::system("dumpsys SurfaceFlinger --list | grep -Fq 'com.android.settings'");
+    launched_activity = ret == 0;
+  }
+
+  static void close_activities() {
+    if(launched_activity) {
+      std::system("pm disable com.android.settings && pm enable com.android.settings");
+    }
+  }
+
+  static void launch_activity(std::string activity, std::string opts = "") {
+    if (!launched_activity) {
+      std::string cmd = "am start -n " + activity + " " + opts +
+                        " --ez extra_prefs_show_button_bar true \
+                         --es extra_prefs_set_next_text ''";
+      std::system(cmd.c_str());
+    }
+    launched_activity = true;
+  }
+  static void launch_wifi() {
+    launch_activity("com.android.settings/.wifi.WifiPickerActivity", "-a android.net.wifi.PICK_WIFI_NETWORK");
+  }
+  static void launch_tethering() {
+    launch_activity("com.android.settings/.TetherSettings");
+  }
+};
diff --git a/selfdrive/hardware/eon/hardware.py b/selfdrive/hardware/eon/hardware.py
new file mode 100644
index 00000000000000..2296c26e6dc55a
--- /dev/null
+++ b/selfdrive/hardware/eon/hardware.py
@@ -0,0 +1,410 @@
+import binascii
+import itertools
+import os
+import re
+import serial
+import struct
+import subprocess
+from typing import List, Union
+
+from cereal import log
+from selfdrive.hardware.base import HardwareBase, ThermalConfig
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+MODEM_PATH = "/dev/smd11"
+
+def service_call(call: List[str]) -> Union[bytes, None]:
+  try:
+    ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
+    if 'Parcel' not in ret:
+      return None
+    return parse_service_call_bytes(ret)
+  except subprocess.CalledProcessError:
+    return None
+
+
+def parse_service_call_unpack(r, fmt) -> Union[bytes, None]:
+  try:
+    return struct.unpack(fmt, r)[0]
+  except Exception:
+    return None
+
+
+def parse_service_call_string(r: bytes) -> Union[str, None]:
+  try:
+    r = r[8:]  # Cut off length field
+    r_str = r.decode('utf_16_be')
+
+    # All pairs of two characters seem to be swapped. Not sure why
+    result = ""
+    for a, b, in itertools.zip_longest(r_str[::2], r_str[1::2], fillvalue='\x00'):
+      result += b + a
+
+    return result.replace('\x00', '')
+  except Exception:
+    return None
+
+
+def parse_service_call_bytes(ret: str) -> Union[bytes, None]:
+  try:
+    r = b""
+    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
+      r += binascii.unhexlify(hex_part)
+    return r
+  except Exception:
+    return None
+
+
+def getprop(key: str) -> Union[str, None]:
+  try:
+    return subprocess.check_output(["getprop", key], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    return None
+
+
+class Android(HardwareBase):
+  def get_os_version(self):
+    with open("/VERSION") as f:
+      return f.read().strip()
+
+  def get_device_type(self):
+    return "eon"
+
+  def get_sound_card_online(self):
+    return (os.path.isfile('/proc/asound/card0/state') and
+            open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+
+  def get_imei(self, slot):
+    slot = str(slot)
+    if slot not in ("0", "1"):
+      raise ValueError("SIM slot must be 0 or 1")
+
+    return parse_service_call_string(service_call(["iphonesubinfo", "3", "i32", str(slot)]))
+
+  def get_serial(self):
+    ret = getprop("ro.serialno")
+    if len(ret) == 0:
+      ret = "cccccccc"
+    return ret
+
+  def get_subscriber_info(self):
+    ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
+    if ret is None or len(ret) < 8:
+      return ""
+    return ret
+
+  def reboot(self, reason=None):
+    # e.g. reason="recovery" to go into recover mode
+    if reason is None:
+      reason_args = ["null"]
+    else:
+      reason_args = ["s16", reason]
+
+    subprocess.check_output([
+      "service", "call", "power", "16",  # IPowerManager.reboot
+      "i32", "0",  # no confirmation,
+      *reason_args,
+      "i32", "1"  # wait
+    ])
+
+  def uninstall(self):
+    with open('/cache/recovery/command', 'w') as f:
+      f.write('--wipe_data\n')
+    # IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
+    self.reboot(reason="recovery")
+
+  def get_sim_info(self):
+    # Used for athena
+    # TODO: build using methods from this class
+    sim_state = getprop("gsm.sim.state").split(",")
+    network_type = getprop("gsm.network.type").split(',')
+    mcc_mnc = getprop("gsm.sim.operator.numeric") or None
+
+    sim_id = parse_service_call_string(service_call(['iphonesubinfo', '11']))
+    cell_data_state = parse_service_call_unpack(service_call(['phone', '46']), ">q")
+    cell_data_connected = (cell_data_state == 2)
+
+    return {
+      'sim_id': sim_id,
+      'mcc_mnc': mcc_mnc,
+      'network_type': network_type,
+      'sim_state': sim_state,
+      'data_connected': cell_data_connected
+    }
+
+  def get_network_info(self):
+    msg = log.DeviceState.NetworkInfo.new_message()
+    msg.state = getprop("gsm.sim.state") or ""
+    msg.technology = getprop("gsm.network.type") or ""
+    msg.operator = getprop("gsm.sim.operator.numeric") or ""
+
+    try:
+      modem = serial.Serial(MODEM_PATH, 115200, timeout=0.1)
+      modem.write(b"AT$QCRSRP?\r")
+      msg.extra = modem.read_until(b"OK\r\n").decode('utf-8')
+
+      rsrp = msg.extra.split("$QCRSRP: ")[1].split("\r")[0].split(",")
+      msg.channel = int(rsrp[1])
+    except Exception:
+      pass
+
+    return msg
+
+  def get_network_type(self):
+    wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
+    if wifi_check is None:
+      return NetworkType.none
+    elif 'WIFI' in wifi_check:
+      return NetworkType.wifi
+    else:
+      cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
+      # from TelephonyManager.java
+      cell_networks = {
+        0: NetworkType.none,
+        1: NetworkType.cell2G,
+        2: NetworkType.cell2G,
+        3: NetworkType.cell3G,
+        4: NetworkType.cell2G,
+        5: NetworkType.cell3G,
+        6: NetworkType.cell3G,
+        7: NetworkType.cell3G,
+        8: NetworkType.cell3G,
+        9: NetworkType.cell3G,
+        10: NetworkType.cell3G,
+        11: NetworkType.cell2G,
+        12: NetworkType.cell3G,
+        13: NetworkType.cell4G,
+        14: NetworkType.cell4G,
+        15: NetworkType.cell3G,
+        16: NetworkType.cell2G,
+        17: NetworkType.cell3G,
+        18: NetworkType.cell4G,
+        19: NetworkType.cell4G
+      }
+      return cell_networks.get(cell_check, NetworkType.none)
+
+  def get_network_strength(self, network_type):
+    network_strength = NetworkStrength.unknown
+
+    # from SignalStrength.java
+    def get_lte_level(rsrp, rssnr):
+      INT_MAX = 2147483647
+      if rsrp == INT_MAX:
+        lvl_rsrp = NetworkStrength.unknown
+      elif rsrp >= -95:
+        lvl_rsrp = NetworkStrength.great
+      elif rsrp >= -105:
+        lvl_rsrp = NetworkStrength.good
+      elif rsrp >= -115:
+        lvl_rsrp = NetworkStrength.moderate
+      else:
+        lvl_rsrp = NetworkStrength.poor
+      if rssnr == INT_MAX:
+        lvl_rssnr = NetworkStrength.unknown
+      elif rssnr >= 45:
+        lvl_rssnr = NetworkStrength.great
+      elif rssnr >= 10:
+        lvl_rssnr = NetworkStrength.good
+      elif rssnr >= -30:
+        lvl_rssnr = NetworkStrength.moderate
+      else:
+        lvl_rssnr = NetworkStrength.poor
+      return max(lvl_rsrp, lvl_rssnr)
+
+    def get_tdscdma_level(tdscmadbm):
+      lvl = NetworkStrength.unknown
+      if tdscmadbm > -25:
+        lvl = NetworkStrength.unknown
+      elif tdscmadbm >= -49:
+        lvl = NetworkStrength.great
+      elif tdscmadbm >= -73:
+        lvl = NetworkStrength.good
+      elif tdscmadbm >= -97:
+        lvl = NetworkStrength.moderate
+      elif tdscmadbm >= -110:
+        lvl = NetworkStrength.poor
+      return lvl
+
+    def get_gsm_level(asu):
+      if asu <= 2 or asu == 99:
+        lvl = NetworkStrength.unknown
+      elif asu >= 12:
+        lvl = NetworkStrength.great
+      elif asu >= 8:
+        lvl = NetworkStrength.good
+      elif asu >= 5:
+        lvl = NetworkStrength.moderate
+      else:
+        lvl = NetworkStrength.poor
+      return lvl
+
+    def get_evdo_level(evdodbm, evdosnr):
+      lvl_evdodbm = NetworkStrength.unknown
+      lvl_evdosnr = NetworkStrength.unknown
+      if evdodbm >= -65:
+        lvl_evdodbm = NetworkStrength.great
+      elif evdodbm >= -75:
+        lvl_evdodbm = NetworkStrength.good
+      elif evdodbm >= -90:
+        lvl_evdodbm = NetworkStrength.moderate
+      elif evdodbm >= -105:
+        lvl_evdodbm = NetworkStrength.poor
+      if evdosnr >= 7:
+        lvl_evdosnr = NetworkStrength.great
+      elif evdosnr >= 5:
+        lvl_evdosnr = NetworkStrength.good
+      elif evdosnr >= 3:
+        lvl_evdosnr = NetworkStrength.moderate
+      elif evdosnr >= 1:
+        lvl_evdosnr = NetworkStrength.poor
+      return max(lvl_evdodbm, lvl_evdosnr)
+
+    def get_cdma_level(cdmadbm, cdmaecio):
+      lvl_cdmadbm = NetworkStrength.unknown
+      lvl_cdmaecio = NetworkStrength.unknown
+      if cdmadbm >= -75:
+        lvl_cdmadbm = NetworkStrength.great
+      elif cdmadbm >= -85:
+        lvl_cdmadbm = NetworkStrength.good
+      elif cdmadbm >= -95:
+        lvl_cdmadbm = NetworkStrength.moderate
+      elif cdmadbm >= -100:
+        lvl_cdmadbm = NetworkStrength.poor
+      if cdmaecio >= -90:
+        lvl_cdmaecio = NetworkStrength.great
+      elif cdmaecio >= -110:
+        lvl_cdmaecio = NetworkStrength.good
+      elif cdmaecio >= -130:
+        lvl_cdmaecio = NetworkStrength.moderate
+      elif cdmaecio >= -150:
+        lvl_cdmaecio = NetworkStrength.poor
+      return max(lvl_cdmadbm, lvl_cdmaecio)
+
+    if network_type == NetworkType.none:
+      return network_strength
+    if network_type == NetworkType.wifi:
+      out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
+      network_strength = NetworkStrength.unknown
+      for line in out.split('\n'):
+        signal_str = "SignalStrength: "
+        if signal_str in line:
+          lvl_idx_start = line.find(signal_str) + len(signal_str)
+          lvl_idx_end = line.find(']', lvl_idx_start)
+          lvl = int(line[lvl_idx_start : lvl_idx_end])
+          if lvl >= -50:
+            network_strength = NetworkStrength.great
+          elif lvl >= -60:
+            network_strength = NetworkStrength.good
+          elif lvl >= -70:
+            network_strength = NetworkStrength.moderate
+          else:
+            network_strength = NetworkStrength.poor
+      return network_strength
+    else:
+      # check cell strength
+      out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
+      for line in out.split('\n'):
+        if "mSignalStrength" in line:
+          arr = line.split(' ')
+          ns = 0
+          if ("gsm" in arr[14]):
+            rsrp = int(arr[9])
+            rssnr = int(arr[11])
+            ns = get_lte_level(rsrp, rssnr)
+            if ns == NetworkStrength.unknown:
+              tdscmadbm = int(arr[13])
+              ns = get_tdscdma_level(tdscmadbm)
+              if ns == NetworkStrength.unknown:
+                asu = int(arr[1])
+                ns = get_gsm_level(asu)
+          else:
+            cdmadbm = int(arr[3])
+            cdmaecio = int(arr[4])
+            evdodbm = int(arr[5])
+            evdosnr = int(arr[7])
+            lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
+            lvl_edmo = get_evdo_level(evdodbm, evdosnr)
+            if lvl_edmo == NetworkStrength.unknown:
+              ns = lvl_cdma
+            elif lvl_cdma == NetworkStrength.unknown:
+              ns = lvl_edmo
+            else:
+              ns = min(lvl_cdma, lvl_edmo)
+          network_strength = max(network_strength, ns)
+
+      return network_strength
+
+  def get_battery_capacity(self):
+    return self.read_param_file("/sys/class/power_supply/battery/capacity", int, 100)
+
+  def get_battery_status(self):
+    # This does not correspond with actual charging or not.
+    # If a USB cable is plugged in, it responds with 'Charging', even when charging is disabled
+    return self.read_param_file("/sys/class/power_supply/battery/status", lambda x: x.strip(), '')
+
+  def get_battery_current(self):
+    return self.read_param_file("/sys/class/power_supply/battery/current_now", int)
+
+  def get_battery_voltage(self):
+    return self.read_param_file("/sys/class/power_supply/battery/voltage_now", int)
+
+  def get_battery_charging(self):
+    # This does correspond with actually charging
+    return self.read_param_file("/sys/class/power_supply/battery/charge_type", lambda x: x.strip() != "N/A", True)
+
+  def set_battery_charging(self, on):
+    with open('/sys/class/power_supply/battery/charging_enabled', 'w') as f:
+      f.write(f"{1 if on else 0}\n")
+
+  def get_usb_present(self):
+    return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False)
+
+  def get_current_power_draw(self):
+    # We don't have a good direct way to measure this on android
+    return None
+
+  def shutdown(self):
+    os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
+  def get_thermal_config(self):
+    return ThermalConfig(cpu=((5, 7, 10, 12), 10), gpu=((16,), 10), mem=(2, 10), bat=(29, 1000), ambient=(25, 1))
+
+  def set_screen_brightness(self, percentage):
+    with open("/sys/class/leds/lcd-backlight/brightness", "w") as f:
+      f.write(str(int(percentage * 2.55)))
+
+  def get_screen_brightness(self):
+    try:
+      with open("/sys/class/leds/lcd-backlight/brightness") as f:
+        return int(float(f.read()) / 2.55)
+    except Exception:
+      return 0
+
+  def set_power_save(self, powersave_enabled):
+    pass
+
+  def get_gpu_usage_percent(self):
+    try:
+      used, total = open('/sys/devices/soc/b00000.qcom,kgsl-3d0/kgsl/kgsl-3d0/gpubusy').read().strip().split()
+      perc = 100.0 * int(used) / int(total)
+      return min(max(perc, 0), 100)
+    except Exception:
+      return 0
+
+  def get_modem_version(self):
+    return None
+
+  def get_modem_temperatures(self):
+    # Not sure if we can get this on the LeEco
+    return []
+
+  def get_nvme_temperatures(self):
+    return []
+
+  def initialize_hardware(self):
+    pass
+
+  def get_networks(self):
+    return None
diff --git a/selfdrive/hardware/eon/neos.json b/selfdrive/hardware/eon/neos.json
new file mode 100644
index 00000000000000..228029e9fb7024
--- /dev/null
+++ b/selfdrive/hardware/eon/neos.json
@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e.zip",
+  "ota_hash": "5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-f01a55c9ba52ca57668d1684c6bf4118efd31916b04f8c1fcd8495013d3677eb.img",
+  "recovery_len": 15222060,
+  "recovery_hash": "f01a55c9ba52ca57668d1684c6bf4118efd31916b04f8c1fcd8495013d3677eb"
+}
diff --git a/selfdrive/hardware/eon/neos.py b/selfdrive/hardware/eon/neos.py
new file mode 100755
index 00000000000000..6f290fbcd19e5d
--- /dev/null
+++ b/selfdrive/hardware/eon/neos.py
@@ -0,0 +1,130 @@
+#!/usr/bin/env python3
+import argparse
+import hashlib
+import json
+import logging
+import os
+import requests
+
+NEOSUPDATE_DIR = "/data/neoupdate"
+
+RECOVERY_DEV = "/dev/block/bootdevice/by-name/recovery"
+RECOVERY_COMMAND = "/cache/recovery/command"
+
+
+def get_fn(url: str):
+  return os.path.join(NEOSUPDATE_DIR, os.path.basename(url))
+
+
+def download_file(url: str, fn: str, sha256: str, display_name: str, cloudlog=logging) -> None:
+  # check if already downloaded
+  if check_hash(fn, sha256):
+    cloudlog.info(f"{display_name} already cached")
+    return
+
+  try:
+    with open(fn, "ab+") as f:
+      headers = {"Range": f"bytes={f.tell()}-"}
+      r = requests.get(url, stream=True, allow_redirects=True, headers=headers)
+      r.raise_for_status()
+
+      total = int(r.headers['Content-Length'])
+      if 'Content-Range' in r.headers:
+        total = int(r.headers['Content-Range'].split('/')[-1])
+
+      for chunk in r.iter_content(chunk_size=1024 * 1024):
+        f.write(chunk)
+        print(f"Downloading {display_name}: {f.tell() / total * 100}", flush=True)
+  except Exception:
+    cloudlog.error("download error")
+    if os.path.isfile(fn):
+      os.unlink(fn)
+    raise
+
+  if not check_hash(fn, sha256):
+    if os.path.isfile(fn):
+      os.unlink(fn)
+    raise Exception("downloaded update failed hash check")
+
+
+def check_hash(fn: str, sha256: str, length: int = -1) -> bool:
+  if not os.path.exists(fn):
+    return False
+
+  h = hashlib.sha256()
+  with open(fn, "rb") as f:
+    while f.tell() != length:
+      r = min(max(0, length - f.tell()), 1024 * 1024) if length > 0 else 1024 * 1024
+      dat = f.read(r)
+      if not dat:
+        break
+      h.update(dat)
+  return h.hexdigest().lower() == sha256.lower()
+
+
+def flash_update(update_fn: str, out_path: str) -> None:
+  with open(update_fn, "rb") as update, open(out_path, "w+b") as out:
+    while True:
+      dat = update.read(8192)
+      if len(dat) == 0:
+        break
+      out.write(dat)
+
+
+def download_neos_update(manifest_path: str, cloudlog=logging) -> None:
+  with open(manifest_path) as f:
+    m = json.load(f)
+
+  os.makedirs(NEOSUPDATE_DIR, exist_ok=True)
+
+  # handle recovery updates
+  if not check_hash(RECOVERY_DEV, m['recovery_hash'], m['recovery_len']):
+    cloudlog.info("recovery needs update")
+    recovery_fn = os.path.join(NEOSUPDATE_DIR, os.path.basename(m['recovery_url']))
+    download_file(m['recovery_url'], recovery_fn, m['recovery_hash'], "recovery", cloudlog)
+
+    flash_update(recovery_fn, RECOVERY_DEV)
+    assert check_hash(RECOVERY_DEV, m['recovery_hash'], m['recovery_len']), "recovery flash corrupted"
+    cloudlog.info("recovery successfully flashed")
+
+  # download OTA update
+  download_file(m['ota_url'], get_fn(m['ota_url']), m['ota_hash'], "system", cloudlog)
+
+
+def verify_update_ready(manifest_path: str) -> bool:
+  with open(manifest_path) as f:
+    m = json.load(f)
+
+  ota_downloaded = check_hash(get_fn(m['ota_url']), m['ota_hash'])
+  recovery_flashed = check_hash(RECOVERY_DEV, m['recovery_hash'], m['recovery_len'])
+  return ota_downloaded and recovery_flashed
+
+
+def perform_ota_update(manifest_path: str) -> None:
+  with open(manifest_path) as f:
+    m = json.load(f)
+
+  # reboot into recovery
+  ota_fn = get_fn(m['ota_url'])
+  with open(RECOVERY_COMMAND, "w") as rf:
+    rf.write(f"--update_package={ota_fn}\n")
+  os.system("service call power 16 i32 0 s16 recovery i32 1")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="NEOS update utility",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--swap", action="store_true", help="Peform update after downloading")
+  parser.add_argument("--swap-if-ready", action="store_true", help="Perform update if already downloaded")
+  parser.add_argument("manifest", help="Manifest json")
+  args = parser.parse_args()
+
+  logging.basicConfig(level=logging.INFO)
+
+  if args.swap_if_ready:
+    if verify_update_ready(args.manifest):
+      perform_ota_update(args.manifest)
+  else:
+    download_neos_update(args.manifest, logging)
+    if args.swap:
+      perform_ota_update(args.manifest)
diff --git a/selfdrive/hardware/eon/updater b/selfdrive/hardware/eon/updater
new file mode 100755
index 00000000000000..eaf34e957ceb32
Binary files /dev/null and b/selfdrive/hardware/eon/updater differ
diff --git a/selfdrive/hardware/hw.h b/selfdrive/hardware/hw.h
new file mode 100644
index 00000000000000..d7a6c8d1d5a60d
--- /dev/null
+++ b/selfdrive/hardware/hw.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include "selfdrive/hardware/base.h"
+#include "selfdrive/common/util.h"
+
+#ifdef QCOM
+#include "selfdrive/hardware/eon/hardware.h"
+#define Hardware HardwareEon
+#elif QCOM2
+#include "selfdrive/hardware/tici/hardware.h"
+#define Hardware HardwareTici
+#else
+class HardwarePC : public HardwareNone {
+public:
+  static std::string get_os_version() { return "openpilot for PC"; }
+  static bool PC() { return true; }
+  static bool TICI() { return util::getenv("TICI", 0) == 1; }
+};
+#define Hardware HardwarePC
+#endif
+
+namespace Path {
+inline static std::string HOME = util::getenv("HOME");
+inline std::string log_root() {
+  if (const char *env = getenv("LOG_ROOT")) {
+    return env;
+  }
+  return Hardware::PC() ? HOME + "/.comma/media/0/realdata" : "/data/media/0/realdata";
+}
+inline std::string params() {
+  return Hardware::PC() ? HOME + "/.comma/params" : "/data/params";
+}
+inline std::string rsa_file() {
+  return Hardware::PC() ? HOME + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
+}
+}  // namespace Path
diff --git a/selfdrive/controls/lib/lateral_mpc/__init__.py b/selfdrive/hardware/pc/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/lateral_mpc/__init__.py
rename to selfdrive/hardware/pc/__init__.py
diff --git a/selfdrive/hardware/pc/hardware.py b/selfdrive/hardware/pc/hardware.py
new file mode 100644
index 00000000000000..b2be6ca91c5d07
--- /dev/null
+++ b/selfdrive/hardware/pc/hardware.py
@@ -0,0 +1,108 @@
+import random
+
+from cereal import log
+from selfdrive.hardware.base import HardwareBase, ThermalConfig
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+
+class Pc(HardwareBase):
+  def get_os_version(self):
+    return None
+
+  def get_device_type(self):
+    return "pc"
+
+  def get_sound_card_online(self):
+    return True
+
+  def reboot(self, reason=None):
+    print("REBOOT!")
+
+  def uninstall(self):
+    print("uninstall")
+
+  def get_imei(self, slot):
+    return "%015d" % random.randint(0, 1 << 32)
+
+  def get_serial(self):
+    return "cccccccc"
+
+  def get_subscriber_info(self):
+    return ""
+
+  def get_network_info(self):
+    return None
+
+  def get_network_type(self):
+    return NetworkType.wifi
+
+  def get_sim_info(self):
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
+
+  def get_network_strength(self, network_type):
+    return NetworkStrength.unknown
+
+  def get_battery_capacity(self):
+    return 100
+
+  def get_battery_status(self):
+    return ""
+
+  def get_battery_current(self):
+    return 0
+
+  def get_battery_voltage(self):
+    return 0
+
+  def get_battery_charging(self):
+    return True
+
+  def set_battery_charging(self, on):
+    pass
+
+  def get_usb_present(self):
+    return False
+
+  def get_current_power_draw(self):
+    return 0
+
+  def shutdown(self):
+    print("SHUTDOWN!")
+
+  def get_thermal_config(self):
+    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1))
+
+  def set_screen_brightness(self, percentage):
+    pass
+
+  def get_screen_brightness(self):
+    return 0
+
+  def set_power_save(self, powersave_enabled):
+    pass
+
+  def get_gpu_usage_percent(self):
+    return 0
+
+  def get_modem_version(self):
+    return None
+
+  def get_modem_temperatures(self):
+    return []
+
+  def get_nvme_temperatures(self):
+    return []
+
+  def initialize_hardware(self):
+    pass
+
+  def get_networks(self):
+    return None
diff --git a/selfdrive/controls/lib/longitudinal_mpc/__init__.py b/selfdrive/hardware/tici/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/longitudinal_mpc/__init__.py
rename to selfdrive/hardware/tici/__init__.py
diff --git a/selfdrive/hardware/tici/agnos.json b/selfdrive/hardware/tici/agnos.json
new file mode 100644
index 00000000000000..14f5567c7325f2
--- /dev/null
+++ b/selfdrive/hardware/tici/agnos.json
@@ -0,0 +1,52 @@
+[
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-ab4b6f64a90617ddbebe250f977616d70a25864f82c9c6ea9d88ebc5fe80e37c.img.xz",
+    "hash": "ab4b6f64a90617ddbebe250f977616d70a25864f82c9c6ea9d88ebc5fe80e37c",
+    "hash_raw": "ab4b6f64a90617ddbebe250f977616d70a25864f82c9c6ea9d88ebc5fe80e37c",
+    "size": 14772224,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82.img.xz",
+    "hash": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82",
+    "hash_raw": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35.img.xz",
+    "hash": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35",
+    "hash_raw": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35",
+    "size": 3670016,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad.img.xz",
+    "hash": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad",
+    "hash_raw": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad",
+    "size": 364544,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-a778d523851d88a78ad7440ab602a80e09decdd1877f9f31ea36a7d7f15970dd.img.xz",
+    "hash": "540ee7184cc6d8c14f94e652a062027dcc7559e47f4b347b6f8abac570521ec6",
+    "hash_raw": "a778d523851d88a78ad7440ab602a80e09decdd1877f9f31ea36a7d7f15970dd",
+    "size": 10737418240,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true
+  }
+]
diff --git a/selfdrive/hardware/tici/agnos.py b/selfdrive/hardware/tici/agnos.py
new file mode 100755
index 00000000000000..d62d4dbc51dfea
--- /dev/null
+++ b/selfdrive/hardware/tici/agnos.py
@@ -0,0 +1,254 @@
+#!/usr/bin/env python3
+import json
+import lzma
+import hashlib
+import requests
+import struct
+import subprocess
+import os
+from typing import Generator
+
+SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
+
+
+class StreamingDecompressor:
+  def __init__(self, url: str) -> None:
+    self.buf = b""
+
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None})
+    self.it = self.req.iter_content(chunk_size=1024 * 1024)
+    self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
+    self.eof = False
+    self.sha256 = hashlib.sha256()
+
+  def read(self, length: int) -> bytes:
+    while len(self.buf) < length:
+      self.req.raise_for_status()
+
+      try:
+        compressed = next(self.it)
+      except StopIteration:
+        self.eof = True
+        break
+      out = self.decompressor.decompress(compressed)
+      self.buf += out
+
+    result = self.buf[:length]
+    self.buf = self.buf[length:]
+
+    self.sha256.update(result)
+    return result
+
+
+def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
+  # https://source.android.com/devices/bootloader/images#sparse-format
+  magic = struct.unpack("I", f.read(4))[0]
+  assert(magic == 0xed26ff3a)
+
+  # Version
+  major = struct.unpack("H", f.read(2))[0]
+  minor = struct.unpack("H", f.read(2))[0]
+  assert(major == 1 and minor == 0)
+
+  f.read(2)  # file header size
+  f.read(2)  # chunk header size
+
+  block_sz = struct.unpack("I", f.read(4))[0]
+  f.read(4)  # total blocks
+  num_chunks = struct.unpack("I", f.read(4))[0]
+  f.read(4)  # crc checksum
+
+  for _ in range(num_chunks):
+    chunk_type, out_blocks = SPARSE_CHUNK_FMT.unpack(f.read(12))
+
+    if chunk_type == 0xcac1:  # Raw
+      # TODO: yield in smaller chunks. Yielding only block_sz is too slow. Largest observed data chunk is 252 MB.
+      yield f.read(out_blocks * block_sz)
+    elif chunk_type == 0xcac2:  # Fill
+      filler = f.read(4) * (block_sz // 4)
+      for _ in range(out_blocks):
+        yield filler
+    elif chunk_type == 0xcac3:  # Don't care
+      yield b""
+    else:
+      raise Exception("Unhandled sparse chunk type")
+
+# noop wrapper with same API as unsparsify() for non sparse images
+def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]:
+  while not f.eof:
+    yield f.read(1024 * 1024)
+
+
+def get_target_slot_number() -> int:
+  current_slot = subprocess.check_output(["abctl", "--boot_slot"], encoding='utf-8').strip()
+  return 1 if current_slot == "_a" else 0
+
+
+def slot_number_to_suffix(slot_number: int) -> str:
+  assert slot_number in (0, 1)
+  return '_a' if slot_number == 0 else '_b'
+
+
+def get_partition_path(target_slot_number: int, partition: dict) -> str:
+  path = f"/dev/disk/by-partlabel/{partition['name']}"
+
+  if partition.get('has_ab', True):
+    path += slot_number_to_suffix(target_slot_number)
+
+  return path
+
+
+def verify_partition(target_slot_number: int, partition: dict) -> bool:
+  full_check = partition['full_check']
+  path = get_partition_path(target_slot_number, partition)
+  partition_size = partition['size']
+
+  with open(path, 'rb+') as out:
+    if full_check:
+      raw_hash = hashlib.sha256()
+
+      pos = 0
+      chunk_size = 1024 * 1024
+      while pos < partition_size:
+        n = min(chunk_size, partition_size - pos)
+        raw_hash.update(out.read(n))
+        pos += n
+
+      return raw_hash.hexdigest().lower() == partition['hash_raw'].lower()
+    else:
+      out.seek(partition_size)
+      return out.read(64) == partition['hash_raw'].lower().encode()
+
+
+def clear_partition_hash(target_slot_number: int, partition: dict) -> None:
+  path = get_partition_path(target_slot_number, partition)
+  with open(path, 'wb+') as out:
+    partition_size = partition['size']
+
+    out.seek(partition_size)
+    out.write(b"\x00" * 64)
+    os.sync()
+
+
+def flash_partition(target_slot_number: int, partition: dict, cloudlog):
+  cloudlog.info(f"Downloading and writing {partition['name']}")
+
+  if verify_partition(target_slot_number, partition):
+    cloudlog.info(f"Already flashed {partition['name']}")
+    return
+
+  downloader = StreamingDecompressor(partition['url'])
+
+  # Clear hash before flashing in case we get interrupted
+  full_check = partition['full_check']
+  if not full_check:
+    clear_partition_hash(target_slot_number, partition)
+
+  path = get_partition_path(target_slot_number, partition)
+  with open(path, 'wb+') as out:
+    # Flash partition
+    last_p = 0
+    raw_hash = hashlib.sha256()
+    f = unsparsify if partition['sparse'] else noop
+    for chunk in f(downloader):
+      raw_hash.update(chunk)
+      out.write(chunk)
+      p = int(out.tell() / partition['size'] * 100)
+      if p != last_p:
+        last_p = p
+        print(f"Installing {partition['name']}: {p}", flush=True)
+
+    if raw_hash.hexdigest().lower() != partition['hash_raw'].lower():
+      raise Exception(f"Raw hash mismatch '{raw_hash.hexdigest().lower()}'")
+
+    if downloader.sha256.hexdigest().lower() != partition['hash'].lower():
+      raise Exception("Uncompressed hash mismatch")
+
+    if out.tell() != partition['size']:
+      raise Exception("Uncompressed size mismatch")
+
+    # Write hash after successfull flash
+    os.sync()
+    if not full_check:
+      out.write(partition['hash_raw'].lower().encode())
+
+
+def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None:
+  update = json.load(open(manifest_path))
+  for partition in update:
+    if not partition.get('full_check', False):
+      clear_partition_hash(target_slot_number, partition)
+
+  while True:
+    out = subprocess.check_output(f"abctl --set_active {target_slot_number}", shell=True, stderr=subprocess.STDOUT, encoding='utf8')
+    if ("No such file or directory" not in out) and ("lun as boot lun" in out):
+      cloudlog.info(f"Swap successfull {out}")
+      break
+    else:
+      cloudlog.error(f"Swap failed {out}")
+
+
+def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) -> None:
+  update = json.load(open(manifest_path))
+
+  cloudlog.info(f"Target slot {target_slot_number}")
+
+  # set target slot as unbootable
+  os.system(f"abctl --set_unbootable {target_slot_number}")
+
+  for partition in update:
+    success = False
+
+    for retries in range(10):
+      try:
+        flash_partition(target_slot_number, partition, cloudlog)
+        success = True
+        break
+
+      except requests.exceptions.RequestException:
+        cloudlog.exception("Failed")
+        cloudlog.info(f"Failed to download {partition['name']}, retrying ({retries})")
+        time.sleep(10)
+
+    if not success:
+      cloudlog.info(f"Failed to flash {partition['name']}, aborting")
+      raise Exception("Maximum retries exceeded")
+
+  cloudlog.info(f"AGNOS ready on slot {target_slot_number}")
+
+
+def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool:
+  update = json.load(open(manifest_path))
+  return all(verify_partition(target_slot_number, partition) for partition in update)
+
+
+if __name__ == "__main__":
+  import logging
+  import time
+  import argparse
+
+  parser = argparse.ArgumentParser(description="Flash and verify AGNOS update",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--verify", action="store_true", help="Verify and perform swap if update ready")
+  parser.add_argument("--swap", action="store_true", help="Verify and perform swap, downloads if necessary")
+  parser.add_argument("manifest", help="Manifest json")
+  args = parser.parse_args()
+
+  logging.basicConfig(level=logging.INFO)
+
+  target_slot_number = get_target_slot_number()
+  if args.verify:
+    if verify_agnos_update(args.manifest, target_slot_number):
+      swap(args.manifest, target_slot_number, logging)
+      exit(0)
+    exit(1)
+  elif args.swap:
+    while not verify_agnos_update(args.manifest, target_slot_number):
+      logging.error("Verification failed. Flashing AGNOS")
+      flash_agnos_update(args.manifest, target_slot_number, logging)
+
+    logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}")
+    swap(args.manifest, target_slot_number, logging)
+  else:
+    flash_agnos_update(args.manifest, target_slot_number, logging)
diff --git a/selfdrive/hardware/tici/amplifier.py b/selfdrive/hardware/tici/amplifier.py
new file mode 100755
index 00000000000000..99b6d0598a2881
--- /dev/null
+++ b/selfdrive/hardware/tici/amplifier.py
@@ -0,0 +1,103 @@
+#!/usr/bin/env python
+from smbus2 import SMBus
+from collections import namedtuple
+
+# https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
+
+AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
+EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
+
+def configs_from_eq_params(base, eq_params):
+  return [
+    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
+    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
+    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
+    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
+    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
+    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
+    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
+    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
+    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
+    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
+  ]
+
+BASE_CONFIG = [
+  AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
+  AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
+  AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
+  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+  AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
+  AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
+  AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
+  AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
+  AmpConfig("Right speaker output volume", 0x1a, 0x3E, 0, 0b00011111),
+  AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
+  AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
+  AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
+  AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111),
+  AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001),
+  AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000),
+  AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+  AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
+  AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
+  AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+  AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
+  AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
+  AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
+  AmpConfig("Excursion limiter lower corner freq", 0b00, 0x41, 0, 0b00000011),
+  AmpConfig("Excursion limiter threshold", 0b000, 0x42, 0, 0b00001111),
+  AmpConfig("Distortion limit (THDCLP)", 0x6, 0x46, 4, 0b11110000),
+  AmpConfig("Distortion limiter release time constant", 0b0, 0x46, 0, 0b00000001),
+  AmpConfig("Right DAC input mixer: DAI1 left", 0b0, 0x22, 3, 0b00001000),
+  AmpConfig("Right DAC input mixer: DAI1 right", 0b0, 0x22, 2, 0b00000100),
+  AmpConfig("Right DAC input mixer: DAI2 left", 0b1, 0x22, 1, 0b00000010),
+  AmpConfig("Right DAC input mixer: DAI2 right", 0b0, 0x22, 0, 0b00000001),
+  AmpConfig("DAI1 audio port selector", 0b10, 0x16, 6, 0b11000000),
+  AmpConfig("DAI2 audio port selector", 0b01, 0x1E, 6, 0b11000000),
+  AmpConfig("Enable left digital microphone", 0b1, 0x48, 5, 0b00100000),
+  AmpConfig("Enable right digital microphone", 0b1, 0x48, 4, 0b00010000),
+  AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
+  AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
+  AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
+]
+
+BASE_CONFIG += configs_from_eq_params(0x84, EQParams(0x65C4, 0xC07C, 0x3D66, 0x07D9, 0x120F))
+BASE_CONFIG += configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF))
+BASE_CONFIG += configs_from_eq_params(0x98, EQParams(0x2822, 0xC1C7, 0x3B50, 0x0EF8, 0x180A))
+BASE_CONFIG += configs_from_eq_params(0xA2, EQParams(0x1009, 0xC5C2, 0x271F, 0x1A87, 0x32A6))
+BASE_CONFIG += configs_from_eq_params(0xAC, EQParams(0x2000, 0xCA1E, 0x4000, 0x2287, 0x0000))
+
+class Amplifier:
+  AMP_I2C_BUS = 0
+  AMP_ADDRESS = 0x10
+
+  def __init__(self, debug=False):
+    self.debug = debug
+
+  def set_config(self, config):
+    with SMBus(self.AMP_I2C_BUS) as bus:
+      if self.debug:
+        print(f"Setting \"{config.name}\" to {config.value}:")
+
+      old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
+      new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
+      bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
+
+      if self.debug:
+        print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
+
+  def set_global_shutdown(self, amp_disabled):
+    self.set_config(AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000))
+
+  def initialize_configuration(self):
+    self.set_global_shutdown(amp_disabled=True)
+
+    for config in BASE_CONFIG:
+      self.set_config(config)
+
+    self.set_global_shutdown(amp_disabled=False)
+
+
+if __name__ == "__main__":
+  Amplifier(debug=True).initialize_configuration()
diff --git a/selfdrive/hardware/tici/hardware.h b/selfdrive/hardware/tici/hardware.h
new file mode 100644
index 00000000000000..abd7e9297a1426
--- /dev/null
+++ b/selfdrive/hardware/tici/hardware.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include <cstdlib>
+#include <fstream>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/base.h"
+
+class HardwareTici : public HardwareNone {
+public:
+  static constexpr float MAX_VOLUME = 1.0;
+  static constexpr float MIN_VOLUME = 0.4;
+  static bool TICI() { return true; }
+  static std::string get_os_version() {
+    return "AGNOS " + util::read_file("/VERSION");
+  };
+
+  static void reboot() { std::system("sudo reboot"); };
+  static void poweroff() { std::system("sudo poweroff"); };
+  static void set_brightness(int percent) {
+    std::ofstream brightness_control("/sys/class/backlight/panel0-backlight/brightness");
+    if (brightness_control.is_open()) {
+      brightness_control << (percent * (int)(1023/100.)) << "\n";
+      brightness_control.close();
+    }
+  };
+  static void set_display_power(bool on) {
+    std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power");
+    if (bl_power_control.is_open()) {
+      bl_power_control << (on ? "0" : "4") << "\n";
+      bl_power_control.close();
+    }
+  };
+
+  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); };
+  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); };
+};
diff --git a/selfdrive/hardware/tici/hardware.py b/selfdrive/hardware/tici/hardware.py
new file mode 100644
index 00000000000000..ca2705c8018a20
--- /dev/null
+++ b/selfdrive/hardware/tici/hardware.py
@@ -0,0 +1,341 @@
+import json
+import math
+import os
+import subprocess
+from enum import IntEnum
+from functools import cached_property
+from pathlib import Path
+
+from cereal import log
+from selfdrive.hardware.base import HardwareBase, ThermalConfig
+from selfdrive.hardware.tici import iwlist
+from selfdrive.hardware.tici.amplifier import Amplifier
+
+NM = 'org.freedesktop.NetworkManager'
+NM_CON_ACT = NM + '.Connection.Active'
+NM_DEV_WL = NM + '.Device.Wireless'
+NM_AP = NM + '.AccessPoint'
+DBUS_PROPS = 'org.freedesktop.DBus.Properties'
+
+MM = 'org.freedesktop.ModemManager1'
+MM_MODEM = MM + ".Modem"
+MM_MODEM_SIMPLE = MM + ".Modem.Simple"
+MM_SIM = MM + ".Sim"
+
+class MM_MODEM_STATE(IntEnum):
+       FAILED        = -1
+       UNKNOWN       = 0
+       INITIALIZING  = 1
+       LOCKED        = 2
+       DISABLED      = 3
+       DISABLING     = 4
+       ENABLING      = 5
+       ENABLED       = 6
+       SEARCHING     = 7
+       REGISTERED    = 8
+       DISCONNECTING = 9
+       CONNECTING    = 10
+       CONNECTED     = 11
+
+TIMEOUT = 0.1
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
+MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
+MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
+
+class Tici(HardwareBase):
+  @cached_property
+  def bus(self):
+    import dbus  # pylint: disable=import-error
+    return dbus.SystemBus()
+
+  @cached_property
+  def nm(self):
+    return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
+
+  @cached_property
+  def mm(self):
+    return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
+
+  @cached_property
+  def amplifier(self):
+    return Amplifier()
+
+  def get_os_version(self):
+    with open("/VERSION") as f:
+      return f.read().strip()
+
+  def get_device_type(self):
+    return "tici"
+
+  def get_sound_card_online(self):
+    return (os.path.isfile('/proc/asound/card0/state') and
+            open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+
+  def reboot(self, reason=None):
+    subprocess.check_output(["sudo", "reboot"])
+
+  def uninstall(self):
+    Path("/data/__system_reset__").touch()
+    os.sync()
+    self.reboot()
+
+  def get_serial(self):
+    return self.get_cmdline()['androidboot.serialno']
+
+  def get_network_type(self):
+    try:
+      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      primary_connection = self.bus.get_object(NM, primary_connection)
+      primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      primary_id = primary_connection.Get(NM_CON_ACT, 'Id', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+      if primary_type == '802-3-ethernet':
+        return NetworkType.ethernet
+      elif primary_type == '802-11-wireless' and primary_id != 'Hotspot':
+        return NetworkType.wifi
+      else:
+        active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+        for conn in active_connections:
+          c = self.bus.get_object(NM, conn)
+          tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+          if tp == 'gsm':
+            modem = self.get_modem()
+            access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+            if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
+              return NetworkType.cell4G
+            elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
+              return NetworkType.cell3G
+            else:
+              return NetworkType.cell2G
+    except Exception:
+      pass
+
+    return NetworkType.none
+
+  def get_modem(self):
+    objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
+    modem_path = list(objects.keys())[0]
+    return self.bus.get_object(MM, modem_path)
+
+  def get_wlan(self):
+    wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
+    return self.bus.get_object(NM, wlan_path)
+
+  def get_sim_info(self):
+    modem = self.get_modem()
+    sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+    if sim_path == "/":
+      return {
+        'sim_id': '',
+        'mcc_mnc': None,
+        'network_type': ["Unknown"],
+        'sim_state': ["ABSENT"],
+        'data_connected': False
+      }
+    else:
+      sim = self.bus.get_object(MM, sim_path)
+      return {
+        'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
+        'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
+        'network_type': ["Unknown"],
+        'sim_state': ["READY"],
+        'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
+      }
+
+  def get_subscriber_info(self):
+    return ""
+
+  def get_imei(self, slot):
+    if slot != 0:
+      return ""
+
+    return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+
+  def get_network_info(self):
+    modem = self.get_modem()
+    try:
+      info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+    except Exception:
+      return None
+
+    if info and info.startswith('+QNWINFO: '):
+      info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
+      extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
+      state = "" if state is None else MM_MODEM_STATE(state).name
+
+      if len(info) != 4:
+        return None
+
+      technology, operator, band, channel = info
+
+      return({
+        'technology': technology,
+        'operator': operator,
+        'band': band,
+        'channel': int(channel),
+        'extra': extra,
+        'state': state,
+      })
+    else:
+      return None
+
+  def parse_strength(self, percentage):
+      if percentage < 25:
+        return NetworkStrength.poor
+      elif percentage < 50:
+        return NetworkStrength.moderate
+      elif percentage < 75:
+        return NetworkStrength.good
+      else:
+        return NetworkStrength.great
+
+  def get_network_strength(self, network_type):
+    network_strength = NetworkStrength.unknown
+
+    try:
+      if network_type == NetworkType.none:
+        pass
+      elif network_type == NetworkType.wifi:
+        wlan = self.get_wlan()
+        active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+        if active_ap_path != "/":
+          active_ap = self.bus.get_object(NM, active_ap_path)
+          strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+          network_strength = self.parse_strength(strength)
+      else:  # Cellular
+        modem = self.get_modem()
+        strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
+        network_strength = self.parse_strength(strength)
+    except Exception:
+      pass
+
+    return network_strength
+
+  def get_modem_version(self):
+    try:
+      modem = self.get_modem()
+      return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+    except Exception:
+      return None
+
+  def get_modem_temperatures(self):
+    timeout = 0.2  # Default timeout is too short
+    try:
+      modem = self.get_modem()
+      temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
+      return list(map(int, temps.split(' ')[1].split(',')))
+    except Exception:
+      return []
+
+  def get_nvme_temperatures(self):
+    ret = []
+    try:
+      out = subprocess.check_output("sudo smartctl -aj /dev/nvme0", shell=True)
+      dat = json.loads(out)
+      ret = list(map(int, dat["nvme_smart_health_information_log"]["temperature_sensors"]))
+    except Exception:
+      pass
+    return ret
+
+  # We don't have a battery, so let's use some sane constants
+  def get_battery_capacity(self):
+    return 100
+
+  def get_battery_status(self):
+    return ""
+
+  def get_battery_current(self):
+    return 0
+
+  def get_battery_voltage(self):
+    return 0
+
+  def get_battery_charging(self):
+    return True
+
+  def set_battery_charging(self, on):
+    pass
+
+  def get_usb_present(self):
+    # Not sure if relevant on tici, but the file exists
+    return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False)
+
+  def get_current_power_draw(self):
+    return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
+
+  def shutdown(self):
+    # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT!
+    os.system("sudo poweroff")
+
+  def get_thermal_config(self):
+    return ThermalConfig(cpu=((1, 2, 3, 4, 5, 6, 7, 8), 1000), gpu=((48,49), 1000), mem=(15, 1000), bat=(None, 1), ambient=(65, 1000))
+
+  def set_screen_brightness(self, percentage):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
+        f.write(str(int(percentage * 10.23)))
+    except Exception:
+      pass
+
+  def get_screen_brightness(self):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/brightness") as f:
+        return int(float(f.read()) / 10.23)
+    except Exception:
+      return 0
+
+  def set_power_save(self, powersave_enabled):
+    # amplifier, 100mW at idle
+    self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
+    if not powersave_enabled:
+      self.amplifier.initialize_configuration()
+
+    # offline big cluster, leave core 4 online for boardd
+    for i in range(5, 8):
+      # TODO: fix permissions with udev
+      val = "0" if powersave_enabled else "1"
+      os.system(f"sudo su -c 'echo {val} > /sys/devices/system/cpu/cpu{i}/online'")
+
+  def get_gpu_usage_percent(self):
+    try:
+      used, total = open('/sys/class/kgsl/kgsl-3d0/gpubusy').read().strip().split()
+      return 100.0 * int(used) / int(total)
+    except Exception:
+      return 0
+
+  def initialize_hardware(self):
+    self.amplifier.initialize_configuration()
+
+  def get_networks(self):
+    r = {}
+
+    wlan = iwlist.scan()
+    if wlan is not None:
+      r['wlan'] = wlan
+
+    lte_info = self.get_network_info()
+    if lte_info is not None:
+      extra = lte_info['extra']
+
+      # <state>,"LTE",<is_tdd>,<mcc>,<mnc>,<cellid>,<pcid>,<earfcn>,<freq_band_ind>,
+      # <ul_bandwidth>,<dl_bandwidth>,<tac>,<rsrp>,<rsrq>,<rssi>,<sinr>,<srxlev>
+      if 'LTE' in extra:
+        extra = extra.split(',')
+        try:
+          r['lte'] = [{
+            "mcc": int(extra[3]),
+            "mnc": int(extra[4]),
+            "cid": int(extra[5], 16),
+            "nmr": [{"pci": int(extra[6]), "earfcn": int(extra[7])}],
+          }]
+        except (ValueError, IndexError):
+          pass
+
+    return r
diff --git a/selfdrive/hardware/tici/iwlist.py b/selfdrive/hardware/tici/iwlist.py
new file mode 100644
index 00000000000000..1e7c428b40679a
--- /dev/null
+++ b/selfdrive/hardware/tici/iwlist.py
@@ -0,0 +1,35 @@
+import subprocess
+
+
+def scan(interface="wlan0"):
+  result = []
+  try:
+    r = subprocess.check_output(["iwlist", interface, "scan"], encoding='utf8')
+
+    mac = None
+    for line in r.split('\n'):
+      if "Address" in line:
+        # Based on the adapter eithere a percentage or dBm is returned
+        # Add previous network in case no dBm signal level was seen
+        if mac is not None:
+          result.append({"mac": mac})
+          mac = None
+
+        mac = line.split(' ')[-1]
+      elif "dBm" in line:
+        try:
+          level = line.split('Signal level=')[1]
+          rss = int(level.split(' ')[0])
+          result.append({"mac": mac, "rss": rss})
+          mac = None
+        except ValueError:
+          continue
+
+    # Add last network if no dBm was found
+    if mac is not None:
+      result.append({"mac": mac})
+
+    return result
+
+  except Exception:
+    return None
diff --git a/selfdrive/hardware/tici/pins.py b/selfdrive/hardware/tici/pins.py
new file mode 100644
index 00000000000000..7139f5e955fdf8
--- /dev/null
+++ b/selfdrive/hardware/tici/pins.py
@@ -0,0 +1,8 @@
+# TODO: these are also defined in a header
+# GPIO pin definitions
+GPIO_HUB_RST_N = 30
+GPIO_UBLOX_RST_N = 32
+GPIO_UBLOX_SAFEBOOT_N = 33
+GPIO_UBLOX_PWR_EN = 34
+GPIO_STM_RST_N = 124
+GPIO_STM_BOOT0 = 134
diff --git a/selfdrive/hardware/tici/updater b/selfdrive/hardware/tici/updater
new file mode 100755
index 00000000000000..1c577512005494
Binary files /dev/null and b/selfdrive/hardware/tici/updater differ
diff --git a/selfdrive/launcher.py b/selfdrive/launcher.py
deleted file mode 100644
index 8253347d6bd1a8..00000000000000
--- a/selfdrive/launcher.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import importlib
-from setproctitle import setproctitle  #pylint: disable=no-name-in-module
-
-import cereal.messaging as messaging
-import selfdrive.crash as crash
-from selfdrive.swaglog import cloudlog
-
-def launcher(proc):
-  try:
-    # import the process
-    mod = importlib.import_module(proc)
-
-    # rename the process
-    setproctitle(proc)
-
-    # create new context since we forked
-    messaging.context = messaging.Context()
-
-    # exec the process
-    mod.main()
-  except KeyboardInterrupt:
-    cloudlog.warning("child %s got SIGINT" % proc)
-  except Exception:
-    # can't install the crash handler becuase sys.excepthook doesn't play nice
-    # with threads, so catch it here.
-    crash.capture_exception()
-    raise
diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore
index 6ea757462e62f8..5268902785092c 100644
--- a/selfdrive/locationd/.gitignore
+++ b/selfdrive/locationd/.gitignore
@@ -1,4 +1,5 @@
 ubloxd
 ubloxd_test
 params_learner
-paramsd
\ No newline at end of file
+paramsd
+locationd
diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript
index fca12d13247b1f..4b7fba19b6c933 100644
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@@ -1,25 +1,22 @@
-Import('env', 'common', 'messaging')
-loc_objs = [
-  "locationd_yawrate.cc",
-  "params_learner.cc",
-  "paramsd.cc"]
-loc_libs = [messaging, 'zmq', common, 'capnp', 'kj', 'json', 'json11', 'pthread']
+Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
 
-env.Program("paramsd", loc_objs, LIBS=loc_libs)
-env.SharedLibrary("locationd", loc_objs, LIBS=loc_libs)
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
 
-env.Program("ubloxd", [
-  "ubloxd.cc",
-  "ublox_msg.cc",
-  "ubloxd_main.cc"],
-  LIBS=loc_libs)
-
-env.Program("ubloxd_test", [
-  "ubloxd_test.cc",
-  "ublox_msg.cc",
-  "ubloxd_main.cc"],
-  LIBS=loc_libs)
-  
+if GetOption('kaitai'):
+  generated = Dir('generated').srcnode().abspath
+  cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
+  env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
+  env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
 
+env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp"], LIBS=loc_libs)
 
+ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc")
+locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
+lenv = env.Clone()
+lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
+locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
+lenv.Depends(locationd, libkf)
 
+if File("liblocationd.cc").exists():
+  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
+  lenv.Depends(liblocationd, libkf)
diff --git a/selfdrive/locationd/calibration_helpers.py b/selfdrive/locationd/calibration_helpers.py
deleted file mode 100644
index f2909007594924..00000000000000
--- a/selfdrive/locationd/calibration_helpers.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import math
-
-class Filter:
-  MIN_SPEED = 7 # m/s  (~15.5mph)
-  MAX_YAW_RATE = math.radians(3) # per second
-
-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index b2b5c18a8834e1..604f4f68d92967 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -1,159 +1,212 @@
 #!/usr/bin/env python3
+'''
+This process finds calibration values. More info on what these calibration values
+are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations
+While the roll calibration is a real value that can be estimated, here we assume it's zero,
+and the image input into the neural network is not corrected for roll.
+'''
 
 import os
 import copy
-import json
 import numpy as np
 import cereal.messaging as messaging
-from selfdrive.locationd.calibration_helpers import Calibration
-from selfdrive.swaglog import cloudlog
+from cereal import log
+from selfdrive.hardware import TICI
 from common.params import Params, put_nonblocking
 from common.transformations.model import model_height
-from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
-                                          get_calib_from_vp, H, W, FOCAL
+from common.transformations.camera import get_view_frame_from_road_frame
+from common.transformations.orientation import rot_from_euler, euler_from_rot
+from selfdrive.config import Conversions as CV
+from selfdrive.swaglog import cloudlog
 
-MPH_TO_MS = 0.44704
-MIN_SPEED_FILTER = 15 * MPH_TO_MS
-MAX_SPEED_STD = 1.5
+MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
+MAX_VEL_ANGLE_STD = np.radians(0.25)
 MAX_YAW_RATE_FILTER = np.radians(2)  # per second
 
-# This is all 20Hz, blocks needed for efficiency
+# This is at model frequency, blocks needed for efficiency
+SMOOTH_CYCLES = 400
 BLOCK_SIZE = 100
-INPUTS_NEEDED = 5   # allow to update VP every so many frames
-INPUTS_WANTED = 20   # We want a little bit more than we need for stability
-WRITE_CYCLES = 10  # write every 1000 cycles
-VP_INIT = np.array([W/2., H/2.])
-
-# These validity corners were chosen by looking at 1000
-# and taking most extreme cases with some margin.
-VP_VALIDITY_CORNERS = np.array([[W//2 - 120, 300], [W//2 + 120, 520]])
+INPUTS_NEEDED = 5   # Minimum blocks needed for valid calibration
+INPUTS_WANTED = 50   # We want a little bit more than we need for stability
+MAX_ALLOWED_SPREAD = np.radians(2)
+RPY_INIT = np.array([0.0,0.0,0.0])
+
+# These values are needed to accommodate biggest modelframe
+PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
+YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
 DEBUG = os.getenv("DEBUG") is not None
 
 
-def is_calibration_valid(vp):
-  return vp[0] > VP_VALIDITY_CORNERS[0,0] and vp[0] < VP_VALIDITY_CORNERS[1,0] and \
-         vp[1] > VP_VALIDITY_CORNERS[0,1] and vp[1] < VP_VALIDITY_CORNERS[1,1]
+class Calibration:
+  UNCALIBRATED = 0
+  CALIBRATED = 1
+  INVALID = 2
 
 
-def sanity_clip(vp):
-  if np.isnan(vp).any():
-    vp = VP_INIT
-  return np.array([np.clip(vp[0], VP_VALIDITY_CORNERS[0,0] - 20, VP_VALIDITY_CORNERS[1,0] + 20),
-                   np.clip(vp[1], VP_VALIDITY_CORNERS[0,1] - 20, VP_VALIDITY_CORNERS[1,1] + 20)])
+def is_calibration_valid(rpy):
+  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
 
 
-def intrinsics_from_vp(vp):
-  return np.array([
-    [FOCAL,   0.,   vp[0]],
-    [  0.,  FOCAL,  vp[1]],
-    [  0.,    0.,     1.]])
+def sanity_clip(rpy):
+  if np.isnan(rpy).any():
+    rpy = RPY_INIT
+  return np.array([rpy[0],
+                   np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005),
+                   np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)])
 
 
 class Calibrator():
   def __init__(self, param_put=False):
     self.param_put = param_put
-    self.vp = copy.copy(VP_INIT)
-    self.vps = np.zeros((INPUTS_WANTED, 2))
-    self.idx = 0
-    self.block_idx = 0
-    self.valid_blocks = 0
-    self.cal_status = Calibration.UNCALIBRATED
-    self.just_calibrated = False
 
-    # Read calibration
-    calibration_params = Params().get("CalibrationParams")
-    if calibration_params:
+    # Read saved calibration
+    params = Params()
+    calibration_params = params.get("CalibrationParams")
+    self.wide_camera = TICI and params.get_bool('EnableWideCamera')
+    rpy_init = RPY_INIT
+    valid_blocks = 0
+
+    if param_put and calibration_params:
       try:
-        calibration_params = json.loads(calibration_params)
-        self.vp = np.array(calibration_params["vanishing_point"])
-        if not np.isfinite(self.vp).all():
-          self.vp = copy.copy(VP_INIT)
-        self.vps = np.tile(self.vp, (INPUTS_WANTED, 1))
-        self.valid_blocks = calibration_params['valid_blocks']
-        if not np.isfinite(self.valid_blocks) or self.valid_blocks < 0:
-          self.valid_blocks = 0
-        self.update_status()
+        msg = log.Event.from_bytes(calibration_params)
+        rpy_init = list(msg.liveCalibration.rpyCalib)
+        valid_blocks = msg.liveCalibration.validBlocks
       except Exception:
-        cloudlog.exception("CalibrationParams file found but error encountered")
+        cloudlog.exception("Error reading cached CalibrationParams")
+
+    self.reset(rpy_init, valid_blocks)
+    self.update_status()
+
+  def reset(self, rpy_init=RPY_INIT, valid_blocks=0, smooth_from=None):
+    if not np.isfinite(rpy_init).all():
+        self.rpy = copy.copy(RPY_INIT)
+    else:
+      self.rpy = rpy_init
+    if not np.isfinite(valid_blocks) or valid_blocks < 0:
+        self.valid_blocks = 0
+    else:
+      self.valid_blocks = valid_blocks
+    self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
+
+    self.idx = 0
+    self.block_idx = 0
+    self.v_ego = 0
+
+    if smooth_from is None:
+      self.old_rpy = RPY_INIT
+      self.old_rpy_weight = 0.0
+    else:
+      self.old_rpy = smooth_from
+      self.old_rpy_weight = 1.0
 
   def update_status(self):
-    start_status = self.cal_status
+    if self.valid_blocks > 0:
+      max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0))
+      min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0))
+      self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
+    else:
+      self.calib_spread = np.zeros(3)
+
     if self.valid_blocks < INPUTS_NEEDED:
       self.cal_status = Calibration.UNCALIBRATED
+    elif is_calibration_valid(self.rpy):
+      self.cal_status = Calibration.CALIBRATED
     else:
-      self.cal_status = Calibration.CALIBRATED if is_calibration_valid(self.vp) else Calibration.INVALID
-    end_status = self.cal_status
+      self.cal_status = Calibration.INVALID
+
+    # If spread is too high, assume mounting was changed and reset to last block.
+    # Make the transition smooth. Abrupt transitions are not good foor feedback loop through supercombo model.
+    if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
+      self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy)
 
-    self.just_calibrated = False
-    if start_status == Calibration.UNCALIBRATED and end_status == Calibration.CALIBRATED:
-      self.just_calibrated = True
+    write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
+    if self.param_put and write_this_cycle:
+      put_nonblocking("CalibrationParams", self.get_msg().to_bytes())
+
+  def handle_v_ego(self, v_ego):
+    self.v_ego = v_ego
+
+  def get_smooth_rpy(self):
+    if self.old_rpy_weight > 0:
+      return self.old_rpy_weight * self.old_rpy + (1.0 - self.old_rpy_weight) * self.rpy
+    else:
+      return self.rpy
 
   def handle_cam_odom(self, trans, rot, trans_std, rot_std):
-    if ((trans[0] > MIN_SPEED_FILTER) and
-        (trans_std[0] < MAX_SPEED_STD) and
-         (abs(rot[2]) < MAX_YAW_RATE_FILTER)):
-      # intrinsics are not eon intrinsics, since this is calibrated frame
-      intrinsics = intrinsics_from_vp(self.vp)
-      new_vp = intrinsics.dot(view_frame_from_device_frame.dot(trans))
-      new_vp = new_vp[:2]/new_vp[2]
-      new_vp = sanity_clip(new_vp)
-
-      self.vps[self.block_idx] = (self.idx*self.vps[self.block_idx] + (BLOCK_SIZE - self.idx) * new_vp) / float(BLOCK_SIZE)
-      self.idx = (self.idx + 1) % BLOCK_SIZE
-      if self.idx == 0:
-        self.block_idx += 1
-        self.valid_blocks = max(self.block_idx, self.valid_blocks)
-        self.block_idx = self.block_idx % INPUTS_WANTED
-      self.vp = np.mean(self.vps[:max(1, self.valid_blocks)], axis=0)
-      self.update_status()
-
-      if self.param_put and ((self.idx == 0 and self.block_idx == 0) or self.just_calibrated):
-        cal_params = {"vanishing_point": list(self.vp),
-                      "valid_blocks": self.valid_blocks}
-        put_nonblocking("CalibrationParams", json.dumps(cal_params).encode('utf8'))
-      return new_vp
+    self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
+
+    straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
+    if self.wide_camera:
+      angle_std_threshold = 4*MAX_VEL_ANGLE_STD
     else:
+      angle_std_threshold = MAX_VEL_ANGLE_STD
+    certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or
+                        (self.valid_blocks < INPUTS_NEEDED))
+    if not (straight_and_fast and certain_if_calib):
       return None
 
-  def send_data(self, pm):
-    calib = get_calib_from_vp(self.vp)
-    extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
-
-    cal_send = messaging.new_message()
-    cal_send.init('liveCalibration')
-    cal_send.liveCalibration.calStatus = self.cal_status
-    cal_send.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
-    cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
-    cal_send.liveCalibration.rpyCalib = [float(x) for x in calib]
+    observed_rpy = np.array([0,
+                             -np.arctan2(trans[2], trans[0]),
+                             np.arctan2(trans[1], trans[0])])
+    new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy)))
+    new_rpy = sanity_clip(new_rpy)
+
+    self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
+    self.idx = (self.idx + 1) % BLOCK_SIZE
+    if self.idx == 0:
+      self.block_idx += 1
+      self.valid_blocks = max(self.block_idx, self.valid_blocks)
+      self.block_idx = self.block_idx % INPUTS_WANTED
+    if self.valid_blocks > 0:
+      self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0)
+
+    self.update_status()
+
+    return new_rpy
+
+  def get_msg(self):
+    smooth_rpy = self.get_smooth_rpy()
+    extrinsic_matrix = get_view_frame_from_road_frame(0, smooth_rpy[1], smooth_rpy[2], model_height)
+
+    msg = messaging.new_message('liveCalibration')
+    msg.liveCalibration.validBlocks = self.valid_blocks
+    msg.liveCalibration.calStatus = self.cal_status
+    msg.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
+    msg.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
+    msg.liveCalibration.rpyCalib = [float(x) for x in smooth_rpy]
+    msg.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread]
+    return msg
 
-    pm.send('liveCalibration', cal_send)
+  def send_data(self, pm):
+    pm.send('liveCalibration', self.get_msg())
 
 
 def calibrationd_thread(sm=None, pm=None):
   if sm is None:
-    sm = messaging.SubMaster(['cameraOdometry'])
+    sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry'])
 
   if pm is None:
     pm = messaging.PubMaster(['liveCalibration'])
 
   calibrator = Calibrator(param_put=True)
 
-  send_counter = 0
   while 1:
-    sm.update()
+    timeout = 0 if sm.frame == -1 else 100
+    sm.update(timeout)
 
     if sm.updated['cameraOdometry']:
-      new_vp = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
-                                          sm['cameraOdometry'].rot,
-                                          sm['cameraOdometry'].transStd,
-                                          sm['cameraOdometry'].rotStd)
-    if DEBUG and new_vp is not None:
-      print('got new vp', new_vp)
-
-    # decimate outputs for efficiency
-    if (send_counter % 5) == 0:
+      calibrator.handle_v_ego(sm['carState'].vEgo)
+      new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
+                                           sm['cameraOdometry'].rot,
+                                           sm['cameraOdometry'].transStd,
+                                           sm['cameraOdometry'].rotStd)
+
+      if DEBUG and new_rpy is not None:
+        print('got new rpy', new_rpy)
+
+    # 4Hz driven by cameraOdometry
+    if sm.frame % 5 == 0:
       calibrator.send_data(pm)
-    send_counter += 1
 
 
 def main(sm=None, pm=None):
diff --git a/selfdrive/locationd/generated/gps.cpp b/selfdrive/locationd/generated/gps.cpp
new file mode 100644
index 00000000000000..9b020735bb0c6b
--- /dev/null
+++ b/selfdrive/locationd/generated/gps.cpp
@@ -0,0 +1,325 @@
+// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+#include "gps.h"
+#include "kaitai/exceptions.h"
+
+gps_t::gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = this;
+    m_tlm = 0;
+    m_how = 0;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void gps_t::_read() {
+    m_tlm = new tlm_t(m__io, this, m__root);
+    m_how = new how_t(m__io, this, m__root);
+    n_body = true;
+    switch (how()->subframe_id()) {
+    case 1: {
+        n_body = false;
+        m_body = new subframe_1_t(m__io, this, m__root);
+        break;
+    }
+    case 2: {
+        n_body = false;
+        m_body = new subframe_2_t(m__io, this, m__root);
+        break;
+    }
+    case 3: {
+        n_body = false;
+        m_body = new subframe_3_t(m__io, this, m__root);
+        break;
+    }
+    case 4: {
+        n_body = false;
+        m_body = new subframe_4_t(m__io, this, m__root);
+        break;
+    }
+    }
+}
+
+gps_t::~gps_t() {
+    _clean_up();
+}
+
+void gps_t::_clean_up() {
+    if (m_tlm) {
+        delete m_tlm; m_tlm = 0;
+    }
+    if (m_how) {
+        delete m_how; m_how = 0;
+    }
+    if (!n_body) {
+        if (m_body) {
+            delete m_body; m_body = 0;
+        }
+    }
+}
+
+gps_t::subframe_1_t::subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    f_af_0 = false;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void gps_t::subframe_1_t::_read() {
+    m_week_no = m__io->read_bits_int_be(10);
+    m_code = m__io->read_bits_int_be(2);
+    m_sv_accuracy = m__io->read_bits_int_be(4);
+    m_sv_health = m__io->read_bits_int_be(6);
+    m_iodc_msb = m__io->read_bits_int_be(2);
+    m_l2_p_data_flag = m__io->read_bits_int_be(1);
+    m_reserved1 = m__io->read_bits_int_be(23);
+    m_reserved2 = m__io->read_bits_int_be(24);
+    m_reserved3 = m__io->read_bits_int_be(24);
+    m_reserved4 = m__io->read_bits_int_be(16);
+    m__io->align_to_byte();
+    m_t_gd = m__io->read_s1();
+    m_iodc_lsb = m__io->read_u1();
+    m_t_oc = m__io->read_u2be();
+    m_af_2 = m__io->read_s1();
+    m_af_1 = m__io->read_s2be();
+    m_af_0_sign = m__io->read_bits_int_be(1);
+    m_af_0_value = m__io->read_bits_int_be(21);
+    m_reserved5 = m__io->read_bits_int_be(2);
+}
+
+gps_t::subframe_1_t::~subframe_1_t() {
+    _clean_up();
+}
+
+void gps_t::subframe_1_t::_clean_up() {
+}
+
+int32_t gps_t::subframe_1_t::af_0() {
+    if (f_af_0)
+        return m_af_0;
+    m_af_0 = ((af_0_sign()) ? ((af_0_value() - (1 << 21))) : (af_0_value()));
+    f_af_0 = true;
+    return m_af_0;
+}
+
+gps_t::subframe_3_t::subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    f_omega_dot = false;
+    f_idot = false;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void gps_t::subframe_3_t::_read() {
+    m_c_ic = m__io->read_s2be();
+    m_omega_0 = m__io->read_s4be();
+    m_c_is = m__io->read_s2be();
+    m_i_0 = m__io->read_s4be();
+    m_c_rc = m__io->read_s2be();
+    m_omega = m__io->read_s4be();
+    m_omega_dot_sign = m__io->read_bits_int_be(1);
+    m_omega_dot_value = m__io->read_bits_int_be(23);
+    m__io->align_to_byte();
+    m_iode = m__io->read_u1();
+    m_idot_sign = m__io->read_bits_int_be(1);
+    m_idot_value = m__io->read_bits_int_be(13);
+    m_reserved = m__io->read_bits_int_be(2);
+}
+
+gps_t::subframe_3_t::~subframe_3_t() {
+    _clean_up();
+}
+
+void gps_t::subframe_3_t::_clean_up() {
+}
+
+int32_t gps_t::subframe_3_t::omega_dot() {
+    if (f_omega_dot)
+        return m_omega_dot;
+    m_omega_dot = ((omega_dot_sign()) ? ((omega_dot_value() - (1 << 23))) : (omega_dot_value()));
+    f_omega_dot = true;
+    return m_omega_dot;
+}
+
+int32_t gps_t::subframe_3_t::idot() {
+    if (f_idot)
+        return m_idot;
+    m_idot = ((idot_sign()) ? ((idot_value() - (1 << 13))) : (idot_value()));
+    f_idot = true;
+    return m_idot;
+}
+
+gps_t::subframe_4_t::subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void gps_t::subframe_4_t::_read() {
+    m_data_id = m__io->read_bits_int_be(2);
+    m_page_id = m__io->read_bits_int_be(6);
+    m__io->align_to_byte();
+    n_body = true;
+    switch (page_id()) {
+    case 56: {
+        n_body = false;
+        m_body = new ionosphere_data_t(m__io, this, m__root);
+        break;
+    }
+    }
+}
+
+gps_t::subframe_4_t::~subframe_4_t() {
+    _clean_up();
+}
+
+void gps_t::subframe_4_t::_clean_up() {
+    if (!n_body) {
+        if (m_body) {
+            delete m_body; m_body = 0;
+        }
+    }
+}
+
+gps_t::subframe_4_t::ionosphere_data_t::ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void gps_t::subframe_4_t::ionosphere_data_t::_read() {
+    m_a0 = m__io->read_s1();
+    m_a1 = m__io->read_s1();
+    m_a2 = m__io->read_s1();
+    m_a3 = m__io->read_s1();
+    m_b0 = m__io->read_s1();
+    m_b1 = m__io->read_s1();
+    m_b2 = m__io->read_s1();
+    m_b3 = m__io->read_s1();
+}
+
+gps_t::subframe_4_t::ionosphere_data_t::~ionosphere_data_t() {
+    _clean_up();
+}
+
+void gps_t::subframe_4_t::ionosphere_data_t::_clean_up() {
+}
+
+gps_t::how_t::how_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void gps_t::how_t::_read() {
+    m_tow_count = m__io->read_bits_int_be(17);
+    m_alert = m__io->read_bits_int_be(1);
+    m_anti_spoof = m__io->read_bits_int_be(1);
+    m_subframe_id = m__io->read_bits_int_be(3);
+    m_reserved = m__io->read_bits_int_be(2);
+}
+
+gps_t::how_t::~how_t() {
+    _clean_up();
+}
+
+void gps_t::how_t::_clean_up() {
+}
+
+gps_t::tlm_t::tlm_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void gps_t::tlm_t::_read() {
+    m_magic = m__io->read_bytes(1);
+    if (!(magic() == std::string("\x8B", 1))) {
+        throw kaitai::validation_not_equal_error<std::string>(std::string("\x8B", 1), magic(), _io(), std::string("/types/tlm/seq/0"));
+    }
+    m_tlm = m__io->read_bits_int_be(14);
+    m_integrity_status = m__io->read_bits_int_be(1);
+    m_reserved = m__io->read_bits_int_be(1);
+}
+
+gps_t::tlm_t::~tlm_t() {
+    _clean_up();
+}
+
+void gps_t::tlm_t::_clean_up() {
+}
+
+gps_t::subframe_2_t::subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void gps_t::subframe_2_t::_read() {
+    m_iode = m__io->read_u1();
+    m_c_rs = m__io->read_s2be();
+    m_delta_n = m__io->read_s2be();
+    m_m_0 = m__io->read_s4be();
+    m_c_uc = m__io->read_s2be();
+    m_e = m__io->read_s4be();
+    m_c_us = m__io->read_s2be();
+    m_sqrt_a = m__io->read_u4be();
+    m_t_oe = m__io->read_u2be();
+    m_fit_interval_flag = m__io->read_bits_int_be(1);
+    m_aoda = m__io->read_bits_int_be(5);
+    m_reserved = m__io->read_bits_int_be(2);
+}
+
+gps_t::subframe_2_t::~subframe_2_t() {
+    _clean_up();
+}
+
+void gps_t::subframe_2_t::_clean_up() {
+}
diff --git a/selfdrive/locationd/generated/gps.h b/selfdrive/locationd/generated/gps.h
new file mode 100644
index 00000000000000..293e2e4a05974a
--- /dev/null
+++ b/selfdrive/locationd/generated/gps.h
@@ -0,0 +1,359 @@
+#ifndef GPS_H_
+#define GPS_H_
+
+// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+#include "kaitai/kaitaistruct.h"
+#include <stdint.h>
+
+#if KAITAI_STRUCT_VERSION < 9000L
+#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required"
+#endif
+
+class gps_t : public kaitai::kstruct {
+
+public:
+    class subframe_1_t;
+    class subframe_3_t;
+    class subframe_4_t;
+    class how_t;
+    class tlm_t;
+    class subframe_2_t;
+
+    gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, gps_t* p__root = 0);
+
+private:
+    void _read();
+    void _clean_up();
+
+public:
+    ~gps_t();
+
+    class subframe_1_t : public kaitai::kstruct {
+
+    public:
+
+        subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~subframe_1_t();
+
+    private:
+        bool f_af_0;
+        int32_t m_af_0;
+
+    public:
+        int32_t af_0();
+
+    private:
+        uint64_t m_week_no;
+        uint64_t m_code;
+        uint64_t m_sv_accuracy;
+        uint64_t m_sv_health;
+        uint64_t m_iodc_msb;
+        bool m_l2_p_data_flag;
+        uint64_t m_reserved1;
+        uint64_t m_reserved2;
+        uint64_t m_reserved3;
+        uint64_t m_reserved4;
+        int8_t m_t_gd;
+        uint8_t m_iodc_lsb;
+        uint16_t m_t_oc;
+        int8_t m_af_2;
+        int16_t m_af_1;
+        bool m_af_0_sign;
+        uint64_t m_af_0_value;
+        uint64_t m_reserved5;
+        gps_t* m__root;
+        gps_t* m__parent;
+
+    public:
+        uint64_t week_no() const { return m_week_no; }
+        uint64_t code() const { return m_code; }
+        uint64_t sv_accuracy() const { return m_sv_accuracy; }
+        uint64_t sv_health() const { return m_sv_health; }
+        uint64_t iodc_msb() const { return m_iodc_msb; }
+        bool l2_p_data_flag() const { return m_l2_p_data_flag; }
+        uint64_t reserved1() const { return m_reserved1; }
+        uint64_t reserved2() const { return m_reserved2; }
+        uint64_t reserved3() const { return m_reserved3; }
+        uint64_t reserved4() const { return m_reserved4; }
+        int8_t t_gd() const { return m_t_gd; }
+        uint8_t iodc_lsb() const { return m_iodc_lsb; }
+        uint16_t t_oc() const { return m_t_oc; }
+        int8_t af_2() const { return m_af_2; }
+        int16_t af_1() const { return m_af_1; }
+        bool af_0_sign() const { return m_af_0_sign; }
+        uint64_t af_0_value() const { return m_af_0_value; }
+        uint64_t reserved5() const { return m_reserved5; }
+        gps_t* _root() const { return m__root; }
+        gps_t* _parent() const { return m__parent; }
+    };
+
+    class subframe_3_t : public kaitai::kstruct {
+
+    public:
+
+        subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~subframe_3_t();
+
+    private:
+        bool f_omega_dot;
+        int32_t m_omega_dot;
+
+    public:
+        int32_t omega_dot();
+
+    private:
+        bool f_idot;
+        int32_t m_idot;
+
+    public:
+        int32_t idot();
+
+    private:
+        int16_t m_c_ic;
+        int32_t m_omega_0;
+        int16_t m_c_is;
+        int32_t m_i_0;
+        int16_t m_c_rc;
+        int32_t m_omega;
+        bool m_omega_dot_sign;
+        uint64_t m_omega_dot_value;
+        uint8_t m_iode;
+        bool m_idot_sign;
+        uint64_t m_idot_value;
+        uint64_t m_reserved;
+        gps_t* m__root;
+        gps_t* m__parent;
+
+    public:
+        int16_t c_ic() const { return m_c_ic; }
+        int32_t omega_0() const { return m_omega_0; }
+        int16_t c_is() const { return m_c_is; }
+        int32_t i_0() const { return m_i_0; }
+        int16_t c_rc() const { return m_c_rc; }
+        int32_t omega() const { return m_omega; }
+        bool omega_dot_sign() const { return m_omega_dot_sign; }
+        uint64_t omega_dot_value() const { return m_omega_dot_value; }
+        uint8_t iode() const { return m_iode; }
+        bool idot_sign() const { return m_idot_sign; }
+        uint64_t idot_value() const { return m_idot_value; }
+        uint64_t reserved() const { return m_reserved; }
+        gps_t* _root() const { return m__root; }
+        gps_t* _parent() const { return m__parent; }
+    };
+
+    class subframe_4_t : public kaitai::kstruct {
+
+    public:
+        class ionosphere_data_t;
+
+        subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~subframe_4_t();
+
+        class ionosphere_data_t : public kaitai::kstruct {
+
+        public:
+
+            ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent = 0, gps_t* p__root = 0);
+
+        private:
+            void _read();
+            void _clean_up();
+
+        public:
+            ~ionosphere_data_t();
+
+        private:
+            int8_t m_a0;
+            int8_t m_a1;
+            int8_t m_a2;
+            int8_t m_a3;
+            int8_t m_b0;
+            int8_t m_b1;
+            int8_t m_b2;
+            int8_t m_b3;
+            gps_t* m__root;
+            gps_t::subframe_4_t* m__parent;
+
+        public:
+            int8_t a0() const { return m_a0; }
+            int8_t a1() const { return m_a1; }
+            int8_t a2() const { return m_a2; }
+            int8_t a3() const { return m_a3; }
+            int8_t b0() const { return m_b0; }
+            int8_t b1() const { return m_b1; }
+            int8_t b2() const { return m_b2; }
+            int8_t b3() const { return m_b3; }
+            gps_t* _root() const { return m__root; }
+            gps_t::subframe_4_t* _parent() const { return m__parent; }
+        };
+
+    private:
+        uint64_t m_data_id;
+        uint64_t m_page_id;
+        ionosphere_data_t* m_body;
+        bool n_body;
+
+    public:
+        bool _is_null_body() { body(); return n_body; };
+
+    private:
+        gps_t* m__root;
+        gps_t* m__parent;
+
+    public:
+        uint64_t data_id() const { return m_data_id; }
+        uint64_t page_id() const { return m_page_id; }
+        ionosphere_data_t* body() const { return m_body; }
+        gps_t* _root() const { return m__root; }
+        gps_t* _parent() const { return m__parent; }
+    };
+
+    class how_t : public kaitai::kstruct {
+
+    public:
+
+        how_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~how_t();
+
+    private:
+        uint64_t m_tow_count;
+        bool m_alert;
+        bool m_anti_spoof;
+        uint64_t m_subframe_id;
+        uint64_t m_reserved;
+        gps_t* m__root;
+        gps_t* m__parent;
+
+    public:
+        uint64_t tow_count() const { return m_tow_count; }
+        bool alert() const { return m_alert; }
+        bool anti_spoof() const { return m_anti_spoof; }
+        uint64_t subframe_id() const { return m_subframe_id; }
+        uint64_t reserved() const { return m_reserved; }
+        gps_t* _root() const { return m__root; }
+        gps_t* _parent() const { return m__parent; }
+    };
+
+    class tlm_t : public kaitai::kstruct {
+
+    public:
+
+        tlm_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~tlm_t();
+
+    private:
+        std::string m_magic;
+        uint64_t m_tlm;
+        bool m_integrity_status;
+        bool m_reserved;
+        gps_t* m__root;
+        gps_t* m__parent;
+
+    public:
+        std::string magic() const { return m_magic; }
+        uint64_t tlm() const { return m_tlm; }
+        bool integrity_status() const { return m_integrity_status; }
+        bool reserved() const { return m_reserved; }
+        gps_t* _root() const { return m__root; }
+        gps_t* _parent() const { return m__parent; }
+    };
+
+    class subframe_2_t : public kaitai::kstruct {
+
+    public:
+
+        subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~subframe_2_t();
+
+    private:
+        uint8_t m_iode;
+        int16_t m_c_rs;
+        int16_t m_delta_n;
+        int32_t m_m_0;
+        int16_t m_c_uc;
+        int32_t m_e;
+        int16_t m_c_us;
+        uint32_t m_sqrt_a;
+        uint16_t m_t_oe;
+        bool m_fit_interval_flag;
+        uint64_t m_aoda;
+        uint64_t m_reserved;
+        gps_t* m__root;
+        gps_t* m__parent;
+
+    public:
+        uint8_t iode() const { return m_iode; }
+        int16_t c_rs() const { return m_c_rs; }
+        int16_t delta_n() const { return m_delta_n; }
+        int32_t m_0() const { return m_m_0; }
+        int16_t c_uc() const { return m_c_uc; }
+        int32_t e() const { return m_e; }
+        int16_t c_us() const { return m_c_us; }
+        uint32_t sqrt_a() const { return m_sqrt_a; }
+        uint16_t t_oe() const { return m_t_oe; }
+        bool fit_interval_flag() const { return m_fit_interval_flag; }
+        uint64_t aoda() const { return m_aoda; }
+        uint64_t reserved() const { return m_reserved; }
+        gps_t* _root() const { return m__root; }
+        gps_t* _parent() const { return m__parent; }
+    };
+
+private:
+    tlm_t* m_tlm;
+    how_t* m_how;
+    kaitai::kstruct* m_body;
+    bool n_body;
+
+public:
+    bool _is_null_body() { body(); return n_body; };
+
+private:
+    gps_t* m__root;
+    kaitai::kstruct* m__parent;
+
+public:
+    tlm_t* tlm() const { return m_tlm; }
+    how_t* how() const { return m_how; }
+    kaitai::kstruct* body() const { return m_body; }
+    gps_t* _root() const { return m__root; }
+    kaitai::kstruct* _parent() const { return m__parent; }
+};
+
+#endif  // GPS_H_
diff --git a/selfdrive/locationd/generated/ubx.cpp b/selfdrive/locationd/generated/ubx.cpp
new file mode 100644
index 00000000000000..5e743e1ee7e95d
--- /dev/null
+++ b/selfdrive/locationd/generated/ubx.cpp
@@ -0,0 +1,340 @@
+// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+#include "ubx.h"
+#include "kaitai/exceptions.h"
+
+ubx_t::ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = this;
+    f_checksum = false;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::_read() {
+    m_magic = m__io->read_bytes(2);
+    if (!(magic() == std::string("\xB5\x62", 2))) {
+        throw kaitai::validation_not_equal_error<std::string>(std::string("\xB5\x62", 2), magic(), _io(), std::string("/seq/0"));
+    }
+    m_msg_type = m__io->read_u2be();
+    m_length = m__io->read_u2le();
+    n_body = true;
+    switch (msg_type()) {
+    case 2569: {
+        n_body = false;
+        m_body = new mon_hw_t(m__io, this, m__root);
+        break;
+    }
+    case 533: {
+        n_body = false;
+        m_body = new rxm_rawx_t(m__io, this, m__root);
+        break;
+    }
+    case 531: {
+        n_body = false;
+        m_body = new rxm_sfrbx_t(m__io, this, m__root);
+        break;
+    }
+    case 2571: {
+        n_body = false;
+        m_body = new mon_hw2_t(m__io, this, m__root);
+        break;
+    }
+    case 263: {
+        n_body = false;
+        m_body = new nav_pvt_t(m__io, this, m__root);
+        break;
+    }
+    }
+}
+
+ubx_t::~ubx_t() {
+    _clean_up();
+}
+
+void ubx_t::_clean_up() {
+    if (!n_body) {
+        if (m_body) {
+            delete m_body; m_body = 0;
+        }
+    }
+    if (f_checksum) {
+    }
+}
+
+ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    m_measurements = 0;
+    m__raw_measurements = 0;
+    m__io__raw_measurements = 0;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::rxm_rawx_t::_read() {
+    m_rcv_tow = m__io->read_f8le();
+    m_week = m__io->read_u2le();
+    m_leap_s = m__io->read_s1();
+    m_num_meas = m__io->read_u1();
+    m_rec_stat = m__io->read_u1();
+    m_reserved1 = m__io->read_bytes(3);
+    int l_measurements = num_meas();
+    m__raw_measurements = new std::vector<std::string>();
+    m__raw_measurements->reserve(l_measurements);
+    m__io__raw_measurements = new std::vector<kaitai::kstream*>();
+    m__io__raw_measurements->reserve(l_measurements);
+    m_measurements = new std::vector<meas_t*>();
+    m_measurements->reserve(l_measurements);
+    for (int i = 0; i < l_measurements; i++) {
+        m__raw_measurements->push_back(m__io->read_bytes(32));
+        kaitai::kstream* io__raw_measurements = new kaitai::kstream(m__raw_measurements->at(m__raw_measurements->size() - 1));
+        m__io__raw_measurements->push_back(io__raw_measurements);
+        m_measurements->push_back(new meas_t(io__raw_measurements, this, m__root));
+    }
+}
+
+ubx_t::rxm_rawx_t::~rxm_rawx_t() {
+    _clean_up();
+}
+
+void ubx_t::rxm_rawx_t::_clean_up() {
+    if (m__raw_measurements) {
+        delete m__raw_measurements; m__raw_measurements = 0;
+    }
+    if (m__io__raw_measurements) {
+        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_measurements->begin(); it != m__io__raw_measurements->end(); ++it) {
+            delete *it;
+        }
+        delete m__io__raw_measurements; m__io__raw_measurements = 0;
+    }
+    if (m_measurements) {
+        for (std::vector<meas_t*>::iterator it = m_measurements->begin(); it != m_measurements->end(); ++it) {
+            delete *it;
+        }
+        delete m_measurements; m_measurements = 0;
+    }
+}
+
+ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::rxm_rawx_t::meas_t::_read() {
+    m_pr_mes = m__io->read_f8le();
+    m_cp_mes = m__io->read_f8le();
+    m_do_mes = m__io->read_f4le();
+    m_gnss_id = static_cast<ubx_t::gnss_type_t>(m__io->read_u1());
+    m_sv_id = m__io->read_u1();
+    m_reserved2 = m__io->read_bytes(1);
+    m_freq_id = m__io->read_u1();
+    m_lock_time = m__io->read_u2le();
+    m_cno = m__io->read_u1();
+    m_pr_stdev = m__io->read_u1();
+    m_cp_stdev = m__io->read_u1();
+    m_do_stdev = m__io->read_u1();
+    m_trk_stat = m__io->read_u1();
+    m_reserved3 = m__io->read_bytes(1);
+}
+
+ubx_t::rxm_rawx_t::meas_t::~meas_t() {
+    _clean_up();
+}
+
+void ubx_t::rxm_rawx_t::meas_t::_clean_up() {
+}
+
+ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    m_body = 0;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::rxm_sfrbx_t::_read() {
+    m_gnss_id = static_cast<ubx_t::gnss_type_t>(m__io->read_u1());
+    m_sv_id = m__io->read_u1();
+    m_reserved1 = m__io->read_bytes(1);
+    m_freq_id = m__io->read_u1();
+    m_num_words = m__io->read_u1();
+    m_reserved2 = m__io->read_bytes(1);
+    m_version = m__io->read_u1();
+    m_reserved3 = m__io->read_bytes(1);
+    int l_body = num_words();
+    m_body = new std::vector<uint32_t>();
+    m_body->reserve(l_body);
+    for (int i = 0; i < l_body; i++) {
+        m_body->push_back(m__io->read_u4le());
+    }
+}
+
+ubx_t::rxm_sfrbx_t::~rxm_sfrbx_t() {
+    _clean_up();
+}
+
+void ubx_t::rxm_sfrbx_t::_clean_up() {
+    if (m_body) {
+        delete m_body; m_body = 0;
+    }
+}
+
+ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::nav_pvt_t::_read() {
+    m_i_tow = m__io->read_u4le();
+    m_year = m__io->read_u2le();
+    m_month = m__io->read_u1();
+    m_day = m__io->read_u1();
+    m_hour = m__io->read_u1();
+    m_min = m__io->read_u1();
+    m_sec = m__io->read_u1();
+    m_valid = m__io->read_u1();
+    m_t_acc = m__io->read_u4le();
+    m_nano = m__io->read_s4le();
+    m_fix_type = m__io->read_u1();
+    m_flags = m__io->read_u1();
+    m_flags2 = m__io->read_u1();
+    m_num_sv = m__io->read_u1();
+    m_lon = m__io->read_s4le();
+    m_lat = m__io->read_s4le();
+    m_height = m__io->read_s4le();
+    m_h_msl = m__io->read_s4le();
+    m_h_acc = m__io->read_u4le();
+    m_v_acc = m__io->read_u4le();
+    m_vel_n = m__io->read_s4le();
+    m_vel_e = m__io->read_s4le();
+    m_vel_d = m__io->read_s4le();
+    m_g_speed = m__io->read_s4le();
+    m_head_mot = m__io->read_s4le();
+    m_s_acc = m__io->read_s4le();
+    m_head_acc = m__io->read_u4le();
+    m_p_dop = m__io->read_u2le();
+    m_flags3 = m__io->read_u1();
+    m_reserved1 = m__io->read_bytes(5);
+    m_head_veh = m__io->read_s4le();
+    m_mag_dec = m__io->read_s2le();
+    m_mag_acc = m__io->read_u2le();
+}
+
+ubx_t::nav_pvt_t::~nav_pvt_t() {
+    _clean_up();
+}
+
+void ubx_t::nav_pvt_t::_clean_up() {
+}
+
+ubx_t::mon_hw2_t::mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::mon_hw2_t::_read() {
+    m_ofs_i = m__io->read_s1();
+    m_mag_i = m__io->read_u1();
+    m_ofs_q = m__io->read_s1();
+    m_mag_q = m__io->read_u1();
+    m_cfg_source = static_cast<ubx_t::mon_hw2_t::config_source_t>(m__io->read_u1());
+    m_reserved1 = m__io->read_bytes(3);
+    m_low_lev_cfg = m__io->read_u4le();
+    m_reserved2 = m__io->read_bytes(8);
+    m_post_status = m__io->read_u4le();
+    m_reserved3 = m__io->read_bytes(4);
+}
+
+ubx_t::mon_hw2_t::~mon_hw2_t() {
+    _clean_up();
+}
+
+void ubx_t::mon_hw2_t::_clean_up() {
+}
+
+ubx_t::mon_hw_t::mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::mon_hw_t::_read() {
+    m_pin_sel = m__io->read_u4le();
+    m_pin_bank = m__io->read_u4le();
+    m_pin_dir = m__io->read_u4le();
+    m_pin_val = m__io->read_u4le();
+    m_noise_per_ms = m__io->read_u2le();
+    m_agc_cnt = m__io->read_u2le();
+    m_a_status = static_cast<ubx_t::mon_hw_t::antenna_status_t>(m__io->read_u1());
+    m_a_power = static_cast<ubx_t::mon_hw_t::antenna_power_t>(m__io->read_u1());
+    m_flags = m__io->read_u1();
+    m_reserved1 = m__io->read_bytes(1);
+    m_used_mask = m__io->read_u4le();
+    m_vp = m__io->read_bytes(17);
+    m_jam_ind = m__io->read_u1();
+    m_reserved2 = m__io->read_bytes(2);
+    m_pin_irq = m__io->read_u4le();
+    m_pull_h = m__io->read_u4le();
+    m_pull_l = m__io->read_u4le();
+}
+
+ubx_t::mon_hw_t::~mon_hw_t() {
+    _clean_up();
+}
+
+void ubx_t::mon_hw_t::_clean_up() {
+}
+
+uint16_t ubx_t::checksum() {
+    if (f_checksum)
+        return m_checksum;
+    std::streampos _pos = m__io->pos();
+    m__io->seek((length() + 6));
+    m_checksum = m__io->read_u2le();
+    m__io->seek(_pos);
+    f_checksum = true;
+    return m_checksum;
+}
diff --git a/selfdrive/locationd/generated/ubx.h b/selfdrive/locationd/generated/ubx.h
new file mode 100644
index 00000000000000..6be4ce8c4b7c66
--- /dev/null
+++ b/selfdrive/locationd/generated/ubx.h
@@ -0,0 +1,410 @@
+#ifndef UBX_H_
+#define UBX_H_
+
+// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+#include "kaitai/kaitaistruct.h"
+#include <stdint.h>
+#include <vector>
+
+#if KAITAI_STRUCT_VERSION < 9000L
+#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required"
+#endif
+
+class ubx_t : public kaitai::kstruct {
+
+public:
+    class rxm_rawx_t;
+    class rxm_sfrbx_t;
+    class nav_pvt_t;
+    class mon_hw2_t;
+    class mon_hw_t;
+
+    enum gnss_type_t {
+        GNSS_TYPE_GPS = 0,
+        GNSS_TYPE_SBAS = 1,
+        GNSS_TYPE_GALILEO = 2,
+        GNSS_TYPE_BEIDOU = 3,
+        GNSS_TYPE_IMES = 4,
+        GNSS_TYPE_QZSS = 5,
+        GNSS_TYPE_GLONASS = 6
+    };
+
+    ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, ubx_t* p__root = 0);
+
+private:
+    void _read();
+    void _clean_up();
+
+public:
+    ~ubx_t();
+
+    class rxm_rawx_t : public kaitai::kstruct {
+
+    public:
+        class meas_t;
+
+        rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~rxm_rawx_t();
+
+        class meas_t : public kaitai::kstruct {
+
+        public:
+
+            meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0);
+
+        private:
+            void _read();
+            void _clean_up();
+
+        public:
+            ~meas_t();
+
+        private:
+            double m_pr_mes;
+            double m_cp_mes;
+            float m_do_mes;
+            gnss_type_t m_gnss_id;
+            uint8_t m_sv_id;
+            std::string m_reserved2;
+            uint8_t m_freq_id;
+            uint16_t m_lock_time;
+            uint8_t m_cno;
+            uint8_t m_pr_stdev;
+            uint8_t m_cp_stdev;
+            uint8_t m_do_stdev;
+            uint8_t m_trk_stat;
+            std::string m_reserved3;
+            ubx_t* m__root;
+            ubx_t::rxm_rawx_t* m__parent;
+
+        public:
+            double pr_mes() const { return m_pr_mes; }
+            double cp_mes() const { return m_cp_mes; }
+            float do_mes() const { return m_do_mes; }
+            gnss_type_t gnss_id() const { return m_gnss_id; }
+            uint8_t sv_id() const { return m_sv_id; }
+            std::string reserved2() const { return m_reserved2; }
+            uint8_t freq_id() const { return m_freq_id; }
+            uint16_t lock_time() const { return m_lock_time; }
+            uint8_t cno() const { return m_cno; }
+            uint8_t pr_stdev() const { return m_pr_stdev; }
+            uint8_t cp_stdev() const { return m_cp_stdev; }
+            uint8_t do_stdev() const { return m_do_stdev; }
+            uint8_t trk_stat() const { return m_trk_stat; }
+            std::string reserved3() const { return m_reserved3; }
+            ubx_t* _root() const { return m__root; }
+            ubx_t::rxm_rawx_t* _parent() const { return m__parent; }
+        };
+
+    private:
+        double m_rcv_tow;
+        uint16_t m_week;
+        int8_t m_leap_s;
+        uint8_t m_num_meas;
+        uint8_t m_rec_stat;
+        std::string m_reserved1;
+        std::vector<meas_t*>* m_measurements;
+        ubx_t* m__root;
+        ubx_t* m__parent;
+        std::vector<std::string>* m__raw_measurements;
+        std::vector<kaitai::kstream*>* m__io__raw_measurements;
+
+    public:
+        double rcv_tow() const { return m_rcv_tow; }
+        uint16_t week() const { return m_week; }
+        int8_t leap_s() const { return m_leap_s; }
+        uint8_t num_meas() const { return m_num_meas; }
+        uint8_t rec_stat() const { return m_rec_stat; }
+        std::string reserved1() const { return m_reserved1; }
+        std::vector<meas_t*>* measurements() const { return m_measurements; }
+        ubx_t* _root() const { return m__root; }
+        ubx_t* _parent() const { return m__parent; }
+        std::vector<std::string>* _raw_measurements() const { return m__raw_measurements; }
+        std::vector<kaitai::kstream*>* _io__raw_measurements() const { return m__io__raw_measurements; }
+    };
+
+    class rxm_sfrbx_t : public kaitai::kstruct {
+
+    public:
+
+        rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~rxm_sfrbx_t();
+
+    private:
+        gnss_type_t m_gnss_id;
+        uint8_t m_sv_id;
+        std::string m_reserved1;
+        uint8_t m_freq_id;
+        uint8_t m_num_words;
+        std::string m_reserved2;
+        uint8_t m_version;
+        std::string m_reserved3;
+        std::vector<uint32_t>* m_body;
+        ubx_t* m__root;
+        ubx_t* m__parent;
+
+    public:
+        gnss_type_t gnss_id() const { return m_gnss_id; }
+        uint8_t sv_id() const { return m_sv_id; }
+        std::string reserved1() const { return m_reserved1; }
+        uint8_t freq_id() const { return m_freq_id; }
+        uint8_t num_words() const { return m_num_words; }
+        std::string reserved2() const { return m_reserved2; }
+        uint8_t version() const { return m_version; }
+        std::string reserved3() const { return m_reserved3; }
+        std::vector<uint32_t>* body() const { return m_body; }
+        ubx_t* _root() const { return m__root; }
+        ubx_t* _parent() const { return m__parent; }
+    };
+
+    class nav_pvt_t : public kaitai::kstruct {
+
+    public:
+
+        nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~nav_pvt_t();
+
+    private:
+        uint32_t m_i_tow;
+        uint16_t m_year;
+        uint8_t m_month;
+        uint8_t m_day;
+        uint8_t m_hour;
+        uint8_t m_min;
+        uint8_t m_sec;
+        uint8_t m_valid;
+        uint32_t m_t_acc;
+        int32_t m_nano;
+        uint8_t m_fix_type;
+        uint8_t m_flags;
+        uint8_t m_flags2;
+        uint8_t m_num_sv;
+        int32_t m_lon;
+        int32_t m_lat;
+        int32_t m_height;
+        int32_t m_h_msl;
+        uint32_t m_h_acc;
+        uint32_t m_v_acc;
+        int32_t m_vel_n;
+        int32_t m_vel_e;
+        int32_t m_vel_d;
+        int32_t m_g_speed;
+        int32_t m_head_mot;
+        int32_t m_s_acc;
+        uint32_t m_head_acc;
+        uint16_t m_p_dop;
+        uint8_t m_flags3;
+        std::string m_reserved1;
+        int32_t m_head_veh;
+        int16_t m_mag_dec;
+        uint16_t m_mag_acc;
+        ubx_t* m__root;
+        ubx_t* m__parent;
+
+    public:
+        uint32_t i_tow() const { return m_i_tow; }
+        uint16_t year() const { return m_year; }
+        uint8_t month() const { return m_month; }
+        uint8_t day() const { return m_day; }
+        uint8_t hour() const { return m_hour; }
+        uint8_t min() const { return m_min; }
+        uint8_t sec() const { return m_sec; }
+        uint8_t valid() const { return m_valid; }
+        uint32_t t_acc() const { return m_t_acc; }
+        int32_t nano() const { return m_nano; }
+        uint8_t fix_type() const { return m_fix_type; }
+        uint8_t flags() const { return m_flags; }
+        uint8_t flags2() const { return m_flags2; }
+        uint8_t num_sv() const { return m_num_sv; }
+        int32_t lon() const { return m_lon; }
+        int32_t lat() const { return m_lat; }
+        int32_t height() const { return m_height; }
+        int32_t h_msl() const { return m_h_msl; }
+        uint32_t h_acc() const { return m_h_acc; }
+        uint32_t v_acc() const { return m_v_acc; }
+        int32_t vel_n() const { return m_vel_n; }
+        int32_t vel_e() const { return m_vel_e; }
+        int32_t vel_d() const { return m_vel_d; }
+        int32_t g_speed() const { return m_g_speed; }
+        int32_t head_mot() const { return m_head_mot; }
+        int32_t s_acc() const { return m_s_acc; }
+        uint32_t head_acc() const { return m_head_acc; }
+        uint16_t p_dop() const { return m_p_dop; }
+        uint8_t flags3() const { return m_flags3; }
+        std::string reserved1() const { return m_reserved1; }
+        int32_t head_veh() const { return m_head_veh; }
+        int16_t mag_dec() const { return m_mag_dec; }
+        uint16_t mag_acc() const { return m_mag_acc; }
+        ubx_t* _root() const { return m__root; }
+        ubx_t* _parent() const { return m__parent; }
+    };
+
+    class mon_hw2_t : public kaitai::kstruct {
+
+    public:
+
+        enum config_source_t {
+            CONFIG_SOURCE_FLASH = 102,
+            CONFIG_SOURCE_OTP = 111,
+            CONFIG_SOURCE_CONFIG_PINS = 112,
+            CONFIG_SOURCE_ROM = 113
+        };
+
+        mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~mon_hw2_t();
+
+    private:
+        int8_t m_ofs_i;
+        uint8_t m_mag_i;
+        int8_t m_ofs_q;
+        uint8_t m_mag_q;
+        config_source_t m_cfg_source;
+        std::string m_reserved1;
+        uint32_t m_low_lev_cfg;
+        std::string m_reserved2;
+        uint32_t m_post_status;
+        std::string m_reserved3;
+        ubx_t* m__root;
+        ubx_t* m__parent;
+
+    public:
+        int8_t ofs_i() const { return m_ofs_i; }
+        uint8_t mag_i() const { return m_mag_i; }
+        int8_t ofs_q() const { return m_ofs_q; }
+        uint8_t mag_q() const { return m_mag_q; }
+        config_source_t cfg_source() const { return m_cfg_source; }
+        std::string reserved1() const { return m_reserved1; }
+        uint32_t low_lev_cfg() const { return m_low_lev_cfg; }
+        std::string reserved2() const { return m_reserved2; }
+        uint32_t post_status() const { return m_post_status; }
+        std::string reserved3() const { return m_reserved3; }
+        ubx_t* _root() const { return m__root; }
+        ubx_t* _parent() const { return m__parent; }
+    };
+
+    class mon_hw_t : public kaitai::kstruct {
+
+    public:
+
+        enum antenna_status_t {
+            ANTENNA_STATUS_INIT = 0,
+            ANTENNA_STATUS_DONTKNOW = 1,
+            ANTENNA_STATUS_OK = 2,
+            ANTENNA_STATUS_SHORT = 3,
+            ANTENNA_STATUS_OPEN = 4
+        };
+
+        enum antenna_power_t {
+            ANTENNA_POWER_FALSE = 0,
+            ANTENNA_POWER_TRUE = 1,
+            ANTENNA_POWER_DONTKNOW = 2
+        };
+
+        mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~mon_hw_t();
+
+    private:
+        uint32_t m_pin_sel;
+        uint32_t m_pin_bank;
+        uint32_t m_pin_dir;
+        uint32_t m_pin_val;
+        uint16_t m_noise_per_ms;
+        uint16_t m_agc_cnt;
+        antenna_status_t m_a_status;
+        antenna_power_t m_a_power;
+        uint8_t m_flags;
+        std::string m_reserved1;
+        uint32_t m_used_mask;
+        std::string m_vp;
+        uint8_t m_jam_ind;
+        std::string m_reserved2;
+        uint32_t m_pin_irq;
+        uint32_t m_pull_h;
+        uint32_t m_pull_l;
+        ubx_t* m__root;
+        ubx_t* m__parent;
+
+    public:
+        uint32_t pin_sel() const { return m_pin_sel; }
+        uint32_t pin_bank() const { return m_pin_bank; }
+        uint32_t pin_dir() const { return m_pin_dir; }
+        uint32_t pin_val() const { return m_pin_val; }
+        uint16_t noise_per_ms() const { return m_noise_per_ms; }
+        uint16_t agc_cnt() const { return m_agc_cnt; }
+        antenna_status_t a_status() const { return m_a_status; }
+        antenna_power_t a_power() const { return m_a_power; }
+        uint8_t flags() const { return m_flags; }
+        std::string reserved1() const { return m_reserved1; }
+        uint32_t used_mask() const { return m_used_mask; }
+        std::string vp() const { return m_vp; }
+        uint8_t jam_ind() const { return m_jam_ind; }
+        std::string reserved2() const { return m_reserved2; }
+        uint32_t pin_irq() const { return m_pin_irq; }
+        uint32_t pull_h() const { return m_pull_h; }
+        uint32_t pull_l() const { return m_pull_l; }
+        ubx_t* _root() const { return m__root; }
+        ubx_t* _parent() const { return m__parent; }
+    };
+
+private:
+    bool f_checksum;
+    uint16_t m_checksum;
+
+public:
+    uint16_t checksum();
+
+private:
+    std::string m_magic;
+    uint16_t m_msg_type;
+    uint16_t m_length;
+    kaitai::kstruct* m_body;
+    bool n_body;
+
+public:
+    bool _is_null_body() { body(); return n_body; };
+
+private:
+    ubx_t* m__root;
+    kaitai::kstruct* m__parent;
+
+public:
+    std::string magic() const { return m_magic; }
+    uint16_t msg_type() const { return m_msg_type; }
+    uint16_t length() const { return m_length; }
+    kaitai::kstruct* body() const { return m_body; }
+    ubx_t* _root() const { return m__root; }
+    kaitai::kstruct* _parent() const { return m__parent; }
+};
+
+#endif  // UBX_H_
diff --git a/selfdrive/locationd/kalman/README.md b/selfdrive/locationd/kalman/README.md
deleted file mode 100644
index 4c4ebd59ce9b03..00000000000000
--- a/selfdrive/locationd/kalman/README.md
+++ /dev/null
@@ -1,52 +0,0 @@
-# Kalman filter library
-
-## Introduction
-The kalman filter framework described here is an incredibly powerful tool for any optimization problem,
-but particularly for visual odometry, sensor fusion localization or SLAM. It is designed to provide very
-accurate results, work online or offline, be fairly computationally efficient, be easy to design filters with in
-python.
-
-## Feature walkthrough
-
-### Extended Kalman Filter with symbolic Jacobian computation
-Most dynamic systems can be described as a Hidden Markov Process. To estimate the state of such a system with noisy
-measurements one can use a Recursive Bayesian estimator. For a linear Markov Process a regular linear Kalman filter is optimal.
-Unfortunately, a lot of systems are non-linear. Extended Kalman Filters can model systems by linearizing the non-linear
-system at every step, this provides a close to optimal estimator when the linearization is good enough. If the linearization
-introduces too much noise, one can use an Iterated Extended Kalman Filter, Unscented Kalman Filter or a Particle Filter. For
-most applications those estimators are overkill and introduce too much complexity and require a lot of additional compute.
-
-Conventionally Extended Kalman Filters are implemented by writing the system's dynamic equations and then manually symbolically 
-calculating the Jacobians for the linearization. For complex systems this is time consuming and very prone to calculation errors.
-This library symbolically computes the Jacobians using sympy to simplify the system's definition and remove the possiblity of introducing calculation errors.
-
-### Error State Kalman Filter
-3D localization algorithms ussually also require estimating orientation of an object in 3D. Orientation is generally represented
-with euler angles or quaternions. 
-
-Euler angles have several problems, there are mulitple ways to represent the same orientation,
-gimbal lock can cause the loss of a degree of freedom and lastly their behaviour is very non-linear when errors are large. 
-Quaternions with one strictly positive dimension don't suffer from these issues, but have another set of problems.
-Quaternions need to be normalized otherwise they will grow unbounded, this is cannot be cleanly enforced in a kalman filter.
-Most importantly though a quaternion has 4 dimensions, but only represents 3 degrees of freedom, so there is one redundant dimension.
-
-Kalman filters are designed to minimize the error of the system's state. It is possible to have a kalman filter where state and the error of the state are represented in a different space. As long as there is an error function that can compute the error based on the true state and estimated state. It is problematic to have redundant dimensions in the error of the kalman filter, but not in the state. A good compromise then, is to use the quaternion to represent the system's attitude state and use euler angles to describe the error in attitude. This library supports and defining an arbitrary error that is in  a different space than the state. [Joan Solà](https://arxiv.org/abs/1711.02508) has written a comprehensive description of using ESKFs for robust 3D orientation estimation.
-
-### Multi-State Constraint Kalman Filter
-How do you integrate feature-based visual odometry with a Kalman filter? The problem is that one cannot write an observation equation for 2D feature observations in image space for a localization kalman filter. One needs to give the feature observation a depth so it has a 3D position, then one can write an obvervation equation in the kalman filter. This is possible by tracking the feature across frames and then estimating the depth. However, the solution is not that simple, the depth estimated by tracking the feature across frames depends on the location of the camera at those frames, and thus the state of the kalman filter. This creates a positive feedback loop where the kalman filter wrongly gains confidence in it's position because the feature position updates reinforce it.
-
-The solution is to use an [MSCKF](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.437.1085&rep=rep1&type=pdf), which this library fully supports.
-
-### Rauch–Tung–Striebel smoothing
-When doing offline estimation with a kalman filter there can be an initialization period where states are badly estimated. 
-Global estimators don't suffer from this, to make our kalman filter competitive with global optimizers we can run the filter
-backwards using an RTS smoother. Those combined with potentially multiple forward and backwards passes of the data should make
-performance very close to global optimization.
-
-### Mahalanobis distance outlier rejector
-A lot of measurements do not come from a Gaussian distribution and as such have outliers that do not fit the statistical model
-of the Kalman filter. This can cause a lot of performance issues if not dealt with. This library allows the use of a mahalanobis
-distance statistical test on the incoming measurements to deal with this. Note that good initialization is critical to prevent
-good measurements from being rejected.
-
-
diff --git a/selfdrive/locationd/kalman/SConscript b/selfdrive/locationd/kalman/SConscript
deleted file mode 100644
index 2a67ad64fe6f42..00000000000000
--- a/selfdrive/locationd/kalman/SConscript
+++ /dev/null
@@ -1,31 +0,0 @@
-Import('env')
-
-templates = Glob('templates/*')
-sympy_helpers = "helpers/sympy_helpers.py"
-ekf_sym = "helpers/ekf_sym.py"
-
-to_build = {
-    'pos_computer_4': 'helpers/lst_sq_computer.py',
-    'pos_computer_5': 'helpers/lst_sq_computer.py',
-    'feature_handler_5': 'helpers/feature_handler.py',
-    'gnss': 'models/gnss_kf.py',
-    'loc_4': 'models/loc_kf.py',
-    'live': 'models/live_kf.py',
-    'lane': '#xx/pipeline/lib/ekf/lane_kf.py',
-}
-
-found = {}
-
-for target, command in to_build.items():
-    if File(command).exists():
-        found[target] = command
-
-for target, command in found.items():
-    target_files = File([f'generated/{target}.cpp', f'generated/{target}.h'])
-    command_file = File(command)
-    env.Command(target_files,
-                [templates, command_file, sympy_helpers, ekf_sym],
-                command_file.get_abspath()+" "+target
-    )
-
-    env.SharedLibrary('generated/' + target, target_files[0])
diff --git a/selfdrive/locationd/kalman/helpers/__init__.py b/selfdrive/locationd/kalman/helpers/__init__.py
deleted file mode 100644
index 5ac7fb3f289700..00000000000000
--- a/selfdrive/locationd/kalman/helpers/__init__.py
+++ /dev/null
@@ -1,191 +0,0 @@
-import numpy as np
-import os
-from bisect import bisect
-from tqdm import tqdm
-from cffi import FFI
-
-TEMPLATE_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'templates'))
-GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'generated'))
-
-
-def write_code(name, code, header):
-  if not os.path.exists(GENERATED_DIR):
-    os.mkdir(GENERATED_DIR)
-
-  open(os.path.join(GENERATED_DIR, f"{name}.cpp"), 'w').write(code)
-  open(os.path.join(GENERATED_DIR, f"{name}.h"), 'w').write(header)
-
-
-def load_code(name):
-  shared_fn = os.path.join(GENERATED_DIR, f"lib{name}.so")
-  header_fn = os.path.join(GENERATED_DIR, f"{name}.h")
-  header = open(header_fn).read()
-
-  ffi = FFI()
-  ffi.cdef(header)
-  return (ffi, ffi.dlopen(shared_fn))
-
-
-class KalmanError(Exception):
-  pass
-
-
-class ObservationKind():
-  UNKNOWN = 0
-  NO_OBSERVATION = 1
-  GPS_NED = 2
-  ODOMETRIC_SPEED = 3
-  PHONE_GYRO = 4
-  GPS_VEL = 5
-  PSEUDORANGE_GPS = 6
-  PSEUDORANGE_RATE_GPS = 7
-  SPEED = 8
-  NO_ROT = 9
-  PHONE_ACCEL = 10
-  ORB_POINT = 11
-  ECEF_POS = 12
-  CAMERA_ODO_TRANSLATION = 13
-  CAMERA_ODO_ROTATION = 14
-  ORB_FEATURES = 15
-  MSCKF_TEST = 16
-  FEATURE_TRACK_TEST = 17
-  LANE_PT = 18
-  IMU_FRAME = 19
-  PSEUDORANGE_GLONASS = 20
-  PSEUDORANGE_RATE_GLONASS = 21
-  PSEUDORANGE = 22
-  PSEUDORANGE_RATE = 23
-
-  names = ['Unknown',
-           'No observation',
-           'GPS NED',
-           'Odometric speed',
-           'Phone gyro',
-           'GPS velocity',
-           'GPS pseudorange',
-           'GPS pseudorange rate',
-           'Speed',
-           'No rotation',
-           'Phone acceleration',
-           'ORB point',
-           'ECEF pos',
-           'camera odometric translation',
-           'camera odometric rotation',
-           'ORB features',
-           'MSCKF test',
-           'Feature track test',
-           'Lane ecef point',
-           'imu frame eulers',
-           'GLONASS pseudorange',
-           'GLONASS pseudorange rate']
-
-  @classmethod
-  def to_string(cls, kind):
-    return cls.names[kind]
-
-
-
-SAT_OBS = [ObservationKind.PSEUDORANGE_GPS,
-           ObservationKind.PSEUDORANGE_RATE_GPS,
-           ObservationKind.PSEUDORANGE_GLONASS,
-           ObservationKind.PSEUDORANGE_RATE_GLONASS]
-
-
-def run_car_ekf_offline(kf, observations_by_kind):
-  from laika.raw_gnss import GNSSMeasurement
-  observations = []
-  # create list of observations with element format: [kind, time, data]
-  for kind in observations_by_kind:
-    for t, data in zip(observations_by_kind[kind][0], observations_by_kind[kind][1]):
-      observations.append([t, kind, data])
-  observations.sort(key=lambda obs: obs[0])
-
-  times, estimates = run_observations_through_filter(kf, observations)
-
-  forward_states = np.stack(e[1] for e in estimates)
-  forward_covs = np.stack(e[3] for e in estimates)
-  smoothed_states, smoothed_covs = kf.rts_smooth(estimates)
-
-  observations_dict = {}
-  # TODO assuming observations and estimates
-  # are same length may not work with VO
-  for e in estimates:
-    t = e[4]
-    kind = str(int(e[5]))
-    res = e[6]
-    z = e[7]
-    ea = e[8]
-    if len(z) == 0:
-      continue
-    if kind not in observations_dict:
-      observations_dict[kind] = {}
-      observations_dict[kind]['t'] = np.array(len(z)*[t])
-      observations_dict[kind]['z'] = np.array(z)
-      observations_dict[kind]['ea'] = np.array(ea)
-      observations_dict[kind]['residual'] = np.array(res)
-    else:
-      observations_dict[kind]['t'] = np.append(observations_dict[kind]['t'], np.array(len(z)*[t]))
-      observations_dict[kind]['z'] = np.vstack((observations_dict[kind]['z'], np.array(z)))
-      observations_dict[kind]['ea'] = np.vstack((observations_dict[kind]['ea'], np.array(ea)))
-      observations_dict[kind]['residual'] = np.vstack((observations_dict[kind]['residual'], np.array(res)))
-
-  # add svIds to gnss data
-  for kind in map(str, SAT_OBS):
-    if int(kind) in observations_by_kind and kind in observations_dict:
-      observations_dict[kind]['svIds'] = np.array([])
-      observations_dict[kind]['CNO'] = np.array([])
-      observations_dict[kind]['std'] = np.array([])
-      for obs in observations_by_kind[int(kind)][1]:
-        observations_dict[kind]['svIds'] = np.append(observations_dict[kind]['svIds'],
-                                                     np.array([obs[:,GNSSMeasurement.PRN]]))
-        observations_dict[kind]['std'] = np.append(observations_dict[kind]['std'],
-                                                   np.array([obs[:,GNSSMeasurement.PR_STD]]))
-  return smoothed_states, smoothed_covs, forward_states, forward_covs, times, observations_dict
-
-
-def run_observations_through_filter(kf, observations, filter_time=None):
-  estimates = []
-
-  for obs in tqdm(observations):
-    t = obs[0]
-    kind = obs[1]
-    data = obs[2]
-    estimates.append(kf.predict_and_observe(t, kind, data))
-  times = [x[4] for x in estimates]
-  return times, estimates
-
-
-def save_residuals_plot(obs, save_path, data_name):
-  import matplotlib.pyplot as plt
-  import mpld3  # pylint: disable=import-error
-  fig = plt.figure(figsize=(10,20))
-  fig.suptitle('Residuals of ' + data_name, fontsize=24)
-  n = len(list(obs.keys()))
-  start_times = [obs[kind]['t'][0] for kind in obs]
-  start_time = min(start_times)
-  xlims = [start_time + 3, start_time + 60]
-
-  for i, kind in enumerate(obs):
-    ax = fig.add_subplot(n, 1, i+1)
-    ax.set_xlim(xlims)
-    t = obs[kind]['t']
-    res = obs[kind]['residual']
-    start_idx = bisect(t, xlims[0])
-    if len(res) == start_idx:
-      continue
-    ylim = max(np.linalg.norm(res[start_idx:], axis=1))
-    ax.set_ylim([-ylim, ylim])
-    if int(kind) in SAT_OBS:
-      svIds = obs[kind]['svIds']
-      for svId in set(svIds):
-        svId_idx = (svIds == svId)
-        t = obs[kind]['t'][svId_idx]
-        res = obs[kind]['residual'][svId_idx]
-        ax.plot(t, res, label='SV ' + str(int(svId)))
-        ax.legend(loc='right')
-    else:
-      ax.plot(t, res)
-    plt.title('Residual of kind ' + ObservationKind.to_string(int(kind)), fontsize=20)
-  plt.tight_layout()
-  os.makedirs(save_path)
-  mpld3.save_html(fig, save_path + 'residuals_plot.html')
diff --git a/selfdrive/locationd/kalman/helpers/ekf_sym.py b/selfdrive/locationd/kalman/helpers/ekf_sym.py
deleted file mode 100644
index 98d4a87b178fba..00000000000000
--- a/selfdrive/locationd/kalman/helpers/ekf_sym.py
+++ /dev/null
@@ -1,563 +0,0 @@
-import os
-from bisect import bisect_right
-
-import numpy as np
-import sympy as sp
-from numpy import dot
-
-from selfdrive.locationd.kalman.helpers.sympy_helpers import sympy_into_c
-from selfdrive.locationd.kalman.helpers import (TEMPLATE_DIR, load_code,
-                                                write_code)
-
-from selfdrive.locationd.kalman.helpers.chi2_lookup import chi2_ppf
-
-
-def solve(a, b):
-  if a.shape[0] == 1 and a.shape[1] == 1:
-    return b / a[0][0]
-  else:
-    return np.linalg.solve(a, b)
-
-
-def null(H, eps=1e-12):
-  u, s, vh = np.linalg.svd(H)
-  padding = max(0, np.shape(H)[1] - np.shape(s)[0])
-  null_mask = np.concatenate(((s <= eps), np.ones((padding,), dtype=bool)), axis=0)
-  null_space = np.compress(null_mask, vh, axis=0)
-  return np.transpose(null_space)
-
-
-def gen_code(name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_params=None, msckf_params=None, maha_test_kinds=[]):
-  # optional state transition matrix, H modifier
-  # and err_function if an error-state kalman filter (ESKF)
-  # is desired. Best described in "Quaternion kinematics
-  # for the error-state Kalman filter" by Joan Sola
-
-  if eskf_params:
-    err_eqs = eskf_params[0]
-    inv_err_eqs = eskf_params[1]
-    H_mod_sym = eskf_params[2]
-    f_err_sym = eskf_params[3]
-    x_err_sym = eskf_params[4]
-  else:
-    nom_x = sp.MatrixSymbol('nom_x', dim_x, 1)
-    true_x = sp.MatrixSymbol('true_x', dim_x, 1)
-    delta_x = sp.MatrixSymbol('delta_x', dim_x, 1)
-    err_function_sym = sp.Matrix(nom_x + delta_x)
-    inv_err_function_sym = sp.Matrix(true_x - nom_x)
-    err_eqs = [err_function_sym, nom_x, delta_x]
-    inv_err_eqs = [inv_err_function_sym, nom_x, true_x]
-
-    H_mod_sym = sp.Matrix(np.eye(dim_x))
-    f_err_sym = f_sym
-    x_err_sym = x_sym
-
-  # This configures the multi-state augmentation
-  # needed for EKF-SLAM with MSCKF (Mourikis et al 2007)
-  if msckf_params:
-    msckf = True
-    dim_main = msckf_params[0]      # size of the main state
-    dim_augment = msckf_params[1]   # size of one augment state chunk
-    dim_main_err = msckf_params[2]
-    dim_augment_err = msckf_params[3]
-    N = msckf_params[4]
-    feature_track_kinds = msckf_params[5]
-    assert dim_main + dim_augment * N == dim_x
-    assert dim_main_err + dim_augment_err * N == dim_err
-  else:
-    msckf = False
-    dim_main = dim_x
-    dim_augment = 0
-    dim_main_err = dim_err
-    dim_augment_err = 0
-    N = 0
-
-  # linearize with jacobians
-  F_sym = f_err_sym.jacobian(x_err_sym)
-  for sym in x_err_sym:
-    F_sym = F_sym.subs(sym, 0)
-  for i in range(len(obs_eqs)):
-    obs_eqs[i].append(obs_eqs[i][0].jacobian(x_sym))
-    if msckf and obs_eqs[i][1] in feature_track_kinds:
-      obs_eqs[i].append(obs_eqs[i][0].jacobian(obs_eqs[i][2]))
-    else:
-      obs_eqs[i].append(None)
-
-  # collect sympy functions
-  sympy_functions = []
-
-  # error functions
-  sympy_functions.append(('err_fun', err_eqs[0], [err_eqs[1], err_eqs[2]]))
-  sympy_functions.append(('inv_err_fun', inv_err_eqs[0], [inv_err_eqs[1], inv_err_eqs[2]]))
-
-  # H modifier for ESKF updates
-  sympy_functions.append(('H_mod_fun', H_mod_sym, [x_sym]))
-
-  # state propagation function
-  sympy_functions.append(('f_fun', f_sym, [x_sym, dt_sym]))
-  sympy_functions.append(('F_fun', F_sym, [x_sym, dt_sym]))
-
-  # observation functions
-  for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs:
-    sympy_functions.append(('h_%d' % kind, h_sym, [x_sym, ea_sym]))
-    sympy_functions.append(('H_%d' % kind, H_sym, [x_sym, ea_sym]))
-    if msckf and kind in feature_track_kinds:
-      sympy_functions.append(('He_%d' % kind, He_sym, [x_sym, ea_sym]))
-
-  # Generate and wrap all th c code
-  header, code = sympy_into_c(sympy_functions)
-  extra_header = "#define DIM %d\n" % dim_x
-  extra_header += "#define EDIM %d\n" % dim_err
-  extra_header += "#define MEDIM %d\n" % dim_main_err
-  extra_header += "typedef void (*Hfun)(double *, double *, double *);\n"
-
-  extra_header += "\nvoid predict(double *x, double *P, double *Q, double dt);"
-
-  extra_post = ""
-
-  for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs:
-    if msckf and kind in feature_track_kinds:
-      He_str = 'He_%d' % kind
-      # ea_dim = ea_sym.shape[0]
-    else:
-      He_str = 'NULL'
-      # ea_dim = 1 # not really dim of ea but makes c function work
-    maha_thresh = chi2_ppf(0.95, int(h_sym.shape[0]))  # mahalanobis distance for outlier detection
-    maha_test = kind in maha_test_kinds
-    extra_post += """
-      void update_%d(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
-        update<%d,%d,%d>(in_x, in_P, h_%d, H_%d, %s, in_z, in_R, in_ea, MAHA_THRESH_%d);
-      }
-    """ % (kind, h_sym.shape[0], 3, maha_test, kind, kind, He_str, kind)
-    extra_header += "\nconst static double MAHA_THRESH_%d = %f;" % (kind, maha_thresh)
-    extra_header += "\nvoid update_%d(double *, double *, double *, double *, double *);" % kind
-
-  code += '\nextern "C"{\n' + extra_header + "\n}\n"
-  code += "\n" + open(os.path.join(TEMPLATE_DIR, "ekf_c.c")).read()
-  code += '\nextern "C"{\n' + extra_post + "\n}\n"
-  header += "\n" + extra_header
-
-  write_code(name, code, header)
-
-
-class EKF_sym():
-  def __init__(self, name, Q, x_initial, P_initial, dim_main, dim_main_err,
-               N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[]):
-    """Generates process function and all observation functions for the kalman filter."""
-    self.msckf = N > 0
-    self.N = N
-    self.dim_augment = dim_augment
-    self.dim_augment_err = dim_augment_err
-    self.dim_main = dim_main
-    self.dim_main_err = dim_main_err
-
-    # state
-    x_initial = x_initial.reshape((-1, 1))
-    self.dim_x = x_initial.shape[0]
-    self.dim_err = P_initial.shape[0]
-    assert dim_main + dim_augment * N == self.dim_x
-    assert dim_main_err + dim_augment_err * N == self.dim_err
-    assert Q.shape == P_initial.shape
-
-    # kinds that should get mahalanobis distance
-    # tested for outlier rejection
-    self.maha_test_kinds = maha_test_kinds
-
-    # process noise
-    self.Q = Q
-
-    # rewind stuff
-    self.rewind_t = []
-    self.rewind_states = []
-    self.rewind_obscache = []
-    self.init_state(x_initial, P_initial, None)
-
-    ffi, lib = load_code(name)
-    kinds, self.feature_track_kinds = [], []
-    for func in dir(lib):
-      if func[:2] == 'h_':
-        kinds.append(int(func[2:]))
-      if func[:3] == 'He_':
-        self.feature_track_kinds.append(int(func[3:]))
-
-    # wrap all the sympy functions
-    def wrap_1lists(name):
-      func = eval("lib.%s" % name, {"lib": lib})
-
-      def ret(lst1, out):
-        func(ffi.cast("double *", lst1.ctypes.data),
-             ffi.cast("double *", out.ctypes.data))
-      return ret
-
-    def wrap_2lists(name):
-      func = eval("lib.%s" % name, {"lib": lib})
-
-      def ret(lst1, lst2, out):
-        func(ffi.cast("double *", lst1.ctypes.data),
-             ffi.cast("double *", lst2.ctypes.data),
-             ffi.cast("double *", out.ctypes.data))
-      return ret
-
-    def wrap_1list_1float(name):
-      func = eval("lib.%s" % name, {"lib": lib})
-
-      def ret(lst1, fl, out):
-        func(ffi.cast("double *", lst1.ctypes.data),
-             ffi.cast("double", fl),
-             ffi.cast("double *", out.ctypes.data))
-      return ret
-
-    self.f = wrap_1list_1float("f_fun")
-    self.F = wrap_1list_1float("F_fun")
-
-    self.err_function = wrap_2lists("err_fun")
-    self.inv_err_function = wrap_2lists("inv_err_fun")
-    self.H_mod = wrap_1lists("H_mod_fun")
-
-    self.hs, self.Hs, self.Hes = {}, {}, {}
-    for kind in kinds:
-      self.hs[kind] = wrap_2lists("h_%d" % kind)
-      self.Hs[kind] = wrap_2lists("H_%d" % kind)
-      if self.msckf and kind in self.feature_track_kinds:
-        self.Hes[kind] = wrap_2lists("He_%d" % kind)
-
-    # wrap the C++ predict function
-    def _predict_blas(x, P, dt):
-      lib.predict(ffi.cast("double *", x.ctypes.data),
-                  ffi.cast("double *", P.ctypes.data),
-                  ffi.cast("double *", self.Q.ctypes.data),
-                  ffi.cast("double", dt))
-      return x, P
-
-    # wrap the C++ update function
-    def fun_wrapper(f, kind):
-      f = eval("lib.%s" % f, {"lib": lib})
-
-      def _update_inner_blas(x, P, z, R, extra_args):
-        f(ffi.cast("double *", x.ctypes.data),
-          ffi.cast("double *", P.ctypes.data),
-          ffi.cast("double *", z.ctypes.data),
-          ffi.cast("double *", R.ctypes.data),
-          ffi.cast("double *", extra_args.ctypes.data))
-        if self.msckf and kind in self.feature_track_kinds:
-          y = z[:-len(extra_args)]
-        else:
-          y = z
-        return x, P, y
-      return _update_inner_blas
-
-    self._updates = {}
-    for kind in kinds:
-      self._updates[kind] = fun_wrapper("update_%d" % kind, kind)
-
-    def _update_blas(x, P, kind, z, R, extra_args=[]):
-        return self._updates[kind](x, P, z, R, extra_args)
-
-    # assign the functions
-    self._predict = _predict_blas
-    # self._predict = self._predict_python
-    self._update = _update_blas
-    # self._update = self._update_python
-
-  def init_state(self, state, covs, filter_time):
-    self.x = np.array(state.reshape((-1, 1))).astype(np.float64)
-    self.P = np.array(covs).astype(np.float64)
-    self.filter_time = filter_time
-    self.augment_times = [0] * self.N
-    self.rewind_obscache = []
-    self.rewind_t = []
-    self.rewind_states = []
-
-  def augment(self):
-    # TODO this is not a generalized way of doing this and implies that the augmented states
-    # are simply the first (dim_augment_state) elements of the main state.
-    assert self.msckf
-    d1 = self.dim_main
-    d2 = self.dim_main_err
-    d3 = self.dim_augment
-    d4 = self.dim_augment_err
-
-    # push through augmented states
-    self.x[d1:-d3] = self.x[d1 + d3:]
-    self.x[-d3:] = self.x[:d3]
-    assert self.x.shape == (self.dim_x, 1)
-
-    # push through augmented covs
-    assert self.P.shape == (self.dim_err, self.dim_err)
-    P_reduced = self.P
-    P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=1)
-    P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=0)
-    assert P_reduced.shape == (self.dim_err - d4, self.dim_err - d4)
-    to_mult = np.zeros((self.dim_err, self.dim_err - d4))
-    to_mult[:-d4, :] = np.eye(self.dim_err - d4)
-    to_mult[-d4:, :d4] = np.eye(d4)
-    self.P = to_mult.dot(P_reduced.dot(to_mult.T))
-    self.augment_times = self.augment_times[1:]
-    self.augment_times.append(self.filter_time)
-    assert self.P.shape == (self.dim_err, self.dim_err)
-
-  def state(self):
-    return np.array(self.x).flatten()
-
-  def covs(self):
-    return self.P
-
-  def rewind(self, t):
-    # find where we are rewinding to
-    idx = bisect_right(self.rewind_t, t)
-    assert self.rewind_t[idx - 1] <= t
-    assert self.rewind_t[idx] > t    # must be true, or rewind wouldn't be called
-
-    # set the state to the time right before that
-    self.filter_time = self.rewind_t[idx - 1]
-    self.x[:] = self.rewind_states[idx - 1][0]
-    self.P[:] = self.rewind_states[idx - 1][1]
-
-    # return the observations we rewound over for fast forwarding
-    ret = self.rewind_obscache[idx:]
-
-    # throw away the old future
-    # TODO: is this making a copy?
-    self.rewind_t = self.rewind_t[:idx]
-    self.rewind_states = self.rewind_states[:idx]
-    self.rewind_obscache = self.rewind_obscache[:idx]
-
-    return ret
-
-  def checkpoint(self, obs):
-    # push to rewinder
-    self.rewind_t.append(self.filter_time)
-    self.rewind_states.append((np.copy(self.x), np.copy(self.P)))
-    self.rewind_obscache.append(obs)
-
-    # only keep a certain number around
-    REWIND_TO_KEEP = 512
-    self.rewind_t = self.rewind_t[-REWIND_TO_KEEP:]
-    self.rewind_states = self.rewind_states[-REWIND_TO_KEEP:]
-    self.rewind_obscache = self.rewind_obscache[-REWIND_TO_KEEP:]
-
-  def predict_and_update_batch(self, t, kind, z, R, extra_args=[[]], augment=False):
-    # TODO handle rewinding at this level"
-
-    # rewind
-    if self.filter_time is not None and t < self.filter_time:
-      if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] - 1.0:
-        print("observation too old at %.3f with filter at %.3f, ignoring" % (t, self.filter_time))
-        return None
-      rewound = self.rewind(t)
-    else:
-      rewound = []
-
-    ret = self._predict_and_update_batch(t, kind, z, R, extra_args, augment)
-
-    # optional fast forward
-    for r in rewound:
-      self._predict_and_update_batch(*r)
-
-    return ret
-
-  def _predict_and_update_batch(self, t, kind, z, R, extra_args, augment=False):
-    """The main kalman filter function
-    Predicts the state and then updates a batch of observations
-
-    dim_x: dimensionality of the state space
-    dim_z: dimensionality of the observation and depends on kind
-    n: number of observations
-
-    Args:
-      t                 (float): Time of observation
-      kind                (int): Type of observation
-      z         (vec [n,dim_z]): Measurements
-      R  (mat [n,dim_z, dim_z]): Measurement Noise
-      extra_args    (list, [n]): Values used in H computations
-    """
-    # initialize time
-    if self.filter_time is None:
-      self.filter_time = t
-
-    # predict
-    dt = t - self.filter_time
-    assert dt >= 0
-    self.x, self.P = self._predict(self.x, self.P, dt)
-    self.filter_time = t
-    xk_km1, Pk_km1 = np.copy(self.x).flatten(), np.copy(self.P)
-
-    # update batch
-    y = []
-    for i in range(len(z)):
-      # these are from the user, so we canonicalize them
-      z_i = np.array(z[i], dtype=np.float64, order='F')
-      R_i = np.array(R[i], dtype=np.float64, order='F')
-      extra_args_i = np.array(extra_args[i], dtype=np.float64, order='F')
-      # update
-      self.x, self.P, y_i = self._update(self.x, self.P, kind, z_i, R_i, extra_args=extra_args_i)
-      y.append(y_i)
-    xk_k, Pk_k = np.copy(self.x).flatten(), np.copy(self.P)
-
-    if augment:
-      self.augment()
-
-    # checkpoint
-    self.checkpoint((t, kind, z, R, extra_args))
-
-    return xk_km1, xk_k, Pk_km1, Pk_k, t, kind, y, z, extra_args
-
-  def _predict_python(self, x, P, dt):
-    x_new = np.zeros(x.shape, dtype=np.float64)
-    self.f(x, dt, x_new)
-
-    F = np.zeros(P.shape, dtype=np.float64)
-    self.F(x, dt, F)
-
-    if not self.msckf:
-      P = dot(dot(F, P), F.T)
-    else:
-      # Update the predicted state covariance:
-      #  Pk+1|k   =  |F*Pii*FT + Q*dt   F*Pij |
-      #              |PijT*FT           Pjj   |
-      # Where F is the jacobian of the main state
-      # predict function, Pii is the main state's
-      # covariance and Q its process noise. Pij
-      # is the covariance between the augmented
-      # states and the main state.
-      #
-      d2 = self.dim_main_err    # known at compile time
-      F_curr = F[:d2, :d2]
-      P[:d2, :d2] = (F_curr.dot(P[:d2, :d2])).dot(F_curr.T)
-      P[:d2, d2:] = F_curr.dot(P[:d2, d2:])
-      P[d2:, :d2] = P[d2:, :d2].dot(F_curr.T)
-
-    P += dt * self.Q
-    return x_new, P
-
-  def _update_python(self, x, P, kind, z, R, extra_args=[]):
-    # init vars
-    z = z.reshape((-1, 1))
-    h = np.zeros(z.shape, dtype=np.float64)
-    H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64)
-
-    # C functions
-    self.hs[kind](x, extra_args, h)
-    self.Hs[kind](x, extra_args, H)
-
-    # y is the "loss"
-    y = z - h
-
-    # *** same above this line ***
-
-    if self.msckf and kind in self.Hes:
-      # Do some algebraic magic to decorrelate
-      He = np.zeros((z.shape[0], len(extra_args)), dtype=np.float64)
-      self.Hes[kind](x, extra_args, He)
-
-      # TODO: Don't call a function here, do projection locally
-      A = null(He.T)
-
-      y = A.T.dot(y)
-      H = A.T.dot(H)
-      R = A.T.dot(R.dot(A))
-
-      # TODO If nullspace isn't the dimension we want
-      if A.shape[1] + He.shape[1] != A.shape[0]:
-        print('Warning: null space projection failed, measurement ignored')
-        return x, P, np.zeros(A.shape[0] - He.shape[1])
-
-    # if using eskf
-    H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64)
-    self.H_mod(x, H_mod)
-    H = H.dot(H_mod)
-
-    # Do mahalobis distance test
-    # currently just runs on msckf observations
-    # could run on anything if needed
-    if self.msckf and kind in self.maha_test_kinds:
-      a = np.linalg.inv(H.dot(P).dot(H.T) + R)
-      maha_dist = y.T.dot(a.dot(y))
-      if maha_dist > chi2_ppf(0.95, y.shape[0]):
-        R = 10e16 * R
-
-    # *** same below this line ***
-
-    # Outlier resilient weighting as described in:
-    # "A Kalman Filter for Robust Outlier Detection - Jo-Anne Ting, ..."
-    weight = 1  # (1.5)/(1 + np.sum(y**2)/np.sum(R))
-
-    S = dot(dot(H, P), H.T) + R / weight
-    K = solve(S, dot(H, P.T)).T
-    I_KH = np.eye(P.shape[0]) - dot(K, H)
-
-    # update actual state
-    delta_x = dot(K, y)
-    P = dot(dot(I_KH, P), I_KH.T) + dot(dot(K, R), K.T)
-
-    # inject observed error into state
-    x_new = np.zeros(x.shape, dtype=np.float64)
-    self.err_function(x, delta_x, x_new)
-    return x_new, P, y.flatten()
-
-  def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95):
-    # init vars
-    z = z.reshape((-1, 1))
-    h = np.zeros(z.shape, dtype=np.float64)
-    H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64)
-
-    # C functions
-    self.hs[kind](x, extra_args, h)
-    self.Hs[kind](x, extra_args, H)
-
-    # y is the "loss"
-    y = z - h
-
-    # if using eskf
-    H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64)
-    self.H_mod(x, H_mod)
-    H = H.dot(H_mod)
-
-    a = np.linalg.inv(H.dot(P).dot(H.T) + R)
-    maha_dist = y.T.dot(a.dot(y))
-    if maha_dist > chi2_ppf(maha_thresh, y.shape[0]):
-      return False
-    else:
-      return True
-
-  def rts_smooth(self, estimates, norm_quats=False):
-    '''
-    Returns rts smoothed results of
-    kalman filter estimates
-
-    If the kalman state is augmented with
-    old states only the main state is smoothed
-    '''
-    xk_n = estimates[-1][0]
-    Pk_n = estimates[-1][2]
-    Fk_1 = np.zeros(Pk_n.shape, dtype=np.float64)
-
-    states_smoothed = [xk_n]
-    covs_smoothed = [Pk_n]
-    for k in range(len(estimates) - 2, -1, -1):
-      xk1_n = xk_n
-      if norm_quats:
-        xk1_n[3:7] /= np.linalg.norm(xk1_n[3:7])
-      Pk1_n = Pk_n
-
-      xk1_k, _, Pk1_k, _, t2, _, _, _, _ = estimates[k + 1]
-      _, xk_k, _, Pk_k, t1, _, _, _, _ = estimates[k]
-      dt = t2 - t1
-      self.F(xk_k, dt, Fk_1)
-
-      d1 = self.dim_main
-      d2 = self.dim_main_err
-      Ck = np.linalg.solve(Pk1_k[:d2, :d2], Fk_1[:d2, :d2].dot(Pk_k[:d2, :d2].T)).T
-      xk_n = xk_k
-      delta_x = np.zeros((Pk_n.shape[0], 1), dtype=np.float64)
-      self.inv_err_function(xk1_k, xk1_n, delta_x)
-      delta_x[:d2] = Ck.dot(delta_x[:d2])
-      x_new = np.zeros((xk_n.shape[0], 1), dtype=np.float64)
-      self.err_function(xk_k, delta_x, x_new)
-      xk_n[:d1] = x_new[:d1, 0]
-      Pk_n = Pk_k
-      Pk_n[:d2, :d2] = Pk_k[:d2, :d2] + Ck.dot(Pk1_n[:d2, :d2] - Pk1_k[:d2, :d2]).dot(Ck.T)
-      states_smoothed.append(xk_n)
-      covs_smoothed.append(Pk_n)
-
-    return np.flipud(np.vstack(states_smoothed)), np.stack(covs_smoothed, 0)[::-1]
diff --git a/selfdrive/locationd/kalman/helpers/sympy_helpers.py b/selfdrive/locationd/kalman/helpers/sympy_helpers.py
deleted file mode 100644
index f8c4f1c5f1fa67..00000000000000
--- a/selfdrive/locationd/kalman/helpers/sympy_helpers.py
+++ /dev/null
@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-import sympy as sp
-import numpy as np
-
-
-def cross(x):
-  ret = sp.Matrix(np.zeros((3, 3)))
-  ret[0, 1], ret[0, 2] = -x[2], x[1]
-  ret[1, 0], ret[1, 2] = x[2], -x[0]
-  ret[2, 0], ret[2, 1] = -x[1], x[0]
-  return ret
-
-
-def euler_rotate(roll, pitch, yaw):
-  # make symbolic rotation matrix from eulers
-  matrix_roll = sp.Matrix([[1, 0, 0],
-                           [0, sp.cos(roll), -sp.sin(roll)],
-                           [0, sp.sin(roll), sp.cos(roll)]])
-  matrix_pitch = sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
-                            [0, 1, 0],
-                            [-sp.sin(pitch), 0, sp.cos(pitch)]])
-  matrix_yaw = sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
-                          [sp.sin(yaw), sp.cos(yaw), 0],
-                          [0, 0, 1]])
-  return matrix_yaw * matrix_pitch * matrix_roll
-
-
-def quat_rotate(q0, q1, q2, q3):
-  # make symbolic rotation matrix from quat
-  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2 * (q1 * q2 + q0 * q3), 2 * (q1 * q3 - q0 * q2)],
-                    [2 * (q1 * q2 - q0 * q3), q0**2 - q1**2 + q2**2 - q3**2, 2 * (q2 * q3 + q0 * q1)],
-                    [2 * (q1 * q3 + q0 * q2), 2 * (q2 * q3 - q0 * q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
-
-
-def quat_matrix_l(p):
-  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
-                    [p[1],  p[0], -p[3],  p[2]],
-                    [p[2],  p[3],  p[0], -p[1]],
-                    [p[3], -p[2],  p[1],  p[0]]])
-
-
-def quat_matrix_r(p):
-  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
-                    [p[1],  p[0],  p[3], -p[2]],
-                    [p[2], -p[3],  p[0],  p[1]],
-                    [p[3],  p[2], -p[1],  p[0]]])
-
-
-def sympy_into_c(sympy_functions):
-  from sympy.utilities import codegen
-  routines = []
-  for name, expr, args in sympy_functions:
-    r = codegen.make_routine(name, expr, language="C99")
-
-    # argument ordering input to sympy is broken with function with output arguments
-    nargs = []
-
-    # reorder the input arguments
-    for aa in args:
-      if aa is None:
-        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1, 1]))
-        continue
-      found = False
-      for a in r.arguments:
-        if str(aa.name) == str(a.name):
-          nargs.append(a)
-          found = True
-          break
-      if not found:
-        # [1,1] is a hack for Matrices
-        nargs.append(codegen.InputArgument(aa, dimensions=[1, 1]))
-
-    # add the output arguments
-    for a in r.arguments:
-      if type(a) == codegen.OutputArgument:
-        nargs.append(a)
-
-    # assert len(r.arguments) == len(args)+1
-    r.arguments = nargs
-
-    # add routine to list
-    routines.append(r)
-
-  [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
-  c_header = '\n'.join(x for x in c_header.split("\n") if len(x) > 0 and x[0] != '#')
-
-  c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
-  c_code = 'extern "C" {\n#include <math.h>\n' + c_code + "\n}\n"
-
-  return c_header, c_code
diff --git a/selfdrive/locationd/kalman/models/live_kf.py b/selfdrive/locationd/kalman/models/live_kf.py
deleted file mode 100755
index 1ee8d74ac0adc5..00000000000000
--- a/selfdrive/locationd/kalman/models/live_kf.py
+++ /dev/null
@@ -1,284 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-import sympy as sp
-
-from selfdrive.locationd.kalman.helpers import KalmanError, ObservationKind
-from selfdrive.locationd.kalman.helpers.ekf_sym import EKF_sym, gen_code
-from selfdrive.locationd.kalman.helpers.sympy_helpers import (euler_rotate,
-                                                              quat_matrix_r,
-                                                              quat_rotate)
-from selfdrive.swaglog import cloudlog
-
-EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
-
-
-class States():
-  ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
-  ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
-  ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
-  ANGULAR_VELOCITY = slice(10, 13)  # roll, pitch and yaw rates in device frame in radians/s
-  GYRO_BIAS = slice(13, 16)  # roll, pitch and yaw biases
-  ODO_SCALE = slice(16, 17)  # odometer scale
-  ACCELERATION = slice(17, 20)  # Acceleration in device frame in m/s**2
-  IMU_OFFSET = slice(20, 23)  # imu offset angles in radians
-
-  # Error-state has different slices because it is an ESKF
-  ECEF_POS_ERR = slice(0, 3)
-  ECEF_ORIENTATION_ERR = slice(3, 6)  # euler angles for orientation error
-  ECEF_VELOCITY_ERR = slice(6, 9)
-  ANGULAR_VELOCITY_ERR = slice(9, 12)
-  GYRO_BIAS_ERR = slice(12, 15)
-  ODO_SCALE_ERR = slice(15, 16)
-  ACCELERATION_ERR = slice(16, 19)
-  IMU_OFFSET_ERR = slice(19, 22)
-
-
-class LiveKalman():
-  name = 'live'
-
-  initial_x = np.array([-2.7e6, 4.2e6, 3.8e6,
-                        1, 0, 0, 0,
-                        0, 0, 0,
-                        0, 0, 0,
-                        0, 0, 0,
-                        1,
-                        0, 0, 0,
-                        0, 0, 0])
-
-  # state covariance
-  initial_P_diag = np.array([10000**2, 10000**2, 10000**2,
-                             10**2, 10**2, 10**2,
-                             10**2, 10**2, 10**2,
-                             1**2, 1**2, 1**2,
-                             0.05**2, 0.05**2, 0.05**2,
-                             0.02**2,
-                             1**2, 1**2, 1**2,
-                             (0.01)**2, (0.01)**2, (0.01)**2])
-
-  # process noise
-  Q = np.diag([0.03**2, 0.03**2, 0.03**2,
-               0.0**2, 0.0**2, 0.0**2,
-               0.0**2, 0.0**2, 0.0**2,
-               0.1**2, 0.1**2, 0.1**2,
-               (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
-               (0.02 / 100)**2,
-               3**2, 3**2, 3**2,
-               (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2])
-
-  @staticmethod
-  def generate_code():
-    name = LiveKalman.name
-    dim_state = LiveKalman.initial_x.shape[0]
-    dim_state_err = LiveKalman.initial_P_diag.shape[0]
-
-    state_sym = sp.MatrixSymbol('state', dim_state, 1)
-    state = sp.Matrix(state_sym)
-    x, y, z = state[States.ECEF_POS, :]
-    q = state[States.ECEF_ORIENTATION, :]
-    v = state[States.ECEF_VELOCITY, :]
-    vx, vy, vz = v
-    omega = state[States.ANGULAR_VELOCITY, :]
-    vroll, vpitch, vyaw = omega
-    roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
-    odo_scale = state[States.ODO_SCALE, :][0,:]
-    acceleration = state[States.ACCELERATION, :]
-    imu_angles = state[States.IMU_OFFSET, :]
-
-    dt = sp.Symbol('dt')
-
-    # calibration and attitude rotation matrices
-    quat_rot = quat_rotate(*q)
-
-    # Got the quat predict equations from here
-    # A New Quaternion-Based Kalman Filter for
-    # Real-Time Attitude Estimation Using the Two-Step
-    # Geometrically-Intuitive Correction Algorithm
-    A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw],
-                         [vroll, 0, vyaw, -vpitch],
-                         [vpitch, -vyaw, 0, vroll],
-                         [vyaw, vpitch, -vroll, 0]])
-    q_dot = A * q
-
-    # Time derivative of the state as a function of state
-    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
-    state_dot[States.ECEF_POS, :] = v
-    state_dot[States.ECEF_ORIENTATION, :] = q_dot
-    state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration
-
-    # Basic descretization, 1st order intergrator
-    # Can be pretty bad if dt is big
-    f_sym = state + dt * state_dot
-
-    state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1)
-    state_err = sp.Matrix(state_err_sym)
-    quat_err = state_err[States.ECEF_ORIENTATION_ERR, :]
-    v_err = state_err[States.ECEF_VELOCITY_ERR, :]
-    omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :]
-    acceleration_err = state_err[States.ACCELERATION_ERR, :]
-
-    # Time derivative of the state error as a function of state error and state
-    quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2])
-    q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err)
-    state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1)))
-    state_err_dot[States.ECEF_POS_ERR, :] = v_err
-    state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot
-    state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err)
-    f_err_sym = state_err + dt * state_err_dot
-
-    # Observation matrix modifier
-    H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err)))
-    H_mod_sym[States.ECEF_POS, States.ECEF_POS_ERR] = np.eye(States.ECEF_POS.stop - States.ECEF_POS.start)
-    H_mod_sym[States.ECEF_ORIENTATION, States.ECEF_ORIENTATION_ERR] = 0.5 * quat_matrix_r(state[3:7])[:, 1:]
-    H_mod_sym[States.ECEF_ORIENTATION.stop:, States.ECEF_ORIENTATION_ERR.stop:] = np.eye(dim_state - States.ECEF_ORIENTATION.stop)
-
-    # these error functions are defined so that say there
-    # is a nominal x and true x:
-    # true x = err_function(nominal x, delta x)
-    # delta x = inv_err_function(nominal x, true x)
-    nom_x = sp.MatrixSymbol('nom_x', dim_state, 1)
-    true_x = sp.MatrixSymbol('true_x', dim_state, 1)
-    delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
-
-    err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
-    delta_quat = sp.Matrix(np.ones((4)))
-    delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :])
-    err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :])
-    err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat
-    err_function_sym[States.ECEF_ORIENTATION.stop:, :] = sp.Matrix(nom_x[States.ECEF_ORIENTATION.stop:, :] + delta_x[States.ECEF_ORIENTATION_ERR.stop:, :])
-
-    inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1)))
-    inv_err_function_sym[States.ECEF_POS_ERR, 0] = sp.Matrix(-nom_x[States.ECEF_POS, 0] + true_x[States.ECEF_POS, 0])
-    delta_quat = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]).T * true_x[States.ECEF_ORIENTATION, 0]
-    inv_err_function_sym[States.ECEF_ORIENTATION_ERR, 0] = sp.Matrix(2 * delta_quat[1:])
-    inv_err_function_sym[States.ECEF_ORIENTATION_ERR.stop:, 0] = sp.Matrix(-nom_x[States.ECEF_ORIENTATION.stop:, 0] + true_x[States.ECEF_ORIENTATION.stop:, 0])
-
-    eskf_params = [[err_function_sym, nom_x, delta_x],
-                   [inv_err_function_sym, nom_x, true_x],
-                   H_mod_sym, f_err_sym, state_err_sym]
-    #
-    # Observation functions
-    #
-    imu_rot = euler_rotate(*imu_angles)
-    h_gyro_sym = imu_rot * sp.Matrix([vroll + roll_bias,
-                                      vpitch + pitch_bias,
-                                      vyaw + yaw_bias])
-
-    pos = sp.Matrix([x, y, z])
-    gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos)
-    h_acc_sym = imu_rot * (gravity + acceleration)
-    h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
-
-    speed = sp.sqrt(vx**2 + vy**2 + vz**2)
-    h_speed_sym = sp.Matrix([speed * odo_scale])
-
-    h_pos_sym = sp.Matrix([x, y, z])
-    h_imu_frame_sym = sp.Matrix(imu_angles)
-
-    h_relative_motion = sp.Matrix(quat_rot.T * v)
-
-    obs_eqs = [[h_speed_sym, ObservationKind.ODOMETRIC_SPEED, None],
-               [h_gyro_sym, ObservationKind.PHONE_GYRO, None],
-               [h_phone_rot_sym, ObservationKind.NO_ROT, None],
-               [h_acc_sym, ObservationKind.PHONE_ACCEL, None],
-               [h_pos_sym, ObservationKind.ECEF_POS, None],
-               [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None],
-               [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
-               [h_imu_frame_sym, ObservationKind.IMU_FRAME, None]]
-
-    gen_code(name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params)
-
-  def __init__(self):
-    self.dim_state = self.initial_x.shape[0]
-    self.dim_state_err = self.initial_P_diag.shape[0]
-
-    self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2),
-                      ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
-                      ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
-                      ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]),
-                      ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]),
-                      ObservationKind.NO_ROT: np.diag([0.00025**2, 0.00025**2, 0.00025**2]),
-                      ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2])}
-
-    # init filter
-    self.filter = EKF_sym(self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), self.dim_state, self.dim_state_err)
-
-  @property
-  def x(self):
-    return self.filter.state()
-
-  @property
-  def t(self):
-    return self.filter.filter_time
-
-  @property
-  def P(self):
-    return self.filter.covs()
-
-  def rts_smooth(self, estimates):
-    return self.filter.rts_smooth(estimates, norm_quats=True)
-
-  def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
-    if covs_diag is not None:
-      P = np.diag(covs_diag)
-    elif covs is not None:
-      P = covs
-    else:
-      P = self.filter.covs()
-    self.filter.init_state(state, P, filter_time)
-
-  def predict_and_observe(self, t, kind, data):
-    if len(data) > 0:
-      data = np.atleast_2d(data)
-    if kind == ObservationKind.CAMERA_ODO_TRANSLATION:
-      r = self.predict_and_update_odo_trans(data, t, kind)
-    elif kind == ObservationKind.CAMERA_ODO_ROTATION:
-      r = self.predict_and_update_odo_rot(data, t, kind)
-    elif kind == ObservationKind.ODOMETRIC_SPEED:
-      r = self.predict_and_update_odo_speed(data, t, kind)
-    else:
-      r = self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data)))
-
-    # Normalize quats
-    quat_norm = np.linalg.norm(self.filter.x[3:7, 0])
-
-    # Should not continue if the quats behave this weirdly
-    if not (0.1 < quat_norm < 10):
-      cloudlog.error("Kalman filter quaternions unstable")
-      raise KalmanError
-
-    self.filter.x[States.ECEF_ORIENTATION, 0] = self.filter.x[States.ECEF_ORIENTATION, 0] / quat_norm
-
-    return r
-
-  def get_R(self, kind, n):
-    obs_noise = self.obs_noise[kind]
-    dim = obs_noise.shape[0]
-    R = np.zeros((n, dim, dim))
-    for i in range(n):
-      R[i, :, :] = obs_noise
-    return R
-
-  def predict_and_update_odo_speed(self, speed, t, kind):
-    z = np.array(speed)
-    R = np.zeros((len(speed), 1, 1))
-    for i, _ in enumerate(z):
-      R[i, :, :] = np.diag([0.2**2])
-    return self.filter.predict_and_update_batch(t, kind, z, R)
-
-  def predict_and_update_odo_trans(self, trans, t, kind):
-    z = trans[:, :3]
-    R = np.zeros((len(trans), 3, 3))
-    for i, _ in enumerate(z):
-        R[i, :, :] = np.diag(trans[i, 3:]**2)
-    return self.filter.predict_and_update_batch(t, kind, z, R)
-
-  def predict_and_update_odo_rot(self, rot, t, kind):
-    z = rot[:, :3]
-    R = np.zeros((len(rot), 3, 3))
-    for i, _ in enumerate(z):
-        R[i, :, :] = np.diag(rot[i, 3:]**2)
-    return self.filter.predict_and_update_batch(t, kind, z, R)
-
-
-if __name__ == "__main__":
-  LiveKalman.generate_code()
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
new file mode 100755
index 00000000000000..8bdc30a8d24f0a
--- /dev/null
+++ b/selfdrive/locationd/locationd.cc
@@ -0,0 +1,496 @@
+#include <sys/time.h>
+#include <sys/resource.h>
+
+#include <cmath>
+
+#include "locationd.h"
+
+using namespace EKFS;
+using namespace Eigen;
+
+ExitHandler do_exit;
+const double ACCEL_SANITY_CHECK = 100.0;  // m/s^2
+const double ROTATION_SANITY_CHECK = 10.0;  // rad/s
+const double TRANS_SANITY_CHECK = 200.0;  // m/s
+const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg)
+const double ALTITUDE_SANITY_CHECK = 10000; // m
+const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad
+const double VALID_TIME_SINCE_RESET = 1.0; // s
+const double VALID_POS_STD = 50.0; // m
+const double MAX_RESET_TRACKER = 5.0;
+
+static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
+  VectorXd res(floatlist.size());
+  for (int i = 0; i < floatlist.size(); i++) {
+    res[i] = floatlist[i];
+  }
+  return res;
+}
+
+static Vector4d quat2vector(const Quaterniond& quat) {
+  return Vector4d(quat.w(), quat.x(), quat.y(), quat.z());
+}
+
+static Quaterniond vector2quat(const VectorXd& vec) {
+  return Quaterniond(vec(0), vec(1), vec(2), vec(3));
+}
+
+static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder meas, const VectorXd& val, const VectorXd& std, bool valid) {
+  meas.setValue(kj::arrayPtr(val.data(), val.size()));
+  meas.setStd(kj::arrayPtr(std.data(), std.size()));
+  meas.setValid(valid);
+}
+
+
+static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) {
+  // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix
+  return ((rot_matrix *  cov_in) * rot_matrix.transpose());
+}
+
+static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) {
+  // Stds cannot be rotated like values, only covariances can be rotated
+  return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt();
+}
+
+Localizer::Localizer() {
+  this->kf = std::make_unique<LiveKalman>();
+  this->reset_kalman();
+
+  this->calib = Vector3d(0.0, 0.0, 0.0);
+  this->device_from_calib = MatrixXdr::Identity(3, 3);
+  this->calib_from_device = MatrixXdr::Identity(3, 3);
+
+  for (int i = 0; i < POSENET_STD_HIST_HALF * 2; i++) {
+    this->posenet_stds.push_back(10.0);
+  }
+
+  VectorXd ecef_pos = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  this->converter = std::make_unique<LocalCoord>((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
+}
+
+void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
+  VectorXd predicted_state = this->kf->get_x();
+  MatrixXdr predicted_cov = this->kf->get_P();
+  VectorXd predicted_std = predicted_cov.diagonal().array().sqrt();
+
+  VectorXd fix_ecef = predicted_state.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) };
+  VectorXd fix_ecef_std = predicted_std.segment<STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START);
+  VectorXd vel_ecef = predicted_state.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
+  VectorXd vel_ecef_std = predicted_std.segment<STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START);
+  VectorXd fix_pos_geo_vec = this->get_position_geodetic();
+  //fix_pos_geo_std = np.abs(coord.ecef2geodetic(fix_ecef + fix_ecef_std) - fix_pos_geo)
+  VectorXd orientation_ecef = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
+  VectorXd orientation_ecef_std = predicted_std.segment<STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START);
+  MatrixXdr device_from_ecef = euler2rot(orientation_ecef).transpose();
+  //VectorXd calibrated_orientation_ecef = rot2euler(device_from_ecef);
+  VectorXd calibrated_orientation_ecef = rot2euler((this->calib_from_device * device_from_ecef).transpose());
+
+  VectorXd acc_calib = this->calib_from_device * predicted_state.segment<STATE_ACCELERATION_LEN>(STATE_ACCELERATION_START);
+  MatrixXdr acc_calib_cov = predicted_cov.block<STATE_ACCELERATION_ERR_LEN, STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START);
+  VectorXd acc_calib_std = rotate_cov(this->calib_from_device, acc_calib_cov).diagonal().array().sqrt();
+  VectorXd ang_vel_calib = this->calib_from_device * predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
+
+  MatrixXdr vel_angular_cov = predicted_cov.block<STATE_ANGULAR_VELOCITY_ERR_LEN, STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START);
+  VectorXd ang_vel_calib_std = rotate_cov(this->calib_from_device, vel_angular_cov).diagonal().array().sqrt();
+
+  VectorXd vel_device = device_from_ecef * vel_ecef;
+  VectorXd device_from_ecef_eul = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START))).transpose();
+  MatrixXdr condensed_cov(STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN);
+  condensed_cov.topLeftCorner<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
+  condensed_cov.topRightCorner<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_VELOCITY_ERR_START);
+  condensed_cov.bottomRightCorner<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START);
+  condensed_cov.bottomLeftCorner<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
+  VectorXd H_input(device_from_ecef_eul.size() + vel_ecef.size());
+  H_input << device_from_ecef_eul, vel_ecef;
+  MatrixXdr HH = this->kf->H(H_input);
+  MatrixXdr vel_device_cov = (HH * condensed_cov) * HH.transpose();
+  VectorXd vel_device_std = vel_device_cov.diagonal().array().sqrt();
+
+  VectorXd vel_calib = this->calib_from_device * vel_device;
+  VectorXd vel_calib_std = rotate_cov(this->calib_from_device, vel_device_cov).diagonal().array().sqrt();
+
+  VectorXd orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, orientation_ecef);
+  //orientation_ned_std = ned_euler_from_ecef(fix_ecef, orientation_ecef + orientation_ecef_std) - orientation_ned
+  VectorXd calibrated_orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, calibrated_orientation_ecef);
+  VectorXd nextfix_ecef = fix_ecef + vel_ecef;
+  VectorXd ned_vel = this->converter->ecef2ned((ECEF) { .x = nextfix_ecef(0), .y = nextfix_ecef(1), .z = nextfix_ecef(2) }).to_vector() - converter->ecef2ned(fix_ecef_ecef).to_vector();
+  //ned_vel_std = self.converter->ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter->ecef2ned(fix_ecef + vel_ecef)
+
+  VectorXd accDevice = predicted_state.segment<STATE_ACCELERATION_LEN>(STATE_ACCELERATION_START);
+  VectorXd accDeviceErr = predicted_std.segment<STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START);
+
+  VectorXd angVelocityDevice = predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
+  VectorXd angVelocityDeviceErr = predicted_std.segment<STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START);
+
+  Vector3d nans = Vector3d(NAN, NAN, NAN);
+
+  // write measurements to msg
+  init_measurement(fix.initPositionGeodetic(), fix_pos_geo_vec, nans, this->last_gps_fix > 0);
+  init_measurement(fix.initPositionECEF(), fix_ecef, fix_ecef_std, this->last_gps_fix > 0);
+  init_measurement(fix.initVelocityECEF(), vel_ecef, vel_ecef_std, this->last_gps_fix > 0);
+  init_measurement(fix.initVelocityNED(), ned_vel, nans, this->last_gps_fix > 0);
+  init_measurement(fix.initVelocityDevice(), vel_device, vel_device_std, true);
+  init_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
+  init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, this->last_gps_fix > 0);
+  init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated && this->last_gps_fix > 0);
+  init_measurement(fix.initOrientationNED(), orientation_ned, nans, this->last_gps_fix > 0);
+  init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated && this->last_gps_fix > 0);
+  init_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
+  init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
+  init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
+  init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
+
+  double old_mean = 0.0, new_mean = 0.0;
+  int i = 0;
+  for (double x : this->posenet_stds) {
+    if (i < POSENET_STD_HIST_HALF) {
+      old_mean += x;
+    } else {
+      new_mean += x;
+    }
+    i++;
+  }
+  old_mean /= POSENET_STD_HIST_HALF;
+  new_mean /= POSENET_STD_HIST_HALF;
+  // experimentally found these values, no false positives in 20k minutes of driving
+  bool std_spike = (new_mean / old_mean > 4.0 && new_mean > 7.0);
+
+  fix.setPosenetOK(!(std_spike && this->car_speed > 5.0));
+  fix.setDeviceStable(!this->device_fell);
+  fix.setExcessiveResets(this->reset_tracker > MAX_RESET_TRACKER);
+  this->device_fell = false;
+
+  //fix.setGpsWeek(this->time.week);
+  //fix.setGpsTimeOfWeek(this->time.tow);
+  fix.setUnixTimestampMillis(this->unix_timestamp_millis);
+
+  double time_since_reset = this->kf->get_filter_time() - this->last_reset_time;
+  fix.setTimeSinceReset(time_since_reset);
+  if (fix_ecef_std.norm() < VALID_POS_STD && this->calibrated && time_since_reset > VALID_TIME_SINCE_RESET) {
+    fix.setStatus(cereal::LiveLocationKalman::Status::VALID);
+  } else if (fix_ecef_std.norm() < VALID_POS_STD && time_since_reset > VALID_TIME_SINCE_RESET) {
+    fix.setStatus(cereal::LiveLocationKalman::Status::UNCALIBRATED);
+  } else {
+    fix.setStatus(cereal::LiveLocationKalman::Status::UNINITIALIZED);
+  }
+}
+
+VectorXd Localizer::get_position_geodetic() {
+  VectorXd fix_ecef = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) };
+  Geodetic fix_pos_geo = ecef2geodetic(fix_ecef_ecef);
+  return Vector3d(fix_pos_geo.lat, fix_pos_geo.lon, fix_pos_geo.alt);
+}
+
+VectorXd Localizer::get_state() {
+  return this->kf->get_x();
+}
+
+VectorXd Localizer::get_stdev() {
+  return this->kf->get_P().diagonal().array().sqrt();
+}
+
+void Localizer::handle_sensors(double current_time, const capnp::List<cereal::SensorEventData, capnp::Kind::STRUCT>::Reader& log) {
+  // TODO does not yet account for double sensor readings in the log
+  for (int i = 0; i < log.size(); i++) {
+    const cereal::SensorEventData::Reader& sensor_reading = log[i];
+
+    // Ignore empty readings (e.g. in case the magnetometer had no data ready)
+    if (sensor_reading.getTimestamp() == 0) {
+      continue;
+    }
+
+    double sensor_time = 1e-9 * sensor_reading.getTimestamp();
+
+    // sensor time and log time should be close
+    if (std::abs(current_time - sensor_time) > 0.1) {
+      LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
+      return;
+    }
+
+      // TODO: handle messages from two IMUs at the same time
+    if (sensor_reading.getSource() == cereal::SensorEventData::SensorSource::BMX055) {
+      continue;
+    }
+
+    // Gyro Uncalibrated
+    if (sensor_reading.getSensor() == SENSOR_GYRO_UNCALIBRATED && sensor_reading.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+      auto v = sensor_reading.getGyroUncalibrated().getV();
+      auto meas = Vector3d(-v[2], -v[1], -v[0]);
+      if (meas.norm() < ROTATION_SANITY_CHECK) {
+        this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
+      }
+    }
+
+    // Accelerometer
+    if (sensor_reading.getSensor() == SENSOR_ACCELEROMETER && sensor_reading.getType() == SENSOR_TYPE_ACCELEROMETER) {
+      auto v = sensor_reading.getAcceleration().getV();
+
+      // check if device fell, estimate 10 for g
+      // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
+      this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
+
+      auto meas = Vector3d(-v[2], -v[1], -v[0]);
+      if (meas.norm() < ACCEL_SANITY_CHECK) {
+        this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
+      }
+    }
+  }
+}
+
+void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log) {
+  // ignore the message if the fix is invalid
+  if (log.getFlags() % 2 == 0) {
+    return;
+  }
+
+  // Sanity checks
+  if ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0)) {
+    return;
+  }
+
+  if ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)) {
+    return;
+  }
+
+  if (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK) {
+    return;
+  }
+
+  // Process message
+  this->last_gps_fix = current_time;
+  Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() };
+  this->converter = std::make_unique<LocalCoord>(geodetic);
+
+  VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
+  VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
+  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
+  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
+  
+  this->unix_timestamp_millis = log.getTimestamp();
+  double gps_est_error = (this->kf->get_x().head(3) - ecef_pos).norm();
+
+  VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
+  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef);
+  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg()));
+  VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
+  for (int i = 0; i < orientation_error.size(); i++) {
+    orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
+    if (orientation_error(i) < 0.0) {
+      orientation_error(i) += 2.0 * M_PI;
+    }
+    orientation_error(i) -= M_PI;
+  }
+  VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
+
+  if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) {
+    LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
+    this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
+  } else if (gps_est_error > 100.0) {
+    LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos);
+  }
+
+  this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
+  this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
+}
+
+void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) {
+  this->car_speed = std::abs(log.getVEgo());
+  if (log.getStandstill()) {
+    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
+    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ACCEL, { Vector3d(0.0, 0.0, 0.0) });
+  }
+}
+
+void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
+  VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
+  VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
+
+  if ((rot_device.norm() > ROTATION_SANITY_CHECK) || (trans_device.norm() > TRANS_SANITY_CHECK)) {
+    return;
+  }
+
+  VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
+  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
+
+  if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
+    return;
+  }
+
+  if ((rot_calib_std.norm() > 10 * ROTATION_SANITY_CHECK) || (trans_calib_std.norm() > 10 * TRANS_SANITY_CHECK)) {
+    return;
+  }
+
+  this->posenet_stds.pop_front();
+  this->posenet_stds.push_back(trans_calib_std[0]);
+
+  // Multiply by 10 to avoid to high certainty in kalman filter because of temporally correlated noise
+  trans_calib_std *= 10.0;
+  rot_calib_std *= 10.0;
+  MatrixXdr rot_device_cov = rotate_std(this->device_from_calib, rot_calib_std).array().square().matrix().asDiagonal();
+  MatrixXdr trans_device_cov = rotate_std(this->device_from_calib, trans_calib_std).array().square().matrix().asDiagonal();
+  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION,
+    { rot_device }, { rot_device_cov });
+  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
+    { trans_device }, { trans_device_cov });
+}
+
+void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
+  if (log.getRpyCalib().size() > 0) {
+    auto live_calib = floatlist2vector(log.getRpyCalib());
+    if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
+      return;
+    }
+
+    this->calib = live_calib;
+    this->device_from_calib = euler2rot(this->calib);
+    this->calib_from_device = this->device_from_calib.transpose();
+    this->calibrated = log.getCalStatus() == 1;
+  }
+}
+
+void Localizer::reset_kalman(double current_time) {
+  VectorXd init_x = this->kf->get_initial_x();
+  this->reset_kalman(current_time, init_x.segment<4>(3), init_x.head(3));
+}
+
+void Localizer::finite_check(double current_time) {
+  bool all_finite = this->kf->get_x().array().isFinite().all() or this->kf->get_P().array().isFinite().all();
+  if (!all_finite) {
+    LOGE("Non-finite values detected, kalman reset");
+    this->reset_kalman(current_time);
+  }
+}
+
+void Localizer::time_check(double current_time) {
+  if (std::isnan(this->last_reset_time)) {
+    this->last_reset_time = current_time;
+  }
+  double filter_time = this->kf->get_filter_time();
+  bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10);
+  if (big_time_gap) {
+    LOGE("Time gap of over 10s detected, kalman reset");
+    this->reset_kalman(current_time);
+  }
+}
+
+void Localizer::update_reset_tracker() {
+  // reset tracker is tuned to trigger when over 1reset/10s over 2min period
+  if (this->isGpsOK()) {
+    this->reset_tracker *= .99995;
+  } else {
+    this->reset_tracker = 0.0;
+  }
+}
+
+void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd init_pos) {
+  // too nonlinear to init on completely wrong
+  VectorXd init_x = this->kf->get_initial_x();
+  MatrixXdr init_P = this->kf->get_initial_P();
+  init_x.segment<4>(3) = init_orient;
+  init_x.head(3) = init_pos;
+
+  this->kf->init_state(init_x, init_P, current_time);
+  this->last_reset_time = current_time;
+  this->reset_tracker += 1.0;
+}
+
+void Localizer::handle_msg_bytes(const char *data, const size_t size) {
+  AlignedBuffer aligned_buf;
+
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(data, size));
+  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+
+  this->handle_msg(event);
+}
+
+void Localizer::handle_msg(const cereal::Event::Reader& log) {
+  double t = log.getLogMonoTime() * 1e-9;
+  this->time_check(t);
+  if (log.isSensorEvents()) {
+    this->handle_sensors(t, log.getSensorEvents());
+  } else if (log.isGpsLocationExternal()) {
+    this->handle_gps(t, log.getGpsLocationExternal());
+  } else if (log.isCarState()) {
+    this->handle_car_state(t, log.getCarState());
+  } else if (log.isCameraOdometry()) {
+    this->handle_cam_odo(t, log.getCameraOdometry());
+  } else if (log.isLiveCalibration()) {
+    this->handle_live_calib(t, log.getLiveCalibration());
+  }
+  this->finite_check();
+  this->update_reset_tracker();
+}
+
+kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_builder, uint64_t logMonoTime,
+  bool inputsOK, bool sensorsOK, bool gpsOK)
+{
+  cereal::Event::Builder evt = msg_builder.initEvent();
+  evt.setLogMonoTime(logMonoTime);
+  cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman();
+  this->build_live_location(liveLoc);
+  liveLoc.setInputsOK(inputsOK);
+  liveLoc.setSensorsOK(sensorsOK);
+  liveLoc.setGpsOK(gpsOK);
+  return msg_builder.toBytes();
+}
+
+
+bool Localizer::isGpsOK() {
+  return this->kf->get_filter_time() - this->last_gps_fix < 1.0;
+}
+
+int Localizer::locationd_thread() {
+  const std::initializer_list<const char *> service_list =
+      { "gpsLocationExternal", "sensorEvents", "cameraOdometry", "liveCalibration", "carState" };
+  PubMaster pm({ "liveLocationKalman" });
+  SubMaster sm(service_list, nullptr, { "gpsLocationExternal" });
+
+  Params params;
+
+  while (!do_exit) {
+    sm.update();
+    for (const char* service : service_list) {
+      if (sm.updated(service) && sm.valid(service)) {
+        const cereal::Event::Reader log = sm[service];
+        this->handle_msg(log);
+      }
+    }
+
+    if (sm.updated("cameraOdometry")) {
+      uint64_t logMonoTime = sm["cameraOdometry"].getLogMonoTime();
+      bool inputsOK = sm.allAliveAndValid();
+      bool sensorsOK = sm.alive("sensorEvents") && sm.valid("sensorEvents");
+      bool gpsOK = this->isGpsOK();
+
+      MessageBuilder msg_builder;
+      kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, logMonoTime, inputsOK, sensorsOK, gpsOK);
+      pm.send("liveLocationKalman", bytes.begin(), bytes.size());
+
+      if (sm.frame % 1200 == 0 && gpsOK) {  // once a minute
+        VectorXd posGeo = this->get_position_geodetic();
+        std::string lastGPSPosJSON = util::string_format(
+          "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2));
+
+        std::thread([&params] (const std::string gpsjson) {
+          params.put("LastGPSPosition", gpsjson);
+        }, lastGPSPosJSON).detach();
+      }
+    }
+  }
+  return 0;
+}
+
+int main() {
+  set_realtime_priority(5);
+
+  Localizer localizer;
+  return localizer.locationd_thread();
+}
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
new file mode 100755
index 00000000000000..60fed112cfa985
--- /dev/null
+++ b/selfdrive/locationd/locationd.h
@@ -0,0 +1,70 @@
+#pragma once
+
+#include <eigen3/Eigen/Dense>
+#include <fstream>
+#include <memory>
+#include <string>
+
+#include "cereal/messaging/messaging.h"
+#include "common/transformations/coordinates.hpp"
+#include "common/transformations/orientation.hpp"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+
+#include "selfdrive/sensord/sensors/constants.h"
+#define VISION_DECIMATION 2
+#define SENSOR_DECIMATION 10
+#include "selfdrive/locationd/models/live_kf.h"
+
+#define POSENET_STD_HIST_HALF 20
+
+class Localizer {
+public:
+  Localizer();
+
+  int locationd_thread();
+
+  void reset_kalman(double current_time = NAN);
+  void reset_kalman(double current_time, Eigen::VectorXd init_orient, Eigen::VectorXd init_pos);
+  void finite_check(double current_time = NAN);
+  void time_check(double current_time = NAN);
+  void update_reset_tracker();
+  bool isGpsOK();
+
+  kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder, uint64_t logMonoTime,
+    bool inputsOK, bool sensorsOK, bool gpsOK);
+  void build_live_location(cereal::LiveLocationKalman::Builder& fix);
+
+  Eigen::VectorXd get_position_geodetic();
+  Eigen::VectorXd get_state();
+  Eigen::VectorXd get_stdev();
+
+  void handle_msg_bytes(const char *data, const size_t size);
+  void handle_msg(const cereal::Event::Reader& log);
+  void handle_sensors(double current_time, const capnp::List<cereal::SensorEventData, capnp::Kind::STRUCT>::Reader& log);
+  void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log);
+  void handle_car_state(double current_time, const cereal::CarState::Reader& log);
+  void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
+  void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
+
+private:
+  std::unique_ptr<LiveKalman> kf;
+
+  Eigen::VectorXd calib;
+  MatrixXdr device_from_calib;
+  MatrixXdr calib_from_device;
+  bool calibrated = false;
+
+  double car_speed = 0.0;
+  double last_reset_time = NAN;
+  std::deque<double> posenet_stds;
+
+  std::unique_ptr<LocalCoord> converter;
+
+  int64_t unix_timestamp_millis = 0;
+  double last_gps_fix = 0;
+  double reset_tracker = 0.0;
+  bool device_fell = false;
+};
diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
deleted file mode 100755
index 3cf9560d67cd02..00000000000000
--- a/selfdrive/locationd/locationd.py
+++ /dev/null
@@ -1,202 +0,0 @@
-#!/usr/bin/env python3
-import math
-
-import numpy as np
-
-import cereal.messaging as messaging
-import common.transformations.coordinates as coord
-from common.transformations.orientation import (ecef_euler_from_ned,
-                                                euler2quat,
-                                                ned_euler_from_ecef,
-                                                quat2euler,
-                                                rotations_from_quats)
-from selfdrive.locationd.kalman.helpers import ObservationKind, KalmanError
-from selfdrive.locationd.kalman.models.live_kf import LiveKalman, States
-from selfdrive.swaglog import cloudlog
-
-VISION_DECIMATION = 2
-SENSOR_DECIMATION = 10
-
-
-class Localizer():
-  def __init__(self, disabled_logs=[], dog=None):
-    self.kf = LiveKalman()
-    self.reset_kalman()
-    self.max_age = .2  # seconds
-    self.disabled_logs = disabled_logs
-
-  def liveLocationMsg(self, time):
-    fix = messaging.log.LiveLocationData.new_message()
-
-    predicted_state = self.kf.x
-
-    fix_ecef = predicted_state[States.ECEF_POS]
-    fix_pos_geo = coord.ecef2geodetic(fix_ecef)
-    fix.lat = float(fix_pos_geo[0])
-    fix.lon = float(fix_pos_geo[1])
-    fix.alt = float(fix_pos_geo[2])
-
-    fix.speed = float(np.linalg.norm(predicted_state[States.ECEF_VELOCITY]))
-
-    orientation_ned_euler = ned_euler_from_ecef(fix_ecef, quat2euler(predicted_state[States.ECEF_ORIENTATION]))
-    fix.roll = math.degrees(orientation_ned_euler[0])
-    fix.pitch = math.degrees(orientation_ned_euler[1])
-    fix.heading = math.degrees(orientation_ned_euler[2])
-
-    fix.gyro = [float(predicted_state[10]), float(predicted_state[11]), float(predicted_state[12])]
-    fix.accel = [float(predicted_state[19]), float(predicted_state[20]), float(predicted_state[21])]
-
-    ned_vel = self.converter.ecef2ned(predicted_state[States.ECEF_POS] + predicted_state[States.ECEF_VELOCITY]) - self.converter.ecef2ned(predicted_state[States.ECEF_POS])
-    fix.vNED = [float(ned_vel[0]), float(ned_vel[1]), float(ned_vel[2])]
-    fix.source = 'kalman'
-
-    #local_vel = rotations_from_quats(predicted_state[States.ECEF_ORIENTATION]).T.dot(predicted_state[States.ECEF_VELOCITY])
-    #fix.pitchCalibration = math.degrees(math.atan2(local_vel[2], local_vel[0]))
-    #fix.yawCalibration = math.degrees(math.atan2(local_vel[1], local_vel[0]))
-
-    imu_frame = predicted_state[States.IMU_OFFSET]
-    fix.imuFrame = [math.degrees(imu_frame[0]), math.degrees(imu_frame[1]), math.degrees(imu_frame[2])]
-    return fix
-
-  def update_kalman(self, time, kind, meas):
-    if self.filter_ready:
-      try:
-        self.kf.predict_and_observe(time, kind, meas)
-      except KalmanError:
-        cloudlog.error("Error in predict and observe, kalman reset")
-        self.reset_kalman()
-    #idx = bisect_right([x[0] for x in self.observation_buffer], time)
-    #self.observation_buffer.insert(idx, (time, kind, meas))
-    #while len(self.observation_buffer) > 0 and self.observation_buffer[-1][0] - self.observation_buffer[0][0] > self.max_age:
-    #  else:
-    #    self.observation_buffer.pop(0)
-
-  def handle_gps(self, current_time, log):
-    self.converter = coord.LocalCoord.from_geodetic([log.latitude, log.longitude, log.altitude])
-    fix_ecef = self.converter.ned2ecef([0, 0, 0])
-
-    # TODO initing with bad bearing not allowed, maybe not bad?
-    if not self.filter_ready and log.speed > 5:
-      self.filter_ready = True
-      initial_ecef = fix_ecef
-      gps_bearing = math.radians(log.bearing)
-      initial_pose_ecef = ecef_euler_from_ned(initial_ecef, [0, 0, gps_bearing])
-      initial_pose_ecef_quat = euler2quat(initial_pose_ecef)
-      gps_speed = log.speed
-      quat_uncertainty = 0.2**2
-      initial_pose_ecef_quat = euler2quat(initial_pose_ecef)
-
-      initial_state = LiveKalman.initial_x
-      initial_covs_diag = LiveKalman.initial_P_diag
-
-      initial_state[States.ECEF_POS] = initial_ecef
-      initial_state[States.ECEF_ORIENTATION] = initial_pose_ecef_quat
-      initial_state[States.ECEF_VELOCITY] = rotations_from_quats(initial_pose_ecef_quat).dot(np.array([gps_speed, 0, 0]))
-
-      initial_covs_diag[States.ECEF_POS_ERR] = 10**2
-      initial_covs_diag[States.ECEF_ORIENTATION_ERR] = quat_uncertainty
-      initial_covs_diag[States.ECEF_VELOCITY_ERR] = 1**2
-      self.kf.init_state(initial_state, covs=np.diag(initial_covs_diag), filter_time=current_time)
-      cloudlog.info("Filter initialized")
-    elif self.filter_ready:
-      self.update_kalman(current_time, ObservationKind.ECEF_POS, fix_ecef)
-      gps_est_error = np.sqrt((self.kf.x[0] - fix_ecef[0])**2 +
-                              (self.kf.x[1] - fix_ecef[1])**2 +
-                              (self.kf.x[2] - fix_ecef[2])**2)
-      if gps_est_error > 50:
-        cloudlog.error("Locationd vs ubloxLocation difference too large, kalman reset")
-        self.reset_kalman()
-
-  def handle_car_state(self, current_time, log):
-    self.speed_counter += 1
-
-    if self.speed_counter % SENSOR_DECIMATION == 0:
-      self.update_kalman(current_time, ObservationKind.ODOMETRIC_SPEED, [log.vEgo])
-      if log.vEgo == 0:
-        self.update_kalman(current_time, ObservationKind.NO_ROT, [0, 0, 0])
-
-  def handle_cam_odo(self, current_time, log):
-    self.cam_counter += 1
-
-    if self.cam_counter % VISION_DECIMATION == 0:
-      self.update_kalman(current_time,
-                         ObservationKind.CAMERA_ODO_ROTATION,
-                         np.concatenate([log.rot, log.rotStd]))
-      self.update_kalman(current_time,
-                         ObservationKind.CAMERA_ODO_TRANSLATION,
-                         np.concatenate([log.trans, log.transStd]))
-
-  def handle_sensors(self, current_time, log):
-    # TODO does not yet account for double sensor readings in the log
-    for sensor_reading in log:
-      # Gyro Uncalibrated
-      if sensor_reading.sensor == 5 and sensor_reading.type == 16:
-        self.gyro_counter += 1
-        if self.gyro_counter % SENSOR_DECIMATION == 0:
-          if max(abs(self.kf.x[States.IMU_OFFSET])) > 0.07:
-            cloudlog.info('imu frame angles exceeded, correcting')
-            self.update_kalman(current_time, ObservationKind.IMU_FRAME, [0, 0, 0])
-
-          v = sensor_reading.gyroUncalibrated.v
-          self.update_kalman(current_time, ObservationKind.PHONE_GYRO, [-v[2], -v[1], -v[0]])
-
-      # Accelerometer
-      if sensor_reading.sensor == 1 and sensor_reading.type == 1:
-        self.acc_counter += 1
-        if self.acc_counter % SENSOR_DECIMATION == 0:
-          v = sensor_reading.acceleration.v
-          self.update_kalman(current_time, ObservationKind.PHONE_ACCEL, [-v[2], -v[1], -v[0]])
-
-  def reset_kalman(self):
-    self.filter_time = None
-    self.filter_ready = False
-    self.observation_buffer = []
-
-    self.gyro_counter = 0
-    self.acc_counter = 0
-    self.speed_counter = 0
-    self.cam_counter = 0
-
-
-def locationd_thread(sm, pm, disabled_logs=[]):
-  if sm is None:
-    sm = messaging.SubMaster(['gpsLocationExternal', 'sensorEvents', 'cameraOdometry'])
-  if pm is None:
-    pm = messaging.PubMaster(['liveLocation'])
-
-  localizer = Localizer(disabled_logs=disabled_logs)
-
-  while True:
-    sm.update()
-
-    for sock, updated in sm.updated.items():
-      if updated:
-        t = sm.logMonoTime[sock] * 1e-9
-        if sock == "sensorEvents":
-          localizer.handle_sensors(t, sm[sock])
-        elif sock == "gpsLocationExternal":
-          localizer.handle_gps(t, sm[sock])
-        elif sock == "carState":
-          localizer.handle_car_state(t, sm[sock])
-        elif sock == "cameraOdometry":
-          localizer.handle_cam_odo(t, sm[sock])
-
-    if localizer.filter_ready and sm.updated['gpsLocationExternal']:
-      t = sm.logMonoTime['gpsLocationExternal']
-      msg = messaging.new_message()
-      msg.logMonoTime = t
-
-      msg.init('liveLocation')
-      msg.liveLocation = localizer.liveLocationMsg(t * 1e-9)
-
-      pm.send('liveLocation', msg)
-
-
-def main(sm=None, pm=None):
-  locationd_thread(sm, pm)
-
-
-if __name__ == "__main__":
-  import os
-  os.environ["OMP_NUM_THREADS"] = "1"
-  main()
diff --git a/selfdrive/locationd/locationd_yawrate.cc b/selfdrive/locationd/locationd_yawrate.cc
deleted file mode 100644
index 8b25a2a7cf5b3a..00000000000000
--- a/selfdrive/locationd/locationd_yawrate.cc
+++ /dev/null
@@ -1,156 +0,0 @@
-#include <iostream>
-#include <cmath>
-
-#include <capnp/message.h>
-#include <capnp/serialize-packed.h>
-#include <Eigen/Dense>
-
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "locationd_yawrate.h"
-
-
-void Localizer::update_state(const Eigen::Matrix<double, 1, 2> &C, const double R, double current_time, double meas) {
-  double dt = current_time - prev_update_time;
-
-  if (dt < 0) {
-    dt = 0;
-  } else {
-    prev_update_time = current_time;
-  }
-
-  x = A * x;
-  P = A * P * A.transpose() + dt * Q;
-
-  double y = meas - C * x;
-  double S = R + C * P * C.transpose();
-  Eigen::Vector2d K = P * C.transpose() * (1.0 / S);
-  x = x + K * y;
-  P = (I - K * C) * P;
-}
-
-void Localizer::handle_sensor_events(capnp::List<cereal::SensorEventData>::Reader sensor_events, double current_time) {
-  for (cereal::SensorEventData::Reader sensor_event : sensor_events){
-    if (sensor_event.getSensor() == 5 && sensor_event.getType() == 16) {
-      sensor_data_time = current_time;
-      double meas = -sensor_event.getGyroUncalibrated().getV()[0];
-      update_state(C_gyro, R_gyro, current_time, meas);
-    }
-  }
-}
-
-void Localizer::handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time) {
-  double R = pow(5 * camera_odometry.getRotStd()[2], 2);
-  double meas = camera_odometry.getRot()[2];
-  update_state(C_posenet, R, current_time, meas);
-
-  auto trans = camera_odometry.getTrans();
-  posenet_speed = sqrt(trans[0]*trans[0] + trans[1]*trans[1] + trans[2]*trans[2]);
-  camera_odometry_time = current_time;
-}
-
-void Localizer::handle_controls_state(cereal::ControlsState::Reader controls_state, double current_time) {
-  steering_angle = controls_state.getAngleSteers() * DEGREES_TO_RADIANS;
-  car_speed = controls_state.getVEgo();
-  controls_state_time = current_time;
-}
-
-
-Localizer::Localizer() {
-  // States: [yaw rate, gyro bias]
-  A <<
-    1, 0,
-    0, 1;
-
-  Q <<
-    pow(.1, 2.0), 0,
-    0, pow(0.05/ 100.0, 2.0),
-  P <<
-    pow(10000.0, 2.0), 0,
-    0, pow(10000.0, 2.0);
-
-  I <<
-    1, 0,
-    0, 1;
-
-  C_posenet << 1, 0;
-  C_gyro << 1, 1;
-  x << 0, 0;
-
-  R_gyro = pow(0.025, 2.0);
-}
-
-void Localizer::handle_log(cereal::Event::Reader event) {
-  double current_time = event.getLogMonoTime() / 1.0e9;
-
-  // Initialize update_time on first update
-  if (prev_update_time < 0) {
-    prev_update_time = current_time;
-  }
-
-  auto type = event.which();
-  switch(type) {
-  case cereal::Event::CONTROLS_STATE:
-    handle_controls_state(event.getControlsState(), current_time);
-    break;
-  case cereal::Event::CAMERA_ODOMETRY:
-    handle_camera_odometry(event.getCameraOdometry(), current_time);
-    break;
-  case cereal::Event::SENSOR_EVENTS:
-    handle_sensor_events(event.getSensorEvents(), current_time);
-    break;
-  default:
-    break;
-  }
-}
-
-
-extern "C" {
-  void *localizer_init(void) {
-    Localizer * localizer = new Localizer;
-    return (void*)localizer;
-  }
-
-  void localizer_handle_log(void * localizer, const unsigned char * data, size_t len) {
-    const kj::ArrayPtr<const capnp::word> view((const capnp::word*)data, len);
-    capnp::FlatArrayMessageReader msg(view);
-    cereal::Event::Reader event = msg.getRoot<cereal::Event>();
-
-    Localizer * loc = (Localizer*) localizer;
-    loc->handle_log(event);
-  }
-
-  double localizer_get_yaw(void * localizer) {
-    Localizer * loc = (Localizer*) localizer;
-    return loc->x[0];
-  }
-  double localizer_get_bias(void * localizer) {
-    Localizer * loc = (Localizer*) localizer;
-    return loc->x[1];
-  }
-
-  double * localizer_get_state(void * localizer) {
-    Localizer * loc = (Localizer*) localizer;
-    return loc->x.data();
-  }
-
-  void localizer_set_state(void * localizer, double * state) {
-    Localizer * loc = (Localizer*) localizer;
-    memcpy(loc->x.data(), state, 4 * sizeof(double));
-  }
-
-  double localizer_get_t(void * localizer) {
-    Localizer * loc = (Localizer*) localizer;
-    return loc->prev_update_time;
-  }
-
-  double * localizer_get_P(void * localizer) {
-    Localizer * loc = (Localizer*) localizer;
-    return loc->P.data();
-  }
-
-  void localizer_set_P(void * localizer, double * P) {
-    Localizer * loc = (Localizer*) localizer;
-    memcpy(loc->P.data(), P, 16 * sizeof(double));
-  }
-}
diff --git a/selfdrive/locationd/locationd_yawrate.h b/selfdrive/locationd/locationd_yawrate.h
deleted file mode 100644
index 3b53ef561d2a21..00000000000000
--- a/selfdrive/locationd/locationd_yawrate.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <Eigen/Dense>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#define DEGREES_TO_RADIANS 0.017453292519943295
-
-class Localizer
-{
-  Eigen::Matrix2d A;
-  Eigen::Matrix2d I;
-  Eigen::Matrix2d Q;
-  Eigen::Matrix<double, 1, 2> C_posenet;
-  Eigen::Matrix<double, 1, 2> C_gyro;
-
-  double R_gyro;
-
-  void update_state(const Eigen::Matrix<double, 1, 2> &C, const double R, double current_time, double meas);
-  void handle_sensor_events(capnp::List<cereal::SensorEventData>::Reader sensor_events, double current_time);
-  void handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time);
-  void handle_controls_state(cereal::ControlsState::Reader controls_state, double current_time);
-
-public:
-  Eigen::Vector2d x;
-  Eigen::Matrix2d P;
-  double steering_angle = 0;
-  double car_speed = 0;
-  double posenet_speed = 0;
-  double prev_update_time = -1;
-  double controls_state_time = -1;
-  double sensor_data_time = -1;
-  double camera_odometry_time = -1;
-
-  Localizer();
-  void handle_log(cereal::Event::Reader event);
-
-};
diff --git a/selfdrive/locationd/kalman/.gitignore b/selfdrive/locationd/models/.gitignore
similarity index 100%
rename from selfdrive/locationd/kalman/.gitignore
rename to selfdrive/locationd/models/.gitignore
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
new file mode 100755
index 00000000000000..dac95dcd7bbce3
--- /dev/null
+++ b/selfdrive/locationd/models/car_kf.py
@@ -0,0 +1,166 @@
+#!/usr/bin/env python3
+import math
+import sys
+from typing import Any, Dict
+
+import numpy as np
+
+from selfdrive.locationd.models.constants import ObservationKind
+from selfdrive.swaglog import cloudlog
+
+from rednose.helpers.kalmanfilter import KalmanFilter
+
+if __name__ == '__main__':  # Generating sympy
+  import sympy as sp
+  from rednose.helpers.ekf_sym import gen_code
+else:
+  from rednose.helpers.ekf_sym_pyx import EKF_sym  # pylint: disable=no-name-in-module, import-error
+
+
+i = 0
+
+def _slice(n):
+  global i
+  s = slice(i, i + n)
+  i += n
+
+  return s
+
+
+class States():
+  # Vehicle model params
+  STIFFNESS = _slice(1)  # [-]
+  STEER_RATIO = _slice(1)  # [-]
+  ANGLE_OFFSET = _slice(1)  # [rad]
+  ANGLE_OFFSET_FAST = _slice(1)  # [rad]
+
+  VELOCITY = _slice(2)  # (x, y) [m/s]
+  YAW_RATE = _slice(1)  # [rad/s]
+  STEER_ANGLE = _slice(1)  # [rad]
+
+
+class CarKalman(KalmanFilter):
+  name = 'car'
+
+  initial_x = np.array([
+    1.0,
+    15.0,
+    0.0,
+    0.0,
+
+    10.0, 0.0,
+    0.0,
+    0.0,
+  ])
+
+  # process noise
+  Q = np.diag([
+    (.05 / 100)**2,
+    .01**2,
+    math.radians(0.02)**2,
+    math.radians(0.25)**2,
+
+    .1**2, .01**2,
+    math.radians(0.1)**2,
+    math.radians(0.1)**2,
+  ])
+  P_initial = Q.copy()
+
+  obs_noise: Dict[int, Any] = {
+    ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.01)**2),
+    ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
+    ObservationKind.STEER_RATIO: np.atleast_2d(5.0**2),
+    ObservationKind.STIFFNESS: np.atleast_2d(5.0**2),
+    ObservationKind.ROAD_FRAME_X_SPEED: np.atleast_2d(0.1**2),
+  }
+
+  global_vars = [
+    'mass',
+    'rotational_inertia',
+    'center_to_front',
+    'center_to_rear',
+    'stiffness_front',
+    'stiffness_rear',
+  ]
+
+  @staticmethod
+  def generate_code(generated_dir):
+    dim_state = CarKalman.initial_x.shape[0]
+    name = CarKalman.name
+    
+    # vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
+    # Model used is in 6.15 with formula from 6.198
+
+    # globals
+    global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]
+    m, j, aF, aR, cF_orig, cR_orig = global_vars
+
+    # make functions and jacobians with sympy
+    # state variables
+    state_sym = sp.MatrixSymbol('state', dim_state, 1)
+    state = sp.Matrix(state_sym)
+
+    # Vehicle model constants
+    x = state[States.STIFFNESS, :][0, 0]
+
+    cF, cR = x * cF_orig, x * cR_orig
+    angle_offset = state[States.ANGLE_OFFSET, :][0, 0]
+    angle_offset_fast = state[States.ANGLE_OFFSET_FAST, :][0, 0]
+    sa = state[States.STEER_ANGLE, :][0, 0]
+
+    sR = state[States.STEER_RATIO, :][0, 0]
+    u, v = state[States.VELOCITY, :]
+    r = state[States.YAW_RATE, :][0, 0]
+
+    A = sp.Matrix(np.zeros((2, 2)))
+    A[0, 0] = -(cF + cR) / (m * u)
+    A[0, 1] = -(cF * aF - cR * aR) / (m * u) - u
+    A[1, 0] = -(cF * aF - cR * aR) / (j * u)
+    A[1, 1] = -(cF * aF**2 + cR * aR**2) / (j * u)
+
+    B = sp.Matrix(np.zeros((2, 1)))
+    B[0, 0] = cF / m / sR
+    B[1, 0] = (cF * aF) / j / sR
+
+    x = sp.Matrix([v, r])  # lateral velocity, yaw rate
+    x_dot = A * x + B * (sa - angle_offset - angle_offset_fast)
+
+    dt = sp.Symbol('dt')
+    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
+    state_dot[States.VELOCITY.start + 1, 0] = x_dot[0]
+    state_dot[States.YAW_RATE.start, 0] = x_dot[1]
+
+    # Basic descretization, 1st order integrator
+    # Can be pretty bad if dt is big
+    f_sym = state + dt * state_dot
+
+    #
+    # Observation functions
+    #
+    obs_eqs = [
+      [sp.Matrix([r]), ObservationKind.ROAD_FRAME_YAW_RATE, None],
+      [sp.Matrix([u, v]), ObservationKind.ROAD_FRAME_XY_SPEED, None],
+      [sp.Matrix([u]), ObservationKind.ROAD_FRAME_X_SPEED, None],
+      [sp.Matrix([sa]), ObservationKind.STEER_ANGLE, None],
+      [sp.Matrix([angle_offset_fast]), ObservationKind.ANGLE_OFFSET_FAST, None],
+      [sp.Matrix([sR]), ObservationKind.STEER_RATIO, None],
+      [sp.Matrix([x]), ObservationKind.STIFFNESS, None],
+    ]
+
+    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars)
+
+  def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0):  # pylint: disable=super-init-not-called
+    dim_state = self.initial_x.shape[0]
+    dim_state_err = self.P_initial.shape[0]
+    x_init = self.initial_x
+    x_init[States.STEER_RATIO] = steer_ratio
+    x_init[States.STIFFNESS] = stiffness_factor
+    x_init[States.ANGLE_OFFSET] = angle_offset
+
+    # init filter
+    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
+
+
+if __name__ == "__main__":
+  generated_dir = sys.argv[2]
+  CarKalman.generate_code(generated_dir)
diff --git a/selfdrive/locationd/models/constants.py b/selfdrive/locationd/models/constants.py
new file mode 100644
index 00000000000000..7450f76be7e3bb
--- /dev/null
+++ b/selfdrive/locationd/models/constants.py
@@ -0,0 +1,82 @@
+import os
+
+GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
+
+class ObservationKind:
+  UNKNOWN = 0
+  NO_OBSERVATION = 1
+  GPS_NED = 2
+  ODOMETRIC_SPEED = 3
+  PHONE_GYRO = 4
+  GPS_VEL = 5
+  PSEUDORANGE_GPS = 6
+  PSEUDORANGE_RATE_GPS = 7
+  SPEED = 8
+  NO_ROT = 9
+  PHONE_ACCEL = 10
+  ORB_POINT = 11
+  ECEF_POS = 12
+  CAMERA_ODO_TRANSLATION = 13
+  CAMERA_ODO_ROTATION = 14
+  ORB_FEATURES = 15
+  MSCKF_TEST = 16
+  FEATURE_TRACK_TEST = 17
+  LANE_PT = 18
+  IMU_FRAME = 19
+  PSEUDORANGE_GLONASS = 20
+  PSEUDORANGE_RATE_GLONASS = 21
+  PSEUDORANGE = 22
+  PSEUDORANGE_RATE = 23
+  ECEF_VEL = 31
+  ECEF_ORIENTATION_FROM_GPS = 32
+  NO_ACCEL = 33
+
+  ROAD_FRAME_XY_SPEED = 24  # (x, y) [m/s]
+  ROAD_FRAME_YAW_RATE = 25  # [rad/s]
+  STEER_ANGLE = 26  # [rad]
+  ANGLE_OFFSET_FAST = 27  # [rad]
+  STIFFNESS = 28  # [-]
+  STEER_RATIO = 29  # [-]
+  ROAD_FRAME_X_SPEED = 30  # (x) [m/s]
+
+  names = [
+    'Unknown',
+    'No observation',
+    'GPS NED',
+    'Odometric speed',
+    'Phone gyro',
+    'GPS velocity',
+    'GPS pseudorange',
+    'GPS pseudorange rate',
+    'Speed',
+    'No rotation',
+    'Phone acceleration',
+    'ORB point',
+    'ECEF pos',
+    'camera odometric translation',
+    'camera odometric rotation',
+    'ORB features',
+    'MSCKF test',
+    'Feature track test',
+    'Lane ecef point',
+    'imu frame eulers',
+    'GLONASS pseudorange',
+    'GLONASS pseudorange rate',
+
+    'Road Frame x,y speed',
+    'Road Frame yaw rate',
+    'Steer Angle',
+    'Fast Angle Offset',
+    'Stiffness',
+    'Steer Ratio',
+  ]
+
+  @classmethod
+  def to_string(cls, kind):
+    return cls.names[kind]
+
+
+SAT_OBS = [ObservationKind.PSEUDORANGE_GPS,
+           ObservationKind.PSEUDORANGE_RATE_GPS,
+           ObservationKind.PSEUDORANGE_GLONASS,
+           ObservationKind.PSEUDORANGE_RATE_GLONASS]
diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc
new file mode 100755
index 00000000000000..541c0f7730fed2
--- /dev/null
+++ b/selfdrive/locationd/models/live_kf.cc
@@ -0,0 +1,103 @@
+#include "live_kf.h"
+
+using namespace EKFS;
+using namespace Eigen;
+
+Eigen::Map<Eigen::VectorXd> get_mapvec(Eigen::VectorXd& vec) {
+  return Eigen::Map<Eigen::VectorXd>(vec.data(), vec.rows(), vec.cols());
+}
+
+Eigen::Map<MatrixXdr> get_mapmat(MatrixXdr& mat) {
+  return Eigen::Map<MatrixXdr>(mat.data(), mat.rows(), mat.cols());
+}
+
+std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(std::vector<Eigen::VectorXd>& vec_vec) {
+  std::vector<Eigen::Map<Eigen::VectorXd>> res;
+  for (Eigen::VectorXd& vec : vec_vec) {
+    res.push_back(get_mapvec(vec));
+  }
+  return res;
+}
+
+std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(std::vector<MatrixXdr>& mat_vec) {
+  std::vector<Eigen::Map<MatrixXdr>> res;
+  for (MatrixXdr& mat : mat_vec) {
+    res.push_back(get_mapmat(mat));
+  }
+  return res;
+}
+
+LiveKalman::LiveKalman() {
+  this->dim_state = 26;
+  this->dim_state_err = 25;
+
+  this->initial_x = live_initial_x;
+  this->initial_P = live_initial_P_diag.asDiagonal();
+  this->Q = live_Q_diag.asDiagonal();
+  for (auto& pair : live_obs_noise_diag) {
+    this->obs_noise[pair.first] = pair.second.asDiagonal();
+  }
+
+  // init filter
+  this->filter = std::make_shared<EKFSym>(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x),
+    get_mapmat(initial_P),  this->dim_state, this->dim_state_err, 0, 0, 0, std::vector<int>(),
+    std::vector<int>{3}, std::vector<std::string>(), 0.2);
+}
+
+void LiveKalman::init_state(VectorXd& state, VectorXd& covs_diag, double filter_time) {
+  MatrixXdr covs = covs_diag.asDiagonal();
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+void LiveKalman::init_state(VectorXd& state, MatrixXdr& covs, double filter_time) {
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+void LiveKalman::init_state(VectorXd& state, double filter_time) {
+  MatrixXdr covs = this->filter->covs();
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+VectorXd LiveKalman::get_x() {
+  return this->filter->state();
+}
+
+MatrixXdr LiveKalman::get_P() {
+  return this->filter->covs();
+}
+
+double LiveKalman::get_filter_time() {
+  return this->filter->get_filter_time();
+}
+
+std::vector<MatrixXdr> LiveKalman::get_R(int kind, int n) {
+  std::vector<MatrixXdr> R;
+  for (int i = 0; i < n; i++) {
+    R.push_back(this->obs_noise[kind]);
+  }
+  return R;
+}
+
+std::optional<Estimate> LiveKalman::predict_and_observe(double t, int kind, std::vector<VectorXd> meas, std::vector<MatrixXdr> R) {
+  std::optional<Estimate> r;
+  if (R.size() == 0) {
+    R = this->get_R(kind, meas.size());
+  }
+  r = this->filter->predict_and_update_batch(t, kind, get_vec_mapvec(meas), get_vec_mapmat(R));
+  return r;
+}
+
+Eigen::VectorXd LiveKalman::get_initial_x() {
+  return this->initial_x;
+}
+
+MatrixXdr LiveKalman::get_initial_P() {
+  return this->initial_P;
+}
+
+MatrixXdr LiveKalman::H(VectorXd in) {
+  assert(in.size() == 6);
+  Matrix<double, 3, 6, Eigen::RowMajor> res;
+  this->filter->get_extra_routine("H")(in.data(), res.data());
+  return res;
+}
diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h
new file mode 100755
index 00000000000000..4cd4756c9f68dc
--- /dev/null
+++ b/selfdrive/locationd/models/live_kf.h
@@ -0,0 +1,57 @@
+#pragma once
+
+#include <string>
+#include <cmath>
+#include <memory>
+
+#include <eigen3/Eigen/Core>
+#include <eigen3/Eigen/Dense>
+
+#include "generated/live_kf_constants.h"
+#include "rednose/helpers/ekf_sym.h"
+
+#define EARTH_GM 3.986005e14  // m^3/s^2 (gravitational constant * mass of earth)
+
+using namespace EKFS;
+
+Eigen::Map<Eigen::VectorXd> get_mapvec(Eigen::VectorXd& vec);
+Eigen::Map<MatrixXdr> get_mapmat(MatrixXdr& mat);
+std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(std::vector<Eigen::VectorXd>& vec_vec);
+std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(std::vector<MatrixXdr>& mat_vec);
+
+class LiveKalman {
+public:
+  LiveKalman();
+
+  void init_state(Eigen::VectorXd& state, Eigen::VectorXd& covs_diag, double filter_time);
+  void init_state(Eigen::VectorXd& state, MatrixXdr& covs, double filter_time);
+  void init_state(Eigen::VectorXd& state, double filter_time);
+
+  Eigen::VectorXd get_x();
+  MatrixXdr get_P();
+  double get_filter_time();
+  std::vector<MatrixXdr> get_R(int kind, int n);
+
+  std::optional<Estimate> predict_and_observe(double t, int kind, std::vector<Eigen::VectorXd> meas, std::vector<MatrixXdr> R = {});
+  std::optional<Estimate> predict_and_update_odo_speed(std::vector<Eigen::VectorXd> speed, double t, int kind);
+  std::optional<Estimate> predict_and_update_odo_trans(std::vector<Eigen::VectorXd> trans, double t, int kind);
+  std::optional<Estimate> predict_and_update_odo_rot(std::vector<Eigen::VectorXd> rot, double t, int kind);
+
+  Eigen::VectorXd get_initial_x();
+  MatrixXdr get_initial_P();
+
+  MatrixXdr H(Eigen::VectorXd in);
+
+private:
+  std::string name = "live";
+
+  std::shared_ptr<EKFSym> filter;
+
+  int dim_state;
+  int dim_state_err;
+
+  Eigen::VectorXd initial_x;
+  MatrixXdr initial_P;
+  MatrixXdr Q;  // process noise
+  std::unordered_map<int, MatrixXdr> obs_noise;
+};
diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py
new file mode 100755
index 00000000000000..c67644ff1aee97
--- /dev/null
+++ b/selfdrive/locationd/models/live_kf.py
@@ -0,0 +1,255 @@
+#!/usr/bin/env python3
+
+import sys
+import os
+import numpy as np
+
+from selfdrive.locationd.models.constants import ObservationKind
+
+import sympy as sp
+import inspect
+from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
+from rednose.helpers.ekf_sym import gen_code
+
+EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
+
+
+def numpy2eigenstring(arr):
+  assert(len(arr.shape) == 1)
+  arr_str = np.array2string(arr, precision=20, separator=',')[1:-1].replace(' ', '').replace('\n', '')
+  return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
+
+
+class States():
+  ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
+  ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
+  ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
+  ANGULAR_VELOCITY = slice(10, 13)  # roll, pitch and yaw rates in device frame in radians/s
+  GYRO_BIAS = slice(13, 16)  # roll, pitch and yaw biases
+  ODO_SCALE = slice(16, 17)  # odometer scale
+  ACCELERATION = slice(17, 20)  # Acceleration in device frame in m/s**2
+  IMU_OFFSET = slice(20, 23)  # imu offset angles in radians
+  ACC_BIAS = slice(23, 26)
+
+  # Error-state has different slices because it is an ESKF
+  ECEF_POS_ERR = slice(0, 3)
+  ECEF_ORIENTATION_ERR = slice(3, 6)  # euler angles for orientation error
+  ECEF_VELOCITY_ERR = slice(6, 9)
+  ANGULAR_VELOCITY_ERR = slice(9, 12)
+  GYRO_BIAS_ERR = slice(12, 15)
+  ODO_SCALE_ERR = slice(15, 16)
+  ACCELERATION_ERR = slice(16, 19)
+  IMU_OFFSET_ERR = slice(19, 22)
+  ACC_BIAS_ERR = slice(22, 25)
+
+
+class LiveKalman():
+  name = 'live'
+
+  initial_x = np.array([3.88e6, -3.37e6, 3.76e6,
+                        0.42254641, -0.31238054, -0.83602975, -0.15788347,  # NED [0,0,0] -> ECEF Quat
+                        0, 0, 0,
+                        0, 0, 0,
+                        0, 0, 0,
+                        1,
+                        0, 0, 0,
+                        0, 0, 0,
+                        0, 0, 0])
+
+  # state covariance
+  initial_P_diag = np.array([10**2, 10**2, 10**2,
+                             0.01**2, 0.01**2, 0.01**2,
+                             10**2, 10**2, 10**2,
+                             1**2, 1**2, 1**2,
+                             1**2, 1**2, 1**2,
+                             0.02**2,
+                             100**2, 100**2, 100**2,
+                             0.01**2, 0.01**2, 0.01**2,
+                             0.01**2, 0.01**2, 0.01**2])
+
+  # process noise
+  Q_diag = np.array([0.03**2, 0.03**2, 0.03**2,
+                     0.001**2, 0.001**2, 0.001**2,
+                     0.01**2, 0.01**2, 0.01**2,
+                     0.1**2, 0.1**2, 0.1**2,
+                     (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
+                     (0.02 / 100)**2,
+                     3**2, 3**2, 3**2,
+                     (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2,
+                     0.005**2, 0.005**2, 0.005**2])
+
+  obs_noise_diag = {ObservationKind.ODOMETRIC_SPEED: np.array([0.2**2]),
+                    ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]),
+                    ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]),
+                    ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2]),
+                    ObservationKind.IMU_FRAME: np.array([0.05**2, 0.05**2, 0.05**2]),
+                    ObservationKind.NO_ROT: np.array([0.005**2, 0.005**2, 0.005**2]),
+                    ObservationKind.NO_ACCEL: np.array([0.05**2, 0.05**2, 0.05**2]),
+                    ObservationKind.ECEF_POS: np.array([5**2, 5**2, 5**2]),
+                    ObservationKind.ECEF_VEL: np.array([.5**2, .5**2, .5**2]),
+                    ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.array([.2**2, .2**2, .2**2, .2**2])}
+
+  @staticmethod
+  def generate_code(generated_dir):
+    name = LiveKalman.name
+    dim_state = LiveKalman.initial_x.shape[0]
+    dim_state_err = LiveKalman.initial_P_diag.shape[0]
+
+    state_sym = sp.MatrixSymbol('state', dim_state, 1)
+    state = sp.Matrix(state_sym)
+    x, y, z = state[States.ECEF_POS, :]
+    q = state[States.ECEF_ORIENTATION, :]
+    v = state[States.ECEF_VELOCITY, :]
+    vx, vy, vz = v
+    omega = state[States.ANGULAR_VELOCITY, :]
+    vroll, vpitch, vyaw = omega
+    roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
+    acceleration = state[States.ACCELERATION, :]
+    imu_angles = state[States.IMU_OFFSET, :]
+    acc_bias = state[States.ACC_BIAS, :]
+
+    dt = sp.Symbol('dt')
+
+    # calibration and attitude rotation matrices
+    quat_rot = quat_rotate(*q)
+
+    # Got the quat predict equations from here
+    # A New Quaternion-Based Kalman Filter for
+    # Real-Time Attitude Estimation Using the Two-Step
+    # Geometrically-Intuitive Correction Algorithm
+    A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw],
+                         [vroll, 0, vyaw, -vpitch],
+                         [vpitch, -vyaw, 0, vroll],
+                         [vyaw, vpitch, -vroll, 0]])
+    q_dot = A * q
+
+    # Time derivative of the state as a function of state
+    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
+    state_dot[States.ECEF_POS, :] = v
+    state_dot[States.ECEF_ORIENTATION, :] = q_dot
+    state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration
+
+    # Basic descretization, 1st order intergrator
+    # Can be pretty bad if dt is big
+    f_sym = state + dt * state_dot
+
+    state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1)
+    state_err = sp.Matrix(state_err_sym)
+    quat_err = state_err[States.ECEF_ORIENTATION_ERR, :]
+    v_err = state_err[States.ECEF_VELOCITY_ERR, :]
+    omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :]
+    acceleration_err = state_err[States.ACCELERATION_ERR, :]
+
+
+    # Time derivative of the state error as a function of state error and state
+    quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2])
+    q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err)
+    state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1)))
+    state_err_dot[States.ECEF_POS_ERR, :] = v_err
+    state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot
+    state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err)
+    f_err_sym = state_err + dt * state_err_dot
+
+    # Observation matrix modifier
+    H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err)))
+    H_mod_sym[States.ECEF_POS, States.ECEF_POS_ERR] = np.eye(States.ECEF_POS.stop - States.ECEF_POS.start)
+    H_mod_sym[States.ECEF_ORIENTATION, States.ECEF_ORIENTATION_ERR] = 0.5 * quat_matrix_r(state[3:7])[:, 1:]
+    H_mod_sym[States.ECEF_ORIENTATION.stop:, States.ECEF_ORIENTATION_ERR.stop:] = np.eye(dim_state - States.ECEF_ORIENTATION.stop)
+
+    # these error functions are defined so that say there
+    # is a nominal x and true x:
+    # true x = err_function(nominal x, delta x)
+    # delta x = inv_err_function(nominal x, true x)
+    nom_x = sp.MatrixSymbol('nom_x', dim_state, 1)
+    true_x = sp.MatrixSymbol('true_x', dim_state, 1)
+    delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
+
+    err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
+    delta_quat = sp.Matrix(np.ones((4)))
+    delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :])
+    err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :])
+    err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat
+    err_function_sym[States.ECEF_ORIENTATION.stop:, :] = sp.Matrix(nom_x[States.ECEF_ORIENTATION.stop:, :] + delta_x[States.ECEF_ORIENTATION_ERR.stop:, :])
+
+    inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1)))
+    inv_err_function_sym[States.ECEF_POS_ERR, 0] = sp.Matrix(-nom_x[States.ECEF_POS, 0] + true_x[States.ECEF_POS, 0])
+    delta_quat = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]).T * true_x[States.ECEF_ORIENTATION, 0]
+    inv_err_function_sym[States.ECEF_ORIENTATION_ERR, 0] = sp.Matrix(2 * delta_quat[1:])
+    inv_err_function_sym[States.ECEF_ORIENTATION_ERR.stop:, 0] = sp.Matrix(-nom_x[States.ECEF_ORIENTATION.stop:, 0] + true_x[States.ECEF_ORIENTATION.stop:, 0])
+
+    eskf_params = [[err_function_sym, nom_x, delta_x],
+                   [inv_err_function_sym, nom_x, true_x],
+                   H_mod_sym, f_err_sym, state_err_sym]
+    #
+    # Observation functions
+    #
+    # imu_rot = euler_rotate(*imu_angles)
+    h_gyro_sym = sp.Matrix([
+      vroll + roll_bias,
+      vpitch + pitch_bias,
+      vyaw + yaw_bias])
+
+    pos = sp.Matrix([x, y, z])
+    gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos)
+    h_acc_sym = (gravity + acceleration + acc_bias)
+    h_acc_stationary_sym = acceleration
+    h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
+
+    speed = sp.sqrt(vx**2 + vy**2 + vz**2 + 1e-6)
+    h_speed_sym = sp.Matrix([speed])
+
+    h_pos_sym = sp.Matrix([x, y, z])
+    h_vel_sym = sp.Matrix([vx, vy, vz])
+    h_orientation_sym = q
+    h_imu_frame_sym = sp.Matrix(imu_angles)
+
+    h_relative_motion = sp.Matrix(quat_rot.T * v)
+
+    obs_eqs = [[h_speed_sym, ObservationKind.ODOMETRIC_SPEED, None],
+               [h_gyro_sym, ObservationKind.PHONE_GYRO, None],
+               [h_phone_rot_sym, ObservationKind.NO_ROT, None],
+               [h_acc_sym, ObservationKind.PHONE_ACCEL, None],
+               [h_pos_sym, ObservationKind.ECEF_POS, None],
+               [h_vel_sym, ObservationKind.ECEF_VEL, None],
+               [h_orientation_sym, ObservationKind.ECEF_ORIENTATION_FROM_GPS, None],
+               [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None],
+               [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
+               [h_imu_frame_sym, ObservationKind.IMU_FRAME, None],
+               [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
+
+    # this returns a sympy routine for the jacobian of the observation function of the local vel
+    in_vec = sp.MatrixSymbol('in_vec', 6, 1)  # roll, pitch, yaw, vx, vy, vz
+    h = euler_rotate(in_vec[0], in_vec[1], in_vec[2]).T*(sp.Matrix([in_vec[3], in_vec[4], in_vec[5]]))
+    extra_routines = [('H', h.jacobian(in_vec), [in_vec])]
+
+    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, extra_routines=extra_routines)
+
+    # write constants to extra header file for use in cpp
+    live_kf_header = "#pragma once\n\n"
+    live_kf_header += "#include <unordered_map>\n"
+    live_kf_header += "#include <eigen3/Eigen/Dense>\n\n"
+    for state, slc in inspect.getmembers(States, lambda x: type(x) == slice):
+      assert(slc.step is None)  # unsupported
+      live_kf_header += f'#define STATE_{state}_START {slc.start}\n'
+      live_kf_header += f'#define STATE_{state}_END {slc.stop}\n'
+      live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n'
+    live_kf_header += "\n"
+
+    for kind, val in inspect.getmembers(ObservationKind, lambda x: type(x) == int):
+      live_kf_header += f'#define OBSERVATION_{kind} {val}\n'
+    live_kf_header += "\n"
+
+    live_kf_header += f"static const Eigen::VectorXd live_initial_x = {numpy2eigenstring(LiveKalman.initial_x)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_initial_P_diag = {numpy2eigenstring(LiveKalman.initial_P_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_Q_diag = {numpy2eigenstring(LiveKalman.Q_diag)};\n"
+    live_kf_header += "static const std::unordered_map<int, Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> live_obs_noise_diag = {\n"
+    for kind, noise in LiveKalman.obs_noise_diag.items():
+      live_kf_header += f"  {{ {kind}, {numpy2eigenstring(noise)} }},\n"
+    live_kf_header += "};\n\n"
+
+    open(os.path.join(generated_dir, "live_kf_constants.h"), 'w').write(live_kf_header)
+
+
+if __name__ == "__main__":
+  generated_dir = sys.argv[2]
+  LiveKalman.generate_code(generated_dir)
diff --git a/selfdrive/locationd/params_learner.cc b/selfdrive/locationd/params_learner.cc
deleted file mode 100644
index 66f378a1da281a..00000000000000
--- a/selfdrive/locationd/params_learner.cc
+++ /dev/null
@@ -1,118 +0,0 @@
-#include <algorithm>
-#include <cmath>
-#include <iostream>
-
-#include <capnp/message.h>
-#include <capnp/serialize-packed.h>
-#include "cereal/gen/cpp/log.capnp.h"
-#include "cereal/gen/cpp/car.capnp.h"
-#include "params_learner.h"
-
-// #define DEBUG
-
-template <typename T>
-T clip(const T& n, const T& lower, const T& upper) {
-  return std::max(lower, std::min(n, upper));
-}
-
-ParamsLearner::ParamsLearner(cereal::CarParams::Reader car_params,
-                             double angle_offset,
-                             double stiffness_factor,
-                             double steer_ratio,
-                             double learning_rate) :
-  ao(angle_offset * DEGREES_TO_RADIANS),
-  slow_ao(angle_offset * DEGREES_TO_RADIANS),
-  x(stiffness_factor),
-  sR(steer_ratio) {
-
-  cF0 = car_params.getTireStiffnessFront();
-  cR0 = car_params.getTireStiffnessRear();
-
-  l = car_params.getWheelbase();
-  m = car_params.getMass();
-
-  aF = car_params.getCenterToFront();
-  aR = l - aF;
-
-  min_sr = MIN_SR * car_params.getSteerRatio();
-  max_sr = MAX_SR * car_params.getSteerRatio();
-  min_sr_th = MIN_SR_TH * car_params.getSteerRatio();
-  max_sr_th = MAX_SR_TH * car_params.getSteerRatio();
-  alpha1 = 0.01 * learning_rate;
-  alpha2 = 0.0005 * learning_rate;
-  alpha3 = 0.1 * learning_rate;
-  alpha4 = 1.0 * learning_rate;
-}
-
-bool ParamsLearner::update(double psi, double u, double sa) {
-  if (u > 10.0 && fabs(sa) < (DEGREES_TO_RADIANS * 90.)) {
-    double ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
-    double new_ao = ao - alpha1 * ao_diff;
-
-    double slow_ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
-    double new_slow_ao = slow_ao - alpha2 * slow_ao_diff;
-
-    double new_x = x - alpha3 * (-2.0*cF0*cR0*l*m*pow(u, 3)*(slow_ao - sa)*(aF*cF0 - aR*cR0)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 3)));
-    double new_sR = sR - alpha4 * (-2.0*cF0*cR0*l*u*x*(slow_ao - sa)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 3)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2)));
-
-    ao = new_ao;
-    slow_ao = new_slow_ao;
-    x = new_x;
-    sR = new_sR;
-  }
-
-#ifdef DEBUG
-  std::cout << "Instant AO: " << (RADIANS_TO_DEGREES * ao) << "\tAverage AO: " << (RADIANS_TO_DEGREES * slow_ao);
-  std::cout << "\tStiffness: " << x << "\t sR: " << sR << std::endl;
-#endif
-
-  ao = clip(ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET);
-  slow_ao = clip(slow_ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET);
-  x = clip(x, MIN_STIFFNESS, MAX_STIFFNESS);
-  sR = clip(sR, min_sr, max_sr);
-
-  bool valid = fabs(slow_ao) < MAX_ANGLE_OFFSET_TH;
-  valid = valid && sR > min_sr_th;
-  valid = valid && sR < max_sr_th;
-  return valid;
-}
-
-
-extern "C" {
-  void *params_learner_init(size_t len, char * params, double angle_offset, double stiffness_factor, double steer_ratio, double learning_rate) {
-
-    auto amsg = kj::heapArray<capnp::word>((len / sizeof(capnp::word)) + 1);
-    memcpy(amsg.begin(), params, len);
-
-    capnp::FlatArrayMessageReader cmsg(amsg);
-    cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
-
-    ParamsLearner * p = new ParamsLearner(car_params, angle_offset, stiffness_factor, steer_ratio, learning_rate);
-    return (void*)p;
-  }
-
-  bool params_learner_update(void * params_learner, double psi, double u, double sa) {
-    ParamsLearner * p = (ParamsLearner*) params_learner;
-    return p->update(psi, u, sa);
-  }
-
-  double params_learner_get_ao(void * params_learner){
-    ParamsLearner * p = (ParamsLearner*) params_learner;
-    return p->ao;
-  }
-
-  double params_learner_get_x(void * params_learner){
-    ParamsLearner * p = (ParamsLearner*) params_learner;
-    return p->x;
-  }
-
-  double params_learner_get_slow_ao(void * params_learner){
-    ParamsLearner * p = (ParamsLearner*) params_learner;
-    return p->slow_ao;
-  }
-
-  double params_learner_get_sR(void * params_learner){
-    ParamsLearner * p = (ParamsLearner*) params_learner;
-    return p->sR;
-  }
-}
diff --git a/selfdrive/locationd/params_learner.h b/selfdrive/locationd/params_learner.h
deleted file mode 100644
index 4d97551b3b3a70..00000000000000
--- a/selfdrive/locationd/params_learner.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-#define DEGREES_TO_RADIANS 0.017453292519943295
-#define RADIANS_TO_DEGREES (1.0 / DEGREES_TO_RADIANS)
-
-#define MAX_ANGLE_OFFSET (10.0 * DEGREES_TO_RADIANS)
-#define MAX_ANGLE_OFFSET_TH  (9.0 * DEGREES_TO_RADIANS)
-#define MIN_STIFFNESS  0.5
-#define MAX_STIFFNESS  2.0
-#define MIN_SR  0.5
-#define MAX_SR  2.0
-#define MIN_SR_TH  0.55
-#define MAX_SR_TH  1.9
-
-class ParamsLearner {
-  double cF0, cR0;
-  double aR, aF;
-  double l, m;
-
-  double min_sr, max_sr, min_sr_th, max_sr_th;
-  double alpha1, alpha2, alpha3, alpha4;
-
-public:
-  double ao;
-  double slow_ao;
-  double x, sR;
-
-  ParamsLearner(cereal::CarParams::Reader car_params,
-                double angle_offset,
-                double stiffness_factor,
-                double steer_ratio,
-                double learning_rate);
-
-  bool update(double psi, double u, double sa);
-};
diff --git a/selfdrive/locationd/paramsd.cc b/selfdrive/locationd/paramsd.cc
deleted file mode 100644
index 318a7598240ade..00000000000000
--- a/selfdrive/locationd/paramsd.cc
+++ /dev/null
@@ -1,187 +0,0 @@
-#include <future>
-#include <iostream>
-#include <cassert>
-#include <csignal>
-#include <unistd.h>
-
-
-#include <capnp/message.h>
-#include <capnp/serialize-packed.h>
-
-#include "json11.hpp"
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "common/swaglog.h"
-#include "common/messaging.h"
-#include "common/params.h"
-#include "common/timing.h"
-
-#include "messaging.hpp"
-#include "locationd_yawrate.h"
-#include "params_learner.h"
-
-#include "common/util.h"
-
-void sigpipe_handler(int sig) {
-  LOGE("SIGPIPE received");
-}
-
-
-int main(int argc, char *argv[]) {
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
-
-  Context * c = Context::create();
-  SubSocket * controls_state_sock = SubSocket::create(c, "controlsState");
-  SubSocket * sensor_events_sock = SubSocket::create(c, "sensorEvents");
-  SubSocket * camera_odometry_sock = SubSocket::create(c, "cameraOdometry");
-  PubSocket * live_parameters_sock = PubSocket::create(c, "liveParameters");
-
-  assert(controls_state_sock != NULL);
-  assert(sensor_events_sock != NULL);
-  assert(camera_odometry_sock != NULL);
-  assert(live_parameters_sock != NULL);
-
-  Poller * poller = Poller::create({controls_state_sock, sensor_events_sock, camera_odometry_sock});
-
-  Localizer localizer;
-
-  // Read car params
-  char *value;
-  size_t value_sz = 0;
-
-  LOGW("waiting for params to set vehicle model");
-  while (true) {
-    read_db_value(NULL, "CarParams", &value, &value_sz);
-    if (value_sz > 0) break;
-    usleep(100*1000);
-  }
-  LOGW("got %d bytes CarParams", value_sz);
-
-  // make copy due to alignment issues
-  auto amsg = kj::heapArray<capnp::word>((value_sz / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), value, value_sz);
-  free(value);
-
-  capnp::FlatArrayMessageReader cmsg(amsg);
-  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
-
-  // Read params from previous run
-  const int result = read_db_value(NULL, "LiveParameters", &value, &value_sz);
-
-  std::string fingerprint = car_params.getCarFingerprint();
-  std::string vin = car_params.getCarVin();
-  double sR = car_params.getSteerRatio();
-  double x = 1.0;
-  double ao = 0.0;
-  double posenet_invalid_count = 0;
-
-  if (result == 0){
-    auto str = std::string(value, value_sz);
-    free(value);
-
-    std::string err;
-    auto json = json11::Json::parse(str, err);
-    if (json.is_null() || !err.empty()) {
-      std::string log = "Error parsing json: " + err;
-      LOGW(log.c_str());
-    } else {
-      std::string new_fingerprint = json["carFingerprint"].string_value();
-      std::string new_vin = json["carVin"].string_value();
-
-      if (fingerprint == new_fingerprint && vin == new_vin) {
-        std::string log = "Parameter starting with: " + str;
-        LOGW(log.c_str());
-
-        sR = json["steerRatio"].number_value();
-        x = json["stiffnessFactor"].number_value();
-        ao = json["angleOffsetAverage"].number_value();
-      }
-    }
-  }
-
-  ParamsLearner learner(car_params, ao, x, sR, 1.0);
-
-  // Main loop
-  int save_counter = 0;
-  while (true){
-    for (auto s : poller->poll(100)){
-      Message * msg = s->receive();
-
-      auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
-      memcpy(amsg.begin(), msg->getData(), msg->getSize());
-
-      capnp::FlatArrayMessageReader capnp_msg(amsg);
-      cereal::Event::Reader event = capnp_msg.getRoot<cereal::Event>();
-
-      localizer.handle_log(event);
-
-      auto which = event.which();
-      // Throw vision failure if posenet and odometric speed too different
-      if (which == cereal::Event::CAMERA_ODOMETRY){
-        if (std::abs(localizer.posenet_speed - localizer.car_speed) > std::max(0.4 * localizer.car_speed, 5.0)) {
-          posenet_invalid_count++;
-        } else {
-          posenet_invalid_count = 0;
-        }
-      } else if (which == cereal::Event::CONTROLS_STATE){
-        save_counter++;
-
-        double yaw_rate = -localizer.x[0];
-        bool valid = learner.update(yaw_rate, localizer.car_speed, localizer.steering_angle);
-
-        // TODO: Fix in replay
-        double sensor_data_age = localizer.controls_state_time - localizer.sensor_data_time;
-        double camera_odometry_age = localizer.controls_state_time - localizer.camera_odometry_time;
-
-        double angle_offset_degrees = RADIANS_TO_DEGREES * learner.ao;
-        double angle_offset_average_degrees = RADIANS_TO_DEGREES * learner.slow_ao;
-
-        capnp::MallocMessageBuilder msg;
-        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-        event.setLogMonoTime(nanos_since_boot());
-        auto live_params = event.initLiveParameters();
-        live_params.setValid(valid);
-        live_params.setYawRate(localizer.x[0]);
-        live_params.setGyroBias(localizer.x[1]);
-        live_params.setSensorValid(sensor_data_age < 5.0);
-        live_params.setAngleOffset(angle_offset_degrees);
-        live_params.setAngleOffsetAverage(angle_offset_average_degrees);
-        live_params.setStiffnessFactor(learner.x);
-        live_params.setSteerRatio(learner.sR);
-        live_params.setPosenetSpeed(localizer.posenet_speed);
-        live_params.setPosenetValid((posenet_invalid_count < 4) && (camera_odometry_age < 5.0));
-
-        auto words = capnp::messageToFlatArray(msg);
-        auto bytes = words.asBytes();
-        live_parameters_sock->send((char*)bytes.begin(), bytes.size());
-
-        // Save parameters every minute
-        if (save_counter % 6000 == 0) {
-          json11::Json json = json11::Json::object {
-                                                    {"carVin", vin},
-                                                    {"carFingerprint", fingerprint},
-                                                    {"steerRatio", learner.sR},
-                                                    {"stiffnessFactor", learner.x},
-                                                    {"angleOffsetAverage", angle_offset_average_degrees},
-          };
-
-          std::string out = json.dump();
-          std::async(std::launch::async,
-                     [out]{
-                       write_db_value(NULL, "LiveParameters", out.c_str(), out.length());
-                     });
-        }
-      }
-      delete msg;
-    }
-  }
-
-  delete live_parameters_sock;
-  delete controls_state_sock;
-  delete camera_odometry_sock;
-  delete sensor_events_sock;
-  delete poller;
-  delete c;
-
-  return 0;
-}
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
new file mode 100755
index 00000000000000..914e0d0223714e
--- /dev/null
+++ b/selfdrive/locationd/paramsd.py
@@ -0,0 +1,181 @@
+#!/usr/bin/env python3
+import gc
+import math
+
+import json
+import numpy as np
+
+import cereal.messaging as messaging
+from cereal import car
+from common.params import Params, put_nonblocking
+from common.realtime import set_realtime_priority, DT_MDL
+from common.numpy_fast import clip
+from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
+from selfdrive.locationd.models.constants import GENERATED_DIR
+from selfdrive.swaglog import cloudlog
+
+
+MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
+
+class ParamsLearner:
+  def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset):
+    self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset)
+
+    self.kf.filter.set_global("mass", CP.mass)
+    self.kf.filter.set_global("rotational_inertia", CP.rotationalInertia)
+    self.kf.filter.set_global("center_to_front", CP.centerToFront)
+    self.kf.filter.set_global("center_to_rear", CP.wheelbase - CP.centerToFront)
+    self.kf.filter.set_global("stiffness_front", CP.tireStiffnessFront)
+    self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear)
+
+    self.active = False
+
+    self.speed = 0
+    self.steering_pressed = False
+    self.steering_angle = 0
+
+    self.valid = True
+
+  def handle_log(self, t, which, msg):
+    if which == 'liveLocationKalman':
+      yaw_rate = msg.angularVelocityCalibrated.value[2]
+      yaw_rate_std = msg.angularVelocityCalibrated.std[2]
+
+      yaw_rate_valid = msg.angularVelocityCalibrated.valid
+      yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10  # rad/s
+      yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1  # rad/s
+
+      if self.active:
+        if msg.inputsOK and msg.posenetOK and yaw_rate_valid:
+          self.kf.predict_and_observe(t,
+                                      ObservationKind.ROAD_FRAME_YAW_RATE,
+                                      np.array([[-yaw_rate]]),
+                                      np.array([np.atleast_2d(yaw_rate_std**2)]))
+        self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]]))
+
+    elif which == 'carState':
+      self.steering_angle = msg.steeringAngleDeg
+      self.steering_pressed = msg.steeringPressed
+      self.speed = msg.vEgo
+
+      in_linear_region = abs(self.steering_angle) < 45 or not self.steering_pressed
+      self.active = self.speed > 5 and in_linear_region
+
+      if self.active:
+        self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]]))
+        self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.speed]]))
+
+    if not self.active:
+      # Reset time when stopped so uncertainty doesn't grow
+      self.kf.filter.set_filter_time(t)
+      self.kf.filter.reset_rewind()
+
+
+def main(sm=None, pm=None):
+  gc.disable()
+  set_realtime_priority(5)
+
+  if sm is None:
+    sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
+  if pm is None:
+    pm = messaging.PubMaster(['liveParameters'])
+
+  params_reader = Params()
+  # wait for stats about the car to come in from controls
+  cloudlog.info("paramsd is waiting for CarParams")
+  CP = car.CarParams.from_bytes(params_reader.get("CarParams", block=True))
+  cloudlog.info("paramsd got CarParams")
+
+  min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
+
+  params = params_reader.get("LiveParameters")
+
+  # Check if car model matches
+  if params is not None:
+    params = json.loads(params)
+    if params.get('carFingerprint', None) != CP.carFingerprint:
+      cloudlog.info("Parameter learner found parameters for wrong car.")
+      params = None
+
+  # Check if starting values are sane
+  if params is not None:
+    try:
+      angle_offset_sane = abs(params.get('angleOffsetAverageDeg')) < 10.0
+      steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr
+      params_sane = angle_offset_sane and steer_ratio_sane
+      if not params_sane:
+        cloudlog.info(f"Invalid starting values found {params}")
+        params = None
+    except Exception as e:
+      cloudlog.info(f"Error reading params {params}: {str(e)}")
+      params = None
+
+  # TODO: cache the params with the capnp struct
+  if params is None:
+    params = {
+      'carFingerprint': CP.carFingerprint,
+      'steerRatio': CP.steerRatio,
+      'stiffnessFactor': 1.0,
+      'angleOffsetAverageDeg': 0.0,
+    }
+    cloudlog.info("Parameter learner resetting to default values")
+
+  # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
+  # Without a way to detect this we have to reset the stiffness every drive
+  params['stiffnessFactor'] = 1.0
+  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']))
+  angle_offset_average = params['angleOffsetAverageDeg']
+  angle_offset = angle_offset_average
+
+  while True:
+    sm.update()
+    for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
+      if sm.updated[which]:
+        t = sm.logMonoTime[which] * 1e-9
+        learner.handle_log(t, which, sm[which])
+
+    if sm.updated['liveLocationKalman']:
+      x = learner.kf.x
+      P = np.sqrt(learner.kf.P.diagonal())
+      if not all(map(math.isfinite, x)):
+        cloudlog.error("NaN in liveParameters estimate. Resetting to default values")
+        learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
+        x = learner.kf.x
+
+      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
+      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
+
+      msg = messaging.new_message('liveParameters')
+      msg.logMonoTime = sm.logMonoTime['carState']
+
+      msg.liveParameters.posenetValid = True
+      msg.liveParameters.sensorValid = True
+      msg.liveParameters.steerRatio = float(x[States.STEER_RATIO])
+      msg.liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
+      msg.liveParameters.angleOffsetAverageDeg = angle_offset_average
+      msg.liveParameters.angleOffsetDeg = angle_offset
+      msg.liveParameters.valid = all((
+        abs(msg.liveParameters.angleOffsetAverageDeg) < 10.0,
+        abs(msg.liveParameters.angleOffsetDeg) < 10.0,
+        0.2 <= msg.liveParameters.stiffnessFactor <= 5.0,
+        min_sr <= msg.liveParameters.steerRatio <= max_sr,
+      ))
+      msg.liveParameters.steerRatioStd = float(P[States.STEER_RATIO])
+      msg.liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
+      msg.liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
+      msg.liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
+
+      if sm.frame % 1200 == 0:  # once a minute
+        params = {
+          'carFingerprint': CP.carFingerprint,
+          'steerRatio': msg.liveParameters.steerRatio,
+          'stiffnessFactor': msg.liveParameters.stiffnessFactor,
+          'angleOffsetAverageDeg': msg.liveParameters.angleOffsetAverageDeg,
+        }
+        put_nonblocking("LiveParameters", json.dumps(params))
+
+      pm.send('liveParameters', msg)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/locationd/test/ci_test.py b/selfdrive/locationd/test/ci_test.py
deleted file mode 100755
index 5b23e8326ae444..00000000000000
--- a/selfdrive/locationd/test/ci_test.py
+++ /dev/null
@@ -1,79 +0,0 @@
-#!/usr/bin/env python3
-import subprocess
-import os
-import sys
-import argparse
-import tempfile
-
-from selfdrive.locationd.test.ubloxd_py_test import parser_test
-from selfdrive.locationd.test.ubloxd_regression_test import compare_results
-
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
-def main(args):
-  cur_dir = os.path.dirname(os.path.realpath(__file__))
-  ubloxd_dir = os.path.join(cur_dir, '../')
-
-  cc_output_dir = os.path.join(args.output_dir, 'cc')
-  mkdirs_exists_ok(cc_output_dir)
-
-  py_output_dir = os.path.join(args.output_dir, 'py')
-  mkdirs_exists_ok(py_output_dir)
-
-  archive_file = os.path.join(cur_dir, args.stream_gz_file)
-
-  try:
-    print('Extracting stream file')
-    subprocess.check_call(['tar', 'zxf', archive_file], cwd=tempfile.gettempdir())
-    stream_file_path = os.path.join(tempfile.gettempdir(), 'ubloxRaw.stream')
-
-    if not os.path.isfile(stream_file_path):
-      print('Extract file failed')
-      sys.exit(-3)
-
-    print('Run regression test - CC parser...')
-    if args.valgrind:
-      subprocess.check_call(["valgrind", "--leak-check=full", os.path.join(ubloxd_dir, 'ubloxd_test'), stream_file_path, cc_output_dir])
-    else:
-      subprocess.check_call([os.path.join(ubloxd_dir, 'ubloxd_test'), stream_file_path, cc_output_dir])
-
-    print('Running regression test - py parser...')
-    parser_test(stream_file_path, py_output_dir)
-
-    print('Running regression test - compare result...')
-    r = compare_results(cc_output_dir, py_output_dir)
-
-    print('All done!')
-
-    subprocess.check_call(["rm", stream_file_path])
-    subprocess.check_call(["rm", '-rf', cc_output_dir])
-    subprocess.check_call(["rm", '-rf', py_output_dir])
-    sys.exit(r)
-
-  except subprocess.CalledProcessError as e:
-    print('CI test failed with {}'.format(e.returncode))
-    sys.exit(e.returncode)
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Ubloxd CI test",
-                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("stream_gz_file", nargs='?', default='ubloxRaw.tar.gz',
-                      help="UbloxRaw data stream zip file")
-
-  parser.add_argument("output_dir", nargs='?', default='out',
-                      help="Output events temp directory")
-
-  parser.add_argument("--valgrind", default=False, action='store_true',
-                      help="Run in valgrind")
-
-  args = parser.parse_args()
-  main(args)
diff --git a/selfdrive/locationd/test/ephemeris.py b/selfdrive/locationd/test/ephemeris.py
deleted file mode 100644
index dd8155e19a4507..00000000000000
--- a/selfdrive/locationd/test/ephemeris.py
+++ /dev/null
@@ -1,137 +0,0 @@
-def GET_FIELD_U(w, nb, pos):
-  return (((w) >> (pos)) & ((1 << (nb)) - 1))
-
-
-def twos_complement(v, nb):
-  sign = v >> (nb - 1)
-  value = v
-  if sign != 0:
-    value = value - (1 << nb)
-  return value
-
-
-def GET_FIELD_S(w, nb, pos):
-  v = GET_FIELD_U(w, nb, pos)
-  return twos_complement(v, nb)
-
-
-def extract_uint8(v, b):
-  return (v >> (8 * (3 - b))) & 255
-
-def extract_int8(v, b):
-  value = extract_uint8(v, b)
-  if value > 127:
-    value -= 256
-  return value
-
-class EphemerisData:
-  '''container for parsing a AID_EPH message
-    Thanks to Sylvain Munaut <tnt@246tNt.com>
-    http://cgit.osmocom.org/cgit/osmocom-lcs/tree/gps.c
-on of this parser
-
-    See IS-GPS-200F.pdf Table 20-III for the field meanings, scaling factors and
-    field widths
-    '''
-
-  def __init__(self, svId, subframes):
-    from math import pow
-    self.svId = svId
-    week_no = GET_FIELD_U(subframes[1][2+0], 10, 20)
-    # code_on_l2 = GET_FIELD_U(subframes[1][0],  2, 12)
-    # sv_ura     = GET_FIELD_U(subframes[1][0],  4,  8)
-    # sv_health  = GET_FIELD_U(subframes[1][0],  6,  2)
-    # l2_p_flag  = GET_FIELD_U(subframes[1][1],  1, 23)
-    t_gd = GET_FIELD_S(subframes[1][2+4], 8, 6)
-    iodc = (GET_FIELD_U(subframes[1][2+0], 2, 6) << 8) | GET_FIELD_U(
-      subframes[1][2+5], 8, 22)
-
-    t_oc = GET_FIELD_U(subframes[1][2+5], 16, 6)
-    a_f2 = GET_FIELD_S(subframes[1][2+6], 8, 22)
-    a_f1 = GET_FIELD_S(subframes[1][2+6], 16, 6)
-    a_f0 = GET_FIELD_S(subframes[1][2+7], 22, 8)
-
-    c_rs = GET_FIELD_S(subframes[2][2+0], 16, 6)
-    delta_n = GET_FIELD_S(subframes[2][2+1], 16, 14)
-    m_0 = (GET_FIELD_S(subframes[2][2+1], 8, 6) << 24) | GET_FIELD_U(
-      subframes[2][2+2], 24, 6)
-    c_uc = GET_FIELD_S(subframes[2][2+3], 16, 14)
-    e = (GET_FIELD_U(subframes[2][2+3], 8, 6) << 24) | GET_FIELD_U(subframes[2][2+4], 24, 6)
-    c_us = GET_FIELD_S(subframes[2][2+5], 16, 14)
-    a_powhalf = (GET_FIELD_U(subframes[2][2+5], 8, 6) << 24) | GET_FIELD_U(
-      subframes[2][2+6], 24, 6)
-    t_oe = GET_FIELD_U(subframes[2][2+7], 16, 14)
-    # fit_flag   = GET_FIELD_U(subframes[2][7],  1,  7)
-
-    c_ic = GET_FIELD_S(subframes[3][2+0], 16, 14)
-    omega_0 = (GET_FIELD_S(subframes[3][2+0], 8, 6) << 24) | GET_FIELD_U(
-      subframes[3][2+1], 24, 6)
-    c_is = GET_FIELD_S(subframes[3][2+2], 16, 14)
-    i_0 = (GET_FIELD_S(subframes[3][2+2], 8, 6) << 24) | GET_FIELD_U(
-      subframes[3][2+3], 24, 6)
-    c_rc = GET_FIELD_S(subframes[3][2+4], 16, 14)
-    w = (GET_FIELD_S(subframes[3][2+4], 8, 6) << 24) | GET_FIELD_U(subframes[3][5], 24, 6)
-    omega_dot = GET_FIELD_S(subframes[3][2+6], 24, 6)
-    idot = GET_FIELD_S(subframes[3][2+7], 14, 8)
-
-    self._rsvd1 = GET_FIELD_U(subframes[1][2+1], 23, 6)
-    self._rsvd2 = GET_FIELD_U(subframes[1][2+2], 24, 6)
-    self._rsvd3 = GET_FIELD_U(subframes[1][2+3], 24, 6)
-    self._rsvd4 = GET_FIELD_U(subframes[1][2+4], 16, 14)
-    self.aodo = GET_FIELD_U(subframes[2][2+7], 5, 8)
-
-    # Definition of Pi used in the GPS coordinate system
-    gpsPi = 3.1415926535898
-
-    # now form variables in radians, meters and seconds etc
-    self.Tgd = t_gd * pow(2, -31)
-    self.A = pow(a_powhalf * pow(2, -19), 2.0)
-    self.cic = c_ic * pow(2, -29)
-    self.cis = c_is * pow(2, -29)
-    self.crc = c_rc * pow(2, -5)
-    self.crs = c_rs * pow(2, -5)
-    self.cuc = c_uc * pow(2, -29)
-    self.cus = c_us * pow(2, -29)
-    self.deltaN = delta_n * pow(2, -43) * gpsPi
-    self.ecc = e * pow(2, -33)
-    self.i0 = i_0 * pow(2, -31) * gpsPi
-    self.idot = idot * pow(2, -43) * gpsPi
-    self.M0 = m_0 * pow(2, -31) * gpsPi
-    self.omega = w * pow(2, -31) * gpsPi
-    self.omega_dot = omega_dot * pow(2, -43) * gpsPi
-    self.omega0 = omega_0 * pow(2, -31) * gpsPi
-    self.toe = t_oe * pow(2, 4)
-
-    # clock correction information
-    self.toc = t_oc * pow(2, 4)
-    self.gpsWeek = week_no
-    self.af0 = a_f0 * pow(2, -31)
-    self.af1 = a_f1 * pow(2, -43)
-    self.af2 = a_f2 * pow(2, -55)
-
-    iode1 = GET_FIELD_U(subframes[2][2+0], 8, 22)
-    iode2 = GET_FIELD_U(subframes[3][2+7], 8, 22)
-    self.valid = (iode1 == iode2) and (iode1 == (iodc & 0xff))
-    self.iode = iode1
-
-    if GET_FIELD_U(subframes[4][2+0], 6, 22) == 56 and \
-       GET_FIELD_U(subframes[4][2+0], 2, 28) == 1 and \
-       GET_FIELD_U(subframes[5][2+0], 2, 28) == 1:
-      a0 = GET_FIELD_S(subframes[4][2], 8, 14) * pow(2, -30)
-      a1 = GET_FIELD_S(subframes[4][2], 8, 6) * pow(2, -27)
-      a2 = GET_FIELD_S(subframes[4][3], 8, 22) * pow(2, -24)
-      a3 = GET_FIELD_S(subframes[4][3], 8, 14) * pow(2, -24)
-      b0 = GET_FIELD_S(subframes[4][3], 8, 6) * pow(2, 11)
-      b1 = GET_FIELD_S(subframes[4][4], 8, 22) * pow(2, 14)
-      b2 = GET_FIELD_S(subframes[4][4], 8, 14) * pow(2, 16)
-      b3 = GET_FIELD_S(subframes[4][4], 8, 6) * pow(2, 16)
-
-      self.ionoAlpha = [a0, a1, a2, a3]
-      self.ionoBeta = [b0, b1, b2, b3]
-      self.ionoCoeffsValid = True
-    else:
-      self.ionoAlpha = []
-      self.ionoBeta = []
-      self.ionoCoeffsValid = False
-
-
diff --git a/selfdrive/locationd/test/test_params_learner.py b/selfdrive/locationd/test/test_params_learner.py
deleted file mode 100755
index a3c84878581b31..00000000000000
--- a/selfdrive/locationd/test/test_params_learner.py
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env python3
-
-import numpy as np
-import unittest
-
-from selfdrive.car.honda.interface import CarInterface
-from selfdrive.car.honda.values import CAR
-from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.locationd.liblocationd_py import liblocationd # pylint: disable=no-name-in-module, import-error
-
-
-class TestParamsLearner(unittest.TestCase):
-  def setUp(self):
-
-    self.CP = CarInterface.get_params(CAR.CIVIC)
-    bts = self.CP.to_bytes()
-
-    self.params_learner = liblocationd.params_learner_init(len(bts), bts, 0.0, 1.0, self.CP.steerRatio, 1.0)
-
-  def test_convergence(self):
-    # Setup vehicle model with wrong parameters
-    VM_sim = VehicleModel(self.CP)
-    x_target = 0.75
-    sr_target = self.CP.steerRatio - 0.5
-    ao_target = -1.0
-    VM_sim.update_params(x_target, sr_target)
-
-    # Run simulation
-    times = np.arange(0, 15*3600, 0.01)
-    angle_offset = np.radians(ao_target)
-    steering_angles = np.radians(10 * np.sin(2 * np.pi * times / 100.)) + angle_offset
-    speeds = 10 * np.sin(2 * np.pi * times / 1000.) + 25
-
-    for i, t in enumerate(times):
-      u = speeds[i]
-      sa = steering_angles[i]
-      psi = VM_sim.yaw_rate(sa - angle_offset, u)
-      liblocationd.params_learner_update(self.params_learner, psi, u, sa)
-
-    # Verify learned parameters
-    sr = liblocationd.params_learner_get_sR(self.params_learner)
-    ao_slow = np.degrees(liblocationd.params_learner_get_slow_ao(self.params_learner))
-    x = liblocationd.params_learner_get_x(self.params_learner)
-    self.assertAlmostEqual(x_target, x, places=1)
-    self.assertAlmostEqual(ao_target, ao_slow, places=1)
-    self.assertAlmostEqual(sr_target, sr, places=1)
-
-
-
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/locationd/test/ublox.py b/selfdrive/locationd/test/ublox.py
deleted file mode 100644
index d99e714696b7e9..00000000000000
--- a/selfdrive/locationd/test/ublox.py
+++ /dev/null
@@ -1,1001 +0,0 @@
-#!/usr/bin/env python3
-'''
-UBlox binary protocol handling
-
-Copyright Andrew Tridgell, October 2012
-Released under GNU GPL version 3 or later
-
-WARNING: This code has originally intended for
-ublox version 7, it has been adapted to work
-for ublox version 8, not all functions may work.
-'''
-
-
-import struct
-import time, os
-
-# protocol constants
-PREAMBLE1 = 0xb5
-PREAMBLE2 = 0x62
-
-# message classes
-CLASS_NAV = 0x01
-CLASS_RXM = 0x02
-CLASS_INF = 0x04
-CLASS_ACK = 0x05
-CLASS_CFG = 0x06
-CLASS_MON = 0x0A
-CLASS_AID = 0x0B
-CLASS_TIM = 0x0D
-CLASS_ESF = 0x10
-
-# ACK messages
-MSG_ACK_NACK = 0x00
-MSG_ACK_ACK = 0x01
-
-# NAV messages
-MSG_NAV_POSECEF = 0x1
-MSG_NAV_POSLLH = 0x2
-MSG_NAV_STATUS = 0x3
-MSG_NAV_DOP = 0x4
-MSG_NAV_SOL = 0x6
-MSG_NAV_PVT = 0x7
-MSG_NAV_POSUTM = 0x8
-MSG_NAV_VELNED = 0x12
-MSG_NAV_VELECEF = 0x11
-MSG_NAV_TIMEGPS = 0x20
-MSG_NAV_TIMEUTC = 0x21
-MSG_NAV_CLOCK = 0x22
-MSG_NAV_SVINFO = 0x30
-MSG_NAV_AOPSTATUS = 0x60
-MSG_NAV_DGPS = 0x31
-MSG_NAV_DOP = 0x04
-MSG_NAV_EKFSTATUS = 0x40
-MSG_NAV_SBAS = 0x32
-MSG_NAV_SOL = 0x06
-
-# RXM messages
-MSG_RXM_RAW = 0x15
-MSG_RXM_SFRB = 0x11
-MSG_RXM_SFRBX = 0x13
-MSG_RXM_SVSI = 0x20
-MSG_RXM_EPH = 0x31
-MSG_RXM_ALM = 0x30
-MSG_RXM_PMREQ = 0x41
-
-# AID messages
-MSG_AID_ALM = 0x30
-MSG_AID_EPH = 0x31
-MSG_AID_ALPSRV = 0x32
-MSG_AID_AOP = 0x33
-MSG_AID_DATA = 0x10
-MSG_AID_ALP = 0x50
-MSG_AID_DATA = 0x10
-MSG_AID_HUI = 0x02
-MSG_AID_INI = 0x01
-MSG_AID_REQ = 0x00
-
-# CFG messages
-MSG_CFG_PRT = 0x00
-MSG_CFG_ANT = 0x13
-MSG_CFG_DAT = 0x06
-MSG_CFG_EKF = 0x12
-MSG_CFG_ESFGWT = 0x29
-MSG_CFG_CFG = 0x09
-MSG_CFG_USB = 0x1b
-MSG_CFG_RATE = 0x08
-MSG_CFG_SET_RATE = 0x01
-MSG_CFG_NAV5 = 0x24
-MSG_CFG_FXN = 0x0E
-MSG_CFG_INF = 0x02
-MSG_CFG_ITFM = 0x39
-MSG_CFG_MSG = 0x01
-MSG_CFG_NAVX5 = 0x23
-MSG_CFG_NMEA = 0x17
-MSG_CFG_NVS = 0x22
-MSG_CFG_PM2 = 0x3B
-MSG_CFG_PM = 0x32
-MSG_CFG_RINV = 0x34
-MSG_CFG_RST = 0x04
-MSG_CFG_RXM = 0x11
-MSG_CFG_SBAS = 0x16
-MSG_CFG_TMODE2 = 0x3D
-MSG_CFG_TMODE = 0x1D
-MSG_CFG_TPS = 0x31
-MSG_CFG_TP = 0x07
-MSG_CFG_GNSS = 0x3E
-MSG_CFG_ODO = 0x1E
-
-# ESF messages
-MSG_ESF_MEAS = 0x02
-MSG_ESF_STATUS = 0x10
-
-# INF messages
-MSG_INF_DEBUG = 0x04
-MSG_INF_ERROR = 0x00
-MSG_INF_NOTICE = 0x02
-MSG_INF_TEST = 0x03
-MSG_INF_WARNING = 0x01
-
-# MON messages
-MSG_MON_SCHD = 0x01
-MSG_MON_HW = 0x09
-MSG_MON_HW2 = 0x0B
-MSG_MON_IO = 0x02
-MSG_MON_MSGPP = 0x06
-MSG_MON_RXBUF = 0x07
-MSG_MON_RXR = 0x21
-MSG_MON_TXBUF = 0x08
-MSG_MON_VER = 0x04
-
-# TIM messages
-MSG_TIM_TP = 0x01
-MSG_TIM_TM2 = 0x03
-MSG_TIM_SVIN = 0x04
-MSG_TIM_VRFY = 0x06
-
-# port IDs
-PORT_DDC = 0
-PORT_SERIAL1 = 1
-PORT_SERIAL2 = 2
-PORT_USB = 3
-PORT_SPI = 4
-
-# dynamic models
-DYNAMIC_MODEL_PORTABLE = 0
-DYNAMIC_MODEL_STATIONARY = 2
-DYNAMIC_MODEL_PEDESTRIAN = 3
-DYNAMIC_MODEL_AUTOMOTIVE = 4
-DYNAMIC_MODEL_SEA = 5
-DYNAMIC_MODEL_AIRBORNE1G = 6
-DYNAMIC_MODEL_AIRBORNE2G = 7
-DYNAMIC_MODEL_AIRBORNE4G = 8
-
-#reset items
-RESET_HOT = 0
-RESET_WARM = 1
-RESET_COLD = 0xFFFF
-
-RESET_HW = 0
-RESET_SW = 1
-RESET_SW_GPS = 2
-RESET_HW_GRACEFUL = 4
-RESET_GPS_STOP = 8
-RESET_GPS_START = 9
-
-
-class UBloxError(Exception):
-  '''Ublox error class'''
-
-  def __init__(self, msg):
-    Exception.__init__(self, msg)
-    self.message = msg
-
-
-class UBloxAttrDict(dict):
-  '''allow dictionary members as attributes'''
-
-  def __init__(self):
-    dict.__init__(self)
-
-  def __getattr__(self, name):
-    try:
-      return self.__getitem__(name)
-    except KeyError:
-      raise AttributeError(name)
-
-  def __setattr__(self, name, value):
-    if name in self.__dict__:
-      # allow set on normal attributes
-      dict.__setattr__(self, name, value)
-    else:
-      self.__setitem__(name, value)
-
-
-def ArrayParse(field):
-  '''parse an array descriptor'''
-  arridx = field.find('[')
-  if arridx == -1:
-    return (field, -1)
-  alen = int(field[arridx + 1:-1])
-  fieldname = field[:arridx]
-  return (fieldname, alen)
-
-
-class UBloxDescriptor:
-  '''class used to describe the layout of a UBlox message'''
-
-  def __init__(self,
-               name,
-               msg_format,
-               fields=None,
-               count_field=None,
-               format2=None,
-               fields2=None):
-    if fields is None:
-      fields = []
-
-    self.name = name
-    self.msg_format = msg_format
-    self.fields = fields
-    self.count_field = count_field
-    self.format2 = format2
-    self.fields2 = fields2
-
-  def unpack(self, msg):
-    '''unpack a UBloxMessage, creating the .fields and ._recs attributes in msg'''
-    msg._fields = {}
-
-    # unpack main message blocks. A comm
-    formats = self.msg_format.split(',')
-    buf = msg._buf[6:-2]
-    count = 0
-    msg._recs = []
-    fields = self.fields[:]
-
-    for fmt in formats:
-      size1 = struct.calcsize(fmt)
-      if size1 > len(buf):
-        raise UBloxError("%s INVALID_SIZE1=%u" % (self.name, len(buf)))
-      f1 = list(struct.unpack(fmt, buf[:size1]))
-      i = 0
-      while i < len(f1):
-        field = fields.pop(0)
-        (fieldname, alen) = ArrayParse(field)
-        if alen == -1:
-          msg._fields[fieldname] = f1[i]
-          if self.count_field == fieldname:
-            count = int(f1[i])
-          i += 1
-        else:
-          msg._fields[fieldname] = [0] * alen
-          for a in range(alen):
-            msg._fields[fieldname][a] = f1[i]
-            i += 1
-      buf = buf[size1:]
-      if len(buf) == 0:
-        break
-
-    if self.count_field == '_remaining':
-      count = len(buf) // struct.calcsize(self.format2)
-
-    if count == 0:
-      msg._unpacked = True
-      if len(buf) != 0:
-        raise UBloxError("EXTRA_BYTES=%u" % len(buf))
-      return
-
-    size2 = struct.calcsize(self.format2)
-    for c in range(count):
-      r = UBloxAttrDict()
-      if size2 > len(buf):
-        raise UBloxError("INVALID_SIZE=%u, " % len(buf))
-      f2 = list(struct.unpack(self.format2, buf[:size2]))
-      for i in range(len(self.fields2)):
-        r[self.fields2[i]] = f2[i]
-      buf = buf[size2:]
-      msg._recs.append(r)
-    if len(buf) != 0:
-      raise UBloxError("EXTRA_BYTES=%u" % len(buf))
-    msg._unpacked = True
-
-  def pack(self, msg, msg_class=None, msg_id=None):
-    '''pack a UBloxMessage from the .fields and ._recs attributes in msg'''
-    f1 = []
-    if msg_class is None:
-      msg_class = msg.msg_class()
-    if msg_id is None:
-      msg_id = msg.msg_id()
-    msg._buf = ''
-
-    fields = self.fields[:]
-    for f in fields:
-      (fieldname, alen) = ArrayParse(f)
-      if not fieldname in msg._fields:
-        break
-      if alen == -1:
-        f1.append(msg._fields[fieldname])
-      else:
-        for a in range(alen):
-          f1.append(msg._fields[fieldname][a])
-    try:
-      # try full length message
-      fmt = self.msg_format.replace(',', '')
-      msg._buf = struct.pack(fmt, *tuple(f1))
-    except Exception:
-      # try without optional part
-      fmt = self.msg_format.split(',')[0]
-      msg._buf = struct.pack(fmt, *tuple(f1))
-
-    length = len(msg._buf)
-    if msg._recs:
-      length += len(msg._recs) * struct.calcsize(self.format2)
-    header = struct.pack('<BBBBH', PREAMBLE1, PREAMBLE2, msg_class, msg_id, length)
-    msg._buf = header + msg._buf
-
-    for r in msg._recs:
-      f2 = []
-      for f in self.fields2:
-        f2.append(r[f])
-      msg._buf += struct.pack(self.format2, *tuple(f2))
-    msg._buf += struct.pack('<BB', *msg.checksum(data=msg._buf[2:]))
-
-  def format(self, msg):
-    '''return a formatted string for a message'''
-    if not msg._unpacked:
-      self.unpack(msg)
-    ret = self.name + ': '
-    for f in self.fields:
-      (fieldname, alen) = ArrayParse(f)
-      if not fieldname in msg._fields:
-        continue
-      v = msg._fields[fieldname]
-      if isinstance(v, list):
-        ret += '%s=[' % fieldname
-        for a in range(alen):
-          ret += '%s, ' % v[a]
-        ret = ret[:-2] + '], '
-      elif isinstance(v, str):
-        ret += '%s="%s", ' % (f, v.rstrip(' \0'))
-      else:
-        ret += '%s=%s, ' % (f, v)
-    for r in msg._recs:
-      ret += '[ '
-      for f in self.fields2:
-        v = r[f]
-        ret += '%s=%s, ' % (f, v)
-      ret = ret[:-2] + ' ], '
-    return ret[:-2]
-
-
-# list of supported message types.
-msg_types = {
-  (CLASS_ACK, MSG_ACK_ACK):
-  UBloxDescriptor('ACK_ACK', '<BB', ['clsID', 'msgID']),
-  (CLASS_ACK, MSG_ACK_NACK):
-  UBloxDescriptor('ACK_NACK', '<BB', ['clsID', 'msgID']),
-  (CLASS_CFG, MSG_CFG_USB):
-  UBloxDescriptor('CFG_USB', '<HHHHHH32s32s32s', [
-    'vendorID', 'productID', 'reserved1', 'reserved2', 'powerConsumption', 'flags',
-    'vendorString', 'productString', 'serialNumber'
-  ]),
-  (CLASS_CFG, MSG_CFG_PRT):
-  UBloxDescriptor('CFG_PRT', '<BBHIIHHHH', [
-    'portID', 'reserved0', 'txReady', 'mode', 'baudRate', 'inProtoMask', 'outProtoMask',
-    'reserved4', 'reserved5'
-  ]),
-  (CLASS_CFG, MSG_CFG_CFG):
-  UBloxDescriptor('CFG_CFG', '<III,B',
-                  ['clearMask', 'saveMask', 'loadMask', 'deviceMask']),
-  (CLASS_CFG, MSG_CFG_RXM):
-  UBloxDescriptor('CFG_RXM', '<BB',
-                  ['reserved1', 'lpMode']),
-  (CLASS_CFG, MSG_CFG_RST):
-  UBloxDescriptor('CFG_RST', '<HBB', ['navBbrMask ', 'resetMode', 'reserved1']),
-  (CLASS_CFG, MSG_CFG_SBAS):
-  UBloxDescriptor('CFG_SBAS', '<BBBBI',
-                  ['mode', 'usage', 'maxSBAS', 'scanmode2', 'scanmode1']),
-  (CLASS_CFG, MSG_CFG_GNSS):
-  UBloxDescriptor('CFG_GNSS', '<BBBB',
-                  ['msgVer', 'numTrkChHw', 'numTrkChUse',
-                   'numConfigBlocks'], 'numConfigBlocks', '<BBBBI',
-                  ['gnssId', 'resTrkCh', 'maxTrkCh', 'reserved1', 'flags']),
-  (CLASS_CFG, MSG_CFG_RATE):
-  UBloxDescriptor('CFG_RATE', '<HHH', ['measRate', 'navRate', 'timeRef']),
-  (CLASS_CFG, MSG_CFG_MSG):
-  UBloxDescriptor('CFG_MSG', '<BB6B', ['msgClass', 'msgId', 'rates[6]']),
-  (CLASS_NAV, MSG_NAV_POSLLH):
-  UBloxDescriptor('NAV_POSLLH', '<IiiiiII',
-                  ['iTOW', 'Longitude', 'Latitude', 'height', 'hMSL', 'hAcc', 'vAcc']),
-  (CLASS_NAV, MSG_NAV_VELNED):
-  UBloxDescriptor('NAV_VELNED', '<IiiiIIiII', [
-    'iTOW', 'velN', 'velE', 'velD', 'speed', 'gSpeed', 'heading', 'sAcc', 'cAcc'
-  ]),
-  (CLASS_NAV, MSG_NAV_DOP):
-  UBloxDescriptor('NAV_DOP', '<IHHHHHHH',
-                  ['iTOW', 'gDOP', 'pDOP', 'tDOP', 'vDOP', 'hDOP', 'nDOP', 'eDOP']),
-  (CLASS_NAV, MSG_NAV_STATUS):
-  UBloxDescriptor('NAV_STATUS', '<IBBBBII',
-                  ['iTOW', 'gpsFix', 'flags', 'fixStat', 'flags2', 'ttff', 'msss']),
-  (CLASS_NAV, MSG_NAV_SOL):
-  UBloxDescriptor('NAV_SOL', '<IihBBiiiIiiiIHBBI', [
-    'iTOW', 'fTOW', 'week', 'gpsFix', 'flags', 'ecefX', 'ecefY', 'ecefZ', 'pAcc',
-    'ecefVX', 'ecefVY', 'ecefVZ', 'sAcc', 'pDOP', 'reserved1', 'numSV', 'reserved2'
-  ]),
-  (CLASS_NAV, MSG_NAV_PVT):
-  UBloxDescriptor('NAV_PVT', '<IHBBBBBBIiBBBBiiiiIIiiiiiIIH6BihH', [
-    'iTOW', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid', 'tAcc', 'nano',
-    'fixType', 'flags', 'flags2', 'numSV', 'lon', 'lat', 'height', 'hMSL', 'hAcc', 'vAcc',
-    'velN', 'velE', 'velD', 'gSpeed', 'headMot', 'sAcc', 'headAcc', 'pDOP',
-    'reserverd1[6]', 'headVeh', 'magDec', 'magAcc'
-  ]),
-  (CLASS_NAV, MSG_NAV_POSUTM):
-  UBloxDescriptor('NAV_POSUTM', '<Iiiibb',
-                  ['iTOW', 'East', 'North', 'Alt', 'Zone', 'Hem']),
-  (CLASS_NAV, MSG_NAV_SBAS):
-  UBloxDescriptor('NAV_SBAS', '<IBBbBBBBB', [
-    'iTOW', 'geo', 'mode', 'sys', 'service', 'cnt', 'reserved01', 'reserved02',
-    'reserved03'
-  ], 'cnt', 'BBBBBBhHh', [
-    'svid', 'flags', 'udre', 'svSys', 'svService', 'reserved1', 'prc', 'reserved2', 'ic'
-  ]),
-  (CLASS_NAV, MSG_NAV_POSECEF):
-  UBloxDescriptor('NAV_POSECEF', '<IiiiI', ['iTOW', 'ecefX', 'ecefY', 'ecefZ', 'pAcc']),
-  (CLASS_NAV, MSG_NAV_VELECEF):
-  UBloxDescriptor('NAV_VELECEF', '<IiiiI', ['iTOW', 'ecefVX', 'ecefVY', 'ecefVZ',
-                                            'sAcc']),
-  (CLASS_NAV, MSG_NAV_TIMEGPS):
-  UBloxDescriptor('NAV_TIMEGPS', '<IihbBI',
-                  ['iTOW', 'fTOW', 'week', 'leapS', 'valid', 'tAcc']),
-  (CLASS_NAV, MSG_NAV_TIMEUTC):
-  UBloxDescriptor('NAV_TIMEUTC', '<IIiHBBBBBB', [
-    'iTOW', 'tAcc', 'nano', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid'
-  ]),
-  (CLASS_NAV, MSG_NAV_CLOCK):
-  UBloxDescriptor('NAV_CLOCK', '<IiiII', ['iTOW', 'clkB', 'clkD', 'tAcc', 'fAcc']),
-  (CLASS_NAV, MSG_NAV_DGPS):
-  UBloxDescriptor('NAV_DGPS', '<IihhBBH',
-                  ['iTOW', 'age', 'baseId', 'baseHealth', 'numCh', 'status', 'reserved1'],
-                  'numCh', '<BBHff', ['svid', 'flags', 'ageC', 'prc', 'prrc']),
-  (CLASS_NAV, MSG_NAV_SVINFO):
-  UBloxDescriptor('NAV_SVINFO', '<IBBH', ['iTOW', 'numCh', 'globalFlags',
-                                          'reserved2'], 'numCh', '<BBBBBbhi',
-                  ['chn', 'svid', 'flags', 'quality', 'cno', 'elev', 'azim', 'prRes']),
-  (CLASS_RXM, MSG_RXM_SVSI):
-  UBloxDescriptor('RXM_SVSI', '<IhBB', ['iTOW', 'week', 'numVis', 'numSV'], 'numSV',
-                  '<BBhbB', ['svid', 'svFlag', 'azim', 'elev', 'age']),
-  (CLASS_RXM, MSG_RXM_EPH):
-  UBloxDescriptor('RXM_EPH', '<II , 8I 8I 8I',
-                  ['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
-  (CLASS_AID, MSG_AID_EPH):
-  UBloxDescriptor('AID_EPH', '<II , 8I 8I 8I',
-                  ['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
-  (CLASS_AID, MSG_AID_HUI):
-  UBloxDescriptor('AID_HUI', '<Iddi 6h 8f I',
-                  ['health', 'utcA0', 'utcA1', 'utcTOW', 'utcWNT', 'utcLS', 'utcWNF',
-                   'utcDN', 'utcLSF', 'utcSpare', 'klobA0', 'klobA1', 'klobA2', 'klobA3',
-                   'klobB0', 'klobB1', 'klobB2', 'klobB3', 'flags']),
-  (CLASS_AID, MSG_AID_AOP):
-  UBloxDescriptor('AID_AOP', '<B47B , 48B 48B 48B',
-                  ['svid', 'data[47]', 'optional0[48]', 'optional1[48]',
-                   'optional1[48]']),
-  (CLASS_RXM, MSG_RXM_RAW):
-  UBloxDescriptor('RXM_RAW', '<dHbBB3B', [
-    'rcvTow', 'week', 'leapS', 'numMeas', 'recStat', 'reserved1[3]'
-  ], 'numMeas', '<ddfBBBBHBBBBBB', [
-    'prMes', 'cpMes', 'doMes', 'gnssId', 'svId', 'sigId', 'freqId', 'locktime', 'cno',
-    'prStdev', 'cpStdev', 'doStdev', 'trkStat', 'reserved3'
-  ]),
-  (CLASS_RXM, MSG_RXM_SFRB):
-  UBloxDescriptor('RXM_SFRB', '<BB10I', ['chn', 'svid', 'dwrd[10]']),
-  (CLASS_RXM, MSG_RXM_SFRBX):
-  UBloxDescriptor('RXM_SFRBX', '<8B', ['gnssId', 'svid', 'reserved1', 'freqId', 'numWords',
-      'reserved2', 'version', 'reserved3'], 'numWords', 'I', ['dwrd']),
-  (CLASS_AID, MSG_AID_ALM):
-  UBloxDescriptor('AID_ALM', '<II', '_remaining', 'I', ['dwrd']),
-  (CLASS_RXM, MSG_RXM_ALM):
-  UBloxDescriptor('RXM_ALM', '<II , 8I', ['svid', 'week', 'dwrd[8]']),
-  (CLASS_CFG, MSG_CFG_ANT):
-  UBloxDescriptor('CFG_ANT', '<HH', ['flags', 'pins']),
-  (CLASS_CFG, MSG_CFG_ODO):
-  UBloxDescriptor('CFG_ODO', '<B3BBB6BBB2BBB2B', [
-    'version', 'reserved1[3]', 'flags', 'odoCfg', 'reserverd2[6]', 'cogMaxSpeed',
-    'cogMaxPosAcc', 'reserved3[2]', 'velLpGain', 'cogLpGain', 'reserved[2]'
-  ]),
-  (CLASS_CFG, MSG_CFG_NAV5):
-  UBloxDescriptor('CFG_NAV5', '<HBBiIbBHHHHBBIII', [
-    'mask', 'dynModel', 'fixMode', 'fixedAlt', 'fixedAltVar', 'minElev', 'drLimit',
-    'pDop', 'tDop', 'pAcc', 'tAcc', 'staticHoldThresh', 'dgpsTimeOut', 'reserved2',
-    'reserved3', 'reserved4'
-  ]),
-  (CLASS_CFG, MSG_CFG_NAVX5):
-  UBloxDescriptor('CFG_NAVX5', '<HHIBBBBBBBBBBHIBBBBBBHII', [
-    'version', 'mask1', 'reserved0', 'reserved1', 'reserved2', 'minSVs', 'maxSVs',
-    'minCNO', 'reserved5', 'iniFix3D', 'reserved6', 'reserved7', 'reserved8',
-    'wknRollover', 'reserved9', 'reserved10', 'reserved11', 'usePPP', 'useAOP',
-    'reserved12', 'reserved13', 'aopOrbMaxErr', 'reserved3', 'reserved4'
-  ]),
-  (CLASS_MON, MSG_MON_HW):
-  UBloxDescriptor('MON_HW', '<IIIIHHBBBBIB17BHIII', [
-    'pinSel', 'pinBank', 'pinDir', 'pinVal', 'noisePerMS', 'agcCnt', 'aStatus', 'aPower',
-    'flags', 'reserved1', 'usedMask', 'VP[17]', 'jamInd', 'reserved3', 'pinInq', 'pullH',
-    'pullL'
-  ]),
-  (CLASS_MON, MSG_MON_HW2):
-  UBloxDescriptor('MON_HW2', '<bBbBB3BI8BI4B', [
-    'ofsI', 'magI', 'ofsQ', 'magQ', 'cfgSource', 'reserved1[3]', 'lowLevCfg',
-    'reserved2[8]', 'postStatus', 'reserved3[4]'
-  ]),
-  (CLASS_MON, MSG_MON_SCHD):
-  UBloxDescriptor('MON_SCHD', '<IIIIHHHBB', [
-    'tskRun', 'tskSchd', 'tskOvrr', 'tskReg', 'stack', 'stackSize', 'CPUIdle', 'flySly',
-    'ptlSly'
-  ]),
-  (CLASS_MON, MSG_MON_VER):
-  UBloxDescriptor('MON_VER', '<30s10s,30s', ['swVersion', 'hwVersion', 'romVersion'],
-                  '_remaining', '30s', ['extension']),
-  (CLASS_TIM, MSG_TIM_TP):
-  UBloxDescriptor('TIM_TP', '<IIiHBB',
-                  ['towMS', 'towSubMS', 'qErr', 'week', 'flags', 'reserved1']),
-  (CLASS_TIM, MSG_TIM_TM2):
-  UBloxDescriptor('TIM_TM2', '<BBHHHIIIII', [
-    'ch', 'flags', 'count', 'wnR', 'wnF', 'towMsR', 'towSubMsR', 'towMsF', 'towSubMsF',
-    'accEst'
-  ]),
-  (CLASS_TIM, MSG_TIM_SVIN):
-  UBloxDescriptor('TIM_SVIN', '<IiiiIIBBH', [
-    'dur', 'meanX', 'meanY', 'meanZ', 'meanV', 'obs', 'valid', 'active', 'reserved1'
-  ]),
-  (CLASS_INF, MSG_INF_ERROR):
-  UBloxDescriptor('INF_ERR', '<18s', ['str']),
-  (CLASS_INF, MSG_INF_DEBUG):
-  UBloxDescriptor('INF_DEBUG', '<18s', ['str'])
-}
-
-
-class UBloxMessage:
-  '''UBlox message class - holds a UBX binary message'''
-
-  def __init__(self):
-    self._buf = b""
-    self._fields = {}
-    self._recs = []
-    self._unpacked = False
-    self.debug_level = 1
-
-  def __str__(self):
-    '''format a message as a string'''
-    if not self.valid():
-      return 'UBloxMessage(INVALID)'
-    type = self.msg_type()
-    if type in msg_types:
-      return msg_types[type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
-
-  def as_dict(self):
-    '''format a message as a string'''
-    if not self.valid():
-      return 'UBloxMessage(INVALID)'
-    type = self.msg_type()
-    if type in msg_types:
-      return msg_types[type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
-
-  def __getattr__(self, name):
-    '''allow access to message fields'''
-    try:
-      return self._fields[name]
-    except KeyError:
-      if name == 'recs':
-        return self._recs
-      raise AttributeError(name)
-
-  def __setattr__(self, name, value):
-    '''allow access to message fields'''
-    if name.startswith('_'):
-      self.__dict__[name] = value
-    else:
-      self._fields[name] = value
-
-  def have_field(self, name):
-    '''return True if a message contains the given field'''
-    return name in self._fields
-
-  def debug(self, level, msg):
-    '''write a debug message'''
-    if self.debug_level >= level:
-      print(msg)
-
-  def unpack(self):
-    '''unpack a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if not type in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
-    msg_types[type].unpack(self)
-    return self._fields, self._recs
-
-  def pack(self):
-    '''pack a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if not type in msg_types:
-      raise UBloxError('Unknown message %s' % str(type))
-    msg_types[type].pack(self)
-
-  def name(self):
-    '''return the short string name for a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if not type in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
-    return msg_types[type].name
-
-  def msg_class(self):
-    '''return the message class'''
-    return self._buf[2]
-
-  def msg_id(self):
-    '''return the message id within the class'''
-    return self._buf[3]
-
-  def msg_type(self):
-    '''return the message type tuple (class, id)'''
-    return (self.msg_class(), self.msg_id())
-
-  def msg_length(self):
-    '''return the payload length'''
-    (payload_length, ) = struct.unpack('<H', self._buf[4:6])
-    return payload_length
-
-  def valid_so_far(self):
-    '''check if the message is valid so far'''
-    if len(self._buf) > 0 and self._buf[0] != PREAMBLE1:
-      return False
-    if len(self._buf) > 1 and self._buf[1] != PREAMBLE2:
-      self.debug(1, "bad pre2")
-      return False
-    if self.needed_bytes() == 0 and not self.valid():
-      if len(self._buf) > 8:
-        self.debug(1, "bad checksum len=%u needed=%u" % (len(self._buf),
-                                                         self.needed_bytes()))
-      else:
-        self.debug(1, "bad len len=%u needed=%u" % (len(self._buf), self.needed_bytes()))
-      return False
-    return True
-
-  def add(self, bytes):
-    '''add some bytes to a message'''
-    self._buf += bytes
-    while not self.valid_so_far() and len(self._buf) > 0:
-      '''handle corrupted streams'''
-      self._buf = self._buf[1:]
-    if self.needed_bytes() < 0:
-      self._buf = ""
-
-  def checksum(self, data=None):
-    '''return a checksum tuple for a message'''
-    if data is None:
-      data = self._buf[2:-2]
-    #cs = 0
-    ck_a = 0
-    ck_b = 0
-    for i in data:
-      ck_a = (ck_a + i) & 0xFF
-      ck_b = (ck_b + ck_a) & 0xFF
-    return (ck_a, ck_b)
-
-  def valid_checksum(self):
-    '''check if the checksum is OK'''
-    (ck_a, ck_b) = self.checksum()
-    #d = self._buf[2:-2]
-    (ck_a2, ck_b2) = struct.unpack('<BB', self._buf[-2:])
-    return ck_a == ck_a2 and ck_b == ck_b2
-
-  def needed_bytes(self):
-    '''return number of bytes still needed'''
-    if len(self._buf) < 6:
-      return 8 - len(self._buf)
-    return self.msg_length() + 8 - len(self._buf)
-
-  def valid(self):
-    '''check if a message is valid'''
-    return len(self._buf) >= 8 and self.needed_bytes() == 0 and self.valid_checksum()
-
-
-class UBlox:
-  '''main UBlox control class.
-
-    port can be a file (for reading only) or a serial device
-    '''
-
-  def __init__(self, port, baudrate=115200, timeout=0, panda=False, grey=False):
-
-    self.serial_device = port
-    self.baudrate = baudrate
-    self.use_sendrecv = False
-    self.read_only = False
-    self.debug_level = 0
-
-    if panda:
-      from panda import Panda, PandaSerial
-
-      self.panda = Panda()
-
-      # resetting U-Blox module
-      self.panda.set_esp_power(0)
-      time.sleep(0.1)
-      self.panda.set_esp_power(1)
-      time.sleep(0.5)
-
-      # can't set above 9600 now...
-      self.baudrate = 9600
-      self.dev = PandaSerial(self.panda, 1, self.baudrate)
-
-      self.baudrate = 460800
-      print("upping baud:",self.baudrate)
-      self.send_nmea("$PUBX,41,1,0007,0003,%u,0" % self.baudrate)
-      time.sleep(0.1)
-
-      self.dev = PandaSerial(self.panda, 1, self.baudrate)
-    elif grey:
-      import cereal.messaging as messaging
-
-      class BoarddSerial():
-        def __init__(self):
-          self.ubloxRaw = messaging.sub_sock('ubloxRaw')
-          self.buf = ""
-
-        def read(self, n):
-          for msg in messaging.drain_sock(self.ubloxRaw, len(self.buf) < n):
-            self.buf += msg.ubloxRaw
-          ret = self.buf[:n]
-          self.buf = self.buf[n:]
-          return ret
-
-
-        def write(self, dat):
-          pass
-
-      self.dev = BoarddSerial()
-    else:
-      if self.serial_device.startswith("tcp:"):
-        import socket
-        a = self.serial_device.split(':')
-        destination_addr = (a[1], int(a[2]))
-        self.dev = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.dev.connect(destination_addr)
-        self.dev.setblocking(1)
-        self.dev.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
-        self.use_sendrecv = True
-      elif os.path.isfile(self.serial_device):
-        self.read_only = True
-        self.dev = open(self.serial_device, mode='rb')
-      else:
-        import serial
-        self.dev = serial.Serial(
-          self.serial_device,
-          baudrate=self.baudrate,
-          dsrdtr=False,
-          rtscts=False,
-          xonxoff=False,
-          timeout=timeout)
-
-    self.logfile = None
-    self.log = None
-    self.preferred_dynamic_model = None
-    self.preferred_usePPP = None
-    self.preferred_dgps_timeout = None
-
-  def close(self):
-    '''close the device'''
-    self.dev.close()
-    self.dev = None
-
-  def set_debug(self, debug_level):
-    '''set debug level'''
-    self.debug_level = debug_level
-
-  def debug(self, level, msg):
-    '''write a debug message'''
-    if self.debug_level >= level:
-      print(msg)
-
-  def set_logfile(self, logfile, append=False):
-    '''setup logging to a file'''
-    if self.log is not None:
-      self.log.close()
-      self.log = None
-    self.logfile = logfile
-    if self.logfile is not None:
-      if append:
-        mode = 'ab'
-      else:
-        mode = 'wb'
-      self.log = open(self.logfile, mode=mode)
-
-  def set_preferred_dynamic_model(self, model):
-    '''set the preferred dynamic model for receiver'''
-    self.preferred_dynamic_model = model
-    if model is not None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-
-  def set_preferred_dgps_timeout(self, timeout):
-    '''set the preferred DGPS timeout for receiver'''
-    self.preferred_dgps_timeout = timeout
-    if timeout is not None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-
-  def set_preferred_usePPP(self, usePPP):
-    '''set the preferred usePPP setting for the receiver'''
-    if usePPP is None:
-      self.preferred_usePPP = None
-      return
-    self.preferred_usePPP = int(usePPP)
-    self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
-
-  def nmea_checksum(self, msg):
-    d = msg[1:]
-    cs = 0
-    for i in d:
-      cs ^= ord(i)
-    return cs
-
-  def write(self, buf):
-    '''write some bytes'''
-    if not self.read_only:
-      if self.use_sendrecv:
-        return self.dev.send(buf)
-      if type(buf) == str:
-        return self.dev.write(str.encode(buf))
-      else:
-        return self.dev.write(buf)
-
-  def read(self, n):
-    '''read some bytes'''
-    if self.use_sendrecv:
-      import socket
-      try:
-        return self.dev.recv(n)
-      except socket.error:
-        return ''
-    return self.dev.read(n)
-
-  def send_nmea(self, msg):
-    if not self.read_only:
-      s = msg + "*%02X" % self.nmea_checksum(msg) + "\r\n"
-      self.write(s)
-
-  def set_binary(self):
-    '''put a UBlox into binary mode using a NMEA string'''
-    if not self.read_only:
-      print("try set binary at %u" % self.baudrate)
-      self.send_nmea("$PUBX,41,0,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,1,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,2,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,3,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,4,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,5,0007,0001,%u,0" % self.baudrate)
-
-  def disable_nmea(self):
-    ''' stop sending all types of nmea messages '''
-    self.send_nmea("$PUBX,40,GSV,1,1,1,1,1,0")
-    self.send_nmea("$PUBX,40,GGA,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,GSA,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,VTG,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,TXT,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,RMC,0,0,0,0,0,0")
-
-  def seek_percent(self, pct):
-    '''seek to the given percentage of a file'''
-    self.dev.seek(0, 2)
-    filesize = self.dev.tell()
-    self.dev.seek(pct * 0.01 * filesize)
-
-  def special_handling(self, msg):
-    '''handle automatic configuration changes'''
-    if msg.name() == 'CFG_NAV5':
-      msg.unpack()
-      sendit = False
-      pollit = False
-      if self.preferred_dynamic_model is not None and msg.dynModel != self.preferred_dynamic_model:
-        msg.dynModel = self.preferred_dynamic_model
-        sendit = True
-        pollit = True
-      if self.preferred_dgps_timeout is not None and msg.dgpsTimeOut != self.preferred_dgps_timeout:
-        msg.dgpsTimeOut = self.preferred_dgps_timeout
-        self.debug(2, "Setting dgpsTimeOut=%u" % msg.dgpsTimeOut)
-        sendit = True
-        # we don't re-poll for this one, as some receivers refuse to set it
-      if sendit:
-        msg.pack()
-        self.send(msg)
-        if pollit:
-          self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-    if msg.name() == 'CFG_NAVX5' and self.preferred_usePPP is not None:
-      msg.unpack()
-      if msg.usePPP != self.preferred_usePPP:
-        msg.usePPP = self.preferred_usePPP
-        msg.mask = 1 << 13
-        msg.pack()
-        self.send(msg)
-        self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
-
-  def receive_message(self, ignore_eof=False):
-    '''blocking receive of one ublox message'''
-    msg = UBloxMessage()
-    while True:
-      n = msg.needed_bytes()
-      b = self.read(n)
-      if not b:
-        if ignore_eof:
-          time.sleep(0.01)
-          continue
-        if len(msg._buf) > 0:
-          self.debug(1, "dropping %d bytes" % len(msg._buf))
-        return None
-      msg.add(b)
-      if self.log is not None:
-        self.log.write(b)
-        self.log.flush()
-      if msg.valid():
-        self.special_handling(msg)
-        return msg
-
-  def receive_message_noerror(self, ignore_eof=False):
-    '''blocking receive of one ublox message, ignoring errors'''
-    try:
-      return self.receive_message(ignore_eof=ignore_eof)
-    except UBloxError as e:
-      print(e)
-      return None
-    except OSError as e:
-      # Occasionally we get hit with 'resource temporarily unavailable'
-      # messages here on the serial device, catch them too.
-      print(e)
-      return None
-
-  def send(self, msg):
-    '''send a preformatted ublox message'''
-    if not msg.valid():
-      self.debug(1, "invalid send")
-      return
-    if not self.read_only:
-      self.write(msg._buf)
-
-  def send_message(self, msg_class, msg_id, payload):
-    '''send a ublox message with class, id and payload'''
-    msg = UBloxMessage()
-    msg._buf = struct.pack('<BBBBH', 0xb5, 0x62, msg_class, msg_id, len(payload))
-    msg._buf += payload
-    (ck_a, ck_b) = msg.checksum(msg._buf[2:])
-    msg._buf += struct.pack('<BB', ck_a, ck_b)
-    self.send(msg)
-
-  def configure_solution_rate(self, rate_ms=200, nav_rate=1, timeref=0):
-    '''configure the solution rate in milliseconds'''
-    payload = struct.pack('<HHH', rate_ms, nav_rate, timeref)
-    self.send_message(CLASS_CFG, MSG_CFG_RATE, payload)
-
-  def configure_message_rate(self, msg_class, msg_id, rate):
-    '''configure the message rate for a given message'''
-    payload = struct.pack('<BBB', msg_class, msg_id, rate)
-    self.send_message(CLASS_CFG, MSG_CFG_SET_RATE, payload)
-
-  def configure_port(self, port=1, inMask=3, outMask=3, mode=2240, baudrate=None):
-    '''configure a IO port'''
-    if baudrate is None:
-      baudrate = self.baudrate
-    payload = struct.pack('<BBH8BHHBBBB', port, 0xff, 0, 0, 0, 0, 0, 0, 0, 0, 0, inMask,
-                          outMask, 0, 0, 0, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_PRT, payload)
-
-  def configure_loadsave(self, clearMask=0, saveMask=0, loadMask=0, deviceMask=0):
-    '''configure configuration load/save'''
-    payload = struct.pack('<IIIB', clearMask, saveMask, loadMask, deviceMask)
-    self.send_message(CLASS_CFG, MSG_CFG_CFG, payload)
-
-  def configure_poll(self, msg_class, msg_id, payload=b''):
-    '''poll a configuration message'''
-    self.send_message(msg_class, msg_id, payload)
-
-  def configure_poll_port(self, portID=None):
-    '''poll a port configuration'''
-    if portID is None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_PRT)
-    else:
-      self.configure_poll(CLASS_CFG, MSG_CFG_PRT, struct.pack('<B', portID))
-
-  def configure_min_max_sats(self, min_sats=4, max_sats=32):
-    '''Set the minimum/maximum number of satellites for a solution in the NAVX5 message'''
-    payload = struct.pack('<HHIBBBBBBBBBBHIBBBBBBHII', 0, 4, 0, 0, 0, min_sats, max_sats,
-                          0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload)
-
-  def module_reset(self, set, mode):
-    ''' Reset the module for hot/warm/cold start'''
-    payload = struct.pack('<HBB', set, mode, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_RST, payload)
diff --git a/selfdrive/locationd/test/ubloxd.py b/selfdrive/locationd/test/ubloxd.py
deleted file mode 100755
index e2959581095411..00000000000000
--- a/selfdrive/locationd/test/ubloxd.py
+++ /dev/null
@@ -1,302 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import serial
-from selfdrive.locationd.test import ublox
-import time
-import datetime
-import struct
-import sys
-from cereal import log
-from common import realtime
-import cereal.messaging as messaging
-from selfdrive.locationd.test.ephemeris import EphemerisData, GET_FIELD_U
-
-panda = os.getenv("PANDA") is not None   # panda directly connected
-grey = not (os.getenv("EVAL") is not None)     # panda through boardd
-debug = os.getenv("DEBUG") is not None   # debug prints
-print_dB = os.getenv("PRINT_DB") is not None     # print antenna dB
-
-timeout = 1
-dyn_model = 4 # auto model
-baudrate = 460800
-ports = ["/dev/ttyACM0","/dev/ttyACM1"]
-rate = 100 # send new data every 100ms
-
-# which SV IDs we have seen and when we got iono
-svid_seen = {}
-svid_ephemeris = {}
-iono_seen = 0
-
-def configure_ublox(dev):
-  # configure ports  and solution parameters and rate
-  # TODO: configure constellations and channels to allow for 10Hz and high precision
-  dev.configure_port(port=ublox.PORT_USB, inMask=1, outMask=1) # enable only UBX on USB
-  dev.configure_port(port=0, inMask=0, outMask=0) # disable DDC
-
-  if panda:
-    payload = struct.pack('<BBHIIHHHBB', 1, 0, 0, 2240, baudrate, 1, 1, 0, 0, 0)
-    dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload) # enable UART
-  else:
-    payload = struct.pack('<BBHIIHHHBB', 1, 0, 0, 2240, baudrate, 0, 0, 0, 0, 0)
-    dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload) # disable UART
-
-  dev.configure_port(port=4, inMask=0, outMask=0) # disable SPI
-  dev.configure_poll_port()
-  dev.configure_poll_port(ublox.PORT_SERIAL1)
-  dev.configure_poll_port(ublox.PORT_SERIAL2)
-  dev.configure_poll_port(ublox.PORT_USB)
-  dev.configure_solution_rate(rate_ms=rate)
-
-  # Configure solution
-  payload = struct.pack('<HBBIIBB4H6BH6B', 5, 4, 3, 0, 0,
-                                           0, 0, 0, 0, 0,
-                                           0, 0, 0, 0, 0,
-                                           0, 0, 0, 0, 0,
-                                           0, 0, 0, 0)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAV5, payload)
-  payload = struct.pack('<B3BBB6BBB2BBB2B', 0, 0, 0, 0, 1,
-                                            3, 0, 0, 0, 0,
-                                            0, 0, 0, 0, 0,
-                                            0, 0, 0, 0, 0)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ODO, payload)
-  #payload = struct.pack('<HHIBBBBBBBBBBH6BBB2BH4B3BB', 0, 8192, 0, 0, 0,
-  #                                                     0, 0, 0, 0, 0, 0,
-  #                                                     0, 0, 0, 0, 0, 0,
-  #                                                     0, 0, 0, 0, 0, 0,
-  #                                                     0, 0, 0, 0, 0, 0,
-  #                                                     0, 0, 0, 0)
-  #dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5, payload)
-
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAV5)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ODO)
-
-  # Configure RAW, PVT and HW messages to be sent every solution cycle
-  dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_PVT, 1)
-  dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_RAW, 1)
-  dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1)
-  dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1)
-
-
-
-def int_to_bool_list(num):
-  # for parsing bool bytes
-  return [bool(num & (1<<n)) for n in range(8)]
-
-
-def gen_ephemeris(ephem_data):
-  ephem = {'ephemeris':
-          {'svId': ephem_data.svId,
-
-           'toc': ephem_data.toc,
-           'gpsWeek': ephem_data.gpsWeek,
-
-           'af0': ephem_data.af0,
-           'af1': ephem_data.af1,
-           'af2': ephem_data.af2,
-
-           'iode': ephem_data.iode,
-           'crs': ephem_data.crs,
-           'deltaN': ephem_data.deltaN,
-           'm0': ephem_data.M0,
-
-           'cuc': ephem_data.cuc,
-           'ecc': ephem_data.ecc,
-           'cus': ephem_data.cus,
-           'a': ephem_data.A,
-
-           'toe': ephem_data.toe,
-           'cic': ephem_data.cic,
-           'omega0': ephem_data.omega0,
-           'cis': ephem_data.cis,
-
-           'i0': ephem_data.i0,
-           'crc': ephem_data.crc,
-           'omega': ephem_data.omega,
-           'omegaDot': ephem_data.omega_dot,
-
-           'iDot': ephem_data.idot,
-
-           'tgd': ephem_data.Tgd,
-
-           'ionoCoeffsValid': ephem_data.ionoCoeffsValid,
-           'ionoAlpha': ephem_data.ionoAlpha,
-           'ionoBeta': ephem_data.ionoBeta}}
-  return log.Event.new_message(ubloxGnss=ephem)
-
-
-def gen_solution(msg):
-  msg_data = msg.unpack()[0] # Solutions do not have any data in repeated blocks
-  timestamp = int(((datetime.datetime(msg_data['year'],
-                                      msg_data['month'],
-                                      msg_data['day'],
-                                      msg_data['hour'],
-                                      msg_data['min'],
-                                      msg_data['sec'])
-                 - datetime.datetime(1970,1,1)).total_seconds())*1e+03
-                 + msg_data['nano']*1e-06)
-  gps_fix = {'bearing': msg_data['headMot']*1e-05,  # heading of motion in degrees
-             'altitude': msg_data['height']*1e-03,  # altitude above ellipsoid
-             'latitude': msg_data['lat']*1e-07,  # latitude in degrees
-             'longitude': msg_data['lon']*1e-07,  # longitude in degrees
-             'speed': msg_data['gSpeed']*1e-03,  # ground speed in meters
-             'accuracy': msg_data['hAcc']*1e-03,  # horizontal accuracy (1 sigma?)
-             'timestamp': timestamp,  # UTC time in ms since start of UTC stime
-             'vNED': [msg_data['velN']*1e-03,
-                     msg_data['velE']*1e-03,
-                     msg_data['velD']*1e-03],  # velocity in NED frame in m/s
-             'speedAccuracy': msg_data['sAcc']*1e-03,  # speed accuracy in m/s
-             'verticalAccuracy': msg_data['vAcc']*1e-03,  # vertical accuracy in meters
-             'bearingAccuracy': msg_data['headAcc']*1e-05,  # heading accuracy in degrees
-             'source': 'ublox',
-             'flags': msg_data['flags'],
-  }
-  return log.Event.new_message(gpsLocationExternal=gps_fix)
-
-def gen_nav_data(msg, nav_frame_buffer):
-  # TODO this stuff needs to be parsed and published.
-  # refer to https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29.pdf
-  # section 9.1
-  msg_meta_data, measurements = msg.unpack()
-
-  # parse GPS ephem
-  gnssId = msg_meta_data['gnssId']
-  if gnssId  == 0:
-    svId =  msg_meta_data['svid']
-    subframeId =  GET_FIELD_U(measurements[1]['dwrd'], 3, 8)
-    words = []
-    for m in measurements:
-      words.append(m['dwrd'])
-
-    # parse from
-    if subframeId == 1:
-      nav_frame_buffer[gnssId][svId] = {}
-      nav_frame_buffer[gnssId][svId][subframeId] = words
-    elif subframeId-1 in nav_frame_buffer[gnssId][svId]:
-      nav_frame_buffer[gnssId][svId][subframeId] = words
-    if len(nav_frame_buffer[gnssId][svId]) == 5:
-      ephem_data = EphemerisData(svId, nav_frame_buffer[gnssId][svId])
-      return gen_ephemeris(ephem_data)
-
-
-
-
-def gen_raw(msg):
-  # meta data is in first part of tuple
-  # list of measurements is in second part
-  msg_meta_data, measurements = msg.unpack()
-  measurements_parsed = []
-  for m in measurements:
-    trackingStatus_bools = int_to_bool_list(m['trkStat'])
-    trackingStatus = {'pseudorangeValid': trackingStatus_bools[0],
-                      'carrierPhaseValid': trackingStatus_bools[1],
-                      'halfCycleValid': trackingStatus_bools[2],
-                      'halfCycleSubtracted': trackingStatus_bools[3]}
-    measurements_parsed.append({
-        'svId': m['svId'],
-        'sigId': m['sigId'],
-        'pseudorange': m['prMes'],
-        'carrierCycles': m['cpMes'],
-        'doppler': m['doMes'],
-        'gnssId': m['gnssId'],
-        'glonassFrequencyIndex': m['freqId'],
-        'locktime': m['locktime'],
-        'cno': m['cno'],
-        'pseudorangeStdev': 0.01*(2**(m['prStdev'] & 15)), # weird scaling, might be wrong
-        'carrierPhaseStdev': 0.004*(m['cpStdev'] & 15),
-        'dopplerStdev': 0.002*(2**(m['doStdev'] & 15)), # weird scaling, might be wrong
-        'trackingStatus': trackingStatus})
-  if print_dB:
-    cnos = {}
-    for meas in measurements_parsed:
-      cnos[meas['svId']] = meas['cno']
-    print('Carrier to noise ratio for each sat: \n', cnos, '\n')
-  receiverStatus_bools = int_to_bool_list(msg_meta_data['recStat'])
-  receiverStatus = {'leapSecValid': receiverStatus_bools[0],
-                    'clkReset': receiverStatus_bools[2]}
-  raw_meas = {'measurementReport': {'rcvTow': msg_meta_data['rcvTow'],
-                'gpsWeek': msg_meta_data['week'],
-                'leapSeconds': msg_meta_data['leapS'],
-                'receiverStatus': receiverStatus,
-                'numMeas': msg_meta_data['numMeas'],
-                'measurements': measurements_parsed}}
-  return log.Event.new_message(ubloxGnss=raw_meas)
-
-def gen_hw_status(msg):
-  msg_data = msg.unpack()[0]
-  ublox_hw_status = {'hwStatus': {
-    'noisePerMS': msg_data['noisePerMS'],
-    'agcCnt': msg_data['agcCnt'],
-    'aStatus': msg_data['aStatus'],
-    'aPower': msg_data['aPower'],
-    'jamInd': msg_data['jamInd']
-  }}
-  return log.Event.new_message(ubloxGnss=ublox_hw_status)
-
-def init_reader():
-  port_counter = 0
-  while True:
-    try:
-      dev = ublox.UBlox(ports[port_counter], baudrate=baudrate, timeout=timeout, panda=panda, grey=grey)
-      configure_ublox(dev)
-      return dev
-    except serial.serialutil.SerialException as e:
-      print(e)
-      port_counter = (port_counter + 1)%len(ports)
-      time.sleep(2)
-
-def handle_msg(dev, msg, nav_frame_buffer):
-  try:
-    if debug:
-      print(str(msg))
-      sys.stdout.flush()
-    if msg.name() == 'NAV_PVT':
-      sol = gen_solution(msg)
-      sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-      gpsLocationExternal.send(sol.to_bytes())
-    elif msg.name() == 'RXM_RAW':
-      raw = gen_raw(msg)
-      raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-      ubloxGnss.send(raw.to_bytes())
-    elif msg.name() == 'RXM_SFRBX':
-      nav = gen_nav_data(msg, nav_frame_buffer)
-      if nav is not None:
-        nav.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-        ubloxGnss.send(nav.to_bytes())
-    elif msg.name() == 'MON_HW':
-      hw = gen_hw_status(msg)
-      hw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-      ubloxGnss.send(hw.to_bytes())
-    else:
-      print("UNKNOWN MESSAGE:", msg.name())
-  except ublox.UBloxError as e:
-    print(e)
-
-  #if dev is not None and dev.dev is not None:
-  #  dev.close()
-
-def main(gctx=None):
-  global gpsLocationExternal, ubloxGnss
-  nav_frame_buffer = {}
-  nav_frame_buffer[0] = {}
-  for i in range(1,33):
-    nav_frame_buffer[0][i] = {}
-
-
-  gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')
-  ubloxGnss = messaging.pub_sock('ubloxGnss')
-
-  dev = init_reader()
-  while True:
-    try:
-      msg = dev.receive_message()
-    except serial.serialutil.SerialException as e:
-      print(e)
-      dev.close()
-      dev = init_reader()
-    if msg is not None:
-      handle_msg(dev, msg, nav_frame_buffer)
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/locationd/test/ubloxd_easy.py b/selfdrive/locationd/test/ubloxd_easy.py
deleted file mode 100755
index a2fa753e785db5..00000000000000
--- a/selfdrive/locationd/test/ubloxd_easy.py
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-from selfdrive.locationd.test import ublox
-from common import realtime
-from selfdrive.locationd.test.ubloxd import gen_raw, gen_solution
-import zmq
-import cereal.messaging as messaging
-
-
-unlogger = os.getenv("UNLOGGER") is not None   # debug prints
-
-def main(gctx=None):
-  poller = zmq.Poller()
-
-  gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')
-  ubloxGnss = messaging.pub_sock('ubloxGnss')
-
-  # ubloxRaw = messaging.sub_sock('ubloxRaw', poller)
-
-  # buffer with all the messages that still need to be input into the kalman
-  while 1:
-    polld = poller.poll(timeout=1000)
-    for sock, mode in polld:
-      if mode != zmq.POLLIN:
-        continue
-      logs = messaging.drain_sock(sock)
-      for log in logs:
-        buff = log.ubloxRaw
-        time = log.logMonoTime
-        msg = ublox.UBloxMessage()
-        msg.add(buff)
-        if msg.valid():
-          if msg.name() == 'NAV_PVT':
-            sol = gen_solution(msg)
-            if unlogger:
-              sol.logMonoTime = time
-            else:
-              sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-            gpsLocationExternal.send(sol.to_bytes())
-          elif msg.name() == 'RXM_RAW':
-            raw = gen_raw(msg)
-            if unlogger:
-              raw.logMonoTime = time
-            else:
-              raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-            ubloxGnss.send(raw.to_bytes())
-        else:
-          print("INVALID MESSAGE")
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/locationd/test/ubloxd_py_test.py b/selfdrive/locationd/test/ubloxd_py_test.py
deleted file mode 100755
index bca9ddc421564d..00000000000000
--- a/selfdrive/locationd/test/ubloxd_py_test.py
+++ /dev/null
@@ -1,77 +0,0 @@
-import sys
-import os
-
-from selfdrive.locationd.test.ublox import UBloxMessage
-from selfdrive.locationd.test.ubloxd import gen_solution, gen_raw, gen_nav_data
-from common import realtime
-
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
-def parser_test(fn, prefix):
-  nav_frame_buffer = {}
-  nav_frame_buffer[0] = {}
-  for i in range(1, 33):
-    nav_frame_buffer[0][i] = {}
-
-  if not os.path.exists(prefix):
-    print('Prefix invalid')
-    sys.exit(-1)
-
-  with open(fn, 'rb') as f:
-    i = 0
-    saved_i = 0
-    msg = UBloxMessage()
-    while True:
-      n = msg.needed_bytes()
-      b = f.read(n)
-      if not b:
-        break
-      msg.add(b)
-      if msg.valid():
-        i += 1
-        if msg.name() == 'NAV_PVT':
-          sol = gen_solution(msg)
-          sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-          with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
-            f1.write(sol.to_bytes())
-            saved_i += 1
-        elif msg.name() == 'RXM_RAW':
-          raw = gen_raw(msg)
-          raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-          with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
-            f1.write(raw.to_bytes())
-            saved_i += 1
-        elif msg.name() == 'RXM_SFRBX':
-          nav = gen_nav_data(msg, nav_frame_buffer)
-          if nav is not None:
-            nav.logMonoTime = int(realtime.sec_since_boot() * 1e9)
-            with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
-              f1.write(nav.to_bytes())
-              saved_i += 1
-
-        msg = UBloxMessage()
-        msg.debug_level = 0
-    print('Parsed {} msgs'.format(i))
-    print('Generated {} cereal events'.format(saved_i))
-
-
-if __name__ == "__main__":
-  if len(sys.argv) < 3:
-    print('Format: ubloxd_py_test.py file_path prefix')
-    sys.exit(0)
-
-  fn = sys.argv[1]
-  if not os.path.isfile(fn):
-    print('File path invalid')
-    sys.exit(0)
-
-  prefix = sys.argv[2]
-  mkdirs_exists_ok(prefix)
-  parser_test(fn, prefix)
diff --git a/selfdrive/locationd/test/ubloxd_regression_test.py b/selfdrive/locationd/test/ubloxd_regression_test.py
deleted file mode 100644
index 29210bf545cd55..00000000000000
--- a/selfdrive/locationd/test/ubloxd_regression_test.py
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import argparse
-
-from cereal import log
-from common.basedir import BASEDIR
-os.environ['BASEDIR'] = BASEDIR
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-      description="Compare two result files",
-      formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("dir1", nargs='?', default='/data/ubloxdc',
-                      help="Directory path 1 from which events are loaded")
-
-  parser.add_argument("dir2", nargs='?', default='/data/ubloxdpy',
-                      help="Directory path 2 from which msgs are loaded")
-
-  return parser
-
-
-def read_file(fn):
-  with open(fn, 'rb') as f:
-    return f.read()
-
-
-def compare_results(dir1, dir2):
-  onlyfiles1 = [f for f in os.listdir(dir1) if os.path.isfile(os.path.join(dir1, f))]
-  onlyfiles1.sort()
-
-  onlyfiles2 = [f for f in os.listdir(dir2) if os.path.isfile(os.path.join(dir2, f))]
-  onlyfiles2.sort()
-
-  if len(onlyfiles1) != len(onlyfiles2):
-    print('len mismatch: {} != {}'.format(len(onlyfiles1), len(onlyfiles2)))
-    return -1
-  events1 = [log.Event.from_bytes(read_file(os.path.join(dir1, f))) for f in onlyfiles1]
-  events2 = [log.Event.from_bytes(read_file(os.path.join(dir2, f))) for f in onlyfiles2]
-
-  for i in range(len(events1)):
-    if events1[i].which() != events2[i].which():
-      print('event {} type mismatch: {} != {}'.format(i, events1[i].which(), events2[i].which()))
-      return -2
-    if events1[i].which() == 'gpsLocationExternal':
-      old_gps = events1[i].gpsLocationExternal
-      gps = events2[i].gpsLocationExternal
-      # print(gps, old_gps)
-      attrs = ['flags', 'latitude', 'longitude', 'altitude', 'speed', 'bearing',
-               'accuracy', 'timestamp', 'source', 'vNED', 'verticalAccuracy', 'bearingAccuracy', 'speedAccuracy']
-      for attr in attrs:
-        o = getattr(old_gps, attr)
-        n = getattr(gps, attr)
-        if attr == 'vNED':
-          if len(o) != len(n):
-            print('Gps vNED len mismatch', o, n)
-            return -3
-          else:
-            for i in range(len(o)):
-              if abs(o[i] - n[i]) > 1e-3:
-                print('Gps vNED mismatch', o, n)
-                return
-        elif o != n:
-          print('Gps mismatch', attr, o, n)
-          return -4
-    elif events1[i].which() == 'ubloxGnss':
-      old_gnss = events1[i].ubloxGnss
-      gnss = events2[i].ubloxGnss
-      if old_gnss.which() == 'measurementReport' and gnss.which() == 'measurementReport':
-        attrs = ['gpsWeek', 'leapSeconds', 'measurements', 'numMeas', 'rcvTow', 'receiverStatus', 'schema']
-        for attr in attrs:
-          o = getattr(old_gnss.measurementReport, attr)
-          n = getattr(gnss.measurementReport, attr)
-          if str(o) != str(n):
-            print('measurementReport {} mismatched'.format(attr))
-            return -5
-        if not (str(old_gnss.measurementReport) == str(gnss.measurementReport)):
-          print('Gnss measurementReport mismatched!')
-          print('gnss measurementReport old', old_gnss.measurementReport.measurements)
-          print('gnss measurementReport new', gnss.measurementReport.measurements)
-          return -6
-      elif old_gnss.which() == 'ephemeris' and gnss.which() == 'ephemeris':
-        if not (str(old_gnss.ephemeris) == str(gnss.ephemeris)):
-          print('Gnss ephemeris mismatched!')
-          print('gnss ephemeris old', old_gnss.ephemeris)
-          print('gnss ephemeris new', gnss.ephemeris)
-          return -7
-  print('All {} events matched!'.format(len(events1)))
-  return 0
-
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-  compare_results(args.dir1, args.dir2)
diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc
index 42ea38e6d67758..52c3906f135795 100644
--- a/selfdrive/locationd/ublox_msg.cc
+++ b/selfdrive/locationd/ublox_msg.cc
@@ -1,160 +1,29 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
-#include <sched.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <sys/time.h>
-#include <assert.h>
-#include <math.h>
-#include <ctime>
-#include <chrono>
-#include <map>
-#include <vector>
-#include <algorithm>
-
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-
 #include "ublox_msg.h"
 
-#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])
-#define GET_FIELD_U(w, nb, pos) (((w) >> (pos)) & ((1<<(nb))-1))
+#include <unistd.h>
 
-namespace ublox {
+#include <cassert>
+#include <chrono>
+#include <cmath>
+#include <cstdio>
+#include <cstdlib>
+#include <ctime>
+#include <unordered_map>
 
-inline int twos_complement(uint32_t v, uint32_t nb) {
-  int sign = v >> (nb - 1);
-  int value = v;
-  if(sign != 0)
-    value = value - (1 << nb);
-  return value;
-}
+#include "selfdrive/common/swaglog.h"
 
-inline int GET_FIELD_S(uint32_t w, uint32_t nb, uint32_t pos) {
-  int v = GET_FIELD_U(w, nb, pos);
-  return twos_complement(v, nb);
-}
+const double gpsPi = 3.1415926535898;
+#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])
 
-class EphemerisData {
-  public:
-    EphemerisData(uint8_t svId, subframes_map subframes) {
-      this->svId = svId;
-      int week_no = GET_FIELD_U(subframes[1][2+0], 10, 20);
-      int t_gd = GET_FIELD_S(subframes[1][2+4], 8, 6);
-      int iodc = (GET_FIELD_U(subframes[1][2+0], 2, 6) << 8) | GET_FIELD_U(
-        subframes[1][2+5], 8, 22);
-
-      int t_oc = GET_FIELD_U(subframes[1][2+5], 16, 6);
-      int a_f2 = GET_FIELD_S(subframes[1][2+6], 8, 22);
-      int a_f1 = GET_FIELD_S(subframes[1][2+6], 16, 6);
-      int a_f0 = GET_FIELD_S(subframes[1][2+7], 22, 8);
-
-      int c_rs = GET_FIELD_S(subframes[2][2+0], 16, 6);
-      int delta_n = GET_FIELD_S(subframes[2][2+1], 16, 14);
-      int m_0 = (GET_FIELD_S(subframes[2][2+1], 8, 6) << 24) | GET_FIELD_U(
-        subframes[2][2+2], 24, 6);
-      int c_uc = GET_FIELD_S(subframes[2][2+3], 16, 14);
-      int e = (GET_FIELD_U(subframes[2][2+3], 8, 6) << 24) | GET_FIELD_U(subframes[2][2+4], 24, 6);
-      int c_us = GET_FIELD_S(subframes[2][2+5], 16, 14);
-      uint32_t a_powhalf = (GET_FIELD_U(subframes[2][2+5], 8, 6) << 24) | GET_FIELD_U(
-        subframes[2][2+6], 24, 6);
-      int t_oe = GET_FIELD_U(subframes[2][2+7], 16, 14);
-
-      int c_ic = GET_FIELD_S(subframes[3][2+0], 16, 14);
-      int omega_0 = (GET_FIELD_S(subframes[3][2+0], 8, 6) << 24) | GET_FIELD_U(
-        subframes[3][2+1], 24, 6);
-      int c_is = GET_FIELD_S(subframes[3][2+2], 16, 14);
-      int i_0 = (GET_FIELD_S(subframes[3][2+2], 8, 6) << 24) | GET_FIELD_U(
-        subframes[3][2+3], 24, 6);
-      int c_rc = GET_FIELD_S(subframes[3][2+4], 16, 14);
-      int w = (GET_FIELD_S(subframes[3][2+4], 8, 6) << 24) | GET_FIELD_U(subframes[3][5], 24, 6);
-      int omega_dot = GET_FIELD_S(subframes[3][2+6], 24, 6);
-      int idot = GET_FIELD_S(subframes[3][2+7], 14, 8);
-
-      this->_rsvd1 = GET_FIELD_U(subframes[1][2+1], 23, 6);
-      this->_rsvd2 = GET_FIELD_U(subframes[1][2+2], 24, 6);
-      this->_rsvd3 = GET_FIELD_U(subframes[1][2+3], 24, 6);
-      this->_rsvd4 = GET_FIELD_U(subframes[1][2+4], 16, 14);
-      this->aodo = GET_FIELD_U(subframes[2][2+7], 5, 8);
-
-      double gpsPi = 3.1415926535898;
-
-      // now form variables in radians, meters and seconds etc
-      this->Tgd = t_gd * pow(2, -31);
-      this->A = pow(a_powhalf * pow(2, -19), 2.0);
-      this->cic = c_ic * pow(2, -29);
-      this->cis = c_is * pow(2, -29);
-      this->crc = c_rc * pow(2, -5);
-      this->crs = c_rs * pow(2, -5);
-      this->cuc = c_uc * pow(2, -29);
-      this->cus = c_us * pow(2, -29);
-      this->deltaN = delta_n * pow(2, -43) * gpsPi;
-      this->ecc = e * pow(2, -33);
-      this->i0 = i_0 * pow(2, -31) * gpsPi;
-      this->idot = idot * pow(2, -43) * gpsPi;
-      this->M0 = m_0 * pow(2, -31) * gpsPi;
-      this->omega = w * pow(2, -31) * gpsPi;
-      this->omega_dot = omega_dot * pow(2, -43) * gpsPi;
-      this->omega0 = omega_0 * pow(2, -31) * gpsPi;
-      this->toe = t_oe * pow(2, 4);
-
-      this->toc = t_oc * pow(2, 4);
-      this->gpsWeek = week_no;
-      this->af0 = a_f0 * pow(2, -31);
-      this->af1 = a_f1 * pow(2, -43);
-      this->af2 = a_f2 * pow(2, -55);
-
-      uint32_t iode1 = GET_FIELD_U(subframes[2][2+0], 8, 22);
-      uint32_t iode2 = GET_FIELD_U(subframes[3][2+7], 8, 22);
-      this->valid = (iode1 == iode2) && (iode1 == (iodc & 0xff));
-      this->iode = iode1;
-
-      if (GET_FIELD_U(subframes[4][2+0], 6, 22) == 56 &&
-        GET_FIELD_U(subframes[4][2+0], 2, 28) == 1 &&
-        GET_FIELD_U(subframes[5][2+0], 2, 28) == 1) {
-        double a0 = GET_FIELD_S(subframes[4][2], 8, 14) * pow(2, -30);
-        double a1 = GET_FIELD_S(subframes[4][2], 8, 6) * pow(2, -27);
-        double a2 = GET_FIELD_S(subframes[4][3], 8, 22) * pow(2, -24);
-        double a3 = GET_FIELD_S(subframes[4][3], 8, 14) * pow(2, -24);
-        double b0 = GET_FIELD_S(subframes[4][3], 8, 6) * pow(2, 11);
-        double b1 = GET_FIELD_S(subframes[4][4], 8, 22) * pow(2, 14);
-        double b2 = GET_FIELD_S(subframes[4][4], 8, 14) * pow(2, 16);
-        double b3 = GET_FIELD_S(subframes[4][4], 8, 6) * pow(2, 16);
-        this->ionoAlpha[0] = a0;this->ionoAlpha[1] = a1;this->ionoAlpha[2] = a2;this->ionoAlpha[3] = a3;
-        this->ionoBeta[0] = b0;this->ionoBeta[1] = b1;this->ionoBeta[2] = b2;this->ionoBeta[3] = b3;
-        this->ionoCoeffsValid = true;
-      } else {
-        this->ionoCoeffsValid = false;
-      }
-    }
-    uint16_t svId;
-    double Tgd, A, cic, cis, crc, crs, cuc, cus, deltaN, ecc, i0, idot, M0, omega, omega_dot, omega0, toe, toc;
-    uint32_t gpsWeek, iode, _rsvd1, _rsvd2, _rsvd3, _rsvd4, aodo;
-    double af0, af1, af2;
-    bool valid;
-    double ionoAlpha[4], ionoBeta[4];
-    bool ionoCoeffsValid;
-};
-
-UbloxMsgParser::UbloxMsgParser() :bytes_in_parse_buf(0) {
-  nav_frame_buffer[0U] = std::map<uint8_t, subframes_map>();
-  for(int i = 1;i < 33;i++)
-    nav_frame_buffer[0U][i] = subframes_map();
+inline static bool bit_to_bool(uint8_t val, int shifts) {
+  return (bool)(val & (1 << shifts));
 }
 
 inline int UbloxMsgParser::needed_bytes() {
   // Msg header incomplete?
-  if(bytes_in_parse_buf < UBLOX_HEADER_SIZE)
-    return UBLOX_HEADER_SIZE + UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf;
-  uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + UBLOX_HEADER_SIZE + UBLOX_CHECKSUM_SIZE;
+  if(bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE)
+    return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf;
+  uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE;
   // too much data
   if(needed < (uint16_t)bytes_in_parse_buf)
     return -1;
@@ -163,7 +32,7 @@ inline int UbloxMsgParser::needed_bytes() {
 
 inline bool UbloxMsgParser::valid_cheksum() {
   uint8_t ck_a = 0, ck_b = 0;
-  for(int i = 2; i < bytes_in_parse_buf - UBLOX_CHECKSUM_SIZE;i++) {
+  for(int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE;i++) {
     ck_a = (ck_a + msg_parse_buf[i]) & 0xFF;
     ck_b = (ck_b + ck_a) & 0xFF;
   }
@@ -179,212 +48,298 @@ inline bool UbloxMsgParser::valid_cheksum() {
 }
 
 inline bool UbloxMsgParser::valid() {
-  return bytes_in_parse_buf >= UBLOX_HEADER_SIZE + UBLOX_CHECKSUM_SIZE &&
-    needed_bytes() == 0 &&
-    valid_cheksum();
+  return bytes_in_parse_buf >= ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE &&
+         needed_bytes() == 0 && valid_cheksum();
 }
 
 inline bool UbloxMsgParser::valid_so_far() {
-  if(bytes_in_parse_buf > 0 && msg_parse_buf[0] != PREAMBLE1) {
-    //LOGD("PREAMBLE1 invalid, %02X.", msg_parse_buf[0]);
+  if(bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) {
     return false;
   }
-  if(bytes_in_parse_buf > 1 && msg_parse_buf[1] != PREAMBLE2) {
-    //LOGD("PREAMBLE2 invalid, %02X.", msg_parse_buf[1]);
+  if(bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) {
     return false;
   }
-  if(needed_bytes() == 0 && !valid())
+  if(needed_bytes() == 0 && !valid()) {
     return false;
-  return true;
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_solution() {
-  nav_pvt_msg *msg = (nav_pvt_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
-  capnp::MallocMessageBuilder msg_builder;
-  cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto gpsLoc = event.initGpsLocationExternal();
-  gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
-  gpsLoc.setFlags(msg->flags);
-  gpsLoc.setLatitude(msg->lat * 1e-07);
-  gpsLoc.setLongitude(msg->lon * 1e-07);
-  gpsLoc.setAltitude(msg->height * 1e-03);
-  gpsLoc.setSpeed(msg->gSpeed * 1e-03);
-  gpsLoc.setBearing(msg->headMot * 1e-5);
-  gpsLoc.setAccuracy(msg->hAcc * 1e-03);
-  std::tm timeinfo = std::tm();
-  timeinfo.tm_year = msg->year - 1900;
-  timeinfo.tm_mon = msg->month - 1;
-  timeinfo.tm_mday = msg->day;
-  timeinfo.tm_hour = msg->hour;
-  timeinfo.tm_min = msg->min;
-  timeinfo.tm_sec = msg->sec;
-  std::time_t utc_tt = timegm(&timeinfo);
-  gpsLoc.setTimestamp(utc_tt * 1e+03 + msg->nano * 1e-06);
-  float f[] = { msg->velN * 1e-03f, msg->velE * 1e-03f, msg->velD * 1e-03f };
-  kj::ArrayPtr<const float> ap(&f[0], sizeof(f) / sizeof(f[0]));
-  gpsLoc.setVNED(ap);
-  gpsLoc.setVerticalAccuracy(msg->vAcc * 1e-03);
-  gpsLoc.setSpeedAccuracy(msg->sAcc * 1e-03);
-  gpsLoc.setBearingAccuracy(msg->headAcc * 1e-05);
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-inline bool bit_to_bool(uint8_t val, int shifts) {
-  return (val & (1 << shifts)) ? true : false;
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_raw() {
-  rxm_raw_msg *msg = (rxm_raw_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
-  if(bytes_in_parse_buf != (
-    UBLOX_HEADER_SIZE + sizeof(rxm_raw_msg) + msg->numMeas * sizeof(rxm_raw_msg_extra) + UBLOX_CHECKSUM_SIZE
-    )) {
-    LOGD("Invalid measurement size %u, %u, %u, %u", msg->numMeas, bytes_in_parse_buf, sizeof(rxm_raw_msg_extra), sizeof(rxm_raw_msg));
-    return kj::Array<capnp::word>();
-  }
-  rxm_raw_msg_extra *measurements = (rxm_raw_msg_extra *)&msg_parse_buf[UBLOX_HEADER_SIZE + sizeof(rxm_raw_msg)];
-  capnp::MallocMessageBuilder msg_builder;
-  cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto gnss = event.initUbloxGnss();
-  auto mr = gnss.initMeasurementReport();
-  mr.setRcvTow(msg->rcvTow);
-  mr.setGpsWeek(msg->week);
-  mr.setLeapSeconds(msg->leapS);
-  mr.setGpsWeek(msg->week);
-  auto mb = mr.initMeasurements(msg->numMeas);
-  for(int8_t i = 0; i < msg->numMeas; i++) {
-    mb[i].setSvId(measurements[i].svId);
-    mb[i].setSigId(measurements[i].sigId);
-    mb[i].setPseudorange(measurements[i].prMes);
-    mb[i].setCarrierCycles(measurements[i].cpMes);
-    mb[i].setDoppler(measurements[i].doMes);
-    mb[i].setGnssId(measurements[i].gnssId);
-    mb[i].setGlonassFrequencyIndex(measurements[i].freqId);
-    mb[i].setLocktime(measurements[i].locktime);
-    mb[i].setCno(measurements[i].cno);
-    mb[i].setPseudorangeStdev(0.01*(pow(2, (measurements[i].prStdev & 15)))); // weird scaling, might be wrong
-    mb[i].setCarrierPhaseStdev(0.004*(measurements[i].cpStdev & 15));
-    mb[i].setDopplerStdev(0.002*(pow(2, (measurements[i].doStdev & 15)))); // weird scaling, might be wrong
-    auto ts = mb[i].initTrackingStatus();
-    ts.setPseudorangeValid(bit_to_bool(measurements[i].trkStat, 0));
-    ts.setCarrierPhaseValid(bit_to_bool(measurements[i].trkStat, 1));
-    ts.setHalfCycleValid(bit_to_bool(measurements[i].trkStat, 2));
-    ts.setHalfCycleSubtracted(bit_to_bool(measurements[i].trkStat, 3));
-  }
-
-  mr.setNumMeas(msg->numMeas);
-  auto rs = mr.initReceiverStatus();
-  rs.setLeapSecValid(bit_to_bool(msg->recStat, 0));
-  rs.setClkReset(bit_to_bool(msg->recStat, 2));
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_nav_data() {
-  rxm_sfrbx_msg *msg = (rxm_sfrbx_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
-  if(bytes_in_parse_buf != (
-    UBLOX_HEADER_SIZE + sizeof(rxm_sfrbx_msg) + msg->numWords * sizeof(rxm_sfrbx_msg_extra) + UBLOX_CHECKSUM_SIZE
-    )) {
-    LOGD("Invalid sfrbx words size %u, %u, %u, %u", msg->numWords, bytes_in_parse_buf, sizeof(rxm_raw_msg_extra), sizeof(rxm_raw_msg));
-    return kj::Array<capnp::word>();
   }
-  rxm_sfrbx_msg_extra *measurements = (rxm_sfrbx_msg_extra *)&msg_parse_buf[UBLOX_HEADER_SIZE + sizeof(rxm_sfrbx_msg)];
-  if(msg->gnssId  == 0) {
-    uint8_t subframeId =  GET_FIELD_U(measurements[1].dwrd, 3, 8);
-    std::vector<uint32_t> words;
-    for(int i = 0; i < msg->numWords;i++)
-      words.push_back(measurements[i].dwrd);
-
-    if(subframeId == 1) {
-      nav_frame_buffer[msg->gnssId][msg->svid] = subframes_map();
-      nav_frame_buffer[msg->gnssId][msg->svid][subframeId] = words;
-    } else if(nav_frame_buffer[msg->gnssId][msg->svid].find(subframeId-1) != nav_frame_buffer[msg->gnssId][msg->svid].end())
-      nav_frame_buffer[msg->gnssId][msg->svid][subframeId] = words;
-    if(nav_frame_buffer[msg->gnssId][msg->svid].size() == 5) {
-      EphemerisData ephem_data(msg->svid, nav_frame_buffer[msg->gnssId][msg->svid]);
-      capnp::MallocMessageBuilder msg_builder;
-      cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
-      event.setLogMonoTime(nanos_since_boot());
-      auto gnss = event.initUbloxGnss();
-      auto eph = gnss.initEphemeris();
-      eph.setSvId(ephem_data.svId);
-      eph.setToc(ephem_data.toc);
-      eph.setGpsWeek(ephem_data.gpsWeek);
-      eph.setAf0(ephem_data.af0);
-      eph.setAf1(ephem_data.af1);
-      eph.setAf2(ephem_data.af2);
-      eph.setIode(ephem_data.iode);
-      eph.setCrs(ephem_data.crs);
-      eph.setDeltaN(ephem_data.deltaN);
-      eph.setM0(ephem_data.M0);
-      eph.setCuc(ephem_data.cuc);
-      eph.setEcc(ephem_data.ecc);
-      eph.setCus(ephem_data.cus);
-      eph.setA(ephem_data.A);
-      eph.setToe(ephem_data.toe);
-      eph.setCic(ephem_data.cic);
-      eph.setOmega0(ephem_data.omega0);
-      eph.setCis(ephem_data.cis);
-      eph.setI0(ephem_data.i0);
-      eph.setCrc(ephem_data.crc);
-      eph.setOmega(ephem_data.omega);
-      eph.setOmegaDot(ephem_data.omega_dot);
-      eph.setIDot(ephem_data.idot);
-      eph.setTgd(ephem_data.Tgd);
-      eph.setIonoCoeffsValid(ephem_data.ionoCoeffsValid);
-      if(ephem_data.ionoCoeffsValid) {
-        kj::ArrayPtr<const double> apa(&ephem_data.ionoAlpha[0], sizeof(ephem_data.ionoAlpha) / sizeof(ephem_data.ionoAlpha[0]));
-        eph.setIonoAlpha(apa);
-        kj::ArrayPtr<const double> apb(&ephem_data.ionoBeta[0], sizeof(ephem_data.ionoBeta) / sizeof(ephem_data.ionoBeta[0]));
-        eph.setIonoBeta(apb);
-      } else {
-        eph.setIonoAlpha(kj::ArrayPtr<const double>());
-        eph.setIonoBeta(kj::ArrayPtr<const double>());
-      }
-      return capnp::messageToFlatArray(msg_builder);
-    }
-  }
-  return kj::Array<capnp::word>();
+  return true;
 }
 
-kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw() {
-  mon_hw_msg *msg = (mon_hw_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
-
-  capnp::MallocMessageBuilder msg_builder;
-  cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto gnss = event.initUbloxGnss();
-  auto hwStatus = gnss.initHwStatus();
-  hwStatus.setNoisePerMS(msg->noisePerMS);
-  hwStatus.setAgcCnt(msg->agcCnt);
-  hwStatus.setAStatus((cereal::UbloxGnss::HwStatus::AntennaSupervisorState) msg->aStatus);
-  hwStatus.setAPower((cereal::UbloxGnss::HwStatus::AntennaPowerStatus) msg->aPower);
-  hwStatus.setJamInd(msg->jamInd);
-  return capnp::messageToFlatArray(msg_builder);
-}
 
 bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) {
   int needed = needed_bytes();
   if(needed > 0) {
-    bytes_consumed = min((size_t)needed, incoming_data_len );
+    bytes_consumed = std::min((uint32_t)needed, incoming_data_len );
     // Add data to buffer
     memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed);
     bytes_in_parse_buf += bytes_consumed;
   } else {
     bytes_consumed = incoming_data_len;
   }
+
   // Validate msg format, detect invalid header and invalid checksum.
   while(!valid_so_far() && bytes_in_parse_buf != 0) {
-    //LOGD("Drop corrupt data, remained in buf: %u", bytes_in_parse_buf);
     // Corrupted msg, drop a byte.
     bytes_in_parse_buf -= 1;
     if(bytes_in_parse_buf > 0)
       memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf);
   }
+
   // There is redundant data at the end of buffer, reset the buffer.
-  if(needed_bytes() == -1)
+  if(needed_bytes() == -1) {
     bytes_in_parse_buf = 0;
+  }
   return valid();
 }
 
+
+std::pair<std::string, kj::Array<capnp::word>> UbloxMsgParser::gen_msg() {
+  std::string dat = data();
+  kaitai::kstream stream(dat);
+
+  ubx_t ubx_message(&stream);
+  auto body = ubx_message.body();
+
+  switch (ubx_message.msg_type()) {
+  case 0x0107:
+    return {"gpsLocationExternal", gen_nav_pvt(static_cast<ubx_t::nav_pvt_t*>(body))};
+    break;
+  case 0x0213:
+    return {"ubloxGnss", gen_rxm_sfrbx(static_cast<ubx_t::rxm_sfrbx_t*>(body))};
+    break;
+  case 0x0215:
+    return {"ubloxGnss", gen_rxm_rawx(static_cast<ubx_t::rxm_rawx_t*>(body))};
+    break;
+  case 0x0a09:
+    return {"ubloxGnss", gen_mon_hw(static_cast<ubx_t::mon_hw_t*>(body))};
+    break;
+  case 0x0a0b:
+    return {"ubloxGnss", gen_mon_hw2(static_cast<ubx_t::mon_hw2_t*>(body))};
+    break;
+  default:
+    LOGE("Unknown message type %x", ubx_message.msg_type());
+    return {"ubloxGnss", kj::Array<capnp::word>()};
+    break;
+  }
+}
+
+
+kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
+  MessageBuilder msg_builder;
+  auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal();
+  gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
+  gpsLoc.setFlags(msg->flags());
+  gpsLoc.setLatitude(msg->lat() * 1e-07);
+  gpsLoc.setLongitude(msg->lon() * 1e-07);
+  gpsLoc.setAltitude(msg->height() * 1e-03);
+  gpsLoc.setSpeed(msg->g_speed() * 1e-03);
+  gpsLoc.setBearingDeg(msg->head_mot() * 1e-5);
+  gpsLoc.setAccuracy(msg->h_acc() * 1e-03);
+  std::tm timeinfo = std::tm();
+  timeinfo.tm_year = msg->year() - 1900;
+  timeinfo.tm_mon = msg->month() - 1;
+  timeinfo.tm_mday = msg->day();
+  timeinfo.tm_hour = msg->hour();
+  timeinfo.tm_min = msg->min();
+  timeinfo.tm_sec = msg->sec();
+
+  std::time_t utc_tt = timegm(&timeinfo);
+  gpsLoc.setTimestamp(utc_tt * 1e+03 + msg->nano() * 1e-06);
+  float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f };
+  gpsLoc.setVNED(f);
+  gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03);
+  gpsLoc.setSpeedAccuracy(msg->s_acc() * 1e-03);
+  gpsLoc.setBearingAccuracyDeg(msg->head_acc() * 1e-05);
+  return capnp::messageToFlatArray(msg_builder);
+}
+
+
+kj::Array<capnp::word> UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) {
+  auto body = *msg->body();
+
+  if (msg->gnss_id() == ubx_t::gnss_type_t::GNSS_TYPE_GPS) {
+    // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes
+    // We will first need to separate the data from the padding and parity
+    assert(body.size() == 10);
+
+    std::string subframe_data;
+    subframe_data.reserve(30);
+    for (uint32_t word : body) {
+      word = word >> 6; // TODO: Verify parity
+      subframe_data.push_back(word >> 16);
+      subframe_data.push_back(word >> 8);
+      subframe_data.push_back(word >> 0);
+    }
+
+    // Collect subframes in map and parse when we have all the parts
+    {
+      kaitai::kstream stream(subframe_data);
+      gps_t subframe(&stream);
+      int subframe_id = subframe.how()->subframe_id();
+
+      if (subframe_id == 1) gps_subframes[msg->sv_id()].clear();
+      gps_subframes[msg->sv_id()][subframe_id] = subframe_data;
+    }
+
+    if (gps_subframes[msg->sv_id()].size() == 5) {
+      MessageBuilder msg_builder;
+      auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris();
+      eph.setSvId(msg->sv_id());
+
+      // Subframe 1
+      {
+        kaitai::kstream stream(gps_subframes[msg->sv_id()][1]);
+        gps_t subframe(&stream);
+        gps_t::subframe_1_t* subframe_1 = static_cast<gps_t::subframe_1_t*>(subframe.body());
+
+        eph.setGpsWeek(subframe_1->week_no());
+        eph.setTgd(subframe_1->t_gd() * pow(2, -31));
+        eph.setToc(subframe_1->t_oc() * pow(2, 4));
+        eph.setAf2(subframe_1->af_2() * pow(2, -55));
+        eph.setAf1(subframe_1->af_1() * pow(2, -43));
+        eph.setAf0(subframe_1->af_0() * pow(2, -31));
+      }
+
+      // Subframe 2
+      {
+        kaitai::kstream stream(gps_subframes[msg->sv_id()][2]);
+        gps_t subframe(&stream);
+        gps_t::subframe_2_t* subframe_2 = static_cast<gps_t::subframe_2_t*>(subframe.body());
+
+        eph.setCrs(subframe_2->c_rs() * pow(2, -5));
+        eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi);
+        eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi);
+        eph.setCuc(subframe_2->c_uc() * pow(2, -29));
+        eph.setEcc(subframe_2->e() * pow(2, -33));
+        eph.setCus(subframe_2->c_us() * pow(2, -29));
+        eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0));
+        eph.setToe(subframe_2->t_oe() * pow(2, 4));
+      }
+
+      // Subframe 3
+      {
+        kaitai::kstream stream(gps_subframes[msg->sv_id()][3]);
+        gps_t subframe(&stream);
+        gps_t::subframe_3_t* subframe_3 = static_cast<gps_t::subframe_3_t*>(subframe.body());
+
+        eph.setCic(subframe_3->c_ic() * pow(2, -29));
+        eph.setOmega0(subframe_3->omega_0() * pow(2, -31) * gpsPi);
+        eph.setCis(subframe_3->c_is() * pow(2, -29));
+        eph.setI0(subframe_3->i_0() * pow(2, -31) * gpsPi);
+        eph.setCrc(subframe_3->c_rc() * pow(2, -5));
+        eph.setOmega(subframe_3->omega() * pow(2, -31) * gpsPi);
+        eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi);
+        eph.setIode(subframe_3->iode());
+        eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi);
+      }
+
+      // Subframe 4
+      {
+        kaitai::kstream stream(gps_subframes[msg->sv_id()][4]);
+        gps_t subframe(&stream);
+        gps_t::subframe_4_t* subframe_4 = static_cast<gps_t::subframe_4_t*>(subframe.body());
+
+        // This is page 18, why is the page id 56?
+        if (subframe_4->data_id() == 1 && subframe_4->page_id() == 56) {
+          auto iono = static_cast<gps_t::subframe_4_t::ionosphere_data_t*>(subframe_4->body());
+          double a0 = iono->a0() * pow(2, -30);
+          double a1 = iono->a1() * pow(2, -27);
+          double a2 = iono->a2() * pow(2, -24);
+          double a3 = iono->a3() * pow(2, -24);
+          eph.setIonoAlpha({a0, a1, a2, a3});
+
+          double b0 = iono->b0() * pow(2, 11);
+          double b1 = iono->b1() * pow(2, 14);
+          double b2 = iono->b2() * pow(2, 16);
+          double b3 = iono->b3() * pow(2, 16);
+          eph.setIonoBeta({b0, b1, b2, b3});
+        }
+      }
+
+      return capnp::messageToFlatArray(msg_builder);
+    }
+  }
+  return kj::Array<capnp::word>();
+}
+
+kj::Array<capnp::word> UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) {
+  MessageBuilder msg_builder;
+  auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport();
+  mr.setRcvTow(msg->rcv_tow());
+  mr.setGpsWeek(msg->week());
+  mr.setLeapSeconds(msg->leap_s());
+  mr.setGpsWeek(msg->week());
+
+  auto mb = mr.initMeasurements(msg->num_meas());
+  auto measurements = *msg->measurements();
+  for(int8_t i = 0; i < msg->num_meas(); i++) {
+    mb[i].setSvId(measurements[i]->sv_id());
+    mb[i].setPseudorange(measurements[i]->pr_mes());
+    mb[i].setCarrierCycles(measurements[i]->cp_mes());
+    mb[i].setDoppler(measurements[i]->do_mes());
+    mb[i].setGnssId(measurements[i]->gnss_id());
+    mb[i].setGlonassFrequencyIndex(measurements[i]->freq_id());
+    mb[i].setLocktime(measurements[i]->lock_time());
+    mb[i].setCno(measurements[i]->cno());
+    mb[i].setPseudorangeStdev(0.01 * (pow(2, (measurements[i]->pr_stdev() & 15)))); // weird scaling, might be wrong
+    mb[i].setCarrierPhaseStdev(0.004 * (measurements[i]->cp_stdev() & 15));
+    mb[i].setDopplerStdev(0.002 * (pow(2, (measurements[i]->do_stdev() & 15)))); // weird scaling, might be wrong
+
+    auto ts = mb[i].initTrackingStatus();
+    auto trk_stat = measurements[i]->trk_stat();
+    ts.setPseudorangeValid(bit_to_bool(trk_stat, 0));
+    ts.setCarrierPhaseValid(bit_to_bool(trk_stat, 1));
+    ts.setHalfCycleValid(bit_to_bool(trk_stat, 2));
+    ts.setHalfCycleSubtracted(bit_to_bool(trk_stat, 3));
+  }
+
+  mr.setNumMeas(msg->num_meas());
+  auto rs = mr.initReceiverStatus();
+  rs.setLeapSecValid(bit_to_bool(msg->rec_stat(), 0));
+  rs.setClkReset(bit_to_bool(msg->rec_stat(), 2));
+  return capnp::messageToFlatArray(msg_builder);
+}
+
+kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) {
+  MessageBuilder msg_builder;
+  auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus();
+  hwStatus.setNoisePerMS(msg->noise_per_ms());
+  hwStatus.setFlags(msg->flags());
+  hwStatus.setAgcCnt(msg->agc_cnt());
+  hwStatus.setAStatus((cereal::UbloxGnss::HwStatus::AntennaSupervisorState) msg->a_status());
+  hwStatus.setAPower((cereal::UbloxGnss::HwStatus::AntennaPowerStatus) msg->a_power());
+  hwStatus.setJamInd(msg->jam_ind());
+  return capnp::messageToFlatArray(msg_builder);
+}
+
+kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw2(ubx_t::mon_hw2_t *msg) {
+  MessageBuilder msg_builder;
+  auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus2();
+  hwStatus.setOfsI(msg->ofs_i());
+  hwStatus.setMagI(msg->mag_i());
+  hwStatus.setOfsQ(msg->ofs_q());
+  hwStatus.setMagQ(msg->mag_q());
+
+  switch (msg->cfg_source()) {
+    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_ROM:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::ROM);
+      break;
+    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_OTP:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::OTP);
+      break;
+    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_CONFIG_PINS:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::CONFIGPINS);
+      break;
+    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_FLASH:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::FLASH);
+      break;
+    default:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::UNDEFINED);
+      break;
+  }
+
+  hwStatus.setLowLevCfg(msg->low_lev_cfg());
+  hwStatus.setPostStatus(msg->post_status());
+
+  return capnp::messageToFlatArray(msg_builder);
 }
diff --git a/selfdrive/locationd/ublox_msg.h b/selfdrive/locationd/ublox_msg.h
index 4bb103bb508e4e..b8a48ad2da6636 100644
--- a/selfdrive/locationd/ublox_msg.h
+++ b/selfdrive/locationd/ublox_msg.h
@@ -1,176 +1,116 @@
 #pragma once
 
-#include <stdint.h>
-#include "messaging.hpp"
-
-#define min(x, y) ((x) <= (y) ? (x) : (y))
-
-// NAV_PVT
-typedef struct __attribute__((packed)) {
-  uint32_t iTOW;
-  uint16_t year;
-  int8_t month;
-  int8_t day;
-  int8_t hour;
-  int8_t min;
-  int8_t sec;
-  int8_t valid;
-  uint32_t tAcc;
-  int32_t nano;
-  int8_t fixType;
-  int8_t flags;
-  int8_t flags2;
-  int8_t numSV;
-  int32_t lon;
-  int32_t lat;
-  int32_t height;
-  int32_t hMSL;
-  uint32_t hAcc;
-  uint32_t vAcc;
-  int32_t velN;
-  int32_t velE;
-  int32_t velD;
-  int32_t gSpeed;
-  int32_t headMot;
-  uint32_t sAcc;
-  uint32_t headAcc;
-  uint16_t pDOP;
-  int8_t reserverd1[6];
-  int32_t headVeh;
-  int16_t magDec;
-  uint16_t magAcc;
-} nav_pvt_msg;
-
-// RXM_RAW
-typedef struct __attribute__((packed)) {
-  double rcvTow;
-  uint16_t week;
-  int8_t leapS;
-  int8_t numMeas;
-  int8_t recStat;
-  int8_t reserved1[3];
-} rxm_raw_msg;
-
-// Extra data count is in numMeas
-typedef struct __attribute__((packed)) {
-  double prMes;
-  double cpMes;
-  float doMes;
-  int8_t gnssId;
-  int8_t svId;
-  int8_t sigId;
-  int8_t freqId;
-  uint16_t locktime;
-  int8_t cno;
-  int8_t prStdev;
-  int8_t cpStdev;
-  int8_t doStdev;
-  int8_t trkStat;
-  int8_t reserved3;
-} rxm_raw_msg_extra;
-// RXM_SFRBX
-typedef struct __attribute__((packed)) {
-  int8_t gnssId;
-  int8_t svid;
-  int8_t reserved1;
-  int8_t freqId;
-  int8_t numWords;
-  int8_t reserved2;
-  int8_t version;
-  int8_t reserved3;
-} rxm_sfrbx_msg;
-
-// Extra data count is in numWords
-typedef struct __attribute__((packed)) {
-  uint32_t dwrd;
-} rxm_sfrbx_msg_extra;
-
-// MON_HW
-typedef struct __attribute__((packed)) {
-  uint32_t pinSel;
-  uint32_t pinBank;
-  uint32_t pinDir;
-  uint32_t pinVal;
-  uint16_t noisePerMS;
-  uint16_t agcCnt;
-  uint8_t aStatus;
-  uint8_t aPower;
-  uint8_t flags;
-  uint8_t reserved1;
-  uint32_t usedMask;
-  uint8_t VP[17];
-  uint8_t jamInd;
-  uint8_t reserved2[2];
-  uint32_t pinIrq;
-  uint32_t pullH;
-  uint32_t pullL;
-} mon_hw_msg;
+#include <cassert>
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <ctime>
 
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/locationd/generated/gps.h"
+#include "selfdrive/locationd/generated/ubx.h"
+
+using namespace std::string_literals;
+
+// protocol constants
 namespace ublox {
-  // protocol constants
   const uint8_t PREAMBLE1 = 0xb5;
   const uint8_t PREAMBLE2 = 0x62;
 
-  // message classes
+  const int UBLOX_HEADER_SIZE = 6;
+  const int UBLOX_CHECKSUM_SIZE = 2;
+  const int UBLOX_MAX_MSG_SIZE = 65536;
+
+  // Boardd still uses these:
   const uint8_t CLASS_NAV = 0x01;
   const uint8_t CLASS_RXM = 0x02;
   const uint8_t CLASS_MON = 0x0A;
 
-  // NAV messages
-  const uint8_t MSG_NAV_PVT = 0x7;
+  struct ubx_mga_ini_time_utc_t {
+    uint8_t type;
+    uint8_t version;
+    uint8_t ref;
+    int8_t leapSecs;
+    uint16_t year;
+    uint8_t month;
+    uint8_t day;
+    uint8_t hour;
+    uint8_t minute;
+    uint8_t second;
+    uint8_t reserved1;
+    uint32_t ns;
+    uint16_t tAccS;
+    uint16_t reserved2;
+    uint32_t tAccNs;
+  } __attribute__((packed));
+
+  inline std::string ubx_add_checksum(const std::string &msg) {
+    assert(msg.size() > 2);
+
+    uint8_t ck_a = 0, ck_b = 0;
+    for(int i = 2; i < msg.size(); i++) {
+      ck_a = (ck_a + msg[i]) & 0xFF;
+      ck_b = (ck_b + ck_a) & 0xFF;
+    }
+
+    std::string r = msg;
+    r.push_back(ck_a);
+    r.push_back(ck_b);
+    return r;
+  }
+
+  inline std::string build_ubx_mga_ini_time_utc(struct tm time) {
+    ublox::ubx_mga_ini_time_utc_t payload = {
+      .type = 0x10,
+      .version = 0x0,
+      .ref = 0x0,
+      .leapSecs = -128, // Unknown
+      .year = (uint16_t)(1900 + time.tm_year),
+      .month = (uint8_t)(1 + time.tm_mon),
+      .day = (uint8_t)time.tm_mday,
+      .hour = (uint8_t)time.tm_hour,
+      .minute = (uint8_t)time.tm_min,
+      .second = (uint8_t)time.tm_sec,
+      .reserved1 = 0x0,
+      .ns = 0,
+      .tAccS = 30,
+      .reserved2 = 0x0,
+      .tAccNs = 0,
+    };
+    assert(sizeof(payload) == 24);
+
+    std::string msg = "\xb5\x62\x13\x40\x18\x00"s;
+    msg += std::string((char*)&payload, sizeof(payload));
+
+    return ubx_add_checksum(msg);
+  }
+}
 
-  // RXM messages
-  const uint8_t MSG_RXM_RAW = 0x15;
-  const uint8_t MSG_RXM_SFRBX = 0x13;
+class UbloxMsgParser {
+  public:
+    bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
+    inline void reset() {bytes_in_parse_buf = 0;}
+    inline int needed_bytes();
+    inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);}
 
-  // MON messages
-  const uint8_t MSG_MON_HW = 0x09;
+    std::pair<std::string, kj::Array<capnp::word>> gen_msg();
+    kj::Array<capnp::word> gen_nav_pvt(ubx_t::nav_pvt_t *msg);
+    kj::Array<capnp::word> gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg);
+    kj::Array<capnp::word> gen_rxm_rawx(ubx_t::rxm_rawx_t *msg);
+    kj::Array<capnp::word> gen_mon_hw(ubx_t::mon_hw_t *msg);
+    kj::Array<capnp::word> gen_mon_hw2(ubx_t::mon_hw2_t *msg);
 
-  const int UBLOX_HEADER_SIZE = 6;
-  const int UBLOX_CHECKSUM_SIZE = 2;
-  const int UBLOX_MAX_MSG_SIZE = 65536;
+  private:
+    inline bool valid_cheksum();
+    inline bool valid();
+    inline bool valid_so_far();
 
-  typedef std::map<uint8_t, std::vector<uint32_t>> subframes_map;
-
-  class UbloxMsgParser {
-    public:
-
-      UbloxMsgParser();
-      kj::Array<capnp::word> gen_solution();
-      kj::Array<capnp::word> gen_raw();
-      kj::Array<capnp::word> gen_mon_hw();
-
-      kj::Array<capnp::word> gen_nav_data();
-      bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
-      inline void reset() {bytes_in_parse_buf = 0;}
-      inline uint8_t msg_class() {
-        return msg_parse_buf[2];
-      }
-
-      inline uint8_t msg_id() {
-        return msg_parse_buf[3];
-      }
-      inline int needed_bytes();
-
-      void hexdump(uint8_t *d, int l) {
-        for (int i = 0; i < l; i++) {
-          if (i%0x10 == 0 && i != 0) printf("\n");
-          printf("%02X ", d[i]);
-        }
-        printf("\n");
-      }
-    private:
-      inline bool valid_cheksum();
-      inline bool valid();
-      inline bool valid_so_far();
-
-      uint8_t msg_parse_buf[UBLOX_HEADER_SIZE + UBLOX_MAX_MSG_SIZE];
-      int bytes_in_parse_buf;
-      std::map<uint8_t, std::map<uint8_t, subframes_map>> nav_frame_buffer;
-  };
+    std::unordered_map<int, std::unordered_map<int, std::string>> gps_subframes;
 
-}
+    size_t bytes_in_parse_buf = 0;
+    uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE];
+
+};
 
-typedef Message * (*poll_ubloxraw_msg_func)(Poller *poller);
-typedef int (*send_gps_event_func)(PubSocket *s, const void *buf, size_t len);
-int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func);
diff --git a/selfdrive/locationd/ubloxd.cc b/selfdrive/locationd/ubloxd.cc
index 2c28f142286b8c..bcf33b3f73f85f 100644
--- a/selfdrive/locationd/ubloxd.cc
+++ b/selfdrive/locationd/ubloxd.cc
@@ -1,47 +1,68 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
-#include <sched.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <sys/time.h>
-#include <assert.h>
-#include <math.h>
-#include <ctime>
-#include <chrono>
-#include <map>
-#include <vector>
-
-#include "messaging.hpp"
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-
-#include "ublox_msg.h"
-
-const long ZMQ_POLL_TIMEOUT = 1000; // In miliseconds
-
-Message * poll_ubloxraw_msg(Poller * poller) {
-  auto p = poller->poll(ZMQ_POLL_TIMEOUT);
-
-  if (p.size()) {
-    return p[0]->receive();
-  } else {
-    return NULL;
-  }
-}
+#include <cassert>
 
+#include <kaitai/kaitaistream.h>
 
-int send_gps_event(PubSocket *s, const void *buf, size_t len) {
-  return s->send((char*)buf, len);
-}
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/locationd/ublox_msg.h"
+
+ExitHandler do_exit;
+using namespace ublox;
 
 int main() {
-  return ubloxd_main(poll_ubloxraw_msg, send_gps_event);
+  LOGW("starting ubloxd");
+  AlignedBuffer aligned_buf;
+  UbloxMsgParser parser;
+
+  PubMaster pm({"ubloxGnss", "gpsLocationExternal"});
+
+  Context * context = Context::create();
+  SubSocket * subscriber = SubSocket::create(context, "ubloxRaw");
+  assert(subscriber != NULL);
+  subscriber->setTimeout(100);
+
+
+  while (!do_exit) {
+    Message * msg = subscriber->receive();
+    if (!msg) {
+      if (errno == EINTR) {
+        do_exit = true;
+      }
+      continue;
+    }
+
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg));
+    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+    auto ubloxRaw = event.getUbloxRaw();
+
+    const uint8_t *data = ubloxRaw.begin();
+    size_t len = ubloxRaw.size();
+    size_t bytes_consumed = 0;
+
+    while(bytes_consumed < len && !do_exit) {
+      size_t bytes_consumed_this_time = 0U;
+      if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
+
+        try {
+          auto ublox_msg = parser.gen_msg();
+          if (ublox_msg.second.size() > 0) {
+            auto bytes = ublox_msg.second.asBytes();
+            pm.send(ublox_msg.first.c_str(), bytes.begin(), bytes.size());
+          }
+        } catch (const std::exception& e) {
+          LOGE("Error parsing ublox message %s", e.what());
+        }
+
+        parser.reset();
+      }
+      bytes_consumed += bytes_consumed_this_time;
+    }
+    delete msg;
+  }
+
+  delete subscriber;
+  delete context;
+
+  return 0;
 }
diff --git a/selfdrive/locationd/ubloxd_main.cc b/selfdrive/locationd/ubloxd_main.cc
deleted file mode 100644
index 4e07932fff1192..00000000000000
--- a/selfdrive/locationd/ubloxd_main.cc
+++ /dev/null
@@ -1,127 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
-#include <sched.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <sys/time.h>
-#include <assert.h>
-#include <math.h>
-#include <ctime>
-#include <chrono>
-#include <map>
-#include <vector>
-
-#include "messaging.hpp"
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "common/util.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-
-#include "ublox_msg.h"
-
-volatile sig_atomic_t do_exit = 0; // Flag for process exit on signal
-
-void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
-using namespace ublox;
-
-int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
-  LOGW("starting ubloxd");
-  signal(SIGINT, (sighandler_t) set_do_exit);
-  signal(SIGTERM, (sighandler_t) set_do_exit);
-
-  UbloxMsgParser parser;
-
-  Context * c = Context::create();
-  PubSocket * gpsLocationExternal = PubSocket::create(c, "gpsLocationExternal");
-  PubSocket * ubloxGnss = PubSocket::create(c, "ubloxGnss");
-  SubSocket * ubloxRaw = SubSocket::create(c, "ubloxRaw");
-
-  assert(gpsLocationExternal != NULL);
-  assert(ubloxGnss != NULL);
-  assert(ubloxRaw != NULL);
-
-  Poller * poller = Poller::create({ubloxRaw});
-
-
-  while (!do_exit) {
-    Message * msg = poll_func(poller);
-    if (msg == NULL) continue;
-
-    auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
-    memcpy(amsg.begin(), msg->getData(), msg->getSize());
-
-    capnp::FlatArrayMessageReader cmsg(amsg);
-    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-    const uint8_t *data = event.getUbloxRaw().begin();
-    size_t len = event.getUbloxRaw().size();
-    size_t bytes_consumed = 0;
-    while(bytes_consumed < len && !do_exit) {
-      size_t bytes_consumed_this_time = 0U;
-      if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
-        // New message available
-        if(parser.msg_class() == CLASS_NAV) {
-          if(parser.msg_id() == MSG_NAV_PVT) {
-            //LOGD("MSG_NAV_PVT");
-            auto words = parser.gen_solution();
-            if(words.size() > 0) {
-              auto bytes = words.asBytes();
-              send_func(gpsLocationExternal, bytes.begin(), bytes.size());
-            }
-          } else
-            LOGW("Unknown nav msg id: 0x%02X", parser.msg_id());
-        } else if(parser.msg_class() == CLASS_RXM) {
-          if(parser.msg_id() == MSG_RXM_RAW) {
-            //LOGD("MSG_RXM_RAW");
-            auto words = parser.gen_raw();
-            if(words.size() > 0) {
-              auto bytes = words.asBytes();
-              send_func(ubloxGnss, bytes.begin(), bytes.size());
-            }
-          } else if(parser.msg_id() == MSG_RXM_SFRBX) {
-            //LOGD("MSG_RXM_SFRBX");
-            auto words = parser.gen_nav_data();
-            if(words.size() > 0) {
-              auto bytes = words.asBytes();
-              send_func(ubloxGnss, bytes.begin(), bytes.size());
-            }
-          } else
-            LOGW("Unknown rxm msg id: 0x%02X", parser.msg_id());
-        } else if(parser.msg_class() == CLASS_MON) {
-          if(parser.msg_id() == MSG_MON_HW) {
-            //LOGD("MSG_MON_HW");
-            auto words = parser.gen_mon_hw();
-            if(words.size() > 0) {
-              auto bytes = words.asBytes();
-              send_func(ubloxGnss, bytes.begin(), bytes.size());
-            }
-          } else {
-            LOGW("Unknown mon msg id: 0x%02X", parser.msg_id());
-          }
-        } else
-          LOGW("Unknown msg class: 0x%02X", parser.msg_class());
-        parser.reset();
-      }
-      bytes_consumed += bytes_consumed_this_time;
-    }
-    delete msg;
-  }
-
-  delete poller;
-  delete ubloxRaw;
-  delete ubloxGnss;
-  delete gpsLocationExternal;
-  delete c;
-
-  return 0;
-}
diff --git a/selfdrive/locationd/ubloxd_test.cc b/selfdrive/locationd/ubloxd_test.cc
deleted file mode 100644
index 68fe6351ea6660..00000000000000
--- a/selfdrive/locationd/ubloxd_test.cc
+++ /dev/null
@@ -1,102 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
-#include <sched.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <sys/time.h>
-#include <assert.h>
-#include <math.h>
-#include <ctime>
-#include <chrono>
-#include <map>
-#include <vector>
-#include <iostream>
-
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "ublox_msg.h"
-
-using namespace ublox;
-extern volatile sig_atomic_t do_exit;
-
-void write_file(std::string fpath, uint8_t *data, int len) {
-  FILE* f = fopen(fpath.c_str(), "wb");
-  if (!f) {
-    std::cout << "Open " << fpath << " failed" << std::endl;
-    return;
-  }
-  fwrite(data, len, 1, f);
-  fclose(f);
-}
-
-static size_t len = 0U;
-static size_t consumed = 0U;
-static uint8_t *data = NULL;
-static int save_idx = 0;
-static std::string prefix;
-
-Message * poll_ubloxraw_msg(Poller * poller) {
-  assert(poller);
-
-  size_t consuming  = min(len - consumed, 128);
-  if(consumed < len) {
-    // create message
-    capnp::MallocMessageBuilder msg_builder;
-    cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-
-    auto ublox_raw = event.initUbloxRaw(consuming);
-    memcpy(ublox_raw.begin(), (void *)(data + consumed), consuming);
-
-    auto words = capnp::messageToFlatArray(msg_builder);
-    auto bytes = words.asBytes();
-
-    Message * msg = new ZMQMessage();
-    msg->init((char*)bytes.begin(), bytes.size());
-    consumed += consuming;
-    return msg;
-  } else {
-    do_exit = 1;
-    return NULL;
-  }
-}
-
-int send_gps_event(PubSocket *s, const void *buf, size_t len) {
-  assert(s);
-  write_file(prefix + "/" + std::to_string(save_idx), (uint8_t *)buf, len);
-  save_idx++;
-  return len;
-}
-
-int main(int argc, char** argv) {
-  if(argc < 3) {
-    printf("Format: ubloxd_test stream_file_path save_prefix\n");
-    return 0;
-  }
-  // Parse 11360 msgs, generate 9452 events
-  data = (uint8_t *)read_file(argv[1], &len);
-  if(data == NULL) {
-    LOGE("Read file %s failed\n", argv[1]);
-    return -1;
-  }
-  prefix = argv[2];
-  ubloxd_main(poll_ubloxraw_msg, send_gps_event);
-  free(data);
-  printf("Generated %d cereal events\n", save_idx);
-  if(save_idx != 9452) {
-    printf("Event count error: %d\n", save_idx);
-    return -1;
-  }
-  return 0;
-}
diff --git a/selfdrive/logcatd/SConscript b/selfdrive/logcatd/SConscript
index 1040c3af705e1a..8811f32fe65118 100644
--- a/selfdrive/logcatd/SConscript
+++ b/selfdrive/logcatd/SConscript
@@ -1,2 +1,6 @@
-Import('env', 'messaging')
-env.Program('logcatd.cc', LIBS=[messaging, 'cutils', 'zmq', 'czmq', 'capnp', 'kj'])
+Import('env', 'cereal', 'messaging', 'common', 'arch')
+
+if arch == "aarch64":
+  env.Program('logcatd', 'logcatd_android.cc', LIBS=[cereal, messaging, common, 'cutils', 'zmq', 'capnp', 'kj'])
+else:
+  env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, messaging, common, 'zmq', 'capnp', 'kj', 'systemd', 'json11'])
diff --git a/selfdrive/logcatd/logcatd.cc b/selfdrive/logcatd/logcatd.cc
deleted file mode 100644
index 4baa97677841f2..00000000000000
--- a/selfdrive/logcatd/logcatd.cc
+++ /dev/null
@@ -1,71 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cassert>
-#include <android/log.h>
-
-//#include <log/log.h>
-#include <log/logger.h>
-#include <log/logprint.h>
-
-#include <capnp/serialize.h>
-#include "common/timing.h"
-#include "cereal/gen/cpp/log.capnp.h"
-#include "messaging.hpp"
-
-int main() {
-  int err;
-
-  struct logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY, 0, 0);
-  assert(logger_list);
-  struct logger *main_logger = android_logger_open(logger_list, LOG_ID_MAIN);
-  assert(main_logger);
-  struct logger *radio_logger = android_logger_open(logger_list, LOG_ID_RADIO);
-  assert(radio_logger);
-  struct logger *system_logger = android_logger_open(logger_list, LOG_ID_SYSTEM);
-  assert(system_logger);
-  struct logger *crash_logger = android_logger_open(logger_list, LOG_ID_CRASH);
-  assert(crash_logger);
-//  struct logger *kernel_logger = android_logger_open(logger_list, LOG_ID_KERNEL);
-//  assert(kernel_logger);
-
-  Context * c = Context::create();
-  PubSocket * androidLog = PubSocket::create(c, "androidLog");
-  assert(androidLog != NULL);
-
-  while (1) {
-    log_msg log_msg;
-    err = android_logger_list_read(logger_list, &log_msg);
-    if (err <= 0) {
-      break;
-    }
-
-    AndroidLogEntry entry;
-    err = android_log_processLogBuffer(&log_msg.entry_v1, &entry);
-    if (err < 0) {
-      continue;
-    }
-
-    capnp::MallocMessageBuilder msg;
-    cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-    auto androidEntry = event.initAndroidLogEntry();
-    androidEntry.setId(log_msg.id());
-    androidEntry.setTs(entry.tv_sec * 1000000000ULL + entry.tv_nsec);
-    androidEntry.setPriority(entry.priority);
-    androidEntry.setPid(entry.pid);
-    androidEntry.setTid(entry.tid);
-    androidEntry.setTag(entry.tag);
-    androidEntry.setMessage(entry.message);
-
-    auto words = capnp::messageToFlatArray(msg);
-    auto bytes = words.asBytes();
-    androidLog->send((char*)bytes.begin(), bytes.size());
-  }
-
-  android_logger_list_close(logger_list);
-
-  delete c;
-  delete androidLog;
-
-  return 0;
-}
diff --git a/selfdrive/logcatd/logcatd_android.cc b/selfdrive/logcatd/logcatd_android.cc
new file mode 100644
index 00000000000000..1a982a0feb48d7
--- /dev/null
+++ b/selfdrive/logcatd/logcatd_android.cc
@@ -0,0 +1,72 @@
+#include <sys/time.h>
+#include <sys/resource.h>
+
+#include <android/log.h>
+#include <log/logger.h>
+#include <log/logprint.h>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
+
+int main() {
+  setpriority(PRIO_PROCESS, 0, -15);
+
+  ExitHandler do_exit;
+  PubMaster pm({"androidLog"});
+
+  log_time last_log_time = {};
+  logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY | ANDROID_LOG_NONBLOCK, 0, 0);
+
+  while (!do_exit) {
+    // setup android logging
+    if (!logger_list) {
+      logger_list = android_logger_list_alloc_time(ANDROID_LOG_RDONLY | ANDROID_LOG_NONBLOCK, last_log_time, 0);
+    }
+    assert(logger_list);
+
+    struct logger *main_logger = android_logger_open(logger_list, LOG_ID_MAIN);
+    assert(main_logger);
+    struct logger *radio_logger = android_logger_open(logger_list, LOG_ID_RADIO);
+    assert(radio_logger);
+    struct logger *system_logger = android_logger_open(logger_list, LOG_ID_SYSTEM);
+    assert(system_logger);
+    struct logger *crash_logger = android_logger_open(logger_list, LOG_ID_CRASH);
+    assert(crash_logger);
+    struct logger *kernel_logger = android_logger_open(logger_list, (log_id_t)5); // LOG_ID_KERNEL
+    assert(kernel_logger);
+
+    while (!do_exit) {
+      log_msg log_msg;
+      int err = android_logger_list_read(logger_list, &log_msg);
+      if (err <= 0) break;
+
+      AndroidLogEntry entry;
+      err = android_log_processLogBuffer(&log_msg.entry_v1, &entry);
+      if (err < 0) continue;
+      last_log_time.tv_sec = entry.tv_sec;
+      last_log_time.tv_nsec = entry.tv_nsec;
+
+      MessageBuilder msg;
+      auto androidEntry = msg.initEvent().initAndroidLog();
+      androidEntry.setId(log_msg.id());
+      androidEntry.setTs(entry.tv_sec * 1000000000ULL + entry.tv_nsec);
+      androidEntry.setPriority(entry.priority);
+      androidEntry.setPid(entry.pid);
+      androidEntry.setTid(entry.tid);
+      androidEntry.setTag(entry.tag);
+      androidEntry.setMessage(entry.message);
+
+      pm.send("androidLog", msg);
+    }
+
+    android_logger_list_free(logger_list);
+    logger_list = NULL;
+    util::sleep_for(500);
+  }
+
+  if (logger_list) {
+    android_logger_list_free(logger_list);
+  }
+
+  return 0;
+}
diff --git a/selfdrive/logcatd/logcatd_systemd.cc b/selfdrive/logcatd/logcatd_systemd.cc
new file mode 100644
index 00000000000000..7c7800dfea9347
--- /dev/null
+++ b/selfdrive/logcatd/logcatd_systemd.cc
@@ -0,0 +1,71 @@
+#include <systemd/sd-journal.h>
+
+#include <cassert>
+#include <csignal>
+#include <map>
+#include <string>
+
+#include "json11.hpp"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+
+ExitHandler do_exit;
+int main(int argc, char *argv[]) {
+
+  PubMaster pm({"androidLog"});
+
+  sd_journal *journal;
+  int err = sd_journal_open(&journal, 0);
+  assert(err >= 0);
+  err = sd_journal_get_fd(journal); // needed so sd_journal_wait() works properly if files rotate
+  assert(err >= 0);
+  err = sd_journal_seek_tail(journal);
+  assert(err >= 0);
+
+  while (!do_exit) {
+    err = sd_journal_next(journal);
+    assert(err >= 0);
+
+    // Wait for new message if we didn't receive anything
+    if (err == 0) {
+      err = sd_journal_wait(journal, 1000 * 1000);
+      assert (err >= 0);
+      continue; // Try again
+    }
+
+    uint64_t timestamp = 0;
+    err = sd_journal_get_realtime_usec(journal, &timestamp);
+    assert(err >= 0);
+
+    const void *data;
+    size_t length;
+    std::map<std::string, std::string> kv;
+
+    SD_JOURNAL_FOREACH_DATA(journal, data, length) {
+      std::string str((char*)data, length);
+
+      // Split "KEY=VALUE"" on "=" and put in map
+      std::size_t found = str.find("=");
+      if (found != std::string::npos) {
+        kv[str.substr(0, found)] = str.substr(found + 1, std::string::npos);
+      }
+    }
+
+    MessageBuilder msg;
+
+    // Build message
+    auto androidEntry = msg.initEvent().initAndroidLog();
+    androidEntry.setTs(timestamp);
+    androidEntry.setMessage(json11::Json(kv).dump());
+    if (kv.count("_PID")) androidEntry.setPid(std::atoi(kv["_PID"].c_str()));
+    if (kv.count("PRIORITY")) androidEntry.setPriority(std::atoi(kv["PRIORITY"].c_str()));
+    if (kv.count("SYSLOG_IDENTIFIER")) androidEntry.setTag(kv["SYSLOG_IDENTIFIER"]);
+
+    pm.send("androidLog", msg);
+  }
+
+  sd_journal_close(journal);
+  return 0;
+}
diff --git a/selfdrive/loggerd/SConscript b/selfdrive/loggerd/SConscript
index dfc32fc83a08d6..7e41c9d3eeed6e 100644
--- a/selfdrive/loggerd/SConscript
+++ b/selfdrive/loggerd/SConscript
@@ -1,12 +1,31 @@
-Import('env', 'arch', 'messaging', 'common', 'visionipc')
+Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'gpucommon')
 
-src = ['loggerd.cc', 'logger.c']
-libs = ['zmq', 'czmq', 'capnp', 'kj', 'z',
-  'avformat', 'avcodec', 'swscale', 'avutil',
-  'yuv', 'bz2', common, 'json', messaging, visionipc]
 
-if arch == "aarch64":
-  src += ['encoder.c', 'raw_logger.cc']
-  libs += ['OmxVenc', 'OmxCore', 'cutils']
+logger_lib = env.Library('logger', ["logger.cc"])
+libs = [logger_lib, common, cereal, messaging, visionipc,
+        'zmq', 'capnp', 'kj', 'z',
+        'avformat', 'avcodec', 'swscale', 'avutil',
+        'yuv', 'bz2', 'OpenCL']
+
+src = ['loggerd.cc']
+if arch in ["aarch64", "larch64"]:
+  src += ['omx_encoder.cc']
+  libs += ['OmxCore', 'gsl', 'CB'] + gpucommon
+  if arch == "aarch64":
+    libs += ['OmxVenc', 'cutils']
+  else:
+    libs += ['pthread']
+else:
+  src += ['raw_logger.cc']
+  libs += ['pthread']
+
+if arch == "Darwin":
+  # fix OpenCL
+  del libs[libs.index('OpenCL')]
+  env['FRAMEWORKS'] = ['OpenCL']
 
 env.Program(src, LIBS=libs)
+env.Program('bootlog.cc', LIBS=libs)
+
+if GetOption('test'):
+  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', env.Object('logger_util', '#/selfdrive/ui/replay/util.cc')], LIBS=[libs] + ['curl', 'crypto'])
diff --git a/selfdrive/loggerd/bootlog.cc b/selfdrive/loggerd/bootlog.cc
new file mode 100644
index 00000000000000..481b3ee47c44e0
--- /dev/null
+++ b/selfdrive/loggerd/bootlog.cc
@@ -0,0 +1,76 @@
+#include <cassert>
+#include <string>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/loggerd/logger.h"
+
+
+static kj::Array<capnp::word> build_boot_log() {
+  std::vector<std::string> bootlog_commands;
+  if (Hardware::TICI()) {
+    bootlog_commands.push_back("journalctl");
+    bootlog_commands.push_back("sudo nvme smart-log --output-format=json /dev/nvme0");
+  }
+
+  MessageBuilder msg;
+  auto boot = msg.initEvent().initBoot();
+
+  boot.setWallTimeNanos(nanos_since_epoch());
+
+  std::string pstore = "/sys/fs/pstore";
+  std::map<std::string, std::string> pstore_map = util::read_files_in_dir(pstore);
+
+  const std::vector<std::string> log_keywords = {"Kernel panic"};
+  auto lpstore = boot.initPstore().initEntries(pstore_map.size());
+  int i = 0;
+  for (auto& kv : pstore_map) {
+    auto lentry = lpstore[i];
+    lentry.setKey(kv.first);
+    lentry.setValue(capnp::Data::Reader((const kj::byte*)kv.second.data(), kv.second.size()));
+    i++;
+
+    for (auto &k : log_keywords) {
+      if (kv.second.find(k) != std::string::npos) {
+        LOGE("%s: found '%s'", kv.first.c_str(), k.c_str());
+      }
+    }
+  }
+
+  // Gather output of commands
+  i = 0;
+  auto commands = boot.initCommands().initEntries(bootlog_commands.size());
+  for (auto &command : bootlog_commands) {
+    auto lentry = commands[i];
+
+    lentry.setKey(command);
+
+    const std::string result = util::check_output(command);
+    lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size()));
+
+    i++;
+  }
+
+  boot.setLaunchLog(util::read_file("/tmp/launch_log"));
+  return capnp::messageToFlatArray(msg);
+}
+
+int main(int argc, char** argv) {
+
+  const std::string path = LOG_ROOT + "/boot/" + logger_get_route_name() + ".bz2";
+  LOGW("bootlog to %s", path.c_str());
+
+  // Open bootlog
+  bool r = util::create_directories(LOG_ROOT + "/boot/", 0775);
+  assert(r);
+
+  BZFile bz_file(path.c_str());
+
+  // Write initdata
+  bz_file.write(logger_build_init_data().asBytes());
+
+  // Write bootlog
+  bz_file.write(build_boot_log().asBytes());
+
+  return 0;
+}
diff --git a/selfdrive/loggerd/config.py b/selfdrive/loggerd/config.py
index 0ee6fa671d0327..b626073ce41b7d 100644
--- a/selfdrive/loggerd/config.py
+++ b/selfdrive/loggerd/config.py
@@ -1,29 +1,34 @@
 import os
+from pathlib import Path
+from selfdrive.hardware import PC
 
-if os.environ.get('LOGGERD_ROOT', False):
-  ROOT = os.environ['LOGGERD_ROOT']
-  print("Custom loggerd root: ", ROOT)
+if os.environ.get('LOG_ROOT', False):
+  ROOT = os.environ['LOG_ROOT']
+elif PC:
+  ROOT = os.path.join(str(Path.home()), ".comma", "media", "0", "realdata")
 else:
   ROOT = '/data/media/0/realdata/'
 
+
+CAMERA_FPS = 20
 SEGMENT_LENGTH = 60
 
 
 def get_available_percent(default=None):
-    try:
-      statvfs = os.statvfs(ROOT)
-      available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
-    except OSError:
-      available_percent = default
+  try:
+    statvfs = os.statvfs(ROOT)
+    available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
+  except OSError:
+    available_percent = default
 
-    return available_percent
+  return available_percent
 
 
 def get_available_bytes(default=None):
-    try:
-      statvfs = os.statvfs(ROOT)
-      available_bytes = statvfs.f_bavail * statvfs.f_frsize
-    except OSError:
-      available_bytes = default
+  try:
+    statvfs = os.statvfs(ROOT)
+    available_bytes = statvfs.f_bavail * statvfs.f_frsize
+  except OSError:
+    available_bytes = default
 
-    return available_bytes
+  return available_bytes
diff --git a/selfdrive/loggerd/deleter.py b/selfdrive/loggerd/deleter.py
index b9ae0e8d4dda04..16083ec921674a 100644
--- a/selfdrive/loggerd/deleter.py
+++ b/selfdrive/loggerd/deleter.py
@@ -9,6 +9,8 @@
 MIN_BYTES = 5 * 1024 * 1024 * 1024
 MIN_PERCENT = 10
 
+DELETE_LAST = ['boot', 'crash']
+
 
 def deleter_thread(exit_event):
   while not exit_event.is_set():
@@ -17,7 +19,7 @@ def deleter_thread(exit_event):
 
     if out_of_percent or out_of_bytes:
       # remove the earliest directory we can
-      dirs = listdir_by_creation(ROOT)
+      dirs = sorted(listdir_by_creation(ROOT), key=lambda x: x in DELETE_LAST)
       for delete_dir in dirs:
         delete_path = os.path.join(ROOT, delete_dir)
 
@@ -35,7 +37,7 @@ def deleter_thread(exit_event):
       exit_event.wait(30)
 
 
-def main(gctx=None):
+def main():
   deleter_thread(threading.Event())
 
 
diff --git a/selfdrive/loggerd/encoder.c b/selfdrive/loggerd/encoder.c
deleted file mode 100644
index 747c7a1957f06a..00000000000000
--- a/selfdrive/loggerd/encoder.c
+++ /dev/null
@@ -1,796 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <assert.h>
-
-#include <czmq.h>
-
-#include <pthread.h>
-
-#include <OMX_Component.h>
-#include <OMX_IndexExt.h>
-#include <OMX_VideoExt.h>
-#include <OMX_QCOMExtns.h>
-
-#include <libyuv.h>
-
-#include <android/log.h>
-
-#include <msm_media_info.h>
-
-#include "common/mutex.h"
-#include "common/swaglog.h"
-
-#include "encoder.h"
-
-#define ALOG(...) __android_log_print(ANDROID_LOG_VERBOSE, "omxapp", ##__VA_ARGS__)
-
-// encoder: lossey codec using hardware hevc
-static void wait_for_state(EncoderState *s, OMX_STATETYPE state) {
-  pthread_mutex_lock(&s->state_lock);
-  while (s->state != state) {
-    pthread_cond_wait(&s->state_cv, &s->state_lock);
-  }
-  pthread_mutex_unlock(&s->state_lock);
-}
-
-static OMX_ERRORTYPE event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event,
-                                   OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data) {
-  EncoderState *s = app_data;
-
-  switch (event) {
-  case OMX_EventCmdComplete:
-    assert(data1 == OMX_CommandStateSet);
-    LOG("set state event 0x%x", data2);
-    pthread_mutex_lock(&s->state_lock);
-    s->state = data2;
-    pthread_cond_broadcast(&s->state_cv);
-    pthread_mutex_unlock(&s->state_lock);
-    break;
-  case OMX_EventError:
-    LOGE("OMX error 0x%08x", data1);
-    // assert(false);
-    break;
-  default:
-    LOGE("unhandled event %d", event);
-    assert(false);
-    break;
-  }
-
-  pthread_mutex_unlock(&s->state_lock);
-
-  return OMX_ErrorNone;
-}
-
-static OMX_ERRORTYPE empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
-                                       OMX_BUFFERHEADERTYPE *buffer) {
-  EncoderState *s = app_data;
-
-  // printf("empty_buffer_done\n");
-
-  queue_push(&s->free_in, (void*)buffer);
-
-  return OMX_ErrorNone;
-}
-
-
-static OMX_ERRORTYPE fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
-                                      OMX_BUFFERHEADERTYPE *buffer) {
-  EncoderState *s = app_data;
-
-  // printf("fill_buffer_done\n");
-
-  queue_push(&s->done_out, (void*)buffer);
-
-  return OMX_ErrorNone;
-}
-
-static OMX_CALLBACKTYPE omx_callbacks = {
-  .EventHandler = event_handler,
-  .EmptyBufferDone = empty_buffer_done,
-  .FillBufferDone = fill_buffer_done,
-};
-
-#define PORT_INDEX_IN 0
-#define PORT_INDEX_OUT 1
-
-static const char* omx_color_fomat_name(uint32_t format) {
-  switch (format) {
-  case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused";
-  case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome";
-  case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332";
-  case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444";
-  case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444";
-  case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555";
-  case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565";
-  case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565";
-  case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666";
-  case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665";
-  case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666";
-  case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888";
-  case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888";
-  case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887";
-  case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888";
-  case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888";
-  case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888";
-  case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar";
-  case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar";
-  case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar";
-  case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar";
-  case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar";
-  case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar";
-  case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar";
-  case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar";
-  case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr";
-  case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb";
-  case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY";
-  case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY";
-  case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved";
-  case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit";
-  case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit";
-  case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed";
-  case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2";
-  case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4";
-  case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8";
-  case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16";
-  case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24";
-  case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32";
-  case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar";
-  case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar";
-  case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666";
-  case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666";
-  case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666";
-
-  case OMX_COLOR_FormatAndroidOpaque: return "OMX_COLOR_FormatAndroidOpaque";
-  case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_TI_COLOR_FormatYUV420PackedSemiPlanar";
-  case OMX_QCOM_COLOR_FormatYVU420SemiPlanar: return "OMX_QCOM_COLOR_FormatYVU420SemiPlanar";
-  case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
-  case OMX_SEC_COLOR_FormatNV12Tiled: return "OMX_SEC_COLOR_FormatNV12Tiled";
-  case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m";
-
-  // case QOMX_COLOR_FormatYVU420SemiPlanar: return "QOMX_COLOR_FormatYVU420SemiPlanar";
-  case QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka: return "QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka";
-  case QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka";
-  // case QOMX_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
-  // case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m";
-  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView";
-  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed";
-  case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888";
-  case QOMX_COLOR_Format32bitRGBA8888Compressed: return "QOMX_COLOR_Format32bitRGBA8888Compressed";
-
-  default:
-    return "unkn";
-  }
-}
-
-void encoder_init(EncoderState *s, const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale) {
-  int err;
-
-  memset(s, 0, sizeof(*s));
-  s->filename = filename;
-  s->width = width;
-  s->height = height;
-  s->fps = fps;
-  mutex_init_reentrant(&s->lock);
-
-  if (!h265) {
-    s->remuxing = true;
-  }
-
-  if (downscale) {
-    s->downscale = true;
-    s->y_ptr2 = malloc(s->width*s->height);
-    s->u_ptr2 = malloc(s->width*s->height/4);
-    s->v_ptr2 = malloc(s->width*s->height/4);
-  }
-
-  s->segment = -1;
-
-  s->state = OMX_StateLoaded;
-
-  s->codec_config = NULL;
-
-  queue_init(&s->free_in);
-  queue_init(&s->done_out);
-
-  pthread_mutex_init(&s->state_lock, NULL);
-  pthread_cond_init(&s->state_cv, NULL);
-
-  if (h265) {
-    err = OMX_GetHandle(&s->handle, (OMX_STRING)"OMX.qcom.video.encoder.hevc",
-                        s, &omx_callbacks);
-  } else {
-    err = OMX_GetHandle(&s->handle, (OMX_STRING)"OMX.qcom.video.encoder.avc",
-                        s, &omx_callbacks);
-  }
-  assert(err == OMX_ErrorNone);
-  // printf("handle: %p\n", s->handle);
-
-  // setup input port
-
-  OMX_PARAM_PORTDEFINITIONTYPE in_port = {0};
-  in_port.nSize = sizeof(in_port);
-  in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN;
-  err = OMX_GetParameter(s->handle, OMX_IndexParamPortDefinition,
-                         (OMX_PTR) &in_port);
-  assert(err == OMX_ErrorNone);
-
-  in_port.format.video.nFrameWidth = s->width;
-  in_port.format.video.nFrameHeight = s->height;
-  in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, s->width);
-  in_port.format.video.nSliceHeight = s->height;
-  // in_port.nBufferSize = (s->width * s->height * 3) / 2;
-  in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, s->width, s->height);
-  in_port.format.video.xFramerate = (s->fps * 65536);
-  in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused;
-  // in_port.format.video.eColorFormat = OMX_COLOR_FormatYUV420SemiPlanar;
-  in_port.format.video.eColorFormat = QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m;
-
-  err = OMX_SetParameter(s->handle, OMX_IndexParamPortDefinition,
-                         (OMX_PTR) &in_port);
-  assert(err == OMX_ErrorNone);
-
-
-  err = OMX_GetParameter(s->handle, OMX_IndexParamPortDefinition,
-                         (OMX_PTR) &in_port);
-  assert(err == OMX_ErrorNone);
-  s->num_in_bufs = in_port.nBufferCountActual;
-
-  // printf("in width: %d, stride: %d\n",
-  //   in_port.format.video.nFrameWidth, in_port.format.video.nStride);
-
-  // setup output port
-
-  OMX_PARAM_PORTDEFINITIONTYPE out_port = {0};
-  out_port.nSize = sizeof(out_port);
-  out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-  err = OMX_GetParameter(s->handle, OMX_IndexParamPortDefinition,
-                         (OMX_PTR)&out_port);
-  assert(err == OMX_ErrorNone);
-  out_port.format.video.nFrameWidth = s->width;
-  out_port.format.video.nFrameHeight = s->height;
-  out_port.format.video.xFramerate = 0;
-  out_port.format.video.nBitrate = bitrate;
-  if (h265) {
-    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingHEVC;
-  } else {
-    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
-  }
-  out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused;
-
-  err = OMX_SetParameter(s->handle, OMX_IndexParamPortDefinition,
-                         (OMX_PTR) &out_port);
-  assert(err == OMX_ErrorNone);
-
-  err = OMX_GetParameter(s->handle, OMX_IndexParamPortDefinition,
-                         (OMX_PTR) &out_port);
-  assert(err == OMX_ErrorNone);
-  s->num_out_bufs = out_port.nBufferCountActual;
-
-  OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0};
-  bitrate_type.nSize = sizeof(bitrate_type);
-  bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-  err = OMX_GetParameter(s->handle, OMX_IndexParamVideoBitrate,
-                         (OMX_PTR) &bitrate_type);
-  assert(err == OMX_ErrorNone);
-
-  bitrate_type.eControlRate = OMX_Video_ControlRateVariable;
-  bitrate_type.nTargetBitrate = bitrate;
-
-  err = OMX_SetParameter(s->handle, OMX_IndexParamVideoBitrate,
-                         (OMX_PTR) &bitrate_type);
-  assert(err == OMX_ErrorNone);
-
-  if (h265) {
-    // setup HEVC
-    OMX_VIDEO_PARAM_HEVCTYPE hecv_type = {0};
-    hecv_type.nSize = sizeof(hecv_type);
-    hecv_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-    err = OMX_GetParameter(s->handle, (OMX_INDEXTYPE)OMX_IndexParamVideoHevc,
-                           (OMX_PTR) &hecv_type);
-    assert(err == OMX_ErrorNone);
-
-    hecv_type.eProfile = OMX_VIDEO_HEVCProfileMain;
-    hecv_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
-
-    err = OMX_SetParameter(s->handle, (OMX_INDEXTYPE)OMX_IndexParamVideoHevc,
-                           (OMX_PTR) &hecv_type);
-    assert(err == OMX_ErrorNone);
-  } else {
-    // setup h264
-    OMX_VIDEO_PARAM_AVCTYPE avc = { 0 };
-    avc.nSize = sizeof(avc);
-    avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-    err = OMX_GetParameter(s->handle, OMX_IndexParamVideoAvc, &avc);
-    assert(err == OMX_ErrorNone);
-
-    avc.nBFrames = 0;
-    avc.nPFrames = 15;
-
-    avc.eProfile = OMX_VIDEO_AVCProfileBaseline;
-    avc.eLevel = OMX_VIDEO_AVCLevel31;
-
-    avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
-    avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
-
-    err = OMX_SetParameter(s->handle, OMX_IndexParamVideoAvc, &avc);
-    assert(err == OMX_ErrorNone);
-  }
-
-
-  // for (int i = 0; ; i++) {
-  //   OMX_VIDEO_PARAM_PORTFORMATTYPE video_port_format = {0};
-  //   video_port_format.nSize = sizeof(video_port_format);
-  //   video_port_format.nIndex = i;
-  //   video_port_format.nPortIndex = PORT_INDEX_IN;
-  //   if (OMX_GetParameter(s->handle, OMX_IndexParamVideoPortFormat, &video_port_format) != OMX_ErrorNone)
-  //       break;
-  //   printf("in %d: compression 0x%x format 0x%x %s\n", i,
-  //          video_port_format.eCompressionFormat, video_port_format.eColorFormat,
-  //          omx_color_fomat_name(video_port_format.eColorFormat));
-  // }
-
-  // for (int i=0; i<32; i++) {
-  //   OMX_VIDEO_PARAM_PROFILELEVELTYPE params = {0};
-  //   params.nSize = sizeof(params);
-  //   params.nPortIndex = PORT_INDEX_OUT;
-  //   params.nProfileIndex = i;
-  //   if (OMX_GetParameter(s->handle, OMX_IndexParamVideoProfileLevelQuerySupported, &params) != OMX_ErrorNone)
-  //       break;
-  //   printf("profile %d level 0x%x\n", params.eProfile, params.eLevel);
-  // }
-
-  err = OMX_SendCommand(s->handle, OMX_CommandStateSet, OMX_StateIdle, NULL);
-  assert(err == OMX_ErrorNone);
-
-  s->in_buf_headers = calloc(s->num_in_bufs, sizeof(OMX_BUFFERHEADERTYPE*));
-  for (int i=0; i<s->num_in_bufs; i++) {
-    err = OMX_AllocateBuffer(s->handle, &s->in_buf_headers[i], PORT_INDEX_IN, s,
-                             in_port.nBufferSize);
-    assert(err == OMX_ErrorNone);
-  }
-
-  s->out_buf_headers = calloc(s->num_out_bufs, sizeof(OMX_BUFFERHEADERTYPE*));
-  for (int i=0; i<s->num_out_bufs; i++) {
-    err = OMX_AllocateBuffer(s->handle, &s->out_buf_headers[i], PORT_INDEX_OUT, s,
-                             out_port.nBufferSize);
-    assert(err == OMX_ErrorNone);
-  }
-
-  wait_for_state(s, OMX_StateIdle);
-
-  err = OMX_SendCommand(s->handle, OMX_CommandStateSet, OMX_StateExecuting, NULL);
-  assert(err == OMX_ErrorNone);
-
-  wait_for_state(s, OMX_StateExecuting);
-
-  // give omx all the output buffers
-  for (int i = 0; i < s->num_out_bufs; i++) {
-    // printf("fill %p\n", s->out_buf_headers[i]);
-    err = OMX_FillThisBuffer(s->handle, s->out_buf_headers[i]);
-    assert(err == OMX_ErrorNone);
-  }
-
-  // fill the input free queue
-  for (int i = 0; i < s->num_in_bufs; i++) {
-    queue_push(&s->free_in, (void*)s->in_buf_headers[i]);
-  }
-}
-
-static void handle_out_buf(EncoderState *s, OMX_BUFFERHEADERTYPE *out_buf) {
-  int err;
-  uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset;
-
-  if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) {
-    if (s->codec_config_len < out_buf->nFilledLen) {
-      s->codec_config = realloc(s->codec_config, out_buf->nFilledLen);
-    }
-    s->codec_config_len = out_buf->nFilledLen;
-    memcpy(s->codec_config, buf_data, out_buf->nFilledLen);
-  }
-
-  if (s->stream_sock_raw) {
-    uint64_t current_time = nanos_since_boot();
-    uint64_t diff = current_time - out_buf->nTimeStamp*1000LL;
-    double msdiff = (double) diff / 1000000.0;
-    // printf("encoded latency to tsEof: %f\n", msdiff);
-    zmq_send(s->stream_sock_raw, &out_buf->nTimeStamp, sizeof(out_buf->nTimeStamp), ZMQ_SNDMORE);
-    zmq_send(s->stream_sock_raw, buf_data, out_buf->nFilledLen, 0);
-  }
-
-  if (s->of) {
-    //printf("write %d flags 0x%x\n", out_buf->nFilledLen, out_buf->nFlags);
-    fwrite(buf_data, out_buf->nFilledLen, 1, s->of);
-  }
-
-  if (s->remuxing) {
-    if (!s->wrote_codec_config && s->codec_config_len > 0) {
-      if (s->codec_ctx->extradata_size < s->codec_config_len) {
-        s->codec_ctx->extradata = realloc(s->codec_ctx->extradata, s->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
-      }
-      s->codec_ctx->extradata_size = s->codec_config_len;
-      memcpy(s->codec_ctx->extradata, s->codec_config, s->codec_config_len);
-      memset(s->codec_ctx->extradata + s->codec_ctx->extradata_size, 0, AV_INPUT_BUFFER_PADDING_SIZE);
-
-      err = avcodec_parameters_from_context(s->out_stream->codecpar, s->codec_ctx);
-      assert(err >= 0);
-      err = avformat_write_header(s->ofmt_ctx, NULL);
-      assert(err >= 0);
-
-      s->wrote_codec_config = true;
-    }
-
-    if (out_buf->nTimeStamp > 0) {
-      // input timestamps are in microseconds
-      AVRational in_timebase = {1, 1000000};
-
-      AVPacket pkt;
-      av_init_packet(&pkt);
-      pkt.data = buf_data;
-      pkt.size = out_buf->nFilledLen;
-      pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, s->ofmt_ctx->streams[0]->time_base, AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
-      pkt.duration = av_rescale_q(50*1000, in_timebase, s->ofmt_ctx->streams[0]->time_base);
-
-      if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
-        pkt.flags |= AV_PKT_FLAG_KEY;
-      }
-
-      err = av_write_frame(s->ofmt_ctx, &pkt);
-      if (err < 0) { LOGW("ts encoder write issue"); }
-
-      av_free_packet(&pkt);
-    }
-  }
-
-  // give omx back the buffer
-  err = OMX_FillThisBuffer(s->handle, out_buf);
-  assert(err == OMX_ErrorNone);
-}
-
-int encoder_encode_frame(EncoderState *s,
-                         const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
-                         int in_width, int in_height,
-                         int *frame_segment, VIPCBufExtra *extra) {
-  int err;
-  pthread_mutex_lock(&s->lock);
-
-  if (s->opening) {
-    encoder_open(s, s->next_path);
-    s->opening = false;
-  }
-
-  if (!s->open) {
-    pthread_mutex_unlock(&s->lock);
-    return -1;
-  }
-
-  // this sometimes freezes... put it outside the encoder lock so we can still trigger rotates...
-  // THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this
-  pthread_mutex_unlock(&s->lock);
-  OMX_BUFFERHEADERTYPE* in_buf = queue_pop(&s->free_in);
-  pthread_mutex_lock(&s->lock);
-
-  if (s->rotating) {
-    encoder_close(s);
-    encoder_open(s, s->next_path);
-    s->segment = s->next_segment;
-    s->rotating = false;
-  }
-
-  int ret = s->counter;
-
-  uint8_t *in_buf_ptr = in_buf->pBuffer;
-  // printf("in_buf ptr %p\n", in_buf_ptr);
-
-  uint8_t *in_y_ptr = in_buf_ptr;
-  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, s->width);
-  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, s->width);
-  // uint8_t *in_uv_ptr = in_buf_ptr + (s->width * s->height);
-  uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, s->height));
-
-  if (s->downscale) {
-    I420Scale(y_ptr, in_width,
-              u_ptr, in_width/2,
-              v_ptr, in_width/2,
-              in_width, in_height,
-              s->y_ptr2, s->width,
-              s->u_ptr2, s->width/2,
-              s->v_ptr2, s->width/2,
-              s->width, s->height,
-              kFilterNone);
-    y_ptr = s->y_ptr2;
-    u_ptr = s->u_ptr2;
-    v_ptr = s->v_ptr2;
-  }
-  err = I420ToNV12(y_ptr, s->width,
-                   u_ptr, s->width/2,
-                   v_ptr, s->width/2,
-                   in_y_ptr, in_y_stride,
-                   in_uv_ptr, in_uv_stride,
-                   s->width, s->height);
-  assert(err == 0);
-
-  // in_buf->nFilledLen = (s->width*s->height) + (s->width*s->height/2);
-  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, s->width, s->height);
-  in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
-  in_buf->nOffset = 0;
-  in_buf->nTimeStamp = extra->timestamp_eof/1000LL;  // OMX_TICKS, in microseconds
-
-  err = OMX_EmptyThisBuffer(s->handle, in_buf);
-  assert(err == OMX_ErrorNone);
-
-  // pump output
-  while (true) {
-    OMX_BUFFERHEADERTYPE *out_buf = queue_try_pop(&s->done_out);
-    if (!out_buf) {
-      break;
-    }
-    handle_out_buf(s, out_buf);
-  }
-
-  s->dirty = true;
-
-  s->counter++;
-
-  if (frame_segment) {
-    *frame_segment = s->segment;
-  }
-
-  if (s->closing) {
-    encoder_close(s);
-    s->closing = false;
-  }
-
-  pthread_mutex_unlock(&s->lock);
-  return ret;
-}
-
-void encoder_open(EncoderState *s, const char* path) {
-  int err;
-
-  pthread_mutex_lock(&s->lock);
-
-  snprintf(s->vid_path, sizeof(s->vid_path), "%s/%s", path, s->filename);
-
-  if (s->remuxing) {
-    avformat_alloc_output_context2(&s->ofmt_ctx, NULL, NULL, s->vid_path);
-    assert(s->ofmt_ctx);
-
-    s->out_stream = avformat_new_stream(s->ofmt_ctx, NULL);
-    assert(s->out_stream);
-
-    // set codec correctly
-    av_register_all();
-
-    AVCodec *codec = NULL;
-    codec = avcodec_find_encoder(AV_CODEC_ID_H264);
-    assert(codec);
-
-    s->codec_ctx = avcodec_alloc_context3(codec);
-    assert(s->codec_ctx);
-    s->codec_ctx->width = s->width;
-    s->codec_ctx->height = s->height;
-    s->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
-    s->codec_ctx->time_base = (AVRational){ 1, s->fps };
-
-    err = avio_open(&s->ofmt_ctx->pb, s->vid_path, AVIO_FLAG_WRITE);
-    assert(err >= 0);
-
-    s->wrote_codec_config = false;
-  } else {
-    s->of = fopen(s->vid_path, "wb");
-    assert(s->of);
-    if (s->codec_config_len > 0) {
-      fwrite(s->codec_config, s->codec_config_len, 1, s->of);
-    }
-  }
-
-  // create camera lock file
-  snprintf(s->lock_path, sizeof(s->lock_path), "%s/%s.lock", path, s->filename);
-  int lock_fd = open(s->lock_path, O_RDWR | O_CREAT, 0777);
-  assert(lock_fd >= 0);
-  close(lock_fd);
-
-  s->open = true;
-  s->counter = 0;
-
-  pthread_mutex_unlock(&s->lock);
-}
-
-void encoder_close(EncoderState *s) {
-  int err;
-
-  pthread_mutex_lock(&s->lock);
-
-  if (s->open) {
-    if (s->dirty) {
-      // drain output only if there could be frames in the encoder
-
-      OMX_BUFFERHEADERTYPE* in_buf = queue_pop(&s->free_in);
-      in_buf->nFilledLen = 0;
-      in_buf->nOffset = 0;
-      in_buf->nFlags = OMX_BUFFERFLAG_EOS;
-      in_buf->nTimeStamp = 0;
-
-      err = OMX_EmptyThisBuffer(s->handle, in_buf);
-      assert(err == OMX_ErrorNone);
-
-      while (true) {
-        OMX_BUFFERHEADERTYPE *out_buf = queue_pop(&s->done_out);
-
-        handle_out_buf(s, out_buf);
-
-        if (out_buf->nFlags & OMX_BUFFERFLAG_EOS) {
-          break;
-        }
-      }
-      s->dirty = false;
-    }
-
-    if (s->remuxing) {
-      av_write_trailer(s->ofmt_ctx);
-      avio_closep(&s->ofmt_ctx->pb);
-      avformat_free_context(s->ofmt_ctx);
-    } else {
-      fclose(s->of);
-    }
-    unlink(s->lock_path);
-  }
-  s->open = false;
-
-  pthread_mutex_unlock(&s->lock);
-}
-
-void encoder_rotate(EncoderState *s, const char* new_path, int new_segment) {
-  pthread_mutex_lock(&s->lock);
-  snprintf(s->next_path, sizeof(s->next_path), "%s", new_path);
-  s->next_segment = new_segment;
-  if (s->open) {
-    if (s->next_segment == -1) {
-      s->closing = true;
-    } else {
-      s->rotating = true;
-    }
-  } else {
-    s->segment = s->next_segment;
-    s->opening = true;
-  }
-  pthread_mutex_unlock(&s->lock);
-}
-
-void encoder_destroy(EncoderState *s) {
-  int err;
-
-  assert(!s->open);
-
-  err = OMX_SendCommand(s->handle, OMX_CommandStateSet, OMX_StateIdle, NULL);
-  assert(err == OMX_ErrorNone);
-
-  wait_for_state(s, OMX_StateIdle);
-
-  err = OMX_SendCommand(s->handle, OMX_CommandStateSet, OMX_StateLoaded, NULL);
-  assert(err == OMX_ErrorNone);
-
-  for (int i=0; i<s->num_in_bufs; i++) {
-    err = OMX_FreeBuffer(s->handle, PORT_INDEX_IN, s->in_buf_headers[i]);
-    assert(err == OMX_ErrorNone);
-  }
-  free(s->in_buf_headers);
-
-  for (int i=0; i<s->num_out_bufs; i++) {
-    err = OMX_FreeBuffer(s->handle, PORT_INDEX_OUT, s->out_buf_headers[i]);
-    assert(err == OMX_ErrorNone);
-  }
-  free(s->out_buf_headers);
-
-  wait_for_state(s, OMX_StateLoaded);
-
-  err = OMX_FreeHandle(s->handle);
-  assert(err == OMX_ErrorNone);
-
-  if (s->downscale) {
-    free(s->y_ptr2);
-    free(s->u_ptr2);
-    free(s->v_ptr2);
-  }
-}
-
-#if 0
-
-// cd one/selfdrive/visiond
-// clang
-//   -fPIC -pie
-//   -std=gnu11 -O2 -g
-//   -o encoder
-//   -I ~/one/selfdrive
-//   -I ~/one/phonelibs/openmax/include
-//   -I ~/one/phonelibs/libyuv/include
-//   -lOmxVenc -lOmxCore -llog
-//   encoder.c
-//   buffering.c
-//   -L ~/one/phonelibs/libyuv/lib -l:libyuv.a
-
-int main() {
-  int err;
-
-  EncoderState state;
-  EncoderState *s = &state;
-  memset(s, 0, sizeof(*s));
-
-  int w = 1164;
-  int h = 874;
-
-  encoder_init(s, w, h, 20);
-  printf("inited\n");
-
-  encoder_open(s, "/sdcard/t1");
-
-  // uint8_t *tmpy = malloc(640*480);
-  // uint8_t *tmpu = malloc((640/2)*(480/2));
-  // uint8_t *tmpv = malloc((640/2)*(480/2));
-
-  // memset(tmpy, 0, 640*480);
-  // // memset(tmpu, 0xff, (640/2)*(480/2));
-  // memset(tmpv, 0, (640/2)*(480/2));
-
-// #if 0
-  // FILE *infile = fopen("/sdcard/camera_t2.yuv", "rb");
-  uint8_t *inbuf = malloc(w*h*3/2);
-  memset(inbuf, 0, w*h*3/2);
-
-  for (int i=0; i<20*3+5; i++) {
-
-    // fread(inbuf, w*h*3/2, 1, infile);
-
-    uint8_t *tmpy = inbuf;
-    uint8_t *tmpu = inbuf + w*h;
-    uint8_t *tmpv = inbuf + w*h + (w/2)*(h/2);
-
-    for (int y=0; y<h/2; y++) {
-      for (int x=0; x<w/2; x++) {
-        tmpu[y * (w/2) + x] = (i ^ y ^ x);
-      }
-    }
-
-    encoder_encode_frame(s, 20000*i, tmpy, tmpu, tmpv);
-  }
-// #endif
-
-  // while(1);
-
-  printf("done\n");
-
-  // encoder_close(s);
-
-  // printf("restart\n");
-  // fclose(s->of);
-  // s->of = fopen("/sdcard/tmpout2.hevc", "wb");
-  // if (s->codec_config) {
-  //   fwrite(s->codec_config, s->codec_config_len, 1, s->of);
-  // }
-  // encoder_open(s, "/sdcard/t1");
-
-  encoder_rotate(s, "/sdcard/t2");
-
-  for (int i=0; i<20*3+5; i++) {
-
-    // fread(inbuf, w*h*3/2, 1, infile);
-
-    uint8_t *tmpy = inbuf;
-    uint8_t *tmpu = inbuf + w*h;
-    uint8_t *tmpv = inbuf + w*h + (w/2)*(h/2);
-
-    for (int y=0; y<h/2; y++) {
-      for (int x=0; x<w/2; x++) {
-        tmpu[y * (w/2) + x] = (i ^ y ^ x);
-      }
-    }
-
-    encoder_encode_frame(s, 20000*i, tmpy, tmpu, tmpv);
-  }
-  encoder_close(s);
-
-  return 0;
-}
-#endif
diff --git a/selfdrive/loggerd/encoder.h b/selfdrive/loggerd/encoder.h
index 18054d20d8254a..572a635a7df2dc 100644
--- a/selfdrive/loggerd/encoder.h
+++ b/selfdrive/loggerd/encoder.h
@@ -1,86 +1,12 @@
-#ifndef ENCODER_H
-#define ENCODER_H
-
-#include <stdio.h>
-#include <stdint.h>
-#include <stdbool.h>
-
-#include <pthread.h>
-
-#include <OMX_Component.h>
-#include <libavformat/avformat.h>
-
-#include "common/cqueue.h"
-#include "common/visionipc.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct EncoderState {
-  pthread_mutex_t lock;
-  int width, height, fps;
-  const char* path;
-  char vid_path[1024];
-  char lock_path[1024];
-  bool open;
-  bool dirty;
-  int counter;
-  int segment;
-
-  bool rotating;
-  bool closing;
-  bool opening;
-  char next_path[1024];
-  int next_segment;
-
-  const char* filename;
-  FILE *of;
-
-  size_t codec_config_len;
-  uint8_t *codec_config;
-  bool wrote_codec_config;
-
-  pthread_mutex_t state_lock;
-  pthread_cond_t state_cv;
-  OMX_STATETYPE state;
-
-  OMX_HANDLETYPE handle;
-
-  int num_in_bufs;
-  OMX_BUFFERHEADERTYPE** in_buf_headers;
-
-  int num_out_bufs;
-  OMX_BUFFERHEADERTYPE** out_buf_headers;
-
-  Queue free_in;
-  Queue done_out;
-
-  void *stream_sock_raw;
-
-  AVFormatContext *ofmt_ctx;
-  AVCodecContext *codec_ctx;
-  AVStream *out_stream;
-  bool remuxing;
-
-  void *zmq_ctx;
-
-  bool downscale;
-  uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
-} EncoderState;
-
-void encoder_init(EncoderState *s, const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale);
-int encoder_encode_frame(EncoderState *s,
-                         const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
-                         int in_width, int in_height,
-                         int *frame_segment, VIPCBufExtra *extra);
-void encoder_open(EncoderState *s, const char* path);
-void encoder_rotate(EncoderState *s, const char* new_path, int new_segment);
-void encoder_close(EncoderState *s);
-void encoder_destroy(EncoderState *s);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+#pragma once
+
+#include <cstdint>
+
+class VideoEncoder {
+public:
+  virtual ~VideoEncoder() {}
+  virtual int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
+                           int in_width, int in_height, uint64_t ts) = 0;
+  virtual void encoder_open(const char* path) = 0;
+  virtual void encoder_close() = 0;
+};
diff --git a/selfdrive/loggerd/frame_logger.h b/selfdrive/loggerd/frame_logger.h
deleted file mode 100644
index bfc0681b756af0..00000000000000
--- a/selfdrive/loggerd/frame_logger.h
+++ /dev/null
@@ -1,81 +0,0 @@
-#ifndef FRAMELOGGER_H
-#define FRAMELOGGER_H
-
-#include <cstdint>
-
-#include <string>
-#include <mutex>
-
-class FrameLogger {
-public:
-  virtual ~FrameLogger() {}
-
-  virtual void Open(const std::string &path) = 0;
-  virtual void Close() = 0;
-
-  int LogFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr, int *frame_segment) {
-    std::lock_guard<std::recursive_mutex> guard(lock);
-    
-    if (opening) {
-      Open(next_path);
-      opening = false;
-    }
-
-    if (!is_open) return -1;
-
-    if (rotating) {
-      Close();
-      Open(next_path);
-      segment = next_segment;
-      rotating = false;
-    }
-
-    int ret = ProcessFrame(ts, y_ptr, u_ptr, v_ptr);
-
-    if (ret >= 0 && frame_segment) {
-      *frame_segment = segment;
-    }
-
-    if (closing) {
-      Close();
-      closing = false;
-    }
-
-    return ret;
-  }
-
-  void Rotate(const std::string &new_path, int new_segment) {
-    std::lock_guard<std::recursive_mutex> guard(lock);
-
-    next_path = new_path;
-    next_segment = new_segment;
-    if (is_open) {
-      if (next_segment == -1) {
-        closing = true;
-      } else {
-        rotating = true;
-      }
-    } else {
-      segment = next_segment;
-      opening = true;
-    }
-  }
-
-protected:
-
-  virtual int ProcessFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr) = 0;
-
-  std::recursive_mutex lock;
-
-  bool is_open = false;
-  int segment = -1;
-
-  std::string vid_path, lock_path;
-
-private:
-  int next_segment = -1;
-  bool opening = false, closing = false, rotating = false;
-  std::string next_path;
-};
-
-#endif
diff --git a/selfdrive/loggerd/logger.c b/selfdrive/loggerd/logger.c
deleted file mode 100644
index 7dfb610badd35c..00000000000000
--- a/selfdrive/loggerd/logger.c
+++ /dev/null
@@ -1,217 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <time.h>
-#include <errno.h>
-
-#include <unistd.h>
-#include <sys/stat.h>
-
-#include <pthread.h>
-#include <bzlib.h>
-
-#include "common/swaglog.h"
-
-#include "logger.h"
-
-static int mkpath(char* file_path) {
-  assert(file_path && *file_path);
-  char* p;
-  for (p=strchr(file_path+1, '/'); p; p=strchr(p+1, '/')) {
-    *p = '\0';
-    if (mkdir(file_path, 0777)==-1) {
-      if (errno != EEXIST) {
-        *p = '/';
-        return -1;
-      }
-    }
-    *p = '/';
-  }
-  return 0;
-}
-
-void logger_init(LoggerState *s, const char* log_name, const uint8_t* init_data, size_t init_data_len, bool has_qlog) {
-  memset(s, 0, sizeof(*s));
-  if (init_data) {
-    s->init_data = (uint8_t*)malloc(init_data_len);
-    assert(s->init_data);
-    memcpy(s->init_data, init_data, init_data_len);
-    s->init_data_len = init_data_len;
-  }
-
-  umask(0);
-
-  pthread_mutex_init(&s->lock, NULL);
-
-  s->part = -1;
-  s->has_qlog = has_qlog;
-
-  time_t rawtime = time(NULL);
-  struct tm timeinfo;
-  localtime_r(&rawtime, &timeinfo);
-
-  strftime(s->route_name, sizeof(s->route_name),
-           "%Y-%m-%d--%H-%M-%S", &timeinfo);
-  snprintf(s->log_name, sizeof(s->log_name), "%s", log_name);
-}
-
-static LoggerHandle* logger_open(LoggerState *s, const char* root_path) {
-  int err;
-
-  LoggerHandle *h = NULL;
-  for (int i=0; i<LOGGER_MAX_HANDLES; i++) {
-    if (s->handles[i].refcnt == 0) {
-      h = &s->handles[i];
-      break;
-    }
-  }
-  assert(h);
-
-  snprintf(h->segment_path, sizeof(h->segment_path),
-          "%s/%s--%d", root_path, s->route_name, s->part);
-
-  snprintf(h->log_path, sizeof(h->log_path), "%s/%s.bz2", h->segment_path, s->log_name);
-  snprintf(h->qlog_path, sizeof(h->qlog_path), "%s/qlog.bz2", h->segment_path);
-  snprintf(h->lock_path, sizeof(h->lock_path), "%s.lock", h->log_path);
-
-  err = mkpath(h->log_path);
-  if (err) return NULL;
-
-  FILE* lock_file = fopen(h->lock_path, "wb");
-  if (lock_file == NULL) return NULL;
-  fclose(lock_file);
-
-  h->log_file = fopen(h->log_path, "wb");
-  if (h->log_file == NULL) goto fail;
-
-  if (s->has_qlog) {
-    h->qlog_file = fopen(h->qlog_path, "wb");
-    if (h->qlog_file == NULL) goto fail;
-  }
-
-  int bzerror;
-  h->bz_file = BZ2_bzWriteOpen(&bzerror, h->log_file, 9, 0, 30);
-  if (bzerror != BZ_OK) goto fail;
-
-  if (s->has_qlog) {
-    h->bz_qlog = BZ2_bzWriteOpen(&bzerror, h->qlog_file, 9, 0, 30);
-    if (bzerror != BZ_OK) goto fail;
-  }
-
-  if (s->init_data) {
-    BZ2_bzWrite(&bzerror, h->bz_file, s->init_data, s->init_data_len);
-    if (bzerror != BZ_OK) goto fail;
-
-    if (s->has_qlog) {
-      // init data goes in the qlog too
-      BZ2_bzWrite(&bzerror, h->bz_qlog, s->init_data, s->init_data_len);
-      if (bzerror != BZ_OK) goto fail;
-    }
-  }
-
-  pthread_mutex_init(&h->lock, NULL);
-  h->refcnt++;
-  return h;
-fail:
-  LOGE("logger failed to open files");
-  if (h->qlog_file) fclose(h->qlog_file);
-  if (h->log_file) fclose(h->log_file);
-  return NULL;
-}
-
-int logger_next(LoggerState *s, const char* root_path,
-                            char* out_segment_path, size_t out_segment_path_len,
-                            int* out_part) {
-  pthread_mutex_lock(&s->lock);
-  s->part++;
-
-  LoggerHandle* next_h = logger_open(s, root_path);
-  if (!next_h) {
-    pthread_mutex_unlock(&s->lock);
-    return -1;
-  }
-
-  if (s->cur_handle) {
-    lh_close(s->cur_handle);
-  }
-  s->cur_handle = next_h;
-
-  if (out_segment_path) {
-    snprintf(out_segment_path, out_segment_path_len, "%s", next_h->segment_path);
-  }
-  if (out_part) {
-    *out_part = s->part;
-  }
-
-  pthread_mutex_unlock(&s->lock);
-  return 0;
-}
-
-LoggerHandle* logger_get_handle(LoggerState *s) {
-  pthread_mutex_lock(&s->lock);
-  LoggerHandle* h = s->cur_handle;
-  if (h) {
-    pthread_mutex_lock(&h->lock);
-    h->refcnt++;
-    pthread_mutex_unlock(&h->lock);
-  }
-  pthread_mutex_unlock(&s->lock);
-  return h;
-}
-
-void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog) {
-  pthread_mutex_lock(&s->lock);
-  if (s->cur_handle) {
-    lh_log(s->cur_handle, data, data_size, in_qlog);
-  }
-  pthread_mutex_unlock(&s->lock);
-}
-
-void logger_close(LoggerState *s) {
-  pthread_mutex_lock(&s->lock);
-  free(s->init_data);
-  if (s->cur_handle) {
-    lh_close(s->cur_handle);
-  }
-  pthread_mutex_unlock(&s->lock);
-}
-
-void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog) {
-  pthread_mutex_lock(&h->lock);
-  assert(h->refcnt > 0);
-  int bzerror;
-  BZ2_bzWrite(&bzerror, h->bz_file, data, data_size);
-
-  if (in_qlog && h->bz_qlog != NULL) {
-    BZ2_bzWrite(&bzerror, h->bz_qlog, data, data_size);
-  }
-  pthread_mutex_unlock(&h->lock);
-}
-
-void lh_close(LoggerHandle* h) {
-  pthread_mutex_lock(&h->lock);
-  assert(h->refcnt > 0);
-  h->refcnt--;
-  if (h->refcnt == 0) {
-    if (h->bz_file){
-      int bzerror;
-      BZ2_bzWriteClose(&bzerror, h->bz_file, 0, NULL, NULL);
-      h->bz_file = NULL;
-    }
-    if (h->bz_qlog){
-      int bzerror;
-      BZ2_bzWriteClose(&bzerror, h->bz_qlog, 0, NULL, NULL);
-      h->bz_qlog = NULL;
-    }
-    if (h->qlog_file) fclose(h->qlog_file);
-    fclose(h->log_file);
-    unlink(h->lock_path);
-    pthread_mutex_unlock(&h->lock);
-    pthread_mutex_destroy(&h->lock);
-    return;
-  }
-  pthread_mutex_unlock(&h->lock);
-}
diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc
new file mode 100644
index 00000000000000..a73fefb8c95dcc
--- /dev/null
+++ b/selfdrive/loggerd/logger.cc
@@ -0,0 +1,268 @@
+#include "selfdrive/loggerd/logger.h"
+
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include <cassert>
+#include <cerrno>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <streambuf>
+#ifdef QCOM
+#include <cutils/properties.h>
+#endif
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/version.h"
+
+// ***** logging helpers *****
+
+void append_property(const char* key, const char* value, void *cookie) {
+  std::vector<std::pair<std::string, std::string> > *properties =
+    (std::vector<std::pair<std::string, std::string> > *)cookie;
+
+  properties->push_back(std::make_pair(std::string(key), std::string(value)));
+}
+
+// ***** log metadata *****
+kj::Array<capnp::word> logger_build_init_data() {
+  MessageBuilder msg;
+  auto init = msg.initEvent().initInitData();
+
+  if (Hardware::EON()) {
+    init.setDeviceType(cereal::InitData::DeviceType::NEO);
+  } else if (Hardware::TICI()) {
+    init.setDeviceType(cereal::InitData::DeviceType::TICI);
+  } else {
+    init.setDeviceType(cereal::InitData::DeviceType::PC);
+  }
+
+  init.setVersion(COMMA_VERSION);
+
+  std::ifstream cmdline_stream("/proc/cmdline");
+  std::vector<std::string> kernel_args;
+  std::string buf;
+  while (cmdline_stream >> buf) {
+    kernel_args.push_back(buf);
+  }
+
+  auto lkernel_args = init.initKernelArgs(kernel_args.size());
+  for (int i=0; i<kernel_args.size(); i++) {
+    lkernel_args.set(i, kernel_args[i]);
+  }
+
+  init.setKernelVersion(util::read_file("/proc/version"));
+  init.setOsVersion(util::read_file("/VERSION"));
+
+#ifdef QCOM
+  {
+    std::vector<std::pair<std::string, std::string> > properties;
+    property_list(append_property, (void*)&properties);
+
+    auto lentries = init.initAndroidProperties().initEntries(properties.size());
+    for (int i=0; i<properties.size(); i++) {
+      auto lentry = lentries[i];
+      lentry.setKey(properties[i].first);
+      lentry.setValue(properties[i].second);
+    }
+  }
+#endif
+
+  init.setDirty(!getenv("CLEAN"));
+
+  // log params
+  auto params = Params();
+  std::map<std::string, std::string> params_map = params.readAll();
+
+  init.setGitCommit(params_map["GitCommit"]);
+  init.setGitBranch(params_map["GitBranch"]);
+  init.setGitRemote(params_map["GitRemote"]);
+  init.setPassive(params.getBool("Passive"));
+  init.setDongleId(params_map["DongleId"]);
+
+  auto lparams = init.initParams().initEntries(params_map.size());
+  int i = 0;
+  for (auto& [key, value] : params_map) {
+    auto lentry = lparams[i];
+    lentry.setKey(key);
+    if ( !(params.getKeyType(key) & DONT_LOG) ) {
+      lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size()));
+    }
+    i++;
+
+  }
+  return capnp::messageToFlatArray(msg);
+}
+
+std::string logger_get_route_name() {
+  char route_name[64] = {'\0'};
+  time_t rawtime = time(NULL);
+  struct tm timeinfo;
+  localtime_r(&rawtime, &timeinfo);
+  strftime(route_name, sizeof(route_name), "%Y-%m-%d--%H-%M-%S", &timeinfo);
+  return route_name;
+}
+
+void log_init_data(LoggerState *s) {
+  auto bytes = s->init_data.asBytes();
+  logger_log(s, bytes.begin(), bytes.size(), s->has_qlog);
+}
+
+
+static void lh_log_sentinel(LoggerHandle *h, SentinelType type) {
+  MessageBuilder msg;
+  auto sen = msg.initEvent().initSentinel();
+  sen.setType(type);
+  sen.setSignal(h->exit_signal);
+  auto bytes = msg.toBytes();
+
+  lh_log(h, bytes.begin(), bytes.size(), true);
+}
+
+// ***** logging functions *****
+
+void logger_init(LoggerState *s, const char* log_name, bool has_qlog) {
+  pthread_mutex_init(&s->lock, NULL);
+
+  s->part = -1;
+  s->has_qlog = has_qlog;
+  s->route_name = logger_get_route_name();
+  snprintf(s->log_name, sizeof(s->log_name), "%s", log_name);
+  s->init_data = logger_build_init_data();
+}
+
+static LoggerHandle* logger_open(LoggerState *s, const char* root_path) {
+  LoggerHandle *h = NULL;
+  for (int i=0; i<LOGGER_MAX_HANDLES; i++) {
+    if (s->handles[i].refcnt == 0) {
+      h = &s->handles[i];
+      break;
+    }
+  }
+  assert(h);
+
+  snprintf(h->segment_path, sizeof(h->segment_path),
+          "%s/%s--%d", root_path, s->route_name.c_str(), s->part);
+
+  snprintf(h->log_path, sizeof(h->log_path), "%s/%s.bz2", h->segment_path, s->log_name);
+  snprintf(h->qlog_path, sizeof(h->qlog_path), "%s/qlog.bz2", h->segment_path);
+  snprintf(h->lock_path, sizeof(h->lock_path), "%s.lock", h->log_path);
+  h->end_sentinel_type = SentinelType::END_OF_SEGMENT;
+  h->exit_signal = 0;
+
+  if (!util::create_directories(h->segment_path, 0775)) return nullptr;
+
+  FILE* lock_file = fopen(h->lock_path, "wb");
+  if (lock_file == NULL) return NULL;
+  fclose(lock_file);
+
+  h->log = std::make_unique<BZFile>(h->log_path);
+  if (s->has_qlog) {
+    h->q_log = std::make_unique<BZFile>(h->qlog_path);
+  }
+
+  pthread_mutex_init(&h->lock, NULL);
+  h->refcnt++;
+  return h;
+}
+
+int logger_next(LoggerState *s, const char* root_path,
+                            char* out_segment_path, size_t out_segment_path_len,
+                            int* out_part) {
+  bool is_start_of_route = !s->cur_handle;
+
+  pthread_mutex_lock(&s->lock);
+  s->part++;
+
+  LoggerHandle* next_h = logger_open(s, root_path);
+  if (!next_h) {
+    pthread_mutex_unlock(&s->lock);
+    return -1;
+  }
+
+  if (s->cur_handle) {
+    lh_close(s->cur_handle);
+  }
+  s->cur_handle = next_h;
+
+  if (out_segment_path) {
+    snprintf(out_segment_path, out_segment_path_len, "%s", next_h->segment_path);
+  }
+  if (out_part) {
+    *out_part = s->part;
+  }
+
+  pthread_mutex_unlock(&s->lock);
+
+  // write beggining of log metadata
+  log_init_data(s);
+  lh_log_sentinel(s->cur_handle, is_start_of_route ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT);
+  return 0;
+}
+
+LoggerHandle* logger_get_handle(LoggerState *s) {
+  pthread_mutex_lock(&s->lock);
+  LoggerHandle* h = s->cur_handle;
+  if (h) {
+    pthread_mutex_lock(&h->lock);
+    h->refcnt++;
+    pthread_mutex_unlock(&h->lock);
+  }
+  pthread_mutex_unlock(&s->lock);
+  return h;
+}
+
+void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog) {
+  pthread_mutex_lock(&s->lock);
+  if (s->cur_handle) {
+    lh_log(s->cur_handle, data, data_size, in_qlog);
+  }
+  pthread_mutex_unlock(&s->lock);
+}
+
+void logger_close(LoggerState *s, ExitHandler *exit_handler) {
+  pthread_mutex_lock(&s->lock);
+  if (s->cur_handle) {
+    s->cur_handle->exit_signal = exit_handler && exit_handler->signal.load();
+    s->cur_handle->end_sentinel_type = SentinelType::END_OF_ROUTE;
+    lh_close(s->cur_handle);
+  }
+  pthread_mutex_unlock(&s->lock);
+}
+
+void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog) {
+  pthread_mutex_lock(&h->lock);
+  assert(h->refcnt > 0);
+  h->log->write(data, data_size);
+  if (in_qlog && h->q_log) {
+    h->q_log->write(data, data_size);
+  }
+  pthread_mutex_unlock(&h->lock);
+}
+
+void lh_close(LoggerHandle* h) {
+  pthread_mutex_lock(&h->lock);
+  assert(h->refcnt > 0);
+  if (h->refcnt == 1) {
+    // a very ugly hack. only here can guarantee sentinel is the last msg
+    pthread_mutex_unlock(&h->lock);
+    lh_log_sentinel(h, h->end_sentinel_type);
+    pthread_mutex_lock(&h->lock);
+  }
+  h->refcnt--;
+  if (h->refcnt == 0) {
+    h->log.reset(nullptr);
+    h->q_log.reset(nullptr);
+    unlink(h->lock_path);
+    pthread_mutex_unlock(&h->lock);
+    pthread_mutex_destroy(&h->lock);
+    return;
+  }
+  pthread_mutex_unlock(&h->lock);
+}
diff --git a/selfdrive/loggerd/logger.h b/selfdrive/loggerd/logger.h
index ab8798481cb738..bdda9d691787ad 100644
--- a/selfdrive/loggerd/logger.h
+++ b/selfdrive/loggerd/logger.h
@@ -1,39 +1,82 @@
-#ifndef LOGGER_H
-#define LOGGER_H
+#pragma once
 
-#include <stdio.h>
-#include <stdint.h>
+#include <cassert>
 #include <pthread.h>
+
+#include <cstdint>
+#include <cstdio>
+#include <memory>
+
 #include <bzlib.h>
+#include <capnp/serialize.h>
+#include <kj/array.h>
 
-#ifdef __cplusplus
-extern "C" {
-#endif
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/hardware/hw.h"
+
+const std::string LOG_ROOT = Path::log_root();
 
 #define LOGGER_MAX_HANDLES 16
 
+class BZFile {
+ public:
+  BZFile(const char* path) {
+    file = util::safe_fopen(path, "wb");
+    assert(file != nullptr);
+    int bzerror;
+    bz_file = BZ2_bzWriteOpen(&bzerror, file, 9, 0, 30);
+    assert(bzerror == BZ_OK);
+  }
+  ~BZFile() {
+    int bzerror;
+    BZ2_bzWriteClose(&bzerror, bz_file, 0, nullptr, nullptr);
+    if (bzerror != BZ_OK) {
+      LOGE("BZ2_bzWriteClose error, bzerror=%d", bzerror);
+    }
+    util::safe_fflush(file);
+    int err = fclose(file);
+    assert(err == 0);
+  }
+  inline void write(void* data, size_t size) {
+    int bzerror;
+    do {
+      BZ2_bzWrite(&bzerror, bz_file, data, size);
+    } while (bzerror == BZ_IO_ERROR && errno == EINTR);
+
+    if (bzerror != BZ_OK && !error_logged) {
+      LOGE("BZ2_bzWrite error, bzerror=%d", bzerror);
+      error_logged = true;
+    }
+  }
+  inline void write(kj::ArrayPtr<capnp::byte> array) { write(array.begin(), array.size()); }
+
+ private:
+  bool error_logged = false;
+  FILE* file = nullptr;
+  BZFILE* bz_file = nullptr;
+};
+
+typedef cereal::Sentinel::SentinelType SentinelType;
+
 typedef struct LoggerHandle {
   pthread_mutex_t lock;
+  SentinelType end_sentinel_type;
+  int exit_signal;
   int refcnt;
   char segment_path[4096];
   char log_path[4096];
-  char lock_path[4096];
-  FILE* log_file;
-  BZFILE* bz_file;
-
-  FILE* qlog_file;
   char qlog_path[4096];
-  BZFILE* bz_qlog;
+  char lock_path[4096];
+  std::unique_ptr<BZFile> log, q_log;
 } LoggerHandle;
 
 typedef struct LoggerState {
   pthread_mutex_t lock;
-
-  uint8_t* init_data;
-  size_t init_data_len;
-
   int part;
-  char route_name[64];
+  kj::Array<capnp::word> init_data;
+  std::string route_name;
   char log_name[64];
   bool has_qlog;
 
@@ -41,19 +84,15 @@ typedef struct LoggerState {
   LoggerHandle* cur_handle;
 } LoggerState;
 
-void logger_init(LoggerState *s, const char* log_name, const uint8_t* init_data, size_t init_data_len, bool has_qlog);
+kj::Array<capnp::word> logger_build_init_data();
+std::string logger_get_route_name();
+void logger_init(LoggerState *s, const char* log_name, bool has_qlog);
 int logger_next(LoggerState *s, const char* root_path,
                             char* out_segment_path, size_t out_segment_path_len,
                             int* out_part);
 LoggerHandle* logger_get_handle(LoggerState *s);
-void logger_close(LoggerState *s);
+void logger_close(LoggerState *s, ExitHandler *exit_handler=nullptr);
 void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog);
 
 void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog);
 void lh_close(LoggerHandle* h);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 0e5c5457dfc320..f6d89b809145fa 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -1,518 +1,272 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cstdint>
-#include <cassert>
-#include <unistd.h>
-#include <signal.h>
-#include <errno.h>
-#include <poll.h>
-#include <string.h>
-#include <inttypes.h>
-#include <libyuv.h>
+#include <ftw.h>
+#include <pthread.h>
 #include <sys/resource.h>
+#include <unistd.h>
 
-#include <string>
-#include <iostream>
-#include <fstream>
-#include <streambuf>
-#include <thread>
-#include <mutex>
+#include <atomic>
+#include <cassert>
+#include <cerrno>
 #include <condition_variable>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <mutex>
 #include <random>
-
-#include <ftw.h>
-
-#include <zmq.h>
-#include <capnp/serialize.h>
-
-#ifdef QCOM
-#include <cutils/properties.h>
-#endif
-
-#include "common/version.h"
-#include "common/timing.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/visionipc.h"
-#include "common/utilpp.h"
-#include "common/util.h"
-
-#include "logger.h"
-#include "messaging.hpp"
-#include "services.h"
-
-#ifndef QCOM
-// no encoder on PC
-#define DISABLE_ENCODER
-#endif
-
-
-#ifndef DISABLE_ENCODER
-#include "encoder.h"
-#include "raw_logger.h"
+#include <string>
+#include <thread>
+#include <unordered_map>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/services.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+
+#include "selfdrive/loggerd/encoder.h"
+#include "selfdrive/loggerd/logger.h"
+#if defined(QCOM) || defined(QCOM2)
+#include "selfdrive/loggerd/omx_encoder.h"
+#define Encoder OmxEncoder
+#else
+#include "selfdrive/loggerd/raw_logger.h"
+#define Encoder RawLogger
 #endif
 
-#include "cereal/gen/cpp/log.capnp.h"
-
-#define CAMERA_FPS 20
-#define SEGMENT_LENGTH 60
-#define LOG_ROOT "/data/media/0/realdata"
-#define ENABLE_LIDAR 0
+namespace {
 
-#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
-#define RAW_CLIP_FREQUENCY (randrange(61, 8*60)) // once every ~4 minutes
+constexpr int MAIN_FPS = 20;
+const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
+const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000;
 
-namespace {
+#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
 
-double randrange(double a, double b) {
-  static std::mt19937 gen(millis_since_boot());
+const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
+const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
 
-  std::uniform_real_distribution<> dist(a, b);
-  return dist(gen);
-}
+ExitHandler do_exit;
 
+const LogCameraInfo cameras_logged[] = {
+  {
+    .type = RoadCam,
+    .stream_type = VISION_STREAM_YUV_BACK,
+    .filename = "fcamera.hevc",
+    .frame_packet_name = "roadCameraState",
+    .fps = MAIN_FPS,
+    .bitrate = MAIN_BITRATE,
+    .is_h265 = true,
+    .downscale = false,
+    .has_qcamera = true,
+    .trigger_rotate = true,
+    .enable = true,
+    .record = true,
+  },
+  {
+    .type = DriverCam,
+    .stream_type = VISION_STREAM_YUV_FRONT,
+    .filename = "dcamera.hevc",
+    .frame_packet_name = "driverCameraState",
+    .fps = MAIN_FPS, // on EONs, more compressed this way
+    .bitrate = DCAM_BITRATE,
+    .is_h265 = true,
+    .downscale = false,
+    .has_qcamera = false,
+    .trigger_rotate = Hardware::TICI(),
+    .enable = !Hardware::PC(),
+    .record = Params().getBool("RecordFront"),
+  },
+  {
+    .type = WideRoadCam,
+    .stream_type = VISION_STREAM_YUV_WIDE,
+    .filename = "ecamera.hevc",
+    .frame_packet_name = "wideRoadCameraState",
+    .fps = MAIN_FPS,
+    .bitrate = MAIN_BITRATE,
+    .is_h265 = true,
+    .downscale = false,
+    .has_qcamera = false,
+    .trigger_rotate = true,
+    .enable = Hardware::TICI(),
+    .record = Hardware::TICI(),
+  },
+};
+const LogCameraInfo qcam_info = {
+  .filename = "qcamera.ts",
+  .fps = MAIN_FPS,
+  .bitrate = 256000,
+  .is_h265 = false,
+  .downscale = true,
+  .frame_width = Hardware::TICI() ? 526 : 480,
+  .frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
+};
 
-volatile sig_atomic_t do_exit = 0;
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
 struct LoggerdState {
   Context *ctx;
-  LoggerState logger;
-
-  std::mutex lock;
-  std::condition_variable cv;
+  LoggerState logger = {};
   char segment_path[4096];
-  uint32_t last_frame_id;
-  uint32_t rotate_last_frame_id;
-  int rotate_segment;
+  std::mutex rotate_lock;
+  std::condition_variable rotate_cv;
+  std::atomic<int> rotate_segment;
+  std::atomic<double> last_camera_seen_tms;
+  std::atomic<int> ready_to_rotate;  // count of encoders ready to rotate
+  int max_waiting = 0;
+  double last_rotate_tms = 0.;      // last rotate time in ms
+
+  // Sync logic for startup
+  std::atomic<int> encoders_ready = 0;
+  std::atomic<uint32_t> start_frame_id = 0;
+  bool camera_ready[WideRoadCam + 1] = {};
+  bool camera_synced[WideRoadCam + 1] = {};
 };
 LoggerdState s;
 
-#ifndef DISABLE_ENCODER
-void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
-  int err;
-
-  if (front) {
-    char *value;
-    const int result = read_db_value(NULL, "RecordFront", &value, NULL);
-    if (result != 0) return;
-    if (value[0] != '1') { free(value); return; }
-    free(value);
-    LOGW("recording front camera");
+// Handle initial encoder syncing by waiting for all encoders to reach the same frame id
+bool sync_encoders(LoggerdState *state, CameraType cam_type, uint32_t frame_id) {
+  if (state->camera_synced[cam_type]) return true;
 
-    set_thread_name("FrontCameraEncoder");
+  if (state->max_waiting > 1 && state->encoders_ready != state->max_waiting) {
+    // add a small margin to the start frame id in case one of the encoders already dropped the next frame
+    update_max_atomic(state->start_frame_id, frame_id + 2);
+    if (std::exchange(state->camera_ready[cam_type], true) == false) {
+      ++state->encoders_ready;
+      LOGE("camera %d encoder ready", cam_type);
+    }
+    return false;
   } else {
-    set_thread_name("RearCameraEncoder");
+    if (state->max_waiting == 1) update_max_atomic(state->start_frame_id, frame_id);
+    bool synced = frame_id >= state->start_frame_id;
+    state->camera_synced[cam_type] = synced;
+    if (!synced) LOGE("camera %d waiting for frame %d, cur %d", cam_type, (int)state->start_frame_id, frame_id);
+    return synced;
   }
+}
 
-  VisionStream stream;
-
-  bool encoder_inited = false;
-  EncoderState encoder;
-  EncoderState encoder_alt;
-  bool has_encoder_alt = false;
-
-  int encoder_segment = -1;
-  int cnt = 0;
-
-  PubSocket *idx_sock = PubSocket::create(s.ctx, front ? "frontEncodeIdx" : "encodeIdx");
-  assert(idx_sock != NULL);
+void encoder_thread(const LogCameraInfo &cam_info) {
+  set_thread_name(cam_info.filename);
 
+  int cur_seg = -1;
+  int encode_idx = 0;
   LoggerHandle *lh = NULL;
+  std::vector<Encoder *> encoders;
+  VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   while (!do_exit) {
-    VisionStreamBufs buf_info;
-    if (front) {
-      err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, false, &buf_info);
-    } else {
-      err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
-    }
-    if (err != 0) {
-      LOGD("visionstream connect fail");
-      usleep(100000);
+    if (!vipc_client.connect(false)) {
+      util::sleep_for(5);
       continue;
     }
 
-    if (!encoder_inited) {
+    // init encoders
+    if (encoders.empty()) {
+      VisionBuf buf_info = vipc_client.buffers[0];
       LOGD("encoder init %dx%d", buf_info.width, buf_info.height);
-      encoder_init(&encoder, front ? "dcamera.hevc" : "fcamera.hevc", buf_info.width, buf_info.height, CAMERA_FPS, front ? 2500000 : 5000000, true, false);
-      if (!front) {
-        encoder_init(&encoder_alt, "qcamera.ts", 480, 360, CAMERA_FPS, 128000, false, true);
-        has_encoder_alt = true;
-      }
-      encoder_inited = true;
-      if (is_streaming) {
-        encoder.zmq_ctx = zmq_ctx_new();
-        encoder.stream_sock_raw = zmq_socket(encoder.zmq_ctx, ZMQ_PUB);
-        assert(encoder.stream_sock_raw);
-        zmq_bind(encoder.stream_sock_raw, "tcp://*:9002");
-      }
-    }
-
-    // dont log a raw clip in the first minute
-    double rawlogger_start_time = seconds_since_boot()+RAW_CLIP_FREQUENCY;
-    int rawlogger_clip_cnt = 0;
-    RawLogger *rawlogger = NULL;
 
-    if (raw_clips) {
-      rawlogger = new RawLogger("prcamera", buf_info.width, buf_info.height, CAMERA_FPS);
+      // main encoder
+      encoders.push_back(new Encoder(cam_info.filename, buf_info.width, buf_info.height,
+                                     cam_info.fps, cam_info.bitrate, cam_info.is_h265,
+                                     cam_info.downscale, cam_info.record));
+      // qcamera encoder
+      if (cam_info.has_qcamera) {
+        encoders.push_back(new Encoder(qcam_info.filename, qcam_info.frame_width, qcam_info.frame_height,
+                                       qcam_info.fps, qcam_info.bitrate, qcam_info.is_h265, qcam_info.downscale));
+      }
     }
 
     while (!do_exit) {
-      VIPCBufExtra extra;
-      VIPCBuf* buf = visionstream_get(&stream, &extra);
-      if (buf == NULL) {
-        LOG("visionstream get failed");
-        break;
-      }
-
-      uint64_t current_time = nanos_since_boot();
-      uint64_t diff = current_time - extra.timestamp_eof;
-      double msdiff = (double) diff / 1000000.0;
-      // printf("logger latency to tsEof: %f\n", msdiff);
-
-      uint8_t *y = (uint8_t*)buf->addr;
-      uint8_t *u = y + (buf_info.width*buf_info.height);
-      uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
-
-      {
-        bool should_rotate = false;
-        std::unique_lock<std::mutex> lk(s.lock);
-        if (!front) {
-          // wait if log camera is older on back camera
-          while ( extra.frame_id > s.last_frame_id //if the log camera is older, wait for it to catch up.
-                 && (extra.frame_id-s.last_frame_id) < 8 // but if its too old then there probably was a discontinuity (visiond restarted)
-                 && !do_exit) {
-            s.cv.wait(lk);
-          }
-          should_rotate = extra.frame_id > s.rotate_last_frame_id && encoder_segment < s.rotate_segment;
-        } else {
-          // front camera is best effort
-          should_rotate = encoder_segment < s.rotate_segment;
+      VisionIpcBufExtra extra;
+      VisionBuf* buf = vipc_client.recv(&extra);
+      if (buf == nullptr) continue;
+
+      if (cam_info.trigger_rotate) {
+        s.last_camera_seen_tms = millis_since_boot();
+        if (!sync_encoders(&s, cam_info.type, extra.frame_id)) {
+          continue;
         }
-        if (do_exit) break;
-
-        // rotate the encoder if the logger is on a newer segment
-        if (should_rotate) {
-          LOG("rotate encoder to %s", s.segment_path);
-
-          encoder_rotate(&encoder, s.segment_path, s.rotate_segment);
-          if (has_encoder_alt) {
-            encoder_rotate(&encoder_alt, s.segment_path, s.rotate_segment);
-          }
 
-          if (raw_clips) {
-            rawlogger->Rotate(s.segment_path, s.rotate_segment);
-          }
-
-          encoder_segment = s.rotate_segment;
-          if (lh) {
-            lh_close(lh);
-          }
-          lh = logger_get_handle(&s.logger);
+        // check if we're ready to rotate
+        const int frames_per_seg = SEGMENT_LENGTH * MAIN_FPS;
+        if (cur_seg >= 0 && extra.frame_id >= ((cur_seg+1) * frames_per_seg) + s.start_frame_id) {
+          // trigger rotate and wait until the main logger has rotated to the new segment
+          ++s.ready_to_rotate;
+          std::unique_lock lk(s.rotate_lock);
+          s.rotate_cv.wait(lk, [&] {
+            return s.rotate_segment > cur_seg || do_exit;
+          });
+          if (do_exit) break;
         }
       }
 
-      {
-        // encode hevc
-        int out_segment = -1;
-        int out_id = encoder_encode_frame(&encoder,
-                                          y, u, v,
-                                          buf_info.width, buf_info.height,
-                                          &out_segment, &extra);
-
-        if (has_encoder_alt) {
-          int out_segment_alt = -1;
-          encoder_encode_frame(&encoder_alt,
-                               y, u, v,
-                               buf_info.width, buf_info.height,
-                               &out_segment_alt, &extra);
-        }
+      // rotate the encoder if the logger is on a newer segment
+      if (s.rotate_segment > cur_seg) {
+        cur_seg = s.rotate_segment;
 
-        // publish encode index
-        capnp::MallocMessageBuilder msg;
-        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-        event.setLogMonoTime(nanos_since_boot());
-        auto eidx = event.initEncodeIdx();
-        eidx.setFrameId(extra.frame_id);
-        eidx.setType(front ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
-        eidx.setEncodeId(cnt);
-        eidx.setSegmentNum(out_segment);
-        eidx.setSegmentId(out_id);
-
-        auto words = capnp::messageToFlatArray(msg);
-        auto bytes = words.asBytes();
-        if (idx_sock->send((char*)bytes.begin(), bytes.size()) < 0) {
-          printf("err sending encodeIdx pkt: %s\n", strerror(errno));
+        LOGW("camera %d rotate encoder to %s", cam_info.type, s.segment_path);
+        for (auto &e : encoders) {
+          e->encoder_close();
+          e->encoder_open(s.segment_path);
         }
         if (lh) {
-          lh_log(lh, bytes.begin(), bytes.size(), false);
+          lh_close(lh);
         }
+        lh = logger_get_handle(&s.logger);
       }
 
-      if (raw_clips) {
-        double ts = seconds_since_boot();
-        if (ts > rawlogger_start_time) {
-          // encode raw if in clip
-          int out_segment = -1;
-          int out_id = rawlogger->LogFrame(cnt, y, u, v, &out_segment);
+      // encode a frame
+      for (int i = 0; i < encoders.size(); ++i) {
+        int out_id = encoders[i]->encode_frame(buf->y, buf->u, buf->v,
+                                               buf->width, buf->height, extra.timestamp_eof);
 
-          if (rawlogger_clip_cnt == 0) {
-            LOG("starting raw clip in seg %d", out_segment);
-          }
+        if (out_id == -1) {
+          LOGE("Failed to encode frame. frame_id: %d encode_id: %d", extra.frame_id, encode_idx);
+        }
 
-          // publish encode index
-          capnp::MallocMessageBuilder msg;
-          cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-          event.setLogMonoTime(nanos_since_boot());
-          auto eidx = event.initEncodeIdx();
+        // publish encode index
+        if (i == 0 && out_id != -1) {
+          MessageBuilder msg;
+          // this is really ugly
+          bool valid = (buf->get_frame_id() == extra.frame_id);
+          auto eidx = cam_info.type == DriverCam ? msg.initEvent(valid).initDriverEncodeIdx() :
+                     (cam_info.type == WideRoadCam ? msg.initEvent(valid).initWideRoadEncodeIdx() : msg.initEvent(valid).initRoadEncodeIdx());
           eidx.setFrameId(extra.frame_id);
-          eidx.setType(cereal::EncodeIndex::Type::FULL_LOSSLESS_CLIP);
-          eidx.setEncodeId(cnt);
-          eidx.setSegmentNum(out_segment);
+          eidx.setTimestampSof(extra.timestamp_sof);
+          eidx.setTimestampEof(extra.timestamp_eof);
+          if (Hardware::TICI()) {
+            eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
+          } else {
+            eidx.setType(cam_info.type == DriverCam ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
+          }
+          eidx.setEncodeId(encode_idx);
+          eidx.setSegmentNum(cur_seg);
           eidx.setSegmentId(out_id);
-
-          auto words = capnp::messageToFlatArray(msg);
-          auto bytes = words.asBytes();
           if (lh) {
-            lh_log(lh, bytes.begin(), bytes.size(), false);
-          }
-
-          // close rawlogger if clip ended
-          rawlogger_clip_cnt++;
-          if (rawlogger_clip_cnt >= RAW_CLIP_LENGTH) {
-            rawlogger->Close();
-
-            rawlogger_clip_cnt = 0;
-            rawlogger_start_time = ts+RAW_CLIP_FREQUENCY;
-
-            LOG("ending raw clip in seg %d, next in %.1f sec", out_segment, rawlogger_start_time-ts);
+            auto bytes = msg.toBytes();
+            lh_log(lh, bytes.begin(), bytes.size(), true);
           }
         }
       }
 
-      cnt++;
+      encode_idx++;
     }
 
     if (lh) {
       lh_close(lh);
       lh = NULL;
     }
-
-    if (raw_clips) {
-      rawlogger->Close();
-      delete rawlogger;
-    }
-
-    visionstream_destroy(&stream);
-  }
-
-  delete idx_sock;
-
-  if (encoder_inited) {
-    LOG("encoder destroy");
-    encoder_close(&encoder);
-    encoder_destroy(&encoder);
   }
 
-  if (has_encoder_alt) {
-    LOG("encoder alt destroy");
-    encoder_close(&encoder_alt);
-    encoder_destroy(&encoder_alt);
+  LOG("encoder destroy");
+  for(auto &e : encoders) {
+    e->encoder_close();
+    delete e;
   }
 }
-#endif
-
-#if ENABLE_LIDAR
-
-#include <netinet/in.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <arpa/inet.h>
-
-#define VELODYNE_DATA_PORT 2368
-#define VELODYNE_TELEMETRY_PORT 8308
-
-#define MAX_LIDAR_PACKET 2048
-
-int lidar_thread() {
-  // increase kernel max buffer size
-  system("sysctl -w net.core.rmem_max=26214400");
-  set_thread_name("lidar");
-
-  int sock;
-  if ((sock = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
-    perror("cannot create socket");
-    return -1;
-  }
-
-  int a = 26214400;
-  if (setsockopt(sock, SOL_SOCKET, SO_RCVBUF, &a, sizeof(int)) == -1) {
-    perror("cannot set socket opts");
-    return -1;
-  }
-
-  struct sockaddr_in addr;
-  memset(&addr, 0, sizeof(struct sockaddr_in));
-  addr.sin_family = AF_INET;
-  addr.sin_port = htons(VELODYNE_DATA_PORT);
-  inet_aton("192.168.5.11", &(addr.sin_addr));
-
-  if (bind(sock, (struct sockaddr *) &addr, sizeof(addr)) < 0) {
-    perror("cannot bind LIDAR socket");
-    return -1;
-  }
-
-  capnp::byte buf[MAX_LIDAR_PACKET];
-
-  while (!do_exit) {
-    // receive message
-    struct sockaddr from;
-    socklen_t fromlen = sizeof(from);
-    int cnt = recvfrom(sock, (void *)buf, MAX_LIDAR_PACKET, 0, &from, &fromlen);
-    if (cnt <= 0) {
-      printf("bug in lidar recieve!\n");
-      continue;
-    }
-
-    // create message for log
-    capnp::MallocMessageBuilder msg;
-    auto event = msg.initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-    auto lidar_pts = event.initLidarPts();
-
-    // copy in the buffer
-    // TODO: can we remove this copy? does it matter?
-    kj::ArrayPtr<capnp::byte> bufferPtr = kj::arrayPtr(buf, cnt);
-    lidar_pts.setPkt(bufferPtr);
-
-    // log it
-    auto words = capnp::messageToFlatArray(msg);
-    auto bytes = words.asBytes();
-    logger_log(&s.logger, bytes.begin(), bytes.size());
-  }
-  return 0;
-}
-#endif
-
-}
-
-void append_property(const char* key, const char* value, void *cookie) {
-  std::vector<std::pair<std::string, std::string> > *properties =
-    (std::vector<std::pair<std::string, std::string> > *)cookie;
 
-  properties->push_back(std::make_pair(std::string(key), std::string(value)));
-}
-
-kj::Array<capnp::word> gen_init_data() {
-  capnp::MallocMessageBuilder msg;
-  auto event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto init = event.initInitData();
-
-  init.setDeviceType(cereal::InitData::DeviceType::NEO);
-  init.setVersion(capnp::Text::Reader(COMMA_VERSION));
-
-  std::ifstream cmdline_stream("/proc/cmdline");
-  std::vector<std::string> kernel_args;
-  std::string buf;
-  while (cmdline_stream >> buf) {
-    kernel_args.push_back(buf);
-  }
-
-  auto lkernel_args = init.initKernelArgs(kernel_args.size());
-  for (int i=0; i<kernel_args.size(); i++) {
-    lkernel_args.set(i, kernel_args[i]);
-  }
-
-  init.setKernelVersion(util::read_file("/proc/version"));
-
-#ifdef QCOM
-  {
-    std::vector<std::pair<std::string, std::string> > properties;
-    property_list(append_property, (void*)&properties);
-
-    auto lentries = init.initAndroidProperties().initEntries(properties.size());
-    for (int i=0; i<properties.size(); i++) {
-      auto lentry = lentries[i];
-      lentry.setKey(properties[i].first);
-      lentry.setValue(properties[i].second);
-    }
-  }
-#endif
-
-  const char* dongle_id = getenv("DONGLE_ID");
-  if (dongle_id) {
-    init.setDongleId(std::string(dongle_id));
-  }
-
-  const char* clean = getenv("CLEAN");
-  if (!clean) {
-    init.setDirty(true);
-  }
-
-  char* git_commit = NULL;
-  size_t size;
-  read_db_value(NULL, "GitCommit", &git_commit, &size);
-  if (git_commit) {
-    init.setGitCommit(capnp::Text::Reader(git_commit, size));
-  }
-
-  char* git_branch = NULL;
-  read_db_value(NULL, "GitBranch", &git_branch, &size);
-  if (git_branch) {
-    init.setGitBranch(capnp::Text::Reader(git_branch, size));
-  }
-
-  char* git_remote = NULL;
-  read_db_value(NULL, "GitRemote", &git_remote, &size);
-  if (git_remote) {
-    init.setGitRemote(capnp::Text::Reader(git_remote, size));
-  }
-
-  char* passive = NULL;
-  read_db_value(NULL, "Passive", &passive, NULL);
-  init.setPassive(passive && strlen(passive) && passive[0] == '1');
-
-
-  {
-    // log params
-    std::map<std::string, std::string> params;
-    read_db_all(NULL, &params);
-    auto lparams = init.initParams().initEntries(params.size());
-    int i = 0;
-    for (auto& kv : params) {
-      auto lentry = lparams[i];
-      lentry.setKey(kv.first);
-      lentry.setValue(kv.second);
-      i++;
-    }
-  }
-
-
-  auto words = capnp::messageToFlatArray(msg);
-
-  if (git_commit) {
-    free((void*)git_commit);
-  }
-
-  if (git_branch) {
-    free((void*)git_branch);
-  }
-
-  if (git_remote) {
-    free((void*)git_remote);
-  }
-
-  if (passive) {
-    free((void*)passive);
-  }
-
-  return words;
-}
-
-static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {
+int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {
   const char* dot = strrchr(fpath, '.');
   if (dot && strcmp(dot, ".lock") == 0) {
     unlink(fpath);
@@ -520,214 +274,129 @@ static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupefla
   return 0;
 }
 
-static void clear_locks() {
-  ftw(LOG_ROOT, clear_locks_fn, 16);
+void clear_locks() {
+  ftw(LOG_ROOT.c_str(), clear_locks_fn, 16);
 }
 
-static void bootlog() {
-  int err;
-
+void logger_rotate() {
   {
-    auto words = gen_init_data();
-    auto bytes = words.asBytes();
-    logger_init(&s.logger, "bootlog", bytes.begin(), bytes.size(), false);
+    std::unique_lock lk(s.rotate_lock);
+    int segment = -1;
+    int err = logger_next(&s.logger, LOG_ROOT.c_str(), s.segment_path, sizeof(s.segment_path), &segment);
+    assert(err == 0);
+    s.rotate_segment = segment;
+    s.ready_to_rotate = 0;
+    s.last_rotate_tms = millis_since_boot();
   }
+  s.rotate_cv.notify_all();
+  LOGW((s.logger.part == 0) ? "logging to %s" : "rotated to %s", s.segment_path);
+}
 
-  err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
-  assert(err == 0);
-  LOGW("bootlog to %s", s.segment_path);
-
-  {
-    capnp::MallocMessageBuilder msg;
-    auto event = msg.initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-
-    auto boot = event.initBoot();
-
-    boot.setWallTimeNanos(nanos_since_epoch());
-
-    std::string lastKmsg = util::read_file("/sys/fs/pstore/console-ramoops");
-    boot.setLastKmsg(capnp::Data::Reader((const kj::byte*)lastKmsg.data(), lastKmsg.size()));
-
-    std::string lastPmsg = util::read_file("/sys/fs/pstore/pmsg-ramoops-0");
-    boot.setLastPmsg(capnp::Data::Reader((const kj::byte*)lastPmsg.data(), lastPmsg.size()));
-
-    auto words = capnp::messageToFlatArray(msg);
-    auto bytes = words.asBytes();
-    logger_log(&s.logger, bytes.begin(), bytes.size(), false);
+void rotate_if_needed() {
+  if (s.ready_to_rotate == s.max_waiting) {
+    logger_rotate();
   }
 
-  logger_close(&s.logger);
+  double tms = millis_since_boot();
+  if ((tms - s.last_rotate_tms) > SEGMENT_LENGTH * 1000 &&
+      (tms - s.last_camera_seen_tms) > NO_CAMERA_PATIENCE &&
+      !LOGGERD_TEST) {
+    LOGW("no camera packet seen. auto rotating");
+    logger_rotate();
+  }
 }
 
-int main(int argc, char** argv) {
-  int err;
+} // namespace
 
-  if (argc > 1 && strcmp(argv[1], "--bootlog") == 0) {
-    bootlog();
-    return 0;
+int main(int argc, char** argv) {
+  if (Hardware::EON()) {
+    setpriority(PRIO_PROCESS, 0, -20);
+  } else if (Hardware::TICI()) {
+    int ret;
+    ret = set_core_affinity({0, 1, 2, 3});
+    assert(ret == 0);
+    // TODO: why does this impact camerad timings?
+    //ret = set_realtime_priority(1);
+    //assert(ret == 0);
   }
 
-  setpriority(PRIO_PROCESS, 0, -12);
-
   clear_locks();
 
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
+  // setup messaging
+  typedef struct QlogState {
+    int counter, freq;
+  } QlogState;
+  std::unordered_map<SubSocket*, QlogState> qlog_states;
 
   s.ctx = Context::create();
   Poller * poller = Poller::create();
 
-  // subscribe to all services
-
-  SubSocket *frame_sock = NULL;
-  std::vector<SubSocket*> socks;
-
-  std::map<SubSocket*, int> qlog_counter;
-  std::map<SubSocket*, int> qlog_freqs;
-
+  // subscribe to all socks
   for (const auto& it : services) {
-    std::string name = it.name;
-
-    if (it.should_log) {
-      SubSocket * sock = SubSocket::create(s.ctx, name);
-      assert(sock != NULL);
-
-      poller->registerSocket(sock);
-      socks.push_back(sock);
+    if (!it.should_log) continue;
 
-      if (name == "frame") {
-        frame_sock = sock;
-      }
-
-      qlog_counter[sock] = (it.decimation == -1) ? -1 : 0;
-      qlog_freqs[sock] = it.decimation;
-    }
+    SubSocket * sock = SubSocket::create(s.ctx, it.name);
+    assert(sock != NULL);
+    poller->registerSocket(sock);
+    qlog_states[sock] = {.counter = 0, .freq = it.decimation};
   }
 
-
-  {
-    auto words = gen_init_data();
-    auto bytes = words.asBytes();
-    logger_init(&s.logger, "rlog", bytes.begin(), bytes.size(), true);
-  }
-
-  bool is_streaming = false;
-  bool is_logging = true;
-
-  if (argc > 1 && strcmp(argv[1], "--stream") == 0) {
-    is_streaming = true;
-  } else if (argc > 1 && strcmp(argv[1], "--only-stream") == 0) {
-    is_streaming = true;
-    is_logging = false;
-  }
-
-  if (is_logging) {
-    err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
-    assert(err == 0);
-    LOGW("logging to %s", s.segment_path);
+  // init logger
+  logger_init(&s.logger, "rlog", true);
+  logger_rotate();
+  Params().put("CurrentRoute", s.logger.route_name);
+
+  // init encoders
+  s.last_camera_seen_tms = millis_since_boot();
+  std::vector<std::thread> encoder_threads;
+  for (const auto &cam : cameras_logged) {
+    if (cam.enable) {
+      encoder_threads.push_back(std::thread(encoder_thread, cam));
+      if (cam.trigger_rotate) s.max_waiting++;
+    }
   }
 
-  double start_ts = seconds_since_boot();
-  double last_rotate_ts = start_ts;
-
-#ifndef DISABLE_ENCODER
-  // rear camera
-  std::thread encoder_thread_handle(encoder_thread, is_streaming, false, false);
-
-  // front camera
-  std::thread front_encoder_thread_handle(encoder_thread, false, false, true);
-#endif
-
-#if ENABLE_LIDAR
-  std::thread lidar_thread_handle(lidar_thread);
-#endif
-
-  uint64_t msg_count = 0;
-  uint64_t bytes_count = 0;
-
+  uint64_t msg_count = 0, bytes_count = 0;
+  double start_ts = millis_since_boot();
   while (!do_exit) {
-    for (auto sock : poller->poll(100 * 1000)){
-      while (true) {
-        Message * msg = sock->receive(true);
-        if (msg == NULL){
-          break;
-        }
-
-        uint8_t* data = (uint8_t*)msg->getData();
-        size_t len = msg->getSize();
-
-        if (sock == frame_sock) {
-          // track camera frames to sync to encoder
-          auto amsg = kj::heapArray<capnp::word>((len / sizeof(capnp::word)) + 1);
-          memcpy(amsg.begin(), data, len);
-
-          capnp::FlatArrayMessageReader cmsg(amsg);
-          cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-          if (event.isFrame()) {
-            std::unique_lock<std::mutex> lk(s.lock);
-            s.last_frame_id = event.getFrame().getFrameId();
-            lk.unlock();
-            s.cv.notify_all();
-          }
-        }
-
-        logger_log(&s.logger, data, len, qlog_counter[sock] == 0);
+    // poll for new messages on all sockets
+    for (auto sock : poller->poll(1000)) {
+      // drain socket
+      QlogState &qs = qlog_states[sock];
+      Message *msg = nullptr;
+      while (!do_exit && (msg = sock->receive(true))) {
+        const bool in_qlog = qs.freq != -1 && (qs.counter++ % qs.freq == 0);
+        logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
+        bytes_count += msg->getSize();
         delete msg;
 
-        if (qlog_counter[sock] != -1) {
-          //printf("%p: %d/%d\n", socks[i], qlog_counter[socks[i]], qlog_freqs[socks[i]]);
-          qlog_counter[sock]++;
-          qlog_counter[sock] %= qlog_freqs[sock];
-        }
-
-        bytes_count += len;
-        msg_count++;
-      }
-    }
+        rotate_if_needed();
 
-    double ts = seconds_since_boot();
-    if (ts - last_rotate_ts > SEGMENT_LENGTH) {
-      // rotate the log
-
-      last_rotate_ts += SEGMENT_LENGTH;
-
-      std::lock_guard<std::mutex> guard(s.lock);
-      s.rotate_last_frame_id = s.last_frame_id;
-
-      if (is_logging) {
-        err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
-        assert(err == 0);
-        LOGW("rotated to %s", s.segment_path);
+        if ((++msg_count % 1000) == 0) {
+          double seconds = (millis_since_boot() - start_ts) / 1000.0;
+          LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds);
+        }
       }
     }
-
-    if ((msg_count%1000) == 0) {
-      LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count*1.0/(ts-start_ts), bytes_count*0.001/(ts-start_ts));
-    }
   }
 
-  LOGW("joining threads");
-  s.cv.notify_all();
+  LOGW("closing encoders");
+  s.rotate_cv.notify_all();
+  for (auto &t : encoder_threads) t.join();
 
+  LOGW("closing logger");
+  logger_close(&s.logger, &do_exit);
 
-#ifndef DISABLE_ENCODER
-  front_encoder_thread_handle.join();
-  encoder_thread_handle.join();
-  LOGW("encoder joined");
-#endif
-
-#if ENABLE_LIDAR
-  lidar_thread_handle.join();
-  LOGW("lidar joined");
-#endif
-
-  logger_close(&s.logger);
-
-  for (auto s : socks){
-    delete s;
+  if (do_exit.power_failure) {
+    LOGE("power failure");
+    sync();
+    LOGE("sync done");
   }
 
+  // messaging cleanup
+  for (auto &[sock, qs] : qlog_states) delete sock;
+  delete poller;
   delete s.ctx;
+
   return 0;
 }
diff --git a/selfdrive/loggerd/omx_encoder.cc b/selfdrive/loggerd/omx_encoder.cc
new file mode 100644
index 00000000000000..672238eaeb85d3
--- /dev/null
+++ b/selfdrive/loggerd/omx_encoder.cc
@@ -0,0 +1,607 @@
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+
+#include "selfdrive/loggerd/omx_encoder.h"
+
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include <cassert>
+#include <cstdlib>
+#include <cstdio>
+
+#include <OMX_Component.h>
+#include <OMX_IndexExt.h>
+#include <OMX_QCOMExtns.h>
+#include <OMX_VideoExt.h>
+#include "libyuv.h"
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/loggerd/include/msm_media_info.h"
+
+// Check the OMX error code and assert if an error occurred.
+#define OMX_CHECK(_expr)              \
+  do {                                \
+    assert(OMX_ErrorNone == (_expr)); \
+  } while (0)
+
+extern ExitHandler do_exit;
+
+// ***** OMX callback functions *****
+
+void OmxEncoder::wait_for_state(OMX_STATETYPE state_) {
+  std::unique_lock lk(this->state_lock);
+  while (this->state != state_) {
+    this->state_cv.wait(lk);
+  }
+}
+
+static OMX_CALLBACKTYPE omx_callbacks = {
+  .EventHandler = OmxEncoder::event_handler,
+  .EmptyBufferDone = OmxEncoder::empty_buffer_done,
+  .FillBufferDone = OmxEncoder::fill_buffer_done,
+};
+
+OMX_ERRORTYPE OmxEncoder::event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event,
+                                   OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data) {
+  OmxEncoder *e = (OmxEncoder*)app_data;
+  if (event == OMX_EventCmdComplete) {
+    assert(data1 == OMX_CommandStateSet);
+    LOG("set state event 0x%x", data2);
+    {
+      std::unique_lock lk(e->state_lock);
+      e->state = (OMX_STATETYPE)data2;
+    }
+    e->state_cv.notify_all();
+  } else if (event == OMX_EventError) {
+    LOGE("OMX error 0x%08x", data1);
+  } else {
+    LOGE("OMX unhandled event %d", event);
+    assert(false);
+  }
+
+  return OMX_ErrorNone;
+}
+
+OMX_ERRORTYPE OmxEncoder::empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
+                                                   OMX_BUFFERHEADERTYPE *buffer) {
+  // printf("empty_buffer_done\n");
+  OmxEncoder *e = (OmxEncoder*)app_data;
+  e->free_in.push(buffer);
+  return OMX_ErrorNone;
+}
+
+OMX_ERRORTYPE OmxEncoder::fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
+                                                  OMX_BUFFERHEADERTYPE *buffer) {
+  // printf("fill_buffer_done\n");
+  OmxEncoder *e = (OmxEncoder*)app_data;
+  e->done_out.push(buffer);
+  return OMX_ErrorNone;
+}
+
+#define PORT_INDEX_IN 0
+#define PORT_INDEX_OUT 1
+
+static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused));
+static const char* omx_color_fomat_name(uint32_t format) {
+  switch (format) {
+  case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused";
+  case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome";
+  case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332";
+  case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444";
+  case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444";
+  case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555";
+  case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565";
+  case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565";
+  case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666";
+  case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665";
+  case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666";
+  case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888";
+  case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888";
+  case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887";
+  case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888";
+  case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888";
+  case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888";
+  case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar";
+  case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar";
+  case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar";
+  case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar";
+  case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar";
+  case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar";
+  case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar";
+  case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar";
+  case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr";
+  case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb";
+  case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY";
+  case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY";
+  case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved";
+  case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit";
+  case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit";
+  case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed";
+  case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2";
+  case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4";
+  case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8";
+  case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16";
+  case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24";
+  case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32";
+  case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar";
+  case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar";
+  case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666";
+  case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666";
+  case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666";
+
+  case OMX_COLOR_FormatAndroidOpaque: return "OMX_COLOR_FormatAndroidOpaque";
+  case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_TI_COLOR_FormatYUV420PackedSemiPlanar";
+  case OMX_QCOM_COLOR_FormatYVU420SemiPlanar: return "OMX_QCOM_COLOR_FormatYVU420SemiPlanar";
+  case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
+  case OMX_SEC_COLOR_FormatNV12Tiled: return "OMX_SEC_COLOR_FormatNV12Tiled";
+  case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m";
+
+  // case QOMX_COLOR_FormatYVU420SemiPlanar: return "QOMX_COLOR_FormatYVU420SemiPlanar";
+  case QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka: return "QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka";
+  case QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka";
+  // case QOMX_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
+  // case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m";
+  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView";
+  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed";
+  case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888";
+  case QOMX_COLOR_Format32bitRGBA8888Compressed: return "QOMX_COLOR_Format32bitRGBA8888Compressed";
+
+  default:
+    return "unkn";
+  }
+}
+
+
+// ***** encoder functions *****
+
+OmxEncoder::OmxEncoder(const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale, bool write) {
+  this->filename = filename;
+  this->write = write;
+  this->width = width;
+  this->height = height;
+  this->fps = fps;
+  this->remuxing = !h265;
+
+  this->downscale = downscale;
+  if (this->downscale) {
+    this->y_ptr2 = (uint8_t *)malloc(this->width*this->height);
+    this->u_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
+    this->v_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
+  }
+
+  auto component = (OMX_STRING)(h265 ? "OMX.qcom.video.encoder.hevc" : "OMX.qcom.video.encoder.avc");
+  int err = OMX_GetHandle(&this->handle, component, this, &omx_callbacks);
+  if (err != OMX_ErrorNone) {
+    LOGE("error getting codec: %x", err);
+  }
+  assert(err == OMX_ErrorNone);
+  // printf("handle: %p\n", this->handle);
+
+  // setup input port
+
+  OMX_PARAM_PORTDEFINITIONTYPE in_port = {0};
+  in_port.nSize = sizeof(in_port);
+  in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN;
+  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+
+  in_port.format.video.nFrameWidth = this->width;
+  in_port.format.video.nFrameHeight = this->height;
+  in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
+  in_port.format.video.nSliceHeight = this->height;
+  // in_port.nBufferSize = (this->width * this->height * 3) / 2;
+  in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
+  in_port.format.video.xFramerate = (this->fps * 65536);
+  in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused;
+  // in_port.format.video.eColorFormat = OMX_COLOR_FormatYUV420SemiPlanar;
+  in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m;
+
+  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  this->in_buf_headers.resize(in_port.nBufferCountActual);
+
+  // setup output port
+
+  OMX_PARAM_PORTDEFINITIONTYPE out_port = {0};
+  out_port.nSize = sizeof(out_port);
+  out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port));
+  out_port.format.video.nFrameWidth = this->width;
+  out_port.format.video.nFrameHeight = this->height;
+  out_port.format.video.xFramerate = 0;
+  out_port.format.video.nBitrate = bitrate;
+  if (h265) {
+    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingHEVC;
+  } else {
+    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
+  }
+  out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused;
+
+  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
+
+  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
+  this->out_buf_headers.resize(out_port.nBufferCountActual);
+
+  OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0};
+  bitrate_type.nSize = sizeof(bitrate_type);
+  bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
+  bitrate_type.eControlRate = OMX_Video_ControlRateVariable;
+  bitrate_type.nTargetBitrate = bitrate;
+
+  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
+
+  if (h265) {
+    // setup HEVC
+  #ifndef QCOM2
+    OMX_VIDEO_PARAM_HEVCTYPE hevc_type = {0};
+    OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc;
+  #else
+    OMX_VIDEO_PARAM_PROFILELEVELTYPE hevc_type = {0};
+    OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent;
+  #endif
+    hevc_type.nSize = sizeof(hevc_type);
+    hevc_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+    OMX_CHECK(OMX_GetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
+
+    hevc_type.eProfile = OMX_VIDEO_HEVCProfileMain;
+    hevc_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
+
+    OMX_CHECK(OMX_SetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
+  } else {
+    // setup h264
+    OMX_VIDEO_PARAM_AVCTYPE avc = { 0 };
+    avc.nSize = sizeof(avc);
+    avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+    OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
+
+    avc.nBFrames = 0;
+    avc.nPFrames = 15;
+
+    avc.eProfile = OMX_VIDEO_AVCProfileHigh;
+    avc.eLevel = OMX_VIDEO_AVCLevel31;
+
+    avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
+    avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
+
+    avc.nRefFrames = 1;
+    avc.bUseHadamard = OMX_TRUE;
+    avc.bEntropyCodingCABAC = OMX_TRUE;
+    avc.bWeightedPPrediction = OMX_TRUE;
+    avc.bconstIpred = OMX_TRUE;
+
+    OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
+  }
+
+
+  // for (int i = 0; ; i++) {
+  //   OMX_VIDEO_PARAM_PORTFORMATTYPE video_port_format = {0};
+  //   video_port_format.nSize = sizeof(video_port_format);
+  //   video_port_format.nIndex = i;
+  //   video_port_format.nPortIndex = PORT_INDEX_IN;
+  //   if (OMX_GetParameter(this->handle, OMX_IndexParamVideoPortFormat, &video_port_format) != OMX_ErrorNone)
+  //       break;
+  //   printf("in %d: compression 0x%x format 0x%x %s\n", i,
+  //          video_port_format.eCompressionFormat, video_port_format.eColorFormat,
+  //          omx_color_fomat_name(video_port_format.eColorFormat));
+  // }
+
+  // for (int i=0; i<32; i++) {
+  //   OMX_VIDEO_PARAM_PROFILELEVELTYPE params = {0};
+  //   params.nSize = sizeof(params);
+  //   params.nPortIndex = PORT_INDEX_OUT;
+  //   params.nProfileIndex = i;
+  //   if (OMX_GetParameter(this->handle, OMX_IndexParamVideoProfileLevelQuerySupported, &params) != OMX_ErrorNone)
+  //       break;
+  //   printf("profile %d level 0x%x\n", params.eProfile, params.eLevel);
+  // }
+
+  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
+
+  for (auto &buf : this->in_buf_headers) {
+    OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_IN, this,
+                             in_port.nBufferSize));
+  }
+
+  for (auto &buf : this->out_buf_headers) {
+    OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_OUT, this,
+                             out_port.nBufferSize));
+  }
+
+  wait_for_state(OMX_StateIdle);
+
+  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
+
+  wait_for_state(OMX_StateExecuting);
+
+  // give omx all the output buffers
+  for (auto &buf : this->out_buf_headers) {
+    // printf("fill %p\n", this->out_buf_headers[i]);
+    OMX_CHECK(OMX_FillThisBuffer(this->handle, buf));
+  }
+
+  // fill the input free queue
+  for (auto &buf : this->in_buf_headers) {
+    this->free_in.push(buf);
+  }
+}
+
+void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
+  int err;
+  uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset;
+
+  if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) {
+    if (e->codec_config_len < out_buf->nFilledLen) {
+      e->codec_config = (uint8_t *)realloc(e->codec_config, out_buf->nFilledLen);
+    }
+    e->codec_config_len = out_buf->nFilledLen;
+    memcpy(e->codec_config, buf_data, out_buf->nFilledLen);
+#ifdef QCOM2
+    out_buf->nTimeStamp = 0;
+#endif
+  }
+
+  if (e->of) {
+    //printf("write %d flags 0x%x\n", out_buf->nFilledLen, out_buf->nFlags);
+    size_t written = util::safe_fwrite(buf_data, 1, out_buf->nFilledLen, e->of);
+    if (written != out_buf->nFilledLen) {
+      LOGE("failed to write file.errno=%d", errno);
+    }
+  }
+
+  if (e->remuxing) {
+    if (!e->wrote_codec_config && e->codec_config_len > 0) {
+      // extradata will be freed by av_free() in avcodec_free_context()
+      e->codec_ctx->extradata = (uint8_t*)av_mallocz(e->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
+      e->codec_ctx->extradata_size = e->codec_config_len;
+      memcpy(e->codec_ctx->extradata, e->codec_config, e->codec_config_len);
+
+      err = avcodec_parameters_from_context(e->out_stream->codecpar, e->codec_ctx);
+      assert(err >= 0);
+      err = avformat_write_header(e->ofmt_ctx, NULL);
+      assert(err >= 0);
+
+      e->wrote_codec_config = true;
+    }
+
+    if (out_buf->nTimeStamp > 0) {
+      // input timestamps are in microseconds
+      AVRational in_timebase = {1, 1000000};
+
+      AVPacket pkt;
+      av_init_packet(&pkt);
+      pkt.data = buf_data;
+      pkt.size = out_buf->nFilledLen;
+
+      enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
+      pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, e->ofmt_ctx->streams[0]->time_base, rnd);
+      pkt.duration = av_rescale_q(50*1000, in_timebase, e->ofmt_ctx->streams[0]->time_base);
+
+      if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
+        pkt.flags |= AV_PKT_FLAG_KEY;
+      }
+
+      err = av_write_frame(e->ofmt_ctx, &pkt);
+      if (err < 0) { LOGW("ts encoder write issue"); }
+
+      av_free_packet(&pkt);
+    }
+  }
+
+  // give omx back the buffer
+#ifdef QCOM2
+  if (out_buf->nFlags & OMX_BUFFERFLAG_EOS) {
+    out_buf->nTimeStamp = 0;
+  }
+#endif
+  OMX_CHECK(OMX_FillThisBuffer(e->handle, out_buf));
+}
+
+int OmxEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
+                             int in_width, int in_height, uint64_t ts) {
+  int err;
+  if (!this->is_open) {
+    return -1;
+  }
+
+  // this sometimes freezes... put it outside the encoder lock so we can still trigger rotates...
+  // THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this
+  //pthread_mutex_unlock(&this->lock);
+  OMX_BUFFERHEADERTYPE* in_buf = nullptr;
+  while (!this->free_in.try_pop(in_buf, 20)) {
+    if (do_exit) {
+      return -1;
+    }
+  }
+
+  //pthread_mutex_lock(&this->lock);
+
+  int ret = this->counter;
+
+  uint8_t *in_buf_ptr = in_buf->pBuffer;
+  // printf("in_buf ptr %p\n", in_buf_ptr);
+
+  uint8_t *in_y_ptr = in_buf_ptr;
+  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
+  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, this->width);
+  // uint8_t *in_uv_ptr = in_buf_ptr + (this->width * this->height);
+  uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, this->height));
+
+  if (this->downscale) {
+    I420Scale(y_ptr, in_width,
+              u_ptr, in_width/2,
+              v_ptr, in_width/2,
+              in_width, in_height,
+              this->y_ptr2, this->width,
+              this->u_ptr2, this->width/2,
+              this->v_ptr2, this->width/2,
+              this->width, this->height,
+              libyuv::kFilterNone);
+    y_ptr = this->y_ptr2;
+    u_ptr = this->u_ptr2;
+    v_ptr = this->v_ptr2;
+  }
+  err = libyuv::I420ToNV12(y_ptr, this->width,
+                   u_ptr, this->width/2,
+                   v_ptr, this->width/2,
+                   in_y_ptr, in_y_stride,
+                   in_uv_ptr, in_uv_stride,
+                   this->width, this->height);
+  assert(err == 0);
+
+  // in_buf->nFilledLen = (this->width*this->height) + (this->width*this->height/2);
+  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
+  in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
+  in_buf->nOffset = 0;
+  in_buf->nTimeStamp = ts/1000LL;  // OMX_TICKS, in microseconds
+  this->last_t = in_buf->nTimeStamp;
+
+  OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+
+  // pump output
+  while (true) {
+    OMX_BUFFERHEADERTYPE *out_buf;
+    if (!this->done_out.try_pop(out_buf)) {
+      break;
+    }
+    handle_out_buf(this, out_buf);
+  }
+
+  this->dirty = true;
+
+  this->counter++;
+
+  return ret;
+}
+
+void OmxEncoder::encoder_open(const char* path) {
+  int err;
+
+  snprintf(this->vid_path, sizeof(this->vid_path), "%s/%s", path, this->filename);
+  LOGD("encoder_open %s remuxing:%d", this->vid_path, this->remuxing);
+
+  if (this->remuxing) {
+    avformat_alloc_output_context2(&this->ofmt_ctx, NULL, NULL, this->vid_path);
+    assert(this->ofmt_ctx);
+
+    this->out_stream = avformat_new_stream(this->ofmt_ctx, NULL);
+    assert(this->out_stream);
+
+    // set codec correctly
+    av_register_all();
+
+    AVCodec *codec = NULL;
+    codec = avcodec_find_encoder(AV_CODEC_ID_H264);
+    assert(codec);
+
+    this->codec_ctx = avcodec_alloc_context3(codec);
+    assert(this->codec_ctx);
+    this->codec_ctx->width = this->width;
+    this->codec_ctx->height = this->height;
+    this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
+    this->codec_ctx->time_base = (AVRational){ 1, this->fps };
+
+    err = avio_open(&this->ofmt_ctx->pb, this->vid_path, AVIO_FLAG_WRITE);
+    assert(err >= 0);
+
+    this->wrote_codec_config = false;
+  } else {
+    if (this->write) {
+      this->of = util::safe_fopen(this->vid_path, "wb");
+      assert(this->of);
+#ifndef QCOM2
+      if (this->codec_config_len > 0) {
+        util::safe_fwrite(this->codec_config, 1, this->codec_config_len, this->of);
+      }
+#endif
+    }
+  }
+
+  // create camera lock file
+  snprintf(this->lock_path, sizeof(this->lock_path), "%s/%s.lock", path, this->filename);
+  int lock_fd = HANDLE_EINTR(open(this->lock_path, O_RDWR | O_CREAT, 0664));
+  assert(lock_fd >= 0);
+  close(lock_fd);
+
+  this->is_open = true;
+  this->counter = 0;
+}
+
+void OmxEncoder::encoder_close() {
+  if (this->is_open) {
+    if (this->dirty) {
+      // drain output only if there could be frames in the encoder
+
+      OMX_BUFFERHEADERTYPE* in_buf = this->free_in.pop();
+      in_buf->nFilledLen = 0;
+      in_buf->nOffset = 0;
+      in_buf->nFlags = OMX_BUFFERFLAG_EOS;
+      in_buf->nTimeStamp = this->last_t + 1000000LL/this->fps;
+
+      OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+
+      while (true) {
+        OMX_BUFFERHEADERTYPE *out_buf = this->done_out.pop();
+
+        handle_out_buf(this, out_buf);
+
+        if (out_buf->nFlags & OMX_BUFFERFLAG_EOS) {
+          break;
+        }
+      }
+      this->dirty = false;
+    }
+
+    if (this->remuxing) {
+      av_write_trailer(this->ofmt_ctx);
+      avcodec_free_context(&this->codec_ctx);
+      avio_closep(&this->ofmt_ctx->pb);
+      avformat_free_context(this->ofmt_ctx);
+    } else {
+      if (this->of) {
+        util::safe_fflush(this->of);
+        fclose(this->of);
+        this->of = nullptr;
+      }
+    }
+    unlink(this->lock_path);
+  }
+  this->is_open = false;
+}
+
+OmxEncoder::~OmxEncoder() {
+  assert(!this->is_open);
+
+  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
+
+  wait_for_state(OMX_StateIdle);
+
+  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateLoaded, NULL));
+
+  for (auto &buf : this->in_buf_headers) {
+    OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_IN, buf));
+  }
+
+  for (auto &buf : this->out_buf_headers) {
+    OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_OUT, buf));
+  }
+
+  wait_for_state(OMX_StateLoaded);
+
+  OMX_CHECK(OMX_FreeHandle(this->handle));
+
+  OMX_BUFFERHEADERTYPE *out_buf;
+  while (this->free_in.try_pop(out_buf));
+  while (this->done_out.try_pop(out_buf));
+
+  if (this->codec_config) {
+    free(this->codec_config);
+  }
+
+  if (this->downscale) {
+    free(this->y_ptr2);
+    free(this->u_ptr2);
+    free(this->v_ptr2);
+  }
+}
diff --git a/selfdrive/loggerd/omx_encoder.h b/selfdrive/loggerd/omx_encoder.h
new file mode 100644
index 00000000000000..74ea17f640fdf5
--- /dev/null
+++ b/selfdrive/loggerd/omx_encoder.h
@@ -0,0 +1,73 @@
+#pragma once
+
+#include <cstdint>
+#include <cstdio>
+#include <vector>
+
+#include <OMX_Component.h>
+extern "C" {
+#include <libavformat/avformat.h>
+}
+
+#include "selfdrive/common/queue.h"
+#include "selfdrive/loggerd/encoder.h"
+
+// OmxEncoder, lossey codec using hardware hevc
+class OmxEncoder : public VideoEncoder {
+public:
+  OmxEncoder(const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale, bool write = true);
+  ~OmxEncoder();
+  int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
+                   int in_width, int in_height, uint64_t ts);
+  void encoder_open(const char* path);
+  void encoder_close();
+
+  // OMX callbacks
+  static OMX_ERRORTYPE event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event,
+                                     OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data);
+  static OMX_ERRORTYPE empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
+                                         OMX_BUFFERHEADERTYPE *buffer);
+  static OMX_ERRORTYPE fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
+                                        OMX_BUFFERHEADERTYPE *buffer);
+
+private:
+  void wait_for_state(OMX_STATETYPE state);
+  static void handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf);
+
+  int width, height, fps;
+  char vid_path[1024];
+  char lock_path[1024];
+  bool is_open = false;
+  bool dirty = false;
+  bool write = false;
+  int counter = 0;
+
+  const char* filename;
+  FILE *of = nullptr;
+
+  size_t codec_config_len;
+  uint8_t *codec_config = NULL;
+  bool wrote_codec_config;
+
+  std::mutex state_lock;
+  std::condition_variable state_cv;
+  OMX_STATETYPE state = OMX_StateLoaded;
+
+  OMX_HANDLETYPE handle;
+
+  std::vector<OMX_BUFFERHEADERTYPE *> in_buf_headers;
+  std::vector<OMX_BUFFERHEADERTYPE *> out_buf_headers;
+
+  uint64_t last_t;
+
+  SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
+  SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
+
+  AVFormatContext *ofmt_ctx;
+  AVCodecContext *codec_ctx;
+  AVStream *out_stream;
+  bool remuxing;
+
+  bool downscale;
+  uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
+};
diff --git a/selfdrive/loggerd/raw_logger.cc b/selfdrive/loggerd/raw_logger.cc
index 37b3f284287bc9..c490a0813d0cd5 100644
--- a/selfdrive/loggerd/raw_logger.cc
+++ b/selfdrive/loggerd/raw_logger.cc
@@ -1,30 +1,30 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cassert>
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+
+#include "selfdrive/loggerd/raw_logger.h"
 
 #include <fcntl.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
+
 #define __STDC_CONSTANT_MACROS
 
 extern "C" {
-#include <libavutil/imgutils.h>
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
 }
 
-#include "common/swaglog.h"
-#include "common/utilpp.h"
-
-#include "raw_logger.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 
-RawLogger::RawLogger(const std::string &afilename, int awidth, int aheight, int afps)
-  : filename(afilename),
-    width(awidth),
-    height(aheight),
-    fps(afps) {
+RawLogger::RawLogger(const char* filename, int width, int height, int fps,
+                     int bitrate, bool h265, bool downscale, bool write)
+  : filename(filename), fps(fps) {
 
-  int err = 0;
+  // TODO: respect write arg
 
   av_register_all();
   codec = avcodec_find_encoder(AV_CODEC_ID_FFVHUFF);
@@ -44,7 +44,7 @@ RawLogger::RawLogger(const std::string &afilename, int awidth, int aheight, int
 
   codec_ctx->time_base = (AVRational){ 1, fps };
 
-  err = avcodec_open2(codec_ctx, codec, NULL);
+  int err = avcodec_open2(codec_ctx, codec, NULL);
   assert(err >= 0);
 
   frame = av_frame_alloc();
@@ -63,19 +63,15 @@ RawLogger::~RawLogger() {
   av_free(codec_ctx);
 }
 
-void RawLogger::Open(const std::string &path) {
-  int err = 0;
-
-  std::lock_guard<std::recursive_mutex> guard(lock);
-
-  vid_path = util::string_format("%s/%s.mkv", path.c_str(), filename.c_str());
+void RawLogger::encoder_open(const char* path) {
+  vid_path = util::string_format("%s/%s.mkv", path, filename);
 
   // create camera lock file
-  lock_path = util::string_format("%s/%s.lock", path.c_str(), filename.c_str());
+  lock_path = util::string_format("%s/%s.lock", path, filename);
 
   LOG("open %s\n", lock_path.c_str());
 
-  int lock_fd = open(lock_path.c_str(), O_RDWR | O_CREAT, 0777);
+  int lock_fd = HANDLE_EINTR(open(lock_path.c_str(), O_RDWR | O_CREAT, 0664));
   assert(lock_fd >= 0);
   close(lock_fd);
 
@@ -90,7 +86,7 @@ void RawLogger::Open(const std::string &path) {
   stream->time_base = (AVRational){ 1, fps };
   // codec_ctx->time_base = stream->time_base;
 
-  err = avcodec_parameters_from_context(stream->codecpar, codec_ctx);
+  int err = avcodec_parameters_from_context(stream->codecpar, codec_ctx);
   assert(err >= 0);
 
   err = avio_open(&format_ctx->pb, vid_path.c_str(), AVIO_FLAG_WRITE);
@@ -103,14 +99,10 @@ void RawLogger::Open(const std::string &path) {
   counter = 0;
 }
 
-void RawLogger::Close() {
-  int err = 0;
-
-  std::lock_guard<std::recursive_mutex> guard(lock);
-
+void RawLogger::encoder_close() {
   if (!is_open) return;
 
-  err = av_write_trailer(format_ctx);
+  int err = av_write_trailer(format_ctx);
   assert(err == 0);
 
   avcodec_close(stream->codec);
@@ -125,9 +117,8 @@ void RawLogger::Close() {
   is_open = false;
 }
 
-int RawLogger::ProcessFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr) {
-  int err = 0;
-
+int RawLogger::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
+                            int in_width, int in_height, uint64_t ts) {
   AVPacket pkt;
   av_init_packet(&pkt);
   pkt.data = NULL;
@@ -141,12 +132,11 @@ int RawLogger::ProcessFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_
   int ret = counter;
 
   int got_output = 0;
-  err = avcodec_encode_video2(codec_ctx, &pkt, frame, &got_output);
+  int err = avcodec_encode_video2(codec_ctx, &pkt, frame, &got_output);
   if (err) {
     LOGE("encoding error\n");
     ret = -1;
   } else if (got_output) {
-
     av_packet_rescale_ts(&pkt, codec_ctx->time_base, stream->time_base);
     pkt.stream_index = 0;
 
@@ -159,5 +149,6 @@ int RawLogger::ProcessFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_
     }
   }
 
+  av_packet_unref(&pkt);
   return ret;
 }
diff --git a/selfdrive/loggerd/raw_logger.h b/selfdrive/loggerd/raw_logger.h
index 249be40db8816c..9cef7ddcabda6e 100644
--- a/selfdrive/loggerd/raw_logger.h
+++ b/selfdrive/loggerd/raw_logger.h
@@ -1,35 +1,36 @@
-#ifndef FFV1LOGGER_H
-#define FFV1LOGGER_H
+#pragma once
 
 #include <cstdio>
 #include <cstdlib>
-
 #include <string>
 #include <vector>
-#include <mutex>
-#include <condition_variable>
 
 extern "C" {
-#include <libavutil/imgutils.h>
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
 }
 
-#include "frame_logger.h"
+#include "selfdrive/loggerd/encoder.h"
 
-class RawLogger : public FrameLogger {
-public:
-  RawLogger(const std::string &filename, int awidth, int aheight, int afps);
+class RawLogger : public VideoEncoder {
+ public:
+  RawLogger(const char* filename, int width, int height, int fps,
+            int bitrate, bool h265, bool downscale, bool write = true);
   ~RawLogger();
-
-  int ProcessFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr);
-  void Open(const std::string &path);
-  void Close();
+  int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
+                   int in_width, int in_height, uint64_t ts);
+  void encoder_open(const char* path);
+  void encoder_close();
 
 private:
-  std::string filename;
-  int width, height, fps;
+  const char* filename;
+  //bool write;
+  int fps;
   int counter = 0;
+  bool is_open = false;
+
+  std::string vid_path, lock_path;
 
   AVCodec *codec = NULL;
   AVCodecContext *codec_ctx = NULL;
@@ -39,5 +40,3 @@ class RawLogger : public FrameLogger {
 
   AVFrame *frame = NULL;
 };
-
-#endif
diff --git a/selfdrive/loggerd/tests/Makefile b/selfdrive/loggerd/tests/Makefile
deleted file mode 100644
index d05d549170d4fc..00000000000000
--- a/selfdrive/loggerd/tests/Makefile
+++ /dev/null
@@ -1,35 +0,0 @@
-CC = clang
-CXX = clang++
-
-PHONELIBS = ../../../phonelibs
-
-WARN_FLAGS = -Werror=implicit-function-declaration \
-             -Werror=incompatible-pointer-types \
-             -Werror=int-conversion \
-             -Werror=return-type \
-             -Werror=format-extra-args \
-             -Wno-deprecated-declarations
-
-CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
-
-FFMPEG_LIBS = -lavformat \
-              -lavcodec \
-              -lswscale \
-              -lavutil \
-              -lz
-
-OBJS = testraw.o \
-       ../RawLogger.o \
-       ../../common/visionipc.o
-
-testraw: $(OBJS)
-	$(CXX) -fPIC -o '$@' $^ -L/usr/lib $(FFMPEG_LIBS)
-
-%.o: %.cc
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) \
-         -I../ \
-         -I../../ \
-         -I../../../ \
-         -c -o '$@' '$<'
diff --git a/selfdrive/loggerd/tests/fill_eon.py b/selfdrive/loggerd/tests/fill_eon.py
deleted file mode 100755
index f273ea89ec7e9f..00000000000000
--- a/selfdrive/loggerd/tests/fill_eon.py
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env python3
-"""Script to fill up EON with fake data"""
-
-import os
-
-from selfdrive.loggerd.config import ROOT, get_available_percent
-from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file
-
-
-if __name__ == "__main__":
-  segment_idx = 0
-  while True:
-    seg_name = "1970-01-01--00-00-00--%d" % segment_idx
-    seg_path = os.path.join(ROOT, seg_name)
-
-    print(seg_path)
-
-    create_random_file(os.path.join(seg_path, 'fcamera.hevc'), 36)
-    create_random_file(os.path.join(seg_path, 'rlog.bz2'), 2)
-
-    segment_idx += 1
-
-    # Fill up to 99 percent
-    available_percent = get_available_percent()
-    if available_percent < 1.0:
-        break
diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/selfdrive/loggerd/tests/loggerd_tests_common.py
deleted file mode 100644
index f36ef2175ec9b4..00000000000000
--- a/selfdrive/loggerd/tests/loggerd_tests_common.py
+++ /dev/null
@@ -1,81 +0,0 @@
-import os
-import errno
-import shutil
-import random
-import tempfile
-import unittest
-
-import selfdrive.loggerd.uploader as uploader
-
-def create_random_file(file_path, size_mb, lock=False):
-    try:
-      os.mkdir(os.path.dirname(file_path))
-    except OSError:
-      pass
-
-    lock_path = file_path + ".lock"
-    os.close(os.open(lock_path, os.O_CREAT | os.O_EXCL))
-
-    chunks = 128
-    chunk_bytes = int(size_mb * 1024 * 1024 / chunks)
-    data = os.urandom(chunk_bytes)
-
-    with open(file_path, 'wb') as f:
-      for _ in range(chunks):
-        f.write(data)
-
-    if not lock:
-        os.remove(lock_path)
-
-class MockResponse():
-  def __init__(self, text):
-    self.text = text
-
-class MockApi():
-  def __init__(self, dongle_id):
-    pass
-
-  def get(self, *args, **kwargs):
-    return MockResponse('{"url": "http://localhost/does/not/exist", "headers": {}}')
-
-  def get_token(self):
-    return "fake-token"
-
-class MockParams():
-  def __init__(self):
-    self.params = {
-      "DongleId": b"0000000000000000",
-      "IsUploadRawEnabled": b"1",
-    }
-
-  def get(self, k):
-    return self.params[k]
-
-class UploaderTestCase(unittest.TestCase):
-  f_type = "UNKNOWN"
-
-  def setUp(self):
-    self.root = tempfile.mkdtemp()
-    uploader.ROOT = self.root  # Monkey patch root dir
-    uploader.Api = MockApi
-    uploader.Params = MockParams
-    uploader.fake_upload = 1
-    uploader.is_on_hotspot = lambda *args: False
-    uploader.is_on_wifi = lambda *args: True
-    self.seg_num = random.randint(1, 300)
-    self.seg_format = "2019-04-18--12-52-54--{}"
-    self.seg_format2 = "2019-05-18--11-22-33--{}"
-    self.seg_dir = self.seg_format.format(self.seg_num)
-
-  def tearDown(self):
-    try:
-      shutil.rmtree(self.root)
-    except OSError as e:
-      if e.errno != errno.ENOENT:
-        raise
-
-  def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False):
-    file_path = os.path.join(self.root, f_dir, fn)
-    create_random_file(file_path, size_mb, lock)
-
-    return file_path
diff --git a/selfdrive/loggerd/tests/test_deleter.py b/selfdrive/loggerd/tests/test_deleter.py
deleted file mode 100644
index f06946b2fe9918..00000000000000
--- a/selfdrive/loggerd/tests/test_deleter.py
+++ /dev/null
@@ -1,108 +0,0 @@
-import os
-import time
-import threading
-import unittest
-from collections import namedtuple
-
-import selfdrive.loggerd.deleter as deleter
-from common.timeout import Timeout, TimeoutException
-
-from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
-
-Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
-
-
-class TestDeleter(UploaderTestCase):
-  def fake_statvfs(self, d):
-    return self.fake_stats
-
-  def setUp(self):
-    self.f_type = "fcamera.hevc"
-    super(TestDeleter, self).setUp()
-    self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
-    deleter.os.statvfs = self.fake_statvfs
-    deleter.ROOT = self.root
-
-  def tearDown(self):
-    super(TestDeleter, self).tearDown()
-
-  def start_thread(self):
-    self.end_event = threading.Event()
-    self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event])
-    self.del_thread.daemon = True
-    self.del_thread.start()
-
-  def join_thread(self):
-    self.end_event.set()
-    self.del_thread.join()
-
-  def test_delete(self):
-    f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1)
-
-    self.start_thread()
-
-    with Timeout(5, "Timeout waiting for file to be deleted"):
-      while os.path.exists(f_path):
-        time.sleep(0.01)
-    self.join_thread()
-
-    self.assertFalse(os.path.exists(f_path), "File not deleted")
-
-  def test_delete_files_in_create_order(self):
-    f_path_1 = self.make_file_with_data(self.seg_dir, self.f_type)
-    time.sleep(1)
-    self.seg_num += 1
-    self.seg_dir = self.seg_format.format(self.seg_num)
-    f_path_2 = self.make_file_with_data(self.seg_dir, self.f_type)
-
-    self.start_thread()
-
-    with Timeout(5, "Timeout waiting for file to be deleted"):
-      while os.path.exists(f_path_1) and os.path.exists(f_path_2):
-        time.sleep(0.01)
-
-    self.join_thread()
-
-    self.assertFalse(os.path.exists(f_path_1), "Older file not deleted")
-
-    self.assertTrue(os.path.exists(f_path_2), "Newer file deleted before older file")
-
-  def test_no_delete_when_available_space(self):
-    f_path = self.make_file_with_data(self.seg_dir, self.f_type)
-
-    block_size = 4096
-    available = (10 * 1024 * 1024 * 1024) / block_size  # 10GB free
-    self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size)
-
-    self.start_thread()
-
-    try:
-      with Timeout(2, "Timeout waiting for file to be deleted"):
-        while os.path.exists(f_path):
-          time.sleep(0.01)
-    except TimeoutException:
-      pass
-    finally:
-      self.join_thread()
-
-    self.assertTrue(os.path.exists(f_path), "File deleted with available space")
-
-  def test_no_delete_with_lock_file(self):
-    f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True)
-
-    self.start_thread()
-
-    try:
-      with Timeout(2, "Timeout waiting for file to be deleted"):
-        while os.path.exists(f_path):
-          time.sleep(0.01)
-    except TimeoutException:
-      pass
-    finally:
-      self.join_thread()
-
-    self.assertTrue(os.path.exists(f_path), "File deleted when locked")
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/loggerd/tests/test_uploader.py b/selfdrive/loggerd/tests/test_uploader.py
deleted file mode 100644
index ed9a9722208ca9..00000000000000
--- a/selfdrive/loggerd/tests/test_uploader.py
+++ /dev/null
@@ -1,116 +0,0 @@
-import os
-import time
-import threading
-import logging
-import json
-
-from selfdrive.swaglog import cloudlog
-import selfdrive.loggerd.uploader as uploader
-
-from common.timeout import Timeout
-
-from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
-
-class TestLogHandler(logging.Handler):
-  def __init__(self):
-    logging.Handler.__init__(self)
-    self.reset()
-
-  def reset(self):
-    self.upload_order = list()
-
-  def emit(self, record):
-    try:
-      j = json.loads(record.message)
-      if j["event"] == "upload_success":
-        self.upload_order.append(j["key"])
-    except BaseException:
-      pass
-
-log_handler = TestLogHandler()
-cloudlog.addHandler(log_handler)
-
-class TestUploader(UploaderTestCase):
-  def setUp(self):
-    super(TestUploader, self).setUp()
-    log_handler.reset()
-
-  def tearDown(self):
-    super(TestUploader, self).tearDown()
-
-  def start_thread(self):
-    self.end_event = threading.Event()
-    self.up_thread = threading.Thread(target=uploader.uploader_fn, args=[self.end_event])
-    self.up_thread.daemon = True
-    self.up_thread.start()
-
-  def join_thread(self):
-    self.end_event.set()
-    self.up_thread.join()
-
-  def gen_files(self, lock=False):
-    f_paths = list()
-    for t in ["bootlog.bz2", "qlog.bz2", "rlog.bz2", "dcamera.hevc", "fcamera.hevc"]:
-      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock))
-    return f_paths
-
-  def gen_order(self, seg1, seg2):
-    keys = [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1]
-    keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2]
-    for i in seg1:
-      keys += [f"{self.seg_format.format(i)}/{f}" for f in ['rlog.bz2','fcamera.hevc','dcamera.hevc']]
-    for i in seg2:
-      keys += [f"{self.seg_format2.format(i)}/{f}" for f in ['rlog.bz2','fcamera.hevc','dcamera.hevc']]
-    keys += [f"{self.seg_format.format(i)}/bootlog.bz2" for i in seg1]
-    keys += [f"{self.seg_format2.format(i)}/bootlog.bz2" for i in seg2]
-    return keys
-
-  def test_upload(self):
-    f_paths = self.gen_files(lock=False)
-
-    self.start_thread()
-
-    with Timeout(5, "Timeout waiting for file to be uploaded"):
-      while len(os.listdir(self.root)):
-        time.sleep(0.01)
-    self.join_thread()
-
-    for f_path in f_paths:
-      self.assertFalse(os.path.exists(f_path), "All files not uploaded")
-    exp_order = self.gen_order([self.seg_num], [])
-    self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
-
-  def test_upload_files_in_create_order(self):
-    f_paths = list()
-    seg1_nums = [0,1,2,10,20]
-    for i in seg1_nums:
-      self.seg_dir = self.seg_format.format(i)
-      f_paths += self.gen_files()
-    seg2_nums = [5,50,51]
-    for i in seg2_nums:
-      self.seg_dir = self.seg_format2.format(i)
-      f_paths += self.gen_files()
-
-    self.start_thread()
-
-    with Timeout(5, "Timeout waiting for file to be upload"):
-      while len(os.listdir(self.root)):
-        time.sleep(0.01)
-
-    self.join_thread()
-
-    for f_path in f_paths:
-      self.assertFalse(os.path.exists(f_path), "All files not uploaded")
-    exp_order = self.gen_order(seg1_nums, seg2_nums)
-    self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
-
-  def test_no_upload_with_lock_file(self):
-    f_paths = self.gen_files(lock=True)
-
-    self.start_thread()
-    # allow enough time that files should have been uploaded if they would be uploaded
-    time.sleep(5)
-    self.join_thread()
-
-    for f_path in f_paths:
-      self.assertTrue(os.path.exists(f_path), "File upload when locked")
diff --git a/selfdrive/loggerd/tests/testraw.cc b/selfdrive/loggerd/tests/testraw.cc
deleted file mode 100644
index 80858e6f283c92..00000000000000
--- a/selfdrive/loggerd/tests/testraw.cc
+++ /dev/null
@@ -1,57 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <unistd.h>
-
-#include <zmq.h>
-
-#include "common/visionipc.h"
-#include "common/timing.h"
-
-#include "RawLogger.h"
-
-int main() {
-  int err;
-
-  VisionStream stream;
-
-  VisionStreamBufs buf_info;
-  while (true) {
-    err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
-    if (err != 0) {
-      printf("visionstream fail\n");
-      usleep(100000);
-    }
-    break;
-  }
-
-  RawLogger vidlogger("prcamera", buf_info.width, buf_info.height, 20);
-  vidlogger.Open("o1");
-
-  for (int cnt=0; cnt<200; cnt++) {
-    VIPCBufExtra extra;
-    VIPSBuf* buf = visionstream_get(&stream, &extra);
-    if (buf == NULL) {
-      printf("visionstream get failed\n");
-      break;
-    }
-
-    if (cnt == 100) {
-      vidlogger.Rotate("o2", 2);
-    }
-
-    uint8_t *y = (uint8_t*)buf->addr;
-    uint8_t *u = y + (buf_info.width*buf_info.height);
-    uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
-
-    double t1 = millis_since_boot();
-    vidlogger.LogFrame(cnt, y, u, v, NULL);
-    double t2 = millis_since_boot();
-    printf("%d %.2f\n", cnt, (t2-t1));
-  }
-
-  vidlogger.Close();
-
-  visionstream_destroy(&stream);
-
-  return 0;
-}
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index 6067f01ed6e21c..d40c7e1f5c4b77 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -1,46 +1,30 @@
 #!/usr/bin/env python3
-import os
-import re
-import time
 import json
+import os
 import random
-import ctypes
-import inspect
 import requests
-import traceback
 import threading
-import subprocess
+import time
+import traceback
+from pathlib import Path
 
-from selfdrive.swaglog import cloudlog
+from cereal import log
+import cereal.messaging as messaging
+from common.api import Api
+from common.params import Params
+from selfdrive.hardware import TICI
+from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.loggerd.config import ROOT
+from selfdrive.swaglog import cloudlog
 
-from common import android
-from common.params import Params
-from common.api import Api
+NetworkType = log.DeviceState.NetworkType
+UPLOAD_ATTR_NAME = 'user.upload'
+UPLOAD_ATTR_VALUE = b'1'
 
+allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
+force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
-def raise_on_thread(t, exctype):
-  for ctid, tobj in threading._active.items():
-    if tobj is t:
-      tid = ctid
-      break
-  else:
-    raise Exception("Could not find thread")
-
-  '''Raises an exception in the threads with id tid'''
-  if not inspect.isclass(exctype):
-    raise TypeError("Only types can be raised (not instances)")
-
-  res = ctypes.pythonapi.PyThreadState_SetAsyncExc(ctypes.c_long(tid),
-                                                   ctypes.py_object(exctype))
-  if res == 0:
-    raise ValueError("invalid thread id")
-  elif res != 1:
-    # "if it returns a number greater than one, you're in trouble,
-    # and you should call it again with exc=NULL to revert the effect"
-    ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, 0)
-    raise SystemError("PyThreadState_SetAsyncExc failed")
 
 def get_directory_sort(d):
   return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1)))
@@ -64,30 +48,6 @@ def clear_locks(root):
     except OSError:
       cloudlog.exception("clear_locks failed")
 
-def is_on_wifi():
-  # ConnectivityManager.getActiveNetworkInfo()
-  try:
-    # TODO: figure out why the android service call sometimes dies with SIGUSR2 (signal from MSGQ)
-    result = android.parse_service_call_string(android.service_call(["connectivity", "2"]))
-    if result is None:
-      return True
-    return 'WIFI' in result
-  except (AttributeError, subprocess.CalledProcessError):
-    cloudlog.exception("is_on_wifi failed")
-    return False
-
-def is_on_hotspot():
-  try:
-    result = subprocess.check_output(["ifconfig", "wlan0"], stderr=subprocess.STDOUT, encoding='utf8')
-    result = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
-
-    is_android = result.startswith('192.168.43.')
-    is_ios = result.startswith('172.20.10.')
-    is_entune = result.startswith('10.0.2.')
-
-    return (is_android or is_ios or is_entune)
-  except:
-    return False
 
 class Uploader():
   def __init__(self, dongle_id, root):
@@ -100,18 +60,19 @@ def __init__(self, dongle_id, root):
     self.last_resp = None
     self.last_exc = None
 
-    self.immediate_priority = {"qlog.bz2": 0, "qcamera.ts": 1}
-    self.high_priority = {"rlog.bz2": 0, "fcamera.hevc": 1, "dcamera.hevc": 2}
+    self.raw_size = 0
+    self.raw_count = 0
+    self.immediate_size = 0
+    self.immediate_count = 0
 
-  def clean_dirs(self):
-    try:
-      for logname in os.listdir(self.root):
-        path = os.path.join(self.root, logname)
-        # remove empty directories
-        if not os.listdir(path):
-          os.rmdir(path)
-    except OSError:
-      cloudlog.exception("clean_dirs failed")
+    # stats for last successfully uploaded file
+    self.last_time = 0
+    self.last_speed = 0
+    self.last_filename = ""
+
+    self.immediate_folders = ["crash/", "boot/"]
+    self.immediate_priority = {"qlog.bz2": 0, "qcamera.ts": 1}
+    self.high_priority = {"rlog.bz2": 0, "fcamera.hevc": 1, "dcamera.hevc": 2, "ecamera.hevc": 3}
 
   def get_upload_sort(self, name):
     if name in self.immediate_priority:
@@ -120,29 +81,55 @@ def get_upload_sort(self, name):
       return self.high_priority[name] + 100
     return 1000
 
-  def gen_upload_files(self):
+  def list_upload_files(self):
     if not os.path.isdir(self.root):
       return
+
+    self.raw_size = 0
+    self.raw_count = 0
+    self.immediate_size = 0
+    self.immediate_count = 0
+
     for logname in listdir_by_creation(self.root):
       path = os.path.join(self.root, logname)
       try:
         names = os.listdir(path)
       except OSError:
         continue
+
       if any(name.endswith(".lock") for name in names):
         continue
 
       for name in sorted(names, key=self.get_upload_sort):
         key = os.path.join(logname, name)
         fn = os.path.join(path, name)
+        # skip files already uploaded
+        try:
+          is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME)
+        except OSError:
+          cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn)
+          is_uploaded = True  # deleter could have deleted
+        if is_uploaded:
+          continue
+
+        try:
+          if name in self.immediate_priority:
+            self.immediate_count += 1
+            self.immediate_size += os.path.getsize(fn)
+          else:
+            self.raw_count += 1
+            self.raw_size += os.path.getsize(fn)
+        except OSError:
+          pass
 
         yield (name, key, fn)
 
   def next_file_to_upload(self, with_raw):
-    upload_files = list(self.gen_upload_files())
+    upload_files = list(self.list_upload_files())
+
     # try to upload qlog files first
     for name, key, fn in upload_files:
-      if name in self.immediate_priority:
+      if name in self.immediate_priority or any(f in fn for f in self.immediate_folders):
         return (key, fn)
 
     if with_raw:
@@ -161,16 +148,22 @@ def next_file_to_upload(self, with_raw):
   def do_upload(self, key, fn):
     try:
       url_resp = self.api.get("v1.3/"+self.dongle_id+"/upload_url/", timeout=10, path=key, access_token=self.api.get_token())
+      if url_resp.status_code == 412:
+        self.last_resp = url_resp
+        return
+
       url_resp_json = json.loads(url_resp.text)
       url = url_resp_json['url']
       headers = url_resp_json['headers']
-      cloudlog.info("upload_url v1.3 %s %s", url, str(headers))
+      cloudlog.debug("upload_url v1.3 %s %s", url, str(headers))
 
       if fake_upload:
-        cloudlog.info("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url)
+        cloudlog.debug("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url)
+
         class FakeResponse():
           def __init__(self):
             self.status_code = 200
+
         self.last_resp = FakeResponse()
       else:
         with open(fn, "rb") as f:
@@ -199,75 +192,100 @@ def upload(self, key, fn):
 
     cloudlog.event("upload", key=key, fn=fn, sz=sz)
 
-    cloudlog.info("checking %r with size %r", key, sz)
+    cloudlog.debug("checking %r with size %r", key, sz)
 
     if sz == 0:
-      # can't upload files of 0 size
-      os.unlink(fn) # delete the file
+      try:
+        # tag files of 0 size as uploaded
+        setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
+      except OSError:
+        cloudlog.event("uploader_setxattr_failed", exc=self.last_exc, key=key, fn=fn, sz=sz)
       success = True
     else:
-      cloudlog.info("uploading %r", fn)
+      start_time = time.monotonic()
+      cloudlog.debug("uploading %r", fn)
       stat = self.normal_upload(key, fn)
-      if stat is not None and stat.status_code in (200, 201):
-        cloudlog.event("upload_success", key=key, fn=fn, sz=sz)
-
-        # delete the file
+      if stat is not None and stat.status_code in (200, 201, 403, 412):
+        cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, debug=True)
         try:
-          os.unlink(fn)
+          # tag file as uploaded
+          setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
         except OSError:
-          cloudlog.event("delete_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz)
+          cloudlog.event("uploader_setxattr_failed", exc=self.last_exc, key=key, fn=fn, sz=sz)
 
+        self.last_filename = fn
+        self.last_time = time.monotonic() - start_time
+        self.last_speed = (sz / 1e6) / self.last_time
         success = True
       else:
-        cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz)
+        cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, debug=True)
         success = False
 
-    self.clean_dirs()
-
     return success
 
-def uploader_fn(exit_event):
-  cloudlog.info("uploader_fn")
+  def get_msg(self):
+    msg = messaging.new_message("uploaderState")
+    us = msg.uploaderState
+    us.rawQueueSize = int(self.raw_size / 1e6)
+    us.rawQueueCount = self.raw_count
+    us.immediateQueueSize = int(self.immediate_size / 1e6)
+    us.immediateQueueCount = self.immediate_count
+    us.lastTime = self.last_time
+    us.lastSpeed = self.last_speed
+    us.lastFilename = self.last_filename
+    return msg
 
+def uploader_fn(exit_event):
   params = Params()
-  dongle_id = params.get("DongleId").decode('utf8')
+  dongle_id = params.get("DongleId", encoding='utf8')
 
   if dongle_id is None:
     cloudlog.info("uploader missing dongle_id")
     raise Exception("uploader can't start without dongle id")
 
+  if TICI and not Path("/data/media").is_mount():
+    cloudlog.warning("NVME not mounted")
+
+  sm = messaging.SubMaster(['deviceState'])
+  pm = messaging.PubMaster(['uploaderState'])
   uploader = Uploader(dongle_id, ROOT)
 
   backoff = 0.1
-  while True:
-    allow_raw_upload = (params.get("IsUploadRawEnabled") != b"0")
-    on_hotspot = is_on_hotspot()
-    on_wifi = is_on_wifi()
-    should_upload = on_wifi and not on_hotspot
+  while not exit_event.is_set():
+    sm.update(0)
+    offroad = params.get_bool("IsOffroad")
+    network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
+    if network_type == NetworkType.none:
+      if allow_sleep:
+        time.sleep(60 if offroad else 5)
+      continue
 
-    if exit_event.is_set():
-      return
+    good_internet = network_type in [NetworkType.wifi, NetworkType.ethernet]
+    allow_raw_upload = params.get_bool("UploadRaw")
 
-    d = uploader.next_file_to_upload(with_raw=allow_raw_upload and should_upload)
-    if d is None:
-      time.sleep(5)
+    d = uploader.next_file_to_upload(with_raw=allow_raw_upload and good_internet and offroad)
+    if d is None:  # Nothing to upload
+      if allow_sleep:
+        time.sleep(60 if offroad else 5)
       continue
 
     key, fn = d
 
-    cloudlog.event("uploader_netcheck", is_on_hotspot=on_hotspot, is_on_wifi=on_wifi)
-    cloudlog.info("to upload %r", d)
+    cloudlog.debug("upload %r over %s", d, network_type)
     success = uploader.upload(key, fn)
     if success:
       backoff = 0.1
-    else:
-      cloudlog.info("backoff %r", backoff)
+    elif allow_sleep:
+      cloudlog.info("upload backoff %r", backoff)
       time.sleep(backoff + random.uniform(0, backoff))
       backoff = min(backoff*2, 120)
+
+    pm.send("uploaderState", uploader.get_msg())
     cloudlog.info("upload done, success=%r", success)
 
-def main(gctx=None):
+def main():
   uploader_fn(threading.Event())
 
+
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/loggerd/xattr_cache.py b/selfdrive/loggerd/xattr_cache.py
new file mode 100644
index 00000000000000..aa97f0c777084c
--- /dev/null
+++ b/selfdrive/loggerd/xattr_cache.py
@@ -0,0 +1,13 @@
+from common.xattr import getxattr as getattr1
+from common.xattr import setxattr as setattr1
+
+cached_attributes = {}
+def getxattr(path, attr_name):
+  if (path, attr_name) not in cached_attributes:
+    response = getattr1(path, attr_name)
+    cached_attributes[(path, attr_name)] = response
+  return cached_attributes[(path, attr_name)]
+
+def setxattr(path, attr_name, attr_value):
+  cached_attributes.pop((path, attr_name), None)
+  return setattr1(path, attr_name, attr_value)
diff --git a/selfdrive/logmessaged.py b/selfdrive/logmessaged.py
index 3362b5baacb301..9c40976562abd9 100755
--- a/selfdrive/logmessaged.py
+++ b/selfdrive/logmessaged.py
@@ -1,14 +1,16 @@
 #!/usr/bin/env python3
 import zmq
-from logentries import LogentriesHandler
+from typing import NoReturn
+
 import cereal.messaging as messaging
+from common.logging_extra import SwagLogFileFormatter
+from selfdrive.swaglog import get_file_handler
 
-def main(gctx=None):
-  # setup logentries. we forward log messages to it
-  le_token = "e8549616-0798-4d7e-a2ca-2513ae81fa17"
-  le_handler = LogentriesHandler(le_token, use_tls=False, verbose=False)
 
-  le_level = 20 #logging.INFO
+def main() -> NoReturn:
+  log_handler = get_file_handler()
+  log_handler.setFormatter(SwagLogFileFormatter(None))
+  log_level = 20  # logging.INFO
 
   ctx = zmq.Context().instance()
   sock = ctx.socket(zmq.PULL)
@@ -19,22 +21,16 @@ def main(gctx=None):
 
   while True:
     dat = b''.join(sock.recv_multipart())
-    dat = dat.decode('utf8')
-
-    # print "RECV", repr(dat)
-
-    levelnum = ord(dat[0])
-    dat = dat[1:]
-
-    if levelnum >= le_level:
-      # push to logentries
-      # TODO: push to athena instead
-      le_handler.emit_raw(dat)
+    level = dat[0]
+    record = dat[1:].decode("utf-8")
+    if level >= log_level:
+      log_handler.emit(record)
 
     # then we publish them
     msg = messaging.new_message()
-    msg.logMessage = dat
+    msg.logMessage = record
     pub_sock.send(msg.to_bytes())
 
+
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
deleted file mode 100755
index 0d8efc8d3610a5..00000000000000
--- a/selfdrive/manager.py
+++ /dev/null
@@ -1,546 +0,0 @@
-#!/usr/bin/env python3.7
-import os
-import time
-import sys
-import fcntl
-import errno
-import signal
-import shutil
-import subprocess
-import datetime
-
-from common.basedir import BASEDIR, PARAMS
-from common.android import ANDROID
-sys.path.append(os.path.join(BASEDIR, "pyextra"))
-os.environ['BASEDIR'] = BASEDIR
-
-TOTAL_SCONS_NODES = 1195
-prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
-
-# Create folders needed for msgq
-try:
-  os.mkdir("/dev/shm")
-except FileExistsError:
-  pass
-except PermissionError:
-  print("WARNING: failed to make /dev/shm")
-
-if ANDROID:
-  os.chmod("/dev/shm", 0o777)
-
-def unblock_stdout():
-  # get a non-blocking stdout
-  child_pid, child_pty = os.forkpty()
-  if child_pid != 0: # parent
-
-    # child is in its own process group, manually pass kill signals
-    signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))
-    signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM))
-
-    fcntl.fcntl(sys.stdout, fcntl.F_SETFL,
-       fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)
-
-    while True:
-      try:
-        dat = os.read(child_pty, 4096)
-      except OSError as e:
-        if e.errno == errno.EIO:
-          break
-        continue
-
-      if not dat:
-        break
-
-      try:
-        sys.stdout.write(dat.decode('utf8'))
-      except (OSError, IOError, UnicodeDecodeError):
-        pass
-
-    os._exit(os.wait()[1])
-
-
-if __name__ == "__main__":
-  unblock_stdout()
-  from common.spinner import Spinner
-else:
-  from common.spinner import FakeSpinner as Spinner
-
-import importlib
-import traceback
-from multiprocessing import Process
-
-# Run scons
-spinner = Spinner()
-spinner.update("0")
-
-if not prebuilt:
-  for retry in [True, False]:
-    # run scons
-    env = os.environ.copy()
-    env['SCONS_PROGRESS'] = "1"
-    env['SCONS_CACHE'] = "1"
-
-    nproc = os.cpu_count()
-    j_flag = "" if nproc is None else "-j%d" % (nproc - 1)
-    scons = subprocess.Popen(["scons", j_flag], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
-
-    # Read progress from stderr and update spinner
-    while scons.poll() is None:
-      try:
-        line = scons.stderr.readline()
-        if line is None:
-          continue
-
-        line = line.rstrip()
-        prefix = b'progress: '
-        if line.startswith(prefix):
-          i = int(line[len(prefix):])
-          if spinner is not None:
-            spinner.update("%d" % (50.0 * (i / TOTAL_SCONS_NODES)))
-        elif len(line):
-          print(line.decode('utf8'))
-      except Exception:
-        pass
-
-    if scons.returncode != 0:
-      if retry:
-        print("scons build failed, cleaning in")
-        for i in range(3,-1,-1):
-          print("....%d" % i)
-          time.sleep(1)
-        subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
-        shutil.rmtree("/tmp/scons_cache")
-      else:
-        raise RuntimeError("scons build failed")
-    else:
-      break
-
-import cereal
-import cereal.messaging as messaging
-
-from common.params import Params
-import selfdrive.crash as crash
-from selfdrive.swaglog import cloudlog
-from selfdrive.registration import register
-from selfdrive.version import version, dirty
-from selfdrive.loggerd.config import ROOT
-from selfdrive.launcher import launcher
-from common import android
-from common.apk import update_apks, pm_apply_packages, start_frame
-
-ThermalStatus = cereal.log.ThermalData.ThermalStatus
-
-# comment out anything you don't want to run
-managed_processes = {
-  "thermald": "selfdrive.thermald",
-  "uploader": "selfdrive.loggerd.uploader",
-  "deleter": "selfdrive.loggerd.deleter",
-  "controlsd": "selfdrive.controls.controlsd",
-  "plannerd": "selfdrive.controls.plannerd",
-  "radard": "selfdrive.controls.radard",
-  "dmonitoringd": "selfdrive.controls.dmonitoringd",
-  "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
-  "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
-  "logmessaged": "selfdrive.logmessaged",
-  "locationd": "selfdrive.locationd.locationd",
-  "tombstoned": "selfdrive.tombstoned",
-  "logcatd": ("selfdrive/logcatd", ["./logcatd"]),
-  "proclogd": ("selfdrive/proclogd", ["./proclogd"]),
-  "boardd": ("selfdrive/boardd", ["./boardd"]),   # not used directly
-  "pandad": "selfdrive.pandad",
-  "ui": ("selfdrive/ui", ["./ui"]),
-  "calibrationd": "selfdrive.locationd.calibrationd",
-  "paramsd": ("selfdrive/locationd", ["./paramsd"]),
-  "camerad": ("selfdrive/camerad", ["./camerad"]),
-  "sensord": ("selfdrive/sensord", ["./sensord"]),
-  "clocksd": ("selfdrive/clocksd", ["./clocksd"]),
-  "gpsd": ("selfdrive/sensord", ["./gpsd"]),
-  "updated": "selfdrive.updated",
-  "dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
-  "modeld": ("selfdrive/modeld", ["./modeld"]),
-}
-
-daemon_processes = {
-  "manage_athenad": ("selfdrive.athena.manage_athenad", "AthenadPid"),
-}
-
-running = {}
-def get_running():
-  return running
-
-# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
-unkillable_processes = ['camerad']
-
-# processes to end with SIGINT instead of SIGTERM
-interrupt_processes = []
-
-# processes to end with SIGKILL instead of SIGTERM
-kill_processes = ['sensord', 'paramsd']
-
-# processes to end if thermal conditions exceed Green parameters
-green_temp_processes = ['uploader']
-
-persistent_processes = [
-  'thermald',
-  'logmessaged',
-  'ui',
-  'uploader',
-]
-if ANDROID:
-  persistent_processes += [
-    'logcatd',
-    'tombstoned',
-    'updated',
-  ]
-
-car_started_processes = [
-  'controlsd',
-  'plannerd',
-  'loggerd',
-  'radard',
-  'dmonitoringd',
-  'calibrationd',
-  'paramsd',
-  'camerad',
-  'modeld',
-  'proclogd',
-  'ubloxd',
-  'locationd',
-]
-if ANDROID:
-  car_started_processes += [
-    'sensord',
-    'clocksd',
-    'gpsd',
-    'dmonitoringmodeld',
-    'deleter',
-  ]
-
-def register_managed_process(name, desc, car_started=False):
-  global managed_processes, car_started_processes, persistent_processes
-  print("registering %s" % name)
-  managed_processes[name] = desc
-  if car_started:
-    car_started_processes.append(name)
-  else:
-    persistent_processes.append(name)
-
-# ****************** process management functions ******************
-def nativelauncher(pargs, cwd):
-  # exec the process
-  os.chdir(cwd)
-
-  # because when extracted from pex zips permissions get lost -_-
-  os.chmod(pargs[0], 0o700)
-
-  os.execvp(pargs[0], pargs)
-
-def start_managed_process(name):
-  if name in running or name not in managed_processes:
-    return
-  proc = managed_processes[name]
-  if isinstance(proc, str):
-    cloudlog.info("starting python %s" % proc)
-    running[name] = Process(name=name, target=launcher, args=(proc,))
-  else:
-    pdir, pargs = proc
-    cwd = os.path.join(BASEDIR, pdir)
-    cloudlog.info("starting process %s" % name)
-    running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
-  running[name].start()
-
-def start_daemon_process(name):
-  params = Params()
-  proc, pid_param = daemon_processes[name]
-  pid = params.get(pid_param, encoding='utf-8')
-
-  if pid is not None:
-    try:
-      os.kill(int(pid), 0)
-      with open(f'/proc/{pid}/cmdline') as f:
-        if proc in f.read():
-          # daemon is running
-          return
-    except (OSError, FileNotFoundError):
-      # process is dead
-      pass
-
-  cloudlog.info("starting daemon %s" % name)
-  proc = subprocess.Popen(['python', '-m', proc],
-                         stdin=open('/dev/null', 'r'),
-                         stdout=open('/dev/null', 'w'),
-                         stderr=open('/dev/null', 'w'),
-                         preexec_fn=os.setpgrp)
-
-  params.put(pid_param, str(proc.pid))
-
-def prepare_managed_process(p):
-  proc = managed_processes[p]
-  if isinstance(proc, str):
-    # import this python
-    cloudlog.info("preimporting %s" % proc)
-    importlib.import_module(proc)
-  elif os.path.isfile(os.path.join(BASEDIR, proc[0], "Makefile")):
-    # build this process
-    cloudlog.info("building %s" % (proc,))
-    try:
-      subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
-    except subprocess.CalledProcessError:
-      # make clean if the build failed
-      cloudlog.warning("building %s failed, make clean" % (proc, ))
-      subprocess.check_call(["make", "clean"], cwd=os.path.join(BASEDIR, proc[0]))
-      subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
-
-
-def join_process(process, timeout):
-  # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
-  # We have to poll the exitcode instead
-  t = time.time()
-  while time.time() - t < timeout and process.exitcode is None:
-    time.sleep(0.001)
-
-
-def kill_managed_process(name):
-  if name not in running or name not in managed_processes:
-    return
-  cloudlog.info("killing %s" % name)
-
-  if running[name].exitcode is None:
-    if name in interrupt_processes:
-      os.kill(running[name].pid, signal.SIGINT)
-    elif name in kill_processes:
-      os.kill(running[name].pid, signal.SIGKILL)
-    else:
-      running[name].terminate()
-
-    join_process(running[name], 5)
-
-    if running[name].exitcode is None:
-      if name in unkillable_processes:
-        cloudlog.critical("unkillable process %s failed to exit! rebooting in 15 if it doesn't die" % name)
-        join_process(running[name], 15)
-        if running[name].exitcode is None:
-          cloudlog.critical("FORCE REBOOTING PHONE!")
-          os.system("date >> /sdcard/unkillable_reboot")
-          os.system("reboot")
-          raise RuntimeError
-      else:
-        cloudlog.info("killing %s with SIGKILL" % name)
-        os.kill(running[name].pid, signal.SIGKILL)
-        running[name].join()
-
-  cloudlog.info("%s is dead with %d" % (name, running[name].exitcode))
-  del running[name]
-
-
-def cleanup_all_processes(signal, frame):
-  cloudlog.info("caught ctrl-c %s %s" % (signal, frame))
-
-  if ANDROID:
-    pm_apply_packages('disable')
-
-  for name in list(running.keys()):
-    kill_managed_process(name)
-  cloudlog.info("everything is dead")
-
-# ****************** run loop ******************
-
-def manager_init(should_register=True):
-  if should_register:
-    reg_res = register()
-    if reg_res:
-      dongle_id, dongle_secret = reg_res
-    else:
-      raise Exception("server registration failed")
-  else:
-    dongle_id = "c"*16
-
-  # set dongle id
-  cloudlog.info("dongle id is " + dongle_id)
-  os.environ['DONGLE_ID'] = dongle_id
-
-  cloudlog.info("dirty is %d" % dirty)
-  if not dirty:
-    os.environ['CLEAN'] = '1'
-
-  cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, is_eon=True)
-  crash.bind_user(id=dongle_id)
-  crash.bind_extra(version=version, dirty=dirty, is_eon=True)
-
-  os.umask(0)
-  try:
-    os.mkdir(ROOT, 0o777)
-  except OSError:
-    pass
-
-  # ensure shared libraries are readable by apks
-  if ANDROID:
-    os.chmod(BASEDIR, 0o755)
-    os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
-    os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
-
-def manager_thread():
-  # now loop
-  thermal_sock = messaging.sub_sock('thermal')
-
-  cloudlog.info("manager start")
-  cloudlog.info({"environ": os.environ})
-
-  # save boot log
-  subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
-
-  params = Params()
-
-  # start daemon processes
-  for p in daemon_processes:
-    start_daemon_process(p)
-
-  # start persistent processes
-  for p in persistent_processes:
-    start_managed_process(p)
-
-  # start frame
-  if ANDROID:
-    pm_apply_packages('enable')
-    start_frame()
-
-  if os.getenv("NOBOARD") is None:
-    start_managed_process("pandad")
-
-  logger_dead = False
-
-  while 1:
-    msg = messaging.recv_sock(thermal_sock, wait=True)
-
-    # heavyweight batch processes are gated on favorable thermal conditions
-    if msg.thermal.thermalStatus >= ThermalStatus.yellow:
-      for p in green_temp_processes:
-        if p in persistent_processes:
-          kill_managed_process(p)
-    else:
-      for p in green_temp_processes:
-        if p in persistent_processes:
-          start_managed_process(p)
-
-    if msg.thermal.freeSpace < 0.05:
-      logger_dead = True
-
-    if msg.thermal.started:
-      for p in car_started_processes:
-        if p == "loggerd" and logger_dead:
-          kill_managed_process(p)
-        else:
-          start_managed_process(p)
-    else:
-      logger_dead = False
-      for p in reversed(car_started_processes):
-        kill_managed_process(p)
-
-    # check the status of all processes, did any of them die?
-    running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if running[p].is_alive() else "\u001b[31m", p) for p in running]
-    cloudlog.debug(' '.join(running_list))
-
-    # Exit main loop when uninstall is needed
-    if params.get("DoUninstall", encoding='utf8') == "1":
-      break
-
-def manager_prepare(spinner=None):
-  # build all processes
-  os.chdir(os.path.dirname(os.path.abspath(__file__)))
-
-  # Spinner has to start from 70 here
-  total = 100.0 if prebuilt else 50.0
-
-  for i, p in enumerate(managed_processes):
-    if spinner is not None:
-      spinner.update("%d" % ((100.0 - total) + total * (i + 1) / len(managed_processes),))
-    prepare_managed_process(p)
-
-def uninstall():
-  cloudlog.warning("uninstalling")
-  with open('/cache/recovery/command', 'w') as f:
-    f.write('--wipe_data\n')
-  # IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-  android.reboot(reason="recovery")
-
-def main():
-  os.environ['PARAMS_PATH'] = PARAMS
-
-  # the flippening!
-  os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
-
-  # disable bluetooth
-  os.system('service call bluetooth_manager 8')
-
-  params = Params()
-  params.manager_start()
-
-  # set unset params
-  if params.get("CommunityFeaturesToggle") is None:
-    params.put("CommunityFeaturesToggle", "0")
-  if params.get("CompletedTrainingVersion") is None:
-    params.put("CompletedTrainingVersion", "0")
-  if params.get("IsMetric") is None:
-    params.put("IsMetric", "0")
-  if params.get("RecordFront") is None:
-    params.put("RecordFront", "0")
-  if params.get("HasAcceptedTerms") is None:
-    params.put("HasAcceptedTerms", "0")
-  if params.get("HasCompletedSetup") is None:
-    params.put("HasCompletedSetup", "0")
-  if params.get("IsUploadRawEnabled") is None:
-    params.put("IsUploadRawEnabled", "1")
-  if params.get("IsLdwEnabled") is None:
-    params.put("IsLdwEnabled", "1")
-  if params.get("IsGeofenceEnabled") is None:
-    params.put("IsGeofenceEnabled", "-1")
-  if params.get("SpeedLimitOffset") is None:
-    params.put("SpeedLimitOffset", "0")
-  if params.get("LongitudinalControl") is None:
-    params.put("LongitudinalControl", "0")
-  if params.get("LimitSetSpeed") is None:
-    params.put("LimitSetSpeed", "0")
-  if params.get("LimitSetSpeedNeural") is None:
-    params.put("LimitSetSpeedNeural", "0")
-  if params.get("LastUpdateTime") is None:
-    t = datetime.datetime.now().isoformat()
-    params.put("LastUpdateTime", t.encode('utf8'))
-  if params.get("OpenpilotEnabledToggle") is None:
-    params.put("OpenpilotEnabledToggle", "1")
-  if params.get("LaneChangeEnabled") is None:
-    params.put("LaneChangeEnabled", "1")
-
-  # is this chffrplus?
-  if os.getenv("PASSIVE") is not None:
-    params.put("Passive", str(int(os.getenv("PASSIVE"))))
-
-  if params.get("Passive") is None:
-    raise Exception("Passive must be set to continue")
-
-  if ANDROID:
-    update_apks()
-  manager_init()
-  manager_prepare(spinner)
-  spinner.close()
-
-  if os.getenv("PREPAREONLY") is not None:
-    return
-
-  # SystemExit on sigterm
-  signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
-
-  try:
-    manager_thread()
-  except Exception:
-    traceback.print_exc()
-    crash.capture_exception()
-  finally:
-    cleanup_all_processes(None, None)
-
-  if params.get("DoUninstall", encoding='utf8') == "1":
-    uninstall()
-
-if __name__ == "__main__":
-  main()
-  # manual exit because we are forked
-  sys.exit(0)
diff --git a/selfdrive/controls/tests/__init__.py b/selfdrive/manager/__init__.py
similarity index 100%
rename from selfdrive/controls/tests/__init__.py
rename to selfdrive/manager/__init__.py
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
new file mode 100755
index 00000000000000..66f836ce6bec1b
--- /dev/null
+++ b/selfdrive/manager/build.py
@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+import sys
+import time
+import textwrap
+from pathlib import Path
+
+# NOTE: Do NOT import anything here that needs be built (e.g. params)
+from common.basedir import BASEDIR
+from common.spinner import Spinner
+from common.text_window import TextWindow
+from selfdrive.hardware import TICI
+from selfdrive.swaglog import cloudlog, add_file_handler
+from selfdrive.version import dirty
+
+MAX_CACHE_SIZE = 2e9
+CACHE_DIR = Path("/data/scons_cache" if TICI else "/tmp/scons_cache")
+
+TOTAL_SCONS_NODES = 2405
+MAX_BUILD_PROGRESS = 100
+PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
+
+
+def build(spinner, dirty=False):
+  env = os.environ.copy()
+  env['SCONS_PROGRESS'] = "1"
+  nproc = os.cpu_count()
+  j_flag = "" if nproc is None else f"-j{nproc - 1}"
+
+  for retry in [True, False]:
+    scons = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+
+    compile_output = []
+
+    # Read progress from stderr and update spinner
+    while scons.poll() is None:
+      try:
+        line = scons.stderr.readline()
+        if line is None:
+          continue
+        line = line.rstrip()
+
+        prefix = b'progress: '
+        if line.startswith(prefix):
+          i = int(line[len(prefix):])
+          spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
+        elif len(line):
+          compile_output.append(line)
+          print(line.decode('utf8', 'replace'))
+      except Exception:
+        pass
+
+    if scons.returncode != 0:
+      # Read remaining output
+      r = scons.stderr.read().split(b'\n')
+      compile_output += r
+
+      if retry and (not dirty):
+        if not os.getenv("CI"):
+          print("scons build failed, cleaning in")
+          for i in range(3, -1, -1):
+            print("....%d" % i)
+            time.sleep(1)
+          subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
+        else:
+          print("scons build failed after retry")
+          sys.exit(1)
+      else:
+        # Build failed log errors
+        errors = [line.decode('utf8', 'replace') for line in compile_output
+                  if any([err in line for err in [b'error: ', b'not found, needed by target']])]
+        error_s = "\n".join(errors)
+        add_file_handler(cloudlog)
+        cloudlog.error("scons build failed\n" + error_s)
+
+        # Show TextWindow
+        spinner.close()
+        if not os.getenv("CI"):
+          error_s = "\n \n".join(["\n".join(textwrap.wrap(e, 65)) for e in errors])
+          with TextWindow("openpilot failed to build\n \n" + error_s) as t:
+            t.wait_for_exit()
+        exit(1)
+    else:
+      break
+
+  # enforce max cache size
+  cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
+  cache_files.sort(key=lambda f: f.stat().st_mtime)
+  cache_size = sum(f.stat().st_size for f in cache_files)
+  for f in cache_files:
+    if cache_size < MAX_CACHE_SIZE:
+      break
+    cache_size -= f.stat().st_size
+    f.unlink()
+
+
+if __name__ == "__main__" and not PREBUILT:
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
+  build(spinner, dirty)
diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py
new file mode 100644
index 00000000000000..fdda0deb9ac002
--- /dev/null
+++ b/selfdrive/manager/helpers.py
@@ -0,0 +1,38 @@
+import os
+import sys
+import fcntl
+import errno
+import signal
+
+
+def unblock_stdout():
+  # get a non-blocking stdout
+  child_pid, child_pty = os.forkpty()
+  if child_pid != 0:  # parent
+
+    # child is in its own process group, manually pass kill signals
+    signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))
+    signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM))
+
+    fcntl.fcntl(sys.stdout, fcntl.F_SETFL, fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)
+
+    while True:
+      try:
+        dat = os.read(child_pty, 4096)
+      except OSError as e:
+        if e.errno == errno.EIO:
+          break
+        continue
+
+      if not dat:
+        break
+
+      try:
+        sys.stdout.write(dat.decode('utf8'))
+      except (OSError, IOError, UnicodeDecodeError):
+        pass
+
+    # os.wait() returns a tuple with the pid and a 16 bit value
+    # whose low byte is the signal number and whose high byte is the exit satus
+    exit_status = os.wait()[1] >> 8
+    os._exit(exit_status)
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
new file mode 100755
index 00000000000000..af0340af2a46d9
--- /dev/null
+++ b/selfdrive/manager/manager.py
@@ -0,0 +1,227 @@
+#!/usr/bin/env python3
+import datetime
+import os
+import signal
+import subprocess
+import sys
+import traceback
+
+import cereal.messaging as messaging
+import selfdrive.crash as crash
+from common.basedir import BASEDIR
+from common.params import Params, ParamKeyType
+from common.text_window import TextWindow
+from selfdrive.boardd.set_time import set_time
+from selfdrive.hardware import HARDWARE, PC
+from selfdrive.manager.helpers import unblock_stdout
+from selfdrive.manager.process import ensure_running
+from selfdrive.manager.process_config import managed_processes
+from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from selfdrive.swaglog import cloudlog, add_file_handler
+from selfdrive.version import dirty, get_git_commit, version, origin, branch, commit, \
+                              terms_version, training_version, comma_remote, \
+                              get_git_branch, get_git_remote
+
+sys.path.append(os.path.join(BASEDIR, "pyextra"))
+
+def manager_init():
+
+  # update system time from panda
+  set_time(cloudlog)
+
+  params = Params()
+  params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
+
+  default_params = [
+    ("CompletedTrainingVersion", "0"),
+    ("HasAcceptedTerms", "0"),
+    ("OpenpilotEnabledToggle", "1"),
+  ]
+  if not PC:
+    default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
+
+  if params.get_bool("RecordFrontLock"):
+    params.put_bool("RecordFront", True)
+
+  if not params.get_bool("DisableRadar_Allow"):
+    params.delete("DisableRadar")
+
+  # set unset params
+  for k, v in default_params:
+    if params.get(k) is None:
+      params.put(k, v)
+
+  # is this dashcam?
+  if os.getenv("PASSIVE") is not None:
+    params.put_bool("Passive", bool(int(os.getenv("PASSIVE"))))
+
+  if params.get("Passive") is None:
+    raise Exception("Passive must be set to continue")
+
+  # Create folders needed for msgq
+  try:
+    os.mkdir("/dev/shm")
+  except FileExistsError:
+    pass
+  except PermissionError:
+    print("WARNING: failed to make /dev/shm")
+
+  # set version params
+  params.put("Version", version)
+  params.put("TermsVersion", terms_version)
+  params.put("TrainingVersion", training_version)
+  params.put("GitCommit", get_git_commit(default=""))
+  params.put("GitBranch", get_git_branch(default=""))
+  params.put("GitRemote", get_git_remote(default=""))
+
+  # set dongle id
+  reg_res = register(show_spinner=True)
+  if reg_res:
+    dongle_id = reg_res
+  else:
+    serial = params.get("HardwareSerial")
+    raise Exception(f"Registration failed for device {serial}")
+  os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
+
+  if not dirty:
+    os.environ['CLEAN'] = '1'
+
+  cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty,
+                       device=HARDWARE.get_device_type())
+
+  if comma_remote and not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC):
+    crash.init()
+  crash.bind_user(id=dongle_id)
+  crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit,
+                   device=HARDWARE.get_device_type())
+
+
+def manager_prepare():
+  for p in managed_processes.values():
+    p.prepare()
+
+
+def manager_cleanup():
+  for p in managed_processes.values():
+    p.stop()
+
+  cloudlog.info("everything is dead")
+
+
+def manager_thread():
+  cloudlog.info("manager start")
+  cloudlog.info({"environ": os.environ})
+
+  # save boot log
+  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
+
+  params = Params()
+
+  ignore = []
+  if params.get("DongleId", encoding='utf8') == UNREGISTERED_DONGLE_ID:
+    ignore += ["manage_athenad", "uploader"]
+  if os.getenv("NOBOARD") is not None:
+    ignore.append("pandad")
+  if os.getenv("BLOCK") is not None:
+    ignore += os.getenv("BLOCK").split(",")
+
+  ensure_running(managed_processes.values(), started=False, not_run=ignore)
+
+  started_prev = False
+  sm = messaging.SubMaster(['deviceState'])
+  pm = messaging.PubMaster(['managerState'])
+
+  while True:
+    sm.update()
+    not_run = ignore[:]
+
+    if sm['deviceState'].freeSpacePercent < 5:
+      not_run.append("loggerd")
+
+    started = sm['deviceState'].started
+    driverview = params.get_bool("IsDriverViewEnabled")
+    ensure_running(managed_processes.values(), started, driverview, not_run)
+
+    # trigger an update after going offroad
+    if started_prev and not started and 'updated' in managed_processes:
+      os.sync()
+      managed_processes['updated'].signal(signal.SIGHUP)
+
+    started_prev = started
+
+    running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
+                    for p in managed_processes.values() if p.proc]
+    cloudlog.debug(' '.join(running_list))
+
+    # send managerState
+    msg = messaging.new_message('managerState')
+    msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
+    pm.send('managerState', msg)
+
+    # Exit main loop when uninstall/shutdown/reboot is needed
+    shutdown = False
+    for param in ("DoUninstall", "DoShutdown", "DoReboot"):
+      if params.get_bool(param):
+        cloudlog.warning(f"Shutting down manager - {param} set")
+        shutdown = True
+
+    if shutdown:
+      break
+
+
+def main():
+  prepare_only = os.getenv("PREPAREONLY") is not None
+
+  manager_init()
+
+  # Start UI early so prepare can happen in the background
+  if not prepare_only:
+    managed_processes['ui'].start()
+
+  manager_prepare()
+
+  if prepare_only:
+    return
+
+  # SystemExit on sigterm
+  signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
+
+  try:
+    manager_thread()
+  except Exception:
+    traceback.print_exc()
+    crash.capture_exception()
+  finally:
+    manager_cleanup()
+
+  params = Params()
+  if params.get_bool("DoUninstall"):
+    cloudlog.warning("uninstalling")
+    HARDWARE.uninstall()
+  elif params.get_bool("DoReboot"):
+    cloudlog.warning("reboot")
+    HARDWARE.reboot()
+  elif params.get_bool("DoShutdown"):
+    cloudlog.warning("shutdown")
+    HARDWARE.shutdown()
+
+
+if __name__ == "__main__":
+  unblock_stdout()
+
+  try:
+    main()
+  except Exception:
+    add_file_handler(cloudlog)
+    cloudlog.exception("Manager failed to start")
+
+    # Show last 3 lines of traceback
+    error = traceback.format_exc(-3)
+    error = "Manager failed to start\n\n" + error
+    with TextWindow(error) as t:
+      t.wait_for_exit()
+
+    raise
+
+  # manual exit because we are forked
+  sys.exit(0)
diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
new file mode 100644
index 00000000000000..8cb3505b8e00c3
--- /dev/null
+++ b/selfdrive/manager/process.py
@@ -0,0 +1,291 @@
+import importlib
+import os
+import signal
+import time
+import subprocess
+from abc import ABC, abstractmethod
+from multiprocessing import Process
+
+from setproctitle import setproctitle  # pylint: disable=no-name-in-module
+
+import cereal.messaging as messaging
+import selfdrive.crash as crash
+from common.basedir import BASEDIR
+from common.params import Params
+from common.realtime import sec_since_boot
+from selfdrive.swaglog import cloudlog
+from selfdrive.hardware import HARDWARE
+from cereal import log
+
+WATCHDOG_FN = "/dev/shm/wd_"
+ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
+
+
+def launcher(proc):
+  try:
+    # import the process
+    mod = importlib.import_module(proc)
+
+    # rename the process
+    setproctitle(proc)
+
+    # create new context since we forked
+    messaging.context = messaging.Context()
+
+    # exec the process
+    mod.main()
+  except KeyboardInterrupt:
+    cloudlog.warning("child %s got SIGINT" % proc)
+  except Exception:
+    # can't install the crash handler because sys.excepthook doesn't play nice
+    # with threads, so catch it here.
+    crash.capture_exception()
+    raise
+
+
+def nativelauncher(pargs, cwd):
+  # exec the process
+  os.chdir(cwd)
+  os.execvp(pargs[0], pargs)
+
+
+def join_process(process, timeout):
+  # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
+  # We have to poll the exitcode instead
+  t = time.monotonic()
+  while time.monotonic() - t < timeout and process.exitcode is None:
+    time.sleep(0.001)
+
+
+class ManagerProcess(ABC):
+  unkillable = False
+  daemon = False
+  sigkill = False
+  proc = None
+  enabled = True
+  name = ""
+
+  last_watchdog_time = 0
+  watchdog_max_dt = None
+  watchdog_seen = False
+  shutting_down = False
+
+  @abstractmethod
+  def prepare(self):
+    pass
+
+  @abstractmethod
+  def start(self):
+    pass
+
+  def restart(self):
+    self.stop()
+    self.start()
+
+  def check_watchdog(self, started):
+    if self.watchdog_max_dt is None or self.proc is None:
+      return
+
+    try:
+      fn = WATCHDOG_FN + str(self.proc.pid)
+      self.last_watchdog_time = int(open(fn).read())
+    except Exception:
+      pass
+
+    dt = sec_since_boot() - self.last_watchdog_time / 1e9
+
+    if dt > self.watchdog_max_dt:
+      # Only restart while offroad for now
+      if self.watchdog_seen and ENABLE_WATCHDOG:
+        cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
+        self.restart()
+    else:
+      self.watchdog_seen = True
+
+  def stop(self, retry=True, block=True):
+    if self.proc is None:
+      return
+
+    if self.proc.exitcode is None:
+      if not self.shutting_down:
+        cloudlog.info(f"killing {self.name}")
+        sig = signal.SIGKILL if self.sigkill else signal.SIGINT
+        self.signal(sig)
+        self.shutting_down = True
+
+        if not block:
+          return
+
+      join_process(self.proc, 5)
+
+      # If process failed to die send SIGKILL or reboot
+      if self.proc.exitcode is None and retry:
+        if self.unkillable:
+          cloudlog.critical(f"unkillable process {self.name} failed to exit! rebooting in 15 if it doesn't die")
+          join_process(self.proc, 15)
+
+          if self.proc.exitcode is None:
+            cloudlog.critical(f"unkillable process {self.name} failed to die!")
+            os.system("date >> /data/unkillable_reboot")
+            os.sync()
+            HARDWARE.reboot()
+            raise RuntimeError
+        else:
+          cloudlog.info(f"killing {self.name} with SIGKILL")
+          self.signal(signal.SIGKILL)
+          self.proc.join()
+
+    ret = self.proc.exitcode
+    cloudlog.info(f"{self.name} is dead with {ret}")
+
+    if self.proc.exitcode is not None:
+      self.shutting_down = False
+      self.proc = None
+
+    return ret
+
+  def signal(self, sig):
+    if self.proc is None:
+      return
+
+    # Don't signal if already exited
+    if self.proc.exitcode is not None and self.proc.pid is not None:
+      return
+
+    cloudlog.info(f"sending signal {sig} to {self.name}")
+    os.kill(self.proc.pid, sig)
+
+  def get_process_state_msg(self):
+    state = log.ManagerState.ProcessState.new_message()
+    state.name = self.name
+    if self.proc:
+      state.running = self.proc.is_alive()
+      state.shouldBeRunning = self.proc is not None and not self.shutting_down
+      state.pid = self.proc.pid or 0
+      state.exitCode = self.proc.exitcode or 0
+    return state
+
+
+class NativeProcess(ManagerProcess):
+  def __init__(self, name, cwd, cmdline, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
+    self.name = name
+    self.cwd = cwd
+    self.cmdline = cmdline
+    self.enabled = enabled
+    self.persistent = persistent
+    self.driverview = driverview
+    self.unkillable = unkillable
+    self.sigkill = sigkill
+    self.watchdog_max_dt = watchdog_max_dt
+
+  def prepare(self):
+    pass
+
+  def start(self):
+    # In case we only tried a non blocking stop we need to stop it before restarting
+    if self.shutting_down:
+        self.stop()
+
+    if self.proc is not None:
+      return
+
+    cwd = os.path.join(BASEDIR, self.cwd)
+    cloudlog.info("starting process %s" % self.name)
+    self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd))
+    self.proc.start()
+    self.watchdog_seen = False
+    self.shutting_down = False
+
+
+class PythonProcess(ManagerProcess):
+  def __init__(self, name, module, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
+    self.name = name
+    self.module = module
+    self.enabled = enabled
+    self.persistent = persistent
+    self.driverview = driverview
+    self.unkillable = unkillable
+    self.sigkill = sigkill
+    self.watchdog_max_dt = watchdog_max_dt
+
+  def prepare(self):
+    if self.enabled:
+      cloudlog.info("preimporting %s" % self.module)
+      importlib.import_module(self.module)
+
+  def start(self):
+    # In case we only tried a non blocking stop we need to stop it before restarting
+    if self.shutting_down:
+        self.stop()
+
+    if self.proc is not None:
+      return
+
+    cloudlog.info("starting python %s" % self.module)
+    self.proc = Process(name=self.name, target=launcher, args=(self.module,))
+    self.proc.start()
+    self.watchdog_seen = False
+    self.shutting_down = False
+
+
+class DaemonProcess(ManagerProcess):
+  """Python process that has to stay running across manager restart.
+  This is used for athena so you don't lose SSH access when restarting manager."""
+  def __init__(self, name, module, param_name, enabled=True):
+    self.name = name
+    self.module = module
+    self.param_name = param_name
+    self.enabled = enabled
+    self.persistent = True
+
+  def prepare(self):
+    pass
+
+  def start(self):
+    params = Params()
+    pid = params.get(self.param_name, encoding='utf-8')
+
+    if pid is not None:
+      try:
+        os.kill(int(pid), 0)
+        with open(f'/proc/{pid}/cmdline') as f:
+          if self.module in f.read():
+            # daemon is running
+            return
+      except (OSError, FileNotFoundError):
+        # process is dead
+        pass
+
+    cloudlog.info("starting daemon %s" % self.name)
+    proc = subprocess.Popen(['python', '-m', self.module],  # pylint: disable=subprocess-popen-preexec-fn
+                               stdin=open('/dev/null', 'r'),
+                               stdout=open('/dev/null', 'w'),
+                               stderr=open('/dev/null', 'w'),
+                               preexec_fn=os.setpgrp)
+
+    params.put(self.param_name, str(proc.pid))
+
+  def stop(self, retry=True, block=True):
+    pass
+
+
+def ensure_running(procs, started, driverview=False, not_run=None):
+  if not_run is None:
+    not_run = []
+
+  for p in procs:
+    if p.name in not_run:
+      p.stop(block=False)
+    elif not p.enabled:
+      p.stop(block=False)
+    elif p.persistent:
+      p.start()
+    elif p.driverview and driverview:
+      p.start()
+    elif started:
+      p.start()
+    else:
+      p.stop(block=False)
+
+    p.check_watchdog(started)
+
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
new file mode 100644
index 00000000000000..2e3741350eb5b0
--- /dev/null
+++ b/selfdrive/manager/process_config.py
@@ -0,0 +1,45 @@
+import os
+
+from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from selfdrive.hardware import EON, TICI, PC
+
+WEBCAM = os.getenv("USE_WEBCAM") is not None
+
+procs = [
+  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
+  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
+  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, driverview=True),
+  NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), driverview=True),
+  NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
+  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
+  NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], enabled=(PC or TICI), persistent=True),
+  NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
+  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
+  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
+  NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)),
+  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], persistent=True),
+  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
+  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
+  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd"),
+  PythonProcess("deleter", "selfdrive.loggerd.deleter", persistent=True),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), driverview=True),
+  PythonProcess("logmessaged", "selfdrive.logmessaged", persistent=True),
+  PythonProcess("pandad", "selfdrive.pandad", persistent=True),
+  PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
+  PythonProcess("plannerd", "selfdrive.controls.plannerd"),
+  PythonProcess("radard", "selfdrive.controls.radard"),
+  PythonProcess("thermald", "selfdrive.thermald.thermald", persistent=True),
+  PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, persistent=True),
+  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, persistent=True),
+  PythonProcess("updated", "selfdrive.updated", enabled=not PC, persistent=True),
+  PythonProcess("uploader", "selfdrive.loggerd.uploader", persistent=True),
+
+  # EON only
+  PythonProcess("rtshield", "selfdrive.rtshield", enabled=EON),
+  PythonProcess("androidd", "selfdrive.hardware.eon.androidd", enabled=EON, persistent=True),
+]
+
+managed_processes = {p.name: p for p in procs}
diff --git a/selfdrive/locationd/kalman/__init__.py b/selfdrive/manager/test/__init__.py
similarity index 100%
rename from selfdrive/locationd/kalman/__init__.py
rename to selfdrive/manager/test/__init__.py
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
new file mode 100755
index 00000000000000..588d72aa286fd1
--- /dev/null
+++ b/selfdrive/manager/test/test_manager.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+import os
+import signal
+import time
+import unittest
+
+import selfdrive.manager.manager as manager
+from selfdrive.hardware import EON
+from selfdrive.manager.process import DaemonProcess
+from selfdrive.manager.process_config import managed_processes
+
+os.environ['FAKEUPLOAD'] = "1"
+
+# TODO: make eon fast
+MAX_STARTUP_TIME = 30 if EON else 15
+ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['updated', 'pandad'])]
+
+
+class TestManager(unittest.TestCase):
+  def setUp(self):
+    os.environ['PASSIVE'] = '0'
+
+  def tearDown(self):
+    manager.manager_cleanup()
+
+  def test_manager_prepare(self):
+    os.environ['PREPAREONLY'] = '1'
+    manager.main()
+
+  def test_startup_time(self):
+    for _ in range(10):
+      start = time.monotonic()
+      os.environ['PREPAREONLY'] = '1'
+      manager.main()
+      t = time.monotonic() - start
+      assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
+
+  # ensure all processes exit cleanly
+  def test_clean_exit(self):
+    manager.manager_prepare()
+
+    for p in ALL_PROCESSES:
+      managed_processes[p].start()
+
+    time.sleep(10)
+
+    for p in reversed(ALL_PROCESSES):
+      state = managed_processes[p].get_process_state_msg()
+      self.assertTrue(state.running, f"{p} not running")
+
+      exit_code = managed_processes[p].stop(retry=False)
+      if (p == 'ui') or (EON and p == 'logcatd'):
+        # TODO: make Qt UI exit gracefully
+        continue
+
+      # Make sure the process is actually dead
+      managed_processes[p].stop()
+
+      # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
+      exit_codes = [0, 1]
+      if managed_processes[p].sigkill:
+        exit_codes = [-signal.SIGKILL]
+      assert exit_code in exit_codes, f"{p} died with {exit_code}"
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 4c58e278f032db..8e4f2569e0b937 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,34 +1,80 @@
-Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
+Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 lenv = env.Clone()
 
-libs = [messaging, common, 'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv', gpucommon, visionipc]
+libs = [cereal, messaging, common, visionipc, gpucommon,
+        'OpenCL', 'SNPE', 'symphony-cpu', 'capnp', 'zmq', 'kj', 'yuv']
+
+def get_dlsym_offset():
+  """Returns the offset between dlopen and dlsym in libdl.so"""
+  import ctypes
+  libdl = ctypes.PyDLL('libdl.so')
+  dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value
+  dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value
+  return dlsym - dlopen
+
 
 common_src = [
-  "models/commonmodel.c",
+  "models/commonmodel.cc",
   "runners/snpemodel.cc",
-  "transforms/loadyuv.c",
-  "transforms/transform.c"]
+  "transforms/loadyuv.cc",
+  "transforms/transform.cc"
+]
+
+thneed_src = [
+  "thneed/thneed.cc",
+  "thneed/serialize.cc",
+  "runners/thneedmodel.cc",
+]
 
-if arch == "aarch64":
-  libs += ['gsl', 'CB', 'gnustl_shared']
+use_thneed = not GetOption('no_thneed')
+
+if arch == "aarch64" or arch == "larch64":
+  libs += ['gsl', 'CB']
+  libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
+
+  if use_thneed:
+    common_src += thneed_src
+    dlsym_offset = get_dlsym_offset()
+    lenv['CXXFLAGS'].append("-DUSE_THNEED")
+    lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
 else:
-  libs += ['symphony-cpu', 'pthread']
+  libs += ['pthread']
+
+  if not GetOption('snpe'):
+    # for onnx support
+    common_src += ['runners/onnxmodel.cc']
 
-  # for tensorflow support
-  common_src += ['runners/tfmodel.cc']
-  # tell runners to use it
-  lenv['CFLAGS'].append("-DUSE_TF_MODEL")
-  lenv['CXXFLAGS'].append("-DUSE_TF_MODEL")
+    # tell runners to use onnx
+    lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
+    lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
 
-common = lenv.Object(common_src)
+  if arch == "Darwin":
+    # fix OpenCL
+    del libs[libs.index('OpenCL')]
+    lenv['FRAMEWORKS'] = ['OpenCL']
+
+    # no SNPE on Mac
+    del libs[libs.index('SNPE')]
+    del libs[libs.index('symphony-cpu')]
+    del common_src[common_src.index('runners/snpemodel.cc')]
+
+common_model = lenv.Object(common_src)
+
+# build thneed model
+if use_thneed and arch in ("aarch64", "larch64"):
+  compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
+  cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} ../../models/supercombo.dlc ../../models/supercombo.thneed --binary"
+
+  lib_paths = ':'.join([Dir(p).abspath for p in lenv["LIBPATH"]])
+  cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}"})
+  cenv.Command("../../models/supercombo.thneed", ["../../models/supercombo.dlc", compiler], cmd)
 
 lenv.Program('_dmonitoringmodeld', [
     "dmonitoringmodeld.cc",
     "models/dmonitoring.cc",
-  ]+common, LIBS=libs)
+  ]+common_model, LIBS=libs)
 
 lenv.Program('_modeld', [
     "modeld.cc",
     "models/driving.cc",
-  ]+common, LIBS=libs)
-
+  ]+common_model, LIBS=libs)
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 2bf48574f8d6f4..125864b98b0e4b 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -1,6 +1,7 @@
-MAX_DISTANCE = 140.
-LANE_OFFSET = 1.8
-MAX_REL_V = 10.
+IDX_N = 33
 
-LEAD_X_SCALE = 10
-LEAD_Y_SCALE = 10
+def index_function(idx, max_val=192, max_idx=32):
+  return (max_val) * ((idx/max_idx)**2)
+
+
+T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
index 710e0e595b208f..9acd7bcc33cf40 100755
--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -1,5 +1,17 @@
 #!/bin/sh
-export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64-android-clang3.8:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
-export ADSP_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64-android-clang3.8/"
-exec ./_dmonitoringmodeld
 
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ -d /system ]; then
+  if [ -f /TICI ]; then # QCOM2
+    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
+  else # QCOM
+    export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$LD_LIBRARY_PATH"
+  fi
+  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
+else
+  # PC
+  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
+fi
+exec ./_dmonitoringmodeld
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index 9fb67b6360c6d3..6ae6e780c8fa72 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -1,80 +1,55 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <signal.h>
-#include <cassert>
+#include <sys/resource.h>
+#include <limits.h>
 
-#include "common/visionbuf.h"
-#include "common/visionipc.h"
-#include "common/swaglog.h"
+#include <cstdio>
+#include <cstdlib>
 
-#include "models/dmonitoring.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/dmonitoring.h"
 
-#ifndef PATH_MAX
-#include <linux/limits.h>
-#endif
+ExitHandler do_exit;
 
+void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
+  PubMaster pm({"driverState"});
+  double last = 0;
 
-volatile sig_atomic_t do_exit = 0;
-
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
-int main(int argc, char **argv) {
-  int err;
-  set_realtime_priority(1);
-
-  // messaging
-  Context *msg_context = Context::create();
-  PubSocket *dmonitoring_sock = PubSocket::create(msg_context, "driverState");
-
-  // init the models
-  DMonitoringModelState dmonitoringmodel;
-  dmonitoring_init(&dmonitoringmodel);
-
-  // loop
-  VisionStream stream;
   while (!do_exit) {
-    VisionStreamBufs buf_info;
-    err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, true, &buf_info);
-    if (err) {
-      printf("visionstream connect fail\n");
-      usleep(100000);
-      continue;
-    }
-    LOGW("connected with buffer size: %d", buf_info.buf_len);
+    VisionIpcBufExtra extra = {};
+    VisionBuf *buf = vipc_client.recv(&extra);
+    if (buf == nullptr) continue;
 
-    double last = 0;
-    while (!do_exit) {
-      VIPCBuf *buf;
-      VIPCBufExtra extra;
-      buf = visionstream_get(&stream, &extra);
-      if (buf == NULL) {
-        printf("visionstream get failed\n");
-        break;
-      }
-      //printf("frame_id: %d %dx%d\n", extra.frame_id, buf_info.width, buf_info.height);
+    double t1 = millis_since_boot();
+    DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height);
+    double t2 = millis_since_boot();
 
-      double t1 = millis_since_boot();
+    // send dm packet
+    dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output);
 
-      DMonitoringResult res = dmonitoring_eval_frame(&dmonitoringmodel, buf->addr, buf_info.width, buf_info.height);
-
-      double t2 = millis_since_boot();
+    //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
+    last = t1;
+  }
+}
 
-      // send dm packet
-      dmonitoring_publish(dmonitoring_sock, extra.frame_id, res);
+int main(int argc, char **argv) {
+  setpriority(PRIO_PROCESS, 0, -15);
 
-      LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
-      last = t1;
-    }
+  // init the models
+  DMonitoringModelState model;
+  dmonitoring_init(&model);
 
+  VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_YUV_FRONT, true);
+  while (!do_exit && !vipc_client.connect(false)) {
+    util::sleep_for(100);
   }
 
-  visionstream_destroy(&stream);
-
-  delete dmonitoring_sock;
-  dmonitoring_free(&dmonitoringmodel);
+  // run the models
+  if (vipc_client.connected) {
+    LOGW("connected with buffer size: %d", vipc_client.buffers[0].len);
+    run_model(model, vipc_client);
+  }
 
+  dmonitoring_free(&model);
   return 0;
 }
diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld
index bbe7006afc747e..fcf2812cb7305a 100755
--- a/selfdrive/modeld/modeld
+++ b/selfdrive/modeld/modeld
@@ -1,4 +1,16 @@
 #!/bin/sh
-export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64-android-clang3.8/:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
-exec ./_modeld
 
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ -d /system ]; then
+  if [ -f /TICI ]; then # QCOM2
+    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
+  else # QCOM
+    export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$LD_LIBRARY_PATH"
+  fi
+else
+  # PC
+  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
+fi
+exec ./_modeld
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index fa49d1b5dff303..3d3e43590955b3 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -1,32 +1,29 @@
-#include <stdio.h>
-#include <stdlib.h>
-
-#include "common/visionbuf.h"
-#include "common/visionipc.h"
-#include "common/swaglog.h"
-
-#include "models/driving.h"
-
-volatile sig_atomic_t do_exit = 0;
-
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
+#include <cstdio>
+#include <cstdlib>
+#include <mutex>
+
+#include <eigen3/Eigen/Dense>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/modeld/models/driving.h"
+
+ExitHandler do_exit;
 // globals
-bool run_model;
+bool live_calib_seen;
 mat3 cur_transform;
-pthread_mutex_t transform_lock;
-
-void* live_thread(void *arg) {
-  int err;
-  set_thread_name("live");
+std::mutex transform_lock;
 
-  Context * c = Context::create();
-  SubSocket * live_calibration_sock = SubSocket::create(c, "liveCalibration");
-  assert(live_calibration_sock != NULL);
+void calibration_thread(bool wide_camera) {
+  set_thread_name("calibration");
+  set_realtime_priority(50);
 
-  Poller * poller = Poller::create({live_calibration_sock});
+  SubMaster sm({"liveCalibration"});
 
   /*
      import numpy as np
@@ -40,208 +37,138 @@ void* live_thread(void *arg) {
     -1.09890110e-03, 0.00000000e+00, 2.81318681e-01,
     -1.84808520e-20, 9.00738606e-04,-4.28751576e-02;
 
-  Eigen::Matrix<float, 3, 3> eon_intrinsics;
-  eon_intrinsics <<
-    910.0, 0.0, 582.0,
-    0.0, 910.0, 437.0,
-    0.0,   0.0,   1.0;
+  Eigen::Matrix<float, 3, 3> cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
+  const mat3 yuv_transform = get_model_yuv_transform();
 
   while (!do_exit) {
-    for (auto sock : poller->poll(10)){
-      Message * msg = sock->receive();
-
-      auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
-      memcpy(amsg.begin(), msg->getData(), msg->getSize());
-
-      capnp::FlatArrayMessageReader cmsg(amsg);
-      cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-      if (event.isLiveCalibration()) {
-        pthread_mutex_lock(&transform_lock);
-
-        auto extrinsic_matrix = event.getLiveCalibration().getExtrinsicMatrix();
-        Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
-        for (int i = 0; i < 4*3; i++){
-          extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
-        }
-
-        auto camera_frame_from_road_frame = eon_intrinsics * extrinsic_matrix_eigen;
-        Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
-        camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
-        camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
-        camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
-
-        auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
+    sm.update(100);
+    if(sm.updated("liveCalibration")) {
+      auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
+      Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
+      for (int i = 0; i < 4*3; i++) {
+        extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
+      }
 
-        for (int i=0; i<3*3; i++) {
-          cur_transform.v[i] = warp_matrix(i / 3, i % 3);
-        }
+      auto camera_frame_from_road_frame = cam_intrinsics * extrinsic_matrix_eigen;
+      Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
+      camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
+      camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
+      camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
 
-        run_model = true;
-        pthread_mutex_unlock(&transform_lock);
+      auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
+      mat3 transform = {};
+      for (int i=0; i<3*3; i++) {
+        transform.v[i] = warp_matrix(i / 3, i % 3);
       }
-
-      delete msg;
+      mat3 model_transform = matmul3(yuv_transform, transform);
+      std::lock_guard lk(transform_lock);
+      cur_transform = model_transform;
+      live_calib_seen = true;
     }
-
   }
-
-
-  return NULL;
 }
 
-int main(int argc, char **argv) {
-  int err;
-  set_realtime_priority(1);
-
-  // start calibration thread
-  pthread_t live_thread_handle;
-  err = pthread_create(&live_thread_handle, NULL, live_thread, NULL);
-  assert(err == 0);
-
+void run_model(ModelState &model, VisionIpcClient &vipc_client) {
   // messaging
-  Context *msg_context = Context::create();
-  PubSocket *model_sock = PubSocket::create(msg_context, "model");
-  PubSocket *posenet_sock = PubSocket::create(msg_context, "cameraOdometry");
-  SubSocket *pathplan_sock = SubSocket::create(msg_context, "pathPlan", "127.0.0.1", true);
+  PubMaster pm({"modelV2", "cameraOdometry"});
+  SubMaster sm({"lateralPlan", "roadCameraState"});
 
-  assert(model_sock != NULL);
-  assert(posenet_sock != NULL);
-  assert(pathplan_sock != NULL);
+  // setup filter to track dropped frames
+  FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
 
-  // cl init
-  cl_device_id device_id;
-  cl_context context;
-  cl_command_queue q;
-  {
-    // TODO: refactor this
-    cl_platform_id platform_id[2];
-    cl_uint num_devices;
-    cl_uint num_platforms;
-
-    err = clGetPlatformIDs(sizeof(platform_id)/sizeof(cl_platform_id), platform_id, &num_platforms);
-    assert(err == 0);
-    
-    #ifdef QCOM
-      int clPlatform = 0;
-    #else
-      // don't use nvidia on pc, it's broken
-      // TODO: write this nicely
-      int clPlatform = num_platforms-1;
-    #endif
-
-    char cBuffer[1024];
-    clGetPlatformInfo(platform_id[clPlatform], CL_PLATFORM_NAME, sizeof(cBuffer), &cBuffer, NULL);
-    LOGD("got %d opencl platform(s), using %s", num_platforms, cBuffer);
-
-    err = clGetDeviceIDs(platform_id[clPlatform], CL_DEVICE_TYPE_DEFAULT, 1,
-                         &device_id, &num_devices);
-    assert(err == 0);
-
-    context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
-    assert(err == 0);
-
-    q = clCreateCommandQueue(context, device_id, 0, &err);
-    assert(err == 0);
-  }
+  uint32_t frame_id = 0, last_vipc_frame_id = 0;
+  double last = 0;
+  uint32_t run_count = 0;
 
-  // init the models
-  ModelState model;
-  model_init(&model, device_id, context, true);
-  LOGW("models loaded, modeld starting");
-
-  // debayering does a 2x downscale
-  mat3 yuv_transform = transform_scale_buffer((mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0,
-  }}, 0.5);
-
-  // loop
-  VisionStream stream;
   while (!do_exit) {
-    VisionStreamBufs buf_info;
-    err = visionstream_init(&stream, VISION_STREAM_YUV, true, &buf_info);
-    if (err) {
-      printf("visionstream connect fail\n");
-      usleep(100000);
-      continue;
-    }
-    LOGW("connected with buffer size: %d", buf_info.buf_len);
-
-    // one frame in memory
-    cl_mem yuv_cl;
-    VisionBuf yuv_ion = visionbuf_allocate_cl(buf_info.buf_len, device_id, context, &yuv_cl);
-
-    double last = 0;
-    int desire = -1;
-    while (!do_exit) {
-      VIPCBuf *buf;
-      VIPCBufExtra extra;
-      buf = visionstream_get(&stream, &extra);
-      if (buf == NULL) {
-        printf("visionstream get failed\n");
-        break;
+    VisionIpcBufExtra extra = {};
+    VisionBuf *buf = vipc_client.recv(&extra);
+    if (buf == nullptr) continue;
+
+    transform_lock.lock();
+    mat3 model_transform = cur_transform;
+    const bool run_model_this_iter = live_calib_seen;
+    transform_lock.unlock();
+
+    // TODO: path planner timeout?
+    sm.update(0);
+    int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
+    frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
+
+    if (run_model_this_iter) {
+      run_count++;
+
+      float vec_desire[DESIRE_LEN] = {0};
+      if (desire >= 0 && desire < DESIRE_LEN) {
+        vec_desire[desire] = 1.0;
       }
 
-      pthread_mutex_lock(&transform_lock);
-      mat3 transform = cur_transform;
-      const bool run_model_this_iter = run_model;
-      pthread_mutex_unlock(&transform_lock);
-
-      Message *msg = pathplan_sock->receive(true);
-      if (msg != NULL) {
-        // TODO: copy and pasted from camerad/main.cc
-        auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
-        memcpy(amsg.begin(), msg->getData(), msg->getSize());
-
-        capnp::FlatArrayMessageReader cmsg(amsg);
-        cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-        // TODO: path planner timeout?
-        desire = ((int)event.getPathPlan().getDesire()) - 1;
-        delete msg;
+      double mt1 = millis_since_boot();
+      ModelDataRaw model_buf = model_eval_frame(&model, buf->buf_cl, buf->width, buf->height,
+                                                model_transform, vec_desire);
+      double mt2 = millis_since_boot();
+      float model_execution_time = (mt2 - mt1) / 1000.0;
+
+      // tracked dropped frames
+      uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1;
+      float frames_dropped = frame_dropped_filter.update((float)std::min(vipc_dropped_frames, 10U));
+      if (run_count < 10) { // let frame drops warm up
+        frame_dropped_filter.reset(0);
+        frames_dropped = 0.;
       }
 
-      double mt1 = 0, mt2 = 0;
-      if (run_model_this_iter) {
-        float vec_desire[DESIRE_SIZE] = {0};
-        if (desire >= 0 && desire < DESIRE_SIZE) {
-          vec_desire[desire] = 1.0;
-        }
+      float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
+
+      model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time,
+                    kj::ArrayPtr<const float>(model.output.data(), model.output.size()));
+      posenet_publish(pm, extra.frame_id, vipc_dropped_frames, model_buf, extra.timestamp_eof);
 
-        mat3 model_transform = matmul3(yuv_transform, transform);
+      //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
+      last = mt1;
+      last_vipc_frame_id = extra.frame_id;
+    }
+  }
+}
 
-        mt1 = millis_since_boot();
+int main(int argc, char **argv) {
+  if (!Hardware::PC()) {
+    int ret;
+    ret = set_realtime_priority(54);
+    assert(ret == 0);
+    set_core_affinity({Hardware::EON() ? 2 : 7});
+    assert(ret == 0);
+  }
 
-        // TODO: don't make copies!
-        memcpy(yuv_ion.addr, buf->addr, buf_info.buf_len);
+  bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
 
-        ModelDataRaw model_buf =
-            model_eval_frame(&model, q, yuv_cl, buf_info.width, buf_info.height,
-                             model_transform, NULL, vec_desire);
-        mt2 = millis_since_boot();
+  // start calibration thread
+  std::thread thread = std::thread(calibration_thread, wide_camera);
 
-        model_publish(model_sock, extra.frame_id, model_buf, extra.timestamp_eof);
-        posenet_publish(posenet_sock, extra.frame_id, model_buf, extra.timestamp_eof);
+  // cl init
+  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 
-        LOGD("model process: %.2fms, from last %.2fms", mt2-mt1, mt1-last);
-        last = mt1;
-      }
+  // init the models
+  ModelState model;
+  model_init(&model, device_id, context);
+  LOGW("models loaded, modeld starting");
 
-    }
-    visionbuf_free(&yuv_ion);
+  VisionIpcClient vipc_client = VisionIpcClient("camerad", wide_camera ? VISION_STREAM_YUV_WIDE : VISION_STREAM_YUV_BACK, true, device_id, context);
+  while (!do_exit && !vipc_client.connect(false)) {
+    util::sleep_for(100);
   }
 
-  visionstream_destroy(&stream);
+  // run the models
+  // vipc_client.connected is false only when do_exit is true
+  if (vipc_client.connected) {
+    const VisionBuf *b = &vipc_client.buffers[0];
+    LOGW("connected with buffer size: %d (%d x %d)", b->len, b->width, b->height);
+    run_model(model, vipc_client);
+  }
 
-  delete model_sock;
-  
   model_free(&model);
-
-  LOG("joining live_thread");
-  err = pthread_join(live_thread_handle, NULL);
-  assert(err == 0);
-
+  LOG("joining calibration thread");
+  thread.join();
+  CL_CHECK(clReleaseContext(context));
   return 0;
 }
diff --git a/selfdrive/modeld/models/commonmodel.c b/selfdrive/modeld/models/commonmodel.c
deleted file mode 100644
index 143480fb0bd608..00000000000000
--- a/selfdrive/modeld/models/commonmodel.c
+++ /dev/null
@@ -1,68 +0,0 @@
-#include "commonmodel.h"
-
-#include <czmq.h>
-#include "cereal/gen/c/log.capnp.h"
-#include "common/mat.h"
-#include "common/timing.h"
-
-void frame_init(ModelFrame* frame, int width, int height,
-                      cl_device_id device_id, cl_context context) {
-  int err;
-  frame->device_id = device_id;
-  frame->context = context;
-
-  transform_init(&frame->transform, context, device_id);
-  frame->transformed_width = width;
-  frame->transformed_height = height;
-
-  frame->transformed_y_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
-                                       frame->transformed_width*frame->transformed_height, NULL, &err);
-  assert(err == 0);
-  frame->transformed_u_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
-                                       (frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err);
-  assert(err == 0);
-  frame->transformed_v_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
-                                       (frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err);
-  assert(err == 0);
-
-  frame->net_input_size = ((width*height*3)/2)*sizeof(float);
-  frame->net_input = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
-                                frame->net_input_size, (void*)NULL, &err);
-  assert(err == 0);
-
-  loadyuv_init(&frame->loadyuv, context, device_id, frame->transformed_width, frame->transformed_height);
-}
-
-float *frame_prepare(ModelFrame* frame, cl_command_queue q,
-                           cl_mem yuv_cl, int width, int height,
-                           mat3 transform) {
-  int err;
-  int i = 0;
-  transform_queue(&frame->transform, q,
-                  yuv_cl, width, height,
-                  frame->transformed_y_cl, frame->transformed_u_cl, frame->transformed_v_cl,
-                  frame->transformed_width, frame->transformed_height,
-                  transform);
-  loadyuv_queue(&frame->loadyuv, q,
-                frame->transformed_y_cl, frame->transformed_u_cl, frame->transformed_v_cl,
-                frame->net_input);
-  float *net_input_buf = (float *)clEnqueueMapBuffer(q, frame->net_input, CL_TRUE,
-                                            CL_MAP_READ, 0, frame->net_input_size,
-                                            0, NULL, NULL, &err);
-  clFinish(q);
-  return net_input_buf;
-}
-
-void frame_free(ModelFrame* frame) {
-  transform_destroy(&frame->transform);
-  loadyuv_destroy(&frame->loadyuv);
-}
-
-
-float sigmoid(float input) {
-  return 1 / (1 + expf(-input));
-}
-
-float softplus(float input) {
-  return log1p(expf(input));
-}
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
new file mode 100644
index 00000000000000..1a1f6eaea6aade
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -0,0 +1,76 @@
+#include "selfdrive/modeld/models/commonmodel.h"
+
+#include <algorithm>
+#include <cassert>
+#include <cmath>
+#include <cstring>
+
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/timing.h"
+
+ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
+  input_frames = std::make_unique<float[]>(buf_size);
+
+  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
+  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
+
+  transform_init(&transform, context, device_id);
+  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, const mat3 &projection, cl_mem *output) {
+  transform_queue(&this->transform, q,
+                  yuv_cl, frame_width, frame_height,
+                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+
+  if (output == NULL) {
+    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
+
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  } else {
+    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
+    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+    clFinish(q);
+    return NULL;
+  }
+}
+
+ModelFrame::~ModelFrame() {
+  transform_destroy(&transform);
+  loadyuv_destroy(&loadyuv);
+  CL_CHECK(clReleaseMemObject(net_input_cl));
+  CL_CHECK(clReleaseMemObject(v_cl));
+  CL_CHECK(clReleaseMemObject(u_cl));
+  CL_CHECK(clReleaseMemObject(y_cl));
+  CL_CHECK(clReleaseCommandQueue(q));
+}
+
+void softmax(const float* input, float* output, size_t len) {
+  const float max_val = *std::max_element(input, input + len);
+  float denominator = 0;
+  for(int i = 0; i < len; i++) {
+    float const v_exp = expf(input[i] - max_val);
+    denominator += v_exp;
+    output[i] = v_exp;
+  }
+
+  const float inv_denominator = 1. / denominator;
+  for(int i = 0; i < len; i++) {
+    output[i] *= inv_denominator;
+  }
+}
+
+float sigmoid(float input) {
+  return 1 / (1 + expf(-input));
+}
+
+float softplus(float input) {
+  return log1p(expf(input));
+}
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 4e3ee448cfc78f..d7904489b120c0 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -1,42 +1,43 @@
-#ifndef COMMONMODEL_H
-#define COMMONMODEL_H
+#pragma once
 
-#include <CL/cl.h>
+#include <cfloat>
+#include <cstdlib>
 
-#include "common/mat.h"
-#include "transforms/transform.h"
-#include "transforms/loadyuv.h"
+#include <memory>
 
-#ifdef __cplusplus
-extern "C" {
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
 #endif
 
+#include "selfdrive/common/mat.h"
+#include "selfdrive/modeld/transforms/loadyuv.h"
+#include "selfdrive/modeld/transforms/transform.h"
+
+constexpr int MODEL_WIDTH = 512;
+constexpr int MODEL_HEIGHT = 256;
+constexpr int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
+
+const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
+
+void softmax(const float* input, float* output, size_t len);
 float softplus(float input);
 float sigmoid(float input);
 
-typedef struct ModelFrame {
-  cl_device_id device_id;
-  cl_context context;
+class ModelFrame {
+ public:
+  ModelFrame(cl_device_id device_id, cl_context context);
+  ~ModelFrame();
+  float* prepare(cl_mem yuv_cl, int width, int height, const mat3& transform, cl_mem *output);
 
-  // input
+  const int buf_size = MODEL_FRAME_SIZE * 2;
+
+ private:
   Transform transform;
-  int transformed_width, transformed_height;
-  cl_mem transformed_y_cl, transformed_u_cl, transformed_v_cl;
   LoadYUVState loadyuv;
-  cl_mem net_input;
-  size_t net_input_size;
-} ModelFrame;
-
-void frame_init(ModelFrame* frame, int width, int height,
-                      cl_device_id device_id, cl_context context);
-float *frame_prepare(ModelFrame* frame, cl_command_queue q,
-                           cl_mem yuv_cl, int width, int height,
-                           mat3 transform);
-void frame_free(ModelFrame* frame);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
+  cl_command_queue q;
+  cl_mem y_cl, u_cl, v_cl, net_input_cl;
+  std::unique_ptr<float[]> input_frames;
+};
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 787608f91a5b49..719a9d8a0756ca 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -1,161 +1,219 @@
-#include <string.h>
-#include "dmonitoring.h"
-#include "common/mat.h"
-#include "common/timing.h"
+#include <cstring>
 
-// #include <fastcv.h>
-#include <libyuv.h>
+#include "libyuv.h"
 
-#define MODEL_WIDTH 160
-#define MODEL_HEIGHT 320
-#define FULL_W 426
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/hardware/hw.h"
+
+#include "selfdrive/modeld/models/dmonitoring.h"
+
+#define MODEL_WIDTH 320
+#define MODEL_HEIGHT 640
+#define FULL_W 852 // should get these numbers from camerad
 
 void dmonitoring_init(DMonitoringModelState* s) {
-  s->m = new DefaultRunModel("../../models/dmonitoring_model_q.dlc", (float*)&s->output, OUTPUT_SIZE, USE_DSP_RUNTIME);
-}
+  s->is_rhd = Params().getBool("IsRHD");
+  for (int x = 0; x < std::size(s->tensor); ++x) {
+    s->tensor[x] = (x - 128.f) * 0.0078125f;
+  }
 
-DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) {
+#ifdef USE_ONNX_MODEL
+  s->m = new ONNXModel("../../models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+#else
+  s->m = new SNPEModel("../../models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+#endif
+}
 
-  uint8_t *raw_buf = (uint8_t*) stream_buf;
-  uint8_t *raw_y_buf = raw_buf;
-  uint8_t *raw_u_buf = raw_y_buf + (width * height);
-  uint8_t *raw_v_buf = raw_u_buf + ((width/2) * (height/2));
+template <class T>
+static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
+  if (buf.size() < size) buf.resize(size);
+  return buf.data();
+}
 
-  int cropped_width = height/2;
-  int cropped_height = height;
+static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
+  uint8_t *y = get_buffer(buf, width * height * 3 / 2);
+  uint8_t *u = y + width * height;
+  uint8_t *v = u + (width /2) * (height / 2);
+  return std::make_tuple(y, u, v);
+}
 
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
+struct Rect {int x, y, w, h;};
+void crop_yuv(uint8_t *raw, int width, int height, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) {
+  uint8_t *raw_y = raw;
+  uint8_t *raw_u = raw_y + (width * height);
+  uint8_t *raw_v = raw_u + ((width / 2) * (height / 2));
+  for (int r = 0; r < rect.h / 2; r++) {
+    memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * width + rect.x, rect.w);
+    memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * width + rect.x, rect.w);
+    memcpy(u + r * (rect.w / 2), raw_u + (r + (rect.y / 2)) * width / 2 + (rect.x / 2), rect.w / 2);
+    memcpy(v + r * (rect.w / 2), raw_v + (r + (rect.y / 2)) * width / 2 + (rect.x / 2), rect.w / 2);
+  }
+}
 
-  uint8_t *cropped_buf = new uint8_t[cropped_width*cropped_height*3/2];
-  uint8_t *cropped_y_buf = cropped_buf;
-  uint8_t *cropped_u_buf = cropped_y_buf + (cropped_width * cropped_height);
-  uint8_t *cropped_v_buf = cropped_u_buf + ((cropped_width/2) * (cropped_height/2));
-
-  if (true) {
-    for (int r = 0; r < height/2; r++) {
-      memcpy(cropped_y_buf + 2*r*cropped_width, raw_y_buf + 2*r*width + (width - cropped_width), cropped_width);
-      memcpy(cropped_y_buf + (2*r+1)*cropped_width, raw_y_buf + (2*r+1)*width + (width - cropped_width), cropped_width);
-      memcpy(cropped_u_buf + r*cropped_width/2, raw_u_buf + r*width/2 + ((width/2) - (cropped_width/2)), cropped_width/2);
-      memcpy(cropped_v_buf + r*cropped_width/2, raw_v_buf + r*width/2 + ((width/2) - (cropped_width/2)), cropped_width/2);
+DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) {
+  Rect crop_rect;
+  if (Hardware::TICI()) {
+    const int full_width_tici = 1928;
+    const int full_height_tici = 1208;
+    const int adapt_width_tici = 954;
+    const int x_offset_tici = -72;
+    const int y_offset_tici = -144;
+    const int cropped_height = adapt_width_tici / 1.33;
+    crop_rect = {full_width_tici / 2 - adapt_width_tici / 2 + x_offset_tici,
+                 full_height_tici / 2 - cropped_height / 2 + y_offset_tici,
+                 cropped_height / 2,
+                 cropped_height};
+    if (!s->is_rhd) {
+      crop_rect.x += adapt_width_tici - crop_rect.w;
     }
+
   } else {
-    // not tested
-    uint8_t *premirror_cropped_buf = new uint8_t[cropped_width*cropped_height*3/2];
-    uint8_t *premirror_cropped_y_buf = premirror_cropped_buf;
-    uint8_t *premirror_cropped_u_buf = premirror_cropped_y_buf + (cropped_width * cropped_height);
-    uint8_t *premirror_cropped_v_buf = premirror_cropped_u_buf + ((cropped_width/2) * (cropped_height/2));
-    for (int r = 0; r < height/2; r++) {
-      memcpy(premirror_cropped_y_buf + 2*r*cropped_width, raw_y_buf + 2*r*width, cropped_width);
-      memcpy(premirror_cropped_y_buf + (2*r+1)*cropped_width, raw_y_buf + (2*r+1)*width, cropped_width);
-      memcpy(premirror_cropped_u_buf + r*cropped_width/2, raw_u_buf + r*width/2, cropped_width/2);
-      memcpy(premirror_cropped_v_buf + r*cropped_width/2, raw_v_buf + r*width/2, cropped_width/2);
+    const int adapt_width = 372;
+    crop_rect = {0, 0, adapt_width, height};
+    if (!s->is_rhd) {
+      crop_rect.x += width - crop_rect.w;
     }
-    libyuv::I420Mirror(premirror_cropped_y_buf, cropped_width,
-                       premirror_cropped_u_buf, cropped_width/2,
-                       premirror_cropped_v_buf, cropped_width/2,
-                       cropped_y_buf, cropped_width,
-                       cropped_u_buf, cropped_width/2,
-                       cropped_v_buf, cropped_width/2,
-                       cropped_width, cropped_height);
   }
 
-  uint8_t *resized_buf = new uint8_t[resized_width*resized_height*3/2];
-  uint8_t *resized_y_buf = resized_buf;
-  uint8_t *resized_u_buf = resized_y_buf + (resized_width * resized_height);
-  uint8_t *resized_v_buf = resized_u_buf + ((resized_width/2) * (resized_height/2));
+  int resized_width = MODEL_WIDTH;
+  int resized_height = MODEL_HEIGHT;
+
+  auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h);
+  if (!s->is_rhd) {
+    crop_yuv((uint8_t *)stream_buf, width, height, cropped_y, cropped_u, cropped_v, crop_rect);
+  } else {
+    auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h);
+    crop_yuv((uint8_t *)stream_buf, width, height, mirror_y, mirror_u, mirror_v, crop_rect);
+    libyuv::I420Mirror(mirror_y, crop_rect.w,
+                       mirror_u, crop_rect.w / 2,
+                       mirror_v, crop_rect.w / 2,
+                       cropped_y, crop_rect.w,
+                       cropped_u, crop_rect.w / 2,
+                       cropped_v, crop_rect.w / 2,
+                       crop_rect.w, crop_rect.h);
+  }
 
+  auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
+  uint8_t *resized_y = resized_buf;
   libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
-  libyuv::I420Scale(cropped_y_buf, cropped_width,
-                    cropped_u_buf, cropped_width/2,
-                    cropped_v_buf, cropped_width/2,
-                    cropped_width, cropped_height,
-                    resized_y_buf, resized_width,
-                    resized_u_buf, resized_width/2,
-                    resized_v_buf, resized_width/2,
+  if (Hardware::TICI()) {
+    libyuv::I420Scale(cropped_y, crop_rect.w,
+                    cropped_u, crop_rect.w / 2,
+                    cropped_v, crop_rect.w / 2,
+                    crop_rect.w, crop_rect.h,
+                    resized_y, resized_width,
+                    resized_u, resized_width / 2,
+                    resized_v, resized_width / 2,
                     resized_width, resized_height,
                     mode);
+  } else {
+    const int source_height = 0.7*resized_height;
+    const int extra_height = (resized_height - source_height) / 2;
+    const int extra_width = (resized_width - source_height / 2) / 2;
+    const int source_width = source_height / 2 + extra_width;
+    libyuv::I420Scale(cropped_y, crop_rect.w,
+                    cropped_u, crop_rect.w / 2,
+                    cropped_v, crop_rect.w / 2,
+                    crop_rect.w, crop_rect.h,
+                    resized_y + extra_height * resized_width, resized_width,
+                    resized_u + extra_height / 2 * resized_width / 2, resized_width / 2,
+                    resized_v + extra_height / 2 * resized_width / 2, resized_width / 2,
+                    source_width, source_height,
+                    mode);
+  }
 
   int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
-
-  float *net_input_buf = new float[yuv_buf_len];
+  float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
   // one shot conversion, O(n) anyway
   // yuvframe2tensor, normalize
   for (int r = 0; r < MODEL_HEIGHT/2; r++) {
     for (int c = 0; c < MODEL_WIDTH/2; c++) {
       // Y_ul
-      net_input_buf[(c*MODEL_HEIGHT/2) + r] = (resized_buf[(2*r*resized_width) + (2*c)] - 128.f) * 0.0078125f;
-      // Y_ur
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(2*r*resized_width) + (2*c+1)] - 128.f) * 0.0078125f;
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]];
       // Y_dl
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(2*r*resized_width+1) + (2*c)] - 128.f) * 0.0078125f;
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]];
+      // Y_ur
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]];
       // Y_dr
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(2*r*resized_width+1) + (2*c+1)] - 128.f) * 0.0078125f;
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]];
       // U
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c] - 128.f) * 0.0078125f;
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]];
       // V
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c] - 128.f) * 0.0078125f;
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]];
     }
   }
 
-  // FILE *dump_yuv_file = fopen("/sdcard/rawdump.yuv", "wb");
-  // fwrite(raw_buf, height*width*3/2, sizeof(uint8_t), dump_yuv_file);
-  // fclose(dump_yuv_file);
+  //printf("preprocess completed. %d \n", yuv_buf_len);
+  //FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
+  //fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
+  //fclose(dump_yuv_file);
 
-  // FILE *dump_yuv_file2 = fopen("/sdcard/inputdump.yuv", "wb");
-  // fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
-  // fclose(dump_yuv_file2);
+  // *** testing ***
+  // idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320)
+  // imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420))
 
-  delete[] cropped_buf;
-  delete[] resized_buf;
+  //FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb");
+  //fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
+  //fclose(dump_yuv_file2);
+
+  double t1 = millis_since_boot();
   s->m->execute(net_input_buf, yuv_buf_len);
-  delete[] net_input_buf;
+  double t2 = millis_since_boot();
 
   DMonitoringResult ret = {0};
-  memcpy(&ret.face_orientation, &s->output[0], sizeof ret.face_orientation);
-  memcpy(&ret.face_orientation_meta, &s->output[6], sizeof ret.face_orientation_meta);
-  memcpy(&ret.face_position, &s->output[3], sizeof ret.face_position);
-  memcpy(&ret.face_position_meta, &s->output[9], sizeof ret.face_position_meta);
-  memcpy(&ret.face_prob, &s->output[12], sizeof ret.face_prob);
-  memcpy(&ret.left_eye_prob, &s->output[21], sizeof ret.left_eye_prob);
-  memcpy(&ret.right_eye_prob, &s->output[30], sizeof ret.right_eye_prob);
-  memcpy(&ret.left_blink_prob, &s->output[31], sizeof ret.right_eye_prob);
-  memcpy(&ret.right_blink_prob, &s->output[32], sizeof ret.right_eye_prob);
-  ret.face_orientation_meta[0] = softplus(ret.face_orientation_meta[0]);
-  ret.face_orientation_meta[1] = softplus(ret.face_orientation_meta[1]);
-  ret.face_orientation_meta[2] = softplus(ret.face_orientation_meta[2]);
-  ret.face_position_meta[0] = softplus(ret.face_position_meta[0]);
-  ret.face_position_meta[1] = softplus(ret.face_position_meta[1]);
+  for (int i = 0; i < 3; ++i) {
+    ret.face_orientation[i] = s->output[i];
+    ret.face_orientation_meta[i] = softplus(s->output[6 + i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ret.face_position[i] = s->output[3 + i];
+    ret.face_position_meta[i] = softplus(s->output[9 + i]);
+  }
+  ret.face_prob = s->output[12];
+  ret.left_eye_prob = s->output[21];
+  ret.right_eye_prob = s->output[30];
+  ret.left_blink_prob = s->output[31];
+  ret.right_blink_prob = s->output[32];
+  ret.sg_prob = s->output[33];
+  ret.poor_vision = s->output[34];
+  ret.partial_face = s->output[35];
+  ret.distracted_pose = s->output[36];
+  ret.distracted_eyes = s->output[37];
+  ret.occluded_prob = s->output[38];
+  ret.dsp_execution_time = (t2 - t1) / 1000.;
   return ret;
 }
 
-void dmonitoring_publish(PubSocket* sock, uint32_t frame_id, const DMonitoringResult res) {
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
   // make msg
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-
-  auto framed = event.initDriverState();
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initDriverState();
   framed.setFrameId(frame_id);
+  framed.setModelExecutionTime(execution_time);
+  framed.setDspExecutionTime(res.dsp_execution_time);
 
-  kj::ArrayPtr<const float> face_orientation(&res.face_orientation[0], ARRAYSIZE(res.face_orientation));
-  kj::ArrayPtr<const float> face_orientation_std(&res.face_orientation_meta[0], ARRAYSIZE(res.face_orientation_meta));
-  kj::ArrayPtr<const float> face_position(&res.face_position[0], ARRAYSIZE(res.face_position));
-  kj::ArrayPtr<const float> face_position_std(&res.face_position_meta[0], ARRAYSIZE(res.face_position_meta));
-  framed.setFaceOrientation(face_orientation);
-  framed.setFaceOrientationStd(face_orientation_std);
-  framed.setFacePosition(face_position);
-  framed.setFacePositionStd(face_position_std);
+  framed.setFaceOrientation(res.face_orientation);
+  framed.setFaceOrientationStd(res.face_orientation_meta);
+  framed.setFacePosition(res.face_position);
+  framed.setFacePositionStd(res.face_position_meta);
   framed.setFaceProb(res.face_prob);
   framed.setLeftEyeProb(res.left_eye_prob);
   framed.setRightEyeProb(res.right_eye_prob);
   framed.setLeftBlinkProb(res.left_blink_prob);
   framed.setRightBlinkProb(res.right_blink_prob);
+  framed.setSunglassesProb(res.sg_prob);
+  framed.setPoorVision(res.poor_vision);
+  framed.setPartialFace(res.partial_face);
+  framed.setDistractedPose(res.distracted_pose);
+  framed.setDistractedEyes(res.distracted_eyes);
+  framed.setOccludedProb(res.occluded_prob);
+  if (send_raw_pred) {
+    framed.setRawPredictions(raw_pred.asBytes());
+  }
 
-  // send message
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  sock->send((char*)bytes.begin(), bytes.size());
+  pm.send("driverState", msg);
 }
 
 void dmonitoring_free(DMonitoringModelState* s) {
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index 80aae5cd914874..9b3ee631f0ccc5 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -1,19 +1,13 @@
-#ifndef DMONITORING_H
-#define DMONITORING_H
+#pragma once
 
-#include "common/util.h"
-#include "commonmodel.h"
-#include "runners/run.h"
+#include <vector>
 
-#include "cereal/gen/cpp/log.capnp.h"
-#include <capnp/serialize.h>
-#include "messaging.hpp"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define OUTPUT_SIZE 33
+#define OUTPUT_SIZE 39
 
 typedef struct DMonitoringResult {
   float face_orientation[3];
@@ -25,20 +19,28 @@ typedef struct DMonitoringResult {
   float right_eye_prob;
   float left_blink_prob;
   float right_blink_prob;
+  float sg_prob;
+  float poor_vision;
+  float partial_face;
+  float distracted_pose;
+  float distracted_eyes;
+  float occluded_prob;
+  float dsp_execution_time;
 } DMonitoringResult;
 
 typedef struct DMonitoringModelState {
   RunModel *m;
+  bool is_rhd;
   float output[OUTPUT_SIZE];
+  std::vector<uint8_t> resized_buf;
+  std::vector<uint8_t> cropped_buf;
+  std::vector<uint8_t> premirror_cropped_buf;
+  std::vector<float> net_input_buf;
+  float tensor[UINT8_MAX + 1];
 } DMonitoringModelState;
 
 void dmonitoring_init(DMonitoringModelState* s);
 DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height);
-void dmonitoring_publish(PubSocket *sock, uint32_t frame_id, const DMonitoringResult res);
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
 void dmonitoring_free(DMonitoringModelState* s);
 
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index b7d1c1ced9b031..a2ff9e811ff827 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -1,294 +1,364 @@
-#include <string.h>
-#include <assert.h>
+#include "selfdrive/modeld/models/driving.h"
+
 #include <fcntl.h>
 #include <unistd.h>
-#include "common/timing.h"
-#include "driving.h"
-
-
-#define PATH_IDX 0
-#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2 + 1
-#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 2
-#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 2
-#define LONG_X_IDX LEAD_IDX + MDN_GROUP_SIZE*LEAD_MDN_N + SELECTION 
-#define LONG_V_IDX LONG_X_IDX + TIME_DISTANCE*2
-#define LONG_A_IDX LONG_V_IDX + TIME_DISTANCE*2
-#define META_IDX LONG_A_IDX + TIME_DISTANCE*2
-#define POSE_IDX META_IDX + OTHER_META_SIZE + DESIRE_PRED_SIZE
-#define OUTPUT_SIZE  POSE_IDX + POSE_SIZE
-#ifdef TEMPORAL
-  #define TEMPORAL_SIZE 512
-#else
-  #define TEMPORAL_SIZE 0
-#endif
+
+#include <cassert>
+#include <cstring>
+
+#include <eigen3/Eigen/Dense>
+
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/timing.h"
+
+constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15;
+constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05;
+constexpr float FCW_THRESHOLD_3MS2 = 0.7;
+
+float prev_brake_5ms2_probs[5] = {0,0,0,0,0};
+float prev_brake_3ms2_probs[3] = {0,0,0};
 
 // #define DUMP_YUV
 
-Eigen::Matrix<float, MODEL_PATH_DISTANCE, POLYFIT_DEGREE - 1> vander;
+template<class T, size_t size>
+constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
+  return kj::ArrayPtr(arr.data(), arr.size());
+}
+
+void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
+  s->frame = new ModelFrame(device_id, context);
 
-void model_init(ModelState* s, cl_device_id device_id, cl_context context, int temporal) {
-  frame_init(&s->frame, MODEL_WIDTH, MODEL_HEIGHT, device_id, context);
-  s->input_frames = (float*)calloc(MODEL_FRAME_SIZE * 2, sizeof(float));
-  
-  const int output_size = OUTPUT_SIZE + TEMPORAL_SIZE;
-  s->output = (float*)calloc(output_size, sizeof(float));
-  
-  s->m = new DefaultRunModel("../../models/supercombo.dlc", s->output, output_size, USE_GPU_RUNTIME);
+#ifdef USE_THNEED
+  s->m = std::make_unique<ThneedModel>("../../models/supercombo.thneed", &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME);
+#elif USE_ONNX_MODEL
+  s->m = std::make_unique<ONNXModel>("../../models/supercombo.onnx", &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME);
+#else
+  s->m = std::make_unique<SNPEModel>("../../models/supercombo.dlc", &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME);
+#endif
 
 #ifdef TEMPORAL
-  assert(temporal);
   s->m->addRecurrent(&s->output[OUTPUT_SIZE], TEMPORAL_SIZE);
 #endif
 
 #ifdef DESIRE
-  s->desire = (float*)malloc(DESIRE_SIZE * sizeof(float));
-  for (int i = 0; i < DESIRE_SIZE; i++) s->desire[i] = 0.0;
-  s->m->addDesire(s->desire, DESIRE_SIZE);
+  s->m->addDesire(s->pulse_desire, DESIRE_LEN);
 #endif
 
-  // Build Vandermonde matrix
-  for(int i = 0; i < MODEL_PATH_DISTANCE; i++) {
-    for(int j = 0; j < POLYFIT_DEGREE - 1; j++) {
-      vander(i, j) = pow(i, POLYFIT_DEGREE-j-1);
-    }
-  }
+#ifdef TRAFFIC_CONVENTION
+  const int idx = Params().getBool("IsRHD") ? 1 : 0;
+  s->traffic_convention[idx] = 1.0;
+  s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
+#endif
 }
 
-
-
-ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
-                           cl_mem yuv_cl, int width, int height,
-                           mat3 transform, void* sock, float *desire_in) {
+ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height,
+                           const mat3 &transform, float *desire_in) {
 #ifdef DESIRE
   if (desire_in != NULL) {
-    for (int i = 0; i < DESIRE_SIZE; i++) s->desire[i] = desire_in[i];
+    for (int i = 1; i < DESIRE_LEN; i++) {
+      // Model decides when action is completed
+      // so desire input is just a pulse triggered on rising edge
+      if (desire_in[i] - s->prev_desire[i] > .99) {
+        s->pulse_desire[i] = desire_in[i];
+      } else {
+        s->pulse_desire[i] = 0.0;
+      }
+      s->prev_desire[i] = desire_in[i];
+    }
   }
 #endif
 
-  //for (int i = 0; i < OUTPUT_SIZE + TEMPORAL_SIZE; i++) { printf("%f ", s->output[i]); } printf("\n");
-
-  float *new_frame_buf = frame_prepare(&s->frame, q, yuv_cl, width, height, transform);
-  memmove(&s->input_frames[0], &s->input_frames[MODEL_FRAME_SIZE], sizeof(float)*MODEL_FRAME_SIZE);
-  memmove(&s->input_frames[MODEL_FRAME_SIZE], new_frame_buf, sizeof(float)*MODEL_FRAME_SIZE);
-  s->m->execute(s->input_frames, MODEL_FRAME_SIZE*2);
+  //for (int i = 0; i < NET_OUTPUT_SIZE; i++) { printf("%f ", s->output[i]); } printf("\n");
 
-  #ifdef DUMP_YUV
-    FILE *dump_yuv_file = fopen("/sdcard/dump.yuv", "wb");
-    fwrite(new_frame_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file);
-    fclose(dump_yuv_file);
-    assert(1==2);
-  #endif
+  // if getInputBuf is not NULL, net_input_buf will be
+  auto net_input_buf = s->frame->prepare(yuv_cl, width, height, transform, static_cast<cl_mem*>(s->m->getInputBuf()));
+  s->m->execute(net_input_buf, s->frame->buf_size);
 
   // net outputs
-  ModelDataRaw net_outputs;
-  net_outputs.path = &s->output[PATH_IDX];
-  net_outputs.left_lane = &s->output[LL_IDX];
-  net_outputs.right_lane = &s->output[RL_IDX];
-  net_outputs.lead = &s->output[LEAD_IDX];
-  net_outputs.long_x = &s->output[LONG_X_IDX];
-  net_outputs.long_v = &s->output[LONG_V_IDX];
-  net_outputs.long_a = &s->output[LONG_A_IDX];
-  net_outputs.meta = &s->output[META_IDX];
-  net_outputs.pose = &s->output[POSE_IDX];
+  ModelDataRaw net_outputs {
+    .plans = (ModelDataRawPlans*)&s->output[PLAN_IDX],
+    .lane_lines = (ModelDataRawLaneLines*)&s->output[LL_IDX],
+    .road_edges = (ModelDataRawRoadEdges*)&s->output[RE_IDX],
+    .leads = (ModelDataRawLeads*)&s->output[LEAD_IDX],
+    .meta = &s->output[DESIRE_STATE_IDX],
+    .pose = (ModelDataRawPose*)&s->output[POSE_IDX],
+  };
   return net_outputs;
 }
 
 void model_free(ModelState* s) {
-  free(s->output);
-  free(s->input_frames);
-  frame_free(&s->frame);
-  delete s->m;
+  delete s->frame;
 }
 
-void poly_fit(float *in_pts, float *in_stds, float *out) {
-  // References to inputs
-  Eigen::Map<Eigen::Matrix<float, MODEL_PATH_DISTANCE, 1> > pts(in_pts, MODEL_PATH_DISTANCE);
-  Eigen::Map<Eigen::Matrix<float, MODEL_PATH_DISTANCE, 1> > std(in_stds, MODEL_PATH_DISTANCE);
-  Eigen::Map<Eigen::Matrix<float, POLYFIT_DEGREE - 1, 1> > p(out, POLYFIT_DEGREE - 1);
+void fill_sigmoid(const float *input, float *output, int len, int stride) {
+  for (int i=0; i<len; i++) {
+    output[i] = sigmoid(input[i*stride]);
+  }
+}
 
-  float y0 = pts[0];
-  pts = pts.array() - y0;
+void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelDataRawLeads &leads, int t_idx, float prob_t) {
+  std::array<float, LEAD_TRAJ_LEN> lead_t = {0.0, 2.0, 4.0, 6.0, 8.0, 10.0};
+  const auto &best_prediction = leads.get_best_prediction(t_idx);
+  lead.setProb(sigmoid(leads.prob[t_idx]));
+  lead.setProbTime(prob_t);
+  std::array<float, LEAD_TRAJ_LEN> lead_x, lead_y, lead_v, lead_a;
+  std::array<float, LEAD_TRAJ_LEN> lead_x_std, lead_y_std, lead_v_std, lead_a_std;
+  for (int i=0; i<LEAD_TRAJ_LEN; i++) {
+    lead_x[i] = best_prediction.mean[i].x;
+    lead_y[i] = best_prediction.mean[i].y;
+    lead_v[i] = best_prediction.mean[i].velocity;
+    lead_a[i] = best_prediction.mean[i].acceleration;
+    lead_x_std[i] = exp(best_prediction.std[i].x);
+    lead_y_std[i] = exp(best_prediction.std[i].y);
+    lead_v_std[i] = exp(best_prediction.std[i].velocity);
+    lead_a_std[i] = exp(best_prediction.std[i].acceleration);
+  }
+  lead.setT(to_kj_array_ptr(lead_t));
+  lead.setX(to_kj_array_ptr(lead_x));
+  lead.setY(to_kj_array_ptr(lead_y));
+  lead.setV(to_kj_array_ptr(lead_v));
+  lead.setA(to_kj_array_ptr(lead_a));
+  lead.setXStd(to_kj_array_ptr(lead_x_std));
+  lead.setYStd(to_kj_array_ptr(lead_y_std));
+  lead.setVStd(to_kj_array_ptr(lead_v_std));
+  lead.setAStd(to_kj_array_ptr(lead_a_std));
+}
 
-  // Build Least Squares equations
-  Eigen::Matrix<float, MODEL_PATH_DISTANCE, POLYFIT_DEGREE - 1> lhs = vander.array().colwise() / std.array();
-  Eigen::Matrix<float, MODEL_PATH_DISTANCE, 1> rhs = pts.array() / std.array();
+void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const float *meta_data) {
+  float desire_state_softmax[DESIRE_LEN];
+  float desire_pred_softmax[4*DESIRE_LEN];
+  softmax(&meta_data[0], desire_state_softmax, DESIRE_LEN);
+  for (int i=0; i<4; i++) {
+    softmax(&meta_data[DESIRE_LEN + OTHER_META_SIZE + i*DESIRE_LEN],
+            &desire_pred_softmax[i*DESIRE_LEN], DESIRE_LEN);
+  }
 
-  // Improve numerical stability
-  Eigen::Matrix<float, POLYFIT_DEGREE - 1, 1> scale = 1. / (lhs.array()*lhs.array()).sqrt().colwise().sum();
-  lhs = lhs * scale.asDiagonal();
+  float gas_disengage_sigmoid[NUM_META_INTERVALS];
+  float brake_disengage_sigmoid[NUM_META_INTERVALS];
+  float steer_override_sigmoid[NUM_META_INTERVALS];
+  float brake_3ms2_sigmoid[NUM_META_INTERVALS];
+  float brake_4ms2_sigmoid[NUM_META_INTERVALS];
+  float brake_5ms2_sigmoid[NUM_META_INTERVALS];
+
+  fill_sigmoid(&meta_data[DESIRE_LEN+1], gas_disengage_sigmoid, NUM_META_INTERVALS, META_STRIDE);
+  fill_sigmoid(&meta_data[DESIRE_LEN+2], brake_disengage_sigmoid, NUM_META_INTERVALS, META_STRIDE);
+  fill_sigmoid(&meta_data[DESIRE_LEN+3], steer_override_sigmoid, NUM_META_INTERVALS, META_STRIDE);
+  fill_sigmoid(&meta_data[DESIRE_LEN+4], brake_3ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
+  fill_sigmoid(&meta_data[DESIRE_LEN+5], brake_4ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
+  fill_sigmoid(&meta_data[DESIRE_LEN+6], brake_5ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
+  //fill_sigmoid(&meta_data[DESIRE_LEN+7], GAS PRESSED, NUM_META_INTERVALS, META_STRIDE);
+
+  std::memmove(prev_brake_5ms2_probs, &prev_brake_5ms2_probs[1], 4*sizeof(float));
+  std::memmove(prev_brake_3ms2_probs, &prev_brake_3ms2_probs[1], 2*sizeof(float));
+  prev_brake_5ms2_probs[4] = brake_5ms2_sigmoid[0];
+  prev_brake_3ms2_probs[2] = brake_3ms2_sigmoid[0];
+
+  bool above_fcw_threshold = true;
+  for (int i=0; i<5; i++) {
+    float threshold = i < 2 ? FCW_THRESHOLD_5MS2_LOW : FCW_THRESHOLD_5MS2_HIGH;
+    above_fcw_threshold = above_fcw_threshold && prev_brake_5ms2_probs[i] > threshold;
+  }
+  for (int i=0; i<3; i++) {
+    above_fcw_threshold = above_fcw_threshold && prev_brake_3ms2_probs[i] > FCW_THRESHOLD_3MS2;
+  }
 
-  // Solve inplace
-  Eigen::ColPivHouseholderQR<Eigen::Ref<Eigen::MatrixXf> > qr(lhs);
-  p = qr.solve(rhs);
+  auto disengage = meta.initDisengagePredictions();
+  disengage.setT({2,4,6,8,10});
+  disengage.setGasDisengageProbs(gas_disengage_sigmoid);
+  disengage.setBrakeDisengageProbs(brake_disengage_sigmoid);
+  disengage.setSteerOverrideProbs(steer_override_sigmoid);
+  disengage.setBrake3MetersPerSecondSquaredProbs(brake_3ms2_sigmoid);
+  disengage.setBrake4MetersPerSecondSquaredProbs(brake_4ms2_sigmoid);
+  disengage.setBrake5MetersPerSecondSquaredProbs(brake_5ms2_sigmoid);
+
+  meta.setEngagedProb(sigmoid(meta_data[DESIRE_LEN]));
+  meta.setDesirePrediction(desire_pred_softmax);
+  meta.setDesireState(desire_state_softmax);
+  meta.setHardBrakePredicted(above_fcw_threshold);
+}
 
-  // Apply scale to output
-  p = p.transpose() * scale.asDiagonal();
-  out[3] = y0;
+template<size_t size>
+void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array<float, size> &t,
+               const std::array<float, size> &x, const std::array<float, size> &y, const std::array<float, size> &z) {
+  xyzt.setT(to_kj_array_ptr(t));
+  xyzt.setX(to_kj_array_ptr(x));
+  xyzt.setY(to_kj_array_ptr(y));
+  xyzt.setZ(to_kj_array_ptr(z));
 }
 
+template<size_t size>
+void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array<float, size> &t,
+               const std::array<float, size> &x, const std::array<float, size> &y, const std::array<float, size> &z,
+               const std::array<float, size> &x_std, const std::array<float, size> &y_std, const std::array<float, size> &z_std) {
+  fill_xyzt(xyzt, t, x, y, z);
+  xyzt.setXStd(to_kj_array_ptr(x_std));
+  xyzt.setYStd(to_kj_array_ptr(y_std));
+  xyzt.setZStd(to_kj_array_ptr(z_std));
+}
 
-void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bool has_prob, const float offset) {
-  float points_arr[MODEL_PATH_DISTANCE];
-  float stds_arr[MODEL_PATH_DISTANCE];
-  float poly_arr[POLYFIT_DEGREE];
-  float std;
-  float prob;
-  float valid_len;
-
-  valid_len =  data[MODEL_PATH_DISTANCE*2];
-  for (int i=0; i<MODEL_PATH_DISTANCE; i++) {
-    points_arr[i] = data[i] + offset;
-    // Always do at least 5 points
-    if (i < 5 || i < valid_len) {
-      stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]);
-    } else {
-      stds_arr[i] = 1.0e3; 
-    }
-  }
-  if (has_prob) {
-    prob =  sigmoid(data[MODEL_PATH_DISTANCE*2 + 1]);
-  } else {
-    prob = 1.0;
+void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelDataRawPlanPrediction &plan) {
+  std::array<float, TRAJECTORY_SIZE> pos_x, pos_y, pos_z;
+  std::array<float, TRAJECTORY_SIZE> pos_x_std, pos_y_std, pos_z_std;
+  std::array<float, TRAJECTORY_SIZE> vel_x, vel_y, vel_z;
+  std::array<float, TRAJECTORY_SIZE> rot_x, rot_y, rot_z;
+  std::array<float, TRAJECTORY_SIZE> rot_rate_x, rot_rate_y, rot_rate_z;
+
+  for(int i=0; i<TRAJECTORY_SIZE; i++) {
+    pos_x[i] = plan.mean[i].position.x;
+    pos_y[i] = plan.mean[i].position.y;
+    pos_z[i] = plan.mean[i].position.z;
+    pos_x_std[i] = exp(plan.std[i].position.x);
+    pos_y_std[i] = exp(plan.std[i].position.y);
+    pos_z_std[i] = exp(plan.std[i].position.z);
+    vel_x[i] = plan.mean[i].velocity.x;
+    vel_y[i] = plan.mean[i].velocity.y;
+    vel_z[i] = plan.mean[i].velocity.z;
+    rot_x[i] = plan.mean[i].rotation.x;
+    rot_y[i] = plan.mean[i].rotation.y;
+    rot_z[i] = plan.mean[i].rotation.z;
+    rot_rate_x[i] = plan.mean[i].rotation_rate.x;
+    rot_rate_y[i] = plan.mean[i].rotation_rate.y;
+    rot_rate_z[i] = plan.mean[i].rotation_rate.z;
   }
-  std = softplus(data[MODEL_PATH_DISTANCE]);
-  poly_fit(points_arr, stds_arr, poly_arr);
 
-  if (std::getenv("DEBUG")){
-    kj::ArrayPtr<const float> stds(&stds_arr[0], ARRAYSIZE(stds_arr));
-    path.setStds(stds);
+  fill_xyzt(framed.initPosition(), T_IDXS_FLOAT, pos_x, pos_y, pos_z, pos_x_std, pos_y_std, pos_z_std);
+  fill_xyzt(framed.initVelocity(), T_IDXS_FLOAT, vel_x, vel_y, vel_z);
+  fill_xyzt(framed.initOrientation(), T_IDXS_FLOAT, rot_x, rot_y, rot_z);
+  fill_xyzt(framed.initOrientationRate(), T_IDXS_FLOAT, rot_rate_x, rot_rate_y, rot_rate_z);
+}
 
-    kj::ArrayPtr<const float> points(&points_arr[0], ARRAYSIZE(points_arr));
-    path.setPoints(points);
+void fill_lane_lines(cereal::ModelDataV2::Builder &framed, const std::array<float, TRAJECTORY_SIZE> &plan_t,
+                     const ModelDataRawLaneLines &lanes) {
+  std::array<float, TRAJECTORY_SIZE> left_far_y, left_far_z;
+  std::array<float, TRAJECTORY_SIZE> left_near_y, left_near_z;
+  std::array<float, TRAJECTORY_SIZE> right_near_y, right_near_z;
+  std::array<float, TRAJECTORY_SIZE> right_far_y, right_far_z;
+  for (int j=0; j<TRAJECTORY_SIZE; j++) {
+    left_far_y[j] = lanes.mean.left_far[j].y;
+    left_far_z[j] = lanes.mean.left_far[j].z;
+    left_near_y[j] = lanes.mean.left_near[j].y;
+    left_near_z[j] = lanes.mean.left_near[j].z;
+    right_near_y[j] = lanes.mean.right_near[j].y;
+    right_near_z[j] = lanes.mean.right_near[j].z;
+    right_far_y[j] = lanes.mean.right_far[j].y;
+    right_far_z[j] = lanes.mean.right_far[j].z;
   }
 
-  kj::ArrayPtr<const float> poly(&poly_arr[0], ARRAYSIZE(poly_arr));
-  path.setPoly(poly);
-  path.setProb(prob);
-  path.setStd(std);
+  auto lane_lines = framed.initLaneLines(4);
+  fill_xyzt(lane_lines[0], plan_t, X_IDXS_FLOAT, left_far_y, left_far_z);
+  fill_xyzt(lane_lines[1], plan_t, X_IDXS_FLOAT, left_near_y, left_near_z);
+  fill_xyzt(lane_lines[2], plan_t, X_IDXS_FLOAT, right_near_y, right_near_z);
+  fill_xyzt(lane_lines[3], plan_t, X_IDXS_FLOAT, right_far_y, right_far_z);
+
+  framed.setLaneLineStds({
+    exp(lanes.std.left_far[0].y),
+    exp(lanes.std.left_near[0].y),
+    exp(lanes.std.right_near[0].y),
+    exp(lanes.std.right_far[0].y),
+  });
+
+  framed.setLaneLineProbs({
+    sigmoid(lanes.prob.left_far.val),
+    sigmoid(lanes.prob.left_near.val),
+    sigmoid(lanes.prob.right_near.val),
+    sigmoid(lanes.prob.right_far.val),
+  });
 }
 
-void fill_lead(cereal::ModelData::LeadData::Builder lead, const float * data, int mdn_max_idx) {
-  const double x_scale = 10.0;
-  const double y_scale = 10.0;
- 
-  lead.setProb(sigmoid(data[LEAD_MDN_N*MDN_GROUP_SIZE]));
-  lead.setDist(x_scale * data[mdn_max_idx*MDN_GROUP_SIZE]);
-  lead.setStd(x_scale * softplus(data[mdn_max_idx*MDN_GROUP_SIZE + MDN_VALS]));
-  lead.setRelY(y_scale * data[mdn_max_idx*MDN_GROUP_SIZE + 1]);
-  lead.setRelYStd(y_scale * softplus(data[mdn_max_idx*MDN_GROUP_SIZE + MDN_VALS + 1]));
-  lead.setRelVel(data[mdn_max_idx*MDN_GROUP_SIZE + 2]);
-  lead.setRelVelStd(softplus(data[mdn_max_idx*MDN_GROUP_SIZE + MDN_VALS + 2]));
-  lead.setRelA(data[mdn_max_idx*MDN_GROUP_SIZE + 3]);
-  lead.setRelAStd(softplus(data[mdn_max_idx*MDN_GROUP_SIZE + MDN_VALS + 3]));
-}
+void fill_road_edges(cereal::ModelDataV2::Builder &framed, const std::array<float, TRAJECTORY_SIZE> &plan_t,
+                     const ModelDataRawRoadEdges &edges) {
+  std::array<float, TRAJECTORY_SIZE> left_y, left_z;
+  std::array<float, TRAJECTORY_SIZE> right_y, right_z;
+  for (int j=0; j<TRAJECTORY_SIZE; j++) {
+    left_y[j] = edges.mean.left[j].y;
+    left_z[j] = edges.mean.left[j].z;
+    right_y[j] = edges.mean.right[j].y;
+    right_z[j] = edges.mean.right[j].z;
+  }
 
-void fill_meta(cereal::ModelData::MetaData::Builder meta, const float * meta_data) {
-  meta.setEngagedProb(meta_data[0]);
-  meta.setGasDisengageProb(meta_data[1]);
-  meta.setBrakeDisengageProb(meta_data[2]);
-  meta.setSteerOverrideProb(meta_data[3]);
-  kj::ArrayPtr<const float> desire_pred(&meta_data[OTHER_META_SIZE], DESIRE_PRED_SIZE);
-  meta.setDesirePrediction(desire_pred);
-}
+  auto road_edges = framed.initRoadEdges(2);
+  fill_xyzt(road_edges[0], plan_t, X_IDXS_FLOAT, left_y, left_z);
+  fill_xyzt(road_edges[1], plan_t, X_IDXS_FLOAT, right_y, right_z);
 
-void fill_longi(cereal::ModelData::LongitudinalData::Builder longi, const float * long_v_data, const float * long_a_data) {
-  // just doing 10 vals, 1 every sec for now
-  float speed_arr[TIME_DISTANCE/10];
-  float accel_arr[TIME_DISTANCE/10];
-  for (int i=0; i<TIME_DISTANCE/10; i++) {
-    speed_arr[i] = long_v_data[i*10];
-    accel_arr[i] = long_a_data[i*10];
-  }
-  kj::ArrayPtr<const float> speed(&speed_arr[0], ARRAYSIZE(speed_arr));
-  longi.setSpeeds(speed);
-  kj::ArrayPtr<const float> accel(&accel_arr[0], ARRAYSIZE(accel_arr));
-  longi.setAccelerations(accel);
+  framed.setRoadEdgeStds({
+    exp(edges.std.left[0].y),
+    exp(edges.std.right[0].y),
+  });
 }
 
-void model_publish(PubSocket *sock, uint32_t frame_id,
-                   const ModelDataRaw net_outputs, uint64_t timestamp_eof) {
-    // make msg
-    capnp::MallocMessageBuilder msg;
-    cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-  
-    auto framed = event.initModel();
-    framed.setFrameId(frame_id);
-    framed.setTimestampEof(timestamp_eof);
-
-    auto lpath = framed.initPath();
-    fill_path(lpath, net_outputs.path, false, 0);
-    auto left_lane = framed.initLeftLane();
-    fill_path(left_lane, net_outputs.left_lane, true, 1.8);
-    auto right_lane = framed.initRightLane();
-    fill_path(right_lane, net_outputs.right_lane, true, -1.8);
-    auto longi = framed.initLongitudinal();
-    fill_longi(longi, net_outputs.long_v, net_outputs.long_a);
-
-
-    // Find the distribution that corresponds to the current lead
-    int mdn_max_idx = 0;
-    for (int i=1; i<LEAD_MDN_N; i++) {
-      if (net_outputs.lead[i*MDN_GROUP_SIZE + 8] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8]) {
-        mdn_max_idx = i;
-      }
+void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_outputs) {
+  const auto &best_plan = net_outputs.plans->get_best_prediction();
+  std::array<float, TRAJECTORY_SIZE> plan_t;
+  std::fill_n(plan_t.data(), plan_t.size(), NAN);
+  plan_t[0] = 0.0;
+  for (int xidx=1, tidx=0; xidx<TRAJECTORY_SIZE; xidx++) {
+    // increment tidx until we find an element that's further away than the current xidx
+    for (int next_tid = tidx + 1; next_tid < TRAJECTORY_SIZE && best_plan.mean[next_tid].position.x < X_IDXS[xidx]; next_tid++) {
+      tidx++;
     }
-    auto lead = framed.initLead();
-    fill_lead(lead, net_outputs.lead, mdn_max_idx);
-    // Find the distribution that corresponds to the lead in 2s
-    mdn_max_idx = 0;
-    for (int i=1; i<LEAD_MDN_N; i++) {
-      if (net_outputs.lead[i*MDN_GROUP_SIZE + 9] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 9]) {
-        mdn_max_idx = i;
-      }
+    if (tidx == TRAJECTORY_SIZE - 1) {
+      // if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      plan_t[xidx] = T_IDXS[TRAJECTORY_SIZE - 1];
+      break;
     }
-    auto lead_future = framed.initLeadFuture();
-    fill_lead(lead_future, net_outputs.lead, mdn_max_idx);
 
+    // interpolate to find `t` for the current xidx
+    float current_x_val = best_plan.mean[tidx].position.x;
+    float next_x_val = best_plan.mean[tidx+1].position.x;
+    float p = (X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val);
+    plan_t[xidx] = p * T_IDXS[tidx+1] + (1 - p) * T_IDXS[tidx];
+  }
 
-    auto meta = framed.initMeta();
-    fill_meta(meta, net_outputs.meta);
+  fill_plan(framed, best_plan);
+  fill_lane_lines(framed, plan_t, *net_outputs.lane_lines);
+  fill_road_edges(framed, plan_t, *net_outputs.road_edges);
 
+  // meta
+  fill_meta(framed.initMeta(), net_outputs.meta);
 
-    // send message
-    auto words = capnp::messageToFlatArray(msg);
-    auto bytes = words.asBytes();
-    sock->send((char*)bytes.begin(), bytes.size());
+  // leads
+  auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION);
+  std::array<float, LEAD_MHP_SELECTION> t_offsets = {0.0, 2.0, 4.0};
+  for (int i=0; i<LEAD_MHP_SELECTION; i++) {
+    fill_lead(leads[i], *net_outputs.leads, i, t_offsets[i]);
   }
+}
 
-void posenet_publish(PubSocket *sock, uint32_t frame_id,
-                   const ModelDataRaw net_outputs, uint64_t timestamp_eof) {
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-
-  float trans_arr[3];
-  float trans_std_arr[3];
-  float rot_arr[3];
-  float rot_std_arr[3];
+void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop,
+                   const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
+                   float model_execution_time, kj::ArrayPtr<const float> raw_pred) {
+  const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initModelV2();
+  framed.setFrameId(vipc_frame_id);
+  framed.setFrameAge(frame_age);
+  framed.setFrameDropPerc(frame_drop * 100);
+  framed.setTimestampEof(timestamp_eof);
+  framed.setModelExecutionTime(model_execution_time);
+  if (send_raw_pred) {
+    framed.setRawPredictions(raw_pred.asBytes());
+  }
+  fill_model(framed, net_outputs);
+  pm.send("modelV2", msg);
+}
 
-  for (int i =0; i < 3; i++) {
-    trans_arr[i] = net_outputs.pose[i];
-    trans_std_arr[i] = softplus(net_outputs.pose[6 + i]) + 1e-6;
+void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
+                     const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
+  MessageBuilder msg;
+  auto v_mean = net_outputs.pose->velocity_mean;
+  auto r_mean = net_outputs.pose->rotation_mean;
+  auto v_std = net_outputs.pose->velocity_std;
+  auto r_std = net_outputs.pose->rotation_std;
 
-    rot_arr[i] = M_PI * net_outputs.pose[3 + i] / 180.0;
-    rot_std_arr[i] = M_PI * (softplus(net_outputs.pose[9 + i]) + 1e-6) / 180.0;
-  }
+  auto posenetd = msg.initEvent(vipc_dropped_frames < 1).initCameraOdometry();
+  posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z});
+  posenetd.setRot({r_mean.x, r_mean.y, r_mean.z});
+  posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)});
+  posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
 
-  auto posenetd = event.initCameraOdometry();
-  kj::ArrayPtr<const float> trans_vs(&trans_arr[0], 3);
-  posenetd.setTrans(trans_vs);
-  kj::ArrayPtr<const float> rot_vs(&rot_arr[0], 3);
-  posenetd.setRot(rot_vs);
-  kj::ArrayPtr<const float> trans_std_vs(&trans_std_arr[0], 3);
-  posenetd.setTransStd(trans_std_vs);
-  kj::ArrayPtr<const float> rot_std_vs(&rot_std_arr[0], 3);
-  posenetd.setRotStd(rot_std_vs);
-  
   posenetd.setTimestampEof(timestamp_eof);
-  posenetd.setFrameId(frame_id);
+  posenetd.setFrameId(vipc_frame_id);
 
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  sock->send((char*)bytes.begin(), bytes.size());
-  }
+  pm.send("cameraOdometry", msg);
+}
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index bf46cb9d472ae6..c6d3e00accb78c 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -1,81 +1,216 @@
-#ifndef MODEL_H
-#define MODEL_H
+#pragma once
 
 // gate this here
 #define TEMPORAL
 #define DESIRE
+#define TRAFFIC_CONVENTION
 
-#ifdef DESIRE
-  #define DESIRE_SIZE 8
-#endif
+#include <array>
+#include <memory>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/modeldata.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
+
+constexpr int DESIRE_LEN = 8;
+constexpr int TRAFFIC_CONVENTION_LEN = 2;
+constexpr int MODEL_FREQ = 20;
+
+constexpr int DESIRE_PRED_SIZE = 32;
+constexpr int OTHER_META_SIZE = 48;
+constexpr int NUM_META_INTERVALS = 5;
+constexpr int META_STRIDE = 7;
+
+constexpr int PLAN_MHP_N = 5;
+constexpr int PLAN_MHP_VALS = 15*33;
+constexpr int PLAN_MHP_SELECTION = 1;
+constexpr int PLAN_MHP_GROUP_SIZE =  (2*PLAN_MHP_VALS + PLAN_MHP_SELECTION);
+
+constexpr int LEAD_MHP_N = 2;
+constexpr int LEAD_TRAJ_LEN = 6;
+constexpr int LEAD_PRED_DIM = 4;
+constexpr int LEAD_MHP_VALS = LEAD_PRED_DIM*LEAD_TRAJ_LEN;
+constexpr int LEAD_MHP_SELECTION = 3;
+constexpr int LEAD_MHP_GROUP_SIZE = (2*LEAD_MHP_VALS + LEAD_MHP_SELECTION);
 
-#ifdef QCOM
-#include <eigen3/Eigen/Dense>
+constexpr int POSE_SIZE = 12;
+
+constexpr int PLAN_IDX = 0;
+constexpr int LL_IDX = PLAN_IDX + PLAN_MHP_N*PLAN_MHP_GROUP_SIZE;
+constexpr int LL_PROB_IDX = LL_IDX + 4*2*2*33;
+constexpr int RE_IDX = LL_PROB_IDX + 8;
+constexpr int LEAD_IDX = RE_IDX + 2*2*2*33;
+constexpr int LEAD_PROB_IDX = LEAD_IDX + LEAD_MHP_N*(LEAD_MHP_GROUP_SIZE);
+constexpr int DESIRE_STATE_IDX = LEAD_PROB_IDX + 3;
+constexpr int META_IDX = DESIRE_STATE_IDX + DESIRE_LEN;
+constexpr int POSE_IDX = META_IDX + OTHER_META_SIZE + DESIRE_PRED_SIZE;
+constexpr int OUTPUT_SIZE =  POSE_IDX + POSE_SIZE;
+#ifdef TEMPORAL
+  constexpr int TEMPORAL_SIZE = 512;
 #else
-#include <Eigen/Dense>
+  constexpr int TEMPORAL_SIZE = 0;
 #endif
+constexpr int NET_OUTPUT_SIZE =  OUTPUT_SIZE + TEMPORAL_SIZE;
+
+struct ModelDataRawXYZ {
+  float x;
+  float y;
+  float z;
+};
+static_assert(sizeof(ModelDataRawXYZ) == sizeof(float)*3);
+
+struct ModelDataRawYZ {
+  float y;
+  float z;
+};
+static_assert(sizeof(ModelDataRawYZ) == sizeof(float)*2);
+
+struct ModelDataRawPlanElement {
+  ModelDataRawXYZ position;
+  ModelDataRawXYZ velocity;
+  ModelDataRawXYZ acceleration;
+  ModelDataRawXYZ rotation;
+  ModelDataRawXYZ rotation_rate;
+};
+static_assert(sizeof(ModelDataRawPlanElement) == sizeof(ModelDataRawXYZ)*5);
+
+struct ModelDataRawPlanPrediction {
+  std::array<ModelDataRawPlanElement, TRAJECTORY_SIZE> mean;
+  std::array<ModelDataRawPlanElement, TRAJECTORY_SIZE> std;
+  float prob;
+};
+static_assert(sizeof(ModelDataRawPlanPrediction) == (sizeof(ModelDataRawPlanElement)*TRAJECTORY_SIZE*2) + sizeof(float));
+
+struct ModelDataRawPlans {
+  std::array<ModelDataRawPlanPrediction, PLAN_MHP_N> prediction;
+
+  constexpr const ModelDataRawPlanPrediction &get_best_prediction() const {
+    int max_idx = 0;
+    for (int i = 1; i < prediction.size(); i++) {
+      if (prediction[i].prob > prediction[max_idx].prob) {
+        max_idx = i;
+      }
+    }
+    return prediction[max_idx];
+  }
+};
+static_assert(sizeof(ModelDataRawPlans) == sizeof(ModelDataRawPlanPrediction)*PLAN_MHP_N);
 
-#include "common/mat.h"
-#include "common/util.h"
-
-#include "commonmodel.h"
-#include "runners/run.h"
-
-#include "cereal/gen/cpp/log.capnp.h"
-#include <czmq.h>
-#include <capnp/serialize.h>
-#include "messaging.hpp"
-
-#define MODEL_WIDTH 512
-#define MODEL_HEIGHT 256
-#define MODEL_FRAME_SIZE MODEL_WIDTH * MODEL_HEIGHT * 3 / 2
-#define MODEL_NAME "supercombo_dlc"
-
-#define MODEL_PATH_DISTANCE 192
-#define POLYFIT_DEGREE 4
-#define SPEED_PERCENTILES 10
-#define DESIRE_PRED_SIZE 32
-#define OTHER_META_SIZE 4
-#define LEAD_MDN_N 5 // probs for 5 groups
-#define MDN_VALS 4 // output xyva for each lead group
-#define SELECTION 3 //output 3 group (lead now, in 2s and 6s)
-#define MDN_GROUP_SIZE 11
-#define TIME_DISTANCE 100
-#define POSE_SIZE 12
+struct ModelDataRawLinesXY {
+  std::array<ModelDataRawYZ, TRAJECTORY_SIZE> left_far;
+  std::array<ModelDataRawYZ, TRAJECTORY_SIZE> left_near;
+  std::array<ModelDataRawYZ, TRAJECTORY_SIZE> right_near;
+  std::array<ModelDataRawYZ, TRAJECTORY_SIZE> right_far;
+};
+static_assert(sizeof(ModelDataRawLinesXY) == sizeof(ModelDataRawYZ)*TRAJECTORY_SIZE*4);
+
+struct ModelDataRawLineProbVal {
+  float val_deprecated;
+  float val;
+};
+static_assert(sizeof(ModelDataRawLineProbVal) == sizeof(float)*2);
+
+struct ModelDataRawLinesProb {
+  ModelDataRawLineProbVal left_far;
+  ModelDataRawLineProbVal left_near;
+  ModelDataRawLineProbVal right_near;
+  ModelDataRawLineProbVal right_far;
+};
+static_assert(sizeof(ModelDataRawLinesProb) == sizeof(ModelDataRawLineProbVal)*4);
+
+struct ModelDataRawLaneLines {
+  ModelDataRawLinesXY mean;
+  ModelDataRawLinesXY std;
+  ModelDataRawLinesProb prob;
+};
+static_assert(sizeof(ModelDataRawLaneLines) == (sizeof(ModelDataRawLinesXY)*2) + sizeof(ModelDataRawLinesProb));
+
+struct ModelDataRawEdgessXY {
+  std::array<ModelDataRawYZ, TRAJECTORY_SIZE> left;
+  std::array<ModelDataRawYZ, TRAJECTORY_SIZE> right;
+};
+static_assert(sizeof(ModelDataRawEdgessXY) == sizeof(ModelDataRawYZ)*TRAJECTORY_SIZE*2);
+
+struct ModelDataRawRoadEdges {
+  ModelDataRawEdgessXY mean;
+  ModelDataRawEdgessXY std;
+};
+static_assert(sizeof(ModelDataRawRoadEdges) == (sizeof(ModelDataRawEdgessXY)*2));
+
+struct ModelDataRawLeadElement {
+  float x;
+  float y;
+  float velocity;
+  float acceleration;
+};
+static_assert(sizeof(ModelDataRawLeadElement) == sizeof(float)*4);
+
+struct ModelDataRawLeadPrediction {
+  std::array<ModelDataRawLeadElement, LEAD_TRAJ_LEN> mean;
+  std::array<ModelDataRawLeadElement, LEAD_TRAJ_LEN> std;
+  std::array<float, LEAD_MHP_SELECTION> prob;
+};
+static_assert(sizeof(ModelDataRawLeadPrediction) == (sizeof(ModelDataRawLeadElement)*LEAD_TRAJ_LEN*2) + (sizeof(float)*LEAD_MHP_SELECTION));
+
+struct ModelDataRawLeads {
+  std::array<ModelDataRawLeadPrediction, LEAD_MHP_N> prediction;
+  std::array<float, LEAD_MHP_SELECTION> prob;
+
+  constexpr const ModelDataRawLeadPrediction &get_best_prediction(int t_idx) const {
+    int max_idx = 0;
+    for (int i = 1; i < prediction.size(); i++) {
+      if (prediction[i].prob[t_idx] > prediction[max_idx].prob[t_idx]) {
+        max_idx = i;
+      }
+    }
+    return prediction[max_idx];
+  }
+};
+static_assert(sizeof(ModelDataRawLeads) == (sizeof(ModelDataRawLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION));
+
+struct ModelDataRawPose {
+  ModelDataRawXYZ velocity_mean;
+  ModelDataRawXYZ rotation_mean;
+  ModelDataRawXYZ velocity_std;
+  ModelDataRawXYZ rotation_std;
+};
+static_assert(sizeof(ModelDataRawPose) == sizeof(ModelDataRawXYZ)*4);
 
 struct ModelDataRaw {
-    float *path;
-    float *left_lane;
-    float *right_lane;
-    float *lead;
-    float *long_x;
-    float *long_v;
-    float *long_a;
-    float *meta;
-    float *pose;
-  };
-
-
-typedef struct ModelState {
-  ModelFrame frame;
-  float *output;
-  float *input_frames;
-  RunModel *m;
+  const ModelDataRawPlans *const plans;
+  const ModelDataRawLaneLines *const lane_lines;
+  const ModelDataRawRoadEdges *const road_edges;
+  const ModelDataRawLeads *const leads;
+  const float *const desire_state;
+  const float *const meta;
+  const float *const desire_pred;
+  const ModelDataRawPose *const pose;
+};
+
+// TODO: convert remaining arrays to std::array and update model runners
+struct ModelState {
+  ModelFrame *frame;
+  std::array<float, NET_OUTPUT_SIZE> output = {};
+  std::unique_ptr<RunModel> m;
 #ifdef DESIRE
-  float *desire;
+  float prev_desire[DESIRE_LEN] = {};
+  float pulse_desire[DESIRE_LEN] = {};
 #endif
-} ModelState;
+#ifdef TRAFFIC_CONVENTION
+  float traffic_convention[TRAFFIC_CONVENTION_LEN] = {};
+#endif
+};
 
-void model_init(ModelState* s, cl_device_id device_id,
-                cl_context context, int temporal);
-ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
-                           cl_mem yuv_cl, int width, int height,
-                           mat3 transform, void* sock, float *desire_in);
+void model_init(ModelState* s, cl_device_id device_id, cl_context context);
+ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height,
+                           const mat3 &transform, float *desire_in);
 void model_free(ModelState* s);
 void poly_fit(float *in_pts, float *in_stds, float *out);
-
-void model_publish(PubSocket* sock, uint32_t frame_id,
-                   const ModelDataRaw data, uint64_t timestamp_eof);
-void posenet_publish(PubSocket* sock, uint32_t frame_id,
-                   const ModelDataRaw data, uint64_t timestamp_eof);
-#endif
+void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop,
+                   const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
+                   float model_execution_time, kj::ArrayPtr<const float> raw_pred);
+void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
+                     const ModelDataRaw &net_outputs, uint64_t timestamp_eof);
diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h
index 56e78539745470..c64f300fe2411b 100644
--- a/selfdrive/modeld/runners/run.h
+++ b/selfdrive/modeld/runners/run.h
@@ -1,18 +1,10 @@
-#ifndef RUN_H
-#define RUN_H
+#pragma once
 
 #include "runmodel.h"
 #include "snpemodel.h"
 
-#ifdef QCOM
-  #define DefaultRunModel SNPEModel
-#else
-  #ifdef USE_TF_MODEL
-    #include "tfmodel.h"
-    #define DefaultRunModel TFModel
-  #else
-    #define DefaultRunModel SNPEModel
-  #endif
-#endif
-
+#if defined(USE_THNEED)
+#include "thneedmodel.h"
+#elif defined(USE_ONNX_MODEL)
+#include "onnxmodel.h"
 #endif
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
index 8ddc2503f68e81..0893a4acc6ed69 100644
--- a/selfdrive/modeld/runners/runmodel.h
+++ b/selfdrive/modeld/runners/runmodel.h
@@ -1,12 +1,10 @@
-#ifndef RUNMODEL_H
-#define RUNMODEL_H
-
+#pragma once
 class RunModel {
 public:
   virtual void addRecurrent(float *state, int state_size) {}
   virtual void addDesire(float *state, int state_size) {}
+  virtual void addTrafficConvention(float *state, int state_size) {}
   virtual void execute(float *net_input_buf, int buf_size) {}
+  virtual void* getInputBuf() { return nullptr; }
 };
 
-#endif
-
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index c954f9b996e8ca..3a6e9e622cd65c 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -1,17 +1,22 @@
+#pragma clang diagnostic ignored "-Wexceptions"
+
+#include "selfdrive/modeld/runners/snpemodel.h"
+
 #include <cassert>
-#include <stdlib.h>
-#include "common/util.h"
-#include "snpemodel.h"
+#include <cstdlib>
+#include <cstring>
+
+#include "selfdrive/common/util.h"
 
 void PrintErrorStringAndExit() {
-  const char* const errStr = zdl::DlSystem::getLastErrorString();
   std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
   std::exit(EXIT_FAILURE);
 }
 
-SNPEModel::SNPEModel(const char *path, float *output, size_t output_size, int runtime) {
-#ifdef QCOM
-  zdl::DlSystem::Runtime_t Runtime;
+SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime) {
+  output = loutput;
+  output_size = loutput_size;
+#if defined(QCOM) || defined(QCOM2)
   if (runtime==USE_GPU_RUNTIME) {
     Runtime = zdl::DlSystem::Runtime_t::GPU;
   } else if (runtime==USE_DSP_RUNTIME) {
@@ -21,19 +26,18 @@ SNPEModel::SNPEModel(const char *path, float *output, size_t output_size, int ru
   }
   assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(Runtime));
 #endif
-  size_t model_size;
-  model_data = (uint8_t *)read_file(path, &model_size);
-  assert(model_data);
+  model_data = util::read_file(path);
+  assert(model_data.size() > 0);
 
   // load model
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open(model_data, model_size);
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
   if (!container) { PrintErrorStringAndExit(); }
-  printf("loaded model with size: %u\n", model_size);
+  printf("loaded model with size: %lu\n", model_data.size());
 
   // create model runner
   zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
   while (!snpe) {
-#ifdef QCOM
+#if defined(QCOM) || defined(QCOM2)
     snpe = snpeBuilder.setOutputLayers({})
                       .setRuntimeProcessor(Runtime)
                       .setUseUserSuppliedBuffers(true)
@@ -79,7 +83,7 @@ SNPEModel::SNPEModel(const char *path, float *output, size_t output_size, int ru
       stride *= bufferShape[i];
       strides[i-1] = stride;
     }
-    printf("input product is %u\n", product);
+    printf("input product is %lu\n", product);
     inputBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat);
 
     inputMap.add(input_tensor_name, inputBuffer.get());
@@ -87,6 +91,13 @@ SNPEModel::SNPEModel(const char *path, float *output, size_t output_size, int ru
 
   // create output buffer
   {
+    const zdl::DlSystem::TensorShape& bufferShape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
+    if (output_size != 0) {
+      assert(output_size == bufferShape[1]);
+    } else {
+      output_size = bufferShape[1];
+    }
+
     std::vector<size_t> outputStrides = {output_size * sizeof(float), sizeof(float)};
     outputBuffer = ubFactory.createUserBuffer(output, output_size * sizeof(float), outputStrides, &userBufferEncodingFloat);
     outputMap.add(output_tensor_name, outputBuffer.get());
@@ -94,10 +105,18 @@ SNPEModel::SNPEModel(const char *path, float *output, size_t output_size, int ru
 }
 
 void SNPEModel::addRecurrent(float *state, int state_size) {
-  recurrentBuffer = this->addExtra(state, state_size, 2);
+  recurrent = state;
+  recurrent_size = state_size;
+  recurrentBuffer = this->addExtra(state, state_size, 3);
+}
+
+void SNPEModel::addTrafficConvention(float *state, int state_size) {
+  trafficConvention = state;
+  trafficConventionBuffer = this->addExtra(state, state_size, 2);
 }
 
 void SNPEModel::addDesire(float *state, int state_size) {
+  desire = state;
   desireBuffer = this->addExtra(state, state_size, 1);
 }
 
@@ -118,9 +137,51 @@ std::unique_ptr<zdl::DlSystem::IUserBuffer> SNPEModel::addExtra(float *state, in
 }
 
 void SNPEModel::execute(float *net_input_buf, int buf_size) {
-  assert(inputBuffer->setBufferAddress(net_input_buf));
-  if (!snpe->execute(inputMap, outputMap)) {
-    PrintErrorStringAndExit();
+#ifdef USE_THNEED
+  if (Runtime == zdl::DlSystem::Runtime_t::GPU) {
+    float *inputs[4] = {recurrent, trafficConvention, desire, net_input_buf};
+    if (thneed == NULL) {
+      bool ret = inputBuffer->setBufferAddress(net_input_buf);
+      assert(ret == true);
+      if (!snpe->execute(inputMap, outputMap)) {
+        PrintErrorStringAndExit();
+      }
+      memset(recurrent, 0, recurrent_size*sizeof(float));
+      thneed = new Thneed();
+      if (!snpe->execute(inputMap, outputMap)) {
+        PrintErrorStringAndExit();
+      }
+      thneed->stop();
+      printf("thneed cached\n");
+
+      // doing self test
+      float *outputs_golden = (float *)malloc(output_size*sizeof(float));
+      memcpy(outputs_golden, output, output_size*sizeof(float));
+      memset(output, 0, output_size*sizeof(float));
+      memset(recurrent, 0, recurrent_size*sizeof(float));
+      thneed->execute(inputs, output);
+
+      if (memcmp(output, outputs_golden, output_size*sizeof(float)) == 0) {
+        printf("thneed selftest passed\n");
+      } else {
+        for (int i = 0; i < output_size; i++) {
+          printf("mismatch %3d: %f %f\n", i, output[i], outputs_golden[i]);
+        }
+        assert(false);
+      }
+      free(outputs_golden);
+    } else {
+      thneed->execute(inputs, output);
+    }
+  } else {
+#endif
+    bool ret = inputBuffer->setBufferAddress(net_input_buf);
+    assert(ret == true);
+    if (!snpe->execute(inputMap, outputMap)) {
+      PrintErrorStringAndExit();
+    }
+#ifdef USE_THNEED
   }
+#endif
 }
 
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
index f99acd095329a5..6d3a70414c697a 100644
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@@ -1,15 +1,14 @@
-#ifndef SNPEMODEL_H
-#define SNPEMODEL_H
+#pragma once
 
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
 #include <DlContainer/IDlContainer.hpp>
 #include <DlSystem/DlError.hpp>
 #include <DlSystem/ITensor.hpp>
 #include <DlSystem/ITensorFactory.hpp>
 #include <DlSystem/IUserBuffer.hpp>
 #include <DlSystem/IUserBufferFactory.hpp>
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
 
 #include "runmodel.h"
 
@@ -17,17 +16,28 @@
 #define USE_GPU_RUNTIME 1
 #define USE_DSP_RUNTIME 2
 
+#ifdef USE_THNEED
+#include "selfdrive/modeld/thneed/thneed.h"
+#endif
+
 class SNPEModel : public RunModel {
 public:
-  SNPEModel(const char *path, float *output, size_t output_size, int runtime);
-  ~SNPEModel() {
-    if (model_data) free(model_data);
-  }
+  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime);
   void addRecurrent(float *state, int state_size);
+  void addTrafficConvention(float *state, int state_size);
   void addDesire(float *state, int state_size);
   void execute(float *net_input_buf, int buf_size);
+
+#ifdef USE_THNEED
+  Thneed *thneed = NULL;
+#endif
+
 private:
-  uint8_t *model_data = NULL;
+  std::string model_data;
+
+#if defined(QCOM) || defined(QCOM2)
+  zdl::DlSystem::Runtime_t Runtime;
+#endif
 
   // snpe model stuff
   std::unique_ptr<zdl::SNPE::SNPE> snpe;
@@ -40,12 +50,15 @@ class SNPEModel : public RunModel {
   zdl::DlSystem::UserBufferMap outputMap;
   std::unique_ptr<zdl::DlSystem::IUserBuffer> outputBuffer;
   float *output;
+  size_t output_size;
 
   // recurrent and desire
   std::unique_ptr<zdl::DlSystem::IUserBuffer> addExtra(float *state, int state_size, int idx);
+  float *recurrent;
+  size_t recurrent_size;
   std::unique_ptr<zdl::DlSystem::IUserBuffer> recurrentBuffer;
+  float *trafficConvention;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> trafficConventionBuffer;
+  float *desire;
   std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
 };
-
-#endif
-
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
new file mode 100644
index 00000000000000..0beb6a27946c85
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -0,0 +1,47 @@
+#include "selfdrive/modeld/runners/thneedmodel.h"
+
+#include <cassert>
+
+ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime) {
+  thneed = new Thneed(true);
+  thneed->record = 0;
+  thneed->load(path);
+  thneed->clexec();
+  thneed->find_inputs_outputs();
+
+  recorded = false;
+  output = loutput;
+}
+
+void ThneedModel::addRecurrent(float *state, int state_size) {
+  recurrent = state;
+}
+
+void ThneedModel::addTrafficConvention(float *state, int state_size) {
+  trafficConvention = state;
+}
+
+void ThneedModel::addDesire(float *state, int state_size) {
+  desire = state;
+}
+
+void* ThneedModel::getInputBuf() {
+  if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
+  else return nullptr;
+}
+
+void ThneedModel::execute(float *net_input_buf, int buf_size) {
+  float *inputs[4] = {recurrent, trafficConvention, desire, net_input_buf};
+  if (!recorded) {
+    thneed->record = THNEED_RECORD;
+    thneed->copy_inputs(inputs);
+    thneed->clexec();
+    thneed->copy_output(output);
+    thneed->stop();
+
+    recorded = true;
+  } else {
+    thneed->execute(inputs, output);
+  }
+}
+
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
new file mode 100644
index 00000000000000..1720d5ff20158f
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "selfdrive/modeld/runners/runmodel.h"
+#include "selfdrive/modeld/thneed/thneed.h"
+
+class ThneedModel : public RunModel {
+public:
+  ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime);
+  void addRecurrent(float *state, int state_size);
+  void addTrafficConvention(float *state, int state_size);
+  void addDesire(float *state, int state_size);
+  void execute(float *net_input_buf, int buf_size);
+  void* getInputBuf();
+private:
+  Thneed *thneed = NULL;
+  bool recorded;
+
+  float *output;
+
+  // recurrent and desire
+  float *recurrent;
+  float *trafficConvention;
+  float *desire;
+};
+
diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc
new file mode 100644
index 00000000000000..01a71b74750efe
--- /dev/null
+++ b/selfdrive/modeld/thneed/compile.cc
@@ -0,0 +1,35 @@
+#include <cstring>
+
+#include "selfdrive/modeld/runners/snpemodel.h"
+#include "selfdrive/modeld/thneed/thneed.h"
+
+#define TEMPORAL_SIZE 512
+#define DESIRE_LEN 8
+#define TRAFFIC_CONVENTION_LEN 2
+
+// TODO: This should probably use SNPE directly.
+int main(int argc, char* argv[]) {
+  #define OUTPUT_SIZE 0x10000
+  float *output = (float*)calloc(OUTPUT_SIZE, sizeof(float));
+  SNPEModel mdl(argv[1], output, 0, USE_GPU_RUNTIME);
+
+  float state[TEMPORAL_SIZE] = {0};
+  float desire[DESIRE_LEN] = {0};
+  float traffic_convention[TRAFFIC_CONVENTION_LEN] = {0};
+  float *input = (float*)calloc(0x1000000, sizeof(float));
+
+  mdl.addRecurrent(state, TEMPORAL_SIZE);
+  mdl.addDesire(desire, DESIRE_LEN);
+  mdl.addTrafficConvention(traffic_convention, TRAFFIC_CONVENTION_LEN);
+
+  // first run
+  printf("************** execute 1 **************\n");
+  memset(output, 0, OUTPUT_SIZE * sizeof(float));
+  mdl.execute(input, 0);
+
+  // save model
+  bool save_binaries = (argc > 3) && (strcmp(argv[3], "--binary") == 0);
+  mdl.thneed->save(argv[2], save_binaries);
+  return 0;
+}
+
diff --git a/selfdrive/modeld/thneed/include/msm_kgsl.h b/selfdrive/modeld/thneed/include/msm_kgsl.h
new file mode 100644
index 00000000000000..93582eb066db77
--- /dev/null
+++ b/selfdrive/modeld/thneed/include/msm_kgsl.h
@@ -0,0 +1,1449 @@
+#ifndef _UAPI_MSM_KGSL_H
+#define _UAPI_MSM_KGSL_H
+
+#include <linux/types.h>
+#include <linux/ioctl.h>
+
+/*
+ * The KGSL version has proven not to be very useful in userspace if features
+ * are cherry picked into other trees out of order so it is frozen as of 3.14.
+ * It is left here for backwards compatabilty and as a reminder that
+ * software releases are never linear. Also, I like pie.
+ */
+
+#define KGSL_VERSION_MAJOR        3
+#define KGSL_VERSION_MINOR        14
+
+/*
+ * We have traditionally mixed context and issueibcmds / command batch flags
+ * together into a big flag stew. This worked fine until we started adding a
+ * lot more command batch flags and we started running out of bits. Turns out
+ * we have a bit of room in the context type / priority mask that we could use
+ * for command batches, but that means we need to split out the flags into two
+ * coherent sets.
+ *
+ * If any future definitions are for both context and cmdbatch add both defines
+ * and link the cmdbatch to the context define as we do below. Otherwise feel
+ * free to add exclusive bits to either set.
+ */
+
+/* --- context flags --- */
+#define KGSL_CONTEXT_SAVE_GMEM		0x00000001
+#define KGSL_CONTEXT_NO_GMEM_ALLOC	0x00000002
+/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
+#define KGSL_CONTEXT_SUBMIT_IB_LIST	0x00000004
+#define KGSL_CONTEXT_CTX_SWITCH		0x00000008
+#define KGSL_CONTEXT_PREAMBLE		0x00000010
+#define KGSL_CONTEXT_TRASH_STATE	0x00000020
+#define KGSL_CONTEXT_PER_CONTEXT_TS	0x00000040
+#define KGSL_CONTEXT_USER_GENERATED_TS	0x00000080
+/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
+#define KGSL_CONTEXT_END_OF_FRAME	0x00000100
+#define KGSL_CONTEXT_NO_FAULT_TOLERANCE 0x00000200
+/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
+#define KGSL_CONTEXT_SYNC               0x00000400
+#define KGSL_CONTEXT_PWR_CONSTRAINT     0x00000800
+
+#define KGSL_CONTEXT_PRIORITY_MASK      0x0000F000
+#define KGSL_CONTEXT_PRIORITY_SHIFT     12
+#define KGSL_CONTEXT_PRIORITY_UNDEF     0
+
+#define KGSL_CONTEXT_IFH_NOP            0x00010000
+#define KGSL_CONTEXT_SECURE             0x00020000
+
+#define KGSL_CONTEXT_PREEMPT_STYLE_MASK       0x0E000000
+#define KGSL_CONTEXT_PREEMPT_STYLE_SHIFT      25
+#define KGSL_CONTEXT_PREEMPT_STYLE_DEFAULT    0x0
+#define KGSL_CONTEXT_PREEMPT_STYLE_RINGBUFFER 0x1
+#define KGSL_CONTEXT_PREEMPT_STYLE_FINEGRAIN  0x2
+
+#define KGSL_CONTEXT_TYPE_MASK          0x01F00000
+#define KGSL_CONTEXT_TYPE_SHIFT         20
+#define KGSL_CONTEXT_TYPE_ANY		0
+#define KGSL_CONTEXT_TYPE_GL		1
+#define KGSL_CONTEXT_TYPE_CL		2
+#define KGSL_CONTEXT_TYPE_C2D		3
+#define KGSL_CONTEXT_TYPE_RS		4
+#define KGSL_CONTEXT_TYPE_UNKNOWN	0x1E
+
+#define KGSL_CONTEXT_INVALID 0xffffffff
+
+/*
+ * --- command batch flags ---
+ * The bits that are linked to a KGSL_CONTEXT equivalent are either legacy
+ * definitions or bits that are valid for both contexts and cmdbatches.  To be
+ * safe the other 8 bits that are still available in the context field should be
+ * omitted here in case we need to share - the other bits are available for
+ * cmdbatch only flags as needed
+ */
+#define KGSL_CMDBATCH_MEMLIST		0x00000001
+#define KGSL_CMDBATCH_MARKER		0x00000002
+#define KGSL_CMDBATCH_SUBMIT_IB_LIST	KGSL_CONTEXT_SUBMIT_IB_LIST /* 0x004 */
+#define KGSL_CMDBATCH_CTX_SWITCH	KGSL_CONTEXT_CTX_SWITCH     /* 0x008 */
+#define KGSL_CMDBATCH_PROFILING		0x00000010
+#define KGSL_CMDBATCH_PROFILING_KTIME	0x00000020
+#define KGSL_CMDBATCH_END_OF_FRAME	KGSL_CONTEXT_END_OF_FRAME   /* 0x100 */
+#define KGSL_CMDBATCH_SYNC		KGSL_CONTEXT_SYNC           /* 0x400 */
+#define KGSL_CMDBATCH_PWR_CONSTRAINT	KGSL_CONTEXT_PWR_CONSTRAINT /* 0x800 */
+
+/*
+ * Reserve bits [16:19] and bits [28:31] for possible bits shared between
+ * contexts and command batches.  Update this comment as new flags are added.
+ */
+
+/*
+ * gpu_command_object flags - these flags communicate the type of command or
+ * memory object being submitted for a GPU command
+ */
+
+/* Flags for GPU command objects */
+#define KGSL_CMDLIST_IB                  0x00000001U
+#define KGSL_CMDLIST_CTXTSWITCH_PREAMBLE 0x00000002U
+#define KGSL_CMDLIST_IB_PREAMBLE         0x00000004U
+
+/* Flags for GPU command memory objects */
+#define KGSL_OBJLIST_MEMOBJ  0x00000008U
+#define KGSL_OBJLIST_PROFILE 0x00000010U
+
+/* Flags for GPU command sync points */
+#define KGSL_CMD_SYNCPOINT_TYPE_TIMESTAMP 0
+#define KGSL_CMD_SYNCPOINT_TYPE_FENCE 1
+
+/* --- Memory allocation flags --- */
+
+/* General allocation hints */
+#define KGSL_MEMFLAGS_SECURE      0x00000008ULL
+#define KGSL_MEMFLAGS_GPUREADONLY 0x01000000U
+#define KGSL_MEMFLAGS_GPUWRITEONLY 0x02000000U
+#define KGSL_MEMFLAGS_FORCE_32BIT 0x100000000ULL
+
+/* Memory caching hints */
+#define KGSL_CACHEMODE_MASK       0x0C000000U
+#define KGSL_CACHEMODE_SHIFT 26
+
+#define KGSL_CACHEMODE_WRITECOMBINE 0
+#define KGSL_CACHEMODE_UNCACHED 1
+#define KGSL_CACHEMODE_WRITETHROUGH 2
+#define KGSL_CACHEMODE_WRITEBACK 3
+
+#define KGSL_MEMFLAGS_USE_CPU_MAP 0x10000000ULL
+
+/* Memory types for which allocations are made */
+#define KGSL_MEMTYPE_MASK		0x0000FF00
+#define KGSL_MEMTYPE_SHIFT		8
+
+#define KGSL_MEMTYPE_OBJECTANY			0
+#define KGSL_MEMTYPE_FRAMEBUFFER		1
+#define KGSL_MEMTYPE_RENDERBUFFER		2
+#define KGSL_MEMTYPE_ARRAYBUFFER		3
+#define KGSL_MEMTYPE_ELEMENTARRAYBUFFER		4
+#define KGSL_MEMTYPE_VERTEXARRAYBUFFER		5
+#define KGSL_MEMTYPE_TEXTURE			6
+#define KGSL_MEMTYPE_SURFACE			7
+#define KGSL_MEMTYPE_EGL_SURFACE		8
+#define KGSL_MEMTYPE_GL				9
+#define KGSL_MEMTYPE_CL				10
+#define KGSL_MEMTYPE_CL_BUFFER_MAP		11
+#define KGSL_MEMTYPE_CL_BUFFER_NOMAP		12
+#define KGSL_MEMTYPE_CL_IMAGE_MAP		13
+#define KGSL_MEMTYPE_CL_IMAGE_NOMAP		14
+#define KGSL_MEMTYPE_CL_KERNEL_STACK		15
+#define KGSL_MEMTYPE_COMMAND			16
+#define KGSL_MEMTYPE_2D				17
+#define KGSL_MEMTYPE_EGL_IMAGE			18
+#define KGSL_MEMTYPE_EGL_SHADOW			19
+#define KGSL_MEMTYPE_MULTISAMPLE		20
+#define KGSL_MEMTYPE_KERNEL			255
+
+/*
+ * Alignment hint, passed as the power of 2 exponent.
+ * i.e 4k (2^12) would be 12, 64k (2^16)would be 16.
+ */
+#define KGSL_MEMALIGN_MASK		0x00FF0000
+#define KGSL_MEMALIGN_SHIFT		16
+
+enum kgsl_user_mem_type {
+	KGSL_USER_MEM_TYPE_PMEM		= 0x00000000,
+	KGSL_USER_MEM_TYPE_ASHMEM	= 0x00000001,
+	KGSL_USER_MEM_TYPE_ADDR		= 0x00000002,
+	KGSL_USER_MEM_TYPE_ION		= 0x00000003,
+	/*
+	 * ION type is retained for backwards compatibilty but Ion buffers are
+	 * dma-bufs so try to use that naming if we can
+	 */
+	KGSL_USER_MEM_TYPE_DMABUF       = 0x00000003,
+	KGSL_USER_MEM_TYPE_MAX		= 0x00000007,
+};
+#define KGSL_MEMFLAGS_USERMEM_MASK 0x000000e0
+#define KGSL_MEMFLAGS_USERMEM_SHIFT 5
+
+/*
+ * Unfortunately, enum kgsl_user_mem_type starts at 0 which does not
+ * leave a good value for allocated memory. In the flags we use
+ * 0 to indicate allocated memory and thus need to add 1 to the enum
+ * values.
+ */
+#define KGSL_USERMEM_FLAG(x) (((x) + 1) << KGSL_MEMFLAGS_USERMEM_SHIFT)
+
+#define KGSL_MEMFLAGS_NOT_USERMEM 0
+#define KGSL_MEMFLAGS_USERMEM_PMEM KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_PMEM)
+#define KGSL_MEMFLAGS_USERMEM_ASHMEM \
+		KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ASHMEM)
+#define KGSL_MEMFLAGS_USERMEM_ADDR KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ADDR)
+#define KGSL_MEMFLAGS_USERMEM_ION KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ION)
+
+/* --- generic KGSL flag values --- */
+
+#define KGSL_FLAGS_NORMALMODE  0x00000000
+#define KGSL_FLAGS_SAFEMODE    0x00000001
+#define KGSL_FLAGS_INITIALIZED0 0x00000002
+#define KGSL_FLAGS_INITIALIZED 0x00000004
+#define KGSL_FLAGS_STARTED     0x00000008
+#define KGSL_FLAGS_ACTIVE      0x00000010
+#define KGSL_FLAGS_RESERVED0   0x00000020
+#define KGSL_FLAGS_RESERVED1   0x00000040
+#define KGSL_FLAGS_RESERVED2   0x00000080
+#define KGSL_FLAGS_SOFT_RESET  0x00000100
+#define KGSL_FLAGS_PER_CONTEXT_TIMESTAMPS 0x00000200
+
+/* Server Side Sync Timeout in milliseconds */
+#define KGSL_SYNCOBJ_SERVER_TIMEOUT 2000
+
+/*
+ * Reset status values for context
+ */
+enum kgsl_ctx_reset_stat {
+	KGSL_CTX_STAT_NO_ERROR				= 0x00000000,
+	KGSL_CTX_STAT_GUILTY_CONTEXT_RESET_EXT		= 0x00000001,
+	KGSL_CTX_STAT_INNOCENT_CONTEXT_RESET_EXT	= 0x00000002,
+	KGSL_CTX_STAT_UNKNOWN_CONTEXT_RESET_EXT		= 0x00000003
+};
+
+#define KGSL_CONVERT_TO_MBPS(val) \
+	(val*1000*1000U)
+
+/* device id */
+enum kgsl_deviceid {
+	KGSL_DEVICE_3D0		= 0x00000000,
+	KGSL_DEVICE_MAX
+};
+
+struct kgsl_devinfo {
+
+	unsigned int device_id;
+	/* chip revision id
+	* coreid:8 majorrev:8 minorrev:8 patch:8
+	*/
+	unsigned int chip_id;
+	unsigned int mmu_enabled;
+	unsigned long gmem_gpubaseaddr;
+	/*
+	* This field contains the adreno revision
+	* number 200, 205, 220, etc...
+	*/
+	unsigned int gpu_id;
+	size_t gmem_sizebytes;
+};
+
+/*
+ * struct kgsl_devmemstore - this structure defines the region of memory
+ * that can be mmap()ed from this driver. The timestamp fields are volatile
+ * because they are written by the GPU
+ * @soptimestamp: Start of pipeline timestamp written by GPU before the
+ * commands in concern are processed
+ * @sbz: Unused, kept for 8 byte alignment
+ * @eoptimestamp: End of pipeline timestamp written by GPU after the
+ * commands in concern are processed
+ * @sbz2: Unused, kept for 8 byte alignment
+ * @preempted: Indicates if the context was preempted
+ * @sbz3: Unused, kept for 8 byte alignment
+ * @ref_wait_ts: Timestamp on which to generate interrupt, unused now.
+ * @sbz4: Unused, kept for 8 byte alignment
+ * @current_context: The current context the GPU is working on
+ * @sbz5: Unused, kept for 8 byte alignment
+ */
+struct kgsl_devmemstore {
+	volatile unsigned int soptimestamp;
+	unsigned int sbz;
+	volatile unsigned int eoptimestamp;
+	unsigned int sbz2;
+	volatile unsigned int preempted;
+	unsigned int sbz3;
+	volatile unsigned int ref_wait_ts;
+	unsigned int sbz4;
+	unsigned int current_context;
+	unsigned int sbz5;
+};
+
+#define KGSL_MEMSTORE_OFFSET(ctxt_id, field) \
+	((ctxt_id)*sizeof(struct kgsl_devmemstore) + \
+	 offsetof(struct kgsl_devmemstore, field))
+
+/* timestamp id*/
+enum kgsl_timestamp_type {
+	KGSL_TIMESTAMP_CONSUMED = 0x00000001, /* start-of-pipeline timestamp */
+	KGSL_TIMESTAMP_RETIRED  = 0x00000002, /* end-of-pipeline timestamp*/
+	KGSL_TIMESTAMP_QUEUED   = 0x00000003,
+};
+
+/* property types - used with kgsl_device_getproperty */
+#define KGSL_PROP_DEVICE_INFO		0x1
+#define KGSL_PROP_DEVICE_SHADOW		0x2
+#define KGSL_PROP_DEVICE_POWER		0x3
+#define KGSL_PROP_SHMEM			0x4
+#define KGSL_PROP_SHMEM_APERTURES	0x5
+#define KGSL_PROP_MMU_ENABLE		0x6
+#define KGSL_PROP_INTERRUPT_WAITS	0x7
+#define KGSL_PROP_VERSION		0x8
+#define KGSL_PROP_GPU_RESET_STAT	0x9
+#define KGSL_PROP_PWRCTRL		0xE
+#define KGSL_PROP_PWR_CONSTRAINT	0x12
+#define KGSL_PROP_UCHE_GMEM_VADDR	0x13
+#define KGSL_PROP_SP_GENERIC_MEM	0x14
+#define KGSL_PROP_UCODE_VERSION		0x15
+#define KGSL_PROP_GPMU_VERSION		0x16
+#define KGSL_PROP_DEVICE_BITNESS	0x18
+
+struct kgsl_shadowprop {
+	unsigned long gpuaddr;
+	size_t size;
+	unsigned int flags; /* contains KGSL_FLAGS_ values */
+};
+
+struct kgsl_version {
+	unsigned int drv_major;
+	unsigned int drv_minor;
+	unsigned int dev_major;
+	unsigned int dev_minor;
+};
+
+struct kgsl_sp_generic_mem {
+	uint64_t local;
+	uint64_t pvt;
+};
+
+struct kgsl_ucode_version {
+	unsigned int pfp;
+	unsigned int pm4;
+};
+
+struct kgsl_gpmu_version {
+	unsigned int major;
+	unsigned int minor;
+	unsigned int features;
+};
+
+/* Performance counter groups */
+
+#define KGSL_PERFCOUNTER_GROUP_CP 0x0
+#define KGSL_PERFCOUNTER_GROUP_RBBM 0x1
+#define KGSL_PERFCOUNTER_GROUP_PC 0x2
+#define KGSL_PERFCOUNTER_GROUP_VFD 0x3
+#define KGSL_PERFCOUNTER_GROUP_HLSQ 0x4
+#define KGSL_PERFCOUNTER_GROUP_VPC 0x5
+#define KGSL_PERFCOUNTER_GROUP_TSE 0x6
+#define KGSL_PERFCOUNTER_GROUP_RAS 0x7
+#define KGSL_PERFCOUNTER_GROUP_UCHE 0x8
+#define KGSL_PERFCOUNTER_GROUP_TP 0x9
+#define KGSL_PERFCOUNTER_GROUP_SP 0xA
+#define KGSL_PERFCOUNTER_GROUP_RB 0xB
+#define KGSL_PERFCOUNTER_GROUP_PWR 0xC
+#define KGSL_PERFCOUNTER_GROUP_VBIF 0xD
+#define KGSL_PERFCOUNTER_GROUP_VBIF_PWR 0xE
+#define KGSL_PERFCOUNTER_GROUP_MH 0xF
+#define KGSL_PERFCOUNTER_GROUP_PA_SU 0x10
+#define KGSL_PERFCOUNTER_GROUP_SQ 0x11
+#define KGSL_PERFCOUNTER_GROUP_SX 0x12
+#define KGSL_PERFCOUNTER_GROUP_TCF 0x13
+#define KGSL_PERFCOUNTER_GROUP_TCM 0x14
+#define KGSL_PERFCOUNTER_GROUP_TCR 0x15
+#define KGSL_PERFCOUNTER_GROUP_L2 0x16
+#define KGSL_PERFCOUNTER_GROUP_VSC 0x17
+#define KGSL_PERFCOUNTER_GROUP_CCU 0x18
+#define KGSL_PERFCOUNTER_GROUP_LRZ 0x19
+#define KGSL_PERFCOUNTER_GROUP_CMP 0x1A
+#define KGSL_PERFCOUNTER_GROUP_ALWAYSON 0x1B
+#define KGSL_PERFCOUNTER_GROUP_SP_PWR 0x1C
+#define KGSL_PERFCOUNTER_GROUP_TP_PWR 0x1D
+#define KGSL_PERFCOUNTER_GROUP_RB_PWR 0x1E
+#define KGSL_PERFCOUNTER_GROUP_CCU_PWR 0x1F
+#define KGSL_PERFCOUNTER_GROUP_UCHE_PWR 0x20
+#define KGSL_PERFCOUNTER_GROUP_CP_PWR 0x21
+#define KGSL_PERFCOUNTER_GROUP_GPMU_PWR 0x22
+#define KGSL_PERFCOUNTER_GROUP_ALWAYSON_PWR 0x23
+#define KGSL_PERFCOUNTER_GROUP_MAX 0x24
+
+#define KGSL_PERFCOUNTER_NOT_USED 0xFFFFFFFF
+#define KGSL_PERFCOUNTER_BROKEN 0xFFFFFFFE
+
+/* structure holds list of ibs */
+struct kgsl_ibdesc {
+	unsigned long gpuaddr;
+	unsigned long __pad;
+	size_t sizedwords;
+	unsigned int ctrl;
+};
+
+/**
+ * struct kgsl_cmdbatch_profiling_buffer
+ * @wall_clock_s: Ringbuffer submission time (seconds).
+ *                If KGSL_CMDBATCH_PROFILING_KTIME is set, time is provided
+ *                in kernel clocks, otherwise wall clock time is used.
+ * @wall_clock_ns: Ringbuffer submission time (nanoseconds).
+ *                 If KGSL_CMDBATCH_PROFILING_KTIME is set time is provided
+ *                 in kernel clocks, otherwise wall clock time is used.
+ * @gpu_ticks_queued: GPU ticks at ringbuffer submission
+ * @gpu_ticks_submitted: GPU ticks when starting cmdbatch execution
+ * @gpu_ticks_retired: GPU ticks when finishing cmdbatch execution
+ *
+ * This structure defines the profiling buffer used to measure cmdbatch
+ * execution time
+ */
+struct kgsl_cmdbatch_profiling_buffer {
+	uint64_t wall_clock_s;
+	uint64_t wall_clock_ns;
+	uint64_t gpu_ticks_queued;
+	uint64_t gpu_ticks_submitted;
+	uint64_t gpu_ticks_retired;
+};
+
+/* ioctls */
+#define KGSL_IOC_TYPE 0x09
+
+/* get misc info about the GPU
+   type should be a value from enum kgsl_property_type
+   value points to a structure that varies based on type
+   sizebytes is sizeof() that structure
+   for KGSL_PROP_DEVICE_INFO, use struct kgsl_devinfo
+   this structure contaings hardware versioning info.
+   for KGSL_PROP_DEVICE_SHADOW, use struct kgsl_shadowprop
+   this is used to find mmap() offset and sizes for mapping
+   struct kgsl_memstore into userspace.
+*/
+struct kgsl_device_getproperty {
+	unsigned int type;
+	void __user *value;
+	size_t sizebytes;
+};
+
+#define IOCTL_KGSL_DEVICE_GETPROPERTY \
+	_IOWR(KGSL_IOC_TYPE, 0x2, struct kgsl_device_getproperty)
+
+/* IOCTL_KGSL_DEVICE_READ (0x3) - removed 03/2012
+ */
+
+/* block until the GPU has executed past a given timestamp
+ * timeout is in milliseconds.
+ */
+struct kgsl_device_waittimestamp {
+	unsigned int timestamp;
+	unsigned int timeout;
+};
+
+#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP \
+	_IOW(KGSL_IOC_TYPE, 0x6, struct kgsl_device_waittimestamp)
+
+struct kgsl_device_waittimestamp_ctxtid {
+	unsigned int context_id;
+	unsigned int timestamp;
+	unsigned int timeout;
+};
+
+#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID \
+	_IOW(KGSL_IOC_TYPE, 0x7, struct kgsl_device_waittimestamp_ctxtid)
+
+/* DEPRECATED: issue indirect commands to the GPU.
+ * drawctxt_id must have been created with IOCTL_KGSL_DRAWCTXT_CREATE
+ * ibaddr and sizedwords must specify a subset of a buffer created
+ * with IOCTL_KGSL_SHAREDMEM_FROM_PMEM
+ * flags may be a mask of KGSL_CONTEXT_ values
+ * timestamp is a returned counter value which can be passed to
+ * other ioctls to determine when the commands have been executed by
+ * the GPU.
+ *
+ * This fucntion is deprecated - consider using IOCTL_KGSL_SUBMIT_COMMANDS
+ * instead
+ */
+struct kgsl_ringbuffer_issueibcmds {
+	unsigned int drawctxt_id;
+	unsigned long ibdesc_addr;
+	unsigned int numibs;
+	unsigned int timestamp; /*output param */
+	unsigned int flags;
+};
+
+#define IOCTL_KGSL_RINGBUFFER_ISSUEIBCMDS \
+	_IOWR(KGSL_IOC_TYPE, 0x10, struct kgsl_ringbuffer_issueibcmds)
+
+/* read the most recently executed timestamp value
+ * type should be a value from enum kgsl_timestamp_type
+ */
+struct kgsl_cmdstream_readtimestamp {
+	unsigned int type;
+	unsigned int timestamp; /*output param */
+};
+
+#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_OLD \
+	_IOR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
+
+#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP \
+	_IOWR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
+
+/* free memory when the GPU reaches a given timestamp.
+ * gpuaddr specify a memory region created by a
+ * IOCTL_KGSL_SHAREDMEM_FROM_PMEM call
+ * type should be a value from enum kgsl_timestamp_type
+ */
+struct kgsl_cmdstream_freememontimestamp {
+	unsigned long gpuaddr;
+	unsigned int type;
+	unsigned int timestamp;
+};
+
+#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP \
+	_IOW(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
+
+/* Previous versions of this header had incorrectly defined
+   IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP as a read-only ioctl instead
+   of a write only ioctl.  To ensure binary compatability, the following
+   #define will be used to intercept the incorrect ioctl
+*/
+
+#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_OLD \
+	_IOR(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
+
+/* create a draw context, which is used to preserve GPU state.
+ * The flags field may contain a mask KGSL_CONTEXT_*  values
+ */
+struct kgsl_drawctxt_create {
+	unsigned int flags;
+	unsigned int drawctxt_id; /*output param */
+};
+
+#define IOCTL_KGSL_DRAWCTXT_CREATE \
+	_IOWR(KGSL_IOC_TYPE, 0x13, struct kgsl_drawctxt_create)
+
+/* destroy a draw context */
+struct kgsl_drawctxt_destroy {
+	unsigned int drawctxt_id;
+};
+
+#define IOCTL_KGSL_DRAWCTXT_DESTROY \
+	_IOW(KGSL_IOC_TYPE, 0x14, struct kgsl_drawctxt_destroy)
+
+/* add a block of pmem, fb, ashmem or user allocated address
+ * into the GPU address space */
+struct kgsl_map_user_mem {
+	int fd;
+	unsigned long gpuaddr;   /*output param */
+	size_t len;
+	size_t offset;
+	unsigned long hostptr;   /*input param */
+	enum kgsl_user_mem_type memtype;
+	unsigned int flags;
+};
+
+#define IOCTL_KGSL_MAP_USER_MEM \
+	_IOWR(KGSL_IOC_TYPE, 0x15, struct kgsl_map_user_mem)
+
+struct kgsl_cmdstream_readtimestamp_ctxtid {
+	unsigned int context_id;
+	unsigned int type;
+	unsigned int timestamp; /*output param */
+};
+
+#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_CTXTID \
+	_IOWR(KGSL_IOC_TYPE, 0x16, struct kgsl_cmdstream_readtimestamp_ctxtid)
+
+struct kgsl_cmdstream_freememontimestamp_ctxtid {
+	unsigned int context_id;
+	unsigned long gpuaddr;
+	unsigned int type;
+	unsigned int timestamp;
+};
+
+#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_CTXTID \
+	_IOW(KGSL_IOC_TYPE, 0x17, \
+	struct kgsl_cmdstream_freememontimestamp_ctxtid)
+
+/* add a block of pmem or fb into the GPU address space */
+struct kgsl_sharedmem_from_pmem {
+        int pmem_fd;
+        unsigned long gpuaddr;  /*output param */
+        unsigned int len;
+        unsigned int offset;
+};
+
+#define IOCTL_KGSL_SHAREDMEM_FROM_PMEM \
+        _IOWR(KGSL_IOC_TYPE, 0x20, struct kgsl_sharedmem_from_pmem)
+
+/* remove memory from the GPU's address space */
+struct kgsl_sharedmem_free {
+	unsigned long gpuaddr;
+};
+
+#define IOCTL_KGSL_SHAREDMEM_FREE \
+	_IOW(KGSL_IOC_TYPE, 0x21, struct kgsl_sharedmem_free)
+
+struct kgsl_cff_user_event {
+	unsigned char cff_opcode;
+	unsigned int op1;
+	unsigned int op2;
+	unsigned int op3;
+	unsigned int op4;
+	unsigned int op5;
+	unsigned int __pad[2];
+};
+
+#define IOCTL_KGSL_CFF_USER_EVENT \
+	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_cff_user_event)
+
+struct kgsl_gmem_desc {
+	unsigned int x;
+	unsigned int y;
+	unsigned int width;
+	unsigned int height;
+	unsigned int pitch;
+};
+
+struct kgsl_buffer_desc {
+	void 			*hostptr;
+	unsigned long	gpuaddr;
+	int				size;
+	unsigned int	format;
+	unsigned int  	pitch;
+	unsigned int  	enabled;
+};
+
+struct kgsl_bind_gmem_shadow {
+	unsigned int drawctxt_id;
+	struct kgsl_gmem_desc gmem_desc;
+	unsigned int shadow_x;
+	unsigned int shadow_y;
+	struct kgsl_buffer_desc shadow_buffer;
+	unsigned int buffer_id;
+};
+
+#define IOCTL_KGSL_DRAWCTXT_BIND_GMEM_SHADOW \
+    _IOW(KGSL_IOC_TYPE, 0x22, struct kgsl_bind_gmem_shadow)
+
+/* add a block of memory into the GPU address space */
+
+/*
+ * IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC deprecated 09/2012
+ * use IOCTL_KGSL_GPUMEM_ALLOC instead
+ */
+
+struct kgsl_sharedmem_from_vmalloc {
+	unsigned long gpuaddr;	/*output param */
+	unsigned int hostptr;
+	unsigned int flags;
+};
+
+#define IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC \
+	_IOWR(KGSL_IOC_TYPE, 0x23, struct kgsl_sharedmem_from_vmalloc)
+
+/*
+ * This is being deprecated in favor of IOCTL_KGSL_GPUMEM_CACHE_SYNC which
+ * supports both directions (flush and invalidate). This code will still
+ * work, but by definition it will do a flush of the cache which might not be
+ * what you want to have happen on a buffer following a GPU operation.  It is
+ * safer to go with IOCTL_KGSL_GPUMEM_CACHE_SYNC
+ */
+
+#define IOCTL_KGSL_SHAREDMEM_FLUSH_CACHE \
+	_IOW(KGSL_IOC_TYPE, 0x24, struct kgsl_sharedmem_free)
+
+struct kgsl_drawctxt_set_bin_base_offset {
+	unsigned int drawctxt_id;
+	unsigned int offset;
+};
+
+#define IOCTL_KGSL_DRAWCTXT_SET_BIN_BASE_OFFSET \
+	_IOW(KGSL_IOC_TYPE, 0x25, struct kgsl_drawctxt_set_bin_base_offset)
+
+enum kgsl_cmdwindow_type {
+	KGSL_CMDWINDOW_MIN     = 0x00000000,
+	KGSL_CMDWINDOW_2D      = 0x00000000,
+	KGSL_CMDWINDOW_3D      = 0x00000001, /* legacy */
+	KGSL_CMDWINDOW_MMU     = 0x00000002,
+	KGSL_CMDWINDOW_ARBITER = 0x000000FF,
+	KGSL_CMDWINDOW_MAX     = 0x000000FF,
+};
+
+/* write to the command window */
+struct kgsl_cmdwindow_write {
+	enum kgsl_cmdwindow_type target;
+	unsigned int addr;
+	unsigned int data;
+};
+
+#define IOCTL_KGSL_CMDWINDOW_WRITE \
+	_IOW(KGSL_IOC_TYPE, 0x2e, struct kgsl_cmdwindow_write)
+
+struct kgsl_gpumem_alloc {
+	unsigned long gpuaddr; /* output param */
+	size_t size;
+	unsigned int flags;
+};
+
+#define IOCTL_KGSL_GPUMEM_ALLOC \
+	_IOWR(KGSL_IOC_TYPE, 0x2f, struct kgsl_gpumem_alloc)
+
+struct kgsl_cff_syncmem {
+	unsigned long gpuaddr;
+	size_t len;
+	unsigned int __pad[2]; /* For future binary compatibility */
+};
+
+#define IOCTL_KGSL_CFF_SYNCMEM \
+	_IOW(KGSL_IOC_TYPE, 0x30, struct kgsl_cff_syncmem)
+
+/*
+ * A timestamp event allows the user space to register an action following an
+ * expired timestamp. Note IOCTL_KGSL_TIMESTAMP_EVENT has been redefined to
+ * _IOWR to support fences which need to return a fd for the priv parameter.
+ */
+
+struct kgsl_timestamp_event {
+	int type;                /* Type of event (see list below) */
+	unsigned int timestamp;  /* Timestamp to trigger event on */
+	unsigned int context_id; /* Context for the timestamp */
+	void __user *priv;	 /* Pointer to the event specific blob */
+	size_t len;              /* Size of the event specific blob */
+};
+
+#define IOCTL_KGSL_TIMESTAMP_EVENT_OLD \
+	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_timestamp_event)
+
+/* A genlock timestamp event releases an existing lock on timestamp expire */
+
+#define KGSL_TIMESTAMP_EVENT_GENLOCK 1
+
+struct kgsl_timestamp_event_genlock {
+	int handle; /* Handle of the genlock lock to release */
+};
+
+/* A fence timestamp event releases an existing lock on timestamp expire */
+
+#define KGSL_TIMESTAMP_EVENT_FENCE 2
+
+struct kgsl_timestamp_event_fence {
+	int fence_fd; /* Fence to signal */
+};
+
+/*
+ * Set a property within the kernel.  Uses the same structure as
+ * IOCTL_KGSL_GETPROPERTY
+ */
+
+#define IOCTL_KGSL_SETPROPERTY \
+	_IOW(KGSL_IOC_TYPE, 0x32, struct kgsl_device_getproperty)
+
+#define IOCTL_KGSL_TIMESTAMP_EVENT \
+	_IOWR(KGSL_IOC_TYPE, 0x33, struct kgsl_timestamp_event)
+
+/**
+ * struct kgsl_gpumem_alloc_id - argument to IOCTL_KGSL_GPUMEM_ALLOC_ID
+ * @id: returned id value for this allocation.
+ * @flags: mask of KGSL_MEM* values requested and actual flags on return.
+ * @size: requested size of the allocation and actual size on return.
+ * @mmapsize: returned size to pass to mmap() which may be larger than 'size'
+ * @gpuaddr: returned GPU address for the allocation
+ *
+ * Allocate memory for access by the GPU. The flags and size fields are echoed
+ * back by the kernel, so that the caller can know if the request was
+ * adjusted.
+ *
+ * Supported flags:
+ * KGSL_MEMFLAGS_GPUREADONLY: the GPU will be unable to write to the buffer
+ * KGSL_MEMTYPE*: usage hint for debugging aid
+ * KGSL_MEMALIGN*: alignment hint, may be ignored or adjusted by the kernel.
+ * KGSL_MEMFLAGS_USE_CPU_MAP: If set on call and return, the returned GPU
+ * address will be 0. Calling mmap() will set the GPU address.
+ */
+struct kgsl_gpumem_alloc_id {
+	unsigned int id;
+	unsigned int flags;
+	size_t size;
+	size_t mmapsize;
+	unsigned long gpuaddr;
+/* private: reserved for future use*/
+	unsigned long __pad[2];
+};
+
+#define IOCTL_KGSL_GPUMEM_ALLOC_ID \
+	_IOWR(KGSL_IOC_TYPE, 0x34, struct kgsl_gpumem_alloc_id)
+
+/**
+ * struct kgsl_gpumem_free_id - argument to IOCTL_KGSL_GPUMEM_FREE_ID
+ * @id: GPU allocation id to free
+ *
+ * Free an allocation by id, in case a GPU address has not been assigned or
+ * is unknown. Freeing an allocation by id with this ioctl or by GPU address
+ * with IOCTL_KGSL_SHAREDMEM_FREE are equivalent.
+ */
+struct kgsl_gpumem_free_id {
+	unsigned int id;
+/* private: reserved for future use*/
+	unsigned int __pad;
+};
+
+#define IOCTL_KGSL_GPUMEM_FREE_ID \
+	_IOWR(KGSL_IOC_TYPE, 0x35, struct kgsl_gpumem_free_id)
+
+/**
+ * struct kgsl_gpumem_get_info - argument to IOCTL_KGSL_GPUMEM_GET_INFO
+ * @gpuaddr: GPU address to query. Also set on return.
+ * @id: GPU allocation id to query. Also set on return.
+ * @flags: returned mask of KGSL_MEM* values.
+ * @size: returned size of the allocation.
+ * @mmapsize: returned size to pass mmap(), which may be larger than 'size'
+ * @useraddr: returned address of the userspace mapping for this buffer
+ *
+ * This ioctl allows querying of all user visible attributes of an existing
+ * allocation, by either the GPU address or the id returned by a previous
+ * call to IOCTL_KGSL_GPUMEM_ALLOC_ID. Legacy allocation ioctls may not
+ * return all attributes so this ioctl can be used to look them up if needed.
+ *
+ */
+struct kgsl_gpumem_get_info {
+	unsigned long gpuaddr;
+	unsigned int id;
+	unsigned int flags;
+	size_t size;
+	size_t mmapsize;
+	unsigned long useraddr;
+/* private: reserved for future use*/
+	unsigned long __pad[4];
+};
+
+#define IOCTL_KGSL_GPUMEM_GET_INFO\
+	_IOWR(KGSL_IOC_TYPE, 0x36, struct kgsl_gpumem_get_info)
+
+/**
+ * struct kgsl_gpumem_sync_cache - argument to IOCTL_KGSL_GPUMEM_SYNC_CACHE
+ * @gpuaddr: GPU address of the buffer to sync.
+ * @id: id of the buffer to sync. Either gpuaddr or id is sufficient.
+ * @op: a mask of KGSL_GPUMEM_CACHE_* values
+ * @offset: offset into the buffer
+ * @length: number of bytes starting from offset to perform
+ * the cache operation on
+ *
+ * Sync the L2 cache for memory headed to and from the GPU - this replaces
+ * KGSL_SHAREDMEM_FLUSH_CACHE since it can handle cache management for both
+ * directions
+ *
+ */
+struct kgsl_gpumem_sync_cache {
+	unsigned long gpuaddr;
+	unsigned int id;
+	unsigned int op;
+	size_t offset;
+	size_t length;
+};
+
+#define KGSL_GPUMEM_CACHE_CLEAN (1 << 0)
+#define KGSL_GPUMEM_CACHE_TO_GPU KGSL_GPUMEM_CACHE_CLEAN
+
+#define KGSL_GPUMEM_CACHE_INV (1 << 1)
+#define KGSL_GPUMEM_CACHE_FROM_GPU KGSL_GPUMEM_CACHE_INV
+
+#define KGSL_GPUMEM_CACHE_FLUSH \
+	(KGSL_GPUMEM_CACHE_CLEAN | KGSL_GPUMEM_CACHE_INV)
+
+/* Flag to ensure backwards compatibility of kgsl_gpumem_sync_cache struct */
+#define KGSL_GPUMEM_CACHE_RANGE (1 << 31U)
+
+#define IOCTL_KGSL_GPUMEM_SYNC_CACHE \
+	_IOW(KGSL_IOC_TYPE, 0x37, struct kgsl_gpumem_sync_cache)
+
+/**
+ * struct kgsl_perfcounter_get - argument to IOCTL_KGSL_PERFCOUNTER_GET
+ * @groupid: Performance counter group ID
+ * @countable: Countable to select within the group
+ * @offset: Return offset of the reserved LO counter
+ * @offset_hi: Return offset of the reserved HI counter
+ *
+ * Get an available performance counter from a specified groupid.  The offset
+ * of the performance counter will be returned after successfully assigning
+ * the countable to the counter for the specified group.  An error will be
+ * returned and an offset of 0 if the groupid is invalid or there are no
+ * more counters left.  After successfully getting a perfcounter, the user
+ * must call kgsl_perfcounter_put(groupid, contable) when finished with
+ * the perfcounter to clear up perfcounter resources.
+ *
+ */
+struct kgsl_perfcounter_get {
+	unsigned int groupid;
+	unsigned int countable;
+	unsigned int offset;
+	unsigned int offset_hi;
+/* private: reserved for future use */
+	unsigned int __pad; /* For future binary compatibility */
+};
+
+#define IOCTL_KGSL_PERFCOUNTER_GET \
+	_IOWR(KGSL_IOC_TYPE, 0x38, struct kgsl_perfcounter_get)
+
+/**
+ * struct kgsl_perfcounter_put - argument to IOCTL_KGSL_PERFCOUNTER_PUT
+ * @groupid: Performance counter group ID
+ * @countable: Countable to release within the group
+ *
+ * Put an allocated performance counter to allow others to have access to the
+ * resource that was previously taken.  This is only to be called after
+ * successfully getting a performance counter from kgsl_perfcounter_get().
+ *
+ */
+struct kgsl_perfcounter_put {
+	unsigned int groupid;
+	unsigned int countable;
+/* private: reserved for future use */
+	unsigned int __pad[2]; /* For future binary compatibility */
+};
+
+#define IOCTL_KGSL_PERFCOUNTER_PUT \
+	_IOW(KGSL_IOC_TYPE, 0x39, struct kgsl_perfcounter_put)
+
+/**
+ * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
+ * @groupid: Performance counter group ID
+ * @countable: Return active countables array
+ * @size: Size of active countables array
+ * @max_counters: Return total number counters for the group ID
+ *
+ * Query the available performance counters given a groupid.  The array
+ * *countables is used to return the current active countables in counters.
+ * The size of the array is passed in so the kernel will only write at most
+ * size or counter->size for the group id.  The total number of available
+ * counters for the group ID is returned in max_counters.
+ * If the array or size passed in are invalid, then only the maximum number
+ * of counters will be returned, no data will be written to *countables.
+ * If the groupid is invalid an error code will be returned.
+ *
+ */
+struct kgsl_perfcounter_query {
+	unsigned int groupid;
+	/* Array to return the current countable for up to size counters */
+	unsigned int __user *countables;
+	unsigned int count;
+	unsigned int max_counters;
+/* private: reserved for future use */
+	unsigned int __pad[2]; /* For future binary compatibility */
+};
+
+#define IOCTL_KGSL_PERFCOUNTER_QUERY \
+	_IOWR(KGSL_IOC_TYPE, 0x3A, struct kgsl_perfcounter_query)
+
+/**
+ * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
+ * @groupid: Performance counter group IDs
+ * @countable: Performance counter countable IDs
+ * @value: Return performance counter reads
+ * @size: Size of all arrays (groupid/countable pair and return value)
+ *
+ * Read in the current value of a performance counter given by the groupid
+ * and countable.
+ *
+ */
+
+struct kgsl_perfcounter_read_group {
+	unsigned int groupid;
+	unsigned int countable;
+	unsigned long long value;
+};
+
+struct kgsl_perfcounter_read {
+	struct kgsl_perfcounter_read_group __user *reads;
+	unsigned int count;
+/* private: reserved for future use */
+	unsigned int __pad[2]; /* For future binary compatibility */
+};
+
+#define IOCTL_KGSL_PERFCOUNTER_READ \
+	_IOWR(KGSL_IOC_TYPE, 0x3B, struct kgsl_perfcounter_read)
+/*
+ * struct kgsl_gpumem_sync_cache_bulk - argument to
+ * IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK
+ * @id_list: list of GPU buffer ids of the buffers to sync
+ * @count: number of GPU buffer ids in id_list
+ * @op: a mask of KGSL_GPUMEM_CACHE_* values
+ *
+ * Sync the cache for memory headed to and from the GPU. Certain
+ * optimizations can be made on the cache operation based on the total
+ * size of the working set of memory to be managed.
+ */
+struct kgsl_gpumem_sync_cache_bulk {
+	unsigned int __user *id_list;
+	unsigned int count;
+	unsigned int op;
+/* private: reserved for future use */
+	unsigned int __pad[2]; /* For future binary compatibility */
+};
+
+#define IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK \
+	_IOWR(KGSL_IOC_TYPE, 0x3C, struct kgsl_gpumem_sync_cache_bulk)
+
+/*
+ * struct kgsl_cmd_syncpoint_timestamp
+ * @context_id: ID of a KGSL context
+ * @timestamp: GPU timestamp
+ *
+ * This structure defines a syncpoint comprising a context/timestamp pair. A
+ * list of these may be passed by IOCTL_KGSL_SUBMIT_COMMANDS to define
+ * dependencies that must be met before the command can be submitted to the
+ * hardware
+ */
+struct kgsl_cmd_syncpoint_timestamp {
+	unsigned int context_id;
+	unsigned int timestamp;
+};
+
+struct kgsl_cmd_syncpoint_fence {
+	int fd;
+};
+
+/**
+ * struct kgsl_cmd_syncpoint - Define a sync point for a command batch
+ * @type: type of sync point defined here
+ * @priv: Pointer to the type specific buffer
+ * @size: Size of the type specific buffer
+ *
+ * This structure contains pointers defining a specific command sync point.
+ * The pointer and size should point to a type appropriate structure.
+ */
+struct kgsl_cmd_syncpoint {
+	int type;
+	void __user *priv;
+	size_t size;
+};
+
+/* Flag to indicate that the cmdlist may contain memlists */
+#define KGSL_IBDESC_MEMLIST 0x1
+
+/* Flag to point out the cmdbatch profiling buffer in the memlist */
+#define KGSL_IBDESC_PROFILING_BUFFER 0x2
+
+/**
+ * struct kgsl_submit_commands - Argument to IOCTL_KGSL_SUBMIT_COMMANDS
+ * @context_id: KGSL context ID that owns the commands
+ * @flags:
+ * @cmdlist: User pointer to a list of kgsl_ibdesc structures
+ * @numcmds: Number of commands listed in cmdlist
+ * @synclist: User pointer to a list of kgsl_cmd_syncpoint structures
+ * @numsyncs: Number of sync points listed in synclist
+ * @timestamp: On entry the a user defined timestamp, on exist the timestamp
+ * assigned to the command batch
+ *
+ * This structure specifies a command to send to the GPU hardware.  This is
+ * similar to kgsl_issueibcmds expect that it doesn't support the legacy way to
+ * submit IB lists and it adds sync points to block the IB until the
+ * dependencies are satisified.  This entry point is the new and preferred way
+ * to submit commands to the GPU. The memory list can be used to specify all
+ * memory that is referrenced in the current set of commands.
+ */
+
+struct kgsl_submit_commands {
+	unsigned int context_id;
+	unsigned int flags;
+	struct kgsl_ibdesc __user *cmdlist;
+	unsigned int numcmds;
+	struct kgsl_cmd_syncpoint __user *synclist;
+	unsigned int numsyncs;
+	unsigned int timestamp;
+/* private: reserved for future use */
+	unsigned int __pad[4];
+};
+
+#define IOCTL_KGSL_SUBMIT_COMMANDS \
+	_IOWR(KGSL_IOC_TYPE, 0x3D, struct kgsl_submit_commands)
+
+/**
+ * struct kgsl_device_constraint - device constraint argument
+ * @context_id: KGSL context ID
+ * @type: type of constraint i.e pwrlevel/none
+ * @data: constraint data
+ * @size: size of the constraint data
+ */
+struct kgsl_device_constraint {
+	unsigned int type;
+	unsigned int context_id;
+	void __user *data;
+	size_t size;
+};
+
+/* Constraint Type*/
+#define KGSL_CONSTRAINT_NONE 0
+#define KGSL_CONSTRAINT_PWRLEVEL 1
+
+/* PWRLEVEL constraint level*/
+/* set to min frequency */
+#define KGSL_CONSTRAINT_PWR_MIN    0
+/* set to max frequency */
+#define KGSL_CONSTRAINT_PWR_MAX    1
+
+struct kgsl_device_constraint_pwrlevel {
+	unsigned int level;
+};
+
+/**
+ * struct kgsl_syncsource_create - Argument to IOCTL_KGSL_SYNCSOURCE_CREATE
+ * @id: returned id for the syncsource that was created.
+ *
+ * This ioctl creates a userspace sync timeline.
+ */
+
+struct kgsl_syncsource_create {
+	unsigned int id;
+/* private: reserved for future use */
+	unsigned int __pad[3];
+};
+
+#define IOCTL_KGSL_SYNCSOURCE_CREATE \
+	_IOWR(KGSL_IOC_TYPE, 0x40, struct kgsl_syncsource_create)
+
+/**
+ * struct kgsl_syncsource_destroy - Argument to IOCTL_KGSL_SYNCSOURCE_DESTROY
+ * @id: syncsource id to destroy
+ *
+ * This ioctl creates a userspace sync timeline.
+ */
+
+struct kgsl_syncsource_destroy {
+	unsigned int id;
+/* private: reserved for future use */
+	unsigned int __pad[3];
+};
+
+#define IOCTL_KGSL_SYNCSOURCE_DESTROY \
+	_IOWR(KGSL_IOC_TYPE, 0x41, struct kgsl_syncsource_destroy)
+
+/**
+ * struct kgsl_syncsource_create_fence - Argument to
+ *     IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
+ * @id: syncsource id
+ * @fence_fd: returned sync_fence fd
+ *
+ * Create a fence that may be signaled by userspace by calling
+ * IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE. There are no order dependencies between
+ * these fences.
+ */
+struct kgsl_syncsource_create_fence {
+	unsigned int id;
+	int fence_fd;
+/* private: reserved for future use */
+	unsigned int __pad[4];
+};
+
+/**
+ * struct kgsl_syncsource_signal_fence - Argument to
+ *     IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE
+ * @id: syncsource id
+ * @fence_fd: sync_fence fd to signal
+ *
+ * Signal a fence that was created by a IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
+ * call using the same syncsource id. This allows a fence to be shared
+ * to other processes but only signaled by the process owning the fd
+ * used to create the fence.
+ */
+#define IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE \
+	_IOWR(KGSL_IOC_TYPE, 0x42, struct kgsl_syncsource_create_fence)
+
+struct kgsl_syncsource_signal_fence {
+	unsigned int id;
+	int fence_fd;
+/* private: reserved for future use */
+	unsigned int __pad[4];
+};
+
+#define IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE \
+	_IOWR(KGSL_IOC_TYPE, 0x43, struct kgsl_syncsource_signal_fence)
+
+/**
+ * struct kgsl_cff_sync_gpuobj - Argument to IOCTL_KGSL_CFF_SYNC_GPUOBJ
+ * @offset: Offset into the GPU object to sync
+ * @length: Number of bytes to sync
+ * @id: ID of the GPU object to sync
+ */
+struct kgsl_cff_sync_gpuobj {
+	uint64_t offset;
+	uint64_t length;
+	unsigned int id;
+};
+
+#define IOCTL_KGSL_CFF_SYNC_GPUOBJ \
+	_IOW(KGSL_IOC_TYPE, 0x44, struct kgsl_cff_sync_gpuobj)
+
+/**
+ * struct kgsl_gpuobj_alloc - Argument to IOCTL_KGSL_GPUOBJ_ALLOC
+ * @size: Size in bytes of the object to allocate
+ * @flags: mask of KGSL_MEMFLAG_* bits
+ * @va_len: Size in bytes of the virtual region to allocate
+ * @mmapsize: Returns the mmap() size of the object
+ * @id: Returns the GPU object ID of the new object
+ * @metadata_len: Length of the metdata to copy from the user
+ * @metadata: Pointer to the user specified metadata to store for the object
+ */
+struct kgsl_gpuobj_alloc {
+	uint64_t size;
+	uint64_t flags;
+	uint64_t va_len;
+	uint64_t mmapsize;
+	unsigned int id;
+	unsigned int metadata_len;
+	uint64_t metadata;
+};
+
+/* Let the user know that this header supports the gpuobj metadata */
+#define KGSL_GPUOBJ_ALLOC_METADATA_MAX 64
+
+#define IOCTL_KGSL_GPUOBJ_ALLOC \
+	_IOWR(KGSL_IOC_TYPE, 0x45, struct kgsl_gpuobj_alloc)
+
+/**
+ * struct kgsl_gpuobj_free - Argument to IOCTL_KGLS_GPUOBJ_FREE
+ * @flags: Mask of: KGSL_GUPOBJ_FREE_ON_EVENT
+ * @priv: Pointer to the private object if KGSL_GPUOBJ_FREE_ON_EVENT is
+ * specified
+ * @id: ID of the GPU object to free
+ * @type: If KGSL_GPUOBJ_FREE_ON_EVENT is specified, the type of asynchronous
+ * event to free on
+ * @len: Length of the data passed in priv
+ */
+struct kgsl_gpuobj_free {
+	uint64_t flags;
+	uint64_t __user priv;
+	unsigned int id;
+	unsigned int type;
+	unsigned int len;
+};
+
+#define KGSL_GPUOBJ_FREE_ON_EVENT 1
+
+#define KGSL_GPU_EVENT_TIMESTAMP 1
+#define KGSL_GPU_EVENT_FENCE     2
+
+/**
+ * struct kgsl_gpu_event_timestamp - Specifies a timestamp event to free a GPU
+ * object on
+ * @context_id: ID of the timestamp event to wait for
+ * @timestamp: Timestamp of the timestamp event to wait for
+ */
+struct kgsl_gpu_event_timestamp {
+	unsigned int context_id;
+	unsigned int timestamp;
+};
+
+/**
+ * struct kgsl_gpu_event_fence - Specifies a fence ID to to free a GPU object on
+ * @fd: File descriptor for the fence
+ */
+struct kgsl_gpu_event_fence {
+	int fd;
+};
+
+#define IOCTL_KGSL_GPUOBJ_FREE \
+	_IOW(KGSL_IOC_TYPE, 0x46, struct kgsl_gpuobj_free)
+
+/**
+ * struct kgsl_gpuobj_info - argument to IOCTL_KGSL_GPUOBJ_INFO
+ * @gpuaddr: GPU address of the object
+ * @flags: Current flags for the object
+ * @size: Size of the object
+ * @va_len: VA size of the object
+ * @va_addr: Virtual address of the object (if it is mapped)
+ * id - GPU object ID of the object to query
+ */
+struct kgsl_gpuobj_info {
+	uint64_t gpuaddr;
+	uint64_t flags;
+	uint64_t size;
+	uint64_t va_len;
+	uint64_t va_addr;
+	unsigned int id;
+};
+
+#define IOCTL_KGSL_GPUOBJ_INFO \
+	_IOWR(KGSL_IOC_TYPE, 0x47, struct kgsl_gpuobj_info)
+
+/**
+ * struct kgsl_gpuobj_import - argument to IOCTL_KGSL_GPUOBJ_IMPORT
+ * @priv: Pointer to the private data for the import type
+ * @priv_len: Length of the private data
+ * @flags: Mask of KGSL_MEMFLAG_ flags
+ * @type: Type of the import (KGSL_USER_MEM_TYPE_*)
+ * @id: Returns the ID of the new GPU object
+ */
+struct kgsl_gpuobj_import {
+	uint64_t __user priv;
+	uint64_t priv_len;
+	uint64_t flags;
+	unsigned int type;
+	unsigned int id;
+};
+
+/**
+ * struct kgsl_gpuobj_import_dma_buf - import a dmabuf object
+ * @fd: File descriptor for the dma-buf object
+ */
+struct kgsl_gpuobj_import_dma_buf {
+	int fd;
+};
+
+/**
+ * struct kgsl_gpuobj_import_useraddr - import an object based on a useraddr
+ * @virtaddr: Virtual address of the object to import
+ */
+struct kgsl_gpuobj_import_useraddr {
+	uint64_t virtaddr;
+};
+
+#define IOCTL_KGSL_GPUOBJ_IMPORT \
+	_IOWR(KGSL_IOC_TYPE, 0x48, struct kgsl_gpuobj_import)
+
+/**
+ * struct kgsl_gpuobj_sync_obj - Individual GPU object to sync
+ * @offset: Offset within the GPU object to sync
+ * @length: Number of bytes to sync
+ * @id: ID of the GPU object to sync
+ * @op: Cache operation to execute
+ */
+
+struct kgsl_gpuobj_sync_obj {
+	uint64_t offset;
+	uint64_t length;
+	unsigned int id;
+	unsigned int op;
+};
+
+/**
+ * struct kgsl_gpuobj_sync - Argument for IOCTL_KGSL_GPUOBJ_SYNC
+ * @objs: Pointer to an array of kgsl_gpuobj_sync_obj structs
+ * @obj_len: Size of each item in the array
+ * @count: Number of items in the array
+ */
+
+struct kgsl_gpuobj_sync {
+	uint64_t __user objs;
+	unsigned int obj_len;
+	unsigned int count;
+};
+
+#define IOCTL_KGSL_GPUOBJ_SYNC \
+	_IOW(KGSL_IOC_TYPE, 0x49, struct kgsl_gpuobj_sync)
+
+/**
+ * struct kgsl_command_object - GPU command object
+ * @offset: GPU address offset of the object
+ * @gpuaddr: GPU address of the object
+ * @size: Size of the object
+ * @flags: Current flags for the object
+ * @id - GPU command object ID
+ */
+struct kgsl_command_object {
+	uint64_t offset;
+	uint64_t gpuaddr;
+	uint64_t size;
+	unsigned int flags;
+	unsigned int id;
+};
+
+/**
+ * struct kgsl_command_syncpoint - GPU syncpoint object
+ * @priv: Pointer to the type specific buffer
+ * @size: Size of the type specific buffer
+ * @type: type of sync point defined here
+ */
+struct kgsl_command_syncpoint {
+	uint64_t __user priv;
+	uint64_t size;
+	unsigned int type;
+};
+
+/**
+ * struct kgsl_command_object - Argument for IOCTL_KGSL_GPU_COMMAND
+ * @flags: Current flags for the object
+ * @cmdlist: List of kgsl_command_objects for submission
+ * @cmd_size: Size of kgsl_command_objects structure
+ * @numcmds: Number of kgsl_command_objects in command list
+ * @objlist: List of kgsl_command_objects for tracking
+ * @obj_size: Size of kgsl_command_objects structure
+ * @numobjs: Number of kgsl_command_objects in object list
+ * @synclist: List of kgsl_command_syncpoints
+ * @sync_size: Size of kgsl_command_syncpoint structure
+ * @numsyncs: Number of kgsl_command_syncpoints in syncpoint list
+ * @context_id: Context ID submittin ghte kgsl_gpu_command
+ * @timestamp: Timestamp for the submitted commands
+ */
+struct kgsl_gpu_command {
+	uint64_t flags;
+	uint64_t __user cmdlist;
+	unsigned int cmdsize;
+	unsigned int numcmds;
+	uint64_t __user objlist;
+	unsigned int objsize;
+	unsigned int numobjs;
+	uint64_t __user synclist;
+	unsigned int syncsize;
+	unsigned int numsyncs;
+	unsigned int context_id;
+	unsigned int timestamp;
+};
+
+#define IOCTL_KGSL_GPU_COMMAND \
+	_IOWR(KGSL_IOC_TYPE, 0x4A, struct kgsl_gpu_command)
+
+/**
+ * struct kgsl_preemption_counters_query - argument to
+ * IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY
+ * @counters: Return preemption counters array
+ * @size_user: Size allocated by userspace
+ * @size_priority_level: Size of preemption counters for each
+ * priority level
+ * @max_priority_level: Return max number of priority levels
+ *
+ * Query the available preemption counters. The array counters
+ * is used to return preemption counters. The size of the array
+ * is passed in so the kernel will only write at most size_user
+ * or max available preemption counters.  The total number of
+ * preemption counters is returned in max_priority_level. If the
+ * array or size passed in are invalid, then an error is
+ * returned back.
+ */
+struct kgsl_preemption_counters_query {
+	uint64_t __user counters;
+	unsigned int size_user;
+	unsigned int size_priority_level;
+	unsigned int max_priority_level;
+};
+
+#define IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY \
+	_IOWR(KGSL_IOC_TYPE, 0x4B, struct kgsl_preemption_counters_query)
+
+/**
+ * struct kgsl_gpuobj_set_info - argument for IOCTL_KGSL_GPUOBJ_SET_INFO
+ * @flags: Flags to indicate which paramaters to change
+ * @metadata:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, a pointer to the new
+ * metadata
+ * @id: GPU memory object ID to change
+ * @metadata_len:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, the length of the
+ * new metadata string
+ * @type: If KGSL_GPUOBJ_SET_INFO_TYPE is set, the new type of the memory object
+ */
+
+#define KGSL_GPUOBJ_SET_INFO_METADATA (1 << 0)
+#define KGSL_GPUOBJ_SET_INFO_TYPE (1 << 1)
+
+struct kgsl_gpuobj_set_info {
+	uint64_t flags;
+	uint64_t metadata;
+	unsigned int id;
+	unsigned int metadata_len;
+	unsigned int type;
+};
+
+#define IOCTL_KGSL_GPUOBJ_SET_INFO \
+	_IOW(KGSL_IOC_TYPE, 0x4C, struct kgsl_gpuobj_set_info)
+
+#endif /* _UAPI_MSM_KGSL_H */
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
new file mode 100644
index 00000000000000..cd5584553b6f38
--- /dev/null
+++ b/selfdrive/modeld/thneed/serialize.cc
@@ -0,0 +1,258 @@
+#include <cassert>
+#include <set>
+
+#include "json11.hpp"
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/modeld/thneed/thneed.h"
+using namespace json11;
+
+extern map<cl_program, string> g_program_source;
+
+void Thneed::load(const char *filename) {
+  printf("Thneed::load: loading from %s\n", filename);
+
+  string buf = util::read_file(filename);
+  int jsz = *(int *)buf.data();
+  string err;
+  string jj(buf.data() + sizeof(int), jsz);
+  Json jdat = Json::parse(jj, err);
+
+  map<cl_mem, cl_mem> real_mem;
+  real_mem[NULL] = NULL;
+
+  int ptr = sizeof(int)+jsz;
+  for (auto &obj : jdat["objects"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem clbuf = NULL;
+
+    if (mobj["buffer_id"].string_value().size() > 0) {
+      // image buffer must already be allocated
+      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+      assert(mobj["needs_load"].bool_value() == false);
+    } else {
+      if (mobj["needs_load"].bool_value()) {
+        //printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
+        ptr += sz;
+      } else {
+        clbuf = clCreateBuffer(context, CL_MEM_READ_WRITE, sz, NULL, NULL);
+      }
+    }
+    assert(clbuf != NULL);
+
+    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
+      cl_image_desc desc = {0};
+      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
+      desc.image_width = mobj["width"].int_value();
+      desc.image_height = mobj["height"].int_value();
+      desc.image_row_pitch = mobj["row_pitch"].int_value();
+      desc.buffer = clbuf;
+
+      cl_image_format format;
+      format.image_channel_order = CL_RGBA;
+      format.image_channel_data_type = CL_HALF_FLOAT;
+
+      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, NULL);
+      assert(clbuf != NULL);
+    }
+
+    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
+  }
+
+  map<string, cl_program> g_programs;
+  for (const auto &[name, source] : jdat["programs"].object_items()) {
+    if (record & THNEED_DEBUG) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
+    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
+  }
+
+  for (auto &obj : jdat["binaries"].array_items()) {
+    string name = obj["name"].string_value();
+    size_t length = obj["length"].int_value();
+    if (record & THNEED_DEBUG) printf("binary %s with size %zu\n", name.c_str(), length);
+    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
+    ptr += length;
+  }
+
+  for (auto &obj : jdat["kernels"].array_items()) {
+    auto gws = obj["global_work_size"];
+    auto lws = obj["local_work_size"];
+    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
+
+    kk->name = obj["name"].string_value();
+    kk->program = g_programs[kk->name];
+    kk->work_dim = obj["work_dim"].int_value();
+    for (int i = 0; i < kk->work_dim; i++) {
+      kk->global_work_size[i] = gws[i].int_value();
+      kk->local_work_size[i] = lws[i].int_value();
+    }
+    kk->num_args = obj["num_args"].int_value();
+    for (int i = 0; i < kk->num_args; i++) {
+      string arg = obj["args"].array_items()[i].string_value();
+      int arg_size = obj["args_size"].array_items()[i].int_value();
+      kk->args_size.push_back(arg_size);
+      if (arg_size == 8) {
+        cl_mem val = *(cl_mem*)(arg.data());
+        val = real_mem[val];
+        kk->args.push_back(string((char*)&val, sizeof(val)));
+      } else {
+        kk->args.push_back(arg);
+      }
+    }
+    kq.push_back(kk);
+  }
+
+  clFinish(command_queue);
+}
+
+void Thneed::save(const char *filename, bool save_binaries) {
+  printf("Thneed::save: saving to %s\n", filename);
+
+  // get kernels
+  std::vector<Json> kernels;
+  std::set<string> saved_objects;
+  std::vector<Json> objects;
+  std::map<string, string> programs;
+  std::map<string, string> binaries;
+
+  for (auto &k : kq) {
+    kernels.push_back(k->to_json());
+
+    // check args for objects
+    int i = 0;
+    for (auto &a : k->args) {
+      if (a.size() == 8) {
+        if (saved_objects.find(a) == saved_objects.end()) {
+          saved_objects.insert(a);
+          cl_mem val = *(cl_mem*)(a.data());
+          if (val != NULL) {
+            bool needs_load = k->arg_names[i] == "weights" || k->arg_names[i] == "biases";
+
+            auto jj = Json::object({
+              {"id", a},
+              {"arg_type", k->arg_types[i]},
+            });
+
+            if (k->arg_types[i] == "image2d_t" || k->arg_types[i] == "image1d_t") {
+              cl_mem buf;
+              clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
+              string aa = string((char *)&buf, sizeof(buf));
+              jj["buffer_id"] = aa;
+
+              size_t width, height, row_pitch;
+              clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
+              clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
+              clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
+              jj["width"] = (int)width;
+              jj["height"] = (int)height;
+              jj["row_pitch"] = (int)row_pitch;
+              jj["size"] = (int)(height * row_pitch);
+              jj["needs_load"] = false;
+
+              if (saved_objects.find(aa) == saved_objects.end()) {
+                saved_objects.insert(aa);
+                size_t sz;
+                clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+                // save the buffer
+                objects.push_back(Json::object({
+                  {"id", aa},
+                  {"arg_type", "<image buffer>"},
+                  {"needs_load", needs_load},
+                  {"size", (int)sz}
+                }));
+                if (needs_load) assert(sz == height * row_pitch);
+              }
+            } else {
+              size_t sz = 0;
+              clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+              jj["size"] = (int)sz;
+              jj["needs_load"] = needs_load;
+            }
+
+            objects.push_back(jj);
+          }
+        }
+      }
+      i++;
+    }
+
+    if (save_binaries) {
+      int err;
+      size_t binary_size = 0;
+      err = clGetProgramInfo(k->program, CL_PROGRAM_BINARY_SIZES, sizeof(binary_size), &binary_size, NULL);
+      assert(err == 0);
+      assert(binary_size > 0);
+      string sv(binary_size, '\x00');
+
+      uint8_t* bufs[1] = { (uint8_t*)sv.data(), };
+      err = clGetProgramInfo(k->program, CL_PROGRAM_BINARIES, sizeof(bufs), &bufs, NULL);
+      assert(err == 0);
+
+      binaries[k->name] = sv;
+    } else {
+      programs[k->name] = g_program_source[k->program];
+    }
+  }
+
+  vector<string> saved_buffers;
+  for (auto &obj : objects) {
+    auto mobj = obj.object_items();
+    cl_mem val = *(cl_mem*)(mobj["id"].string_value().data());
+    int sz = mobj["size"].int_value();
+    if (mobj["needs_load"].bool_value()) {
+      char *buf = (char *)malloc(sz);
+      if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
+        assert(false);
+      } else {
+        // buffers allocated with CL_MEM_HOST_WRITE_ONLY, hence this hack
+        //hexdump((uint32_t*)val, 0x100);
+
+        // the worst hack in thneed, the flags are at 0x14
+        ((uint32_t*)val)[0x14] &= ~CL_MEM_HOST_WRITE_ONLY;
+        cl_int ret = clEnqueueReadBuffer(command_queue, val, CL_TRUE, 0, sz, buf, 0, NULL, NULL);
+        assert(ret == CL_SUCCESS);
+      }
+      //printf("saving buffer: %d %p %s\n", sz, buf, mobj["arg_type"].string_value().c_str());
+      saved_buffers.push_back(string(buf, sz));
+      free(buf);
+    }
+  }
+
+  std::vector<Json> jbinaries;
+  for (auto &obj : binaries) {
+    jbinaries.push_back(Json::object({{"name", obj.first}, {"length", (int)obj.second.size()}}));
+    saved_buffers.push_back(obj.second);
+  }
+
+  Json jdat = Json::object({
+    {"kernels", kernels},
+    {"objects", objects},
+    {"programs", programs},
+    {"binaries", jbinaries},
+  });
+
+  string str = jdat.dump();
+  int jsz = str.length();
+
+  FILE *f = fopen(filename, "wb");
+  fwrite(&jsz, 1, sizeof(jsz), f);
+  fwrite(str.data(), 1, jsz, f);
+  for (auto &s : saved_buffers) {
+    fwrite(s.data(), 1, s.length(), f);
+  }
+  fclose(f);
+}
+
+Json CLQueuedKernel::to_json() const {
+  return Json::object {
+    { "name", name },
+    { "work_dim", (int)work_dim },
+    { "global_work_size", Json::array { (int)global_work_size[0], (int)global_work_size[1], (int)global_work_size[2] } },
+    { "local_work_size", Json::array { (int)local_work_size[0], (int)local_work_size[1], (int)local_work_size[2] } },
+    { "num_args", (int)num_args },
+    { "args", args },
+    { "args_size", args_size },
+  };
+}
+
diff --git a/selfdrive/modeld/thneed/thneed.cc b/selfdrive/modeld/thneed/thneed.cc
new file mode 100644
index 00000000000000..a934094ecc3a26
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed.cc
@@ -0,0 +1,595 @@
+#include "selfdrive/modeld/thneed/thneed.h"
+
+#include <dlfcn.h>
+#include <sys/mman.h>
+
+#include <cassert>
+#include <cerrno>
+#include <cstring>
+#include <map>
+#include <string>
+
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/timing.h"
+//#define RUN_DISASSEMBLER
+//#define RUN_OPTIMIZER
+
+Thneed *g_thneed = NULL;
+int g_fd = -1;
+map<pair<cl_kernel, int>, string> g_args;
+map<pair<cl_kernel, int>, int> g_args_size;
+map<cl_program, string> g_program_source;
+
+void hexdump(uint8_t *d, int len) {
+  assert((len%4) == 0);
+  printf("  dumping %p len 0x%x\n", d, len);
+  for (int i = 0; i < len/4; i++) {
+    if (i != 0 && (i%0x10) == 0) printf("\n");
+    printf("%8x ", d[i]);
+  }
+  printf("\n");
+}
+
+// *********** ioctl interceptor ***********
+
+extern "C" {
+
+int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
+#undef ioctl
+int ioctl(int filedes, unsigned long request, void *argp) {
+  request &= 0xFFFFFFFF;  // needed on QCOM2
+  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
+  Thneed *thneed = g_thneed;
+
+  // save the fd
+  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
+
+  // note that this runs always, even without a thneed object
+  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
+    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
+    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
+    create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
+  }
+
+  if (thneed != NULL) {
+    if (request == IOCTL_KGSL_GPU_COMMAND) {
+      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
+      if (thneed->record & THNEED_RECORD) {
+        thneed->timestamp = cmd->timestamp;
+        thneed->context_id = cmd->context_id;
+        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
+      }
+      if (thneed->record & THNEED_DEBUG) {
+        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
+            thneed->cmds.size(),
+            cmd->flags,
+            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
+      }
+    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
+      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
+      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
+
+      if (thneed->record & THNEED_DEBUG) {
+        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
+        for (int i = 0; i < cmd->count; i++) {
+          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
+        }
+        printf("\n");
+      }
+
+      if (thneed->record & THNEED_RECORD) {
+        thneed->cmds.push_back(unique_ptr<CachedSync>(new
+              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
+      }
+    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
+      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
+      if (thneed->record & THNEED_DEBUG) {
+        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
+            cmd->context_id, cmd->timestamp, cmd->timeout);
+      }
+    } else if (request == IOCTL_KGSL_SETPROPERTY) {
+      if (thneed->record & THNEED_DEBUG) {
+        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
+        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
+        if (thneed->record & THNEED_VERBOSE_DEBUG) {
+          hexdump((uint8_t *)prop->value, prop->sizebytes);
+          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
+            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
+            hexdump((uint8_t *)constraint->data, constraint->size);
+          }
+        }
+      }
+    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
+      // this happens
+    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
+      // this happens
+    } else {
+      if (thneed->record & THNEED_DEBUG) {
+        printf("other ioctl %lx\n", request);
+      }
+    }
+  }
+
+  int ret = my_ioctl(filedes, request, argp);
+  if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
+  return ret;
+}
+
+}
+
+// *********** GPUMalloc ***********
+
+GPUMalloc::GPUMalloc(int size, int fd) {
+  struct kgsl_gpuobj_alloc alloc;
+  memset(&alloc, 0, sizeof(alloc));
+  alloc.size = size;
+  alloc.flags = 0x10000a00;
+  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
+  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
+  assert(addr != MAP_FAILED);
+
+  base = (uint64_t)addr;
+  remaining = size;
+}
+
+GPUMalloc::~GPUMalloc() {
+  // TODO: free the GPU malloced area
+}
+
+void *GPUMalloc::alloc(int size) {
+  void *ret = (void*)base;
+  size = (size+0xff) & (~0xFF);
+  assert(size <= remaining);
+  remaining -= size;
+  base += size;
+  return ret;
+}
+
+// *********** CachedSync, at the ioctl layer ***********
+
+void CachedSync::exec() {
+  struct kgsl_gpuobj_sync cmd;
+
+  cmd.objs = (uint64_t)data.data();
+  cmd.obj_len = data.length();
+  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
+
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
+  assert(ret == 0);
+}
+
+// *********** CachedCommand, at the ioctl layer ***********
+
+CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
+  thneed = lthneed;
+  assert(cmd->numsyncs == 0);
+
+  memcpy(&cache, cmd, sizeof(cache));
+
+  if (cmd->numcmds > 0) {
+    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
+    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
+    cache.cmdlist = (uint64_t)cmds.get();
+    for (int i = 0; i < cmd->numcmds; i++) {
+      void *nn = thneed->ram->alloc(cmds[i].size);
+      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
+      cmds[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  if (cmd->numobjs > 0) {
+    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
+    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
+    cache.objlist = (uint64_t)objs.get();
+    for (int i = 0; i < cmd->numobjs; i++) {
+      void *nn = thneed->ram->alloc(objs[i].size);
+      memset(nn, 0, objs[i].size);
+      objs[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  kq = thneed->ckq;
+  thneed->ckq.clear();
+}
+
+void CachedCommand::exec() {
+  cache.timestamp = ++thneed->timestamp;
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
+
+  if (thneed->record & THNEED_DEBUG) printf("CachedCommand::exec got %d\n", ret);
+
+  if (thneed->record & THNEED_VERBOSE_DEBUG) {
+    for (auto &it : kq) {
+      it->debug_print(false);
+    }
+    #ifdef RUN_DISASSEMBLER
+      // assuming 2 commands
+      disassemble(0);
+      disassemble(1);
+    #endif
+  }
+
+  assert(ret == 0);
+}
+
+// *********** Thneed ***********
+
+Thneed::Thneed(bool do_clinit) {
+  if (do_clinit) clinit();
+  assert(g_fd != -1);
+  fd = g_fd;
+  ram = make_unique<GPUMalloc>(0x80000, fd);
+  record = THNEED_RECORD;
+  timestamp = -1;
+  g_thneed = this;
+}
+
+void Thneed::stop() {
+  find_inputs_outputs();
+  printf("Thneed::stop: recorded %lu commands\n", cmds.size());
+  record = 0;
+}
+
+void Thneed::find_inputs_outputs() {
+  cl_int err;
+  if (inputs.size() > 0) return;
+
+  // save the global inputs/outputs
+  for (auto &k : kq) {
+    for (int i = 0; i < k->num_args; i++) {
+      if (k->name == "zero_pad_image_float" && k->arg_names[i] == "input") {
+        cl_mem aa = *(cl_mem*)(k->args[i].data());
+        input_clmem.push_back(aa);
+
+        size_t sz;
+        clGetMemObjectInfo(aa, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+        input_sizes.push_back(sz);
+
+        void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &err);
+        assert(err == CL_SUCCESS);
+        inputs.push_back(ret);
+      }
+
+      if (k->name == "image2d_to_buffer_float" && k->arg_names[i] == "output") {
+        output = *(cl_mem*)(k->args[i].data());
+      }
+    }
+  }
+}
+
+void Thneed::copy_inputs(float **finputs) {
+  //cl_int ret;
+  for (int idx = 0; idx < inputs.size(); ++idx) {
+    if (record & THNEED_DEBUG) printf("copying %lu -- %p -> %p\n", input_sizes[idx], finputs[idx], inputs[idx]);
+    if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
+  }
+}
+
+void Thneed::copy_output(float *foutput) {
+  if (output != NULL) {
+    size_t sz;
+    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+    if (record & THNEED_DEBUG) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
+    clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL);
+  } else {
+    printf("CAUTION: model output is NULL, does it have no outputs?\n");
+  }
+}
+
+void Thneed::wait() {
+  struct kgsl_device_waittimestamp_ctxtid wait;
+  wait.context_id = context_id;
+  wait.timestamp = timestamp;
+  wait.timeout = -1;
+
+  uint64_t tb = nanos_since_boot();
+  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
+  uint64_t te = nanos_since_boot();
+
+  if (record & THNEED_DEBUG) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (record & THNEED_DEBUG) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs);
+
+  // ****** set power constraint
+  int ret;
+  struct kgsl_device_constraint_pwrlevel pwrlevel;
+  pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX;
+
+  struct kgsl_device_constraint constraint;
+  constraint.type = KGSL_CONSTRAINT_PWRLEVEL;
+  constraint.context_id = context_id;
+  constraint.data = (void*)&pwrlevel;
+  constraint.size = sizeof(pwrlevel);
+
+  struct kgsl_device_getproperty prop;
+  prop.type = KGSL_PROP_PWR_CONSTRAINT;
+  prop.value = (void*)&constraint;
+  prop.sizebytes = sizeof(constraint);
+  ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop);
+  assert(ret == 0);
+
+  // ****** run commands
+  int i = 0;
+  for (auto &it : cmds) {
+    ++i;
+    if (record & THNEED_DEBUG) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
+    it->exec();
+    if ((i == cmds.size()) || slow) wait();
+  }
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  // ****** unset power constraint
+  constraint.type = KGSL_CONSTRAINT_NONE;
+  constraint.data = NULL;
+  constraint.size = 0;
+
+  ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop);
+  assert(ret == 0);
+
+  if (record & THNEED_DEBUG) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
+
+void Thneed::clinit() {
+  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
+  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
+  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+  printf("Thneed::clinit done\n");
+}
+
+cl_int Thneed::clexec() {
+  printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
+  for (auto &k : kq) {
+    if (record & THNEED_RECORD) ckq.push_back(k);
+    cl_int ret = k->exec();
+    assert(ret == CL_SUCCESS);
+  }
+  return clFinish(command_queue);
+}
+
+// *********** OpenCL interceptor ***********
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
+  g_args_size[make_pair(kernel, arg_index)] = arg_size;
+  if (arg_value != NULL) {
+    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
+  } else {
+    g_args[make_pair(kernel, arg_index)] = string("");
+  }
+  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
+  return ret;
+}
+
+cl_int thneed_clEnqueueNDRangeKernel(cl_command_queue command_queue,
+  cl_kernel kernel,
+  cl_uint work_dim,
+  const size_t *global_work_offset,
+  const size_t *global_work_size,
+  const size_t *local_work_size,
+  cl_uint num_events_in_wait_list,
+  const cl_event *event_wait_list,
+  cl_event *event) {
+
+  Thneed *thneed = g_thneed;
+
+  // SNPE doesn't use these
+  assert(num_events_in_wait_list == 0);
+  assert(global_work_offset == NULL);
+  assert(event_wait_list == NULL);
+
+  cl_int ret = 0;
+  if (thneed != NULL && thneed->record & THNEED_RECORD) {
+    if (thneed->context == NULL) {
+      thneed->command_queue = command_queue;
+      clGetKernelInfo(kernel, CL_KERNEL_CONTEXT, sizeof(thneed->context), &thneed->context, NULL);
+      clGetContextInfo(thneed->context, CL_CONTEXT_DEVICES, sizeof(thneed->device_id), &thneed->device_id, NULL);
+    }
+
+    // if we are recording, we don't actually enqueue the kernel
+    thneed->kq.push_back(unique_ptr<CLQueuedKernel>(new CLQueuedKernel(thneed, kernel, work_dim, global_work_size, local_work_size)));
+    *event = NULL;
+  } else {
+    ret = clEnqueueNDRangeKernel(command_queue, kernel, work_dim,
+      global_work_offset, global_work_size, local_work_size,
+      num_events_in_wait_list, event_wait_list, event);
+  }
+
+  return ret;
+}
+
+cl_int thneed_clFinish(cl_command_queue command_queue) {
+  Thneed *thneed = g_thneed;
+
+  if (thneed != NULL && thneed->record & THNEED_RECORD) {
+    #ifdef RUN_OPTIMIZER
+      thneed->optimize();
+    #endif
+    return thneed->clexec();
+  } else {
+    return clFinish(command_queue);
+  }
+}
+
+cl_program thneed_clCreateProgramWithSource(cl_context context, cl_uint count, const char **strings, const size_t *lengths, cl_int *errcode_ret) {
+  assert(count == 1);
+  cl_program ret = clCreateProgramWithSource(context, count, strings, lengths, errcode_ret);
+  g_program_source[ret] = strings[0];
+  return ret;
+}
+
+void *dlsym(void *handle, const char *symbol) {
+#if defined(QCOM) || defined(QCOM2)
+  void *(*my_dlsym)(void *handle, const char *symbol) = (void *(*)(void *handle, const char *symbol))((uintptr_t)dlopen + DLSYM_OFFSET);
+#else
+  #error "Unsupported platform for thneed"
+#endif
+  if (memcmp("REAL_", symbol, 5) == 0) {
+    return my_dlsym(handle, symbol+5);
+  } else if (strcmp("clFinish", symbol) == 0) {
+    return (void*)thneed_clFinish;
+  } else if (strcmp("clEnqueueNDRangeKernel", symbol) == 0) {
+    return (void*)thneed_clEnqueueNDRangeKernel;
+  } else if (strcmp("clSetKernelArg", symbol) == 0) {
+    return (void*)thneed_clSetKernelArg;
+  } else if (strcmp("clCreateProgramWithSource", symbol) == 0) {
+    return (void*)thneed_clCreateProgramWithSource;
+  } else {
+    return my_dlsym(handle, symbol);
+  }
+}
+
+// *********** CLQueuedKernel ***********
+
+CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
+                               cl_kernel _kernel,
+                               cl_uint _work_dim,
+                               const size_t *_global_work_size,
+                               const size_t *_local_work_size) {
+  thneed = lthneed;
+  kernel = _kernel;
+  work_dim = _work_dim;
+  assert(work_dim <= 3);
+  for (int i = 0; i < work_dim; i++) {
+    global_work_size[i] = _global_work_size[i];
+    local_work_size[i] = _local_work_size[i];
+  }
+
+  char _name[0x100];
+  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
+  name = string(_name);
+  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
+
+  // get args
+  for (int i = 0; i < num_args; i++) {
+    char arg_name[0x100];
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_names.push_back(string(arg_name));
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_types.push_back(string(arg_name));
+
+    args.push_back(g_args[make_pair(kernel, i)]);
+    args_size.push_back(g_args_size[make_pair(kernel, i)]);
+  }
+
+  // get program
+  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
+}
+
+int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
+  for (int i = 0; i < num_args; i++) {
+    if (arg_names[i] == search_arg_name) return i;
+  }
+  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
+  assert(false);
+}
+
+cl_int CLQueuedKernel::exec() {
+  if (kernel == NULL) {
+    kernel = clCreateKernel(program, name.c_str(), NULL);
+    arg_names.clear();
+    arg_types.clear();
+
+    for (int j = 0; j < num_args; j++) {
+      char arg_name[0x100];
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_names.push_back(string(arg_name));
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_types.push_back(string(arg_name));
+
+      cl_int ret;
+      if (args[j].size() != 0) {
+        assert(args[j].size() == args_size[j]);
+        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
+      } else {
+        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
+      }
+      assert(ret == CL_SUCCESS);
+    }
+  }
+
+  if (thneed->record & THNEED_DEBUG) {
+    debug_print(thneed->record & THNEED_VERBOSE_DEBUG);
+  }
+
+  return clEnqueueNDRangeKernel(thneed->command_queue,
+    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
+}
+
+void CLQueuedKernel::debug_print(bool verbose) {
+  printf("%p %56s -- ", kernel, name.c_str());
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", global_work_size[i]);
+  }
+  printf(" -- ");
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", local_work_size[i]);
+  }
+  printf("\n");
+
+  if (verbose) {
+    for (int i = 0; i < num_args; i++) {
+      string arg = args[i];
+      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
+      void *arg_value = (void*)arg.data();
+      int arg_size = arg.size();
+      if (arg_size == 0) {
+        printf(" (size) %d", args_size[i]);
+      } else if (arg_size == 1) {
+        printf(" = %d", *((char*)arg_value));
+      } else if (arg_size == 2) {
+        printf(" = %d", *((short*)arg_value));
+      } else if (arg_size == 4) {
+        if (arg_types[i] == "float") {
+          printf(" = %f", *((float*)arg_value));
+        } else {
+          printf(" = %d", *((int*)arg_value));
+        }
+      } else if (arg_size == 8) {
+        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
+        printf(" = %p", val);
+        if (val != NULL) {
+          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t") {
+            cl_image_format format;
+            size_t width, height, depth, array_size, row_pitch, slice_pitch;
+            cl_mem buf;
+            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
+            assert(format.image_channel_order == CL_RGBA);
+            assert(format.image_channel_data_type == CL_HALF_FLOAT);
+            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
+            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
+            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
+            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
+            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
+            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
+            assert(depth == 0);
+            assert(array_size == 0);
+            assert(slice_pitch == 0);
+
+            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
+            size_t sz;
+            clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
+          } else {
+            size_t sz;
+            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" buffer %zu", sz);
+          }
+        }
+      }
+      printf("\n");
+    }
+  }
+}
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
new file mode 100644
index 00000000000000..77d27e04352482
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed.h
@@ -0,0 +1,134 @@
+#pragma once
+
+#ifndef __user
+#define __user __attribute__(())
+#endif
+
+#include <cstdint>
+#include <cstdlib>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <CL/cl.h>
+
+#include "selfdrive/modeld/thneed/include/msm_kgsl.h"
+
+#define THNEED_RECORD 1
+#define THNEED_DEBUG 2
+#define THNEED_VERBOSE_DEBUG 4
+
+using namespace std;
+
+namespace json11 {
+  class Json;
+}
+class Thneed;
+
+class GPUMalloc {
+  public:
+    GPUMalloc(int size, int fd);
+    ~GPUMalloc();
+    void *alloc(int size);
+  private:
+    uint64_t base;
+    int remaining;
+};
+
+class CLQueuedKernel {
+  public:
+    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
+    CLQueuedKernel(Thneed *lthneed,
+                   cl_kernel _kernel,
+                   cl_uint _work_dim,
+                   const size_t *_global_work_size,
+                   const size_t *_local_work_size);
+    cl_int exec();
+    void debug_print(bool verbose);
+    int get_arg_num(const char *search_arg_name);
+    cl_program program;
+    string name;
+    cl_uint num_args;
+    vector<string> arg_names;
+    vector<string> arg_types;
+    vector<string> args;
+    vector<int> args_size;
+    cl_kernel kernel = NULL;
+    json11::Json to_json() const;
+
+    cl_uint work_dim;
+    size_t global_work_size[3] = {0};
+    size_t local_work_size[3] = {0};
+  private:
+    Thneed *thneed;
+};
+
+class CachedIoctl {
+  public:
+    virtual void exec() {}
+};
+
+class CachedSync: public CachedIoctl {
+  public:
+    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
+    void exec();
+  private:
+    Thneed *thneed;
+    string data;
+};
+
+class CachedCommand: public CachedIoctl {
+  public:
+    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
+    void exec();
+  private:
+    void disassemble(int cmd_index);
+    struct kgsl_gpu_command cache;
+    unique_ptr<kgsl_command_object[]> cmds;
+    unique_ptr<kgsl_command_object[]> objs;
+    Thneed *thneed;
+    vector<shared_ptr<CLQueuedKernel> > kq;
+};
+
+class Thneed {
+  public:
+    Thneed(bool do_clinit=false);
+    void stop();
+    void execute(float **finputs, float *foutput, bool slow=false);
+    void wait();
+    int optimize();
+
+    vector<cl_mem> input_clmem;
+    vector<void *> inputs;
+    vector<size_t> input_sizes;
+    cl_mem output = NULL;
+
+    cl_context context = NULL;
+    cl_command_queue command_queue;
+    cl_device_id device_id;
+    int context_id;
+
+    // protected?
+    int record;
+    int timestamp;
+    unique_ptr<GPUMalloc> ram;
+    vector<unique_ptr<CachedIoctl> > cmds;
+    int fd;
+
+    // all CL kernels
+    void find_inputs_outputs();
+    void copy_inputs(float **finputs);
+    void copy_output(float *foutput);
+    cl_int clexec();
+    vector<shared_ptr<CLQueuedKernel> > kq;
+
+    // pending CL kernels
+    vector<shared_ptr<CLQueuedKernel> > ckq;
+
+    // loading and saving
+    void load(const char *filename);
+    void save(const char *filename, bool save_binaries=false);
+  private:
+    void clinit();
+};
+
diff --git a/selfdrive/modeld/transforms/loadyuv.c b/selfdrive/modeld/transforms/loadyuv.c
deleted file mode 100644
index 2518145100a827..00000000000000
--- a/selfdrive/modeld/transforms/loadyuv.c
+++ /dev/null
@@ -1,82 +0,0 @@
-#include <string.h>
-#include <assert.h>
-
-#include "clutil.h"
-
-#include "loadyuv.h"
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  int err = 0;
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = CLU_LOAD_FROM_FILE(ctx, device_id, "transforms/loadyuv.cl", args);
-
-  s->loadys_krnl = clCreateKernel(prg, "loadys", &err);
-  assert(err == 0);
-  s->loaduv_krnl = clCreateKernel(prg, "loaduv", &err);
-  assert(err == 0);
-
-  // done with this
-  err = clReleaseProgram(prg);
-  assert(err == 0);
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  int err = 0;
-
-  err = clReleaseKernel(s->loadys_krnl);
-  assert(err == 0);
-  err = clReleaseKernel(s->loaduv_krnl);
-  assert(err == 0);
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
-  int err = 0;
-
-  err = clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl);
-  assert(err == 0);
-  err = clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl);
-  assert(err == 0);
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  err = clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL);
-  assert(err == 0);
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  cl_int loaduv_out_off = (s->width*s->height);
-
-  err = clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl);
-  assert(err == 0);
-  err = clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl);
-  assert(err == 0);
-  err = clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &loaduv_out_off);
-  assert(err == 0);
-
-  err = clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL);
-  assert(err == 0);
-
-  loaduv_out_off += (s->width/2)*(s->height/2);
-
-  err = clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl);
-  assert(err == 0);
-  err = clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl);
-  assert(err == 0);
-  err = clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &loaduv_out_off);
-  assert(err == 0);
-
-  err = clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL);
-  assert(err == 0);
-}
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
new file mode 100644
index 00000000000000..39f404a897c0a1
--- /dev/null
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@@ -0,0 +1,74 @@
+#include "selfdrive/modeld/transforms/loadyuv.h"
+
+#include <cassert>
+#include <cstdio>
+#include <cstring>
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
+  memset(s, 0, sizeof(*s));
+
+  s->width = width;
+  s->height = height;
+
+  char args[1024];
+  snprintf(args, sizeof(args),
+           "-cl-fast-relaxed-math -cl-denorms-are-zero "
+           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
+           width, height);
+  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/loadyuv.cl", args);
+
+  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
+  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
+  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
+
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+}
+
+void loadyuv_destroy(LoadYUVState* s) {
+  CL_CHECK(clReleaseKernel(s->loadys_krnl));
+  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
+  CL_CHECK(clReleaseKernel(s->copy_krnl));
+}
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+                   cl_mem out_cl, bool do_shift) {
+  cl_int global_out_off = 0;
+  if (do_shift) {
+    // shift the image in slot 1 to slot 0, then place the new image in slot 1
+    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
+    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
+    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
+    const size_t copy_work_size = global_out_off/8;
+    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+                                &copy_work_size, NULL, 0, 0, NULL));
+  }
+
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  const size_t loadys_work_size = (s->width*s->height)/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
+                               &loadys_work_size, NULL, 0, 0, NULL));
+
+  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
+  global_out_off += (s->width*s->height);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+
+  global_out_off += (s->width/2)*(s->height/2);
+
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+                               &loaduv_work_size, NULL, 0, 0, NULL));
+}
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
index e015429156ce91..7dd3d973a3ef69 100644
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ b/selfdrive/modeld/transforms/loadyuv.cl
@@ -1,7 +1,8 @@
 #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
 
 __kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out)
+                     __global float * out,
+                     int out_offset)
 {
     const int gid = get_global_id(0);
     const int ois = gid * 8;
@@ -9,9 +10,7 @@ __kernel void loadys(__global uchar8 const * const Y,
     const int ox = ois % TRANSFORMED_WIDTH;
 
     const uchar8 ys = Y[gid];
-
-    // y = (x - 128) / 128
-    const float8 ysf = (convert_float8(ys) - 128.f) * 0.0078125f;
+    const float8 ysf = convert_float8(ys);
 
     // 02
     // 13
@@ -19,11 +18,11 @@ __kernel void loadys(__global uchar8 const * const Y,
     __global float* outy0;
     __global float* outy1;
     if ((oy & 1) == 0) {
-      outy0 = out; //y0
-      outy1 = out + UV_SIZE*2; //y2
+      outy0 = out + out_offset; //y0
+      outy1 = out + out_offset + UV_SIZE*2; //y2
     } else {
-      outy0 = out + UV_SIZE; //y1
-      outy1 = out + UV_SIZE*3; //y3
+      outy0 = out + out_offset + UV_SIZE; //y1
+      outy1 = out + out_offset + UV_SIZE*3; //y3
     }
 
     vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
@@ -36,8 +35,13 @@ __kernel void loaduv(__global uchar8 const * const in,
 {
   const int gid = get_global_id(0);
   const uchar8 inv = in[gid];
-
-  // y = (x - 128) / 128
-  const float8 outv  = (convert_float8(inv) - 128.f) * 0.0078125f;
+  const float8 outv  = convert_float8(inv);
   out[gid + out_offset / 8] = outv;
 }
+
+__kernel void copy(__global float8 * inout,
+                   int in_offset)
+{
+  const int gid = get_global_id(0);
+  inout[gid] = inout[gid + in_offset / 8];
+}
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
index be7ea21282af3c..a3161b293518d9 100644
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ b/selfdrive/modeld/transforms/loadyuv.h
@@ -1,22 +1,10 @@
-#ifndef LOADYUV_H
-#define LOADYUV_H
+#pragma once
 
-#include <inttypes.h>
-#include <stdbool.h>
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
+#include "selfdrive/common/clutil.h"
 
 typedef struct {
   int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl;
+  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
 } LoadYUVState;
 
 void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
@@ -25,10 +13,4 @@ void loadyuv_destroy(LoadYUVState* s);
 
 void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
                    cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // LOADYUV_H
+                   cl_mem out_cl, bool do_shift = false);
diff --git a/selfdrive/modeld/transforms/transform.c b/selfdrive/modeld/transforms/transform.c
deleted file mode 100644
index 0b4150ddb27268..00000000000000
--- a/selfdrive/modeld/transforms/transform.c
+++ /dev/null
@@ -1,149 +0,0 @@
-#include <string.h>
-#include <assert.h>
-
-#include "clutil.h"
-
-#include "transform.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  int err = 0;
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = CLU_LOAD_FROM_FILE(ctx, device_id, "transforms/transform.cl", "");
-
-  s->krnl = clCreateKernel(prg, "warpPerspective", &err);
-  assert(err == 0);
-
-  // done with this
-  err = clReleaseProgram(prg);
-  assert(err == 0);
-
-  s->m_y_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err);
-  assert(err == 0);
-
-  s->m_uv_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err);
-  assert(err == 0);
-}
-
-void transform_destroy(Transform* s) {
-  int err = 0;
-
-  err = clReleaseMemObject(s->m_y_cl);
-  assert(err == 0);
-  err = clReleaseMemObject(s->m_uv_cl);
-  assert(err == 0);
-
-  err = clReleaseKernel(s->krnl);
-  assert(err == 0);
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     mat3 projection) {
-  int err = 0;
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because thats how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  err = clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL);
-  assert(err == 0);
-  err = clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL);
-  assert(err == 0);
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_y_offset = 0;
-  const int in_u_offset = in_y_offset + in_y_width*in_y_height;
-  const int in_v_offset = in_u_offset + in_uv_width*in_uv_height;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  err = clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv);
-  assert(err == 0);
-
-  err = clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_y_width);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_offset);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_y_height);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_width);
-  assert(err == 0);
-
-  err = clSetKernelArg(s->krnl, 5, sizeof(cl_mem), &out_y);
-  assert(err == 0);
-
-  err = clSetKernelArg(s->krnl, 6, sizeof(cl_int), &out_y_width);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 7, sizeof(cl_int), &zero);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 8, sizeof(cl_int), &out_y_height);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_width);
-  assert(err == 0);
-
-  err = clSetKernelArg(s->krnl, 10, sizeof(cl_mem), &s->m_y_cl);
-  assert(err == 0);
-
-  const size_t work_size_y[2] = {out_y_width, out_y_height};
-
-  err = clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL);
-  assert(err == 0);
-
-
-  const size_t work_size_uv[2] = {out_uv_width, out_uv_height};
-
-  err = clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_uv_width);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_u_offset);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_uv_height);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_width);
-  assert(err == 0);
-
-  err = clSetKernelArg(s->krnl, 5, sizeof(cl_mem), &out_u);
-  assert(err == 0);
-
-  err = clSetKernelArg(s->krnl, 6, sizeof(cl_int), &out_uv_width);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 7, sizeof(cl_int), &zero);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 8, sizeof(cl_int), &out_uv_height);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_width);
-  assert(err == 0);
-
-  err = clSetKernelArg(s->krnl, 10, sizeof(cl_mem), &s->m_uv_cl);
-  assert(err == 0);
-
-  err = clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL);
-  assert(err == 0);
-
-
-  err = clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_v_offset);
-  assert(err == 0);
-  err = clSetKernelArg(s->krnl, 5, sizeof(cl_mem), &out_v);
-  assert(err == 0);
-
-
-  err = clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL);
-  assert(err == 0);
-}
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
new file mode 100644
index 00000000000000..5f4929bab39475
--- /dev/null
+++ b/selfdrive/modeld/transforms/transform.cc
@@ -0,0 +1,95 @@
+#include "selfdrive/modeld/transforms/transform.h"
+
+#include <cassert>
+#include <cstring>
+
+#include "selfdrive/common/clutil.h"
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
+  memset(s, 0, sizeof(*s));
+
+  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/transform.cl", "");
+  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
+  // done with this
+  CL_CHECK(clReleaseProgram(prg));
+
+  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+}
+
+void transform_destroy(Transform* s) {
+  CL_CHECK(clReleaseMemObject(s->m_y_cl));
+  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
+  CL_CHECK(clReleaseKernel(s->krnl));
+}
+
+void transform_queue(Transform* s,
+                     cl_command_queue q,
+                     cl_mem in_yuv, int in_width, int in_height,
+                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
+                     int out_width, int out_height,
+                     const mat3& projection) {
+  const int zero = 0;
+
+  // sampled using pixel center origin
+  // (because thats how fastcv and opencv does it)
+
+  mat3 projection_y = projection;
+
+  // in and out uv is half the size of y.
+  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
+
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
+  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
+
+  const int in_y_width = in_width;
+  const int in_y_height = in_height;
+  const int in_uv_width = in_width/2;
+  const int in_uv_height = in_height/2;
+  const int in_y_offset = 0;
+  const int in_u_offset = in_y_offset + in_y_width*in_y_height;
+  const int in_v_offset = in_u_offset + in_uv_width*in_uv_height;
+
+  const int out_y_width = out_width;
+  const int out_y_height = out_height;
+  const int out_uv_width = out_width/2;
+  const int out_uv_height = out_height/2;
+
+  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));
+  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_y_width));
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_offset));
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_y_height));
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_width));
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_mem), &out_y));
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_int), &out_y_width));
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &zero));
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &out_y_height));
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_width));
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_mem), &s->m_y_cl));
+
+  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
+
+  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
+
+  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_uv_width));
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_u_offset));
+  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_uv_height));
+  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_width));
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_mem), &out_u));
+  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_int), &out_uv_width));
+  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &zero));
+  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &out_uv_height));
+  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_width));
+  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_mem), &s->m_uv_cl));
+  
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_v_offset));
+  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_mem), &out_v));
+
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+}
diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h
index 3854be9da62db6..f34613684c92f6 100644
--- a/selfdrive/modeld/transforms/transform.h
+++ b/selfdrive/modeld/transforms/transform.h
@@ -1,20 +1,13 @@
-#ifndef TRANSFORM_H
-#define TRANSFORM_H
-
-#include <inttypes.h>
-#include <stdbool.h>
+#pragma once
 
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
 #else
 #include <CL/cl.h>
 #endif
 
-#include "common/mat.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
+#include "selfdrive/common/mat.h"
 
 typedef struct {
   cl_kernel krnl;
@@ -29,10 +22,4 @@ void transform_queue(Transform* s, cl_command_queue q,
                      cl_mem yuv, int in_width, int in_height,
                      cl_mem out_y, cl_mem out_u, cl_mem out_v,
                      int out_width, int out_height,
-                     mat3 projection);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // TRANSFORM_H
+                     const mat3& projection);
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
new file mode 100755
index 00000000000000..f11d72266ca568
--- /dev/null
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+from cereal import car
+from common.params import Params
+import cereal.messaging as messaging
+from selfdrive.controls.lib.events import Events
+from selfdrive.monitoring.driver_monitor import DriverStatus
+from selfdrive.locationd.calibrationd import Calibration
+
+
+def dmonitoringd_thread(sm=None, pm=None):
+  if pm is None:
+    pm = messaging.PubMaster(['driverMonitoringState'])
+
+  if sm is None:
+    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
+
+  driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
+
+  sm['liveCalibration'].calStatus = Calibration.INVALID
+  sm['liveCalibration'].rpyCalib = [0, 0, 0]
+  sm['carState'].buttonEvents = []
+  sm['carState'].standstill = True
+
+  v_cruise_last = 0
+  driver_engaged = False
+
+  # 10Hz <- dmonitoringmodeld
+  while True:
+    sm.update()
+
+    if not sm.updated['driverState']:
+      continue
+
+    # Get interaction
+    if sm.updated['carState']:
+      v_cruise = sm['carState'].cruiseState.speed
+      driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
+                        v_cruise != v_cruise_last or \
+                        sm['carState'].steeringPressed or \
+                        sm['carState'].gasPressed
+      if driver_engaged:
+        driver_status.update(Events(), True, sm['controlsState'].enabled, sm['carState'].standstill)
+      v_cruise_last = v_cruise
+
+    if sm.updated['modelV2']:
+      driver_status.set_policy(sm['modelV2'])
+
+    # Get data from dmonitoringmodeld
+    events = Events()
+    driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
+
+    # Block engaging after max number of distrations
+    if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
+       driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION:
+      events.add(car.CarEvent.EventName.tooDistracted)
+
+    # Update events from driver state
+    driver_status.update(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
+
+    # build driverMonitoringState packet
+    dat = messaging.new_message('driverMonitoringState')
+    dat.driverMonitoringState = {
+      "events": events.to_msg(),
+      "faceDetected": driver_status.face_detected,
+      "isDistracted": driver_status.driver_distracted,
+      "awarenessStatus": driver_status.awareness,
+      "posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
+      "posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
+      "poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
+      "poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
+      "stepChange": driver_status.step_change,
+      "awarenessActive": driver_status.awareness_active,
+      "awarenessPassive": driver_status.awareness_passive,
+      "isLowStd": driver_status.pose.low_std,
+      "hiStdCount": driver_status.hi_stds,
+      "isActiveMode": driver_status.active_monitoring_mode,
+    }
+    pm.send('driverMonitoringState', dat)
+
+def main(sm=None, pm=None):
+  dmonitoringd_thread(sm, pm)
+
+if __name__ == '__main__':
+  main()
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
new file mode 100644
index 00000000000000..e4018d66f67efb
--- /dev/null
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -0,0 +1,271 @@
+from math import atan2
+
+from cereal import car
+from common.numpy_fast import interp
+from common.realtime import DT_DMON
+from selfdrive.hardware import TICI
+from common.filter_simple import FirstOrderFilter
+from common.stat_live import RunningStatFilter
+
+EventName = car.CarEvent.EventName
+
+# ******************************************************************************************
+#  NOTE: To fork maintainers.
+#  Disabling or nerfing safety features will get you and your users banned from our servers.
+#  We recommend that you do not change these numbers from the defaults.
+# ******************************************************************************************
+
+class DRIVER_MONITOR_SETTINGS():
+  def __init__(self, TICI=TICI, DT_DMON=DT_DMON):
+    self._DT_DMON = DT_DMON
+    self._AWARENESS_TIME = 35. # passive wheeltouch total timeout
+    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 12.
+    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
+    self._DISTRACTED_TIME = 11. # active monitoring total timeout
+    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
+    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
+
+    self._FACE_THRESHOLD = 0.5
+    self._PARTIAL_FACE_THRESHOLD = 0.765 if TICI else 0.43
+    self._EYE_THRESHOLD = 0.61 if TICI else 0.55
+    self._SG_THRESHOLD = 0.89 if TICI else 0.86
+    self._BLINK_THRESHOLD = 0.82 if TICI else 0.588
+    self._BLINK_THRESHOLD_SLACK = 0.9 if TICI else 0.77
+    self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD
+    self._PITCH_WEIGHT = 1.35  # pitch matters a lot more
+    self._POSESTD_THRESHOLD = 0.38 if TICI else 0.3
+
+    self._METRIC_THRESHOLD = 0.48
+    self._METRIC_THRESHOLD_SLACK = 0.66
+    self._METRIC_THRESHOLD_STRICT = self._METRIC_THRESHOLD
+    self._PITCH_NATURAL_OFFSET = 0.02  # people don't seem to look straight when they drive relaxed, rather a bit up
+    self._YAW_NATURAL_OFFSET = 0.08  # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
+
+    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
+    self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
+
+    self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
+    self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
+    self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
+
+    self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
+    self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
+
+    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
+    self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
+
+
+# model output refers to center of cropped image, so need to apply the x displacement offset
+RESIZED_FOCAL = 320.0
+H, W, FULL_W = 320, 160, 426
+
+class DistractedType:
+  NOT_DISTRACTED = 0
+  BAD_POSE = 1
+  BAD_BLINK = 2
+
+def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd):
+  # the output of these angles are in device frame
+  # so from driver's perspective, pitch is up and yaw is right
+
+  pitch_net, yaw_net, roll_net = angles_desc
+
+  face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)
+
+  pitch = pitch_net + pitch_focal_angle
+  yaw = -yaw_net + yaw_focal_angle
+
+  # no calib for roll
+  pitch -= rpy_calib[1]
+  yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd))  # lhd -> -=, rhd -> +=
+  return roll_net, pitch, yaw
+
+class DriverPose():
+  def __init__(self, max_trackable):
+    self.yaw = 0.
+    self.pitch = 0.
+    self.roll = 0.
+    self.yaw_std = 0.
+    self.pitch_std = 0.
+    self.roll_std = 0.
+    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.low_std = True
+    self.cfactor = 1.
+
+class DriverBlink():
+  def __init__(self):
+    self.left_blink = 0.
+    self.right_blink = 0.
+    self.cfactor = 1.
+
+class DriverStatus():
+  def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
+    # init policy settings
+    self.settings = settings
+
+    # init driver status
+    self.is_rhd_region = rhd
+    self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
+    self.pose_calibrated = False
+    self.blink = DriverBlink()
+    self.awareness = 1.
+    self.awareness_active = 1.
+    self.awareness_passive = 1.
+    self.driver_distracted = False
+    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
+    self.face_detected = False
+    self.face_partial = False
+    self.terminal_alert_cnt = 0
+    self.terminal_time = 0
+    self.step_change = 0.
+    self.active_monitoring_mode = True
+    self.is_model_uncertain = False
+    self.hi_stds = 0
+    self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
+    self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
+
+    self._set_timers(active_monitoring=True)
+
+  def _set_timers(self, active_monitoring):
+    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
+      if active_monitoring:
+        self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
+      else:
+        self.step_change = 0.
+      return  # no exploit after orange alert
+    elif self.awareness <= 0.:
+      return
+
+    if active_monitoring:
+      # when falling back from passive mode to active mode, reset awareness to avoid false alert
+      if not self.active_monitoring_mode:
+        self.awareness_passive = self.awareness
+        self.awareness = self.awareness_active
+
+      self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
+      self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
+      self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
+      self.active_monitoring_mode = True
+    else:
+      if self.active_monitoring_mode:
+        self.awareness_active = self.awareness
+        self.awareness = self.awareness_passive
+
+      self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
+      self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
+      self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
+      self.active_monitoring_mode = False
+
+  def _is_driver_distracted(self, pose, blink):
+    if not self.pose_calibrated:
+      pitch_error = pose.pitch - self.settings._PITCH_NATURAL_OFFSET
+      yaw_error = pose.yaw - self.settings._YAW_NATURAL_OFFSET
+    else:
+      pitch_error = pose.pitch - self.pose.pitch_offseter.filtered_stat.mean()
+      yaw_error = pose.yaw - self.pose.yaw_offseter.filtered_stat.mean()
+
+    pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
+    yaw_error = abs(yaw_error)
+
+    if pitch_error*self.settings._PITCH_WEIGHT > self.settings._METRIC_THRESHOLD*pose.cfactor or \
+       yaw_error > self.settings._METRIC_THRESHOLD*pose.cfactor:
+      return DistractedType.BAD_POSE
+    elif (blink.left_blink + blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*blink.cfactor:
+      return DistractedType.BAD_BLINK
+    else:
+      return DistractedType.NOT_DISTRACTED
+
+  def set_policy(self, model_data):
+    ep = min(model_data.meta.engagedProb, 0.8) / 0.8
+    self.pose.cfactor = interp(ep, [0, 0.5, 1],
+                                           [self.settings._METRIC_THRESHOLD_STRICT,
+                                            self.settings. _METRIC_THRESHOLD,
+                                            self.settings._METRIC_THRESHOLD_SLACK]) / self.settings._METRIC_THRESHOLD
+    self.blink.cfactor = interp(ep, [0, 0.5, 1],
+                                           [self.settings._BLINK_THRESHOLD_STRICT,
+                                            self.settings._BLINK_THRESHOLD,
+                                            self.settings._BLINK_THRESHOLD_SLACK]) / self.settings._BLINK_THRESHOLD
+
+  def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged):
+    if not all(len(x) > 0 for x in [driver_state.faceOrientation, driver_state.facePosition,
+                                    driver_state.faceOrientationStd, driver_state.facePositionStd]):
+      return
+
+    self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD
+    self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial
+    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region)
+    self.pose.pitch_std = driver_state.faceOrientationStd[0]
+    self.pose.yaw_std = driver_state.faceOrientationStd[1]
+    # self.pose.roll_std = driver_state.faceOrientationStd[2]
+    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
+    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial
+    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
+
+    self.driver_distracted = self._is_driver_distracted(self.pose, self.blink) > 0 and \
+                                   driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self.driver_distraction_filter.update(self.driver_distracted)
+
+    # update offseter
+    # only update when driver is actively driving the car above a certain speed
+    if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
+      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
+      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
+
+    self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
+                                       self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
+
+    self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
+    self._set_timers(self.face_detected and not self.is_model_uncertain)
+    if self.face_detected and not self.pose.low_std and not self.driver_distracted:
+      self.hi_stds += 1
+    elif self.face_detected and self.pose.low_std:
+      self.hi_stds = 0
+
+  def update(self, events, driver_engaged, ctrl_active, standstill):
+    if (driver_engaged and self.awareness > 0) or not ctrl_active:
+      # reset only when on disengagement if red reached
+      self.awareness = 1.
+      self.awareness_active = 1.
+      self.awareness_passive = 1.
+      return
+
+    driver_attentive = self.driver_distraction_filter.x < 0.37
+    awareness_prev = self.awareness
+
+    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
+      # only restore awareness when paying attention and alert is not red
+      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      if self.awareness == 1.:
+        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
+      # don't display alert banner when awareness is recovering and has cleared orange
+      if self.awareness > self.threshold_prompt:
+        return
+
+    standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt
+    certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
+    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
+    if certainly_distracted or maybe_distracted:
+      # should always be counting if distracted unless at standstill and reaching orange
+      if not standstill_exemption:
+        self.awareness = max(self.awareness - self.step_change, -0.1)
+
+    alert = None
+    if self.awareness <= 0.:
+      # terminal red alert: disengagement required
+      alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
+      self.terminal_time += 1
+      if awareness_prev > 0.:
+        self.terminal_alert_cnt += 1
+    elif self.awareness <= self.threshold_prompt:
+      # prompt orange alert
+      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
+    elif self.awareness <= self.threshold_pre:
+      # pre green alert
+      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
+
+    if alert is not None:
+      events.add(alert)
diff --git a/selfdrive/pandad.py b/selfdrive/pandad.py
index 12d6719fc64e8d..b725ca9ddab5aa 100755
--- a/selfdrive/pandad.py
+++ b/selfdrive/pandad.py
@@ -1,78 +1,50 @@
 #!/usr/bin/env python3
 # simple boardd wrapper that updates the panda first
 import os
+import usb1
 import time
+import subprocess
+from typing import List
+from functools import cmp_to_key
 
+from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
+from common.basedir import BASEDIR
+from common.params import Params
 from selfdrive.swaglog import cloudlog
-from panda import Panda, PandaDFU, BASEDIR, build_st
 
 
-def get_firmware_fn():
-  signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
-  if os.path.exists(signed_fn):
-    cloudlog.info("Using prebuilt signed firmware")
-    return signed_fn
-  else:
-    cloudlog.info("Building panda firmware")
-    fn = "obj/panda.bin"
-    build_st(fn, clean=False)
-    return os.path.join(BASEDIR, "board", fn)
+def get_expected_signature(panda : Panda) -> bytes:
+  fn = DEFAULT_H7_FW_FN if (panda.get_mcu_type() == MCU_TYPE_H7) else DEFAULT_FW_FN
 
+  try:
+    return Panda.get_signature_from_firmware(fn)
+  except Exception:
+    cloudlog.exception("Error computing expected signature")
+    return b""
 
-def get_expected_signature(fw_fn=None):
-  if fw_fn is None:
-    fw_fn = get_firmware_fn()
-
-  return Panda.get_signature_from_firmware(fw_fn)
-
-
-def update_panda():
-  panda = None
-  panda_dfu = None
-
-  cloudlog.info("Connecting to panda")
-
-  while True:
-    # break on normal mode Panda
-    panda_list = Panda.list()
-    if len(panda_list) > 0:
-      cloudlog.info("Panda found, connecting")
-      panda = Panda(panda_list[0])
-      break
-
-    # flash on DFU mode Panda
-    panda_dfu = PandaDFU.list()
-    if len(panda_dfu) > 0:
-      cloudlog.info("Panda in DFU mode found, flashing recovery")
-      panda_dfu = PandaDFU(panda_dfu[0])
-      panda_dfu.recover()
-
-    time.sleep(1)
 
-  fw_fn = get_firmware_fn()
-  fw_signature = get_expected_signature(fw_fn)
+def flash_panda(panda_serial : str) -> Panda:
+  panda = Panda(panda_serial)
 
-  try:
-    serial = panda.get_serial()[0].decode("utf-8")
-  except Exception:
-    serial = None
+  fw_signature = get_expected_signature(panda)
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
   panda_signature = b"" if panda.bootstub else panda.get_signature()
   cloudlog.warning("Panda %s connected, version: %s, signature %s, expected %s" % (
-    serial,
+    panda_serial,
     panda_version,
-    panda_signature.hex(),
-    fw_signature.hex(),
+    panda_signature.hex()[:16],
+    fw_signature.hex()[:16],
   ))
 
   if panda.bootstub or panda_signature != fw_signature:
     cloudlog.info("Panda firmware out of date, update required")
-    panda.flash(fw_fn)
+    panda.flash()
     cloudlog.info("Done flashing")
 
   if panda.bootstub:
-    cloudlog.info("Flashed firmware not booting, flashing development bootloader")
+    bootstub_version = panda.get_version()
+    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
     panda.recover()
     cloudlog.info("Done flashing bootloader")
 
@@ -85,12 +57,70 @@ def update_panda():
     cloudlog.info("Version mismatch after flashing, exiting")
     raise AssertionError
 
+  return panda
 
-def main(gctx=None):
-  update_panda()
+def panda_sort_cmp(a : Panda, b : Panda):
+  a_type = a.get_type()
+  b_type = b.get_type()
 
-  os.chdir("boardd")
-  os.execvp("./boardd", ["./boardd"])
+  # make sure the internal one is always first
+  if a.is_internal() and not b.is_internal():
+    return -1
+  if not a.is_internal() and b.is_internal():
+    return 1
+
+  # sort by hardware type
+  if a_type != b_type:
+    return a_type < b_type
+  
+  # last resort: sort by serial number
+  return a.get_usb_serial() < b.get_usb_serial()
+
+def main() -> None:
+  while True:
+    try:
+      # Flash all Pandas in DFU mode
+      for p in PandaDFU.list():
+        cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
+        PandaDFU(p).recover()
+      time.sleep(1)
+
+      panda_serials = Panda.list()
+      if len(panda_serials) == 0:
+        continue
+
+      cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
+
+      # Flash pandas
+      pandas = []
+      for serial in panda_serials:
+        pandas.append(flash_panda(serial))
+
+      # check health for lost heartbeat
+      for panda in pandas:
+        health = panda.health()
+        if health["heartbeat_lost"]:
+          Params().put_bool("PandaHeartbeatLost", True)
+          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
+
+        cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
+        panda.reset()
+
+      # sort pandas to have deterministic order
+      pandas.sort(key=cmp_to_key(panda_sort_cmp))
+      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))
+
+      # close all pandas
+      for p in pandas:
+        p.close()
+    except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
+      # a panda was disconnected while setting everything up. let's try again
+      cloudlog.exception("Panda USB exception while setting up")
+      continue
+
+    # run boardd with all connected serials as arguments
+    os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
+    subprocess.run(["./boardd", *panda_serials], check=True)
 
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/proclogd/SConscript b/selfdrive/proclogd/SConscript
index 2b87f8d5e5f56a..1b94a32f1b3634 100644
--- a/selfdrive/proclogd/SConscript
+++ b/selfdrive/proclogd/SConscript
@@ -1,2 +1,6 @@
-Import('env', 'messaging')
-env.Program('proclogd.cc', LIBS=[messaging, 'pthread', 'zmq', 'czmq', 'capnp', 'kj'])
+Import('env', 'cereal', 'messaging', 'common')
+libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11']
+env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs)
+
+if GetOption('test'):
+  env.Program('tests/test_proclog', ['tests/test_proclog.cc', 'proclog.cc'], LIBS=libs)
diff --git a/selfdrive/proclogd/main.cc b/selfdrive/proclogd/main.cc
new file mode 100644
index 00000000000000..4e31597c2bc0d2
--- /dev/null
+++ b/selfdrive/proclogd/main.cc
@@ -0,0 +1,22 @@
+
+#include <sys/resource.h>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/proclogd/proclog.h"
+
+ExitHandler do_exit;
+
+int main(int argc, char **argv) {
+  setpriority(PRIO_PROCESS, 0, -15);
+
+  PubMaster publisher({"procLog"});
+  while (!do_exit) {
+    MessageBuilder msg;
+    buildProcLogMessage(msg);
+    publisher.send("procLog", msg);
+
+    util::sleep_for(2000);  // 2 secs
+  }
+
+  return 0;
+}
diff --git a/selfdrive/proclogd/proclog.cc b/selfdrive/proclogd/proclog.cc
new file mode 100644
index 00000000000000..26fc1d94d0d085
--- /dev/null
+++ b/selfdrive/proclogd/proclog.cc
@@ -0,0 +1,239 @@
+#include "selfdrive/proclogd/proclog.h"
+
+#include <dirent.h>
+
+#include <cassert>
+#include <fstream>
+#include <iterator>
+#include <sstream>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+
+namespace Parser {
+
+// parse /proc/stat
+std::vector<CPUTime> cpuTimes(std::istream &stream) {
+  std::vector<CPUTime> cpu_times;
+  std::string line;
+  // skip the first line for cpu total
+  std::getline(stream, line);
+  while (std::getline(stream, line)) {
+    if (line.compare(0, 3, "cpu") != 0) break;
+
+    CPUTime t = {};
+    std::istringstream iss(line);
+    if (iss.ignore(3) >> t.id >> t.utime >> t.ntime >> t.stime >> t.itime >> t.iowtime >> t.irqtime >> t.sirqtime)
+      cpu_times.push_back(t);
+  }
+  return cpu_times;
+}
+
+// parse /proc/meminfo
+std::unordered_map<std::string, uint64_t> memInfo(std::istream &stream) {
+  std::unordered_map<std::string, uint64_t> mem_info;
+  std::string line, key;
+  while (std::getline(stream, line)) {
+    uint64_t val = 0;
+    std::istringstream iss(line);
+    if (iss >> key >> val) {
+      mem_info[key] = val * 1024;
+    }
+  }
+  return mem_info;
+}
+
+// field position (https://man7.org/linux/man-pages/man5/proc.5.html)
+enum StatPos {
+  pid = 1,
+  state = 3,
+  ppid = 4,
+  utime = 14,
+  stime = 15,
+  cutime = 16,
+  cstime = 17,
+  priority = 18,
+  nice = 19,
+  num_threads = 20,
+  starttime = 22,
+  vsize = 23,
+  rss = 24,
+  processor = 39,
+  MAX_FIELD = 52,
+};
+
+// parse /proc/pid/stat
+std::optional<ProcStat> procStat(std::string stat) {
+  // To avoid being fooled by names containing a closing paren, scan backwards.
+  auto open_paren = stat.find('(');
+  auto close_paren = stat.rfind(')');
+  if (open_paren == std::string::npos || close_paren == std::string::npos || open_paren > close_paren) {
+    return std::nullopt;
+  }
+
+  std::string name = stat.substr(open_paren + 1, close_paren - open_paren - 1);
+  // repace space in name with _
+  std::replace(&stat[open_paren], &stat[close_paren], ' ', '_');
+  std::istringstream iss(stat);
+  std::vector<std::string> v{std::istream_iterator<std::string>(iss),
+                             std::istream_iterator<std::string>()};
+  try {
+    if (v.size() != StatPos::MAX_FIELD) {
+      throw std::invalid_argument("stat");
+    }
+    ProcStat p = {
+      .name = name,
+      .pid = stoi(v[StatPos::pid - 1]),
+      .state = v[StatPos::state - 1][0],
+      .ppid = stoi(v[StatPos::ppid - 1]),
+      .utime = stoul(v[StatPos::utime - 1]),
+      .stime = stoul(v[StatPos::stime - 1]),
+      .cutime = stol(v[StatPos::cutime - 1]),
+      .cstime = stol(v[StatPos::cstime - 1]),
+      .priority = stol(v[StatPos::priority - 1]),
+      .nice = stol(v[StatPos::nice - 1]),
+      .num_threads = stol(v[StatPos::num_threads - 1]),
+      .starttime = stoull(v[StatPos::starttime - 1]),
+      .vms = stoul(v[StatPos::vsize - 1]),
+      .rss = stoul(v[StatPos::rss - 1]),
+      .processor = stoi(v[StatPos::processor - 1]),
+    };
+    return p;
+  } catch (const std::invalid_argument &e) {
+    LOGE("failed to parse procStat (%s) :%s", e.what(), stat.c_str());
+  } catch (const std::out_of_range &e) {
+    LOGE("failed to parse procStat (%s) :%s", e.what(), stat.c_str());
+  }
+  return std::nullopt;
+}
+
+// return list of PIDs from /proc
+std::vector<int> pids() {
+  std::vector<int> ids;
+  DIR *d = opendir("/proc");
+  assert(d);
+  char *p_end;
+  struct dirent *de = NULL;
+  while ((de = readdir(d))) {
+    if (de->d_type == DT_DIR) {
+      int pid = strtol(de->d_name, &p_end, 10);
+      if (p_end == (de->d_name + strlen(de->d_name))) {
+        ids.push_back(pid);
+      }
+    }
+  }
+  closedir(d);
+  return ids;
+}
+
+// null-delimited cmdline arguments to vector
+std::vector<std::string> cmdline(std::istream &stream) {
+  std::vector<std::string> ret;
+  std::string line;
+  while (std::getline(stream, line, '\0')) {
+    if (!line.empty()) {
+      ret.push_back(line);
+    }
+  }
+  return ret;
+}
+
+const ProcCache &getProcExtraInfo(int pid, const std::string &name) {
+  static std::unordered_map<pid_t, ProcCache> proc_cache;
+  ProcCache &cache = proc_cache[pid];
+  if (cache.pid != pid || cache.name != name) {
+    cache.pid = pid;
+    cache.name = name;
+    std::string proc_path = "/proc/" + std::to_string(pid);
+    cache.exe = util::readlink(proc_path + "/exe");
+    std::ifstream stream(proc_path + "/cmdline");
+    cache.cmdline = cmdline(stream);
+  }
+  return cache;
+}
+
+}  // namespace Parser
+
+const double jiffy = sysconf(_SC_CLK_TCK);
+const size_t page_size = sysconf(_SC_PAGE_SIZE);
+
+void buildCPUTimes(cereal::ProcLog::Builder &builder) {
+  std::ifstream stream("/proc/stat");
+  std::vector<CPUTime> stats = Parser::cpuTimes(stream);
+
+  auto log_cpu_times = builder.initCpuTimes(stats.size());
+  for (int i = 0; i < stats.size(); ++i) {
+    auto l = log_cpu_times[i];
+    const CPUTime &r = stats[i];
+    l.setCpuNum(r.id);
+    l.setUser(r.utime / jiffy);
+    l.setNice(r.ntime / jiffy);
+    l.setSystem(r.stime / jiffy);
+    l.setIdle(r.itime / jiffy);
+    l.setIowait(r.iowtime / jiffy);
+    l.setIrq(r.irqtime / jiffy);
+    l.setSoftirq(r.sirqtime / jiffy);
+  }
+}
+
+void buildMemInfo(cereal::ProcLog::Builder &builder) {
+  std::ifstream stream("/proc/meminfo");
+  auto mem_info = Parser::memInfo(stream);
+
+  auto mem = builder.initMem();
+  mem.setTotal(mem_info["MemTotal:"]);
+  mem.setFree(mem_info["MemFree:"]);
+  mem.setAvailable(mem_info["MemAvailable:"]);
+  mem.setBuffers(mem_info["Buffers:"]);
+  mem.setCached(mem_info["Cached:"]);
+  mem.setActive(mem_info["Active:"]);
+  mem.setInactive(mem_info["Inactive:"]);
+  mem.setShared(mem_info["Shmem:"]);
+}
+
+void buildProcs(cereal::ProcLog::Builder &builder) {
+  auto pids = Parser::pids();
+  std::vector<ProcStat> proc_stats;
+  proc_stats.reserve(pids.size());
+  for (int pid : pids) {
+    std::string path = "/proc/" + std::to_string(pid) + "/stat";
+    if (auto stat = Parser::procStat(util::read_file(path))) {
+      proc_stats.push_back(*stat);
+    }
+  }
+
+  auto procs = builder.initProcs(proc_stats.size());
+  for (size_t i = 0; i < proc_stats.size(); i++) {
+    auto l = procs[i];
+    const ProcStat &r = proc_stats[i];
+    l.setPid(r.pid);
+    l.setState(r.state);
+    l.setPpid(r.ppid);
+    l.setCpuUser(r.utime / jiffy);
+    l.setCpuSystem(r.stime / jiffy);
+    l.setCpuChildrenUser(r.cutime / jiffy);
+    l.setCpuChildrenSystem(r.cstime / jiffy);
+    l.setPriority(r.priority);
+    l.setNice(r.nice);
+    l.setNumThreads(r.num_threads);
+    l.setStartTime(r.starttime / jiffy);
+    l.setMemVms(r.vms);
+    l.setMemRss((uint64_t)r.rss * page_size);
+    l.setProcessor(r.processor);
+    l.setName(r.name);
+
+    const ProcCache &extra_info = Parser::getProcExtraInfo(r.pid, r.name);
+    l.setExe(extra_info.exe);
+    auto lcmdline = l.initCmdline(extra_info.cmdline.size());
+    for (size_t j = 0; j < lcmdline.size(); j++) {
+      lcmdline.set(j, extra_info.cmdline[j]);
+    }
+  }
+}
+
+void buildProcLogMessage(MessageBuilder &msg) {
+  auto procLog = msg.initEvent().initProcLog();
+  buildProcs(procLog);
+  buildCPUTimes(procLog);
+  buildMemInfo(procLog);
+}
diff --git a/selfdrive/proclogd/proclog.h b/selfdrive/proclogd/proclog.h
new file mode 100644
index 00000000000000..9ed53d1bac7686
--- /dev/null
+++ b/selfdrive/proclogd/proclog.h
@@ -0,0 +1,40 @@
+#include <optional>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+
+struct CPUTime {
+  int id;
+  unsigned long utime, ntime, stime, itime;
+  unsigned long iowtime, irqtime, sirqtime;
+};
+
+struct ProcCache {
+  int pid;
+  std::string name, exe;
+  std::vector<std::string> cmdline;
+};
+
+struct ProcStat {
+  int pid, ppid, processor;
+  char state;
+  long cutime, cstime, priority, nice, num_threads;
+  unsigned long utime, stime, vms, rss;
+  unsigned long long starttime;
+  std::string name;
+};
+
+namespace Parser {
+
+std::vector<int> pids();
+std::optional<ProcStat> procStat(std::string stat);
+std::vector<std::string> cmdline(std::istream &stream);
+std::vector<CPUTime> cpuTimes(std::istream &stream);
+std::unordered_map<std::string, uint64_t> memInfo(std::istream &stream);
+const ProcCache &getProcExtraInfo(int pid, const std::string &name);
+
+};  // namespace Parser
+
+void buildProcLogMessage(MessageBuilder &msg);
diff --git a/selfdrive/proclogd/proclogd.cc b/selfdrive/proclogd/proclogd.cc
deleted file mode 100644
index ec8a9ad2866d78..00000000000000
--- a/selfdrive/proclogd/proclogd.cc
+++ /dev/null
@@ -1,247 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <climits>
-#include <cassert>
-
-#include <unistd.h>
-#include <dirent.h>
-
-#include <vector>
-#include <string>
-#include <memory>
-#include <utility>
-#include <sstream>
-#include <fstream>
-#include <algorithm>
-#include <functional>
-#include <unordered_map>
-
-#include "messaging.hpp"
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "common/timing.h"
-#include "common/utilpp.h"
-
-namespace {
-
-struct ProcCache {
-  std::string name;
-  std::vector<std::string> cmdline;
-  std::string exe;
-};
-
-}
-
-int main() {
-  int err;
-
-  Context * c = Context::create();
-  PubSocket * publisher = PubSocket::create(c, "procLog");
-  assert(publisher != NULL);
-
-  double jiffy = sysconf(_SC_CLK_TCK);
-  size_t page_size = sysconf(_SC_PAGE_SIZE);
-
-  std::unordered_map<pid_t, ProcCache> proc_cache;
-
-  while (1) {
-
-    capnp::MallocMessageBuilder msg;
-    cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-    auto procLog = event.initProcLog();
-
-    auto orphanage = msg.getOrphanage();
-
-    // stat
-    {
-      std::vector<capnp::Orphan<cereal::ProcLog::CPUTimes>> otimes;
-
-      std::ifstream sstat("/proc/stat");
-      std::string stat_line;
-      while (std::getline(sstat, stat_line)) {
-        if (util::starts_with(stat_line, "cpu ")) {
-          // cpu total
-        } else if (util::starts_with(stat_line, "cpu")) {
-          // specific cpu
-          int id;
-          unsigned long utime, ntime, stime, itime;
-          unsigned long iowtime, irqtime, sirqtime;
-
-          int count = sscanf(stat_line.data(), "cpu%d %lu %lu %lu %lu %lu %lu %lu",
-            &id, &utime, &ntime, &stime, &itime, &iowtime, &irqtime, &sirqtime);
-
-          auto ltimeo = orphanage.newOrphan<cereal::ProcLog::CPUTimes>();
-          auto ltime = ltimeo.get();
-          ltime.setCpuNum(id);
-          ltime.setUser(utime / jiffy);
-          ltime.setNice(ntime / jiffy);
-          ltime.setSystem(stime / jiffy);
-          ltime.setIdle(itime / jiffy);
-          ltime.setIowait(iowtime / jiffy);
-          ltime.setIrq(irqtime / jiffy);
-          ltime.setSoftirq(irqtime / jiffy);
-
-          otimes.push_back(std::move(ltimeo));
-
-        } else {
-          break;
-        }
-      }
-
-      auto ltimes = procLog.initCpuTimes(otimes.size());
-      for (size_t i = 0; i < otimes.size(); i++) {
-        ltimes.adoptWithCaveats(i, std::move(otimes[i]));
-      }
-    }
-
-    // meminfo
-    {
-      auto mem = procLog.initMem();
-
-      std::ifstream smem("/proc/meminfo");
-      std::string mem_line;
-
-      uint64_t mem_total = 0, mem_free = 0, mem_available = 0, mem_buffers = 0;
-      uint64_t mem_cached = 0, mem_active = 0, mem_inactive = 0, mem_shared = 0;
-
-      while (std::getline(smem, mem_line)) {
-        if (util::starts_with(mem_line, "MemTotal:")) sscanf(mem_line.data(), "MemTotal: %lu kB", &mem_total);
-        else if (util::starts_with(mem_line, "MemFree:")) sscanf(mem_line.data(), "MemFree: %lu kB", &mem_free);
-        else if (util::starts_with(mem_line, "MemAvailable:")) sscanf(mem_line.data(), "MemAvailable: %lu kB", &mem_available);
-        else if (util::starts_with(mem_line, "Buffers:")) sscanf(mem_line.data(), "Buffers: %lu kB", &mem_buffers);
-        else if (util::starts_with(mem_line, "Cached:")) sscanf(mem_line.data(), "Cached: %lu kB", &mem_cached);
-        else if (util::starts_with(mem_line, "Active:")) sscanf(mem_line.data(), "Active: %lu kB", &mem_active);
-        else if (util::starts_with(mem_line, "Inactive:")) sscanf(mem_line.data(), "Inactive: %lu kB", &mem_inactive);
-        else if (util::starts_with(mem_line, "Shmem:")) sscanf(mem_line.data(), "Shmem: %lu kB", &mem_shared);
-      }
-
-      mem.setTotal(mem_total * 1024);
-      mem.setFree(mem_free * 1024);
-      mem.setAvailable(mem_available * 1024);
-      mem.setBuffers(mem_buffers * 1024);
-      mem.setCached(mem_cached * 1024);
-      mem.setActive(mem_active * 1024);
-      mem.setInactive(mem_inactive * 1024);
-      mem.setShared(mem_shared * 1024);
-    }
-
-    // processes
-    {
-      std::vector<capnp::Orphan<cereal::ProcLog::Process>> oprocs;
-      struct dirent *de = NULL;
-      DIR *d = opendir("/proc");
-      assert(d);
-      while ((de = readdir(d))) {
-        if (!isdigit(de->d_name[0])) continue;
-        pid_t pid = atoi(de->d_name);
-
-
-        auto lproco = orphanage.newOrphan<cereal::ProcLog::Process>();
-        auto lproc = lproco.get();
-
-        lproc.setPid(pid);
-
-        char tcomm[PATH_MAX] = {0};
-
-        {
-          std::string stat = util::read_file(util::string_format("/proc/%d/stat", pid));
-
-          char state;
-
-          int ppid;
-          unsigned long utime, stime;
-          long cutime, cstime, priority, nice, num_threads;
-          unsigned long long starttime;
-          unsigned long vms, rss;
-          int processor;
-
-          int count = sscanf(stat.data(),
-            "%*d (%1024[^)]) %c %d %*d %*d %*d %*d %*d %*d %*d %*d %*d "
-             "%lu %lu %ld %ld %ld %ld %ld %*d %lld "
-             "%lu %lu %*d %*d %*d %*d %*d %*d %*d "
-             "%*d %*d %*d %*d %*d %*d %*d %d",
-            tcomm, &state, &ppid,
-            &utime, &stime, &cutime, &cstime, &priority, &nice, &num_threads, &starttime,
-            &vms, &rss, &processor);
-
-          if (count != 14) continue;
-
-          lproc.setState(state);
-          lproc.setPpid(ppid);
-          lproc.setCpuUser(utime / jiffy);
-          lproc.setCpuSystem(stime / jiffy);
-          lproc.setCpuChildrenUser(cutime / jiffy);
-          lproc.setCpuChildrenSystem(cstime / jiffy);
-          lproc.setPriority(priority);
-          lproc.setNice(nice);
-          lproc.setNumThreads(num_threads);
-          lproc.setStartTime(starttime / jiffy);
-          lproc.setMemVms(vms);
-          lproc.setMemRss((uint64_t)rss * page_size);
-          lproc.setProcessor(processor);
-        }
-
-        std::string name(tcomm);
-        lproc.setName(name);
-
-        // populate other things from cache
-        auto cache_it = proc_cache.find(pid);
-        ProcCache cache;
-        if (cache_it != proc_cache.end()) {
-          cache = cache_it->second;
-        }
-        if (cache_it == proc_cache.end() || cache.name != name) {
-          cache = (ProcCache){
-            .name = name,
-            .exe = util::readlink(util::string_format("/proc/%d/exe", pid)),
-          };
-
-          // null-delimited cmdline arguments to vector
-          std::string cmdline_s = util::read_file(util::string_format("/proc/%d/cmdline", pid));
-          const char* cmdline_p = cmdline_s.c_str();
-          const char* cmdline_ep = cmdline_p + cmdline_s.size();
-
-          // strip trailing null bytes
-          while ((cmdline_ep-1) > cmdline_p && *(cmdline_ep-1) == 0) {
-            cmdline_ep--;
-          }
-
-          while (cmdline_p < cmdline_ep) {
-            std::string arg(cmdline_p);
-            cache.cmdline.push_back(arg);
-            cmdline_p += arg.size() + 1;
-          }
-
-          proc_cache[pid] = cache;
-        }
-
-        auto lcmdline = lproc.initCmdline(cache.cmdline.size());
-        for (size_t i = 0; i < lcmdline.size(); i++) {
-          lcmdline.set(i, cache.cmdline[i]);
-        }
-        lproc.setExe(cache.exe);
-
-        oprocs.push_back(std::move(lproco));
-      }
-      closedir(d);
-
-      auto lprocs = procLog.initProcs(oprocs.size());
-      for (size_t i = 0; i < oprocs.size(); i++) {
-        lprocs.adoptWithCaveats(i, std::move(oprocs[i]));
-      }
-    }
-
-    auto words = capnp::messageToFlatArray(msg);
-    auto bytes = words.asBytes();
-    publisher->send((char*)bytes.begin(), bytes.size());
-
-    usleep(2000000); // 2 secs
-  }
-
-  delete c;
-  delete publisher;
-
-  return 0;
-}
diff --git a/selfdrive/registration.py b/selfdrive/registration.py
deleted file mode 100644
index bebe054924acea..00000000000000
--- a/selfdrive/registration.py
+++ /dev/null
@@ -1,67 +0,0 @@
-import os
-import json
-
-from datetime import datetime, timedelta
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import version, terms_version, training_version, get_git_commit, get_git_branch, get_git_remote
-from common.android import get_imei, get_serial, get_subscriber_info
-from common.api import api_get
-from common.params import Params
-from common.file_helpers import mkdirs_exists_ok
-from common.basedir import PERSIST
-
-def register():
-  params = Params()
-  params.put("Version", version)
-  params.put("TermsVersion", terms_version)
-  params.put("TrainingVersion", training_version)
-  params.put("GitCommit", get_git_commit())
-  params.put("GitBranch", get_git_branch())
-  params.put("GitRemote", get_git_remote())
-  params.put("SubscriberInfo", get_subscriber_info())
-
-  # create a key for auth
-  # your private key is kept on your device persist partition and never sent to our servers
-  # do not erase your persist partition
-  if not os.path.isfile(PERSIST+"/comma/id_rsa.pub"):
-    cloudlog.warning("generating your personal RSA key")
-    mkdirs_exists_ok(PERSIST+"/comma")
-    assert os.system("openssl genrsa -out "+PERSIST+"/comma/id_rsa.tmp 2048") == 0
-    assert os.system("openssl rsa -in "+PERSIST+"/comma/id_rsa.tmp -pubout -out "+PERSIST+"/comma/id_rsa.tmp.pub") == 0
-    os.rename(PERSIST+"/comma/id_rsa.tmp", PERSIST+"/comma/id_rsa")
-    os.rename(PERSIST+"/comma/id_rsa.tmp.pub", PERSIST+"/comma/id_rsa.pub")
-
-  # make key readable by app users (ai.comma.plus.offroad)
-  os.chmod(PERSIST+'/comma/', 0o755)
-  os.chmod(PERSIST+'/comma/id_rsa', 0o744)
-
-  dongle_id, access_token = params.get("DongleId", encoding='utf8'), params.get("AccessToken", encoding='utf8')
-  public_key = open(PERSIST+"/comma/id_rsa.pub").read()
-
-  # create registration token
-  # in the future, this key will make JWTs directly
-  private_key = open(PERSIST+"/comma/id_rsa").read()
-
-  # late import
-  import jwt
-  register_token = jwt.encode({'register':True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
-
-  try:
-    cloudlog.info("getting pilotauth")
-    resp = api_get("v2/pilotauth/", method='POST', timeout=15,
-                   imei=get_imei(0), imei2=get_imei(1), serial=get_serial(), public_key=public_key, register_token=register_token)
-    dongleauth = json.loads(resp.text)
-    dongle_id, access_token = dongleauth["dongle_id"], dongleauth["access_token"]
-
-    params.put("DongleId", dongle_id)
-    params.put("AccessToken", access_token)
-    return dongle_id, access_token
-  except Exception:
-    cloudlog.exception("failed to authenticate")
-    if dongle_id is not None and access_token is not None:
-      return dongle_id, access_token
-    else:
-      return None
-
-if __name__ == "__main__":
-  print(register())
diff --git a/selfdrive/rtshield.py b/selfdrive/rtshield.py
new file mode 100755
index 00000000000000..ad7538d7a8bc2c
--- /dev/null
+++ b/selfdrive/rtshield.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+import os
+import time
+from typing import NoReturn
+
+from common.realtime import set_core_affinity, set_realtime_priority
+
+# RT shield - ensure CPU 3 always remains available for RT processes
+#   runs as SCHED_FIFO with minimum priority to ensure kthreads don't
+#   get scheduled onto CPU 3, but it's always preemptible by realtime
+#   openpilot processes
+
+def main() -> NoReturn:
+  set_core_affinity(int(os.getenv("CORE", "3")))
+  set_realtime_priority(1)
+
+  while True:
+    time.sleep(0.000001)
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/sensord/SConscript b/selfdrive/sensord/SConscript
index b285cf97549e9c..186e302bc3d4ea 100644
--- a/selfdrive/sensord/SConscript
+++ b/selfdrive/sensord/SConscript
@@ -1,5 +1,22 @@
-Import('env', 'common', 'messaging')
-env.Program('_sensord', 'sensors.cc', LIBS=['hardware', common, 'json', messaging, 'capnp', 'zmq', 'kj'])
-lenv = env.Clone()
-lenv['LIBPATH'] += ['/system/vendor/lib64']
-lenv.Program('_gpsd', ['gpsd.cc', 'rawgps.cc'], LIBS=['hardware', common, 'diag', 'time_genoff', 'json', messaging, 'capnp', 'zmq', 'kj'])
+Import('env', 'arch', 'common', 'cereal', 'messaging')
+
+if arch == "aarch64":
+  env.Program('_sensord', 'sensors_qcom.cc', LIBS=['hardware', common, cereal, messaging, 'capnp', 'zmq', 'kj'])
+else:
+  sensors = [
+    'sensors/file_sensor.cc',
+    'sensors/i2c_sensor.cc',
+    'sensors/light_sensor.cc',
+    'sensors/bmx055_accel.cc',
+    'sensors/bmx055_gyro.cc',
+    'sensors/bmx055_magn.cc',
+    'sensors/bmx055_temp.cc',
+    'sensors/lsm6ds3_accel.cc',
+    'sensors/lsm6ds3_gyro.cc',
+    'sensors/lsm6ds3_temp.cc',
+    'sensors/mmc5603nj_magn.cc',
+  ]
+  libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj']
+  if arch == "larch64":
+    libs.append('i2c')
+  env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)
diff --git a/selfdrive/sensord/gpsd b/selfdrive/sensord/gpsd
deleted file mode 100755
index c301082682cbc1..00000000000000
--- a/selfdrive/sensord/gpsd
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/sh
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
-exec ./_gpsd
diff --git a/selfdrive/sensord/gpsd.cc b/selfdrive/sensord/gpsd.cc
deleted file mode 100644
index ae2ecec0352c4b..00000000000000
--- a/selfdrive/sensord/gpsd.cc
+++ /dev/null
@@ -1,201 +0,0 @@
-#include <stdio.h>
-#include <stdint.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
-#include <assert.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <sys/resource.h>
-
-#include <pthread.h>
-
-#include <cutils/log.h>
-
-#include <hardware/gps.h>
-#include <utils/Timers.h>
-
-#include <capnp/serialize.h>
-
-#include "messaging.hpp"
-#include "common/timing.h"
-#include "common/swaglog.h"
-
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "rawgps.h"
-
-volatile sig_atomic_t do_exit = 0;
-
-namespace {
-
-Context *gps_context;
-PubSocket *gps_publisher;
-PubSocket *gps_location_publisher;
-
-const GpsInterface* gGpsInterface = NULL;
-const AGpsInterface* gAGpsInterface = NULL;
-
-void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
-void nmea_callback(GpsUtcTime timestamp, const char* nmea, int length) {
-
-  uint64_t log_time = nanos_since_boot();
-  uint64_t log_time_wall = nanos_since_epoch();
-
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(log_time);
-
-  auto nmeaData = event.initGpsNMEA();
-  nmeaData.setTimestamp(timestamp);
-  nmeaData.setLocalWallTime(log_time_wall);
-  nmeaData.setNmea(nmea);
-
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  // printf("gps send %d\n", bytes.size());
-  gps_publisher->send((char*)bytes.begin(), bytes.size());
-}
-
-void location_callback(GpsLocation* location) {
-  //printf("got location callback\n");
-  uint64_t log_time = nanos_since_boot();
-
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(log_time);
-
-  auto locationData = event.initGpsLocation();
-  locationData.setFlags(location->flags);
-  locationData.setLatitude(location->latitude);
-  locationData.setLongitude(location->longitude);
-  locationData.setAltitude(location->altitude);
-  locationData.setSpeed(location->speed);
-  locationData.setBearing(location->bearing);
-  locationData.setAccuracy(location->accuracy);
-  locationData.setTimestamp(location->timestamp);
-  locationData.setSource(cereal::GpsLocationData::SensorSource::ANDROID);
-
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  gps_location_publisher->send((char*)bytes.begin(), bytes.size());
-}
-
-pthread_t create_thread_callback(const char* name, void (*start)(void *), void* arg) {
-  LOG("creating thread: %s", name);
-  pthread_t thread;
-  pthread_attr_t attr;
-  int err;
-
-  err = pthread_attr_init(&attr);
-  err = pthread_create(&thread, &attr, (void*(*)(void*))start, arg);
-
-  return thread;
-}
-
-GpsCallbacks gps_callbacks = {
-  sizeof(GpsCallbacks),
-  location_callback,
-  NULL,
-  NULL,
-  nmea_callback,
-  NULL,
-  NULL,
-  NULL,
-  create_thread_callback,
-};
-
-void agps_status_cb(AGpsStatus *status) {
-  switch (status->status) {
-    case GPS_REQUEST_AGPS_DATA_CONN:
-      fprintf(stdout, "*** data_conn_open\n");
-      gAGpsInterface->data_conn_open("internet");
-      break;
-    case GPS_RELEASE_AGPS_DATA_CONN:
-      fprintf(stdout, "*** data_conn_closed\n");
-      gAGpsInterface->data_conn_closed();
-      break;
-  }
-}
-
-AGpsCallbacks agps_callbacks = {
-  agps_status_cb,
-  create_thread_callback,
-};
-
-
-
-void gps_init() {
-  LOG("*** init GPS");
-  hw_module_t* module = NULL;
-  hw_get_module(GPS_HARDWARE_MODULE_ID, (hw_module_t const**)&module);
-  assert(module);
-
-  static hw_device_t* device = NULL;
-  module->methods->open(module, GPS_HARDWARE_MODULE_ID, &device);
-  assert(device);
-
-  // ** get gps interface **
-  gps_device_t* gps_device = (gps_device_t *)device;
-  gGpsInterface = gps_device->get_gps_interface(gps_device);
-  assert(gGpsInterface);
-
-  gAGpsInterface = (const AGpsInterface*)gGpsInterface->get_extension(AGPS_INTERFACE);
-  assert(gAGpsInterface);
-
-
-  gGpsInterface->init(&gps_callbacks);
-  gAGpsInterface->init(&agps_callbacks);
-  gAGpsInterface->set_server(AGPS_TYPE_SUPL, "supl.google.com", 7276);
-
-  // gGpsInterface->delete_aiding_data(GPS_DELETE_ALL);
-  gGpsInterface->start();
-  gGpsInterface->set_position_mode(GPS_POSITION_MODE_MS_BASED,
-                                   GPS_POSITION_RECURRENCE_PERIODIC,
-                                   100, 0, 0);
-
-  gps_context = Context::create();
-  gps_publisher = PubSocket::create(gps_context, "gpsNMEA");
-  gps_location_publisher = PubSocket::create(gps_context, "gpsLocation");
-
-  assert(gps_publisher != NULL);
-  assert(gps_location_publisher != NULL);
-}
-
-void gps_destroy() {
-  gGpsInterface->stop();
-  gGpsInterface->cleanup();
-}
-
-
-int64_t arm_cntpct() {
-  int64_t v;
-  asm volatile("mrs %0, cntpct_el0" : "=r"(v));
-  return v;
-}
-
-}
-
-int main() {
-  int err = 0;
-  setpriority(PRIO_PROCESS, 0, -13);
-
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
-  gps_init();
-
-  rawgps_init();
-
-  while(!do_exit) pause();
-
-  rawgps_destroy();
-
-  gps_destroy();
-
-  return 0;
-}
diff --git a/selfdrive/sensord/libdiag.h b/selfdrive/sensord/libdiag.h
index ab3ee91b14a0db..03a59464edc5c1 100644
--- a/selfdrive/sensord/libdiag.h
+++ b/selfdrive/sensord/libdiag.h
@@ -1,5 +1,4 @@
-#ifndef LIBDIAG_H
-#define LIBDIAG_H
+#pragma once
 
 #include <stdint.h>
 #include <stdbool.h>
@@ -36,5 +35,3 @@ int diag_send_dci_async_req(int client_id, unsigned char buf[], int bytes, unsig
 #ifdef __cplusplus
 }
 #endif
-
-#endif
diff --git a/selfdrive/sensord/rawgps.cc b/selfdrive/sensord/rawgps.cc
deleted file mode 100644
index 3a0d1c8046cd46..00000000000000
--- a/selfdrive/sensord/rawgps.cc
+++ /dev/null
@@ -1,1184 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cassert>
-#include <csignal>
-#include <unistd.h>
-#include <semaphore.h>
-#include <time.h>
-
-#include <pthread.h>
-#include <capnp/serialize.h>
-
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "messaging.hpp"
-#include "common/timing.h"
-#include "common/util.h"
-#include "common/swaglog.h"
-
-#include "libdiag.h"
-
-#define NV_GNSS_OEM_FEATURE_MASK 7165
-# define NV_GNSS_OEM_FEATURE_MASK_OEMDRE 1
-#define NV_CGPS_DPO_CONTROL 5596
-
-#define DIAG_NV_READ_F 38
-#define DIAG_NV_WRITE_F 39
-
-#define DIAG_SUBSYS_CMD 75
-#define DIAG_SUBSYS_CMD_VER_2 128
-
-#define DIAG_SUBSYS_GPS 13
-#define DIAG_SUBSYS_FS 19
-
-#define CGPS_DIAG_PDAPI_CMD 100
-#define CGPS_OEM_CONTROL 202
-
-#define GPSDIAG_OEMFEATURE_DRE 1
-#define GPSDIAG_OEM_DRE_ON 1
-
-#define FEATURE_OEMDRE_NOT_SUPPORTED 1
-#define FEATURE_OEMDRE_ON 2
-#define FEATURE_OEMDRE_ALREADY_ON 4
-
-#define TM_DIAG_NAV_CONFIG_CMD 0x6E
-
-#define EFS2_DIAG_SYNC_NO_WAIT 48
-
-struct __attribute__((packed)) NvPacket {
-  uint8_t cmd_code;
-  uint16_t nv_id;
-  uint8_t data[128];
-  uint16_t status;
-};
-
-enum NvStatus {
-  NV_DONE,
-  NV_BUSY,
-  NV_FULL,
-  NV_FAIL,
-  NV_NOTACTIVE,
-  NV_BADPARAM,
-  NV_READONLY,
-  NV_BADRG,
-  NV_NOMEM,
-  NV_NOTALLOC,
-};
-
-struct __attribute__((packed)) Efs2DiagSyncReq {
-  uint8_t cmd_code;
-  uint8_t subsys_id;
-  uint16_t subsys_cmd_code;
-  uint16_t sequence_num;
-  char path[8];
-};
-
-
-struct __attribute__((packed)) Efs2DiagSyncResp {
-  uint8_t cmd_code;
-  uint8_t subsys_id;
-  uint16_t subsys_cmd_code;
-  uint16_t sequence_num;
-  uint32_t sync_token;
-  int32_t diag_errno;
-};
-
-
-
-struct __attribute__((packed)) GpsOemControlReq {
-  uint8_t cmd_code;
-  uint8_t subsys_id;
-  uint16_t subsys_cmd_code;
-  uint8_t gps_cmd_code;
-  uint8_t version;
-
-  uint32_t oem_feature;
-  uint32_t oem_command;
-  uint32_t reserved[2];
-};
-
-
-struct __attribute__((packed)) GpsOemControlResp {
-  uint8_t cmd_code;
-  uint8_t subsys_id;
-  uint16_t subsys_cmd_code;
-  uint8_t gps_cmd_code;
-  uint8_t version;
-
-  uint32_t oem_feature;
-  uint32_t oem_command;
-  uint32_t resp_result;
-  uint32_t reserved[2];
-};
-
-struct __attribute__((packed)) GpsNavConfigReq {
-  uint8_t cmd_code;
-  uint8_t subsys_id;
-  uint16_t subsys_cmd_code;
-  uint32_t subsys_status;
-  uint16_t subsys_delayed_resp_id;
-  uint16_t subsys_rsp_cnt;
-
-  uint8_t desired_config;
-};
-
-struct __attribute__((packed)) GpsNavConfigResp {
-  uint8_t cmd_code;
-  uint8_t subsys_id;
-  uint16_t subsys_cmd_code;
-  uint32_t subsys_status;
-  uint16_t subsys_delayed_resp_id;
-  uint16_t subsys_rsp_cnt;
-
-  uint8_t supported_config;
-  uint8_t actual_config;
-};
-
-
-#define LOG_GNSS_POSITION_REPORT            0x1476
-#define LOG_GNSS_GPS_MEASUREMENT_REPORT     0x1477
-#define LOG_GNSS_CLOCK_REPORT               0x1478
-#define LOG_GNSS_GLONASS_MEASUREMENT_REPORT 0x1480
-#define LOG_GNSS_BDS_MEASUREMENT_REPORT     0x1756
-#define LOG_GNSS_GAL_MEASUREMENT_REPORT     0x1886
-
-#define LOG_GNSS_OEMDRE_MEASUREMENMT_REPORT 0x14DE
-#define LOG_GNSS_OEMDRE_SVPOLY_REPORT       0x14E1
-
-#define LOG_GNSS_ME_DPO_STATUS              0x1838
-#define LOG_GNSS_CD_DB_REPORT               0x147B
-#define LOG_GNSS_PRX_RF_HW_STATUS_REPORT    0x147E
-#define LOG_CGPS_SLOW_CLOCK_CLIB_REPORT     0x1488
-#define LOG_GNSS_CONFIGURATION_STATE        0x1516
-
-struct __attribute__((packed)) log_header_type {
-  uint16_t len;
-  uint16_t code;
-  uint64_t ts;
-};
-
-
-
-enum SVObservationStates {
-  SV_IDLE,
-  SV_SEARCH,
-  SV_SEACH_VERIFY,
-  SV_BIT_EDGE,
-  SV_TRACK_VERIFY,
-  SV_TRACK,
-  SV_RESTART,
-  SV_DPO,
-  SV_GLO_10ms_BE,
-  SV_GLO_10ms_AT,
-};
-
-struct __attribute__((packed)) GNSSGpsMeasurementReportv0_SV{
-  uint8_t sv_id;
-  uint8_t observation_state; // SVObservationStates
-  uint8_t observations;
-  uint8_t good_observations;
-  uint16_t parity_error_count;
-  uint8_t filter_stages;
-  uint16_t carrier_noise;
-  int16_t latency;
-  uint8_t predetect_interval;
-  uint16_t postdetections;
-  uint32_t unfiltered_measurement_integral;
-  float unfiltered_measurement_fraction;
-  float unfiltered_time_uncertainty;
-  float unfiltered_speed;
-  float unfiltered_speed_uncertainty;
-  uint32_t measurement_status;
-  uint8_t misc_status;
-  uint32_t multipath_estimate;
-  float azimuth;
-  float elevation;
-  int32_t carrier_phase_cycles_integral;
-  uint16_t carrier_phase_cycles_fraction;
-  float fine_speed;
-  float fine_speed_uncertainty;
-  uint8_t cycle_slip_count;
-  uint32_t pad;
-};
-
-_Static_assert(sizeof(GNSSGpsMeasurementReportv0_SV) == 70, "error");
-
-struct __attribute__((packed)) GNSSGpsMeasurementReportv0{
-  log_header_type header;
-  uint8_t version;
-  uint32_t f_count;
-  uint16_t week;
-  uint32_t milliseconds;
-  float time_bias;
-  float clock_time_uncertainty;
-  float clock_frequency_bias;
-  float clock_frequency_uncertainty;
-  uint8_t sv_count;
-  GNSSGpsMeasurementReportv0_SV sv[];
-};
-
-
-
-struct __attribute__((packed)) GNSSGlonassMeasurementReportv0_SV {
-  uint8_t sv_id;
-  int8_t frequency_index;
-  uint8_t observation_state; // SVObservationStates
-  uint8_t observations;
-  uint8_t good_observations;
-  uint8_t hemming_error_count;
-  uint8_t filter_stages;
-  uint16_t carrier_noise;
-  int16_t latency;
-  uint8_t predetect_interval;
-  uint16_t postdetections;
-  uint32_t unfiltered_measurement_integral;
-  float unfiltered_measurement_fraction;
-  float unfiltered_time_uncertainty;
-  float unfiltered_speed;
-  float unfiltered_speed_uncertainty;
-  uint32_t measurement_status;
-  uint8_t misc_status;
-  uint32_t multipath_estimate;
-  float azimuth;
-  float elevation;
-  int32_t carrier_phase_cycles_integral;
-  uint16_t carrier_phase_cycles_fraction;
-  float fine_speed;
-  float fine_speed_uncertainty;
-  uint8_t cycle_slip_count;
-  uint32_t pad;
-};
-
-_Static_assert(sizeof(GNSSGlonassMeasurementReportv0_SV) == 70, "error");
-
-struct __attribute__((packed)) GNSSGlonassMeasurementReportv0 {
-  log_header_type header;
-  uint8_t version;
-  uint32_t f_count;
-  uint8_t glonass_cycle_number;
-  uint16_t glonass_number_of_days;
-  uint32_t milliseconds;
-  float time_bias;
-  float clock_time_uncertainty;
-  float clock_frequency_bias;
-  float clock_frequency_uncertainty;
-  uint8_t sv_count;
-  GNSSGlonassMeasurementReportv0_SV sv[];
-};
-
-
-struct __attribute__((packed)) GNSSClockReportv2 {
-  log_header_type header;
-  uint8_t version;
-  uint16_t valid_flags;
-
-  uint32_t f_count;
-
-  uint16_t gps_week;
-  uint32_t gps_milliseconds;
-  float gps_time_bias;
-  float gps_clock_time_uncertainty;
-  uint8_t gps_clock_source;
-
-  uint8_t glonass_year;
-  uint16_t glonass_day;
-  uint32_t glonass_milliseconds;
-  float glonass_time_bias;
-  float glonass_clock_time_uncertainty;
-  uint8_t glonass_clock_source;
-
-  uint16_t bds_week;
-  uint32_t bds_milliseconds;
-  float bds_time_bias;
-  float bds_clock_time_uncertainty;
-  uint8_t bds_clock_source;
-
-  uint16_t gal_week;
-  uint32_t gal_milliseconds;
-  float gal_time_bias;
-  float gal_clock_time_uncertainty;
-  uint8_t gal_clock_source;
-
-  float clock_frequency_bias;
-  float clock_frequency_uncertainty;
-  uint8_t frequency_source;
-  uint8_t gps_leap_seconds;
-  uint8_t gps_leap_seconds_uncertainty;
-  uint8_t gps_leap_seconds_source;
-
-  float gps_to_glonass_time_bias_milliseconds;
-  float gps_to_glonass_time_bias_milliseconds_uncertainty;
-  float gps_to_bds_time_bias_milliseconds;
-  float gps_to_bds_time_bias_milliseconds_uncertainty;
-  float bds_to_glo_time_bias_milliseconds;
-  float bds_to_glo_time_bias_milliseconds_uncertainty;
-  float gps_to_gal_time_bias_milliseconds;
-  float gps_to_gal_time_bias_milliseconds_uncertainty;
-  float gal_to_glo_time_bias_milliseconds;
-  float gal_to_glo_time_bias_milliseconds_uncertainty;
-  float gal_to_bds_time_bias_milliseconds;
-  float gal_to_bds_time_bias_milliseconds_uncertainty;
-
-  uint32_t system_rtc_time;
-  uint32_t f_count_offset;
-  uint32_t lpm_rtc_count;
-  uint32_t clock_resets;
-
-  uint32_t reserved[3];
-
-};
-
-
-enum GNSSMeasurementSource {
-  SOURCE_GPS,
-  SOURCE_GLONASS,
-  SOURCE_BEIDOU,
-};
-
-struct __attribute__((packed)) GNSSOemdreMeasurement {
-  uint8_t sv_id;
-  uint8_t unkn;
-  int8_t glonass_frequency_index;
-  uint32_t observation_state;
-  uint8_t observations;
-  uint8_t good_observations;
-  uint8_t filter_stages;
-  uint8_t predetect_interval;
-  uint8_t cycle_slip_count;
-  uint16_t postdetections;
-
-  uint32_t measurement_status;
-  uint32_t measurement_status2;
-
-  uint16_t carrier_noise;
-  uint16_t rf_loss;
-  int16_t latency;
-
-  float filtered_measurement_fraction;
-  uint32_t filtered_measurement_integral;
-  float filtered_time_uncertainty;
-  float filtered_speed;
-  float filtered_speed_uncertainty;
-
-  float unfiltered_measurement_fraction;
-  uint32_t unfiltered_measurement_integral;
-  float unfiltered_time_uncertainty;
-  float unfiltered_speed;
-  float unfiltered_speed_uncertainty;
-
-  uint8_t multipath_estimate_valid;
-  uint32_t multipath_estimate;
-  uint8_t direction_valid;
-  float azimuth;
-  float elevation;
-  float doppler_acceleration;
-  float fine_speed;
-  float fine_speed_uncertainty;
-
-  uint64_t carrier_phase;
-  uint32_t f_count;
-
-  uint16_t parity_error_count;
-  uint8_t good_parity;
-
-};
-
-_Static_assert(sizeof(GNSSOemdreMeasurement) == 109, "error");
-
-struct __attribute__((packed)) GNSSOemdreMeasurementReportv2 {
-  log_header_type header;
-  uint8_t version;
-  uint8_t reason;
-  uint8_t sv_count;
-  uint8_t seq_num;
-  uint8_t seq_max;
-  uint16_t rf_loss;
-
-  uint8_t system_rtc_valid;
-  uint32_t f_count;
-  uint32_t clock_resets;
-  uint64_t system_rtc_time;
-
-  uint8_t gps_leap_seconds;
-  uint8_t gps_leap_seconds_uncertainty;
-  float gps_to_glonass_time_bias_milliseconds;
-  float gps_to_glonass_time_bias_milliseconds_uncertainty;
-
-  uint16_t gps_week;
-  uint32_t gps_milliseconds;
-  uint32_t gps_time_bias;
-  uint32_t gps_clock_time_uncertainty;
-  uint8_t gps_clock_source;
-
-  uint8_t glonass_clock_source;
-  uint8_t glonass_year;
-  uint16_t glonass_day;
-  uint32_t glonass_milliseconds;
-  float glonass_time_bias;
-  float glonass_clock_time_uncertainty;
-
-  float clock_frequency_bias;
-  float clock_frequency_uncertainty;
-  uint8_t frequency_source;
-
-  uint32_t cdma_clock_info[5];
-
-  uint8_t source;
-
-  GNSSOemdreMeasurement measurements[16];
-
-};
-
-_Static_assert(sizeof(GNSSOemdreMeasurementReportv2) == 1851, "error");
-
-
-struct __attribute__((packed)) GNSSOemdreSVPolyReportv2 {
-  log_header_type header;
-  uint8_t version;
-  uint16_t sv_id;
-  int8_t frequency_index;
-  uint8_t flags;
-  uint16_t iode;
-  double t0;
-  double xyz0[3];
-  double xyzN[9];
-  float other[4];
-  float position_uncertainty;
-  float iono_delay;
-  float iono_dot;
-  float sbas_iono_delay;
-  float sbas_iono_dot;
-  float tropo_delay;
-  float elevation;
-  float elevation_dot;
-  float elevation_uncertainty;
-  double velocity_coeff[12];
-};
-
-_Static_assert(sizeof(GNSSOemdreSVPolyReportv2) == 271, "error");
-
-
-static Context *rawgps_context;
-static PubSocket *rawgps_publisher;
-static int client_id = 0;
-
-static void hexdump(uint8_t* d, size_t len) {
-  for (int i=0; i<len; i++) {
-    printf("%02x ", d[i]);
-  }
-  printf("\n");
-}
-
-
-static void parse_measurement_status_common(uint32_t measurement_status,
-    cereal::QcomGnss::MeasurementStatus::Builder status) {
-  status.setSubMillisecondIsValid(measurement_status & (1 << 0));
-  status.setSubBitTimeIsKnown(measurement_status & (1 << 1));
-  status.setSatelliteTimeIsKnown(measurement_status & (1 << 2));
-  status.setBitEdgeConfirmedFromSignal(measurement_status & (1 << 3));
-  status.setMeasuredVelocity(measurement_status & (1 << 4));
-  status.setFineOrCoarseVelocity(measurement_status & (1 << 5));
-  status.setLockPointValid(measurement_status & (1 << 6));
-  status.setLockPointPositive(measurement_status & (1 << 7));
-
-  status.setLastUpdateFromDifference(measurement_status & (1 << 9));
-  status.setLastUpdateFromVelocityDifference(measurement_status & (1 << 10));
-  status.setStrongIndicationOfCrossCorelation(measurement_status & (1 << 11));
-  status.setTentativeMeasurement(measurement_status & (1 << 12));
-  status.setMeasurementNotUsable(measurement_status & (1 << 13));
-  status.setSirCheckIsNeeded(measurement_status & (1 << 14));
-  status.setProbationMode(measurement_status & (1 << 15));
-
-  status.setMultipathIndicator(measurement_status & (1 << 24));
-  status.setImdJammingIndicator(measurement_status & (1 << 25));
-  status.setLteB13TxJammingIndicator(measurement_status & (1 << 26));
-  status.setFreshMeasurementIndicator(measurement_status & (1 << 27));
-}
-
-static void handle_log(uint8_t *ptr, int len) {
-  assert(len >= sizeof(log_header_type)+1);
-  log_header_type* log_header = (log_header_type*)ptr;
-  uint8_t* log_data = ptr + sizeof(log_header_type);
-
-#ifdef RAWGPS_TEST
-  printf("%04x\n", log_header->code);
-#endif
-
-  capnp::MallocMessageBuilder msg;
-  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto qcomGnss = event.initQcomGnss();
-  qcomGnss.setLogTs(log_header->ts);
-
-  switch (log_header->code) {
-
-  case LOG_GNSS_CLOCK_REPORT: {
-    uint8_t version = log_data[0];
-    assert(version == 2);
-
-    assert(len >= sizeof(GNSSClockReportv2));
-    const GNSSClockReportv2* report = (const GNSSClockReportv2*)ptr;
-
-    auto lreport = qcomGnss.initClockReport();
-    lreport.setHasFCount(report->valid_flags & (1 << 0));
-    lreport.setFCount(report->f_count);
-
-    lreport.setHasGpsWeek(report->valid_flags & (1 << 2));
-    lreport.setGpsWeek(report->gps_week);
-    lreport.setHasGpsMilliseconds(report->valid_flags & (1 << 1));
-    lreport.setGpsMilliseconds(report->gps_milliseconds);
-    lreport.setGpsTimeBias(report->gps_time_bias);
-    lreport.setGpsClockTimeUncertainty(report->gps_clock_time_uncertainty);
-    lreport.setGpsClockSource(report->gps_clock_source);
-
-    lreport.setHasGlonassYear(report->valid_flags & (1 << 6));
-    lreport.setGlonassYear(report->glonass_year);
-    lreport.setHasGlonassDay(report->valid_flags & (1 << 5));
-    lreport.setGlonassDay(report->glonass_day);
-    lreport.setHasGlonassMilliseconds(report->valid_flags & (1 << 4));
-    lreport.setGlonassMilliseconds(report->glonass_milliseconds);
-    lreport.setGlonassTimeBias(report->glonass_time_bias);
-    lreport.setGlonassClockTimeUncertainty(report->glonass_clock_time_uncertainty);
-    lreport.setGlonassClockSource(report->glonass_clock_source);
-
-    lreport.setBdsWeek(report->bds_week);
-    lreport.setBdsMilliseconds(report->bds_milliseconds);
-    lreport.setBdsTimeBias(report->bds_time_bias);
-    lreport.setBdsClockTimeUncertainty(report->bds_clock_time_uncertainty);
-    lreport.setBdsClockSource(report->bds_clock_source);
-
-    lreport.setGalWeek(report->gal_week);
-    lreport.setGalMilliseconds(report->gal_milliseconds);
-    lreport.setGalTimeBias(report->gal_time_bias);
-    lreport.setGalClockTimeUncertainty(report->gal_clock_time_uncertainty);
-    lreport.setGalClockSource(report->gal_clock_source);
-
-    lreport.setClockFrequencyBias(report->clock_frequency_bias);
-    lreport.setClockFrequencyUncertainty(report->clock_frequency_uncertainty);
-    lreport.setFrequencySource(report->frequency_source);
-    lreport.setGpsLeapSeconds(report->gps_leap_seconds);
-    lreport.setGpsLeapSecondsUncertainty(report->gps_leap_seconds_uncertainty);
-    lreport.setGpsLeapSecondsSource(report->gps_leap_seconds_source);
-
-    lreport.setGpsToGlonassTimeBiasMilliseconds(report->gps_to_glonass_time_bias_milliseconds);
-    lreport.setGpsToGlonassTimeBiasMillisecondsUncertainty(report->gps_to_glonass_time_bias_milliseconds_uncertainty);
-    lreport.setGpsToBdsTimeBiasMilliseconds(report->gps_to_bds_time_bias_milliseconds);
-    lreport.setGpsToBdsTimeBiasMillisecondsUncertainty(report->gps_to_bds_time_bias_milliseconds_uncertainty);
-    lreport.setBdsToGloTimeBiasMilliseconds(report->bds_to_glo_time_bias_milliseconds);
-    lreport.setBdsToGloTimeBiasMillisecondsUncertainty(report->bds_to_glo_time_bias_milliseconds_uncertainty);
-    lreport.setGpsToGalTimeBiasMilliseconds(report->gps_to_gal_time_bias_milliseconds);
-    lreport.setGpsToGalTimeBiasMillisecondsUncertainty(report->gps_to_gal_time_bias_milliseconds_uncertainty);
-    lreport.setGalToGloTimeBiasMilliseconds(report->gal_to_glo_time_bias_milliseconds);
-    lreport.setGalToGloTimeBiasMillisecondsUncertainty(report->gal_to_glo_time_bias_milliseconds_uncertainty);
-    lreport.setGalToBdsTimeBiasMilliseconds(report->gal_to_bds_time_bias_milliseconds);
-    lreport.setGalToBdsTimeBiasMillisecondsUncertainty(report->gal_to_bds_time_bias_milliseconds_uncertainty);
-
-    lreport.setHasRtcTime(report->valid_flags & (1 << 3));
-    lreport.setSystemRtcTime(report->system_rtc_time);
-    lreport.setFCountOffset(report->f_count_offset);
-    lreport.setLpmRtcCount(report->lpm_rtc_count);
-    lreport.setClockResets(report->clock_resets);
-
-    break;
-  }
-  case LOG_GNSS_GPS_MEASUREMENT_REPORT: {
-    uint8_t version = log_data[0];
-    assert(version == 0);
-
-    assert(len >= sizeof(GNSSGpsMeasurementReportv0));
-    const GNSSGpsMeasurementReportv0* report = (const GNSSGpsMeasurementReportv0*)ptr;
-    assert(len >= sizeof(sizeof(GNSSGpsMeasurementReportv0))+sizeof(GNSSGpsMeasurementReportv0_SV) * report->sv_count);
-
-    auto lreport = qcomGnss.initMeasurementReport();
-    lreport.setSource(cereal::QcomGnss::MeasurementSource::GPS);
-    lreport.setFCount(report->f_count);
-    lreport.setGpsWeek(report->week);
-    lreport.setMilliseconds(report->milliseconds);
-    lreport.setTimeBias(report->time_bias);
-    lreport.setClockTimeUncertainty(report->clock_time_uncertainty);
-    lreport.setClockFrequencyBias(report->clock_frequency_bias);
-    lreport.setClockFrequencyUncertainty(report->clock_frequency_uncertainty);
-
-    auto lsvs = lreport.initSv(report->sv_count);
-    for (int i=0; i<report->sv_count; i++) {
-      auto lsv = lsvs[i];
-      const GNSSGpsMeasurementReportv0_SV *sv = &report->sv[i];
-
-      lsv.setSvId(sv->sv_id);
-      lsv.setObservationState(cereal::QcomGnss::SVObservationState(sv->observation_state));
-      lsv.setObservations(sv->observations);
-      lsv.setGoodObservations(sv->good_observations);
-      lsv.setGpsParityErrorCount(sv->parity_error_count);
-      lsv.setFilterStages(sv->filter_stages);
-      lsv.setCarrierNoise(sv->carrier_noise);
-      lsv.setLatency(sv->latency);
-      lsv.setPredetectInterval(sv->predetect_interval);
-      lsv.setPostdetections(sv->postdetections);
-      lsv.setUnfilteredMeasurementIntegral(sv->unfiltered_measurement_integral);
-      lsv.setUnfilteredMeasurementFraction(sv->unfiltered_measurement_fraction);
-      lsv.setUnfilteredTimeUncertainty(sv->unfiltered_time_uncertainty);
-      lsv.setUnfilteredSpeed(sv->unfiltered_speed);
-      lsv.setUnfilteredSpeedUncertainty(sv->unfiltered_speed_uncertainty);
-
-      lsv.setMultipathEstimate(sv->multipath_estimate);
-      lsv.setAzimuth(sv->azimuth);
-      lsv.setElevation(sv->elevation);
-      lsv.setCarrierPhaseCyclesIntegral(sv->carrier_phase_cycles_integral);
-      lsv.setCarrierPhaseCyclesFraction(sv->carrier_phase_cycles_fraction);
-      lsv.setFineSpeed(sv->fine_speed);
-      lsv.setFineSpeedUncertainty(sv->fine_speed_uncertainty);
-      lsv.setCycleSlipCount(sv->cycle_slip_count);
-
-      auto status = lsv.initMeasurementStatus();
-      parse_measurement_status_common(sv->measurement_status, status);
-
-      status.setGpsRoundRobinRxDiversity(sv->measurement_status & (1 << 18));
-      status.setGpsRxDiversity(sv->measurement_status & (1 << 19));
-      status.setGpsLowBandwidthRxDiversityCombined(sv->measurement_status & (1 << 20));
-      status.setGpsHighBandwidthNu4(sv->measurement_status & (1 << 21));
-      status.setGpsHighBandwidthNu8(sv->measurement_status & (1 << 22));
-      status.setGpsHighBandwidthUniform(sv->measurement_status & (1 << 23));
-
-      status.setMultipathEstimateIsValid(sv->misc_status & (1 << 0));
-      status.setDirectionIsValid(sv->misc_status & (1 << 1));
-
-#ifdef RAWGPS_TEST
-      // if (sv->measurement_status & (1 << 27)) printf("%d\n", sv->unfiltered_measurement_integral);
-      printf("GPS %03d %d %d 0x%08X    o: %02x go: %02x fs: %02x cn: %02x pd: %02x cs: %02x po: %02x ms: %08x ms2: %08x me: %08x  az: %08x el: %08x  fc: %08x\n",
-        sv->sv_id,
-        !!(sv->measurement_status & (1 << 27)),
-        sv->unfiltered_measurement_integral, sv->unfiltered_measurement_integral,
-        sv->observations,
-        sv->good_observations,
-        sv->filter_stages,
-        sv->carrier_noise,
-        sv->predetect_interval,
-        sv->cycle_slip_count,
-        sv->postdetections,
-        sv->measurement_status,
-        sv->misc_status,
-        sv->multipath_estimate,
-        *(uint32_t*)&sv->azimuth,
-        *(uint32_t*)&sv->elevation,
-        report->f_count
-        );
-#endif
-
-    }
-
-    break;
-  }
-  case LOG_GNSS_GLONASS_MEASUREMENT_REPORT: {
-    uint8_t version = log_data[0];
-    assert(version == 0);
-
-    assert(len >= sizeof(GNSSGlonassMeasurementReportv0));
-    const GNSSGlonassMeasurementReportv0* report = (const GNSSGlonassMeasurementReportv0*)ptr;
-
-    auto lreport = qcomGnss.initMeasurementReport();
-    lreport.setSource(cereal::QcomGnss::MeasurementSource::GLONASS);
-    lreport.setFCount(report->f_count);
-    lreport.setGlonassCycleNumber(report->glonass_cycle_number);
-    lreport.setGlonassNumberOfDays(report->glonass_number_of_days);
-    lreport.setMilliseconds(report->milliseconds);
-    lreport.setTimeBias(report->time_bias);
-    lreport.setClockTimeUncertainty(report->clock_time_uncertainty);
-    lreport.setClockFrequencyBias(report->clock_frequency_bias);
-    lreport.setClockFrequencyUncertainty(report->clock_frequency_uncertainty);
-
-    auto lsvs = lreport.initSv(report->sv_count);
-    for (int i=0; i<report->sv_count; i++) {
-      auto lsv = lsvs[i];
-      const GNSSGlonassMeasurementReportv0_SV *sv = &report->sv[i];
-
-      lsv.setSvId(sv->sv_id);
-      lsv.setObservationState(cereal::QcomGnss::SVObservationState(sv->observation_state));
-      lsv.setObservations(sv->observations);
-      lsv.setGoodObservations(sv->good_observations);
-      lsv.setGlonassFrequencyIndex(sv->frequency_index);
-      lsv.setGlonassHemmingErrorCount(sv->hemming_error_count);
-      lsv.setFilterStages(sv->filter_stages);
-      lsv.setCarrierNoise(sv->carrier_noise);
-      lsv.setLatency(sv->latency);
-      lsv.setPredetectInterval(sv->predetect_interval);
-      lsv.setPostdetections(sv->postdetections);
-      lsv.setUnfilteredMeasurementIntegral(sv->unfiltered_measurement_integral);
-      lsv.setUnfilteredMeasurementFraction(sv->unfiltered_measurement_fraction);
-      lsv.setUnfilteredTimeUncertainty(sv->unfiltered_time_uncertainty);
-      lsv.setUnfilteredSpeed(sv->unfiltered_speed);
-      lsv.setUnfilteredSpeedUncertainty(sv->unfiltered_speed_uncertainty);
-
-      lsv.setMultipathEstimate(sv->multipath_estimate);
-      lsv.setAzimuth(sv->azimuth);
-      lsv.setElevation(sv->elevation);
-      lsv.setCarrierPhaseCyclesIntegral(sv->carrier_phase_cycles_integral);
-      lsv.setCarrierPhaseCyclesFraction(sv->carrier_phase_cycles_fraction);
-      lsv.setFineSpeed(sv->fine_speed);
-      lsv.setFineSpeedUncertainty(sv->fine_speed_uncertainty);
-      lsv.setCycleSlipCount(sv->cycle_slip_count);
-
-      auto status = lsv.initMeasurementStatus();
-      parse_measurement_status_common(sv->measurement_status, status);
-
-      status.setGlonassMeanderBitEdgeValid(sv->measurement_status & (1 << 16));
-      status.setGlonassTimeMarkValid(sv->measurement_status & (1 << 17));
-
-      status.setMultipathEstimateIsValid(sv->misc_status & (1 << 0));
-      status.setDirectionIsValid(sv->misc_status & (1 << 1));
-
-
-#ifdef RAWGPS_TEST
-      // if (sv->measurement_status & (1 << 27)) printf("%d\n", sv->unfiltered_measurement_integral);
-      printf("GLO %03d %02x %d %d 0x%08X    o: %02x go: %02x fs: %02x cn: %02x pd: %02x cs: %02x po: %02x ms: %08x ms2: %08x me: %08x  az: %08x el: %08x  fc: %08x\n",
-        sv->sv_id, sv->frequency_index & 0xff,
-        !!(sv->measurement_status & (1 << 27)),
-        sv->unfiltered_measurement_integral, sv->unfiltered_measurement_integral,
-        sv->observations,
-        sv->good_observations,
-        sv->filter_stages,
-        sv->carrier_noise,
-        sv->predetect_interval,
-        sv->cycle_slip_count,
-        sv->postdetections,
-        sv->measurement_status,
-        sv->misc_status,
-        sv->multipath_estimate,
-        *(uint32_t*)&sv->azimuth,
-        *(uint32_t*)&sv->elevation,
-        report->f_count
-        );
-#endif
-
-    }
-    break;
-  }
-  case LOG_GNSS_OEMDRE_MEASUREMENMT_REPORT: {
-    // hexdump(ptr, len);
-
-    uint8_t version = log_data[0];
-    assert(version == 2);
-
-    assert(len >= sizeof(GNSSOemdreMeasurementReportv2));
-    const GNSSOemdreMeasurementReportv2* report = (const GNSSOemdreMeasurementReportv2*)ptr;
-
-
-    auto lreport = qcomGnss.initDrMeasurementReport();
-
-    lreport.setReason(report->reason);
-    lreport.setSeqNum(report->seq_num);
-    lreport.setSeqMax(report->seq_max);
-    lreport.setRfLoss(report->rf_loss);
-    lreport.setSystemRtcValid(report->system_rtc_valid);
-    lreport.setFCount(report->f_count);
-    lreport.setClockResets(report->clock_resets);
-    lreport.setSystemRtcTime(report->system_rtc_time);
-
-    lreport.setGpsLeapSeconds(report->gps_leap_seconds);
-    lreport.setGpsLeapSecondsUncertainty(report->gps_leap_seconds_uncertainty);
-    lreport.setGpsToGlonassTimeBiasMilliseconds(report->gps_to_glonass_time_bias_milliseconds);
-    lreport.setGpsToGlonassTimeBiasMillisecondsUncertainty(report->gps_to_glonass_time_bias_milliseconds_uncertainty);
-
-    lreport.setGpsWeek(report->gps_week);
-    lreport.setGpsMilliseconds(report->gps_milliseconds);
-    lreport.setGpsTimeBiasMs(report->gps_time_bias);
-    lreport.setGpsClockTimeUncertaintyMs(report->gps_clock_time_uncertainty);
-    lreport.setGpsClockSource(report->gps_clock_source);
-
-    lreport.setGlonassClockSource(report->glonass_clock_source);
-    lreport.setGlonassYear(report->glonass_year);
-    lreport.setGlonassDay(report->glonass_day);
-    lreport.setGlonassMilliseconds(report->glonass_milliseconds);
-    lreport.setGlonassTimeBias(report->glonass_time_bias);
-    lreport.setGlonassClockTimeUncertainty(report->glonass_clock_time_uncertainty);
-
-    lreport.setClockFrequencyBias(report->clock_frequency_bias);
-    lreport.setClockFrequencyUncertainty(report->clock_frequency_uncertainty);
-    lreport.setFrequencySource(report->frequency_source);
-
-    lreport.setSource(cereal::QcomGnss::MeasurementSource(report->source));
-
-    auto lsvs = lreport.initSv(report->sv_count);
-
-    // for (int i=0; i<report->sv_count; i++) {
-    //   GNSSOemdreMeasurement *sv = &report->gps[i];
-    //   if (!(sv->measurement_status & (1 << 27))) continue;
-    //   printf("oemdre %03d %d %f\n", sv->sv_id, sv->unfiltered_measurement_integral, sv->unfiltered_measurement_fraction);
-    // }
-    for (int i=0; i<report->sv_count; i++) {
-      auto lsv = lsvs[i];
-      const GNSSOemdreMeasurement *sv = &report->measurements[i];
-
-      lsv.setSvId(sv->sv_id);
-      lsv.setGlonassFrequencyIndex(sv->glonass_frequency_index);
-      lsv.setObservationState(cereal::QcomGnss::SVObservationState(sv->observation_state));
-      lsv.setObservations(sv->observations);
-      lsv.setGoodObservations(sv->good_observations);
-      lsv.setFilterStages(sv->filter_stages);
-      lsv.setPredetectInterval(sv->predetect_interval);
-      lsv.setCycleSlipCount(sv->cycle_slip_count);
-      lsv.setPostdetections(sv->postdetections);
-
-      auto status = lsv.initMeasurementStatus();
-      parse_measurement_status_common(sv->measurement_status, status);
-
-      status.setMultipathEstimateIsValid(sv->multipath_estimate_valid);
-      status.setDirectionIsValid(sv->direction_valid);
-
-      lsv.setCarrierNoise(sv->carrier_noise);
-      lsv.setRfLoss(sv->rf_loss);
-      lsv.setLatency(sv->latency);
-
-      lsv.setFilteredMeasurementFraction(sv->filtered_measurement_fraction);
-      lsv.setFilteredMeasurementIntegral(sv->filtered_measurement_integral);
-      lsv.setFilteredTimeUncertainty(sv->filtered_time_uncertainty);
-      lsv.setFilteredSpeed(sv->filtered_speed);
-      lsv.setFilteredSpeedUncertainty(sv->filtered_speed_uncertainty);
-
-      lsv.setUnfilteredMeasurementFraction(sv->unfiltered_measurement_fraction);
-      lsv.setUnfilteredMeasurementIntegral(sv->unfiltered_measurement_integral);
-      lsv.setUnfilteredTimeUncertainty(sv->unfiltered_time_uncertainty);
-      lsv.setUnfilteredSpeed(sv->unfiltered_speed);
-      lsv.setUnfilteredSpeedUncertainty(sv->unfiltered_speed_uncertainty);
-
-      lsv.setMultipathEstimate(sv->multipath_estimate);
-      lsv.setAzimuth(sv->azimuth);
-      lsv.setElevation(sv->elevation);
-      lsv.setDopplerAcceleration(sv->doppler_acceleration);
-      lsv.setFineSpeed(sv->fine_speed);
-      lsv.setFineSpeedUncertainty(sv->fine_speed_uncertainty);
-
-      lsv.setCarrierPhase(sv->carrier_phase);
-      lsv.setFCount(sv->f_count);
-
-      lsv.setParityErrorCount(sv->parity_error_count);
-      lsv.setGoodParity(sv->good_parity);
-
-    }
-    break;
-  }
-  case LOG_GNSS_OEMDRE_SVPOLY_REPORT: {
-    uint8_t version = log_data[0];
-    assert(version == 2);
-
-    assert(len >= sizeof(GNSSOemdreSVPolyReportv2));
-    const GNSSOemdreSVPolyReportv2* report = (const GNSSOemdreSVPolyReportv2*)ptr;
-
-    auto lreport = qcomGnss.initDrSvPoly();
-
-    lreport.setSvId(report->sv_id);
-    lreport.setFrequencyIndex(report->frequency_index);
-
-    lreport.setHasPosition(report->flags & 1);
-    lreport.setHasIono(report->flags & 2);
-    lreport.setHasTropo(report->flags & 4);
-    lreport.setHasElevation(report->flags & 8);
-    lreport.setPolyFromXtra(report->flags & 16);
-    lreport.setHasSbasIono(report->flags & 32);
-
-    lreport.setIode(report->iode);
-    lreport.setT0(report->t0);
-
-    kj::ArrayPtr<const double> xyz0(report->xyz0, 3);
-    lreport.setXyz0(xyz0);
-
-    kj::ArrayPtr<const double> xyzN(report->xyzN, 9);
-    lreport.setXyzN(xyzN);
-
-    kj::ArrayPtr<const float> other(report->other, 4);
-    lreport.setOther(other);
-
-    lreport.setPositionUncertainty(report->position_uncertainty);
-    lreport.setIonoDelay(report->iono_delay);
-    lreport.setIonoDot(report->iono_dot);
-    lreport.setSbasIonoDelay(report->sbas_iono_delay);
-    lreport.setSbasIonoDot(report->sbas_iono_dot);
-    lreport.setTropoDelay(report->tropo_delay);
-    lreport.setElevation(report->elevation);
-    lreport.setElevationDot(report->elevation_dot);
-    lreport.setElevationUncertainty(report->elevation_uncertainty);
-
-    kj::ArrayPtr<const double> velocity_coeff(report->velocity_coeff, 12);
-    lreport.setVelocityCoeff(velocity_coeff);
-
-    break;
-  }
-  default:
-    // printf("%04x\n", log_header->code);
-    // hexdump(ptr, len);
-
-    qcomGnss.setRawLog(kj::arrayPtr(ptr, len));
-
-    break;
-  }
-
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
-  rawgps_publisher->send((char*)bytes.begin(), bytes.size());
-}
-
-static void handle_event(unsigned char *ptr, int len) {
-  // printf("EVENT\n");
-}
-
-static uint16_t log_codes[] = {
-  LOG_GNSS_CLOCK_REPORT,
-  LOG_GNSS_GPS_MEASUREMENT_REPORT,
-  LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
-  LOG_GNSS_OEMDRE_MEASUREMENMT_REPORT,
-  LOG_GNSS_OEMDRE_SVPOLY_REPORT,
-
-  // unparsed:
-  LOG_GNSS_POSITION_REPORT,
-
-  LOG_GNSS_BDS_MEASUREMENT_REPORT, // these are missing by might as well try to catch them anyway
-  LOG_GNSS_GAL_MEASUREMENT_REPORT,
-
-  LOG_GNSS_ME_DPO_STATUS,
-  LOG_GNSS_CD_DB_REPORT,
-  LOG_GNSS_PRX_RF_HW_STATUS_REPORT,
-  LOG_CGPS_SLOW_CLOCK_CLIB_REPORT,
-  LOG_GNSS_CONFIGURATION_STATE,
-};
-
-
-struct SendDiagSyncState {
-  sem_t sem;
-  int len;
-};
-
-static void diag_send_sync_cb(unsigned char *ptr, int len, void *data_ptr) {
-  SendDiagSyncState *s = (SendDiagSyncState*)data_ptr;
-  s->len = len;
-  sem_post(&s->sem);
-}
-
-static int diag_send_sync(int client_id, unsigned char* req_pkt, size_t pkt_len,
-                           unsigned char* res_pkt, size_t res_pkt_size) {
-
-  SendDiagSyncState s = {0};
-  sem_init(&s.sem, 0, 0);
-
-  int err = diag_send_dci_async_req(client_id, req_pkt, pkt_len, res_pkt, res_pkt_size,
-                                    diag_send_sync_cb, &s);
-  assert(err == DIAG_DCI_NO_ERROR);
-
-  sem_wait(&s.sem);
-  return s.len;
-}
-
-static int oemdre_on(int client_id) {
-  // enable OEM DR
-  unsigned char res_pkt[DIAG_MAX_RX_PKT_SIZ];
-
-  GpsOemControlReq req_pkt = {
-    .cmd_code = DIAG_SUBSYS_CMD,
-    .subsys_id = DIAG_SUBSYS_GPS,
-    .subsys_cmd_code = CGPS_DIAG_PDAPI_CMD,
-    .gps_cmd_code = CGPS_OEM_CONTROL,
-    .version = 1,
-
-    .oem_feature = GPSDIAG_OEMFEATURE_DRE,
-    .oem_command = GPSDIAG_OEM_DRE_ON,
-  };
-
-  int res_len = diag_send_sync(client_id, (unsigned char*)&req_pkt, sizeof(req_pkt),
-                                res_pkt, sizeof(res_pkt));
-  GpsOemControlResp *resp = (GpsOemControlResp*)res_pkt;
-
-  if (res_len != sizeof(GpsOemControlResp)
-      || resp->cmd_code != DIAG_SUBSYS_CMD
-      || resp->subsys_id != DIAG_SUBSYS_GPS
-      || resp->subsys_cmd_code != CGPS_DIAG_PDAPI_CMD
-      || resp->gps_cmd_code != CGPS_OEM_CONTROL
-      || resp->oem_feature != GPSDIAG_OEMFEATURE_DRE
-      || resp->oem_command != GPSDIAG_OEM_DRE_ON) {
-    LOGW("oemdre_on: bad response!");
-    return -1;
-  }
-
-  return resp->resp_result;
-}
-
-static void efs_sync(int client_id) {
-  unsigned char res_pkt[DIAG_MAX_RX_PKT_SIZ];
-
-  Efs2DiagSyncReq req_pkt = {
-    .cmd_code = DIAG_SUBSYS_CMD,
-    .subsys_id = DIAG_SUBSYS_FS,
-    .subsys_cmd_code = EFS2_DIAG_SYNC_NO_WAIT,
-    .sequence_num = (uint16_t)(rand() % 100),
-  };
-  req_pkt.path[0] = '/';
-  req_pkt.path[1] = 0;
-
-  int res_len = diag_send_sync(client_id, (unsigned char*)&req_pkt, sizeof(req_pkt),
-                                res_pkt, sizeof(res_pkt));
-  Efs2DiagSyncResp *resp = (Efs2DiagSyncResp*)res_pkt;
-
-  if (res_len != sizeof(Efs2DiagSyncResp)
-      || resp->cmd_code != DIAG_SUBSYS_CMD
-      || resp->subsys_id != DIAG_SUBSYS_FS
-      || resp->subsys_cmd_code != EFS2_DIAG_SYNC_NO_WAIT) {
-    LOGW("efs_sync: bad response!");
-    return;
-  }
-  if (resp->diag_errno != 0) {
-    LOGW("efs_sync: error %d", resp->diag_errno);
-  }
-}
-
-static uint32_t nv_read_u32(int client_id, uint16_t nv_id) {
-  NvPacket req = {
-    .cmd_code = DIAG_NV_READ_F,
-    .nv_id = nv_id,
-  };
-  NvPacket resp = {0};
-
-  int res_len = diag_send_sync(client_id, (unsigned char*)&req, sizeof(req),
-                               (unsigned char*)&resp, sizeof(resp));
-
-  // hexdump((uint8_t*)&resp, res_len);
-
-  if (resp.cmd_code != DIAG_NV_READ_F
-      || resp.nv_id != nv_id) {
-    LOGW("nv_read_u32: diag command failed");
-    return 0;
-  }
-
-  if (resp.status != NV_DONE) {
-    LOGW("nv_read_u32: read failed: %d", resp.status);
-    return 0;
-  }
-  return *(uint32_t*)resp.data;
-}
-
-static bool nv_write_u32(int client_id, uint16_t nv_id, uint32_t val) {
-  NvPacket req = {
-    .cmd_code = DIAG_NV_WRITE_F,
-    .nv_id = nv_id,
-  };
-  *(uint32_t*)req.data = val;
-
-  NvPacket resp = {0};
-  int res_len = diag_send_sync(client_id, (unsigned char*)&req, sizeof(req),
-                               (unsigned char*)&resp, sizeof(resp));
-
-  // hexdump((uint8_t*)&resp, res_len);
-
-  if (resp.cmd_code != DIAG_NV_WRITE_F
-      || resp.nv_id != nv_id) {
-    LOGW("nv_write_u32: diag command failed");
-    return false;
-  }
-
-  if (resp.status != NV_DONE) {
-    LOGW("nv_write_u32: write failed: %d", resp.status);
-    return false;
-  }
-
-  return true;
-}
-
-static void nav_config(int client_id, uint8_t config) {
-  unsigned char res_pkt[DIAG_MAX_RX_PKT_SIZ];
-
-  GpsNavConfigReq req_pkt = {
-    .cmd_code = DIAG_SUBSYS_CMD_VER_2,
-    .subsys_id = DIAG_SUBSYS_GPS,
-    .subsys_cmd_code = TM_DIAG_NAV_CONFIG_CMD,
-    .desired_config = config,
-  };
-
-  int res_len = diag_send_sync(client_id, (unsigned char*)&req_pkt, sizeof(req_pkt),
-                                res_pkt, sizeof(res_pkt));
-  GpsNavConfigResp *resp = (GpsNavConfigResp*)res_pkt;
-
-  if (res_len != sizeof(GpsNavConfigResp)
-      || resp->cmd_code != DIAG_SUBSYS_CMD_VER_2
-      || resp->subsys_id != DIAG_SUBSYS_GPS
-      || resp->subsys_cmd_code != TM_DIAG_NAV_CONFIG_CMD) {
-    LOGW("nav_config: bad response!");
-    return;
-  }
-  LOG("nav config: %04x %04x", resp->supported_config, resp->actual_config);
-}
-
-void rawgps_init() {
-  int err;
-
-  rawgps_context = Context::create();
-  rawgps_publisher = PubSocket::create(rawgps_context, "qcomGnss");
-  assert(rawgps_publisher != NULL);
-
-  bool init_success = Diag_LSM_Init(NULL);
-  assert(init_success);
-
-  uint16_t list = DIAG_CON_APSS | DIAG_CON_MPSS;
-  int signal_type = SIGCONT;
-  err = diag_register_dci_client(&client_id, &list, 0, &signal_type);
-  assert(err == DIAG_DCI_NO_ERROR);
-
-  {
-    uint32_t oem_features = nv_read_u32(client_id, NV_GNSS_OEM_FEATURE_MASK);
-    LOG("oem features: %08x", oem_features);
-
-    if (!(oem_features & NV_GNSS_OEM_FEATURE_MASK_OEMDRE)) {
-      LOG("OEMDRE feature disabled, enabling...");
-      nv_write_u32(client_id, NV_GNSS_OEM_FEATURE_MASK, NV_GNSS_OEM_FEATURE_MASK_OEMDRE);
-      efs_sync(client_id);
-    }
-
-    int oemdre_status = oemdre_on(client_id);
-    LOG("oemdre status: %d", oemdre_status);
-  }
-
-  {
-    // make sure GNSS duty cycling is off
-    uint32_t dpo = nv_read_u32(client_id, NV_CGPS_DPO_CONTROL);
-    LOG("dpo: %d", dpo);
-    if (dpo != 0) {
-      nv_write_u32(client_id, NV_CGPS_DPO_CONTROL, 0);
-      efs_sync(client_id);
-    }
-  }
-
-  // enable beidou
-  // nav_config(client_id, 0x13); // 0b10011
-
-  err = diag_register_dci_stream(handle_log, handle_event);
-  assert(err == DIAG_DCI_NO_ERROR);
-
-  err = diag_log_stream_config(client_id, true, log_codes, ARRAYSIZE(log_codes));
-  assert(err == DIAG_DCI_NO_ERROR);
-}
-
-void rawgps_destroy() {
-
-  int err;
-
-  err = diag_log_stream_config(client_id, false, log_codes, ARRAYSIZE(log_codes));
-  assert(err == DIAG_DCI_NO_ERROR);
-
-  err = diag_release_dci_client(&client_id);
-  assert(err == DIAG_DCI_NO_ERROR);
-
-  Diag_LSM_DeInit();
-
-  delete rawgps_publisher;
-  delete rawgps_context;
-}
-
-
-#ifdef RAWGPS_TEST
-int main() {
-  int err = 0;
-  rawgps_init();
-
-  while(1) {
-    usleep(100000);
-  }
-
-  rawgps_destroy();
-  return 0;
-}
-#endif
diff --git a/selfdrive/sensord/rawgps.h b/selfdrive/sensord/rawgps.h
deleted file mode 100644
index 13d23cd28c9669..00000000000000
--- a/selfdrive/sensord/rawgps.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#ifndef RAWGPS_H
-#define RAWGPS_H
-
-void rawgps_init();
-void rawgps_destroy();
-
-#endif
diff --git a/selfdrive/sensord/sensord b/selfdrive/sensord/sensord
index d2bffaa12179d2..9ea848d577f26c 100755
--- a/selfdrive/sensord/sensord
+++ b/selfdrive/sensord/sensord
@@ -1,3 +1,4 @@
 #!/bin/sh
+cd "$(dirname "$0")"
 export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
 exec ./_sensord
diff --git a/selfdrive/sensord/sensors.cc b/selfdrive/sensord/sensors.cc
deleted file mode 100644
index 952a4863c20393..00000000000000
--- a/selfdrive/sensord/sensors.cc
+++ /dev/null
@@ -1,245 +0,0 @@
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <signal.h>
-#include <unistd.h>
-#include <assert.h>
-#include <sys/time.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <sys/resource.h>
-
-#include <pthread.h>
-
-#include <cutils/log.h>
-
-#include <hardware/sensors.h>
-#include <utils/Timers.h>
-
-#include <capnp/serialize.h>
-
-#include "messaging.hpp"
-#include "common/timing.h"
-#include "common/swaglog.h"
-
-#include "cereal/gen/cpp/log.capnp.h"
-
-#define SENSOR_ACCELEROMETER 1
-#define SENSOR_MAGNETOMETER 2
-#define SENSOR_GYRO 4
-
-// ACCELEROMETER_UNCALIBRATED is only in Android O
-// https://developer.android.com/reference/android/hardware/Sensor.html#STRING_TYPE_ACCELEROMETER_UNCALIBRATED
-#define SENSOR_MAGNETOMETER_UNCALIBRATED 3
-#define SENSOR_GYRO_UNCALIBRATED 5
-
-#define SENSOR_PROXIMITY 6
-#define SENSOR_LIGHT 7
-
-volatile sig_atomic_t do_exit = 0;
-volatile sig_atomic_t re_init_sensors = 0;
-
-namespace {
-
-void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
-void sigpipe_handler(int sig) {
-  LOGE("SIGPIPE received");
-  re_init_sensors = true;
-}
-
-
-void sensor_loop() {
-  LOG("*** sensor loop");
-
-
-  while (!do_exit) {
-    Context * c = Context::create();
-    PubSocket * sensor_events_sock = PubSocket::create(c, "sensorEvents");
-    assert(sensor_events_sock != NULL);
-
-    struct sensors_poll_device_t* device;
-    struct sensors_module_t* module;
-
-    hw_get_module(SENSORS_HARDWARE_MODULE_ID, (hw_module_t const**)&module);
-    sensors_open(&module->common, &device);
-
-    // required
-    struct sensor_t const* list;
-    int count = module->get_sensors_list(module, &list);
-    LOG("%d sensors found", count);
-
-    if (getenv("SENSOR_TEST")) {
-      exit(count);
-    }
-
-    for (int i = 0; i < count; i++) {
-      LOGD("sensor %4d: %4d %60s  %d-%ld us", i, list[i].handle, list[i].name, list[i].minDelay, list[i].maxDelay);
-    }
-
-    device->activate(device, SENSOR_MAGNETOMETER_UNCALIBRATED, 0);
-    device->activate(device, SENSOR_GYRO_UNCALIBRATED, 0);
-    device->activate(device, SENSOR_ACCELEROMETER, 0);
-    device->activate(device, SENSOR_MAGNETOMETER, 0);
-    device->activate(device, SENSOR_GYRO, 0);
-    device->activate(device, SENSOR_PROXIMITY, 0);
-    device->activate(device, SENSOR_LIGHT, 0);
-
-    device->activate(device, SENSOR_MAGNETOMETER_UNCALIBRATED, 1);
-    device->activate(device, SENSOR_GYRO_UNCALIBRATED, 1);
-    device->activate(device, SENSOR_ACCELEROMETER, 1);
-    device->activate(device, SENSOR_MAGNETOMETER, 1);
-    device->activate(device, SENSOR_GYRO, 1);
-    device->activate(device, SENSOR_PROXIMITY, 1);
-    device->activate(device, SENSOR_LIGHT, 1);
-
-    device->setDelay(device, SENSOR_GYRO_UNCALIBRATED, ms2ns(10));
-    device->setDelay(device, SENSOR_MAGNETOMETER_UNCALIBRATED, ms2ns(100));
-    device->setDelay(device, SENSOR_ACCELEROMETER, ms2ns(10));
-    device->setDelay(device, SENSOR_GYRO, ms2ns(10));
-    device->setDelay(device, SENSOR_MAGNETOMETER, ms2ns(100));
-    device->setDelay(device, SENSOR_PROXIMITY, ms2ns(100));
-    device->setDelay(device, SENSOR_LIGHT, ms2ns(100));
-
-    static const size_t numEvents = 16;
-    sensors_event_t buffer[numEvents];
-
-
-    while (!do_exit) {
-      int n = device->poll(device, buffer, numEvents);
-      if (n == 0) continue;
-      if (n < 0) {
-        LOG("sensor_loop poll failed: %d", n);
-        continue;
-      }
-
-      int log_events = 0;
-      for (int i=0; i < n; i++) {
-        switch (buffer[i].type) {
-        case SENSOR_TYPE_ACCELEROMETER:
-        case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
-        case SENSOR_TYPE_MAGNETIC_FIELD:
-        case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
-        case SENSOR_TYPE_GYROSCOPE:
-        case SENSOR_TYPE_PROXIMITY:
-        case SENSOR_TYPE_LIGHT:
-          log_events++;
-          break;
-        default:
-          continue;
-        }
-      }
-
-      uint64_t log_time = nanos_since_boot();
-
-      capnp::MallocMessageBuilder msg;
-      cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-      event.setLogMonoTime(log_time);
-
-      auto sensor_events = event.initSensorEvents(log_events);
-
-      int log_i = 0;
-      for (int i = 0; i < n; i++) {
-
-        const sensors_event_t& data = buffer[i];
-
-        switch (data.type) {
-        case SENSOR_TYPE_ACCELEROMETER:
-        case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
-        case SENSOR_TYPE_MAGNETIC_FIELD:
-        case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
-        case SENSOR_TYPE_GYROSCOPE:
-        case SENSOR_TYPE_PROXIMITY:
-        case SENSOR_TYPE_LIGHT:
-          break;
-        default:
-          continue;
-        }
-
-        auto log_event = sensor_events[log_i];
-
-        log_event.setSource(cereal::SensorEventData::SensorSource::ANDROID);
-        log_event.setVersion(data.version);
-        log_event.setSensor(data.sensor);
-        log_event.setType(data.type);
-        log_event.setTimestamp(data.timestamp);
-
-        switch (data.type) {
-        case SENSOR_TYPE_ACCELEROMETER: {
-          auto svec = log_event.initAcceleration();
-          kj::ArrayPtr<const float> vs(&data.acceleration.v[0], 3);
-          svec.setV(vs);
-          svec.setStatus(data.acceleration.status);
-          break;
-        }
-        case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED: {
-          auto svec = log_event.initMagneticUncalibrated();
-          // assuming the uncalib and bias floats are contiguous in memory
-          kj::ArrayPtr<const float> vs(&data.uncalibrated_magnetic.uncalib[0], 6);
-          svec.setV(vs);
-          break;
-        }
-        case SENSOR_TYPE_MAGNETIC_FIELD: {
-          auto svec = log_event.initMagnetic();
-          kj::ArrayPtr<const float> vs(&data.magnetic.v[0], 3);
-          svec.setV(vs);
-          svec.setStatus(data.magnetic.status);
-          break;
-        }
-        case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED: {
-          auto svec = log_event.initGyroUncalibrated();
-          // assuming the uncalib and bias floats are contiguous in memory
-          kj::ArrayPtr<const float> vs(&data.uncalibrated_gyro.uncalib[0], 6);
-          svec.setV(vs);
-          break;
-        }
-        case SENSOR_TYPE_GYROSCOPE: {
-          auto svec = log_event.initGyro();
-          kj::ArrayPtr<const float> vs(&data.gyro.v[0], 3);
-          svec.setV(vs);
-          svec.setStatus(data.gyro.status);
-          break;
-        }
-        case SENSOR_TYPE_PROXIMITY: {
-          log_event.setProximity(data.distance);
-          break;
-        }
-        case SENSOR_TYPE_LIGHT:
-          log_event.setLight(data.light);
-          break;
-        }
-
-        log_i++;
-      }
-
-      auto words = capnp::messageToFlatArray(msg);
-      auto bytes = words.asBytes();
-      sensor_events_sock->send((char*)bytes.begin(), bytes.size());
-
-      if (re_init_sensors){
-        LOGE("Resetting sensors");
-        re_init_sensors = false;
-        break;
-      }
-    }
-
-    delete sensor_events_sock;
-    delete c;
-  }
-}
-
-}// Namespace end
-
-int main(int argc, char *argv[]) {
-  setpriority(PRIO_PROCESS, 0, -13);
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
-
-  sensor_loop();
-
-  return 0;
-}
diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc
new file mode 100644
index 00000000000000..f5d68bdee5c6c5
--- /dev/null
+++ b/selfdrive/sensord/sensors/bmx055_accel.cc
@@ -0,0 +1,69 @@
+#include "bmx055_accel.h"
+
+#include <cassert>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+
+BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
+
+int BMX055_Accel::init() {
+  int ret = 0;
+  uint8_t buffer[1];
+
+  ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1);
+  if(ret < 0) {
+    LOGE("Reading chip ID failed: %d", ret);
+    goto fail;
+  }
+
+  if(buffer[0] != BMX055_ACCEL_CHIP_ID) {
+    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID);
+    ret = -1;
+    goto fail;
+  }
+
+  // High bandwidth
+  // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE);
+  // if (ret < 0) {
+  //   goto fail;
+  // }
+
+  // Low bandwidth
+  ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_DISABLE);
+  if (ret < 0) {
+    goto fail;
+  }
+  ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ);
+  if (ret < 0) {
+    goto fail;
+  }
+
+fail:
+  return ret;
+}
+
+void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[6];
+  int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer));
+  assert(len == 6);
+
+  // 12 bit = +-2g
+  float scale = 9.81 * 2.0f / (1 << 11);
+  float x = -read_12_bit(buffer[0], buffer[1]) * scale;
+  float y = -read_12_bit(buffer[2], buffer[3]) * scale;
+  float z = read_12_bit(buffer[4], buffer[5]) * scale;
+
+  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
+  event.setVersion(1);
+  event.setSensor(SENSOR_ACCELEROMETER);
+  event.setType(SENSOR_TYPE_ACCELEROMETER);
+  event.setTimestamp(start_time);
+
+  float xyz[] = {x, y, z};
+  auto svec = event.initAcceleration();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+}
diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/selfdrive/sensord/sensors/bmx055_accel.h
new file mode 100644
index 00000000000000..86ec419cde2d4f
--- /dev/null
+++ b/selfdrive/sensord/sensors/bmx055_accel.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define BMX055_ACCEL_I2C_ADDR       0x18
+
+// Registers of the chip
+#define BMX055_ACCEL_I2C_REG_ID     0x00
+#define BMX055_ACCEL_I2C_REG_X_LSB  0x02
+#define BMX055_ACCEL_I2C_REG_TEMP   0x08
+#define BMX055_ACCEL_I2C_REG_BW     0x10
+#define BMX055_ACCEL_I2C_REG_HBW    0x13
+#define BMX055_ACCEL_I2C_REG_FIFO   0x3F
+
+// Constants
+#define BMX055_ACCEL_CHIP_ID        0xFA
+
+#define BMX055_ACCEL_HBW_ENABLE       0b10000000
+#define BMX055_ACCEL_HBW_DISABLE      0b00000000
+
+#define BMX055_ACCEL_BW_7_81HZ  0b01000
+#define BMX055_ACCEL_BW_15_63HZ 0b01001
+#define BMX055_ACCEL_BW_31_25HZ 0b01010
+#define BMX055_ACCEL_BW_62_5HZ  0b01011
+#define BMX055_ACCEL_BW_125HZ   0b01100
+#define BMX055_ACCEL_BW_250HZ   0b01101
+#define BMX055_ACCEL_BW_500HZ   0b01110
+#define BMX055_ACCEL_BW_1000HZ  0b01111
+
+class BMX055_Accel : public I2CSensor {
+  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
+public:
+  BMX055_Accel(I2CBus *bus);
+  int init();
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc
new file mode 100644
index 00000000000000..f0e3034e3ffeee
--- /dev/null
+++ b/selfdrive/sensord/sensors/bmx055_gyro.cc
@@ -0,0 +1,80 @@
+#include "bmx055_gyro.h"
+
+#include <cassert>
+#include <cmath>
+
+#include "selfdrive/common/swaglog.h"
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+
+
+BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {}
+
+int BMX055_Gyro::init() {
+  int ret = 0;
+  uint8_t buffer[1];
+
+  ret =read_register(BMX055_GYRO_I2C_REG_ID, buffer, 1);
+  if(ret < 0) {
+    LOGE("Reading chip ID failed: %d", ret);
+    goto fail;
+  }
+
+  if(buffer[0] != BMX055_GYRO_CHIP_ID) {
+    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_GYRO_CHIP_ID);
+    ret = -1;
+    goto fail;
+  }
+
+  // High bandwidth
+  // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE);
+  // if (ret < 0) {
+  //   goto fail;
+  // }
+
+  // Low bandwidth
+  ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // 116 Hz filter
+  ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // +- 125 deg/s range
+  ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125);
+  if (ret < 0) {
+    goto fail;
+  }
+
+fail:
+  return ret;
+}
+
+void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[6];
+  int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
+  assert(len == 6);
+
+  // 16 bit = +- 125 deg/s
+  float scale = 125.0f / (1 << 15);
+  float x = -DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
+  float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
+  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
+
+  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
+  event.setVersion(1);
+  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
+  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
+  event.setTimestamp(start_time);
+
+  float xyz[] = {x, y, z};
+  auto svec = event.initGyroUncalibrated();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+}
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/selfdrive/sensord/sensors/bmx055_gyro.h
new file mode 100644
index 00000000000000..ed0c16ff05f134
--- /dev/null
+++ b/selfdrive/sensord/sensors/bmx055_gyro.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define BMX055_GYRO_I2C_ADDR        0x68
+
+// Registers of the chip
+#define BMX055_GYRO_I2C_REG_ID         0x00
+#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02
+#define BMX055_GYRO_I2C_REG_RANGE      0x0F
+#define BMX055_GYRO_I2C_REG_BW         0x10
+#define BMX055_GYRO_I2C_REG_HBW        0x13
+#define BMX055_GYRO_I2C_REG_FIFO       0x3F
+
+// Constants
+#define BMX055_GYRO_CHIP_ID         0x0F
+
+#define BMX055_GYRO_HBW_ENABLE       0b10000000
+#define BMX055_GYRO_HBW_DISABLE      0b00000000
+
+#define BMX055_GYRO_RANGE_2000      0b000
+#define BMX055_GYRO_RANGE_1000      0b001
+#define BMX055_GYRO_RANGE_500       0b010
+#define BMX055_GYRO_RANGE_250       0b011
+#define BMX055_GYRO_RANGE_125       0b100
+
+#define BMX055_GYRO_BW_116HZ 0b0010
+
+
+class BMX055_Gyro : public I2CSensor {
+  uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;}
+public:
+  BMX055_Gyro(I2CBus *bus);
+  int init();
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc
new file mode 100644
index 00000000000000..29e0d809d8ccd3
--- /dev/null
+++ b/selfdrive/sensord/sensors/bmx055_magn.cc
@@ -0,0 +1,250 @@
+#include "bmx055_magn.h"
+
+#include <unistd.h>
+
+#include <algorithm>
+#include <cassert>
+#include <cstdio>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+
+static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
+  uint16_t process_comp_x0 = data_rhall;
+  int32_t process_comp_x1 = ((int32_t)trim_data.dig_xyz1) * 16384;
+  uint16_t process_comp_x2 = ((uint16_t)(process_comp_x1 / process_comp_x0)) - ((uint16_t)0x4000);
+  int16_t retval = ((int16_t)process_comp_x2);
+  int32_t process_comp_x3 = (((int32_t)retval) * ((int32_t)retval));
+  int32_t process_comp_x4 = (((int32_t)trim_data.dig_xy2) * (process_comp_x3 / 128));
+  int32_t process_comp_x5 = (int32_t)(((int16_t)trim_data.dig_xy1) * 128);
+  int32_t process_comp_x6 = ((int32_t)retval) * process_comp_x5;
+  int32_t process_comp_x7 = (((process_comp_x4 + process_comp_x6) / 512) + ((int32_t)0x100000));
+  int32_t process_comp_x8 = ((int32_t)(((int16_t)trim_data.dig_x2) + ((int16_t)0xA0)));
+  int32_t process_comp_x9 = ((process_comp_x7 * process_comp_x8) / 4096);
+  int32_t process_comp_x10 = ((int32_t)mag_data_x) * process_comp_x9;
+  retval = ((int16_t)(process_comp_x10 / 8192));
+  retval = (retval + (((int16_t)trim_data.dig_x1) * 8)) / 16;
+
+  return retval;
+}
+
+static int16_t compensate_y(trim_data_t trim_data, int16_t mag_data_y, uint16_t data_rhall) {
+  uint16_t process_comp_y0 = trim_data.dig_xyz1;
+  int32_t process_comp_y1 = (((int32_t)trim_data.dig_xyz1) * 16384) / process_comp_y0;
+  uint16_t process_comp_y2 = ((uint16_t)process_comp_y1) - ((uint16_t)0x4000);
+  int16_t retval = ((int16_t)process_comp_y2);
+  int32_t process_comp_y3 = ((int32_t) retval) * ((int32_t)retval);
+  int32_t process_comp_y4 = ((int32_t)trim_data.dig_xy2) * (process_comp_y3 / 128);
+  int32_t process_comp_y5 = ((int32_t)(((int16_t)trim_data.dig_xy1) * 128));
+  int32_t process_comp_y6 = ((process_comp_y4 + (((int32_t)retval) * process_comp_y5)) / 512);
+  int32_t process_comp_y7 = ((int32_t)(((int16_t)trim_data.dig_y2) + ((int16_t)0xA0)));
+  int32_t process_comp_y8 = (((process_comp_y6 + ((int32_t)0x100000)) * process_comp_y7) / 4096);
+  int32_t process_comp_y9 = (((int32_t)mag_data_y) * process_comp_y8);
+  retval = (int16_t)(process_comp_y9 / 8192);
+  retval = (retval + (((int16_t)trim_data.dig_y1) * 8)) / 16;
+
+  return retval;
+}
+
+static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t data_rhall) {
+  int16_t process_comp_z0 = ((int16_t)data_rhall) - ((int16_t) trim_data.dig_xyz1);
+  int32_t process_comp_z1 = (((int32_t)trim_data.dig_z3) * ((int32_t)(process_comp_z0))) / 4;
+  int32_t process_comp_z2 = (((int32_t)(mag_data_z - trim_data.dig_z4)) * 32768);
+  int32_t process_comp_z3 = ((int32_t)trim_data.dig_z1) * (((int16_t)data_rhall) * 2);
+  int16_t process_comp_z4 = (int16_t)((process_comp_z3 + (32768)) / 65536);
+  int32_t retval = ((process_comp_z2 - process_comp_z1) / (trim_data.dig_z2 + process_comp_z4));
+
+  /* saturate result to +/- 2 micro-tesla */
+  retval = std::clamp(retval, -32767, 32767);
+
+  /* Conversion of LSB to micro-tesla*/
+  retval = retval / 16;
+
+  return (int16_t)retval;
+}
+
+BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {}
+
+int BMX055_Magn::init() {
+  int ret;
+  uint8_t buffer[1];
+  uint8_t trim_x1y1[2] = {0};
+  uint8_t trim_x2y2[2] = {0};
+  uint8_t trim_xy1xy2[2] = {0};
+  uint8_t trim_z1[2] = {0};
+  uint8_t trim_z2[2] = {0};
+  uint8_t trim_z3[2] = {0};
+  uint8_t trim_z4[2] = {0};
+  uint8_t trim_xyz1[2] = {0};
+
+  // suspend -> sleep
+  ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
+  if(ret < 0) {
+    LOGE("Enabling power failed: %d", ret);
+    goto fail;
+  }
+  util::sleep_for(5); // wait until the chip is powered on
+
+  // read chip ID
+  ret = read_register(BMX055_MAGN_I2C_REG_ID, buffer, 1);
+  if(ret < 0) {
+    LOGE("Reading chip ID failed: %d", ret);
+    goto fail;
+  }
+
+  if(buffer[0] != BMX055_MAGN_CHIP_ID) {
+    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_MAGN_CHIP_ID);
+    return -1;
+  }
+
+  // Load magnetometer trim
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2);
+  if(ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2);
+  if(ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2);
+  if(ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2);
+  if(ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2);
+  if(ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2);
+  if(ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2);
+  if(ret < 0) goto fail;
+  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2);
+  if(ret < 0) goto fail;
+
+  // Read trim data
+  trim_data.dig_x1 = trim_x1y1[0];
+  trim_data.dig_y1 = trim_x1y1[1];
+
+  trim_data.dig_x2 = trim_x2y2[0];
+  trim_data.dig_y2 = trim_x2y2[1];
+
+  trim_data.dig_xy1 = trim_xy1xy2[1]; // NB: MSB/LSB swapped
+  trim_data.dig_xy2 = trim_xy1xy2[0];
+
+  trim_data.dig_z1 = read_16_bit(trim_z1[0], trim_z1[1]);
+  trim_data.dig_z2 = read_16_bit(trim_z2[0], trim_z2[1]);
+  trim_data.dig_z3 = read_16_bit(trim_z3[0], trim_z3[1]);
+  trim_data.dig_z4 = read_16_bit(trim_z4[0], trim_z4[1]);
+
+  trim_data.dig_xyz1 = read_16_bit(trim_xyz1[0], trim_xyz1[1] & 0x7f);
+  assert(trim_data.dig_xyz1 != 0);
+
+  perform_self_test();
+
+  // f_max = 1 / (145us * nXY + 500us * NZ + 980us)
+  // Chose NXY = 7, NZ = 12, which gives 125 Hz,
+  // and has the same ratio as the high accuracy preset
+  ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+
+  return 0;
+
+ fail:
+  return ret;
+}
+
+bool BMX055_Magn::perform_self_test() {
+  uint8_t buffer[8];
+  int16_t x, y;
+  int16_t neg_z, pos_z;
+
+  // Increase z reps for less false positives (~30 Hz ODR)
+  set_register(BMX055_MAGN_I2C_REG_REPXY, 1);
+  set_register(BMX055_MAGN_I2C_REG_REPZ, 64 - 1);
+
+  // Clean existing measurement
+  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+
+  uint8_t forced = BMX055_MAGN_FORCED;
+
+  // Negative current
+	set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6));
+	util::sleep_for(100);
+
+	read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+	parse_xyz(buffer, &x, &y, &neg_z);
+
+  // Positive current
+	set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6));
+	util::sleep_for(100);
+
+	read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+  parse_xyz(buffer, &x, &y, &pos_z);
+
+  // Put back in normal mode
+  set_register(BMX055_MAGN_I2C_REG_MAG, 0);
+
+  int16_t diff = pos_z - neg_z;
+  bool passed = (diff > 180) && (diff < 240);
+
+  if (!passed) {
+    LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff);
+  }
+
+  return passed;
+}
+
+bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z) {
+  bool ready = buffer[6] & 0x1;
+  if (ready) {
+    int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3;
+    int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3;
+    int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1;
+    uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2;
+    assert(data_r != 0);
+
+		*x = compensate_x(trim_data, mdata_x, data_r);
+		*y = compensate_y(trim_data, mdata_y, data_r);
+		*z = compensate_z(trim_data, mdata_z, data_r);
+  }
+  return ready;
+}
+
+
+void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[8];
+  int16_t _x, _y, x, y, z;
+
+  int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  if (parse_xyz(buffer, &_x, &_y, &z)) {
+    event.setSource(cereal::SensorEventData::SensorSource::BMX055);
+    event.setVersion(2);
+    event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
+    event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
+    event.setTimestamp(start_time);
+
+    // Move magnetometer into same reference frame as accel/gryo
+    x = -_y;
+    y = _x;
+
+    // Axis convention
+    x = -x;
+    y = -y;
+
+    float xyz[] = {(float)x, (float)y, (float)z};
+    auto svec = event.initMagneticUncalibrated();
+    svec.setV(xyz);
+    svec.setStatus(true);
+  }
+
+  // The BMX055 Magnetometer has no FIFO mode. Self running mode only goes
+  // up to 30 Hz. Therefore we put in forced mode, and request measurements
+  // at a 100 Hz. When reading the registers we have to check the ready bit
+  // To verify the measurement was completed this cycle.
+  set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED);
+}
diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/selfdrive/sensord/sensors/bmx055_magn.h
new file mode 100644
index 00000000000000..d60fd5515c15da
--- /dev/null
+++ b/selfdrive/sensord/sensors/bmx055_magn.h
@@ -0,0 +1,63 @@
+#pragma once
+#include <tuple>
+
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define BMX055_MAGN_I2C_ADDR        0x10
+
+// Registers of the chip
+#define BMX055_MAGN_I2C_REG_ID        0x40
+#define BMX055_MAGN_I2C_REG_PWR_0     0x4B
+#define BMX055_MAGN_I2C_REG_MAG       0x4C
+#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42
+#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48
+#define BMX055_MAGN_I2C_REG_REPXY     0x51
+#define BMX055_MAGN_I2C_REG_REPZ      0x52
+
+#define BMX055_MAGN_I2C_REG_DIG_X1       0x5D
+#define BMX055_MAGN_I2C_REG_DIG_Y1       0x5E
+#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB   0x62
+#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB   0x63
+#define BMX055_MAGN_I2C_REG_DIG_X2       0x64
+#define BMX055_MAGN_I2C_REG_DIG_Y2       0x65
+#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB   0x68
+#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB   0x69
+#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB   0x6A
+#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB   0x6B
+#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C
+#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D
+#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB   0x6E
+#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB   0x6F
+#define BMX055_MAGN_I2C_REG_DIG_XY2      0x70
+#define BMX055_MAGN_I2C_REG_DIG_XY1      0x71
+
+// Constants
+#define BMX055_MAGN_CHIP_ID     0x32
+#define BMX055_MAGN_FORCED      (0b01 << 1)
+
+struct trim_data_t {
+    int8_t dig_x1;
+    int8_t dig_y1;
+    int8_t dig_x2;
+    int8_t dig_y2;
+    uint16_t dig_z1;
+    int16_t dig_z2;
+    int16_t dig_z3;
+    int16_t dig_z4;
+    uint8_t dig_xy1;
+    int8_t dig_xy2;
+    uint16_t dig_xyz1;
+};
+
+
+class BMX055_Magn : public I2CSensor{
+  uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;}
+  trim_data_t trim_data = {0};
+  bool perform_self_test();
+  bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z);
+public:
+  BMX055_Magn(I2CBus *bus);
+  int init();
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/selfdrive/sensord/sensors/bmx055_temp.cc
new file mode 100644
index 00000000000000..339a987ce09a7b
--- /dev/null
+++ b/selfdrive/sensord/sensors/bmx055_temp.cc
@@ -0,0 +1,44 @@
+#include "bmx055_temp.h"
+
+#include <cassert>
+
+#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+
+BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
+
+int BMX055_Temp::init() {
+  int ret = 0;
+  uint8_t buffer[1];
+
+  ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1);
+  if(ret < 0) {
+    LOGE("Reading chip ID failed: %d", ret);
+    goto fail;
+  }
+
+  if(buffer[0] != BMX055_ACCEL_CHIP_ID) {
+    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID);
+    ret = -1;
+    goto fail;
+  }
+
+fail:
+  return ret;
+}
+
+void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) {
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[1];
+  int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float temp = 23.0f + int8_t(buffer[0]) / 2.0f;
+
+  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
+  event.setVersion(1);
+  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
+  event.setTimestamp(start_time);
+  event.setTemperature(temp);
+}
diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/selfdrive/sensord/sensors/bmx055_temp.h
new file mode 100644
index 00000000000000..5ffaa8fb6b3d79
--- /dev/null
+++ b/selfdrive/sensord/sensors/bmx055_temp.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
+
+class BMX055_Temp : public I2CSensor {
+  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
+public:
+  BMX055_Temp(I2CBus *bus);
+  int init();
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/constants.h b/selfdrive/sensord/sensors/constants.h
new file mode 100644
index 00000000000000..c216f838a5ab0e
--- /dev/null
+++ b/selfdrive/sensord/sensors/constants.h
@@ -0,0 +1,18 @@
+#pragma once
+
+
+#define SENSOR_ACCELEROMETER 1
+#define SENSOR_MAGNETOMETER 2
+#define SENSOR_MAGNETOMETER_UNCALIBRATED 3
+#define SENSOR_GYRO 4
+#define SENSOR_GYRO_UNCALIBRATED 5
+#define SENSOR_LIGHT 7
+
+#define SENSOR_TYPE_ACCELEROMETER 1
+#define SENSOR_TYPE_GEOMAGNETIC_FIELD 2
+#define SENSOR_TYPE_GYROSCOPE 4
+#define SENSOR_TYPE_LIGHT 5
+#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13
+#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED 14
+#define SENSOR_TYPE_MAGNETIC_FIELD  SENSOR_TYPE_GEOMAGNETIC_FIELD
+#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED 16
diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/selfdrive/sensord/sensors/file_sensor.cc
new file mode 100644
index 00000000000000..812a41fa8a256c
--- /dev/null
+++ b/selfdrive/sensord/sensors/file_sensor.cc
@@ -0,0 +1,14 @@
+#include "file_sensor.h"
+
+#include <string>
+
+FileSensor::FileSensor(std::string filename) : file(filename) {
+}
+
+int FileSensor::init() {
+  return file.is_open() ? 0 : 1;
+}
+
+FileSensor::~FileSensor() {
+  file.close();
+}
diff --git a/selfdrive/sensord/sensors/file_sensor.h b/selfdrive/sensord/sensors/file_sensor.h
new file mode 100644
index 00000000000000..c5b4643e16b506
--- /dev/null
+++ b/selfdrive/sensord/sensors/file_sensor.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <fstream>
+#include <string>
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "selfdrive/sensord/sensors/sensor.h"
+
+class FileSensor : public Sensor {
+protected:
+  std::ifstream file;
+
+public:
+  FileSensor(std::string filename);
+  ~FileSensor();
+  int init();
+  virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
+};
diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/selfdrive/sensord/sensors/i2c_sensor.cc
new file mode 100644
index 00000000000000..40dfa4a736516e
--- /dev/null
+++ b/selfdrive/sensord/sensors/i2c_sensor.cc
@@ -0,0 +1,28 @@
+#include "i2c_sensor.h"
+
+int16_t read_12_bit(uint8_t lsb, uint8_t msb) {
+  uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0);
+  return int16_t(combined) / (1 << 4);
+}
+
+int16_t read_16_bit(uint8_t lsb, uint8_t msb) {
+  uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb);
+  return int16_t(combined);
+}
+
+int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) {
+  uint32_t combined = (uint32_t(b0) << 16) | (uint32_t(b1) << 8) | uint32_t(b2);
+  return int32_t(combined) / (1 << 4);
+}
+
+
+I2CSensor::I2CSensor(I2CBus *bus) : bus(bus) {
+}
+
+int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) {
+  return bus->read_register(get_device_address(), register_address, buffer, len);
+}
+
+int I2CSensor::set_register(uint register_address, uint8_t data) {
+  return bus->set_register(get_device_address(), register_address, data);
+}
diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/selfdrive/sensord/sensors/i2c_sensor.h
new file mode 100644
index 00000000000000..83c66eac879ad0
--- /dev/null
+++ b/selfdrive/sensord/sensors/i2c_sensor.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <cstdint>
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "selfdrive/common/i2c.h"
+#include "selfdrive/sensord/sensors/constants.h"
+#include "selfdrive/sensord/sensors/sensor.h"
+
+int16_t read_12_bit(uint8_t lsb, uint8_t msb);
+int16_t read_16_bit(uint8_t lsb, uint8_t msb);
+int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0);
+
+
+class I2CSensor : public Sensor {
+private:
+  I2CBus *bus;
+  virtual uint8_t get_device_address() = 0;
+
+public:
+  I2CSensor(I2CBus *bus);
+  int read_register(uint register_address, uint8_t *buffer, uint8_t len);
+  int set_register(uint register_address, uint8_t data);
+  virtual int init() = 0;
+  virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
+};
diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/selfdrive/sensord/sensors/light_sensor.cc
new file mode 100644
index 00000000000000..4d00d37bdabdef
--- /dev/null
+++ b/selfdrive/sensord/sensors/light_sensor.cc
@@ -0,0 +1,22 @@
+#include "light_sensor.h"
+
+#include <string>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/sensord/sensors/constants.h"
+
+void LightSensor::get_event(cereal::SensorEventData::Builder &event) {
+  uint64_t start_time = nanos_since_boot();
+  file.clear();
+  file.seekg(0);
+
+  int value;
+  file >> value;
+
+  event.setSource(cereal::SensorEventData::SensorSource::RPR0521);
+  event.setVersion(1);
+  event.setSensor(SENSOR_LIGHT);
+  event.setType(SENSOR_TYPE_LIGHT);
+  event.setTimestamp(start_time);
+  event.setLight(value);
+}
diff --git a/selfdrive/sensord/sensors/light_sensor.h b/selfdrive/sensord/sensors/light_sensor.h
new file mode 100644
index 00000000000000..faf901d41c633b
--- /dev/null
+++ b/selfdrive/sensord/sensors/light_sensor.h
@@ -0,0 +1,8 @@
+#pragma once
+#include "file_sensor.h"
+
+class LightSensor : public FileSensor {
+public:
+  LightSensor(std::string filename) : FileSensor(filename){};
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc
new file mode 100644
index 00000000000000..83222858e7ba9d
--- /dev/null
+++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc
@@ -0,0 +1,64 @@
+#include "lsm6ds3_accel.h"
+
+#include <cassert>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+
+LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus) : I2CSensor(bus) {}
+
+int LSM6DS3_Accel::init() {
+  int ret = 0;
+  uint8_t buffer[1];
+
+  ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1);
+  if(ret < 0) {
+    LOGE("Reading chip ID failed: %d", ret);
+    goto fail;
+  }
+
+  if(buffer[0] != LSM6DS3_ACCEL_CHIP_ID && buffer[0] != LSM6DS3TRC_ACCEL_CHIP_ID) {
+    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_ACCEL_CHIP_ID);
+    ret = -1;
+    goto fail;
+  }
+
+  if (buffer[0] == LSM6DS3TRC_ACCEL_CHIP_ID) {
+    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
+  }
+
+  // TODO: set scale and bandwith. Default is +- 2G, 50 Hz
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ);
+  if (ret < 0) {
+    goto fail;
+  }
+
+
+fail:
+  return ret;
+}
+
+void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) {
+
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[6];
+  int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float scale = 9.81 * 2.0f / (1 << 15);
+  float x = read_16_bit(buffer[0], buffer[1]) * scale;
+  float y = read_16_bit(buffer[2], buffer[3]) * scale;
+  float z = read_16_bit(buffer[4], buffer[5]) * scale;
+
+  event.setSource(source);
+  event.setVersion(1);
+  event.setSensor(SENSOR_ACCELEROMETER);
+  event.setType(SENSOR_TYPE_ACCELEROMETER);
+  event.setTimestamp(start_time);
+
+  float xyz[] = {y, -x, z};
+  auto svec = event.initAcceleration();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+}
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/selfdrive/sensord/sensors/lsm6ds3_accel.h
new file mode 100644
index 00000000000000..4a6b68744519c7
--- /dev/null
+++ b/selfdrive/sensord/sensors/lsm6ds3_accel.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define LSM6DS3_ACCEL_I2C_ADDR       0x6A
+
+// Registers of the chip
+#define LSM6DS3_ACCEL_I2C_REG_ID        0x0F
+#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL  0x10
+#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28
+
+// Constants
+#define LSM6DS3_ACCEL_CHIP_ID        0x69
+#define LSM6DS3TRC_ACCEL_CHIP_ID     0x6A
+#define LSM6DS3_ACCEL_ODR_104HZ      (0b0100 << 4)
+
+
+class LSM6DS3_Accel : public I2CSensor {
+  uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;}
+  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
+public:
+  LSM6DS3_Accel(I2CBus *bus);
+  int init();
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
new file mode 100644
index 00000000000000..6732ead0f16193
--- /dev/null
+++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
@@ -0,0 +1,68 @@
+#include "lsm6ds3_gyro.h"
+
+#include <cassert>
+#include <cmath>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+
+
+LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus) : I2CSensor(bus) {}
+
+int LSM6DS3_Gyro::init() {
+  int ret = 0;
+  uint8_t buffer[1];
+
+  ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1);
+  if(ret < 0) {
+    LOGE("Reading chip ID failed: %d", ret);
+    goto fail;
+  }
+
+  if(buffer[0] != LSM6DS3_GYRO_CHIP_ID && buffer[0] != LSM6DS3TRC_GYRO_CHIP_ID) {
+    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_GYRO_CHIP_ID);
+    ret = -1;
+    goto fail;
+  }
+
+  if (buffer[0] == LSM6DS3TRC_GYRO_CHIP_ID) {
+    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
+  }
+
+  // TODO: set scale. Default is +- 250 deg/s
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ);
+  if (ret < 0) {
+    goto fail;
+  }
+
+
+fail:
+  return ret;
+}
+
+void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) {
+
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[6];
+  int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float scale = 8.75 / 1000.0;
+  float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
+  float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
+  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
+
+  event.setSource(source);
+  event.setVersion(2);
+  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
+  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
+  event.setTimestamp(start_time);
+
+  float xyz[] = {y, -x, z};
+  auto svec = event.initGyroUncalibrated();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+}
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/selfdrive/sensord/sensors/lsm6ds3_gyro.h
new file mode 100644
index 00000000000000..d7e8f0025a7c3a
--- /dev/null
+++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define LSM6DS3_GYRO_I2C_ADDR       0x6A
+
+// Registers of the chip
+#define LSM6DS3_GYRO_I2C_REG_ID        0x0F
+#define LSM6DS3_GYRO_I2C_REG_CTRL2_G   0x11
+#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G  0x22
+
+// Constants
+#define LSM6DS3_GYRO_CHIP_ID        0x69
+#define LSM6DS3TRC_GYRO_CHIP_ID     0x6A
+#define LSM6DS3_GYRO_ODR_104HZ      (0b0100 << 4)
+
+
+class LSM6DS3_Gyro : public I2CSensor {
+  uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
+  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
+public:
+  LSM6DS3_Gyro(I2CBus *bus);
+  int init();
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/selfdrive/sensord/sensors/lsm6ds3_temp.cc
new file mode 100644
index 00000000000000..6b093fce05847b
--- /dev/null
+++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc
@@ -0,0 +1,50 @@
+#include "lsm6ds3_temp.h"
+
+#include <cassert>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+
+LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
+
+int LSM6DS3_Temp::init() {
+  int ret = 0;
+  uint8_t buffer[1];
+
+  ret = read_register(LSM6DS3_TEMP_I2C_REG_ID, buffer, 1);
+  if(ret < 0) {
+    LOGE("Reading chip ID failed: %d", ret);
+    goto fail;
+  }
+
+  if(buffer[0] != LSM6DS3_TEMP_CHIP_ID && buffer[0] != LSM6DS3TRC_TEMP_CHIP_ID) {
+    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_TEMP_CHIP_ID);
+    ret = -1;
+    goto fail;
+  }
+
+  if (buffer[0] == LSM6DS3TRC_TEMP_CHIP_ID) {
+    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
+  }
+
+fail:
+  return ret;
+}
+
+void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) {
+
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[2];
+  int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float scale = (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) ? 256.0f : 16.0f;
+  float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / scale;
+
+  event.setSource(source);
+  event.setVersion(1);
+  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
+  event.setTimestamp(start_time);
+  event.setTemperature(temp);
+
+}
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/selfdrive/sensord/sensors/lsm6ds3_temp.h
new file mode 100644
index 00000000000000..8188f467005fd7
--- /dev/null
+++ b/selfdrive/sensord/sensors/lsm6ds3_temp.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define LSM6DS3_TEMP_I2C_ADDR       0x6A
+
+// Registers of the chip
+#define LSM6DS3_TEMP_I2C_REG_ID           0x0F
+#define LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L   0x20
+
+// Constants
+#define LSM6DS3_TEMP_CHIP_ID        0x69
+#define LSM6DS3TRC_TEMP_CHIP_ID     0x6A
+
+
+class LSM6DS3_Temp : public I2CSensor {
+  uint8_t get_device_address() {return LSM6DS3_TEMP_I2C_ADDR;}
+  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
+
+public:
+  LSM6DS3_Temp(I2CBus *bus);
+  int init();
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc
new file mode 100644
index 00000000000000..68878867e46a9a
--- /dev/null
+++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc
@@ -0,0 +1,77 @@
+#include "mmc5603nj_magn.h"
+
+#include <cassert>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+
+MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {}
+
+int MMC5603NJ_Magn::init() {
+  int ret = 0;
+  uint8_t buffer[1];
+
+  ret = read_register(MMC5603NJ_I2C_REG_ID, buffer, 1);
+  if(ret < 0) {
+    LOGE("Reading chip ID failed: %d", ret);
+    goto fail;
+  }
+
+  if(buffer[0] != MMC5603NJ_CHIP_ID) {
+    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], MMC5603NJ_CHIP_ID);
+    ret = -1;
+    goto fail;
+  }
+
+  // Set 100 Hz
+  ret = set_register(MMC5603NJ_I2C_REG_ODR, 100);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // Set BW to 0b01 for 1-150 Hz operation
+  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // Set compute measurement rate
+  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // Enable continuous mode, set every 100 measurements
+  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_2, MMC5603NJ_CMM_EN | MMC5603NJ_EN_PRD_SET | 0b11);
+  if (ret < 0) {
+    goto fail;
+  }
+
+fail:
+  return ret;
+}
+
+void MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) {
+
+  uint64_t start_time = nanos_since_boot();
+  uint8_t buffer[9];
+  int len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+
+  float scale = 1.0 / 16384.0;
+  float x = read_20_bit(buffer[6], buffer[1], buffer[0]) * scale;
+  float y = read_20_bit(buffer[7], buffer[3], buffer[2]) * scale;
+  float z = read_20_bit(buffer[8], buffer[5], buffer[4]) * scale;
+
+  event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ);
+  event.setVersion(1);
+  event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
+  event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
+  event.setTimestamp(start_time);
+
+  float xyz[] = {x, y, z};
+  auto svec = event.initMagneticUncalibrated();
+  svec.setV(xyz);
+  svec.setStatus(true);
+
+}
diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/selfdrive/sensord/sensors/mmc5603nj_magn.h
new file mode 100644
index 00000000000000..58840bbf277dd0
--- /dev/null
+++ b/selfdrive/sensord/sensors/mmc5603nj_magn.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define MMC5603NJ_I2C_ADDR       0x30
+
+// Registers of the chip
+#define MMC5603NJ_I2C_REG_XOUT0       0x00
+#define MMC5603NJ_I2C_REG_ODR         0x1A
+#define MMC5603NJ_I2C_REG_INTERNAL_0  0x1B
+#define MMC5603NJ_I2C_REG_INTERNAL_1  0x1C
+#define MMC5603NJ_I2C_REG_INTERNAL_2  0x1D
+#define MMC5603NJ_I2C_REG_ID          0x39
+
+// Constants
+#define MMC5603NJ_CHIP_ID        0x10
+#define MMC5603NJ_CMM_FREQ_EN    (1 << 7)
+#define MMC5603NJ_AUTO_SR_EN     (1 << 5)
+#define MMC5603NJ_CMM_EN         (1 << 4)
+#define MMC5603NJ_EN_PRD_SET     (1 << 3)
+
+class MMC5603NJ_Magn : public I2CSensor {
+  uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;}
+public:
+  MMC5603NJ_Magn(I2CBus *bus);
+  int init();
+  void get_event(cereal::SensorEventData::Builder &event);
+};
diff --git a/selfdrive/sensord/sensors/sensor.h b/selfdrive/sensord/sensors/sensor.h
new file mode 100644
index 00000000000000..3fb58ad2ae60b5
--- /dev/null
+++ b/selfdrive/sensord/sensors/sensor.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include "cereal/gen/cpp/log.capnp.h"
+
+class Sensor {
+public:
+  virtual ~Sensor() {};
+  virtual int init() = 0;
+  virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
+};
diff --git a/selfdrive/sensord/sensors_qcom.cc b/selfdrive/sensord/sensors_qcom.cc
new file mode 100644
index 00000000000000..fcdb9a72d78fee
--- /dev/null
+++ b/selfdrive/sensord/sensors_qcom.cc
@@ -0,0 +1,228 @@
+#include <cutils/log.h>
+#include <hardware/sensors.h>
+#include <sys/cdefs.h>
+#include <sys/resource.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <utils/Timers.h>
+
+#include <cassert>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <map>
+#include <set>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+
+// ACCELEROMETER_UNCALIBRATED is only in Android O
+// https://developer.android.com/reference/android/hardware/Sensor.html#STRING_TYPE_ACCELEROMETER_UNCALIBRATED
+
+#define SENSOR_ACCELEROMETER 1
+#define SENSOR_MAGNETOMETER 2
+#define SENSOR_GYRO 4
+#define SENSOR_MAGNETOMETER_UNCALIBRATED 3
+#define SENSOR_GYRO_UNCALIBRATED 5
+#define SENSOR_PROXIMITY 6
+#define SENSOR_LIGHT 7
+
+ExitHandler do_exit;
+volatile sig_atomic_t re_init_sensors = 0;
+
+namespace {
+
+void sigpipe_handler(int sig) {
+  LOGE("SIGPIPE received");
+  re_init_sensors = true;
+}
+
+void sensor_loop() {
+  LOG("*** sensor loop");
+
+  uint64_t frame = 0;
+  bool low_power_mode = false;
+
+  while (!do_exit) {
+    SubMaster sm({"deviceState"});
+    PubMaster pm({"sensorEvents"});
+
+    struct sensors_poll_device_t* device;
+    struct sensors_module_t* module;
+
+    hw_get_module(SENSORS_HARDWARE_MODULE_ID, (hw_module_t const**)&module);
+    sensors_open(&module->common, &device);
+
+    // required
+    struct sensor_t const* list;
+    int count = module->get_sensors_list(module, &list);
+    LOG("%d sensors found", count);
+
+    if (getenv("SENSOR_TEST")) {
+      exit(count);
+    }
+
+    for (int i = 0; i < count; i++) {
+      LOGD("sensor %4d: %4d %60s  %d-%ld us", i, list[i].handle, list[i].name, list[i].minDelay, list[i].maxDelay);
+    }
+
+    std::set<int> sensor_types = {
+      SENSOR_TYPE_ACCELEROMETER,
+      SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED,
+      SENSOR_TYPE_MAGNETIC_FIELD,
+      SENSOR_TYPE_GYROSCOPE_UNCALIBRATED,
+      SENSOR_TYPE_GYROSCOPE,
+      SENSOR_TYPE_PROXIMITY,
+      SENSOR_TYPE_LIGHT,
+    };
+
+    std::map<int, int64_t> sensors = {
+      {SENSOR_GYRO_UNCALIBRATED, ms2ns(10)},
+      {SENSOR_MAGNETOMETER_UNCALIBRATED, ms2ns(100)},
+      {SENSOR_ACCELEROMETER, ms2ns(10)},
+      {SENSOR_GYRO, ms2ns(10)},
+      {SENSOR_MAGNETOMETER, ms2ns(100)},
+      {SENSOR_PROXIMITY, ms2ns(100)},
+      {SENSOR_LIGHT, ms2ns(100)}
+    };
+
+    // sensors needed while offroad
+    std::set<int> offroad_sensors = {
+      SENSOR_LIGHT,
+      SENSOR_ACCELEROMETER,
+      SENSOR_GYRO_UNCALIBRATED,
+    };
+
+    // init all the sensors
+    for (auto &s : sensors) {
+      device->activate(device, s.first, 0);
+      device->activate(device, s.first, 1);
+      device->setDelay(device, s.first, s.second);
+    }
+
+    // TODO: why is this 16?
+    static const size_t numEvents = 16;
+    sensors_event_t buffer[numEvents];
+
+    while (!do_exit) {
+      int n = device->poll(device, buffer, numEvents);
+      if (n == 0) continue;
+      if (n < 0) {
+        LOG("sensor_loop poll failed: %d", n);
+        continue;
+      }
+
+      int log_events = 0;
+      for (int i=0; i < n; i++) {
+        if (sensor_types.find(buffer[i].type) != sensor_types.end()) {
+          log_events++;
+        }
+      }
+
+      MessageBuilder msg;
+      auto sensor_events = msg.initEvent().initSensorEvents(log_events);
+
+      int log_i = 0;
+      for (int i = 0; i < n; i++) {
+
+        const sensors_event_t& data = buffer[i];
+
+        if (sensor_types.find(data.type) == sensor_types.end()) {
+          continue;
+        }
+
+        auto log_event = sensor_events[log_i];
+        log_event.setSource(cereal::SensorEventData::SensorSource::ANDROID);
+        log_event.setVersion(data.version);
+        log_event.setSensor(data.sensor);
+        log_event.setType(data.type);
+        log_event.setTimestamp(data.timestamp);
+
+        switch (data.type) {
+        case SENSOR_TYPE_ACCELEROMETER: {
+          auto svec = log_event.initAcceleration();
+          svec.setV(data.acceleration.v);
+          svec.setStatus(data.acceleration.status);
+          break;
+        }
+        case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED: {
+          auto svec = log_event.initMagneticUncalibrated();
+          // assuming the uncalib and bias floats are contiguous in memory
+          kj::ArrayPtr<const float> vs(&data.uncalibrated_magnetic.uncalib[0], 6);
+          svec.setV(vs);
+          break;
+        }
+        case SENSOR_TYPE_MAGNETIC_FIELD: {
+          auto svec = log_event.initMagnetic();
+          svec.setV(data.magnetic.v);
+          svec.setStatus(data.magnetic.status);
+          break;
+        }
+        case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED: {
+          auto svec = log_event.initGyroUncalibrated();
+          // assuming the uncalib and bias floats are contiguous in memory
+          kj::ArrayPtr<const float> vs(&data.uncalibrated_gyro.uncalib[0], 6);
+          svec.setV(vs);
+          break;
+        }
+        case SENSOR_TYPE_GYROSCOPE: {
+          auto svec = log_event.initGyro();
+          svec.setV(data.gyro.v);
+          svec.setStatus(data.gyro.status);
+          break;
+        }
+        case SENSOR_TYPE_PROXIMITY: {
+          log_event.setProximity(data.distance);
+          break;
+        }
+        case SENSOR_TYPE_LIGHT:
+          log_event.setLight(data.light);
+          break;
+        }
+
+        log_i++;
+      }
+
+      pm.send("sensorEvents", msg);
+
+      if (re_init_sensors) {
+        LOGE("Resetting sensors");
+        re_init_sensors = false;
+        break;
+      }
+
+      // Check whether to go into low power mode at 5Hz
+      if (frame % 20 == 0) {
+        sm.update(0);
+        bool offroad = !sm["deviceState"].getDeviceState().getStarted();
+        if (low_power_mode != offroad) {
+          for (auto &s : sensors) {
+            device->activate(device, s.first, 0);
+            if (!offroad || offroad_sensors.find(s.first) != offroad_sensors.end()) {
+              device->activate(device, s.first, 1);
+            }
+          }
+          low_power_mode = offroad;
+        }
+      }
+
+      frame++;
+    }
+    sensors_close(device);
+  }
+}
+
+}// Namespace end
+
+int main(int argc, char *argv[]) {
+  setpriority(PRIO_PROCESS, 0, -18);
+  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
+
+  sensor_loop();
+
+  return 0;
+}
diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc
new file mode 100644
index 00000000000000..c3e5bbcdfae3f5
--- /dev/null
+++ b/selfdrive/sensord/sensors_qcom2.cc
@@ -0,0 +1,116 @@
+#include <sys/resource.h>
+
+#include <chrono>
+#include <thread>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/i2c.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "selfdrive/sensord/sensors/bmx055_gyro.h"
+#include "selfdrive/sensord/sensors/bmx055_magn.h"
+#include "selfdrive/sensord/sensors/bmx055_temp.h"
+#include "selfdrive/sensord/sensors/constants.h"
+#include "selfdrive/sensord/sensors/light_sensor.h"
+#include "selfdrive/sensord/sensors/lsm6ds3_accel.h"
+#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h"
+#include "selfdrive/sensord/sensors/lsm6ds3_temp.h"
+#include "selfdrive/sensord/sensors/mmc5603nj_magn.h"
+#include "selfdrive/sensord/sensors/sensor.h"
+
+#define I2C_BUS_IMU 1
+
+ExitHandler do_exit;
+
+int sensor_loop() {
+  I2CBus *i2c_bus_imu;
+
+  try {
+    i2c_bus_imu = new I2CBus(I2C_BUS_IMU);
+  } catch (std::exception &e) {
+    LOGE("I2CBus init failed");
+    return -1;
+  }
+
+  BMX055_Accel bmx055_accel(i2c_bus_imu);
+  BMX055_Gyro bmx055_gyro(i2c_bus_imu);
+  BMX055_Magn bmx055_magn(i2c_bus_imu);
+  BMX055_Temp bmx055_temp(i2c_bus_imu);
+
+  LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu);
+  LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu);
+  LSM6DS3_Temp lsm6ds3_temp(i2c_bus_imu);
+
+  MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu);
+
+  LightSensor light("/sys/class/i2c-adapter/i2c-2/2-0038/iio:device1/in_intensity_both_raw");
+
+  // Sensor init
+  std::vector<std::pair<Sensor *, bool>> sensors_init; // Sensor, required
+  sensors_init.push_back({&bmx055_accel, false});
+  sensors_init.push_back({&bmx055_gyro, false});
+  sensors_init.push_back({&bmx055_magn, false});
+  sensors_init.push_back({&bmx055_temp, false});
+
+  sensors_init.push_back({&lsm6ds3_accel, true});
+  sensors_init.push_back({&lsm6ds3_gyro, true});
+  sensors_init.push_back({&lsm6ds3_temp, true});
+
+  sensors_init.push_back({&mmc5603nj_magn, false});
+
+  sensors_init.push_back({&light, true});
+
+  bool has_magnetometer = false;
+
+  // Initialize sensors
+  std::vector<Sensor *> sensors;
+  for (auto &sensor : sensors_init) {
+    int err = sensor.first->init();
+    if (err < 0) {
+      // Fail on required sensors
+      if (sensor.second) {
+        LOGE("Error initializing sensors");
+        return -1;
+      }
+    } else {
+      if (sensor.first == &bmx055_magn || sensor.first == &mmc5603nj_magn) {
+        has_magnetometer = true;
+      }
+      sensors.push_back(sensor.first);
+    }
+  }
+
+  if (!has_magnetometer) {
+    LOGE("No magnetometer present");
+    return -1;
+  }
+
+  PubMaster pm({"sensorEvents"});
+
+  while (!do_exit) {
+    std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
+
+    const int num_events = sensors.size();
+    MessageBuilder msg;
+    auto sensor_events = msg.initEvent().initSensorEvents(num_events);
+
+    for (int i = 0; i < num_events; i++) {
+      auto event = sensor_events[i];
+      sensors[i]->get_event(event);
+    }
+
+    pm.send("sensorEvents", msg);
+
+    std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
+    std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin));
+  }
+  return 0;
+}
+
+int main(int argc, char *argv[]) {
+  setpriority(PRIO_PROCESS, 0, -18);
+  return sensor_loop();
+}
diff --git a/selfdrive/swaglog.py b/selfdrive/swaglog.py
index 90962cb5d84933..08122b0ca484e6 100644
--- a/selfdrive/swaglog.py
+++ b/selfdrive/swaglog.py
@@ -1,11 +1,72 @@
-import os
 import logging
+import os
+import time
+from pathlib import Path
+from logging.handlers import BaseRotatingHandler
 
 import zmq
 
-from common.logging_extra import SwagLogger, SwagFormatter
+from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
+from selfdrive.hardware import PC
+
+if PC:
+  SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
+else:
+  SWAGLOG_DIR = "/data/log/"
+
+def get_file_handler():
+  Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True)
+  base_filename = os.path.join(SWAGLOG_DIR, "swaglog")
+  handler = SwaglogRotatingFileHandler(base_filename)
+  return handler
+
+class SwaglogRotatingFileHandler(BaseRotatingHandler):
+  def __init__(self, base_filename, interval=60, max_bytes=1024*256, backup_count=2500, encoding=None):
+    super().__init__(base_filename, mode="a", encoding=encoding, delay=True)
+    self.base_filename = base_filename
+    self.interval = interval # seconds
+    self.max_bytes = max_bytes
+    self.backup_count = backup_count
+    self.log_files = self.get_existing_logfiles()
+    log_indexes = [f.split(".")[-1] for f in self.log_files]
+    self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
+    self.last_rollover = None
+    self.doRollover()
+
+  def _open(self):
+    self.last_rollover = time.monotonic()
+    self.last_file_idx += 1
+    next_filename = f"{self.base_filename}.{self.last_file_idx:010}"
+    stream = open(next_filename, self.mode, encoding=self.encoding)
+    self.log_files.insert(0, next_filename)
+    return stream
+
+  def get_existing_logfiles(self):
+    log_files = list()
+    base_dir = os.path.dirname(self.base_filename)
+    for fn in os.listdir(base_dir):
+      fp = os.path.join(base_dir, fn)
+      if fp.startswith(self.base_filename) and os.path.isfile(fp):
+        log_files.append(fp)
+    return sorted(log_files)
 
-class LogMessageHandler(logging.Handler):
+  def shouldRollover(self, record):
+    size_exceeded = self.max_bytes > 0 and self.stream.tell() >= self.max_bytes
+    time_exceeded = self.interval > 0 and self.last_rollover + self.interval <= time.monotonic()
+    return size_exceeded or time_exceeded
+
+  def doRollover(self):
+    if self.stream:
+      self.stream.close()
+    self.stream = self._open()
+
+    if self.backup_count > 0:
+      while len(self.log_files) > self.backup_count:
+        to_delete = self.log_files.pop()
+        if os.path.exists(to_delete): # just being safe, should always exist
+          os.remove(to_delete)
+
+class UnixDomainSocketHandler(logging.Handler):
   def __init__(self, formatter):
     logging.Handler.__init__(self)
     self.setFormatter(formatter)
@@ -31,10 +92,21 @@ def emit(self, record):
       # drop :/
       pass
 
+
+def add_file_handler(log):
+  """
+  Function to add the file log handler to swaglog.
+  This can be used to store logs when logmessaged is not running.
+  """
+  handler = get_file_handler()
+  handler.setFormatter(SwagLogFileFormatter(log))
+  log.addHandler(handler)
+
+
 cloudlog = log = SwagLogger()
 log.setLevel(logging.DEBUG)
 
 outhandler = logging.StreamHandler()
 log.addHandler(outhandler)
-
-log.addHandler(LogMessageHandler(SwagFormatter(log)))
+# logs are sent through IPC before writing to disk to prevent disk I/O blocking
+log.addHandler(UnixDomainSocketHandler(SwagFormatter(log)))
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
new file mode 100644
index 00000000000000..0bb475c9296123
--- /dev/null
+++ b/selfdrive/test/helpers.py
@@ -0,0 +1,59 @@
+import os
+import time
+from functools import wraps
+
+from selfdrive.hardware import PC
+from selfdrive.manager.process_config import managed_processes
+from selfdrive.version import training_version, terms_version
+
+
+def set_params_enabled():
+  from common.params import Params
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version)
+  params.put("CompletedTrainingVersion", training_version)
+  params.put_bool("OpenpilotEnabledToggle", True)
+  params.put_bool("CommunityFeaturesToggle", True)
+  params.put_bool("Passive", False)
+
+
+def phone_only(f):
+  @wraps(f)
+  def wrap(self, *args, **kwargs):
+    if PC:
+      self.skipTest("This test is not meant to run on PC")
+    f(self, *args, **kwargs)
+  return wrap
+
+def release_only(f):
+  @wraps(f)
+  def wrap(self, *args, **kwargs):
+    if "RELEASE" not in os.environ:
+      self.skipTest("This test is only for release branches")
+    f(self, *args, **kwargs)
+  return wrap
+
+def with_processes(processes, init_time=0, ignore_stopped=None):
+  ignore_stopped = [] if ignore_stopped is None else ignore_stopped
+
+  def wrapper(func):
+    @wraps(func)
+    def wrap(*args, **kwargs):
+      # start and assert started
+      for n, p in enumerate(processes):
+        managed_processes[p].start()
+        if n < len(processes) - 1:
+          time.sleep(init_time)
+      assert all(managed_processes[name].proc.exitcode is None for name in processes)
+
+      # call the function
+      try:
+        func(*args, **kwargs)
+        # assert processes are still started
+        assert all(managed_processes[name].proc.exitcode is None for name in processes if name not in ignore_stopped)
+      finally:
+        for p in processes:
+          managed_processes[p].stop()
+
+    return wrap
+  return wrapper
diff --git a/selfdrive/test/longitudinal_maneuvers/__init__.py b/selfdrive/test/longitudinal_maneuvers/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
deleted file mode 100644
index e79cf61d26a65a..00000000000000
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ /dev/null
@@ -1,86 +0,0 @@
-from collections import defaultdict
-from selfdrive.test.longitudinal_maneuvers.maneuverplots import ManeuverPlot
-from selfdrive.test.longitudinal_maneuvers.plant import Plant
-import numpy as np
-
-
-class Maneuver():
-  def __init__(self, title, duration, **kwargs):
-    # Was tempted to make a builder class
-    self.distance_lead = kwargs.get("initial_distance_lead", 200.0)
-    self.speed = kwargs.get("initial_speed", 0.0)
-    self.lead_relevancy = kwargs.get("lead_relevancy", 0)
-
-    self.grade_values = kwargs.get("grade_values", [0.0, 0.0])
-    self.grade_breakpoints = kwargs.get("grade_breakpoints", [0.0, duration])
-    self.speed_lead_values = kwargs.get("speed_lead_values", [0.0, 0.0])
-    self.speed_lead_breakpoints = kwargs.get("speed_lead_breakpoints", [0.0, duration])
-
-    self.cruise_button_presses = kwargs.get("cruise_button_presses", [])
-    self.checks = kwargs.get("checks", [])
-
-    self.duration = duration
-    self.title = title
-
-  def evaluate(self):
-    """runs the plant sim and returns (score, run_data)"""
-    plant = Plant(
-      lead_relevancy = self.lead_relevancy,
-      speed = self.speed,
-      distance_lead = self.distance_lead
-    )
-
-    logs = defaultdict(list)
-    last_controls_state = None
-    plot = ManeuverPlot(self.title)
-
-    buttons_sorted = sorted(self.cruise_button_presses, key=lambda a: a[1])
-    current_button = 0
-    while plant.current_time() < self.duration:
-      while buttons_sorted and plant.current_time() >= buttons_sorted[0][1]:
-        current_button = buttons_sorted[0][0]
-        buttons_sorted = buttons_sorted[1:]
-        print("current button changed to {0}".format(current_button))
-
-      grade = np.interp(plant.current_time(), self.grade_breakpoints, self.grade_values)
-      speed_lead = np.interp(plant.current_time(), self.speed_lead_breakpoints, self.speed_lead_values)
-
-      # distance, speed, acceleration, distance_lead, brake, gas, steer_torque, fcw, controls_state= plant.step(speed_lead, current_button, grade)
-      log = plant.step(speed_lead, current_button, grade)
-
-      if log['controls_state_msgs']:
-        last_controls_state = log['controls_state_msgs'][-1]
-
-      d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
-      v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
-      log['d_rel'] = d_rel
-      log['v_rel'] = v_rel
-
-      if last_controls_state:
-        # print(last_controls_state)
-        #develop plots
-        plot.add_data(
-          time=plant.current_time(),
-          gas=log['gas'], brake=log['brake'], steer_torque=log['steer_torque'],
-          distance=log['distance'], speed=log['speed'], acceleration=log['acceleration'],
-          up_accel_cmd=last_controls_state.upAccelCmd, ui_accel_cmd=last_controls_state.uiAccelCmd,
-          uf_accel_cmd=last_controls_state.ufAccelCmd,
-          d_rel=d_rel, v_rel=v_rel, v_lead=speed_lead,
-          v_target_lead=last_controls_state.vTargetLead, pid_speed=last_controls_state.vPid,
-          cruise_speed=last_controls_state.vCruise,
-          jerk_factor=last_controls_state.jerkFactor,
-          a_target=last_controls_state.aTarget,
-          fcw=log['fcw'])
-
-        for k, v in log.items():
-          logs[k].append(v)
-
-    valid = True
-    for check in self.checks:
-      c = check(logs)
-      if not c:
-        print(check.__name__ + " not valid!")
-      valid = valid and c
-
-    print("maneuver end", valid)
-    return (plot, valid)
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuverplots.py b/selfdrive/test/longitudinal_maneuvers/maneuverplots.py
deleted file mode 100644
index 3d52588100ffb7..00000000000000
--- a/selfdrive/test/longitudinal_maneuvers/maneuverplots.py
+++ /dev/null
@@ -1,143 +0,0 @@
-import os
-
-import numpy as np
-import matplotlib.pyplot as plt
-import pylab
-
-from selfdrive.config import Conversions as CV
-
-class ManeuverPlot():
-  def __init__(self, title = None):
-    self.time_array = []
-
-    self.gas_array =  []
-    self.brake_array = []
-    self.steer_torque_array = []
-
-    self.distance_array = []
-    self.speed_array = []
-    self.acceleration_array = []
-
-    self.up_accel_cmd_array = []
-    self.ui_accel_cmd_array = []
-    self.uf_accel_cmd_array = []
-
-    self.d_rel_array = []
-    self.v_rel_array = []
-    self.v_lead_array = []
-    self.v_target_lead_array = []
-    self.pid_speed_array = []
-    self.cruise_speed_array = []
-    self.jerk_factor_array = []
-
-    self.a_target_array = []
-
-    self.v_target_array = []
-
-    self.fcw_array = []
-
-    self.title = title
-    
-  def add_data(self, time, gas, brake, steer_torque, distance, speed, 
-    acceleration, up_accel_cmd, ui_accel_cmd, uf_accel_cmd, d_rel, v_rel, 
-    v_lead, v_target_lead, pid_speed, cruise_speed, jerk_factor, a_target, fcw):
-    self.time_array.append(time)
-    self.gas_array.append(gas)
-    self.brake_array.append(brake)
-    self.steer_torque_array.append(steer_torque)
-    self.distance_array.append(distance)
-    self.speed_array.append(speed)
-    self.acceleration_array.append(acceleration)
-    self.up_accel_cmd_array.append(up_accel_cmd)
-    self.ui_accel_cmd_array.append(ui_accel_cmd)
-    self.uf_accel_cmd_array.append(uf_accel_cmd)
-    self.d_rel_array.append(d_rel)
-    self.v_rel_array.append(v_rel)
-    self.v_lead_array.append(v_lead)
-    self.v_target_lead_array.append(v_target_lead)
-    self.pid_speed_array.append(pid_speed)
-    self.cruise_speed_array.append(cruise_speed)
-    self.jerk_factor_array.append(jerk_factor)
-    self.a_target_array.append(a_target)
-    self.fcw_array.append(fcw)
-
-
-  def write_plot(self, path, maneuver_name):
-    # title = self.title or maneuver_name
-    # TODO: Missing plots from the old one:
-    # long_control_state
-    # proportional_gb, intergral_gb
-    if not os.path.exists(path + "/" + maneuver_name):
-      os.makedirs(path + "/" + maneuver_name)
-    plt_num = 0
-    
-    # speed chart ===================
-    plt_num += 1
-    plt.figure(plt_num)
-    plt.plot(
-      np.array(self.time_array), np.array(self.speed_array) * CV.MS_TO_MPH, 'r',
-      np.array(self.time_array), np.array(self.pid_speed_array) * CV.MS_TO_MPH, 'y--',
-      np.array(self.time_array), np.array(self.v_target_lead_array) * CV.MS_TO_MPH, 'b',
-      np.array(self.time_array), np.array(self.cruise_speed_array) * CV.KPH_TO_MPH, 'k',
-      np.array(self.time_array), np.array(self.v_lead_array) * CV.MS_TO_MPH, 'm'
-    )
-    plt.xlabel('Time [s]')
-    plt.ylabel('Speed [mph]')
-    plt.legend(['speed', 'pid speed', 'Target (lead) speed', 'Cruise speed', 'Lead speed'], loc=0)
-    plt.grid()
-    pylab.savefig("/".join([path, maneuver_name, 'speeds.svg']), dpi=1000)
-
-    # acceleration chart ============
-    plt_num += 1
-    plt.figure(plt_num)
-    plt.plot(
-      np.array(self.time_array), np.array(self.acceleration_array), 'g',
-      np.array(self.time_array), np.array(self.a_target_array), 'k--',
-      np.array(self.time_array), np.array(self.fcw_array), 'ro',
-    )
-    plt.xlabel('Time [s]')
-    plt.ylabel('Acceleration [m/s^2]')
-    plt.legend(['ego-plant', 'target', 'fcw'], loc=0)
-    plt.grid()
-    pylab.savefig("/".join([path, maneuver_name, 'acceleration.svg']), dpi=1000)
-
-    # pedal chart ===================
-    plt_num += 1
-    plt.figure(plt_num)
-    plt.plot(
-      np.array(self.time_array), np.array(self.gas_array), 'g',
-      np.array(self.time_array), np.array(self.brake_array), 'r',
-    )
-    plt.xlabel('Time [s]')
-    plt.ylabel('Pedal []')
-    plt.legend(['Gas pedal', 'Brake pedal'], loc=0)
-    plt.grid()
-    pylab.savefig("/".join([path, maneuver_name, 'pedals.svg']), dpi=1000)
-
-    # pid chart ======================
-    plt_num += 1
-    plt.figure(plt_num)
-    plt.plot(
-      np.array(self.time_array), np.array(self.up_accel_cmd_array), 'g',
-      np.array(self.time_array), np.array(self.ui_accel_cmd_array), 'b',
-      np.array(self.time_array), np.array(self.uf_accel_cmd_array), 'r'
-    )
-    plt.xlabel("Time, [s]")
-    plt.ylabel("Accel Cmd [m/s^2]")
-    plt.grid()
-    plt.legend(["Proportional", "Integral", "feedforward"], loc=0)
-    pylab.savefig("/".join([path, maneuver_name, "pid.svg"]), dpi=1000)
-
-    # relative distances chart =======
-    plt_num += 1
-    plt.figure(plt_num)
-    plt.plot(
-      np.array(self.time_array), np.array(self.d_rel_array), 'g',
-    )
-    plt.xlabel('Time [s]')
-    plt.ylabel('Relative Distance [m]')
-    plt.grid()
-    pylab.savefig("/".join([path, maneuver_name, 'distance.svg']), dpi=1000)
-
-    plt.close("all")
-
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
deleted file mode 100755
index 2170cb71f72a4f..00000000000000
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ /dev/null
@@ -1,465 +0,0 @@
-#!/usr/bin/env python3
-import binascii
-import os
-import struct
-import time
-from collections import namedtuple
-import numpy as np
-
-from opendbc import DBC_PATH
-
-from common.realtime import Ratekeeper
-from selfdrive.config import Conversions as CV
-import cereal.messaging as messaging
-from selfdrive.car import crc8_pedal
-from selfdrive.car.honda.values import CAR
-from selfdrive.car.honda.carstate import get_can_signals
-from selfdrive.boardd.boardd import can_list_to_can_capnp
-
-from opendbc.can.parser import CANParser
-from selfdrive.car.honda.interface import CarInterface
-
-from opendbc.can.dbc import dbc
-honda = dbc(os.path.join(DBC_PATH, "honda_civic_touring_2016_can_generated.dbc"))
-
-# Trick: set 0x201 (interceptor) in fingerprints for gas is controlled like if there was an interceptor
-CP = CarInterface.get_params(CAR.CIVIC, {0: {0x201: 6}, 1: {}, 2: {}, 3: {}})
-
-# Honda checksum
-def can_cksum(mm):
-  s = 0
-  for c in mm:
-    s += (c>>4)
-    s += c & 0xF
-  s = 8-s
-  s %= 0x10
-  return s
-
-def fix(msg, addr):
-  msg2 = msg[0:-1] + (msg[-1] | can_cksum(struct.pack("I", addr)+msg)).to_bytes(1, 'little')
-  return msg2
-
-
-def car_plant(pos, speed, grade, gas, brake):
-  # vehicle parameters
-  mass = 1700
-  aero_cd = 0.3
-  force_peak = mass*3.
-  force_brake_peak = -mass*10.     #1g
-  power_peak = 100000   # 100kW
-  speed_base = power_peak/force_peak
-  rolling_res = 0.01
-  g = 9.81
-  frontal_area = 2.2
-  air_density = 1.225
-  gas_to_peak_linear_slope = 3.33
-  brake_to_peak_linear_slope = 0.3
-  creep_accel_v = [1., 0.]
-  creep_accel_bp = [0., 1.5]
-
-  #*** longitudinal model ***
-  # find speed where peak torque meets peak power
-  force_brake = brake * force_brake_peak * brake_to_peak_linear_slope
-  if speed < speed_base: # torque control
-    force_gas = gas * force_peak * gas_to_peak_linear_slope
-  else: # power control
-    force_gas = gas * power_peak / speed * gas_to_peak_linear_slope
-
-  force_grade = - grade * mass  # positive grade means uphill
-
-  creep_accel = np.interp(speed, creep_accel_bp, creep_accel_v)
-  force_creep = creep_accel * mass
-
-  force_resistance = -(rolling_res * mass * g + 0.5 * speed**2 * aero_cd * air_density * frontal_area)
-  force = force_gas + force_brake + force_resistance + force_grade + force_creep
-  acceleration = force / mass
-
-  # TODO: lateral model
-  return speed, acceleration
-
-def get_car_can_parser():
-  dbc_f = 'honda_civic_touring_2016_can_generated'
-  signals = [
-    ("STEER_TORQUE", 0xe4, 0),
-    ("STEER_TORQUE_REQUEST", 0xe4, 0),
-    ("COMPUTER_BRAKE", 0x1fa, 0),
-    ("COMPUTER_BRAKE_REQUEST", 0x1fa, 0),
-    ("GAS_COMMAND", 0x200, 0),
-  ]
-  checks = [
-    (0xe4, 100),
-    (0x1fa, 50),
-    (0x200, 50),
-  ]
-  return CANParser(dbc_f, signals, checks, 0)
-
-def to_3_byte(x):
-  # Convert into 12 bit value
-  s = struct.pack("!H", int(x))
-  return binascii.hexlify(s)[1:]
-
-def to_3s_byte(x):
-  s = struct.pack("!h", int(x))
-  return binascii.hexlify(s)[1:]
-
-class Plant():
-  messaging_initialized = False
-
-  def __init__(self, lead_relevancy=False, rate=100, speed=0.0, distance_lead=2.0):
-    self.rate = rate
-
-    if not Plant.messaging_initialized:
-      Plant.logcan = messaging.pub_sock('can')
-      Plant.sendcan = messaging.sub_sock('sendcan')
-      Plant.model = messaging.pub_sock('model')
-      Plant.live_params = messaging.pub_sock('liveParameters')
-      Plant.health = messaging.pub_sock('health')
-      Plant.thermal = messaging.pub_sock('thermal')
-      Plant.driverState = messaging.pub_sock('driverState')
-      Plant.cal = messaging.pub_sock('liveCalibration')
-      Plant.controls_state = messaging.sub_sock('controlsState')
-      Plant.plan = messaging.sub_sock('plan')
-      Plant.messaging_initialized = True
-
-    self.frame = 0
-    self.angle_steer = 0.
-    self.gear_choice = 0
-    self.speed, self.speed_prev = 0., 0.
-
-    self.esp_disabled = 0
-    self.main_on = 1
-    self.user_gas = 0
-    self.computer_brake,self.user_brake = 0,0
-    self.brake_pressed = 0
-    self.angle_steer_rate = 0
-    self.distance, self.distance_prev = 0., 0.
-    self.speed, self.speed_prev = speed, speed
-    self.steer_error, self.brake_error, self.steer_not_allowed = 0, 0, 0
-    self.gear_shifter = 8   # D gear
-    self.pedal_gas = 0
-    self.cruise_setting = 0
-
-    self.seatbelt, self.door_all_closed = True, True
-    self.steer_torque, self.v_cruise, self.acc_status = 0, 0, 0  # v_cruise is reported from can, not the one used for controls
-
-    self.lead_relevancy = lead_relevancy
-
-    # lead car
-    self.distance_lead, self.distance_lead_prev = distance_lead , distance_lead
-
-    self.rk = Ratekeeper(rate, print_delay_threshold=100)
-    self.ts = 1./rate
-
-    self.cp = get_car_can_parser()
-    self.response_seen = False
-
-    time.sleep(1)
-    messaging.drain_sock(Plant.sendcan)
-    messaging.drain_sock(Plant.controls_state)
-
-  def close(self):
-    Plant.logcan.close()
-    Plant.model.close()
-    Plant.live_params.close()
-
-  def speed_sensor(self, speed):
-    if speed<0.3:
-      return 0
-    else:
-      return speed * CV.MS_TO_KPH
-
-  def current_time(self):
-    return float(self.rk.frame) / self.rate
-
-  def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0, publish_model = True):
-    gen_signals, gen_checks = get_can_signals(CP)
-    sgs = [s[0] for s in gen_signals]
-    msgs = [s[1] for s in gen_signals]
-    cks_msgs = set(check[0] for check in gen_checks)
-    cks_msgs.add(0x18F)
-    cks_msgs.add(0x30C)
-
-    # ******** get messages sent to the car ********
-    can_strings = messaging.drain_sock_raw(Plant.sendcan, wait_for_one=self.response_seen)
-
-    # After the first response the car is done fingerprinting, so we can run in lockstep with controlsd
-    if can_strings:
-      self.response_seen = True
-
-    self.cp.update_strings(can_strings, sendcan=True)
-
-    # ******** get controlsState messages for plotting ***
-    controls_state_msgs = []
-    for a in messaging.drain_sock(Plant.controls_state, wait_for_one=self.response_seen):
-      controls_state_msgs.append(a.controlsState)
-
-    fcw = None
-    for a in messaging.drain_sock(Plant.plan):
-      if a.plan.fcw:
-        fcw = True
-
-    if self.cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
-      brake = self.cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248
-    else:
-      brake = 0.0
-
-    if self.cp.vl[0x200]['GAS_COMMAND'] > 0:
-      gas = self.cp.vl[0x200]['GAS_COMMAND'] / 256.0
-    else:
-      gas = 0.0
-
-    if self.cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
-      steer_torque = self.cp.vl[0xe4]['STEER_TORQUE']*1.0/0xf00
-    else:
-      steer_torque = 0.0
-
-    distance_lead = self.distance_lead_prev + v_lead * self.ts
-
-    # ******** run the car ********
-    speed, acceleration = car_plant(self.distance_prev, self.speed_prev, grade, gas, brake)
-    distance = self.distance_prev + speed * self.ts
-    speed = self.speed_prev + self.ts * acceleration
-    if speed <= 0:
-      speed = 0
-      acceleration = 0
-
-    # ******** lateral ********
-    self.angle_steer -= (steer_torque/10.0) * self.ts
-
-    # *** radar model ***
-    if self.lead_relevancy:
-      d_rel = np.maximum(0., distance_lead - distance)
-      v_rel = v_lead - speed
-    else:
-      d_rel = 200.
-      v_rel = 0.
-    lateral_pos_rel = 0.
-
-    # print at 5hz
-    if (self.frame % (self.rate//5)) == 0:
-      print("%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
-
-    # ******** publish the car ********
-    vls_tuple = namedtuple('vls', [
-           'XMISSION_SPEED',
-           'WHEEL_SPEED_FL', 'WHEEL_SPEED_FR', 'WHEEL_SPEED_RL', 'WHEEL_SPEED_RR',
-           'STEER_ANGLE', 'STEER_ANGLE_RATE', 'STEER_TORQUE_SENSOR', 'STEER_TORQUE_MOTOR',
-           'LEFT_BLINKER', 'RIGHT_BLINKER',
-           'GEAR',
-           'WHEELS_MOVING',
-           'BRAKE_ERROR_1', 'BRAKE_ERROR_2',
-           'SEATBELT_DRIVER_LAMP', 'SEATBELT_DRIVER_LATCHED',
-           'BRAKE_PRESSED', 'BRAKE_SWITCH',
-           'CRUISE_BUTTONS',
-           'ESP_DISABLED',
-           'HUD_LEAD',
-           'USER_BRAKE',
-           'STEER_STATUS',
-           'GEAR_SHIFTER',
-           'PEDAL_GAS',
-           'CRUISE_SETTING',
-           'ACC_STATUS',
-
-           'CRUISE_SPEED_PCM',
-           'CRUISE_SPEED_OFFSET',
-
-           'DOOR_OPEN_FL', 'DOOR_OPEN_FR', 'DOOR_OPEN_RL', 'DOOR_OPEN_RR',
-
-           'CAR_GAS',
-           'MAIN_ON',
-           'EPB_STATE',
-           'BRAKE_HOLD_ACTIVE',
-           'INTERCEPTOR_GAS',
-           'INTERCEPTOR_GAS2',
-           'IMPERIAL_UNIT',
-           'MOTOR_TORQUE',
-           ])
-    vls = vls_tuple(
-           self.speed_sensor(speed),
-           self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
-           self.angle_steer, self.angle_steer_rate, 0, 0,#Steer torque sensor
-           0, 0,  # Blinkers
-           self.gear_choice,
-           speed != 0,
-           self.brake_error, self.brake_error,
-           not self.seatbelt, self.seatbelt,  # Seatbelt
-           self.brake_pressed, 0., #Brake pressed, Brake switch
-           cruise_buttons,
-           self.esp_disabled,
-           0,  # HUD lead
-           self.user_brake,
-           self.steer_error,
-           self.gear_shifter,
-           self.pedal_gas,
-           self.cruise_setting,
-           self.acc_status,
-
-           self.v_cruise,
-           0,  # Cruise speed offset
-
-           0, 0, 0, 0,  # Doors
-
-           self.user_gas,
-           self.main_on,
-           0,  # EPB State
-           0,  # Brake hold
-           0,  # Interceptor feedback
-           0,  # Interceptor 2 feedback
-           False,
-           0,
-           )
-
-    # TODO: publish each message at proper frequency
-    can_msgs = []
-    for msg in set(msgs):
-      msg_struct = {}
-      indxs = [i for i, x in enumerate(msgs) if msg == msgs[i]]
-      for i in indxs:
-        msg_struct[sgs[i]] = getattr(vls, sgs[i])
-
-      if "COUNTER" in honda.get_signals(msg):
-        msg_struct["COUNTER"] = self.frame % 4
-
-      if "COUNTER_PEDAL" in honda.get_signals(msg):
-        msg_struct["COUNTER_PEDAL"] = self.frame % 0xf
-
-      msg = honda.lookup_msg_id(msg)
-      msg_data = honda.encode(msg, msg_struct)
-
-      if "CHECKSUM" in honda.get_signals(msg):
-        msg_data = fix(msg_data, msg)
-
-      if "CHECKSUM_PEDAL" in honda.get_signals(msg):
-        msg_struct["CHECKSUM_PEDAL"] = crc8_pedal(msg_data[:-1])
-        msg_data = honda.encode(msg, msg_struct)
-
-      can_msgs.append([msg, 0, msg_data, 0])
-
-    # add the radar message
-    # TODO: use the DBC
-    if self.frame % 5 == 0:
-      radar_state_msg = b'\x79\x00\x00\x00\x00\x00\x00\x00'
-      radar_msg = to_3_byte(d_rel*16.0) + \
-                  to_3_byte(int(lateral_pos_rel*16.0)&0x3ff) + \
-                  to_3s_byte(int(v_rel*32.0)) + \
-                  b"0f00000"
-
-      radar_msg = binascii.unhexlify(radar_msg)
-      can_msgs.append([0x400, 0, radar_state_msg, 1])
-      can_msgs.append([0x445, 0, radar_msg, 1])
-
-    # add camera msg so controlsd thinks it's alive
-    msg_struct["COUNTER"] = self.frame % 4
-    msg = honda.lookup_msg_id(0xe4)
-    msg_data = honda.encode(msg, msg_struct)
-    msg_data = fix(msg_data, 0xe4)
-    can_msgs.append([0xe4, 0, msg_data, 2])
-
-
-    # Fake sockets that controlsd subscribes to
-    live_parameters = messaging.new_message()
-    live_parameters.init('liveParameters')
-    live_parameters.liveParameters.valid = True
-    live_parameters.liveParameters.sensorValid = True
-    live_parameters.liveParameters.posenetValid = True
-    live_parameters.liveParameters.steerRatio = CP.steerRatio
-    live_parameters.liveParameters.stiffnessFactor = 1.0
-    Plant.live_params.send(live_parameters.to_bytes())
-
-    driver_state = messaging.new_message()
-    driver_state.init('driverState')
-    driver_state.driverState.faceOrientation = [0.] * 3
-    driver_state.driverState.facePosition = [0.] * 2
-    Plant.driverState.send(driver_state.to_bytes())
-
-    health = messaging.new_message()
-    health.init('health')
-    health.health.controlsAllowed = True
-    Plant.health.send(health.to_bytes())
-
-    thermal = messaging.new_message()
-    thermal.init('thermal')
-    thermal.thermal.freeSpace = 1.
-    thermal.thermal.batteryPercent = 100
-    Plant.thermal.send(thermal.to_bytes())
-
-    # ******** publish a fake model going straight and fake calibration ********
-    # note that this is worst case for MPC, since model will delay long mpc by one time step
-    if publish_model and self.frame % 5 == 0:
-      md = messaging.new_message()
-      cal = messaging.new_message()
-      md.init('model')
-      cal.init('liveCalibration')
-      md.model.frameId = 0
-      for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
-        x.points = [0.0]*50
-        x.prob = 1.0
-        x.std = 1.0
-
-      if self.lead_relevancy:
-        d_rel = np.maximum(0., distance_lead - distance)
-        v_rel = v_lead - speed
-        prob = 1.0
-      else:
-        d_rel = 200.
-        v_rel = 0.
-        prob = 0.0
-
-      md.model.lead.dist = float(d_rel)
-      md.model.lead.prob = prob
-      md.model.lead.relY = 0.0
-      md.model.lead.relYStd = 1.
-      md.model.lead.relVel = float(v_rel)
-      md.model.lead.relVelStd = 1.
-      md.model.lead.relA = 0.0
-      md.model.lead.relAStd = 10.
-      md.model.lead.std = 1.0
-
-      cal.liveCalibration.calStatus = 1
-      cal.liveCalibration.calPerc = 100
-      cal.liveCalibration.rpyCalib = [0.] * 3
-      # fake values?
-      Plant.model.send(md.to_bytes())
-      Plant.cal.send(cal.to_bytes())
-
-    Plant.logcan.send(can_list_to_can_capnp(can_msgs))
-
-    # ******** update prevs ********
-    self.frame += 1
-
-    if self.response_seen:
-      self.rk.monitor_time()
-
-      self.speed = speed
-      self.distance = distance
-      self.distance_lead = distance_lead
-
-      self.speed_prev = speed
-      self.distance_prev = distance
-      self.distance_lead_prev = distance_lead
-
-    else:
-      # Don't advance time when controlsd is not yet ready
-      self.rk.keep_time()
-      self.rk._frame = 0
-
-    return {
-      "distance": distance,
-      "speed": speed,
-      "acceleration": acceleration,
-      "distance_lead": distance_lead,
-      "brake": brake,
-      "gas": gas,
-      "steer_torque": steer_torque,
-      "fcw": fcw,
-      "controls_state_msgs": controls_state_msgs,
-    }
-
-# simple engage in standalone mode
-def plant_thread(rate=100):
-  plant = Plant(rate)
-  while 1:
-    plant.step()
-
-if __name__ == "__main__":
-  plant_thread()
diff --git a/selfdrive/test/longitudinal_maneuvers/plant_ui.py b/selfdrive/test/longitudinal_maneuvers/plant_ui.py
deleted file mode 100755
index f4b7715e38ef49..00000000000000
--- a/selfdrive/test/longitudinal_maneuvers/plant_ui.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python3
-import pygame # pylint: disable=import-error
-from selfdrive.test.longitudinal_maneuvers.plant import Plant
-from selfdrive.car.honda.values import CruiseButtons
-import numpy as np
-import cereal.messaging as messaging
-import math
-
-CAR_WIDTH = 2.0
-CAR_LENGTH = 4.5
-
-METER = 8
-
-def rot_center(image, angle):
-  """rotate an image while keeping its center and size"""
-  orig_rect = image.get_rect()
-  rot_image = pygame.transform.rotate(image, angle)
-  rot_rect = orig_rect.copy()
-  rot_rect.center = rot_image.get_rect().center
-  rot_image = rot_image.subsurface(rot_rect).copy()
-  return rot_image
-
-def car_w_color(c):
-  car = pygame.Surface((METER*CAR_LENGTH, METER*CAR_LENGTH))  # pylint: disable=too-many-function-args
-  car.set_alpha(0)
-  car.fill((10,10,10))
-  car.set_alpha(128)
-  pygame.draw.rect(car, c, (METER*1.25, 0, METER*CAR_WIDTH, METER*CAR_LENGTH), 1)
-  return car
-
-if __name__ == "__main__":
-  pygame.init()
-  display = pygame.display.set_mode((1000, 1000))
-  pygame.display.set_caption('Plant UI')
-
-  car = car_w_color((255,0,255))
-  leadcar = car_w_color((255,0,0))
-
-  carx, cary, heading = 10.0, 50.0, 0.0
-
-  plant = Plant(100, distance_lead = 40.0)
-
-  control_offset = 2.0
-  control_pts = list(zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10))
-
-  def pt_to_car(pt):
-    x,y = pt
-    x -= carx
-    y -= cary
-    rx = x * math.cos(-heading) + y * -math.sin(-heading)
-    ry = x * math.sin(-heading) + y * math.cos(-heading)
-    return rx, ry
-
-  def pt_from_car(pt):
-    x,y = pt
-    rx = x * math.cos(heading) + y * -math.sin(heading)
-    ry = x * math.sin(heading) + y * math.cos(heading)
-    rx += carx
-    ry += cary
-    return rx, ry
-
-  while 1:
-    if plant.rk.frame%100 >= 20 and plant.rk.frame%100 <= 25:
-      cruise_buttons = CruiseButtons.RES_ACCEL
-    else:
-      cruise_buttons = 0
-
-    md = messaging.new_message()
-    md.init('model')
-    md.model.frameId = 0
-    for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
-      x.points = [0.0]*50
-      x.prob = 0.0
-      x.std = 1.0
-
-    car_pts = [pt_to_car(pt) for pt in control_pts]
-
-    print(car_pts)
-
-    car_poly = np.polyfit([x[0] for x in car_pts], [x[1] for x in car_pts], 3)
-    md.model.path.points = np.polyval(car_poly, np.arange(0, 50)).tolist()
-    md.model.path.prob = 1.0
-    Plant.model.send(md.to_bytes())
-
-    plant.step(cruise_buttons = cruise_buttons, v_lead = 2.0, publish_model = False)
-
-    display.fill((10,10,10))
-
-    carx += plant.speed * plant.ts * math.cos(heading)
-    cary += plant.speed * plant.ts * math.sin(heading)
-
-    # positive steering angle = steering right
-    print(plant.angle_steer)
-    heading += plant.angle_steer * plant.ts
-    print(heading)
-
-    # draw my car
-    display.blit(pygame.transform.rotate(car, 90-math.degrees(heading)), (carx*METER, cary*METER))
-
-    # draw control pts
-    for x,y in control_pts:
-      pygame.draw.circle(display, (255,255,0), (int(x * METER),int(y * METER)), 2)
-
-    # draw path
-    path_pts = zip(np.arange(0, 50), md.model.path.points)
-
-    for x,y in path_pts:
-      x,y = pt_from_car((x,y))
-      pygame.draw.circle(display, (0,255,0), (int(x * METER),int(y * METER)), 1)
-
-    """
-    # draw lead car
-    dl = (plant.distance_lead - plant.distance) + 4.5
-    lx = carx + dl * math.cos(heading)
-    ly = cary + dl * math.sin(heading)
-
-    display.blit(pygame.transform.rotate(leadcar, 90-math.degrees(heading)), (lx*METER, ly*METER))
-    """
-
-    pygame.display.flip()
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
deleted file mode 100755
index 6cd689f17a5931..00000000000000
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ /dev/null
@@ -1,385 +0,0 @@
-#!/usr/bin/env python3
-import os
-os.environ['OLD_CAN'] = '1'
-os.environ['NOCRASH'] = '1'
-
-import unittest
-import matplotlib
-matplotlib.use('svg')
-
-from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CruiseButtons as CB
-from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
-import selfdrive.manager as manager
-from common.params import Params
-
-
-def create_dir(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    pass
-
-
-def check_no_collision(log):
-  return min(log['d_rel']) > 0
-
-def check_fcw(log):
-  return any(log['fcw'])
-
-def check_engaged(log):
-  return log['controls_state_msgs'][-1][-1].active
-
-maneuvers = [
-  Maneuver(
-    'while cruising at 40 mph, change cruise speed to 50mph',
-    duration=30.,
-    initial_speed = 40. * CV.MPH_TO_MS,
-    cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3),
-                             (CB.RES_ACCEL, 10.), (0, 10.1),
-                             (CB.RES_ACCEL, 10.2), (0, 10.3)],
-    checks=[check_engaged],
-  ),
-  Maneuver(
-    'while cruising at 60 mph, change cruise speed to 50mph',
-    duration=30.,
-    initial_speed=60. * CV.MPH_TO_MS,
-    cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3),
-                             (CB.DECEL_SET, 10.), (0, 10.1),
-                             (CB.DECEL_SET, 10.2), (0, 10.3)],
-    checks=[check_engaged],
-  ),
-  Maneuver(
-    'while cruising at 20mph, grade change +10%',
-    duration=25.,
-    initial_speed=20. * CV.MPH_TO_MS,
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
-    grade_values = [0., 0., 1.0],
-    grade_breakpoints = [0., 10., 11.],
-    checks=[check_engaged],
-  ),
-  Maneuver(
-    'while cruising at 20mph, grade change -10%',
-    duration=25.,
-    initial_speed=20. * CV.MPH_TO_MS,
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
-    grade_values = [0., 0., -1.0],
-    grade_breakpoints = [0., 10., 11.],
-    checks=[check_engaged],
-  ),
-  Maneuver(
-    'approaching a 40mph car while cruising at 60mph from 100m away',
-    duration=30.,
-    initial_speed = 60. * CV.MPH_TO_MS,
-    lead_relevancy=True,
-    initial_distance_lead=100.,
-    speed_lead_values = [40.*CV.MPH_TO_MS, 40.*CV.MPH_TO_MS],
-    speed_lead_breakpoints = [0., 100.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    'approaching a 0mph car while cruising at 40mph from 150m away',
-    duration=30.,
-    initial_speed = 40. * CV.MPH_TO_MS,
-    lead_relevancy=True,
-    initial_distance_lead=150.,
-    speed_lead_values = [0.*CV.MPH_TO_MS, 0.*CV.MPH_TO_MS],
-    speed_lead_breakpoints = [0., 100.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
-    duration=50.,
-    initial_speed = 20.,
-    lead_relevancy=True,
-    initial_distance_lead=35.,
-    speed_lead_values = [20., 20., 0.],
-    speed_lead_breakpoints = [0., 15., 35.0],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
-    duration=50.,
-    initial_speed = 20.,
-    lead_relevancy=True,
-    initial_distance_lead=35.,
-    speed_lead_values = [20., 20., 0.],
-    speed_lead_breakpoints = [0., 15., 25.0],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
-    duration=50.,
-    initial_speed = 20.,
-    lead_relevancy=True,
-    initial_distance_lead=35.,
-    speed_lead_values = [20., 20., 0.],
-    speed_lead_breakpoints = [0., 15., 21.66],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
-    checks=[check_engaged, check_fcw],
-  ),
-  Maneuver(
-    'steady state following a car at 20m/s, then lead decel to 0mph at 5m/s^2',
-    duration=40.,
-    initial_speed = 20.,
-    lead_relevancy=True,
-    initial_distance_lead=35.,
-    speed_lead_values = [20., 20., 0.],
-    speed_lead_breakpoints = [0., 15., 19.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
-    checks=[check_engaged, check_fcw],
-  ),
-  Maneuver(
-    'starting at 0mph, approaching a stopped car 100m away',
-    duration=30.,
-    initial_speed = 0.,
-    lead_relevancy=True,
-    initial_distance_lead=100.,
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
-                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
-                             (CB.RES_ACCEL, 1.6), (0.0, 1.7),
-                             (CB.RES_ACCEL, 1.8), (0.0, 1.9)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    "following a car at 60mph, lead accel and decel at 0.5m/s^2 every 2s",
-    duration=25.,
-    initial_speed=30.,
-    lead_relevancy=True,
-    initial_distance_lead=49.,
-    speed_lead_values=[30.,30.,29.,31.,29.,31.,29.],
-    speed_lead_breakpoints=[0., 6., 8., 12.,16.,20.,24.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
-                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
-                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    "following a car at 10mph, stop and go at 1m/s2 lead dece1 and accel",
-    duration=70.,
-    initial_speed=10.,
-    lead_relevancy=True,
-    initial_distance_lead=20.,
-    speed_lead_values=[10., 0., 0., 10., 0.,10.],
-    speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
-                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
-                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    "green light: stopped behind lead car, lead car accelerates at 1.5 m/s",
-    duration=30.,
-    initial_speed=0.,
-    lead_relevancy=True,
-    initial_distance_lead=4.,
-    speed_lead_values=[0,  0 , 45],
-    speed_lead_breakpoints=[0, 10., 40.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
-                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
-                             (CB.RES_ACCEL, 1.6), (0.0, 1.7),
-                             (CB.RES_ACCEL, 1.8), (0.0, 1.9),
-                             (CB.RES_ACCEL, 2.0), (0.0, 2.1),
-                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    "stop and go with 1m/s2 lead decel and accel, with full stops",
-    duration=70.,
-    initial_speed=0.,
-    lead_relevancy=True,
-    initial_distance_lead=20.,
-    speed_lead_values=[10., 0., 0., 10., 0., 0.] ,
-    speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
-                            (CB.RES_ACCEL, 1.4), (0.0, 1.5),
-                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    "stop and go with 1.5m/s2 lead accel and 3.3m/s^2 lead decel, with full stops",
-    duration=45.,
-    initial_speed=0.,
-    lead_relevancy=True,
-    initial_distance_lead=20.,
-    speed_lead_values=[10., 0., 0., 10., 0., 0.] ,
-    speed_lead_breakpoints=[10., 13., 26., 33., 36., 45.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
-                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
-                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    "accelerate from 20 while lead vehicle decelerates from 40 to 20 at 1m/s2",
-    duration=30.,
-    initial_speed=10.,
-    lead_relevancy=True,
-    initial_distance_lead=10.,
-    speed_lead_values=[20., 10.],
-    speed_lead_breakpoints=[1., 11.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
-                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
-                             (CB.RES_ACCEL, 1.6), (0.0, 1.7),
-                             (CB.RES_ACCEL, 1.8), (0.0, 1.9),
-                             (CB.RES_ACCEL, 2.0), (0.0, 2.1),
-                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    "accelerate from 20 while lead vehicle decelerates from 40 to 0 at 2m/s2",
-    duration=30.,
-    initial_speed=10.,
-    lead_relevancy=True,
-    initial_distance_lead=10.,
-    speed_lead_values=[20., 0.],
-    speed_lead_breakpoints=[1., 11.],
-    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
-                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
-                             (CB.RES_ACCEL, 1.6), (0.0, 1.7),
-                             (CB.RES_ACCEL, 1.8), (0.0, 1.9),
-                             (CB.RES_ACCEL, 2.0), (0.0, 2.1),
-                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)],
-    checks=[check_engaged, check_no_collision],
-  ),
-  Maneuver(
-    "fcw: traveling at 30 m/s and approaching lead traveling at 20m/s",
-    duration=15.,
-    initial_speed=30.,
-    lead_relevancy=True,
-    initial_distance_lead=100.,
-    speed_lead_values=[20.],
-    speed_lead_breakpoints=[1.],
-    cruise_button_presses = [],
-    checks=[check_fcw],
-  ),
-  Maneuver(
-    "fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 1m/s2",
-    duration=18.,
-    initial_speed=20.,
-    lead_relevancy=True,
-    initial_distance_lead=35.,
-    speed_lead_values=[20., 0.],
-    speed_lead_breakpoints=[3., 23.],
-    cruise_button_presses = [],
-    checks=[check_fcw],
-  ),
-  Maneuver(
-    "fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 3m/s2",
-    duration=13.,
-    initial_speed=20.,
-    lead_relevancy=True,
-    initial_distance_lead=35.,
-    speed_lead_values=[20., 0.],
-    speed_lead_breakpoints=[3., 9.6],
-    cruise_button_presses = [],
-    checks=[check_fcw],
-  ),
-  Maneuver(
-    "fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 5m/s2",
-    duration=8.,
-    initial_speed=20.,
-    lead_relevancy=True,
-    initial_distance_lead=35.,
-    speed_lead_values=[20., 0.],
-    speed_lead_breakpoints=[3., 7.],
-    cruise_button_presses = [],
-    checks=[check_fcw],
-  )
-]
-
-# maneuvers = [maneuvers[-11]]
-# maneuvers = [maneuvers[6]]
-
-def setup_output():
-  output_dir = os.path.join(os.getcwd(), 'out/longitudinal')
-  if not os.path.exists(os.path.join(output_dir, "index.html")):
-    # write test output header
-
-    css_style = """
-    .maneuver_title {
-      font-size: 24px;
-      text-align: center;
-    }
-    .maneuver_graph {
-      width: 100%;
-    }
-    """
-
-    view_html = "<html><head><style>%s</style></head><body><table>" % (css_style,)
-    for i, man in enumerate(maneuvers):
-      view_html += "<tr><td class='maneuver_title' colspan=5><div>%s</div></td></tr><tr>" % (man.title,)
-      for c in ['distance.svg', 'speeds.svg', 'acceleration.svg', 'pedals.svg', 'pid.svg']:
-        view_html += "<td><img class='maneuver_graph' src='%s'/></td>" % (os.path.join("maneuver" + str(i+1).zfill(2), c), )
-      view_html += "</tr>"
-
-    create_dir(output_dir)
-    with open(os.path.join(output_dir, "index.html"), "w") as f:
-      f.write(view_html)
-
-class LongitudinalControl(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
-    os.environ['NO_CAN_TIMEOUT'] = "1"
-
-    setup_output()
-
-    params = Params()
-    params.clear_all()
-    params.put("Passive", "1" if os.getenv("PASSIVE") else "0")
-    params.put("OpenpilotEnabledToggle", "1")
-    params.put("CommunityFeaturesToggle", "1")
-
-    manager.gctx = {}
-    manager.prepare_managed_process('radard')
-    manager.prepare_managed_process('controlsd')
-    manager.prepare_managed_process('plannerd')
-    manager.prepare_managed_process('dmonitoringd')
-
-  @classmethod
-  def tearDownClass(cls):
-    pass
-
-  # hack
-  def test_longitudinal_setup(self):
-    pass
-
-
-def run_maneuver_worker(k):
-  man = maneuvers[k]
-  output_dir = os.path.join(os.getcwd(), 'out/longitudinal')
-
-  def run(self):
-    print(man.title)
-    valid = False
-
-    for retries in range(3):
-      manager.start_managed_process('radard')
-      manager.start_managed_process('controlsd')
-      manager.start_managed_process('plannerd')
-      manager.start_managed_process('dmonitoringd')
-
-      plot, valid = man.evaluate()
-      plot.write_plot(output_dir, "maneuver" + str(k + 1).zfill(2))
-
-      manager.kill_managed_process('radard')
-      manager.kill_managed_process('controlsd')
-      manager.kill_managed_process('plannerd')
-      manager.kill_managed_process('dmonitoringd')
-
-      if valid:
-        break
-
-    self.assertTrue(valid)
-
-  return run
-
-
-for k in range(len(maneuvers)):
-  setattr(LongitudinalControl, "test_longitudinal_maneuvers_%d" % (k + 1), run_maneuver_worker(k))
-
-if __name__ == "__main__":
-  unittest.main(failfast=True)
diff --git a/selfdrive/test/openpilotci_upload.py b/selfdrive/test/openpilotci_upload.py
deleted file mode 100755
index 177f854bfd5b96..00000000000000
--- a/selfdrive/test/openpilotci_upload.py
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import subprocess
-
-
-def upload_file(path, name):
-  from azure.storage.blob import BlockBlobService
-  sas_token = os.getenv("TOKEN", None)
-  if sas_token is None:
-    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
-  service = BlockBlobService(account_name="commadataci", sas_token=sas_token)
-  service.create_blob_from_path("openpilotci", name, path)
-  return "https://commadataci.blob.core.windows.net/openpilotci/" + name
-
-if __name__ == "__main__":
-  for f in sys.argv[1:]:
-    name = os.path.basename(f)
-    url = upload_file(f, name)
-    print(url)
diff --git a/selfdrive/test/process_replay/.gitignore b/selfdrive/test/process_replay/.gitignore
deleted file mode 100644
index 6d339d54f69d21..00000000000000
--- a/selfdrive/test/process_replay/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*.bz2
-diff.txt
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
deleted file mode 100644
index 7e92717f9df7e7..00000000000000
--- a/selfdrive/test/process_replay/README.md
+++ /dev/null
@@ -1,24 +0,0 @@
-# process replay
-
-Process replay is a regression test designed to identify any changes in the output of a process. This test replays a segment through individual processes and compares the output to a known good replay. Each make is represented in the test with a segment.
-
-If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
-
-Use `test_processes.py` to run the test locally.
-
-Currently the following processes are tested:
-
-* controlsd
-* radard
-* plannerd
-* calibrationd
-
-## Forks
-
-openpilot forks can use this test with their own reference logs
-
-To generate new logs:
-
-`./update-refs.py --no-upload`
-
-Then, check in the new logs using git-lfs. Make sure to also include the updated `ref_commit` file.
diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
deleted file mode 100755
index 82e701a75f1a54..00000000000000
--- a/selfdrive/test/process_replay/compare_logs.py
+++ /dev/null
@@ -1,63 +0,0 @@
-#!/usr/bin/env python3
-import bz2
-import os
-import sys
-
-import dictdiffer
-if "CI" in os.environ:
-  tqdm = lambda x: x
-else:
-  from tqdm import tqdm
-
-from tools.lib.logreader import LogReader
-
-def save_log(dest, log_msgs):
-  dat = b""
-  for msg in log_msgs:
-    dat += msg.as_builder().to_bytes()
-  dat = bz2.compress(dat)
-
-  with open(dest, "wb") as f:
-   f.write(dat)
-
-def remove_ignored_fields(msg, ignore):
-  msg = msg.as_builder()
-  for key, val in ignore:
-    attr = msg
-    keys = key.split(".")
-    if msg.which() not in key and len(keys) > 1:
-      continue
-
-    for k in keys[:-1]:
-      try:
-        attr = getattr(msg, k)
-      except:
-        break
-    else:
-      setattr(attr, keys[-1], val)
-  return msg.as_reader()
-
-def compare_logs(log1, log2, ignore=[]):
-  assert len(log1) == len(log2), "logs are not same length: " + str(len(log1)) + " VS " + str(len(log2))
-
-  ignore_fields = [k for k, v in ignore]
-  diff = []
-  for msg1, msg2 in tqdm(zip(log1, log2)):
-    if msg1.which() != msg2.which():
-      print(msg1, msg2)
-      assert False, "msgs not aligned between logs"
-
-    msg1_bytes = remove_ignored_fields(msg1, ignore).as_builder().to_bytes()
-    msg2_bytes = remove_ignored_fields(msg2, ignore).as_builder().to_bytes()
-
-    if msg1_bytes != msg2_bytes:
-      msg1_dict = msg1.to_dict(verbose=True)
-      msg2_dict = msg2.to_dict(verbose=True)
-      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields, tolerance=0)
-      diff.extend(dd)
-  return diff
-
-if __name__ == "__main__":
-  log1 = list(LogReader(sys.argv[1]))
-  log2 = list(LogReader(sys.argv[2]))
-  print(compare_logs(log1, log2, sys.argv[3:]))
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
deleted file mode 100755
index 9b27308b20d978..00000000000000
--- a/selfdrive/test/process_replay/process_replay.py
+++ /dev/null
@@ -1,313 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import threading
-import importlib
-
-if "CI" in os.environ:
-  tqdm = lambda x: x
-else:
-  from tqdm import tqdm
-
-from cereal import car, log
-from selfdrive.car.car_helpers import get_car
-import selfdrive.manager as manager
-import cereal.messaging as messaging
-from common.params import Params
-from cereal.services import service_list
-from collections import namedtuple
-
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback'])
-
-def wait_for_event(evt):
-  if not evt.wait(15):
-    if threading.currentThread().getName() == "MainThread":
-      # tested process likely died. don't let test just hang
-      raise Exception("Timeout reached. Tested process likely crashed.")
-    else:
-      # done testing this process, let it die
-      sys.exit(0)
-
-class FakeSocket:
-  def __init__(self, wait=True):
-    self.data = []
-    self.wait = wait
-    self.recv_called = threading.Event()
-    self.recv_ready = threading.Event()
-
-  def receive(self, non_blocking=False):
-    if non_blocking:
-      return None
-
-    if self.wait:
-      self.recv_called.set()
-      wait_for_event(self.recv_ready)
-      self.recv_ready.clear()
-    return self.data.pop()
-
-  def send(self, data):
-    if self.wait:
-      wait_for_event(self.recv_called)
-      self.recv_called.clear()
-
-    self.data.append(data)
-
-    if self.wait:
-      self.recv_ready.set()
-
-  def wait_for_recv(self):
-    wait_for_event(self.recv_called)
-
-class DumbSocket:
-  def __init__(self, s=None):
-    if s is not None:
-      dat = messaging.new_message()
-      dat.init(s)
-      self.data = dat.to_bytes()
-
-  def receive(self, non_blocking=False):
-    return self.data
-
-  def send(self, dat):
-    pass
-
-class FakeSubMaster(messaging.SubMaster):
-  def __init__(self, services):
-    super(FakeSubMaster, self).__init__(services, addr=None)
-    self.sock = {s: DumbSocket(s) for s in services}
-    self.update_called = threading.Event()
-    self.update_ready = threading.Event()
-
-    self.wait_on_getitem = False
-
-  def __getitem__(self, s):
-    # hack to know when fingerprinting is done
-    if self.wait_on_getitem:
-      self.update_called.set()
-      wait_for_event(self.update_ready)
-      self.update_ready.clear()
-    return self.data[s]
-
-  def update(self, timeout=-1):
-    self.update_called.set()
-    wait_for_event(self.update_ready)
-    self.update_ready.clear()
-
-  def update_msgs(self, cur_time, msgs):
-    wait_for_event(self.update_called)
-    self.update_called.clear()
-    super(FakeSubMaster, self).update_msgs(cur_time, msgs)
-    self.update_ready.set()
-
-  def wait_for_update(self):
-    wait_for_event(self.update_called)
-
-class FakePubMaster(messaging.PubMaster):
-  def __init__(self, services):
-    self.data = {}
-    self.sock = {}
-    self.last_updated = None
-    for s in services:
-      data = messaging.new_message()
-      try:
-        data.init(s)
-      except:
-        data.init(s, 0)
-      self.data[s] = data.as_reader()
-      self.sock[s] = DumbSocket()
-    self.send_called = threading.Event()
-    self.get_called = threading.Event()
-
-  def send(self, s, dat):
-    self.last_updated = s
-    if isinstance(dat, bytes):
-      self.data[s] = log.Event.from_bytes(dat)
-    else:
-      self.data[s] = dat.as_reader()
-    self.send_called.set()
-    wait_for_event(self.get_called)
-    self.get_called.clear()
-
-  def wait_for_msg(self):
-    wait_for_event(self.send_called)
-    self.send_called.clear()
-    dat = self.data[self.last_updated]
-    self.get_called.set()
-    return dat
-
-def fingerprint(msgs, fsm, can_sock):
-  print("start fingerprinting")
-  fsm.wait_on_getitem = True
-
-  # populate fake socket with data for fingerprinting
-  canmsgs = [msg for msg in msgs if msg.which() == "can"]
-  wait_for_event(can_sock.recv_called)
-  can_sock.recv_called.clear()
-  can_sock.data = [msg.as_builder().to_bytes() for msg in canmsgs[:300]]
-  can_sock.recv_ready.set()
-  can_sock.wait = False
-
-  # we know fingerprinting is done when controlsd sets sm['pathPlan'].sensorValid
-  wait_for_event(fsm.update_called)
-  fsm.update_called.clear()
-
-  fsm.wait_on_getitem = False
-  can_sock.wait = True
-  can_sock.data = []
-
-  fsm.update_ready.set()
-  print("finished fingerprinting")
-
-def get_car_params(msgs, fsm, can_sock):
-  can = FakeSocket(wait=False)
-  sendcan = FakeSocket(wait=False)
-
-  canmsgs = [msg for msg in msgs if msg.which() == 'can']
-  for m in canmsgs[:300]:
-    can.send(m.as_builder().to_bytes())
-  _, CP = get_car(can, sendcan)
-  Params().put("CarParams", CP.to_bytes())
-
-def radar_rcv_callback(msg, CP, cfg, fsm):
-  if msg.which() != "can":
-    return [], False
-  elif CP.radarOffCan:
-    return ["radarState", "liveTracks"], True
-
-  radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474],
-                "chrysler": [0x2d4]}.get(CP.carName, None)
-
-  if radar_msgs is None:
-    raise NotImplementedError
-
-  for m in msg.can:
-    if m.src == 1 and m.address in radar_msgs:
-      return ["radarState", "liveTracks"], True
-  return [], False
-
-def calibration_rcv_callback(msg, CP, cfg, fsm):
-  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
-  # should_recv always true to increment frame
-  recv_socks = ["liveCalibration"] if (fsm.frame + 1) % 5 == 0 else []
-  return recv_socks, True
-
-
-CONFIGS = [
-  ProcessConfig(
-    proc_name="controlsd",
-    pub_sub={
-      "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
-      "thermal": [], "health": [], "liveCalibration": [], "dMonitoringState": [], "plan": [], "pathPlan": [], "gpsLocation": [],
-      "model": [],
-    },
-    ignore=[("logMonoTime", 0), ("valid", True), ("controlsState.startMonoTime", 0), ("controlsState.cumLagMs", 0)],
-    init_callback=fingerprint,
-    should_recv_callback=None,
-  ),
-  ProcessConfig(
-    proc_name="radard",
-    pub_sub={
-      "can": ["radarState", "liveTracks"],
-      "liveParameters":  [], "controlsState":  [], "model":  [],
-    },
-    ignore=[("logMonoTime", 0), ("valid", True), ("radarState.cumLagMs", 0)],
-    init_callback=get_car_params,
-    should_recv_callback=radar_rcv_callback,
-  ),
-  ProcessConfig(
-    proc_name="plannerd",
-    pub_sub={
-      "model": ["pathPlan"], "radarState": ["plan"],
-      "carState": [], "controlsState": [], "liveParameters": [],
-    },
-    ignore=[("logMonoTime", 0), ("valid", True), ("plan.processingDelay", 0)],
-    init_callback=get_car_params,
-    should_recv_callback=None,
-  ),
-  ProcessConfig(
-    proc_name="calibrationd",
-    pub_sub={
-      "cameraOdometry": ["liveCalibration"]
-    },
-    ignore=[("logMonoTime", 0), ("valid", True)],
-    init_callback=get_car_params,
-    should_recv_callback=calibration_rcv_callback,
-  ),
-  ProcessConfig(
-    proc_name="dmonitoringd",
-    pub_sub={
-      "driverState": ["dMonitoringState"],
-      "liveCalibration": [], "carState": [], "model": [], "gpsLocation": [],
-    },
-    ignore=[("logMonoTime", 0), ("valid", True)],
-    init_callback=get_car_params,
-    should_recv_callback=None,
-  ),
-]
-
-def replay_process(cfg, lr):
-  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
-  pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
-
-  fsm = FakeSubMaster(pub_sockets)
-  fpm = FakePubMaster(sub_sockets)
-  args = (fsm, fpm)
-  if 'can' in list(cfg.pub_sub.keys()):
-    can_sock = FakeSocket()
-    args = (fsm, fpm, can_sock)
-
-  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
-  pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
-
-  params = Params()
-  params.clear_all()
-  params.manager_start()
-  params.put("OpenpilotEnabledToggle", "1")
-  params.put("Passive", "0")
-  params.put("CommunityFeaturesToggle", "1")
-
-  os.environ['NO_RADAR_SLEEP'] = "1"
-  manager.prepare_managed_process(cfg.proc_name)
-  mod = importlib.import_module(manager.managed_processes[cfg.proc_name])
-  thread = threading.Thread(target=mod.main, args=args)
-  thread.daemon = True
-  thread.start()
-
-  if cfg.init_callback is not None:
-    if 'can' not in list(cfg.pub_sub.keys()):
-      can_sock = None
-    cfg.init_callback(all_msgs, fsm, can_sock)
-
-  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
-
-  # wait for started process to be ready
-  if 'can' in list(cfg.pub_sub.keys()):
-    can_sock.wait_for_recv()
-  else:
-    fsm.wait_for_update()
-
-  log_msgs, msg_queue = [], []
-  for msg in tqdm(pub_msgs):
-    if cfg.should_recv_callback is not None:
-      recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm)
-    else:
-      recv_socks = [s for s in cfg.pub_sub[msg.which()] if
-                      (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
-      should_recv = bool(len(recv_socks))
-
-    if msg.which() == 'can':
-      can_sock.send(msg.as_builder().to_bytes())
-    else:
-      msg_queue.append(msg.as_builder())
-
-    if should_recv:
-      fsm.update_msgs(0, msg_queue)
-      msg_queue = []
-
-      recv_cnt = len(recv_socks)
-      while recv_cnt > 0:
-        m = fpm.wait_for_msg()
-        log_msgs.append(m)
-
-        recv_cnt -= m.which() in recv_socks
-  return log_msgs
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
deleted file mode 100644
index 1414556bffeb6d..00000000000000
--- a/selfdrive/test/process_replay/ref_commit
+++ /dev/null
@@ -1 +0,0 @@
-917e6889be1691fb96e7566a92e0c6bbefc861a4
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
deleted file mode 100755
index 6832aba33cca9c..00000000000000
--- a/selfdrive/test/process_replay/test_processes.py
+++ /dev/null
@@ -1,118 +0,0 @@
-#!/usr/bin/env python3
-import os
-import requests
-import sys
-import tempfile
-
-from selfdrive.test.process_replay.compare_logs import compare_logs
-from selfdrive.test.process_replay.process_replay import replay_process, CONFIGS
-from tools.lib.logreader import LogReader
-
-segments = [
-  "0375fdf7b1ce594d|2019-06-13--08-32-25--3", # HONDA.ACCORD
-  "99c94dc769b5d96e|2019-08-03--14-19-59--2", # HONDA.CIVIC
-  "cce908f7eb8db67d|2019-08-02--15-09-51--3", # TOYOTA.COROLLA_TSS2
-  "7ad88f53d406b787|2019-07-09--10-18-56--8", # GM.VOLT
-  "704b2230eb5190d6|2019-07-06--19-29-10--0", # HYUNDAI.KIA_SORENTO
-  "b6e1317e1bfbefa6|2019-07-06--04-05-26--5", # CHRYSLER.JEEP_CHEROKEE
-  "7873afaf022d36e2|2019-07-03--18-46-44--0", # SUBARU.IMPREZA
-]
-
-def get_segment(segment_name):
-  route_name, segment_num = segment_name.rsplit("--", 1)
-  rlog_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/%s/rlog.bz2" \
-                % (route_name.replace("|", "/"), segment_num)
-  r = requests.get(rlog_url)
-  if r.status_code != 200:
-    return None
-
-  with tempfile.NamedTemporaryFile(delete=False, suffix=".bz2") as f:
-    f.write(r.content)
-    return f.name
-
-if __name__ == "__main__":
-
-  process_replay_dir = os.path.dirname(os.path.abspath(__file__))
-  ref_commit_fn = os.path.join(process_replay_dir, "ref_commit")
-
-  if not os.path.isfile(ref_commit_fn):
-    print("couldn't find reference commit")
-    sys.exit(1)
-
-  ref_commit = open(ref_commit_fn).read().strip()
-  print("***** testing against commit %s *****" % ref_commit)
-
-  results = {}
-  for segment in segments:
-    print("***** testing route segment %s *****\n" % segment)
-
-    results[segment] = {}
-
-    rlog_fn = get_segment(segment)
-
-    if rlog_fn is None:
-      print("failed to get segment %s" % segment)
-      sys.exit(1)
-
-    lr = LogReader(rlog_fn)
-
-    for cfg in CONFIGS:
-      log_msgs = replay_process(cfg, lr)
-
-      log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
-
-      if not os.path.isfile(log_fn):
-        url = "https://commadataci.blob.core.windows.net/openpilotci/"
-        req = requests.get(url + os.path.basename(log_fn))
-        if req.status_code != 200:
-          results[segment][cfg.proc_name] = "failed to download comparison log"
-          continue
-
-        with tempfile.NamedTemporaryFile(suffix=".bz2") as f:
-          f.write(req.content)
-          f.flush()
-          f.seek(0)
-          cmp_log_msgs = list(LogReader(f.name))
-      else:
-        cmp_log_msgs = list(LogReader(log_fn))
-
-      diff = compare_logs(cmp_log_msgs, log_msgs, cfg.ignore)
-      results[segment][cfg.proc_name] = diff
-    os.remove(rlog_fn)
-
-  failed = False
-  with open(os.path.join(process_replay_dir, "diff.txt"), "w") as f:
-    f.write("***** tested against commit %s *****\n" % ref_commit)
-
-    for segment, result in list(results.items()):
-      f.write("***** differences for segment %s *****\n" % segment)
-      print("***** results for segment %s *****" % segment)
-
-      for proc, diff in list(result.items()):
-        f.write("*** process: %s ***\n" % proc)
-        print("\t%s" % proc)
-
-        if isinstance(diff, str):
-          print("\t\t%s" % diff)
-          failed = True
-        elif len(diff):
-          cnt = {}
-          for d in diff:
-            f.write("\t%s\n" % str(d))
-
-            k = str(d[1])
-            cnt[k] = 1 if k not in cnt else cnt[k] + 1
-
-          for k, v in sorted(cnt.items()):
-            print("\t\t%s: %s" % (k, v))
-          failed = True
-
-    if failed:
-      print("TEST FAILED")
-    else:
-      print("TEST SUCCEEDED")
-
-  print("\n\nTo update the reference logs for this test run:")
-  print("./update_refs.py")
-
-  sys.exit(int(failed))
diff --git a/selfdrive/test/process_replay/update_refs.py b/selfdrive/test/process_replay/update_refs.py
deleted file mode 100755
index e0da25133e009d..00000000000000
--- a/selfdrive/test/process_replay/update_refs.py
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-
-from selfdrive.test.openpilotci_upload import upload_file
-from selfdrive.test.process_replay.compare_logs import save_log
-from selfdrive.test.process_replay.process_replay import replay_process, CONFIGS
-from selfdrive.test.process_replay.test_processes import segments, get_segment
-from selfdrive.version import get_git_commit
-from tools.lib.logreader import LogReader
-
-if __name__ == "__main__":
-
-  no_upload = "--no-upload" in sys.argv
-
-  process_replay_dir = os.path.dirname(os.path.abspath(__file__))
-  ref_commit_fn = os.path.join(process_replay_dir, "ref_commit")
-
-  ref_commit = get_git_commit()
-  with open(ref_commit_fn, "w") as f:
-    f.write(ref_commit)
-
-  for segment in segments:
-    rlog_fn = get_segment(segment)
-
-    if rlog_fn is None:
-      print("failed to get segment %s" % segment)
-      sys.exit(1)
-
-    lr = LogReader(rlog_fn)
-
-    for cfg in CONFIGS:
-      log_msgs = replay_process(cfg, lr)
-      log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
-      save_log(log_fn, log_msgs)
-
-      if not no_upload:
-        upload_file(log_fn, os.path.basename(log_fn))
-        os.remove(log_fn)
-    os.remove(rlog_fn)
-
-  print("done")
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
new file mode 100755
index 00000000000000..53c7b3909504ca
--- /dev/null
+++ b/selfdrive/test/setup_device_ci.sh
@@ -0,0 +1,43 @@
+#!/usr/bin/bash -e
+
+if [ -z "$SOURCE_DIR" ]; then
+  echo "SOURCE_DIR must be set"
+  exit 1
+fi
+
+if [ -z "$GIT_COMMIT" ]; then
+  echo "GIT_COMMIT must be set"
+  exit 1
+fi
+
+if [ -z "$TEST_DIR" ]; then
+  echo "TEST_DIR must be set"
+  exit 1
+fi
+
+umount /data/safe_staging/merged/ || true
+sudo umount /data/safe_staging/merged/ || true
+
+if [ -f "/EON" ]; then
+  rm -rf /data/core
+  rm -rf /data/neoupdate
+  rm -rf /data/safe_staging
+fi
+
+# set up environment
+cd $SOURCE_DIR
+git reset --hard
+git fetch
+find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
+git fetch --verbose origin $GIT_COMMIT
+git reset --hard $GIT_COMMIT
+git checkout $GIT_COMMIT
+git clean -xdf
+git submodule update --init --recursive
+git submodule foreach --recursive "git reset --hard && git clean -xdf"
+
+echo "git checkout done, t=$SECONDS"
+
+rsync -a --delete $SOURCE_DIR $TEST_DIR
+
+echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
deleted file mode 100755
index 1436f404e70b16..00000000000000
--- a/selfdrive/test/test_car_models.py
+++ /dev/null
@@ -1,587 +0,0 @@
-#!/usr/bin/env python3
-import time
-import os
-import sys
-import signal
-import subprocess
-import requests
-from cereal import car
-
-import selfdrive.manager as manager
-import cereal.messaging as messaging
-from common.params import Params
-from common.basedir import BASEDIR
-from selfdrive.car.fingerprints import all_known_cars
-from selfdrive.car.honda.values import CAR as HONDA
-from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.car.gm.values import CAR as GM
-from selfdrive.car.ford.values import CAR as FORD
-from selfdrive.car.hyundai.values import CAR as HYUNDAI
-from selfdrive.car.chrysler.values import CAR as CHRYSLER
-from selfdrive.car.subaru.values import CAR as SUBARU
-from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
-from selfdrive.car.mock.values import CAR as MOCK
-
-
-os.environ['NOCRASH'] = '1'
-
-
-def wait_for_sockets(socks, timeout=10.0):
-  sm = messaging.SubMaster(socks)
-  t = time.time()
-
-  recvd = []
-  while time.time() - t < timeout and len(recvd) < len(socks):
-    sm.update()
-    for s in socks:
-      if s not in recvd and sm.updated[s]:
-        recvd.append(s)
-  return recvd
-
-def get_route_log(route_name):
-  log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), "rlog.bz2"))
-
-  if not os.path.isfile(log_path):
-    log_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/0/%s" % (route_name.replace("|", "/"), "rlog.bz2")
-
-    # if request fails, try again once and let it throw exception if fails again
-    try:
-      r = requests.get(log_url, timeout=15)
-    except:
-      r = requests.get(log_url, timeout=15)
-
-    if r.status_code == 200:
-      with open(log_path, "wb") as f:
-        f.write(r.content)
-    else:
-      print("failed to download test log %s" % route_name)
-      sys.exit(-1)
-
-routes = {
-  "975b26878285314d|2018-12-25--14-42-13": {
-    'carFingerprint': CHRYSLER.PACIFICA_2018_HYBRID,
-    'enableCamera': True,
-  },
-  "b0c9d2329ad1606b|2019-01-06--10-11-23": {
-    'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
-    'enableCamera': True,
-  },
-  "0607d2516fc2148f|2019-02-13--23-03-16": {
-    'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
-    'enableCamera': True,
-  },
-  "8190c7275a24557b|2020-01-29--08-33-58": {
-    'carFingerprint': CHRYSLER.PACIFICA_2020_HYBRID,
-    'enableCamera': True,
-  },
-  # This pacifica was removed because the fingerprint seemed from a Volt
-  #"9f7a7e50a51fb9db|2019-01-03--14-05-01": {
-  #  'carFingerprint': CHRYSLER.PACIFICA_2018,
-  #  'enableCamera': True,
-  #},
-  "9f7a7e50a51fb9db|2019-01-17--18-34-21": {
-    'carFingerprint': CHRYSLER.JEEP_CHEROKEE,
-    'enableCamera': True,
-  },
-  "192a598e34926b1e|2019-04-04--13-27-39": {
-    'carFingerprint': CHRYSLER.JEEP_CHEROKEE_2019,
-    'enableCamera': True,
-  },
-  "f1b4c567731f4a1b|2018-04-18--11-29-37": {
-    'carFingerprint': FORD.FUSION,
-    'enableCamera': False,
-  },
-  "f1b4c567731f4a1b|2018-04-30--10-15-35": {
-    'carFingerprint': FORD.FUSION,
-    'enableCamera': True,
-  },
-  "7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
-    'carFingerprint': GM.CADILLAC_CT6,
-    'enableCamera': True,
-  },
-  "265007255e794bce|2018-11-24--22-08-31": {
-    'carFingerprint': GM.CADILLAC_ATS,
-    'enableCamera': True,
-  },
-  "c950e28c26b5b168|2018-05-30--22-03-41": {
-    'carFingerprint': GM.VOLT,
-    'enableCamera': True,
-  },
-  # TODO: use another route that has radar data at start
-  "aadda448b49c99ad|2018-10-25--17-16-22": {
-    'carFingerprint': GM.MALIBU,
-    'enableCamera': True,
-  },
-  "49c73650e65ff465|2018-11-19--16-58-04": {
-    'carFingerprint': GM.HOLDEN_ASTRA,
-    'enableCamera': True,
-  },
-  "7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
-    'carFingerprint': GM.ACADIA,
-    'enableCamera': True,
-  },
-  "aa20e335f61ba898|2018-12-17--21-10-37": {
-    'carFingerprint': GM.BUICK_REGAL,
-    'enableCamera': False,
-  },
-  "aa20e335f61ba898|2019-02-05--16-59-04": {
-    'carFingerprint': GM.BUICK_REGAL,
-    'enableCamera': True,
-  },
-  "7d44af5b7a1b2c8e|2017-09-16--01-50-07": {
-    'carFingerprint': HONDA.CIVIC,
-    'enableCamera': True,
-  },
-  "c9d60e5e02c04c5c|2018-01-08--16-01-49": {
-    'carFingerprint': HONDA.CRV,
-    'enableCamera': True,
-  },
-  "1851183c395ef471|2018-05-31--18-07-21": {
-    'carFingerprint': HONDA.CRV_5G,
-    'enableCamera': True,
-  },
-  "232585b7784c1af4|2019-04-08--14-12-14": {
-    'carFingerprint': HONDA.CRV_HYBRID,
-    'enableCamera': True,
-  },
-  "99e3eaed7396619e|2019-08-13--15-07-03": {
-    'carFingerprint': HONDA.FIT,
-    'enableCamera': True,
-  },
-  "2ac95059f70d76eb|2018-02-05--15-03-29": {
-    'carFingerprint': HONDA.ACURA_ILX,
-    'enableCamera': True,
-  },
-  "21aa231dee2a68bd|2018-01-30--04-54-41": {
-    'carFingerprint': HONDA.ODYSSEY,
-    'enableCamera': True,
-  },
-  "81722949a62ea724|2019-03-29--15-51-26": {
-    'carFingerprint': HONDA.ODYSSEY_CHN,
-    'enableCamera': False,
-  },
-  "81722949a62ea724|2019-04-06--15-19-25": {
-    'carFingerprint': HONDA.ODYSSEY_CHN,
-    'enableCamera': True,
-  },
-  "5a2cfe4bb362af9e|2018-02-02--23-41-07": {
-    'carFingerprint': HONDA.ACURA_RDX,
-    'enableCamera': True,
-  },
-  "3e9592a1c78a3d63|2018-02-08--20-28-24": {
-    'carFingerprint': HONDA.PILOT,
-    'enableCamera': True,
-  },
-  "34a84d2b765df688|2018-08-28--12-41-00": {
-    'carFingerprint': HONDA.PILOT_2019,
-    'enableCamera': True,
-  },
-  "900ad17e536c3dc7|2018-04-12--22-02-36": {
-    'carFingerprint': HONDA.RIDGELINE,
-    'enableCamera': True,
-  },
-  "f1b4c567731f4a1b|2018-06-06--14-43-46": {
-    'carFingerprint': HONDA.ACCORD,
-    'enableCamera': True,
-  },
-  "1582e1dc57175194|2018-08-15--07-46-07": {
-    'carFingerprint': HONDA.ACCORD_15,
-    'enableCamera': True,
-  },
-  # TODO: This doesnt fingerprint because the fingerprint overlaps with the Insight
-  # "690c4c9f9f2354c7|2018-09-15--17-36-05": {
-  #   'carFingerprint': HONDA.ACCORDH,
-  #   'enableCamera': True,
-  # },
-  "1632088eda5e6c4d|2018-06-07--08-03-18": {
-    'carFingerprint': HONDA.CIVIC_BOSCH,
-    'enableCamera': True,
-  },
-  #"18971a99f3f2b385|2018-11-14--19-09-31": {
-  #  'carFingerprint': HONDA.INSIGHT,
-  #  'enableCamera': True,
-  #},
-  "38bfd238edecbcd7|2018-08-22--09-45-44": {
-    'carFingerprint': HYUNDAI.SANTA_FE,
-    'enableCamera': False,
-  },
-  "38bfd238edecbcd7|2018-08-29--22-02-15": {
-    'carFingerprint': HYUNDAI.SANTA_FE,
-    'enableCamera': True,
-  },
-  "a893a80e5c5f72c8|2019-01-14--20-02-59": {
-    'carFingerprint': HYUNDAI.GENESIS,
-    'enableCamera': True,
-  },
-  "9d5fb4f0baa1b3e1|2019-01-14--17-45-59": {
-    'carFingerprint': HYUNDAI.KIA_SORENTO,
-    'enableCamera': True,
-  },
-  "215cd70e9c349266|2018-11-25--22-22-12": {
-    'carFingerprint': HYUNDAI.KIA_STINGER,
-    'enableCamera': True,
-  },
-  "31390e3eb6f7c29a|2019-01-23--08-56-00": {
-    'carFingerprint': HYUNDAI.KIA_OPTIMA,
-    'enableCamera': True,
-  },
-  "53ac3251e03f95d7|2019-01-10--13-43-32": {
-    'carFingerprint': HYUNDAI.ELANTRA,
-    'enableCamera': True,
-  },
-  "f7b6be73e3dfd36c|2019-05-12--18-07-16": {
-    'carFingerprint': TOYOTA.AVALON,
-    'enableCamera': False,
-    'enableDsu': False,
-  },
-  "f7b6be73e3dfd36c|2019-05-11--22-34-20": {
-    'carFingerprint': TOYOTA.AVALON,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "b0f5a01cf604185c|2018-01-26--00-54-32": {
-    'carFingerprint': TOYOTA.COROLLA,
-    'enableCamera': True,
-    'enableDsu': True,
-  },
-  "b0f5a01cf604185c|2018-01-26--10-54-38": {
-    'carFingerprint': TOYOTA.COROLLA,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "b0f5a01cf604185c|2018-01-26--10-59-31": {
-    'carFingerprint': TOYOTA.COROLLA,
-    'enableCamera': False,
-    'enableDsu': False,
-  },
-  "5f5afb36036506e4|2019-05-14--02-09-54": {
-    'carFingerprint': TOYOTA.COROLLA_TSS2,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "5ceff72287a5c86c|2019-10-19--10-59-02": {
-    'carFingerprint': TOYOTA.COROLLAH_TSS2,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "56fb1c86a9a86404|2017-11-10--10-18-43": {
-    'carFingerprint': TOYOTA.PRIUS,
-    'enableCamera': True,
-    'enableDsu': True,
-  },
-  "b0f5a01cf604185c|2017-12-18--20-32-32": {
-    'carFingerprint': TOYOTA.RAV4,
-    'enableCamera': True,
-    'enableDsu': True,
-    'enableGasInterceptor': False,
-  },
-  "b0c9d2329ad1606b|2019-04-02--13-24-43": {
-    'carFingerprint': TOYOTA.RAV4,
-    'enableCamera': True,
-    'enableDsu': True,
-    'enableGasInterceptor': True,
-  },
-  "cdf2f7de565d40ae|2019-04-25--03-53-41": {
-    'carFingerprint': TOYOTA.RAV4_TSS2,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-    "7e34a988419b5307|2019-12-18--19-13-30": {
-    'carFingerprint': TOYOTA.RAV4H_TSS2,
-    'enableCamera': True,
-    'fingerprintSource': 'fixed'
-  },
-  "e6a24be49a6cd46e|2019-10-29--10-52-42": {
-    'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "f49e8041283f2939|2019-05-29--13-48-33": {
-    'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
-    'enableCamera': False,
-    'enableDsu': False,
-  },
-  "f49e8041283f2939|2019-05-30--11-51-51": {
-    'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-    "886fcd8408d570e9|2020-01-29--05-11-22": {
-      'carFingerprint': TOYOTA.LEXUS_RX,
-      'enableCamera': True,
-      'enableDsu': True,
-    },
-    "886fcd8408d570e9|2020-01-29--02-18-55": {
-      'carFingerprint': TOYOTA.LEXUS_RX,
-      'enableCamera': True,
-      'enableDsu': False,
-    },
-  "b0f5a01cf604185c|2018-02-01--21-12-28": {
-    'carFingerprint': TOYOTA.LEXUS_RXH,
-    'enableCamera': True,
-    'enableDsu': True,
-  },
-    "01b22eb2ed121565|2020-02-02--11-25-51": {
-    'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
-    'enableCamera': True,
-  },
-  "ec429c0f37564e3c|2020-02-01--17-28-12": {
-    'carFingerprint': TOYOTA.LEXUS_NXH,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  #FIXME: This works sometimes locally, but never in CI. Timing issue?
-  #"b0f5a01cf604185c|2018-01-31--20-11-39": {
-  #  'carFingerprint': TOYOTA.LEXUS_RXH,
-  #  'enableCamera': False,
-  #  'enableDsu': False,
-  #},
-  "8ae193ceb56a0efe|2018-06-18--20-07-32": {
-    'carFingerprint': TOYOTA.RAV4H,
-    'enableCamera': True,
-    'enableDsu': True,
-  },
-  "fd10b9a107bb2e49|2018-07-24--16-32-42": {
-    'carFingerprint': TOYOTA.CHR,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "fd10b9a107bb2e49|2018-07-24--20-32-08": {
-    'carFingerprint': TOYOTA.CHR,
-    'enableCamera': False,
-    'enableDsu': False,
-  },
-  "b4c18bf13d5955da|2018-07-29--13-39-46": {
-    'carFingerprint': TOYOTA.CHRH,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "d2d8152227f7cb82|2018-07-25--13-40-56": {
-    'carFingerprint': TOYOTA.CAMRY,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "fbd011384db5e669|2018-07-26--20-51-48": {
-    'carFingerprint': TOYOTA.CAMRYH,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  # TODO: This replay has no good model/video
-  # "c9fa2dd0f76caf23|2018-02-10--13-40-28": {
-  #   'carFingerprint': TOYOTA.CAMRYH,
-  #   'enableCamera': False,
-  #   'enableDsu': False,
-  # },
-  # TODO: missingsome combos for highlander
-  "0a302ffddbb3e3d3|2020-02-08--16-19-08": {
-    'carFingerprint': TOYOTA.HIGHLANDER_TSS2,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "aa659debdd1a7b54|2018-08-31--11-12-01": {
-    'carFingerprint': TOYOTA.HIGHLANDER,
-    'enableCamera': False,
-    'enableDsu': False,
-  },
-  "362d23d4d5bea2fa|2018-09-02--17-03-55": {
-    'carFingerprint': TOYOTA.HIGHLANDERH,
-    'enableCamera': True,
-    'enableDsu': True,
-  },
-  "eb6acd681135480d|2019-06-20--20-00-00": {
-    'carFingerprint': TOYOTA.SIENNA,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "362d23d4d5bea2fa|2018-08-10--13-31-40": {
-    'carFingerprint': TOYOTA.HIGHLANDERH,
-    'enableCamera': False,
-    'enableDsu': False,
-  },
-  "2e07163a1ba9a780|2019-08-25--13-15-13": {
-    'carFingerprint': TOYOTA.LEXUS_IS,
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "2e07163a1ba9a780|2019-08-29--09-35-42": {
-    'carFingerprint': TOYOTA.LEXUS_IS,
-    'enableCamera': False,
-    'enableDsu': False,
-  },
-  "1dd19ceed0ee2b48|2018-12-22--17-36-49": {
-    'carFingerprint': TOYOTA.LEXUS_IS, # 300 hybrid
-    'enableCamera': True,
-    'enableDsu': False,
-  },
-  "76b83eb0245de90e|2019-10-20--15-42-29": {
-    'carFingerprint': VOLKSWAGEN.GOLF,
-    'enableCamera': True,
-  },
-  "791340bc01ed993d|2019-03-10--16-28-08": {
-    'carFingerprint': SUBARU.IMPREZA,
-    'enableCamera': True,
-  },
-  # Tesla route, should result in mock car
-  "07cb8a788c31f645|2018-06-17--18-50-29": {
-    'carFingerprint': MOCK.MOCK,
-  },
-  ## Route with no can data, should result in mock car. This is not supported anymore
-  #"bfa17080b080f3ec|2018-06-28--23-27-47": {
-  #  'carFingerprint': MOCK.MOCK,
-  #},
-}
-
-passive_routes = [
-  "07cb8a788c31f645|2018-06-17--18-50-29",
-  #"bfa17080b080f3ec|2018-06-28--23-27-47",
-]
-
-forced_dashcam_routes = [
-  # Ford fusion
-  "f1b4c567731f4a1b|2018-04-18--11-29-37",
-  "f1b4c567731f4a1b|2018-04-30--10-15-35",
-]
-
-# TODO: replace all these with public routes
-non_public_routes = [
-  "0607d2516fc2148f|2019-02-13--23-03-16",  # CHRYSLER PACIFICA HYBRID 2019
-  "3e9592a1c78a3d63|2018-02-08--20-28-24",  # HONDA PILOT 2017 TOURING
-  "aa20e335f61ba898|2019-02-05--16-59-04",  # BUICK REGAL ESSENCE 2018
-  "1851183c395ef471|2018-05-31--18-07-21",  # HONDA CR-V 2017 EX
-  "9d5fb4f0baa1b3e1|2019-01-14--17-45-59",  # KIA SORENTO GT LINE 2018
-  "b4c18bf13d5955da|2018-07-29--13-39-46",  # TOYOTA C-HR HYBRID 2018
-  "5a2cfe4bb362af9e|2018-02-02--23-41-07",  # ACURA RDX 2018 ACURAWATCH PLUS
-  "362d23d4d5bea2fa|2018-08-10--13-31-40",  # TOYOTA HIGHLANDER HYBRID 2018
-  "aa20e335f61ba898|2018-12-17--21-10-37",  # BUICK REGAL ESSENCE 2018
-  "215cd70e9c349266|2018-11-25--22-22-12",  # KIA STINGER GT2 2018
-  "192a598e34926b1e|2019-04-04--13-27-39",  # JEEP GRAND CHEROKEE 2019
-  "34a84d2b765df688|2018-08-28--12-41-00",  # HONDA PILOT 2019 ELITE
-  "b0c9d2329ad1606b|2019-01-06--10-11-23",  # CHRYSLER PACIFICA HYBRID 2017
-  "31390e3eb6f7c29a|2019-01-23--08-56-00",  # KIA OPTIMA SX 2019
-  "fd10b9a107bb2e49|2018-07-24--16-32-42",  # TOYOTA C-HR 2018
-  "9f7a7e50a51fb9db|2019-01-17--18-34-21",  # JEEP GRAND CHEROKEE V6 2018
-  "aadda448b49c99ad|2018-10-25--17-16-22",  # CHEVROLET MALIBU PREMIER 2017
-  "362d23d4d5bea2fa|2018-09-02--17-03-55",  # TOYOTA HIGHLANDER HYBRID 2018
-  "1582e1dc57175194|2018-08-15--07-46-07",  # HONDA ACCORD 2018 LX 1.5T
-  "fd10b9a107bb2e49|2018-07-24--20-32-08",  # TOYOTA C-HR 2018
-  "265007255e794bce|2018-11-24--22-08-31",  # CADILLAC ATS Premium Performance 2018
-  "53ac3251e03f95d7|2019-01-10--13-43-32",  # HYUNDAI ELANTRA LIMITED ULTIMATE 2017
-  "21aa231dee2a68bd|2018-01-30--04-54-41",  # HONDA ODYSSEY 2018 EX-L
-  "900ad17e536c3dc7|2018-04-12--22-02-36",  # HONDA RIDGELINE 2017 BLACK EDITION
-  "975b26878285314d|2018-12-25--14-42-13",  # CHRYSLER PACIFICA HYBRID 2018
-  "8ae193ceb56a0efe|2018-06-18--20-07-32",  # TOYOTA RAV4 HYBRID 2017
-  "a893a80e5c5f72c8|2019-01-14--20-02-59",  # HYUNDAI GENESIS 2018
-  "49c73650e65ff465|2018-11-19--16-58-04",  # HOLDEN ASTRA RS-V BK 2017
-  "d2d8152227f7cb82|2018-07-25--13-40-56",  # TOYOTA CAMRY 2018
-  "07cb8a788c31f645|2018-06-17--18-50-29",  # mock
-  "c9d60e5e02c04c5c|2018-01-08--16-01-49",  # HONDA CR-V 2016 TOURING
-  "1632088eda5e6c4d|2018-06-07--08-03-18",  # HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019
-  "fbd011384db5e669|2018-07-26--20-51-48",  # TOYOTA CAMRY HYBRID 2018
-]
-
-# TODO: add routes for these cars
-non_tested_cars = [TOYOTA.LEXUS_CTH, CHRYSLER.PACIFICA_2018, HONDA.ACCORDH]
-
-if __name__ == "__main__":
-
-  tested_procs = ["controlsd", "radard", "plannerd"]
-  tested_socks = ["radarState", "controlsState", "carState", "plan"]
-
-  tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
-  for car_model in all_known_cars():
-    if car_model not in tested_cars:
-      print("***** WARNING: %s not tested *****" % car_model)
-
-      # TODO: skip these for now, but make sure any new ports get routes
-      if car_model not in non_tested_cars:
-        print("TEST FAILED: Missing route for car '%s'" % car_model)
-        sys.exit(1)
-
-  print("Preparing processes")
-  for p in tested_procs:
-    manager.prepare_managed_process(p)
-
-  results = {}
-  for route, checks in routes.items():
-    if route not in non_public_routes:
-      print("GETTING ROUTE LOGS")
-      get_route_log(route)
-      print("DONE GETTING ROUTE LOGS")
-    elif "UNLOGGER_PATH" not in os.environ:
-      continue
-
-    params = Params()
-    params.clear_all()
-    params.manager_start()
-    params.put("OpenpilotEnabledToggle", "1")
-    params.put("CommunityFeaturesToggle", "1")
-    params.put("Passive", "1" if route in passive_routes else "0")
-
-    if checks.get('fingerprintSource', None) == 'fixed':
-      os.environ['FINGERPRINT'] = checks['carFingerprint']
-    else:
-      os.environ['FINGERPRINT'] = ""
-
-    print("testing ", route, " ", checks['carFingerprint'])
-    print("Starting processes")
-    for p in tested_procs:
-      manager.start_managed_process(p)
-
-    # Start unlogger
-    print("Start unlogger")
-    if route in non_public_routes:
-      unlogger_cmd = [os.path.join(BASEDIR, os.environ['UNLOGGER_PATH']), route]
-    else:
-      unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
-    unlogger = subprocess.Popen(unlogger_cmd + ['--disable', 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive'], preexec_fn=os.setsid)
-
-    print("Check sockets")
-    extra_socks = []
-    has_camera = checks.get('enableCamera', False)
-    if (route not in passive_routes) and (route not in forced_dashcam_routes) and has_camera:
-      extra_socks.append("sendcan")
-    if route not in passive_routes:
-      extra_socks.append("pathPlan")
-
-    recvd_socks = wait_for_sockets(tested_socks + extra_socks, timeout=30)
-    failures = [s for s in tested_socks + extra_socks if s not in recvd_socks]
-
-    print("Check if everything is running")
-    running = manager.get_running()
-    for p in tested_procs:
-      if not running[p].is_alive:
-        failures.append(p)
-      manager.kill_managed_process(p)
-    os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
-
-    sockets_ok = len(failures) == 0
-    params_ok = True
-
-    try:
-      car_params = car.CarParams.from_bytes(params.get("CarParams"))
-      for k, v in checks.items():
-        if not v == getattr(car_params, k):
-          params_ok = False
-          failures.append(k)
-    except Exception:
-      params_ok = False
-
-    if sockets_ok and params_ok:
-      print("Success")
-      results[route] = True, failures
-    else:
-      print("Failure")
-      results[route] = False, failures
-      break
-
-  # put back not passive to not leave the params in an unintended state
-  Params().put("Passive", "0")
-
-  for route in results:
-    print(results[route])
-
-  if not all(passed for passed, _ in results.values()):
-    print("TEST FAILED")
-    sys.exit(1)
-  else:
-    print("TEST SUCCESSFUL")
diff --git a/selfdrive/test/test_fingerprints.py b/selfdrive/test/test_fingerprints.py
index aeb75896d9012c..07e47748271cdc 100755
--- a/selfdrive/test/test_fingerprints.py
+++ b/selfdrive/test/test_fingerprints.py
@@ -7,7 +7,7 @@
 # (addr, len)
 CAN_IGNITION_MSGS = {
   'gm': [(0x1F1, 8), (0x160, 5)],
-  'tesla' : [(0x348, 8)],
+  #'tesla' : [(0x348, 8)],
 }
 
 def _get_fingerprints():
@@ -58,40 +58,38 @@ def check_can_ignition_conflicts(fingerprints, brands):
           sys.exit(1)
 
 
-fingerprints = _get_fingerprints()
-
-fingerprints_flat = []
-car_names = []
-brand_names = []
-for brand in fingerprints:
-  for car in fingerprints[brand]:
-    fingerprints_flat += fingerprints[brand][car]
-    for i in range(len(fingerprints[brand][car])):
-      car_names.append(car)
-      brand_names.append(brand)
-
-# first check if CAN ignition specific messages are unexpectedly included in other fingerprints
-check_can_ignition_conflicts(fingerprints_flat, brand_names)
-
-valid = True
-for idx1, f1 in enumerate(fingerprints_flat):
-  for idx2, f2 in enumerate(fingerprints_flat):
-    if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
-      if car_names[idx1] == car_names[idx2]:
-        print(f"Warning, overlap in {car_names[idx1]}")
-        continue
-
-      valid = False
-      print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2]))
-      print("")
-      print(', '.join("%d: %d" % v for v in sorted(f1.items())))
-      print("")
-      print(', '.join("%d: %d" % v for v in sorted(f2.items())))
-      print("")
-
-print("Found {0} individual fingerprints".format(len(fingerprints_flat)))
-if not valid or len(fingerprints_flat) == 0:
-  print("TEST FAILED")
-  sys.exit(1)
-else:
-  print("TEST SUCESSFUL")
+
+if __name__ == "__main__":
+  fingerprints = _get_fingerprints()
+
+  fingerprints_flat = []
+  car_names = []
+  brand_names = []
+  for brand in fingerprints:
+    for car in fingerprints[brand]:
+      fingerprints_flat += fingerprints[brand][car]
+      for i in range(len(fingerprints[brand][car])):
+        car_names.append(car)
+        brand_names.append(brand)
+
+  # first check if CAN ignition specific messages are unexpectedly included in other fingerprints
+  check_can_ignition_conflicts(fingerprints_flat, brand_names)
+
+  valid = True
+  for idx1, f1 in enumerate(fingerprints_flat):
+    for idx2, f2 in enumerate(fingerprints_flat):
+      if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
+        valid = False
+        print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2]))
+        print("")
+        print(', '.join("%d: %d" % v for v in sorted(f1.items())))
+        print("")
+        print(', '.join("%d: %d" % v for v in sorted(f2.items())))
+        print("")
+
+  print("Found {0} individual fingerprints".format(len(fingerprints_flat)))
+  if not valid or len(fingerprints_flat) == 0:
+    print("TEST FAILED")
+    sys.exit(1)
+  else:
+    print("TEST SUCESSFUL")
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
new file mode 100755
index 00000000000000..f051b18b075040
--- /dev/null
+++ b/selfdrive/test/test_onroad.py
@@ -0,0 +1,249 @@
+#!/usr/bin/env python3
+import json
+import os
+import subprocess
+import time
+import numpy as np
+import unittest
+from collections import Counter
+from pathlib import Path
+
+from cereal import car
+import cereal.messaging as messaging
+from cereal.services import service_list
+from common.basedir import BASEDIR
+from common.timeout import Timeout
+from common.params import Params
+from selfdrive.controls.lib.events import EVENTS, ET
+from selfdrive.hardware import EON, TICI
+from selfdrive.loggerd.config import ROOT
+from selfdrive.test.helpers import set_params_enabled, release_only
+from tools.lib.logreader import LogReader
+
+# Baseline CPU usage by process
+PROCS = {
+  "selfdrive.controls.controlsd": 50.0,
+  "./loggerd": 45.0,
+  "./locationd": 9.1,
+  "selfdrive.controls.plannerd": 22.6,
+  "./_ui": 15.0,
+  "selfdrive.locationd.paramsd": 9.1,
+  "./camerad": 7.07,
+  "./_sensord": 6.17,
+  "selfdrive.controls.radard": 5.67,
+  "./_modeld": 4.48,
+  "./boardd": 3.63,
+  "./_dmonitoringmodeld": 2.67,
+  "selfdrive.thermald.thermald": 2.41,
+  "selfdrive.locationd.calibrationd": 2.0,
+  "./_soundd": 1.0,
+  "selfdrive.monitoring.dmonitoringd": 1.90,
+  "./proclogd": 1.54,
+  "selfdrive.logmessaged": 0.2,
+  "./clocksd": 0.02,
+  "./ubloxd": 0.02,
+  "selfdrive.tombstoned": 0,
+  "./logcatd": 0,
+}
+
+if EON:
+  PROCS.update({
+    "selfdrive.hardware.eon.androidd": 0.4,
+  })
+
+if TICI:
+  PROCS.update({
+    "./loggerd": 70.0,
+    "selfdrive.controls.controlsd": 28.0,
+    "./camerad": 31.0,
+    "./_ui": 21.0,
+    "selfdrive.controls.plannerd": 11.7,
+    "./_dmonitoringmodeld": 10.0,
+    "selfdrive.locationd.paramsd": 5.0,
+    "selfdrive.controls.radard": 3.6,
+    "selfdrive.thermald.thermald": 1.5,
+  })
+
+
+TIMINGS = {
+  # rtols: max/min, rsd
+  "can": [2.5, 0.35],
+  "pandaStates": [2.5, 0.35],
+  "peripheralState": [2.5, 0.35],
+  "sendcan": [2.5, 0.35],
+  "carState": [2.5, 0.35],
+  "carControl": [2.5, 0.35],
+  "controlsState": [2.5, 0.35],
+  "lateralPlan": [2.5, 0.5],
+  "longitudinalPlan": [2.5, 0.5],
+  "roadCameraState": [2.5, 0.35],
+  "driverCameraState": [2.5, 0.35],
+  "modelV2": [2.5, 0.35],
+  "driverState": [2.5, 0.35],
+  "liveLocationKalman": [2.5, 0.35],
+}
+if EON:
+  TIMINGS.update({
+    "roadCameraState": [2.5, 0.45],
+  })
+if TICI:
+  TIMINGS.update({
+    "wideRoadCameraState": [1.5, 0.35],
+  })
+
+
+def cputime_total(ct):
+  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
+
+
+def check_cpu_usage(first_proc, last_proc):
+  result =  "------------------------------------------------\n"
+  result += "------------------ CPU Usage -------------------\n"
+  result += "------------------------------------------------\n"
+
+  r = True
+  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
+  for proc_name, normal_cpu_usage in PROCS.items():
+    first, last = None, None
+    try:
+      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
+      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
+      cpu_time = cputime_total(last) - cputime_total(first)
+      cpu_usage = cpu_time / dt * 100.
+      if cpu_usage > max(normal_cpu_usage * 1.15, normal_cpu_usage + 5.0):
+        # cpu usage is high while playing sounds
+        if proc_name == "./_soundd" and cpu_usage < 65.:
+          continue
+        result += f"Warning {proc_name} using more CPU than normal\n"
+        r = False
+      elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
+        result += f"Warning {proc_name} using less CPU than normal\n"
+        r = False
+      result += f"{proc_name.ljust(35)}  {cpu_usage:.2f}%\n"
+    except IndexError:
+      result += f"{proc_name.ljust(35)}  NO METRICS FOUND {first=} {last=}\n"
+      r = False
+  result += "------------------------------------------------\n"
+  print(result)
+  return r
+
+
+class TestOnroad(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if "DEBUG" in os.environ:
+      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.bz2")), Path(ROOT).iterdir())
+      segs = sorted(segs, key=lambda x: x.stat().st_mtime)
+      cls.lr = list(LogReader(os.path.join(segs[-1], "rlog.bz2")))
+      return
+
+    os.environ['REPLAY'] = "1"
+    os.environ['SKIP_FW_QUERY'] = "1"
+    os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+    set_params_enabled()
+
+    # Make sure athena isn't running
+    Params().delete("DongleId")
+    Params().delete("AthenadPid")
+    os.system("pkill -9 -f athena")
+
+    logger_root = Path(ROOT)
+    initial_segments = set()
+    if logger_root.exists():
+      initial_segments = set(Path(ROOT).iterdir())
+
+    # start manager and run openpilot for a minute
+    try:
+      manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
+      proc = subprocess.Popen(["python", manager_path])
+
+      sm = messaging.SubMaster(['carState'])
+      with Timeout(150, "controls didn't start"):
+        while sm.rcv_frame['carState'] < 0:
+          sm.update(1000)
+
+      # make sure we get at least two full segments
+      cls.segments = []
+      with Timeout(300, "timed out waiting for logs"):
+        while len(cls.segments) < 3:
+          new_paths = set()
+          if logger_root.exists():
+            new_paths = set(logger_root.iterdir()) - initial_segments
+          segs = [p for p in new_paths if "--" in str(p)]
+          cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
+          time.sleep(5)
+
+    finally:
+      proc.terminate()
+      if proc.wait(60) is None:
+        proc.kill()
+
+    cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.bz2"))) for s in cls.segments]
+
+    # use the second segment by default as it's the first full segment
+    cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog.bz2")))
+
+  def test_cloudlog_size(self):
+    msgs = [m for m in self.lr if m.which() == 'logMessage']
+
+    total_size = sum(len(m.as_builder().to_bytes()) for m in msgs)
+    self.assertLess(total_size, 3.5e5)
+
+    cnt = Counter([json.loads(m.logMessage)['filename'] for m in msgs])
+    big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.]
+    self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}")
+
+  def test_cpu_usage(self):
+    proclogs = [m for m in self.lr if m.which() == 'procLog']
+    self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
+    cpu_ok = check_cpu_usage(proclogs[0], proclogs[-1])
+    self.assertTrue(cpu_ok)
+
+  def test_model_execution_timings(self):
+    result =  "------------------------------------------------\n"
+    result += "----------------- Model Timing -----------------\n"
+    result += "------------------------------------------------\n"
+    # TODO: this went up when plannerd cpu usage increased, why?
+    cfgs = [("modelV2", 0.038, 0.036), ("driverState", 0.028, 0.026)]
+    for (s, instant_max, avg_max) in cfgs:
+      ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
+      self.assertLess(min(ts), instant_max, f"high '{s}' execution time: {min(ts)}")
+      self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
+      result += f"'{s}' execution time: {min(ts)}\n"
+      result += f"'{s}' avg execution time: {np.mean(ts)}\n"
+    print(result)
+
+  def test_timings(self):
+
+    print("\n\n")
+    print("="*25, "service timings", "="*25)
+    for s, (maxmin, rsd) in TIMINGS.items():
+      msgs = [m.logMonoTime for m in self.lr if m.which() == s]
+      if not len(msgs):
+        raise Exception(f"missing {s}")
+
+      ts = np.diff(msgs) / 1e9
+      dt = 1 / service_list[s].frequency
+
+      np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
+      np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
+      self.assertLess(np.std(ts) / dt, rsd, msg=f"{s} - failed RSD timing check")
+      print(f"{s}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}")
+      print(f"     {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}")
+    print("="*67)
+
+  @release_only
+  def test_startup(self):
+    startup_alert = None
+    for msg in self.lrs[0]:
+      # can't use carEvents because the first msg can be dropped while loggerd is starting up
+      if msg.which() == "controlsState":
+        startup_alert = msg.controlsState.alertText1
+        break
+    expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
+    self.assertEqual(startup_alert, expected, "wrong startup alert")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/test/test_openpilot.py b/selfdrive/test/test_openpilot.py
deleted file mode 100644
index e5ea327369f35a..00000000000000
--- a/selfdrive/test/test_openpilot.py
+++ /dev/null
@@ -1,226 +0,0 @@
-# flake8: noqa
-import os
-os.environ['FAKEUPLOAD'] = "1"
-
-from common.apk import update_apks, start_frame, pm_apply_packages, android_packages
-from common.params import Params
-from common.testing import phone_only
-from selfdrive.manager import manager_init, manager_prepare
-from selfdrive.manager import start_managed_process, kill_managed_process, get_running
-from selfdrive.manager import start_daemon_process
-from functools import wraps
-import json
-import requests
-import signal
-import subprocess
-import time
-
-DID_INIT = False
-
-# must run first
-@phone_only
-def test_manager_prepare():
-  global DID_INIT
-  manager_init()
-  manager_prepare()
-  DID_INIT = True
-
-def with_processes(processes):
-  def wrapper(func):
-    @wraps(func)
-    def wrap():
-      if not DID_INIT:
-        test_manager_prepare()
-
-      # start and assert started
-      [start_managed_process(p) for p in processes]
-      assert all(get_running()[name].exitcode is None for name in processes)
-
-      # call the function
-      try:
-        func()
-        # assert processes are still started
-        assert all(get_running()[name].exitcode is None for name in processes)
-      finally:
-        # kill and assert all stopped
-        [kill_managed_process(p) for p in processes]
-        assert len(get_running()) == 0
-    return wrap
-  return wrapper
-
-def with_apks():
-  def wrapper(func):
-    @wraps(func)
-    def wrap():
-      if not DID_INIT:
-        test_manager_prepare()
-
-      update_apks()
-      pm_apply_packages('enable')
-      start_frame()
-
-      func()
-
-      try:
-        for package in android_packages:
-          apk_is_running = (subprocess.call(["pidof", package]) == 0)
-          assert apk_is_running, package
-      finally:
-        pm_apply_packages('disable')
-        for package in android_packages:
-          apk_is_not_running = (subprocess.call(["pidof", package]) == 1)
-          assert apk_is_not_running, package
-    return wrap
-  return wrapper
-
-@phone_only
-@with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])
-def test_logging():
-  print("LOGGING IS SET UP")
-  time.sleep(1.0)
-
-@phone_only
-@with_processes(['camerad', 'modeld', 'dmonitoringmodeld'])
-def test_visiond():
-  print("VISIOND IS SET UP")
-  time.sleep(5.0)
-
-@phone_only
-@with_processes(['sensord'])
-def test_sensord():
-  print("SENSORS ARE SET UP")
-  time.sleep(1.0)
-
-@phone_only
-@with_processes(['ui'])
-def test_ui():
-  print("RUNNING UI")
-  time.sleep(1.0)
-
-# will have one thing to upload if loggerd ran
-# TODO: assert it actually uploaded
-@phone_only
-@with_processes(['uploader'])
-def test_uploader():
-  print("UPLOADER")
-  time.sleep(10.0)
-
-@phone_only
-def test_athena():
-  print("ATHENA")
-  start_daemon_process("manage_athenad")
-  params = Params()
-  manage_athenad_pid = params.get("AthenadPid")
-  assert manage_athenad_pid is not None
-  try:
-    os.kill(int(manage_athenad_pid), 0)
-    # process is running
-  except OSError:
-    assert False, "manage_athenad is dead"
-
-  def expect_athena_starts(timeout=30):
-    now = time.time()
-    athenad_pid = None
-    while athenad_pid is None:
-      try:
-        athenad_pid = subprocess.check_output(["pgrep", "-P", manage_athenad_pid], encoding="utf-8").strip()
-        return athenad_pid
-      except subprocess.CalledProcessError:
-        if time.time() - now > timeout:
-          assert False, f"Athena did not start within {timeout} seconds"
-        time.sleep(0.5)
-
-  def athena_post(payload, max_retries=5, wait=5):
-    tries = 0
-    while 1:
-      try:
-        resp = requests.post(
-          "https://athena.comma.ai/" + params.get("DongleId", encoding="utf-8"),
-          headers={
-            "Authorization": "JWT " + os.getenv("COMMA_JWT"),
-            "Content-Type": "application/json"
-          },
-          data=json.dumps(payload),
-          timeout=30
-        )
-        resp_json = resp.json()
-        if resp_json.get('error'):
-          raise Exception(resp_json['error'])
-        return resp_json
-      except Exception as e:
-        time.sleep(wait)
-        tries += 1
-        if tries == max_retries:
-          raise
-        else:
-          print(f'athena_post failed {e}. retrying...')
-
-  def expect_athena_registers():
-    resp = athena_post({
-      "method": "echo",
-      "params": ["hello"],
-      "id": 0,
-      "jsonrpc": "2.0"
-    }, max_retries=12, wait=5)
-    assert resp.get('result') == "hello", f'Athena failed to register ({resp})'
-
-  try:
-    athenad_pid = expect_athena_starts()
-    # kill athenad and ensure it is restarted (check_output will throw if it is not)
-    os.kill(int(athenad_pid), signal.SIGINT)
-    expect_athena_starts()
-
-    if not os.getenv('COMMA_JWT'):
-      print('WARNING: COMMA_JWT env not set, will not test requests to athena.comma.ai')
-      return
-
-    expect_athena_registers()
-
-    print("ATHENA: getSimInfo")
-    resp = athena_post({
-      "method": "getSimInfo",
-      "id": 0,
-      "jsonrpc": "2.0"
-    })
-    assert resp.get('result'), resp
-    assert 'sim_id' in resp['result'], resp['result']
-
-    print("ATHENA: takeSnapshot")
-    resp = athena_post({
-      "method": "takeSnapshot",
-      "id": 0,
-      "jsonrpc": "2.0"
-    })
-    assert resp.get('result'), resp
-    assert resp['result']['jpegBack'], resp['result']
-
-    @with_processes(["thermald"])
-    def test_athena_thermal():
-      print("ATHENA: getMessage(thermal)")
-      resp = athena_post({
-        "method": "getMessage",
-        "params": {"service": "thermal", "timeout": 5000},
-        "id": 0,
-        "jsonrpc": "2.0"
-      })
-      assert resp.get('result'), resp
-      assert resp['result']['thermal'], resp['result']
-    test_athena_thermal()
-  finally:
-    try:
-      athenad_pid = subprocess.check_output(["pgrep", "-P", manage_athenad_pid], encoding="utf-8").strip()
-    except subprocess.CalledProcessError:
-      athenad_pid = None
-
-    try:
-      os.kill(int(manage_athenad_pid), signal.SIGINT)
-      os.kill(int(athenad_pid), signal.SIGINT)
-    except (OSError, TypeError):
-      pass
-
-# TODO: re-enable when jenkins test has /data/pythonpath -> /data/openpilot
-# @phone_only
-# @with_apks()
-# def test_apks():
-#   print("APKS")
-#   time.sleep(14.0)
diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py
deleted file mode 100755
index c516acc779105c..00000000000000
--- a/selfdrive/thermald.py
+++ /dev/null
@@ -1,400 +0,0 @@
-#!/usr/bin/env python3.7
-import os
-import json
-import copy
-import datetime
-import psutil
-import subprocess
-from smbus2 import SMBus
-from cereal import log
-from common.android import ANDROID, get_network_type
-from common.basedir import BASEDIR
-from common.params import Params
-from common.realtime import sec_since_boot, DT_TRML
-from common.numpy_fast import clip, interp
-from common.filter_simple import FirstOrderFilter
-from selfdrive.version import terms_version, training_version
-from selfdrive.swaglog import cloudlog
-import cereal.messaging as messaging
-from selfdrive.loggerd.config import get_available_percent
-from selfdrive.pandad import get_expected_signature
-
-FW_SIGNATURE = get_expected_signature()
-
-ThermalStatus = log.ThermalData.ThermalStatus
-NetworkType = log.ThermalData.NetworkType
-CURRENT_TAU = 15.   # 15s time constant
-DAYS_NO_CONNECTIVITY_MAX = 7  # do not allow to engage after a week without internet
-DAYS_NO_CONNECTIVITY_PROMPT = 4  # send an offroad prompt after 4 days with no internet
-
-
-with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
-  OFFROAD_ALERTS = json.load(json_file)
-
-def read_tz(x, clip=True):
-  try:
-    with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
-      ret = int(f.read())
-      if clip:
-        ret = max(0, ret)
-  except FileNotFoundError:
-    return 0
-
-  return ret
-
-def read_thermal():
-  dat = messaging.new_message()
-  dat.init('thermal')
-  dat.thermal.cpu0 = read_tz(5)
-  dat.thermal.cpu1 = read_tz(7)
-  dat.thermal.cpu2 = read_tz(10)
-  dat.thermal.cpu3 = read_tz(12)
-  dat.thermal.mem = read_tz(2)
-  dat.thermal.gpu = read_tz(16)
-  dat.thermal.bat = read_tz(29)
-  dat.thermal.pa0 = read_tz(25)
-  return dat
-
-LEON = False
-def setup_eon_fan():
-  global LEON
-
-  os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
-
-  bus = SMBus(7, force=True)
-  try:
-    bus.write_byte_data(0x21, 0x10, 0xf)   # mask all interrupts
-    bus.write_byte_data(0x21, 0x03, 0x1)   # set drive current and global interrupt disable
-    bus.write_byte_data(0x21, 0x02, 0x2)   # needed?
-    bus.write_byte_data(0x21, 0x04, 0x4)   # manual override source
-  except IOError:
-    print("LEON detected")
-    #os.system("echo 1 > /sys/devices/soc/6a00000.ssusb/power_supply/usb/usb_otg")
-    LEON = True
-  bus.close()
-
-last_eon_fan_val = None
-def set_eon_fan(val):
-  global LEON, last_eon_fan_val
-
-  if last_eon_fan_val is None or last_eon_fan_val != val:
-    bus = SMBus(7, force=True)
-    if LEON:
-      try:
-        i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
-        bus.write_i2c_block_data(0x3d, 0, [i])
-      except IOError:
-        # tusb320
-        if val == 0:
-          bus.write_i2c_block_data(0x67, 0xa, [0])
-          #bus.write_i2c_block_data(0x67, 0x45, [1<<2])
-        else:
-          #bus.write_i2c_block_data(0x67, 0x45, [0])
-          bus.write_i2c_block_data(0x67, 0xa, [0x20])
-          bus.write_i2c_block_data(0x67, 0x8, [(val-1)<<6])
-    else:
-      bus.write_byte_data(0x21, 0x04, 0x2)
-      bus.write_byte_data(0x21, 0x03, (val*2)+1)
-      bus.write_byte_data(0x21, 0x04, 0x4)
-    bus.close()
-    last_eon_fan_val = val
-
-# temp thresholds to control fan speed - high hysteresis
-_TEMP_THRS_H = [50., 65., 80., 10000]
-# temp thresholds to control fan speed - low hysteresis
-_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
-# fan speed options
-_FAN_SPEEDS = [0, 16384, 32768, 65535]
-# max fan speed only allowed if battery is hot
-_BAT_TEMP_THERSHOLD = 45.
-
-
-def handle_fan_eon(max_cpu_temp, bat_temp, fan_speed, ignition):
-  new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
-  new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
-
-  if new_speed_h > fan_speed:
-    # update speed if using the high thresholds results in fan speed increment
-    fan_speed = new_speed_h
-  elif new_speed_l < fan_speed:
-    # update speed if using the low thresholds results in fan speed decrement
-    fan_speed = new_speed_l
-
-  if bat_temp < _BAT_TEMP_THERSHOLD:
-    # no max fan speed unless battery is hot
-    fan_speed = min(fan_speed, _FAN_SPEEDS[-2])
-
-  set_eon_fan(fan_speed//16384)
-
-  return fan_speed
-
-
-def handle_fan_uno(max_cpu_temp, bat_temp, fan_speed, ignition):
-  new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
-
-  if not ignition:
-    new_speed = min(30, new_speed)
-
-  return new_speed
-
-def thermald_thread():
-  # prevent LEECO from undervoltage
-  BATT_PERC_OFF = 10 if LEON else 3
-
-  health_timeout = int(1000 * 2.5 * DT_TRML)  # 2.5x the expected health frequency
-
-  # now loop
-  thermal_sock = messaging.pub_sock('thermal')
-  health_sock = messaging.sub_sock('health', timeout=health_timeout)
-  location_sock = messaging.sub_sock('gpsLocation')
-
-  ignition = False
-  fan_speed = 0
-  count = 0
-
-  off_ts = None
-  started_ts = None
-  started_seen = False
-  thermal_status = ThermalStatus.green
-  thermal_status_prev = ThermalStatus.green
-  usb_power = True
-  usb_power_prev = True
-
-  network_type = NetworkType.none
-
-  current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
-  health_prev = None
-  fw_version_match_prev = True
-  current_connectivity_alert = None
-  time_valid_prev = True
-  should_start_prev = False
-
-  is_uno = (read_tz(29, clip=False) < -1000)
-  if is_uno or not ANDROID:
-    handle_fan = handle_fan_uno
-  else:
-    setup_eon_fan()
-    handle_fan = handle_fan_eon
-
-  params = Params()
-
-  while 1:
-    health = messaging.recv_sock(health_sock, wait=True)
-    location = messaging.recv_sock(location_sock)
-    location = location.gpsLocation if location else None
-    msg = read_thermal()
-
-    # clear car params when panda gets disconnected
-    if health is None and health_prev is not None:
-      params.panda_disconnect()
-    health_prev = health
-
-    if health is not None:
-      usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
-
-    # get_network_type is an expensive call. update every 10s
-    if (count % int(10. / DT_TRML)) == 0:
-      try:
-        network_type = get_network_type()
-      except subprocess.CalledProcessError:
-        pass
-
-    msg.thermal.freeSpace = get_available_percent(default=100.0) / 100.0
-    msg.thermal.memUsedPercent = int(round(psutil.virtual_memory().percent))
-    msg.thermal.cpuPerc = int(round(psutil.cpu_percent()))
-    msg.thermal.networkType = network_type
-
-    try:
-      with open("/sys/class/power_supply/battery/capacity") as f:
-        msg.thermal.batteryPercent = int(f.read())
-      with open("/sys/class/power_supply/battery/status") as f:
-        msg.thermal.batteryStatus = f.read().strip()
-      with open("/sys/class/power_supply/battery/current_now") as f:
-        msg.thermal.batteryCurrent = int(f.read())
-      with open("/sys/class/power_supply/battery/voltage_now") as f:
-        msg.thermal.batteryVoltage = int(f.read())
-      with open("/sys/class/power_supply/usb/present") as f:
-        msg.thermal.usbOnline = bool(int(f.read()))
-    except FileNotFoundError:
-      pass
-
-    # Fake battery levels on uno for frame
-    if is_uno:
-      msg.thermal.batteryPercent = 100
-      msg.thermal.batteryStatus = "Charging"
-
-    current_filter.update(msg.thermal.batteryCurrent / 1e6)
-
-    # TODO: add car battery voltage check
-    max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
-                       msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
-    max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
-    bat_temp = msg.thermal.bat/1000.
-
-    fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)
-    msg.thermal.fanSpeed = fan_speed
-
-    # thermal logic with hysterisis
-    if max_cpu_temp > 107. or bat_temp >= 63.:
-      # onroad not allowed
-      thermal_status = ThermalStatus.danger
-    elif max_comp_temp > 92.5 or bat_temp > 60.: # CPU throttling starts around ~90C
-      # hysteresis between onroad not allowed and engage not allowed
-      thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
-    elif max_cpu_temp > 87.5:
-      # hysteresis between engage not allowed and uploader not allowed
-      thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red)
-    elif max_cpu_temp > 80.0:
-      # uploader not allowed
-      thermal_status = ThermalStatus.yellow
-    elif max_cpu_temp > 75.0:
-      # hysteresis between uploader not allowed and all good
-      thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow)
-    else:
-      # all good
-      thermal_status = ThermalStatus.green
-
-    # **** starting logic ****
-
-    # Check for last update time and display alerts if needed
-    now = datetime.datetime.now()
-
-    # show invalid date/time alert
-    time_valid = now.year >= 2019
-    if time_valid and not time_valid_prev:
-      params.delete("Offroad_InvalidTime")
-    if not time_valid and time_valid_prev:
-      params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
-    time_valid_prev = time_valid
-
-    # Show update prompt
-    try:
-      last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
-    except (TypeError, ValueError):
-      last_update = now
-    dt = now - last_update
-
-    update_failed_count = params.get("UpdateFailedCount")
-    update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
-
-    if dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
-      if current_connectivity_alert != "expired":
-        current_connectivity_alert = "expired"
-        params.delete("Offroad_ConnectivityNeededPrompt")
-        params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
-    elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
-      remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
-      if current_connectivity_alert != "prompt" + remaining_time:
-        current_connectivity_alert = "prompt" + remaining_time
-        alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
-        alert_connectivity_prompt["text"] += remaining_time + " days."
-        params.delete("Offroad_ConnectivityNeeded")
-        params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
-    elif current_connectivity_alert is not None:
-      current_connectivity_alert = None
-      params.delete("Offroad_ConnectivityNeeded")
-      params.delete("Offroad_ConnectivityNeededPrompt")
-
-    # start constellation of processes when the car starts
-    ignition = health is not None and (health.health.ignitionLine or health.health.ignitionCan)
-
-    do_uninstall = params.get("DoUninstall") == b"1"
-    accepted_terms = params.get("HasAcceptedTerms") == terms_version
-    completed_training = params.get("CompletedTrainingVersion") == training_version
-
-    panda_signature = params.get("PandaFirmware")
-    fw_version_match = (panda_signature is None) or (panda_signature == FW_SIGNATURE)   # don't show alert is no panda is connected (None)
-
-    should_start = ignition
-
-    # with 2% left, we killall, otherwise the phone will take a long time to boot
-    should_start = should_start and msg.thermal.freeSpace > 0.02
-
-    # confirm we have completed training and aren't uninstalling
-    should_start = should_start and accepted_terms and completed_training and (not do_uninstall)
-
-    # check for firmware mismatch
-    should_start = should_start and fw_version_match
-
-    # check if system time is valid
-    should_start = should_start and time_valid
-
-    # don't start while taking snapshot
-    if not should_start_prev:
-      is_taking_snapshot = params.get("IsTakingSnapshot") == b"1"
-      should_start = should_start and (not is_taking_snapshot)
-
-    if fw_version_match and not fw_version_match_prev:
-      params.delete("Offroad_PandaFirmwareMismatch")
-    if not fw_version_match and fw_version_match_prev:
-      params.put("Offroad_PandaFirmwareMismatch", json.dumps(OFFROAD_ALERTS["Offroad_PandaFirmwareMismatch"]))
-
-    # if any CPU gets above 107 or the battery gets above 63, kill all processes
-    # controls will warn with CPU above 95 or battery above 60
-    if thermal_status >= ThermalStatus.danger:
-      should_start = False
-      if thermal_status_prev < ThermalStatus.danger:
-        params.put("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"]))
-    else:
-      if thermal_status_prev >= ThermalStatus.danger:
-        params.delete("Offroad_TemperatureTooHigh")
-
-    if should_start:
-      if not should_start_prev:
-        params.delete("IsOffroad")
-
-      off_ts = None
-      if started_ts is None:
-        started_ts = sec_since_boot()
-        started_seen = True
-        os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor')
-    else:
-      if should_start_prev or (count == 0):
-        params.put("IsOffroad", "1")
-
-      started_ts = None
-      if off_ts is None:
-        off_ts = sec_since_boot()
-        os.system('echo powersave > /sys/class/devfreq/soc:qcom,cpubw/governor')
-
-      # shutdown if the battery gets lower than 3%, it's discharging, we aren't running for
-      # more than a minute but we were running
-      if msg.thermal.batteryPercent < BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \
-         started_seen and (sec_since_boot() - off_ts) > 60:
-        os.system('LD_LIBRARY_PATH="" svc power shutdown')
-
-    msg.thermal.chargingError = current_filter.x > 0. and msg.thermal.batteryPercent < 90  # if current is positive, then battery is being discharged
-    msg.thermal.started = started_ts is not None
-    msg.thermal.startedTs = int(1e9*(started_ts or 0))
-
-    msg.thermal.thermalStatus = thermal_status
-    thermal_sock.send(msg.to_bytes())
-
-    if usb_power_prev and not usb_power:
-      params.put("Offroad_ChargeDisabled", json.dumps(OFFROAD_ALERTS["Offroad_ChargeDisabled"]))
-    elif usb_power and not usb_power_prev:
-      params.delete("Offroad_ChargeDisabled")
-
-    thermal_status_prev = thermal_status
-    usb_power_prev = usb_power
-    fw_version_match_prev = fw_version_match
-    should_start_prev = should_start
-
-    #print(msg)
-
-    # report to server once per minute
-    if (count % int(60. / DT_TRML)) == 0:
-      cloudlog.event("STATUS_PACKET",
-        count=count,
-        health=(health.to_dict() if health else None),
-        location=(location.to_dict() if location else None),
-        thermal=msg.to_dict())
-
-    count += 1
-
-
-def main(gctx=None):
-  thermald_thread()
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py
new file mode 100644
index 00000000000000..9c0736391728e8
--- /dev/null
+++ b/selfdrive/thermald/power_monitoring.py
@@ -0,0 +1,189 @@
+import random
+import threading
+import time
+from statistics import mean
+
+from cereal import log
+from common.params import Params, put_nonblocking
+from common.realtime import sec_since_boot
+from selfdrive.hardware import HARDWARE
+from selfdrive.swaglog import cloudlog
+
+CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1))
+
+# A C2 uses about 1W while idling, and 30h seens like a good shutoff for most cars
+# While driving, a battery charges completely in about 30-60 minutes
+CAR_BATTERY_CAPACITY_uWh = 30e6
+CAR_CHARGING_RATE_W = 45
+
+VBATT_PAUSE_CHARGING = 11.0           # Lower limit on the LPF car battery voltage
+VBATT_INSTANT_PAUSE_CHARGING = 7.0    # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
+MAX_TIME_OFFROAD_S = 30*3600
+MIN_ON_TIME_S = 3600
+
+class PowerMonitoring:
+  def __init__(self):
+    self.params = Params()
+    self.last_measurement_time = None           # Used for integration delta
+    self.last_save_time = 0                     # Used for saving current value in a param
+    self.power_used_uWh = 0                     # Integrated power usage in uWh since going into offroad
+    self.next_pulsed_measurement_time = None
+    self.car_voltage_mV = 12e3                  # Low-passed version of peripheralState voltage
+    self.car_voltage_instant_mV = 12e3          # Last value of peripheralState voltage
+    self.integration_lock = threading.Lock()
+
+    car_battery_capacity_uWh = self.params.get("CarBatteryCapacity")
+    if car_battery_capacity_uWh is None:
+      car_battery_capacity_uWh = 0
+
+    # Reset capacity if it's low
+    self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
+
+  # Calculation tick
+  def calculate(self, peripheralState, ignition):
+    try:
+      now = sec_since_boot()
+
+      # If peripheralState is None, we're probably not in a car, so we don't care
+      if peripheralState is None or peripheralState.pandaType == log.PandaState.PandaType.unknown:
+        with self.integration_lock:
+          self.last_measurement_time = None
+          self.next_pulsed_measurement_time = None
+          self.power_used_uWh = 0
+        return
+
+      # Low-pass battery voltage
+      self.car_voltage_instant_mV = peripheralState.voltage
+      self.car_voltage_mV = ((peripheralState.voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
+
+      # Cap the car battery power and save it in a param every 10-ish seconds
+      self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
+      self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
+      if now - self.last_save_time >= 10:
+        put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh)))
+        self.last_save_time = now
+
+      # First measurement, set integration time
+      with self.integration_lock:
+        if self.last_measurement_time is None:
+          self.last_measurement_time = now
+          return
+
+      if ignition:
+        # If there is ignition, we integrate the charging rate of the car
+        with self.integration_lock:
+          self.power_used_uWh = 0
+          integration_time_h = (now - self.last_measurement_time) / 3600
+          if integration_time_h < 0:
+            raise ValueError(f"Negative integration time: {integration_time_h}h")
+          self.car_battery_capacity_uWh += (CAR_CHARGING_RATE_W * 1e6 * integration_time_h)
+          self.last_measurement_time = now
+      else:
+        # No ignition, we integrate the offroad power used by the device
+        is_uno = peripheralState.pandaType == log.PandaState.PandaType.uno
+        # Get current power draw somehow
+        current_power = HARDWARE.get_current_power_draw() # pylint: disable=assignment-from-none
+        if current_power is not None:
+          pass
+        elif HARDWARE.get_battery_status() == 'Discharging':
+          # If the battery is discharging, we can use this measurement
+          # On C2: this is low by about 10-15%, probably mostly due to UNO draw not being factored in
+          current_power = ((HARDWARE.get_battery_voltage() / 1000000) * (HARDWARE.get_battery_current() / 1000000))
+        elif (self.next_pulsed_measurement_time is not None) and (self.next_pulsed_measurement_time <= now):
+          # TODO: Figure out why this is off by a factor of 3/4???
+          FUDGE_FACTOR = 1.33
+
+          # Turn off charging for about 10 sec in a thread that does not get killed on SIGINT, and perform measurement here to avoid blocking thermal
+          def perform_pulse_measurement(now):
+            try:
+              HARDWARE.set_battery_charging(False)
+              time.sleep(5)
+
+              # Measure for a few sec to get a good average
+              voltages = []
+              currents = []
+              for _ in range(6):
+                voltages.append(HARDWARE.get_battery_voltage())
+                currents.append(HARDWARE.get_battery_current())
+                time.sleep(1)
+              current_power = ((mean(voltages) / 1000000) * (mean(currents) / 1000000))
+
+              self._perform_integration(now, current_power * FUDGE_FACTOR)
+
+              # Enable charging again
+              HARDWARE.set_battery_charging(True)
+            except Exception:
+              cloudlog.exception("Pulsed power measurement failed")
+
+          # Start pulsed measurement and return
+          threading.Thread(target=perform_pulse_measurement, args=(now,)).start()
+          self.next_pulsed_measurement_time = None
+          return
+
+        elif self.next_pulsed_measurement_time is None and not is_uno:
+          # On a charging EON with black panda, or drawing more than 400mA out of a white/grey one
+          # Only way to get the power draw is to turn off charging for a few sec and check what the discharging rate is
+          # We shouldn't do this very often, so make sure it has been some long-ish random time interval
+          self.next_pulsed_measurement_time = now + random.randint(120, 180)
+          return
+        else:
+          # Do nothing
+          return
+
+        # Do the integration
+        self._perform_integration(now, current_power)
+    except Exception:
+      cloudlog.exception("Power monitoring calculation failed")
+
+  def _perform_integration(self, t, current_power):
+    with self.integration_lock:
+      try:
+        if self.last_measurement_time:
+          integration_time_h = (t - self.last_measurement_time) / 3600
+          power_used = (current_power * 1000000) * integration_time_h
+          if power_used < 0:
+            raise ValueError(f"Negative power used! Integration time: {integration_time_h} h Current Power: {power_used} uWh")
+          self.power_used_uWh += power_used
+          self.car_battery_capacity_uWh -= power_used
+          self.last_measurement_time = t
+      except Exception:
+        cloudlog.exception("Integration failed")
+
+  # Get the power usage
+  def get_power_used(self):
+    return int(self.power_used_uWh)
+
+  def get_car_battery_capacity(self):
+    return int(self.car_battery_capacity_uWh)
+
+  # See if we need to disable charging
+  def should_disable_charging(self, ignition, in_car, offroad_timestamp):
+    if offroad_timestamp is None:
+      return False
+
+    now = sec_since_boot()
+    disable_charging = False
+    disable_charging |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S
+    disable_charging |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) and (self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3))
+    disable_charging |= (self.car_battery_capacity_uWh <= 0)
+    disable_charging &= not ignition
+    disable_charging &= (not self.params.get_bool("DisablePowerDown"))
+    disable_charging &= in_car
+    disable_charging |= self.params.get_bool("ForcePowerDown")
+    return disable_charging
+
+  # See if we need to shutdown
+  def should_shutdown(self, peripheralState, ignition, in_car, offroad_timestamp, started_seen):
+    if offroad_timestamp is None:
+      return False
+
+    now = sec_since_boot()
+    panda_charging = (peripheralState.usbPowerMode != log.PeripheralState.UsbPowerMode.client)
+    BATT_PERC_OFF = 10
+
+    should_shutdown = False
+    # Wait until we have shut down charging before powering down
+    should_shutdown |= (not panda_charging and self.should_disable_charging(ignition, in_car, offroad_timestamp))
+    should_shutdown |= ((HARDWARE.get_battery_capacity() < BATT_PERC_OFF) and (not HARDWARE.get_battery_charging()) and ((now - offroad_timestamp) > 60))
+    should_shutdown &= started_seen or (now > MIN_ON_TIME_S)
+    return should_shutdown
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
new file mode 100755
index 00000000000000..5e678587911d6f
--- /dev/null
+++ b/selfdrive/thermald/thermald.py
@@ -0,0 +1,456 @@
+#!/usr/bin/env python3
+import datetime
+import os
+import time
+from pathlib import Path
+from typing import Dict, Optional, Tuple
+from collections import namedtuple, OrderedDict
+
+import psutil
+from smbus2 import SMBus
+
+import cereal.messaging as messaging
+from cereal import log
+from common.filter_simple import FirstOrderFilter
+from common.numpy_fast import interp
+from common.params import Params, ParamKeyType
+from common.realtime import DT_TRML, sec_since_boot
+from common.dict_helpers import strip_deprecated_keys
+from selfdrive.controls.lib.alertmanager import set_offroad_alert
+from selfdrive.controls.lib.pid import PIController
+from selfdrive.hardware import EON, TICI, PC, HARDWARE
+from selfdrive.loggerd.config import get_available_percent
+from selfdrive.swaglog import cloudlog
+from selfdrive.thermald.power_monitoring import PowerMonitoring
+from selfdrive.version import tested_branch, terms_version, training_version
+
+ThermalStatus = log.DeviceState.ThermalStatus
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+CURRENT_TAU = 15.   # 15s time constant
+TEMP_TAU = 5.   # 5s time constant
+DAYS_NO_CONNECTIVITY_MAX = 14     # do not allow to engage after this many days
+DAYS_NO_CONNECTIVITY_PROMPT = 10  # send an offroad prompt after this many days
+DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
+
+ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
+
+# List of thermal bands. We will stay within this region as long as we are within the bounds.
+# When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
+THERMAL_BANDS = OrderedDict({
+  ThermalStatus.green: ThermalBand(None, 80.0),
+  ThermalStatus.yellow: ThermalBand(75.0, 96.0),
+  ThermalStatus.red: ThermalBand(80.0, 107.),
+  ThermalStatus.danger: ThermalBand(94.0, None),
+})
+
+# Override to highest thermal band when offroad and above this temp
+OFFROAD_DANGER_TEMP = 79.5 if TICI else 70.0
+
+prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {}
+
+def read_tz(x):
+  if x is None:
+    return 0
+
+  try:
+    with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
+      return int(f.read())
+  except FileNotFoundError:
+    return 0
+
+
+def read_thermal(thermal_config):
+  dat = messaging.new_message('deviceState')
+  dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
+  dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
+  dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
+  dat.deviceState.ambientTempC = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1]
+  return dat
+
+
+def setup_eon_fan():
+  os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
+
+
+last_eon_fan_val = None
+def set_eon_fan(val):
+  global last_eon_fan_val
+
+  if last_eon_fan_val is None or last_eon_fan_val != val:
+    bus = SMBus(7, force=True)
+    try:
+      i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
+      bus.write_i2c_block_data(0x3d, 0, [i])
+    except IOError:
+      # tusb320
+      if val == 0:
+        bus.write_i2c_block_data(0x67, 0xa, [0])
+      else:
+        bus.write_i2c_block_data(0x67, 0xa, [0x20])
+        bus.write_i2c_block_data(0x67, 0x8, [(val - 1) << 6])
+    bus.close()
+    last_eon_fan_val = val
+
+
+# temp thresholds to control fan speed - high hysteresis
+_TEMP_THRS_H = [50., 65., 80., 10000]
+# temp thresholds to control fan speed - low hysteresis
+_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
+# fan speed options
+_FAN_SPEEDS = [0, 16384, 32768, 65535]
+
+
+def handle_fan_eon(controller, max_cpu_temp, fan_speed, ignition):
+  new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
+  new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
+
+  if new_speed_h > fan_speed:
+    # update speed if using the high thresholds results in fan speed increment
+    fan_speed = new_speed_h
+  elif new_speed_l < fan_speed:
+    # update speed if using the low thresholds results in fan speed decrement
+    fan_speed = new_speed_l
+
+  set_eon_fan(fan_speed // 16384)
+
+  return fan_speed
+
+
+def handle_fan_uno(controller, max_cpu_temp, fan_speed, ignition):
+  new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
+
+  if not ignition:
+    new_speed = min(30, new_speed)
+
+  return new_speed
+
+
+def handle_fan_tici(controller, max_cpu_temp, fan_speed, ignition):
+  controller.neg_limit = -(80 if ignition else 30)
+  controller.pos_limit = -(30 if ignition else 0)
+
+  fan_pwr_out = -int(controller.update(
+                     setpoint=(75 if ignition else (OFFROAD_DANGER_TEMP - 2)),
+                     measurement=max_cpu_temp,
+                     feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
+                  ))
+
+  return fan_pwr_out
+
+
+def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: Optional[str]=None):
+  if prev_offroad_states.get(offroad_alert, None) == (show_alert, extra_text):
+    return
+  prev_offroad_states[offroad_alert] = (show_alert, extra_text)
+  set_offroad_alert(offroad_alert, show_alert, extra_text)
+
+
+def thermald_thread():
+
+  pm = messaging.PubMaster(['deviceState'])
+
+  pandaState_timeout = int(1000 * 2.5 * DT_TRML)  # 2.5x the expected pandaState frequency
+  pandaState_sock = messaging.sub_sock('pandaStates', timeout=pandaState_timeout)
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "managerState"])
+
+  fan_speed = 0
+  count = 0
+
+  startup_conditions = {
+    "ignition": False,
+  }
+  startup_conditions_prev = startup_conditions.copy()
+
+  off_ts = None
+  started_ts = None
+  started_seen = False
+  thermal_status = ThermalStatus.green
+  usb_power = True
+
+  network_type = NetworkType.none
+  network_strength = NetworkStrength.unknown
+  network_info = None
+  modem_version = None
+  registered_count = 0
+  nvme_temps = None
+  modem_temps = None
+
+  current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
+  temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
+  pandaState_prev = None
+  should_start_prev = False
+  in_car = False
+  handle_fan = None
+  is_uno = False
+  ui_running_prev = False
+
+  params = Params()
+  power_monitor = PowerMonitoring()
+  no_panda_cnt = 0
+
+  HARDWARE.initialize_hardware()
+  thermal_config = HARDWARE.get_thermal_config()
+
+  # TODO: use PI controller for UNO
+  controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
+
+  # Leave flag for loggerd to indicate device was left onroad
+  if params.get_bool("IsOnroad"):
+    params.put_bool("BootedOnroad", True)
+
+  while True:
+    pandaStates = messaging.recv_sock(pandaState_sock, wait=True)
+
+    sm.update(0)
+    peripheralState = sm['peripheralState']
+
+    msg = read_thermal(thermal_config)
+
+    if pandaStates is not None and len(pandaStates.pandaStates) > 0:
+      pandaState = pandaStates.pandaStates[0]
+
+      # If we lose connection to the panda, wait 5 seconds before going offroad
+      if pandaState.pandaType == log.PandaState.PandaType.unknown:
+        no_panda_cnt += 1
+        if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
+          if startup_conditions["ignition"]:
+            cloudlog.error("Lost panda connection while onroad")
+          startup_conditions["ignition"] = False
+      else:
+        no_panda_cnt = 0
+        startup_conditions["ignition"] = pandaState.ignitionLine or pandaState.ignitionCan
+
+      in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
+      usb_power = peripheralState.usbPowerMode != log.PeripheralState.UsbPowerMode.client
+
+      # Setup fan handler on first connect to panda
+      if handle_fan is None and peripheralState.pandaType != log.PandaState.PandaType.unknown:
+        is_uno = peripheralState.pandaType == log.PandaState.PandaType.uno
+
+        if TICI:
+          cloudlog.info("Setting up TICI fan handler")
+          handle_fan = handle_fan_tici
+        elif is_uno or PC:
+          cloudlog.info("Setting up UNO fan handler")
+          handle_fan = handle_fan_uno
+        else:
+          cloudlog.info("Setting up EON fan handler")
+          setup_eon_fan()
+          handle_fan = handle_fan_eon
+
+      # Handle disconnect
+      if pandaState_prev is not None:
+        if pandaState.pandaType == log.PandaState.PandaType.unknown and \
+          pandaState_prev.pandaType != log.PandaState.PandaType.unknown:
+          params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
+      pandaState_prev = pandaState
+
+    # these are expensive calls. update every 10s
+    if (count % int(10. / DT_TRML)) == 0:
+      try:
+        network_type = HARDWARE.get_network_type()
+        network_strength = HARDWARE.get_network_strength(network_type)
+        network_info = HARDWARE.get_network_info()  # pylint: disable=assignment-from-none
+        nvme_temps = HARDWARE.get_nvme_temperatures()
+        modem_temps = HARDWARE.get_modem_temperatures()
+
+        # Log modem version once
+        if modem_version is None:
+          modem_version = HARDWARE.get_modem_version()  # pylint: disable=assignment-from-none
+          if modem_version is not None:
+            cloudlog.warning(f"Modem version: {modem_version}")
+
+        if TICI and (network_info.get('state', None) == "REGISTERED"):
+          registered_count += 1
+        else:
+          registered_count = 0
+
+        if registered_count > 10:
+          cloudlog.warning(f"Modem stuck in registered state {network_info}. nmcli conn up lte")
+          os.system("nmcli conn up lte")
+          registered_count = 0
+
+      except Exception:
+        cloudlog.exception("Error getting network status")
+
+    msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
+    msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
+    msg.deviceState.cpuUsagePercent = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
+    msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
+    msg.deviceState.networkType = network_type
+    msg.deviceState.networkStrength = network_strength
+    if network_info is not None:
+      msg.deviceState.networkInfo = network_info
+    if nvme_temps is not None:
+      msg.deviceState.nvmeTempC = nvme_temps
+    if modem_temps is not None:
+      msg.deviceState.modemTempC = modem_temps
+
+    msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
+    msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity()
+    msg.deviceState.batteryCurrent = HARDWARE.get_battery_current()
+    msg.deviceState.usbOnline = HARDWARE.get_usb_present()
+    current_filter.update(msg.deviceState.batteryCurrent / 1e6)
+
+    max_comp_temp = temp_filter.update(
+      max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC))
+    )
+
+    if handle_fan is not None:
+      fan_speed = handle_fan(controller, max_comp_temp, fan_speed, startup_conditions["ignition"])
+      msg.deviceState.fanSpeedPercentDesired = fan_speed
+
+    is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
+    if is_offroad_for_5_min and max_comp_temp > OFFROAD_DANGER_TEMP:
+      # If device is offroad we want to cool down before going onroad
+      # since going onroad increases load and can make temps go over 107
+      thermal_status = ThermalStatus.danger
+    else:
+      current_band = THERMAL_BANDS[thermal_status]
+      band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
+      if current_band.min_temp is not None and max_comp_temp < current_band.min_temp:
+        thermal_status = list(THERMAL_BANDS.keys())[band_idx - 1]
+      elif current_band.max_temp is not None and max_comp_temp > current_band.max_temp:
+        thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
+
+    # **** starting logic ****
+
+    # Check for last update time and display alerts if needed
+    now = datetime.datetime.utcnow()
+
+    # show invalid date/time alert
+    startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10)
+    set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]))
+
+    # Show update prompt
+    try:
+      last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
+    except (TypeError, ValueError):
+      last_update = now
+    dt = now - last_update
+
+    update_failed_count = params.get("UpdateFailedCount")
+    update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
+    last_update_exception = params.get("LastUpdateException", encoding='utf8')
+
+    if update_failed_count > 15 and last_update_exception is not None:
+      if tested_branch:
+        extra_text = "Ensure the software is correctly installed"
+      else:
+        extra_text = last_update_exception
+
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
+      set_offroad_alert_if_changed("Offroad_UpdateFailed", True, extra_text=extra_text)
+    elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
+      set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
+    elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
+      remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
+      set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
+    else:
+      set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
+
+    startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
+    startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
+    startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
+
+    # with 2% left, we killall, otherwise the phone will take a long time to boot
+    startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
+    startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
+                                               params.get_bool("Passive")
+    startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
+    startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
+    # if any CPU gets above 107 or the battery gets above 63, kill all processes
+    # controls will warn with CPU above 95 or battery above 60
+    startup_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
+    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not startup_conditions["device_temp_good"]))
+
+    if TICI:
+      set_offroad_alert_if_changed("Offroad_StorageMissing", (not Path("/data/media").is_mount()))
+
+    # Handle offroad/onroad transition
+    should_start = all(startup_conditions.values())
+    if should_start != should_start_prev or (count == 0):
+      params.put_bool("IsOnroad", should_start)
+      params.put_bool("IsOffroad", not should_start)
+      HARDWARE.set_power_save(not should_start)
+
+    if should_start:
+      off_ts = None
+      if started_ts is None:
+        started_ts = sec_since_boot()
+        started_seen = True
+    else:
+      if startup_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
+        cloudlog.event("Startup blocked", startup_conditions=startup_conditions)
+
+      started_ts = None
+      if off_ts is None:
+        off_ts = sec_since_boot()
+
+    # Offroad power monitoring
+    power_monitor.calculate(peripheralState, startup_conditions["ignition"])
+    msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
+    msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
+
+    # Check if we need to disable charging (handled by boardd)
+    msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(startup_conditions["ignition"], in_car, off_ts)
+
+    # Check if we need to shut down
+    if power_monitor.should_shutdown(peripheralState, startup_conditions["ignition"], in_car, off_ts, started_seen):
+      cloudlog.info(f"shutting device down, offroad since {off_ts}")
+      # TODO: add function for blocking cloudlog instead of sleep
+      time.sleep(10)
+      HARDWARE.shutdown()
+
+    # If UI has crashed, set the brightness to reasonable non-zero value
+    ui_running = "ui" in (p.name for p in sm["managerState"].processes if p.running)
+    if ui_running_prev and not ui_running:
+      HARDWARE.set_screen_brightness(20)
+    ui_running_prev = ui_running
+
+    msg.deviceState.chargingError = current_filter.x > 0. and msg.deviceState.batteryPercent < 90  # if current is positive, then battery is being discharged
+    msg.deviceState.started = started_ts is not None
+    msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
+
+    last_ping = params.get("LastAthenaPingTime")
+    if last_ping is not None:
+      msg.deviceState.lastAthenaPingTime = int(last_ping)
+
+    msg.deviceState.thermalStatus = thermal_status
+    pm.send("deviceState", msg)
+
+    if EON and not is_uno:
+      set_offroad_alert_if_changed("Offroad_ChargeDisabled", (not usb_power))
+
+    should_start_prev = should_start
+    startup_conditions_prev = startup_conditions.copy()
+
+    # report to server once every 10 minutes
+    if (count % int(600. / DT_TRML)) == 0:
+      if EON and started_ts is None and msg.deviceState.memoryUsagePercent > 40:
+        cloudlog.event("High offroad memory usage", mem=msg.deviceState.memoryUsagePercent)
+
+      cloudlog.event("STATUS_PACKET",
+                     count=count,
+                     pandaStates=(strip_deprecated_keys(pandaStates.to_dict()) if pandaStates else None),
+                     peripheralState=strip_deprecated_keys(peripheralState.to_dict()),
+                     location=(strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
+                     deviceState=strip_deprecated_keys(msg.to_dict()))
+
+    count += 1
+
+
+def main():
+  thermald_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/timezoned.py b/selfdrive/timezoned.py
new file mode 100755
index 00000000000000..74da5fe35cbba0
--- /dev/null
+++ b/selfdrive/timezoned.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+import json
+import os
+import time
+import subprocess
+
+import requests
+from timezonefinder import TimezoneFinder
+
+from common.params import Params
+from selfdrive.hardware import TICI
+from selfdrive.swaglog import cloudlog
+
+
+def set_timezone(valid_timezones, timezone):
+  if timezone not in valid_timezones:
+    cloudlog.error(f"Timezone not supported {timezone}")
+    return
+
+  cloudlog.debug(f"Setting timezone to {timezone}")
+  try:
+    if TICI:
+      tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
+      subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
+                              mv /data/etc/tmptime /data/etc/localtime"', shell=True)
+      subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True)
+    else:
+      subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
+  except subprocess.CalledProcessError:
+    cloudlog.exception(f"Error setting timezone to {timezone}")
+
+
+def main():
+  params = Params()
+  tf = TimezoneFinder()
+
+  # Get allowed timezones
+  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
+
+  while True:
+    time.sleep(60)
+
+    is_onroad = not params.get_bool("IsOffroad")
+    if is_onroad:
+      continue
+
+    # Set based on param
+    timezone = params.get("Timezone", encoding='utf8')
+    if timezone is not None:
+      cloudlog.debug("Setting timezone based on param")
+      set_timezone(valid_timezones, timezone)
+      continue
+
+    location = params.get("LastGPSPosition", encoding='utf8')
+
+    # Find timezone based on IP geolocation if no gps location is available
+    if location is None:
+      cloudlog.debug("Setting timezone based on IP lookup")
+      try:
+        r = requests.get("https://ipapi.co/timezone", timeout=10)
+        if r.status_code == 200:
+          set_timezone(valid_timezones, r.text)
+        else:
+          cloudlog.error(f"Unexpected status code from api {r.status_code}")
+
+        time.sleep(3600)  # Don't make too many API requests
+      except requests.exceptions.RequestException:
+        cloudlog.exception("Error getting timezone based on IP")
+        continue
+
+    # Find timezone by reverse geocoding the last known gps location
+    else:
+      cloudlog.debug("Setting timezone based on GPS location")
+      try:
+        location = json.loads(location)
+      except Exception:
+        cloudlog.exception("Error parsing location")
+        continue
+
+      timezone = tf.timezone_at(lng=location['longitude'], lat=location['latitude'])
+      if timezone is None:
+        cloudlog.error(f"No timezone found based on location, {location}")
+        continue
+      set_timezone(valid_timezones, timezone)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
old mode 100644
new mode 100755
index 292ec0408b7599..fb7a1a2c99e453
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -1,122 +1,234 @@
+#!/usr/bin/env python3
+import datetime
 import os
 import re
+import shutil
+import signal
+import subprocess
 import time
-import datetime
+import glob
 
-from raven import Client
-from raven.transport.http import HTTPTransport
+import sentry_sdk
 
-from selfdrive.version import version, dirty
+from common.params import Params
+from common.file_helpers import mkdirs_exists_ok
+from selfdrive.hardware import TICI, HARDWARE
+from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog
+from selfdrive.version import branch, commit, dirty, origin, version
+
+MAX_SIZE = 100000 * 10  # mal size is 40-100k, allow up to 1M
+if TICI:
+  MAX_SIZE = MAX_SIZE * 100  # Allow larger size for tici since files contain coredump
+MAX_TOMBSTONE_FN_LEN = 62  # 85 - 23 ("<dongle id>/crash/")
+
+TOMBSTONE_DIR = "/data/tombstones/"
+APPORT_DIR = "/var/crash/"
+
+
+def safe_fn(s):
+  extra = ['_']
+  return "".join(c for c in s if c.isalnum() or c in extra).rstrip()
+
+
+def sentry_report(fn, message, contents):
+  cloudlog.error({'tombstone': message})
+
+  with sentry_sdk.configure_scope() as scope:
+      scope.set_extra("tombstone_fn", fn)
+      scope.set_extra("tombstone", contents)
+      sentry_sdk.capture_message(message=message)
+      sentry_sdk.flush()
+
+
+def clear_apport_folder():
+  for f in glob.glob(APPORT_DIR + '*'):
+    try:
+      os.remove(f)
+    except Exception:
+      pass
+
+
+def get_apport_stacktrace(fn):
+  try:
+    cmd = f'apport-retrace -s <(cat <(echo "Package: openpilot") "{fn}")'
+    return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash')  # pylint: disable=unexpected-keyword-arg
+  except subprocess.CalledProcessError:
+    return "Error getting stacktrace"
+  except subprocess.TimeoutExpired:
+    return "Timeout getting stacktrace"
+
 
 def get_tombstones():
-  DIR_DATA = "/data/tombstones/"
-  return [(DIR_DATA + fn, int(os.stat(DIR_DATA + fn).st_ctime) )
-          for fn in os.listdir(DIR_DATA) if fn.startswith("tombstone")]
+  """Returns list of (filename, ctime) for all tombstones in /data/tombstones
+  and apport crashlogs in /var/crash"""
+  files = []
+  for folder in [TOMBSTONE_DIR, APPORT_DIR]:
+    if os.path.exists(folder):
+      with os.scandir(folder) as d:
+
+        # Loop over first 1000 directory entries
+        for _, f in zip(range(1000), d):
+          if f.name.startswith("tombstone"):
+            files.append((f.path, int(f.stat().st_ctime)))
+          elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640:
+            files.append((f.path, int(f.stat().st_ctime)))
+  return files
+
+
+def report_tombstone_android(fn):
+  f_size = os.path.getsize(fn)
+  if f_size > MAX_SIZE:
+    cloudlog.error(f"Tombstone {fn} too big, {f_size}. Skipping...")
+    return
 
-def report_tombstone(fn, client):
-  mtime = os.path.getmtime(fn)
   with open(fn, encoding='ISO-8859-1') as f:
-    dat = f.read()
-
-  # see system/core/debuggerd/tombstone.cpp
-  parsed = re.match(r"[* ]*\n"
-                    r"(?P<header>CM Version:[\s\S]*?ABI:.*\n)"
-                    r"(?P<thread>pid:.*\n)"
-                    r"(?P<signal>signal.*\n)?"
-                    r"(?P<abort>Abort.*\n)?"
-                    r"(?P<registers>\s+x0[\s\S]*?\n)\n"
-                    r"(?:backtrace:\n"
-                      r"(?P<backtrace>[\s\S]*?\n)\n"
-                      r"stack:\n"
-                      r"(?P<stack>[\s\S]*?\n)\n"
-                    r")?", dat)
-
-  logtail = re.search(r"--------- tail end of.*\n([\s\S]*?\n)---", dat)
-  logtail = logtail and logtail.group(1)
-
-  if parsed:
-    parsedict = parsed.groupdict()
-  else:
-    parsedict = {}
-
-  thread_line = parsedict.get('thread', '')
-  thread_parsed = re.match(r'pid: (?P<pid>\d+), tid: (?P<tid>\d+), name: (?P<name>.*) >>> (?P<cmd>.*) <<<', thread_line)
-  if thread_parsed:
-    thread_parseddict = thread_parsed.groupdict()
-  else:
-    thread_parseddict = {}
-  pid = thread_parseddict.get('pid', '')
-  tid = thread_parseddict.get('tid', '')
-  name = thread_parseddict.get('name', 'unknown')
-  cmd = thread_parseddict.get('cmd', 'unknown')
-
-  signal_line = parsedict.get('signal', '')
-  signal_parsed = re.match(r'signal (?P<signal>.*?), code (?P<code>.*?), fault addr (?P<fault_addr>.*)\n', signal_line)
-  if signal_parsed:
-    signal_parseddict = signal_parsed.groupdict()
-  else:
-    signal_parseddict = {}
-  signal = signal_parseddict.get('signal', 'unknown')
-  code = signal_parseddict.get('code', 'unknown')
-  fault_addr = signal_parseddict.get('fault_addr', '')
-
-  abort_line = parsedict.get('abort', '')
-
-  if parsed:
-    message = 'Process {} ({}) got signal {} code {}'.format(name, cmd, signal, code)
-    if abort_line:
-      message += '\n'+abort_line
-  else:
-    message = fn+'\n'+dat[:1024]
-
-
-  client.captureMessage(
-    message=message,
-    date=datetime.datetime.utcfromtimestamp(mtime),
-    data={
-      'logger':'tombstoned',
-      'platform':'other',
-    },
-    sdk={'name': 'tombstoned', 'version': '0'},
-    extra={
-      'fault_addr': fault_addr,
-      'abort_msg': abort_line,
-      'pid': pid,
-      'tid': tid,
-      'name':'{} ({})'.format(name, cmd),
-      'tombstone_fn': fn,
-      'header': parsedict.get('header'),
-      'registers': parsedict.get('registers'),
-      'backtrace': parsedict.get('backtrace'),
-      'logtail': logtail,
-    },
-    tags={
-      'name':'{} ({})'.format(name, cmd),
-      'signal':signal,
-      'code':code,
-      'fault_addr':fault_addr,
-    },
-  )
-  cloudlog.error({'tombstone': message})
+    contents = f.read()
+
+  message = " ".join(contents.split('\n')[5:7])
+
+  # Cut off pid/tid, since that varies per run
+  name_idx = message.find('name')
+  if name_idx >= 0:
+    message = message[name_idx:]
+
+  executable = ""
+  start_exe_idx = message.find('>>> ')
+  end_exe_idx = message.find(' <<<')
+  if start_exe_idx >= 0 and end_exe_idx >= 0:
+    executable = message[start_exe_idx + 4:end_exe_idx]
+
+  # Cut off fault addr
+  fault_idx = message.find(', fault addr')
+  if fault_idx >= 0:
+    message = message[:fault_idx]
+
+  sentry_report(fn, message, contents)
+
+  # Copy crashlog to upload folder
+  clean_path = executable.replace('./', '').replace('/', '_')
+  date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S")
+
+  new_fn = f"{date}_{commit[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
 
+  crashlog_dir = os.path.join(ROOT, "crash")
+  mkdirs_exists_ok(crashlog_dir)
 
-def main(gctx=None):
+  shutil.copy(fn, os.path.join(crashlog_dir, new_fn))
+
+
+def report_tombstone_apport(fn):
+  f_size = os.path.getsize(fn)
+  if f_size > MAX_SIZE:
+    cloudlog.error(f"Tombstone {fn} too big, {f_size}. Skipping...")
+    return
+
+  message = ""  # One line description of the crash
+  contents = ""  # Full file contents without coredump
+  path = ""  # File path relative to openpilot directory
+
+  proc_maps = False
+
+  with open(fn) as f:
+    for line in f:
+      if "CoreDump" in line:
+        break
+      elif "ProcMaps" in line:
+        proc_maps = True
+      elif "ProcStatus" in line:
+        proc_maps = False
+
+      if not proc_maps:
+        contents += line
+
+      if "ExecutablePath" in line:
+        path = line.strip().split(': ')[-1]
+        path = path.replace('/data/openpilot/', '')
+        message += path
+      elif "Signal" in line:
+        message += " - " + line.strip()
+
+        try:
+          sig_num = int(line.strip().split(': ')[-1])
+          message += " (" + signal.Signals(sig_num).name + ")"  # pylint: disable=no-member
+        except ValueError:
+          pass
+
+  stacktrace = get_apport_stacktrace(fn)
+  stacktrace_s = stacktrace.split('\n')
+  crash_function = "No stacktrace"
+
+  if len(stacktrace_s) > 2:
+    found = False
+
+    # Try to find first entry in openpilot, fall back to first line
+    for line in stacktrace_s:
+      if "at selfdrive/" in line:
+          crash_function = line
+          found = True
+          break
+
+    if not found:
+      crash_function = stacktrace_s[1]
+
+    # Remove arguments that can contain pointers to make sentry one-liner unique
+    crash_function = " ".join(x for x in crash_function.split(' ')[1:] if not x.startswith('0x'))
+    crash_function = re.sub(r'\(.*?\)', '', crash_function)
+
+  contents = stacktrace + "\n\n" + contents
+  message = message + " - " + crash_function
+  sentry_report(fn, message, contents)
+
+  # Copy crashlog to upload folder
+  clean_path = path.replace('/', '_')
+  date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S")
+
+  new_fn = f"{date}_{commit[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
+
+  crashlog_dir = os.path.join(ROOT, "crash")
+  mkdirs_exists_ok(crashlog_dir)
+
+  # Files could be on different filesystems, copy, then delete
+  shutil.copy(fn, os.path.join(crashlog_dir, new_fn))
+
+  try:
+    os.remove(fn)
+  except PermissionError:
+    pass
+
+
+def main():
+  clear_apport_folder()  # Clear apport folder on start, otherwise duplicate crashes won't register
   initial_tombstones = set(get_tombstones())
 
-  client = Client('https://d3b175702f62402c91ade04d1c547e68:b20d68c813c74f63a7cdf9c4039d8f56@sentry.io/157615',
-                  install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty}, string_max_length=10000)
+  sentry_sdk.utils.MAX_STRING_LENGTH = 8192
+  sentry_sdk.init("https://a40f22e13cbc4261873333c125fc9d38@o33823.ingest.sentry.io/157615",
+                  default_integrations=False, release=version)
+
+  dongle_id = Params().get("DongleId", encoding='utf-8')
+  sentry_sdk.set_user({"id": dongle_id})
+  sentry_sdk.set_tag("dirty", dirty)
+  sentry_sdk.set_tag("origin", origin)
+  sentry_sdk.set_tag("branch", branch)
+  sentry_sdk.set_tag("commit", commit)
+  sentry_sdk.set_tag("device", HARDWARE.get_device_type())
 
-  client.user_context({'id': os.environ.get('DONGLE_ID')})
   while True:
     now_tombstones = set(get_tombstones())
 
-    for fn, ctime in (now_tombstones - initial_tombstones):
-      cloudlog.info("reporting new tombstone %s", fn)
-      report_tombstone(fn, client)
+    for fn, _ in (now_tombstones - initial_tombstones):
+      try:
+        cloudlog.info(f"reporting new tombstone {fn}")
+        if fn.endswith(".crash"):
+          report_tombstone_apport(fn)
+        else:
+          report_tombstone_android(fn)
+      except Exception:
+        cloudlog.exception(f"Error reporting tombstone {fn}")
 
     initial_tombstones = now_tombstones
     time.sleep(5)
 
+
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
new file mode 100644
index 00000000000000..5d656f889ef9c8
--- /dev/null
+++ b/selfdrive/ui/.gitignore
@@ -0,0 +1,13 @@
+moc_*
+*.moc
+
+watch3
+installer/installers/*
+replay/replay
+replay/tests/test_replay
+qt/text
+qt/spinner
+qt/setup/setup
+qt/setup/reset
+qt/setup/wifi
+qt/setup/updater
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 5dbf8016ddc05f..d4c8fe71e20038 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,17 +1,130 @@
-Import('env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
-
-src = ['ui.cc', 'paint.cc', '#phonelibs/nanovg/nanovg.c']
-libs = [common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', cereal, 'json', messaging, gpucommon, visionipc]
-
-if arch == "aarch64":
-  src += ['sound.cc', 'slplay.c']
-  libs += ['EGL', 'GLESv3', 'gnustl_shared', 'log', 'utils', 'gui', 'hardware', 'ui', 'CB', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid', 'OpenCL']
-  linkflags = ['-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib']
-else:
-  src += ['linux.cc']
-  libs += ['pthread', 'glfw']
-  linkflags = []
-  
-env.Program('_ui', src,
-  LINKFLAGS=linkflags,
-  LIBS=libs)
+import os
+Import('qt_env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc',
+       'cereal', 'transformations')
+
+base_libs = [gpucommon, common, messaging, cereal, visionipc, transformations, 'zmq',
+             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+maps = arch in ['larch64', 'x86_64']
+
+if arch == 'aarch64':
+  base_libs += ['log', 'utils', 'gui', 'ui', 'CB', 'gsl', 'adreno_utils', 'cutils', 'uuid']
+
+if maps and arch == 'x86_64':
+  rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
+  qt_env["RPATH"] += rpath
+
+if arch == "Darwin":
+  del base_libs[base_libs.index('OpenCL')]
+  qt_env['FRAMEWORKS'] += ['OpenCL']
+
+widgets_src = ["qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
+               "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
+               "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
+               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc",
+               "qt/request_repeater.cc", "qt/qt_window.cc"]
+
+if arch != 'aarch64':
+  widgets_src += ["qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"]
+
+qt_env['CPPDEFINES'] = []
+if maps:
+  base_libs += ['qmapboxgl']
+  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc"]
+  qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
+
+widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
+qt_libs = [widgets] + base_libs
+
+# build assets
+assets = "#selfdrive/assets/assets.cc"
+assets_src = "#selfdrive/assets/assets.qrc"
+qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
+qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"]))
+asset_obj = qt_env.Object("assets", assets)
+
+# build soundd
+qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs)
+if GetOption('test'):
+  qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs)
+  qt_env.Program('tests/test_sound', ['tests/test_runner.cc', 'soundd/sound.cc', 'tests/test_sound.cc'], LIBS=[base_libs])
+
+qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
+
+# spinner and text window
+qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
+qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
+
+# build main UI
+qt_src = ["main.cc", "ui.cc", "paint.cc", "qt/sidebar.cc", "qt/onroad.cc",
+          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
+          "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc",
+          "#third_party/nanovg/nanovg.c"]
+qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
+
+
+# setup and factory resetter
+if arch != 'aarch64' and GetOption('extras'):
+  qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
+  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
+                 LIBS=qt_libs + ['curl', 'common', 'json11'])
+
+
+if GetOption('extras'):
+  # buidl updater UI
+  qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
+
+  # build installers
+  senv = qt_env.Clone()
+  senv['LINKFLAGS'].append('-Wl,-strip-debug')
+
+  release = "release3" if arch == 'larch64' else "release2"
+  dashcam = "dashcam3" if arch == 'larch64' else "dashcam"
+  installers = [
+    ("openpilot", release),
+    ("openpilot_test", f"{release}-staging"),
+    ("openpilot_nightly", "master-ci"),
+    ("openpilot_internal", "master"),
+    ("dashcam", dashcam),
+    ("dashcam_test", f"{dashcam}-staging"),
+  ]
+
+  cont = {}
+  for brand in ("openpilot", "dashcam"):
+    cont[brand] = senv.Command(f"installer/continue_{brand}.o", f"installer/continue_{brand}.sh",
+                               "ld -r -b binary -o $TARGET $SOURCE")
+  for name, branch in installers:
+    brand = "dashcam" if "dashcam" in branch else "openpilot"
+    d = {'BRANCH': f"'\"{branch}\"'", 'BRAND': f"'\"{brand}\"'"}
+    if "internal" in name:
+      d['INTERNAL'] = "1"
+
+      import requests
+      r = requests.get("https://github.com/commaci2.keys")
+      r.raise_for_status()
+      d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
+    obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+    f = senv.Program(f"installer/installers/installer_{name}", [obj, cont[brand]], LIBS=qt_libs)
+    # keep installers small
+    assert f[0].get_size() < 300*1e3
+
+
+# build headless replay
+if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+  qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+
+  replay_lib_src = ["replay/replay.cc", "replay/camera.cc", "replay/filereader.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"]
+
+  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs)
+  replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'swscale'] + qt_libs
+  qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs)
+
+  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11'])
+
+  if GetOption('test'):
+    qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs])
+
+# navd
+if maps:
+  navd_src = ["navd/main.cc", "navd/route_engine.cc"]
+  qt_env.Program("navd/_navd", navd_src, LIBS=qt_libs + ['common', 'json11'])
diff --git a/selfdrive/ui/linux.cc b/selfdrive/ui/linux.cc
deleted file mode 100644
index 8e4a8492dcc208..00000000000000
--- a/selfdrive/ui/linux.cc
+++ /dev/null
@@ -1,107 +0,0 @@
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <assert.h>
-#include <string.h>
-
-#include "ui.hpp"
-
-#ifndef __APPLE__
-#define GLFW_INCLUDE_ES2
-#else
-#define GLFW_INCLUDE_GLCOREARB
-#endif
-
-#define GLFW_INCLUDE_GLEXT
-#include <GLFW/glfw3.h>
-
-typedef struct FramebufferState FramebufferState;
-typedef struct TouchState TouchState;
-
-extern "C" {
-
-FramebufferState* framebuffer_init(
-    const char* name, int32_t layer, int alpha,
-    int *out_w, int *out_h) {
-  glfwInit();
-
-#ifndef __APPLE__
-  glfwWindowHint(GLFW_CLIENT_API, GLFW_OPENGL_ES_API);
-  glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
-  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
-#else
-  glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
-  glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
-  glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
-  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
-#endif
-  glfwWindowHint(GLFW_RESIZABLE, 0);
-  GLFWwindow* window;
-  window = glfwCreateWindow(1920, 1080, "ui", NULL, NULL);
-  if (!window) {
-    printf("glfwCreateWindow failed\n");
-  }
-
-  glfwMakeContextCurrent(window);
-  glfwSwapInterval(0);
-
-  // clear screen
-  glClearColor(0.2f, 0.2f, 0.2f, 1.0f);
-  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-  framebuffer_swap((FramebufferState*)window);
-
-  if (out_w) *out_w = 1920;
-  if (out_h) *out_h = 1080;
-
-  return (FramebufferState*)window;
-}
-
-void framebuffer_set_power(FramebufferState *s, int mode) {
-}
-
-void framebuffer_swap(FramebufferState *s) {
-  glfwSwapBuffers((GLFWwindow*)s);
-  glfwPollEvents();
-}
-
-void touch_init(TouchState *s) {
-  printf("touch_init\n");
-}
-
-int touch_poll(TouchState *s, int* out_x, int* out_y, int timeout) {
-  return -1;
-}
-
-int touch_read(TouchState *s, int* out_x, int* out_y) {
-  return -1;
-}
-
-}
-
-#include "sound.hpp"
-
-void ui_sound_init() {}
-void ui_sound_destroy() {}
-
-void set_volume(int volume) {}
-
-void play_alert_sound(AudibleAlert alert) {}
-void stop_alert_sound(AudibleAlert alert) {}
-
-#include "common/visionimg.h"
-#include <sys/mman.h>
-
-GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
-  unsigned int texture;
-  glGenTextures(1, &texture);
-  glBindTexture(GL_TEXTURE_2D, texture);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height, 0, GL_RGB, GL_UNSIGNED_BYTE, *pph);
-  glGenerateMipmap(GL_TEXTURE_2D);
-  *pkhr = (EGLImageKHR)1; // not NULL
-  return texture;
-}
-
-void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
-  // empty
-}
-
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
new file mode 100644
index 00000000000000..3d2411b9c67c0c
--- /dev/null
+++ b/selfdrive/ui/main.cc
@@ -0,0 +1,28 @@
+#include <sys/resource.h>
+
+#include <QApplication>
+#include <QSslConfiguration>
+
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/window.h"
+
+int main(int argc, char *argv[]) {
+  setpriority(PRIO_PROCESS, 0, -20);
+
+  qInstallMessageHandler(swagLogMessageHandler);
+  initApp();
+
+  if (Hardware::EON()) {
+    QSslConfiguration ssl = QSslConfiguration::defaultConfiguration();
+    ssl.setCaCertificates(QSslCertificate::fromPath("/usr/etc/tls/cert.pem"));
+    QSslConfiguration::setDefaultConfiguration(ssl);
+  }
+
+  QApplication a(argc, argv);
+  MainWindow w;
+  setMainWindow(&w);
+  a.installEventFilter(&w);
+  return a.exec();
+}
diff --git a/selfdrive/ui/navd/.gitignore b/selfdrive/ui/navd/.gitignore
new file mode 100644
index 00000000000000..0fa7b173e46e4e
--- /dev/null
+++ b/selfdrive/ui/navd/.gitignore
@@ -0,0 +1 @@
+_navd
diff --git a/selfdrive/ui/navd/main.cc b/selfdrive/ui/navd/main.cc
new file mode 100644
index 00000000000000..cc8d9c339bfe4e
--- /dev/null
+++ b/selfdrive/ui/navd/main.cc
@@ -0,0 +1,36 @@
+#include <QApplication>
+#include <QCommandLineParser>
+#include <QDebug>
+#include <QThread>
+#include <csignal>
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/navd/route_engine.h"
+
+RouteEngine* route_engine = nullptr;
+
+void sigHandler(int s) {
+  qInfo() << "Shutting down";
+  std::signal(s, SIG_DFL);
+
+  qApp->quit();
+}
+
+
+int main(int argc, char *argv[]) {
+  qInstallMessageHandler(swagLogMessageHandler);
+
+  QApplication app(argc, argv);
+  std::signal(SIGINT, sigHandler);
+  std::signal(SIGTERM, sigHandler);
+
+  QCommandLineParser parser;
+  parser.setApplicationDescription("Navigation server. Runs stand-alone, or using pre-computer route");
+  parser.addHelpOption();
+  parser.process(app);
+  const QStringList args = parser.positionalArguments();
+
+  route_engine = new RouteEngine();
+
+  return app.exec();
+}
diff --git a/selfdrive/ui/navd/navd b/selfdrive/ui/navd/navd
new file mode 100755
index 00000000000000..ff3103bd970d30
--- /dev/null
+++ b/selfdrive/ui/navd/navd
@@ -0,0 +1,4 @@
+#!/bin/sh
+cd "$(dirname "$0")"
+export QT_PLUGIN_PATH="../../../third_party/qt-plugins/$(uname -m)"
+exec ./_navd
diff --git a/selfdrive/ui/navd/route_engine.cc b/selfdrive/ui/navd/route_engine.cc
new file mode 100644
index 00000000000000..30d070dc730447
--- /dev/null
+++ b/selfdrive/ui/navd/route_engine.cc
@@ -0,0 +1,339 @@
+#include "selfdrive/ui/navd/route_engine.h"
+
+#include <QDebug>
+
+#include "selfdrive/ui/qt/maps/map.h"
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/ui/qt/api.h"
+
+#include "selfdrive/common/params.h"
+
+const qreal REROUTE_DISTANCE = 25;
+const float MANEUVER_TRANSITION_THRESHOLD = 10;
+
+static float get_time_typical(const QGeoRouteSegment &segment) {
+  auto maneuver = segment.maneuver();
+  auto attrs = maneuver.extendedAttributes();
+  return attrs.contains("mapbox.duration_typical") ? attrs["mapbox.duration_typical"].toDouble() : segment.travelTime();
+}
+
+static cereal::NavInstruction::Direction string_to_direction(QString d) {
+  if (d.contains("left")) {
+    return cereal::NavInstruction::Direction::LEFT;
+  } else if (d.contains("right")) {
+    return cereal::NavInstruction::Direction::RIGHT;
+  } else if (d.contains("straight")) {
+    return cereal::NavInstruction::Direction::STRAIGHT;
+  }
+
+  return cereal::NavInstruction::Direction::NONE;
+}
+
+static void parse_banner(cereal::NavInstruction::Builder &instruction, const QMap<QString, QVariant> &banner, bool full) {
+  QString primary_str, secondary_str;
+
+  auto p = banner["primary"].toMap();
+  primary_str += p["text"].toString();
+
+  instruction.setShowFull(full);
+
+  if (p.contains("type")) {
+    instruction.setManeuverType(p["type"].toString().toStdString());
+  }
+
+  if (p.contains("modifier")) {
+    instruction.setManeuverModifier(p["modifier"].toString().toStdString());
+  }
+
+  if (banner.contains("secondary")) {
+    auto s = banner["secondary"].toMap();
+    secondary_str += s["text"].toString();
+  }
+
+  instruction.setManeuverPrimaryText(primary_str.toStdString());
+  instruction.setManeuverSecondaryText(secondary_str.toStdString());
+
+  if (banner.contains("sub")) {
+    auto s = banner["sub"].toMap();
+    auto components = s["components"].toList();
+
+    size_t num_lanes = 0;
+    for (auto &c : components) {
+      auto cc = c.toMap();
+      if (cc["type"].toString() == "lane") {
+        num_lanes += 1;
+      }
+    }
+
+    auto lanes = instruction.initLanes(num_lanes);
+
+    size_t i = 0;
+    for (auto &c : components) {
+      auto cc = c.toMap();
+      if (cc["type"].toString() == "lane") {
+        auto lane = lanes[i];
+        lane.setActive(cc["active"].toBool());
+
+        if (cc.contains("active_direction")) {
+          lane.setActiveDirection(string_to_direction(cc["active_direction"].toString()));
+        }
+
+        auto directions = lane.initDirections(cc["directions"].toList().size());
+
+        size_t j = 0;
+        for (auto &dir : cc["directions"].toList()) {
+          directions.set(j, string_to_direction(dir.toString()));
+          j++;
+        }
+
+
+        i++;
+      }
+    }
+  }
+
+}
+
+RouteEngine::RouteEngine() {
+  sm = new SubMaster({"liveLocationKalman", "managerState"});
+  pm = new PubMaster({"navInstruction", "navRoute"});
+
+  // Timers
+  timer = new QTimer(this);
+  QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
+  timer->start(1000);
+
+  // Build routing engine
+  QVariantMap parameters;
+  QString token = MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN;
+  parameters["mapbox.access_token"] = token;
+  parameters["mapbox.directions_api_url"] = MAPS_HOST + "/directions/v5/mapbox/";
+
+  geoservice_provider = new QGeoServiceProvider("mapbox", parameters);
+  routing_manager = geoservice_provider->routingManager();
+  if (routing_manager == nullptr) {
+    qWarning() << geoservice_provider->errorString();
+    assert(routing_manager);
+  }
+  QObject::connect(routing_manager, &QGeoRoutingManager::finished, this, &RouteEngine::routeCalculated);
+
+  // Get last gps position from params
+  auto last_gps_position = coordinate_from_param("LastGPSPosition");
+  if (last_gps_position) {
+    last_position = *last_gps_position;
+  }
+}
+
+void RouteEngine::timerUpdate() {
+  sm->update(0);
+  if (!sm->updated("liveLocationKalman")) {
+    return;
+  }
+
+  if (sm->updated("managerState")) {
+    for (auto const &p : (*sm)["managerState"].getManagerState().getProcesses()) {
+      if (p.getName() == "ui" && p.getRunning()) {
+        if (ui_pid && *ui_pid != p.getPid()){
+          qWarning() << "UI restarting, sending route";
+          QTimer::singleShot(5000, this, &RouteEngine::sendRoute);
+        }
+        ui_pid = p.getPid();
+      }
+    }
+  }
+
+  auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
+  auto pos = location.getPositionGeodetic();
+  auto orientation = location.getCalibratedOrientationNED();
+
+  gps_ok = location.getGpsOK();
+
+  localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
+
+  if (localizer_valid) {
+    last_bearing = RAD2DEG(orientation.getValue()[2]);
+    last_position = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
+  }
+
+  recomputeRoute();
+
+  MessageBuilder msg;
+  cereal::Event::Builder evt = msg.initEvent(segment.isValid());
+  cereal::NavInstruction::Builder instruction = evt.initNavInstruction();
+
+  // Show route instructions
+  if (segment.isValid()) {
+    auto cur_maneuver = segment.maneuver();
+    auto attrs = cur_maneuver.extendedAttributes();
+    if (cur_maneuver.isValid() && attrs.contains("mapbox.banner_instructions")) {
+      float along_geometry = distance_along_geometry(segment.path(), to_QGeoCoordinate(*last_position));
+      float distance_to_maneuver_along_geometry = segment.distance() - along_geometry;
+
+      auto banners = attrs["mapbox.banner_instructions"].toList();
+      if (banners.size()) {
+        auto banner = banners[0].toMap();
+
+        for (auto &b : banners) {
+          auto bb = b.toMap();
+          if (distance_to_maneuver_along_geometry < bb["distance_along_geometry"].toDouble()) {
+            banner = bb;
+          }
+        }
+
+        instruction.setManeuverDistance(distance_to_maneuver_along_geometry);
+        parse_banner(instruction, banner, distance_to_maneuver_along_geometry < banner["distance_along_geometry"].toDouble());
+
+        // ETA
+        float progress = distance_along_geometry(segment.path(), to_QGeoCoordinate(*last_position)) / segment.distance();
+        float total_distance = segment.distance() * (1.0 - progress);
+        float total_time = segment.travelTime() * (1.0 - progress);
+        float total_time_typical = get_time_typical(segment) * (1.0 - progress);
+
+        auto s = segment.nextRouteSegment();
+        while (s.isValid()) {
+          total_distance += s.distance();
+          total_time += s.travelTime();
+          total_time_typical += get_time_typical(s);
+
+          s = s.nextRouteSegment();
+        }
+        instruction.setTimeRemaining(total_time);
+        instruction.setTimeRemainingTypical(total_time_typical);
+        instruction.setDistanceRemaining(total_distance);
+      }
+
+      // Transition to next route segment
+      if (distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD) {
+        auto next_segment = segment.nextRouteSegment();
+        if (next_segment.isValid()) {
+          segment = next_segment;
+
+          recompute_backoff = std::max(0, recompute_backoff - 1);
+          recompute_countdown = 0;
+        } else {
+          qWarning() << "Destination reached";
+          Params().remove("NavDestination");
+
+          // Clear route if driving away from destination
+          float d = segment.maneuver().position().distanceTo(to_QGeoCoordinate(*last_position));
+          if (d > REROUTE_DISTANCE) {
+            clearRoute();
+          }
+        }
+      }
+    }
+  }
+
+  pm->send("navInstruction", msg);
+}
+
+void RouteEngine::clearRoute() {
+  route = QGeoRoute();
+  segment = QGeoRouteSegment();
+  nav_destination = QMapbox::Coordinate();
+}
+
+bool RouteEngine::shouldRecompute() {
+  if (!segment.isValid()) {
+    return true;
+  }
+
+  // Don't recompute in last segment, assume destination is reached
+  if (!segment.nextRouteSegment().isValid()) {
+    return false;
+  }
+
+  // Compute closest distance to all line segments in the current path
+  float min_d = REROUTE_DISTANCE + 1;
+  auto path = segment.path();
+  auto cur = to_QGeoCoordinate(*last_position);
+  for (size_t i = 0; i < path.size() - 1; i++) {
+    auto a = path[i];
+    auto b = path[i+1];
+    if (a.distanceTo(b) < 1.0) {
+      continue;
+    }
+    min_d = std::min(min_d, minimum_distance(a, b, cur));
+  }
+  return min_d > REROUTE_DISTANCE;
+
+  // TODO: Check for going wrong way in segment
+}
+
+void RouteEngine::recomputeRoute() {
+  auto new_destination = coordinate_from_param("NavDestination");
+  if (!new_destination) {
+    clearRoute();
+    return;
+  }
+
+  bool should_recompute = shouldRecompute();
+  if (*new_destination != nav_destination) {
+    qWarning() << "Got new destination from NavDestination param" << *new_destination;
+    should_recompute = true;
+  }
+
+  if (!gps_ok && segment.isValid()) return; // Don't recompute when gps drifts in tunnels
+
+  if (recompute_countdown == 0 && should_recompute) {
+    recompute_countdown = std::pow(2, recompute_backoff);
+    recompute_backoff = std::min(7, recompute_backoff + 1);
+    calculateRoute(*new_destination);
+  } else {
+    recompute_countdown = std::max(0, recompute_countdown - 1);
+  }
+}
+
+void RouteEngine::calculateRoute(QMapbox::Coordinate destination) {
+  qWarning() << "Calculating route" << *last_position << "->" << destination;
+
+  nav_destination = destination;
+  QGeoRouteRequest request(to_QGeoCoordinate(*last_position), to_QGeoCoordinate(destination));
+  request.setFeatureWeight(QGeoRouteRequest::TrafficFeature, QGeoRouteRequest::AvoidFeatureWeight);
+
+  if (last_bearing) {
+    QVariantMap params;
+    int bearing = ((int)(*last_bearing) + 360) % 360;
+    params["bearing"] = bearing;
+    request.setWaypointsMetadata({params});
+  }
+
+  routing_manager->calculateRoute(request);
+}
+
+void RouteEngine::routeCalculated(QGeoRouteReply *reply) {
+  if (reply->error() == QGeoRouteReply::NoError) {
+    if (reply->routes().size() != 0) {
+      qWarning() << "Got route response";
+
+      route = reply->routes().at(0);
+      segment = route.firstRouteSegment();
+    } else {
+      qWarning() << "Got empty route response";
+    }
+  } else {
+    qWarning() << "Got error in route reply" << reply->errorString();
+  }
+
+  sendRoute();
+
+  reply->deleteLater();
+}
+
+void RouteEngine::sendRoute() {
+  MessageBuilder msg;
+  cereal::Event::Builder evt = msg.initEvent();
+  cereal::NavRoute::Builder nav_route = evt.initNavRoute();
+
+  auto path = route.path();
+  auto coordinates = nav_route.initCoordinates(path.size());
+
+  size_t i = 0;
+  for (auto const &c : route.path()) {
+    coordinates[i].setLatitude(c.latitude());
+    coordinates[i].setLongitude(c.longitude());
+    i++;
+  }
+
+  pm->send("navRoute", msg);
+}
diff --git a/selfdrive/ui/navd/route_engine.h b/selfdrive/ui/navd/route_engine.h
new file mode 100644
index 00000000000000..5b8de698a96bb3
--- /dev/null
+++ b/selfdrive/ui/navd/route_engine.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <QThread>
+#include <QGeoCoordinate>
+#include <QGeoManeuver>
+#include <QGeoRouteRequest>
+#include <QGeoRouteSegment>
+#include <QGeoRoutingManager>
+#include <QGeoServiceProvider>
+#include <QTimer>
+#include <QMapboxGL>
+
+#include "cereal/messaging/messaging.h"
+
+class RouteEngine : public QObject {
+  Q_OBJECT
+
+public:
+  RouteEngine();
+
+  SubMaster *sm;
+  PubMaster *pm;
+
+  QTimer* timer;
+
+  std::optional<int> ui_pid;
+
+  // Route
+  bool gps_ok = false;
+  QGeoServiceProvider *geoservice_provider;
+  QGeoRoutingManager *routing_manager;
+  QGeoRoute route;
+  QGeoRouteSegment segment;
+  QMapbox::Coordinate nav_destination;
+
+  // Position
+  std::optional<QMapbox::Coordinate> last_position;
+  std::optional<float> last_bearing;
+  bool localizer_valid = false;
+
+  // Route recompute
+  int recompute_backoff = 0;
+  int recompute_countdown = 0;
+  void calculateRoute(QMapbox::Coordinate destination);
+  void clearRoute();
+  bool shouldRecompute();
+
+private slots:
+  void timerUpdate();
+  void routeCalculated(QGeoRouteReply *reply);
+  void recomputeRoute();
+  void sendRoute();
+};
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 6d7b24c346ccb5..dda56962c602ba 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -1,1048 +1,315 @@
-#include <assert.h>
-#include "ui.hpp"
+#include "selfdrive/ui/paint.h"
 
-#include "common/util.h"
+#include <cassert>
 
+#ifdef __APPLE__
+#include <OpenGL/gl3.h>
+#define NANOVG_GL3_IMPLEMENTATION
+#define nvgCreate nvgCreateGL3
+#else
+#include <GLES3/gl3.h>
 #define NANOVG_GLES3_IMPLEMENTATION
+#define nvgCreate nvgCreateGLES3
+#endif
 
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
-extern "C"{
-#include "common/glutil.h"
-}
-
-// TODO: this is also hardcoded in common/transformations/camera.py
-const mat3 intrinsic_matrix = (mat3){{
-  910., 0., 582.,
-  0., 910., 437.,
-  0.,   0.,   1.
-}};
-
-const uint8_t alert_colors[][4] = {
-  [STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xf1},
-  [STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xc8},
-  [STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xf1},
-  [STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xf1},
-  [STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xf1},
-};
-
-const int alert_sizes[] = {
-  [ALERTSIZE_NONE] = 0,
-  [ALERTSIZE_SMALL] = 241,
-  [ALERTSIZE_MID] = 390,
-  [ALERTSIZE_FULL] = vwp_h,
-};
-
-// Projects a point in car to space to the corresponding point in full frame
-// image space.
-vec3 car_space_to_full_frame(const UIState *s, vec4 car_space_projective) {
-  const UIScene *scene = &s->scene;
-
-  // We'll call the car space point p.
-  // First project into normalized image coordinates with the extrinsics matrix.
-  const vec4 Ep4 = matvecmul(scene->extrinsic_matrix, car_space_projective);
-
-  // The last entry is zero because of how we store E (to use matvecmul).
-  const vec3 Ep = {{Ep4.v[0], Ep4.v[1], Ep4.v[2]}};
-  const vec3 KEp = matvecmul3(intrinsic_matrix, Ep);
+#define NANOVG_GLES3_IMPLEMENTATION
+#include <nanovg_gl.h>
+#include <nanovg_gl_utils.h>
 
-  // Project.
-  const vec3 p_image = {{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2], 1.}};
-  return p_image;
-}
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/ui.h"
 
-// Calculate an interpolation between two numbers at a specific increment
-static float lerp(float v0, float v1, float t) {
-  return (1 - t) * v0 + t * v1;
+static void ui_draw_text(const UIState *s, float x, float y, const char *string, float size, NVGcolor color, const char *font_name) {
+  nvgFontFace(s->vg, font_name);
+  nvgFontSize(s->vg, size);
+  nvgFillColor(s->vg, color);
+  nvgText(s->vg, x, y, string, NULL);
 }
 
-static void draw_chevron(UIState *s, float x_in, float y_in, float sz,
-                          NVGcolor fillColor, NVGcolor glowColor) {
-  const UIScene *scene = &s->scene;
-
-  nvgSave(s->vg);
-
-  nvgTranslate(s->vg, 240.0f, 0.0);
-  nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2);
-  nvgScale(s->vg, 2.0, 2.0);
-  nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height);
-
-  const vec4 p_car_space = (vec4){{x_in, y_in, 0., 1.}};
-  const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
-
-  sz *= 30;
-  sz /= (x_in / 3 + 30);
-  if (sz > 30) sz = 30;
-  if (sz < 15) sz = 15;
-
-  float x = p_full_frame.v[0];
-  float y = p_full_frame.v[1];
-
+static void draw_chevron(UIState *s, float x, float y, float sz, NVGcolor fillColor, NVGcolor glowColor) {
   // glow
-  nvgBeginPath(s->vg);
   float g_xo = sz/5;
   float g_yo = sz/10;
-  if (x >= 0 && y >= 0.) {
-    nvgMoveTo(s->vg, x+(sz*1.35)+g_xo, y+sz+g_yo);
-    nvgLineTo(s->vg, x, y-g_xo);
-    nvgLineTo(s->vg, x-(sz*1.35)-g_xo, y+sz+g_yo);
-    nvgLineTo(s->vg, x+(sz*1.35)+g_xo, y+sz+g_yo);
-    nvgClosePath(s->vg);
-  }
+  nvgBeginPath(s->vg);
+  nvgMoveTo(s->vg, x+(sz*1.35)+g_xo, y+sz+g_yo);
+  nvgLineTo(s->vg, x, y-g_xo);
+  nvgLineTo(s->vg, x-(sz*1.35)-g_xo, y+sz+g_yo);
+  nvgClosePath(s->vg);
   nvgFillColor(s->vg, glowColor);
   nvgFill(s->vg);
 
   // chevron
   nvgBeginPath(s->vg);
-  if (x >= 0 && y >= 0.) {
-    nvgMoveTo(s->vg, x+(sz*1.25), y+sz);
-    nvgLineTo(s->vg, x, y);
-    nvgLineTo(s->vg, x-(sz*1.25), y+sz);
-    nvgLineTo(s->vg, x+(sz*1.25), y+sz);
-    nvgClosePath(s->vg);
-  }
+  nvgMoveTo(s->vg, x+(sz*1.25), y+sz);
+  nvgLineTo(s->vg, x, y);
+  nvgLineTo(s->vg, x-(sz*1.25), y+sz);
+  nvgClosePath(s->vg);
   nvgFillColor(s->vg, fillColor);
   nvgFill(s->vg);
-
-  nvgRestore(s->vg);
 }
 
-static void ui_draw_lane_line(UIState *s, const model_path_vertices_data *pvd, NVGcolor color) {
-  const UIScene *scene = &s->scene;
-
-  nvgSave(s->vg);
-  nvgTranslate(s->vg, 240.0f, 0.0); // rgb-box space
-  nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2); // zoom 2x
-  nvgScale(s->vg, 2.0, 2.0);
-  nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height);
+static void ui_draw_circle_image(const UIState *s, int center_x, int center_y, int radius, const char *image, NVGcolor color, float img_alpha) {
   nvgBeginPath(s->vg);
-
-  bool started = false;
-  for (int i=0; i<pvd->cnt; i++) {
-    if (pvd->v[i].x < 0 || pvd->v[i].y < 0.) {
-      continue;
-    }
-    if (!started) {
-      nvgMoveTo(s->vg, pvd->v[i].x, pvd->v[i].y);
-      started = true;
-    } else {
-      nvgLineTo(s->vg, pvd->v[i].x, pvd->v[i].y);
-    }
-  }
-
-  nvgClosePath(s->vg);
+  nvgCircle(s->vg, center_x, center_y, radius);
   nvgFillColor(s->vg, color);
   nvgFill(s->vg);
-  nvgRestore(s->vg);
+  const int img_size = radius * 1.5;
+  ui_draw_image(s, {center_x - (img_size / 2), center_y - (img_size / 2), img_size, img_size}, image, img_alpha);
 }
 
-static void update_track_data(UIState *s, bool is_mpc, track_vertices_data *pvd) {
-  const UIScene *scene = &s->scene;
-  const PathData path = scene->model.path;
-  const float *mpc_x_coords = &scene->mpc_x[0];
-  const float *mpc_y_coords = &scene->mpc_y[0];
-
-  bool started = false;
-  float off = is_mpc?0.3:0.5;
-  float lead_d = scene->lead_d_rel*2.;
-  float path_height = is_mpc?(lead_d>5.)?fmin(lead_d, 25.)-fmin(lead_d*0.35, 10.):20.
-                            :(lead_d>0.)?fmin(lead_d, 50.)-fmin(lead_d*0.35, 10.):49.;
-  pvd->cnt = 0;
-  // left side up
-  for (int i=0; i<=path_height; i++) {
-    float px, py, mpx;
-    if (is_mpc) {
-      mpx = i==0?0.0:mpc_x_coords[i];
-      px = lerp(mpx+1.0, mpx, i/100.0);
-      py = mpc_y_coords[i] - off;
-    } else {
-      px = lerp(i+1.0, i, i/100.0);
-      py = path.points[i] - off;
-    }
-
-    vec4 p_car_space = (vec4){{px, py, 0., 1.}};
-    vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
-    if (p_full_frame.v[0] < 0. || p_full_frame.v[1] < 0.) {
-      continue;
-    }
-    pvd->v[pvd->cnt].x = p_full_frame.v[0];
-    pvd->v[pvd->cnt].y = p_full_frame.v[1];
-    pvd->cnt += 1;
-  }
+static void ui_draw_circle_image(const UIState *s, int center_x, int center_y, int radius, const char *image, bool active) {
+  float bg_alpha = active ? 0.3f : 0.1f;
+  float img_alpha = active ? 1.0f : 0.15f;
+  ui_draw_circle_image(s, center_x, center_y, radius, image, nvgRGBA(0, 0, 0, (255 * bg_alpha)), img_alpha);
+}
 
-  // right side down
-  for (int i=path_height; i>=0; i--) {
-    float px, py, mpx;
-    if (is_mpc) {
-      mpx = i==0?0.0:mpc_x_coords[i];
-      px = lerp(mpx+1.0, mpx, i/100.0);
-      py = mpc_y_coords[i] + off;
-    } else {
-      px = lerp(i+1.0, i, i/100.0);
-      py = path.points[i] + off;
+static void draw_lead(UIState *s, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const vertex_data &vd) {
+  // Draw lead car indicator
+  auto [x, y] = vd;
+
+  float fillAlpha = 0;
+  float speedBuff = 10.;
+  float leadBuff = 40.;
+  float d_rel = lead_data.getX()[0];
+  float v_rel = lead_data.getV()[0];
+  if (d_rel < leadBuff) {
+    fillAlpha = 255*(1.0-(d_rel/leadBuff));
+    if (v_rel < 0) {
+      fillAlpha += 255*(-1*(v_rel/speedBuff));
     }
-
-    vec4 p_car_space = (vec4){{px, py, 0., 1.}};
-    vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
-    pvd->v[pvd->cnt].x = p_full_frame.v[0];
-    pvd->v[pvd->cnt].y = p_full_frame.v[1];
-    pvd->cnt += 1;
+    fillAlpha = (int)(fmin(fillAlpha, 255));
   }
-}
-
-static void update_all_track_data(UIState *s) {
-  const UIScene *scene = &s->scene;
-  // Draw vision path
-  update_track_data(s, false, &s->track_vertices[0]);
 
-  if (scene->engaged) {
-    // Draw MPC path when engaged
-    update_track_data(s, true, &s->track_vertices[1]);
-  }
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+  x = std::clamp(x, 0.f, s->fb_w - sz / 2);
+  y = std::fmin(s->fb_h - sz * .6, y);
+  draw_chevron(s, x, y, sz, nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW);
 }
 
+static void ui_draw_line(UIState *s, const line_vertices_data &vd, NVGcolor *color, NVGpaint *paint) {
+  if (vd.cnt == 0) return;
 
-static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
-const UIScene *scene = &s->scene;
-  const PathData path = scene->model.path;
-  const float *mpc_x_coords = &scene->mpc_x[0];
-  const float *mpc_y_coords = &scene->mpc_y[0];
-
-  nvgSave(s->vg);
-  nvgTranslate(s->vg, 240.0f, 0.0); // rgb-box space
-  nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2); // zoom 2x
-  nvgScale(s->vg, 2.0, 2.0);
-  nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height);
+  const vertex_data *v = &vd.v[0];
   nvgBeginPath(s->vg);
-
-  bool started = false;
-  float off = is_mpc?0.3:0.5;
-  float lead_d = scene->lead_d_rel*2.;
-  float path_height = is_mpc?(lead_d>5.)?fmin(lead_d, 25.)-fmin(lead_d*0.35, 10.):20.
-                            :(lead_d>0.)?fmin(lead_d, 50.)-fmin(lead_d*0.35, 10.):49.;
-  int vi = 0;
-  for(int i = 0;i < pvd->cnt;i++) {
-    if (pvd->v[i].x < 0 || pvd->v[i].y < 0) {
-      continue;
-    }
-
-    if (!started) {
-      nvgMoveTo(s->vg, pvd->v[i].x, pvd->v[i].y);
-      started = true;
-    } else {
-      nvgLineTo(s->vg, pvd->v[i].x, pvd->v[i].y);
-    }
+  nvgMoveTo(s->vg, v[0].x, v[0].y);
+  for (int i = 1; i < vd.cnt; i++) {
+    nvgLineTo(s->vg, v[i].x, v[i].y);
   }
-
   nvgClosePath(s->vg);
-
-  NVGpaint track_bg;
-  if (is_mpc) {
-    // Draw colored MPC track
-    const uint8_t *clr = bg_colors[s->status];
-    track_bg = nvgLinearGradient(s->vg, vwp_w, vwp_h, vwp_w, vwp_h*.4,
-      nvgRGBA(clr[0], clr[1], clr[2], 255), nvgRGBA(clr[0], clr[1], clr[2], 255/2));
-  } else {
-    // Draw white vision track
-    track_bg = nvgLinearGradient(s->vg, vwp_w, vwp_h, vwp_w, vwp_h*.4,
-      nvgRGBA(255, 255, 255, 255), nvgRGBA(255, 255, 255, 0));
+  if (color) {
+    nvgFillColor(s->vg, *color);
+  } else if (paint) {
+    nvgFillPaint(s->vg, *paint);
   }
-
-  nvgFillPaint(s->vg, track_bg);
   nvgFill(s->vg);
-  nvgRestore(s->vg);
 }
 
-static void draw_steering(UIState *s, float curvature) {
-  float points[50];
-  for (int i = 0; i < 50; i++) {
-    float y_actual = i * tan(asin(clamp(i * curvature, -0.999, 0.999)) / 2.);
-    points[i] = y_actual;
-  }
-
-  // ui_draw_lane_edge(s, points, 0.0, nvgRGBA(0, 0, 255, 128), 5);
-}
-
-static void draw_frame(UIState *s) {
-  const UIScene *scene = &s->scene;
-
-  float x1, x2, y1, y2;
-  if (s->scene.frontview) {
-    glBindVertexArray(s->frame_vao[1]);
-  } else {
-    glBindVertexArray(s->frame_vao[0]);
-  }
+static void ui_draw_vision_lane_lines(UIState *s) {
+  const UIScene &scene = s->scene;
+  NVGpaint track_bg;
+  if (!scene.end_to_end) {
+    // paint lanelines
+    for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
+      NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, scene.lane_line_probs[i]);
+      ui_draw_line(s, scene.lane_line_vertices[i], &color, nullptr);
+    }
 
-  mat4 *out_mat;
-  if (s->scene.frontview || s->scene.fullview) {
-    out_mat = &s->front_frame_mat;
+    // paint road edges
+    for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
+      NVGcolor color = nvgRGBAf(1.0, 0.0, 0.0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
+      ui_draw_line(s, scene.road_edge_vertices[i], &color, nullptr);
+    }
+    track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4,
+                                          COLOR_WHITE, COLOR_WHITE_ALPHA(0));
   } else {
-    out_mat = &s->rear_frame_mat;
-  }
-  glActiveTexture(GL_TEXTURE0);
-  if (s->scene.frontview && s->cur_vision_front_idx >= 0) {
-    glBindTexture(GL_TEXTURE_2D, s->frame_front_texs[s->cur_vision_front_idx]);
-  } else if (!scene->frontview && s->cur_vision_idx >= 0) {
-    glBindTexture(GL_TEXTURE_2D, s->frame_texs[s->cur_vision_idx]);
-    #ifndef QCOM
-      // TODO: a better way to do this?
-      glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 1164, 874, 0, GL_RGB, GL_UNSIGNED_BYTE, s->priv_hnds[s->cur_vision_idx]);
-    #endif
-  }
-
-  glUseProgram(s->frame_program);
-  glUniform1i(s->frame_texture_loc, 0);
-  glUniformMatrix4fv(s->frame_transform_loc, 1, GL_TRUE, out_mat->v);
-
-  assert(glGetError() == GL_NO_ERROR);
-  glEnableVertexAttribArray(0);
-  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void*)0);
-  glDisableVertexAttribArray(0);
-  glBindVertexArray(0);
-}
-
-static inline bool valid_frame_pt(UIState *s, float x, float y) {
-  return x >= 0 && x <= s->rgb_width && y >= 0 && y <= s->rgb_height;
-
-}
-static void update_lane_line_data(UIState *s, const float *points, float off, bool is_ghost, model_path_vertices_data *pvd) {
-  pvd->cnt = 0;
-  for (int i = 0; i < MODEL_PATH_MAX_VERTICES_CNT / 2; i++) {
-    float px = (float)i;
-    float py = points[i] - off;
-    const vec4 p_car_space = (vec4){{px, py, 0., 1.}};
-    const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
-    if(!valid_frame_pt(s, p_full_frame.v[0], p_full_frame.v[1]))
-      continue;
-    pvd->v[pvd->cnt].x = p_full_frame.v[0];
-    pvd->v[pvd->cnt].y = p_full_frame.v[1];
-    pvd->cnt += 1;
-  }
-  for (int i = MODEL_PATH_MAX_VERTICES_CNT / 2; i > 0; i--) {
-    float px = (float)i;
-    float py = is_ghost?(points[i]-off):(points[i]+off);
-    const vec4 p_car_space = (vec4){{px, py, 0., 1.}};
-    const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
-    if(!valid_frame_pt(s, p_full_frame.v[0], p_full_frame.v[1]))
-      continue;
-    pvd->v[pvd->cnt].x = p_full_frame.v[0];
-    pvd->v[pvd->cnt].y = p_full_frame.v[1];
-    pvd->cnt += 1;
-  }
-}
-
-static void update_all_lane_lines_data(UIState *s, const PathData path, model_path_vertices_data *pstart) {
-  update_lane_line_data(s, path.points, 0.025*path.prob, false, pstart);
-  float var = fmin(path.std, 0.7);
-  update_lane_line_data(s, path.points, -var, true, pstart + 1);
-  update_lane_line_data(s, path.points, var, true, pstart + 2);
-}
-
-static void ui_draw_lane(UIState *s, const PathData *path, model_path_vertices_data *pstart, NVGcolor color) {
-  ui_draw_lane_line(s, pstart, color);
-  float var = fmin(path->std, 0.7);
-  color.a /= 4;
-  ui_draw_lane_line(s, pstart + 1, color);
-  ui_draw_lane_line(s, pstart + 2, color);
-}
-
-static void ui_draw_vision_lanes(UIState *s) {
-  const UIScene *scene = &s->scene;
-  model_path_vertices_data *pvd = &s->model_path_vertices[0];
-  if(s->model_changed) {
-    update_all_lane_lines_data(s, scene->model.left_lane, pvd);
-    update_all_lane_lines_data(s, scene->model.right_lane, pvd + MODEL_LANE_PATH_CNT);
-    s->model_changed = false;
-  }
-  // Draw left lane edge
-  ui_draw_lane(
-      s, &scene->model.left_lane,
-      pvd,
-      nvgRGBAf(1.0, 1.0, 1.0, scene->model.left_lane.prob));
-
-  // Draw right lane edge
-  ui_draw_lane(
-      s, &scene->model.right_lane,
-      pvd + MODEL_LANE_PATH_CNT,
-      nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob));
-
-  if(s->livempc_or_radarstate_changed) {
-    update_all_track_data(s);
-    s->livempc_or_radarstate_changed = false;
-  }
-  // Draw vision path
-  ui_draw_track(s, false, &s->track_vertices[0]);
-  if (scene->engaged) {
-    // Draw MPC path when engaged
-    ui_draw_track(s, true, &s->track_vertices[1]);
+    track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4,
+                                          COLOR_RED, COLOR_RED_ALPHA(0));
   }
+  // paint path
+  ui_draw_line(s, scene.track_vertices, nullptr, &track_bg);
 }
 
 // Draw all world space objects.
 static void ui_draw_world(UIState *s) {
-  const UIScene *scene = &s->scene;
-  if (!scene->world_objects_visible) {
-    return;
-  }
+  nvgScissor(s->vg, 0, 0, s->fb_w, s->fb_h);
 
   // Draw lane edges and vision/mpc tracks
-  ui_draw_vision_lanes(s);
-
-  if (scene->lead_status) {
-    // Draw lead car indicator
-    float fillAlpha = 0;
-    float speedBuff = 10.;
-    float leadBuff = 40.;
-    if (scene->lead_d_rel < leadBuff) {
-      fillAlpha = 255*(1.0-(scene->lead_d_rel/leadBuff));
-      if (scene->lead_v_rel < 0) {
-        fillAlpha += 255*(-1*(scene->lead_v_rel/speedBuff));
-      }
-      fillAlpha = (int)(fmin(fillAlpha, 255));
+  ui_draw_vision_lane_lines(s);
+
+  // Draw lead indicators if openpilot is handling longitudinal
+  if (s->scene.longitudinal_control) {
+    auto lead_one = (*s->sm)["modelV2"].getModelV2().getLeadsV3()[0];
+    auto lead_two = (*s->sm)["modelV2"].getModelV2().getLeadsV3()[1];
+    if (lead_one.getProb() > .5) {
+      draw_lead(s, lead_one, s->scene.lead_vertices[0]);
+    }
+    if (lead_two.getProb() > .5 && (std::abs(lead_one.getX()[0] - lead_two.getX()[0]) > 3.0)) {
+      draw_lead(s, lead_two, s->scene.lead_vertices[1]);
     }
-    draw_chevron(s, scene->lead_d_rel+2.7, scene->lead_y_rel, 25,
-                  nvgRGBA(201, 34, 49, fillAlpha), nvgRGBA(218, 202, 37, 255));
   }
+  nvgResetScissor(s->vg);
 }
 
 static void ui_draw_vision_maxspeed(UIState *s) {
-  /*if (!s->longitudinal_control){
-    return;
-  }*/
+  const int SET_SPEED_NA = 255;
+  float maxspeed = (*s->sm)["controlsState"].getControlsState().getVCruise();
+  const bool is_cruise_set = maxspeed != 0 && maxspeed != SET_SPEED_NA;
+  if (is_cruise_set && !s->scene.is_metric) { maxspeed *= KM_TO_MILE; }
 
-  const UIScene *scene = &s->scene;
-  int ui_viz_rx = scene->ui_viz_rx;
-  int ui_viz_rw = scene->ui_viz_rw;
+  const Rect rect = {bdr_s * 2, int(bdr_s * 1.5), 184, 202};
+  ui_fill_rect(s->vg, rect, COLOR_BLACK_ALPHA(100), 30.);
+  ui_draw_rect(s->vg, rect, COLOR_WHITE_ALPHA(100), 10, 20.);
 
-  char maxspeed_str[32];
-  float maxspeed = s->scene.v_cruise;
-  int maxspeed_calc = maxspeed * 0.6225 + 0.5;
-  float speedlimit = s->scene.speedlimit;
-  int speedlim_calc = speedlimit * 2.2369363 + 0.5;
-  int speed_lim_off = s->speed_lim_off * 2.2369363 + 0.5;
-  if (s->is_metric) {
-    maxspeed_calc = maxspeed + 0.5;
-    speedlim_calc = speedlimit * 3.6 + 0.5;
-    speed_lim_off = s->speed_lim_off * 3.6 + 0.5;
-  }
-
-  bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA);
-  bool is_speedlim_valid = s->scene.speedlimit_valid;
-  bool is_set_over_limit = is_speedlim_valid && s->scene.engaged &&
-                       is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off);
-
-  int viz_maxspeed_w = 184;
-  int viz_maxspeed_h = 202;
-  int viz_maxspeed_x = (ui_viz_rx + (bdr_s*2));
-  int viz_maxspeed_y = (box_y + (bdr_s*1.5));
-  int viz_maxspeed_xo = 180;
-
-#ifdef SHOW_SPEEDLIMIT
-  viz_maxspeed_w += viz_maxspeed_xo;
-  viz_maxspeed_x += viz_maxspeed_w - (viz_maxspeed_xo * 2);
-#else
-  viz_maxspeed_xo = 0;
-#endif
-
-  // Draw Background
-  nvgBeginPath(s->vg);
-  nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 30);
-  if (is_set_over_limit) {
-    nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180));
-  } else {
-    nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 100));
-  }
-  nvgFill(s->vg);
-
-  // Draw Border
-  nvgBeginPath(s->vg);
-  nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 20);
-  if (is_set_over_limit) {
-    nvgStrokeColor(s->vg, nvgRGBA(218, 111, 37, 255));
-  } else if (is_speedlim_valid && !s->is_ego_over_limit) {
-    nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  } else if (is_speedlim_valid && s->is_ego_over_limit) {
-    nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 20));
-  } else {
-    nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 100));
-  }
-  nvgStrokeWidth(s->vg, 10);
-  nvgStroke(s->vg);
-
-  // Draw "MAX" Text
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-  nvgFontFace(s->vg, "sans-regular");
-  nvgFontSize(s->vg, 26*2.5);
+  ui_draw_text(s, rect.centerX(), 118, "MAX", 26 * 2.5, COLOR_WHITE_ALPHA(is_cruise_set ? 200 : 100), "sans-regular");
   if (is_cruise_set) {
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
-  } else {
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
-  }
-  nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 148, "MAX", NULL);
-
-  // Draw Speed Text
-  nvgFontFace(s->vg, "sans-bold");
-  nvgFontSize(s->vg, 48*2.5);
-  if (is_cruise_set) {
-    snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", maxspeed_calc);
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-    nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 242, maxspeed_str, NULL);
-  } else {
-    nvgFontFace(s->vg, "sans-semibold");
-    nvgFontSize(s->vg, 42*2.5);
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
-    nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 242, "N/A", NULL);
-  }
-
-}
-
-static void ui_draw_vision_speedlimit(UIState *s) {
-  const UIScene *scene = &s->scene;
-  int ui_viz_rx = scene->ui_viz_rx;
-  int ui_viz_rw = scene->ui_viz_rw;
-
-  char speedlim_str[32];
-  float speedlimit = s->scene.speedlimit;
-  int speedlim_calc = speedlimit * 2.2369363 + 0.5;
-  if (s->is_metric) {
-    speedlim_calc = speedlimit * 3.6 + 0.5;
-  }
-
-  bool is_speedlim_valid = s->scene.speedlimit_valid;
-  float hysteresis_offset = 0.5;
-  if (s->is_ego_over_limit) {
-    hysteresis_offset = 0.0;
-  }
-  s->is_ego_over_limit = is_speedlim_valid && s->scene.v_ego > (speedlimit + s->speed_lim_off + hysteresis_offset);
-
-  int viz_speedlim_w = 180;
-  int viz_speedlim_h = 202;
-  int viz_speedlim_x = (ui_viz_rx + (bdr_s*2));
-  int viz_speedlim_y = (box_y + (bdr_s*1.5));
-  if (!is_speedlim_valid) {
-    viz_speedlim_w -= 5;
-    viz_speedlim_h -= 10;
-    viz_speedlim_x += 9;
-    viz_speedlim_y += 5;
-  }
-  int viz_speedlim_bdr = is_speedlim_valid ? 30 : 15;
-
-  // Draw Background
-  nvgBeginPath(s->vg);
-  nvgRoundedRect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, viz_speedlim_bdr);
-  if (is_speedlim_valid && s->is_ego_over_limit) {
-    nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180));
-  } else if (is_speedlim_valid) {
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  } else {
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
-  }
-  nvgFill(s->vg);
-
-  // Draw Border
-  if (is_speedlim_valid) {
-    nvgStrokeWidth(s->vg, 10);
-    nvgStroke(s->vg);
-    nvgBeginPath(s->vg);
-    nvgRoundedRect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, 20);
-    if (s->is_ego_over_limit) {
-      nvgStrokeColor(s->vg, nvgRGBA(218, 111, 37, 255));
-    } else if (is_speedlim_valid) {
-      nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 255));
-    }
-  }
-
-  // Draw "Speed Limit" Text
-  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-  nvgFontFace(s->vg, "sans-semibold");
-  nvgFontSize(s->vg, 50);
-  nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
-  if (is_speedlim_valid && s->is_ego_over_limit) {
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  }
-  nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 50 : 45), "SMART", NULL);
-  nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 90 : 85), "SPEED", NULL);
-
-  // Draw Speed Text
-  nvgFontFace(s->vg, "sans-bold");
-  nvgFontSize(s->vg, 48*2.5);
-  if (s->is_ego_over_limit) {
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  } else {
-    nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
-  }
-  if (is_speedlim_valid) {
-    snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc);
-    nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, NULL);
+    const std::string maxspeed_str = std::to_string((int)std::nearbyint(maxspeed));
+    ui_draw_text(s, rect.centerX(), 212, maxspeed_str.c_str(), 48 * 2.5, COLOR_WHITE, "sans-bold");
   } else {
-    nvgFontFace(s->vg, "sans-semibold");
-    nvgFontSize(s->vg, 42*2.5);
-    nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", NULL);
+    ui_draw_text(s, rect.centerX(), 212, "N/A", 42 * 2.5, COLOR_WHITE_ALPHA(100), "sans-semibold");
   }
 }
 
 static void ui_draw_vision_speed(UIState *s) {
-  const UIScene *scene = &s->scene;
-  int ui_viz_rx = scene->ui_viz_rx;
-  int ui_viz_rw = scene->ui_viz_rw;
-  float speed = s->scene.v_ego;
-
-  const int viz_speed_w = 280;
-  const int viz_speed_x = ui_viz_rx+((ui_viz_rw/2)-(viz_speed_w/2));
-  char speed_str[32];
-
-  nvgBeginPath(s->vg);
-  nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
+  const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? MS_TO_KPH : MS_TO_MPH));
+  const std::string speed_str = std::to_string((int)std::nearbyint(speed));
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-  if (s->is_metric) {
-    snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 3.6 + 0.5));
-  } else {
-    snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 2.2369363 + 0.5));
-  }
-  nvgFontFace(s->vg, "sans-bold");
-  nvgFontSize(s->vg, 96*2.5);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  nvgText(s->vg, viz_speed_x+viz_speed_w/2, 240, speed_str, NULL);
-
-  nvgFontFace(s->vg, "sans-regular");
-  nvgFontSize(s->vg, 36*2.5);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
-
-  if (s->is_metric) {
-    nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "kph", NULL);
-  } else {
-    nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "mph", NULL);
-  }
+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
 }
 
 static void ui_draw_vision_event(UIState *s) {
-  const UIScene *scene = &s->scene;
-  const int ui_viz_rx = scene->ui_viz_rx;
-  const int ui_viz_rw = scene->ui_viz_rw;
-  const int viz_event_w = 220;
-  const int viz_event_x = ((ui_viz_rx + ui_viz_rw) - (viz_event_w + (bdr_s*2)));
-  const int viz_event_y = (box_y + (bdr_s*1.5));
-  const int viz_event_h = (header_h - (bdr_s*1.5));
-  if (s->scene.decel_for_model && s->scene.engaged) {
-    // draw winding road sign
-    const int img_turn_size = 160*1.5;
-    const int img_turn_x = viz_event_x-(img_turn_size/4);
-    const int img_turn_y = viz_event_y+bdr_s-25;
-    float img_turn_alpha = 1.0f;
-    nvgBeginPath(s->vg);
-    NVGpaint imgPaint = nvgImagePattern(s->vg, img_turn_x, img_turn_y,
-      img_turn_size, img_turn_size, 0, s->img_turn, img_turn_alpha);
-    nvgRect(s->vg, img_turn_x, img_turn_y, img_turn_size, img_turn_size);
-    nvgFillPaint(s->vg, imgPaint);
-    nvgFill(s->vg);
-  } else {
+  if (s->scene.engageable) {
     // draw steering wheel
-    const int bg_wheel_size = 96;
-    const int bg_wheel_x = viz_event_x + (viz_event_w-bg_wheel_size);
-    const int bg_wheel_y = viz_event_y + (bg_wheel_size/2);
-    const int img_wheel_size = bg_wheel_size*1.5;
-    const int img_wheel_x = bg_wheel_x-(img_wheel_size/2);
-    const int img_wheel_y = bg_wheel_y-25;
-    float img_wheel_alpha = 0.1f;
-    bool is_engaged = (s->status == STATUS_ENGAGED);
-    bool is_warning = (s->status == STATUS_WARNING);
-    bool is_engageable = scene->engageable;
-    if (is_engaged || is_warning || is_engageable) {
-      nvgBeginPath(s->vg);
-      nvgCircle(s->vg, bg_wheel_x, (bg_wheel_y + (bdr_s*1.5)), bg_wheel_size);
-      if (is_engaged) {
-        nvgFillColor(s->vg, nvgRGBA(23, 134, 68, 255));
-      } else if (is_warning) {
-        nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 255));
-      } else if (is_engageable) {
-        nvgFillColor(s->vg, nvgRGBA(23, 51, 73, 255));
-      }
-      nvgFill(s->vg);
-      img_wheel_alpha = 1.0f;
-    }
-    nvgBeginPath(s->vg);
-    NVGpaint imgPaint = nvgImagePattern(s->vg, img_wheel_x, img_wheel_y,
-      img_wheel_size, img_wheel_size, 0, s->img_wheel, img_wheel_alpha);
-    nvgRect(s->vg, img_wheel_x, img_wheel_y, img_wheel_size, img_wheel_size);
-    nvgFillPaint(s->vg, imgPaint);
-    nvgFill(s->vg);
+    const int radius = 96;
+    const int center_x = s->fb_w - radius - bdr_s * 2;
+    const int center_y = radius  + (bdr_s * 1.5);
+    const QColor &color = bg_colors[s->status];
+    NVGcolor nvg_color = nvgRGBA(color.red(), color.green(), color.blue(), color.alpha());
+    ui_draw_circle_image(s, center_x, center_y, radius, "wheel", nvg_color, 1.0f);
   }
 }
 
-static void ui_draw_vision_map(UIState *s) {
-  const UIScene *scene = &s->scene;
-  const int map_size = 96;
-  const int map_x = (scene->ui_viz_rx + (map_size * 3) + (bdr_s * 3));
-  const int map_y = (footer_y + ((footer_h - map_size) / 2));
-  const int map_img_size = (map_size * 1.5);
-  const int map_img_x = (map_x - (map_img_size / 2));
-  const int map_img_y = (map_y - (map_size / 4));
-
-  bool map_valid = s->scene.map_valid;
-  float map_img_alpha = map_valid ? 1.0f : 0.15f;
-  float map_bg_alpha = map_valid ? 0.3f : 0.1f;
-  NVGcolor map_bg = nvgRGBA(0, 0, 0, (255 * map_bg_alpha));
-  NVGpaint map_img = nvgImagePattern(s->vg, map_img_x, map_img_y,
-    map_img_size, map_img_size, 0, s->img_map, map_img_alpha);
-
-  nvgBeginPath(s->vg);
-  nvgCircle(s->vg, map_x, (map_y + (bdr_s * 1.5)), map_size);
-  nvgFillColor(s->vg, map_bg);
-  nvgFill(s->vg);
-
-  nvgBeginPath(s->vg);
-  nvgRect(s->vg, map_img_x, map_img_y, map_img_size, map_img_size);
-  nvgFillPaint(s->vg, map_img);
-  nvgFill(s->vg);
-}
-
 static void ui_draw_vision_face(UIState *s) {
-  const UIScene *scene = &s->scene;
-  const int face_size = 96;
-  const int face_x = (scene->ui_viz_rx + face_size + (bdr_s * 2));
-  const int face_y = (footer_y + ((footer_h - face_size) / 2));
-  const int face_img_size = (face_size * 1.5);
-  const int face_img_x = (face_x - (face_img_size / 2));
-  const int face_img_y = (face_y - (face_size / 4));
-  float face_img_alpha = scene->monitoring_active ? 1.0f : 0.15f;
-  float face_bg_alpha = scene->monitoring_active ? 0.3f : 0.1f;
-  NVGcolor face_bg = nvgRGBA(0, 0, 0, (255 * face_bg_alpha));
-  NVGpaint face_img = nvgImagePattern(s->vg, face_img_x, face_img_y,
-    face_img_size, face_img_size, 0, s->img_face, face_img_alpha);
-
-  nvgBeginPath(s->vg);
-  nvgCircle(s->vg, face_x, (face_y + (bdr_s * 1.5)), face_size);
-  nvgFillColor(s->vg, face_bg);
-  nvgFill(s->vg);
-
-  nvgBeginPath(s->vg);
-  nvgRect(s->vg, face_img_x, face_img_y, face_img_size, face_img_size);
-  nvgFillPaint(s->vg, face_img);
-  nvgFill(s->vg);
+  const int radius = 96;
+  const int center_x = radius + (bdr_s * 2);
+  const int center_y = s->fb_h - footer_h / 2;
+  ui_draw_circle_image(s, center_x, center_y, radius, "driver_face", s->scene.dm_active);
 }
 
 static void ui_draw_vision_header(UIState *s) {
-  const UIScene *scene = &s->scene;
-  int ui_viz_rx = scene->ui_viz_rx;
-  int ui_viz_rw = scene->ui_viz_rw;
-
-  nvgBeginPath(s->vg);
-  NVGpaint gradient = nvgLinearGradient(s->vg, ui_viz_rx,
-                        (box_y+(header_h-(header_h/2.5))),
-                        ui_viz_rx, box_y+header_h,
-                        nvgRGBAf(0,0,0,0.45), nvgRGBAf(0,0,0,0));
-  nvgFillPaint(s->vg, gradient);
-  nvgRect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h);
-  nvgFill(s->vg);
-
-  ui_draw_vision_maxspeed(s);
-
-#ifdef SHOW_SPEEDLIMIT
-  ui_draw_vision_speedlimit(s);
-#endif
+  NVGpaint gradient = nvgLinearGradient(s->vg, 0, header_h - (header_h / 2.5), 0, header_h,
+                                        nvgRGBAf(0, 0, 0, 0.45), nvgRGBAf(0, 0, 0, 0));
+  ui_fill_rect(s->vg, {0, 0, s->fb_w , header_h}, gradient);
+  if (s->scene.longitudinal_control) {
+      ui_draw_vision_maxspeed(s);
+  }
   ui_draw_vision_speed(s);
   ui_draw_vision_event(s);
 }
 
-static void ui_draw_vision_footer(UIState *s) {
-  const UIScene *scene = &s->scene;
-  int ui_viz_rx = scene->ui_viz_rx;
-  int ui_viz_rw = scene->ui_viz_rw;
-
-  nvgBeginPath(s->vg);
-  nvgRect(s->vg, ui_viz_rx, footer_y, ui_viz_rw, footer_h);
-
-  ui_draw_vision_face(s);
-
-#ifdef SHOW_SPEEDLIMIT
-  // ui_draw_vision_map(s);
-#endif
-}
-
-void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
-                          const char* va_text1, const char* va_text2) {
-  const UIScene *scene = &s->scene;
-  int ui_viz_rx = scene->ui_viz_rx;
-  int ui_viz_rw = scene->ui_viz_rw;
-  bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
-  bool mapEnabled = s->scene.uilayout_mapenabled;
-  bool longAlert1 = strlen(va_text1) > 15;
-
-  const uint8_t *color = alert_colors[va_color];
-  const int alr_s = alert_sizes[va_size];
-  const int alr_x = ui_viz_rx-(mapEnabled?(hasSidebar?nav_w:(nav_ww)):0)-bdr_s;
-  const int alr_w = ui_viz_rw+(mapEnabled?(hasSidebar?nav_w:(nav_ww)):0)+(bdr_s*2);
-  const int alr_h = alr_s+(va_size==ALERTSIZE_NONE?0:bdr_s);
-  const int alr_y = vwp_h-alr_h;
-
-  nvgBeginPath(s->vg);
-  nvgRect(s->vg, alr_x, alr_y, alr_w, alr_h);
-  nvgFillColor(s->vg, nvgRGBA(color[0],color[1],color[2],(color[3]*s->alert_blinking_alpha)));
-  nvgFill(s->vg);
-
-  nvgBeginPath(s->vg);
-  NVGpaint gradient = nvgLinearGradient(s->vg, alr_x, alr_y, alr_x, alr_y+alr_h,
-                        nvgRGBAf(0.0,0.0,0.0,0.05), nvgRGBAf(0.0,0.0,0.0,0.35));
-  nvgFillPaint(s->vg, gradient);
-  nvgRect(s->vg, alr_x, alr_y, alr_w, alr_h);
-  nvgFill(s->vg);
-
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-  if (va_size == ALERTSIZE_SMALL) {
-    nvgFontFace(s->vg, "sans-semibold");
-    nvgFontSize(s->vg, 40*2.5);
-    nvgText(s->vg, alr_x+alr_w/2, alr_y+alr_h/2+15, va_text1, NULL);
-  } else if (va_size== ALERTSIZE_MID) {
-    nvgFontFace(s->vg, "sans-bold");
-    nvgFontSize(s->vg, 48*2.5);
-    nvgText(s->vg, alr_x+alr_w/2, alr_y+alr_h/2-45, va_text1, NULL);
-    nvgFontFace(s->vg, "sans-regular");
-    nvgFontSize(s->vg, 36*2.5);
-    nvgText(s->vg, alr_x+alr_w/2, alr_y+alr_h/2+75, va_text2, NULL);
-  } else if (va_size== ALERTSIZE_FULL) {
-    nvgFontSize(s->vg, (longAlert1?72:96)*2.5);
-    nvgFontFace(s->vg, "sans-bold");
-    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-    nvgTextBox(s->vg, alr_x, alr_y+(longAlert1?360:420), alr_w-60, va_text1, NULL);
-    nvgFontSize(s->vg, 48*2.5);
-    nvgFontFace(s->vg, "sans-regular");
-    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BOTTOM);
-    nvgTextBox(s->vg, alr_x, alr_h-(longAlert1?300:360), alr_w-60, va_text2, NULL);
-  }
-}
-
 static void ui_draw_vision(UIState *s) {
   const UIScene *scene = &s->scene;
-  int ui_viz_rx = scene->ui_viz_rx;
-  int ui_viz_rw = scene->ui_viz_rw;
-  int ui_viz_ro = scene->ui_viz_ro;
-
-  glClearColor(0.0, 0.0, 0.0, 0.0);
-  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-  // Draw video frames
-  glEnable(GL_SCISSOR_TEST);
-  glViewport(ui_viz_rx+ui_viz_ro, s->fb_h-(box_y+box_h), viz_w, box_h);
-  glScissor(ui_viz_rx, s->fb_h-(box_y+box_h), ui_viz_rw, box_h);
-  glEnable(GL_BLEND);
-  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-  draw_frame(s);
-  glViewport(0, 0, s->fb_w, s->fb_h);
-  glDisable(GL_SCISSOR_TEST);
-
-  glClear(GL_STENCIL_BUFFER_BIT);
-
-  nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
-  nvgSave(s->vg);
-
   // Draw augmented elements
-  const int inner_height = viz_w*9/16;
-  nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
-  nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
-  nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
-  if (!scene->frontview && !scene->fullview) {
+  if (scene->world_objects_visible) {
     ui_draw_world(s);
   }
-
-  nvgRestore(s->vg);
-
   // Set Speed, Current Speed, Status/Events
   ui_draw_vision_header(s);
-
-  if (s->scene.alert_size != ALERTSIZE_NONE) {
-    // Controls Alerts
-    ui_draw_vision_alert(s, s->scene.alert_size, s->status,
-                            s->scene.alert_text1, s->scene.alert_text2);
-  } else {
-    ui_draw_vision_footer(s);
+  if ((*s->sm)["controlsState"].getControlsState().getAlertSize() == cereal::ControlsState::AlertSize::NONE) {
+    ui_draw_vision_face(s);
   }
+}
 
-
+void ui_draw(UIState *s, int w, int h) {
+  // Update intrinsics matrix after possible wide camera toggle change
+  if (s->fb_w != w || s->fb_h != h) {
+    ui_resize(s, w, h);
+  }
+  glEnable(GL_BLEND);
+  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+  nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
+  ui_draw_vision(s);
   nvgEndFrame(s->vg);
   glDisable(GL_BLEND);
 }
 
-static void ui_draw_blank(UIState *s) {
-  glClearColor(0.0, 0.0, 0.0, 0.0);
-  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+void ui_draw_image(const UIState *s, const Rect &r, const char *name, float alpha) {
+  nvgBeginPath(s->vg);
+  NVGpaint imgPaint = nvgImagePattern(s->vg, r.x, r.y, r.w, r.h, 0, s->images.at(name), alpha);
+  nvgRect(s->vg, r.x, r.y, r.w, r.h);
+  nvgFillPaint(s->vg, imgPaint);
+  nvgFill(s->vg);
 }
 
-void ui_draw(UIState *s) {
-  if (s->vision_connected && s->active_app == cereal_UiLayoutState_App_home && s->status != STATUS_STOPPED) {
-    ui_draw_vision(s);
-  } else {
-    ui_draw_blank(s);
-  }
-
-  {
-    glEnable(GL_BLEND);
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-    glClear(GL_STENCIL_BUFFER_BIT);
-
-    nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
-
-    nvgEndFrame(s->vg);
-    glDisable(GL_BLEND);
-  }
+void ui_draw_rect(NVGcontext *vg, const Rect &r, NVGcolor color, int width, float radius) {
+  nvgBeginPath(vg);
+  radius > 0 ? nvgRoundedRect(vg, r.x, r.y, r.w, r.h, radius) : nvgRect(vg, r.x, r.y, r.w, r.h);
+  nvgStrokeColor(vg, color);
+  nvgStrokeWidth(vg, width);
+  nvgStroke(vg);
 }
 
-#ifdef NANOVG_GL3_IMPLEMENTATION
-static const char frame_vertex_shader[] =
-  "#version 150 core\n"
-  "in vec4 aPosition;\n"
-  "in vec4 aTexCoord;\n"
-  "uniform mat4 uTransform;\n"
-  "out vec4 vTexCoord;\n"
-  "void main() {\n"
-  "  gl_Position = uTransform * aPosition;\n"
-  "  vTexCoord = aTexCoord;\n"
-  "}\n";
-
-static const char frame_fragment_shader[] =
-  "#version 150 core\n"
-  "precision mediump float;\n"
-  "uniform sampler2D uTexture;\n"
-  "out vec4 vTexCoord;\n"
-  "out vec4 outColor;\n"
-  "void main() {\n"
-  "  outColor = texture(uTexture, vTexCoord.xy);\n"
-  "}\n";
-#else
-static const char frame_vertex_shader[] =
-  "attribute vec4 aPosition;\n"
-  "attribute vec4 aTexCoord;\n"
-  "uniform mat4 uTransform;\n"
-  "varying vec4 vTexCoord;\n"
-  "void main() {\n"
-  "  gl_Position = uTransform * aPosition;\n"
-  "  vTexCoord = aTexCoord;\n"
-  "}\n";
-
-static const char frame_fragment_shader[] =
-  "precision mediump float;\n"
-  "uniform sampler2D uTexture;\n"
-  "varying vec4 vTexCoord;\n"
-  "void main() {\n"
-  "  gl_FragColor = texture2D(uTexture, vTexCoord.xy);\n"
-  "}\n";
-#endif
-
-static const mat4 device_transform = {{
-  1.0,  0.0, 0.0, 0.0,
-  0.0,  1.0, 0.0, 0.0,
-  0.0,  0.0, 1.0, 0.0,
-  0.0,  0.0, 0.0, 1.0,
-}};
-
-// frame from 4/3 to box size with a 2x zoom
-static const mat4 frame_transform = {{
-  2*(4./3.)/((float)viz_w/box_h), 0.0, 0.0, 0.0,
-  0.0, 2.0, 0.0, 0.0,
-  0.0, 0.0, 1.0, 0.0,
-  0.0, 0.0, 0.0, 1.0,
-}};
-
-// frame from 4/3 to 16/9 display
-static const mat4 full_to_wide_frame_transform = {{
-  .75,  0.0, 0.0, 0.0,
-  0.0,  1.0, 0.0, 0.0,
-  0.0,  0.0, 1.0, 0.0,
-  0.0,  0.0, 0.0, 1.0,
-}};
+static inline void fill_rect(NVGcontext *vg, const Rect &r, const NVGcolor *color, const NVGpaint *paint, float radius) {
+  nvgBeginPath(vg);
+  radius > 0 ? nvgRoundedRect(vg, r.x, r.y, r.w, r.h, radius) : nvgRect(vg, r.x, r.y, r.w, r.h);
+  if (color) nvgFillColor(vg, *color);
+  if (paint) nvgFillPaint(vg, *paint);
+  nvgFill(vg);
+}
+void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGcolor &color, float radius) {
+  fill_rect(vg, r, &color, nullptr, radius);
+}
+void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGpaint &paint, float radius) {
+  fill_rect(vg, r, nullptr, &paint, radius);
+}
 
 void ui_nvg_init(UIState *s) {
-  // init drawing
-  s->vg = nvgCreate(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
+  // on EON, we enable MSAA
+  s->vg = Hardware::EON() ? nvgCreate(0) : nvgCreate(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
   assert(s->vg);
 
-  s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");
-  assert(s->font_courbd >= 0);
-  s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../assets/fonts/opensans_regular.ttf");
-  assert(s->font_sans_regular >= 0);
-  s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../assets/fonts/opensans_semibold.ttf");
-  assert(s->font_sans_semibold >= 0);
-  s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../assets/fonts/opensans_bold.ttf");
-  assert(s->font_sans_bold >= 0);
-
-  assert(s->img_wheel >= 0);
-  s->img_wheel = nvgCreateImage(s->vg, "../assets/img_chffr_wheel.png", 1);
-
-  assert(s->img_turn >= 0);
-  s->img_turn = nvgCreateImage(s->vg, "../assets/img_trafficSign_turn.png", 1);
-
-  assert(s->img_face >= 0);
-  s->img_face = nvgCreateImage(s->vg, "../assets/img_driver_face.png", 1);
-
-  assert(s->img_map >= 0);
-  s->img_map = nvgCreateImage(s->vg, "../assets/img_map.png", 1);
-
-  // init gl
-  s->frame_program = load_program(frame_vertex_shader, frame_fragment_shader);
-  assert(s->frame_program);
-
-  s->frame_pos_loc = glGetAttribLocation(s->frame_program, "aPosition");
-  s->frame_texcoord_loc = glGetAttribLocation(s->frame_program, "aTexCoord");
-
-  s->frame_texture_loc = glGetUniformLocation(s->frame_program, "uTexture");
-  s->frame_transform_loc = glGetUniformLocation(s->frame_program, "uTransform");
-
-  glViewport(0, 0, s->fb_w, s->fb_h);
-
-  glDisable(GL_DEPTH_TEST);
-
-  assert(glGetError() == GL_NO_ERROR);
+  // init fonts
+  std::pair<const char *, const char *> fonts[] = {
+      {"sans-regular", "../assets/fonts/opensans_regular.ttf"},
+      {"sans-semibold", "../assets/fonts/opensans_semibold.ttf"},
+      {"sans-bold", "../assets/fonts/opensans_bold.ttf"},
+  };
+  for (auto [name, file] : fonts) {
+    int font_id = nvgCreateFont(s->vg, name, file);
+    assert(font_id >= 0);
+  }
+
+  // init images
+  std::vector<std::pair<const char *, const char *>> images = {
+    {"wheel", "../assets/img_chffr_wheel.png"},
+    {"driver_face", "../assets/img_driver_face.png"},
+  };
+  for (auto [name, file] : images) {
+    s->images[name] = nvgCreateImage(s->vg, file, 1);
+    assert(s->images[name] != 0);
+  }
+}
 
-  for(int i = 0; i < 2; i++) {
-    float x1, x2, y1, y2;
-    if (i == 1) {
-      // flip horizontally so it looks like a mirror
-      x1 = 0.0;
-      x2 = 1.0;
-      y1 = 1.0;
-      y2 = 0.0;
-    } else {
-      x1 = 1.0;
-      x2 = 0.0;
-      y1 = 1.0;
-      y2 = 0.0;
-    }
-    const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
-    const float frame_coords[4][4] = {
-      {-1.0, -1.0, x2, y1}, //bl
-      {-1.0,  1.0, x2, y2}, //tl
-      { 1.0,  1.0, x1, y2}, //tr
-      { 1.0, -1.0, x1, y1}, //br
-    };
+void ui_resize(UIState *s, int width, int height) {
+  s->fb_w = width;
+  s->fb_h = height;
 
-    glGenVertexArrays(1,&s->frame_vao[i]);
-    glBindVertexArray(s->frame_vao[i]);
-    glGenBuffers(1, &s->frame_vbo[i]);
-    glBindBuffer(GL_ARRAY_BUFFER, s->frame_vbo[i]);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
-    glEnableVertexAttribArray(s->frame_pos_loc);
-    glVertexAttribPointer(s->frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
-                          sizeof(frame_coords[0]), (const void *)0);
-    glEnableVertexAttribArray(s->frame_texcoord_loc);
-    glVertexAttribPointer(s->frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
-                          sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
-    glGenBuffers(1, &s->frame_ibo[i]);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s->frame_ibo[i]);
-    glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
-    glBindBuffer(GL_ARRAY_BUFFER,0);
-    glBindVertexArray(0);
+  auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
+  float zoom = ZOOM / intrinsic_matrix.v[0];
+  if (s->wide_camera) {
+    zoom *= 0.5;
   }
 
-  s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
-  s->rear_frame_mat = matmul(device_transform, frame_transform);
+  // Apply transformation such that video pixel coordinates match video
+  // 1) Put (0, 0) in the middle of the video
+  nvgTranslate(s->vg, width / 2, height / 2 + y_offset);
+  // 2) Apply same scaling as video
+  nvgScale(s->vg, zoom, zoom);
+  // 3) Put (0, 0) in top left corner of video
+  nvgTranslate(s->vg, -intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
 
-  for(int i = 0;i < UI_BUF_COUNT; i++) {
-    s->khr[i] = NULL;
-    s->priv_hnds[i] = NULL;
-    s->khr_front[i] = NULL;
-    s->priv_hnds_front[i] = NULL;
-  }
+  nvgCurrentTransform(s->vg, s->car_space_transform);
+  nvgResetTransform(s->vg);
 }
diff --git a/selfdrive/ui/paint.h b/selfdrive/ui/paint.h
new file mode 100644
index 00000000000000..55fe9c1d0835f1
--- /dev/null
+++ b/selfdrive/ui/paint.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#include "selfdrive/ui/ui.h"
+
+void ui_draw(UIState *s, int w, int h);
+void ui_draw_image(const UIState *s, const Rect &r, const char *name, float alpha);
+void ui_draw_rect(NVGcontext *vg, const Rect &r, NVGcolor color, int width, float radius = 0);
+void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGpaint &paint, float radius = 0);
+void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGcolor &color, float radius = 0);
+void ui_nvg_init(UIState *s);
+void ui_resize(UIState *s, int width, int height);
diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc
new file mode 100644
index 00000000000000..af959e6cd95d95
--- /dev/null
+++ b/selfdrive/ui/qt/api.cc
@@ -0,0 +1,137 @@
+#include "selfdrive/ui/qt/api.h"
+
+#include <openssl/bio.h>
+#include <openssl/pem.h>
+#include <openssl/rsa.h>
+
+#include <QCryptographicHash>
+#include <QDateTime>
+#include <QDebug>
+#include <QFile>
+#include <QJsonDocument>
+#include <QNetworkRequest>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/util.h"
+
+namespace CommaApi {
+
+QByteArray rsa_sign(const QByteArray &data) {
+  static std::string key = util::read_file(Path::rsa_file());
+  if (key.empty()) {
+    qDebug() << "No RSA private key found, please run manager.py or registration.py";
+    return {};
+  }
+
+  BIO* mem = BIO_new_mem_buf(key.data(), key.size());
+  assert(mem);
+  RSA* rsa_private = PEM_read_bio_RSAPrivateKey(mem, NULL, NULL, NULL);
+  assert(rsa_private);
+  auto sig = QByteArray();
+  sig.resize(RSA_size(rsa_private));
+  unsigned int sig_len;
+  int ret = RSA_sign(NID_sha256, (unsigned char*)data.data(), data.size(), (unsigned char*)sig.data(), &sig_len, rsa_private);
+  assert(ret == 1);
+  assert(sig_len == sig.size());
+  BIO_free(mem);
+  RSA_free(rsa_private);
+  return sig;
+}
+
+QString create_jwt(const QJsonObject &payloads, int expiry) {
+  QJsonObject header = {{"alg", "RS256"}};
+
+  auto t = QDateTime::currentSecsSinceEpoch();
+  QJsonObject payload = {{"identity", getDongleId().value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}};
+  for (auto it = payloads.begin(); it != payloads.end(); ++it) {
+    payload.insert(it.key(), it.value());
+  }
+
+  auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals;
+  QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' +
+                QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts);
+
+  auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256);
+  auto sig = rsa_sign(hash);
+  jwt += '.' + sig.toBase64(b64_opts);
+  return jwt;
+}
+
+}  // namespace CommaApi
+
+HttpRequest::HttpRequest(QObject *parent, bool create_jwt, int timeout) : create_jwt(create_jwt), QObject(parent) {
+  networkAccessManager = new QNetworkAccessManager(this);
+
+  networkTimer = new QTimer(this);
+  networkTimer->setSingleShot(true);
+  networkTimer->setInterval(timeout);
+  connect(networkTimer, &QTimer::timeout, this, &HttpRequest::requestTimeout);
+}
+
+bool HttpRequest::active() {
+  return reply != nullptr;
+}
+
+void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Method method) {
+  if (active()) {
+    qDebug() << "HttpRequest is active";
+    return;
+  }
+  QString token;
+  if(create_jwt) {
+    token = CommaApi::create_jwt();
+  } else {
+    QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));
+    QJsonDocument json_d = QJsonDocument::fromJson(token_json.toUtf8());
+    token = json_d["access_token"].toString();
+  }
+
+  QNetworkRequest request;
+  request.setUrl(QUrl(requestURL));
+
+  if (!token.isEmpty()) {
+    request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8());
+  }
+
+  if (method == HttpRequest::Method::GET) {
+    reply = networkAccessManager->get(request);
+  } else if (method == HttpRequest::Method::DELETE) {
+    reply = networkAccessManager->deleteResource(request);
+  }
+
+  networkTimer->start();
+  connect(reply, &QNetworkReply::finished, this, &HttpRequest::requestFinished);
+}
+
+void HttpRequest::requestTimeout() {
+  reply->abort();
+}
+
+// This function should always emit something
+void HttpRequest::requestFinished() {
+  bool success = false;
+  if (reply->error() != QNetworkReply::OperationCanceledError) {
+    networkTimer->stop();
+    QString response = reply->readAll();
+
+    if (reply->error() == QNetworkReply::NoError) {
+      success = true;
+      emit receivedResponse(response);
+    } else {
+      emit failedResponse(reply->errorString());
+
+      if (reply->error() == QNetworkReply::ContentAccessDenied || reply->error() == QNetworkReply::AuthenticationRequiredError) {
+        qWarning() << ">>  Unauthorized. Authenticate with tools/lib/auth.py  <<";
+      }
+    }
+  } else {
+    networkAccessManager->clearAccessCache();
+    networkAccessManager->clearConnectionCache();
+    emit timeoutResponse("timeout");
+  }
+  emit requestDone(success);
+  reply->deleteLater();
+  reply = nullptr;
+}
diff --git a/selfdrive/ui/qt/api.h b/selfdrive/ui/qt/api.h
new file mode 100644
index 00000000000000..1c7c333ea0b16e
--- /dev/null
+++ b/selfdrive/ui/qt/api.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <QJsonObject>
+#include <QNetworkReply>
+#include <QString>
+#include <QTimer>
+
+#include "selfdrive/common/util.h"
+
+namespace CommaApi {
+
+const QString BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
+QByteArray rsa_sign(const QByteArray &data);
+QString create_jwt(const QJsonObject &payloads = {}, int expiry = 3600);
+
+}  // namespace CommaApi
+
+/**
+ * Makes a request to the request endpoint.
+ */
+
+class HttpRequest : public QObject {
+  Q_OBJECT
+
+public:
+  enum class Method {GET, DELETE};
+
+  explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
+  void sendRequest(const QString &requestURL, const Method method = Method::GET);
+  bool active();
+
+protected:
+  QNetworkReply *reply = nullptr;
+
+private:
+  QNetworkAccessManager *networkAccessManager = nullptr;
+  QTimer *networkTimer = nullptr;
+  bool create_jwt;
+
+private slots:
+  void requestTimeout();
+  void requestFinished();
+
+signals:
+  void requestDone(bool success);
+  void receivedResponse(const QString &response);
+  void failedResponse(const QString &errorString);
+  void timeoutResponse(const QString &errorString);
+};
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
new file mode 100644
index 00000000000000..5484c5d7439b92
--- /dev/null
+++ b/selfdrive/ui/qt/home.cc
@@ -0,0 +1,183 @@
+#include "selfdrive/ui/qt/home.h"
+
+#include <QDateTime>
+#include <QHBoxLayout>
+#include <QMouseEvent>
+#include <QVBoxLayout>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/drive_stats.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
+
+// HomeWindow: the container for the offroad and onroad UIs
+
+HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+  main_layout->setMargin(0);
+  main_layout->setSpacing(0);
+
+  sidebar = new Sidebar(this);
+  main_layout->addWidget(sidebar);
+  QObject::connect(this, &HomeWindow::update, sidebar, &Sidebar::updateState);
+  QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
+
+  slayout = new QStackedLayout();
+  main_layout->addLayout(slayout);
+
+  home = new OffroadHome();
+  slayout->addWidget(home);
+
+  onroad = new OnroadWindow(this);
+  slayout->addWidget(onroad);
+
+  QObject::connect(this, &HomeWindow::update, onroad, &OnroadWindow::updateStateSignal);
+  QObject::connect(this, &HomeWindow::offroadTransitionSignal, onroad, &OnroadWindow::offroadTransitionSignal);
+
+  driver_view = new DriverViewWindow(this);
+  connect(driver_view, &DriverViewWindow::done, [=] {
+    showDriverView(false);
+  });
+  slayout->addWidget(driver_view);
+  setAttribute(Qt::WA_NoSystemBackground);
+}
+
+void HomeWindow::showSidebar(bool show) {
+  sidebar->setVisible(show);
+}
+
+void HomeWindow::offroadTransition(bool offroad) {
+  sidebar->setVisible(offroad);
+  if (offroad) {
+    slayout->setCurrentWidget(home);
+  } else {
+    slayout->setCurrentWidget(onroad);
+  }
+  emit offroadTransitionSignal(offroad);
+}
+
+void HomeWindow::showDriverView(bool show) {
+  if (show) {
+    emit closeSettings();
+    slayout->setCurrentWidget(driver_view);
+  } else {
+    slayout->setCurrentWidget(home);
+  }
+  sidebar->setVisible(show == false);
+}
+
+void HomeWindow::mousePressEvent(QMouseEvent* e) {
+  // Handle sidebar collapsing
+  if (onroad->isVisible() && (!sidebar->isVisible() || e->x() > sidebar->width())) {
+    sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+  }
+}
+
+// OffroadHome: the offroad home page
+
+OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(40, 40, 40, 45);
+
+  // top header
+  QHBoxLayout* header_layout = new QHBoxLayout();
+  header_layout->setContentsMargins(15, 15, 15, 0);
+  header_layout->setSpacing(16);
+
+  date = new QLabel();
+  header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft);
+
+  update_notif = new QPushButton("UPDATE");
+  update_notif->setVisible(false);
+  update_notif->setStyleSheet("background-color: #364DEF;");
+  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
+  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignRight);
+
+  alert_notif = new QPushButton();
+  alert_notif->setVisible(false);
+  alert_notif->setStyleSheet("background-color: #E22C2C;");
+  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
+  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignRight);
+
+  header_layout->addWidget(new QLabel(getBrandVersion()), 0, Qt::AlignHCenter | Qt::AlignRight);
+
+  main_layout->addLayout(header_layout);
+
+  // main content
+  main_layout->addSpacing(25);
+  center_layout = new QStackedLayout();
+
+  QWidget* statsAndSetupWidget = new QWidget(this);
+  QHBoxLayout* statsAndSetup = new QHBoxLayout(statsAndSetupWidget);
+  statsAndSetup->setMargin(0);
+  statsAndSetup->setSpacing(30);
+  statsAndSetup->addWidget(new DriveStats, 1);
+  statsAndSetup->addWidget(new SetupWidget);
+
+  center_layout->addWidget(statsAndSetupWidget);
+
+  // add update & alerts widgets
+  update_widget = new UpdateAlert();
+  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(update_widget);
+  alerts_widget = new OffroadAlert();
+  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(alerts_widget);
+
+  main_layout->addLayout(center_layout, 1);
+
+  // set up refresh timer
+  timer = new QTimer(this);
+  timer->callOnTimeout(this, &OffroadHome::refresh);
+
+  setStyleSheet(R"(
+    * {
+     color: white;
+    }
+    OffroadHome {
+      background-color: black;
+    }
+    OffroadHome > QPushButton {
+      padding: 15px 30px;
+      border-radius: 5px;
+      font-size: 40px;
+      font-weight: 500;
+    }
+    OffroadHome > QLabel {
+      font-size: 55px;
+    }
+  )");
+}
+
+void OffroadHome::showEvent(QShowEvent *event) {
+  refresh();
+  timer->start(10 * 1000);
+}
+
+void OffroadHome::hideEvent(QHideEvent *event) {
+  timer->stop();
+}
+
+void OffroadHome::refresh() {
+  date->setText(QDateTime::currentDateTime().toString("dddd, MMMM d"));
+
+  bool updateAvailable = update_widget->refresh();
+  int alerts = alerts_widget->refresh();
+
+  // pop-up new notification
+  int idx = center_layout->currentIndex();
+  if (!updateAvailable && !alerts) {
+    idx = 0;
+  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
+    idx = 1;
+  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
+    idx = 2;
+  }
+  center_layout->setCurrentIndex(idx);
+
+  update_notif->setVisible(updateAvailable);
+  alert_notif->setVisible(alerts);
+  if (alerts) {
+    alert_notif->setText(QString::number(alerts) + " ALERT" + (alerts > 1 ? "S" : ""));
+  }
+}
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
new file mode 100644
index 00000000000000..0e65ef05e9a629
--- /dev/null
+++ b/selfdrive/ui/qt/home.h
@@ -0,0 +1,64 @@
+#pragma once
+
+#include <QFrame>
+#include <QLabel>
+#include <QPushButton>
+#include <QStackedLayout>
+#include <QTimer>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/offroad/driverview.h"
+#include "selfdrive/ui/qt/onroad.h"
+#include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+#include "selfdrive/ui/ui.h"
+
+class OffroadHome : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit OffroadHome(QWidget* parent = 0);
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void refresh();
+
+  QTimer* timer;
+  QLabel* date;
+  QStackedLayout* center_layout;
+  UpdateAlert *update_widget;
+  OffroadAlert* alerts_widget;
+  QPushButton* alert_notif;
+  QPushButton* update_notif;
+};
+
+class HomeWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit HomeWindow(QWidget* parent = 0);
+
+signals:
+  void openSettings();
+  void closeSettings();
+
+  // forwarded signals
+  void update(const UIState &s);
+  void offroadTransitionSignal(bool offroad);
+
+public slots:
+  void offroadTransition(bool offroad);
+  void showDriverView(bool show);
+  void showSidebar(bool show);
+
+protected:
+  void mousePressEvent(QMouseEvent* e) override;
+
+private:
+  Sidebar *sidebar;
+  OffroadHome *home;
+  OnroadWindow *onroad;
+  DriverViewWindow *driver_view;
+  QStackedLayout *slayout;
+};
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
new file mode 100644
index 00000000000000..1daed310b756aa
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -0,0 +1,629 @@
+#include "selfdrive/ui/qt/maps/map.h"
+
+#include <cmath>
+
+#include <QDebug>
+#include <QPainterPath>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/ui/qt/request_repeater.h"
+
+
+const int PAN_TIMEOUT = 100;
+const float MANEUVER_TRANSITION_THRESHOLD = 10;
+
+const float MAX_ZOOM = 17;
+const float MIN_ZOOM = 14;
+const float MAX_PITCH = 50;
+const float MIN_PITCH = 0;
+const float MAP_SCALE = 2;
+
+MapWindow::MapWindow(const QMapboxGLSettings &settings) :
+  m_settings(settings), velocity_filter(0, 10, 0.1) {
+  sm = new SubMaster({"liveLocationKalman", "navInstruction", "navRoute"});
+
+  timer = new QTimer(this);
+  QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
+  timer->start(100);
+
+  // Instructions
+  map_instructions = new MapInstructions(this);
+  QObject::connect(this, &MapWindow::instructionsChanged, map_instructions, &MapInstructions::updateInstructions);
+  QObject::connect(this, &MapWindow::distanceChanged, map_instructions, &MapInstructions::updateDistance);
+  map_instructions->setFixedWidth(width());
+  map_instructions->setVisible(false);
+
+  map_eta = new MapETA(this);
+  QObject::connect(this, &MapWindow::ETAChanged, map_eta, &MapETA::updateETA);
+
+  const int h = 120;
+  map_eta->setFixedHeight(h);
+  map_eta->move(25, 1080 - h - bdr_s*2);
+  map_eta->setVisible(false);
+
+  auto last_gps_position = coordinate_from_param("LastGPSPosition");
+  if (last_gps_position) {
+    last_position = *last_gps_position;
+  }
+
+  grabGesture(Qt::GestureType::PinchGesture);
+}
+
+MapWindow::~MapWindow() {
+  makeCurrent();
+}
+
+void MapWindow::initLayers() {
+  // This doesn't work from initializeGL
+  if (!m_map->layerExists("modelPathLayer")) {
+    qDebug() << "Initializing modelPathLayer";
+    QVariantMap modelPath;
+    modelPath["id"] = "modelPathLayer";
+    modelPath["type"] = "line";
+    modelPath["source"] = "modelPathSource";
+    m_map->addLayer(modelPath);
+    m_map->setPaintProperty("modelPathLayer", "line-color", QColor("red"));
+    m_map->setPaintProperty("modelPathLayer", "line-width", 5.0);
+    m_map->setLayoutProperty("modelPathLayer", "line-cap", "round");
+  }
+  if (!m_map->layerExists("navLayer")) {
+    qDebug() << "Initializing navLayer";
+    QVariantMap nav;
+    nav["id"] = "navLayer";
+    nav["type"] = "line";
+    nav["source"] = "navSource";
+    m_map->addLayer(nav, "road-intersection");
+    m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
+    m_map->setPaintProperty("navLayer", "line-width", 7.5);
+    m_map->setLayoutProperty("navLayer", "line-cap", "round");
+  }
+  if (!m_map->layerExists("carPosLayer")) {
+    qDebug() << "Initializing carPosLayer";
+    m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg"));
+
+    QVariantMap carPos;
+    carPos["id"] = "carPosLayer";
+    carPos["type"] = "symbol";
+    carPos["source"] = "carPosSource";
+    m_map->addLayer(carPos);
+    m_map->setLayoutProperty("carPosLayer", "icon-pitch-alignment", "map");
+    m_map->setLayoutProperty("carPosLayer", "icon-image", "label-arrow");
+    m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
+    m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
+    m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
+    m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
+  }
+}
+
+void MapWindow::timerUpdate() {
+  if (!QUIState::ui_state.scene.started) {
+    return;
+  }
+
+  update();
+
+  if (m_map.isNull()) {
+    return;
+  }
+
+  sm->update(0);
+  if (sm->updated("liveLocationKalman")) {
+    auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
+    auto pos = location.getPositionGeodetic();
+    auto orientation = location.getCalibratedOrientationNED();
+
+    localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
+
+    if (localizer_valid) {
+      float velocity = location.getVelocityCalibrated().getValue()[0];
+      float bearing = RAD2DEG(orientation.getValue()[2]);
+      auto coordinate = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
+
+      last_position = coordinate;
+      last_bearing = bearing;
+      velocity_filter.update(velocity);
+    }
+  }
+  loaded_once = loaded_once || m_map->isFullyLoaded();
+  if (!loaded_once) {
+    map_instructions->showError("Map Loading");
+    return;
+  }
+
+  initLayers();
+
+  if (!localizer_valid) {
+    map_instructions->showError("Waiting for GPS");
+  } else {
+    map_instructions->noError();
+
+    // Update current location marker
+    auto point = coordinate_to_collection(*last_position);
+    QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
+    QVariantMap carPosSource;
+    carPosSource["type"] = "geojson";
+    carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
+    m_map->updateSource("carPosSource", carPosSource);
+  }
+
+  if (pan_counter == 0) {
+    if (last_position) m_map->setCoordinate(*last_position);
+    if (last_bearing) m_map->setBearing(*last_bearing);
+  } else {
+    pan_counter--;
+  }
+
+  if (zoom_counter == 0) {
+    m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
+  } else {
+    zoom_counter--;
+  }
+
+  if (sm->updated("navInstruction")) {
+    if (sm->valid("navInstruction")) {
+      auto i = (*sm)["navInstruction"].getNavInstruction();
+      emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
+
+      if (localizer_valid) {
+        m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
+        emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged
+        emit instructionsChanged(i);
+      }
+    } else {
+      m_map->setPitch(MIN_PITCH);
+      clearRoute();
+    }
+  }
+
+  if (sm->updated("navRoute")) {
+    auto route = (*sm)["navRoute"].getNavRoute();
+    auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates());
+    QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
+    QVariantMap navSource;
+    navSource["type"] = "geojson";
+    navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
+    m_map->updateSource("navSource", navSource);
+    m_map->setLayoutProperty("navLayer", "visibility", "visible");
+
+    // Only open the map on setting destination the first time
+    if (allow_open) {
+      setVisible(true); // Show map on destination set/change
+      allow_open = false;
+    }
+  }
+}
+
+void MapWindow::resizeGL(int w, int h) {
+  m_map->resize(size() / MAP_SCALE);
+  map_instructions->setFixedWidth(width());
+}
+
+void MapWindow::initializeGL() {
+  m_map.reset(new QMapboxGL(this, m_settings, size(), 1));
+
+  if (last_position) {
+    m_map->setCoordinateZoom(*last_position, MAX_ZOOM);
+  } else {
+    m_map->setCoordinateZoom(QMapbox::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
+  }
+
+  m_map->setMargins({0, 350, 0, 50});
+  m_map->setPitch(MIN_PITCH);
+  m_map->setStyleUrl("mapbox://styles/commaai/ckr64tlwp0azb17nqvr9fj13s");
+
+  QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
+    if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingMap) {
+      loaded_once = true;
+    }
+  });
+}
+
+void MapWindow::paintGL() {
+  if (!isVisible() || m_map.isNull()) return;
+  m_map->render();
+}
+
+void MapWindow::clearRoute() {
+  if (!m_map.isNull()) {
+    m_map->setLayoutProperty("navLayer", "visibility", "none");
+    m_map->setPitch(MIN_PITCH);
+  }
+
+  map_instructions->hideIfNoError();
+  map_eta->setVisible(false);
+  allow_open = true;
+}
+
+void MapWindow::mousePressEvent(QMouseEvent *ev) {
+  m_lastPos = ev->localPos();
+  ev->accept();
+}
+
+void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) {
+  if (last_position) m_map->setCoordinate(*last_position);
+  if (last_bearing) m_map->setBearing(*last_bearing);
+  m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
+  update();
+
+  pan_counter = 0;
+  zoom_counter = 0;
+}
+
+void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
+  QPointF delta = ev->localPos() - m_lastPos;
+
+  if (!delta.isNull()) {
+    pan_counter = PAN_TIMEOUT;
+    m_map->moveBy(delta / MAP_SCALE);
+    update();
+  }
+
+  m_lastPos = ev->localPos();
+  ev->accept();
+}
+
+void MapWindow::wheelEvent(QWheelEvent *ev) {
+  if (ev->orientation() == Qt::Horizontal) {
+      return;
+  }
+
+  float factor = ev->delta() / 1200.;
+  if (ev->delta() < 0) {
+      factor = factor > -1 ? factor : 1 / factor;
+  }
+
+  m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE);
+  update();
+
+  zoom_counter = PAN_TIMEOUT;
+  ev->accept();
+}
+
+bool MapWindow::event(QEvent *event) {
+  if (event->type() == QEvent::Gesture) {
+    return gestureEvent(static_cast<QGestureEvent*>(event));
+  }
+
+  return QWidget::event(event);
+}
+
+bool MapWindow::gestureEvent(QGestureEvent *event) {
+  if (QGesture *pinch = event->gesture(Qt::PinchGesture)) {
+    pinchTriggered(static_cast<QPinchGesture *>(pinch));
+  }
+  return true;
+}
+
+void MapWindow::pinchTriggered(QPinchGesture *gesture) {
+  QPinchGesture::ChangeFlags changeFlags = gesture->changeFlags();
+  if (changeFlags & QPinchGesture::ScaleFactorChanged) {
+    // TODO: figure out why gesture centerPoint doesn't work
+    m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE});
+    update();
+    zoom_counter = PAN_TIMEOUT;
+  }
+}
+
+void MapWindow::offroadTransition(bool offroad) {
+  if (offroad) {
+    clearRoute();
+  } else {
+    auto dest = coordinate_from_param("NavDestination");
+    setVisible(dest.has_value());
+  }
+  last_bearing = {};
+}
+
+MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+  main_layout->setContentsMargins(11, 50, 11, 11);
+  {
+    QVBoxLayout *layout = new QVBoxLayout;
+    icon_01 = new QLabel;
+    layout->addWidget(icon_01);
+    layout->addStretch();
+    main_layout->addLayout(layout);
+  }
+
+  {
+    QVBoxLayout *layout = new QVBoxLayout;
+
+    distance = new QLabel;
+    distance->setStyleSheet(R"(font-size: 90px;)");
+    layout->addWidget(distance);
+
+    primary = new QLabel;
+    primary->setStyleSheet(R"(font-size: 60px;)");
+    primary->setWordWrap(true);
+    layout->addWidget(primary);
+
+    secondary = new QLabel;
+    secondary->setStyleSheet(R"(font-size: 50px;)");
+    secondary->setWordWrap(true);
+    layout->addWidget(secondary);
+
+    lane_widget = new QWidget;
+    lane_widget->setFixedHeight(125);
+
+    lane_layout = new QHBoxLayout(lane_widget);
+    layout->addWidget(lane_widget);
+
+    main_layout->addLayout(layout);
+  }
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-family: "Inter";
+    }
+  )");
+
+  QPalette pal = palette();
+  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
+  setAutoFillBackground(true);
+  setPalette(pal);
+}
+
+void MapInstructions::updateDistance(float d) {
+  d = std::max(d, 0.0f);
+  QString distance_str;
+
+  if (QUIState::ui_state.scene.is_metric) {
+    if (d > 500) {
+      distance_str.setNum(d / 1000, 'f', 1);
+      distance_str += " km";
+    } else {
+      distance_str.setNum(50 * int(d / 50));
+      distance_str += " m";
+    }
+  } else {
+    float miles = d * METER_TO_MILE;
+    float feet = d * METER_TO_FOOT;
+
+    if (feet > 500) {
+      distance_str.setNum(miles, 'f', 1);
+      distance_str += " mi";
+    } else {
+      distance_str.setNum(50 * int(feet / 50));
+      distance_str += " ft";
+    }
+  }
+
+  distance->setAlignment(Qt::AlignLeft);
+  distance->setText(distance_str);
+}
+
+void MapInstructions::showError(QString error_text) {
+  primary->setText("");
+  distance->setText(error_text);
+  distance->setAlignment(Qt::AlignCenter);
+
+  secondary->setVisible(false);
+  icon_01->setVisible(false);
+
+  this->error = true;
+  lane_widget->setVisible(false);
+
+  setVisible(true);
+}
+
+void MapInstructions::noError() {
+  error = false;
+}
+
+void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
+  // Word wrap widgets need fixed width
+  primary->setFixedWidth(width() - 250);
+  secondary->setFixedWidth(width() - 250);
+
+
+  // Show instruction text
+  QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
+  QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
+
+  primary->setText(primary_str);
+  secondary->setVisible(secondary_str.length() > 0);
+  secondary->setText(secondary_str);
+
+  // Show arrow with direction
+  QString type = QString::fromStdString(instruction.getManeuverType());
+  QString modifier = QString::fromStdString(instruction.getManeuverModifier());
+  if (!type.isEmpty()) {
+    QString fn = "../assets/navigation/direction_" + type;
+    if (!modifier.isEmpty()) {
+      fn += "_" + modifier;
+    }
+    fn +=  + ".png";
+    fn = fn.replace(' ', '_');
+
+    QPixmap pix(fn);
+    icon_01->setPixmap(pix.scaledToWidth(200, Qt::SmoothTransformation));
+    icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+    icon_01->setVisible(true);
+  }
+
+  // Show lanes
+  bool has_lanes = false;
+  clearLayout(lane_layout);
+  for (auto const &lane: instruction.getLanes()) {
+    has_lanes = true;
+    bool active = lane.getActive();
+
+    // TODO: only use active direction if active
+    bool left = false, straight = false, right = false;
+    for (auto const &direction: lane.getDirections()) {
+      left |= direction == cereal::NavInstruction::Direction::LEFT;
+      right |= direction == cereal::NavInstruction::Direction::RIGHT;
+      straight |= direction == cereal::NavInstruction::Direction::STRAIGHT;
+    }
+
+    // TODO: Make more images based on active direction and combined directions
+    QString fn = "../assets/navigation/direction_";
+    if (left) {
+      fn += "turn_left";
+    } else if (right) {
+      fn += "turn_right";
+    } else if (straight) {
+      fn += "turn_straight";
+    }
+
+    QPixmap pix(fn + ".png");
+    auto icon = new QLabel;
+    int wh = active ? 125 : 75;
+    icon->setPixmap(pix.scaled(wh, wh, Qt::IgnoreAspectRatio, Qt::SmoothTransformation));
+    icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+    lane_layout->addWidget(icon);
+  }
+  lane_widget->setVisible(has_lanes);
+
+  show();
+  resize(sizeHint());
+}
+
+
+void MapInstructions::hideIfNoError() {
+  if (!error) {
+    hide();
+  }
+}
+
+MapETA::MapETA(QWidget * parent) : QWidget(parent) {
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+  main_layout->setContentsMargins(40, 25, 40, 25);
+
+  {
+    QHBoxLayout *layout = new QHBoxLayout;
+    eta = new QLabel;
+    eta->setAlignment(Qt::AlignCenter);
+    eta->setStyleSheet("font-weight:600");
+
+    eta_unit = new QLabel;
+    eta_unit->setAlignment(Qt::AlignCenter);
+
+    layout->addWidget(eta);
+    layout->addWidget(eta_unit);
+    main_layout->addLayout(layout);
+  }
+  main_layout->addSpacing(40);
+  {
+    QHBoxLayout *layout = new QHBoxLayout;
+    time = new QLabel;
+    time->setAlignment(Qt::AlignCenter);
+
+    time_unit = new QLabel;
+    time_unit->setAlignment(Qt::AlignCenter);
+
+    layout->addWidget(time);
+    layout->addWidget(time_unit);
+    main_layout->addLayout(layout);
+  }
+  main_layout->addSpacing(40);
+  {
+    QHBoxLayout *layout = new QHBoxLayout;
+    distance = new QLabel;
+    distance->setAlignment(Qt::AlignCenter);
+    distance->setStyleSheet("font-weight:600");
+
+    distance_unit = new QLabel;
+    distance_unit->setAlignment(Qt::AlignCenter);
+
+    layout->addWidget(distance);
+    layout->addWidget(distance_unit);
+    main_layout->addLayout(layout);
+  }
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-family: "Inter";
+      font-size: 70px;
+    }
+  )");
+
+  QPalette pal = palette();
+  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
+  setAutoFillBackground(true);
+  setPalette(pal);
+}
+
+
+void MapETA::updateETA(float s, float s_typical, float d) {
+  if (d < MANEUVER_TRANSITION_THRESHOLD) {
+    hide();
+    return;
+  }
+
+  // ETA
+  auto eta_time = QDateTime::currentDateTime().addSecs(s).time();
+  if (params.getBool("NavSettingTime24h")) {
+    eta->setText(eta_time.toString("HH:mm"));
+    eta_unit->setText("eta");
+  } else {
+    auto t = eta_time.toString("h:mm a").split(' ');
+    eta->setText(t[0]);
+    eta_unit->setText(t[1]);
+  }
+
+  // Remaining time
+  if (s < 3600) {
+    time->setText(QString::number(int(s / 60)));
+    time_unit->setText("min");
+  } else {
+    int hours = int(s) / 3600;
+    time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)).rightJustified(2, '0'));
+    time_unit->setText("hr");
+  }
+
+  QString color;
+  if (s / s_typical > 1.5) {
+    color = "#DA3025";
+  } else if (s / s_typical > 1.2) {
+    color = "#DAA725";
+  } else {
+    color = "#25DA6E";
+  }
+
+  time->setStyleSheet(QString(R"(color: %1; font-weight:600;)").arg(color));
+  time_unit->setStyleSheet(QString(R"(color: %1;)").arg(color));
+
+  // Distance
+  QString distance_str;
+  float num = 0;
+  if (QUIState::ui_state.scene.is_metric) {
+    num = d / 1000.0;
+    distance_unit->setText("km");
+  } else {
+    num = d * METER_TO_MILE;
+    distance_unit->setText("mi");
+  }
+
+  distance_str.setNum(num, 'f', num < 100 ? 1 : 0);
+  distance->setText(distance_str);
+
+  show();
+  adjustSize();
+  repaint();
+  adjustSize();
+
+  // Rounded corners
+  const int radius = 25;
+  const auto r = rect();
+
+  // Top corners rounded
+  QPainterPath path;
+  path.setFillRule(Qt::WindingFill);
+  path.addRoundedRect(r, radius, radius);
+
+  // Bottom corners not rounded
+  path.addRect(r.marginsRemoved(QMargins(0, radius, 0, 0)));
+
+  // Set clipping mask
+  QRegion mask = QRegion(path.simplified().toFillPolygon().toPolygon());
+  setMask(mask);
+
+  // Center
+  move(static_cast<QWidget*>(parent())->width() / 2 - width() / 2, 1080 - height() - bdr_s*2);
+}
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
new file mode 100644
index 00000000000000..519750ce58a784
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map.h
@@ -0,0 +1,129 @@
+#pragma once
+
+#include <optional>
+
+#include <QGeoCoordinate>
+#include <QGestureEvent>
+#include <QHBoxLayout>
+#include <QVBoxLayout>
+#include <QLabel>
+#include <QMapboxGL>
+#include <QMouseEvent>
+#include <QOpenGLWidget>
+#include <QScopedPointer>
+#include <QString>
+#include <QtGlobal>
+#include <QTimer>
+#include <QWheelEvent>
+#include <QMap>
+#include <QPixmap>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
+#include "cereal/messaging/messaging.h"
+
+const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
+const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
+
+class MapInstructions : public QWidget {
+  Q_OBJECT
+
+private:
+  QLabel *distance;
+  QLabel *primary;
+  QLabel *secondary;
+  QLabel *icon_01;
+  QWidget *lane_widget;
+  QHBoxLayout *lane_layout;
+  bool error = false;
+
+public:
+  MapInstructions(QWidget * parent=nullptr);
+  void showError(QString error);
+  void noError();
+  void hideIfNoError();
+
+public slots:
+  void updateDistance(float d);
+  void updateInstructions(cereal::NavInstruction::Reader instruction);
+};
+
+class MapETA : public QWidget {
+  Q_OBJECT
+
+private:
+  QLabel *eta;
+  QLabel *eta_unit;
+  QLabel *time;
+  QLabel *time_unit;
+  QLabel *distance;
+  QLabel *distance_unit;
+  Params params;
+
+public:
+  MapETA(QWidget * parent=nullptr);
+
+public slots:
+  void updateETA(float seconds, float seconds_typical, float distance);
+};
+
+class MapWindow : public QOpenGLWidget {
+  Q_OBJECT
+
+public:
+  MapWindow(const QMapboxGLSettings &);
+  ~MapWindow();
+
+private:
+  void initializeGL() final;
+  void paintGL() final;
+  void resizeGL(int w, int h) override;
+
+  QMapboxGLSettings m_settings;
+  QScopedPointer<QMapboxGL> m_map;
+
+  void initLayers();
+
+  void mousePressEvent(QMouseEvent *ev) final;
+  void mouseDoubleClickEvent(QMouseEvent *ev) final;
+  void mouseMoveEvent(QMouseEvent *ev) final;
+  void wheelEvent(QWheelEvent *ev) final;
+  bool event(QEvent *event) final;
+  bool gestureEvent(QGestureEvent *event);
+  void pinchTriggered(QPinchGesture *gesture);
+
+  bool m_sourceAdded = false;
+  SubMaster *sm;
+  QTimer* timer;
+
+  bool loaded_once = false;
+  bool allow_open = true;
+
+  // Panning
+  QPointF m_lastPos;
+  int pan_counter = 0;
+  int zoom_counter = 0;
+
+  // Position
+  std::optional<QMapbox::Coordinate> last_position;
+  std::optional<float> last_bearing;
+  FirstOrderFilter velocity_filter;
+  bool localizer_valid = false;
+
+  MapInstructions* map_instructions;
+  MapETA* map_eta;
+
+  void clearRoute();
+
+private slots:
+  void timerUpdate();
+
+public slots:
+  void offroadTransition(bool offroad);
+
+signals:
+  void distanceChanged(float distance);
+  void instructionsChanged(cereal::NavInstruction::Reader instruction);
+  void ETAChanged(float seconds, float seconds_typical, float distance);
+};
+
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
new file mode 100644
index 00000000000000..422ae99b6bdabf
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -0,0 +1,148 @@
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+
+#include <QJsonDocument>
+#include <QJsonObject>
+
+#include "selfdrive/common/params.h"
+
+
+QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in) {
+  return QGeoCoordinate(in.first, in.second);
+}
+
+QMapbox::CoordinatesCollections model_to_collection(
+  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
+  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
+  const cereal::ModelDataV2::XYZTData::Reader &line){
+
+  Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]);
+  Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]);
+  Eigen::Matrix3d ecef_from_local = euler2rot(orient);
+
+  QMapbox::Coordinates coordinates;
+  auto x = line.getX();
+  auto y = line.getY();
+  auto z = line.getZ();
+  for (int i = 0; i < x.size(); i++) {
+    Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef;
+    Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]});
+    QMapbox::Coordinate coordinate(point_geodetic.lat, point_geodetic.lon);
+    coordinates.push_back(coordinate);
+  }
+
+  QMapbox::CoordinatesCollection collection;
+  collection.push_back(coordinates);
+
+  QMapbox::CoordinatesCollections collections;
+  collections.push_back(collection);
+  return collections;
+}
+
+QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c) {
+  QMapbox::Coordinates coordinates;
+  coordinates.push_back(c);
+
+  QMapbox::CoordinatesCollection collection;
+  collection.push_back(coordinates);
+
+  QMapbox::CoordinatesCollections collections;
+  collections.push_back(collection);
+  return collections;
+}
+
+QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
+  QMapbox::Coordinates coordinates;
+
+  for (auto const &c: coordinate_list) {
+    QMapbox::Coordinate coordinate(c.getLatitude(), c.getLongitude());
+    coordinates.push_back(coordinate);
+  }
+
+  QMapbox::CoordinatesCollection collection;
+  collection.push_back(coordinates);
+
+  QMapbox::CoordinatesCollections collections;
+  collections.push_back(collection);
+  return collections;
+
+}
+
+QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list) {
+  QMapbox::Coordinates coordinates;
+
+  for (auto &c : coordinate_list) {
+    QMapbox::Coordinate coordinate(c.latitude(), c.longitude());
+    coordinates.push_back(coordinate);
+  }
+
+  QMapbox::CoordinatesCollection collection;
+  collection.push_back(coordinates);
+
+  QMapbox::CoordinatesCollections collections;
+  collections.push_back(collection);
+  return collections;
+}
+
+static QGeoCoordinate sub(QGeoCoordinate v, QGeoCoordinate w) {
+  return QGeoCoordinate(v.latitude() - w.latitude(), v.longitude() - w.longitude());
+}
+
+static QGeoCoordinate add(QGeoCoordinate v, QGeoCoordinate w) {
+  return QGeoCoordinate(v.latitude() + w.latitude(), v.longitude() + w.longitude());
+}
+
+static QGeoCoordinate mul(QGeoCoordinate v, float c) {
+  return QGeoCoordinate(c * v.latitude(), c * v.longitude());
+}
+
+static float dot(QGeoCoordinate v, QGeoCoordinate w) {
+  return v.latitude() * w.latitude() + v.longitude() * w.longitude();
+}
+
+float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p) {
+  const QGeoCoordinate ap = sub(p, a);
+  const QGeoCoordinate ab = sub(b, a);
+  const float t = std::clamp(dot(ap, ab) / dot(ab, ab), 0.0f, 1.0f);
+  const QGeoCoordinate projection = add(a, mul(ab, t));
+  return projection.distanceTo(p);
+}
+
+float distance_along_geometry(QList<QGeoCoordinate> geometry, QGeoCoordinate pos) {
+  if (geometry.size() <= 2) {
+    return geometry[0].distanceTo(pos);
+  }
+
+  // 1. Find segment that is closest to current position
+  // 2. Total distance is sum of distance to start of closest segment
+  //    + all previous segments
+  double total_distance = 0;
+  double total_distance_closest = 0;
+  double closest_distance = std::numeric_limits<double>::max();
+
+  for (int i = 0; i < geometry.size() - 1; i++) {
+    double d = minimum_distance(geometry[i], geometry[i+1], pos);
+    if (d < closest_distance) {
+      closest_distance = d;
+      total_distance_closest = total_distance + geometry[i].distanceTo(pos);
+    }
+    total_distance += geometry[i].distanceTo(geometry[i+1]);
+  }
+
+  return total_distance_closest;
+}
+
+std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
+  QString json_str = QString::fromStdString(Params().get(param));
+  if (json_str.isEmpty()) return {};
+
+  QJsonDocument doc = QJsonDocument::fromJson(json_str.toUtf8());
+  if (doc.isNull()) return {};
+
+  QJsonObject json = doc.object();
+  if (json["latitude"].isDouble() && json["longitude"].isDouble()) {
+    QMapbox::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble());
+    return coord;
+  } else {
+    return {};
+  }
+}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
new file mode 100644
index 00000000000000..53a44f42d81cad
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <optional>
+#include <eigen3/Eigen/Dense>
+#include <QMapboxGL>
+#include <QGeoCoordinate>
+
+#include "common/transformations/coordinates.hpp"
+#include "common/transformations/orientation.hpp"
+#include "cereal/messaging/messaging.h"
+
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
+QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in);
+QMapbox::CoordinatesCollections model_to_collection(
+  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
+  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
+  const cereal::ModelDataV2::XYZTData::Reader &line);
+QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
+QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
+QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
+
+float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p);
+std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
+float distance_along_geometry(QList<QGeoCoordinate> geometry, QGeoCoordinate pos);
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
new file mode 100644
index 00000000000000..60a7812265eb39
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@@ -0,0 +1,293 @@
+#include "map_settings.h"
+
+#include <QDebug>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/request_repeater.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+static QString shorten(const QString &str, int max_len) {
+  return str.size() > max_len ? str.left(max_len).trimmed() + "…" : str;
+}
+
+MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
+  stack = new QStackedWidget;
+
+  QWidget * main_widget = new QWidget;
+  QVBoxLayout *main_layout = new QVBoxLayout(main_widget);
+  const int icon_size = 200;
+
+  // Home
+  QHBoxLayout *home_layout = new QHBoxLayout;
+  home_button = new QPushButton;
+  home_button->setIconSize(QSize(icon_size, icon_size));
+  home_layout->addWidget(home_button);
+
+  home_address = new QLabel;
+  home_address->setWordWrap(true);
+  home_layout->addSpacing(30);
+  home_layout->addWidget(home_address);
+  home_layout->addStretch();
+
+  // Work
+  QHBoxLayout *work_layout = new QHBoxLayout;
+  work_button = new QPushButton;
+  work_button->setIconSize(QSize(icon_size, icon_size));
+  work_layout->addWidget(work_button);
+
+  work_address = new QLabel;
+  work_address->setWordWrap(true);
+  work_layout->addSpacing(30);
+  work_layout->addWidget(work_address);
+  work_layout->addStretch();
+
+  // Home & Work layout
+  QHBoxLayout *home_work_layout = new QHBoxLayout;
+  home_work_layout->addLayout(home_layout, 1);
+  home_work_layout->addSpacing(50);
+  home_work_layout->addLayout(work_layout, 1);
+
+  main_layout->addLayout(home_work_layout);
+  main_layout->addSpacing(20);
+  main_layout->addWidget(horizontal_line());
+  main_layout->addSpacing(20);
+
+  // Current route
+  {
+    current_widget = new QWidget(this);
+    QVBoxLayout *current_layout = new QVBoxLayout(current_widget);
+
+    QLabel *title = new QLabel("Current Destination");
+    title->setStyleSheet("font-size: 55px");
+    current_layout->addWidget(title);
+
+    current_route = new ButtonControl("", "CLEAR");
+    current_route->setStyleSheet("padding-left: 40px;");
+    current_layout->addWidget(current_route);
+    QObject::connect(current_route, &ButtonControl::clicked, [=]() {
+      params.remove("NavDestination");
+      updateCurrentRoute();
+    });
+
+    current_layout->addSpacing(10);
+    current_layout->addWidget(horizontal_line());
+    current_layout->addSpacing(20);
+  }
+  main_layout->addWidget(current_widget);
+
+  // Recents
+  QLabel *recents_title = new QLabel("Recent Destinations");
+  recents_title->setStyleSheet("font-size: 55px");
+  main_layout->addWidget(recents_title);
+  main_layout->addSpacing(20);
+
+  recent_layout = new QVBoxLayout;
+  QWidget *recent_widget = new LayoutWidget(recent_layout, this);
+  ScrollView *recent_scroller = new ScrollView(recent_widget, this);
+  main_layout->addWidget(recent_scroller);
+
+  // No prime upsell
+  QWidget * no_prime_widget = new QWidget;
+  {
+    QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget);
+    QLabel *signup_header = new QLabel("Try the Navigation Beta");
+    signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)");
+    signup_header->setAlignment(Qt::AlignCenter);
+
+    no_prime_layout->addWidget(signup_header);
+    no_prime_layout->addSpacing(50);
+
+    QLabel *screenshot = new QLabel;
+    QPixmap pm = QPixmap("../assets/navigation/screenshot.png");
+    screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation));
+    no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter);
+
+    QLabel *signup = new QLabel("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai");
+    signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)");
+    signup->setAlignment(Qt::AlignCenter);
+
+    no_prime_layout->addSpacing(20);
+    no_prime_layout->addWidget(signup);
+    no_prime_layout->addStretch();
+  }
+
+  stack->addWidget(main_widget);
+  stack->addWidget(no_prime_widget);
+  stack->setCurrentIndex(1);
+
+  QVBoxLayout *wrapper = new QVBoxLayout(this);
+  wrapper->addWidget(stack);
+
+  clear();
+
+  if (auto dongle_id = getDongleId()) {
+    // Fetch favorite and recent locations
+    {
+      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
+      RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
+      QObject::connect(repeater, &RequestRepeater::receivedResponse, this, &MapPanel::parseResponse);
+      QObject::connect(repeater, &RequestRepeater::failedResponse, this, &MapPanel::failedResponse);
+    }
+
+    // Destination set while offline
+    {
+      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
+      RequestRepeater* repeater = new RequestRepeater(this, url, "", 10, true);
+      HttpRequest* deleter = new HttpRequest(this);
+
+      QObject::connect(repeater, &RequestRepeater::receivedResponse, [=](QString resp) {
+        if (resp != "null") {
+          if (params.get("NavDestination").empty()) {
+            qWarning() << "Setting NavDestination from /next" << resp;
+            params.put("NavDestination", resp.toStdString());
+          } else {
+            qWarning() << "Got location from /next, but NavDestination already set";
+          }
+
+          // Send DELETE to clear destination server side
+          deleter->sendRequest(url, HttpRequest::Method::DELETE);
+        }
+      });
+    }
+  }
+}
+
+void MapPanel::showEvent(QShowEvent *event) {
+  updateCurrentRoute();
+}
+
+void MapPanel::clear() {
+  home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png"));
+  home_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
+  home_address->setText("No home\nlocation set");
+  home_button->disconnect();
+
+  work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png"));
+  work_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
+  work_address->setText("No work\nlocation set");
+  work_button->disconnect();
+
+  clearLayout(recent_layout);
+}
+
+void MapPanel::updateCurrentRoute() {
+  auto dest = QString::fromStdString(params.get("NavDestination"));
+  QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8());
+  if (dest.size() && !doc.isNull()) {
+    auto name = doc["place_name"].toString();
+    auto details = doc["place_details"].toString();
+    current_route->setTitle(shorten(name + " " + details, 42));
+  }
+  current_widget->setVisible(dest.size() && !doc.isNull());
+}
+
+void MapPanel::parseResponse(const QString &response) {
+  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
+  if (doc.isNull()) {
+    qDebug() << "JSON Parse failed on navigation locations";
+    return;
+  }
+
+  clear();
+
+  bool has_recents = false;
+  for (auto &save_type: {"favorite", "recent"}) {
+    for (auto location : doc.array()) {
+      auto obj = location.toObject();
+
+      auto type = obj["save_type"].toString();
+      auto label = obj["label"].toString();
+      auto name = obj["place_name"].toString();
+      auto details = obj["place_details"].toString();
+
+      if (type != save_type) continue;
+
+      if (type == "favorite" && label == "home") {
+        home_address->setText(name);
+        home_address->setStyleSheet(R"(font-size: 50px; color: white;)");
+        home_button->setIcon(QPixmap("../assets/navigation/home.png"));
+        QObject::connect(home_button, &QPushButton::clicked, [=]() {
+          navigateTo(obj);
+          emit closeSettings();
+        });
+      } else if (type == "favorite" && label == "work") {
+        work_address->setText(name);
+        work_address->setStyleSheet(R"(font-size: 50px; color: white;)");
+        work_button->setIcon(QPixmap("../assets/navigation/work.png"));
+        QObject::connect(work_button, &QPushButton::clicked, [=]() {
+          navigateTo(obj);
+          emit closeSettings();
+        });
+      } else {
+        ClickableWidget *widget = new ClickableWidget;
+        QHBoxLayout *layout = new QHBoxLayout(widget);
+        layout->setContentsMargins(15, 14, 40, 14);
+
+        QLabel *star = new QLabel("★");
+        auto sp = star->sizePolicy();
+        sp.setRetainSizeWhenHidden(true);
+        star->setSizePolicy(sp);
+
+        star->setVisible(type == "favorite");
+        star->setStyleSheet(R"(font-size: 60px;)");
+        layout->addWidget(star);
+        layout->addSpacing(10);
+
+
+        QLabel *recent_label = new QLabel(shorten(name + " " + details, 45));
+        recent_label->setStyleSheet(R"(font-size: 50px;)");
+
+        layout->addWidget(recent_label);
+        layout->addStretch();
+
+        QLabel *arrow = new QLabel("→");
+        arrow->setStyleSheet(R"(font-size: 60px;)");
+        layout->addWidget(arrow);
+
+        widget->setStyleSheet(R"(
+          .ClickableWidget {
+            border-radius: 10px;
+            border-width: 1px;
+            border-style: solid;
+            border-color: gray;
+          }
+          QWidget {
+            background-color: #393939;
+            color: #9c9c9c;
+          }
+        )");
+
+        QObject::connect(widget, &ClickableWidget::clicked, [=]() {
+          navigateTo(obj);
+          emit closeSettings();
+        });
+
+        recent_layout->addWidget(widget);
+        recent_layout->addSpacing(10);
+        has_recents = true;
+      }
+    }
+
+  }
+
+  if (!has_recents) {
+    QLabel *no_recents = new QLabel("no recent destinations");
+    no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)");
+    recent_layout->addWidget(no_recents);
+  }
+
+  recent_layout->addStretch();
+  stack->setCurrentIndex(0);
+  repaint();
+}
+
+void MapPanel::failedResponse(const QString &response) {
+  stack->setCurrentIndex(1);
+}
+
+void MapPanel::navigateTo(const QJsonObject &place) {
+  QJsonDocument doc(place);
+  params.put("NavDestination", doc.toJson().toStdString());
+}
diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h
new file mode 100644
index 00000000000000..ec409c49624622
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_settings.h
@@ -0,0 +1,38 @@
+#pragma once
+#include <QJsonArray>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QLabel>
+#include <QPushButton>
+#include <QVBoxLayout>
+#include <QWidget>
+#include <QStackedWidget>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+class MapPanel : public QWidget {
+  Q_OBJECT
+public:
+  explicit MapPanel(QWidget* parent = nullptr);
+
+  void navigateTo(const QJsonObject &place);
+  void parseResponse(const QString &response);
+  void failedResponse(const QString &response);
+  void updateCurrentRoute();
+  void clear();
+
+private:
+  void showEvent(QShowEvent *event) override;
+
+  Params params;
+  QStackedWidget *stack;
+  QPushButton *home_button, *work_button;
+  QLabel *home_address, *work_address;
+  QVBoxLayout *recent_layout;
+  QWidget *current_widget;
+  ButtonControl *current_route;
+
+signals:
+  void closeSettings();
+};
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
new file mode 100644
index 00000000000000..f988d193e37ffa
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -0,0 +1,101 @@
+#include "selfdrive/ui/qt/offroad/driverview.h"
+
+#include <QPainter>
+
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/util.h"
+
+const int FACE_IMG_SIZE = 130;
+
+DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  layout = new QStackedLayout(this);
+  layout->setStackingMode(QStackedLayout::StackAll);
+
+  cameraView = new CameraViewWidget(VISION_STREAM_RGB_FRONT, true, this);
+  layout->addWidget(cameraView);
+
+  scene = new DriverViewScene(this);
+  connect(cameraView, &CameraViewWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
+  layout->addWidget(scene);
+  layout->setCurrentWidget(scene);
+}
+
+void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
+  emit done();
+}
+
+DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) {
+  face_img = QImage("../assets/img_driver_face.png").scaled(FACE_IMG_SIZE, FACE_IMG_SIZE, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+}
+
+void DriverViewScene::showEvent(QShowEvent* event) {
+  frame_updated = false;
+  is_rhd = params.getBool("IsRHD");
+  params.putBool("IsDriverViewEnabled", true);
+}
+
+void DriverViewScene::hideEvent(QHideEvent* event) {
+  params.putBool("IsDriverViewEnabled", false);
+}
+
+void DriverViewScene::frameUpdated() {
+  frame_updated = true;
+  sm.update(0);
+  update();
+}
+
+void DriverViewScene::paintEvent(QPaintEvent* event) {
+  QPainter p(this);
+
+  // startup msg
+  if (!frame_updated) {
+    p.setPen(Qt::white);
+    p.setRenderHint(QPainter::TextAntialiasing);
+    configFont(p, "Inter", 100, "Bold");
+    p.drawText(geometry(), Qt::AlignCenter, "camera starting");
+    return;
+  }
+
+  const int width = 4 * height() / 3;
+  const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()};
+  const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()};
+
+  // blackout
+  const QColor bg(0, 0, 0, 140);
+  const QRect& blackout_rect = Hardware::TICI() ? rect() : rect2;
+  p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
+  p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
+  if (Hardware::TICI()) {
+    p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
+  }
+
+  // face bounding box
+  cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
+  bool face_detected = driver_state.getFaceProb() > 0.5;
+  if (face_detected) {
+    auto fxy_list = driver_state.getFacePosition();
+    auto std_list = driver_state.getFaceOrientationStd();
+    float face_x = fxy_list[0];
+    float face_y = fxy_list[1];
+    float face_std = std::max(std_list[0], std_list[1]);
+
+    float alpha = 0.7;
+    if (face_std > 0.08) {
+      alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
+    }
+    const int box_size = 0.6 * rect2.height() / 2;
+    const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored
+    int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width();
+    int fbox_y = valid_rect.center().y() + face_y * valid_rect.height();
+    p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
+    p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
+  }
+
+  // icon
+  const int img_offset = 30;
+  const int img_x = is_rhd ? rect2.right() - FACE_IMG_SIZE - img_offset : rect2.left() + img_offset;
+  const int img_y = rect2.bottom() - FACE_IMG_SIZE - img_offset;
+  p.setOpacity(face_detected ? 1.0 : 0.3);
+  p.drawImage(img_x, img_y, face_img);
+}
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
new file mode 100644
index 00000000000000..8eab76a3dd675e
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -0,0 +1,48 @@
+#pragma once
+
+#include <memory>
+
+#include <QStackedLayout>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+class DriverViewScene : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit DriverViewScene(QWidget *parent);
+
+public slots:
+  void frameUpdated();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void paintEvent(QPaintEvent *event) override;
+
+private:
+  Params params;
+  SubMaster sm;
+  QImage face_img;
+  bool is_rhd = false;
+  bool frame_updated = false;
+};
+
+class DriverViewWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit DriverViewWindow(QWidget *parent);
+
+signals:
+  void done();
+
+protected:
+  void mouseReleaseEvent(QMouseEvent* e) override;
+
+private:
+  CameraViewWidget *cameraView;
+  DriverViewScene *scene;
+  QStackedLayout *layout;
+};
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
new file mode 100644
index 00000000000000..dd519dd6615124
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -0,0 +1,332 @@
+#include "selfdrive/ui/qt/offroad/networking.h"
+
+#include <algorithm>
+
+#include <QDebug>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPainter>
+#include <QScrollBar>
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+
+// Networking functions
+
+Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
+  main_layout = new QStackedLayout(this);
+
+  wifi = new WifiManager(this);
+  connect(wifi, &WifiManager::refreshSignal, this, &Networking::refresh);
+  connect(wifi, &WifiManager::wrongPassword, this, &Networking::wrongPassword);
+
+  wifiScreen = new QWidget(this);
+  QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen);
+  vlayout->setContentsMargins(20, 20, 20, 20);
+  if (show_advanced) {
+    QPushButton* advancedSettings = new QPushButton("Advanced");
+    advancedSettings->setObjectName("advancedBtn");
+    advancedSettings->setStyleSheet("margin-right: 30px;");
+    advancedSettings->setFixedSize(350, 100);
+    connect(advancedSettings, &QPushButton::clicked, [=]() { main_layout->setCurrentWidget(an); });
+    vlayout->addSpacing(10);
+    vlayout->addWidget(advancedSettings, 0, Qt::AlignRight);
+    vlayout->addSpacing(10);
+  }
+
+  wifiWidget = new WifiUI(this, wifi);
+  wifiWidget->setObjectName("wifiWidget");
+  connect(wifiWidget, &WifiUI::connectToNetwork, this, &Networking::connectToNetwork);
+
+  ScrollView *wifiScroller = new ScrollView(wifiWidget, this);
+  wifiScroller->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+  vlayout->addWidget(wifiScroller, 1);
+  main_layout->addWidget(wifiScreen);
+
+  an = new AdvancedNetworking(this, wifi);
+  connect(an, &AdvancedNetworking::backPress, [=]() { main_layout->setCurrentWidget(wifiScreen); });
+  main_layout->addWidget(an);
+
+  QPalette pal = palette();
+  pal.setColor(QPalette::Window, QColor(0x29, 0x29, 0x29));
+  setAutoFillBackground(true);
+  setPalette(pal);
+
+  // TODO: revisit pressed colors
+  setStyleSheet(R"(
+    #wifiWidget > QPushButton, #back_btn, #advancedBtn {
+      font-size: 50px;
+      margin: 0px;
+      padding: 15px;
+      border-width: 0;
+      border-radius: 30px;
+      color: #dddddd;
+      background-color: #444444;
+    }
+  )");
+  main_layout->setCurrentWidget(wifiScreen);
+}
+
+void Networking::refresh() {
+  wifiWidget->refresh();
+  an->refresh();
+}
+
+void Networking::connectToNetwork(const Network &n) {
+  if (wifi->isKnownConnection(n.ssid)) {
+    wifi->activateWifiConnection(n.ssid);
+    wifiWidget->refresh();
+  } else if (n.security_type == SecurityType::OPEN) {
+    wifi->connect(n);
+  } else if (n.security_type == SecurityType::WPA) {
+    QString pass = InputDialog::getText("Enter password", this, "for \"" + n.ssid + "\"", true, 8);
+    if (!pass.isEmpty()) {
+      wifi->connect(n, pass);
+    }
+  }
+}
+
+void Networking::wrongPassword(const QString &ssid) {
+  if (wifi->seenNetworks.contains(ssid)) {
+    const Network &n = wifi->seenNetworks.value(ssid);
+    QString pass = InputDialog::getText("Wrong password", this, "for \"" + n.ssid +"\"", true, 8);
+    if (!pass.isEmpty()) {
+      wifi->connect(n, pass);
+    }
+  }
+}
+
+void Networking::showEvent(QShowEvent* event) {
+  // Wait to refresh to avoid delay when showing Networking widget
+  QTimer::singleShot(300, this, [=]() {
+    if (this->isVisible()) {
+      wifi->refreshNetworks();
+      refresh();
+    }
+  });
+}
+
+// AdvancedNetworking functions
+
+AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWidget(parent), wifi(wifi) {
+
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(40);
+  main_layout->setSpacing(20);
+
+  // Back button
+  QPushButton* back = new QPushButton("Back");
+  back->setObjectName("back_btn");
+  back->setFixedSize(500, 100);
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  ListWidget *list = new ListWidget(this);
+  // Enable tethering layout
+  tetheringToggle = new ToggleControl("Enable Tethering", "", "", wifi->isTetheringEnabled());
+  list->addItem(tetheringToggle);
+  QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering);
+
+  // Change tethering password
+  ButtonControl *editPasswordButton = new ButtonControl("Tethering Password", "EDIT");
+  connect(editPasswordButton, &ButtonControl::clicked, [=]() {
+    QString pass = InputDialog::getText("Enter new tethering password", this, "", true, 8, wifi->getTetheringPassword());
+    if (!pass.isEmpty()) {
+      wifi->changeTetheringPassword(pass);
+    }
+  });
+  list->addItem(editPasswordButton);
+
+  // IP address
+  ipLabel = new LabelControl("IP Address", wifi->ipv4_address);
+  list->addItem(ipLabel);
+
+  // SSH keys
+  list->addItem(new SshToggle());
+  list->addItem(new SshControl());
+
+  // Roaming toggle
+  const bool roamingEnabled = params.getBool("GsmRoaming");
+  ToggleControl *roamingToggle = new ToggleControl("Enable Roaming", "", "", roamingEnabled);
+  QObject::connect(roamingToggle, &SshToggle::toggleFlipped, [=](bool state) {
+    params.putBool("GsmRoaming", state);
+    wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn")));
+  });
+  list->addItem(roamingToggle);
+
+  // APN settings
+  ButtonControl *editApnButton = new ButtonControl("APN settings", "EDIT");
+  connect(editApnButton, &ButtonControl::clicked, [=]() {
+    const bool roamingEnabled = params.getBool("GsmRoaming");
+    const QString cur_apn = QString::fromStdString(params.get("GsmApn"));
+    QString apn = InputDialog::getText("Enter APN", this, "leave blank for automatic configuration", false, -1, cur_apn).trimmed();
+
+    if (apn.isEmpty()) {
+      params.remove("GsmApn");
+    } else {
+      params.put("GsmApn", apn.toStdString());
+    }
+    wifi->updateGsmSettings(roamingEnabled, apn);
+  });
+  list->addItem(editApnButton);
+
+  // Set initial config
+  wifi->updateGsmSettings(roamingEnabled,  QString::fromStdString(params.get("GsmApn")));
+
+  main_layout->addWidget(new ScrollView(list, this));
+  main_layout->addStretch(1);
+}
+
+void AdvancedNetworking::refresh() {
+  ipLabel->setText(wifi->ipv4_address);
+  tetheringToggle->setEnabled(true);
+  update();
+}
+
+void AdvancedNetworking::toggleTethering(bool enabled) {
+  wifi->setTetheringEnabled(enabled);
+  tetheringToggle->setEnabled(false);
+}
+
+// WifiUI functions
+
+WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) {
+  main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // load imgs
+  for (const auto &s : {"low", "medium", "high", "full"}) {
+    QPixmap pix(ASSET_PATH + "/offroad/icon_wifi_strength_" + s + ".svg");
+    strengths.push_back(pix.scaledToHeight(68, Qt::SmoothTransformation));
+  }
+  lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(49, Qt::SmoothTransformation);
+  checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation);
+  circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation);
+
+  QLabel *scanning = new QLabel("Scanning for networks...");
+  scanning->setStyleSheet("font-size: 65px;");
+  main_layout->addWidget(scanning, 0, Qt::AlignCenter);
+
+  setStyleSheet(R"(
+    QScrollBar::handle:vertical {
+      min-height: 0px;
+      border-radius: 4px;
+      background-color: #8A8A8A;
+    }
+    #forgetBtn {
+      font-size: 32px;
+      font-weight: 600;
+      color: #292929;
+      background-color: #BDBDBD;
+      border-width: 1px solid #828282;
+      border-radius: 5px;
+      padding: 40px;
+      padding-bottom: 16px;
+      padding-top: 16px;
+    }
+    #connecting {
+      font-size: 32px;
+      font-weight: 600;
+      color: white;
+      border-radius: 0;
+      padding: 27px;
+      padding-left: 43px;
+      padding-right: 43px;
+      background-color: black;
+    }
+    #ssidLabel {
+      font-size: 55px;
+      font-weight: 300;
+      text-align: left;
+      border: none;
+      padding-top: 50px;
+      padding-bottom: 50px;
+    }
+    #ssidLabel[disconnected=false] {
+      font-weight: 500;
+    }
+    #ssidLabel:disabled {
+      color: #696969;
+    }
+  )");
+}
+
+void WifiUI::refresh() {
+  // TODO: don't rebuild this every time
+  clearLayout(main_layout);
+
+  if (wifi->seenNetworks.size() == 0) {
+    QLabel *scanning = new QLabel("Scanning for networks...");
+    scanning->setStyleSheet("font-size: 65px;");
+    main_layout->addWidget(scanning, 0, Qt::AlignCenter);
+    return;
+  }
+  QList<Network> sortedNetworks = wifi->seenNetworks.values();
+  std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength);
+
+  // add networks
+  ListWidget *list = new ListWidget(this);
+  for (Network &network : sortedNetworks) {
+    QHBoxLayout *hlayout = new QHBoxLayout;
+    hlayout->setContentsMargins(44, 0, 73, 0);
+    hlayout->setSpacing(50);
+
+    // Clickable SSID label
+    ElidedLabel *ssidLabel = new ElidedLabel(network.ssid);
+    ssidLabel->setObjectName("ssidLabel");
+    ssidLabel->setEnabled(network.security_type != SecurityType::UNSUPPORTED);
+    ssidLabel->setProperty("disconnected", network.connected == ConnectedType::DISCONNECTED);
+    if (network.connected == ConnectedType::DISCONNECTED) {
+      QObject::connect(ssidLabel, &ElidedLabel::clicked, this, [=]() { emit connectToNetwork(network); });
+    }
+    hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1);
+
+    if (network.connected == ConnectedType::CONNECTING) {
+      QPushButton *connecting = new QPushButton("CONNECTING...");
+      connecting->setObjectName("connecting");
+      hlayout->addWidget(connecting, 2, Qt::AlignLeft);
+    }
+
+    // Forget button
+    if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) {
+      QPushButton *forgetBtn = new QPushButton("FORGET");
+      forgetBtn->setObjectName("forgetBtn");
+      QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
+        if (ConfirmationDialog::confirm("Forget Wi-Fi Network \"" + QString::fromUtf8(network.ssid) + "\"?", this)) {
+          wifi->forgetConnection(network.ssid);
+        }
+      });
+      hlayout->addWidget(forgetBtn, 0, Qt::AlignRight);
+    }
+
+    // Status icon
+    if (network.connected == ConnectedType::CONNECTED) {
+      QLabel *connectIcon = new QLabel();
+      connectIcon->setPixmap(checkmark);
+      hlayout->addWidget(connectIcon, 0, Qt::AlignRight);
+    } else if (network.security_type == SecurityType::UNSUPPORTED) {
+      QLabel *unsupportedIcon = new QLabel();
+      unsupportedIcon->setPixmap(circled_slash);
+      hlayout->addWidget(unsupportedIcon, 0, Qt::AlignRight);
+    } else if (network.security_type == SecurityType::WPA) {
+      QLabel *lockIcon = new QLabel();
+      lockIcon->setPixmap(lock);
+      hlayout->addWidget(lockIcon, 0, Qt::AlignRight);
+    } else {
+      hlayout->addSpacing(lock.width() + hlayout->spacing());
+    }
+
+    // Strength indicator
+    QLabel *strength = new QLabel();
+    strength->setPixmap(strengths[std::clamp((int)round(network.strength / 33.), 0, 3)]);
+    hlayout->addWidget(strength, 0, Qt::AlignRight);
+
+    list->addItem(hlayout);
+  }
+  main_layout->addWidget(list);
+  main_layout->addStretch(1);
+}
diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/offroad/networking.h
new file mode 100644
index 00000000000000..b5a0c2ba2e120a
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/networking.h
@@ -0,0 +1,76 @@
+#pragma once
+
+#include <QButtonGroup>
+#include <QMovie>
+#include <QVBoxLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/offroad/wifiManager.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/widgets/toggle.h"
+
+class WifiUI : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit WifiUI(QWidget *parent = 0, WifiManager* wifi = 0);
+
+private:
+  WifiManager *wifi = nullptr;
+  QVBoxLayout* main_layout;
+  QPixmap lock;
+  QPixmap checkmark;
+  QPixmap circled_slash;
+  QVector<QPixmap> strengths;
+
+signals:
+  void connectToNetwork(const Network &n);
+
+public slots:
+  void refresh();
+};
+
+class AdvancedNetworking : public QWidget {
+  Q_OBJECT
+public:
+  explicit AdvancedNetworking(QWidget* parent = 0, WifiManager* wifi = 0);
+
+private:
+  LabelControl* ipLabel;
+  ToggleControl* tetheringToggle;
+  WifiManager* wifi = nullptr;
+  Params params;
+
+signals:
+  void backPress();
+
+public slots:
+  void toggleTethering(bool enabled);
+  void refresh();
+};
+
+class Networking : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit Networking(QWidget* parent = 0, bool show_advanced = true);
+  WifiManager* wifi = nullptr;
+
+private:
+  QStackedLayout* main_layout = nullptr;
+  QWidget* wifiScreen = nullptr;
+  AdvancedNetworking* an = nullptr;
+
+  WifiUI* wifiWidget;
+
+protected:
+  void showEvent(QShowEvent* event) override;
+
+public slots:
+  void refresh();
+
+private slots:
+  void connectToNetwork(const Network &n);
+  void wrongPassword(const QString &ssid);
+};
diff --git a/selfdrive/ui/qt/offroad/networkmanager.h b/selfdrive/ui/qt/offroad/networkmanager.h
new file mode 100644
index 00000000000000..52d85c16afffb6
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/networkmanager.h
@@ -0,0 +1,38 @@
+/**
+ * We are using a NetworkManager DBUS API : https://developer.gnome.org/NetworkManager/1.26/spec.html
+ * */
+
+// https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags
+const int NM_802_11_AP_FLAGS_NONE = 0x00000000;
+const int NM_802_11_AP_FLAGS_PRIVACY = 0x00000001;
+const int NM_802_11_AP_FLAGS_WPS = 0x00000002;
+
+// https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApSecurityFlags
+const int NM_802_11_AP_SEC_PAIR_WEP40      = 0x00000001;
+const int NM_802_11_AP_SEC_PAIR_WEP104     = 0x00000002;
+const int NM_802_11_AP_SEC_GROUP_WEP40     = 0x00000010;
+const int NM_802_11_AP_SEC_GROUP_WEP104    = 0x00000020;
+const int NM_802_11_AP_SEC_KEY_MGMT_PSK    = 0x00000100;
+const int NM_802_11_AP_SEC_KEY_MGMT_802_1X = 0x00000200;
+
+const QString NM_DBUS_PATH                          = "/org/freedesktop/NetworkManager";
+const QString NM_DBUS_PATH_SETTINGS                 = "/org/freedesktop/NetworkManager/Settings";
+
+const QString NM_DBUS_INTERFACE                     = "org.freedesktop.NetworkManager";
+const QString NM_DBUS_INTERFACE_PROPERTIES          = "org.freedesktop.DBus.Properties";
+const QString NM_DBUS_INTERFACE_SETTINGS            = "org.freedesktop.NetworkManager.Settings";
+const QString NM_DBUS_INTERFACE_SETTINGS_CONNECTION = "org.freedesktop.NetworkManager.Settings.Connection";
+const QString NM_DBUS_INTERFACE_DEVICE              = "org.freedesktop.NetworkManager.Device";
+const QString NM_DBUS_INTERFACE_DEVICE_WIRELESS     = "org.freedesktop.NetworkManager.Device.Wireless";
+const QString NM_DBUS_INTERFACE_ACCESS_POINT        = "org.freedesktop.NetworkManager.AccessPoint";
+const QString NM_DBUS_INTERFACE_ACTIVE_CONNECTION   = "org.freedesktop.NetworkManager.Connection.Active";
+const QString NM_DBUS_INTERFACE_IP4_CONFIG          = "org.freedesktop.NetworkManager.IP4Config";
+
+const QString NM_DBUS_SERVICE                        = "org.freedesktop.NetworkManager";
+
+const int NM_DEVICE_STATE_ACTIVATED = 100;
+const int NM_DEVICE_STATE_NEED_AUTH = 60;
+const int NM_DEVICE_TYPE_WIFI = 2;
+const int NM_DEVICE_TYPE_MODEM = 8;
+const int NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8;
+const int DBUS_TIMEOUT = 100;
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
new file mode 100644
index 00000000000000..aa03ac63db2809
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -0,0 +1,207 @@
+#include "selfdrive/ui/qt/offroad/onboarding.h"
+
+#include <QLabel>
+#include <QPainter>
+#include <QQmlContext>
+#include <QQuickWidget>
+#include <QVBoxLayout>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+
+TrainingGuide::TrainingGuide(QWidget *parent) : QFrame(parent) {
+  setAttribute(Qt::WA_OpaquePaintEvent);
+}
+
+void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
+  if (boundingRect[currentIndex].contains(e->x(), e->y())) {
+    if (currentIndex == 9) {
+      const QRect yes = QRect(692, 842, 492, 148);
+      Params().putBool("RecordFront", yes.contains(e->x(), e->y()));
+    }
+    currentIndex += 1;
+  } else if (currentIndex == (boundingRect.size() - 2) && boundingRect.last().contains(e->x(), e->y())) {
+    currentIndex = 0;
+  }
+
+  if (currentIndex >= (boundingRect.size() - 1)) {
+    emit completedTraining();
+  } else {
+    image.load(img_path + "step" + QString::number(currentIndex) + ".png");
+    update();
+  }
+}
+
+void TrainingGuide::showEvent(QShowEvent *event) {
+  img_path = width() == WIDE_WIDTH ? "../assets/training_wide/" : "../assets/training/";
+  boundingRect = width() == WIDE_WIDTH ? boundingRectWide : boundingRectStandard;
+
+  currentIndex = 0;
+  image.load(img_path + "step0.png");
+}
+
+void TrainingGuide::paintEvent(QPaintEvent *event) {
+  QPainter painter(this);
+
+  QRect bg(0, 0, painter.device()->width(), painter.device()->height());
+  painter.fillRect(bg, QColor("#000000"));
+
+  QRect rect(image.rect());
+  rect.moveCenter(bg.center());
+  painter.drawImage(rect.topLeft(), image);
+
+  // progress bar
+  if (currentIndex > 0 && currentIndex < (boundingRect.size() - 2)) {
+    const int h = 20;
+    const int w = (currentIndex / (float)(boundingRect.size() - 2)) * width();
+    painter.fillRect(QRect(0, height() - h, w, h), QColor("#465BEA"));
+  }
+}
+
+void TermsPage::showEvent(QShowEvent *event) {
+  // late init, building QML widget takes 200ms
+  if (layout()) {
+    return;
+  }
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(45, 35, 45, 45);
+  main_layout->setSpacing(0);
+
+  QLabel *title = new QLabel("Terms & Conditions");
+  title->setStyleSheet("font-size: 90px; font-weight: 600;");
+  main_layout->addWidget(title);
+
+  main_layout->addSpacing(30);
+
+  QQuickWidget *text = new QQuickWidget(this);
+  text->setResizeMode(QQuickWidget::SizeRootObjectToView);
+  text->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  text->setAttribute(Qt::WA_AlwaysStackOnTop);
+  text->setClearColor(QColor("#1B1B1B"));
+
+  QString text_view = util::read_file("../assets/offroad/tc.html").c_str();
+  text->rootContext()->setContextProperty("text_view", text_view);
+
+  text->setSource(QUrl::fromLocalFile("qt/offroad/text_view.qml"));
+
+  main_layout->addWidget(text, 1);
+  main_layout->addSpacing(50);
+
+  QObject *obj = (QObject*)text->rootObject();
+  QObject::connect(obj, SIGNAL(scroll()), SLOT(enableAccept()));
+
+  QHBoxLayout* buttons = new QHBoxLayout;
+  buttons->setMargin(0);
+  buttons->setSpacing(45);
+  main_layout->addLayout(buttons);
+
+  QPushButton *decline_btn = new QPushButton("Decline");
+  buttons->addWidget(decline_btn);
+  QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
+
+  accept_btn = new QPushButton("Scroll to accept");
+  accept_btn->setEnabled(false);
+  accept_btn->setStyleSheet(R"(
+    QPushButton {
+      background-color: #465BEA;
+    }
+    QPushButton:disabled {
+      background-color: #4F4F4F;
+    }
+  )");
+  buttons->addWidget(accept_btn);
+  QObject::connect(accept_btn, &QPushButton::clicked, this, &TermsPage::acceptedTerms);
+}
+
+void TermsPage::enableAccept() {
+  accept_btn->setText("Agree");
+  accept_btn->setEnabled(true);
+}
+
+void DeclinePage::showEvent(QShowEvent *event) {
+  if (layout()) {
+    return;
+  }
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(45);
+  main_layout->setSpacing(40);
+
+  QLabel *text = new QLabel(this);
+  text->setText("You must accept the Terms and Conditions in order to use openpilot.");
+  text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)");
+  text->setWordWrap(true);
+  main_layout->addWidget(text, 0, Qt::AlignCenter);
+
+  QHBoxLayout* buttons = new QHBoxLayout;
+  buttons->setSpacing(45);
+  main_layout->addLayout(buttons);
+
+  QPushButton *back_btn = new QPushButton("Back");
+  buttons->addWidget(back_btn);
+
+  QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack);
+
+  QPushButton *uninstall_btn = new QPushButton("Decline, uninstall " + getBrand());
+  uninstall_btn->setStyleSheet("background-color: #B73D3D");
+  buttons->addWidget(uninstall_btn);
+  QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() {
+    Params().putBool("DoUninstall", true);
+  });
+}
+
+void OnboardingWindow::updateActiveScreen() {
+  if (!accepted_terms) {
+    setCurrentIndex(0);
+  } else if (!training_done && !params.getBool("Passive")) {
+    setCurrentIndex(1);
+  } else {
+    emit onboardingDone();
+  }
+}
+
+OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
+  std::string current_terms_version = params.get("TermsVersion");
+  std::string current_training_version = params.get("TrainingVersion");
+  accepted_terms = params.get("HasAcceptedTerms") == current_terms_version;
+  training_done = params.get("CompletedTrainingVersion") == current_training_version;
+
+  TermsPage* terms = new TermsPage(this);
+  addWidget(terms);
+  connect(terms, &TermsPage::acceptedTerms, [=]() {
+    Params().put("HasAcceptedTerms", current_terms_version);
+    accepted_terms = true;
+    updateActiveScreen();
+  });
+  connect(terms, &TermsPage::declinedTerms, [=]() { setCurrentIndex(2); });
+
+  TrainingGuide* tr = new TrainingGuide(this);
+  addWidget(tr);
+  connect(tr, &TrainingGuide::completedTraining, [=]() {
+    training_done = true;
+    Params().put("CompletedTrainingVersion", current_training_version);
+    updateActiveScreen();
+  });
+
+  DeclinePage* declinePage = new DeclinePage(this);
+  addWidget(declinePage);
+  connect(declinePage, &DeclinePage::getBack, [=]() { updateActiveScreen(); });
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      background-color: black;
+    }
+    QPushButton {
+      height: 160px;
+      font-size: 55px;
+      font-weight: 400;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+    }
+  )");
+  updateActiveScreen();
+}
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
new file mode 100644
index 00000000000000..7ae72649d18ff4
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -0,0 +1,131 @@
+#pragma once
+
+#include <QImage>
+#include <QMouseEvent>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QWidget>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+class TrainingGuide : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit TrainingGuide(QWidget *parent = 0);
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void paintEvent(QPaintEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent* e) override;
+
+  QImage image;
+  int currentIndex = 0;
+
+  // Bounding boxes for each training guide step
+  const QRect continueBtnStandard = {1610, 0, 310, 1080};
+  QVector<QRect> boundingRectStandard {
+    QRect(650, 710, 720, 190),
+    continueBtnStandard,
+    continueBtnStandard,
+    QRect(1442, 565, 230, 310),
+    QRect(1515, 562, 133, 60),
+    continueBtnStandard,
+    QRect(1580, 630, 215, 130),
+    QRect(1210, 0, 485, 590),
+    QRect(1460, 400, 375, 210),
+    QRect(166, 842, 1019, 148),
+    QRect(1460, 210, 300, 310),
+    continueBtnStandard,
+    QRect(1375, 80, 545, 1000),
+    continueBtnStandard,
+    QRect(1610, 130, 280, 800),
+    QRect(1385, 485, 400, 270),
+    continueBtnStandard,
+    continueBtnStandard,
+    QRect(1036, 769, 718, 189),
+    QRect(201, 769, 718, 189),
+  };
+
+  const QRect continueBtnWide = {1850, 0, 310, 1080};
+  QVector<QRect> boundingRectWide {
+    QRect(654, 721, 718, 189),
+    continueBtnWide,
+    continueBtnWide,
+    QRect(1690, 570, 165, 300),
+    QRect(1690, 560, 133, 60),
+    continueBtnWide,
+    QRect(1820, 630, 180, 155),
+    QRect(1360, 0, 460, 620),
+    QRect(1570, 400, 375, 215),
+    QRect(167, 842, 1018, 148),
+    QRect(1610, 210, 295, 310),
+    continueBtnWide,
+    QRect(1555, 90, 610, 990),
+    continueBtnWide,
+    QRect(1600, 140, 280, 790),
+    QRect(1385, 490, 750, 270),
+    continueBtnWide,
+    continueBtnWide,
+    QRect(1138, 755, 718, 189),
+    QRect(303, 755, 718, 189),
+  };
+
+  QString img_path;
+  QVector<QRect> boundingRect;
+
+signals:
+  void completedTraining();
+};
+
+
+class TermsPage : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {};
+
+public slots:
+  void enableAccept();
+
+private:
+  void showEvent(QShowEvent *event) override;
+
+  QPushButton *accept_btn;
+
+signals:
+  void acceptedTerms();
+  void declinedTerms();
+};
+
+class DeclinePage : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {};
+
+private:
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void getBack();
+};
+
+class OnboardingWindow : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  explicit OnboardingWindow(QWidget *parent = 0);
+  inline void showTrainingGuide() { setCurrentIndex(1); }
+  inline bool completed() const { return accepted_terms && training_done; }
+
+private:
+  void updateActiveScreen();
+
+  Params params;
+  bool accepted_terms = false, training_done = false;
+
+signals:
+  void onboardingDone();
+};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
new file mode 100644
index 00000000000000..a7916171efebc5
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -0,0 +1,422 @@
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+#include <cassert>
+#include <string>
+
+#include <QDebug>
+
+#ifndef QCOM
+#include "selfdrive/ui/qt/offroad/networking.h"
+#endif
+
+#ifdef ENABLE_MAPS
+#include "selfdrive/ui/qt/maps/map_settings.h"
+#endif
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/widgets/toggle.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+TogglesPanel::TogglesPanel(QWidget *parent) : ListWidget(parent) {
+  auto params = Params();
+  addItem(new ParamControl("OpenpilotEnabledToggle",
+                                  "Enable openpilot",
+                                  "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.",
+                                  "../assets/offroad/icon_openpilot.png",
+                                  this));
+  addItem(new ParamControl("IsLdwEnabled",
+                                  "Enable Lane Departure Warnings",
+                                  "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31mph (50kph).",
+                                  "../assets/offroad/icon_warning.png",
+                                  this));
+  addItem(new ParamControl("IsRHD",
+                                  "Enable Right-Hand Drive",
+                                  "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.",
+                                  "../assets/offroad/icon_openpilot_mirrored.png",
+                                  this));
+  addItem(new ParamControl("IsMetric",
+                                  "Use Metric System",
+                                  "Display speed in km/h instead of mph.",
+                                  "../assets/offroad/icon_metric.png",
+                                  this));
+  addItem(new ParamControl("CommunityFeaturesToggle",
+                                  "Enable Community Features",
+                                  "Use features, such as community supported hardware, from the open source community that are not maintained or supported by comma.ai and have not been confirmed to meet the standard safety model. Be extra cautious when using these features",
+                                  "../assets/offroad/icon_shell.png",
+                                  this));
+
+  addItem(new ParamControl("UploadRaw",
+                                  "Upload Raw Logs",
+                                  "Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.",
+                                  "../assets/offroad/icon_network.png",
+                                  this));
+
+  ParamControl *record_toggle = new ParamControl("RecordFront",
+                                                 "Record and Upload Driver Camera",
+                                                 "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
+                                                 "../assets/offroad/icon_monitoring.png",
+                                                 this);
+  addItem(record_toggle);
+  addItem(new ParamControl("EndToEndToggle",
+                                  "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c",
+                                  "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
+                                  "../assets/offroad/icon_road.png",
+                                  this));
+#ifdef ENABLE_MAPS
+  addItem(new ParamControl("NavSettingTime24h",
+                                  "Show ETA in 24h format",
+                                  "Use 24h format instead of am/pm",
+                                  "../assets/offroad/icon_metric.png",
+                                  this));
+#endif
+  if (params.getBool("DisableRadar_Allow")) {
+    addItem(new ParamControl("DisableRadar",
+                             "openpilot Longitudinal Control",
+                             "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!",
+                             "../assets/offroad/icon_speed_limit.png",
+                             this));
+
+  }
+
+  bool record_lock = params.getBool("RecordFrontLock");
+  record_toggle->setEnabled(!record_lock);
+}
+
+DevicePanel::DevicePanel(QWidget* parent) : ListWidget(parent) {
+  setSpacing(50);
+  Params params = Params();
+  addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A")));
+
+  QString serial = QString::fromStdString(params.get("HardwareSerial", false));
+  addItem(new LabelControl("Serial", serial));
+
+  // offroad-only buttons
+
+  auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW",
+                                        "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)");
+  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
+
+  QString resetCalibDesc = "openpilot requires the device to be mounted within 4° left or right and within 5° up or down. openpilot is continuously calibrating, resetting is rarely required.";
+  auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", resetCalibDesc);
+  connect(resetCalibBtn, &ButtonControl::clicked, [=]() {
+    if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) {
+      Params().remove("CalibrationParams");
+    }
+  });
+  connect(resetCalibBtn, &ButtonControl::showDescription, [=]() {
+    QString desc = resetCalibDesc;
+    std::string calib_bytes = Params().get("CalibrationParams");
+    if (!calib_bytes.empty()) {
+      try {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
+        auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
+        if (calib.getCalStatus() != 0) {
+          double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
+          double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
+          desc += QString(" Your device is pointed %1° %2 and %3° %4.")
+                                .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "up" : "down",
+                                     QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "right" : "left");
+        }
+      } catch (kj::Exception) {
+        qInfo() << "invalid CalibrationParams";
+      }
+    }
+    resetCalibBtn->setDescription(desc);
+  });
+
+  ButtonControl *retrainingBtn = nullptr;
+  if (!params.getBool("Passive")) {
+    retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
+    connect(retrainingBtn, &ButtonControl::clicked, [=]() {
+      if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) {
+        emit reviewTrainingGuide();
+      }
+    });
+  }
+
+  ButtonControl *regulatoryBtn = nullptr;
+  if (Hardware::TICI()) {
+    regulatoryBtn = new ButtonControl("Regulatory", "VIEW", "");
+    connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
+      const std::string txt = util::read_file("../assets/offroad/fcc.html");
+      RichTextDialog::alert(QString::fromStdString(txt), this);
+    });
+  }
+
+  for (auto btn : {dcamBtn, resetCalibBtn, retrainingBtn, regulatoryBtn}) {
+    if (btn) {
+      connect(parent, SIGNAL(offroadTransition(bool)), btn, SLOT(setEnabled(bool)));
+      addItem(btn);
+    }
+  }
+
+  // power buttons
+  QHBoxLayout *power_layout = new QHBoxLayout();
+  power_layout->setSpacing(30);
+
+  QPushButton *reboot_btn = new QPushButton("Reboot");
+  reboot_btn->setObjectName("reboot_btn");
+  power_layout->addWidget(reboot_btn);
+  QObject::connect(reboot_btn, &QPushButton::clicked, [=]() {
+    if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) {
+      if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) {
+          Params().putBool("DoReboot", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert("Disengage to Reboot", this);
+    }
+  });
+
+  QPushButton *poweroff_btn = new QPushButton("Power Off");
+  poweroff_btn->setObjectName("poweroff_btn");
+  power_layout->addWidget(poweroff_btn);
+  QObject::connect(poweroff_btn, &QPushButton::clicked, [=]() {
+    if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) {
+      if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) {
+          Params().putBool("DoShutdown", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert("Disengage to Power Off", this);
+    }
+  });
+
+  setStyleSheet(R"(
+    QPushButton {
+      height: 120px;
+      border-radius: 15px;
+    }
+    #reboot_btn { background-color: #393939; }
+    #reboot_btn:pressed { background-color: #4a4a4a; }
+    #poweroff_btn { background-color: #E22C2C; }
+    #poweroff_btn:pressed { background-color: #FF2424; }
+  )");
+  addItem(power_layout);
+}
+
+SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
+  gitBranchLbl = new LabelControl("Git Branch");
+  gitCommitLbl = new LabelControl("Git Commit");
+  osVersionLbl = new LabelControl("OS Version");
+  versionLbl = new LabelControl("Version", "", QString::fromStdString(params.get("ReleaseNotes")).trimmed());
+  lastUpdateLbl = new LabelControl("Last Update Check", "", "The last time openpilot successfully checked for an update. The updater only runs while the car is off.");
+  updateBtn = new ButtonControl("Check for Update", "");
+  connect(updateBtn, &ButtonControl::clicked, [=]() {
+    if (params.getBool("IsOffroad")) {
+      fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime")));
+      fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount")));
+      updateBtn->setText("CHECKING");
+      updateBtn->setEnabled(false);
+    }
+    std::system("pkill -1 -f selfdrive.updated");
+  });
+
+
+  auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL");
+  connect(uninstallBtn, &ButtonControl::clicked, [=]() {
+    if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) {
+      Params().putBool("DoUninstall", true);
+    }
+  });
+  connect(parent, SIGNAL(offroadTransition(bool)), uninstallBtn, SLOT(setEnabled(bool)));
+
+  QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
+  for (QWidget* w : widgets) {
+    addItem(w);
+  }
+
+  fs_watch = new QFileSystemWatcher(this);
+  QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) {
+    if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) {
+      lastUpdateLbl->setText("failed to fetch update");
+      updateBtn->setText("CHECK");
+      updateBtn->setEnabled(true);
+    } else if (path.contains("LastUpdateTime")) {
+      updateLabels();
+    }
+  });
+}
+
+void SoftwarePanel::showEvent(QShowEvent *event) {
+  updateLabels();
+}
+
+void SoftwarePanel::updateLabels() {
+  QString lastUpdate = "";
+  auto tm = params.get("LastUpdateTime");
+  if (!tm.empty()) {
+    lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate));
+  }
+
+  versionLbl->setText(getBrandVersion());
+  lastUpdateLbl->setText(lastUpdate);
+  updateBtn->setText("CHECK");
+  updateBtn->setEnabled(true);
+  gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch")));
+  gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10));
+  osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed());
+}
+
+QWidget * network_panel(QWidget * parent) {
+#ifdef QCOM
+  QWidget *w = new QWidget(parent);
+  QVBoxLayout *layout = new QVBoxLayout(w);
+  layout->setContentsMargins(50, 0, 50, 0);
+
+  ListWidget *list = new ListWidget();
+  list->setSpacing(30);
+  // wifi + tethering buttons
+  auto wifiBtn = new ButtonControl("Wi-Fi Settings", "OPEN");
+  QObject::connect(wifiBtn, &ButtonControl::clicked, [=]() { HardwareEon::launch_wifi(); });
+  list->addItem(wifiBtn);
+
+  auto tetheringBtn = new ButtonControl("Tethering Settings", "OPEN");
+  QObject::connect(tetheringBtn, &ButtonControl::clicked, [=]() { HardwareEon::launch_tethering(); });
+  list->addItem(tetheringBtn);
+
+  // SSH key management
+  list->addItem(new SshToggle());
+  list->addItem(new SshControl());
+
+  layout->addWidget(list);
+  layout->addStretch(1);
+#else
+  Networking *w = new Networking(parent);
+#endif
+  return w;
+}
+
+void SettingsWindow::showEvent(QShowEvent *event) {
+  panel_widget->setCurrentIndex(0);
+  nav_btns->buttons()[0]->setChecked(true);
+}
+
+SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
+
+  // setup two main layouts
+  sidebar_widget = new QWidget;
+  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
+  sidebar_layout->setMargin(0);
+  panel_widget = new QStackedWidget();
+  panel_widget->setStyleSheet(R"(
+    border-radius: 30px;
+    background-color: #292929;
+  )");
+
+  // close button
+  QPushButton *close_btn = new QPushButton("×");
+  close_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 140px;
+      padding-bottom: 20px;
+      font-weight: bold;
+      border 1px grey solid;
+      border-radius: 100px;
+      background-color: #292929;
+      font-weight: 400;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  close_btn->setFixedSize(200, 200);
+  sidebar_layout->addSpacing(45);
+  sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter);
+  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+
+  // setup panels
+  DevicePanel *device = new DevicePanel(this);
+  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
+  QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
+
+  QList<QPair<QString, QWidget *>> panels = {
+    {"Device", device},
+    {"Network", network_panel(this)},
+    {"Toggles", new TogglesPanel(this)},
+    {"Software", new SoftwarePanel(this)},
+  };
+
+#ifdef ENABLE_MAPS
+  auto map_panel = new MapPanel(this);
+  panels.push_back({"Navigation", map_panel});
+  QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
+#endif
+
+  const int padding = panels.size() > 3 ? 25 : 35;
+
+  nav_btns = new QButtonGroup();
+  for (auto &[name, panel] : panels) {
+    QPushButton *btn = new QPushButton(name);
+    btn->setCheckable(true);
+    btn->setChecked(nav_btns->buttons().size() == 0);
+    btn->setStyleSheet(QString(R"(
+      QPushButton {
+        color: grey;
+        border: none;
+        background: none;
+        font-size: 65px;
+        font-weight: 500;
+        padding-top: %1px;
+        padding-bottom: %1px;
+      }
+      QPushButton:checked {
+        color: white;
+      }
+      QPushButton:pressed {
+        color: #ADADAD;
+      }
+    )").arg(padding));
+
+    nav_btns->addButton(btn);
+    sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
+
+    const int lr_margin = name != "Network" ? 50 : 0;  // Network panel handles its own margins
+    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
+
+    ScrollView *panel_frame = new ScrollView(panel, this);
+    panel_widget->addWidget(panel_frame);
+
+    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      btn->setChecked(true);
+      panel_widget->setCurrentWidget(w);
+    });
+  }
+  sidebar_layout->setContentsMargins(50, 50, 100, 50);
+
+  // main settings layout, sidebar + main panel
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+
+  sidebar_widget->setFixedWidth(500);
+  main_layout->addWidget(sidebar_widget);
+  main_layout->addWidget(panel_widget);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-size: 50px;
+    }
+    SettingsWindow {
+      background-color: black;
+    }
+  )");
+}
+
+void SettingsWindow::hideEvent(QHideEvent *event) {
+#ifdef QCOM
+  HardwareEon::close_activities();
+#endif
+}
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
new file mode 100644
index 00000000000000..f9224633667518
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -0,0 +1,72 @@
+#pragma once
+
+#include <QButtonGroup>
+#include <QFileSystemWatcher>
+#include <QFrame>
+#include <QLabel>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QWidget>
+
+
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+// ********** settings window + top-level panels **********
+
+class DevicePanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit DevicePanel(QWidget* parent = nullptr);
+signals:
+  void reviewTrainingGuide();
+  void showDriverView();
+};
+
+class TogglesPanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit TogglesPanel(QWidget *parent = nullptr);
+};
+
+class SoftwarePanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit SoftwarePanel(QWidget* parent = nullptr);
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void updateLabels();
+
+  LabelControl *gitBranchLbl;
+  LabelControl *gitCommitLbl;
+  LabelControl *osVersionLbl;
+  LabelControl *versionLbl;
+  LabelControl *lastUpdateLbl;
+  ButtonControl *updateBtn;
+
+  Params params;
+  QFileSystemWatcher *fs_watch;
+};
+
+class SettingsWindow : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit SettingsWindow(QWidget *parent = 0);
+
+protected:
+  void hideEvent(QHideEvent *event) override;
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void closeSettings();
+  void offroadTransition(bool offroad);
+  void reviewTrainingGuide();
+  void showDriverView();
+
+private:
+  QPushButton *sidebar_alert_widget;
+  QWidget *sidebar_widget;
+  QButtonGroup *nav_btns;
+  QStackedWidget *panel_widget;
+};
diff --git a/selfdrive/ui/qt/offroad/text_view.qml b/selfdrive/ui/qt/offroad/text_view.qml
new file mode 100644
index 00000000000000..10b423bacbd09b
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/text_view.qml
@@ -0,0 +1,47 @@
+import QtQuick 2.0
+
+Item {
+  id: root
+  signal scroll()
+
+  Flickable {
+    id: flickArea
+    objectName: "flickArea"
+    anchors.fill: parent
+    contentHeight: helpText.height
+    contentWidth: width - (leftMargin + rightMargin)
+    bottomMargin: 50
+    topMargin: 50
+    rightMargin: 50
+    leftMargin: 50
+    flickableDirection: Flickable.VerticalFlick
+    flickDeceleration: 7500.0
+    maximumFlickVelocity: 10000.0
+    pixelAligned: true
+
+    onAtYEndChanged: root.scroll()
+
+    Text {
+      id: helpText
+      width: flickArea.contentWidth
+      font.family: "Inter"
+      font.weight: "Light"
+      font.pixelSize: 50
+      textFormat: Text.RichText
+      color: "#C9C9C9"
+      wrapMode: Text.Wrap
+      text: text_view
+    }
+  }
+
+  Rectangle {
+    id: scrollbar
+    anchors.right: flickArea.right
+    anchors.rightMargin: 20
+    y: flickArea.topMargin + flickArea.visibleArea.yPosition * (flickArea.height - flickArea.bottomMargin - flickArea.topMargin)
+    width: 12
+    radius: 6
+    height: flickArea.visibleArea.heightRatio * (flickArea.height - flickArea.bottomMargin - flickArea.topMargin)
+    color: "#808080"
+  }
+}
diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
new file mode 100644
index 00000000000000..e798949a897c9a
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -0,0 +1,566 @@
+#include "selfdrive/ui/qt/offroad/wifiManager.h"
+
+#include <algorithm>
+#include <set>
+#include <cstdlib>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/ui/qt/util.h"
+
+template <typename T>
+T get_response(QDBusMessage response) {
+  QVariant first =  response.arguments().at(0);
+  QDBusVariant dbvFirst = first.value<QDBusVariant>();
+  QVariant vFirst = dbvFirst.variant();
+  if (vFirst.canConvert<T>()) {
+    return vFirst.value<T>();
+  } else {
+    LOGE("Variant unpacking failure");
+    return T();
+  }
+}
+
+bool compare_by_strength(const Network &a, const Network &b) {
+  if (a.connected == ConnectedType::CONNECTED) return true;
+  if (b.connected == ConnectedType::CONNECTED) return false;
+  if (a.connected == ConnectedType::CONNECTING) return true;
+  if (b.connected == ConnectedType::CONNECTING) return false;
+  return a.strength > b.strength;
+}
+
+WifiManager::WifiManager(QWidget* parent) : QWidget(parent) {
+  qDBusRegisterMetaType<Connection>();
+  qDBusRegisterMetaType<IpConfig>();
+  connecting_to_network = "";
+
+  // Set tethering ssid as "weedle" + first 4 characters of a dongle id
+  tethering_ssid = "weedle";
+  if (auto dongle_id = getDongleId()) {
+    tethering_ssid += "-" + dongle_id->left(4);
+  }
+
+  adapter = getAdapter();
+  if (!adapter.isEmpty()) {
+    setup();
+  } else {
+    bus.connect(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE, "DeviceAdded", this, SLOT(deviceAdded(QDBusObjectPath)));
+  }
+
+  QTimer* timer = new QTimer(this);
+  QObject::connect(timer, &QTimer::timeout, this, [=]() {
+    if (!adapter.isEmpty() && this->isVisible()) {
+      requestScan();
+    }
+  });
+  timer->start(5000);
+}
+
+void WifiManager::setup() {
+  QDBusInterface nm(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_DEVICE, bus);
+  bus.connect(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_DEVICE, "StateChanged", this, SLOT(stateChange(unsigned int, unsigned int, unsigned int)));
+  bus.connect(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_PROPERTIES, "PropertiesChanged", this, SLOT(propertyChange(QString, QVariantMap, QStringList)));
+
+  bus.connect(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "ConnectionRemoved", this, SLOT(connectionRemoved(QDBusObjectPath)));
+  bus.connect(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "NewConnection", this, SLOT(newConnection(QDBusObjectPath)));
+
+  QDBusInterface device_props(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_PROPERTIES, bus);
+  device_props.setTimeout(DBUS_TIMEOUT);
+  QDBusMessage response = device_props.call("Get", NM_DBUS_INTERFACE_DEVICE, "State");
+  raw_adapter_state = get_response<uint>(response);
+
+  initActiveAp();
+  initConnections();
+  requestScan();
+}
+
+void WifiManager::refreshNetworks() {
+  if (adapter.isEmpty()) {
+    return;
+  }
+  seenNetworks.clear();
+  ipv4_address = get_ipv4_address();
+
+  QDBusInterface nm(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_DEVICE_WIRELESS, bus);
+  nm.setTimeout(DBUS_TIMEOUT);
+
+  const QDBusReply<QList<QDBusObjectPath>> &response = nm.call("GetAllAccessPoints");
+  for (const QDBusObjectPath &path : response.value()) {
+    const QByteArray &ssid = get_property(path.path(), "Ssid");
+    unsigned int strength = get_ap_strength(path.path());
+    if (ssid.isEmpty() || (seenNetworks.contains(ssid) &&
+        strength <= seenNetworks.value(ssid).strength)) {
+      continue;
+    }
+    SecurityType security = getSecurityType(path.path());
+    ConnectedType ctype;
+    QString activeSsid = (activeAp != "" && activeAp != "/") ? get_property(activeAp, "Ssid") : "";
+    if (ssid != activeSsid) {
+      ctype = ConnectedType::DISCONNECTED;
+    } else {
+      if (ssid == connecting_to_network) {
+        ctype = ConnectedType::CONNECTING;
+      } else {
+        ctype = ConnectedType::CONNECTED;
+      }
+    }
+    Network network = {ssid, strength, ctype, security};
+    seenNetworks[ssid] = network;
+  }
+}
+
+QString WifiManager::get_ipv4_address() {
+  if (raw_adapter_state != NM_DEVICE_STATE_ACTIVATED) {
+    return "";
+  }
+  QVector<QDBusObjectPath> conns = get_active_connections();
+  for (auto &p : conns) {
+    QDBusInterface nm(NM_DBUS_SERVICE, p.path(), NM_DBUS_INTERFACE_PROPERTIES, bus);
+    nm.setTimeout(DBUS_TIMEOUT);
+
+    QDBusObjectPath pth = get_response<QDBusObjectPath>(nm.call("Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Ip4Config"));
+    QString ip4config = pth.path();
+
+    QString type = get_response<QString>(nm.call("Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"));
+
+    if (type == "802-11-wireless") {
+      QDBusInterface nm2(NM_DBUS_SERVICE, ip4config, NM_DBUS_INTERFACE_PROPERTIES, bus);
+      nm2.setTimeout(DBUS_TIMEOUT);
+
+      const QDBusArgument &arr = get_response<QDBusArgument>(nm2.call("Get", NM_DBUS_INTERFACE_IP4_CONFIG, "AddressData"));
+      QMap<QString, QVariant> pth2;
+      arr.beginArray();
+      while (!arr.atEnd()) {
+        arr >> pth2;
+        QString ipv4 = pth2.value("address").value<QString>();
+        arr.endArray();
+        return ipv4;
+      }
+      arr.endArray();
+    }
+  }
+  return "";
+}
+
+SecurityType WifiManager::getSecurityType(const QString &path) {
+  int sflag = get_property(path, "Flags").toInt();
+  int wpaflag = get_property(path, "WpaFlags").toInt();
+  int rsnflag = get_property(path, "RsnFlags").toInt();
+  int wpa_props = wpaflag | rsnflag;
+
+  // obtained by looking at flags of networks in the office as reported by an Android phone
+  const int supports_wpa = NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 | NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK;
+
+  if ((sflag == NM_802_11_AP_FLAGS_NONE) || ((sflag & NM_802_11_AP_FLAGS_WPS) && !(wpa_props & supports_wpa))) {
+    return SecurityType::OPEN;
+  } else if ((sflag & NM_802_11_AP_FLAGS_PRIVACY) && (wpa_props & supports_wpa) && !(wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X)) {
+    return SecurityType::WPA;
+  } else {
+    LOGW("Unsupported network! sflag: %d, wpaflag: %d, rsnflag: %d", sflag, wpaflag, rsnflag);
+    return SecurityType::UNSUPPORTED;
+  }
+}
+
+void WifiManager::connect(const Network &n) {
+  return connect(n, "", "");
+}
+
+void WifiManager::connect(const Network &n, const QString &password) {
+  return connect(n, "", password);
+}
+
+void WifiManager::connect(const Network &n, const QString &username, const QString &password) {
+  connecting_to_network = n.ssid;
+  // disconnect();
+  forgetConnection(n.ssid); //Clear all connections that may already exist to the network we are connecting
+  connect(n.ssid, username, password, n.security_type);
+}
+
+void WifiManager::connect(const QByteArray &ssid, const QString &username, const QString &password, SecurityType security_type) {
+  Connection connection;
+  connection["connection"]["type"] = "802-11-wireless";
+  connection["connection"]["uuid"] = QUuid::createUuid().toString().remove('{').remove('}');
+  connection["connection"]["id"] = "openpilot connection "+QString::fromStdString(ssid.toStdString());
+  connection["connection"]["autoconnect-retries"] = 0;
+
+  connection["802-11-wireless"]["ssid"] = ssid;
+  connection["802-11-wireless"]["mode"] = "infrastructure";
+
+  if (security_type == SecurityType::WPA) {
+    connection["802-11-wireless-security"]["key-mgmt"] = "wpa-psk";
+    connection["802-11-wireless-security"]["auth-alg"] = "open";
+    connection["802-11-wireless-security"]["psk"] = password;
+  }
+
+  connection["ipv4"]["method"] = "auto";
+  connection["ipv4"]["dns-priority"] = 600;
+  connection["ipv6"]["method"] = "ignore";
+
+  QDBusInterface nm_settings(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, bus);
+  nm_settings.setTimeout(DBUS_TIMEOUT);
+
+  nm_settings.call("AddConnection", QVariant::fromValue(connection));
+}
+
+void WifiManager::deactivateConnectionBySsid(const QString &ssid) {
+  for (QDBusObjectPath active_connection_raw : get_active_connections()) {
+    QString active_connection = active_connection_raw.path();
+    QDBusInterface nm(NM_DBUS_SERVICE, active_connection, NM_DBUS_INTERFACE_PROPERTIES, bus);
+    nm.setTimeout(DBUS_TIMEOUT);
+
+    QDBusObjectPath pth = get_response<QDBusObjectPath>(nm.call("Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "SpecificObject"));
+    if (pth.path() != "" && pth.path() != "/") {
+      QString Ssid = get_property(pth.path(), "Ssid");
+      if (Ssid == ssid) {
+        deactivateConnection(active_connection_raw);
+      }
+    }
+  }
+}
+
+void WifiManager::deactivateConnection(const QDBusObjectPath &path) {
+  QDBusInterface nm2(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE, bus);
+  nm2.setTimeout(DBUS_TIMEOUT);
+  nm2.call("DeactivateConnection", QVariant::fromValue(path));
+}
+
+QVector<QDBusObjectPath> WifiManager::get_active_connections() {
+  QDBusInterface nm(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, bus);
+  nm.setTimeout(DBUS_TIMEOUT);
+
+  QDBusMessage response = nm.call("Get", NM_DBUS_INTERFACE, "ActiveConnections");
+  const QDBusArgument &arr = get_response<QDBusArgument>(response);
+  QVector<QDBusObjectPath> conns;
+
+  QDBusObjectPath path;
+  arr.beginArray();
+  while (!arr.atEnd()) {
+    arr >> path;
+    conns.push_back(path);
+  }
+  arr.endArray();
+  return conns;
+}
+
+bool WifiManager::isKnownConnection(const QString &ssid) {
+  return !getConnectionPath(ssid).path().isEmpty();
+}
+
+void WifiManager::forgetConnection(const QString &ssid) {
+  const QDBusObjectPath &path = getConnectionPath(ssid);
+  if (!path.path().isEmpty()) {
+    QDBusInterface nm2(NM_DBUS_SERVICE, path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, bus);
+    nm2.call("Delete");
+  }
+}
+
+uint WifiManager::getAdapterType(const QDBusObjectPath &path) {
+  QDBusInterface device_props(NM_DBUS_SERVICE, path.path(), NM_DBUS_INTERFACE_PROPERTIES, bus);
+  device_props.setTimeout(DBUS_TIMEOUT);
+  return get_response<uint>(device_props.call("Get", NM_DBUS_INTERFACE_DEVICE, "DeviceType"));
+}
+
+bool WifiManager::isWirelessAdapter(const QDBusObjectPath &path) {
+  return getAdapterType(path) == NM_DEVICE_TYPE_WIFI;
+}
+
+void WifiManager::requestScan() {
+  QDBusInterface nm(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_DEVICE_WIRELESS, bus);
+  nm.setTimeout(DBUS_TIMEOUT);
+  nm.call("RequestScan", QVariantMap());
+}
+
+uint WifiManager::get_wifi_device_state() {
+  QDBusInterface device_props(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_PROPERTIES, bus);
+  device_props.setTimeout(DBUS_TIMEOUT);
+
+  QDBusMessage response = device_props.call("Get", NM_DBUS_INTERFACE_DEVICE, "State");
+  uint resp = get_response<uint>(response);
+  return resp;
+}
+
+QByteArray WifiManager::get_property(const QString &network_path , const QString &property) {
+  QDBusInterface device_props(NM_DBUS_SERVICE, network_path, NM_DBUS_INTERFACE_PROPERTIES, bus);
+  device_props.setTimeout(DBUS_TIMEOUT);
+
+  QDBusMessage response = device_props.call("Get", NM_DBUS_INTERFACE_ACCESS_POINT, property);
+  return get_response<QByteArray>(response);
+}
+
+unsigned int WifiManager::get_ap_strength(const QString &network_path) {
+  QDBusInterface device_props(NM_DBUS_SERVICE, network_path, NM_DBUS_INTERFACE_PROPERTIES, bus);
+  device_props.setTimeout(DBUS_TIMEOUT);
+
+  QDBusMessage response = device_props.call("Get", NM_DBUS_INTERFACE_ACCESS_POINT, "Strength");
+  return get_response<unsigned int>(response);
+}
+
+QString WifiManager::getAdapter(const uint adapter_type) {
+  QDBusInterface nm(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE, bus);
+  nm.setTimeout(DBUS_TIMEOUT);
+
+  const QDBusReply<QList<QDBusObjectPath>> &response = nm.call("GetDevices");
+  for (const QDBusObjectPath &path : response.value()) {
+    if (getAdapterType(path) == adapter_type) {
+      return path.path();
+    }
+  }
+  return "";
+}
+
+void WifiManager::stateChange(unsigned int new_state, unsigned int previous_state, unsigned int change_reason) {
+  raw_adapter_state = new_state;
+  if (new_state == NM_DEVICE_STATE_NEED_AUTH && change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT && !connecting_to_network.isEmpty()) {
+    forgetConnection(connecting_to_network);
+    emit wrongPassword(connecting_to_network);
+  } else if (new_state == NM_DEVICE_STATE_ACTIVATED) {
+    connecting_to_network = "";
+    if (this->isVisible()) {
+      refreshNetworks();
+      emit refreshSignal();
+    }
+  }
+}
+
+// https://developer.gnome.org/NetworkManager/stable/gdbus-org.freedesktop.NetworkManager.Device.Wireless.html
+void WifiManager::propertyChange(const QString &interface, const QVariantMap &props, const QStringList &invalidated_props) {
+  if (interface == NM_DBUS_INTERFACE_DEVICE_WIRELESS && props.contains("LastScan")) {
+    if (this->isVisible() || firstScan) {
+      refreshNetworks();
+      emit refreshSignal();
+      firstScan = false;
+    }
+  } else if (interface == NM_DBUS_INTERFACE_DEVICE_WIRELESS && props.contains("ActiveAccessPoint")) {
+    const QDBusObjectPath &path = props.value("ActiveAccessPoint").value<QDBusObjectPath>();
+    activeAp = path.path();
+  }
+}
+
+void WifiManager::deviceAdded(const QDBusObjectPath &path) {
+  if (isWirelessAdapter(path) && (adapter.isEmpty() || adapter == "/")) {
+    adapter = path.path();
+    setup();
+  }
+}
+
+void WifiManager::connectionRemoved(const QDBusObjectPath &path) {
+  knownConnections.remove(path);
+}
+
+void WifiManager::newConnection(const QDBusObjectPath &path) {
+  const Connection &settings = getConnectionSettings(path);
+  if (settings.value("connection").value("type") == "802-11-wireless") {
+    knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString();
+    if (knownConnections[path] != tethering_ssid) {
+      activateWifiConnection(knownConnections[path]);
+    }
+  }
+}
+
+void WifiManager::disconnect() {
+  if (activeAp != "" && activeAp != "/") {
+    deactivateConnectionBySsid(get_property(activeAp, "Ssid"));
+  }
+}
+
+QDBusObjectPath WifiManager::getConnectionPath(const QString &ssid) {
+  for (const QString &conn_ssid : knownConnections) {
+    if (ssid == conn_ssid) {
+      return knownConnections.key(conn_ssid);
+    }
+  }
+  return QDBusObjectPath();
+}
+
+Connection WifiManager::getConnectionSettings(const QDBusObjectPath &path) {
+  QDBusInterface nm(NM_DBUS_SERVICE, path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, bus);
+  nm.setTimeout(DBUS_TIMEOUT);
+  return QDBusReply<Connection>(nm.call("GetSettings")).value();
+}
+
+void WifiManager::initConnections() {
+  QDBusInterface nm(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, bus);
+  nm.setTimeout(DBUS_TIMEOUT);
+
+  const QDBusReply<QList<QDBusObjectPath>> response = nm.call("ListConnections");
+  for (const QDBusObjectPath &path : response.value()) {
+    const Connection &settings = getConnectionSettings(path);
+    if (settings.value("connection").value("type") == "802-11-wireless") {
+      knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString();
+    } else if (path.path() != "/") {
+      lteConnectionPath = path;
+    }
+  }
+}
+
+void WifiManager::activateWifiConnection(const QString &ssid) {
+  const QDBusObjectPath &path = getConnectionPath(ssid);
+  if (!path.path().isEmpty()) {
+    connecting_to_network = ssid;
+    QDBusInterface nm3(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE, bus);
+    nm3.setTimeout(DBUS_TIMEOUT);
+    nm3.call("ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(adapter)), QVariant::fromValue(QDBusObjectPath("/")));
+  }
+}
+
+void WifiManager::activateModemConnection(const QDBusObjectPath &path) {
+  QString modem = getAdapter(NM_DEVICE_TYPE_MODEM);
+  if (!path.path().isEmpty() && !modem.isEmpty()) {
+    QDBusInterface nm3(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE, bus);
+    nm3.setTimeout(DBUS_TIMEOUT);
+    nm3.call("ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(modem)), QVariant::fromValue(QDBusObjectPath("/")));
+  }
+}
+
+// function matches tici/hardware.py
+NetworkType WifiManager::currentNetworkType() {
+  QDBusInterface nm(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, bus);
+  nm.setTimeout(DBUS_TIMEOUT);
+  const QDBusObjectPath &primary_conn = get_response<QDBusObjectPath>(nm.call("Get", NM_DBUS_INTERFACE, "PrimaryConnection"));
+
+  QDBusInterface nm2(NM_DBUS_SERVICE, primary_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, bus);
+  nm.setTimeout(DBUS_TIMEOUT);
+  const QString &primary_type = get_response<QString>(nm2.call("Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"));
+
+  if (primary_type == "802-3-ethernet") {
+    return NetworkType::ETHERNET;
+  } else if (primary_type == "802-11-wireless" && !isTetheringEnabled()) {
+    return NetworkType::WIFI;
+  } else {
+    for (const QDBusObjectPath &conn : get_active_connections()) {
+      QDBusInterface nm3(NM_DBUS_SERVICE, conn.path(), NM_DBUS_INTERFACE_PROPERTIES, bus);
+      nm3.setTimeout(DBUS_TIMEOUT);
+      const QString &type = get_response<QString>(nm3.call("Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"));
+      if (type == "gsm") {
+        return NetworkType::CELL;
+      }
+    }
+  }
+  return NetworkType::NONE;
+}
+
+void WifiManager::updateGsmSettings(bool roaming, QString apn) {
+  if (!lteConnectionPath.path().isEmpty()) {
+    QDBusInterface nm(NM_DBUS_SERVICE, lteConnectionPath.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, bus);
+    nm.setTimeout(DBUS_TIMEOUT);
+
+    bool changes = false;
+    bool auto_config = apn.isEmpty();
+    Connection settings = QDBusReply<Connection>(nm.call("GetSettings")).value();
+
+    if (settings.value("gsm").value("auto-config").toBool() != auto_config) {
+      qWarning() << "Changing gsm.auto-config to" << auto_config;
+      settings["gsm"]["auto-config"] = auto_config;
+      changes = true;
+    }
+
+    if (settings.value("gsm").value("apn").toString() != apn) {
+      qWarning() << "Changing gsm.apn to" << apn;
+      settings["gsm"]["apn"] = apn;
+      changes = true;
+    }
+
+    if (settings.value("gsm").value("home-only").toBool() == roaming) {
+      qWarning() << "Changing gsm.home-only to" << !roaming;
+      settings["gsm"]["home-only"] = !roaming;
+      changes = true;
+    }
+
+    if (changes) {
+      nm.call("UpdateUnsaved", QVariant::fromValue(settings));  // update is temporary
+      deactivateConnection(lteConnectionPath);
+      activateModemConnection(lteConnectionPath);
+    }
+  }
+}
+
+// Functions for tethering
+void WifiManager::addTetheringConnection() {
+  Connection connection;
+  connection["connection"]["id"] = "Hotspot";
+  connection["connection"]["uuid"] = QUuid::createUuid().toString().remove('{').remove('}');
+  connection["connection"]["type"] = "802-11-wireless";
+  connection["connection"]["interface-name"] = "wlan0";
+  connection["connection"]["autoconnect"] = false;
+
+  connection["802-11-wireless"]["band"] = "bg";
+  connection["802-11-wireless"]["mode"] = "ap";
+  connection["802-11-wireless"]["ssid"] = tethering_ssid.toUtf8();
+
+  connection["802-11-wireless-security"]["group"] = QStringList("ccmp");
+  connection["802-11-wireless-security"]["key-mgmt"] = "wpa-psk";
+  connection["802-11-wireless-security"]["pairwise"] = QStringList("ccmp");
+  connection["802-11-wireless-security"]["proto"] = QStringList("rsn");
+  connection["802-11-wireless-security"]["psk"] = defaultTetheringPassword;
+
+  connection["ipv4"]["method"] = "shared";
+  QMap<QString,QVariant> address;
+  address["address"] = "192.168.43.1";
+  address["prefix"] = 24u;
+  connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address);
+  connection["ipv4"]["gateway"] = "192.168.43.1";
+  connection["ipv4"]["route-metric"] = 1100;
+  connection["ipv6"]["method"] = "ignore";
+
+  QDBusInterface nm_settings(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, bus);
+  nm_settings.setTimeout(DBUS_TIMEOUT);
+  nm_settings.call("AddConnection", QVariant::fromValue(connection));
+}
+
+void WifiManager::setTetheringEnabled(bool enabled) {
+  if (enabled) {
+    if (!isKnownConnection(tethering_ssid)) {
+      addTetheringConnection();
+    }
+    activateWifiConnection(tethering_ssid);
+  } else {
+    deactivateConnectionBySsid(tethering_ssid);
+  }
+}
+
+void WifiManager::initActiveAp() {
+  QDBusInterface device_props(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_PROPERTIES, bus);
+  device_props.setTimeout(DBUS_TIMEOUT);
+
+  const QDBusMessage &response = device_props.call("Get", NM_DBUS_INTERFACE_DEVICE_WIRELESS, "ActiveAccessPoint");
+  activeAp = get_response<QDBusObjectPath>(response).path();
+}
+
+
+bool WifiManager::isTetheringEnabled() {
+  if (activeAp != "" && activeAp != "/") {
+    return get_property(activeAp, "Ssid") == tethering_ssid;
+  }
+  return false;
+}
+
+QString WifiManager::getTetheringPassword() {
+  if (!isKnownConnection(tethering_ssid)) {
+    addTetheringConnection();
+  }
+  const QDBusObjectPath &path = getConnectionPath(tethering_ssid);
+  if (!path.path().isEmpty()) {
+    QDBusInterface nm(NM_DBUS_INTERFACE, path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, bus);
+    nm.setTimeout(DBUS_TIMEOUT);
+
+    const QDBusReply<QMap<QString, QMap<QString, QVariant>>> response = nm.call("GetSecrets", "802-11-wireless-security");
+    return response.value().value("802-11-wireless-security").value("psk").toString();
+  }
+  return "";
+}
+
+void WifiManager::changeTetheringPassword(const QString &newPassword) {
+  const QDBusObjectPath &path = getConnectionPath(tethering_ssid);
+  if (!path.path().isEmpty()) {
+    QDBusInterface nm(NM_DBUS_INTERFACE, path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, bus);
+    nm.setTimeout(DBUS_TIMEOUT);
+
+    Connection settings = QDBusReply<Connection>(nm.call("GetSettings")).value();
+    settings["802-11-wireless-security"]["psk"] = newPassword;
+    nm.call("Update", QVariant::fromValue(settings));
+
+    if (isTetheringEnabled()) {
+      activateWifiConnection(tethering_ssid);
+    }
+  }
+}
diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/offroad/wifiManager.h
new file mode 100644
index 00000000000000..04defd32dd584c
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/wifiManager.h
@@ -0,0 +1,106 @@
+#pragma once
+
+#include <QtDBus>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/offroad/networkmanager.h"
+
+enum class SecurityType {
+  OPEN,
+  WPA,
+  UNSUPPORTED
+};
+enum class ConnectedType {
+  DISCONNECTED,
+  CONNECTING,
+  CONNECTED
+};
+enum class NetworkType {
+  NONE,
+  WIFI,
+  CELL,
+  ETHERNET
+};
+
+typedef QMap<QString, QMap<QString, QVariant>> Connection;
+typedef QVector<QMap<QString, QVariant>> IpConfig;
+
+struct Network {
+  QByteArray ssid;
+  unsigned int strength;
+  ConnectedType connected;
+  SecurityType security_type;
+};
+bool compare_by_strength(const Network &a, const Network &b);
+
+class WifiManager : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit WifiManager(QWidget* parent);
+
+  void requestScan();
+  QMap<QString, Network> seenNetworks;
+  QMap<QDBusObjectPath, QString> knownConnections;
+  QDBusObjectPath lteConnectionPath;
+  QString ipv4_address;
+
+  void refreshNetworks();
+  void forgetConnection(const QString &ssid);
+  bool isKnownConnection(const QString &ssid);
+  void activateWifiConnection(const QString &ssid);
+  void activateModemConnection(const QDBusObjectPath &path);
+  NetworkType currentNetworkType();
+  void updateGsmSettings(bool roaming, QString apn);
+
+  void connect(const Network &ssid);
+  void connect(const Network &ssid, const QString &password);
+  void connect(const Network &ssid, const QString &username, const QString &password);
+  void disconnect();
+
+  // Tethering functions
+  void setTetheringEnabled(bool enabled);
+  bool isTetheringEnabled();
+  void addTetheringConnection();
+  void changeTetheringPassword(const QString &newPassword);
+  QString getTetheringPassword();
+
+private:
+  QString adapter;  // Path to network manager wifi-device
+  QDBusConnection bus = QDBusConnection::systemBus();
+  unsigned int raw_adapter_state;  // Connection status https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NMDeviceState
+  QString connecting_to_network;
+  QString tethering_ssid;
+  const QString defaultTetheringPassword = "swagswagcomma";
+
+  bool firstScan = true;
+  QString getAdapter(const uint = NM_DEVICE_TYPE_WIFI);
+  uint getAdapterType(const QDBusObjectPath &path);
+  bool isWirelessAdapter(const QDBusObjectPath &path);
+  QString get_ipv4_address();
+  void connect(const QByteArray &ssid, const QString &username, const QString &password, SecurityType security_type);
+  QString activeAp;
+  void initActiveAp();
+  void deactivateConnectionBySsid(const QString &ssid);
+  void deactivateConnection(const QDBusObjectPath &path);
+  QVector<QDBusObjectPath> get_active_connections();
+  uint get_wifi_device_state();
+  QByteArray get_property(const QString &network_path, const QString &property);
+  unsigned int get_ap_strength(const QString &network_path);
+  SecurityType getSecurityType(const QString &path);
+  QDBusObjectPath getConnectionPath(const QString &ssid);
+  Connection getConnectionSettings(const QDBusObjectPath &path);
+  void initConnections();
+  void setup();
+
+signals:
+  void wrongPassword(const QString &ssid);
+  void refreshSignal();
+
+private slots:
+  void stateChange(unsigned int new_state, unsigned int previous_state, unsigned int change_reason);
+  void propertyChange(const QString &interface, const QVariantMap &props, const QStringList &invalidated_props);
+  void deviceAdded(const QDBusObjectPath &path);
+  void connectionRemoved(const QDBusObjectPath &path);
+  void newConnection(const QDBusObjectPath &path);
+};
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
new file mode 100644
index 00000000000000..a2195a621d5f49
--- /dev/null
+++ b/selfdrive/ui/qt/onroad.cc
@@ -0,0 +1,186 @@
+#include "selfdrive/ui/qt/onroad.h"
+
+#include <QDebug>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/ui/paint.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/api.h"
+#ifdef ENABLE_MAPS
+#include "selfdrive/ui/qt/maps/map.h"
+#endif
+
+OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout  = new QVBoxLayout(this);
+  main_layout->setMargin(bdr_s);
+  QStackedLayout *stacked_layout = new QStackedLayout;
+  stacked_layout->setStackingMode(QStackedLayout::StackAll);
+  main_layout->addLayout(stacked_layout);
+
+  nvg = new NvgWindow(VISION_STREAM_RGB_BACK, this);
+
+  QWidget * split_wrapper = new QWidget;
+  split = new QHBoxLayout(split_wrapper);
+  split->setContentsMargins(0, 0, 0, 0);
+  split->setSpacing(0);
+  split->addWidget(nvg);
+
+  stacked_layout->addWidget(split_wrapper);
+
+  alerts = new OnroadAlerts(this);
+  alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
+  stacked_layout->addWidget(alerts);
+
+  // setup stacking order
+  alerts->raise();
+
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  QObject::connect(this, &OnroadWindow::updateStateSignal, this, &OnroadWindow::updateState);
+  QObject::connect(this, &OnroadWindow::offroadTransitionSignal, this, &OnroadWindow::offroadTransition);
+}
+
+void OnroadWindow::updateState(const UIState &s) {
+  QColor bgColor = bg_colors[s.status];
+  Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
+  if (alert.type == "controlsUnresponsive") {
+    bgColor = bg_colors[STATUS_ALERT];
+  }
+  alerts->updateAlert(alert, bgColor);
+  if (bg != bgColor) {
+    // repaint border
+    bg = bgColor;
+    update();
+  }
+}
+
+void OnroadWindow::mousePressEvent(QMouseEvent* e) {
+  if (map != nullptr) {
+    bool sidebarVisible = geometry().x() > 0;
+    map->setVisible(!sidebarVisible && !map->isVisible());
+  }
+  // propagation event to parent(HomeWindow)
+  QWidget::mousePressEvent(e);
+}
+
+void OnroadWindow::offroadTransition(bool offroad) {
+#ifdef ENABLE_MAPS
+  if (!offroad) {
+    if (map == nullptr && (QUIState::ui_state.has_prime || !MAPBOX_TOKEN.isEmpty())) {
+      QMapboxGLSettings settings;
+
+      // Valid for 4 weeks since we can't swap tokens on the fly
+      QString token = MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN;
+
+      if (!Hardware::PC()) {
+        settings.setCacheDatabasePath("/data/mbgl-cache.db");
+      }
+      settings.setApiBaseUrl(MAPS_HOST);
+      settings.setCacheDatabaseMaximumSize(20 * 1024 * 1024);
+      settings.setAccessToken(token.trimmed());
+
+      MapWindow * m = new MapWindow(settings);
+      m->setFixedWidth(topWidget(this)->width() / 2);
+      QObject::connect(this, &OnroadWindow::offroadTransitionSignal, m, &MapWindow::offroadTransition);
+      split->addWidget(m, 0, Qt::AlignRight);
+      map = m;
+    }
+  }
+#endif
+
+  alerts->updateAlert({}, bg);
+
+  // update stream type
+  bool wide_cam = Hardware::TICI() && Params().getBool("EnableWideCamera");
+  nvg->setStreamType(wide_cam ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK);
+}
+
+void OnroadWindow::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+}
+
+// ***** onroad widgets *****
+
+void OnroadAlerts::updateAlert(const Alert &a, const QColor &color) {
+  if (!alert.equal(a) || color != bg) {
+    alert = a;
+    bg = color;
+    update();
+  }
+}
+
+void OnroadAlerts::paintEvent(QPaintEvent *event) {
+  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
+    return;
+  }
+  static std::map<cereal::ControlsState::AlertSize, const int> alert_sizes = {
+    {cereal::ControlsState::AlertSize::SMALL, 271},
+    {cereal::ControlsState::AlertSize::MID, 420},
+    {cereal::ControlsState::AlertSize::FULL, height()},
+  };
+  int h = alert_sizes[alert.size];
+  QRect r = QRect(0, height() - h, width(), h);
+
+  QPainter p(this);
+
+  // draw background + gradient
+  p.setPen(Qt::NoPen);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+
+  p.setBrush(QBrush(bg));
+  p.drawRect(r);
+
+  QLinearGradient g(0, r.y(), 0, r.bottom());
+  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
+  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
+
+  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
+  p.setBrush(QBrush(g));
+  p.fillRect(r, g);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+
+  // text
+  const QPoint c = r.center();
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  p.setRenderHint(QPainter::TextAntialiasing);
+  if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
+    configFont(p, "Open Sans", 74, "SemiBold");
+    p.drawText(r, Qt::AlignCenter, alert.text1);
+  } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
+    configFont(p, "Open Sans", 88, "Bold");
+    p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
+    configFont(p, "Open Sans", 66, "Regular");
+    p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
+  } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+    bool l = alert.text1.length() > 15;
+    configFont(p, "Open Sans", l ? 132 : 177, "Bold");
+    p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
+    configFont(p, "Open Sans", 88, "Regular");
+    p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
+  }
+}
+
+void NvgWindow::initializeGL() {
+  CameraViewWidget::initializeGL();
+  qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
+  qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR));
+  qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
+  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));
+
+  ui_nvg_init(&QUIState::ui_state);
+  prev_draw_t = millis_since_boot();
+  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+}
+
+void NvgWindow::paintGL() {
+  CameraViewWidget::paintGL();
+  ui_draw(&QUIState::ui_state, width(), height());
+
+  double cur_draw_t = millis_since_boot();
+  double dt = cur_draw_t - prev_draw_t;
+  if (dt > 66) {
+    // warn on sub 15fps
+    LOGW("slow frame time: %.2f", dt);
+  }
+  prev_draw_t = cur_draw_t;
+}
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
new file mode 100644
index 00000000000000..9be04e04ae473f
--- /dev/null
+++ b/selfdrive/ui/qt/onroad.h
@@ -0,0 +1,64 @@
+#pragma once
+
+#include <QStackedLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+#include "selfdrive/ui/ui.h"
+
+
+// ***** onroad widgets *****
+
+class OnroadAlerts : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {};
+  void updateAlert(const Alert &a, const QColor &color);
+
+protected:
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QColor bg;
+  Alert alert = {};
+};
+
+// container window for the NVG UI
+class NvgWindow : public CameraViewWidget {
+  Q_OBJECT
+
+public:
+  explicit NvgWindow(VisionStreamType type, QWidget* parent = 0) : CameraViewWidget(type, true, parent) {}
+
+protected:
+  void paintGL() override;
+  void initializeGL() override;
+  double prev_draw_t = 0;
+};
+
+// container for all onroad widgets
+class OnroadWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadWindow(QWidget* parent = 0);
+  bool isMapVisible() const { return map && map->isVisible(); }
+
+private:
+  void paintEvent(QPaintEvent *event);
+  void mousePressEvent(QMouseEvent* e) override;
+  OnroadAlerts *alerts;
+  NvgWindow *nvg;
+  QColor bg = bg_colors[STATUS_DISENGAGED];
+  QWidget *map = nullptr;
+  QHBoxLayout* split;
+
+signals:
+  void updateStateSignal(const UIState &s);
+  void offroadTransitionSignal(bool offroad);
+
+private slots:
+  void offroadTransition(bool offroad);
+  void updateState(const UIState &s);
+};
diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc
new file mode 100644
index 00000000000000..d630b560bb967f
--- /dev/null
+++ b/selfdrive/ui/qt/qt_window.cc
@@ -0,0 +1,30 @@
+#include "selfdrive/ui/qt/qt_window.h"
+
+void setMainWindow(QWidget *w) {
+  const QSize sz = QGuiApplication::primaryScreen()->size();
+  if (Hardware::PC() && sz.width() <= 1920 && sz.height() <= 1080 && getenv("SCALE") == nullptr) {
+    w->setMinimumSize(QSize(640, 480)); // allow resize smaller than fullscreen
+    w->setMaximumSize(QSize(2160, 1080));
+    w->resize(sz);
+  } else {
+    const float scale = util::getenv("SCALE", 1.0f);
+    const bool wide = (sz.width() >= WIDE_WIDTH) ^ (getenv("INVERT_WIDTH") != NULL);
+    w->setFixedSize(QSize(wide ? WIDE_WIDTH : 1920, 1080) * scale);
+  }
+  w->show();
+
+#ifdef QCOM2
+  QPlatformNativeInterface *native = QGuiApplication::platformNativeInterface();
+  wl_surface *s = reinterpret_cast<wl_surface*>(native->nativeResourceForWindow("surface", w->windowHandle()));
+  wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
+  wl_surface_commit(s);
+  w->showFullScreen();
+#endif
+}
+
+
+extern "C" {
+  void set_main_window(void *w) {
+    setMainWindow((QWidget*)w);
+  }
+}
diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h
new file mode 100644
index 00000000000000..2c9a24e55b7eb5
--- /dev/null
+++ b/selfdrive/ui/qt/qt_window.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <string>
+
+#include <QApplication>
+#include <QScreen>
+#include <QWidget>
+
+#ifdef QCOM2
+#include <qpa/qplatformnativeinterface.h>
+#include <wayland-client-protocol.h>
+#include <QPlatformSurfaceEvent>
+#endif
+
+#include "selfdrive/hardware/hw.h"
+
+const QString ASSET_PATH = ":/";
+
+const int WIDE_WIDTH = 2160;
+
+void setMainWindow(QWidget *w);
diff --git a/selfdrive/ui/qt/request_repeater.cc b/selfdrive/ui/qt/request_repeater.cc
new file mode 100644
index 00000000000000..c11698d6f10b96
--- /dev/null
+++ b/selfdrive/ui/qt/request_repeater.cc
@@ -0,0 +1,27 @@
+#include "selfdrive/ui/qt/request_repeater.h"
+
+RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, const QString &cacheKey,
+                                 int period, bool while_onroad) : HttpRequest(parent) {
+  timer = new QTimer(this);
+  timer->setTimerType(Qt::VeryCoarseTimer);
+  QObject::connect(timer, &QTimer::timeout, [=]() {
+    if ((!QUIState::ui_state.scene.started || while_onroad) && QUIState::ui_state.awake && !active()) {
+      sendRequest(requestURL);
+    }
+  });
+
+  timer->start(period * 1000);
+
+  if (!cacheKey.isEmpty()) {
+    prevResp = QString::fromStdString(params.get(cacheKey.toStdString()));
+    if (!prevResp.isEmpty()) {
+      QTimer::singleShot(500, [=]() { emit receivedResponse(prevResp); });
+    }
+    QObject::connect(this, &HttpRequest::receivedResponse, [=](const QString &resp) {
+      if (resp != prevResp) {
+        params.put(cacheKey.toStdString(), resp.toStdString());
+        prevResp = resp;
+      }
+    });
+  }
+}
diff --git a/selfdrive/ui/qt/request_repeater.h b/selfdrive/ui/qt/request_repeater.h
new file mode 100644
index 00000000000000..fa80100d22dbd6
--- /dev/null
+++ b/selfdrive/ui/qt/request_repeater.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/ui.h"
+
+class RequestRepeater : public HttpRequest {
+public:
+  RequestRepeater(QObject *parent, const QString &requestURL, const QString &cacheKey = "", int period = 0, bool while_onroad=false);
+
+private:
+  Params params;
+  QTimer *timer;
+  QString prevResp;
+};
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
new file mode 100644
index 00000000000000..cd53a5b725c831
--- /dev/null
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -0,0 +1,111 @@
+#include "selfdrive/ui/qt/sidebar.h"
+
+#include <QMouseEvent>
+
+#include "selfdrive/ui/qt/util.h"
+
+void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
+  const QRect rect = {30, y, 240, label.contains("\n") ? 124 : 100};
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(QBrush(c));
+  p.setClipRect(rect.x() + 6, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
+  p.drawRoundedRect(QRect(rect.x() + 6, rect.y() + 6, 100, rect.height() - 12), 10, 10);
+  p.setClipping(false);
+
+  QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55));
+  pen.setWidth(2);
+  p.setPen(pen);
+  p.setBrush(Qt::NoBrush);
+  p.drawRoundedRect(rect, 20, 20);
+
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  configFont(p, "Open Sans", 35, "Bold");
+  const QRect r = QRect(rect.x() + 30, rect.y(), rect.width() - 40, rect.height());
+  p.drawText(r, Qt::AlignCenter, label);
+}
+
+Sidebar::Sidebar(QWidget *parent) : QFrame(parent) {
+  home_img = QImage("../assets/images/button_home.png").scaled(180, 180, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+  settings_img = QImage("../assets/images/button_settings.png").scaled(settings_btn.width(), settings_btn.height(), Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
+
+  connect(this, &Sidebar::valueChanged, [=] { update(); });
+
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
+  setFixedWidth(300);
+}
+
+void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
+  if (settings_btn.contains(event->pos())) {
+    emit openSettings();
+  }
+}
+
+void Sidebar::updateState(const UIState &s) {
+  auto &sm = *(s.sm);
+
+  auto deviceState = sm["deviceState"].getDeviceState();
+  setProperty("netType", network_type[deviceState.getNetworkType()]);
+  int strength = (int)deviceState.getNetworkStrength();
+  setProperty("netStrength", strength > 0 ? strength + 1 : 0);
+
+  ItemStatus connectStatus;
+  auto last_ping = deviceState.getLastAthenaPingTime();
+  if (last_ping == 0) {
+    connectStatus = params.getBool("PrimeRedirected") ? ItemStatus{"NO\nPRIME", danger_color} : ItemStatus{"CONNECT\nOFFLINE", warning_color};
+  } else {
+    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{"CONNECT\nONLINE", good_color} : ItemStatus{"CONNECT\nERROR", danger_color};
+  }
+  setProperty("connectStatus", QVariant::fromValue(connectStatus));
+
+  ItemStatus tempStatus = {"TEMP\nHIGH", danger_color};
+  auto ts = deviceState.getThermalStatus();
+  if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
+    tempStatus = {"TEMP\nGOOD", good_color};
+  } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
+    tempStatus = {"TEMP\nOK", warning_color};
+  }
+  setProperty("tempStatus", QVariant::fromValue(tempStatus));
+
+  ItemStatus pandaStatus = {"VEHICLE\nONLINE", good_color};
+  if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
+    pandaStatus = {"NO\nPANDA", danger_color};
+  } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
+    pandaStatus = {"GPS\nSEARCHING", warning_color};
+  }
+  setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
+}
+
+void Sidebar::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setPen(Qt::NoPen);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  p.fillRect(rect(), QColor(57, 57, 57));
+
+  // static imgs
+  p.setOpacity(0.65);
+  p.drawImage(settings_btn.x(), settings_btn.y(), settings_img);
+  p.setOpacity(1.0);
+  p.drawImage(60, 1080 - 180 - 40, home_img);
+
+  // network
+  int x = 58;
+  const QColor gray(0x54, 0x54, 0x54);
+  for (int i = 0; i < 5; ++i) {
+    p.setBrush(i < net_strength ? Qt::white : gray);
+    p.drawEllipse(x, 196, 27, 27);
+    x += 37;
+  }
+
+  configFont(p, "Open Sans", 35, "Regular");
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  const QRect r = QRect(50, 247, 100, 50);
+  p.drawText(r, Qt::AlignCenter, net_type);
+
+  // metrics
+  drawMetric(p, temp_status.first, temp_status.second, 338);
+  drawMetric(p, panda_status.first, panda_status.second, 496);
+  drawMetric(p, connect_status.first, connect_status.second, 654);
+}
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
new file mode 100644
index 00000000000000..6cea9bdb6d9e05
--- /dev/null
+++ b/selfdrive/ui/qt/sidebar.h
@@ -0,0 +1,55 @@
+#pragma once
+
+#include <QFrame>
+#include <QMap>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/ui.h"
+
+typedef QPair<QString, QColor> ItemStatus;
+Q_DECLARE_METATYPE(ItemStatus);
+
+class Sidebar : public QFrame {
+  Q_OBJECT
+  Q_PROPERTY(ItemStatus connectStatus MEMBER connect_status NOTIFY valueChanged);
+  Q_PROPERTY(ItemStatus pandaStatus MEMBER panda_status NOTIFY valueChanged);
+  Q_PROPERTY(ItemStatus tempStatus MEMBER temp_status NOTIFY valueChanged);
+  Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged);
+  Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);
+
+public:
+  explicit Sidebar(QWidget* parent = 0);
+
+signals:
+  void openSettings();
+  void valueChanged();
+
+public slots:
+  void updateState(const UIState &s);
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  void drawMetric(QPainter &p, const QString &label, QColor c, int y);
+
+  QImage home_img, settings_img;
+  const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
+    {cereal::DeviceState::NetworkType::NONE, "--"},
+    {cereal::DeviceState::NetworkType::WIFI, "Wi-Fi"},
+    {cereal::DeviceState::NetworkType::ETHERNET, "ETH"},
+    {cereal::DeviceState::NetworkType::CELL2_G, "2G"},
+    {cereal::DeviceState::NetworkType::CELL3_G, "3G"},
+    {cereal::DeviceState::NetworkType::CELL4_G, "LTE"},
+    {cereal::DeviceState::NetworkType::CELL5_G, "5G"}
+  };
+
+  const QRect settings_btn = QRect(50, 35, 200, 117);
+  const QColor good_color = QColor(255, 255, 255);
+  const QColor warning_color = QColor(218, 202, 37);
+  const QColor danger_color = QColor(201, 34, 49);
+
+  Params params;
+  ItemStatus connect_status, panda_status, temp_status;
+  QString net_type;
+  int net_strength = 0;
+};
diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
new file mode 100644
index 00000000000000..8948d2adb77608
--- /dev/null
+++ b/selfdrive/ui/qt/spinner.cc
@@ -0,0 +1,119 @@
+#include "selfdrive/ui/qt/spinner.h"
+
+#include <cstdio>
+#include <iostream>
+#include <string>
+
+#include <QApplication>
+#include <QGridLayout>
+#include <QPainter>
+#include <QString>
+#include <QTransform>
+
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/util.h"
+
+TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  setFixedSize(spinner_size);
+
+  // pre-compute all the track imgs. make this a gif instead?
+  QPixmap comma_img = QPixmap("../assets/img_spinner_comma.png").scaled(spinner_size, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+  QPixmap track_img = QPixmap("../assets/img_spinner_track.png").scaled(spinner_size, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+
+  QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
+  QPixmap pm(spinner_size);
+  QPainter p(&pm);
+  p.setRenderHint(QPainter::SmoothPixmapTransform);
+  for (int i = 0; i < track_imgs.size(); ++i) {
+    p.resetTransform();
+    p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
+    p.drawPixmap(0, 0, comma_img);
+    p.setTransform(transform.rotate(360 / spinner_fps));
+    p.drawPixmap(-width() / 2, -height() / 2, track_img);
+    track_imgs[i] = pm.copy();
+  }
+
+  m_anim.setDuration(1000);
+  m_anim.setStartValue(0);
+  m_anim.setEndValue(int(track_imgs.size() -1));
+  m_anim.setLoopCount(-1);
+  m_anim.start();
+  connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
+}
+
+void TrackWidget::paintEvent(QPaintEvent *event) {
+  QPainter painter(this);
+  painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]);
+}
+
+// Spinner
+
+Spinner::Spinner(QWidget *parent) : QWidget(parent) {
+  QGridLayout *main_layout = new QGridLayout(this);
+  main_layout->setSpacing(0);
+  main_layout->setMargin(200);
+
+  main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
+
+  text = new QLabel();
+  text->setWordWrap(true);
+  text->setVisible(false);
+  text->setAlignment(Qt::AlignCenter);
+  main_layout->addWidget(text, 1, 0, Qt::AlignHCenter);
+
+  progress_bar = new QProgressBar();
+  progress_bar->setRange(5, 100);
+  progress_bar->setTextVisible(false);
+  progress_bar->setVisible(false);
+  progress_bar->setFixedHeight(20);
+  main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter);
+
+  setStyleSheet(R"(
+    Spinner {
+      background-color: black;
+    }
+    QLabel {
+      color: white;
+      font-size: 80px;
+      background-color: transparent;
+    }
+    QProgressBar {
+      background-color: #373737;
+      width: 1000px;
+      border solid white;
+      border-radius: 10px;
+    }
+    QProgressBar::chunk {
+      border-radius: 10px;
+      background-color: white;
+    }
+  )");
+
+  notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
+  QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
+};
+
+void Spinner::update(int n) {
+  std::string line;
+  std::getline(std::cin, line);
+
+  if (line.length()) {
+    bool number = std::all_of(line.begin(), line.end(), ::isdigit);
+    text->setVisible(!number);
+    progress_bar->setVisible(number);
+    text->setText(QString::fromStdString(line));
+    if (number) {
+      progress_bar->setValue(std::stoi(line));
+    }
+  }
+}
+
+int main(int argc, char *argv[]) {
+  initApp();
+  QApplication a(argc, argv);
+  Spinner spinner;
+  setMainWindow(&spinner);
+  return a.exec();
+}
diff --git a/selfdrive/ui/qt/spinner.h b/selfdrive/ui/qt/spinner.h
new file mode 100644
index 00000000000000..43d90a75b01036
--- /dev/null
+++ b/selfdrive/ui/qt/spinner.h
@@ -0,0 +1,37 @@
+#include <array>
+
+#include <QLabel>
+#include <QPixmap>
+#include <QProgressBar>
+#include <QSocketNotifier>
+#include <QVariantAnimation>
+#include <QWidget>
+
+constexpr int spinner_fps = 30;
+constexpr QSize spinner_size = QSize(360, 360);
+
+class TrackWidget : public QWidget  {
+  Q_OBJECT
+public:
+  TrackWidget(QWidget *parent = nullptr);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+  std::array<QPixmap, spinner_fps> track_imgs;
+  QVariantAnimation m_anim;
+};
+
+class Spinner : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit Spinner(QWidget *parent = 0);
+
+private:
+  QLabel *text;
+  QProgressBar *progress_bar;
+  QSocketNotifier *notifier;
+
+public slots:
+  void update(int n);
+};
diff --git a/selfdrive/ui/qt/spinner_aarch64 b/selfdrive/ui/qt/spinner_aarch64
new file mode 100755
index 00000000000000..71a52bc9f1af55
Binary files /dev/null and b/selfdrive/ui/qt/spinner_aarch64 differ
diff --git a/selfdrive/ui/qt/spinner_larch64 b/selfdrive/ui/qt/spinner_larch64
new file mode 100755
index 00000000000000..645bc4430e6773
Binary files /dev/null and b/selfdrive/ui/qt/spinner_larch64 differ
diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc
new file mode 100644
index 00000000000000..cb69cc082b8b37
--- /dev/null
+++ b/selfdrive/ui/qt/text.cc
@@ -0,0 +1,64 @@
+#include <QApplication>
+#include <QLabel>
+#include <QPushButton>
+#include <QScrollBar>
+#include <QVBoxLayout>
+#include <QWidget>
+
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+int main(int argc, char *argv[]) {
+  initApp();
+  QApplication a(argc, argv);
+  QWidget window;
+  setMainWindow(&window);
+
+  QGridLayout *main_layout = new QGridLayout(&window);
+  main_layout->setMargin(50);
+
+  QLabel *label = new QLabel(argv[1]);
+  label->setWordWrap(true);
+  label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
+  ScrollView *scroll = new ScrollView(label);
+  scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+  main_layout->addWidget(scroll, 0, 0, Qt::AlignTop);
+
+  // Scroll to the bottom
+  QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() {
+    scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum());
+  });
+
+  QPushButton *btn = new QPushButton();
+#ifdef __aarch64__
+  btn->setText("Reboot");
+  QObject::connect(btn, &QPushButton::clicked, [=]() {
+    Hardware::reboot();
+  });
+#else
+  btn->setText("Exit");
+  QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
+#endif
+  main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
+
+  window.setStyleSheet(R"(
+    * {
+      outline: none;
+      color: white;
+      background-color: black;
+      font-size: 60px;
+    }
+    QPushButton {
+      padding: 50px;
+      padding-right: 100px;
+      padding-left: 100px;
+      border: 2px solid white;
+      border-radius: 20px;
+      margin-right: 40px;
+    }
+  )");
+
+  return a.exec();
+}
diff --git a/selfdrive/ui/qt/text_aarch64 b/selfdrive/ui/qt/text_aarch64
new file mode 100755
index 00000000000000..dbce56d59f3661
Binary files /dev/null and b/selfdrive/ui/qt/text_aarch64 differ
diff --git a/selfdrive/ui/qt/text_larch64 b/selfdrive/ui/qt/text_larch64
new file mode 100755
index 00000000000000..eb0f535bf3b5d5
Binary files /dev/null and b/selfdrive/ui/qt/text_larch64 differ
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
new file mode 100644
index 00000000000000..93bb2b0e79e181
--- /dev/null
+++ b/selfdrive/ui/qt/util.cc
@@ -0,0 +1,128 @@
+#include "selfdrive/ui/qt/util.h"
+
+#include <QApplication>
+#include <QLayoutItem>
+#include <QStyleOption>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/hardware/hw.h"
+
+QString getBrand() {
+  return Params().getBool("Passive") ? "dashcam" : "openpilot";
+}
+
+QString getBrandVersion() {
+  return getBrand() + " v" + QString::fromStdString(Params().get("Version")).left(14).trimmed();
+}
+
+std::optional<QString> getDongleId() {
+  std::string id = Params().get("DongleId");
+
+  if (!id.empty() && (id != "UnregisteredDevice")) {
+    return QString::fromStdString(id);
+  } else {
+    return {};
+  }
+}
+
+void configFont(QPainter &p, const QString &family, int size, const QString &style) {
+  QFont f(family);
+  f.setPixelSize(size);
+  f.setStyleName(style);
+  p.setFont(f);
+}
+
+void clearLayout(QLayout* layout) {
+  while (QLayoutItem* item = layout->takeAt(0)) {
+    if (QWidget* widget = item->widget()) {
+      widget->deleteLater();
+    }
+    if (QLayout* childLayout = item->layout()) {
+      clearLayout(childLayout);
+    }
+    delete item;
+  }
+}
+
+QString timeAgo(const QDateTime &date) {
+  int diff = date.secsTo(QDateTime::currentDateTimeUtc());
+
+  QString s;
+  if (diff < 60) {
+    s = "now";
+  } else if (diff < 60 * 60) {
+    int minutes = diff / 60;
+    s = QString("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : "");
+  } else if (diff < 60 * 60 * 24) {
+    int hours = diff / (60 * 60);
+    s = QString("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : "");
+  } else if (diff < 3600 * 24 * 7) {
+    int days = diff / (60 * 60 * 24);
+    s = QString("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : "");
+  } else {
+    s = date.date().toString();
+  }
+
+  return s;
+}
+
+void setQtSurfaceFormat() {
+  QSurfaceFormat fmt;
+#ifdef __APPLE__
+  fmt.setVersion(3, 2);
+  fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile);
+  fmt.setRenderableType(QSurfaceFormat::OpenGL);
+#else
+  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
+#endif
+  QSurfaceFormat::setDefaultFormat(fmt);
+}
+
+void initApp() {
+  Hardware::set_display_power(true);
+  Hardware::set_brightness(65);
+  setQtSurfaceFormat();
+  if (Hardware::EON()) {
+    QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
+  }
+}
+
+ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { }
+
+void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) {
+  emit clicked();
+}
+
+// Fix stylesheets
+void ClickableWidget::paintEvent(QPaintEvent *) {
+  QStyleOption opt;
+  opt.init(this);
+  QPainter p(this);
+  style()->drawPrimitive(QStyle::PE_Widget, &opt, &p, this);
+}
+
+
+void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
+  static std::map<QtMsgType, int> levels = {
+    {QtMsgType::QtDebugMsg, CLOUDLOG_DEBUG},
+    {QtMsgType::QtInfoMsg, CLOUDLOG_INFO},
+    {QtMsgType::QtWarningMsg, CLOUDLOG_WARNING},
+    {QtMsgType::QtCriticalMsg, CLOUDLOG_ERROR},
+    {QtMsgType::QtSystemMsg, CLOUDLOG_ERROR},
+    {QtMsgType::QtFatalMsg, CLOUDLOG_CRITICAL},
+  };
+
+  std::string file, function;
+  if (context.file != nullptr) file = context.file;
+  if (context.function != nullptr) function = context.function;
+
+  auto bts = msg.toUtf8();
+  cloudlog_e(levels[type], file.c_str(), context.line, function.c_str(), "%s", bts.constData());
+}
+
+
+QWidget* topWidget (QWidget* widget) {
+  while (widget->parentWidget() != nullptr) widget=widget->parentWidget();
+  return widget;
+}
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
new file mode 100644
index 00000000000000..ad28b5116637df
--- /dev/null
+++ b/selfdrive/ui/qt/util.h
@@ -0,0 +1,46 @@
+#pragma once
+
+#include <optional>
+
+#include <QDateTime>
+#include <QLayout>
+#include <QMouseEvent>
+#include <QPainter>
+#include <QSurfaceFormat>
+#include <QWidget>
+
+QString getBrand();
+QString getBrandVersion();
+std::optional<QString> getDongleId();
+void configFont(QPainter &p, const QString &family, int size, const QString &style);
+void clearLayout(QLayout* layout);
+void setQtSurfaceFormat();
+QString timeAgo(const QDateTime &date);
+void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg);
+void initApp();
+QWidget* topWidget (QWidget* widget);
+
+
+// convenience class for wrapping layouts
+class LayoutWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
+    setLayout(l);
+  };
+};
+
+class ClickableWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  ClickableWidget(QWidget *parent = nullptr);
+
+protected:
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  void paintEvent(QPaintEvent *) override;
+
+signals:
+  void clicked();
+};
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
new file mode 100644
index 00000000000000..19eb4ab7700373
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -0,0 +1,272 @@
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+namespace {
+
+const char frame_vertex_shader[] =
+#ifdef NANOVG_GL3_IMPLEMENTATION
+  "#version 150 core\n"
+#else
+  "#version 300 es\n"
+#endif
+  "in vec4 aPosition;\n"
+  "in vec4 aTexCoord;\n"
+  "uniform mat4 uTransform;\n"
+  "out vec4 vTexCoord;\n"
+  "void main() {\n"
+  "  gl_Position = uTransform * aPosition;\n"
+  "  vTexCoord = aTexCoord;\n"
+  "}\n";
+
+const char frame_fragment_shader[] =
+#ifdef NANOVG_GL3_IMPLEMENTATION
+  "#version 150 core\n"
+#else
+  "#version 300 es\n"
+#endif
+  "precision mediump float;\n"
+  "uniform sampler2D uTexture;\n"
+  "in vec4 vTexCoord;\n"
+  "out vec4 colorOut;\n"
+  "void main() {\n"
+  "  colorOut = texture(uTexture, vTexCoord.xy);\n"
+#ifdef QCOM
+  "  vec3 dz = vec3(0.0627f, 0.0627f, 0.0627f);\n"
+  "  colorOut.rgb = ((vec3(1.0f, 1.0f, 1.0f) - dz) * colorOut.rgb / vec3(1.0f, 1.0f, 1.0f)) + dz;\n"
+#endif
+  "}\n";
+
+const mat4 device_transform = {{
+  1.0,  0.0, 0.0, 0.0,
+  0.0,  1.0, 0.0, 0.0,
+  0.0,  0.0, 1.0, 0.0,
+  0.0,  0.0, 0.0, 1.0,
+}};
+
+mat4 get_driver_view_transform() {
+  const float driver_view_ratio = 1.333;
+  mat4 transform;
+  if (Hardware::TICI()) {
+    // from dmonitoring.cc
+    const int full_width_tici = 1928;
+    const int full_height_tici = 1208;
+    const int adapt_width_tici = 954;
+    const int crop_x_offset = -72;
+    const int crop_y_offset = -144;
+    const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici;
+    const float xscale = yscale*(1080)/(2160)*full_width_tici/full_height_tici;
+    transform = (mat4){{
+      xscale,  0.0, 0.0, xscale*crop_x_offset/full_width_tici*2,
+      0.0,  yscale, 0.0, yscale*crop_y_offset/full_height_tici*2,
+      0.0,  0.0, 1.0, 0.0,
+      0.0,  0.0, 0.0, 1.0,
+    }};
+  } else {
+    // frame from 4/3 to 16/9 display
+    transform = (mat4){{
+      driver_view_ratio*(1080)/(1920),  0.0, 0.0, 0.0,
+      0.0,  1.0, 0.0, 0.0,
+      0.0,  0.0, 1.0, 0.0,
+      0.0,  0.0, 0.0, 1.0,
+    }};
+  }
+  return transform;
+}
+
+mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) {
+  float zx = 1, zy = 1;
+  if (frame_aspect_ratio > widget_aspect_ratio) {
+    zy = widget_aspect_ratio / frame_aspect_ratio;
+  } else {
+    zx = frame_aspect_ratio / widget_aspect_ratio;
+  }
+
+  const mat4 frame_transform = {{
+    zx, 0.0, 0.0, 0.0,
+    0.0, zy, 0.0, 0.0,
+    0.0, 0.0, 1.0, 0.0,
+    0.0, 0.0, 0.0, 1.0,
+  }};
+  return frame_transform;
+}
+
+} // namespace
+
+CameraViewWidget::CameraViewWidget(VisionStreamType type, bool zoom, QWidget* parent) :
+                                   stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection);
+  connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived);
+}
+
+CameraViewWidget::~CameraViewWidget() {
+  makeCurrent();
+  if (isValid()) {
+    glDeleteVertexArrays(1, &frame_vao);
+    glDeleteBuffers(1, &frame_vbo);
+    glDeleteBuffers(1, &frame_ibo);
+  }
+  doneCurrent();
+}
+
+void CameraViewWidget::initializeGL() {
+  initializeOpenGLFunctions();
+
+  program = new QOpenGLShaderProgram(context());
+  bool ret = program->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader);
+  assert(ret);
+  ret = program->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader);
+  assert(ret);
+
+  program->link();
+  GLint frame_pos_loc = program->attributeLocation("aPosition");
+  GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
+
+  auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_RGB_FRONT ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
+  const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
+  const float frame_coords[4][4] = {
+    {-1.0, -1.0, x2, y1}, // bl
+    {-1.0,  1.0, x2, y2}, // tl
+    { 1.0,  1.0, x1, y2}, // tr
+    { 1.0, -1.0, x1, y1}, // br
+  };
+
+  glGenVertexArrays(1, &frame_vao);
+  glBindVertexArray(frame_vao);
+  glGenBuffers(1, &frame_vbo);
+  glBindBuffer(GL_ARRAY_BUFFER, frame_vbo);
+  glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
+  glEnableVertexAttribArray(frame_pos_loc);
+  glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
+                        sizeof(frame_coords[0]), (const void *)0);
+  glEnableVertexAttribArray(frame_texcoord_loc);
+  glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
+                        sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
+  glGenBuffers(1, &frame_ibo);
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, frame_ibo);
+  glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+  glBindVertexArray(0);
+}
+
+void CameraViewWidget::showEvent(QShowEvent *event) {
+  latest_frame = nullptr;
+  vipc_thread = new QThread();
+  connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
+  connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
+  vipc_thread->start();
+}
+
+void CameraViewWidget::hideEvent(QHideEvent *event) {
+  vipc_thread->requestInterruption();
+  vipc_thread->quit();
+  vipc_thread->wait();
+}
+
+void CameraViewWidget::updateFrameMat(int w, int h) {
+  if (zoomed_view) {
+    if (stream_type == VISION_STREAM_RGB_FRONT) {
+      frame_mat = matmul(device_transform, get_driver_view_transform());
+    } else {
+      auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
+      float zoom = ZOOM / intrinsic_matrix.v[0];
+      if (stream_type == VISION_STREAM_RGB_WIDE) {
+        zoom *= 0.5;
+      }
+      float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
+      float zy = zoom * 2 * intrinsic_matrix.v[5] / height();
+
+      const mat4 frame_transform = {{
+        zx, 0.0, 0.0, 0.0,
+        0.0, zy, 0.0, -y_offset / height() * 2,
+        0.0, 0.0, 1.0, 0.0,
+        0.0, 0.0, 0.0, 1.0,
+      }};
+      frame_mat = matmul(device_transform, frame_transform);
+    }
+  } else if (stream_width > 0 && stream_height > 0) {
+    // fit frame to widget size
+    float widget_aspect_ratio = (float)width() / height();
+    float frame_aspect_ratio = (float)stream_width  / stream_height;
+    frame_mat = matmul(device_transform, get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio));
+  }
+}
+
+void CameraViewWidget::paintGL() {
+  if (!latest_frame) {
+    glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
+    glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+    return;
+  }
+
+  glViewport(0, 0, width(), height());
+
+  glBindVertexArray(frame_vao);
+  glActiveTexture(GL_TEXTURE0);
+
+  glBindTexture(GL_TEXTURE_2D, texture[latest_frame->idx]->frame_tex);
+  if (!Hardware::EON()) {
+    // this is handled in ion on QCOM
+    glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, latest_frame->width, latest_frame->height,
+                    GL_RGB, GL_UNSIGNED_BYTE, latest_frame->addr);
+  }
+
+  glUseProgram(program->programId());
+  glUniform1i(program->uniformLocation("uTexture"), 0);
+  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
+
+  assert(glGetError() == GL_NO_ERROR);
+  glEnableVertexAttribArray(0);
+  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  glDisableVertexAttribArray(0);
+  glBindVertexArray(0);
+}
+
+void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
+  makeCurrent();
+  for (int i = 0; i < vipc_client->num_buffers; i++) {
+    texture[i].reset(new EGLImageTexture(&vipc_client->buffers[i]));
+
+    glBindTexture(GL_TEXTURE_2D, texture[i]->frame_tex);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+
+    // BGR
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
+    assert(glGetError() == GL_NO_ERROR);
+  }
+  latest_frame = nullptr;
+  stream_width = vipc_client->buffers[0].width;
+  stream_height = vipc_client->buffers[0].height;
+  updateFrameMat(width(), height());
+}
+
+void CameraViewWidget::vipcFrameReceived(VisionBuf *buf) {
+  latest_frame = buf;
+  update();
+}
+
+void CameraViewWidget::vipcThread() {
+  VisionStreamType cur_stream_type = stream_type;
+  std::unique_ptr<VisionIpcClient> vipc_client;
+
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    if (!vipc_client || cur_stream_type != stream_type) {
+      cur_stream_type = stream_type;
+      vipc_client.reset(new VisionIpcClient("camerad", cur_stream_type, true));
+    }
+
+    if (!vipc_client->connected) {
+      if (!vipc_client->connect(false)) {
+        QThread::msleep(100);
+        continue;
+      }
+      emit vipcThreadConnected(vipc_client.get());
+    }
+
+    if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) {
+      emit vipcThreadFrameReceived(buf);
+    }
+  }
+}
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
new file mode 100644
index 00000000000000..caf686cee81376
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -0,0 +1,54 @@
+#pragma once
+
+#include <memory>
+
+#include <QOpenGLFunctions>
+#include <QOpenGLShaderProgram>
+#include <QOpenGLWidget>
+#include <QThread>
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/common/visionimg.h"
+#include "selfdrive/ui/ui.h"
+
+class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
+  Q_OBJECT
+
+public:
+  using QOpenGLWidget::QOpenGLWidget;
+  explicit CameraViewWidget(VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
+  ~CameraViewWidget();
+  void setStreamType(VisionStreamType type) { stream_type = type; }
+  void setBackgroundColor(const QColor &color) { bg = color; }
+
+signals:
+  void clicked();
+  void vipcThreadConnected(VisionIpcClient *);
+  void vipcThreadFrameReceived(VisionBuf *);
+
+protected:
+  void paintGL() override;
+  void initializeGL() override;
+  void resizeGL(int w, int h) override { updateFrameMat(w, h); }
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
+  void updateFrameMat(int w, int h);
+  void vipcThread();
+
+  bool zoomed_view;
+  VisionBuf *latest_frame = nullptr;
+  GLuint frame_vao, frame_vbo, frame_ibo;
+  mat4 frame_mat;
+  std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
+  QOpenGLShaderProgram *program;
+  QColor bg = QColor("#000000");
+
+  int stream_width = 0;
+  int stream_height = 0;
+  std::atomic<VisionStreamType> stream_type;
+  QThread *vipc_thread = nullptr;
+
+protected slots:
+  void vipcConnected(VisionIpcClient *vipc_client);
+  void vipcFrameReceived(VisionBuf *buf);
+};
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
new file mode 100644
index 00000000000000..8b09ba2bb32d91
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -0,0 +1,123 @@
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+#include <QPainter>
+#include <QStyleOption>
+
+QFrame *horizontal_line(QWidget *parent) {
+  QFrame *line = new QFrame(parent);
+  line->setFrameShape(QFrame::StyledPanel);
+  line->setStyleSheet(R"(
+    margin-left: 40px;
+    margin-right: 40px;
+    border-width: 1px;
+    border-bottom-style: solid;
+    border-color: gray;
+  )");
+  line->setFixedHeight(2);
+  return line;
+}
+
+AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
+  
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(0);
+
+  hlayout = new QHBoxLayout;
+  hlayout->setMargin(0);
+  hlayout->setSpacing(20);
+
+  // left icon
+  if (!icon.isEmpty()) {
+    QPixmap pix(icon);
+    QLabel *icon_label = new QLabel();
+    icon_label->setPixmap(pix.scaledToWidth(80, Qt::SmoothTransformation));
+    icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+    hlayout->addWidget(icon_label);
+  }
+
+  // title
+  title_label = new QPushButton(title);
+  title_label->setFixedHeight(120);
+  title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left");
+  hlayout->addWidget(title_label);
+
+  main_layout->addLayout(hlayout);
+
+  // description
+  if (!desc.isEmpty()) {
+    description = new QLabel(desc);
+    description->setContentsMargins(40, 20, 40, 20);
+    description->setStyleSheet("font-size: 40px; color: grey");
+    description->setWordWrap(true);
+    description->setVisible(false);
+    main_layout->addWidget(description);
+
+    connect(title_label, &QPushButton::clicked, [=]() {
+      if (!description->isVisible()) {
+        emit showDescription();
+      }
+      description->setVisible(!description->isVisible());
+    });
+  }
+  main_layout->addStretch();
+}
+
+void AbstractControl::hideEvent(QHideEvent *e) {
+  if(description != nullptr) {
+    description->hide();
+  }
+}
+
+// controls
+
+ButtonControl::ButtonControl(const QString &title, const QString &text, const QString &desc, QWidget *parent) : AbstractControl(title, desc, "", parent) {
+  btn.setText(text);
+  btn.setStyleSheet(R"(
+    QPushButton {
+      padding: 0;
+      border-radius: 50px;
+      font-size: 35px;
+      font-weight: 500;
+      color: #E4E4E4;
+      background-color: #393939;
+    }
+    QPushButton:pressed {
+      background-color: #4a4a4a;
+    }
+    QPushButton:disabled {
+      color: #33E4E4E4;
+    }
+  )");
+  btn.setFixedSize(250, 100);
+  QObject::connect(&btn, &QPushButton::clicked, this, &ButtonControl::clicked);
+  hlayout->addWidget(&btn);
+}
+
+// ElidedLabel
+
+ElidedLabel::ElidedLabel(QWidget *parent) : ElidedLabel({}, parent) {}
+
+ElidedLabel::ElidedLabel(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
+  setMinimumWidth(1);
+}
+
+void ElidedLabel::resizeEvent(QResizeEvent* event) {
+  QLabel::resizeEvent(event);
+  lastText_ = elidedText_ = "";
+}
+
+void ElidedLabel::paintEvent(QPaintEvent *event) {
+  const QString curText = text();
+  if (curText != lastText_) {
+    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
+    lastText_ = curText;
+  }
+
+  QPainter painter(this);
+  drawFrame(&painter);
+  QStyleOption opt;
+  opt.initFrom(this);
+  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
+}
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
new file mode 100644
index 00000000000000..b793326056008b
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -0,0 +1,163 @@
+#pragma once
+
+#include <QFrame>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPainter>
+#include <QPushButton>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/widgets/toggle.h"
+
+QFrame *horizontal_line(QWidget *parent = nullptr);
+
+class ElidedLabel : public QLabel {
+  Q_OBJECT
+
+public:
+  explicit ElidedLabel(QWidget *parent = 0);
+  explicit ElidedLabel(const QString &text, QWidget *parent = 0);
+
+signals:
+  void clicked();
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+  void resizeEvent(QResizeEvent* event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
+  QString lastText_, elidedText_;
+};
+
+
+class AbstractControl : public QFrame {
+  Q_OBJECT
+
+public:
+  void setDescription(const QString &desc) {
+    if (description) description->setText(desc);
+  }
+
+  void setTitle(const QString &title) {
+    title_label->setText(title);
+  }
+
+signals:
+  void showDescription();
+
+protected:
+  AbstractControl(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  void hideEvent(QHideEvent *e) override;
+
+  QHBoxLayout *hlayout;
+  QPushButton *title_label;
+  QLabel *description = nullptr;
+};
+
+// widget to display a value
+class LabelControl : public AbstractControl {
+  Q_OBJECT
+
+public:
+  LabelControl(const QString &title, const QString &text = "", const QString &desc = "", QWidget *parent = nullptr) : AbstractControl(title, desc, "", parent) {
+    label.setText(text);
+    label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
+    hlayout->addWidget(&label);
+  }
+  void setText(const QString &text) { label.setText(text); }
+
+private:
+  ElidedLabel label;
+};
+
+// widget for a button with a label
+class ButtonControl : public AbstractControl {
+  Q_OBJECT
+
+public:
+  ButtonControl(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
+  inline void setText(const QString &text) { btn.setText(text); }
+  inline QString text() const { return btn.text(); }
+
+signals:
+  void clicked();
+
+public slots:
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); };
+
+private:
+  QPushButton btn;
+};
+
+class ToggleControl : public AbstractControl {
+  Q_OBJECT
+
+public:
+  ToggleControl(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControl(title, desc, icon, parent) {
+    toggle.setFixedSize(150, 100);
+    if (state) {
+      toggle.togglePosition();
+    }
+    hlayout->addWidget(&toggle);
+    QObject::connect(&toggle, &Toggle::stateChanged, this, &ToggleControl::toggleFlipped);
+  }
+
+  void setEnabled(bool enabled) { toggle.setEnabled(enabled); }
+
+signals:
+  void toggleFlipped(bool state);
+
+protected:
+  Toggle toggle;
+};
+
+// widget to toggle params
+class ParamControl : public ToggleControl {
+  Q_OBJECT
+
+public:
+  ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) {
+    key = param.toStdString();
+    QObject::connect(this, &ToggleControl::toggleFlipped, [=](bool state) {
+      params.putBool(key, state);
+    });
+  }
+
+  void showEvent(QShowEvent *event) override {
+    if (params.getBool(key) != toggle.on) {
+      toggle.togglePosition();
+    }
+  };
+
+private:
+  std::string key;
+  Params params;
+};
+
+class ListWidget : public QWidget {
+  Q_OBJECT
+ public:
+  explicit ListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) {
+    outer_layout.setMargin(0);
+    outer_layout.setSpacing(0);
+    outer_layout.addLayout(&inner_layout);
+    inner_layout.setMargin(0);
+    inner_layout.setSpacing(25); // default spacing is 25
+    outer_layout.addStretch();
+  }
+  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
+  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
+  inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
+
+private:
+  void paintEvent(QPaintEvent *) override {
+    QPainter p(this);
+    p.setPen(Qt::gray);
+    for (int i = 0; i < inner_layout.count() - 1; ++i) {
+      QRect r = inner_layout.itemAt(i)->geometry();
+      int bottom = r.bottom() + inner_layout.spacing() / 2;
+      p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom);
+    }
+  }
+  QVBoxLayout outer_layout;
+  QVBoxLayout inner_layout;
+};
diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc
new file mode 100644
index 00000000000000..bd1dc7176601fc
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/drive_stats.cc
@@ -0,0 +1,95 @@
+#include "selfdrive/ui/qt/widgets/drive_stats.h"
+
+#include <QDebug>
+#include <QGridLayout>
+#include <QJsonObject>
+#include <QVBoxLayout>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/request_repeater.h"
+#include "selfdrive/ui/qt/util.h"
+
+static QLabel* newLabel(const QString& text, const QString &type) {
+  QLabel* label = new QLabel(text);
+  label->setProperty("type", type);
+  return label;
+}
+
+DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
+  metric_ = Params().getBool("IsMetric");
+
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 50, 50, 60);
+
+  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
+    QGridLayout* grid_layout = new QGridLayout;
+    grid_layout->setVerticalSpacing(10);
+    grid_layout->setContentsMargins(0, 10, 0, 10);
+
+    int row = 0;
+    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
+    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
+
+    grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
+    grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
+    grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
+
+    grid_layout->addWidget(newLabel("Drives", "unit"), row + 1, 0, Qt::AlignLeft);
+    grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel("Hours ", "unit"), row + 1, 2, Qt::AlignLeft);
+
+    main_layout->addLayout(grid_layout);
+  };
+
+  add_stats_layouts("ALL TIME", all_);
+  main_layout->addStretch();
+  add_stats_layouts("PAST WEEK", week_);
+
+  if (auto dongleId = getDongleId()) {
+    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
+    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30);
+    QObject::connect(repeater, &RequestRepeater::receivedResponse, this, &DriveStats::parseResponse);
+  }
+
+  setStyleSheet(R"(
+    DriveStats {
+      background-color: #333333;
+      border-radius: 10px;
+    }
+
+    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
+    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
+    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
+  )");
+}
+
+void DriveStats::updateStats() {
+  auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
+    labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
+    labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
+    labels.distance_unit->setText(getDistanceUnit());
+    labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
+  };
+
+  QJsonObject json = stats_.object();
+  update(json["all"].toObject(), all_);
+  update(json["week"].toObject(), week_);
+}
+
+void DriveStats::parseResponse(const QString& response) {
+  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
+  if (doc.isNull()) {
+    qDebug() << "JSON Parse failed on getting past drives statistics";
+    return;
+  }
+  stats_ = doc;
+  updateStats();
+}
+
+void DriveStats::showEvent(QShowEvent* event) {
+  bool metric = Params().getBool("IsMetric");
+  if (metric_ != metric) {
+    metric_ = metric;
+    updateStats();
+  }
+}
diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h
new file mode 100644
index 00000000000000..40ecbdeaf27649
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/drive_stats.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <QJsonDocument>
+#include <QLabel>
+
+class DriveStats : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit DriveStats(QWidget* parent = 0);
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void updateStats();
+  inline QString getDistanceUnit() const { return metric_ ? "KM" : "Miles"; }
+
+  bool metric_;
+  QJsonDocument stats_;
+  struct StatsLabels {
+    QLabel *routes, *distance, *distance_unit, *hours;
+  } all_, week_;
+
+private slots:
+  void parseResponse(const QString &response);
+};
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
new file mode 100644
index 00000000000000..1122faf4c75d0e
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -0,0 +1,259 @@
+#include "selfdrive/ui/qt/widgets/input.h"
+
+#include <QPushButton>
+
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+
+QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) {
+  Q_ASSERT(parent != nullptr);
+  parent->installEventFilter(this);
+
+  setStyleSheet(R"(
+    * {
+      outline: none;
+      color: white;
+      font-family: Inter;
+    }
+    QDialogBase {
+      background-color: black;
+    }
+    QPushButton {
+      height: 160;
+      font-size: 55px;
+      font-weight: 400;
+      border-radius: 10px;
+      color: white;
+      background-color: #333333;
+    }
+    QPushButton:pressed {
+      background-color: #444444;
+    }
+  )");
+}
+
+bool QDialogBase::eventFilter(QObject *o, QEvent *e) {
+  if (o == parent() && e->type() == QEvent::Hide) {
+    reject();
+  }
+  return QDialog::eventFilter(o, e);
+}
+
+int QDialogBase::exec() {
+  setMainWindow(this);
+  return QDialog::exec();
+}
+
+InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : QDialogBase(parent) {
+  main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 55, 50, 50);
+  main_layout->setSpacing(0);
+
+  // build header
+  QHBoxLayout *header_layout = new QHBoxLayout();
+
+  QVBoxLayout *vlayout = new QVBoxLayout;
+  header_layout->addLayout(vlayout);
+  label = new QLabel(title, this);
+  label->setStyleSheet("font-size: 90px; font-weight: bold;");
+  vlayout->addWidget(label, 1, Qt::AlignTop | Qt::AlignLeft);
+
+  if (!subtitle.isEmpty()) {
+    sublabel = new QLabel(subtitle, this);
+    sublabel->setStyleSheet("font-size: 55px; font-weight: light; color: #BDBDBD;");
+    vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft);
+  }
+
+  QPushButton* cancel_btn = new QPushButton("Cancel");
+  cancel_btn->setFixedSize(386, 125);
+  cancel_btn->setStyleSheet(R"(
+    font-size: 48px;
+    border-radius: 10px;
+    color: #E4E4E4;
+    background-color: #444444;
+  )");
+  header_layout->addWidget(cancel_btn, 0, Qt::AlignRight);
+  QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::reject);
+  QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::cancel);
+
+  main_layout->addLayout(header_layout);
+
+  // text box
+  main_layout->addStretch(2);
+
+  QWidget *textbox_widget = new QWidget;
+  textbox_widget->setObjectName("textbox");
+  QHBoxLayout *textbox_layout = new QHBoxLayout(textbox_widget);
+  textbox_layout->setContentsMargins(50, 0, 50, 0);
+
+  textbox_widget->setStyleSheet(R"(
+    #textbox {
+      margin-left: 50px;
+      margin-right: 50px;
+      border-radius: 0;
+      border-bottom: 3px solid #BDBDBD;
+    }
+    * {
+      border: none;
+      font-size: 80px;
+      font-weight: light;
+      background-color: transparent;
+    }
+  )");
+
+  line = new QLineEdit();
+  line->setStyleSheet("lineedit-password-character: 8226; lineedit-password-mask-delay: 1500;");
+  textbox_layout->addWidget(line, 1);
+
+  if (secret) {
+    eye_btn = new QPushButton();
+    eye_btn->setCheckable(true);
+    eye_btn->setFixedSize(150, 120);
+    QObject::connect(eye_btn, &QPushButton::toggled, [=](bool checked) {
+      if (checked) {
+        eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_closed.svg"));
+        eye_btn->setIconSize(QSize(81, 54));
+        line->setEchoMode(QLineEdit::Password);
+      } else {
+        eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_open.svg"));
+        eye_btn->setIconSize(QSize(81, 44));
+        line->setEchoMode(QLineEdit::Normal);
+      }
+    });
+    eye_btn->setChecked(true);
+    textbox_layout->addWidget(eye_btn);
+  }
+
+  main_layout->addWidget(textbox_widget, 0, Qt::AlignBottom);
+  main_layout->addSpacing(25);
+
+  k = new Keyboard(this);
+  QObject::connect(k, &Keyboard::emitEnter, this, &InputDialog::handleEnter);
+  QObject::connect(k, &Keyboard::emitBackspace, this, [=]() {
+    line->backspace();
+  });
+  QObject::connect(k, &Keyboard::emitKey, this, [=](const QString &key) {
+    line->insert(key.left(1));
+  });
+
+  main_layout->addWidget(k, 2, Qt::AlignBottom);
+}
+
+QString InputDialog::getText(const QString &prompt, QWidget *parent, const QString &subtitle,
+                             bool secret, int minLength, const QString &defaultText) {
+  InputDialog d = InputDialog(prompt, parent, subtitle, secret);
+  d.line->setText(defaultText);
+  d.setMinLength(minLength);
+  const int ret = d.exec();
+  return ret ? d.text() : QString();
+}
+
+QString InputDialog::text() {
+  return line->text();
+}
+
+void InputDialog::show() {
+  setMainWindow(this);
+}
+
+void InputDialog::handleEnter() {
+  if (line->text().length() >= minLength) {
+    done(QDialog::Accepted);
+    emitText(line->text());
+  } else {
+    setMessage("Need at least "+QString::number(minLength)+" characters!", false);
+  }
+}
+
+void InputDialog::setMessage(const QString &message, bool clearInputField) {
+  label->setText(message);
+  if (clearInputField) {
+    line->setText("");
+  }
+}
+
+void InputDialog::setMinLength(int length) {
+  minLength = length;
+}
+
+// ConfirmationDialog
+
+ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text,
+                                       QWidget *parent) : QDialogBase(parent) {
+  QFrame *container = new QFrame(this);
+  container->setStyleSheet("QFrame { border-radius: 0; background-color: #ECECEC; }");
+  QVBoxLayout *main_layout = new QVBoxLayout(container);
+  main_layout->setContentsMargins(32, 120, 32, 32);
+
+  QLabel *prompt = new QLabel(prompt_text, this);
+  prompt->setWordWrap(true);
+  prompt->setAlignment(Qt::AlignHCenter);
+  prompt->setStyleSheet("font-size: 70px; font-weight: bold; color: black;");
+  main_layout->addWidget(prompt, 1, Qt::AlignTop | Qt::AlignHCenter);
+
+  // cancel + confirm buttons
+  QHBoxLayout *btn_layout = new QHBoxLayout();
+  btn_layout->setSpacing(30);
+  main_layout->addLayout(btn_layout);
+
+  if (cancel_text.length()) {
+    QPushButton* cancel_btn = new QPushButton(cancel_text);
+    btn_layout->addWidget(cancel_btn);
+    QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
+  }
+
+  if (confirm_text.length()) {
+    QPushButton* confirm_btn = new QPushButton(confirm_text);
+    btn_layout->addWidget(confirm_btn);
+    QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
+  }
+
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(210, 170, 210, 170);
+  outer_layout->addWidget(container);
+}
+
+bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) {
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "", parent);
+  return d.exec();
+}
+
+bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) {
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "Cancel", parent);
+  return d.exec();
+}
+
+
+// RichTextDialog
+
+RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_text,
+                               QWidget *parent) : QDialogBase(parent) {
+  QFrame *container = new QFrame(this);
+  container->setStyleSheet("QFrame { background-color: #1B1B1B; }");
+  QVBoxLayout *main_layout = new QVBoxLayout(container);
+  main_layout->setContentsMargins(32, 32, 32, 32);
+
+  QLabel *prompt = new QLabel(prompt_text, this);
+  prompt->setWordWrap(true);
+  prompt->setAlignment(Qt::AlignLeft);
+  prompt->setTextFormat(Qt::RichText);
+  prompt->setStyleSheet("font-size: 42px; font-weight: light; color: #C9C9C9; margin: 45px;");
+  main_layout->addWidget(new ScrollView(prompt, this), 1, Qt::AlignTop);
+
+  // confirm button
+  QPushButton* confirm_btn = new QPushButton(btn_text);
+  main_layout->addWidget(confirm_btn);
+  QObject::connect(confirm_btn, &QPushButton::clicked, this, &QDialog::accept);
+
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(100, 100, 100, 100);
+  outer_layout->addWidget(container);
+}
+
+bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) {
+  auto d = RichTextDialog(prompt_text, "Ok", parent);
+  return d.exec();
+}
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
new file mode 100644
index 00000000000000..f81211d0eed73d
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -0,0 +1,70 @@
+#pragma once
+
+#include <QDialog>
+#include <QLabel>
+#include <QLineEdit>
+#include <QString>
+#include <QVBoxLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/widgets/keyboard.h"
+
+
+class QDialogBase : public QDialog {
+  Q_OBJECT
+
+protected:
+  QDialogBase(QWidget *parent);
+  bool eventFilter(QObject *o, QEvent *e) override;
+
+public slots:
+  int exec() override;
+};
+
+class InputDialog : public QDialogBase {
+  Q_OBJECT
+
+public:
+  explicit InputDialog(const QString &title, QWidget *parent, const QString &subtitle = "", bool secret = false);
+  static QString getText(const QString &title, QWidget *parent, const QString &substitle = "",
+                         bool secret = false, int minLength = -1, const QString &defaultText = "");
+  QString text();
+  void setMessage(const QString &message, bool clearInputField = true);
+  void setMinLength(int length);
+  void show();
+
+private:
+  int minLength;
+  QLineEdit *line;
+  Keyboard *k;
+  QLabel *label;
+  QLabel *sublabel;
+  QVBoxLayout *main_layout;
+  QPushButton *eye_btn;
+
+private slots:
+  void handleEnter();
+
+signals:
+  void cancel();
+  void emitText(const QString &text);
+};
+
+class ConfirmationDialog : public QDialogBase {
+  Q_OBJECT
+
+public:
+  explicit ConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
+                              const QString &cancel_text, QWidget* parent);
+  static bool alert(const QString &prompt_text, QWidget *parent);
+  static bool confirm(const QString &prompt_text, QWidget *parent);
+};
+
+// larger ConfirmationDialog for rich text
+class RichTextDialog : public QDialogBase {
+  Q_OBJECT
+
+public:
+  explicit RichTextDialog(const QString &prompt_text, const QString &btn_text, QWidget* parent);
+  static bool alert(const QString &prompt_text, QWidget *parent);
+};
diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc
new file mode 100644
index 00000000000000..e6e60e4097bf5e
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/keyboard.cc
@@ -0,0 +1,160 @@
+#include "selfdrive/ui/qt/widgets/keyboard.h"
+
+#include <vector>
+
+#include <QButtonGroup>
+#include <QHBoxLayout>
+#include <QMap>
+#include <QTouchEvent>
+#include <QVBoxLayout>
+
+const QString BACKSPACE_KEY = "⌫";
+const QString ENTER_KEY = "→";
+
+const QMap<QString, int> KEY_STRETCH = {{"  ", 5}, {ENTER_KEY, 2}};
+
+const QStringList CONTROL_BUTTONS = {"↑", "↓", "ABC", "#+=", "123", BACKSPACE_KEY, ENTER_KEY};
+
+const float key_spacing_vertical = 20;
+const float key_spacing_horizontal = 15;
+
+KeyButton::KeyButton(const QString &text, QWidget *parent) : QPushButton(text, parent) {
+  setAttribute(Qt::WA_AcceptTouchEvents);
+  setFocusPolicy(Qt::NoFocus);
+}
+
+bool KeyButton::event(QEvent *event) {
+  if (event->type() == QEvent::TouchBegin || event->type() == QEvent::TouchEnd) {
+    QTouchEvent *touchEvent = static_cast<QTouchEvent *>(event);
+    if (!touchEvent->touchPoints().empty()) {
+      const QEvent::Type mouseType = event->type() == QEvent::TouchBegin ? QEvent::MouseButtonPress : QEvent::MouseButtonRelease;
+      QMouseEvent mouseEvent(mouseType, touchEvent->touchPoints().front().pos(), Qt::LeftButton, Qt::LeftButton, Qt::NoModifier);
+      QPushButton::event(&mouseEvent);
+      event->accept();
+      parentWidget()->update();
+      return true;
+    }
+  }
+  return QPushButton::event(event);
+}
+
+KeyboardLayout::KeyboardLayout(QWidget* parent, const std::vector<QVector<QString>>& layout) : QWidget(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(0);
+  main_layout->setSpacing(0);
+
+  QButtonGroup* btn_group = new QButtonGroup(this);
+  QObject::connect(btn_group, SIGNAL(buttonClicked(QAbstractButton*)), parent, SLOT(handleButton(QAbstractButton*)));
+
+  for (const auto &s : layout) {
+    QHBoxLayout *hlayout = new QHBoxLayout;
+    hlayout->setSpacing(0);
+
+    if (main_layout->count() == 1) {
+      hlayout->addSpacing(90);
+    }
+
+    for (const QString &p : s) {
+      KeyButton* btn = new KeyButton(p);
+      if (p == BACKSPACE_KEY) {
+        btn->setAutoRepeat(true);
+      } else if (p == ENTER_KEY) {
+        btn->setStyleSheet("background-color: #465BEA;");
+      }
+      btn->setFixedHeight(135 + key_spacing_vertical);
+      btn_group->addButton(btn);
+      hlayout->addWidget(btn, KEY_STRETCH.value(p, 1));
+    }
+
+    if (main_layout->count() == 1) {
+      hlayout->addSpacing(90);
+    }
+
+    main_layout->addLayout(hlayout);
+  }
+
+  setStyleSheet(QString(R"(
+    QPushButton {
+      font-size: 75px;
+      margin-left: %1px;
+      margin-right: %1px;
+      margin-top: %2px;
+      margin-bottom: %2px;
+      padding: 0px;
+      border-radius: 10px;
+      color: #dddddd;
+      background-color: #444444;
+    }
+    QPushButton:pressed {
+      background-color: #333333;
+    }
+  )").arg(key_spacing_vertical / 2).arg(key_spacing_horizontal / 2));
+}
+
+Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
+  main_layout = new QStackedLayout(this);
+  main_layout->setMargin(0);
+
+  // lowercase
+  std::vector<QVector<QString>> lowercase = {
+    {"q","w","e","r","t","y","u","i","o","p"},
+    {"a","s","d","f","g","h","j","k","l"},
+    {"↑","z","x","c","v","b","n","m",BACKSPACE_KEY},
+    {"123","  ",".",ENTER_KEY},
+  };
+  main_layout->addWidget(new KeyboardLayout(this, lowercase));
+
+  // uppercase
+  std::vector<QVector<QString>> uppercase = {
+    {"Q","W","E","R","T","Y","U","I","O","P"},
+    {"A","S","D","F","G","H","J","K","L"},
+    {"↓","Z","X","C","V","B","N","M",BACKSPACE_KEY},
+    {"123","  ",".",ENTER_KEY},
+  };
+  main_layout->addWidget(new KeyboardLayout(this, uppercase));
+
+  // numbers + specials
+  std::vector<QVector<QString>> numbers = {
+    {"1","2","3","4","5","6","7","8","9","0"},
+    {"-","/",":",";","(",")","$","&&","@","\""},
+    {"#+=",".",",","?","!","`",BACKSPACE_KEY},
+    {"ABC","  ",".",ENTER_KEY},
+  };
+  main_layout->addWidget(new KeyboardLayout(this, numbers));
+
+  // extra specials
+  std::vector<QVector<QString>> specials = {
+    {"[","]","{","}","#","%","^","*","+","="},
+    {"_","\\","|","~","<",">","€","£","¥","•"},
+    {"123",".",",","?","!","`",BACKSPACE_KEY},
+    {"ABC","  ",".",ENTER_KEY},
+  };
+  main_layout->addWidget(new KeyboardLayout(this, specials));
+
+  main_layout->setCurrentIndex(0);
+}
+
+void Keyboard::handleButton(QAbstractButton* btn) {
+  const QString &key = btn->text();
+  if (CONTROL_BUTTONS.contains(key)) {
+    if (key == "↓" || key == "ABC") {
+      main_layout->setCurrentIndex(0);
+    } else if (key == "↑") {
+      main_layout->setCurrentIndex(1);
+    } else if (key == "123") {
+      main_layout->setCurrentIndex(2);
+    } else if (key == "#+=") {
+      main_layout->setCurrentIndex(3);
+    } else if (key == ENTER_KEY) {
+      main_layout->setCurrentIndex(0);
+      emit emitEnter();
+    } else if (key == BACKSPACE_KEY) {
+      emit emitBackspace();
+    }
+  } else {
+    if ("A" <= key && key <= "Z") {
+      main_layout->setCurrentIndex(0);
+    }
+    emit emitKey(key);
+  }
+}
diff --git a/selfdrive/ui/qt/widgets/keyboard.h b/selfdrive/ui/qt/widgets/keyboard.h
new file mode 100644
index 00000000000000..516105719bd712
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/keyboard.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include <QFrame>
+#include <QPushButton>
+#include <QStackedLayout>
+
+class KeyButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  KeyButton(const QString &text, QWidget *parent = 0);
+  bool event(QEvent *event) override;
+};
+
+class KeyboardLayout : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit KeyboardLayout(QWidget* parent, const std::vector<QVector<QString>>& layout);
+};
+
+class Keyboard : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit Keyboard(QWidget *parent = 0);
+
+private:
+  QStackedLayout* main_layout;
+
+private slots:
+  void handleButton(QAbstractButton* m_button);
+
+signals:
+  void emitKey(const QString &s);
+  void emitBackspace();
+  void emitEnter();
+};
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
new file mode 100644
index 00000000000000..2d7ae39c36db36
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -0,0 +1,118 @@
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+
+#include <QHBoxLayout>
+#include <QJsonDocument>
+#include <QJsonObject>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(50);
+  main_layout->setSpacing(30);
+
+  QWidget *widget = new QWidget;
+  scrollable_layout = new QVBoxLayout(widget);
+  widget->setStyleSheet("background-color: transparent;");
+  main_layout->addWidget(new ScrollView(widget));
+
+  // bottom footer, dismiss + reboot buttons
+  QHBoxLayout *footer_layout = new QHBoxLayout();
+  main_layout->addLayout(footer_layout);
+
+  QPushButton *dismiss_btn = new QPushButton("Close");
+  dismiss_btn->setFixedSize(400, 125);
+  footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft);
+  QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
+
+  snooze_btn = new QPushButton("Snooze Update");
+  snooze_btn->setVisible(false);
+  snooze_btn->setFixedSize(550, 125);
+  footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight);
+  QObject::connect(snooze_btn, &QPushButton::clicked, [=]() {
+    params.putBool("SnoozeUpdate", true);
+  });
+  QObject::connect(snooze_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
+  snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)");
+
+  if (hasRebootBtn) {
+    QPushButton *rebootBtn = new QPushButton("Reboot and Update");
+    rebootBtn->setFixedSize(600, 125);
+    footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight);
+    QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); });
+  }
+
+  setStyleSheet(R"(
+    * {
+      font-size: 48px;
+      color: white;
+    }
+    QFrame {
+      border-radius: 30px;
+      background-color: #393939;
+    }
+    QPushButton {
+      color: black;
+      font-weight: 500;
+      border-radius: 30px;
+      background-color: white;
+    }
+  )");
+}
+
+int OffroadAlert::refresh() {
+  // build widgets for each offroad alert on first refresh
+  if (alerts.empty()) {
+    QString json = util::read_file("../controls/lib/alerts_offroad.json").c_str();
+    QJsonObject obj = QJsonDocument::fromJson(json.toUtf8()).object();
+
+    // descending sort labels by severity
+    std::vector<std::pair<std::string, int>> sorted;
+    for (auto it = obj.constBegin(); it != obj.constEnd(); ++it) {
+      sorted.push_back({it.key().toStdString(), it.value()["severity"].toInt()});
+    }
+    std::sort(sorted.begin(), sorted.end(), [=](auto &l, auto &r) { return l.second > r.second; });
+
+    for (auto &[key, severity] : sorted) {
+      QLabel *l = new QLabel(this);
+      alerts[key] = l;
+      l->setMargin(60);
+      l->setWordWrap(true);
+      l->setStyleSheet(QString("background-color: %1").arg(severity ? "#E22C2C" : "#292929"));
+      scrollable_layout->addWidget(l);
+    }
+    scrollable_layout->addStretch(1);
+  }
+
+  int alertCount = 0;
+  for (const auto &[key, label] : alerts) {
+    QString text;
+    std::string bytes = params.get(key);
+    if (bytes.size()) {
+      auto doc_par = QJsonDocument::fromJson(bytes.c_str());
+      text = doc_par["text"].toString();
+    }
+    label->setText(text);
+    label->setVisible(!text.isEmpty());
+    alertCount += !text.isEmpty();
+  }
+  snooze_btn->setVisible(!alerts["Offroad_ConnectivityNeeded"]->text().isEmpty());
+  return alertCount;
+}
+
+UpdateAlert::UpdateAlert(QWidget *parent) : AbstractAlert(true, parent) {
+  releaseNotes = new QLabel(this);
+  releaseNotes->setWordWrap(true);
+  releaseNotes->setAlignment(Qt::AlignTop);
+  scrollable_layout->addWidget(releaseNotes);
+}
+
+bool UpdateAlert::refresh() {
+  bool updateAvailable = params.getBool("UpdateAvailable");
+  if (updateAvailable) {
+    releaseNotes->setText(params.get("ReleaseNotes").c_str());
+  }
+  return updateAvailable;
+}
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.h b/selfdrive/ui/qt/widgets/offroad_alerts.h
new file mode 100644
index 00000000000000..4110bdaa4efcc0
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <map>
+
+#include <QLabel>
+#include <QPushButton>
+#include <QVBoxLayout>
+
+#include "selfdrive/common/params.h"
+
+class AbstractAlert : public QFrame {
+  Q_OBJECT
+
+protected:
+  AbstractAlert(bool hasRebootBtn, QWidget *parent = nullptr);
+
+  QPushButton *snooze_btn;
+  QVBoxLayout *scrollable_layout;
+  Params params;
+
+signals:
+  void dismiss();
+};
+
+class UpdateAlert : public AbstractAlert {
+  Q_OBJECT
+
+public:
+  UpdateAlert(QWidget *parent = 0);
+  bool refresh();
+
+private:
+  QLabel *releaseNotes = nullptr;
+};
+
+class OffroadAlert : public AbstractAlert {
+  Q_OBJECT
+
+public:
+  explicit OffroadAlert(QWidget *parent = 0) : AbstractAlert(false, parent) {}
+  int refresh();
+
+private:
+  std::map<std::string, QLabel*> alerts;
+};
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
new file mode 100644
index 00000000000000..665466df5e726f
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -0,0 +1,328 @@
+#include "selfdrive/ui/qt/widgets/prime.h"
+
+#include <QDebug>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QLabel>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QTimer>
+#include <QVBoxLayout>
+
+#include <QrCode.hpp>
+
+#include "selfdrive/ui/qt/request_repeater.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+using qrcodegen::QrCode;
+
+PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) {
+  QTimer* timer = new QTimer(this);
+  timer->start(5 * 60 * 1000);
+  connect(timer, &QTimer::timeout, this, &PairingQRWidget::refresh);
+}
+
+void PairingQRWidget::showEvent(QShowEvent *event) {
+  refresh();
+}
+
+void PairingQRWidget::refresh() {
+  if (isVisible()) {
+    QString pairToken = CommaApi::create_jwt({{"pair", true}});
+    QString qrString = "https://connect.comma.ai/?pair=" + pairToken;
+    this->updateQrCode(qrString);
+  }
+}
+
+void PairingQRWidget::updateQrCode(const QString &text) {
+  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
+  qint32 sz = qr.getSize();
+  QImage im(sz, sz, QImage::Format_RGB32);
+
+  QRgb black = qRgb(0, 0, 0);
+  QRgb white = qRgb(255, 255, 255);
+  for (int y = 0; y < sz; y++) {
+    for (int x = 0; x < sz; x++) {
+      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
+    }
+  }
+
+  // Integer division to prevent anti-aliasing
+  int final_sz = ((width() / sz) - 1) * sz;
+  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
+}
+
+void PairingQRWidget::paintEvent(QPaintEvent *e) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::white);
+
+  QSize s = (size() - img.size()) / 2;
+  p.drawPixmap(s.width(), s.height(), img);
+}
+
+
+PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) {
+  QHBoxLayout *hlayout = new QHBoxLayout(this);
+  hlayout->setContentsMargins(0, 0, 0, 0);
+  hlayout->setSpacing(0);
+
+  setStyleSheet("PairingPopup { background-color: #E0E0E0; }");
+
+  // text
+  QVBoxLayout *vlayout = new QVBoxLayout();
+  vlayout->setContentsMargins(85, 70, 50, 70);
+  vlayout->setSpacing(50);
+  hlayout->addLayout(vlayout, 1);
+  {
+    QPushButton *close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
+    close->setIconSize(QSize(80, 80));
+    close->setStyleSheet("border: none;");
+    vlayout->addWidget(close, 0, Qt::AlignLeft);
+    QObject::connect(close, &QPushButton::clicked, this, &QDialog::reject);
+
+    vlayout->addSpacing(30);
+
+    QLabel *title = new QLabel("Pair your device to your comma account", this);
+    title->setStyleSheet("font-size: 75px; color: black;");
+    title->setWordWrap(true);
+    vlayout->addWidget(title);
+
+    QLabel *instructions = new QLabel(R"(
+      <ol type='1' style='margin-left: 15px;'>
+        <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li>
+        <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li>
+        <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li>
+      </ol>
+    )", this);
+    instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
+    instructions->setWordWrap(true);
+    vlayout->addWidget(instructions);
+
+    vlayout->addStretch();
+  }
+
+  // QR code
+  PairingQRWidget *qr = new PairingQRWidget(this);
+  hlayout->addWidget(qr, 1);
+}
+
+
+PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) {
+  mainLayout = new QVBoxLayout(this);
+  mainLayout->setMargin(0);
+  mainLayout->setSpacing(30);
+
+  // subscribed prime layout
+  QWidget *primeWidget = new QWidget;
+  primeWidget->setObjectName("primeWidget");
+  QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget);
+  primeLayout->setMargin(0);
+  primeWidget->setContentsMargins(60, 50, 60, 50);
+
+  QLabel* subscribed = new QLabel("✓ SUBSCRIBED");
+  subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;");
+  primeLayout->addWidget(subscribed, 0, Qt::AlignTop);
+
+  primeLayout->addSpacing(60);
+
+  QLabel* commaPrime = new QLabel("comma prime");
+  commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;");
+  primeLayout->addWidget(commaPrime, 0, Qt::AlignTop);
+
+  primeLayout->addSpacing(20);
+
+  QLabel* connectUrl = new QLabel("CONNECT.COMMA.AI");
+  connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;");
+  primeLayout->addWidget(connectUrl, 0, Qt::AlignTop);
+
+  mainLayout->addWidget(primeWidget);
+
+  // comma points layout
+  QWidget *pointsWidget = new QWidget;
+  pointsWidget->setObjectName("primeWidget");
+  QVBoxLayout *pointsLayout = new QVBoxLayout(pointsWidget);
+  pointsLayout->setMargin(0);
+  pointsWidget->setContentsMargins(60, 50, 60, 50);
+
+  QLabel* commaPoints = new QLabel("COMMA POINTS");
+  commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;");
+  pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop);
+
+  points = new QLabel("0");
+  points->setStyleSheet("font-size: 91px; font-weight: bold;");
+  pointsLayout->addWidget(points, 0, Qt::AlignTop);
+
+  mainLayout->addWidget(pointsWidget);
+
+  mainLayout->addStretch();
+
+  // set up API requests
+  if (auto dongleId = getDongleId()) {
+    QString url = CommaApi::BASE_URL + "/v1/devices/" + *dongleId + "/owner";
+    RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_Owner", 6);
+    QObject::connect(repeater, &RequestRepeater::receivedResponse, this, &PrimeUserWidget::replyFinished);
+  }
+}
+
+void PrimeUserWidget::replyFinished(const QString &response) {
+  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+  if (doc.isNull()) {
+    qDebug() << "JSON Parse failed on getting points";
+    return;
+  }
+
+  QJsonObject json = doc.object();
+  points->setText(QString::number(json["points"].toInt()));
+}
+
+PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(80, 90, 80, 60);
+  main_layout->setSpacing(0);
+
+  QLabel *upgrade = new QLabel("Upgrade Now");
+  upgrade->setStyleSheet("font-size: 75px; font-weight: bold;");
+  main_layout->addWidget(upgrade, 0, Qt::AlignTop);
+  main_layout->addSpacing(50);
+
+  QLabel *description = new QLabel("Become a comma prime member at connect.comma.ai");
+  description->setStyleSheet("font-size: 60px; font-weight: light; color: white;");
+  description->setWordWrap(true);
+  main_layout->addWidget(description, 0, Qt::AlignTop);
+
+  main_layout->addStretch();
+
+  QLabel *features = new QLabel("PRIME FEATURES:");
+  features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;");
+  main_layout->addWidget(features, 0, Qt::AlignBottom);
+  main_layout->addSpacing(30);
+
+  QVector<QString> bullets = {"Remote access", "14 days of storage", "Developer perks"};
+  for (auto &b: bullets) {
+    const QString check = "<b><font color='#465BEA'>✓</font></b> ";
+    QLabel *l = new QLabel(check + b);
+    l->setAlignment(Qt::AlignLeft);
+    l->setStyleSheet("font-size: 50px; margin-bottom: 15px;");
+    main_layout->addWidget(l, 0, Qt::AlignBottom);
+  }
+
+  setStyleSheet(R"(
+    PrimeAdWidget {
+      border-radius: 10px;
+      background-color: #333333;
+    }
+  )");
+}
+
+
+SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
+  mainLayout = new QStackedWidget;
+
+  // Unpaired, registration prompt layout
+
+  QWidget* finishRegistration = new QWidget;
+  finishRegistration->setObjectName("primeWidget");
+  QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration);
+  finishRegistationLayout->setContentsMargins(30, 75, 30, 45);
+  finishRegistationLayout->setSpacing(0);
+
+  QLabel* registrationTitle = new QLabel("Finish Setup");
+  registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;");
+  finishRegistationLayout->addWidget(registrationTitle);
+
+  finishRegistationLayout->addSpacing(30);
+
+  QLabel* registrationDescription = new QLabel("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.");
+  registrationDescription->setWordWrap(true);
+  registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;");
+  finishRegistationLayout->addWidget(registrationDescription);
+
+  finishRegistationLayout->addStretch();
+
+  QPushButton* pair = new QPushButton("Pair device");
+  pair->setFixedHeight(220);
+  pair->setStyleSheet(R"(
+    QPushButton {
+      font-size: 55px;
+      font-weight: 400;
+      border-radius: 10px;
+      background-color: #465BEA;
+    }
+    QPushButton:pressed {
+      background-color: #3049F4;
+    }
+  )");
+  finishRegistationLayout->addWidget(pair);
+
+  popup = new PairingPopup(this);
+  QObject::connect(pair, &QPushButton::clicked, popup, &PairingPopup::exec);
+
+  mainLayout->addWidget(finishRegistration);
+
+  // build stacked layout
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(0, 0, 0, 0);
+  outer_layout->addWidget(mainLayout);
+
+  primeAd = new PrimeAdWidget;
+  mainLayout->addWidget(primeAd);
+
+  primeUser = new PrimeUserWidget;
+  mainLayout->addWidget(primeUser);
+
+  mainLayout->setCurrentWidget(primeAd);
+
+  setFixedWidth(750);
+  setStyleSheet(R"(
+    #primeWidget {
+      border-radius: 10px;
+      background-color: #333333;
+    }
+  )");
+
+  // Retain size while hidden
+  QSizePolicy sp_retain = sizePolicy();
+  sp_retain.setRetainSizeWhenHidden(true);
+  setSizePolicy(sp_retain);
+
+  // set up API requests
+  if (auto dongleId = getDongleId()) {
+    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/";
+    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5);
+
+    QObject::connect(repeater, &RequestRepeater::failedResponse, this, &SetupWidget::show);
+    QObject::connect(repeater, &RequestRepeater::receivedResponse, this, &SetupWidget::replyFinished);
+  }
+  hide(); // Only show when first request comes back
+}
+
+void SetupWidget::replyFinished(const QString &response) {
+  show();
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+  if (doc.isNull()) {
+    qDebug() << "JSON Parse failed on getting pairing and prime status";
+    return;
+  }
+
+  QJsonObject json = doc.object();
+  if (!json["is_paired"].toBool()) {
+    mainLayout->setCurrentIndex(0);
+  } else {
+    popup->reject();
+
+    bool prime = json["prime"].toBool();
+
+    if (QUIState::ui_state.has_prime != prime) {
+      QUIState::ui_state.has_prime = prime;
+      Params().putBool("HasPrime", prime);
+    }
+
+    if (prime) {
+      mainLayout->setCurrentWidget(primeUser);
+    } else {
+      mainLayout->setCurrentWidget(primeAd);
+    }
+  }
+}
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
new file mode 100644
index 00000000000000..6044f06104f02f
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/prime.h
@@ -0,0 +1,72 @@
+#pragma once
+
+#include <QLabel>
+#include <QStackedWidget>
+#include <QVBoxLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/widgets/input.h"
+
+// pairing QR code
+class PairingQRWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit PairingQRWidget(QWidget* parent = 0);
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QPixmap img;
+  void updateQrCode(const QString &text);
+  void showEvent(QShowEvent *event) override;
+
+private slots:
+  void refresh();
+};
+
+// pairing popup widget
+class PairingPopup : public QDialogBase {
+  Q_OBJECT
+
+public:
+  explicit PairingPopup(QWidget* parent);
+};
+
+// widget for paired users with prime
+class PrimeUserWidget : public QWidget {
+  Q_OBJECT
+public:
+  explicit PrimeUserWidget(QWidget* parent = 0);
+
+private:
+  QVBoxLayout* mainLayout;
+  QLabel* points;
+
+private slots:
+  void replyFinished(const QString &response);
+};
+
+
+// widget for paired users without prime
+class PrimeAdWidget : public QFrame {
+  Q_OBJECT
+public:
+  explicit PrimeAdWidget(QWidget* parent = 0);
+};
+
+// container widget
+class SetupWidget : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit SetupWidget(QWidget* parent = 0);
+
+private:
+  PairingPopup *popup;
+  QStackedWidget *mainLayout;
+  PrimeAdWidget *primeAd;
+  PrimeUserWidget *primeUser;
+
+private slots:
+  void replyFinished(const QString &response);
+};
diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc
new file mode 100644
index 00000000000000..1aa05b4157a1f6
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@@ -0,0 +1,47 @@
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+#include <QScrollBar>
+#include <QScroller>
+
+ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
+  setWidget(w);
+  setWidgetResizable(true);
+  setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  setStyleSheet("background-color: transparent;");
+
+  QString style = R"(
+    QScrollBar:vertical {
+      border: none;
+      background: transparent;
+      width: 10px;
+      margin: 0;
+    }
+    QScrollBar::handle:vertical {
+      min-height: 0px;
+      border-radius: 5px;
+      background-color: white;
+    }
+    QScrollBar::add-line:vertical, QScrollBar::sub-line:vertical {
+      height: 0px;
+    }
+    QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical {
+      background: none;
+    }
+  )";
+  verticalScrollBar()->setStyleSheet(style);
+  horizontalScrollBar()->setStyleSheet(style);
+
+  QScroller *scroller = QScroller::scroller(this->viewport());
+  QScrollerProperties sp = scroller->scrollerProperties();
+
+  sp.setScrollMetric(QScrollerProperties::VerticalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
+  sp.setScrollMetric(QScrollerProperties::HorizontalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
+
+  scroller->grabGesture(this->viewport(), QScroller::LeftMouseButtonGesture);
+  scroller->setScrollerProperties(sp);
+}
+
+void ScrollView::hideEvent(QHideEvent *e) {
+  verticalScrollBar()->setValue(0);
+}
diff --git a/selfdrive/ui/qt/widgets/scrollview.h b/selfdrive/ui/qt/widgets/scrollview.h
new file mode 100644
index 00000000000000..024331aa39dd2e
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/scrollview.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <QScrollArea>
+
+class ScrollView : public QScrollArea {
+  Q_OBJECT
+
+public:
+  explicit ScrollView(QWidget *w = nullptr, QWidget *parent = nullptr);
+protected:
+  void hideEvent(QHideEvent *e) override;
+};
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
new file mode 100644
index 00000000000000..c6af2f5cd1c736
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/ssh_keys.cc
@@ -0,0 +1,66 @@
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+
+SshControl::SshControl() : ButtonControl("SSH Keys", "", "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.") {
+  username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
+  username_label.setStyleSheet("color: #aaaaaa");
+  hlayout->insertWidget(1, &username_label);
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == "ADD") {
+      QString username = InputDialog::getText("Enter your GitHub username", this);
+      if (username.length() > 0) {
+        setText("LOADING");
+        setEnabled(false);
+        getUserKeys(username);
+      }
+    } else {
+      params.remove("GithubUsername");
+      params.remove("GithubSshKeys");
+      refresh();
+    }
+  });
+
+  refresh();
+}
+
+void SshControl::refresh() {
+  QString param = QString::fromStdString(params.get("GithubSshKeys"));
+  if (param.length()) {
+    username_label.setText(QString::fromStdString(params.get("GithubUsername")));
+    setText("REMOVE");
+  } else {
+    username_label.setText("");
+    setText("ADD");
+  }
+  setEnabled(true);
+}
+
+void SshControl::getUserKeys(const QString &username) {
+  HttpRequest *request = new HttpRequest(this, false);
+  QObject::connect(request, &HttpRequest::receivedResponse, [=](const QString &resp) {
+    if (!resp.isEmpty()) {
+      params.put("GithubUsername", username.toStdString());
+      params.put("GithubSshKeys", resp.toStdString());
+    } else {
+      ConfirmationDialog::alert("Username '" + username + "' has no keys on GitHub", this);
+    }
+    refresh();
+    request->deleteLater();
+  });
+  QObject::connect(request, &HttpRequest::failedResponse, [=] {
+    ConfirmationDialog::alert("Username '" + username + "' doesn't exist on GitHub", this);
+    refresh();
+    request->deleteLater();
+  });
+  QObject::connect(request, &HttpRequest::timeoutResponse, [=] {
+    ConfirmationDialog::alert("Request timed out", this);
+    refresh();
+    request->deleteLater();
+  });
+
+  request->sendRequest("https://github.com/" + username + ".keys");
+}
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
new file mode 100644
index 00000000000000..0614e8c1d8b2b0
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <QPushButton>
+
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+// SSH enable toggle
+class SshToggle : public ToggleControl {
+  Q_OBJECT
+
+public:
+  SshToggle() : ToggleControl("Enable SSH", "", "", Hardware::get_ssh_enabled()) {
+    QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) {
+      Hardware::set_ssh_enabled(state);
+    });
+  }
+};
+
+// SSH key management widget
+class SshControl : public ButtonControl {
+  Q_OBJECT
+
+public:
+  SshControl();
+
+private:
+  Params params;
+
+  QLabel username_label;
+
+  void refresh();
+  void getUserKeys(const QString &username);
+};
diff --git a/selfdrive/ui/qt/widgets/toggle.cc b/selfdrive/ui/qt/widgets/toggle.cc
new file mode 100644
index 00000000000000..82302ad5bc78f3
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/toggle.cc
@@ -0,0 +1,83 @@
+#include "selfdrive/ui/qt/widgets/toggle.h"
+
+#include <QPainter>
+
+Toggle::Toggle(QWidget *parent) : QAbstractButton(parent),
+_height(80),
+_height_rect(60),
+on(false),
+_anim(new QPropertyAnimation(this, "offset_circle", this))
+{
+  _radius = _height / 2;
+  _x_circle = _radius;
+  _y_circle = _radius;
+  _y_rect = (_height - _height_rect)/2;
+  circleColor = QColor(0xffffff); // placeholder
+  green = QColor(0xffffff); // placeholder
+  setEnabled(true);
+}
+
+void Toggle::paintEvent(QPaintEvent *e) {
+  this->setFixedHeight(_height);
+  QPainter p(this);
+  p.setPen(Qt::NoPen);
+  p.setRenderHint(QPainter::Antialiasing, true);
+
+  // Draw toggle background left
+  p.setBrush(green);
+  p.drawRoundedRect(QRect(0, _y_rect, _x_circle + _radius, _height_rect), _height_rect/2, _height_rect/2);
+
+  // Draw toggle background right
+  p.setBrush(QColor(0x393939));
+  p.drawRoundedRect(QRect(_x_circle - _radius, _y_rect, width() - (_x_circle - _radius), _height_rect), _height_rect/2, _height_rect/2);
+
+  // Draw toggle circle
+  p.setBrush(circleColor);
+  p.drawEllipse(QRectF(_x_circle - _radius, _y_circle - _radius, 2 * _radius, 2 * _radius));
+}
+
+void Toggle::mouseReleaseEvent(QMouseEvent *e) {
+  if (!enabled) {
+    return;
+  }
+  const int left = _radius;
+  const int right = width() - _radius;
+  if ((_x_circle != left && _x_circle != right) || !this->rect().contains(e->localPos().toPoint())) {
+    // If mouse release isn't in rect or animation is running, don't parse touch events
+    return;
+  }
+  if (e->button() & Qt::LeftButton) {
+    togglePosition();
+    emit stateChanged(on);
+  }
+}
+
+void Toggle::togglePosition() {
+  on = !on;
+  const int left = _radius;
+  const int right = width() - _radius;
+  _anim->setStartValue(on ? left + immediateOffset : right - immediateOffset);
+  _anim->setEndValue(on ? right : left);
+  _anim->setDuration(animation_duration);
+  _anim->start();
+  repaint();
+}
+
+void Toggle::enterEvent(QEvent *e) {
+  QAbstractButton::enterEvent(e);
+}
+
+bool Toggle::getEnabled() {
+  return enabled;
+}
+
+void Toggle::setEnabled(bool value) {
+  enabled = value;
+  if (value) {
+    circleColor.setRgb(0xfafafa);
+    green.setRgb(0x33ab4c);
+  } else {
+    circleColor.setRgb(0x888888);
+    green.setRgb(0x227722);
+  }
+}
diff --git a/selfdrive/ui/qt/widgets/toggle.h b/selfdrive/ui/qt/widgets/toggle.h
new file mode 100644
index 00000000000000..e7263a008fa183
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/toggle.h
@@ -0,0 +1,44 @@
+#pragma once
+
+#include <QAbstractButton>
+#include <QMouseEvent>
+#include <QPropertyAnimation>
+
+class Toggle : public QAbstractButton {
+  Q_OBJECT
+  Q_PROPERTY(int offset_circle READ offset_circle WRITE set_offset_circle CONSTANT)
+
+public:
+  Toggle(QWidget* parent = nullptr);
+  void togglePosition();
+  bool on;
+  int animation_duration = 150;
+  int immediateOffset = 0;
+  int offset_circle() const {
+    return _x_circle;
+  }
+
+  void set_offset_circle(int o) {
+    _x_circle = o;
+    update();
+  }
+  bool getEnabled();
+  void setEnabled(bool value);
+
+protected:
+  void paintEvent(QPaintEvent*) override;
+  void mouseReleaseEvent(QMouseEvent*) override;
+  void enterEvent(QEvent*) override;
+
+private:
+  QColor circleColor;
+  QColor green;
+  bool enabled = true;
+  int _x_circle, _y_circle;
+  int _height, _radius;
+  int _height_rect, _y_rect;
+  QPropertyAnimation *_anim = nullptr;
+
+signals:
+  void stateChanged(bool new_state);
+};
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
new file mode 100644
index 00000000000000..7fe87ce698e1c5
--- /dev/null
+++ b/selfdrive/ui/qt/window.cc
@@ -0,0 +1,105 @@
+#include "selfdrive/ui/qt/window.h"
+
+#include <QFontDatabase>
+
+#include "selfdrive/hardware/hw.h"
+
+MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
+  main_layout = new QStackedLayout(this);
+  main_layout->setMargin(0);
+
+  homeWindow = new HomeWindow(this);
+  main_layout->addWidget(homeWindow);
+  QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
+  QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
+  QObject::connect(&qs, &QUIState::uiUpdate, homeWindow, &HomeWindow::update);
+  QObject::connect(&qs, &QUIState::offroadTransition, homeWindow, &HomeWindow::offroadTransition);
+  QObject::connect(&qs, &QUIState::offroadTransition, homeWindow, &HomeWindow::offroadTransitionSignal);
+
+  settingsWindow = new SettingsWindow(this);
+  main_layout->addWidget(settingsWindow);
+  QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
+  QObject::connect(&qs, &QUIState::offroadTransition, settingsWindow, &SettingsWindow::offroadTransition);
+  QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
+    onboardingWindow->showTrainingGuide();
+    main_layout->setCurrentWidget(onboardingWindow);
+  });
+  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
+    homeWindow->showDriverView(true);
+  });
+
+  onboardingWindow = new OnboardingWindow(this);
+  main_layout->addWidget(onboardingWindow);
+  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
+    main_layout->setCurrentWidget(homeWindow);
+  });
+  if (!onboardingWindow->completed()) {
+    main_layout->setCurrentWidget(onboardingWindow);
+  }
+
+  device.setAwake(true, true);
+  QObject::connect(&qs, &QUIState::uiUpdate, &device, &Device::update);
+  QObject::connect(&qs, &QUIState::offroadTransition, [=](bool offroad) {
+    if (!offroad) {
+      closeSettings();
+    }
+  });
+  QObject::connect(&device, &Device::displayPowerChanged, [=]() {
+     if(main_layout->currentWidget() != onboardingWindow) {
+       closeSettings();
+     }
+  });
+
+  // load fonts
+  QFontDatabase::addApplicationFont("../assets/fonts/opensans_regular.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/opensans_bold.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/opensans_semibold.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Bold.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraBold.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraLight.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Medium.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Regular.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/Inter-SemiBold.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Thin.ttf");
+
+  // no outline to prevent the focus rectangle
+  setStyleSheet(R"(
+    * {
+      font-family: Inter;
+      outline: none;
+    }
+  )");
+  setAttribute(Qt::WA_NoSystemBackground);
+}
+
+void MainWindow::openSettings() {
+  main_layout->setCurrentWidget(settingsWindow);
+}
+
+void MainWindow::closeSettings() {
+  main_layout->setCurrentWidget(homeWindow);
+
+  if (QUIState::ui_state.scene.started) {
+    homeWindow->showSidebar(false);
+  }
+}
+
+bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
+  // wake screen on tap
+  if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::TouchBegin) {
+    device.setAwake(true, true);
+  }
+
+#ifdef QCOM
+  // filter out touches while in android activity
+  const static QSet<QEvent::Type> filter_events({QEvent::MouseButtonPress, QEvent::MouseMove, QEvent::TouchBegin, QEvent::TouchUpdate, QEvent::TouchEnd});
+  if (HardwareEon::launched_activity && filter_events.contains(event->type())) {
+    HardwareEon::check_activity();
+    if (HardwareEon::launched_activity) {
+      return true;
+    }
+  }
+#endif
+  return false;
+}
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
new file mode 100644
index 00000000000000..069831cffec2b1
--- /dev/null
+++ b/selfdrive/ui/qt/window.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <QStackedLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/home.h"
+#include "selfdrive/ui/qt/offroad/onboarding.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class MainWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit MainWindow(QWidget *parent = 0);
+
+private:
+  bool eventFilter(QObject *obj, QEvent *event) override;
+  void openSettings();
+  void closeSettings();
+
+  Device device;
+  QUIState qs;
+
+  QStackedLayout *main_layout;
+  HomeWindow *homeWindow;
+  SettingsWindow *settingsWindow;
+  OnboardingWindow *onboardingWindow;
+};
diff --git a/selfdrive/ui/replay/camera.cc b/selfdrive/ui/replay/camera.cc
new file mode 100644
index 00000000000000..b37332ae7ea2c5
--- /dev/null
+++ b/selfdrive/ui/replay/camera.cc
@@ -0,0 +1,88 @@
+#include "selfdrive/ui/replay/camera.h"
+
+#include <cassert>
+#include <iostream>
+
+const int YUV_BUF_COUNT = 50;
+
+CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS], bool send_yuv) : send_yuv(send_yuv) {
+  for (int i = 0; i < MAX_CAMERAS; ++i) {
+    std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i];
+  }
+  startVipcServer();
+}
+
+CameraServer::~CameraServer() {
+  for (auto &cam : cameras_) {
+    if (cam.thread.joinable()) {
+      cam.queue.push({});
+      cam.thread.join();
+    }
+  }
+  vipc_server_.reset(nullptr);
+}
+
+void CameraServer::startVipcServer() {
+  vipc_server_.reset(new VisionIpcServer("camerad"));
+  for (auto &cam : cameras_) {
+    if (cam.width > 0 && cam.height > 0) {
+      std::cout << "camera[" << cam.type << "] frame size " << cam.width << "x" << cam.height << std::endl;
+      vipc_server_->create_buffers(cam.rgb_type, UI_BUF_COUNT, true, cam.width, cam.height);
+      if (send_yuv) {
+        vipc_server_->create_buffers(cam.yuv_type, YUV_BUF_COUNT, false, cam.width, cam.height);
+      }
+      if (!cam.thread.joinable()) {
+        cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
+      }
+    }
+  }
+  vipc_server_->start_listener();
+}
+
+void CameraServer::cameraThread(Camera &cam) {
+  auto read_frame = [&](FrameReader *fr, int frame_id) {
+    VisionBuf *rgb_buf = vipc_server_->get_buffer(cam.rgb_type);
+    VisionBuf *yuv_buf = send_yuv ? vipc_server_->get_buffer(cam.yuv_type) : nullptr;
+    bool ret = fr->get(frame_id, (uint8_t *)rgb_buf->addr, yuv_buf ? (uint8_t *)yuv_buf->addr : nullptr);
+    return ret ? std::pair{rgb_buf, yuv_buf} : std::pair{nullptr, nullptr};
+  };
+
+  while (true) {
+    const auto [fr, eidx] = cam.queue.pop();
+    if (!fr) break;
+
+    const int id = eidx.getSegmentId();
+    bool prefetched = (id == cam.cached_id && eidx.getSegmentNum() == cam.cached_seg);
+    auto [rgb, yuv] = prefetched ? cam.cached_buf : read_frame(fr, id);
+    if (rgb || yuv) {
+      VisionIpcBufExtra extra = {
+          .frame_id = eidx.getFrameId(),
+          .timestamp_sof = eidx.getTimestampSof(),
+          .timestamp_eof = eidx.getTimestampEof(),
+      };
+      if (rgb) vipc_server_->send(rgb, &extra, false);
+      if (yuv) vipc_server_->send(yuv, &extra, false);
+    } else {
+      std::cout << "camera[" << cam.type << "] failed to get frame:" << eidx.getSegmentId() << std::endl;
+    }
+
+    cam.cached_id = id + 1;
+    cam.cached_seg = eidx.getSegmentNum();
+    cam.cached_buf = read_frame(fr, cam.cached_id);
+
+    --publishing_;
+  }
+}
+
+void CameraServer::pushFrame(CameraType type, FrameReader *fr, const cereal::EncodeIndex::Reader &eidx) {
+  auto &cam = cameras_[type];
+  if (cam.width != fr->width || cam.height != fr->height) {
+    cam.width = fr->width;
+    cam.height = fr->height;
+    waitFinish();
+    startVipcServer();
+  }
+
+  ++publishing_;
+  cam.queue.push({fr, eidx});
+}
diff --git a/selfdrive/ui/replay/camera.h b/selfdrive/ui/replay/camera.h
new file mode 100644
index 00000000000000..8b1fa7620bcb98
--- /dev/null
+++ b/selfdrive/ui/replay/camera.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include <unistd.h>
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/common/queue.h"
+#include "selfdrive/ui/replay/framereader.h"
+#include "selfdrive/ui/replay/logreader.h"
+
+class CameraServer {
+public:
+  CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr, bool send_yuv = false);
+  ~CameraServer();
+  void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx);
+  inline void waitFinish() {
+    while (publishing_ > 0) usleep(0);
+  }
+
+protected:
+  struct Camera {
+    CameraType type;
+    VisionStreamType rgb_type; 
+    VisionStreamType yuv_type;
+    int width;
+    int height;
+    std::thread thread;
+    SafeQueue<std::pair<FrameReader*, const cereal::EncodeIndex::Reader>> queue;
+    int cached_id = -1;
+    int cached_seg = -1;
+    std::pair<VisionBuf *, VisionBuf*> cached_buf;
+  };
+  void startVipcServer();
+  void cameraThread(Camera &cam);
+
+  Camera cameras_[MAX_CAMERAS] = {
+      {.type = RoadCam, .rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_YUV_BACK},
+      {.type = DriverCam, .rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_YUV_FRONT},
+      {.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_YUV_WIDE},
+  };
+  std::atomic<int> publishing_ = 0;
+  std::unique_ptr<VisionIpcServer> vipc_server_;
+  bool send_yuv;
+};
diff --git a/selfdrive/ui/replay/filereader.cc b/selfdrive/ui/replay/filereader.cc
new file mode 100644
index 00000000000000..d110255497719f
--- /dev/null
+++ b/selfdrive/ui/replay/filereader.cc
@@ -0,0 +1,62 @@
+#include "selfdrive/ui/replay/filereader.h"
+
+#include <sys/stat.h>
+
+#include <cassert>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/ui/replay/util.h"
+
+std::string cacheFilePath(const std::string &url) {
+  static std::string cache_path = [] {
+    const std::string comma_cache = util::getenv("COMMA_CACHE", "/tmp/comma_download_cache/");
+    util::create_directories(comma_cache, 0755);
+    return comma_cache.back() == '/' ? comma_cache : comma_cache + "/";
+  }();
+
+  return cache_path + sha256(getUrlWithoutQuery(url));
+}
+
+std::string FileReader::read(const std::string &file, std::atomic<bool> *abort) {
+  const bool is_remote = file.find("https://") == 0;
+  const std::string local_file = is_remote ? cacheFilePath(file) : file;
+  std::string result;
+
+  if ((!is_remote || cache_to_local_) && util::file_exists(local_file)) {
+    result = util::read_file(local_file);
+  } else if (is_remote) {
+    result = download(file, abort);
+    if (cache_to_local_ && !result.empty()) {
+      std::ofstream fs(local_file, fs.binary | fs.out);
+      fs.write(result.data(), result.size());
+    }
+  }
+  return result;
+}
+
+std::string FileReader::download(const std::string &url, std::atomic<bool> *abort) {
+  std::string result;
+  size_t remote_file_size = 0;
+  for (int i = 0; i <= max_retries_ && !(abort && *abort); ++i) {
+    if (i > 0) {
+      std::cout << "download failed, retrying" << i << std::endl;
+    }
+    if (remote_file_size <= 0) {
+      remote_file_size = getRemoteFileSize(url);
+    }
+    if (remote_file_size > 0 && !(abort && *abort)) {
+      std::ostringstream oss;
+      result.resize(remote_file_size);
+      oss.rdbuf()->pubsetbuf(result.data(), result.size());
+      int chunks = chunk_size_ > 0 ? std::max(1, (int)std::nearbyint(remote_file_size / (float)chunk_size_)) : 1;
+      if (httpMultiPartDownload(url, oss, chunks, remote_file_size, abort)) {
+        return result;
+      }
+    }
+  }
+  return {};
+}
diff --git a/selfdrive/ui/replay/filereader.h b/selfdrive/ui/replay/filereader.h
new file mode 100644
index 00000000000000..06ce14e9f2a710
--- /dev/null
+++ b/selfdrive/ui/replay/filereader.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include <atomic>
+#include <string>
+
+class FileReader {
+public:
+  FileReader(bool cache_to_local, int chunk_size = -1, int max_retries = 3)
+      : cache_to_local_(cache_to_local), chunk_size_(chunk_size), max_retries_(max_retries) {}
+  virtual ~FileReader() {}
+  std::string read(const std::string &file, std::atomic<bool> *abort = nullptr);
+
+private:
+  std::string download(const std::string &url, std::atomic<bool> *abort);
+  int chunk_size_;
+  int max_retries_;
+  bool cache_to_local_;
+};
+
+std::string cacheFilePath(const std::string &url);
diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc
new file mode 100644
index 00000000000000..bfdc6ee386d767
--- /dev/null
+++ b/selfdrive/ui/replay/framereader.cc
@@ -0,0 +1,159 @@
+#include "selfdrive/ui/replay/framereader.h"
+
+#include <cassert>
+#include <sstream>
+
+namespace {
+
+int readFunction(void *opaque, uint8_t *buf, int buf_size) {
+  auto &iss = *reinterpret_cast<std::istringstream *>(opaque);
+  iss.read(reinterpret_cast<char *>(buf), buf_size);
+  return iss.gcount() ? iss.gcount() : AVERROR_EOF;
+}
+
+}  // namespace
+
+FrameReader::FrameReader(bool local_cache, int chunk_size, int retries) : FileReader(local_cache, chunk_size, retries) {
+  pFormatCtx_ = avformat_alloc_context();
+  av_frame_ = av_frame_alloc();
+  rgb_frame_ = av_frame_alloc();
+  yuv_frame_ = av_frame_alloc();
+}
+
+FrameReader::~FrameReader() {
+  for (auto &f : frames_) {
+    av_free_packet(&f.pkt);
+  }
+
+  if (pCodecCtx_) avcodec_free_context(&pCodecCtx_);
+  if (pFormatCtx_) avformat_close_input(&pFormatCtx_);
+  if (av_frame_) av_frame_free(&av_frame_);
+  if (rgb_frame_) av_frame_free(&rgb_frame_);
+  if (yuv_frame_) av_frame_free(&yuv_frame_);
+  if (rgb_sws_ctx_) sws_freeContext(rgb_sws_ctx_);
+  if (yuv_sws_ctx_) sws_freeContext(yuv_sws_ctx_);
+
+  if (avio_ctx_) {
+    av_freep(&avio_ctx_->buffer);
+    av_freep(&avio_ctx_);
+  }
+}
+
+bool FrameReader::load(const std::string &url, std::atomic<bool> *abort) {
+  std::string content = read(url, abort);
+  if (content.empty()) return false;
+
+  std::istringstream iss(content);
+  const int avio_ctx_buffer_size = 64 * 1024;
+  unsigned char *avio_ctx_buffer = (unsigned char *)av_malloc(avio_ctx_buffer_size);
+  avio_ctx_ = avio_alloc_context(avio_ctx_buffer, avio_ctx_buffer_size, 0, &iss, readFunction, nullptr, nullptr);
+  pFormatCtx_->pb = avio_ctx_;
+
+  pFormatCtx_->probesize = 10 * 1024 * 1024;  // 10MB
+  int ret = avformat_open_input(&pFormatCtx_, url.c_str(), NULL, NULL);
+  if (ret != 0) {
+    char err_str[1024] = {0};
+    av_strerror(ret, err_str, std::size(err_str));
+    printf("Error loading video - %s - %s\n", err_str, url.c_str());
+    return false;
+  }
+  avformat_find_stream_info(pFormatCtx_, NULL);
+  // av_dump_format(pFormatCtx_, 0, url.c_str(), 0);
+
+  AVStream *video = pFormatCtx_->streams[0];
+  auto pCodec = avcodec_find_decoder(video->codec->codec_id);
+  if (!pCodec) return false;
+
+  pCodecCtx_ = avcodec_alloc_context3(pCodec);
+  ret = avcodec_parameters_to_context(pCodecCtx_, video->codecpar);
+  if (ret != 0) return false;
+
+  // pCodecCtx_->thread_count = 0;
+  // pCodecCtx_->thread_type = FF_THREAD_FRAME;
+  ret = avcodec_open2(pCodecCtx_, pCodec, NULL);
+  if (ret < 0) return false;
+
+  width = (pCodecCtx_->width + 3) & ~3;
+  height = pCodecCtx_->height;
+  rgb_sws_ctx_ = sws_getContext(pCodecCtx_->width, pCodecCtx_->height, AV_PIX_FMT_YUV420P,
+                            width, height, AV_PIX_FMT_BGR24,
+                            SWS_FAST_BILINEAR, NULL, NULL, NULL);
+  if (!rgb_sws_ctx_) return false;
+
+  yuv_sws_ctx_ = sws_getContext(pCodecCtx_->width, pCodecCtx_->height, AV_PIX_FMT_YUV420P,
+                            width, height, AV_PIX_FMT_YUV420P,
+                            SWS_FAST_BILINEAR, NULL, NULL, NULL);
+  if (!yuv_sws_ctx_) return false;
+
+  frames_.reserve(60 * 20);  // 20fps, one minute
+  while (!(abort && *abort)) {
+    Frame &frame = frames_.emplace_back();
+    ret = av_read_frame(pFormatCtx_, &frame.pkt);
+    if (ret < 0) {
+      frames_.pop_back();
+      valid_ = (ret == AVERROR_EOF);
+      break;
+    }
+    // some stream seems to contian no keyframes
+    key_frames_count_ += frame.pkt.flags & AV_PKT_FLAG_KEY;
+  }
+  return valid_;
+}
+
+bool FrameReader::get(int idx, uint8_t *rgb, uint8_t *yuv) {
+  assert(rgb || yuv);
+  if (!valid_ || idx < 0 || idx >= frames_.size()) {
+    return false;
+  }
+  return decode(idx, rgb, yuv);
+}
+
+bool FrameReader::decode(int idx, uint8_t *rgb, uint8_t *yuv) {
+  auto get_keyframe = [=](int idx) {
+    for (int i = idx; i >= 0 && key_frames_count_ > 1; --i) {
+      if (frames_[i].pkt.flags & AV_PKT_FLAG_KEY) return i;
+    }
+    return idx;
+  };
+
+  int from_idx = idx;
+  if (idx > 0 && !frames_[idx].decoded && !frames_[idx - 1].decoded) {
+    // find the previous keyframe
+    from_idx = get_keyframe(idx);
+  }
+
+  for (int i = from_idx; i <= idx; ++i) {
+    Frame &frame = frames_[i];
+    if ((!frame.decoded || i == idx) && !frame.failed) {
+      frame.decoded = decodeFrame(&frame.pkt);
+      frame.failed = !frame.decoded;
+      if (frame.decoded && i == idx) {
+        return copyBuffers(av_frame_, rgb, yuv);
+      }
+    }
+  }
+  return false;
+}
+
+bool FrameReader::decodeFrame(AVPacket *pkt) {
+  int ret = avcodec_send_packet(pCodecCtx_, pkt);
+  if (ret < 0) {
+    printf("Error sending a packet for decoding\n");
+    return false;
+  }
+  ret = avcodec_receive_frame(pCodecCtx_, av_frame_);
+  return ret == 0;
+}
+
+bool FrameReader::copyBuffers(AVFrame *f, uint8_t *rgb, uint8_t *yuv) {
+  // images is going to be written to output buffers, no alignment (align = 1)
+  if (yuv) {
+    av_image_fill_arrays(yuv_frame_->data, yuv_frame_->linesize, yuv, AV_PIX_FMT_YUV420P, width, height, 1);
+    int ret = sws_scale(yuv_sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, yuv_frame_->data, yuv_frame_->linesize);
+    if (ret < 0) return false;
+  }
+
+  av_image_fill_arrays(rgb_frame_->data, rgb_frame_->linesize, rgb, AV_PIX_FMT_BGR24, width, height, 1);
+  int ret = sws_scale(rgb_sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, rgb_frame_->data, rgb_frame_->linesize);
+  return ret >= 0;
+}
diff --git a/selfdrive/ui/replay/framereader.h b/selfdrive/ui/replay/framereader.h
new file mode 100644
index 00000000000000..1b552cd1b859d0
--- /dev/null
+++ b/selfdrive/ui/replay/framereader.h
@@ -0,0 +1,46 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "selfdrive/ui/replay/filereader.h"
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavformat/avformat.h>
+#include <libswscale/swscale.h>
+#include <libavutil/imgutils.h>
+}
+
+class FrameReader : protected FileReader {
+public:
+  FrameReader(bool local_cache = false, int chunk_size = -1, int retries = 0);
+  ~FrameReader();
+  bool load(const std::string &url, std::atomic<bool> *abort = nullptr);
+  bool get(int idx, uint8_t *rgb, uint8_t *yuv);
+  int getRGBSize() const { return width * height * 3; }
+  int getYUVSize() const { return width * height * 3 / 2; }
+  size_t getFrameCount() const { return frames_.size(); }
+  bool valid() const { return valid_; }
+
+  int width = 0, height = 0;
+
+private:
+  bool decode(int idx, uint8_t *rgb, uint8_t *yuv);
+  bool decodeFrame(AVPacket *pkt);
+  bool copyBuffers(AVFrame *f, uint8_t *rgb, uint8_t *yuv);
+
+  struct Frame {
+    AVPacket pkt = {};
+    int decoded = false;
+    bool failed = false;
+  };
+  std::vector<Frame> frames_;
+  SwsContext *rgb_sws_ctx_ = nullptr, *yuv_sws_ctx_ = nullptr;
+  AVFrame *av_frame_, *rgb_frame_, *yuv_frame_ = nullptr;
+  AVFormatContext *pFormatCtx_ = nullptr;
+  AVCodecContext *pCodecCtx_ = nullptr;
+  int key_frames_count_ = 0;
+  bool valid_ = false;
+  AVIOContext *avio_ctx_ = nullptr;
+};
diff --git a/selfdrive/ui/replay/logreader.cc b/selfdrive/ui/replay/logreader.cc
new file mode 100644
index 00000000000000..10be8a19c706bf
--- /dev/null
+++ b/selfdrive/ui/replay/logreader.cc
@@ -0,0 +1,82 @@
+#include "selfdrive/ui/replay/logreader.h"
+
+#include <algorithm>
+#include "selfdrive/ui/replay/util.h"
+
+Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
+  words = kj::ArrayPtr<const capnp::word>(amsg.begin(), reader.getEnd());
+  event = reader.getRoot<cereal::Event>();
+  which = event.which();
+  mono_time = event.getLogMonoTime();
+
+  // 1) Send video data at t=timestampEof/timestampSof
+  // 2) Send encodeIndex packet at t=logMonoTime
+  if (frame) {
+    auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
+    // C2 only has eof set, and some older routes have neither
+    uint64_t sof = idx.getTimestampSof();
+    uint64_t eof = idx.getTimestampEof();
+    if (sof > 0) {
+      mono_time = sof;
+    } else if (eof > 0) {
+      mono_time = eof;
+    }
+  }
+}
+
+// class LogReader
+
+LogReader::LogReader(bool local_cache, int chunk_size, int retries, size_t memory_pool_block_size) : FileReader(local_cache, chunk_size, retries) {
+#ifdef HAS_MEMORY_RESOURCE
+  const size_t buf_size = sizeof(Event) * memory_pool_block_size;
+  pool_buffer_ = ::operator new(buf_size);
+  mbr_ = new std::pmr::monotonic_buffer_resource(pool_buffer_, buf_size);
+#endif
+  events.reserve(memory_pool_block_size);
+}
+
+LogReader::~LogReader() {
+#ifdef HAS_MEMORY_RESOURCE
+  delete mbr_;
+  ::operator delete(pool_buffer_);
+#else
+  for (Event *e : events) {
+    delete e;
+  }
+#endif
+}
+
+bool LogReader::load(const std::string &file, std::atomic<bool> *abort) {
+  raw_ = decompressBZ2(read(file, abort));
+  if (raw_.empty()) return false;
+
+  kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
+  while (words.size() > 0) {
+    try {
+#ifdef HAS_MEMORY_RESOURCE
+      Event *evt = new (mbr_) Event(words);
+#else
+      Event *evt = new Event(words);
+#endif
+
+      // Add encodeIdx packet again as a frame packet for the video stream
+      if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
+          evt->which == cereal::Event::DRIVER_ENCODE_IDX ||
+          evt->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
+#ifdef HAS_MEMORY_RESOURCE
+        Event *frame_evt = new (mbr_) Event(words, true);
+#else
+        Event *frame_evt = new Event(words, true);
+#endif
+        events.push_back(frame_evt);
+      }
+
+      words = kj::arrayPtr(evt->reader.getEnd(), words.end());
+      events.push_back(evt);
+    } catch (const kj::Exception &e) {
+      return false;
+    }
+  }
+  std::sort(events.begin(), events.end(), Event::lessThan());
+  return true;
+}
diff --git a/selfdrive/ui/replay/logreader.h b/selfdrive/ui/replay/logreader.h
new file mode 100644
index 00000000000000..5bb613d9deffb0
--- /dev/null
+++ b/selfdrive/ui/replay/logreader.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#if __has_include(<memory_resource>)
+#define HAS_MEMORY_RESOURCE 1
+#include <memory_resource>
+#endif
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/ui/replay/filereader.h"
+
+const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
+const int MAX_CAMERAS = std::size(ALL_CAMERAS);
+const int DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE = 65000;
+
+class Event {
+public:
+  Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr<capnp::word>{}) {
+    // construct a dummy Event for binary search, e.g std::upper_bound
+    this->which = which;
+    this->mono_time = mono_time;
+  }
+  Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame = false);
+  inline kj::ArrayPtr<const capnp::byte> bytes() const { return words.asBytes(); }
+
+  struct lessThan {
+    inline bool operator()(const Event *l, const Event *r) {
+      return l->mono_time < r->mono_time || (l->mono_time == r->mono_time && l->which < r->which);
+    }
+  };
+
+#if HAS_MEMORY_RESOURCE
+  void *operator new(size_t size, std::pmr::monotonic_buffer_resource *mbr) {
+    return mbr->allocate(size);
+  }
+  void operator delete(void *ptr) {
+    // No-op. memory used by EventMemoryPool increases monotonically until the logReader is destroyed. 
+  }
+#endif
+
+  uint64_t mono_time;
+  cereal::Event::Which which;
+  cereal::Event::Reader event;
+  capnp::FlatArrayMessageReader reader;
+  kj::ArrayPtr<const capnp::word> words;
+  bool frame;
+};
+
+class LogReader : protected FileReader {
+public:
+  LogReader(bool local_cache = false, int chunk_size = -1, int retries = 0, size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
+  ~LogReader();
+  bool load(const std::string &file, std::atomic<bool> *abort = nullptr);
+
+  std::vector<Event*> events;
+
+private:
+  std::string raw_;
+#ifdef HAS_MEMORY_RESOURCE
+  std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
+  void *pool_buffer_ = nullptr;
+#endif
+};
diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc
new file mode 100644
index 00000000000000..d4fc8ff13a9f5c
--- /dev/null
+++ b/selfdrive/ui/replay/main.cc
@@ -0,0 +1,148 @@
+#include <termios.h>
+
+#include <QApplication>
+#include <QCommandLineParser>
+#include <QDebug>
+#include <QThread>
+#include <csignal>
+#include <iostream>
+
+#include "selfdrive/ui/replay/replay.h"
+
+const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
+struct termios oldt = {};
+Replay *replay = nullptr;
+
+void sigHandler(int s) {
+  std::signal(s, SIG_DFL);
+  if (oldt.c_lflag) {
+    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+  }
+  if (replay) {
+    replay->stop();
+  }
+  qApp->quit();
+}
+
+int getch() {
+  int ch;
+  struct termios newt;
+
+  tcgetattr(STDIN_FILENO, &oldt);
+  newt = oldt;
+  newt.c_lflag &= ~(ICANON | ECHO);
+
+  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+  ch = getchar();
+  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+
+  return ch;
+}
+
+void keyboardThread(Replay *replay_) {
+  char c;
+  while (true) {
+    c = getch();
+    if (c == '\n') {
+      printf("Enter seek request: ");
+      std::string r;
+      std::cin >> r;
+
+      try {
+        if (r[0] == '#') {
+          r.erase(0, 1);
+          replay_->seekTo(std::stoi(r) * 60, false);
+        } else {
+          replay_->seekTo(std::stoi(r), false);
+        }
+      } catch (std::invalid_argument) {
+        qDebug() << "invalid argument";
+      }
+      getch();  // remove \n from entering seek
+    } else if (c == 'm') {
+      replay_->seekTo(+60, true);
+    } else if (c == 'M') {
+      replay_->seekTo(-60, true);
+    } else if (c == 's') {
+      replay_->seekTo(+10, true);
+    } else if (c == 'S') {
+      replay_->seekTo(-10, true);
+    } else if (c == 'G') {
+      replay_->seekTo(0, true);
+    } else if (c == ' ') {
+      replay_->pause(!replay_->isPaused());
+    }
+  }
+}
+
+void replayMessageOutput(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
+  QByteArray localMsg = msg.toLocal8Bit();
+  if (type == QtDebugMsg) {
+    std::cout << "\033[38;5;248m" << localMsg.constData() << "\033[00m" << std::endl;
+  } else if (type == QtWarningMsg) {
+    std::cout << "\033[38;5;227m" << localMsg.constData() << "\033[00m" << std::endl;
+  } else if (type == QtCriticalMsg) {
+    std::cout << "\033[38;5;196m" << localMsg.constData() << "\033[00m" << std::endl;
+  } else {
+    std::cout << localMsg.constData() << std::endl;
+  }
+}
+
+int main(int argc, char *argv[]) {
+  qInstallMessageHandler(replayMessageOutput);
+
+  QApplication app(argc, argv);
+  std::signal(SIGINT, sigHandler);
+  std::signal(SIGTERM, sigHandler);
+
+  const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
+      {"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
+      {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
+      {"no-loop", REPLAY_FLAG_NO_LOOP, "stop at the end of the route"},
+      {"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"},
+      {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
+      {"yuv", REPLAY_FLAG_SEND_YUV, "send yuv frame"},
+  };
+
+  QCommandLineParser parser;
+  parser.setApplicationDescription("Mock openpilot components by publishing logged messages.");
+  parser.addHelpOption();
+  parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
+  parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"});
+  parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
+  parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
+  parser.addOption({"demo", "use a demo route instead of providing your own"});
+  parser.addOption({"data_dir", "local directory with routes", "data_dir"});
+  for (auto &[name, _, desc] : flags) {
+    parser.addOption({name, desc});
+  }
+
+  parser.process(app);
+  const QStringList args = parser.positionalArguments();
+  if (args.empty() && !parser.isSet("demo")) {
+    parser.showHelp();
+  }
+
+  const QString route = args.empty() ? DEMO_ROUTE : args.first();
+  QStringList allow = parser.value("allow").isEmpty() ? QStringList{} : parser.value("allow").split(",");
+  QStringList block = parser.value("block").isEmpty() ? QStringList{} : parser.value("block").split(",");
+
+  uint32_t replay_flags = REPLAY_FLAG_NONE;
+  for (const auto &[name, flag, _] : flags) {
+    if (parser.isSet(name)) {
+      replay_flags |= flag;
+    }
+  }
+  replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app);
+  if (!replay->load()) {
+    return 0;
+  }
+  replay->start(parser.value("start").toInt());
+  // start keyboard control thread
+  QThread *t = new QThread();
+  QObject::connect(t, &QThread::started, [=]() { keyboardThread(replay); });
+  QObject::connect(t, &QThread::finished, t, &QThread::deleteLater);
+  t->start();
+
+  return app.exec();
+}
diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
new file mode 100644
index 00000000000000..e3753ccf200602
--- /dev/null
+++ b/selfdrive/ui/replay/replay.cc
@@ -0,0 +1,345 @@
+#include "selfdrive/ui/replay/replay.h"
+
+#include <QApplication>
+#include <QDebug>
+
+#include <capnp/dynamic.h>
+#include "cereal/services.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/replay/util.h"
+
+Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
+    : sm(sm_), flags_(flags), QObject(parent) {
+  std::vector<const char *> s;
+  auto event_struct = capnp::Schema::from<cereal::Event>().asStruct();
+  sockets_.resize(event_struct.getUnionFields().size());
+  for (const auto &it : services) {
+    if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) {
+      uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue();
+      sockets_[which] = it.name;
+      s.push_back(it.name);
+    }
+  }
+  qDebug() << "services " << s;
+
+  if (sm == nullptr) {
+    pm = new PubMaster(s);
+  }
+  route_ = std::make_unique<Route>(route, data_dir);
+  events_ = new std::vector<Event *>();
+
+  connect(this, &Replay::seekTo, this, &Replay::doSeek);
+  connect(this, &Replay::segmentChanged, this, &Replay::queueSegment);
+}
+
+Replay::~Replay() {
+  stop();
+  delete pm;
+  delete events_;
+}
+
+void Replay::stop() {
+  if (!stream_thread_ && segments_.empty()) return;
+
+  qDebug() << "shutdown: in progress...";
+  if (stream_thread_ != nullptr) {
+    exit_ = updating_events_ = true;
+    stream_cv_.notify_one();
+    stream_thread_->quit();
+    stream_thread_->wait();
+    stream_thread_ = nullptr;
+  }
+  segments_.clear();
+  camera_server_.reset(nullptr);
+  qDebug() << "shutdown: done";
+}
+
+bool Replay::load() {
+  if (!route_->load()) {
+    qCritical() << "failed to load route" << route_->name() << "from server";
+    return false;
+  }
+
+  for (auto &[n, f] : route_->segments()) {
+    if ((!f.rlog.isEmpty() || !f.qlog.isEmpty()) && (!f.road_cam.isEmpty() || !f.qcamera.isEmpty())) {
+      segments_[n] = nullptr;
+    }
+  }
+  if (segments_.empty()) {
+    qCritical() << "no valid segments in route" << route_->name();
+    return false;
+  }
+  qInfo() << "load route" << route_->name() << "with" << segments_.size() << "valid segments";
+  return true;
+}
+
+void Replay::start(int seconds) {
+  seekTo(route_->identifier().segment_id * 60 + seconds, false);
+}
+
+void Replay::updateEvents(const std::function<bool()> &lambda) {
+  // set updating_events to true to force stream thread relase the lock and wait for evnets_udpated.
+  updating_events_ = true;
+  {
+    std::unique_lock lk(stream_lock_);
+    events_updated_ = lambda();
+    updating_events_ = false;
+  }
+  stream_cv_.notify_one();
+}
+
+void Replay::doSeek(int seconds, bool relative) {
+  if (segments_.empty()) return;
+
+  updateEvents([&]() {
+    if (relative) {
+      seconds += currentSeconds();
+    }
+    seconds = std::max(0, seconds);
+    int seg = seconds / 60;
+    if (segments_.find(seg) == segments_.end()) {
+      qWarning() << "can't seek to" << seconds << "s, segment" << seg << "is invalid";
+      return true;
+    }
+
+    qInfo() << "seeking to" << seconds << "s, segment" << seg;
+    current_segment_ = seg;
+    cur_mono_time_ = route_start_ts_ + seconds * 1e9;
+    return isSegmentMerged(seg);
+  });
+  queueSegment();
+}
+
+void Replay::pause(bool pause) {
+  updateEvents([=]() {
+    qInfo() << (pause ? "paused..." : "resuming");
+    if (pause) {
+      qInfo() << "at " << currentSeconds() << "s";
+    }
+    paused_ = pause;
+    return true;
+  });
+}
+
+void Replay::setCurrentSegment(int n) {
+  if (current_segment_.exchange(n) != n) {
+    emit segmentChanged();
+  }
+}
+
+void Replay::segmentLoadFinished(bool success) {
+  if (!success) {
+    Segment *seg = qobject_cast<Segment *>(sender());
+    qWarning() << "failed to load segment " << seg->seg_num << ", removing it from current replay list";
+    segments_.erase(seg->seg_num);
+  }
+  queueSegment();
+}
+
+void Replay::queueSegment() {
+  if (segments_.empty()) return;
+
+  SegmentMap::iterator cur, end;
+  cur = end = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first));
+  for (int i = 0; end != segments_.end() && i <= FORWARD_SEGS; ++i) {
+    ++end;
+  }
+  // load one segment at a time
+  for (auto it = cur; it != end; ++it) {
+    if (!it->second) {
+      if (it == cur || std::prev(it)->second->isLoaded()) {
+        auto &[n, seg] = *it;
+        seg = std::make_unique<Segment>(n, route_->at(n), flags_);
+        QObject::connect(seg.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
+        qDebug() << "loading segment" << n << "...";
+      }
+      break;
+    }
+  }
+  const auto &cur_segment = cur->second;
+  enableHttpLogging(!cur_segment->isLoaded());
+
+  // merge the previous adjacent segment if it's loaded
+  auto begin = segments_.find(cur_segment->seg_num - 1);
+  if (begin == segments_.end() || !(begin->second && begin->second->isLoaded())) {
+    begin = cur;
+  }
+  mergeSegments(begin, end);
+
+  // free segments out of current semgnt window.
+  std::for_each(segments_.begin(), begin, [](auto &e) { e.second.reset(nullptr); });
+  std::for_each(end, segments_.end(), [](auto &e) { e.second.reset(nullptr); });
+
+  // start stream thread
+  if (stream_thread_ == nullptr && cur_segment->isLoaded()) {
+    startStream(cur_segment.get());
+  }
+}
+
+void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) {
+  // merge 3 segments in sequence.
+  std::vector<int> segments_need_merge;
+  for (auto it = begin; it != end && it->second->isLoaded() && segments_need_merge.size() < 3; ++it) {
+    segments_need_merge.push_back(it->first);
+  }
+
+  if (segments_need_merge != segments_merged_) {
+    qDebug() << "merge segments" << segments_need_merge;
+    std::vector<Event *> *new_events = new std::vector<Event *>();
+    new_events->reserve(std::accumulate(segments_need_merge.begin(), segments_need_merge.end(), 0,
+                                        [=](int v, int n) { return v + segments_[n]->log->events.size(); }));
+    for (int n : segments_need_merge) {
+      auto &e = segments_[n]->log->events;
+      auto middle = new_events->insert(new_events->end(), e.begin(), e.end());
+      std::inplace_merge(new_events->begin(), middle, new_events->end(), Event::lessThan());
+    }
+
+    auto prev_events = events_;
+    updateEvents([&]() {
+      events_ = new_events;
+      segments_merged_ = segments_need_merge;
+      return true;
+    });
+    delete prev_events;
+  }
+}
+
+void Replay::startStream(const Segment *cur_segment) {
+  const auto &events = cur_segment->log->events;
+
+  // get route start time from initData
+  auto it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::INIT_DATA; });
+  route_start_ts_ = it != events.end() ? (*it)->mono_time : events[0]->mono_time;
+  cur_mono_time_ += route_start_ts_;
+
+  // write CarParams
+  it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::CAR_PARAMS; });
+  if (it != events.end()) {
+    auto bytes = (*it)->bytes();
+    Params().put("CarParams", (const char *)bytes.begin(), bytes.size());
+  } else {
+    qWarning() << "failed to read CarParams from current segment";
+  }
+
+  // start camera server
+  std::pair<int, int> camera_size[MAX_CAMERAS] = {};
+  for (auto type : ALL_CAMERAS) {
+    if (auto &fr = cur_segment->frames[type]) {
+      camera_size[type] = {fr->width, fr->height};
+    }
+  }
+  camera_server_ = std::make_unique<CameraServer>(camera_size, flags_ & REPLAY_FLAG_SEND_YUV);
+
+  // start stream thread
+  stream_thread_ = new QThread();
+  QObject::connect(stream_thread_, &QThread::started, [=]() { stream(); });
+  QObject::connect(stream_thread_, &QThread::finished, stream_thread_, &QThread::deleteLater);
+  stream_thread_->start();
+}
+
+void Replay::publishMessage(const Event *e) {
+  if (sm == nullptr) {
+    auto bytes = e->bytes();
+    int ret = pm->send(sockets_[e->which], (capnp::byte *)bytes.begin(), bytes.size());
+    if (ret == -1) {
+      qDebug() << "stop publishing" << sockets_[e->which] << "due to multiple publishers error";
+      sockets_[e->which] = nullptr;
+    }
+  } else {
+    sm->update_msgs(nanos_since_boot(), {{sockets_[e->which], e->event}});
+  }
+}
+
+void Replay::publishFrame(const Event *e) {
+  static const std::map<cereal::Event::Which, CameraType> cam_types{
+      {cereal::Event::ROAD_ENCODE_IDX, RoadCam},
+      {cereal::Event::DRIVER_ENCODE_IDX, DriverCam},
+      {cereal::Event::WIDE_ROAD_ENCODE_IDX, WideRoadCam},
+  };
+  if ((e->which == cereal::Event::DRIVER_ENCODE_IDX && !(flags_ & REPLAY_FLAG_DCAM)) ||
+      (e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX && !(flags_ & REPLAY_FLAG_ECAM))) {
+    return;
+  }
+  auto eidx = capnp::AnyStruct::Reader(e->event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
+  if (eidx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C && isSegmentMerged(eidx.getSegmentNum())) {
+    CameraType cam = cam_types.at(e->which);
+    camera_server_->pushFrame(cam, segments_[eidx.getSegmentNum()]->frames[cam].get(), eidx);
+  }
+}
+
+void Replay::stream() {
+  float last_print = 0;
+  cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA;
+
+  std::unique_lock lk(stream_lock_);
+
+  while (true) {
+    stream_cv_.wait(lk, [=]() { return exit_ || (events_updated_ && !paused_); });
+    events_updated_ = false;
+    if (exit_) break;
+
+    Event cur_event(cur_which, cur_mono_time_);
+    auto eit = std::upper_bound(events_->begin(), events_->end(), &cur_event, Event::lessThan());
+    if (eit == events_->end()) {
+      qDebug() << "waiting for events...";
+      continue;
+    }
+
+    uint64_t evt_start_ts = cur_mono_time_;
+    uint64_t loop_start_ts = nanos_since_boot();
+
+    for (auto end = events_->end(); !updating_events_ && eit != end; ++eit) {
+      const Event *evt = (*eit);
+      cur_which = evt->which;
+      cur_mono_time_ = evt->mono_time;
+      const int current_ts = currentSeconds();
+      if (last_print > current_ts || (current_ts - last_print) > 5.0) {
+        last_print = current_ts;
+        qInfo() << "at " << current_ts << "s";
+      }
+      setCurrentSegment(current_ts / 60);
+
+      // migration for pandaState -> pandaStates to keep UI working for old segments
+      if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D) {
+        MessageBuilder msg;
+        auto ps = msg.initEvent().initPandaStates(1);
+        ps[0].setIgnitionLine(true);
+        ps[0].setPandaType(cereal::PandaState::PandaType::DOS);
+        pm->send(sockets_[cereal::Event::Which::PANDA_STATES], msg);
+      }
+
+      if (cur_which < sockets_.size() && sockets_[cur_which] != nullptr) {
+        // keep time
+        long etime = cur_mono_time_ - evt_start_ts;
+        long rtime = nanos_since_boot() - loop_start_ts;
+        long behind_ns = etime - rtime;
+        // if behind_ns is greater than 1 second, it means that an invalid segemnt is skipped by seeking/replaying
+        if (behind_ns >= 1 * 1e9) {
+          // reset start times
+          evt_start_ts = cur_mono_time_;
+          loop_start_ts = nanos_since_boot();
+        } else if (behind_ns > 0) {
+          precise_nano_sleep(behind_ns);
+        }
+
+        if (evt->frame) {
+          publishFrame(evt);
+        } else {
+          publishMessage(evt);
+        }
+      }
+    }
+    // wait for frame to be sent before unlock.(frameReader may be deleted after unlock)
+    camera_server_->waitFinish();
+
+    if (eit == events_->end() && !(flags_ & REPLAY_FLAG_NO_LOOP)) {
+      int last_segment = segments_.rbegin()->first;
+      if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
+        qInfo() << "reaches the end of route, restart from beginning";
+        emit seekTo(0, false);
+      }
+    }
+  }
+}
diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h
new file mode 100644
index 00000000000000..320afa505b9670
--- /dev/null
+++ b/selfdrive/ui/replay/replay.h
@@ -0,0 +1,81 @@
+#pragma once
+
+#include <QThread>
+
+#include "selfdrive/ui/replay/camera.h"
+#include "selfdrive/ui/replay/route.h"
+
+// one segment uses about 100M of memory
+constexpr int FORWARD_SEGS = 5;
+
+enum REPLAY_FLAGS {
+  REPLAY_FLAG_NONE = 0x0000,
+  REPLAY_FLAG_DCAM = 0x0002,
+  REPLAY_FLAG_ECAM = 0x0004,
+  REPLAY_FLAG_NO_LOOP = 0x0010,
+  REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
+  REPLAY_FLAG_QCAMERA = 0x0040,
+  REPLAY_FLAG_SEND_YUV = 0x0080,
+};
+
+class Replay : public QObject {
+  Q_OBJECT
+
+public:
+  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr,
+          uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
+  ~Replay();
+  bool load();
+  void start(int seconds = 0);
+  void stop();
+  void pause(bool pause);
+  bool isPaused() const { return paused_; }
+
+signals:
+  void segmentChanged();
+  void seekTo(int seconds, bool relative);
+
+protected slots:
+  void queueSegment();
+  void doSeek(int seconds, bool relative);
+  void segmentLoadFinished(bool sucess);
+
+protected:
+  typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
+  void startStream(const Segment *cur_segment);
+  void stream();
+  void setCurrentSegment(int n);
+  void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end);
+  void updateEvents(const std::function<bool()>& lambda);
+  void publishMessage(const Event *e);
+  void publishFrame(const Event *e);
+  inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; }
+  inline bool isSegmentMerged(int n) {
+    return std::find(segments_merged_.begin(), segments_merged_.end(), n) != segments_merged_.end();
+  }
+
+  QThread *stream_thread_ = nullptr;
+
+  // logs
+  std::mutex stream_lock_;
+  std::condition_variable stream_cv_;
+  std::atomic<bool> updating_events_ = false;
+  std::atomic<int> current_segment_ = 0;
+  SegmentMap segments_;
+  // the following variables must be protected with stream_lock_
+  bool exit_ = false;
+  bool paused_ = false;
+  bool events_updated_ = false;
+  uint64_t route_start_ts_ = 0;
+  uint64_t cur_mono_time_ = 0;
+  std::vector<Event *> *events_ = nullptr;
+  std::vector<int> segments_merged_;
+
+  // messaging
+  SubMaster *sm = nullptr;
+  PubMaster *pm = nullptr;
+  std::vector<const char*> sockets_;
+  std::unique_ptr<Route> route_;
+  std::unique_ptr<CameraServer> camera_server_;
+  uint32_t flags_ = REPLAY_FLAG_NONE;
+};
diff --git a/selfdrive/ui/replay/route.cc b/selfdrive/ui/replay/route.cc
new file mode 100644
index 00000000000000..d834d67ab63714
--- /dev/null
+++ b/selfdrive/ui/replay/route.cc
@@ -0,0 +1,135 @@
+#include "selfdrive/ui/replay/route.h"
+
+#include <QDir>
+#include <QEventLoop>
+#include <QJsonArray>
+#include <QJsonDocument>
+#include <QRegExp>
+#include <QtConcurrent>
+
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/replay/replay.h"
+#include "selfdrive/ui/replay/util.h"
+
+Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) {
+  route_ = parseRoute(route);
+}
+
+RouteIdentifier Route::parseRoute(const QString &str) {
+  QRegExp rx(R"(^([a-z0-9]{16})([|_/])(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
+  if (rx.indexIn(str) == -1) return {};
+
+  const QStringList list = rx.capturedTexts();
+  return {list[1], list[3], list[5].toInt(), list[1] + "|" + list[3]};
+}
+
+bool Route::load() {
+  if (route_.str.isEmpty()) {
+    qInfo() << "invalid route format";
+    return false;
+  }
+  return data_dir_.isEmpty() ? loadFromServer() : loadFromLocal();
+}
+
+bool Route::loadFromServer() {
+  QEventLoop loop;
+  HttpRequest http(nullptr, !Hardware::PC());
+  QObject::connect(&http, &HttpRequest::failedResponse, [&] { loop.exit(0); });
+  QObject::connect(&http, &HttpRequest::timeoutResponse, [&] { loop.exit(0); });
+  QObject::connect(&http, &HttpRequest::receivedResponse, [&](const QString &json) {
+    loop.exit(loadFromJson(json));
+  });
+  http.sendRequest("https://api.commadotai.com/v1/route/" + route_.str + "/files");
+  return loop.exec();
+}
+
+bool Route::loadFromJson(const QString &json) {
+  QRegExp rx(R"(\/(\d+)\/)");
+  for (const auto &value : QJsonDocument::fromJson(json.trimmed().toUtf8()).object()) {
+    for (const auto &url : value.toArray()) {
+      QString url_str = url.toString();
+      if (rx.indexIn(url_str) != -1) {
+        addFileToSegment(rx.cap(1).toInt(), url_str);
+      }
+    }
+  }
+  return !segments_.empty();
+}
+
+bool Route::loadFromLocal() {
+  QDir log_dir(data_dir_);
+  for (const auto &folder : log_dir.entryList(QDir::Dirs | QDir::NoDot | QDir::NoDotDot, QDir::NoSort)) {
+    int pos = folder.lastIndexOf("--");
+    if (pos != -1 && folder.left(pos) == route_.timestamp) {
+      const int seg_num = folder.mid(pos + 2).toInt();
+      QDir segment_dir(log_dir.filePath(folder));
+      for (const auto &f : segment_dir.entryList(QDir::Files)) {
+        addFileToSegment(seg_num, segment_dir.absoluteFilePath(f));
+      }
+    }
+  }
+  return !segments_.empty();
+}
+
+void Route::addFileToSegment(int n, const QString &file) {
+  const QString name = QUrl(file).fileName();
+  if (name == "rlog.bz2") {
+    segments_[n].rlog = file;
+  } else if (name == "qlog.bz2") {
+    segments_[n].qlog = file;
+  } else if (name == "fcamera.hevc") {
+    segments_[n].road_cam = file;
+  } else if (name == "dcamera.hevc") {
+    segments_[n].driver_cam = file;
+  } else if (name == "ecamera.hevc") {
+    segments_[n].wide_road_cam = file;
+  } else if (name == "qcamera.ts") {
+    segments_[n].qcamera = file;
+  }
+}
+
+// class Segment
+
+Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n) {
+  // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
+  const QString file_list[] = {
+      (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam,
+      flags & REPLAY_FLAG_DCAM ? files.driver_cam : "",
+      flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "",
+      files.rlog.isEmpty() ? files.qlog : files.rlog,
+  };
+  for (int i = 0; i < std::size(file_list); i++) {
+    if (!file_list[i].isEmpty()) {
+      loading_++;
+      synchronizer_.addFuture(QtConcurrent::run([=] { loadFile(i, file_list[i].toStdString(), !(flags & REPLAY_FLAG_NO_FILE_CACHE)); }));
+    }
+  }
+}
+
+Segment::~Segment() {
+  disconnect();
+  abort_ = true;
+  synchronizer_.setCancelOnWait(true);
+  synchronizer_.waitForFinished();
+}
+
+void Segment::loadFile(int id, const std::string file, bool local_cache) {
+  bool success = false;
+  if (id < MAX_CAMERAS) {
+    frames[id] = std::make_unique<FrameReader>(local_cache, 20 * 1024 * 1024, 3);
+    success = frames[id]->load(file, &abort_);
+  } else {
+    log = std::make_unique<LogReader>(local_cache, -1, 3);
+    success = log->load(file, &abort_);
+  }
+
+  if (!success) {
+    // abort all loading jobs.
+    abort_ = true;
+  }
+
+  if (--loading_ == 0) {
+    emit loadFinished(!abort_);
+  }
+}
diff --git a/selfdrive/ui/replay/route.h b/selfdrive/ui/replay/route.h
new file mode 100644
index 00000000000000..b11607f250021f
--- /dev/null
+++ b/selfdrive/ui/replay/route.h
@@ -0,0 +1,66 @@
+#pragma once
+
+#include <QFutureSynchronizer>
+
+#include "selfdrive/ui/replay/framereader.h"
+#include "selfdrive/ui/replay/logreader.h"
+#include "selfdrive/ui/replay/util.h"
+
+struct RouteIdentifier {
+  QString dongle_id;
+  QString timestamp;
+  int segment_id;
+  QString str;
+};
+
+struct SegmentFile {
+  QString rlog;
+  QString qlog;
+  QString road_cam;
+  QString driver_cam;
+  QString wide_road_cam;
+  QString qcamera;
+};
+
+class Route {
+public:
+  Route(const QString &route, const QString &data_dir = {});
+  bool load();
+  inline const QString &name() const { return route_.str; }
+  inline const RouteIdentifier &identifier() const { return route_; }
+  inline const std::map<int, SegmentFile> &segments() const { return segments_; }
+  inline const SegmentFile &at(int n) { return segments_.at(n); }
+  static RouteIdentifier parseRoute(const QString &str);
+
+protected:
+  bool loadFromLocal();
+  bool loadFromServer();
+  bool loadFromJson(const QString &json);
+  void addFileToSegment(int seg_num, const QString &file);
+  RouteIdentifier route_ = {};
+  QString data_dir_;
+  std::map<int, SegmentFile> segments_;
+};
+
+class Segment : public QObject {
+  Q_OBJECT
+
+public:
+  Segment(int n, const SegmentFile &files, uint32_t flags);
+  ~Segment();
+  inline bool isLoaded() const { return !loading_ && !abort_; }
+
+  const int seg_num = 0;
+  std::unique_ptr<LogReader> log;
+  std::unique_ptr<FrameReader> frames[MAX_CAMERAS] = {};
+
+signals:
+  void loadFinished(bool success);
+
+protected:
+  void loadFile(int id, const std::string file, bool local_cache);
+
+  std::atomic<bool> abort_ = false;
+  std::atomic<int> loading_ = 0;
+  QFutureSynchronizer<void> synchronizer_;
+};
diff --git a/selfdrive/ui/replay/util.cc b/selfdrive/ui/replay/util.cc
new file mode 100644
index 00000000000000..b4fcbf7e6b28ef
--- /dev/null
+++ b/selfdrive/ui/replay/util.cc
@@ -0,0 +1,219 @@
+#include "selfdrive/ui/replay/util.h"
+
+#include <bzlib.h>
+#include <curl/curl.h>
+#include <openssl/sha.h>
+
+#include <cassert>
+#include <iomanip>
+#include <iostream>
+#include <mutex>
+#include <numeric>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+
+namespace {
+
+static std::atomic<bool> enable_http_logging = false;
+
+struct CURLGlobalInitializer {
+  CURLGlobalInitializer() { curl_global_init(CURL_GLOBAL_DEFAULT); }
+  ~CURLGlobalInitializer() { curl_global_cleanup(); }
+};
+
+struct MultiPartWriter {
+  size_t offset;
+  size_t end;
+  size_t written;
+  std::ostream *os;
+};
+
+size_t write_cb(char *data, size_t size, size_t count, void *userp) {
+  MultiPartWriter *w = (MultiPartWriter *)userp;
+  w->os->seekp(w->offset);
+  size_t bytes = size * count;
+  w->os->write(data, bytes);
+  w->offset += bytes;
+  w->written += bytes;
+  return bytes;
+}
+
+size_t dumy_write_cb(char *data, size_t size, size_t count, void *userp) { return size * count; }
+
+std::string formattedDataSize(size_t size) {
+  if (size < 1024) {
+    return std::to_string(size) + " B";
+  } else if (size < 1024 * 1024) {
+    return util::string_format("%.2f KB", (float)size / 1024);
+  } else {
+    return util::string_format("%.2f MB", (float)size / (1024 * 1024));
+  }
+}
+
+} // namespace
+
+size_t getRemoteFileSize(const std::string &url) {
+  CURL *curl = curl_easy_init();
+  if (!curl) return -1;
+
+  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, dumy_write_cb);
+  curl_easy_setopt(curl, CURLOPT_HEADER, 1);
+  curl_easy_setopt(curl, CURLOPT_NOBODY, 1);
+  CURLcode res = curl_easy_perform(curl);
+  double content_length = -1;
+  if (res == CURLE_OK) {
+    res = curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
+  } else {
+    std::cout << "Download failed: error code: " << res << std::endl;
+  }
+  curl_easy_cleanup(curl);
+  return content_length > 0 ? content_length : 0;
+}
+
+std::string getUrlWithoutQuery(const std::string &url) {
+  size_t idx = url.find("?");
+  return (idx == std::string::npos ? url : url.substr(0, idx));
+}
+
+void enableHttpLogging(bool enable) {
+  enable_http_logging = enable;
+}
+
+bool httpMultiPartDownload(const std::string &url, std::ostream &os, int parts, size_t content_length, std::atomic<bool> *abort) {
+  static CURLGlobalInitializer curl_initializer;
+  static std::mutex lock;
+  static uint64_t total_written = 0, prev_total_written = 0;
+  static double last_print_ts = 0;
+
+  os.seekp(content_length - 1);
+  os.write("\0", 1);
+
+  CURLM *cm = curl_multi_init();
+
+  std::map<CURL *, MultiPartWriter> writers;
+  const int part_size = content_length / parts;
+  for (int i = 0; i < parts; ++i) {
+    CURL *eh = curl_easy_init();
+    writers[eh] = {
+        .os = &os,
+        .offset = (size_t)(i * part_size),
+        .end = i == parts - 1 ? content_length - 1 : (i + 1) * part_size - 1,
+    };
+    curl_easy_setopt(eh, CURLOPT_WRITEFUNCTION, write_cb);
+    curl_easy_setopt(eh, CURLOPT_WRITEDATA, (void *)(&writers[eh]));
+    curl_easy_setopt(eh, CURLOPT_URL, url.c_str());
+    curl_easy_setopt(eh, CURLOPT_RANGE, util::string_format("%d-%d", writers[eh].offset, writers[eh].end).c_str());
+    curl_easy_setopt(eh, CURLOPT_HTTPGET, 1);
+    curl_easy_setopt(eh, CURLOPT_NOSIGNAL, 1);
+    curl_easy_setopt(eh, CURLOPT_FOLLOWLOCATION, 1);
+
+    curl_multi_add_handle(cm, eh);
+  }
+
+  int still_running = 1;
+  size_t prev_written = 0;
+  while (still_running > 0 && !(abort && *abort)) {
+    curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
+    curl_multi_perform(cm, &still_running);
+
+    size_t written = std::accumulate(writers.begin(), writers.end(), 0, [=](int v, auto &w) { return v + w.second.written; });
+    int cur_written = written - prev_written;
+    prev_written = written;
+
+    std::lock_guard lk(lock);
+    double ts = millis_since_boot();
+    total_written += cur_written;
+    if ((ts - last_print_ts) > 2 * 1000) {
+      if (enable_http_logging && last_print_ts > 0) {
+        size_t average = (total_written - prev_total_written) / ((ts - last_print_ts) / 1000.);
+        int progress = std::min<int>(100, 100.0 * (double)written / (double)content_length);
+        std::cout << "downloading " << getUrlWithoutQuery(url) << " - " << progress << "% (" << formattedDataSize(average) << "/s)" << std::endl;
+      }
+      prev_total_written = total_written;
+      last_print_ts = ts;
+    }
+  }
+
+  CURLMsg *msg;
+  int msgs_left = -1;
+  int complete = 0;
+  while ((msg = curl_multi_info_read(cm, &msgs_left)) && !(abort && *abort)) {
+    if (msg->msg == CURLMSG_DONE) {
+      if (msg->data.result == CURLE_OK) {
+        long res_status = 0;
+        curl_easy_getinfo(msg->easy_handle, CURLINFO_RESPONSE_CODE, &res_status);
+        if (res_status == 206) {
+          complete++;
+        } else {
+          std::cout << "Download failed: http error code: " << res_status << std::endl;
+        }
+      } else {
+        std::cout << "Download failed: connection failure: " << msg->data.result << std::endl;
+      }
+    }
+  }
+
+  for (auto &[e, w] : writers) {
+    curl_multi_remove_handle(cm, e);
+    curl_easy_cleanup(e);
+  }
+
+  curl_multi_cleanup(cm);
+  return complete == parts;
+}
+
+std::string decompressBZ2(const std::string &in) {
+  if (in.empty()) return {};
+
+  bz_stream strm = {};
+  int bzerror = BZ2_bzDecompressInit(&strm, 0, 0);
+  assert(bzerror == BZ_OK);
+
+  strm.next_in = (char *)in.data();
+  strm.avail_in = in.size();
+  std::string out(in.size() * 5, '\0');
+  do {
+    strm.next_out = (char *)(&out[strm.total_out_lo32]);
+    strm.avail_out = out.size() - strm.total_out_lo32;
+    bzerror = BZ2_bzDecompress(&strm);
+    if (bzerror == BZ_OK && strm.avail_in > 0 && strm.avail_out == 0) {
+      out.resize(out.size() * 2);
+    }
+  } while (bzerror == BZ_OK);
+
+  BZ2_bzDecompressEnd(&strm);
+  if (bzerror == BZ_STREAM_END) {
+    out.resize(strm.total_out_lo32);
+    return out;
+  }
+  return {};
+}
+
+void precise_nano_sleep(long sleep_ns) {
+  const long estimate_ns = 1 * 1e6;  // 1ms
+  struct timespec req = {.tv_nsec = estimate_ns};
+  uint64_t start_sleep = nanos_since_boot();
+  while (sleep_ns > estimate_ns) {
+    nanosleep(&req, nullptr);
+    uint64_t end_sleep = nanos_since_boot();
+    sleep_ns -= (end_sleep - start_sleep);
+    start_sleep = end_sleep;
+  }
+  // spin wait
+  if (sleep_ns > 0) {
+    while ((nanos_since_boot() - start_sleep) <= sleep_ns) {
+      usleep(0);
+    }
+  }
+}
+
+std::string sha256(const std::string &str) {
+  unsigned char hash[SHA256_DIGEST_LENGTH];
+  SHA256_CTX sha256;
+  SHA256_Init(&sha256);
+  SHA256_Update(&sha256, str.c_str(), str.size());
+  SHA256_Final(hash, &sha256);
+  return util::hexdump(hash, SHA256_DIGEST_LENGTH);
+}
diff --git a/selfdrive/ui/replay/util.h b/selfdrive/ui/replay/util.h
new file mode 100644
index 00000000000000..30a26c4314279d
--- /dev/null
+++ b/selfdrive/ui/replay/util.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <atomic>
+#include <ostream>
+#include <string>
+
+std::string sha256(const std::string &str);
+void precise_nano_sleep(long sleep_ns);
+std::string decompressBZ2(const std::string &in);
+void enableHttpLogging(bool enable);
+std::string getUrlWithoutQuery(const std::string &url);
+size_t getRemoteFileSize(const std::string &url);
+bool httpMultiPartDownload(const std::string &url, std::ostream &os, int parts, size_t content_length, std::atomic<bool> *abort = nullptr);
diff --git a/selfdrive/ui/slplay.c b/selfdrive/ui/slplay.c
deleted file mode 100644
index ddfbad56c5e6ba..00000000000000
--- a/selfdrive/ui/slplay.c
+++ /dev/null
@@ -1,184 +0,0 @@
-#include <stdio.h>
-#include <assert.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <getopt.h>
-
-#include "common/timing.h"
-#include "slplay.h"
-
-SLEngineItf engineInterface = NULL;
-SLObjectItf outputMix = NULL;
-SLObjectItf engine = NULL;
-uri_player players[32] = {{NULL, NULL, NULL}};
-
-uint64_t loop_start = 0;
-uint64_t loop_start_ctx = 0;
-
-uri_player* get_player_by_uri(const char* uri) {
-  for (uri_player *s = players; s->uri != NULL; s++) {
-    if (strcmp(s->uri, uri) == 0) {
-      return s;
-    }
-  }
-
-  return NULL;
-}
-
-uri_player* slplay_create_player_for_uri(const char* uri, char **error) {
-  uri_player player = { uri, NULL, NULL };
-
-  SLresult result;
-  SLDataLocator_URI locUri = {SL_DATALOCATOR_URI, (SLchar *) uri};
-  SLDataFormat_MIME formatMime = {SL_DATAFORMAT_MIME, NULL, SL_CONTAINERTYPE_UNSPECIFIED};
-  SLDataSource audioSrc = {&locUri, &formatMime};
-
-  SLDataLocator_OutputMix outMix = {SL_DATALOCATOR_OUTPUTMIX, outputMix};
-  SLDataSink audioSnk = {&outMix, NULL};
-
-  result = (*engineInterface)->CreateAudioPlayer(engineInterface, &player.player, &audioSrc, &audioSnk, 0, NULL, NULL);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to create audio player";
-    return NULL;
-  }
-
-  result = (*(player.player))->Realize(player.player, SL_BOOLEAN_FALSE);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to realize audio player";
-    return NULL;
-  }
-
-  result = (*(player.player))->GetInterface(player.player, SL_IID_PLAY, &(player.playInterface));
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to get player interface";
-    return NULL;
-  }
-
-  result = (*(player.playInterface))->SetPlayState(player.playInterface, SL_PLAYSTATE_PAUSED);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to initialize playstate to SL_PLAYSTATE_PAUSED";
-    return NULL;
-  }
-
-  uri_player *p = players;
-  while (p->uri != NULL) {
-    p++;
-  }
-  *p = player;
-
-  return p;
-}
-
-void slplay_setup(char **error) {
-  SLresult result;
-  SLEngineOption engineOptions[] = {{SL_ENGINEOPTION_THREADSAFE, SL_BOOLEAN_TRUE}};
-  result = slCreateEngine(&engine, 1, engineOptions, 0, NULL, NULL);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to create OpenSL engine";
-  }
-
-  result = (*engine)->Realize(engine, SL_BOOLEAN_FALSE);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to realize OpenSL engine";
-  }
-
-  result = (*engine)->GetInterface(engine, SL_IID_ENGINE, &engineInterface);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to realize OpenSL engine";
-  }
-
-  const SLInterfaceID ids[1] = {SL_IID_VOLUME};
-  const SLboolean req[1] = {SL_BOOLEAN_FALSE};
-  result = (*engineInterface)->CreateOutputMix(engineInterface, &outputMix, 1, ids, req);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to create output mix";
-  }
-
-  result = (*outputMix)->Realize(outputMix, SL_BOOLEAN_FALSE);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to realize output mix";
-  }
-}
-
-void slplay_destroy() {
-  for (uri_player *player = players; player->uri != NULL; player++) {
-    if (player->player) {
-      (*(player->player))->Destroy(player->player);
-    }
-  }
-
-  (*outputMix)->Destroy(outputMix);
-  (*engine)->Destroy(engine);
-}
-
-void slplay_stop(uri_player* player, char **error) {
-  SLPlayItf playInterface = player->playInterface;
-  SLresult result;
-
-  // stop a loop
-  loop_start = 0;
-
-  result = (*playInterface)->SetPlayState(playInterface, SL_PLAYSTATE_PAUSED);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to set SL_PLAYSTATE_STOPPED";
-    return;
-  }
-}
-
-void slplay_stop_uri(const char* uri, char **error) {
-  uri_player* player = get_player_by_uri(uri);
-  slplay_stop(player, error);
-}
-
-void SLAPIENTRY slplay_callback(SLPlayItf playItf, void *context, SLuint32 event) {
-  uint64_t cb_loop_start = *((uint64_t*)context);
-  if (event == SL_PLAYEVENT_HEADATEND && cb_loop_start == loop_start) {
-    (*playItf)->SetPlayState(playItf, SL_PLAYSTATE_STOPPED);
-    (*playItf)->SetMarkerPosition(playItf, 0);
-    (*playItf)->SetPlayState(playItf, SL_PLAYSTATE_PLAYING);
-  }
-}
-
-void slplay_play (const char *uri, bool loop, char **error) {
-  SLresult result;
-
-  uri_player* player = get_player_by_uri(uri);
-  if (player == NULL) {
-    player = slplay_create_player_for_uri(uri, error);
-    if (*error) {
-      return;
-    }
-  }
-
-  SLPlayItf playInterface = player->playInterface;
-  if (loop) {
-    loop_start = nanos_since_boot();
-    loop_start_ctx = loop_start;
-    result = (*playInterface)->RegisterCallback(playInterface, slplay_callback, &loop_start_ctx);
-    if (result != SL_RESULT_SUCCESS) {
-      char error[64];
-      snprintf(error, sizeof(error), "Failed to register callback. %d", result);
-      *error = error[0];
-      return;
-    }
-
-    result = (*playInterface)->SetCallbackEventsMask(playInterface, SL_PLAYEVENT_HEADATEND);
-    if (result != SL_RESULT_SUCCESS) {
-      *error = "Failed to set callback event mask";
-      return;
-    }
-  }
-
-  // Reset the audio player
-  result = (*playInterface)->ClearMarkerPosition(playInterface);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to clear marker position";
-    return;
-  }
-  result = (*playInterface)->SetPlayState(playInterface, SL_PLAYSTATE_PAUSED);
-  result = (*playInterface)->SetPlayState(playInterface, SL_PLAYSTATE_STOPPED);
-  result = (*playInterface)->SetPlayState(playInterface, SL_PLAYSTATE_PLAYING);
-  if (result != SL_RESULT_SUCCESS) {
-    *error = "Failed to set SL_PLAYSTATE_PLAYING";
-  }
-}
diff --git a/selfdrive/ui/slplay.h b/selfdrive/ui/slplay.h
deleted file mode 100644
index f8c39ceeb7cb2c..00000000000000
--- a/selfdrive/ui/slplay.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef SLPLAY_H
-#define SLPLAY_H
-
-#include <SLES/OpenSLES.h>
-#include <SLES/OpenSLES_Android.h>
-#include <stdbool.h>
-
-typedef struct {
-  const char* uri;
-  SLObjectItf player;
-  SLPlayItf playInterface;
-} uri_player;
-
-void slplay_setup(char **error);
-uri_player* slplay_create_player_for_uri(const char* uri, char **error);
-void slplay_play (const char *uri, bool loop, char **error);
-void slplay_stop_uri (const char* uri, char **error);
-void slplay_destroy();
-
-#endif
-
diff --git a/selfdrive/ui/sound.cc b/selfdrive/ui/sound.cc
deleted file mode 100644
index 701fa56b4ce11b..00000000000000
--- a/selfdrive/ui/sound.cc
+++ /dev/null
@@ -1,85 +0,0 @@
-#include <stdlib.h>
-#include "sound.hpp"
-
-#include "common/swaglog.h"
-
-typedef struct {
-  AudibleAlert alert;
-  const char* uri;
-  bool loop;
-} sound_file;
-
-extern "C"{
-#include "slplay.h"
-}
-
-void set_volume(int volume) {
-  char volume_change_cmd[64];
-  sprintf(volume_change_cmd, "service call audio 3 i32 3 i32 %d i32 1 &", volume);
-
-  // 5 second timeout at 60fps
-  int volume_changed = system(volume_change_cmd);
-}
-
-
-sound_file sound_table[] = {
-  { cereal_CarControl_HUDControl_AudibleAlert_chimeDisengage, "../assets/sounds/disengaged.wav", false },
-  { cereal_CarControl_HUDControl_AudibleAlert_chimeEngage, "../assets/sounds/engaged.wav", false },
-  { cereal_CarControl_HUDControl_AudibleAlert_chimeWarning1, "../assets/sounds/warning_1.wav", false },
-  { cereal_CarControl_HUDControl_AudibleAlert_chimeWarning2, "../assets/sounds/warning_2.wav", false },
-  { cereal_CarControl_HUDControl_AudibleAlert_chimeWarningRepeat, "../assets/sounds/warning_repeat.wav", true },
-  { cereal_CarControl_HUDControl_AudibleAlert_chimeError, "../assets/sounds/error.wav", false },
-  { cereal_CarControl_HUDControl_AudibleAlert_chimePrompt, "../assets/sounds/error.wav", false },
-  { cereal_CarControl_HUDControl_AudibleAlert_none, NULL, false },
-};
-
-sound_file* get_sound_file(AudibleAlert alert) {
-  for (sound_file *s = sound_table; s->alert != cereal_CarControl_HUDControl_AudibleAlert_none; s++) {
-    if (s->alert == alert) {
-      return s;
-    }
-  }
-
-  return NULL;
-}
-
-void play_alert_sound(AudibleAlert alert) {
-  sound_file* sound = get_sound_file(alert);
-  char* error = NULL;
-
-  slplay_play(sound->uri, sound->loop, &error);
-  if(error) {
-    LOGW("error playing sound: %s", error);
-  }
-}
-
-void stop_alert_sound(AudibleAlert alert) {
-  sound_file* sound = get_sound_file(alert);
-  char* error = NULL;
-
-  slplay_stop_uri(sound->uri, &error);
-  if(error) {
-    LOGW("error stopping sound: %s", error);
-  }
-}
-
-void ui_sound_init() {
-  char *error = NULL;
-  slplay_setup(&error);
-  if (error) goto fail;
-
-  for (sound_file *s = sound_table; s->alert != cereal_CarControl_HUDControl_AudibleAlert_none; s++) {
-    slplay_create_player_for_uri(s->uri, &error);
-    if (error) goto fail;
-  }
-  return;
-
-fail:
-  LOGW(error);
-  exit(1);
-}
-
-void ui_sound_destroy() {
-  slplay_destroy();
-}
-
diff --git a/selfdrive/ui/sound.hpp b/selfdrive/ui/sound.hpp
deleted file mode 100644
index cc44c1b4b3f514..00000000000000
--- a/selfdrive/ui/sound.hpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef __SOUND_HPP
-#define __SOUND_HPP
-
-#include "cereal/gen/c/log.capnp.h"
-
-typedef enum cereal_CarControl_HUDControl_AudibleAlert AudibleAlert;
-
-void ui_sound_init();
-void ui_sound_destroy();
-
-void set_volume(int volume);
-
-void play_alert_sound(AudibleAlert alert);
-void stop_alert_sound(AudibleAlert alert);
-
-#endif
-
diff --git a/selfdrive/ui/soundd/.gitignore b/selfdrive/ui/soundd/.gitignore
new file mode 100644
index 00000000000000..c47f949d377a77
--- /dev/null
+++ b/selfdrive/ui/soundd/.gitignore
@@ -0,0 +1 @@
+_soundd
diff --git a/selfdrive/ui/soundd/main.cc b/selfdrive/ui/soundd/main.cc
new file mode 100644
index 00000000000000..64088deff83d21
--- /dev/null
+++ b/selfdrive/ui/soundd/main.cc
@@ -0,0 +1,22 @@
+#include <sys/resource.h>
+
+#include <QApplication>
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/soundd/sound.h"
+
+void sigHandler(int s) {
+  qApp->quit();
+}
+
+int main(int argc, char **argv) {
+  qInstallMessageHandler(swagLogMessageHandler);
+  setpriority(PRIO_PROCESS, 0, -20);
+
+  QApplication a(argc, argv);
+  std::signal(SIGINT, sigHandler);
+  std::signal(SIGTERM, sigHandler);
+
+  Sound sound;
+  return a.exec();
+}
diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc
new file mode 100644
index 00000000000000..df8b4fa6acb023
--- /dev/null
+++ b/selfdrive/ui/soundd/sound.cc
@@ -0,0 +1,73 @@
+#include "selfdrive/ui/soundd/sound.h"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
+
+// TODO: detect when we can't play sounds
+// TODO: detect when we can't display the UI
+
+Sound::Sound(QObject *parent) : sm({"carState", "controlsState", "deviceState"}) {
+  const QString sound_asset_path = Hardware::TICI() ? "../../assets/sounds_tici/" : "../../assets/sounds/";
+  for (auto &[alert, fn, loops] : sound_list) {
+    QSoundEffect *s = new QSoundEffect(this);
+    QObject::connect(s, &QSoundEffect::statusChanged, [=]() {
+      assert(s->status() != QSoundEffect::Error);
+    });
+    s->setVolume(Hardware::MIN_VOLUME);
+    s->setSource(QUrl::fromLocalFile(sound_asset_path + fn));
+    sounds[alert] = {s, loops};
+  }
+
+  QTimer *timer = new QTimer(this);
+  QObject::connect(timer, &QTimer::timeout, this, &Sound::update);
+  timer->start(1000 / UI_FREQ);
+};
+
+void Sound::update() {
+  const bool started_prev = sm["deviceState"].getDeviceState().getStarted();
+  sm.update(0);
+
+  const bool started = sm["deviceState"].getDeviceState().getStarted();
+  if (started && !started_prev) {
+    started_frame = sm.frame;
+  }
+
+  // no sounds while offroad
+  // also no sounds if nothing is alive in case thermald crashes while offroad
+  const bool crashed = (sm.frame - std::max(sm.rcv_frame("deviceState"), sm.rcv_frame("controlsState"))) > 10*UI_FREQ;
+  if (!started || crashed) {
+    setAlert({});
+    return;
+  }
+
+  // scale volume with speed
+  if (sm.updated("carState")) {
+    float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f,
+                                 Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
+    for (auto &[s, loops] : sounds) {
+      s->setVolume(std::round(100 * volume) / 100);
+    }
+  }
+
+  setAlert(Alert::get(sm, started_frame));
+}
+
+void Sound::setAlert(const Alert &alert) {
+  if (!current_alert.equal(alert)) {
+    current_alert = alert;
+    // stop sounds
+    for (auto &[s, loops] : sounds) {
+      // Only stop repeating sounds
+      if (s->loopsRemaining() > 1 || s->loopsRemaining() == QSoundEffect::Infinite) {
+        s->stop();
+      }
+    }
+
+    // play sound
+    if (alert.sound != AudibleAlert::NONE) {
+      auto &[s, loops] = sounds[alert.sound];
+      s->setLoopCount(loops);
+      s->play();
+    }
+  }
+}
diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h
new file mode 100644
index 00000000000000..cbc7b87078ba5c
--- /dev/null
+++ b/selfdrive/ui/soundd/sound.h
@@ -0,0 +1,32 @@
+#include <QMap>
+#include <QSoundEffect>
+#include <QString>
+
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/ui.h"
+
+const std::tuple<AudibleAlert, QString, int> sound_list[] = {
+  // AudibleAlert, file name, loop count
+  {AudibleAlert::CHIME_DISENGAGE, "disengaged.wav", 0},
+  {AudibleAlert::CHIME_ENGAGE, "engaged.wav", 0},
+  {AudibleAlert::CHIME_WARNING1, "warning_1.wav", 0},
+  {AudibleAlert::CHIME_WARNING_REPEAT, "warning_repeat.wav", 10},
+  {AudibleAlert::CHIME_WARNING_REPEAT_INFINITE, "warning_repeat.wav", QSoundEffect::Infinite},
+  {AudibleAlert::CHIME_WARNING2_REPEAT_INFINITE, "warning_2.wav", QSoundEffect::Infinite},
+  {AudibleAlert::CHIME_ERROR, "error.wav", 0},
+  {AudibleAlert::CHIME_PROMPT, "error.wav", 0},
+};
+
+class Sound : public QObject {
+public:
+  explicit Sound(QObject *parent = 0);
+
+protected:
+  void update();
+  void setAlert(const Alert &alert);
+
+  Alert current_alert = {};
+  QMap<AudibleAlert, QPair<QSoundEffect *, int>> sounds;
+  SubMaster sm;
+  uint64_t started_frame;
+};
diff --git a/selfdrive/ui/soundd/soundd b/selfdrive/ui/soundd/soundd
new file mode 100755
index 00000000000000..66dda46d5b68ea
--- /dev/null
+++ b/selfdrive/ui/soundd/soundd
@@ -0,0 +1,5 @@
+#!/bin/sh
+cd "$(dirname "$0")"
+export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
+export QT_QPA_PLATFORM="offscreen"
+exec ./_soundd
diff --git a/selfdrive/ui/spinner b/selfdrive/ui/spinner
new file mode 100755
index 00000000000000..4a75ca25a4754e
--- /dev/null
+++ b/selfdrive/ui/spinner
@@ -0,0 +1,10 @@
+#!/bin/sh
+
+if [ -f /EON ] && [ ! -f qt/spinner ]; then
+  cp qt/spinner_aarch64 qt/spinner
+elif [ -f /TICI ] && [ ! -f qt/spinner ]; then
+  cp qt/spinner_larch64 qt/spinner
+fi
+
+export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
+exec ./qt/spinner "$1"
diff --git a/selfdrive/ui/spinner/Makefile b/selfdrive/ui/spinner/Makefile
deleted file mode 100644
index 93871bb0090d27..00000000000000
--- a/selfdrive/ui/spinner/Makefile
+++ /dev/null
@@ -1,74 +0,0 @@
-CC = clang
-CXX = clang++
-
-PHONELIBS = ../../../phonelibs
-
-WARN_FLAGS = -Werror=implicit-function-declaration \
-             -Werror=incompatible-pointer-types \
-             -Werror=int-conversion \
-             -Werror=return-type \
-             -Werror=format-extra-args
-
-CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
-
-NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
-
-OPENGL_LIBS = -lGLESv3
-
-FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
-
-OBJS = spinner.o \
-       ../../common/framebuffer.o \
-       $(PHONELIBS)/nanovg/nanovg.o \
-       ../../common/spinner.o \
-       opensans_semibold.o \
-       img_spinner_track.o \
-       img_spinner_comma.o
-
-DEPS := $(OBJS:.o=.d)
-
-.PHONY: all
-all: spinner
-
-spinner: $(OBJS)
-	@echo "[ LINK ] $@"
-	$(CXX) -fPIC -o '$@' $^ \
-	      -s \
-        $(FRAMEBUFFER_LIBS) \
-        -L/system/vendor/lib64 \
-        $(OPENGL_LIBS) \
-        -lm -llog
-
-../../common/framebuffer.o: ../../common/framebuffer.cc
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) -MMD \
-           -I$(PHONELIBS)/android_frameworks_native/include \
-           -I$(PHONELIBS)/android_system_core/include \
-           -I$(PHONELIBS)/android_hardware_libhardware/include \
-           -c -o '$@' '$<'
-
-opensans_semibold.o: ../../assets/fonts/opensans_semibold.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-img_spinner_track.o: ../../assets/img_spinner_track.png
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-img_spinner_comma.o: ../../assets/img_spinner_comma.png
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-%.o: %.c
-	@echo "[ CC ] $@"
-	$(CC) $(CFLAGS) -MMD \
-          -I../.. \
-          $(NANOVG_FLAGS) \
-          -c -o '$@' '$<'
-
-.PHONY: clean
-clean:
-	rm -f spinner $(OBJS) $(DEPS)
-
--include $(DEPS)
diff --git a/selfdrive/ui/spinner/spinner b/selfdrive/ui/spinner/spinner
deleted file mode 100755
index c8f8e68ecf4ae3..00000000000000
Binary files a/selfdrive/ui/spinner/spinner and /dev/null differ
diff --git a/selfdrive/ui/spinner/spinner.c b/selfdrive/ui/spinner/spinner.c
deleted file mode 100644
index 14b452a49ba438..00000000000000
--- a/selfdrive/ui/spinner/spinner.c
+++ /dev/null
@@ -1,21 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <math.h>
-#include <unistd.h>
-#include <assert.h>
-
-#include <GLES3/gl3.h>
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-
-#include "common/framebuffer.h"
-#include "common/spinner.h"
-
-int main(int argc, char** argv) {
-  int err;
-
-  spin(argc, argv);
-
-  return 0;
-}
diff --git a/selfdrive/ui/text b/selfdrive/ui/text
new file mode 100755
index 00000000000000..a7177c656f6937
--- /dev/null
+++ b/selfdrive/ui/text
@@ -0,0 +1,10 @@
+#!/bin/sh
+
+if [ -f /EON ] && [ ! -f qt/text ]; then
+  cp qt/text_aarch64 qt/text
+elif [ -f /TICI ] && [ ! -f qt/text ]; then
+  cp qt/text_larch64 qt/text
+fi
+
+export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
+exec ./qt/text "$1"
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index d212c92da72524..68c8c2cad55295 100755
--- a/selfdrive/ui/ui
+++ b/selfdrive/ui/ui
@@ -1,4 +1,5 @@
 #!/bin/sh
+cd "$(dirname "$0")"
 export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
+export QT_PLUGIN_PATH="../../third_party/qt-plugins/$(uname -m)"
 exec ./_ui
-
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index db28e373c302c8..d0c3c04879c9e7 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -1,971 +1,323 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <assert.h>
-#include <sys/mman.h>
-#include <sys/resource.h>
-
-#include <json.h>
-#include <czmq.h>
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "common/touch.h"
-#include "common/visionimg.h"
-#include "common/params.h"
-
-#include "ui.hpp"
-#include "sound.hpp"
-
-static int last_brightness = -1;
-static void set_brightness(UIState *s, int brightness) {
-  if (last_brightness != brightness && (s->awake || brightness == 0)) {
-    FILE *f = fopen("/sys/class/leds/lcd-backlight/brightness", "wb");
-    if (f != NULL) {
-      fprintf(f, "%d", brightness);
-      fclose(f);
-      last_brightness = brightness;
-    }
-  }
-}
-
-static void set_awake(UIState *s, bool awake) {
-#ifdef QCOM
-  if (awake) {
-    // 30 second timeout at 30 fps
-    s->awake_timeout = 30*30;
-  }
-  if (s->awake != awake) {
-    s->awake = awake;
-
-    // TODO: replace command_awake and command_sleep with direct calls to android
-    if (awake) {
-      LOGW("awake normal");
-      system("service call window 18 i32 1");  // enable event processing
-      framebuffer_set_power(s->fb, HWC_POWER_MODE_NORMAL);
-    } else {
-      LOGW("awake off");
-      set_brightness(s, 0);
-      system("service call window 18 i32 0");  // disable event processing
-      framebuffer_set_power(s->fb, HWC_POWER_MODE_OFF);
-    }
-  }
-#else
-  // computer UI doesn't sleep
-  s->awake = true;
-#endif
-}
-
-volatile sig_atomic_t do_exit = 0;
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
-static void read_param_bool(bool* param, const char* param_name) {
-  char *s;
-  const int result = read_db_value(NULL, param_name, &s, NULL);
-  if (result == 0) {
-    *param = s[0] == '1';
-    free(s);
-  }
-}
-
-static void read_param_float(float* param, const char* param_name) {
-  char *s;
-  const int result = read_db_value(NULL, param_name, &s, NULL);
-  if (result == 0) {
-    *param = strtod(s, NULL);
-    free(s);
-  }
-}
-
-static void read_param_bool_timeout(bool* param, const char* param_name, int* timeout) {
-  if (*timeout > 0){
-    (*timeout)--;
-  } else {
-    read_param_bool(param, param_name);
-    *timeout = 2 * UI_FREQ; // 0.5Hz
-  }
-}
+#include "selfdrive/ui/ui.h"
 
-static void read_param_float_timeout(float* param, const char* param_name, int* timeout) {
-  if (*timeout > 0){
-    (*timeout)--;
-  } else {
-    read_param_float(param, param_name);
-    *timeout = 2 * UI_FREQ; // 0.5Hz
-  }
-}
-
-static void ui_init(UIState *s) {
-  memset(s, 0, sizeof(UIState));
-
-  pthread_mutex_init(&s->lock, NULL);
-  pthread_cond_init(&s->bg_cond, NULL);
-
-  s->ctx = Context::create();
-  s->model_sock = SubSocket::create(s->ctx, "model");
-  s->controlsstate_sock = SubSocket::create(s->ctx, "controlsState");
-  s->uilayout_sock = SubSocket::create(s->ctx, "uiLayoutState");
-  s->livecalibration_sock = SubSocket::create(s->ctx, "liveCalibration");
-  s->radarstate_sock = SubSocket::create(s->ctx, "radarState");
-
-  assert(s->model_sock != NULL);
-  assert(s->controlsstate_sock != NULL);
-  assert(s->uilayout_sock != NULL);
-  assert(s->livecalibration_sock != NULL);
-  assert(s->radarstate_sock != NULL);
+#include <unistd.h>
 
-  s->poller = Poller::create({
-                              s->model_sock,
-                              s->controlsstate_sock,
-                              s->uilayout_sock,
-                              s->livecalibration_sock,
-                              s->radarstate_sock
-                             });
+#include <cassert>
+#include <cmath>
+#include <cstdio>
 
-#ifdef SHOW_SPEEDLIMIT
-  s->map_data_sock = SubSocket::create(s->ctx, "liveMapData");
-  assert(s->map_data_sock != NULL);
-  s->poller->registerSocket(s->map_data_sock);
-#endif
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/watchdog.h"
+#include "selfdrive/hardware/hw.h"
 
-  s->ipc_fd = -1;
+#define BACKLIGHT_DT 0.05
+#define BACKLIGHT_TS 10.00
+#define BACKLIGHT_OFFROAD 75
 
-  // init display
-  s->fb = framebuffer_init("ui", 0x00010000, true, &s->fb_w, &s->fb_h);
-  assert(s->fb);
 
-  set_awake(s, true);
+// Projects a point in car to space to the corresponding point in full frame
+// image space.
+static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out) {
+  const float margin = 500.0f;
+  const vec3 pt = (vec3){{in_x, in_y, in_z}};
+  const vec3 Ep = matvecmul3(s->scene.view_from_calib, pt);
+  const vec3 KEp = matvecmul3(s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep);
 
-  s->model_changed = false;
-  s->livempc_or_radarstate_changed = false;
+  // Project.
+  float x = KEp.v[0] / KEp.v[2];
+  float y = KEp.v[1] / KEp.v[2];
 
-  ui_nvg_init(s);
+  nvgTransformPoint(&out->x, &out->y, s->car_space_transform, x, y);
+  return out->x >= -margin && out->x <= s->fb_w + margin && out->y >= -margin && out->y <= s->fb_h + margin;
 }
 
-static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
-                           int num_back_fds, const int *back_fds,
-                           const VisionStreamBufs front_bufs, int num_front_fds,
-                           const int *front_fds) {
-  const VisionUIInfo ui_info = back_bufs.buf_info.ui_info;
-
-  assert(num_back_fds == UI_BUF_COUNT);
-  assert(num_front_fds == UI_BUF_COUNT);
-
-  vipc_bufs_load(s->bufs, &back_bufs, num_back_fds, back_fds);
-  vipc_bufs_load(s->front_bufs, &front_bufs, num_front_fds, front_fds);
-
-  s->cur_vision_idx = -1;
-  s->cur_vision_front_idx = -1;
-
-  s->scene = (UIScene){
-      .frontview = getenv("FRONTVIEW") != NULL,
-      .fullview = getenv("FULLVIEW") != NULL,
-      .transformed_width = ui_info.transformed_width,
-      .transformed_height = ui_info.transformed_height,
-      .front_box_x = ui_info.front_box_x,
-      .front_box_y = ui_info.front_box_y,
-      .front_box_width = ui_info.front_box_width,
-      .front_box_height = ui_info.front_box_height,
-      .world_objects_visible = false,  // Invisible until we receive a calibration message.
-      .gps_planner_active = false,
-  };
-
-  s->rgb_width = back_bufs.width;
-  s->rgb_height = back_bufs.height;
-  s->rgb_stride = back_bufs.stride;
-  s->rgb_buf_len = back_bufs.buf_len;
-
-  s->rgb_front_width = front_bufs.width;
-  s->rgb_front_height = front_bufs.height;
-  s->rgb_front_stride = front_bufs.stride;
-  s->rgb_front_buf_len = front_bufs.buf_len;
-
-  s->rgb_transform = (mat4){{
-    2.0f/s->rgb_width, 0.0f, 0.0f, -1.0f,
-    0.0f, 2.0f/s->rgb_height, 0.0f, -1.0f,
-    0.0f, 0.0f, 1.0f, 0.0f,
-    0.0f, 0.0f, 0.0f, 1.0f,
-  }};
-
-  read_param_float(&s->speed_lim_off, "SpeedLimitOffset");
-  read_param_bool(&s->is_metric, "IsMetric");
-  read_param_bool(&s->longitudinal_control, "LongitudinalControl");
-  read_param_bool(&s->limit_set_speed, "LimitSetSpeed");
-
-  // Set offsets so params don't get read at the same time
-  s->longitudinal_control_timeout = UI_FREQ / 3;
-  s->is_metric_timeout = UI_FREQ / 2;
-  s->limit_set_speed_timeout = UI_FREQ;
+static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
+  const auto line_x = line.getX();
+  int max_idx = 0;
+  for (int i = 0; i < TRAJECTORY_SIZE && line_x[i] < path_height; ++i) {
+    max_idx = i;
+  }
+  return max_idx;
 }
 
-static PathData read_path(cereal_ModelData_PathData_ptr pathp) {
-  PathData ret = {0};
-
-  struct cereal_ModelData_PathData pathd;
-  cereal_read_ModelData_PathData(&pathd, pathp);
-
-  ret.prob = pathd.prob;
-  ret.std = pathd.std;
-
-  capn_list32 polyp = pathd.poly;
-  capn_resolve(&polyp.p);
-  for (int i = 0; i < POLYFIT_DEGREE; i++) {
-    ret.poly[i] = capn_to_f32(capn_get32(polyp, i));
+static void update_leads(UIState *s, const cereal::ModelDataV2::Reader &model) {
+  auto leads = model.getLeadsV3();
+  auto model_position = model.getPosition();
+  for (int i = 0; i < 2; ++i) {
+    if (leads[i].getProb() > 0.5) {
+      float z = model_position.getZ()[get_path_length_idx(model_position, leads[i].getX()[0])];
+      calib_frame_to_full_frame(s, leads[i].getX()[0], leads[i].getY()[0], z + 1.22, &s->scene.lead_vertices[i]);
+    }
   }
+}
 
-  // Compute points locations
-  for (int i = 0; i < MODEL_PATH_DISTANCE; i++) {
-    ret.points[i] = ret.poly[0] * (i*i*i) + ret.poly[1] * (i*i)+ ret.poly[2] * i + ret.poly[3];
+static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
+                             float y_off, float z_off, line_vertices_data *pvd, int max_idx) {
+  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
+  vertex_data *v = &pvd->v[0];
+  for (int i = 0; i <= max_idx; i++) {
+    v += calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, v);
   }
-
-  return ret;
+  for (int i = max_idx; i >= 0; i--) {
+    v += calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, v);
+  }
+  pvd->cnt = v - pvd->v;
+  assert(pvd->cnt <= std::size(pvd->v));
 }
 
-static ModelData read_model(cereal_ModelData_ptr modelp) {
-  struct cereal_ModelData modeld;
-  cereal_read_ModelData(&modeld, modelp);
-
-  ModelData d = {0};
-
-  d.path = read_path(modeld.path);
-  d.left_lane = read_path(modeld.leftLane);
-  d.right_lane = read_path(modeld.rightLane);
-
-  struct cereal_ModelData_LeadData leadd;
-  cereal_read_ModelData_LeadData(&leadd, modeld.lead);
-  d.lead = (LeadData){
-      .dist = leadd.dist, .prob = leadd.prob, .std = leadd.std,
-  };
+static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
+  UIScene &scene = s->scene;
+  auto model_position = model.getPosition();
+  float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1],
+                                  MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+
+  // update lane lines
+  const auto lane_lines = model.getLaneLines();
+  const auto lane_line_probs = model.getLaneLineProbs();
+  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
+  for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
+    scene.lane_line_probs[i] = lane_line_probs[i];
+    update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
+  }
 
-  return d;
-}
+  // update road edges
+  const auto road_edges = model.getRoadEdges();
+  const auto road_edge_stds = model.getRoadEdgeStds();
+  for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
+    scene.road_edge_stds[i] = road_edge_stds[i];
+    update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
+  }
 
-static void update_status(UIState *s, int status) {
-  if (s->status != status) {
-    s->status = status;
-    // wake up bg thread to change
-    pthread_cond_signal(&s->bg_cond);
+  // update path
+  auto lead_one = model.getLeadsV3()[0];
+  if (lead_one.getProb() > 0.5) {
+    const float lead_d = lead_one.getX()[0] * 2.;
+    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
+  max_idx = get_path_length_idx(model_position, max_distance);
+  update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx);
 }
 
+static void update_sockets(UIState *s) {
+  s->sm->update(0);
+}
 
-void handle_message(UIState *s, Message * msg) {
-  struct capn ctx;
-  capn_init_mem(&ctx, (uint8_t*)msg->getData(), msg->getSize(), 0);
-
-  cereal_Event_ptr eventp;
-  eventp.p = capn_getp(capn_root(&ctx), 0, 1);
-  struct cereal_Event eventd;
-  cereal_read_Event(&eventd, eventp);
-
-  if (eventd.which == cereal_Event_controlsState) {
-    struct cereal_ControlsState datad;
-    cereal_read_ControlsState(&datad, eventd.controlsState);
-
-    s->controls_timeout = 1 * UI_FREQ;
-    s->controls_seen = true;
-
-    if (datad.vCruise != s->scene.v_cruise) {
-      s->scene.v_cruise_update_ts = eventd.logMonoTime;
-    }
-    s->scene.v_cruise = datad.vCruise;
-    s->scene.v_ego = datad.vEgo;
-    s->scene.curvature = datad.curvature;
-    s->scene.engaged = datad.enabled;
-    s->scene.engageable = datad.engageable;
-    s->scene.gps_planner_active = datad.gpsPlannerActive;
-    s->scene.monitoring_active = datad.driverMonitoringOn;
-
-    s->scene.frontview = datad.rearViewCam;
-
-    s->scene.decel_for_model = datad.decelForModel;
+static void update_state(UIState *s) {
+  SubMaster &sm = *(s->sm);
+  UIScene &scene = s->scene;
 
-    if (datad.alertSound != cereal_CarControl_HUDControl_AudibleAlert_none && datad.alertSound != s->alert_sound) {
-      if (s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
-        stop_alert_sound(s->alert_sound);
+  // update engageability and DM icons at 2Hz
+  if (sm.frame % (UI_FREQ / 2) == 0) {
+    auto cs = sm["controlsState"].getControlsState();
+    scene.engageable = cs.getEngageable() || cs.getEnabled();
+    scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
+  }
+  if (sm.updated("modelV2") && s->vg) {
+    auto model = sm["modelV2"].getModelV2();
+    update_model(s, model);
+    update_leads(s, model);
+  }
+  if (sm.updated("liveCalibration")) {
+    scene.world_objects_visible = true;
+    auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
+    Eigen::Vector3d rpy;
+    rpy << rpy_list[0], rpy_list[1], rpy_list[2];
+    Eigen::Matrix3d device_from_calib = euler2rot(rpy);
+    Eigen::Matrix3d view_from_device;
+    view_from_device << 0,1,0,
+                        0,0,1,
+                        1,0,0;
+    Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib;
+    for (int i = 0; i < 3; i++) {
+      for (int j = 0; j < 3; j++) {
+        scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j);
       }
-      play_alert_sound(datad.alertSound);
-
-      s->alert_sound = datad.alertSound;
-      snprintf(s->alert_type, sizeof(s->alert_type), "%s", datad.alertType.str);
-    } else if ((!datad.alertSound || datad.alertSound == cereal_CarControl_HUDControl_AudibleAlert_none)
-                  && s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
-      stop_alert_sound(s->alert_sound);
-      s->alert_type[0] = '\0';
-      s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
-    }
-
-    if (datad.alertText1.str) {
-      snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", datad.alertText1.str);
-    } else {
-      s->scene.alert_text1[0] = '\0';
-    }
-    if (datad.alertText2.str) {
-      snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", datad.alertText2.str);
-    } else {
-      s->scene.alert_text2[0] = '\0';
-    }
-    s->scene.awareness_status = datad.awarenessStatus;
-
-    s->scene.alert_ts = eventd.logMonoTime;
-
-    s->scene.alert_size = datad.alertSize;
-    if (datad.alertSize == cereal_ControlsState_AlertSize_none) {
-      s->alert_size = ALERTSIZE_NONE;
-    } else if (datad.alertSize == cereal_ControlsState_AlertSize_small) {
-      s->alert_size = ALERTSIZE_SMALL;
-    } else if (datad.alertSize == cereal_ControlsState_AlertSize_mid) {
-      s->alert_size = ALERTSIZE_MID;
-    } else if (datad.alertSize == cereal_ControlsState_AlertSize_full) {
-      s->alert_size = ALERTSIZE_FULL;
     }
-
-    if (s->status != STATUS_STOPPED) {
-      if (datad.alertStatus == cereal_ControlsState_AlertStatus_userPrompt) {
-        update_status(s, STATUS_WARNING);
-      } else if (datad.alertStatus == cereal_ControlsState_AlertStatus_critical) {
-        update_status(s, STATUS_ALERT);
-      } else if (datad.enabled) {
-        update_status(s, STATUS_ENGAGED);
-      } else {
-        update_status(s, STATUS_DISENGAGED);
+  }
+  if (sm.updated("pandaStates")) {
+    auto pandaStates = sm["pandaStates"].getPandaStates();
+    if (pandaStates.size() > 0) {
+      scene.pandaType = pandaStates[0].getPandaType();
+
+      if (scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) {
+        scene.ignition = false;
+        for (const auto& pandaState : pandaStates) {
+          scene.ignition |= pandaState.getIgnitionLine() || pandaState.getIgnitionCan();
+        }
       }
     }
-
-    s->scene.alert_blinkingrate = datad.alertBlinkingRate;
-    if (datad.alertBlinkingRate > 0.) {
-      if (s->alert_blinked) {
-        if (s->alert_blinking_alpha > 0.0 && s->alert_blinking_alpha < 1.0) {
-          s->alert_blinking_alpha += (0.05*datad.alertBlinkingRate);
-        } else {
-          s->alert_blinked = false;
+  } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) {
+    scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
+  }
+  if (sm.updated("carParams")) {
+    scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  }
+  if (!scene.started && sm.updated("sensorEvents")) {
+    for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
+      if (sensor.which() == cereal::SensorEventData::ACCELERATION) {
+        auto accel = sensor.getAcceleration().getV();
+        if (accel.totalSize().wordCount) { // TODO: sometimes empty lists are received. Figure out why
+          scene.accel_sensor = accel[2];
         }
-      } else {
-        if (s->alert_blinking_alpha > 0.25) {
-          s->alert_blinking_alpha -= (0.05*datad.alertBlinkingRate);
-        } else {
-          s->alert_blinking_alpha += 0.25;
-          s->alert_blinked = true;
+      } else if (sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
+        auto gyro = sensor.getGyroUncalibrated().getV();
+        if (gyro.totalSize().wordCount) {
+          scene.gyro_sensor = gyro[1];
         }
       }
     }
-  } else if (eventd.which == cereal_Event_radarState) {
-    struct cereal_RadarState datad;
-    cereal_read_RadarState(&datad, eventd.radarState);
-    struct cereal_RadarState_LeadData leaddatad;
-    cereal_read_RadarState_LeadData(&leaddatad, datad.leadOne);
-    s->scene.lead_status = leaddatad.status;
-    s->scene.lead_d_rel = leaddatad.dRel;
-    s->scene.lead_y_rel = leaddatad.yRel;
-    s->scene.lead_v_rel = leaddatad.vRel;
-    s->livempc_or_radarstate_changed = true;
-  } else if (eventd.which == cereal_Event_liveCalibration) {
-    s->scene.world_objects_visible = true;
-    struct cereal_LiveCalibrationData datad;
-    cereal_read_LiveCalibrationData(&datad, eventd.liveCalibration);
-
-    capn_list32 extrinsicl = datad.extrinsicMatrix;
-    capn_resolve(&extrinsicl.p);  // is this a bug?
-    for (int i = 0; i < 3 * 4; i++) {
-      s->scene.extrinsic_matrix.v[i] =
-          capn_to_f32(capn_get32(extrinsicl, i));
-    }
-  } else if (eventd.which == cereal_Event_model) {
-    s->scene.model = read_model(eventd.model);
-    s->model_changed = true;
-  } else if (eventd.which == cereal_Event_liveMpc) {
-    struct cereal_LiveMpcData datad;
-    cereal_read_LiveMpcData(&datad, eventd.liveMpc);
-
-    capn_list32 x_list = datad.x;
-    capn_resolve(&x_list.p);
-
-    for (int i = 0; i < 50; i++){
-      s->scene.mpc_x[i] = capn_to_f32(capn_get32(x_list, i));
-    }
-
-    capn_list32 y_list = datad.y;
-    capn_resolve(&y_list.p);
-
-    for (int i = 0; i < 50; i++){
-      s->scene.mpc_y[i] = capn_to_f32(capn_get32(y_list, i));
-    }
-    s->livempc_or_radarstate_changed = true;
-  } else if (eventd.which == cereal_Event_uiLayoutState) {
-    struct cereal_UiLayoutState datad;
-    cereal_read_UiLayoutState(&datad, eventd.uiLayoutState);
-    s->active_app = datad.activeApp;
-    s->scene.uilayout_sidebarcollapsed = datad.sidebarCollapsed;
-    s->scene.uilayout_mapenabled = datad.mapEnabled;
-
-    bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
-    bool mapEnabled = s->scene.uilayout_mapenabled;
-    if (mapEnabled) {
-      s->scene.ui_viz_rx = hasSidebar ? (box_x+nav_w) : (box_x+nav_w-(bdr_s*4));
-      s->scene.ui_viz_rw = hasSidebar ? (box_w-nav_w) : (box_w-nav_w+(bdr_s*4));
-      s->scene.ui_viz_ro = -(sbr_w + 4*bdr_s);
-    } else {
-      s->scene.ui_viz_rx = hasSidebar ? box_x : (box_x-sbr_w+bdr_s*2);
-      s->scene.ui_viz_rw = hasSidebar ? box_w : (box_w+sbr_w-(bdr_s*2));
-      s->scene.ui_viz_ro = hasSidebar ? -(sbr_w - 6*bdr_s) : 0;
-    }
-  } else if (eventd.which == cereal_Event_liveMapData) {
-    struct cereal_LiveMapData datad;
-    cereal_read_LiveMapData(&datad, eventd.liveMapData);
-    s->scene.map_valid = datad.mapValid;
   }
-  capn_free(&ctx);
-}
-
-static void ui_update(UIState *s) {
-  int err;
-
-  if (s->vision_connect_firstrun) {
-    // cant run this in connector thread because opengl.
-    // do this here for now in lieu of a run_on_main_thread event
-
-    for (int i=0; i<UI_BUF_COUNT; i++) {
-      if(s->khr[i] != NULL) {
-        visionimg_destroy_gl(s->khr[i], s->priv_hnds[i]);
-        glDeleteTextures(1, &s->frame_texs[i]);
-      }
-
-      VisionImg img = {
-        .fd = s->bufs[i].fd,
-        .format = VISIONIMG_FORMAT_RGB24,
-        .width = s->rgb_width,
-        .height = s->rgb_height,
-        .stride = s->rgb_stride,
-        .bpp = 3,
-        .size = s->rgb_buf_len,
-      };
-      #ifndef QCOM
-        s->priv_hnds[i] = s->bufs[i].addr;
-      #endif
-      s->frame_texs[i] = visionimg_to_gl(&img, &s->khr[i], &s->priv_hnds[i]);
-
-      glBindTexture(GL_TEXTURE_2D, s->frame_texs[i]);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-
-      // BGR
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
-    }
+  if (sm.updated("roadCameraState")) {
+    auto camera_state = sm["roadCameraState"].getRoadCameraState();
 
-    for (int i=0; i<UI_BUF_COUNT; i++) {
-      if(s->khr_front[i] != NULL) {
-        visionimg_destroy_gl(s->khr_front[i], s->priv_hnds_front[i]);
-        glDeleteTextures(1, &s->frame_front_texs[i]);
-      }
+    float max_lines = Hardware::EON() ? 5408 : 1904;
+    float max_gain = Hardware::EON() ? 1.0: 10.0;
+    float max_ev = max_lines * max_gain;
 
-      VisionImg img = {
-        .fd = s->front_bufs[i].fd,
-        .format = VISIONIMG_FORMAT_RGB24,
-        .width = s->rgb_front_width,
-        .height = s->rgb_front_height,
-        .stride = s->rgb_front_stride,
-        .bpp = 3,
-        .size = s->rgb_front_buf_len,
-      };
-      #ifndef QCOM
-        s->priv_hnds_front[i] = s->bufs[i].addr;
-      #endif
-      s->frame_front_texs[i] = visionimg_to_gl(&img, &s->khr_front[i], &s->priv_hnds_front[i]);
-
-      glBindTexture(GL_TEXTURE_2D, s->frame_front_texs[i]);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-
-      // BGR
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
+    if (Hardware::TICI()) {
+      max_ev /= 6;
     }
 
-    assert(glGetError() == GL_NO_ERROR);
-
-    // Default UI Measurements (Assumes sidebar collapsed)
-    s->scene.ui_viz_rx = (box_x-sbr_w+bdr_s*2);
-    s->scene.ui_viz_rw = (box_w+sbr_w-(bdr_s*2));
-    s->scene.ui_viz_ro = 0;
-
-    s->vision_connect_firstrun = false;
+    float ev = camera_state.getGain() * float(camera_state.getIntegLines());
 
-    s->alert_blinking_alpha = 1.0;
-    s->alert_blinked = false;
+    scene.light_sensor = std::clamp<float>(1.0 - (ev / max_ev), 0.0, 1.0);
   }
+  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
+}
 
-  zmq_pollitem_t polls[1] = {{0}};
-  // Take an rgb image from visiond if there is one
-  while(true) {
-    assert(s->ipc_fd >= 0);
-    polls[0].fd = s->ipc_fd;
-    polls[0].events = ZMQ_POLLIN;
-    #ifdef UI_60FPS
-      // uses more CPU in both UI and surfaceflinger
-      // 16% / 21%
-      int ret = zmq_poll(polls, 1, 1);
-    #else
-      // 9% / 13% = a 14% savings
-      int ret = zmq_poll(polls, 1, 1000);
-    #endif
-    if (ret < 0) {
-      if (errno == EINTR) continue;
-
-      LOGW("poll failed (%d)", ret);
-      close(s->ipc_fd);
-      s->ipc_fd = -1;
-      s->vision_connected = false;
-      return;
-    } else if (ret == 0) {
-      break;
-    }
-    // vision ipc event
-    VisionPacket rp;
-    err = vipc_recv(s->ipc_fd, &rp);
-    if (err <= 0) {
-      LOGW("vision disconnected");
-      close(s->ipc_fd);
-      s->ipc_fd = -1;
-      s->vision_connected = false;
-      return;
-    }
-    if (rp.type == VIPC_STREAM_ACQUIRE) {
-      bool front = rp.d.stream_acq.type == VISION_STREAM_RGB_FRONT;
-      int idx = rp.d.stream_acq.idx;
-
-      int release_idx;
-      if (front) {
-        release_idx = s->cur_vision_front_idx;
-      } else {
-        release_idx = s->cur_vision_idx;
-      }
-      if (release_idx >= 0) {
-        VisionPacket rep = {
-          .type = VIPC_STREAM_RELEASE,
-          .d = { .stream_rel = {
-            .type = rp.d.stream_acq.type,
-            .idx = release_idx,
-          }},
-        };
-        vipc_send(s->ipc_fd, &rep);
-      }
+static void update_params(UIState *s) {
+  const uint64_t frame = s->sm->frame;
+  UIScene &scene = s->scene;
+  if (frame % (5*UI_FREQ) == 0) {
+    scene.is_metric = Params().getBool("IsMetric");
+  }
+}
 
-      if (front) {
-        assert(idx < UI_BUF_COUNT);
-        s->cur_vision_front_idx = idx;
-      } else {
-        assert(idx < UI_BUF_COUNT);
-        s->cur_vision_idx = idx;
-        // printf("v %d\n", ((uint8_t*)s->bufs[idx].addr)[0]);
-      }
+static void update_status(UIState *s) {
+  if (s->scene.started && s->sm->updated("controlsState")) {
+    auto controls_state = (*s->sm)["controlsState"].getControlsState();
+    auto alert_status = controls_state.getAlertStatus();
+    if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
+      s->status = STATUS_WARNING;
+    } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
+      s->status = STATUS_ALERT;
     } else {
-      assert(false);
+      s->status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }
-    break;
   }
-  // peek and consume all events in the zmq queue, then return.
-  while(true) {
-    auto polls = s->poller->poll(0);
-
-    if (polls.size() == 0)
-      return;
-
-    for (auto sock : polls){
-      Message * msg = sock->receive();
-      if (msg == NULL) continue;
-
-      set_awake(s, true);
 
-      handle_message(s, msg);
-
-      delete msg;
-    }
+  // Handle onroad/offroad transition
+  static bool started_prev = false;
+  if (s->scene.started != started_prev) {
+    if (s->scene.started) {
+      s->status = STATUS_DISENGAGED;
+      s->scene.started_frame = s->sm->frame;
+      s->scene.end_to_end = Params().getBool("EndToEndToggle");
+      s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
+    }
+    // Invisible until we receive a calibration message.
+    s->scene.world_objects_visible = false;
   }
+  started_prev = s->scene.started;
 }
 
-static int vision_subscribe(int fd, VisionPacket *rp, VisionStreamType type) {
-  int err;
-  LOGW("vision_subscribe type:%d", type);
-
-  VisionPacket p1 = {
-    .type = VIPC_STREAM_SUBSCRIBE,
-    .d = { .stream_sub = { .type = type, .tbuffer = true, }, },
-  };
-  err = vipc_send(fd, &p1);
-  if (err < 0) {
-    close(fd);
-    return 0;
-  }
 
-  do {
-    err = vipc_recv(fd, rp);
-    if (err <= 0) {
-      close(fd);
-      return 0;
-    }
+QUIState::QUIState(QObject *parent) : QObject(parent) {
+  ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
+    "modelV2", "controlsState", "liveCalibration", "deviceState", "roadCameraState",
+    "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
+  });
 
-    // release what we aren't ready for yet
-    if (rp->type == VIPC_STREAM_ACQUIRE) {
-      VisionPacket rep = {
-        .type = VIPC_STREAM_RELEASE,
-        .d = { .stream_rel = {
-          .type = rp->d.stream_acq.type,
-          .idx = rp->d.stream_acq.idx,
-        }},
-      };
-      vipc_send(fd, &rep);
-    }
-  } while (rp->type != VIPC_STREAM_BUFS || rp->d.stream_bufs.type != type);
+  Params params;
+  ui_state.wide_camera = Hardware::TICI() ? params.getBool("EnableWideCamera") : false;
+  ui_state.has_prime = params.getBool("HasPrime");
 
-  return 1;
+  // update timer
+  timer = new QTimer(this);
+  QObject::connect(timer, &QTimer::timeout, this, &QUIState::update);
+  timer->start(1000 / UI_FREQ);
 }
 
-static void* vision_connect_thread(void *args) {
-  int err;
-  set_thread_name("vision_connect");
-
-  UIState *s = (UIState*)args;
-  while (!do_exit) {
-    usleep(100000);
-    pthread_mutex_lock(&s->lock);
-    bool connected = s->vision_connected;
-    pthread_mutex_unlock(&s->lock);
-    if (connected) continue;
-
-    int fd = vipc_connect();
-    if (fd < 0) continue;
-
-    VisionPacket back_rp, front_rp;
-    if (!vision_subscribe(fd, &back_rp, VISION_STREAM_RGB_BACK)) continue;
-    if (!vision_subscribe(fd, &front_rp, VISION_STREAM_RGB_FRONT)) continue;
-
-    pthread_mutex_lock(&s->lock);
-    assert(!s->vision_connected);
-    s->ipc_fd = fd;
-
-    ui_init_vision(s,
-                   back_rp.d.stream_bufs, back_rp.num_fds, back_rp.fds,
-                   front_rp.d.stream_bufs, front_rp.num_fds, front_rp.fds);
-
-    s->vision_connected = true;
-    s->vision_connect_firstrun = true;
-
-    // Drain sockets
-    while (true){
-      auto polls = s->poller->poll(0);
-      if (polls.size() == 0)
-        break;
-
-      for (auto sock : polls){
-        Message * msg = sock->receive();
-        if (msg == NULL) continue;
-        delete msg;
-      }
-    }
+void QUIState::update() {
+  update_params(&ui_state);
+  update_sockets(&ui_state);
+  update_state(&ui_state);
+  update_status(&ui_state);
 
-    pthread_mutex_unlock(&s->lock);
+  if (ui_state.scene.started != started_prev || ui_state.sm->frame == 1) {
+    started_prev = ui_state.scene.started;
+    emit offroadTransition(!ui_state.scene.started);
   }
-  return NULL;
-}
-
-#ifdef QCOM
-
-#include <cutils/properties.h>
-#include <hardware/sensors.h>
-#include <utils/Timers.h>
-
-static void* light_sensor_thread(void *args) {
-  int err;
-  set_thread_name("light_sensor");
 
-  UIState *s = (UIState*)args;
-  s->light_sensor = 0.0;
-
-  struct sensors_poll_device_t* device;
-  struct sensors_module_t* module;
-
-  hw_get_module(SENSORS_HARDWARE_MODULE_ID, (hw_module_t const**)&module);
-  sensors_open(&module->common, &device);
-
-  // need to do this
-  struct sensor_t const* list;
-  int count = module->get_sensors_list(module, &list);
-
-  int SENSOR_LIGHT = 7;
+  watchdog_kick();
+  emit uiUpdate(ui_state);
+}
 
-  err = device->activate(device, SENSOR_LIGHT, 0);
-  if (err != 0) goto fail;
-  err = device->activate(device, SENSOR_LIGHT, 1);
-  if (err != 0) goto fail;
+Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
+}
 
-  device->setDelay(device, SENSOR_LIGHT, ms2ns(100));
+void Device::update(const UIState &s) {
+  updateBrightness(s);
+  updateWakefulness(s);
 
-  while (!do_exit) {
-    static const size_t numEvents = 1;
-    sensors_event_t buffer[numEvents];
+  // TODO: remove from UIState and use signals
+  QUIState::ui_state.awake = awake;
+}
 
-    int n = device->poll(device, buffer, numEvents);
-    if (n < 0) {
-      LOG_100("light_sensor_poll failed: %d", n);
-    }
-    if (n > 0) {
-      s->light_sensor = buffer[0].light;
-    }
+void Device::setAwake(bool on, bool reset) {
+  if (on != awake) {
+    awake = on;
+    Hardware::set_display_power(awake);
+    LOGD("setting display power %d", awake);
+    emit displayPowerChanged(awake);
   }
 
-  return NULL;
-
-fail:
-  LOGE("LIGHT SENSOR IS MISSING");
-  s->light_sensor = 255;
-  return NULL;
+  if (reset) {
+    awake_timeout = 30 * UI_FREQ;
+  }
 }
 
+void Device::updateBrightness(const UIState &s) {
+  // Scale to 0% to 100%
+  float clipped_brightness = 100.0 * s.scene.light_sensor;
 
-static void* bg_thread(void* args) {
-  UIState *s = (UIState*)args;
-  set_thread_name("bg");
-
-  FramebufferState *bg_fb = framebuffer_init("bg", 0x00001000, false, NULL, NULL);
-  assert(bg_fb);
-
-  int bg_status = -1;
-  while(!do_exit) {
-    pthread_mutex_lock(&s->lock);
-    if (bg_status == s->status) {
-      // will always be signaled if it changes?
-      pthread_cond_wait(&s->bg_cond, &s->lock);
-    }
-    bg_status = s->status;
-    pthread_mutex_unlock(&s->lock);
-
-    assert(bg_status < ARRAYSIZE(bg_colors));
-    const uint8_t *color = bg_colors[bg_status];
-
-    glClearColor(color[0]/256.0, color[1]/256.0, color[2]/256.0, 0.0);
-    glClear(GL_COLOR_BUFFER_BIT);
-
-    framebuffer_swap(bg_fb);
+  // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
+  if (clipped_brightness <= 8) {
+    clipped_brightness = (clipped_brightness / 903.3);
+  } else {
+    clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0);
   }
 
-  return NULL;
-}
+  // Scale back to 10% to 100%
+  clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
 
-#endif
+  if (!s.scene.started) {
+    clipped_brightness = BACKLIGHT_OFFROAD;
+  }
 
-int is_leon() {
-  #define MAXCHAR 1000
-  FILE *fp;
-  char str[MAXCHAR];
-  const char* filename = "/proc/cmdline";
+  int brightness = brightness_filter.update(clipped_brightness);
+  if (!awake) {
+    brightness = 0;
+  }
 
-  fp = fopen(filename, "r");
-  if (fp == NULL){
-    printf("Could not open file %s",filename);
-    return 0;
+  if (brightness != last_brightness) {
+    std::thread{Hardware::set_brightness, brightness}.detach();
   }
-  fgets(str, MAXCHAR, fp);
-  fclose(fp);
-  return strstr(str, "letv") != NULL;
+  last_brightness = brightness;
 }
 
-
-
-int main(int argc, char* argv[]) {
-  int err;
-  setpriority(PRIO_PROCESS, 0, -14);
-
-  zsys_handler_set(NULL);
-  signal(SIGINT, (sighandler_t)set_do_exit);
-
-  UIState uistate;
-  UIState *s = &uistate;
-  ui_init(s);
-
-  pthread_t connect_thread_handle;
-  err = pthread_create(&connect_thread_handle, NULL,
-                       vision_connect_thread, s);
-  assert(err == 0);
-
-#ifdef QCOM
-  pthread_t light_sensor_thread_handle;
-  err = pthread_create(&light_sensor_thread_handle, NULL,
-                       light_sensor_thread, s);
-  assert(err == 0);
-
-  pthread_t bg_thread_handle;
-  err = pthread_create(&bg_thread_handle, NULL,
-                       bg_thread, s);
-  assert(err == 0);
-#endif
-
-  TouchState touch = {0};
-  touch_init(&touch);
-  s->touch_fd = touch.fd;
-
-  ui_sound_init();
-
-  // light sensor scaling params
-  const int LEON = is_leon();
-
-  const float BRIGHTNESS_B = LEON ? 10.0 : 5.0;
-  const float BRIGHTNESS_M = LEON ? 2.6 : 1.3;
-
-  float smooth_brightness = BRIGHTNESS_B;
-
-  const int MIN_VOLUME = LEON ? 12 : 9;
-  const int MAX_VOLUME = LEON ? 15 : 12;
-
-  set_volume(MIN_VOLUME);
-  s->volume_timeout = 5 * UI_FREQ;
-  int draws = 0;
-  while (!do_exit) {
-    bool should_swap = false;
-    if (!s->vision_connected) {
-      // Delay a while to avoid 9% cpu usage while car is not started and user is keeping touching on the screen.
-      // Don't hold the lock while sleeping, so that vision_connect_thread have chances to get the lock.
-      usleep(30 * 1000);
-    }
-    pthread_mutex_lock(&s->lock);
-    double u1 = millis_since_boot();
-
-    // light sensor is only exposed on EONs
-    float clipped_brightness = (s->light_sensor*BRIGHTNESS_M) + BRIGHTNESS_B;
-    if (clipped_brightness > 512) clipped_brightness = 512;
-    smooth_brightness = clipped_brightness * 0.01 + smooth_brightness * 0.99;
-    if (smooth_brightness > 255) smooth_brightness = 255;
-    set_brightness(s, (int)smooth_brightness);
-
-    if (!s->vision_connected) {
-      // Car is not started, keep in idle state and awake on touch events
-      zmq_pollitem_t polls[1] = {{0}};
-      polls[0].fd = s->touch_fd;
-      polls[0].events = ZMQ_POLLIN;
-      int ret = zmq_poll(polls, 1, 0);
-      if (ret < 0){
-        if (errno == EINTR) continue;
-        LOGW("poll failed (%d)", ret);
-      } else if (ret > 0) {
-        // awake on any touch
-        int touch_x = -1, touch_y = -1;
-        int touched = touch_read(&touch, &touch_x, &touch_y);
-        if (touched == 1) {
-          set_awake(s, true);
-        }
-      }
-      if (s->status != STATUS_STOPPED) {
-        update_status(s, STATUS_STOPPED);
-      }
-    } else {
-      if (s->status == STATUS_STOPPED) {
-        update_status(s, STATUS_DISENGAGED);
-      }
-      // Car started, fetch a new rgb image from ipc and peek for zmq events.
-      ui_update(s);
-      if(!s->vision_connected) {
-        // Visiond process is just stopped, force a redraw to make screen blank again.
-        ui_draw(s);
-        glFinish();
-        should_swap = true;
-      }
-    }
-
-    // manage wakefulness
-    if (s->awake_timeout > 0) {
-      s->awake_timeout--;
-    } else {
-      set_awake(s, false);
-    }
-
-    // Don't waste resources on drawing in case screen is off or car is not started.
-    if (s->awake && s->vision_connected) {
-      ui_draw(s);
-      glFinish();
-      should_swap = true;
-    }
-
-    if (s->volume_timeout > 0) {
-      s->volume_timeout--;
-    } else {
-      int volume = fmin(MAX_VOLUME, MIN_VOLUME + s->scene.v_ego / 5);  // up one notch every 5 m/s
-      set_volume(volume);
-      s->volume_timeout = 5 * UI_FREQ;
-    }
-
-    if (s->controls_timeout > 0) {
-      s->controls_timeout--;
-    } else {
-      // stop playing alert sound
-      if ((!s->vision_connected || (s->vision_connected && s->alert_sound_timeout == 0)) &&
-            s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
-        stop_alert_sound(s->alert_sound);
-        s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
-      }
-
-      // if visiond is still running and controlsState times out, display an alert
-      // TODO: refactor this to not be here
-      if (s->controls_seen && s->vision_connected && strcmp(s->scene.alert_text2, "Controls Unresponsive") != 0) {
-        s->scene.alert_size = ALERTSIZE_FULL;
-        if (s->status != STATUS_STOPPED) {
-          update_status(s, STATUS_ALERT);
-        }
-        snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", "TAKE CONTROL IMMEDIATELY");
-        snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", "Controls Unresponsive");
-        ui_draw_vision_alert(s, s->scene.alert_size, s->status, s->scene.alert_text1, s->scene.alert_text2);
-
-        s->alert_sound_timeout = 2 * UI_FREQ;
-
-        s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_chimeWarningRepeat;
-        play_alert_sound(s->alert_sound);
-      }
-      s->alert_sound_timeout--;
-      s->controls_seen = false;
-    }
-
-    read_param_bool_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
-    read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
-    read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
-    read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
-
-    pthread_mutex_unlock(&s->lock);
-
-    // the bg thread needs to be scheduled, so the main thread needs time without the lock
-    // safe to do this outside the lock?
-    if (should_swap) {
-      double u2 = millis_since_boot();
-      if (u2-u1 > 66) {
-        // warn on sub 15fps
-        LOGW("slow frame(%d) time: %.2f", draws, u2-u1);
-      }
-      draws++;
-      framebuffer_swap(s->fb);
-    }
+void Device::updateWakefulness(const UIState &s) {
+  awake_timeout = std::max(awake_timeout - 1, 0);
+
+  bool should_wake = s.scene.started || s.scene.ignition;
+  if (!should_wake) {
+    // tap detection while display is off
+    bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2;
+    bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15;
+    should_wake = accel_trigger && gyro_trigger;
+    gyro_prev = s.scene.gyro_sensor;
+    accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples;
   }
 
-  set_awake(s, true);
-  ui_sound_destroy();
-
-  // wake up bg thread to exit
-  pthread_mutex_lock(&s->lock);
-  pthread_cond_signal(&s->bg_cond);
-  pthread_mutex_unlock(&s->lock);
-
-#ifdef QCOM
-  // join light_sensor_thread?
-
-  err = pthread_join(bg_thread_handle, NULL);
-  assert(err == 0);
-#endif
-
-  err = pthread_join(connect_thread_handle, NULL);
-  assert(err == 0);
-
-  return 0;
+  setAwake(awake_timeout, should_wake);
 }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
new file mode 100644
index 00000000000000..4fcc137df7d8ff
--- /dev/null
+++ b/selfdrive/ui/ui.h
@@ -0,0 +1,207 @@
+#pragma once
+
+#include <map>
+#include <memory>
+#include <string>
+
+#include <QObject>
+#include <QTimer>
+#include <QColor>
+
+#include "nanovg.h"
+
+#include "cereal/messaging/messaging.h"
+#include "common/transformations/orientation.hpp"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/modeldata.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
+
+#define COLOR_BLACK nvgRGBA(0, 0, 0, 255)
+#define COLOR_BLACK_ALPHA(x) nvgRGBA(0, 0, 0, x)
+#define COLOR_WHITE nvgRGBA(255, 255, 255, 255)
+#define COLOR_WHITE_ALPHA(x) nvgRGBA(255, 255, 255, x)
+#define COLOR_RED_ALPHA(x) nvgRGBA(201, 34, 49, x)
+#define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
+#define COLOR_RED nvgRGBA(201, 34, 49, 255)
+
+const int bdr_s = 30;
+const int header_h = 420;
+const int footer_h = 280;
+
+const int UI_FREQ = 20;   // Hz
+
+typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
+
+// TODO: this is also hardcoded in common/transformations/camera.py
+// TODO: choose based on frame input size
+const float y_offset = Hardware::EON() ? 0.0 : 150.0;
+const float ZOOM = Hardware::EON() ? 2138.5 : 2912.8;
+
+typedef struct Rect {
+  int x, y, w, h;
+  int centerX() const { return x + w / 2; }
+  int centerY() const { return y + h / 2; }
+  int right() const { return x + w; }
+  int bottom() const { return y + h; }
+  bool ptInRect(int px, int py) const {
+    return px >= x && px < (x + w) && py >= y && py < (y + h);
+  }
+} Rect;
+
+struct Alert {
+  QString text1;
+  QString text2;
+  QString type;
+  cereal::ControlsState::AlertSize size;
+  AudibleAlert sound;
+  bool equal(const Alert &a2) {
+    return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound;
+  }
+
+  static Alert get(const SubMaster &sm, uint64_t started_frame) {
+    if (sm.updated("controlsState")) {
+      const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
+      return {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+              cs.getAlertType().cStr(), cs.getAlertSize(),
+              cs.getAlertSound()};
+    } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
+      const int CONTROLS_TIMEOUT = 5;
+      // Handle controls timeout
+      if (sm.rcv_frame("controlsState") < started_frame) {
+        // car is started, but controlsState hasn't been seen at all
+        return {"openpilot Unavailable", "Waiting for controls to start",
+                "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+                AudibleAlert::NONE};
+      } else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) {
+        // car is started, but controls is lagging or died
+        return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
+                "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+                AudibleAlert::CHIME_WARNING_REPEAT};
+      }
+    }
+    return {};
+  }
+};
+
+typedef enum UIStatus {
+  STATUS_DISENGAGED,
+  STATUS_ENGAGED,
+  STATUS_WARNING,
+  STATUS_ALERT,
+} UIStatus;
+
+const QColor bg_colors [] = {
+  [STATUS_DISENGAGED] =  QColor(0x17, 0x33, 0x49, 0xc8),
+  [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
+  [STATUS_WARNING] = QColor(0xDA, 0x6F, 0x25, 0xf1),
+  [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
+};
+
+typedef struct {
+  float x, y;
+} vertex_data;
+
+typedef struct {
+  vertex_data v[TRAJECTORY_SIZE * 2];
+  int cnt;
+} line_vertices_data;
+
+typedef struct UIScene {
+
+  mat3 view_from_calib;
+  bool world_objects_visible;
+
+  cereal::PandaState::PandaType pandaType;
+
+  // modelV2
+  float lane_line_probs[4];
+  float road_edge_stds[2];
+  line_vertices_data track_vertices;
+  line_vertices_data lane_line_vertices[4];
+  line_vertices_data road_edge_vertices[2];
+
+  bool dm_active, engageable;
+
+  // lead
+  vertex_data lead_vertices[2];
+
+  float light_sensor, accel_sensor, gyro_sensor;
+  bool started, ignition, is_metric, longitudinal_control, end_to_end;
+  uint64_t started_frame;
+} UIScene;
+
+typedef struct UIState {
+  int fb_w = 0, fb_h = 0;
+  NVGcontext *vg;
+
+  // images
+  std::map<std::string, int> images;
+
+  std::unique_ptr<SubMaster> sm;
+
+  UIStatus status;
+  UIScene scene = {};
+
+  bool awake;
+  bool has_prime = false;
+
+  float car_space_transform[6];
+  bool wide_camera;
+} UIState;
+
+
+class QUIState : public QObject {
+  Q_OBJECT
+
+public:
+  QUIState(QObject* parent = 0);
+
+  // TODO: get rid of this, only use signal
+  inline static UIState ui_state = {0};
+
+signals:
+  void uiUpdate(const UIState &s);
+  void offroadTransition(bool offroad);
+
+private slots:
+  void update();
+
+private:
+  QTimer *timer;
+  bool started_prev = true;
+};
+
+
+// device management class
+
+class Device : public QObject {
+  Q_OBJECT
+
+public:
+  Device(QObject *parent = 0);
+
+private:
+  // auto brightness
+  const float accel_samples = 5*UI_FREQ;
+
+  bool awake;
+  int awake_timeout = 0;
+  float accel_prev = 0;
+  float gyro_prev = 0;
+  float last_brightness = 0;
+  FirstOrderFilter brightness_filter;
+
+  QTimer *timer;
+
+  void updateBrightness(const UIState &s);
+  void updateWakefulness(const UIState &s);
+
+signals:
+  void displayPowerChanged(bool on);
+
+public slots:
+  void setAwake(bool on, bool reset);
+  void update(const UIState &s);
+};
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
deleted file mode 100644
index 65471c3632c285..00000000000000
--- a/selfdrive/ui/ui.hpp
+++ /dev/null
@@ -1,258 +0,0 @@
-#ifndef _UI_H
-#define _UI_H
-
-#ifdef __APPLE__
-#include <OpenGL/gl3.h>
-#define NANOVG_GL3_IMPLEMENTATION
-#define nvgCreate nvgCreateGL3
-#else
-#include <GLES3/gl3.h>
-#include <EGL/egl.h>
-#define NANOVG_GLES3_IMPLEMENTATION
-#define nvgCreate nvgCreateGLES3
-#endif
-
-#include <pthread.h>
-
-#include "nanovg.h"
-
-#include "common/mat.h"
-#include "common/visionipc.h"
-#include "common/visionimg.h"
-#include "common/framebuffer.h"
-#include "common/modeldata.h"
-#include "messaging.hpp"
-
-#include "cereal/gen/c/log.capnp.h"
-
-#include "sound.hpp"
-
-#define STATUS_STOPPED 0
-#define STATUS_DISENGAGED 1
-#define STATUS_ENGAGED 2
-#define STATUS_WARNING 3
-#define STATUS_ALERT 4
-
-#define ALERTSIZE_NONE 0
-#define ALERTSIZE_SMALL 1
-#define ALERTSIZE_MID 2
-#define ALERTSIZE_FULL 3
-
-#ifndef QCOM
-  #define UI_60FPS
-#endif
-
-#define UI_BUF_COUNT 4
-//#define SHOW_SPEEDLIMIT 1
-//#define DEBUG_TURN
-
-const int vwp_w = 1920;
-const int vwp_h = 1080;
-const int nav_w = 640;
-const int nav_ww= 760;
-const int sbr_w = 300;
-const int bdr_s = 30;
-const int box_x = sbr_w+bdr_s;
-const int box_y = bdr_s;
-const int box_w = vwp_w-sbr_w-(bdr_s*2);
-const int box_h = vwp_h-(bdr_s*2);
-const int viz_w = vwp_w-(bdr_s*2);
-const int header_h = 420;
-const int footer_h = 280;
-const int footer_y = vwp_h-bdr_s-footer_h;
-
-const int UI_FREQ = 30;   // Hz
-
-const int MODEL_PATH_MAX_VERTICES_CNT = 98;
-const int MODEL_LANE_PATH_CNT = 3;
-const int TRACK_POINTS_MAX_CNT = 50 * 2;
-
-const int SET_SPEED_NA = 255;
-
-const uint8_t bg_colors[][4] = {
-  [STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xff},
-  [STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xff},
-  [STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xff},
-  [STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xff},
-  [STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xff},
-};
-
-
-typedef struct UIScene {
-  int frontview;
-  int fullview;
-
-  int transformed_width, transformed_height;
-
-  ModelData model;
-
-  float mpc_x[50];
-  float mpc_y[50];
-
-  bool world_objects_visible;
-  mat4 extrinsic_matrix;      // Last row is 0 so we can use mat4.
-
-  float v_cruise;
-  uint64_t v_cruise_update_ts;
-  float v_ego;
-  bool decel_for_model;
-
-  float speedlimit;
-  bool speedlimit_valid;
-  bool map_valid;
-
-  float curvature;
-  int engaged;
-  bool engageable;
-  bool monitoring_active;
-
-  bool uilayout_sidebarcollapsed;
-  bool uilayout_mapenabled;
-  // responsive layout
-  int ui_viz_rx;
-  int ui_viz_rw;
-  int ui_viz_ro;
-
-  int lead_status;
-  float lead_d_rel, lead_y_rel, lead_v_rel;
-
-  int front_box_x, front_box_y, front_box_width, front_box_height;
-
-  uint64_t alert_ts;
-  char alert_text1[1024];
-  char alert_text2[1024];
-  uint8_t alert_size;
-  float alert_blinkingrate;
-
-  float awareness_status;
-
-  // Used to show gps planner status
-  bool gps_planner_active;
-} UIScene;
-
-typedef struct {
-  float x, y;
-}vertex_data;
-
-typedef struct {
-  vertex_data v[MODEL_PATH_MAX_VERTICES_CNT];
-  int cnt;
-} model_path_vertices_data;
-
-typedef struct {
-  vertex_data v[TRACK_POINTS_MAX_CNT];
-  int cnt;
-} track_vertices_data;
-
-
-typedef struct UIState {
-  pthread_mutex_t lock;
-  pthread_cond_t bg_cond;
-
-  // framebuffer
-  FramebufferState *fb;
-  int fb_w, fb_h;
-
-  // NVG
-  NVGcontext *vg;
-
-  // fonts and images
-  int font_courbd;
-  int font_sans_regular;
-  int font_sans_semibold;
-  int font_sans_bold;
-  int img_wheel;
-  int img_turn;
-  int img_face;
-  int img_map;
-
-  // sockets
-  Context *ctx;
-  SubSocket *model_sock;
-  SubSocket *controlsstate_sock;
-  SubSocket *livecalibration_sock;
-  SubSocket *radarstate_sock;
-  SubSocket *map_data_sock;
-  SubSocket *uilayout_sock;
-  Poller * poller;
-
-  int active_app;
-
-  // vision state
-  bool vision_connected;
-  bool vision_connect_firstrun;
-  int ipc_fd;
-
-  VIPCBuf bufs[UI_BUF_COUNT];
-  VIPCBuf front_bufs[UI_BUF_COUNT];
-  int cur_vision_idx;
-  int cur_vision_front_idx;
-
-  GLuint frame_program;
-  GLuint frame_texs[UI_BUF_COUNT];
-  EGLImageKHR khr[UI_BUF_COUNT];
-  void *priv_hnds[UI_BUF_COUNT];
-  GLuint frame_front_texs[UI_BUF_COUNT];
-  EGLImageKHR khr_front[UI_BUF_COUNT];
-  void *priv_hnds_front[UI_BUF_COUNT];
-
-  GLint frame_pos_loc, frame_texcoord_loc;
-  GLint frame_texture_loc, frame_transform_loc;
-
-  int rgb_width, rgb_height, rgb_stride;
-  size_t rgb_buf_len;
-  mat4 rgb_transform;
-
-  int rgb_front_width, rgb_front_height, rgb_front_stride;
-  size_t rgb_front_buf_len;
-
-  UIScene scene;
-  bool awake;
-
-  // timeouts
-  int awake_timeout;
-  int volume_timeout;
-  int controls_timeout;
-  int alert_sound_timeout;
-  int speed_lim_off_timeout;
-  int is_metric_timeout;
-  int longitudinal_control_timeout;
-  int limit_set_speed_timeout;
-
-  bool controls_seen;
-
-  int status;
-  bool is_metric;
-  bool longitudinal_control;
-  bool limit_set_speed;
-  float speed_lim_off;
-  bool is_ego_over_limit;
-  char alert_type[64];
-  AudibleAlert alert_sound;
-  int alert_size;
-  float alert_blinking_alpha;
-  bool alert_blinked;
-
-  float light_sensor;
-
-  int touch_fd;
-
-  // Hints for re-calculations and redrawing
-  bool model_changed;
-  bool livempc_or_radarstate_changed;
-
-  GLuint frame_vao[2], frame_vbo[2], frame_ibo[2];
-  mat4 rear_frame_mat, front_frame_mat;
-
-  model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];
-
-  track_vertices_data track_vertices[2];
-} UIState;
-
-// API
-void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
-                          const char* va_text1, const char* va_text2); 
-void ui_draw(UIState *s);
-void ui_nvg_init(UIState *s);
-
-#endif
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
new file mode 100644
index 00000000000000..e5e2864ccbb299
--- /dev/null
+++ b/selfdrive/ui/watch3.cc
@@ -0,0 +1,28 @@
+#include <QApplication>
+#include <QtWidgets>
+
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+int main(int argc, char *argv[]) {
+  QSurfaceFormat fmt;
+  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
+  QSurfaceFormat::setDefaultFormat(fmt);
+
+  QApplication a(argc, argv);
+  QWidget w;
+  setMainWindow(&w);
+
+  QVBoxLayout *layout = new QVBoxLayout(&w);
+  layout->setMargin(0);
+  layout->setSpacing(0);
+  layout->addWidget(new CameraViewWidget(VISION_STREAM_RGB_BACK, false));
+
+  QHBoxLayout *hlayout = new QHBoxLayout();
+  layout->addLayout(hlayout);
+  hlayout->addWidget(new CameraViewWidget(VISION_STREAM_RGB_FRONT, false));
+  hlayout->addWidget(new CameraViewWidget(VISION_STREAM_RGB_WIDE, false));
+
+  return a.exec();
+}
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 29847fdb8b47a2..78760bea44f13c 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -26,339 +26,413 @@
 import datetime
 import subprocess
 import psutil
-from stat import S_ISREG, S_ISDIR, S_ISLNK, S_IMODE, ST_MODE, ST_INO, ST_UID, ST_GID, ST_ATIME, ST_MTIME
 import shutil
 import signal
-from pathlib import Path
 import fcntl
+import time
 import threading
-from cffi import FFI
+from pathlib import Path
+from typing import List, Tuple, Optional
 
 from common.basedir import BASEDIR
+from common.markdown import parse_markdown
 from common.params import Params
+from selfdrive.hardware import EON, TICI, HARDWARE
 from selfdrive.swaglog import cloudlog
+from selfdrive.controls.lib.alertmanager import set_offroad_alert
 
-STAGING_ROOT = "/data/safe_staging"
+LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
+STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
+
+NEOSUPDATE_DIR = os.getenv("UPDATER_NEOSUPDATE_DIR", "/data/neoupdate")
 
 OVERLAY_UPPER = os.path.join(STAGING_ROOT, "upper")
 OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata")
 OVERLAY_MERGED = os.path.join(STAGING_ROOT, "merged")
 FINALIZED = os.path.join(STAGING_ROOT, "finalized")
 
-NICE_LOW_PRIORITY = ["nice", "-n", "19"]
-SHORT = os.getenv("SHORT") is not None
-
-# Workaround for the EON/termux build of Python having os.link removed.
-ffi = FFI()
-ffi.cdef("int link(const char *oldpath, const char *newpath);")
-libc = ffi.dlopen(None)
-
 
 class WaitTimeHelper:
-  ready_event = threading.Event()
-  shutdown = False
-
-  def __init__(self):
+  def __init__(self, proc):
+    self.proc = proc
+    self.ready_event = threading.Event()
+    self.shutdown = False
     signal.signal(signal.SIGTERM, self.graceful_shutdown)
     signal.signal(signal.SIGINT, self.graceful_shutdown)
     signal.signal(signal.SIGHUP, self.update_now)
 
-  def graceful_shutdown(self, signum, frame):
-    # umount -f doesn't appear effective in avoiding "device busy" on EON,
+  def graceful_shutdown(self, signum: int, frame) -> None:
+    # umount -f doesn't appear effective in avoiding "device busy" on NEOS,
     # so don't actually die until the next convenient opportunity in main().
     cloudlog.info("caught SIGINT/SIGTERM, dismounting overlay at next opportunity")
+
+    # forward the signal to all our child processes
+    child_procs = self.proc.children(recursive=True)
+    for p in child_procs:
+      p.send_signal(signum)
+
     self.shutdown = True
     self.ready_event.set()
 
-  def update_now(self, signum, frame):
+  def update_now(self, signum: int, frame) -> None:
     cloudlog.info("caught SIGHUP, running update check immediately")
     self.ready_event.set()
 
-
-def wait_between_updates(ready_event):
-  ready_event.clear()
-  if SHORT:
-    ready_event.wait(timeout=10)
-  else:
-    ready_event.wait(timeout=60 * 10)
-
-
-def link(src, dest):
-  # Workaround for the EON/termux build of Python having os.link removed.
-  return libc.link(src.encode(), dest.encode())
+  def sleep(self, t: float) -> None:
+    self.ready_event.wait(timeout=t)
 
 
-def run(cmd, cwd=None):
+def run(cmd: List[str], cwd: Optional[str] = None, low_priority: bool = False):
+  if low_priority:
+    cmd = ["nice", "-n", "19"] + cmd
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
 
 
-def remove_consistent_flag():
-  os.system("sync")
+def set_consistent_flag(consistent: bool) -> None:
+  os.sync()
   consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))
-  try:
-    consistent_file.unlink()
-  except FileNotFoundError:
-    pass
-  os.system("sync")
-
-
-def set_consistent_flag():
-  consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))
-  os.system("sync")
-  consistent_file.touch()
-  os.system("sync")
+  if consistent:
+    consistent_file.touch()
+  elif not consistent:
+    consistent_file.unlink(missing_ok=True)
+  os.sync()
 
 
-def set_update_available_params(new_version=False):
+def set_params(new_version: bool, failed_count: int, exception: Optional[str]) -> None:
   params = Params()
 
-  t = datetime.datetime.now().isoformat()
-  params.put("LastUpdateTime", t.encode('utf8'))
+  params.put("UpdateFailedCount", str(failed_count))
+  if failed_count == 0:
+    t = datetime.datetime.utcnow().isoformat()
+    params.put("LastUpdateTime", t.encode('utf8'))
+
+  if exception is None:
+    params.delete("LastUpdateException")
+  else:
+    params.put("LastUpdateException", exception)
 
   if new_version:
     try:
       with open(os.path.join(FINALIZED, "RELEASES.md"), "rb") as f:
-        r = f.read()
-      r = r[:r.find(b'\n\n')]  # Slice latest release notes
-      params.put("ReleaseNotes", r + b"\n")
+        r = f.read().split(b'\n\n', 1)[0]  # Slice latest release notes
+      try:
+        params.put("ReleaseNotes", parse_markdown(r.decode("utf-8")))
+      except Exception:
+        params.put("ReleaseNotes", r + b"\n")
     except Exception:
       params.put("ReleaseNotes", "")
-    params.put("UpdateAvailable", "1")
+    params.put_bool("UpdateAvailable", True)
 
 
-def dismount_ovfs():
+def setup_git_options(cwd: str) -> None:
+  # We sync FS object atimes (which NEOS doesn't use) and mtimes, but ctimes
+  # are outside user control. Make sure Git is set up to ignore system ctimes,
+  # because they change when we make hard links during finalize. Otherwise,
+  # there is a lot of unnecessary churn. This appears to be a common need on
+  # OSX as well: https://www.git-tower.com/blog/make-git-rebase-safe-on-osx/
+
+  # We are using copytree to copy the directory, which also changes
+  # inode numbers. Ignore those changes too.
+  git_cfg = [
+    ("core.trustctime", "false"),
+    ("core.checkStat", "minimal"),
+  ]
+  for option, value in git_cfg:
+    run(["git", "config", option, value], cwd)
+
+
+def dismount_overlay() -> None:
   if os.path.ismount(OVERLAY_MERGED):
-    cloudlog.error("unmounting existing overlay")
-    run(["umount", "-l", OVERLAY_MERGED])
+    cloudlog.info("unmounting existing overlay")
+    args = ["umount", "-l", OVERLAY_MERGED]
+    if TICI:
+      args = ["sudo"] + args
+    run(args)
 
 
-def init_ovfs():
-  cloudlog.info("preparing new safe staging area")
-  Params().put("UpdateAvailable", "0")
+def init_overlay() -> None:
+
+  overlay_init_file = Path(os.path.join(BASEDIR, ".overlay_init"))
 
-  remove_consistent_flag()
+  # Re-create the overlay if BASEDIR/.git has changed since we created the overlay
+  if overlay_init_file.is_file():
+    git_dir_path = os.path.join(BASEDIR, ".git")
+    new_files = run(["find", git_dir_path, "-newer", str(overlay_init_file)])
+    if not len(new_files.splitlines()):
+      # A valid overlay already exists
+      return
+    else:
+      cloudlog.info(".git directory changed, recreating overlay")
+
+  cloudlog.info("preparing new safe staging area")
 
-  dismount_ovfs()
+  params = Params()
+  params.put_bool("UpdateAvailable", False)
+  set_consistent_flag(False)
+  dismount_overlay()
+  if TICI:
+    run(["sudo", "rm", "-rf", STAGING_ROOT])
   if os.path.isdir(STAGING_ROOT):
     shutil.rmtree(STAGING_ROOT)
 
-  for dirname in [STAGING_ROOT, OVERLAY_UPPER, OVERLAY_METADATA, OVERLAY_MERGED, FINALIZED]:
+  for dirname in [STAGING_ROOT, OVERLAY_UPPER, OVERLAY_METADATA, OVERLAY_MERGED]:
     os.mkdir(dirname, 0o755)
-  if not os.lstat(BASEDIR).st_dev == os.lstat(OVERLAY_MERGED).st_dev:
-    raise RuntimeError("base and overlay merge directories are on different filesystems; not valid for overlay FS!")
-
-  # Remove consistent flag from current BASEDIR so it's not copied over
-  if os.path.isfile(os.path.join(BASEDIR, ".overlay_consistent")):
-    os.remove(os.path.join(BASEDIR, ".overlay_consistent"))
 
-  # We sync FS object atimes (which EON doesn't use) and mtimes, but ctimes
-  # are outside user control. Make sure Git is set up to ignore system ctimes,
-  # because they change when we make hard links during finalize. Otherwise,
-  # there is a lot of unnecessary churn. This appears to be a common need on
-  # OSX as well: https://www.git-tower.com/blog/make-git-rebase-safe-on-osx/
-  run(["git", "config", "core.trustctime", "false"], BASEDIR)
-
-  # We are temporarily using copytree to copy the directory, which also changes
-  # inode numbers. Ignore those changes too.
-  run(["git", "config", "core.checkStat", "minimal"], BASEDIR)
+  if os.lstat(BASEDIR).st_dev != os.lstat(OVERLAY_MERGED).st_dev:
+    raise RuntimeError("base and overlay merge directories are on different filesystems; not valid for overlay FS!")
 
-  # Leave a timestamped canary in BASEDIR to check at startup. The EON clock
+  # Leave a timestamped canary in BASEDIR to check at startup. The device clock
   # should be correct by the time we get here. If the init file disappears, or
   # critical mtimes in BASEDIR are newer than .overlay_init, continue.sh can
   # assume that BASEDIR has used for local development or otherwise modified,
   # and skips the update activation attempt.
-  Path(os.path.join(BASEDIR, ".overlay_init")).touch()
+  consistent_file = Path(os.path.join(BASEDIR, ".overlay_consistent"))
+  if consistent_file.is_file():
+    consistent_file.unlink()
+  overlay_init_file.touch()
 
+  os.sync()
   overlay_opts = f"lowerdir={BASEDIR},upperdir={OVERLAY_UPPER},workdir={OVERLAY_METADATA}"
-  run(["mount", "-t", "overlay", "-o", overlay_opts, "none", OVERLAY_MERGED])
 
+  mount_cmd = ["mount", "-t", "overlay", "-o", overlay_opts, "none", OVERLAY_MERGED]
+  if TICI:
+    run(["sudo"] + mount_cmd)
+    run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")])
+  else:
+    run(mount_cmd)
 
-def inodes_in_tree(search_dir):
-  """Given a search root, produce a dictionary mapping of inodes to relative
-  pathnames of regular files (no directories, symlinks, or special files)."""
-  inode_map = {}
-  for root, dirs, files in os.walk(search_dir, topdown=True):
-    for file_name in files:
-      full_path_name = os.path.join(root, file_name)
-      st = os.lstat(full_path_name)
-      if S_ISREG(st[ST_MODE]):
-        inode_map[st[ST_INO]] = full_path_name
-  return inode_map
+  git_diff = run(["git", "diff"], OVERLAY_MERGED, low_priority=True)
+  params.put("GitDiff", git_diff)
+  cloudlog.info(f"git diff output:\n{git_diff}")
 
 
-def dup_ovfs_object(inode_map, source_obj, target_dir):
-  """Given a relative pathname to copy, and a new target root, duplicate the
-  source object in the target root, using hardlinks for regular files."""
+def finalize_update() -> None:
+  """Take the current OverlayFS merged view and finalize a copy outside of
+  OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree"""
 
-  source_full_path = os.path.join(OVERLAY_MERGED, source_obj)
-  st = os.lstat(source_full_path)
-  target_full_path = os.path.join(target_dir, source_obj)
+  # Remove the update ready flag and any old updates
+  cloudlog.info("creating finalized version of the overlay")
+  set_consistent_flag(False)
 
-  if S_ISREG(st[ST_MODE]):
-    # Hardlink all regular files; ownership and permissions are shared.
-    link(inode_map[st[ST_INO]], target_full_path)
-  else:
-    # Recreate all directories and symlinks; copy ownership and permissions.
-    if S_ISDIR(st[ST_MODE]):
-      os.mkdir(os.path.join(FINALIZED, source_obj), S_IMODE(st[ST_MODE]))
-    elif S_ISLNK(st[ST_MODE]):
-      os.symlink(os.readlink(source_full_path), target_full_path)
-      os.chmod(target_full_path, S_IMODE(st[ST_MODE]), follow_symlinks=False)
-    else:
-      # Ran into a FIFO, socket, etc. Should not happen in OP install dir.
-      # Ignore without copying for the time being; revisit later if needed.
-      cloudlog.error("can't copy this file type: %s" % source_full_path)
-    os.chown(target_full_path, st[ST_UID], st[ST_GID], follow_symlinks=False)
+  # Copy the merged overlay view and set the update ready flag
+  if os.path.exists(FINALIZED):
+    shutil.rmtree(FINALIZED)
+  shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
 
-  # Sync target mtimes to the cached lstat() value from each source object.
-  # Restores shared inode mtimes after linking, fixes symlinks and dirs.
-  os.utime(target_full_path, (st[ST_ATIME], st[ST_MTIME]), follow_symlinks=False)
+  run(["git", "reset", "--hard"], FINALIZED)
+  run(["git", "submodule", "foreach", "--recursive", "git", "reset"], FINALIZED)
 
+  set_consistent_flag(True)
+  cloudlog.info("done finalizing overlay")
 
-def finalize_from_ovfs_hardlink():
-  """Take the current OverlayFS merged view and finalize a copy outside of
-  OverlayFS, ready to be swapped-in at BASEDIR. Copy using hardlinks"""
 
-  cloudlog.info("creating finalized version of the overlay")
+def handle_agnos_update(wait_helper: WaitTimeHelper) -> None:
+  from selfdrive.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
 
-  # The "copy" is done with hardlinks, but since the OverlayFS merge looks
-  # like a different filesystem, and hardlinks can't cross filesystems, we
-  # have to borrow a source pathname from the upper or lower layer.
-  inode_map = inodes_in_tree(BASEDIR)
-  inode_map.update(inodes_in_tree(OVERLAY_UPPER))
-
-  shutil.rmtree(FINALIZED)
-  os.umask(0o077)
-  os.mkdir(FINALIZED)
-  for root, dirs, files in os.walk(OVERLAY_MERGED, topdown=True):
-    for obj_name in dirs:
-      relative_path_name = os.path.relpath(os.path.join(root, obj_name), OVERLAY_MERGED)
-      dup_ovfs_object(inode_map, relative_path_name, FINALIZED)
-    for obj_name in files:
-      relative_path_name = os.path.relpath(os.path.join(root, obj_name), OVERLAY_MERGED)
-      dup_ovfs_object(inode_map, relative_path_name, FINALIZED)
-  cloudlog.info("done finalizing overlay")
+  cur_version = HARDWARE.get_os_version()
+  updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
+                          echo -n $AGNOS_VERSION"], OVERLAY_MERGED).strip()
 
+  cloudlog.info(f"AGNOS version check: {cur_version} vs {updated_version}")
+  if cur_version == updated_version:
+    return
 
-def finalize_from_ovfs_copy():
-  """Take the current OverlayFS merged view and finalize a copy outside of
-  OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree"""
+  # prevent an openpilot getting swapped in with a mismatched or partially downloaded agnos
+  set_consistent_flag(False)
+
+  cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
+  set_offroad_alert("Offroad_NeosUpdate", True)
+
+  manifest_path = os.path.join(OVERLAY_MERGED, "selfdrive/hardware/tici/agnos.json")
+  target_slot_number = get_target_slot_number()
+  flash_agnos_update(manifest_path, target_slot_number, cloudlog)
+  set_offroad_alert("Offroad_NeosUpdate", False)
+
+
+def handle_neos_update(wait_helper: WaitTimeHelper) -> None:
+  from selfdrive.hardware.eon.neos import download_neos_update
+
+  cur_neos = HARDWARE.get_os_version()
+  updated_neos = run(["bash", "-c", r"unset REQUIRED_NEOS_VERSION && source launch_env.sh && \
+                       echo -n $REQUIRED_NEOS_VERSION"], OVERLAY_MERGED).strip()
+
+  cloudlog.info(f"NEOS version check: {cur_neos} vs {updated_neos}")
+  if cur_neos == updated_neos:
+    return
+
+  cloudlog.info(f"Beginning background download for NEOS {updated_neos}")
+  set_offroad_alert("Offroad_NeosUpdate", True)
+
+  update_manifest = os.path.join(OVERLAY_MERGED, "selfdrive/hardware/eon/neos.json")
+
+  neos_downloaded = False
+  start_time = time.monotonic()
+  # Try to download for one day
+  while not neos_downloaded and not wait_helper.shutdown and \
+        (time.monotonic() - start_time < 60*60*24):
+    wait_helper.ready_event.clear()
+    try:
+      download_neos_update(update_manifest, cloudlog)
+      neos_downloaded = True
+    except Exception:
+      cloudlog.info("NEOS background download failed, retrying")
+      wait_helper.sleep(120)
+
+  # If the download failed, we'll show the alert again when we retry
+  set_offroad_alert("Offroad_NeosUpdate", False)
+  if not neos_downloaded:
+    raise Exception("Failed to download NEOS update")
+  cloudlog.info(f"NEOS background download successful, took {time.monotonic() - start_time} seconds")
 
-  cloudlog.info("creating finalized version of the overlay")
-  shutil.rmtree(FINALIZED)
-  shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
-  cloudlog.info("done finalizing overlay")
 
+def check_git_fetch_result(fetch_txt: str) -> bool:
+  err_msg = "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n"
+  return len(fetch_txt) > 0 and (fetch_txt != err_msg)
 
-def attempt_update():
-  cloudlog.info("attempting git update inside staging overlay")
 
-  git_fetch_output = run(NICE_LOW_PRIORITY + ["git", "fetch"], OVERLAY_MERGED)
+def check_for_update() -> Tuple[bool, bool]:
+  setup_git_options(OVERLAY_MERGED)
+  try:
+    git_fetch_output = run(["git", "fetch", "--dry-run"], OVERLAY_MERGED, low_priority=True)
+    return True, check_git_fetch_result(git_fetch_output)
+  except subprocess.CalledProcessError:
+    return False, False
+
+
+def fetch_update(wait_helper: WaitTimeHelper) -> bool:
+  cloudlog.info("attempting git fetch inside staging overlay")
+
+  setup_git_options(OVERLAY_MERGED)
+
+  git_fetch_output = run(["git", "fetch"], OVERLAY_MERGED, low_priority=True)
   cloudlog.info("git fetch success: %s", git_fetch_output)
 
   cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip()
   upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip()
   new_version = cur_hash != upstream_hash
-
-  git_fetch_result = len(git_fetch_output) > 0 and (git_fetch_output != "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n")
+  git_fetch_result = check_git_fetch_result(git_fetch_output)
 
   cloudlog.info("comparing %s to %s" % (cur_hash, upstream_hash))
   if new_version or git_fetch_result:
     cloudlog.info("Running update")
+
     if new_version:
       cloudlog.info("git reset in progress")
       r = [
-        run(NICE_LOW_PRIORITY + ["git", "reset", "--hard", "@{u}"], OVERLAY_MERGED),
-        run(NICE_LOW_PRIORITY + ["git", "clean", "-xdf"], OVERLAY_MERGED),
-        run(NICE_LOW_PRIORITY + ["git", "submodule", "init"], OVERLAY_MERGED),
-        run(NICE_LOW_PRIORITY + ["git", "submodule", "update"], OVERLAY_MERGED),
+        run(["git", "reset", "--hard", "@{u}"], OVERLAY_MERGED, low_priority=True),
+        run(["git", "clean", "-xdf"], OVERLAY_MERGED, low_priority=True ),
+        run(["git", "submodule", "init"], OVERLAY_MERGED, low_priority=True),
+        run(["git", "submodule", "update"], OVERLAY_MERGED, low_priority=True),
       ]
       cloudlog.info("git reset success: %s", '\n'.join(r))
 
-    # Un-set the validity flag to prevent the finalized tree from being
-    # activated later if the finalize step is interrupted
-    remove_consistent_flag()
-
-    finalize_from_ovfs_copy()
-
-    # Make sure the validity flag lands on disk LAST, only when the local git
-    # repo and OP install are in a consistent state.
-    set_consistent_flag()
+      if EON:
+        handle_neos_update(wait_helper)
+      elif TICI:
+        handle_agnos_update(wait_helper)
 
-    cloudlog.info("update successful!")
+    # Create the finalized, ready-to-swap update
+    finalize_update()
+    cloudlog.info("openpilot update successful!")
   else:
     cloudlog.info("nothing new from git at this time")
 
-  set_update_available_params(new_version=new_version)
+  return new_version
 
 
-def main(gctx=None):
-  update_failed_count = 0
-  overlay_init_done = False
-  wait_helper = WaitTimeHelper()
+def main():
   params = Params()
 
-  if not os.geteuid() == 0:
+  if params.get_bool("DisableUpdates"):
+    raise RuntimeError("updates are disabled by the DisableUpdates param")
+
+  if EON and os.geteuid() != 0:
     raise RuntimeError("updated must be launched as root!")
 
+  ov_lock_fd = open(LOCK_FILE, 'w')
+  try:
+    fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+  except IOError as e:
+    raise RuntimeError("couldn't get overlay lock; is another updated running?") from e
+
   # Set low io priority
-  p = psutil.Process()
+  proc = psutil.Process()
   if psutil.LINUX:
-    p.ionice(psutil.IOPRIO_CLASS_BE, value=7)
+    proc.ionice(psutil.IOPRIO_CLASS_BE, value=7)
 
-  ov_lock_fd = open('/tmp/safe_staging_overlay.lock', 'w')
-  try:
-    fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
-  except IOError:
-    raise RuntimeError("couldn't get overlay lock; is another updated running?")
+  # Check if we just performed an update
+  if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir():
+    cloudlog.event("update installed")
 
-  while True:
-    update_failed_count += 1
-    time_wrong = datetime.datetime.now().year < 2019
-    ping_failed = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
+  if not params.get("InstallDate"):
+    t = datetime.datetime.utcnow().isoformat()
+    params.put("InstallDate", t.encode('utf8'))
 
-    # Wait until we have a valid datetime to initialize the overlay
-    if not (ping_failed or time_wrong):
-      try:
-        # If the git directory has modifcations after we created the overlay
-        # we need to recreate the overlay
-        if overlay_init_done:
-          overlay_init_fn = os.path.join(BASEDIR, ".overlay_init")
-          git_dir_path = os.path.join(BASEDIR, ".git")
-          new_files = run(["find", git_dir_path, "-newer", overlay_init_fn])
-
-          if len(new_files.splitlines()):
-            cloudlog.info(".git directory changed, recreating overlay")
-            overlay_init_done = False
-
-        if not overlay_init_done:
-          init_ovfs()
-          overlay_init_done = True
-
-        if params.get("IsOffroad") == b"1":
-          attempt_update()
-          update_failed_count = 0
-        else:
-          cloudlog.info("not running updater, openpilot running")
-
-      except subprocess.CalledProcessError as e:
-        cloudlog.event(
-          "update process failed",
-          cmd=e.cmd,
-          output=e.output,
-          returncode=e.returncode
-        )
-        overlay_init_done = False
-      except Exception:
-        cloudlog.exception("uncaught updated exception, shouldn't happen")
+  # Wait for IsOffroad to be set before our first update attempt
+  wait_helper = WaitTimeHelper(proc)
+  wait_helper.sleep(30)
+
+  overlay_init = Path(os.path.join(BASEDIR, ".overlay_init"))
+  overlay_init.unlink(missing_ok=True)
+
+  first_run = True
+  last_fetch_time = 0
+  update_failed_count = 0
 
-    params.put("UpdateFailedCount", str(update_failed_count))
-    wait_between_updates(wait_helper.ready_event)
-    if wait_helper.shutdown:
-      break
+  # Run the update loop
+  #  * every 1m, do a lightweight internet/update check
+  #  * every 10m, do a full git fetch
+  while not wait_helper.shutdown:
+    update_now = wait_helper.ready_event.is_set()
+    wait_helper.ready_event.clear()
+
+    # Don't run updater while onroad or if the time's wrong
+    time_wrong = datetime.datetime.utcnow().year < 2019
+    is_onroad = not params.get_bool("IsOffroad")
+    if is_onroad or time_wrong:
+      wait_helper.sleep(30)
+      cloudlog.info("not running updater, not offroad")
+      continue
+
+    # Attempt an update
+    exception = None
+    new_version = False
+    update_failed_count += 1
+    try:
+      init_overlay()
+
+      internet_ok, update_available = check_for_update()
+      if internet_ok and not update_available:
+        update_failed_count = 0
+
+      # Fetch updates at most every 10 minutes
+      if internet_ok and (update_now or time.monotonic() - last_fetch_time > 60*10):
+        new_version = fetch_update(wait_helper)
+        update_failed_count = 0
+        last_fetch_time = time.monotonic()
+
+        if first_run and not new_version and os.path.isdir(NEOSUPDATE_DIR):
+          shutil.rmtree(NEOSUPDATE_DIR)
+        first_run = False
+    except subprocess.CalledProcessError as e:
+      cloudlog.event(
+        "update process failed",
+        cmd=e.cmd,
+        output=e.output,
+        returncode=e.returncode
+      )
+      exception = f"command failed: {e.cmd}\n{e.output}"
+      overlay_init.unlink(missing_ok=True)
+    except Exception as e:
+      cloudlog.exception("uncaught updated exception, shouldn't happen")
+      exception = str(e)
+      overlay_init.unlink(missing_ok=True)
+
+    set_params(new_version, update_failed_count, exception)
+    wait_helper.sleep(60)
+
+  dismount_overlay()
 
-  # We've been signaled to shut down
-  dismount_ovfs()
 
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/version.py b/selfdrive/version.py
index 77dc266687fb66..7a2234e3ec1e0d 100644
--- a/selfdrive/version.py
+++ b/selfdrive/version.py
@@ -1,81 +1,107 @@
 #!/usr/bin/env python3
 import os
 import subprocess
+from typing import List, Optional
+
+from common.basedir import BASEDIR
 from selfdrive.swaglog import cloudlog
 
 
-def get_git_commit():
-  try:
-    return subprocess.check_output(["git", "rev-parse", "HEAD"], encoding='utf8').strip()
-  except subprocess.CalledProcessError:
-    return None
+TESTED_BRANCHES = ['devel', 'release2-staging', 'release3-staging', 'dashcam-staging', 'release2', 'release3', 'dashcam']
 
 
-def get_git_branch():
-  try:
-    return subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"], encoding='utf8').strip()
-  except subprocess.CalledProcessError:
-    return None
+def run_cmd(cmd: List[str]) -> str:
+    return subprocess.check_output(cmd, encoding='utf8').strip()
 
 
-def get_git_full_branchname():
+def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[str]:
   try:
-    return subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], encoding='utf8').strip()
+    return run_cmd(cmd)
   except subprocess.CalledProcessError:
-    return None
+    return default
+
+
+def get_git_commit(branch: str = "HEAD", default: Optional[str] = None) -> Optional[str]:
+  return run_cmd_default(["git", "rev-parse", branch], default=default)
+
+
+def get_git_branch(default: Optional[str] = None) -> Optional[str]:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], default=default)
+
 
+def get_git_full_branchname(default: Optional[str] = None) -> Optional[str]:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], default=default)
 
-def get_git_remote():
+
+def get_git_remote(default: Optional[str] = None) -> Optional[str]:
   try:
-    local_branch = subprocess.check_output(["git", "name-rev", "--name-only", "HEAD"], encoding='utf8').strip()
-    tracking_remote = subprocess.check_output(["git", "config", "branch." + local_branch + ".remote"], encoding='utf8').strip()
-    return subprocess.check_output(["git", "config", "remote." + tracking_remote + ".url"], encoding='utf8').strip()
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"])
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
+    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
+  except subprocess.CalledProcessError:  # Not on a branch, fallback
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], default=default)
 
-  except subprocess.CalledProcessError:
-    try:
-      # Not on a branch, fallback
-      return subprocess.check_output(["git", "config", "--get", "remote.origin.url"], encoding='utf8').strip()
-    except subprocess.CalledProcessError:
-      return None
 
+def get_version():
+  with open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "common", "version.h")) as _versionf:
+    version = _versionf.read().split('"')[1]
+  return version
 
-with open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "common", "version.h")) as _versionf:
-  version = _versionf.read().split('"')[1]
+version = get_version()
+prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
-training_version = b"0.2.0"
-terms_version = b"2"
+training_version: bytes = b"0.2.0"
+terms_version: bytes = b"2"
 
-dirty = True
+dirty: bool = True
+comma_remote: bool = False
+tested_branch: bool = False
 origin = get_git_remote()
 branch = get_git_full_branchname()
+commit = get_git_commit()
 
-try:
-  # This is needed otherwise touched files might show up as modified
+if (origin is not None) and (branch is not None):
   try:
-    subprocess.check_call(["git", "update-index", "--refresh"])
-  except subprocess.CalledProcessError:
-    pass
-
-  if (origin is not None) and (branch is not None):
     comma_remote = origin.startswith('git@github.com:commaai') or origin.startswith('https://github.com/commaai')
-
-    dirty = not comma_remote
+    tested_branch = get_git_branch() in TESTED_BRANCHES
+
+    dirty = False
+
+    # Actually check dirty files
+    if not prebuilt:
+      # This is needed otherwise touched files might show up as modified
+      try:
+        subprocess.check_call(["git", "update-index", "--refresh"])
+      except subprocess.CalledProcessError:
+        pass
+      dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0)
+
+      # Log dirty files
+      if dirty and comma_remote:
+        try:
+          dirty_files = run_cmd(["git", "diff-index", branch, "--"])
+          cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch,
+                         dirty_files=dirty_files, commit=commit, origin_commit=get_git_commit(branch))
+        except subprocess.CalledProcessError:
+          pass
+
+    dirty = dirty or (not comma_remote)
     dirty = dirty or ('master' in branch)
-    dirty = dirty or (subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0)
 
-    if dirty:
-      dirty_files = subprocess.check_output(["git", "diff-index", branch, "--"], encoding='utf8')
-      commit = subprocess.check_output(["git", "rev-parse", "--verify", "HEAD"], encoding='utf8').rstrip()
-      origin_commit = subprocess.check_output(["git", "rev-parse", "--verify", branch], encoding='utf8').rstrip()
-      cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch, dirty_files=dirty_files, commit=commit, origin_commit=origin_commit)
-
-except subprocess.CalledProcessError:
-  dirty = True
-  cloudlog.exception("git subprocess failed while checking dirty")
+  except subprocess.CalledProcessError:
+    dirty = True
+    cloudlog.exception("git subprocess failed while checking dirty")
 
 
 if __name__ == "__main__":
+  from common.params import Params
+
+  params = Params()
+  params.put("TermsVersion", terms_version)
+  params.put("TrainingVersion", training_version)
+
   print("Dirty: %s" % dirty)
   print("Version: %s" % version)
   print("Remote: %s" % origin)
-  print("Branch %s" % branch)
+  print("Branch: %s" % branch)
+  print("Prebuilt: %s" % prebuilt)
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
new file mode 100644
index 00000000000000..c2914755336b40
--- /dev/null
+++ b/site_scons/site_tools/cython.py
@@ -0,0 +1,72 @@
+import re
+import SCons
+from SCons.Action import Action
+from SCons.Scanner import Scanner
+
+pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
+pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
+cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
+
+
+def pyx_scan(node, env, path, arg=None):
+  contents = node.get_text_contents()
+
+  # from <module> cimport ...
+  matches = pyx_from_import_re.findall(contents)
+  # cimport <module>
+  matches += pyx_import_re.findall(contents)
+
+  # Modules can be either .pxd or .pyx files
+  files = [m.replace('.', '/') + '.pxd' for m in matches]
+  files += [m.replace('.', '/') + '.pyx' for m in matches]
+
+  # cdef extern from <file>
+  files += cdef_import_re.findall(contents)
+
+  # Handle relative imports
+  cur_dir = str(node.get_dir())
+  files = [cur_dir + f if f.startswith('/') else f for f in files]
+
+  # Filter out non-existing files (probably system imports)
+  files = [f for f in files if env.File(f).exists()]
+  return env.File(files)
+
+
+pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
+cythonAction = Action("$CYTHONCOM")
+
+
+def create_builder(env):
+  try:
+    cython = env['BUILDERS']['Cython']
+  except KeyError:
+    cython = SCons.Builder.Builder(
+      action=cythonAction,
+      emitter={},
+      suffix=cython_suffix_emitter,
+      single_source=1
+    )
+    env.Append(SCANNERS=pyxscanner)
+    env['BUILDERS']['Cython'] = cython
+  return cython
+
+def cython_suffix_emitter(env, source):
+  return "$CYTHONCFILESUFFIX"
+
+def generate(env):
+  env["CYTHON"] = "cythonize"
+  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
+  env["CYTHONCFILESUFFIX"] = ".cpp"
+
+  c_file, _ = SCons.Tool.createCFileBuilders(env)
+
+  c_file.suffix['.pyx'] = cython_suffix_emitter
+  c_file.add_action('.pyx', cythonAction)
+
+  c_file.suffix['.py'] = cython_suffix_emitter
+  c_file.add_action('.py', cythonAction)
+
+  create_builder(env)
+
+def exists(env):
+  return True
diff --git a/third_party/SConscript b/third_party/SConscript
new file mode 100644
index 00000000000000..5a7a62ae5ada06
--- /dev/null
+++ b/third_party/SConscript
@@ -0,0 +1,6 @@
+Import('env')
+
+env.Library('json11', ['json11/json11.cpp'])
+env.Append(CPPPATH=[Dir('json11')])
+
+env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE'])
diff --git a/third_party/acados/aarch64/lib/libacados.so b/third_party/acados/aarch64/lib/libacados.so
new file mode 100755
index 00000000000000..fe961d8c5045d4
Binary files /dev/null and b/third_party/acados/aarch64/lib/libacados.so differ
diff --git a/third_party/acados/aarch64/lib/libblasfeo.so b/third_party/acados/aarch64/lib/libblasfeo.so
new file mode 100755
index 00000000000000..a59f3f79f8b396
Binary files /dev/null and b/third_party/acados/aarch64/lib/libblasfeo.so differ
diff --git a/third_party/acados/aarch64/lib/libhpipm.so b/third_party/acados/aarch64/lib/libhpipm.so
new file mode 100755
index 00000000000000..6916c9c7139493
Binary files /dev/null and b/third_party/acados/aarch64/lib/libhpipm.so differ
diff --git a/third_party/acados/aarch64/lib/libqpOASES_e.so b/third_party/acados/aarch64/lib/libqpOASES_e.so
new file mode 120000
index 00000000000000..14048625a1c2d3
--- /dev/null
+++ b/third_party/acados/aarch64/lib/libqpOASES_e.so
@@ -0,0 +1 @@
+libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/aarch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/aarch64/lib/libqpOASES_e.so.3.1
new file mode 100755
index 00000000000000..98d8dbfcd1d34b
Binary files /dev/null and b/third_party/acados/aarch64/lib/libqpOASES_e.so.3.1 differ
diff --git a/third_party/acados/aarch64/t_renderer b/third_party/acados/aarch64/t_renderer
new file mode 100755
index 00000000000000..dc3cdf554f793f
Binary files /dev/null and b/third_party/acados/aarch64/t_renderer differ
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
new file mode 100644
index 00000000000000..f3809c42948fc7
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
@@ -0,0 +1,150 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
+#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_dense_qp.h"
+#include "hpipm/include/hpipm_d_dense_qp_res.h"
+#include "hpipm/include/hpipm_d_dense_qp_sol.h"
+// acados
+#include "acados/utils/types.h"
+
+typedef struct d_dense_qp_dim dense_qp_dims;
+typedef struct d_dense_qp dense_qp_in;
+typedef struct d_dense_qp_sol dense_qp_out;
+typedef struct d_dense_qp_res dense_qp_res;
+typedef struct d_dense_qp_res_ws dense_qp_res_ws;
+
+
+
+#ifndef QP_SOLVER_CONFIG_
+#define QP_SOLVER_CONFIG_
+typedef struct
+{
+    void (*dims_set)(void *config_, void *dims_, const char *field, const int* value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *args);
+    void (*opts_update)(void *config, void *dims, void *args);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args);
+    void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args);
+    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work);
+    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} qp_solver_config;
+#endif
+
+
+
+#ifndef QP_INFO_
+#define QP_INFO_
+typedef struct
+{
+    double solve_QP_time;
+    double condensing_time;
+    double interface_time;
+    double total_time;
+    int num_iter;
+    int t_computed;
+} qp_info;
+#endif
+
+
+
+/* config */
+//
+acados_size_t dense_qp_solver_config_calculate_size();
+//
+qp_solver_config *dense_qp_solver_config_assign(void *raw_memory);
+
+/* dims */
+//
+acados_size_t dense_qp_dims_calculate_size();
+//
+dense_qp_dims *dense_qp_dims_assign(void *raw_memory);
+//
+void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value);
+//
+
+/* in */
+//
+acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory);
+
+/* out */
+//
+acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_out_get(dense_qp_out *out, const char *field, void *value);
+
+/* res */
+//
+acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory);
+//
+acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out);
+//
+void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws);
+//
+void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]);
+
+/* misc */
+//
+void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out);
+//
+void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out);
+//
+void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
new file mode 100644
index 00000000000000..20eedc26a2bf33
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
@@ -0,0 +1,94 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
+#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_dense_qp.h"
+#include "hpipm/include/hpipm_d_dense_qp_ipm.h"
+#include "hpipm/include/hpipm_d_dense_qp_sol.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct dense_qp_hpipm_opts_
+{
+    struct d_dense_qp_ipm_arg *hpipm_opts;
+} dense_qp_hpipm_opts;
+
+
+
+typedef struct dense_qp_hpipm_memory_
+{
+    struct d_dense_qp_ipm_ws *hpipm_workspace;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_hpipm_memory;
+
+
+
+//
+acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims);
+//
+void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
+//
+acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_);
+//
+void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_);
+//
+int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_hpipm_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
new file mode 100644
index 00000000000000..646f11f06f6664
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
@@ -0,0 +1,128 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
+#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+enum dense_qp_ooqp_termination_code
+{
+  DENSE_SUCCESSFUL_TERMINATION = 0,
+  DENSE_NOT_FINISHED,
+  DENSE_MAX_ITS_EXCEEDED,
+  DENSE_INFEASIBLE,
+  DENSE_UNKNOWN
+};
+
+typedef struct dense_qp_ooqp_opts_
+{
+    int printLevel;
+    int useDiagonalWeights;  // TODO(dimitris): implement option
+    int fixHessian;
+    int fixDynamics;
+    int fixInequalities;
+} dense_qp_ooqp_opts;
+
+typedef struct dense_qp_ooqp_workspace_
+{
+    double *x;
+    double *gamma;
+    double *phi;
+    double *y;
+    double *z;
+    double *lambda;
+    double *pi;
+    double objectiveValue;
+} dense_qp_ooqp_workspace;
+
+typedef struct dense_qp_ooqp_memory_
+{
+    int firstRun;
+    int nx;
+    int my;
+    int mz;
+    double *c;
+    double *dQ;
+    double *xlow;
+    char *ixlow;
+    double *xupp;
+    char *ixupp;
+    double *dA;
+    double *bA;
+    double *dC;
+    double *clow;
+    char *iclow;
+    double *cupp;
+    char *icupp;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_ooqp_memory;
+
+//
+acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims);
+//
+void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_,
+                                  void *raw_memory);
+//
+acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_,
+                  void *memory_, void *work_);
+//
+void dense_qp_ooqp_destroy(void *mem_, void *work);
+//
+void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_ooqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
new file mode 100644
index 00000000000000..52606fac5def32
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
@@ -0,0 +1,127 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_QORE_H_
+#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// qore
+#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct dense_qp_qore_opts_
+{
+    int nsmax;       // maximum size of Schur complement
+    int print_freq;  // print frequency,
+                     // prtfreq  < 0: disable printing;
+                     // prtfreq == 0: print on each call and include working set changes;
+                     // prtfreq  > 0: print on every prtfreq seconds, but do not include working set
+                     // changes;
+    int warm_start;  // warm start with updated matrices H and C
+    int warm_strategy;  // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous
+                        // solution
+    int hot_start;      // hot start with unchanged matrices H and C
+    int max_iter;       // maximum number of iterations
+    int compute_t;      // compute t in qp_out (to have correct residuals in NLP)
+} dense_qp_qore_opts;
+
+typedef struct dense_qp_qore_memory_
+{
+    double *H;
+    double *HH;
+    double *g;
+    double *gg;
+    double *Zl;
+    double *Zu;
+    double *zl;
+    double *zu;
+    double *A;
+    double *b;
+    double *C;
+    double *CC;
+    double *Ct;
+    double *CCt;
+    double *d_lb0;
+    double *d_ub0;
+    double *d_lb;
+    double *d_ub;
+    double *d_lg;
+    double *d_ug;
+    double *d_ls;
+    double *d_us;
+    double *lb;
+    double *ub;
+    int *idxb;
+    int *idxb_stacked;
+    int *idxs;
+    double *prim_sol;
+    double *dual_sol;
+    QoreProblemDense *QP;
+    int num_iter;
+    dense_qp_in *qp_stacked;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_qore_memory;
+
+acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_qore_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_QORE_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
new file mode 100644
index 00000000000000..8fca17dd175dd7
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
@@ -0,0 +1,127 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
+#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct dense_qp_qpoases_opts_
+{
+    double max_cputime;  // maximum cpu time in seconds
+    int max_nwsr;        // maximum number of working set recalculations
+    int warm_start;      // warm start with dual_sol in memory
+    int use_precomputed_cholesky;
+    int hotstart;  // this option requires constant data matrices! (eg linear MPC, inexact schemes
+                   // with frozen sensitivities)
+    int set_acado_opts;  // use same options as in acado code generation
+    int compute_t;       // compute t in qp_out (to have correct residuals in NLP)
+    double tolerance;  // terminationTolerance
+} dense_qp_qpoases_opts;
+
+typedef struct dense_qp_qpoases_memory_
+{
+    double *H;
+    double *HH;
+    double *R;
+    double *g;
+    double *gg;
+    double *Zl;
+    double *Zu;
+    double *zl;
+    double *zu;
+    double *A;
+    double *b;
+    double *d_lb0;
+    double *d_ub0;
+    double *d_lb;
+    double *d_ub;
+    double *C;
+    double *CC;
+    double *d_lg0;
+    double *d_ug0;
+    double *d_lg;
+    double *d_ug;
+    double *d_ls;
+    double *d_us;
+    int *idxb;
+    int *idxb_stacked;
+    int *idxs;
+    double *prim_sol;
+    double *dual_sol;
+    void *QPB;       // NOTE(giaf): cast to QProblemB to use
+    void *QP;        // NOTE(giaf): cast to QProblem to use
+    double cputime;  // cputime of qpoases
+    int nwsr;        // performed number of working set recalculations
+    int first_it;    // to be used with hotstart
+    dense_qp_in *qp_stacked;
+    double time_qp_solver_call; // equal to cputime
+    int iter;
+
+} dense_qp_qpoases_memory;
+
+acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_qpoases_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
new file mode 100644
index 00000000000000..64939b9ed1e61c
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
@@ -0,0 +1,434 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+
+/// \defgroup ocp_nlp ocp_nlp
+/// @{
+/// @}
+
+/// \defgroup ocp_nlp_solver ocp_nlp_solver
+/// @{
+/// @}
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \ingroup ocp_nlp_solver
+/// @{
+
+/// \defgroup ocp_nlp_common ocp_nlp_common
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
+#include "acados/sim/sim_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct ocp_nlp_config
+{
+    int N;  // number of stages
+
+    // solver-specific implementations of memory management functions
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts_);
+    void (*opts_update)(void *config, void *dims, void *opts_);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_);
+    void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value);
+    // evaluate solver // TODO rename into solve
+    int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
+    void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work,
+                            char *field, int stage, int index, void *sens_nlp_out);
+    // prepare memory
+    int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
+    // initalize this struct with default values
+    void (*config_initialize_default)(void *config);
+    // general getter
+    void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_);
+    void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_);
+    void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_);
+    // config structs of submodules
+    ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver
+    ocp_nlp_dynamics_config **dynamics;
+    ocp_nlp_cost_config **cost;
+    ocp_nlp_constraints_config **constraints;
+    ocp_nlp_reg_config *regularize;
+
+} ocp_nlp_config;
+
+//
+acados_size_t ocp_nlp_config_calculate_size(int N);
+//
+ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory);
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+/// Structure to store dimensions/number of variables.
+typedef struct ocp_nlp_dims
+{
+    void **cost;
+    void **dynamics;
+    void **constraints;
+    ocp_qp_xcond_solver_dims *qp_solver;  // xcond solver instead ??
+    ocp_nlp_reg_dims *regularize;
+
+    int *nv;  // number of primal variables (states+controls+slacks)
+    int *nx;  // number of differential states
+    int *nu;  // number of inputs
+    int *ni;  // number of two-sided inequality constraints: nb+ng+nh+ns
+    int *nz;  // number of algebraic variables
+    int *ns;  // number of slack variables
+    int N;    // number of shooting nodes
+
+    void *raw_memory; // Pointer to allocated memory, to be used for freeing
+} ocp_nlp_dims;
+
+//
+acados_size_t ocp_nlp_dims_calculate_size(void *config);
+//
+ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory);
+
+/// Sets the dimension of optimization variables
+/// (states, constrols, algebraic variables, slack variables).
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param field The type of optimization variables, either nx, nu, nz, or ns.
+/// \param value_array Number of variables for each stage.
+void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_,
+                               const char *field, const void* value_array);
+
+/// Sets the dimensions of constraints functions for a stage
+/// (bounds on states, bounds on controls, equality constraints,
+/// inequality constraints).
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh.
+/// \param value_field Number of constraints/bounds for the given stage.
+void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage,
+                                  const char *field, const void* value_field);
+
+/// Sets the dimensions of the cost terms for a stage.
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field Type of cost term, can be eiter ny.
+/// \param value_field Number of cost terms/residuals for the given stage.
+void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field,
+                           const void* value_field);
+
+/// Sets the dimensions of the dynamics for a stage.
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field TBD
+/// \param value TBD
+void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field,
+                               const void* value);
+
+/************************************************
+ * Inputs
+ ************************************************/
+
+/// Struct for storing the inputs of an OCP NLP solver
+typedef struct ocp_nlp_in
+{
+    /// Length of sampling intervals/timesteps.
+    double *Ts;
+
+    /// Pointers to cost functions (TBC).
+    void **cost;
+
+    /// Pointers to dynamics functions (TBC).
+    void **dynamics;
+
+    /// Pointers to constraints functions (TBC).
+    void **constraints;
+
+    /// Pointer to allocated memory, to be used for freeing.
+    void *raw_memory;
+
+} ocp_nlp_in;
+
+//
+acados_size_t ocp_nlp_in_calculate_size_self(int N);
+//
+acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
+//
+ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory);
+//
+ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory);
+
+
+/************************************************
+ * out
+ ************************************************/
+
+typedef struct ocp_nlp_out
+{
+    struct blasfeo_dvec *ux;  // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs?
+    struct blasfeo_dvec *z;  // algebraic vairables
+    struct blasfeo_dvec *pi;  // multipliers for dynamics
+    struct blasfeo_dvec *lam;  // inequality mulitpliers
+    struct blasfeo_dvec *t;  // slack variables corresponding to evaluation of all inequalities (at the solution)
+
+    // NOTE: the inequalities are internally organized in the following order:
+    // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+    int sqp_iter;
+    int qp_iter;
+    double inf_norm_res;
+    double total_time;
+
+    void *raw_memory; // Pointer to allocated memory, to be used for freeing
+
+} ocp_nlp_out;
+
+//
+acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
+//
+ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                void *raw_memory);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+/// Globalization types
+typedef enum
+{
+    FIXED_STEP,
+    MERIT_BACKTRACKING,
+} ocp_nlp_globalization_t;
+
+typedef struct ocp_nlp_opts
+{
+    ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ???
+    void *regularize;
+    void **dynamics;     // dynamics_opts
+    void **cost;         // cost_opts
+    void **constraints;  // constraints_opts
+    double step_length;  // step length in case of FIXED_STEP
+    double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
+    int reuse_workspace;
+    int num_threads;
+
+    // TODO: move to separate struct?
+    ocp_nlp_globalization_t globalization;
+    double alpha_min;
+    double alpha_reduction;
+} ocp_nlp_opts;
+
+//
+acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value);
+
+
+/************************************************
+ * residuals
+ ************************************************/
+
+typedef struct ocp_nlp_res
+{
+    struct blasfeo_dvec *res_stat;  // stationarity
+    struct blasfeo_dvec *res_eq;  // dynamics
+    struct blasfeo_dvec *res_ineq;  // inequality constraints
+    struct blasfeo_dvec *res_comp;  // complementarity
+    double inf_norm_res_stat;
+    double inf_norm_res_eq;
+    double inf_norm_res_ineq;
+    double inf_norm_res_comp;
+    acados_size_t memsize;
+} ocp_nlp_res;
+
+//
+acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
+//
+ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct ocp_nlp_memory
+{
+//    void *qp_solver_mem; // xcond solver mem instead ???
+    ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ???
+    void *regularize_mem;
+    void **dynamics;     // dynamics memory
+    void **cost;         // cost memory
+    void **constraints;  // constraints memory
+
+    // residuals
+    ocp_nlp_res *nlp_res;
+
+    // qp in & out
+    ocp_qp_in *qp_in;
+    ocp_qp_out *qp_out;
+    // QP stuff not entering the qp_in struct
+    struct blasfeo_dmat *dzduxt; // dzdux transposed
+    struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables
+
+    struct blasfeo_dvec *cost_grad;
+    struct blasfeo_dvec *ineq_fun;
+    struct blasfeo_dvec *ineq_adj;
+    struct blasfeo_dvec *dyn_fun;
+    struct blasfeo_dvec *dyn_adj;
+
+    double cost_value;
+
+    bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
+    struct blasfeo_dvec *sim_guess;
+
+	int *sqp_iter; // pointer to iteration number
+
+} ocp_nlp_memory;
+
+//
+acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
+//
+ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                      ocp_nlp_opts *opts, void *raw_memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct ocp_nlp_workspace
+{
+
+    void *qp_work;
+    void **dynamics;     // dynamics_workspace
+    void **cost;         // cost_workspace
+    void **constraints;  // constraints_workspace
+
+	ocp_nlp_out *tmp_nlp_out;
+	ocp_nlp_out *weight_merit_fun;
+
+} ocp_nlp_workspace;
+
+//
+acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
+//
+ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory);
+
+
+
+/************************************************
+ * function
+ ************************************************/
+
+//
+void ocp_nlp_initialize_qp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
+//
+double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+          ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out,
+                         ocp_nlp_res *res, ocp_nlp_memory *mem);
+//
+void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
new file mode 100644
index 00000000000000..7f7a30faf3a6d3
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
@@ -0,0 +1,241 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+    int nb;  // nbx + nbu
+    int nbu; // number of input box constraints
+    int nbx; // number of state box constraints
+    int ng;  // number of general linear constraints
+    int nh;  // number of nonlinear path constraints
+    int ns;  // nsbu + nsbx + nsg + nsh
+    int nsbu;  // number of softened input bounds
+    int nsbx;  // number of softened state bounds
+    int nsg;  // number of softened general linear constraints
+    int nsh;  // number of softened nonlinear constraints
+    int nbue; // number of input box constraints which are equality
+    int nbxe; // number of state box constraints which are equality
+    int nge;  // number of general linear constraints which are equality
+    int nhe;  // number of nonlinear path constraints which are equality
+} ocp_nlp_constraints_bgh_dims;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
+//
+void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_constraints_bgh_dims_initialize(void *config, void *dims, int nx, int nu, int nz, int nbx,
+                                         int nbu, int ng, int nh, int dummy0, int ns);
+//
+void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
+                                      const char *field, const int* value);
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    int *idxb;
+    int *idxs;
+    int *idxe;
+    struct blasfeo_dvec d;  // gathers bounds
+    struct blasfeo_dmat DCt;  // general linear constraint matrix
+            // lg <= [D, C] * [u; x] <= ug
+    external_function_generic *nl_constr_h_fun;  // nonlinear: lh <= h(x,u) <= uh
+    external_function_generic *nl_constr_h_fun_jac;  // nonlinear: lh <= h(x,u) <= uh
+    external_function_generic *nl_constr_h_fun_jac_hess;  // nonlinear: lh <= h(x,u) <= uh
+} ocp_nlp_constraints_bgh_model;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_constraints_bgh_opts;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
+    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
+    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
+    int *idxb;                   // pointer to idxb[ii] in qp_in
+    int *idxs_rev;               // pointer to idxs_rev[ii] in qp_in
+    int *idxe;                   // pointer to idxe[ii] in qp_in
+} ocp_nlp_constraints_bgh_memory;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
+//
+void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dmat tmp_nz_nh;
+    struct blasfeo_dmat tmp_nv_nh;
+    struct blasfeo_dmat tmp_nz_nv;
+    struct blasfeo_dmat hess_z;
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dvec tmp_nh;
+} ocp_nlp_constraints_bgh_workspace;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/* functions */
+
+//
+void ocp_nlp_constraints_bgh_config_initialize_default(void *config);
+//
+void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts,
+                                    void *mem, void *work);
+//
+void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+
+//
+void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
new file mode 100644
index 00000000000000..beeec784116b82
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
@@ -0,0 +1,221 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/* dims */
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+    int nb;   // nbx + nbu
+    int nbu;
+    int nbx;
+    int ng;   // number of general linear constraints
+    int nphi; // dimension of convex outer part 
+    int ns;   // nsbu + nsbx + nsg + nsphi
+    int nsbu; // number of softened input bounds
+    int nsbx; // number of softened state bounds
+    int nsg;  // number of softened general linear constraints
+    int nsphi;  // number of softened nonlinear constraints
+    int nr;   // dimension of nonlinear function in convex_over_nonlinear constraint
+    int nbue; // number of input box constraints which are equality
+    int nbxe; // number of state box constraints which are equality
+    int nge;  // number of general linear constraints which are equality
+    int nphie;  // number of nonlinear path constraints which are equality
+} ocp_nlp_constraints_bgp_dims;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
+//
+void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_constraints_bgp_dims_initialize(void *config, void *dims, int nx, int nu, int nz, 
+		int nbx, int nbu, int ng, int nphi, int nq, int ns);
+//
+void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+/* model */
+
+typedef struct
+{
+    //  ocp_nlp_constraints_bgp_dims *dims;
+    int *idxb;
+    int *idxs;
+    int *idxe;
+    struct blasfeo_dvec d;
+    struct blasfeo_dmat DCt;
+    external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux;
+    external_function_generic *nl_constr_phi_o_r_fun;
+    external_function_generic *nl_constr_r_fun_jac;
+} ocp_nlp_constraints_bgp_model;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
+
+/* options */
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_constraints_bgp_opts;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value);
+
+/* memory */
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
+    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
+    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
+    int *idxb;                   // pointer to idxb[ii] in qp_in
+    int *idxs_rev;                   // pointer to idxs_rev[ii] in qp_in
+    int *idxe;                   // pointer to idxe[ii] in qp_in
+} ocp_nlp_constraints_bgp_memory;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts,
+    void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
+//
+void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
+
+/* workspace */
+
+typedef struct
+{
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dmat jac_r_ux_tran;
+    struct blasfeo_dmat tmp_nr_nphi_nr;
+    struct blasfeo_dmat tmp_nv_nr;
+    struct blasfeo_dmat tmp_nv_nphi;
+    struct blasfeo_dmat tmp_nz_nphi;
+} ocp_nlp_constraints_bgp_workspace;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/* functions */
+
+//
+void ocp_nlp_constraints_bgp_config_initialize_default(void *config);
+//
+void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model,
+        void *opts, void *mem, void *work);
+//
+void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims,
+        void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims,
+        void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_,
+        void *opts_, void *memory_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
new file mode 100644
index 00000000000000..7cadecab46b6c7
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
@@ -0,0 +1,112 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_constraints ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nz, int nbx, int nbu, int ng,
+                            int nh, int nq, int ns);
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config, void *opts, char *field, void *value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory);
+    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
+    void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory);
+    void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory);
+    void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
+    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory);
+    void (*memory_set_idxb_ptr)(int *idxb, void *memory);
+    void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory);
+    void (*memory_set_idxe_ptr)(int *idxe, void *memory);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*config_initialize_default)(void *config);
+    // dimension setters
+    void (*dims_set)(void *config_, void *dims_, const char *field, const int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
+} ocp_nlp_constraints_config;
+
+//
+acados_size_t ocp_nlp_constraints_config_calculate_size();
+//
+ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
new file mode 100644
index 00000000000000..c9fbbfb4046033
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
@@ -0,0 +1,109 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+///
+/// \defgroup ocp_nlp_cost ocp_nlp_cost 
+/// 
+
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
+    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config, void *opts, const char *field, void *value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+	double *(*memory_get_fun_ptr)(void *memory);
+    struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
+    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
+    void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+
+    // computes the function value, gradient and hessian (approximation) of the cost function
+    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    // computes the cost function value (intended for globalization)
+    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*config_initialize_default)(void *config);
+} ocp_nlp_cost_config;
+
+//
+acados_size_t ocp_nlp_cost_config_calculate_size();
+//
+ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+/// @} 
+/// @} 
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
new file mode 100644
index 00000000000000..f2196dbee79820
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
@@ -0,0 +1,187 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nu;  // number of inputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_external_dims;
+
+//
+acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_external_dims_initialize(void *config, void *dims, int nx,
+                                           int nu, int ny, int ns, int nz);
+//
+void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    external_function_generic *ext_cost_fun;  // function
+    external_function_generic *ext_cost_fun_jac_hess;  // function, gradient and hessian
+    external_function_generic *ext_cost_fun_jac;  // function, gradient
+    struct blasfeo_dvec Z;
+    struct blasfeo_dvec z;
+    struct blasfeo_dmat numerical_hessian;  // custom hessian approximation
+    double scaling;
+} ocp_nlp_cost_external_model;
+
+//
+acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int use_numerical_hessian;  // > 0 indicating custom hessian is used instead of CasADi evaluation
+} ocp_nlp_cost_external_opts;
+
+//
+acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux;     // pointer to tmp_ux in nlp_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+	double fun;                         ///< value of the cost function
+} ocp_nlp_cost_external_memory;
+
+//
+acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
+} ocp_nlp_cost_external_workspace;
+
+//
+acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_external_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_,
+                                      void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_,
+                                               void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_,
+                                       void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
new file mode 100644
index 00000000000000..3cf759504aba05
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
@@ -0,0 +1,259 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls
+/// \brief This module implements linear-least squares costs of the form
+/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$.
+/// @{
+
+
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     dims                                   //
+////////////////////////////////////////////////////////////////////////////////
+
+typedef struct
+{
+    int nx;  // number of states
+    int nz;  // number of algebraic variables
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_ls_dims;
+
+
+///  Calculate the size of the ocp_nlp_cost_ls_dims struct
+///
+///  \param[in] config_ structure containing configuration of ocp_nlp_cost
+///  module
+///  \param[out] []
+///  \return \c size of ocp_nlp_dims struct
+acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);
+
+
+///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct 
+///
+///  \param[in] config structure containing configuration of ocp_nlp_cost 
+///  module
+///  \param[in] raw_memory pointer to memory location  
+///  \param[out] []
+///  \return dims
+void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
+
+
+///  Initialize the dimensions struct of the 
+///  ocp_nlp-cost_ls component    
+///
+///  \param[in] config structure containing configuration ocp_nlp-cost_ls component 
+///  \param[in] nx number of states
+///  \param[in] nu number of inputs
+///  \param[in] ny number of residuals
+///  \param[in] ns number of slacks
+///  \param[in] nz number of algebraic variables
+///  \param[out] dims
+///  \return size
+void ocp_nlp_cost_ls_dims_initialize(void *config, void *dims, int nx,
+        int nu, int ny, int ns, int nz);
+
+//
+void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     model                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+/// structure containing the data describing the linear least-square cost 
+typedef struct
+{
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    struct blasfeo_dmat Cyt;            ///< output matrix: Cy * [u,x] = y; in transposed form
+    struct blasfeo_dmat Vz;             ///< Vz in ls cost Vx*x + Vu*u + Vz*z
+    struct blasfeo_dmat W;              ///< ls norm corresponding to this matrix
+    struct blasfeo_dvec y_ref;          ///< yref
+    struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
+    struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
+    double scaling;
+} ocp_nlp_cost_ls_model;
+
+//
+acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_,
+                              const char *field, void *value_);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                   options                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+typedef struct
+{
+    int dummy; // struct can't be void
+} ocp_nlp_cost_ls_opts;
+
+//
+acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     memory                                 //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+/// structure containing the memory associated with cost_ls component 
+/// of the ocp_nlp module
+typedef struct
+{
+    struct blasfeo_dmat hess;           ///< hessian of cost function
+    struct blasfeo_dmat W_chol;         ///< cholesky factor of weight matrix
+    struct blasfeo_dvec res;            ///< ls residual r(x)
+    struct blasfeo_dvec grad;           ///< gradient of cost function
+    struct blasfeo_dvec *ux;            ///< pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux;        ///< pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    struct blasfeo_dmat *RSQrq;         ///< pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;             ///< pointer to Z in qp_in
+	double fun;                         ///< value of the cost function
+} ocp_nlp_cost_ls_memory;
+
+//
+acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                 workspace                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_ny;   // temporary matrix of dimensions nv, ny
+    struct blasfeo_dmat Cyt_tilde;   // updated Cyt (after z elimination)
+    struct blasfeo_dmat dzdux_tran;  // derivatives of z wrt u and x (tran)
+    struct blasfeo_dvec tmp_ny;      // temporary vector of dimension ny
+    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
+    struct blasfeo_dvec tmp_nz;      // temporary vector of dimension nz
+    struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination)
+} ocp_nlp_cost_ls_workspace;
+
+//
+acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                 functions                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+//
+void ocp_nlp_cost_ls_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_,
+                                void *mem_, void *work_);
+//
+void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_,
+                                        void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
new file mode 100644
index 00000000000000..aafb6b35407cfd
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
@@ -0,0 +1,210 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
+/// \brief This module implements nonlinear-least squares costs of the form
+/// \f$\min_{x,u} \| r(x,u) - y_{\text{ref}} \|_W^2\f$.
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_nls_dims;
+
+//
+acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_nls_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
+//
+void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    external_function_generic *nls_y_fun;  // evaluation of nls function
+    external_function_generic *nls_y_fun_jac;  // evaluation nls function and jacobian
+    external_function_generic *nls_y_hess;  // hessian*seeds of nls residuals
+    struct blasfeo_dmat W;                //
+    struct blasfeo_dvec y_ref;
+    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
+    struct blasfeo_dvec z;              // gradient of slacks as vector
+    double scaling;
+} ocp_nlp_cost_nls_model;
+
+//
+acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    bool gauss_newton_hess;  // gauss-newton hessian approximation
+} ocp_nlp_cost_nls_opts;
+
+//
+acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat W_chol;  // cholesky factor of weight matrix
+    struct blasfeo_dmat Jt;      // jacobian of nls fun
+    struct blasfeo_dvec res;     // nls residual r(x)
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+	double fun;                         ///< value of the cost function
+} ocp_nlp_cost_nls_memory;
+
+//
+acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_ny;
+    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dvec tmp_ny;
+    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
+} ocp_nlp_cost_nls_workspace;
+
+//
+acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_nls_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
new file mode 100644
index 00000000000000..45dac20a252204
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
@@ -0,0 +1,122 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/sim/sim_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    void (*config_initialize_default)(void *config);
+    sim_config *sim_solver;
+    /* dims */
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nx1, int nu1, int nz);
+    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
+    /* model */
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
+    /* opts */
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    /* memory */
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
+    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_);
+    void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_);
+    void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_);
+    void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_);
+    void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_);
+    void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_);
+    void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_);
+    void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_);
+    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value);
+    /* workspace */
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+} ocp_nlp_dynamics_config;
+
+//
+acados_size_t ocp_nlp_dynamics_config_calculate_size();
+//
+ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
new file mode 100644
index 00000000000000..59a2df4f47a0ee
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
@@ -0,0 +1,216 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+#include "acados_c/sim_interface.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    void *sim;
+    int nx;   // number of states at the current stage
+    int nz;   // number of algebraic states at the current stage
+    int nu;   // number of inputs at the current stage
+    int nx1;  // number of states at the next stage
+    int nu1;  // number of inputes at the next stage
+} ocp_nlp_dynamics_cont_dims;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
+//
+void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
+                                           int nu1, int nz);
+
+//
+void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    void *sim_solver;
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_dynamics_cont_opts;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;            // pointer to ux in nlp_out at current stage
+    struct blasfeo_dvec *tmp_ux;        // pointer to ux in tmp_nlp_out at current stage
+    struct blasfeo_dvec *ux1;           // pointer to ux in nlp_out at next stage
+    struct blasfeo_dvec *tmp_ux1;       // pointer to ux in tmp_nlp_out at next stage
+    struct blasfeo_dvec *pi;            // pointer to pi in nlp_out at current stage
+    struct blasfeo_dvec *tmp_pi;        // pointer to pi in tmp_nlp_out at current stage
+    struct blasfeo_dmat *BAbt;          // pointer to BAbt in qp_in
+    struct blasfeo_dmat *RSQrq;         // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *z_alg;         // pointer to output z at t = 0
+    bool *set_sim_guess;                 // indicate if initialization for integrator is set from outside
+    struct blasfeo_dvec *sim_guess;     // initializations for integrator
+    // struct blasfeo_dvec *z;             // pointer to (input) z in nlp_out at current stage
+    struct blasfeo_dmat *dzduxt;        // pointer to dzdux transposed
+    void *sim_solver;                   // sim solver memory
+} ocp_nlp_dynamics_cont_memory;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat hess;
+    sim_in *sim_in;
+    sim_out *sim_out;
+    void *sim_solver;  // sim solver workspace
+} ocp_nlp_dynamics_cont_workspace;
+
+acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    void *sim_model;
+    // double *state_transition; // TODO
+    double T;  // simulation time
+} ocp_nlp_dynamics_cont_model;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_dynamics_cont_config_initialize_default(void *config);
+//
+void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
new file mode 100644
index 00000000000000..8b2a6177bff78a
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
@@ -0,0 +1,199 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;   // number of states at the current stage
+    int nu;   // number of inputs at the current stage
+    int nx1;  // number of states at the next stage
+    int nu1;  // number of inputes at the next stage
+} ocp_nlp_dynamics_disc_dims;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
+//
+void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
+                                           int nu1, int nz);
+
+//
+void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_dynamics_disc_opts;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts);
+//
+int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_,
+                                        void *mem_, void *work_);
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out at current stage
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage
+    struct blasfeo_dvec *ux1;    // pointer to ux in nlp_out at next stage
+    struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage
+    struct blasfeo_dvec *pi;     // pointer to pi in nlp_out at current stage
+    struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage
+    struct blasfeo_dmat *BAbt;   // pointer to BAbt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_dynamics_disc_memory;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_nv;
+} ocp_nlp_dynamics_disc_workspace;
+
+acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    external_function_generic *disc_dyn_fun;
+    external_function_generic *disc_dyn_fun_jac;
+    external_function_generic *disc_dyn_fun_jac_hess;
+} ocp_nlp_dynamics_disc_model;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_dynamics_disc_config_initialize_default(void *config);
+//
+void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
new file mode 100644
index 00000000000000..cd26788a5697d8
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
@@ -0,0 +1,125 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_reg ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+
+
+/* dims */
+
+//typedef ocp_qp_dims ocp_nlp_reg_dims;
+typedef struct
+{
+    int *nx;
+    int *nu;
+    int *nbu;
+    int *nbx;
+    int *ng;
+    int N;
+} ocp_nlp_reg_dims;
+
+//
+acados_size_t ocp_nlp_reg_dims_calculate_size(int N);
+//
+ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory);
+//
+void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value);
+
+
+
+/* config */
+
+typedef struct
+{
+    /* dims */
+    acados_size_t (*dims_calculate_size)(int N);
+    ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory);
+    void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value);
+    /* opts */
+    acados_size_t (*opts_calculate_size)(void);
+    void *(*opts_assign)(void *raw_memory);
+    void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
+    void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
+    /* memory */
+    acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
+    void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+    void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value);
+    void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory);
+    void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    /* functions */
+    void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
+    void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
+} ocp_nlp_reg_config;
+
+//
+acados_size_t ocp_nlp_reg_config_calculate_size(void);
+//
+void *ocp_nlp_reg_config_assign(void *raw_memory);
+
+
+
+/* regularization help functions */
+void acados_reconstruct_A(int dim, double *A, double *V, double *d);
+void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon);
+void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
new file mode 100644
index 00000000000000..df313616801e56
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
@@ -0,0 +1,149 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double delta;
+    double epsilon;
+//    double gamma; // 0.0
+} ocp_nlp_reg_convexify_opts;
+
+//
+acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct {
+    double *R;
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+    double *reg_hess; // TODO move to workspace
+
+    struct blasfeo_dmat Q_tilde;
+    struct blasfeo_dmat Q_bar;
+    struct blasfeo_dmat BAQ;
+    struct blasfeo_dmat L;
+    struct blasfeo_dmat delta_eye;
+    struct blasfeo_dmat St_copy;
+
+    struct blasfeo_dmat *original_RSQrq;
+    struct blasfeo_dmat tmp_RSQ;
+
+	struct blasfeo_dvec tmp_nuxM;
+	struct blasfeo_dvec tmp_nbgM;
+
+//    struct blasfeo_dvec grad;
+//    struct blasfeo_dvec b2;
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec **rq;  // pointer to rq in qp_in
+    struct blasfeo_dmat **BAbt;  // pointer to BAbt in qp_in
+    struct blasfeo_dvec **b;  // pointer to b in qp_in
+    struct blasfeo_dmat **DCt;  // pointer to DCt in qp_in
+    struct blasfeo_dvec **ux;  // pointer to ux in qp_out
+    struct blasfeo_dvec **pi;  // pointer to pi in qp_out
+    struct blasfeo_dvec **lam;  // pointer to lam in qp_out
+	int **idxb; // pointer to idxb in qp_in
+
+} ocp_nlp_reg_convexify_memory;
+
+//
+acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
new file mode 100644
index 00000000000000..f6bd7dcafd2d77
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
@@ -0,0 +1,124 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double epsilon;
+} ocp_nlp_reg_mirror_opts;
+
+//
+acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_mirror_memory;
+
+//
+acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
new file mode 100644
index 00000000000000..8d2b6ecc13896f
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
@@ -0,0 +1,120 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int dummy;
+} ocp_nlp_reg_noreg_opts;
+
+//
+acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    int dummy;
+} ocp_nlp_reg_noreg_memory;
+
+//
+acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+// not needed
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
new file mode 100644
index 00000000000000..104c297207035b
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
@@ -0,0 +1,124 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double epsilon;
+} ocp_nlp_reg_project_opts;
+
+//
+acados_size_t ocp_nlp_reg_project_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_project_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_project_memory;
+
+//
+acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
new file mode 100644
index 00000000000000..e0b854bc1a1e7f
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
@@ -0,0 +1,135 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double thr_eig;
+    double min_eig;
+    double min_pivot;
+	int pivoting;
+} ocp_nlp_reg_project_reduc_hess_opts;
+
+//
+acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat L; // TODO move to workspace
+    struct blasfeo_dmat L2; // TODO move to workspace
+    struct blasfeo_dmat L3; // TODO move to workspace
+    struct blasfeo_dmat Ls; // TODO move to workspace
+    struct blasfeo_dmat P; // TODO move to workspace
+    struct blasfeo_dmat AL; // TODO move to workspace
+
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat **BAbt;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_project_reduc_hess_memory;
+
+//
+acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
new file mode 100644
index 00000000000000..81a4afd0305e1e
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
@@ -0,0 +1,171 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_solver
+/// @{
+/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_opts *nlp_opts;
+    double tol_stat;     // exit tolerance on stationarity condition
+    double tol_eq;       // exit tolerance on equality constraints
+    double tol_ineq;     // exit tolerance on inequality constraints
+    double tol_comp;     // exit tolerance on complementarity condition
+    int max_iter;
+    int ext_qp_res;      // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
+    int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
+    bool warm_start_first_qp; // to set qp_warm_start in first iteration
+    int rti_phase;       // only phase 0 at the moment 
+    int print_level;     // verbosity
+    int initialize_t_slacks;  // 0-false or 1-true
+
+} ocp_nlp_sqp_opts;
+
+//
+acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    // nlp memory
+    ocp_nlp_memory *nlp_mem;
+
+    double time_qp_sol;
+    double time_qp_solver_call;
+    double time_qp_xcond;
+    double time_lin;
+    double time_reg;
+    double time_tot;
+    double time_glob;
+    double time_sim;
+    double time_sim_la;
+    double time_sim_ad;
+
+    // statistics
+    double *stat;
+    int stat_m;
+    int stat_n;
+
+    int status;
+    int sqp_iter;
+
+} ocp_nlp_sqp_memory;
+
+//
+acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_workspace *nlp_work;
+
+    // temp QP in & out (to be used as workspace in param sens)
+    ocp_qp_in *tmp_qp_in;
+    ocp_qp_out *tmp_qp_out;
+
+    // qp residuals
+    ocp_qp_res *qp_res;
+    ocp_qp_res_ws *qp_res_ws;
+
+} ocp_nlp_sqp_workspace;
+
+//
+acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out,
+                void *args, void *mem, void *work_);
+//
+void ocp_nlp_sqp_config_initialize_default(void *config_);
+//
+int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
+                void *opts_, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
new file mode 100644
index 00000000000000..6f16594d2ba48c
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
@@ -0,0 +1,172 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_solver
+/// @{
+/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_opts *nlp_opts;
+    int compute_dual_sol;
+    int ext_qp_res;           // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
+    int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
+    bool warm_start_first_qp; // to set qp_warm_start in first iteration
+    int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
+    int print_level;     // verbosity
+
+} ocp_nlp_sqp_rti_opts;
+
+//
+acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_);
+//
+void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory);
+//
+void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_);
+//
+void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_);
+//
+void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage,
+    const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    // nlp memory
+    ocp_nlp_memory *nlp_mem;
+
+    double time_qp_sol;
+    double time_qp_solver_call;
+    double time_qp_xcond;
+    double time_lin;
+    double time_reg;
+    double time_tot;
+    double time_glob;
+
+    // statistics
+    double *stat;
+    int stat_m;
+    int stat_n;
+
+    int status;
+
+} ocp_nlp_sqp_rti_memory;
+
+//
+acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_);
+//
+void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_,
+    void *raw_memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_workspace *nlp_work;
+
+    // temp QP in & out (to be used as workspace in param sens)
+    ocp_qp_in *tmp_qp_in;
+    ocp_qp_out *tmp_qp_out;
+
+    // qp residuals
+    ocp_qp_res *qp_res;
+    ocp_qp_res_ws *qp_res_ws;
+
+
+} ocp_nlp_sqp_rti_workspace;
+
+//
+acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+void ocp_nlp_sqp_rti_preparation_step(void *config_, void *dims_,
+    void *nlp_in_, void *nlp_out_, void *opts, void *mem_, void *work_);
+//
+void ocp_nlp_sqp_rti_feedback_step(void *config_, void *dims_,
+    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
+//
+int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
+    void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
+//
+int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_,
+    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
new file mode 100644
index 00000000000000..bba55f8f754903
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
@@ -0,0 +1,182 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_
+#define ACADOS_OCP_QP_OCP_QP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp.h"
+#include "hpipm/include/hpipm_d_ocp_qp_dim.h"
+#include "hpipm/include/hpipm_d_ocp_qp_res.h"
+#include "hpipm/include/hpipm_d_ocp_qp_sol.h"
+// acados
+#include "acados/utils/types.h"
+
+
+
+typedef struct d_ocp_qp_dim ocp_qp_dims;
+typedef struct d_ocp_qp ocp_qp_in;
+typedef struct d_ocp_qp_sol ocp_qp_out;
+typedef struct d_ocp_qp_res ocp_qp_res;
+typedef struct d_ocp_qp_res_ws ocp_qp_res_ws;
+
+
+
+#ifndef QP_SOLVER_CONFIG_
+#define QP_SOLVER_CONFIG_
+typedef struct
+{
+    void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} qp_solver_config;
+#endif
+
+
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config, int N);
+    void *(*dims_assign)(void *config, int N, void *raw_memory);
+    void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value);
+    void (*dims_get)(void *config, void *dims, const char *field, void* value);
+    // TODO add config everywhere !!!!!
+    acados_size_t (*opts_calculate_size)(void *dims);
+    void *(*opts_assign)(void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *dims, void *opts);
+    void (*opts_update)(void *dims, void *opts);
+    void (*opts_set)(void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *dims, void *opts);
+    void *(*memory_assign)(void *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config, void *mem, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *dims, void *opts);
+    int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} ocp_qp_xcond_config;
+
+
+
+/// Struct containing metrics of the qp solver.
+#ifndef QP_INFO_
+#define QP_INFO_
+typedef struct
+{
+    double solve_QP_time;
+    double condensing_time;
+    double interface_time;
+    double total_time;
+    int num_iter;
+    int t_computed;
+} qp_info;
+#endif
+
+
+
+/* config */
+//
+acados_size_t ocp_qp_solver_config_calculate_size();
+//
+qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory);
+//
+acados_size_t ocp_qp_condensing_config_calculate_size();
+//
+ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory);
+
+
+/* dims */
+//
+acados_size_t ocp_qp_dims_calculate_size(int N);
+//
+ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory);
+//
+void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value);
+//
+void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value);
+
+
+/* in */
+//
+acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory);
+
+
+/* out */
+//
+acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory);
+
+/* res */
+//
+acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory);
+//
+acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws);
+//
+void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]);
+
+
+/* misc */
+//
+void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out);
+//
+void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out);
+//
+void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
new file mode 100644
index 00000000000000..50b80850c6a33c
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
@@ -0,0 +1,121 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
+#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+typedef struct
+{
+    int N;
+    int *nx;
+    int *nu;
+    int *nb;
+    int *nc;
+    double **A;
+    double **B;
+    double **b;
+    double **Q;
+    double **S;
+    double **R;
+    double **q;
+    double **r;
+    int **idxb;
+    double **lb;
+    double **ub;
+    double **Cx;
+    double **Cu;
+    double **lc;
+    double **uc;
+} colmaj_ocp_qp_in;
+
+typedef struct
+{
+    double **x;
+    double **u;
+    double **pi;
+    double **lam;
+} colmaj_ocp_qp_out;
+
+typedef struct
+{
+    double **res_r;
+    double **res_q;
+    double **res_ls;
+    double **res_us;
+    double **res_b;
+    double **res_d_lb;
+    double **res_d_ub;
+    double **res_d_lg;
+    double **res_d_ug;
+    double **res_d_ls;
+    double **res_d_us;
+    double **res_m_lb;
+    double **res_m_ub;
+    double **res_m_lg;
+    double **res_m_ug;
+    double **res_m_ls;
+    double **res_m_us;
+    double res_nrm_inf[4];
+} colmaj_ocp_qp_res;
+
+//
+acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr);
+//
+acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr);
+//
+acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr);
+//
+void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in);
+//
+void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out);
+//
+void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
new file mode 100644
index 00000000000000..14ac97bbf4eace
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
@@ -0,0 +1,117 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
+#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_red.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    ocp_qp_dims *red_dims; // dims of reduced qp
+    dense_qp_dims *fcond_dims;
+} ocp_qp_full_condensing_dims;
+
+
+
+typedef struct ocp_qp_full_condensing_opts_
+{
+    struct d_cond_qp_arg *hpipm_cond_opts;
+    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
+//    dense_qp_dims *fcond_dims;  // TODO(all): move to dims
+    int cond_hess; // 0 cond only rhs, 1 cond hess + rhs
+    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
+    int ric_alg;
+    int mem_qp_in; // allocate qp_in in memory
+} ocp_qp_full_condensing_opts;
+
+
+
+typedef struct ocp_qp_full_condensing_memory_
+{
+    struct d_cond_qp_ws *hpipm_cond_work;
+    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
+    // in memory
+    dense_qp_in *fcond_qp_in;
+    dense_qp_out *fcond_qp_out;
+    ocp_qp_in *red_qp; // reduced qp
+    ocp_qp_out *red_sol; // reduced qp sol
+    // only pointer
+    ocp_qp_in *ptr_qp_in;
+    qp_info *qp_out_info; // info in fcond_qp_in
+    double time_qp_xcond;
+} ocp_qp_full_condensing_memory;
+
+
+
+//
+acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims);
+//
+void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory);
+//
+void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_);
+//
+void ocp_qp_full_condensing_opts_update(void *dims, void *opts_);
+//
+void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value);
+//
+acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_);
+//
+void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_);
+//
+int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work);
+//
+int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work);
+//
+void ocp_qp_full_condensing_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
new file mode 100644
index 00000000000000..84e874863f93f6
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
@@ -0,0 +1,100 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_HPIPM_H_
+#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_ipm.h"
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+// struct of arguments to the solver
+// TODO(roversch): why not make this a typedef of the underlying struct?
+typedef struct ocp_qp_hpipm_opts_
+{
+    struct d_ocp_qp_ipm_arg *hpipm_opts;
+} ocp_qp_hpipm_opts;
+
+
+
+// TODO(roversch): why not make this a typedef of the underlying struct?
+// struct of the solver memory
+typedef struct ocp_qp_hpipm_memory_
+{
+    struct d_ocp_qp_ipm_ws *hpipm_workspace;
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_hpipm_memory;
+
+
+
+//
+acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
+//
+void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value);
+//
+acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpipm_config_initialize_default(void *config);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
new file mode 100644
index 00000000000000..37d1c0a337c760
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
@@ -0,0 +1,129 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_HPMPC_H_
+#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t;
+
+typedef struct ocp_qp_hpmpc_opts_
+{
+    double tol;
+    int max_iter;
+    double mu0;
+    double alpha_min;
+    int warm_start;
+    int N2;  // horizion length of the partially condensed problem
+
+    // partial tightening
+    double sigma_mu;
+    int N;
+    int M;
+} ocp_qp_hpmpc_opts;
+
+// struct of the solver memory
+typedef struct ocp_qp_hpmpc_memory_
+{
+    struct blasfeo_dvec *hpi;
+    double *stats;
+
+    // workspace
+    void *hpmpc_work;  // raw workspace
+
+    // partial tightening-specific (init of extra variables)
+    struct blasfeo_dvec *lam0;
+    struct blasfeo_dvec *ux0;
+    struct blasfeo_dvec *pi0;
+    struct blasfeo_dvec *t0;
+
+    // 2. workspace
+    struct blasfeo_dmat *hsL;
+    struct blasfeo_dmat *hsric_work_mat;
+    struct blasfeo_dmat sLxM;
+    struct blasfeo_dmat sPpM;
+
+    struct blasfeo_dvec *hsQx;
+    struct blasfeo_dvec *hsqx;
+    struct blasfeo_dvec *hstinv;
+    struct blasfeo_dvec *hsrq;
+    struct blasfeo_dvec *hsdux;
+
+    struct blasfeo_dvec *hsdlam;
+    struct blasfeo_dvec *hsdt;
+    struct blasfeo_dvec *hsdpi;
+    struct blasfeo_dvec *hslamt;
+
+    struct blasfeo_dvec *hsPb;
+
+    void *work_ric;
+
+    int out_iter;
+
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_hpmpc_memory;
+
+acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpmpc_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_HPMPC_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
new file mode 100644
index 00000000000000..e1b789b96aef75
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
@@ -0,0 +1,146 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_
+#define ACADOS_OCP_QP_OCP_QP_OOQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+enum ocp_qp_ooqp_termination_code
+{
+  SPARSE_SUCCESSFUL_TERMINATION = 0,
+  SPARSE_NOT_FINISHED,
+  SPARSE_MAX_ITS_EXCEEDED,
+  SPARSE_INFEASIBLE,
+  SPARSE_UNKNOWN
+};
+
+typedef struct ocp_qp_ooqp_opts_
+{
+    int printLevel;
+    int useDiagonalWeights;  // TODO(dimitris): implement option
+    int fixHessian;
+    int fixHessianSparsity;
+    int fixDynamics;
+    int fixDynamicsSparsity;
+    int fixInequalities;
+    int fixInequalitiesSparsity;
+} ocp_qp_ooqp_opts;
+
+typedef struct ocp_qp_ooqp_workspace_
+{
+    double *x;
+    double *gamma;
+    double *phi;
+    double *y;
+    double *z;
+    double *lambda;
+    double *pi;
+    double objectiveValue;
+    int *tmpInt;    // temporary vector to sort indicies sparse matrices
+    double *tmpReal;  // temporary vector to sort data of sparse matrices
+    // int ierr;
+} ocp_qp_ooqp_workspace;
+
+typedef struct ocp_qp_ooqp_memory_
+{
+    int firstRun;
+    double *c;
+    int nx;
+    int *irowQ;
+    int nnzQ;
+    int *jcolQ;
+    int *orderQ;
+    double *dQ;
+    double *xlow;
+    char *ixlow;
+    double *xupp;
+    char *ixupp;
+    int *irowA;
+    int nnzA;
+    int *jcolA;
+    int *orderA;
+    double *dA;
+    double *bA;
+    int my;
+    int *irowC;
+    int nnzC;
+    int *jcolC;
+    int *orderC;
+    double *dC;
+    double *clow;
+    int mz;
+    char *iclow;
+    double *cupp;
+    char *icupp;
+    int nnz;  // max(nnzQ, nnzA, nnzC)
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_ooqp_memory;
+
+//
+acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
+                void *work_);
+//
+void ocp_qp_ooqp_destroy(void *mem_, void *work);
+//
+void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_ooqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
new file mode 100644
index 00000000000000..55321a46b2a66e
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_OSQP_H_
+#define ACADOS_OCP_QP_OCP_QP_OSQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// osqp
+#include "osqp/include/types.h"
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct ocp_qp_osqp_opts_
+{
+    OSQPSettings *osqp_opts;
+} ocp_qp_osqp_opts;
+
+
+typedef struct ocp_qp_osqp_memory_
+{
+    c_int first_run;
+
+    c_float *q;
+    c_float *l;
+    c_float *u;
+
+    c_int P_nnzmax;
+    c_int *P_i;
+    c_int *P_p;
+    c_float *P_x;
+
+    c_int A_nnzmax;
+    c_int *A_i;
+    c_int *A_p;
+    c_float *A_x;
+
+    OSQPData *osqp_data;
+    OSQPWorkspace *osqp_work;
+
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_osqp_memory;
+
+acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_);
+//
+acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_osqp_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_OSQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
new file mode 100644
index 00000000000000..b95a11114eb95d
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
@@ -0,0 +1,123 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
+#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_red.h"
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    ocp_qp_dims *red_dims; // dims of reduced qp
+    ocp_qp_dims *pcond_dims;
+    int *block_size;
+    int N2;
+    int N2_bkp;
+} ocp_qp_partial_condensing_dims;
+
+
+
+typedef struct ocp_qp_partial_condensing_opts_
+{
+    struct d_part_cond_qp_arg *hpipm_pcond_opts;
+    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
+//    ocp_qp_dims *pcond_dims;  // TODO(all): move to dims
+//    int *block_size;
+    int N2;
+    int N2_bkp;
+//    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
+    int ric_alg;
+    int mem_qp_in; // allocate qp_in in memory
+} ocp_qp_partial_condensing_opts;
+
+
+
+typedef struct ocp_qp_partial_condensing_memory_
+{
+    struct d_part_cond_qp_ws *hpipm_pcond_work;
+    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
+    // in memory
+    ocp_qp_in *pcond_qp_in;
+    ocp_qp_out *pcond_qp_out;
+    ocp_qp_in *red_qp; // reduced qp
+    ocp_qp_out *red_sol; // reduced qp sol
+    // only pointer
+    ocp_qp_in *ptr_qp_in;
+    ocp_qp_in *ptr_pcond_qp_in;
+    qp_info *qp_out_info; // info in pcond_qp_in
+    double time_qp_xcond;
+} ocp_qp_partial_condensing_memory;
+
+
+
+//
+acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims);
+//
+void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory);
+//
+void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_);
+//
+void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_);
+//
+void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value);
+//
+acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_);
+//
+void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory);
+//
+acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_);
+//
+int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work);
+//
+int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work);
+//
+void ocp_qp_partial_condensing_config_initialize_default(void *config_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
new file mode 100644
index 00000000000000..348627c676f7e1
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
@@ -0,0 +1,121 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
+#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "qpDUNES.h"
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef enum qpdunes_options_t_ {
+    QPDUNES_DEFAULT_ARGUMENTS,
+    QPDUNES_LINEAR_MPC,     // TODO(dimitris): partly implemented
+    QPDUNES_NONLINEAR_MPC,  // TODO(dimitris): not implemented yet
+    QPDUNES_ACADO_SETTINGS
+} qpdunes_options_t;
+
+typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t;
+
+typedef struct ocp_qp_qpdunes_opts_
+{
+    qpOptions_t options;
+    qpdunes_stage_qp_solver_t stageQpSolver;
+    int warmstart;  // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult.
+    bool isLinearMPC;
+} ocp_qp_qpdunes_opts;
+
+typedef struct ocp_qp_qpdunes_memory_
+{
+    int firstRun;
+    int nx;
+    int nu;
+    int nz;
+    int nDmax;  // max(dims->ng)
+    qpData_t qpData;
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_qpdunes_memory;
+
+typedef struct ocp_qp_qpdunes_workspace_
+{
+    double *H;
+    double *Q;
+    double *R;
+    double *S;
+    double *g;
+    double *ABt;
+    double *b;
+    double *Ct;
+    double *lc;
+    double *uc;
+    double *zLow;
+    double *zUpp;
+} ocp_qp_qpdunes_workspace;
+
+//
+acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
+                   void *work_);
+//
+void ocp_qp_qpdunes_free_memory(void *mem_);
+//
+void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_qpdunes_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
new file mode 100644
index 00000000000000..9d4f309bd9a552
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
@@ -0,0 +1,151 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
+#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    void *xcond_dims;
+} ocp_qp_xcond_solver_dims;
+
+
+
+typedef struct ocp_qp_xcond_solver_opts_
+{
+    void *xcond_opts;
+    void *qp_solver_opts;
+} ocp_qp_xcond_solver_opts;
+
+
+
+typedef struct ocp_qp_xcond_solver_memory_
+{
+    void *xcond_memory;
+    void *solver_memory;
+    void *xcond_qp_in;
+    void *xcond_qp_out;
+} ocp_qp_xcond_solver_memory;
+
+
+
+typedef struct ocp_qp_xcond_solver_workspace_
+{
+    void *xcond_work;
+    void *qp_solver_work;
+} ocp_qp_xcond_solver_workspace;
+
+
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config, int N);
+    ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
+    void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+    acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
+    void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
+    void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);
+    qp_solver_config *qp_solver;  // either ocp_qp_solver or dense_solver
+    ocp_qp_xcond_config *xcond;
+} ocp_qp_xcond_solver_config;  // pcond - partial condensing or fcond - full condensing
+
+
+
+/* config */
+//
+acados_size_t ocp_qp_xcond_solver_config_calculate_size();
+//
+ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory);
+
+/* dims */
+//
+acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N);
+//
+ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory);
+//
+void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+
+/* opts */
+//
+acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims);
+//
+void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
+//
+void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value);
+
+/* memory */
+//
+acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory);
+
+/* workspace */
+//
+acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+/* config */
+//
+int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_);
+
+//
+void ocp_qp_xcond_solver_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h
new file mode 100644
index 00000000000000..40a0b1c0cc103c
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_collocation_utils.h
@@ -0,0 +1,100 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
+#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+
+
+// enum Newton_type_collocation
+// {
+//     exact = 0,
+//     simplified_in,
+//     simplified_inis
+// };
+
+
+
+// typedef struct
+// {
+//     enum Newton_type_collocation type;
+//     double *eig;
+//     double *low_tria;
+//     bool single;
+//     bool freeze;
+
+//     double *transf1;
+//     double *transf2;
+
+//     double *transf1_T;
+//     double *transf2_T;
+// } Newton_scheme;
+
+
+typedef enum
+{
+    GAUSS_LEGENDRE,
+    GAUSS_RADAU_IIA,
+} sim_collocation_type;
+
+
+//
+// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns);
+//
+// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory);
+//
+// acados_size_t gauss_simplified_work_calculate_size(int ns);
+// //
+// void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
+//
+acados_size_t butcher_tableau_work_calculate_size(int ns);
+//
+// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work);
+//
+void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec,
+                               double *b_vec, double *A_mat, void *work);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h
new file mode 100644
index 00000000000000..1838d76f819d81
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_common.h
@@ -0,0 +1,222 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_COMMON_H_
+#define ACADOS_SIM_SIM_COMMON_H_
+
+#include <stdbool.h>
+
+#include "acados/sim/sim_collocation_utils.h"
+#include "acados/utils/timing.h"
+#include "acados/utils/types.h"
+
+#include "acados/utils/external_function_generic.h"
+
+// maximum number of integration stages
+#define NS_MAX 15
+
+
+
+typedef enum
+{
+    // ERK and LIFTED_ERK
+    EXPL_ODE_FUN,
+    EXPL_ODE_HES,  // wrt x and u ???
+    EXPL_VDE_FOR,
+    EXPL_VDE_ADJ,
+    // IRK
+    IMPL_ODE_FUN,
+    IMPL_ODE_FUN_JAC_X_XDOT,
+    IMPL_ODE_JAC_X_XDOT_U,
+    IMPL_ODE_FUN_JAC_X_XDOT_U,
+    IMPL_ODE_HESS,
+    // gnsf
+    PHI_FUN,
+    PHI_FUN_JAC_Y,
+    PHI_JAC_Y_UHAT,
+    LO_FUN,
+    GET_GNSF_MATRICES
+} sim_function_t;
+
+
+
+typedef struct
+{
+    void *dims;
+
+    double *x;  // x[NX] - initial state value for simulation
+    double *u;  // u[NU] - control - constant over simulation time
+
+    double *S_forw;  // forward seed [Sx, Su]
+    double *S_adj;   // backward seed
+
+    bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
+
+    void *model;
+
+    double T;  // simulation time
+
+} sim_in;
+
+
+
+typedef struct
+{
+    double CPUtime;  // in seconds
+    double LAtime;   // in seconds
+    double ADtime;   // in seconds
+
+} sim_info;
+
+
+
+typedef struct
+{
+    double *xn;      // xn[NX]
+    double *S_forw;  // S_forw[NX*(NX+NU)]
+    double *S_adj;   //
+    double *S_hess;  //
+
+    double *zn;           // z - algebraic variables - reported at start of simulation interval
+    double *S_algebraic;  // sensitivities of reported value of algebraic variables w.r.t.
+                          // initial stat & control (x_n,u)
+
+    double *grad;  // gradient correction
+
+    sim_info *info;
+
+} sim_out;
+
+
+
+typedef struct
+{
+    int ns;  // number of integration stages
+
+    int num_steps;
+    int num_forw_sens;
+
+    int tableau_size;  // check that is consistent with ns
+            // only update when butcher tableau is changed
+            // kind of private -> no setter!
+    double *A_mat;
+    double *c_vec;
+    double *b_vec;
+
+    bool sens_forw;
+    bool sens_adj;
+    bool sens_hess;
+
+    bool output_z;        // 1 -- if zn should be computed
+    bool sens_algebraic;  // 1 -- if S_algebraic should be computed
+    bool exact_z_output;  // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
+    sim_collocation_type collocation_type;
+
+    // for explicit integrators: newton_iter == 0 && scheme == NULL
+    // && jac_reuse=false
+    int newton_iter;
+    bool jac_reuse;
+    // Newton_scheme *scheme;
+
+    // workspace
+    void *work;
+
+} sim_opts;
+
+
+
+typedef struct
+{
+    int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
+    int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
+    // opts
+    acados_size_t (*opts_calculate_size)(void *config_, void *dims);
+    void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config_, void *dims, void *opts);
+    void (*opts_update)(void *config_, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
+    void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
+    // mem
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
+    int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
+    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
+    // work
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    // model
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *model, const char *field, void *value);
+    // config
+    void (*config_initialize_default)(void *config);
+    // dims
+    acados_size_t (*dims_calculate_size)();
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_set)(void *config, void *dims, const char *field, const int *value);
+    void (*dims_get)(void *config, void *dims, const char *field, int *value);
+
+} sim_config;
+
+
+
+/* config */
+//
+acados_size_t sim_config_calculate_size();
+//
+sim_config *sim_config_assign(void *raw_memory);
+
+/* in */
+//
+acados_size_t sim_in_calculate_size(void *config, void *dims);
+//
+sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
+
+/* out */
+//
+acados_size_t sim_out_calculate_size(void *config, void *dims);
+//
+sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
+
+/* opts */
+//
+void sim_opts_set_(sim_opts *opts, const char *field, void *value);
+//
+void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
+
+#endif  // ACADOS_SIM_SIM_COMMON_H_
diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h
new file mode 100644
index 00000000000000..24a00c70774090
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_erk_integrator.h
@@ -0,0 +1,143 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+} sim_erk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // explicit ode
+    external_function_generic *expl_ode_fun;
+    // hessian explicit ode
+    external_function_generic *expl_ode_hes;
+    // forward explicit vde
+    external_function_generic *expl_vde_for;
+    // adjoint explicit vde
+    external_function_generic *expl_vde_adj;
+
+} erk_model;
+
+
+
+typedef struct
+{
+	// memory
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+	// workspace structs
+} sim_erk_memory;
+
+
+
+typedef struct
+{
+	// workspace mem
+    double *rhs_forw_in;  // x + S + p
+
+    double *K_traj;         // (stages*nX) or (steps*stages*nX) for adj
+    double *out_forw_traj;  // S or (steps+1)*nX for adj
+
+    double *rhs_adj_in;
+    double *out_adj_tmp;
+    double *adj_traj;
+
+} sim_erk_workspace;
+
+
+
+// dims
+acados_size_t sim_erk_dims_calculate_size();
+void *sim_erk_dims_assign(void *config_, void *raw_memory);
+void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value);
+void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// model
+acados_size_t sim_erk_model_calculate_size(void *config, void *dims);
+void *sim_erk_model_assign(void *config, void *dims, void *raw_memory);
+int sim_erk_model_set(void *model, const char *field, void *value);
+
+// opts
+acados_size_t sim_erk_opts_calculate_size(void *config, void *dims);
+//
+void sim_erk_opts_update(void *config_, void *dims, void *opts_);
+//
+void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+
+// memory
+acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
+
+
+// workspace
+acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_);
+
+//
+int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
+//
+void sim_erk_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h
new file mode 100644
index 00000000000000..5524b384e06c9c
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_gnsf.h
@@ -0,0 +1,367 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_GNSF_H_
+#define ACADOS_SIM_SIM_GNSF_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+
+#include "acados/utils/timing.h"
+#include "acados/utils/types.h"
+#include "acados/sim/sim_common.h"
+
+#include "blasfeo/include/blasfeo_common.h"
+#include "blasfeo/include/blasfeo_d_aux.h"
+#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+#include "blasfeo/include/blasfeo_d_blas.h"
+#include "blasfeo/include/blasfeo_d_kernel.h"
+#include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
+#include "blasfeo/include/blasfeo_target.h"
+
+/* 
+GNSF - Generalized Nonlinear Static Feedback Model
+has the following form
+https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf
+
+Details on the algorithm can be found in master thesis of Jonathan Frey,
+which presents a slightly different format without the terms B_LO, c_LO.
+https://github.com/acados/acados/files/2318322/gnsf_structure.pdf
+https://cdn.syscop.de/publications/Frey2018.pdf
+https://cdn.syscop.de/publications/Frey2019.pdf
+*/
+
+typedef struct
+{
+    int nx; // total number of differential states
+    int nu; // total number of inputs
+    int nz; // total number of algebraic states
+    int nx1; // number of differential states in NSF part
+    int nz1; // number of algebraic states in NSF part
+    int n_out; // output dimension of phi
+    int ny; // dimension of first input of phi
+    int nuhat; // dimension of second input of phi
+
+} sim_gnsf_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // phi: nonlinearity function
+    external_function_generic *phi_fun;
+    external_function_generic *phi_fun_jac_y;
+    external_function_generic *phi_jac_y_uhat;
+
+    // f_lo: linear output function
+    external_function_generic *f_lo_fun_jac_x1_x1dot_u_z;
+
+    // to import model matrices
+    external_function_generic *get_gnsf_matrices;
+
+    // flag indicating, if model defining matrices are imported via external (casadi) function,
+    //    [default]: true -> auto;
+    bool auto_import_gnsf;
+
+    // booleans from structure detection
+    bool nontrivial_f_LO; // indicates if f_LO is constant zero function
+    bool fully_linear; // indicates if model is fully linear LOS
+
+    /* model defining matrices */
+    // TODO: add setters to set manually
+    double *A;
+    double *B;
+    double *C;
+    double *E;
+
+    double *L_x;
+    double *L_xdot;
+    double *L_z;
+    double *L_u;
+
+    double *A_LO;
+    double *B_LO;
+    double *E_LO;
+
+    /* constant vector */
+    double *c;
+    double *c_LO;
+
+    // permutation vector - to have GNSF order of x, z within sim_gnsf only
+    int *ipiv_x;
+    int *ipiv_z;
+
+    double *ipiv_x_double;
+    double *ipiv_z_double;
+
+} gnsf_model;
+
+
+
+// pre_workspace - workspace used in the precomputation phase
+typedef struct
+{
+    struct blasfeo_dmat E11;
+    struct blasfeo_dmat E12;
+    struct blasfeo_dmat E21;
+    struct blasfeo_dmat E22;
+
+    struct blasfeo_dmat A1;
+    struct blasfeo_dmat A2;
+    struct blasfeo_dmat B1;
+    struct blasfeo_dmat B2;
+    struct blasfeo_dmat C1;
+    struct blasfeo_dmat C2;
+
+    struct blasfeo_dmat AA1;
+    struct blasfeo_dmat AA2;
+    struct blasfeo_dmat BB1;
+    struct blasfeo_dmat BB2;
+    struct blasfeo_dmat CC1;
+    struct blasfeo_dmat CC2;
+    struct blasfeo_dmat DD1;
+    struct blasfeo_dmat DD2;
+    struct blasfeo_dmat EE1;
+    struct blasfeo_dmat EE2;
+
+    struct blasfeo_dmat QQ1;
+
+    struct blasfeo_dmat LLZ;
+    struct blasfeo_dmat LLx;
+    struct blasfeo_dmat LLK;
+
+    int *ipivEE1;  // index of pivot vector
+    int *ipivEE2;
+    int *ipivQQ1;
+
+    // for algebraic sensitivity propagation
+    struct blasfeo_dmat Q1;
+
+    // for constant term in NSF
+    struct blasfeo_dvec cc1;
+    struct blasfeo_dvec cc2;
+
+} gnsf_pre_workspace;
+
+
+
+// workspace
+typedef struct
+{
+    double *Z_work;  // used to perform computations to get out->zn
+
+    int *ipiv;  // index of pivot vector
+
+    struct blasfeo_dvec *vv_traj;
+    struct blasfeo_dvec *yy_traj;
+    struct blasfeo_dmat *f_LO_jac_traj;
+
+    struct blasfeo_dvec K2_val;
+    struct blasfeo_dvec x0_traj;
+    struct blasfeo_dvec res_val;
+    struct blasfeo_dvec u0;
+    struct blasfeo_dvec lambda;
+    struct blasfeo_dvec lambda_old;
+
+    struct blasfeo_dvec yyu;
+    struct blasfeo_dvec yyss;
+
+    struct blasfeo_dvec K1_val;
+    struct blasfeo_dvec f_LO_val;
+    struct blasfeo_dvec x1_stage_val;
+    struct blasfeo_dvec Z1_val;
+
+    struct blasfeo_dvec K1u;
+    struct blasfeo_dvec Zu;
+    struct blasfeo_dvec ALOtimesx02;
+    struct blasfeo_dvec BLOtimesu0;
+
+    struct blasfeo_dvec uhat;
+
+    struct blasfeo_dmat J_r_vv;
+    struct blasfeo_dmat J_r_x1u;
+
+    struct blasfeo_dmat dK1_dx1;
+    struct blasfeo_dmat dK1_du;
+    struct blasfeo_dmat dZ_dx1;
+    struct blasfeo_dmat dZ_du;
+    struct blasfeo_dmat J_G2_K1;
+
+    struct blasfeo_dmat dK2_dx1;
+    struct blasfeo_dmat dK2_dvv;
+    struct blasfeo_dmat dxf_dwn;
+    struct blasfeo_dmat S_forw_new;
+    struct blasfeo_dmat S_algebraic_aux;
+
+    struct blasfeo_dmat dPsi_dvv;
+    struct blasfeo_dmat dPsi_dx;
+    struct blasfeo_dmat dPsi_du;
+
+    struct blasfeo_dmat dPHI_dyuhat;
+    struct blasfeo_dvec z0;
+
+    // memory only available if (opts->sens_algebraic)
+    // struct blasfeo_dvec y_one_stage;
+    // struct blasfeo_dvec x0dot_1;
+    // struct blasfeo_dmat dz10_dx1u;  // (nz1) * (nx1+nu);
+    // struct blasfeo_dmat dr0_dvv0;  // (n_out * n_out)
+    // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu)
+    // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu)
+    // int *ipiv_vv0;
+
+} gnsf_workspace;
+
+
+
+// memory
+typedef struct
+{
+    bool first_call;
+
+    // simulation time for one step
+    double dt;
+
+    // (scaled) butcher table
+    double *A_dt;
+    double *b_dt;
+    double *c_butcher;
+
+    // value used to initialize integration variables - corresponding to value of phi
+    double *phi_guess;  //  n_out
+
+    struct blasfeo_dmat S_forw;
+    struct blasfeo_dmat S_algebraic;
+
+    // precomputed matrices
+    struct blasfeo_dmat KKv;
+    struct blasfeo_dmat KKx;
+    struct blasfeo_dmat KKu;
+
+    struct blasfeo_dmat YYv;
+    struct blasfeo_dmat YYx;
+    struct blasfeo_dmat YYu;
+
+    struct blasfeo_dmat ZZv;
+    struct blasfeo_dmat ZZx;
+    struct blasfeo_dmat ZZu;
+
+    struct blasfeo_dmat ALO;
+    struct blasfeo_dmat BLO;
+    struct blasfeo_dmat M2_LU;
+    int *ipivM2;
+
+    struct blasfeo_dmat dK2_dx2;
+    struct blasfeo_dmat dK2_du;
+    struct blasfeo_dmat dx2f_dx2u;
+
+    struct blasfeo_dmat Lu;
+
+    // precomputed vectors for constant term in NSF
+    struct blasfeo_dvec KK0;
+    struct blasfeo_dvec YY0;
+    struct blasfeo_dvec ZZ0;
+
+    // for algebraic sensitivities only;
+    // struct blasfeo_dmat *Z0x;
+    // struct blasfeo_dmat *Z0u;
+    // struct blasfeo_dmat *Z0v;
+
+    // struct blasfeo_dmat *Y0x;
+    // struct blasfeo_dmat *Y0u;
+    // struct blasfeo_dmat *Y0v;
+
+    // struct blasfeo_dmat *K0x;
+    // struct blasfeo_dmat *K0u;
+    // struct blasfeo_dmat *K0v;
+
+    // struct blasfeo_dmat *ELO_LU;
+    // int *ipiv_ELO;
+    // struct blasfeo_dmat *ELO_inv_ALO;
+
+    // struct blasfeo_dmat *Lx;
+    // struct blasfeo_dmat *Lxdot;
+    // struct blasfeo_dmat *Lz;
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+} sim_gnsf_memory;
+
+
+
+// gnsf dims
+acados_size_t sim_gnsf_dims_calculate_size();
+void *sim_gnsf_dims_assign(void *config_, void *raw_memory);
+
+// get & set functions
+void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// opts
+acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims);
+void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory);
+void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_);
+void sim_gnsf_opts_update(void *config_, void *dims, void *opts_);
+void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+// model
+acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_);
+void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory);
+int sim_gnsf_model_set(void *model_, const char *field, void *value);
+
+// precomputation
+int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_,
+                       void *work_);
+
+// workspace & memory
+acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args);
+acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_);
+void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory);
+
+// interface
+void sim_gnsf_config_initialize_default(void *config_);
+
+// integrator
+int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_GNSF_H_
diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h
new file mode 100644
index 00000000000000..6851bacb3a7902
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_irk_integrator.h
@@ -0,0 +1,186 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+#include "blasfeo/include/blasfeo_common.h"
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+
+} sim_irk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // implicit fun - can either be fully implicit ode or dae
+    //          - i.e. dae has z as additional last argument & nz > 0
+    external_function_generic *impl_ode_fun;
+    // implicit ode & jac_x & jax_xdot & jac_z
+    external_function_generic *impl_ode_fun_jac_x_xdot_z;
+    // jax_x & jac_xdot & jac_u & jac_z of implicit ode
+    external_function_generic *impl_ode_jac_x_xdot_u_z;
+    // hessian of implicit ode:
+    external_function_generic *impl_ode_hess;
+} irk_model;
+
+
+
+typedef struct
+{
+    struct blasfeo_dvec *rG;        // residuals of G (nx*ns)
+    struct blasfeo_dvec *K;         // internal K variables ((nx+nz)*ns)
+    struct blasfeo_dvec *xt;        // temporary x
+    struct blasfeo_dvec *xn;        // x at each integration step
+    struct blasfeo_dvec xtdot;      // temporary xdot
+
+    struct blasfeo_dvec *lambda;    // adjoint sensitivities (nx + nu)
+    struct blasfeo_dvec *lambdaK;   // auxiliary variable ((nx+nz)*ns) for adjoint propagation
+
+    struct blasfeo_dmat df_dx;     // temporary Jacobian of ode w.r.t x (nx+nz, nx)
+    struct blasfeo_dmat df_dxdot;  // temporary Jacobian of ode w.r.t xdot (nx+nz, nx)
+    struct blasfeo_dmat df_du;     // temporary Jacobian of ode w.r.t u (nx+nz, nu)
+    struct blasfeo_dmat df_dz;     // temporary Jacobian of ode w.r.t z (nx+nz, nu)
+
+    /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */
+
+    // only allocated if (opts->sens_algebraic || opts->output_z)
+    int *ipiv_one_stage;  // index of pivot vector (nx + nz)
+    double *Z_work;  // used to perform computations to get out->zn (ns)
+
+    // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output)
+    //      used for algebraic sensitivity generation
+    struct blasfeo_dmat df_dxdotz;  // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz);
+    struct blasfeo_dmat dk0_dxu;    // intermediate result, (nx+nz, nx+nu)
+
+    // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat
+    //                                  to store intermediate results
+    struct blasfeo_dmat *dK_dxu;  // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu);
+
+    // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat
+    //                                  to store intermediate results
+    struct blasfeo_dmat *S_forw;  // forward sensitivities (nx, nx+nu)
+
+    // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
+    struct blasfeo_dmat *dG_dxu;  // jacobian of G over x and u ((nx+nz)*ns, nx+nu)
+
+    // dG_dK:  if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
+    struct blasfeo_dmat *dG_dK;   // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns)
+
+    // ipiv: index of pivot vector
+    //         if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused
+    //         if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all
+    //              pivot vectors for dG_dxu
+    int *ipiv;  // index of pivot vector
+
+    // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess )
+    struct blasfeo_dvec *xn_traj;  // xn trajectory
+    struct blasfeo_dvec *K_traj;   // K trajectory
+
+    /* the following variables are only available if (opts->sens_hess) */
+    // For Hessian propagation
+    struct blasfeo_dmat Hess;   // temporary Hessian (nx + nu, nx + nu)
+    // output of impl_ode_hess
+    struct blasfeo_dmat f_hess;  // size: (nx + nu, nx + nu)
+    struct blasfeo_dmat dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
+    struct blasfeo_dmat tmp_dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
+
+} sim_irk_workspace;
+
+
+typedef struct
+{
+    double *xdot;  // xdot[NX] - initialization for state derivatives k within the integrator
+    double *z;     // z[NZ] - initialization for algebraic variables z
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+} sim_irk_memory;
+
+
+// get & set functions
+void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// dims
+acados_size_t sim_irk_dims_calculate_size();
+void *sim_irk_dims_assign(void *config_, void *raw_memory);
+
+// model
+acados_size_t sim_irk_model_calculate_size(void *config, void *dims);
+void *sim_irk_model_assign(void *config, void *dims, void *raw_memory);
+int sim_irk_model_set(void *model, const char *field, void *value);
+
+// opts
+acados_size_t sim_irk_opts_calculate_size(void *config, void *dims);
+void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory);
+void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_);
+void sim_irk_opts_update(void *config_, void *dims, void *opts_);
+void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+// memory
+acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_);
+void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
+
+// workspace
+acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
+void sim_irk_config_initialize_default(void *config);
+
+// main
+int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
new file mode 100644
index 00000000000000..8e476b0e27745f
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
@@ -0,0 +1,159 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+} sim_lifted_irk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // implicit ode
+    external_function_generic *impl_ode_fun;
+    // implicit ode & jax_x & jac_xdot & jac_u implicit ode
+    external_function_generic *impl_ode_fun_jac_x_xdot_u;
+
+} lifted_irk_model;
+
+
+
+typedef struct
+{
+
+    struct blasfeo_dmat *J_temp_x;     // temporary Jacobian of ode w.r.t x (nx, nx)
+    struct blasfeo_dmat *J_temp_xdot;  // temporary Jacobian of ode w.r.t xdot (nx, nx)
+    struct blasfeo_dmat *J_temp_u;     // temporary Jacobian of ode w.r.t u (nx, nu)
+
+    struct blasfeo_dvec *rG;      // residuals of G (nx*ns)
+    struct blasfeo_dvec *xt;      // temporary x
+    struct blasfeo_dvec *xn;      // x at each integration step (for evaluations)
+    struct blasfeo_dvec *xn_out;  // x at each integration step (output)
+    struct blasfeo_dvec *dxn;     // dx at each integration step
+    struct blasfeo_dvec *w;       // stacked x and u
+
+    int *ipiv;  // index of pivot vector
+
+} sim_lifted_irk_workspace;
+
+
+
+typedef struct
+{
+    // memory for lifted integrators
+    struct blasfeo_dmat *S_forw;    // forward sensitivities
+    struct blasfeo_dmat *JGK;       // jacobian of G over K (nx*ns, nx*ns)
+    struct blasfeo_dmat *JGf;       // jacobian of G over x and u (nx*ns, nx+nu);
+    struct blasfeo_dmat *JKf;       // jacobian of K over x and u (nx*ns, nx+nu);
+
+    struct blasfeo_dvec *K;         // internal variables (nx*ns)
+    struct blasfeo_dvec *x;         // states (nx) -- for expansion step
+    struct blasfeo_dvec *u;         // controls (nu) -- for expansion step
+
+    int update_sens;
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+} sim_lifted_irk_memory;
+
+
+
+/* dims */
+void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+acados_size_t sim_lifted_irk_dims_calculate_size();
+//
+void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory);
+
+/* model */
+//
+acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims);
+//
+void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_lifted_irk_model_set(void *model_, const char *field, void *value);
+
+/* opts */
+//
+acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims);
+//
+void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_);
+//
+void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+/* memory */
+//
+acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+
+/* workspace */
+//
+acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+void sim_lifted_irk_config_initialize_default(void *config);
+
+/* solver */
+//
+int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_,
+        void *mem_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h
new file mode 100644
index 00000000000000..021363f26eced3
--- /dev/null
+++ b/third_party/acados/include/acados/utils/external_function_generic.h
@@ -0,0 +1,245 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
+#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+/************************************************
+ * generic external function
+ ************************************************/
+
+// type of arguments
+typedef enum {
+    COLMAJ,
+    BLASFEO_DMAT,
+    BLASFEO_DVEC,
+    COLMAJ_ARGS,
+    BLASFEO_DMAT_ARGS,
+    BLASFEO_DVEC_ARGS,
+    IGNORE_ARGUMENT
+} ext_fun_arg_t;
+
+struct colmaj_args
+{
+    double *A;
+    int lda;
+};
+
+struct blasfeo_dmat_args
+{
+    struct blasfeo_dmat *A;
+    int ai;
+    int aj;
+};
+
+struct blasfeo_dvec_args
+{
+    struct blasfeo_dvec *x;
+    int xi;
+};
+
+// prototype of an external function
+typedef struct
+{
+    // public members (have to be before private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+    // private members
+    // .....
+} external_function_generic;
+
+
+
+/************************************************
+ * generic external parametric function
+ ************************************************/
+
+// prototype of a parametric external function
+typedef struct
+{
+    // public members for core (have to be before private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+	// public members for interfaces
+    void (*get_nparam)(void *, int *);
+    void (*set_param)(void *, double *);
+    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*fun)(void **, void **, void *);
+    double *p;  // parameters
+    int np;     // number of parameters
+    // .....
+} external_function_param_generic;
+
+//
+acados_size_t external_function_param_generic_struct_size();
+//
+void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value);
+//
+acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np);
+//
+void external_function_param_generic_assign(external_function_param_generic *fun, void *mem);
+//
+void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out);
+//
+void external_function_param_generic_get_nparam(void *self, int *np);
+//
+void external_function_param_generic_set_param(void *self, double *p);
+
+
+/************************************************
+ * casadi external function
+ ************************************************/
+
+typedef struct
+{
+    // public members (have to be the same as in the prototype, and before the private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*casadi_fun)(const double **, double **, int *, double *, void *);
+    int (*casadi_work)(int *, int *, int *, int *);
+    const int *(*casadi_sparsity_in)(int);
+    const int *(*casadi_sparsity_out)(int);
+    int (*casadi_n_in)();
+    int (*casadi_n_out)();
+    double **args;
+    double **res;
+    double *w;
+    int *iw;
+    int *args_size;     // size of args[i]
+    int *res_size;      // size of res[i]
+    int args_num;       // number of args arrays
+    int args_size_tot;  // total size of args arrays
+    int res_num;        // number of res arrays
+    int res_size_tot;   // total size of res arrays
+    int in_num;         // number of input arrays
+    int out_num;        // number of output arrays
+    int iw_size;        // number of ints for worksapce
+    int w_size;         // number of doubles for workspace
+} external_function_casadi;
+
+//
+acados_size_t external_function_casadi_struct_size();
+//
+void external_function_casadi_set_fun(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_work(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_n_in(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_n_out(external_function_casadi *fun, void *value);
+//
+acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun);
+//
+void external_function_casadi_assign(external_function_casadi *fun, void *mem);
+//
+void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
+                                      ext_fun_arg_t *type_out, void **out);
+
+/************************************************
+ * casadi external parametric function
+ ************************************************/
+
+typedef struct
+{
+    // public members for core (have to be the same as in the prototype, and before the private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+	// public members for interfaces
+    void (*get_nparam)(void *, int *);
+    void (*set_param)(void *, double *);
+    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*casadi_fun)(const double **, double **, int *, double *, void *);
+    int (*casadi_work)(int *, int *, int *, int *);
+    const int *(*casadi_sparsity_in)(int);
+    const int *(*casadi_sparsity_out)(int);
+    int (*casadi_n_in)();
+    int (*casadi_n_out)();
+    double **args;
+    double **res;
+    double *w;
+    int *iw;
+    int *args_size;     // size of args[i]
+    int *res_size;      // size of res[i]
+    int args_num;       // number of args arrays
+    int args_size_tot;  // total size of args arrays
+    int res_num;        // number of res arrays
+    int res_size_tot;   // total size of res arrays
+    int in_num;         // number of input arrays
+    int out_num;        // number of output arrays
+    int iw_size;        // number of ints for worksapce
+    int w_size;         // number of doubles for workspace
+    int np;             // number of parameters
+} external_function_param_casadi;
+
+//
+acados_size_t external_function_param_casadi_struct_size();
+//
+void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value);
+//
+acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np);
+//
+void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem);
+//
+void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
+                                            ext_fun_arg_t *type_out, void **out);
+//
+void external_function_param_casadi_get_nparam(void *self, int *np);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h
new file mode 100644
index 00000000000000..fe1da875f6e600
--- /dev/null
+++ b/third_party/acados/include/acados/utils/math.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef ACADOS_UTILS_MATH_H_
+#define ACADOS_UTILS_MATH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+#if defined(__MABX2__)
+double fmax(double a, double b);
+#endif
+
+#define MIN(a,b) (((a)<(b))?(a):(b))
+#define MAX(a,b) (((a)>(b))?(a):(b))
+
+void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc);
+// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y);
+// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y);
+// void dcopy_3l(int n, double *x, int incx, double *y, int incy);
+void daxpy_3l(int n, double da, double *dx, double *dy);
+void dscal_3l(int n, double da, double *dx);
+double twonormv(int n, double *ptrv);
+
+/* copies a matrix into another matrix */
+void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);
+
+/* solution of a system of linear equations */
+void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
+
+/* matrix exponential */
+void expm(int row, double *A);
+
+int idamax_3l(int n, double *x);
+
+void dswap_3l(int n, double *x, int incx, double *y, int incy);
+
+void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A,
+             int lda);
+
+void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info);
+
+void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv);
+
+void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb);
+
+void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb);
+
+void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
+
+double onenorm(int row, int col, double *ptrA);
+
+// double twonormv(int n, double *ptrv);
+
+void padeapprox(int m, int row, double *A);
+
+void expm(int row, double *A);
+
+// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng,
+//                                      int *nvd, int *ned, int *nbd, int *ngd);
+
+void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e);
+
+double minimum_of_doubles(double *x, int n);
+
+void neville_algorithm(double xx, int n, double *x, double *Q, double *out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_MATH_H_
diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h
new file mode 100644
index 00000000000000..7b9efc5ed8d2a5
--- /dev/null
+++ b/third_party/acados/include/acados/utils/mem.h
@@ -0,0 +1,113 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_MEM_H_
+#define ACADOS_UTILS_MEM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include <stdbool.h>
+
+#include "types.h"
+
+// blasfeo
+#include "blasfeo/include/blasfeo_d_aux.h"
+#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+
+// TODO(dimitris): probably does not belong here
+typedef struct
+{
+    int (*fun)(void *);
+    acados_size_t (*calculate_args_size)(void *);
+    void *(*assign_args)(void *);
+    void (*initialize_default_args)(void *);
+    acados_size_t (*calculate_memory_size)(void *);
+    void *(*assign_memory)(void *);
+    acados_size_t (*calculate_workspace_size)(void *);
+} module_solver;
+
+// make int counter of memory multiple of a number (typically 8 or 64)
+void make_int_multiple_of(acados_size_t num, acados_size_t *size);
+
+// align char pointer to number (typically 8 for pointers and doubles,
+// 64 for blasfeo structs) and return offset
+int align_char_to(int num, char **c_ptr);
+
+// switch between malloc and calloc (for valgrinding)
+void *acados_malloc(size_t nitems, acados_size_t size);
+
+// uses always calloc
+void *acados_calloc(size_t nitems, acados_size_t size);
+
+// allocate vector of pointers to vectors of doubles and advance pointer
+void assign_and_advance_double_ptrs(int n, double ***v, char **ptr);
+
+// allocate vector of pointers to vectors of ints and advance pointer
+void assign_and_advance_int_ptrs(int n, int ***v, char **ptr);
+
+// allocate vector of pointers to strvecs and advance pointer
+void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr);
+
+// allocate vector of pointers to strmats and advance pointer
+void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr);
+
+// allocate vector of pointers to vector of pointers to strmats and advance pointer
+void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr);
+
+// allocate vector of chars and advance pointer
+void assign_and_advance_char(int n, char **v, char **ptr);
+
+// allocate vector of ints and advance pointer
+void assign_and_advance_int(int n, int **v, char **ptr);
+
+// allocate vector of bools and advance pointer
+void assign_and_advance_bool(int n, bool **v, char **ptr);
+
+// allocate vector of doubles and advance pointer
+void assign_and_advance_double(int n, double **v, char **ptr);
+
+// allocate strvec and advance pointer
+void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr);
+
+// allocate strmat and advance pointer
+void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_MEM_H_
diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h
new file mode 100644
index 00000000000000..2993447dbd746d
--- /dev/null
+++ b/third_party/acados/include/acados/utils/print.h
@@ -0,0 +1,109 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_PRINT_H_
+#define ACADOS_UTILS_PRINT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_common_frontend.h"
+#include "acados/utils/types.h"
+
+// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols);
+
+// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows,
+//                        const int_t ncols);
+
+// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols);
+
+// void print_array(char *file_name, real_t *array, int_t size);
+
+// void print_int_array(char *file_name, const int_t *array, int_t size);
+
+void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols);
+
+void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname);
+
+// ocp nlp
+// TODO(andrea): inconsistent naming
+void ocp_nlp_dims_print(ocp_nlp_dims *dims);
+// TODO(andrea): inconsistent naming
+void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
+// TODO(andrea): inconsistent naming
+void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
+
+// ocp qp
+void print_ocp_qp_dims(ocp_qp_dims *dims);
+
+// void print_dense_qp_dims(dense_qp_dims *dims);
+
+void print_ocp_qp_in(ocp_qp_in *qp_in);
+
+void print_ocp_qp_out(ocp_qp_out *qp_out);
+
+// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
+
+// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
+
+void print_ocp_qp_res(ocp_qp_res *qp_res);
+
+// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
+
+// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
+
+// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
+
+void print_dense_qp_in(dense_qp_in *qp_in);
+
+void print_qp_info(qp_info *info);
+
+// void acados_warning(char warning_string[]);
+
+// void acados_error(char error_string[]);
+
+// void acados_not_implemented(char feature_string[]);
+
+// blasfeo
+// void print_blasfeo_target();
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_PRINT_H_
diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h
new file mode 100644
index 00000000000000..02f1835593a244
--- /dev/null
+++ b/third_party/acados/include/acados/utils/strsep.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_STRSEP_H_
+#define ACADOS_UTILS_STRSEP_H_
+
+#ifdef __cplusplus
+#include <string>
+#define STD(x) std::x
+namespace std
+{
+#else
+#include <string.h>
+#define STD(x) x
+#endif
+
+char* strsep_acados(char** stringp, const char* delim)
+{
+    char* result;
+
+    if ((stringp == NULL) || (*stringp == NULL)) return NULL;
+
+    result = *stringp;
+
+    while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp;
+
+    if (**stringp)
+        *(*stringp)++ = '\0';
+    else
+        *stringp = NULL;
+
+    return result;
+}
+
+#ifdef __cplusplus
+}  // namespace std
+#endif
+
+#undef STD
+
+#endif  // ACADOS_UTILS_STRSEP_H_
diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h
new file mode 100644
index 00000000000000..fe561d38914306
--- /dev/null
+++ b/third_party/acados/include/acados/utils/timing.h
@@ -0,0 +1,125 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_TIMING_H_
+#define ACADOS_UTILS_TIMING_H_
+
+#include "acados/utils/types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef MEASURE_TIMINGS
+#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
+
+/* Use Windows QueryPerformanceCounter for timing. */
+#include <Windows.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    LARGE_INTEGER tic;
+    LARGE_INTEGER toc;
+    LARGE_INTEGER freq;
+} acados_timer;
+
+#elif defined(__APPLE__)
+
+#include <mach/mach_time.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    uint64_t tic;
+    uint64_t toc;
+    mach_timebase_info_data_t tinfo;
+} acados_timer;
+
+#elif defined(__MABX2__)
+
+#include <brtenv.h>
+
+typedef struct acados_timer_
+{
+    double time;
+} acados_timer;
+
+#else
+
+/* Use POSIX clock_gettime() for timing on non-Windows machines. */
+#include <time.h>
+
+#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__)  // C99 Mode
+
+#include <sys/stat.h>
+#include <sys/time.h>
+
+typedef struct acados_timer_
+{
+    struct timeval tic;
+    struct timeval toc;
+} acados_timer;
+
+#else  // ANSI C Mode
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    struct timespec tic;
+    struct timespec toc;
+} acados_timer;
+
+#endif  // __STDC_VERSION__ >= 199901L
+
+#endif  // (defined _WIN32 || defined _WIN64)
+
+#else
+
+// Dummy type when timings are off
+typedef real_t acados_timer;
+
+#endif  // MEASURE_TIMINGS
+
+/** A function for measurement of the current time. */
+void acados_tic(acados_timer* t);
+
+/** A function which returns the elapsed time. */
+real_t acados_toc(acados_timer* t);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_TIMING_H_
diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h
new file mode 100644
index 00000000000000..99ad375fea73ae
--- /dev/null
+++ b/third_party/acados/include/acados/utils/types.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_TYPES_H_
+#define ACADOS_UTILS_TYPES_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stddef.h>
+
+#define MAX_STR_LEN 256
+#define ACADOS_EPS 1e-12
+#define ACADOS_NEG_INFTY -1.0e9
+#define ACADOS_POS_INFTY +1.0e9
+#define UNUSED(x) ((void)(x))
+
+
+
+typedef double real_t;
+typedef int int_t;
+typedef size_t acados_size_t;
+
+
+typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem);
+
+
+
+// enum of return values
+enum return_values
+{
+    ACADOS_SUCCESS,
+    ACADOS_FAILURE,
+    ACADOS_MAXITER,
+    ACADOS_MINSTEP,
+    ACADOS_QP_FAILURE,
+    ACADOS_READY,
+};
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_TYPES_H_
diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h
new file mode 100644
index 00000000000000..51fe8271279ac5
--- /dev/null
+++ b/third_party/acados/include/acados_c/condensing_interface.h
@@ -0,0 +1,84 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
+#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_full_condensing.h"
+#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
+
+typedef enum {
+    PARTIAL_CONDENSING,
+    FULL_CONDENSING,
+} condensing_t;
+
+typedef struct
+{
+    condensing_t condensing_type;
+} condensing_plan;
+
+typedef struct
+{
+    ocp_qp_xcond_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} condensing_module;
+
+ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
+//
+void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
+//
+acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
+//
+condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
+                                            void *opts_, void *raw_memory);
+//
+condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
+                                            void *opts_);
+//
+int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
+//
+int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h
new file mode 100644
index 00000000000000..4ecc77381d669b
--- /dev/null
+++ b/third_party/acados/include/acados_c/dense_qp_interface.h
@@ -0,0 +1,94 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
+#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+
+typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP } dense_qp_solver_t;
+
+typedef struct
+{
+    dense_qp_solver_t qp_solver;
+} dense_qp_solver_plan;
+
+typedef struct
+{
+    qp_solver_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} dense_qp_solver;
+
+qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
+//
+dense_qp_dims *dense_qp_dims_create();
+//
+dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
+//
+dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
+                                 void *raw_memory);
+//
+dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
+//
+void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
+                                 double *res);
+//
+bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
+//
+bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
+//
+bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
+//
+bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h
new file mode 100644
index 00000000000000..6838975071476c
--- /dev/null
+++ b/third_party/acados/include/acados_c/external_function_interface.h
@@ -0,0 +1,92 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
+#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/external_function_generic.h"
+
+
+
+/************************************************
+ * generic external parametric function
+ ************************************************/
+
+//
+void external_function_param_generic_create(external_function_param_generic *fun, int np);
+//
+void external_function_param_generic_free(external_function_param_generic *fun);
+
+
+
+/************************************************
+ * casadi external function
+ ************************************************/
+
+//
+void external_function_casadi_create(external_function_casadi *fun);
+//
+void external_function_casadi_free(external_function_casadi *fun);
+//
+void external_function_casadi_create_array(int size, external_function_casadi *funs);
+//
+void external_function_casadi_free_array(int size, external_function_casadi *funs);
+
+
+
+/************************************************
+ * casadi external parametric function
+ ************************************************/
+
+//
+void external_function_param_casadi_create(external_function_param_casadi *fun, int np);
+//
+void external_function_param_casadi_free(external_function_param_casadi *fun);
+//
+void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs,
+                                                 int np);
+//
+void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h
new file mode 100644
index 00000000000000..b6b893024bb422
--- /dev/null
+++ b/third_party/acados/include/acados_c/ocp_nlp_interface.h
@@ -0,0 +1,403 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
+#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
+#include "acados/sim/sim_erk_integrator.h"
+#include "acados/sim/sim_irk_integrator.h"
+#include "acados/sim/sim_lifted_irk_integrator.h"
+#include "acados/sim/sim_gnsf.h"
+// acados_c
+#include "acados_c/ocp_qp_interface.h"
+#include "acados_c/sim_interface.h"
+
+
+/// Solution methods for optimal control problems.
+typedef enum
+{
+    SQP,
+    SQP_RTI,
+    INVALID_NLP_SOLVER,
+} ocp_nlp_solver_t;
+
+
+/// Types of the cost function.
+typedef enum
+{
+    LINEAR_LS,
+    NONLINEAR_LS,
+    EXTERNAL,
+    INVALID_COST,
+} ocp_nlp_cost_t;
+
+
+/// Types of the system dynamics, discrete or continuous time.
+typedef enum
+{
+    CONTINUOUS_MODEL,
+    DISCRETE_MODEL,
+    INVALID_DYNAMICS,
+} ocp_nlp_dynamics_t;
+
+
+/// Constraint types
+typedef enum
+{
+    /// Comprises simple bounds, polytopic constraints,
+    /// general non-linear constraints.
+    BGH,
+
+    /// Comprises simple bounds, polytopic constraints,
+    /// general non-linear constraints, and positive definite constraints.
+    BGP,
+
+    INVALID_CONSTRAINT,
+} ocp_nlp_constraints_t;
+
+
+/// Regularization types
+typedef enum
+{
+    NO_REGULARIZE,
+    MIRROR,
+    PROJECT,
+    PROJECT_REDUC_HESS,
+    CONVEXIFY,
+    INVALID_REGULARIZE,
+} ocp_nlp_reg_t;
+
+
+/// Structure to store the configuration of a non-linear program
+typedef struct ocp_nlp_plan
+{
+    /// QP solver configuration.
+    ocp_qp_solver_plan ocp_qp_solver_plan;
+
+    /// Simulation solver configuration for each stage.
+    sim_solver_plan *sim_solver_plan;
+
+    /// Nlp solver type.
+    ocp_nlp_solver_t nlp_solver;
+
+    /// Regularization type, defaults to no regularization.
+    ocp_nlp_reg_t regularization;
+
+    /// Cost type for each stage.
+    ocp_nlp_cost_t *nlp_cost;
+
+    /// Dynamics type for each stage.
+    ocp_nlp_dynamics_t *nlp_dynamics;
+
+    /// Constraints type for each stage.
+    ocp_nlp_constraints_t *nlp_constraints;
+
+    /// Horizon length.
+    int N;
+
+} ocp_nlp_plan;
+
+
+/// Structure to store the state/configuration for the non-linear programming solver
+typedef struct ocp_nlp_solver
+{
+    ocp_nlp_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} ocp_nlp_solver;
+
+
+/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
+/// default/invalid state.
+///
+/// \param N Horizon length
+ocp_nlp_plan *ocp_nlp_plan_create(int N);
+
+/// Destructor for plan struct, frees memory.
+///
+/// \param plan_ The plan struct to destroy.
+void ocp_nlp_plan_destroy(void* plan_);
+
+
+/// Constructs an nlp configuration struct from a plan.
+///
+/// \param plan The plan (user nlp configuration).
+ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan plan);
+
+/// Desctructor of the nlp configuration.
+///
+/// \param config_ The configuration struct.
+void ocp_nlp_config_destroy(void *config_);
+
+
+/// Constructs an struct that contains the dimensions of the variables.
+///
+/// \param config_ The configuration struct.
+ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
+
+/// Destructor of The dimension struct.
+///
+/// \param dims_ The dimension struct.
+void ocp_nlp_dims_destroy(void *dims_);
+
+
+/// Constructs an input struct for a non-linear programs.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the inputs struct.
+///
+/// \param in The inputs struct.
+void ocp_nlp_in_destroy(void *in);
+
+
+/// Sets the sampling times for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field Has to be "Ts" (TBC other options).
+/// \param value The sampling times (floating point).
+void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
+        const char *field, void *value);
+
+
+/// Sets the function pointers to the dynamics functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param fun_type The name of the function type, either impl_ode_fun,
+///     impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
+/// \param fun_ptr Function pointer to the dynamics function.
+int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int stage, const char *fun_type, void *fun_ptr);
+
+
+/// Sets the function pointers to the cost functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either nls_res_jac,
+///     y_ref, W (others TBC)
+/// \param value Cost values.
+int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int stage, const char *field, void *value);
+
+
+/// Sets the function pointers to the constraints functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either lb, ub (others TBC)
+/// \param value Constraints function or values.
+int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
+        ocp_nlp_in *in, int stage, const char *field, void *value);
+
+/* out */
+
+/// Constructs an output struct for the non-linear program.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the output struct.
+///
+/// \param out The output struct.
+void ocp_nlp_out_destroy(void *out);
+
+
+/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param out The output struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either x, u, pi.
+/// \param value Initialization values.
+void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, void *value);
+
+
+/// Gets values of fields in the output struct of an nlp solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param out The output struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either x, u, z, pi.
+/// \param value Pointer to the output memory.
+void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, void *value);
+
+//
+void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
+        int stage, const char *field, void *value);
+
+// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
+int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field);
+
+void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out);
+
+void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out);
+
+void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out);
+
+/* opts */
+
+/// Creates an options struct for the non-linear program.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the options.
+///
+/// \param opts The options struct.
+void ocp_nlp_solver_opts_destroy(void *opts);
+
+/// Sets an option.
+///
+/// \param config The configuration struct.
+/// \param opts_ The options struct.
+/// \param field Name of the option.
+/// \param value Value of the option.
+void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
+
+
+void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
+
+
+/// TBC
+/// Updates the options.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
+
+
+/* solver */
+
+/// Creates an ocp solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+/// \return The solver.
+ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
+
+/// Destructor of the solver.
+///
+/// \param solver The solver struct.
+void ocp_nlp_solver_destroy(void *solver);
+
+/// Solves the optimal control problem. Call ocp_nlp_precompute before
+/// calling this functions (TBC).
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+/// Performs precomputations for the solver. Needs to be called before
+/// ocl_nlp_solve (TBC).
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+/// Computes cost function value.
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+//
+void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+//
+void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
+
+/* get */
+/// \param config The configuration struct.
+/// \param solver The solver struct.
+/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
+/// \param return_value_ Pointer to the output memory.
+void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
+        const char *field, void *return_value_);
+
+/* set */
+/// Sets the initial guesses for the integrator for the given stage.
+///
+/// \param config The configuration struct.
+/// \param solver The ocp_nlp_solver struct.
+/// \param stage Stage number.
+/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
+/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
+void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
+        int stage, const char *field, void *value);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h
new file mode 100644
index 00000000000000..a567ebeb35ba96
--- /dev/null
+++ b/third_party/acados/include/acados_c/ocp_qp_interface.h
@@ -0,0 +1,261 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
+#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
+
+
+/// QP solver types (Enumeration).
+///
+/// Full list of fields:
+///   PARTIAL_CONDENSING_HPIPM
+///   PARTIAL_CONDENSING_HPMPC
+///   PARTIAL_CONDENSING_OOQP
+///   PARTIAL_CONDENSING_OSQP
+///   PARTIAL_CONDENSING_QPDUNES
+///   FULL_CONDENSING_HPIPM
+///   FULL_CONDENSING_QPOASES
+///   FULL_CONDENSING_QORE
+///   FULL_CONDENSING_OOQP
+///   INVALID_QP_SOLVER
+///
+/// Note: In this enumeration the partial condensing solvers have to be
+///       specified before the full condensing solvers.
+typedef enum {
+    PARTIAL_CONDENSING_HPIPM,
+#ifdef ACADOS_WITH_HPMPC
+    PARTIAL_CONDENSING_HPMPC,
+#else
+    PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_OOQP
+    PARTIAL_CONDENSING_OOQP,
+#else
+    PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_OSQP
+    PARTIAL_CONDENSING_OSQP,
+#else
+    PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_QPDUNES
+    PARTIAL_CONDENSING_QPDUNES,
+#else
+    PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
+#endif
+    FULL_CONDENSING_HPIPM,
+#ifdef ACADOS_WITH_QPOASES
+    FULL_CONDENSING_QPOASES,
+#else
+    FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_QORE
+    FULL_CONDENSING_QORE,
+#else
+    FULL_CONDENSING_QORE_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_OOQP
+    FULL_CONDENSING_OOQP,
+#else
+    FULL_CONDENSING_OOQP_NOT_AVAILABLE,
+#endif
+    INVALID_QP_SOLVER,
+} ocp_qp_solver_t;
+
+
+/// Struct containing qp solver
+typedef struct
+{
+    ocp_qp_solver_t qp_solver;
+} ocp_qp_solver_plan;
+
+
+/// Linear ocp configuration.
+typedef struct
+{
+    ocp_qp_xcond_solver_config *config;
+    ocp_qp_xcond_solver_dims *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} ocp_qp_solver;
+
+
+/// Initializes the qp solver configuration.
+/// TBC should this be private/static - no, used in ocp_nlp
+void ocp_qp_xcond_solver_config_initialize_from_plan(
+    ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
+
+/// Constructs a qp solver config and Initializes with default values.
+///
+/// \param plan The qp solver plan struct.
+ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan plan);
+
+/// Destructor for config struct, frees memory.
+///
+/// \param config The config object to destroy.
+void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
+
+
+/// Constructs a struct that contains the dimensions for the variables of the qp.
+///
+/// \param N The number of variables.
+ocp_qp_dims *ocp_qp_dims_create(int N);
+
+/// Destructor of The dimension struct.
+///
+/// \param dims The dimension struct.
+void ocp_qp_dims_free(void *dims);
+
+//
+ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
+//
+ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
+    ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
+//
+void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
+
+void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
+                                  int stage, const char *field, int* value);
+
+
+/// Constructs an input object for the qp.
+///
+/// \param dims The dimension struct.
+ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
+
+
+void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
+                   int stage, char *field, void *value);
+
+/// Destructor of the inputs struct.
+///
+/// \param in_ The inputs struct.
+void ocp_qp_in_free(void *in_);
+
+
+/// Constructs an outputs object for the qp.
+///
+/// \param dims The dimension struct.
+ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
+
+/// Destructor of the output struct.
+///
+/// \param out_ The output struct.
+void ocp_qp_out_free(void *out_);
+
+
+/// Getter of output struct
+void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
+
+
+/// Constructs an options object for the qp.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
+                                      ocp_qp_xcond_solver_dims *dims);
+
+/// Destructor of the options struct.
+///
+/// \param opts The options struct to destroy.
+void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
+
+
+/// Setter of the options struct.
+///
+/// \param opts The options struct.
+void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
+           ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
+
+/// TBC Should be private/static?
+acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+
+/// TBC Reserves memory? TBC Should this be private?
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+/// \param raw_memory Pointer to raw memory to assign to qp solver.
+ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
+                             void *opts_, void *raw_memory);
+
+/// Creates a qp solver. Reserves memory.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
+                             ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+
+/// Destroys a qp solver. Frees memory.
+///
+/// \param solver The qp solver
+void ocp_qp_solver_destroy(ocp_qp_solver *solver);
+
+void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
+                             ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+
+/// Solves the qp.
+///
+/// \param solver The solver.
+/// \param qp_in The inputs struct.
+/// \param qp_out The output struct.
+int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
+
+
+/// Calculates the infinity norm of the residuals.
+///
+/// \param dims The dimension struct.
+/// \param qp_in The inputs struct.
+/// \param qp_out The output struct.
+/// \param res Output array for the residuals.
+void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
+                               double *res);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h
new file mode 100644
index 00000000000000..cc47b62ed478ce
--- /dev/null
+++ b/third_party/acados/include/acados_c/sim_interface.h
@@ -0,0 +1,140 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_
+#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+
+
+
+typedef enum
+{
+    ERK,
+    IRK,
+    GNSF,
+    LIFTED_IRK,
+    INVALID_SIM_SOLVER,
+} sim_solver_t;
+
+
+
+typedef struct
+{
+    sim_solver_t sim_solver;
+} sim_solver_plan;
+
+
+
+typedef struct
+{
+    sim_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} sim_solver;
+
+
+
+/* config */
+//
+sim_config *sim_config_create(sim_solver_plan plan);
+//
+void sim_config_destroy(void *config);
+
+/* dims */
+//
+void *sim_dims_create(void *config_);
+//
+void sim_dims_destroy(void *dims);
+//
+void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
+//
+void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
+//
+void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
+
+/* in */
+//
+sim_in *sim_in_create(sim_config *config, void *dims);
+//
+void sim_in_destroy(void *out);
+//
+int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
+
+
+/* out */
+//
+sim_out *sim_out_create(sim_config *config, void *dims);
+//
+void sim_out_destroy(void *out);
+//
+int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
+
+/* opts */
+//
+void *sim_opts_create(sim_config *config, void *dims);
+//
+void sim_opts_destroy(void *opts);
+//
+void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
+//
+void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
+
+/* solver */
+//
+acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
+//
+sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
+//
+sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
+//
+void sim_solver_destroy(void *solver);
+//
+int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
+//
+int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
+//
+int sim_solver_set(sim_solver *solver, const char *field, void *value);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_SIM_INTERFACE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo.h b/third_party/acados/include/blasfeo/include/blasfeo.h
new file mode 100644
index 00000000000000..c8549181937dee
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo.h
@@ -0,0 +1,52 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#include "blasfeo_processor_features.h"
+#include "blasfeo_target.h"
+#include "blasfeo_block_size.h"
+#include "blasfeo_stdlib.h"
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux.h"
+#include "blasfeo_d_aux_ext_dep.h"
+#include "blasfeo_d_kernel.h"
+#include "blasfeo_d_blas.h"
+#include "blasfeo_s_aux.h"
+#include "blasfeo_s_aux_ext_dep.h"
+#include "blasfeo_s_kernel.h"
+#include "blasfeo_s_blas.h"
+#include "blasfeo_i_aux_ext_dep.h"
+#include "blasfeo_v_aux_ext_dep.h"
+#include "blasfeo_timing.h"
+#include "blasfeo_memory.h"
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
new file mode 100644
index 00000000000000..0ccd4f1bba4d15
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
@@ -0,0 +1,392 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_BLOCK_SIZE_H_
+#define BLASFEO_BLOCK_SIZE_H_
+
+
+
+#define D_EL_SIZE 8 // double precision
+#define S_EL_SIZE 4 // single precision
+
+
+
+#if defined( TARGET_X64_INTEL_SKYLAKE_X )
+// common
+#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
+#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB
+#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB
+// double
+#define D_PS 8 // panel size
+#define D_PLD 8 // 4 // GCD of panel length
+#define D_M_KERNEL 24 // max kernel size
+#define D_KC 128 //256 // 192
+#define D_NC 144 //72 //96 //72 // 120 // 512
+#define D_MC 2400 // 6000
+// single
+#define S_PS 16 // panel size
+#define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly
+#define S_M_KERNEL 32 // max kernel size
+#define S_KC 128 //256
+#define S_NC 128 //144
+#define S_MC 3000
+
+#elif defined( TARGET_X64_INTEL_HASWELL )
+// common
+#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
+#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
+#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_KC 256 // 192
+#define D_NC 72 //96 //72 // 120 // 512
+#define D_MC 1500 // 6000
+// single
+#define S_PS 8 // panel size
+#define S_PLD 4 // 2 // GCD of panel length
+#define S_M_KERNEL 24 // max kernel size
+#define S_KC 256
+#define S_NC 144
+#define S_MC 3000
+
+#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE )
+// common
+#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
+#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
+#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_KC 256 //320 //256 //320
+#define D_NC 72 //64 //72 //60 // 120
+#define D_MC 1000 // 800
+// single
+#define S_PS 8 // panel size
+#define S_PLD 4 // 2 // GCD of panel length
+#define S_M_KERNEL 16 // max kernel size
+#define S_KC 256
+#define S_NC 144
+#define S_MC 2000
+
+#elif defined( TARGET_X64_INTEL_CORE )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+#elif defined( TARGET_X64_AMD_BULLDOZER )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_X86_AMD_JAGUAR )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_X86_AMD_BARCELONA )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_KC 512 //256
+#define D_NC 128 //256
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 512
+#define S_NC 256
+#define S_MC 6000
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_KC 320
+#define D_NC 256
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ???
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_KC 224 //256 //192
+#define D_NC 40 //36 //48
+#define D_MC 512 //488 //600
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB
+#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_KC 224
+#define D_NC 160
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB
+#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_KC 160
+#define D_NC 128
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 )
+// common
+#define CACHE_LINE_SIZE 32
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_GENERIC )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#else
+#error "Unknown architecture"
+#endif
+
+
+
+#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE)
+#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE)
+#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE)
+#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE)
+
+#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE)
+#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE)
+#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE)
+#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE)
+
+
+
+#endif  // BLASFEO_BLOCK_SIZE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_common.h b/third_party/acados/include/blasfeo/include/blasfeo_common.h
new file mode 100644
index 00000000000000..a648142ba05ed4
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_common.h
@@ -0,0 +1,236 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_COMMON_H_
+#define BLASFEO_COMMON_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
+#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
+#elif defined (_MSC_VER)
+#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
+#else
+#define ALIGNED(VEC, BYTES) VEC
+#endif
+
+
+
+
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
+
+#include "blasfeo_block_size.h"
+
+// matrix structure
+struct blasfeo_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+// vector structure
+struct blasfeo_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
+#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
+#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
+
+#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
+
+// matrix structure
+struct blasfeo_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a m*n array of doubles
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a m*n array of floats
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+// vector structure
+struct blasfeo_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
+
+#else
+
+#error : wrong LA or MF choice
+
+#endif
+
+
+
+// Explicitly panel-major matrix structure
+struct blasfeo_pm_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int ps; // panel size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_pm_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int ps; // panel size
+	int memsize; // size of needed memory
+	};
+
+// Explicitly column-major matrix structure
+struct blasfeo_cm_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a m*n array of doubles
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_cm_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a m*n array of floats
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+
+#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
+#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
+#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_COMMON_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
new file mode 100644
index 00000000000000..7a9415a59d60e7
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
@@ -0,0 +1,239 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operations header
+ *
+ * include/blasfeo_aux_lib*.h
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_H_
+#define BLASFEO_D_AUX_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux_old.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// --- memory size calculations
+//
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_memsize_dmat(int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a dmat
+size_t blasfeo_memsize_diag_dmat(int m, int n);
+// returns the memory size (in bytes) needed for a dvec
+size_t blasfeo_memsize_dvec(int m);
+
+// --- creation
+//
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- packing
+// pack the column-major matrix A into the matrix struct B
+void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the lower-triangular column-major matrix A into the matrix struct B
+void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the upper-triangular column-major matrix A into the matrix struct B
+void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// transpose and pack the column-major matrix A into the matrix struct B
+void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the vector x into the vector structure y
+void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
+// unpack the matrix structure A into the column-major matrix B
+void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// transpose and unpack the matrix structure A into the column-major matrix B
+void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// pack the vector structure x into the vector y
+void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
+
+// --- cast
+//
+//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
+//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
+//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
+
+
+// ge
+// --- insert/extract
+//
+// sA[ai, aj] <= a
+void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// <= sA[ai, aj]
+double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- set
+// A <= alpha
+void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- copy / scale
+// B <= A
+void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// A <= alpha*A
+void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// B <= alpha*A
+void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A, A lower triangular
+void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- sum
+// B <= B + alpha*A
+void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// y <= y + alpha*x
+void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+
+// --- traspositions
+// B <= A'
+void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A lower triangular
+void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A upper triangular
+void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+
+// dia
+// diag(A) += alpha
+void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A) <= alpha*x
+void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] <= alpha*x
+void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// x <= diag(A)
+void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// x <= diag(A)[idx]
+void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// diag(A) += alpha*x
+void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] += alpha*x
+void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// diag(A)[idx] = y + alpha*x
+void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+
+// row
+void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// col
+void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// vec
+// a <= alpha
+void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// sx[xi] <= a
+void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// <= sx[xi]
+double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
+// y <= x
+void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// x <= alpha*x
+void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// y <= alpha*x
+void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_dveccl(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_dveccl_mask(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
+	struct blasfeo_dvec *sm, int mi);
+
+void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
+// print
+void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_cm_memsize_dmat(int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
new file mode 100644
index 00000000000000..bee9e986f15d8f
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
@@ -0,0 +1,145 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operation external dependancies header
+ *
+ * include/blasfeo_d_aux_ext_dep.h
+ *
+ * - dynamic memory allocation
+ * - print
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_EXT_DEP_H_
+#define BLASFEO_D_AUX_EXT_DEP_H_
+
+
+
+#include <stdio.h>
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+/* column-major matrices */
+
+// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros(double **pA, int row, int col);
+// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros_align(double **pA, int row, int col);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros_align_bytes(double **pA, int size);
+// free the memory allocated by d_zeros
+void d_free(double *pA);
+// free the memory allocated by d_zeros_align or d_zeros_align_bytes
+void d_free_align(double *pA);
+// print a column-major matrix
+void d_print_mat(int m, int n, double *A, int lda);
+// print the transposed of a column-major matrix
+void d_print_tran_mat(int row, int col, double *A, int lda);
+// print to file a column-major matrix
+void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
+// print to file a column-major matrix in exponential format
+void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
+// print to string a column-major matrix
+void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
+// print to file the transposed of a column-major matrix
+void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
+// print to file the transposed of a column-major matrix in exponential format
+void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
+// print in exponential notation a column-major matrix
+void d_print_exp_mat(int m, int n, double *A, int lda);
+// print in exponential notation the transposed of a column-major matrix
+void d_print_exp_tran_mat(int row, int col, double *A, int lda);
+
+/* strmat and strvec */
+
+// create a strmat for a matrix of size m*n by dynamically allocating memory
+void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
+// create a strvec for a vector of size m by dynamically allocating memory
+void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
+// free the memory allocated by blasfeo_allocate_dmat
+void blasfeo_free_dmat(struct blasfeo_dmat *sA);
+// free the memory allocated by blasfeo_allocate_dvec
+void blasfeo_free_dvec(struct blasfeo_dvec *sa);
+// print a strmat
+void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print in exponential notation a strmat
+void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to file a strmat
+void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to file a strmat in exponential format
+void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to string a strmat
+void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print the transposed of a strmat
+void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print a strvec
+void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print in exponential notation a strvec
+void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print to file a strvec
+void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+// print to string a strvec
+void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+// print the transposed of a strvec
+void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print in exponential notation the transposed of a strvec
+void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print to file the transposed of a strvec
+void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+// print to string the transposed of a strvec
+void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
new file mode 100644
index 00000000000000..81b811f0325039
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operation external dependancies header
+ *
+ * include/blasfeo_d_aux_ext_dep.h
+ *
+ * - dynamic memory allocation
+ * - print
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
+#define BLASFEO_D_AUX_EXT_DEP_REF_H_
+
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// expose reference BLASFEO for testing
+// see blasfeo_d_aux_exp_dep.h for help
+
+void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
+void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
+void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
+void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
+void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
new file mode 100644
index 00000000000000..3a1847a6a0191d
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
@@ -0,0 +1,75 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * ----------- TOMOVE
+ *
+ * expecting column major matrices
+ *
+ */
+
+#include "blasfeo_common.h"
+
+
+void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
+void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
+// TODO remove ???
+void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
+// TODO ddiaad1
+void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
+
+
+void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
+void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
+void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
+void drowin_lib(int kmax, double alpha, double *x, double *pD);
+void drowex_lib(int kmax, double alpha, double *pD, double *x);
+void drowad_lib(int kmax, double alpha, double *x, double *pD);
+void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
+void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
+void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
+void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
+void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
+void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
+void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dvecin_libsp(int kmax, int *idx, double *x, double *y);
+void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
new file mode 100644
index 00000000000000..448234044ac460
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
@@ -0,0 +1,206 @@
+
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_AUX_REF_H_
+#define BLASFEO_D_AUX_REF_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux_old.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// --- memory calculations
+//
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_ref_memsize_dmat(int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a dmat
+size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
+// returns the memory size (in bytes) needed for a dvec
+size_t blasfeo_ref_memsize_dvec(int m);
+
+// --- creation
+//
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- packing
+// pack the column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the lower-triangular column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the upper-triangular column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// transpose and pack the column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the vector x into the vector structure y
+void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
+// unpack the matrix structure A into the column-major matrix B
+void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// transpose and unpack the matrix structure A into the column-major matrix B
+void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// pack the vector structure x into the vector y
+void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
+
+// --- cast
+//
+void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
+void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
+void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
+
+
+// ge
+// --- insert/extract
+//
+// sA[ai, aj] <= a
+void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// <= sA[ai, aj]
+double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- set
+// A <= alpha
+void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- copy / scale
+// B <= A
+void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// A <= alpha*A
+void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// B <= alpha*A
+void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A, A lower triangular
+void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- sum
+// B <= B + alpha*A
+void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
+// y <= y + alpha*x
+void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+
+// --- traspositions
+// B <= A'
+void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A lower triangular
+void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A upper triangular
+void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+
+// dia
+// diag(A) += alpha
+void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A) <= alpha*x
+void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] <= alpha*x
+void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// x <= diag(A)
+void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// x <= diag(A)[idx]
+void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// diag(A) += alpha*x
+void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] += alpha*x
+void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// diag(A)[idx] = y + alpha*x
+void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+
+// row
+void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// col
+void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// vec
+// a <= alpha
+void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// sx[xi] <= a
+void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// <= sx[xi]
+double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
+// y <= x
+void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// x <= alpha*x
+void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// y <= alpha*x
+void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_ref_dveccl(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_ref_dveccl_mask(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
+	struct blasfeo_dvec *sm, int mi);
+
+void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
new file mode 100644
index 00000000000000..1c61635f3ffbfa
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
@@ -0,0 +1,226 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operations header
+ *
+ * include/blasfeo_aux_lib*.h
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_TEST_H_
+#define BLASFEO_D_AUX_TEST_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// --- memory calculations
+int test_blasfeo_memsize_dmat(int m, int n);
+int test_blasfeo_memsize_diag_dmat(int m, int n);
+int test_blasfeo_memsize_dvec(int m);
+
+// --- creation
+void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- conversion
+void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
+void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
+void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
+
+// --- cast
+void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
+void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
+void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
+
+// ------ copy / scale
+
+// B <= A
+void test_blasfeo_dgecp(int m, int n,
+					struct blasfeo_dmat *sA, int ai, int aj,
+					struct blasfeo_dmat *sB, int bi, int bj);
+
+// A <= alpha*A
+void test_blasfeo_dgesc(int m, int n,
+					double alpha,
+					struct blasfeo_dmat *sA, int ai, int aj);
+
+// B <= alpha*A
+void test_blasfeo_dgecpsc(int m, int n,
+					double alpha,
+					struct blasfeo_dmat *sA, int ai, int aj,
+					struct blasfeo_dmat *sB, int bi, int bj);
+
+// // --- insert/extract
+// //
+// // <= sA[ai, aj]
+// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// // <= sA[ai, aj]
+// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+// // sx[xi] <= a
+// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// // <= sx[xi]
+// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
+// // A <= alpha
+
+// // --- set
+// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// // a <= alpha
+// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// // B <= A
+
+
+// // --- vector
+// // y <= x
+// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
+// // x <= alpha*x
+// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
+// // TODO
+// // x <= alpha*x
+// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
+
+
+// // B <= A, A lower triangular
+// void test_blasfeo_dtrcp_l(int m,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sB, int bi, int bj);
+
+// void test_blasfeo_dtrcpsc_l(int m, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sB, int bi, int bj);
+
+// void test_blasfeo_dtrsc_l(int m, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj);
+
+
+// // B <= B + alpha*A
+// void test_blasfeo_dgead(int m, int n, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sC, int ci, int cj);
+
+// // y <= y + alpha*x
+// void test_blasfeo_dvecad(int m, double alpha,
+//                     struct blasfeo_dvec *sa, int ai,
+//                     struct blasfeo_dvec *sc, int ci);
+
+// // --- traspositions
+// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
+// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
+// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
+// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
+// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
+// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
+// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
+// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
+// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
+// void test_drowsw_lib(int kmax, double *pA, double *pC);
+// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
+// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
+// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
+// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
+// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
+// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi);
+// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+// ext_dep
+
+void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
+void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
+
+void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
+void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
+
+void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+
+void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+
+void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
new file mode 100644
index 00000000000000..ea8d00673128bd
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
@@ -0,0 +1,46 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLAS_H_
+#define BLASFEO_D_BLAS_H_
+
+
+
+#include "blasfeo_d_blasfeo_api.h"
+#include "blasfeo_d_blas_api.h"
+
+
+
+#endif  // BLASFEO_D_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
new file mode 100644
index 00000000000000..64dd43f6776180
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
@@ -0,0 +1,161 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef BLASFEO_D_BLAS_API_H_
+#define BLASFEO_D_BLAS_API_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef BLAS_API
+
+
+
+#ifdef FORTRAN_BLAS_API
+
+
+
+// BLAS 1
+//
+void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
+//
+void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
+//
+double ddot_(int *n, double *x, int *incx, double *y, int *incy);
+
+// BLAS 3
+//
+void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+//
+void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
+//
+void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+//
+void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+
+
+
+// LAPACK
+//
+void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
+//
+void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
+//
+void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
+//
+void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+//
+void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+
+
+
+#else // BLASFEO_API
+
+
+
+// BLAS 1
+//
+void blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
+//
+double blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
+//
+void blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
+
+// BLAS 3
+//
+void blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+//
+void blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
+//
+void blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+//
+void blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+
+
+
+// LAPACK
+//
+void blas_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void blas_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
+//
+void blas_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
+//
+void blas_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void blas_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
+//
+void blas_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void blas_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
+//
+void blas_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void blas_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+
+
+
+#endif // BLASFEO_API
+
+
+
+#endif // BLAS_API
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
new file mode 100644
index 00000000000000..15915f436fc3b2
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
@@ -0,0 +1,342 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLASFEO_API_H_
+#define BLASFEO_D_BLASFEO_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
+// NB: Different arguments semantic compare to equivalent standard BLAS routine
+void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y
+void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z += x .* y
+void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// return x^T * y
+double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_drotg(double a, double b, double *c, double *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A^T * x
+void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(n)
+void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A lower triangular
+void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A lower triangular, unit diagonal
+void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A upper triangular
+void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A^T * x_t
+void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B^T
+void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+// D <= chol( C + A * B^T ) ; C, D lower triangular
+void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+int blasfeo_dgeqrf_worksize(int m, int n); // in bytes
+void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+int blasfeo_dgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+
+
+
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// BLAS 3
+void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+// LAPACK
+void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv);
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
new file mode 100644
index 00000000000000..141a1f0f06082c
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
@@ -0,0 +1,147 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLASFEO_API_REF_H_
+#define BLASFEO_D_BLASFEO_API_REF_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// expose reference BLASFEO for testing
+
+// --- level 1
+
+void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi);
+void blasfeo_drotg_ref(double a, double b, double *c, double *s);
+void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s);
+void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+// --- level 2
+
+// dense
+void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t);
+void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+
+// diagonal
+void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+
+
+// --- level 3
+
+// dense
+void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+// diagonal
+void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+// --- lapack
+
+void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
+void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
new file mode 100644
index 00000000000000..5773715cfaf246
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
@@ -0,0 +1,271 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLASFEO_REF_API_H_
+#define BLASFEO_D_BLASFEO_REF_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
+// NB: Different arguments semantic compare to equivalent standard BLAS routine
+void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y
+void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z += x .* y
+void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// return x^T * y
+double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_ref_drotg(double a, double b, double *c, double *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A lower triangular, unit diagonal
+void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ref_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B^T
+void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes
+void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_REF_API_H_
+
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
new file mode 100644
index 00000000000000..70948576979857
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
@@ -0,0 +1,1247 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_KERNEL_H_
+#define BLASFEO_D_KERNEL_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// utils
+void blasfeo_align_2MB(void *ptr, void **ptr_align);
+void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
+void blasfeo_align_64_byte(void *ptr, void **ptr_align);
+
+
+//
+// lib8
+//
+
+// 24x8
+void kernel_dgemm_nt_24x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nt_24x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dtrsm_nt_rl_inv_24x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
+void kernel_dpotrf_nt_l_24x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dpotrf_nt_l_24x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_24x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
+void kernel_dgemm_dtrsm_nt_rl_inv_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
+void kernel_dsyrk_dpotrf_nt_l_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
+void kernel_dlarfb8_rn_24_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
+// 16x8
+void kernel_dgemm_nt_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nt_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nt_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_nn_16x8_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dsyrk_nt_l_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nt_l_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nt_l_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dtrmm_nn_rl_16x8_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
+void kernel_dtrmm_nn_rl_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int m1, int n1);
+void kernel_dtrmm_nn_rl_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dtrsm_nt_rl_inv_16x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
+void kernel_dtrsm_nt_rl_inv_16x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
+void kernel_dpotrf_nt_l_16x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dpotrf_nt_l_16x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
+void kernel_dgemm_dtrsm_nt_rl_inv_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
+void kernel_dsyrk_dpotrf_nt_l_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
+void kernel_dlarfb8_rn_16_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
+void kernel_dlarfb8_rn_la_16_lib8(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
+void kernel_dlarfb8_rn_lla_16_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
+// 8x16
+void kernel_dgemm_tt_8x16_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_tt_8x16_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_8x16_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_nt_8x16_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nt_8x16_vs_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+// 8x8
+void kernel_dgemm_nt_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dgemm_nt_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_nt_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_nn_8x8_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_8x8_vs_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_nn_8x8_gen_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_tt_8x8_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D); //
+void kernel_dgemm_tt_8x8_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_8x8_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, int offc, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dsyrk_nt_l_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dsyrk_nt_l_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dtrmm_nn_rl_8x8_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
+void kernel_dtrmm_nn_rl_8x8_vs_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
+void kernel_dtrmm_nn_rl_8x8_gen_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dtrsm_nt_rl_inv_8x8_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_8x8_vs_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
+void kernel_dpotrf_nt_l_8x8_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dpotrf_nt_l_8x8_vs_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int m1, int n1);
+void kernel_dgemm_dtrsm_nt_rl_inv_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
+void kernel_dsyrk_dpotrf_nt_l_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int m1, int n1);
+void kernel_dgelqf_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
+void kernel_dgelqf_pd_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
+void kernel_dgelqf_8_lib8(int kmax, double *pD, double *dD);
+void kernel_dgelqf_pd_8_lib8(int kmax, double *pD, double *dD);
+void kernel_dlarft_8_lib8(int kmax, double *pD, double *dD, double *pT);
+void kernel_dlarfb8_rn_8_lib8(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb8_rn_8_vs_lib8(int kmax, double *pV, double *pT, double *pD, int m1);
+void kernel_dlarfb8_rn_1_lib8(int kmax, double *pV, double *pT, double *pD);
+void kernel_dgelqf_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
+void kernel_dgelqf_pd_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
+void kernel_dgelqf_pd_la_vs_lib8(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
+void kernel_dgelqf_pd_la_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pA, double *pT);
+void kernel_dlarft_la_8_lib8(int n1, double *dD, double *pA, double *pT);
+void kernel_dlarfb8_rn_la_8_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
+void kernel_dlarfb8_rn_la_8_vs_lib8(int n1, double *pVA, double *pT, double *pD, double *pA, int m1);
+void kernel_dlarfb8_rn_la_1_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
+void kernel_dgelqf_pd_lla_vs_lib8(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
+void kernel_dgelqf_pd_lla_dlarft8_8_lib8(int n0, int n1, double *pD, double *dD, double *pL, double *pA, double *pT);
+void kernel_dlarft_lla_8_lib8(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
+void kernel_dlarfb8_rn_lla_8_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
+void kernel_dlarfb8_rn_lla_8_vs_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA, int m1);
+void kernel_dlarfb8_rn_lla_1_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
+
+// panel copy / pack
+// 24
+void kernel_dpack_nn_24_lib8(int kmax, double *A, int lda, double *C, int sdc);
+void kernel_dpack_nn_24_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
+// 16
+void kernel_dpacp_nn_16_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
+void kernel_dpacp_nn_16_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
+void kernel_dpack_nn_16_lib8(int kmax, double *A, int lda, double *C, int sdc);
+void kernel_dpack_nn_16_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
+// 8
+void kernel_dpacp_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
+void kernel_dpacp_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
+void kernel_dpacp_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
+void kernel_dpacp_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
+void kernel_dpacp_l_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
+void kernel_dpacp_l_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
+void kernel_dpacp_l_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
+void kernel_dpacp_l_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
+void kernel_dpaad_nn_8_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B);
+void kernel_dpaad_nn_8_vs_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B, int m1);
+void kernel_dpack_nn_8_lib8(int kmax, double *A, int lda, double *C);
+void kernel_dpack_nn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
+void kernel_dpack_tn_8_lib8(int kmax, double *A, int lda, double *C);
+void kernel_dpack_tn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
+// 4
+void kernel_dpack_tt_4_lib8(int kmax, double *A, int lda, double *C, int sdc); // TODO offsetC 
+void kernel_dpack_tt_4_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); // TODO offsetC 
+
+// level 2 BLAS
+// 16
+void kernel_dgemv_n_16_lib8(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
+// 8
+void kernel_dgemv_n_8_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_n_8_vs_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m1);
+//void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m0, int m1);
+void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, int offsetA, double *A, double *x, double *beta, double *y, double *z, int m1);
+void kernel_dgemv_t_8_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_t_8_vs_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int n1);
+void kernel_dgemv_nt_8_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
+void kernel_dgemv_nt_8_vs_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int n1);
+void kernel_dsymv_l_8_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z);
+void kernel_dsymv_l_8_vs_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z, int n1);
+void kernel_dsymv_l_8_gen_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *x, double *z, int n1);
+void kernel_dtrmv_n_ln_8_lib8(int k, double *A, double *x, double *z);
+void kernel_dtrmv_n_ln_8_vs_lib8(int k, double *A, double *x, double *z, int m1);
+void kernel_dtrmv_n_ln_8_gen_lib8(int k, int offsetA, double *A, double *x, double *z, int m1);
+void kernel_dtrmv_t_ln_8_lib8(int k, double *A, int sda, double *x, double *z);
+void kernel_dtrmv_t_ln_8_vs_lib8(int k, double *A, int sda, double *x, double *z, int n1);
+void kernel_dtrmv_t_ln_8_gen_lib8(int k, int offsetA, double *A, int sda, double *x, double *z, int n1);
+void kernel_dtrsv_n_l_inv_8_lib8(int k, double *A, double *inv_diag_A, double *x, double *z);
+void kernel_dtrsv_n_l_inv_8_vs_lib8(int k, double *A, double *inv_diag_A, double *x, double *z, int m1, int n1);
+void kernel_dtrsv_t_l_inv_8_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z);
+void kernel_dtrsv_t_l_inv_8_vs_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z, int m1, int n1);
+
+
+
+//
+// lib4
+//
+
+// level 2 BLAS
+// 12
+void kernel_dgemv_n_12_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_t_12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
+// 8
+void kernel_dgemv_n_8_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_t_8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dtrmv_un_8_lib4(int k, double *A, int sda, double *x, double *z);
+// 4
+void kernel_dgemv_n_4_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_n_4_vs_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k1);
+void kernel_dgemv_n_4_gen_lib4(int kmax, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k0, int k1);
+void kernel_dgemv_t_4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_t_4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int k1);
+void kernel_dtrsv_ln_inv_4_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_ln_inv_4_vs_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z, int km, int kn);
+void kernel_dtrsv_lt_inv_4_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_lt_inv_3_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_lt_inv_2_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_lt_inv_1_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_lt_one_4_lib4(int k, double *A, int sda, double *x, double *y, double *z);
+void kernel_dtrsv_lt_one_3_lib4(int k, double *A, int sda, double *x, double *y, double *z);
+void kernel_dtrsv_lt_one_2_lib4(int k, double *A, int sda, double *x, double *y, double *z);
+void kernel_dtrsv_lt_one_1_lib4(int k, double *A, int sda, double *x, double *y, double *z);
+void kernel_dtrsv_ln_one_4_vs_lib4(int kmax, double *A, double *x, double *y, double *z, int km, int kn);
+void kernel_dtrsv_ln_one_4_lib4(int kmax, double *A, double *x, double *y, double *z);
+void kernel_dtrsv_un_inv_4_lib4(int kmax, double *A, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_ut_inv_4_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_ut_inv_4_vs_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z, int m1, int n1);
+void kernel_dtrmv_un_4_lib4(int k, double *A, double *x, double *z);
+void kernel_dtrmv_ut_4_lib4(int k, double *A, int sda, double *x, double *z);
+void kernel_dtrmv_ut_4_vs_lib4(int k, double *A, int sda, double *x, double *z, int km);
+void kernel_dgemv_nt_6_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
+void kernel_dgemv_nt_4_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
+void kernel_dgemv_nt_4_vs_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int km);
+void kernel_dsymv_l_4_lib4(int kmax, double *alpha, double *A, int sda, double *x, double *z);
+void kernel_dsymv_l_4_gen_lib4(int kmax, double *alpha, int offA, double *A, int sda, double *x, double *z, int km);
+
+
+
+// level 3 BLAS
+// 12x4
+void kernel_dgemm_nt_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nt_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dgemm_nt_12x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_dgemm_nn_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dgemm_nn_12x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_tt_12x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_tt_12x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nn_u_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nn_u_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nt_l_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nt_l_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dtrmm_nt_ru_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
+void kernel_dtrmm_nt_ru_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
+void kernel_dtrmm_nn_rl_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
+void kernel_dtrmm_nn_rl_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
+void kernel_dtrsm_nt_rl_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_rl_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
+void kernel_dtrsm_nt_rl_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
+void kernel_dtrsm_nt_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_ru_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
+void kernel_dtrsm_nt_ru_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
+void kernel_dtrsm_nn_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_one_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
+void kernel_dtrsm_nn_ll_one_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
+void kernel_dtrsm_nn_lu_inv_12x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_lu_inv_12x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 4x12
+void kernel_dgemm_nt_4x12_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nt_4x12_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dgemm_nn_4x12_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_4x12_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_tt_4x12_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x12_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dtrsm_nt_rl_inv_4x12_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_4x12_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
+// 8x8
+void kernel_dgemm_nt_8x8l_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
+void kernel_dgemm_nt_8x8u_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
+void kernel_dgemm_nt_8x8l_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
+void kernel_dgemm_nt_8x8u_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
+void kernel_dsyrk_nn_u_8x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nn_u_8x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nt_l_8x8_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [L00 *; A10 L11]
+void kernel_dsyrk_nt_l_8x8_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [L00 *; A10 L11]
+void kernel_dtrsm_nt_rl_inv_8x8l_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_8x8l_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_rl_inv_8x8u_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_8x8u_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
+// 8x4
+void kernel_dgemm_nt_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nt_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dgemm_nt_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_dgemm_nn_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_tt_8x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_tt_8x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nn_u_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nn_u_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nt_l_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nt_l_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dsyrk_nt_l_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_dtrmm_nt_ru_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
+void kernel_dtrmm_nt_ru_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
+void kernel_dtrmm_nn_rl_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
+void kernel_dtrmm_nn_rl_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
+void kernel_dtrmm_nn_rl_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_rl_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
+void kernel_dtrsm_nt_rl_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
+void kernel_dtrsm_nt_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_ru_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
+void kernel_dtrsm_nt_ru_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
+void kernel_dtrsm_nn_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_one_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
+void kernel_dtrsm_nn_ll_one_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
+void kernel_dtrsm_nn_lu_inv_8x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_lu_inv_8x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 4x8
+void kernel_dgemm_nt_4x8_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nt_4x8_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dgemm_nn_4x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_4x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_tt_4x8_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x8_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dtrsm_nt_rl_inv_4x8_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_4x8_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
+// 8x2
+void kernel_dgemm_nn_8x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_8x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+// 2x8
+void kernel_dgemm_nn_2x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_2x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+// 10xX
+void kernel_dgemm_nn_10x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_10x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_10x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_10x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+// 6xX
+void kernel_dgemm_nn_8x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_8x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_6x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_6x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_6x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_6x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_6x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_6x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_6x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_6x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+// 4x4
+void kernel_dgemm_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dgemm_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dgemm_nt_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dgemm_nn_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_nn_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_tt_4x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D); //
+void kernel_dgemm_tt_4x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x4_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dsyrk_nn_u_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dsyrk_nn_u_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dsyrk_nt_l_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dsyrk_nt_l_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dsyrk_nt_u_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_u_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dsyrk_nt_u_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dtrmm_nt_ru_4x4_lib4(int k, double *alpha, double *A, double *B, double *D); //
+void kernel_dtrmm_nt_ru_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *D, int km, int kn); //
+void kernel_dtrmm_nn_rl_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
+void kernel_dtrmm_nn_rl_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_rl_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
+void kernel_dtrsm_nt_rl_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
+void kernel_dtrsm_nt_ru_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_ru_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
+void kernel_dtrsm_nt_ru_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
+void kernel_dtrsm_nn_ru_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_one_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E);
+void kernel_dtrsm_nn_ll_one_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, int km, int kn);
+void kernel_dtrsm_nn_lu_inv_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_lu_inv_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_lu_one_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E);
+void kernel_dtrsm_nn_lu_one_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, int km, int kn);
+// 4x2
+void kernel_dgemm_nn_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_nt_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+void kernel_dgemm_nt_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1);
+void kernel_dsyrk_nt_l_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dtrmm_nn_rl_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
+void kernel_dtrmm_nn_rl_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x2_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_4x2_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+// 2x4
+void kernel_dgemm_nn_2x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_2x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+// 2x2
+void kernel_dgemm_nn_2x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_2x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_2x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+// diag
+void kernel_dgemm_diag_right_4_a0_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *D, int sdd);
+void kernel_dgemm_diag_right_4_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
+void kernel_dgemm_diag_right_3_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
+void kernel_dgemm_diag_right_2_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
+void kernel_dgemm_diag_right_1_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
+void kernel_dgemm_diag_left_4_a0_lib4(int kmax, double *alpha, double *A, double *B, double *D);
+void kernel_dgemm_diag_left_4_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+void kernel_dgemm_diag_left_3_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+void kernel_dgemm_diag_left_2_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+void kernel_dgemm_diag_left_1_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+// low rank update
+void kernel_dger4_sub_12r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
+void kernel_dger4_sub_12r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
+void kernel_dger4_sub_8r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
+void kernel_dger4_sub_8r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
+void kernel_dger4_sub_4r_lib4(int n, double *A, double *B, double *C);
+void kernel_dger4_sub_4r_vs_lib4(int n, double *A, double *B, double *C, int km);
+
+
+
+// LAPACK
+// 12x4
+void kernel_dpotrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dpotrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_l_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_l_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_m_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_m_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_r_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_r_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_m_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_m_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_r_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_r_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 8x8
+void kernel_dpotrf_nt_l_8x8_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dpotrf_nt_l_8x8_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 8x4
+void kernel_dpotrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dpotrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_l_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_l_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_r_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_r_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_r_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_r_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 4x4
+void kernel_dpotrf_nt_l_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dpotrf_nt_l_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
+#if defined(TARGET_X64_INTEL_SANDY_BRIDGE)
+void kernel_dlauum_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dlauum_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+#endif
+void kernel_dgetrf_nn_4x4_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D);
+void kernel_dgetrf_nn_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dgetrf_nt_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
+void kernel_dgeqrf_4_lib4(int m, double *pD, int sdd, double *dD);
+void kernel_dgeqrf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
+void kernel_dlarf_4_lib4(int m, int n, double *pV, int sdv, double *tau, double *pC, int sdc); // rank-4 reflector
+void kernel_dlarf_t_4_lib4(int m, int n, double *pD, int sdd, double *pVt, double *dD, double *pC0, int sdc, double *pW);
+void kernel_dgelqf_4_lib4(int n, double *pD, double *dD);
+void kernel_dgelqf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
+void kernel_dlarft_4_lib4(int kmax, double *pD, double *dD, double *pT);
+void kernel_dlarft_3_lib4(int kmax, double *pD, double *dD, double *pT);
+void kernel_dlarft_2_lib4(int kmax, double *pD, double *dD, double *pT);
+void kernel_dlarft_1_lib4(int kmax, double *pD, double *dD, double *pT);
+void kernel_dgelqf_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_dlarft4_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
+void kernel_dlarfb12_rn_12_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK);
+void kernel_dlarfb12_rn_4_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK, int km);
+void kernel_dlarfb4_rn_12_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
+void kernel_dlarfb4_rn_8_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
+void kernel_dlarfb4_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb3_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb2_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb1_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb4_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb3_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb2_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb1_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb4_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb3_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb2_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb1_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb4_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb3_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb2_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb1_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dgelqf_pd_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_pd_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_pd_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
+void kernel_dgelqf_pd_4_lib4(int n, double *pD, double *dD);
+void kernel_dgelqf_pd_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
+void kernel_dgelqf_pd_la_vs_lib4(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
+void kernel_dlarft_4_la_lib4(int n1, double *dD, double *pA, double *pT);
+void kernel_dlarfb4_rn_12_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
+void kernel_dlarfb4_rn_8_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
+void kernel_dlarfb4_rn_4_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
+void kernel_dlarfb4_rn_1_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
+void kernel_dgelqf_pd_lla_vs_lib4(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
+void kernel_dlarft_4_lla_lib4(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
+void kernel_dlarfb4_rn_12_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
+void kernel_dlarfb4_rn_8_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
+void kernel_dlarfb4_rn_4_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
+void kernel_dlarfb4_rn_1_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
+// 4x2
+void kernel_dpotrf_nt_l_4x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dpotrf_nt_l_4x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
+// 2x2
+void kernel_dpotrf_nt_l_2x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dpotrf_nt_l_2x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
+// 12
+void kernel_dgetrf_pivot_12_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_12_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
+// 8
+void kernel_dgetrf_pivot_8_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_8_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
+// 4
+void kernel_dgetrf_pivot_4_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_4_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n1);
+// vector
+void kernel_drowsw_lib4(int kmax, double *pA, double *pC);
+
+
+
+// merged routines
+// 12x4
+void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 4x12
+void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 8x8
+void kernel_dsyrk_dpotrf_nt_l_8x8_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 8x4
+void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 4x8
+void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 4x4
+void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
+// 4x2
+void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
+// 2x2
+void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
+
+/*
+ *
+ * Auxiliary routines
+ *
+ * cpsc copy and scale, scale
+ * cp copy
+ * add
+ * set and scale
+ * transpose and scale
+ * set and scale
+ *
+ */
+
+// copy and scale
+void kernel_dgecpsc_8_0_lib4(int tri, int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
+void kernel_dgecpsc_8_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgecpsc_8_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgecpsc_8_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+
+void kernel_dgecpsc_4_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
+void kernel_dgecpsc_4_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgecpsc_4_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgecpsc_4_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+
+void kernel_dgecpsc_3_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
+void kernel_dgecpsc_3_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgecpsc_3_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+
+void kernel_dgecpsc_2_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
+void kernel_dgecpsc_2_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+
+void kernel_dgecpsc_1_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
+
+// copy only
+void kernel_dgecp_8_0_lib4(int tri, int kmax, double *A, int sda, double *B, int sdb);
+
+void kernel_dgecp_4_0_lib4(int tri, int kmax, double *A, double *B);
+
+// add
+void kernel_dgead_8_0_lib4(int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
+void kernel_dgead_8_1_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgead_8_2_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgead_8_3_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgead_4_0_lib4(int kmax, double alpha, double *A, double *B);
+void kernel_dgead_4_1_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_4_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_4_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_3_0_lib4(int kmax, double alpha, double *A, double *B);
+void kernel_dgead_3_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_3_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_2_0_lib4(int kmax, double alpha, double *A, double *B);
+void kernel_dgead_2_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_1_0_lib4(int kmax, double alpha, double *A, double *B);
+
+// set
+void kernel_dgeset_4_lib4(int kmax, double alpha, double *A);
+void kernel_dtrset_4_lib4(int kmax, double alpha, double *A);
+
+// traspose
+void kernel_dgetr_8_lib4(int tri, int kmax, int kna, double alpha, double *A, int sda, double *C, int sdc);
+void kernel_dgetr_4_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
+void kernel_dgetr_3_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
+void kernel_dgetr_2_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
+void kernel_dgetr_1_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
+void kernel_dgetr_4_0_lib4(int m, double *A, int sda, double *B);
+
+
+
+// pack
+// 12
+void kernel_dpack_nn_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
+void kernel_dpack_nn_12_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
+void kernel_dpack_tt_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
+// 8
+void kernel_dpack_nn_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
+void kernel_dpack_nn_8_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
+void kernel_dpack_tt_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
+// 4
+void kernel_dpack_nn_4_lib4(int kmax, double *A, int lda, double *B);
+void kernel_dpack_nn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
+void kernel_dpack_tn_4_p0_lib4(int kmax, double *A, int lda, double *B);
+void kernel_dpack_tn_4_lib4(int kmax, double *A, int lda, double *B);
+void kernel_dpack_tn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
+void kernel_dpack_tt_4_lib4(int kmax, double *A, int lda, double *B, int sdb);
+void kernel_dpack_tt_4_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
+// unpack
+// 12
+void kernel_dunpack_nn_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
+void kernel_dunpack_nn_12_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
+void kernel_dunpack_tt_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
+// 8
+void kernel_dunpack_nn_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
+void kernel_dunpack_nn_8_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
+void kernel_dunpack_tt_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
+// 4
+void kernel_dunpack_nn_4_lib4(int kmax, double *A, double *B, int ldb);
+void kernel_dunpack_nn_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
+void kernel_dunpack_nt_4_lib4(int kmax, double *A, double *B, int ldb);
+void kernel_dunpack_nt_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
+void kernel_dunpack_tt_4_lib4(int kmax, double *A, int sda, double *B, int ldb);
+
+// panel copy
+// 12
+void kernel_dpacp_nn_12_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
+void kernel_dpacp_nn_12_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
+// 8
+void kernel_dpacp_nn_8_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
+void kernel_dpacp_nn_8_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
+// 4
+void kernel_dpacp_nt_4_lib4(int kmax, double *A, int offsetB, double *B, int sdb);
+void kernel_dpacp_tn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
+void kernel_dpacp_nn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
+void kernel_dpacp_nn_4_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int m1);
+
+
+
+/************************************************
+* BLAS API kernels
+************************************************/
+
+//#if defined(BLAS_API)
+
+// A, B panel-major bs=4; C, D column-major
+// 12x4
+void kernel_dgemm_nt_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_12x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_rl_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_ru_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_ru_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dpotrf_nt_l_12x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
+void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
+// 4x12
+void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD);
+void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
+// 8x4
+void kernel_dgemm_nt_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_8x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+void kernel_dgemm_nt_8x4_p_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p);
+void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_rl_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_ru_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_ru_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dpotrf_nt_l_8x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
+void kernel_dpotrf_nt_l_8x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
+// 4x8
+void kernel_dgemm_nt_4x8_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x8_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_dgemm_nt_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dpotrf_nt_l_4x4_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD);
+void kernel_dpotrf_nt_l_4x4_vs_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
+// 4x2
+void kernel_dgemm_nt_4x2_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+
+// A panel-major bs=4; B, C, D column-major
+// 12x4
+void kernel_dgemm_nn_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dgetrf_nn_l_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_l_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+void kernel_dgetrf_nn_m_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_m_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+void kernel_dgetrf_nn_r_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_r_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+// 4x12
+void kernel_dgemm_nn_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_dgemm_nn_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dgetrf_nn_l_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_l_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+void kernel_dgetrf_nn_r_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_r_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+// 4x8
+void kernel_dgemm_nn_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_dgemm_nn_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nn_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nn_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dgetrf_nn_4x4_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_4x4_vs_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+
+// B panel-major bs=4; A, C, D column-major
+// 12x4
+void kernel_dgemm_nt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x12
+void kernel_dgemm_nt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_dgemm_nt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_dgemm_nt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_dgemm_nt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+
+// A, C, D panel-major; B, E column-major
+// TODO merge with above
+// 12x4
+void kernel_dtrsm_nn_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+// 8x4
+void kernel_dtrsm_nn_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+// 4x4
+void kernel_dtrsm_nn_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
+
+// A, B, C, D column-major
+// 12x4
+void kernel_dgemm_nn_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x12
+void kernel_dgemm_nn_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_dgemm_nn_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_dgemm_nn_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_dgemm_nn_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+
+// A column-major
+// 12
+void kernel_dgetrf_pivot_12_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_12_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
+// 8
+void kernel_dgetrf_pivot_8_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_8_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
+// 4
+void kernel_dgetrf_pivot_4_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_4_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
+
+// vector
+void kernel_ddot_11_lib(int n, double *x, double *y, double *res);
+void kernel_daxpy_11_lib(int n, double *alpha, double *x, double *y);
+void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc);
+
+//#endif // BLAS_API
+
+
+
+// larger kernels
+// 12
+void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+// 8
+void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+
+
+
+// A, B panel-major bs=8; C, D column-major
+// 24x8
+void kernel_dgemm_nt_24x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_24x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 16x8
+void kernel_dgemm_nt_16x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_16x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_dgemm_nt_8x8_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x8_vs_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+
+// A, panel-major bs=8; B, C, D column-major
+// 24x8
+void kernel_dgemm_nt_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nn_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 16x8
+void kernel_dgemm_nt_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nn_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_dgemm_nt_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nn_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+
+// B, panel-major bs=8; A, C, D column-major
+// 8x24
+void kernel_dgemm_nt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 8x16
+void kernel_dgemm_nt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_dgemm_nt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+
+
+
+// aux
+void kernel_dvecld_inc1(int kmax, double *x);
+void kernel_dveccp_inc1(int kmax, double *x, double *y);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
new file mode 100644
index 00000000000000..74c3fb5c0a22ff
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
@@ -0,0 +1,69 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_I_AUX_EXT_DEP_H_
+#define BLASFEO_I_AUX_EXT_DEP_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+// i_aux_extern_depend_lib
+void int_zeros(int **pA, int row, int col);
+void int_zeros_align(int **pA, int row, int col);
+void int_free(int *pA);
+void int_free_align(int *pA);
+void int_print_mat(int row, int col, int *A, int lda);
+int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_I_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
new file mode 100644
index 00000000000000..6248853e292fd2
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
@@ -0,0 +1,57 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_M_AUX_H_
+#define BLASFEO_M_AUX_H_
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi);
+void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi);
+void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis);
+void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_M_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_memory.h b/third_party/acados/include/blasfeo/include/blasfeo_memory.h
new file mode 100644
index 00000000000000..da4e7fa090078a
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_memory.h
@@ -0,0 +1,62 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2020 by Gianluca Frison.                                                          *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+#ifndef BLASFEO_MEMORY_H_
+#define BLASFEO_MEMORY_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+int blasfeo_is_init();
+//
+void blasfeo_init();
+//
+void blasfeo_quit();
+//
+void *blasfeo_get_buffer();
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // BLASFEO_MEMORY_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_naming.h b/third_party/acados/include/blasfeo/include/blasfeo_naming.h
new file mode 100644
index 00000000000000..c289443b176793
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_naming.h
@@ -0,0 +1,77 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+/*
+ * ----------- Naming conventions
+ *
+ *  (precision)(data)
+ *
+ * 1) d(double)
+ *    s(single)
+ *
+ * 2) ge(general)
+ *    tr(triangular)
+ *    vec(vector)
+ *    row(row)
+ *    col(column)
+ *    dia(diagonal)
+ *
+ * 3) se(set)
+ *    cp(copy)
+ *    sc(scale)
+ *    ad(add)
+ *    tr(transpose)
+ *    in(insert)
+ *    ex(extract)
+ *    pe(premute)
+ *    sw(swap)
+ *
+ *    f(factorization)
+ *
+ *    lqf(LQ factorization)
+ *    qrf (factorization)
+ *    trf (LU factorization using partial pivoting with row interchanges.)
+ *
+ * 4) _l(lower) / _u(upper)
+ *    _lib8 (hp implementation, 8 rows kernel)
+ *    _lib4 (hp implementation, 4 rows kernel)
+ *    _lib0 (hp interface with reference implentation)
+ *    _lib (reference implementation)
+ *    _libref (reference implementation with dedicated namespace)
+ *
+ * 5) _sp(sparse)
+ *    _exp(exponential format)
+ */
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
new file mode 100644
index 00000000000000..65a0c7e80a173a
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
@@ -0,0 +1,88 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Ian McInerney                                                                           *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_PROCESSOR_FEATURES_H_
+#define BLASFEO_PROCESSOR_FEATURES_H_
+
+/**
+ * Flags to indicate the different processor features
+ */
+enum
+{
+    // x86-64 CPU features
+    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
+    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
+    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
+    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
+
+    // ARM CPU features
+    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
+    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
+    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
+    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
+} BLASFEO_PROCESSOR_FEATURES;
+
+/**
+ * Test the features that this processor provides against what the library was compiled with.
+ *
+ * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
+ * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
+ */
+int blasfeo_processor_cpu_features( int* features );
+
+/**
+ * Test the features that this processor provides against what the library was compiled with.
+ *
+ * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
+ * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
+ */
+void blasfeo_processor_library_features( int* features );
+
+/**
+ * Create a string listing the features the current processor supports.
+ *
+ * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported
+ * @param featureString - Character array to store the feature string in
+ */
+void blasfeo_processor_feature_string( int features, char* featureString );
+
+/**
+ * Get a string listing the processor features that this library version needs to run.
+ *
+ * @param featureString - Character array to store the feature string in
+ */
+void blasfeo_processor_library_string( char* featureString );
+
+#endif  // BLASFEO_PROCESSOR_FEATURES_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
new file mode 100644
index 00000000000000..539268849cf3d0
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
@@ -0,0 +1,166 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_H_
+#define BLASFEO_S_AUX_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_s_aux_old.h"
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+// returns the memory size (in bytes) needed for a smat
+size_t blasfeo_memsize_smat(int m, int n);
+size_t blasfeo_memsize_smat_ps(int ps, int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a smat
+size_t blasfeo_memsize_diag_smat(int m, int n);
+// returns the memory size (in bytes) needed for a svec
+size_t blasfeo_memsize_svec(int m);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+
+// ge
+void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// tr
+void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// dia
+void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// row
+void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// col
+void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// vec
+void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
+float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
+void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_pm_memsize_smat(int ps, int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory);
+
+
+
+/*
+* Explicitly column-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_cm_memsize_smat(int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
new file mode 100644
index 00000000000000..5209d20d377c21
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
@@ -0,0 +1,141 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_EXT_DEP_H_
+#define BLASFEO_S_AUX_EXT_DEP_H_
+
+
+
+#include <stdio.h>
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+/************************************************
+* s_aux_extern_depend_lib.c
+************************************************/
+
+/* column-major matrices */
+
+// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros(float **pA, int row, int col);
+// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros_align(float **pA, int row, int col);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros_align_bytes(float **pA, int size);
+// free the memory allocated by d_zeros
+void s_free(float *pA);
+// free the memory allocated by d_zeros_align or d_zeros_align_bytes
+void s_free_align(float *pA);
+// print a column-major matrix
+void s_print_mat(int m, int n, float *A, int lda);
+// print the transposed of a column-major matrix
+void s_print_tran_mat(int row, int col, float *A, int lda);
+// print to file a column-major matrix
+void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
+// print to file a column-major matrix in exponential format
+void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
+// print to string a column-major matrix
+void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
+// print to file the transposed of a column-major matrix
+void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
+// print to file the transposed of a column-major matrix in exponential format
+void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
+// print in exponential notation a column-major matrix
+void s_print_exp_mat(int m, int n, float *A, int lda);
+// print in exponential notation the transposed of a column-major matrix
+void s_print_exp_tran_mat(int row, int col, float *A, int lda);
+
+/* strmat and strvec */
+
+// create a strmat for a matrix of size m*n by dynamically allocating memory
+void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
+// create a strvec for a vector of size m by dynamically allocating memory
+void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
+// free the memory allocated by blasfeo_allocate_dmat
+void blasfeo_free_smat(struct blasfeo_smat *sA);
+// free the memory allocated by blasfeo_allocate_dvec
+void blasfeo_free_svec(struct blasfeo_svec *sa);
+// print a strmat
+void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print in exponential notation a strmat
+void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to file a strmat
+void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to file a strmat in exponential format
+void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to string a strmat
+void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print the transpose of a strmat
+void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print a strvec
+void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+// print in exponential notation a strvec
+void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+// print to file a strvec
+void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+// print to string a strvec
+void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+// print the transposed of a strvec
+void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+// print in exponential notation the transposed of a strvec
+void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+// print to file the transposed of a strvec
+void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+// print to string the transposed of a strvec
+void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // BLASFEO_S_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
new file mode 100644
index 00000000000000..6640e20a406c85
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_
+#define BLASFEO_S_AUX_EXT_DEP_REF_H_
+
+#if defined(EXT_DEP)
+
+
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// expose reference BLASFEO for testing
+// see blasfeo_s_aux_exp_dep.h for help
+
+void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
+void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
+void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
+void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
+void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // EXT_DEP
+
+#endif  // BLASFEO_S_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
new file mode 100644
index 00000000000000..5c6db37bab1b1d
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
@@ -0,0 +1,64 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+// TODO remove
+//
+void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
+void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
+void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
+void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
+void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
+void srowin_lib(int kmax, float alpha, float *x, float *pD);
+void srowex_lib(int kmax, float alpha, float *pD, float *x);
+void srowad_lib(int kmax, float alpha, float *x, float *pD);
+void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
+void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
+void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
+void srowsw_lib(int kmax, float *pA, float *pC);
+void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
+void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
+void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
+void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void svecin_libsp(int kmax, int *idx, float *x, float *y);
+void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
new file mode 100644
index 00000000000000..f6e16a9577fd4d
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
@@ -0,0 +1,145 @@
+
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_REF_H_
+#define BLASFEO_S_AUX_REF_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_s_aux_old.h"
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+// returns the memory size (in bytes) needed for a smat
+size_t blasfeo_ref_memsize_smat(int m, int n);
+size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a smat
+size_t blasfeo_ref_memsize_diag_smat(int m, int n);
+// returns the memory size (in bytes) needed for a svec
+size_t blasfeo_ref_memsize_svec(int m);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
+void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
+void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+
+// ge
+void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// tr
+void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// dia
+void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// row
+void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// col
+void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// vec
+void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
+float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_REF_H_
+
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
new file mode 100644
index 00000000000000..08d9a14a6a7de4
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
@@ -0,0 +1,177 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_TEST_H_
+#define BLASFEO_S_AUX_TEST_H_
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+int test_blasfeo_memsize_smat(int m, int n);
+int test_blasfeo_memsize_diag_smat(int m, int n);
+int test_blasfeo_memsize_svec(int m);
+
+void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+
+void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+
+void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+// copy and scale
+void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+
+// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
+// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
+
+// // A <= alpha
+// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+// // a <= alpha
+// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+
+
+// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+
+// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+
+// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
+// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
+// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
+// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
+// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
+// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
+// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
+// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
+// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
+// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
+// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
+// void test_srowsw_lib(int kmax, float *pA, float *pC);
+// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
+// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
+// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
+// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
+// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
+// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+// ext_dep
+
+void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
+void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
+
+void test_blasfeo_free_smat(struct blasfeo_smat *sA);
+void test_blasfeo_free_svec(struct blasfeo_svec *sa);
+
+void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+
+void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+
+void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
new file mode 100644
index 00000000000000..200f1f51b1daac
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
@@ -0,0 +1,46 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_BLAS_H_
+#define BLASFEO_S_BLAS_H_
+
+
+
+#include "blasfeo_s_blasfeo_api.h"
+#include "blasfeo_s_blas_api.h"
+
+
+
+#endif  // BLASFEO_S_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
new file mode 100644
index 00000000000000..d0fa2245c5f012
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
@@ -0,0 +1,117 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef BLASFEO_S_BLAS_API_H_
+#define BLASFEO_S_BLAS_API_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef BLAS_API
+
+
+
+#ifdef FORTRAN_BLAS_API
+
+
+
+// BLAS 1
+//
+void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
+//
+float sdot_(int *n, float *x, int *incx, float *y, int *incy);
+
+// BLAS 3
+//
+void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
+//
+void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+
+
+
+// LAPACK
+//
+void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+
+
+
+#else // BLASFEO_API
+
+
+
+// BLAS 1
+//
+void blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
+//
+float blas_sdot(int *n, float *x, int *incx, float *y, int *incy);
+
+// BLAS 3
+//
+void blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
+//
+void blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+
+
+
+// LAPACK
+//
+void blas_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
+
+
+
+#endif // BLASFEO_API
+
+
+
+#endif // BLAS_API
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
new file mode 100644
index 00000000000000..24b21ead25f9a5
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
@@ -0,0 +1,272 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_BLASFEO_API_H_
+#define BLASFEO_S_BLASFEO_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y
+void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z += x .* y
+void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// return x^T * y
+float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_srotg(float a, float b, float *c, float *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular, unit diagonal
+void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^T ; B upper triangular
+void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_sgeqrf_worksize(int m, int n); // in bytes
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_sgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
+
+
+
+
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// BLAS 3
+void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+// LAPACK
+void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
new file mode 100644
index 00000000000000..f429a79dc3f45d
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
@@ -0,0 +1,135 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_BLASFEO_API_REF_H_
+#define BLASFEO_S_BLASFEO_API_REF_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// expose reference BLASFEO for testing
+
+// --- level 1
+
+void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi);
+void blasfeo_srotg_ref(float a, float b, float *c, float *s);
+void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s);
+void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+// --- level 2
+
+// dense
+void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t);
+void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+
+// diagonal
+void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+
+
+// --- level 3
+
+// dense
+void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+// diagonal
+void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+// --- lapack
+
+void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
+void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
new file mode 100644
index 00000000000000..805914cc05ef23
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
@@ -0,0 +1,240 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_BLASFEO_REF_API_H_
+#define BLASFEO_S_BLASFEO_REF_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y
+void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z += x .* y
+void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// return x^T * y
+float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_ref_srotg(float a, float b, float *c, float *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular, unit diagonal
+void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ref_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^T ; B upper triangular
+void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_REF_API_H_
+
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
new file mode 100644
index 00000000000000..99d2b28c823d57
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
@@ -0,0 +1,692 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_KERNEL_H_
+#define BLASFEO_S_KERNEL_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// utils
+void blasfeo_align_2MB(void *ptr, void **ptr_align);
+void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
+void blasfeo_align_64_byte(void *ptr, void **ptr_align);
+
+
+
+//
+// lib8
+//
+
+// 24x4
+void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
+void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
+
+// 16x8
+void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil);
+
+// 16x4
+void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
+void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
+void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+
+// 8x8
+void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
+void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+
+// 8x4
+void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
+void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
+void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn);
+void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D);
+void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn);
+
+// 4x8
+void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+
+// 8
+void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
+void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
+void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
+void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
+void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
+void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
+
+// -------- aux
+
+// ---- copy
+
+// lib4
+//
+void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B);
+
+void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B);
+void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B);
+void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B);
+
+// lib8
+//
+void kernel_sgecp_8_0_lib8(int m, float *A, float *B);
+void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1);
+void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1);
+
+void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A);
+void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1);
+void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1);
+
+void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B);
+void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
+void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1);
+
+void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+// transpose
+//
+void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
+
+// add
+//
+void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B);
+void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
+void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+
+//
+// lib4
+//
+
+
+
+// level 2 BLAS
+// 4
+void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
+void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z);
+void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z);
+void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km);
+void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
+void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n);
+void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km);
+
+
+
+// level 3 BLAS
+// 12x4
+void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 12x4
+void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 8x8
+void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+// 8x4
+void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); //
+void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
+void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
+void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); //
+void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); //
+void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
+void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
+void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); //
+void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); //
+void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
+void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E);
+void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+// diag
+void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd);
+void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D);
+void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+
+
+
+// LAPACK
+// 16x4
+void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 12x4
+void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 8x4
+void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 4x4
+void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D);
+void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv);
+void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv);
+
+
+
+// merged routines
+// 4x4
+void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+
+
+
+// auxiliary routines
+void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B);
+void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B);
+// TODO
+void kernel_sgeset_4_lib4(int kmax, float alpha, float *A);
+void kernel_strset_4_lib4(int kmax, float alpha, float *A);
+void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+
+
+
+// pack
+// 24 lib 8
+void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 16 lib 8
+void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 8 lib 8
+void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B);
+void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B);
+void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 8 lib 4
+void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
+//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
+// 4
+void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B);
+void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B);
+void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// unpack
+// 8
+void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
+void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1);
+//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
+// 4
+void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb);
+void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
+void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb);
+void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
+void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb);
+
+// panel copy
+// 4
+void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb);
+void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
+void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
+void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1);
+
+
+
+/************************************************
+* BLAS API kernels
+************************************************/
+
+//#if defined(BLAS_API)
+
+// A, B panel-major bs=8; C, D column-major
+// 24x4
+void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 16x4
+void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
+void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+// 8x4
+void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A, B panel-major bs=4; C, D column-major
+// 8x8
+void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+// 8x4
+void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
+void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
+void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
+void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
+
+// B panel-major bs=8; A, C, D column-major
+// 4x24
+void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x16
+void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// B panel-major bs=4; A, C, D column-major
+// 8x8
+void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A panel-major bs=8; B, C, D column-major
+// 24x4
+void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 16x4
+void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A panel-major bs=4; B, C, D column-major
+// 8x8
+void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+// 8x4
+void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+
+// A, C, D panel-major; B, E column-major
+// TODO merge with above
+// 4x4
+void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+
+// A, B, C, D column-major
+void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// vector
+void kernel_sdot_11_lib(int n, float *x, float *y, float *res);
+void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y);
+
+
+//#endif // BLAS_API
+
+
+
+// larger kernels
+// 24
+void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
new file mode 100644
index 00000000000000..9bd248b1d4f702
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
@@ -0,0 +1,62 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_STDLIB_H_
+#define BLASFEO_STDLIB_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#include <stdlib.h>
+
+//
+void blasfeo_malloc(void **ptr, size_t size);
+//
+void blasfeo_malloc_align(void **ptr, size_t size);
+//
+void blasfeo_free(void *ptr);
+//
+void blasfeo_free_align(void *ptr);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // BLASFEO_STDLIB_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h
new file mode 100644
index 00000000000000..51f617a6499273
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_target.h
@@ -0,0 +1,73 @@
+#ifndef TARGET_X64_INTEL_HASWELL
+#define TARGET_X64_INTEL_HASWELL
+#endif
+
+#ifndef TARGET_NEED_FEATURE_AVX2
+#define TARGET_NEED_FEATURE_AVX2 1
+#endif
+
+#ifndef TARGET_NEED_FEATURE_FMA
+#define TARGET_NEED_FEATURE_FMA 1
+#endif
+
+#ifndef TARGET_NEED_FEATURE_SSE3
+/* #undef TARGET_NEED_FEATURE_SSE3 */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_AVX
+/* #undef TARGET_NEED_FEATURE_AVX */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_VFPv3
+/* #undef TARGET_NEED_FEATURE_VFPv3 */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_NEON
+/* #undef TARGET_NEED_FEATURE_NEON */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_VFPv4
+/* #undef TARGET_NEED_FEATURE_VFPv4 */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_NEONv2
+/* #undef TARGET_NEED_FEATURE_NEONv2 */
+#endif
+
+#ifndef LA_HIGH_PERFORMANCE
+#define LA_HIGH_PERFORMANCE
+#endif
+
+#ifndef MF_PANELMAJ
+#define MF_PANELMAJ
+#endif
+
+#ifndef EXT_DEP
+#define ON 1
+#define OFF 0
+#if ON==ON
+#define EXT_DEP
+#endif
+#undef ON
+#undef OFF
+#endif
+
+#ifndef BLAS_API
+#define ON 1
+#define OFF 0
+#if OFF==ON
+#define BLAS_API
+#endif
+#undef ON
+#undef OFF
+#endif
+
+#ifndef FORTRAN_BLAS_API
+#define ON 1
+#define OFF 0
+#if OFF==ON
+#define FORTRAN_BLAS_API
+#endif
+#undef ON
+#undef OFF
+#endif
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_timing.h b/third_party/acados/include/blasfeo/include/blasfeo_timing.h
new file mode 100644
index 00000000000000..5671b888feec39
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_timing.h
@@ -0,0 +1,114 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_TIMING_H_
+#define BLASFEO_TIMING_H_
+
+//#include <stdbool.h>
+
+#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
+
+	/* Use Windows QueryPerformanceCounter for timing. */
+	#include <Windows.h>
+
+	/** A structure for keeping internal timer data. */
+	typedef struct blasfeo_timer_ {
+		LARGE_INTEGER tic;
+		LARGE_INTEGER toc;
+		LARGE_INTEGER freq;
+	} blasfeo_timer;
+
+#elif(defined __APPLE__)
+
+	#include <mach/mach_time.h>
+
+	/** A structure for keeping internal timer data. */
+	typedef struct blasfeo_timer_ {
+		uint64_t tic;
+		uint64_t toc;
+		mach_timebase_info_data_t tinfo;
+	} blasfeo_timer;
+
+#elif(defined __DSPACE__)
+
+	#include <brtenv.h>
+
+	typedef struct blasfeo_timer_ {
+		double time;
+	} blasfeo_timer;
+
+#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__)
+
+	#include "xtime_l.h"
+
+	typedef struct blasfeo_timer_ {
+		uint64_t tic;
+		uint64_t toc;
+	} blasfeo_timer;
+
+#else
+
+	/* Use POSIX clock_gettime() for timing on non-Windows machines. */
+	#include <time.h>
+
+	#if __STDC_VERSION__ >= 199901L  // C99 Mode
+
+		#include <sys/stat.h>
+		#include <sys/time.h>
+
+		typedef struct blasfeo_timer_ {
+			struct timeval tic;
+			struct timeval toc;
+		} blasfeo_timer;
+
+	#else  // ANSI C Mode
+
+		/** A structure for keeping internal timer data. */
+		typedef struct blasfeo_timer_ {
+			struct timespec tic;
+			struct timespec toc;
+		} blasfeo_timer;
+
+	#endif  // __STDC_VERSION__ >= 199901L
+
+#endif  // (defined _WIN32 || defined _WIN64)
+
+/** A function for measurement of the current time. */
+void blasfeo_tic(blasfeo_timer* t);
+
+/** A function which returns the elapsed time. */
+double blasfeo_toc(blasfeo_timer* t);
+
+#endif  // BLASFEO_TIMING_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
new file mode 100644
index 00000000000000..1598551185cc68
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_V_AUX_EXT_DEP_H_
+#define BLASFEO_V_AUX_EXT_DEP_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+/************************************************
+* d_aux_extern_depend_lib.c
+************************************************/
+
+#ifdef EXT_DEP
+
+void v_zeros(void **ptrA, int size);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero
+void v_zeros_align(void **ptrA, int size);
+// free the memory allocated by v_zeros
+void v_free(void *ptrA);
+// free the memory allocated by v_zeros_aligned
+void v_free_align(void *ptrA);
+// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero
+void c_zeros(char **ptrA, int size);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero
+void c_zeros_align(char **ptrA, int size);
+// free the memory allocated by c_zeros
+void c_free(char *ptrA);
+// free the memory allocated by c_zeros_aligned
+void c_free_align(char *ptrA);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // BLASFEO_V_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/d_blas.h b/third_party/acados/include/blasfeo/include/d_blas.h
new file mode 100644
index 00000000000000..d6f8786721b115
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/d_blas.h
@@ -0,0 +1,77 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
+
+// level 1
+double ddot_(int *m, double *x, int *incx, double *y, int *incy);
+void dcopy_(int *m, double *x, int *incx, double *y, int *incy);
+void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy);
+void dscal_(int *m, double *alpha, double *x, int *incx);
+void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s);
+void drotg_(double *a, double *b, double *c, double *s);
+
+// level 2
+void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
+void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
+void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
+
+// level 3
+void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
+void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+
+// lapack
+void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
+void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
+void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info);
+void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
+void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/acados/include/blasfeo/include/d_blas_64.h b/third_party/acados/include/blasfeo/include/d_blas_64.h
new file mode 100644
index 00000000000000..4f40d00dfb3fe8
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/d_blas_64.h
@@ -0,0 +1,73 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
+
+// level 1
+double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy);
+void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy);
+void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy);
+void dscal_(long long *m, double *alpha, double *x, long long *incx);
+
+// level 2
+void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
+void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
+void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
+void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
+void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda);
+
+// level 3
+void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc);
+void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc);
+void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
+void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
+
+// lapack
+void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info);
+void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info);
+void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info);
+void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas.h b/third_party/acados/include/blasfeo/include/s_blas.h
new file mode 100644
index 00000000000000..58b2bb0a1aa652
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/s_blas.h
@@ -0,0 +1,77 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
+
+// level 1
+float sdot_(int *m, float *x, int *incx, float *y, int *incy);
+void scopy_(int *m, float *x, int *incx, float *y, int *incy);
+void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy);
+void sscal_(int *m, float *alpha, float *x, int *incx);
+void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s);
+void srotg_(float *a, float *b, float *c, float *s);
+
+// level 2
+void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
+void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
+void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
+void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
+void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda);
+
+// level 3
+void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
+void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc);
+void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+
+// lapack
+void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info);
+void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
+void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info);
+void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
+void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas_64.h b/third_party/acados/include/blasfeo/include/s_blas_64.h
new file mode 100644
index 00000000000000..b9efab6c236ed1
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/s_blas_64.h
@@ -0,0 +1,73 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
+
+// level 1
+float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy);
+void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy);
+void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy);
+void sscal_(long long *m, float *alpha, float *x, long long *incx);
+
+// level 2
+void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
+void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
+void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
+void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
+void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda);
+
+// level 3
+void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc);
+void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc);
+void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
+void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
+
+// lapack
+void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info);
+void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info);
+void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info);
+void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
new file mode 100644
index 00000000000000..7bd3d7e8bc53e9
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
@@ -0,0 +1,52 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_AUX_MEM_H_
+#define HPIPM_AUX_MEM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void hpipm_zero_memset(hpipm_size_t memsize, void *mem);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_AUX_MEM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_string.h b/third_party/acados/include/hpipm/include/hpipm_aux_string.h
new file mode 100644
index 00000000000000..804cba5dc1a88d
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_aux_string.h
@@ -0,0 +1,50 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_AUX_STRING_H_
+#define HPIPM_AUX_STRING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define MAX_STR_LEN 5
+int hpipm_strcmp(char *str1, char *str2);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_AUX_STRING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_common.h b/third_party/acados/include/hpipm/include/hpipm_common.h
new file mode 100644
index 00000000000000..0cc96a7b506568
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_common.h
@@ -0,0 +1,76 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_COMMON_H_
+#define HPIPM_COMMON_H_
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef size_t hpipm_size_t;
+
+enum hpipm_mode
+	{
+	SPEED_ABS, // focus on speed, absolute IPM formulation
+	SPEED, // focus on speed, relative IPM formulation
+	BALANCE, // balanced mode, relative IPM formulation
+	ROBUST, // focus on robustness, relative IPM formulation
+	};
+
+enum hpipm_status
+	{
+	SUCCESS, // found solution satisfying accuracy tolerance
+	MAX_ITER, // maximum iteration number reached
+	MIN_STEP, // minimum step length reached
+	NAN_SOL, // NaN in solution detected
+	INCONS_EQ, // unconsistent equality constraints
+	};
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_COMMON_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
new file mode 100644
index 00000000000000..0e4c41f22159ac
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
@@ -0,0 +1,71 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_CAST_QCQP_H_
+#define HPIPM_D_CAST_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp.h"
+#include "hpipm_d_dense_qcqp_sol.h"
+#include "hpipm_d_ocp_qcqp.h"
+#include "hpipm_d_ocp_qcqp_dim.h"
+#include "hpipm_d_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
+//
+void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_CAST_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_cond.h
new file mode 100644
index 00000000000000..5900a2ab10201e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_cond.h
@@ -0,0 +1,135 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_COND_H_
+#define HPIPM_D_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp.h"
+#include "hpipm_d_dense_qp_sol.h"
+#include "hpipm_d_ocp_qp.h"
+#include "hpipm_d_ocp_qp_dim.h"
+#include "hpipm_d_ocp_qp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_cond_qp_arg
+	{
+	int cond_last_stage; // condense last stage
+	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_cond_qp_ws
+	{
+	struct blasfeo_dmat *Gamma;
+	struct blasfeo_dmat *GammaQ;
+	struct blasfeo_dmat *L;
+	struct blasfeo_dmat *Lx;
+	struct blasfeo_dmat *AL;
+	struct blasfeo_dvec *Gammab;
+	struct blasfeo_dvec *l;
+	struct blasfeo_dvec *tmp_nbgM;
+	struct blasfeo_dvec *tmp_nuxM;
+	int bs; // block size
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_cond_qp_arg_memsize();
+//
+void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem);
+//
+void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg);
+// condensing algorithm: 0 N2-nx3, 1 N3-nx2
+void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg);
+//
+void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg);
+//
+void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg);
+//
+void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg);
+
+//
+void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim);
+//
+hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg);
+//
+void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem);
+//
+void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+// TODO remove
+void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+
+//
+void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
new file mode 100644
index 00000000000000..73afba3c7e75e2
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
@@ -0,0 +1,92 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_COND_AUX_H_
+#define HPIPM_D_COND_AUX_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+
+//
+void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
new file mode 100644
index 00000000000000..266567bb8dfeaf
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
@@ -0,0 +1,129 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_COND_QCQP_H_
+#define HPIPM_D_COND_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp.h"
+#include "hpipm_d_dense_qcqp_sol.h"
+#include "hpipm_d_ocp_qcqp.h"
+#include "hpipm_d_ocp_qcqp_dim.h"
+#include "hpipm_d_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_cond_qcqp_arg
+	{
+	struct d_cond_qp_arg *qp_arg;
+	int cond_last_stage; // condense last stage
+//	int cond_variant; // TODO
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_cond_qcqp_ws
+	{
+	struct d_cond_qp_ws *qp_ws;
+	struct blasfeo_dmat *hess_array; // TODO remove
+	struct blasfeo_dmat *zero_hess; // TODO remove
+	struct blasfeo_dvec *grad_array; // TODO remove
+	struct blasfeo_dvec *zero_grad; // TODO remove
+	struct blasfeo_dvec *tmp_nvc;
+	struct blasfeo_dvec *tmp_nuxM;
+	struct blasfeo_dmat *GammaQ;
+	struct blasfeo_dmat *tmp_DCt;
+	struct blasfeo_dmat *tmp_nuM_nxM;
+//	struct blasfeo_dvec *d_qp;
+//	struct blasfeo_dvec *d_mask_qp;
+	hpipm_size_t memsize;
+	};
+
+
+//
+hpipm_size_t d_cond_qcqp_arg_memsize();
+//
+void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem);
+//
+void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg);
+
+//
+void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
+//
+hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg);
+//
+void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem);
+//
+void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_COND_QCQP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
new file mode 100644
index 00000000000000..f39d9a9b507a92
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
@@ -0,0 +1,101 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_CORE_QP_IPM_
+#define HPIPM_D_CORE_QP_IPM_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_core_qp_ipm_workspace
+	{
+	double *v; // primal variables
+	double *pi; // equality constraints multipliers
+	double *lam; // inequality constraints multipliers
+	double *t; // inequality constraints slacks
+	double *t_inv; // inverse of t
+	double *v_bkp; // backup of primal variables
+	double *pi_bkp; // backup of equality constraints multipliers
+	double *lam_bkp; // backup of inequality constraints multipliers
+	double *t_bkp; // backup of inequality constraints slacks
+	double *dv; // step in v
+	double *dpi; // step in pi
+	double *dlam; // step in lam
+	double *dt; // step in t
+	double *res_g; // q-residuals
+	double *res_b; // b-residuals
+	double *res_d; // d-residuals
+	double *res_m; // m-residuals
+	double *res_m_bkp; // m-residuals
+	double *Gamma; // Hessian update
+	double *gamma; // gradient update
+	double alpha; // step length
+	double alpha_prim; // step length
+	double alpha_dual; // step length
+	double sigma; // centering XXX
+	double mu; // duality measuere
+	double mu_aff; // affine duality measuere
+	double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints
+	double nc_mask_inv; // 1.0/nc_mask
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double t_min_inv; // inverse of min value in t vector
+	double tau_min; // min value of barrier parameter
+	int nv; // number of primal variables
+	int ne; // number of equality constraints
+	int nc; // (twice the) number of (two-sided) inequality constraints
+	int nc_mask; // total number of ineq constr after masking
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc);
+//
+void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem);
+//
+void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
new file mode 100644
index 00000000000000..30cc824badba3a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_CORE_QP_IPM_AUX_
+#define HPIPM_S_CORE_QP_IPM_AUX_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_update_var_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_backup_res_m(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
new file mode 100644
index 00000000000000..3da57164937a91
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
@@ -0,0 +1,199 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QCQP_H_
+#define HPIPM_D_DENSE_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
+	struct blasfeo_dmat *A; // equality constraint matrix
+	struct blasfeo_dmat *Ct; // inequality constraints matrix
+	struct blasfeo_dmat *Hq; // hessians of quadratic constraints
+	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *b; // equality constraint vector
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory);
+
+//
+void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp);
+
+// getters (COLMAJ)
+
+void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H);
+//
+void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g);
+//
+void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A);
+//
+void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b);
+//
+void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb);
+//
+void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb);
+//
+void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb);
+//
+void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub);
+//
+void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub);
+//
+void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C);
+//
+void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg);
+//
+void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg);
+//
+void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug);
+//
+void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug);
+//
+void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs);
+//
+void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev);
+//
+void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl);
+//
+void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu);
+//
+void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl);
+//
+void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu);
+//
+void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls);
+//
+void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls);
+//
+void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us);
+//
+void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
new file mode 100644
index 00000000000000..fa8c574a1ef0e2
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
@@ -0,0 +1,98 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QCQP_DIM_H_
+#define HPIPM_D_DENSE_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_dim
+	{
+	struct d_dense_qp_dim *qp_dim; // dim of qp approximation
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nq;  // number of quadratic constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int nsq; // number of softened quadratic constraints
+	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_dim_memsize();
+//
+void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory);
+//
+void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_DIM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
new file mode 100644
index 00000000000000..fa3f98fa79a6ca
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
@@ -0,0 +1,193 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QCQP_IPM_H_
+#define HPIPM_D_DENSE_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_dense_qcqp_dim.h>
+#include <hpipm_d_dense_qcqp.h>
+#include <hpipm_d_dense_qcqp_res.h>
+#include <hpipm_d_dense_qcqp_sol.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_ipm_arg
+	{
+	struct d_dense_qp_ipm_arg *qp_arg;
+	double mu0; // initial value for duality measure
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double reg_dual; // reg of dual hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qcqp_ipm_ws
+	{
+	struct d_dense_qp_ipm_ws *qp_ws;
+	struct d_dense_qp *qp;
+	struct d_dense_qp_sol *qp_sol;
+	struct d_dense_qcqp_res_ws *qcqp_res_ws;
+	struct d_dense_qcqp_res *qcqp_res;
+	struct blasfeo_dvec *tmp_nv;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem);
+//
+void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem);
+//
+void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value);
+//
+void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status);
+//
+void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter);
+//
+void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat);
+//
+void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq);
+//
+void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq);
+//
+void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp);
+//
+void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat);
+//
+void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m);
+//
+void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+//
+void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+#if 0
+//
+void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+//
+void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+#endif
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_IPM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
new file mode 100644
index 00000000000000..a76f16215e3e45
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
@@ -0,0 +1,107 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QCQP_RES_H_
+#define HPIPM_D_DENSE_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_d_dense_qcqp_dim.h>
+#include <hpipm_d_dense_qcqp.h>
+#include <hpipm_d_dense_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_res
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // infinity norm of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qcqp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nv; // work space of size nv
+	struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM
+	struct blasfeo_dvec *tmp_ns; // work space of size nsM
+	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem);
+//
+hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem);
+//
+void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws);
+//
+void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_DENSE_QCQP_RES_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
new file mode 100644
index 00000000000000..6c697a8e693b20
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
@@ -0,0 +1,85 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QCQP_SOL_H_
+#define HPIPM_D_DENSE_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_sol
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dvec *v;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory);
+//
+void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_SOL_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
new file mode 100644
index 00000000000000..a34218bae4831a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_
+#define HPIPM_D_DENSE_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+#include "hpipm_d_dense_qcqp.h"
+#include "hpipm_d_dense_qcqp_sol.h"
+//#include "hpipm_d_dense_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim);
+//
+//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim);
+//
+void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
+//
+//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol);
+//
+//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
new file mode 100644
index 00000000000000..02fba5a9229a21
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
@@ -0,0 +1,207 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QP_H_
+#define HPIPM_D_DENSE_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp
+	{
+	struct d_dense_qp_dim *dim;
+	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
+	struct blasfeo_dmat *A; // equality constraint matrix
+	struct blasfeo_dmat *Ct; // inequality constraints matrix
+	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *b; // equality constraint vector
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory);
+
+// setters - colmaj
+//
+void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
+//
+void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
+//
+void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_H(double *H, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_g(double *g, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_A(double *A, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_b(double *b, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_C(double *C, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
+
+// getters - colmaj
+//
+void d_dense_qp_get_H(struct d_dense_qp *qp, double *H);
+//
+void d_dense_qp_get_g(struct d_dense_qp *qp, double *g);
+//
+void d_dense_qp_get_A(struct d_dense_qp *qp, double *A);
+//
+void d_dense_qp_get_b(struct d_dense_qp *qp, double *b);
+//
+void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb);
+//
+void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb);
+//
+void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb);
+//
+void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub);
+//
+void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub);
+//
+void d_dense_qp_get_C(struct d_dense_qp *qp, double *C);
+//
+void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg);
+//
+void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg);
+//
+void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug);
+//
+void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug);
+//
+void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs);
+//
+void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev);
+//
+void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl);
+//
+void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu);
+//
+void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl);
+//
+void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu);
+//
+void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls);
+//
+void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls);
+//
+void d_dense_qp_get_us(struct d_dense_qp *qp, double *us);
+//
+void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us);
+
+// setters - rowmaj
+//
+void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
+
+// getters - rowmaj
+//
+void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
new file mode 100644
index 00000000000000..98a551f31258bf
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
@@ -0,0 +1,92 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QP_DIM_H_
+#define HPIPM_D_DENSE_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_dim
+	{
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int ns;  // number of softened constraints (nsb+nsg)
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_dim_memsize();
+//
+void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory);
+//
+void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
new file mode 100644
index 00000000000000..e6e5d5d9b5b89a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
@@ -0,0 +1,260 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QP_IPM_H_
+#define HPIPM_D_DENSE_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_dense_qp_dim.h>
+#include <hpipm_d_dense_qp.h>
+#include <hpipm_d_dense_qp_res.h>
+#include <hpipm_d_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_ipm_arg
+	{
+	double mu0; // initial value for duality measure
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double reg_dual; // reg of dual hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int kkt_fact_alg; // 0 null-space, 1 schur-complement
+	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
+	int compute_obj; // compute obj on exit
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qp_ipm_ws
+	{
+	struct d_core_qp_ipm_workspace *core_workspace;
+	struct d_dense_qp_res_ws *res_ws;
+	struct d_dense_qp_sol *sol_step;
+	struct d_dense_qp_sol *sol_itref;
+	struct d_dense_qp *qp_step;
+	struct d_dense_qp *qp_itref;
+	struct d_dense_qp_res *res;
+	struct d_dense_qp_res *res_itref;
+	struct d_dense_qp_res *res_step;
+	struct blasfeo_dvec *Gamma; //
+	struct blasfeo_dvec *gamma; //
+	struct blasfeo_dvec *Zs_inv; //
+	struct blasfeo_dmat *Lv; //
+	struct blasfeo_dmat *AL; //
+	struct blasfeo_dmat *Le; //
+	struct blasfeo_dmat *Ctx; //
+	struct blasfeo_dvec *lv; //
+	struct blasfeo_dvec *sv; // scale for Lv
+	struct blasfeo_dvec *se; // scale for Le
+	struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng
+	struct blasfeo_dvec *tmp_ns; // work space of size ns
+	struct blasfeo_dmat *lq0;
+	struct blasfeo_dmat *lq1;
+	struct blasfeo_dvec *tmp_m;
+	struct blasfeo_dmat *A_LQ;
+	struct blasfeo_dmat *A_Q;
+	struct blasfeo_dmat *Zt;
+	struct blasfeo_dmat *ZtH;
+	struct blasfeo_dmat *ZtHZ;
+	struct blasfeo_dvec *xy;
+	struct blasfeo_dvec *Yxy;
+	struct blasfeo_dvec *xz;
+	struct blasfeo_dvec *tmp_nv;
+	struct blasfeo_dvec *tmp_2ns;
+	struct blasfeo_dvec *tmp_nv2ns;
+	struct blasfeo_dmat *A_li; // A of linearly independent equality constraints
+	struct blasfeo_dvec *b_li; // b of linearly independent equality constraints
+	struct blasfeo_dmat *A_bkp; // pointer to backup A
+	struct blasfeo_dvec *b_bkp; // pointer to backup b
+	struct blasfeo_dmat *Ab_LU;
+	double *stat; // convergence statistics
+	int *ipiv_v;
+	int *ipiv_e;
+	int *ipiv_e1;
+	void *lq_work0;
+	void *lq_work1;
+	void *lq_work_null;
+	void *orglq_work_null;
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // numer of recorded stat per ipm iter
+	int scale;
+	int use_hess_fact;
+	int use_A_fact;
+	int status;
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int ne_li; // number of linearly independent equality constraints
+	int ne_bkp; // ne backup
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem);
+//
+void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg);
+
+//
+void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg);
+
+//
+hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem);
+//
+void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value);
+//
+void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status);
+//
+void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter);
+//
+void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat);
+//
+void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq);
+//
+void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq);
+//
+void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp);
+//
+void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat);
+//
+void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m);
+//
+void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
new file mode 100644
index 00000000000000..6d05779f4bab57
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QP_KKT_H_
+#define HPIPM_D_DENSE_QP_KKT_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
new file mode 100644
index 00000000000000..7c2023257a3c18
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
@@ -0,0 +1,105 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QP_RES_H_
+#define HPIPM_D_DENSE_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_d_dense_qp_dim.h>
+#include <hpipm_d_dense_qp.h>
+#include <hpipm_d_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_res
+	{
+	struct d_dense_qp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM
+	struct blasfeo_dvec *tmp_ns; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem);
+//
+hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem);
+//
+void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
+//
+void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
+//
+void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res);
+//
+void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_DENSE_QP_RES_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
new file mode 100644
index 00000000000000..aaa3fdb0e4904a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
@@ -0,0 +1,94 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QP_SOL_H_
+#define HPIPM_D_DENSE_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_sol
+	{
+	struct d_dense_qp_dim *dim;
+	struct blasfeo_dvec *v;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	double obj;
+	int valid_obj;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory);
+//
+void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us);
+//
+void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value);
+//
+void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v);
+//
+void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj);
+//
+void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
new file mode 100644
index 00000000000000..ccb77aaca3cee7
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QP_UTILS_H_
+#define HPIPM_D_DENSE_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+#include "hpipm_d_dense_qp.h"
+#include "hpipm_d_dense_qp_sol.h"
+#include "hpipm_d_dense_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim);
+//
+//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim);
+//
+void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
+//
+//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
+//
+void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol);
+//
+//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res);
+//
+void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_UTILS_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
new file mode 100644
index 00000000000000..240c9b04be7578
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
@@ -0,0 +1,303 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_H_
+#define HPIPM_D_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp
+	{
+	struct d_ocp_qcqp_dim *dim;
+	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_dmat *DCt; // inequality constraints matrix
+	struct blasfeo_dmat **Hq; // hessians of quadratic constraints
+	struct blasfeo_dvec *b; // dynamics vector
+	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int **idxb; // indices of box constrained variables within [u; x]
+	int **idxs_rev; // index of soft constraints (reverse storage)
+	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_strsize();
+//
+hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory);
+//
+void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest);
+
+// setters
+//
+void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp);
+
+// getters
+//
+void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value);
+//
+void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec);
+//
+//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec);
+//
+//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
new file mode 100644
index 00000000000000..268628a2b2bfc5
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
@@ -0,0 +1,118 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_DIM_H_
+#define HPIPM_D_OCP_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp_dim
+	{
+	struct d_ocp_qp_dim *qp_dim; // dim of qp approximation
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of box constraints
+	int *nbx; // number of (two-sided) state box constraints
+	int *nbu; // number of (two-sided) input box constraints
+	int *ng; // number of (two-sided) general constraints
+	int *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of (two-sided) soft state box constraints
+	int *nsbu; // number of (two-sided) soft input box constraints
+	int *nsg; // number of (two-sided) soft general constraints
+	int *nsq; // number of (upper) soft quadratic constraints
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t d_ocp_qcqp_dim_memsize(int N);
+//
+void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest);
+//
+void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value);
+//
+void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value);
+//
+void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value);
+//
+void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QCQP_DIM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
new file mode 100644
index 00000000000000..99f2329dcc3f16
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
@@ -0,0 +1,190 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_IPM_H_
+#define HPIPM_D_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qcqp_dim.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qcqp_res.h>
+#include <hpipm_d_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp_ipm_arg
+	{
+	struct d_ocp_qp_ipm_arg *qp_arg;
+	double mu0; // initial value for complementarity slackness
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_ocp_qcqp_ipm_ws
+	{
+	struct d_ocp_qp_ipm_ws *qp_ws;
+	struct d_ocp_qp *qp;
+	struct d_ocp_qp_sol *qp_sol;
+	struct d_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct d_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_dvec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim);
+//
+void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg);
+//
+void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t d_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg);
+//
+void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat);
+//
+void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq);
+//
+void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq);
+//
+void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp);
+//
+void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat);
+//
+void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
+//
+void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_OCP_QCQP_IPM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
new file mode 100644
index 00000000000000..077f134677a2cc
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
@@ -0,0 +1,114 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_RES_H_
+#define HPIPM_D_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qcqp_dim.h>
+#include <hpipm_d_ocp_qcqp.h>
+#include <hpipm_d_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp_res
+	{
+	struct d_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_ocp_qcqp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim);
+//
+void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim);
+//
+void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem);
+//
+void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws);
+//
+void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res);
+//
+void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value);
+//
+void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value);
+//
+void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value);
+//
+void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_OCP_QCQP_RES_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
new file mode 100644
index 00000000000000..68adbfce2d0296
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
@@ -0,0 +1,114 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_SOL_H_
+#define HPIPM_D_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp_sol
+	{
+	struct d_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_sol_strsize();
+//
+hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest);
+//
+void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+//
+void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+//
+void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+//
+void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+//
+void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QCQP_SOL_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
new file mode 100644
index 00000000000000..00248f1dbe65e3
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
@@ -0,0 +1,81 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_UTILS_H_
+#define HPIPM_D_OCP_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qcqp_dim.h"
+#include "hpipm_d_ocp_qp.h"
+#include "hpipm_d_ocp_qcqp_sol.h"
+#include "hpipm_d_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim);
+//
+void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim);
+//
+void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg);
+//
+void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QCQP_UTILS_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
new file mode 100644
index 00000000000000..ca26cdba3406a1
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
@@ -0,0 +1,306 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_H_
+#define HPIPM_D_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp
+	{
+	struct d_ocp_qp_dim *dim;
+	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_dmat *DCt; // inequality constraints matrix
+	struct blasfeo_dvec *b; // dynamics vector
+	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int **idxb; // indices of box constrained variables within [u; x]
+	int **idxs_rev; // index of soft constraints (reverse storage)
+	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
+	int *diag_H_flag; // flag the fact that Hessian is diagonal
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_strsize();
+//
+hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory);
+//
+void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest);
+
+// setters
+//
+void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp);
+
+// getters
+//
+void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value);
+//
+void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec);
+//
+//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec);
+//
+//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec);
+//
+//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec);
+//
+//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec);
+//
+void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec);
+//
+//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec);
+//
+//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec);
+//
+//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
new file mode 100644
index 00000000000000..dcfb801d31fdde
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
@@ -0,0 +1,142 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_DIM_H_
+#define HPIPM_D_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_dim
+	{
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of box constraints
+	int *nbx; // number of state box constraints
+	int *nbu; // number of input box constraints
+	int *ng; // number of general constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nbxe; // number of state box constraints which are equality
+	int *nbue; // number of input box constraints which are equality
+	int *nge; // number of general constraints which are equality
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_dim_strsize();
+//
+hpipm_size_t d_ocp_qp_dim_memsize(int N);
+//
+void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory);
+//
+void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest);
+//
+void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value);
+//
+void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value);
+//
+void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value);
+
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
new file mode 100644
index 00000000000000..d2a2833f224df8
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
@@ -0,0 +1,250 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_IPM_H_
+#define HPIPM_D_OCP_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qp_dim.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qp_res.h>
+#include <hpipm_d_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_ipm_arg
+	{
+	double mu0; // initial value for complementarity slackness
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different steps for primal and dual variables
+	int var_init_scheme; // variables initialization scheme
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_ocp_qp_ipm_ws
+	{
+	double qp_res[4]; // infinity norm of residuals
+	struct d_core_qp_ipm_workspace *core_workspace;
+	struct d_ocp_qp_dim *dim; // cache dim
+	struct d_ocp_qp_res_ws *res_workspace;
+	struct d_ocp_qp_sol *sol_step;
+	struct d_ocp_qp_sol *sol_itref;
+	struct d_ocp_qp *qp_step;
+	struct d_ocp_qp *qp_itref;
+	struct d_ocp_qp_res *res_itref;
+	struct d_ocp_qp_res *res;
+	struct blasfeo_dvec *Gamma; // hessian update
+	struct blasfeo_dvec *gamma; // hessian update
+	struct blasfeo_dvec *tmp_nuxM; // work space of size nxM
+	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	struct blasfeo_dvec *Pb; // Pb
+	struct blasfeo_dvec *Zs_inv;
+	struct blasfeo_dvec *tmp_m;
+	struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx
+	struct blasfeo_dmat *L;
+	struct blasfeo_dmat *Ls;
+	struct blasfeo_dmat *P;
+	struct blasfeo_dmat *Lh;
+	struct blasfeo_dmat *AL;
+	struct blasfeo_dmat *lq0;
+	struct blasfeo_dmat *tmp_nxM_nxM;
+	double *stat; // convergence statistics
+	int *use_hess_fact;
+	void *lq_work0;
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int use_Pb;
+	int status; // solver status
+	int square_root_alg; // cache from arg
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int valid_ric_vec; // meaningful riccati vectors
+	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_ipm_arg_strsize();
+//
+hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim);
+//
+void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem);
+//
+void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg);
+//
+void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg);
+// set maximum number of iterations
+void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg);
+// set minimum step lenght
+void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg);
+// set initial value of barrier parameter
+void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
+// set regularization of primal variables
+void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg);
+// dual solution of equality constraints (only for abs_form==1)
+void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg);
+// compute residuals after solution
+void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg);
+// compute residuals of prediction
+void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg);
+// min value of lam in the solution
+void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg);
+// min value of t in the solution
+void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg);
+// min value of tau in the solution
+void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg);
+// set split step: 0 same step, 1 different step for primal and dual variables
+void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg);
+// variables initialization scheme
+void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg);
+
+//
+hpipm_size_t d_ocp_qp_ipm_ws_strsize();
+//
+hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg);
+//
+void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem);
+//
+void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value);
+//
+void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status);
+//
+void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter);
+//
+void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat);
+//
+void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq);
+//
+void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq);
+//
+void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp);
+//
+void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat);
+//
+void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m);
+//
+void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr);
+//
+void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls);
+//
+void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P);
+//
+void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr);
+//
+void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p);
+// feedback control gain in the form u = K x + k
+void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K);
+// feedback control gain in the form u = K x + k
+void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k);
+//
+void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
new file mode 100644
index 00000000000000..19dcec32caa974
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
@@ -0,0 +1,66 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_KKT_H_
+#define HPIPM_D_OCP_QP_KKT_H_
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+//
+void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+#endif // HPIPM_D_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
new file mode 100644
index 00000000000000..f0482b04441eb9
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
@@ -0,0 +1,117 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_RED_H_
+#define HPIPM_D_OCP_QP_RED_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_d_ocp_qp_dim.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_reduce_eq_dof_arg
+	{
+	double lam_min;
+	double t_min;
+	int alias_unchanged; // do not keep copy unchanged stage
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+struct d_ocp_qp_reduce_eq_dof_ws
+	{
+	struct blasfeo_dvec *tmp_nuxM;
+	struct blasfeo_dvec *tmp_nbgM;
+	int *e_imask_ux;
+	int *e_imask_d;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red);
+//
+hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize();
+//
+void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem);
+//
+void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
+//
+void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
+//
+void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
+//
+void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_RED_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
new file mode 100644
index 00000000000000..061c5729cd6e76
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
@@ -0,0 +1,112 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_RES_H_
+#define HPIPM_D_OCP_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qp_dim.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_res
+	{
+	struct d_ocp_qp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_ocp_qp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim);
+//
+void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem);
+//
+hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim);
+//
+void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem);
+//
+void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
+//
+void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
+//
+void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res);
+//
+void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
+//
+void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value);
+//
+void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value);
+//
+void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value);
+//
+void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_OCP_QP_RES_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
new file mode 100644
index 00000000000000..eb91f3a7b1451f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
@@ -0,0 +1,128 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_SOL_H_
+#define HPIPM_D_OCP_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_sol
+	{
+	struct d_ocp_qp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_sol_strsize();
+//
+hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory);
+//
+void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest);
+//
+void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
+//
+void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
+//
+void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
new file mode 100644
index 00000000000000..217e9d94ae7116
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_UTILS_H_
+#define HPIPM_D_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qp_dim.h"
+#include "hpipm_d_ocp_qp.h"
+#include "hpipm_d_ocp_qp_sol.h"
+#include "hpipm_d_ocp_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim);
+//
+void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim);
+//
+void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol);
+//
+void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
+//
+void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
+//
+void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_UTILS_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
new file mode 100644
index 00000000000000..1c5f7850356a67
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_PART_COND_H_
+#define HPIPM_D_PART_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_common.h"
+#include "hpipm_d_cond.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_part_cond_qp_arg
+	{
+	struct d_cond_qp_arg *cond_arg;
+	int N2;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_part_cond_qp_ws
+	{
+	struct d_cond_qp_ws *cond_workspace;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_part_cond_qp_arg_memsize(int N2);
+//
+void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem);
+//
+void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 squre-root
+void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg);
+//
+void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg);
+//
+void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg);
+//
+void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg);
+
+//
+void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
+//
+void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim);
+//
+hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg);
+//
+void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem);
+//
+void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+//
+void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+//
+void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+//
+void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+
+//
+void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
new file mode 100644
index 00000000000000..2d6624e5bbd0e6
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
@@ -0,0 +1,106 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_PART_COND_QCQP_H_
+#define HPIPM_D_PART_COND_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_cond_qcqp.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_part_cond_qcqp_arg
+	{
+	struct d_cond_qcqp_arg *cond_arg;
+	int N2;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_part_cond_qcqp_ws
+	{
+	struct d_cond_qcqp_ws *cond_ws;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2);
+//
+void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem);
+//
+void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 squre-root
+void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg);
+
+//
+void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
+//
+void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim);
+//
+hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg);
+//
+void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem);
+//
+void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
+//
+void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
+//
+void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
+//
+void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_PART_COND_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
new file mode 100644
index 00000000000000..320b66bb28c201
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
@@ -0,0 +1,122 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_SIM_ERK_H_
+#define HPIPM_D_SIM_ERK_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_sim_erk_arg
+	{
+	struct d_sim_rk_data *rk_data; // integrator data
+	double h; // step size
+	int steps; // number of steps
+//	int for_sens; // compute adjoint sensitivities
+//	int adj_sens; // compute adjoint sensitivities
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_sim_erk_ws
+	{
+	void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode
+	void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde
+	void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde
+	void *ode_args; // pointer to ode args
+	struct d_sim_erk_arg *erk_arg; // erk arg
+	double *K; // internal variables
+	double *x_for; // states and forward sensitivities
+	double *x_traj; // states at all steps
+	double *l; // adjoint sensitivities
+	double *p; // parameter
+	double *x_tmp; // temporary states and forward sensitivities
+	double *adj_in;
+	double *adj_tmp;
+	int nx; // number of states
+	int np; // number of parameters
+	int nf; // number of forward sensitivities
+	int na; // number of adjoint sensitivities
+	int nf_max; // max number of forward sensitivities
+	int na_max; // max number of adjoint sensitivities
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_sim_erk_arg_memsize();
+//
+void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem);
+//
+void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg);
+
+//
+hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
+//
+void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory);
+//
+void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work);
+// number of directions for forward sensitivities
+void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work);
+// parameters (e.g. inputs)
+void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work);
+// state
+void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work);
+// forward sensitivities
+void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work);
+// ode funtion
+void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
+// forward vde function
+void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
+// ode_args, passed straight to the ode/vde_for/vde_adj functions
+void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work);
+// state
+void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x);
+// forward sensitivities
+void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs);
+//
+void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_SIM_ERK_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
new file mode 100644
index 00000000000000..a50dcbb491ceea
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
@@ -0,0 +1,71 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_SIM_RK_H_
+#define HPIPM_D_SIM_RK_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_sim_rk_data
+	{
+	double *A_rk; // A in butcher tableau
+	double *B_rk; // b in butcher tableau
+	double *C_rk; // c in butcher tableau
+	int expl; // erk vs irk
+	int ns; // number of stages
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_sim_rk_data_memsize(int ns);
+//
+void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory);
+//
+void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data);
+//
+void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_SIM_RK_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
new file mode 100644
index 00000000000000..f36b51a06433f1
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
@@ -0,0 +1,213 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_H_
+#define HPIPM_D_TREE_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_common.h"
+#include "hpipm_d_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qcqp
+	{
+	struct d_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_dmat *BAbt; // Nn-1
+	struct blasfeo_dmat *RSQrq; // Nn
+	struct blasfeo_dmat *DCt; // Nn
+	struct blasfeo_dmat **Hq; // Nn
+	struct blasfeo_dvec *b; // Nn-1
+	struct blasfeo_dvec *rqz; // Nn
+	struct blasfeo_dvec *d; // Nn
+	struct blasfeo_dvec *d_mask; // Nn
+	struct blasfeo_dvec *m; // Nn
+	struct blasfeo_dvec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory);
+//
+void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
new file mode 100644
index 00000000000000..257b82b2522bfe
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
@@ -0,0 +1,117 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_
+#define HPIPM_D_TREE_OCP_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qcqp_dim
+	{
+	struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nsq; // number of (upper) soft quadratic constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn);
+//
+void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
new file mode 100644
index 00000000000000..4a0fed1067aac8
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
@@ -0,0 +1,191 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_
+#define HPIPM_D_TREE_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_tree_ocp_qcqp_dim.h>
+#include <hpipm_d_tree_ocp_qp.h>
+#include <hpipm_d_tree_ocp_qcqp_res.h>
+#include <hpipm_d_tree_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qcqp_ipm_arg
+	{
+	struct d_tree_ocp_qp_ipm_arg *qp_arg;
+	double mu0; // initial value for complementarity slackness
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+//	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_tree_ocp_qcqp_ipm_ws
+	{
+	struct d_tree_ocp_qp_ipm_ws *qp_ws;
+	struct d_tree_ocp_qp *qp;
+	struct d_tree_ocp_qp_sol *qp_sol;
+	struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct d_tree_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_dvec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
+//
+void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat);
+//
+void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq);
+//
+void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq);
+//
+void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp);
+//
+void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat);
+//
+void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
+//
+void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
new file mode 100644
index 00000000000000..69eebb1ba4d674
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
@@ -0,0 +1,108 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_
+#define HPIPM_D_TREE_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_tree_ocp_qcqp_dim.h>
+#include <hpipm_d_tree_ocp_qcqp.h>
+#include <hpipm_d_tree_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qcqp_res
+	{
+	struct d_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_tree_ocp_qcqp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
+//
+void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
+//
+void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem);
+//
+void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws);
+//
+void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
new file mode 100644
index 00000000000000..cde8de5c51b769
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
@@ -0,0 +1,99 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_
+#define HPIPM_D_TREE_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_tree_ocp_qcqp_sol
+	{
+	struct d_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
new file mode 100644
index 00000000000000..5ef04fcf66fc56
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
+#define HPIPM_D_TREE_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qcqp_dim.h"
+#include "hpipm_d_tree_ocp_qcqp.h"
+#include "hpipm_d_tree_ocp_qcqp_sol.h"
+#include "hpipm_d_tree_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim);
+//
+//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim);
+//
+void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
new file mode 100644
index 00000000000000..1666ad7c71bc3a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
@@ -0,0 +1,195 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_H_
+#define HPIPM_D_TREE_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp
+	{
+	struct d_tree_ocp_qp_dim *dim;
+	struct blasfeo_dmat *BAbt; // Nn-1
+	struct blasfeo_dmat *RSQrq; // Nn
+	struct blasfeo_dmat *DCt; // Nn
+	struct blasfeo_dvec *b; // Nn-1
+	struct blasfeo_dvec *rqz; // Nn
+	struct blasfeo_dvec *d; // Nn
+	struct blasfeo_dvec *d_mask; // Nn
+	struct blasfeo_dvec *m; // Nn
+	struct blasfeo_dvec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+//	int **idxs; // index of soft constraints
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory);
+//
+void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
new file mode 100644
index 00000000000000..659b664594263e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
@@ -0,0 +1,111 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_DIM_H_
+#define HPIPM_D_TREE_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp_dim
+	{
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_dim_strsize();
+//
+hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn);
+//
+void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory);
+//
+void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
new file mode 100644
index 00000000000000..fb634208ce8845
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
@@ -0,0 +1,209 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_TREE_OCP_QP_IPM_H_
+#define HPIPM_D_TREE_OCP_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_tree_ocp_qp_dim.h>
+#include <hpipm_d_tree_ocp_qp.h>
+#include <hpipm_d_tree_ocp_qp_res.h>
+#include <hpipm_d_tree_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp_ipm_arg
+	{
+	double mu0; // initial value for duality measure
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_tree_ocp_qp_ipm_ws
+	{
+	struct d_core_qp_ipm_workspace *core_workspace;
+	struct d_tree_ocp_qp_res_ws *res_workspace;
+	struct d_tree_ocp_qp_sol *sol_step;
+	struct d_tree_ocp_qp_sol *sol_itref;
+	struct d_tree_ocp_qp *qp_step;
+	struct d_tree_ocp_qp *qp_itref;
+	struct d_tree_ocp_qp_res *res_itref;
+	struct d_tree_ocp_qp_res *res;
+	struct blasfeo_dvec *Gamma; // hessian update
+	struct blasfeo_dvec *gamma; // hessian update
+	struct blasfeo_dvec *tmp_nxM; // work space of size nxM
+	struct blasfeo_dvec *tmp_nbgM; // work space of size nbgM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	struct blasfeo_dvec *Pb; // Pb
+	struct blasfeo_dvec *Zs_inv;
+	struct blasfeo_dmat *L;
+	struct blasfeo_dmat *Lh;
+	struct blasfeo_dmat *AL;
+	struct blasfeo_dmat *lq0;
+	struct blasfeo_dvec *tmp_m;
+	double *stat; // convergence statistics
+	int *use_hess_fact;
+	void *lq_work0;
+	double qp_res[4]; // infinity norm of residuals
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int use_Pb;
+	int status; // solver status
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_ipm_arg_memsize(struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_ipm_arg_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, void *mem);
+//
+void d_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_reg_prim(double *reg, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+
+//
+hpipm_size_t d_tree_ocp_qp_ipm_ws_memsize(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_ws_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws, void *mem);
+//
+void d_tree_ocp_qp_ipm_get_status(struct d_tree_ocp_qp_ipm_ws *ws, int *status);
+//
+void d_tree_ocp_qp_ipm_get_iter(struct d_tree_ocp_qp_ipm_ws *ws, int *iter);
+//
+void d_tree_ocp_qp_ipm_get_max_res_stat(struct d_tree_ocp_qp_ipm_ws *ws, double *res_stat);
+//
+void d_tree_ocp_qp_ipm_get_max_res_eq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_eq);
+//
+void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_ineq);
+//
+void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp);
+//
+void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat);
+//
+void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m);
+//
+void d_tree_ocp_qp_init_var(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_ipm_abs_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_ipm_delta_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_ipm_solve(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
new file mode 100644
index 00000000000000..4afd52fe4bf1cc
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
@@ -0,0 +1,52 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+//
+void d_tree_ocp_qp_fact_solve_kkt_unconstr(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_fact_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_fact_lq_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
new file mode 100644
index 00000000000000..fe499080ea89a3
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
@@ -0,0 +1,106 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_RES_H_
+#define HPIPM_D_TREE_OCP_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_tree_ocp_qp_dim.h>
+#include <hpipm_d_tree_ocp_qp.h>
+#include <hpipm_d_tree_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp_res
+	{
+	struct d_tree_ocp_qp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_tree_ocp_qp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_res_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
+//
+void d_tree_ocp_qp_res_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res *res, void *mem);
+//
+hpipm_size_t d_tree_ocp_qp_res_ws_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
+//
+void d_tree_ocp_qp_res_ws_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res_ws *ws, void *mem);
+//
+void d_tree_ocp_qp_res_get_all(struct d_tree_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
+//
+void d_tree_ocp_qp_res_compute(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
+//
+void d_tree_ocp_qp_res_compute_lin(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_sol *qp_step, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
+//
+void d_tree_ocp_qp_res_compute_inf_norm(struct d_tree_ocp_qp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_TREE_OCP_QP_RES_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
new file mode 100644
index 00000000000000..343d5e8ca6a171
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
@@ -0,0 +1,100 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_SOL_H_
+#define HPIPM_D_TREE_OCP_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_tree_ocp_qp_sol
+	{
+	struct d_tree_ocp_qp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_sol_memsize(struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_sol_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_sol *qp_sol, void *memory);
+//
+void d_tree_ocp_qp_sol_get_all(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
+//
+void d_tree_ocp_qp_sol_get(char *field, int node_edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_u(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_x(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_sl(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_su(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_pi(int edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_lam_lb(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_lam_ub(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_lam_lg(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_lam_ug(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
new file mode 100644
index 00000000000000..b689fdc0fa2d59
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
+#define HPIPM_D_TREE_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qp_dim.h"
+#include "hpipm_d_tree_ocp_qp.h"
+#include "hpipm_d_tree_ocp_qp_sol.h"
+#include "hpipm_d_tree_ocp_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_tree_ocp_qp_dim_print(struct d_tree_ocp_qp_dim *qp_dim);
+//
+//void d_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim);
+//
+void d_tree_ocp_qp_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_sol_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_sol *ocp_qp_sol);
+//
+void d_tree_ocp_qp_ipm_arg_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+//void d_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_res_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_res *ocp_qp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
new file mode 100644
index 00000000000000..8bc101003e208a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+
+#ifndef HPIPM_M_DENSE_QP_H_
+#define HPIPM_M_DENSE_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp.h"
+#include "hpipm_s_dense_qp.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+void cvt_d2s_dense_qp(struct d_dense_qp *qpd, struct s_dense_qp *qps);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_M_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
new file mode 100644
index 00000000000000..4610321b970c9e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+
+#ifndef HPIPM_M_DENSE_QP_DIM_H_
+#define HPIPM_M_DENSE_QP_DIM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+#include "hpipm_s_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_M_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
new file mode 100644
index 00000000000000..95c3dad1aa02be
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
@@ -0,0 +1,49 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
new file mode 100644
index 00000000000000..1c44acee2e8497
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+struct m_ipm_hard_ocp_qp_workspace
+	{
+	struct d_ipm_hard_core_qp_workspace *core_workspace;
+	struct blasfeo_dvec *dux;
+	struct blasfeo_dvec *dpi;
+	struct blasfeo_dvec *dt_lb;
+	struct blasfeo_dvec *dt_lg;
+	struct blasfeo_svec *sdux; // XXX
+	struct blasfeo_svec *sdpi; // XXX
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals XXX remove ???
+	struct blasfeo_dvec *res_d_lb; // d-residuals
+	struct blasfeo_dvec *res_d_ub; // d-residuals
+	struct blasfeo_dvec *res_d_lg; // d-residuals
+	struct blasfeo_dvec *res_d_ug; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	struct blasfeo_dvec *res_m_lb; // m-residuals
+	struct blasfeo_dvec *res_m_ub; // m-residuals
+	struct blasfeo_dvec *res_m_lg; // m-residuals
+	struct blasfeo_dvec *res_m_ug; // m-residuals
+	struct blasfeo_svec *sres_g; // q-residuals // XXX
+	struct blasfeo_svec *sres_b; // b-residuals // XXX
+	struct blasfeo_dvec *Qx_lb; // hessian update
+	struct blasfeo_dvec *Qx_lg; // hessian update
+	struct blasfeo_dvec *qx_lb; // gradient update
+	struct blasfeo_dvec *qx_lg; // gradient update
+	struct blasfeo_svec *sQx_lb; // hessian update // XXX
+	struct blasfeo_svec *sQx_lg; // hessian update // XXX
+	struct blasfeo_svec *sqx_lb; // gradient update // XXX
+	struct blasfeo_svec *sqx_lg; // gradient update // XXX
+	struct blasfeo_dvec *tmp_nbM; // work space of size nbM
+	struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX
+	struct blasfeo_dvec *tmp_ngM; // work space of size ngM
+	struct blasfeo_svec *Pb; // Pb // XXX
+	struct blasfeo_smat *L; // XXX
+	struct blasfeo_smat *AL; // XXX
+	struct blasfeo_svec *sSx; // scaling
+	struct blasfeo_svec *sSi; // scaling inverted
+	double *stat; // convergence statistics
+	double res_mu; // mu-residual
+	int iter; // iteration number
+	int compute_Pb;
+	int scale;
+	};
+
+
+
+struct m_ipm_hard_ocp_qp_arg
+	{
+	double alpha_min; // exit cond on step length
+	double mu_max; // exit cond on duality measure
+	double mu0; // initial value for duality measure
+	int iter_max; // exit cond in iter number
+	};
+
+
+
+//
+hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg);
+//
+void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem);
+//
+void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
+//
+void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
new file mode 100644
index 00000000000000..032fe95b1f9897
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
@@ -0,0 +1,45 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
+void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
new file mode 100644
index 00000000000000..ba01ecb3bd437e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_CAST_QCQP_H_
+#define HPIPM_S_CAST_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp.h"
+#include "hpipm_s_dense_qcqp_sol.h"
+#include "hpipm_s_ocp_qcqp.h"
+#include "hpipm_s_ocp_qcqp_dim.h"
+#include "hpipm_s_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
+//
+void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_CAST_QCQP_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_cond.h
new file mode 100644
index 00000000000000..30116798b77599
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_cond.h
@@ -0,0 +1,137 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_COND_H_
+#define HPIPM_S_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp.h"
+#include "hpipm_s_dense_qp_sol.h"
+#include "hpipm_s_ocp_qp.h"
+#include "hpipm_s_ocp_qp_dim.h"
+#include "hpipm_s_ocp_qp_sol.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_cond_qp_arg
+	{
+	int cond_last_stage; // condense last stage
+	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_cond_qp_ws
+	{
+	struct blasfeo_smat *Gamma;
+	struct blasfeo_smat *GammaQ;
+	struct blasfeo_smat *L;
+	struct blasfeo_smat *Lx;
+	struct blasfeo_smat *AL;
+	struct blasfeo_svec *Gammab;
+	struct blasfeo_svec *l;
+	struct blasfeo_svec *tmp_nbgM;
+	struct blasfeo_svec *tmp_nuxM;
+	int bs; // block size
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_cond_qp_arg_memsize();
+//
+void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
+//
+void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
+// condensing algorithm: 0 N2-nx3, 1 N3-nx2
+void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg);
+
+//
+void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
+//
+hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
+//
+void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+// TODO remove
+void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+//
+void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
new file mode 100644
index 00000000000000..003472ab9f3069
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
@@ -0,0 +1,92 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_COND_AUX_H_
+#define HPIPM_S_COND_AUX_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+//
+void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
new file mode 100644
index 00000000000000..c36678abd55953
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
@@ -0,0 +1,130 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_COND_QCQP_H_
+#define HPIPM_S_COND_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp.h"
+#include "hpipm_s_dense_qcqp_sol.h"
+#include "hpipm_s_ocp_qcqp.h"
+#include "hpipm_s_ocp_qcqp_dim.h"
+#include "hpipm_s_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_cond_qcqp_arg
+	{
+	struct s_cond_qp_arg *qp_arg;
+	int cond_last_stage; // condense last stage
+//	int cond_variant; // TODO
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_cond_qcqp_ws
+	{
+	struct s_cond_qp_ws *qp_ws;
+	struct blasfeo_smat *hess_array; // TODO remove
+	struct blasfeo_smat *zero_hess; // TODO remove
+	struct blasfeo_svec *zero_grad; // TODO remove
+	struct blasfeo_svec *grad_array; // TODO remove
+	struct blasfeo_svec *tmp_nvc;
+	struct blasfeo_svec *tmp_nuxM;
+	struct blasfeo_smat *GammaQ;
+	struct blasfeo_smat *tmp_DCt;
+	struct blasfeo_smat *tmp_nuM_nxM;
+//	struct blasfeo_svec *d_qp;
+//	struct blasfeo_svec *d_mask_qp;
+	hpipm_size_t memsize;
+	};
+
+
+//
+hpipm_size_t s_cond_qcqp_arg_memsize();
+//
+void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem);
+//
+void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg);
+
+//
+void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
+//
+hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg);
+//
+void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem);
+//
+void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
new file mode 100644
index 00000000000000..480392c7d91f11
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
@@ -0,0 +1,101 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_CORE_QP_IPM_
+#define HPIPM_S_CORE_QP_IPM_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_core_qp_ipm_workspace
+	{
+	float *v; // primal variables
+	float *pi; // equality constraints multipliers
+	float *lam; // inequality constraints multipliers
+	float *t; // inequality constraints slacks
+	float *t_inv; // inverse of t
+	float *v_bkp; // backup of primal variables
+	float *pi_bkp; // backup of equality constraints multipliers
+	float *lam_bkp; // backup of inequality constraints multipliers
+	float *t_bkp; // backup of inequality constraints slacks
+	float *dv; // step in v
+	float *dpi; // step in pi
+	float *dlam; // step in lam
+	float *dt; // step in t
+	float *res_g; // q-residuals
+	float *res_b; // b-residuals
+	float *res_d; // d-residuals
+	float *res_m; // m-residuals
+	float *res_m_bkp; // m-residuals
+	float *Gamma; // Hessian update
+	float *gamma; // gradient update
+	float alpha_prim; // step length
+	float alpha_dual; // step length
+	float alpha; // step length
+	float sigma; // centering XXX
+	float mu; // duality measuere
+	float mu_aff; // affine duality measuere
+	float nc_inv; // 1.0/nc, where nc is the total number of constraints
+	float nc_mask_inv; // 1.0/nc_mask
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float t_min_inv; // inverse of min value in t vector
+	float tau_min; // min value of barrier parameter
+	int nv; // number of primal variables
+	int ne; // number of equality constraints
+	int nc; // (twice the) number of (two-sided) inequality constraints
+	int nc_mask; // total number of ineq constr after masking
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc);
+//
+void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem);
+//
+void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
new file mode 100644
index 00000000000000..1ac3d7ede9bba8
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_CORE_QP_IPM_AUX_
+#define HPIPM_S_CORE_QP_IPM_AUX_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_update_var_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_backup_res_m(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
new file mode 100644
index 00000000000000..d03c065375f323
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
@@ -0,0 +1,200 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QCQP_H_
+#define HPIPM_S_DENSE_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp
+	{
+	struct s_dense_qcqp_dim *dim;
+	struct blasfeo_smat *Hv; // hessian of cost & vector work space
+	struct blasfeo_smat *A; // equality constraint matrix
+	struct blasfeo_smat *Ct; // inequality constraints matrix
+	struct blasfeo_smat *Hq; // hessians of quadratic constraints
+	struct blasfeo_svec *gz; // gradient of cost & gradient of slacks
+	struct blasfeo_svec *b; // equality constraint vector
+	struct blasfeo_svec *d; // inequality constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory);
+
+//
+void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp);
+
+// getters (COLMAJ)
+
+void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H);
+//
+void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g);
+//
+void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A);
+//
+void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b);
+//
+void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb);
+//
+void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb);
+//
+void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb);
+//
+void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub);
+//
+void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub);
+//
+void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C);
+//
+void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg);
+//
+void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg);
+//
+void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug);
+//
+void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug);
+//
+void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs);
+//
+void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev);
+//
+void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl);
+//
+void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu);
+//
+void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl);
+//
+void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu);
+//
+void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls);
+//
+void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls);
+//
+void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us);
+//
+void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
new file mode 100644
index 00000000000000..04908c2c3ad97f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
@@ -0,0 +1,99 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QCQP_DIM_H_
+#define HPIPM_S_DENSE_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_dim
+	{
+	struct s_dense_qp_dim *qp_dim; // dim of qp approximation
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nq;  // number of quadratic constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int nsq; // number of softened quadratic constraints
+	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_dim_memsize();
+//
+void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory);
+//
+void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_DIM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
new file mode 100644
index 00000000000000..8f85768ee3d777
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
@@ -0,0 +1,204 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QCQP_IPM_H_
+#define HPIPM_S_DENSE_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_dense_qcqp_dim.h>
+#include <hpipm_s_dense_qcqp.h>
+#include <hpipm_s_dense_qcqp_res.h>
+#include <hpipm_s_dense_qcqp_sol.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_ipm_arg
+	{
+	struct s_dense_qp_ipm_arg *qp_arg;
+	float mu0; // initial value for duality measure
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float reg_dual; // reg of dual hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qcqp_ipm_ws
+	{
+//	float qp_res[4]; // infinity norm of residuals
+	struct s_dense_qp_ipm_ws *qp_ws;
+	struct s_dense_qp *qp;
+	struct s_dense_qp_sol *qp_sol;
+	struct s_dense_qcqp_res_ws *qcqp_res_ws;
+	struct s_dense_qcqp_res *qcqp_res;
+	struct blasfeo_svec *tmp_nv;
+//	float *stat; // convergence statistics
+//	void *lq_work0;
+//	void *lq_work1;
+	int iter; // iteration number
+//	int stat_max; // iterations saved in stat
+//	int stat_m; // numer of recorded stat per ipm iter
+//	int scale;
+//	int use_hess_fact;
+	int status;
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_ipm_arg_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_ipm_arg_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_ipm_arg *arg, void *mem);
+//
+void s_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set(char *field, void *value, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_mu0(float *mu0, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_lam_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_t_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_split_step(int *value, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t s_dense_qcqp_ipm_ws_memsize(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_ws_create(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws, void *mem);
+//
+void s_dense_qcqp_ipm_get(char *field, struct s_dense_qcqp_ipm_ws *ws, void *value);
+//
+void s_dense_qcqp_ipm_get_status(struct s_dense_qcqp_ipm_ws *ws, int *status);
+//
+void s_dense_qcqp_ipm_get_iter(struct s_dense_qcqp_ipm_ws *ws, int *iter);
+//
+void s_dense_qcqp_ipm_get_max_res_stat(struct s_dense_qcqp_ipm_ws *ws, float *res_stat);
+//
+void s_dense_qcqp_ipm_get_max_res_eq(struct s_dense_qcqp_ipm_ws *ws, float *res_eq);
+//
+void s_dense_qcqp_ipm_get_max_res_ineq(struct s_dense_qcqp_ipm_ws *ws, float *res_ineq);
+//
+void s_dense_qcqp_ipm_get_max_res_comp(struct s_dense_qcqp_ipm_ws *ws, float *res_comp);
+//
+void s_dense_qcqp_ipm_get_stat(struct s_dense_qcqp_ipm_ws *ws, float **stat);
+//
+void s_dense_qcqp_ipm_get_stat_m(struct s_dense_qcqp_ipm_ws *ws, int *stat_m);
+#if 0
+//
+void s_dense_qcqp_init_var(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
+#endif
+//
+void s_dense_qcqp_ipm_solve(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
+#if 0
+//
+void s_dense_qcqp_ipm_predict(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
+//
+void s_dense_qcqp_ipm_sens(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
+#endif
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_IPM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
new file mode 100644
index 00000000000000..779658cc8f8b0a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
@@ -0,0 +1,108 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QCQP_RES_H_
+#define HPIPM_S_DENSE_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_s_dense_qcqp_dim.h>
+#include <hpipm_s_dense_qcqp.h>
+#include <hpipm_s_dense_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_res
+	{
+	struct s_dense_qcqp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // infinity norm of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qcqp_res_ws
+	{
+	struct blasfeo_svec *tmp_nv; // work space of size nv
+	struct blasfeo_svec *tmp_nbgq; // work space of size nbM+ngM+nqM
+	struct blasfeo_svec *tmp_ns; // work space of size nsM
+	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_res_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_res_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res *res, void *mem);
+//
+hpipm_size_t s_dense_qcqp_res_ws_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_res_ws_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res_ws *workspace, void *mem);
+//
+void s_dense_qcqp_res_compute(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_res *res, struct s_dense_qcqp_res_ws *ws);
+//
+void s_dense_qcqp_res_compute_inf_norm(struct s_dense_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_DENSE_QCQP_RES_H_
+
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
new file mode 100644
index 00000000000000..197a690e520ffa
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
@@ -0,0 +1,86 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QCQP_SOL_H_
+#define HPIPM_S_DENSE_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_sol
+	{
+	struct s_dense_qcqp_dim *dim;
+	struct blasfeo_svec *v;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_sol_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_sol_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_sol *qp_sol, void *memory);
+//
+void s_dense_qcqp_sol_get_v(struct s_dense_qcqp_sol *qp_sol, float *v);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_SOL_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
new file mode 100644
index 00000000000000..4f5aae26eb1aba
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QCQP_UTILS_H_
+#define HPIPM_S_DENSE_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp_dim.h"
+#include "hpipm_s_dense_qcqp.h"
+#include "hpipm_s_dense_qcqp_sol.h"
+//#include "hpipm_s_dense_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_dense_qcqp_dim_print(struct s_dense_qcqp_dim *qp_dim);
+//
+//void s_dense_qcqp_dim_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim);
+//
+void s_dense_qcqp_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
+//
+//void s_dense_qcqp_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_sol_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_sol *dense_qcqp_sol);
+//
+//void s_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_res_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_res *dense_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_UTILS_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
new file mode 100644
index 00000000000000..3c2517fe1b76fc
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
@@ -0,0 +1,207 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_H_
+#define HPIPM_S_DENSE_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_smat *Hv; // hessian & gradient
+	struct blasfeo_smat *A; // dynamics matrix
+	struct blasfeo_smat *Ct; // constraints matrix
+	struct blasfeo_svec *gz; // gradient & gradient of slacks
+	struct blasfeo_svec *b; // dynamics vector
+	struct blasfeo_svec *d; // constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory);
+
+// setters - colmaj
+//
+void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
+//
+void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
+//
+void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_H(float *H, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_g(float *g, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_A(float *A, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_b(float *b, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_C(float *C, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
+
+// getters - colmaj
+//
+void s_dense_qp_get_H(struct s_dense_qp *qp, float *H);
+//
+void s_dense_qp_get_g(struct s_dense_qp *qp, float *g);
+//
+void s_dense_qp_get_A(struct s_dense_qp *qp, float *A);
+//
+void s_dense_qp_get_b(struct s_dense_qp *qp, float *b);
+//
+void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb);
+//
+void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb);
+//
+void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb);
+//
+void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub);
+//
+void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub);
+//
+void s_dense_qp_get_C(struct s_dense_qp *qp, float *C);
+//
+void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg);
+//
+void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg);
+//
+void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug);
+//
+void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug);
+//
+void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs);
+//
+void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev);
+//
+void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl);
+//
+void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu);
+//
+void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl);
+//
+void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu);
+//
+void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls);
+//
+void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls);
+//
+void s_dense_qp_get_us(struct s_dense_qp *qp, float *us);
+//
+void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us);
+
+// setters - rowmaj
+//
+void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
+
+// getters - rowmaj
+//
+void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
new file mode 100644
index 00000000000000..b979d24432a9ee
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
@@ -0,0 +1,94 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QP_DIM_H_
+#define HPIPM_S_DENSE_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_dim
+	{
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int ns;  // number of softened constraints (nsb+nsg)
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_dim_memsize();
+//
+void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory);
+//
+void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_DIM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
new file mode 100644
index 00000000000000..f2d56d45299574
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
@@ -0,0 +1,260 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_IPM_H_
+#define HPIPM_S_DENSE_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_dense_qp_dim.h>
+#include <hpipm_s_dense_qp.h>
+#include <hpipm_s_dense_qp_res.h>
+#include <hpipm_s_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_ipm_arg
+	{
+	float mu0; // initial value for duality measure
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float reg_dual; // reg of dual hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int kkt_fact_alg; // 0 null-space, 1 schur-complement
+	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
+	int compute_obj; // compute obj on exit
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qp_ipm_ws
+	{
+	struct s_core_qp_ipm_workspace *core_workspace;
+	struct s_dense_qp_res_ws *res_ws;
+	struct s_dense_qp_sol *sol_step;
+	struct s_dense_qp_sol *sol_itref;
+	struct s_dense_qp *qp_step;
+	struct s_dense_qp *qp_itref;
+	struct s_dense_qp_res *res;
+	struct s_dense_qp_res *res_itref;
+	struct s_dense_qp_res *res_step;
+	struct blasfeo_svec *Gamma; //
+	struct blasfeo_svec *gamma; //
+	struct blasfeo_svec *Zs_inv; //
+	struct blasfeo_smat *Lv; //
+	struct blasfeo_smat *AL; //
+	struct blasfeo_smat *Le; //
+	struct blasfeo_smat *Ctx; //
+	struct blasfeo_svec *lv; //
+	struct blasfeo_svec *sv; // scale for Lv
+	struct blasfeo_svec *se; // scale for Le
+	struct blasfeo_svec *tmp_nbg; // work space of size nb+ng
+	struct blasfeo_svec *tmp_ns; // work space of size ns
+	struct blasfeo_smat *lq0;
+	struct blasfeo_smat *lq1;
+	struct blasfeo_svec *tmp_m;
+	struct blasfeo_smat *A_LQ;
+	struct blasfeo_smat *A_Q;
+	struct blasfeo_smat *Zt;
+	struct blasfeo_smat *ZtH;
+	struct blasfeo_smat *ZtHZ;
+	struct blasfeo_svec *xy;
+	struct blasfeo_svec *Yxy;
+	struct blasfeo_svec *xz;
+	struct blasfeo_svec *tmp_nv;
+	struct blasfeo_svec *tmp_2ns;
+	struct blasfeo_svec *tmp_nv2ns;
+	struct blasfeo_smat *A_li; // A of linearly independent equality constraints
+	struct blasfeo_svec *b_li; // b of linearly independent equality constraints
+	struct blasfeo_smat *A_bkp; // pointer to backup A
+	struct blasfeo_svec *b_bkp; // pointer to backup b
+	struct blasfeo_smat *Ab_LU;
+	float *stat; // convergence statistics
+	int *ipiv_v;
+	int *ipiv_e;
+	int *ipiv_e1;
+	void *lq_work0;
+	void *lq_work1;
+	void *lq_work_null;
+	void *orglq_work_null;
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // numer of recorded stat per ipm iter
+	int scale;
+	int use_hess_fact;
+	int use_A_fact;
+	int status;
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int ne_li; // number of linearly independent equality constraints
+	int ne_bkp; // ne backup
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim);
+//
+void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem);
+//
+void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg);
+
+//
+hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem);
+//
+void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value);
+//
+void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status);
+//
+void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter);
+//
+void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat);
+//
+void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq);
+//
+void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq);
+//
+void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp);
+//
+void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat);
+//
+void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m);
+//
+void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
new file mode 100644
index 00000000000000..260dc0ab21d5ef
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_KKT_H_
+#define HPIPM_S_DENSE_QP_KKT_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
new file mode 100644
index 00000000000000..06b609c537cb1e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
@@ -0,0 +1,106 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QP_RES_H_
+#define HPIPM_S_DENSE_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_s_dense_qp_dim.h>
+#include <hpipm_s_dense_qp.h>
+#include <hpipm_s_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_res
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qp_res_ws
+	{
+	struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_ns; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem);
+//
+hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem);
+//
+void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
+//
+void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
+//
+void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res);
+//
+void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_DENSE_QP_RES_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
new file mode 100644
index 00000000000000..1f40076378d833
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
@@ -0,0 +1,94 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_SOL_H_
+#define HPIPM_S_DENSE_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_sol
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_svec *v;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	float obj;
+	int valid_obj;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory);
+//
+void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us);
+//
+void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value);
+//
+void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v);
+//
+void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj);
+//
+void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
new file mode 100644
index 00000000000000..3dd93259a55a58
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QP_UTILS_H_
+#define HPIPM_S_DENSE_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp_dim.h"
+#include "hpipm_s_dense_qp.h"
+#include "hpipm_s_dense_qp_sol.h"
+#include "hpipm_s_dense_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim);
+//
+//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim);
+//
+void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
+//
+//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
+//
+void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol);
+//
+//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res);
+//
+void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
new file mode 100644
index 00000000000000..b90b2ac6337580
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
@@ -0,0 +1,303 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_H_
+#define HPIPM_S_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp
+	{
+	struct s_ocp_qcqp_dim *dim;
+	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_smat *DCt; // inequality constraints matrix
+	struct blasfeo_smat **Hq; // hessians of quadratic constraints
+	struct blasfeo_svec *b; // dynamics vector
+	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
+	struct blasfeo_svec *d; // inequality constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int **idxb; // indices of box constrained variables within [u; x]
+	int **idxs_rev; // index of soft constraints (reverse storage)
+	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_strsize();
+//
+hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory);
+//
+void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest);
+
+// setters
+//
+void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp);
+
+// getters
+//
+void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value);
+//
+void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
new file mode 100644
index 00000000000000..c09903f07448ea
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
@@ -0,0 +1,119 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_DIM_H_
+#define HPIPM_S_OCP_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_dim
+	{
+	struct s_ocp_qp_dim *qp_dim; // dim of qp approximation
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of box constraints
+	int *nbx; // number of (two-sided) state box constraints
+	int *nbu; // number of (two-sided) input box constraints
+	int *ng; // number of (two-sided) general constraints
+	int *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of (two-sided) soft state box constraints
+	int *nsbu; // number of (two-sided) soft input box constraints
+	int *nsg; // number of (two-sided) soft general constraints
+	int *nsq; // number of (upper) soft quadratic constraints
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t s_ocp_qcqp_dim_memsize(int N);
+//
+void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest);
+//
+void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value);
+//
+void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value);
+//
+void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value);
+//
+void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_DIM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
new file mode 100644
index 00000000000000..c14fc1c9fd27a9
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
@@ -0,0 +1,191 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_IPM_H_
+#define HPIPM_S_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qcqp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qcqp_res.h>
+#include <hpipm_s_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_ipm_arg
+	{
+	struct s_ocp_qp_ipm_arg *qp_arg;
+	float mu0; // initial value for complementarity slackness
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_ocp_qcqp_ipm_ws
+	{
+	struct s_ocp_qp_ipm_ws *qp_ws;
+	struct s_ocp_qp *qp;
+	struct s_ocp_qp_sol *qp_sol;
+	struct s_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct s_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_svec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t s_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat);
+//
+void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq);
+//
+void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq);
+//
+void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp);
+//
+void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat);
+//
+void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
+//
+void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_OCP_QCQP_IPM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
new file mode 100644
index 00000000000000..1ceeec93b7ec5c
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_RES_H_
+#define HPIPM_S_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qcqp_dim.h>
+#include <hpipm_s_ocp_qcqp.h>
+#include <hpipm_s_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_res
+	{
+	struct s_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_ocp_qcqp_res_ws
+	{
+	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem);
+//
+void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws);
+//
+void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res);
+//
+void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_OCP_QCQP_RES_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
new file mode 100644
index 00000000000000..3d58022cc9c8ff
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_SOL_H_
+#define HPIPM_S_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_sol
+	{
+	struct s_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_sol_strsize();
+//
+hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest);
+//
+void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_SOL_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
new file mode 100644
index 00000000000000..d64e3aabe73742
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_UTILS_H_
+#define HPIPM_S_OCP_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qcqp_dim.h"
+#include "hpipm_s_ocp_qp.h"
+#include "hpipm_s_ocp_qcqp_sol.h"
+#include "hpipm_s_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim);
+//
+void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim);
+//
+void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
new file mode 100644
index 00000000000000..b49191f192d83c
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
@@ -0,0 +1,306 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_H_
+#define HPIPM_S_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp
+	{
+	struct s_ocp_qp_dim *dim;
+	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_smat *DCt; // inequality constraints matrix
+	struct blasfeo_svec *b; // dynamics vector
+	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
+	struct blasfeo_svec *d; // inequality constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int **idxb; // indices of box constrained variables within [u; x]
+	int **idxs_rev; // index of soft constraints (reverse storage)
+	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
+	int *diag_H_flag; // flag the fact that Hessian is diagonal
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_strsize();
+//
+hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory);
+//
+void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest);
+
+// setters
+//
+void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp);
+
+// getters
+//
+void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value);
+//
+void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec);
+//
+void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
new file mode 100644
index 00000000000000..bce80243b3eb2e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
@@ -0,0 +1,141 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_DIM_H_
+#define HPIPM_S_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_dim
+	{
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of box constraints
+	int *nbx; // number of state box constraints
+	int *nbu; // number of input box constraints
+	int *ng; // number of general constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nbxe; // number of state box constraints which are equality
+	int *nbue; // number of input box constraints which are equality
+	int *nge; // number of general constraints which are equality
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_dim_strsize();
+//
+hpipm_size_t s_ocp_qp_dim_memsize(int N);
+//
+void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory);
+//
+void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest);
+//
+void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value);
+//
+void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value);
+//
+void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
new file mode 100644
index 00000000000000..11f3c47be6ecd2
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
@@ -0,0 +1,250 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_IPM_H_
+#define HPIPM_S_OCP_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qp_res.h>
+#include <hpipm_s_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_ipm_arg
+	{
+	float mu0; // initial value for complementarity slackness
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different steps for primal and dual variables
+	int var_init_scheme; // variables initialization scheme
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_ocp_qp_ipm_ws
+	{
+	struct s_core_qp_ipm_workspace *core_workspace;
+	struct s_ocp_qp_res_ws *res_workspace;
+	struct s_ocp_qp_dim *dim; // cache dim
+	struct s_ocp_qp_sol *sol_step;
+	struct s_ocp_qp_sol *sol_itref;
+	struct s_ocp_qp *qp_step;
+	struct s_ocp_qp *qp_itref;
+	struct s_ocp_qp_res *res;
+	struct s_ocp_qp_res *res_itref;
+	struct blasfeo_svec *Gamma; // hessian update
+	struct blasfeo_svec *gamma; // hessian update
+	struct blasfeo_svec *tmp_nuxM; // work space of size nxM
+	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *Pb; // Pb
+	struct blasfeo_svec *Zs_inv;
+	struct blasfeo_svec *tmp_m;
+	struct blasfeo_svec *l; // cache linear part for _get_ric_xxx
+	struct blasfeo_smat *L;
+	struct blasfeo_smat *Ls;
+	struct blasfeo_smat *P;
+	struct blasfeo_smat *Lh;
+	struct blasfeo_smat *AL;
+	struct blasfeo_smat *lq0;
+	struct blasfeo_smat *tmp_nxM_nxM;
+	float *stat; // convergence statistics
+	int *use_hess_fact;
+	void *lq_work0;
+	float qp_res[4]; // infinity norm of residuals
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int use_Pb;
+	int status; // solver status
+	int square_root_alg; // cache from arg
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int valid_ric_vec; // meaningful riccati vectors
+	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_ipm_arg_strsize();
+//
+hpipm_size_t s_ocp_qp_ipm_arg_memsize(struct s_ocp_qp_dim *ocp_dim);
+//
+void s_ocp_qp_ipm_arg_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, void *mem);
+//
+void s_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qp_ipm_arg *arg);
+//
+void s_ocp_qp_ipm_arg_set(char *field, void *value, struct s_ocp_qp_ipm_arg *arg);
+// set maximum number of iterations
+void s_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_ocp_qp_ipm_arg *arg);
+// set minimum step lenght
+void s_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_ocp_qp_ipm_arg *arg);
+// set initial value of barrier parameter
+void s_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_ocp_qp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void s_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_ocp_qp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void s_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_ocp_qp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void s_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_ocp_qp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void s_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
+// set regularization of primal variables
+void s_ocp_qp_ipm_arg_set_reg_prim(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void s_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_ocp_qp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void s_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_ocp_qp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void s_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void s_ocp_qp_ipm_arg_set_ric_alg(int *alg, struct s_ocp_qp_ipm_arg *arg);
+// dual solution of equality constraints (only for abs_form==1)
+void s_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_ocp_qp_ipm_arg *arg);
+// compute residuals after solution
+void s_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qp_ipm_arg *arg);
+// compute residuals of prediction
+void s_ocp_qp_ipm_arg_set_comp_res_pred(int *alg, struct s_ocp_qp_ipm_arg *arg);
+// min value of lam in the solution
+void s_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_ocp_qp_ipm_arg *arg);
+// min value of t in the solution
+void s_ocp_qp_ipm_arg_set_t_min(float *value, struct s_ocp_qp_ipm_arg *arg);
+// min value of tau in the solution
+void s_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_ocp_qp_ipm_arg *arg);
+// set split step: 0 same step, 1 different step for primal and dual variables
+void s_ocp_qp_ipm_arg_set_split_step(int *value, struct s_ocp_qp_ipm_arg *arg);
+// variables initialization scheme
+void s_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct s_ocp_qp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void s_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qp_ipm_arg *arg);
+
+//
+hpipm_size_t s_ocp_qp_ipm_ws_strsize();
+//
+hpipm_size_t s_ocp_qp_ipm_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg);
+//
+void s_ocp_qp_ipm_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, void *mem);
+//
+void s_ocp_qp_ipm_get(char *field, struct s_ocp_qp_ipm_ws *ws, void *value);
+//
+void s_ocp_qp_ipm_get_status(struct s_ocp_qp_ipm_ws *ws, int *status);
+//
+void s_ocp_qp_ipm_get_iter(struct s_ocp_qp_ipm_ws *ws, int *iter);
+//
+void s_ocp_qp_ipm_get_max_res_stat(struct s_ocp_qp_ipm_ws *ws, float *res_stat);
+//
+void s_ocp_qp_ipm_get_max_res_eq(struct s_ocp_qp_ipm_ws *ws, float *res_eq);
+//
+void s_ocp_qp_ipm_get_max_res_ineq(struct s_ocp_qp_ipm_ws *ws, float *res_ineq);
+//
+void s_ocp_qp_ipm_get_max_res_comp(struct s_ocp_qp_ipm_ws *ws, float *res_comp);
+//
+void s_ocp_qp_ipm_get_stat(struct s_ocp_qp_ipm_ws *ws, float **stat);
+//
+void s_ocp_qp_ipm_get_stat_m(struct s_ocp_qp_ipm_ws *ws, int *stat_m);
+//
+void s_ocp_qp_ipm_get_ric_Lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Lr);
+//
+void s_ocp_qp_ipm_get_ric_Ls(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Ls);
+//
+void s_ocp_qp_ipm_get_ric_P(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *P);
+//
+void s_ocp_qp_ipm_get_ric_lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *lr);
+//
+void s_ocp_qp_ipm_get_ric_p(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *p);
+// feedback control gain in the form u = K x + k
+void s_ocp_qp_ipm_get_ric_K(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *K);
+// feedback control gain in the form u = K x + k
+void s_ocp_qp_ipm_get_ric_k(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *k);
+//
+void s_ocp_qp_init_var(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_abs_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_delta_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_solve(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_predict(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_sens(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
new file mode 100644
index 00000000000000..3eb1f4aae878d0
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
@@ -0,0 +1,66 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+#ifndef HPIPM_S_OCP_QP_KKT_H_
+#define HPIPM_S_OCP_QP_KKT_H_
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void s_ocp_qp_fact_solve_kkt_unconstr(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_fact_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_fact_lq_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+#endif // HPIPM_S_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
new file mode 100644
index 00000000000000..5a7b3b070302b0
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
@@ -0,0 +1,118 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_RED_H_
+#define HPIPM_S_OCP_QP_RED_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_s_ocp_qp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_reduce_eq_dof_arg
+	{
+	float lam_min;
+	float t_min;
+	int alias_unchanged; // do not keep copy unchanged stage
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+struct s_ocp_qp_reduce_eq_dof_ws
+	{
+	struct blasfeo_svec *tmp_nuxM;
+	struct blasfeo_svec *tmp_nbgM;
+	int *e_imask_ux;
+	int *e_imask_d;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+void s_ocp_qp_dim_reduce_eq_dof(struct s_ocp_qp_dim *dim, struct s_ocp_qp_dim *dim_red);
+//
+hpipm_size_t s_ocp_qp_reduce_eq_dof_arg_memsize();
+//
+void s_ocp_qp_reduce_eq_dof_arg_create(struct s_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_default(struct s_ocp_qp_reduce_eq_dof_arg *arg);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+hpipm_size_t s_ocp_qp_reduce_eq_dof_ws_memsize(struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_reduce_eq_dof_ws_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_reduce_eq_dof_ws *work, void *mem);
+//
+void s_ocp_qp_reduce_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qp_reduce_eq_dof_lhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qp_reduce_eq_dof_rhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qp_restore_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol_red, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_RED_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
new file mode 100644
index 00000000000000..821585da6583dd
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
@@ -0,0 +1,114 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_RES_H_
+#define HPIPM_S_OCP_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_res
+	{
+	struct s_ocp_qp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_ocp_qp_res_ws
+	{
+	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_res_memsize(struct s_ocp_qp_dim *ocp_dim);
+//
+void s_ocp_qp_res_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res *res, void *mem);
+//
+hpipm_size_t s_ocp_qp_res_ws_memsize(struct s_ocp_qp_dim *ocp_dim);
+//
+void s_ocp_qp_res_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res_ws *workspace, void *mem);
+//
+void s_ocp_qp_res_compute(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
+//
+void s_ocp_qp_res_compute_lin(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_sol *qp_step, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
+//
+void s_ocp_qp_res_compute_inf_norm(struct s_ocp_qp_res *res);
+//
+void s_ocp_qp_res_get_all(struct s_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
+//
+void s_ocp_qp_res_get_max_res_stat(struct s_ocp_qp_res *res, float *value);
+//
+void s_ocp_qp_res_get_max_res_eq(struct s_ocp_qp_res *res, float *value);
+//
+void s_ocp_qp_res_get_max_res_ineq(struct s_ocp_qp_res *res, float *value);
+//
+void s_ocp_qp_res_get_max_res_comp(struct s_ocp_qp_res *res, float *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_OCP_QP_RES_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
new file mode 100644
index 00000000000000..94dfa0d003b5d2
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
@@ -0,0 +1,128 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_SOL_H_
+#define HPIPM_S_OCP_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_sol
+	{
+	struct s_ocp_qp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_sol_strsize();
+//
+hpipm_size_t s_ocp_qp_sol_memsize(struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_sol_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_sol *qp_sol, void *memory);
+//
+void s_ocp_qp_sol_copy_all(struct s_ocp_qp_sol *qp_sol_orig, struct s_ocp_qp_sol *qp_sol_dest);
+//
+void s_qp_sol_get_all(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
+//
+void s_qp_sol_get_all_rowmaj(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
+//
+void s_ocp_qp_sol_set_all(float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_get(char *field, int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_lbu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_lbx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_ubu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_ubx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_lg(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_ug(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_set(char *field, int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_set_su(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
new file mode 100644
index 00000000000000..a4f832a5eac05b
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_UTILS_H_
+#define HPIPM_S_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qp_dim.h"
+#include "hpipm_s_ocp_qp.h"
+#include "hpipm_s_ocp_qp_sol.h"
+#include "hpipm_s_ocp_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_ocp_qp_dim_print(struct s_ocp_qp_dim *qp_dim);
+//
+void s_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim);
+//
+void s_ocp_qp_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_sol_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_sol *ocp_qp_sol);
+//
+void s_ocp_qp_ipm_arg_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
+//
+void s_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
+//
+void s_ocp_qp_res_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_res *ocp_qp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_UTILS_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
new file mode 100644
index 00000000000000..e40511e69f0c12
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_PART_COND_H_
+#define HPIPM_S_PART_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_cond.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_part_cond_qp_arg
+	{
+	struct s_cond_qp_arg *cond_arg;
+	int N2;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_part_cond_qp_ws
+	{
+	struct s_cond_qp_ws *cond_workspace;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_part_cond_qp_arg_memsize(int N2);
+//
+void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem);
+//
+void s_part_cond_qp_arg_set_default(struct s_part_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 squre-root
+void s_part_cond_qp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qp_arg *cond_arg);
+//
+void s_part_cond_qp_arg_set_comp_prim_sol(int value, struct s_part_cond_qp_arg *cond_arg);
+//
+void s_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_part_cond_qp_arg *cond_arg);
+//
+void s_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_part_cond_qp_arg *cond_arg);
+
+//
+void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
+//
+void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim);
+//
+hpipm_size_t s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg);
+//
+void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem);
+//
+void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+//
+void s_part_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+//
+void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+//
+void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+
+//
+void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
new file mode 100644
index 00000000000000..311f7000bf28ac
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
@@ -0,0 +1,107 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_PART_COND_QCQP_H_
+#define HPIPM_S_PART_COND_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_cond_qcqp.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_part_cond_qcqp_arg
+	{
+	struct s_cond_qcqp_arg *cond_arg;
+	int N2;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_part_cond_qcqp_ws
+	{
+	struct s_cond_qcqp_ws *cond_ws;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_part_cond_qcqp_arg_memsize(int N2);
+//
+void s_part_cond_qcqp_arg_create(int N2, struct s_part_cond_qcqp_arg *cond_arg, void *mem);
+//
+void s_part_cond_qcqp_arg_set_default(struct s_part_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 squre-root
+void s_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qcqp_arg *cond_arg);
+
+//
+void s_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
+//
+void s_part_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim);
+//
+hpipm_size_t s_part_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg);
+//
+void s_part_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws, void *mem);
+//
+void s_part_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
+//
+void s_part_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
+//
+void s_part_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
+//
+void s_part_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_ocp_qcqp_sol *part_dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_PART_COND_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
new file mode 100644
index 00000000000000..1a05ad1a283f85
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
@@ -0,0 +1,121 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_SIM_ERK_H_
+#define HPIPM_S_SIM_ERK_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_sim_erk_arg
+	{
+	struct s_sim_rk_data *rk_data; // integrator data
+	float h; // step size
+	int steps; // number of steps
+//	int for_sens; // compute adjoint sensitivities
+//	int adj_sens; // compute adjoint sensitivities
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_sim_erk_ws
+	{
+	void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode
+	void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde
+	void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde
+	void *ode_args; // pointer to ode args
+	struct s_sim_erk_arg *erk_arg; // erk arg
+	float *K; // internal variables
+	float *x_for; // states and forward sensitivities
+	float *x_traj; // states at all steps
+	float *l; // adjoint sensitivities
+	float *p; // parameter
+	float *x_tmp; // temporary states and forward sensitivities
+	float *adj_in;
+	float *adj_tmp;
+	int nx; // number of states
+	int np; // number of parameters
+	int nf; // number of forward sensitivities
+	int na; // number of adjoint sensitivities
+	int nf_max; // max number of forward sensitivities
+	int na_max; // max number of adjoint sensitivities
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_sim_erk_arg_memsize();
+//
+void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem);
+//
+void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg);
+
+//
+hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
+//
+void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory);
+//
+void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work);
+// number of directions for forward sensitivities
+void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work);
+// parameters (e.g. inputs)
+void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work);
+// state
+void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work);
+// forward sensitivities
+void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work);
+// ode funtion
+void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
+// forward vde function
+void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
+// ode_args, passed straight to the ode/vde_for/vde_adj functions
+void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work);
+// state
+void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x);
+// forward sensitivities
+void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs);
+//
+void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_SIM_ERK_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
new file mode 100644
index 00000000000000..53acd71498f033
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_SIM_RK_H_
+#define HPIPM_S_SIM_RK_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_sim_rk_data
+	{
+	float *A_rk; // A in butcher tableau
+	float *B_rk; // b in butcher tableau
+	float *C_rk; // c in butcher tableau
+	int expl; // erk vs irk
+	int ns; // number of stages
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_sim_rk_data_memsize(int ns);
+//
+void s_sim_rk_data_create(int ns, struct s_sim_rk_data *rk_data, void *memory);
+//
+void s_sim_rk_data_init_default(char *field, struct s_sim_rk_data *rk_data);
+//
+void s_sim_rk_data_set_all(int expl, float *A_rk, float *B_rk, float *C_rk, struct s_sim_rk_data *rk_data);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_SIM_RK_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
new file mode 100644
index 00000000000000..450e992624b22b
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
@@ -0,0 +1,213 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_H_
+#define HPIPM_S_TREE_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qcqp
+	{
+	struct s_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_smat *BAbt; // Nn-1
+	struct blasfeo_smat *RSQrq; // Nn
+	struct blasfeo_smat *DCt; // Nn
+	struct blasfeo_smat **Hq; // Nn
+	struct blasfeo_svec *b; // Nn-1
+	struct blasfeo_svec *rqz; // Nn
+	struct blasfeo_svec *d; // Nn
+	struct blasfeo_svec *d_mask; // Nn
+	struct blasfeo_svec *m; // Nn
+	struct blasfeo_svec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory);
+//
+void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp);
+
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
new file mode 100644
index 00000000000000..7a49d519959afb
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
@@ -0,0 +1,118 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_DIM_H_
+#define HPIPM_S_TREE_OCP_QCQP_DIM_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qcqp_dim
+	{
+	struct s_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nsq; // number of (upper) soft quadratic constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t s_tree_ocp_qcqp_dim_memsize(int Nn);
+//
+void s_tree_ocp_qcqp_dim_create(int Nn, struct s_tree_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void s_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+//void s_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+//void s_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+//void s_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_DIM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
new file mode 100644
index 00000000000000..69d65914c527c4
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
@@ -0,0 +1,192 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_IPM_H_
+#define HPIPM_S_TREE_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_tree_ocp_qcqp_dim.h>
+#include <hpipm_s_tree_ocp_qp.h>
+#include <hpipm_s_tree_ocp_qcqp_res.h>
+#include <hpipm_s_tree_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qcqp_ipm_arg
+	{
+	struct s_tree_ocp_qp_ipm_arg *qp_arg;
+	float mu0; // initial value for complementarity slackness
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+//	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_tree_ocp_qcqp_ipm_ws
+	{
+	struct s_tree_ocp_qp_ipm_ws *qp_ws;
+	struct s_tree_ocp_qp *qp;
+	struct s_tree_ocp_qp_sol *qp_sol;
+	struct s_tree_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct s_tree_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_svec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t s_tree_ocp_qcqp_ipm_arg_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
+//
+void s_tree_ocp_qcqp_ipm_arg_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void s_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qcqp_ipm_arg *arg);
+//
+void s_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void s_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void s_tree_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void s_tree_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void s_tree_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void s_tree_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void s_tree_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void s_tree_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void s_tree_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void s_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void s_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void s_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+//void s_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void s_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+//void s_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void s_tree_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void s_tree_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void s_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void s_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t s_tree_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t s_tree_ocp_qcqp_ipm_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
+//
+void s_tree_ocp_qcqp_ipm_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void s_tree_ocp_qcqp_ipm_get(char *field, struct s_tree_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void s_tree_ocp_qcqp_ipm_get_status(struct s_tree_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void s_tree_ocp_qcqp_ipm_get_iter(struct s_tree_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void s_tree_ocp_qcqp_ipm_get_max_res_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_stat);
+//
+void s_tree_ocp_qcqp_ipm_get_max_res_eq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_eq);
+//
+void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_ineq);
+//
+void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp);
+//
+void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat);
+//
+void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void s_tree_ocp_qcqp_init_var(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
+//
+void s_tree_ocp_qcqp_ipm_solve(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_IPM_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
new file mode 100644
index 00000000000000..d0d84a6f23952f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
@@ -0,0 +1,109 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_RES_H_
+#define HPIPM_S_TREE_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_tree_ocp_qcqp_dim.h>
+#include <hpipm_s_tree_ocp_qcqp.h>
+#include <hpipm_s_tree_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qcqp_res
+	{
+	struct s_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_tree_ocp_qcqp_res_ws
+	{
+	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_res_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
+//
+void s_tree_ocp_qcqp_res_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t s_tree_ocp_qcqp_res_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
+//
+void s_tree_ocp_qcqp_res_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res_ws *ws, void *mem);
+//
+void s_tree_ocp_qcqp_res_compute(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_res *res, struct s_tree_ocp_qcqp_res_ws *ws);
+//
+void s_tree_ocp_qcqp_res_compute_inf_norm(struct s_tree_ocp_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_RES_H_
+
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
new file mode 100644
index 00000000000000..47f038c6b3dfe5
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
@@ -0,0 +1,97 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_SOL_H_
+#define HPIPM_S_TREE_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_tree_ocp_qcqp_sol
+	{
+	struct s_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_sol_memsize(struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_sol_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void s_tree_ocp_qcqp_sol_get_u(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_x(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_sl(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_su(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_pi(int edge, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_lam_lb(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_lam_ub(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_lam_lg(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_lam_ug(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_SOL_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
new file mode 100644
index 00000000000000..79528de1ce74fa
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
@@ -0,0 +1,85 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_UTILS_H_
+#define HPIPM_S_TREE_OCP_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qcqp_dim.h"
+#include "hpipm_s_tree_ocp_qcqp.h"
+#include "hpipm_s_tree_ocp_qcqp_sol.h"
+#include "hpipm_s_tree_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_tree_ocp_qcqp_dim_print(struct s_tree_ocp_qcqp_dim *qp_dim);
+//
+//void s_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim);
+//
+void s_tree_ocp_qcqp_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_sol_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void s_tree_ocp_qcqp_ipm_arg_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
+//
+//void s_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
+//
+void s_tree_ocp_qcqp_res_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_UTILS_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
new file mode 100644
index 00000000000000..722b930b9a45c8
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
@@ -0,0 +1,196 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_H_
+#define HPIPM_S_TREE_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qp
+	{
+	struct s_tree_ocp_qp_dim *dim;
+	struct blasfeo_smat *BAbt; // Nn-1
+	struct blasfeo_smat *RSQrq; // Nn
+	struct blasfeo_smat *DCt; // Nn
+	struct blasfeo_svec *b; // Nn-1
+	struct blasfeo_svec *rqz; // Nn
+	struct blasfeo_svec *d; // Nn
+	struct blasfeo_svec *d_mask; // Nn
+	struct blasfeo_svec *m; // Nn
+	struct blasfeo_svec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+//	int **idxs; // index of soft constraints
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_memsize(struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp *qp, void *memory);
+//
+void s_tree_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_A(int edge, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_B(int edge, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_b(int edge, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Q(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_S(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_R(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_q(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_r(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lb(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ub(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lbx(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ubx(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lbu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ubu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxb(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxbx(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jbx(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxbu(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jbu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_C(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_D(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lg(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ug(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Zl(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Zu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_zl(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_zu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lls(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lus(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxs(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jsg(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_idxe(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_idxbue(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_idxge(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_Jbue(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_Jge(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qp *qp);
+
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
new file mode 100644
index 00000000000000..90df57182b7993
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
@@ -0,0 +1,111 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_DIM_H_
+#define HPIPM_S_TREE_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qp_dim
+	{
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_dim_strsize();
+//
+hpipm_size_t s_tree_ocp_qp_dim_memsize(int Nn);
+//
+void s_tree_ocp_qp_dim_create(int Nn, struct s_tree_ocp_qp_dim *qp_dim, void *memory);
+//
+void s_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_ng(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_ns(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nge(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
new file mode 100644
index 00000000000000..f8c26d31737f0d
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
@@ -0,0 +1,208 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_TREE_OCP_QP_IPM_H_
+#define HPIPM_S_TREE_OCP_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_tree_ocp_qp_dim.h>
+#include <hpipm_s_tree_ocp_qp.h>
+#include <hpipm_s_tree_ocp_qp_res.h>
+#include <hpipm_s_tree_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qp_ipm_arg
+	{
+	float mu0; // initial value for duality measure
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_tree_ocp_qp_ipm_ws
+	{
+	struct s_core_qp_ipm_workspace *core_workspace;
+	struct s_tree_ocp_qp_res_ws *res_workspace;
+	struct s_tree_ocp_qp_sol *sol_step;
+	struct s_tree_ocp_qp_sol *sol_itref;
+	struct s_tree_ocp_qp *qp_step;
+	struct s_tree_ocp_qp *qp_itref;
+	struct s_tree_ocp_qp_res *res_itref;
+	struct s_tree_ocp_qp_res *res;
+	struct blasfeo_svec *Gamma; // hessian update
+	struct blasfeo_svec *gamma; // hessian update
+	struct blasfeo_svec *tmp_nxM; // work space of size nxM
+	struct blasfeo_svec *tmp_nbgM; // work space of size nbgM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *Pb; // Pb
+	struct blasfeo_svec *Zs_inv;
+	struct blasfeo_smat *L;
+	struct blasfeo_smat *Lh;
+	struct blasfeo_smat *AL;
+	struct blasfeo_smat *lq0;
+	struct blasfeo_svec *tmp_m;
+	float *stat; // convergence statistics
+	int *use_hess_fact;
+	void *lq_work0;
+	float qp_res[4]; // infinity norm of residuals
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int use_Pb;
+	int status; // solver status
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_ipm_arg_memsize(struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_ipm_arg_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, void *mem);
+//
+void s_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_reg_prim(float *reg, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+
+//
+hpipm_size_t s_tree_ocp_qp_ipm_ws_memsize(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_ws_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws, void *mem);
+//
+void s_tree_ocp_qp_ipm_get_status(struct s_tree_ocp_qp_ipm_ws *ws, int *status);
+//
+void s_tree_ocp_qp_ipm_get_iter(struct s_tree_ocp_qp_ipm_ws *ws, int *iter);
+//
+void s_tree_ocp_qp_ipm_get_max_res_stat(struct s_tree_ocp_qp_ipm_ws *ws, float *res_stat);
+//
+void s_tree_ocp_qp_ipm_get_max_res_eq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_eq);
+//
+void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_ineq);
+//
+void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp);
+//
+void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat);
+//
+void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m);
+//
+void s_tree_ocp_qp_init_var(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_ipm_abs_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_ipm_delta_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_ipm_solve(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
new file mode 100644
index 00000000000000..bcf7354783d2c3
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
@@ -0,0 +1,54 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void s_tree_ocp_qp_fact_solve_kkt_unconstr(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_fact_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_fact_lq_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
new file mode 100644
index 00000000000000..5c6797204f847a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
@@ -0,0 +1,107 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_RES_H_
+#define HPIPM_S_TREE_OCP_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_tree_ocp_qp_dim.h>
+#include <hpipm_s_tree_ocp_qp.h>
+#include <hpipm_s_tree_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qp_res
+	{
+	struct s_tree_ocp_qp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_tree_ocp_qp_res_ws
+	{
+	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_res_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
+//
+void s_tree_ocp_qp_res_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res *res, void *mem);
+//
+hpipm_size_t s_tree_ocp_qp_res_ws_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
+//
+void s_tree_ocp_qp_res_ws_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res_ws *ws, void *mem);
+//
+void s_tree_ocp_qp_res_get_all(struct s_tree_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
+//
+void s_tree_ocp_qp_res_compute(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
+//
+void s_tree_ocp_qp_res_compute_lin(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_sol *qp_step, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
+//
+void s_tree_ocp_qp_res_compute_inf_norm(struct s_tree_ocp_qp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_TREE_OCP_QP_RES_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
new file mode 100644
index 00000000000000..71e887675bc3d0
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
@@ -0,0 +1,98 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_SOL_H_
+#define HPIPM_S_TREE_OCP_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_tree_ocp_qp_sol
+	{
+	struct s_tree_ocp_qp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_sol_memsize(struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_sol_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_sol *qp_sol, void *memory);
+//
+void s_tree_ocp_qp_sol_get_all(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
+//
+void s_tree_ocp_qp_sol_get_u(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_x(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_sl(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_su(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_pi(int edge, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_lam_lb(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_lam_ub(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_lam_lg(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_lam_ug(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
new file mode 100644
index 00000000000000..ec1747568f08a8
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_UTILS_H_
+#define HPIPM_S_TREE_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qp_dim.h"
+#include "hpipm_s_tree_ocp_qp.h"
+#include "hpipm_s_tree_ocp_qp_sol.h"
+#include "hpipm_s_tree_ocp_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_tree_ocp_qp_dim_print(struct s_tree_ocp_qp_dim *qp_dim);
+//
+//void s_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim);
+//
+void s_tree_ocp_qp_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_sol_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_sol *ocp_qp_sol);
+//
+void s_tree_ocp_qp_ipm_arg_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+//void s_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_res_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_res *ocp_qp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
new file mode 100644
index 00000000000000..a3c77a670a1d02
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
@@ -0,0 +1,70 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_SCENARIO_TREE_H_
+#define HPIPM_SCENARIO_TREE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct sctree
+	{
+	struct node *root; // pointer to root
+	int *kids; // pointer to array of kids
+	int Nn; // numer of nodes
+	int md; // number of realizations
+	int Nr; // robust horizion
+	int Nh; // control horizion
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t sctree_memsize(int md, int Nr, int Nh);
+//
+void sctree_create(int md, int Nr, int Nh, struct sctree *st, void *memory);
+//
+void sctree_cast_to_tree(struct sctree *st, struct tree *tt);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_SCENARIO_TREE_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_timing.h b/third_party/acados/include/hpipm/include/hpipm_timing.h
new file mode 100644
index 00000000000000..bd0f2dbcb34c5f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_timing.h
@@ -0,0 +1,67 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_TIMING_H_
+#define HPIPM_TIMING_H_
+
+
+
+#include <blasfeo_timing.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+typedef blasfeo_timer hpipm_timer;
+
+
+
+//
+void hpipm_tic(hpipm_timer *t);
+//
+double hpipm_toc(hpipm_timer *t);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_TIMING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_tree.h b/third_party/acados/include/hpipm/include/hpipm_tree.h
new file mode 100644
index 00000000000000..f9d69ecdddda74
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_tree.h
@@ -0,0 +1,76 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+#ifndef HPIPM_TREE_H_
+#define HPIPM_TREE_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct node
+	{
+	int *kids;  // 64 bits
+	int idx;    // 32 bits
+	int dad;    // 32 bits
+	int nkids;  // 32 bits
+	int stage;  // 32 bits
+	int real;   // 32 bits
+	int idxkid; // 32 bits // XXX needed ???
+	// total     256 bits
+	};
+
+
+
+struct tree
+	{
+	struct node *root; // pointer to root
+	int *kids; // pointer to array of kids
+	int Nn; // numer of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_TREE_H_
diff --git a/third_party/acados/include/qpOASES_e/Bounds.h b/third_party/acados/include/qpOASES_e/Bounds.h
new file mode 100644
index 00000000000000..4e41c1d163b63d
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Bounds.h
@@ -0,0 +1,543 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Bounds.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Bounds class designed to manage working sets of
+ *	bounds within a QProblem.
+ */
+
+
+#ifndef QPOASES_BOUNDS_H
+#define QPOASES_BOUNDS_H
+
+
+#include <qpOASES_e/Indexlist.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Manages working sets of bounds (= box constraints).
+ *
+ *	This class manages working sets of bounds (= box constraints)
+ *	by storing index sets and other status information.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	Indexlist *freee;					/**< Index list of free variables. */
+	Indexlist *fixed;					/**< Index list of fixed variables. */
+
+	Indexlist *shiftedFreee;			/**< Memory for shifting free variables. */
+	Indexlist *shiftedFixed;			/**< Memory for shifting fixed variables. */
+
+	Indexlist *rotatedFreee;			/**< Memory for rotating free variables. */
+	Indexlist *rotatedFixed;			/**< Memory for rotating fixed variables. */
+
+	SubjectToType   *type; 				/**< Type of bounds. */
+	SubjectToStatus *status;			/**< Status of bounds. */
+
+	SubjectToType   *typeTmp;			/**< Temp memory for type of bounds. */
+	SubjectToStatus *statusTmp;			/**< Temp memory for status of bounds. */
+
+	BooleanType noLower;	 			/**< This flag indicates if there is no lower bound on any variable. */
+	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
+
+	int n;								/**< Total number of bounds. */
+} Bounds;
+
+int Bounds_calculateMemorySize( int n);
+
+char *Bounds_assignMemory(int n, Bounds **mem, void *raw_memory);
+
+Bounds *Bounds_createMemory( int n );
+
+/** Constructor which takes the number of bounds. */
+void BoundsCON(	Bounds* _THIS,
+				int _n									/**< Number of bounds. */
+				);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void BoundsCPY(	Bounds* FROM,
+				Bounds* TO
+				);
+
+
+/** Initialises object with given number of bounds.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Bounds_init(	Bounds* _THIS,
+							int _n					/**< Number of bounds. */
+							);
+
+
+/** Initially adds number of a new (i.e. not yet in the list) bound to
+ *  given index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS \n
+			RET_INVALID_ARGUMENTS */
+returnValue Bounds_setupBound(	Bounds* _THIS,
+								int number,				/**< Number of new bound. */
+								SubjectToStatus _status	/**< Status of new bound. */
+								);
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set of free bounds; the order depends on the SujectToType
+ *  of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED */
+returnValue Bounds_setupAllFree(	Bounds* _THIS
+									);
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set of fixed bounds (on their lower bounds);
+ *  the order depends on the SujectToType of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED */
+returnValue Bounds_setupAllLower(	Bounds* _THIS
+									);
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set of fixed bounds (on their upper bounds);
+ *  the order depends on the SujectToType of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED */
+returnValue Bounds_setupAllUpper(	Bounds* _THIS
+									);
+
+
+/** Moves index of a bound from index list of fixed to that of free bounds.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_BOUND_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS */
+returnValue Bounds_moveFixedToFree(	Bounds* _THIS,
+									int number				/**< Number of bound to be freed. */
+									);
+
+/** Moves index of a bound from index list of free to that of fixed bounds.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_BOUND_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS */
+returnValue Bounds_moveFreeToFixed(	Bounds* _THIS,
+									int number,				/**< Number of bound to be fixed. */
+									SubjectToStatus _status	/**< Status of bound to be fixed. */
+									);
+
+/** Flip fixed bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_BOUND_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS */
+returnValue Bounds_flipFixed(	Bounds* _THIS,
+								int number
+								);
+
+/** Swaps the indices of two free bounds within the index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SWAPINDEX_FAILED */
+returnValue Bounds_swapFree(	Bounds* _THIS,
+								int number1,					/**< Number of first bound. */
+								int number2						/**< Number of second bound. */
+								);
+
+
+/** Returns number of variables.
+ *	\return Number of variables. */
+static inline int Bounds_getNV(	Bounds* _THIS
+							);
+
+/** Returns number of implicitly fixed variables.
+ *	\return Number of implicitly fixed variables. */
+static inline int Bounds_getNFV(	Bounds* _THIS
+									);
+
+/** Returns number of bounded (but possibly free) variables.
+ *	\return Number of bounded (but possibly free) variables. */
+static inline int Bounds_getNBV(	Bounds* _THIS
+									);
+
+/** Returns number of unbounded variables.
+ *	\return Number of unbounded variables. */
+static inline int Bounds_getNUV(	Bounds* _THIS
+									);
+
+/** Returns number of free variables.
+ *	\return Number of free variables. */
+static inline int Bounds_getNFR(	Bounds* _THIS
+									);
+
+/** Returns number of fixed variables.
+ *	\return Number of fixed variables. */
+static inline int Bounds_getNFX(	Bounds* _THIS
+									);
+
+
+/** Returns a pointer to free variables index list.
+ *	\return Pointer to free variables index list. */
+static inline Indexlist* Bounds_getFree(	Bounds* _THIS
+											);
+
+/** Returns a pointer to fixed variables index list.
+ *	\return Pointer to fixed variables index list. */
+static inline Indexlist* Bounds_getFixed(	Bounds* _THIS
+											);
+
+
+/** Returns number of bounds with given SubjectTo type.
+ *	\return Number of bounds with given type. */
+static inline int Bounds_getNumberOfType(	Bounds* _THIS,
+											SubjectToType _type	/**< Type of bound. */
+											);
+
+
+/** Returns type of bound.
+ *	\return Type of bound \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline SubjectToType Bounds_getType(	Bounds* _THIS,
+											int i			/**< Number of bound. */
+											);
+
+/** Returns status of bound.
+ *	\return Status of bound \n
+ 			ST_UNDEFINED */
+static inline SubjectToStatus Bounds_getStatus(	Bounds* _THIS,
+												int i		/**< Number of bound. */
+												);
+
+
+/** Sets type of bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue Bounds_setType(	Bounds* _THIS,
+											int i,				/**< Number of bound. */
+											SubjectToType value	/**< Type of bound. */
+											);
+
+/** Sets status of bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue Bounds_setStatus(	Bounds* _THIS,
+											int i,					/**< Number of bound. */
+											SubjectToStatus value	/**< Status of bound. */
+											);
+
+
+/** Sets status of lower bounds. */
+static inline void Bounds_setNoLower(	Bounds* _THIS,
+										BooleanType _status		/**< Status of lower bounds. */
+										);
+
+/** Sets status of upper bounds. */
+static inline void Bounds_setNoUpper(	Bounds* _THIS,
+										BooleanType _status		/**< Status of upper bounds. */
+										);
+
+
+/** Returns status of lower bounds.
+ *	\return BT_TRUE if there is no lower bound on any variable. */
+static inline BooleanType Bounds_hasNoLower(	Bounds* _THIS
+												);
+
+/** Returns status of upper bounds.
+ *	\return BT_TRUE if there is no upper bound on any variable. */
+static inline BooleanType Bounds_hasNoUpper(	Bounds* _THIS
+												);
+
+
+/** Shifts forward type and status of all bounds by a given
+ *  offset. This offset has to lie within the range [0,n/2] and has to
+ *  be an integer divisor of the total number of bounds n.
+ *  Type and status of the first \<offset\> bounds is thrown away,
+ *  type and status of the last \<offset\> bounds is doubled,
+ *  e.g. for offset = 2: \n
+ *  shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6}
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS \n
+ 			RET_INVALID_ARGUMENTS \n
+ 			RET_SHIFTING_FAILED */
+returnValue Bounds_shift(	Bounds* _THIS,
+							int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
+							);
+
+/** Rotates forward type and status of all bounds by a given
+ *  offset. This offset has to lie within the range [0,n].
+ *  Example for offset = 2: \n
+ *  rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2}
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS \n
+ 			RET_ROTATING_FAILED */
+returnValue Bounds_rotate(	Bounds* _THIS,
+							int offset		/**< Rotation offset within the range [0,n]. */
+							);
+
+
+/** Prints information on bounds object
+ *  (in particular, lists of free and fixed bounds.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INDEXLIST_CORRUPTED */
+returnValue Bounds_print(	Bounds* _THIS
+							);
+
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set corresponding to the desired status;
+ *  the order depends on the SujectToType of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED */
+returnValue Bounds_setupAll(	Bounds* _THIS,
+								SubjectToStatus _status	/**< Desired initial status for all bounds. */
+								);
+
+
+/** Adds the index of a new bound to index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Bounds_addIndex(	Bounds* _THIS,
+								Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
+								int newnumber,				/**< Number of new bound. */
+								SubjectToStatus newstatus	/**< Status of new bound. */
+								);
+
+/** Removes the index of a bound from index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_REMOVEINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Bounds_removeIndex(	Bounds* _THIS,
+								Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
+								int removenumber			/**< Number of bound to be removed. */
+								);
+
+/** Swaps the indices of two constraints or bounds within the index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SWAPINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Bounds_swapIndex(	Bounds* _THIS,
+								Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
+								int number1,				/**< Number of first bound. */
+								int number2					/**< Number of second bound. */
+								);
+
+
+
+/*
+ *	g e t N u m b e r O f T y p e
+ */
+static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type )
+{
+	int i;
+	int numberOfType = 0;
+
+	if ( _THIS->type != 0 )
+	{
+		for( i=0; i<_THIS->n; ++i )
+			if ( _THIS->type[i] == _type )
+				++numberOfType;
+	}
+
+	return numberOfType;
+}
+
+
+/*
+ *	g e t T y p e
+ */
+static inline SubjectToType Bounds_getType( Bounds* _THIS, int i )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+		return _THIS->type[i];
+
+	return ST_UNKNOWN;
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+		return _THIS->status[i];
+
+	return ST_UNDEFINED;
+}
+
+
+/*
+ *	s e t T y p e
+ */
+static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+	{
+		_THIS->type[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t S t a t u s
+ */
+static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+	{
+		_THIS->status[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t N o L o w e r
+ */
+static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status )
+{
+	_THIS->noLower = _status;
+}
+
+
+/*
+ *	s e t N o U p p e r
+ */
+static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status )
+{
+	_THIS->noUpper = _status;
+}
+
+
+/*
+ *	h a s N o L o w e r
+ */
+static inline BooleanType Bounds_hasNoLower( Bounds* _THIS )
+{
+	return _THIS->noLower;
+}
+
+
+/*
+ *	h a s N o U p p p e r
+ */
+static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS )
+{
+	return _THIS->noUpper;
+}
+
+
+
+/*
+ *	g e t N V
+ */
+static inline int Bounds_getNV( Bounds* _THIS )
+{
+ 	return _THIS->n;
+}
+
+
+/*
+ *	g e t N F V
+ */
+static inline int Bounds_getNFV( Bounds* _THIS )
+{
+ 	return Bounds_getNumberOfType( _THIS,ST_EQUALITY );
+}
+
+
+/*
+ *	g e t N B V
+ */
+static inline int Bounds_getNBV( Bounds* _THIS )
+{
+ 	return Bounds_getNumberOfType( _THIS,ST_BOUNDED );
+}
+
+
+/*
+ *	g e t N U V
+ */
+static inline int Bounds_getNUV( Bounds* _THIS )
+{
+	return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED );
+}
+
+
+/*
+ *	g e t N F R
+ */
+static inline int Bounds_getNFR( Bounds* _THIS )
+{
+ 	return Indexlist_getLength( _THIS->freee );
+}
+
+
+/*
+ *	g e t N F X
+ */
+static inline int Bounds_getNFX( Bounds* _THIS )
+{
+	return Indexlist_getLength( _THIS->fixed );
+}
+
+
+/*
+ *	g e t F r e e
+ */
+static inline Indexlist* Bounds_getFree( Bounds* _THIS )
+{
+	return _THIS->freee;
+}
+
+
+/*
+ *	g e t F i x e d
+ */
+static inline Indexlist* Bounds_getFixed( Bounds* _THIS )
+{
+	return _THIS->fixed;
+}
+
+
+END_NAMESPACE_QPOASES
+
+#endif	/* QPOASES_BOUNDS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h
new file mode 100644
index 00000000000000..0e3dcd19f4452f
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Constants.h
@@ -0,0 +1,134 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Constants.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Definition of all global constants.
+ */
+
+
+#ifndef QPOASES_CONSTANTS_H
+#define QPOASES_CONSTANTS_H
+
+
+#include <qpOASES_e/Types.h>
+
+#ifdef __CODE_GENERATION__
+
+  #define CONVERTTOSTRINGAUX(x) #x
+  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
+
+  #ifndef QPOASES_CUSTOM_INTERFACE
+  #include "acado_qpoases3_interface.h"
+  #else
+  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
+  #endif
+
+#endif
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+#ifndef __EXTERNAL_DIMENSIONS__
+
+  /*#define QPOASES_NVMAX  50
+  #define QPOASES_NCMAX  100*/
+  #define QPOASES_NVMAX  287
+  #define QPOASES_NCMAX  709
+
+#endif /* __EXTERNAL_DIMENSIONS__ */
+
+
+/** Maximum number of variables within a QP formulation.
+ *	Note: this value has to be positive! */
+#define NVMAX  QPOASES_NVMAX
+
+/** Maximum number of constraints within a QP formulation.
+ *	Note: this value has to be positive! */
+#define NCMAX  QPOASES_NCMAX
+
+#if ( QPOASES_NVMAX > QPOASES_NCMAX )
+#define NVCMAX QPOASES_NVMAX
+#else
+#define NVCMAX QPOASES_NCMAX
+#endif
+
+#if ( QPOASES_NVMAX > QPOASES_NCMAX )
+#define NVCMIN QPOASES_NCMAX
+#else
+#define NVCMIN QPOASES_NVMAX
+#endif
+
+
+/** Maximum number of QPs in a sequence solved by means of the OQP interface.
+ *	Note: this value has to be positive! */
+#define NQPMAX 1000
+
+
+/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
+ *	Note: this value has to be positive! */
+#ifndef __CODE_GENERATION__
+
+  #ifdef __USE_SINGLE_PRECISION__
+  static const real_t QPOASES_EPS = 1.193e-07;
+  #else
+  static const real_t QPOASES_EPS = 2.221e-16;
+  #endif /* __USE_SINGLE_PRECISION__ */
+
+#endif /* __CODE_GENERATION__ */
+
+
+/** Numerical value of zero (for situations in which it would be
+ *	unreasonable to compare with 0.0).
+ *  Note: this value has to be positive! */
+static const real_t QPOASES_ZERO = 1.0e-25;
+
+/** Numerical value of infinity (e.g. for non-existing bounds).
+ *	Note: this value has to be positive! */
+static const real_t QPOASES_INFTY = 1.0e20;
+
+/** Tolerance to used for isEqual, isZero etc.
+ *	Note: this value has to be positive! */
+static const real_t QPOASES_TOL = 1.0e-25;
+
+
+/** Maximum number of characters within a string.
+ *	Note: this value should be at least 41! */
+#define QPOASES_MAX_STRING_LENGTH 160
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_CONSTANTS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
new file mode 100644
index 00000000000000..ddfcfbe5dcd96a
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
@@ -0,0 +1,62 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/ConstraintProduct.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ *
+ *	Declaration of the ConstraintProduct interface which allows to specify a
+ *	user-defined function for evaluating the constraint product at the 
+ *	current iterate to speed-up QP solution in case of a specially structured
+ *	constraint matrix.
+ */
+
+
+
+#ifndef QPOASES_CONSTRAINT_PRODUCT_H
+#define QPOASES_CONSTRAINT_PRODUCT_H
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** 
+ *	\brief Interface for specifying user-defined evaluations of constraint products.
+ *
+ *	An interface which allows to specify a user-defined function for evaluating the 
+ *	constraint product at the current iterate to speed-up QP solution in case 
+ *	of a specially structured constraint matrix.
+ *
+ *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ */
+typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
+
+
+END_NAMESPACE_QPOASES
+
+#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
diff --git a/third_party/acados/include/qpOASES_e/Constraints.h b/third_party/acados/include/qpOASES_e/Constraints.h
new file mode 100644
index 00000000000000..8aca10d5d979a8
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Constraints.h
@@ -0,0 +1,535 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Constraints.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Constraints class designed to manage working sets of
+ *	constraints within a QProblem.
+ */
+
+
+#ifndef QPOASES_CONSTRAINTS_H
+#define QPOASES_CONSTRAINTS_H
+
+
+#include <qpOASES_e/Indexlist.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Manages working sets of constraints.
+ *
+ *	This class manages working sets of constraints by storing
+ *	index sets and other status information.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	Indexlist *active;					/**< Index list of active constraints. */
+	Indexlist *inactive;				/**< Index list of inactive constraints. */
+
+	Indexlist *shiftedActive;			/**< Memory for shifting active constraints. */
+	Indexlist *shiftedInactive;			/**< Memory for shifting inactive constraints. */
+
+	Indexlist *rotatedActive;			/**< Memory for rotating active constraints. */
+	Indexlist *rotatedInactive;			/**< Memory for rotating inactive constraints. */
+
+	SubjectToType   *type; 				/**< Type of constraints. */
+	SubjectToStatus *status;			/**< Status of constraints. */
+
+	SubjectToType   *typeTmp;			/**< Temp memory for type of constraints. */
+	SubjectToStatus *statusTmp;			/**< Temp memory for status of constraints. */
+
+	BooleanType noLower;			 	/**< This flag indicates if there is no lower bound on any variable. */
+	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
+
+	int n;								/**< Total number of constraints. */
+} Constraints;
+
+int Constraints_calculateMemorySize( int n);
+
+char *Constraints_assignMemory(int n, Constraints **mem, void *raw_memory);
+
+Constraints *Constraints_createMemory( int n );
+
+/** Constructor which takes the number of constraints. */
+void ConstraintsCON(	Constraints* _THIS,
+						int _n							/**< Number of constraints. */
+						);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void ConstraintsCPY(	Constraints* FROM,
+						Constraints* TO
+						);
+
+
+/** Initialises object with given number of constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Constraints_init(	Constraints* _THIS,
+								int _n					/**< Number of constraints. */
+								);
+
+
+/** Initially adds number of a new (i.e. not yet in the list) constraint to
+ *  a given index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS \n
+			RET_INVALID_ARGUMENTS */
+returnValue Constraints_setupConstraint(	Constraints* _THIS,
+											int number,				/**< Number of new constraint. */
+											SubjectToStatus _status	/**< Status of new constraint. */
+											);
+
+/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
+ *  to the index set of inactive constraints; the order depends on the SujectToType
+ *  of each index. Only disabled constraints are added to index set of disabled constraints!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED */
+returnValue Constraints_setupAllInactive(	Constraints* _THIS
+											);
+
+/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
+ *  to the index set of active constraints (on their lower bounds); the order depends on the SujectToType
+ *  of each index. Only disabled constraints are added to index set of disabled constraints!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED */
+returnValue Constraints_setupAllLower(	Constraints* _THIS
+										);
+
+/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
+ *  to the index set of active constraints (on their upper bounds); the order depends on the SujectToType
+ *  of each index. Only disabled constraints are added to index set of disabled constraints!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED */
+returnValue Constraints_setupAllUpper(	Constraints* _THIS
+										);
+
+
+/** Moves index of a constraint from index list of active to that of inactive constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_CONSTRAINT_FAILED */
+returnValue Constraints_moveActiveToInactive(	Constraints* _THIS,
+												int number				/**< Number of constraint to become inactive. */
+												);
+
+/** Moves index of a constraint from index list of inactive to that of active constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_CONSTRAINT_FAILED */
+returnValue Constraints_moveInactiveToActive(	Constraints* _THIS,
+												int number,				/**< Number of constraint to become active. */
+												SubjectToStatus _status	/**< Status of constraint to become active. */
+												);
+
+/** Flip fixed constraint.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_CONSTRAINT_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS */
+returnValue Constraints_flipFixed(	Constraints* _THIS,
+									int number
+									);
+
+
+/** Returns the number of constraints.
+ *	\return Number of constraints. */
+static inline int Constraints_getNC(	Constraints* _THIS
+										);
+
+/** Returns the number of implicit equality constraints.
+ *	\return Number of implicit equality constraints. */
+static inline int Constraints_getNEC(	Constraints* _THIS
+										);
+
+/** Returns the number of "real" inequality constraints.
+ *	\return Number of "real" inequality constraints. */
+static inline int Constraints_getNIC(	Constraints* _THIS
+										);
+
+/** Returns the number of unbounded constraints (i.e. without any bounds).
+ *	\return Number of unbounded constraints (i.e. without any bounds). */
+static inline int Constraints_getNUC(	Constraints* _THIS
+										);
+
+/** Returns the number of active constraints.
+ *	\return Number of active constraints. */
+static inline int Constraints_getNAC(	Constraints* _THIS
+										);
+
+/** Returns the number of inactive constraints.
+ *	\return Number of inactive constraints. */
+static inline int Constraints_getNIAC(	Constraints* _THIS
+										);
+
+
+/** Returns a pointer to active constraints index list.
+ *	\return Pointer to active constraints index list. */
+static inline Indexlist* Constraints_getActive(	Constraints* _THIS
+												);
+
+/** Returns a pointer to inactive constraints index list.
+ *	\return Pointer to inactive constraints index list. */
+static inline Indexlist* Constraints_getInactive(	Constraints* _THIS
+													);
+
+
+/** Returns number of constraints with given SubjectTo type.
+ *	\return Number of constraints with given type. */
+static inline int Constraints_getNumberOfType(	Constraints* _THIS,
+												SubjectToType _type	/**< Type of constraints' bound. */
+												);
+
+
+/** Returns type of constraints' bound.
+ *	\return Type of constraints' bound \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline SubjectToType Constraints_getType(	Constraints* _THIS,
+													int i			/**< Number of constraints' bound. */
+													);
+
+/** Returns status of constraints' bound.
+ *	\return Status of constraints' bound \n
+ 			ST_UNDEFINED */
+static inline SubjectToStatus Constraints_getStatus(	Constraints* _THIS,
+														int i		/**< Number of constraints' bound. */
+														);
+
+
+/** Sets type of constraints' bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue Constraints_setType(	Constraints* _THIS,
+												int i,				/**< Number of constraints' bound. */
+												SubjectToType value	/**< Type of constraints' bound. */
+												);
+
+/** Sets status of constraints' bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue Constraints_setStatus(	Constraints* _THIS,
+													int i,					/**< Number of constraints' bound. */
+													SubjectToStatus value	/**< Status of constraints' bound. */
+													);
+
+
+/** Sets status of lower constraints' bounds. */
+static inline void Constraints_setNoLower(	Constraints* _THIS,
+											BooleanType _status		/**< Status of lower constraints' bounds. */
+											);
+
+/** Sets status of upper constraints' bounds. */
+static inline void Constraints_setNoUpper(	Constraints* _THIS,
+											BooleanType _status		/**< Status of upper constraints' bounds. */
+											);
+
+
+/** Returns status of lower constraints' bounds.
+ *	\return BT_TRUE if there is no lower constraints' bound on any variable. */
+static inline BooleanType Constraints_hasNoLower(	Constraints* _THIS
+													);
+
+/** Returns status of upper bounds.
+ *	\return BT_TRUE if there is no upper constraints' bound on any variable. */
+static inline BooleanType Constraints_hasNoUpper(	Constraints* _THIS
+													);
+
+
+/** Shifts forward type and status of all constraints by a given
+ *  offset. This offset has to lie within the range [0,n/2] and has to
+ *  be an integer divisor of the total number of constraints n.
+ *  Type and status of the first \<offset\> constraints  is thrown away,
+ *  type and status of the last \<offset\> constraints is doubled,
+ *  e.g. for offset = 2: \n
+ *  shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS \n
+ 			RET_INVALID_ARGUMENTS \n
+ 			RET_SHIFTING_FAILED */
+returnValue Constraints_shift(	Constraints* _THIS,
+								int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
+								);
+
+/** Rotates forward type and status of all constraints by a given
+ *  offset. This offset has to lie within the range [0,n].
+ *  Example for offset = 2: \n
+ *  rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS \n
+ 			RET_ROTATING_FAILED */
+returnValue Constraints_rotate(	Constraints* _THIS,
+								int offset		/**< Rotation offset within the range [0,n]. */
+								);
+
+
+/** Prints information on constraints object
+ *  (in particular, lists of inactive and active constraints.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INDEXLIST_CORRUPTED */
+returnValue Constraints_print(	Constraints* _THIS
+								);
+
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set corresponding to the desired status;
+ *  the order depends on the SujectToType of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED */
+returnValue Constraints_setupAll(	Constraints* _THIS,
+									SubjectToStatus _status	/**< Desired initial status for all bounds. */
+									);
+
+
+/** Adds the index of a new constraint to index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Constraints_addIndex(	Constraints* _THIS,
+									Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
+									int newnumber,				/**< Number of new constraint. */
+									SubjectToStatus newstatus	/**< Status of new constraint. */
+									);
+
+/** Removes the index of a constraint from index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_REMOVEINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Constraints_removeIndex(	Constraints* _THIS,
+										Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
+										int removenumber			/**< Number of constraint to be removed. */
+										);
+
+/** Swaps the indices of two constraints or bounds within the index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SWAPINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Constraints_swapIndex(	Constraints* _THIS,
+									Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
+									int number1,				/**< Number of first constraint. */
+									int number2					/**< Number of second constraint. */
+									);
+
+
+
+/*
+ *	g e t N u m b e r O f T y p e
+ */
+static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type )
+{
+	int i;
+	int numberOfType = 0;
+
+	if ( _THIS->type != 0 )
+	{
+		for( i=0; i<_THIS->n; ++i )
+			if ( _THIS->type[i] == _type )
+				++numberOfType;
+	}
+
+	return numberOfType;
+}
+
+
+/*
+ *	g e t T y p e
+ */
+static inline SubjectToType Constraints_getType( Constraints* _THIS, int i )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+		return _THIS->type[i];
+
+	return ST_UNKNOWN;
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+		return _THIS->status[i];
+
+	return ST_UNDEFINED;
+}
+
+
+/*
+ *	s e t T y p e
+ */
+static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+	{
+		_THIS->type[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t S t a t u s
+ */
+static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+	{
+		_THIS->status[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t N o L o w e r
+ */
+static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status )
+{
+	_THIS->noLower = _status;
+}
+
+
+/*
+ *	s e t N o U p p e r
+ */
+static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status )
+{
+	_THIS->noUpper = _status;
+}
+
+
+/*
+ *	h a s N o L o w e r
+ */
+static inline BooleanType Constraints_hasNoLower( Constraints* _THIS )
+{
+	return _THIS->noLower;
+}
+
+
+/*
+ *	h a s N o U p p p e r
+ */
+static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS )
+{
+	return _THIS->noUpper;
+}
+
+
+
+/*
+ *	g e t N C
+ */
+static inline int Constraints_getNC( Constraints* _THIS )
+{
+ 	return _THIS->n;
+}
+
+
+/*
+ *	g e t N E C
+ */
+static inline int Constraints_getNEC( Constraints* _THIS )
+{
+	return Constraints_getNumberOfType( _THIS,ST_EQUALITY );
+}
+
+
+/*
+ *	g e t N I C
+ */
+static inline int Constraints_getNIC( Constraints* _THIS )
+{
+ 	return Constraints_getNumberOfType( _THIS,ST_BOUNDED );
+}
+
+
+/*
+ *	g e t N U C
+ */
+static inline int Constraints_getNUC( Constraints* _THIS )
+{
+ 	return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED );
+}
+
+
+/*
+ *	g e t N A C
+ */
+static inline int Constraints_getNAC( Constraints* _THIS )
+{
+ 	return Indexlist_getLength( _THIS->active );
+}
+
+
+/*
+ *	g e t N I A C
+ */
+static inline int Constraints_getNIAC( Constraints* _THIS )
+{
+	return Indexlist_getLength( _THIS->inactive );
+}
+
+
+
+/*
+ *	g e t A c t i v e
+ */
+static inline Indexlist* Constraints_getActive( Constraints* _THIS )
+{
+	return _THIS->active;
+}
+
+
+/*
+ *	g e t I n a c t i v e
+ */
+static inline Indexlist* Constraints_getInactive( Constraints* _THIS )
+{
+	return _THIS->inactive;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_CONSTRAINTS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Flipper.h b/third_party/acados/include/qpOASES_e/Flipper.h
new file mode 100644
index 00000000000000..63526a30f368e4
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Flipper.h
@@ -0,0 +1,129 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Flipper.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Options class designed to manage user-specified
+ *	options for solving a QProblem.
+ */
+
+
+#ifndef QPOASES_FLIPPER_H
+#define QPOASES_FLIPPER_H
+
+
+#include <qpOASES_e/Bounds.h>
+#include <qpOASES_e/Constraints.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Auxiliary class for storing a copy of the current matrix factorisations.
+ *
+ *	This auxiliary class stores a copy of the current matrix factorisations. It
+ *	is used by the classe QProblemB and QProblem in case flipping bounds are enabled.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	Bounds      *bounds;			/**< Data structure for problem's bounds. */
+	Constraints *constraints;		/**< Data structure for problem's constraints. */
+
+	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
+	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
+	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
+
+	unsigned int nV;				/**< Number of variables. */
+	unsigned int nC;				/**< Number of constraints. */
+} Flipper;
+
+int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory );
+
+Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC );
+
+/** Constructor which takes the number of bounds and constraints. */
+void FlipperCON(	Flipper* _THIS,
+					unsigned int _nV,		/**< Number of bounds. */
+					unsigned int _nC		/**< Number of constraints. */
+					);
+
+/** Copy constructor (deep copy). */
+void FlipperCPY(	Flipper* FROM,
+					Flipper* TO
+					);
+
+/** Initialises object with given number of bounds and constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Flipper_init(	Flipper* _THIS,
+							unsigned int _nV,	/**< Number of bounds. */
+							unsigned int _nC	/**< Number of constraints. */
+							);
+
+
+/** Copies current values to non-null arguments (assumed to be allocated with consistent size).
+ *	\return SUCCESSFUL_RETURN */
+returnValue Flipper_get(	Flipper* _THIS,
+							Bounds* const _bounds,				/**< Pointer to new bounds. */
+							real_t* const R,					/**< New matrix R. */
+							Constraints* const _constraints,	/**< Pointer to new constraints. */
+							real_t* const _Q,					/**< New matrix Q. */
+							real_t* const _T					/**< New matrix T. */
+							);
+
+/** Assigns new values to non-null arguments.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Flipper_set(	Flipper* _THIS,
+							const Bounds* const _bounds,			/**< Pointer to new bounds. */
+							const real_t* const _R,					/**< New matrix R. */
+							const Constraints* const _constraints,	/**< Pointer to new constraints. */
+							const real_t* const _Q,					/**< New matrix Q. */
+							const real_t* const _T					/**< New matrix T. */
+							);
+
+/** Returns dimension of matrix T.
+ *  \return Dimension of matrix T. */
+unsigned int Flipper_getDimT( Flipper* _THIS );
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_FLIPPER_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h
new file mode 100644
index 00000000000000..c3026a7ffc29a3
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Indexlist.h
@@ -0,0 +1,221 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Indexlist.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Indexlist class designed to manage index lists of
+ *	constraints and bounds within a SubjectTo object.
+ */
+
+
+#ifndef QPOASES_INDEXLIST_H
+#define QPOASES_INDEXLIST_H
+
+
+#include <qpOASES_e/Utils.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Stores and manages index lists.
+ *
+ *	This class manages index lists of active/inactive bounds/constraints.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	int *number;		/**< Array to store numbers of constraints or bounds. */
+	int *iSort;			/**< Index list to sort vector \a number */
+
+	int	length;			/**< Length of index list. */
+	int	first;			/**< Physical index of first element. */
+	int	last;			/**< Physical index of last element. */
+	int	lastusedindex;	/**< Physical index of last entry in index list. */
+	int	physicallength;	/**< Physical length of index list. */
+} Indexlist;
+
+int Indexlist_calculateMemorySize( int n);
+
+char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
+
+Indexlist *Indexlist_createMemory( int n );
+
+/** Constructor which takes the desired physical length of the index list. */
+void IndexlistCON(	Indexlist* _THIS,
+					int n	/**< Physical length of index list. */
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void IndexlistCPY(	Indexlist* FROM,
+					Indexlist* TO
+					);
+
+/** Initialises index list of desired physical length.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Indexlist_init(	Indexlist* _THIS,
+							int n		/**< Physical length of index list. */
+							);
+
+/** Creates an array of all numbers within the index set in correct order.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_CORRUPTED */
+returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
+										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
+										);
+
+/** Creates an array of all numbers within the index set in correct order.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INDEXLIST_CORRUPTED */
+returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
+										int** const iSortArray	/**< Output: iSort Array. */
+										);
+
+
+/** Determines the index within the index list at which a given number is stored.
+ *	\return >= 0: Index of given number. \n
+ 			-1: Number not found. */
+int Indexlist_getIndex(	Indexlist* _THIS,
+						int givennumber	/**< Number whose index shall be determined. */
+						);
+
+/** Returns the number stored at a given physical index.
+ *	\return >= 0: Number stored at given physical index. \n
+ 			-RET_INDEXLIST_OUTOFBOUNDS */
+static inline int Indexlist_getNumber(	Indexlist* _THIS,
+										int physicalindex	/**< Physical index of the number to be returned. */
+										);
+
+
+/** Returns the current length of the index list.
+ *	\return Current length of the index list. */
+static inline int Indexlist_getLength(	Indexlist* _THIS
+										);
+
+/** Returns last number within the index list.
+ *	\return Last number within the index list. */
+static inline int Indexlist_getLastNumber(	Indexlist* _THIS
+											);
+
+
+/** Adds number to index list.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_MUST_BE_REORDERD \n
+ 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
+returnValue Indexlist_addNumber(	Indexlist* _THIS,
+									int addnumber			/**< Number to be added. */
+									);
+
+/** Removes number from index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Indexlist_removeNumber(	Indexlist* _THIS,
+									int removenumber	/**< Number to be removed. */
+									);
+
+/** Swaps two numbers within index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
+									int number1,		/**< First number for swapping. */
+									int number2			/**< Second number for swapping. */
+									);
+
+/** Determines if a given number is contained in the index set.
+ *	\return BT_TRUE iff number is contain in the index set */
+static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
+												int _number		/**< Number to be tested for membership. */
+												);
+
+
+/** Find first index j between -1 and length in sorted list of indices
+ *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
+ *  bisection.
+ *  \return j. */
+int Indexlist_findInsert(	Indexlist* _THIS,
+							int i
+							);
+
+
+
+/*
+ *	g e t N u m b e r
+ */
+static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
+{
+	/* consistency check */
+	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
+		return -RET_INDEXLIST_OUTOFBOUNDS;
+
+	return _THIS->number[physicalindex];
+}
+
+
+/*
+ *	g e t L e n g t h
+ */
+static inline int Indexlist_getLength( Indexlist* _THIS )
+{
+	return _THIS->length;
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+static inline int Indexlist_getLastNumber( Indexlist* _THIS )
+{
+	return _THIS->number[_THIS->length-1];
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
+{
+	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_INDEXLIST_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h
new file mode 100644
index 00000000000000..1d6da8c3c17822
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Matrices.h
@@ -0,0 +1,287 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Matrices.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ *
+ *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
+ *  including symmetry exploiting specializations.
+ */
+
+
+
+#ifndef QPOASES_MATRICES_H
+#define QPOASES_MATRICES_H
+
+#ifdef __USE_SINGLE_PRECISION__
+
+	// single precision
+	#define GEMM sgemm_
+	#define GEMV sgemv_
+//	#define SYR ssyr_
+//	#define SYR2 ssyr2_
+	#define POTRF spotrf_
+
+#else
+
+	// double precision
+	#define GEMM dgemm_
+	#define GEMV dgemv_
+//	#define SYR  dsyr_
+//	#define SYR2 dsyr2_
+	#define POTRF dpotrf_
+
+#endif /* __USE_SINGLE_PRECISION__ */
+
+
+#ifdef EXTERNAL_BLAS
+	// double precision
+	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
+	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+	// single precision
+	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
+	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
+	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+#else
+	/** Performs one of the matrix-matrix operation in double precision. */
+	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
+			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
+			const double*, double*, const unsigned long* );
+	/** Performs one of the matrix-matrix operation in single precision. */
+	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
+			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
+			const float*, float*, const unsigned long* );
+
+	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
+	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
+	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
+	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
+
+#endif
+
+	/** Performs a symmetric rank 1 operation in double precision. */
+//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
+//				 const unsigned long *, double *, const unsigned long *);
+	/** Performs a symmetric rank 1 operation in single precision. */
+//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
+//				 const unsigned long *, float *, const unsigned long *);
+
+	/** Performs a symmetric rank 2 operation in double precision. */
+//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
+//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
+	/** Performs a symmetric rank 2 operation in single precision. */
+//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
+//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
+
+
+#include <qpOASES_e/Indexlist.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
+ *
+ *	Dense matrix class (row major format).
+ *
+ *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2011-2015
+ */
+typedef struct
+{
+	real_t *val;				/**< Vector of entries. */
+	int nRows;					/**< Number of rows. */
+	int nCols;					/**< Number of columns. */
+	int leaDim;					/**< Leading dimension. */
+} DenseMatrix;
+
+int DenseMatrix_calculateMemorySize( int m, int n );
+
+char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
+
+DenseMatrix *DenseMatrix_createMemory( int m, int n );
+
+/** Constructor from vector of values.
+ *  Caution: Data pointer must be valid throughout lifetime
+ */
+void DenseMatrixCON(	DenseMatrix* _THIS,
+						int m,			/**< Number of rows. */
+						int n,			/**< Number of columns. */
+						int lD,			/**< Leading dimension. */
+						real_t *v		/**< Values. */
+						);
+
+void DenseMatrixCPY(	DenseMatrix* FROM,
+						DenseMatrix* TO
+						);
+
+
+/** Frees all internal memory. */
+void DenseMatrix_free( DenseMatrix* _THIS );
+
+/** Constructor from vector of values.
+ *  Caution: Data pointer must be valid throughout lifetime
+ */
+returnValue DenseMatrix_init(	DenseMatrix* _THIS,
+								int m,			/**< Number of rows. */
+								int n,			/**< Number of columns. */
+								int lD,			/**< Leading dimension. */
+								real_t *v		/**< Values. */
+								);
+
+
+/** Returns i-th diagonal entry.
+ *	\return i-th diagonal entry */
+real_t DenseMatrix_diag(	DenseMatrix* _THIS,
+							int i			/**< Index. */
+							);
+
+/** Checks whether matrix is square and diagonal.
+ *	\return BT_TRUE  iff matrix is square and diagonal; \n
+ *	        BT_FALSE otherwise. */
+BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
+
+/** Get the N-norm of the matrix
+ *  \return N-norm of the matrix
+ */
+real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
+							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+							);
+
+/** Get the N-norm of a row
+ *  \return N-norm of row \a rNum
+ */
+real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
+								int rNum,			/**< Row number. */
+								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+								);
+
+/** Retrieve indexed entries of matrix row multiplied by alpha.
+ *  \return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
+								int rNum,						/**< Row number. */
+								const Indexlist* const icols,	/**< Index list specifying columns. */
+								real_t alpha,					/**< Scalar factor. */
+								real_t *row						/**< Output row vector. */
+								);
+
+/** Retrieve indexed entries of matrix column multiplied by alpha.
+ *  \return SUCCESSFUL_RETURN */
+ returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
+									int cNum,						/**< Column number. */
+									const Indexlist* const irows,	/**< Index list specifying rows. */
+									real_t alpha,					/**< Scalar factor. */
+									real_t *col						/**< Output column vector. */
+									);
+
+/** Evaluate Y=alpha*A*X + beta*Y.
+ *  \return SUCCESSFUL_RETURN. */
+returnValue DenseMatrix_times(	DenseMatrix* _THIS,
+								int xN,					/**< Number of vectors to multiply. */
+								real_t alpha,			/**< Scalar factor for matrix vector product. */
+								const real_t *x,		/**< Input vector to be multiplied. */
+								int xLD,				/**< Leading dimension of input x. */
+								real_t beta,			/**< Scalar factor for y. */
+								real_t *y,				/**< Output vector of results. */
+								int yLD					/**< Leading dimension of output y. */
+								);
+
+/** Evaluate Y=alpha*A'*X + beta*Y.
+ *  \return SUCCESSFUL_RETURN. */
+returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
+									int xN,				/**< Number of vectors to multiply. */
+									real_t alpha,		/**< Scalar factor for matrix vector product. */
+									const real_t *x,	/**< Input vector to be multiplied. */
+									int xLD,			/**< Leading dimension of input x. */
+									real_t beta,		/**< Scalar factor for y. */
+									real_t *y,			/**< Output vector of results. */
+									int yLD				/**< Leading dimension of output y. */
+									);
+
+/** Evaluate matrix vector product with submatrix given by Indexlist.
+ *	\return SUCCESSFUL_RETURN */
+ returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
+									const Indexlist* const irows,	/**< Index list specifying rows. */
+									const Indexlist* const icols,	/**< Index list specifying columns. */
+									int xN,							/**< Number of vectors to multiply. */
+									real_t alpha,					/**< Scalar factor for matrix vector product. */
+									const real_t *x,				/**< Input vector to be multiplied. */
+									int xLD,						/**< Leading dimension of input x. */
+									real_t beta,					/**< Scalar factor for y. */
+									real_t *y,						/**< Output vector of results. */
+									int yLD,						/**< Leading dimension of output y. */
+									BooleanType yCompr 				/**< Compressed storage for y. */
+									);
+
+/** Evaluate matrix transpose vector product.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
+										const Indexlist* const irows,	/**< Index list specifying rows. */
+										const Indexlist* const icols,	/**< Index list specifying columns. */
+										int xN,							/**< Number of vectors to multiply. */
+										real_t alpha,					/**< Scalar factor for matrix vector product. */
+										const real_t *x,				/**< Input vector to be multiplied. */
+										int xLD,						/**< Leading dimension of input x. */
+										real_t beta,					/**< Scalar factor for y. */
+										real_t *y,						/**< Output vector of results. */
+										int yLD							/**< Leading dimension of output y. */
+										);
+
+/** Adds given offset to diagonal of matrix.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_NO_DIAGONAL_AVAILABLE */
+returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
+									real_t alpha		/**< Diagonal offset. */
+									);
+
+/** Prints matrix to screen.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_print(	DenseMatrix* _THIS
+								);
+
+static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
+
+/** Compute bilinear form y = x'*H*x using submatrix given by index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
+									const Indexlist* const icols,	/**< Index list specifying columns of x. */
+									int xN,							/**< Number of vectors to multiply. */
+									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
+									int xLD,						/**< Leading dimension of input x. */
+									real_t *y,						/**< Output vector of results (compressed). */
+									int yLD							/**< Leading dimension of output y. */
+									);
+
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_MATRICES_H */
diff --git a/third_party/acados/include/qpOASES_e/MessageHandling.h b/third_party/acados/include/qpOASES_e/MessageHandling.h
new file mode 100644
index 00000000000000..fe5524948a8b2c
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/MessageHandling.h
@@ -0,0 +1,544 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/MessageHandling.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching)
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the MessageHandling class including global return values.
+ */
+
+
+#ifndef QPOASES_MESSAGEHANDLING_H
+#define QPOASES_MESSAGEHANDLING_H
+
+
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include <assert.h>
+
+#include <qpOASES_e/Constants.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** Default file to display messages. */
+#define stdFile stderr
+
+
+/**
+ *	\brief Defines all symbols for global return values.
+ *	
+ *  The enumeration returnValueType defines all symbols for global return values.
+ *	Important: All return values are assumed to be nonnegative!
+ *
+ *	\author Hans Joachim Ferreau
+ */
+typedef enum 
+{
+TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
+/* miscellaneous */
+SUCCESSFUL_RETURN = 0,							/**< Successful return. */
+RET_DIV_BY_ZERO,		   						/**< Division by zero. */
+RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
+RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
+RET_ERROR_UNDEFINED,							/**< Error number undefined. */
+RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
+RET_INFO_UNDEFINED,								/**< Info number undefined. */
+RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
+RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
+RET_UNKNOWN_BUG,								/**< The error occurred is not yet known. */
+RET_PRINTLEVEL_CHANGED,							/**< Print level changed. (10) */
+RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
+/* Indexlist */
+RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
+RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
+RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
+RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
+RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
+RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
+/* SubjectTo / Bounds / Constraints */
+RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. (18) */
+RET_ADDINDEX_FAILED,							/**< Adding index to index set failed. */
+RET_REMOVEINDEX_FAILED,							/**< Removing index from index set failed. (20) */
+RET_SWAPINDEX_FAILED,							/**< Cannot swap between different indexsets. */
+RET_NOTHING_TO_DO,								/**< Nothing to do. */
+RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
+RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
+RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
+RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
+RET_SHIFTING_FAILED,							/**< Shifting of bounds/constraints failed. */
+RET_ROTATING_FAILED,							/**< Rotating of bounds/constraints failed. */
+/* QProblem */
+RET_QPOBJECT_NOT_SETUP,							/**< The QP object has not been setup correctly, use another constructor. */
+RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. (30) */
+RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
+RET_RESET_FAILED,								/**< Reset failed. */
+RET_INIT_FAILED,								/**< Initialisation failed. */
+RET_INIT_FAILED_TQ,								/**< Initialisation failed due to TQ factorisation. */
+RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
+RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
+RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
+RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
+RET_INIT_FAILED_REGULARISATION,					/**< Initialisation failed as Hessian matrix could not be regularised. */
+RET_INIT_SUCCESSFUL,							/**< Initialisation done. (40) */
+RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
+RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
+RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
+RET_NO_CHOLESKY_WITH_INITIAL_GUESS,				/**< Externally computed Cholesky factor cannot be combined with an initial guess. */
+RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
+RET_QP_UNBOUNDED,								/**< QP is unbounded. */
+RET_QP_INFEASIBLE,								/**< QP is infeasible. */
+RET_QP_NOT_SOLVED,								/**< Problems occurred while solving QP with standard solver. */
+RET_QP_SOLVED,									/**< QP successfully solved. */
+RET_UNABLE_TO_SOLVE_QP,							/**< Problems occurred while solving QP. (50) */
+RET_INITIALISATION_STARTED,						/**< Starting problem initialisation... */
+RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
+RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
+RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
+RET_ITERATION_STARTED,							/**< Iteration... */
+RET_SHIFT_DETERMINATION_FAILED,					/**< Determination of shift of the QP data failed. */
+RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
+RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
+RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
+RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. (60) */
+RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
+RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
+RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
+RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
+RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
+RET_INVALID_FACTORISATION_FLAG,					/**< Invalid factorisation flag. */
+RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
+RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
+RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
+RET_CYCLING_DETECTED,							/**< Cycling detected. (70) */
+RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
+RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
+RET_STEPSIZE,									/**< For displaying performed stepsize. */
+RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
+RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
+RET_ADDCONSTRAINT_FAILED,						/**< Addition of constraint to working set failed. */
+RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
+RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
+RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
+RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. (80) */
+RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
+RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
+RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
+RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
+RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
+RET_CONSTRAINT_ALREADY_ACTIVE,					/**< Constraint is already active. */
+RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
+RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
+RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
+RET_LI_RESOLVED,								/**< Linear independence of active constraint matrix successfully resolved. (90) */
+RET_ENSURELI_FAILED,							/**< Failed to ensure linear independence of active constraint matrix. */
+RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
+RET_ENSURELI_FAILED_NOINDEX,					/**< QP is infeasible. */
+RET_ENSURELI_FAILED_CYCLING,					/**< QP is infeasible. */
+RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
+RET_ALL_BOUNDS_ACTIVE,							/**< All bounds are active, no further bound can be added. */
+RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
+RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
+RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
+RET_HESSIAN_INDEFINITE,							/**< Hessian matrix is indefinite. (100) */
+RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
+RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
+RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
+RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
+RET_DISABLECONSTRAINTS_FAILED,					/**< Unable to disbable constraints. */
+RET_ENABLECONSTRAINTS_FAILED,					/**< Unable to enbable constraints. */
+RET_ALREADY_ENABLED,							/**< Bound or constraint is already enabled. */
+RET_ALREADY_DISABLED,							/**< Bound or constraint is already disabled. */
+RET_NO_HESSIAN_SPECIFIED, 						/**< No Hessian matrix has been specified. */
+RET_USING_REGULARISATION,						/**< Using regularisation as Hessian matrix is not positive definite. (110) */
+RET_EPS_MUST_BE_POSITVE,						/**< Eps for regularisation must be sufficiently positive. */
+RET_REGSTEPS_MUST_BE_POSITVE, 					/**< Maximum number of regularisation steps must be non-negative. */
+RET_HESSIAN_ALREADY_REGULARISED,				/**< Hessian has been already regularised. */
+RET_CANNOT_REGULARISE_IDENTITY,					/**< Identity Hessian matrix cannot be regularised. */
+RET_CANNOT_REGULARISE_SPARSE,					/**< Sparse matrix cannot be regularised as diagonal entry is missing. */
+RET_NO_REGSTEP_NWSR,							/**< No additional regularisation step could be performed due to limits. */
+RET_FEWER_REGSTEPS_NWSR,						/**< Fewer additional regularisation steps have been performed due to limits. */
+RET_CHOLESKY_OF_ZERO_HESSIAN, 					/**< Cholesky decomposition of (unregularised) zero Hessian matrix. */
+RET_ZERO_HESSIAN_ASSUMED,						/**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */
+RET_CONSTRAINTS_ARE_NOT_SCALED, 				/**< (no longer in use) (120) */
+RET_INITIAL_BOUNDS_STATUS_NYI, 					/**< (no longer in use) */
+RET_ERROR_IN_CONSTRAINTPRODUCT,					/**< Error in user-defined constraint product function. */
+RET_FIX_BOUNDS_FOR_LP,							/**< All initial bounds must be fixed when solving an (unregularised) LP. */
+RET_USE_REGULARISATION_FOR_LP,					/**< Set options.enableRegularisation=BT_TRUE for solving LPs. */
+/* SQProblem */
+RET_UPDATEMATRICES_FAILED,						/**< Unable to update QP matrices. */
+RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,		/**< Unable to update matrices as previous QP is not solved. */
+/* Utils */
+RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
+RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
+RET_UNABLE_TO_READ_FILE,						/**< Unable to read from file. */
+RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. (130) */
+/* Options */
+RET_OPTIONS_ADJUSTED,							/**< Options needed to be adjusted for consistency reasons. */
+/* SolutionAnalysis */
+RET_UNABLE_TO_ANALYSE_QPROBLEM, 				/**< Unable to analyse (S)QProblem(B) object. */
+/* Benchmark */
+RET_NWSR_SET_TO_ONE,							/**< Maximum number of working set changes was set to 1. */
+RET_UNABLE_TO_READ_BENCHMARK,					/**< Unable to read benchmark data. */
+RET_BENCHMARK_ABORTED,							/**< Benchmark aborted. */
+RET_INITIAL_QP_SOLVED,							/**< Initial QP solved. */
+RET_QP_SOLUTION_STARTED,						/**< Solving QP... */
+RET_BENCHMARK_SUCCESSFUL,						/**< Benchmark terminated successfully. */
+/* Sparse matrices */
+RET_NO_DIAGONAL_AVAILABLE,						/**< Sparse matrix does not have entries on full diagonal. */
+RET_DIAGONAL_NOT_INITIALISED,					/**< Diagonal data of sparse matrix has not been initialised. (140) */
+/* Dropping of infeasible constraints */
+RET_ENSURELI_DROPPED,							/**< Linear independence resolved by dropping blocking constraint. */
+/* Simple exitflags */
+RET_SIMPLE_STATUS_P1,							/**< QP problem could not be solved within given number of iterations. */
+RET_SIMPLE_STATUS_P0,							/**< QP problem solved. */
+RET_SIMPLE_STATUS_M1,							/**< QP problem could not be solved due to an internal error. */
+RET_SIMPLE_STATUS_M2,							/**< QP problem is infeasible (and thus could not be solved). */
+RET_SIMPLE_STATUS_M3 							/**< QP problem is unbounded (and thus could not be solved). (146) */
+} returnValue;
+
+
+/**
+ *	\brief Data structure for entries in global message list.
+ *	
+ *	Data structure for entries in global message list.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	returnValue key;							/**< Global return value. */
+	const char* data;							/**< Corresponding message. */
+	VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
+												* 	 If this value is set to VS_HIDDEN, no message is printed! */
+} ReturnValueList;
+
+
+
+/** 
+ *	\brief Handles all kind of error messages, warnings and other information.
+ *
+ *	This class handles all kinds of messages (errors, warnings, infos) initiated
+ *  by qpOASES modules and stores the corresponding global preferences.
+ *
+ *	\author Hans Joachim Ferreau (thanks to Leonard Wirsching)
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	VisibilityStatus errorVisibility;		/**< Error messages visible? */
+	VisibilityStatus warningVisibility;		/**< Warning messages visible? */
+	VisibilityStatus infoVisibility;		/**< Info messages visible? */
+
+	FILE* outputFile;						/**< Output file for messages. */
+
+	int errorCount; 						/**< Counts number of errors (for nicer output only). */
+} MessageHandling;
+
+
+
+/** Constructor which takes the desired output file and desired visibility states. */
+void MessageHandlingCON(	MessageHandling* _THIS,
+							FILE* _outputFile,					/**< Output file. */
+							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
+							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
+							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
+							);
+
+void MessageHandlingCPY(	MessageHandling* FROM,
+							MessageHandling* TO
+							);
+
+
+/** Prints an error message(a simplified macro THROWERROR is also provided). \n
+ *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
+ *  Errors of a sub function should be commented by the calling function by means of a warning message
+ *  (if this error does not cause an error of the calling function, either)!
+ *  \return Error number returned by sub function call
+ */
+returnValue MessageHandling_throwError(	MessageHandling* _THIS,
+										returnValue Enumber,					/**< Error number returned by sub function call. */
+										const char* additionaltext,				/**< Additional error text (0, if none). */
+										const char* functionname,				/**< Name of function which caused the error. */
+										const char* filename,					/**< Name of file which caused the error. */
+										const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
+										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to stderr.
+																			*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+																			*   no message is printed, anyway! */
+										);
+
+/** Prints a warning message (a simplified macro THROWWARNING is also provided).
+ *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
+ *  \return Warning number returned by sub function call
+ */
+returnValue MessageHandling_throwWarning(	MessageHandling* _THIS,
+											returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
+											const char* additionaltext,				/**< Additional warning text (0, if none). */
+											const char* functionname,				/**< Name of function which caused the warning. */
+											const char* filename,   				/**< Name of file which caused the warning. */
+											const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
+											VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to stderr.
+																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+																					*   no message is printed, anyway! */
+											);
+
+/** Prints a info message (a simplified macro THROWINFO is also provided).
+ *  \return Info number returned by sub function call
+ */
+returnValue MessageHandling_throwInfo(	MessageHandling* _THIS,
+										returnValue Inumber,	 				/**< Info number returned by sub function call. */
+										const char* additionaltext,	 			/**< Additional warning text (0, if none). */
+										const char* functionname,				/**< Name of function which submitted the info. */
+										const char* filename,   				/**< Name of file which submitted the info. */
+										const unsigned long linenumber,			/**< Number of line which submitted the info. */
+										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to stderr.
+																				*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+																				*   no message is printed, anyway! */
+										);
+
+
+/** Resets all preferences to default values.
+ *	\return SUCCESSFUL_RETURN */
+returnValue MessageHandling_reset( MessageHandling* _THIS );
+
+
+/** Prints a complete list of all messages to output file.
+ *	\return SUCCESSFUL_RETURN */
+returnValue MessageHandling_listAllMessages( MessageHandling* _THIS );
+
+
+/** Returns visibility status for error messages.
+ *	\return Visibility status for error messages. */
+static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS );
+
+/** Returns visibility status for warning messages.
+ *	\return Visibility status for warning messages. */
+static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS );
+
+/** Returns visibility status for info messages.
+ *	\return Visibility status for info messages. */
+static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS );
+
+/** Returns pointer to output file.
+ *	\return Pointer to output file. */
+static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS );
+
+/** Returns error count value.
+ *	\return Error count value. */
+static inline int MessageHandling_getErrorCount( MessageHandling* _THIS );
+
+
+/** Changes visibility status for error messages. */
+static inline void MessageHandling_setErrorVisibilityStatus(	MessageHandling* _THIS,
+														VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
+														);
+
+/** Changes visibility status for warning messages. */
+static inline void MessageHandling_setWarningVisibilityStatus(	MessageHandling* _THIS,
+																VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
+																);
+
+/** Changes visibility status for info messages. */
+static inline void MessageHandling_setInfoVisibilityStatus(	MessageHandling* _THIS,
+															VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
+															);
+
+/** Changes output file for messages. */
+static inline void MessageHandling_setOutputFile(	MessageHandling* _THIS,
+													FILE* _outputFile	/**< New output file for messages. */
+													);
+
+/** Changes error count.
+ * \return SUCCESSFUL_RETURN \n
+ *		   RET_INVALID_ARGUMENT */
+static inline returnValue MessageHandling_setErrorCount(	MessageHandling* _THIS,
+															int _errorCount	/**< New error count value. */
+															);
+
+/** Provides message text corresponding to given \a returnValue.
+ * \return String containing message text. */
+const char* MessageHandling_getErrorCodeMessage(	MessageHandling* _THIS,
+													const returnValue _returnValue
+													);
+
+
+returnValue MessageHandling_throwMessage(	MessageHandling* _THIS,
+											returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
+											const char* additionaltext,				/**< Additional warning text (0, if none). */
+											const char* functionname,				/**< Name of function which caused the error/warning/info. */
+											const char* filename,   				/**< Name of file which caused the error/warning/info. */
+											const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
+											VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to stderr.
+																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+																					*   no message is printed, anyway! */
+											const char* RETstring					/**< Leading string of error/warning/info message. */
+											);
+
+
+#ifndef __FILE__
+  /** Ensures that __FILE__ macro is defined. */
+  #define __FILE__ 0
+#endif
+
+#ifndef __LINE__
+  /** Ensures that __LINE__ macro is defined. */
+  #define __LINE__ 0
+#endif
+
+/** Define __FUNC__ macro providing current function for debugging. */
+/*#define __FUNC__ 0*/
+#define __FUNC__ ("(no function name provided)")
+/*#define __FUNC__ __func__*/
+/*#define __FUNC__ __FUNCTION__*/
+
+
+/** Short version of throwError with default values, only returnValue is needed */
+#define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
+
+/** Short version of throwWarning with default values, only returnValue is needed */
+#define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
+
+/** Short version of throwInfo with default values, only returnValue is needed */
+#define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
+
+
+/** Returns a pointer to global message handler.
+ *  \return Pointer to global message handler.
+ */
+MessageHandling* qpOASES_getGlobalMessageHandler( );
+
+
+/*
+ *	g e t E r r o r V i s i b i l i t y S t a t u s
+ */
+static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS )
+{
+ 	return _THIS->errorVisibility;
+}
+
+
+/*
+ *	g e t W a r n i n g V i s i b i l i t y S t a t u s
+ */
+static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS )
+{
+ 	return _THIS->warningVisibility;
+}
+
+
+/*
+ *	g e t I n f o V i s i b i l i t y S t a t u s
+ */
+static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS )
+{
+ 	return _THIS->infoVisibility;
+}
+
+
+/*
+ *	g e t O u t p u t F i l e
+ */
+static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS )
+{
+ 	return _THIS->outputFile;
+}
+
+
+/*
+ *	g e t E r r o r C o u n t
+ */
+static inline int MessageHandling_getErrorCount( MessageHandling* _THIS )
+{
+ 	return _THIS->errorCount;
+}
+
+
+/*
+ *	s e t E r r o r V i s i b i l i t y S t a t u s
+ */
+static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility )
+{
+ 	_THIS->errorVisibility = _errorVisibility;
+}
+
+
+/*
+ *	s e t W a r n i n g V i s i b i l i t y S t a t u s
+ */
+static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility )
+{
+ 	_THIS->warningVisibility = _warningVisibility;
+}
+
+
+/*
+ *	s e t I n f o V i s i b i l i t y S t a t u s
+ */
+static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility )
+{
+ 	_THIS->infoVisibility = _infoVisibility;
+}
+
+
+/*
+ *	s e t O u t p u t F i l e
+ */
+static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile )
+{
+ 	_THIS->outputFile = _outputFile;
+}
+
+
+/*
+ *	s e t E r r o r C o u n t
+ */
+static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount )
+{
+	if ( _errorCount >= 0 )
+	{
+		_THIS->errorCount = _errorCount;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return RET_INVALID_ARGUMENTS;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif /* QPOASES_MESSAGEHANDLING_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h
new file mode 100644
index 00000000000000..b471ee0668fd76
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Options.h
@@ -0,0 +1,153 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Options.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Options class designed to manage user-specified
+ *	options for solving a QProblem.
+ */
+
+
+#ifndef QPOASES_OPTIONS_H
+#define QPOASES_OPTIONS_H
+
+
+#include <qpOASES_e/Utils.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Manages all user-specified options for solving QPs.
+ *
+ *	This class manages all user-specified options used for solving
+ *	quadratic programs.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	PrintLevel printLevel;					/**< Print level. */
+
+	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
+	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
+	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
+	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
+	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
+	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
+	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
+	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
+	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
+
+	real_t terminationTolerance;			/**< Termination tolerance. */
+	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
+	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
+	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
+	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
+	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
+	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
+
+	real_t initialRamping;					/**< Start value for Ramping Strategy. */
+	real_t finalRamping;					/**< Final value for Ramping Strategy. */
+	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
+	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
+	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
+	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
+	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
+	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
+	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
+	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
+	real_t epsLITests;						/**< Tolerance for linear independence tests. */
+	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
+
+	BooleanType enableDropInfeasibles;		/**< ... */
+	int    dropBoundPriority;				/**< ... */
+	int    dropEqConPriority;				/**< ... */
+	int    dropIneqConPriority;				/**< ... */
+} Options;
+
+
+void OptionsCON(	Options* _THIS
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void OptionsCPY(	Options* FROM,
+					Options* TO
+					);
+
+
+/** Sets all options to default values.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToDefault(	Options* _THIS
+									);
+
+/** Sets all options to values resulting in maximum reliabilty.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToReliable(	Options* _THIS
+									);
+
+/** Sets all options to values resulting in minimum solution time.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToMPC(		Options* _THIS
+									);
+
+/** Same as setToMPC( ), for ensuring backwards compatibility.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToFast(		Options* _THIS
+									);
+
+
+/** Ensures that all options have consistent values by automatically
+ *	adjusting inconsistent ones.
+ *	Note: This routine cannot (and does not try to) ensure that values
+ *	      are set to reasonable values that make the QP solution work!
+ *	\return SUCCESSFUL_RETURN \n 
+ *		    RET_OPTIONS_ADJUSTED */
+returnValue Options_ensureConsistency(	Options* _THIS
+										);
+
+
+/** Prints values of all options.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_print(	Options* _THIS
+							);
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_OPTIONS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h
new file mode 100644
index 00000000000000..3c61a4d59681d6
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/QProblem.h
@@ -0,0 +1,2369 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/QProblem.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the QProblem class which is able to use the newly
+ *	developed online active set strategy for parametric quadratic programming.
+ */
+
+
+
+#ifndef QPOASES_QPROBLEM_H
+#define QPOASES_QPROBLEM_H
+
+
+#include <qpOASES_e/Bounds.h>
+#include <qpOASES_e/Options.h>
+#include <qpOASES_e/Matrices.h>
+#include <qpOASES_e/Constraints.h>
+#include <qpOASES_e/Flipper.h>
+#include <qpOASES_e/ConstraintProduct.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+typedef struct {
+	Bounds *auxiliaryBounds;
+	Constraints *auxiliaryConstraints;
+
+	real_t *ub_new_far;
+	real_t *lb_new_far;
+	real_t *ubA_new_far;
+	real_t *lbA_new_far;
+
+	real_t *g_new;
+	real_t *lb_new;
+	real_t *ub_new;
+	real_t *lbA_new;
+	real_t *ubA_new;
+
+	real_t *g_new2;
+	real_t *lb_new2;
+	real_t *ub_new2;
+	real_t *lbA_new2;
+	real_t *ubA_new2;
+
+	real_t *delta_xFX5;
+	real_t *delta_xFR5;
+	real_t *delta_yAC5;
+	real_t *delta_yFX5;
+
+	real_t *Hx;
+
+	real_t *_H;
+
+	real_t *g_original;
+	real_t *lb_original;
+	real_t *ub_original;
+	real_t *lbA_original;
+	real_t *ubA_original;
+
+	real_t *delta_xFR;
+	real_t *delta_xFX;
+	real_t *delta_yAC;
+	real_t *delta_yFX;
+	real_t *delta_g;
+	real_t *delta_lb;
+	real_t *delta_ub;
+	real_t *delta_lbA;
+	real_t *delta_ubA;
+
+	real_t *gMod;
+
+	real_t *aFR;
+	real_t *wZ;
+
+	real_t *delta_g2;
+	real_t *delta_xFX2;
+	real_t *delta_xFR2;
+	real_t *delta_yAC2;
+	real_t *delta_yFX2;
+	real_t *nul;
+	real_t *Arow;
+
+	real_t *xiC;
+	real_t *xiC_TMP;
+	real_t *xiB;
+	real_t *Arow2;
+	real_t *num;
+
+	real_t *w;
+	real_t *tmp;
+
+	real_t *delta_g3;
+	real_t *delta_xFX3;
+	real_t *delta_xFR3;
+	real_t *delta_yAC3;
+	real_t *delta_yFX3;
+	real_t *nul2;
+
+	real_t *xiC2;
+	real_t *xiC_TMP2;
+	real_t *xiB2;
+	real_t *num2;
+
+	real_t *Hz;
+	real_t *z;
+	real_t *ZHz;
+	real_t *r;
+
+	real_t *tmp2;
+	real_t *Hz2;
+	real_t *z2;
+	real_t *r2;
+	real_t *rhs;
+
+	real_t *delta_xFX4;
+	real_t *delta_xFR4;
+	real_t *delta_yAC4;
+	real_t *delta_yFX4;
+	real_t *nul3;
+	real_t *ek;
+	real_t *x_W;
+	real_t *As;
+	real_t *Ax_W;
+
+	real_t *num3;
+	real_t *den;
+	real_t *delta_Ax_l;
+	real_t *delta_Ax_u;
+	real_t *delta_Ax;
+	real_t *delta_x;
+
+	real_t *_A;
+
+	real_t *grad;
+	real_t *AX;
+} QProblem_ws;
+
+int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory );
+
+QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC );
+
+/**
+ *	\brief Implements the online active set strategy for QPs with general constraints.
+ *
+ *	A class for setting up and solving quadratic programs. The main feature is
+ *	the possibily to use the newly developed online active set strategy for
+ * 	parametric quadratic programming.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	QProblem_ws *ws;				/**< Workspace */
+	Bounds *bounds;					/**< Data structure for problem's bounds. */
+	Constraints *constraints;		/**< Data structure for problem's constraints. */
+	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
+
+	DenseMatrix* H;					/**< Hessian matrix pointer. */
+	DenseMatrix* A;					/**< Constraint matrix pointer. */
+
+	Options options;				/**< Struct containing all user-defined options for solving QPs. */
+	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
+
+	real_t *g;						/**< Gradient. */
+
+	real_t *lb;						/**< Lower bound vector (on variables). */
+	real_t *ub;						/**< Upper bound vector (on variables). */
+	real_t *lbA;					/**< Lower constraints' bound vector. */
+	real_t *ubA;					/**< Upper constraints' bound vector. */
+
+	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
+
+	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
+	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
+
+	real_t *Ax;						/**< Stores the current A*x \n
+									 *	 (for increased efficiency only). */
+	real_t *Ax_l;					/**< Stores the current distance to lower constraints' bounds A*x-lbA \n
+									 *	 (for increased efficiency only). */
+	real_t *Ax_u;					/**< Stores the current distance to lower constraints' bounds ubA-A*x \n
+									 *	 (for increased efficiency only). */
+
+	real_t *x;						/**< Primal solution vector. */
+	real_t *y;						/**< Dual solution vector. */
+
+	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
+	real_t *tempA;					/**< Temporary for determineStepDirection. */
+	real_t *tempB;					/**< Temporary for determineStepDirection. */
+	real_t *ZFR_delta_xFRz;			/**< Temporary for determineStepDirection. */
+	real_t *delta_xFRy;				/**< Temporary for determineStepDirection. */
+	real_t *delta_xFRz;				/**< Temporary for determineStepDirection. */
+	real_t *delta_yAC_TMP;			/**< Temporary for determineStepDirection. */
+
+	ConstraintProduct constraintProduct;	/**< Pointer to user-defined constraint product function. */
+
+	real_t tau;						/**< Last homotopy step length. */
+	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
+
+	real_t ramp0;					/**< Start value for Ramping Strategy. */
+	real_t ramp1;					/**< Final value for Ramping Strategy. */
+
+	QProblemStatus status;			/**< Current status of the solution process. */
+	HessianType hessianType;		/**< Type of Hessian matrix. */
+
+	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
+	BooleanType infeasible;			/**< QP infeasible? */
+	BooleanType unbounded;			/**< QP unbounded? */
+
+	int rampOffset;					/**< Offset index for Ramping. */
+	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
+
+	int sizeT;						/**< Matrix T is stored in a (sizeT x sizeT) array. */
+} QProblem;
+
+int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory );
+
+QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC );
+
+
+/** Constructor which takes the QP dimension and Hessian type
+ *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
+ *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
+ *  is allocated for it and a NULL pointer can be passed for it
+ *  to the init() functions. */
+void QProblemCON(	QProblem* _THIS,
+					int _nV,	  					/**< Number of variables. */
+					int _nC,		  				/**< Number of constraints. */
+					HessianType _hessianType 		/**< Type of Hessian matrix. */
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void QProblemCPY(	QProblem* FROM,
+					QProblem* TO
+					);
+
+
+/** Clears all data structures of QProblem except for QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_RESET_FAILED */
+returnValue QProblem_reset( QProblem* _THIS );
+
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initM(	QProblem* _THIS,
+							DenseMatrix *_H,			/**< Hessian matrix. */
+							const real_t* const _g, 	/**< Gradient vector. */
+							DenseMatrix *_A,  			/**< Constraint matrix. */
+							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+															 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+															 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_init(	QProblem* _THIS,
+							real_t* const _H, 			/**< Hessian matrix. \n
+															 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const real_t* const _g, 	/**< Gradient vector. */
+							real_t* const _A,  			/**< Constraint matrix. */
+							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+															 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+															 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+/** Initialises a QP problem with given QP data to be read from files and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblem_initF(	QProblem* _THIS,
+							const char* const H_file,	/**< Name of file where Hessian matrix is stored. \n
+															 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const char* const g_file,	/**< Name of file where gradient vector is stored. */
+							const char* const A_file,	/**< Name of file where constraint matrix is stored. */
+							const char* const lb_file,	/**< Name of file where lower bound vector. \n
+															If no lower bounds exist, a NULL pointer can be passed. */
+							const char* const ub_file,	/**< Name of file where upper bound vector. \n
+															If no upper bounds exist, a NULL pointer can be passed. */
+							const char* const lbA_file,	/**< Name of file where lower constraints' bound vector. \n
+															If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const char* const ubA_file,	/**< Name of file where upper constraints' bound vector. \n
+															 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime	 	/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initMW(	QProblem* _THIS,
+								DenseMatrix *_H, 						/**< Hessian matrix. \n
+														    				 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const real_t* const _g, 				/**< Gradient vector. */
+								DenseMatrix *_A, 			 			/**< Constraint matrix. */
+								const real_t* const _lb,				/**< Lower bound vector (on variables). \n
+																			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,				/**< Upper bound vector (on variables). \n
+																			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input: Maximum number of working set recalculations when using initial homotopy.
+																		 *	 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP initialisation. \n
+																			 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																			 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																			 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+								const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																	 		 The Cholesky factor must be stored in a real_t array of size nV*nV
+																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initW(	QProblem* _THIS,
+							real_t* const _H, 						/**< Hessian matrix. \n
+														    			 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const real_t* const _g, 				/**< Gradient vector. */
+							real_t* const _A,  						/**< Constraint matrix. */
+							const real_t* const _lb,				/**< Lower bound vector (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,				/**< Upper bound vector (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
+																		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
+																	 *	 Output: Number of performed working set recalculations. */
+							real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
+																		 Output: CPU time spent for QP initialisation. */
+							const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																		 (If a null pointer is passed, the old primal solution is kept!) */
+							const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																		 (If a null pointer is passed, the old dual solution is kept!) */
+							Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+							Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+							const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																	 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																		 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																		 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+							);
+
+/** Initialises a QP problem with given QP data to be ream from files and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblem_initFW(	QProblem* _THIS,
+								const char* const H_file,				/**< Name of file where Hessian matrix is stored. \n
+														     				 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const char* const g_file,				/**< Name of file where gradient vector is stored. */
+								const char* const A_file,				/**< Name of file where constraint matrix is stored. */
+								const char* const lb_file,				/**< Name of file where lower bound vector. \n
+																			 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file,				/**< Name of file where upper bound vector. \n
+																			 If no upper bounds exist, a NULL pointer can be passed. */
+								const char* const lbA_file,				/**< Name of file where lower constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const char* const ubA_file,				/**< Name of file where upper constraints' bound vector. \n
+																			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
+																			 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
+																			 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																			 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																			 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+								const char* const R_file				/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																		 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_hotstart(	QProblem* _THIS,
+								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,						/**< Input:  Maximum number of working set recalculations; \n
+													 				 Output: Number of performed working set recalculations. */
+								real_t* const cputime 			/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *	where QP data is read from files. QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_hotstartF(	QProblem* _THIS,
+								const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+								const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no upper bounds exist, a NULL pointer can be passed. */
+								const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 					/**< Input:  Maximum number of working set recalculations; \n
+																 Output: Number of performed working set recalculations. */
+								real_t* const cputime 		/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblem_hotstartW(	QProblem* _THIS,
+								const real_t* const g_new,				/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,				/**< Lower bounds of neighbouring QP to be solved. \n
+											 						 		 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,				/**< Upper bounds of neighbouring QP to be solved. \n
+											 						 		 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,			/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 						 		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,			/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 								 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
+																			 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
+																	 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																			 (If a null pointer is passed, the previous working set of bounds is kept!) */
+								Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
+																			 (If a null pointer is passed, the previous working set of constraints is kept!) */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *  where QP data is read from files.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_SETUP_AUXILIARYQP_FAILED \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_hotstartFW(	QProblem* _THIS,
+									const char* const g_file, 				/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+									const char* const lb_file, 				/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no lower bounds exist, a NULL pointer can be passed. */
+									const char* const ub_file, 				/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no upper bounds exist, a NULL pointer can be passed. */
+									const char* const lbA_file, 			/**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const char* const ubA_file, 			/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+									int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
+																 				 Output: Number of performed working set recalculations. */
+									real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
+																	 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																				 (If a null pointer is passed, the previous working set of bounds is kept!) */
+									Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
+																				 (If a null pointer is passed, the previous working set of constraints is kept!) */
+									);
+
+
+/** Solves using the current working set
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_STEPDIRECTION_FAILED_TQ \n
+ *			RET_STEPDIRECTION_FAILED_CHOLESKY \n
+ *			RET_INVALID_ARGUMENTS */
+returnValue QProblem_solveCurrentEQP (	QProblem* _THIS,
+										const int n_rhs,		/**< Number of consecutive right hand sides */
+										const real_t* g_in,		/**< Gradient of neighbouring QP to be solved. */
+										const real_t* lb_in,	/**< Lower bounds of neighbouring QP to be solved. \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* ub_in,	/**< Upper bounds of neighbouring QP to be solved. \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+										const real_t* lbA_in,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+										const real_t* ubA_in,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n */
+										real_t* x_out,			/**< Output: Primal solution */
+										real_t* y_out			/**< Output: Dual solution */
+										);
+
+
+
+/** Returns current constraints object of the QP (deep copy).
+  *	\return SUCCESSFUL_RETURN \n
+  			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_getConstraints(	QProblem* _THIS,
+													Constraints* _constraints	/** Output: Constraints object. */
+													);
+
+
+/** Returns the number of constraints.
+ *	\return Number of constraints. */
+static inline int QProblem_getNC( QProblem* _THIS );
+
+/** Returns the number of (implicitly defined) equality constraints.
+ *	\return Number of (implicitly defined) equality constraints. */
+static inline int QProblem_getNEC( QProblem* _THIS );
+
+/** Returns the number of active constraints.
+ *	\return Number of active constraints. */
+static inline int QProblem_getNAC( QProblem* _THIS );
+
+/** Returns the number of inactive constraints.
+ *	\return Number of inactive constraints. */
+static inline int QProblem_getNIAC( QProblem* _THIS );
+
+/** Returns the dimension of null space.
+ *	\return Dimension of null space. */
+int QProblem_getNZ( QProblem* _THIS );
+
+
+/** Returns the dual solution vector (deep copy).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblem_getDualSolution(	QProblem* _THIS,
+										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
+										);
+
+
+/** Defines user-defined routine for calculating the constraint product A*x
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_setConstraintProduct(	QProblem* _THIS,
+											ConstraintProduct _constraintProduct
+											);
+
+
+/** Prints concise list of properties of the current QP.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printProperties( QProblem* _THIS );
+
+
+
+/** Writes a vector with the state of the working set
+*	\return SUCCESSFUL_RETURN */
+returnValue QProblem_getWorkingSet(	QProblem* _THIS,
+									real_t* workingSet	/** Output: array containing state of the working set. */
+									);
+
+/** Writes a vector with the state of the working set of bounds
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblem_getWorkingSetBounds(	QProblem* _THIS,
+											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
+											);
+
+/** Writes a vector with the state of the working set of constraints
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblem_getWorkingSetConstraints(	QProblem* _THIS,
+												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
+												);
+
+
+/** Returns current bounds object of the QP (deep copy).
+  *	\return SUCCESSFUL_RETURN \n
+  			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_getBounds(	QProblem* _THIS,
+												Bounds* _bounds		/** Output: Bounds object. */
+												);
+
+
+/** Returns the number of variables.
+ *	\return Number of variables. */
+static inline int QProblem_getNV( QProblem* _THIS );
+
+/** Returns the number of free variables.
+ *	\return Number of free variables. */
+static inline int QProblem_getNFR( QProblem* _THIS );
+
+/** Returns the number of fixed variables.
+ *	\return Number of fixed variables. */
+static inline int QProblem_getNFX( QProblem* _THIS );
+
+/** Returns the number of implicitly fixed variables.
+ *	\return Number of implicitly fixed variables. */
+static inline int QProblem_getNFV( QProblem* _THIS );
+
+
+/** Returns the optimal objective function value.
+ *	\return finite value: Optimal objective function value (QP was solved) \n
+ 			+infinity:	  QP was not yet solved */
+real_t QProblem_getObjVal( QProblem* _THIS );
+
+/** Returns the objective function value at an arbitrary point x.
+ *	\return Objective function value at point x */
+real_t QProblem_getObjValX(	QProblem* _THIS,
+							const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
+							);
+
+/** Returns the primal solution vector.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblem_getPrimalSolution(	QProblem* _THIS,
+										real_t* const xOpt	/**< Output: Primal solution vector (if QP has been solved). */
+										);
+
+
+/** Returns status of the solution process.
+ *	\return Status of solution process. */
+static inline QProblemStatus QProblem_getStatus( QProblem* _THIS );
+
+
+/** Returns if the QProblem object is initialised.
+ *	\return BT_TRUE:  QProblem initialised \n
+ 			BT_FALSE: QProblem not initialised */
+static inline BooleanType QProblem_isInitialised( QProblem* _THIS );
+
+/** Returns if the QP has been solved.
+ *	\return BT_TRUE:  QProblem solved \n
+ 			BT_FALSE: QProblem not solved */
+static inline BooleanType QProblem_isSolved( QProblem* _THIS );
+
+/** Returns if the QP is infeasible.
+ *	\return BT_TRUE:  QP infeasible \n
+ 			BT_FALSE: QP feasible (or not known to be infeasible!) */
+static inline BooleanType QProblem_isInfeasible( QProblem* _THIS );
+
+/** Returns if the QP is unbounded.
+ *	\return BT_TRUE:  QP unbounded \n
+ 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
+static inline BooleanType QProblem_isUnbounded( QProblem* _THIS );
+
+
+/** Returns Hessian type flag (type is not determined due to _THIS call!).
+ *	\return Hessian type. */
+static inline HessianType QProblem_getHessianType( QProblem* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setHessianType(	QProblem* _THIS,
+													HessianType _hessianType /**< New Hessian type. */
+													);
+
+/** Returns if the QP has been internally regularised.
+ *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
+ 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
+static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS );
+
+/** Returns current options struct.
+ *	\return Current options struct. */
+static inline Options QProblem_getOptions( QProblem* _THIS );
+
+/** Overrides current options with given ones.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setOptions(	QProblem* _THIS,
+												Options _options	/**< New options. */
+												);
+
+/** Returns the print level.
+ *	\return Print level. */
+static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setPrintLevel(	QProblem* _THIS,
+									PrintLevel _printlevel	/**< New print level. */
+									);
+
+
+/** Returns the current number of QP problems solved.
+ *	\return Number of QP problems solved. */
+static inline unsigned int QProblem_getCount( QProblem* _THIS );
+
+/** Resets QP problem counter (to zero).
+ *	\return SUCCESSFUL_RETURN. */
+static inline returnValue QProblem_resetCounter( QProblem* _THIS );
+
+
+/** Prints a list of all options and their current values.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printOptions( QProblem* _THIS );
+
+
+/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
+ *  A guess for its primal/dual optimal solution vectors and the corresponding
+ *  working sets of bounds and constraints can be provided.
+ *  Note: This function is internally called by all init functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED */
+returnValue QProblem_solveInitialQP(	QProblem* _THIS,
+										const real_t* const xOpt,				/**< Optimal primal solution vector.*/
+										const real_t* const yOpt,				/**< Optimal dual solution vector. */
+										Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+										Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+										const real_t* const _R,					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
+										int* nWSR, 								/**< Input:  Maximum number of working set recalculations; \n
+														 						 *	 Output: Number of performed working set recalculations. */
+										real_t* const cputime					/**< Input:  Maximum CPU time allowed for QP solution. \n
+																	 			 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+										);
+
+/** Solves QProblem using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_solveQP(	QProblem* _THIS,
+								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
+													 				 Output: Number of performed working set recalculations. */
+								real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
+																	 this QP within previous solveQP() calls. This number is
+																	 always zero, except for successive calls from solveRegularisedQP()
+																	 or when using the far bound strategy. */
+								BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
+								);
+
+
+/** Solves QProblem using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_solveRegularisedQP(	QProblem* _THIS,
+											const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+											const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+													 			 				 If no lower bounds exist, a NULL pointer can be passed. */
+											const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+													 			 				 If no upper bounds exist, a NULL pointer can be passed. */
+											const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+													 			 				 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+													 			 				 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
+															 					 Output: Number of performed working set recalculations. */
+											real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
+																 				 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+											int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
+																				 this QP within previous solveRegularisedQP() calls. This number is
+																				 always zero, except for successive calls when using the far bound strategy. */
+											BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
+											);
+
+
+/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblem_setupSubjectToType( QProblem* _THIS );
+
+/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblem_setupSubjectToTypeNew(	QProblem* _THIS,
+											const real_t* const lb_new,		/**< New lower bounds. */
+											const real_t* const ub_new,		/**< New upper bounds. */
+											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
+											const real_t* const ubA_new		/**< New upper constraints' bounds. */
+											);
+
+/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
+ *  Note: If Hessian turns out not to be positive definite, the Hessian type
+ *		  is set to HST_SEMIDEF accordingly.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_computeProjectedCholesky( QProblem* _THIS );
+
+/** Computes initial Cholesky decomposition of the projected Hessian making
+ *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_setupInitialCholesky( QProblem* _THIS );
+
+/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_setupTQfactorisation( QProblem* _THIS );
+
+
+/** Obtains the desired working set for the auxiliary initial QP in
+ *  accordance with the user specifications
+ *  (assumes that member AX has already been initialised!)
+ *	\return SUCCESSFUL_RETURN \n
+			RET_OBTAINING_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
+												const real_t* const xOpt,					/**< Optimal primal solution vector.
+																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+												const real_t* const yOpt,					/**< Optimal dual solution vector.
+																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+												Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
+												Constraints* const guessedConstraints,		/**< Guessed working set for solution (xOpt,yOpt). */
+												Bounds* auxiliaryBounds,					/**< Input: Allocated bound object. \n
+																							 *	 Ouput: Working set of constraints for auxiliary QP. */
+												Constraints* auxiliaryConstraints			/**< Input: Allocated bound object. \n
+																							 *	 Ouput: Working set for auxiliary QP. */
+												);
+
+/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints.
+ *  (If the working set shall be setup afresh, make sure that
+ *  bounds and constraints data structure have been resetted
+ *  and the TQ factorisation has been initialised!)
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUP_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNOWN_BUG */
+returnValue QProblem_setupAuxiliaryWorkingSet(	QProblem* _THIS,
+												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
+												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
+												BooleanType setupAfresh						/**< Flag indicating if given working set shall be
+																							 *    setup afresh or by updating the current one. */
+												);
+
+/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setupAuxiliaryQPsolution(	QProblem* _THIS,
+												const real_t* const xOpt,	/**< Optimal primal solution vector.
+																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
+												const real_t* const yOpt	/**< Optimal dual solution vector.
+																			 *	 If a NULL pointer is passed, all entries are set to zero. */
+												);
+
+/** Sets up gradient of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS );
+
+/** Sets up (constraints') bounds of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNKNOWN_BUG */
+returnValue QProblem_setupAuxiliaryQPbounds(	QProblem* _THIS,
+												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
+												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
+												BooleanType useRelaxation					/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
+												);
+
+
+/** Adds a constraint to active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDCONSTRAINT_FAILED \n
+			RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED */
+returnValue QProblem_addConstraint(	QProblem* _THIS,
+									int number,					/**< Number of constraint to be added to active set. */
+									SubjectToStatus C_status,	/**< Status of new active constraint. */
+									BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
+									BooleanType ensureLI		/**< Ensure linear independence by exchange rules by default. */
+									);
+
+/** Checks if new active constraint to be added is linearly dependent from
+ *	from row of the active constraints matrix.
+ *	\return	 RET_LINEARLY_DEPENDENT \n
+ 			 RET_LINEARLY_INDEPENDENT \n
+			 RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_addConstraint_checkLI(	QProblem* _THIS,
+											int number			/**< Number of constraint to be added to active set. */
+											);
+
+/** Ensures linear independence of constraint matrix when a new constraint is added.
+ * 	To _THIS end a bound or constraint is removed simultaneously if necessary.
+ *	\return	 SUCCESSFUL_RETURN \n
+ 			 RET_LI_RESOLVED \n
+			 RET_ENSURELI_FAILED \n
+			 RET_ENSURELI_FAILED_TQ \n
+			 RET_ENSURELI_FAILED_NOINDEX \n
+			 RET_REMOVE_FROM_ACTIVESET */
+returnValue QProblem_addConstraint_ensureLI(	QProblem* _THIS,
+												int number,					/**< Number of constraint to be added to active set. */
+												SubjectToStatus C_status	/**< Status of new active bound. */
+												);
+
+/** Adds a bound to active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDBOUND_FAILED \n
+			RET_ADDBOUND_FAILED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED */
+returnValue QProblem_addBound(	QProblem* _THIS,
+								int number,					/**< Number of bound to be added to active set. */
+								SubjectToStatus B_status,	/**< Status of new active bound. */
+								BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
+								BooleanType ensureLI 		/**< Ensure linear independence by exchange rules by default. */
+								);
+
+/** Checks if new active bound to be added is linearly dependent from
+ *	from row of the active constraints matrix.
+ *	\return	 RET_LINEARLY_DEPENDENT \n
+ 			 RET_LINEARLY_INDEPENDENT */
+returnValue QProblem_addBound_checkLI(	QProblem* _THIS,
+										int number			/**< Number of bound to be added to active set. */
+										);
+
+/** Ensures linear independence of constraint matrix when a new bound is added.
+ *	To _THIS end a bound or constraint is removed simultaneously if necessary.
+ *	\return	 SUCCESSFUL_RETURN \n
+ 			 RET_LI_RESOLVED \n
+			 RET_ENSURELI_FAILED \n
+			 RET_ENSURELI_FAILED_TQ \n
+			 RET_ENSURELI_FAILED_NOINDEX \n
+			 RET_REMOVE_FROM_ACTIVESET */
+returnValue QProblem_addBound_ensureLI(	QProblem* _THIS,
+										int number,					/**< Number of bound to be added to active set. */
+										SubjectToStatus B_status	/**< Status of new active bound. */
+										);
+
+/** Removes a constraint from active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_CONSTRAINT_NOT_ACTIVE \n
+			RET_REMOVECONSTRAINT_FAILED \n
+			RET_HESSIAN_NOT_SPD */
+returnValue QProblem_removeConstraint(	QProblem* _THIS,
+										int number,						/**< Number of constraint to be removed from active set. */
+										BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
+										BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
+										BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
+										);
+
+/** Removes a bounds from active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_BOUND_NOT_ACTIVE \n
+			RET_HESSIAN_NOT_SPD \n
+			RET_REMOVEBOUND_FAILED */
+returnValue QProblem_removeBound(	QProblem* _THIS,
+									int number,						/**< Number of bound to be removed from active set. */
+									BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
+									BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
+									BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
+									);
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performPlainRatioTest(	QProblem* _THIS,
+											int nIdx, 					/**< Number of ratios to be checked. */
+											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
+											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
+											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
+											real_t epsNum,				/**< Numerator tolerance. */
+											real_t epsDen,				/**< Denominator tolerance. */
+											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
+											int* BC_idx 				/**< Output: Index of blocking constraint. */
+											);
+
+
+/** Ensure non-zero curvature by primal jump.
+ *  \return SUCCESSFUL_RETURN \n
+ *          RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_ensureNonzeroCurvature(	QProblem* _THIS,
+												BooleanType removeBoundNotConstraint,	/**< SubjectTo to be removed is a bound. */
+												int remIdx,								/**< Index of bound/constraint to be removed. */
+												BooleanType* exchangeHappened,			/**< Output: Exchange was necessary to ensure. */
+												BooleanType* addBoundNotConstraint,		/**< SubjectTo to be added is a bound. */
+												int* addIdx,							/**< Index of bound/constraint to be added. */
+												SubjectToStatus* addStatus				/**< Status of bound/constraint to be added. */
+												);
+
+
+/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveT(	QProblem* _THIS,
+									const real_t* const b,	/**< Right hand side vector. */
+									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
+									real_t* const a 		/**< Output: Solution vector */
+									);
+
+
+/** Determines step direction of the shift of the QP data.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_determineDataShift(	QProblem* _THIS,
+											const real_t* const g_new,		/**< New gradient vector. */
+											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
+											const real_t* const ubA_new,	/**< New upper constraints' bounds. */
+											const real_t* const lb_new,		/**< New lower bounds. */
+											const real_t* const ub_new,		/**< New upper bounds. */
+											real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
+											real_t* const delta_lbA,		/**< Output: Step direction of lower constraints' bounds. */
+											real_t* const delta_ubA,		/**< Output: Step direction of upper constraints' bounds. */
+											real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
+											real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
+											BooleanType* Delta_bC_isZero,	/**< Output: Indicates if active constraints' bounds are to be shifted. */
+											BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
+											);
+
+/** Determines step direction of the homotopy path.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_STEPDIRECTION_FAILED_TQ \n
+			RET_STEPDIRECTION_FAILED_CHOLESKY */
+returnValue QProblem_determineStepDirection(	QProblem* _THIS,
+												const real_t* const delta_g,	/**< Step direction of gradient vector. */
+												const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
+												const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
+												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
+												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
+												BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
+												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
+												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
+												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
+												real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
+												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
+												);
+
+/** Determines the maximum possible step length along the homotopy path
+ *  and performs _THIS step (without changing working set).
+ *	\return SUCCESSFUL_RETURN \n
+ * 			RET_ERROR_IN_CONSTRAINTPRODUCT \n
+ * 			RET_QP_INFEASIBLE */
+returnValue QProblem_performStep(	QProblem* _THIS,
+									const real_t* const delta_g,		/**< Step direction of gradient. */
+									const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
+									const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
+									const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
+									const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
+									const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
+									const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
+									const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
+									const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
+									int* BC_idx, 						/**< Output: Index of blocking constraint. */
+									SubjectToStatus* BC_status,			/**< Output: Status of blocking constraint. */
+									BooleanType* BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
+									);
+
+/** Updates the active set.
+ *	\return  SUCCESSFUL_RETURN \n
+ 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
+			 RET_ADD_TO_ACTIVESET_FAILED */
+returnValue QProblem_changeActiveSet(	QProblem* _THIS,
+										int BC_idx, 				/**< Index of blocking constraint. */
+										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
+										BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
+										);
+
+
+/** Compute relative length of homotopy in data space for termination
+ *  criterion.
+ *  \return Relative length in data space. */
+real_t QProblem_getRelativeHomotopyLength(	QProblem* _THIS,
+											const real_t* const g_new,		/**< Final gradient. */
+											const real_t* const lb_new,		/**< Final lower variable bounds. */
+											const real_t* const ub_new,		/**< Final upper variable bounds. */
+											const real_t* const lbA_new,	/**< Final lower constraint bounds. */
+											const real_t* const ubA_new		/**< Final upper constraint bounds. */
+											);
+
+
+/** Ramping Strategy to avoid ties. Modifies homotopy start without
+ *  changing current active set.
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblem_performRamping( QProblem* _THIS );
+
+
+/** ... */
+returnValue QProblem_updateFarBounds(	QProblem* _THIS,
+										real_t curFarBound,				/**< ... */
+										int nRamp,						/**< ... */
+										const real_t* const lb_new,		/**< ... */
+										real_t* const lb_new_far,		/**< ... */
+										const real_t* const ub_new,		/**< ... */
+										real_t* const ub_new_far,		/**< ... */
+										const real_t* const lbA_new,	/**< ... */
+										real_t* const lbA_new_far,		/**< ... */
+										const real_t* const ubA_new,	/**< ... */
+										real_t* const ubA_new_far		/**< ... */
+										);
+
+/** ... */
+returnValue QProblemBCPY_updateFarBounds(	QProblem* _THIS,
+											real_t curFarBound,				/**< ... */
+											int nRamp,						/**< ... */
+											const real_t* const lb_new,		/**< ... */
+											real_t* const lb_new_far,		/**< ... */
+											const real_t* const ub_new,		/**< ... */
+											real_t* const ub_new_far		/**< ... */
+											);
+
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performRatioTestC(	QProblem* _THIS,
+										int nIdx, 						/**< Number of ratios to be checked. */
+										const int* const idxList, 		/**< Array containing the indices of all ratios to be checked. */
+										Constraints* const subjectTo,	/**< Constraint object corresponding to ratios to be checked. */
+										const real_t* const num,	 	/**< Array containing all numerators for performing the ratio test. */
+										const real_t* const den,		/**< Array containing all denominators for performing the ratio test. */
+										real_t epsNum,					/**< Numerator tolerance. */
+										real_t epsDen,					/**< Denominator tolerance. */
+										real_t* t,						/**< Output: Maximum possible step length along the homotopy path. */
+										int* BC_idx 					/**< Output: Index of blocking constraint. */
+										);
+
+
+/** Drift correction at end of each active set iteration
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblem_performDriftCorrection( QProblem* _THIS );
+
+
+/** Updates QP vectors, working sets and internal data structures in order to
+	start from an optimal solution corresponding to initial guesses of the working
+	set for bounds and constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_SETUP_AUXILIARYQP_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_setupAuxiliaryQP(	QProblem* _THIS,
+										Bounds* const guessedBounds,			/**< Initial guess for working set of bounds. */
+										Constraints* const guessedConstraints	/**< Initial guess for working set of constraints. */
+										);
+
+/** Determines if it is more efficient to refactorise the matrices when
+ *  hotstarting or not (i.e. better to update the existing factorisations).
+ *	\return BT_TRUE iff matrices shall be refactorised afresh
+ */
+BooleanType QProblem_shallRefactorise(	QProblem* _THIS,
+										Bounds* const guessedBounds,			/**< Guessed new working set of bounds. */
+										Constraints* const guessedConstraints	/**< Guessed new working set of constraints. */
+										);
+
+/** Setups internal QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdataM(	QProblem* _THIS,
+									DenseMatrix *_H, 			/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
+									const real_t* const _g, 	/**< Gradient vector. */
+									DenseMatrix *_A, 			 /**< Constraint matrix. */
+									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									);
+
+
+/** Sets up dense internal QP data. If the current Hessian is trivial
+ *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdata(	QProblem* _THIS,
+									real_t* const _H, 			/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
+									const real_t* const _g, 	/**< Gradient vector. */
+									real_t* const _A,  			/**< Constraint matrix. */
+									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									);
+
+/** Sets up internal QP data by loading it from files. If the current Hessian
+ *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdataFromFile(	QProblem* _THIS,
+											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
+														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
+											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+											const char* const A_file,	/**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */
+											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
+											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const char* const ubA_file	/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											);
+
+/** Loads new QP vectors from files (internal members are not affected!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_loadQPvectorsFromFile(	QProblem* _THIS,
+											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
+											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
+											real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
+											real_t* const ub_new,		/**< Output: Upper bounds of neighbouring QP to be solved */
+											real_t* const lbA_new,		/**< Output: Lower constraints' bounds of neighbouring QP to be solved */
+											real_t* const ubA_new		/**< Output: Upper constraints' bounds of neighbouring QP to be solved */
+											);
+
+
+/** Prints concise information on the current iteration.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printIteration(	QProblem* _THIS,
+										int iter,					/**< Number of current iteration. */
+										int BC_idx, 				/**< Index of blocking constraint. */
+										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
+										BooleanType BC_isBound,		/**< Indicates if blocking constraint is a bound. */
+										real_t homotopyLength,		/**< Current homotopy distance. */
+										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+ 										);
+
+
+/** Sets constraint matrix of the QP. \n
+	Note: Also internal vector Ax is recomputed!
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setAM(	QProblem* _THIS,
+											DenseMatrix *A_new	/**< New constraint matrix. */
+											);
+
+/** Sets dense constraint matrix of the QP. \n
+	Note: Also internal vector Ax is recomputed!
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setA(	QProblem* _THIS,
+											real_t* const A_new	/**< New dense constraint matrix (with correct dimension!). */
+											);
+
+
+/** Sets constraints' lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_setLBA(	QProblem* _THIS,
+											const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of lower constraints' bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setLBAn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
+											);
+
+/** Sets constraints' upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_setUBA(	QProblem* _THIS,
+											const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of upper constraints' bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setUBAn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
+											);
+
+
+/** Decides if lower bounds are smaller than upper bounds
+ *
+ * \return SUCCESSFUL_RETURN \n
+ * 		   RET_QP_INFEASIBLE */
+returnValue QProblem_areBoundsConsistent(	QProblem* _THIS,
+											const real_t* const lb,		/**< Vector of lower bounds*/
+											const real_t* const ub,		/**< Vector of upper bounds*/
+											const real_t* const lbA,	/**< Vector of lower constraints*/
+											const real_t* const ubA		/**< Vector of upper constraints*/
+											);
+
+
+/** Drops the blocking bound/constraint that led to infeasibility, or finds another
+ *  bound/constraint to drop according to drop priorities.
+ *  \return SUCCESSFUL_RETURN \n
+ */
+returnValue QProblem_dropInfeasibles ( 	QProblem* _THIS,
+										int BC_number,				/**< Number of the bound or constraint to be added */
+										SubjectToStatus BC_status, 	/**< New status of the bound or constraint to be added */
+										BooleanType BC_isBound,		/**< Whether a bound or a constraint is to be added */
+										real_t *xiB,
+										real_t *xiC
+										);
+
+
+/** If Hessian type has been set by the user, nothing is done.
+ *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
+ *  HST_POSDEF (default), respectively.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_INDEFINITE */
+returnValue QProblem_determineHessianType( QProblem* _THIS );
+
+/** Computes the Cholesky decomposition of the (simply projected) Hessian
+ *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
+ *  projection matrix!
+ *  Note: If Hessian turns out not to be positive definite, the Hessian type
+ *		  is set to HST_SEMIDEF accordingly.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblemBCPY_computeCholesky( QProblem* _THIS );
+
+/** Obtains the desired working set for the auxiliary initial QP in
+ *  accordance with the user specifications
+ *	\return SUCCESSFUL_RETURN \n
+			RET_OBTAINING_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
+													const real_t* const xOpt,		/**< Optimal primal solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													const real_t* const yOpt,		/**< Optimal dual solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
+													Bounds* auxiliaryBounds			/**< Input:  Allocated bound object. \n
+																					 *	 Output: Working set for auxiliary QP. */
+													);
+
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveR(	QProblem* _THIS,
+									const real_t* const b,	/**< Right hand side vector. */
+									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
+									real_t* const a 		/**< Output: Solution vector */
+									);
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
+ *  Special variant for the case that _THIS function is called from within "removeBound()".
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveRrem(	QProblem* _THIS,
+									const real_t* const b,		/**< Right hand side vector. */
+									BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
+									BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
+									real_t* const a 			/**< Output: Solution vector */
+									);
+
+
+/** Determines step direction of the shift of the QP data.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemBCPY_determineDataShift(	QProblem* _THIS,
+												const real_t* const g_new,		/**< New gradient vector. */
+												const real_t* const lb_new,		/**< New lower bounds. */
+												const real_t* const ub_new,		/**< New upper bounds. */
+												real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
+												real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
+												real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
+												BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
+												);
+
+
+/** Sets up internal QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_setupQPdataM(	QProblem* _THIS,
+										DenseMatrix *_H,	 		/**< Hessian matrix.*/
+										const real_t* const _g,		/**< Gradient vector. */
+										const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* const _ub		/**< Upper bounds (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+										);
+
+/** Sets up internal QP data. If the current Hessian is trivial
+ *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemBCPY_setupQPdata(	QProblem* _THIS,
+										real_t* const _H, 			/**< Hessian matrix. \n
+																		 If Hessian matrix is trivial,a NULL pointer can be passed. */
+										const real_t* const _g,		/**< Gradient vector. */
+										const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* const _ub		/**< Upper bounds (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+										);
+
+/** Sets up internal QP data by loading it from files. If the current Hessian
+ *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemBCPY_setupQPdataFromFile(	QProblem* _THIS,
+												const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
+														     					 If Hessian matrix is trivial,a NULL pointer can be passed. */
+												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
+												const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
+												);
+
+/** Loads new QP vectors from files (internal members are not affected!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_loadQPvectorsFromFile(	QProblem* _THIS,
+												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
+												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
+												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
+												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
+												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
+												);
+
+
+/** Sets internal infeasibility flag and throws given error in case the far bound
+ *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
+ *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED_CYCLING \n
+			RET_ENSURELI_FAILED_NOINDEX */
+returnValue QProblem_setInfeasibilityFlag(	QProblem* _THIS,
+											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
+											BooleanType doThrowError	/**< Flag forcing to throw an error. */
+											);
+
+
+/** Determines if next QP iteration can be performed within given CPU time limit.
+ *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
+			BT_FALSE: Sufficient CPU time for next QP iteration. */
+BooleanType QProblem_isCPUtimeLimitExceeded(	QProblem* _THIS,
+												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
+												real_t starttime,				/**< Start time of current QP solution. */
+												int nWSR						/**< Number of working set recalculations performed so far. */
+												);
+
+
+/** Regularise Hessian matrix by adding a scaled identity matrix to it.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_ALREADY_REGULARISED */
+returnValue QProblem_regulariseHessian( QProblem* _THIS );
+
+
+/** Sets Hessian matrix of the QP.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setHM(	QProblem* _THIS,
+											DenseMatrix* H_new	/**< New Hessian matrix. */
+											);
+
+/** Sets dense Hessian matrix of the QP.
+ *  If a null pointer is passed and
+ *  a) hessianType is HST_IDENTITY, nothing is done,
+ *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setH(	QProblem* _THIS,
+											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
+											);
+
+/** Changes gradient vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setG(	QProblem* _THIS,
+											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
+											);
+
+/** Changes lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setLB(	QProblem* _THIS,
+											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setLBn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of lower bound vector. */
+											);
+
+/** Changes upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setUB(	QProblem* _THIS,
+											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setUBn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of upper bound vector. */
+											);
+
+
+
+/** Compute relative length of homotopy in data space for termination
+ *  criterion.
+ *  \return Relative length in data space. */
+real_t QProblemBCPY_getRelativeHomotopyLength(	QProblem* _THIS,
+												const real_t* const g_new,	/**< Final gradient. */
+												const real_t* const lb_new,	/**< Final lower variable bounds. */
+												const real_t* const ub_new	/**< Final upper variable bounds. */
+												);
+
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performRatioTestB(	QProblem* _THIS,
+										int nIdx, 					/**< Number of ratios to be checked. */
+										const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
+										Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
+										const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
+										const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
+										real_t epsNum,				/**< Numerator tolerance. */
+										real_t epsDen,				/**< Denominator tolerance. */
+										real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
+										int* BC_idx 				/**< Output: Index of blocking constraint. */
+										);
+
+/** Checks whether given ratio is blocking, i.e. limits the maximum step length
+ *  along the homotopy path to a value lower than given one.
+ *	\return  SUCCESSFUL_RETURN */
+static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
+												real_t num,			/**< Numerator for performing the ratio test. */
+												real_t den,			/**< Denominator for performing the ratio test. */
+												real_t epsNum,		/**< Numerator tolerance. */
+												real_t epsDen,		/**< Denominator tolerance. */
+												real_t* t			/**< Input:  Current maximum step length along the homotopy path,
+																	 *   Output: Updated maximum possible step length along the homotopy path. */
+												);
+
+
+/** ...
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_UNABLE_TO_OPEN_FILE */
+returnValue QProblem_writeQpDataIntoMatFile(	QProblem* _THIS,
+												const char* const filename	/**< Mat file name. */
+												);
+
+/** ...
+*	\return SUCCESSFUL_RETURN  \n
+			RET_UNABLE_TO_OPEN_FILE */
+returnValue QProblem_writeQpWorkspaceIntoMatFile(	QProblem* _THIS,
+													const char* const filename	/**< Mat file name. */
+													);
+
+
+/*
+ *	g e t B o u n d s
+ */
+static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	_bounds = _THIS->bounds;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N V
+ */
+static inline int QProblem_getNV( QProblem* _THIS )
+{
+	return Bounds_getNV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F R
+ */
+static inline int QProblem_getNFR( QProblem* _THIS )
+{
+	return Bounds_getNFR( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F X
+ */
+static inline int QProblem_getNFX( QProblem* _THIS )
+{
+	return Bounds_getNFX( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F V
+ */
+static inline int QProblem_getNFV( QProblem* _THIS )
+{
+	return Bounds_getNFV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline QProblemStatus QProblem_getStatus( QProblem* _THIS )
+{
+	return _THIS->status;
+}
+
+
+/*
+ *	i s I n i t i a l i s e d
+ */
+static inline BooleanType QProblem_isInitialised( QProblem* _THIS )
+{
+	if ( _THIS->status == QPS_NOTINITIALISED )
+		return BT_FALSE;
+	else
+		return BT_TRUE;
+}
+
+
+/*
+ *	i s S o l v e d
+ */
+static inline BooleanType QProblem_isSolved( QProblem* _THIS )
+{
+	if ( _THIS->status == QPS_SOLVED )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	i s I n f e a s i b l e
+ */
+static inline BooleanType QProblem_isInfeasible( QProblem* _THIS )
+{
+	return _THIS->infeasible;
+}
+
+
+/*
+ *	i s U n b o u n d e d
+ */
+static inline BooleanType QProblem_isUnbounded( QProblem* _THIS )
+{
+	return _THIS->unbounded;
+}
+
+
+/*
+ *	g e t H e s s i a n T y p e
+ */
+static inline HessianType QProblem_getHessianType( QProblem* _THIS )
+{
+	return _THIS->hessianType;
+}
+
+
+/*
+ *	s e t H e s s i a n T y p e
+ */
+static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType )
+{
+	_THIS->hessianType = _hessianType;
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	u s i n g R e g u l a r i s a t i o n
+ */
+static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS )
+{
+	if ( _THIS->regVal > QPOASES_ZERO )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	g e t O p t i o n s
+ */
+static inline Options QProblem_getOptions( QProblem* _THIS )
+{
+	return _THIS->options;
+}
+
+
+/*
+ *	s e t O p t i o n s
+ */
+static inline returnValue QProblem_setOptions(	QProblem* _THIS,
+												Options _options
+												)
+{
+	OptionsCPY( &_options,&(_THIS->options) );
+	Options_ensureConsistency( &(_THIS->options) );
+
+	QProblem_setPrintLevel( _THIS,_THIS->options.printLevel );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t P r i n t L e v e l
+ */
+static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS )
+{
+	return _THIS->options.printLevel;
+}
+
+
+/*
+ *	g e t C o u n t
+ */
+static inline unsigned int QProblem_getCount( QProblem* _THIS )
+{
+	return _THIS->count;
+}
+
+
+/*
+ *	r e s e t C o u n t e r
+ */
+static inline returnValue QProblem_resetCounter( QProblem* _THIS )
+{
+	_THIS->count = 0;
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new )
+{
+	if ( H_new == 0 )
+		return QProblem_setH( _THIS,(real_t*)0 );
+	else
+		return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) );
+}
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new )
+{
+	/* if null pointer is passed, Hessian is set to zero matrix
+	 *                            (or stays identity matrix) */
+	if ( H_new == 0 )
+	{
+		if ( _THIS->hessianType == HST_IDENTITY )
+			return SUCCESSFUL_RETURN;
+
+		_THIS->hessianType = HST_ZERO;
+
+		_THIS->H = 0;
+	}
+	else
+	{
+		DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t G
+ */
+static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new )
+{
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( g_new == 0 )
+		return THROWERROR( RET_INVALID_ARGUMENTS );
+
+	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( lb_new != 0 )
+	{
+		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no lower bounds are specified, set them to -infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->lb[i] = -QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->lb[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ub_new != 0 )
+	{
+		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no upper bounds are specified, set them to infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->ub[i] = QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->ub[number] = value;
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+
+/*
+ * i s B l o c k i n g
+ */
+static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
+												real_t num,
+												real_t den,
+												real_t epsNum,
+												real_t epsDen,
+												real_t* t
+												)
+{
+	if ( ( den >= epsDen ) && ( num >= epsNum ) )
+	{
+		if ( num < (*t)*den )
+			return BT_TRUE;
+	}
+
+	return BT_FALSE;
+}
+
+
+
+/*
+ *	g e t C o n s t r a i n t s
+ */
+static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	ConstraintsCPY( _THIS->constraints,_constraints );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*
+ *	g e t N C
+ */
+static inline int QProblem_getNC( QProblem* _THIS )
+{
+	return Constraints_getNC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N E C
+ */
+static inline int QProblem_getNEC( QProblem* _THIS )
+{
+	return Constraints_getNEC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N A C
+ */
+static inline int QProblem_getNAC( QProblem* _THIS )
+{
+	return Constraints_getNAC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N I A C
+ */
+static inline int QProblem_getNIAC( QProblem* _THIS )
+{
+	return Constraints_getNIAC( _THIS->constraints );
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+
+/*
+ *	s e t A
+ */
+static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new )
+{
+	if ( A_new == 0 )
+		return QProblem_setA( _THIS,(real_t*)0 );
+	else
+		return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) );
+}
+
+
+/*
+ *	s e t A
+ */
+static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new )
+{
+	int j;
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( A_new == 0 )
+		return THROWERROR( RET_INVALID_ARGUMENTS );
+
+	DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new );
+
+	DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC);
+
+	for( j=0; j<nC; ++j )
+	{
+		_THIS->Ax_u[j] = _THIS->ubA[j] - _THIS->Ax[j];
+		_THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j];
+
+		/* (ckirches) disable constraints with empty rows */
+		if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE )
+			Constraints_setType( _THIS->constraints,j,ST_DISABLED );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B A
+ */
+static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( lbA_new != 0 )
+	{
+		memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no lower constraints' bounds are specified, set them to -infinity */
+		for( i=0; i<nC; ++i )
+			_THIS->lbA[i] = -QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B A
+ */
+static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nC ) )
+	{
+		_THIS->lbA[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t U B A
+ */
+static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ubA_new != 0 )
+	{
+		memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no upper constraints' bounds are specified, set them to infinity */
+		for( i=0; i<nC; ++i )
+			_THIS->ubA[i] = QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B A
+ */
+static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nC ) )
+	{
+		_THIS->ubA[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_QPROBLEM_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/QProblemB.h b/third_party/acados/include/qpOASES_e/QProblemB.h
new file mode 100644
index 00000000000000..ee5157dda77e8b
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/QProblemB.h
@@ -0,0 +1,1641 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/QProblemB.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the QProblemB class which is able to use the newly
+ *	developed online active set strategy for parametric quadratic programming
+ *	for problems with (simple) bounds only.
+ */
+
+
+
+#ifndef QPOASES_QPROBLEMB_H
+#define QPOASES_QPROBLEMB_H
+
+
+#include <qpOASES_e/Bounds.h>
+#include <qpOASES_e/Options.h>
+#include <qpOASES_e/Matrices.h>
+#include <qpOASES_e/Flipper.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+typedef struct {
+	Bounds *emptyBounds;
+	Bounds *auxiliaryBounds;
+
+	real_t *ub_new_far;
+	real_t *lb_new_far;
+
+	real_t *g_new;
+	real_t *lb_new;
+	real_t *ub_new;
+
+	real_t *g_new2;
+	real_t *lb_new2;
+	real_t *ub_new2;
+
+	real_t *Hx;
+
+	real_t *_H;
+
+	real_t *g_original;
+	real_t *lb_original;
+	real_t *ub_original;
+
+	real_t *delta_xFR;
+	real_t *delta_xFX;
+	real_t *delta_yFX;
+	real_t *delta_g;
+	real_t *delta_lb;
+	real_t *delta_ub;
+
+	real_t *gMod;
+
+	real_t *num;
+	real_t *den;
+
+	real_t *rhs;
+	real_t *r;
+} QProblemB_ws;
+
+int QProblemB_ws_calculateMemorySize( unsigned int nV );
+
+char *QProblemB_ws_assignMemory( unsigned int nV, QProblemB_ws **mem, void *raw_memory );
+
+QProblemB_ws *QProblemB_ws_createMemory( unsigned int nV );
+
+
+/**
+ *	\brief Implements the online active set strategy for box-constrained QPs.
+ *
+ *	Class for setting up and solving quadratic programs with bounds (= box constraints) only.
+ *	The main feature is the possibility to use the newly developed online active set strategy
+ *	for parametric quadratic programming.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	QProblemB_ws *ws;
+	Bounds *bounds;					/**< Data structure for problem's bounds. */
+	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
+
+	DenseMatrix* H;					/**< Hessian matrix pointer. */
+
+	Options options;				/**< Struct containing all user-defined options for solving QPs. */
+	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
+
+	real_t *g;						/**< Gradient. */
+	real_t *lb;						/**< Lower bound vector (on variables). */
+	real_t *ub;						/**< Upper bound vector (on variables). */
+
+	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
+
+	real_t *x;						/**< Primal solution vector. */
+	real_t *y;						/**< Dual solution vector. */
+
+	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
+
+	real_t tau;						/**< Last homotopy step length. */
+	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
+
+	real_t ramp0;					/**< Start value for Ramping Strategy. */
+	real_t ramp1;					/**< Final value for Ramping Strategy. */
+
+	QProblemStatus status;			/**< Current status of the solution process. */
+	HessianType hessianType;		/**< Type of Hessian matrix. */
+
+	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
+	BooleanType infeasible;			/**< QP infeasible? */
+	BooleanType unbounded;			/**< QP unbounded? */
+
+	int rampOffset;					/**< Offset index for Ramping. */
+	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
+} QProblemB;
+
+int QProblemB_calculateMemorySize( unsigned int nV );
+
+char *QProblemB_assignMemory( unsigned int nV, QProblemB **mem, void *raw_memory );
+
+QProblemB *QProblemB_createMemory( unsigned int nV );
+
+
+/** Constructor which takes the QP dimension and Hessian type
+ *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
+ *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
+ *  is allocated for it and a NULL pointer can be passed for it
+ *  to the init() functions. */
+void QProblemBCON(	QProblemB* _THIS,
+					int _nV,						/**< Number of variables. */
+					HessianType _hessianType		/**< Type of Hessian matrix. */
+					);
+
+void QProblemBCPY(	QProblemB* FROM,
+					QProblemB* TO
+					);
+
+
+/** Clears all data structures of QProblemB except for QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_RESET_FAILED */
+returnValue QProblemB_reset( QProblemB* _THIS );
+
+
+/** Initialises a simply bounded QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_initM(	QProblemB* _THIS,
+								DenseMatrix *_H,	 		/**< Hessian matrix. */
+								const real_t* const _g,		/**< Gradient vector. */
+								const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,	/**< Upper bounds (on variables). \n
+																 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+																 Output: CPU time spent for QP initialisation (if pointer passed). */
+								);
+
+/** Initialises a simply bounded QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_init(	QProblemB* _THIS,
+							real_t* const _H, 			/**< Hessian matrix. \n
+															 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const real_t* const _g,		/**< Gradient vector. */
+							const real_t* const _lb,	/**< Lower bounds (on variables). \n
+															 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,	/**< Upper bounds (on variables). \n
+															 If no upper bounds exist, a NULL pointer can be passed. */
+							int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+															 Output: Number of performed working set recalculations. */
+		 					real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblemB_initF(	QProblemB* _THIS,
+								const char* const H_file, 	/**< Name of file where Hessian matrix is stored. \n
+																 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const char* const g_file,  	/**< Name of file where gradient vector is stored. */
+								const char* const lb_file, 	/**< Name of file where lower bound vector. \n
+																 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file, 	/**< Name of file where upper bound vector. \n
+																 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+																 Output: CPU time spent for QP initialisation (if pointer passed). */
+								);
+
+/** Initialises a simply bounded QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
+ *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
+ *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
+ *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
+ *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
+ *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_initMW(	QProblemB* _THIS,
+								DenseMatrix *_H,				/**< Hessian matrix. */
+								const real_t* const _g,			/**< Gradient vector. */
+								const real_t* const _lb,		/**< Lower bounds (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,		/**< Upper bounds (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																	 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
+													 				 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, all bounds are assumed inactive!) */
+								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Initialises a simply bounded QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
+ *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
+ *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
+ *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
+ *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
+ *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_initW(	QProblemB* _THIS,
+								real_t* const _H, 				/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const real_t* const _g,			/**< Gradient vector. */
+								const real_t* const _lb,		/**< Lower bounds (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,		/**< Upper bounds (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																	 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
+													 				 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, all bounds are assumed inactive!) */
+								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
+ *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
+ *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
+ *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
+ *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
+ *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblemB_initFW(	QProblemB* _THIS,
+								const char* const H_file, 		/**< Name of file where Hessian matrix is stored. \n
+																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const char* const g_file,  		/**< Name of file where gradient vector is stored. */
+								const char* const lb_file, 		/**< Name of file where lower bound vector. \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file, 		/**< Name of file where upper bound vector. \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																	 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
+													 				 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, all bounds are assumed inactive!) */
+								const char* const R_file		/**< Name of the file where a pre-computed (upper triangular) Cholesky factor
+																	 of the Hessian matrix is stored. \n
+																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	By default, QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_MAX_NWSR_REACHED \n
+			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblemB_hotstart(	QProblemB* _THIS,
+								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
+											 					 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
+											 					 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
+																 Output: Number of performed working set recalculations. */
+								real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP solution. \n
+																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *  where QP data is read from files. QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_hotstartF(	QProblemB* _THIS,
+									const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+									const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 						 If no lower bounds exist, a NULL pointer can be passed. */
+									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 						 If no upper bounds exist, a NULL pointer can be passed. */
+									int* nWSR, 					/**< Input: Maximum number of working set recalculations; \n
+																	 Output: Number of performed working set recalculations. */
+									real_t* const cputime 	 	/**< Input: Maximum CPU time allowed for QP solution. \n
+																	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									);
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_MAX_NWSR_REACHED \n
+			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblemB_hotstartW(	QProblemB* _THIS,
+									const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
+									const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
+											 						 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
+											 						 If no upper bounds exist, a NULL pointer can be passed. */
+									int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
+																	 Output: Number of performed working set recalculations. */
+									real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, the previous working set is kept!) */
+									);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *  where QP data is read from files.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblemB_hotstartFW(	QProblemB* _THIS,
+									const char* const g_file,	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+									const char* const lb_file,	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 						 If no lower bounds exist, a NULL pointer can be passed. */
+									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 						 If no upper bounds exist, a NULL pointer can be passed. */
+									int* nWSR,					/**< Input:  Maximum number of working set recalculations; \n
+																	 Output: Number of performed working set recalculations. */
+									real_t* const cputime,		/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, the previous working set is kept!) */
+									);
+
+
+/** Writes a vector with the state of the working set
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblemB_getWorkingSet(	QProblemB* _THIS,
+										real_t* workingSet		/** Output: array containing state of the working set. */
+										);
+
+/** Writes a vector with the state of the working set of bounds
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblemB_getWorkingSetBounds(	QProblemB* _THIS,
+											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
+											);
+
+/** Writes a vector with the state of the working set of constraints
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblemB_getWorkingSetConstraints(	QProblemB* _THIS,
+												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
+												);
+
+
+/** Returns current bounds object of the QP (deep copy).
+  *	\return SUCCESSFUL_RETURN \n
+  			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblemB_getBounds(	QProblemB* _THIS,
+												Bounds* _bounds	/** Output: Bounds object. */
+												);
+
+
+/** Returns the number of variables.
+ *	\return Number of variables. */
+static inline int QProblemB_getNV( QProblemB* _THIS );
+
+/** Returns the number of free variables.
+ *	\return Number of free variables. */
+static inline int QProblemB_getNFR( QProblemB* _THIS );
+
+/** Returns the number of fixed variables.
+ *	\return Number of fixed variables. */
+static inline int QProblemB_getNFX( QProblemB* _THIS );
+
+/** Returns the number of implicitly fixed variables.
+ *	\return Number of implicitly fixed variables. */
+static inline int QProblemB_getNFV( QProblemB* _THIS );
+
+/** Returns the dimension of null space.
+ *	\return Dimension of null space. */
+int QProblemB_getNZ( QProblemB* _THIS );
+
+
+/** Returns the optimal objective function value.
+ *	\return finite value: Optimal objective function value (QP was solved) \n
+ 			+infinity:	  QP was not yet solved */
+real_t QProblemB_getObjVal( QProblemB* _THIS );
+
+/** Returns the objective function value at an arbitrary point x.
+ *	\return Objective function value at point x */
+real_t QProblemB_getObjValX(	QProblemB* _THIS,
+								const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
+								);
+
+/** Returns the primal solution vector.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblemB_getPrimalSolution(	QProblemB* _THIS,
+											real_t* const xOpt			/**< Output: Primal solution vector (if QP has been solved). */
+											);
+
+/** Returns the dual solution vector.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblemB_getDualSolution(	QProblemB* _THIS,
+										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
+										);
+
+
+/** Returns status of the solution process.
+ *	\return Status of solution process. */
+static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS );
+
+
+/** Returns if the QProblem object is initialised.
+ *	\return BT_TRUE:  QProblemB initialised \n
+ 			BT_FALSE: QProblemB not initialised */
+static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS );
+
+/** Returns if the QP has been solved.
+ *	\return BT_TRUE:  QProblemB solved \n
+ 			BT_FALSE: QProblemB not solved */
+static inline BooleanType QProblemB_isSolved( QProblemB* _THIS );
+
+/** Returns if the QP is infeasible.
+ *	\return BT_TRUE:  QP infeasible \n
+ 			BT_FALSE: QP feasible (or not known to be infeasible!) */
+static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS );
+
+/** Returns if the QP is unbounded.
+ *	\return BT_TRUE:  QP unbounded \n
+ 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
+static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS );
+
+
+/** Returns Hessian type flag (type is not determined due to _THIS call!).
+ *	\return Hessian type. */
+static inline HessianType QProblemB_getHessianType( QProblemB* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblemB_setHessianType(	QProblemB* _THIS,
+													HessianType _hessianType /**< New Hessian type. */
+													);
+
+/** Returns if the QP has been internally regularised.
+ *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
+ 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
+static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS );
+
+/** Returns current options struct.
+ *	\return Current options struct. */
+static inline Options QProblemB_getOptions( QProblemB* _THIS );
+
+/** Overrides current options with given ones.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
+												Options _options	/**< New options. */
+												);
+
+/** Returns the print level.
+ *	\return Print level. */
+static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemB_setPrintLevel(	QProblemB* _THIS,
+										PrintLevel _printlevel	/**< New print level. */
+										);
+
+/** Returns the current number of QP problems solved.
+ *	\return Number of QP problems solved. */
+static inline unsigned int QProblemB_getCount( QProblemB* _THIS );
+
+/** Resets QP problem counter (to zero).
+ *	\return SUCCESSFUL_RETURN. */
+static inline returnValue QProblemB_resetCounter( QProblemB* _THIS );
+
+
+/** Prints concise list of properties of the current QP.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblemB_printProperties( QProblemB* _THIS );
+
+/** Prints a list of all options and their current values.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblemB_printOptions( QProblemB* _THIS );
+
+
+/** If Hessian type has been set by the user, nothing is done.
+ *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
+ *  HST_POSDEF (default), respectively.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_INDEFINITE */
+returnValue QProblemB_determineHessianType( QProblemB* _THIS );
+
+/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblemB_setupSubjectToType( QProblemB* _THIS );
+
+/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblemB_setupSubjectToTypeNew(	QProblemB* _THIS,
+												const real_t* const lb_new,	/**< New lower bounds. */
+												const real_t* const ub_new	/**< New upper bounds. */
+												);
+
+/** Computes the Cholesky decomposition of the (simply projected) Hessian
+ *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
+ *  projection matrix!
+ *  Note: If Hessian turns out not to be positive definite, the Hessian type
+ *		  is set to HST_SEMIDEF accordingly.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblemB_computeCholesky( QProblemB* _THIS );
+
+/** Computes initial Cholesky decomposition of the projected Hessian making
+ *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblemB_setupInitialCholesky( QProblemB* _THIS );
+
+
+/** Obtains the desired working set for the auxiliary initial QP in
+ *  accordance with the user specifications
+ *	\return SUCCESSFUL_RETURN \n
+			RET_OBTAINING_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_obtainAuxiliaryWorkingSet(	QProblemB* _THIS,
+													const real_t* const xOpt,		/**< Optimal primal solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													const real_t* const yOpt,		/**< Optimal dual solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
+													Bounds* auxiliaryBounds			/**< Input: Allocated bound object. \n
+																					 *	 Ouput: Working set for auxiliary QP. */
+													);
+
+/** Decides if lower bounds are smaller than upper bounds
+ *
+ * \return SUCCESSFUL_RETURN \n
+ * 		   RET_QP_INFEASIBLE */
+returnValue QProblemB_areBoundsConsistent(	QProblemB* _THIS,
+											const real_t* const lb, /**< Vector of lower bounds*/
+											const real_t* const ub  /**< Vector of upper bounds*/
+											);
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblemB_backsolveR(	QProblemB* _THIS,
+									const real_t* const b,	/**< Right hand side vector. */
+									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
+									real_t* const a 		/**< Output: Solution vector */
+									);
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
+ *  Special variant for the case that _THIS function is called from within "removeBound()".
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblemB_backsolveRrem(	QProblemB* _THIS,
+										const real_t* const b,		/**< Right hand side vector. */
+										BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
+										BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
+										real_t* const a 			/**< Output: Solution vector */
+										);
+
+
+/** Determines step direction of the shift of the QP data.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemB_determineDataShift(	QProblemB* _THIS,
+											const real_t* const g_new,	/**< New gradient vector. */
+											const real_t* const lb_new,	/**< New lower bounds. */
+											const real_t* const ub_new,	/**< New upper bounds. */
+											real_t* const delta_g,	 	/**< Output: Step direction of gradient vector. */
+											real_t* const delta_lb,	 	/**< Output: Step direction of lower bounds. */
+											real_t* const delta_ub,	 	/**< Output: Step direction of upper bounds. */
+											BooleanType* Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */
+											);
+
+
+/** Sets up internal QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_setupQPdataM(	QProblemB* _THIS,
+									DenseMatrix *_H,	 		/**< Hessian matrix.*/
+									const real_t* const _g,		/**< Gradient vector. */
+									const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub		/**< Upper bounds (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									);
+
+/** Sets up internal QP data. If the current Hessian is trivial
+ *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemB_setupQPdata(	QProblemB* _THIS,
+									real_t* const _H, 			/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
+									const real_t* const _g,		/**< Gradient vector. */
+									const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub		/**< Upper bounds (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									);
+
+/** Sets up internal QP data by loading it from files. If the current Hessian
+ *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemB_setupQPdataFromFile(	QProblemB* _THIS,
+											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
+														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
+											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
+											);
+
+/** Loads new QP vectors from files (internal members are not affected!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_loadQPvectorsFromFile(	QProblemB* _THIS,
+												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
+												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
+												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
+												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
+												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
+												);
+
+
+/** Sets internal infeasibility flag and throws given error in case the far bound
+ *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
+ *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED_CYCLING \n
+			RET_ENSURELI_FAILED_NOINDEX */
+returnValue QProblemB_setInfeasibilityFlag(	QProblemB* _THIS,
+											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
+											BooleanType doThrowError	/**< Flag forcing to throw an error. */
+											);
+
+
+/** Determines if next QP iteration can be performed within given CPU time limit.
+ *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
+			BT_FALSE: Sufficient CPU time for next QP iteration. */
+BooleanType QProblemB_isCPUtimeLimitExceeded(	QProblemB* _THIS,
+												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
+												real_t starttime,				/**< Start time of current QP solution. */
+												int nWSR						/**< Number of working set recalculations performed so far. */
+												);
+
+
+/** Regularise Hessian matrix by adding a scaled identity matrix to it.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_ALREADY_REGULARISED */
+returnValue QProblemB_regulariseHessian( QProblemB* _THIS );
+
+
+/** Sets Hessian matrix of the QP.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblemB_setHM(	QProblemB* _THIS,
+											DenseMatrix* H_new	/**< New Hessian matrix. */
+											);
+
+/** Sets dense Hessian matrix of the QP.
+ *  If a null pointer is passed and
+ *  a) hessianType is HST_IDENTITY, nothing is done,
+ *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblemB_setH(	QProblemB* _THIS,
+											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
+											);
+
+/** Changes gradient vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblemB_setG(	QProblemB* _THIS,
+											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
+											);
+
+/** Changes lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblemB_setLB(	QProblemB* _THIS,
+											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblemB_setLBn(	QProblemB* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of lower bound vector. */
+											);
+
+/** Changes upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblemB_setUB(	QProblemB* _THIS,
+											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblemB_setUBn(	QProblemB* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of upper bound vector. */
+											);
+
+
+/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
+ *	\return SUCCESSFUL_RETURN */
+static inline void QProblemB_computeGivens(	real_t xold,	/**< Matrix entry to be normalised. */
+											real_t yold,	/**< Matrix entry to be annihilated. */
+											real_t* xnew,	/**< Output: Normalised matrix entry. */
+											real_t* ynew,	/**< Output: Annihilated matrix entry. */
+											real_t* c,		/**< Output: Cosine entry of Givens matrix. */
+											real_t* s 		/**< Output: Sine entry of Givens matrix. */
+											);
+
+/** Applies Givens matrix determined by c and s (cf. computeGivens).
+ *	\return SUCCESSFUL_RETURN */
+static inline void QProblemB_applyGivens(	real_t c,		/**< Cosine entry of Givens matrix. */
+											real_t s,		/**< Sine entry of Givens matrix. */
+											real_t nu, 		/**< Further factor: s/(1+c). */
+											real_t xold,	/**< Matrix entry to be transformed corresponding to
+															 *	 the normalised entry of the original matrix. */
+											real_t yold, 	/**< Matrix entry to be transformed corresponding to
+															 *	 the annihilated entry of the original matrix. */
+											real_t* xnew,	/**< Output: Transformed matrix entry corresponding to
+															 *	 the normalised entry of the original matrix. */
+											real_t* ynew	/**< Output: Transformed matrix entry corresponding to
+															 *	 the annihilated entry of the original matrix. */
+											);
+
+
+
+/** Compute relative length of homotopy in data space for termination
+ *  criterion.
+ *  \return Relative length in data space. */
+real_t QProblemB_getRelativeHomotopyLength(	QProblemB* _THIS,
+											const real_t* const g_new,	/**< Final gradient. */
+											const real_t* const lb_new,	/**< Final lower variable bounds. */
+											const real_t* const ub_new	/**< Final upper variable bounds. */
+											);
+
+/** Ramping Strategy to avoid ties. Modifies homotopy start without
+ *  changing current active set.
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblemB_performRamping( QProblemB* _THIS );
+
+
+/** ... */
+returnValue QProblemB_updateFarBounds(	QProblemB* _THIS,
+										real_t curFarBound,				/**< ... */
+										int nRamp,						/**< ... */
+										const real_t* const lb_new,		/**< ... */
+										real_t* const lb_new_far,		/**< ... */
+										const real_t* const ub_new,		/**< ... */
+										real_t* const ub_new_far		/**< ... */
+										);
+
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblemB_performRatioTestB(	QProblemB* _THIS,
+											int nIdx, 					/**< Number of ratios to be checked. */
+											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
+											Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
+											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
+											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
+											real_t epsNum,				/**< Numerator tolerance. */
+											real_t epsDen,				/**< Denominator tolerance. */
+											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
+											int* BC_idx 				/**< Output: Index of blocking constraint. */
+											);
+
+/** Checks whether given ratio is blocking, i.e. limits the maximum step length
+ *  along the homotopy path to a value lower than given one.
+ *	\return  SUCCESSFUL_RETURN */
+static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
+												real_t num,		/**< Numerator for performing the ratio test. */
+												real_t den,		/**< Denominator for performing the ratio test. */
+												real_t epsNum,	/**< Numerator tolerance. */
+												real_t epsDen,	/**< Denominator tolerance. */
+												real_t* t		/**< Input:  Current maximum step length along the homotopy path,
+																 *   Output: Updated maximum possible step length along the homotopy path. */
+												);
+
+
+/** Solves a QProblemB whose QP data is assumed to be stored in the member variables.
+ *  A guess for its primal/dual optimal solution vectors and the corresponding
+ *  optimal working set can be provided.
+ *  Note: This function is internally called by all init functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED */
+returnValue QProblemB_solveInitialQP(	QProblemB* _THIS,
+										const real_t* const xOpt,		/**< Optimal primal solution vector.*/
+										const real_t* const yOpt,		/**< Optimal dual solution vector. */
+										Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+										const real_t* const _R,			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
+										int* nWSR, 						/**< Input:  Maximum number of working set recalculations; \n
+														 				 *	 Output: Number of performed working set recalculations. */
+										real_t* const cputime			/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 				 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+										);
+
+/** Solves an initialised QProblemB using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_MAX_NWSR_REACHED \n
+			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblemB_solveQP(	QProblemB* _THIS,
+								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
+											 					 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
+											 					 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
+																 Output: Number of performed working set recalculations. */
+								real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
+																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
+																 this QP within previous solveQP() calls. This number is
+																 always zero, except for successive calls from solveRegularisedQP()
+																 or when using the far bound strategy. */
+								BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+								);
+
+
+/** Solves an initialised QProblemB using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_MAX_NWSR_REACHED \n
+			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblemB_solveRegularisedQP(	QProblemB* _THIS,
+											const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
+											const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
+													 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
+													 						 If no upper bounds exist, a NULL pointer can be passed. */
+											int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
+																			 Output: Number of performed working set recalculations. */
+											real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
+																			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+											int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
+																			 this QP within previous solveRegularisedQP() calls. This number is
+																			 always zero, except for successive calls when using the far bound strategy. */
+											BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+											);
+
+
+/** Sets up bound data structure according to auxiliaryBounds.
+ *  (If the working set shall be setup afresh, make sure that
+ *  bounds data structure has been resetted!)
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUP_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNOWN_BUG */
+returnValue QProblemB_setupAuxiliaryWorkingSet(	QProblemB* _THIS,
+												Bounds* const auxiliaryBounds,	/**< Working set for auxiliary QP. */
+												BooleanType setupAfresh			/**< Flag indicating if given working set shall be
+																				 *    setup afresh or by updating the current one. */
+												);
+
+/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemB_setupAuxiliaryQPsolution(	QProblemB* _THIS,
+												const real_t* const xOpt,	/**< Optimal primal solution vector.
+																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
+												const real_t* const yOpt	/**< Optimal dual solution vector.
+																			 *	 If a NULL pointer is passed, all entries are set to zero. */
+												);
+
+/** Sets up gradient of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS have already been (ialised!).
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemB_setupAuxiliaryQPgradient( QProblemB* _THIS );
+
+/** Sets up bounds of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS have already been initialised!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNKNOWN_BUG */
+returnValue QProblemB_setupAuxiliaryQPbounds(	QProblemB* _THIS,
+												BooleanType useRelaxation	/**< Flag indicating if inactive bounds shall be relaxed. */
+												);
+
+
+/** Updates QP vectors, working sets and internal data structures in order to
+	start from an optimal solution corresponding to initial guesses of the working
+	set for bounds
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblemB_setupAuxiliaryQP(	QProblemB* _THIS,
+										Bounds* const guessedBounds	/**< Initial guess for working set of bounds. */
+										);
+
+/** Determines step direction of the homotopy path.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_STEPDIRECTION_FAILED_CHOLESKY */
+returnValue QProblemB_determineStepDirection(	QProblemB* _THIS,
+												const real_t* const delta_g,	/**< Step direction of gradient vector. */
+												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
+												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
+												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
+												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
+												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
+												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
+												);
+
+/** Determines the maximum possible step length along the homotopy path
+ *  and performs _THIS step (without changing working set).
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QP_INFEASIBLE \n
+ */
+returnValue QProblemB_performStep(	QProblemB* _THIS,
+									const real_t* const delta_g,	/**< Step direction of gradient. */
+									const real_t* const delta_lb,	/**< Step direction of lower bounds. */
+									const real_t* const delta_ub,	/**< Step direction of upper bounds. */
+									const real_t* const delta_xFX, 	/**< Primal homotopy step direction of fixed variables. */
+									const real_t* const delta_xFR,	/**< Primal homotopy step direction of free variables. */
+									const real_t* const delta_yFX,	/**< Dual homotopy step direction of fixed variables' multiplier. */
+									int* BC_idx, 					/**< Output: Index of blocking constraint. */
+									SubjectToStatus* BC_status		/**< Output: Status of blocking constraint. */
+									);
+
+/** Updates active set.
+ *	\return  SUCCESSFUL_RETURN \n
+ 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
+			 RET_ADD_TO_ACTIVESET_FAILED */
+returnValue QProblemB_changeActiveSet(	QProblemB* _THIS,
+										int BC_idx, 				/**< Index of blocking constraint. */
+										SubjectToStatus BC_status 	/**< Status of blocking constraint. */
+										);
+
+/** Drift correction at end of each active set iteration
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblemB_performDriftCorrection( QProblemB* _THIS );
+
+/** Determines if it is more efficient to refactorise the matrices when
+ *  hotstarting or not (i.e. better to update the existing factorisations).
+ *	\return BT_TRUE iff matrices shall be refactorised afresh
+ */
+BooleanType QProblemB_shallRefactorise(	QProblemB* _THIS,
+										Bounds* const guessedBounds	/**< Guessed new working set. */
+										);
+
+
+/** Adds a bound to active set (specialised version for the case where no constraints exist).
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDBOUND_FAILED */
+returnValue QProblemB_addBound(	QProblemB* _THIS,
+								int number,					/**< Number of bound to be added to active set. */
+								SubjectToStatus B_status,	/**< Status of new active bound. */
+								BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
+								);
+
+/** Removes a bounds from active set (specialised version for the case where no constraints exist).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_NOT_SPD \n
+			RET_REMOVEBOUND_FAILED */
+returnValue QProblemB_removeBound(	QProblemB* _THIS,
+									int number,					/**< Number of bound to be removed from active set. */
+									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
+									);
+
+
+/** Prints concise information on the current iteration.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblemB_printIteration(	QProblemB* _THIS,
+										int iter,					/**< Number of current iteration. */
+										int BC_idx, 				/**< Index of blocking bound. */
+										SubjectToStatus BC_status,	/**< Status of blocking bound. */
+										real_t homotopyLength,		/**< Current homotopy distance. */
+										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+										);
+
+
+
+/*
+ *	g e t B o u n d s
+ */
+static inline returnValue QProblemB_getBounds( QProblemB* _THIS, Bounds* _bounds )
+{
+	int nV = QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	_bounds = _THIS->bounds;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N V
+ */
+static inline int QProblemB_getNV( QProblemB* _THIS )
+{
+	return Bounds_getNV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F R
+ */
+static inline int QProblemB_getNFR( QProblemB* _THIS )
+{
+	return Bounds_getNFR( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F X
+ */
+static inline int QProblemB_getNFX( QProblemB* _THIS )
+{
+	return Bounds_getNFX( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F V
+ */
+static inline int QProblemB_getNFV( QProblemB* _THIS )
+{
+	return Bounds_getNFV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS )
+{
+	return _THIS->status;
+}
+
+
+/*
+ *	i s I n i t i a l i s e d
+ */
+static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS )
+{
+	if ( _THIS->status == QPS_NOTINITIALISED )
+		return BT_FALSE;
+	else
+		return BT_TRUE;
+}
+
+
+/*
+ *	i s S o l v e d
+ */
+static inline BooleanType QProblemB_isSolved( QProblemB* _THIS )
+{
+	if ( _THIS->status == QPS_SOLVED )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	i s I n f e a s i b l e
+ */
+static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS )
+{
+	return _THIS->infeasible;
+}
+
+
+/*
+ *	i s U n b o u n d e d
+ */
+static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS )
+{
+	return _THIS->unbounded;
+}
+
+
+/*
+ *	g e t H e s s i a n T y p e
+ */
+static inline HessianType QProblemB_getHessianType( QProblemB* _THIS )
+{
+	return _THIS->hessianType;
+}
+
+
+/*
+ *	s e t H e s s i a n T y p e
+ */
+static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, HessianType _hessianType )
+{
+	_THIS->hessianType = _hessianType;
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	u s i n g R e g u l a r i s a t i o n
+ */
+static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS )
+{
+	if ( _THIS->regVal > QPOASES_ZERO )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	g e t O p t i o n s
+ */
+static inline Options QProblemB_getOptions( QProblemB* _THIS )
+{
+	return _THIS->options;
+}
+
+
+/*
+ *	s e t O p t i o n s
+ */
+static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
+												Options _options
+												)
+{
+	OptionsCPY( &_options,&(_THIS->options) );
+	Options_ensureConsistency( &(_THIS->options) );
+
+	QProblemB_setPrintLevel( _THIS,_THIS->options.printLevel );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t P r i n t L e v e l
+ */
+static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS )
+{
+	return _THIS->options.printLevel;
+}
+
+
+
+/*
+ *	g e t C o u n t
+ */
+static inline unsigned int QProblemB_getCount( QProblemB* _THIS )
+{
+	return _THIS->count;
+}
+
+
+/*
+ *	r e s e t C o u n t e r
+ */
+static inline returnValue QProblemB_resetCounter( QProblemB* _THIS )
+{
+	_THIS->count = 0;
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblemB_setHM( QProblemB* _THIS, DenseMatrix* H_new )
+{
+	if ( H_new == 0 )
+		return QProblemB_setH( _THIS,(real_t*)0 );
+	else
+		return QProblemB_setH( _THIS,DenseMatrix_getVal(H_new) );
+}
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblemB_setH( QProblemB* _THIS, real_t* const H_new )
+{
+	/* if null pointer is passed, Hessian is set to zero matrix
+	 *                            (or stays identity matrix) */
+	if ( H_new == 0 )
+	{
+		if ( _THIS->hessianType == HST_IDENTITY )
+			return SUCCESSFUL_RETURN;
+
+		_THIS->hessianType = HST_ZERO;
+
+		_THIS->H = 0;
+	}
+	else
+	{
+		DenseMatrixCON( _THIS->H,QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),H_new );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t G
+ */
+static inline returnValue QProblemB_setG( QProblemB* _THIS, const real_t* const g_new )
+{
+	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( g_new == 0 )
+		return THROWERROR( RET_INVALID_ARGUMENTS );
+
+	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblemB_setLB( QProblemB* _THIS, const real_t* const lb_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( lb_new != 0 )
+	{
+		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no lower bounds are specified, set them to -infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->lb[i] = -QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblemB_setLBn( QProblemB* _THIS, int number, real_t value )
+{
+	int nV = QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->lb[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblemB_setUB( QProblemB* _THIS, const real_t* const ub_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ub_new != 0 )
+	{
+		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no upper bounds are specified, set them to infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->ub[i] = QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblemB_setUBn( QProblemB* _THIS, int number, real_t value )
+{
+	int nV = QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->ub[number] = value;
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	c o m p u t e G i v e n s
+ */
+static inline void QProblemB_computeGivens(	real_t xold, real_t yold,
+											real_t* xnew, real_t* ynew, real_t* c, real_t* s
+											)
+{
+	real_t t, mu;
+
+	if ( fabs( yold ) <= QPOASES_ZERO )
+	{
+		*c = 1.0;
+		*s = 0.0;
+
+		*xnew = xold;
+		*ynew = yold;
+	}
+	else
+	{
+		mu = fabs( xold );
+		if ( fabs( yold ) > mu )
+			mu = fabs( yold );
+
+		t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
+
+		if ( xold < 0.0 )
+		t = -t;
+
+		*c = xold/t;
+		*s = yold/t;
+		*xnew = t;
+		*ynew = 0.0;
+	}
+
+	return;
+}
+
+
+/*
+ *	a p p l y G i v e n s
+ */
+static inline void QProblemB_applyGivens(	real_t c, real_t s, real_t nu, real_t xold, real_t yold,
+											real_t* xnew, real_t* ynew
+											)
+{
+	#ifdef __USE_THREE_MULTS_GIVENS__
+
+	/* Givens plane rotation requiring only three multiplications,
+	 * cf. Hammarling, S.: A note on modifications to the givens plane rotation.
+	 * J. Inst. Maths Applics, 13:215-218, 1974. */
+	*xnew = xold*c + yold*s;
+	*ynew = (*xnew+xold)*nu - yold;
+
+	#else
+
+	/* Usual Givens plane rotation requiring four multiplications. */
+	*xnew =  c*xold + s*yold;
+	*ynew = -s*xold + c*yold;
+
+	#endif
+
+	return;
+}
+
+
+/*
+ * i s B l o c k i n g
+ */
+static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
+												real_t num,
+												real_t den,
+												real_t epsNum,
+												real_t epsDen,
+												real_t* t
+												)
+{
+	if ( ( den >= epsDen ) && ( num >= epsNum ) )
+	{
+		if ( num < (*t)*den )
+			return BT_TRUE;
+	}
+
+	return BT_FALSE;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_QPROBLEMB_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h
new file mode 100644
index 00000000000000..1e452097f8536d
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Types.h
@@ -0,0 +1,310 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Types.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of all non-built-in types (except for classes).
+ */
+
+
+#ifndef QPOASES_TYPES_H
+#define QPOASES_TYPES_H
+
+#ifdef USE_ACADOS_TYPES
+#include "acados/utils/types.h"
+#endif
+
+/* If your compiler does not support the snprintf() function,
+ * uncomment the following line and try to compile again. */
+/* #define __NO_SNPRINTF__ */
+
+
+/* Uncomment the following line for setting the __DSPACE__ flag. */
+/* #define __DSPACE__ */
+
+/* Uncomment the following line for setting the __XPCTARGET__ flag. */
+/* #define __XPCTARGET__ */
+
+
+/* Uncomment the following line for setting the __NO_FMATH__ flag. */
+/* #define __NO_FMATH__ */
+
+/* Uncomment the following line to enable debug information. */
+/* #define __DEBUG__ */
+
+/* Uncomment the following line to enable suppress any kind of console output. */
+/* #define __SUPPRESSANYOUTPUT__ */
+
+
+/** Forces to always include all implicitly fixed bounds and all equality constraints
+ *  into the initial working set when setting up an auxiliary QP. */
+#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
+
+/* Uncomment the following line to activate the use of an alternative Givens
+ * plane rotation requiring only three multiplications. */
+/* #define __USE_THREE_MULTS_GIVENS__ */
+
+/* Uncomment the following line to activate the use of single precision arithmetic. */
+/* #define __USE_SINGLE_PRECISION__ */
+
+/* The inline keyword is skipped by default as it is not part of the C90 standard.
+ * However, by uncommenting the following line, use of the inline keyword can be enforced. */
+/* #define __USE_INLINE__ */
+
+
+/* Work-around for Borland BCC 5.5 compiler. */
+#ifdef __BORLANDC__
+#if __BORLANDC__ < 0x0561
+  #define __STDC__ 1
+#endif
+#endif
+
+
+/* Work-around for Microsoft compilers. */
+#ifdef _MSC_VER
+  #define __NO_SNPRINTF__
+  #pragma warning( disable : 4061 4100 4250 4514 4996 )
+#endif
+
+
+/* Apply pre-processor settings when using qpOASES within auto-generated code. */
+#ifdef __CODE_GENERATION__
+  #define __NO_COPYRIGHT__
+  #define __EXTERNAL_DIMENSIONS__
+#endif /* __CODE_GENERATION__ */
+
+
+/* Avoid using static variables declaration within functions. */
+#ifdef __NO_STATIC__
+  #define myStatic
+#else
+  #define myStatic static
+#endif /* __NO_STATIC__ */
+
+
+/* Skip inline keyword if not specified otherwise. */
+#ifndef __USE_INLINE__
+  #define inline
+#endif
+
+
+/* Avoid any printing on embedded platforms. */
+#if defined(__DSPACE__) || defined(__XPCTARGET__)
+  #define __SUPPRESSANYOUTPUT__
+  #define __NO_SNPRINTF__
+#endif
+
+
+#ifdef __NO_SNPRINTF__
+  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
+    /* If snprintf is not available, provide an empty implementation... */
+    int snprintf( char* s, size_t n, const char* format, ... );
+  #else
+	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
+    #define snprintf _snprintf
+  #endif
+#endif /* __NO_SNPRINTF__ */
+
+
+/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
+#define BEGIN_NAMESPACE_QPOASES
+
+/** Macro for switching on/off the end of the qpOASES namespace definition. */
+#define END_NAMESPACE_QPOASES
+
+/** Macro for switching on/off the use of the qpOASES namespace. */
+#define USING_NAMESPACE_QPOASES
+
+/** Macro for switching on/off references to the qpOASES namespace. */
+#define REFER_NAMESPACE_QPOASES /*::*/
+
+
+/** Macro for accessing the Cholesky factor R. */
+#define RR( I,J )  _THIS->R[(I)+nV*(J)]
+
+/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
+#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
+
+/** Macro for accessing the triangular matrix T of the QT factorisation. */
+#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
+
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** Defines real_t for facilitating switching between double and float. */
+
+#ifndef USE_ACADOS_TYPES
+#ifndef __CODE_GENERATION__
+
+  #ifdef __USE_SINGLE_PRECISION__
+  typedef float real_t;
+  #else
+  typedef double real_t;
+  #endif /* __USE_SINGLE_PRECISION__ */
+
+#endif /* __CODE_GENERATION__ */
+#endif /* USE_ACADOS_TYPES */
+
+/** Summarises all possible logical values. */
+typedef enum
+{
+	BT_FALSE = 0,				/**< Logical value for "false". */
+	BT_TRUE						/**< Logical value for "true". */
+} BooleanType;
+
+
+/** Summarises all possible print levels. Print levels are used to describe
+ *	the desired amount of output during runtime of qpOASES. */
+typedef enum
+{
+	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
+	PL_TABULAR,					/**< Tabular output. */
+	PL_NONE,					/**< No output. */
+	PL_LOW,						/**< Print error messages only. */
+	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
+	PL_HIGH						/**< Print all messages with full details. */
+} PrintLevel;
+
+
+/** Defines visibility status of a message. */
+typedef enum
+{
+	VS_HIDDEN,					/**< Message not visible. */
+	VS_VISIBLE					/**< Message visible. */
+} VisibilityStatus;
+
+
+/** Summarises all possible states of the (S)QProblem(B) object during the
+solution process of a QP sequence. */
+typedef enum
+{
+	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
+	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
+								 *   set strategy is performed. */
+	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
+	QPS_SOLVED					/**< The solution of the actual QP was found. */
+} QProblemStatus;
+
+
+/** Summarises all possible types of the QP's Hessian matrix. */
+typedef enum
+{
+	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
+	HST_IDENTITY,			/**< Hessian is identity matrix. */
+	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
+	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
+	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
+	HST_INDEF,				/**< Hessian is indefinite. */
+	HST_UNKNOWN				/**< Hessian type is unknown. */
+} HessianType;
+
+
+/** Summarises all possible types of bounds and constraints. */
+typedef enum
+{
+	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
+	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
+	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
+	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
+	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
+} SubjectToType;
+
+
+/** Summarises all possible states of bounds and constraints. */
+typedef enum
+{
+	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
+	ST_INACTIVE,			/**< Bound/constraint is inactive. */
+	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
+	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
+	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
+	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
+} SubjectToStatus;
+
+
+/**
+ *	\brief Stores internal information for tabular (debugging) output.
+ *
+ *	Struct storing internal information for tabular (debugging) output
+ *	when using the (S)QProblem(B) objects.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2013-2015
+ */
+typedef struct
+{
+	int idxAddB;		/**< Index of bound that has been added to working set. */
+	int idxRemB;		/**< Index of bound that has been removed from working set. */
+	int idxAddC;		/**< Index of constraint that has been added to working set. */
+	int idxRemC;		/**< Index of constraint that has been removed from working set. */
+	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
+	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
+	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
+	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
+} TabularOutput;
+
+/**
+ *	\brief Struct containing the variable header for mat file.
+ *
+ *	Struct storing the header of a variable to be stored in
+ *	Matlab's binary format (using the outdated Level 4 variant
+ *  for simplictiy).
+ *
+ *  Note, this code snippet has been inspired from the document
+ *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2013-2015
+ */
+typedef struct
+{
+	long numericFormat;		/**< Flag indicating numerical format. */
+	long nRows;				/**< Number of rows. */
+	long nCols;				/**< Number of rows. */
+	long imaginaryPart;		/**< (to be documented) */
+	long nCharName;			/**< Number of character in name. */
+} MatMatrixHeader;
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_TYPES_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h
new file mode 100644
index 00000000000000..3fb31129a5752d
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/UnitTesting.h
@@ -0,0 +1,79 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/UnitTesting.h
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2014-2015
+ *
+ *	Definition of auxiliary functions/macros for unit testing.
+ */
+
+
+#ifndef QPOASES_UNIT_TESTING_H
+#define QPOASES_UNIT_TESTING_H
+
+
+#ifndef TEST_TOL_FACTOR
+#define TEST_TOL_FACTOR 1
+#endif
+
+
+/** Return value for tests that passed. */
+#define TEST_PASSED 0
+
+/** Return value for tests that failed. */
+#define TEST_FAILED 1
+
+/** Return value for tests that could not run due to missing external data. */
+#define TEST_DATA_NOT_FOUND 99
+
+
+/** Macro verifying that two numerical values are equal in order to pass unit test. */
+#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
+
+/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
+#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
+
+/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
+#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
+
+/** Macro verifying that a logical expression holds in order to pass unit test. */
+#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
+
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_UNIT_TESTING_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Utils.h b/third_party/acados/include/qpOASES_e/Utils.h
new file mode 100644
index 00000000000000..75e45a56a08c55
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Utils.h
@@ -0,0 +1,500 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Utils.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of some utilities for working with the different QProblem classes.
+ */
+
+
+#ifndef QPOASES_UTILS_H
+#define QPOASES_UTILS_H
+
+#include <qpOASES_e/MessageHandling.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** Prints a vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printV(	const real_t* const v,	/**< Vector to be printed. */
+							int n					/**< Length of vector. */
+							);
+
+/** Prints a permuted vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printPV(	const real_t* const v,		/**< Vector to be printed. */
+								int n,						/**< Length of vector. */
+								const int* const V_idx		/**< Pemutation vector. */
+								);
+
+/** Prints a named vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printNV(	const real_t* const v,	/**< Vector to be printed. */
+								int n,					/**< Length of vector. */
+								const char* name		/** Name of vector. */
+								);
+
+/** Prints a matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printM(	const real_t* const M,	/**< Matrix to be printed. */
+							int nrow,				/**< Row number of matrix. */
+							int ncol				/**< Column number of matrix. */
+							);
+
+/** Prints a permuted matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printPM(	const real_t* const M,		/**< Matrix to be printed. */
+								int nrow,					/**< Row number of matrix. */
+								int ncol	,				/**< Column number of matrix. */
+								const int* const ROW_idx,	/**< Row pemutation vector. */
+								const int* const COL_idx	/**< Column pemutation vector. */
+								);
+
+/** Prints a named matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printNM(	const real_t* const M,	/**< Matrix to be printed. */
+								int nrow,				/**< Row number of matrix. */
+								int ncol,				/**< Column number of matrix. */
+								const char* name		/** Name of matrix. */
+								);
+
+/** Prints an index array.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printI(	const int* const _index,	/**< Index array to be printed. */
+							int n						/**< Length of index array. */
+							);
+
+/** Prints a named index array.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printNI(	const int* const _index,	/**< Index array to be printed. */
+								int n,						/**< Length of index array. */
+								const char* name			/**< Name of index array. */
+								);
+
+
+/** Prints a string to desired output target (useful also for MATLAB output!).
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_myPrintf(	const char* s	/**< String to be written. */
+								);
+
+
+/** Prints qpOASES copyright notice.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printCopyrightNotice( );
+
+
+/** Reads a real_t matrix from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue qpOASES_readFromFileM(	real_t* data,				/**< Matrix to be read from file. */
+									int nrow,					/**< Row number of matrix. */
+									int ncol,					/**< Column number of matrix. */
+									const char* datafilename	/**< Data file name. */
+									);
+
+/** Reads a real_t vector from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue qpOASES_readFromFileV(	real_t* data,				/**< Vector to be read from file. */
+									int n,						/**< Length of vector. */
+									const char* datafilename	/**< Data file name. */
+									);
+
+/** Reads an integer (column) vector from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue qpOASES_readFromFileI(	int* data,					/**< Vector to be read from file. */
+									int n,						/**< Length of vector. */
+									const char* datafilename	/**< Data file name. */
+									);
+
+
+/** Writes a real_t matrix into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE  */
+returnValue qpOASES_writeIntoFileM(	const real_t* const data,	/**< Matrix to be written into file. */
+									int nrow,					/**< Row number of matrix. */
+									int ncol,					/**< Column number of matrix. */
+									const char* datafilename,	/**< Data file name. */
+									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
+									);
+
+/** Writes a real_t vector into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE  */
+returnValue qpOASES_writeIntoFileV(	const real_t* const data,	/**< Vector to be written into file. */
+									int n,						/**< Length of vector. */
+									const char* datafilename,	/**< Data file name. */
+									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
+									);
+
+/** Writes an integer (column) vector into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE */
+returnValue qpOASES_writeIntoFileI(	const int* const integer,	/**< Integer vector to be written into file. */
+									int n,						/**< Length of vector. */
+									const char* datafilename,	/**< Data file name. */
+									BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
+									);
+
+/** Writes a real_t matrix/vector into a Matlab binary file.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INVALID_ARGUMENTS
+ 		   RET_UNABLE_TO_WRITE_FILE */
+returnValue qpOASES_writeIntoMatFile(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
+										const real_t* const data,	/**< Data to be written into file. */
+										int nRows,					/**< Row number of matrix. */
+										int nCols, 					/**< Column number of matrix. */
+										const char* name			/**< Matlab name of matrix/vector to be stored. */
+ 										);
+
+/** Writes in integer matrix/vector into a Matlab binary file.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INVALID_ARGUMENTS
+ 		   RET_UNABLE_TO_WRITE_FILE */
+returnValue qpOASES_writeIntoMatFileI(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
+										const int* const data,		/**< Data to be written into file. */
+										int nRows,					/**< Row number of matrix. */
+										int nCols,					/**< Column number of matrix. */
+										const char* name			/**< Matlab name of matrix/vector to be stored. */
+ 										);
+
+
+/** Returns the current system time.
+ * \return current system time */
+real_t qpOASES_getCPUtime( );
+
+
+/** Returns the N-norm of a vector.
+ * \return >= 0.0: successful */
+real_t qpOASES_getNorm(	const real_t* const v,	/**< Vector. */
+						int n,					/**< Vector's dimension. */
+						int type				/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+						);
+
+/** Tests whether two real-valued arguments are (numerically) equal.
+ * \return	BT_TRUE:  arguments differ not more than TOL \n
+		 	BT_FALSE: arguments differ more than TOL */
+static inline BooleanType qpOASES_isEqual(	real_t x,	/**< First real number. */
+											real_t y,	/**< Second real number. */
+											real_t TOL	/**< Tolerance for comparison. */
+											);
+
+
+/** Tests whether a real-valued argument is (numerically) zero.
+ * \return	BT_TRUE:  argument differs from 0.0 not more than TOL \n
+		 	BT_FALSE: argument differs from 0.0 more than TOL */
+static inline BooleanType qpOASES_isZero(	real_t x,			/**< Real number. */
+											real_t TOL			/**< Tolerance for comparison. */
+											);
+
+
+/** Returns sign of a real-valued argument.
+ * \return	 1.0: argument is non-negative \n
+		 	-1.0: argument is negative */
+static inline real_t qpOASES_getSign(	real_t arg	/**< real-valued argument whose sign is to be determined. */
+										);
+
+
+/** Returns maximum of two integers.
+ * \return	Maximum of two integers */
+static inline int qpOASES_getMaxI(	int x,	/**< First integer. */
+									int y	/**< Second integer. */
+									);
+
+
+/** Returns minimum of two integers.
+ * \return	Minimum of two integers */
+static inline int qpOASES_getMinI(	int x,	/**< First integer. */
+									int y	/**< Second integer. */
+									);
+
+
+/** Returns maximum of two reals.
+ * \return	Maximum of two reals */
+static inline real_t qpOASES_getMax(	real_t x,	/**< First real number. */
+										real_t y	/**< Second real number. */
+										);
+
+
+/** Returns minimum of two reals.
+ * \return	Minimum of two reals */
+static inline real_t qpOASES_getMin(	real_t x,	/**< First real number. */
+										real_t y	/**< Second real number. */
+										);
+
+
+/** Returns the absolute value of a real_t-valued argument.
+ * \return	Absolute value of a real_t-valued argument */
+static inline real_t qpOASES_getAbs(	real_t x	/**< real_t-valued argument. */
+										);
+
+/** Returns the square-root of a real number.
+ * \return	Square-root of a real number */
+static inline real_t qpOASES_getSqrt(	real_t x	/**< Non-negative real number. */
+										);
+
+
+/** Computes the maximum violation of the KKT optimality conditions
+ *	of given iterate for given QP data. */
+returnValue qpOASES_getKktViolation(	int nV,						/**< Number of variables. */
+										int nC,						/**< Number of constraints. */
+										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
+										const real_t* const g,		/**< Gradient vector. */
+										const real_t* const A,		/**< Constraint matrix. */
+										const real_t* const lb,		/**< Lower bound vector (on variables). */
+										const real_t* const ub,		/**< Upper bound vector (on variables). */
+										const real_t* const lbA,	/**< Lower constraints' bound vector. */
+										const real_t* const ubA,	/**< Upper constraints' bound vector. */
+										const real_t* const x,		/**< Primal trial vector. */
+										const real_t* const y,		/**< Dual trial vector. */
+										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
+										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
+										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
+										);
+
+/** Computes the maximum violation of the KKT optimality conditions
+ *	of given iterate for given QP data. */
+returnValue qpOASES_getKktViolationSB(	int nV,						/**< Number of variables. */
+										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
+										const real_t* const g,		/**< Gradient vector. */
+										const real_t* const lb,		/**< Lower bound vector (on variables). */
+										const real_t* const ub,		/**< Upper bound vector (on variables). */
+										const real_t* const x,		/**< Primal trial vector. */
+										const real_t* const y,		/**< Dual trial vector. */
+										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
+										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
+										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
+										);
+
+
+/** Writes a value of BooleanType into a string.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_convertBooleanTypeToString(	BooleanType value, 		/**< Value to be written. */
+												char* const string		/**< Input: String of sufficient size, \n
+																			Output: String containing value. */
+												);
+
+/** Writes a value of SubjectToStatus into a string.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_convertSubjectToStatusToString(	SubjectToStatus value,	/**< Value to be written. */
+													char* const string		/**< Input: String of sufficient size, \n
+																				Output: String containing value. */
+													);
+
+/** Writes a value of PrintLevel into a string.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_convertPrintLevelToString(	PrintLevel value, 		/**< Value to be written. */
+												char* const string		/**< Input: String of sufficient size, \n
+																			Output: String containing value. */
+												);
+
+
+/** Converts a returnValue from an QProblem(B) object into a more 
+ *	simple status flag.
+ *
+ * \return  0: QP problem solved
+ *          1: QP could not be solved within given number of iterations
+ *         -1: QP could not be solved due to an internal error
+ *         -2: QP is infeasible (and thus could not be solved)
+ *         -3: QP is unbounded (and thus could not be solved)
+ */
+int qpOASES_getSimpleStatus(	returnValue returnvalue, 	/**< ReturnValue to be analysed. */
+								BooleanType doPrintStatus	/**< Flag indicating whether simple status shall be printed to screen. */
+								);
+
+/** Normalises QP constraints.
+ * \return SUCCESSFUL_RETURN \n
+ *		   RET_INVALID_ARGUMENTS */
+returnValue qpOASES_normaliseConstraints(	int nV,			/**< Number of variables. */
+											int nC, 		/**< Number of constraints. */
+											real_t* A,		/**< Input:  Constraint matrix, \n
+																 Output: Normalised constraint matrix. */
+											real_t* lbA,	/**< Input:  Constraints' lower bound vector, \n
+																 Output: Normalised constraints' lower bound vector. */
+											real_t* ubA,	/**< Input:  Constraints' upper bound vector, \n
+																 Output: Normalised constraints' upper bound vector. */
+											int type		/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+											);
+
+
+#ifdef __DEBUG__
+/** Writes matrix with given dimension into specified file. */
+void gdb_printmat(	const char *fname,			/**< File name. */
+					real_t *M,					/**< Matrix to be written. */
+					int n,						/**< Number of rows. */
+					int m,						/**< Number of columns. */
+					int ldim					/**< Leading dimension. */
+					);
+#endif /* __DEBUG__ */
+
+
+#if defined(__DSPACE__) || defined(__XPCTARGET__) 
+void __cxa_pure_virtual( void );
+#endif /* __DSPACE__ || __XPCTARGET__*/ 
+
+
+
+/*
+ *   i s E q u a l
+ */
+static inline BooleanType qpOASES_isEqual(	real_t x,
+											real_t y,
+											real_t TOL
+											)
+{
+    if ( qpOASES_getAbs(x-y) <= TOL )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *   i s Z e r o
+ */
+static inline BooleanType qpOASES_isZero(	real_t x,
+											real_t TOL
+											)
+{
+    if ( qpOASES_getAbs(x) <= TOL )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *   g e t S i g n
+ */
+static inline real_t qpOASES_getSign(	real_t arg
+										)
+{
+	if ( arg >= 0.0 )
+		return 1.0;
+	else
+		return -1.0;
+}
+
+
+
+/*
+ *   g e t M a x
+ */
+static inline int qpOASES_getMaxI(	int x,
+									int y
+									)
+{
+    return (y<x) ? x : y;
+}
+
+
+/*
+ *   g e t M i n
+ */
+static inline int qpOASES_getMinI(	int x,
+									int y
+									)
+{
+    return (y>x) ? x : y;
+}
+
+
+/*
+ *   g e t M a x
+ */
+static inline real_t qpOASES_getMax(	real_t x,
+										real_t y
+										)
+{
+	#ifdef __NO_FMATH__
+    return (y<x) ? x : y;
+	#else
+	return (y<x) ? x : y;
+	/*return fmax(x,y); seems to be slower */
+	#endif
+}
+
+
+/*
+ *   g e t M i n
+ */
+static inline real_t qpOASES_getMin(	real_t x,
+										real_t y
+										)
+{
+	#ifdef __NO_FMATH__
+    return (y>x) ? x : y;
+	#else
+	return (y>x) ? x : y;
+	/*return fmin(x,y); seems to be slower */
+	#endif
+}
+
+
+/*
+ *   g e t A b s
+ */
+static inline real_t qpOASES_getAbs(	real_t x
+										)
+{
+	#ifdef __NO_FMATH__
+	return (x>=0.0) ? x : -x;
+	#else
+	return fabs(x);
+	#endif
+}
+
+/*
+ *   g e t S q r t
+ */
+static inline real_t qpOASES_getSqrt(	real_t x
+										)
+{
+    #ifdef __NO_FMATH__
+	return sqrt(x); /* put your custom sqrt-replacement here */
+	#else
+	return sqrt(x);
+	#endif
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_UTILS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
new file mode 100644
index 00000000000000..da59ea9db6483f
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
@@ -0,0 +1,227 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/extras/OQPinterface.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of an interface comprising several utility functions
+ *	for solving test problems from the Online QP Benchmark Collection
+ *	(This collection is no longer maintained, see
+ *	http://www.qpOASES.org/onlineQP for a backup).
+ */
+
+
+#ifndef QPOASES_OQPINTERFACE_H
+#define QPOASES_OQPINTERFACE_H
+
+
+#include <qpOASES_e/Utils.h>
+#include <qpOASES_e/Options.h>
+
+#include <qpOASES_e/QProblemB.h>
+#include <qpOASES_e/QProblem.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+typedef struct {
+	QProblem *qp;
+
+	DenseMatrix *H;
+	DenseMatrix *A;
+
+	real_t *x;
+	real_t *y;
+} OQPbenchmark_ws;
+
+int OQPbenchmark_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *OQPbenchmark_ws_assignMemory( unsigned int nV, unsigned int nC, OQPbenchmark_ws **mem, void *raw_memory );
+
+OQPbenchmark_ws *OQPbenchmark_ws_createMemory( unsigned int nV, unsigned int nC );
+
+typedef struct {
+	QProblemB *qp;
+
+	DenseMatrix *H;
+
+	real_t *x;
+	real_t *y;
+} OQPbenchmarkB_ws;
+
+int OQPbenchmarkB_ws_calculateMemorySize( unsigned int nV );
+
+char *OQPbenchmarkB_ws_assignMemory( unsigned int nV, OQPbenchmarkB_ws **mem, void *raw_memory );
+
+OQPbenchmarkB_ws *OQPbenchmarkB_ws_createMemory( unsigned int nV );
+
+typedef struct {
+	OQPbenchmark_ws *qp_ws;
+	OQPbenchmarkB_ws *qpB_ws;
+
+	real_t *H;
+	real_t *g;
+	real_t *A;
+	real_t *lb;
+	real_t *ub;
+	real_t *lbA;
+	real_t *ubA;
+} OQPinterface_ws;
+
+int OQPinterface_ws_calculateMemorySize( unsigned int nV, unsigned int nC, unsigned int nQP  );
+
+char *OQPinterface_ws_assignMemory( unsigned int nV, unsigned int nC, unsigned int nQP, OQPinterface_ws **mem, void *raw_memory );
+
+OQPinterface_ws *OQPinterface_ws_createMemory( unsigned int nV, unsigned int nC, unsigned int nQP );
+
+/** Reads dimensions of an Online QP Benchmark problem from file.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_UNABLE_TO_READ_FILE \n
+		   RET_FILEDATA_INCONSISTENT */
+returnValue readOQPdimensions(	const char* path,	/**< Full path of the data files (without trailing slash!). */
+								int* nQP,			/**< Output: Number of QPs. */
+								int* nV,			/**< Output: Number of variables. */
+								int* nC,			/**< Output: Number of constraints. */
+								int* nEC			/**< Output: Number of equality constraints. */
+								);
+
+/** Reads data of an Online QP Benchmark problem from file.
+ *  This function allocates the required memory for all data; after successfully calling it,
+ *  you have to free this memory yourself!
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INVALID_ARGUMENTS \n
+		   RET_UNABLE_TO_READ_FILE \n
+		   RET_FILEDATA_INCONSISTENT */
+returnValue readOQPdata(	const char* path,	/**< Full path of the data files (without trailing slash!). */
+							int* nQP,			/**< Output: Number of QPs. */
+							int* nV,			/**< Output: Number of variables. */
+							int* nC,			/**< Output: Number of constraints. */
+							int* nEC,			/**< Output: Number of equality constraints. */
+							real_t* H,		 	/**< Output: Hessian matrix. */
+							real_t* g,		 	/**< Output: Sequence of gradient vectors. */
+							real_t* A,		 	/**< Output: Constraint matrix. */
+							real_t* lb,			/**< Output: Sequence of lower bound vectors (on variables). */
+							real_t* ub,			/**< Output: Sequence of upper bound vectors (on variables). */
+							real_t* lbA,		/**< Output: Sequence of lower constraints' bound vectors. */
+							real_t* ubA,		/**< Output: Sequence of upper constraints' bound vectors. */
+							real_t* xOpt,		/**< Output: Sequence of primal solution vectors
+												 *           (not read if a null pointer is passed). */
+							real_t* yOpt,		/**< Output: Sequence of dual solution vectors
+												 *           (not read if a null pointer is passed). */
+							real_t* objOpt		/**< Output: Sequence of optimal objective function values
+												 *           (not read if a null pointer is passed). */
+							);
+
+
+/** Solves an Online QP Benchmark problem as specified by the arguments.
+ *  The maximum deviations from the given optimal solution as well as the
+ *  maximum CPU time to solve each QP are determined.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_BENCHMARK_ABORTED */
+returnValue solveOQPbenchmark(	int nQP,					/**< Number of QPs. */
+								int nV,						/**< Number of variables. */
+								int nC,						/**< Number of constraints. */
+								int nEC,					/**< Number of equality constraints. */
+								real_t* _H,					/**< Hessian matrix. */
+								const real_t* const g,		/**< Sequence of gradient vectors. */
+								real_t* _A,					/**< Constraint matrix. */
+								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
+								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
+								const real_t* const lbA,	/**< Sequence of lower constraints' bound vectors. */
+								const real_t* const ubA,	/**< Sequence of upper constraints' bound vectors. */
+								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
+								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
+								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
+								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
+								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
+								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
+								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
+								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
+								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
+								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
+								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
+								OQPbenchmark_ws *work	    /**< Workspace. */
+								);
+
+/** Solves an Online QP Benchmark problem (without constraints) as specified
+ *  by the arguments. The maximum deviations from the given optimal solution
+ *  as well as the maximum CPU time to solve each QP are determined.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_BENCHMARK_ABORTED */
+returnValue solveOQPbenchmarkB(	int nQP,					/**< Number of QPs. */
+								int nV,						/**< Number of variables. */
+								real_t* _H,					/**< Hessian matrix. */
+								const real_t* const g,		/**< Sequence of gradient vectors. */
+								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
+								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
+								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
+								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
+								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
+								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
+								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
+								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
+								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
+								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
+								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
+								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
+								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
+								OQPbenchmarkB_ws *work	    /**< Workspace. */
+								);
+
+
+/** Runs an Online QP Benchmark problem and determines the maximum
+ *  violation of the KKT optimality conditions as well as the
+ *  maximum and average number of iterations and CPU time to solve
+ *	each QP.
+ *
+ * \return SUCCESSFUL_RETURN \n
+		   RET_UNABLE_TO_READ_BENCHMARK \n
+ 		   RET_BENCHMARK_ABORTED */
+returnValue runOQPbenchmark(	const char* path,			/**< Full path of the benchmark files (without trailing slash!). */
+								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
+								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
+								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
+								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
+								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
+								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
+								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
+								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
+								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
+								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
+								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
+								OQPinterface_ws* work       /**< Workspace. */
+								);
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_OQPINTERFACE_H */
+
+
+/*
+ *	end of file
+ */
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+libqpOASES_e.so.3.1
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+libqpOASES_e.so.3.1
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new file mode 100644
index 00000000000000..277bdcb6a8efe7
--- /dev/null
+++ b/third_party/android_frameworks_native/get.txt
@@ -0,0 +1,3 @@
+git clone https://github.com/CyanogenMod/android_frameworks_native.git && cd android_frameworks_native
+git reset --hard b22bca465e55618a949d9cbdea665a1a3a831241
+cp -r include ~/one/third_party/android_frameworks_native/
diff --git a/phonelibs/android_frameworks_native/include/android/asset_manager.h b/third_party/android_frameworks_native/include/android/asset_manager.h
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rename from phonelibs/android_frameworks_native/include/binder/MemoryDealer.h
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diff --git a/phonelibs/android_frameworks_native/include/binder/MemoryHeapBase.h b/third_party/android_frameworks_native/include/binder/MemoryHeapBase.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/binder/MemoryHeapBase.h
rename to third_party/android_frameworks_native/include/binder/MemoryHeapBase.h
diff --git a/phonelibs/android_frameworks_native/include/binder/MemoryHeapIon.h b/third_party/android_frameworks_native/include/binder/MemoryHeapIon.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/binder/MemoryHeapIon.h
rename to third_party/android_frameworks_native/include/binder/MemoryHeapIon.h
diff --git a/phonelibs/android_frameworks_native/include/binder/Parcel.h b/third_party/android_frameworks_native/include/binder/Parcel.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/binder/Parcel.h
rename to third_party/android_frameworks_native/include/binder/Parcel.h
diff --git a/phonelibs/android_frameworks_native/include/binder/PermissionCache.h b/third_party/android_frameworks_native/include/binder/PermissionCache.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/binder/PermissionCache.h
rename to third_party/android_frameworks_native/include/binder/PermissionCache.h
diff --git a/phonelibs/android_frameworks_native/include/binder/ProcessInfoService.h b/third_party/android_frameworks_native/include/binder/ProcessInfoService.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/binder/ProcessInfoService.h
rename to third_party/android_frameworks_native/include/binder/ProcessInfoService.h
diff --git a/phonelibs/android_frameworks_native/include/binder/ProcessState.h b/third_party/android_frameworks_native/include/binder/ProcessState.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/binder/ProcessState.h
rename to third_party/android_frameworks_native/include/binder/ProcessState.h
diff --git a/phonelibs/android_frameworks_native/include/binder/TextOutput.h b/third_party/android_frameworks_native/include/binder/TextOutput.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/binder/TextOutput.h
rename to third_party/android_frameworks_native/include/binder/TextOutput.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BitTube.h b/third_party/android_frameworks_native/include/gui/BitTube.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BitTube.h
rename to third_party/android_frameworks_native/include/gui/BitTube.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BufferItem.h b/third_party/android_frameworks_native/include/gui/BufferItem.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BufferItem.h
rename to third_party/android_frameworks_native/include/gui/BufferItem.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BufferItemConsumer.h b/third_party/android_frameworks_native/include/gui/BufferItemConsumer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BufferItemConsumer.h
rename to third_party/android_frameworks_native/include/gui/BufferItemConsumer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BufferQueue.h b/third_party/android_frameworks_native/include/gui/BufferQueue.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BufferQueue.h
rename to third_party/android_frameworks_native/include/gui/BufferQueue.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BufferQueueConsumer.h b/third_party/android_frameworks_native/include/gui/BufferQueueConsumer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BufferQueueConsumer.h
rename to third_party/android_frameworks_native/include/gui/BufferQueueConsumer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BufferQueueCore.h b/third_party/android_frameworks_native/include/gui/BufferQueueCore.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BufferQueueCore.h
rename to third_party/android_frameworks_native/include/gui/BufferQueueCore.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BufferQueueDefs.h b/third_party/android_frameworks_native/include/gui/BufferQueueDefs.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BufferQueueDefs.h
rename to third_party/android_frameworks_native/include/gui/BufferQueueDefs.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BufferQueueProducer.h b/third_party/android_frameworks_native/include/gui/BufferQueueProducer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BufferQueueProducer.h
rename to third_party/android_frameworks_native/include/gui/BufferQueueProducer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/BufferSlot.h b/third_party/android_frameworks_native/include/gui/BufferSlot.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/BufferSlot.h
rename to third_party/android_frameworks_native/include/gui/BufferSlot.h
diff --git a/phonelibs/android_frameworks_native/include/gui/ConsumerBase.h b/third_party/android_frameworks_native/include/gui/ConsumerBase.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/ConsumerBase.h
rename to third_party/android_frameworks_native/include/gui/ConsumerBase.h
diff --git a/phonelibs/android_frameworks_native/include/gui/CpuConsumer.h b/third_party/android_frameworks_native/include/gui/CpuConsumer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/CpuConsumer.h
rename to third_party/android_frameworks_native/include/gui/CpuConsumer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/DisplayEventReceiver.h b/third_party/android_frameworks_native/include/gui/DisplayEventReceiver.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/DisplayEventReceiver.h
rename to third_party/android_frameworks_native/include/gui/DisplayEventReceiver.h
diff --git a/phonelibs/android_frameworks_native/include/gui/GLConsumer.h b/third_party/android_frameworks_native/include/gui/GLConsumer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/GLConsumer.h
rename to third_party/android_frameworks_native/include/gui/GLConsumer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/GraphicBufferAlloc.h b/third_party/android_frameworks_native/include/gui/GraphicBufferAlloc.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/GraphicBufferAlloc.h
rename to third_party/android_frameworks_native/include/gui/GraphicBufferAlloc.h
diff --git a/phonelibs/android_frameworks_native/include/gui/GuiConfig.h b/third_party/android_frameworks_native/include/gui/GuiConfig.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/GuiConfig.h
rename to third_party/android_frameworks_native/include/gui/GuiConfig.h
diff --git a/phonelibs/android_frameworks_native/include/gui/IConsumerListener.h b/third_party/android_frameworks_native/include/gui/IConsumerListener.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/IConsumerListener.h
rename to third_party/android_frameworks_native/include/gui/IConsumerListener.h
diff --git a/phonelibs/android_frameworks_native/include/gui/IDisplayEventConnection.h b/third_party/android_frameworks_native/include/gui/IDisplayEventConnection.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/IDisplayEventConnection.h
rename to third_party/android_frameworks_native/include/gui/IDisplayEventConnection.h
diff --git a/phonelibs/android_frameworks_native/include/gui/IGraphicBufferAlloc.h b/third_party/android_frameworks_native/include/gui/IGraphicBufferAlloc.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/IGraphicBufferAlloc.h
rename to third_party/android_frameworks_native/include/gui/IGraphicBufferAlloc.h
diff --git a/phonelibs/android_frameworks_native/include/gui/IGraphicBufferConsumer.h b/third_party/android_frameworks_native/include/gui/IGraphicBufferConsumer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/IGraphicBufferConsumer.h
rename to third_party/android_frameworks_native/include/gui/IGraphicBufferConsumer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/IGraphicBufferProducer.h b/third_party/android_frameworks_native/include/gui/IGraphicBufferProducer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/IGraphicBufferProducer.h
rename to third_party/android_frameworks_native/include/gui/IGraphicBufferProducer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/IProducerListener.h b/third_party/android_frameworks_native/include/gui/IProducerListener.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/IProducerListener.h
rename to third_party/android_frameworks_native/include/gui/IProducerListener.h
diff --git a/phonelibs/android_frameworks_native/include/gui/ISensorEventConnection.h b/third_party/android_frameworks_native/include/gui/ISensorEventConnection.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/ISensorEventConnection.h
rename to third_party/android_frameworks_native/include/gui/ISensorEventConnection.h
diff --git a/phonelibs/android_frameworks_native/include/gui/ISensorServer.h b/third_party/android_frameworks_native/include/gui/ISensorServer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/ISensorServer.h
rename to third_party/android_frameworks_native/include/gui/ISensorServer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/ISurfaceComposer.h b/third_party/android_frameworks_native/include/gui/ISurfaceComposer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/ISurfaceComposer.h
rename to third_party/android_frameworks_native/include/gui/ISurfaceComposer.h
diff --git a/phonelibs/android_frameworks_native/include/gui/ISurfaceComposerClient.h b/third_party/android_frameworks_native/include/gui/ISurfaceComposerClient.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/ISurfaceComposerClient.h
rename to third_party/android_frameworks_native/include/gui/ISurfaceComposerClient.h
diff --git a/phonelibs/android_frameworks_native/include/gui/Sensor.h b/third_party/android_frameworks_native/include/gui/Sensor.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/Sensor.h
rename to third_party/android_frameworks_native/include/gui/Sensor.h
diff --git a/phonelibs/android_frameworks_native/include/gui/SensorEventQueue.h b/third_party/android_frameworks_native/include/gui/SensorEventQueue.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/SensorEventQueue.h
rename to third_party/android_frameworks_native/include/gui/SensorEventQueue.h
diff --git a/phonelibs/android_frameworks_native/include/gui/SensorManager.h b/third_party/android_frameworks_native/include/gui/SensorManager.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/SensorManager.h
rename to third_party/android_frameworks_native/include/gui/SensorManager.h
diff --git a/phonelibs/android_frameworks_native/include/gui/StreamSplitter.h b/third_party/android_frameworks_native/include/gui/StreamSplitter.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/StreamSplitter.h
rename to third_party/android_frameworks_native/include/gui/StreamSplitter.h
diff --git a/phonelibs/android_frameworks_native/include/gui/Surface.h b/third_party/android_frameworks_native/include/gui/Surface.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/Surface.h
rename to third_party/android_frameworks_native/include/gui/Surface.h
diff --git a/phonelibs/android_frameworks_native/include/gui/SurfaceComposerClient.h b/third_party/android_frameworks_native/include/gui/SurfaceComposerClient.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/SurfaceComposerClient.h
rename to third_party/android_frameworks_native/include/gui/SurfaceComposerClient.h
diff --git a/phonelibs/android_frameworks_native/include/gui/SurfaceControl.h b/third_party/android_frameworks_native/include/gui/SurfaceControl.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/gui/SurfaceControl.h
rename to third_party/android_frameworks_native/include/gui/SurfaceControl.h
diff --git a/phonelibs/android_frameworks_native/include/ui/ANativeObjectBase.h b/third_party/android_frameworks_native/include/ui/ANativeObjectBase.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/ANativeObjectBase.h
rename to third_party/android_frameworks_native/include/ui/ANativeObjectBase.h
diff --git a/phonelibs/android_frameworks_native/include/ui/DisplayInfo.h b/third_party/android_frameworks_native/include/ui/DisplayInfo.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/DisplayInfo.h
rename to third_party/android_frameworks_native/include/ui/DisplayInfo.h
diff --git a/phonelibs/android_frameworks_native/include/ui/DisplayStatInfo.h b/third_party/android_frameworks_native/include/ui/DisplayStatInfo.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/DisplayStatInfo.h
rename to third_party/android_frameworks_native/include/ui/DisplayStatInfo.h
diff --git a/phonelibs/android_frameworks_native/include/ui/Fence.h b/third_party/android_frameworks_native/include/ui/Fence.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/Fence.h
rename to third_party/android_frameworks_native/include/ui/Fence.h
diff --git a/phonelibs/android_frameworks_native/include/ui/FrameStats.h b/third_party/android_frameworks_native/include/ui/FrameStats.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/FrameStats.h
rename to third_party/android_frameworks_native/include/ui/FrameStats.h
diff --git a/phonelibs/android_frameworks_native/include/ui/FramebufferNativeWindow.h b/third_party/android_frameworks_native/include/ui/FramebufferNativeWindow.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/FramebufferNativeWindow.h
rename to third_party/android_frameworks_native/include/ui/FramebufferNativeWindow.h
diff --git a/phonelibs/android_frameworks_native/include/ui/GraphicBuffer.h b/third_party/android_frameworks_native/include/ui/GraphicBuffer.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/GraphicBuffer.h
rename to third_party/android_frameworks_native/include/ui/GraphicBuffer.h
diff --git a/phonelibs/android_frameworks_native/include/ui/GraphicBufferAllocator.h b/third_party/android_frameworks_native/include/ui/GraphicBufferAllocator.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/GraphicBufferAllocator.h
rename to third_party/android_frameworks_native/include/ui/GraphicBufferAllocator.h
diff --git a/phonelibs/android_frameworks_native/include/ui/GraphicBufferMapper.h b/third_party/android_frameworks_native/include/ui/GraphicBufferMapper.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/GraphicBufferMapper.h
rename to third_party/android_frameworks_native/include/ui/GraphicBufferMapper.h
diff --git a/phonelibs/android_frameworks_native/include/ui/PixelFormat.h b/third_party/android_frameworks_native/include/ui/PixelFormat.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/PixelFormat.h
rename to third_party/android_frameworks_native/include/ui/PixelFormat.h
diff --git a/phonelibs/android_frameworks_native/include/ui/Point.h b/third_party/android_frameworks_native/include/ui/Point.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/Point.h
rename to third_party/android_frameworks_native/include/ui/Point.h
diff --git a/phonelibs/android_frameworks_native/include/ui/Rect.h b/third_party/android_frameworks_native/include/ui/Rect.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/Rect.h
rename to third_party/android_frameworks_native/include/ui/Rect.h
diff --git a/phonelibs/android_frameworks_native/include/ui/Region.h b/third_party/android_frameworks_native/include/ui/Region.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/Region.h
rename to third_party/android_frameworks_native/include/ui/Region.h
diff --git a/phonelibs/android_frameworks_native/include/ui/TMatHelpers.h b/third_party/android_frameworks_native/include/ui/TMatHelpers.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/TMatHelpers.h
rename to third_party/android_frameworks_native/include/ui/TMatHelpers.h
diff --git a/phonelibs/android_frameworks_native/include/ui/TVecHelpers.h b/third_party/android_frameworks_native/include/ui/TVecHelpers.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/TVecHelpers.h
rename to third_party/android_frameworks_native/include/ui/TVecHelpers.h
diff --git a/phonelibs/android_frameworks_native/include/ui/UiConfig.h b/third_party/android_frameworks_native/include/ui/UiConfig.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/UiConfig.h
rename to third_party/android_frameworks_native/include/ui/UiConfig.h
diff --git a/phonelibs/android_frameworks_native/include/ui/mat4.h b/third_party/android_frameworks_native/include/ui/mat4.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/mat4.h
rename to third_party/android_frameworks_native/include/ui/mat4.h
diff --git a/phonelibs/android_frameworks_native/include/ui/vec2.h b/third_party/android_frameworks_native/include/ui/vec2.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/vec2.h
rename to third_party/android_frameworks_native/include/ui/vec2.h
diff --git a/phonelibs/android_frameworks_native/include/ui/vec3.h b/third_party/android_frameworks_native/include/ui/vec3.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/vec3.h
rename to third_party/android_frameworks_native/include/ui/vec3.h
diff --git a/phonelibs/android_frameworks_native/include/ui/vec4.h b/third_party/android_frameworks_native/include/ui/vec4.h
similarity index 100%
rename from phonelibs/android_frameworks_native/include/ui/vec4.h
rename to third_party/android_frameworks_native/include/ui/vec4.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/activity_recognition.h b/third_party/android_hardware_libhardware/include/hardware/activity_recognition.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/activity_recognition.h
rename to third_party/android_hardware_libhardware/include/hardware/activity_recognition.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio.h b/third_party/android_hardware_libhardware/include/hardware/audio.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio.h
rename to third_party/android_hardware_libhardware/include/hardware/audio.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio_alsaops.h b/third_party/android_hardware_libhardware/include/hardware/audio_alsaops.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio_alsaops.h
rename to third_party/android_hardware_libhardware/include/hardware/audio_alsaops.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio_amplifier.h b/third_party/android_hardware_libhardware/include/hardware/audio_amplifier.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio_amplifier.h
rename to third_party/android_hardware_libhardware/include/hardware/audio_amplifier.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio_effect.h b/third_party/android_hardware_libhardware/include/hardware/audio_effect.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio_effect.h
rename to third_party/android_hardware_libhardware/include/hardware/audio_effect.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio_policy.h b/third_party/android_hardware_libhardware/include/hardware/audio_policy.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio_policy.h
rename to third_party/android_hardware_libhardware/include/hardware/audio_policy.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bluetooth.h b/third_party/android_hardware_libhardware/include/hardware/bluetooth.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bluetooth.h
rename to third_party/android_hardware_libhardware/include/hardware/bluetooth.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_av.h b/third_party/android_hardware_libhardware/include/hardware/bt_av.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_av.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_av.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_common_types.h b/third_party/android_hardware_libhardware/include/hardware/bt_common_types.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_common_types.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_common_types.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_gatt.h b/third_party/android_hardware_libhardware/include/hardware/bt_gatt.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_gatt.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_gatt.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_client.h b/third_party/android_hardware_libhardware/include/hardware/bt_gatt_client.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_client.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_gatt_client.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_server.h b/third_party/android_hardware_libhardware/include/hardware/bt_gatt_server.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_server.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_gatt_server.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_types.h b/third_party/android_hardware_libhardware/include/hardware/bt_gatt_types.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_types.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_gatt_types.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hd.h b/third_party/android_hardware_libhardware/include/hardware/bt_hd.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hd.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hd.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hf.h b/third_party/android_hardware_libhardware/include/hardware/bt_hf.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hf.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hf.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hf_client.h b/third_party/android_hardware_libhardware/include/hardware/bt_hf_client.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hf_client.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hf_client.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hh.h b/third_party/android_hardware_libhardware/include/hardware/bt_hh.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hh.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hh.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hl.h b/third_party/android_hardware_libhardware/include/hardware/bt_hl.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hl.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hl.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_mce.h b/third_party/android_hardware_libhardware/include/hardware/bt_mce.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_mce.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_mce.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_pan.h b/third_party/android_hardware_libhardware/include/hardware/bt_pan.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_pan.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_pan.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_rc.h b/third_party/android_hardware_libhardware/include/hardware/bt_rc.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_rc.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_rc.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_sdp.h b/third_party/android_hardware_libhardware/include/hardware/bt_sdp.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_sdp.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_sdp.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_sock.h b/third_party/android_hardware_libhardware/include/hardware/bt_sock.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_sock.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_sock.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/camera.h b/third_party/android_hardware_libhardware/include/hardware/camera.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/camera.h
rename to third_party/android_hardware_libhardware/include/hardware/camera.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/camera2.h b/third_party/android_hardware_libhardware/include/hardware/camera2.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/camera2.h
rename to third_party/android_hardware_libhardware/include/hardware/camera2.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/camera3.h b/third_party/android_hardware_libhardware/include/hardware/camera3.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/camera3.h
rename to third_party/android_hardware_libhardware/include/hardware/camera3.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/camera_common.h b/third_party/android_hardware_libhardware/include/hardware/camera_common.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/camera_common.h
rename to third_party/android_hardware_libhardware/include/hardware/camera_common.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/consumerir.h b/third_party/android_hardware_libhardware/include/hardware/consumerir.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/consumerir.h
rename to third_party/android_hardware_libhardware/include/hardware/consumerir.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/display_defs.h b/third_party/android_hardware_libhardware/include/hardware/display_defs.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/display_defs.h
rename to third_party/android_hardware_libhardware/include/hardware/display_defs.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/fb.h b/third_party/android_hardware_libhardware/include/hardware/fb.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/fb.h
rename to third_party/android_hardware_libhardware/include/hardware/fb.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/fingerprint.h b/third_party/android_hardware_libhardware/include/hardware/fingerprint.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/fingerprint.h
rename to third_party/android_hardware_libhardware/include/hardware/fingerprint.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/fused_location.h b/third_party/android_hardware_libhardware/include/hardware/fused_location.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/fused_location.h
rename to third_party/android_hardware_libhardware/include/hardware/fused_location.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/gatekeeper.h b/third_party/android_hardware_libhardware/include/hardware/gatekeeper.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/gatekeeper.h
rename to third_party/android_hardware_libhardware/include/hardware/gatekeeper.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/gps.h b/third_party/android_hardware_libhardware/include/hardware/gps.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/gps.h
rename to third_party/android_hardware_libhardware/include/hardware/gps.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/gralloc.h b/third_party/android_hardware_libhardware/include/hardware/gralloc.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/gralloc.h
rename to third_party/android_hardware_libhardware/include/hardware/gralloc.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hardware.h b/third_party/android_hardware_libhardware/include/hardware/hardware.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hardware.h
rename to third_party/android_hardware_libhardware/include/hardware/hardware.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hdmi_cec.h b/third_party/android_hardware_libhardware/include/hardware/hdmi_cec.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hdmi_cec.h
rename to third_party/android_hardware_libhardware/include/hardware/hdmi_cec.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hw_auth_token.h b/third_party/android_hardware_libhardware/include/hardware/hw_auth_token.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hw_auth_token.h
rename to third_party/android_hardware_libhardware/include/hardware/hw_auth_token.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hwcomposer.h b/third_party/android_hardware_libhardware/include/hardware/hwcomposer.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hwcomposer.h
rename to third_party/android_hardware_libhardware/include/hardware/hwcomposer.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hwcomposer_defs.h b/third_party/android_hardware_libhardware/include/hardware/hwcomposer_defs.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hwcomposer_defs.h
rename to third_party/android_hardware_libhardware/include/hardware/hwcomposer_defs.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/input.h b/third_party/android_hardware_libhardware/include/hardware/input.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/input.h
rename to third_party/android_hardware_libhardware/include/hardware/input.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/keymaster0.h b/third_party/android_hardware_libhardware/include/hardware/keymaster0.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/keymaster0.h
rename to third_party/android_hardware_libhardware/include/hardware/keymaster0.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/keymaster1.h b/third_party/android_hardware_libhardware/include/hardware/keymaster1.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/keymaster1.h
rename to third_party/android_hardware_libhardware/include/hardware/keymaster1.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/keymaster_common.h b/third_party/android_hardware_libhardware/include/hardware/keymaster_common.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/keymaster_common.h
rename to third_party/android_hardware_libhardware/include/hardware/keymaster_common.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/keymaster_defs.h b/third_party/android_hardware_libhardware/include/hardware/keymaster_defs.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/keymaster_defs.h
rename to third_party/android_hardware_libhardware/include/hardware/keymaster_defs.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/lights.h b/third_party/android_hardware_libhardware/include/hardware/lights.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/lights.h
rename to third_party/android_hardware_libhardware/include/hardware/lights.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/local_time_hal.h b/third_party/android_hardware_libhardware/include/hardware/local_time_hal.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/local_time_hal.h
rename to third_party/android_hardware_libhardware/include/hardware/local_time_hal.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/memtrack.h b/third_party/android_hardware_libhardware/include/hardware/memtrack.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/memtrack.h
rename to third_party/android_hardware_libhardware/include/hardware/memtrack.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/nfc.h b/third_party/android_hardware_libhardware/include/hardware/nfc.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/nfc.h
rename to third_party/android_hardware_libhardware/include/hardware/nfc.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/nfc_tag.h b/third_party/android_hardware_libhardware/include/hardware/nfc_tag.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/nfc_tag.h
rename to third_party/android_hardware_libhardware/include/hardware/nfc_tag.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/power.h b/third_party/android_hardware_libhardware/include/hardware/power.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/power.h
rename to third_party/android_hardware_libhardware/include/hardware/power.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/qemu_pipe.h b/third_party/android_hardware_libhardware/include/hardware/qemu_pipe.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/qemu_pipe.h
rename to third_party/android_hardware_libhardware/include/hardware/qemu_pipe.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/qemud.h b/third_party/android_hardware_libhardware/include/hardware/qemud.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/qemud.h
rename to third_party/android_hardware_libhardware/include/hardware/qemud.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/radio.h b/third_party/android_hardware_libhardware/include/hardware/radio.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/radio.h
rename to third_party/android_hardware_libhardware/include/hardware/radio.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/sensors.h b/third_party/android_hardware_libhardware/include/hardware/sensors.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/sensors.h
rename to third_party/android_hardware_libhardware/include/hardware/sensors.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/sound_trigger.h b/third_party/android_hardware_libhardware/include/hardware/sound_trigger.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/sound_trigger.h
rename to third_party/android_hardware_libhardware/include/hardware/sound_trigger.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/tv_input.h b/third_party/android_hardware_libhardware/include/hardware/tv_input.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/tv_input.h
rename to third_party/android_hardware_libhardware/include/hardware/tv_input.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/vibrator.h b/third_party/android_hardware_libhardware/include/hardware/vibrator.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/vibrator.h
rename to third_party/android_hardware_libhardware/include/hardware/vibrator.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/wipower.h b/third_party/android_hardware_libhardware/include/hardware/wipower.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/wipower.h
rename to third_party/android_hardware_libhardware/include/hardware/wipower.h
diff --git a/phonelibs/android_system_core/include/cutils/android_reboot.h b/third_party/android_system_core/include/cutils/android_reboot.h
similarity index 100%
rename from phonelibs/android_system_core/include/cutils/android_reboot.h
rename to third_party/android_system_core/include/cutils/android_reboot.h
diff --git a/phonelibs/android_system_core/include/cutils/aref.h b/third_party/android_system_core/include/cutils/aref.h
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rename from phonelibs/android_system_core/include/cutils/aref.h
rename to third_party/android_system_core/include/cutils/aref.h
diff --git a/phonelibs/android_system_core/include/cutils/ashmem.h b/third_party/android_system_core/include/cutils/ashmem.h
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rename from phonelibs/android_system_core/include/cutils/ashmem.h
rename to third_party/android_system_core/include/cutils/ashmem.h
diff --git a/phonelibs/android_system_core/include/cutils/atomic.h b/third_party/android_system_core/include/cutils/atomic.h
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rename from phonelibs/android_system_core/include/cutils/atomic.h
rename to third_party/android_system_core/include/cutils/atomic.h
diff --git a/phonelibs/android_system_core/include/cutils/bitops.h b/third_party/android_system_core/include/cutils/bitops.h
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rename from phonelibs/android_system_core/include/cutils/bitops.h
rename to third_party/android_system_core/include/cutils/bitops.h
diff --git a/phonelibs/android_system_core/include/cutils/compiler.h b/third_party/android_system_core/include/cutils/compiler.h
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rename from phonelibs/android_system_core/include/cutils/compiler.h
rename to third_party/android_system_core/include/cutils/compiler.h
diff --git a/phonelibs/android_system_core/include/cutils/config_utils.h b/third_party/android_system_core/include/cutils/config_utils.h
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rename from phonelibs/android_system_core/include/cutils/config_utils.h
rename to third_party/android_system_core/include/cutils/config_utils.h
diff --git a/phonelibs/android_system_core/include/cutils/debugger.h b/third_party/android_system_core/include/cutils/debugger.h
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rename from phonelibs/android_system_core/include/cutils/debugger.h
rename to third_party/android_system_core/include/cutils/debugger.h
diff --git a/phonelibs/android_system_core/include/cutils/fs.h b/third_party/android_system_core/include/cutils/fs.h
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rename from phonelibs/android_system_core/include/cutils/fs.h
rename to third_party/android_system_core/include/cutils/fs.h
diff --git a/phonelibs/android_system_core/include/cutils/hashmap.h b/third_party/android_system_core/include/cutils/hashmap.h
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rename from phonelibs/android_system_core/include/cutils/hashmap.h
rename to third_party/android_system_core/include/cutils/hashmap.h
diff --git a/phonelibs/android_system_core/include/cutils/iosched_policy.h b/third_party/android_system_core/include/cutils/iosched_policy.h
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rename from phonelibs/android_system_core/include/cutils/iosched_policy.h
rename to third_party/android_system_core/include/cutils/iosched_policy.h
diff --git a/phonelibs/android_system_core/include/cutils/jstring.h b/third_party/android_system_core/include/cutils/jstring.h
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rename from phonelibs/android_system_core/include/cutils/jstring.h
rename to third_party/android_system_core/include/cutils/jstring.h
diff --git a/phonelibs/android_system_core/include/cutils/klog.h b/third_party/android_system_core/include/cutils/klog.h
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rename from phonelibs/android_system_core/include/cutils/klog.h
rename to third_party/android_system_core/include/cutils/klog.h
diff --git a/phonelibs/android_system_core/include/cutils/list.h b/third_party/android_system_core/include/cutils/list.h
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rename from phonelibs/android_system_core/include/cutils/list.h
rename to third_party/android_system_core/include/cutils/list.h
diff --git a/phonelibs/android_system_core/include/cutils/log.h b/third_party/android_system_core/include/cutils/log.h
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rename from phonelibs/android_system_core/include/cutils/log.h
rename to third_party/android_system_core/include/cutils/log.h
diff --git a/phonelibs/android_system_core/include/cutils/memory.h b/third_party/android_system_core/include/cutils/memory.h
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rename from phonelibs/android_system_core/include/cutils/memory.h
rename to third_party/android_system_core/include/cutils/memory.h
diff --git a/phonelibs/android_system_core/include/cutils/misc.h b/third_party/android_system_core/include/cutils/misc.h
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rename from phonelibs/android_system_core/include/cutils/misc.h
rename to third_party/android_system_core/include/cutils/misc.h
diff --git a/phonelibs/android_system_core/include/cutils/multiuser.h b/third_party/android_system_core/include/cutils/multiuser.h
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rename from phonelibs/android_system_core/include/cutils/multiuser.h
rename to third_party/android_system_core/include/cutils/multiuser.h
diff --git a/phonelibs/android_system_core/include/cutils/native_handle.h b/third_party/android_system_core/include/cutils/native_handle.h
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rename from phonelibs/android_system_core/include/cutils/native_handle.h
rename to third_party/android_system_core/include/cutils/native_handle.h
diff --git a/phonelibs/android_system_core/include/cutils/open_memstream.h b/third_party/android_system_core/include/cutils/open_memstream.h
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rename from phonelibs/android_system_core/include/cutils/open_memstream.h
rename to third_party/android_system_core/include/cutils/open_memstream.h
diff --git a/phonelibs/android_system_core/include/cutils/partition_utils.h b/third_party/android_system_core/include/cutils/partition_utils.h
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rename from phonelibs/android_system_core/include/cutils/partition_utils.h
rename to third_party/android_system_core/include/cutils/partition_utils.h
diff --git a/phonelibs/android_system_core/include/cutils/process_name.h b/third_party/android_system_core/include/cutils/process_name.h
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rename from phonelibs/android_system_core/include/cutils/process_name.h
rename to third_party/android_system_core/include/cutils/process_name.h
diff --git a/phonelibs/android_system_core/include/cutils/properties.h b/third_party/android_system_core/include/cutils/properties.h
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rename from phonelibs/android_system_core/include/cutils/properties.h
rename to third_party/android_system_core/include/cutils/properties.h
diff --git a/phonelibs/android_system_core/include/cutils/qtaguid.h b/third_party/android_system_core/include/cutils/qtaguid.h
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rename from phonelibs/android_system_core/include/cutils/qtaguid.h
rename to third_party/android_system_core/include/cutils/qtaguid.h
diff --git a/phonelibs/android_system_core/include/cutils/record_stream.h b/third_party/android_system_core/include/cutils/record_stream.h
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rename from phonelibs/android_system_core/include/cutils/record_stream.h
rename to third_party/android_system_core/include/cutils/record_stream.h
diff --git a/phonelibs/android_system_core/include/cutils/sched_policy.h b/third_party/android_system_core/include/cutils/sched_policy.h
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rename from phonelibs/android_system_core/include/cutils/sched_policy.h
rename to third_party/android_system_core/include/cutils/sched_policy.h
diff --git a/phonelibs/android_system_core/include/cutils/sockets.h b/third_party/android_system_core/include/cutils/sockets.h
similarity index 100%
rename from phonelibs/android_system_core/include/cutils/sockets.h
rename to third_party/android_system_core/include/cutils/sockets.h
diff --git a/phonelibs/android_system_core/include/cutils/str_parms.h b/third_party/android_system_core/include/cutils/str_parms.h
similarity index 100%
rename from phonelibs/android_system_core/include/cutils/str_parms.h
rename to third_party/android_system_core/include/cutils/str_parms.h
diff --git a/phonelibs/android_system_core/include/cutils/threads.h b/third_party/android_system_core/include/cutils/threads.h
similarity index 100%
rename from phonelibs/android_system_core/include/cutils/threads.h
rename to third_party/android_system_core/include/cutils/threads.h
diff --git a/phonelibs/android_system_core/include/cutils/trace.h b/third_party/android_system_core/include/cutils/trace.h
similarity index 100%
rename from phonelibs/android_system_core/include/cutils/trace.h
rename to third_party/android_system_core/include/cutils/trace.h
diff --git a/phonelibs/android_system_core/include/cutils/uevent.h b/third_party/android_system_core/include/cutils/uevent.h
similarity index 100%
rename from phonelibs/android_system_core/include/cutils/uevent.h
rename to third_party/android_system_core/include/cutils/uevent.h
diff --git a/phonelibs/android_system_core/include/log/event_tag_map.h b/third_party/android_system_core/include/log/event_tag_map.h
similarity index 100%
rename from phonelibs/android_system_core/include/log/event_tag_map.h
rename to third_party/android_system_core/include/log/event_tag_map.h
diff --git a/phonelibs/android_system_core/include/log/log.h b/third_party/android_system_core/include/log/log.h
similarity index 100%
rename from phonelibs/android_system_core/include/log/log.h
rename to third_party/android_system_core/include/log/log.h
diff --git a/phonelibs/android_system_core/include/log/log_read.h b/third_party/android_system_core/include/log/log_read.h
similarity index 100%
rename from phonelibs/android_system_core/include/log/log_read.h
rename to third_party/android_system_core/include/log/log_read.h
diff --git a/phonelibs/android_system_core/include/log/logd.h b/third_party/android_system_core/include/log/logd.h
similarity index 100%
rename from phonelibs/android_system_core/include/log/logd.h
rename to third_party/android_system_core/include/log/logd.h
diff --git a/phonelibs/android_system_core/include/log/logger.h b/third_party/android_system_core/include/log/logger.h
similarity index 100%
rename from phonelibs/android_system_core/include/log/logger.h
rename to third_party/android_system_core/include/log/logger.h
diff --git a/phonelibs/android_system_core/include/log/logprint.h b/third_party/android_system_core/include/log/logprint.h
similarity index 100%
rename from phonelibs/android_system_core/include/log/logprint.h
rename to third_party/android_system_core/include/log/logprint.h
diff --git a/phonelibs/android_system_core/include/log/uio.h b/third_party/android_system_core/include/log/uio.h
similarity index 100%
rename from phonelibs/android_system_core/include/log/uio.h
rename to third_party/android_system_core/include/log/uio.h
diff --git a/phonelibs/android_system_core/include/system/camera.h b/third_party/android_system_core/include/system/camera.h
similarity index 100%
rename from phonelibs/android_system_core/include/system/camera.h
rename to third_party/android_system_core/include/system/camera.h
diff --git a/phonelibs/android_system_core/include/system/graphics.h b/third_party/android_system_core/include/system/graphics.h
similarity index 100%
rename from phonelibs/android_system_core/include/system/graphics.h
rename to third_party/android_system_core/include/system/graphics.h
diff --git a/phonelibs/android_system_core/include/system/radio.h b/third_party/android_system_core/include/system/radio.h
similarity index 100%
rename from phonelibs/android_system_core/include/system/radio.h
rename to third_party/android_system_core/include/system/radio.h
diff --git a/phonelibs/android_system_core/include/system/thread_defs.h b/third_party/android_system_core/include/system/thread_defs.h
similarity index 100%
rename from phonelibs/android_system_core/include/system/thread_defs.h
rename to third_party/android_system_core/include/system/thread_defs.h
diff --git a/phonelibs/android_system_core/include/system/window.h b/third_party/android_system_core/include/system/window.h
similarity index 100%
rename from phonelibs/android_system_core/include/system/window.h
rename to third_party/android_system_core/include/system/window.h
diff --git a/phonelibs/android_system_core/include/utils/AndroidThreads.h b/third_party/android_system_core/include/utils/AndroidThreads.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/AndroidThreads.h
rename to third_party/android_system_core/include/utils/AndroidThreads.h
diff --git a/phonelibs/android_system_core/include/utils/Atomic.h b/third_party/android_system_core/include/utils/Atomic.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Atomic.h
rename to third_party/android_system_core/include/utils/Atomic.h
diff --git a/phonelibs/android_system_core/include/utils/BasicHashtable.h b/third_party/android_system_core/include/utils/BasicHashtable.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/BasicHashtable.h
rename to third_party/android_system_core/include/utils/BasicHashtable.h
diff --git a/phonelibs/android_system_core/include/utils/BitSet.h b/third_party/android_system_core/include/utils/BitSet.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/BitSet.h
rename to third_party/android_system_core/include/utils/BitSet.h
diff --git a/phonelibs/android_system_core/include/utils/BlobCache.h b/third_party/android_system_core/include/utils/BlobCache.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/BlobCache.h
rename to third_party/android_system_core/include/utils/BlobCache.h
diff --git a/phonelibs/android_system_core/include/utils/ByteOrder.h b/third_party/android_system_core/include/utils/ByteOrder.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/ByteOrder.h
rename to third_party/android_system_core/include/utils/ByteOrder.h
diff --git a/phonelibs/android_system_core/include/utils/CallStack.h b/third_party/android_system_core/include/utils/CallStack.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/CallStack.h
rename to third_party/android_system_core/include/utils/CallStack.h
diff --git a/phonelibs/android_system_core/include/utils/Compat.h b/third_party/android_system_core/include/utils/Compat.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Compat.h
rename to third_party/android_system_core/include/utils/Compat.h
diff --git a/phonelibs/android_system_core/include/utils/Condition.h b/third_party/android_system_core/include/utils/Condition.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Condition.h
rename to third_party/android_system_core/include/utils/Condition.h
diff --git a/phonelibs/android_system_core/include/utils/Debug.h b/third_party/android_system_core/include/utils/Debug.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Debug.h
rename to third_party/android_system_core/include/utils/Debug.h
diff --git a/phonelibs/android_system_core/include/utils/Endian.h b/third_party/android_system_core/include/utils/Endian.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Endian.h
rename to third_party/android_system_core/include/utils/Endian.h
diff --git a/phonelibs/android_system_core/include/utils/Errors.h b/third_party/android_system_core/include/utils/Errors.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Errors.h
rename to third_party/android_system_core/include/utils/Errors.h
diff --git a/phonelibs/android_system_core/include/utils/FileMap.h b/third_party/android_system_core/include/utils/FileMap.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/FileMap.h
rename to third_party/android_system_core/include/utils/FileMap.h
diff --git a/phonelibs/android_system_core/include/utils/Flattenable.h b/third_party/android_system_core/include/utils/Flattenable.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Flattenable.h
rename to third_party/android_system_core/include/utils/Flattenable.h
diff --git a/phonelibs/android_system_core/include/utils/Functor.h b/third_party/android_system_core/include/utils/Functor.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Functor.h
rename to third_party/android_system_core/include/utils/Functor.h
diff --git a/phonelibs/android_system_core/include/utils/JenkinsHash.h b/third_party/android_system_core/include/utils/JenkinsHash.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/JenkinsHash.h
rename to third_party/android_system_core/include/utils/JenkinsHash.h
diff --git a/phonelibs/android_system_core/include/utils/KeyedVector.h b/third_party/android_system_core/include/utils/KeyedVector.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/KeyedVector.h
rename to third_party/android_system_core/include/utils/KeyedVector.h
diff --git a/phonelibs/android_system_core/include/utils/LinearTransform.h b/third_party/android_system_core/include/utils/LinearTransform.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/LinearTransform.h
rename to third_party/android_system_core/include/utils/LinearTransform.h
diff --git a/phonelibs/android_system_core/include/utils/List.h b/third_party/android_system_core/include/utils/List.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/List.h
rename to third_party/android_system_core/include/utils/List.h
diff --git a/phonelibs/android_system_core/include/utils/Log.h b/third_party/android_system_core/include/utils/Log.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Log.h
rename to third_party/android_system_core/include/utils/Log.h
diff --git a/phonelibs/android_system_core/include/utils/Looper.h b/third_party/android_system_core/include/utils/Looper.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Looper.h
rename to third_party/android_system_core/include/utils/Looper.h
diff --git a/phonelibs/android_system_core/include/utils/LruCache.h b/third_party/android_system_core/include/utils/LruCache.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/LruCache.h
rename to third_party/android_system_core/include/utils/LruCache.h
diff --git a/phonelibs/android_system_core/include/utils/Mutex.h b/third_party/android_system_core/include/utils/Mutex.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Mutex.h
rename to third_party/android_system_core/include/utils/Mutex.h
diff --git a/phonelibs/android_system_core/include/utils/NativeHandle.h b/third_party/android_system_core/include/utils/NativeHandle.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/NativeHandle.h
rename to third_party/android_system_core/include/utils/NativeHandle.h
diff --git a/phonelibs/android_system_core/include/utils/Printer.h b/third_party/android_system_core/include/utils/Printer.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Printer.h
rename to third_party/android_system_core/include/utils/Printer.h
diff --git a/phonelibs/android_system_core/include/utils/ProcessCallStack.h b/third_party/android_system_core/include/utils/ProcessCallStack.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/ProcessCallStack.h
rename to third_party/android_system_core/include/utils/ProcessCallStack.h
diff --git a/phonelibs/android_system_core/include/utils/PropertyMap.h b/third_party/android_system_core/include/utils/PropertyMap.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/PropertyMap.h
rename to third_party/android_system_core/include/utils/PropertyMap.h
diff --git a/phonelibs/android_system_core/include/utils/RWLock.h b/third_party/android_system_core/include/utils/RWLock.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/RWLock.h
rename to third_party/android_system_core/include/utils/RWLock.h
diff --git a/phonelibs/android_system_core/include/utils/RefBase.h b/third_party/android_system_core/include/utils/RefBase.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/RefBase.h
rename to third_party/android_system_core/include/utils/RefBase.h
diff --git a/phonelibs/android_system_core/include/utils/SharedBuffer.h b/third_party/android_system_core/include/utils/SharedBuffer.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/SharedBuffer.h
rename to third_party/android_system_core/include/utils/SharedBuffer.h
diff --git a/phonelibs/android_system_core/include/utils/Singleton.h b/third_party/android_system_core/include/utils/Singleton.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Singleton.h
rename to third_party/android_system_core/include/utils/Singleton.h
diff --git a/phonelibs/android_system_core/include/utils/SortedVector.h b/third_party/android_system_core/include/utils/SortedVector.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/SortedVector.h
rename to third_party/android_system_core/include/utils/SortedVector.h
diff --git a/phonelibs/android_system_core/include/utils/StopWatch.h b/third_party/android_system_core/include/utils/StopWatch.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/StopWatch.h
rename to third_party/android_system_core/include/utils/StopWatch.h
diff --git a/phonelibs/android_system_core/include/utils/String16.h b/third_party/android_system_core/include/utils/String16.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/String16.h
rename to third_party/android_system_core/include/utils/String16.h
diff --git a/phonelibs/android_system_core/include/utils/String8.h b/third_party/android_system_core/include/utils/String8.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/String8.h
rename to third_party/android_system_core/include/utils/String8.h
diff --git a/phonelibs/android_system_core/include/utils/StrongPointer.h b/third_party/android_system_core/include/utils/StrongPointer.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/StrongPointer.h
rename to third_party/android_system_core/include/utils/StrongPointer.h
diff --git a/phonelibs/android_system_core/include/utils/SystemClock.h b/third_party/android_system_core/include/utils/SystemClock.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/SystemClock.h
rename to third_party/android_system_core/include/utils/SystemClock.h
diff --git a/phonelibs/android_system_core/include/utils/Thread.h b/third_party/android_system_core/include/utils/Thread.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Thread.h
rename to third_party/android_system_core/include/utils/Thread.h
diff --git a/phonelibs/android_system_core/include/utils/ThreadDefs.h b/third_party/android_system_core/include/utils/ThreadDefs.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/ThreadDefs.h
rename to third_party/android_system_core/include/utils/ThreadDefs.h
diff --git a/phonelibs/android_system_core/include/utils/Timers.h b/third_party/android_system_core/include/utils/Timers.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Timers.h
rename to third_party/android_system_core/include/utils/Timers.h
diff --git a/phonelibs/android_system_core/include/utils/Tokenizer.h b/third_party/android_system_core/include/utils/Tokenizer.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Tokenizer.h
rename to third_party/android_system_core/include/utils/Tokenizer.h
diff --git a/phonelibs/android_system_core/include/utils/Trace.h b/third_party/android_system_core/include/utils/Trace.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Trace.h
rename to third_party/android_system_core/include/utils/Trace.h
diff --git a/phonelibs/android_system_core/include/utils/TypeHelpers.h b/third_party/android_system_core/include/utils/TypeHelpers.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/TypeHelpers.h
rename to third_party/android_system_core/include/utils/TypeHelpers.h
diff --git a/phonelibs/android_system_core/include/utils/Unicode.h b/third_party/android_system_core/include/utils/Unicode.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Unicode.h
rename to third_party/android_system_core/include/utils/Unicode.h
diff --git a/phonelibs/android_system_core/include/utils/Vector.h b/third_party/android_system_core/include/utils/Vector.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/Vector.h
rename to third_party/android_system_core/include/utils/Vector.h
diff --git a/phonelibs/android_system_core/include/utils/VectorImpl.h b/third_party/android_system_core/include/utils/VectorImpl.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/VectorImpl.h
rename to third_party/android_system_core/include/utils/VectorImpl.h
diff --git a/phonelibs/android_system_core/include/utils/ashmem.h b/third_party/android_system_core/include/utils/ashmem.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/ashmem.h
rename to third_party/android_system_core/include/utils/ashmem.h
diff --git a/phonelibs/android_system_core/include/utils/misc.h b/third_party/android_system_core/include/utils/misc.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/misc.h
rename to third_party/android_system_core/include/utils/misc.h
diff --git a/phonelibs/android_system_core/include/utils/threads.h b/third_party/android_system_core/include/utils/threads.h
similarity index 100%
rename from phonelibs/android_system_core/include/utils/threads.h
rename to third_party/android_system_core/include/utils/threads.h
diff --git a/phonelibs/bzip2/LICENSE b/third_party/bzip2/LICENSE
similarity index 100%
rename from phonelibs/bzip2/LICENSE
rename to third_party/bzip2/LICENSE
diff --git a/phonelibs/bzip2/build.txt b/third_party/bzip2/build.txt
similarity index 100%
rename from phonelibs/bzip2/build.txt
rename to third_party/bzip2/build.txt
diff --git a/phonelibs/bzip2/bzlib.h b/third_party/bzip2/bzlib.h
similarity index 100%
rename from phonelibs/bzip2/bzlib.h
rename to third_party/bzip2/bzlib.h
diff --git a/phonelibs/bzip2/libbz2.a b/third_party/bzip2/libbz2.a
similarity index 100%
rename from phonelibs/bzip2/libbz2.a
rename to third_party/bzip2/libbz2.a
diff --git a/phonelibs/json11/json11.cpp b/third_party/json11/json11.cpp
similarity index 100%
rename from phonelibs/json11/json11.cpp
rename to third_party/json11/json11.cpp
diff --git a/phonelibs/json11/json11.hpp b/third_party/json11/json11.hpp
similarity index 100%
rename from phonelibs/json11/json11.hpp
rename to third_party/json11/json11.hpp
diff --git a/third_party/kaitai/custom_decoder.h b/third_party/kaitai/custom_decoder.h
new file mode 100644
index 00000000000000..6da7f5fd23cd63
--- /dev/null
+++ b/third_party/kaitai/custom_decoder.h
@@ -0,0 +1,16 @@
+#ifndef KAITAI_CUSTOM_DECODER_H
+#define KAITAI_CUSTOM_DECODER_H
+
+#include <string>
+
+namespace kaitai {
+
+class custom_decoder {
+public:
+    virtual ~custom_decoder() {};
+    virtual std::string decode(std::string src) = 0;
+};
+
+}
+
+#endif
diff --git a/third_party/kaitai/exceptions.h b/third_party/kaitai/exceptions.h
new file mode 100644
index 00000000000000..5c09c4672b8c25
--- /dev/null
+++ b/third_party/kaitai/exceptions.h
@@ -0,0 +1,189 @@
+#ifndef KAITAI_EXCEPTIONS_H
+#define KAITAI_EXCEPTIONS_H
+
+#include <kaitai/kaitaistream.h>
+
+#include <string>
+#include <stdexcept>
+
+// We need to use "noexcept" in virtual destructor of our exceptions
+// subclasses. Different compilers have different ideas on how to
+// achieve that: C++98 compilers prefer `throw()`, C++11 and later
+// use `noexcept`. We define KS_NOEXCEPT macro for that.
+
+#if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1900)
+#define KS_NOEXCEPT noexcept
+#else
+#define KS_NOEXCEPT throw()
+#endif
+
+namespace kaitai {
+
+/**
+ * Common ancestor for all error originating from Kaitai Struct usage.
+ * Stores KSY source path, pointing to an element supposedly guilty of
+ * an error.
+ */
+class kstruct_error: public std::runtime_error {
+public:
+    kstruct_error(const std::string what, const std::string src_path):
+        std::runtime_error(src_path + ": " + what),
+        m_src_path(src_path)
+    {
+    }
+
+    virtual ~kstruct_error() KS_NOEXCEPT {};
+
+protected:
+    const std::string m_src_path;
+};
+
+/**
+ * Error that occurs when default endianness should be decided with
+ * a switch, but nothing matches (although using endianness expression
+ * implies that there should be some positive result).
+ */
+class undecided_endianness_error: public kstruct_error {
+public:
+    undecided_endianness_error(const std::string src_path):
+        kstruct_error("unable to decide on endianness for a type", src_path)
+    {
+    }
+
+    virtual ~undecided_endianness_error() KS_NOEXCEPT {};
+};
+
+/**
+ * Common ancestor for all validation failures. Stores pointer to
+ * KaitaiStream IO object which was involved in an error.
+ */
+class validation_failed_error: public kstruct_error {
+public:
+    validation_failed_error(const std::string what, kstream* io, const std::string src_path):
+        kstruct_error("at pos " + kstream::to_string(static_cast<int>(io->pos())) + ": validation failed: " + what, src_path),
+        m_io(io)
+    {
+    }
+
+// "at pos #{io.pos}: validation failed: #{msg}"
+
+    virtual ~validation_failed_error() KS_NOEXCEPT {};
+
+protected:
+    kstream* m_io;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to be equal to
+ * "expected", but it turned out that it's not.
+ */
+template<typename T>
+class validation_not_equal_error: public validation_failed_error {
+public:
+    validation_not_equal_error<T>(const T& expected, const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not equal", io, src_path),
+        m_expected(expected),
+        m_actual(actual)
+    {
+    }
+
+    // "not equal, expected #{expected.inspect}, but got #{actual.inspect}"
+
+    virtual ~validation_not_equal_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_expected;
+    const T& m_actual;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to be greater
+ * than or equal to "min", but it turned out that it's not.
+ */
+template<typename T>
+class validation_less_than_error: public validation_failed_error {
+public:
+    validation_less_than_error<T>(const T& min, const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not in range", io, src_path),
+        m_min(min),
+        m_actual(actual)
+    {
+    }
+
+    // "not in range, min #{min.inspect}, but got #{actual.inspect}"
+
+    virtual ~validation_less_than_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_min;
+    const T& m_actual;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to be less
+ * than or equal to "max", but it turned out that it's not.
+ */
+template<typename T>
+class validation_greater_than_error: public validation_failed_error {
+public:
+    validation_greater_than_error<T>(const T& max, const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not in range", io, src_path),
+        m_max(max),
+        m_actual(actual)
+    {
+    }
+
+    // "not in range, max #{max.inspect}, but got #{actual.inspect}"
+
+    virtual ~validation_greater_than_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_max;
+    const T& m_actual;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to be from
+ * the list, but it turned out that it's not.
+ */
+template<typename T>
+class validation_not_any_of_error: public validation_failed_error {
+public:
+    validation_not_any_of_error<T>(const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not any of the list", io, src_path),
+        m_actual(actual)
+    {
+    }
+
+    // "not any of the list, got #{actual.inspect}"
+
+    virtual ~validation_not_any_of_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_actual;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to match
+ * the expression, but it turned out that it doesn't.
+ */
+template<typename T>
+class validation_expr_error: public validation_failed_error {
+public:
+    validation_expr_error<T>(const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not matching the expression", io, src_path),
+        m_actual(actual)
+    {
+    }
+
+    // "not matching the expression, got #{actual.inspect}"
+
+    virtual ~validation_expr_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_actual;
+};
+
+}
+
+#endif
diff --git a/third_party/kaitai/kaitaistream.cpp b/third_party/kaitai/kaitaistream.cpp
new file mode 100644
index 00000000000000..d82ddb7e8279ec
--- /dev/null
+++ b/third_party/kaitai/kaitaistream.cpp
@@ -0,0 +1,689 @@
+#include <kaitai/kaitaistream.h>
+
+#if defined(__APPLE__)
+#include <machine/endian.h>
+#include <libkern/OSByteOrder.h>
+#define bswap_16(x) OSSwapInt16(x)
+#define bswap_32(x) OSSwapInt32(x)
+#define bswap_64(x) OSSwapInt64(x)
+#define __BYTE_ORDER    BYTE_ORDER
+#define __BIG_ENDIAN    BIG_ENDIAN
+#define __LITTLE_ENDIAN LITTLE_ENDIAN
+#elif defined(_MSC_VER) // !__APPLE__
+#include <stdlib.h>
+#define __LITTLE_ENDIAN     1234
+#define __BIG_ENDIAN        4321
+#define __BYTE_ORDER        __LITTLE_ENDIAN
+#define bswap_16(x) _byteswap_ushort(x)
+#define bswap_32(x) _byteswap_ulong(x)
+#define bswap_64(x) _byteswap_uint64(x)
+#else // !__APPLE__ or !_MSC_VER
+#include <endian.h>
+#include <byteswap.h>
+#endif
+
+#include <iostream>
+#include <vector>
+#include <stdexcept>
+
+kaitai::kstream::kstream(std::istream* io) {
+    m_io = io;
+    init();
+}
+
+kaitai::kstream::kstream(std::string& data): m_io_str(data) {
+    m_io = &m_io_str;
+    init();
+}
+
+void kaitai::kstream::init() {
+    exceptions_enable();
+    align_to_byte();
+}
+
+void kaitai::kstream::close() {
+    //  m_io->close();
+}
+
+void kaitai::kstream::exceptions_enable() const {
+    m_io->exceptions(
+        std::istream::eofbit |
+        std::istream::failbit |
+        std::istream::badbit
+    );
+}
+
+// ========================================================================
+// Stream positioning
+// ========================================================================
+
+bool kaitai::kstream::is_eof() const {
+    if (m_bits_left > 0) {
+        return false;
+    }
+    char t;
+    m_io->exceptions(
+        std::istream::badbit
+    );
+    m_io->get(t);
+    if (m_io->eof()) {
+        m_io->clear();
+        exceptions_enable();
+        return true;
+    } else {
+        m_io->unget();
+        exceptions_enable();
+        return false;
+    }
+}
+
+void kaitai::kstream::seek(uint64_t pos) {
+    m_io->seekg(pos);
+}
+
+uint64_t kaitai::kstream::pos() {
+    return m_io->tellg();
+}
+
+uint64_t kaitai::kstream::size() {
+    std::iostream::pos_type cur_pos = m_io->tellg();
+    m_io->seekg(0, std::ios::end);
+    std::iostream::pos_type len = m_io->tellg();
+    m_io->seekg(cur_pos);
+    return len;
+}
+
+// ========================================================================
+// Integer numbers
+// ========================================================================
+
+// ------------------------------------------------------------------------
+// Signed
+// ------------------------------------------------------------------------
+
+int8_t kaitai::kstream::read_s1() {
+    char t;
+    m_io->get(t);
+    return t;
+}
+
+// ........................................................................
+// Big-endian
+// ........................................................................
+
+int16_t kaitai::kstream::read_s2be() {
+    int16_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 2);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_16(t);
+#endif
+    return t;
+}
+
+int32_t kaitai::kstream::read_s4be() {
+    int32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_32(t);
+#endif
+    return t;
+}
+
+int64_t kaitai::kstream::read_s8be() {
+    int64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_64(t);
+#endif
+    return t;
+}
+
+// ........................................................................
+// Little-endian
+// ........................................................................
+
+int16_t kaitai::kstream::read_s2le() {
+    int16_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 2);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_16(t);
+#endif
+    return t;
+}
+
+int32_t kaitai::kstream::read_s4le() {
+    int32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_32(t);
+#endif
+    return t;
+}
+
+int64_t kaitai::kstream::read_s8le() {
+    int64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_64(t);
+#endif
+    return t;
+}
+
+// ------------------------------------------------------------------------
+// Unsigned
+// ------------------------------------------------------------------------
+
+uint8_t kaitai::kstream::read_u1() {
+    char t;
+    m_io->get(t);
+    return t;
+}
+
+// ........................................................................
+// Big-endian
+// ........................................................................
+
+uint16_t kaitai::kstream::read_u2be() {
+    uint16_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 2);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_16(t);
+#endif
+    return t;
+}
+
+uint32_t kaitai::kstream::read_u4be() {
+    uint32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_32(t);
+#endif
+    return t;
+}
+
+uint64_t kaitai::kstream::read_u8be() {
+    uint64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_64(t);
+#endif
+    return t;
+}
+
+// ........................................................................
+// Little-endian
+// ........................................................................
+
+uint16_t kaitai::kstream::read_u2le() {
+    uint16_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 2);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_16(t);
+#endif
+    return t;
+}
+
+uint32_t kaitai::kstream::read_u4le() {
+    uint32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_32(t);
+#endif
+    return t;
+}
+
+uint64_t kaitai::kstream::read_u8le() {
+    uint64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_64(t);
+#endif
+    return t;
+}
+
+// ========================================================================
+// Floating point numbers
+// ========================================================================
+
+// ........................................................................
+// Big-endian
+// ........................................................................
+
+float kaitai::kstream::read_f4be() {
+    uint32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_32(t);
+#endif
+    return reinterpret_cast<float&>(t);
+}
+
+double kaitai::kstream::read_f8be() {
+    uint64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_64(t);
+#endif
+    return reinterpret_cast<double&>(t);
+}
+
+// ........................................................................
+// Little-endian
+// ........................................................................
+
+float kaitai::kstream::read_f4le() {
+    uint32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_32(t);
+#endif
+    return reinterpret_cast<float&>(t);
+}
+
+double kaitai::kstream::read_f8le() {
+    uint64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_64(t);
+#endif
+    return reinterpret_cast<double&>(t);
+}
+
+// ========================================================================
+// Unaligned bit values
+// ========================================================================
+
+void kaitai::kstream::align_to_byte() {
+    m_bits_left = 0;
+    m_bits = 0;
+}
+
+uint64_t kaitai::kstream::read_bits_int_be(int n) {
+    int bits_needed = n - m_bits_left;
+    if (bits_needed > 0) {
+        // 1 bit  => 1 byte
+        // 8 bits => 1 byte
+        // 9 bits => 2 bytes
+        int bytes_needed = ((bits_needed - 1) / 8) + 1;
+        if (bytes_needed > 8)
+            throw std::runtime_error("read_bits_int: more than 8 bytes requested");
+        char buf[8];
+        m_io->read(buf, bytes_needed);
+        for (int i = 0; i < bytes_needed; i++) {
+            uint8_t b = buf[i];
+            m_bits <<= 8;
+            m_bits |= b;
+            m_bits_left += 8;
+        }
+    }
+
+    // raw mask with required number of 1s, starting from lowest bit
+    uint64_t mask = get_mask_ones(n);
+    // shift mask to align with highest bits available in @bits
+    int shift_bits = m_bits_left - n;
+    mask <<= shift_bits;
+    // derive reading result
+    uint64_t res = (m_bits & mask) >> shift_bits;
+    // clear top bits that we've just read => AND with 1s
+    m_bits_left -= n;
+    mask = get_mask_ones(m_bits_left);
+    m_bits &= mask;
+
+    return res;
+}
+
+// Deprecated, use read_bits_int_be() instead.
+uint64_t kaitai::kstream::read_bits_int(int n) {
+    return read_bits_int_be(n);
+}
+
+uint64_t kaitai::kstream::read_bits_int_le(int n) {
+    int bits_needed = n - m_bits_left;
+    if (bits_needed > 0) {
+        // 1 bit  => 1 byte
+        // 8 bits => 1 byte
+        // 9 bits => 2 bytes
+        int bytes_needed = ((bits_needed - 1) / 8) + 1;
+        if (bytes_needed > 8)
+            throw std::runtime_error("read_bits_int_le: more than 8 bytes requested");
+        char buf[8];
+        m_io->read(buf, bytes_needed);
+        for (int i = 0; i < bytes_needed; i++) {
+            uint8_t b = buf[i];
+            m_bits |= (static_cast<uint64_t>(b) << m_bits_left);
+            m_bits_left += 8;
+        }
+    }
+
+    // raw mask with required number of 1s, starting from lowest bit
+    uint64_t mask = get_mask_ones(n);
+    // derive reading result
+    uint64_t res = m_bits & mask;
+    // remove bottom bits that we've just read by shifting
+    m_bits >>= n;
+    m_bits_left -= n;
+
+    return res;
+}
+
+uint64_t kaitai::kstream::get_mask_ones(int n) {
+    if (n == 64) {
+        return 0xFFFFFFFFFFFFFFFF;
+    } else {
+        return ((uint64_t) 1 << n) - 1;
+    }
+}
+
+// ========================================================================
+// Byte arrays
+// ========================================================================
+
+std::string kaitai::kstream::read_bytes(std::streamsize len) {
+    std::vector<char> result(len);
+
+    // NOTE: streamsize type is signed, negative values are only *supposed* to not be used.
+    // http://en.cppreference.com/w/cpp/io/streamsize
+    if (len < 0) {
+        throw std::runtime_error("read_bytes: requested a negative amount");
+    }
+
+    if (len > 0) {
+        m_io->read(&result[0], len);
+    }
+
+    return std::string(result.begin(), result.end());
+}
+
+std::string kaitai::kstream::read_bytes_full() {
+    std::iostream::pos_type p1 = m_io->tellg();
+    m_io->seekg(0, std::ios::end);
+    std::iostream::pos_type p2 = m_io->tellg();
+    size_t len = p2 - p1;
+
+    // Note: this requires a std::string to be backed with a
+    // contiguous buffer. Officially, it's a only requirement since
+    // C++11 (C++98 and C++03 didn't have this requirement), but all
+    // major implementations had contiguous buffers anyway.
+    std::string result(len, ' ');
+    m_io->seekg(p1);
+    m_io->read(&result[0], len);
+
+    return result;
+}
+
+std::string kaitai::kstream::read_bytes_term(char term, bool include, bool consume, bool eos_error) {
+    std::string result;
+    std::getline(*m_io, result, term);
+    if (m_io->eof()) {
+        // encountered EOF
+        if (eos_error) {
+            throw std::runtime_error("read_bytes_term: encountered EOF");
+        }
+    } else {
+        // encountered terminator
+        if (include)
+            result.push_back(term);
+        if (!consume)
+            m_io->unget();
+    }
+    return result;
+}
+
+std::string kaitai::kstream::ensure_fixed_contents(std::string expected) {
+    std::string actual = read_bytes(expected.length());
+
+    if (actual != expected) {
+        // NOTE: I think printing it outright is not best idea, it could contain non-ascii charactes like backspace and beeps and whatnot. It would be better to print hexlified version, and also to redirect it to stderr.
+        throw std::runtime_error("ensure_fixed_contents: actual data does not match expected data");
+    }
+
+    return actual;
+}
+
+std::string kaitai::kstream::bytes_strip_right(std::string src, char pad_byte) {
+    std::size_t new_len = src.length();
+
+    while (new_len > 0 && src[new_len - 1] == pad_byte)
+        new_len--;
+
+    return src.substr(0, new_len);
+}
+
+std::string kaitai::kstream::bytes_terminate(std::string src, char term, bool include) {
+    std::size_t new_len = 0;
+    std::size_t max_len = src.length();
+
+    while (new_len < max_len && src[new_len] != term)
+        new_len++;
+
+    if (include && new_len < max_len)
+        new_len++;
+
+    return src.substr(0, new_len);
+}
+
+// ========================================================================
+// Byte array processing
+// ========================================================================
+
+std::string kaitai::kstream::process_xor_one(std::string data, uint8_t key) {
+    size_t len = data.length();
+    std::string result(len, ' ');
+
+    for (size_t i = 0; i < len; i++)
+        result[i] = data[i] ^ key;
+
+    return result;
+}
+
+std::string kaitai::kstream::process_xor_many(std::string data, std::string key) {
+    size_t len = data.length();
+    size_t kl = key.length();
+    std::string result(len, ' ');
+
+    size_t ki = 0;
+    for (size_t i = 0; i < len; i++) {
+        result[i] = data[i] ^ key[ki];
+        ki++;
+        if (ki >= kl)
+            ki = 0;
+    }
+
+    return result;
+}
+
+std::string kaitai::kstream::process_rotate_left(std::string data, int amount) {
+    size_t len = data.length();
+    std::string result(len, ' ');
+
+    for (size_t i = 0; i < len; i++) {
+        uint8_t bits = data[i];
+        result[i] = (bits << amount) | (bits >> (8 - amount));
+    }
+
+    return result;
+}
+
+#ifdef KS_ZLIB
+#include <zlib.h>
+
+std::string kaitai::kstream::process_zlib(std::string data) {
+    int ret;
+
+    unsigned char *src_ptr = reinterpret_cast<unsigned char*>(&data[0]);
+    std::stringstream dst_strm;
+
+    z_stream strm;
+    strm.zalloc = Z_NULL;
+    strm.zfree = Z_NULL;
+    strm.opaque = Z_NULL;
+
+    ret = inflateInit(&strm);
+    if (ret != Z_OK)
+        throw std::runtime_error("process_zlib: inflateInit error");
+
+    strm.next_in = src_ptr;
+    strm.avail_in = data.length();
+
+    unsigned char outbuffer[ZLIB_BUF_SIZE];
+    std::string outstring;
+
+    // get the decompressed bytes blockwise using repeated calls to inflate
+    do {
+        strm.next_out = reinterpret_cast<Bytef*>(outbuffer);
+        strm.avail_out = sizeof(outbuffer);
+
+        ret = inflate(&strm, 0);
+
+        if (outstring.size() < strm.total_out)
+            outstring.append(reinterpret_cast<char*>(outbuffer), strm.total_out - outstring.size());
+    } while (ret == Z_OK);
+
+    if (ret != Z_STREAM_END) {          // an error occurred that was not EOF
+        std::ostringstream exc_msg;
+        exc_msg << "process_zlib: error #" << ret << "): " << strm.msg;
+        throw std::runtime_error(exc_msg.str());
+    }
+
+    if (inflateEnd(&strm) != Z_OK)
+        throw std::runtime_error("process_zlib: inflateEnd error");
+
+    return outstring;
+}
+#endif
+
+// ========================================================================
+// Misc utility methods
+// ========================================================================
+
+int kaitai::kstream::mod(int a, int b) {
+    if (b <= 0)
+        throw std::invalid_argument("mod: divisor b <= 0");
+    int r = a % b;
+    if (r < 0)
+        r += b;
+    return r;
+}
+
+#include <stdio.h>
+std::string kaitai::kstream::to_string(int val) {
+    // if int is 32 bits, "-2147483648" is the longest string representation
+    //   => 11 chars + zero => 12 chars
+    // if int is 64 bits, "-9223372036854775808" is the longest
+    //   => 20 chars + zero => 21 chars
+    char buf[25];
+    int got_len = snprintf(buf, sizeof(buf), "%d", val);
+
+    // should never happen, but check nonetheless
+    if (got_len > sizeof(buf))
+        throw std::invalid_argument("to_string: integer is longer than string buffer");
+
+    return std::string(buf);
+}
+
+#include <algorithm>
+std::string kaitai::kstream::reverse(std::string val) {
+    std::reverse(val.begin(), val.end());
+
+    return val;
+}
+
+uint8_t kaitai::kstream::byte_array_min(const std::string val) {
+    uint8_t min = 0xff; // UINT8_MAX
+    std::string::const_iterator end = val.end();
+    for (std::string::const_iterator it = val.begin(); it != end; ++it) {
+        uint8_t cur = static_cast<uint8_t>(*it);
+        if (cur < min) {
+            min = cur;
+        }
+    }
+    return min;
+}
+
+uint8_t kaitai::kstream::byte_array_max(const std::string val) {
+    uint8_t max = 0; // UINT8_MIN
+    std::string::const_iterator end = val.end();
+    for (std::string::const_iterator it = val.begin(); it != end; ++it) {
+        uint8_t cur = static_cast<uint8_t>(*it);
+        if (cur > max) {
+            max = cur;
+        }
+    }
+    return max;
+}
+
+// ========================================================================
+// Other internal methods
+// ========================================================================
+
+#ifndef KS_STR_DEFAULT_ENCODING
+#define KS_STR_DEFAULT_ENCODING "UTF-8"
+#endif
+
+#ifdef KS_STR_ENCODING_ICONV
+
+#include <iconv.h>
+#include <cerrno>
+#include <stdexcept>
+
+std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) {
+    iconv_t cd = iconv_open(KS_STR_DEFAULT_ENCODING, src_enc.c_str());
+
+    if (cd == (iconv_t) -1) {
+        if (errno == EINVAL) {
+            throw std::runtime_error("bytes_to_str: invalid encoding pair conversion requested");
+        } else {
+            throw std::runtime_error("bytes_to_str: error opening iconv");
+        }
+    }
+
+    size_t src_len = src.length();
+    size_t src_left = src_len;
+
+    // Start with a buffer length of double the source length.
+    size_t dst_len = src_len * 2;
+    std::string dst(dst_len, ' ');
+    size_t dst_left = dst_len;
+
+    char *src_ptr = &src[0];
+    char *dst_ptr = &dst[0];
+
+    while (true) {
+        size_t res = iconv(cd, &src_ptr, &src_left, &dst_ptr, &dst_left);
+
+        if (res == (size_t) -1) {
+            if (errno == E2BIG) {
+                // dst buffer is not enough to accomodate whole string
+                // enlarge the buffer and try again
+                size_t dst_used = dst_len - dst_left;
+                dst_left += dst_len;
+                dst_len += dst_len;
+                dst.resize(dst_len);
+
+                // dst.resize might have allocated destination buffer in another area
+                // of memory, thus our previous pointer "dst" will be invalid; re-point
+                // it using "dst_used".
+                dst_ptr = &dst[dst_used];
+            } else {
+                throw std::runtime_error("bytes_to_str: iconv error");
+            }
+        } else {
+            // conversion successful
+            dst.resize(dst_len - dst_left);
+            break;
+        }
+    }
+
+    if (iconv_close(cd) != 0) {
+        throw std::runtime_error("bytes_to_str: iconv close error");
+    }
+
+    return dst;
+}
+#elif defined(KS_STR_ENCODING_NONE)
+std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) {
+    return src;
+}
+#else
+#error Need to decide how to handle strings: please define one of: KS_STR_ENCODING_ICONV, KS_STR_ENCODING_NONE
+#endif
diff --git a/third_party/kaitai/kaitaistream.h b/third_party/kaitai/kaitaistream.h
new file mode 100644
index 00000000000000..e7f4c6ce347d5b
--- /dev/null
+++ b/third_party/kaitai/kaitaistream.h
@@ -0,0 +1,268 @@
+#ifndef KAITAI_STREAM_H
+#define KAITAI_STREAM_H
+
+// Kaitai Struct runtime API version: x.y.z = 'xxxyyyzzz' decimal
+#define KAITAI_STRUCT_VERSION 9000L
+
+#include <istream>
+#include <sstream>
+#include <stdint.h>
+#include <sys/types.h>
+
+namespace kaitai {
+
+/**
+ * Kaitai Stream class (kaitai::kstream) is an implementation of
+ * <a href="https://doc.kaitai.io/stream_api.html">Kaitai Struct stream API</a>
+ * for C++/STL. It's implemented as a wrapper over generic STL std::istream.
+ *
+ * It provides a wide variety of simple methods to read (parse) binary
+ * representations of primitive types, such as integer and floating
+ * point numbers, byte arrays and strings, and also provides stream
+ * positioning / navigation methods with unified cross-language and
+ * cross-toolkit semantics.
+ *
+ * Typically, end users won't access Kaitai Stream class manually, but would
+ * describe a binary structure format using .ksy language and then would use
+ * Kaitai Struct compiler to generate source code in desired target language.
+ * That code, in turn, would use this class and API to do the actual parsing
+ * job.
+ */
+class kstream {
+public:
+    /**
+     * Constructs new Kaitai Stream object, wrapping a given std::istream.
+     * \param io istream object to use for this Kaitai Stream
+     */
+    kstream(std::istream* io);
+
+    /**
+     * Constructs new Kaitai Stream object, wrapping a given in-memory data
+     * buffer.
+     * \param data data buffer to use for this Kaitai Stream
+     */
+    kstream(std::string& data);
+
+    void close();
+
+    /** @name Stream positioning */
+    //@{
+    /**
+     * Check if stream pointer is at the end of stream. Note that the semantics
+     * are different from traditional STL semantics: one does *not* need to do a
+     * read (which will fail) after the actual end of the stream to trigger EOF
+     * flag, which can be accessed after that read. It is sufficient to just be
+     * at the end of the stream for this method to return true.
+     * \return "true" if we are located at the end of the stream.
+     */
+    bool is_eof() const;
+
+    /**
+     * Set stream pointer to designated position.
+     * \param pos new position (offset in bytes from the beginning of the stream)
+     */
+    void seek(uint64_t pos);
+
+    /**
+     * Get current position of a stream pointer.
+     * \return pointer position, number of bytes from the beginning of the stream
+     */
+    uint64_t pos();
+
+    /**
+     * Get total size of the stream in bytes.
+     * \return size of the stream in bytes
+     */
+    uint64_t size();
+    //@}
+
+    /** @name Integer numbers */
+    //@{
+
+    // ------------------------------------------------------------------------
+    // Signed
+    // ------------------------------------------------------------------------
+
+    int8_t read_s1();
+
+    // ........................................................................
+    // Big-endian
+    // ........................................................................
+
+    int16_t read_s2be();
+    int32_t read_s4be();
+    int64_t read_s8be();
+
+    // ........................................................................
+    // Little-endian
+    // ........................................................................
+
+    int16_t read_s2le();
+    int32_t read_s4le();
+    int64_t read_s8le();
+
+    // ------------------------------------------------------------------------
+    // Unsigned
+    // ------------------------------------------------------------------------
+
+    uint8_t read_u1();
+
+    // ........................................................................
+    // Big-endian
+    // ........................................................................
+
+    uint16_t read_u2be();
+    uint32_t read_u4be();
+    uint64_t read_u8be();
+
+    // ........................................................................
+    // Little-endian
+    // ........................................................................
+
+    uint16_t read_u2le();
+    uint32_t read_u4le();
+    uint64_t read_u8le();
+
+    //@}
+
+    /** @name Floating point numbers */
+    //@{
+
+    // ........................................................................
+    // Big-endian
+    // ........................................................................
+
+    float read_f4be();
+    double read_f8be();
+
+    // ........................................................................
+    // Little-endian
+    // ........................................................................
+
+    float read_f4le();
+    double read_f8le();
+
+    //@}
+
+    /** @name Unaligned bit values */
+    //@{
+
+    void align_to_byte();
+    uint64_t read_bits_int_be(int n);
+    uint64_t read_bits_int(int n);
+    uint64_t read_bits_int_le(int n);
+
+    //@}
+
+    /** @name Byte arrays */
+    //@{
+
+    std::string read_bytes(std::streamsize len);
+    std::string read_bytes_full();
+    std::string read_bytes_term(char term, bool include, bool consume, bool eos_error);
+    std::string ensure_fixed_contents(std::string expected);
+
+    static std::string bytes_strip_right(std::string src, char pad_byte);
+    static std::string bytes_terminate(std::string src, char term, bool include);
+    static std::string bytes_to_str(std::string src, std::string src_enc);
+
+    //@}
+
+    /** @name Byte array processing */
+    //@{
+
+    /**
+     * Performs a XOR processing with given data, XORing every byte of input with a single
+     * given value.
+     * @param data data to process
+     * @param key value to XOR with
+     * @return processed data
+     */
+    static std::string process_xor_one(std::string data, uint8_t key);
+
+    /**
+     * Performs a XOR processing with given data, XORing every byte of input with a key
+     * array, repeating key array many times, if necessary (i.e. if data array is longer
+     * than key array).
+     * @param data data to process
+     * @param key array of bytes to XOR with
+     * @return processed data
+     */
+    static std::string process_xor_many(std::string data, std::string key);
+
+    /**
+     * Performs a circular left rotation shift for a given buffer by a given amount of bits,
+     * using groups of 1 bytes each time. Right circular rotation should be performed
+     * using this procedure with corrected amount.
+     * @param data source data to process
+     * @param amount number of bits to shift by
+     * @return copy of source array with requested shift applied
+     */
+    static std::string process_rotate_left(std::string data, int amount);
+
+#ifdef KS_ZLIB
+    /**
+     * Performs an unpacking ("inflation") of zlib-compressed data with usual zlib headers.
+     * @param data data to unpack
+     * @return unpacked data
+     * @throws IOException
+     */
+    static std::string process_zlib(std::string data);
+#endif
+
+    //@}
+
+    /**
+     * Performs modulo operation between two integers: dividend `a`
+     * and divisor `b`. Divisor `b` is expected to be positive. The
+     * result is always 0 <= x <= b - 1.
+     */
+    static int mod(int a, int b);
+
+    /**
+     * Converts given integer `val` to a decimal string representation.
+     * Should be used in place of std::to_string() (which is available only
+     * since C++11) in older C++ implementations.
+     */
+    static std::string to_string(int val);
+
+    /**
+     * Reverses given string `val`, so that the first character becomes the
+     * last and the last one becomes the first. This should be used to avoid
+     * the need of local variables at the caller.
+     */
+    static std::string reverse(std::string val);
+
+    /**
+     * Finds the minimal byte in a byte array, treating bytes as
+     * unsigned values.
+     * @param val byte array to scan
+     * @return minimal byte in byte array as integer
+     */
+    static uint8_t byte_array_min(const std::string val);
+
+    /**
+     * Finds the maximal byte in a byte array, treating bytes as
+     * unsigned values.
+     * @param val byte array to scan
+     * @return maximal byte in byte array as integer
+     */
+    static uint8_t byte_array_max(const std::string val);
+
+private:
+    std::istream* m_io;
+    std::istringstream m_io_str;
+    int m_bits_left;
+    uint64_t m_bits;
+
+    void init();
+    void exceptions_enable() const;
+
+    static uint64_t get_mask_ones(int n);
+
+    static const int ZLIB_BUF_SIZE = 128 * 1024;
+};
+
+}
+
+#endif
diff --git a/third_party/kaitai/kaitaistruct.h b/third_party/kaitai/kaitaistruct.h
new file mode 100644
index 00000000000000..8172ede6c98195
--- /dev/null
+++ b/third_party/kaitai/kaitaistruct.h
@@ -0,0 +1,20 @@
+#ifndef KAITAI_STRUCT_H
+#define KAITAI_STRUCT_H
+
+#include <kaitai/kaitaistream.h>
+
+namespace kaitai {
+
+class kstruct {
+public:
+    kstruct(kstream *_io) { m__io = _io; }
+    virtual ~kstruct() {}
+protected:
+    kstream *m__io;
+public:
+    kstream *_io() { return m__io; }
+};
+
+}
+
+#endif
diff --git a/phonelibs/libgralloc/include/gralloc_priv.h b/third_party/libgralloc/include/gralloc_priv.h
similarity index 100%
rename from phonelibs/libgralloc/include/gralloc_priv.h
rename to third_party/libgralloc/include/gralloc_priv.h
diff --git a/phonelibs/libyuv/include/libyuv.h b/third_party/libyuv/include/libyuv.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv.h
rename to third_party/libyuv/include/libyuv.h
diff --git a/phonelibs/libyuv/include/libyuv/basic_types.h b/third_party/libyuv/include/libyuv/basic_types.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/basic_types.h
rename to third_party/libyuv/include/libyuv/basic_types.h
diff --git a/phonelibs/libyuv/include/libyuv/compare.h b/third_party/libyuv/include/libyuv/compare.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/compare.h
rename to third_party/libyuv/include/libyuv/compare.h
diff --git a/phonelibs/libyuv/include/libyuv/compare_row.h b/third_party/libyuv/include/libyuv/compare_row.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/compare_row.h
rename to third_party/libyuv/include/libyuv/compare_row.h
diff --git a/phonelibs/libyuv/include/libyuv/convert.h b/third_party/libyuv/include/libyuv/convert.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/convert.h
rename to third_party/libyuv/include/libyuv/convert.h
diff --git a/phonelibs/libyuv/include/libyuv/convert_argb.h b/third_party/libyuv/include/libyuv/convert_argb.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/convert_argb.h
rename to third_party/libyuv/include/libyuv/convert_argb.h
diff --git a/phonelibs/libyuv/include/libyuv/convert_from.h b/third_party/libyuv/include/libyuv/convert_from.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/convert_from.h
rename to third_party/libyuv/include/libyuv/convert_from.h
diff --git a/phonelibs/libyuv/include/libyuv/convert_from_argb.h b/third_party/libyuv/include/libyuv/convert_from_argb.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/convert_from_argb.h
rename to third_party/libyuv/include/libyuv/convert_from_argb.h
diff --git a/phonelibs/libyuv/include/libyuv/cpu_id.h b/third_party/libyuv/include/libyuv/cpu_id.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/cpu_id.h
rename to third_party/libyuv/include/libyuv/cpu_id.h
diff --git a/phonelibs/libyuv/include/libyuv/macros_msa.h b/third_party/libyuv/include/libyuv/macros_msa.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/macros_msa.h
rename to third_party/libyuv/include/libyuv/macros_msa.h
diff --git a/phonelibs/libyuv/include/libyuv/mjpeg_decoder.h b/third_party/libyuv/include/libyuv/mjpeg_decoder.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/mjpeg_decoder.h
rename to third_party/libyuv/include/libyuv/mjpeg_decoder.h
diff --git a/phonelibs/libyuv/include/libyuv/planar_functions.h b/third_party/libyuv/include/libyuv/planar_functions.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/planar_functions.h
rename to third_party/libyuv/include/libyuv/planar_functions.h
diff --git a/phonelibs/libyuv/include/libyuv/rotate.h b/third_party/libyuv/include/libyuv/rotate.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/rotate.h
rename to third_party/libyuv/include/libyuv/rotate.h
diff --git a/phonelibs/libyuv/include/libyuv/rotate_argb.h b/third_party/libyuv/include/libyuv/rotate_argb.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/rotate_argb.h
rename to third_party/libyuv/include/libyuv/rotate_argb.h
diff --git a/phonelibs/libyuv/include/libyuv/rotate_row.h b/third_party/libyuv/include/libyuv/rotate_row.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/rotate_row.h
rename to third_party/libyuv/include/libyuv/rotate_row.h
diff --git a/phonelibs/libyuv/include/libyuv/row.h b/third_party/libyuv/include/libyuv/row.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/row.h
rename to third_party/libyuv/include/libyuv/row.h
diff --git a/phonelibs/libyuv/include/libyuv/scale.h b/third_party/libyuv/include/libyuv/scale.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/scale.h
rename to third_party/libyuv/include/libyuv/scale.h
diff --git a/phonelibs/libyuv/include/libyuv/scale_argb.h b/third_party/libyuv/include/libyuv/scale_argb.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/scale_argb.h
rename to third_party/libyuv/include/libyuv/scale_argb.h
diff --git a/phonelibs/libyuv/include/libyuv/scale_row.h b/third_party/libyuv/include/libyuv/scale_row.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/scale_row.h
rename to third_party/libyuv/include/libyuv/scale_row.h
diff --git a/phonelibs/libyuv/include/libyuv/version.h b/third_party/libyuv/include/libyuv/version.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/version.h
rename to third_party/libyuv/include/libyuv/version.h
diff --git a/phonelibs/libyuv/include/libyuv/video_common.h b/third_party/libyuv/include/libyuv/video_common.h
similarity index 100%
rename from phonelibs/libyuv/include/libyuv/video_common.h
rename to third_party/libyuv/include/libyuv/video_common.h
diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a
new file mode 100644
index 00000000000000..fdbcda2517a96c
Binary files /dev/null and b/third_party/libyuv/larch64/lib/libyuv.a differ
diff --git a/phonelibs/libyuv/lib/libyuv.a b/third_party/libyuv/lib/libyuv.a
similarity index 100%
rename from phonelibs/libyuv/lib/libyuv.a
rename to third_party/libyuv/lib/libyuv.a
diff --git a/phonelibs/linux/include/linux/ion.h b/third_party/linux/include/linux/ion.h
similarity index 100%
rename from phonelibs/linux/include/linux/ion.h
rename to third_party/linux/include/linux/ion.h
diff --git a/phonelibs/linux/include/msm_ion.h b/third_party/linux/include/msm_ion.h
similarity index 98%
rename from phonelibs/linux/include/msm_ion.h
rename to third_party/linux/include/msm_ion.h
index e41b3170fd438e..d5caed5eb36e1b 100644
--- a/phonelibs/linux/include/msm_ion.h
+++ b/third_party/linux/include/msm_ion.h
@@ -166,7 +166,7 @@ struct ion_flush_data {
 
 struct ion_prefetch_regions {
 	unsigned int vmid;
-	size_t __user *sizes;
+	size_t *sizes;
 	unsigned int nr_sizes;
 };
 
@@ -174,7 +174,7 @@ struct ion_prefetch_data {
 	int heap_id;
 	unsigned long len;
 	/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
-	struct ion_prefetch_regions __user *regions;
+	struct ion_prefetch_regions *regions;
 	unsigned int nr_regions;
 };
 
diff --git a/third_party/mapbox-gl-native-qt/include/QMapbox b/third_party/mapbox-gl-native-qt/include/QMapbox
new file mode 100644
index 00000000000000..a8479c09aa7fb7
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/include/QMapbox
@@ -0,0 +1 @@
+#include "qmapbox.hpp"
diff --git a/third_party/mapbox-gl-native-qt/include/QMapboxGL b/third_party/mapbox-gl-native-qt/include/QMapboxGL
new file mode 100644
index 00000000000000..15b55a9abe98f8
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/include/QMapboxGL
@@ -0,0 +1 @@
+#include "qmapboxgl.hpp"
diff --git a/third_party/mapbox-gl-native-qt/include/qmapbox.hpp b/third_party/mapbox-gl-native-qt/include/qmapbox.hpp
new file mode 100644
index 00000000000000..3acc9d55e0118d
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/include/qmapbox.hpp
@@ -0,0 +1,147 @@
+#ifndef QMAPBOX_H
+#define QMAPBOX_H
+
+#include <QColor>
+#include <QPair>
+#include <QString>
+#include <QVariant>
+#include <QVector>
+
+// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style
+
+#if !defined(QT_MAPBOXGL_STATIC)
+#  if defined(QT_BUILD_MAPBOXGL_LIB)
+#    define Q_MAPBOXGL_EXPORT Q_DECL_EXPORT
+#  else
+#    define Q_MAPBOXGL_EXPORT Q_DECL_IMPORT
+#  endif
+#else
+#  define Q_MAPBOXGL_EXPORT
+#endif
+
+namespace QMapbox {
+
+typedef QPair<double, double> Coordinate;
+typedef QPair<Coordinate, double> CoordinateZoom;
+typedef QPair<double, double> ProjectedMeters;
+
+typedef QVector<Coordinate> Coordinates;
+typedef QVector<Coordinates> CoordinatesCollection;
+
+typedef QVector<CoordinatesCollection> CoordinatesCollections;
+
+struct Q_MAPBOXGL_EXPORT Feature {
+    enum Type {
+        PointType = 1,
+        LineStringType,
+        PolygonType
+    };
+
+    /*! Class constructor. */
+    Feature(Type type_ = PointType, const CoordinatesCollections& geometry_ = CoordinatesCollections(),
+            const QVariantMap& properties_ = QVariantMap(), const QVariant& id_ = QVariant())
+        : type(type_), geometry(geometry_), properties(properties_), id(id_) {}
+
+    Type type;
+    CoordinatesCollections geometry;
+    QVariantMap properties;
+    QVariant id;
+};
+
+struct Q_MAPBOXGL_EXPORT ShapeAnnotationGeometry {
+    enum Type {
+        LineStringType = 1,
+        PolygonType,
+        MultiLineStringType,
+        MultiPolygonType
+    };
+
+    /*! Class constructor. */
+    ShapeAnnotationGeometry(Type type_ = LineStringType, const CoordinatesCollections& geometry_ = CoordinatesCollections())
+        : type(type_), geometry(geometry_) {}
+
+    Type type;
+    CoordinatesCollections geometry;
+};
+
+struct Q_MAPBOXGL_EXPORT SymbolAnnotation {
+    Coordinate geometry;
+    QString icon;
+};
+
+struct Q_MAPBOXGL_EXPORT LineAnnotation {
+    /*! Class constructor. */
+    LineAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f,
+            float width_ = 1.0f, const QColor& color_ = Qt::black)
+        : geometry(geometry_), opacity(opacity_), width(width_), color(color_) {}
+
+    ShapeAnnotationGeometry geometry;
+    float opacity;
+    float width;
+    QColor color;
+};
+
+struct Q_MAPBOXGL_EXPORT FillAnnotation {
+    /*! Class constructor. */
+    FillAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f,
+            const QColor& color_ = Qt::black, const QVariant& outlineColor_ = QVariant())
+        : geometry(geometry_), opacity(opacity_), color(color_), outlineColor(outlineColor_) {}
+
+    ShapeAnnotationGeometry geometry;
+    float opacity;
+    QColor color;
+    QVariant outlineColor;
+};
+
+typedef QVariant Annotation;
+typedef quint32 AnnotationID;
+typedef QVector<AnnotationID> AnnotationIDs;
+
+enum NetworkMode {
+    Online, // Default
+    Offline,
+};
+
+Q_MAPBOXGL_EXPORT QVector<QPair<QString, QString> >& defaultStyles();
+
+Q_MAPBOXGL_EXPORT NetworkMode networkMode();
+Q_MAPBOXGL_EXPORT void setNetworkMode(NetworkMode);
+
+// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters.
+struct Q_MAPBOXGL_EXPORT CustomLayerRenderParameters {
+    double width;
+    double height;
+    double latitude;
+    double longitude;
+    double zoom;
+    double bearing;
+    double pitch;
+    double fieldOfView;
+};
+
+class Q_MAPBOXGL_EXPORT CustomLayerHostInterface {
+public:
+    virtual ~CustomLayerHostInterface() = default;
+    virtual void initialize() = 0;
+    virtual void render(const CustomLayerRenderParameters&) = 0;
+    virtual void deinitialize() = 0;
+};
+
+Q_MAPBOXGL_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom);
+Q_MAPBOXGL_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &);
+Q_MAPBOXGL_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &);
+
+} // namespace QMapbox
+
+Q_DECLARE_METATYPE(QMapbox::Coordinate);
+Q_DECLARE_METATYPE(QMapbox::Coordinates);
+Q_DECLARE_METATYPE(QMapbox::CoordinatesCollection);
+Q_DECLARE_METATYPE(QMapbox::CoordinatesCollections);
+Q_DECLARE_METATYPE(QMapbox::Feature);
+
+Q_DECLARE_METATYPE(QMapbox::SymbolAnnotation);
+Q_DECLARE_METATYPE(QMapbox::ShapeAnnotationGeometry);
+Q_DECLARE_METATYPE(QMapbox::LineAnnotation);
+Q_DECLARE_METATYPE(QMapbox::FillAnnotation);
+
+#endif // QMAPBOX_H
diff --git a/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp b/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp
new file mode 100644
index 00000000000000..337991aa1c1360
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp
@@ -0,0 +1,277 @@
+#ifndef QMAPBOXGL_H
+#define QMAPBOXGL_H
+
+#include <QImage>
+#include <QMapbox>
+#include <QMargins>
+#include <QObject>
+#include <QPointF>
+#include <QSize>
+#include <QString>
+#include <QStringList>
+
+#include <functional>
+
+class QMapboxGLPrivate;
+
+// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style
+
+class Q_MAPBOXGL_EXPORT QMapboxGLSettings
+{
+public:
+    QMapboxGLSettings();
+
+    enum GLContextMode {
+        UniqueGLContext = 0,
+        SharedGLContext
+    };
+
+    enum MapMode {
+        Continuous = 0,
+        Static
+    };
+
+    enum ConstrainMode {
+        NoConstrain = 0,
+        ConstrainHeightOnly,
+        ConstrainWidthAndHeight
+    };
+
+    enum ViewportMode {
+        DefaultViewport = 0,
+        FlippedYViewport
+    };
+
+    GLContextMode contextMode() const;
+    void setContextMode(GLContextMode);
+
+    MapMode mapMode() const;
+    void setMapMode(MapMode);
+
+    ConstrainMode constrainMode() const;
+    void setConstrainMode(ConstrainMode);
+
+    ViewportMode viewportMode() const;
+    void setViewportMode(ViewportMode);
+
+    unsigned cacheDatabaseMaximumSize() const;
+    void setCacheDatabaseMaximumSize(unsigned);
+
+    QString cacheDatabasePath() const;
+    void setCacheDatabasePath(const QString &);
+
+    QString assetPath() const;
+    void setAssetPath(const QString &);
+
+    QString accessToken() const;
+    void setAccessToken(const QString &);
+
+    QString apiBaseUrl() const;
+    void setApiBaseUrl(const QString &);
+
+    QString localFontFamily() const;
+    void setLocalFontFamily(const QString &);
+
+    std::function<std::string(const std::string &)> resourceTransform() const;
+    void setResourceTransform(const std::function<std::string(const std::string &)> &);
+
+private:
+    GLContextMode m_contextMode;
+    MapMode m_mapMode;
+    ConstrainMode m_constrainMode;
+    ViewportMode m_viewportMode;
+
+    unsigned m_cacheMaximumSize;
+    QString m_cacheDatabasePath;
+    QString m_assetPath;
+    QString m_accessToken;
+    QString m_apiBaseUrl;
+    QString m_localFontFamily;
+    std::function<std::string(const std::string &)> m_resourceTransform;
+};
+
+struct Q_MAPBOXGL_EXPORT QMapboxGLCameraOptions {
+    QVariant center;  // Coordinate
+    QVariant anchor;  // QPointF
+    QVariant zoom;    // double
+    QVariant bearing; // double
+    QVariant pitch;   // double
+};
+
+class Q_MAPBOXGL_EXPORT QMapboxGL : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
+    Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
+    Q_PROPERTY(double zoom READ zoom WRITE setZoom)
+    Q_PROPERTY(double bearing READ bearing WRITE setBearing)
+    Q_PROPERTY(double pitch READ pitch WRITE setPitch)
+    Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson)
+    Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl)
+    Q_PROPERTY(double scale READ scale WRITE setScale)
+    Q_PROPERTY(QMapbox::Coordinate coordinate READ coordinate WRITE setCoordinate)
+    Q_PROPERTY(QMargins margins READ margins WRITE setMargins)
+
+public:
+    enum MapChange {
+        MapChangeRegionWillChange = 0,
+        MapChangeRegionWillChangeAnimated,
+        MapChangeRegionIsChanging,
+        MapChangeRegionDidChange,
+        MapChangeRegionDidChangeAnimated,
+        MapChangeWillStartLoadingMap,
+        MapChangeDidFinishLoadingMap,
+        MapChangeDidFailLoadingMap,
+        MapChangeWillStartRenderingFrame,
+        MapChangeDidFinishRenderingFrame,
+        MapChangeDidFinishRenderingFrameFullyRendered,
+        MapChangeWillStartRenderingMap,
+        MapChangeDidFinishRenderingMap,
+        MapChangeDidFinishRenderingMapFullyRendered,
+        MapChangeDidFinishLoadingStyle,
+        MapChangeSourceDidChange
+    };
+
+    enum MapLoadingFailure {
+        StyleParseFailure,
+        StyleLoadFailure,
+        NotFoundFailure,
+        UnknownFailure
+    };
+
+    // Determines the orientation of the map.
+    enum NorthOrientation {
+        NorthUpwards, // Default
+        NorthRightwards,
+        NorthDownwards,
+        NorthLeftwards,
+    };
+
+    QMapboxGL(QObject* parent = 0,
+              const QMapboxGLSettings& = QMapboxGLSettings(),
+              const QSize& size = QSize(),
+              qreal pixelRatio = 1);
+    virtual ~QMapboxGL();
+
+    QString styleJson() const;
+    QString styleUrl() const;
+
+    void setStyleJson(const QString &);
+    void setStyleUrl(const QString &);
+
+    double latitude() const;
+    void setLatitude(double latitude);
+
+    double longitude() const;
+    void setLongitude(double longitude);
+
+    double scale() const;
+    void setScale(double scale, const QPointF &center = QPointF());
+
+    double zoom() const;
+    void setZoom(double zoom);
+
+    double minimumZoom() const;
+    double maximumZoom() const;
+
+    double bearing() const;
+    void setBearing(double degrees);
+    void setBearing(double degrees, const QPointF &center);
+
+    double pitch() const;
+    void setPitch(double pitch);
+    void pitchBy(double pitch);
+
+    NorthOrientation northOrientation() const;
+    void setNorthOrientation(NorthOrientation);
+
+    QMapbox::Coordinate coordinate() const;
+    void setCoordinate(const QMapbox::Coordinate &);
+    void setCoordinateZoom(const QMapbox::Coordinate &, double zoom);
+
+    void jumpTo(const QMapboxGLCameraOptions&);
+
+    void setGestureInProgress(bool inProgress);
+
+    void setTransitionOptions(qint64 duration, qint64 delay = 0);
+
+    void addAnnotationIcon(const QString &name, const QImage &sprite);
+
+    QMapbox::AnnotationID addAnnotation(const QMapbox::Annotation &);
+    void updateAnnotation(QMapbox::AnnotationID, const QMapbox::Annotation &);
+    void removeAnnotation(QMapbox::AnnotationID);
+
+    bool setLayoutProperty(const QString &layer, const QString &property, const QVariant &value);
+    bool setPaintProperty(const QString &layer, const QString &property, const QVariant &value);
+
+    bool isFullyLoaded() const;
+
+    void moveBy(const QPointF &offset);
+    void scaleBy(double scale, const QPointF &center = QPointF());
+    void rotateBy(const QPointF &first, const QPointF &second);
+
+    void resize(const QSize &size);
+
+    double metersPerPixelAtLatitude(double latitude, double zoom) const;
+    QMapbox::ProjectedMeters projectedMetersForCoordinate(const QMapbox::Coordinate &) const;
+    QMapbox::Coordinate coordinateForProjectedMeters(const QMapbox::ProjectedMeters &) const;
+    QPointF pixelForCoordinate(const QMapbox::Coordinate &) const;
+    QMapbox::Coordinate coordinateForPixel(const QPointF &) const;
+
+    QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne) const;
+    QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne, double bearing, double pitch);
+
+    void setMargins(const QMargins &margins);
+    QMargins margins() const;
+
+    void addSource(const QString &sourceID, const QVariantMap& params);
+    bool sourceExists(const QString &sourceID);
+    void updateSource(const QString &sourceID, const QVariantMap& params);
+    void removeSource(const QString &sourceID);
+
+    void addImage(const QString &name, const QImage &sprite);
+    void removeImage(const QString &name);
+
+    void addCustomLayer(const QString &id,
+        QScopedPointer<QMapbox::CustomLayerHostInterface>& host,
+        const QString& before = QString());
+    void addLayer(const QVariantMap &params, const QString& before = QString());
+    bool layerExists(const QString &id);
+    void removeLayer(const QString &id);
+
+    QVector<QString> layerIds() const;
+
+    void setFilter(const QString &layer, const QVariant &filter);
+    QVariant getFilter(const QString &layer) const;
+    // When rendering on a different thread,
+    // should be called on the render thread.
+    void createRenderer();
+    void destroyRenderer();
+    void setFramebufferObject(quint32 fbo, const QSize &size);
+
+public slots:
+    void render();
+    void connectionEstablished();
+
+    // Commit changes, load all the resources
+    // and renders the map when completed.
+    void startStaticRender();
+
+signals:
+    void needsRendering();
+    void mapChanged(QMapboxGL::MapChange);
+    void mapLoadingFailed(QMapboxGL::MapLoadingFailure, const QString &reason);
+    void copyrightsChanged(const QString &copyrightsHtml);
+
+    void staticRenderFinished(const QString &error);
+
+private:
+    Q_DISABLE_COPY(QMapboxGL)
+
+    QMapboxGLPrivate *d_ptr;
+};
+
+Q_DECLARE_METATYPE(QMapboxGL::MapChange);
+Q_DECLARE_METATYPE(QMapboxGL::MapLoadingFailure);
+
+#endif // QMAPBOXGL_H
diff --git a/phonelibs/nanovg/fontstash.h b/third_party/nanovg/fontstash.h
similarity index 100%
rename from phonelibs/nanovg/fontstash.h
rename to third_party/nanovg/fontstash.h
diff --git a/phonelibs/nanovg/nanovg.c b/third_party/nanovg/nanovg.c
similarity index 100%
rename from phonelibs/nanovg/nanovg.c
rename to third_party/nanovg/nanovg.c
diff --git a/phonelibs/nanovg/nanovg.h b/third_party/nanovg/nanovg.h
similarity index 100%
rename from phonelibs/nanovg/nanovg.h
rename to third_party/nanovg/nanovg.h
diff --git a/phonelibs/nanovg/nanovg_gl.h b/third_party/nanovg/nanovg_gl.h
similarity index 100%
rename from phonelibs/nanovg/nanovg_gl.h
rename to third_party/nanovg/nanovg_gl.h
diff --git a/phonelibs/nanovg/nanovg_gl_utils.h b/third_party/nanovg/nanovg_gl_utils.h
similarity index 95%
rename from phonelibs/nanovg/nanovg_gl_utils.h
rename to third_party/nanovg/nanovg_gl_utils.h
index 1323e90c64cf90..2d8699c4c6c357 100644
--- a/phonelibs/nanovg/nanovg_gl_utils.h
+++ b/third_party/nanovg/nanovg_gl_utils.h
@@ -52,11 +52,11 @@ static GLint defaultFBO = -1;
 NVGLUframebuffer* nvgluCreateFramebuffer(NVGcontext* ctx, int w, int h, int imageFlags)
 {
 #ifdef NANOVG_FBO_VALID
-	GLint defaultFBO;
+	GLint localDefaultFBO;
 	GLint defaultRBO;
 	NVGLUframebuffer* fb = NULL;
 
-	glGetIntegerv(GL_FRAMEBUFFER_BINDING, &defaultFBO);
+	glGetIntegerv(GL_FRAMEBUFFER_BINDING, &localDefaultFBO);
 	glGetIntegerv(GL_RENDERBUFFER_BINDING, &defaultRBO);
 
 	fb = (NVGLUframebuffer*)malloc(sizeof(NVGLUframebuffer));
@@ -92,11 +92,11 @@ NVGLUframebuffer* nvgluCreateFramebuffer(NVGcontext* ctx, int w, int h, int imag
 
 	if (glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE) goto error;
 
-	glBindFramebuffer(GL_FRAMEBUFFER, defaultFBO);
+	glBindFramebuffer(GL_FRAMEBUFFER, localDefaultFBO);
 	glBindRenderbuffer(GL_RENDERBUFFER, defaultRBO);
 	return fb;
 error:
-	glBindFramebuffer(GL_FRAMEBUFFER, defaultFBO);
+	glBindFramebuffer(GL_FRAMEBUFFER, localDefaultFBO);
 	glBindRenderbuffer(GL_RENDERBUFFER, defaultRBO);
 	nvgluDeleteFramebuffer(fb);
 	return NULL;
diff --git a/phonelibs/nanovg/stb_image.h b/third_party/nanovg/stb_image.h
similarity index 100%
rename from phonelibs/nanovg/stb_image.h
rename to third_party/nanovg/stb_image.h
diff --git a/third_party/nanovg/stb_truetype.h b/third_party/nanovg/stb_truetype.h
new file mode 100644
index 00000000000000..62595a15fdf6b2
--- /dev/null
+++ b/third_party/nanovg/stb_truetype.h
@@ -0,0 +1,5011 @@
+// stb_truetype.h - v1.24 - public domain
+// authored from 2009-2020 by Sean Barrett / RAD Game Tools
+//
+// =======================================================================
+//
+//    NO SECURITY GUARANTEE -- DO NOT USE THIS ON UNTRUSTED FONT FILES
+//
+// This library does no range checking of the offsets found in the file,
+// meaning an attacker can use it to read arbitrary memory.
+//
+// =======================================================================
+//
+//   This library processes TrueType files:
+//        parse files
+//        extract glyph metrics
+//        extract glyph shapes
+//        render glyphs to one-channel bitmaps with antialiasing (box filter)
+//        render glyphs to one-channel SDF bitmaps (signed-distance field/function)
+//
+//   Todo:
+//        non-MS cmaps
+//        crashproof on bad data
+//        hinting? (no longer patented)
+//        cleartype-style AA?
+//        optimize: use simple memory allocator for intermediates
+//        optimize: build edge-list directly from curves
+//        optimize: rasterize directly from curves?
+//
+// ADDITIONAL CONTRIBUTORS
+//
+//   Mikko Mononen: compound shape support, more cmap formats
+//   Tor Andersson: kerning, subpixel rendering
+//   Dougall Johnson: OpenType / Type 2 font handling
+//   Daniel Ribeiro Maciel: basic GPOS-based kerning
+//
+//   Misc other:
+//       Ryan Gordon
+//       Simon Glass
+//       github:IntellectualKitty
+//       Imanol Celaya
+//       Daniel Ribeiro Maciel
+//
+//   Bug/warning reports/fixes:
+//       "Zer" on mollyrocket       Fabian "ryg" Giesen   github:NiLuJe
+//       Cass Everitt               Martins Mozeiko       github:aloucks
+//       stoiko (Haemimont Games)   Cap Petschulat        github:oyvindjam
+//       Brian Hook                 Omar Cornut           github:vassvik
+//       Walter van Niftrik         Ryan Griege
+//       David Gow                  Peter LaValle
+//       David Given                Sergey Popov
+//       Ivan-Assen Ivanov          Giumo X. Clanjor
+//       Anthony Pesch              Higor Euripedes
+//       Johan Duparc               Thomas Fields
+//       Hou Qiming                 Derek Vinyard
+//       Rob Loach                  Cort Stratton
+//       Kenney Phillis Jr.         Brian Costabile
+//       Ken Voskuil (kaesve)
+//
+// VERSION HISTORY
+//
+//   1.24 (2020-02-05) fix warning
+//   1.23 (2020-02-02) query SVG data for glyphs; query whole kerning table (but only kern not GPOS)
+//   1.22 (2019-08-11) minimize missing-glyph duplication; fix kerning if both 'GPOS' and 'kern' are defined
+//   1.21 (2019-02-25) fix warning
+//   1.20 (2019-02-07) PackFontRange skips missing codepoints; GetScaleFontVMetrics()
+//   1.19 (2018-02-11) GPOS kerning, STBTT_fmod
+//   1.18 (2018-01-29) add missing function
+//   1.17 (2017-07-23) make more arguments const; doc fix
+//   1.16 (2017-07-12) SDF support
+//   1.15 (2017-03-03) make more arguments const
+//   1.14 (2017-01-16) num-fonts-in-TTC function
+//   1.13 (2017-01-02) support OpenType fonts, certain Apple fonts
+//   1.12 (2016-10-25) suppress warnings about casting away const with -Wcast-qual
+//   1.11 (2016-04-02) fix unused-variable warning
+//   1.10 (2016-04-02) user-defined fabs(); rare memory leak; remove duplicate typedef
+//   1.09 (2016-01-16) warning fix; avoid crash on outofmem; use allocation userdata properly
+//   1.08 (2015-09-13) document stbtt_Rasterize(); fixes for vertical & horizontal edges
+//   1.07 (2015-08-01) allow PackFontRanges to accept arrays of sparse codepoints;
+//                     variant PackFontRanges to pack and render in separate phases;
+//                     fix stbtt_GetFontOFfsetForIndex (never worked for non-0 input?);
+//                     fixed an assert() bug in the new rasterizer
+//                     replace assert() with STBTT_assert() in new rasterizer
+//
+//   Full history can be found at the end of this file.
+//
+// LICENSE
+//
+//   See end of file for license information.
+//
+// USAGE
+//
+//   Include this file in whatever places need to refer to it. In ONE C/C++
+//   file, write:
+//      #define STB_TRUETYPE_IMPLEMENTATION
+//   before the #include of this file. This expands out the actual
+//   implementation into that C/C++ file.
+//
+//   To make the implementation private to the file that generates the implementation,
+//      #define STBTT_STATIC
+//
+//   Simple 3D API (don't ship this, but it's fine for tools and quick start)
+//           stbtt_BakeFontBitmap()               -- bake a font to a bitmap for use as texture
+//           stbtt_GetBakedQuad()                 -- compute quad to draw for a given char
+//
+//   Improved 3D API (more shippable):
+//           #include "stb_rect_pack.h"           -- optional, but you really want it
+//           stbtt_PackBegin()
+//           stbtt_PackSetOversampling()          -- for improved quality on small fonts
+//           stbtt_PackFontRanges()               -- pack and renders
+//           stbtt_PackEnd()
+//           stbtt_GetPackedQuad()
+//
+//   "Load" a font file from a memory buffer (you have to keep the buffer loaded)
+//           stbtt_InitFont()
+//           stbtt_GetFontOffsetForIndex()        -- indexing for TTC font collections
+//           stbtt_GetNumberOfFonts()             -- number of fonts for TTC font collections
+//
+//   Render a unicode codepoint to a bitmap
+//           stbtt_GetCodepointBitmap()           -- allocates and returns a bitmap
+//           stbtt_MakeCodepointBitmap()          -- renders into bitmap you provide
+//           stbtt_GetCodepointBitmapBox()        -- how big the bitmap must be
+//
+//   Character advance/positioning
+//           stbtt_GetCodepointHMetrics()
+//           stbtt_GetFontVMetrics()
+//           stbtt_GetFontVMetricsOS2()
+//           stbtt_GetCodepointKernAdvance()
+//
+//   Starting with version 1.06, the rasterizer was replaced with a new,
+//   faster and generally-more-precise rasterizer. The new rasterizer more
+//   accurately measures pixel coverage for anti-aliasing, except in the case
+//   where multiple shapes overlap, in which case it overestimates the AA pixel
+//   coverage. Thus, anti-aliasing of intersecting shapes may look wrong. If
+//   this turns out to be a problem, you can re-enable the old rasterizer with
+//        #define STBTT_RASTERIZER_VERSION 1
+//   which will incur about a 15% speed hit.
+//
+// ADDITIONAL DOCUMENTATION
+//
+//   Immediately after this block comment are a series of sample programs.
+//
+//   After the sample programs is the "header file" section. This section
+//   includes documentation for each API function.
+//
+//   Some important concepts to understand to use this library:
+//
+//      Codepoint
+//         Characters are defined by unicode codepoints, e.g. 65 is
+//         uppercase A, 231 is lowercase c with a cedilla, 0x7e30 is
+//         the hiragana for "ma".
+//
+//      Glyph
+//         A visual character shape (every codepoint is rendered as
+//         some glyph)
+//
+//      Glyph index
+//         A font-specific integer ID representing a glyph
+//
+//      Baseline
+//         Glyph shapes are defined relative to a baseline, which is the
+//         bottom of uppercase characters. Characters extend both above
+//         and below the baseline.
+//
+//      Current Point
+//         As you draw text to the screen, you keep track of a "current point"
+//         which is the origin of each character. The current point's vertical
+//         position is the baseline. Even "baked fonts" use this model.
+//
+//      Vertical Font Metrics
+//         The vertical qualities of the font, used to vertically position
+//         and space the characters. See docs for stbtt_GetFontVMetrics.
+//
+//      Font Size in Pixels or Points
+//         The preferred interface for specifying font sizes in stb_truetype
+//         is to specify how tall the font's vertical extent should be in pixels.
+//         If that sounds good enough, skip the next paragraph.
+//
+//         Most font APIs instead use "points", which are a common typographic
+//         measurement for describing font size, defined as 72 points per inch.
+//         stb_truetype provides a point API for compatibility. However, true
+//         "per inch" conventions don't make much sense on computer displays
+//         since different monitors have different number of pixels per
+//         inch. For example, Windows traditionally uses a convention that
+//         there are 96 pixels per inch, thus making 'inch' measurements have
+//         nothing to do with inches, and thus effectively defining a point to
+//         be 1.333 pixels. Additionally, the TrueType font data provides
+//         an explicit scale factor to scale a given font's glyphs to points,
+//         but the author has observed that this scale factor is often wrong
+//         for non-commercial fonts, thus making fonts scaled in points
+//         according to the TrueType spec incoherently sized in practice.
+//
+// DETAILED USAGE:
+//
+//  Scale:
+//    Select how high you want the font to be, in points or pixels.
+//    Call ScaleForPixelHeight or ScaleForMappingEmToPixels to compute
+//    a scale factor SF that will be used by all other functions.
+//
+//  Baseline:
+//    You need to select a y-coordinate that is the baseline of where
+//    your text will appear. Call GetFontBoundingBox to get the baseline-relative
+//    bounding box for all characters. SF*-y0 will be the distance in pixels
+//    that the worst-case character could extend above the baseline, so if
+//    you want the top edge of characters to appear at the top of the
+//    screen where y=0, then you would set the baseline to SF*-y0.
+//
+//  Current point:
+//    Set the current point where the first character will appear. The
+//    first character could extend left of the current point; this is font
+//    dependent. You can either choose a current point that is the leftmost
+//    point and hope, or add some padding, or check the bounding box or
+//    left-side-bearing of the first character to be displayed and set
+//    the current point based on that.
+//
+//  Displaying a character:
+//    Compute the bounding box of the character. It will contain signed values
+//    relative to <current_point, baseline>. I.e. if it returns x0,y0,x1,y1,
+//    then the character should be displayed in the rectangle from
+//    <current_point+SF*x0, baseline+SF*y0> to <current_point+SF*x1,baseline+SF*y1).
+//
+//  Advancing for the next character:
+//    Call GlyphHMetrics, and compute 'current_point += SF * advance'.
+//
+//
+// ADVANCED USAGE
+//
+//   Quality:
+//
+//    - Use the functions with Subpixel at the end to allow your characters
+//      to have subpixel positioning. Since the font is anti-aliased, not
+//      hinted, this is very import for quality. (This is not possible with
+//      baked fonts.)
+//
+//    - Kerning is now supported, and if you're supporting subpixel rendering
+//      then kerning is worth using to give your text a polished look.
+//
+//   Performance:
+//
+//    - Convert Unicode codepoints to glyph indexes and operate on the glyphs;
+//      if you don't do this, stb_truetype is forced to do the conversion on
+//      every call.
+//
+//    - There are a lot of memory allocations. We should modify it to take
+//      a temp buffer and allocate from the temp buffer (without freeing),
+//      should help performance a lot.
+//
+// NOTES
+//
+//   The system uses the raw data found in the .ttf file without changing it
+//   and without building auxiliary data structures. This is a bit inefficient
+//   on little-endian systems (the data is big-endian), but assuming you're
+//   caching the bitmaps or glyph shapes this shouldn't be a big deal.
+//
+//   It appears to be very hard to programmatically determine what font a
+//   given file is in a general way. I provide an API for this, but I don't
+//   recommend it.
+//
+//
+// PERFORMANCE MEASUREMENTS FOR 1.06:
+//
+//                      32-bit     64-bit
+//   Previous release:  8.83 s     7.68 s
+//   Pool allocations:  7.72 s     6.34 s
+//   Inline sort     :  6.54 s     5.65 s
+//   New rasterizer  :  5.63 s     5.00 s
+
+//////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////
+////
+////  SAMPLE PROGRAMS
+////
+//
+//  Incomplete text-in-3d-api example, which draws quads properly aligned to be lossless
+//
+#if 0
+#define STB_TRUETYPE_IMPLEMENTATION  // force following include to generate implementation
+#include "stb_truetype.h"
+
+unsigned char ttf_buffer[1<<20];
+unsigned char temp_bitmap[512*512];
+
+stbtt_bakedchar cdata[96]; // ASCII 32..126 is 95 glyphs
+GLuint ftex;
+
+void my_stbtt_initfont(void)
+{
+   fread(ttf_buffer, 1, 1<<20, fopen("c:/windows/fonts/times.ttf", "rb"));
+   stbtt_BakeFontBitmap(ttf_buffer,0, 32.0, temp_bitmap,512,512, 32,96, cdata); // no guarantee this fits!
+   // can free ttf_buffer at this point
+   glGenTextures(1, &ftex);
+   glBindTexture(GL_TEXTURE_2D, ftex);
+   glTexImage2D(GL_TEXTURE_2D, 0, GL_ALPHA, 512,512, 0, GL_ALPHA, GL_UNSIGNED_BYTE, temp_bitmap);
+   // can free temp_bitmap at this point
+   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+}
+
+void my_stbtt_print(float x, float y, char *text)
+{
+   // assume orthographic projection with units = screen pixels, origin at top left
+   glEnable(GL_TEXTURE_2D);
+   glBindTexture(GL_TEXTURE_2D, ftex);
+   glBegin(GL_QUADS);
+   while (*text) {
+      if (*text >= 32 && *text < 128) {
+         stbtt_aligned_quad q;
+         stbtt_GetBakedQuad(cdata, 512,512, *text-32, &x,&y,&q,1);//1=opengl & d3d10+,0=d3d9
+         glTexCoord2f(q.s0,q.t1); glVertex2f(q.x0,q.y0);
+         glTexCoord2f(q.s1,q.t1); glVertex2f(q.x1,q.y0);
+         glTexCoord2f(q.s1,q.t0); glVertex2f(q.x1,q.y1);
+         glTexCoord2f(q.s0,q.t0); glVertex2f(q.x0,q.y1);
+      }
+      ++text;
+   }
+   glEnd();
+}
+#endif
+//
+//
+//////////////////////////////////////////////////////////////////////////////
+//
+// Complete program (this compiles): get a single bitmap, print as ASCII art
+//
+#if 0
+#include <stdio.h>
+#define STB_TRUETYPE_IMPLEMENTATION  // force following include to generate implementation
+#include "stb_truetype.h"
+
+char ttf_buffer[1<<25];
+
+int main(int argc, char **argv)
+{
+   stbtt_fontinfo font;
+   unsigned char *bitmap;
+   int w,h,i,j,c = (argc > 1 ? atoi(argv[1]) : 'a'), s = (argc > 2 ? atoi(argv[2]) : 20);
+
+   fread(ttf_buffer, 1, 1<<25, fopen(argc > 3 ? argv[3] : "c:/windows/fonts/arialbd.ttf", "rb"));
+
+   stbtt_InitFont(&font, ttf_buffer, stbtt_GetFontOffsetForIndex(ttf_buffer,0));
+   bitmap = stbtt_GetCodepointBitmap(&font, 0,stbtt_ScaleForPixelHeight(&font, s), c, &w, &h, 0,0);
+
+   for (j=0; j < h; ++j) {
+      for (i=0; i < w; ++i)
+         putchar(" .:ioVM@"[bitmap[j*w+i]>>5]);
+      putchar('\n');
+   }
+   return 0;
+}
+#endif
+//
+// Output:
+//
+//     .ii.
+//    @@@@@@.
+//   V@Mio@@o
+//   :i.  V@V
+//     :oM@@M
+//   :@@@MM@M
+//   @@o  o@M
+//  :@@.  M@M
+//   @@@o@@@@
+//   :M@@V:@@.
+//
+//////////////////////////////////////////////////////////////////////////////
+//
+// Complete program: print "Hello World!" banner, with bugs
+//
+#if 0
+char buffer[24<<20];
+unsigned char screen[20][79];
+
+int main(int arg, char **argv)
+{
+   stbtt_fontinfo font;
+   int i,j,ascent,baseline,ch=0;
+   float scale, xpos=2; // leave a little padding in case the character extends left
+   char *text = "Heljo World!"; // intentionally misspelled to show 'lj' brokenness
+
+   fread(buffer, 1, 1000000, fopen("c:/windows/fonts/arialbd.ttf", "rb"));
+   stbtt_InitFont(&font, buffer, 0);
+
+   scale = stbtt_ScaleForPixelHeight(&font, 15);
+   stbtt_GetFontVMetrics(&font, &ascent,0,0);
+   baseline = (int) (ascent*scale);
+
+   while (text[ch]) {
+      int advance,lsb,x0,y0,x1,y1;
+      float x_shift = xpos - (float) floor(xpos);
+      stbtt_GetCodepointHMetrics(&font, text[ch], &advance, &lsb);
+      stbtt_GetCodepointBitmapBoxSubpixel(&font, text[ch], scale,scale,x_shift,0, &x0,&y0,&x1,&y1);
+      stbtt_MakeCodepointBitmapSubpixel(&font, &screen[baseline + y0][(int) xpos + x0], x1-x0,y1-y0, 79, scale,scale,x_shift,0, text[ch]);
+      // note that this stomps the old data, so where character boxes overlap (e.g. 'lj') it's wrong
+      // because this API is really for baking character bitmaps into textures. if you want to render
+      // a sequence of characters, you really need to render each bitmap to a temp buffer, then
+      // "alpha blend" that into the working buffer
+      xpos += (advance * scale);
+      if (text[ch+1])
+         xpos += scale*stbtt_GetCodepointKernAdvance(&font, text[ch],text[ch+1]);
+      ++ch;
+   }
+
+   for (j=0; j < 20; ++j) {
+      for (i=0; i < 78; ++i)
+         putchar(" .:ioVM@"[screen[j][i]>>5]);
+      putchar('\n');
+   }
+
+   return 0;
+}
+#endif
+
+
+//////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////
+////
+////   INTEGRATION WITH YOUR CODEBASE
+////
+////   The following sections allow you to supply alternate definitions
+////   of C library functions used by stb_truetype, e.g. if you don't
+////   link with the C runtime library.
+
+#ifdef STB_TRUETYPE_IMPLEMENTATION
+   // #define your own (u)stbtt_int8/16/32 before including to override this
+   #ifndef stbtt_uint8
+   typedef unsigned char   stbtt_uint8;
+   typedef signed   char   stbtt_int8;
+   typedef unsigned short  stbtt_uint16;
+   typedef signed   short  stbtt_int16;
+   typedef unsigned int    stbtt_uint32;
+   typedef signed   int    stbtt_int32;
+   #endif
+
+   typedef char stbtt__check_size32[sizeof(stbtt_int32)==4 ? 1 : -1];
+   typedef char stbtt__check_size16[sizeof(stbtt_int16)==2 ? 1 : -1];
+
+   // e.g. #define your own STBTT_ifloor/STBTT_iceil() to avoid math.h
+   #ifndef STBTT_ifloor
+   #include <math.h>
+   #define STBTT_ifloor(x)   ((int) floor(x))
+   #define STBTT_iceil(x)    ((int) ceil(x))
+   #endif
+
+   #ifndef STBTT_sqrt
+   #include <math.h>
+   #define STBTT_sqrt(x)      sqrt(x)
+   #define STBTT_pow(x,y)     pow(x,y)
+   #endif
+
+   #ifndef STBTT_fmod
+   #include <math.h>
+   #define STBTT_fmod(x,y)    fmod(x,y)
+   #endif
+
+   #ifndef STBTT_cos
+   #include <math.h>
+   #define STBTT_cos(x)       cos(x)
+   #define STBTT_acos(x)      acos(x)
+   #endif
+
+   #ifndef STBTT_fabs
+   #include <math.h>
+   #define STBTT_fabs(x)      fabs(x)
+   #endif
+
+   // #define your own functions "STBTT_malloc" / "STBTT_free" to avoid malloc.h
+   #ifndef STBTT_malloc
+   #include <stdlib.h>
+   #define STBTT_malloc(x,u)  ((void)(u),malloc(x))
+   #define STBTT_free(x,u)    ((void)(u),free(x))
+   #endif
+
+   #ifndef STBTT_assert
+   #include <assert.h>
+   #define STBTT_assert(x)    assert(x)
+   #endif
+
+   #ifndef STBTT_strlen
+   #include <string.h>
+   #define STBTT_strlen(x)    strlen(x)
+   #endif
+
+   #ifndef STBTT_memcpy
+   #include <string.h>
+   #define STBTT_memcpy       memcpy
+   #define STBTT_memset       memset
+   #endif
+#endif
+
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+////
+////   INTERFACE
+////
+////
+
+#ifndef __STB_INCLUDE_STB_TRUETYPE_H__
+#define __STB_INCLUDE_STB_TRUETYPE_H__
+
+#ifdef STBTT_STATIC
+#define STBTT_DEF static
+#else
+#define STBTT_DEF extern
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// private structure
+typedef struct
+{
+   unsigned char *data;
+   int cursor;
+   int size;
+} stbtt__buf;
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// TEXTURE BAKING API
+//
+// If you use this API, you only have to call two functions ever.
+//
+
+typedef struct
+{
+   unsigned short x0,y0,x1,y1; // coordinates of bbox in bitmap
+   float xoff,yoff,xadvance;
+} stbtt_bakedchar;
+
+STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset,  // font location (use offset=0 for plain .ttf)
+                                float pixel_height,                     // height of font in pixels
+                                unsigned char *pixels, int pw, int ph,  // bitmap to be filled in
+                                int first_char, int num_chars,          // characters to bake
+                                stbtt_bakedchar *chardata);             // you allocate this, it's num_chars long
+// if return is positive, the first unused row of the bitmap
+// if return is negative, returns the negative of the number of characters that fit
+// if return is 0, no characters fit and no rows were used
+// This uses a very crappy packing.
+
+typedef struct
+{
+   float x0,y0,s0,t0; // top-left
+   float x1,y1,s1,t1; // bottom-right
+} stbtt_aligned_quad;
+
+STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int ph,  // same data as above
+                               int char_index,             // character to display
+                               float *xpos, float *ypos,   // pointers to current position in screen pixel space
+                               stbtt_aligned_quad *q,      // output: quad to draw
+                               int opengl_fillrule);       // true if opengl fill rule; false if DX9 or earlier
+// Call GetBakedQuad with char_index = 'character - first_char', and it
+// creates the quad you need to draw and advances the current position.
+//
+// The coordinate system used assumes y increases downwards.
+//
+// Characters will extend both above and below the current position;
+// see discussion of "BASELINE" above.
+//
+// It's inefficient; you might want to c&p it and optimize it.
+
+STBTT_DEF void stbtt_GetScaledFontVMetrics(const unsigned char *fontdata, int index, float size, float *ascent, float *descent, float *lineGap);
+// Query the font vertical metrics without having to create a font first.
+
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// NEW TEXTURE BAKING API
+//
+// This provides options for packing multiple fonts into one atlas, not
+// perfectly but better than nothing.
+
+typedef struct
+{
+   unsigned short x0,y0,x1,y1; // coordinates of bbox in bitmap
+   float xoff,yoff,xadvance;
+   float xoff2,yoff2;
+} stbtt_packedchar;
+
+typedef struct stbtt_pack_context stbtt_pack_context;
+typedef struct stbtt_fontinfo stbtt_fontinfo;
+#ifndef STB_RECT_PACK_VERSION
+typedef struct stbrp_rect stbrp_rect;
+#endif
+
+STBTT_DEF int  stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, int width, int height, int stride_in_bytes, int padding, void *alloc_context);
+// Initializes a packing context stored in the passed-in stbtt_pack_context.
+// Future calls using this context will pack characters into the bitmap passed
+// in here: a 1-channel bitmap that is width * height. stride_in_bytes is
+// the distance from one row to the next (or 0 to mean they are packed tightly
+// together). "padding" is the amount of padding to leave between each
+// character (normally you want '1' for bitmaps you'll use as textures with
+// bilinear filtering).
+//
+// Returns 0 on failure, 1 on success.
+
+STBTT_DEF void stbtt_PackEnd  (stbtt_pack_context *spc);
+// Cleans up the packing context and frees all memory.
+
+#define STBTT_POINT_SIZE(x)   (-(x))
+
+STBTT_DEF int  stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, float font_size,
+                                int first_unicode_char_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range);
+// Creates character bitmaps from the font_index'th font found in fontdata (use
+// font_index=0 if you don't know what that is). It creates num_chars_in_range
+// bitmaps for characters with unicode values starting at first_unicode_char_in_range
+// and increasing. Data for how to render them is stored in chardata_for_range;
+// pass these to stbtt_GetPackedQuad to get back renderable quads.
+//
+// font_size is the full height of the character from ascender to descender,
+// as computed by stbtt_ScaleForPixelHeight. To use a point size as computed
+// by stbtt_ScaleForMappingEmToPixels, wrap the point size in STBTT_POINT_SIZE()
+// and pass that result as 'font_size':
+//       ...,                  20 , ... // font max minus min y is 20 pixels tall
+//       ..., STBTT_POINT_SIZE(20), ... // 'M' is 20 pixels tall
+
+typedef struct
+{
+   float font_size;
+   int first_unicode_codepoint_in_range;  // if non-zero, then the chars are continuous, and this is the first codepoint
+   int *array_of_unicode_codepoints;       // if non-zero, then this is an array of unicode codepoints
+   int num_chars;
+   stbtt_packedchar *chardata_for_range; // output
+   unsigned char h_oversample, v_oversample; // don't set these, they're used internally
+} stbtt_pack_range;
+
+STBTT_DEF int  stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges);
+// Creates character bitmaps from multiple ranges of characters stored in
+// ranges. This will usually create a better-packed bitmap than multiple
+// calls to stbtt_PackFontRange. Note that you can call this multiple
+// times within a single PackBegin/PackEnd.
+
+STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h_oversample, unsigned int v_oversample);
+// Oversampling a font increases the quality by allowing higher-quality subpixel
+// positioning, and is especially valuable at smaller text sizes.
+//
+// This function sets the amount of oversampling for all following calls to
+// stbtt_PackFontRange(s) or stbtt_PackFontRangesGatherRects for a given
+// pack context. The default (no oversampling) is achieved by h_oversample=1
+// and v_oversample=1. The total number of pixels required is
+// h_oversample*v_oversample larger than the default; for example, 2x2
+// oversampling requires 4x the storage of 1x1. For best results, render
+// oversampled textures with bilinear filtering. Look at the readme in
+// stb/tests/oversample for information about oversampled fonts
+//
+// To use with PackFontRangesGather etc., you must set it before calls
+// call to PackFontRangesGatherRects.
+
+STBTT_DEF void stbtt_PackSetSkipMissingCodepoints(stbtt_pack_context *spc, int skip);
+// If skip != 0, this tells stb_truetype to skip any codepoints for which
+// there is no corresponding glyph. If skip=0, which is the default, then
+// codepoints without a glyph recived the font's "missing character" glyph,
+// typically an empty box by convention.
+
+STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph,  // same data as above
+                               int char_index,             // character to display
+                               float *xpos, float *ypos,   // pointers to current position in screen pixel space
+                               stbtt_aligned_quad *q,      // output: quad to draw
+                               int align_to_integer);
+
+STBTT_DEF int  stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects);
+STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect *rects, int num_rects);
+STBTT_DEF int  stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects);
+// Calling these functions in sequence is roughly equivalent to calling
+// stbtt_PackFontRanges(). If you more control over the packing of multiple
+// fonts, or if you want to pack custom data into a font texture, take a look
+// at the source to of stbtt_PackFontRanges() and create a custom version
+// using these functions, e.g. call GatherRects multiple times,
+// building up a single array of rects, then call PackRects once,
+// then call RenderIntoRects repeatedly. This may result in a
+// better packing than calling PackFontRanges multiple times
+// (or it may not).
+
+// this is an opaque structure that you shouldn't mess with which holds
+// all the context needed from PackBegin to PackEnd.
+struct stbtt_pack_context {
+   void *user_allocator_context;
+   void *pack_info;
+   int   width;
+   int   height;
+   int   stride_in_bytes;
+   int   padding;
+   int   skip_missing;
+   unsigned int   h_oversample, v_oversample;
+   unsigned char *pixels;
+   void  *nodes;
+};
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// FONT LOADING
+//
+//
+
+STBTT_DEF int stbtt_GetNumberOfFonts(const unsigned char *data);
+// This function will determine the number of fonts in a font file.  TrueType
+// collection (.ttc) files may contain multiple fonts, while TrueType font
+// (.ttf) files only contain one font. The number of fonts can be used for
+// indexing with the previous function where the index is between zero and one
+// less than the total fonts. If an error occurs, -1 is returned.
+
+STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index);
+// Each .ttf/.ttc file may have more than one font. Each font has a sequential
+// index number starting from 0. Call this function to get the font offset for
+// a given index; it returns -1 if the index is out of range. A regular .ttf
+// file will only define one font and it always be at offset 0, so it will
+// return '0' for index 0, and -1 for all other indices.
+
+// The following structure is defined publicly so you can declare one on
+// the stack or as a global or etc, but you should treat it as opaque.
+struct stbtt_fontinfo
+{
+   void           * userdata;
+   unsigned char  * data;              // pointer to .ttf file
+   int              fontstart;         // offset of start of font
+
+   int numGlyphs;                     // number of glyphs, needed for range checking
+
+   int loca,head,glyf,hhea,hmtx,kern,gpos,svg; // table locations as offset from start of .ttf
+   int index_map;                     // a cmap mapping for our chosen character encoding
+   int indexToLocFormat;              // format needed to map from glyph index to glyph
+
+   stbtt__buf cff;                    // cff font data
+   stbtt__buf charstrings;            // the charstring index
+   stbtt__buf gsubrs;                 // global charstring subroutines index
+   stbtt__buf subrs;                  // private charstring subroutines index
+   stbtt__buf fontdicts;              // array of font dicts
+   stbtt__buf fdselect;               // map from glyph to fontdict
+};
+
+STBTT_DEF int stbtt_InitFont(stbtt_fontinfo *info, const unsigned char *data, int offset);
+// Given an offset into the file that defines a font, this function builds
+// the necessary cached info for the rest of the system. You must allocate
+// the stbtt_fontinfo yourself, and stbtt_InitFont will fill it out. You don't
+// need to do anything special to free it, because the contents are pure
+// value data with no additional data structures. Returns 0 on failure.
+
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// CHARACTER TO GLYPH-INDEX CONVERSIOn
+
+STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codepoint);
+// If you're going to perform multiple operations on the same character
+// and you want a speed-up, call this function with the character you're
+// going to process, then use glyph-based functions instead of the
+// codepoint-based functions.
+// Returns 0 if the character codepoint is not defined in the font.
+
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// CHARACTER PROPERTIES
+//
+
+STBTT_DEF float stbtt_ScaleForPixelHeight(const stbtt_fontinfo *info, float pixels);
+// computes a scale factor to produce a font whose "height" is 'pixels' tall.
+// Height is measured as the distance from the highest ascender to the lowest
+// descender; in other words, it's equivalent to calling stbtt_GetFontVMetrics
+// and computing:
+//       scale = pixels / (ascent - descent)
+// so if you prefer to measure height by the ascent only, use a similar calculation.
+
+STBTT_DEF float stbtt_ScaleForMappingEmToPixels(const stbtt_fontinfo *info, float pixels);
+// computes a scale factor to produce a font whose EM size is mapped to
+// 'pixels' tall. This is probably what traditional APIs compute, but
+// I'm not positive.
+
+STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, int *descent, int *lineGap);
+// ascent is the coordinate above the baseline the font extends; descent
+// is the coordinate below the baseline the font extends (i.e. it is typically negative)
+// lineGap is the spacing between one row's descent and the next row's ascent...
+// so you should advance the vertical position by "*ascent - *descent + *lineGap"
+//   these are expressed in unscaled coordinates, so you must multiply by
+//   the scale factor for a given size
+
+STBTT_DEF int  stbtt_GetFontVMetricsOS2(const stbtt_fontinfo *info, int *typoAscent, int *typoDescent, int *typoLineGap);
+// analogous to GetFontVMetrics, but returns the "typographic" values from the OS/2
+// table (specific to MS/Windows TTF files).
+//
+// Returns 1 on success (table present), 0 on failure.
+
+STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1);
+// the bounding box around all possible characters
+
+STBTT_DEF void stbtt_GetCodepointHMetrics(const stbtt_fontinfo *info, int codepoint, int *advanceWidth, int *leftSideBearing);
+// leftSideBearing is the offset from the current horizontal position to the left edge of the character
+// advanceWidth is the offset from the current horizontal position to the next horizontal position
+//   these are expressed in unscaled coordinates
+
+STBTT_DEF int  stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2);
+// an additional amount to add to the 'advance' value between ch1 and ch2
+
+STBTT_DEF int stbtt_GetCodepointBox(const stbtt_fontinfo *info, int codepoint, int *x0, int *y0, int *x1, int *y1);
+// Gets the bounding box of the visible part of the glyph, in unscaled coordinates
+
+STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_index, int *advanceWidth, int *leftSideBearing);
+STBTT_DEF int  stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2);
+STBTT_DEF int  stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1);
+// as above, but takes one or more glyph indices for greater efficiency
+
+typedef struct stbtt_kerningentry
+{
+   int glyph1; // use stbtt_FindGlyphIndex
+   int glyph2;
+   int advance;
+} stbtt_kerningentry;
+
+STBTT_DEF int  stbtt_GetKerningTableLength(const stbtt_fontinfo *info);
+STBTT_DEF int  stbtt_GetKerningTable(const stbtt_fontinfo *info, stbtt_kerningentry* table, int table_length);
+// Retrieves a complete list of all of the kerning pairs provided by the font
+// stbtt_GetKerningTable never writes more than table_length entries and returns how many entries it did write.
+// The table will be sorted by (a.glyph1 == b.glyph1)?(a.glyph2 < b.glyph2):(a.glyph1 < b.glyph1)
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// GLYPH SHAPES (you probably don't need these, but they have to go before
+// the bitmaps for C declaration-order reasons)
+//
+
+#ifndef STBTT_vmove // you can predefine these to use different values (but why?)
+   enum {
+      STBTT_vmove=1,
+      STBTT_vline,
+      STBTT_vcurve,
+      STBTT_vcubic
+   };
+#endif
+
+#ifndef stbtt_vertex // you can predefine this to use different values
+                   // (we share this with other code at RAD)
+   #define stbtt_vertex_type short // can't use stbtt_int16 because that's not visible in the header file
+   typedef struct
+   {
+      stbtt_vertex_type x,y,cx,cy,cx1,cy1;
+      unsigned char type,padding;
+   } stbtt_vertex;
+#endif
+
+STBTT_DEF int stbtt_IsGlyphEmpty(const stbtt_fontinfo *info, int glyph_index);
+// returns non-zero if nothing is drawn for this glyph
+
+STBTT_DEF int stbtt_GetCodepointShape(const stbtt_fontinfo *info, int unicode_codepoint, stbtt_vertex **vertices);
+STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **vertices);
+// returns # of vertices and fills *vertices with the pointer to them
+//   these are expressed in "unscaled" coordinates
+//
+// The shape is a series of contours. Each one starts with
+// a STBTT_moveto, then consists of a series of mixed
+// STBTT_lineto and STBTT_curveto segments. A lineto
+// draws a line from previous endpoint to its x,y; a curveto
+// draws a quadratic bezier from previous endpoint to
+// its x,y, using cx,cy as the bezier control point.
+
+STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *vertices);
+// frees the data allocated above
+
+STBTT_DEF int stbtt_GetCodepointSVG(const stbtt_fontinfo *info, int unicode_codepoint, const char **svg);
+STBTT_DEF int stbtt_GetGlyphSVG(const stbtt_fontinfo *info, int gl, const char **svg);
+// fills svg with the character's SVG data.
+// returns data size or 0 if SVG not found.
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// BITMAP RENDERING
+//
+
+STBTT_DEF void stbtt_FreeBitmap(unsigned char *bitmap, void *userdata);
+// frees the bitmap allocated below
+
+STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff);
+// allocates a large-enough single-channel 8bpp bitmap and renders the
+// specified character/glyph at the specified scale into it, with
+// antialiasing. 0 is no coverage (transparent), 255 is fully covered (opaque).
+// *width & *height are filled out with the width & height of the bitmap,
+// which is stored left-to-right, top-to-bottom.
+//
+// xoff/yoff are the offset it pixel space from the glyph origin to the top-left of the bitmap
+
+STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff);
+// the same as stbtt_GetCodepoitnBitmap, but you can specify a subpixel
+// shift for the character
+
+STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint);
+// the same as stbtt_GetCodepointBitmap, but you pass in storage for the bitmap
+// in the form of 'output', with row spacing of 'out_stride' bytes. the bitmap
+// is clipped to out_w/out_h bytes. Call stbtt_GetCodepointBitmapBox to get the
+// width and height and positioning info for it first.
+
+STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint);
+// same as stbtt_MakeCodepointBitmap, but you can specify a subpixel
+// shift for the character
+
+STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint);
+// same as stbtt_MakeCodepointBitmapSubpixel, but prefiltering
+// is performed (see stbtt_PackSetOversampling)
+
+STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1);
+// get the bbox of the bitmap centered around the glyph origin; so the
+// bitmap width is ix1-ix0, height is iy1-iy0, and location to place
+// the bitmap top left is (leftSideBearing*scale,iy0).
+// (Note that the bitmap uses y-increases-down, but the shape uses
+// y-increases-up, so CodepointBitmapBox and CodepointBox are inverted.)
+
+STBTT_DEF void stbtt_GetCodepointBitmapBoxSubpixel(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1);
+// same as stbtt_GetCodepointBitmapBox, but you can specify a subpixel
+// shift for the character
+
+// the following functions are equivalent to the above functions, but operate
+// on glyph indices instead of Unicode codepoints (for efficiency)
+STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff);
+STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff);
+STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph);
+STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph);
+STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int glyph);
+STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1);
+STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1);
+
+
+// @TODO: don't expose this structure
+typedef struct
+{
+   int w,h,stride;
+   unsigned char *pixels;
+} stbtt__bitmap;
+
+// rasterize a shape with quadratic beziers into a bitmap
+STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result,        // 1-channel bitmap to draw into
+                               float flatness_in_pixels,     // allowable error of curve in pixels
+                               stbtt_vertex *vertices,       // array of vertices defining shape
+                               int num_verts,                // number of vertices in above array
+                               float scale_x, float scale_y, // scale applied to input vertices
+                               float shift_x, float shift_y, // translation applied to input vertices
+                               int x_off, int y_off,         // another translation applied to input
+                               int invert,                   // if non-zero, vertically flip shape
+                               void *userdata);              // context for to STBTT_MALLOC
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// Signed Distance Function (or Field) rendering
+
+STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata);
+// frees the SDF bitmap allocated below
+
+STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float scale, int glyph, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff);
+STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff);
+// These functions compute a discretized SDF field for a single character, suitable for storing
+// in a single-channel texture, sampling with bilinear filtering, and testing against
+// larger than some threshold to produce scalable fonts.
+//        info              --  the font
+//        scale             --  controls the size of the resulting SDF bitmap, same as it would be creating a regular bitmap
+//        glyph/codepoint   --  the character to generate the SDF for
+//        padding           --  extra "pixels" around the character which are filled with the distance to the character (not 0),
+//                                 which allows effects like bit outlines
+//        onedge_value      --  value 0-255 to test the SDF against to reconstruct the character (i.e. the isocontour of the character)
+//        pixel_dist_scale  --  what value the SDF should increase by when moving one SDF "pixel" away from the edge (on the 0..255 scale)
+//                                 if positive, > onedge_value is inside; if negative, < onedge_value is inside
+//        width,height      --  output height & width of the SDF bitmap (including padding)
+//        xoff,yoff         --  output origin of the character
+//        return value      --  a 2D array of bytes 0..255, width*height in size
+//
+// pixel_dist_scale & onedge_value are a scale & bias that allows you to make
+// optimal use of the limited 0..255 for your application, trading off precision
+// and special effects. SDF values outside the range 0..255 are clamped to 0..255.
+//
+// Example:
+//      scale = stbtt_ScaleForPixelHeight(22)
+//      padding = 5
+//      onedge_value = 180
+//      pixel_dist_scale = 180/5.0 = 36.0
+//
+//      This will create an SDF bitmap in which the character is about 22 pixels
+//      high but the whole bitmap is about 22+5+5=32 pixels high. To produce a filled
+//      shape, sample the SDF at each pixel and fill the pixel if the SDF value
+//      is greater than or equal to 180/255. (You'll actually want to antialias,
+//      which is beyond the scope of this example.) Additionally, you can compute
+//      offset outlines (e.g. to stroke the character border inside & outside,
+//      or only outside). For example, to fill outside the character up to 3 SDF
+//      pixels, you would compare against (180-36.0*3)/255 = 72/255. The above
+//      choice of variables maps a range from 5 pixels outside the shape to
+//      2 pixels inside the shape to 0..255; this is intended primarily for apply
+//      outside effects only (the interior range is needed to allow proper
+//      antialiasing of the font at *smaller* sizes)
+//
+// The function computes the SDF analytically at each SDF pixel, not by e.g.
+// building a higher-res bitmap and approximating it. In theory the quality
+// should be as high as possible for an SDF of this size & representation, but
+// unclear if this is true in practice (perhaps building a higher-res bitmap
+// and computing from that can allow drop-out prevention).
+//
+// The algorithm has not been optimized at all, so expect it to be slow
+// if computing lots of characters or very large sizes.
+
+
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// Finding the right font...
+//
+// You should really just solve this offline, keep your own tables
+// of what font is what, and don't try to get it out of the .ttf file.
+// That's because getting it out of the .ttf file is really hard, because
+// the names in the file can appear in many possible encodings, in many
+// possible languages, and e.g. if you need a case-insensitive comparison,
+// the details of that depend on the encoding & language in a complex way
+// (actually underspecified in truetype, but also gigantic).
+//
+// But you can use the provided functions in two possible ways:
+//     stbtt_FindMatchingFont() will use *case-sensitive* comparisons on
+//             unicode-encoded names to try to find the font you want;
+//             you can run this before calling stbtt_InitFont()
+//
+//     stbtt_GetFontNameString() lets you get any of the various strings
+//             from the file yourself and do your own comparisons on them.
+//             You have to have called stbtt_InitFont() first.
+
+
+STBTT_DEF int stbtt_FindMatchingFont(const unsigned char *fontdata, const char *name, int flags);
+// returns the offset (not index) of the font that matches, or -1 if none
+//   if you use STBTT_MACSTYLE_DONTCARE, use a font name like "Arial Bold".
+//   if you use any other flag, use a font name like "Arial"; this checks
+//     the 'macStyle' header field; i don't know if fonts set this consistently
+#define STBTT_MACSTYLE_DONTCARE     0
+#define STBTT_MACSTYLE_BOLD         1
+#define STBTT_MACSTYLE_ITALIC       2
+#define STBTT_MACSTYLE_UNDERSCORE   4
+#define STBTT_MACSTYLE_NONE         8   // <= not same as 0, this makes us check the bitfield is 0
+
+STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const char *s2, int len2);
+// returns 1/0 whether the first string interpreted as utf8 is identical to
+// the second string interpreted as big-endian utf16... useful for strings from next func
+
+STBTT_DEF const char *stbtt_GetFontNameString(const stbtt_fontinfo *font, int *length, int platformID, int encodingID, int languageID, int nameID);
+// returns the string (which may be big-endian double byte, e.g. for unicode)
+// and puts the length in bytes in *length.
+//
+// some of the values for the IDs are below; for more see the truetype spec:
+//     http://developer.apple.com/textfonts/TTRefMan/RM06/Chap6name.html
+//     http://www.microsoft.com/typography/otspec/name.htm
+
+enum { // platformID
+   STBTT_PLATFORM_ID_UNICODE   =0,
+   STBTT_PLATFORM_ID_MAC       =1,
+   STBTT_PLATFORM_ID_ISO       =2,
+   STBTT_PLATFORM_ID_MICROSOFT =3
+};
+
+enum { // encodingID for STBTT_PLATFORM_ID_UNICODE
+   STBTT_UNICODE_EID_UNICODE_1_0    =0,
+   STBTT_UNICODE_EID_UNICODE_1_1    =1,
+   STBTT_UNICODE_EID_ISO_10646      =2,
+   STBTT_UNICODE_EID_UNICODE_2_0_BMP=3,
+   STBTT_UNICODE_EID_UNICODE_2_0_FULL=4
+};
+
+enum { // encodingID for STBTT_PLATFORM_ID_MICROSOFT
+   STBTT_MS_EID_SYMBOL        =0,
+   STBTT_MS_EID_UNICODE_BMP   =1,
+   STBTT_MS_EID_SHIFTJIS      =2,
+   STBTT_MS_EID_UNICODE_FULL  =10
+};
+
+enum { // encodingID for STBTT_PLATFORM_ID_MAC; same as Script Manager codes
+   STBTT_MAC_EID_ROMAN        =0,   STBTT_MAC_EID_ARABIC       =4,
+   STBTT_MAC_EID_JAPANESE     =1,   STBTT_MAC_EID_HEBREW       =5,
+   STBTT_MAC_EID_CHINESE_TRAD =2,   STBTT_MAC_EID_GREEK        =6,
+   STBTT_MAC_EID_KOREAN       =3,   STBTT_MAC_EID_RUSSIAN      =7
+};
+
+enum { // languageID for STBTT_PLATFORM_ID_MICROSOFT; same as LCID...
+       // problematic because there are e.g. 16 english LCIDs and 16 arabic LCIDs
+   STBTT_MS_LANG_ENGLISH     =0x0409,   STBTT_MS_LANG_ITALIAN     =0x0410,
+   STBTT_MS_LANG_CHINESE     =0x0804,   STBTT_MS_LANG_JAPANESE    =0x0411,
+   STBTT_MS_LANG_DUTCH       =0x0413,   STBTT_MS_LANG_KOREAN      =0x0412,
+   STBTT_MS_LANG_FRENCH      =0x040c,   STBTT_MS_LANG_RUSSIAN     =0x0419,
+   STBTT_MS_LANG_GERMAN      =0x0407,   STBTT_MS_LANG_SPANISH     =0x0409,
+   STBTT_MS_LANG_HEBREW      =0x040d,   STBTT_MS_LANG_SWEDISH     =0x041D
+};
+
+enum { // languageID for STBTT_PLATFORM_ID_MAC
+   STBTT_MAC_LANG_ENGLISH      =0 ,   STBTT_MAC_LANG_JAPANESE     =11,
+   STBTT_MAC_LANG_ARABIC       =12,   STBTT_MAC_LANG_KOREAN       =23,
+   STBTT_MAC_LANG_DUTCH        =4 ,   STBTT_MAC_LANG_RUSSIAN      =32,
+   STBTT_MAC_LANG_FRENCH       =1 ,   STBTT_MAC_LANG_SPANISH      =6 ,
+   STBTT_MAC_LANG_GERMAN       =2 ,   STBTT_MAC_LANG_SWEDISH      =5 ,
+   STBTT_MAC_LANG_HEBREW       =10,   STBTT_MAC_LANG_CHINESE_SIMPLIFIED =33,
+   STBTT_MAC_LANG_ITALIAN      =3 ,   STBTT_MAC_LANG_CHINESE_TRAD =19
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __STB_INCLUDE_STB_TRUETYPE_H__
+
+///////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+////
+////   IMPLEMENTATION
+////
+////
+
+#ifdef STB_TRUETYPE_IMPLEMENTATION
+
+#ifndef STBTT_MAX_OVERSAMPLE
+#define STBTT_MAX_OVERSAMPLE   8
+#endif
+
+#if STBTT_MAX_OVERSAMPLE > 255
+#error "STBTT_MAX_OVERSAMPLE cannot be > 255"
+#endif
+
+typedef int stbtt__test_oversample_pow2[(STBTT_MAX_OVERSAMPLE & (STBTT_MAX_OVERSAMPLE-1)) == 0 ? 1 : -1];
+
+#ifndef STBTT_RASTERIZER_VERSION
+#define STBTT_RASTERIZER_VERSION 2
+#endif
+
+#ifdef _MSC_VER
+#define STBTT__NOTUSED(v)  (void)(v)
+#else
+#define STBTT__NOTUSED(v)  (void)sizeof(v)
+#endif
+
+//////////////////////////////////////////////////////////////////////////
+//
+// stbtt__buf helpers to parse data from file
+//
+
+static stbtt_uint8 stbtt__buf_get8(stbtt__buf *b)
+{
+   if (b->cursor >= b->size)
+      return 0;
+   return b->data[b->cursor++];
+}
+
+static stbtt_uint8 stbtt__buf_peek8(stbtt__buf *b)
+{
+   if (b->cursor >= b->size)
+      return 0;
+   return b->data[b->cursor];
+}
+
+static void stbtt__buf_seek(stbtt__buf *b, int o)
+{
+   STBTT_assert(!(o > b->size || o < 0));
+   b->cursor = (o > b->size || o < 0) ? b->size : o;
+}
+
+static void stbtt__buf_skip(stbtt__buf *b, int o)
+{
+   stbtt__buf_seek(b, b->cursor + o);
+}
+
+static stbtt_uint32 stbtt__buf_get(stbtt__buf *b, int n)
+{
+   stbtt_uint32 v = 0;
+   int i;
+   STBTT_assert(n >= 1 && n <= 4);
+   for (i = 0; i < n; i++)
+      v = (v << 8) | stbtt__buf_get8(b);
+   return v;
+}
+
+static stbtt__buf stbtt__new_buf(const void *p, size_t size)
+{
+   stbtt__buf r;
+   STBTT_assert(size < 0x40000000);
+   r.data = (stbtt_uint8*) p;
+   r.size = (int) size;
+   r.cursor = 0;
+   return r;
+}
+
+#define stbtt__buf_get16(b)  stbtt__buf_get((b), 2)
+#define stbtt__buf_get32(b)  stbtt__buf_get((b), 4)
+
+static stbtt__buf stbtt__buf_range(const stbtt__buf *b, int o, int s)
+{
+   stbtt__buf r = stbtt__new_buf(NULL, 0);
+   if (o < 0 || s < 0 || o > b->size || s > b->size - o) return r;
+   r.data = b->data + o;
+   r.size = s;
+   return r;
+}
+
+static stbtt__buf stbtt__cff_get_index(stbtt__buf *b)
+{
+   int count, start, offsize;
+   start = b->cursor;
+   count = stbtt__buf_get16(b);
+   if (count) {
+      offsize = stbtt__buf_get8(b);
+      STBTT_assert(offsize >= 1 && offsize <= 4);
+      stbtt__buf_skip(b, offsize * count);
+      stbtt__buf_skip(b, stbtt__buf_get(b, offsize) - 1);
+   }
+   return stbtt__buf_range(b, start, b->cursor - start);
+}
+
+static stbtt_uint32 stbtt__cff_int(stbtt__buf *b)
+{
+   int b0 = stbtt__buf_get8(b);
+   if (b0 >= 32 && b0 <= 246)       return b0 - 139;
+   else if (b0 >= 247 && b0 <= 250) return (b0 - 247)*256 + stbtt__buf_get8(b) + 108;
+   else if (b0 >= 251 && b0 <= 254) return -(b0 - 251)*256 - stbtt__buf_get8(b) - 108;
+   else if (b0 == 28)               return stbtt__buf_get16(b);
+   else if (b0 == 29)               return stbtt__buf_get32(b);
+   STBTT_assert(0);
+   return 0;
+}
+
+static void stbtt__cff_skip_operand(stbtt__buf *b) {
+   int v, b0 = stbtt__buf_peek8(b);
+   STBTT_assert(b0 >= 28);
+   if (b0 == 30) {
+      stbtt__buf_skip(b, 1);
+      while (b->cursor < b->size) {
+         v = stbtt__buf_get8(b);
+         if ((v & 0xF) == 0xF || (v >> 4) == 0xF)
+            break;
+      }
+   } else {
+      stbtt__cff_int(b);
+   }
+}
+
+static stbtt__buf stbtt__dict_get(stbtt__buf *b, int key)
+{
+   stbtt__buf_seek(b, 0);
+   while (b->cursor < b->size) {
+      int start = b->cursor, end, op;
+      while (stbtt__buf_peek8(b) >= 28)
+         stbtt__cff_skip_operand(b);
+      end = b->cursor;
+      op = stbtt__buf_get8(b);
+      if (op == 12)  op = stbtt__buf_get8(b) | 0x100;
+      if (op == key) return stbtt__buf_range(b, start, end-start);
+   }
+   return stbtt__buf_range(b, 0, 0);
+}
+
+static void stbtt__dict_get_ints(stbtt__buf *b, int key, int outcount, stbtt_uint32 *out)
+{
+   int i;
+   stbtt__buf operands = stbtt__dict_get(b, key);
+   for (i = 0; i < outcount && operands.cursor < operands.size; i++)
+      out[i] = stbtt__cff_int(&operands);
+}
+
+static int stbtt__cff_index_count(stbtt__buf *b)
+{
+   stbtt__buf_seek(b, 0);
+   return stbtt__buf_get16(b);
+}
+
+static stbtt__buf stbtt__cff_index_get(stbtt__buf b, int i)
+{
+   int count, offsize, start, end;
+   stbtt__buf_seek(&b, 0);
+   count = stbtt__buf_get16(&b);
+   offsize = stbtt__buf_get8(&b);
+   STBTT_assert(i >= 0 && i < count);
+   STBTT_assert(offsize >= 1 && offsize <= 4);
+   stbtt__buf_skip(&b, i*offsize);
+   start = stbtt__buf_get(&b, offsize);
+   end = stbtt__buf_get(&b, offsize);
+   return stbtt__buf_range(&b, 2+(count+1)*offsize+start, end - start);
+}
+
+//////////////////////////////////////////////////////////////////////////
+//
+// accessors to parse data from file
+//
+
+// on platforms that don't allow misaligned reads, if we want to allow
+// truetype fonts that aren't padded to alignment, define ALLOW_UNALIGNED_TRUETYPE
+
+#define ttBYTE(p)     (* (stbtt_uint8 *) (p))
+#define ttCHAR(p)     (* (stbtt_int8 *) (p))
+#define ttFixed(p)    ttLONG(p)
+
+static stbtt_uint16 ttUSHORT(stbtt_uint8 *p) { return p[0]*256 + p[1]; }
+static stbtt_int16 ttSHORT(stbtt_uint8 *p)   { return p[0]*256 + p[1]; }
+static stbtt_uint32 ttULONG(stbtt_uint8 *p)  { return (p[0]<<24) + (p[1]<<16) + (p[2]<<8) + p[3]; }
+static stbtt_int32 ttLONG(stbtt_uint8 *p)    { return (p[0]<<24) + (p[1]<<16) + (p[2]<<8) + p[3]; }
+
+#define stbtt_tag4(p,c0,c1,c2,c3) ((p)[0] == (c0) && (p)[1] == (c1) && (p)[2] == (c2) && (p)[3] == (c3))
+#define stbtt_tag(p,str)           stbtt_tag4(p,str[0],str[1],str[2],str[3])
+
+static int stbtt__isfont(stbtt_uint8 *font)
+{
+   // check the version number
+   if (stbtt_tag4(font, '1',0,0,0))  return 1; // TrueType 1
+   if (stbtt_tag(font, "typ1"))   return 1; // TrueType with type 1 font -- we don't support this!
+   if (stbtt_tag(font, "OTTO"))   return 1; // OpenType with CFF
+   if (stbtt_tag4(font, 0,1,0,0)) return 1; // OpenType 1.0
+   if (stbtt_tag(font, "true"))   return 1; // Apple specification for TrueType fonts
+   return 0;
+}
+
+// @OPTIMIZE: binary search
+static stbtt_uint32 stbtt__find_table(stbtt_uint8 *data, stbtt_uint32 fontstart, const char *tag)
+{
+   stbtt_int32 num_tables = ttUSHORT(data+fontstart+4);
+   stbtt_uint32 tabledir = fontstart + 12;
+   stbtt_int32 i;
+   for (i=0; i < num_tables; ++i) {
+      stbtt_uint32 loc = tabledir + 16*i;
+      if (stbtt_tag(data+loc+0, tag))
+         return ttULONG(data+loc+8);
+   }
+   return 0;
+}
+
+static int stbtt_GetFontOffsetForIndex_internal(unsigned char *font_collection, int index)
+{
+   // if it's just a font, there's only one valid index
+   if (stbtt__isfont(font_collection))
+      return index == 0 ? 0 : -1;
+
+   // check if it's a TTC
+   if (stbtt_tag(font_collection, "ttcf")) {
+      // version 1?
+      if (ttULONG(font_collection+4) == 0x00010000 || ttULONG(font_collection+4) == 0x00020000) {
+         stbtt_int32 n = ttLONG(font_collection+8);
+         if (index >= n)
+            return -1;
+         return ttULONG(font_collection+12+index*4);
+      }
+   }
+   return -1;
+}
+
+static int stbtt_GetNumberOfFonts_internal(unsigned char *font_collection)
+{
+   // if it's just a font, there's only one valid font
+   if (stbtt__isfont(font_collection))
+      return 1;
+
+   // check if it's a TTC
+   if (stbtt_tag(font_collection, "ttcf")) {
+      // version 1?
+      if (ttULONG(font_collection+4) == 0x00010000 || ttULONG(font_collection+4) == 0x00020000) {
+         return ttLONG(font_collection+8);
+      }
+   }
+   return 0;
+}
+
+static stbtt__buf stbtt__get_subrs(stbtt__buf cff, stbtt__buf fontdict)
+{
+   stbtt_uint32 subrsoff = 0, private_loc[2] = { 0, 0 };
+   stbtt__buf pdict;
+   stbtt__dict_get_ints(&fontdict, 18, 2, private_loc);
+   if (!private_loc[1] || !private_loc[0]) return stbtt__new_buf(NULL, 0);
+   pdict = stbtt__buf_range(&cff, private_loc[1], private_loc[0]);
+   stbtt__dict_get_ints(&pdict, 19, 1, &subrsoff);
+   if (!subrsoff) return stbtt__new_buf(NULL, 0);
+   stbtt__buf_seek(&cff, private_loc[1]+subrsoff);
+   return stbtt__cff_get_index(&cff);
+}
+
+// since most people won't use this, find this table the first time it's needed
+static int stbtt__get_svg(stbtt_fontinfo *info)
+{
+   stbtt_uint32 t;
+   if (info->svg < 0) {
+      t = stbtt__find_table(info->data, info->fontstart, "SVG ");
+      if (t) {
+         stbtt_uint32 offset = ttULONG(info->data + t + 2);
+         info->svg = t + offset;
+      } else {
+         info->svg = 0;
+      }
+   }
+   return info->svg;
+}
+
+static int stbtt_InitFont_internal(stbtt_fontinfo *info, unsigned char *data, int fontstart)
+{
+   stbtt_uint32 cmap, t;
+   stbtt_int32 i,numTables;
+
+   info->data = data;
+   info->fontstart = fontstart;
+   info->cff = stbtt__new_buf(NULL, 0);
+
+   cmap = stbtt__find_table(data, fontstart, "cmap");       // required
+   info->loca = stbtt__find_table(data, fontstart, "loca"); // required
+   info->head = stbtt__find_table(data, fontstart, "head"); // required
+   info->glyf = stbtt__find_table(data, fontstart, "glyf"); // required
+   info->hhea = stbtt__find_table(data, fontstart, "hhea"); // required
+   info->hmtx = stbtt__find_table(data, fontstart, "hmtx"); // required
+   info->kern = stbtt__find_table(data, fontstart, "kern"); // not required
+   info->gpos = stbtt__find_table(data, fontstart, "GPOS"); // not required
+
+   if (!cmap || !info->head || !info->hhea || !info->hmtx)
+      return 0;
+   if (info->glyf) {
+      // required for truetype
+      if (!info->loca) return 0;
+   } else {
+      // initialization for CFF / Type2 fonts (OTF)
+      stbtt__buf b, topdict, topdictidx;
+      stbtt_uint32 cstype = 2, charstrings = 0, fdarrayoff = 0, fdselectoff = 0;
+      stbtt_uint32 cff;
+
+      cff = stbtt__find_table(data, fontstart, "CFF ");
+      if (!cff) return 0;
+
+      info->fontdicts = stbtt__new_buf(NULL, 0);
+      info->fdselect = stbtt__new_buf(NULL, 0);
+
+      // @TODO this should use size from table (not 512MB)
+      info->cff = stbtt__new_buf(data+cff, 512*1024*1024);
+      b = info->cff;
+
+      // read the header
+      stbtt__buf_skip(&b, 2);
+      stbtt__buf_seek(&b, stbtt__buf_get8(&b)); // hdrsize
+
+      // @TODO the name INDEX could list multiple fonts,
+      // but we just use the first one.
+      stbtt__cff_get_index(&b);  // name INDEX
+      topdictidx = stbtt__cff_get_index(&b);
+      topdict = stbtt__cff_index_get(topdictidx, 0);
+      stbtt__cff_get_index(&b);  // string INDEX
+      info->gsubrs = stbtt__cff_get_index(&b);
+
+      stbtt__dict_get_ints(&topdict, 17, 1, &charstrings);
+      stbtt__dict_get_ints(&topdict, 0x100 | 6, 1, &cstype);
+      stbtt__dict_get_ints(&topdict, 0x100 | 36, 1, &fdarrayoff);
+      stbtt__dict_get_ints(&topdict, 0x100 | 37, 1, &fdselectoff);
+      info->subrs = stbtt__get_subrs(b, topdict);
+
+      // we only support Type 2 charstrings
+      if (cstype != 2) return 0;
+      if (charstrings == 0) return 0;
+
+      if (fdarrayoff) {
+         // looks like a CID font
+         if (!fdselectoff) return 0;
+         stbtt__buf_seek(&b, fdarrayoff);
+         info->fontdicts = stbtt__cff_get_index(&b);
+         info->fdselect = stbtt__buf_range(&b, fdselectoff, b.size-fdselectoff);
+      }
+
+      stbtt__buf_seek(&b, charstrings);
+      info->charstrings = stbtt__cff_get_index(&b);
+   }
+
+   t = stbtt__find_table(data, fontstart, "maxp");
+   if (t)
+      info->numGlyphs = ttUSHORT(data+t+4);
+   else
+      info->numGlyphs = 0xffff;
+
+   info->svg = -1;
+
+   // find a cmap encoding table we understand *now* to avoid searching
+   // later. (todo: could make this installable)
+   // the same regardless of glyph.
+   numTables = ttUSHORT(data + cmap + 2);
+   info->index_map = 0;
+   for (i=0; i < numTables; ++i) {
+      stbtt_uint32 encoding_record = cmap + 4 + 8 * i;
+      // find an encoding we understand:
+      switch(ttUSHORT(data+encoding_record)) {
+         case STBTT_PLATFORM_ID_MICROSOFT:
+            switch (ttUSHORT(data+encoding_record+2)) {
+               case STBTT_MS_EID_UNICODE_BMP:
+               case STBTT_MS_EID_UNICODE_FULL:
+                  // MS/Unicode
+                  info->index_map = cmap + ttULONG(data+encoding_record+4);
+                  break;
+            }
+            break;
+        case STBTT_PLATFORM_ID_UNICODE:
+            // Mac/iOS has these
+            // all the encodingIDs are unicode, so we don't bother to check it
+            info->index_map = cmap + ttULONG(data+encoding_record+4);
+            break;
+      }
+   }
+   if (info->index_map == 0)
+      return 0;
+
+   info->indexToLocFormat = ttUSHORT(data+info->head + 50);
+   return 1;
+}
+
+STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codepoint)
+{
+   stbtt_uint8 *data = info->data;
+   stbtt_uint32 index_map = info->index_map;
+
+   stbtt_uint16 format = ttUSHORT(data + index_map + 0);
+   if (format == 0) { // apple byte encoding
+      stbtt_int32 bytes = ttUSHORT(data + index_map + 2);
+      if (unicode_codepoint < bytes-6)
+         return ttBYTE(data + index_map + 6 + unicode_codepoint);
+      return 0;
+   } else if (format == 6) {
+      stbtt_uint32 first = ttUSHORT(data + index_map + 6);
+      stbtt_uint32 count = ttUSHORT(data + index_map + 8);
+      if ((stbtt_uint32) unicode_codepoint >= first && (stbtt_uint32) unicode_codepoint < first+count)
+         return ttUSHORT(data + index_map + 10 + (unicode_codepoint - first)*2);
+      return 0;
+   } else if (format == 2) {
+      STBTT_assert(0); // @TODO: high-byte mapping for japanese/chinese/korean
+      return 0;
+   } else if (format == 4) { // standard mapping for windows fonts: binary search collection of ranges
+      stbtt_uint16 segcount = ttUSHORT(data+index_map+6) >> 1;
+      stbtt_uint16 searchRange = ttUSHORT(data+index_map+8) >> 1;
+      stbtt_uint16 entrySelector = ttUSHORT(data+index_map+10);
+      stbtt_uint16 rangeShift = ttUSHORT(data+index_map+12) >> 1;
+
+      // do a binary search of the segments
+      stbtt_uint32 endCount = index_map + 14;
+      stbtt_uint32 search = endCount;
+
+      if (unicode_codepoint > 0xffff)
+         return 0;
+
+      // they lie from endCount .. endCount + segCount
+      // but searchRange is the nearest power of two, so...
+      if (unicode_codepoint >= ttUSHORT(data + search + rangeShift*2))
+         search += rangeShift*2;
+
+      // now decrement to bias correctly to find smallest
+      search -= 2;
+      while (entrySelector) {
+         stbtt_uint16 end;
+         searchRange >>= 1;
+         end = ttUSHORT(data + search + searchRange*2);
+         if (unicode_codepoint > end)
+            search += searchRange*2;
+         --entrySelector;
+      }
+      search += 2;
+
+      {
+         stbtt_uint16 offset, start;
+         stbtt_uint16 item = (stbtt_uint16) ((search - endCount) >> 1);
+
+         STBTT_assert(unicode_codepoint <= ttUSHORT(data + endCount + 2*item));
+         start = ttUSHORT(data + index_map + 14 + segcount*2 + 2 + 2*item);
+         if (unicode_codepoint < start)
+            return 0;
+
+         offset = ttUSHORT(data + index_map + 14 + segcount*6 + 2 + 2*item);
+         if (offset == 0)
+            return (stbtt_uint16) (unicode_codepoint + ttSHORT(data + index_map + 14 + segcount*4 + 2 + 2*item));
+
+         return ttUSHORT(data + offset + (unicode_codepoint-start)*2 + index_map + 14 + segcount*6 + 2 + 2*item);
+      }
+   } else if (format == 12 || format == 13) {
+      stbtt_uint32 ngroups = ttULONG(data+index_map+12);
+      stbtt_int32 low,high;
+      low = 0; high = (stbtt_int32)ngroups;
+      // Binary search the right group.
+      while (low < high) {
+         stbtt_int32 mid = low + ((high-low) >> 1); // rounds down, so low <= mid < high
+         stbtt_uint32 start_char = ttULONG(data+index_map+16+mid*12);
+         stbtt_uint32 end_char = ttULONG(data+index_map+16+mid*12+4);
+         if ((stbtt_uint32) unicode_codepoint < start_char)
+            high = mid;
+         else if ((stbtt_uint32) unicode_codepoint > end_char)
+            low = mid+1;
+         else {
+            stbtt_uint32 start_glyph = ttULONG(data+index_map+16+mid*12+8);
+            if (format == 12)
+               return start_glyph + unicode_codepoint-start_char;
+            else // format == 13
+               return start_glyph;
+         }
+      }
+      return 0; // not found
+   }
+   // @TODO
+   STBTT_assert(0);
+   return 0;
+}
+
+STBTT_DEF int stbtt_GetCodepointShape(const stbtt_fontinfo *info, int unicode_codepoint, stbtt_vertex **vertices)
+{
+   return stbtt_GetGlyphShape(info, stbtt_FindGlyphIndex(info, unicode_codepoint), vertices);
+}
+
+static void stbtt_setvertex(stbtt_vertex *v, stbtt_uint8 type, stbtt_int32 x, stbtt_int32 y, stbtt_int32 cx, stbtt_int32 cy)
+{
+   v->type = type;
+   v->x = (stbtt_int16) x;
+   v->y = (stbtt_int16) y;
+   v->cx = (stbtt_int16) cx;
+   v->cy = (stbtt_int16) cy;
+}
+
+static int stbtt__GetGlyfOffset(const stbtt_fontinfo *info, int glyph_index)
+{
+   int g1,g2;
+
+   STBTT_assert(!info->cff.size);
+
+   if (glyph_index >= info->numGlyphs) return -1; // glyph index out of range
+   if (info->indexToLocFormat >= 2)    return -1; // unknown index->glyph map format
+
+   if (info->indexToLocFormat == 0) {
+      g1 = info->glyf + ttUSHORT(info->data + info->loca + glyph_index * 2) * 2;
+      g2 = info->glyf + ttUSHORT(info->data + info->loca + glyph_index * 2 + 2) * 2;
+   } else {
+      g1 = info->glyf + ttULONG (info->data + info->loca + glyph_index * 4);
+      g2 = info->glyf + ttULONG (info->data + info->loca + glyph_index * 4 + 4);
+   }
+
+   return g1==g2 ? -1 : g1; // if length is 0, return -1
+}
+
+static int stbtt__GetGlyphInfoT2(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1);
+
+STBTT_DEF int stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1)
+{
+   if (info->cff.size) {
+      stbtt__GetGlyphInfoT2(info, glyph_index, x0, y0, x1, y1);
+   } else {
+      int g = stbtt__GetGlyfOffset(info, glyph_index);
+      if (g < 0) return 0;
+
+      if (x0) *x0 = ttSHORT(info->data + g + 2);
+      if (y0) *y0 = ttSHORT(info->data + g + 4);
+      if (x1) *x1 = ttSHORT(info->data + g + 6);
+      if (y1) *y1 = ttSHORT(info->data + g + 8);
+   }
+   return 1;
+}
+
+STBTT_DEF int stbtt_GetCodepointBox(const stbtt_fontinfo *info, int codepoint, int *x0, int *y0, int *x1, int *y1)
+{
+   return stbtt_GetGlyphBox(info, stbtt_FindGlyphIndex(info,codepoint), x0,y0,x1,y1);
+}
+
+STBTT_DEF int stbtt_IsGlyphEmpty(const stbtt_fontinfo *info, int glyph_index)
+{
+   stbtt_int16 numberOfContours;
+   int g;
+   if (info->cff.size)
+      return stbtt__GetGlyphInfoT2(info, glyph_index, NULL, NULL, NULL, NULL) == 0;
+   g = stbtt__GetGlyfOffset(info, glyph_index);
+   if (g < 0) return 1;
+   numberOfContours = ttSHORT(info->data + g);
+   return numberOfContours == 0;
+}
+
+static int stbtt__close_shape(stbtt_vertex *vertices, int num_vertices, int was_off, int start_off,
+    stbtt_int32 sx, stbtt_int32 sy, stbtt_int32 scx, stbtt_int32 scy, stbtt_int32 cx, stbtt_int32 cy)
+{
+   if (start_off) {
+      if (was_off)
+         stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, (cx+scx)>>1, (cy+scy)>>1, cx,cy);
+      stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, sx,sy,scx,scy);
+   } else {
+      if (was_off)
+         stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve,sx,sy,cx,cy);
+      else
+         stbtt_setvertex(&vertices[num_vertices++], STBTT_vline,sx,sy,0,0);
+   }
+   return num_vertices;
+}
+
+static int stbtt__GetGlyphShapeTT(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices)
+{
+   stbtt_int16 numberOfContours;
+   stbtt_uint8 *endPtsOfContours;
+   stbtt_uint8 *data = info->data;
+   stbtt_vertex *vertices=0;
+   int num_vertices=0;
+   int g = stbtt__GetGlyfOffset(info, glyph_index);
+
+   *pvertices = NULL;
+
+   if (g < 0) return 0;
+
+   numberOfContours = ttSHORT(data + g);
+
+   if (numberOfContours > 0) {
+      stbtt_uint8 flags=0,flagcount;
+      stbtt_int32 ins, i,j=0,m,n, next_move, was_off=0, off, start_off=0;
+      stbtt_int32 x,y,cx,cy,sx,sy, scx,scy;
+      stbtt_uint8 *points;
+      endPtsOfContours = (data + g + 10);
+      ins = ttUSHORT(data + g + 10 + numberOfContours * 2);
+      points = data + g + 10 + numberOfContours * 2 + 2 + ins;
+
+      n = 1+ttUSHORT(endPtsOfContours + numberOfContours*2-2);
+
+      m = n + 2*numberOfContours;  // a loose bound on how many vertices we might need
+      vertices = (stbtt_vertex *) STBTT_malloc(m * sizeof(vertices[0]), info->userdata);
+      if (vertices == 0)
+         return 0;
+
+      next_move = 0;
+      flagcount=0;
+
+      // in first pass, we load uninterpreted data into the allocated array
+      // above, shifted to the end of the array so we won't overwrite it when
+      // we create our final data starting from the front
+
+      off = m - n; // starting offset for uninterpreted data, regardless of how m ends up being calculated
+
+      // first load flags
+
+      for (i=0; i < n; ++i) {
+         if (flagcount == 0) {
+            flags = *points++;
+            if (flags & 8)
+               flagcount = *points++;
+         } else
+            --flagcount;
+         vertices[off+i].type = flags;
+      }
+
+      // now load x coordinates
+      x=0;
+      for (i=0; i < n; ++i) {
+         flags = vertices[off+i].type;
+         if (flags & 2) {
+            stbtt_int16 dx = *points++;
+            x += (flags & 16) ? dx : -dx; // ???
+         } else {
+            if (!(flags & 16)) {
+               x = x + (stbtt_int16) (points[0]*256 + points[1]);
+               points += 2;
+            }
+         }
+         vertices[off+i].x = (stbtt_int16) x;
+      }
+
+      // now load y coordinates
+      y=0;
+      for (i=0; i < n; ++i) {
+         flags = vertices[off+i].type;
+         if (flags & 4) {
+            stbtt_int16 dy = *points++;
+            y += (flags & 32) ? dy : -dy; // ???
+         } else {
+            if (!(flags & 32)) {
+               y = y + (stbtt_int16) (points[0]*256 + points[1]);
+               points += 2;
+            }
+         }
+         vertices[off+i].y = (stbtt_int16) y;
+      }
+
+      // now convert them to our format
+      num_vertices=0;
+      sx = sy = cx = cy = scx = scy = 0;
+      for (i=0; i < n; ++i) {
+         flags = vertices[off+i].type;
+         x     = (stbtt_int16) vertices[off+i].x;
+         y     = (stbtt_int16) vertices[off+i].y;
+
+         if (next_move == i) {
+            if (i != 0)
+               num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy);
+
+            // now start the new one
+            start_off = !(flags & 1);
+            if (start_off) {
+               // if we start off with an off-curve point, then when we need to find a point on the curve
+               // where we can start, and we need to save some state for when we wraparound.
+               scx = x;
+               scy = y;
+               if (!(vertices[off+i+1].type & 1)) {
+                  // next point is also a curve point, so interpolate an on-point curve
+                  sx = (x + (stbtt_int32) vertices[off+i+1].x) >> 1;
+                  sy = (y + (stbtt_int32) vertices[off+i+1].y) >> 1;
+               } else {
+                  // otherwise just use the next point as our start point
+                  sx = (stbtt_int32) vertices[off+i+1].x;
+                  sy = (stbtt_int32) vertices[off+i+1].y;
+                  ++i; // we're using point i+1 as the starting point, so skip it
+               }
+            } else {
+               sx = x;
+               sy = y;
+            }
+            stbtt_setvertex(&vertices[num_vertices++], STBTT_vmove,sx,sy,0,0);
+            was_off = 0;
+            next_move = 1 + ttUSHORT(endPtsOfContours+j*2);
+            ++j;
+         } else {
+            if (!(flags & 1)) { // if it's a curve
+               if (was_off) // two off-curve control points in a row means interpolate an on-curve midpoint
+                  stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, (cx+x)>>1, (cy+y)>>1, cx, cy);
+               cx = x;
+               cy = y;
+               was_off = 1;
+            } else {
+               if (was_off)
+                  stbtt_setvertex(&vertices[num_vertices++], STBTT_vcurve, x,y, cx, cy);
+               else
+                  stbtt_setvertex(&vertices[num_vertices++], STBTT_vline, x,y,0,0);
+               was_off = 0;
+            }
+         }
+      }
+      num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy);
+   } else if (numberOfContours < 0) {
+      // Compound shapes.
+      int more = 1;
+      stbtt_uint8 *comp = data + g + 10;
+      num_vertices = 0;
+      vertices = 0;
+      while (more) {
+         stbtt_uint16 flags, gidx;
+         int comp_num_verts = 0, i;
+         stbtt_vertex *comp_verts = 0, *tmp = 0;
+         float mtx[6] = {1,0,0,1,0,0}, m, n;
+
+         flags = ttSHORT(comp); comp+=2;
+         gidx = ttSHORT(comp); comp+=2;
+
+         if (flags & 2) { // XY values
+            if (flags & 1) { // shorts
+               mtx[4] = ttSHORT(comp); comp+=2;
+               mtx[5] = ttSHORT(comp); comp+=2;
+            } else {
+               mtx[4] = ttCHAR(comp); comp+=1;
+               mtx[5] = ttCHAR(comp); comp+=1;
+            }
+         }
+         else {
+            // @TODO handle matching point
+            STBTT_assert(0);
+         }
+         if (flags & (1<<3)) { // WE_HAVE_A_SCALE
+            mtx[0] = mtx[3] = ttSHORT(comp)/16384.0f; comp+=2;
+            mtx[1] = mtx[2] = 0;
+         } else if (flags & (1<<6)) { // WE_HAVE_AN_X_AND_YSCALE
+            mtx[0] = ttSHORT(comp)/16384.0f; comp+=2;
+            mtx[1] = mtx[2] = 0;
+            mtx[3] = ttSHORT(comp)/16384.0f; comp+=2;
+         } else if (flags & (1<<7)) { // WE_HAVE_A_TWO_BY_TWO
+            mtx[0] = ttSHORT(comp)/16384.0f; comp+=2;
+            mtx[1] = ttSHORT(comp)/16384.0f; comp+=2;
+            mtx[2] = ttSHORT(comp)/16384.0f; comp+=2;
+            mtx[3] = ttSHORT(comp)/16384.0f; comp+=2;
+         }
+
+         // Find transformation scales.
+         m = (float) STBTT_sqrt(mtx[0]*mtx[0] + mtx[1]*mtx[1]);
+         n = (float) STBTT_sqrt(mtx[2]*mtx[2] + mtx[3]*mtx[3]);
+
+         // Get indexed glyph.
+         comp_num_verts = stbtt_GetGlyphShape(info, gidx, &comp_verts);
+         if (comp_num_verts > 0) {
+            // Transform vertices.
+            for (i = 0; i < comp_num_verts; ++i) {
+               stbtt_vertex* v = &comp_verts[i];
+               stbtt_vertex_type x,y;
+               x=v->x; y=v->y;
+               v->x = (stbtt_vertex_type)(m * (mtx[0]*x + mtx[2]*y + mtx[4]));
+               v->y = (stbtt_vertex_type)(n * (mtx[1]*x + mtx[3]*y + mtx[5]));
+               x=v->cx; y=v->cy;
+               v->cx = (stbtt_vertex_type)(m * (mtx[0]*x + mtx[2]*y + mtx[4]));
+               v->cy = (stbtt_vertex_type)(n * (mtx[1]*x + mtx[3]*y + mtx[5]));
+            }
+            // Append vertices.
+            tmp = (stbtt_vertex*)STBTT_malloc((num_vertices+comp_num_verts)*sizeof(stbtt_vertex), info->userdata);
+            if (!tmp) {
+               if (vertices) STBTT_free(vertices, info->userdata);
+               if (comp_verts) STBTT_free(comp_verts, info->userdata);
+               return 0;
+            }
+            if (num_vertices > 0) STBTT_memcpy(tmp, vertices, num_vertices*sizeof(stbtt_vertex));
+            STBTT_memcpy(tmp+num_vertices, comp_verts, comp_num_verts*sizeof(stbtt_vertex));
+            if (vertices) STBTT_free(vertices, info->userdata);
+            vertices = tmp;
+            STBTT_free(comp_verts, info->userdata);
+            num_vertices += comp_num_verts;
+         }
+         // More components ?
+         more = flags & (1<<5);
+      }
+   } else {
+      // numberOfCounters == 0, do nothing
+   }
+
+   *pvertices = vertices;
+   return num_vertices;
+}
+
+typedef struct
+{
+   int bounds;
+   int started;
+   float first_x, first_y;
+   float x, y;
+   stbtt_int32 min_x, max_x, min_y, max_y;
+
+   stbtt_vertex *pvertices;
+   int num_vertices;
+} stbtt__csctx;
+
+#define STBTT__CSCTX_INIT(bounds) {bounds,0, 0,0, 0,0, 0,0,0,0, NULL, 0}
+
+static void stbtt__track_vertex(stbtt__csctx *c, stbtt_int32 x, stbtt_int32 y)
+{
+   if (x > c->max_x || !c->started) c->max_x = x;
+   if (y > c->max_y || !c->started) c->max_y = y;
+   if (x < c->min_x || !c->started) c->min_x = x;
+   if (y < c->min_y || !c->started) c->min_y = y;
+   c->started = 1;
+}
+
+static void stbtt__csctx_v(stbtt__csctx *c, stbtt_uint8 type, stbtt_int32 x, stbtt_int32 y, stbtt_int32 cx, stbtt_int32 cy, stbtt_int32 cx1, stbtt_int32 cy1)
+{
+   if (c->bounds) {
+      stbtt__track_vertex(c, x, y);
+      if (type == STBTT_vcubic) {
+         stbtt__track_vertex(c, cx, cy);
+         stbtt__track_vertex(c, cx1, cy1);
+      }
+   } else {
+      stbtt_setvertex(&c->pvertices[c->num_vertices], type, x, y, cx, cy);
+      c->pvertices[c->num_vertices].cx1 = (stbtt_int16) cx1;
+      c->pvertices[c->num_vertices].cy1 = (stbtt_int16) cy1;
+   }
+   c->num_vertices++;
+}
+
+static void stbtt__csctx_close_shape(stbtt__csctx *ctx)
+{
+   if (ctx->first_x != ctx->x || ctx->first_y != ctx->y)
+      stbtt__csctx_v(ctx, STBTT_vline, (int)ctx->first_x, (int)ctx->first_y, 0, 0, 0, 0);
+}
+
+static void stbtt__csctx_rmove_to(stbtt__csctx *ctx, float dx, float dy)
+{
+   stbtt__csctx_close_shape(ctx);
+   ctx->first_x = ctx->x = ctx->x + dx;
+   ctx->first_y = ctx->y = ctx->y + dy;
+   stbtt__csctx_v(ctx, STBTT_vmove, (int)ctx->x, (int)ctx->y, 0, 0, 0, 0);
+}
+
+static void stbtt__csctx_rline_to(stbtt__csctx *ctx, float dx, float dy)
+{
+   ctx->x += dx;
+   ctx->y += dy;
+   stbtt__csctx_v(ctx, STBTT_vline, (int)ctx->x, (int)ctx->y, 0, 0, 0, 0);
+}
+
+static void stbtt__csctx_rccurve_to(stbtt__csctx *ctx, float dx1, float dy1, float dx2, float dy2, float dx3, float dy3)
+{
+   float cx1 = ctx->x + dx1;
+   float cy1 = ctx->y + dy1;
+   float cx2 = cx1 + dx2;
+   float cy2 = cy1 + dy2;
+   ctx->x = cx2 + dx3;
+   ctx->y = cy2 + dy3;
+   stbtt__csctx_v(ctx, STBTT_vcubic, (int)ctx->x, (int)ctx->y, (int)cx1, (int)cy1, (int)cx2, (int)cy2);
+}
+
+static stbtt__buf stbtt__get_subr(stbtt__buf idx, int n)
+{
+   int count = stbtt__cff_index_count(&idx);
+   int bias = 107;
+   if (count >= 33900)
+      bias = 32768;
+   else if (count >= 1240)
+      bias = 1131;
+   n += bias;
+   if (n < 0 || n >= count)
+      return stbtt__new_buf(NULL, 0);
+   return stbtt__cff_index_get(idx, n);
+}
+
+static stbtt__buf stbtt__cid_get_glyph_subrs(const stbtt_fontinfo *info, int glyph_index)
+{
+   stbtt__buf fdselect = info->fdselect;
+   int nranges, start, end, v, fmt, fdselector = -1, i;
+
+   stbtt__buf_seek(&fdselect, 0);
+   fmt = stbtt__buf_get8(&fdselect);
+   if (fmt == 0) {
+      // untested
+      stbtt__buf_skip(&fdselect, glyph_index);
+      fdselector = stbtt__buf_get8(&fdselect);
+   } else if (fmt == 3) {
+      nranges = stbtt__buf_get16(&fdselect);
+      start = stbtt__buf_get16(&fdselect);
+      for (i = 0; i < nranges; i++) {
+         v = stbtt__buf_get8(&fdselect);
+         end = stbtt__buf_get16(&fdselect);
+         if (glyph_index >= start && glyph_index < end) {
+            fdselector = v;
+            break;
+         }
+         start = end;
+      }
+   }
+   if (fdselector == -1) stbtt__new_buf(NULL, 0);
+   return stbtt__get_subrs(info->cff, stbtt__cff_index_get(info->fontdicts, fdselector));
+}
+
+static int stbtt__run_charstring(const stbtt_fontinfo *info, int glyph_index, stbtt__csctx *c)
+{
+   int in_header = 1, maskbits = 0, subr_stack_height = 0, sp = 0, v, i, b0;
+   int has_subrs = 0, clear_stack;
+   float s[48];
+   stbtt__buf subr_stack[10], subrs = info->subrs, b;
+   float f;
+
+#define STBTT__CSERR(s) (0)
+
+   // this currently ignores the initial width value, which isn't needed if we have hmtx
+   b = stbtt__cff_index_get(info->charstrings, glyph_index);
+   while (b.cursor < b.size) {
+      i = 0;
+      clear_stack = 1;
+      b0 = stbtt__buf_get8(&b);
+      switch (b0) {
+      // @TODO implement hinting
+      case 0x13: // hintmask
+      case 0x14: // cntrmask
+         if (in_header)
+            maskbits += (sp / 2); // implicit "vstem"
+         in_header = 0;
+         stbtt__buf_skip(&b, (maskbits + 7) / 8);
+         break;
+
+      case 0x01: // hstem
+      case 0x03: // vstem
+      case 0x12: // hstemhm
+      case 0x17: // vstemhm
+         maskbits += (sp / 2);
+         break;
+
+      case 0x15: // rmoveto
+         in_header = 0;
+         if (sp < 2) return STBTT__CSERR("rmoveto stack");
+         stbtt__csctx_rmove_to(c, s[sp-2], s[sp-1]);
+         break;
+      case 0x04: // vmoveto
+         in_header = 0;
+         if (sp < 1) return STBTT__CSERR("vmoveto stack");
+         stbtt__csctx_rmove_to(c, 0, s[sp-1]);
+         break;
+      case 0x16: // hmoveto
+         in_header = 0;
+         if (sp < 1) return STBTT__CSERR("hmoveto stack");
+         stbtt__csctx_rmove_to(c, s[sp-1], 0);
+         break;
+
+      case 0x05: // rlineto
+         if (sp < 2) return STBTT__CSERR("rlineto stack");
+         for (; i + 1 < sp; i += 2)
+            stbtt__csctx_rline_to(c, s[i], s[i+1]);
+         break;
+
+      // hlineto/vlineto and vhcurveto/hvcurveto alternate horizontal and vertical
+      // starting from a different place.
+
+      case 0x07: // vlineto
+         if (sp < 1) return STBTT__CSERR("vlineto stack");
+         goto vlineto;
+      case 0x06: // hlineto
+         if (sp < 1) return STBTT__CSERR("hlineto stack");
+         for (;;) {
+            if (i >= sp) break;
+            stbtt__csctx_rline_to(c, s[i], 0);
+            i++;
+      vlineto:
+            if (i >= sp) break;
+            stbtt__csctx_rline_to(c, 0, s[i]);
+            i++;
+         }
+         break;
+
+      case 0x1F: // hvcurveto
+         if (sp < 4) return STBTT__CSERR("hvcurveto stack");
+         goto hvcurveto;
+      case 0x1E: // vhcurveto
+         if (sp < 4) return STBTT__CSERR("vhcurveto stack");
+         for (;;) {
+            if (i + 3 >= sp) break;
+            stbtt__csctx_rccurve_to(c, 0, s[i], s[i+1], s[i+2], s[i+3], (sp - i == 5) ? s[i + 4] : 0.0f);
+            i += 4;
+      hvcurveto:
+            if (i + 3 >= sp) break;
+            stbtt__csctx_rccurve_to(c, s[i], 0, s[i+1], s[i+2], (sp - i == 5) ? s[i+4] : 0.0f, s[i+3]);
+            i += 4;
+         }
+         break;
+
+      case 0x08: // rrcurveto
+         if (sp < 6) return STBTT__CSERR("rcurveline stack");
+         for (; i + 5 < sp; i += 6)
+            stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]);
+         break;
+
+      case 0x18: // rcurveline
+         if (sp < 8) return STBTT__CSERR("rcurveline stack");
+         for (; i + 5 < sp - 2; i += 6)
+            stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]);
+         if (i + 1 >= sp) return STBTT__CSERR("rcurveline stack");
+         stbtt__csctx_rline_to(c, s[i], s[i+1]);
+         break;
+
+      case 0x19: // rlinecurve
+         if (sp < 8) return STBTT__CSERR("rlinecurve stack");
+         for (; i + 1 < sp - 6; i += 2)
+            stbtt__csctx_rline_to(c, s[i], s[i+1]);
+         if (i + 5 >= sp) return STBTT__CSERR("rlinecurve stack");
+         stbtt__csctx_rccurve_to(c, s[i], s[i+1], s[i+2], s[i+3], s[i+4], s[i+5]);
+         break;
+
+      case 0x1A: // vvcurveto
+      case 0x1B: // hhcurveto
+         if (sp < 4) return STBTT__CSERR("(vv|hh)curveto stack");
+         f = 0.0;
+         if (sp & 1) { f = s[i]; i++; }
+         for (; i + 3 < sp; i += 4) {
+            if (b0 == 0x1B)
+               stbtt__csctx_rccurve_to(c, s[i], f, s[i+1], s[i+2], s[i+3], 0.0);
+            else
+               stbtt__csctx_rccurve_to(c, f, s[i], s[i+1], s[i+2], 0.0, s[i+3]);
+            f = 0.0;
+         }
+         break;
+
+      case 0x0A: // callsubr
+         if (!has_subrs) {
+            if (info->fdselect.size)
+               subrs = stbtt__cid_get_glyph_subrs(info, glyph_index);
+            has_subrs = 1;
+         }
+         // fallthrough
+      case 0x1D: // callgsubr
+         if (sp < 1) return STBTT__CSERR("call(g|)subr stack");
+         v = (int) s[--sp];
+         if (subr_stack_height >= 10) return STBTT__CSERR("recursion limit");
+         subr_stack[subr_stack_height++] = b;
+         b = stbtt__get_subr(b0 == 0x0A ? subrs : info->gsubrs, v);
+         if (b.size == 0) return STBTT__CSERR("subr not found");
+         b.cursor = 0;
+         clear_stack = 0;
+         break;
+
+      case 0x0B: // return
+         if (subr_stack_height <= 0) return STBTT__CSERR("return outside subr");
+         b = subr_stack[--subr_stack_height];
+         clear_stack = 0;
+         break;
+
+      case 0x0E: // endchar
+         stbtt__csctx_close_shape(c);
+         return 1;
+
+      case 0x0C: { // two-byte escape
+         float dx1, dx2, dx3, dx4, dx5, dx6, dy1, dy2, dy3, dy4, dy5, dy6;
+         float dx, dy;
+         int b1 = stbtt__buf_get8(&b);
+         switch (b1) {
+         // @TODO These "flex" implementations ignore the flex-depth and resolution,
+         // and always draw beziers.
+         case 0x22: // hflex
+            if (sp < 7) return STBTT__CSERR("hflex stack");
+            dx1 = s[0];
+            dx2 = s[1];
+            dy2 = s[2];
+            dx3 = s[3];
+            dx4 = s[4];
+            dx5 = s[5];
+            dx6 = s[6];
+            stbtt__csctx_rccurve_to(c, dx1, 0, dx2, dy2, dx3, 0);
+            stbtt__csctx_rccurve_to(c, dx4, 0, dx5, -dy2, dx6, 0);
+            break;
+
+         case 0x23: // flex
+            if (sp < 13) return STBTT__CSERR("flex stack");
+            dx1 = s[0];
+            dy1 = s[1];
+            dx2 = s[2];
+            dy2 = s[3];
+            dx3 = s[4];
+            dy3 = s[5];
+            dx4 = s[6];
+            dy4 = s[7];
+            dx5 = s[8];
+            dy5 = s[9];
+            dx6 = s[10];
+            dy6 = s[11];
+            //fd is s[12]
+            stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, dy3);
+            stbtt__csctx_rccurve_to(c, dx4, dy4, dx5, dy5, dx6, dy6);
+            break;
+
+         case 0x24: // hflex1
+            if (sp < 9) return STBTT__CSERR("hflex1 stack");
+            dx1 = s[0];
+            dy1 = s[1];
+            dx2 = s[2];
+            dy2 = s[3];
+            dx3 = s[4];
+            dx4 = s[5];
+            dx5 = s[6];
+            dy5 = s[7];
+            dx6 = s[8];
+            stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, 0);
+            stbtt__csctx_rccurve_to(c, dx4, 0, dx5, dy5, dx6, -(dy1+dy2+dy5));
+            break;
+
+         case 0x25: // flex1
+            if (sp < 11) return STBTT__CSERR("flex1 stack");
+            dx1 = s[0];
+            dy1 = s[1];
+            dx2 = s[2];
+            dy2 = s[3];
+            dx3 = s[4];
+            dy3 = s[5];
+            dx4 = s[6];
+            dy4 = s[7];
+            dx5 = s[8];
+            dy5 = s[9];
+            dx6 = dy6 = s[10];
+            dx = dx1+dx2+dx3+dx4+dx5;
+            dy = dy1+dy2+dy3+dy4+dy5;
+            if (STBTT_fabs(dx) > STBTT_fabs(dy))
+               dy6 = -dy;
+            else
+               dx6 = -dx;
+            stbtt__csctx_rccurve_to(c, dx1, dy1, dx2, dy2, dx3, dy3);
+            stbtt__csctx_rccurve_to(c, dx4, dy4, dx5, dy5, dx6, dy6);
+            break;
+
+         default:
+            return STBTT__CSERR("unimplemented");
+         }
+      } break;
+
+      default:
+         if (b0 != 255 && b0 != 28 && (b0 < 32 || b0 > 254))
+            return STBTT__CSERR("reserved operator");
+
+         // push immediate
+         if (b0 == 255) {
+            f = (float)(stbtt_int32)stbtt__buf_get32(&b) / 0x10000;
+         } else {
+            stbtt__buf_skip(&b, -1);
+            f = (float)(stbtt_int16)stbtt__cff_int(&b);
+         }
+         if (sp >= 48) return STBTT__CSERR("push stack overflow");
+         s[sp++] = f;
+         clear_stack = 0;
+         break;
+      }
+      if (clear_stack) sp = 0;
+   }
+   return STBTT__CSERR("no endchar");
+
+#undef STBTT__CSERR
+}
+
+static int stbtt__GetGlyphShapeT2(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices)
+{
+   // runs the charstring twice, once to count and once to output (to avoid realloc)
+   stbtt__csctx count_ctx = STBTT__CSCTX_INIT(1);
+   stbtt__csctx output_ctx = STBTT__CSCTX_INIT(0);
+   if (stbtt__run_charstring(info, glyph_index, &count_ctx)) {
+      *pvertices = (stbtt_vertex*)STBTT_malloc(count_ctx.num_vertices*sizeof(stbtt_vertex), info->userdata);
+      output_ctx.pvertices = *pvertices;
+      if (stbtt__run_charstring(info, glyph_index, &output_ctx)) {
+         STBTT_assert(output_ctx.num_vertices == count_ctx.num_vertices);
+         return output_ctx.num_vertices;
+      }
+   }
+   *pvertices = NULL;
+   return 0;
+}
+
+static int stbtt__GetGlyphInfoT2(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1)
+{
+   stbtt__csctx c = STBTT__CSCTX_INIT(1);
+   int r = stbtt__run_charstring(info, glyph_index, &c);
+   if (x0)  *x0 = r ? c.min_x : 0;
+   if (y0)  *y0 = r ? c.min_y : 0;
+   if (x1)  *x1 = r ? c.max_x : 0;
+   if (y1)  *y1 = r ? c.max_y : 0;
+   return r ? c.num_vertices : 0;
+}
+
+STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, stbtt_vertex **pvertices)
+{
+   if (!info->cff.size)
+      return stbtt__GetGlyphShapeTT(info, glyph_index, pvertices);
+   else
+      return stbtt__GetGlyphShapeT2(info, glyph_index, pvertices);
+}
+
+STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_index, int *advanceWidth, int *leftSideBearing)
+{
+   stbtt_uint16 numOfLongHorMetrics = ttUSHORT(info->data+info->hhea + 34);
+   if (glyph_index < numOfLongHorMetrics) {
+      if (advanceWidth)     *advanceWidth    = ttSHORT(info->data + info->hmtx + 4*glyph_index);
+      if (leftSideBearing)  *leftSideBearing = ttSHORT(info->data + info->hmtx + 4*glyph_index + 2);
+   } else {
+      if (advanceWidth)     *advanceWidth    = ttSHORT(info->data + info->hmtx + 4*(numOfLongHorMetrics-1));
+      if (leftSideBearing)  *leftSideBearing = ttSHORT(info->data + info->hmtx + 4*numOfLongHorMetrics + 2*(glyph_index - numOfLongHorMetrics));
+   }
+}
+
+STBTT_DEF int  stbtt_GetKerningTableLength(const stbtt_fontinfo *info)
+{
+   stbtt_uint8 *data = info->data + info->kern;
+
+   // we only look at the first table. it must be 'horizontal' and format 0.
+   if (!info->kern)
+      return 0;
+   if (ttUSHORT(data+2) < 1) // number of tables, need at least 1
+      return 0;
+   if (ttUSHORT(data+8) != 1) // horizontal flag must be set in format
+      return 0;
+
+   return ttUSHORT(data+10);
+}
+
+STBTT_DEF int stbtt_GetKerningTable(const stbtt_fontinfo *info, stbtt_kerningentry* table, int table_length)
+{
+   stbtt_uint8 *data = info->data + info->kern;
+   int k, length;
+
+   // we only look at the first table. it must be 'horizontal' and format 0.
+   if (!info->kern)
+      return 0;
+   if (ttUSHORT(data+2) < 1) // number of tables, need at least 1
+      return 0;
+   if (ttUSHORT(data+8) != 1) // horizontal flag must be set in format
+      return 0;
+
+   length = ttUSHORT(data+10);
+   if (table_length < length)
+      length = table_length;
+
+   for (k = 0; k < length; k++)
+   {
+      table[k].glyph1 = ttUSHORT(data+18+(k*6));
+      table[k].glyph2 = ttUSHORT(data+20+(k*6));
+      table[k].advance = ttSHORT(data+22+(k*6));
+   }
+
+   return length;
+}
+
+static int  stbtt__GetGlyphKernInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2)
+{
+   stbtt_uint8 *data = info->data + info->kern;
+   stbtt_uint32 needle, straw;
+   int l, r, m;
+
+   // we only look at the first table. it must be 'horizontal' and format 0.
+   if (!info->kern)
+      return 0;
+   if (ttUSHORT(data+2) < 1) // number of tables, need at least 1
+      return 0;
+   if (ttUSHORT(data+8) != 1) // horizontal flag must be set in format
+      return 0;
+
+   l = 0;
+   r = ttUSHORT(data+10) - 1;
+   needle = glyph1 << 16 | glyph2;
+   while (l <= r) {
+      m = (l + r) >> 1;
+      straw = ttULONG(data+18+(m*6)); // note: unaligned read
+      if (needle < straw)
+         r = m - 1;
+      else if (needle > straw)
+         l = m + 1;
+      else
+         return ttSHORT(data+22+(m*6));
+   }
+   return 0;
+}
+
+static stbtt_int32  stbtt__GetCoverageIndex(stbtt_uint8 *coverageTable, int glyph)
+{
+    stbtt_uint16 coverageFormat = ttUSHORT(coverageTable);
+    switch(coverageFormat) {
+        case 1: {
+            stbtt_uint16 glyphCount = ttUSHORT(coverageTable + 2);
+
+            // Binary search.
+            stbtt_int32 l=0, r=glyphCount-1, m;
+            int straw, needle=glyph;
+            while (l <= r) {
+                stbtt_uint8 *glyphArray = coverageTable + 4;
+                stbtt_uint16 glyphID;
+                m = (l + r) >> 1;
+                glyphID = ttUSHORT(glyphArray + 2 * m);
+                straw = glyphID;
+                if (needle < straw)
+                    r = m - 1;
+                else if (needle > straw)
+                    l = m + 1;
+                else {
+                     return m;
+                }
+            }
+        } break;
+
+        case 2: {
+            stbtt_uint16 rangeCount = ttUSHORT(coverageTable + 2);
+            stbtt_uint8 *rangeArray = coverageTable + 4;
+
+            // Binary search.
+            stbtt_int32 l=0, r=rangeCount-1, m;
+            int strawStart, strawEnd, needle=glyph;
+            while (l <= r) {
+                stbtt_uint8 *rangeRecord;
+                m = (l + r) >> 1;
+                rangeRecord = rangeArray + 6 * m;
+                strawStart = ttUSHORT(rangeRecord);
+                strawEnd = ttUSHORT(rangeRecord + 2);
+                if (needle < strawStart)
+                    r = m - 1;
+                else if (needle > strawEnd)
+                    l = m + 1;
+                else {
+                    stbtt_uint16 startCoverageIndex = ttUSHORT(rangeRecord + 4);
+                    return startCoverageIndex + glyph - strawStart;
+                }
+            }
+        } break;
+
+        default: {
+            // There are no other cases.
+            STBTT_assert(0);
+        } break;
+    }
+
+    return -1;
+}
+
+static stbtt_int32  stbtt__GetGlyphClass(stbtt_uint8 *classDefTable, int glyph)
+{
+    stbtt_uint16 classDefFormat = ttUSHORT(classDefTable);
+    switch(classDefFormat)
+    {
+        case 1: {
+            stbtt_uint16 startGlyphID = ttUSHORT(classDefTable + 2);
+            stbtt_uint16 glyphCount = ttUSHORT(classDefTable + 4);
+            stbtt_uint8 *classDef1ValueArray = classDefTable + 6;
+
+            if (glyph >= startGlyphID && glyph < startGlyphID + glyphCount)
+                return (stbtt_int32)ttUSHORT(classDef1ValueArray + 2 * (glyph - startGlyphID));
+
+            classDefTable = classDef1ValueArray + 2 * glyphCount;
+        } break;
+
+        case 2: {
+            stbtt_uint16 classRangeCount = ttUSHORT(classDefTable + 2);
+            stbtt_uint8 *classRangeRecords = classDefTable + 4;
+
+            // Binary search.
+            stbtt_int32 l=0, r=classRangeCount-1, m;
+            int strawStart, strawEnd, needle=glyph;
+            while (l <= r) {
+                stbtt_uint8 *classRangeRecord;
+                m = (l + r) >> 1;
+                classRangeRecord = classRangeRecords + 6 * m;
+                strawStart = ttUSHORT(classRangeRecord);
+                strawEnd = ttUSHORT(classRangeRecord + 2);
+                if (needle < strawStart)
+                    r = m - 1;
+                else if (needle > strawEnd)
+                    l = m + 1;
+                else
+                    return (stbtt_int32)ttUSHORT(classRangeRecord + 4);
+            }
+
+            classDefTable = classRangeRecords + 6 * classRangeCount;
+        } break;
+
+        default: {
+            // There are no other cases.
+            STBTT_assert(0);
+        } break;
+    }
+
+    return -1;
+}
+
+// Define to STBTT_assert(x) if you want to break on unimplemented formats.
+#define STBTT_GPOS_TODO_assert(x)
+
+static stbtt_int32  stbtt__GetGlyphGPOSInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2)
+{
+    stbtt_uint16 lookupListOffset;
+    stbtt_uint8 *lookupList;
+    stbtt_uint16 lookupCount;
+    stbtt_uint8 *data;
+    stbtt_int32 i;
+
+    if (!info->gpos) return 0;
+
+    data = info->data + info->gpos;
+
+    if (ttUSHORT(data+0) != 1) return 0; // Major version 1
+    if (ttUSHORT(data+2) != 0) return 0; // Minor version 0
+
+    lookupListOffset = ttUSHORT(data+8);
+    lookupList = data + lookupListOffset;
+    lookupCount = ttUSHORT(lookupList);
+
+    for (i=0; i<lookupCount; ++i) {
+        stbtt_uint16 lookupOffset = ttUSHORT(lookupList + 2 + 2 * i);
+        stbtt_uint8 *lookupTable = lookupList + lookupOffset;
+
+        stbtt_uint16 lookupType = ttUSHORT(lookupTable);
+        stbtt_uint16 subTableCount = ttUSHORT(lookupTable + 4);
+        stbtt_uint8 *subTableOffsets = lookupTable + 6;
+        switch(lookupType) {
+            case 2: { // Pair Adjustment Positioning Subtable
+                stbtt_int32 sti;
+                for (sti=0; sti<subTableCount; sti++) {
+                    stbtt_uint16 subtableOffset = ttUSHORT(subTableOffsets + 2 * sti);
+                    stbtt_uint8 *table = lookupTable + subtableOffset;
+                    stbtt_uint16 posFormat = ttUSHORT(table);
+                    stbtt_uint16 coverageOffset = ttUSHORT(table + 2);
+                    stbtt_int32 coverageIndex = stbtt__GetCoverageIndex(table + coverageOffset, glyph1);
+                    if (coverageIndex == -1) continue;
+
+                    switch (posFormat) {
+                        case 1: {
+                            stbtt_int32 l, r, m;
+                            int straw, needle;
+                            stbtt_uint16 valueFormat1 = ttUSHORT(table + 4);
+                            stbtt_uint16 valueFormat2 = ttUSHORT(table + 6);
+                            stbtt_int32 valueRecordPairSizeInBytes = 2;
+                            stbtt_uint16 pairSetCount = ttUSHORT(table + 8);
+                            stbtt_uint16 pairPosOffset = ttUSHORT(table + 10 + 2 * coverageIndex);
+                            stbtt_uint8 *pairValueTable = table + pairPosOffset;
+                            stbtt_uint16 pairValueCount = ttUSHORT(pairValueTable);
+                            stbtt_uint8 *pairValueArray = pairValueTable + 2;
+                            // TODO: Support more formats.
+                            STBTT_GPOS_TODO_assert(valueFormat1 == 4);
+                            if (valueFormat1 != 4) return 0;
+                            STBTT_GPOS_TODO_assert(valueFormat2 == 0);
+                            if (valueFormat2 != 0) return 0;
+
+                            STBTT_assert(coverageIndex < pairSetCount);
+                            STBTT__NOTUSED(pairSetCount);
+
+                            needle=glyph2;
+                            r=pairValueCount-1;
+                            l=0;
+
+                            // Binary search.
+                            while (l <= r) {
+                                stbtt_uint16 secondGlyph;
+                                stbtt_uint8 *pairValue;
+                                m = (l + r) >> 1;
+                                pairValue = pairValueArray + (2 + valueRecordPairSizeInBytes) * m;
+                                secondGlyph = ttUSHORT(pairValue);
+                                straw = secondGlyph;
+                                if (needle < straw)
+                                    r = m - 1;
+                                else if (needle > straw)
+                                    l = m + 1;
+                                else {
+                                    stbtt_int16 xAdvance = ttSHORT(pairValue + 2);
+                                    return xAdvance;
+                                }
+                            }
+                        } break;
+
+                        case 2: {
+                            stbtt_uint16 valueFormat1 = ttUSHORT(table + 4);
+                            stbtt_uint16 valueFormat2 = ttUSHORT(table + 6);
+
+                            stbtt_uint16 classDef1Offset = ttUSHORT(table + 8);
+                            stbtt_uint16 classDef2Offset = ttUSHORT(table + 10);
+                            int glyph1class = stbtt__GetGlyphClass(table + classDef1Offset, glyph1);
+                            int glyph2class = stbtt__GetGlyphClass(table + classDef2Offset, glyph2);
+
+                            stbtt_uint16 class1Count = ttUSHORT(table + 12);
+                            stbtt_uint16 class2Count = ttUSHORT(table + 14);
+                            STBTT_assert(glyph1class < class1Count);
+                            STBTT_assert(glyph2class < class2Count);
+
+                            // TODO: Support more formats.
+                            STBTT_GPOS_TODO_assert(valueFormat1 == 4);
+                            if (valueFormat1 != 4) return 0;
+                            STBTT_GPOS_TODO_assert(valueFormat2 == 0);
+                            if (valueFormat2 != 0) return 0;
+
+                            if (glyph1class >= 0 && glyph1class < class1Count && glyph2class >= 0 && glyph2class < class2Count) {
+                                stbtt_uint8 *class1Records = table + 16;
+                                stbtt_uint8 *class2Records = class1Records + 2 * (glyph1class * class2Count);
+                                stbtt_int16 xAdvance = ttSHORT(class2Records + 2 * glyph2class);
+                                return xAdvance;
+                            }
+                        } break;
+
+                        default: {
+                            // There are no other cases.
+                            STBTT_assert(0);
+                            break;
+                        };
+                    }
+                }
+                break;
+            };
+
+            default:
+                // TODO: Implement other stuff.
+                break;
+        }
+    }
+
+    return 0;
+}
+
+STBTT_DEF int  stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int g1, int g2)
+{
+   int xAdvance = 0;
+
+   if (info->gpos)
+      xAdvance += stbtt__GetGlyphGPOSInfoAdvance(info, g1, g2);
+   else if (info->kern)
+      xAdvance += stbtt__GetGlyphKernInfoAdvance(info, g1, g2);
+
+   return xAdvance;
+}
+
+STBTT_DEF int  stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2)
+{
+   if (!info->kern && !info->gpos) // if no kerning table, don't waste time looking up both codepoint->glyphs
+      return 0;
+   return stbtt_GetGlyphKernAdvance(info, stbtt_FindGlyphIndex(info,ch1), stbtt_FindGlyphIndex(info,ch2));
+}
+
+STBTT_DEF void stbtt_GetCodepointHMetrics(const stbtt_fontinfo *info, int codepoint, int *advanceWidth, int *leftSideBearing)
+{
+   stbtt_GetGlyphHMetrics(info, stbtt_FindGlyphIndex(info,codepoint), advanceWidth, leftSideBearing);
+}
+
+STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, int *descent, int *lineGap)
+{
+   if (ascent ) *ascent  = ttSHORT(info->data+info->hhea + 4);
+   if (descent) *descent = ttSHORT(info->data+info->hhea + 6);
+   if (lineGap) *lineGap = ttSHORT(info->data+info->hhea + 8);
+}
+
+STBTT_DEF int  stbtt_GetFontVMetricsOS2(const stbtt_fontinfo *info, int *typoAscent, int *typoDescent, int *typoLineGap)
+{
+   int tab = stbtt__find_table(info->data, info->fontstart, "OS/2");
+   if (!tab)
+      return 0;
+   if (typoAscent ) *typoAscent  = ttSHORT(info->data+tab + 68);
+   if (typoDescent) *typoDescent = ttSHORT(info->data+tab + 70);
+   if (typoLineGap) *typoLineGap = ttSHORT(info->data+tab + 72);
+   return 1;
+}
+
+STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1)
+{
+   *x0 = ttSHORT(info->data + info->head + 36);
+   *y0 = ttSHORT(info->data + info->head + 38);
+   *x1 = ttSHORT(info->data + info->head + 40);
+   *y1 = ttSHORT(info->data + info->head + 42);
+}
+
+STBTT_DEF float stbtt_ScaleForPixelHeight(const stbtt_fontinfo *info, float height)
+{
+   int fheight = ttSHORT(info->data + info->hhea + 4) - ttSHORT(info->data + info->hhea + 6);
+   return (float) height / fheight;
+}
+
+STBTT_DEF float stbtt_ScaleForMappingEmToPixels(const stbtt_fontinfo *info, float pixels)
+{
+   int unitsPerEm = ttUSHORT(info->data + info->head + 18);
+   return pixels / unitsPerEm;
+}
+
+STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *v)
+{
+   STBTT_free(v, info->userdata);
+}
+
+STBTT_DEF stbtt_uint8 *stbtt_FindSVGDoc(const stbtt_fontinfo *info, int gl)
+{
+   int i;
+   stbtt_uint8 *data = info->data;
+   stbtt_uint8 *svg_doc_list = data + stbtt__get_svg((stbtt_fontinfo *) info);
+
+   int numEntries = ttUSHORT(svg_doc_list);
+   stbtt_uint8 *svg_docs = svg_doc_list + 2;
+
+   for(i=0; i<numEntries; i++) {
+      stbtt_uint8 *svg_doc = svg_docs + (12 * i);
+      if ((gl >= ttUSHORT(svg_doc)) && (gl <= ttUSHORT(svg_doc + 2)))
+         return svg_doc;
+   }
+   return 0;
+}
+
+STBTT_DEF int stbtt_GetGlyphSVG(const stbtt_fontinfo *info, int gl, const char **svg)
+{
+   stbtt_uint8 *data = info->data;
+   stbtt_uint8 *svg_doc;
+
+   if (info->svg == 0)
+      return 0;
+
+   svg_doc = stbtt_FindSVGDoc(info, gl);
+   if (svg_doc != NULL) {
+      *svg = (char *) data + info->svg + ttULONG(svg_doc + 4);
+      return ttULONG(svg_doc + 8);
+   } else {
+      return 0;
+   }
+}
+
+STBTT_DEF int stbtt_GetCodepointSVG(const stbtt_fontinfo *info, int unicode_codepoint, const char **svg)
+{
+   return stbtt_GetGlyphSVG(info, stbtt_FindGlyphIndex(info, unicode_codepoint), svg);
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// antialiasing software rasterizer
+//
+
+STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1)
+{
+   int x0=0,y0=0,x1,y1; // =0 suppresses compiler warning
+   if (!stbtt_GetGlyphBox(font, glyph, &x0,&y0,&x1,&y1)) {
+      // e.g. space character
+      if (ix0) *ix0 = 0;
+      if (iy0) *iy0 = 0;
+      if (ix1) *ix1 = 0;
+      if (iy1) *iy1 = 0;
+   } else {
+      // move to integral bboxes (treating pixels as little squares, what pixels get touched)?
+      if (ix0) *ix0 = STBTT_ifloor( x0 * scale_x + shift_x);
+      if (iy0) *iy0 = STBTT_ifloor(-y1 * scale_y + shift_y);
+      if (ix1) *ix1 = STBTT_iceil ( x1 * scale_x + shift_x);
+      if (iy1) *iy1 = STBTT_iceil (-y0 * scale_y + shift_y);
+   }
+}
+
+STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1)
+{
+   stbtt_GetGlyphBitmapBoxSubpixel(font, glyph, scale_x, scale_y,0.0f,0.0f, ix0, iy0, ix1, iy1);
+}
+
+STBTT_DEF void stbtt_GetCodepointBitmapBoxSubpixel(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1)
+{
+   stbtt_GetGlyphBitmapBoxSubpixel(font, stbtt_FindGlyphIndex(font,codepoint), scale_x, scale_y,shift_x,shift_y, ix0,iy0,ix1,iy1);
+}
+
+STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1)
+{
+   stbtt_GetCodepointBitmapBoxSubpixel(font, codepoint, scale_x, scale_y,0.0f,0.0f, ix0,iy0,ix1,iy1);
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//
+//  Rasterizer
+
+typedef struct stbtt__hheap_chunk
+{
+   struct stbtt__hheap_chunk *next;
+} stbtt__hheap_chunk;
+
+typedef struct stbtt__hheap
+{
+   struct stbtt__hheap_chunk *head;
+   void   *first_free;
+   int    num_remaining_in_head_chunk;
+} stbtt__hheap;
+
+static void *stbtt__hheap_alloc(stbtt__hheap *hh, size_t size, void *userdata)
+{
+   if (hh->first_free) {
+      void *p = hh->first_free;
+      hh->first_free = * (void **) p;
+      return p;
+   } else {
+      if (hh->num_remaining_in_head_chunk == 0) {
+         int count = (size < 32 ? 2000 : size < 128 ? 800 : 100);
+         stbtt__hheap_chunk *c = (stbtt__hheap_chunk *) STBTT_malloc(sizeof(stbtt__hheap_chunk) + size * count, userdata);
+         if (c == NULL)
+            return NULL;
+         c->next = hh->head;
+         hh->head = c;
+         hh->num_remaining_in_head_chunk = count;
+      }
+      --hh->num_remaining_in_head_chunk;
+      return (char *) (hh->head) + sizeof(stbtt__hheap_chunk) + size * hh->num_remaining_in_head_chunk;
+   }
+}
+
+static void stbtt__hheap_free(stbtt__hheap *hh, void *p)
+{
+   *(void **) p = hh->first_free;
+   hh->first_free = p;
+}
+
+static void stbtt__hheap_cleanup(stbtt__hheap *hh, void *userdata)
+{
+   stbtt__hheap_chunk *c = hh->head;
+   while (c) {
+      stbtt__hheap_chunk *n = c->next;
+      STBTT_free(c, userdata);
+      c = n;
+   }
+}
+
+typedef struct stbtt__edge {
+   float x0,y0, x1,y1;
+   int invert;
+} stbtt__edge;
+
+
+typedef struct stbtt__active_edge
+{
+   struct stbtt__active_edge *next;
+   #if STBTT_RASTERIZER_VERSION==1
+   int x,dx;
+   float ey;
+   int direction;
+   #elif STBTT_RASTERIZER_VERSION==2
+   float fx,fdx,fdy;
+   float direction;
+   float sy;
+   float ey;
+   #else
+   #error "Unrecognized value of STBTT_RASTERIZER_VERSION"
+   #endif
+} stbtt__active_edge;
+
+#if STBTT_RASTERIZER_VERSION == 1
+#define STBTT_FIXSHIFT   10
+#define STBTT_FIX        (1 << STBTT_FIXSHIFT)
+#define STBTT_FIXMASK    (STBTT_FIX-1)
+
+static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, int off_x, float start_point, void *userdata)
+{
+   stbtt__active_edge *z = (stbtt__active_edge *) stbtt__hheap_alloc(hh, sizeof(*z), userdata);
+   float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0);
+   STBTT_assert(z != NULL);
+   if (!z) return z;
+
+   // round dx down to avoid overshooting
+   if (dxdy < 0)
+      z->dx = -STBTT_ifloor(STBTT_FIX * -dxdy);
+   else
+      z->dx = STBTT_ifloor(STBTT_FIX * dxdy);
+
+   z->x = STBTT_ifloor(STBTT_FIX * e->x0 + z->dx * (start_point - e->y0)); // use z->dx so when we offset later it's by the same amount
+   z->x -= off_x * STBTT_FIX;
+
+   z->ey = e->y1;
+   z->next = 0;
+   z->direction = e->invert ? 1 : -1;
+   return z;
+}
+#elif STBTT_RASTERIZER_VERSION == 2
+static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, int off_x, float start_point, void *userdata)
+{
+   stbtt__active_edge *z = (stbtt__active_edge *) stbtt__hheap_alloc(hh, sizeof(*z), userdata);
+   float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0);
+   STBTT_assert(z != NULL);
+   //STBTT_assert(e->y0 <= start_point);
+   if (!z) return z;
+   z->fdx = dxdy;
+   z->fdy = dxdy != 0.0f ? (1.0f/dxdy) : 0.0f;
+   z->fx = e->x0 + dxdy * (start_point - e->y0);
+   z->fx -= off_x;
+   z->direction = e->invert ? 1.0f : -1.0f;
+   z->sy = e->y0;
+   z->ey = e->y1;
+   z->next = 0;
+   return z;
+}
+#else
+#error "Unrecognized value of STBTT_RASTERIZER_VERSION"
+#endif
+
+#if STBTT_RASTERIZER_VERSION == 1
+// note: this routine clips fills that extend off the edges... ideally this
+// wouldn't happen, but it could happen if the truetype glyph bounding boxes
+// are wrong, or if the user supplies a too-small bitmap
+static void stbtt__fill_active_edges(unsigned char *scanline, int len, stbtt__active_edge *e, int max_weight)
+{
+   // non-zero winding fill
+   int x0=0, w=0;
+
+   while (e) {
+      if (w == 0) {
+         // if we're currently at zero, we need to record the edge start point
+         x0 = e->x; w += e->direction;
+      } else {
+         int x1 = e->x; w += e->direction;
+         // if we went to zero, we need to draw
+         if (w == 0) {
+            int i = x0 >> STBTT_FIXSHIFT;
+            int j = x1 >> STBTT_FIXSHIFT;
+
+            if (i < len && j >= 0) {
+               if (i == j) {
+                  // x0,x1 are the same pixel, so compute combined coverage
+                  scanline[i] = scanline[i] + (stbtt_uint8) ((x1 - x0) * max_weight >> STBTT_FIXSHIFT);
+               } else {
+                  if (i >= 0) // add antialiasing for x0
+                     scanline[i] = scanline[i] + (stbtt_uint8) (((STBTT_FIX - (x0 & STBTT_FIXMASK)) * max_weight) >> STBTT_FIXSHIFT);
+                  else
+                     i = -1; // clip
+
+                  if (j < len) // add antialiasing for x1
+                     scanline[j] = scanline[j] + (stbtt_uint8) (((x1 & STBTT_FIXMASK) * max_weight) >> STBTT_FIXSHIFT);
+                  else
+                     j = len; // clip
+
+                  for (++i; i < j; ++i) // fill pixels between x0 and x1
+                     scanline[i] = scanline[i] + (stbtt_uint8) max_weight;
+               }
+            }
+         }
+      }
+
+      e = e->next;
+   }
+}
+
+static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e, int n, int vsubsample, int off_x, int off_y, void *userdata)
+{
+   stbtt__hheap hh = { 0, 0, 0 };
+   stbtt__active_edge *active = NULL;
+   int y,j=0;
+   int max_weight = (255 / vsubsample);  // weight per vertical scanline
+   int s; // vertical subsample index
+   unsigned char scanline_data[512], *scanline;
+
+   if (result->w > 512)
+      scanline = (unsigned char *) STBTT_malloc(result->w, userdata);
+   else
+      scanline = scanline_data;
+
+   y = off_y * vsubsample;
+   e[n].y0 = (off_y + result->h) * (float) vsubsample + 1;
+
+   while (j < result->h) {
+      STBTT_memset(scanline, 0, result->w);
+      for (s=0; s < vsubsample; ++s) {
+         // find center of pixel for this scanline
+         float scan_y = y + 0.5f;
+         stbtt__active_edge **step = &active;
+
+         // update all active edges;
+         // remove all active edges that terminate before the center of this scanline
+         while (*step) {
+            stbtt__active_edge * z = *step;
+            if (z->ey <= scan_y) {
+               *step = z->next; // delete from list
+               STBTT_assert(z->direction);
+               z->direction = 0;
+               stbtt__hheap_free(&hh, z);
+            } else {
+               z->x += z->dx; // advance to position for current scanline
+               step = &((*step)->next); // advance through list
+            }
+         }
+
+         // resort the list if needed
+         for(;;) {
+            int changed=0;
+            step = &active;
+            while (*step && (*step)->next) {
+               if ((*step)->x > (*step)->next->x) {
+                  stbtt__active_edge *t = *step;
+                  stbtt__active_edge *q = t->next;
+
+                  t->next = q->next;
+                  q->next = t;
+                  *step = q;
+                  changed = 1;
+               }
+               step = &(*step)->next;
+            }
+            if (!changed) break;
+         }
+
+         // insert all edges that start before the center of this scanline -- omit ones that also end on this scanline
+         while (e->y0 <= scan_y) {
+            if (e->y1 > scan_y) {
+               stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y, userdata);
+               if (z != NULL) {
+                  // find insertion point
+                  if (active == NULL)
+                     active = z;
+                  else if (z->x < active->x) {
+                     // insert at front
+                     z->next = active;
+                     active = z;
+                  } else {
+                     // find thing to insert AFTER
+                     stbtt__active_edge *p = active;
+                     while (p->next && p->next->x < z->x)
+                        p = p->next;
+                     // at this point, p->next->x is NOT < z->x
+                     z->next = p->next;
+                     p->next = z;
+                  }
+               }
+            }
+            ++e;
+         }
+
+         // now process all active edges in XOR fashion
+         if (active)
+            stbtt__fill_active_edges(scanline, result->w, active, max_weight);
+
+         ++y;
+      }
+      STBTT_memcpy(result->pixels + j * result->stride, scanline, result->w);
+      ++j;
+   }
+
+   stbtt__hheap_cleanup(&hh, userdata);
+
+   if (scanline != scanline_data)
+      STBTT_free(scanline, userdata);
+}
+
+#elif STBTT_RASTERIZER_VERSION == 2
+
+// the edge passed in here does not cross the vertical line at x or the vertical line at x+1
+// (i.e. it has already been clipped to those)
+static void stbtt__handle_clipped_edge(float *scanline, int x, stbtt__active_edge *e, float x0, float y0, float x1, float y1)
+{
+   if (y0 == y1) return;
+   STBTT_assert(y0 < y1);
+   STBTT_assert(e->sy <= e->ey);
+   if (y0 > e->ey) return;
+   if (y1 < e->sy) return;
+   if (y0 < e->sy) {
+      x0 += (x1-x0) * (e->sy - y0) / (y1-y0);
+      y0 = e->sy;
+   }
+   if (y1 > e->ey) {
+      x1 += (x1-x0) * (e->ey - y1) / (y1-y0);
+      y1 = e->ey;
+   }
+
+   if (x0 == x)
+      STBTT_assert(x1 <= x+1);
+   else if (x0 == x+1)
+      STBTT_assert(x1 >= x);
+   else if (x0 <= x)
+      STBTT_assert(x1 <= x);
+   else if (x0 >= x+1)
+      STBTT_assert(x1 >= x+1);
+   else
+      STBTT_assert(x1 >= x && x1 <= x+1);
+
+   if (x0 <= x && x1 <= x)
+      scanline[x] += e->direction * (y1-y0);
+   else if (x0 >= x+1 && x1 >= x+1)
+      ;
+   else {
+      STBTT_assert(x0 >= x && x0 <= x+1 && x1 >= x && x1 <= x+1);
+      scanline[x] += e->direction * (y1-y0) * (1-((x0-x)+(x1-x))/2); // coverage = 1 - average x position
+   }
+}
+
+static void stbtt__fill_active_edges_new(float *scanline, float *scanline_fill, int len, stbtt__active_edge *e, float y_top)
+{
+   float y_bottom = y_top+1;
+
+   while (e) {
+      // brute force every pixel
+
+      // compute intersection points with top & bottom
+      STBTT_assert(e->ey >= y_top);
+
+      if (e->fdx == 0) {
+         float x0 = e->fx;
+         if (x0 < len) {
+            if (x0 >= 0) {
+               stbtt__handle_clipped_edge(scanline,(int) x0,e, x0,y_top, x0,y_bottom);
+               stbtt__handle_clipped_edge(scanline_fill-1,(int) x0+1,e, x0,y_top, x0,y_bottom);
+            } else {
+               stbtt__handle_clipped_edge(scanline_fill-1,0,e, x0,y_top, x0,y_bottom);
+            }
+         }
+      } else {
+         float x0 = e->fx;
+         float dx = e->fdx;
+         float xb = x0 + dx;
+         float x_top, x_bottom;
+         float sy0,sy1;
+         float dy = e->fdy;
+         STBTT_assert(e->sy <= y_bottom && e->ey >= y_top);
+
+         // compute endpoints of line segment clipped to this scanline (if the
+         // line segment starts on this scanline. x0 is the intersection of the
+         // line with y_top, but that may be off the line segment.
+         if (e->sy > y_top) {
+            x_top = x0 + dx * (e->sy - y_top);
+            sy0 = e->sy;
+         } else {
+            x_top = x0;
+            sy0 = y_top;
+         }
+         if (e->ey < y_bottom) {
+            x_bottom = x0 + dx * (e->ey - y_top);
+            sy1 = e->ey;
+         } else {
+            x_bottom = xb;
+            sy1 = y_bottom;
+         }
+
+         if (x_top >= 0 && x_bottom >= 0 && x_top < len && x_bottom < len) {
+            // from here on, we don't have to range check x values
+
+            if ((int) x_top == (int) x_bottom) {
+               float height;
+               // simple case, only spans one pixel
+               int x = (int) x_top;
+               height = sy1 - sy0;
+               STBTT_assert(x >= 0 && x < len);
+               scanline[x] += e->direction * (1-((x_top - x) + (x_bottom-x))/2)  * height;
+               scanline_fill[x] += e->direction * height; // everything right of this pixel is filled
+            } else {
+               int x,x1,x2;
+               float y_crossing, step, sign, area;
+               // covers 2+ pixels
+               if (x_top > x_bottom) {
+                  // flip scanline vertically; signed area is the same
+                  float t;
+                  sy0 = y_bottom - (sy0 - y_top);
+                  sy1 = y_bottom - (sy1 - y_top);
+                  t = sy0, sy0 = sy1, sy1 = t;
+                  t = x_bottom, x_bottom = x_top, x_top = t;
+                  dx = -dx;
+                  dy = -dy;
+                  t = x0, x0 = xb, xb = t;
+               }
+
+               x1 = (int) x_top;
+               x2 = (int) x_bottom;
+               // compute intersection with y axis at x1+1
+               y_crossing = (x1+1 - x0) * dy + y_top;
+
+               sign = e->direction;
+               // area of the rectangle covered from y0..y_crossing
+               area = sign * (y_crossing-sy0);
+               // area of the triangle (x_top,y0), (x+1,y0), (x+1,y_crossing)
+               scanline[x1] += area * (1-((x_top - x1)+(x1+1-x1))/2);
+
+               step = sign * dy;
+               for (x = x1+1; x < x2; ++x) {
+                  scanline[x] += area + step/2;
+                  area += step;
+               }
+               y_crossing += dy * (x2 - (x1+1));
+
+               STBTT_assert(STBTT_fabs(area) <= 1.01f);
+
+               scanline[x2] += area + sign * (1-((x2-x2)+(x_bottom-x2))/2) * (sy1-y_crossing);
+
+               scanline_fill[x2] += sign * (sy1-sy0);
+            }
+         } else {
+            // if edge goes outside of box we're drawing, we require
+            // clipping logic. since this does not match the intended use
+            // of this library, we use a different, very slow brute
+            // force implementation
+            int x;
+            for (x=0; x < len; ++x) {
+               // cases:
+               //
+               // there can be up to two intersections with the pixel. any intersection
+               // with left or right edges can be handled by splitting into two (or three)
+               // regions. intersections with top & bottom do not necessitate case-wise logic.
+               //
+               // the old way of doing this found the intersections with the left & right edges,
+               // then used some simple logic to produce up to three segments in sorted order
+               // from top-to-bottom. however, this had a problem: if an x edge was epsilon
+               // across the x border, then the corresponding y position might not be distinct
+               // from the other y segment, and it might ignored as an empty segment. to avoid
+               // that, we need to explicitly produce segments based on x positions.
+
+               // rename variables to clearly-defined pairs
+               float y0 = y_top;
+               float x1 = (float) (x);
+               float x2 = (float) (x+1);
+               float x3 = xb;
+               float y3 = y_bottom;
+
+               // x = e->x + e->dx * (y-y_top)
+               // (y-y_top) = (x - e->x) / e->dx
+               // y = (x - e->x) / e->dx + y_top
+               float y1 = (x - x0) / dx + y_top;
+               float y2 = (x+1 - x0) / dx + y_top;
+
+               if (x0 < x1 && x3 > x2) {         // three segments descending down-right
+                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1);
+                  stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x2,y2);
+                  stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3);
+               } else if (x3 < x1 && x0 > x2) {  // three segments descending down-left
+                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2);
+                  stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x1,y1);
+                  stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3);
+               } else if (x0 < x1 && x3 > x1) {  // two segments across x, down-right
+                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1);
+                  stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3);
+               } else if (x3 < x1 && x0 > x1) {  // two segments across x, down-left
+                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1);
+                  stbtt__handle_clipped_edge(scanline,x,e, x1,y1, x3,y3);
+               } else if (x0 < x2 && x3 > x2) {  // two segments across x+1, down-right
+                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2);
+                  stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3);
+               } else if (x3 < x2 && x0 > x2) {  // two segments across x+1, down-left
+                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x2,y2);
+                  stbtt__handle_clipped_edge(scanline,x,e, x2,y2, x3,y3);
+               } else {  // one segment
+                  stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x3,y3);
+               }
+            }
+         }
+      }
+      e = e->next;
+   }
+}
+
+// directly AA rasterize edges w/o supersampling
+static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e, int n, int vsubsample, int off_x, int off_y, void *userdata)
+{
+   stbtt__hheap hh = { 0, 0, 0 };
+   stbtt__active_edge *active = NULL;
+   int y,j=0, i;
+   float scanline_data[129], *scanline, *scanline2;
+
+   STBTT__NOTUSED(vsubsample);
+
+   if (result->w > 64)
+      scanline = (float *) STBTT_malloc((result->w*2+1) * sizeof(float), userdata);
+   else
+      scanline = scanline_data;
+
+   scanline2 = scanline + result->w;
+
+   y = off_y;
+   e[n].y0 = (float) (off_y + result->h) + 1;
+
+   while (j < result->h) {
+      // find center of pixel for this scanline
+      float scan_y_top    = y + 0.0f;
+      float scan_y_bottom = y + 1.0f;
+      stbtt__active_edge **step = &active;
+
+      STBTT_memset(scanline , 0, result->w*sizeof(scanline[0]));
+      STBTT_memset(scanline2, 0, (result->w+1)*sizeof(scanline[0]));
+
+      // update all active edges;
+      // remove all active edges that terminate before the top of this scanline
+      while (*step) {
+         stbtt__active_edge * z = *step;
+         if (z->ey <= scan_y_top) {
+            *step = z->next; // delete from list
+            STBTT_assert(z->direction);
+            z->direction = 0;
+            stbtt__hheap_free(&hh, z);
+         } else {
+            step = &((*step)->next); // advance through list
+         }
+      }
+
+      // insert all edges that start before the bottom of this scanline
+      while (e->y0 <= scan_y_bottom) {
+         if (e->y0 != e->y1) {
+            stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y_top, userdata);
+            if (z != NULL) {
+               if (j == 0 && off_y != 0) {
+                  if (z->ey < scan_y_top) {
+                     // this can happen due to subpixel positioning and some kind of fp rounding error i think
+                     z->ey = scan_y_top;
+                  }
+               }
+               STBTT_assert(z->ey >= scan_y_top); // if we get really unlucky a tiny bit of an edge can be out of bounds
+               // insert at front
+               z->next = active;
+               active = z;
+            }
+         }
+         ++e;
+      }
+
+      // now process all active edges
+      if (active)
+         stbtt__fill_active_edges_new(scanline, scanline2+1, result->w, active, scan_y_top);
+
+      {
+         float sum = 0;
+         for (i=0; i < result->w; ++i) {
+            float k;
+            int m;
+            sum += scanline2[i];
+            k = scanline[i] + sum;
+            k = (float) STBTT_fabs(k)*255 + 0.5f;
+            m = (int) k;
+            if (m > 255) m = 255;
+            result->pixels[j*result->stride + i] = (unsigned char) m;
+         }
+      }
+      // advance all the edges
+      step = &active;
+      while (*step) {
+         stbtt__active_edge *z = *step;
+         z->fx += z->fdx; // advance to position for current scanline
+         step = &((*step)->next); // advance through list
+      }
+
+      ++y;
+      ++j;
+   }
+
+   stbtt__hheap_cleanup(&hh, userdata);
+
+   if (scanline != scanline_data)
+      STBTT_free(scanline, userdata);
+}
+#else
+#error "Unrecognized value of STBTT_RASTERIZER_VERSION"
+#endif
+
+#define STBTT__COMPARE(a,b)  ((a)->y0 < (b)->y0)
+
+static void stbtt__sort_edges_ins_sort(stbtt__edge *p, int n)
+{
+   int i,j;
+   for (i=1; i < n; ++i) {
+      stbtt__edge t = p[i], *a = &t;
+      j = i;
+      while (j > 0) {
+         stbtt__edge *b = &p[j-1];
+         int c = STBTT__COMPARE(a,b);
+         if (!c) break;
+         p[j] = p[j-1];
+         --j;
+      }
+      if (i != j)
+         p[j] = t;
+   }
+}
+
+static void stbtt__sort_edges_quicksort(stbtt__edge *p, int n)
+{
+   /* threshold for transitioning to insertion sort */
+   while (n > 12) {
+      stbtt__edge t;
+      int c01,c12,c,m,i,j;
+
+      /* compute median of three */
+      m = n >> 1;
+      c01 = STBTT__COMPARE(&p[0],&p[m]);
+      c12 = STBTT__COMPARE(&p[m],&p[n-1]);
+      /* if 0 >= mid >= end, or 0 < mid < end, then use mid */
+      if (c01 != c12) {
+         /* otherwise, we'll need to swap something else to middle */
+         int z;
+         c = STBTT__COMPARE(&p[0],&p[n-1]);
+         /* 0>mid && mid<n:  0>n => n; 0<n => 0 */
+         /* 0<mid && mid>n:  0>n => 0; 0<n => n */
+         z = (c == c12) ? 0 : n-1;
+         t = p[z];
+         p[z] = p[m];
+         p[m] = t;
+      }
+      /* now p[m] is the median-of-three */
+      /* swap it to the beginning so it won't move around */
+      t = p[0];
+      p[0] = p[m];
+      p[m] = t;
+
+      /* partition loop */
+      i=1;
+      j=n-1;
+      for(;;) {
+         /* handling of equality is crucial here */
+         /* for sentinels & efficiency with duplicates */
+         for (;;++i) {
+            if (!STBTT__COMPARE(&p[i], &p[0])) break;
+         }
+         for (;;--j) {
+            if (!STBTT__COMPARE(&p[0], &p[j])) break;
+         }
+         /* make sure we haven't crossed */
+         if (i >= j) break;
+         t = p[i];
+         p[i] = p[j];
+         p[j] = t;
+
+         ++i;
+         --j;
+      }
+      /* recurse on smaller side, iterate on larger */
+      if (j < (n-i)) {
+         stbtt__sort_edges_quicksort(p,j);
+         p = p+i;
+         n = n-i;
+      } else {
+         stbtt__sort_edges_quicksort(p+i, n-i);
+         n = j;
+      }
+   }
+}
+
+static void stbtt__sort_edges(stbtt__edge *p, int n)
+{
+   stbtt__sort_edges_quicksort(p, n);
+   stbtt__sort_edges_ins_sort(p, n);
+}
+
+typedef struct
+{
+   float x,y;
+} stbtt__point;
+
+static void stbtt__rasterize(stbtt__bitmap *result, stbtt__point *pts, int *wcount, int windings, float scale_x, float scale_y, float shift_x, float shift_y, int off_x, int off_y, int invert, void *userdata)
+{
+   float y_scale_inv = invert ? -scale_y : scale_y;
+   stbtt__edge *e;
+   int n,i,j,k,m;
+#if STBTT_RASTERIZER_VERSION == 1
+   int vsubsample = result->h < 8 ? 15 : 5;
+#elif STBTT_RASTERIZER_VERSION == 2
+   int vsubsample = 1;
+#else
+   #error "Unrecognized value of STBTT_RASTERIZER_VERSION"
+#endif
+   // vsubsample should divide 255 evenly; otherwise we won't reach full opacity
+
+   // now we have to blow out the windings into explicit edge lists
+   n = 0;
+   for (i=0; i < windings; ++i)
+      n += wcount[i];
+
+   e = (stbtt__edge *) STBTT_malloc(sizeof(*e) * (n+1), userdata); // add an extra one as a sentinel
+   if (e == 0) return;
+   n = 0;
+
+   m=0;
+   for (i=0; i < windings; ++i) {
+      stbtt__point *p = pts + m;
+      m += wcount[i];
+      j = wcount[i]-1;
+      for (k=0; k < wcount[i]; j=k++) {
+         int a=k,b=j;
+         // skip the edge if horizontal
+         if (p[j].y == p[k].y)
+            continue;
+         // add edge from j to k to the list
+         e[n].invert = 0;
+         if (invert ? p[j].y > p[k].y : p[j].y < p[k].y) {
+            e[n].invert = 1;
+            a=j,b=k;
+         }
+         e[n].x0 = p[a].x * scale_x + shift_x;
+         e[n].y0 = (p[a].y * y_scale_inv + shift_y) * vsubsample;
+         e[n].x1 = p[b].x * scale_x + shift_x;
+         e[n].y1 = (p[b].y * y_scale_inv + shift_y) * vsubsample;
+         ++n;
+      }
+   }
+
+   // now sort the edges by their highest point (should snap to integer, and then by x)
+   //STBTT_sort(e, n, sizeof(e[0]), stbtt__edge_compare);
+   stbtt__sort_edges(e, n);
+
+   // now, traverse the scanlines and find the intersections on each scanline, use xor winding rule
+   stbtt__rasterize_sorted_edges(result, e, n, vsubsample, off_x, off_y, userdata);
+
+   STBTT_free(e, userdata);
+}
+
+static void stbtt__add_point(stbtt__point *points, int n, float x, float y)
+{
+   if (!points) return; // during first pass, it's unallocated
+   points[n].x = x;
+   points[n].y = y;
+}
+
+// tessellate until threshold p is happy... @TODO warped to compensate for non-linear stretching
+static int stbtt__tesselate_curve(stbtt__point *points, int *num_points, float x0, float y0, float x1, float y1, float x2, float y2, float objspace_flatness_squared, int n)
+{
+   // midpoint
+   float mx = (x0 + 2*x1 + x2)/4;
+   float my = (y0 + 2*y1 + y2)/4;
+   // versus directly drawn line
+   float dx = (x0+x2)/2 - mx;
+   float dy = (y0+y2)/2 - my;
+   if (n > 16) // 65536 segments on one curve better be enough!
+      return 1;
+   if (dx*dx+dy*dy > objspace_flatness_squared) { // half-pixel error allowed... need to be smaller if AA
+      stbtt__tesselate_curve(points, num_points, x0,y0, (x0+x1)/2.0f,(y0+y1)/2.0f, mx,my, objspace_flatness_squared,n+1);
+      stbtt__tesselate_curve(points, num_points, mx,my, (x1+x2)/2.0f,(y1+y2)/2.0f, x2,y2, objspace_flatness_squared,n+1);
+   } else {
+      stbtt__add_point(points, *num_points,x2,y2);
+      *num_points = *num_points+1;
+   }
+   return 1;
+}
+
+static void stbtt__tesselate_cubic(stbtt__point *points, int *num_points, float x0, float y0, float x1, float y1, float x2, float y2, float x3, float y3, float objspace_flatness_squared, int n)
+{
+   // @TODO this "flatness" calculation is just made-up nonsense that seems to work well enough
+   float dx0 = x1-x0;
+   float dy0 = y1-y0;
+   float dx1 = x2-x1;
+   float dy1 = y2-y1;
+   float dx2 = x3-x2;
+   float dy2 = y3-y2;
+   float dx = x3-x0;
+   float dy = y3-y0;
+   float longlen = (float) (STBTT_sqrt(dx0*dx0+dy0*dy0)+STBTT_sqrt(dx1*dx1+dy1*dy1)+STBTT_sqrt(dx2*dx2+dy2*dy2));
+   float shortlen = (float) STBTT_sqrt(dx*dx+dy*dy);
+   float flatness_squared = longlen*longlen-shortlen*shortlen;
+
+   if (n > 16) // 65536 segments on one curve better be enough!
+      return;
+
+   if (flatness_squared > objspace_flatness_squared) {
+      float x01 = (x0+x1)/2;
+      float y01 = (y0+y1)/2;
+      float x12 = (x1+x2)/2;
+      float y12 = (y1+y2)/2;
+      float x23 = (x2+x3)/2;
+      float y23 = (y2+y3)/2;
+
+      float xa = (x01+x12)/2;
+      float ya = (y01+y12)/2;
+      float xb = (x12+x23)/2;
+      float yb = (y12+y23)/2;
+
+      float mx = (xa+xb)/2;
+      float my = (ya+yb)/2;
+
+      stbtt__tesselate_cubic(points, num_points, x0,y0, x01,y01, xa,ya, mx,my, objspace_flatness_squared,n+1);
+      stbtt__tesselate_cubic(points, num_points, mx,my, xb,yb, x23,y23, x3,y3, objspace_flatness_squared,n+1);
+   } else {
+      stbtt__add_point(points, *num_points,x3,y3);
+      *num_points = *num_points+1;
+   }
+}
+
+// returns number of contours
+static stbtt__point *stbtt_FlattenCurves(stbtt_vertex *vertices, int num_verts, float objspace_flatness, int **contour_lengths, int *num_contours, void *userdata)
+{
+   stbtt__point *points=0;
+   int num_points=0;
+
+   float objspace_flatness_squared = objspace_flatness * objspace_flatness;
+   int i,n=0,start=0, pass;
+
+   // count how many "moves" there are to get the contour count
+   for (i=0; i < num_verts; ++i)
+      if (vertices[i].type == STBTT_vmove)
+         ++n;
+
+   *num_contours = n;
+   if (n == 0) return 0;
+
+   *contour_lengths = (int *) STBTT_malloc(sizeof(**contour_lengths) * n, userdata);
+
+   if (*contour_lengths == 0) {
+      *num_contours = 0;
+      return 0;
+   }
+
+   // make two passes through the points so we don't need to realloc
+   for (pass=0; pass < 2; ++pass) {
+      float x=0,y=0;
+      if (pass == 1) {
+         points = (stbtt__point *) STBTT_malloc(num_points * sizeof(points[0]), userdata);
+         if (points == NULL) goto error;
+      }
+      num_points = 0;
+      n= -1;
+      for (i=0; i < num_verts; ++i) {
+         switch (vertices[i].type) {
+            case STBTT_vmove:
+               // start the next contour
+               if (n >= 0)
+                  (*contour_lengths)[n] = num_points - start;
+               ++n;
+               start = num_points;
+
+               x = vertices[i].x, y = vertices[i].y;
+               stbtt__add_point(points, num_points++, x,y);
+               break;
+            case STBTT_vline:
+               x = vertices[i].x, y = vertices[i].y;
+               stbtt__add_point(points, num_points++, x, y);
+               break;
+            case STBTT_vcurve:
+               stbtt__tesselate_curve(points, &num_points, x,y,
+                                        vertices[i].cx, vertices[i].cy,
+                                        vertices[i].x,  vertices[i].y,
+                                        objspace_flatness_squared, 0);
+               x = vertices[i].x, y = vertices[i].y;
+               break;
+            case STBTT_vcubic:
+               stbtt__tesselate_cubic(points, &num_points, x,y,
+                                        vertices[i].cx, vertices[i].cy,
+                                        vertices[i].cx1, vertices[i].cy1,
+                                        vertices[i].x,  vertices[i].y,
+                                        objspace_flatness_squared, 0);
+               x = vertices[i].x, y = vertices[i].y;
+               break;
+         }
+      }
+      (*contour_lengths)[n] = num_points - start;
+   }
+
+   return points;
+error:
+   STBTT_free(points, userdata);
+   STBTT_free(*contour_lengths, userdata);
+   *contour_lengths = 0;
+   *num_contours = 0;
+   return NULL;
+}
+
+STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result, float flatness_in_pixels, stbtt_vertex *vertices, int num_verts, float scale_x, float scale_y, float shift_x, float shift_y, int x_off, int y_off, int invert, void *userdata)
+{
+   float scale            = scale_x > scale_y ? scale_y : scale_x;
+   int winding_count      = 0;
+   int *winding_lengths   = NULL;
+   stbtt__point *windings = stbtt_FlattenCurves(vertices, num_verts, flatness_in_pixels / scale, &winding_lengths, &winding_count, userdata);
+   if (windings) {
+      stbtt__rasterize(result, windings, winding_lengths, winding_count, scale_x, scale_y, shift_x, shift_y, x_off, y_off, invert, userdata);
+      STBTT_free(winding_lengths, userdata);
+      STBTT_free(windings, userdata);
+   }
+}
+
+STBTT_DEF void stbtt_FreeBitmap(unsigned char *bitmap, void *userdata)
+{
+   STBTT_free(bitmap, userdata);
+}
+
+STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff)
+{
+   int ix0,iy0,ix1,iy1;
+   stbtt__bitmap gbm;
+   stbtt_vertex *vertices;
+   int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices);
+
+   if (scale_x == 0) scale_x = scale_y;
+   if (scale_y == 0) {
+      if (scale_x == 0) {
+         STBTT_free(vertices, info->userdata);
+         return NULL;
+      }
+      scale_y = scale_x;
+   }
+
+   stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,&ix1,&iy1);
+
+   // now we get the size
+   gbm.w = (ix1 - ix0);
+   gbm.h = (iy1 - iy0);
+   gbm.pixels = NULL; // in case we error
+
+   if (width ) *width  = gbm.w;
+   if (height) *height = gbm.h;
+   if (xoff  ) *xoff   = ix0;
+   if (yoff  ) *yoff   = iy0;
+
+   if (gbm.w && gbm.h) {
+      gbm.pixels = (unsigned char *) STBTT_malloc(gbm.w * gbm.h, info->userdata);
+      if (gbm.pixels) {
+         gbm.stride = gbm.w;
+
+         stbtt_Rasterize(&gbm, 0.35f, vertices, num_verts, scale_x, scale_y, shift_x, shift_y, ix0, iy0, 1, info->userdata);
+      }
+   }
+   STBTT_free(vertices, info->userdata);
+   return gbm.pixels;
+}
+
+STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff)
+{
+   return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y, 0.0f, 0.0f, glyph, width, height, xoff, yoff);
+}
+
+STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph)
+{
+   int ix0,iy0;
+   stbtt_vertex *vertices;
+   int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices);
+   stbtt__bitmap gbm;
+
+   stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,0,0);
+   gbm.pixels = output;
+   gbm.w = out_w;
+   gbm.h = out_h;
+   gbm.stride = out_stride;
+
+   if (gbm.w && gbm.h)
+      stbtt_Rasterize(&gbm, 0.35f, vertices, num_verts, scale_x, scale_y, shift_x, shift_y, ix0,iy0, 1, info->userdata);
+
+   STBTT_free(vertices, info->userdata);
+}
+
+STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph)
+{
+   stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, 0.0f,0.0f, glyph);
+}
+
+STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff)
+{
+   return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y,shift_x,shift_y, stbtt_FindGlyphIndex(info,codepoint), width,height,xoff,yoff);
+}
+
+STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint)
+{
+   stbtt_MakeGlyphBitmapSubpixelPrefilter(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, oversample_x, oversample_y, sub_x, sub_y, stbtt_FindGlyphIndex(info,codepoint));
+}
+
+STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint)
+{
+   stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, stbtt_FindGlyphIndex(info,codepoint));
+}
+
+STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff)
+{
+   return stbtt_GetCodepointBitmapSubpixel(info, scale_x, scale_y, 0.0f,0.0f, codepoint, width,height,xoff,yoff);
+}
+
+STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint)
+{
+   stbtt_MakeCodepointBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, 0.0f,0.0f, codepoint);
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// bitmap baking
+//
+// This is SUPER-CRAPPY packing to keep source code small
+
+static int stbtt_BakeFontBitmap_internal(unsigned char *data, int offset,  // font location (use offset=0 for plain .ttf)
+                                float pixel_height,                     // height of font in pixels
+                                unsigned char *pixels, int pw, int ph,  // bitmap to be filled in
+                                int first_char, int num_chars,          // characters to bake
+                                stbtt_bakedchar *chardata)
+{
+   float scale;
+   int x,y,bottom_y, i;
+   stbtt_fontinfo f;
+   f.userdata = NULL;
+   if (!stbtt_InitFont(&f, data, offset))
+      return -1;
+   STBTT_memset(pixels, 0, pw*ph); // background of 0 around pixels
+   x=y=1;
+   bottom_y = 1;
+
+   scale = stbtt_ScaleForPixelHeight(&f, pixel_height);
+
+   for (i=0; i < num_chars; ++i) {
+      int advance, lsb, x0,y0,x1,y1,gw,gh;
+      int g = stbtt_FindGlyphIndex(&f, first_char + i);
+      stbtt_GetGlyphHMetrics(&f, g, &advance, &lsb);
+      stbtt_GetGlyphBitmapBox(&f, g, scale,scale, &x0,&y0,&x1,&y1);
+      gw = x1-x0;
+      gh = y1-y0;
+      if (x + gw + 1 >= pw)
+         y = bottom_y, x = 1; // advance to next row
+      if (y + gh + 1 >= ph) // check if it fits vertically AFTER potentially moving to next row
+         return -i;
+      STBTT_assert(x+gw < pw);
+      STBTT_assert(y+gh < ph);
+      stbtt_MakeGlyphBitmap(&f, pixels+x+y*pw, gw,gh,pw, scale,scale, g);
+      chardata[i].x0 = (stbtt_int16) x;
+      chardata[i].y0 = (stbtt_int16) y;
+      chardata[i].x1 = (stbtt_int16) (x + gw);
+      chardata[i].y1 = (stbtt_int16) (y + gh);
+      chardata[i].xadvance = scale * advance;
+      chardata[i].xoff     = (float) x0;
+      chardata[i].yoff     = (float) y0;
+      x = x + gw + 1;
+      if (y+gh+1 > bottom_y)
+         bottom_y = y+gh+1;
+   }
+   return bottom_y;
+}
+
+STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int opengl_fillrule)
+{
+   float d3d_bias = opengl_fillrule ? 0 : -0.5f;
+   float ipw = 1.0f / pw, iph = 1.0f / ph;
+   const stbtt_bakedchar *b = chardata + char_index;
+   int round_x = STBTT_ifloor((*xpos + b->xoff) + 0.5f);
+   int round_y = STBTT_ifloor((*ypos + b->yoff) + 0.5f);
+
+   q->x0 = round_x + d3d_bias;
+   q->y0 = round_y + d3d_bias;
+   q->x1 = round_x + b->x1 - b->x0 + d3d_bias;
+   q->y1 = round_y + b->y1 - b->y0 + d3d_bias;
+
+   q->s0 = b->x0 * ipw;
+   q->t0 = b->y0 * iph;
+   q->s1 = b->x1 * ipw;
+   q->t1 = b->y1 * iph;
+
+   *xpos += b->xadvance;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// rectangle packing replacement routines if you don't have stb_rect_pack.h
+//
+
+#ifndef STB_RECT_PACK_VERSION
+
+typedef int stbrp_coord;
+
+////////////////////////////////////////////////////////////////////////////////////
+//                                                                                //
+//                                                                                //
+// COMPILER WARNING ?!?!?                                                         //
+//                                                                                //
+//                                                                                //
+// if you get a compile warning due to these symbols being defined more than      //
+// once, move #include "stb_rect_pack.h" before #include "stb_truetype.h"         //
+//                                                                                //
+////////////////////////////////////////////////////////////////////////////////////
+
+typedef struct
+{
+   int width,height;
+   int x,y,bottom_y;
+} stbrp_context;
+
+typedef struct
+{
+   unsigned char x;
+} stbrp_node;
+
+struct stbrp_rect
+{
+   stbrp_coord x,y;
+   int id,w,h,was_packed;
+};
+
+static void stbrp_init_target(stbrp_context *con, int pw, int ph, stbrp_node *nodes, int num_nodes)
+{
+   con->width  = pw;
+   con->height = ph;
+   con->x = 0;
+   con->y = 0;
+   con->bottom_y = 0;
+   STBTT__NOTUSED(nodes);
+   STBTT__NOTUSED(num_nodes);
+}
+
+static void stbrp_pack_rects(stbrp_context *con, stbrp_rect *rects, int num_rects)
+{
+   int i;
+   for (i=0; i < num_rects; ++i) {
+      if (con->x + rects[i].w > con->width) {
+         con->x = 0;
+         con->y = con->bottom_y;
+      }
+      if (con->y + rects[i].h > con->height)
+         break;
+      rects[i].x = con->x;
+      rects[i].y = con->y;
+      rects[i].was_packed = 1;
+      con->x += rects[i].w;
+      if (con->y + rects[i].h > con->bottom_y)
+         con->bottom_y = con->y + rects[i].h;
+   }
+   for (   ; i < num_rects; ++i)
+      rects[i].was_packed = 0;
+}
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// bitmap baking
+//
+// This is SUPER-AWESOME (tm Ryan Gordon) packing using stb_rect_pack.h. If
+// stb_rect_pack.h isn't available, it uses the BakeFontBitmap strategy.
+
+STBTT_DEF int stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, int pw, int ph, int stride_in_bytes, int padding, void *alloc_context)
+{
+   stbrp_context *context = (stbrp_context *) STBTT_malloc(sizeof(*context)            ,alloc_context);
+   int            num_nodes = pw - padding;
+   stbrp_node    *nodes   = (stbrp_node    *) STBTT_malloc(sizeof(*nodes  ) * num_nodes,alloc_context);
+
+   if (context == NULL || nodes == NULL) {
+      if (context != NULL) STBTT_free(context, alloc_context);
+      if (nodes   != NULL) STBTT_free(nodes  , alloc_context);
+      return 0;
+   }
+
+   spc->user_allocator_context = alloc_context;
+   spc->width = pw;
+   spc->height = ph;
+   spc->pixels = pixels;
+   spc->pack_info = context;
+   spc->nodes = nodes;
+   spc->padding = padding;
+   spc->stride_in_bytes = stride_in_bytes != 0 ? stride_in_bytes : pw;
+   spc->h_oversample = 1;
+   spc->v_oversample = 1;
+   spc->skip_missing = 0;
+
+   stbrp_init_target(context, pw-padding, ph-padding, nodes, num_nodes);
+
+   if (pixels)
+      STBTT_memset(pixels, 0, pw*ph); // background of 0 around pixels
+
+   return 1;
+}
+
+STBTT_DEF void stbtt_PackEnd  (stbtt_pack_context *spc)
+{
+   STBTT_free(spc->nodes    , spc->user_allocator_context);
+   STBTT_free(spc->pack_info, spc->user_allocator_context);
+}
+
+STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h_oversample, unsigned int v_oversample)
+{
+   STBTT_assert(h_oversample <= STBTT_MAX_OVERSAMPLE);
+   STBTT_assert(v_oversample <= STBTT_MAX_OVERSAMPLE);
+   if (h_oversample <= STBTT_MAX_OVERSAMPLE)
+      spc->h_oversample = h_oversample;
+   if (v_oversample <= STBTT_MAX_OVERSAMPLE)
+      spc->v_oversample = v_oversample;
+}
+
+STBTT_DEF void stbtt_PackSetSkipMissingCodepoints(stbtt_pack_context *spc, int skip)
+{
+   spc->skip_missing = skip;
+}
+
+#define STBTT__OVER_MASK  (STBTT_MAX_OVERSAMPLE-1)
+
+static void stbtt__h_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width)
+{
+   unsigned char buffer[STBTT_MAX_OVERSAMPLE];
+   int safe_w = w - kernel_width;
+   int j;
+   STBTT_memset(buffer, 0, STBTT_MAX_OVERSAMPLE); // suppress bogus warning from VS2013 -analyze
+   for (j=0; j < h; ++j) {
+      int i;
+      unsigned int total;
+      STBTT_memset(buffer, 0, kernel_width);
+
+      total = 0;
+
+      // make kernel_width a constant in common cases so compiler can optimize out the divide
+      switch (kernel_width) {
+         case 2:
+            for (i=0; i <= safe_w; ++i) {
+               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
+               pixels[i] = (unsigned char) (total / 2);
+            }
+            break;
+         case 3:
+            for (i=0; i <= safe_w; ++i) {
+               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
+               pixels[i] = (unsigned char) (total / 3);
+            }
+            break;
+         case 4:
+            for (i=0; i <= safe_w; ++i) {
+               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
+               pixels[i] = (unsigned char) (total / 4);
+            }
+            break;
+         case 5:
+            for (i=0; i <= safe_w; ++i) {
+               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
+               pixels[i] = (unsigned char) (total / 5);
+            }
+            break;
+         default:
+            for (i=0; i <= safe_w; ++i) {
+               total += pixels[i] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i];
+               pixels[i] = (unsigned char) (total / kernel_width);
+            }
+            break;
+      }
+
+      for (; i < w; ++i) {
+         STBTT_assert(pixels[i] == 0);
+         total -= buffer[i & STBTT__OVER_MASK];
+         pixels[i] = (unsigned char) (total / kernel_width);
+      }
+
+      pixels += stride_in_bytes;
+   }
+}
+
+static void stbtt__v_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width)
+{
+   unsigned char buffer[STBTT_MAX_OVERSAMPLE];
+   int safe_h = h - kernel_width;
+   int j;
+   STBTT_memset(buffer, 0, STBTT_MAX_OVERSAMPLE); // suppress bogus warning from VS2013 -analyze
+   for (j=0; j < w; ++j) {
+      int i;
+      unsigned int total;
+      STBTT_memset(buffer, 0, kernel_width);
+
+      total = 0;
+
+      // make kernel_width a constant in common cases so compiler can optimize out the divide
+      switch (kernel_width) {
+         case 2:
+            for (i=0; i <= safe_h; ++i) {
+               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
+               pixels[i*stride_in_bytes] = (unsigned char) (total / 2);
+            }
+            break;
+         case 3:
+            for (i=0; i <= safe_h; ++i) {
+               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
+               pixels[i*stride_in_bytes] = (unsigned char) (total / 3);
+            }
+            break;
+         case 4:
+            for (i=0; i <= safe_h; ++i) {
+               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
+               pixels[i*stride_in_bytes] = (unsigned char) (total / 4);
+            }
+            break;
+         case 5:
+            for (i=0; i <= safe_h; ++i) {
+               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
+               pixels[i*stride_in_bytes] = (unsigned char) (total / 5);
+            }
+            break;
+         default:
+            for (i=0; i <= safe_h; ++i) {
+               total += pixels[i*stride_in_bytes] - buffer[i & STBTT__OVER_MASK];
+               buffer[(i+kernel_width) & STBTT__OVER_MASK] = pixels[i*stride_in_bytes];
+               pixels[i*stride_in_bytes] = (unsigned char) (total / kernel_width);
+            }
+            break;
+      }
+
+      for (; i < h; ++i) {
+         STBTT_assert(pixels[i*stride_in_bytes] == 0);
+         total -= buffer[i & STBTT__OVER_MASK];
+         pixels[i*stride_in_bytes] = (unsigned char) (total / kernel_width);
+      }
+
+      pixels += 1;
+   }
+}
+
+static float stbtt__oversample_shift(int oversample)
+{
+   if (!oversample)
+      return 0.0f;
+
+   // The prefilter is a box filter of width "oversample",
+   // which shifts phase by (oversample - 1)/2 pixels in
+   // oversampled space. We want to shift in the opposite
+   // direction to counter this.
+   return (float)-(oversample - 1) / (2.0f * (float)oversample);
+}
+
+// rects array must be big enough to accommodate all characters in the given ranges
+STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects)
+{
+   int i,j,k;
+   int missing_glyph_added = 0;
+
+   k=0;
+   for (i=0; i < num_ranges; ++i) {
+      float fh = ranges[i].font_size;
+      float scale = fh > 0 ? stbtt_ScaleForPixelHeight(info, fh) : stbtt_ScaleForMappingEmToPixels(info, -fh);
+      ranges[i].h_oversample = (unsigned char) spc->h_oversample;
+      ranges[i].v_oversample = (unsigned char) spc->v_oversample;
+      for (j=0; j < ranges[i].num_chars; ++j) {
+         int x0,y0,x1,y1;
+         int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j];
+         int glyph = stbtt_FindGlyphIndex(info, codepoint);
+         if (glyph == 0 && (spc->skip_missing || missing_glyph_added)) {
+            rects[k].w = rects[k].h = 0;
+         } else {
+            stbtt_GetGlyphBitmapBoxSubpixel(info,glyph,
+                                            scale * spc->h_oversample,
+                                            scale * spc->v_oversample,
+                                            0,0,
+                                            &x0,&y0,&x1,&y1);
+            rects[k].w = (stbrp_coord) (x1-x0 + spc->padding + spc->h_oversample-1);
+            rects[k].h = (stbrp_coord) (y1-y0 + spc->padding + spc->v_oversample-1);
+            if (glyph == 0)
+               missing_glyph_added = 1;
+         }
+         ++k;
+      }
+   }
+
+   return k;
+}
+
+STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int prefilter_x, int prefilter_y, float *sub_x, float *sub_y, int glyph)
+{
+   stbtt_MakeGlyphBitmapSubpixel(info,
+                                 output,
+                                 out_w - (prefilter_x - 1),
+                                 out_h - (prefilter_y - 1),
+                                 out_stride,
+                                 scale_x,
+                                 scale_y,
+                                 shift_x,
+                                 shift_y,
+                                 glyph);
+
+   if (prefilter_x > 1)
+      stbtt__h_prefilter(output, out_w, out_h, out_stride, prefilter_x);
+
+   if (prefilter_y > 1)
+      stbtt__v_prefilter(output, out_w, out_h, out_stride, prefilter_y);
+
+   *sub_x = stbtt__oversample_shift(prefilter_x);
+   *sub_y = stbtt__oversample_shift(prefilter_y);
+}
+
+// rects array must be big enough to accommodate all characters in the given ranges
+STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects)
+{
+   int i,j,k, missing_glyph = -1, return_value = 1;
+
+   // save current values
+   int old_h_over = spc->h_oversample;
+   int old_v_over = spc->v_oversample;
+
+   k = 0;
+   for (i=0; i < num_ranges; ++i) {
+      float fh = ranges[i].font_size;
+      float scale = fh > 0 ? stbtt_ScaleForPixelHeight(info, fh) : stbtt_ScaleForMappingEmToPixels(info, -fh);
+      float recip_h,recip_v,sub_x,sub_y;
+      spc->h_oversample = ranges[i].h_oversample;
+      spc->v_oversample = ranges[i].v_oversample;
+      recip_h = 1.0f / spc->h_oversample;
+      recip_v = 1.0f / spc->v_oversample;
+      sub_x = stbtt__oversample_shift(spc->h_oversample);
+      sub_y = stbtt__oversample_shift(spc->v_oversample);
+      for (j=0; j < ranges[i].num_chars; ++j) {
+         stbrp_rect *r = &rects[k];
+         if (r->was_packed && r->w != 0 && r->h != 0) {
+            stbtt_packedchar *bc = &ranges[i].chardata_for_range[j];
+            int advance, lsb, x0,y0,x1,y1;
+            int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j];
+            int glyph = stbtt_FindGlyphIndex(info, codepoint);
+            stbrp_coord pad = (stbrp_coord) spc->padding;
+
+            // pad on left and top
+            r->x += pad;
+            r->y += pad;
+            r->w -= pad;
+            r->h -= pad;
+            stbtt_GetGlyphHMetrics(info, glyph, &advance, &lsb);
+            stbtt_GetGlyphBitmapBox(info, glyph,
+                                    scale * spc->h_oversample,
+                                    scale * spc->v_oversample,
+                                    &x0,&y0,&x1,&y1);
+            stbtt_MakeGlyphBitmapSubpixel(info,
+                                          spc->pixels + r->x + r->y*spc->stride_in_bytes,
+                                          r->w - spc->h_oversample+1,
+                                          r->h - spc->v_oversample+1,
+                                          spc->stride_in_bytes,
+                                          scale * spc->h_oversample,
+                                          scale * spc->v_oversample,
+                                          0,0,
+                                          glyph);
+
+            if (spc->h_oversample > 1)
+               stbtt__h_prefilter(spc->pixels + r->x + r->y*spc->stride_in_bytes,
+                                  r->w, r->h, spc->stride_in_bytes,
+                                  spc->h_oversample);
+
+            if (spc->v_oversample > 1)
+               stbtt__v_prefilter(spc->pixels + r->x + r->y*spc->stride_in_bytes,
+                                  r->w, r->h, spc->stride_in_bytes,
+                                  spc->v_oversample);
+
+            bc->x0       = (stbtt_int16)  r->x;
+            bc->y0       = (stbtt_int16)  r->y;
+            bc->x1       = (stbtt_int16) (r->x + r->w);
+            bc->y1       = (stbtt_int16) (r->y + r->h);
+            bc->xadvance =                scale * advance;
+            bc->xoff     =       (float)  x0 * recip_h + sub_x;
+            bc->yoff     =       (float)  y0 * recip_v + sub_y;
+            bc->xoff2    =                (x0 + r->w) * recip_h + sub_x;
+            bc->yoff2    =                (y0 + r->h) * recip_v + sub_y;
+
+            if (glyph == 0)
+               missing_glyph = j;
+         } else if (spc->skip_missing) {
+            return_value = 0;
+         } else if (r->was_packed && r->w == 0 && r->h == 0 && missing_glyph >= 0) {
+            ranges[i].chardata_for_range[j] = ranges[i].chardata_for_range[missing_glyph];
+         } else {
+            return_value = 0; // if any fail, report failure
+         }
+
+         ++k;
+      }
+   }
+
+   // restore original values
+   spc->h_oversample = old_h_over;
+   spc->v_oversample = old_v_over;
+
+   return return_value;
+}
+
+STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect *rects, int num_rects)
+{
+   stbrp_pack_rects((stbrp_context *) spc->pack_info, rects, num_rects);
+}
+
+STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges)
+{
+   stbtt_fontinfo info;
+   int i,j,n, return_value = 1;
+   //stbrp_context *context = (stbrp_context *) spc->pack_info;
+   stbrp_rect    *rects;
+
+   // flag all characters as NOT packed
+   for (i=0; i < num_ranges; ++i)
+      for (j=0; j < ranges[i].num_chars; ++j)
+         ranges[i].chardata_for_range[j].x0 =
+         ranges[i].chardata_for_range[j].y0 =
+         ranges[i].chardata_for_range[j].x1 =
+         ranges[i].chardata_for_range[j].y1 = 0;
+
+   n = 0;
+   for (i=0; i < num_ranges; ++i)
+      n += ranges[i].num_chars;
+
+   rects = (stbrp_rect *) STBTT_malloc(sizeof(*rects) * n, spc->user_allocator_context);
+   if (rects == NULL)
+      return 0;
+
+   info.userdata = spc->user_allocator_context;
+   stbtt_InitFont(&info, fontdata, stbtt_GetFontOffsetForIndex(fontdata,font_index));
+
+   n = stbtt_PackFontRangesGatherRects(spc, &info, ranges, num_ranges, rects);
+
+   stbtt_PackFontRangesPackRects(spc, rects, n);
+
+   return_value = stbtt_PackFontRangesRenderIntoRects(spc, &info, ranges, num_ranges, rects);
+
+   STBTT_free(rects, spc->user_allocator_context);
+   return return_value;
+}
+
+STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, float font_size,
+            int first_unicode_codepoint_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range)
+{
+   stbtt_pack_range range;
+   range.first_unicode_codepoint_in_range = first_unicode_codepoint_in_range;
+   range.array_of_unicode_codepoints = NULL;
+   range.num_chars                   = num_chars_in_range;
+   range.chardata_for_range          = chardata_for_range;
+   range.font_size                   = font_size;
+   return stbtt_PackFontRanges(spc, fontdata, font_index, &range, 1);
+}
+
+STBTT_DEF void stbtt_GetScaledFontVMetrics(const unsigned char *fontdata, int index, float size, float *ascent, float *descent, float *lineGap)
+{
+   int i_ascent, i_descent, i_lineGap;
+   float scale;
+   stbtt_fontinfo info;
+   stbtt_InitFont(&info, fontdata, stbtt_GetFontOffsetForIndex(fontdata, index));
+   scale = size > 0 ? stbtt_ScaleForPixelHeight(&info, size) : stbtt_ScaleForMappingEmToPixels(&info, -size);
+   stbtt_GetFontVMetrics(&info, &i_ascent, &i_descent, &i_lineGap);
+   *ascent  = (float) i_ascent  * scale;
+   *descent = (float) i_descent * scale;
+   *lineGap = (float) i_lineGap * scale;
+}
+
+STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int align_to_integer)
+{
+   float ipw = 1.0f / pw, iph = 1.0f / ph;
+   const stbtt_packedchar *b = chardata + char_index;
+
+   if (align_to_integer) {
+      float x = (float) STBTT_ifloor((*xpos + b->xoff) + 0.5f);
+      float y = (float) STBTT_ifloor((*ypos + b->yoff) + 0.5f);
+      q->x0 = x;
+      q->y0 = y;
+      q->x1 = x + b->xoff2 - b->xoff;
+      q->y1 = y + b->yoff2 - b->yoff;
+   } else {
+      q->x0 = *xpos + b->xoff;
+      q->y0 = *ypos + b->yoff;
+      q->x1 = *xpos + b->xoff2;
+      q->y1 = *ypos + b->yoff2;
+   }
+
+   q->s0 = b->x0 * ipw;
+   q->t0 = b->y0 * iph;
+   q->s1 = b->x1 * ipw;
+   q->t1 = b->y1 * iph;
+
+   *xpos += b->xadvance;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// sdf computation
+//
+
+#define STBTT_min(a,b)  ((a) < (b) ? (a) : (b))
+#define STBTT_max(a,b)  ((a) < (b) ? (b) : (a))
+
+static int stbtt__ray_intersect_bezier(float orig[2], float ray[2], float q0[2], float q1[2], float q2[2], float hits[2][2])
+{
+   float q0perp = q0[1]*ray[0] - q0[0]*ray[1];
+   float q1perp = q1[1]*ray[0] - q1[0]*ray[1];
+   float q2perp = q2[1]*ray[0] - q2[0]*ray[1];
+   float roperp = orig[1]*ray[0] - orig[0]*ray[1];
+
+   float a = q0perp - 2*q1perp + q2perp;
+   float b = q1perp - q0perp;
+   float c = q0perp - roperp;
+
+   float s0 = 0., s1 = 0.;
+   int num_s = 0;
+
+   if (a != 0.0) {
+      float discr = b*b - a*c;
+      if (discr > 0.0) {
+         float rcpna = -1 / a;
+         float d = (float) STBTT_sqrt(discr);
+         s0 = (b+d) * rcpna;
+         s1 = (b-d) * rcpna;
+         if (s0 >= 0.0 && s0 <= 1.0)
+            num_s = 1;
+         if (d > 0.0 && s1 >= 0.0 && s1 <= 1.0) {
+            if (num_s == 0) s0 = s1;
+            ++num_s;
+         }
+      }
+   } else {
+      // 2*b*s + c = 0
+      // s = -c / (2*b)
+      s0 = c / (-2 * b);
+      if (s0 >= 0.0 && s0 <= 1.0)
+         num_s = 1;
+   }
+
+   if (num_s == 0)
+      return 0;
+   else {
+      float rcp_len2 = 1 / (ray[0]*ray[0] + ray[1]*ray[1]);
+      float rayn_x = ray[0] * rcp_len2, rayn_y = ray[1] * rcp_len2;
+
+      float q0d =   q0[0]*rayn_x +   q0[1]*rayn_y;
+      float q1d =   q1[0]*rayn_x +   q1[1]*rayn_y;
+      float q2d =   q2[0]*rayn_x +   q2[1]*rayn_y;
+      float rod = orig[0]*rayn_x + orig[1]*rayn_y;
+
+      float q10d = q1d - q0d;
+      float q20d = q2d - q0d;
+      float q0rd = q0d - rod;
+
+      hits[0][0] = q0rd + s0*(2.0f - 2.0f*s0)*q10d + s0*s0*q20d;
+      hits[0][1] = a*s0+b;
+
+      if (num_s > 1) {
+         hits[1][0] = q0rd + s1*(2.0f - 2.0f*s1)*q10d + s1*s1*q20d;
+         hits[1][1] = a*s1+b;
+         return 2;
+      } else {
+         return 1;
+      }
+   }
+}
+
+static int equal(float *a, float *b)
+{
+   return (a[0] == b[0] && a[1] == b[1]);
+}
+
+static int stbtt__compute_crossings_x(float x, float y, int nverts, stbtt_vertex *verts)
+{
+   int i;
+   float orig[2], ray[2] = { 1, 0 };
+   float y_frac;
+   int winding = 0;
+
+   orig[0] = x;
+   orig[1] = y;
+
+   // make sure y never passes through a vertex of the shape
+   y_frac = (float) STBTT_fmod(y, 1.0f);
+   if (y_frac < 0.01f)
+      y += 0.01f;
+   else if (y_frac > 0.99f)
+      y -= 0.01f;
+   orig[1] = y;
+
+   // test a ray from (-infinity,y) to (x,y)
+   for (i=0; i < nverts; ++i) {
+      if (verts[i].type == STBTT_vline) {
+         int x0 = (int) verts[i-1].x, y0 = (int) verts[i-1].y;
+         int x1 = (int) verts[i  ].x, y1 = (int) verts[i  ].y;
+         if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) {
+            float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0;
+            if (x_inter < x)
+               winding += (y0 < y1) ? 1 : -1;
+         }
+      }
+      if (verts[i].type == STBTT_vcurve) {
+         int x0 = (int) verts[i-1].x , y0 = (int) verts[i-1].y ;
+         int x1 = (int) verts[i  ].cx, y1 = (int) verts[i  ].cy;
+         int x2 = (int) verts[i  ].x , y2 = (int) verts[i  ].y ;
+         int ax = STBTT_min(x0,STBTT_min(x1,x2)), ay = STBTT_min(y0,STBTT_min(y1,y2));
+         int by = STBTT_max(y0,STBTT_max(y1,y2));
+         if (y > ay && y < by && x > ax) {
+            float q0[2],q1[2],q2[2];
+            float hits[2][2];
+            q0[0] = (float)x0;
+            q0[1] = (float)y0;
+            q1[0] = (float)x1;
+            q1[1] = (float)y1;
+            q2[0] = (float)x2;
+            q2[1] = (float)y2;
+            if (equal(q0,q1) || equal(q1,q2)) {
+               x0 = (int)verts[i-1].x;
+               y0 = (int)verts[i-1].y;
+               x1 = (int)verts[i  ].x;
+               y1 = (int)verts[i  ].y;
+               if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) {
+                  float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0;
+                  if (x_inter < x)
+                     winding += (y0 < y1) ? 1 : -1;
+               }
+            } else {
+               int num_hits = stbtt__ray_intersect_bezier(orig, ray, q0, q1, q2, hits);
+               if (num_hits >= 1)
+                  if (hits[0][0] < 0)
+                     winding += (hits[0][1] < 0 ? -1 : 1);
+               if (num_hits >= 2)
+                  if (hits[1][0] < 0)
+                     winding += (hits[1][1] < 0 ? -1 : 1);
+            }
+         }
+      }
+   }
+   return winding;
+}
+
+static float stbtt__cuberoot( float x )
+{
+   if (x<0)
+      return -(float) STBTT_pow(-x,1.0f/3.0f);
+   else
+      return  (float) STBTT_pow( x,1.0f/3.0f);
+}
+
+// x^3 + c*x^2 + b*x + a = 0
+static int stbtt__solve_cubic(float a, float b, float c, float* r)
+{
+	float s = -a / 3;
+	float p = b - a*a / 3;
+	float q = a * (2*a*a - 9*b) / 27 + c;
+   float p3 = p*p*p;
+	float d = q*q + 4*p3 / 27;
+	if (d >= 0) {
+		float z = (float) STBTT_sqrt(d);
+		float u = (-q + z) / 2;
+		float v = (-q - z) / 2;
+		u = stbtt__cuberoot(u);
+		v = stbtt__cuberoot(v);
+		r[0] = s + u + v;
+		return 1;
+	} else {
+	   float u = (float) STBTT_sqrt(-p/3);
+	   float v = (float) STBTT_acos(-STBTT_sqrt(-27/p3) * q / 2) / 3; // p3 must be negative, since d is negative
+	   float m = (float) STBTT_cos(v);
+      float n = (float) STBTT_cos(v-3.141592/2)*1.732050808f;
+	   r[0] = s + u * 2 * m;
+	   r[1] = s - u * (m + n);
+	   r[2] = s - u * (m - n);
+
+      //STBTT_assert( STBTT_fabs(((r[0]+a)*r[0]+b)*r[0]+c) < 0.05f);  // these asserts may not be safe at all scales, though they're in bezier t parameter units so maybe?
+      //STBTT_assert( STBTT_fabs(((r[1]+a)*r[1]+b)*r[1]+c) < 0.05f);
+      //STBTT_assert( STBTT_fabs(((r[2]+a)*r[2]+b)*r[2]+c) < 0.05f);
+   	return 3;
+   }
+}
+
+STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float scale, int glyph, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff)
+{
+   float scale_x = scale, scale_y = scale;
+   int ix0,iy0,ix1,iy1;
+   int w,h;
+   unsigned char *data;
+
+   if (scale == 0) return NULL;
+
+   stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale, scale, 0.0f,0.0f, &ix0,&iy0,&ix1,&iy1);
+
+   // if empty, return NULL
+   if (ix0 == ix1 || iy0 == iy1)
+      return NULL;
+
+   ix0 -= padding;
+   iy0 -= padding;
+   ix1 += padding;
+   iy1 += padding;
+
+   w = (ix1 - ix0);
+   h = (iy1 - iy0);
+
+   if (width ) *width  = w;
+   if (height) *height = h;
+   if (xoff  ) *xoff   = ix0;
+   if (yoff  ) *yoff   = iy0;
+
+   // invert for y-downwards bitmaps
+   scale_y = -scale_y;
+
+   {
+      int x,y,i,j;
+      float *precompute;
+      stbtt_vertex *verts;
+      int num_verts = stbtt_GetGlyphShape(info, glyph, &verts);
+      data = (unsigned char *) STBTT_malloc(w * h, info->userdata);
+      precompute = (float *) STBTT_malloc(num_verts * sizeof(float), info->userdata);
+
+      for (i=0,j=num_verts-1; i < num_verts; j=i++) {
+         if (verts[i].type == STBTT_vline) {
+            float x0 = verts[i].x*scale_x, y0 = verts[i].y*scale_y;
+            float x1 = verts[j].x*scale_x, y1 = verts[j].y*scale_y;
+            float dist = (float) STBTT_sqrt((x1-x0)*(x1-x0) + (y1-y0)*(y1-y0));
+            precompute[i] = (dist == 0) ? 0.0f : 1.0f / dist;
+         } else if (verts[i].type == STBTT_vcurve) {
+            float x2 = verts[j].x *scale_x, y2 = verts[j].y *scale_y;
+            float x1 = verts[i].cx*scale_x, y1 = verts[i].cy*scale_y;
+            float x0 = verts[i].x *scale_x, y0 = verts[i].y *scale_y;
+            float bx = x0 - 2*x1 + x2, by = y0 - 2*y1 + y2;
+            float len2 = bx*bx + by*by;
+            if (len2 != 0.0f)
+               precompute[i] = 1.0f / (bx*bx + by*by);
+            else
+               precompute[i] = 0.0f;
+         } else
+            precompute[i] = 0.0f;
+      }
+
+      for (y=iy0; y < iy1; ++y) {
+         for (x=ix0; x < ix1; ++x) {
+            float val;
+            float min_dist = 999999.0f;
+            float sx = (float) x + 0.5f;
+            float sy = (float) y + 0.5f;
+            float x_gspace = (sx / scale_x);
+            float y_gspace = (sy / scale_y);
+
+            int winding = stbtt__compute_crossings_x(x_gspace, y_gspace, num_verts, verts); // @OPTIMIZE: this could just be a rasterization, but needs to be line vs. non-tesselated curves so a new path
+
+            for (i=0; i < num_verts; ++i) {
+               float x0 = verts[i].x*scale_x, y0 = verts[i].y*scale_y;
+
+               // check against every point here rather than inside line/curve primitives -- @TODO: wrong if multiple 'moves' in a row produce a garbage point, and given culling, probably more efficient to do within line/curve
+               float dist2 = (x0-sx)*(x0-sx) + (y0-sy)*(y0-sy);
+               if (dist2 < min_dist*min_dist)
+                  min_dist = (float) STBTT_sqrt(dist2);
+
+               if (verts[i].type == STBTT_vline) {
+                  float x1 = verts[i-1].x*scale_x, y1 = verts[i-1].y*scale_y;
+
+                  // coarse culling against bbox
+                  //if (sx > STBTT_min(x0,x1)-min_dist && sx < STBTT_max(x0,x1)+min_dist &&
+                  //    sy > STBTT_min(y0,y1)-min_dist && sy < STBTT_max(y0,y1)+min_dist)
+                  float dist = (float) STBTT_fabs((x1-x0)*(y0-sy) - (y1-y0)*(x0-sx)) * precompute[i];
+                  STBTT_assert(i != 0);
+                  if (dist < min_dist) {
+                     // check position along line
+                     // x' = x0 + t*(x1-x0), y' = y0 + t*(y1-y0)
+                     // minimize (x'-sx)*(x'-sx)+(y'-sy)*(y'-sy)
+                     float dx = x1-x0, dy = y1-y0;
+                     float px = x0-sx, py = y0-sy;
+                     // minimize (px+t*dx)^2 + (py+t*dy)^2 = px*px + 2*px*dx*t + t^2*dx*dx + py*py + 2*py*dy*t + t^2*dy*dy
+                     // derivative: 2*px*dx + 2*py*dy + (2*dx*dx+2*dy*dy)*t, set to 0 and solve
+                     float t = -(px*dx + py*dy) / (dx*dx + dy*dy);
+                     if (t >= 0.0f && t <= 1.0f)
+                        min_dist = dist;
+                  }
+               } else if (verts[i].type == STBTT_vcurve) {
+                  float x2 = verts[i-1].x *scale_x, y2 = verts[i-1].y *scale_y;
+                  float x1 = verts[i  ].cx*scale_x, y1 = verts[i  ].cy*scale_y;
+                  float box_x0 = STBTT_min(STBTT_min(x0,x1),x2);
+                  float box_y0 = STBTT_min(STBTT_min(y0,y1),y2);
+                  float box_x1 = STBTT_max(STBTT_max(x0,x1),x2);
+                  float box_y1 = STBTT_max(STBTT_max(y0,y1),y2);
+                  // coarse culling against bbox to avoid computing cubic unnecessarily
+                  if (sx > box_x0-min_dist && sx < box_x1+min_dist && sy > box_y0-min_dist && sy < box_y1+min_dist) {
+                     int num=0;
+                     float ax = x1-x0, ay = y1-y0;
+                     float bx = x0 - 2*x1 + x2, by = y0 - 2*y1 + y2;
+                     float mx = x0 - sx, my = y0 - sy;
+                     float res[3],px,py,t,it;
+                     float a_inv = precompute[i];
+                     if (a_inv == 0.0) { // if a_inv is 0, it's 2nd degree so use quadratic formula
+                        float a = 3*(ax*bx + ay*by);
+                        float b = 2*(ax*ax + ay*ay) + (mx*bx+my*by);
+                        float c = mx*ax+my*ay;
+                        if (a == 0.0) { // if a is 0, it's linear
+                           if (b != 0.0) {
+                              res[num++] = -c/b;
+                           }
+                        } else {
+                           float discriminant = b*b - 4*a*c;
+                           if (discriminant < 0)
+                              num = 0;
+                           else {
+                              float root = (float) STBTT_sqrt(discriminant);
+                              res[0] = (-b - root)/(2*a);
+                              res[1] = (-b + root)/(2*a);
+                              num = 2; // don't bother distinguishing 1-solution case, as code below will still work
+                           }
+                        }
+                     } else {
+                        float b = 3*(ax*bx + ay*by) * a_inv; // could precompute this as it doesn't depend on sample point
+                        float c = (2*(ax*ax + ay*ay) + (mx*bx+my*by)) * a_inv;
+                        float d = (mx*ax+my*ay) * a_inv;
+                        num = stbtt__solve_cubic(b, c, d, res);
+                     }
+                     if (num >= 1 && res[0] >= 0.0f && res[0] <= 1.0f) {
+                        t = res[0], it = 1.0f - t;
+                        px = it*it*x0 + 2*t*it*x1 + t*t*x2;
+                        py = it*it*y0 + 2*t*it*y1 + t*t*y2;
+                        dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy);
+                        if (dist2 < min_dist * min_dist)
+                           min_dist = (float) STBTT_sqrt(dist2);
+                     }
+                     if (num >= 2 && res[1] >= 0.0f && res[1] <= 1.0f) {
+                        t = res[1], it = 1.0f - t;
+                        px = it*it*x0 + 2*t*it*x1 + t*t*x2;
+                        py = it*it*y0 + 2*t*it*y1 + t*t*y2;
+                        dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy);
+                        if (dist2 < min_dist * min_dist)
+                           min_dist = (float) STBTT_sqrt(dist2);
+                     }
+                     if (num >= 3 && res[2] >= 0.0f && res[2] <= 1.0f) {
+                        t = res[2], it = 1.0f - t;
+                        px = it*it*x0 + 2*t*it*x1 + t*t*x2;
+                        py = it*it*y0 + 2*t*it*y1 + t*t*y2;
+                        dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy);
+                        if (dist2 < min_dist * min_dist)
+                           min_dist = (float) STBTT_sqrt(dist2);
+                     }
+                  }
+               }
+            }
+            if (winding == 0)
+               min_dist = -min_dist;  // if outside the shape, value is negative
+            val = onedge_value + pixel_dist_scale * min_dist;
+            if (val < 0)
+               val = 0;
+            else if (val > 255)
+               val = 255;
+            data[(y-iy0)*w+(x-ix0)] = (unsigned char) val;
+         }
+      }
+      STBTT_free(precompute, info->userdata);
+      STBTT_free(verts, info->userdata);
+   }
+   return data;
+}
+
+STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff)
+{
+   return stbtt_GetGlyphSDF(info, scale, stbtt_FindGlyphIndex(info, codepoint), padding, onedge_value, pixel_dist_scale, width, height, xoff, yoff);
+}
+
+STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata)
+{
+   STBTT_free(bitmap, userdata);
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//
+// font name matching -- recommended not to use this
+//
+
+// check if a utf8 string contains a prefix which is the utf16 string; if so return length of matching utf8 string
+static stbtt_int32 stbtt__CompareUTF8toUTF16_bigendian_prefix(stbtt_uint8 *s1, stbtt_int32 len1, stbtt_uint8 *s2, stbtt_int32 len2)
+{
+   stbtt_int32 i=0;
+
+   // convert utf16 to utf8 and compare the results while converting
+   while (len2) {
+      stbtt_uint16 ch = s2[0]*256 + s2[1];
+      if (ch < 0x80) {
+         if (i >= len1) return -1;
+         if (s1[i++] != ch) return -1;
+      } else if (ch < 0x800) {
+         if (i+1 >= len1) return -1;
+         if (s1[i++] != 0xc0 + (ch >> 6)) return -1;
+         if (s1[i++] != 0x80 + (ch & 0x3f)) return -1;
+      } else if (ch >= 0xd800 && ch < 0xdc00) {
+         stbtt_uint32 c;
+         stbtt_uint16 ch2 = s2[2]*256 + s2[3];
+         if (i+3 >= len1) return -1;
+         c = ((ch - 0xd800) << 10) + (ch2 - 0xdc00) + 0x10000;
+         if (s1[i++] != 0xf0 + (c >> 18)) return -1;
+         if (s1[i++] != 0x80 + ((c >> 12) & 0x3f)) return -1;
+         if (s1[i++] != 0x80 + ((c >>  6) & 0x3f)) return -1;
+         if (s1[i++] != 0x80 + ((c      ) & 0x3f)) return -1;
+         s2 += 2; // plus another 2 below
+         len2 -= 2;
+      } else if (ch >= 0xdc00 && ch < 0xe000) {
+         return -1;
+      } else {
+         if (i+2 >= len1) return -1;
+         if (s1[i++] != 0xe0 + (ch >> 12)) return -1;
+         if (s1[i++] != 0x80 + ((ch >> 6) & 0x3f)) return -1;
+         if (s1[i++] != 0x80 + ((ch     ) & 0x3f)) return -1;
+      }
+      s2 += 2;
+      len2 -= 2;
+   }
+   return i;
+}
+
+static int stbtt_CompareUTF8toUTF16_bigendian_internal(char *s1, int len1, char *s2, int len2)
+{
+   return len1 == stbtt__CompareUTF8toUTF16_bigendian_prefix((stbtt_uint8*) s1, len1, (stbtt_uint8*) s2, len2);
+}
+
+// returns results in whatever encoding you request... but note that 2-byte encodings
+// will be BIG-ENDIAN... use stbtt_CompareUTF8toUTF16_bigendian() to compare
+STBTT_DEF const char *stbtt_GetFontNameString(const stbtt_fontinfo *font, int *length, int platformID, int encodingID, int languageID, int nameID)
+{
+   stbtt_int32 i,count,stringOffset;
+   stbtt_uint8 *fc = font->data;
+   stbtt_uint32 offset = font->fontstart;
+   stbtt_uint32 nm = stbtt__find_table(fc, offset, "name");
+   if (!nm) return NULL;
+
+   count = ttUSHORT(fc+nm+2);
+   stringOffset = nm + ttUSHORT(fc+nm+4);
+   for (i=0; i < count; ++i) {
+      stbtt_uint32 loc = nm + 6 + 12 * i;
+      if (platformID == ttUSHORT(fc+loc+0) && encodingID == ttUSHORT(fc+loc+2)
+          && languageID == ttUSHORT(fc+loc+4) && nameID == ttUSHORT(fc+loc+6)) {
+         *length = ttUSHORT(fc+loc+8);
+         return (const char *) (fc+stringOffset+ttUSHORT(fc+loc+10));
+      }
+   }
+   return NULL;
+}
+
+static int stbtt__matchpair(stbtt_uint8 *fc, stbtt_uint32 nm, stbtt_uint8 *name, stbtt_int32 nlen, stbtt_int32 target_id, stbtt_int32 next_id)
+{
+   stbtt_int32 i;
+   stbtt_int32 count = ttUSHORT(fc+nm+2);
+   stbtt_int32 stringOffset = nm + ttUSHORT(fc+nm+4);
+
+   for (i=0; i < count; ++i) {
+      stbtt_uint32 loc = nm + 6 + 12 * i;
+      stbtt_int32 id = ttUSHORT(fc+loc+6);
+      if (id == target_id) {
+         // find the encoding
+         stbtt_int32 platform = ttUSHORT(fc+loc+0), encoding = ttUSHORT(fc+loc+2), language = ttUSHORT(fc+loc+4);
+
+         // is this a Unicode encoding?
+         if (platform == 0 || (platform == 3 && encoding == 1) || (platform == 3 && encoding == 10)) {
+            stbtt_int32 slen = ttUSHORT(fc+loc+8);
+            stbtt_int32 off = ttUSHORT(fc+loc+10);
+
+            // check if there's a prefix match
+            stbtt_int32 matchlen = stbtt__CompareUTF8toUTF16_bigendian_prefix(name, nlen, fc+stringOffset+off,slen);
+            if (matchlen >= 0) {
+               // check for target_id+1 immediately following, with same encoding & language
+               if (i+1 < count && ttUSHORT(fc+loc+12+6) == next_id && ttUSHORT(fc+loc+12) == platform && ttUSHORT(fc+loc+12+2) == encoding && ttUSHORT(fc+loc+12+4) == language) {
+                  slen = ttUSHORT(fc+loc+12+8);
+                  off = ttUSHORT(fc+loc+12+10);
+                  if (slen == 0) {
+                     if (matchlen == nlen)
+                        return 1;
+                  } else if (matchlen < nlen && name[matchlen] == ' ') {
+                     ++matchlen;
+                     if (stbtt_CompareUTF8toUTF16_bigendian_internal((char*) (name+matchlen), nlen-matchlen, (char*)(fc+stringOffset+off),slen))
+                        return 1;
+                  }
+               } else {
+                  // if nothing immediately following
+                  if (matchlen == nlen)
+                     return 1;
+               }
+            }
+         }
+
+         // @TODO handle other encodings
+      }
+   }
+   return 0;
+}
+
+static int stbtt__matches(stbtt_uint8 *fc, stbtt_uint32 offset, stbtt_uint8 *name, stbtt_int32 flags)
+{
+   stbtt_int32 nlen = (stbtt_int32) STBTT_strlen((char *) name);
+   stbtt_uint32 nm,hd;
+   if (!stbtt__isfont(fc+offset)) return 0;
+
+   // check italics/bold/underline flags in macStyle...
+   if (flags) {
+      hd = stbtt__find_table(fc, offset, "head");
+      if ((ttUSHORT(fc+hd+44) & 7) != (flags & 7)) return 0;
+   }
+
+   nm = stbtt__find_table(fc, offset, "name");
+   if (!nm) return 0;
+
+   if (flags) {
+      // if we checked the macStyle flags, then just check the family and ignore the subfamily
+      if (stbtt__matchpair(fc, nm, name, nlen, 16, -1))  return 1;
+      if (stbtt__matchpair(fc, nm, name, nlen,  1, -1))  return 1;
+      if (stbtt__matchpair(fc, nm, name, nlen,  3, -1))  return 1;
+   } else {
+      if (stbtt__matchpair(fc, nm, name, nlen, 16, 17))  return 1;
+      if (stbtt__matchpair(fc, nm, name, nlen,  1,  2))  return 1;
+      if (stbtt__matchpair(fc, nm, name, nlen,  3, -1))  return 1;
+   }
+
+   return 0;
+}
+
+static int stbtt_FindMatchingFont_internal(unsigned char *font_collection, char *name_utf8, stbtt_int32 flags)
+{
+   stbtt_int32 i;
+   for (i=0;;++i) {
+      stbtt_int32 off = stbtt_GetFontOffsetForIndex(font_collection, i);
+      if (off < 0) return off;
+      if (stbtt__matches((stbtt_uint8 *) font_collection, off, (stbtt_uint8*) name_utf8, flags))
+         return off;
+   }
+}
+
+#if defined(__GNUC__) || defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-qual"
+#endif
+
+STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset,
+                                float pixel_height, unsigned char *pixels, int pw, int ph,
+                                int first_char, int num_chars, stbtt_bakedchar *chardata)
+{
+   return stbtt_BakeFontBitmap_internal((unsigned char *) data, offset, pixel_height, pixels, pw, ph, first_char, num_chars, chardata);
+}
+
+STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index)
+{
+   return stbtt_GetFontOffsetForIndex_internal((unsigned char *) data, index);
+}
+
+STBTT_DEF int stbtt_GetNumberOfFonts(const unsigned char *data)
+{
+   return stbtt_GetNumberOfFonts_internal((unsigned char *) data);
+}
+
+STBTT_DEF int stbtt_InitFont(stbtt_fontinfo *info, const unsigned char *data, int offset)
+{
+   return stbtt_InitFont_internal(info, (unsigned char *) data, offset);
+}
+
+STBTT_DEF int stbtt_FindMatchingFont(const unsigned char *fontdata, const char *name, int flags)
+{
+   return stbtt_FindMatchingFont_internal((unsigned char *) fontdata, (char *) name, flags);
+}
+
+STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const char *s2, int len2)
+{
+   return stbtt_CompareUTF8toUTF16_bigendian_internal((char *) s1, len1, (char *) s2, len2);
+}
+
+#if defined(__GNUC__) || defined(__clang__)
+#pragma GCC diagnostic pop
+#endif
+
+#endif // STB_TRUETYPE_IMPLEMENTATION
+
+
+// FULL VERSION HISTORY
+//
+//   1.19 (2018-02-11) OpenType GPOS kerning (horizontal only), STBTT_fmod
+//   1.18 (2018-01-29) add missing function
+//   1.17 (2017-07-23) make more arguments const; doc fix
+//   1.16 (2017-07-12) SDF support
+//   1.15 (2017-03-03) make more arguments const
+//   1.14 (2017-01-16) num-fonts-in-TTC function
+//   1.13 (2017-01-02) support OpenType fonts, certain Apple fonts
+//   1.12 (2016-10-25) suppress warnings about casting away const with -Wcast-qual
+//   1.11 (2016-04-02) fix unused-variable warning
+//   1.10 (2016-04-02) allow user-defined fabs() replacement
+//                     fix memory leak if fontsize=0.0
+//                     fix warning from duplicate typedef
+//   1.09 (2016-01-16) warning fix; avoid crash on outofmem; use alloc userdata for PackFontRanges
+//   1.08 (2015-09-13) document stbtt_Rasterize(); fixes for vertical & horizontal edges
+//   1.07 (2015-08-01) allow PackFontRanges to accept arrays of sparse codepoints;
+//                     allow PackFontRanges to pack and render in separate phases;
+//                     fix stbtt_GetFontOFfsetForIndex (never worked for non-0 input?);
+//                     fixed an assert() bug in the new rasterizer
+//                     replace assert() with STBTT_assert() in new rasterizer
+//   1.06 (2015-07-14) performance improvements (~35% faster on x86 and x64 on test machine)
+//                     also more precise AA rasterizer, except if shapes overlap
+//                     remove need for STBTT_sort
+//   1.05 (2015-04-15) fix misplaced definitions for STBTT_STATIC
+//   1.04 (2015-04-15) typo in example
+//   1.03 (2015-04-12) STBTT_STATIC, fix memory leak in new packing, various fixes
+//   1.02 (2014-12-10) fix various warnings & compile issues w/ stb_rect_pack, C++
+//   1.01 (2014-12-08) fix subpixel position when oversampling to exactly match
+//                        non-oversampled; STBTT_POINT_SIZE for packed case only
+//   1.00 (2014-12-06) add new PackBegin etc. API, w/ support for oversampling
+//   0.99 (2014-09-18) fix multiple bugs with subpixel rendering (ryg)
+//   0.9  (2014-08-07) support certain mac/iOS fonts without an MS platformID
+//   0.8b (2014-07-07) fix a warning
+//   0.8  (2014-05-25) fix a few more warnings
+//   0.7  (2013-09-25) bugfix: subpixel glyph bug fixed in 0.5 had come back
+//   0.6c (2012-07-24) improve documentation
+//   0.6b (2012-07-20) fix a few more warnings
+//   0.6  (2012-07-17) fix warnings; added stbtt_ScaleForMappingEmToPixels,
+//                        stbtt_GetFontBoundingBox, stbtt_IsGlyphEmpty
+//   0.5  (2011-12-09) bugfixes:
+//                        subpixel glyph renderer computed wrong bounding box
+//                        first vertex of shape can be off-curve (FreeSans)
+//   0.4b (2011-12-03) fixed an error in the font baking example
+//   0.4  (2011-12-01) kerning, subpixel rendering (tor)
+//                    bugfixes for:
+//                        codepoint-to-glyph conversion using table fmt=12
+//                        codepoint-to-glyph conversion using table fmt=4
+//                        stbtt_GetBakedQuad with non-square texture (Zer)
+//                    updated Hello World! sample to use kerning and subpixel
+//                    fixed some warnings
+//   0.3  (2009-06-24) cmap fmt=12, compound shapes (MM)
+//                    userdata, malloc-from-userdata, non-zero fill (stb)
+//   0.2  (2009-03-11) Fix unsigned/signed char warnings
+//   0.1  (2009-03-09) First public release
+//
+
+/*
+------------------------------------------------------------------------------
+This software is available under 2 licenses -- choose whichever you prefer.
+------------------------------------------------------------------------------
+ALTERNATIVE A - MIT License
+Copyright (c) 2017 Sean Barrett
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+------------------------------------------------------------------------------
+ALTERNATIVE B - Public Domain (www.unlicense.org)
+This is free and unencumbered software released into the public domain.
+Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
+software, either in source code form or as a compiled binary, for any purpose,
+commercial or non-commercial, and by any means.
+In jurisdictions that recognize copyright laws, the author or authors of this
+software dedicate any and all copyright interest in the software to the public
+domain. We make this dedication for the benefit of the public at large and to
+the detriment of our heirs and successors. We intend this dedication to be an
+overt act of relinquishment in perpetuity of all present and future rights to
+this software under copyright law.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+------------------------------------------------------------------------------
+*/
diff --git a/phonelibs/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl.h
rename to third_party/opencl/include/CL/cl.h
diff --git a/phonelibs/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl_d3d10.h
rename to third_party/opencl/include/CL/cl_d3d10.h
diff --git a/phonelibs/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl_d3d11.h
rename to third_party/opencl/include/CL/cl_d3d11.h
diff --git a/phonelibs/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl_dx9_media_sharing.h
rename to third_party/opencl/include/CL/cl_dx9_media_sharing.h
diff --git a/phonelibs/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl_egl.h
rename to third_party/opencl/include/CL/cl_egl.h
diff --git a/phonelibs/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl_ext.h
rename to third_party/opencl/include/CL/cl_ext.h
diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h
new file mode 100644
index 00000000000000..6328a1cd93a10e
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_ext_qcom.h
@@ -0,0 +1,255 @@
+/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc.  All Rights Reserved.
+ * Qualcomm Technologies Proprietary and Confidential.
+ */
+
+#ifndef __OPENCL_CL_EXT_QCOM_H
+#define __OPENCL_CL_EXT_QCOM_H
+
+// Needed by cl_khr_egl_event extension 
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+#include <CL/cl_ext.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************
+ * cl_qcom_create_buffer_from_image *
+ ************************************/
+
+#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM         0x40C0
+#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM       0x40C1
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateBufferFromImageQCOM(cl_mem       image,
+                            cl_mem_flags flags,
+                            cl_int      *errcode_ret);
+
+
+/************************************
+ * cl_qcom_limited_printf extension *
+ ************************************/
+
+/* Builtin printf function buffer size in bytes. */
+#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM           0x1049
+
+
+/*************************************
+ * cl_qcom_extended_images extension *
+ *************************************/
+
+#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM      0x40AA
+#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM   0x40AB
+#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM  0x40AC
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM   0x40AD
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM  0x40AE
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM   0x40AF
+
+/*************************************
+ * cl_qcom_perf_hint extension *
+ *************************************/
+
+typedef cl_uint                                     cl_perf_hint;
+
+#define CL_CONTEXT_PERF_HINT_QCOM                   0x40C2
+
+/*cl_perf_hint*/
+#define CL_PERF_HINT_HIGH_QCOM                      0x40C3
+#define CL_PERF_HINT_NORMAL_QCOM                    0x40C4
+#define CL_PERF_HINT_LOW_QCOM                       0x40C5
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetPerfHintQCOM(cl_context    context,
+                  cl_perf_hint  perf_hint);
+
+// This extension is published at Khronos, so its definitions are made in cl_ext.h.
+// This duplication is for backward compatibility.
+
+#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
+
+/*********************************
+* cl_qcom_android_native_buffer_host_ptr extension
+*********************************/
+
+#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM                  0x40C6
+
+
+typedef struct _cl_mem_android_native_buffer_host_ptr
+{
+    // Type of external memory allocation.
+    // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
+    cl_mem_ext_host_ptr  ext_host_ptr;
+
+    // Virtual pointer to the android native buffer
+    void*                anb_ptr;
+
+} cl_mem_android_native_buffer_host_ptr;
+
+#endif   //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
+
+/***********************************
+* cl_img_egl_image extension *
+************************************/
+typedef void* CLeglImageIMG;
+typedef void* CLeglDisplayIMG;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromEGLImageIMG(cl_context      context,
+                        cl_mem_flags     flags,
+                        CLeglImageIMG    image,
+                        CLeglDisplayIMG  display,
+                        cl_int           *errcode_ret);
+
+
+/*********************************
+* cl_qcom_other_image extension
+*********************************/
+
+// Extended flag for creating/querying QCOM non-standard images
+#define CL_MEM_OTHER_IMAGE_QCOM                             (1<<25)
+
+// cl_channel_type
+#define CL_QCOM_UNORM_MIPI10                                0x4159
+#define CL_QCOM_UNORM_MIPI12                                0x415A
+#define CL_QCOM_UNSIGNED_MIPI10                             0x415B
+#define CL_QCOM_UNSIGNED_MIPI12                             0x415C
+#define CL_QCOM_UNORM_INT10                                 0x415D
+#define CL_QCOM_UNORM_INT12                                 0x415E
+#define CL_QCOM_UNSIGNED_INT16                              0x415F
+
+// cl_channel_order
+// Dedicate 0x4130-0x415F range for QCOM extended image formats
+// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
+#define CL_QCOM_BAYER                                       0x414E
+
+#define CL_QCOM_NV12                                        0x4133
+#define CL_QCOM_NV12_Y                                      0x4134
+#define CL_QCOM_NV12_UV                                     0x4135
+
+#define CL_QCOM_TILED_NV12                                  0x4136
+#define CL_QCOM_TILED_NV12_Y                                0x4137
+#define CL_QCOM_TILED_NV12_UV                               0x4138
+
+#define CL_QCOM_P010                                        0x413C
+#define CL_QCOM_P010_Y                                      0x413D
+#define CL_QCOM_P010_UV                                     0x413E
+
+#define CL_QCOM_TILED_P010                                  0x413F
+#define CL_QCOM_TILED_P010_Y                                0x4140
+#define CL_QCOM_TILED_P010_UV                               0x4141
+
+
+#define CL_QCOM_TP10                                        0x4145
+#define CL_QCOM_TP10_Y                                      0x4146
+#define CL_QCOM_TP10_UV                                     0x4147
+
+#define CL_QCOM_TILED_TP10                                  0x4148
+#define CL_QCOM_TILED_TP10_Y                                0x4149
+#define CL_QCOM_TILED_TP10_UV                               0x414A
+
+/*********************************
+* cl_qcom_compressed_image extension
+*********************************/
+
+// Extended flag for creating/querying QCOM non-planar compressed images
+#define CL_MEM_COMPRESSED_IMAGE_QCOM                        (1<<27)
+
+// Extended image format
+// cl_channel_order
+#define CL_QCOM_COMPRESSED_RGBA                             0x4130
+#define CL_QCOM_COMPRESSED_RGBx                             0x4131
+
+#define CL_QCOM_COMPRESSED_NV12_Y                           0x413A
+#define CL_QCOM_COMPRESSED_NV12_UV                          0x413B
+
+#define CL_QCOM_COMPRESSED_P010                             0x4142
+#define CL_QCOM_COMPRESSED_P010_Y                           0x4143
+#define CL_QCOM_COMPRESSED_P010_UV                          0x4144
+
+#define CL_QCOM_COMPRESSED_TP10                             0x414B
+#define CL_QCOM_COMPRESSED_TP10_Y                           0x414C
+#define CL_QCOM_COMPRESSED_TP10_UV                          0x414D
+
+#define CL_QCOM_COMPRESSED_NV12_4R                          0x414F
+#define CL_QCOM_COMPRESSED_NV12_4R_Y                        0x4150
+#define CL_QCOM_COMPRESSED_NV12_4R_UV                       0x4151
+/*********************************
+* cl_qcom_compressed_yuv_image_read extension
+*********************************/
+
+// Extended flag for creating/querying QCOM compressed images
+#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM                    (1<<28)
+
+// Extended image format
+#define CL_QCOM_COMPRESSED_NV12                             0x10C4
+
+// Extended flag for setting ION buffer allocation type
+#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM                 0x40CD
+#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM       0x40CE
+
+/*********************************
+* cl_qcom_accelerated_image_ops
+*********************************/
+#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM                         0x4110
+#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM                       0x4111
+#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM                    0x4112
+#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM                    0x4113
+#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM         0x4114
+#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM         0x4115
+
+//Extended flag for specifying weight image type
+#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM                          (1<<0)
+
+// Box Filter
+typedef struct _cl_box_filter_size_qcom
+{
+    // Width of box filter on X direction.
+    float box_filter_width;
+
+    // Height of box filter on Y direction.
+    float box_filter_height;
+} cl_box_filter_size_qcom;
+
+// HOF Weight Image Desc
+typedef struct _cl_weight_desc_qcom
+{
+    /** Coordinate of the "center" point of the weight image,
+        based on the weight image's top-left corner as the origin. */
+    size_t        center_coord_x;
+    size_t        center_coord_y;
+    cl_bitfield   flags;
+} cl_weight_desc_qcom;
+
+typedef struct _cl_weight_image_desc_qcom
+{
+    cl_image_desc           image_desc;
+    cl_weight_desc_qcom     weight_desc;
+} cl_weight_image_desc_qcom;
+
+/*************************************
+ * cl_qcom_protected_context extension *
+ *************************************/
+
+#define CL_CONTEXT_PROTECTED_QCOM                    0x40C7
+#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM           0x40C8
+
+/*************************************
+ * cl_qcom_priority_hint extension *
+ *************************************/
+#define CL_PRIORITY_HINT_NONE_QCOM                   0
+typedef cl_uint                                     cl_priority_hint;
+
+#define CL_CONTEXT_PRIORITY_HINT_QCOM               0x40C9
+
+/*cl_priority_hint*/
+#define CL_PRIORITY_HINT_HIGH_QCOM                  0x40CA
+#define CL_PRIORITY_HINT_NORMAL_QCOM                0x40CB
+#define CL_PRIORITY_HINT_LOW_QCOM                   0x40CC
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_EXT_QCOM_H */
diff --git a/phonelibs/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl_gl.h
rename to third_party/opencl/include/CL/cl_gl.h
diff --git a/phonelibs/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl_gl_ext.h
rename to third_party/opencl/include/CL/cl_gl_ext.h
diff --git a/phonelibs/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h
similarity index 100%
rename from phonelibs/opencl/include/CL/cl_platform.h
rename to third_party/opencl/include/CL/cl_platform.h
diff --git a/phonelibs/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h
similarity index 100%
rename from phonelibs/opencl/include/CL/opencl.h
rename to third_party/opencl/include/CL/opencl.h
diff --git a/phonelibs/openmax/include/OMX_Audio.h b/third_party/openmax/include/OMX_Audio.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Audio.h
rename to third_party/openmax/include/OMX_Audio.h
diff --git a/phonelibs/openmax/include/OMX_Component.h b/third_party/openmax/include/OMX_Component.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Component.h
rename to third_party/openmax/include/OMX_Component.h
diff --git a/phonelibs/openmax/include/OMX_ContentPipe.h b/third_party/openmax/include/OMX_ContentPipe.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_ContentPipe.h
rename to third_party/openmax/include/OMX_ContentPipe.h
diff --git a/phonelibs/openmax/include/OMX_Core.h b/third_party/openmax/include/OMX_Core.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Core.h
rename to third_party/openmax/include/OMX_Core.h
diff --git a/phonelibs/openmax/include/OMX_CoreExt.h b/third_party/openmax/include/OMX_CoreExt.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_CoreExt.h
rename to third_party/openmax/include/OMX_CoreExt.h
diff --git a/phonelibs/openmax/include/OMX_IVCommon.h b/third_party/openmax/include/OMX_IVCommon.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_IVCommon.h
rename to third_party/openmax/include/OMX_IVCommon.h
diff --git a/phonelibs/openmax/include/OMX_Image.h b/third_party/openmax/include/OMX_Image.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Image.h
rename to third_party/openmax/include/OMX_Image.h
diff --git a/phonelibs/openmax/include/OMX_Index.h b/third_party/openmax/include/OMX_Index.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Index.h
rename to third_party/openmax/include/OMX_Index.h
diff --git a/phonelibs/openmax/include/OMX_IndexExt.h b/third_party/openmax/include/OMX_IndexExt.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_IndexExt.h
rename to third_party/openmax/include/OMX_IndexExt.h
diff --git a/phonelibs/openmax/include/OMX_Other.h b/third_party/openmax/include/OMX_Other.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Other.h
rename to third_party/openmax/include/OMX_Other.h
diff --git a/phonelibs/openmax/include/OMX_QCOMExtns.h b/third_party/openmax/include/OMX_QCOMExtns.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_QCOMExtns.h
rename to third_party/openmax/include/OMX_QCOMExtns.h
diff --git a/phonelibs/openmax/include/OMX_Skype_VideoExtensions.h b/third_party/openmax/include/OMX_Skype_VideoExtensions.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Skype_VideoExtensions.h
rename to third_party/openmax/include/OMX_Skype_VideoExtensions.h
diff --git a/phonelibs/openmax/include/OMX_Types.h b/third_party/openmax/include/OMX_Types.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Types.h
rename to third_party/openmax/include/OMX_Types.h
diff --git a/phonelibs/openmax/include/OMX_Video.h b/third_party/openmax/include/OMX_Video.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Video.h
rename to third_party/openmax/include/OMX_Video.h
diff --git a/phonelibs/openmax/include/OMX_VideoExt.h b/third_party/openmax/include/OMX_VideoExt.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_VideoExt.h
rename to third_party/openmax/include/OMX_VideoExt.h
diff --git a/third_party/qrcode/QrCode.cc b/third_party/qrcode/QrCode.cc
new file mode 100644
index 00000000000000..b9de86215e204a
--- /dev/null
+++ b/third_party/qrcode/QrCode.cc
@@ -0,0 +1,862 @@
+/* 
+ * QR Code generator library (C++)
+ * 
+ * Copyright (c) Project Nayuki. (MIT License)
+ * https://www.nayuki.io/page/qr-code-generator-library
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ * - The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * - The Software is provided "as is", without warranty of any kind, express or
+ *   implied, including but not limited to the warranties of merchantability,
+ *   fitness for a particular purpose and noninfringement. In no event shall the
+ *   authors or copyright holders be liable for any claim, damages or other
+ *   liability, whether in an action of contract, tort or otherwise, arising from,
+ *   out of or in connection with the Software or the use or other dealings in the
+ *   Software.
+ */
+
+#include <algorithm>
+#include <climits>
+#include <cstddef>
+#include <cstdlib>
+#include <cstring>
+#include <sstream>
+#include <stdexcept>
+#include <utility>
+#include "QrCode.hpp"
+
+using std::int8_t;
+using std::uint8_t;
+using std::size_t;
+using std::vector;
+
+
+namespace qrcodegen {
+
+QrSegment::Mode::Mode(int mode, int cc0, int cc1, int cc2) :
+		modeBits(mode) {
+	numBitsCharCount[0] = cc0;
+	numBitsCharCount[1] = cc1;
+	numBitsCharCount[2] = cc2;
+}
+
+
+int QrSegment::Mode::getModeBits() const {
+	return modeBits;
+}
+
+
+int QrSegment::Mode::numCharCountBits(int ver) const {
+	return numBitsCharCount[(ver + 7) / 17];
+}
+
+
+const QrSegment::Mode QrSegment::Mode::NUMERIC     (0x1, 10, 12, 14);
+const QrSegment::Mode QrSegment::Mode::ALPHANUMERIC(0x2,  9, 11, 13);
+const QrSegment::Mode QrSegment::Mode::BYTE        (0x4,  8, 16, 16);
+const QrSegment::Mode QrSegment::Mode::KANJI       (0x8,  8, 10, 12);
+const QrSegment::Mode QrSegment::Mode::ECI         (0x7,  0,  0,  0);
+
+
+QrSegment QrSegment::makeBytes(const vector<uint8_t> &data) {
+	if (data.size() > static_cast<unsigned int>(INT_MAX))
+		throw std::length_error("Data too long");
+	BitBuffer bb;
+	for (uint8_t b : data)
+		bb.appendBits(b, 8);
+	return QrSegment(Mode::BYTE, static_cast<int>(data.size()), std::move(bb));
+}
+
+
+QrSegment QrSegment::makeNumeric(const char *digits) {
+	BitBuffer bb;
+	int accumData = 0;
+	int accumCount = 0;
+	int charCount = 0;
+	for (; *digits != '\0'; digits++, charCount++) {
+		char c = *digits;
+		if (c < '0' || c > '9')
+			throw std::domain_error("String contains non-numeric characters");
+		accumData = accumData * 10 + (c - '0');
+		accumCount++;
+		if (accumCount == 3) {
+			bb.appendBits(static_cast<uint32_t>(accumData), 10);
+			accumData = 0;
+			accumCount = 0;
+		}
+	}
+	if (accumCount > 0)  // 1 or 2 digits remaining
+		bb.appendBits(static_cast<uint32_t>(accumData), accumCount * 3 + 1);
+	return QrSegment(Mode::NUMERIC, charCount, std::move(bb));
+}
+
+
+QrSegment QrSegment::makeAlphanumeric(const char *text) {
+	BitBuffer bb;
+	int accumData = 0;
+	int accumCount = 0;
+	int charCount = 0;
+	for (; *text != '\0'; text++, charCount++) {
+		const char *temp = std::strchr(ALPHANUMERIC_CHARSET, *text);
+		if (temp == nullptr)
+			throw std::domain_error("String contains unencodable characters in alphanumeric mode");
+		accumData = accumData * 45 + static_cast<int>(temp - ALPHANUMERIC_CHARSET);
+		accumCount++;
+		if (accumCount == 2) {
+			bb.appendBits(static_cast<uint32_t>(accumData), 11);
+			accumData = 0;
+			accumCount = 0;
+		}
+	}
+	if (accumCount > 0)  // 1 character remaining
+		bb.appendBits(static_cast<uint32_t>(accumData), 6);
+	return QrSegment(Mode::ALPHANUMERIC, charCount, std::move(bb));
+}
+
+
+vector<QrSegment> QrSegment::makeSegments(const char *text) {
+	// Select the most efficient segment encoding automatically
+	vector<QrSegment> result;
+	if (*text == '\0');  // Leave result empty
+	else if (isNumeric(text))
+		result.push_back(makeNumeric(text));
+	else if (isAlphanumeric(text))
+		result.push_back(makeAlphanumeric(text));
+	else {
+		vector<uint8_t> bytes;
+		for (; *text != '\0'; text++)
+			bytes.push_back(static_cast<uint8_t>(*text));
+		result.push_back(makeBytes(bytes));
+	}
+	return result;
+}
+
+
+QrSegment QrSegment::makeEci(long assignVal) {
+	BitBuffer bb;
+	if (assignVal < 0)
+		throw std::domain_error("ECI assignment value out of range");
+	else if (assignVal < (1 << 7))
+		bb.appendBits(static_cast<uint32_t>(assignVal), 8);
+	else if (assignVal < (1 << 14)) {
+		bb.appendBits(2, 2);
+		bb.appendBits(static_cast<uint32_t>(assignVal), 14);
+	} else if (assignVal < 1000000L) {
+		bb.appendBits(6, 3);
+		bb.appendBits(static_cast<uint32_t>(assignVal), 21);
+	} else
+		throw std::domain_error("ECI assignment value out of range");
+	return QrSegment(Mode::ECI, 0, std::move(bb));
+}
+
+
+QrSegment::QrSegment(Mode md, int numCh, const std::vector<bool> &dt) :
+		mode(md),
+		numChars(numCh),
+		data(dt) {
+	if (numCh < 0)
+		throw std::domain_error("Invalid value");
+}
+
+
+QrSegment::QrSegment(Mode md, int numCh, std::vector<bool> &&dt) :
+		mode(md),
+		numChars(numCh),
+		data(std::move(dt)) {
+	if (numCh < 0)
+		throw std::domain_error("Invalid value");
+}
+
+
+int QrSegment::getTotalBits(const vector<QrSegment> &segs, int version) {
+	int result = 0;
+	for (const QrSegment &seg : segs) {
+		int ccbits = seg.mode.numCharCountBits(version);
+		if (seg.numChars >= (1L << ccbits))
+			return -1;  // The segment's length doesn't fit the field's bit width
+		if (4 + ccbits > INT_MAX - result)
+			return -1;  // The sum will overflow an int type
+		result += 4 + ccbits;
+		if (seg.data.size() > static_cast<unsigned int>(INT_MAX - result))
+			return -1;  // The sum will overflow an int type
+		result += static_cast<int>(seg.data.size());
+	}
+	return result;
+}
+
+
+bool QrSegment::isAlphanumeric(const char *text) {
+	for (; *text != '\0'; text++) {
+		if (std::strchr(ALPHANUMERIC_CHARSET, *text) == nullptr)
+			return false;
+	}
+	return true;
+}
+
+
+bool QrSegment::isNumeric(const char *text) {
+	for (; *text != '\0'; text++) {
+		char c = *text;
+		if (c < '0' || c > '9')
+			return false;
+	}
+	return true;
+}
+
+
+QrSegment::Mode QrSegment::getMode() const {
+	return mode;
+}
+
+
+int QrSegment::getNumChars() const {
+	return numChars;
+}
+
+
+const std::vector<bool> &QrSegment::getData() const {
+	return data;
+}
+
+
+const char *QrSegment::ALPHANUMERIC_CHARSET = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ $%*+-./:";
+
+
+
+int QrCode::getFormatBits(Ecc ecl) {
+	switch (ecl) {
+		case Ecc::LOW     :  return 1;
+		case Ecc::MEDIUM  :  return 0;
+		case Ecc::QUARTILE:  return 3;
+		case Ecc::HIGH    :  return 2;
+		default:  throw std::logic_error("Assertion error");
+	}
+}
+
+
+QrCode QrCode::encodeText(const char *text, Ecc ecl) {
+	vector<QrSegment> segs = QrSegment::makeSegments(text);
+	return encodeSegments(segs, ecl);
+}
+
+
+QrCode QrCode::encodeBinary(const vector<uint8_t> &data, Ecc ecl) {
+	vector<QrSegment> segs{QrSegment::makeBytes(data)};
+	return encodeSegments(segs, ecl);
+}
+
+
+QrCode QrCode::encodeSegments(const vector<QrSegment> &segs, Ecc ecl,
+		int minVersion, int maxVersion, int mask, bool boostEcl) {
+	if (!(MIN_VERSION <= minVersion && minVersion <= maxVersion && maxVersion <= MAX_VERSION) || mask < -1 || mask > 7)
+		throw std::invalid_argument("Invalid value");
+	
+	// Find the minimal version number to use
+	int version, dataUsedBits;
+	for (version = minVersion; ; version++) {
+		int dataCapacityBits = getNumDataCodewords(version, ecl) * 8;  // Number of data bits available
+		dataUsedBits = QrSegment::getTotalBits(segs, version);
+		if (dataUsedBits != -1 && dataUsedBits <= dataCapacityBits)
+			break;  // This version number is found to be suitable
+		if (version >= maxVersion) {  // All versions in the range could not fit the given data
+			std::ostringstream sb;
+			if (dataUsedBits == -1)
+				sb << "Segment too long";
+			else {
+				sb << "Data length = " << dataUsedBits << " bits, ";
+				sb << "Max capacity = " << dataCapacityBits << " bits";
+			}
+			throw data_too_long(sb.str());
+		}
+	}
+	if (dataUsedBits == -1)
+		throw std::logic_error("Assertion error");
+	
+	// Increase the error correction level while the data still fits in the current version number
+	for (Ecc newEcl : vector<Ecc>{Ecc::MEDIUM, Ecc::QUARTILE, Ecc::HIGH}) {  // From low to high
+		if (boostEcl && dataUsedBits <= getNumDataCodewords(version, newEcl) * 8)
+			ecl = newEcl;
+	}
+	
+	// Concatenate all segments to create the data bit string
+	BitBuffer bb;
+	for (const QrSegment &seg : segs) {
+		bb.appendBits(static_cast<uint32_t>(seg.getMode().getModeBits()), 4);
+		bb.appendBits(static_cast<uint32_t>(seg.getNumChars()), seg.getMode().numCharCountBits(version));
+		bb.insert(bb.end(), seg.getData().begin(), seg.getData().end());
+	}
+	if (bb.size() != static_cast<unsigned int>(dataUsedBits))
+		throw std::logic_error("Assertion error");
+	
+	// Add terminator and pad up to a byte if applicable
+	size_t dataCapacityBits = static_cast<size_t>(getNumDataCodewords(version, ecl)) * 8;
+	if (bb.size() > dataCapacityBits)
+		throw std::logic_error("Assertion error");
+	bb.appendBits(0, std::min(4, static_cast<int>(dataCapacityBits - bb.size())));
+	bb.appendBits(0, (8 - static_cast<int>(bb.size() % 8)) % 8);
+	if (bb.size() % 8 != 0)
+		throw std::logic_error("Assertion error");
+	
+	// Pad with alternating bytes until data capacity is reached
+	for (uint8_t padByte = 0xEC; bb.size() < dataCapacityBits; padByte ^= 0xEC ^ 0x11)
+		bb.appendBits(padByte, 8);
+	
+	// Pack bits into bytes in big endian
+	vector<uint8_t> dataCodewords(bb.size() / 8);
+	for (size_t i = 0; i < bb.size(); i++)
+		dataCodewords[i >> 3] |= (bb.at(i) ? 1 : 0) << (7 - (i & 7));
+	
+	// Create the QR Code object
+	return QrCode(version, ecl, dataCodewords, mask);
+}
+
+
+QrCode::QrCode(int ver, Ecc ecl, const vector<uint8_t> &dataCodewords, int msk) :
+		// Initialize fields and check arguments
+		version(ver),
+		errorCorrectionLevel(ecl) {
+	if (ver < MIN_VERSION || ver > MAX_VERSION)
+		throw std::domain_error("Version value out of range");
+	if (msk < -1 || msk > 7)
+		throw std::domain_error("Mask value out of range");
+	size = ver * 4 + 17;
+	size_t sz = static_cast<size_t>(size);
+	modules    = vector<vector<bool> >(sz, vector<bool>(sz));  // Initially all white
+	isFunction = vector<vector<bool> >(sz, vector<bool>(sz));
+	
+	// Compute ECC, draw modules
+	drawFunctionPatterns();
+	const vector<uint8_t> allCodewords = addEccAndInterleave(dataCodewords);
+	drawCodewords(allCodewords);
+	
+	// Do masking
+	if (msk == -1) {  // Automatically choose best mask
+		long minPenalty = LONG_MAX;
+		for (int i = 0; i < 8; i++) {
+			applyMask(i);
+			drawFormatBits(i);
+			long penalty = getPenaltyScore();
+			if (penalty < minPenalty) {
+				msk = i;
+				minPenalty = penalty;
+			}
+			applyMask(i);  // Undoes the mask due to XOR
+		}
+	}
+	if (msk < 0 || msk > 7)
+		throw std::logic_error("Assertion error");
+	this->mask = msk;
+	applyMask(msk);  // Apply the final choice of mask
+	drawFormatBits(msk);  // Overwrite old format bits
+	
+	isFunction.clear();
+	isFunction.shrink_to_fit();
+}
+
+
+int QrCode::getVersion() const {
+	return version;
+}
+
+
+int QrCode::getSize() const {
+	return size;
+}
+
+
+QrCode::Ecc QrCode::getErrorCorrectionLevel() const {
+	return errorCorrectionLevel;
+}
+
+
+int QrCode::getMask() const {
+	return mask;
+}
+
+
+bool QrCode::getModule(int x, int y) const {
+	return 0 <= x && x < size && 0 <= y && y < size && module(x, y);
+}
+
+
+std::string QrCode::toSvgString(int border) const {
+	if (border < 0)
+		throw std::domain_error("Border must be non-negative");
+	if (border > INT_MAX / 2 || border * 2 > INT_MAX - size)
+		throw std::overflow_error("Border too large");
+	
+	std::ostringstream sb;
+	sb << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
+	sb << "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\" \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n";
+	sb << "<svg xmlns=\"http://www.w3.org/2000/svg\" version=\"1.1\" viewBox=\"0 0 ";
+	sb << (size + border * 2) << " " << (size + border * 2) << "\" stroke=\"none\">\n";
+	sb << "\t<rect width=\"100%\" height=\"100%\" fill=\"#FFFFFF\"/>\n";
+	sb << "\t<path d=\"";
+	for (int y = 0; y < size; y++) {
+		for (int x = 0; x < size; x++) {
+			if (getModule(x, y)) {
+				if (x != 0 || y != 0)
+					sb << " ";
+				sb << "M" << (x + border) << "," << (y + border) << "h1v1h-1z";
+			}
+		}
+	}
+	sb << "\" fill=\"#000000\"/>\n";
+	sb << "</svg>\n";
+	return sb.str();
+}
+
+
+void QrCode::drawFunctionPatterns() {
+	// Draw horizontal and vertical timing patterns
+	for (int i = 0; i < size; i++) {
+		setFunctionModule(6, i, i % 2 == 0);
+		setFunctionModule(i, 6, i % 2 == 0);
+	}
+	
+	// Draw 3 finder patterns (all corners except bottom right; overwrites some timing modules)
+	drawFinderPattern(3, 3);
+	drawFinderPattern(size - 4, 3);
+	drawFinderPattern(3, size - 4);
+	
+	// Draw numerous alignment patterns
+	const vector<int> alignPatPos = getAlignmentPatternPositions();
+	size_t numAlign = alignPatPos.size();
+	for (size_t i = 0; i < numAlign; i++) {
+		for (size_t j = 0; j < numAlign; j++) {
+			// Don't draw on the three finder corners
+			if (!((i == 0 && j == 0) || (i == 0 && j == numAlign - 1) || (i == numAlign - 1 && j == 0)))
+				drawAlignmentPattern(alignPatPos.at(i), alignPatPos.at(j));
+		}
+	}
+	
+	// Draw configuration data
+	drawFormatBits(0);  // Dummy mask value; overwritten later in the constructor
+	drawVersion();
+}
+
+
+void QrCode::drawFormatBits(int msk) {
+	// Calculate error correction code and pack bits
+	int data = getFormatBits(errorCorrectionLevel) << 3 | msk;  // errCorrLvl is uint2, msk is uint3
+	int rem = data;
+	for (int i = 0; i < 10; i++)
+		rem = (rem << 1) ^ ((rem >> 9) * 0x537);
+	int bits = (data << 10 | rem) ^ 0x5412;  // uint15
+	if (bits >> 15 != 0)
+		throw std::logic_error("Assertion error");
+	
+	// Draw first copy
+	for (int i = 0; i <= 5; i++)
+		setFunctionModule(8, i, getBit(bits, i));
+	setFunctionModule(8, 7, getBit(bits, 6));
+	setFunctionModule(8, 8, getBit(bits, 7));
+	setFunctionModule(7, 8, getBit(bits, 8));
+	for (int i = 9; i < 15; i++)
+		setFunctionModule(14 - i, 8, getBit(bits, i));
+	
+	// Draw second copy
+	for (int i = 0; i < 8; i++)
+		setFunctionModule(size - 1 - i, 8, getBit(bits, i));
+	for (int i = 8; i < 15; i++)
+		setFunctionModule(8, size - 15 + i, getBit(bits, i));
+	setFunctionModule(8, size - 8, true);  // Always black
+}
+
+
+void QrCode::drawVersion() {
+	if (version < 7)
+		return;
+	
+	// Calculate error correction code and pack bits
+	int rem = version;  // version is uint6, in the range [7, 40]
+	for (int i = 0; i < 12; i++)
+		rem = (rem << 1) ^ ((rem >> 11) * 0x1F25);
+	long bits = static_cast<long>(version) << 12 | rem;  // uint18
+	if (bits >> 18 != 0)
+		throw std::logic_error("Assertion error");
+	
+	// Draw two copies
+	for (int i = 0; i < 18; i++) {
+		bool bit = getBit(bits, i);
+		int a = size - 11 + i % 3;
+		int b = i / 3;
+		setFunctionModule(a, b, bit);
+		setFunctionModule(b, a, bit);
+	}
+}
+
+
+void QrCode::drawFinderPattern(int x, int y) {
+	for (int dy = -4; dy <= 4; dy++) {
+		for (int dx = -4; dx <= 4; dx++) {
+			int dist = std::max(std::abs(dx), std::abs(dy));  // Chebyshev/infinity norm
+			int xx = x + dx, yy = y + dy;
+			if (0 <= xx && xx < size && 0 <= yy && yy < size)
+				setFunctionModule(xx, yy, dist != 2 && dist != 4);
+		}
+	}
+}
+
+
+void QrCode::drawAlignmentPattern(int x, int y) {
+	for (int dy = -2; dy <= 2; dy++) {
+		for (int dx = -2; dx <= 2; dx++)
+			setFunctionModule(x + dx, y + dy, std::max(std::abs(dx), std::abs(dy)) != 1);
+	}
+}
+
+
+void QrCode::setFunctionModule(int x, int y, bool isBlack) {
+	size_t ux = static_cast<size_t>(x);
+	size_t uy = static_cast<size_t>(y);
+	modules   .at(uy).at(ux) = isBlack;
+	isFunction.at(uy).at(ux) = true;
+}
+
+
+bool QrCode::module(int x, int y) const {
+	return modules.at(static_cast<size_t>(y)).at(static_cast<size_t>(x));
+}
+
+
+vector<uint8_t> QrCode::addEccAndInterleave(const vector<uint8_t> &data) const {
+	if (data.size() != static_cast<unsigned int>(getNumDataCodewords(version, errorCorrectionLevel)))
+		throw std::invalid_argument("Invalid argument");
+	
+	// Calculate parameter numbers
+	int numBlocks = NUM_ERROR_CORRECTION_BLOCKS[static_cast<int>(errorCorrectionLevel)][version];
+	int blockEccLen = ECC_CODEWORDS_PER_BLOCK  [static_cast<int>(errorCorrectionLevel)][version];
+	int rawCodewords = getNumRawDataModules(version) / 8;
+	int numShortBlocks = numBlocks - rawCodewords % numBlocks;
+	int shortBlockLen = rawCodewords / numBlocks;
+	
+	// Split data into blocks and append ECC to each block
+	vector<vector<uint8_t> > blocks;
+	const vector<uint8_t> rsDiv = reedSolomonComputeDivisor(blockEccLen);
+	for (int i = 0, k = 0; i < numBlocks; i++) {
+		vector<uint8_t> dat(data.cbegin() + k, data.cbegin() + (k + shortBlockLen - blockEccLen + (i < numShortBlocks ? 0 : 1)));
+		k += static_cast<int>(dat.size());
+		const vector<uint8_t> ecc = reedSolomonComputeRemainder(dat, rsDiv);
+		if (i < numShortBlocks)
+			dat.push_back(0);
+		dat.insert(dat.end(), ecc.cbegin(), ecc.cend());
+		blocks.push_back(std::move(dat));
+	}
+	
+	// Interleave (not concatenate) the bytes from every block into a single sequence
+	vector<uint8_t> result;
+	for (size_t i = 0; i < blocks.at(0).size(); i++) {
+		for (size_t j = 0; j < blocks.size(); j++) {
+			// Skip the padding byte in short blocks
+			if (i != static_cast<unsigned int>(shortBlockLen - blockEccLen) || j >= static_cast<unsigned int>(numShortBlocks))
+				result.push_back(blocks.at(j).at(i));
+		}
+	}
+	if (result.size() != static_cast<unsigned int>(rawCodewords))
+		throw std::logic_error("Assertion error");
+	return result;
+}
+
+
+void QrCode::drawCodewords(const vector<uint8_t> &data) {
+	if (data.size() != static_cast<unsigned int>(getNumRawDataModules(version) / 8))
+		throw std::invalid_argument("Invalid argument");
+	
+	size_t i = 0;  // Bit index into the data
+	// Do the funny zigzag scan
+	for (int right = size - 1; right >= 1; right -= 2) {  // Index of right column in each column pair
+		if (right == 6)
+			right = 5;
+		for (int vert = 0; vert < size; vert++) {  // Vertical counter
+			for (int j = 0; j < 2; j++) {
+				size_t x = static_cast<size_t>(right - j);  // Actual x coordinate
+				bool upward = ((right + 1) & 2) == 0;
+				size_t y = static_cast<size_t>(upward ? size - 1 - vert : vert);  // Actual y coordinate
+				if (!isFunction.at(y).at(x) && i < data.size() * 8) {
+					modules.at(y).at(x) = getBit(data.at(i >> 3), 7 - static_cast<int>(i & 7));
+					i++;
+				}
+				// If this QR Code has any remainder bits (0 to 7), they were assigned as
+				// 0/false/white by the constructor and are left unchanged by this method
+			}
+		}
+	}
+	if (i != data.size() * 8)
+		throw std::logic_error("Assertion error");
+}
+
+
+void QrCode::applyMask(int msk) {
+	if (msk < 0 || msk > 7)
+		throw std::domain_error("Mask value out of range");
+	size_t sz = static_cast<size_t>(size);
+	for (size_t y = 0; y < sz; y++) {
+		for (size_t x = 0; x < sz; x++) {
+			bool invert;
+			switch (msk) {
+				case 0:  invert = (x + y) % 2 == 0;                    break;
+				case 1:  invert = y % 2 == 0;                          break;
+				case 2:  invert = x % 3 == 0;                          break;
+				case 3:  invert = (x + y) % 3 == 0;                    break;
+				case 4:  invert = (x / 3 + y / 2) % 2 == 0;            break;
+				case 5:  invert = x * y % 2 + x * y % 3 == 0;          break;
+				case 6:  invert = (x * y % 2 + x * y % 3) % 2 == 0;    break;
+				case 7:  invert = ((x + y) % 2 + x * y % 3) % 2 == 0;  break;
+				default:  throw std::logic_error("Assertion error");
+			}
+			modules.at(y).at(x) = modules.at(y).at(x) ^ (invert & !isFunction.at(y).at(x));
+		}
+	}
+}
+
+
+long QrCode::getPenaltyScore() const {
+	long result = 0;
+	
+	// Adjacent modules in row having same color, and finder-like patterns
+	for (int y = 0; y < size; y++) {
+		bool runColor = false;
+		int runX = 0;
+		std::array<int,7> runHistory = {};
+		for (int x = 0; x < size; x++) {
+			if (module(x, y) == runColor) {
+				runX++;
+				if (runX == 5)
+					result += PENALTY_N1;
+				else if (runX > 5)
+					result++;
+			} else {
+				finderPenaltyAddHistory(runX, runHistory);
+				if (!runColor)
+					result += finderPenaltyCountPatterns(runHistory) * PENALTY_N3;
+				runColor = module(x, y);
+				runX = 1;
+			}
+		}
+		result += finderPenaltyTerminateAndCount(runColor, runX, runHistory) * PENALTY_N3;
+	}
+	// Adjacent modules in column having same color, and finder-like patterns
+	for (int x = 0; x < size; x++) {
+		bool runColor = false;
+		int runY = 0;
+		std::array<int,7> runHistory = {};
+		for (int y = 0; y < size; y++) {
+			if (module(x, y) == runColor) {
+				runY++;
+				if (runY == 5)
+					result += PENALTY_N1;
+				else if (runY > 5)
+					result++;
+			} else {
+				finderPenaltyAddHistory(runY, runHistory);
+				if (!runColor)
+					result += finderPenaltyCountPatterns(runHistory) * PENALTY_N3;
+				runColor = module(x, y);
+				runY = 1;
+			}
+		}
+		result += finderPenaltyTerminateAndCount(runColor, runY, runHistory) * PENALTY_N3;
+	}
+	
+	// 2*2 blocks of modules having same color
+	for (int y = 0; y < size - 1; y++) {
+		for (int x = 0; x < size - 1; x++) {
+			bool  color = module(x, y);
+			if (  color == module(x + 1, y) &&
+			      color == module(x, y + 1) &&
+			      color == module(x + 1, y + 1))
+				result += PENALTY_N2;
+		}
+	}
+	
+	// Balance of black and white modules
+	int black = 0;
+	for (const vector<bool> &row : modules) {
+		for (bool color : row) {
+			if (color)
+				black++;
+		}
+	}
+	int total = size * size;  // Note that size is odd, so black/total != 1/2
+	// Compute the smallest integer k >= 0 such that (45-5k)% <= black/total <= (55+5k)%
+	int k = static_cast<int>((std::abs(black * 20L - total * 10L) + total - 1) / total) - 1;
+	result += k * PENALTY_N4;
+	return result;
+}
+
+
+vector<int> QrCode::getAlignmentPatternPositions() const {
+	if (version == 1)
+		return vector<int>();
+	else {
+		int numAlign = version / 7 + 2;
+		int step = (version == 32) ? 26 :
+			(version*4 + numAlign*2 + 1) / (numAlign*2 - 2) * 2;
+		vector<int> result;
+		for (int i = 0, pos = size - 7; i < numAlign - 1; i++, pos -= step)
+			result.insert(result.begin(), pos);
+		result.insert(result.begin(), 6);
+		return result;
+	}
+}
+
+
+int QrCode::getNumRawDataModules(int ver) {
+	if (ver < MIN_VERSION || ver > MAX_VERSION)
+		throw std::domain_error("Version number out of range");
+	int result = (16 * ver + 128) * ver + 64;
+	if (ver >= 2) {
+		int numAlign = ver / 7 + 2;
+		result -= (25 * numAlign - 10) * numAlign - 55;
+		if (ver >= 7)
+			result -= 36;
+	}
+	if (!(208 <= result && result <= 29648))
+		throw std::logic_error("Assertion error");
+	return result;
+}
+
+
+int QrCode::getNumDataCodewords(int ver, Ecc ecl) {
+	return getNumRawDataModules(ver) / 8
+		- ECC_CODEWORDS_PER_BLOCK    [static_cast<int>(ecl)][ver]
+		* NUM_ERROR_CORRECTION_BLOCKS[static_cast<int>(ecl)][ver];
+}
+
+
+vector<uint8_t> QrCode::reedSolomonComputeDivisor(int degree) {
+	if (degree < 1 || degree > 255)
+		throw std::domain_error("Degree out of range");
+	// Polynomial coefficients are stored from highest to lowest power, excluding the leading term which is always 1.
+	// For example the polynomial x^3 + 255x^2 + 8x + 93 is stored as the uint8 array {255, 8, 93}.
+	vector<uint8_t> result(static_cast<size_t>(degree));
+	result.at(result.size() - 1) = 1;  // Start off with the monomial x^0
+	
+	// Compute the product polynomial (x - r^0) * (x - r^1) * (x - r^2) * ... * (x - r^{degree-1}),
+	// and drop the highest monomial term which is always 1x^degree.
+	// Note that r = 0x02, which is a generator element of this field GF(2^8/0x11D).
+	uint8_t root = 1;
+	for (int i = 0; i < degree; i++) {
+		// Multiply the current product by (x - r^i)
+		for (size_t j = 0; j < result.size(); j++) {
+			result.at(j) = reedSolomonMultiply(result.at(j), root);
+			if (j + 1 < result.size())
+				result.at(j) ^= result.at(j + 1);
+		}
+		root = reedSolomonMultiply(root, 0x02);
+	}
+	return result;
+}
+
+
+vector<uint8_t> QrCode::reedSolomonComputeRemainder(const vector<uint8_t> &data, const vector<uint8_t> &divisor) {
+	vector<uint8_t> result(divisor.size());
+	for (uint8_t b : data) {  // Polynomial division
+		uint8_t factor = b ^ result.at(0);
+		result.erase(result.begin());
+		result.push_back(0);
+		for (size_t i = 0; i < result.size(); i++)
+			result.at(i) ^= reedSolomonMultiply(divisor.at(i), factor);
+	}
+	return result;
+}
+
+
+uint8_t QrCode::reedSolomonMultiply(uint8_t x, uint8_t y) {
+	// Russian peasant multiplication
+	int z = 0;
+	for (int i = 7; i >= 0; i--) {
+		z = (z << 1) ^ ((z >> 7) * 0x11D);
+		z ^= ((y >> i) & 1) * x;
+	}
+	if (z >> 8 != 0)
+		throw std::logic_error("Assertion error");
+	return static_cast<uint8_t>(z);
+}
+
+
+int QrCode::finderPenaltyCountPatterns(const std::array<int,7> &runHistory) const {
+	int n = runHistory.at(1);
+	if (n > size * 3)
+		throw std::logic_error("Assertion error");
+	bool core = n > 0 && runHistory.at(2) == n && runHistory.at(3) == n * 3 && runHistory.at(4) == n && runHistory.at(5) == n;
+	return (core && runHistory.at(0) >= n * 4 && runHistory.at(6) >= n ? 1 : 0)
+	     + (core && runHistory.at(6) >= n * 4 && runHistory.at(0) >= n ? 1 : 0);
+}
+
+
+int QrCode::finderPenaltyTerminateAndCount(bool currentRunColor, int currentRunLength, std::array<int,7> &runHistory) const {
+	if (currentRunColor) {  // Terminate black run
+		finderPenaltyAddHistory(currentRunLength, runHistory);
+		currentRunLength = 0;
+	}
+	currentRunLength += size;  // Add white border to final run
+	finderPenaltyAddHistory(currentRunLength, runHistory);
+	return finderPenaltyCountPatterns(runHistory);
+}
+
+
+void QrCode::finderPenaltyAddHistory(int currentRunLength, std::array<int,7> &runHistory) const {
+	if (runHistory.at(0) == 0)
+		currentRunLength += size;  // Add white border to initial run
+	std::copy_backward(runHistory.cbegin(), runHistory.cend() - 1, runHistory.end());
+	runHistory.at(0) = currentRunLength;
+}
+
+
+bool QrCode::getBit(long x, int i) {
+	return ((x >> i) & 1) != 0;
+}
+
+
+/*---- Tables of constants ----*/
+
+const int QrCode::PENALTY_N1 =  3;
+const int QrCode::PENALTY_N2 =  3;
+const int QrCode::PENALTY_N3 = 40;
+const int QrCode::PENALTY_N4 = 10;
+
+
+const int8_t QrCode::ECC_CODEWORDS_PER_BLOCK[4][41] = {
+	// Version: (note that index 0 is for padding, and is set to an illegal value)
+	//0,  1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40    Error correction level
+	{-1,  7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28, 28, 28, 30, 30, 26, 28, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // Low
+	{-1, 10, 16, 26, 18, 24, 16, 18, 22, 22, 26, 30, 22, 22, 24, 24, 28, 28, 26, 26, 26, 26, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28},  // Medium
+	{-1, 13, 22, 18, 26, 18, 24, 18, 22, 20, 24, 28, 26, 24, 20, 30, 24, 28, 28, 26, 30, 28, 30, 30, 30, 30, 28, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // Quartile
+	{-1, 17, 28, 22, 16, 22, 28, 26, 26, 24, 28, 24, 28, 22, 24, 24, 30, 28, 28, 26, 28, 30, 24, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // High
+};
+
+const int8_t QrCode::NUM_ERROR_CORRECTION_BLOCKS[4][41] = {
+	// Version: (note that index 0 is for padding, and is set to an illegal value)
+	//0, 1, 2, 3, 4, 5, 6, 7, 8, 9,10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40    Error correction level
+	{-1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4,  4,  4,  4,  4,  6,  6,  6,  6,  7,  8,  8,  9,  9, 10, 12, 12, 12, 13, 14, 15, 16, 17, 18, 19, 19, 20, 21, 22, 24, 25},  // Low
+	{-1, 1, 1, 1, 2, 2, 4, 4, 4, 5, 5,  5,  8,  9,  9, 10, 10, 11, 13, 14, 16, 17, 17, 18, 20, 21, 23, 25, 26, 28, 29, 31, 33, 35, 37, 38, 40, 43, 45, 47, 49},  // Medium
+	{-1, 1, 1, 2, 2, 4, 4, 6, 6, 8, 8,  8, 10, 12, 16, 12, 17, 16, 18, 21, 20, 23, 23, 25, 27, 29, 34, 34, 35, 38, 40, 43, 45, 48, 51, 53, 56, 59, 62, 65, 68},  // Quartile
+	{-1, 1, 1, 2, 4, 4, 4, 5, 6, 8, 8, 11, 11, 16, 16, 18, 16, 19, 21, 25, 25, 25, 34, 30, 32, 35, 37, 40, 42, 45, 48, 51, 54, 57, 60, 63, 66, 70, 74, 77, 81},  // High
+};
+
+
+data_too_long::data_too_long(const std::string &msg) :
+	std::length_error(msg) {}
+
+
+
+BitBuffer::BitBuffer()
+	: std::vector<bool>() {}
+
+
+void BitBuffer::appendBits(std::uint32_t val, int len) {
+	if (len < 0 || len > 31 || val >> len != 0)
+		throw std::domain_error("Value out of range");
+	for (int i = len - 1; i >= 0; i--)  // Append bit by bit
+		this->push_back(((val >> i) & 1) != 0);
+}
+
+}
diff --git a/third_party/qrcode/QrCode.hpp b/third_party/qrcode/QrCode.hpp
new file mode 100644
index 00000000000000..7341e410292001
--- /dev/null
+++ b/third_party/qrcode/QrCode.hpp
@@ -0,0 +1,556 @@
+/* 
+ * QR Code generator library (C++)
+ * 
+ * Copyright (c) Project Nayuki. (MIT License)
+ * https://www.nayuki.io/page/qr-code-generator-library
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ * - The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * - The Software is provided "as is", without warranty of any kind, express or
+ *   implied, including but not limited to the warranties of merchantability,
+ *   fitness for a particular purpose and noninfringement. In no event shall the
+ *   authors or copyright holders be liable for any claim, damages or other
+ *   liability, whether in an action of contract, tort or otherwise, arising from,
+ *   out of or in connection with the Software or the use or other dealings in the
+ *   Software.
+ */
+
+#pragma once
+
+#include <array>
+#include <cstdint>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+
+namespace qrcodegen {
+
+/* 
+ * A segment of character/binary/control data in a QR Code symbol.
+ * Instances of this class are immutable.
+ * The mid-level way to create a segment is to take the payload data
+ * and call a static factory function such as QrSegment::makeNumeric().
+ * The low-level way to create a segment is to custom-make the bit buffer
+ * and call the QrSegment() constructor with appropriate values.
+ * This segment class imposes no length restrictions, but QR Codes have restrictions.
+ * Even in the most favorable conditions, a QR Code can only hold 7089 characters of data.
+ * Any segment longer than this is meaningless for the purpose of generating QR Codes.
+ */
+class QrSegment final {
+	
+	/*---- Public helper enumeration ----*/
+	
+	/* 
+	 * Describes how a segment's data bits are interpreted. Immutable.
+	 */
+	public: class Mode final {
+		
+		/*-- Constants --*/
+		
+		public: static const Mode NUMERIC;
+		public: static const Mode ALPHANUMERIC;
+		public: static const Mode BYTE;
+		public: static const Mode KANJI;
+		public: static const Mode ECI;
+		
+		
+		/*-- Fields --*/
+		
+		// The mode indicator bits, which is a uint4 value (range 0 to 15).
+		private: int modeBits;
+		
+		// Number of character count bits for three different version ranges.
+		private: int numBitsCharCount[3];
+		
+		
+		/*-- Constructor --*/
+		
+		private: Mode(int mode, int cc0, int cc1, int cc2);
+		
+		
+		/*-- Methods --*/
+		
+		/* 
+		 * (Package-private) Returns the mode indicator bits, which is an unsigned 4-bit value (range 0 to 15).
+		 */
+		public: int getModeBits() const;
+		
+		/* 
+		 * (Package-private) Returns the bit width of the character count field for a segment in
+		 * this mode in a QR Code at the given version number. The result is in the range [0, 16].
+		 */
+		public: int numCharCountBits(int ver) const;
+		
+	};
+	
+	
+	
+	/*---- Static factory functions (mid level) ----*/
+	
+	/* 
+	 * Returns a segment representing the given binary data encoded in
+	 * byte mode. All input byte vectors are acceptable. Any text string
+	 * can be converted to UTF-8 bytes and encoded as a byte mode segment.
+	 */
+	public: static QrSegment makeBytes(const std::vector<std::uint8_t> &data);
+	
+	
+	/* 
+	 * Returns a segment representing the given string of decimal digits encoded in numeric mode.
+	 */
+	public: static QrSegment makeNumeric(const char *digits);
+	
+	
+	/* 
+	 * Returns a segment representing the given text string encoded in alphanumeric mode.
+	 * The characters allowed are: 0 to 9, A to Z (uppercase only), space,
+	 * dollar, percent, asterisk, plus, hyphen, period, slash, colon.
+	 */
+	public: static QrSegment makeAlphanumeric(const char *text);
+	
+	
+	/* 
+	 * Returns a list of zero or more segments to represent the given text string. The result
+	 * may use various segment modes and switch modes to optimize the length of the bit stream.
+	 */
+	public: static std::vector<QrSegment> makeSegments(const char *text);
+	
+	
+	/* 
+	 * Returns a segment representing an Extended Channel Interpretation
+	 * (ECI) designator with the given assignment value.
+	 */
+	public: static QrSegment makeEci(long assignVal);
+	
+	
+	/*---- Public static helper functions ----*/
+	
+	/* 
+	 * Tests whether the given string can be encoded as a segment in alphanumeric mode.
+	 * A string is encodable iff each character is in the following set: 0 to 9, A to Z
+	 * (uppercase only), space, dollar, percent, asterisk, plus, hyphen, period, slash, colon.
+	 */
+	public: static bool isAlphanumeric(const char *text);
+	
+	
+	/* 
+	 * Tests whether the given string can be encoded as a segment in numeric mode.
+	 * A string is encodable iff each character is in the range 0 to 9.
+	 */
+	public: static bool isNumeric(const char *text);
+	
+	
+	
+	/*---- Instance fields ----*/
+	
+	/* The mode indicator of this segment. Accessed through getMode(). */
+	private: Mode mode;
+	
+	/* The length of this segment's unencoded data. Measured in characters for
+	 * numeric/alphanumeric/kanji mode, bytes for byte mode, and 0 for ECI mode.
+	 * Always zero or positive. Not the same as the data's bit length.
+	 * Accessed through getNumChars(). */
+	private: int numChars;
+	
+	/* The data bits of this segment. Accessed through getData(). */
+	private: std::vector<bool> data;
+	
+	
+	/*---- Constructors (low level) ----*/
+	
+	/* 
+	 * Creates a new QR Code segment with the given attributes and data.
+	 * The character count (numCh) must agree with the mode and the bit buffer length,
+	 * but the constraint isn't checked. The given bit buffer is copied and stored.
+	 */
+	public: QrSegment(Mode md, int numCh, const std::vector<bool> &dt);
+	
+	
+	/* 
+	 * Creates a new QR Code segment with the given parameters and data.
+	 * The character count (numCh) must agree with the mode and the bit buffer length,
+	 * but the constraint isn't checked. The given bit buffer is moved and stored.
+	 */
+	public: QrSegment(Mode md, int numCh, std::vector<bool> &&dt);
+	
+	
+	/*---- Methods ----*/
+	
+	/* 
+	 * Returns the mode field of this segment.
+	 */
+	public: Mode getMode() const;
+	
+	
+	/* 
+	 * Returns the character count field of this segment.
+	 */
+	public: int getNumChars() const;
+	
+	
+	/* 
+	 * Returns the data bits of this segment.
+	 */
+	public: const std::vector<bool> &getData() const;
+	
+	
+	// (Package-private) Calculates the number of bits needed to encode the given segments at
+	// the given version. Returns a non-negative number if successful. Otherwise returns -1 if a
+	// segment has too many characters to fit its length field, or the total bits exceeds INT_MAX.
+	public: static int getTotalBits(const std::vector<QrSegment> &segs, int version);
+	
+	
+	/*---- Private constant ----*/
+	
+	/* The set of all legal characters in alphanumeric mode, where
+	 * each character value maps to the index in the string. */
+	private: static const char *ALPHANUMERIC_CHARSET;
+	
+};
+
+
+
+/* 
+ * A QR Code symbol, which is a type of two-dimension barcode.
+ * Invented by Denso Wave and described in the ISO/IEC 18004 standard.
+ * Instances of this class represent an immutable square grid of black and white cells.
+ * The class provides static factory functions to create a QR Code from text or binary data.
+ * The class covers the QR Code Model 2 specification, supporting all versions (sizes)
+ * from 1 to 40, all 4 error correction levels, and 4 character encoding modes.
+ * 
+ * Ways to create a QR Code object:
+ * - High level: Take the payload data and call QrCode::encodeText() or QrCode::encodeBinary().
+ * - Mid level: Custom-make the list of segments and call QrCode::encodeSegments().
+ * - Low level: Custom-make the array of data codeword bytes (including
+ *   segment headers and final padding, excluding error correction codewords),
+ *   supply the appropriate version number, and call the QrCode() constructor.
+ * (Note that all ways require supplying the desired error correction level.)
+ */
+class QrCode final {
+	
+	/*---- Public helper enumeration ----*/
+	
+	/* 
+	 * The error correction level in a QR Code symbol.
+	 */
+	public: enum class Ecc {
+		LOW = 0 ,  // The QR Code can tolerate about  7% erroneous codewords
+		MEDIUM  ,  // The QR Code can tolerate about 15% erroneous codewords
+		QUARTILE,  // The QR Code can tolerate about 25% erroneous codewords
+		HIGH    ,  // The QR Code can tolerate about 30% erroneous codewords
+	};
+	
+	
+	// Returns a value in the range 0 to 3 (unsigned 2-bit integer).
+	private: static int getFormatBits(Ecc ecl);
+	
+	
+	
+	/*---- Static factory functions (high level) ----*/
+	
+	/* 
+	 * Returns a QR Code representing the given Unicode text string at the given error correction level.
+	 * As a conservative upper bound, this function is guaranteed to succeed for strings that have 2953 or fewer
+	 * UTF-8 code units (not Unicode code points) if the low error correction level is used. The smallest possible
+	 * QR Code version is automatically chosen for the output. The ECC level of the result may be higher than
+	 * the ecl argument if it can be done without increasing the version.
+	 */
+	public: static QrCode encodeText(const char *text, Ecc ecl);
+	
+	
+	/* 
+	 * Returns a QR Code representing the given binary data at the given error correction level.
+	 * This function always encodes using the binary segment mode, not any text mode. The maximum number of
+	 * bytes allowed is 2953. The smallest possible QR Code version is automatically chosen for the output.
+	 * The ECC level of the result may be higher than the ecl argument if it can be done without increasing the version.
+	 */
+	public: static QrCode encodeBinary(const std::vector<std::uint8_t> &data, Ecc ecl);
+	
+	
+	/*---- Static factory functions (mid level) ----*/
+	
+	/* 
+	 * Returns a QR Code representing the given segments with the given encoding parameters.
+	 * The smallest possible QR Code version within the given range is automatically
+	 * chosen for the output. Iff boostEcl is true, then the ECC level of the result
+	 * may be higher than the ecl argument if it can be done without increasing the
+	 * version. The mask number is either between 0 to 7 (inclusive) to force that
+	 * mask, or -1 to automatically choose an appropriate mask (which may be slow).
+	 * This function allows the user to create a custom sequence of segments that switches
+	 * between modes (such as alphanumeric and byte) to encode text in less space.
+	 * This is a mid-level API; the high-level API is encodeText() and encodeBinary().
+	 */
+	public: static QrCode encodeSegments(const std::vector<QrSegment> &segs, Ecc ecl,
+		int minVersion=1, int maxVersion=40, int mask=-1, bool boostEcl=true);  // All optional parameters
+	
+	
+	
+	/*---- Instance fields ----*/
+	
+	// Immutable scalar parameters:
+	
+	/* The version number of this QR Code, which is between 1 and 40 (inclusive).
+	 * This determines the size of this barcode. */
+	private: int version;
+	
+	/* The width and height of this QR Code, measured in modules, between
+	 * 21 and 177 (inclusive). This is equal to version * 4 + 17. */
+	private: int size;
+	
+	/* The error correction level used in this QR Code. */
+	private: Ecc errorCorrectionLevel;
+	
+	/* The index of the mask pattern used in this QR Code, which is between 0 and 7 (inclusive).
+	 * Even if a QR Code is created with automatic masking requested (mask = -1),
+	 * the resulting object still has a mask value between 0 and 7. */
+	private: int mask;
+	
+	// Private grids of modules/pixels, with dimensions of size*size:
+	
+	// The modules of this QR Code (false = white, true = black).
+	// Immutable after constructor finishes. Accessed through getModule().
+	private: std::vector<std::vector<bool> > modules;
+	
+	// Indicates function modules that are not subjected to masking. Discarded when constructor finishes.
+	private: std::vector<std::vector<bool> > isFunction;
+	
+	
+	
+	/*---- Constructor (low level) ----*/
+	
+	/* 
+	 * Creates a new QR Code with the given version number,
+	 * error correction level, data codeword bytes, and mask number.
+	 * This is a low-level API that most users should not use directly.
+	 * A mid-level API is the encodeSegments() function.
+	 */
+	public: QrCode(int ver, Ecc ecl, const std::vector<std::uint8_t> &dataCodewords, int msk);
+	
+	
+	
+	/*---- Public instance methods ----*/
+	
+	/* 
+	 * Returns this QR Code's version, in the range [1, 40].
+	 */
+	public: int getVersion() const;
+	
+	
+	/* 
+	 * Returns this QR Code's size, in the range [21, 177].
+	 */
+	public: int getSize() const;
+	
+	
+	/* 
+	 * Returns this QR Code's error correction level.
+	 */
+	public: Ecc getErrorCorrectionLevel() const;
+	
+	
+	/* 
+	 * Returns this QR Code's mask, in the range [0, 7].
+	 */
+	public: int getMask() const;
+	
+	
+	/* 
+	 * Returns the color of the module (pixel) at the given coordinates, which is false
+	 * for white or true for black. The top left corner has the coordinates (x=0, y=0).
+	 * If the given coordinates are out of bounds, then false (white) is returned.
+	 */
+	public: bool getModule(int x, int y) const;
+	
+	
+	/* 
+	 * Returns a string of SVG code for an image depicting this QR Code, with the given number
+	 * of border modules. The string always uses Unix newlines (\n), regardless of the platform.
+	 */
+	public: std::string toSvgString(int border) const;
+	
+	
+	
+	/*---- Private helper methods for constructor: Drawing function modules ----*/
+	
+	// Reads this object's version field, and draws and marks all function modules.
+	private: void drawFunctionPatterns();
+	
+	
+	// Draws two copies of the format bits (with its own error correction code)
+	// based on the given mask and this object's error correction level field.
+	private: void drawFormatBits(int msk);
+	
+	
+	// Draws two copies of the version bits (with its own error correction code),
+	// based on this object's version field, iff 7 <= version <= 40.
+	private: void drawVersion();
+	
+	
+	// Draws a 9*9 finder pattern including the border separator,
+	// with the center module at (x, y). Modules can be out of bounds.
+	private: void drawFinderPattern(int x, int y);
+	
+	
+	// Draws a 5*5 alignment pattern, with the center module
+	// at (x, y). All modules must be in bounds.
+	private: void drawAlignmentPattern(int x, int y);
+	
+	
+	// Sets the color of a module and marks it as a function module.
+	// Only used by the constructor. Coordinates must be in bounds.
+	private: void setFunctionModule(int x, int y, bool isBlack);
+	
+	
+	// Returns the color of the module at the given coordinates, which must be in range.
+	private: bool module(int x, int y) const;
+	
+	
+	/*---- Private helper methods for constructor: Codewords and masking ----*/
+	
+	// Returns a new byte string representing the given data with the appropriate error correction
+	// codewords appended to it, based on this object's version and error correction level.
+	private: std::vector<std::uint8_t> addEccAndInterleave(const std::vector<std::uint8_t> &data) const;
+	
+	
+	// Draws the given sequence of 8-bit codewords (data and error correction) onto the entire
+	// data area of this QR Code. Function modules need to be marked off before this is called.
+	private: void drawCodewords(const std::vector<std::uint8_t> &data);
+	
+	
+	// XORs the codeword modules in this QR Code with the given mask pattern.
+	// The function modules must be marked and the codeword bits must be drawn
+	// before masking. Due to the arithmetic of XOR, calling applyMask() with
+	// the same mask value a second time will undo the mask. A final well-formed
+	// QR Code needs exactly one (not zero, two, etc.) mask applied.
+	private: void applyMask(int msk);
+	
+	
+	// Calculates and returns the penalty score based on state of this QR Code's current modules.
+	// This is used by the automatic mask choice algorithm to find the mask pattern that yields the lowest score.
+	private: long getPenaltyScore() const;
+	
+	
+	
+	/*---- Private helper functions ----*/
+	
+	// Returns an ascending list of positions of alignment patterns for this version number.
+	// Each position is in the range [0,177), and are used on both the x and y axes.
+	// This could be implemented as lookup table of 40 variable-length lists of unsigned bytes.
+	private: std::vector<int> getAlignmentPatternPositions() const;
+	
+	
+	// Returns the number of data bits that can be stored in a QR Code of the given version number, after
+	// all function modules are excluded. This includes remainder bits, so it might not be a multiple of 8.
+	// The result is in the range [208, 29648]. This could be implemented as a 40-entry lookup table.
+	private: static int getNumRawDataModules(int ver);
+	
+	
+	// Returns the number of 8-bit data (i.e. not error correction) codewords contained in any
+	// QR Code of the given version number and error correction level, with remainder bits discarded.
+	// This stateless pure function could be implemented as a (40*4)-cell lookup table.
+	private: static int getNumDataCodewords(int ver, Ecc ecl);
+	
+	
+	// Returns a Reed-Solomon ECC generator polynomial for the given degree. This could be
+	// implemented as a lookup table over all possible parameter values, instead of as an algorithm.
+	private: static std::vector<std::uint8_t> reedSolomonComputeDivisor(int degree);
+	
+	
+	// Returns the Reed-Solomon error correction codeword for the given data and divisor polynomials.
+	private: static std::vector<std::uint8_t> reedSolomonComputeRemainder(const std::vector<std::uint8_t> &data, const std::vector<std::uint8_t> &divisor);
+	
+	
+	// Returns the product of the two given field elements modulo GF(2^8/0x11D).
+	// All inputs are valid. This could be implemented as a 256*256 lookup table.
+	private: static std::uint8_t reedSolomonMultiply(std::uint8_t x, std::uint8_t y);
+	
+	
+	// Can only be called immediately after a white run is added, and
+	// returns either 0, 1, or 2. A helper function for getPenaltyScore().
+	private: int finderPenaltyCountPatterns(const std::array<int,7> &runHistory) const;
+	
+	
+	// Must be called at the end of a line (row or column) of modules. A helper function for getPenaltyScore().
+	private: int finderPenaltyTerminateAndCount(bool currentRunColor, int currentRunLength, std::array<int,7> &runHistory) const;
+	
+	
+	// Pushes the given value to the front and drops the last value. A helper function for getPenaltyScore().
+	private: void finderPenaltyAddHistory(int currentRunLength, std::array<int,7> &runHistory) const;
+	
+	
+	// Returns true iff the i'th bit of x is set to 1.
+	private: static bool getBit(long x, int i);
+	
+	
+	/*---- Constants and tables ----*/
+	
+	// The minimum version number supported in the QR Code Model 2 standard.
+	public: static constexpr int MIN_VERSION =  1;
+	
+	// The maximum version number supported in the QR Code Model 2 standard.
+	public: static constexpr int MAX_VERSION = 40;
+	
+	
+	// For use in getPenaltyScore(), when evaluating which mask is best.
+	private: static const int PENALTY_N1;
+	private: static const int PENALTY_N2;
+	private: static const int PENALTY_N3;
+	private: static const int PENALTY_N4;
+	
+	
+	private: static const std::int8_t ECC_CODEWORDS_PER_BLOCK[4][41];
+	private: static const std::int8_t NUM_ERROR_CORRECTION_BLOCKS[4][41];
+	
+};
+
+
+
+/*---- Public exception class ----*/
+
+/* 
+ * Thrown when the supplied data does not fit any QR Code version. Ways to handle this exception include:
+ * - Decrease the error correction level if it was greater than Ecc::LOW.
+ * - If the encodeSegments() function was called with a maxVersion argument, then increase
+ *   it if it was less than QrCode::MAX_VERSION. (This advice does not apply to the other
+ *   factory functions because they search all versions up to QrCode::MAX_VERSION.)
+ * - Split the text data into better or optimal segments in order to reduce the number of bits required.
+ * - Change the text or binary data to be shorter.
+ * - Change the text to fit the character set of a particular segment mode (e.g. alphanumeric).
+ * - Propagate the error upward to the caller/user.
+ */
+class data_too_long : public std::length_error {
+	
+	public: explicit data_too_long(const std::string &msg);
+	
+};
+
+
+
+/* 
+ * An appendable sequence of bits (0s and 1s). Mainly used by QrSegment.
+ */
+class BitBuffer final : public std::vector<bool> {
+	
+	/*---- Constructor ----*/
+	
+	// Creates an empty bit buffer (length 0).
+	public: BitBuffer();
+	
+	
+	
+	/*---- Method ----*/
+	
+	// Appends the given number of low-order bits of the given value
+	// to this buffer. Requires 0 <= len <= 31 and val < 2^len.
+	public: void appendBits(std::uint32_t val, int len);
+	
+};
+
+}
diff --git a/third_party/snpe/aarch64 b/third_party/snpe/aarch64
new file mode 120000
index 00000000000000..baf4e9cb6ed759
--- /dev/null
+++ b/third_party/snpe/aarch64
@@ -0,0 +1 @@
+aarch64-android-clang6.0
\ No newline at end of file
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index 00000000000000..97a1499a042321
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diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
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diff --git a/phonelibs/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
similarity index 91%
rename from phonelibs/snpe/include/DiagLog/IDiagLog.hpp
rename to third_party/snpe/include/DiagLog/IDiagLog.hpp
index af1ef8917e8627..018b5672561c0b 100644
--- a/phonelibs/snpe/include/DiagLog/IDiagLog.hpp
+++ b/third_party/snpe/include/DiagLog/IDiagLog.hpp
@@ -1,6 +1,6 @@
 //=============================================================================
 //
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -8,14 +8,11 @@
 #ifndef __IDIAGLOG_HPP_
 #define __IDIAGLOG_HPP_
 
-#ifndef ZDL_LOGGING_EXPORT
-#define ZDL_LOGGING_EXPORT __attribute__((visibility("default")))
-#endif
-
 #include <string>
 
 #include "DiagLog/Options.hpp"
 #include "DlSystem/String.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
 
 namespace zdl
 {
@@ -26,10 +23,10 @@ namespace DiagLog
 @{ */
 
 /// @brief .
-/// 
+///
 /// Interface for controlling logging for zdl components.
 
-class ZDL_LOGGING_EXPORT IDiagLog
+class ZDL_EXPORT IDiagLog
 {
 public:
 
@@ -48,7 +45,7 @@ class ZDL_LOGGING_EXPORT IDiagLog
    ///
    /// @return Diag log options object.
    virtual Options getOptions() = 0;
-   
+
    /// @brief .
    ///
    /// Allows for setting the log mask once diag logging has started
diff --git a/phonelibs/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
similarity index 80%
rename from phonelibs/snpe/include/DiagLog/Options.hpp
rename to third_party/snpe/include/DiagLog/Options.hpp
index ba0c82119bfebb..798fa3f1240a62 100644
--- a/phonelibs/snpe/include/DiagLog/Options.hpp
+++ b/third_party/snpe/include/DiagLog/Options.hpp
@@ -1,6 +1,6 @@
 //=============================================================================
 //
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -8,12 +8,8 @@
 #ifndef __DIAGLOG_OPTIONS_HPP_
 #define __DIAGLOG_OPTIONS_HPP_
 
-#ifndef ZDL_LOGGING_EXPORT
-#define ZDL_LOGGING_EXPORT __attribute__((visibility("default")))
-#endif
-
 #include <string>
-#include <set>
+#include "DlSystem/ZdlExportDefine.hpp"
 
 namespace zdl
 {
@@ -25,26 +21,27 @@ namespace DiagLog
 /// @brief .
 ///
 /// Options for setting up diagnostic logging for zdl components.
-class ZDL_LOGGING_EXPORT Options
+class ZDL_EXPORT Options
 {
 public:
    Options() :
       DiagLogMask(""),
       LogFileDirectory("diaglogs"),
       LogFileName("DiagLog"),
-      LogFileRotateCount(20)
+      LogFileRotateCount(20),
+      LogFileReplace(true)
    {
       // Solves the empty string problem with multiple std libs
       DiagLogMask.reserve(1);
    }
 
    /// @brief .
-   /// 
+   ///
    /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
    std::string DiagLogMask;
 
    /// @brief .
-   /// 
+   ///
    /// The path to the directory where log files will be written.
    /// The path may be relative or absolute. Relative paths are interpreted
    /// from the current working directory.
@@ -52,19 +49,26 @@ class ZDL_LOGGING_EXPORT Options
    std::string LogFileDirectory;
 
    /// @brief .
-   /// 
+   ///
    //// The name used for log files. If this value is empty then BaseName will be
    /// used as the default file name.
    /// Default value is "DiagLog"
    std::string LogFileName;
 
    /// @brief .
-   /// 
-   /// The maximum number of log files to create. If set to 0 no log rotation 
+   ///
+   /// The maximum number of log files to create. If set to 0 no log rotation
    /// will be used and the log file name specified will be used each time, overwriting
    /// any existing log file that may exist.
    /// Default value is 20
    uint32_t LogFileRotateCount;
+
+   /// @brief
+   ///
+   /// If the log file already exists, control whether it will be replaced
+   /// (existing contents truncated), or appended.
+   /// Default value is true
+   bool LogFileReplace;
 };
 /** @} */ /* end_addtogroup c_plus_plus_apis C++ */
 
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
new file mode 100644
index 00000000000000..4e29b39bb41eb8
--- /dev/null
+++ b/third_party/snpe/include/DlContainer/IDlContainer.hpp
@@ -0,0 +1,191 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef ZEROTH_IDNC_CONTAINER_HPP
+#define ZEROTH_IDNC_CONTAINER_HPP
+
+#include <memory>
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include <set>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/String.hpp"
+
+namespace zdl {
+namespace DlContainer {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+class IDlContainer;
+class dlc_error;
+
+/**
+ * The structure of a record in a DL container.
+ */
+struct ZDL_EXPORT DlcRecord
+{
+   /// Name of the record.
+   std::string name;
+   /// Byte blob holding the data for the record.
+   std::vector<uint8_t> data;
+
+   DlcRecord();
+   DlcRecord( DlcRecord&& other )
+      : name(std::move(other.name))
+      , data(std::move(other.data))
+   {}
+   DlcRecord(const std::string& new_name)
+      : name(new_name)
+      , data()
+   {
+      if(name.empty())
+      {
+         name.reserve(1);
+      }
+   }
+   DlcRecord(const DlcRecord&) = delete;
+};
+
+// The maximum length of any record name.
+extern const uint32_t RECORD_NAME_MAX_SIZE;
+// The maximum size of the record payload (bytes).
+extern const uint32_t RECORD_DATA_MAX_SIZE;
+// The maximum number of records in an archive at one time.
+extern const uint32_t ARCHIVE_MAX_RECORDS;
+
+/**
+ * Represents a container for a neural network model which can
+ * be used to load the model into the SNPE runtime.
+ */
+class ZDL_EXPORT IDlContainer
+{
+public:
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::string &filename) noexcept;
+
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const zdl::DlSystem::String &filename) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::vector<uint8_t> &buffer) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @param[in] size Size of the byte buffer.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const uint8_t* buffer, const size_t size) noexcept;
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+   /**
+    * Get the record catalog for a container.
+    *
+    * @param[out] catalog Buffer that will hold the record names on
+    *                    return.
+    */
+   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
+
+    /**
+     * Get the record catalog for a container.
+     *
+     * @param[out] catalog Buffer that will hold the record names on
+     *                    return.
+     */
+   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save(const std::string &filename) = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save (const zdl::DlSystem::String &filename) = 0;
+
+   virtual ~IDlContainer() {}
+};
+
+} // ns DlContainer
+} // ns zdl
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
new file mode 100644
index 00000000000000..14470635538767
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlEnums.hpp
@@ -0,0 +1,202 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ENUMS_HPP_
+#define _DL_ENUMS_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Enumeration of supported target runtimes.
+ */
+enum class Runtime_t
+{
+   /// Run the processing on Snapdragon CPU.
+   /// Data: float 32bit
+   /// Math: float 32bit
+   CPU_FLOAT32  = 0,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 32bit
+   GPU_FLOAT32_16_HYBRID = 1,
+
+   /// Run the processing on the Hexagon DSP.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   DSP_FIXED8_TF = 2,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 16bit
+   GPU_FLOAT16 = 3,
+
+   /// Run the processing on Snapdragon AIX+HVX.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   AIP_FIXED8_TF = 5,
+   AIP_FIXED_TF = AIP_FIXED8_TF,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// CPU = CPU_FLOAT32
+   CPU = CPU_FLOAT32,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// GPU = GPU_FLOAT32_16_HYBRID
+   GPU = GPU_FLOAT32_16_HYBRID,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// DSP = DSP_FIXED8_TF
+   DSP = DSP_FIXED8_TF,
+
+   /// Special value indicating the property is unset.
+   UNSET = -1
+};
+
+/**
+ * Enumeration of runtime available check options.
+ */
+enum class RuntimeCheckOption_t
+{
+   /// Perform standard runtime available check
+   DEFAULT = 0,
+   /// Perform standard runtime available check
+   NORMAL_CHECK = 0,
+   /// Perform basic runtime available check, may be runtime specific
+   BASIC_CHECK = 1,
+};
+
+/**
+ * Enumeration of various performance profiles that can be requested.
+ */
+enum class PerformanceProfile_t
+{
+    /// Run in a standard mode.
+    /// This mode will be deprecated in the future and replaced with BALANCED.
+    DEFAULT = 0,
+    /// Run in a balanced mode.
+    BALANCED = 0,
+
+    /// Run in high performance mode
+    HIGH_PERFORMANCE = 1,
+
+    /// Run in a power sensitive mode, at the expense of performance.
+    POWER_SAVER = 2,
+
+    /// Use system settings.  SNPE makes no calls to any performance related APIs.
+    SYSTEM_SETTINGS = 3,
+
+    /// Run in sustained high performance mode
+    SUSTAINED_HIGH_PERFORMANCE = 4,
+
+    /// Run in burst mode
+    BURST = 5,
+
+    /// Run in lower clock than POWER_SAVER, at the expense of performance.
+    LOW_POWER_SAVER = 6,
+
+    /// Run in higher clock and provides better performance than POWER_SAVER.
+    HIGH_POWER_SAVER = 7,
+
+    /// Run in lower balanced mode
+    LOW_BALANCED = 8,
+};
+
+/**
+ * Enumeration of various profilngLevels that can be requested.
+ */
+enum class ProfilingLevel_t
+{
+    /// No profiling.
+    /// Collects no runtime stats in the DiagLog
+    OFF = 0,
+
+    /// Basic profiling
+    /// Collects some runtime stats in the DiagLog
+    BASIC = 1,
+
+    /// Detailed profiling
+    /// Collects more runtime stats in the DiagLog, including per-layer statistics
+    /// Performance may be impacted
+    DETAILED = 2,
+
+    /// Moderate profiling
+    /// Collects more runtime stats in the DiagLog, no per-layer statistics
+    MODERATE = 3
+};
+
+/**
+ * Enumeration of various execution priority hints.
+ */
+enum class ExecutionPriorityHint_t
+{
+    /// Normal priority
+    NORMAL = 0,
+
+    /// Higher than normal priority
+    HIGH = 1,
+
+    /// Lower priority
+    LOW = 2
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
+
+/**
+ * Enumeration that lists the supported image encoding formats.
+ */
+enum class ImageEncoding_t
+{
+   /// For unknown image type. Also used as a default value for ImageEncoding_t.
+   UNKNOWN = 0,
+
+   /// The RGB format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green, and one for Blue. The byte ordering is
+   /// endian independent and is always in RGB byte order.
+   RGB = 1,
+
+   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering depends on the
+   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
+   /// For big endian CPUs, the byte order is ARGB.
+   ARGB32 = 2,
+
+   /// The RGBA format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering is endian independent
+   /// and is always in RGBA byte order.
+   RGBA = 3,
+
+   /// The GRAYSCALE format is for 8-bit grayscale.
+   GRAYSCALE = 4,
+
+   /// NV21 is the Android version of YUV. The Chrominance is down
+   /// sampled and has a subsampling ratio of 4:2:0. Note that this
+   /// image format has 3 channels, but the U and V channels
+   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
+   NV21 = 5,
+
+   /// The BGR format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green and one for Blue. The byte ordering is
+   /// endian independent and is always BGR byte order.
+   BGR = 6
+};
+
+}} // namespaces end
+
+
+#endif
diff --git a/phonelibs/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
similarity index 79%
rename from phonelibs/snpe/include/DlSystem/DlError.hpp
rename to third_party/snpe/include/DlSystem/DlError.hpp
index 383403b5418a26..f0a66e8e458ad1 100644
--- a/phonelibs/snpe/include/DlSystem/DlError.hpp
+++ b/third_party/snpe/include/DlSystem/DlError.hpp
@@ -1,6 +1,6 @@
 //==============================================================================
 //
-//  Copyright (c) 2016-18 Qualcomm Technologies, Inc.
+//  Copyright (c) 2016-2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -34,6 +34,7 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
    SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
    SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
+   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
 
    SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
    SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
@@ -56,8 +57,11 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
    SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
    SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
+   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
+   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
 
    SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
+   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
 
    // DlContainer errors
    SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
@@ -75,6 +79,7 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
    SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
    SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
+   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
 
    // Network errors
    SNPE_NETWORK_EMPTY_NETWORK                            = 400,
@@ -95,6 +100,7 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
    SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
    SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
+   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
 
    // CPU fixed-point runtime errors
    SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
@@ -119,7 +125,8 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
    SNPE_GPU_BUFFER_IN_USE                                = 815,
    SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
-
+   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
+   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
    // DSP runtime errors
    SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
    SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
@@ -132,6 +139,7 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
    SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
    SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
+   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
 
    // Model validataion errors
    SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
@@ -143,6 +151,8 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
    SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
    SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
+   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
+   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
 
    // UDL errors
    SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
@@ -151,6 +161,9 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
    SNPE_UDL_EXECUTE_FAILED                               = 1104,
    SNPE_UDL_BUNDLE_INVALID                               = 1105,
+   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
+   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
+   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
 
    // Dependent library errors
    SNPE_STD_LIBRARY_ERROR                                = 1200,
@@ -161,6 +174,30 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    // Storage Errors
    SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
 
+   // AIP runtime errors
+   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
+   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
+   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
+   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
+   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
+   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
+   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
+   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
+   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
+   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
+   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
+   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
+   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
+   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
+
+   // DlCaching errors
+   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
+   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
+
+   // Infrastructure Errors
+   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
+   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601
+
 };
 
 
@@ -187,6 +224,11 @@ ZDL_EXPORT ErrorCode getLastErrorCode();
  */
 ZDL_EXPORT const char* getLastErrorString();
 
+/**
+ * Returns the info string of the last error encountered.
+ */
+ZDL_EXPORT const char* getLastInfoString();
+
 /**
  * Returns the uint32_t representation of the error code enum.
  *
diff --git a/phonelibs/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
similarity index 94%
rename from phonelibs/snpe/include/DlSystem/DlOptional.hpp
rename to third_party/snpe/include/DlSystem/DlOptional.hpp
index 2c41b6b6894ee4..4f83e6b4e417fc 100644
--- a/phonelibs/snpe/include/DlSystem/DlOptional.hpp
+++ b/third_party/snpe/include/DlSystem/DlOptional.hpp
@@ -1,6 +1,6 @@
 //==============================================================================
 //
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -11,6 +11,7 @@
 
 #include <cstdio>
 #include <utility>
+#include <stdexcept>
 
 #include "DlSystem/ZdlExportDefine.hpp"
 
@@ -35,10 +36,10 @@ template <typename T>
 class ZDL_EXPORT Optional final {
 public:
    enum class LIFECYCLE {
-      NONE,
-      REFERENCE_OWNED,
-      POINTER_OWNED,
-      POINTER_NOT_OWNED
+      NONE = 0,
+      REFERENCE_OWNED = 1,
+      POINTER_OWNED = 2,
+      POINTER_NOT_OWNED = 3
    };
 
    struct ReferenceCount {
@@ -173,25 +174,25 @@ class ZDL_EXPORT Optional final {
 
    template <typename Q = T>
    typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isReference()) throw std::bad_exception();
+      if (!isReference()) std::terminate();
       return *static_cast<const Q*>(m_StoragePtr);
    }
 
    template <typename Q = T>
    typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isPointer()) throw std::bad_exception();
+      if (!isPointer()) std::terminate();
       return static_cast<const Q&>(m_StoragePtr);
    }
 
    template <typename Q = T>
    typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isReference()) throw std::bad_exception();
+      if (!isReference()) std::terminate();
       return *m_StoragePtr;
    }
 
    template <typename Q = T>
    typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isPointer()) throw std::bad_exception();
+      if (!isPointer()) std::terminate();
       return m_StoragePtr;
    }
 
diff --git a/phonelibs/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/DlVersion.hpp
rename to third_party/snpe/include/DlSystem/DlVersion.hpp
diff --git a/phonelibs/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
similarity index 81%
rename from phonelibs/snpe/include/DlSystem/IBufferAttributes.hpp
rename to third_party/snpe/include/DlSystem/IBufferAttributes.hpp
index e80f6c134c9ab4..f893e0a2370880 100644
--- a/phonelibs/snpe/include/DlSystem/IBufferAttributes.hpp
+++ b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
@@ -1,6 +1,6 @@
 //==============================================================================
 //
-// Copyright (c) 2017 Qualcomm Technologies, Inc.
+// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
 // All Rights Reserved.
 // Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -21,7 +21,6 @@ namespace zdl {
 namespace zdl {
 namespace DlSystem {
 
-
 /**
  * @brief IBufferAttributes returns a buffer's dimension and alignment
  *        requirements, along with info on its encoding type
@@ -65,6 +64,15 @@ class ZDL_EXPORT IBufferAttributes {
      */
     virtual const TensorShape getAlignments() const noexcept = 0;
 
+    /**
+      * @brief Gets the buffer encoding returned from the network responsible
+      * for generating this buffer. Depending on the encoding type, this will
+      * be an instance of an encoding type specific derived class.
+      *
+      * @return Derived user buffer encoding object.
+     */
+    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
+
     virtual ~IBufferAttributes() {}
 };
 
diff --git a/phonelibs/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
similarity index 98%
rename from phonelibs/snpe/include/DlSystem/ITensor.hpp
rename to third_party/snpe/include/DlSystem/ITensor.hpp
index ed6d5f1072e888..2f006c857fc442 100644
--- a/phonelibs/snpe/include/DlSystem/ITensor.hpp
+++ b/third_party/snpe/include/DlSystem/ITensor.hpp
@@ -1,6 +1,6 @@
 //=============================================================================
 //
-//  Copyright (c) 2015-2018 Qualcomm Technologies, Inc.
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -14,7 +14,6 @@
 #include "TensorShape.hpp"
 #include "ZdlExportDefine.hpp"
 #include <memory>
-#include <vector>
 #include <ostream>
 #include <cmath>
 
diff --git a/phonelibs/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/ITensorFactory.hpp
rename to third_party/snpe/include/DlSystem/ITensorFactory.hpp
diff --git a/phonelibs/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/ITensorItr.hpp
rename to third_party/snpe/include/DlSystem/ITensorItr.hpp
diff --git a/phonelibs/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
similarity index 93%
rename from phonelibs/snpe/include/DlSystem/ITensorItrImpl.hpp
rename to third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
index 7923c160b95b0d..069e7a1d69031f 100644
--- a/phonelibs/snpe/include/DlSystem/ITensorItrImpl.hpp
+++ b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
@@ -1,6 +1,6 @@
 //=============================================================================
 //
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -13,7 +13,6 @@
 
 #include <memory>
 #include <iterator>
-#include <vector>
 
 namespace DlSystem
 {
diff --git a/phonelibs/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/IUDL.hpp
rename to third_party/snpe/include/DlSystem/IUDL.hpp
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
new file mode 100644
index 00000000000000..5e5731dd83a41d
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
@@ -0,0 +1,421 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IUSER_BUFFER_HPP
+#define _IUSER_BUFFER_HPP
+
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <math.h>
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A base class buffer encoding type
+  */
+class ZDL_EXPORT UserBufferEncoding {
+public:
+
+    /**
+      * @brief .
+      *
+      * An enum class of all supported element types in a IUserBuffer
+      */
+    enum class ElementType_t
+    {
+        /// Unknown element type.
+        UNKNOWN         = 0,
+
+        /// Each element is presented by float.
+        FLOAT           = 1,
+
+        /// Each element is presented by an unsigned int.
+        UNSIGNED8BIT    = 2,
+
+        /// Each element is presented by an 8-bit quantized value.
+        TF8             = 10,
+
+        /// Each element is presented by an 16-bit quantized value.
+        TF16            = 11
+    };
+
+    /**
+      * @brief Retrieves the size of the element, in bytes.
+      *
+      * @return Size of the element, in bytes.
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Retrieves the element type
+      *
+      * @return Element type
+     */
+    ElementType_t getElementType() const noexcept {return m_ElementType;};
+
+    virtual ~UserBufferEncoding() {}
+
+protected:
+    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
+private:
+    const ElementType_t  m_ElementType;
+};
+
+/**
+  * @brief .
+  *
+  * A base class buffer source type
+  *
+  * @note User buffer from CPU support all kinds of runtimes;
+  *       User buffer from GLBUFFER support only GPU runtime.
+  */
+class ZDL_EXPORT UserBufferSource {
+public:
+   enum class SourceType_t
+   {
+      /// Unknown buffer source type.
+      UNKNOWN = 0,
+
+      /// The network inputs are from CPU buffer.
+      CPU = 1,
+
+      /// The network inputs are from OpenGL buffer.
+      GLBUFFER = 2
+   };
+
+   /**
+     * @brief Retrieves the source type
+     *
+     * @return Source type
+    */
+   SourceType_t getSourceType() const noexcept {return m_SourceType;};
+
+protected:
+   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
+private:
+   const SourceType_t m_SourceType;
+};
+
+/**
+  * @brief .
+  *
+  * An source type where input data is delivered from OpenGL buffer
+  */
+class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
+public:
+   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by an unsigned int
+  */
+class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
+public:
+    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
+    size_t getElementSize() const noexcept override;
+
+protected:
+    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by a float
+  */
+class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
+public:
+    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
+    size_t getElementSize() const noexcept override;
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by tf8, which is an
+  * 8-bit quantizd value, which has an exact representation of 0.0
+  */
+
+class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingUnsigned8Bit {
+public:
+    UserBufferEncodingTf8() = delete;
+    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
+            UserBufferEncodingUnsigned8Bit(ElementType_t::TF8),
+            m_StepExactly0(stepFor0),
+            m_QuantizedStepSize(stepSize) {};
+
+    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingUnsigned8Bit(ubEncoding.getElementType()){
+            const zdl::DlSystem::UserBufferEncodingTf8* ubEncodingTf8
+                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTf8*> (&ubEncoding);
+            if (ubEncodingTf8) {
+                m_StepExactly0 = ubEncodingTf8->getStepExactly0();
+                m_QuantizedStepSize = ubEncodingTf8->getQuantizedStepSize();
+            }
+    }
+
+/**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+
+    void setStepExactly0(const unsigned char stepExactly0) {
+        m_StepExactly0 = stepExactly0;
+    }
+
+
+/**
+      * @brief Sets the float value that each step represents
+      *
+      * @param[in] quantizedStepSize The float value of each step size
+      *
+     */
+
+    void setQuantizedStepSize(const float quantizedStepSize) {
+        m_QuantizedStepSize = quantizedStepSize;
+    }
+
+
+/**
+      * @brief Retrieves the step that represents 0.0
+      *
+      * @return Step value
+     */
+
+    unsigned char getStepExactly0() const {
+        return m_StepExactly0;
+    }
+
+
+/**
+     * Calculates the minimum floating point value that
+     * can be represented with this encoding.
+     *
+     * @return Minimum representable floating point value
+     */
+
+    float getMin() const {
+        return m_QuantizedStepSize * (0 - m_StepExactly0);
+    }
+
+
+/**
+     * Calculates the maximum floating point value that
+     * can be represented with this encoding.
+     *
+     * @return Maximum representable floating point value
+     */
+
+    float getMax() const {
+        return m_QuantizedStepSize * (255 - m_StepExactly0);
+    }
+
+
+/**
+      * @brief Retrieves the step size
+      *
+      * @return Step size
+     */
+
+    float getQuantizedStepSize() const {
+        return m_QuantizedStepSize;
+    }
+
+private:
+    unsigned char m_StepExactly0;
+
+    float m_QuantizedStepSize;
+};
+
+
+
+class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
+public:
+   UserBufferEncodingTfN() = delete;
+   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
+                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
+                                           bitWidth(bWidth),
+                                           m_StepExactly0(stepFor0),
+                                           m_QuantizedStepSize(stepSize){};
+
+   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
+            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
+                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
+            if (ubEncodingTfN) {
+                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
+                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
+                bitWidth = ubEncodingTfN->bitWidth;
+            }
+   }
+
+   size_t getElementSize() const noexcept override;
+   /**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+   void setStepExactly0(uint64_t stepExactly0) {
+      m_StepExactly0 = stepExactly0;
+   }
+
+   /**
+     * @brief Sets the float value that each step represents
+     *
+     * @param[in] quantizedStepSize The float value of each step size
+     *
+    */
+   void setQuantizedStepSize(const float quantizedStepSize) {
+      m_QuantizedStepSize = quantizedStepSize;
+   }
+
+   /**
+     * @brief Retrieves the step that represents 0.0
+     *
+     * @return Step value
+    */
+   uint64_t getStepExactly0() const {
+      return m_StepExactly0;
+   }
+
+   /**
+    * Calculates the minimum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Minimum representable floating point value
+    */
+   float getMin() const {
+      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
+   }
+
+   /**
+    * Calculates the maximum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Maximum representable floating point value
+    */
+   float getMax() const{
+       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
+   };
+
+   /**
+     * @brief Retrieves the step size
+     *
+     * @return Step size
+    */
+   float getQuantizedStepSize() const {
+      return m_QuantizedStepSize;
+   }
+
+   ElementType_t getTypeFromWidth(uint8_t width);
+
+   uint8_t bitWidth;
+private:
+   uint64_t m_StepExactly0;
+   float m_QuantizedStepSize;
+};
+
+
+/**
+ * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
+ */
+class ZDL_EXPORT IUserBuffer {
+public:
+    virtual ~IUserBuffer() = default;
+    
+    /**
+      * @brief Retrieves the total number of bytes between elements in each dimension if
+      * the buffer were to be interpreted as a multi-dimensional array.
+      *
+      * @return Number of bytes between elements in each dimension.
+      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
+      * return strides of [24, 8, 4].
+     */
+    virtual const TensorShape& getStrides() const = 0;
+
+    /**
+      * @brief Retrieves the size of the buffer, in bytes.
+      *
+      * @return Size of the underlying buffer, in bytes.
+     */
+    virtual size_t getSize() const = 0;
+
+    /**
+      * @brief Retrieves the size of the inference data in the buffer, in bytes.
+      *
+      * The inference results from a dynamic-sized model may not be exactly the same size
+      * as the UserBuffer provided to SNPE. This function can be used to get the amount
+      * of output inference data, which may be less or greater than the size of the UserBuffer.
+      *
+      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
+      * or equal to getSize(). But if the inference results were more than the capacity of
+      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
+      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
+      * needs to be provided to SNPE to hold all of the inference results.
+      *
+      * @return Size required for the buffer to hold all inference results, which can be less
+      * or more than the size of the buffer, in bytes.
+    */
+    virtual size_t getOutputSize() const = 0;
+
+    /**
+      * @brief Changes the underlying memory that backs the UserBuffer.
+      *
+      * This can be used to avoid creating multiple UserBuffer objects
+      * when the only thing that differs is the memory location.
+      *
+      * @param[in] buffer Pointer to the memory location
+      *
+      * @return Whether the set succeeds.
+     */
+    virtual bool setBufferAddress(void *buffer) noexcept = 0;
+
+    /**
+      * @brief Gets a const reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is filled by SNPE with
+      * data types such as TF8, where the caller needs to know the quantization
+      * parameters in order to interpret the data properly
+      *
+      * @return A read-only encoding object
+     */
+    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
+
+    /**
+      * @brief Gets a reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is re-used, and the encoding
+      * parameters can change.  For example, each input can be quantized with
+      * different step sizes.
+      *
+      * @return Data encoding meta-data
+     */
+    virtual UserBufferEncoding& getEncoding() noexcept = 0;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/phonelibs/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/IUserBufferFactory.hpp
rename to third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
diff --git a/phonelibs/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
similarity index 78%
rename from phonelibs/snpe/include/DlSystem/PlatformConfig.hpp
rename to third_party/snpe/include/DlSystem/PlatformConfig.hpp
index df452dc46970bf..3f15f177e3eeba 100644
--- a/phonelibs/snpe/include/DlSystem/PlatformConfig.hpp
+++ b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
@@ -10,6 +10,7 @@
 #define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
 
 #include "DlSystem/ZdlExportDefine.hpp"
+#include <string>
 
 namespace zdl{
 namespace DlSystem
@@ -92,7 +93,8 @@ class ZDL_EXPORT PlatformConfig
       PlatformConfigInfo(){};
    };
 
-   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN) {};
+   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
+                      m_PlatformOptions("") {};
 
    /**
      * @brief Retrieves the platform type
@@ -156,9 +158,42 @@ class ZDL_EXPORT PlatformConfig
          return false;
    }
 
+   /**
+     * @brief Sets the platform options
+     *
+     * @param[in] options Options as a string in the form of "keyword:options"
+     *
+     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
+     */
+   bool setPlatformOptions(std::string options) {
+      std::string oldOptions = m_PlatformOptions;
+      m_PlatformOptions = options;
+      if (isOptionsValid()) {
+         return true;
+      } else {
+         m_PlatformOptions = oldOptions;
+         return false;
+      }
+   }
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isOptionsValid() const;
+
+   /**
+     * @brief Gets the platform options
+     *
+     * @return Options as a string
+     */
+   std::string getPlatformOptions() const { return m_PlatformOptions; }
+
 private:
    PlatformType_t m_PlatformType;
    PlatformConfigInfo m_PlatformConfigInfo;
+   std::string m_PlatformOptions;
 };
 
 /** @} */ /* end_addtogroup c_plus_plus_apis C++ */
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
new file mode 100644
index 00000000000000..1088a5b31f4538
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/RuntimeList.hpp
@@ -0,0 +1,154 @@
+//=============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/StringList.hpp"
+#include <cstddef>
+#include <memory>
+
+#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
+#define DL_SYSTEM_RUNTIME_LIST_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of Runtime List implementation.
+   class RuntimeListImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing list of runtimes
+  */
+class ZDL_EXPORT RuntimeList final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new runtime list
+    *
+    */
+   RuntimeList();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   RuntimeList(const RuntimeList& other);
+
+   /**
+   * @brief .
+   *
+   * constructor with single Runtime_t object
+   * @param[in] Runtime_t object
+   */
+   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   RuntimeList& operator=(const RuntimeList& other);
+
+   /**
+    * @brief .
+    *
+    * subscript operator.
+    */
+   Runtime_t& operator[](size_t index);
+
+   /**
+    * @brief Adds runtime to the end of the runtime list
+    *        order of precedence is former followed by latter entry
+    *
+    * @param[in] runtime to add
+    *
+    * Ruturns false If the runtime already exists
+    */
+   bool add(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief Removes the runtime from the list
+    *
+    * @param[in] runtime to be removed
+    *
+    * @note If the runtime is not found, nothing is done.
+    */
+   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
+
+   /**
+    * @brief Returns the number of runtimes in the list
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief Returns true if the list is empty
+    */
+   bool empty() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all runtime from the list
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns a StringList of names from the runtime list in
+    * order of precedence
+    */
+   zdl::DlSystem::StringList getRuntimeListNames() const;
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime string
+    * Returns a Runtime enum corresponding to the in param string
+    *
+    */
+   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime
+    * Returns a string corresponding to the in param runtime enum
+    *
+    */
+   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
+
+   ~RuntimeList();
+
+private:
+   void deepCopy(const RuntimeList &other);
+   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_RUNTIME_LIST_HPP
+
diff --git a/phonelibs/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
similarity index 94%
rename from phonelibs/snpe/include/DlSystem/String.hpp
rename to third_party/snpe/include/DlSystem/String.hpp
index 97b07726c72bc7..c1eba3bad96b02 100644
--- a/phonelibs/snpe/include/DlSystem/String.hpp
+++ b/third_party/snpe/include/DlSystem/String.hpp
@@ -1,6 +1,6 @@
 //=============================================================================
 //
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -12,10 +12,7 @@
 #include <cstdio>
 #include <string>
 #include <ostream>
-
-#ifndef ZDL_EXPORT
-#define ZDL_EXPORT __attribute__((visibility("default")))
-#endif
+#include "DlSystem/ZdlExportDefine.hpp"
 
 namespace zdl
 {
@@ -105,4 +102,3 @@ ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcep
 /** @} */ /* end_addtogroup c_plus_plus_apis C++ */
 
 #endif // PLATFORM_STANDARD_STRING_HPP
-
diff --git a/phonelibs/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/StringList.hpp
rename to third_party/snpe/include/DlSystem/StringList.hpp
diff --git a/phonelibs/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/TensorMap.hpp
rename to third_party/snpe/include/DlSystem/TensorMap.hpp
diff --git a/phonelibs/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/TensorShape.hpp
rename to third_party/snpe/include/DlSystem/TensorShape.hpp
diff --git a/phonelibs/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
similarity index 97%
rename from phonelibs/snpe/include/DlSystem/TensorShapeMap.hpp
rename to third_party/snpe/include/DlSystem/TensorShapeMap.hpp
index 00dc41a113160d..cef946e2e6dbc9 100644
--- a/phonelibs/snpe/include/DlSystem/TensorShapeMap.hpp
+++ b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
@@ -1,6 +1,6 @@
 //=============================================================================
 //
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -8,7 +8,6 @@
 #include <initializer_list>
 #include <cstdio>
 #include <memory>
-#include <vector>
 #include "ZdlExportDefine.hpp"
 #include "DlSystem/TensorShape.hpp"
 #include "DlSystem/StringList.hpp"
diff --git a/phonelibs/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/UDLContext.hpp
rename to third_party/snpe/include/DlSystem/UDLContext.hpp
diff --git a/phonelibs/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/UDLFunc.hpp
rename to third_party/snpe/include/DlSystem/UDLFunc.hpp
diff --git a/phonelibs/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
similarity index 100%
rename from phonelibs/snpe/include/DlSystem/UserBufferMap.hpp
rename to third_party/snpe/include/DlSystem/UserBufferMap.hpp
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
new file mode 100644
index 00000000000000..92eb786d312f6d
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
@@ -0,0 +1,13 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#pragma once
+
+#ifndef ZDL_EXPORT
+#define ZDL_EXPORT
+#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
new file mode 100644
index 00000000000000..e74278ead7bff5
--- /dev/null
+++ b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
@@ -0,0 +1,93 @@
+// =============================================================================
+//
+// Copyright (c) 2018-2019 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef SNPE_PLATFORMVALIDATOR_HPP
+#define SNPE_PLATFORMVALIDATOR_HPP
+
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/DlMacros.hpp"
+SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
+#include <string>
+#include <memory>
+SNPE_ENABLE_WARNINGS
+
+namespace zdl
+{
+   namespace SNPE
+   {
+      class PlatformValidator;
+
+      class IPlatformValidatorRuntime;
+   }
+}
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* The class for checking SNPE compatibility/capability of a device.
+*
+*/
+
+class zdl::SNPE::PlatformValidator
+{
+public:
+   /**
+    * @brief Default Constructor of the PlatformValidator Class
+    *
+    * @return A new instance of a PlatformValidator object
+    *         that can be used to check the SNPE compatibility
+    *         of a device
+    */
+   PlatformValidator();
+
+   ~PlatformValidator();
+
+   /**
+    * @brief Sets the runtime processor for compatibility check
+    *
+    * @return Void
+    */
+   void setRuntime(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * @brief Checks if the Runtime prerequisites for SNPE are available.
+    *
+    * @return True if the Runtime prerequisites are available, else false.
+    */
+   bool isRuntimeAvailable();
+
+   /**
+    * @brief Returns the core version for the Runtime selected.
+    *
+    * @return String which contains the actual core version value
+    */
+   std::string getCoreVersion();
+
+   /**
+    * @brief Returns the library version for the Runtime selected.
+    *
+    * @return String which contains the actual lib version value
+    */
+   std::string getLibVersion();
+
+   /**
+    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
+    *
+    * @return If True, the device is ready for SNPE execution, else not.
+    */
+
+   bool runtimeCheck();
+
+private:
+    zdl::DlSystem::Runtime_t m_runtimeType;
+    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
new file mode 100644
index 00000000000000..380a3e0e6e77ee
--- /dev/null
+++ b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
@@ -0,0 +1,101 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
+#define PSNPE_APPLICATIONBUFFERMAP_HPP
+#include <vector>
+#include <string>
+#include <unordered_map>
+
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * A class representing the UserBufferMap of Input and Output asynchronous mode.
+ */
+
+class ZDL_EXPORT ApplicationBufferMap final
+{
+
+ public:
+   /**
+    * @brief Adds a name and the corresponding buffer
+    *        to the map
+    *
+    * @param[in] name The name of the UserBuffer
+    * @param[in] buffer The vector of the uint8_t data
+    *
+    * @note If a UserBuffer with the same name already exists, the new
+    *       UserBuffer pointer would be updated.
+    */
+   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
+   void add(const char* name, std::vector<float>& buff) noexcept;
+   /**
+    * @brief Removes a mapping of one UserBuffer and its name by its name
+    *
+    * @param[in] name The name of UserBuffer to be removed
+    *
+    * @note If no UserBuffer with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char* name) noexcept;
+
+   /**
+    * @brief Returns the number of UserBuffers in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all UserBuffers from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the UserBuffer given its name.
+    *
+    * @param[in] name The name of the UserBuffer to get.
+    *
+    * @return nullptr if no UserBuffer with the specified name is
+    *         found; otherwise, a valid pointer to the UserBuffer.
+    */
+   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
+   const std::vector<uint8_t>& operator[](const char* name) const;
+   /**
+    * @brief .
+    *
+    * Returns the names of all UserAsyncBufferMap
+    *
+    * @return A list of UserBuffer names.
+    */
+   zdl::DlSystem::StringList getUserBufferNames() const;
+   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
+   explicit ApplicationBufferMap();
+   ~ApplicationBufferMap();
+   explicit ApplicationBufferMap(
+     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
+
+ private:
+   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+
+#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
new file mode 100644
index 00000000000000..c0a6fb55d67a45
--- /dev/null
+++ b/third_party/snpe/include/SNPE/PSNPE.hpp
@@ -0,0 +1,194 @@
+// =============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef PSNPE_HPP
+#define PSNPE_HPP
+
+#include <cstdlib>
+#include <functional>
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+#include "UserBufferList.hpp"
+#include "RuntimeConfigList.hpp"
+#include "ApplicationBufferMap.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ *@ brief build snpe instance in serial or parallel
+ *
+ */
+enum ZDL_EXPORT BuildMode {
+   SERIAL = 0,
+   PARALLEL = 1
+};
+/**
+ * @brief  Input and output transmission mode
+ */
+enum ZDL_EXPORT InputOutputTransmissionMode
+{
+   sync = 0,
+   outputAsync = 1,
+   inputOutputAsync = 2
+};
+
+/**
+ * @brief  A structure representing parameters of callback function of Async Output mode
+ */
+struct ZDL_EXPORT OutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   bool executeStatus;
+   OutputAsyncCallbackParam(size_t _index,bool _status)
+     : dataIndex(_index),executeStatus(_status){};
+};
+/**
+ * @brief  A structure representing parameters of callback function of Async Input/Output mode
+ */
+struct ZDL_EXPORT InputOutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   const ApplicationBufferMap& outputMap;
+   bool executeStatus;
+   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status)
+     : dataIndex(_index)
+     , outputMap(output_map)
+     ,executeStatus(_status){
+
+     };
+};
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output Async mode
+ */
+using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
+ */
+using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
+/**
+ * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
+ */
+using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
+    const zdl::DlSystem::StringList &)>;
+/**
+ * @brief .
+ *
+ * A structure PSNPE configuration
+ *
+ */
+struct ZDL_EXPORT BuildConfig final
+{
+   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
+   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
+   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
+   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
+   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
+   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
+   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
+   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
+   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
+   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
+   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
+   uint64_t encode[2] = {0, 0};
+   bool enableInitCache = false;
+};
+/**
+ * @brief .
+ *
+ * The class for executing SNPE instances in parallel.
+ */
+class ZDL_EXPORT PSNPE final
+{
+ public:
+   ~PSNPE();
+
+   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
+
+   /**
+    * @brief Build snpe instances.
+    *
+    */
+   bool build(BuildConfig& buildConfig) noexcept;
+
+   /**
+    * @brief Execute snpe instances in Async Output mode and Sync mode
+    *
+    * @param[in] inputBufferList A list of user buffers that contains the input data
+    *
+    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
+    *
+    */
+   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
+
+   /**
+    * @brief  Execute snpe instances in Async Input/Output mode
+    *
+    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
+    *                     need to be matched with names retrived through getInputTensorNames()
+    *
+    * @param dataIndex Index of the input data
+    *
+    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
+    *
+    * @return True if executed successfully; flase, otherwise.
+    */
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
+   /**
+    * @brief Returns the input layer names of the network.
+    *
+    * @return StringList which contains the input layer names
+    */
+   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the output layer names of the network.
+    *
+    * @return StringList which contains the output layer names
+    */
+   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the input tensor dimensions of the network.
+    *
+    * @return TensorShape which contains the dimensions.
+    */
+   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
+
+   /**
+    * @brief Returns attributes of buffers.
+    *
+    * @see zdl::SNPE
+    *
+    * @return BufferAttributes of input/output tensor named.
+    */
+   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
+
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+
+ private:
+   PSNPE(const PSNPE&) = delete;
+   PSNPE& operator=(const PSNPE&) = delete;
+   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
new file mode 100644
index 00000000000000..837dba092a1d21
--- /dev/null
+++ b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
@@ -0,0 +1,85 @@
+//==============================================================================
+//
+//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
+#define PSNPE_RUNTIMECONFIGLIST_HPP
+
+#include <iostream>
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/RuntimeList.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+namespace zdl {
+namespace PSNPE {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The structure for configuring a BulkSNPE runtime
+ *
+ */
+struct ZDL_EXPORT RuntimeConfig final {
+    zdl::DlSystem::Runtime_t runtime;
+    zdl::DlSystem::RuntimeList runtimeList;
+    zdl::DlSystem::PerformanceProfile_t perfProfile;
+    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
+    bool enableCPUFallback;
+    RuntimeConfig()
+        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
+          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
+          enableCPUFallback{false} {}
+    RuntimeConfig(const RuntimeConfig& other) {
+        runtime = other.runtime;
+        runtimeList = other.runtimeList;
+        perfProfile = other.perfProfile;
+        enableCPUFallback = other.enableCPUFallback;
+        inputDimensionsMap = other.inputDimensionsMap;
+    }
+
+    RuntimeConfig& operator=(const RuntimeConfig& other) {
+        this->runtimeList = other.runtimeList;
+        this->runtime = other.runtime;
+        this->perfProfile = other.perfProfile;
+        this->enableCPUFallback = other.enableCPUFallback;
+        this->inputDimensionsMap = other.inputDimensionsMap;
+        return *this;
+    }
+
+    ~RuntimeConfig() {}
+};
+
+/**
+ * @brief .
+ *
+ * The class for creating a RuntimeConfig container.
+ *
+ */
+class ZDL_EXPORT RuntimeConfigList final {
+   public:
+    RuntimeConfigList();
+    RuntimeConfigList(const size_t size);
+    void push_back(const RuntimeConfig& runtimeConfig);
+    RuntimeConfig& operator[](const size_t index);
+    RuntimeConfigList& operator=(const RuntimeConfigList& other);
+    size_t size() const noexcept;
+    size_t capacity() const noexcept;
+    void clear() noexcept;
+    ~RuntimeConfigList() = default;
+
+   private:
+    void swap(const RuntimeConfigList& other);
+    std::vector<RuntimeConfig> m_runtimeConfigs;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}  // namespace PSNPE
+}  // namespace zdl
+#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/phonelibs/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
similarity index 96%
rename from phonelibs/snpe/include/SNPE/SNPE.hpp
rename to third_party/snpe/include/SNPE/SNPE.hpp
index ba84265b9663f8..239690ab2c7f1c 100644
--- a/phonelibs/snpe/include/SNPE/SNPE.hpp
+++ b/third_party/snpe/include/SNPE/SNPE.hpp
@@ -1,6 +1,6 @@
 //==============================================================================
 //
-//  Copyright (c) 2015-2017 Qualcomm Technologies, Inc.
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -9,9 +9,6 @@
 #ifndef _SNPE_SNPE_HPP_
 #define _SNPE_SNPE_HPP_
 
-#include <map>
-#include <vector>
-
 #include "DlSystem/DlOptional.hpp"
 #include "DlSystem/DlVersion.hpp"
 #include "DlSystem/IBufferAttributes.hpp"
@@ -83,6 +80,14 @@ class ZDL_EXPORT SNPE final
    zdl::DlSystem::Optional<zdl::DlSystem::StringList>
       getOutputTensorNames() const noexcept;
 
+   /**
+    * @brief Gets the name of output tensor from the input layer name
+    *
+    * @return Output tensor name.
+    */
+   zdl::DlSystem::StringList
+      getOutputTensorNamesByLayerName(const char *name) const noexcept;
+
    /**
     * @brief Processes the input data and returns the output
     *
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
new file mode 100644
index 00000000000000..f314d88bcff949
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
@@ -0,0 +1,283 @@
+//==============================================================================
+//
+//  Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_BUILDER_HPP_
+#define _SNPE_BUILDER_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/PlatformConfig.hpp"
+#include "DlSystem/RuntimeList.hpp"
+
+namespace zdl {
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+struct SNPEBuilderImpl;
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The builder class for creating SNPE objects.
+ * Not meant to be extended.
+ */
+class ZDL_EXPORT SNPEBuilder final
+{
+private:
+   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
+public:
+
+   /**
+    * @brief Constructor of NeuralNetwork Builder with a supplied model.
+    *
+    * @param[in] container A container holding the model.
+    *
+    * @return A new instance of a SNPEBuilder object
+    *         that can be used to configure and build
+    *         an instance of SNPE.
+    *
+    */
+   explicit SNPEBuilder(
+      zdl::DlContainer::IDlContainer* container);
+   ~SNPEBuilder();
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the runtime processor.
+    *
+    * @param[in] targetRuntimeProcessor The target runtime.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessor(
+      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
+
+   /**
+    * @brief Requests a performance profile.
+    *
+    * @param[in] targetRuntimeProfile The target performance profile.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPerformanceProfile(
+      zdl::DlSystem::PerformanceProfile_t performanceProfile);
+
+   /**
+    * @brief Sets the profiling level. Default profiling level for
+    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
+    *
+    * @param[in] profilingLevel The target profiling level.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setProfilingLevel(
+      zdl::DlSystem::ProfilingLevel_t profilingLevel);
+
+    /**
+     * @brief Sets a preference for execution priority.
+     *
+     * This allows the caller to give coarse hint to SNPE runtime
+     * about the priority of the network.  SNPE runtime is free to use
+     * this information to co-ordinate between different workloads
+     * that may or may not extend beyond SNPE.
+     *
+     * @param[in] ExecutionPriorityHint_t The target performance profile.
+     *
+     * @return The current instance of SNPEBuilder.
+     */
+   SNPEBuilder& setExecutionPriorityHint(
+            zdl::DlSystem::ExecutionPriorityHint_t priority);
+
+    /**
+    * @brief Sets the layers that will generate output.
+    *
+    * @param[in] outputLayerNames List of layer names to
+    *                             output. An empty list will
+    *                             result in only the final
+    *                             layer of the model being
+    *                             the output layer.  The list
+    *                             will be copied.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setOutputLayers(
+      const zdl::DlSystem::StringList& outputLayerNames);
+
+   /**
+   * @brief Sets the output tensor names.
+   *
+   * @param[in] outputTensorNames List of tensor names to
+   *                             output. An empty list will
+   *                             result in producing output for the final
+   *                             output tensor of the model.
+   *                             The list will be copied.
+   *
+   * @return The current instance of SNPEBuilder.
+   */
+   SNPEBuilder& setOutputTensors(
+      const zdl::DlSystem::StringList& outputTensorNames);
+
+   /**
+    * @brief Passes in a User-defined layer.
+    *
+    * @param udlBundle Bundle of udl factory function and a cookie
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUdlBundle(
+      zdl::DlSystem::UDLBundle udlBundle);
+
+   /**
+    * @brief Sets whether this neural network will perform inference with
+    *        input from user-supplied buffers, and write output to user-supplied
+    *        buffers.  Default behaviour is to use tensors created by
+    *        ITensorFactory.
+    *
+    * @param[in] bufferMode Whether to use user-supplied buffer or not.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUseUserSuppliedBuffers(
+      bool bufferMode);
+
+    /**
+    * @brief Sets the debug mode of the runtime.
+    *
+    * @param[in] debugMode This enables debug mode for the runtime. It
+    *                      does two things. For an empty
+    *                      outputLayerNames list, all layers will be
+    *                      output. It might also disable some internal
+    *                      runtime optimizations (e.g., some networks
+    *                      might be optimized by combining layers,
+    *                      etc.).
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setDebugMode(
+      bool debugMode);
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the mode of CPU fallback functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality
+    *                   of CPU fallback. When the CPU fallback
+    *                   functionality is enabled, layers in model that
+    *                   violates runtime constraints will run on CPU
+    *                   while the rest of non-violating layers will
+    *                   run on the chosen runtime processor. In
+    *                   disabled mode, models with layers violating
+    *                   runtime constraints will NOT run on the chosen
+    *                   runtime processor and will result in runtime
+    *                   exception. By default, the functionality is
+    *                   enabled.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setCPUFallbackMode(
+      bool mode);
+
+
+   /**
+    * @brief Sets network's input dimensions to enable resizing of
+    *        the spatial dimensions of each layer for fully convolutional networks,
+    *        and the batch dimension for all networks.
+    *
+    * @param[in] tensorShapeMap The map of input names and their new dimensions.
+    *                           The new dimensions overwrite the input dimensions
+    *                           embedded in the model and then resize each layer
+    *                           of the model. If the model contains
+    *                           layers whose dimensions cannot be resized e.g FullyConnected,
+    *                           exception will be thrown when SNPE instance is actually built.
+    *                           In general the batch dimension is always resizable.
+    *                           After resizing of layers' dimensions in model based
+    *                           on new input dimensions, the new model is revalidated
+    *                           against all runtime constraints, whose failures may
+    *                           result in cpu fallback situation.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
+
+   /**
+    * @brief Sets the mode of init caching functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality of init caching.
+    *                   When init caching functionality is enabled, a set of init caches
+    *                   will be created during network building/initialization process
+    *                   and will be added to DLC container. If such DLC container is saved
+    *                   by the user, in subsequent network building/initialization processes
+    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
+    *                   In disable mode, no init caches will be added to DLC container.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInitCacheMode(
+      bool cacheMode);
+
+   /**
+    * @brief Returns an instance of SNPE based on the current parameters.
+    *
+    * @return A new instance of a SNPE object that can be used
+    *         to execute models or null if any errors occur.
+    */
+   std::unique_ptr<SNPE> build() noexcept;
+
+   /**
+    * @brief Sets the platform configuration.
+    *
+    * @param[in] platformConfig The platform configuration.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
+
+   /**
+    * @brief Sets network's runtime order of precedence. Example:
+    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
+    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
+    *        setRuntimeProcessorOrder() is invoked
+    *
+    * @param[in] runtimeList The list of runtime in order of precedence
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
+
+    /**
+    * @brief Sets the unconsumed tensors as output
+    *
+    * @param[in] setOutput This enables unconsumed tensors (i.e)
+    *                      outputs which are not inputs to any
+    *                      layer (basically dead ends) to be marked
+    *                      for output
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUnconsumedTensorsAsOutputs(
+      bool setOutput);
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
new file mode 100644
index 00000000000000..7bef45d877c4c1
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEFactory.hpp
@@ -0,0 +1,131 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_FACTORY_HPP_
+#define _SNPE_FACTORY_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/DlOptional.hpp"
+
+namespace zdl {
+   namespace DlSystem
+   {
+      class ITensorFactory;
+      class IUserBufferFactory;
+   }
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The factory class for creating SNPE objects.
+ *
+ */
+class ZDL_EXPORT SNPEFactory
+{
+public:
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @param[in] option Extent to perform runtime available check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @param[in] option Extent to perform runtime available check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
+                                  zdl::DlSystem::RuntimeCheckOption_t option);
+
+   /**
+    * Gets a reference to the tensor factory.
+    *
+    * @return A reference to the tensor factory.
+    */
+   static zdl::DlSystem::ITensorFactory& getTensorFactory();
+
+   /**
+    * Gets a reference to the UserBuffer factory.
+    *
+    * @return A reference to the UserBuffer factory.
+    */
+   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
+
+   /**
+    * Gets the version of the SNPE library.
+    *
+    * @return Version of the SNPE library.
+    *
+    */
+   static zdl::DlSystem::Version_t getLibraryVersion();
+
+   /**
+    * Set the SNPE storage location for all SNPE instances in this
+    * process. Note that this may only be called once, and if so
+    * must be called before creating any SNPE instances.
+    *
+    * @param[in] storagePath Absolute path to a directory which SNPE may
+    *  use for caching and other storage purposes.
+    *
+    * @return True if the supplied path was succesfully set as
+    *  the SNPE storage location, false otherwise.
+    */
+   static bool setSNPEStorageLocation(const char* storagePath);
+
+   /**
+    * @brief Register a user-defined op package with SNPE.
+    *
+    * @param[in] regLibraryPath Path to the registration library
+    *                      that allows clients to register a set of operations that are
+    *                      part of the package, and share op info with SNPE
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool addOpPackage( const std::string& regLibraryPath );
+
+   /**
+    * Indicates whether the OpenGL and OpenCL interoperability is supported
+    * on GPU platform.
+    *
+    * @return True if the OpenGL and OpenCl interop is supported; false,
+    *         otherwise.
+    */
+   static bool isGLCLInteropSupported();
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+
+#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
new file mode 100644
index 00000000000000..a660bca0f6a525
--- /dev/null
+++ b/third_party/snpe/include/SNPE/UserBufferList.hpp
@@ -0,0 +1,49 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_USERBUFFERLIST_HPP
+#define PSNPE_USERBUFFERLIST_HPP
+
+#include <vector>
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+/**
+* @brief .
+*
+* The class for creating a UserBufferMap container.
+*
+*/
+class ZDL_EXPORT UserBufferList final
+{
+public:
+   UserBufferList();
+   UserBufferList(const size_t size);
+   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
+   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
+   UserBufferList& operator =(const UserBufferList &other);
+   size_t size() const noexcept;
+   size_t capacity() const noexcept;
+   void clear() noexcept;
+   ~UserBufferList() = default;
+
+private:
+   void swap(const UserBufferList &other);
+   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // namespace PSNPE
+} // namespace zdl
+#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
new file mode 100644
index 00000000000000..be370e1ac5b975
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoBase.h
@@ -0,0 +1,483 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_BASE_H
+#define SNPE_UDO_BASE_H
+
+#include <stdint.h>
+
+// Provide values to use for API version.
+#define API_VERSION_MAJOR 1
+#define API_VERSION_MINOR 5
+#define API_VERSION_TEENY 0
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+// Defines a bitmask of enum values.
+typedef uint32_t SnpeUdo_Bitmask_t;
+
+// A string of characters, rather than an array of bytes.
+// Assumed to be UTF-8.
+typedef char* SnpeUdo_String_t;
+
+// The maximum allowable length of a SnpeUdo_String_t in bytes,
+// including null terminator. SNPE will truncate strings longer
+// than this.
+#define SNPE_UDO_MAX_STRING_SIZE 1024
+
+/**
+  * An enum which holds the various error types.
+  * The error types are divided to classes :
+  * 0 - 99    : generic errors
+  * 100 - 200 : errors related to configuration
+  *
+  */
+typedef enum
+{
+   /// No Error
+   SNPE_UDO_NO_ERROR                    = 0,
+   /// Unsupported value for core type
+   SNPE_UDO_WRONG_CORE                  = 1,
+   /// Invalid attribute/argument passed into UDO API
+   SNPE_UDO_INVALID_ARGUMENT            = 2,
+   /// Unsupported feature error
+   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,
+   /// Error relating to memory allocation
+   SNPE_UDO_MEM_ALLOC_ERROR             = 4,
+   /* Configuration Specific errors */
+   /// No op with given attributes available in library
+   SNPE_UDO_WRONG_OPERATION             = 100,
+   /// Unsupported value for core type in UDO configuration
+   SNPE_UDO_WRONG_CORE_TYPE             = 101,
+   /// Wrong number of params in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,
+   /// Wrong number of dimensions for tensor(s) in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
+   /// Wrong number of input tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,
+   /// Wrong number of output tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,
+   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
+   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
+} SnpeUdo_ErrorType_t;
+
+/**
+  * An enum which holds the various data types.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  * \n FIXED_XX types are targeted for data in tensors.
+  * \n UINT / INT types are targeted for scalar params
+  */
+typedef enum
+{
+   /// data type: 16-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,
+   /// data type: 32-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,
+   /// data type: 4-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,
+   /// data type: 8-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,
+   /// data type: 16-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,
+   /// data type: 32-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,
+   /// data type: 8-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_8         = 0x100,
+   /// data type: 16-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_16        = 0x200,
+   /// data type: 32-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_32        = 0x400,
+   /// data type: 8-bit signed integer
+   SNPE_UDO_DATATYPE_INT_8          = 0x1000,
+   /// data type: 16-bit signed integer
+   SNPE_UDO_DATATYPE_INT_16         = 0x2000,
+   /// data type: 32-bit signed integer
+   SNPE_UDO_DATATYPE_INT_32         = 0x4000,
+   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF
+} SnpeUdo_DataType_t;
+
+/**
+  * An enum which holds the various layouts.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// data layout (4D): NHWC (batch-height-width-channel)
+   SNPE_UDO_LAYOUT_NHWC             = 0x01,
+   /// data layout (4D): NCHW (batch-channel-height-width)
+   SNPE_UDO_LAYOUT_NCHW             = 0x02,
+   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
+   SNPE_UDO_LAYOUT_NDHWC            = 0x04,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
+   // Indicates no data will be allocated for this tensor.
+   // Used to specify optional inputs/outputs positionally.
+   SNPE_UDO_LAYOUT_NULL             = 0x13,
+   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF
+} SnpeUdo_TensorLayout_t;
+
+/**
+  * An enum which holds the UDO library Core type .
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// Library target IP Core is undefined
+   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,
+   /// Library target IP Core is CPU
+   SNPE_UDO_CORETYPE_CPU         = 0x01,
+   /// Library target IP Core is GPU
+   SNPE_UDO_CORETYPE_GPU         = 0x02,
+   /// Library target IP Core is DSP
+   SNPE_UDO_CORETYPE_DSP         = 0x04,
+   SNPE_UDO_CORETYPE_LAST         = 0xFFFFFFFF
+} SnpeUdo_CoreType_t;
+
+/**
+  * An enum to specify the parameter type : Scalar or Tensor
+  */
+typedef enum
+{
+   /// UDO static param type: scalar
+   SNPE_UDO_PARAMTYPE_SCALAR,
+   /// UDO static param type: string
+   SNPE_UDO_PARAMTYPE_STRING,
+   /// UDO static param type: tensor
+   SNPE_UDO_PARAMTYPE_TENSOR,
+   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
+} SnpeUdo_ParamType_t;
+
+/**
+  * An enum to specify quantization type
+  */
+typedef enum
+{
+   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
+   SNPE_UDO_QUANTIZATION_NONE,
+   /// Tensor Quantization type: Tensorflow-style
+   SNPE_UDO_QUANTIZATION_TF,
+   SNPE_UDO_QUANTIZATION_QMN,
+   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
+} SnpeUdo_QuantizationType_t;
+
+/**
+ * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
+ *
+ */
+typedef struct
+{
+   /// version field: major - for backward-incompatible changes
+   uint32_t major;
+   /// version field: minor - for backward-compatible feature updates
+   uint32_t minor;
+   /// version field: teeny - for minor bug-fixes and clean-up
+   uint32_t teeny;
+} SnpeUdo_Version_t;
+
+/**
+ * @brief A struct returned from version query, contains the Library version and API version
+ *
+ */
+typedef struct
+{
+   /// Version of UDO library. Controlled by users
+   SnpeUdo_Version_t libVersion;
+   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
+   SnpeUdo_Version_t apiVersion;
+} SnpeUdo_LibVersion_t;
+
+/**
+ * @brief A union to hold the value of a generic type. Allows defining a parameter struct
+ * in a generic way, with a "value" location that holds the data regardless of the type.
+ *
+ */
+typedef union
+{
+   /// value type: float
+   float    floatValue;
+   /// value type: unsigned 32-bit integer
+   uint32_t uint32Value;
+   /// value type: signed 32-bit integer
+   int32_t  int32Value;
+   /// value type: unsigned 16-bit integer
+   uint16_t uint16Value;
+   /// value type: signed 16-bit integer
+   int16_t  int16Value;
+   /// value type: unsigned 8-bit integer
+   uint8_t  uint8Value;
+   /// value type: signed 8-bit integer
+   int8_t   int8Value;
+} SnpeUdo_Value_t;
+
+/**
+ * @brief A struct which defines a scalar parameter : name, data type, and union of values
+ *
+ */
+typedef struct
+{
+   /// The parameter data type : float, int, etc.
+   SnpeUdo_DataType_t  dataType;
+   /// a union of specified type which holds the data
+   SnpeUdo_Value_t dataValue;
+} SnpeUdo_ScalarParam_t;
+
+/**
+ * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
+ *
+ */
+typedef struct
+{
+   /// minimum value of the quantization range of data
+   float minValue;
+   /// maximum value of the quantization range of data
+   float maxValue;
+} SnpeUdo_TFQuantize_t;
+
+/**
+ * @brief A struct which defines the quantization type, and union of supported quantization structs
+ *
+ */
+typedef struct
+{
+   /// quantization type (only TF-style currently supported)
+   SnpeUdo_QuantizationType_t quantizeType;
+   union
+   {
+     /// TF-style min-max quantization ranges
+     SnpeUdo_TFQuantize_t TFParams;
+   };
+} SnpeUdo_QuantizeParams_t;
+
+/**
+ * @brief A struct which defines the datatype associated with a specified core-type
+ * This should be used to denote the datatypes for a single tensor info, depending
+ * on the intended execution core.
+ *
+ */
+typedef struct
+{
+    /// The IP Core
+    SnpeUdo_CoreType_t     coreType;
+    /// The associated datatype for this coreType
+    SnpeUdo_DataType_t       dataType;
+} SnpeUdo_PerCoreDatatype_t;
+
+/**
+ * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
+ *        Also holds a pointer to the tensor data.
+ *
+ */
+typedef struct
+{
+   /// The maximum allowable dimensions of the tensor. The memory held in
+   /// _tensorData_ is guaranteed to be large enough for this.
+   uint32_t*                maxDimensions;
+   /// The current dimensions of the tensor. An operation may modify the current
+   /// dimensions of its output, to indicate cases where the output has been
+   /// "resized".
+   /// Note that for static parameters, the current and max dimensions must
+   /// match.
+   uint32_t*                currDimensions;
+   /// Quantization params applicable to the tensor. Currently only supports
+   /// Tensorflow quantization style.
+   SnpeUdo_QuantizeParams_t quantizeParams;
+   /// Number of dimensions to the tensor: 3D, 4D, etc.
+   uint32_t                 tensorRank;
+   /// The parameter data type: float, int, etc.
+   SnpeUdo_DataType_t       dataType;
+   /// The tensor layout type: NCHW, NHWC, etc.
+   SnpeUdo_TensorLayout_t   layout;
+   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
+   /// based on core-specific definitions.
+   void*                    tensorData;
+} SnpeUdo_TensorParam_t;
+
+/**
+ * @brief A struct which defines tensor information for activation tensors only
+ *
+ * It describes an activation tensor object using its name, the intended layout and the datatype
+ * it will take depending on the intended runtime core. The repeated field indicates that
+ * that the tensor info describes several input/output activation tensors, which all share the
+ * aforementioned properties.
+ */
+typedef struct
+{
+    /// The tensor name
+    SnpeUdo_String_t    tensorName;
+    /// The tensor layout type: NCHW, NHWC, etc.
+    SnpeUdo_TensorLayout_t   layout;
+    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
+    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
+    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
+    bool repeated;
+
+} SnpeUdo_TensorInfo_t;
+
+
+/**
+ * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
+ *
+ */
+typedef struct
+{
+   /// Type is scalar or tensor
+  SnpeUdo_ParamType_t paramType;
+  /// The param name, for example : "offset", "activation_type"
+  SnpeUdo_String_t    paramName;
+  union
+  {
+    /// scalar param value
+    SnpeUdo_ScalarParam_t scalarParam;
+    /// tensor param value
+    SnpeUdo_TensorParam_t tensorParam;
+    /// string param value
+    SnpeUdo_String_t      stringParam;
+  };
+} SnpeUdo_Param_t;
+
+/**
+ * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
+ *
+ */
+typedef struct
+{
+   /// The IP Core
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
+   /// Based on SnpeUdo_DataType
+   SnpeUdo_Bitmask_t      operationCalculationTypes;
+} SnpeUdo_OpCoreInfo_t;
+
+/**
+ * @brief A struct which defines the common and core-specific Operation information
+ *
+ */
+typedef struct
+{
+   /// Operation type
+   SnpeUdo_String_t      operationType;
+   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t     supportedByCores;
+   /// Number of static parameters defined by the op
+   uint32_t              numOfStaticParams;
+   /// Array of static parameters. Can be scalar or tensor params
+   SnpeUdo_Param_t*      staticParams;
+   /// Number of input tensors this op receives
+   uint32_t              numOfInputs;
+   /// Array of input tensor names to this operation
+   SnpeUdo_String_t*      inputNames;
+   /// Number of output tensors this op receives
+   uint32_t              numOfOutputs;
+   /// Array of output tensor names to this operation
+   SnpeUdo_String_t*      outputNames;
+   /// Number of cores that the op can execute on
+   uint32_t              numOfCoreInfo;
+   /// Array of per-core information entries
+   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
+    /// Array of input tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     inputInfos;
+   /// Array of output tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     outputInfos;
+} SnpeUdo_OperationInfo_t;
+
+/**
+ * @brief A struct which provides the implementation library info : type, name
+ *
+ */
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// library name. will be looked at in the standard library path
+   SnpeUdo_String_t       libraryName;
+} SnpeUdo_LibraryInfo_t;
+
+/**
+ * @brief A struct returned by the registration library and contains information on the UDO package :
+ * name, operations, libraries, etc.
+ *
+ */
+typedef struct
+{
+   /// A string containing the package name
+   SnpeUdo_String_t         packageName;
+   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t        supportedCoreTypes;
+   /// The number of implementation libraries in the package
+   uint32_t                numOfImplementationLib;
+   /// Array of implementation libraries names/types
+   SnpeUdo_LibraryInfo_t*   implementationLib;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t         operationsString;
+   /// Number of supported operations
+   uint32_t                numOfOperations;
+   /// Array of Operation info structs. Each entry describes one
+   /// Operation (name, params, inputs, outputs)
+   SnpeUdo_OperationInfo_t* operationsInfo;
+} SnpeUdo_RegInfo_t;
+
+/**
+* @brief A struct returned by the implementation library and contains information on the
+* specific library: name, IP Core, operations, etc.
+*
+*/
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// A string containing the package name
+   SnpeUdo_String_t       packageName;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t       operationsString;
+   /// Number of supported operations
+   uint32_t              numOfOperations;
+} SnpeUdo_ImpInfo_t;
+
+/**
+ * @brief This struct defines an operation. It is used for validation
+ * or creation of an operation.
+ * In case of using it for creation, the static params which are tensors
+ * contain pointers to the real data (weights, for example), and input/output
+ * tensors also include pointers to the buffers used.
+ */
+typedef struct
+{
+   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
+   SnpeUdo_CoreType_t      udoCoreType;
+   /// Operation type
+   SnpeUdo_String_t        operationType;
+   /// The number of static parameters provided in the staticParams array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfStaticParams;
+   /// Array of static parameters
+   SnpeUdo_Param_t*        staticParams;
+   /// The number of input parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfInputs;
+   /// Array of input tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  inputs;
+   /// The number of output parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfOutputs;
+   /// Array of output tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  outputs;
+} SnpeUdo_OpDefinition_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
new file mode 100644
index 00000000000000..bd29bc251dd688
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImpl.h
@@ -0,0 +1,323 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_IMPL_H
+#define SNPE_UDO_IMPL_H
+
+#include <stdbool.h>
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
+typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in error.
+ *
+ * @param[in] globalInfrastructure Global core-specific infrastructure to be
+ *            used by operations created in this library. The definition and
+ *            semantics of this object will be defined in the corresponding
+ *            implementation header for the core type.
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initImplLibrary(void* globalInfrastructure);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitImplLibraryFunction_t)(void*);
+
+/**
+ * @brief A function to query the API version of the UDO implementation library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_initImplLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateImplLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query info on the UDO implementation library.
+ *        The function populates a structure which contains information about
+ *        operations that are part of this library
+ *
+ * @param[in, out] implementationInfo A pointer to struct which contains information
+ *                 on the operations
+ *
+ * @return error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
+
+/**
+ * @brief A function to create an operation factory.
+ *        The function receives the operation type, and an array of static parameters,
+ *        and returns operation factory handler
+ *
+ * @param[in] udoCoreType The Core type to create the operation on. An error will
+ *            be returned if this does not match the core type of the library.
+ *
+ * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
+ *            core type. The definition and semantics of this object will be defined
+ *            in the corresponding implementation header for the core type.
+ *
+ * @param[in] operationType A string containing Operation type. for example "MY_CONV"
+ *
+ * @param[in] numOfStaticParams The number of static parameters.
+ *
+ * @param[in] staticParams Array of static parameters
+ *
+ * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
+                        void*                perFactoryInfrastructure,
+                        SnpeUdo_String_t      operationType,
+                        uint32_t             numOfStaticParams,
+                        SnpeUdo_Param_t*      staticParams,
+                        SnpeUdo_OpFactory_t*  opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
+                                     void*,
+                                     SnpeUdo_String_t,
+                                     uint32_t,
+                                     SnpeUdo_Param_t*,
+                                     SnpeUdo_OpFactory_t*);
+
+
+/**
+ * @brief A function to release the resources allocated for an operation factory
+ *        created by this library.
+ *
+ * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
+
+/**
+ * @brief A function to create an operation from the factory.
+ *        The function receives array of inputs and array of outputs, and creates an operation
+ *        instance, returning the operation instance handler.
+ *
+ * @param[in] opFactory OpFactory instance containing the parameters for this operation.
+ *
+ * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
+ *            and semantics of this object will be defined in the implementation header
+ *            appropriate to this core type.
+ *
+ * @param[in] numOfInputs The number of input tensors this operation will receive.
+ *
+ * @param[in] inputs Array of input tensors, providing both the sizes and initial
+ *            location of the data.
+ *
+ * @param[in] numOfOutputs Number of output tensors this operation will produce.
+ *
+ * @param[in] outputs Array of output tensors, providing both the sizes and
+ *            initial location of the data.
+ *
+ * @param[in,out] operation Handle for newly created operation instance.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
+                        void*                 perOpInfrastructure,
+                        uint32_t              numOfInputs,
+                        SnpeUdo_TensorParam_t* inputs,
+                        uint32_t              numOfOutputs,
+                        SnpeUdo_TensorParam_t* outputs,
+                        SnpeUdo_Operation_t*   operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
+                                     void*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     SnpeUdo_Operation_t*);
+
+/**
+ * @brief A pointer to notification function.
+ *
+ *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
+ *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
+ *        notify function, this function will be called by the implementation library at the
+ *        end of execution. The implementation library will pass the notify function the ID
+ *        that was provided to it when "executeUdoOp" was called.
+ *
+ * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
+ *            Can be used to track the notifications, in case of multiple execute calls issued.
+ *
+ * @return Error code
+ *
+ */
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
+
+/**
+ * @brief Operation execution function.
+ *
+ *        Calling this function will run the operation on set of inputs, generating a set of outputs.
+ *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
+ *        non-blocking mode, the calling entity can pass an ID and a notification function.
+ *        At the end of the execution this notification function would be called, passing it the ID.
+ *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
+ *
+ * @param[in] operation handle to the operation on which execute is invoked
+ * @param[in] blocking flag to indicate execution mode.
+ *            If set, execution is blocking,
+ *            e.g SnpeUdo_executeOp call does not return until execution is done.
+ *            If not set, SnpeUdo_executeOp returns immediately, and the
+ *            library will call the notification function (if set) when execution is done.
+ *
+ * @param[in] ID 32-bit number that can be used by the calling entity to track execution
+ *            in case of non-blocking execution.
+ *            For example, it can be a sequence number, increased by one on each call.
+ *
+ * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
+ *            non-blocking, the library will call this function at end of execution,
+ *            passing the number provided as ID
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
+                  bool         blocking,
+                  const uint32_t ID,
+                  SnpeUdo_ExternalNotify_t notifyFunc);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
+                               bool,
+                               const uint32_t,
+                               SnpeUdo_ExternalNotify_t);
+
+/**
+ * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
+ *        returned from creation of a new operation instance.
+ *        <b> Not supported in this release. </b>
+ *
+ *        This function allows the calling entity to change some of the inputs and outputs
+ *        between calls to execute.
+ *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
+ *        Any other change may be rejected by the implementation library, causing
+ *        immediate invalidation of the operation instance
+ *
+ * @param[in] operation Operation on which IO tensors are set
+ *
+ * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation inputs, providing only those that it wants to change.
+ *
+ * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation outputs, providing only those that it wants to change.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
+                SnpeUdo_TensorParam_t* inputs,
+                SnpeUdo_TensorParam_t* outputs);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
+                             SnpeUdo_TensorParam_t*,
+                             SnpeUdo_TensorParam_t*);
+
+/**
+ * @brief A function to return execution times.
+ *
+ *        This function can be called to query the operation execution times on the IP core
+ *        on which the operation is run. The time is provided in micro-seconds
+ *
+ * @param[in] operation Handle to operation whose execution time is being profiled
+ *
+ * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
+ *                execution time in usec into this value.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
+
+/**
+ * @brief A function to release the operation instance
+ *        \n When it is called, the implementation library needs to release all resources
+ *        allocated for this operation instance.
+ *        \n Note that all function pointers which are part of SnpeUdo_Operation become
+ *        <b> invalid </b> once releaseUdoOp call returns.
+ *
+ * @param[in] operation Handle to operation to be released
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
new file mode 100644
index 00000000000000..3bbe0638e60fc8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
@@ -0,0 +1,44 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a CPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_CPU_H
+#define SNPE_UDO_IMPL_CPU_H
+
+#include <stdio.h>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief This struct provides the infrastructure needed by a developer of
+ * CPU UDO Implementation library.
+ *
+ * The framework/runtime which loads the CPU UDO implementation library provides
+ * this infrastructure data to the loaded library at the time of op factory creation.
+ * as an opaque pointer. It contains hooks for the UDO library to invoke supported
+ * functionality at the time of execution
+ *
+ * @param getData function pointer to retrieve raw tensor data from opaque pointer
+ *  passed into the UDO when creating an instance.
+ * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
+ */
+
+typedef struct
+{
+   /// function pointer to retrieve raw tensor data from opaque pointer
+   /// passed into the UDO when creating an instance.
+   float* (*getData)(void*);
+   /// function pointer to retrieve tensor data size from opaque pointer
+   size_t (*getDataSize) (void*);
+} SnpeUdo_CpuInfrastructure_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
new file mode 100644
index 00000000000000..7e85bf15d87871
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
@@ -0,0 +1,187 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+//==============================================================================
+/*
+ * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
+ *
+ */
+//==============================================================================
+
+
+// Header to be used by a DSP Hexnn UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_DSP_H
+#define SNPE_UDO_IMPL_DSP_H
+#include <stdio.h>
+#include "SnpeUdo/UdoImpl.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        This function is HexNN specific, use case is when registration library is not in use.
+ *        Optional function.
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @return Error code, indicating if the operation can be created on this set of configuration or not.
+ *
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
+                           uint32_t numOfStaticParams,
+                           const SnpeUdo_Param_t* staticParams);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
+                                                                    uint32_t,
+                                                                    const SnpeUdo_Param_t*);
+
+
+// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
+typedef enum {
+        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN,
+        SNPE_UDO_DSP_TENSOR_LAYOUT_D32
+} SnpeUdo_HexNNTensorLayout_t;
+
+/**
+ * @brief A function to query numbers of inputs and outputs,
+ *        quantization type of each input and each output as arrays,
+ *        and data layout (plain vs d32) of each input and each output as arrays
+ *        of an operation.
+ * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
+ * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
+ *
+ * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
+ * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @param[in,out] numOfInputs Number of input tensors to the op
+ * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
+ * @param[in,out] inputsLayouts Array of layout type for each input tensor
+ * @param[in,out] numOfOutputs Number of output tensors to the op
+ * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
+ * @param[in,out] outputsLayouts Array of layout type for each output tensor
+ * @return error code, indicating status of query
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
+                        uint32_t numOfStaticParams,
+                        const SnpeUdo_Param_t* staticParams,
+                        uint32_t* numOfInputs,
+                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
+                        uint32_t* numOfOutputs,
+                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
+                                                                 uint32_t,
+                                                                 const SnpeUdo_Param_t*,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**);
+
+
+
+// Global infrastructure functions supported by Hexagon-NN v2
+typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
+typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
+typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
+                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
+                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
+                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
+typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
+                                                   uint32_t batch,
+                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
+                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
+                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
+                                                   SnpeUdo_DataType_t dataType);
+typedef void* (*udoMemalign_t) (size_t n, size_t size);
+typedef void* (*udoMalloc_t) (size_t size);
+typedef void* (*udoCalloc_t) (size_t n, size_t size);
+typedef void (*udoFree_t) (void* ptr);
+typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
+typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
+typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
+typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
+
+typedef struct hexNNv2GlobalInfra {
+    udoSetOutputTensorSize_t udoSetOutputTensorSize;
+    udoGetInputD32Paddings_t udoGetInputD32Paddings;
+    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
+    udoMemalign_t udoMemalign;
+    udoMalloc_t udoMalloc;
+    udoCalloc_t udoCalloc;
+    udoFree_t udoFree;
+    udoGetVtcmSize_t udoGetVtcmSize;
+    udoGetVtcmPtr_t udoGetVtcmPtr;
+    udoVtcmIsReal_t udoVtcmIsReal;
+    udoRunWorkerThreads_t udoRunWorkerThreads;
+} SnpeUdo_HexNNv2GlobalInfra_t;
+
+// hexnn types
+typedef enum hexnnInfraType {
+   UDO_INFRA_HEXNN_V2,
+   UDO_INFRA_HEXNN_V3   // reserved, do not use
+} SnpeUdo_HexNNInfraType_t;
+
+
+/**
+ * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
+ *
+ * The framework/runtime which loads the Hexnn UDO implementation library provides
+ * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
+ * function, and passing it (cast to void*). The Hexnn UDO library is expected
+ * to cast it back to this structure.
+ *
+ */
+typedef struct dspGlobalInfrastructure {
+    SnpeUdo_Version_t   dspInfraVersion;     // api version
+    SnpeUdo_HexNNInfraType_t infraType;
+    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
+} SnpeUdo_DspGlobalInfrastructure_t;
+
+
+/**
+ * hexnn v2 per op factory infrastructure
+ *
+ * The framework/runtime passes per op factory infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
+ * UDO implementation library is expected to cast it back to this following struct.
+ *
+ */
+typedef struct hexnnv2OpFactoryInfra {
+   unsigned long graphId;
+} SnpeUdo_HexNNv2OpFactoryInfra_t;
+
+
+/**
+ * hexnn v2 per operation infrastructure
+ *
+ * The framework/runtime passes per operation infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
+ * UDO implementation library is expected to cast it to the following type and save it.
+ *
+ * This is needed to be passed back into some functions from global infrastructure.
+ *
+ */
+typedef void* SnpeUdo_HexNNv2OpInfra_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
new file mode 100644
index 00000000000000..1af654d110c26b
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
@@ -0,0 +1,112 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a GPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_GPU_H
+#define SNPE_UDO_IMPL_GPU_H
+
+#include "CL/cl.h"
+#include "SnpeUdo/UdoBase.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * This header defines version 0.0.0 of the GPU UDO Infrastructure.
+ * It defines the interpretation of the global and per-OpFactory infrastructure pointers
+ * as well as the interpretation of tensorData pointers.
+ *
+ * The per-Operation infrastructure pointer is defined to be null, and should not be used.
+ *
+ * The SnpeUdoTensorParam_t struct below provides the interpretation for
+ * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
+ *
+ * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
+ * as a host-readable data pointer.
+ *
+ */
+
+/**
+ * @brief Function to retrieve opencl program from Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is pointer to opencl program which will be populated with
+ * valid opencl program if found in Program Cache repository.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
+   (void* programCache, const char* programName, cl_program* program);
+
+/**
+ * @brief Function to store valid opencl program in Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is valid opencl program after program is built.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ * */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
+   (void* programCache, const char * programName, cl_program program);
+
+/**
+ * @brief Global Infrastructure Definition for GPU UDO Implementations.
+ */
+typedef struct {
+   // Infrastructure definition version. This header is 0.0.0
+   SnpeUdo_Version_t   gpuInfraVersion;
+   SnpeUdo_getProgram_t SnpeUdo_getProgram;
+   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
+} SnpeUdo_GpuInfrastructure_t;
+
+/**
+ * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
+ * @note  This version of the infrastructure definition guarantees that the same
+ *        Per OpFactory infrastructure pointer will be provided to all OpFactories
+ *        in the same network.
+ */
+typedef struct
+{
+   cl_context context;
+   cl_command_queue commandQueue;
+   void* programCache;
+} SnpeUdo_GpuOpFactoryInfrastructure_t;
+
+/**
+ * @brief Opaque tensorData definition for operation inputs and outputs.
+ *
+ * The following is a list of all SnpeUdoTensorLayout_t values supported by the
+ * GPU UDO implementation, and how the parameters of the struct should be
+ * interpreted in each case:
+ *
+ * SNPE_UDO_LAYOUT_NHWC:
+ *   mem shall be single-element array, pointing to a cl buffer memory object.
+ *   the dimensions of this object match the dimensions specified in the encompassing
+ *   SnpeUdoTensorParam_t's currDimensions.
+ *
+ *   memCount shall be 1.
+ *
+ *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
+ *   implementation.
+ *
+ */
+typedef struct
+{
+   cl_mem*   mem;
+   uint32_t  memCount;
+   uint32_t  paddedRank;
+   uint32_t* paddedDimensions;
+
+} SnpeUdo_GpuTensorData_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
new file mode 100644
index 00000000000000..a5d239883355ab
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoReg.h
@@ -0,0 +1,108 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_REG_H
+#define SNPE_UDO_REG_H
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in an error being returned.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitRegLibraryFunction_t)(void);
+
+/**
+ * @brief A function to query the API version of the UDO registration library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query the info on the UDO set.
+ *        The function populates a structure which contains information about
+ *        the package and operations contained in it.
+ *
+ * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        The function receives an operation definition struct, and returns if this configuration is
+ *        supported (e.g. if an operation can be created using this configuration)
+ *
+ * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
+ *            validate that an operation can be created with this configuration.
+ *
+ * @return Error code, indicating is the operation can be created on this set or not.
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
new file mode 100644
index 00000000000000..6fd50c318acc28
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoShared.h
@@ -0,0 +1,46 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_SHARED_H
+#define SNPE_UDO_SHARED_H
+
+#include "SnpeUdo/UdoBase.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to return the various versions as they relate to the UDO
+ *        The function returns a struct containing the the following:
+ *        libVersion: the version of the implementation library compiled for the UDO. Set by user
+ *        apiVersion: the version of the UDO API used in compiling the implementation library.
+ *        Set by SNPE
+ *
+ * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
new file mode 120000
index 00000000000000..e5c222b1c9be49
--- /dev/null
+++ b/third_party/snpe/larch64
@@ -0,0 +1 @@
+aarch64-linux-gcc4.9
\ No newline at end of file
diff --git a/phonelibs/zlib/build.txt b/third_party/zlib/build.txt
similarity index 100%
rename from phonelibs/zlib/build.txt
rename to third_party/zlib/build.txt
diff --git a/phonelibs/zlib/lib/libz.a b/third_party/zlib/lib/libz.a
similarity index 100%
rename from phonelibs/zlib/lib/libz.a
rename to third_party/zlib/lib/libz.a
diff --git a/tools/lib/README.md b/tools/lib/README.md
new file mode 100644
index 00000000000000..c681809eaecfb7
--- /dev/null
+++ b/tools/lib/README.md
@@ -0,0 +1,33 @@
+## LogReader
+
+Route is a class for conviently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
+
+```python
+from tools.lib.route import Route
+from tools.lib.logreader import LogReader
+
+r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36")
+
+# get a list of paths for the route's rlog files
+print(r.log_paths())
+
+# and road camera (fcamera.hevc) files
+print(r.camera_paths())
+
+# setup a LogReader to read the route's first rlog
+lr = LogReader(r.log_paths()[0])
+
+# print out all the messages in the log
+import codecs
+codecs.register_error("strict", codecs.backslashreplace_errors)
+for msg in lr:
+  print(msg)
+
+# setup a LogReader for the route's second qlog
+lr = LogReader(r.log_paths()[1])
+
+# print all the steering angles values from the log
+for msg in lr:
+  if msg.which() == "carState":
+    print(msg.carState.steeringAngleDeg)
+```
diff --git a/selfdrive/locationd/test/__init__.py b/tools/lib/__init__.py
similarity index 100%
rename from selfdrive/locationd/test/__init__.py
rename to tools/lib/__init__.py
diff --git a/tools/lib/api.py b/tools/lib/api.py
new file mode 100644
index 00000000000000..6ff9242f29810c
--- /dev/null
+++ b/tools/lib/api.py
@@ -0,0 +1,34 @@
+import os
+import requests
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+class CommaApi():
+  def __init__(self, token=None):
+    self.session = requests.Session()
+    self.session.headers['User-agent'] = 'OpenpilotTools'
+    if token:
+      self.session.headers['Authorization'] = 'JWT ' + token
+
+  def request(self, method, endpoint, **kwargs):
+    resp = self.session.request(method, API_HOST + '/' + endpoint, **kwargs)
+    resp_json = resp.json()
+    if isinstance(resp_json, dict) and resp_json.get('error'):
+      if resp.status_code in [401, 403]:
+        raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
+
+      e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
+      e.status_code = resp.status_code
+      raise e
+    return resp_json
+
+  def get(self, endpoint, **kwargs):
+    return self.request('GET', endpoint, **kwargs)
+
+  def post(self, endpoint, **kwargs):
+    return self.request('POST', endpoint, **kwargs)
+
+class APIError(Exception):
+  pass
+
+class UnauthorizedError(Exception):
+  pass
diff --git a/tools/lib/auth.py b/tools/lib/auth.py
new file mode 100755
index 00000000000000..d5d2a60bb0dcf9
--- /dev/null
+++ b/tools/lib/auth.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+"""
+Usage::
+
+  usage: auth.py [-h] [{google,apple,github,jwt}] [jwt]
+
+  Login to your comma account
+
+  positional arguments:
+    {google,apple,github,jwt}
+    jwt
+
+  optional arguments:
+    -h, --help            show this help message and exit
+
+
+Examples::
+
+  ./auth.py  # Log in with google account
+  ./auth.py github  # Log in with GitHub Account
+  ./auth.py jwt ey......hw  # Log in with a JWT from https://jwt.comma.ai, for use in CI
+"""
+
+import argparse
+import sys
+import pprint
+import webbrowser
+from http.server import BaseHTTPRequestHandler, HTTPServer
+from typing import Any, Dict
+from urllib.parse import parse_qs, urlencode
+
+from tools.lib.api import APIError, CommaApi, UnauthorizedError
+from tools.lib.auth_config import set_token, get_token
+
+PORT = 3000
+
+
+class ClientRedirectServer(HTTPServer):
+  query_params: Dict[str, Any] = {}
+
+
+class ClientRedirectHandler(BaseHTTPRequestHandler):
+  def do_GET(self):
+    if not self.path.startswith('/auth'):
+      self.send_response(204)
+      return
+
+    query = self.path.split('?', 1)[-1]
+    query = parse_qs(query, keep_blank_values=True)
+    self.server.query_params = query
+
+    self.send_response(200)
+    self.send_header('Content-type', 'text/plain')
+    self.end_headers()
+    self.wfile.write(b'Return to the CLI to continue')
+
+  def log_message(self, format, *args):  # pylint: disable=redefined-builtin
+    pass  # this prevent http server from dumping messages to stdout
+
+
+def auth_redirect_link(method):
+  provider_id = {
+    'google': 'g',
+    'apple': 'a',
+    'github': 'h',
+  }[method]
+
+  params = {
+    'redirect_uri': f"https://api.comma.ai/v2/auth/{provider_id}/redirect/",
+    'state': f'service,localhost:{PORT}',
+  }
+
+  if method == 'google':
+    params.update({
+      'type': 'web_server',
+      'client_id': '45471411055-ornt4svd2miog6dnopve7qtmh5mnu6id.apps.googleusercontent.com',
+      'response_type': 'code',
+      'scope': 'https://www.googleapis.com/auth/userinfo.email',
+      'prompt': 'select_account',
+    })
+    return 'https://accounts.google.com/o/oauth2/auth?' + urlencode(params)
+  elif method == 'github':
+    params.update({
+      'client_id': '28c4ecb54bb7272cb5a4',
+      'scope': 'read:user',
+    })
+    return 'https://github.com/login/oauth/authorize?' + urlencode(params)
+  elif method == 'apple':
+      params.update({
+        'client_id': 'ai.comma.login',
+        'response_type': 'code',
+        'response_mode': 'form_post',
+        'scope': 'name email',
+      })
+      return 'https://appleid.apple.com/auth/authorize?' + urlencode(params)
+  else:
+    raise NotImplementedError(f"no redirect implemented for method {method}")
+
+
+def login(method):
+  oauth_uri = auth_redirect_link(method)
+
+  web_server = ClientRedirectServer(('localhost', PORT), ClientRedirectHandler)
+  print(f'To sign in, use your browser and navigate to {oauth_uri}')
+  webbrowser.open(oauth_uri, new=2)
+
+  while True:
+    web_server.handle_request()
+    if 'code' in web_server.query_params:
+      break
+    elif 'error' in web_server.query_params:
+      print('Authentication Error: "%s". Description: "%s" ' % (
+        web_server.query_params['error'],
+        web_server.query_params.get('error_description')), file=sys.stderr)
+      break
+
+  try:
+    auth_resp = CommaApi().post('v2/auth/', data={'code': web_server.query_params['code'], 'provider': web_server.query_params['provider']})
+    set_token(auth_resp['access_token'])
+  except APIError as e:
+    print(f'Authentication Error: {e}', file=sys.stderr)
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description='Login to your comma account')
+  parser.add_argument('method', default='google', const='google', nargs='?', choices=['google', 'apple', 'github', 'jwt'])
+  parser.add_argument('jwt', nargs='?')
+
+  args = parser.parse_args()
+  if args.method == 'jwt':
+    if args.jwt is None:
+      print("method JWT selected, but no JWT was provided")
+      exit(1)
+
+    set_token(args.jwt)
+  else:
+    login(args.method)
+
+  try:
+    me = CommaApi(token=get_token()).get('/v1/me')
+    print("Authenticated!")
+    pprint.pprint(me)
+  except UnauthorizedError:
+    print("Got invalid JWT")
+    exit(1)
diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py
new file mode 100644
index 00000000000000..1699d94e53c871
--- /dev/null
+++ b/tools/lib/auth_config.py
@@ -0,0 +1,34 @@
+import json
+import os
+from common.file_helpers import mkdirs_exists_ok
+from selfdrive.hardware import PC
+
+
+class MissingAuthConfigError(Exception):
+  pass
+
+
+if PC:
+  CONFIG_DIR = os.path.expanduser('~/.comma')
+else:
+  CONFIG_DIR = "/tmp/.comma"
+
+mkdirs_exists_ok(CONFIG_DIR)
+
+
+def get_token():
+  try:
+    with open(os.path.join(CONFIG_DIR, 'auth.json')) as f:
+      auth = json.load(f)
+      return auth['access_token']
+  except Exception:
+    return None
+
+
+def set_token(token):
+  with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f:
+    json.dump({'access_token': token}, f)
+
+
+def clear_token():
+  os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))
diff --git a/tools/lib/cache.py b/tools/lib/cache.py
new file mode 100644
index 00000000000000..82b22987300c18
--- /dev/null
+++ b/tools/lib/cache.py
@@ -0,0 +1,15 @@
+import os
+import urllib.parse
+from common.file_helpers import mkdirs_exists_ok
+
+DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache")
+
+def cache_path_for_file_path(fn, cache_prefix=None):
+  dir_ = os.path.join(DEFAULT_CACHE_DIR, "local")
+  mkdirs_exists_ok(dir_)
+  fn_parsed = urllib.parse.urlparse(fn)
+  if fn_parsed.scheme == '':
+    cache_fn = os.path.abspath(fn).replace("/", "_")
+  else:
+    cache_fn = f'{fn_parsed.hostname}_{fn_parsed.path.replace("/", "_")}'
+  return os.path.join(dir_, cache_fn)
diff --git a/tools/lib/exceptions.py b/tools/lib/exceptions.py
new file mode 100644
index 00000000000000..41de2e86422dea
--- /dev/null
+++ b/tools/lib/exceptions.py
@@ -0,0 +1,2 @@
+class DataUnreadableError(Exception):
+  pass
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
new file mode 100644
index 00000000000000..3d4c46b2200a51
--- /dev/null
+++ b/tools/lib/filereader.py
@@ -0,0 +1,6 @@
+from tools.lib.url_file import URLFile
+
+def FileReader(fn, debug=False):
+  if fn.startswith("http://") or fn.startswith("https://"):
+    return URLFile(fn, debug=debug)
+  return open(fn, "rb")
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
new file mode 100644
index 00000000000000..00e28c9dfe8983
--- /dev/null
+++ b/tools/lib/framereader.py
@@ -0,0 +1,586 @@
+# pylint: skip-file
+import json
+import os
+import pickle
+import struct
+import subprocess
+import tempfile
+import threading
+from functools import wraps
+
+import numpy as np
+from aenum import Enum
+from lru import LRU
+
+import _io
+from tools.lib.cache import cache_path_for_file_path
+from tools.lib.exceptions import DataUnreadableError
+from common.file_helpers import atomic_write_in_dir
+
+try:
+  from xx.chffr.lib.filereader import FileReader
+except ImportError:
+  from tools.lib.filereader import FileReader
+
+HEVC_SLICE_B = 0
+HEVC_SLICE_P = 1
+HEVC_SLICE_I = 2
+
+
+class GOPReader:
+  def get_gop(self, num):
+    # returns (start_frame_num, num_frames, frames_to_skip, gop_data)
+    raise NotImplementedError
+
+
+class DoNothingContextManager:
+  def __enter__(self):
+    return self
+
+  def __exit__(self, *x):
+    pass
+
+
+class FrameType(Enum):
+  raw = 1
+  h265_stream = 2
+
+
+def fingerprint_video(fn):
+  with FileReader(fn) as f:
+    header = f.read(4)
+  if len(header) == 0:
+    raise DataUnreadableError("%s is empty" % fn)
+  elif header == b"\x00\xc0\x12\x00":
+    return FrameType.raw
+  elif header == b"\x00\x00\x00\x01":
+    if 'hevc' in fn:
+      return FrameType.h265_stream
+    else:
+      raise NotImplementedError(fn)
+  else:
+    raise NotImplementedError(fn)
+
+
+def ffprobe(fn, fmt=None):
+  cmd = ["ffprobe",
+         "-v", "quiet",
+         "-print_format", "json",
+         "-show_format", "-show_streams"]
+  if fmt:
+    cmd += ["-f", fmt]
+  cmd += [fn]
+
+  try:
+    ffprobe_output = subprocess.check_output(cmd)
+  except subprocess.CalledProcessError:
+    raise DataUnreadableError(fn)
+
+  return json.loads(ffprobe_output)
+
+
+def vidindex(fn, typ):
+  vidindex_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "vidindex")
+  vidindex = os.path.join(vidindex_dir, "vidindex")
+
+  subprocess.check_call(["make"], cwd=vidindex_dir, stdout=open("/dev/null", "w"))
+
+  with tempfile.NamedTemporaryFile() as prefix_f, \
+       tempfile.NamedTemporaryFile() as index_f:
+    try:
+      subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name])
+    except subprocess.CalledProcessError:
+      raise DataUnreadableError("vidindex failed on file %s" % fn)
+    with open(index_f.name, "rb") as f:
+      index = f.read()
+    with open(prefix_f.name, "rb") as f:
+      prefix = f.read()
+
+  index = np.frombuffer(index, np.uint32).reshape(-1, 2)
+
+  assert index[-1, 0] == 0xFFFFFFFF
+  assert index[-1, 1] == os.path.getsize(fn)
+
+  return index, prefix
+
+
+def cache_fn(func):
+  @wraps(func)
+  def cache_inner(fn, *args, **kwargs):
+    if kwargs.pop('no_cache', None):
+      cache_path = None
+    else:
+      cache_prefix = kwargs.pop('cache_prefix', None)
+      cache_path = cache_path_for_file_path(fn, cache_prefix)
+
+    if cache_path and os.path.exists(cache_path):
+      with open(cache_path, "rb") as cache_file:
+        cache_value = pickle.load(cache_file)
+    else:
+      cache_value = func(fn, *args, **kwargs)
+
+      if cache_path:
+        with atomic_write_in_dir(cache_path, mode="wb", overwrite=True) as cache_file:
+          pickle.dump(cache_value, cache_file, -1)
+
+    return cache_value
+
+  return cache_inner
+
+
+@cache_fn
+def index_stream(fn, typ):
+  assert typ in ("hevc", )
+
+  with FileReader(fn) as f:
+    assert os.path.exists(f.name), fn
+    index, prefix = vidindex(f.name, typ)
+    probe = ffprobe(f.name, typ)
+
+  return {
+    'index': index,
+    'global_prefix': prefix,
+    'probe': probe
+  }
+
+
+def index_videos(camera_paths, cache_prefix=None):
+  """Requires that paths in camera_paths are contiguous and of the same type."""
+  if len(camera_paths) < 1:
+    raise ValueError("must provide at least one video to index")
+
+  frame_type = fingerprint_video(camera_paths[0])
+  for fn in camera_paths:
+    index_video(fn, frame_type, cache_prefix)
+
+
+def index_video(fn, frame_type=None, cache_prefix=None):
+  cache_path = cache_path_for_file_path(fn, cache_prefix)
+
+  if os.path.exists(cache_path):
+    return
+
+  if frame_type is None:
+    frame_type = fingerprint_video(fn[0])
+
+  if frame_type == FrameType.h265_stream:
+    index_stream(fn, "hevc", cache_prefix=cache_prefix)
+  else:
+    raise NotImplementedError("Only h265 supported")
+
+
+def get_video_index(fn, frame_type, cache_prefix=None):
+  cache_path = cache_path_for_file_path(fn, cache_prefix)
+
+  if not os.path.exists(cache_path):
+    index_video(fn, frame_type, cache_prefix)
+
+  if not os.path.exists(cache_path):
+    return None
+  with open(cache_path, "rb") as cache_file:
+    return pickle.load(cache_file)
+
+
+def read_file_check_size(f, sz, cookie):
+  buff = bytearray(sz)
+  bytes_read = f.readinto(buff)
+  assert bytes_read == sz, (bytes_read, sz)
+  return buff
+
+
+def rgb24toyuv420(rgb):
+  yuv_from_rgb = np.array([[ 0.299     ,  0.587     ,  0.114      ],
+                           [-0.14714119, -0.28886916,  0.43601035 ],
+                           [ 0.61497538, -0.51496512, -0.10001026 ]])
+  img = np.dot(rgb.reshape(-1, 3), yuv_from_rgb.T).reshape(rgb.shape)
+
+  y_len = img.shape[0] * img.shape[1]
+  uv_len = y_len // 4
+
+  ys = img[:, :, 0]
+  us = (img[::2, ::2, 1] + img[1::2, ::2, 1] + img[::2, 1::2, 1] + img[1::2, 1::2, 1]) / 4 + 128
+  vs = (img[::2, ::2, 2] + img[1::2, ::2, 2] + img[::2, 1::2, 2] + img[1::2, 1::2, 2]) / 4 + 128
+
+  yuv420 = np.empty(y_len + 2 * uv_len, dtype=img.dtype)
+  yuv420[:y_len] = ys.reshape(-1)
+  yuv420[y_len:y_len + uv_len] = us.reshape(-1)
+  yuv420[y_len + uv_len:y_len + 2 * uv_len] = vs.reshape(-1)
+
+  return yuv420.clip(0, 255).astype('uint8')
+
+
+def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt):
+  # using a tempfile is much faster than proc.communicate for some reason
+
+  with tempfile.TemporaryFile() as tmpf:
+    tmpf.write(rawdat)
+    tmpf.seek(0)
+
+    threads = os.getenv("FFMPEG_THREADS", "0")
+    cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
+    proc = subprocess.Popen(
+      ["ffmpeg",
+       "-threads", threads,
+       "-hwaccel", "none" if not cuda else "cuda",
+       "-c:v", "hevc",
+       "-vsync", "0",
+       "-f", vid_fmt,
+       "-flags2", "showall",
+       "-i", "pipe:0",
+       "-threads", threads,
+       "-f", "rawvideo",
+       "-pix_fmt", pix_fmt,
+       "pipe:1"],
+      stdin=tmpf, stdout=subprocess.PIPE, stderr=open("/dev/null"))
+
+    # dat = proc.communicate()[0]
+    dat = proc.stdout.read()
+    if proc.wait() != 0:
+      raise DataUnreadableError("ffmpeg failed")
+
+  if pix_fmt == "rgb24":
+    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
+  elif pix_fmt == "yuv420p":
+    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2))
+  elif pix_fmt == "yuv444p":
+    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, 3, h, w)
+  else:
+    raise NotImplementedError
+
+  return ret
+
+
+class BaseFrameReader:
+  # properties: frame_type, frame_count, w, h
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, *args):
+    self.close()
+
+  def close(self):
+    pass
+
+  def get(self, num, count=1, pix_fmt="yuv420p"):
+    raise NotImplementedError
+
+
+def FrameReader(fn, cache_prefix=None, readahead=False, readbehind=False, index_data=None):
+  frame_type = fingerprint_video(fn)
+  if frame_type == FrameType.raw:
+    return RawFrameReader(fn)
+  elif frame_type in (FrameType.h265_stream,):
+    if not index_data:
+      index_data = get_video_index(fn, frame_type, cache_prefix)
+    return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind)
+  else:
+    raise NotImplementedError(frame_type)
+
+
+class RawData:
+  def __init__(self, f):
+    self.f = _io.FileIO(f, 'rb')
+    self.lenn = struct.unpack("I", self.f.read(4))[0]
+    self.count = os.path.getsize(f) / (self.lenn+4)
+
+  def read(self, i):
+    self.f.seek((self.lenn+4)*i + 4)
+    return self.f.read(self.lenn)
+
+
+class RawFrameReader(BaseFrameReader):
+  def __init__(self, fn):
+    # raw camera
+    self.fn = fn
+    self.frame_type = FrameType.raw
+    self.rawfile = RawData(self.fn)
+    self.frame_count = self.rawfile.count
+    self.w, self.h = 640, 480
+
+  def load_and_debayer(self, img):
+    img = np.frombuffer(img, dtype='uint8').reshape(960, 1280)
+    cimg = np.dstack([img[0::2, 1::2], ((img[0::2, 0::2].astype("uint16") + img[1::2, 1::2].astype("uint16")) >> 1).astype("uint8"), img[1::2, 0::2]])
+    return cimg
+
+  def get(self, num, count=1, pix_fmt="yuv420p"):
+    assert self.frame_count is not None
+    assert num+count <= self.frame_count
+
+    if pix_fmt not in ("yuv420p", "rgb24"):
+      raise ValueError("Unsupported pixel format %r" % pix_fmt)
+
+    app = []
+    for i in range(num, num+count):
+      dat = self.rawfile.read(i)
+      rgb_dat = self.load_and_debayer(dat)
+      if pix_fmt == "rgb24":
+        app.append(rgb_dat)
+      elif pix_fmt == "yuv420p":
+        app.append(rgb24toyuv420(rgb_dat))
+      else:
+        raise NotImplementedError
+
+    return app
+
+
+class VideoStreamDecompressor:
+  def __init__(self, fn, vid_fmt, w, h, pix_fmt):
+    self.fn = fn
+    self.vid_fmt = vid_fmt
+    self.w = w
+    self.h = h
+    self.pix_fmt = pix_fmt
+
+    if pix_fmt == "yuv420p":
+      self.out_size = w*h*3//2  # yuv420p
+    elif pix_fmt in ("rgb24", "yuv444p"):
+      self.out_size = w*h*3
+    else:
+      raise NotImplementedError
+
+    self.proc = None
+    self.t = threading.Thread(target=self.write_thread)
+    self.t.daemon = True
+
+  def write_thread(self):
+    try:
+      with FileReader(self.fn) as f:
+        while True:
+          r = f.read(1024*1024)
+          if len(r) == 0:
+            break
+          self.proc.stdin.write(r)
+    finally:
+      self.proc.stdin.close()
+
+  def read(self):
+    threads = os.getenv("FFMPEG_THREADS", "0")
+    cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
+    cmd = [
+      "ffmpeg",
+      "-threads", threads,
+      "-hwaccel", "none" if not cuda else "cuda",
+      "-c:v", "hevc",
+      # "-avioflags", "direct",
+      "-analyzeduration", "0",
+      "-probesize", "32",
+      "-flush_packets", "0",
+      # "-fflags", "nobuffer",
+      "-vsync", "0",
+      "-f", self.vid_fmt,
+      "-i", "pipe:0",
+      "-threads", threads,
+      "-f", "rawvideo",
+      "-pix_fmt", self.pix_fmt,
+      "pipe:1"
+    ]
+    self.proc = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL)
+    try:
+      self.t.start()
+
+      while True:
+        dat = self.proc.stdout.read(self.out_size)
+        if len(dat) == 0:
+          break
+        assert len(dat) == self.out_size
+        if self.pix_fmt == "rgb24":
+          ret = np.frombuffer(dat, dtype=np.uint8).reshape((self.h, self.w, 3))
+        elif self.pix_fmt == "yuv420p":
+          ret = np.frombuffer(dat, dtype=np.uint8)
+        elif self.pix_fmt == "yuv444p":
+          ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w))
+        else:
+          assert False
+        yield ret
+
+      result_code = self.proc.wait()
+      assert result_code == 0, result_code
+    finally:
+      self.proc.kill()
+      self.t.join()
+
+class StreamGOPReader(GOPReader):
+  def __init__(self, fn, frame_type, index_data):
+    assert frame_type == FrameType.h265_stream
+
+    self.fn = fn
+
+    self.frame_type = frame_type
+    self.frame_count = None
+    self.w, self.h = None, None
+
+    self.prefix = None
+    self.index = None
+
+    self.index = index_data['index']
+    self.prefix = index_data['global_prefix']
+    probe = index_data['probe']
+
+    self.prefix_frame_data = None
+    self.num_prefix_frames = 0
+    self.vid_fmt = "hevc"
+
+    i = 0
+    while i < self.index.shape[0] and self.index[i, 0] != HEVC_SLICE_I:
+      i += 1
+    self.first_iframe = i
+
+    assert self.first_iframe == 0
+
+    self.frame_count = len(self.index) - 1
+
+    self.w = probe['streams'][0]['width']
+    self.h = probe['streams'][0]['height']
+
+  def _lookup_gop(self, num):
+    frame_b = num
+    while frame_b > 0 and self.index[frame_b, 0] != HEVC_SLICE_I:
+      frame_b -= 1
+
+    frame_e = num + 1
+    while frame_e < (len(self.index) - 1) and self.index[frame_e, 0] != HEVC_SLICE_I:
+      frame_e += 1
+
+    offset_b = self.index[frame_b, 1]
+    offset_e = self.index[frame_e, 1]
+
+    return (frame_b, frame_e, offset_b, offset_e)
+
+  def get_gop(self, num):
+    frame_b, frame_e, offset_b, offset_e = self._lookup_gop(num)
+    assert frame_b <= num < frame_e
+
+    num_frames = frame_e - frame_b
+
+    with FileReader(self.fn) as f:
+      f.seek(offset_b)
+      rawdat = f.read(offset_e - offset_b)
+
+      if num < self.first_iframe:
+        assert self.prefix_frame_data
+        rawdat = self.prefix_frame_data + rawdat
+
+      rawdat = self.prefix + rawdat
+
+    skip_frames = 0
+    if num < self.first_iframe:
+      skip_frames = self.num_prefix_frames
+
+    return frame_b, num_frames, skip_frames, rawdat
+
+
+class GOPFrameReader(BaseFrameReader):
+  #FrameReader with caching and readahead for formats that are group-of-picture based
+
+  def __init__(self, readahead=False, readbehind=False):
+    self.open_ = True
+
+    self.readahead = readahead
+    self.readbehind = readbehind
+    self.frame_cache = LRU(64)
+
+    if self.readahead:
+      self.cache_lock = threading.RLock()
+      self.readahead_last = None
+      self.readahead_len = 30
+      self.readahead_c = threading.Condition()
+      self.readahead_thread = threading.Thread(target=self._readahead_thread)
+      self.readahead_thread.daemon = True
+      self.readahead_thread.start()
+    else:
+      self.cache_lock = DoNothingContextManager()
+
+  def close(self):
+    if not self.open_:
+      return
+    self.open_ = False
+
+    if self.readahead:
+      self.readahead_c.acquire()
+      self.readahead_c.notify()
+      self.readahead_c.release()
+      self.readahead_thread.join()
+
+  def _readahead_thread(self):
+    while True:
+      self.readahead_c.acquire()
+      try:
+        if not self.open_:
+          break
+        self.readahead_c.wait()
+      finally:
+        self.readahead_c.release()
+      if not self.open_:
+        break
+      assert self.readahead_last
+      num, pix_fmt = self.readahead_last
+
+      if self.readbehind:
+        for k in range(num - 1, max(0, num - self.readahead_len), -1):
+          self._get_one(k, pix_fmt)
+      else:
+        for k in range(num, min(self.frame_count, num + self.readahead_len)):
+          self._get_one(k, pix_fmt)
+
+  def _get_one(self, num, pix_fmt):
+    assert num < self.frame_count
+
+    if (num, pix_fmt) in self.frame_cache:
+      return self.frame_cache[(num, pix_fmt)]
+
+    with self.cache_lock:
+      if (num, pix_fmt) in self.frame_cache:
+        return self.frame_cache[(num, pix_fmt)]
+
+      frame_b, num_frames, skip_frames, rawdat = self.get_gop(num)
+
+      ret = decompress_video_data(rawdat, self.vid_fmt, self.w, self.h, pix_fmt)
+      ret = ret[skip_frames:]
+      assert ret.shape[0] == num_frames
+
+      for i in range(ret.shape[0]):
+        self.frame_cache[(frame_b+i, pix_fmt)] = ret[i]
+
+      return self.frame_cache[(num, pix_fmt)]
+
+  def get(self, num, count=1, pix_fmt="yuv420p"):
+    assert self.frame_count is not None
+
+    if num + count > self.frame_count:
+      raise ValueError("{} > {}".format(num + count, self.frame_count))
+
+    if pix_fmt not in ("yuv420p", "rgb24", "yuv444p"):
+      raise ValueError("Unsupported pixel format %r" % pix_fmt)
+
+    ret = [self._get_one(num + i, pix_fmt) for i in range(count)]
+
+    if self.readahead:
+      self.readahead_last = (num+count, pix_fmt)
+      self.readahead_c.acquire()
+      self.readahead_c.notify()
+      self.readahead_c.release()
+
+    return ret
+
+
+class StreamFrameReader(StreamGOPReader, GOPFrameReader):
+  def __init__(self, fn, frame_type, index_data, readahead=False, readbehind=False):
+    StreamGOPReader.__init__(self, fn, frame_type, index_data)
+    GOPFrameReader.__init__(self, readahead, readbehind)
+
+
+def GOPFrameIterator(gop_reader, pix_fmt):
+  dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt)
+  for frame in dec.read():
+    yield frame
+
+
+def FrameIterator(fn, pix_fmt, **kwargs):
+  fr = FrameReader(fn, **kwargs)
+  if isinstance(fr, GOPReader):
+    for v in GOPFrameIterator(fr, pix_fmt):
+      yield v
+  else:
+    for i in range(fr.frame_count):
+      yield fr.get(i, pix_fmt=pix_fmt)[0]
diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py
new file mode 100644
index 00000000000000..ac048fda9464b4
--- /dev/null
+++ b/tools/lib/kbhit.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+import sys
+import termios
+import atexit
+from select import select
+
+STDIN_FD = sys.stdin.fileno()
+
+class KBHit:
+  def __init__(self) -> None:
+    ''' Creates a KBHit object that you can call to do various keyboard things.
+    '''
+
+    self.set_kbhit_terminal()
+
+  def set_kbhit_terminal(self) -> None:
+    ''' Save old terminal settings for closure, remove ICANON & ECHO flags.
+    '''
+
+    # Save the terminal settings
+    self.old_term = termios.tcgetattr(STDIN_FD)
+    self.new_term = self.old_term.copy()
+
+    # New terminal setting unbuffered
+    self.new_term[3] &= ~(termios.ICANON | termios.ECHO)  # type: ignore
+    termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.new_term)
+
+    # Support normal-terminal reset at exit
+    atexit.register(self.set_normal_term)
+
+  def set_normal_term(self) -> None:
+    ''' Resets to normal terminal. On Windows this is a no-op.
+    '''
+
+    termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.old_term)
+
+  @staticmethod
+  def getch() -> str:
+    ''' Returns a keyboard character after kbhit() has been called.
+      Should not be called in the same program as getarrow().
+    '''
+    return sys.stdin.read(1)
+
+  @staticmethod
+  def getarrow() -> int:
+    ''' Returns an arrow-key code after kbhit() has been called. Codes are
+    0 : up
+    1 : right
+    2 : down
+    3 : left
+    Should not be called in the same program as getch().
+    '''
+
+    c = sys.stdin.read(3)[2]
+    vals = [65, 67, 66, 68]
+
+    return vals.index(ord(c))
+
+  @staticmethod
+  def kbhit():
+    ''' Returns True if keyboard character was hit, False otherwise.
+    '''
+    return select([sys.stdin], [], [], 0)[0] != []
+
+
+# Test
+if __name__ == "__main__":
+
+  kb = KBHit()
+
+  print('Hit any key, or ESC to exit')
+
+  while True:
+
+    if kb.kbhit():
+      c = kb.getch()
+      if c == '\x1b':  # ESC
+        break
+      print(c)
+
+  kb.set_normal_term()
diff --git a/tools/lib/lazy_property.py b/tools/lib/lazy_property.py
new file mode 100644
index 00000000000000..85c038f287a15f
--- /dev/null
+++ b/tools/lib/lazy_property.py
@@ -0,0 +1,12 @@
+class lazy_property(object):
+  """Defines a property whose value will be computed only once and as needed.
+
+     This can only be used on instance methods.
+  """
+  def __init__(self, func):
+    self._func = func
+
+  def __get__(self, obj_self, cls):
+    value = self._func(obj_self)
+    setattr(obj_self, self._func.__name__, value)
+    return value
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
new file mode 100755
index 00000000000000..01c666fd16c414
--- /dev/null
+++ b/tools/lib/logreader.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import os
+import sys
+import bz2
+import urllib.parse
+import capnp
+
+try:
+  from xx.chffr.lib.filereader import FileReader
+except ImportError:
+  from tools.lib.filereader import FileReader
+from cereal import log as capnp_log
+
+# this is an iterator itself, and uses private variables from LogReader
+class MultiLogIterator(object):
+  def __init__(self, log_paths, wraparound=True):
+    self._log_paths = log_paths
+    self._wraparound = wraparound
+
+    self._first_log_idx = next(i for i in range(len(log_paths)) if log_paths[i] is not None)
+    self._current_log = self._first_log_idx
+    self._idx = 0
+    self._log_readers = [None]*len(log_paths)
+    self.start_time = self._log_reader(self._first_log_idx)._ts[0]
+
+  def _log_reader(self, i):
+    if self._log_readers[i] is None and self._log_paths[i] is not None:
+      log_path = self._log_paths[i]
+      print("LogReader:%s" % log_path)
+      self._log_readers[i] = LogReader(log_path)
+
+    return self._log_readers[i]
+
+  def __iter__(self):
+    return self
+
+  def _inc(self):
+    lr = self._log_reader(self._current_log)
+    if self._idx < len(lr._ents)-1:
+      self._idx += 1
+    else:
+      self._idx = 0
+      self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1)
+                               if i == len(self._log_readers) or self._log_paths[i] is not None)
+      # wraparound
+      if self._current_log == len(self._log_readers):
+        if self._wraparound:
+          self._current_log = self._first_log_idx
+        else:
+          raise StopIteration
+
+  def __next__(self):
+    while 1:
+      lr = self._log_reader(self._current_log)
+      ret = lr._ents[self._idx]
+      self._inc()
+      return ret
+
+  def tell(self):
+    # returns seconds from start of log
+    return (self._log_reader(self._current_log)._ts[self._idx] - self.start_time) * 1e-9
+
+  def seek(self, ts):
+    # seek to nearest minute
+    minute = int(ts/60)
+    if minute >= len(self._log_paths) or self._log_paths[minute] is None:
+      return False
+
+    self._current_log = minute
+
+    # HACK: O(n) seek afterward
+    self._idx = 0
+    while self.tell() < ts:
+      self._inc()
+    return True
+
+
+class LogReader(object):
+  def __init__(self, fn, canonicalize=True, only_union_types=False):
+    data_version = None
+    _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
+    with FileReader(fn) as f:
+      dat = f.read()
+
+    if ext == "":
+      # old rlogs weren't bz2 compressed
+      ents = capnp_log.Event.read_multiple_bytes(dat)
+    elif ext == ".bz2":
+      dat = bz2.decompress(dat)
+      ents = capnp_log.Event.read_multiple_bytes(dat)
+    else:
+      raise Exception(f"unknown extension {ext}")
+
+    self._ents = list(ents)
+    self._ts = [x.logMonoTime for x in self._ents]
+    self.data_version = data_version
+    self._only_union_types = only_union_types
+
+  def __iter__(self):
+    for ent in self._ents:
+      if self._only_union_types:
+        try:
+          ent.which()
+          yield ent
+        except capnp.lib.capnp.KjException:
+          pass
+      else:
+        yield ent
+
+if __name__ == "__main__":
+  import codecs
+  # capnproto <= 0.8.0 throws errors converting byte data to string
+  # below line catches those errors and replaces the bytes with \x__
+  codecs.register_error("strict", codecs.backslashreplace_errors)
+  log_path = sys.argv[1]
+  lr = LogReader(log_path)
+  for msg in lr:
+    print(msg)
diff --git a/tools/lib/robust_logreader.py b/tools/lib/robust_logreader.py
new file mode 100755
index 00000000000000..e534a7c8f06d9c
--- /dev/null
+++ b/tools/lib/robust_logreader.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+import os
+import bz2
+import urllib.parse
+import subprocess
+import tqdm
+import glob
+from tempfile import TemporaryDirectory
+import capnp
+
+from tools.lib.logreader import FileReader, LogReader
+from cereal import log as capnp_log
+
+
+class RobustLogReader(LogReader):
+  def __init__(self, fn, canonicalize=True, only_union_types=False):  # pylint: disable=super-init-not-called
+    data_version = None
+    _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
+    with FileReader(fn) as f:
+      dat = f.read()
+
+    if ext == "":
+      pass
+    elif ext == ".bz2":
+      try:
+        dat = bz2.decompress(dat)
+      except ValueError:
+        print("Failed to decompress, falling back to bzip2recover")
+        with TemporaryDirectory() as directory:
+          # Run bzip2recovery on log
+          with open(os.path.join(directory, 'out.bz2'), 'wb') as f:
+            f.write(dat)
+          subprocess.check_call(["bzip2recover", "out.bz2"], cwd=directory)
+
+          # Decompress and concatenate parts
+          dat = b""
+          for n in sorted(glob.glob(f"{directory}/rec*.bz2")):
+            print(f"Decompressing {n}")
+            with open(n, 'rb') as f:
+              dat += bz2.decompress(f.read())
+    else:
+      raise Exception(f"unknown extension {ext}")
+
+    progress = None
+    while True:
+      try:
+        ents = capnp_log.Event.read_multiple_bytes(dat)
+        self._ents = list(ents)
+        break
+      except capnp.lib.capnp.KjException:
+        if progress is None:
+          progress = tqdm.tqdm(total=len(dat))
+
+        # Cut off bytes at the end until capnp is able to read
+        dat = dat[:-1]
+        progress.update(1)
+
+    self._ts = [x.logMonoTime for x in self._ents]
+    self.data_version = data_version
+    self._only_union_types = only_union_types
diff --git a/tools/lib/route.py b/tools/lib/route.py
new file mode 100644
index 00000000000000..8c03cd9ccaf2bf
--- /dev/null
+++ b/tools/lib/route.py
@@ -0,0 +1,187 @@
+import os
+import re
+from urllib.parse import urlparse
+from collections import defaultdict
+from itertools import chain
+
+from tools.lib.auth_config import get_token
+from tools.lib.api import CommaApi
+
+SEGMENT_NAME_RE = r'[a-z0-9]{16}[|_][0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2}--[0-9]+'
+EXPLORER_FILE_RE = r'^({})--([a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME_RE)
+OP_SEGMENT_DIR_RE = r'^({})$'.format(SEGMENT_NAME_RE)
+
+QLOG_FILENAMES = ['qlog.bz2']
+QCAMERA_FILENAMES = ['qcamera.ts']
+LOG_FILENAMES = ['rlog.bz2', 'raw_log.bz2']
+CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
+DCAMERA_FILENAMES = ['dcamera.hevc']
+ECAMERA_FILENAMES = ['ecamera.hevc']
+
+class Route(object):
+  def __init__(self, route_name, data_dir=None):
+    self.files = None
+    self.route_name = route_name.replace('_', '|')
+    if data_dir is not None:
+      self._segments = self._get_segments_local(data_dir)
+    else:
+      self._segments = self._get_segments_remote()
+    self.max_seg_number = self._segments[-1].canonical_name.segment_num
+
+  @property
+  def segments(self):
+    return self._segments
+
+  def log_paths(self):
+    log_path_by_seg_num = {s.canonical_name.segment_num: s.log_path for s in self._segments}
+    return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+
+  def qlog_paths(self):
+    qlog_path_by_seg_num = {s.canonical_name.segment_num: s.qlog_path for s in self._segments}
+    return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+
+  def camera_paths(self):
+    camera_path_by_seg_num = {s.canonical_name.segment_num: s.camera_path for s in self._segments}
+    return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+
+  def dcamera_paths(self):
+    dcamera_path_by_seg_num = {s.canonical_name.segment_num: s.dcamera_path for s in self._segments}
+    return [dcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+
+  def ecamera_paths(self):
+    ecamera_path_by_seg_num = {s.canonical_name.segment_num: s.ecamera_path for s in self._segments}
+    return [ecamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+
+  def qcamera_paths(self):
+    qcamera_path_by_seg_num = {s.canonical_name.segment_num: s.qcamera_path for s in self._segments}
+    return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+
+  # TODO: refactor this, it's super repetitive
+  def _get_segments_remote(self):
+    api = CommaApi(get_token())
+    route_files = api.get('v1/route/' + self.route_name + '/files')
+    self.files = list(chain.from_iterable(route_files.values()))
+
+    segments = {}
+    for url in self.files:
+      _, dongle_id, time_str, segment_num, fn = urlparse(url).path.rsplit('/', maxsplit=4)
+      segment_name = f'{dongle_id}|{time_str}--{segment_num}'
+      if segments.get(segment_name):
+        segments[segment_name] = RouteSegment(
+          segment_name,
+          url if fn in LOG_FILENAMES else segments[segment_name].log_path,
+          url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path,
+          url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path,
+          url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path,
+          url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path,
+          url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path,
+        )
+      else:
+        segments[segment_name] = RouteSegment(
+          segment_name,
+          url if fn in LOG_FILENAMES else None,
+          url if fn in QLOG_FILENAMES else None,
+          url if fn in CAMERA_FILENAMES else None,
+          url if fn in DCAMERA_FILENAMES else None,
+          url if fn in ECAMERA_FILENAMES else None,
+          url if fn in QCAMERA_FILENAMES else None,
+        )
+
+    return sorted(segments.values(), key=lambda seg: seg.canonical_name.segment_num)
+
+  def _get_segments_local(self, data_dir):
+    files = os.listdir(data_dir)
+    segment_files = defaultdict(list)
+
+    for f in files:
+      fullpath = os.path.join(data_dir, f)
+      explorer_match = re.match(EXPLORER_FILE_RE, f)
+      op_match = re.match(OP_SEGMENT_DIR_RE, f)
+
+      if explorer_match:
+        segment_name, fn = explorer_match.groups()
+        if segment_name.replace('_', '|').startswith(self.route_name):
+          segment_files[segment_name].append((fullpath, fn))
+      elif op_match and os.path.isdir(fullpath):
+        segment_name, = op_match.groups()
+        if segment_name.startswith(self.route_name):
+          for seg_f in os.listdir(fullpath):
+            segment_files[segment_name].append((os.path.join(fullpath, seg_f), seg_f))
+      elif f == self.route_name:
+        for seg_num in os.listdir(fullpath):
+          if not seg_num.isdigit():
+            continue
+
+          segment_name = '{}--{}'.format(self.route_name, seg_num)
+          for seg_f in os.listdir(os.path.join(fullpath, seg_num)):
+            segment_files[segment_name].append((os.path.join(fullpath, seg_num, seg_f), seg_f))
+
+    segments = []
+    for segment, files in segment_files.items():
+
+      try:
+        log_path = next(path for path, filename in files if filename in LOG_FILENAMES)
+      except StopIteration:
+        log_path = None
+
+      try:
+        qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES)
+      except StopIteration:
+        qlog_path = None
+
+      try:
+        camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES)
+      except StopIteration:
+        camera_path = None
+
+      try:
+        dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES)
+      except StopIteration:
+        dcamera_path = None
+
+      try:
+        ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES)
+      except StopIteration:
+        ecamera_path = None
+
+      try:
+        qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES)
+      except StopIteration:
+        qcamera_path = None
+
+      segments.append(RouteSegment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path))
+
+    if len(segments) == 0:
+      raise ValueError('Could not find segments for route {} in data directory {}'.format(self.route_name, data_dir))
+    return sorted(segments, key=lambda seg: seg.canonical_name.segment_num)
+
+class RouteSegment(object):
+  def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
+    self._name = RouteSegmentName(name)
+    self.log_path = log_path
+    self.qlog_path = qlog_path
+    self.camera_path = camera_path
+    self.dcamera_path = dcamera_path
+    self.ecamera_path = ecamera_path
+    self.qcamera_path = qcamera_path
+
+  @property
+  def name(self):
+    return str(self._name)
+
+  @property
+  def canonical_name(self):
+    return self._name
+
+class RouteSegmentName(object):
+  def __init__(self, name_str):
+    self._segment_name_str = name_str
+    self._route_name_str, num_str = self._segment_name_str.rsplit("--", 1)
+    self._num = int(num_str)
+
+  @property
+  def segment_num(self):
+    return self._num
+
+  def __str__(self):
+    return self._segment_name_str
diff --git a/selfdrive/loggerd/tests/__init__.py b/tools/lib/tests/__init__.py
similarity index 100%
rename from selfdrive/loggerd/tests/__init__.py
rename to tools/lib/tests/__init__.py
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
new file mode 100644
index 00000000000000..953b47e95ae5c3
--- /dev/null
+++ b/tools/lib/tests/test_caching.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+import os
+import shutil
+import unittest
+
+os.environ["COMMA_CACHE"] = "/tmp/__test_cache__"
+from tools.lib.url_file import URLFile, CACHE_DIR
+
+
+class TestFileDownload(unittest.TestCase):
+
+  def compare_loads(self, url, start=0, length=None):
+    """Compares range between cached and non cached version"""
+    shutil.rmtree(CACHE_DIR)
+
+    file_cached = URLFile(url, cache=True)
+    file_downloaded = URLFile(url, cache=False)
+
+    file_cached.seek(start)
+    file_downloaded.seek(start)
+
+    self.assertEqual(file_cached.get_length(), file_downloaded.get_length())
+    self.assertLessEqual(length + start if length is not None else 0, file_downloaded.get_length())
+
+    response_cached = file_cached.read(ll=length)
+    response_downloaded = file_downloaded.read(ll=length)
+
+    self.assertEqual(response_cached, response_downloaded)
+
+    # Now test with cache in place
+    file_cached = URLFile(url, cache=True)
+    file_cached.seek(start)
+    response_cached = file_cached.read(ll=length)
+
+    self.assertEqual(file_cached.get_length(), file_downloaded.get_length())
+    self.assertEqual(response_cached, response_downloaded)
+
+  def test_small_file(self):
+    # Make sure we don't force cache
+    os.environ["FILEREADER_CACHE"] = "0"
+    small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md"
+    #  If you want large file to be larger than a chunk
+    #  large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/fcamera.hevc"
+
+    #  Load full small file
+    self.compare_loads(small_file_url)
+
+    file_small = URLFile(small_file_url)
+    length = file_small.get_length()
+
+    self.compare_loads(small_file_url, length - 100, 100)
+    self.compare_loads(small_file_url, 50, 100)
+
+    #  Load small file 100 bytes at a time
+    for i in range(length // 100):
+      self.compare_loads(small_file_url, 100 * i, 100)
+
+  def test_large_file(self):
+    large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
+    #  Load the end 100 bytes of both files
+    file_large = URLFile(large_file_url)
+    length = file_large.get_length()
+
+    self.compare_loads(large_file_url, length - 100, 100)
+    self.compare_loads(large_file_url)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py
new file mode 100755
index 00000000000000..1d8918ba54880f
--- /dev/null
+++ b/tools/lib/tests/test_readers.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+import unittest
+import requests
+import tempfile
+
+from collections import defaultdict
+import numpy as np
+from tools.lib.framereader import FrameReader
+from tools.lib.logreader import LogReader
+
+
+class TestReaders(unittest.TestCase):
+  @unittest.skip("skip for bandwith reasons")
+  def test_logreader(self):
+    def _check_data(lr):
+      hist = defaultdict(int)
+      for l in lr:
+        hist[l.which()] += 1
+
+      self.assertEqual(hist['carControl'], 6000)
+      self.assertEqual(hist['logMessage'], 6857)
+
+    with tempfile.NamedTemporaryFile(suffix=".bz2") as fp:
+      r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true")
+      fp.write(r.content)
+      fp.flush()
+
+      lr_file = LogReader(fp.name)
+      _check_data(lr_file)
+
+    lr_url = LogReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true")
+    _check_data(lr_url)
+
+  @unittest.skip("skip for bandwith reasons")
+  def test_framereader(self):
+    def _check_data(f):
+      self.assertEqual(f.frame_count, 1200)
+      self.assertEqual(f.w, 1164)
+      self.assertEqual(f.h, 874)
+
+      frame_first_30 = f.get(0, 30)
+      self.assertEqual(len(frame_first_30), 30)
+
+      print(frame_first_30[15])
+
+      print("frame_0")
+      frame_0 = f.get(0, 1)
+      frame_15 = f.get(15, 1)
+
+      print(frame_15[0])
+
+      assert np.all(frame_first_30[0] == frame_0[0])
+      assert np.all(frame_first_30[15] == frame_15[0])
+
+    with tempfile.NamedTemporaryFile(suffix=".hevc") as fp:
+      r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true")
+      fp.write(r.content)
+      fp.flush()
+
+      fr_file = FrameReader(fp.name)
+      _check_data(fr_file)
+
+    fr_url = FrameReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true")
+    _check_data(fr_url)
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
new file mode 100644
index 00000000000000..2161770d030409
--- /dev/null
+++ b/tools/lib/url_file.py
@@ -0,0 +1,198 @@
+# pylint: skip-file
+
+import os
+import time
+import tempfile
+import threading
+import urllib.parse
+import pycurl
+from hashlib import sha256
+from io import BytesIO
+from tenacity import retry, wait_random_exponential, stop_after_attempt
+from common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
+#  Cache chunk size
+K = 1000
+CHUNK_SIZE = 1000 * K
+
+CACHE_DIR = os.environ.get("COMMA_CACHE", "/tmp/comma_download_cache/")
+
+
+def hash_256(link):
+  hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest())
+  return hsh
+
+
+class URLFile(object):
+  _tlocal = threading.local()
+
+  def __init__(self, url, debug=False, cache=None):
+    self._url = url
+    self._pos = 0
+    self._length = None
+    self._local_file = None
+    self._debug = debug
+    #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
+    self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
+    if cache is not None:
+      self._force_download = not cache
+
+    try:
+      self._curl = self._tlocal.curl
+    except AttributeError:
+      self._curl = self._tlocal.curl = pycurl.Curl()
+    mkdirs_exists_ok(CACHE_DIR)
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    if self._local_file is not None:
+      os.remove(self._local_file.name)
+      self._local_file.close()
+      self._local_file = None
+
+  @retry(wait=wait_random_exponential(multiplier=1, max=5), stop=stop_after_attempt(3), reraise=True)
+  def get_length_online(self):
+    c = self._curl
+    c.reset()
+    c.setopt(pycurl.NOSIGNAL, 1)
+    c.setopt(pycurl.TIMEOUT_MS, 500000)
+    c.setopt(pycurl.FOLLOWLOCATION, True)
+    c.setopt(pycurl.URL, self._url)
+    c.setopt(c.NOBODY, 1)
+    c.perform()
+    length = int(c.getinfo(c.CONTENT_LENGTH_DOWNLOAD))
+    c.reset()
+    return length
+
+  def get_length(self):
+    if self._length is not None:
+      return self._length
+    file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length")
+    if os.path.exists(file_length_path) and not self._force_download:
+      with open(file_length_path, "r") as file_length:
+          content = file_length.read()
+          self._length = int(content)
+          return self._length
+
+    self._length = self.get_length_online()
+    if not self._force_download:
+      with atomic_write_in_dir(file_length_path, mode="w") as file_length:
+        file_length.write(str(self._length))
+    return self._length
+
+  def read(self, ll=None):
+    if self._force_download:
+      return self.read_aux(ll=ll)
+
+    file_begin = self._pos
+    file_end = self._pos + ll if ll is not None else self.get_length()
+    #  We have to align with chunks we store. Position is the begginiing of the latest chunk that starts before or at our file
+    position = (file_begin // CHUNK_SIZE) * CHUNK_SIZE
+    response = b""
+    while True:
+      self._pos = position
+      chunk_number = self._pos / CHUNK_SIZE
+      file_name = hash_256(self._url) + "_" + str(chunk_number)
+      full_path = os.path.join(CACHE_DIR, str(file_name))
+      data = None
+      #  If we don't have a file, download it
+      if not os.path.exists(full_path):
+        data = self.read_aux(ll=CHUNK_SIZE)
+        with atomic_write_in_dir(full_path, mode="wb") as new_cached_file:
+          new_cached_file.write(data)
+      else:
+        with open(full_path, "rb") as cached_file:
+          data = cached_file.read()
+
+      response += data[max(0, file_begin - position): min(CHUNK_SIZE, file_end - position)]
+
+      position += CHUNK_SIZE
+      if position >= file_end:
+        self._pos = file_end
+        return response
+
+  @retry(wait=wait_random_exponential(multiplier=1, max=5), stop=stop_after_attempt(3), reraise=True)
+  def read_aux(self, ll=None):
+    download_range = False
+    headers = ["Connection: keep-alive"]
+    if self._pos != 0 or ll is not None:
+      if ll is None:
+        end = self.get_length() - 1
+      else:
+        end = min(self._pos + ll, self.get_length()) - 1
+      if self._pos >= end:
+        return b""
+      headers.append(f"Range: bytes={self._pos}-{end}")
+      download_range = True
+
+    dats = BytesIO()
+    c = self._curl
+    c.setopt(pycurl.URL, self._url)
+    c.setopt(pycurl.WRITEDATA, dats)
+    c.setopt(pycurl.NOSIGNAL, 1)
+    c.setopt(pycurl.TIMEOUT_MS, 500000)
+    c.setopt(pycurl.HTTPHEADER, headers)
+    c.setopt(pycurl.FOLLOWLOCATION, True)
+
+    if self._debug:
+      print("downloading", self._url)
+
+      def header(x):
+        if b'MISS' in x:
+          print(x.strip())
+
+      c.setopt(pycurl.HEADERFUNCTION, header)
+
+      def test(debug_type, debug_msg):
+       print("  debug(%d): %s" % (debug_type, debug_msg.strip()))
+
+      c.setopt(pycurl.VERBOSE, 1)
+      c.setopt(pycurl.DEBUGFUNCTION, test)
+      t1 = time.time()
+
+    c.perform()
+
+    if self._debug:
+      t2 = time.time()
+      if t2 - t1 > 0.1:
+        print("get %s %r %.f slow" % (self._url, headers, t2 - t1))
+
+    response_code = c.getinfo(pycurl.RESPONSE_CODE)
+    if response_code == 416:  # Requested Range Not Satisfiable
+      raise Exception(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+    if download_range and response_code != 206:  # Partial Content
+      raise Exception(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+    if (not download_range) and response_code != 200:  # OK
+      raise Exception(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+
+    ret = dats.getvalue()
+    self._pos += len(ret)
+    return ret
+
+  def seek(self, pos):
+    self._pos = pos
+
+  @property
+  def name(self):
+    """Returns a local path to file with the URLFile's contents.
+
+       This can be used to interface with modules that require local files.
+    """
+    if self._local_file is None:
+      _, ext = os.path.splitext(urllib.parse.urlparse(self._url).path)
+      local_fd, local_path = tempfile.mkstemp(suffix=ext)
+      try:
+        os.write(local_fd, self.read())
+        local_file = open(local_path, "rb")
+      except Exception:
+        os.remove(local_path)
+        raise
+      finally:
+        os.close(local_fd)
+
+      self._local_file = local_file
+      self.read = self._local_file.read
+      self.seek = self._local_file.seek
+
+    return self._local_file.name
diff --git a/tools/lib/vidindex/.gitignore b/tools/lib/vidindex/.gitignore
new file mode 100644
index 00000000000000..a77a06e97d7d3c
--- /dev/null
+++ b/tools/lib/vidindex/.gitignore
@@ -0,0 +1 @@
+vidindex
diff --git a/tools/lib/vidindex/Makefile b/tools/lib/vidindex/Makefile
new file mode 100644
index 00000000000000..f6526db212d23a
--- /dev/null
+++ b/tools/lib/vidindex/Makefile
@@ -0,0 +1,6 @@
+CC := gcc
+
+vidindex: bitstream.c bitstream.h vidindex.c
+	$(eval $@_TMP := $(shell mktemp))
+	$(CC) -std=c99 bitstream.c vidindex.c -o $($@_TMP)
+	mv $($@_TMP) $@
diff --git a/tools/lib/vidindex/bitstream.c b/tools/lib/vidindex/bitstream.c
new file mode 100644
index 00000000000000..d174ffa8a7dfa6
--- /dev/null
+++ b/tools/lib/vidindex/bitstream.c
@@ -0,0 +1,118 @@
+#include <stdbool.h>
+#include <assert.h>
+
+#include "bitstream.h"
+
+static const uint32_t BS_MASKS[33] = {
+    0,           0x1L,        0x3L,       0x7L,       0xFL,       0x1FL,
+    0x3FL,       0x7FL,       0xFFL,      0x1FFL,     0x3FFL,     0x7FFL,
+    0xFFFL,      0x1FFFL,     0x3FFFL,    0x7FFFL,    0xFFFFL,    0x1FFFFL,
+    0x3FFFFL,    0x7FFFFL,    0xFFFFFL,   0x1FFFFFL,  0x3FFFFFL,  0x7FFFFFL,
+    0xFFFFFFL,   0x1FFFFFFL,  0x3FFFFFFL, 0x7FFFFFFL, 0xFFFFFFFL, 0x1FFFFFFFL,
+    0x3FFFFFFFL, 0x7FFFFFFFL, 0xFFFFFFFFL};
+
+void bs_init(struct bitstream* bs, const uint8_t* buffer, size_t input_size) {
+  bs->buffer_ptr = buffer;
+  bs->buffer_end = buffer + input_size;
+  bs->value = 0;
+  bs->pos = 0;
+  bs->shift = 8;
+  bs->size = input_size * 8;
+}
+
+uint32_t bs_get(struct bitstream* bs, int n) {
+  if (n > 32)
+    return 0;
+
+  bs->pos += n;
+  bs->shift += n;
+  while (bs->shift > 8) {
+    if (bs->buffer_ptr < bs->buffer_end) {
+      bs->value <<= 8;
+      bs->value |= *bs->buffer_ptr++;
+      bs->shift -= 8;
+    } else {
+      bs_seek(bs, bs->pos - n);
+      return 0;
+      // bs->value <<= 8;
+      // bs->shift -= 8;
+    }
+  }
+  return (bs->value >> (8 - bs->shift)) & BS_MASKS[n];
+}
+
+void bs_seek(struct bitstream* bs, size_t new_pos) {
+  bs->pos = (new_pos / 32) * 32;
+  bs->shift = 8;
+  bs->value = 0;
+  bs_get(bs, new_pos % 32);
+}
+
+uint32_t bs_peek(struct bitstream* bs, int n) {
+  struct bitstream bak = *bs;
+  return bs_get(&bak, n);
+}
+
+size_t bs_remain(struct bitstream* bs) {
+  return bs->size - bs->pos;
+}
+
+int bs_eof(struct bitstream* bs) {
+  return bs_remain(bs) == 0;
+}
+
+uint32_t bs_ue(struct bitstream* bs) {
+  static const uint8_t exp_golomb_bits[256] = {
+      8, 7, 6, 6, 5, 5, 5, 5, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3,
+      3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2,
+      2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1,
+      1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+      1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+      1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+  };
+  uint32_t bits, read = 0;
+  int bits_left;
+  uint8_t coded;
+  int done = 0;
+  bits = 0;
+  // we want to read 8 bits at a time - if we don't have 8 bits,
+  // read what's left, and shift.  The exp_golomb_bits calc remains the
+  // same.
+  while (!done) {
+    bits_left = bs_remain(bs);
+    if (bits_left < 8) {
+      read = bs_peek(bs, bits_left) << (8 - bits_left);
+      done = 1;
+    } else {
+      read = bs_peek(bs, 8);
+      if (read == 0) {
+        bs_get(bs, 8);
+        bits += 8;
+      } else {
+        done = 1;
+      }
+    }
+  }
+  coded = exp_golomb_bits[read];
+  bs_get(bs, coded);
+  bits += coded;
+
+  //  printf("ue - bits %d\n", bits);
+  return bs_get(bs, bits + 1) - 1;
+}
+
+int32_t bs_se(struct bitstream* bs) {
+  uint32_t ret;
+  ret = bs_ue(bs);
+  if ((ret & 0x1) == 0) {
+    ret >>= 1;
+    int32_t temp = 0 - ret;
+    return temp;
+  }
+  return (ret + 1) >> 1;
+}
diff --git a/tools/lib/vidindex/bitstream.h b/tools/lib/vidindex/bitstream.h
new file mode 100644
index 00000000000000..0f538a59ab7d00
--- /dev/null
+++ b/tools/lib/vidindex/bitstream.h
@@ -0,0 +1,26 @@
+#ifndef bitstream_H
+#define bitstream_H
+
+
+#include <stddef.h>
+#include <stdint.h>
+
+struct bitstream {
+  const uint8_t *buffer_ptr;
+  const uint8_t *buffer_end;
+  uint64_t value;
+  uint32_t pos;
+  uint32_t shift;
+  size_t size;
+};
+
+void bs_init(struct bitstream *bs, const uint8_t *buffer, size_t input_size);
+void bs_seek(struct bitstream *bs, size_t new_pos);
+uint32_t bs_get(struct bitstream *bs, int n);
+uint32_t bs_peek(struct bitstream *bs, int n);
+size_t bs_remain(struct bitstream *bs);
+int bs_eof(struct bitstream *bs);
+uint32_t bs_ue(struct bitstream *bs);
+int32_t bs_se(struct bitstream *bs);
+
+#endif
diff --git a/tools/lib/vidindex/vidindex.c b/tools/lib/vidindex/vidindex.c
new file mode 100644
index 00000000000000..4857c60dd2fc03
--- /dev/null
+++ b/tools/lib/vidindex/vidindex.c
@@ -0,0 +1,307 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <sys/mman.h>
+
+#include "bitstream.h"
+
+#define START_CODE 0x000001
+
+static uint32_t read24be(const uint8_t* ptr) {
+    return (ptr[0] << 16) | (ptr[1] << 8) | ptr[2];
+}
+static void write32le(FILE *of, uint32_t v) {
+  uint8_t va[4] = {
+    v & 0xff, (v >> 8) & 0xff, (v >> 16) & 0xff, (v >> 24) & 0xff
+  };
+  fwrite(va, 1, sizeof(va), of);
+}
+
+// Table 7-1
+enum hevc_nal_type {
+  HEVC_NAL_TYPE_TRAIL_N = 0,
+  HEVC_NAL_TYPE_TRAIL_R = 1,
+  HEVC_NAL_TYPE_TSA_N = 2,
+  HEVC_NAL_TYPE_TSA_R = 3,
+  HEVC_NAL_TYPE_STSA_N = 4,
+  HEVC_NAL_TYPE_STSA_R = 5,
+  HEVC_NAL_TYPE_RADL_N = 6,
+  HEVC_NAL_TYPE_RADL_R = 7,
+  HEVC_NAL_TYPE_RASL_N = 8,
+  HEVC_NAL_TYPE_RASL_R = 9,
+  HEVC_NAL_TYPE_BLA_W_LP = 16,
+  HEVC_NAL_TYPE_BLA_W_RADL = 17,
+  HEVC_NAL_TYPE_BLA_N_LP = 18,
+  HEVC_NAL_TYPE_IDR_W_RADL = 19,
+  HEVC_NAL_TYPE_IDR_N_LP = 20,
+  HEVC_NAL_TYPE_CRA_NUT = 21,
+  HEVC_NAL_TYPE_RSV_IRAP_VCL23 = 23,
+  HEVC_NAL_TYPE_VPS_NUT = 32,
+  HEVC_NAL_TYPE_SPS_NUT = 33,
+  HEVC_NAL_TYPE_PPS_NUT = 34,
+  HEVC_NAL_TYPE_AUD_NUT = 35,
+  HEVC_NAL_TYPE_EOS_NUT = 36,
+  HEVC_NAL_TYPE_EOB_NUT = 37,
+  HEVC_NAL_TYPE_FD_NUT = 38,
+  HEVC_NAL_TYPE_PREFIX_SEI_NUT = 39,
+  HEVC_NAL_TYPE_SUFFIX_SEI_NUT = 40,
+};
+
+// Table 7-7
+enum hevc_slice_type {
+  HEVC_SLICE_B = 0,
+  HEVC_SLICE_P = 1,
+  HEVC_SLICE_I = 2,
+};
+
+static void hevc_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) {
+  const uint8_t* ptr = data;
+  const uint8_t* ptr_end = data + file_size;
+
+  assert(ptr[0] == 0);
+  ptr++;
+  assert(read24be(ptr) == START_CODE);
+
+  // pps. ignore for now
+  uint32_t num_extra_slice_header_bits = 0;
+  uint32_t dependent_slice_segments_enabled_flag = 0;
+
+  while (ptr < ptr_end) {
+    const uint8_t* next = ptr+1;
+    for (; next < ptr_end-4; next++) {
+      if (read24be(next) == START_CODE) break;
+    }
+    size_t nal_size = next - ptr;
+    if (nal_size < 6) {
+      break;
+    }
+
+    {
+      struct bitstream bs = {0};
+      bs_init(&bs, ptr, nal_size);
+
+      uint32_t start_code = bs_get(&bs, 24);
+      assert(start_code == 0x000001);
+
+      // nal_unit_header
+      uint32_t forbidden_zero_bit = bs_get(&bs, 1);
+      uint32_t nal_unit_type = bs_get(&bs, 6);
+      uint32_t nuh_layer_id = bs_get(&bs, 6);
+      uint32_t nuh_temporal_id_plus1 = bs_get(&bs, 3);
+
+      // if (nal_unit_type != 1) printf("%3d -- %3d %10d %lu\n", nal_unit_type, frame_num, (uint32_t)(ptr-data), nal_size);
+
+      switch (nal_unit_type) {
+      case HEVC_NAL_TYPE_VPS_NUT:
+      case HEVC_NAL_TYPE_SPS_NUT:
+      case HEVC_NAL_TYPE_PPS_NUT:
+        fwrite(ptr, 1, nal_size, of_prefix);
+        break;
+      case HEVC_NAL_TYPE_TRAIL_N:
+      case HEVC_NAL_TYPE_TRAIL_R:
+      case HEVC_NAL_TYPE_TSA_N:
+      case HEVC_NAL_TYPE_TSA_R:
+      case HEVC_NAL_TYPE_STSA_N:
+      case HEVC_NAL_TYPE_STSA_R:
+      case HEVC_NAL_TYPE_RADL_N:
+      case HEVC_NAL_TYPE_RADL_R:
+      case HEVC_NAL_TYPE_RASL_N:
+      case HEVC_NAL_TYPE_RASL_R:
+      case HEVC_NAL_TYPE_BLA_W_LP:
+      case HEVC_NAL_TYPE_BLA_W_RADL:
+      case HEVC_NAL_TYPE_BLA_N_LP:
+      case HEVC_NAL_TYPE_IDR_W_RADL:
+      case HEVC_NAL_TYPE_IDR_N_LP:
+      case HEVC_NAL_TYPE_CRA_NUT: {
+        // slice_segment_header
+        uint32_t first_slice_segment_in_pic_flag = bs_get(&bs, 1);
+        if (nal_unit_type >= HEVC_NAL_TYPE_BLA_W_LP && nal_unit_type <= HEVC_NAL_TYPE_RSV_IRAP_VCL23) {
+          uint32_t no_output_of_prior_pics_flag = bs_get(&bs, 1);
+        }
+        uint32_t slice_pic_parameter_set_id = bs_get(&bs, 1);
+        if (!first_slice_segment_in_pic_flag) {
+          // ...
+          break;
+        }
+
+        if (!dependent_slice_segments_enabled_flag) {
+          for (int i=0; i<num_extra_slice_header_bits; i++) {
+            bs_get(&bs, 1);
+          }
+          uint32_t slice_type = bs_ue(&bs);
+
+          // write the index
+          write32le(of_index, slice_type);
+          write32le(of_index, ptr - data);
+
+          // ...
+        }
+
+        break;
+      }
+      }
+
+      //...
+      // emulation_prevention_three_byte
+    }
+
+    ptr = next;
+  }
+
+  write32le(of_index, -1);
+  write32le(of_index, file_size);
+}
+
+// Table 7-1
+enum h264_nal_type {
+  H264_NAL_SLICE           = 1,
+  H264_NAL_DPA             = 2,
+  H264_NAL_DPB             = 3,
+  H264_NAL_DPC             = 4,
+  H264_NAL_IDR_SLICE       = 5,
+  H264_NAL_SEI             = 6,
+  H264_NAL_SPS             = 7,
+  H264_NAL_PPS             = 8,
+  H264_NAL_AUD             = 9,
+  H264_NAL_END_SEQUENCE    = 10,
+  H264_NAL_END_STREAM      = 11,
+  H264_NAL_FILLER_DATA     = 12,
+  H264_NAL_SPS_EXT         = 13,
+  H264_NAL_AUXILIARY_SLICE = 19,
+};
+
+enum h264_slice_type {
+  H264_SLICE_P = 0,
+  H264_SLICE_B = 1,
+  H264_SLICE_I = 2,
+  // ...
+};
+
+static void h264_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) {
+  const uint8_t* ptr = data;
+  const uint8_t* ptr_end = data + file_size;
+
+  assert(ptr[0] == 0);
+  ptr++;
+  assert(read24be(ptr) == START_CODE);
+
+
+  uint32_t sps_log2_max_frame_num_minus4;
+
+
+  int last_frame_num = -1;
+
+  while (ptr < ptr_end) {
+    const uint8_t* next = ptr+1;
+    for (; next < ptr_end-4; next++) {
+      if (read24be(next) == START_CODE) break;
+    }
+    size_t nal_size = next - ptr;
+    if (nal_size < 5) {
+      break;
+    }
+
+    {
+      struct bitstream bs = {0};
+      bs_init(&bs, ptr, nal_size);
+
+      uint32_t start_code = bs_get(&bs, 24);
+      assert(start_code == 0x000001);
+
+      // nal_unit_header
+      uint32_t forbidden_zero_bit = bs_get(&bs, 1);
+      uint32_t nal_ref_idx = bs_get(&bs, 2);
+      uint32_t nal_unit_type = bs_get(&bs, 5);
+
+      switch (nal_unit_type) {
+      case H264_NAL_SPS:
+
+        {
+          uint32_t profile_idx = bs_get(&bs, 8);
+          uint32_t constraint_sets = bs_get(&bs, 4);
+          uint32_t reserved = bs_get(&bs, 5);
+          uint32_t level_idc = bs_get(&bs, 5);
+          uint32_t seq_parameter_set_id = bs_ue(&bs);
+          sps_log2_max_frame_num_minus4 = bs_ue(&bs);
+        }
+
+        // fallthrough
+      case H264_NAL_PPS:
+        fwrite(ptr, 1, nal_size, of_prefix);
+        break;
+
+      case H264_NAL_SLICE:
+      case H264_NAL_IDR_SLICE: {
+        // slice header
+        uint32_t first_mb_in_slice = bs_ue(&bs);
+        uint32_t slice_type = bs_ue(&bs);
+        uint32_t pic_parameter_set_id = bs_ue(&bs);
+
+        uint32_t frame_num = bs_get(&bs, sps_log2_max_frame_num_minus4+4);
+
+        if (first_mb_in_slice == 0) {
+          write32le(of_index, slice_type);
+          write32le(of_index, ptr - data);
+        }
+
+        break;
+      }
+
+      }
+
+    }
+
+    ptr = next;
+  }
+
+  write32le(of_index, -1);
+  write32le(of_index, file_size);
+}
+
+int main(int argc, char** argv) {
+  if (argc != 5) {
+    fprintf(stderr, "usage: %s h264|hevc file_path out_prefix out_index\n", argv[0]);
+    exit(1);
+  }
+
+  const char* file_type = argv[1];
+  const char* file_path = argv[2];
+
+  int fd = open(file_path, O_RDONLY, 0);
+  if (fd < 0) {
+    fprintf(stderr, "error: couldn't open %s\n", file_path);
+    exit(1);
+  }
+
+  FILE *of_prefix = fopen(argv[3], "wb");
+  assert(of_prefix);
+  FILE *of_index = fopen(argv[4], "wb");
+  assert(of_index);
+
+  off_t file_size = lseek(fd, 0, SEEK_END);
+  lseek(fd, 0, SEEK_SET);
+
+  assert(file_size > 4);
+
+  const uint8_t* data = (const uint8_t*)mmap(NULL, file_size, PROT_READ, MAP_PRIVATE, fd, 0);
+  assert(data != MAP_FAILED);
+
+  if (strcmp(file_type, "hevc") == 0) {
+    hevc_index(data, file_size, of_prefix, of_index);
+  } else if (strcmp(file_type, "h264") == 0) {
+    h264_index(data, file_size, of_prefix, of_index);
+  } else {
+    assert(false);
+  }
+
+  munmap((void*)data, file_size);
+  close(fd);
+
+  return 0;
+}